diff --git a/.github/DISCUSSION_TEMPLATE/Asking-for-Help.yaml b/.github/DISCUSSION_TEMPLATE/Asking-for-Help.yaml
deleted file mode 100644
index 46aff129..00000000
--- a/.github/DISCUSSION_TEMPLATE/Asking-for-Help.yaml
+++ /dev/null
@@ -1,68 +0,0 @@
-body:
-  - type: textarea
-    attributes:
-      label: Intro
-      description: Who are you, what do you use MuJoCo for?
-      value: |
-        Hi!
-
-        I am a ([graduate / undergrad] student / professor / researcher) at XYZ, I use MuJoCo for my research on ABC.
-    validations:
-      required: true
-  - type: textarea
-    attributes:
-      label: My setup
-      description: MuJoCo / MJX version, API (C or Python), architecture, OS + version.
-    validations:
-      required: true
-  - type: textarea
-    attributes:
-      label: My question
-      description: What you are trying to do, what problem have you encountered?
-  - type: textarea
-    attributes:
-      label: Minimal model and/or code that explain my question
-      description: Please include a loadable MJCF, not a partial snippet. If your model requires binary assets to load, attach a zip file.
-      value: |
-        If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
-
-        Model:
-        <details>
-        <summary>minimal XML</summary>
-
-        ```XML
-
-        <mujoco>
-          <worldbody>
-            <light pos="0 0 1"/>
-            <geom type="sphere" size="1" rgba="1 0 0 1"/>
-          </worldbody>
-        </mujoco>
-
-        ```
-        </details>
-
-        Code:
-        ```python
-        import mujoco
-        import mediapy as media
-        model = mujoco.MjModel.from_xml_string(xml)
-        data = mujoco.MjData(model)
-
-        with mujoco.Renderer(model) as renderer:
-          mujoco.mj_forward(model, data)
-          renderer.update_scene(data)
-
-          media.show_image(renderer.render())
-        ```
-    validations:
-      required: false
-  - type: checkboxes
-    attributes:
-      label: Confirmations
-      options:
-        - label: I searched the [latest documentation](https://mujoco.readthedocs.io/en/latest/overview.html) thoroughly before posting.
-          required: true
-        - label: I searched previous [Issues](https://github.com/google-deepmind/mujoco/issues) and [Discussions](https://github.com/google-deepmind/mujoco/discussions), I am certain this has not been raised before.
-          required: true
-
diff --git a/.github/ISSUE_TEMPLATE/Bug-Report.yaml b/.github/ISSUE_TEMPLATE/Bug-Report.yaml
deleted file mode 100644
index dbac3604..00000000
--- a/.github/ISSUE_TEMPLATE/Bug-Report.yaml
+++ /dev/null
@@ -1,92 +0,0 @@
-name: 🐛 Bug Report
-description: >-
-  Please only use this if you're sure you've found a bug. Thanks! 🙏
-labels: bug
-body:
-  - type: textarea
-    attributes:
-      label: Intro
-      description: Who are you, what do you use MuJoCo for?
-      value: |
-        Hi!
-
-        I am a ([graduate / undergrad] student / professor / researcher) at XYZ, I use MuJoCo for my research on ABC.
-    validations:
-      required: true
-  - type: textarea
-    attributes:
-      label: My setup
-      description: MuJoCo / MJX version, API (C or Python), architecture, OS + version.
-    validations:
-      required: true
-  - type: textarea
-    attributes:
-      label: What's happening? What did you expect?
-      description: A clear and concise description of the current behaviour vs what you expected. If helpful to understand the issue, attach screenshots/videos.
-      value: |
-        Setting `rgba="1 0 0 1"` renders as **green**, I expected it to render as **red**.
-
-        Here is a screen-shot showing a green sphere:
-    validations:
-      required: true
-  - type: textarea
-    attributes:
-      label: Steps for reproduction
-      description: Steps to reproduce the issue.
-      value: |
-        1. Load the model below.
-        2. Run the code below.
-        3. See green sphere (should be red).
-    validations:
-      required: true
-  - type: textarea
-    attributes:
-      label: Minimal model for reproduction
-      description: Please include a loadable MJCF, not a partial snippet. If your model requires binary assets to load, attach a zip file.
-      value: |
-        If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
-
-        <details>
-        <summary>minimal XML</summary>
-
-        ```XML
-
-        <mujoco>
-          <worldbody>
-            <light pos="0 0 1"/>
-            <geom type="sphere" size="1" rgba="1 0 0 1"/>
-          </worldbody>
-        </mujoco>
-
-        ```
-        </details>
-    validations:
-      required: false
-  - type: textarea
-    attributes:
-      label: Code required for reproduction
-      description: Code required for reproduction of the bug.
-      value: |
-        ```python
-        import mujoco
-        import mediapy as media
-        model = mujoco.MjModel.from_xml_string(xml)
-        data = mujoco.MjData(model)
-
-        with mujoco.Renderer(model) as renderer:
-          mujoco.mj_forward(model, data)
-          renderer.update_scene(data)
-
-          media.show_image(renderer.render())
-        ```
-    validations:
-      required: false
-  - type: checkboxes
-    attributes:
-      label: Confirmations
-      options:
-        - label: I searched the [latest documentation](https://mujoco.readthedocs.io/en/latest/overview.html) thoroughly before posting.
-          required: true
-        - label: I searched previous [Issues](https://github.com/google-deepmind/mujoco/issues) and [Discussions](https://github.com/google-deepmind/mujoco/discussions), I am certain this has not been raised before.
-          required: true
-
diff --git a/.github/ISSUE_TEMPLATE/Feature-Request.yaml b/.github/ISSUE_TEMPLATE/Feature-Request.yaml
deleted file mode 100644
index 5879099a..00000000
--- a/.github/ISSUE_TEMPLATE/Feature-Request.yaml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: 🚀 Feature request
-description: Submit a proposal/request for a new MuJoCo feature
-labels: enhancement
-body:
-- type: textarea
-  attributes:
-    label: The feature, motivation and pitch
-    description: >
-      A clear and concise description of the feature proposal. Please outline the motivation for the proposal. Is your feature request related to a specific problem? e.g., *"I'm working on X and would like Y to be possible"*. If this is related to another GitHub issue, please link here too.
-  validations:
-    required: true
-- type: textarea
-  attributes:
-    label: Alternatives
-    description: >
-      A description of any alternative solutions or features you've considered, if any.
-- type: textarea
-  attributes:
-    label: Additional context
-    description: >
-      Add any other context or screenshots about the feature request.
-- type: markdown
-  attributes:
-    value: >
-      Thanks for contributing 🎉!
-
diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
deleted file mode 100644
index bee58251..00000000
--- a/.github/ISSUE_TEMPLATE/config.yml
+++ /dev/null
@@ -1,5 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: 🙏 Asking for Help
-    about: Start a new discussion
-    url: https://github.com/google-deepmind/mujoco/discussions/categories/asking-for-help
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
deleted file mode 100644
index 575df0f3..00000000
--- a/.github/workflows/build.yml
+++ /dev/null
@@ -1,447 +0,0 @@
-# This configuration is used to build and test on GitHub Actions only.
-# It is not the same configuration that is used by Google DeepMind to create release binaries.
-# The "official" binaries are built with Clang 13 on all platforms, and are linked against libc++
-# on Linux.
-#
-# We set CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF here to reduce build time.
-# It is highly recommended that this is set to ON for production builds.
-#
-# Build speed notes:
-#   * The compiler matrix lives in build_matrix.json. Pull requests build the
-#     representative "core" subset; pushes to main run the full compiler sweep.
-#     (See generate_matrix() in build_steps.sh.)
-#   * Studio/Filament and WASM are NOT built in the main matrix - they are covered
-#     by the dedicated `studio` and `wasm` jobs below. WASM in particular is built
-#     with emcc, which ignores the host compiler, so building it per-compiler added
-#     no coverage.
-#   * ccache is used to wrap the compiler. PR branches fall back to main's cache, so
-#     the expensive (and pinned) Filament build is restored rather than recompiled.
-
-# TODO(matijak): Consider switching Windows to Ninja builds only, this configures slightly faster
-# and brings Windows in line with other OSes. Also we wouldn't need to specify the --config option
-# in the build step because Ninja doesn't support multiple configurations (unlike MSBuild).
-
-name: build
-
-on:
-  push:
-    branches:
-      - main
-    paths-ignore:
-      - "doc/**"
-      - "**/README.md"
-  pull_request:
-    paths-ignore:
-      - "doc/**"
-      - "**/README.md"
-
-# Limit the default GITHUB_TOKEN to read-only. No job here writes via the token:
-# checkout reads the repo; ccache/cache and upload-artifact use their own backend
-# tokens; the chat notification uses a secret webhook.
-permissions:
-  contents: read
-
-jobs:
-  # Compute the build matrix based on the event: PRs get the "core" representative
-  # compiler set, pushes to main get the full sweep.
-  setup:
-    name: "setup (compute matrix)"
-    runs-on: ubuntu-latest
-    outputs:
-      matrix: ${{ steps.generate.outputs.matrix }}
-    steps:
-    - uses: actions/checkout@v6
-    - name: Generate build matrix
-      id: generate
-      env:
-        GITHUB_EVENT_NAME: ${{ github.event_name }}
-      run: bash ./.github/workflows/build_steps.sh generate_matrix
-
-  mujoco:
-    needs: setup
-    strategy:
-      fail-fast: false
-      matrix: ${{ fromJson(needs.setup.outputs.matrix) }}
-
-    name: "${{ matrix.label }}"
-    runs-on: ${{ matrix.os }}
-
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Prepare Linux
-      if: ${{ runner.os == 'Linux' }}
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - name: Prepare macOS
-      if: ${{ runner.os == 'macOS' }}
-      run: brew install ninja
-
-    - uses: actions/setup-python@v6
-      with:
-        python-version: "3.11"
-
-    # uv makes the dependency install much faster, with a cross-run cache. POSIX
-    # only: Windows stays on pip (it is not a Python-setup bottleneck, and this
-    # keeps the venv activate fixup path untouched there).
-    - name: Install uv
-      if: ${{ runner.os != 'Windows' }}
-      uses: astral-sh/setup-uv@v8.2.0
-      with:
-        enable-cache: true
-        cache-dependency-glob: "python/build_requirements*.txt"
-
-    - name: Prepare Python
-      shell: bash
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ./.github/workflows/build_steps.sh prepare_python
-
-    # ccache dramatically speeds up warm rebuilds. The key is the matrix label so
-    # each compiler gets its own cache; the action's restore-keys let PR branches
-    # fall back to main's cache. ccache on Windows/MSVC is finicky and Windows
-    # isn't the bottleneck, so we skip it there.
-    - name: Setup ccache
-      if: ${{ runner.os != 'Windows' }}
-      uses: hendrikmuhs/ccache-action@v1.2.23
-      with:
-        key: ${{ matrix.label }}
-        max-size: "1.5G"
-
-    - name: Configure MuJoCo
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-        CMAKE_ARGS: ${{ matrix.cmake_args }}
-      run: bash ./.github/workflows/build_steps.sh configure_mujoco
-
-    - name: Upload CMake Configure Log
-      if: always()
-      uses: actions/upload-artifact@v7
-      with:
-        name: cmake-configure-log-${{ matrix.label }}
-        path: build/CMakeFiles/CMakeConfigureLog.yaml
-        retention-days: 5
-
-    - name: Build MuJoCo
-      working-directory: build
-      env:
-        CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }}
-      run: bash ../.github/workflows/build_steps.sh build_mujoco
-
-    - name: Test MuJoCo
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh test_mujoco
-
-    - name: Install MuJoCo
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh install_mujoco
-
-    - name: Copy plugins (POSIX)
-      if: ${{ runner.os != 'Windows' }}
-      working-directory: build
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ../.github/workflows/build_steps.sh copy_plugins_posix
-
-    - name: Copy plugins (Windows)
-      if: ${{ runner.os == 'Windows' }}
-      working-directory: build
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ../.github/workflows/build_steps.sh copy_plugins_window
-
-    - name: Configure samples
-      working-directory: sample
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-        CMAKE_ARGS: ${{ matrix.cmake_args }}
-      run: bash ../.github/workflows/build_steps.sh configure_samples
-
-    - name: Build samples
-      working-directory: sample/build
-      run: cmake --build . --config=Release ${{ matrix.cmake_build_args }}
-
-    - name: Configure simulate
-      working-directory: simulate
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-        CMAKE_ARGS: ${{ matrix.cmake_args }}
-      run: bash ../.github/workflows/build_steps.sh configure_simulate
-
-    - name: Build simulate
-      working-directory: simulate/build
-      env:
-        CMAKE_BUILD_ARGS: ${{ matrix.cmake_build_args }}
-      run: bash ../../.github/workflows/build_steps.sh build_simulate
-
-    - name: Make Python sdist
-      shell: bash
-      working-directory: python
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ../.github/workflows/build_steps.sh make_python_sdist
-
-    - name: Build Python bindings
-      if: ${{ runner.os != 'Windows' }}
-      shell: bash
-      working-directory: python/dist
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-        CMAKE_ARGS: ${{ matrix.cmake_args }}
-      run: bash ../../.github/workflows/build_steps.sh build_python_bindings
-
-    - name: Install Python bindings
-      if: ${{ runner.os != 'Windows' }}
-      shell: bash
-      working-directory: python/dist
-      env:
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ../../.github/workflows/build_steps.sh install_python_bindings
-
-    - name: Test Python bindings
-      if: ${{ runner.os != 'Windows' }}
-      shell: bash
-      env:
-        MUJOCO_GL: disable
-        TMPDIR: ${{ matrix.tmpdir }}
-      run: bash ./.github/workflows/build_steps.sh test_python_bindings
-
-    # MJX (mujoco.mjx) is covered by the dedicated `mjx` job below; it is
-    # compiler-independent so it does not need to run in every matrix job.
-
-    - name: Notify team chat
-      shell: bash
-      env:
-        GCHAT_API_URL: ${{ secrets.GCHAT_API }}
-        JOB_URL: "${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}"
-        CHATMSG_AUTHOR_NAME: ${{ github.event.head_commit.author.name }}
-        CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
-        CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
-        CHATMSG_JOB_ID: ${{ matrix.label }}
-      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
-      run: bash ./.github/workflows/build_steps.sh notify_team_chat
-
-  # This job quickly determines if MuJoCo Studio is broken. It is the only place
-  # Filament is compiled in CI, so ccache here is what keeps the long pole short.
-  studio:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-24.04
-            label: "ubuntu-24.04-clang-18-studio"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-18
-              -DCMAKE_CXX_COMPILER:STRING=clang++-18
-              -DMUJOCO_HARDEN:BOOL=ON
-          # gcc canary: Filament is compiler-dependent and historically finicky on
-          # gcc, so keep one gcc Studio build even though the matrix no longer does.
-          - os: ubuntu-24.04
-            label: "ubuntu-24.04-gcc-14-studio"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=gcc-14
-              -DCMAKE_CXX_COMPILER:STRING=g++-14
-              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
-          - os: windows-2025
-            label: "windows-2025-ninja-studio"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_SYSTEM_VERSION=10.0.26100.0
-          - os: macos-15
-            label: "macos-15-arm64-studio"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_CXX_FLAGS="-Wno-error=deprecated-declarations"
-              -DMUJOCO_HARDEN:BOOL=ON
-
-    name: "${{ matrix.label }}"
-    runs-on: ${{ matrix.os }}
-
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Prepare Windows (setup MSVC)
-      if: ${{ runner.os == 'Windows' }}
-      uses: ilammy/msvc-dev-cmd@v1
-
-    - name: Prepare Linux
-      if: ${{ runner.os == 'Linux' }}
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    # Key the cache on the Filament pin: hashing cmake/third_party_deps/filament.cmake
-    # captures BOTH the pinned commit hash and the FILAMENT_* build flags, so bumping
-    # either starts a fresh cache namespace instead of restoring stale artifacts.
-    # (Correctness does not depend on this: ccache is content-addressed on the full
-    # compiler invocation, so changing any build flag forces a recompile regardless.)
-    - name: Setup ccache
-      if: ${{ runner.os != 'Windows' }}
-      uses: hendrikmuhs/ccache-action@v1.2.23
-      with:
-        key: ${{ matrix.label }}-filament-${{ hashFiles('cmake/third_party_deps/filament.cmake') }}
-        restore-keys: ${{ matrix.label }}-filament-
-        max-size: "2.0G"
-
-    - name: Configure Studio
-      env:
-        CMAKE_ARGS: ${{ matrix.cmake_args }}
-      run: bash ./.github/workflows/build_steps.sh configure_studio
-
-    - name: Build Studio
-      run: bash ./.github/workflows/build_steps.sh build_studio
-
-    - name: Notify team chat
-      shell: bash
-      env:
-        GCHAT_API_URL: ${{ secrets.GCHAT_API }}
-        JOB_URL: "${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}"
-        CHATMSG_AUTHOR_NAME: ${{ github.event.head_commit.author.name }}
-        CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
-        CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
-        CHATMSG_JOB_ID: ${{ matrix.label }}
-      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
-      run: bash ./.github/workflows/build_steps.sh notify_team_chat
-
-
-  # This job quickly determines if WASM bindings are broken.
-  wasm:
-    name: "ubuntu-24.04-clang-18-wasm"
-    runs-on: ubuntu-24.04
-    env:
-      label: "ubuntu-24.04-clang-18-wasm"
-      cmake_args: >-
-        -G Ninja
-        -DCMAKE_C_COMPILER:STRING=clang-18
-        -DCMAKE_CXX_COMPILER:STRING=clang++-18
-        -DMUJOCO_HARDEN:BOOL=ON
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Setup Node.js for WASM bindings
-      uses: actions/setup-node@v6
-      with:
-        node-version: '24.x'
-
-    - name: Prepare Linux
-      if: ${{ runner.os == 'Linux' }}
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - name: Setup ccache
-      uses: hendrikmuhs/ccache-action@v1.2.23
-      with:
-        key: ${{ env.label }}
-        max-size: "1.5G"
-
-    # For convenience run multiple build_steps functions in a single step.
-    - name: Prepare, Build and Test WASM bindings
-      env:
-        CMAKE_ARGS: ${{ env.cmake_args }}
-      run: |
-        bash ./.github/workflows/build_steps.sh npm_ci
-        bash ./.github/workflows/build_steps.sh setup_emsdk
-        bash ./.github/workflows/build_steps.sh build_test_wasm
-
-    - name: Notify team chat
-      shell: bash
-      env:
-        GCHAT_API_URL: ${{ secrets.GCHAT_API }}
-        JOB_URL: "${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}"
-        CHATMSG_AUTHOR_NAME: ${{ github.event.head_commit.author.name }}
-        CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
-        CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
-        CHATMSG_JOB_ID: ${{ env.label }}
-      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
-      run: bash ./.github/workflows/build_steps.sh notify_team_chat
-
-
-  # MJX (mujoco.mjx) is pure JAX/XLA and compiler-independent: it imports the
-  # mujoco Python package only as a reference, so its tests run once here instead
-  # of in every matrix job. MuJoCo is built WITHOUT the C++ test suite (MJX does
-  # not need it) to keep the build lean.
-  mjx:
-    name: "ubuntu-24.04-clang-18-mjx"
-    runs-on: ubuntu-24.04
-    env:
-      TMPDIR: "/tmp"
-      CMAKE_ARGS: >-
-        -G Ninja
-        -DCMAKE_C_COMPILER:STRING=clang-18
-        -DCMAKE_CXX_COMPILER:STRING=clang++-18
-        -DMUJOCO_HARDEN:BOOL=ON
-        -DMUJOCO_BUILD_TESTS:BOOL=OFF
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Prepare Linux
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - uses: actions/setup-python@v6
-      with:
-        python-version: "3.11"
-
-    - name: Install uv
-      uses: astral-sh/setup-uv@v8.2.0
-      with:
-        enable-cache: true
-        cache-dependency-glob: "python/build_requirements*.txt"
-
-    - name: Prepare Python
-      run: bash ./.github/workflows/build_steps.sh prepare_python
-
-    - name: Setup ccache
-      uses: hendrikmuhs/ccache-action@v1.2.23
-      with:
-        key: ubuntu-24.04-clang-18-mjx
-        max-size: "1.0G"
-
-    - name: Configure MuJoCo
-      run: bash ./.github/workflows/build_steps.sh configure_mujoco
-
-    - name: Build MuJoCo
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh build_mujoco
-
-    - name: Install MuJoCo
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh install_mujoco
-
-    - name: Copy plugins
-      working-directory: build
-      run: bash ../.github/workflows/build_steps.sh copy_plugins_posix
-
-    - name: Make Python sdist
-      working-directory: python
-      run: bash ../.github/workflows/build_steps.sh make_python_sdist
-
-    - name: Build Python bindings
-      working-directory: python/dist
-      run: bash ../../.github/workflows/build_steps.sh build_python_bindings
-
-    - name: Install Python bindings
-      working-directory: python/dist
-      run: bash ../../.github/workflows/build_steps.sh install_python_bindings
-
-    - name: Package MJX
-      working-directory: mjx
-      run: bash ../.github/workflows/build_steps.sh package_mjx
-
-    - name: Install MJX
-      working-directory: mjx
-      run: bash ../.github/workflows/build_steps.sh install_mjx
-
-    - name: Test MJX
-      working-directory: mjx
-      run: bash ../.github/workflows/build_steps.sh test_mjx
-
-    - name: Notify team chat
-      shell: bash
-      env:
-        GCHAT_API_URL: ${{ secrets.GCHAT_API }}
-        JOB_URL: "${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}"
-        CHATMSG_AUTHOR_NAME: ${{ github.event.head_commit.author.name }}
-        CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
-        CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
-        CHATMSG_JOB_ID: "ubuntu-24.04-clang-18-mjx"
-      if: failure() && github.ref_name == 'main' && github.event_name == 'push' && env.GCHAT_API_URL != ''
-      run: bash ./.github/workflows/build_steps.sh notify_team_chat
diff --git a/.github/workflows/build_matrix.json b/.github/workflows/build_matrix.json
deleted file mode 100644
index 03f25a19..00000000
--- a/.github/workflows/build_matrix.json
+++ /dev/null
@@ -1,69 +0,0 @@
-{
-  "comment": "Build matrix for build.yml. 'tier' controls when an entry runs: 'core' runs on every pull_request and push; 'extended' runs only on push to main (full compiler sweep). See generate_matrix() in build_steps.sh.",
-  "include": [
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-gcc-14",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-14 -DCMAKE_CXX_COMPILER:STRING=g++-14 -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed",
-      "tmpdir": "/tmp",
-      "tier": "core"
-    },
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-gcc-13",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-13 -DCMAKE_CXX_COMPILER:STRING=g++-13 -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed",
-      "tmpdir": "/tmp",
-      "tier": "extended"
-    },
-    {
-      "os": "ubuntu-22.04",
-      "label": "ubuntu-22.04-gcc-12",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=gcc-12 -DCMAKE_CXX_COMPILER:STRING=g++-12 -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed",
-      "tmpdir": "/tmp",
-      "tier": "core"
-    },
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-clang-18",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-18 -DCMAKE_CXX_COMPILER:STRING=clang++-18 -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "core"
-    },
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-clang-17",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-17 -DCMAKE_CXX_COMPILER:STRING=clang++-17 -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "extended"
-    },
-    {
-      "os": "ubuntu-24.04",
-      "label": "ubuntu-24.04-clang-16",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-16 -DCMAKE_CXX_COMPILER:STRING=clang++-16 -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "extended"
-    },
-    {
-      "os": "ubuntu-22.04",
-      "label": "ubuntu-22.04-clang-15",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-15 -DCMAKE_CXX_COMPILER:STRING=clang++-15 -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "extended"
-    },
-    {
-      "os": "macos-15",
-      "label": "macos-15-arm64",
-      "cmake_args": "-G Ninja -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "core"
-    },
-    {
-      "os": "windows-2025",
-      "label": "windows-2025",
-      "cmake_args": "-DCMAKE_SYSTEM_VERSION=\"10.0.26100.0\"",
-      "cmake_build_args": "-- -m",
-      "tmpdir": "C:/Temp",
-      "tier": "core"
-    }
-  ]
-}
diff --git a/.github/workflows/build_steps.sh b/.github/workflows/build_steps.sh
deleted file mode 100755
index f10cebe4..00000000
--- a/.github/workflows/build_steps.sh
+++ /dev/null
@@ -1,430 +0,0 @@
-#!/bin/bash
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# TODO(matijak): Make all cmake commands run from the top-level directory, and
-# consider making the builds parallel.
-
-
-# Wrap the compiler with ccache when it is available (set up by ccache-action in
-# CI). This makes warm rebuilds - including the expensive, pinned Filament build -
-# much faster. ccache is content-addressed on the full compiler invocation, so
-# changing a flag or source forces a recompile: a stale object is never reused.
-# Guarded by `command -v` so the script still works locally without ccache.
-CCACHE_ARGS=""
-if command -v ccache >/dev/null 2>&1; then
-    CCACHE_ARGS="-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache"
-fi
-
-
-# Emit the build matrix for build.yml as a step output. On pull_request we run
-# only the representative "core" compiler set; on push (e.g. to main) we run the
-# full compiler sweep. Tiers are defined in build_matrix.json.
-generate_matrix() {
-    echo "Generating build matrix for event '${GITHUB_EVENT_NAME}'..."
-    local file=".github/workflows/build_matrix.json"
-    local matrix
-    if [[ "${GITHUB_EVENT_NAME}" == "pull_request" ]]; then
-        matrix="$(jq -c '{include: [.include[] | select(.tier == "core") | del(.tier)]}' "${file}")"
-    else
-        matrix="$(jq -c '{include: [.include[] | del(.tier)]}' "${file}")"
-    fi
-    echo "matrix=${matrix}" >> "${GITHUB_OUTPUT}"
-    echo "${matrix}" | jq .
-}
-
-
-prepare_linux() {
-    echo "Preparing Linux..."
-    sudo apt-get update && sudo apt-get install \
-        libgl1-mesa-dev \
-        libwayland-dev \
-        libxinerama-dev \
-        libxcursor-dev \
-        libxkbcommon-dev \
-        libxrandr-dev \
-        libxi-dev \
-        ninja-build
-}
-
-
-prepare_python() {
-    echo "Preparing Python..."
-    repo="${PWD}"
-    pushd "${TMPDIR}" > /dev/null
-    python -m venv venv
-    if [[ $RUNNER_OS == "Windows" ]]; then
-    mkdir venv/bin
-    fixpath="$(s="$(cat venv/Scripts/activate | grep VIRTUAL_ENV=)"; echo "${s:13:-1}")"
-    sed -i "s#$(printf "%q" "${fixpath}")#$(cygpath "${fixpath}")#g" venv/Scripts/activate
-    ln -s ../Scripts/activate venv/bin/activate
-    fi
-    source venv/bin/activate
-    # Install build deps with uv when available (set up by setup-uv in CI on
-    # POSIX) - much faster than pip. Fall back to pip otherwise (e.g. Windows,
-    # local dev). The venv is still created by `python -m venv`, so pip stays
-    # available for later steps (pip wheel / python -m build).
-    if command -v uv > /dev/null 2>&1; then
-        uv pip install --require-hashes -r "${repo}/python/build_requirements.txt"
-        uv pip install --require-hashes -r "${repo}/python/build_requirements_usd.txt"
-    else
-        python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements.txt"
-        python -m pip install --upgrade --require-hashes -r "${repo}/python/build_requirements_usd.txt"
-    fi
-    popd > /dev/null
-}
-
-
-npm_ci() {
-    echo "Installing NPM dependencies for WASM bindings..."
-    pushd wasm
-    npm ci
-    popd
-}
-
-
-setup_emsdk() {
-    echo "Setting up Emscripten..."
-    git clone https://github.com/emscripten-core/emsdk.git
-    ./emsdk/emsdk install 4.0.10
-    ./emsdk/emsdk activate 4.0.10
-    # Force installing emscripten's typescript dependencies. This is a
-    # workaround for the github update to a newer typescript, which gives an
-    # error on the deprecated `--outFile` flag.
-    pushd emsdk/upstream/emscripten
-    npm i
-    popd
-}
-
-
-configure_mujoco() {
-    echo "Configuring MuJoCo..."
-    # Disable IPO/LTO to cut build time. Skip this on Windows: turning off MSVC's
-    # whole-program optimization (/GL) exposes a latent heap corruption in
-    # SetConstTest.SleepingNotAllowed (a real bug worth a separate investigation),
-    # and Windows build time is not a CI bottleneck.
-    local ipo_off="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF"
-    if [[ "${RUNNER_OS}" == "Windows" ]]; then
-        ipo_off=""
-    fi
-    mkdir build &&
-    cd build &&
-    cmake .. \
-        -DCMAKE_BUILD_TYPE:STRING=Release \
-        ${ipo_off} \
-        -DCMAKE_INSTALL_PREFIX:STRING=${TMPDIR}/mujoco_install \
-        -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF \
-        ${CCACHE_ARGS} \
-        ${CMAKE_ARGS}
-}
-
-
-build_mujoco() {
-    echo "Building MuJoCo..."
-    cmake --build . --config=Release ${CMAKE_BUILD_ARGS}
-}
-
-
-test_mujoco() {
-    echo "Testing MuJoCo..."
-    # ctest defaults to serial. The suite is ~1650 independent tests that use
-    # unique temp files (mkstemp / testing::TempDir) and declare no RUN_SERIAL /
-    # RESOURCE_LOCK, so running them in parallel is safe and ~2x faster on POSIX.
-    # Windows is kept serial conservatively: parallel-safety on the Windows file
-    # system is unverified and its test time is not a CI bottleneck.
-    if [[ "${RUNNER_OS}" == "Windows" ]]; then
-        ctest -C Release --output-on-failure .
-    else
-        local ncpu
-        ncpu="$(getconf _NPROCESSORS_ONLN 2>/dev/null || echo "${NUMBER_OF_PROCESSORS:-2}")"
-        ctest -C Release --output-on-failure --parallel "${ncpu}" .
-    fi
-}
-
-
-install_mujoco() {
-    echo "Installing MuJoCo..."
-    cmake --install .
-}
-
-
-copy_plugins_posix() {
-    echo "Copying plugins..."
-    mkdir -p ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libactuator.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libelasticity.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libsensor.* ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp lib/libsdf_plugin.* ${TMPDIR}/mujoco_install/mujoco_plugin
-}
-
-
-copy_plugins_window() {
-    echo "Copying plugins..."
-    mkdir -p ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp bin/Release/actuator.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp bin/Release/elasticity.dll ${TMPDIR}/mujoco_install/mujoco_plugin &&
-    cp bin/Release/sensor.dll ${TMPDIR}/mujoco_install/mujoco_plugin
-}
-
-
-configure_samples() {
-    echo "Configuring samples..."
-    # Samples are tiny, so they keep the default IPO/LTO: disabling it saves no
-    # meaningful build time and would expose the same gcc -Werror false positives
-    # that -O3-without-LTO triggers (see configure_mujoco).
-    mkdir build &&
-    cd build &&
-    cmake .. \
-        -DCMAKE_BUILD_TYPE:STRING=Release \
-        -Dmujoco_ROOT:STRING=${TMPDIR}/mujoco_install \
-        ${CCACHE_ARGS} \
-        ${CMAKE_ARGS}
-}
-
-
-configure_simulate() {
-    echo "Configuring simulate..."
-    # See configure_samples: keep the default IPO/LTO for this small build.
-    mkdir build &&
-    cd build &&
-    cmake .. \
-        -DCMAKE_BUILD_TYPE:STRING=Release \
-        -Dmujoco_ROOT:STRING=${TMPDIR}/mujoco_install \
-        ${CCACHE_ARGS} \
-        ${CMAKE_ARGS}
-}
-
-
-build_simulate() {
-    echo "Building simulate..."
-    cmake --build . --config=Release ${CMAKE_BUILD_ARGS}
-}
-
-
-configure_studio() {
-    echo "Configuring Studio..."
-    cmake -B build \
-        -DCMAKE_BUILD_TYPE:STRING=Release \
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
-        -DUSE_STATIC_LIBCXX=OFF \
-        -DBUILD_SHARED_LIBS=OFF \
-        -DMUJOCO_BUILD_EXAMPLES=OFF \
-        -DMUJOCO_BUILD_SIMULATE=OFF \
-        -DMUJOCO_BUILD_STUDIO=ON \
-        -DMUJOCO_BUILD_TESTS=OFF \
-        -DMUJOCO_TEST_PYTHON_UTIL=OFF \
-        -DMUJOCO_WITH_USD=OFF \
-        -DMUJOCO_USE_FILAMENT=ON \
-        ${CCACHE_ARGS} \
-        ${CMAKE_ARGS}
-    echo "Configuring Studio... DONE"
-}
-
-
-build_studio() {
-    echo "Building Studio..."
-    cmake --build build --config=Release --target mujoco_studio --parallel
-    echo "Building Studio... DONE"
-}
-
-
-make_python_sdist() {
-    echo "Making Python sdist..."
-    source ${TMPDIR}/venv/bin/activate &&
-    ./make_sdist.sh
-}
-
-
-build_python_bindings() {
-    echo "Building Python bindings..."
-    source ${TMPDIR}/venv/bin/activate
-    # pip unpacks the sdist into a randomized temp dir every run, so the absolute
-    # source/include paths differ each time and defeat ccache (0% hit, full
-    # recompile). CCACHE_BASEDIR rewrites absolute paths under it to paths relative
-    # to the (also-in-temp) build cwd, cancelling the random component so objects
-    # hash identically across runs. CCACHE_SLOPPINESS ignores timestamp/path noise.
-    #
-    # Do NOT add system_headers here: CMake adds the imported mujoco target's
-    # include dir (MUJOCO_PATH/include) as -isystem, so ccache would treat the
-    # public MuJoCo headers as system headers and skip hashing them. A change that
-    # lives only in those headers (a new mjData field, a new enum value) would then
-    # go undetected and ccache would reuse an object compiled against the old struct
-    # layout, producing an ABI-mismatched binding (wrong field offsets, stale
-    # mjNENABLE, signature mismatch). The mtime/ctime flags are kept: they handle the
-    # temp-dir churn without affecting header content detection.
-    export CCACHE_BASEDIR="${TMPDIR}"
-    export CCACHE_SLOPPINESS="time_macros,include_file_mtime,include_file_ctime,pch_defines,locale"
-    MUJOCO_PATH="${TMPDIR}/mujoco_install" \
-    MUJOCO_PLUGIN_PATH="${TMPDIR}/mujoco_install/mujoco_plugin" \
-    MUJOCO_CMAKE_ARGS="-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF ${CCACHE_ARGS} ${CMAKE_ARGS}" \
-    pip wheel -v --no-deps mujoco-*.tar.gz
-}
-
-
-install_python_bindings() {
-    echo "Installing Python bindings..."
-    source ${TMPDIR}/venv/bin/activate &&
-    pip install --no-index mujoco-*.whl
-}
-
-
-test_python_bindings() {
-    echo "Testing Python bindings..."
-    source ${TMPDIR}/venv/bin/activate &&
-    pytest -v --pyargs mujoco
-}
-
-
-build_test_wasm() {
-    echo "Building and testing WASM bindings..."
-    source emsdk/emsdk_env.sh
-    export PATH="$(pwd)/node_modules/.bin:$PATH"
-    echo "Build MuJoCo with Emscripten (Multi-Threaded)..."
-    emcmake cmake -B build_wasm_mt \
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
-        -DMUJOCO_WASM_THREADS=ON \
-        ${CCACHE_ARGS} \
-        $WASM_CMAKE_ARGS
-    cmake --build build_wasm_mt --parallel $(nproc)
-
-    echo "Run bindings tests for Multi-Threaded version..."
-    npm run test --prefix ./wasm
-
-    echo "Moving Multi-Thread version under mt subfolder..."
-    mkdir -p wasm/dist/mt
-    mv wasm/dist/mujoco.* wasm/dist/mt/
-
-    echo "Build MuJoCo with Emscripten (Single-Threaded)..."
-    emcmake cmake -B build_wasm_st \
-        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
-        -DMUJOCO_WASM_THREADS=OFF \
-        ${CCACHE_ARGS} \
-        $WASM_CMAKE_ARGS
-    cmake --build build_wasm_st --parallel $(nproc)
-
-    echo "Run bindings tests for Single-Threaded version..."
-    npm run test --prefix ./wasm
-}
-
-package_wasm() {
-    echo "Publishing WASM bindings..."
-    cp wasm/package.npm.json wasm/dist/package.json
-    cp wasm/README.md wasm/dist/README.md
-    VERSION="${VERSION:-${GITHUB_REF#refs/tags/}}"
-    npm --prefix wasm/dist version "${VERSION}" --no-git-tag-version
-    npm pack --dry-run ./wasm/dist
-    npm publish ./wasm/dist --access public --provenance
-}
-
-
-package_mjx() {
-    echo "Packaging MJX..."
-    source ${TMPDIR}/venv/bin/activate &&
-    python -m build .
-}
-
-
-install_mjx() {
-    echo "Installing MJX..."
-    source ${TMPDIR}/venv/bin/activate
-    # The MJX requirements (jax, jaxlib, scipy, ...) are a big install; use uv when
-    # available. Keep pip for the local --no-index wheel.
-    if command -v uv > /dev/null 2>&1; then
-        uv pip install --require-hashes -r requirements.txt
-    else
-        pip install --require-hashes -r requirements.txt
-    fi
-    pip install --no-index dist/mujoco_mjx-*.whl
-}
-
-
-test_mjx() {
-    echo "Testing MJX..."
-    source ${TMPDIR}/venv/bin/activate &&
-    pytest -n auto -v -k 'not IntegrationTest' --pyargs mujoco.mjx
-}
-
-
-notify_team_chat() {
-    CHATMSG="$(cat <<-'EOF' | python3
-import json
-import os
-env = lambda x: os.getenv(x, '')
-data = dict(
-    result=env('JOB_URL'),
-    job=env('CHATMSG_JOB_ID'),
-    commit=env('GITHUB_SHA')[:6],
-    name=env('CHATMSG_AUTHOR_NAME').replace('```', ''),
-    email=env('CHATMSG_AUTHOR_EMAIL'),
-    msg=env('CHATMSG_COMMIT_MESSAGE').replace('```', '')
-)
-text = '<{result}|*FAILURE*>: job `{job}` commit `{commit}`\n```Author: {name} <{email}>\n\n{msg}```'.format(**data)
-print(json.dumps({'text' : text}))
-EOF
-)" &&
-
-    curl "$GCHAT_API_URL&threadKey=$GITHUB_SHA&messageReplyOption=REPLY_MESSAGE_FALLBACK_TO_NEW_THREAD" \
-    -X POST \
-    -H "Content-Type: application/json" \
-    --data-raw "${CHATMSG}"
-}
-
-
-build_mujoco_live() {
-    echo "Setting up Emscripten SDK..."
-    source emsdk/emsdk_env.sh
-
-    echo "Building Filament tools, targeting host platform..."
-    cmake -S . -B build_host -G Ninja \
-        -DCMAKE_BUILD_TYPE=Release \
-        -DUSE_STATIC_LIBCXX=OFF \
-        -DMUJOCO_BUILD_STUDIO=ON \
-        -DMUJOCO_USE_FILAMENT=ON \
-        -DMUJOCO_BUILD_TESTS=OFF \
-        -DMUJOCO_BUILD_EXAMPLES=OFF \
-        -DMUJOCO_BUILD_SIMULATE=OFF
-    cmake --build build_host --target matc resgen cmgen mujoco_filament_assets -j$(nproc)
-
-    echo "Building WASM app..."
-    emcmake cmake -S . -B build_wasm -G Ninja \
-        -DCMAKE_BUILD_TYPE=Release \
-        -DMUJOCO_BUILD_STUDIO=ON \
-        -DMUJOCO_USE_FILAMENT=ON \
-        -DMUJOCO_BUILD_TESTS_WASM=OFF \
-        -DMUJOCO_NATIVE_BUILD_DIR=$(pwd)/build_host
-    cmake --build build_wasm --target mujoco_studio -j$(nproc)
-}
-
-
-# Discover functions defined in this script by finding identifiers followed by
-# "()" and capturing the identifier as a valid function name.
-VALID_FUNCTIONS=()
-while IFS= read -r func_name; do
-  VALID_FUNCTIONS+=("$func_name")
-done < <(grep -E '^[[:alnum:]_]+\(\)' "$0" | sed 's/().*$//')
-
-# Exit with an error if the requested function is not found.
-if [[ ! " ${VALID_FUNCTIONS[*]} " =~ " ${1} " ]]; then
-    echo "Usage: $0 {$(IFS='|'; echo "${VALID_FUNCTIONS[*]}")}, got '$1'"
-    exit 1
-fi
-
-# Set options to print the commands being run, and cause the script to exit with
-# an error code if any command fails. Note we do this just before executing
-# the requested function to avoid cluttering the output with the above command
-# discovery code.
-set -xe
-
-# Execute the requested function.
-"$1"
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 00000000..ba76d32d
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,34 @@
+name: web-platform-ci
+
+on:
+  push:
+  pull_request:
+
+permissions:
+  contents: read
+
+jobs:
+  quality:
+    name: TypeScript、Lint、Unit、Build
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+      - uses: actions/setup-node@v6
+        with:
+          node-version: 24
+          cache: npm
+      - run: npm ci
+      - run: npm run check
+
+  e2e:
+    name: Playwright E2E
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+      - uses: actions/setup-node@v6
+        with:
+          node-version: 24
+          cache: npm
+      - run: npm ci
+      - run: npm run build
+      - run: npm run test:e2e
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
deleted file mode 100644
index 5432ac60..00000000
--- a/.github/workflows/lint.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-# Run pre-commit hooks on files changed in the PR only.
-name: lint
-
-on:
-  pull_request:
-
-permissions:
-  contents: read
-
-jobs:
-  pre-commit:
-    name: pre-commit
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-python@v6
-        with:
-          python-version: "3.12"
-      - uses: pre-commit/action@v3.0.1
-        with:
-          extra_args: --from-ref ${{ github.event.pull_request.base.sha }} --to-ref ${{ github.event.pull_request.head.sha }}
diff --git a/.github/workflows/live.yml b/.github/workflows/live.yml
deleted file mode 100644
index e8c6e4cb..00000000
--- a/.github/workflows/live.yml
+++ /dev/null
@@ -1,58 +0,0 @@
-name: live
-
-on:
-  push:
-    branches:
-      - live
-
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-jobs:
-  build-and-upload-artifacts:
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Prepare Linux
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - name: Setup Emscripten
-      run: bash ./.github/workflows/build_steps.sh setup_emsdk
-
-    - name: Build MuJoCo Live
-      env:
-        CC: clang-18
-        CXX: clang++-18
-      run: bash ./.github/workflows/build_steps.sh build_mujoco_live
-
-    - name: Prepare files for GitHub Pages
-      run: |
-        mkdir -p dist/bin
-        cp -r build_wasm/bin/* dist/bin/
-        cp src/experimental/studio/live.html dist/index.html
-        cp src/experimental/studio/live.css dist/live.css
-        cp src/experimental/studio/live.js dist/live.js
-        cp src/experimental/studio/favicon.ico dist/favicon.ico
-        COMMIT_HASH=$(git rev-parse HEAD 2>/dev/null || true)
-        if [ -n "$COMMIT_HASH" ]; then
-          sed -i "s/__COMMIT_HASH_PLACEHOLDER__/$COMMIT_HASH/g" dist/index.html
-        fi
-
-    - name: Upload GitHub Pages artifacts
-      uses: actions/upload-pages-artifact@v3
-      with:
-        path: dist
-
-  deploy-pages:
-    needs: build-and-upload-artifacts
-    runs-on: ubuntu-latest
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-    steps:
-    - name: Deploy to GitHub Pages
-      id: deployment
-      uses: actions/deploy-pages@v4
diff --git a/.github/workflows/publish-wasm.yml b/.github/workflows/publish-wasm.yml
deleted file mode 100644
index e840a67c..00000000
--- a/.github/workflows/publish-wasm.yml
+++ /dev/null
@@ -1,50 +0,0 @@
-name: publish-wasm
-
-on:
-  push:
-    tags:
-      - '[0-9]*.[0-9]*.[0-9]*'
-
-  workflow_dispatch:
-    inputs:
-      tag_version:
-        description: 'Release tag version to deploy'
-        required: true
-        default: '0.0.0'
-
-permissions:
-  id-token: write
-  contents: read
-
-jobs:
-  publish:
-    name: Publish MuJoCo WASM package
-    runs-on: ubuntu-24.04
-
-    env:
-      VERSION: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_version || github.ref_name }}
-
-    steps:
-    - uses: actions/checkout@v6
-
-    - name: Setup Node.js for WASM bindings
-      uses: actions/setup-node@v6
-      with:
-        node-version: '24.x'
-
-    - name: Prepare Linux
-      run: bash ./.github/workflows/build_steps.sh prepare_linux
-
-    - name: Install NPM Dependencies for WASM bindings
-      run: bash ./.github/workflows/build_steps.sh npm_ci
-
-    - name: Setup Emscripten for WASM bindings
-      run: bash ./.github/workflows/build_steps.sh setup_emsdk
-
-    - name: Build WASM bindings
-      run: bash ./.github/workflows/build_steps.sh build_test_wasm
-
-    - name: Package WASM bindings
-      env:
-        VERSION: ${{ env.VERSION }}
-      run: bash ./.github/workflows/build_steps.sh package_wasm
diff --git a/.github/workflows/update_live.yml b/.github/workflows/update_live.yml
deleted file mode 100644
index 4f102474..00000000
--- a/.github/workflows/update_live.yml
+++ /dev/null
@@ -1,28 +0,0 @@
-name: update-live
-
-on:
-  release:
-    types: [published] # Trigger when publishing releases ...
-  workflow_dispatch: # or manually (updates to main HEAD).
-
-permissions:
-  contents: write
-
-jobs:
-  merge-branch:
-    runs-on: ubuntu-latest
-    steps:
-    - name: Checkout MuJoCo
-      uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-
-    - name: Fast-forward the live branch
-      run: |
-        if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
-          git fetch origin main:refs/remotes/origin/main
-          REF_NAME="origin/main"
-        else
-          REF_NAME="${{ github.ref_name }}"
-        fi
-        git push origin ${REF_NAME}:refs/heads/live
diff --git a/.gitignore b/.gitignore
index e7fd79e4..7cdc71b1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,49 +1,29 @@
-# Don't commit binaries
-*.a
-*.asm
-*.dll
-*.dylib
-*.exe
-*.lib
-*.out
-*.o
-*.so
-*.so.*
+# Node / frontend
+node_modules/
+web-platform-dist/
+coverage/
+test-results/
+playwright-report/
+web_platform/test-results/
+web_platform/playwright-report/
+web_platform/node_modules/.vite/
+*.tsbuildinfo
 
-# Exclude editor config
-.vscode/
-.vs/
-
-# Exclude temporary folders
-*.egg-info/
-build/
-build_cmake/
-python/dist/
-doc/_build
-
-# Exclude macOS folder attributes
-.DS_Store
-
-# Exclude macOS Info.framework.plist
-Info.framework.plist
-
-# Python byte-compiled / optimized / DLL files
+# Python
+.venv/
 __pycache__/
 *.py[cod]
-*$py.class
+*.egg-info/
 
-# MuJoCo's default log file
-MUJOCO_LOG.TXT
-
-# Clang cache
+# Local build and cache directories
+build/
 .cache/
 
-# JavaScript bindings build
-wasm/**/dist/
-wasm/web-platform-dist/
-wasm/test-results/
-wasm/web_platform/test-results/
-wasm/web_platform/node_modules/.vite/
-**/node_modules/
+# Editors and operating systems
+.vscode/
+.vs/
+.DS_Store
 
-.venv/
+# Runtime logs
+*.log
+MUJOCO_LOG.TXT
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
deleted file mode 100644
index 97758ecd..00000000
--- a/.pre-commit-config.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-repos:
-  - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0
-    hooks:
-      - id: trailing-whitespace
-        exclude: \.patch$
-      - id: end-of-file-fixer
diff --git a/.readthedocs.yml b/.readthedocs.yml
deleted file mode 100644
index 89ef662f..00000000
--- a/.readthedocs.yml
+++ /dev/null
@@ -1,49 +0,0 @@
-# Read the Docs configuration file
-# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
-
-version: 2
-
-# TODO(robotics-simulation): pdf format fails to build on readthedocs
-# formats:
-#   - pdf
-
-build:
-  os: ubuntu-24.04
-  tools:
-    python: "3.12"
-  apt_packages:
-    - libgl-dev
-  jobs:
-    create_environment:
-      # install uv
-      - asdf plugin add uv
-      - asdf install uv latest
-      - asdf global uv latest
-      - uv venv $READTHEDOCS_VIRTUALENV_PATH
-      # install doc requirements
-      - |
-        UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
-        uv pip install \
-          -r doc/requirements.txt \
-          pip setuptools absl-py
-      # generate and install doc-only mujoco stubs (no C build required)
-      - python doc/make_mujoco_stubs.py python/mujoco_doc
-      - |
-        UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
-        uv pip install --no-deps python/mujoco_doc
-      # install mjx and mujoco_warp (mujoco dep satisfied by stubs above)
-      - UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install -e mjx
-      - |
-        find mjx/mujoco/mjx/third_party/mujoco_warp -type f -exec \
-          sed -i 's/mujoco\.mjx\.third_party\.mujoco_warp/mujoco_warp/g' {} \;
-      - python doc/mjwarp/update_types.py mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
-      - |
-        UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH \
-        uv pip install mjx/mujoco/mjx/third_party/mujoco_warp
-    install:
-      - "true"  # skip default install
-
-sphinx:
-  builder: html
-  configuration: doc/conf.py
-  fail_on_warning: false
diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 317301fa..00000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,358 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_CMAKE_MIN_REQ "3.16")
-cmake_minimum_required(VERSION ${MUJOCO_CMAKE_MIN_REQ})
-
-# Make CMAKE_C_VISIBILITY_PRESET work properly.
-set(CMAKE_POLICY_DEFAULT_CMP0063 NEW)
-# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
-set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
-# Default to GLVND if available.
-set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)
-# Avoid BUILD_SHARED_LIBS getting overridden by an option() in ccd.
-set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
-
-# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
-set(MSVC_INCREMENTAL_DEFAULT ON)
-
-project(
-  mujoco
-  VERSION 3.12.0
-  DESCRIPTION "MuJoCo Physics Simulator"
-  HOMEPAGE_URL "https://mujoco.org"
-)
-
-enable_language(C)
-enable_language(CXX)
-
-list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
-
-if(NOT EMSCRIPTEN)
-  option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
-  option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
-  option(MUJOCO_BUILD_STUDIO "Build studio library for MuJoCo" OFF)
-  option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
-  option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
-  option(MUJOCO_WITH_USD "Build with OpenUSD" OFF)
-  option(MUJOCO_USE_FILAMENT "Use filament rendering" OFF)
-  # Allows filament renderer to be used with mjr API; disables src/render to prevent conflicts.
-  option(MUJOCO_USE_FILAMENT_MJR_COMPAT "Use filament mjr compatibility layer" OFF)
-endif()
-
-if(EMSCRIPTEN)
-  option(MUJOCO_BUILD_TESTS_WASM "Build tests for WASM bindings" ON)
-  option(MUJOCO_BUILD_STUDIO "Build studio for MuJoCo (WASM)" OFF)
-  option(MUJOCO_USE_FILAMENT "Use filament rendering" OFF)
-  option(MUJOCO_WASM_THREADS "Build with multi-threading support" ON)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++20 -O3 -fexceptions")
-  if(MUJOCO_WASM_THREADS)
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -pthread")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
-  endif()
-
-  # Filament uses the WASM variable (not EMSCRIPTEN) to identify web builds.
-  # Without this, it falls into the LINUX path and tries to compile with
-  # futex, X11, Vulkan, etc.
-  if(MUJOCO_USE_FILAMENT)
-    set(WASM ON CACHE BOOL "Filament WASM mode" FORCE)
-  endif()
-
-  # Automatically generate host tool imports for Filament cross-compilation.
-  # When WASM is true, Filament hardcodes the path to:
-  #   ${FILAMENT}/${IMPORT_EXECUTABLES_DIR}/ImportExecutables-Release.cmake
-  # So we write our file with that exact name and set IMPORT_EXECUTABLES_DIR
-  # to point at CMAKE_BINARY_DIR (which is ../../ relative to filament-src).
-  set(MUJOCO_NATIVE_BUILD_DIR "${PROJECT_SOURCE_DIR}/build-host" CACHE PATH "Path to native build directory containing host tools")
-  find_program(MATC_EXE matc PATHS "${MUJOCO_NATIVE_BUILD_DIR}/bin" NO_DEFAULT_PATH)
-  find_program(RESGEN_EXE resgen PATHS "${MUJOCO_NATIVE_BUILD_DIR}/bin" NO_DEFAULT_PATH)
-  find_program(CMGEN_EXE cmgen PATHS "${MUJOCO_NATIVE_BUILD_DIR}/bin" NO_DEFAULT_PATH)
-
-  if(MATC_EXE AND RESGEN_EXE AND CMGEN_EXE)
-    message(STATUS "Found host tools in ${MUJOCO_NATIVE_BUILD_DIR}/bin")
-    set(IMPORT_EXECUTABLES_FILE "${CMAKE_BINARY_DIR}/ImportExecutables-Release.cmake")
-    file(WRITE "${IMPORT_EXECUTABLES_FILE}"
-      "add_executable(matc IMPORTED)\n"
-      "set_property(TARGET matc PROPERTY IMPORTED_LOCATION \"${MATC_EXE}\")\n"
-      "add_executable(resgen IMPORTED)\n"
-      "set_property(TARGET resgen PROPERTY IMPORTED_LOCATION \"${RESGEN_EXE}\")\n"
-      "add_executable(cmgen IMPORTED)\n"
-      "set_property(TARGET cmgen PROPERTY IMPORTED_LOCATION \"${CMGEN_EXE}\")\n"
-    )
-    # Filament's WASM path resolves: ${FILAMENT}/${IMPORT_EXECUTABLES_DIR}/ImportExecutables-Release.cmake
-    # FILAMENT = _deps/filament-src, so ../../ resolves to CMAKE_BINARY_DIR.
-    set(IMPORT_EXECUTABLES_DIR "../../" CACHE PATH "" FORCE)
-  else()
-    message(WARNING "Host tools (matc, resgen, cmgen) not found in ${MUJOCO_NATIVE_BUILD_DIR}/bin. WASM build of Studio might fail.")
-  endif()
-endif()
-
-if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE OR MUJOCO_USE_FILAMENT))
-  # NOTE: OBJC* languages are proactively enabled when using Filament to
-  # workaround a CMake bug triggered by Filament recently adding:
-  #   set(EXTRA_LANGS OBJC OBJCXX)
-  # See also: https://gitlab.kitware.com/cmake/cmake/-/work_items/24104
-  enable_language(OBJC)
-  enable_language(OBJCXX)
-endif()
-
-include(MujocoOptions)
-include(MujocoMacOS)
-include(MujocoDependencies)
-
-set(MUJOCO_HEADERS
-    include/mujoco/mjassert.h
-    include/mujoco/mjdata.h
-    include/mujoco/mjexport.h
-    include/mujoco/mjmacro.h
-    include/mujoco/mjmodel.h
-    include/mujoco/mjplugin.h
-    include/mujoco/mjrender.h
-    include/mujoco/mjrfilament.h
-    include/mujoco/mjsan.h
-    include/mujoco/mjspec.h
-    include/mujoco/mjspecmacro.h
-    include/mujoco/mjtype.h
-    include/mujoco/mjui.h
-    include/mujoco/mjvisualize.h
-    include/mujoco/mjxmacro.h
-    include/mujoco/mujoco.h
-)
-
-# Add metadata to mujoco.dll when building on Windows.
-if(WIN32)
-  set(MUJOCO_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/dist/mujoco.rc)
-else()
-  set(MUJOCO_RESOURCE_FILES "")
-endif()
-
-# Emscripten does not support SHARED libs
-if(NOT EMSCRIPTEN)
-  find_package(Threads REQUIRED)
-  add_library(mujoco SHARED ${MUJOCO_RESOURCE_FILES})
-else()
-  add_library(mujoco STATIC ${MUJOCO_RESOURCE_FILES})
-endif()
-
-target_include_directories(
-  mujoco
-  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-         $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/>
-  PRIVATE src
-)
-
-if(NOT EMSCRIPTEN)
-  add_subdirectory(plugin/elasticity)
-  add_subdirectory(plugin/actuator)
-  add_subdirectory(plugin/sensor)
-  add_subdirectory(plugin/sdf)
-endif()
-add_subdirectory(plugin/obj_decoder)
-add_subdirectory(plugin/stl_decoder)
-
-add_subdirectory(src/engine)
-add_subdirectory(src/user)
-add_subdirectory(src/xml)
-add_subdirectory(src/xml/mjz)
-if(NOT EMSCRIPTEN AND NOT MUJOCO_USE_FILAMENT_MJR_COMPAT)
-  add_subdirectory(src/render/classic)
-  add_subdirectory(src/ui)
-endif()
-add_subdirectory(src/render/noop)
-
-if(MUJOCO_USE_FILAMENT)
-  add_subdirectory(src/render/filament)
-  add_subdirectory(src/experimental/filament)
-endif()
-
-if(EMSCRIPTEN)
-  add_subdirectory(wasm)
-endif()
-
-
-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
-if(MUJOCO_ENABLE_AVX_INTRINSICS)
-  target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
-endif()
-
-target_compile_options(
-  mujoco
-  PRIVATE ${AVX_COMPILE_OPTIONS}
-          ${MUJOCO_MACOS_COMPILE_OPTIONS}
-          ${EXTRA_COMPILE_OPTIONS}
-          ${MUJOCO_CXX_FLAGS}
-)
-target_link_options(
-  mujoco
-  PRIVATE
-  ${MUJOCO_MACOS_LINK_OPTIONS}
-  ${EXTRA_LINK_OPTIONS}
-)
-
-target_link_libraries(
-  mujoco
-  PRIVATE ccd
-          lodepng
-          qhullstatic_r
-          tinyobjloader
-          tinyxml2
-)
-
-if(NOT EMSCRIPTEN)
-  target_link_libraries(mujoco PRIVATE Threads::Threads)
-endif()
-
-set_target_properties(
-  mujoco PROPERTIES VERSION "${mujoco_VERSION}" PUBLIC_HEADER "${MUJOCO_HEADERS}"
-)
-
-# CMake's built-in FRAMEWORK option doesn't give us control over the dylib name inside the
-# Framework. We instead make our own Framework here.
-if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
-  set(TAPI
-      "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/tapi"
-  )
-  configure_file(
-    ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.plist.framework.in
-    ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist
-  )
-  set_target_properties(
-    mujoco
-    PROPERTIES LIBRARY_OUTPUT_DIRECTORY
-               "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/mujoco.framework/Versions/A"
-               BUILD_WITH_INSTALL_NAME_DIR TRUE
-               INSTALL_NAME_DIR "@rpath/mujoco.framework/Versions/A"
-  )
-  add_custom_command(
-    TARGET mujoco
-    POST_BUILD
-    COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Headers
-    COMMAND cd ${CMAKE_CURRENT_SOURCE_DIR} && cp ${MUJOCO_HEADERS} $<TARGET_FILE_DIR:mujoco>/Headers
-    COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Modules
-    COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/dist/module.modulemap $<TARGET_FILE_DIR:mujoco>/Modules
-    COMMAND mkdir -p $<TARGET_FILE_DIR:mujoco>/Resources
-    COMMAND mv ${CMAKE_CURRENT_SOURCE_DIR}/dist/Info.framework.plist
-            $<TARGET_FILE_DIR:mujoco>/Resources/Info.plist
-    COMMAND ${TAPI} stubify $<TARGET_FILE:mujoco> -o $<TARGET_FILE_DIR:mujoco>/mujoco.tbd
-    COMMAND ln -fhs A $<TARGET_FILE_DIR:mujoco>/../Current
-    COMMAND ln -fhs Versions/Current/mujoco.tbd $<TARGET_FILE_DIR:mujoco>/../../mujoco.tbd
-    COMMAND ln -fhs Versions/Current/Headers $<TARGET_FILE_DIR:mujoco>/../../Headers
-    COMMAND ln -fhs Versions/Current/Modules $<TARGET_FILE_DIR:mujoco>/../../Modules
-    COMMAND ln -fhs Versions/Current/Resources $<TARGET_FILE_DIR:mujoco>/../../Resources
-    COMMAND_EXPAND_LISTS
-  )
-endif()
-
-# Add a namespace alias to mujoco to be used by the examples.
-# This simulates the install interface when building with sources.
-add_library(mujoco::mujoco ALIAS mujoco)
-
-add_subdirectory(model)
-
-# `simulate` defines a macro, embed_in_bundle, that's used by `sample`, so that
-# subdirectory needs to be added first.
-# TODO: Remove this order dependency.
-if(MUJOCO_BUILD_SIMULATE)
-  add_subdirectory(simulate)
-endif()
-
-if(MUJOCO_BUILD_STUDIO)
-  add_subdirectory(src/experimental/platform)
-  add_subdirectory(src/experimental/studio)
-endif()
-
-if(MUJOCO_BUILD_EXAMPLES)
-  add_subdirectory(sample)
-endif()
-
-if(MUJOCO_WITH_USD)
-  include(third_party_deps/openusd)
-
-  get_filename_component(USD_INSTALL_ROOT "${pxr_DIR}/lib" ABSOLUTE)
-  install(
-    DIRECTORY ${USD_INSTALL_ROOT}/
-    DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  )
-
-  if(APPLE)
-    set_target_properties(mujoco PROPERTIES
-      BUILD_RPATH "${USD_INSTALL_ROOT}"
-      INSTALL_RPATH "@loader_path")
-  elseif(UNIX)
-    set_target_properties(mujoco PROPERTIES
-      BUILD_RPATH "${USD_INSTALL_ROOT}"
-      INSTALL_RPATH "$ORIGIN")
-  endif()
-
-  add_subdirectory(src/experimental/usd)
-  add_subdirectory(plugin/usd_decoder)
-endif()
-
-if(BUILD_TESTING AND MUJOCO_BUILD_TESTS)
-  enable_testing()
-  add_subdirectory(test)
-  if(MUJOCO_TEST_PYTHON_UTIL)
-    add_subdirectory(python/mujoco/util)
-  endif()
-endif()
-
-if(NOT EMSCRIPTEN AND NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS))
-  set(MUJOCO_TARGETS mujoco)
-
-  # Install the libraries.
-  install(
-    TARGETS ${MUJOCO_TARGETS}
-    EXPORT ${PROJECT_NAME}
-    RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
-    LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT runtime
-    ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT dev
-    PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/mujoco" COMPONENT dev
-  )
-
-  set(CONFIG_PACKAGE_LOCATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
-
-  # Generate and install the mujocoTargets.cmake file. This defines the targets as
-  # IMPORTED libraries for downstream users.
-  install(
-    EXPORT ${PROJECT_NAME}
-    DESTINATION ${CONFIG_PACKAGE_LOCATION}
-    NAMESPACE mujoco::
-    FILE "${PROJECT_NAME}Targets.cmake"
-  )
-
-  include(CMakePackageConfigHelpers)
-
-  write_basic_package_version_file(
-    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-    VERSION ${mujoco_VERSION}
-    COMPATIBILITY AnyNewerVersion
-  )
-
-  configure_package_config_file(
-    cmake/${PROJECT_NAME}Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-    INSTALL_DESTINATION ${CONFIG_PACKAGE_LOCATION}
-  )
-
-  install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-                "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-          DESTINATION ${CONFIG_PACKAGE_LOCATION}
-  )
-
-  # Install also models into share folder.
-  install(
-    DIRECTORY model
-    DESTINATION "${CMAKE_INSTALL_DATADIR}/mujoco"
-    PATTERN "CMakeLists.txt" EXCLUDE
-  )
-endif()
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
deleted file mode 100644
index 93eaa152..00000000
--- a/CONTRIBUTING.md
+++ /dev/null
@@ -1,120 +0,0 @@
-# Contributing to MuJoCo
-
-We intend for MuJoCo to be a true community-driven project and look forward to
-accepting your contributions!
-
-## Before you contribute
-
-### Documentation, forums
-
-Please read MuJoCo's [documentation](https://mujoco.readthedocs.io/) and look
-through current topics on our GitHub
-[issues](https://github.com/google-deepmind/mujoco/issues) and
-[discussions](https://github.com/google-deepmind/mujoco/discussions) pages.
-
-### Contributor License Agreement
-
-Contributions to this project must be accompanied by a Contributor License
-Agreement (CLA). You (or your employer) retain the copyright to your
-contribution; this simply gives us permission to use and redistribute your
-contributions as part of the project. Head over to
-<https://cla.developers.google.com/> to see your current agreements on file or
-to sign a new one.
-
-You generally only need to submit a CLA once, so if you've already submitted one
-(even if it was for a different project), you probably don't need to do it
-again.
-
-## Contributing
-
-### Reporting bugs
-
-How to submit a good bug report:
-
-- Use a clear and descriptive title.
-
-- Make it easy to reproduce the problem. If this requires a model, attach it as
-a zip file to the bug report. The model and steps required to reproduce the
-problem should be *minimal*, in the sense that irrelevant parts are
-removed.
-
-- Clearly state what is the expected behavior.
-
-- Include an illustrative screenshot, if relevant.
-
-Try to provide context:
-
-- If the problem is new, see if you can reproduce it in an older version.
-What's the most recent version in which the problem doesn't happen?
-
-- Can you reproduce the problem on multiple platforms?
-
-### Suggesting enhancements
-
-Before submitting an enhancement suggestion:
-
-- Check if you're using the [latest
-version](https://github.com/google-deepmind/mujoco/releases/latest) of MuJoCo.
-
-- Perform a quick [search](https://github.com/google-deepmind/mujoco/issues) to
-see if the enhancement has already been suggested. If it has, add a comment to
-the existing issue instead of opening a new one.
-
-How to submit a good enhancement suggestion:
-
-- Use a clear and descriptive title.
-
-- Describe the current behaviour and the behavior which you hope to see instead.
-
-- Explain why this enhancement would be useful.
-
-- Specify the version of MuJoCo and platform/OS you are using.
-
-### Contributing code
-
-- Except for small and straightforward bug fixes, please get in touch with us
-before you start working on a contribution so that we can help and possibly
-guide you. Coordinating up front makes it much easier to avoid frustration later
-on.
-
-- All submissions require review. Please use GitHub pull requests for this
-purpose. Please consult
-[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
-information on pull requests.
-
-- Write tests. MuJoCo uses [googletest](https://github.com/google/googletest)
-for C++ tests, [absltest](https://abseil.io/docs/python/guides/testing) for
-Python binding code and [nunit](https://nunit.org/) for C# code in the Unity
-plugin. In most cases, a pull request will only be accepted if it includes
-tests. MuJoCo's internal codebase is currently lacking in test coverage. If you
-want to modify a function that isn't covered by tests, you'll be expected to
-contribute tests for the existing functionality, not just your modification. In
-fact, writing a test for existing code is a great way to get started with
-contributions.
-
-- Resolve compiler warnings.
-
-- All existing tests must pass.
-
-- Follow the [Style Guide](./STYLEGUIDE.md). In particular, adequately comment
-your code.
-
-- Make small pull requests. We will likely ask you to split up a large pull
-request into self-contained, smaller ones, especially if the PR is trying to
-achieve multiple things.
-
-- Respond to reviewers. Please be responsive to any questions and comments.
-
-- If you are not concerned with having your contribution attributed to you via
-  Git authorship, please let us know in the PR. It is significantly easier
-  for us to directly incorporate changes rather than going through the
-  full pull request import process. This will get your changes merged more
-  quickly.
-
-Once you have met all the requirements, your code will be merged.
-Thanks for improving MuJoCo!
-
-### Community guidelines
-
-This project follows Google's
-[Open Source Community Guidelines](https://opensource.google/conduct/).
diff --git a/Plan.md b/Plan.md
deleted file mode 100644
index b9142294..00000000
--- a/Plan.md
+++ /dev/null
@@ -1,180 +0,0 @@
-# MuJoCo Web 仿真平台实施计划
-
-> **计划状态**：✅ MVP 已实施并通过自动化验证  
-> **进度维护规则**：实施时将阶段/任务复选框由 `[ ]` 更新为 `[x]`，并同步“进度看板”中的状态、完成日期与备注。
-
-## Context
-
-目标是在本仓库官方 `wasm/` JavaScript/TypeScript 绑定和 Three.js 示例之上，建设一个纯浏览器 MuJoCo 仿真平台，支持模型工程上传、浏览器内文件组织、模型加载、三维展示、仿真控制和状态查看，交互布局参考 `urdf.enkeebot.com`。
-
-已确认的仓库基础：
-
-- `wasm/dist/` 有本地构建的绑定产物，但当前 `build/CMakeCache.txt` 显示其启用了线程；MVP 因此使用同版本官方 `@mujoco/mujoco` 默认单线程入口。
-- `wasm/demo_app/` 已有 Vite + TypeScript + Three.js 的最小示例，可作为加载、场景构建与逐帧同步的起点。
-- 官方绑定要求显式调用 `.delete()` 管理 Embind/C++ 对象生命周期。
-- 官方同时支持默认单线程入口与需要 COOP/COEP 的多线程入口；MVP 已确定使用默认单线程入口。
-
-## Scope / MVP 边界
-
-- **技术栈**：React + TypeScript + Zustand + Vite + TailwindCSS + Three.js。
-- **输入**：单个 MJCF/XML、单个 URDF、保留相对路径的文件夹、ZIP 工程；关联 mesh/贴图随工程导入。
-- **编辑边界**：首版只负责导入、查看和仿真，不提供 XML 编辑、热重载、工程保存或导出。
-- **物理执行**：首版使用主线程、单线程 `mujoco.wasm`；模块边界保留未来迁移 Worker 的能力，但不在 MVP 实现 Worker。
-- **控制优先级**：actuator 滑杆、关节拖动、外力施加，另含播放、暂停、单步、重置和速度控制。
-- **部署边界**：桌面浏览器中的中文界面，通过本地静态 HTTP 服务器运行；无 PWA、账号、后端、云存储或分享服务，导入工程仅驻留当前浏览器会话内存。
-- **非目标**：URDF/MJCF 互转、Xacro 展开、控制脚本、轨迹编辑与多线程 WASM。
-
-## Approach
-
-已采用 **React + TypeScript + Vite + TailwindCSS + Three.js**，在 `wasm/web_platform/` 新增独立平台应用，复用官方 WASM 包和示例逻辑，未改动 MuJoCo 核心绑定或生成产物。
-
-初步分层：
-
-1. **UI / 工程层**：工程导入、资源树、属性/控制面板、全局状态和错误展示。
-2. **应用服务层**：工程文件规范化、入口模型识别、仿真会话生命周期、命令调度。
-3. **物理层**：封装 `MjModel`、`MjData`、step/reset/ctrl，并集中管理 `.delete()`。
-4. **文件系统层**：将上传文件按相对路径写入 Emscripten MEMFS，校验引用与加载错误。
-5. **渲染层**：Three.js 场景、相机、灯光、MuJoCo primitive/mesh 映射和逐帧位姿同步。
-6. **交互控制层**：Three.js Raycaster 完成选择；关节拖动映射到 `qpos` 并调用 `mj_forward`，外力拖拽通过 `MjvPerturb`/`mjv_applyPerturbForce` 在 step 前施加。
-7. **线程边界**：MVP 直接调用主线程单线程绑定，但通过 `PhysicsAdapter` 隔离 UI，未来可在不改 UI 的情况下迁移 Worker。
-
-### 数据流、错误与生命周期
-
-- **数据流**：File/Directory/ZIP → 路径校验与入口识别 → MEMFS workspace → `mj_loadXML` → `SimulationSession` → `mjv_updateScene`/状态快照 → Three.js 与 Zustand UI。
-- **状态边界**：Zustand 只保存可序列化的工程元数据、控制参数、选择和 UI 状态；`MjModel`/`MjData`/Three.js 实例由服务对象持有，避免 React 重渲染复制 WASM 视图。
-- **错误模型**：按导入、ZIP、文件系统、模型编译、仿真、渲染分类，统一包含中文摘要、阶段、相关路径和原始错误；致命错误停止当前会话但保留工程树供排查。
-- **生命周期**：新模型采用“先释放旧渲染资源和 Embind 对象 → 清理旧 workspace → 写入新工程 → 创建新会话”的串行切换；所有失败分支使用 `finally` 回收已创建对象。
-
-## Files to modify
-
-- `Plan.md`：计划与持续进度记录。
-- `wasm/demo_app/app.ts`：只读复用来源，原则上不直接扩建为平台。
-- `wasm/package.json`、`wasm/package-lock.json`：加入 React、Zustand、TailwindCSS、`fflate`、Vitest、Playwright 及平台脚本。
-- `wasm/web_platform/index.html`、`wasm/web_platform/vite.config.ts`：平台入口、WASM 静态资源定位和相对路径静态部署配置。
-- `wasm/web_platform/src/app/`：React 壳层、布局、全局错误边界与启动流程。
-- `wasm/web_platform/src/stores/`：Zustand 工程、仿真、选择和 UI 状态切片。
-- `wasm/web_platform/src/project/`：文件/目录/ZIP 导入、路径规范化、入口识别和 MEMFS 工作区。
-- `wasm/web_platform/src/simulation/`：WASM 初始化、`PhysicsAdapter`、`SimulationSession`、步进和控制命令。
-- `wasm/web_platform/src/viewer/`：Three.js renderer、MuJoCo 场景适配、拾取、关节拖动和外力交互。
-- `wasm/web_platform/src/**/*.test.ts(x)`、`wasm/web_platform/e2e/`、`wasm/web_platform/fixtures/`：单测、浏览器测试与示例工程。
-- `@mujoco/mujoco`：作为默认单线程构建输入；`wasm/dist/*` 未手工修改。
-
-## Reuse
-
-- `wasm/demo_app/app.ts`：复用 `loadMujoco()` 初始化、`mjv_updateScene` 场景提取、Z-up 相机、固定仿真时长步进、矩阵同步和确定性释放思路；现有 `getBufferGeometry` 仅覆盖 plane/sphere/capsule/box/cylinder/ellipsoid，mesh 与贴图需补齐，且不可直接复制其全局 `app`/DOM 写法。
-- `wasm/demo_app/vite.demo.config.ts`：复用 `root`、相对 `base`、独立输出目录和开发响应头模式；MVP 单线程不依赖 COOP/COEP。
-- `wasm/tests/bindings_test.ts`：复用 `FS.writeFile/unlink`、`MjModel.mj_loadXML(path)`、`MjVFS.addBuffer`、带外部 OBJ 的加载测试以及 `finally + .delete()` 生命周期范式。
-- `@mujoco/mujoco` 类型：使用 `MjModel`/`MjData` typed-array 视图、named accessor、`MjvPerturb` 与 `mjv_applyPerturbForce` 等 API；避开 bool typed-memory-view 的绑定限制，并显式删除 accessor。
-- `doc/overview.rst`、`doc/modeling.rst`、`doc/APIreference/functions_override.rst`：MuJoCo 原生 `mj_loadXML` 可解析 MJCF 与 URDF，VFS 可容纳 XML/include、STL、PNG 等资源，因此 URDF 不另做平台侧转换。
-- 参考站点仅复用信息架构理念：本地导入、3D 视口、关节树/属性与控制面板；MVP 不复刻其编辑、格式转换或云端工具能力。
-
-## Steps
-
-### 进度看板
-
-| 阶段 | 状态 | 完成度 | 完成日期 | 备注 |
-|---|---|---:|---|---|
-| 0. 需求与架构定稿 | 🟢 已完成 | 100% | 当前 | 产品边界、交互语义和架构已确认 |
-| 1. 应用骨架与质量基线 | 🟢 已完成 | 100% | 当前 | typecheck、lint、Vitest、Playwright、build 通过 |
-| 2. 工程导入与 MEMFS | 🟢 已完成 | 100% | 当前 | 单/多文件、目录、ZIP、安全限制与入口选择 |
-| 3. MuJoCo 会话与仿真控制 | 🟢 已完成 | 100% | 当前 | 主线程单线程、固定步进、控制与确定性释放 |
-| 4. Three.js 可视化与交互 | 🟢 已完成 | 100% | 当前 | primitive/mesh/texture、拾取、关节与外力交互 |
-| 5. 平台 UI 与状态管理 | 🟢 已完成 | 100% | 当前 | 中文桌面布局、面板、属性和状态栏 |
-| 6. 性能、健壮性与交付 | 🟢 已完成 | 100% | 当前 | 预算保护、夹具/E2E、静态部署文档 |
-
-### 0. 需求与架构定稿
-
-- [x] 确认 React + Zustand，采用 Vitest + Playwright；仅支持桌面版 Chrome/Edge/Firefox 最新两个大版本。
-- [x] 确认 MVP 输入格式为 MJCF/XML、URDF、文件夹和 ZIP；工程入口规则见后续步骤。
-- [x] 确认 MVP 使用主线程、单线程 WASM，不实现 Worker/MT。
-- [x] 明确参考站点只借鉴本地导入、工程树、中心视口、属性/控制面板的信息架构。
-- [x] 输出模块边界、数据流、错误模型和资源生命周期设计。
-
-### 1. 应用骨架与质量基线
-
-- [x] 创建独立平台应用入口、Vite 配置、TailwindCSS 和基础布局。
-- [x] 配置 TypeScript 严格检查、lint、单元测试与最小 E2E 测试。
-- [x] 配置 WASM 静态资源定位及开发/生产构建路径，保持 `base: './'` 以支持任意静态子路径。
-- [x] 验证本地静态 HTTP 服务器可正确提供 JS/CSS/WASM；不支持直接以 `file://` 打开，也不注册 service worker。
-- [x] 建立错误边界、加载状态、日志和中文可诊断错误展示。
-
-### 2. 工程导入与 MEMFS
-
-- [x] 定义 `ProjectFile`、虚拟路径、入口模型和资源清单模型。
-- [x] 支持单文件、多文件和目录拖放/选择，保留 `webkitRelativePath`；使用 ZIP 库在浏览器内解包 `.zip`，拒绝加密包、目录穿越和超限压缩内容。
-- [x] 统一 `/workspace/<project-id>/...` 虚拟根目录，规范化路径后通过 `FS.mkdirTree/writeFile` 写入 MEMFS；二进制文件保持 `Uint8Array`，文本 XML 使用 UTF-8。
-- [x] 入口规则：单个 XML/URDF 自动选中；多候选优先根目录 `model.xml`/`scene.xml`/唯一 `.urdf`，否则弹窗选择且按根元素 `<mujoco>`/`<robot>`标识类型。
-- [x] 使用 `MjModel.mj_loadXML(entryPath)` 让 MuJoCo 原生解析 MJCF/URDF 及相对资源；加载失败保留工程树并展示入口、资源路径和 MuJoCo 错误。
-- [x] 切换工程前按逆序释放会话对象，再递归删除 MEMFS 工作区；对文件数、单文件、解压总量设置可配置上限。
-- [x] 为 MJCF include + OBJ/STL/PNG、URDF + mesh、目录、ZIP、路径冲突和缺失资源添加测试夹具。
-
-### 3. MuJoCo 会话与仿真控制
-
-- [x] 封装 WASM 单例初始化和 `SimulationSession` 生命周期。
-- [x] 创建/销毁 `MjModel`、`MjData`，实现异常路径下的确定性释放。
-- [x] 实现播放、暂停、单步、重置、时间倍率、固定步长累积器。
-- [x] 实现 actuator 控件和 qpos/qvel/ctrl 等状态快照。
-- [x] 实现同步 `PhysicsAdapter` 接口并保持 UI 不直接持有 Embind 对象；Worker/message protocol 仅记录为后续扩展点。
-
-### 4. Three.js 可视化与交互
-
-- [x] 复用官方 demo 的 primitive 构建与 `mjv_updateScene` 方法，抽离为可测试的场景适配器。
-- [x] 支持 MuJoCo primitive；对 mesh 根据 `mjvGeom.dataid` 读取 `mesh_vert/face/normal/texcoord` 及地址/数量数组构建缓存的 `BufferGeometry`，并从 `tex_data/width/height` 创建纹理，覆盖材质和坐标/矩阵转换。
-- [x] 每帧同步动态 body/geom 位姿，避免重复分配临时对象。
-- [x] 实现 OrbitControls、相机复位、网格/坐标轴、灯光和 resize。
-- [x] 用 Raycaster 实现对象拾取、选中高亮及与属性面板联动，并维护 Three.js object → MuJoCo body/geom id 映射。
-- [x] 关节拖动仅对可直接编辑的 hinge/slide joint 开放：暂停仿真、按 joint axis 将拖动量写入对应 `qpos`、按 `jnt_range` 限位并执行 `mj_forward`；free/ball joint MVP 只读。
-- [x] 外力施加：选中动态 body 后以拖拽箭头显示方向/大小，在每个 `mj_step` 前通过 `MjvPerturb`/`mjv_applyPerturbForce` 施力，松开即清零，并提供强度刻度。
-- [x] 在模型切换/卸载时释放 geometry、material、texture、Embind 临时 accessor/vector 和渲染循环资源。
-
-### 5. 平台 UI 与状态管理
-
-- [x] 搭建参考站点式布局：顶部工具栏、左侧工程树、中心视口、右侧属性/控制面板、底部状态区。
-- [x] 实现 MJCF/XML、URDF、文件夹、ZIP 导入流程、入口选择、最近错误、加载进度与空状态。
-- [x] 实现播放/暂停/单步/重置/速度控件、基于 `actuator_ctrlrange` 的 actuator 滑杆，以及 joint 拖动/外力模式开关。
-- [x] 实现模型信息、body/joint/geom 属性检查器。
-- [x] 针对桌面宽屏提供可调整/折叠面板、中文文案、键盘操作和基本无障碍语义；手机和平板不在 MVP 验收范围。
-
-### 6. 性能、健壮性与交付
-
-- [x] 建立 FPS、step 耗时、模型规模和内存趋势监控。
-- [x] 验证大模型、资源缺失、无效 XML、重复加载和长时间运行。
-- [x] 对主线程 step 设置每帧预算与最大追赶步数，超预算时显示性能警告而非无限追帧；Worker/SharedArrayBuffer 留作后续版本。
-- [x] 完成生产构建、纯静态部署/离线使用说明、示例工程和用户文档。
-- [x] 更新本计划进度看板并记录遗留项。
-
-## Implementation Result
-
-- 平台代码：`wasm/web_platform/`；使用 `@mujoco/mujoco@3.11.0` 默认单线程入口。
-- 自动化结果：TypeScript、ESLint、10 个 Vitest 测试、5 个 Chrome Playwright E2E、生产构建均通过。
-- E2E 覆盖：单文件 MJCF、MJCF include + OBJ/STL/PNG、URDF + OBJ、中等规模持续步进/重复加载、无效模型错误保留；另用完整 Go2W ZIP 实测 ROS `package://`、重复 material 和 DAE 降级后可编译。
-- 静态服务验证：Python HTTP server 对 HTML 与 WASM 均返回 200，WASM MIME 为 `application/wasm`。
-- 依赖审计：`npm audit` 0 vulnerabilities。
-
-### 遗留验收项
-
-- Edge/Firefox 最新版本尚未在当前环境做人工交互验收。
-- 关节拖动、外力箭头与超大模型的视觉手感仍需结合真实机器人工程人工调参。
-- 当前构建有约 865 KiB JS chunk 的 Vite 体积警告；不影响 MVP，后续可按面板/Three.js 做代码分割。
-- E2E 的持续步进是秒级冒烟；发布前建议增加 30–60 分钟内存与稳定性 soak test。
-
-## Verification
-
-- 自动化：TypeScript 类型检查、单元测试、构建测试、浏览器 E2E 冒烟测试。
-- 导入：MJCF/URDF 与其 mesh/texture 相对引用可加载；缺失/冲突/非法路径给出可定位错误。
-- 物理：播放、暂停、单步、重置和 actuator 控制结果符合 MuJoCo 时间步；重复加载无悬挂循环。
-- 渲染：primitive/mesh 位姿与 `xpos/xquat` 一致，相机和选中交互稳定，窗口缩放正常。
-- 生命周期：连续切换模型和长时间仿真时，WASM/Three.js 资源无持续异常增长。
-- 浏览器：桌面版 Chrome、Edge、Firefox 最新两个大版本完成手工验收；不测试手机、平板和多线程模式。
-- 交付：生产构建可由本地静态 HTTP 服务器启动，`.wasm` MIME 与相对资源路径正确；明确 `file://` 不受支持。
-
-## Confirmed Decisions
-
-1. React + Zustand。
-2. MVP 支持 MJCF/XML、URDF、文件夹、ZIP；URDF 交由 MuJoCo 原生 loader 解析。
-3. 首版不做 XML 编辑、热重载和工程导出。
-4. 首版主线程单线程 WASM。
-5. 纯静态、离线应用，无后端和账号体系。
-6. 首版交互优先 actuator 滑杆、关节拖动、外力施加；关节拖动时暂停且仅支持 hinge/slide，外力拖拽期间持续施加、松开清零。
-7. 仅支持桌面浏览器，中文界面；多个入口由用户弹窗选择。
-8. 通过本地静态 HTTP 服务器运行，不实现 PWA。
diff --git a/README.md b/README.md
index 56d7f46b..98cf5802 100644
--- a/README.md
+++ b/README.md
@@ -1,155 +1,71 @@
-<h1>
-  <a href="#"><img alt="MuJoCo" src="banner.png" width="100%"/></a>
-</h1>
+# MuJoCo Web 仿真平台
 
-<p>
-  <a href="https://github.com/google-deepmind/mujoco/actions/workflows/build.yml?query=branch%3Amain" alt="GitHub Actions">
-    <img src="https://img.shields.io/github/actions/workflow/status/google-deepmind/mujoco/build.yml?branch=main">
-  </a>
-  <a href="https://mujoco.readthedocs.io/" alt="Documentation">
-    <img src="https://readthedocs.org/projects/mujoco/badge/?version=latest">
-  </a>
-  <a href="https://github.com/google-deepmind/mujoco/blob/main/LICENSE" alt="License">
-    <img src="https://img.shields.io/github/license/google-deepmind/mujoco">
-  </a>
-</p>
+以 WebAssembly 为运行核心的本地机器人仿真、控制与强化学习调试平台。浏览器直接加载 MJCF、URDF、文件夹或 ZIP 工程，使用 Three.js 渲染，并通过 MuJoCo WASM 在本地执行物理仿真。
 
-**MuJoCo** 是 **Mu**lti-**Jo**int dynamics with **Co**ntact（带接触的多关节动力学）的缩写。它是一款通用物理引擎，旨在促进机器人学、生物力学、图形与动画、机器学习以及其他需要对与环境交互的多关节结构进行快速且精确仿真的领域的研究与开发。
+> 本仓库是面向 Web 产品的应用仓库，不再镜像 MuJoCo 的原生 C++、Python、MJX、Unity、桌面模拟器和上游测试源码。MuJoCo 运行时由官方 npm 包 [`@mujoco/mujoco`](https://www.npmjs.com/package/@mujoco/mujoco) 提供。
 
-本项目由 [Google DeepMind](https://www.deepmind.com/) 维护。
+## 功能概览
 
-MuJoCo 提供 C API，面向研究人员和开发者。其实时仿真模块经过专门调优以实现极致性能，并运行在由内置 XML 编译器预先分配的底层数据结构之上。该库包含使用 OpenGL 渲染的原生 GUI 交互式可视化工具。MuJoCo 还提供了大量用于计算物理相关物理量的实用函数。
+- MJCF/XML、URDF、文件夹和 ZIP 工程导入
+- ROS `package://`、常见 URDF 兼容转换及 DAE 降级处理
+- Three.js 模型、碰撞体、坐标系、关节轴、质心和惯量可视化
+- 播放、暂停、单步、重置、变速、关节拖动与外力交互
+- 浏览器内 Python 控制器（Pyodide）
+- ONNX 强化学习策略推理（ONNX Runtime Web）
+- 可选的本机 mjlab 训练桥接服务
+- 响应式工作区、源码编辑、性能监控和中文诊断
 
-我们还提供了 [Python 绑定][Python bindings] 以及用于 [Unity] 游戏引擎的插件。
+## 快速开始
 
-## 文档
-
-MuJoCo 的文档可在 [mujoco.readthedocs.io] 查阅。下一个版本即将推出的新特性可以在 “latest” 分支的[更新日志][changelog]中找到。
-
-## 快速入门
-
-快速上手 MuJoCo 有两种简便途径：
-
-1. **在本地运行 `simulate`。**
-[此视频](https://www.youtube.com/watch?v=P83tKA1iz2Y)展示了 MuJoCo 原生交互式查看器 `simulate` 的录屏。请按照文档中的[快速入门][Getting Started]部分描述的步骤在您的机器上运行 `simulate`。
-
-2. **探索在线 IPython Notebook 教程。**
-如果您是 Python 用户，建议从运行在 Google Colab 上的教程 Notebook 开始：
-
- - **入门**教程讲解 MuJoCo 基础知识：
-   [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb)
- - **模型编辑**教程演示如何通过代码程序化创建和编辑模型：
-   [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb)
- - **rollout** 教程介绍如何使用多线程 `rollout` 模块：
-   [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/rollout.ipynb)
- - **LQR** 教程演示如何合成线性二次型控制器（LQR），实现人形机器人单腿平衡：
-   [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/LQR.ipynb)
- - **最小二乘法**教程解释如何使用基于 Python 的非线性最小二乘求解器：
-   [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb)
- - **MJX** 教程提供了 [MuJoCo XLA](https://mujoco.readthedocs.io/en/stable/mjx.html) 的使用示例，它是用 JAX 编写的 MuJoCo 分支版本：
-   [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb)
- - **可微物理**教程展示如何利用从 MuJoCo 物理计算步中自动推导出的解析梯度来训练运动控制策略：
-   [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/training_apg.ipynb)
-
-## 安装
-
-### 预编译二进制文件
-
-带有版本号的正式发行版预编译二进制文件可在 GitHub [发布页面][releases page] 获取，支持 Linux（x86-64 和 AArch64）、Windows（仅限 x86-64）和 macOS（通用架构）。这是使用本软件的推荐方式。
-
-### 从源码构建
-
-希望从源码构建 MuJoCo 的用户请参阅文档中的[从源码构建][build from source]部分。但请注意，`main` 分支最新的提交可能不够稳定。
-
-### Python (>= 3.10)
-
-原生 Python 绑定已预打包了 MuJoCo 副本，可以通过 [PyPI] 进行安装：
+环境要求：Node.js 24+；仅使用训练桥接服务时需要 Python 3。
 
 ```bash
-pip install mujoco
+npm install
+npm run dev
 ```
 
-请注意，预构建的 Linux wheel 面向 `manylinux2014`，兼容的发行版参见[此处](https://github.com/pypa/manylinux)。有关从源码构建绑定等更多信息，请参阅文档中的 [Python 绑定][Python bindings]部分。
+打开 Vite 输出的地址，默认是 <http://localhost:5173/>。
 
-## 版本规范
+## 常用命令
 
-我们力求在每月的首周发布新版本 MuJoCo。自 3.5.0 版本起，我们的版本命名规范变更为修订版语义化版本控制（modified Semantic Versioning），详情请参阅 [版本规范](VERSIONING.md)。
-
-## 参与贡献
-
-我们非常欢迎社区参与：包括提问、寻求帮助、错误报告以及功能建议。欲了解更多有关提交 Bug 报告、功能需求以及更深入贡献的指引，请参阅我们的[贡献指南](CONTRIBUTING.md)和[代码风格指南](STYLEGUIDE.md)。
-
-## 提问与交流
-
-欢迎在 GitHub 的 [“Asking for Help” 讨论区](https://github.com/google-deepmind/mujoco/discussions/categories/asking-for-help) 提出问题或寻求帮助，请尽量聚焦于具体的问题或疑问。
-
-## 错误报告与功能需求
-
-GitHub [Issues](https://github.com/google-deepmind/mujoco/issues) 仅用于提交 Bug 报告、功能需求以及其他与开发相关的主题。
-
-## 相关软件生态
-
-MuJoCo 是许多仿真环境软件包的核心支撑。下面列出了一些语言绑定与格式转换器。
-
-### 语言绑定
-
-这些软件包为不同编程语言的用户提供了访问 MuJoCo 功能的接口：
-
-#### 第一方绑定：
-
-- [Python 绑定](https://mujoco.readthedocs.io/en/stable/python.html)
-  - [dm_control](https://github.com/google-deepmind/dm_control)，Google DeepMind 的相关环境技术栈，包含了用于程序化操作 MuJoCo 模型的模块 [PyMJCF](https://github.com/google-deepmind/dm_control/blob/main/dm_control/mjcf/README.md)。
-- [JavaScript 绑定与 WebAssembly 支持](/wasm/README.md)（灵感源于 [stillonearth](https://github.com/stillonearth) 和 [zalo](https://github.com/zalo) 的社区项目；[mjswan](https://github.com/ttktjmt/mjswan) 扩展了其实时策略控制、交互式施力等功能）。
-- [C# 绑定与 Unity 插件](https://mujoco.readthedocs.io/en/stable/unity.html)
-
-#### 第三方绑定：
-
-- **MATLAB Simulink**: [Simulink Blockset for MuJoCo Simulator](https://github.com/mathworks-robotics/mujoco-simulink-blockset)（由 [Manoj Velmurugan](https://github.com/vmanoj1996) 开发）。
-- **Swift**: [swift-mujoco](https://github.com/liuliu/swift-mujoco)
-- **Java**: [mujoco-java](https://github.com/CommonWealthRobotics/mujoco-java)
-- **Julia**: [MuJoCo.jl](https://github.com/JamieMair/MuJoCo.jl)
-- **Rust**: [MuJoCo-rs](https://github.com/davidhozic/mujoco-rs)
-
-### 格式转换工具
-
-- **OpenSim**: [MyoConverter](https://github.com/MyoHub/myoconverter) 将 OpenSim 模型转换为 MJCF。
-- **SDFormat**: [gz-mujoco](https://github.com/gazebosim/gz-mujoco/) 是 SDFormat 与 MJCF 之间的双向转换工具。
-- **OBJ**: [obj2mjcf](https://github.com/kevinzakka/obj2mjcf) 用于将组合 OBJ 文件转换为可加载的 MJCF 模型的脚本。
-- **onshape**: [Onshape to Robot](https://github.com/rhoban/onshape-to-robot) 将 [onshape](https://www.onshape.com/en/) CAD 装配体转换为 MJCF。
-
-## 引用
-
-如果您在公开发表的学术研究中使用了 MuJoCo，请按如下格式引用：
-
-```
-@inproceedings{todorov2012mujoco,
-  title={MuJoCo: A physics engine for model-based control},
-  author={Todorov, Emanuel and Erez, Tom and Tassa, Yuval},
-  booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
-  pages={5026--5033},
-  year={2012},
-  organization={IEEE},
-  doi={10.1109/IROS.2012.6386109}
-}
+```bash
+npm run dev                  # 启动开发服务器
+npm run build                # 生产构建到 web-platform-dist/
+npm run preview              # 预览生产构建
+npm run typecheck            # TypeScript 检查
+npm run lint                 # ESLint
+npm test                     # Vitest 单元测试
+npm run test:e2e             # Playwright 浏览器测试
+npm run test:training-server # Python 训练桥接服务测试
+npm run check                # 除 E2E 外的完整检查
 ```
 
-## 开源许可证与免责声明
+## 仓库结构
 
-Copyright 2021 DeepMind Technologies Limited.
+```text
+.
+├── web_platform/      React、TypeScript、Three.js 前端与测试夹具
+├── training_server/   可选的本机强化学习训练桥接服务
+├── controllers/       可导入平台的 Python 控制器示例
+├── package.json       根目录统一开发入口
+└── LICENSE            Apache License 2.0
+```
 
-盒体碰撞检测代码（[`engine_collision_box.c`](https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_box.c)）版权所有 © 2016 Svetoslav Kolev。
+核心前端分层：
 
-`doc` 目录下的 ReStructuredText 文档、图像和视频均依据知识共享署名 4.0 国际许可协议（Creative Commons Attribution 4.0, CC BY 4.0）提供。您可在 https://creativecommons.org/licenses/by/4.0/legalcode 获取该许可证副本。
+- `web_platform/src/app/`：工作区、工具栏、面板和对话框
+- `web_platform/src/project/`：工程导入、路径规范化和 MEMFS
+- `web_platform/src/simulation/`：MuJoCo WASM 会话与仿真调度
+- `web_platform/src/viewer/`：Three.js 渲染、选择和物理交互
+- `web_platform/src/controller/`：Pyodide 控制器运行时
+- `web_platform/src/rl/`：ONNX 策略运行时
 
-源代码基于 Apache 许可证 2.0 版（Apache License, Version 2.0）授权。您可在 https://www.apache.org/licenses/LICENSE-2.0 获取许可证副本。
+详细使用说明见 [`web_platform/README.md`](web_platform/README.md)，训练服务说明见 [`training_server/README.md`](training_server/README.md)。
 
-本项目不是 Google 官方支持的产品。
+## 数据与安全边界
 
-[build from source]: https://mujoco.readthedocs.io/en/latest/programming#building-from-source
-[Getting Started]: https://mujoco.readthedocs.io/en/latest/programming#getting-started
-[Unity]: https://unity.com/
-[releases page]: https://github.com/google-deepmind/mujoco/releases
-[mujoco.readthedocs.io]: https://mujoco.readthedocs.io
-[changelog]: https://mujoco.readthedocs.io/en/latest/changelog.html
-[Python bindings]: https://mujoco.readthedocs.io/en/stable/python.html#python-bindings
-[PyPI]: https://pypi.org/project/mujoco/
+模型、资源、Python 控制器和 ONNX 策略默认只在当前浏览器会话中处理，不上传到服务器。训练桥接服务只监听本机回环地址，并仅执行服务端允许列表中的任务。
+
+## 上游与许可证
+
+本项目使用 Google DeepMind 的 MuJoCo WebAssembly npm 包，并保留 Apache License 2.0 许可证。MuJoCo 是 Google DeepMind 的开源项目；本仓库不是 Google 官方支持的产品。
diff --git a/SECURITY.md b/SECURITY.md
deleted file mode 100644
index 4648e5e3..00000000
--- a/SECURITY.md
+++ /dev/null
@@ -1,4 +0,0 @@
-To report a security issue, please use [https://g.co/vulnz](https://g.co/vulnz).
-We use g.co/vulnz for our intake, and do coordination and disclosure here on
-GitHub (including using GitHub Security Advisory). The Google Security Team will
-respond within 5 working days of your report on g.co/vulnz.
diff --git a/STYLEGUIDE.md b/STYLEGUIDE.md
deleted file mode 100644
index 2c80956e..00000000
--- a/STYLEGUIDE.md
+++ /dev/null
@@ -1,168 +0,0 @@
-# MuJoCo Style Guide
-
-The MuJoCo codebase follows an internally consistent style that values
-compactness and readability. Please try to follow the style guide as closely as
-possible in your code contributions.
-
-### Scope of this guide
-
-Most of this guide involves C/C++ code. For Python, jump to the section
-[below](#python-code). For MuJoCo C/C++, code has three main categories:
-
-1. **C code:** MuJoCo's core codebase. It consists of public headers under
-`include/` and C source files and internal headers under `src/`. This style
-guide primarily concerns itself with this category.
-
-2. **Legacy C++:** Files under `src/user/` and `src/xml/`. These do not
-necessarily follow best C++ practices. We intend to gradually replace these with
-new code that follows the [Google C++
-style](https://google.github.io/styleguide/cppguide.html) over time.
-
-3. **New code:** This includes C++ files under `test/` and `python/` and C#
-files under `unity/`. Added by DeepMind engineers, this code adheres to the
-[Google style](https://google.github.io/styleguide/).
-
-### General principles
-
-Where any aspect of coding style is not explicitly spelled out in this guide,
-the following principle is followed:
-
-| Maximise consistency with the rest of the code. |
-| --- |
-
-If there is a contradiction between this guide and existing code, the guide
-takes precedence. Additional principles include:
-
-- Follow the [naming conventions](https://mujoco.readthedocs.io/en/latest/programming#naming-convention).
-- Be sparing with horizontal space: Try to keep lines short, avoid line-breaks
-  where possible.
-- Be generous with vertical space: Empty lines between code blocks are good.
-- Keep names short.
-- Inline comments are part of the code, treat them as such.
-- Use American English in comments and documentation.
-
-### Specific rules for C code
-
-Over time, this style guide will be expanded to cover most aspects of C
-programming in the MuJoCo codebase. In the meantime, it is usually enough to
-inspect existing code and try to follow its example.
-
-If there are any consistent coding patterns that are specific to the MuJoCo
-codebase but aren't mentioned in the guide, the guide should be expanded. If you
-spot such a pattern, feel free to send a PR to update the guide.
-
-#### Indentation
-
-2-space indents, using space characters rather than tabs.
-
-#### Line length
-
-Line length is 100 characters. In rare situations, like the collision table at
-the top of
-[engine_collision_driver.c](https://github.com/google-deepmind/mujoco/blob/c8ff7b3d341560e8cc33fbdcaffbcdbc4c32327c/src/engine/engine_collision_driver.c#L36),
-longer lines are allowed for readability.
-
-#### Comments
-
-MuJoCo makes generous use of short, one-line comments describing the code block
-just below them. They are considered an essential part of the code. Comments
-should be:
-
-- As succinct as possible, while maintaining clarity.
-- Preceded by an empty line, unless at the top of a block.
-- Uncapitalized and not terminated by a full-stop.
-
-A helpful heuristic regarding in-code comments is that the reader should be able
-to get a sense of what is happening in a function just by reading the comments.
-
-An exception to the third bullet point above are function declaration comments
-in public header files which are considered to be docstrings rather than code
-and are therefore capitalized and terminated by a full stop. These docstrings
-are required.
-
-#### Braces
-
--   MuJoCo uses
-    [attached K&R braces](https://en.wikipedia.org/wiki/Indentation_style#Variant:_mandatory_braces),
-    including for one-line blocks:
-
-    ```c
-    // transpose matrix
-    void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc) {
-      for (int i=0; i < nr; i++) {
-        for (int j=0; j < nc; j++) {
-          res[j*nr+i] = mat[i*nc+j];
-        }
-      }
-    }
-    ```
-
--   Brace-less single line statements are allowed with the exception of `return`
-    and `break` statements. For an example of this exception, inspect the
-    [`mjCModel` destructor](https://github.com/google-deepmind/mujoco/search?q=repo%3Adeepmind%2Fmujoco+filename%3Auser_model.cc).
-
--   Unattached braces are allowed in `if/else` blocks, when inserting an
-    explanatory comment above the `else`:
-
-    ```c
-    // rotate vector by quaternion
-    void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]) {
-      // null quat: copy vec
-      if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
-        mju_copy3(res, vec);
-      }
-
-      // regular processing
-      else {
-        mjtNum mat[9];
-        mju_quat2Mat(mat, quat);
-        mju_mulMatVec3(res, mat, vec);
-      }
-    }
-    ```
-
-#### Spacing
-
--   MuJoCo encourages judicious use of spacing around operators to promote
-    readability. For example below, note the lack of spaces around the
-    multiplication operator, and the aligning spaces in the second and fourth
-    assignments:
-
-    ```c
-    // time-derivative of quaternion, given 3D rotational velocity
-    void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]) {
-      res[0] = 0.5*(-vel[0]*quat[1] - vel[1]*quat[2] - vel[2]*quat[3]);
-      res[1] = 0.5*( vel[0]*quat[0] + vel[1]*quat[3] - vel[2]*quat[2]);
-      res[2] = 0.5*(-vel[0]*quat[3] + vel[1]*quat[0] + vel[2]*quat[1]);
-      res[3] = 0.5*( vel[0]*quat[2] - vel[1]*quat[1] + vel[2]*quat[0]);
-    }
-    ```
-
--   Spaces are required around comparison operators.
-
--   Spaces are not allowed around operators in array subscripts `[]` or in
-    variable initialisation in `for` loops. For example, inspect the
-    `mju_transpose` implementation above.
-
--   Two blank lines are required between function implementations in source
-    files.
-
-#### Variable declarations
-
-Historically the MuJoCo C codebase used exclusively C89-style variable
-declarations, with all stack variables pre-declared at the top of the function.
-We are in the process of migrating the code to the C99 convention of declaring
-variables at the narrowest possible scope. For example iterator variables in
-for-loops are mostly declared in the narrow scope, as in the `mju_transpose`
-example above.
-
-New code should use the C99 convention. When editing an existing function,
-please move existing variable declarations into local scope. Pull requests
-helping us to complete the migration are very welcome.
-
-### [Python code](#python-code)
-
-For Python code, run `pyink foo.py` to adhere to Google's
-[Python style guide](https://google.github.io/styleguide/pyguide.html). For
-sorting and cleaning imports, run `isort foo.py`. Both `pyink` and `isort` can
-be pip installed via `pip install pyink isort`.
diff --git a/VERSIONING.md b/VERSIONING.md
deleted file mode 100644
index 8adde6fe..00000000
--- a/VERSIONING.md
+++ /dev/null
@@ -1,75 +0,0 @@
-# MuJoCo Versioning
-
-MuJoCo uses custom semantic versioning from 3.5.0 onwards, see below.
-
-### The problem with Semantic Versioning
-
-The common definition of traditional [Semantic Versioning](https://semver.org/)
-is
-
-```
-1. MAJOR:  breaking changes
-2. MINOR:  new features
-3. PATCH:  bug fixes
-```
-
-With strict adherence to this definition, most MuJoCo releases are `MAJOR`. This
-is because MuJoCo has a very large API surface, especially when considering
-[MJCF](https://mujoco.readthedocs.io/en/stable/XMLreference.html) and the
-related
-[mjSpec](https://mujoco.readthedocs.io/en/stable/programming/modeledit.html)
-API. Furthermore, the numerical properties of physics state integration mean
-that despite being deterministic, numerical reproducibility across versions is
-almost guaranteed to
-[not hold](https://mujoco.readthedocs.io/en/stable/computation/index.html#reproducibility).
-
-## From 3.5.0 – semantic versioning
-
-From 3.5.0 onwards MuJoCo uses well-defined versioning with the following
-semantics.
-
-### MuJoCo versioning semantics
-
-```
-1. SUPERMAJOR:      breaking changes and/or significant new features
-2. MAJOR:           breaking changes, possibly new features
-3. MINOR_OR_PATCH:  new features or bug fixes
-```
-
-`MINOR_OR_PATCH` guarantees API backward compatibility, but may or may not
-introduce new features; to find out, read the
-[changelog](https://mujoco.readthedocs.io/en/stable/changelog.html), which will
-detail the nature of the changes. The changelog will also detail pure
-ABI-breaking changes, for example removing an unused attribute from a public
-struct. Such changes are considered MINOR. As explained
-[here](https://mujoco.readthedocs.io/en/stable/computation/index.html#reproducibility),
-numerical reproducibility is *never* guaranteed.
-
-Additionally:
-
--   `mj_versionString()` works as before, returning e.g. `"4.2.1"`.
--   `mj_version()` works as before, returning an integer. The corresponding
-    header constant `mjVERSION_HEADER` is calculated from the components as:
-
-    ```
-    mjVERSION = (SUPERMAJOR * 1e6) + (MAJOR * 1e3) + MINOR_OR_PATCH
-    ```
-
-    For example, 4.2.1 would be `4002001`.
-
-## Prior to 3.5.0 – no semantics
-
-Until 3.5.0, versioning was a sequence of increasing numbers with no
-well-defined semantic, with the exception of major versions introducing
-significant new features, like
-[3.0.0](https://mujoco.readthedocs.io/en/stable/changelog.html#version-3-0-0-october-18-2023)'s
-introduction of the JAX-based
-[MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) branch. Additionally:
-
--   The function
-    [`const char* mj_versionString()`](https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#mj-versionstring)
-    returns the version in the form of a string, for example `"3.2.7"`.
--   The function
-    [`int mj_version()`](https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#mj-version)
-    returns an integer equal to the version digits concatenated,
-    for example for "3.2.7" we'd have `mjVERSION = 327`.
diff --git a/banner.png b/banner.png
deleted file mode 100644
index a655156c..00000000
Binary files a/banner.png and /dev/null differ
diff --git a/cmake/CheckAvxSupport.cmake b/cmake/CheckAvxSupport.cmake
deleted file mode 100644
index 52e8b23d..00000000
--- a/cmake/CheckAvxSupport.cmake
+++ /dev/null
@@ -1,56 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(CheckCSourceCompiles)
-
-# Assigns compiler options to the given variable based on availability of AVX.
-function(get_avx_compile_options OUTPUT_VAR)
-  message(VERBOSE "Checking if AVX is available...")
-
-  if(MSVC)
-    set(CMAKE_REQUIRED_FLAGS "/arch:AVX")
-  elseif(WIN32)
-    # Abseil LTS 20230125.0 assumes that AVX implies PCLMUL on Windows.
-    set(CMAKE_REQUIRED_FLAGS "-mavx" "-mpclmul")
-  else()
-    set(CMAKE_REQUIRED_FLAGS "-mavx")
-  endif()
-
-  if(APPLE AND "x86_64" IN_LIST CMAKE_OSX_ARCHITECTURES)
-    message(STATUS "Building x86_64 on macOS, forcing CAN_BUILD_AVX to TRUE.")
-    set(CAN_BUILD_AVX TRUE)
-  else()
-    check_c_source_compiles(
-      "
-      #include <immintrin.h>
-      int main(int argc, char* argv[]) {
-        __m256d ymm;
-        return 0;
-      }
-    "
-      CAN_BUILD_AVX
-    )
-  endif()
-
-  if(CAN_BUILD_AVX)
-    message(VERBOSE "Checking if AVX is available... AVX available.")
-    set("${OUTPUT_VAR}"
-        ${CMAKE_REQUIRED_FLAGS}
-        PARENT_SCOPE
-    )
-  else()
-    message(VERBOSE "Checking if AVX is available... AVX not available.")
-    set("${OUTPUT_VAR}" PARENT_SCOPE)
-  endif()
-endfunction()
diff --git a/cmake/FindOrFetch.cmake b/cmake/FindOrFetch.cmake
deleted file mode 100644
index d849efdc..00000000
--- a/cmake/FindOrFetch.cmake
+++ /dev/null
@@ -1,228 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-#.rst:
-# FindOrFetch
-# ----------------------
-#
-# Find or fetch a package in order to satisfy target dependencies.
-#
-#   FindOrFetch([USE_SYSTEM_PACKAGE [ON/OFF]]
-#               [PACKAGE_NAME [name]]
-#               [LIBRARY_NAME [name]]
-#               [GIT_REPO [repo]]
-#               [GIT_TAG [tag]]
-#               [CUSTOM_CMAKE [path]]
-#               [PATCH_COMMAND [cmd] [args]]
-#               [TARGETS [targets]]
-#               [EXCLUDE_FROM_ALL])
-#
-# The command has the following parameters:
-#
-# Arguments:
-#  - ``USE_SYSTEM_PACKAGE`` one-value argument on whether to search for the
-#    package in the system (ON) or whether to fetch the library using
-#    FetchContent from the specified Git repository (OFF). Note that
-#    FetchContent variables will override this behaviour.
-#  - ``PACKAGE_NAME`` name of the system-package. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``OFF``.
-#  - ``LIBRARY_NAME`` name of the library. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``GIT_REPO`` git repository to fetch the library from. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``GIT_TAG`` tag reference when fetching the library from the git
-#    repository. Ignored if ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``CUSTOM_CMAKE`` path to a custom CMakeLists.txt file to be used when
-#    fetching the library from the git repository. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``PATCH_COMMAND`` Specifies a custom command to patch the sources after an
-#    update. See https://cmake.org/cmake/help/latest/module/ExternalProject.html#command:externalproject_add
-#    for details on the parameter.
-#  - ``TARGETS`` list of targets to be satisfied. If any of these targets are
-#    not currently defined, this macro will attempt to either find or fetch the
-#    package.
-#  - ``EXCLUDE_FROM_ALL`` if specified, the targets are not added to the ``all``
-#    metatarget.
-#
-# Note: if ``USE_SYSTEM_PACKAGE`` is ``OFF``, FetchContent will be used to
-# retrieve the specified targets. It is possible to specify any variable in
-# https://cmake.org/cmake/help/latest/module/FetchContent.html#variables to
-# override this macro behaviour.
-
-if(NOT COMMAND FindOrFetch)
-  macro(FindOrFetch)
-    if(NOT FetchContent)
-      include(FetchContent)
-    endif()
-
-    # Parse arguments.
-    set(options EXCLUDE_FROM_ALL)
-    set(one_value_args
-        USE_SYSTEM_PACKAGE
-        PACKAGE_NAME
-        LIBRARY_NAME
-        GIT_REPO
-        GIT_TAG
-        CUSTOM_CMAKE
-    )
-    set(multi_value_args PATCH_COMMAND TARGETS)
-    cmake_parse_arguments(
-      _ARGS
-      "${options}"
-      "${one_value_args}"
-      "${multi_value_args}"
-      ${ARGN}
-    )
-
-    # Check if all targets are found.
-    if(NOT _ARGS_TARGETS)
-      message(FATAL_ERROR "mujoco::FindOrFetch: TARGETS must be specified.")
-    endif()
-
-    set(targets_found TRUE)
-    message(CHECK_START
-            "mujoco::FindOrFetch: checking for targets in package `${_ARGS_PACKAGE_NAME}`"
-    )
-    foreach(target ${_ARGS_TARGETS})
-      if(NOT TARGET ${target})
-        message(CHECK_FAIL "target `${target}` not defined.")
-        set(targets_found FALSE)
-        break()
-      endif()
-    endforeach()
-
-    # If targets are not found, use `find_package` or `FetchContent...` to get it.
-    if(NOT targets_found)
-      if(${_ARGS_USE_SYSTEM_PACKAGE})
-        message(CHECK_START
-                "mujoco::FindOrFetch: finding `${_ARGS_PACKAGE_NAME}` in system packages..."
-        )
-        find_package(${_ARGS_PACKAGE_NAME} REQUIRED)
-        message(CHECK_PASS "found")
-      else()
-        set(USE_LOCAL_TARBALL FALSE)
-        if(MUJOCO_CMAKE_DEP_CACHE)
-          # Try to find versioned library tarball.
-          set(TARBALL_PATH "${MUJOCO_CMAKE_DEP_CACHE}/${_ARGS_LIBRARY_NAME}-${_ARGS_GIT_TAG}.tar.gz")
-          if(EXISTS "${TARBALL_PATH}")
-            set(USE_LOCAL_TARBALL TRUE)
-          endif()
-        endif()
-        if(_ARGS_PATCH_COMMAND)
-          set(_WRAPPED_PATCH_COMMAND ${CMAKE_COMMAND} -E env GIT_CEILING_DIRECTORIES=${CMAKE_BINARY_DIR} ${_ARGS_PATCH_COMMAND})
-        else()
-          set(_WRAPPED_PATCH_COMMAND)
-        endif()
-
-        set(FETCHCONTENT_QUIET OFF)
-        if(USE_LOCAL_TARBALL)
-          message(STATUS "mujoco::FindOrFetch: Using package cache for ${_ARGS_LIBRARY_NAME}: ${TARBALL_PATH}")
-          FetchContent_Declare(
-            ${_ARGS_LIBRARY_NAME}
-            URL ${TARBALL_PATH}
-            PATCH_COMMAND ${_WRAPPED_PATCH_COMMAND}
-          )
-        else()
-          message(STATUS "mujoco::FindOrFetch: Using FetchContent for ${_ARGS_LIBRARY_NAME}: ${_ARGS_GIT_REPO}")
-          FetchContent_Declare(
-            ${_ARGS_LIBRARY_NAME}
-            GIT_REPOSITORY ${_ARGS_GIT_REPO}
-            GIT_TAG ${_ARGS_GIT_TAG}
-            GIT_SHALLOW FALSE
-            PATCH_COMMAND ${_WRAPPED_PATCH_COMMAND}
-            UPDATE_DISCONNECTED TRUE
-          )
-        endif()
-        if(${_ARGS_EXCLUDE_FROM_ALL})
-          FetchContent_GetProperties(${_ARGS_LIBRARY_NAME})
-          if(NOT ${${_ARGS_LIBRARY_NAME}_POPULATED})
-            FetchContent_Populate(${_ARGS_LIBRARY_NAME})
-            if(NOT "${_ARGS_CUSTOM_CMAKE}" STREQUAL "")
-              file(COPY
-                "${_ARGS_CUSTOM_CMAKE}"
-                DESTINATION "${${_ARGS_LIBRARY_NAME}_SOURCE_DIR}"
-              )
-            endif()
-            add_subdirectory(
-              ${${_ARGS_LIBRARY_NAME}_SOURCE_DIR} ${${_ARGS_LIBRARY_NAME}_BINARY_DIR}
-              EXCLUDE_FROM_ALL
-            )
-          endif()
-        else()
-          FetchContent_MakeAvailable(${_ARGS_LIBRARY_NAME})
-        endif()
-        message(CHECK_PASS "Done")
-      endif()
-    else()
-      message(CHECK_PASS "found")
-    endif()
-  endmacro()
-endif()
-
-
-#.rst:
-# FetchPackage
-# ----------------------
-#
-# Fetches a package from a Git repository in order to satisfy dependencies.
-#
-#   FetchPackage([PACKAGE_NAME [name]]
-#               [GIT_REPO [repo]]
-#               [GIT_TAG [tag]]
-#               [PATCH_COMMAND [cmd] [args]]
-#              )
-#
-# The command has the following parameters:
-#
-# Arguments:
-#  - ``PACKAGE_NAME`` name of the package.
-#  - ``GIT_REPO`` git repository to fetch the library from.
-#  - ``GIT_TAG`` tag reference when fetching the library from the git repo.
-#  - ``CUSTOM_CMAKE`` path to a custom CMakeLists.txt file to be used when
-#    fetching the library from the git repository.
-#  - ``PATCH_COMMAND`` Specifies a custom command to patch the sources after an
-#    update. See https://cmake.org/cmake/help/latest/module/ExternalProject.html#command:externalproject_add
-#    for details on the parameter.
-#  - ``TARGETS`` (optional) list of targets to be satisfied. If any of these
-#    targets are not currently defined, this macro will attempt to fetch the
-#    package. If not specified, the package name will be used as the target.
-#
-# Note: This is a wrapper around FindOrFetch that sets EXCLUDE_FROM_ALL and
-# USE_SYSTEM_PACKAGE to OFF.
-if(NOT COMMAND FetchPackage)
-  function(FetchPackage)
-    cmake_parse_arguments(
-      _ARGS
-      "EXCLUDE_FROM_ALL"
-      "PACKAGE_NAME;GIT_REPO;GIT_TAG;CUSTOM_CMAKE"
-      "PATCH_COMMAND;TARGETS"
-      ${ARGN}
-    )
-    if(NOT _ARGS_TARGETS)
-      set(_ARGS_TARGETS ${_ARGS_PACKAGE_NAME})
-    endif()
-
-    FindOrFetch(
-      PACKAGE_NAME ${_ARGS_PACKAGE_NAME}
-      LIBRARY_NAME ${_ARGS_PACKAGE_NAME}
-      GIT_REPO ${_ARGS_GIT_REPO}
-      GIT_TAG ${_ARGS_GIT_TAG}
-      CUSTOM_CMAKE ${_ARGS_CUSTOM_CMAKE}
-      PATCH_COMMAND ${_ARGS_PATCH_COMMAND}
-      TARGETS ${_ARGS_TARGETS}
-      USE_SYSTEM_PACKAGE OFF
-      EXCLUDE_FROM_ALL
-    )
-  endfunction()
-endif()
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
deleted file mode 100644
index fb855c99..00000000
--- a/cmake/MujocoDependencies.cmake
+++ /dev/null
@@ -1,402 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Build configuration for third party libraries used in MuJoCo.
-
-set(MUJOCO_DEP_VERSION_lodepng
-    17d08dd26cac4d63f43af217ebd70318bfb8189c
-    CACHE STRING "Version of `lodepng` to be fetched."
-)
-set(MUJOCO_DEP_VERSION_tinyxml2
-    e6caeae85799003f4ca74ff26ee16a789bc2af48
-    CACHE STRING "Version of `tinyxml2` to be fetched."
-)
-set(MUJOCO_DEP_VERSION_tinyobjloader
-    1421a10d6ed9742f5b2c1766d22faa6cfbc56248
-    CACHE STRING "Version of `tinyobjloader` to be fetched."
-)
-set(MUJOCO_DEP_VERSION_MarchingCubeCpp
-    f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d
-    CACHE STRING "Version of `MarchingCubeCpp` to be fetched."
-)
-set(MUJOCO_DEP_VERSION_ccd
-    7931e764a19ef6b21b443376c699bbc9c6d4fba8 # v2.1
-    CACHE STRING "Version of `ccd` to be fetched."
-)
-set(MUJOCO_DEP_VERSION_qhull
-    d1c2fc0caa5f644f3a0f220290d4a868c68ed4f6
-    CACHE STRING "Version of `qhull` to be fetched."
-)
-set(MUJOCO_DEP_VERSION_miniz
-    d10b03cc73475af673df40f06e5cefd1d5f940d9
-    CACHE STRING "Version of `miniz` to be fetched."
-)
-set(MUJOCO_DEP_VERSION_Eigen3
-    ea13a98decd497a8c5588fb5de71b57bcf10d864
-    CACHE STRING "Version of `Eigen3` to be fetched."
-)
-
-set(MUJOCO_DEP_VERSION_abseil
-    5650e9cf76d3be4318d5fa3af38ee483ddfd5e4a # LTS 20260526.0
-    CACHE STRING "Version of `abseil` to be fetched."
-)
-
-set(MUJOCO_DEP_VERSION_gtest
-    063de7e9578f82b369302001269680b4b1553359 # v1.18.0
-    CACHE STRING "Version of `gtest` to be fetched."
-)
-
-set(MUJOCO_DEP_VERSION_benchmark
-    834a61fc65e8b7885fcf177f1230ae4b897118fa
-    CACHE STRING "Version of `benchmark` to be fetched."
-)
-
-mark_as_advanced(MUJOCO_DEP_VERSION_lodepng)
-mark_as_advanced(MUJOCO_DEP_VERSION_MarchingCubeCpp)
-mark_as_advanced(MUJOCO_DEP_VERSION_tinyxml2)
-mark_as_advanced(MUJOCO_DEP_VERSION_tinyobjloader)
-mark_as_advanced(MUJOCO_DEP_VERSION_ccd)
-mark_as_advanced(MUJOCO_DEP_VERSION_qhull)
-mark_as_advanced(MUJOCO_DEP_VERSION_Eigen3)
-mark_as_advanced(MUJOCO_DEP_VERSION_abseil)
-mark_as_advanced(MUJOCO_DEP_VERSION_gtest)
-mark_as_advanced(MUJOCO_DEP_VERSION_benchmark)
-
-include(FetchContent)
-include(FindOrFetch)
-
-# Override the BUILD_SHARED_LIBS setting, just for building third party libs (since we always want
-# static libraries). The ccd CMakeLists.txt doesn't expose an option to build a static ccd library,
-# unless BUILD_SHARED_LIBS is set.
-
-# We force all the dependencies to be compiled as static libraries.
-# TODO(fraromano) Revisit this choice when adding support for install.
-set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
-set(BUILD_SHARED_LIBS
-    OFF
-    CACHE INTERNAL "Build SHARED libraries"
-)
-
-if(NOT TARGET lodepng)
-  FetchContent_Declare(
-    lodepng
-    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
-    GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
-  )
-
-  FetchContent_GetProperties(lodepng)
-  if(NOT lodepng_POPULATED)
-    FetchContent_Populate(lodepng)
-    # This is not a CMake project.
-    set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
-    set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
-    add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
-    target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-    target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-    if(NOT EMSCRIPTEN)
-      target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
-    else()
-      target_include_directories(lodepng PUBLIC  $<BUILD_INTERFACE:${lodepng_SOURCE_DIR}> $<INSTALL_INTERFACE:include>)
-    endif()
-  endif()
-endif()
-
-if(NOT TARGET marchingcubecpp)
-  FetchContent_Declare(
-    marchingcubecpp
-    GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git
-    GIT_TAG ${MUJOCO_DEP_VERSION_MarchingCubeCpp}
-  )
-
-  FetchContent_GetProperties(marchingcubecpp)
-  if(NOT marchingcubecpp_POPULATED)
-    FetchContent_Populate(marchingcubecpp)
-    include_directories(${marchingcubecpp_SOURCE_DIR})
-  endif()
-endif()
-
-set(QHULL_ENABLE_TESTING OFF)
-# Patch changes in https://github.com/qhull/qhull/pull/173.patch
-set(QHULL_PATCH_COMMAND
-  git --git-dir=. -c core.autocrlf=false -c core.whitespace=cr-at-eol apply --verbose --whitespace=fix --ignore-space-change ${mujoco_SOURCE_DIR}/cmake/qhull-support-emscripten.patch
-)
-
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  OFF
-  PACKAGE_NAME
-  qhull
-  LIBRARY_NAME
-  qhull
-  GIT_REPO
-  https://github.com/qhull/qhull.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_qhull}
-  TARGETS
-  qhull
-  EXCLUDE_FROM_ALL
-  PATCH_COMMAND ${QHULL_PATCH_COMMAND}
-)
-# MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
-# Add it to the target.
-target_include_directories(
-  qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
-)
-target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-
-set(tinyxml2_BUILD_TESTING OFF)
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  OFF
-  PACKAGE_NAME
-  tinyxml2
-  LIBRARY_NAME
-  tinyxml2
-  GIT_REPO
-  https://github.com/leethomason/tinyxml2.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_tinyxml2}
-  TARGETS
-  tinyxml2
-  EXCLUDE_FROM_ALL
-)
-target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-
-# update cmake_minimum_required version for compatibility with newer version of cmake
-if(NOT DEFINED CMAKE_POLICY_VERSION_MINIMUM)
-  set(CMAKE_POLICY_VERSION_MINIMUM ${MUJOCO_CMAKE_MIN_REQ})
-  set(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED ON)
-endif()
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  OFF
-  PACKAGE_NAME
-  tinyobjloader
-  LIBRARY_NAME
-  tinyobjloader
-  GIT_REPO
-  https://github.com/tinyobjloader/tinyobjloader.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_tinyobjloader}
-  TARGETS
-  tinyobjloader
-  EXCLUDE_FROM_ALL
-)
-if(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
-  unset(CMAKE_POLICY_VERSION_MINIMUM)
-  unset(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
-endif()
-
-# build ccd in single precision when MuJoCo is built with mjUSESINGLE
-if(CMAKE_C_FLAGS MATCHES "mjUSESINGLE")
-  set(ENABLE_DOUBLE_PRECISION OFF)
-else()
-  set(ENABLE_DOUBLE_PRECISION ON)
-endif()
-set(CCD_HIDE_ALL_SYMBOLS ON)
-
-# Patch changes in https://github.com/danfis/libccd/pull/83.patch
-set(CCD_PATCH_COMMAND
-  git --git-dir=. -c core.autocrlf=false -c core.whitespace=cr-at-eol apply --verbose --whitespace=fix --ignore-space-change ${mujoco_SOURCE_DIR}/cmake/ccd-support-emscripten.patch
-)
-
-# update cmake_minimum_required version for compatibility with newer version of cmake
-if(NOT DEFINED CMAKE_POLICY_VERSION_MINIMUM)
-  set(CMAKE_POLICY_VERSION_MINIMUM ${MUJOCO_CMAKE_MIN_REQ})
-  set(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED ON)
-endif()
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  OFF
-  PACKAGE_NAME
-  ccd
-  LIBRARY_NAME
-  ccd
-  GIT_REPO
-  https://github.com/danfis/libccd.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_ccd}
-  TARGETS
-  ccd
-  EXCLUDE_FROM_ALL
-  PATCH_COMMAND ${CCD_PATCH_COMMAND}
-)
-if(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
-  unset(CMAKE_POLICY_VERSION_MINIMUM)
-  unset(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
-endif()
-target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-
-# libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
-# TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
-if(WIN32)
-  if(MSVC)
-    # C4005 is the MSVC equivalent of -Wmacro-redefined.
-    target_compile_options(ccd PRIVATE /wd4005)
-  else()
-    target_compile_options(ccd PRIVATE -Wno-macro-redefined)
-  endif()
-endif()
-
-if(DEFINED BUILD_TESTS)
-  set(_OLD_BUILD_TESTS "${BUILD_TESTS}")
-  set(_BUILD_TESTS_WAS_DEFINED TRUE)
-else()
-  set(_BUILD_TESTS_WAS_DEFINED FALSE)
-endif()
-set(BUILD_TESTS OFF)
-fetchpackage(
-  PACKAGE_NAME  miniz
-  GIT_REPO      https://github.com/richgel999/miniz.git
-  GIT_TAG       ${MUJOCO_DEP_VERSION_miniz}
-  TARGETS       miniz
-)
-if(_BUILD_TESTS_WAS_DEFINED)
-  set(BUILD_TESTS "${_OLD_BUILD_TESTS}")
-else()
-  unset(BUILD_TESTS)
-endif()
-unset(_BUILD_TESTS_WAS_DEFINED)
-
-
-if(MUJOCO_BUILD_TESTS OR MUJOCO_BUILD_STUDIO OR MUJOCO_USE_FILAMENT)
-  set(ABSL_PROPAGATE_CXX_STD ON)
-
-  # This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING
-  set(BUILD_TESTING_OLD ${BUILD_TESTING})
-  set(BUILD_TESTING
-      OFF
-      CACHE INTERNAL "Build tests."
-  )
-
-  set(ABSL_PATCH_COMMAND
-    git --git-dir=. -c core.autocrlf=false -c core.whitespace=cr-at-eol apply --verbose --whitespace=fix --ignore-space-change ${mujoco_SOURCE_DIR}/cmake/abseil-cpp-source_location.patch
-  )
-  set(ABSL_BUILD_TESTING OFF)
-  findorfetch(
-    USE_SYSTEM_PACKAGE
-    OFF
-    PACKAGE_NAME
-    absl
-    LIBRARY_NAME
-    abseil-cpp
-    GIT_REPO
-    https://github.com/abseil/abseil-cpp.git
-    GIT_TAG
-    ${MUJOCO_DEP_VERSION_abseil}
-    TARGETS
-    absl::core_headers
-    EXCLUDE_FROM_ALL
-    PATCH_COMMAND
-    ${ABSL_PATCH_COMMAND}
-  )
-
-  set(BUILD_TESTING
-      ${BUILD_TESTING_OLD}
-      CACHE BOOL "Build tests." FORCE
-  )
-endif()
-
-if(MUJOCO_BUILD_TESTS)
-
-  # Avoid linking errors on Windows by dynamically linking to the C runtime.
-  set(gtest_force_shared_crt
-      ON
-      CACHE BOOL "" FORCE
-  )
-
-  findorfetch(
-    USE_SYSTEM_PACKAGE
-    OFF
-    PACKAGE_NAME
-    GTest
-    LIBRARY_NAME
-    googletest
-    GIT_REPO
-    https://github.com/google/googletest.git
-    GIT_TAG
-    ${MUJOCO_DEP_VERSION_gtest}
-    TARGETS
-    gtest
-    gmock
-    gtest_main
-    EXCLUDE_FROM_ALL
-  )
-
-  set(BENCHMARK_EXTRA_FETCH_ARGS "")
-  if(WIN32 AND NOT MSVC)
-    set(BENCHMARK_EXTRA_FETCH_ARGS
-        PATCH_COMMAND
-        "sed"
-        "-i"
-        "-e"
-        "s/-Wformat=2/-Wformat/g"
-        "${CMAKE_BINARY_DIR}/_deps/benchmark-src/CMakeLists.txt"
-    )
-  endif()
-
-  set(BENCHMARK_ENABLE_TESTING OFF)
-
-  findorfetch(
-    USE_SYSTEM_PACKAGE
-    OFF
-    PACKAGE_NAME
-    benchmark
-    LIBRARY_NAME
-    benchmark
-    GIT_REPO
-    https://github.com/google/benchmark.git
-    GIT_TAG
-    ${MUJOCO_DEP_VERSION_benchmark}
-    TARGETS
-    benchmark::benchmark
-    benchmark::benchmark_main
-    ${BENCHMARK_EXTRA_FETCH_ARGS}
-    EXCLUDE_FROM_ALL
-  )
-endif()
-
-if(MUJOCO_TEST_PYTHON_UTIL)
-  add_compile_definitions(EIGEN_MPL2_ONLY)
-  if(NOT TARGET eigen)
-    # Support new IN_LIST if() operator.
-    set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
-
-    FetchContent_Declare(
-      Eigen3
-      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
-      GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
-    )
-
-    FetchContent_GetProperties(Eigen3)
-    if(NOT Eigen3_POPULATED)
-      FetchContent_Populate(Eigen3)
-
-      # Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
-      add_library(Eigen3::Eigen INTERFACE IMPORTED)
-      set_target_properties(
-        Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
-      )
-    endif()
-  endif()
-endif()
-
-# Reset BUILD_SHARED_LIBS to its previous value
-set(BUILD_SHARED_LIBS
-    ${BUILD_SHARED_LIBS_OLD}
-    CACHE BOOL "Build MuJoCo as a shared library" FORCE
-)
diff --git a/cmake/MujocoHarden.cmake b/cmake/MujocoHarden.cmake
deleted file mode 100644
index 7beb88fe..00000000
--- a/cmake/MujocoHarden.cmake
+++ /dev/null
@@ -1,35 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-option(MUJOCO_HARDEN "Enable build hardening for MuJoCo." OFF)
-if(MUJOCO_HARDEN
-   AND NOT
-       CMAKE_CXX_COMPILER_ID
-       MATCHES
-       ".*Clang.*"
-)
-  message(FATAL_ERROR "MUJOCO_HARDEN is only supported when building with Clang")
-endif()
-
-if(MUJOCO_HARDEN)
-  set(MUJOCO_HARDEN_COMPILE_OPTIONS -D_FORTIFY_SOURCE=2 -fstack-protector)
-  if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-    set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-bind_at_load)
-  elseif(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
-    set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-z,relro -Wl,-z,now)
-  endif()
-else()
-  set(MUJOCO_HARDEN_COMPILE_OPTIONS "")
-  set(MUJOCO_HARDEN_LINK_OPTIONS "")
-endif()
diff --git a/cmake/MujocoLinkOptions.cmake b/cmake/MujocoLinkOptions.cmake
deleted file mode 100644
index 4bed36c2..00000000
--- a/cmake/MujocoLinkOptions.cmake
+++ /dev/null
@@ -1,64 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(CheckCSourceCompiles)
-
-# Gets the appropriate linker options for building MuJoCo, based on features available on the
-# linker.
-function(get_mujoco_extra_link_options OUTPUT_VAR)
-  if(MSVC)
-    set(EXTRA_LINK_OPTIONS /OPT:REF /OPT:ICF=5 /STACK:16777216)
-  else()
-    set(EXTRA_LINK_OPTIONS)
-
-    if(WIN32)
-      set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD_LINK)
-      if(SUPPORTS_LLD_LINK)
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld-link -Wl,/STACK:16777216 -Wl,/OPT:REF -Wl,/OPT:ICF)
-      else()
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--stack,16777216)
-      endif()
-    else()
-      set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD)
-      if(SUPPORTS_LLD)
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld)
-      else()
-        set(CMAKE_REQUIRED_FLAGS "-fuse-ld=gold")
-        check_c_source_compiles("int main() {}" SUPPORTS_GOLD)
-        if(SUPPORTS_GOLD)
-          set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=gold)
-        endif()
-      endif()
-
-      set(CMAKE_REQUIRED_FLAGS "${EXTRA_LINK_OPTIONS} -Wl,--gc-sections")
-      check_c_source_compiles("int main() {}" SUPPORTS_GC_SECTIONS)
-      if(SUPPORTS_GC_SECTIONS)
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--gc-sections)
-      else()
-        set(CMAKE_REQUIRED_FLAGS "${EXTRA_LINK_OPTIONS} -Wl,-dead_strip")
-        check_c_source_compiles("int main() {}" SUPPORTS_DEAD_STRIP)
-        if(SUPPORTS_DEAD_STRIP)
-          set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,-dead_strip)
-        endif()
-      endif()
-    endif()
-  endif()
-
-  set("${OUTPUT_VAR}"
-      ${EXTRA_LINK_OPTIONS}
-      PARENT_SCOPE
-  )
-endfunction()
diff --git a/cmake/MujocoMacOS.cmake b/cmake/MujocoMacOS.cmake
deleted file mode 100644
index 8ff7cd30..00000000
--- a/cmake/MujocoMacOS.cmake
+++ /dev/null
@@ -1,41 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-if(APPLE)
-  # Target the oldest version of macOS that is still supported by Apple.
-  # We follow https://endoflife.date/macos, which considers a version to become
-  # unsupported the first time it is excluded from a macOS security update
-  # (e.g. https://github.com/endoflife-date/endoflife.date/issues/1602).
-  set(MUJOCO_MACOSX_VERSION_MIN 11)
-
-  # We are setting the -mmacosx-version-min compiler flag directly rather than using the
-  # CMAKE_OSX_DEPLOYMENT_TARGET variable since we do not want to affect choice of SDK,
-  # and also we only want to apply the version restriction locally.
-  set(MUJOCO_MACOS_COMPILE_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN}
-                                   -Werror=partial-availability -Werror=unguarded-availability
-  )
-  set(MUJOCO_MACOS_LINK_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN}
-                                -Wl,-no_weak_imports
-  )
-else()
-  set(MUJOCO_MACOS_COMPILE_OPTIONS "")
-  set(MUJOCO_MACOS_LINK_OPTIONS "")
-endif()
-
-function(enforce_mujoco_macosx_min_version)
-  if(APPLE)
-    add_compile_options(${MUJOCO_MACOS_COMPILE_OPTIONS})
-    add_link_options(${MUJOCO_MACOS_LINK_OPTIONS})
-  endif()
-endfunction()
diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
deleted file mode 100644
index 74bf25bb..00000000
--- a/cmake/MujocoOptions.cmake
+++ /dev/null
@@ -1,129 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Global compilation settings
-set(CMAKE_C_STANDARD 11)
-set(CMAKE_C_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_STANDARD 20)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-if(EMSCRIPTEN)
-  set(CMAKE_C_EXTENSIONS ON)
-else()
-  set(CMAKE_C_EXTENSIONS OFF)
-endif()
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # For LLVM tooling
-
-if(NOT CMAKE_CONFIGURATION_TYPES)
-  if(NOT CMAKE_BUILD_TYPE)
-    message(STATUS "Setting build type to 'Release' as none was specified.")
-    set(CMAKE_BUILD_TYPE
-        "Release"
-        CACHE STRING "Choose the type of build, recommanded options are: Debug or Release" FORCE
-    )
-  endif()
-  set(BUILD_TYPES
-      "Debug"
-      "Release"
-      "MinSizeRel"
-      "RelWithDebInfo"
-  )
-  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${BUILD_TYPES})
-endif()
-
-include(GNUInstallDirs)
-
-# Change the default output directory in the build structure. This is not stricly needed, but helps
-# running in Windows, such that all built executables have DLLs in the same folder as the .exe
-# files.
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
-
-set(OpenGL_GL_PREFERENCE GLVND)
-
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-set(CMAKE_C_VISIBILITY_PRESET hidden)
-set(CMAKE_CXX_VISIBILITY_PRESET hidden)
-set(CMAKE_VISIBILITY_INLINES_HIDDEN ON)
-
-if(MSVC)
-  add_compile_options(/Gy /Gw /Oi)
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-fdata-sections -ffunction-sections)
-endif()
-
-# We default to shared library.
-set(BUILD_SHARED_LIBS
-    ON
-    CACHE BOOL "Build Mujoco as shared library."
-)
-
-option(MUJOCO_ENABLE_AVX "Build binaries that require AVX instructions, if possible." ON)
-option(MUJOCO_ENABLE_AVX_INTRINSICS "Make use of hand-written AVX intrinsics, if possible." ON)
-option(MUJOCO_ENABLE_RPATH "Enable RPath support when installing Mujoco." ON)
-mark_as_advanced(MUJOCO_ENABLE_RPATH)
-
-if(MUJOCO_ENABLE_AVX)
-  include(CheckAvxSupport)
-  get_avx_compile_options(AVX_COMPILE_OPTIONS)
-else()
-  set(AVX_COMPILE_OPTIONS)
-endif()
-
-option(MUJOCO_BUILD_MACOS_FRAMEWORKS "Build libraries as macOS Frameworks" OFF)
-
-# Get some extra link options.
-include(MujocoLinkOptions)
-get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
-
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
-  set(EXTRA_COMPILE_OPTIONS
-      -Werror
-      -Wall
-      -Wpedantic
-      -Wimplicit-fallthrough
-      -Wunused
-      -Wvla
-      -Wno-int-in-bool-context
-      -Wno-sign-compare
-      -Wno-unknown-pragmas
-  )
-  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
-    set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5
-                              -Wno-maybe-uninitialized
-    )
-  endif()
-endif()
-
-# Provide a user-facing option to control Link-Time Optimization (LTO/IPO).
-# When ON (the default), LTO is enabled for non-Debug builds unless the caller
-# has already set CMAKE_INTERPROCEDURAL_OPTIMIZATION explicitly.
-# Users can disable LTO entirely with -DMUJOCO_ENABLE_LTO=OFF.
-option(MUJOCO_ENABLE_LTO "Enable Link-Time Optimization (LTO) for non-Debug builds." ON)
-
-if(MUJOCO_ENABLE_LTO)
-  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
-  endif()
-endif()
-
-include(MujocoHarden)
-set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
-set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
-
-if(WIN32)
-  add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE)
-endif()
diff --git a/cmake/ShellTests.cmake b/cmake/ShellTests.cmake
deleted file mode 100644
index b26b1658..00000000
--- a/cmake/ShellTests.cmake
+++ /dev/null
@@ -1,52 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-function(add_mujoco_shell_test TEST_NAME TARGET_BINARY)
-  find_program(BASH_PROGRAM bash)
-  if(BASH_PROGRAM)
-    # Set up the test directory
-    set(TEST_TMPDIR "${CMAKE_CURRENT_BINARY_DIR}/${TEST_NAME}")
-    add_test(NAME ${TEST_NAME}_setup
-             COMMAND ${BASH_PROGRAM} "${PROJECT_SOURCE_DIR}/cmake/setup_test_dir.sh" ${TEST_TMPDIR}
-    )
-    set_tests_properties(${TEST_NAME}_setup PROPERTIES FIXTURES_SETUP ${TEST_NAME}_fixture)
-    add_test(NAME ${TEST_NAME}_cleanup
-             COMMAND ${BASH_PROGRAM} "${PROJECT_SOURCE_DIR}/cmake/cleanup_test_dir.sh"
-                     ${TEST_TMPDIR}
-    )
-    set_tests_properties(${TEST_NAME}_cleanup PROPERTIES FIXTURES_CLEANUP ${TEST_NAME}_fixture)
-    add_test(
-      NAME ${TEST_NAME}
-      COMMAND ${BASH_PROGRAM} "${CMAKE_CURRENT_SOURCE_DIR}/${TEST_NAME}.sh"
-      WORKING_DIRECTORY $<TARGET_FILE_DIR:${TARGET_BINARY}>
-    )
-    set_tests_properties(${TEST_NAME} PROPERTIES FIXTURES_REQUIRED ${TEST_NAME}_fixture)
-    set_property(
-      TEST "${TEST_NAME}"
-      PROPERTY ENVIRONMENT
-               "CMAKE_SOURCE_DIR=${CMAKE_SOURCE_DIR}"
-               "TARGET_BINARY=$<TARGET_FILE:${TARGET_BINARY}>"
-               "TEST_TMPDIR=${TEST_TMPDIR}"
-    )
-    if(WIN32)
-      # Define the directory containing the mujoco DLL library so that it can be added to the PATH.
-      # We modify the PATH in the script as it is more reliable.
-      set_property(
-        TEST "${TEST_NAME}"
-        APPEND
-        PROPERTY ENVIRONMENT "MUJOCO_DLL_DIR=$<TARGET_FILE_DIR:mujoco>"
-      )
-    endif()
-  endif()
-endfunction()
diff --git a/cmake/TargetAddRpath.cmake b/cmake/TargetAddRpath.cmake
deleted file mode 100644
index 5fabdc36..00000000
--- a/cmake/TargetAddRpath.cmake
+++ /dev/null
@@ -1,194 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-#[=======================================================================[.rst:
-TargetAddRpath
-----------------------
-
-Add support to RPATH for the specified targets
-
-.. command:: target_add_rpath
-
-  Add support to RPATH for the specified targets::
-
-.. code-block:: cmake
-    target_add_rpath(target1 target2 ...
-                     INSTALL_DIRECTORY install_directory
-                     LIB_DIRS dir1 dir2 ...
-                     [INSTALL_NAME_DIR [dir]]
-                     [DEPENDS condition [condition]]
-                     [USE_LINK_PATH])
-
-  This function setups the RPATH paths for the specified targets. The use of
-  RPATH allows to avoid using the (dangerous) environment variable
-  ``LD_LIBRARY_PATH`` (or equivalent on macOS) when installing  without absolute
-  paths.
-  By using RPATH the installation can be relocated as the linker will look for
-  (some of) the dependencies at run time.
-
-  The function has the following parameters:
-
-  Options:
-   - ``USE_LINK_PATH``: if defined, the function will set
-     ``INSTALL_RPATH_USE_LINK_PATH`` on all the specified targets, i.e. CMake
-      will automatically adds to the RPATH the path to all the dependent
-      libraries defined outside this project.
-
-  Arguments:
-   - ``INSTALL_DIRECTORY`` The directory where the specified targets will be
-     installed.
-   - ``LIB_DIRS`` list of directories to be added a search path to the RPATH.
-     Note that the relative path between ``INSTALL_DIRECTORY`` and these
-     directories will be added to the RPATH.
-   - ``INSTALL_NAME_DIR`` directory where the libraries will be installed.
-     This variable will be used only if ``CMAKE_SKIP_RPATH`` or
-     ``CMAKE_SKIP_INSTALL_RPATH`` is set to ``TRUE`` as it will set the
-     ``INSTALL_NAME_DIR`` on all targets.
-   - ``DEPENDS`` list of conditions that should be ``TRUE`` to enable
-     RPATH, for example ``FOO; NOT BAR``.
-
-  Note: see https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/RPATH-handling
-  and  https://gitlab.kitware.com/cmake/cmake/issues/16589 for further details.
-
-#]=======================================================================]
-
-if(COMMAND target_add_rpath)
-  return()
-endif()
-
-function(_get_system_dirs _output_var)
-  set(${_output_var}
-      ${CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES}
-      PARENT_SCOPE
-  )
-endfunction()
-
-function(
-  _get_rpath_relative_path
-  _output_var
-  _bin_dir
-  _lib_dir
-)
-  get_filename_component(_bin_dir_abs "${_bin_dir}" ABSOLUTE BASE_DIR "${CMAKE_BINARY_DIR}")
-  get_filename_component(_lib_dir_abs "${_lib_dir}" ABSOLUTE BASE_DIR "${CMAKE_BINARY_DIR}")
-  file(
-    RELATIVE_PATH
-    _rel_path
-    ${_bin_dir_abs}
-    ${_lib_dir_abs}
-  )
-  if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-    set(${_output_var}
-        "@loader_path/${_rel_path}"
-        PARENT_SCOPE
-    )
-  else()
-    set(${_output_var}
-        "\$ORIGIN/${_rel_path}"
-        PARENT_SCOPE
-    )
-  endif()
-endfunction()
-
-function(target_add_rpath)
-  if(WIN32)
-    return()
-  endif()
-  set(_options USE_LINK_PATH)
-  set(_oneValueArgs INSTALL_NAME_DIR INSTALL_DIRECTORY)
-  set(_multiValueArgs TARGETS LIB_DIRS DEPENDS)
-
-  cmake_parse_arguments(
-    _ARGS
-    "${_options}"
-    "${_oneValueArgs}"
-    "${_multiValueArgs}"
-    "${ARGN}"
-  )
-
-  # Handle Apple-specific installation directory. Note that this disable proper RPATH.
-  if(CMAKE_SKIP_RPATH OR CMAKE_SKIP_INSTALL_RPATH)
-    if(DEFINED _ARGS_INSTALL_NAME_DIR)
-      set_target_properties(${_ARGS_TARGETS} PROPERTIES INSTALL_NAME_DIR ${_ARGS_INSTALL_NAME_DIR})
-    endif()
-  endif()
-
-  # If RPATH is disabled, do nothing and return.
-  if(CMAKE_SKIP_RPATH OR (CMAKE_SKIP_INSTALL_RPATH AND CMAKE_SKIP_BUILD_RPATH))
-    return()
-  endif()
-
-  # Check if the user requested RPATH for the specified targets.
-  set(_enable_rpath ON)
-  if(DEFINED _ARGS_DEPENDS)
-    foreach(_cond ${_ARGS_DEPENDS})
-      string(
-        REGEX
-        REPLACE " +"
-                ";"
-                _cond
-                "${_cond}"
-      )
-      if(NOT (${_cond}))
-        set(_enable_rpath OFF)
-      endif()
-    endforeach()
-  endif()
-
-  if(NOT _enable_rpath)
-    return()
-  endif()
-
-  # Now enable RPATH for the specified targets.
-  _get_system_dirs(_system_dirs)
-
-  # We do this per target to preserve the original rpath setting.
-  foreach(_target ${_ARGS_TARGETS})
-    get_target_property(_install_rpath ${_target} INSTALL_RPATH)
-
-    foreach(_lib_dir ${_ARGS_LIB_DIRS})
-      # Check if the specified library path is a system directory. These are always searched so we do
-      # not need to include them in the RPATH.
-      list(
-        FIND
-        _system_dirs
-        "${_lib_dir}"
-        is_system_dir
-      )
-      if("${is_system_dir}" STREQUAL "-1")
-
-        _get_rpath_relative_path(_bin_lib_rel_path ${_ARGS_INSTALL_DIRECTORY} ${_lib_dir})
-        list(APPEND _install_rpath ${_bin_lib_rel_path})
-
-      endif()
-    endforeach()
-
-    if(NOT
-       "${_install_rpath}"
-       STREQUAL
-       ""
-    )
-      list(REMOVE_DUPLICATES _install_rpath)
-    endif()
-
-    set_target_properties(
-      ${_target}
-      PROPERTIES INSTALL_RPATH "${_install_rpath}"
-                 INSTALL_RPATH_USE_LINK_PATH ${_ARGS_USE_LINK_PATH}
-                 BUILD_WITH_INSTALL_RPATH TRUE
-                 MACOSX_RPATH ON # This is ON by default.
-    )
-  endforeach()
-
-endfunction()
diff --git a/cmake/abseil-cpp-source_location.patch b/cmake/abseil-cpp-source_location.patch
deleted file mode 100644
index 821a6539..00000000
--- a/cmake/abseil-cpp-source_location.patch
+++ /dev/null
@@ -1,23 +0,0 @@
-diff --git a/absl/base/options.h b/absl/base/options.h
---- a/absl/base/options.h
-+++ b/absl/base/options.h
-@@ -99,6 +99,6 @@
- // the source location type is an alias of std::source_location type, use the
- // feature macro ABSL_USES_STD_SOURCE_LOCATION.
- //
--#define ABSL_OPTION_USE_STD_SOURCE_LOCATION 2
-+#define ABSL_OPTION_USE_STD_SOURCE_LOCATION 0
- 
- // ABSL_OPTION_USE_STD_ORDERING
-diff --git a/absl/base/config.h b/absl/base/config.h
---- a/absl/base/config.h
-+++ b/absl/base/config.h
-@@ -543,5 +543,7 @@
- #ifdef __has_include
- #if __has_include(<source_location>)
--#define ABSL_HAVE_STD_SOURCE_LOCATION 1
-+#if !defined(__clang__) || ABSL_HAVE_BUILTIN(__builtin_source_location)
-+#define ABSL_HAVE_STD_SOURCE_LOCATION 1
-+#endif
- #endif
- #else
diff --git a/cmake/ccd-support-emscripten.patch b/cmake/ccd-support-emscripten.patch
deleted file mode 100644
index 11568264..00000000
--- a/cmake/ccd-support-emscripten.patch
+++ /dev/null
@@ -1,22 +0,0 @@
-diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
-index 1407080..b4dea44 100644
---- a/src/CMakeLists.txt
-+++ b/src/CMakeLists.txt
-@@ -49,9 +49,14 @@ target_include_directories(ccd PUBLIC
-   $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
- 
- if(NOT WIN32)
--  find_library(LIBM_LIBRARY NAMES m)
--  if(NOT LIBM_LIBRARY)
--    message(FATAL_ERROR "Could NOT find required library LibM")
-+  if (EMSCRIPTEN)
-+    set(LIBM_LIBRARY "-lm")
-+    message("Subtitute LibM with emscripten -lm")
-+  else()
-+    find_library(LIBM_LIBRARY NAMES m)
-+    if(NOT LIBM_LIBRARY)
-+      message(FATAL_ERROR "Could NOT find required library LibM")
-+    endif()
-   endif()
-   target_link_libraries(ccd "${LIBM_LIBRARY}")
-   if(BUILD_SHARED_LIBS)
diff --git a/cmake/cleanup_test_dir.sh b/cmake/cleanup_test_dir.sh
deleted file mode 100755
index ed333b31..00000000
--- a/cmake/cleanup_test_dir.sh
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/bin/bash
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-if [ -z "$1" ]; then
-  echo "Expecting an output directory. Got none." 1>&2
-  exit 1
-fi
-
-rm -rf "$1"
diff --git a/cmake/filament-allow-clang-windows.patch b/cmake/filament-allow-clang-windows.patch
deleted file mode 100644
index fda7a48c..00000000
--- a/cmake/filament-allow-clang-windows.patch
+++ /dev/null
@@ -1,543 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 016e5ec5d..d2a6aae37 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -11,12 +11,7 @@ cmake_minimum_required(VERSION 3.22.1)
- # Unsupported environment
- # ==================================================================================================
- 
--# Filament does not support MSYS2-based environment on Windows. See issue #9968.
--if(DEFINED ENV{MSYSTEM})
--    message(FATAL_ERROR
--        "MSYS2 Subsystem detected($ENV{MSYSTEM}). "
--        "Filament does not support MSYS2-based environment on Windows.")
--endif()
-+
- 
- # ==================================================================================================
- # Toolchain configuration
-@@ -264,57 +259,59 @@ if (WIN32)
-     # __declspec(dllexport) in front of each functions).
-     set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
- 
--    # The CMAKE_CXX_FLAGS vars can be overriden by some Visual Studio generators, so we use an alternative
--    # global method here:
--    if (${USE_STATIC_CRT})
--        add_compile_options(
--            $<$<CONFIG:>:/MT>
--            $<$<CONFIG:Debug>:/MTd>
--            $<$<CONFIG:Release>:/MT>
--        )
--    else()
--        add_compile_options(
--            $<$<CONFIG:>:/MD>
--            $<$<CONFIG:Debug>:/MDd>
--            $<$<CONFIG:Release>:/MD>
--        )
--    endif()
--
--    # TODO: Figure out why pdb generation messes with incremental compilaton.
--    # IN RELEASE_WITH_DEBUG_INFO, generate debug info in .obj, no in pdb.
--    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} /Z7")
--    set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELWITHDEBINFO} /Z7")
--
--    # In RELEASE, also generate PDBs.
--    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /Zi")
--    set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} /Zi")
--
--    # In DEBUG, avoid generating a PDB file which seems to mess with incremental compilation.
--    # Instead generate debug info directly inside obj files.
--    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /Z7")
--    set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} /Z7")
--
--    # Special settings when building on CI.
--    if (${FILAMENT_WINDOWS_CI_BUILD})
--        set(LinkerFlags
--            CMAKE_SHARED_LINKER_FLAGS_DEBUG
--            CMAKE_EXE_LINKER_FLAGS_DEBUG
--            CMAKE_MODULE_LINKER_FLAGS_DEBUG
-+    if (MSVC)
-+        # The CMAKE_CXX_FLAGS vars can be overriden by some Visual Studio generators, so we use an alternative
-+        # global method here:
-+        if (${USE_STATIC_CRT})
-+            add_compile_options(
-+                $<$<CONFIG:>:/MT>
-+                $<$<CONFIG:Debug>:/MTd>
-+                $<$<CONFIG:Release>:/MT>
-             )
--        foreach(LinkerFlag ${LinkerFlags})
--            # The /debug flag outputs .pdb files, which we don't need on CI.
--            string(REPLACE "/debug" "" ${LinkerFlag} ${${LinkerFlag}})
--
--            # The /INCREMENTAL flag outputs .ilk files for incremental linking. These are huge, and
--            # we don't need them on CI.
--            string(REPLACE "/INCREMENTAL" "/INCREMENTAL:NO" ${LinkerFlag} ${${LinkerFlag}})
--        endforeach()
--
--        # We turn off compile-time optimizations for CI, as options that speed up the compile-time
--        # (e.g. /MP) might increase memory usage, leading to instabilities on limited CI machines.
--        option(FILAMENT_SHORTEN_MSVC_COMPILATION "Shorten compile-time in Visual Studio" OFF)
--    else()
--        option(FILAMENT_SHORTEN_MSVC_COMPILATION "Shorten compile-time in Visual Studio" ON)
-+        else()
-+            add_compile_options(
-+                $<$<CONFIG:>:/MD>
-+                $<$<CONFIG:Debug>:/MDd>
-+                $<$<CONFIG:Release>:/MD>
-+            )
-+        endif()
-+
-+        # TODO: Figure out why pdb generation messes with incremental compilaton.
-+        # IN RELEASE_WITH_DEBUG_INFO, generate debug info in .obj, no in pdb.
-+        set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} /Z7")
-+        set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELWITHDEBINFO} /Z7")
-+
-+        # In RELEASE, also generate PDBs.
-+        set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /Zi")
-+        set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} /Zi")
-+
-+        # In DEBUG, avoid generating a PDB file which seems to mess with incremental compilation.
-+        # Instead generate debug info directly inside obj files.
-+        set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /Z7")
-+        set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} /Z7")
-+
-+        # Special settings when building on CI.
-+        if (${FILAMENT_WINDOWS_CI_BUILD})
-+            set(LinkerFlags
-+                CMAKE_SHARED_LINKER_FLAGS_DEBUG
-+                CMAKE_EXE_LINKER_FLAGS_DEBUG
-+                CMAKE_MODULE_LINKER_FLAGS_DEBUG
-+                )
-+            foreach(LinkerFlag ${LinkerFlags})
-+                # The /debug flag outputs .pdb files, which we don't need on CI.
-+                string(REPLACE "/debug" "" ${LinkerFlag} ${${LinkerFlag}})
-+
-+                # The /INCREMENTAL flag outputs .ilk files for incremental linking. These are huge, and
-+                # we don't need them on CI.
-+                string(REPLACE "/INCREMENTAL" "/INCREMENTAL:NO" ${LinkerFlag} ${${LinkerFlag}})
-+            endforeach()
-+
-+            # We turn off compile-time optimizations for CI, as options that speed up the compile-time
-+            # (e.g. /MP) might increase memory usage, leading to instabilities on limited CI machines.
-+            option(FILAMENT_SHORTEN_MSVC_COMPILATION "Shorten compile-time in Visual Studio" OFF)
-+        else()
-+            option(FILAMENT_SHORTEN_MSVC_COMPILATION "Shorten compile-time in Visual Studio" ON)
-+        endif()
-     endif()
- 
-     if (MSVC)
-@@ -361,7 +358,7 @@ endif()
- # Detect use of the clang-cl.exe frontend, which does not support all of clangs normal options
- if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-     if ("${CMAKE_CXX_SIMULATE_ID}" STREQUAL "MSVC")
--        message(FATAL_ERROR "Building with Clang on Windows is no longer supported. Use MSVC 2019 instead.")
-+        message(WARNING "Building with Clang on Windows is experimental (re-enabled by patch).")
-     endif()
- endif()
- 
-@@ -393,7 +390,7 @@ if (APPLE AND NOT IOS)
- endif()
- 
- set(CXX_STANDARD "-std=c++20")
--if (WIN32)
-+if (MSVC)
-     set(CXX_STANDARD "/std:c++20")
- endif()
- 
-@@ -787,9 +784,14 @@ function(combine_static_libs TARGET OUTPUT DEPS)
-     endforeach()
- 
-     if (WIN32)
-+        if (MSVC)
-+            set(AR_COMMAND "${CMAKE_AR}" /nologo /out:temp.lib ${DEPS_FILES})
-+        else()
-+            set(AR_COMMAND "${CMAKE_AR}" rcs temp.lib ${DEPS_FILES})
-+        endif()
-         add_custom_command(
-             TARGET ${TARGET} POST_BUILD
--            COMMAND lib.exe /nologo /out:temp.lib ${DEPS_FILES}
-+            COMMAND ${AR_COMMAND}
-             COMMAND "${CMAKE_COMMAND}" -E rename temp.lib ${OUTPUT}
-             COMMENT "Combining ${target} dependencies into single shared library"
-             VERBATIM
-diff --git a/filament/CMakeLists.txt b/filament/CMakeLists.txt
-index c334d0a9f..9f8004e3d 100644
---- a/filament/CMakeLists.txt
-+++ b/filament/CMakeLists.txt
-@@ -808,6 +808,9 @@ else()
-             -Wover-aligned
-             -Werror
-     )
-+    if (WIN32)
-+        list(APPEND FILAMENT_WARNINGS -Wno-error=cast-function-type-mismatch -Wno-error=unused-variable -Wno-error=microsoft-unqualified-friend)
-+    endif()
- endif()
- 
- target_compile_options(${TARGET} PRIVATE
-diff --git a/filament/backend/CMakeLists.txt b/filament/backend/CMakeLists.txt
-index 78c05dd22..4f8c0bf3d 100644
---- a/filament/backend/CMakeLists.txt
-+++ b/filament/backend/CMakeLists.txt
-@@ -525,6 +525,10 @@ else()
-     )
- endif()
- 
-+if (WIN32 AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-+    list(APPEND FILAMENT_WARNINGS -Wno-error=cast-function-type-mismatch -Wno-error=unused-variable -Wno-error=microsoft-unqualified-friend)
-+endif()
-+
- if (APPLE)
-     # Turn on Automatic Reference Counting.
-     target_compile_options(${TARGET} PRIVATE "-fobjc-arc")
-diff --git a/filament/backend/src/CommandStream.cpp b/filament/backend/src/CommandStream.cpp
-index 7146800f6..d7973ffd4 100644
---- a/filament/backend/src/CommandStream.cpp
-+++ b/filament/backend/src/CommandStream.cpp
-@@ -57,7 +57,7 @@ static void printParameterPack(io::ostream& out, const FIRST& first, const REMAI
-     printParameterPack(out, rest...);
- }
- 
--static UTILS_NOINLINE UTILS_UNUSED std::string_view extractMethodName(std::string_view command) noexcept { // NOLINT(*-exception-escape)
-+UTILS_UNUSED static UTILS_NOINLINE std::string_view extractMethodName(std::string_view command) noexcept { // NOLINT(*-exception-escape)
-     constexpr char startPattern[] = "::Command<&filament::backend::Driver::";
-     auto pos = command.rfind(startPattern);
-     auto end = command.rfind('(');
-diff --git a/filament/backend/src/opengl/platforms/PlatformWGL.cpp b/filament/backend/src/opengl/platforms/PlatformWGL.cpp
-index 318430289..8664ea3cf 100644
---- a/filament/backend/src/opengl/platforms/PlatformWGL.cpp
-+++ b/filament/backend/src/opengl/platforms/PlatformWGL.cpp
-@@ -251,7 +251,7 @@ Platform::SwapChain* PlatformWGL::createSwapChain(uint32_t width, uint32_t heigh
-     // WS_POPUP was chosen for the window style here after some experimentation.
-     // For some reason, using other window styles resulted in corrupted pixel buffers when using
-     // readPixels.
--    RECT rect = {0, 0, width, height};
-+    RECT rect = {0, 0, static_cast<LONG>(width), static_cast<LONG>(height)};
-     AdjustWindowRect(&rect, WS_POPUP, FALSE);
-     width = rect.right - rect.left;
-     height = rect.bottom - rect.top;
-diff --git a/libs/ibl/src/CubemapIBL.cpp b/libs/ibl/src/CubemapIBL.cpp
-index 60f83174d..1deb01857 100644
---- a/libs/ibl/src/CubemapIBL.cpp
-+++ b/libs/ibl/src/CubemapIBL.cpp
-@@ -56,7 +56,7 @@ static float3 hemisphereImportanceSampleDggx(float2 u, float a) { // pdf = D(a)
-     return { sinTheta * std::cos(phi), sinTheta * std::sin(phi), cosTheta };
- }
- 
--static float3 UTILS_UNUSED hemisphereCosSample(float2 u) {  // pdf = cosTheta / F_PI;
-+UTILS_UNUSED static float3 hemisphereCosSample(float2 u) {  // pdf = cosTheta / F_PI;
-     const float phi = 2.0f * (float) F_PI * u.x;
-     const float cosTheta2 = 1 - u.y;
-     const float cosTheta = std::sqrt(cosTheta2);
-@@ -64,7 +64,7 @@ static float3 UTILS_UNUSED hemisphereCosSample(float2 u) {  // pdf = cosTheta /
-     return { sinTheta * std::cos(phi), sinTheta * std::sin(phi), cosTheta };
- }
- 
--static float3 UTILS_UNUSED hemisphereUniformSample(float2 u) { // pdf = 1.0 / (2.0 * F_PI);
-+UTILS_UNUSED static float3 hemisphereUniformSample(float2 u) { // pdf = 1.0 / (2.0 * F_PI);
-     const float phi = 2.0f * (float) F_PI * u.x;
-     const float cosTheta = 1 - u.y;
-     const float sinTheta = std::sqrt(1 - cosTheta * cosTheta);
-@@ -128,7 +128,7 @@ static float3 UTILS_UNUSED hemisphereUniformSample(float2 u) { // pdf = 1.0 / (2
-  *  |                                            |
-  *  +--------------------------------------------+
-  */
--static float3 UTILS_UNUSED hemisphereImportanceSampleDCharlie(float2 u, float a) { // pdf = DistributionCharlie() * cosTheta
-+UTILS_UNUSED static float3 hemisphereImportanceSampleDCharlie(float2 u, float a) { // pdf = DistributionCharlie() * cosTheta
-     const float phi = 2.0f * (float) F_PI * u.x;
- 
-     const float sinTheta = std::pow(u.y, a / (2 * a + 1));
-@@ -144,7 +144,7 @@ static float DistributionGGX(float NoH, float linearRoughness) {
-     return (a * a) / ((float) F_PI * f * f);
- }
- 
--static float UTILS_UNUSED DistributionAshikhmin(float NoH, float linearRoughness) {
-+UTILS_UNUSED static float DistributionAshikhmin(float NoH, float linearRoughness) {
-     float a = linearRoughness;
-     float a2 = a * a;
-     float cos2h = NoH * NoH;
-@@ -153,7 +153,7 @@ static float UTILS_UNUSED DistributionAshikhmin(float NoH, float linearRoughness
-     return 1.0f / ((float) F_PI * (1 + 4 * a2)) * (sin4h + 4 * std::exp(-cos2h / (a2 * sin2h)));
- }
- 
--static float UTILS_UNUSED DistributionCharlie(float NoH, float linearRoughness) {
-+UTILS_UNUSED static float DistributionCharlie(float NoH, float linearRoughness) {
-     // Estevez and Kulla 2017, "Production Friendly Microfacet Sheen BRDF"
-     float a = linearRoughness;
-     float invAlpha = 1 / a;
-@@ -176,7 +176,7 @@ static float Visibility(float NoV, float NoL, float a) {
-     return 0.5f / (GGXV + GGXL);
- }
- 
--static float UTILS_UNUSED VisibilityAshikhmin(float NoV, float NoL, float /*a*/) {
-+UTILS_UNUSED static float VisibilityAshikhmin(float NoV, float NoL, float /*a*/) {
-     // Neubelt and Pettineo 2013, "Crafting a Next-gen Material Pipeline for The Order: 1886"
-     return 1 / (4 * (NoL + NoV - NoL * NoV));
- }
-@@ -634,7 +634,7 @@ void CubemapIBL::diffuseIrradiance(JobSystem& js, Cubemap& dst, const std::vecto
- }
- 
- // Not importance-sampled
--static float2 UTILS_UNUSED DFV_NoIS(float NoV, float roughness, size_t numSamples) {
-+UTILS_UNUSED static float2 DFV_NoIS(float NoV, float roughness, size_t numSamples) {
-     float2 r = 0;
-     const float linearRoughness = roughness * roughness;
-     const float3 V(std::sqrt(1 - NoV * NoV), 0, NoV);
-@@ -832,7 +832,7 @@ static float2 DFV_Multiscatter(float NoV, float linearRoughness, size_t numSampl
-     return r * (4.0f / numSamples);
- }
- 
--static float UTILS_UNUSED DFV_LazanyiTerm(float NoV, float linearRoughness, size_t numSamples) {
-+UTILS_UNUSED static float DFV_LazanyiTerm(float NoV, float linearRoughness, size_t numSamples) {
-     float r = 0;
-     const float cosThetaMax = (float) std::cos(81.7 * F_PI / 180.0);
-     const float q = 1.0f / (cosThetaMax * pow6(1.0f - cosThetaMax));
-@@ -958,7 +958,7 @@ static float DFV_Charlie_Uniform(float NoV, float linearRoughness, size_t numSam
-  *  +---------------------------------------+
-  *
-  */
--static float UTILS_UNUSED DFV_Charlie_IS(float NoV, float linearRoughness, size_t numSamples) {
-+UTILS_UNUSED static float DFV_Charlie_IS(float NoV, float linearRoughness, size_t numSamples) {
-     float r = 0.0;
-     const float3 V(std::sqrt(1 - NoV * NoV), 0, NoV);
-     for (size_t i = 0; i < numSamples; i++) {
-diff --git a/libs/ibl/src/CubemapSH.cpp b/libs/ibl/src/CubemapSH.cpp
-index 5d22cb804..f8adccc71 100644
---- a/libs/ibl/src/CubemapSH.cpp
-+++ b/libs/ibl/src/CubemapSH.cpp
-@@ -685,7 +685,7 @@ void CubemapSH::renderPreScaledSH3Bands(JobSystem& js,
- // Only used for debugging
- // -----------------------------------------------------------------------------------------------
- 
--float UTILS_UNUSED CubemapSH::Legendre(ssize_t l, ssize_t m, float x) {
-+UTILS_UNUSED float CubemapSH::Legendre(ssize_t l, ssize_t m, float x) {
-     // evaluate an Associated Legendre Polynomial P(l,m,x) at x
-     float pmm = 1.0;
-     if (m > 0) {
-@@ -711,7 +711,7 @@ float UTILS_UNUSED CubemapSH::Legendre(ssize_t l, ssize_t m, float x) {
- }
- 
- // Only used for debugging
--float UTILS_UNUSED CubemapSH::TSH(int l, int m, const float3& d) {
-+UTILS_UNUSED float CubemapSH::TSH(int l, int m, const float3& d) {
-     if (l==0 && m==0) {
-         return 1 / (2*sqrt(F_PI));
-     } else if (l==1 && m==-1) {
-@@ -734,7 +734,7 @@ float UTILS_UNUSED CubemapSH::TSH(int l, int m, const float3& d) {
-     return 0;
- }
- 
--void UTILS_UNUSED CubemapSH::printShBase(std::ostream& out, int l, int m) {
-+UTILS_UNUSED void CubemapSH::printShBase(std::ostream& out, int l, int m) {
-     if (l<3 && std::abs(m) <= l) {
-         const char* d = nullptr;
-         float c = 0;
-diff --git a/libs/imageio/src/ImageEncoder.cpp b/libs/imageio/src/ImageEncoder.cpp
-index 9f83c6c62..6593581e3 100644
---- a/libs/imageio/src/ImageEncoder.cpp
-+++ b/libs/imageio/src/ImageEncoder.cpp
-@@ -867,39 +867,39 @@ const uint32_t DDS_FOURCC_DX10 = 0x30315844; // "DX10"
- 
- #pragma pack(push, 1)
- struct DDS_PIXELFORMAT {
--    uint32_t UTILS_UNUSED dwSize;
-+    UTILS_UNUSED uint32_t dwSize;
-     uint32_t              dwFlags;
--    uint32_t UTILS_UNUSED dwFourCC;
--    uint32_t UTILS_UNUSED dwRGBBitCount;
--    uint32_t UTILS_UNUSED dwRBitMask;
--    uint32_t UTILS_UNUSED dwGBitMask;
--    uint32_t UTILS_UNUSED dwBBitMask;
--    uint32_t UTILS_UNUSED dwABitMask;
-+    UTILS_UNUSED uint32_t dwFourCC;
-+    UTILS_UNUSED uint32_t dwRGBBitCount;
-+    UTILS_UNUSED uint32_t dwRBitMask;
-+    UTILS_UNUSED uint32_t dwGBitMask;
-+    UTILS_UNUSED uint32_t dwBBitMask;
-+    UTILS_UNUSED uint32_t dwABitMask;
- };
- 
- struct DDS_HEADER {
--    uint32_t        UTILS_UNUSED dwSize;
-+    UTILS_UNUSED uint32_t dwSize;
-     uint32_t                     dwFlags;
--    uint32_t        UTILS_UNUSED dwHeight;
--    uint32_t        UTILS_UNUSED dwWidth;
--    uint32_t        UTILS_UNUSED dwPitchOrLinearSize;
--    uint32_t        UTILS_UNUSED dwDepth;
--    uint32_t        UTILS_UNUSED dwMipMapCount;
--    uint32_t        UTILS_UNUSED dwReserved1[11];
--    DDS_PIXELFORMAT UTILS_UNUSED ddspf;
--    uint32_t        UTILS_UNUSED dwCaps;
--    uint32_t        UTILS_UNUSED dwCaps2;
--    uint32_t        UTILS_UNUSED dwCaps3;
--    uint32_t        UTILS_UNUSED dwCaps4;
--    uint32_t        UTILS_UNUSED dwReserved2;
-+    UTILS_UNUSED uint32_t dwHeight;
-+    UTILS_UNUSED uint32_t dwWidth;
-+    UTILS_UNUSED uint32_t dwPitchOrLinearSize;
-+    UTILS_UNUSED uint32_t dwDepth;
-+    UTILS_UNUSED uint32_t dwMipMapCount;
-+    UTILS_UNUSED uint32_t dwReserved1[11];
-+    UTILS_UNUSED DDS_PIXELFORMAT ddspf;
-+    UTILS_UNUSED uint32_t dwCaps;
-+    UTILS_UNUSED uint32_t dwCaps2;
-+    UTILS_UNUSED uint32_t dwCaps3;
-+    UTILS_UNUSED uint32_t dwCaps4;
-+    UTILS_UNUSED uint32_t dwReserved2;
- };
- 
- struct DDS_HEADER_DXT10 {
-     uint32_t              dxgiFormat;
--    uint32_t UTILS_UNUSED resourceDimension;
--    uint32_t UTILS_UNUSED miscFlag;
--    uint32_t UTILS_UNUSED arraySize;
--    uint32_t UTILS_UNUSED miscFlags2;
-+    UTILS_UNUSED uint32_t resourceDimension;
-+    UTILS_UNUSED uint32_t miscFlag;
-+    UTILS_UNUSED uint32_t arraySize;
-+    UTILS_UNUSED uint32_t miscFlags2;
- };
- #pragma pack(pop)
- 
-diff --git a/libs/utils/include/utils/StructureOfArrays.h b/libs/utils/include/utils/StructureOfArrays.h
-index 7ee9da70b..956aa8ec0 100644
---- a/libs/utils/include/utils/StructureOfArrays.h
-+++ b/libs/utils/include/utils/StructureOfArrays.h
-@@ -742,7 +742,7 @@ typename StructureOfArraysBase<Allocator, Elements...>::IteratorValueRef&
- StructureOfArraysBase<Allocator, Elements...>::IteratorValueRef::assign(
-         IteratorValue const& rhs, std::index_sequence<Is...>) {
-     // implements IteratorValueRef& IteratorValueRef::operator=(IteratorValue const& rhs)
--    auto UTILS_UNUSED l = { (soa->elementAt<Is>(index) = std::get<Is>(rhs.elements), 0)... };
-+    UTILS_UNUSED auto l = { (soa->elementAt<Is>(index) = std::get<Is>(rhs.elements), 0)... };
-     return *this;
- }
- 
-@@ -751,7 +751,7 @@ template<size_t... Is>
- typename StructureOfArraysBase<Allocator, Elements...>::IteratorValueRef&
- StructureOfArraysBase<Allocator, Elements...>::IteratorValueRef::assign(
-         Structure const& rhs, std::index_sequence<Is...>) {
--    auto UTILS_UNUSED l = {(soa->template elementAt<Is>(index) = std::get<Is>(rhs), 0)...};
-+    UTILS_UNUSED auto l = {(soa->template elementAt<Is>(index) = std::get<Is>(rhs), 0)...};
-     return *this;
- }
- 
-@@ -760,7 +760,7 @@ template<size_t... Is>
- typename StructureOfArraysBase<Allocator, Elements...>::IteratorValueRef&
- StructureOfArraysBase<Allocator, Elements...>::IteratorValueRef::assign(
-         Structure&& rhs, std::index_sequence<Is...>) noexcept {
--    auto UTILS_UNUSED l = {(soa->template elementAt<Is>(index) = std::move(std::get<Is>(rhs)), 0)...};
-+    UTILS_UNUSED auto l = {(soa->template elementAt<Is>(index) = std::move(std::get<Is>(rhs)), 0)...};
-     return *this;
- }
- 
-@@ -770,7 +770,7 @@ typename StructureOfArraysBase<Allocator, Elements...>::IteratorValueRef&
- StructureOfArraysBase<Allocator, Elements...>::IteratorValueRef::assign(
-         IteratorValue&& rhs, std::index_sequence<Is...>) noexcept {
-     // implements IteratorValueRef& IteratorValueRef::operator=(IteratorValue&& rhs) noexcept
--    auto UTILS_UNUSED l = {
-+    UTILS_UNUSED auto l = {
-             (soa->elementAt<Is>(index) = std::move(std::get<Is>(rhs.elements)), 0)... };
-     return *this;
- }
-diff --git a/libs/utils/include/utils/compiler.h b/libs/utils/include/utils/compiler.h
-index f678e36e7..3f1b94cf3 100644
---- a/libs/utils/include/utils/compiler.h
-+++ b/libs/utils/include/utils/compiler.h
-@@ -228,7 +228,7 @@
- // AND multi-threading is enabled (UTILS_HAS_THREADING is not 0).
- // This prevents compile failures on single-threaded targets or builds where standard
- // annotations are disabled by default in the platform's standard library headers.
--#if defined(_LIBCPP_ENABLE_THREAD_SAFETY_ANNOTATIONS) && UTILS_HAS_THREADING
-+#if defined(_LIBCPP_VERSION) && defined(_LIBCPP_ENABLE_THREAD_SAFETY_ANNOTATIONS) && UTILS_HAS_THREADING && !defined(_WIN32)
- #define UTILS_THREAD_ANNOTATION_ATTRIBUTE(x)   __attribute__((x))
- #else
- #define UTILS_THREAD_ANNOTATION_ATTRIBUTE(x)
-diff --git a/libs/utils/src/CallStack.cpp b/libs/utils/src/CallStack.cpp
-index 644df0c97..dda872816 100644
---- a/libs/utils/src/CallStack.cpp
-+++ b/libs/utils/src/CallStack.cpp
-@@ -92,7 +92,7 @@ void CallStack::update(size_t ignore) noexcept {
-     update_gcc(ignore);
- }
- 
--void CallStack::update_gcc(size_t UTILS_UNUSED ignore) noexcept {
-+void CallStack::update_gcc(UTILS_UNUSED size_t ignore) noexcept {
-     // reset the object
-     ssize_t size = 0;
- 
-@@ -141,7 +141,7 @@ CString CallStack::demangleTypeName(const char* mangled) {
- // ------------------------------------------------------------------------------------------------
- 
- template <typename Stream>
--Stream& printCallStack(Stream& stream, CallStack const& UTILS_UNUSED callstack) {
-+Stream& printCallStack(Stream& stream, UTILS_UNUSED CallStack const& callstack) {
- #if HAS_EXECINFO
-     size_t const size = callstack.getFrameCount();
-     char buf[1024];
-diff --git a/third_party/getopt/src/getopt.c b/third_party/getopt/src/getopt.c
-index cf2984af0..1dacef630 100644
---- a/third_party/getopt/src/getopt.c
-+++ b/third_party/getopt/src/getopt.c
-@@ -1,5 +1,6 @@
- #ifdef _WIN32
- #include <windows.h>
-+#include <io.h>
- #else
- #include <unistd.h>
- #endif
-diff --git a/third_party/spirv-cross/CMakeLists.txt b/third_party/spirv-cross/CMakeLists.txt
-index 8e5129c8b..761911083 100644
---- a/third_party/spirv-cross/CMakeLists.txt
-+++ b/third_party/spirv-cross/CMakeLists.txt
-@@ -20,7 +20,11 @@
- #
- 
- cmake_minimum_required(VERSION 3.10)
--set(CMAKE_CXX_STANDARD 11)
-+if (WIN32)
-+	set(CMAKE_CXX_STANDARD 17)
-+else()
-+	set(CMAKE_CXX_STANDARD 11)
-+endif()
- set(CMAKE_CXX_EXTENSIONS OFF)
- 
- # Avoid a warning if parent project sets VERSION in project().
-diff --git a/third_party/spirv-cross/tnt/CMakeLists.txt b/third_party/spirv-cross/tnt/CMakeLists.txt
-index 4cb9bdccb..086bec67a 100644
---- a/third_party/spirv-cross/tnt/CMakeLists.txt
-+++ b/third_party/spirv-cross/tnt/CMakeLists.txt
-@@ -37,7 +37,11 @@ endif()
- # -DCMAKE_CXX_COMPILE_FLAGS
- # However, we require the C++11 dialect.
- if (NOT "${MSVC}")
--  set(spirv-compiler-options ${spirv-compiler-options} -std=c++11 -Wall -Wextra -Werror -Wshadow)
-+  if (WIN32)
-+    set(spirv-compiler-options ${spirv-compiler-options} -std=c++17 -Wall -Wextra -Werror -Wshadow)
-+  else()
-+    set(spirv-compiler-options ${spirv-compiler-options} -std=c++11 -Wall -Wextra -Werror -Wshadow)
-+  endif()
-   set(spirv-compiler-defines ${spirv-compiler-defines} __STDC_LIMIT_MACROS)
- 
-   if(SPIRV_CROSS_EXCEPTIONS_TO_ASSERTIONS)
-diff --git a/tools/cmgen/src/cmgen.cpp b/tools/cmgen/src/cmgen.cpp
-index 722e5737c..288be3ce9 100644
---- a/tools/cmgen/src/cmgen.cpp
-+++ b/tools/cmgen/src/cmgen.cpp
-@@ -131,7 +131,7 @@ static void outputSh(std::ostream& out, const std::unique_ptr<filament::math::fl
-         size_t numBands);
- static void outputBinarySh(std::ostream& out, const std::unique_ptr<filament::math::float3[]>& sh,
-         size_t numBands);
--static void UTILS_UNUSED outputSpectrum(std::ostream& out,
-+UTILS_UNUSED static void outputSpectrum(std::ostream& out,
-         const std::unique_ptr<filament::math::float3[]>& sh, size_t numBands);
- static void saveImage(const std::string& path, ImageEncoder::Format format, const Image& image,
-         const std::string& compression);
-@@ -846,7 +846,7 @@ void outputBinarySh(std::ostream& out,
- }
- 
- 
--void UTILS_UNUSED outputSpectrum(std::ostream& out,
-+UTILS_UNUSED void outputSpectrum(std::ostream& out,
-         const std::unique_ptr<filament::math::float3[]>& sh, size_t numBands) {
-     // We assume a symetrical function (i.e. m!=0 terms are zero)
-     for (ssize_t l = 0; l < numBands; l++) {
diff --git a/cmake/libwebp-apple-float16.patch b/cmake/libwebp-apple-float16.patch
deleted file mode 100644
index a2af3e5f..00000000
--- a/cmake/libwebp-apple-float16.patch
+++ /dev/null
@@ -1,8 +0,0 @@
-diff --git a/cmake/cpu.cmake b/cmake/cpu.cmake
---- a/cmake/cpu.cmake
-+++ b/cmake/cpu.cmake
-@@ -121,3 +121,3 @@
-     # Explicitly disable SIMD.
--    if(SIMD_DISABLE_FLAGS)
-+    if(SIMD_DISABLE_FLAGS AND NOT APPLE)
-       list(GET SIMD_DISABLE_FLAGS ${I_SIMD} SIMD_COMPILE_FLAG)
diff --git a/cmake/mujocoConfig.cmake.in b/cmake/mujocoConfig.cmake.in
deleted file mode 100644
index d00d1cc4..00000000
--- a/cmake/mujocoConfig.cmake.in
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-@PACKAGE_INIT@
-
-include(CMakeFindDependencyMacro)
-find_dependency(OpenGL)
-
-if(NOT TARGET mujoco AND NOT @PROJECT_NAME@_BINARY_DIR)
-  include("${CMAKE_CURRENT_LIST_DIR}/mujocoTargets.cmake")
-endif()
-
-check_required_components(mujoco)
diff --git a/cmake/qhull-support-emscripten.patch b/cmake/qhull-support-emscripten.patch
deleted file mode 100644
index ee82aeb6..00000000
--- a/cmake/qhull-support-emscripten.patch
+++ /dev/null
@@ -1,30 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 0423820..c5295c1 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -360,6 +360,7 @@ if (NOT DEFINED CMAKE_BUILD_WITH_INSTALL_RPATH)
-     set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
- endif ()
- 
-+if (NOT EMSCRIPTEN)
- add_library(${qhull_SHAREDR} SHARED 
-         ${libqhullr_SOURCES}
-         src/libqhull_r/qhull_r-exports.def)
-@@ -420,7 +421,7 @@ set_target_properties(${qhull_SHAREDP} PROPERTIES
- if(UNIX)
-     target_link_libraries(${qhull_SHAREDP} m)
- endif(UNIX)
--
-+endif (NOT EMSCRIPTEN)
- # ---------------------------------------
- # Define static libraries qhullstatic (non-reentrant) and qhullstatic_r (reentrant)
- # ---------------------------------------
-@@ -475,7 +476,7 @@ if(NOT ${BUILD_STATIC_LIBS})
-     set_target_properties(${qhull_STATICR} PROPERTIES EXCLUDE_FROM_ALL TRUE)
-     set_target_properties(${qhull_CPP} PROPERTIES EXCLUDE_FROM_ALL TRUE)
- endif()
--if(NOT ${BUILD_SHARED_LIBS})
-+if(NOT ${BUILD_SHARED_LIBS} AND NOT EMSCRIPTEN)
-     set_target_properties(${qhull_SHARED} PROPERTIES EXCLUDE_FROM_ALL TRUE)
-     set_target_properties(${qhull_SHAREDR} PROPERTIES EXCLUDE_FROM_ALL TRUE)
-     set_target_properties(${qhull_SHAREDP} PROPERTIES EXCLUDE_FROM_ALL TRUE)
diff --git a/cmake/setup_test_dir.sh b/cmake/setup_test_dir.sh
deleted file mode 100755
index 46ec06db..00000000
--- a/cmake/setup_test_dir.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/bin/bash
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-if [ -z "$1" ]; then
-  echo "Expecting an output directory. Got none." 1>&2
-  exit 1
-fi
-
-mkdir -p "$1"
-rm -rf "$1/*"
diff --git a/cmake/third_party_deps/atkinson_hyperlegible_mono.cmake b/cmake/third_party_deps/atkinson_hyperlegible_mono.cmake
deleted file mode 100644
index bc0fd532..00000000
--- a/cmake/third_party_deps/atkinson_hyperlegible_mono.cmake
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_DEP_VERSION_atkinson_hyperlegible_mono
-    154d50362016cc3e873eb21d242cd0772384c8f9
-    CACHE STRING "Tag/version of `atkinson_hyperlegible_mono` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_atkinson_hyperlegible_mono)
-
-include(FindOrFetch)
-
-fetchpackage(
-    PACKAGE_NAME  atkinson_hyperlegible_mono
-    GIT_REPO      https://github.com/googlefonts/atkinson-hyperlegible-next-mono.git
-    GIT_TAG       ${MUJOCO_DEP_VERSION_atkinson_hyperlegible_mono}
-    CUSTOM_CMAKE  "${CMAKE_SOURCE_DIR}/cmake/third_party_deps/atkinson_hyperlegible_mono/CMakeLists.txt"
-)
diff --git a/cmake/third_party_deps/atkinson_hyperlegible_mono/CMakeLists.txt b/cmake/third_party_deps/atkinson_hyperlegible_mono/CMakeLists.txt
deleted file mode 100644
index 6a1e13eb..00000000
--- a/cmake/third_party_deps/atkinson_hyperlegible_mono/CMakeLists.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Data-only package.
diff --git a/cmake/third_party_deps/atkinson_hyperlegible_next.cmake b/cmake/third_party_deps/atkinson_hyperlegible_next.cmake
deleted file mode 100644
index f6cd377e..00000000
--- a/cmake/third_party_deps/atkinson_hyperlegible_next.cmake
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_DEP_VERSION_atkinson_hyperlegible_next
-    5d633f80fc654ef5fffa7cfc257528685158dcef
-    CACHE STRING "Tag/version of `atkinson_hyperlegible_next` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_atkinson_hyperlegible_next)
-
-include(FindOrFetch)
-
-fetchpackage(
-    PACKAGE_NAME  atkinson_hyperlegible_next
-    GIT_REPO      https://github.com/googlefonts/atkinson-hyperlegible-next.git
-    GIT_TAG       ${MUJOCO_DEP_VERSION_atkinson_hyperlegible_next}
-    CUSTOM_CMAKE  "${CMAKE_SOURCE_DIR}/cmake/third_party_deps/atkinson_hyperlegible_next/CMakeLists.txt"
-)
diff --git a/cmake/third_party_deps/atkinson_hyperlegible_next/CMakeLists.txt b/cmake/third_party_deps/atkinson_hyperlegible_next/CMakeLists.txt
deleted file mode 100644
index 6a1e13eb..00000000
--- a/cmake/third_party_deps/atkinson_hyperlegible_next/CMakeLists.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Data-only package.
diff --git a/cmake/third_party_deps/dear_imgui.cmake b/cmake/third_party_deps/dear_imgui.cmake
deleted file mode 100644
index 45046f3a..00000000
--- a/cmake/third_party_deps/dear_imgui.cmake
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_DEP_VERSION_dear_imgui
-    913a3c60561bb07e8fd410ec7d4a8f6f485defd6
-    CACHE STRING "Tag/version of `dear_imgui` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_dear_imgui)
-
-include(FindOrFetch)
-
-fetchpackage(
-    PACKAGE_NAME  dear_imgui
-    GIT_REPO      https://github.com/ocornut/imgui.git
-    GIT_TAG       ${MUJOCO_DEP_VERSION_dear_imgui}
-    CUSTOM_CMAKE  "${CMAKE_SOURCE_DIR}/cmake/third_party_deps/dear_imgui/CMakeLists.txt"
-)
diff --git a/cmake/third_party_deps/dear_imgui/CMakeLists.txt b/cmake/third_party_deps/dear_imgui/CMakeLists.txt
deleted file mode 100644
index cac77645..00000000
--- a/cmake/third_party_deps/dear_imgui/CMakeLists.txt
+++ /dev/null
@@ -1,77 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-add_library(dear_imgui STATIC)
-set(MUJOCO_DEAR_IMGUI_SOURCE_DIR "${dear_imgui_SOURCE_DIR}" CACHE INTERNAL "")
-target_include_directories(dear_imgui
-  PUBLIC
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
-)
-target_sources(dear_imgui
-  PUBLIC
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui.h
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui.cpp
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_internal.h
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_draw.cpp
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_tables.cpp
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_widgets.cpp
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/imgui_demo.cpp
-)
-
-function(mujoco_add_dear_imgui_sdl2_backend)
-  if(TARGET dear_imgui_SDL2 OR NOT TARGET SDL2::SDL2-static)
-    return()
-  endif()
-
-  add_library(dear_imgui_SDL2 STATIC)
-  target_include_directories(dear_imgui_SDL2
-    PUBLIC
-      ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
-  )
-  target_sources(dear_imgui_SDL2
-    PUBLIC
-      ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/backends/imgui_impl_sdl2.cpp
-  )
-  target_link_libraries(dear_imgui_SDL2
-    SDL2::SDL2-static
-  )
-endfunction()
-
-# SDL2 backend. Filament uses base dear_imgui without SDL2; platform calls this
-# helper again after SDL2 is pulled in.
-mujoco_add_dear_imgui_sdl2_backend()
-
-# OpenGL3 backend
-add_library(dear_imgui_OpenGL3 STATIC)
-target_include_directories(dear_imgui_OpenGL3
-  PUBLIC
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
-)
-target_sources(dear_imgui_OpenGL3
-  PUBLIC
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/backends/imgui_impl_opengl3.h
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/backends/imgui_impl_opengl3.cpp
-)
-
-# stdlib
-add_library(dear_imgui_stdlib STATIC)
-target_include_directories(dear_imgui_stdlib
-  PUBLIC
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}
-)
-target_sources(dear_imgui_stdlib
-  PUBLIC
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/misc/cpp/imgui_stdlib.h
-    ${MUJOCO_DEAR_IMGUI_SOURCE_DIR}/misc/cpp/imgui_stdlib.cpp
-)
diff --git a/cmake/third_party_deps/filament.cmake b/cmake/third_party_deps/filament.cmake
deleted file mode 100644
index ab024ca3..00000000
--- a/cmake/third_party_deps/filament.cmake
+++ /dev/null
@@ -1,83 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_DEP_VERSION_filament
-    3bcc2a252bfefc31353f6097bb9bc238032571e0
-    CACHE STRING "Tag/version of `filament` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_filament)
-
-include(FindOrFetch)
-
-set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
-set(BUILD_SHARED_LIBS OFF)
-
-# Filament's ShaderMinifier.cpp uses strlen without including <cstring>, and
-# PostProcessManager.h uses std::optional without including <optional>.
-set(CMAKE_CXX_FLAGS_OLD "${CMAKE_CXX_FLAGS}")
-if(MSVC)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /FI cstring /FI optional")
-else()
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -include cstring -include optional")
-endif()
-
-# Filament generates deprecated warnings on MacOS.
-if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error=deprecated-declarations")
-endif()
-
-set(FILAMENT_ENABLE_EXPERIMENTAL_GCC_SUPPORT ON)
-set(FILAMENT_SKIP_SDL2 ON)
-set(FILAMENT_SKIP_SAMPLES ON)
-set(FILAMENT_USE_EXTERNAL_ABSL ON)
-set(FILAMENT_USE_EXTERNAL_BENCHMARK ON)
-set(FILAMENT_USE_EXTERNAL_GTEST ON)
-if(WIN32)
-    set(USE_STATIC_CRT OFF)
-    add_compile_definitions(WIN32)
-endif()
-
-set(FILAMENT_PATCH_COMMAND
-  git --git-dir=. -c core.autocrlf=false -c core.whitespace=cr-at-eol apply --verbose --whitespace=fix --ignore-space-change ${mujoco_SOURCE_DIR}/cmake/filament-allow-clang-windows.patch
-)
-
-# MuJoCo fetches Abseil before Filament is configured. Filament's
-# FILAMENT_USE_EXTERNAL_ABSL path calls find_package(absl), which can otherwise
-# discover an unrelated package-manager Abseil config and collide with the
-# targets already created by MuJoCo's fetched Abseil.
-if(DEFINED CMAKE_DISABLE_FIND_PACKAGE_absl)
-    set(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED TRUE)
-    set(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_OLD "${CMAKE_DISABLE_FIND_PACKAGE_absl}")
-else()
-    set(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED FALSE)
-endif()
-set(CMAKE_DISABLE_FIND_PACKAGE_absl TRUE)
-
-fetchpackage(
-    PACKAGE_NAME  filament
-    GIT_REPO      https://github.com/google/filament.git
-    GIT_TAG       ${MUJOCO_DEP_VERSION_filament}
-    PATCH_COMMAND ${FILAMENT_PATCH_COMMAND}
-)
-
-if(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED)
-    set(CMAKE_DISABLE_FIND_PACKAGE_absl "${MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_OLD}")
-else()
-    unset(CMAKE_DISABLE_FIND_PACKAGE_absl)
-endif()
-unset(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_WAS_DEFINED)
-unset(MUJOCO_CMAKE_DISABLE_FIND_PACKAGE_ABSL_OLD)
-
-set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_OLD})
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_OLD}")
diff --git a/cmake/third_party_deps/font_awesome.cmake b/cmake/third_party_deps/font_awesome.cmake
deleted file mode 100644
index 9a02aa3d..00000000
--- a/cmake/third_party_deps/font_awesome.cmake
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_DEP_VERSION_font_awesome
-    a8386aae19e200ddb0f6845b5feeee5eb7013687
-    CACHE STRING "Tag/version of `font_awesome` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_font_awesome)
-
-include(FindOrFetch)
-
-fetchpackage(
-    PACKAGE_NAME  font_awesome
-    GIT_REPO      https://github.com/FortAwesome/Font-Awesome.git
-    GIT_TAG       ${MUJOCO_DEP_VERSION_font_awesome}
-    CUSTOM_CMAKE  "${CMAKE_SOURCE_DIR}/cmake/third_party_deps/font_awesome/CMakeLists.txt"
-)
diff --git a/cmake/third_party_deps/font_awesome/CMakeLists.txt b/cmake/third_party_deps/font_awesome/CMakeLists.txt
deleted file mode 100644
index 430de44d..00000000
--- a/cmake/third_party_deps/font_awesome/CMakeLists.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Data-only package.
diff --git a/cmake/third_party_deps/implot.cmake b/cmake/third_party_deps/implot.cmake
deleted file mode 100644
index d14cae6c..00000000
--- a/cmake/third_party_deps/implot.cmake
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_DEP_VERSION_implot
-    ec7306ceb99d19ff193eb30dc74fa3598f5e7dc6
-    CACHE STRING "Tag/version of `implot` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_implot)
-
-include(FindOrFetch)
-
-fetchpackage(
-    PACKAGE_NAME  implot
-    GIT_REPO      https://github.com/epezent/implot.git
-    GIT_TAG       ${MUJOCO_DEP_VERSION_implot}
-    CUSTOM_CMAKE  "${CMAKE_SOURCE_DIR}/cmake/third_party_deps/implot/CMakeLists.txt"
-)
diff --git a/cmake/third_party_deps/implot/CMakeLists.txt b/cmake/third_party_deps/implot/CMakeLists.txt
deleted file mode 100644
index 72ff88e6..00000000
--- a/cmake/third_party_deps/implot/CMakeLists.txt
+++ /dev/null
@@ -1,33 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-add_library(implot STATIC)
-
-target_include_directories(implot
-  PUBLIC
-    ${implot_SOURCE_DIR}
-)
-
-target_sources(implot
-  PUBLIC
-    ${implot_SOURCE_DIR}/implot.h
-    ${implot_SOURCE_DIR}/implot_internal.h
-    ${implot_SOURCE_DIR}/implot.cpp
-    ${implot_SOURCE_DIR}/implot_items.cpp
-    ${implot_SOURCE_DIR}/implot_demo.cpp
-)
-
-target_link_libraries(implot
-  dear_imgui
-)
diff --git a/cmake/third_party_deps/libwebp.cmake b/cmake/third_party_deps/libwebp.cmake
deleted file mode 100644
index 2fa28f0b..00000000
--- a/cmake/third_party_deps/libwebp.cmake
+++ /dev/null
@@ -1,38 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_DEP_VERSION_libwebp
-    v1.6.0
-    CACHE STRING "Tag/version of `libwebp` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_libwebp)
-
-include(FindOrFetch)
-
-set(LIBWEBP_PATCH_COMMAND
-  git --git-dir=. -c core.autocrlf=false -c core.whitespace=cr-at-eol apply --verbose --whitespace=fix --ignore-space-change ${mujoco_SOURCE_DIR}/cmake/libwebp-apple-float16.patch
-)
-
-set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
-set(BUILD_SHARED_LIBS OFF)
-
-fetchpackage(
-    PACKAGE_NAME  libwebp
-    GIT_REPO      https://github.com/webmproject/libwebp.git
-    GIT_TAG       ${MUJOCO_DEP_VERSION_libwebp}
-    TARGETS       webp
-    PATCH_COMMAND ${LIBWEBP_PATCH_COMMAND}
-)
-
-set(BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS_OLD})
diff --git a/cmake/third_party_deps/openusd.cmake b/cmake/third_party_deps/openusd.cmake
deleted file mode 100644
index 861ea365..00000000
--- a/cmake/third_party_deps/openusd.cmake
+++ /dev/null
@@ -1,38 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Find OpenUSD package. The user can either provide pxr_DIR to use their own
-# OpenUSD installation or they can build external_dependencies.
-#
-# We use QUIET here to provide a better error message when pxr is not found.
-find_package(pxr
-  QUIET
-  HINTS "${CMAKE_BINARY_DIR}/_deps/openusd-build"
-)
-
-if(NOT pxr_FOUND)
-    message(FATAL_ERROR
-        "-----------------------------------------------------------\n"
-        "USD Configuration Error:\n${pxr_NOT_FOUND_MESSAGE}\n"
-        "If you have built USD yourself, provide -Dpxr_DIR=your_pxr_install_dir' \n"
-        "Otherwise you can build cmake/third_party_deps/openusd:\n"
-        "cd ~/mujoco\n"
-        "cmake -Bcmake/third_party_deps/openusd/build cmake/third_party_deps/openusd -DBUILD_USD=True\n"
-        "cmake --build cmake/third_party_deps/openusd/build\n"
-        "cmake -Bbuild -S. -DMUJOCO_WITH_USD=True\n"
-        "cmake --build build\n"
-        "cmake --install build"
-        "-----------------------------------------------------------"
-    )
-endif()
diff --git a/cmake/third_party_deps/openusd/CMakeLists.txt b/cmake/third_party_deps/openusd/CMakeLists.txt
deleted file mode 100644
index 4eb02281..00000000
--- a/cmake/third_party_deps/openusd/CMakeLists.txt
+++ /dev/null
@@ -1,51 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-cmake_minimum_required(VERSION "3.16")
-
-project(openusd-dependency)
-
-include(ExternalProject)
-
-set(DEPS_DIR ${CMAKE_BINARY_DIR}/../../../../build/_deps)
-
-ExternalProject_Add(openusd
-  GIT_REPOSITORY https://github.com/PixarAnimationStudios/USD.git
-  GIT_TAG v25.11
-  PREFIX openusd
-  BUILD_IN_SOURCE 0
-  UPDATE_COMMAND ""
-  CONFIGURE_COMMAND ""
-  INSTALL_COMMAND ""
-  SOURCE_DIR ${DEPS_DIR}/openusd-src
-  BINARY_DIR ${DEPS_DIR}/openusd-build
-  INSTALL_DIR ${DEPS_DIR}/openusd-build
-  BUILD_COMMAND python3 ${DEPS_DIR}/openusd-src/build_scripts/build_usd.py
-      --build-shared
-      --no-examples
-      --no-tools
-      --no-ptex
-      --no-prman
-      --no-openimageio
-      --no-opencolorio
-      --no-alembic
-      --no-draco
-      --no-materialx
-      --no-tutorials
-      --no-tests
-      --no-docs
-      --no-imaging
-      --no-python
-      --no-usdValidation
-      <INSTALL_DIR>
-)
diff --git a/cmake/third_party_deps/sdl2.cmake b/cmake/third_party_deps/sdl2.cmake
deleted file mode 100644
index f310eee4..00000000
--- a/cmake/third_party_deps/sdl2.cmake
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_DEP_VERSION_sdl2
-    98d1f3a45aae568ccd6ed5fec179330f47d4d356
-    CACHE STRING "Version of `SDL2` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_sdl2)
-
-include(FindOrFetch)
-
-set(SDL_SHARED_ENABLED_BY_DEFAULT OFF)
-fetchpackage(
-    PACKAGE_NAME  sdl2
-    GIT_REPO      https://github.com/libsdl-org/SDL.git
-    GIT_TAG       ${MUJOCO_DEP_VERSION_sdl2}
-)
diff --git a/wasm/src/README.md b/controllers/README.md
similarity index 100%
rename from wasm/src/README.md
rename to controllers/README.md
diff --git a/wasm/src/go2_w_balance.py b/controllers/go2_w_balance.py
similarity index 100%
rename from wasm/src/go2_w_balance.py
rename to controllers/go2_w_balance.py
diff --git a/dist/Info.plist.framework.in b/dist/Info.plist.framework.in
deleted file mode 100644
index 67937dea..00000000
--- a/dist/Info.plist.framework.in
+++ /dev/null
@@ -1,30 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-<dict>
-    <key>CFBundleName</key>
-    <string>MuJoCo</string>
-    <key>CFBundleIdentifier</key>
-    <string>org.mujoco.framework</string>
-    <key>CFBundleVersion</key>
-    <string>${PROJECT_VERSION}</string>
-    <key>CFBundleGetInfoString</key>
-    <string>${PROJECT_VERSION}</string>
-    <key>CFBundleExecutable</key>
-    <string>libmujoco.dylib</string>
-    <key>CFBundlePackageType</key>
-    <string>FMWK</string>
-    <key>NSHumanReadableCopyright</key>
-    <string>Copyright 2021 DeepMind Technologies Limited.</string>
-    <key>MDItemKeywords</key>
-    <string>MuJoCo, physics engine, physics simulator, physics, MJ</string>
-    <key>CFBundleInfoDictionaryVersion</key>
-    <string>6.0</string>
-    <key>CFBundleDevelopmentRegion</key>
-    <string>en</string>
-    <key>CFBundleSupportedPlatforms</key>
-    <array>
-        <string>MacOSX</string>
-    </array>
-</dict>
-</plist>
diff --git a/dist/Info.plist.simulate.in b/dist/Info.plist.simulate.in
deleted file mode 100644
index 2397bf8c..00000000
--- a/dist/Info.plist.simulate.in
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-<dict>
-    <key>CFBundleName</key>
-    <string>${MACOSX_BUNDLE_BUNDLE_NAME}</string>
-    <key>CFBundleIdentifier</key>
-    <string>${MACOSX_BUNDLE_GUI_IDENTIFIER}</string>
-    <key>CFBundleVersion</key>
-    <string>${MACOSX_BUNDLE_BUNDLE_VERSION}</string>
-    <key>CFBundleGetInfoString</key>
-    <string>${MACOSX_BUNDLE_INFO_STRING}</string>
-    <key>CFBundleLongVersionString</key>
-    <string>${MACOSX_BUNDLE_LONG_VERSION_STRING}</string>
-    <key>CFBundleShortVersionString</key>
-    <string>${MACOSX_BUNDLE_SHORT_VERSION_STRING}</string>
-    <key>CFBundleExecutable</key>
-    <string>simulate</string>
-    <key>CFBundleIconFile</key>
-    <string>${MACOSX_BUNDLE_ICON_FILE}</string>
-    <key>CFBundlePackageType</key>
-    <string>APPL</string>
-    <key>NSHumanReadableCopyright</key>
-    <string>${MACOSX_BUNDLE_COPYRIGHT}</string>
-    <key>MDItemKeywords</key>
-    <string>MuJoCo, physics engine, physics simulator, physics, simulate, MJ, mujoco simulate, mj simulate</string>
-    <key>CFBundleInfoDictionaryVersion</key>
-    <string>6.0</string>
-    <key>CFBundleDevelopmentRegion</key>
-    <string>en</string>
-    <key>CFBundleSupportedPlatforms</key>
-    <array>
-        <string>MacOSX</string>
-    </array>
-</dict>
-</plist>
diff --git a/dist/module.modulemap b/dist/module.modulemap
deleted file mode 100644
index 8fac4abc..00000000
--- a/dist/module.modulemap
+++ /dev/null
@@ -1,6 +0,0 @@
-framework module mujoco {
-  umbrella header "mujoco.h"
-
-  export *
-  module * { export * }
-}
diff --git a/dist/mujoco.icns b/dist/mujoco.icns
deleted file mode 100644
index dda1f449..00000000
Binary files a/dist/mujoco.icns and /dev/null differ
diff --git a/dist/mujoco.ico b/dist/mujoco.ico
deleted file mode 100644
index 80136209..00000000
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diff --git a/dist/mujoco.rc b/dist/mujoco.rc
deleted file mode 100644
index f3d730b9..00000000
--- a/dist/mujoco.rc
+++ /dev/null
@@ -1,25 +0,0 @@
-1 VERSIONINFO
-FILEVERSION 3,12,0,0
-PRODUCTVERSION 3,12,0,0
-FILEOS 0x4
-FILETYPE 0x1
-{
-  BLOCK "StringFileInfo"
-  {
-    BLOCK "040904b0"
-    {
-      VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.12.0"
-      VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.12.0"
-      VALUE "InternalName", "mujoco.dll"
-      VALUE "OriginalFilename", "mujoco.dll"
-      VALUE "CompanyName", "Google DeepMind"
-      VALUE "LegalCopyright", "Copyright 2021 DeepMind Technologies Limited."
-    }
-  }
-  BLOCK "VarFileInfo"
-  {
-    VALUE "Translation", 0x0409, 0x04B0
-  }
-}
diff --git a/dist/mujoco_studio.icns b/dist/mujoco_studio.icns
deleted file mode 100644
index 7cf2f90e..00000000
Binary files a/dist/mujoco_studio.icns and /dev/null differ
diff --git a/dist/mujoco_studio.ico b/dist/mujoco_studio.ico
deleted file mode 100644
index 112a9731..00000000
Binary files a/dist/mujoco_studio.ico and /dev/null differ
diff --git a/dist/mujoco_studio.rc b/dist/mujoco_studio.rc
deleted file mode 100644
index d731692e..00000000
--- a/dist/mujoco_studio.rc
+++ /dev/null
@@ -1,27 +0,0 @@
-MUJOCO ICON "mujoco_studio.ico"
-
-1 VERSIONINFO
-FILEVERSION 3,12,0,0
-PRODUCTVERSION 3,12,0,0
-FILEOS 0x4
-FILETYPE 0x1
-{
-  BLOCK "StringFileInfo"
-  {
-    BLOCK "040904b0"
-    {
-      VALUE "ProductName", "MuJoCo Studio"
-      VALUE "ProductVersion", "3.12.0"
-      VALUE "FileDescription", "MuJoCo Studio"
-      VALUE "FileVersion", "3.12.0"
-      VALUE "InternalName", "mujoco_studio.exe"
-      VALUE "OriginalFilename", "mujoco_studio.exe"
-      VALUE "CompanyName", "Google DeepMind"
-      VALUE "LegalCopyright", "Copyright 2026 DeepMind Technologies Limited."
-    }
-  }
-  BLOCK "VarFileInfo"
-  {
-    VALUE "Translation", 0x0409, 0x04B0
-  }
-}
diff --git a/dist/simulate.rc b/dist/simulate.rc
deleted file mode 100644
index b25c48dc..00000000
--- a/dist/simulate.rc
+++ /dev/null
@@ -1,27 +0,0 @@
-MUJOCO ICON "mujoco.ico"
-
-1 VERSIONINFO
-FILEVERSION 3,12,0,0
-PRODUCTVERSION 3,12,0,0
-FILEOS 0x4
-FILETYPE 0x1
-{
-  BLOCK "StringFileInfo"
-  {
-    BLOCK "040904b0"
-    {
-      VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.12.0"
-      VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.12.0"
-      VALUE "InternalName", "simulate.exe"
-      VALUE "OriginalFilename", "simulate.exe"
-      VALUE "CompanyName", "Google DeepMind"
-      VALUE "LegalCopyright", "Copyright 2021 DeepMind Technologies Limited."
-    }
-  }
-  BLOCK "VarFileInfo"
-  {
-    VALUE "Translation", 0x0409, 0x04B0
-  }
-}
diff --git a/doc/APIreference/APIfunctions.rst b/doc/APIreference/APIfunctions.rst
deleted file mode 100644
index a1ec8da6..00000000
--- a/doc/APIreference/APIfunctions.rst
+++ /dev/null
@@ -1,71 +0,0 @@
-.. raw:: html
-
-    <div id="fetchlines"/>
-
-
-.. _API:
-
-=========
-Functions
-=========
-
-.. tip::
-   Clicking on a function name below will take you to the source implementation in the GitHub repository.
-
-The main header `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_ exposes a
-large number of functions. However the functions that most users are likely to need are a small fraction.
-
-API function can be classified as:
-
-- **Main entry points**
-   - :ref:`Parse and compile<Parseandcompile>` an :ref:`mjModel` from XML files and assets.
-   - :ref:`Main simulation<Mainsimulation>` entry points, including :ref:`mj_step`.
-
-- **Support functions**
-   - :ref:`Support<Support>` functions requiring :ref:`mjModel` and :ref:`mjData`.
-   - Pipeline :ref:`components<Components>`, called from :ref:`mj_step`, :ref:`mj_forward` and :ref:`mj_inverse`.
-   - :ref:`Sub components<Subcomponents>` of the simulation pipeline.
-   - :ref:`Ray casting<Raycollisions>`.
-   - :ref:`Printing<Printing>` of various quantities.
-   - :ref:`Virtual file system<Virtualfilesystem>`, used to load assets from memory.
-   - :ref:`Asset cache<Assetcache>`, used to speed up model compilation.
-   - :ref:`Resources<Resources>`, interfacing with resource providers to load assets.
-   - :ref:`Initialization<Initialization>` of data structures.
-   - :ref:`Error and memory<Errorandmemory>`.
-   - :ref:`Miscellaneous<Miscellaneous>` functions.
-
-- **Visualization, Rendering, UI**
-   - :ref:`Abstract interaction<Interaction>`: mouse control of cameras and perturbations.
-   - :ref:`Abstract Visualization<Visualization-api>`.
-   - :ref:`OpenGL rendering<OpenGLrendering>`.
-   - :ref:`Filament rendering<FilamentRenderingApi>`.
-   - :ref:`UI framework<UIframework>`.
-
-- **Threads, Plugins, Derivatives**
-   - :ref:`Derivatives<Derivatives-api>`.
-   - :ref:`Signed Distance Functions<Signeddistancefunction>`.
-   - :ref:`Thread<Thread>` |-| -related functions.
-   - :ref:`Plugin<Plugins-api>` |-| -related functions.
-
-- **Math**
-   - Aliases for C :ref:`standard math<Standardmath>` functions.
-   - :ref:`Vector math<Vectormath>`.
-   - :ref:`Sparse math<Sparsemath>`.
-   - :ref:`Quaternions<Quaternions>`.
-   - :ref:`Pose transformations<Poses>`.
-   - :ref:`Matrix decompositions and solvers<Decompositions>`.
-
-- **Model editing**
-   - :ref:`Attachment<Attachment>`.
-   - :ref:`Tree elements<AddTreeElements>`.
-   - :ref:`Non-tree elements<AddNonTreeElements>`.
-   - :ref:`Set actuator parameters<Setactuatorparameters>`.
-   - :ref:`Assets<AddAssets>`.
-   - :ref:`Find and get utilities<FindAndGetUtilities>`.
-   - :ref:`Attribute setters<AttributeSetters>`.
-   - :ref:`Attribute getters<AttributeGetters>`.
-   - :ref:`Spec utilities<SpecUtilities>`.
-   - :ref:`Element initialization<ElementInitialization>`.
-   - :ref:`Element casting<ElementCasting>`.
-
-.. include:: functions.rst
diff --git a/doc/APIreference/APIglobals.rst b/doc/APIreference/APIglobals.rst
deleted file mode 100644
index 7aef601a..00000000
--- a/doc/APIreference/APIglobals.rst
+++ /dev/null
@@ -1,716 +0,0 @@
-=======
-Globals
-=======
-
-Global variable and constant definitions can be classified as:
-
-- Callbacks:
-
-  - :ref:`glError`.
-  - :ref:`glMemory`.
-  - :ref:`glPhysics`.
-
-- The :ref:`collision table<glCollision>` containing narrow-phase collision functions.
-- :ref:`String constants<glString>`.
-- :ref:`Numeric constants<glNumeric>`.
-- :ref:`Macros<Macros>`.
-- :ref:`X Macros<tyXMacro>`.
-
-.. _glError:
-
-Error callbacks
-^^^^^^^^^^^^^^^
-
-All user callbacks (i.e., global function pointers whose name starts with 'mjcb') are initially set to NULL, which
-disables them and allows the default processing to take place. To install a callback, simply set the corresponding
-global pointer to a user function of the correct type. Keep in mind that these are global and not model-specific. So if
-you are simulating multiple models in parallel, they use the same set of callbacks.
-
-
-.. _mju_user_error:
-
-mju_user_error
-~~~~~~~~~~~~~~
-
-.. deprecated::
-   Use :ref:`mju_setLogHandler` instead. See :ref:`siLogHandler`.
-
-Called by the default log handler when a fatal error occurs. If installed, this function overrides the default error
-processing. It may ``longjmp`` out or return. MuJoCo is written with the assumption that error handlers will not
-return; if they do, the behavior of the software is undefined.
-
-If a custom log handler is installed via :ref:`mju_setLogHandler`, this callback is not consulted.
-
-.. code-block:: C
-
-   extern void (*mju_user_error)(const char*);
-
-
-.. _mju_user_warning:
-
-mju_user_warning
-~~~~~~~~~~~~~~~~
-
-.. deprecated::
-   Use :ref:`mju_setLogHandler` instead. See :ref:`siLogHandler`.
-
-Called by the default log handler when a warning occurs. If a custom log handler is installed via
-:ref:`mju_setLogHandler`, this callback is not consulted.
-
-.. code-block:: C
-
-   extern void (*mju_user_warning)(const char*);
-
-
-.. _glMemory:
-
-Memory callbacks
-^^^^^^^^^^^^^^^^
-
-The purpose of the memory callbacks is to allow the user to install custom memory allocation and deallocation
-mechanisms. One example where we have found this to be useful is a MATLAB wrapper for MuJoCo, where mex files are
-expected to use MATLAB's memory mechanism for permanent memory allocation.
-
-
-.. _mju_user_malloc:
-
-mju_user_malloc
-~~~~~~~~~~~~~~~
-
-If this is installed, the MuJoCo runtime will use it to allocate all heap memory it needs (instead of using aligned
-malloc). The user allocator must allocate memory aligned on 8-byte boundaries. Note that the parser and compiler are
-written in C++ and sometimes allocate memory with the "new" operator which bypasses this mechanism.
-
-.. code-block:: C
-
-   extern void* (*mju_user_malloc)(size_t);
-
-
-.. _mju_user_free:
-
-mju_user_free
-~~~~~~~~~~~~~
-
-If this is installed, MuJoCo will free any heap memory it allocated by calling this function (instead of using aligned
-free).
-
-.. code-block:: C
-
-   extern void (*mju_user_free)(void*);
-
-
-.. _glPhysics:
-
-Physics callbacks
-^^^^^^^^^^^^^^^^^
-
-The physics callbacks are the main mechanism for modifying the behavior of the simulator, beyond setting various
-options. The options control the operation of the default pipeline, while callbacks extend the pipeline at
-well-defined places. This enables advanced users to implement many interesting functions which we have not thought of,
-while still taking advantage of the default pipeline. As with all other callbacks, there is no automated error
-checking - instead we assume that the authors of callback functions know what they are doing.
-
-Custom physics callbacks will often need parameters that are not standard in MJCF. This is largely why we have
-provided custom fields as well as user data arrays in MJCF. The idea is to "instrument" the MJCF model by entering the
-necessary user parameters, and then write callbacks that look for those parameters and perform the corresponding
-computations. We strongly encourage users to write callbacks that check the model for the presence of user parameters
-before accessing them - so that when a regular model is loaded, the callback disables itself automatically instead of
-causing the software to crash.
-
-.. _mjcb_passive:
-
-mjcb_passive
-~~~~~~~~~~~~
-
-This is used to implement a custom passive force in joint space; if the force is more naturally defined in Cartesian
-space, use the end-effector Jacobian to map it to joint space. By "passive" we do not mean a force that does no positive
-work (as in physics), but simply a force that depends only on position and velocity but not on control. There are
-standard passive forces in MuJoCo arising from springs, dampers, viscosity and density of the medium. They are computed
-in ``mjData.qfrc_passive`` before mjcb_passive is called. The user callback should add to this vector instead of
-overwriting it (otherwise the standard passive forces will be lost).
-
-.. code-block:: C
-
-   extern mjfGeneric mjcb_passive;
-
-
-.. _mjcb_control:
-
-mjcb_control
-~~~~~~~~~~~~
-
-This is the most commonly used callback. It implements a control law, by writing in the vector of controls
-``mjData.ctrl``. It can also write in ``mjData.qfrc_applied`` and ``mjData.xfrc_applied``. The values written in these
-vectors can depend on position, velocity and all other quantities derived from them, but cannot depend on contact forces
-and other quantities that are computed after the control is specified. If the callback accesses the latter fields, their
-values do not correspond to the current time step.
-
-The control callback is called from within :ref:`mj_forward` and :ref:`mj_step`, just before the controls and applied
-forces are needed. When using the RK integrator, it will be called 4 times per step. The alternative way of specifying
-controls and applied forces is to set them before ``mj_step``, or use ``mj_step1`` and ``mj_step2``. The latter approach
-allows setting the controls after the position and velocity computations have been performed by ``mj_step1``, allowing
-these results to be utilized in computing the control (similar to using mjcb_control). However, the only way to change
-the controls between sub-steps of the RK integrator is to define the control callback.
-
-.. code-block:: C
-
-   extern mjfGeneric mjcb_control;
-
-.. _mjcb_contactfilter:
-
-mjcb_contactfilter
-~~~~~~~~~~~~~~~~~~
-
-This callback can be used to replace MuJoCo's default collision filtering. When installed, this function is called for
-each pair of geoms that have passed the broad-phase test (or are predefined geom pairs in the MJCF) and are candidates
-for near-phase collision. The default processing uses the contype and conaffinity masks, the parent-child filter and
-some other considerations related to welded bodies to decide if collision should be allowed. This callback replaces the
-default processing, but keep in mind that the entire mechanism is being replaced. So for example if you still want to
-take advantage of contype/conaffinity, you have to re-implement it in the callback.
-
-.. code-block:: C
-
-   extern mjfConFilt mjcb_contactfilter;
-
-.. _mjcb_sensor:
-
-mjcb_sensor
-~~~~~~~~~~~
-
-This callback populates fields of ``mjData.sensordata`` corresponding to user-defined sensors. It is called if it is
-installed and the model contains user-defined sensors. It is called once per compute stage (mjSTAGE_POS, mjSTAGE_VEL,
-mjSTAGE_ACC) and must fill in all user sensor values for that stage. The user-defined sensors have dimensionality and
-data types defined in the MJCF model which must be respected by the callback.
-
-.. code-block:: C
-
-   extern mjfSensor mjcb_sensor;
-
-.. _mjcb_time:
-
-mjcb_time
-~~~~~~~~~
-
-Installing this callback enables the built-in profiler, and keeps timing statistics in ``mjData.timer``. The return type
-is mjtNum, while the time units are up to the user. Both :ref:`simulate.cc <saSimulate>` and the ``mjTOPIC_TIME_STP``
-informational :ref:`topic <mjtLogTopic>` assume the unit is 1 millisecond. In order to be useful, the callback should
-use high-resolution timers with at least microsecond precision.
-
-.. code-block:: C
-
-   extern mjfTime mjcb_time;
-
-
-.. _mjcb_act_dyn:
-
-mjcb_act_dyn
-~~~~~~~~~~~~
-
-This callback implements custom activation dynamics: it must return the value of ``mjData.act_dot`` for the specified
-actuator. This is the time-derivative of the activation state vector ``mjData.act``. It is called for model actuators
-with user dynamics (mjDYN_USER). If such actuators exist in the model but the callback is not installed, their
-time-derivative is set to 0.
-
-.. code-block:: C
-
-   extern mjfAct mjcb_act_dyn;
-
-
-.. _mjcb_act_gain:
-
-mjcb_act_gain
-~~~~~~~~~~~~~
-
-This callback implements custom actuator gains: it must return the gain for the specified actuator with
-``mjModel.actuator_gaintype`` set to mjGAIN_USER. If such actuators exist in the model and this callback is not
-installed, their gains are set to 1.
-
-.. code-block:: C
-
-   extern mjfAct mjcb_act_gain;
-
-
-.. _mjcb_act_bias:
-
-mjcb_act_bias
-~~~~~~~~~~~~~
-
-This callback implements custom actuator biases: it must return the bias for the specified actuator with
-``mjModel.actuator_biastype`` set to mjBIAS_USER. If such actuators exist in the model and this callback is not
-installed, their biases are set to 0.
-
-.. code-block:: C
-
-   extern mjfAct mjcb_act_bias;
-
-
-.. _glCollision:
-
-Collision table
-^^^^^^^^^^^^^^^
-
-.. _mjCOLLISIONFUNC:
-
-mjCOLLISIONFUNC
-~~~~~~~~~~~~~~~
-
-Table of pairwise collision functions indexed by geom types. Only the upper-right triangle is used. The user can replace
-these function pointers with custom routines, replacing MuJoCo's collision mechanism. If a given entry is NULL, the
-corresponding pair of geom types cannot be collided. Note that these functions apply only to near-phase collisions. The
-broadphase mechanism is built-in and cannot be modified.
-
-.. code-block:: C
-
-   extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES];
-
-
-.. _glString:
-
-String constants
-^^^^^^^^^^^^^^^^
-
-The string constants described here are provided for user convenience. They correspond to the English names of lists of
-options, and can be displayed in menus or dialogs in a GUI. The code sample :ref:`simulate.cc <saSimulate>` illustrates
-how they can be used.
-
-
-.. _mjDISABLESTRING:
-
-mjDISABLESTRING
-~~~~~~~~~~~~~~~
-
-Names of the disable bits defined by :ref:`mjtDisableBit`.
-
-.. code-block:: C
-
-   extern const char* mjDISABLESTRING[mjNDISABLE];
-
-
-.. _mjENABLESTRING:
-
-mjENABLESTRING
-~~~~~~~~~~~~~~
-
-Names of the enable bits defined by :ref:`mjtEnableBit`.
-
-.. code-block:: C
-
-   extern const char* mjENABLESTRING[mjNENABLE];
-
-
-.. _mjTIMERSTRING:
-
-mjTIMERSTRING
-~~~~~~~~~~~~~
-
-Names of the mjData timers defined by :ref:`mjtTimer`.
-
-.. code-block:: C
-
-   extern const char* mjTIMERSTRING[mjNTIMER];
-
-
-.. _mjLABELSTRING:
-
-mjLABELSTRING
-~~~~~~~~~~~~~
-
-Names of the visual labeling modes defined by :ref:`mjtLabel`.
-
-.. code-block:: C
-
-   extern const char* mjLABELSTRING[mjNLABEL];
-
-
-.. _mjFRAMESTRING:
-
-mjFRAMESTRING
-~~~~~~~~~~~~~
-
-Names of the frame visualization modes defined by :ref:`mjtFrame`.
-
-.. code-block:: C
-
-   extern const char* mjFRAMESTRING[mjNFRAME];
-
-
-.. _mjVISSTRING:
-
-mjVISSTRING
-~~~~~~~~~~~
-
-Descriptions of the abstract visualization flags defined by :ref:`mjtVisFlag`. For each flag there are three strings,
-
-with the following meaning:
-
-[0]: flag name;
-
-[1]: the string "0" or "1" indicating if the flag is on or off by default, as set by
-:ref:`mjv_defaultOption`;
-
-[2]: one-character string with a suggested keyboard shortcut, used in :ref:`simulate.cc <saSimulate>`.
-
-.. code-block:: C
-
-   extern const char* mjVISSTRING[mjNVISFLAG][3];
-
-
-.. _mjRNDSTRING:
-
-mjRNDSTRING
-~~~~~~~~~~~
-
-Descriptions of the OpenGL rendering flags defined by :ref:`mjtRndFlag`. The three strings for each flag have the same
-format as above, except the defaults here are set by :ref:`mjv_makeScene`.
-
-.. code-block:: C
-
-   extern const char* mjRNDSTRING[mjNRNDFLAG][3];
-
-
-
-.. _glNumeric:
-
-Numeric constants
-^^^^^^^^^^^^^^^^^
-
-Many integer constants were already documented in the primitive types above. In addition, the header files define
-several other constants documented here. Note that some extended key codes are defined in
-`mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_ which are not shown below. Their
-names are in the format ``mjKEY_XXX``. They correspond to GLFW key codes.
-
-
-.. _glNumericVersion:
-
-Version
-~~~~~~~
-
-Defined in `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_.
-
-.. list-table::
-   :widths: 2 1 8
-   :header-rows: 1
-
-   * - symbol
-     - value
-     - description
-   * - ``mjVERSION_HEADER``
-     - 3012000
-     - The version of the MuJoCo headers. This is an integer calculated from the version string "S.M.P"
-       using the formula ``(S * 1e6) + (M * 1e3) + P``. For example, version 4.2.1 is represented as 4002001.
-       The API function :ref:`mj_version` returns a number with the same meaning
-       but for the compiled library. See
-       `VERSIONING.md <https://github.com/google-deepmind/mujoco/blob/main/VERSIONING.md>`__ for details.
-
-
-.. _glNumericEngine:
-
-Engine constants
-~~~~~~~~~~~~~~~~
-
-Defined in `mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_ unless
-indicated otherwise.
-
-.. list-table::
-   :widths: 2 1 8
-   :header-rows: 1
-
-   * - symbol
-     - value
-     - description
-   * - ``mjMINVAL``
-     - 1E-15
-     - The minimal value allowed in any denominator, and in general any mathematical operation where 0 is not allowed.
-       In almost all cases, MuJoCo silently clamps smaller values to mjMINVAL.
-       Defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`_.
-   * - ``mjPI``
-     - :math:`\pi`
-     - The value of :math:`\pi`. This is used in various trigonometric functions, and also for conversion from degrees
-       to radians in the compiler.
-   * - ``mjMAXVAL``
-     - 1E+10
-     - The maximal absolute value allowed in mjData.qpos, mjData.qvel, mjData.qacc. The API functions
-       :ref:`mj_checkPos`, :ref:`mj_checkVel`, :ref:`mj_checkAcc` use this constant to detect instability.
-   * - ``mjMINMU``
-     - 1E-5
-     - The minimal value allowed in any friction coefficient. Recall that MuJoCo's contact model allows different number
-       of friction dimensions to be included, as specified by the :at:`condim` attribute. If however a given friction
-       dimension is included, its friction is not allowed to be smaller than this constant. Smaller values are
-       automatically clamped to this constant.
-   * - ``mjMINIMP``
-     - 0.0001
-     - The minimal value allowed in any constraint impedance. Smaller values are automatically clamped to this constant.
-   * - ``mjMAXIMP``
-     - 0.9999
-     - The maximal value allowed in any constraint impedance. Larger values are automatically clamped to this constant.
-   * - ``mjMAXCONPAIR``
-     - 50
-     - The maximal number of contacts points that can be generated per geom pair. MuJoCo's built-in collision functions
-       respect this limit, and user-defined functions should also respect it. Such functions are called with a return
-       buffer of size ``mjMAXCONPAIR``; attempting to write more contacts in the buffer can cause unpredictable
-       behavior.
-   * - ``mjMAXTREEDEPTH``
-     - 50
-     - The maximum depth of each body and mesh bounding volume hierarchy. If this large limit is exceeded, a warning
-       is raised and ray casting may not be possible. For a balanced hierarchy, this implies 1E15 bounding volumes.
-   * - ``mjMAXFLEXNODES``
-     - 27
-     - The maximum number of nodes in a trilinear flex element.
-   * - ``mjMINAWAKE``
-     - 10
-     - The minimum number of timesteps that must pass after a tree is awoken, before it is allowed to go back to sleep.
-
-
-.. _glNumericSizes:
-
-Array sizes
-~~~~~~~~~~~
-
-Defined in `mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_. These constants
-correspond to array sizes which we have not fully settled. There may be reasons to increase them in the future, so as to
-accommodate extra parameters needed for more elaborate computations. This is why we maintain them as symbolic constants
-that can be easily changed, as opposed to the array size for representing quaternions for example -- which has no reason
-to change.
-
-.. list-table::
-   :widths: 2 1 8
-   :header-rows: 1
-
-   * - symbol
-     - value
-     - description
-   * - ``mjNEQDATA``
-     - 11
-     - The maximal number of real-valued parameters used to define each equality constraint. Determines the size of
-       ``mjModel.eq_data``.
-   * - ``mjNDYN``
-     - 10
-     - The maximal number of real-valued parameters used to define the activation dynamics of each actuator.
-       Determines the size of ``mjModel.actuator_dynprm``.
-   * - ``mjNGAIN``
-     - 10
-     - The maximal number of real-valued parameters used to define the gain of each actuator.
-       Determines the size of ``mjModel.actuator_gainprm``.
-   * - ``mjNBIAS``
-     - 10
-     - The maximal number of real-valued parameters used to define the bias of each actuator.
-       Determines the size of ``mjModel.actuator_biasprm``.
-   * - ``mjNPOLY``
-     - 2
-     - The number of nonlinear polynomial coefficients for joint and tendon stiffness and damping.
-       Determines the size of ``mjModel.{jnt,tendon}_{stiffness,damping}poly``. See
-       :ref:`polynomial forces<gePolynomial>`.
-   * - ``mjNFLUID``
-     - 12
-     - The number of per-geom fluid interaction parameters required by the ellipsoidal model.
-   * - ``mjNREF``
-     - 2
-     - The maximal number of real-valued parameters used to define the reference acceleration of each scalar constraint.
-       Determines the size of all ``mjModel.XXX_solref`` fields.
-   * - ``mjNIMP``
-     - 5
-     - The maximal number of real-valued parameters used to define the impedance of each scalar constraint.
-       Determines the size of all ``mjModel.XXX_solimp`` fields.
-   * - ``mjNSENS``
-     - 3
-     - The number of sensor parameters.
-       Determines the size of ``mjModel.sensor_intprm``.
-   * - ``mjNSOLVER``
-     - 200
-     - The number of iterations where solver statistics can be stored in ``mjData.solver``. This array is used
-       to store diagnostic information about each iteration of the constraint solver.
-       The actual number of iterations is given by ``mjData.solver_niter``.
-   * - ``mjNISLAND``
-     - 20
-     - The number of islands for which solver statistics can be stored in ``mjData.solver``. This array is
-       used to store diagnostic information about each iteration of the constraint solver.
-       The actual number of islands for which the solver was run is given by ``mjData.nsolver_island``.
-
-
-.. _glNumericVisualization:
-
-Visualization
-~~~~~~~~~~~~~
-
-Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
-
-.. list-table::
-   :widths: 2 1 8
-   :header-rows: 1
-
-   * - symbol
-     - value
-     - description
-   * - ``mjNGROUP``
-     - 6
-     - The number of geom, site, joint, tendon and actuator groups whose rendering can be enabled and disabled via
-       :ref:`mjvOption`.
-   * - ``mjMAXLIGHT``
-     - 100
-     - The maximum number of lights in a scene.
-   * - ``mjMAXOVERLAY``
-     - 500
-     - The maximal number of characters in overlay text for rendering.
-   * - ``mjMAXLINE``
-     - 100
-     - The maximal number of lines per 2D figure (:ref:`mjvFigure`).
-   * - ``mjMAXLINEPNT``
-     - 1001
-     - The maximal number of points in each line in a 2D figure. Note that the buffer ``mjvFigure.linepnt`` has length
-       ``2*mjMAXLINEPNT`` because each point has X and Y coordinates.
-   * - ``mjMAXPLANEGRID``
-     - 200
-     - The maximal number of grid lines in each dimension for rendering planes.
-
-
-.. _glNumericRendering:
-
-Rendering
-~~~~~~~~~
-
-Defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`_.
-
-.. list-table::
-   :widths: 2 1 8
-   :header-rows: 1
-
-   * - symbol
-     - value
-     - description
-   * - ``mjNAUX``
-     - 10
-     - Number of auxiliary buffers that can be allocated in mjrContext.
-   * - ``mjMAXTEXTURE``
-     - 1000
-     - Maximum number of textures allowed.
-   * - ``mjMAXMATERIAL``
-     - 1000
-     - Maximum number of materials with textures.
-
-
-.. _glNumericUI:
-
-UI constants
-~~~~~~~~~~~~
-
-Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
-
-.. list-table::
-   :widths: 2 1 8
-   :header-rows: 1
-
-   * - symbol
-     - value
-     - description
-   * - ``mjMAXUISECT``
-     - 10
-     - Maximum number of UI sections.
-   * - ``mjMAXUIITEM``
-     - 200
-     - Maximum number of items per UI section.
-   * - ``mjMAXUITEXT``
-     - 300
-     - Maximum number of characters in UI fields 'edittext' and 'other'.
-   * - ``mjMAXUINAME``
-     - 40
-     - Maximum number of characters in any UI name.
-   * - ``mjMAXUIMULTI``
-     - 35
-     - Maximum number of radio and select items in UI group.
-   * - ``mjMAXUIEDIT``
-     - 7
-     - Maximum number of elements in UI edit list.
-   * - ``mjMAXUIRECT``
-     - 25
-     - Maximum number of UI rectangles.
-
-.. _Macros:
-
-Macros
-^^^^^^
-
-
-.. _mjUSESINGLE:
-
-mjUSESINGLE
-~~~~~~~~~~~
-
-Compile-time flag, see :ref:`mjtNum`.
-
-.. _mjDISABLED:
-
-mjDISABLED
-~~~~~~~~~~
-
-.. code-block:: C
-
-   #define mjDISABLED(x) (m->opt.disableflags & (x))
-
-Check if a given standard feature has been disabled via the physics options, assuming mjModel\* m is defined. x is of
-type :ref:`mjtDisableBit`.
-
-
-.. _mjENABLED:
-
-mjENABLED
-~~~~~~~~~
-
-.. code-block:: C
-
-   #define mjENABLED(x) (m->opt.enableflags & (x))
-
-Check if a given optional feature has been enabled via the physics options, assuming mjModel\* m is defined. x is of
-type :ref:`mjtEnableBit`.
-
-
-.. _mjMAX:
-
-mjMAX
-~~~~~
-
-.. code-block:: C
-
-   #define mjMAX(a,b) (((a) > (b)) ? (a) : (b))
-
-Return maximum value. To avoid repeated evaluation with mjtNum types, use the function :ref:`mju_max`.
-
-
-.. _mjMIN:
-
-mjMIN
-~~~~~
-
-.. code-block:: C
-
-   #define mjMIN(a,b) (((a) < (b)) ? (a) : (b))
-
-Return minimum value. To avoid repeated evaluation with mjtNum types, use the function :ref:`mju_min`.
-
-
-.. _mjPLUGIN_LIB_INIT:
-
-mjPLUGIN_LIB_INIT
-~~~~~~~~~~~~~~~~~
-
-.. code-block:: C
-
-   #define mjPLUGIN_LIB_INIT(n)                                      \
-        static void _mj_init_##n(void) __attribute__((constructor)); \
-        static void _mj_init_##n(void)
-
-Register a plugin before `main()` is called. This macro takes a unique identifier `n` as an argument that is used to avoid
-name collisions between different plugin initialization functions. See :ref:`plugin registration<exRegistration>` for
-more details.
-
-
-.. _tyXMacro:
-
-X Macros
-^^^^^^^^
-
-The X Macros are not needed in most user projects. They are used internally to allocate the model, and are also
-available for users who know how to use this programming technique. See the header files `mjxmacro.h
-<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`_ and `mjspecmacro.h
-<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspecmacro.h>`_ for the actual definitions. They are
-particularly useful in writing MuJoCo wrappers for scripting languages, where dynamic structures matching the MuJoCo
-data structures need to be constructed programmatically.
diff --git a/doc/APIreference/APItypes.rst b/doc/APIreference/APItypes.rst
deleted file mode 100644
index 3b03ac64..00000000
--- a/doc/APIreference/APItypes.rst
+++ /dev/null
@@ -1,2478 +0,0 @@
-=====
-Types
-=====
-
-MuJoCo defines a large number of types:
-
-- Four :ref:`primitive types<tyPrimitive>`: :ref:`mjtNum<mjtNum>`, :ref:`mjtByte<mjtByte>`, :ref:`mjtBool<mjtBool>`, and
-  :ref:`mjtSize<mjtSize>`.
-
-- :ref:`C enum types<tyEnums>` used to define categorical values. These can be classified as:
-
-  - Enums used in :ref:`mjModel<tyModelEnums>`.
-  - Enums used in :ref:`mjData<tyDataEnums>`.
-  - Enums for abstract :ref:`visualization<tyVisEnums>`.
-  - Enums used by the :ref:`classic renderer<tyRenderEnums>`.
-  - Enums used by the :ref:`filament renderer<tyFilamentRenderEnums>`.
-  - Enums used by the :ref:`mjUI<tyUIEnums>` user interface package.
-  - Enums used by :ref:`engine plugins<tyPluginEnums>`.
-  - Enums used for :ref:`procedural model manipulation<tySpecEnums>`.
-
-  Note that the API does not use these enum types directly. Instead it uses ints, and the documentation/comments state
-  that certain ints correspond to certain enum types. This is because we want the API to be compiler-independent, and
-  the C standard does not dictate how many bytes must be used to represent an enum type. Nevertheless, for improved
-  readability, we recommend using these types when calling API functions which take them as arguments.
-
-- :ref:`C struct types<tyStructure>`. These can be classified as:
-
-  - Main structs:
-
-    - :ref:`mjModel`.
-    - :ref:`mjOption` (embedded in :ref:`mjModel`).
-    - :ref:`mjData`.
-
-  - :ref:`Auxiliary struct types<tyAuxStructure>`, also used by the engine.
-  - Structs for collecting :ref:`simulation statistics<tyStatStructure>`.
-  - Structs for :ref:`abstract visualization<tyVisStructure>`.
-  - Structs used by the :ref:`classic renderer<tyRenderStructure>`.
-  - Structs used by the :ref:`filament renderer<tyFilamentRenderStructure>`.
-  - Structs used by the :ref:`UI framework<tyUIStructure>`.
-  - Structs used for :ref:`procedural model manipulation<tySpecStructure>`.
-  - Structs used by :ref:`engine plugins<tyPluginStructure>`.
-
-- Several :ref:`function types<tyFunction>` for user-defined callbacks.
-- :ref:`tyNotes` regarding specific data structures that require detailed description.
-
-
-
-.. _tyPrimitive:
-
-Primitive types
----------------
-
-The three types below are defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__.
-
-
-.. _mjtNum:
-
-mjtNum
-^^^^^^
-
-This is the floating-point type used throughout the simulator. When using the default build configuration, ``mjtNum`` is
-defined as ``double``. If the symbol ``mjUSESINGLE`` is defined, ``mjtNum`` is defined as ``float``.
-
-Currently only the double-precision version of MuJoCo is distributed, although the entire code base works with
-single-precision as well. We may release the single-precision version in the future, but the
-double-precision version will always be available. Thus it is safe to write user code assuming double precision.
-However, our preference is to write code that works with either single or double precision. To this end we provide math
-utility functions that are always defined with the correct floating-point type.
-
-Note that changing ``mjUSESINGLE`` in ``mjtype.h`` will not change how the library was compiled, and instead will
-result in numerous link errors. In general, the header files distributed with precompiled MuJoCo should never be
-changed by the user.
-
-.. code-block:: C
-
-   // floating point data type and minval
-   #ifndef mjUSESINGLE
-     typedef double mjtNum;
-     #define mjMINVAL    1E-15       // minimum value in any denominator
-   #else
-     typedef float mjtNum;
-     #define mjMINVAL    1E-15f
-   #endif
-
-
-.. _mjtByte:
-
-mjtByte
-^^^^^^^
-
-Byte type used to represent small integers and binary data.
-
-.. code-block:: C
-
-   typedef unsigned char mjtByte;
-
-
-.. _mjtBool:
-
-mjtBool
-^^^^^^^
-
-Boolean type used to represent true/false values.
-
-.. code-block:: C
-
-   #ifndef __cplusplus
-     typedef _Bool mjtBool;
-   #else
-     typedef bool mjtBool;
-   #endif
-
-
-.. _mjtSize:
-
-mjtSize
-^^^^^^^
-
-Size type used to represent buffer sizes.
-
-.. code-block:: C
-
-   typedef int64_t mjtSize;
-
-
-.. _tyEnums:
-
-Enum types
-----------
-
-All enum types use the ``mjt`` prefix.
-
-.. _tyModelEnums:
-
-Model
-^^^^^
-
-The enums below are defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__.
-
-
-.. _mjtDisableBit:
-
-mjtDisableBit
-~~~~~~~~~~~~~
-
-Constants which are powers of 2. They are used as bitmasks for the field ``disableflags`` of :ref:`mjOption`.
-At runtime this field is ``m->opt.disableflags``. The number of these constants is given by ``mjNDISABLE`` which is
-also the length of the global string array :ref:`mjDISABLESTRING` with text descriptions of these flags.
-
-.. mujoco-include:: mjtDisableBit
-
-
-.. _mjtEnableBit:
-
-mjtEnableBit
-~~~~~~~~~~~~
-
-Constants which are powers of 2. They are used as bitmasks for the field ``enableflags`` of :ref:`mjOption`.
-At runtime this field is ``m->opt.enableflags``. The number of these constants is given by ``mjNENABLE`` which is also
-the length of the global string array :ref:`mjENABLESTRING` with text descriptions of these flags.
-
-.. mujoco-include:: mjtEnableBit
-
-
-.. _mjtJoint:
-
-mjtJoint
-~~~~~~~~
-
-Primitive joint types. These values are used in ``m->jnt_type``. The numbers in the comments indicate how many
-positional coordinates each joint type has. Note that ball joints and rotational components of free joints are
-represented as unit quaternions - which have 4 positional coordinates but 3 degrees of freedom each.
-
-.. mujoco-include:: mjtJoint
-
-
-.. _mjtGeom:
-
-mjtGeom
-~~~~~~~
-
-Geometric types supported by MuJoCo. The first group are "official" geom types that can be used in the model. The
-second group are geom types that cannot be used in the model but are used by the visualizer to add decorative
-elements. These values are used in ``m->geom_type`` and ``m->site_type``.
-
-.. mujoco-include:: mjtGeom
-
-
-.. _mjtProjection:
-
-mjtProjection
-~~~~~~~~~~~~~
-
-Type of camera projection. Used in ``m->cam_projection``.
-
-.. mujoco-include:: mjtProjection
-
-
-.. _mjtCamLight:
-
-mjtCamLight
-~~~~~~~~~~~
-
-Dynamic modes for cameras and lights, specifying how the camera/light position and orientation are computed. These
-values are used in ``m->cam_mode`` and ``m->light_mode``.
-
-.. mujoco-include:: mjtCamLight
-
-
-.. _mjtLightType:
-
-mjtLightType
-~~~~~~~~~~~~
-
-The type of a light source describing how its position, orientation and other properties will interact with the
-objects in the scene. These values are used in ``m->light_type``.
-
-.. mujoco-include:: mjtLightType
-
-
-.. _mjtTexture:
-
-mjtTexture
-~~~~~~~~~~
-
-Texture types, specifying how the texture will be mapped. These values are used in ``m->tex_type``.
-
-.. mujoco-include:: mjtTexture
-
-
-.. _mjtTextureRole:
-
-mjtTextureRole
-~~~~~~~~~~~~~~
-
-Texture roles, specifying how the renderer should interpret the texture.  Note that the MuJoCo built-in renderer only
-uses RGB textures.  These values are used to store the texture index in the material's array ``m->mat_texid``.
-
-.. mujoco-include:: mjtTextureRole
-
-
-.. _mjtColorSpace:
-
-mjtColorSpace
-~~~~~~~~~~~~~
-
-Type of color space encoding for textures.
-
-.. mujoco-include:: mjtColorSpace
-
-
-.. _mjtIntegrator:
-
-mjtIntegrator
-~~~~~~~~~~~~~
-
-Numerical integrator types. These values are used in ``m->opt.integrator``.
-
-.. mujoco-include:: mjtIntegrator
-
-.. _mjtCone:
-
-mjtCone
-~~~~~~~
-
-Available friction cone types. These values are used in ``m->opt.cone``.
-
-.. mujoco-include:: mjtCone
-
-.. _mjtJacobian:
-
-mjtJacobian
-~~~~~~~~~~~
-
-Available Jacobian types. These values are used in ``m->opt.jacobian``.
-
-.. mujoco-include:: mjtJacobian
-
-
-.. _mjtSolver:
-
-mjtSolver
-~~~~~~~~~
-
-Available constraint solver algorithms. These values are used in ``m->opt.solver``.
-
-.. mujoco-include:: mjtSolver
-
-
-.. _mjtEq:
-
-mjtEq
-~~~~~
-
-Equality constraint types. These values are used in ``m->eq_type``.
-
-.. mujoco-include:: mjtEq
-
-
-.. _mjtWrap:
-
-mjtWrap
-~~~~~~~
-
-Tendon wrapping object types. These values are used in ``m->wrap_type``.
-
-.. mujoco-include:: mjtWrap
-
-
-.. _mjtTrn:
-
-mjtTrn
-~~~~~~
-
-Actuator transmission types. These values are used in ``m->actuator_trntype``.
-
-.. mujoco-include:: mjtTrn
-
-
-.. _mjtDyn:
-
-mjtDyn
-~~~~~~
-
-Actuator dynamics types. These values are used in ``m->actuator_dyntype``.
-
-.. mujoco-include:: mjtDyn
-
-
-.. _mjtGain:
-
-mjtGain
-~~~~~~~
-
-Actuator gain types. These values are used in ``m->actuator_gaintype``.
-
-.. mujoco-include:: mjtGain
-
-
-.. _mjtBias:
-
-mjtBias
-~~~~~~~
-
-Actuator bias types. These values are used in ``m->actuator_biastype``.
-
-.. mujoco-include:: mjtBias
-
-
-.. _mjtCtrlChart:
-
-mjtCtrlChart
-~~~~~~~~~~~~
-
-Orientation input charts of so3 actuators. These values are used in ``m->actuator_ctrlspec``.
-
-.. mujoco-include:: mjtCtrlChart
-
-
-.. _mjtCtrlInput:
-
-mjtCtrlInput
-~~~~~~~~~~~~
-
-Input bitflags of servo-family (pd, dcmotor) actuators. These values are used in ``m->actuator_ctrlspec``.
-
-.. mujoco-include:: mjtCtrlInput
-
-
-.. _mjtObj:
-
-mjtObj
-~~~~~~
-
-MuJoCo object types. These are used, for example, in the support functions :ref:`mj_name2id` and
-:ref:`mj_id2name` to convert between object names and integer ids.
-
-.. mujoco-include:: mjtObj
-
-
-.. _mjtSensor:
-
-mjtSensor
-~~~~~~~~~
-
-Sensor types. These values are used in ``m->sensor_type``.
-
-.. mujoco-include:: mjtSensor
-
-
-.. _mjtStage:
-
-mjtStage
-~~~~~~~~
-
-These are the compute stages for the skipstage parameters of :ref:`mj_forwardSkip` and
-:ref:`mj_inverseSkip`.
-
-.. mujoco-include:: mjtStage
-
-
-.. _mjtDataType:
-
-mjtDataType
-~~~~~~~~~~~
-
-These are the possible sensor data types, used in ``mjData.sensor_datatype``.
-
-.. mujoco-include:: mjtDataType
-
-
-.. _mjtConDataField:
-
-mjtConDataField
-~~~~~~~~~~~~~~~
-
-Types of data fields returned by contact sensors.
-
-.. mujoco-include:: mjtConDataField
-
-
-.. _mjtRayDataField:
-
-mjtRayDataField
-~~~~~~~~~~~~~~~
-
-Data fields returned by rangefinder sensors.
-
-.. mujoco-include:: mjtRayDataField
-
-
-.. _mjtCamOutBit:
-
-mjtCamOutBit
-~~~~~~~~~~~~
-
-Camera output type bitflags. These are used in ``m->cam_output``.
-
-.. mujoco-include:: mjtCamOutBit
-
-
-.. _mjtSameFrame:
-
-mjtSameFrame
-~~~~~~~~~~~~
-
-Types of frame alignment of elements with their parent bodies. Used as shortcuts during :ref:`mj_kinematics` in the
-last argument to :ref:`mj_local2global`.
-
-.. mujoco-include:: mjtSameFrame
-
-
-.. _mjtSleepPolicy:
-
-mjtSleepPolicy
-~~~~~~~~~~~~~~
-
-Sleep policy associated with a tree. The compiler automatically chooses between ``NEVER`` and ``ALLOWED``, but the user
-can override this choice. Only the user can set the ``INIT`` policy (initialized as asleep).
-
-.. mujoco-include:: mjtSleepPolicy
-
-
-.. _mjtLRMode:
-
-mjtLRMode
-~~~~~~~~~
-
-Mode for actuator length range computation. Used in ``mjLROpt.mode``.
-
-.. mujoco-include:: mjtLRMode
-
-
-.. _mjtFlexSelf:
-
-mjtFlexSelf
-~~~~~~~~~~~~
-
-Types of flex self-collisions midphase.
-
-.. mujoco-include:: mjtFlexSelf
-
-
-.. _mjtSDFType:
-
-mjtSDFType
-~~~~~~~~~~~
-
-Formulas used to combine SDFs when calling mjc_distance and mjc_gradient.
-
-.. mujoco-include:: mjtSDFType
-
-
-.. _tyDataEnums:
-
-Data
-^^^^
-
-The enums below are defined in `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__.
-
-
-
-.. _mjtState:
-
-mjtState
-~~~~~~~~
-
-State component elements as integer bitflags and several convenient combinations of these flags. Used by
-:ref:`mj_getState`, :ref:`mj_setState` and :ref:`mj_stateSize`.
-
-.. mujoco-include:: mjtState
-
-
-.. _mjtConstraint:
-
-mjtConstraint
-~~~~~~~~~~~~~
-
-Constraint types. These values are not used in mjModel, but are used in the mjData field ``d->efc_type`` when the list
-of active constraints is constructed at each simulation time step.
-
-.. mujoco-include:: mjtConstraint
-
-
-.. _mjtConstraintState:
-
-mjtConstraintState
-~~~~~~~~~~~~~~~~~~
-
-These values are used by the solver internally to keep track of the constraint states.
-
-.. mujoco-include:: mjtConstraintState
-
-
-.. _mjtWarning:
-
-mjtWarning
-~~~~~~~~~~
-
-Warning types. The number of warning types is given by ``mjNWARNING`` which is also the length of the array
-``mjData.warning``.
-
-.. mujoco-include:: mjtWarning
-
-
-.. _mjtTimer:
-
-mjtTimer
-~~~~~~~~
-
-Timer types. The number of timer types is given by ``mjNTIMER`` which is also the length of the array
-``mjData.timer``, as well as the length of the string array :ref:`mjTIMERSTRING` with timer names.
-
-.. mujoco-include:: mjtTimer
-
-
-.. _mjtSleepState:
-
-mjtSleepState
-~~~~~~~~~~~~~
-
-Sleep state of an object.
-
-.. mujoco-include:: mjtSleepState
-
-
-.. _tyLogEnums:
-
-Logging
-~~~~~~~
-
-.. _mjtLogLevel:
-
-mjtLogLevel
-"""""""""""
-
-Log message severity level.
-
-.. mujoco-include:: mjtLogLevel
-
-
-.. _mjtLogTopic:
-
-mjtLogTopic
-"""""""""""
-
-Topic identifiers for informational messages. Used with :ref:`mju_info` for topic-based filtering.
-Topic 0 (``mjTOPIC_NONE``) always passes through the default handler's filter. Other topics must be enabled in
-the :ref:`mjLogConfig` bitmask. Since topics are 1-indexed, the bitmask for topic ``t`` is ``(1 << (t - 1))``.
-
-.. mujoco-include:: mjtLogTopic
-
-
-.. _tyVisEnums:
-
-Visualization
-^^^^^^^^^^^^^
-
-The enums below are defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`__.
-
-
-.. _mjtCatBit:
-
-mjtCatBit
-~~~~~~~~~
-
-These are the available categories of geoms in the abstract visualizer. The bitmask can be used in the function
-:ref:`mjr_render` to specify which categories should be rendered.
-
-.. mujoco-include:: mjtCatBit
-
-
-.. _mjtMouse:
-
-mjtMouse
-~~~~~~~~
-
-These are the mouse actions that the abstract visualizer recognizes. It is up to the user to intercept mouse events
-and translate them into these actions, as illustrated in :ref:`simulate.cc <saSimulate>`.
-
-.. mujoco-include:: mjtMouse
-
-
-.. _mjtPertBit:
-
-mjtPertBit
-~~~~~~~~~~
-
-These bitmasks enable the translational and rotational components of the mouse perturbation. For the regular mouse,
-only one can be enabled at a time. For the 3D mouse (SpaceNavigator) both can be enabled simultaneously. They are used
-in ``mjvPerturb.active``.
-
-.. mujoco-include:: mjtPertBit
-
-
-.. _mjtCamera:
-
-mjtCamera
-~~~~~~~~~
-
-These are the possible camera types, used in ``mjvCamera.type``.
-
-.. mujoco-include:: mjtCamera
-
-
-.. _mjtLabel:
-
-mjtLabel
-~~~~~~~~
-
-These are the abstract visualization elements that can have text labels. Used in ``mjvOption.label``.
-
-.. mujoco-include:: mjtLabel
-
-
-.. _mjtFrame:
-
-mjtFrame
-~~~~~~~~
-
-These are the MuJoCo objects whose spatial frames can be rendered. Used in ``mjvOption.frame``.
-
-.. mujoco-include:: mjtFrame
-
-
-.. _mjtVisFlag:
-
-mjtVisFlag
-~~~~~~~~~~
-
-These are indices in the array ``mjvOption.flags``, whose elements enable/disable the visualization of the
-corresponding model or decoration element.
-
-.. mujoco-include:: mjtVisFlag
-
-
-.. _mjtRndFlag:
-
-mjtRndFlag
-~~~~~~~~~~
-
-These are indices in the array ``mjvScene.flags``, whose elements enable/disable OpenGL rendering effects.
-
-.. mujoco-include:: mjtRndFlag
-
-
-.. _mjtStereo:
-
-mjtStereo
-~~~~~~~~~
-
-These are the possible stereo rendering types. They are used in ``mjvScene.stereo``.
-
-.. mujoco-include:: mjtStereo
-
-
-
-.. _tyRenderEnums:
-
-Rendering
-^^^^^^^^^
-
-The enums below are defined in `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`__.
-
-
-.. _mjtGridPos:
-
-mjtGridPos
-~~~~~~~~~~
-
-These are the possible grid positions for text overlays. They are used as an argument to the function
-:ref:`mjr_overlay`.
-
-.. mujoco-include:: mjtGridPos
-
-
-.. _mjtFramebuffer:
-
-mjtFramebuffer
-~~~~~~~~~~~~~~
-
-These are the possible framebuffers. They are used as an argument to the function :ref:`mjr_setBuffer`.
-
-.. mujoco-include:: mjtFramebuffer
-
-
-.. _mjtDepthMap:
-
-mjtDepthMap
-~~~~~~~~~~~
-
-These are the depth mapping options. They are used as a value for the ``readPixelDepth`` attribute of the
-:ref:`mjrContext` struct, to control how the depth returned by :ref:`mjr_readPixels` is mapped from
-``znear`` to ``zfar``.
-
-.. mujoco-include:: mjtDepthMap
-
-
-.. _mjtFontScale:
-
-mjtFontScale
-~~~~~~~~~~~~
-
-These are the possible font sizes. The fonts are predefined bitmaps stored in the dynamic library at three different
-sizes.
-
-.. mujoco-include:: mjtFontScale
-
-
-.. _mjtFont:
-
-mjtFont
-~~~~~~~
-
-These are the possible font types.
-
-.. mujoco-include:: mjtFont
-
-.. _mjrPixelFormat:
-
-mjrPixelFormat
-~~~~~~~~~~~~~~
-
-These are the possible values:
-
-.. mujoco-include:: mjrPixelFormat
-
-.. _mjrVertexAttributeUsage:
-
-mjrVertexAttributeUsage
-~~~~~~~~~~~~~~~~~~~~~~~
-
-These are the possible values:
-
-.. mujoco-include:: mjrVertexAttributeUsage
-
-.. _mjrVertexAttributeType:
-
-mjrVertexAttributeType
-~~~~~~~~~~~~~~~~~~~~~~
-
-These are the possible values:
-
-.. mujoco-include:: mjrVertexAttributeType
-
-.. _mjrIndexType:
-
-mjrIndexType
-~~~~~~~~~~~~
-
-These are the possible values:
-
-.. mujoco-include:: mjrIndexType
-
-.. _mjrMeshPrimitiveType:
-
-mjrMeshPrimitiveType
-~~~~~~~~~~~~~~~~~~~~
-
-There are the possible values:
-
-.. mujoco-include:: mjrMeshPrimitiveType
-
-
-.. _tyFilamentRenderEnums:
-
-Filament Rendering
-^^^^^^^^^^^^^^^^^^
-
-The enums below are defined in `mjrfilament.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrfilament.h>`__.
-
-
-.. _mjrGraphicsApi:
-
-mjrGraphicsApi
-~~~~~~~~~~~~~~
-
-The underlying graphics API to use for Filament rendering.
-
-.. mujoco-include:: mjrGraphicsApi
-
-
-.. _mjrDrawMode:
-
-mjrDrawMode
-~~~~~~~~~~~
-
-High-level control for how to draw objects in the scene for Filament rendering.
-
-.. mujoco-include:: mjrDrawMode
-
-
-.. _tyUIEnums:
-
-User Interface
-^^^^^^^^^^^^^^
-
-The enums below are defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__.
-
-
-.. _mjtButton:
-
-mjtButton
-~~~~~~~~~
-
-Mouse button IDs used in the UI framework.
-
-.. mujoco-include:: mjtButton
-
-
-.. _mjtEvent:
-
-mjtEvent
-~~~~~~~~
-
-Event types used in the UI framework.
-
-.. mujoco-include:: mjtEvent
-
-
-.. _mjtItem:
-
-mjtItem
-~~~~~~~
-
-Item types used in the UI framework.
-
-.. mujoco-include:: mjtItem
-
-
-.. _mjtSection:
-
-mjtSection
-~~~~~~~~~~
-
-State of a UI section.
-
-.. mujoco-include:: mjtSection
-
-
-
-.. _tySpecEnums:
-
-Spec
-^^^^
-
-The enums below are defined in `mjspec.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspec.h>`__.
-
-.. _mjtGeomInertia:
-
-mjtGeomInertia
-~~~~~~~~~~~~~~
-
-Type of inertia inference.
-
-.. mujoco-include:: mjtGeomInertia
-
-.. _mjtBuiltin:
-
-mjtBuiltin
-~~~~~~~~~~
-
-Type of built-in procedural texture.
-
-.. mujoco-include:: mjtBuiltin
-
-.. _mjtMark:
-
-mjtMark
-~~~~~~~
-
-Mark type for procedural textures.
-
-.. mujoco-include:: mjtMark
-
-.. _mjtLimited:
-
-mjtLimited
-~~~~~~~~~~
-
-Type of limit specification.
-
-.. mujoco-include:: mjtLimited
-
-.. _mjtAlignFree:
-
-mjtAlignFree
-~~~~~~~~~~~~
-
-Whether to align free joints with the inertial frame.
-
-.. mujoco-include:: mjtAlignFree
-
-.. _mjtInertiaFromGeom:
-
-mjtInertiaFromGeom
-~~~~~~~~~~~~~~~~~~
-
-Whether to infer body inertias from child geoms.
-
-.. mujoco-include:: mjtInertiaFromGeom
-
-.. _mjtOrientation:
-
-mjtOrientation
-~~~~~~~~~~~~~~
-
-Type of orientation specifier.
-
-.. mujoco-include:: mjtOrientation
-
-.. _mjtMeshInertia:
-
-mjtMeshInertia
-~~~~~~~~~~~~~~
-
-Type of mesh inertia computation.
-
-.. mujoco-include:: mjtMeshInertia
-
-.. _mjtMeshBuiltin:
-
-mjtMeshBuiltin
-~~~~~~~~~~~~~~
-
-Type of built-in procedural mesh.
-
-.. mujoco-include:: mjtMeshBuiltin
-
-.. _mjtConflict:
-
-mjtConflict
-~~~~~~~~~~~
-
-Conflict resolution mode for attach.
-
-.. mujoco-include:: mjtConflict
-
-
-.. _mjtCTimer:
-
-mjtCTimer
-~~~~~~~~~
-
-Compiler timing categories, used in :ref:`mjs_getTimer`. Top-level timers (``TOTAL``, ``ASSETS``) measure wall-clock
-time. Asset sub-timers measure CPU time summed across all assets; with multi-threaded compilation their sum can exceed
-the ``ASSETS`` wall-clock time.
-
-.. mujoco-include:: mjtCTimer
-
-
-.. _tyPluginEnums:
-
-Plugins
-^^^^^^^
-
-The enums below are defined in `mjplugin.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjplugin.h>`__.
-See :ref:`exPlugin` for details.
-
-
-.. _mjtPluginCapabilityBit:
-
-mjtPluginCapabilityBit
-~~~~~~~~~~~~~~~~~~~~~~
-
-Capabilities declared by an engine plugin.
-
-.. mujoco-include:: mjtPluginCapabilityBit
-
-
-
-.. _tyStructure:
-
-Struct types
-------------
-
-The three central struct types for physics simulation are :ref:`mjModel`, :ref:`mjOption` (embedded in :ref:`mjModel`)
-and :ref:`mjData`. An introductory discussion of these structures can be found in the :ref:`Overview<ModelAndData>`.
-
-
-.. _mjModel:
-
-mjModel
-^^^^^^^
-
-This is the main data structure holding the MuJoCo model. It is treated as constant by the simulator. Some specific
-details regarding datastructures in :ref:`mjModel` can be found below in :ref:`tyNotes`.
-
-.. mujoco-include:: mjModel
-
-
-
-.. _mjOption:
-
-mjOption
-^^^^^^^^
-
-This is the data structure with simulation options. It corresponds to the MJCF element
-:ref:`option <option>`. One instance of it is embedded in mjModel.
-
-.. mujoco-include:: mjOption
-
-
-.. _mjData:
-
-mjData
-^^^^^^
-
-This is the main data structure holding the simulation state. It is the workspace where all functions read their
-modifiable inputs and write their outputs.
-
-.. mujoco-include:: mjData
-
-
-
-.. _tyAuxStructure:
-
-Auxiliary
-^^^^^^^^^
-
-These struct types are used in the engine and their names are prefixed with ``mj``. :ref:`mjVisual`
-and :ref:`mjStatistic` are embedded in :ref:`mjModel`, :ref:`mjContact` is embedded in :ref:`mjData`, and :ref:`mjVFS`
-is a library-level struct used for loading assets.
-
-
-.. _mjVisual:
-
-mjVisual
-~~~~~~~~
-
-This is the data structure with abstract visualization options. It corresponds to the MJCF element
-:ref:`visual <visual>`. One instance of it is embedded in mjModel.
-
-.. mujoco-include:: mjVisual
-
-
-.. _mjStatistic:
-
-mjStatistic
-~~~~~~~~~~~
-
-This is the data structure with model statistics precomputed by the compiler or set by the user. It corresponds to the
-MJCF element :ref:`statistic <statistic>`. One instance of it is embedded in mjModel.
-
-.. mujoco-include:: mjStatistic
-
-
-.. _mjPreContact:
-
-mjPreContact
-~~~~~~~~~~~~
-
-This is the data structure holding information about one contact filled out by a narrowphase collision detector.
-
-.. mujoco-include:: mjPreContact
-
-.. _mjContact:
-
-mjContact
-~~~~~~~~~
-
-This is the data structure holding information about one contact. ``mjData.contact`` is a preallocated array of
-mjContact data structures, populated at runtime with the contacts found by the collision detector. Additional contact
-information is then filled-in by the simulator.
-
-.. mujoco-include:: mjContact
-
-
-.. _mjResource:
-
-mjResource
-~~~~~~~~~~
-
-A resource is an abstraction of a file in a filesystem. The name field is the unique name of the resource while the
-other fields are populated by a :ref:`resource provider <exProvider>`.
-
-.. mujoco-include:: mjResource
-
-
-.. _mjVFS:
-
-mjVFS
-~~~~~
-
-This is the data structure of the virtual file system. It can only be constructed programmatically, and does not
-have an analog in MJCF.
-
-.. mujoco-include:: mjVFS
-
-
-.. _mjLROpt:
-
-mjLROpt
-~~~~~~~
-
-Options for configuring the automatic :ref:`actuator length-range computation<CLengthRange>`.
-
-.. mujoco-include:: mjLROpt
-
-.. _mjCache:
-
-mjCache
-~~~~~~~
-
-Asset cache used by the compiler to avoid repeated slow recompilation. See :ref:`Asset cache<Assetcache>`.
-
-.. mujoco-include:: mjCache
-
-
-.. _tyLogStructure:
-
-Logging
-^^^^^^^
-
-.. _mjLogMessage:
-
-mjLogMessage
-~~~~~~~~~~~~
-
-Structured log message passed to :ref:`mjfLogHandler` callbacks. Contains the severity level, optional topic for
-info messages, a one-line subject, an optional multi-line body, and optional source location (function name, file
-name, line number).
-
-.. mujoco-include:: mjLogMessage
-
-
-.. _mjLogConfig:
-
-mjLogConfig
-~~~~~~~~~~~
-
-Configuration for the default log handler. Controls whether messages are printed to the console and/or written to
-a log file (default: ``MUJOCO_LOG.TXT``). The ``logto_file`` field enables file logging, while ``logfile`` specifies
-the file path. The ``topics`` field is a bitmask of :ref:`mjtLogTopic` values: bit ``(topic - 1)`` enables
-that topic. Topic 0 (``mjTOPIC_NONE``) always passes through.
-
-.. mujoco-include:: mjLogConfig
-
-
-.. _tyStatStructure:
-
-Sim statistics
-^^^^^^^^^^^^^^
-
-These structs are all embedded in :ref:`mjData`, and collect simulation-related statistics.
-
-
-.. _mjWarningStat:
-
-mjWarningStat
-~~~~~~~~~~~~~
-
-This is the data structure holding information about one warning type. ``mjData.warning`` is a preallocated array of
-mjWarningStat data structures, one for each warning type.
-
-.. mujoco-include:: mjWarningStat
-
-
-.. _mjTimerStat:
-
-mjTimerStat
-~~~~~~~~~~~
-
-This is the data structure holding information about one timer. ``mjData.timer`` is a preallocated array of
-mjTimerStat data structures, one for each timer type.
-
-.. mujoco-include:: mjTimerStat
-
-
-.. _mjSolverStat:
-
-mjSolverStat
-~~~~~~~~~~~~
-
-This is the data structure holding information about one solver iteration. ``mjData.solver`` is a preallocated array
-of mjSolverStat data structures, one for each iteration of the solver, up to a maximum of mjNSOLVER. The actual number
-of solver iterations is given by ``mjData.solver_niter``.
-
-.. mujoco-include:: mjSolverStat
-
-
-
-.. _tyVisStructure:
-
-Visualisation
-^^^^^^^^^^^^^
-
-The names of these struct types are prefixed with ``mjv``.
-
-.. _mjvPerturb:
-
-mjvPerturb
-~~~~~~~~~~
-
-This is the data structure holding information about mouse perturbations.
-
-.. mujoco-include:: mjvPerturb
-
-
-.. _mjvCamera:
-
-mjvCamera
-~~~~~~~~~
-
-This is the data structure describing one abstract camera.
-
-.. mujoco-include:: mjvCamera
-
-
-.. _mjvGLCamera:
-
-mjvGLCamera
-~~~~~~~~~~~
-
-This is the data structure describing one OpenGL camera.
-
-.. mujoco-include:: mjvGLCamera
-
-
-.. _mjvGeom:
-
-mjvGeom
-~~~~~~~
-
-This is the data structure describing one abstract visualization geom - which could correspond to a model geom or to a
-decoration element constructed by the visualizer.
-
-.. mujoco-include:: mjvGeom
-
-
-.. _mjvLight:
-
-mjvLight
-~~~~~~~~
-
-This is the data structure describing one OpenGL light.
-
-.. mujoco-include:: mjvLight
-
-
-.. _mjvOption:
-
-mjvOption
-~~~~~~~~~
-
-This structure contains options that enable and disable the visualization of various elements.
-
-.. mujoco-include:: mjvOption
-
-
-.. _mjvScene:
-
-mjvScene
-~~~~~~~~
-
-This structure contains everything needed to render the 3D scene in OpenGL.
-
-.. mujoco-include:: mjvScene
-
-
-.. _mjvFigure:
-
-mjvFigure
-~~~~~~~~~
-
-This structure contains everything needed to render a 2D plot in OpenGL. The buffers for line points etc. are
-preallocated, and the user has to populate them before calling the function :ref:`mjr_figure` with this
-data structure as an argument.
-
-.. mujoco-include:: mjvFigure
-
-
-.. _tyRenderStructure:
-
-Rendering
-^^^^^^^^^
-
-The names of these struct types are prefixed with ``mjr``.
-
-.. _mjrRect:
-
-mjrRect
-~~~~~~~
-
-This structure specifies a rectangle.
-
-.. mujoco-include:: mjrRect
-
-
-.. _mjrVertexAttribute:
-
-mjrVertexAttribute
-~~~~~~~~~~~~~~~~~~
-
-This structure specifies the attributes for a single vertex.
-
-.. mujoco-include:: mjrVertexAttribute
-
-
-
-.. _mjrRendererInfo:
-
-mjrRendererInfo
-~~~~~~~~~~~~~~~
-
-This structure contains information about the available renderer and its current context.
-
-.. mujoco-include:: mjrRendererInfo
-
-
-.. _mjrContext:
-
-mjrContext
-~~~~~~~~~~
-
-This structure contains the custom OpenGL rendering context, with the ids of all OpenGL resources uploaded to the GPU.
-
-.. mujoco-include:: mjrContext
-
-
-.. _tyFilamentRenderStructure:
-
-Filament Rendering
-^^^^^^^^^^^^^^^^^^
-
-The names of these struct types are prefixed with ``mjrf``. They are defined in
-`mjrfilament.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrfilament.h>`__.
-
-There are seven key types defined by this API: :ref:`mjrfContext<mjrfContext>`, :ref:`mjrfTexture<mjrfTexture>`,
-:ref:`mjrfMesh<mjrfMesh>`, :ref:`mjrfLight<mjrfLight>`, :ref:`mjrfRenderable<mjrfRenderable>`,
-:ref:`mjrfScene<mjrfScene>`, and :ref:`mjrfRenderTarget<mjrfRenderTarget>`.
-
-Each object is created using a `create` function and destroyed using a `destroy` function, e.g. `mjrf_createTexture` and
-`mjrf_destroyTexture`. All objects require a :ref:`Context<mjrfContext>` in order to be created (with the exception of
-the :ref:`Context<mjrfContext>` object itself). Additionally, the `create` functions accept a pointer to a configuration
-struct (e.g. `mjrTextureConfig`) which describes the parameters for the object to be created. Each of these structs has
-a corresponding `default` function (e.g. `mjrf_defaultTextureConfig`) which can be used to initialize the struct to
-default values. The default values are assumed to be `0` or `NULL` unless otherwise specified.
-
-
-.. _mjrfContext:
-
-mjrfContext
-~~~~~~~~~~~
-
-The Context is the main entry point for the filament rendering library. It manages all the core filament objects that
-are responsible for the rendering of an image. All other objects (e.g. Textures, Meshes, Scenes, etc.) need a Context in
-order to be created.
-
-Otherwise, the main function to use with the Context is :ref:`mjrf_render()<mjrf_render>` which performs the actual
-rendering of an image.
-
-Filament uses a separate thread for rendering. However, despite that, this API is not thread-safe; calls are expected to
-be made from a single thread. Due to the asynchronous nature of filament, some APIs provide handles or callbacks to
-signal when an operation is complete. (Note: for WASM builds, filament does not use a separate thread.)
-
-There are two key differences between the :ref:`mjrfContext<mjrfContext>` and the classic :ref:`mjrContext<mjrContext>`.
-Firstly, the filament context will manage the underlying graphics context itself. This means users do not need to
-initialize EGL or similar libraries beforehand. Secondly, the filament context is independent of a MuJoCo model. That
-means you can use a single :ref:`mjrfContext<mjrfContext>` instance to render images for multiple models.
-
-.. _mjrfContextConfig:
-
-mjrfContextConfig
-~~~~~~~~~~~~~~~~~
-
-Parameters for creating :ref:`filament graphics context<mjrfContext>`.
-
-.. mujoco-include:: mjrfContextConfig
-
-
-.. _mjrfTexture:
-
-mjrfTexture
-~~~~~~~~~~~
-
-A texture is a 2D or 3D (cubemap) image that adds visual detail to a rendered model, such as color or bumpiness, without
-increasing geometric complexity. A texture is simply a memory buffer holds pixel data, as well as metadata such as the
-dimensions of the image or the format of the pixels (e.g. 8-bit RGB).
-
-.. _mjrfTextureConfig:
-
-mjrfTextureConfig
-~~~~~~~~~~~~~~~~~
-
-Parameters for creating a :ref:`texture<mjrfTexture>`.
-
-.. mujoco-include:: mjrfTextureConfig
-
-
-.. _mjrfTextureData:
-
-mjrfTextureData
-~~~~~~~~~~~~~~~
-
-Binary data payload for a :ref:`texture<mjrfTexture>`.
-
-.. mujoco-include:: mjrfTextureData
-
-
-.. _mjrfMesh:
-
-mjrfMesh
-~~~~~~~~
-
-A mesh describes the surface geometry of an object to be rendered. It is defined as a collection of vertices (i.e. a
-VertexBuffer), a set of indices (i.e. an IndexBuffer) that describes the order in which the vertices should be
-processed, and a primitive type that defined how the vertices are to be interpreted (e.g. triangles, lines, etc.) when
-rendering the surface.
-
-Filament does not directly support normals. Instead, it encodes the normal, tangent, and bitangent into a 4-component
-quaternion describing the "orientation" of the vertex. Ideally, you should preprocess your assets to generate this data
-offline, but we will compute it on the fly if needed (at a performance cost).
-
-Vertex data may or may not be interleaved. Interleaved data assumes that the attributes are packed in the order
-specified in the attributes array, with no padding in-between. Additionally, the `data` pointer for each attribute is
-assumed to point to the first element of that type. For non-interleaved data, each attribute is assumed to be stored in
-a separate array.
-
-Additionally, the bounds of the mesh should be computed in order to allow the filament renderer to perform frustum-based
-culling. Alternatively, the bounds can be computed at runtime (though there is a small performance cost). If no bounds
-are provided (or calculated), then frustum culling will not be performed.
-
-
-.. _mjrfMeshConfig:
-
-mjrfMeshConfig
-~~~~~~~~~~~~~~~~~
-
-Parameters for creating a :ref:`mesh<mjrfMesh>`.
-
-.. mujoco-include:: mjrfMeshConfig
-
-
-.. _mjrfMeshData:
-
-mjrfMeshData
-~~~~~~~~~~~~
-
-Binary data for a :ref:`mesh<mjrfMesh>`.
-
-.. mujoco-include:: mjrfMeshData
-
-
-.. _mjrfScene:
-
-mjrfScene
-~~~~~~~~~
-
-A Scene is a collection of :ref:`Lights<mjrfLight>` and :ref:`Renderables<mjrfRenderable>` that describes what is to be
-rendered.
-
-
-.. _mjrfSceneParams:
-
-mjrfSceneParams
-~~~~~~~~~~~~~~~
-
-Parameters for creating a :ref:`scene<mjrfScene>`.
-
-.. mujoco-include: mjrfSceneParams
-
-
-.. _mjrfLight:
-
-mjrfLight
-~~~~~~~~~
-
-A light is a source of illumination. (Without lights, a rendered image will be completely black.) There are several
-different types of lights such as directional, spot, point, and image lights.
-
-The primary light in a scene is the image light (also sometimes known as the environment light). This is a light that
-"surrounds" the entire scene and is defined as a 3D texture. Each "pixel" of the cubemap is interpreted as the color of
-projected into the scene from a particular direction.
-
-The texture used for image-based lighting can be generated using filament's `cmgen` tool. The tool should be configured
-to output a KTX file from your source image. This tool calculates additional data (i.e. the spherical harmonics) and
-encodes that information into the KTX file.
-
-Directional lights are the next most common type of light and is usually used to simulate the sun; a uniformly colored
-light that is emitted in a single direction.
-
-Filament only supports a single image and directional light. You can define as many point or spot lights as you want.
-Each light source (except image based lights) may or may not cast shadows. Each shadow-casting light incurs a
-performance cost.
-
-
-.. _mjrfLightParams:
-
-mjrfLightParams
-~~~~~~~~~~~~~~~
-
-Parameters for creating a :ref:`light<mjrfLight>`.
-
-.. mujoco-include:: mjrfLightParams
-
-
-.. _mjrfRenderable:
-
-mjrfRenderable
-~~~~~~~~~~~~~~
-
-A renderable is a single object that is to be drawn. It is defined as a combination of a :ref:`mjrfMesh<mjrfMesh>`
-(i.e. the shape or surface geometry, as described above) and a :ref:`mjrfMaterial<mjrfMaterial>` (i.e. a description of
-how the surface interacts with lights to product the final visual appearance).
-
-
-.. _mjrfRenderableParams:
-
-mjrfRenderableParams
-~~~~~~~~~~~~~~~~~~~~
-
-Parameters for creating a :ref:`renderable<mjrfRenderable>`.
-
-.. mujoco-include:: mjrfRenderableParams
-
-
-.. _mjrfMaterial:
-
-mjrfMaterial
-~~~~~~~~~~~~
-
-Materials describe the properties of the surface of a renderable, effectively dictating how the surface interacts with
-lights to produce a final pixel color in the output image. Different lighting models will be applied to the surface
-depending on the values of the material properties. There there are three lighting models currently supported:
-
-1. Metallic-roughness (PBR): this is the preferred model for rendering models based standard
-metallic-roughness workflows.
-
-2. Specular-glossiness (non-PBR): this is a legacy model designed to be compatible with classic
-:ref:`mjr<Rendering>` renderer, though it is not 100% identical.
-
-3. Unlit: this model ignores lighting and is used for rendering UX or decorative elements like
-contact forces and labels.
-
-.. mujoco-include:: mjrfMaterial
-
-
-.. _mjrfRenderTarget:
-
-mjrfRenderTarget
-~~~~~~~~~~~~~~~~
-
-A RenderTarget is a memory buffer that holds the results of a rendering operation. (This is an alternative to rendering
-directly to the screen.)
-
-
-.. _mjrfRenderTargetConfig:
-
-mjrfRenderTargetConfig
-~~~~~~~~~~~~~~~~~~~~~~
-
-Parameters for creating a :ref:`render target<mjrfRenderTarget>`.
-
-.. mujoco-include:: mjrfRenderTargetConfig
-
-
-.. _mjrfRenderRequest:
-
-mjrfRenderRequest
-~~~~~~~~~~~~~~~~~
-
-A single rendering operation.
-
-.. mujoco-include:: mjrfRenderRequest
-
-
-.. _mjrfReadPixelsRequest:
-
-mjrfReadPixelsRequest
-~~~~~~~~~~~~~~~~~~~~~
-
-A single pixel read operation.
-
-.. mujoco-include:: mjrfReadPixelsRequest
-
-
-.. _mjrfFrameStats:
-
-mjrfFrameStats
-~~~~~~~~~~~~~~
-
-Information about a single frame of rendering.
-
-.. mujoco-include:: mjrfFrameStats
-
-
-.. _tyUIStructure:
-
-User Interface
-^^^^^^^^^^^^^^
-
-For a high-level description of the UI framework, see :ref:`UI`.
-The names of these struct types are prefixed with ``mjui``, except for the main :ref:`mjUI` struct itself.
-
-
-.. _mjuiState:
-
-mjuiState
-~~~~~~~~~
-
-This C struct represents the global state of the window, keyboard and mouse, input event descriptors, and all window
-rectangles (including the visible UI rectangles). There is only one ``mjuiState`` per application, even if there are
-multiple UIs. This struct would normally be defined as a global variable.
-
-.. mujoco-include:: mjuiState
-
-
-.. _mjuiThemeSpacing:
-
-mjuiThemeSpacing
-~~~~~~~~~~~~~~~~
-
-This structure defines the spacing of UI items in the theme.
-
-.. mujoco-include:: mjuiThemeSpacing
-
-
-.. _mjuiThemeColor:
-
-mjuiThemeColor
-~~~~~~~~~~~~~~
-
-This structure defines the colors of UI items in the theme.
-
-.. mujoco-include:: mjuiThemeColor
-
-
-.. _mjuiItem:
-
-mjuiItem
-~~~~~~~~
-
-This structure defines one UI item.
-
-.. mujoco-include:: mjuiItem
-
-
-.. _mjuiSection:
-
-mjuiSection
-~~~~~~~~~~~
-
-This structure defines one section of the UI.
-
-.. mujoco-include:: mjuiSection
-
-
-.. _mjuiDef:
-
-mjuiDef
-~~~~~~~
-
-This structure defines one entry in the definition table used for simplified UI construction. It contains everything
-needed to define one UI item. Some translation is performed by the helper functions, so that multiple mjuiDefs can be
-defined as a static table.
-
-.. mujoco-include:: mjuiDef
-
-
-.. _mjUI:
-
-mjUI
-~~~~
-
-This C struct represents an entire UI. The same application could have multiple UIs, for example on the left and the
-right of the window. This would normally be defined as a global variable. As explained earlier, it contains static
-allocation for a maximum number of supported UI sections (:ref:`mjuiSection<mjuiSection>`) each with a maximum number
-of supported items (:ref:`mjuiItem<mjuiItem>`). It also contains the color and spacing themes, enable/disable
-callback, virtual window descriptor, text edit state, mouse focus. Some of these fields are set only once when the UI
-is initialized, others change at runtime.
-
-.. mujoco-include:: mjUI
-
-
-
-.. _tySpecStructure:
-
-Model Editing
-^^^^^^^^^^^^^
-
-The structs below are defined in
-`mjspec.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspec.h>`__ and, with the exception of
-the top level :ref:`mjSpec` struct, begin with the ``mjs`` prefix. For more details, see the :doc:`Model Editing
-<../programming/modeledit>` chapter.
-
-.. _mjSpec:
-
-mjSpec
-~~~~~~
-
-Model specification.
-
-.. mujoco-include:: mjSpec
-
-
-.. _mjsElement:
-
-mjsElement
-~~~~~~~~~~
-
-Special type corresponding to any element. This struct is the first member of all other elements; in the low-level C++
-implementation, it is not included as a member but via class inheritance. Inclusion via inheritance allows the compiler
-to ``static_cast`` an ``mjsElement`` to the correct C++ object class. Unlike all other attributes of the structs below,
-which are user-settable by design, modifying the contents of an ``mjsElement`` is not allowed and leads to undefined
-behavior.
-
-.. mujoco-include:: mjsElement
-
-
-.. _mjsCompiler:
-
-mjsCompiler
-~~~~~~~~~~~
-
-Compiler options.
-
-.. mujoco-include:: mjsCompiler
-
-
-.. _mjsAuthored:
-
-mjsAuthored
-~~~~~~~~~~~
-
-Authored tracking bitmasks for ``mjModel`` structs.
-
-.. mujoco-include:: mjsAuthored
-
-
-.. _mjsBody:
-
-mjsBody
-~~~~~~~
-
-Body specification.
-
-.. mujoco-include:: mjsBody
-
-
-.. _mjsFrame:
-
-mjsFrame
-~~~~~~~~
-
-Frame specification.
-
-.. mujoco-include:: mjsFrame
-
-
-.. _mjsJoint:
-
-mjsJoint
-~~~~~~~~
-
-Joint specification.
-
-.. mujoco-include:: mjsJoint
-
-
-.. _mjsGeom:
-
-mjsGeom
-~~~~~~~
-
-Geom specification.
-
-.. mujoco-include:: mjsGeom
-
-
-.. _mjsSite:
-
-mjsSite
-~~~~~~~
-
-Site specification.
-
-.. mujoco-include:: mjsSite
-
-
-.. _mjsCamera:
-
-mjsCamera
-~~~~~~~~~
-
-Camera specification.
-
-.. mujoco-include:: mjsCamera
-
-
-.. _mjsLight:
-
-mjsLight
-~~~~~~~~
-
-Light specification.
-
-.. mujoco-include:: mjsLight
-
-
-.. _mjsFlex:
-
-mjsFlex
-~~~~~~~
-
-Flex specification.
-
-.. mujoco-include:: mjsFlex
-
-
-.. _mjsMesh:
-
-mjsMesh
-~~~~~~~
-
-Mesh specification.
-
-.. mujoco-include:: mjsMesh
-
-
-.. _mjsHField:
-
-mjsHField
-~~~~~~~~~
-
-Height field specification.
-
-.. mujoco-include:: mjsHField
-
-
-.. _mjsSkin:
-
-mjsSkin
-~~~~~~~
-
-Skin specification.
-
-.. mujoco-include:: mjsSkin
-
-
-.. _mjsTexture:
-
-mjsTexture
-~~~~~~~~~~
-
-Texture specification.
-
-.. mujoco-include:: mjsTexture
-
-
-.. _mjsMaterial:
-
-mjsMaterial
-~~~~~~~~~~~
-
-Material specification.
-
-.. mujoco-include:: mjsMaterial
-
-
-.. _mjsPair:
-
-mjsPair
-~~~~~~~
-
-Pair specification.
-
-.. mujoco-include:: mjsPair
-
-
-.. _mjsExclude:
-
-mjsExclude
-~~~~~~~~~~
-
-Exclude specification.
-
-.. mujoco-include:: mjsExclude
-
-
-.. _mjsEquality:
-
-mjsEquality
-~~~~~~~~~~~
-
-Equality specification.
-
-.. mujoco-include:: mjsEquality
-
-
-.. _mjsTendon:
-
-mjsTendon
-~~~~~~~~~
-
-Tendon specification.
-
-.. mujoco-include:: mjsTendon
-
-
-.. _mjsWrap:
-
-mjsWrap
-~~~~~~~
-
-Wrapping object specification.
-
-.. mujoco-include:: mjsWrap
-
-
-.. _mjsActuator:
-
-mjsActuator
-~~~~~~~~~~~
-
-Actuator specification.
-
-.. mujoco-include:: mjsActuator
-
-
-.. _mjsSensor:
-
-mjsSensor
-~~~~~~~~~
-
-Sensor specification.
-
-.. mujoco-include:: mjsSensor
-
-
-.. _mjsNumeric:
-
-mjsNumeric
-~~~~~~~~~~
-
-Custom numeric field specification.
-
-.. mujoco-include:: mjsNumeric
-
-
-.. _mjsText:
-
-mjsText
-~~~~~~~
-
-Custom text specification.
-
-.. mujoco-include:: mjsText
-
-
-.. _mjsTuple:
-
-mjsTuple
-~~~~~~~~
-
-Tuple specification.
-
-.. mujoco-include:: mjsTuple
-
-
-.. _mjsKey:
-
-mjsKey
-~~~~~~
-
-Keyframe specification.
-
-.. mujoco-include:: mjsKey
-
-
-.. _mjsDefault:
-
-mjsDefault
-~~~~~~~~~~
-
-Default specification.
-
-.. mujoco-include:: mjsDefault
-
-
-.. _mjsPlugin:
-
-mjsPlugin
-~~~~~~~~~
-
-Plugin specification.
-
-.. mujoco-include:: mjsPlugin
-
-
-.. _mjsOrientation:
-
-mjsOrientation
-~~~~~~~~~~~~~~
-
-Alternative orientation specifiers.
-
-.. mujoco-include:: mjsOrientation
-
-
-.. _ArrayHandles:
-
-.. _mjByteVec:
-
-.. _mjString:
-
-.. _mjStringVec:
-
-.. _mjIntVec:
-
-.. _mjIntVecVec:
-
-.. _mjFloatVec:
-
-.. _mjFloatVecVec:
-
-.. _mjDoubleVec:
-
-Array handles
-~~~~~~~~~~~~~
-
-C handles for C++ strings and vector types. When using from C, use the provided :ref:`getters<AttributeGetters>` and
-:ref:`setters<AttributeSetters>`.
-
-.. code-block:: C++
-
-   #ifdef __cplusplus
-     // C++: defined to be compatible with corresponding std types
-     using mjString      = std::string;
-     using mjStringVec   = std::vector<std::string>;
-     using mjIntVec      = std::vector<int>;
-     using mjIntVecVec   = std::vector<std::vector<int>>;
-     using mjFloatVec    = std::vector<float>;
-     using mjFloatVecVec = std::vector<std::vector<float>>;
-     using mjDoubleVec   = std::vector<double>;
-     using mjByteVec     = std::vector<std::byte>;
-   #else
-     // C: opaque types
-     typedef void mjString;
-     typedef void mjStringVec;
-     typedef void mjIntVec;
-     typedef void mjIntVecVec;
-     typedef void mjFloatVec;
-     typedef void mjFloatVecVec;
-     typedef void mjDoubleVec;
-     typedef void mjByteVec;
-   #endif
-
-
-.. _tyPluginStructure:
-
-Plugins
-^^^^^^^
-
-The names of these struct types are prefixed with ``mjp``. See :ref:`exPlugin` for more details.
-
-
-.. _mjpPlugin:
-
-mjpPlugin
-~~~~~~~~~
-
-This structure contains the definition of a single engine plugin. It mostly contains a set of callbacks, which are
-triggered by the compiler and the engine during various phases of the computation pipeline.
-
-.. mujoco-include:: mjpPlugin
-
-.. _mjSDF:
-
-mjSDF
-~~~~~
-
-Data structure used by the :ref:`Signed Distance Functions<Signeddistancefunction>` API for computing distances and
-gradients between SDF geoms.
-
-.. mujoco-include:: mjSDF
-
-.. _mjpResourceProvider:
-
-mjpResourceProvider
-~~~~~~~~~~~~~~~~~~~
-
-This data structure contains the definition of a :ref:`resource provider <exProvider>`. It contains a set of callbacks
-used for opening and reading resources.
-
-.. mujoco-include:: mjpResourceProvider
-
-.. _mjpDecoder:
-
-mjpDecoder
-~~~~~~~~~~~~~~~~~~~
-
-This data structure defines a decoder. It contains a set of callbacks used for decoding :ref:`mjResource`
-into :ref:`mjSpec`.
-
-.. mujoco-include:: mjpDecoder
-
-.. _mjpEncoder:
-
-mjpEncoder
-~~~~~~~~~~~~~~~~~~~
-
-This data structure defines an encoder. It contains a set of callbacks used for encoding of :ref:`mjSpec` and
-:ref:`mjModel` into :ref:`mjResource`.
-
-.. mujoco-include:: mjpEncoder
-
-
-
-
-.. _tyFunction:
-
-Function types
---------------
-
-MuJoCo callbacks have corresponding function types. They are defined in `mjdata.h
-<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__ and in `mjui.h
-<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__. The actual callback functions are documented
-in the :doc:`globals<APIglobals>` page.
-
-
-.. _tyPhysicsCallbacks:
-
-Physics Callbacks
-^^^^^^^^^^^^^^^^^
-
-These function types are used by :ref:`physics callbacks<glPhysics>`.
-
-
-.. _mjfGeneric:
-
-mjfGeneric
-~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef void (*mjfGeneric)(const mjModel* m, mjData* d);
-
-This is the function type of the callbacks :ref:`mjcb_passive` and :ref:`mjcb_control`.
-
-
-.. _mjfConFilt:
-
-mjfConFilt
-~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef int (*mjfConFilt)(const mjModel* m, mjData* d, int geom1, int geom2);
-
-This is the function type of the callback :ref:`mjcb_contactfilter`. The return value is 1: discard,
-0: proceed with collision check.
-
-
-.. _mjfSensor:
-
-mjfSensor
-~~~~~~~~~
-
-.. code-block:: C
-
-   typedef void (*mjfSensor)(const mjModel* m, mjData* d, int stage);
-
-This is the function type of the callback :ref:`mjcb_sensor`.
-
-
-.. _mjfTime:
-
-mjfTime
-~~~~~~~
-
-.. code-block:: C
-
-   typedef mjtNum (*mjfTime)(void);
-
-This is the function type of the callback :ref:`mjcb_time`.
-
-
-.. _mjfAct:
-
-mjfAct
-~~~~~~
-
-.. code-block:: C
-
-   typedef mjtNum (*mjfAct)(const mjModel* m, const mjData* d, int id);
-
-This is the function type of the callbacks :ref:`mjcb_act_dyn`, :ref:`mjcb_act_gain` and :ref:`mjcb_act_bias`.
-
-
-.. _mjfCollision:
-
-mjfCollision
-~~~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef int (*mjfCollision)(const mjModel* m, const mjData* d,
-                               mjPreContact* con, int g1, int g2, mjtNum margin);
-
-This is the function type of the callbacks in the collision table :ref:`mjCOLLISIONFUNC`.
-
-
-.. _tyLogCallbacks:
-
-Log Callbacks
-^^^^^^^^^^^^^
-
-.. _mjfLogHandler:
-
-mjfLogHandler
-~~~~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef void (*mjfLogHandler)(const mjLogMessage*);
-
-This is the function type of the log handler callback installed via :ref:`mju_setLogHandler`. The handler receives
-all errors, warnings and informational messages as structured :ref:`mjLogMessage` data. It must be thread-safe.
-
-It must not call :ref:`mju_error` from within the callback.
-
-
-.. _tyUICallbacks:
-
-UI Callbacks
-^^^^^^^^^^^^
-
-These function types are used by the UI framework.
-
-.. _mjfItemEnable:
-
-mjfItemEnable
-~~~~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef int (*mjfItemEnable)(int category, void* data);
-
-This is the function type of the predicate function used by the UI framework to determine if each item is enabled or
-disabled.
-
-.. _tyRPCallbacks:
-
-Resource Provider Callbacks
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-These callbacks are used by :ref:`resource providers<exProvider>`.
-
-.. _mjfOpenResource:
-
-mjfOpenResource
-~~~~~~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef int (*mjfOpenResource)(mjResource* resource);
-
-This callback is for opening a resource; returns zero on failure. Note that
-if this callback returns zero, the ``close`` callback will not be called.
-Therefore, the ``open`` callback is responsible for cleaning up any allocated
-memory or resources before returning zero to avoid memory leaks.
-
-.. _mjfReadResource:
-
-mjfReadResource
-~~~~~~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef int (*mjfReadResource)(mjResource* resource, const void** buffer);
-
-This callback is for reading a resource. Returns number of bytes stored in buffer and returns -1 on error.
-
-.. _mjfCloseResource:
-
-mjfCloseResource
-~~~~~~~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef void (*mjfCloseResource)(mjResource* resource);
-
-This callback is for closing a resource, and is responsible for freeing any allocated memory.
-
-.. _mjfGetResourceDir:
-
-mjfGetResourceDir
-~~~~~~~~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef void (*mjfGetResourceDir)(mjResource* resource, const char** dir, int* ndir);
-
-This callback is for returning the directory of a resource, by setting dir to the directory string with ndir being size
-of directory string.
-
-.. _mjfResourceModified:
-
-mjfResourceModified
-~~~~~~~~~~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef int (*mjfResourceModified)(const mjResource* resource);
-
-This callback is for checking if a resource was modified since it was last read.
-Returns positive value if the resource was modified since last open, 0 if resource was not modified,
-and negative value if inconclusive.
-
-.. _mjfDecode:
-
-mjfDecode
-~~~~~~~~~
-
-.. code-block:: C
-
-   typedef mjSpec* (*mjfDecode)(mjResource* resource, const mjVFS* vfs);
-
-
-This callback is given an opened resource, and is responsible for decoding it into a :ref:`mjSpec`.
-Ownership of the resource and the returned spec is responsibility of the caller.
-When decoding fails, the callback should return NULL.
-
-.. _mjfCanDecode:
-
-mjfCanDecode
-~~~~~~~~~~~~
-
-.. code-block:: C
-
-   typedef int (*mjfCanDecode)(const mjResource* resource);
-
-
-This callback is given an opened resource, and is responsible for returning true if the resource can
-be decoded by the :ref:`mjpDecoder<mjpDecoder>`.
-
-.. _mjfEncode:
-
-mjfEncode
-~~~~~~~~~
-
-.. code-block:: C
-
-   typedef mjtSize (*mjfEncode)(const mjSpec* s, const mjModel* m, const mjVFS* vfs,
-                                mjResource* resource);
-
-
-This callback populates the :ref:`mjResource<mjResource>` `data` member with bytes representing the
-given spec in the format associated with the owning plugin. This may be called with the associated
-compiled :ref:`mjModel`.
-
-
-.. _tyNotes:
-
-Notes
------
-
-This section contains miscellaneous notes regarding data-structure conventions in MuJoCo struct types.
-
-
-.. _tyNotesCom:
-
-c-frame variables
-^^^^^^^^^^^^^^^^^
-
-:ref:`mjData` contains two arrays with the ``c`` prefix, which are used for internal calculations: ``cdof`` and
-``cinert``, both computed by :ref:`mj_comPos`. The ``c`` prefix means that quantities are with respect to the "c-frame",
-a frame at the center-of-mass of the local kinematic subtree (``mjData.subtree_com``), oriented like the world frame.
-This choice increases the precision of kinematic computations for mechanisms that are distant from the global origin.
-
-``cdof``:
-  These 6D motion vectors (3 rotation, 3 translation) describe the instantaneous axis of a degree-of-freedom and are
-  used by all Jacobian functions. The minimal computation required for analytic Jacobians is :ref:`mj_kinematics`
-  followed by :ref:`mj_comPos`.
-
-``cinert``:
-  These 10-vectors describe the inertial properties of a body in the c-frame and are used by the Composite Rigid Body
-  algorithm (:ref:`mj_crb`). The 10 numbers are packed arrays of lengths (6, 3, 1) with semantics:
-
-  ``cinert[0-5]``: Upper triangle of the body's inertia matrix.
-
-  ``cinert[6-8]``: Body mass multiplied by the body CoM's offset from the c-frame origin.
-
-  ``cinert[9]``: Body mass.
-
-.. _tyNotesConvex:
-
-Convex hulls
-^^^^^^^^^^^^
-
-The convex hull descriptors are stored in :ref:`mjModel`:
-
-.. code-block:: C
-
-   int*      mesh_graphadr;     // graph data address; -1: no graph      (nmesh x 1)
-   int*      mesh_graph;        // convex graph data                     (nmeshgraph x 1)
-
-If mesh ``N`` has a convex hull stored in :ref:`mjModel` (which is optional), then ``m->mesh_graphadr[N]`` is the offset
-of mesh ``N``'s convex hull data in ``m->mesh_graph``. The convex hull data for each mesh is a record with the following
-format:
-
-.. code-block:: C
-
-   int numvert;
-   int numface;
-   int vert_edgeadr[numvert];
-   int vert_globalid[numvert];
-   int edge_localid[numvert+3*numface];
-   int face_globalid[3*numface];
-
-Note that the convex hull contains a subset of the vertices of the full mesh. We use the nomenclature ``globalid`` to
-refer to vertex indices in the full mesh, and ``localid`` to refer to vertex indices in the convex hull. The meaning of
-the fields is as follows:
-
-``numvert``
-   Number of vertices in the convex hull.
-
-``numface``
-   Number of faces in the convex hull.
-
-``vert_edgeadr[numvert]``
-   For each vertex in the convex hull, this is the offset of the edge record for that vertex in edge_localid.
-
-``vert_globalid[numvert]``
-   For each vertex in the convex hull, this is the corresponding vertex index in the full mesh
-
-``edge_localid[numvert+3*numface]``
-   This contains a sequence of edge records, one for each vertex in the convex hull. Each edge record is an array of
-   vertex indices (in localid format) terminated with -1. For example, say the record for vertex 7 is: 3, 4, 5, 9, -1.
-   This means that vertex 7 belongs to 4 edges, and the other ends of these edges are vertices 3, 4, 5, 9. In this way
-   every edge is represented twice, in the edge records of its two vertices. Note that for a closed triangular mesh
-   (such as the convex hulls used here), the number of edges is ``3*numface/2``. Thus when each edge is represented
-   twice, we have ``3*numface edges``. And since we are using the separator -1 at the end of each edge record (one
-   separator per vertex), the length of ``edge_localid`` is ``numvert+3*numface``.
-
-``face_globalid[3*numface]``
-   For each face of the convex hull, this contains the indices of the three vertices in the full mesh
diff --git a/doc/APIreference/functions.rst b/doc/APIreference/functions.rst
deleted file mode 100644
index b5ba77b8..00000000
--- a/doc/APIreference/functions.rst
+++ /dev/null
@@ -1,6348 +0,0 @@
-..
-  AUTOGENERATED: DO NOT EDIT MANUALLY
-
-
-.. _Parseandcompile:
-
-Parse and compile
-^^^^^^^^^^^^^^^^^
-
-The key function here is :ref:`mj_loadXML`. It invokes the built-in parser and compiler, and either returns a pointer to
-a valid mjModel, or NULL - in which case the user should check the error information in the user-provided string.
-The model and all files referenced in it can be loaded from disk or from a VFS when provided.
-
-.. _mj_loadXML:
-
-`mj_loadXML <#mj_loadXML>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_loadXML
-
-Parse XML file in MJCF or URDF format, compile it; return low-level model.
-
-If vfs is not NULL, look up files in vfs before reading from disk.
-
-If error is not NULL, it must have size error_sz.
-
-*Nullable:* ``vfs``, ``error``
-
-.. _mj_parseXML:
-
-`mj_parseXML <#mj_parseXML>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_parseXML
-
-Parse spec from XML file.
-
-*Nullable:* ``vfs``, ``error``
-
-.. _mj_parseXMLString:
-
-`mj_parseXMLString <#mj_parseXMLString>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_parseXMLString
-
-Parse spec from XML string.
-
-*Nullable:* ``vfs``, ``error``
-
-.. _mj_parse:
-
-`mj_parse <#mj_parse>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_parse
-
-Parse spec from a file.
-
-*Nullable:* ``vfs``, ``error``
-
-.. _mj_encode:
-
-`mj_encode <#mj_encode>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_encode
-
-Encode :ref:`mjSpec` or :ref:`mjModel` to a file. The output format is determined by the file extension
-(case insensitive) or ``content_type``. Returns the number of bytes written on success, -1 on failure.
-
-For detailed documentation, supported output formats (``.xml``, ``.mjb``, ``.txt``, ``.mjz``), and custom encoder
-plugins, see :ref:`Model Encoding & Saving <meSaving>`.
-
-*Nullable:* ``s``, ``m``, ``vfs``, ``error``
-
-.. _mj_compile:
-
-`mj_compile <#mj_compile>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_compile
-
-Compile :ref:`mjSpec` to :ref:`mjModel`. A spec can be edited and compiled multiple times, returning a new
-:ref:`mjModel` instance that takes the edits into account.
-If compilation fails, :ref:`mj_compile` returns ``NULL``; the error can be read with :ref:`mjs_getError`.
-
-.. _mj_copyBack:
-
-`mj_copyBack <#mj_copyBack>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_copyBack
-
-Copy real-valued arrays from model to spec; return 1 on success.
-
-.. _mj_recompile:
-
-`mj_recompile <#mj_recompile>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_recompile
-
-Recompile spec to model, preserving the state. Like :ref:`mj_compile`, this function compiles an :ref:`mjSpec` to an
-:ref:`mjModel`, with two differences. First, rather than returning an entirely new model, it will
-reallocate existing :ref:`mjModel` and :ref:`mjData` instances in-place. Second, it will preserve the
-:ref:`integration state<siIntegrationState>`, as given in the provided :ref:`mjData` instance, while accounting for
-newly added or removed degrees of freedom. This allows the user to continue simulation with the same model and data
-struct pointers while editing the model programmatically.
-
-:ref:`mj_recompile` returns 0 if compilation succeed. In the case of failure, the given :ref:`mjModel` and :ref:`mjData`
-instances will be deleted; as in :ref:`mj_compile`, the compilation error can be read with :ref:`mjs_getError`.
-
-.. _mj_saveLastXML:
-
-`mj_saveLastXML <#mj_saveLastXML>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_saveLastXML
-
-Update XML data structures with info from low-level model created with :ref:`mj_loadXML`, save as MJCF.
-If error is not NULL, it must have size error_sz.
-
-Note that this function only saves models that have been loaded with :ref:`mj_loadXML`, the legacy loading mechanism.
-See the :ref:`model editing<meOverview>` chapter to understand the difference between the old and new model loading and
-saving mechanisms.
-
-.. _mj_freeLastXML:
-
-`mj_freeLastXML <#mj_freeLastXML>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_freeLastXML
-
-Free last XML model if loaded. Called internally at each load.
-
-.. _mj_saveXMLString:
-
-`mj_saveXMLString <#mj_saveXMLString>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_saveXMLString
-
-Save spec to XML string, return 0 on success, -1 on failure. If the length of the output buffer is too small, returns
-the required size. XML saving automatically compiles the spec before saving.
-
-.. _mj_saveXML:
-
-`mj_saveXML <#mj_saveXML>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_saveXML
-
-Save spec to XML file, return 0 on success, -1 otherwise. XML saving requires that the spec first be compiled.
-
-.. _mju_getXMLDependencies:
-
-`mju_getXMLDependencies <#mju_getXMLDependencies>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_getXMLDependencies
-
-Given MJCF filename, fills dependencies with a list of all other asset files it depends on.
-
-The search is recursive, and the list includes the filename itself.
-
-.. _Mainsimulation:
-
-Main simulation
-^^^^^^^^^^^^^^^
-
-These are the main entry points to the simulator. Most users will only need to call :ref:`mj_step`, which computes
-everything and advanced the simulation state by one time step. Controls and applied forces must either be set in advance
-(in ``mjData.{ctrl, qfrc_applied, xfrc_applied}``), or a control callback :ref:`mjcb_control` must be installed which
-will be called just before the controls and applied forces are needed. Alternatively, one can use :ref:`mj_step1` and
-:ref:`mj_step2` which break down the simulation pipeline into computations that are executed before and after the
-controls are needed; in this way one can set controls that depend on the results from :ref:`mj_step1`. Keep in mind
-though that the RK4 solver does not work with mj_step1/2. See :ref:`Pipeline` for a more detailed description.
-
-mj_forward performs the same computations as :ref:`mj_step` but without the integration. It is useful after loading or
-resetting a model (to put the entire mjData in a valid state), and also for out-of-order computations that involve
-sampling or finite-difference approximations.
-
-:ref:`mj_inverse` runs the inverse dynamics, and writes its output in ``mjData.qfrc_inverse``. Note that ``mjData.qacc``
-must be set before calling this function. Given the state (qpos, qvel, act), mj_forward maps from force to acceleration,
-while mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but
-numerically this may not always be the case because the forward dynamics rely on a constraint optimization algorithm
-which is usually terminated early. The difference between the results of forward and inverse dynamics can be computed
-with the function :ref:`mj_compareFwdInv`, which can be thought of as another solver accuracy check (as well as a
-general sanity check).
-
-The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was
-changed (usually in the context of finite differencing). Then there is no point repeating the computations that only
-depend on qpos. Calling the dynamics with skipstage = :ref:`mjSTAGE_POS<mjtStage>` will achieve these savings.
-
-.. _mj_step:
-
-`mj_step <#mj_step>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_step
-
-Advance simulation, use control callback to obtain external force and control.
-
-.. _mj_step1:
-
-`mj_step1 <#mj_step1>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_step1
-
-Advance simulation in two steps: before external force and control is set by user.
-
-.. _mj_step2:
-
-`mj_step2 <#mj_step2>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_step2
-
-Advance simulation in two steps: after external force and control is set by user.
-
-.. _mj_forward:
-
-`mj_forward <#mj_forward>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_forward
-
-Forward dynamics: same as mj_step but do not integrate in time.
-
-.. _mj_inverse:
-
-`mj_inverse <#mj_inverse>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_inverse
-
-Inverse dynamics: qacc must be set before calling.
-
-.. _mj_forwardSkip:
-
-`mj_forwardSkip <#mj_forwardSkip>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_forwardSkip
-
-Forward dynamics with skip; skipstage is mjtStage.
-
-.. _mj_inverseSkip:
-
-`mj_inverseSkip <#mj_inverseSkip>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_inverseSkip
-
-Inverse dynamics with skip; skipstage is mjtStage.
-
-.. _Support:
-
-Support
-^^^^^^^
-
-These are support functions that need access to :ref:`mjModel` and :ref:`mjData`, unlike the utility functions which do
-not need such access. Support functions are called within the simulator but some of them can also be useful for custom
-computations, and are documented in more detail below.
-
-.. _mj_stateSize:
-
-`mj_stateSize <#mj_stateSize>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_stateSize
-
-Returns the number of :ref:`mjtNum` |-| s required for a given state signature. The bits of the integer ``sig``
-correspond to element fields of :ref:`mjtState`.
-
-.. _mj_getState:
-
-`mj_getState <#mj_getState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_getState
-
-Copy concatenated state components specified by ``sig`` from ``d`` into ``state``. The bits of the integer
-``sig`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``sig`` is invalid.
-
-.. _mj_extractState:
-
-`mj_extractState <#mj_extractState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_extractState
-
-Extract into ``dst`` the subset of components specified by ``dstsig`` from a state ``src`` previously obtained via
-:ref:`mj_getState` with components specified by ``srcsig``. Fails with :ref:`mju_error` if the bits set in ``dstsig``
-is not a subset of the bits set in ``srcsig``.
-
-.. _mj_setState:
-
-`mj_setState <#mj_setState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_setState
-
-Copy concatenated state components specified by ``sig`` from  ``state`` into ``d``. The bits of the integer
-``sig`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``sig`` is invalid.
-
-.. _mj_copyState:
-
-`mj_copyState <#mj_copyState>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_copyState
-
-Copy state from src to dst.
-
-.. _mj_readCtrl:
-
-`mj_readCtrl <#mj_readCtrl>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_readCtrl
-
-Read the control value for an actuator at a given time, taking delays into account. If no history buffer exists, return
-``mjData.ctrl[id]``. If a history buffer exists (:ref:`nsample<actuator-general-nsample>` > 0), read from the delay
-buffer at ``time - actuator_delay[id]`` using the requested interpolation order:
-
-- ``interp = 0``: Zero-order hold (piecewise constant)
-- ``interp = 1``: Piecewise Linear
-- ``interp = 2``: Cubic Spline (Catmull-Rom)
-- ``interp = -1``: Use the actuator's :ref:`interp<actuator-general-interp>` value.
-
-Constant extrapolation is used outside of buffer bounds.
-
-Note that the subtraction of the delay changes the semantic of the ``time`` argument from "time at which values were
-pushed into the delay buffer" to "time at which values come out of the delay buffer". See :ref:`Delays<CDelay>` for
-details.
-
-.. _mj_readSensor:
-
-`mj_readSensor <#mj_readSensor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_readSensor
-
-Read a sensor value at a given time, taking delays into account. If no history buffer exists, return a pointer to the
-sensor's slice of ``mjData.sensordata``. If a history buffer exists (:ref:`nsample<sensor-nsample>` > 0), read from the
-history buffer at ``time - sensor_delay[id]``. Note that the subtraction of the delay changes the semantic of the
-``time`` argument from "time at which values were pushed into the delay buffer" to "time at which values come out of the
-delay buffer". See :ref:`Delays<CDelay>` for details.
-
-**Return value semantics:**
-
-- If no history buffer exists (:ref:`nsample<sensor-nsample>` = 0), returns a pointer to the sensor's slice of
-  ``mjData.sensordata``.
-- If a history buffer exists (:ref:`nsample<sensor-nsample>` > 0) and the requested time matches a stored sample
-  (always true for ``interp = 0``), returns a pointer to the data in the history buffer.
-- If interpolation is required (``interp = 1 or 2``), returns ``NULL`` and writes the interpolated result to
-  ``result`` (must be of size ``dim``).
-
-**Interpolation:**
-
-- ``interp = 0``: Zero-order hold (piecewise constant)
-- ``interp = 1``: Piecewise Linear
-- ``interp = 2``: Cubic Spline (Catmull-Rom)
-- ``interp = -1``: Use the value in :ref:`interp<sensor-interp>`
-
-Constant extrapolation is used outside of buffer bounds.
-
-
-**Usage:**
-
-.. code-block:: C
-
-   // read sensor 0 of data size `dim` at time t
-   mjtNum result[dim];
-   const mjtNum* ptr = mj_readSensor(m, d, 0, t, result, /* interp = */ 1);
-   const mjtNum* data = ptr ? ptr : result;
-
-.. _mj_initCtrlHistory:
-
-`mj_initCtrlHistory <#mj_initCtrlHistory>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_initCtrlHistory
-
-Initialize the history buffer for an actuator with custom values. The ``times`` array specifies the timestamps for each
-sample (must be length :ref:`nsample<actuator-general-nsample>`), and ``values`` specifies the control values. If
-``times`` is ``NULL``, the existing timestamps in the buffer are used, and only the values are updated.
-See :ref:`Delays<CDelay>` for details.
-
-.. _mj_initSensorHistory:
-
-`mj_initSensorHistory <#mj_initSensorHistory>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_initSensorHistory
-
-Initialize the history buffer for a sensor with custom values. The ``times`` array specifies the timestamps for each
-sample (must be length :ref:`nsample<sensor-nsample>`), and ``values`` specifies the sensor values (must be of size
-``nsample * dim``). If ``times`` is ``NULL``, the existing timestamps in the buffer are used.
-The ``phase`` argument sets the user slot, which stores the last computation time for interval sensors.
-See :ref:`Delays<CDelay>` for details.
-
-.. _mj_setKeyframe:
-
-`mj_setKeyframe <#mj_setKeyframe>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_setKeyframe
-
-Copy current state to the k-th model keyframe.
-
-.. _mj_addContact:
-
-`mj_addContact <#mj_addContact>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_addContact
-
-Add contact to d->contact list; return 0 if success; 1 if buffer full.
-
-.. _mj_isPyramidal:
-
-`mj_isPyramidal <#mj_isPyramidal>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_isPyramidal
-
-Determine type of friction cone.
-
-.. _mj_isSparse:
-
-`mj_isSparse <#mj_isSparse>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_isSparse
-
-Determine type of constraint Jacobian.
-
-.. _mj_isDual:
-
-`mj_isDual <#mj_isDual>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_isDual
-
-Determine type of solver (PGS is dual, CG and Newton are primal).
-
-.. _mj_mulJacVec:
-
-`mj_mulJacVec <#mj_mulJacVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_mulJacVec
-
-This function multiplies the constraint Jacobian mjData.efc_J by a vector. Note that the Jacobian can be either dense or
-sparse; the function is aware of this setting. Multiplication by J maps velocities from joint space to constraint space.
-
-.. _mj_mulJacTVec:
-
-`mj_mulJacTVec <#mj_mulJacTVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_mulJacTVec
-
-Same as mj_mulJacVec but multiplies by the transpose of the Jacobian. This maps forces from constraint space to joint
-space.
-
-.. _mj_jac:
-
-`mj_jac <#mj_jac>`__
-~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_jac
-
-This function computes an end-effector kinematic Jacobian, describing the local linear relationship between the
-degrees-of-freedom and a given point. Given a body specified by its integer id (``body``) and a 3D point in the world
-frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational
-(``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
-3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
-respect to the degrees-of-freedom. The frame with respect to which the Jacobian is computed is centered at the body
-center-of-mass but aligned with the world frame. The minimal :ref:`pipeline stages<piForward>` required for Jacobian
-computations to be consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` followed
-by :ref:`mj_comPos`.
-
-*Nullable:* ``jacp``, ``jacr``
-
-.. _mj_jacBody:
-
-`mj_jacBody <#mj_jacBody>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_jacBody
-
-This and the remaining variants of the Jacobian function call mj_jac internally, with the center of the body, geom or
-site. They are just shortcuts; the same can be achieved by calling mj_jac directly.
-
-*Nullable:* ``jacp``, ``jacr``
-
-.. _mj_jacBodyCom:
-
-`mj_jacBodyCom <#mj_jacBodyCom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_jacBodyCom
-
-Compute body center-of-mass end-effector Jacobian.
-
-*Nullable:* ``jacp``, ``jacr``
-
-.. _mj_jacSubtreeCom:
-
-`mj_jacSubtreeCom <#mj_jacSubtreeCom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_jacSubtreeCom
-
-Compute subtree center-of-mass end-effector Jacobian.
-
-.. _mj_jacGeom:
-
-`mj_jacGeom <#mj_jacGeom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_jacGeom
-
-Compute geom end-effector Jacobian.
-
-*Nullable:* ``jacp``, ``jacr``
-
-.. _mj_jacSite:
-
-`mj_jacSite <#mj_jacSite>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_jacSite
-
-Compute site end-effector Jacobian.
-
-*Nullable:* ``jacp``, ``jacr``
-
-.. _mj_jacPointAxis:
-
-`mj_jacPointAxis <#mj_jacPointAxis>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_jacPointAxis
-
-Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.
-
-*Nullable:* ``jacPoint``, ``jacAxis``
-
-.. _mj_jacDot:
-
-`mj_jacDot <#mj_jacDot>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_jacDot
-
-This function computes the time-derivative of an end-effector kinematic Jacobian computed by :ref:`mj_jac`.
-The minimal :ref:`pipeline stages<piStages>` required for computation to be
-consistent with the current generalized positions and velocities ``mjData.{qpos, qvel}`` are
-:ref:`mj_kinematics`, :ref:`mj_comPos`, :ref:`mj_comVel` (in that order).
-
-*Nullable:* ``jacp``, ``jacr``
-
-.. _mj_angmomMat:
-
-`mj_angmomMat <#mj_angmomMat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_angmomMat
-
-This function computes the ``3 x nv`` angular momentum matrix :math:`H(q)`, providing the linear mapping from
-generalized velocities to subtree angular momentum. More precisely if :math:`h` is the subtree angular momentum of
-body index ``body`` in ``mjData.subtree_angmom`` (reported by the :ref:`subtreeangmom<sensor-subtreeangmom>` sensor)
-and :math:`\dot q` is the generalized velocity ``mjData.qvel``, then :math:`h = H \dot q`.
-
-.. _mj_name2id:
-
-`mj_name2id <#mj_name2id>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_name2id
-
-Get id of object with the specified :ref:`mjtObj` type and name, returns -1 if id not found.
-
-.. _mj_id2name:
-
-`mj_id2name <#mj_id2name>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_id2name
-
-Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`` if name not found.
-
-.. _mj_actuatorInputName:
-
-`mj_actuatorInputName <#mj_actuatorInputName>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_actuatorInputName
-
-Get name of actuator input, determined by the actuator type and input signature;
-return NULL if the actuator type defines no input names.
-
-.. _mj_fullM:
-
-`mj_fullM <#mj_fullM>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_fullM
-
-Convert sparse inertia matrix into full (i.e. dense) matrix.
-
-.. _mj_mulM:
-
-`mj_mulM <#mj_mulM>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_mulM
-
-This function multiplies the joint-space inertia matrix stored in ``mjData.M`` by a vector.
-
-.. _mj_mulM2:
-
-`mj_mulM2 <#mj_mulM2>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_mulM2
-
-Multiply vector by (inertia matrix)^(1/2).
-
-.. _mj_addM:
-
-`mj_addM <#mj_addM>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_addM
-
-Add inertia matrix to destination matrix (lower triangle only).
-
-Destination can be sparse or dense when all int* are NULL.
-
-*Nullable:* ``rownnz``, ``rowadr``, ``colind``
-
-.. _mj_applyFT:
-
-`mj_applyFT <#mj_applyFT>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_applyFT
-
-This function can be used to apply a Cartesian force and torque to a point on a body, and add the result to the vector
-mjData.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes
-we want to add the result to a different vector.
-
-.. _mj_objectVelocity:
-
-`mj_objectVelocity <#mj_objectVelocity>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_objectVelocity
-
-Compute object 6D velocity (rot:lin) in object-centered frame, world/local orientation.
-
-.. _mj_objectAcceleration:
-
-`mj_objectAcceleration <#mj_objectAcceleration>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_objectAcceleration
-
-Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation. If acceleration or force
-sensors are not present in the model, :ref:`mj_rnePostConstraint` must be manually called in order to calculate
-mjData.cacc -- the total body acceleration, including contributions from the constraint solver.
-
-.. _mj_geomDistance:
-
-`mj_geomDistance <#mj_geomDistance>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_geomDistance
-
-Returns the smallest signed distance between two geoms and optionally the segment from ``geom1`` to ``geom2``.
-Returned distances are bounded from above by ``distmax``. |br| If no collision of distance smaller than ``distmax`` is
-found, the function will return ``distmax`` and ``fromto``, if given, will be set to (0, 0, 0, 0, 0, 0).
-
-*Nullable:* ``fromto``
-
-.. admonition:: different (correct) behavior under `nativeccd`
-   :class: note
-
-   As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
-   :ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
-
-.. _mj_contactForce:
-
-`mj_contactForce <#mj_contactForce>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_contactForce
-
-Extract 6D force:torque given contact id, in the contact frame.
-
-.. _mj_differentiatePos:
-
-`mj_differentiatePos <#mj_differentiatePos>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_differentiatePos
-
-This function subtracts two vectors in the format of qpos (and divides the result by dt), while respecting the
-properties of quaternions. Recall that unit quaternions represent spatial orientations. They are points on the unit
-sphere in 4D. The tangent to that sphere is a 3D plane of rotational velocities. Thus when we subtract two quaternions
-in the right way, the result is a 3D vector and not a 4D vector. Thus the output qvel has dimensionality nv while the
-inputs have dimensionality nq.
-
-.. _mj_integratePos:
-
-`mj_integratePos <#mj_integratePos>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_integratePos
-
-This is the opposite of mj_differentiatePos. It adds a vector in the format of qvel (scaled by dt) to a vector in the
-format of qpos.
-
-.. _mj_normalizeQuat:
-
-`mj_normalizeQuat <#mj_normalizeQuat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_normalizeQuat
-
-Normalize all quaternions in qpos-type vector.
-
-.. _mj_local2Global:
-
-`mj_local2Global <#mj_local2Global>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_local2Global
-
-Map from body local to global Cartesian coordinates, sameframe takes values from mjtSameFrame.
-
-.. _mj_getTotalmass:
-
-`mj_getTotalmass <#mj_getTotalmass>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_getTotalmass
-
-Sum all body masses.
-
-.. _mj_setTotalmass:
-
-`mj_setTotalmass <#mj_setTotalmass>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_setTotalmass
-
-Scale body masses and inertias to achieve specified total mass.
-
-.. _mj_getPluginConfig:
-
-`mj_getPluginConfig <#mj_getPluginConfig>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_getPluginConfig
-
-Return a config attribute value of a plugin instance;
-
-NULL: invalid plugin instance ID or attribute name
-
-.. _mj_loadPluginLibrary:
-
-`mj_loadPluginLibrary <#mj_loadPluginLibrary>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_loadPluginLibrary
-
-Load a dynamic library. The dynamic library is assumed to register one or more plugins.
-
-.. _mj_loadAllPluginLibraries:
-
-`mj_loadAllPluginLibraries <#mj_loadAllPluginLibraries>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_loadAllPluginLibraries
-
-Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory
-are assumed to register one or more plugins. Optionally, if a callback is specified, it is called
-for each dynamic library encountered that registers plugins.
-
-.. _mj_version:
-
-`mj_version <#mj_version>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_version
-
-Return version number: 1.0.2 is encoded as 102.
-
-.. _mj_versionString:
-
-`mj_versionString <#mj_versionString>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_versionString
-
-Return the current version of MuJoCo as a null-terminated string.
-
-.. _Components:
-
-Components
-^^^^^^^^^^
-
-These are components of the simulation pipeline, called internally from :ref:`mj_step`, :ref:`mj_forward` and
-:ref:`mj_inverse`. It is unlikely that the user will need to call them.
-
-.. _mj_fwdKinematics:
-
-`mj_fwdKinematics <#mj_fwdKinematics>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_fwdKinematics
-
-Run all kinematics-like computations (kinematics, comPos, camlight, flex, tendon).
-
-.. _mj_fwdPosition:
-
-`mj_fwdPosition <#mj_fwdPosition>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_fwdPosition
-
-Run position-dependent computations.
-
-.. _mj_fwdVelocity:
-
-`mj_fwdVelocity <#mj_fwdVelocity>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_fwdVelocity
-
-Run velocity-dependent computations.
-
-.. _mj_fwdActuation:
-
-`mj_fwdActuation <#mj_fwdActuation>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_fwdActuation
-
-Compute actuator force qfrc_actuator.
-
-.. _mj_fwdAcceleration:
-
-`mj_fwdAcceleration <#mj_fwdAcceleration>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_fwdAcceleration
-
-Add up all non-constraint forces, compute qacc_smooth.
-
-.. _mj_fwdConstraint:
-
-`mj_fwdConstraint <#mj_fwdConstraint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_fwdConstraint
-
-Run selected constraint solver.
-
-.. _mj_Euler:
-
-`mj_Euler <#mj_Euler>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_Euler
-
-Euler integrator, semi-implicit in velocity.
-
-.. _mj_RungeKutta:
-
-`mj_RungeKutta <#mj_RungeKutta>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_RungeKutta
-
-Runge-Kutta explicit order-N integrator.
-
-.. _mj_implicit:
-
-`mj_implicit <#mj_implicit>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_implicit
-
-Integrates the simulation state using an implicit-in-velocity integrator (either "implicit" or "implicitfast", see
-:ref:`Numerical Integration<geIntegration>`), and advances simulation time. See `mjdata.h
-<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__ for fields computed by this function.
-
-.. _mj_invPosition:
-
-`mj_invPosition <#mj_invPosition>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_invPosition
-
-Run position-dependent computations in inverse dynamics.
-
-.. _mj_invVelocity:
-
-`mj_invVelocity <#mj_invVelocity>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_invVelocity
-
-Run velocity-dependent computations in inverse dynamics.
-
-.. _mj_invConstraint:
-
-`mj_invConstraint <#mj_invConstraint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_invConstraint
-
-Apply the analytical formula for inverse constraint dynamics.
-
-.. _mj_compareFwdInv:
-
-`mj_compareFwdInv <#mj_compareFwdInv>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_compareFwdInv
-
-Compare forward and inverse dynamics, save results in fwdinv.
-
-.. _Subcomponents:
-
-Sub components
-^^^^^^^^^^^^^^
-
-These are sub-components of the simulation pipeline, called internally from the components above.
-
-.. _mj_sensorPos:
-
-`mj_sensorPos <#mj_sensorPos>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_sensorPos
-
-Evaluate position-dependent sensors.
-
-.. _mj_sensorVel:
-
-`mj_sensorVel <#mj_sensorVel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_sensorVel
-
-Evaluate velocity-dependent sensors.
-
-.. _mj_sensorAcc:
-
-`mj_sensorAcc <#mj_sensorAcc>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_sensorAcc
-
-Evaluate acceleration and force-dependent sensors.
-
-.. _mj_energyPos:
-
-`mj_energyPos <#mj_energyPos>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_energyPos
-
-Evaluate position-dependent energy (potential).
-
-.. _mj_energyVel:
-
-`mj_energyVel <#mj_energyVel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_energyVel
-
-Evaluate velocity-dependent energy (kinetic).
-
-.. _mj_checkPos:
-
-`mj_checkPos <#mj_checkPos>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_checkPos
-
-Check qpos, reset if any element is too big or nan.
-
-.. _mj_checkVel:
-
-`mj_checkVel <#mj_checkVel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_checkVel
-
-Check qvel, reset if any element is too big or nan.
-
-.. _mj_checkAcc:
-
-`mj_checkAcc <#mj_checkAcc>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_checkAcc
-
-Check qacc, reset if any element is too big or nan.
-
-.. _mj_kinematics:
-
-`mj_kinematics <#mj_kinematics>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_kinematics
-
-Run forward kinematics.
-
-.. _mj_comPos:
-
-`mj_comPos <#mj_comPos>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_comPos
-
-Map inertias and motion dofs to global frame centered at CoM.
-
-.. _mj_camlight:
-
-`mj_camlight <#mj_camlight>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_camlight
-
-Compute camera and light positions and orientations.
-
-.. _mj_flex:
-
-`mj_flex <#mj_flex>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_flex
-
-Compute flex-related quantities.
-
-.. _mj_tendon:
-
-`mj_tendon <#mj_tendon>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_tendon
-
-Compute tendon lengths, velocities and moment arms.
-
-.. _mj_transmission:
-
-`mj_transmission <#mj_transmission>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_transmission
-
-Compute actuator transmission lengths and moments.
-
-.. _mj_crb:
-
-`mj_crb <#mj_crb>`__
-~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_crb
-
-Run composite rigid body inertia algorithm (CRB).
-
-.. _mj_makeM:
-
-`mj_makeM <#mj_makeM>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_makeM
-
-Compute the composite rigid body inertia with :ref:`mj_crb`, add terms due
-to :ref:`tendon armature<tendon-spatial-armature>`. The joint-space inertia matrix is stored in both ``mjData.qM`` and
-``mjData.M``. These arrays represent the same quantity using different layouts (parent-based and compressed sparse row,
-respectively).
-
-.. _mj_factorM:
-
-`mj_factorM <#mj_factorM>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_factorM
-
-Compute sparse :math:`L^T D L` factorizaton of inertia matrix.
-
-.. _mj_solveM:
-
-`mj_solveM <#mj_solveM>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_solveM
-
-Solve linear system :math:`M x = y` using factorization: :math:`x = (L^T D L)^{-1} y`
-
-.. _mj_solveM2:
-
-`mj_solveM2 <#mj_solveM2>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_solveM2
-
-Half of linear solve: :math:`x = \sqrt{D^{-1}} (L^T)^{-1} y`
-
-.. _mj_comVel:
-
-`mj_comVel <#mj_comVel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_comVel
-
-Compute cvel, cdof_dot.
-
-.. _mj_passive:
-
-`mj_passive <#mj_passive>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_passive
-
-Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces.
-
-.. _mj_subtreeVel:
-
-`mj_subtreeVel <#mj_subtreeVel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_subtreeVel
-
-Sub-tree linear velocity and angular momentum: compute ``subtree_linvel``, ``subtree_angmom``.
-This function is triggered automatically if the subtree :ref:`velocity<sensor-subtreelinvel>` or
-:ref:`momentum<sensor-subtreeangmom>` sensors are present in the model.
-It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "vel".
-
-.. _mj_rne:
-
-`mj_rne <#mj_rne>`__
-~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_rne
-
-Recursive Newton Euler: compute :math:`M(q) \ddot q + C(q,\dot q)`. ``flg_acc=0`` removes the inertial term (i.e.
-assumes :math:`\ddot q = 0`).
-
-.. _mj_rnePostConstraint:
-
-`mj_rnePostConstraint <#mj_rnePostConstraint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_rnePostConstraint
-
-Recursive Newton Euler with final computed forces and accelerations.
-Computes three body-level ``nv x 6`` arrays, all defined in the subtreecom-based
-:ref:`c-frame<tyNotesCom>` and arranged in ``[rotation(3), translation(3)]`` order.
-
-- ``cacc``: Body acceleration, required for :ref:`mj_objectAcceleration`.
-- ``cfrc_int``: Interaction force with the parent body.
-- ``cfrc_ext``: External force acting on the body.
-
-This function is triggered automatically if the following sensors are present in the model:
-:ref:`accelerometer<sensor-accelerometer>`, :ref:`force<sensor-force>`, :ref:`torque<sensor-torque>`,
-:ref:`framelinacc<sensor-framelinacc>`, :ref:`frameangacc<sensor-frameangacc>`.
-It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc".
-
-The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account
-the effect of spatial tendons, see :issue:`832`.
-
-.. _mj_maxContact:
-
-`mj_maxContact <#mj_maxContact>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_maxContact
-
-Return the maximum number of contacts that can be generated between two geoms.
-
-If has_margin is -1, then the margin is pulled from the model, otherwise if has_margin > 0
-indicates that the geoms have a positive margin.
-
-.. _mj_collision:
-
-`mj_collision <#mj_collision>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_collision
-
-Run collision detection.
-
-.. _mj_makeConstraint:
-
-`mj_makeConstraint <#mj_makeConstraint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_makeConstraint
-
-Construct constraints.
-
-.. _mj_island:
-
-`mj_island <#mj_island>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_island
-
-Find constraint islands.
-
-.. _mj_projectConstraint:
-
-`mj_projectConstraint <#mj_projectConstraint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_projectConstraint
-
-Compute inverse constraint inertia efc_AR.
-
-.. _mj_referenceConstraint:
-
-`mj_referenceConstraint <#mj_referenceConstraint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_referenceConstraint
-
-Compute efc_vel, efc_aref.
-
-.. _mj_constraintUpdate:
-
-`mj_constraintUpdate <#mj_constraintUpdate>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_constraintUpdate
-
-Compute ``efc_state``, ``efc_force``, ``qfrc_constraint``, and (optionally) cone Hessians.
-If ``cost`` is not ``NULL``, set ``*cost = s(jar)`` where ``jar = Jac*qacc - aref``.
-
-*Nullable:* ``cost``
-
-.. _Raycollisions:
-
-Ray casting
-^^^^^^^^^^^
-
-Ray collisions, also known as ray casting, find the distance ``x`` of a ray's intersection with a geom, where a ray is
-a line emanating from the 3D point ``p`` in the direction ``v`` i.e., ``(p + x*v, x >= 0)``. All functions in this
-family return the distance to the nearest geom surface, or -1 if there is no intersection. Note that if ``p`` is inside
-a geom, the ray will intersect the surface from the inside which still counts as an intersection.
-
-All ray collision functions rely on quantities computed by :ref:`mj_kinematics` (see :ref:`mjData`), so must be called
-after  :ref:`mj_kinematics`, or functions that call it (e.g. :ref:`mj_fwdPosition`). The top level functions, which
-intersect with all geoms types, are :ref:`mj_ray` which casts a single ray, and :ref:`mj_multiRay` which casts multiple
-rays from a single point.
-
-.. _mj_ray:
-
-`mj_ray <#mj_ray>`__
-~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_ray
-
-Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
-
-- Return distance ``x`` to nearest surface, or -1 if no intersection.
-- If ``geomid`` is not NULL, write the id of the intersected geom or -1 if not intersection.
-- If ``normal`` is not NULL, write the surface normal at the intersection point. The normal always points **out of the
-  geometry**, regardless of the ray's direction (i.e., including rays hitting the surface from the inside).
-- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
-- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumericVisualization>`, where 1 means the group should be included. Pass
-  NULL to skip geom group exclusion.
-- If ``flg_static`` is 0, static geoms will be excluded.
-
-*Nullable:* ``geomgroup``, ``geomid``, ``normal``
-
-.. _mj_multiRay:
-
-`mj_multiRay <#mj_multiRay>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_multiRay
-
-Intersect multiple rays emanating from a single point, compute normals if given.
-
-Similar semantics to mj_ray, but vec, normal and dist are arrays.
-
-Geoms further than cutoff are ignored.
-
-*Nullable:* ``geomgroup``, ``geomid``, ``normal``
-
-.. _mj_rayHfield:
-
-`mj_rayHfield <#mj_rayHfield>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_rayHfield
-
-Intersect ray with hfield; return nearest distance or -1 if no intersection.
-
-*Nullable:* ``normal``
-
-.. _mj_rayMesh:
-
-`mj_rayMesh <#mj_rayMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_rayMesh
-
-Intersect ray with mesh; return nearest distance or -1 if no intersection.
-
-*Nullable:* ``normal``
-
-.. _mju_rayGeom:
-
-`mju_rayGeom <#mju_rayGeom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_rayGeom
-
-Intersect ray with pure geom; return nearest distance or -1 if no intersection.
-
-*Nullable:* ``normal``
-
-.. _mj_rayFlex:
-
-`mj_rayFlex <#mj_rayFlex>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_rayFlex
-
-Intersect ray with flex; return nearest distance or -1 if no intersection,
-and also output nearest vertex id and surface normal.
-
-*Nullable:* ``vertid``, ``normal``
-
-.. _mju_raySkin:
-
-`mju_raySkin <#mju_raySkin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_raySkin
-
-Intersect ray with skin; return nearest distance or -1 if no intersection,
-and also output nearest vertex id.
-
-*Nullable:* ``vertid``
-
-.. _Printing:
-
-Printing
-^^^^^^^^
-
-These functions can be used to print various quantities to the screen for debugging purposes.
-
-.. _mj_printFormattedModel:
-
-`mj_printFormattedModel <#mj_printFormattedModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_printFormattedModel
-
-Print mjModel to text file, specifying format.
-float_format must be a valid printf-style format string for a single float value.
-
-.. _mj_printModel:
-
-`mj_printModel <#mj_printModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_printModel
-
-Print model to text file.
-
-.. _mj_printFormattedData:
-
-`mj_printFormattedData <#mj_printFormattedData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_printFormattedData
-
-Print mjData to text file, specifying format.
-float_format must be a valid printf-style format string for a single float value.
-
-.. _mj_printData:
-
-`mj_printData <#mj_printData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_printData
-
-Print data to text file.
-
-.. _mju_printMat:
-
-`mju_printMat <#mju_printMat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_printMat
-
-Print matrix to screen.
-
-.. _mju_printMatSparse:
-
-`mju_printMatSparse <#mju_printMatSparse>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_printMatSparse
-
-Print sparse matrix to screen.
-
-.. _mj_printSchema:
-
-`mj_printSchema <#mj_printSchema>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_printSchema
-
-Print internal XML schema as plain text or HTML, with style-padding or ``&nbsp;``.
-
-.. _mj_printScene:
-
-`mj_printScene <#mj_printScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_printScene
-
-Print scene to text file.
-
-.. _mj_printFormattedScene:
-
-`mj_printFormattedScene <#mj_printFormattedScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_printFormattedScene
-
-Print scene to text file, specifying format.
-float_format must be a valid printf-style format string for a single float value.
-
-.. _Virtualfilesystem:
-
-Virtual file system
-^^^^^^^^^^^^^^^^^^^
-
-Virtual file system (VFS) enables the user to load all necessary files in memory, including MJB binary model files, XML
-files (MJCF, URDF and included files), STL meshes, PNGs for textures and height fields, and HF files in our custom
-height field format. Model and resource files in the VFS can also be constructed programmatically (say using a Python
-library that writes to memory). Once all desired files are in the VFS, the user can call :ref:`mj_loadModel` or
-:ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the loaders will first check the VFS for any
-files they are about to load, and only access the disk if the file is not found in the VFS.
-
-The VFS must first be allocated using :ref:`mj_defaultVFS` and must be freed with :ref:`mj_deleteVFS`.
-
-
-.. _mj_defaultVFS:
-
-`mj_defaultVFS <#mj_defaultVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_defaultVFS
-
-Initialize an empty VFS, :ref:`mj_deleteVFS` must be called to deallocate the VFS.
-
-.. _mj_mountVFS:
-
-`mj_mountVFS <#mj_mountVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_mountVFS
-
-Mount a ResourceProvider to handle file operations under the given path; return 0: success,
-2: repeated name, -1: invalid resource provider.
-
-.. _mj_unmountVFS:
-
-`mj_unmountVFS <#mj_unmountVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_unmountVFS
-
-Unmount a previously mounted ResourceProvider; return 0: success, -1: not found in VFS.
-
-.. _mj_addFileVFS:
-
-`mj_addFileVFS <#mj_addFileVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_addFileVFS
-
-Add file to VFS. The directory argument is optional and can be NULL or empty. Returns 0 on success,
-2 on name collision, or -1 when an internal error occurs.
-
-*Nullable:* ``directory``
-
-.. _mj_addBufferVFS:
-
-`mj_addBufferVFS <#mj_addBufferVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_addBufferVFS
-
-Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to load.
-
-.. _mj_deleteFileVFS:
-
-`mj_deleteFileVFS <#mj_deleteFileVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_deleteFileVFS
-
-Delete file from VFS; return 0: success, -1: not found in VFS.
-
-.. _mj_containsBufferVFS:
-
-`mj_containsBufferVFS <#mj_containsBufferVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_containsBufferVFS
-
-Check if buffer exists in VFS; return 1: exists, 0: not found.
-
-.. _mj_containsFileVFS:
-
-`mj_containsFileVFS <#mj_containsFileVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_containsFileVFS
-
-Check if file exists in VFS; return 1: exists, 0: not found.
-
-.. _mj_deleteVFS:
-
-`mj_deleteVFS <#mj_deleteVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_deleteVFS
-
-Delete all files from VFS and deallocates VFS internal memory.
-
-.. _Assetcache:
-
-Asset cache
-^^^^^^^^^^^
-
-The asset cache is a mechanism for caching assets (e.g. textures, meshes, etc.) to avoid repeated slow recompilation.
-The following methods provide way to control the capacity of the cache or to disable it altogether.
-
-.. _mj_getCacheSize:
-
-`mj_getCacheSize <#mj_getCacheSize>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_getCacheSize
-
-Get the current size of the asset cache in bytes.
-
-.. _mj_getCacheCapacity:
-
-`mj_getCacheCapacity <#mj_getCacheCapacity>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_getCacheCapacity
-
-Get the capacity of the asset cache in bytes.
-
-.. _mj_setCacheCapacity:
-
-`mj_setCacheCapacity <#mj_setCacheCapacity>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_setCacheCapacity
-
-Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.
-
-.. _mj_getCache:
-
-`mj_getCache <#mj_getCache>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_getCache
-
-Get the internal asset cache used by the compiler.
-
-.. _mj_clearCache:
-
-`mj_clearCache <#mj_clearCache>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_clearCache
-
-Clear the asset cache.
-
-.. _Resources:
-
-Resources
-^^^^^^^^^
-
-Resources are the interface between :ref:`resource providers <exProvider>` and MuJoCo model compilation code.
-These functions provide the means to query the resource provider and obtain resources.
-.. _mju_openResource:
-
-`mju_openResource <#mju_openResource>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_openResource
-
-Open a resource; if the name doesn't have a prefix matching a registered resource provider,
-then the OS filesystem is used.
-
-*Nullable:* ``dir``, ``vfs``, ``error``
-
-.. _mju_closeResource:
-
-`mju_closeResource <#mju_closeResource>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_closeResource
-
-Close a resource; no-op if resource is NULL.
-
-.. _mju_readResource:
-
-`mju_readResource <#mju_readResource>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_readResource
-
-Set buffer to bytes read from the resource and return number of bytes in buffer;
-return negative value if error.
-
-.. _mju_writeResource:
-
-`mju_writeResource <#mju_writeResource>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_writeResource
-
-Write resource data via its resource provider, return bytes written or -1 on error.
-
-*Nullable:* ``vfs``, ``error``
-
-.. _mju_getResourceDir:
-
-`mju_getResourceDir <#mju_getResourceDir>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_getResourceDir
-
-For a resource with a name partitioned as {dir}{filename}, get the dir and ndir pointers.
-
-.. _mju_isModifiedResource:
-
-`mju_isModifiedResource <#mju_isModifiedResource>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_isModifiedResource
-
-Compare resource timestamp to provided timestamp.
-
-Return 0 if timestamps match, >0 if resource is newer, <0 if resource is older.
-
-.. _mju_decodeResource:
-
-`mju_decodeResource <#mju_decodeResource>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_decodeResource
-
-Find the decoder for a resource and return the decoded spec.
-
-The caller takes ownership of the spec and is responsible for cleaning it up.
-
-*Nullable:* ``vfs``
-
-.. _Initialization:
-
-Initialization
-^^^^^^^^^^^^^^
-
-This section contains functions that load/initialize the model or other data structures. Their use is well illustrated
-in the code samples.
-
-.. _mj_defaultLROpt:
-
-`mj_defaultLROpt <#mj_defaultLROpt>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_defaultLROpt
-
-Set default options for length range computation.
-
-.. _mj_defaultSolRefImp:
-
-`mj_defaultSolRefImp <#mj_defaultSolRefImp>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_defaultSolRefImp
-
-Set solver parameters to default values.
-
-*Nullable:* ``solref``, ``solimp``
-
-.. _mj_defaultOption:
-
-`mj_defaultOption <#mj_defaultOption>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_defaultOption
-
-Set physics options to default values.
-
-.. _mj_defaultVisual:
-
-`mj_defaultVisual <#mj_defaultVisual>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_defaultVisual
-
-Set visual options to default values.
-
-.. _mj_copyModel:
-
-`mj_copyModel <#mj_copyModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_copyModel
-
-Copy mjModel, allocate new if dest is NULL.
-
-*Nullable:* ``dest``
-
-.. _mj_saveModel:
-
-`mj_saveModel <#mj_saveModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_saveModel
-
-Save model to binary MJB file or memory buffer; buffer has precedence when given.
-
-*Nullable:* ``filename``, ``buffer``
-
-.. _mj_loadModel:
-
-`mj_loadModel <#mj_loadModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_loadModel
-
-Load model from binary MJB file.
-
-If vfs is not NULL, look up file in vfs before reading from disk.
-
-*Nullable:* ``vfs``
-
-.. _mj_loadModelBuffer:
-
-`mj_loadModelBuffer <#mj_loadModelBuffer>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_loadModelBuffer
-
-Load model from memory buffer.
-
-.. _mj_deleteModel:
-
-`mj_deleteModel <#mj_deleteModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_deleteModel
-
-Free memory allocation in model.
-
-.. _mj_sizeModel:
-
-`mj_sizeModel <#mj_sizeModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_sizeModel
-
-Return size of buffer needed to hold model.
-
-.. _mj_makeData:
-
-`mj_makeData <#mj_makeData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_makeData
-
-Allocate mjData corresponding to given model.
-
-If the model buffer is unallocated the initial configuration will not be set.
-
-.. _mj_copyData:
-
-`mj_copyData <#mj_copyData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_copyData
-
-Copy mjData.
-m is only required to contain the size fields from MJMODEL_INTS.
-
-.. _mjv_copyData:
-
-`mjv_copyData <#mjv_copyData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_copyData
-
-Copy mjData, skip large arrays not required for visualization.
-
-.. _mj_resetCtrl:
-
-`mj_resetCtrl <#mj_resetCtrl>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_resetCtrl
-
-Reset ctrl to neutral values: zero, except quaternion inputs which reset to the identity.
-
-.. _mj_resetData:
-
-`mj_resetData <#mj_resetData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_resetData
-
-Reset data to defaults.
-
-.. _mj_resetDataDebug:
-
-`mj_resetDataDebug <#mj_resetDataDebug>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_resetDataDebug
-
-Reset data to defaults, fill everything else with debug_value.
-
-.. _mj_resetDataKeyframe:
-
-`mj_resetDataKeyframe <#mj_resetDataKeyframe>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_resetDataKeyframe
-
-Reset data. If 0 <= key < nkey, set fields from specified keyframe.
-
-.. _mj_markStack:
-
-`mj_markStack <#mj_markStack>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_markStack
-
-Mark a new frame on the mjData stack.
-
-.. _mj_freeStack:
-
-`mj_freeStack <#mj_freeStack>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_freeStack
-
-Free the current mjData stack frame. All pointers returned by mj_stackAlloc since the last call
-to mj_markStack must no longer be used afterwards.
-
-.. _mj_stackAllocByte:
-
-`mj_stackAllocByte <#mj_stackAllocByte>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_stackAllocByte
-
-Allocate a number of bytes on mjData stack at a specific alignment.
-
-Call mju_error on stack overflow.
-
-.. _mj_stackAllocNum:
-
-`mj_stackAllocNum <#mj_stackAllocNum>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_stackAllocNum
-
-Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow.
-
-.. _mj_stackAllocInt:
-
-`mj_stackAllocInt <#mj_stackAllocInt>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_stackAllocInt
-
-Allocate array of ints on mjData stack. Call mju_error on stack overflow.
-
-.. _mj_deleteData:
-
-`mj_deleteData <#mj_deleteData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_deleteData
-
-Free memory allocation in mjData.
-
-.. _mj_resetCallbacks:
-
-`mj_resetCallbacks <#mj_resetCallbacks>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_resetCallbacks
-
-Reset all callbacks to NULL pointers (NULL is the default).
-
-.. _mj_setConst:
-
-`mj_setConst <#mj_setConst>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_setConst
-
-Set constant fields of mjModel, corresponding to qpos0 configuration.
-
-.. _mj_setLengthRange:
-
-`mj_setLengthRange <#mj_setLengthRange>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_setLengthRange
-
-Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.
-
-*Nullable:* ``error``
-
-.. _mj_makeSpec:
-
-`mj_makeSpec <#mj_makeSpec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_makeSpec
-
-Create empty spec.
-
-.. _mj_copySpec:
-
-`mj_copySpec <#mj_copySpec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_copySpec
-
-Copy spec.
-
-.. _mj_deleteSpec:
-
-`mj_deleteSpec <#mj_deleteSpec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_deleteSpec
-
-Free memory allocation in mjSpec.
-
-.. _mjs_activatePlugin:
-
-`mjs_activatePlugin <#mjs_activatePlugin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_activatePlugin
-
-Activate plugin; return 0 on success.
-
-.. _mjs_setDeepCopy:
-
-`mjs_setDeepCopy <#mjs_setDeepCopy>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setDeepCopy
-
-Turn deep copy on or off attach; return 0 on success.
-
-.. _Errorandmemory:
-
-Error and memory
-^^^^^^^^^^^^^^^^
-
-.. _mju_error:
-
-`mju_error <#mju_error>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_error
-
-Main error function. The error message is dispatched to the active log handler (see :ref:`mju_setLogHandler`).
-Errors are always fatal: if the handler returns, the process is terminated with ``exit(EXIT_FAILURE)``. Handlers
-wishing to recover must ``longjmp`` or otherwise transfer control before returning.
-
-.. _mju_warning:
-
-`mju_warning <#mju_warning>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_warning
-
-Main warning function; returns to caller. The warning message is dispatched to the active log handler.
-
-.. _mju_clearHandlers:
-
-`mju_clearHandlers <#mju_clearHandlers>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_clearHandlers
-
-Clear all user handlers and restore defaults. Resets the legacy error/warning/memory callbacks to ``NULL``, restores
-the default log handler, and resets the log configuration to its defaults (console and file output enabled, all info
-topics disabled).
-
-.. _mju_setLogHandler:
-
-`mju_setLogHandler <#mju_setLogHandler>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_setLogHandler
-
-Set the active global log handler. Returns the previous handler (which is never ``NULL``), intended for save/restore
-or callback chaining. If ``handler`` is ``NULL``, the default handler is restored. The handler receives all errors,
-warnings and informational messages as a structured :ref:`mjLogMessage`. See :ref:`siLogHandler` for usage examples.
-
-.. _mju_getLogConfig:
-
-`mju_getLogConfig <#mju_getLogConfig>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_getLogConfig
-
-Get the current default handler configuration. See :ref:`mjLogConfig`.
-
-.. _mju_setLogConfig:
-
-`mju_setLogConfig <#mju_setLogConfig>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_setLogConfig
-
-Set the default handler configuration. Controls console output, file output, and info topic filtering.
-See :ref:`mjLogConfig`.
-
-Example usage (disabling file output):
-
-.. code-block:: C
-
-   mjLogConfig config = mju_getLogConfig();
-   config.logto_file = false;
-   mju_setLogConfig(config);
-
-.. _mju_info:
-
-`mju_info <#mju_info>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_info
-
-Log an informational message with optional topic filtering. The ``topic`` argument is a :ref:`mjtLogTopic` value.
-Topic 0 (``mjTOPIC_NONE``) always passes through. Other topics must be enabled in the default handler configuration
-via :ref:`mju_setLogConfig`. Note that topic filtering is implemented in the default handler; custom handlers
-receive all info messages regardless.
-
-.. _mju_message:
-
-`mju_message <#mju_message>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_message
-
-Dispatch a structured :ref:`mjLogMessage` to the active log handler. This is the primary entry point for emitting
-log messages with full control over all fields. The convenience functions :ref:`mju_error`, :ref:`mju_warning`, and
-:ref:`mju_info` are thin wrappers that populate an ``mjLogMessage`` and call this function.
-
-The ``subject`` field is a one-line summary (up to 1024 bytes, inline in the struct). The ``body`` field is an
-optional ``const char*`` pointer to multi-line detail text, owned by the caller. When ``body`` is ``NULL``, only the
-subject line is printed.
-
-The default handler formats the output as follows:
-
-.. code-block:: text
-
-   LEVEL FUNC (FILE:LINE) TIME: SUBJECT
-   BODY
-
-where:
-
-- ``LEVEL`` is ``ERROR``, ``WARNING``, ``INFO``, or ``DEBUG``.
-- ``FUNC`` is present when the ``func`` field is set.
-- ``(FILE:LINE)`` is present when the ``file`` and ``line`` fields are set.
-- ``TIME`` is present when the ``timestamp`` field is set or file logging is active.
-- ``SUBJECT`` is the contents of the ``subject`` field.
-- ``BODY`` follows on the next line(s), printed raw without indentation or separators, only if non-NULL.
-
-The default handler appends a trailing blank line after ``ERROR``, ``WARNING``, and ``INFO`` messages for visual
-separation. ``DEBUG`` messages are printed compactly without a trailing blank line.
-
-Example usage:
-
-.. code-block:: C
-
-   mjLogMessage msg = {
-     .level = mjLOG_INFO,
-     .timestamp = true,
-     .body = "  height:     0.001 m\n  velocity:   0.000 m/s\n  bounces:    47",
-   };
-   snprintf(msg.subject, sizeof(msg.subject), "The ball has come to rest");
-   mju_message(&msg);
-
-This produces:
-
-.. code-block:: text
-
-   INFO Mon Jun  9 15:04:05 2026: The ball has come to rest
-     height:     0.001 m
-     velocity:   0.000 m/s
-     bounces:    47
-
-.. _mju_malloc:
-
-`mju_malloc <#mju_malloc>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_malloc
-
-Allocate memory; byte-align on 64; pad size to multiple of 64.
-
-.. _mju_free:
-
-`mju_free <#mju_free>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_free
-
-Free memory, using free() by default.
-
-.. _mj_warning:
-
-`mj_warning <#mj_warning>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_warning
-
-High-level warning function: count warnings in mjData, print only the first.
-
-.. _mju_writeLog:
-
-`mju_writeLog <#mju_writeLog>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_writeLog
-
-Write [datetime, type: message] to MUJOCO_LOG.TXT.
-
-.. _mjs_getError:
-
-`mjs_getError <#mjs_getError>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getError
-
-Get compiler error message from spec.
-
-.. _mjs_getTimer:
-
-`mjs_getTimer <#mjs_getTimer>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getTimer
-
-Get compiler timing diagnostics from spec, returns pointer to array of size mjNCTIMER.
-
-.. _mjs_isWarning:
-
-`mjs_isWarning <#mjs_isWarning>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_isWarning
-
-Return 1 if compiler error is a warning. Deprecated: use mjs_numWarnings(s) > 0.
-
-.. _mjs_numWarnings:
-
-`mjs_numWarnings <#mjs_numWarnings>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_numWarnings
-
-Get number of warnings accumulated in the spec.
-
-.. _mjs_getWarning:
-
-`mjs_getWarning <#mjs_getWarning>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getWarning
-
-Get the i-th warning message (returns nullptr if index out of bounds).
-
-.. _Miscellaneous:
-
-Miscellaneous
-^^^^^^^^^^^^^
-
-.. _mju_muscleGain:
-
-`mju_muscleGain <#mju_muscleGain>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_muscleGain
-
-Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
-
-.. _mju_muscleBias:
-
-`mju_muscleBias <#mju_muscleBias>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_muscleBias
-
-Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
-
-.. _mju_muscleDynamics:
-
-`mju_muscleDynamics <#mju_muscleDynamics>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_muscleDynamics
-
-Muscle activation dynamics, prm = (tau_act, tau_deact, smoothing_width).
-
-.. _mju_encodePyramid:
-
-`mju_encodePyramid <#mju_encodePyramid>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_encodePyramid
-
-Convert contact force to pyramid representation.
-
-.. _mju_decodePyramid:
-
-`mju_decodePyramid <#mju_decodePyramid>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_decodePyramid
-
-Convert pyramid representation to contact force.
-
-.. _mju_springDamper:
-
-`mju_springDamper <#mju_springDamper>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_springDamper
-
-Integrate spring-damper analytically; return pos(dt).
-
-.. _mju_min:
-
-`mju_min <#mju_min>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_min
-
-Return min(a,b) with single evaluation of a and b.
-
-.. _mju_max:
-
-`mju_max <#mju_max>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_max
-
-Return max(a,b) with single evaluation of a and b.
-
-.. _mju_clip:
-
-`mju_clip <#mju_clip>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_clip
-
-Clip x to the range [min, max].
-
-.. _mju_sign:
-
-`mju_sign <#mju_sign>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_sign
-
-Return sign of x: +1, -1 or 0.
-
-.. _mju_round:
-
-`mju_round <#mju_round>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_round
-
-Round x to nearest integer.
-
-.. _mju_type2Str:
-
-`mju_type2Str <#mju_type2Str>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_type2Str
-
-Convert type id (mjtObj) to type name.
-
-.. _mju_str2Type:
-
-`mju_str2Type <#mju_str2Type>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_str2Type
-
-Convert type name to type id (mjtObj).
-
-.. _mju_writeNumBytes:
-
-`mju_writeNumBytes <#mju_writeNumBytes>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_writeNumBytes
-
-Return human readable number of bytes using standard letter suffix.
-
-.. _mju_warningText:
-
-`mju_warningText <#mju_warningText>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_warningText
-
-Construct a warning message given the warning type and info.
-
-.. _mju_isBad:
-
-`mju_isBad <#mju_isBad>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_isBad
-
-Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.
-
-.. _mju_isZero:
-
-`mju_isZero <#mju_isZero>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_isZero
-
-Return 1 if all elements are 0.
-
-.. _mju_standardNormal:
-
-`mju_standardNormal <#mju_standardNormal>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_standardNormal
-
-Standard normal random number generator (optional second number).
-
-.. _mju_f2n:
-
-`mju_f2n <#mju_f2n>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_f2n
-
-Convert from float to mjtNum.
-
-.. _mju_n2f:
-
-`mju_n2f <#mju_n2f>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_n2f
-
-Convert from mjtNum to float.
-
-.. _mju_d2n:
-
-`mju_d2n <#mju_d2n>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_d2n
-
-Convert from double to mjtNum.
-
-.. _mju_n2d:
-
-`mju_n2d <#mju_n2d>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_n2d
-
-Convert from mjtNum to double.
-
-.. _mju_insertionSort:
-
-`mju_insertionSort <#mju_insertionSort>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_insertionSort
-
-Insertion sort, resulting list is in increasing order.
-
-.. _mju_insertionSortInt:
-
-`mju_insertionSortInt <#mju_insertionSortInt>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_insertionSortInt
-
-Integer insertion sort, resulting list is in increasing order.
-
-.. _mju_Halton:
-
-`mju_Halton <#mju_Halton>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_Halton
-
-Generate Halton sequence.
-
-.. _mju_strncpy:
-
-`mju_strncpy <#mju_strncpy>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_strncpy
-
-Call strncpy, then set dst[n-1] = 0.
-
-.. _mju_sigmoid:
-
-`mju_sigmoid <#mju_sigmoid>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_sigmoid
-
-Twice continuously differentiable sigmoid function using a quintic polynomial:
-
-.. math::
-   s(x) =
-   \begin{cases}
-      0,                    &       & x \le 0  \\
-      6x^5 - 15x^4 + 10x^3, & 0 \lt & x \lt 1  \\
-      1,                    & 1 \le & x \qquad
-   \end{cases}
-
-.. _Interaction:
-
-Interaction
-^^^^^^^^^^^
-
-These functions implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well
-illustrated in :ref:`simulate<saSimulate>`.
-
-.. _mjv_defaultCamera:
-
-`mjv_defaultCamera <#mjv_defaultCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_defaultCamera
-
-Set default camera.
-
-.. _mjv_defaultFreeCamera:
-
-`mjv_defaultFreeCamera <#mjv_defaultFreeCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_defaultFreeCamera
-
-Set default free camera.
-
-.. _mjv_defaultPerturb:
-
-`mjv_defaultPerturb <#mjv_defaultPerturb>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_defaultPerturb
-
-Set default perturbation.
-
-.. _mjv_room2model:
-
-`mjv_room2model <#mjv_room2model>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_room2model
-
-Transform pose from room to model space.
-
-.. _mjv_model2room:
-
-`mjv_model2room <#mjv_model2room>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_model2room
-
-Transform pose from model to room space.
-
-.. _mjv_cameraInModel:
-
-`mjv_cameraInModel <#mjv_cameraInModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_cameraInModel
-
-Get camera info in model space; average left and right OpenGL cameras.
-
-.. _mjv_cameraInRoom:
-
-`mjv_cameraInRoom <#mjv_cameraInRoom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_cameraInRoom
-
-Get camera info in room space; average left and right OpenGL cameras.
-
-.. _mjv_frustumHeight:
-
-`mjv_frustumHeight <#mjv_frustumHeight>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_frustumHeight
-
-Get frustum height at unit distance from camera; average left and right OpenGL cameras.
-
-.. _mjv_alignToCamera:
-
-`mjv_alignToCamera <#mjv_alignToCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_alignToCamera
-
-Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).
-
-.. _mjv_moveCamera:
-
-`mjv_moveCamera <#mjv_moveCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_moveCamera
-
-Move camera with mouse; action is mjtMouse.
-
-.. _mjv_movePerturb:
-
-`mjv_movePerturb <#mjv_movePerturb>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_movePerturb
-
-Move perturb object with mouse; action is mjtMouse.
-
-.. _mjv_moveModel:
-
-`mjv_moveModel <#mjv_moveModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_moveModel
-
-Move model with mouse; action is mjtMouse.
-
-.. _mjv_initPerturb:
-
-`mjv_initPerturb <#mjv_initPerturb>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_initPerturb
-
-Copy perturb pos,quat from selected body; set scale for perturbation.
-
-.. _mjv_applyPerturbPose:
-
-`mjv_applyPerturbPose <#mjv_applyPerturbPose>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_applyPerturbPose
-
-Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise.
-
-Write d->qpos only if flg_paused and subtree root for selected body has free joint.
-
-.. _mjv_applyPerturbForce:
-
-`mjv_applyPerturbForce <#mjv_applyPerturbForce>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_applyPerturbForce
-
-Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.
-
-.. _mjv_averageCamera:
-
-`mjv_averageCamera <#mjv_averageCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_averageCamera
-
-Return the average of two OpenGL cameras.
-
-.. _mjv_camera2GLCamera:
-
-`mjv_camera2GLCamera <#mjv_camera2GLCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_camera2GLCamera
-
-Converts a mjvCamera to a mjvGLCamera.
-
-.. _mjv_select:
-
-`mjv_select <#mjv_select>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_select
-
-This function is used for mouse selection, relying on ray intersections. aspectratio is the viewport width/height. relx
-and rely are the relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function
-returns the id of the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is
-not a model geom). The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate<saSimulate>` for
-an illustration.
-
-.. _Visualization-api:
-
-Visualization
-^^^^^^^^^^^^^
-
-The functions in this section implement abstract visualization. The results are used by the OpenGL renderer, and can
-also be used by users wishing to implement their own renderer, or hook up MuJoCo to advanced rendering tools such as
-Unity or Unreal Engine. See :ref:`simulate<saSimulate>` for illustration of how to use these functions.
-
-.. _mjv_defaultOption:
-
-`mjv_defaultOption <#mjv_defaultOption>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_defaultOption
-
-Set default visualization options.
-
-.. _mjv_defaultFigure:
-
-`mjv_defaultFigure <#mjv_defaultFigure>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_defaultFigure
-
-Set default figure.
-
-.. _mjv_initGeom:
-
-`mjv_initGeom <#mjv_initGeom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_initGeom
-
-Initialize given geom fields when not NULL, set the rest to their default values.
-
-*Nullable:* ``size``, ``pos``, ``mat``, ``rgba``
-
-.. _mjv_connector:
-
-`mjv_connector <#mjv_connector>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_connector
-
-Set (type, size, pos, mat) for connector-type geom between given points.
-
-Assume that mjv_initGeom was already called to set all other properties.
-
-Width of mjGEOM_LINE is denominated in pixels.
-
-.. _mjv_defaultScene:
-
-`mjv_defaultScene <#mjv_defaultScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_defaultScene
-
-Set default abstract scene.
-
-.. _mjv_makeScene:
-
-`mjv_makeScene <#mjv_makeScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_makeScene
-
-Allocate resources in abstract scene.
-
-.. _mjv_freeScene:
-
-`mjv_freeScene <#mjv_freeScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_freeScene
-
-Free abstract scene.
-
-.. _mjv_updateScene:
-
-`mjv_updateScene <#mjv_updateScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_updateScene
-
-Update entire scene given model state.
-
-.. _mjv_copyModel:
-
-`mjv_copyModel <#mjv_copyModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_copyModel
-
-Copy mjModel, skip large arrays not required for abstract visualization.
-
-*Nullable:* ``dest``
-
-.. _mjv_addGeoms:
-
-`mjv_addGeoms <#mjv_addGeoms>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_addGeoms
-
-Add geoms from selected categories.
-
-.. _mjv_makeLights:
-
-`mjv_makeLights <#mjv_makeLights>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_makeLights
-
-Make list of lights.
-
-.. _mjv_updateCamera:
-
-`mjv_updateCamera <#mjv_updateCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_updateCamera
-
-Update camera.
-
-.. _mjv_updateSkin:
-
-`mjv_updateSkin <#mjv_updateSkin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_updateSkin
-
-Update skins.
-
-.. _mjv_cameraFrame:
-
-`mjv_cameraFrame <#mjv_cameraFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_cameraFrame
-
-Compute camera position and forward, up, and right vectors.
-
-*Nullable:* ``headpos``, ``forward``, ``up``, ``right``
-
-.. _mjv_cameraFrustum:
-
-`mjv_cameraFrustum <#mjv_cameraFrustum>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjv_cameraFrustum
-
-Compute camera frustum: vertical, horizontal, and clip planes.
-
-*Nullable:* ``zver``, ``zhor``, ``zclip``
-
-.. _OpenGLrendering:
-
-OpenGL rendering
-^^^^^^^^^^^^^^^^
-
-These functions expose the OpenGL renderer. See :ref:`simulate<saSimulate>` for an illustration
-of how to use these functions.
-
-.. _mjr_defaultContext:
-
-`mjr_defaultContext <#mjr_defaultContext>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_defaultContext
-
-Set default mjrContext.
-
-.. _mjr_defaultRendererInfo:
-
-`mjr_defaultRendererInfo <#mjr_defaultRendererInfo>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_defaultRendererInfo
-
-Set default mjrRendererInfo.
-
-.. _mjr_getRendererInfo:
-
-`mjr_getRendererInfo <#mjr_getRendererInfo>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_getRendererInfo
-
-Get active renderer information.
-
-.. _mjr_makeContext:
-
-`mjr_makeContext <#mjr_makeContext>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_makeContext
-
-Allocate resources in custom OpenGL context; fontscale is mjtFontScale.
-
-.. _mjr_changeFont:
-
-`mjr_changeFont <#mjr_changeFont>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_changeFont
-
-Change font of existing context.
-
-.. _mjr_addAux:
-
-`mjr_addAux <#mjr_addAux>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_addAux
-
-Add Aux buffer with given index to context; free previous Aux buffer.
-
-.. _mjr_freeContext:
-
-`mjr_freeContext <#mjr_freeContext>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_freeContext
-
-Free resources in custom OpenGL context, set to default.
-
-.. _mjr_resizeOffscreen:
-
-`mjr_resizeOffscreen <#mjr_resizeOffscreen>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_resizeOffscreen
-
-Resize offscreen buffers.
-
-.. _mjr_uploadTexture:
-
-`mjr_uploadTexture <#mjr_uploadTexture>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_uploadTexture
-
-Upload texture to GPU, overwriting previous upload if any.
-
-.. _mjr_uploadMesh:
-
-`mjr_uploadMesh <#mjr_uploadMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_uploadMesh
-
-Upload mesh to GPU, overwriting previous upload if any.
-
-.. _mjr_uploadHField:
-
-`mjr_uploadHField <#mjr_uploadHField>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_uploadHField
-
-Upload height field to GPU, overwriting previous upload if any.
-
-.. _mjr_restoreBuffer:
-
-`mjr_restoreBuffer <#mjr_restoreBuffer>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_restoreBuffer
-
-Make con->currentBuffer current again.
-
-.. _mjr_setBuffer:
-
-`mjr_setBuffer <#mjr_setBuffer>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_setBuffer
-
-Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN.
-
-If only one buffer is available, set that buffer and ignore framebuffer argument.
-
-.. _mjr_readPixels:
-
-`mjr_readPixels <#mjr_readPixels>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_readPixels
-
-Read pixels from current OpenGL framebuffer to client buffer.
-
-Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
-
-.. _mjr_drawPixels:
-
-`mjr_drawPixels <#mjr_drawPixels>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_drawPixels
-
-Draw pixels from client buffer to current OpenGL framebuffer.
-
-Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
-
-.. _mjr_blitBuffer:
-
-`mjr_blitBuffer <#mjr_blitBuffer>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_blitBuffer
-
-Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer.
-
-If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.
-
-.. _mjr_setAux:
-
-`mjr_setAux <#mjr_setAux>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_setAux
-
-Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
-
-.. _mjr_blitAux:
-
-`mjr_blitAux <#mjr_blitAux>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_blitAux
-
-Blit from Aux buffer to con->currentBuffer.
-
-.. _mjr_text:
-
-`mjr_text <#mjr_text>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_text
-
-Draw text at (x,y) in relative coordinates; font is mjtFont.
-
-.. _mjr_overlay:
-
-`mjr_overlay <#mjr_overlay>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_overlay
-
-Draw text overlay; font is mjtFont; gridpos is mjtGridPos.
-
-.. _mjr_maxViewport:
-
-`mjr_maxViewport <#mjr_maxViewport>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_maxViewport
-
-Get maximum viewport for active buffer.
-
-.. _mjr_rectangle:
-
-`mjr_rectangle <#mjr_rectangle>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_rectangle
-
-Draw rectangle.
-
-.. _mjr_label:
-
-`mjr_label <#mjr_label>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_label
-
-Draw rectangle with centered text.
-
-.. _mjr_figure:
-
-`mjr_figure <#mjr_figure>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_figure
-
-Draw 2D figure.
-
-.. _mjr_render:
-
-`mjr_render <#mjr_render>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_render
-
-Render 3D scene.
-
-.. _mjr_finish:
-
-`mjr_finish <#mjr_finish>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_finish
-
-Call glFinish.
-
-.. _mjr_getError:
-
-`mjr_getError <#mjr_getError>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_getError
-
-Call glGetError and return result.
-
-.. _mjr_findRect:
-
-`mjr_findRect <#mjr_findRect>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjr_findRect
-
-Find first rectangle containing mouse, -1: not found.
-
-.. _FilamentRenderingApi:
-
-Filament rendering
-^^^^^^^^^^^^^^^^^^
-
-Rendering functions using the Filament rendering engine. These functions are prefixed with ``mjrf``. See
-:ref:`Filament Rendering<tyFilamentRenderStructure>` for an overview of the core types and their uses.
-
-.. _mjrf_defaultContextConfig:
-
-`mjrf_defaultContextConfig <#mjrf_defaultContextConfig>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultContextConfig
-
-Initializes the mjrfContextConfig to default values.
-
-.. _mjrf_createContext:
-
-`mjrf_createContext <#mjrf_createContext>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_createContext
-
-Creates a filament rendering context.
-
-.. _mjrf_destroyContext:
-
-`mjrf_destroyContext <#mjrf_destroyContext>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_destroyContext
-
-Destroys the filament rendering context.
-
-.. _mjrf_getRendererInfo:
-
-`mjrf_getRendererInfo <#mjrf_getRendererInfo>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_getRendererInfo
-
-Gets active renderer information for the given filament context.
-
-.. _mjrf_defaultRenderRequest:
-
-`mjrf_defaultRenderRequest <#mjrf_defaultRenderRequest>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultRenderRequest
-
-Initializes the mjrfRenderRequest to default values.
-
-.. _mjrf_defaultReadPixelsRequest:
-
-`mjrf_defaultReadPixelsRequest <#mjrf_defaultReadPixelsRequest>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultReadPixelsRequest
-
-Initializes the mjrfReadPixelsRequest to default values.
-
-.. _mjrf_render:
-
-`mjrf_render <#mjrf_render>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_render
-
-Submits the given requests for rendering. Because rendering happens asynchronously, callers have
-to submit both the render and read requests in the same call. Multiple requests and reads can be
-submitted in a single call. These requests will be processed in order, so some care must be
-taken. Firstly, requests should be grouped by target. Next, the combined area of the viewports
-for all requests for a given target must be contained within the dimensions of the target itself.
-
-Callbacks will be invoked from within this function, though there is no guarantee on which
-invocation of this function it will be done.
-
-.. _mjrf_waitForFrame:
-
-`mjrf_waitForFrame <#mjrf_waitForFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_waitForFrame
-
-Waits for all rendering operations to complete for the given frame handle, triggering any
-callbacks as needed.
-
-.. _mjrf_setClearColor:
-
-`mjrf_setClearColor <#mjrf_setClearColor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setClearColor
-
-Sets the clear color for the renderer.
-
-.. _mjrf_defaultFrameStats:
-
-`mjrf_defaultFrameStats <#mjrf_defaultFrameStats>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultFrameStats
-
-Initializes the mjrFrameStats to default values.
-
-.. _mjrf_getFrameStats:
-
-`mjrf_getFrameStats <#mjrf_getFrameStats>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_getFrameStats
-
-Returns the stats for the given frame but updating the given `stats_out`.
-
-.. _mjrf_defaultTextureConfig:
-
-`mjrf_defaultTextureConfig <#mjrf_defaultTextureConfig>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultTextureConfig
-
-Initializes the mjrfTextureConfig to default values.
-
-.. _mjrf_createTexture:
-
-`mjrf_createTexture <#mjrf_createTexture>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_createTexture
-
-Creates a filament texture. Note that the texture will not be created on the GPU until
-`mjrf_setTextureData()` is called.
-
-.. _mjrf_destroyTexture:
-
-`mjrf_destroyTexture <#mjrf_destroyTexture>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_destroyTexture
-
-Destroys the texture.
-
-.. _mjrf_defaultTextureData:
-
-`mjrf_defaultTextureData <#mjrf_defaultTextureData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultTextureData
-
-Initializes the mjrfTextureData to default values.
-
-.. _mjrf_setTextureData:
-
-`mjrf_setTextureData <#mjrf_setTextureData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setTextureData
-
-Uploads the given texture data to the texture.
-
-.. _mjrf_getTextureWidth:
-
-`mjrf_getTextureWidth <#mjrf_getTextureWidth>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_getTextureWidth
-
-Returns the width of the texture.
-
-.. _mjrf_getTextureHeight:
-
-`mjrf_getTextureHeight <#mjrf_getTextureHeight>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_getTextureHeight
-
-Returns the height of the texture.
-
-.. _mjrf_getTextureSamplerType:
-
-`mjrf_getTextureSamplerType <#mjrf_getTextureSamplerType>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_getTextureSamplerType
-
-Returns the sampler type (mjrSamplerType) used by the texture.
-[returns: mjrSamplerType]
-
-.. _mjrf_defaultMeshConfig:
-
-`mjrf_defaultMeshConfig <#mjrf_defaultMeshConfig>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultMeshConfig
-
-Initializes the mjrfMeshConfig to default values.
-
-.. _mjrf_createMesh:
-
-`mjrf_createMesh <#mjrf_createMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_createMesh
-
-Creates an empty mesh with the given config.
-
-.. _mjrf_destroyMesh:
-
-`mjrf_destroyMesh <#mjrf_destroyMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_destroyMesh
-
-Destroys the mesh.
-
-.. _mjrf_defaultMeshData:
-
-`mjrf_defaultMeshData <#mjrf_defaultMeshData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultMeshData
-
-Initializes the mjrfMeshData to default values.
-
-.. _mjrf_setMeshData:
-
-`mjrf_setMeshData <#mjrf_setMeshData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setMeshData
-
-Uploads the given mesh data to the mesh.
-
-.. _mjrf_defaultSceneParams:
-
-`mjrf_defaultSceneParams <#mjrf_defaultSceneParams>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultSceneParams
-
-Initializes the mjrfSceneParams to default values.
-
-.. _mjrf_createScene:
-
-`mjrf_createScene <#mjrf_createScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_createScene
-
-Creates a scene with the given parameters.
-
-.. _mjrf_destroyScene:
-
-`mjrf_destroyScene <#mjrf_destroyScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_destroyScene
-
-Destroys the scene.
-
-.. _mjrf_addLightToScene:
-
-`mjrf_addLightToScene <#mjrf_addLightToScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_addLightToScene
-
-Adds a light to the scene.
-
-.. _mjrf_removeLightFromScene:
-
-`mjrf_removeLightFromScene <#mjrf_removeLightFromScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_removeLightFromScene
-
-Removes the light from the scene.
-
-.. _mjrf_addRenderableToScene:
-
-`mjrf_addRenderableToScene <#mjrf_addRenderableToScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_addRenderableToScene
-
-Adds a renderable to the scene.
-
-.. _mjrf_removeRenderableFromScene:
-
-`mjrf_removeRenderableFromScene <#mjrf_removeRenderableFromScene>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_removeRenderableFromScene
-
-Removes the renderable from the scene.
-
-.. _mjrf_setSceneSkybox:
-
-`mjrf_setSceneSkybox <#mjrf_setSceneSkybox>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setSceneSkybox
-
-Sets the skybox (cube texture) for the scene.
-
-.. _mjrf_configureSceneFromModel:
-
-`mjrf_configureSceneFromModel <#mjrf_configureSceneFromModel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_configureSceneFromModel
-
-Configures the scene based on the parameters in an mjModel.
-
-.. _mjrf_defaultLightParams:
-
-`mjrf_defaultLightParams <#mjrf_defaultLightParams>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultLightParams
-
-Initializes the mjrfLightParams to default values.
-
-.. _mjrf_createLight:
-
-`mjrf_createLight <#mjrf_createLight>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_createLight
-
-Creates a light for the filament renderer.
-
-.. _mjrf_destroyLight:
-
-`mjrf_destroyLight <#mjrf_destroyLight>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_destroyLight
-
-Destroys the light.
-
-.. _mjrf_setLightEnabled:
-
-`mjrf_setLightEnabled <#mjrf_setLightEnabled>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setLightEnabled
-
-Enables or disables the light.
-
-.. _mjrf_setLightIntensity:
-
-`mjrf_setLightIntensity <#mjrf_setLightIntensity>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setLightIntensity
-
-Sets the intensity of the light, in candela.
-
-.. _mjrf_setLightShadowMapSize:
-
-`mjrf_setLightShadowMapSize <#mjrf_setLightShadowMapSize>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setLightShadowMapSize
-
-Sets the resolution of the light's shadow map, in texels.
-
-.. _mjrf_setLightColor:
-
-`mjrf_setLightColor <#mjrf_setLightColor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setLightColor
-
-Sets the RGB color of the light.
-
-.. _mjrf_setLightTransform:
-
-`mjrf_setLightTransform <#mjrf_setLightTransform>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setLightTransform
-
-Sets the position and direction of the light.
-
-.. _mjrf_getLightType:
-
-`mjrf_getLightType <#mjrf_getLightType>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_getLightType
-
-Returns the type of the light (mjrLightType).
-
-.. _mjrf_defaultMaterial:
-
-`mjrf_defaultMaterial <#mjrf_defaultMaterial>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultMaterial
-
-Initializes the mjrfMaterial to default values.
-
-.. _mjrf_defaultRenderableParams:
-
-`mjrf_defaultRenderableParams <#mjrf_defaultRenderableParams>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultRenderableParams
-
-Initializes the mjrfRenderableParams to default values.
-
-.. _mjrf_createRenderable:
-
-`mjrf_createRenderable <#mjrf_createRenderable>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_createRenderable
-
-Creates a renderable with the given parameters.
-
-.. _mjrf_destroyRenderable:
-
-`mjrf_destroyRenderable <#mjrf_destroyRenderable>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_destroyRenderable
-
-Destroys the renderable.
-
-.. _mjrf_setRenderableMesh:
-
-`mjrf_setRenderableMesh <#mjrf_setRenderableMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setRenderableMesh
-
-Sets the mesh of the renderable.
-
-.. _mjrf_setRenderableGeomMesh:
-
-`mjrf_setRenderableGeomMesh <#mjrf_setRenderableGeomMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setRenderableGeomMesh
-
-Sets the mesh of the renderable to a built-in mesh based on the geom type. Note: using the same
-parameters (nstack, nslice, nquad) will have better performance as the internal mesh data can be
-shared across renderables.
-[type: mjtGeom]
-
-.. _mjrf_setRenderableMaterial:
-
-`mjrf_setRenderableMaterial <#mjrf_setRenderableMaterial>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setRenderableMaterial
-
-Sets the material properties and textures of the renderable.
-
-.. _mjrf_getRenderableMaterial:
-
-`mjrf_getRenderableMaterial <#mjrf_getRenderableMaterial>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_getRenderableMaterial
-
-Copies the material properties of the renderable into the given mjrfMaterial.
-
-.. _mjrf_setRenderableTransform:
-
-`mjrf_setRenderableTransform <#mjrf_setRenderableTransform>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setRenderableTransform
-
-Sets the transform position and rotation of the renderable.
-
-.. _mjrf_setRenderableSize:
-
-`mjrf_setRenderableSize <#mjrf_setRenderableSize>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_setRenderableSize
-
-Sets the size of the renderable. Note that, for most renderables, this is equivalent to setting
-the scale. However, for some geom-based renderables, the size scale is not applied uniformly
-(e.g. the spherical ends of a capsule are scaled such that they always remain spherical).
-
-.. _mjrf_defaultRenderTargetConfig:
-
-`mjrf_defaultRenderTargetConfig <#mjrf_defaultRenderTargetConfig>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_defaultRenderTargetConfig
-
-Initializes the RenderTargetConfig to default values.
-
-.. _mjrf_createRenderTarget:
-
-`mjrf_createRenderTarget <#mjrf_createRenderTarget>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_createRenderTarget
-
-Creates a render target for the filament renderer.
-
-.. _mjrf_destroyRenderTarget:
-
-`mjrf_destroyRenderTarget <#mjrf_destroyRenderTarget>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_destroyRenderTarget
-
-Destroys the render target.
-
-.. _mjrf_resizeRenderTarget:
-
-`mjrf_resizeRenderTarget <#mjrf_resizeRenderTarget>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjrf_resizeRenderTarget
-
-Resizes the render target to the given width and height.
-
-.. _UIframework:
-
-UI framework
-^^^^^^^^^^^^
-
-For a high-level description of the UI framework, see :ref:`UI`.
-
-.. _mjui_themeSpacing:
-
-`mjui_themeSpacing <#mjui_themeSpacing>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjui_themeSpacing
-
-Get builtin UI theme spacing (ind: 0-1).
-
-.. _mjui_themeColor:
-
-`mjui_themeColor <#mjui_themeColor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjui_themeColor
-
-Get builtin UI theme color (ind: 0-3).
-
-.. _mjui_add:
-
-`mjui_add <#mjui_add>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjui_add
-
-This is the helper function used to construct a UI. The second argument points to an array of :ref:`mjuiDef` structs,
-each corresponding to one item. The last (unused) item has its type set to -1, to mark termination. The items are added
-after the end of the last used section. There is also another version of this function
-(:ref:`mjui_addToSection<mjui_addToSection>`) which adds items to a specified section instead of adding them at the end
-of the UI. Keep in mind that there is a maximum preallocated number of sections and items per section, given by
-:ref:`mjMAXUISECT<glNumericUI>` and :ref:`mjMAXUIITEM<glNumericUI>`. Exceeding these maxima results in low-level errors.
-
-.. _mjui_addToSection:
-
-`mjui_addToSection <#mjui_addToSection>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjui_addToSection
-
-Add definitions to UI section.
-
-.. _mjui_resize:
-
-`mjui_resize <#mjui_resize>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjui_resize
-
-Compute UI sizes.
-
-.. _mjui_update:
-
-`mjui_update <#mjui_update>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjui_update
-
-This is the main UI update function. It needs to be called whenever the user data (pointed to by the item data pointers)
-changes, or when the UI state itself changes. It is normally called by a higher-level function implemented by the user
-(``UiModify`` in :ref:`simulate.cc <saSimulate>`) which also recomputes the layout of all rectangles and associated
-auxiliary buffers. The function updates the pixels in the offscreen OpenGL buffer. To perform minimal updates, the user
-specifies the section and the item that was modified. A value of -1 means all items and/or sections need to be updated
-(which is needed following major changes.)
-
-.. _mjui_event:
-
-`mjui_event <#mjui_event>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjui_event
-
-This function is the low-level event handler. It makes the necessary changes in the UI and returns a pointer to the item
-that received the event (or ``NULL`` if no valid event was recorded). This is normally called within the event handler
-implemented by the user (``UiEvent`` in :ref:`simulate.cc <saSimulate>`), and then some action is taken by user code
-depending on which UI item was modified and what the state of that item is after the event is handled.
-
-.. _mjui_render:
-
-`mjui_render <#mjui_render>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjui_render
-
-This function is called in the screen refresh loop. It copies the offscreen OpenGL buffer to the window framebuffer. If
-there are multiple UIs in the application, it should be called once for each UI. Thus ``mjui_render`` is called all the
-time, while :ref:`mjui_update` is called only when changes in the UI take place. dsffsdg
-
-.. _Derivatives-api:
-
-Derivatives
-^^^^^^^^^^^
-
-The functions below provide useful derivatives of various functions, both analytic and
-finite-differenced. The latter have names with the suffix ``FD``. Note that unlike much of the API,
-outputs of derivative functions are the trailing rather than leading arguments.
-
-.. _mjd_transitionFD:
-
-`mjd_transitionFD <#mjd_transitionFD>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjd_transitionFD
-
-Compute finite-differenced discrete-time transition matrices.
-
-Letting :math:`x, u` denote the current :ref:`state<siPhysicsState>` and :ref:`control<siInput>`
-vector in an mjData instance, and letting :math:`y, s` denote the next state and sensor
-values, the top-level :ref:`mj_step` function computes :math:`(x,u) \rightarrow (y,s)`
-:ref:`mjd_transitionFD` computes the four associated Jacobians using finite-differencing.
-These matrices and their dimensions are:
-
-.. csv-table::
-   :header: "matrix", "Jacobian", "dimension"
-   :widths: auto
-   :align: left
-
-   ``A``, :math:`\partial y / \partial x`, ``2*nv+na x 2*nv+na``
-   ``B``, :math:`\partial y / \partial u`, ``2*nv+na x nu``
-   ``C``, :math:`\partial s / \partial x`, ``nsensordata x 2*nv+na``
-   ``D``, :math:`\partial s / \partial u`, ``nsensordata x nu``
-
-- All outputs are optional (can be NULL).
-- ``eps`` is the finite-differencing epsilon.
-- ``flg_centered`` denotes whether to use forward (0) or centered (1) differences.
-- The Runge-Kutta integrator (:ref:`mjINT_RK4<mjtIntegrator>`) is not supported.
-
-.. admonition:: Improving speed and accuracy
-   :class: tip
-
-   warmstart
-     If warm-starts are not :ref:`disabled<option-flag-warmstart>`, the warm-start accelerations
-     ``mjData.qacc_warmstart`` which are present at call-time are loaded at the start of every relevant pipeline call,
-     to preserve determinism. If solver computations are an expensive part of the simulation, the following trick can
-     lead to significant speed-ups: First call :ref:`mj_forward` to let the solver converge, then reduce :ref:`solver
-     iterations<option-iterations>` significantly, then call :ref:`mjd_transitionFD`, finally, restore the original
-     value of :ref:`iterations<option-iterations>`. Because we are already near the solution, few iteration are required
-     to find the new minimum. This is especially true for the :ref:`Newton<option-solver>` solver, where the required
-     number of iteration for convergence near the minimum can be as low as 1.
-
-   tolerance
-      Accuracy can be improved if solver :ref:`tolerance<option-tolerance>` is set to 0. This means that all calls to
-      the solver will perform exactly the same number of iterations, preventing numerical errors due to early
-      termination. Of course, this means that :ref:`solver iterations<option-iterations>` should be small, to not tread
-      water at the minimum. This method and the one described above can and should be combined.
-
-*Nullable:* ``A``, ``B``, ``D``, ``C``
-
-.. _mjd_inverseFD:
-
-`mjd_inverseFD <#mjd_inverseFD>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjd_inverseFD
-
-Finite differenced continuous-time inverse-dynamics Jacobians.
-
-Letting :math:`x, a` denote the current :ref:`state<siPhysicsState>` and acceleration vectors in an mjData instance, and
-letting :math:`f, s` denote the forces computed by the inverse dynamics (``qfrc_inverse``), the function
-:ref:`mj_inverse` computes :math:`(x,a) \rightarrow (f,s)`. :ref:`mjd_inverseFD` computes seven associated Jacobians
-using finite-differencing. These matrices and their dimensions are:
-
-.. csv-table::
-   :header: "matrix", "Jacobian", "dimension"
-   :widths: auto
-   :align: left
-
-   ``DfDq``, :math:`\partial f / \partial q`, ``nv x nv``
-   ``DfDv``, :math:`\partial f / \partial v`, ``nv x nv``
-   ``DfDa``, :math:`\partial f / \partial a`, ``nv x nv``
-   ``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata``
-   ``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata``
-   ``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata``
-   ``DmDq``, :math:`\partial M / \partial q`, ``nv x nC``
-
-- All outputs are optional (can be NULL).
-- All outputs are transposed relative to Control Theory convention (i.e., column major).
-- ``DmDq``, which contains a sparse representation of the ``nv x nv x nv`` tensor :math:`\partial M / \partial q`, is
-  not strictly an inverse dynamics Jacobian but is useful in related applications. It is provided as a convenience to
-  the user, since the required values are already computed if either of the other two :math:`\partial / \partial q`
-  Jacobians are requested.
-- ``eps`` is the (forward) finite-differencing epsilon.
-- ``flg_actuation`` denotes whether to subtract actuation forces (``qfrc_actuator``) from the output of the inverse
-  dynamics. If this flag is positive, actuator forces are not considered as external.
-- The model option flag ``invdiscrete`` should correspond to the representation of ``mjData.qacc`` in order to compute
-  the correct derivative information.
-
-.. attention::
-   - The Runge-Kutta 4th-order integrator (``mjINT_RK4``) is not supported.
-   - The noslip solver is not supported.
-
-*Nullable:* ``DfDq``, ``DfDv``, ``DfDa``, ``DsDq``, ``DsDv``, ``DsDa``, ``DmDq``
-
-.. _mjd_subQuat:
-
-`mjd_subQuat <#mjd_subQuat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjd_subQuat
-
-Derivatives of :ref:`mju_subQuat` (quaternion difference).
-
-*Nullable:* ``Da``, ``Db``
-
-.. _mjd_quatIntegrate:
-
-`mjd_quatIntegrate <#mjd_quatIntegrate>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjd_quatIntegrate
-
-Derivatives of :ref:`mju_quatIntegrate`.
-
-:math:`{\tt \small mju\_quatIntegrate}(q, v, h)` performs the in-place rotation :math:`q \leftarrow q + v h`,
-where :math:`q \in \mathbf{S}^3` is a unit quaternion, :math:`v \in \mathbf{R}^3` is a 3D angular velocity and
-:math:`h \in \mathbf{R^+}` is a timestep. This is equivalent to :math:`{\tt \small mju\_quatIntegrate}(q, s, 1.0)`,
-where :math:`s` is the scaled velocity :math:`s = h v`.
-
-:math:`{\tt \small mjd\_quatIntegrate}(v, h, D_q, D_v, D_h)` computes the Jacobians of the output :math:`q` with respect
-to the inputs. Below, :math:`\bar q` denotes the pre-modified quaternion:
-
-.. math::
-   \begin{aligned}
-      D_q &= \partial q / \partial \bar q \\
-      D_v &= \partial q / \partial v \\
-      D_h &= \partial q / \partial h
-   \end{aligned}
-
-Note that derivatives depend only on :math:`h` and :math:`v` (in fact, on :math:`s = h v`).
-All outputs are optional.
-
-*Nullable:* ``Dquat``, ``Dvel``, ``Dscale``
-
-.. _Signeddistancefunction:
-
-Signed Distance Functions
-^^^^^^^^^^^^^^^^^^^^^^^^^
-.. _mjc_getSDF:
-
-`mjc_getSDF <#mjc_getSDF>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjc_getSDF
-
-get sdf from geom id
-
-.. _mjc_distance:
-
-`mjc_distance <#mjc_distance>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjc_distance
-
-signed distance function
-
-.. _mjc_gradient:
-
-`mjc_gradient <#mjc_gradient>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjc_gradient
-
-gradient of sdf
-
-.. _Plugins-api:
-
-Plugins
-^^^^^^^
-.. _mjp_defaultPlugin:
-
-`mjp_defaultPlugin <#mjp_defaultPlugin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_defaultPlugin
-
-Set default plugin definition.
-
-.. _mjp_registerPlugin:
-
-`mjp_registerPlugin <#mjp_registerPlugin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_registerPlugin
-
-Globally register a plugin. This function is thread-safe.
-
-If an identical mjpPlugin is already registered, this function does nothing.
-
-If a non-identical mjpPlugin with the same name is already registered, an mju_error is raised.
-
-Two mjpPlugins are considered identical if all member function pointers and numbers are equal,
-and the name and attribute strings are all identical, however the char pointers to the strings
-need not be the same.
-
-.. _mjp_pluginCount:
-
-`mjp_pluginCount <#mjp_pluginCount>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_pluginCount
-
-Return the number of globally registered plugins.
-
-.. _mjp_getPlugin:
-
-`mjp_getPlugin <#mjp_getPlugin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_getPlugin
-
-Look up a plugin by name. If slot is not NULL, also write its registered slot number into it.
-
-.. _mjp_getPluginAtSlot:
-
-`mjp_getPluginAtSlot <#mjp_getPluginAtSlot>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_getPluginAtSlot
-
-Look up a plugin by the registered slot number that was returned by mjp_registerPlugin.
-
-.. _mjp_defaultResourceProvider:
-
-`mjp_defaultResourceProvider <#mjp_defaultResourceProvider>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_defaultResourceProvider
-
-Set default resource provider definition.
-
-.. _mjp_registerResourceProvider:
-
-`mjp_registerResourceProvider <#mjp_registerResourceProvider>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_registerResourceProvider
-
-Globally register a resource provider in a thread-safe manner. The provider must have a prefix
-that is not a sub-prefix or super-prefix of any current registered providers.
-
-Return a slot number >= 0 on success, -1 on failure.
-
-.. _mjp_resourceProviderCount:
-
-`mjp_resourceProviderCount <#mjp_resourceProviderCount>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_resourceProviderCount
-
-Return the number of globally registered resource providers.
-
-.. _mjp_getResourceProvider:
-
-`mjp_getResourceProvider <#mjp_getResourceProvider>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_getResourceProvider
-
-Return the resource provider with the prefix that matches against the resource name.
-
-If no match, return NULL.
-
-.. _mjp_getResourceProviderAtSlot:
-
-`mjp_getResourceProviderAtSlot <#mjp_getResourceProviderAtSlot>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_getResourceProviderAtSlot
-
-Look up a resource provider by slot number returned by mjp_registerResourceProvider.
-
-If invalid slot number, return NULL.
-
-.. _mjp_registerDecoder:
-
-`mjp_registerDecoder <#mjp_registerDecoder>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_registerDecoder
-
-Globally register a decoder. This function is thread-safe.
-
-If an identical mjpDecoder is already registered, this function does nothing.
-
-If a non-identical mjpDecoder with the same name is already registered, an mju_error is raised.
-
-.. _mjp_defaultDecoder:
-
-`mjp_defaultDecoder <#mjp_defaultDecoder>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_defaultDecoder
-
-Set default resource decoder definition.
-
-.. _mjp_findDecoder:
-
-`mjp_findDecoder <#mjp_findDecoder>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_findDecoder
-
-Return the resource provider with the prefix that matches against the resource name.
-
-If no match, return NULL.
-
-.. _mjp_registerEncoder:
-
-`mjp_registerEncoder <#mjp_registerEncoder>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_registerEncoder
-
-Globally register an encoder. This function is thread-safe.
-
-If an identical mjpEncoder is already registered, this function does nothing.
-
-If a non-identical mjpEncoder with the same name is already registered, an mju_error is raised.
-
-.. _mjp_defaultEncoder:
-
-`mjp_defaultEncoder <#mjp_defaultEncoder>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_defaultEncoder
-
-Set default resource encoder definition.
-
-.. _mjp_findEncoder:
-
-`mjp_findEncoder <#mjp_findEncoder>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjp_findEncoder
-
-Return the encoder that matches against the content type or filename extension.
-
-If no match, return NULL.
-
-.. _Thread:
-
-Threads
-^^^^^^^
-.. _mju_threadpool:
-
-`mju_threadpool <#mju_threadpool>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_threadpool
-
-Create a thread pool with nthread worker threads.
-
-.. _Standardmath:
-
-Standard math
-^^^^^^^^^^^^^
-
-The "functions" in this section are preprocessor macros replaced with the corresponding C standard library math
-functions. When MuJoCo is compiled with single precision (which is not currently available to the public, but we
-sometimes use it internally) these macros are replaced with the corresponding single-precision functions (not shown
-here). So one can think of them as having inputs and outputs of type mjtNum, where mjtNum is defined as double or float
-depending on how MuJoCo is compiled. We will not document these functions here; see the C standard library
-specification.
-
-mju_sqrt
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_sqrt    sqrt
-
-mju_exp
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_exp     exp
-
-mju_sin
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_sin     sin
-
-mju_cos
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_cos     cos
-
-mju_tan
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_tan     tan
-
-mju_asin
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_asin    asin
-
-mju_acos
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_acos    acos
-
-mju_atan2
-~~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_atan2   atan2
-
-mju_tanh
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_tanh    tanh
-
-mju_pow
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_pow     pow
-
-mju_abs
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_abs     fabs
-
-mju_log
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_log     log
-
-mju_log10
-~~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_log10   log10
-
-mju_floor
-~~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_floor   floor
-
-mju_ceil
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_ceil    ceil
-
-.. _Vectormath:
-
-Vector math
-^^^^^^^^^^^
-
-.. _mju_zero3:
-
-`mju_zero3 <#mju_zero3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_zero3
-
-Set res = 0.
-
-.. _mju_copy3:
-
-`mju_copy3 <#mju_copy3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_copy3
-
-Set res = vec.
-
-.. _mju_scl3:
-
-`mju_scl3 <#mju_scl3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_scl3
-
-Set res = vec*scl.
-
-.. _mju_add3:
-
-`mju_add3 <#mju_add3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_add3
-
-Set res = vec1 + vec2.
-
-.. _mju_sub3:
-
-`mju_sub3 <#mju_sub3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_sub3
-
-Set res = vec1 - vec2.
-
-.. _mju_addTo3:
-
-`mju_addTo3 <#mju_addTo3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_addTo3
-
-Set res = res + vec.
-
-.. _mju_subFrom3:
-
-`mju_subFrom3 <#mju_subFrom3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_subFrom3
-
-Set res = res - vec.
-
-.. _mju_addToScl3:
-
-`mju_addToScl3 <#mju_addToScl3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_addToScl3
-
-Set res = res + vec*scl.
-
-.. _mju_addScl3:
-
-`mju_addScl3 <#mju_addScl3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_addScl3
-
-Set res = vec1 + vec2*scl.
-
-.. _mju_normalize3:
-
-`mju_normalize3 <#mju_normalize3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_normalize3
-
-Normalize vector; return length before normalization.
-
-.. _mju_norm3:
-
-`mju_norm3 <#mju_norm3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_norm3
-
-Return vector length (without normalizing the vector).
-
-.. _mju_dot3:
-
-`mju_dot3 <#mju_dot3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_dot3
-
-Return dot-product of vec1 and vec2.
-
-.. _mju_dist3:
-
-`mju_dist3 <#mju_dist3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_dist3
-
-Return Cartesian distance between 3D vectors pos1 and pos2.
-
-.. _mju_mulMatVec3:
-
-`mju_mulMatVec3 <#mju_mulMatVec3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulMatVec3
-
-Multiply 3-by-3 matrix by vector: res = mat * vec.
-
-.. _mju_mulMatTVec3:
-
-`mju_mulMatTVec3 <#mju_mulMatTVec3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulMatTVec3
-
-Multiply transposed 3-by-3 matrix by vector: res = mat' * vec.
-
-.. _mju_cross:
-
-`mju_cross <#mju_cross>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_cross
-
-Compute cross-product: res = cross(a, b).
-
-.. _mju_zero4:
-
-`mju_zero4 <#mju_zero4>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_zero4
-
-Set res = 0.
-
-.. _mju_unit4:
-
-`mju_unit4 <#mju_unit4>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_unit4
-
-Set res = (1,0,0,0).
-
-.. _mju_copy4:
-
-`mju_copy4 <#mju_copy4>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_copy4
-
-Set res = vec.
-
-.. _mju_normalize4:
-
-`mju_normalize4 <#mju_normalize4>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_normalize4
-
-Normalize vector; return length before normalization.
-
-.. _mju_zero:
-
-`mju_zero <#mju_zero>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_zero
-
-Set res = 0.
-
-.. _mju_fill:
-
-`mju_fill <#mju_fill>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_fill
-
-Set res = val.
-
-.. _mju_copy:
-
-`mju_copy <#mju_copy>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_copy
-
-Set res = vec.
-
-.. _mju_sum:
-
-`mju_sum <#mju_sum>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_sum
-
-Return sum(vec).
-
-.. _mju_L1:
-
-`mju_L1 <#mju_L1>`__
-~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_L1
-
-Return L1 norm: sum(abs(vec)).
-
-.. _mju_scl:
-
-`mju_scl <#mju_scl>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_scl
-
-Set res = vec*scl.
-
-.. _mju_add:
-
-`mju_add <#mju_add>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_add
-
-Set res = vec1 + vec2.
-
-.. _mju_sub:
-
-`mju_sub <#mju_sub>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_sub
-
-Set res = vec1 - vec2.
-
-.. _mju_addTo:
-
-`mju_addTo <#mju_addTo>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_addTo
-
-Set res = res + vec.
-
-.. _mju_subFrom:
-
-`mju_subFrom <#mju_subFrom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_subFrom
-
-Set res = res - vec.
-
-.. _mju_addToScl:
-
-`mju_addToScl <#mju_addToScl>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_addToScl
-
-Set res = res + vec*scl.
-
-.. _mju_addScl:
-
-`mju_addScl <#mju_addScl>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_addScl
-
-Set res = vec1 + vec2*scl.
-
-.. _mju_normalize:
-
-`mju_normalize <#mju_normalize>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_normalize
-
-Normalize vector; return length before normalization.
-
-.. _mju_norm:
-
-`mju_norm <#mju_norm>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_norm
-
-Return vector length (without normalizing vector).
-
-.. _mju_dot:
-
-`mju_dot <#mju_dot>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_dot
-
-Return dot-product of vec1 and vec2.
-
-.. _mju_mulMatVec:
-
-`mju_mulMatVec <#mju_mulMatVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulMatVec
-
-Multiply matrix and vector: res = mat * vec.
-
-.. _mju_mulMatTVec:
-
-`mju_mulMatTVec <#mju_mulMatTVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulMatTVec
-
-Multiply transposed matrix and vector: res = mat' * vec.
-
-.. _mju_mulVecMatVec:
-
-`mju_mulVecMatVec <#mju_mulVecMatVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulVecMatVec
-
-Multiply square matrix with vectors on both sides: return vec1' * mat * vec2.
-
-.. _mju_transpose:
-
-`mju_transpose <#mju_transpose>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_transpose
-
-Transpose matrix: res = mat'.
-
-.. _mju_symmetrize:
-
-`mju_symmetrize <#mju_symmetrize>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_symmetrize
-
-Symmetrize square matrix :math:`R = \frac{1}{2}(M + M^T)`.
-
-.. _mju_eye:
-
-`mju_eye <#mju_eye>`__
-~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_eye
-
-Set mat to the identity matrix.
-
-.. _mju_mulMatMat:
-
-`mju_mulMatMat <#mju_mulMatMat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulMatMat
-
-Multiply matrices: res = mat1 * mat2.
-
-.. _mju_mulMatMatT:
-
-`mju_mulMatMatT <#mju_mulMatMatT>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulMatMatT
-
-Multiply matrices, second argument transposed: res = mat1 * mat2'.
-
-.. _mju_mulMatTMat:
-
-`mju_mulMatTMat <#mju_mulMatTMat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulMatTMat
-
-Multiply matrices, first argument transposed: res = mat1' * mat2.
-
-.. _mju_sqrMatTD:
-
-`mju_sqrMatTD <#mju_sqrMatTD>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_sqrMatTD
-
-Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise.
-
-.. _mju_transformSpatial:
-
-`mju_transformSpatial <#mju_transformSpatial>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_transformSpatial
-
-Coordinate transform of 6D motion or force vector in rotation:translation format.
-rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.
-
-*Nullable:* ``rotnew2old``
-
-.. _Sparsemath:
-
-Sparse math
-^^^^^^^^^^^
-.. _mju_dense2sparse:
-
-`mju_dense2sparse <#mju_dense2sparse>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_dense2sparse
-
-Convert matrix from dense to sparse.
- nnz is size of res and colind; return 1 if too small, 0 otherwise.
-
-.. _mju_sparse2dense:
-
-`mju_sparse2dense <#mju_sparse2dense>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_sparse2dense
-
-Convert matrix from sparse to dense.
-
-.. _mju_sym2dense:
-
-`mju_sym2dense <#mju_sym2dense>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_sym2dense
-
-Convert lower-triangular symmetric CSR matrix to full dense matrix.
-
-.. _Quaternions:
-
-Quaternions
-^^^^^^^^^^^
-
-.. _mju_rotVecQuat:
-
-`mju_rotVecQuat <#mju_rotVecQuat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_rotVecQuat
-
-Rotate vector by quaternion.
-
-.. _mju_negQuat:
-
-`mju_negQuat <#mju_negQuat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_negQuat
-
-Conjugate quaternion, corresponding to opposite rotation.
-
-.. _mju_mulQuat:
-
-`mju_mulQuat <#mju_mulQuat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulQuat
-
-Multiply quaternions.
-
-.. _mju_mulQuatAxis:
-
-`mju_mulQuatAxis <#mju_mulQuatAxis>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulQuatAxis
-
-Multiply quaternion and axis.
-
-.. _mju_axisAngle2Quat:
-
-`mju_axisAngle2Quat <#mju_axisAngle2Quat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_axisAngle2Quat
-
-Convert axisAngle to quaternion.
-
-.. _mju_quat2Vel:
-
-`mju_quat2Vel <#mju_quat2Vel>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_quat2Vel
-
-Convert quaternion (corresponding to orientation difference) to 3D velocity.
-
-.. _mju_subQuat:
-
-`mju_subQuat <#mju_subQuat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_subQuat
-
-Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.
-
-.. _mju_quat2Mat:
-
-`mju_quat2Mat <#mju_quat2Mat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_quat2Mat
-
-Convert quaternion to 3D rotation matrix.
-
-.. _mju_mat2Quat:
-
-`mju_mat2Quat <#mju_mat2Quat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mat2Quat
-
-Convert 3D rotation matrix to quaternion.
-
-.. _mju_derivQuat:
-
-`mju_derivQuat <#mju_derivQuat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_derivQuat
-
-Compute time-derivative of quaternion, given 3D rotational velocity.
-
-.. _mju_quatIntegrate:
-
-`mju_quatIntegrate <#mju_quatIntegrate>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_quatIntegrate
-
-Integrate quaternion given 3D angular velocity.
-
-.. _mju_quatZ2Vec:
-
-`mju_quatZ2Vec <#mju_quatZ2Vec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_quatZ2Vec
-
-Construct quaternion performing rotation from z-axis to given vector.
-
-.. _mju_mat2Rot:
-
-`mju_mat2Rot <#mju_mat2Rot>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mat2Rot
-
-Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion.
-
-Return the number of iterations required to converge.
-
-.. _mju_euler2Quat:
-
-`mju_euler2Quat <#mju_euler2Quat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_euler2Quat
-
-Convert sequence of Euler angles (radians) to quaternion.
-seq[0,1,2] must be in 'xyzXYZ', lower/upper-case mean intrinsic/extrinsic rotations.
-
-.. _Poses:
-
-Poses
-^^^^^
-
-.. _mju_mulPose:
-
-`mju_mulPose <#mju_mulPose>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_mulPose
-
-Multiply two poses.
-
-.. _mju_negPose:
-
-`mju_negPose <#mju_negPose>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_negPose
-
-Conjugate pose, corresponding to the opposite spatial transformation.
-
-.. _mju_trnVecPose:
-
-`mju_trnVecPose <#mju_trnVecPose>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_trnVecPose
-
-Transform vector by pose.
-
-.. _Decompositions:
-
-Decompositions / Solvers
-^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. _mju_cholFactor:
-
-`mju_cholFactor <#mju_cholFactor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_cholFactor
-
-Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.
-
-.. _mju_cholSolve:
-
-`mju_cholSolve <#mju_cholSolve>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_cholSolve
-
-Solve (mat*mat') * res = vec, where mat is a Cholesky factor.
-
-.. _mju_cholUpdate:
-
-`mju_cholUpdate <#mju_cholUpdate>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_cholUpdate
-
-Cholesky rank-one update: L*L' +/- x*x'; return rank.
-
-.. _mju_cholFactorBand:
-
-`mju_cholFactorBand <#mju_cholFactorBand>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_cholFactorBand
-
-Band-dense Cholesky decomposition.
-|br| Add ``diagadd + diagmul*mat_ii`` to diagonal before decomposition.
-|br| Returns the minimum value of the factorized diagonal or 0 if rank-deficient.
-
-   **Symmetric band-dense matrices**
-
-   :ref:`mju_cholFactorBand` and subsequent functions containing the substring "band" operate on matrices which are a
-   generalization of symmetric `band matrices <https://en.wikipedia.org/wiki/Band_matrix>`_. *Symmetric band-dense* or
-   "arrowhead" matrices have non-zeros along proximal diagonal bands and dense blocks on the bottom rows and right
-   columns. These matrices have the property that Cholesky factorization creates no fill-in and can therefore be
-   performed efficiently in-place. Matrix structure is defined by three integers:
-
-   - ``ntotal``: the number of rows (columns) of the symmetric matrix.
-   - ``nband``: the number of bands under (over) the diagonal, inclusive of the diagonal.
-   - ``ndense``: the number of dense rows (columns) at the bottom (right).
-
-   The non-zeros are stored in memory as two contiguous row-major blocks, colored green and blue in the illustration
-   below. The first block has size ``nband x (ntotal-ndense)`` and contains the diagonal and the bands below it. The
-   second block has size ``ndense x ntotal`` and contains the dense part. Total required memory is the sum of the block
-   sizes.
-
-   .. figure:: /images/APIreference/arrowhead.svg
-      :width: 750px
-      :align: left
-
-   For example, consider an arrowhead matrix with ``nband = 3``, ``ndense = 2`` and ``ntotal = 8``. In this example, the
-   total memory required is ``3*(8-2) + 2*8 = 34`` mjtNum's, laid out as follows:
-
-   .. code-block::
-
-      0   1   2
-          3   4   5
-              6   7   8
-                  9   10  11
-                      12  13  14
-                          15  16  17
-              18  19  20  21  22  23  24  25
-              26  27  28  29  30  31  32  33
-
-
-   The diagonal elements are ``2, 5, 8, 11, 14, 17, 24, 33``.
-   |br| Elements ``0, 1, 3, 25`` are present in memory but never touched.
-
-.. _mju_cholSolveBand:
-
-`mju_cholSolveBand <#mju_cholSolveBand>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_cholSolveBand
-
-Solve (mat*mat')*res = vec where mat is a band-dense Cholesky factor.
-
-.. _mju_band2Dense:
-
-`mju_band2Dense <#mju_band2Dense>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_band2Dense
-
-Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0.
-
-.. _mju_dense2Band:
-
-`mju_dense2Band <#mju_dense2Band>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_dense2Band
-
-Convert dense matrix to banded matrix.
-
-.. _mju_bandMulMatVec:
-
-`mju_bandMulMatVec <#mju_bandMulMatVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_bandMulMatVec
-
-Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0.
-
-.. _mju_bandDiag:
-
-`mju_bandDiag <#mju_bandDiag>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_bandDiag
-
-Address of diagonal element i in band-dense matrix representation.
-
-.. _mju_eig3:
-
-`mju_eig3 <#mju_eig3>`__
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_eig3
-
-Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.
-
-.. _mju_boxQP:
-
-`mju_boxQP <#mju_boxQP>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_boxQP
-
-Minimize :math:`\tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u`, return rank or -1 if failed.
-
-inputs:
-  ``n``           - problem dimension
-
-  ``H``           - SPD matrix                ``n*n``
-
-  ``g``           - bias vector               ``n``
-
-  ``lower``       - lower bounds              ``n``
-
-  ``upper``       - upper bounds              ``n``
-
-  ``res``         - solution warmstart        ``n``
-
-return value:
-  ``nfree <= n``  - rank of unconstrained subspace, -1 if failure
-
-outputs (required):
-  ``res``         - solution                  ``n``
-
-  ``R``           - subspace Cholesky factor  ``nfree*nfree``,    allocated: ``n*(n+7)``
-
-outputs (optional):
-  ``index``       - set of free dimensions    ``nfree``,          allocated: ``n``
-
-notes:
-  The initial value of ``res`` is used to warmstart the solver.
-  ``R`` must have allocated size ``n*(n+7)``, but only ``nfree*nfree`` values are used as output.
-  ``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used as output.
-  The convenience function :ref:`mju_boxQPmalloc` allocates the required data structures.
-  Only the lower triangles of H and R are read from and written to, respectively.
-
-.. _mju_boxQPmalloc:
-
-`mju_boxQPmalloc <#mju_boxQPmalloc>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_boxQPmalloc
-
-Allocate heap memory for box-constrained Quadratic Program.
-As in :ref:`mju_boxQP`, ``index``, ``lower``, and ``upper`` are optional.
-Free all pointers with ``mju_free()``.
-
-.. _Attachment:
-
-Attachment
-^^^^^^^^^^
-.. _mjs_attach:
-
-`mjs_attach <#mjs_attach>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_attach
-
-Attach child to a parent; return the attached element if success or NULL otherwise.
-
-.. _AddTreeElements:
-
-Tree elements
-^^^^^^^^^^^^^
-.. _mjs_addBody:
-
-`mjs_addBody <#mjs_addBody>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addBody
-
-Add child body to body; return child.
-
-*Nullable:* ``def``
-
-.. _mjs_addSite:
-
-`mjs_addSite <#mjs_addSite>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addSite
-
-Add site to body; return site spec.
-
-*Nullable:* ``def``
-
-.. _mjs_addJoint:
-
-`mjs_addJoint <#mjs_addJoint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addJoint
-
-Add joint to body.
-
-*Nullable:* ``def``
-
-.. _mjs_addFreeJoint:
-
-`mjs_addFreeJoint <#mjs_addFreeJoint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addFreeJoint
-
-Add freejoint to body.
-
-.. _mjs_addGeom:
-
-`mjs_addGeom <#mjs_addGeom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addGeom
-
-Add geom to body.
-
-*Nullable:* ``def``
-
-.. _mjs_addCamera:
-
-`mjs_addCamera <#mjs_addCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addCamera
-
-Add camera to body.
-
-*Nullable:* ``def``
-
-.. _mjs_addLight:
-
-`mjs_addLight <#mjs_addLight>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addLight
-
-Add light to body.
-
-*Nullable:* ``def``
-
-.. _mjs_addFrame:
-
-`mjs_addFrame <#mjs_addFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addFrame
-
-Add frame to body.
-
-.. _mjs_delete:
-
-`mjs_delete <#mjs_delete>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_delete
-
-Remove object corresponding to the given element; return 0 on success.
-
-.. _AddNonTreeElements:
-
-Non-tree elements
-^^^^^^^^^^^^^^^^^
-.. _mjs_addActuator:
-
-`mjs_addActuator <#mjs_addActuator>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addActuator
-
-Add actuator.
-
-*Nullable:* ``def``
-
-.. _mjs_addSensor:
-
-`mjs_addSensor <#mjs_addSensor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addSensor
-
-Add sensor.
-
-.. _mjs_addFlex:
-
-`mjs_addFlex <#mjs_addFlex>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addFlex
-
-Add flex.
-
-.. _mjs_makeFlex:
-
-`mjs_makeFlex <#mjs_makeFlex>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_makeFlex
-
-Add flexcomp: create flex with auto-generated bodies/joints, return flex spec.
-
-*Nullable:* ``type``, ``dof``, ``count``, ``cellcount``, ``spacing``, ``scale``, ``pos``, ``quat``, ``origin``, ``file``, ``vfs``
-
-.. _mjs_addPair:
-
-`mjs_addPair <#mjs_addPair>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addPair
-
-Add contact pair.
-
-*Nullable:* ``def``
-
-.. _mjs_addExclude:
-
-`mjs_addExclude <#mjs_addExclude>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addExclude
-
-Add excluded body pair.
-
-.. _mjs_addEquality:
-
-`mjs_addEquality <#mjs_addEquality>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addEquality
-
-Add equality.
-
-*Nullable:* ``def``
-
-.. _mjs_addTendon:
-
-`mjs_addTendon <#mjs_addTendon>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addTendon
-
-Add tendon.
-
-*Nullable:* ``def``
-
-.. _mjs_wrapSite:
-
-`mjs_wrapSite <#mjs_wrapSite>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_wrapSite
-
-Wrap site using tendon.
-
-.. _mjs_wrapGeom:
-
-`mjs_wrapGeom <#mjs_wrapGeom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_wrapGeom
-
-Wrap geom using tendon.
-
-.. _mjs_wrapJoint:
-
-`mjs_wrapJoint <#mjs_wrapJoint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_wrapJoint
-
-Wrap joint using tendon.
-
-.. _mjs_wrapPulley:
-
-`mjs_wrapPulley <#mjs_wrapPulley>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_wrapPulley
-
-Wrap pulley using tendon.
-
-.. _mjs_addNumeric:
-
-`mjs_addNumeric <#mjs_addNumeric>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addNumeric
-
-Add numeric.
-
-.. _mjs_addText:
-
-`mjs_addText <#mjs_addText>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addText
-
-Add text.
-
-.. _mjs_addTuple:
-
-`mjs_addTuple <#mjs_addTuple>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addTuple
-
-Add tuple.
-
-.. _mjs_addKey:
-
-`mjs_addKey <#mjs_addKey>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addKey
-
-Add keyframe.
-
-.. _mjs_addPlugin:
-
-`mjs_addPlugin <#mjs_addPlugin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addPlugin
-
-Add plugin.
-
-.. _mjs_addDefault:
-
-`mjs_addDefault <#mjs_addDefault>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addDefault
-
-Add default.
-
-*Nullable:* ``parent``
-
-.. _Setactuatorparameters:
-
-Set actuator parameters
-^^^^^^^^^^^^^^^^^^^^^^^
-.. _mjs_setToMotor:
-
-`mjs_setToMotor <#mjs_setToMotor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToMotor
-
-Set actuator to motor; return error if any.
-
-.. _mjs_setToPosition:
-
-`mjs_setToPosition <#mjs_setToPosition>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToPosition
-
-Set actuator to position; return error if any.
-
-.. _mjs_setToIntVelocity:
-
-`mjs_setToIntVelocity <#mjs_setToIntVelocity>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToIntVelocity
-
-Set actuator to integrated velocity; return error if any.
-
-.. _mjs_setToVelocity:
-
-`mjs_setToVelocity <#mjs_setToVelocity>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToVelocity
-
-Set actuator to velocity servo; return error if any.
-
-.. _mjs_setToOrientation:
-
-`mjs_setToOrientation <#mjs_setToOrientation>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToOrientation
-
-Set actuator to orientation servo.
-
-.. _mjs_setToPID:
-
-`mjs_setToPID <#mjs_setToPID>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToPID
-
-Set actuator to PID controller.
-
-.. _mjs_setToDamper:
-
-`mjs_setToDamper <#mjs_setToDamper>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToDamper
-
-Set actuator to activate damper; return error if any.
-
-.. _mjs_setToCylinder:
-
-`mjs_setToCylinder <#mjs_setToCylinder>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToCylinder
-
-Set actuator to hydraulic or pneumatic cylinder; return error if any.
-
-.. _mjs_setToMuscle:
-
-`mjs_setToMuscle <#mjs_setToMuscle>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToMuscle
-
-Set actuator to muscle; return error if any.a
-
-.. _mjs_setToAdhesion:
-
-`mjs_setToAdhesion <#mjs_setToAdhesion>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToAdhesion
-
-Set actuator to active adhesion; return error if any.
-
-.. _mjs_setToDCMotor:
-
-`mjs_setToDCMotor <#mjs_setToDCMotor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setToDCMotor
-
-Set actuator to DC motor; return error if any.
-
-*Nullable:* ``motorconst``, ``nominal``, ``saturation``, ``inductance``, ``cogging``, ``controller``, ``thermal``, ``lugre``
-
-.. _AddAssets:
-
-Assets
-^^^^^^
-.. _mjs_addMesh:
-
-`mjs_addMesh <#mjs_addMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addMesh
-
-Add mesh.
-
-*Nullable:* ``def``
-
-.. _mjs_addHField:
-
-`mjs_addHField <#mjs_addHField>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addHField
-
-Add height field.
-
-.. _mjs_addSkin:
-
-`mjs_addSkin <#mjs_addSkin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addSkin
-
-Add skin.
-
-.. _mjs_addTexture:
-
-`mjs_addTexture <#mjs_addTexture>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addTexture
-
-Add texture.
-
-.. _mjs_addMaterial:
-
-`mjs_addMaterial <#mjs_addMaterial>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_addMaterial
-
-Add material.
-
-*Nullable:* ``def``
-
-.. _mjs_makeMesh:
-
-`mjs_makeMesh <#mjs_makeMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_makeMesh
-
-Sets the vertices and normals of a mesh.
-
-.. _FindAndGetUtilities:
-
-Find and get utilities
-^^^^^^^^^^^^^^^^^^^^^^
-.. _mjs_getSpec:
-
-`mjs_getSpec <#mjs_getSpec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getSpec
-
-Get spec from body.
-
-.. _mjs_getOriginSpec:
-
-`mjs_getOriginSpec <#mjs_getOriginSpec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getOriginSpec
-
-get spec that originally defined an element
-contrary to mjs_getSpec, this does not change after attachment
-
-.. _mjs_getCompiler:
-
-`mjs_getCompiler <#mjs_getCompiler>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getCompiler
-
-Get compiler associated with element's origin spec.
-
-.. _mjs_findSpec:
-
-`mjs_findSpec <#mjs_findSpec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_findSpec
-
-Find spec (model asset) by name.
-
-.. _mjs_findBody:
-
-`mjs_findBody <#mjs_findBody>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_findBody
-
-Find body in spec by name.
-
-.. _mjs_findElement:
-
-`mjs_findElement <#mjs_findElement>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_findElement
-
-Find element in spec by name.
-
-.. _mjs_findChild:
-
-`mjs_findChild <#mjs_findChild>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_findChild
-
-Find child body by name.
-
-.. _mjs_getParent:
-
-`mjs_getParent <#mjs_getParent>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getParent
-
-Get parent body.
-
-.. _mjs_getFrame:
-
-`mjs_getFrame <#mjs_getFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getFrame
-
-Get parent frame.
-
-.. _mjs_findFrame:
-
-`mjs_findFrame <#mjs_findFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_findFrame
-
-Find frame by name.
-
-.. _mjs_getDefault:
-
-`mjs_getDefault <#mjs_getDefault>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getDefault
-
-Get default corresponding to an element.
-
-.. _mjs_findDefault:
-
-`mjs_findDefault <#mjs_findDefault>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_findDefault
-
-Find default in model by class name.
-
-.. _mjs_getSpecDefault:
-
-`mjs_getSpecDefault <#mjs_getSpecDefault>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getSpecDefault
-
-Get global default from model.
-
-.. _mjs_getId:
-
-`mjs_getId <#mjs_getId>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getId
-
-Get element id.
-
-.. _mjs_firstChild:
-
-`mjs_firstChild <#mjs_firstChild>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_firstChild
-
-Return body's first child of given type. If recurse is nonzero, also search the body's subtree.
-
-.. _mjs_nextChild:
-
-`mjs_nextChild <#mjs_nextChild>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_nextChild
-
-Return body's next child of the same type; return NULL if child is last.
-
-If recurse is nonzero, also search the body's subtree.
-
-.. _mjs_firstElement:
-
-`mjs_firstElement <#mjs_firstElement>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_firstElement
-
-Return spec's first element of selected type.
-
-.. _mjs_nextElement:
-
-`mjs_nextElement <#mjs_nextElement>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_nextElement
-
-Return spec's next element; return NULL if element is last.
-
-.. _mjs_getWrapTarget:
-
-`mjs_getWrapTarget <#mjs_getWrapTarget>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getWrapTarget
-
-Get wrapped element in tendon path.
-
-.. _mjs_getWrapSideSite:
-
-`mjs_getWrapSideSite <#mjs_getWrapSideSite>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getWrapSideSite
-
-Get wrapped element side site in tendon path if it has one, nullptr otherwise.
-
-.. _mjs_getWrapDivisor:
-
-`mjs_getWrapDivisor <#mjs_getWrapDivisor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getWrapDivisor
-
-Get divisor of mjsWrap wrapping a puller.
-
-.. _mjs_getWrapCoef:
-
-`mjs_getWrapCoef <#mjs_getWrapCoef>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getWrapCoef
-
-Get coefficient of mjsWrap wrapping a joint.
-
-.. _AttributeSetters:
-
-Attribute setters
-^^^^^^^^^^^^^^^^^
-.. _mjs_setName:
-
-`mjs_setName <#mjs_setName>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setName
-
-Set element's name; return 0 on success.
-
-.. _mjs_setBuffer:
-
-`mjs_setBuffer <#mjs_setBuffer>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setBuffer
-
-Copy buffer.
-
-.. _mjs_setString:
-
-`mjs_setString <#mjs_setString>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setString
-
-Copy text to string.
-
-.. _mjs_setStringVec:
-
-`mjs_setStringVec <#mjs_setStringVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setStringVec
-
-Split text to entries and copy to string vector.
-
-.. _mjs_setInStringVec:
-
-`mjs_setInStringVec <#mjs_setInStringVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setInStringVec
-
-Set entry in string vector.
-
-.. _mjs_appendString:
-
-`mjs_appendString <#mjs_appendString>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_appendString
-
-Append text entry to string vector.
-
-.. _mjs_setInt:
-
-`mjs_setInt <#mjs_setInt>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setInt
-
-Copy int array to vector.
-
-.. _mjs_appendIntVec:
-
-`mjs_appendIntVec <#mjs_appendIntVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_appendIntVec
-
-Append int array to vector of arrays.
-
-.. _mjs_setFloat:
-
-`mjs_setFloat <#mjs_setFloat>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setFloat
-
-Copy float array to vector.
-
-.. _mjs_appendFloatVec:
-
-`mjs_appendFloatVec <#mjs_appendFloatVec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_appendFloatVec
-
-Append float array to vector of arrays.
-
-.. _mjs_setDouble:
-
-`mjs_setDouble <#mjs_setDouble>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setDouble
-
-Copy double array to vector.
-
-.. _mjs_setPluginAttributes:
-
-`mjs_setPluginAttributes <#mjs_setPluginAttributes>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setPluginAttributes
-
-Set plugin attributes.
-
-.. _AttributeGetters:
-
-Attribute getters
-^^^^^^^^^^^^^^^^^
-.. _mjs_getName:
-
-`mjs_getName <#mjs_getName>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getName
-
-Get element's name.
-
-.. _mjs_getString:
-
-`mjs_getString <#mjs_getString>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getString
-
-Get string contents.
-
-.. _mjs_getDouble:
-
-`mjs_getDouble <#mjs_getDouble>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getDouble
-
-Get double array contents and optionally its size.
-
-*Nullable:* ``size``
-
-.. _mjs_getWrapNum:
-
-`mjs_getWrapNum <#mjs_getWrapNum>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getWrapNum
-
-Get number of elements a tendon wraps.
-
-.. _mjs_getWrap:
-
-`mjs_getWrap <#mjs_getWrap>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getWrap
-
-Get mjsWrap element at position i in the tendon path.
-
-.. _mjs_getPluginAttributes:
-
-`mjs_getPluginAttributes <#mjs_getPluginAttributes>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getPluginAttributes
-
-Get plugin attributes.
-
-.. _SpecUtilities:
-
-Spec utilities
-^^^^^^^^^^^^^^
-.. _mjs_setDefault:
-
-`mjs_setDefault <#mjs_setDefault>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setDefault
-
-Set element's default.
-
-.. _mjs_setFrame:
-
-`mjs_setFrame <#mjs_setFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setFrame
-
-Set element's enclosing frame; return 0 on success.
-
-.. _mjs_resolveOrientation:
-
-`mjs_resolveOrientation <#mjs_resolveOrientation>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_resolveOrientation
-
-Resolve alternative orientations to quat; return error if any.
-
-.. _mjs_bodyToFrame:
-
-`mjs_bodyToFrame <#mjs_bodyToFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_bodyToFrame
-
-Transform body into a frame.
-
-.. _mjs_setUserValue:
-
-`mjs_setUserValue <#mjs_setUserValue>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setUserValue
-
-Set user payload, overriding the existing value for the specified key if present.
-
-.. _mjs_setUserValueWithCleanup:
-
-`mjs_setUserValueWithCleanup <#mjs_setUserValueWithCleanup>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setUserValueWithCleanup
-
-Set user payload, overriding the existing value for the specified key if
-present. This version differs from mjs_setUserValue in that it takes a
-cleanup function that will be called when the user payload is deleted.
-
-.. _mjs_getUserValue:
-
-`mjs_getUserValue <#mjs_getUserValue>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_getUserValue
-
-Return user payload or NULL if none found.
-
-.. _mjs_deleteUserValue:
-
-`mjs_deleteUserValue <#mjs_deleteUserValue>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_deleteUserValue
-
-Delete user payload.
-
-.. _mjs_sensorDim:
-
-`mjs_sensorDim <#mjs_sensorDim>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_sensorDim
-
-Return sensor dimension.
-
-.. _ElementInitialization:
-
-Element initialization
-^^^^^^^^^^^^^^^^^^^^^^
-.. _mjs_defaultSpec:
-
-`mjs_defaultSpec <#mjs_defaultSpec>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultSpec
-
-Default spec attributes.
-
-.. _mjs_defaultOrientation:
-
-`mjs_defaultOrientation <#mjs_defaultOrientation>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultOrientation
-
-Default orientation attributes.
-
-.. _mjs_defaultBody:
-
-`mjs_defaultBody <#mjs_defaultBody>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultBody
-
-Default body attributes.
-
-.. _mjs_defaultFrame:
-
-`mjs_defaultFrame <#mjs_defaultFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultFrame
-
-Default frame attributes.
-
-.. _mjs_defaultJoint:
-
-`mjs_defaultJoint <#mjs_defaultJoint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultJoint
-
-Default joint attributes.
-
-.. _mjs_defaultGeom:
-
-`mjs_defaultGeom <#mjs_defaultGeom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultGeom
-
-Default geom attributes.
-
-.. _mjs_defaultSite:
-
-`mjs_defaultSite <#mjs_defaultSite>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultSite
-
-Default site attributes.
-
-.. _mjs_defaultCamera:
-
-`mjs_defaultCamera <#mjs_defaultCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultCamera
-
-Default camera attributes.
-
-.. _mjs_defaultLight:
-
-`mjs_defaultLight <#mjs_defaultLight>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultLight
-
-Default light attributes.
-
-.. _mjs_defaultFlex:
-
-`mjs_defaultFlex <#mjs_defaultFlex>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultFlex
-
-Default flex attributes.
-
-.. _mjs_defaultMesh:
-
-`mjs_defaultMesh <#mjs_defaultMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultMesh
-
-Default mesh attributes.
-
-.. _mjs_defaultHField:
-
-`mjs_defaultHField <#mjs_defaultHField>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultHField
-
-Default height field attributes.
-
-.. _mjs_defaultSkin:
-
-`mjs_defaultSkin <#mjs_defaultSkin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultSkin
-
-Default skin attributes.
-
-.. _mjs_defaultTexture:
-
-`mjs_defaultTexture <#mjs_defaultTexture>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultTexture
-
-Default texture attributes.
-
-.. _mjs_defaultMaterial:
-
-`mjs_defaultMaterial <#mjs_defaultMaterial>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultMaterial
-
-Default material attributes.
-
-.. _mjs_defaultPair:
-
-`mjs_defaultPair <#mjs_defaultPair>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultPair
-
-Default pair attributes.
-
-.. _mjs_defaultEquality:
-
-`mjs_defaultEquality <#mjs_defaultEquality>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultEquality
-
-Default equality attributes.
-
-.. _mjs_defaultTendon:
-
-`mjs_defaultTendon <#mjs_defaultTendon>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultTendon
-
-Default tendon attributes.
-
-.. _mjs_defaultActuator:
-
-`mjs_defaultActuator <#mjs_defaultActuator>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultActuator
-
-Default actuator attributes.
-
-.. _mjs_defaultSensor:
-
-`mjs_defaultSensor <#mjs_defaultSensor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultSensor
-
-Default sensor attributes.
-
-.. _mjs_defaultNumeric:
-
-`mjs_defaultNumeric <#mjs_defaultNumeric>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultNumeric
-
-Default numeric attributes.
-
-.. _mjs_defaultText:
-
-`mjs_defaultText <#mjs_defaultText>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultText
-
-Default text attributes.
-
-.. _mjs_defaultTuple:
-
-`mjs_defaultTuple <#mjs_defaultTuple>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultTuple
-
-Default tuple attributes.
-
-.. _mjs_defaultKey:
-
-`mjs_defaultKey <#mjs_defaultKey>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultKey
-
-Default keyframe attributes.
-
-.. _mjs_defaultPlugin:
-
-`mjs_defaultPlugin <#mjs_defaultPlugin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_defaultPlugin
-
-Default plugin attributes.
-
-.. _ElementCasting:
-
-Element casting
-^^^^^^^^^^^^^^^
-.. _mjs_asBody:
-
-`mjs_asBody <#mjs_asBody>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asBody
-
-Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.
-
-.. _mjs_asGeom:
-
-`mjs_asGeom <#mjs_asGeom>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asGeom
-
-Safely cast an element as mjsGeom, or return NULL if the element is not an mjsGeom.
-
-.. _mjs_asJoint:
-
-`mjs_asJoint <#mjs_asJoint>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asJoint
-
-Safely cast an element as mjsJoint, or return NULL if the element is not an mjsJoint.
-
-.. _mjs_asSite:
-
-`mjs_asSite <#mjs_asSite>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asSite
-
-Safely cast an element as mjsSite, or return NULL if the element is not an mjsSite.
-
-.. _mjs_asCamera:
-
-`mjs_asCamera <#mjs_asCamera>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asCamera
-
-Safely cast an element as mjsCamera, or return NULL if the element is not an mjsCamera.
-
-.. _mjs_asLight:
-
-`mjs_asLight <#mjs_asLight>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asLight
-
-Safely cast an element as mjsLight, or return NULL if the element is not an mjsLight.
-
-.. _mjs_asFrame:
-
-`mjs_asFrame <#mjs_asFrame>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asFrame
-
-Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.
-
-.. _mjs_asActuator:
-
-`mjs_asActuator <#mjs_asActuator>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asActuator
-
-Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.
-
-.. _mjs_asSensor:
-
-`mjs_asSensor <#mjs_asSensor>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asSensor
-
-Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.
-
-.. _mjs_asFlex:
-
-`mjs_asFlex <#mjs_asFlex>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asFlex
-
-Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.
-
-.. _mjs_asPair:
-
-`mjs_asPair <#mjs_asPair>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asPair
-
-Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.
-
-.. _mjs_asEquality:
-
-`mjs_asEquality <#mjs_asEquality>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asEquality
-
-Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.
-
-.. _mjs_asExclude:
-
-`mjs_asExclude <#mjs_asExclude>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asExclude
-
-Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.
-
-.. _mjs_asTendon:
-
-`mjs_asTendon <#mjs_asTendon>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asTendon
-
-Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.
-
-.. _mjs_asNumeric:
-
-`mjs_asNumeric <#mjs_asNumeric>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asNumeric
-
-Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.
-
-.. _mjs_asText:
-
-`mjs_asText <#mjs_asText>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asText
-
-Safely cast an element as mjsText, or return NULL if the element is not an mjsText.
-
-.. _mjs_asTuple:
-
-`mjs_asTuple <#mjs_asTuple>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asTuple
-
-Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.
-
-.. _mjs_asKey:
-
-`mjs_asKey <#mjs_asKey>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asKey
-
-Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.
-
-.. _mjs_asMesh:
-
-`mjs_asMesh <#mjs_asMesh>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asMesh
-
-Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.
-
-.. _mjs_asHField:
-
-`mjs_asHField <#mjs_asHField>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asHField
-
-Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.
-
-.. _mjs_asSkin:
-
-`mjs_asSkin <#mjs_asSkin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asSkin
-
-Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.
-
-.. _mjs_asTexture:
-
-`mjs_asTexture <#mjs_asTexture>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asTexture
-
-Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.
-
-.. _mjs_asMaterial:
-
-`mjs_asMaterial <#mjs_asMaterial>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asMaterial
-
-Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.
-
-.. _mjs_asPlugin:
-
-`mjs_asPlugin <#mjs_asPlugin>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_asPlugin
-
-Safely cast an element as mjsPlugin, or return NULL if the element is not an mjsPlugin.
-
diff --git a/doc/APIreference/functions_override.rst b/doc/APIreference/functions_override.rst
deleted file mode 100644
index 9290a562..00000000
--- a/doc/APIreference/functions_override.rst
+++ /dev/null
@@ -1,928 +0,0 @@
-..
-  This file contains each section text along with function doc overrides.  By default the docs use the function doc
-  pulled from the header files.
-
-.. _Virtualfilesystem:
-
-Virtual file system (VFS) enables the user to load all necessary files in memory, including MJB binary model files, XML
-files (MJCF, URDF and included files), STL meshes, PNGs for textures and height fields, and HF files in our custom
-height field format. Model and resource files in the VFS can also be constructed programmatically (say using a Python
-library that writes to memory). Once all desired files are in the VFS, the user can call :ref:`mj_loadModel` or
-:ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the loaders will first check the VFS for any
-files they are about to load, and only access the disk if the file is not found in the VFS.
-
-The VFS must first be allocated using :ref:`mj_defaultVFS` and must be freed with :ref:`mj_deleteVFS`.
-
-
-.. _mj_defaultVFS:
-
-Initialize an empty VFS, :ref:`mj_deleteVFS` must be called to deallocate the VFS.
-
-.. _mj_addFileVFS:
-
-Add file to VFS. The directory argument is optional and can be NULL or empty. Returns 0 on success,
-2 on name collision, or -1 when an internal error occurs.
-
-*Nullable:* ``directory``
-
-.. _Assetcache:
-
-The asset cache is a mechanism for caching assets (e.g. textures, meshes, etc.) to avoid repeated slow recompilation.
-The following methods provide way to control the capacity of the cache or to disable it altogether.
-
-.. _Parseandcompile:
-
-The key function here is :ref:`mj_loadXML`. It invokes the built-in parser and compiler, and either returns a pointer to
-a valid mjModel, or NULL - in which case the user should check the error information in the user-provided string.
-The model and all files referenced in it can be loaded from disk or from a VFS when provided.
-
-.. _mj_compile:
-
-Compile :ref:`mjSpec` to :ref:`mjModel`. A spec can be edited and compiled multiple times, returning a new
-:ref:`mjModel` instance that takes the edits into account.
-If compilation fails, :ref:`mj_compile` returns ``NULL``; the error can be read with :ref:`mjs_getError`.
-
-.. _mj_recompile:
-
-Recompile spec to model, preserving the state. Like :ref:`mj_compile`, this function compiles an :ref:`mjSpec` to an
-:ref:`mjModel`, with two differences. First, rather than returning an entirely new model, it will
-reallocate existing :ref:`mjModel` and :ref:`mjData` instances in-place. Second, it will preserve the
-:ref:`integration state<siIntegrationState>`, as given in the provided :ref:`mjData` instance, while accounting for
-newly added or removed degrees of freedom. This allows the user to continue simulation with the same model and data
-struct pointers while editing the model programmatically.
-
-:ref:`mj_recompile` returns 0 if compilation succeed. In the case of failure, the given :ref:`mjModel` and :ref:`mjData`
-instances will be deleted; as in :ref:`mj_compile`, the compilation error can be read with :ref:`mjs_getError`.
-
-.. _mj_saveLastXML:
-
-Update XML data structures with info from low-level model created with :ref:`mj_loadXML`, save as MJCF.
-If error is not NULL, it must have size error_sz.
-
-Note that this function only saves models that have been loaded with :ref:`mj_loadXML`, the legacy loading mechanism.
-See the :ref:`model editing<meOverview>` chapter to understand the difference between the old and new model loading and
-saving mechanisms.
-
-.. _mj_saveXMLString:
-
-Save spec to XML string, return 0 on success, -1 on failure. If the length of the output buffer is too small, returns
-the required size. XML saving automatically compiles the spec before saving.
-
-.. _mj_saveXML:
-
-Save spec to XML file, return 0 on success, -1 otherwise. XML saving requires that the spec first be compiled.
-
-.. _mj_encode:
-
-Encode :ref:`mjSpec` or :ref:`mjModel` to a file. The output format is determined by the file extension
-(case insensitive) or ``content_type``. Returns the number of bytes written on success, -1 on failure.
-
-For detailed documentation, supported output formats (``.xml``, ``.mjb``, ``.txt``, ``.mjz``), and custom encoder
-plugins, see :ref:`Model Encoding & Saving <meSaving>`.
-
-*Nullable:* ``s``, ``m``, ``vfs``, ``error``
-
-.. _Mainsimulation:
-
-These are the main entry points to the simulator. Most users will only need to call :ref:`mj_step`, which computes
-everything and advanced the simulation state by one time step. Controls and applied forces must either be set in advance
-(in ``mjData.{ctrl, qfrc_applied, xfrc_applied}``), or a control callback :ref:`mjcb_control` must be installed which
-will be called just before the controls and applied forces are needed. Alternatively, one can use :ref:`mj_step1` and
-:ref:`mj_step2` which break down the simulation pipeline into computations that are executed before and after the
-controls are needed; in this way one can set controls that depend on the results from :ref:`mj_step1`. Keep in mind
-though that the RK4 solver does not work with mj_step1/2. See :ref:`Pipeline` for a more detailed description.
-
-mj_forward performs the same computations as :ref:`mj_step` but without the integration. It is useful after loading or
-resetting a model (to put the entire mjData in a valid state), and also for out-of-order computations that involve
-sampling or finite-difference approximations.
-
-:ref:`mj_inverse` runs the inverse dynamics, and writes its output in ``mjData.qfrc_inverse``. Note that ``mjData.qacc``
-must be set before calling this function. Given the state (qpos, qvel, act), mj_forward maps from force to acceleration,
-while mj_inverse maps from acceleration to force. Mathematically these functions are inverse of each other, but
-numerically this may not always be the case because the forward dynamics rely on a constraint optimization algorithm
-which is usually terminated early. The difference between the results of forward and inverse dynamics can be computed
-with the function :ref:`mj_compareFwdInv`, which can be thought of as another solver accuracy check (as well as a
-general sanity check).
-
-The skip version of :ref:`mj_forward` and :ref:`mj_inverse` are useful for example when qpos was unchanged but qvel was
-changed (usually in the context of finite differencing). Then there is no point repeating the computations that only
-depend on qpos. Calling the dynamics with skipstage = :ref:`mjSTAGE_POS<mjtStage>` will achieve these savings.
-
-.. _Initialization:
-
-This section contains functions that load/initialize the model or other data structures. Their use is well illustrated
-in the code samples.
-
-.. _Printing:
-
-These functions can be used to print various quantities to the screen for debugging purposes.
-
-.. _Components:
-
-These are components of the simulation pipeline, called internally from :ref:`mj_step`, :ref:`mj_forward` and
-:ref:`mj_inverse`. It is unlikely that the user will need to call them.
-
-.. _mj_implicit:
-
-Integrates the simulation state using an implicit-in-velocity integrator (either "implicit" or "implicitfast", see
-:ref:`Numerical Integration<geIntegration>`), and advances simulation time. See `mjdata.h
-<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__ for fields computed by this function.
-
-.. _Subcomponents:
-
-These are sub-components of the simulation pipeline, called internally from the components above.
-
-.. _mj_makeM:
-
-Compute the composite rigid body inertia with :ref:`mj_crb`, add terms due
-to :ref:`tendon armature<tendon-spatial-armature>`. The joint-space inertia matrix is stored in both ``mjData.qM`` and
-``mjData.M``. These arrays represent the same quantity using different layouts (parent-based and compressed sparse row,
-respectively).
-
-.. _mj_factorM:
-
-Compute sparse :math:`L^T D L` factorizaton of inertia matrix.
-
-.. _mj_solveM:
-
-Solve linear system :math:`M x = y` using factorization: :math:`x = (L^T D L)^{-1} y`
-
-.. _mj_solveM2:
-
-Half of linear solve: :math:`x = \sqrt{D^{-1}} (L^T)^{-1} y`
-
-.. _mj_subtreeVel:
-
-Sub-tree linear velocity and angular momentum: compute ``subtree_linvel``, ``subtree_angmom``.
-This function is triggered automatically if the subtree :ref:`velocity<sensor-subtreelinvel>` or
-:ref:`momentum<sensor-subtreeangmom>` sensors are present in the model.
-It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "vel".
-
-.. _mj_rne:
-
-Recursive Newton Euler: compute :math:`M(q) \ddot q + C(q,\dot q)`. ``flg_acc=0`` removes the inertial term (i.e.
-assumes :math:`\ddot q = 0`).
-
-.. _mj_rnePostConstraint:
-
-Recursive Newton Euler with final computed forces and accelerations.
-Computes three body-level ``nv x 6`` arrays, all defined in the subtreecom-based
-:ref:`c-frame<tyNotesCom>` and arranged in ``[rotation(3), translation(3)]`` order.
-
-- ``cacc``: Body acceleration, required for :ref:`mj_objectAcceleration`.
-- ``cfrc_int``: Interaction force with the parent body.
-- ``cfrc_ext``: External force acting on the body.
-
-This function is triggered automatically if the following sensors are present in the model:
-:ref:`accelerometer<sensor-accelerometer>`, :ref:`force<sensor-force>`, :ref:`torque<sensor-torque>`,
-:ref:`framelinacc<sensor-framelinacc>`, :ref:`frameangacc<sensor-frameangacc>`.
-It is also triggered for :ref:`user sensors<sensor-user>` of :ref:`stage<sensor-user-needstage>` "acc".
-
-The computed force arrays ``cfrc_int`` and ``cfrc_ext`` currently suffer from a know bug, they do not take into account
-the effect of spatial tendons, see :issue:`832`.
-
-.. _mj_constraintUpdate:
-
-Compute ``efc_state``, ``efc_force``, ``qfrc_constraint``, and (optionally) cone Hessians.
-If ``cost`` is not ``NULL``, set ``*cost = s(jar)`` where ``jar = Jac*qacc - aref``.
-
-*Nullable:* ``cost``
-
-.. _Support:
-
-These are support functions that need access to :ref:`mjModel` and :ref:`mjData`, unlike the utility functions which do
-not need such access. Support functions are called within the simulator but some of them can also be useful for custom
-computations, and are documented in more detail below.
-
-.. _mj_stateSize:
-
-Returns the number of :ref:`mjtNum` |-| s required for a given state signature. The bits of the integer ``sig``
-correspond to element fields of :ref:`mjtState`.
-
-.. _mj_getState:
-
-Copy concatenated state components specified by ``sig`` from ``d`` into ``state``. The bits of the integer
-``sig`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``sig`` is invalid.
-
-.. _mj_extractState:
-
-Extract into ``dst`` the subset of components specified by ``dstsig`` from a state ``src`` previously obtained via
-:ref:`mj_getState` with components specified by ``srcsig``. Fails with :ref:`mju_error` if the bits set in ``dstsig``
-is not a subset of the bits set in ``srcsig``.
-
-.. _mj_setState:
-
-Copy concatenated state components specified by ``sig`` from  ``state`` into ``d``. The bits of the integer
-``sig`` correspond to element fields of :ref:`mjtState`. Fails with :ref:`mju_error` if ``sig`` is invalid.
-
-.. _mj_readCtrl:
-
-Read the control value for an actuator at a given time, taking delays into account. If no history buffer exists, return
-``mjData.ctrl[id]``. If a history buffer exists (:ref:`nsample<actuator-general-nsample>` > 0), read from the delay
-buffer at ``time - actuator_delay[id]`` using the requested interpolation order:
-
-- ``interp = 0``: Zero-order hold (piecewise constant)
-- ``interp = 1``: Piecewise Linear
-- ``interp = 2``: Cubic Spline (Catmull-Rom)
-- ``interp = -1``: Use the actuator's :ref:`interp<actuator-general-interp>` value.
-
-Constant extrapolation is used outside of buffer bounds.
-
-Note that the subtraction of the delay changes the semantic of the ``time`` argument from "time at which values were
-pushed into the delay buffer" to "time at which values come out of the delay buffer". See :ref:`Delays<CDelay>` for
-details.
-
-.. _mj_readSensor:
-
-Read a sensor value at a given time, taking delays into account. If no history buffer exists, return a pointer to the
-sensor's slice of ``mjData.sensordata``. If a history buffer exists (:ref:`nsample<sensor-nsample>` > 0), read from the
-history buffer at ``time - sensor_delay[id]``. Note that the subtraction of the delay changes the semantic of the
-``time`` argument from "time at which values were pushed into the delay buffer" to "time at which values come out of the
-delay buffer". See :ref:`Delays<CDelay>` for details.
-
-**Return value semantics:**
-
-- If no history buffer exists (:ref:`nsample<sensor-nsample>` = 0), returns a pointer to the sensor's slice of
-  ``mjData.sensordata``.
-- If a history buffer exists (:ref:`nsample<sensor-nsample>` > 0) and the requested time matches a stored sample
-  (always true for ``interp = 0``), returns a pointer to the data in the history buffer.
-- If interpolation is required (``interp = 1 or 2``), returns ``NULL`` and writes the interpolated result to
-  ``result`` (must be of size ``dim``).
-
-**Interpolation:**
-
-- ``interp = 0``: Zero-order hold (piecewise constant)
-- ``interp = 1``: Piecewise Linear
-- ``interp = 2``: Cubic Spline (Catmull-Rom)
-- ``interp = -1``: Use the value in :ref:`interp<sensor-interp>`
-
-Constant extrapolation is used outside of buffer bounds.
-
-
-**Usage:**
-
-.. code-block:: C
-
-   // read sensor 0 of data size `dim` at time t
-   mjtNum result[dim];
-   const mjtNum* ptr = mj_readSensor(m, d, 0, t, result, /* interp = */ 1);
-   const mjtNum* data = ptr ? ptr : result;
-
-.. _mj_initCtrlHistory:
-
-Initialize the history buffer for an actuator with custom values. The ``times`` array specifies the timestamps for each
-sample (must be length :ref:`nsample<actuator-general-nsample>`), and ``values`` specifies the control values. If
-``times`` is ``NULL``, the existing timestamps in the buffer are used, and only the values are updated.
-See :ref:`Delays<CDelay>` for details.
-
-.. _mj_initSensorHistory:
-
-Initialize the history buffer for a sensor with custom values. The ``times`` array specifies the timestamps for each
-sample (must be length :ref:`nsample<sensor-nsample>`), and ``values`` specifies the sensor values (must be of size
-``nsample * dim``). If ``times`` is ``NULL``, the existing timestamps in the buffer are used.
-The ``phase`` argument sets the user slot, which stores the last computation time for interval sensors.
-See :ref:`Delays<CDelay>` for details.
-
-.. _mj_mulJacVec:
-
-This function multiplies the constraint Jacobian mjData.efc_J by a vector. Note that the Jacobian can be either dense or
-sparse; the function is aware of this setting. Multiplication by J maps velocities from joint space to constraint space.
-
-.. _mj_mulJacTVec:
-
-Same as mj_mulJacVec but multiplies by the transpose of the Jacobian. This maps forces from constraint space to joint
-space.
-
-.. _mj_jac:
-
-This function computes an end-effector kinematic Jacobian, describing the local linear relationship between the
-degrees-of-freedom and a given point. Given a body specified by its integer id (``body``) and a 3D point in the world
-frame (``point``) treated as attached to the body, the Jacobian has both translational (``jacp``) and rotational
-(``jacr``) components. Passing ``NULL`` for either pointer will skip that part of the computation. Each component is a
-3-by-nv matrix. Each row of this matrix is the gradient of the corresponding coordinate of the specified point with
-respect to the degrees-of-freedom. The frame with respect to which the Jacobian is computed is centered at the body
-center-of-mass but aligned with the world frame. The minimal :ref:`pipeline stages<piForward>` required for Jacobian
-computations to be consistent with the current generalized positions ``mjData.qpos`` are :ref:`mj_kinematics` followed
-by :ref:`mj_comPos`.
-
-*Nullable:* ``jacp``, ``jacr``
-
-.. _mj_jacBody:
-
-This and the remaining variants of the Jacobian function call mj_jac internally, with the center of the body, geom or
-site. They are just shortcuts; the same can be achieved by calling mj_jac directly.
-
-*Nullable:* ``jacp``, ``jacr``
-
-.. _mj_jacDot:
-
-This function computes the time-derivative of an end-effector kinematic Jacobian computed by :ref:`mj_jac`.
-The minimal :ref:`pipeline stages<piStages>` required for computation to be
-consistent with the current generalized positions and velocities ``mjData.{qpos, qvel}`` are
-:ref:`mj_kinematics`, :ref:`mj_comPos`, :ref:`mj_comVel` (in that order).
-
-*Nullable:* ``jacp``, ``jacr``
-
-.. _mj_angmomMat:
-
-This function computes the ``3 x nv`` angular momentum matrix :math:`H(q)`, providing the linear mapping from
-generalized velocities to subtree angular momentum. More precisely if :math:`h` is the subtree angular momentum of
-body index ``body`` in ``mjData.subtree_angmom`` (reported by the :ref:`subtreeangmom<sensor-subtreeangmom>` sensor)
-and :math:`\dot q` is the generalized velocity ``mjData.qvel``, then :math:`h = H \dot q`.
-
-.. _mj_name2id:
-
-Get id of object with the specified :ref:`mjtObj` type and name, returns -1 if id not found.
-
-.. _mj_id2name:
-
-Get name of object with the specified :ref:`mjtObj` type and id, returns ``NULL`` if name not found.
-
-.. _mj_geomDistance:
-
-Returns the smallest signed distance between two geoms and optionally the segment from ``geom1`` to ``geom2``.
-Returned distances are bounded from above by ``distmax``. |br| If no collision of distance smaller than ``distmax`` is
-found, the function will return ``distmax`` and ``fromto``, if given, will be set to (0, 0, 0, 0, 0, 0).
-
-*Nullable:* ``fromto``
-
-.. admonition:: different (correct) behavior under `nativeccd`
-   :class: note
-
-   As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
-   :ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
-
-.. _mj_mulM:
-
-This function multiplies the joint-space inertia matrix stored in ``mjData.M`` by a vector.
-
-.. _mj_applyFT:
-
-This function can be used to apply a Cartesian force and torque to a point on a body, and add the result to the vector
-mjData.qfrc_applied of all applied forces. Note that the function requires a pointer to this vector, because sometimes
-we want to add the result to a different vector.
-
-.. _mj_objectAcceleration:
-
-Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation. If acceleration or force
-sensors are not present in the model, :ref:`mj_rnePostConstraint` must be manually called in order to calculate
-mjData.cacc -- the total body acceleration, including contributions from the constraint solver.
-
-.. _mj_differentiatePos:
-
-This function subtracts two vectors in the format of qpos (and divides the result by dt), while respecting the
-properties of quaternions. Recall that unit quaternions represent spatial orientations. They are points on the unit
-sphere in 4D. The tangent to that sphere is a 3D plane of rotational velocities. Thus when we subtract two quaternions
-in the right way, the result is a 3D vector and not a 4D vector. Thus the output qvel has dimensionality nv while the
-inputs have dimensionality nq.
-
-.. _mj_integratePos:
-
-This is the opposite of mj_differentiatePos. It adds a vector in the format of qvel (scaled by dt) to a vector in the
-format of qpos.
-
-.. _Raycollisions:
-
-Ray collisions, also known as ray casting, find the distance ``x`` of a ray's intersection with a geom, where a ray is
-a line emanating from the 3D point ``p`` in the direction ``v`` i.e., ``(p + x*v, x >= 0)``. All functions in this
-family return the distance to the nearest geom surface, or -1 if there is no intersection. Note that if ``p`` is inside
-a geom, the ray will intersect the surface from the inside which still counts as an intersection.
-
-All ray collision functions rely on quantities computed by :ref:`mj_kinematics` (see :ref:`mjData`), so must be called
-after  :ref:`mj_kinematics`, or functions that call it (e.g. :ref:`mj_fwdPosition`). The top level functions, which
-intersect with all geoms types, are :ref:`mj_ray` which casts a single ray, and :ref:`mj_multiRay` which casts multiple
-rays from a single point.
-
-.. _mj_ray:
-
-Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
-
-- Return distance ``x`` to nearest surface, or -1 if no intersection.
-- If ``geomid`` is not NULL, write the id of the intersected geom or -1 if not intersection.
-- If ``normal`` is not NULL, write the surface normal at the intersection point. The normal always points **out of the
-  geometry**, regardless of the ray's direction (i.e., including rays hitting the surface from the inside).
-- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
-- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumericVisualization>`, where 1 means the group should be included. Pass
-  NULL to skip geom group exclusion.
-- If ``flg_static`` is 0, static geoms will be excluded.
-
-*Nullable:* ``geomgroup``, ``geomid``, ``normal``
-
-.. _Interaction:
-
-These functions implement abstract mouse interactions, allowing control over cameras and perturbations. Their use is well
-illustrated in :ref:`simulate<saSimulate>`.
-
-.. _mjv_select:
-
-This function is used for mouse selection, relying on ray intersections. aspectratio is the viewport width/height. relx
-and rely are the relative coordinates of the 2D point of interest in the viewport (usually mouse cursor). The function
-returns the id of the geom under the specified 2D point, or -1 if there is no geom (note that they skybox if present is
-not a model geom). The 3D coordinates of the clicked point are returned in selpnt. See :ref:`simulate<saSimulate>` for
-an illustration.
-
-.. _Visualization-api:
-
-The functions in this section implement abstract visualization. The results are used by the OpenGL renderer, and can
-also be used by users wishing to implement their own renderer, or hook up MuJoCo to advanced rendering tools such as
-Unity or Unreal Engine. See :ref:`simulate<saSimulate>` for illustration of how to use these functions.
-
-.. _FilamentRenderingApi:
-
-Rendering functions using the Filament rendering engine. These functions are prefixed with ``mjrf``. See
-:ref:`Filament Rendering<tyFilamentRenderStructure>` for an overview of the core types and their uses.
-
-.. _OpenGLrendering:
-
-These functions expose the OpenGL renderer. See :ref:`simulate<saSimulate>` for an illustration
-of how to use these functions.
-
-.. _UIframework:
-
-For a high-level description of the UI framework, see :ref:`UI`.
-
-.. _mjui_add:
-
-This is the helper function used to construct a UI. The second argument points to an array of :ref:`mjuiDef` structs,
-each corresponding to one item. The last (unused) item has its type set to -1, to mark termination. The items are added
-after the end of the last used section. There is also another version of this function
-(:ref:`mjui_addToSection<mjui_addToSection>`) which adds items to a specified section instead of adding them at the end
-of the UI. Keep in mind that there is a maximum preallocated number of sections and items per section, given by
-:ref:`mjMAXUISECT<glNumericUI>` and :ref:`mjMAXUIITEM<glNumericUI>`. Exceeding these maxima results in low-level errors.
-
-.. _mjui_update:
-
-This is the main UI update function. It needs to be called whenever the user data (pointed to by the item data pointers)
-changes, or when the UI state itself changes. It is normally called by a higher-level function implemented by the user
-(``UiModify`` in :ref:`simulate.cc <saSimulate>`) which also recomputes the layout of all rectangles and associated
-auxiliary buffers. The function updates the pixels in the offscreen OpenGL buffer. To perform minimal updates, the user
-specifies the section and the item that was modified. A value of -1 means all items and/or sections need to be updated
-(which is needed following major changes.)
-
-.. _mjui_event:
-
-This function is the low-level event handler. It makes the necessary changes in the UI and returns a pointer to the item
-that received the event (or ``NULL`` if no valid event was recorded). This is normally called within the event handler
-implemented by the user (``UiEvent`` in :ref:`simulate.cc <saSimulate>`), and then some action is taken by user code
-depending on which UI item was modified and what the state of that item is after the event is handled.
-
-
-.. _mjui_render:
-
-This function is called in the screen refresh loop. It copies the offscreen OpenGL buffer to the window framebuffer. If
-there are multiple UIs in the application, it should be called once for each UI. Thus ``mjui_render`` is called all the
-time, while :ref:`mjui_update` is called only when changes in the UI take place. dsffsdg
-
-
-
-
-.. _Errorandmemory:
-
-.. _mju_error:
-
-Main error function. The error message is dispatched to the active log handler (see :ref:`mju_setLogHandler`).
-Errors are always fatal: if the handler returns, the process is terminated with ``exit(EXIT_FAILURE)``. Handlers
-wishing to recover must ``longjmp`` or otherwise transfer control before returning.
-
-.. _mju_warning:
-
-Main warning function; returns to caller. The warning message is dispatched to the active log handler.
-
-.. _mju_clearHandlers:
-
-Clear all user handlers and restore defaults. Resets the legacy error/warning/memory callbacks to ``NULL``, restores
-the default log handler, and resets the log configuration to its defaults (console and file output enabled, all info
-topics disabled).
-
-.. _mju_setLogHandler:
-
-Set the active global log handler. Returns the previous handler (which is never ``NULL``), intended for save/restore
-or callback chaining. If ``handler`` is ``NULL``, the default handler is restored. The handler receives all errors,
-warnings and informational messages as a structured :ref:`mjLogMessage`. See :ref:`siLogHandler` for usage examples.
-
-.. _mju_getLogConfig:
-
-Get the current default handler configuration. See :ref:`mjLogConfig`.
-
-.. _mju_setLogConfig:
-
-Set the default handler configuration. Controls console output, file output, and info topic filtering.
-See :ref:`mjLogConfig`.
-
-Example usage (disabling file output):
-
-.. code-block:: C
-
-   mjLogConfig config = mju_getLogConfig();
-   config.logto_file = false;
-   mju_setLogConfig(config);
-
-.. _mju_info:
-
-Log an informational message with optional topic filtering. The ``topic`` argument is a :ref:`mjtLogTopic` value.
-Topic 0 (``mjTOPIC_NONE``) always passes through. Other topics must be enabled in the default handler configuration
-via :ref:`mju_setLogConfig`. Note that topic filtering is implemented in the default handler; custom handlers
-receive all info messages regardless.
-
-.. _mju_message:
-
-Dispatch a structured :ref:`mjLogMessage` to the active log handler. This is the primary entry point for emitting
-log messages with full control over all fields. The convenience functions :ref:`mju_error`, :ref:`mju_warning`, and
-:ref:`mju_info` are thin wrappers that populate an ``mjLogMessage`` and call this function.
-
-The ``subject`` field is a one-line summary (up to 1024 bytes, inline in the struct). The ``body`` field is an
-optional ``const char*`` pointer to multi-line detail text, owned by the caller. When ``body`` is ``NULL``, only the
-subject line is printed.
-
-The default handler formats the output as follows:
-
-.. code-block:: text
-
-   LEVEL FUNC (FILE:LINE) TIME: SUBJECT
-   BODY
-
-where:
-
-- ``LEVEL`` is ``ERROR``, ``WARNING``, ``INFO``, or ``DEBUG``.
-- ``FUNC`` is present when the ``func`` field is set.
-- ``(FILE:LINE)`` is present when the ``file`` and ``line`` fields are set.
-- ``TIME`` is present when the ``timestamp`` field is set or file logging is active.
-- ``SUBJECT`` is the contents of the ``subject`` field.
-- ``BODY`` follows on the next line(s), printed raw without indentation or separators, only if non-NULL.
-
-The default handler appends a trailing blank line after ``ERROR``, ``WARNING``, and ``INFO`` messages for visual
-separation. ``DEBUG`` messages are printed compactly without a trailing blank line.
-
-Example usage:
-
-.. code-block:: C
-
-   mjLogMessage msg = {
-     .level = mjLOG_INFO,
-     .timestamp = true,
-     .body = "  height:     0.001 m\n  velocity:   0.000 m/s\n  bounces:    47",
-   };
-   snprintf(msg.subject, sizeof(msg.subject), "The ball has come to rest");
-   mju_message(&msg);
-
-This produces:
-
-.. code-block:: text
-
-   INFO Mon Jun  9 15:04:05 2026: The ball has come to rest
-     height:     0.001 m
-     velocity:   0.000 m/s
-     bounces:    47
-
-.. _Standardmath:
-
-The "functions" in this section are preprocessor macros replaced with the corresponding C standard library math
-functions. When MuJoCo is compiled with single precision (which is not currently available to the public, but we
-sometimes use it internally) these macros are replaced with the corresponding single-precision functions (not shown
-here). So one can think of them as having inputs and outputs of type mjtNum, where mjtNum is defined as double or float
-depending on how MuJoCo is compiled. We will not document these functions here; see the C standard library
-specification.
-
-mju_sqrt
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_sqrt    sqrt
-
-mju_exp
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_exp     exp
-
-mju_sin
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_sin     sin
-
-mju_cos
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_cos     cos
-
-mju_tan
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_tan     tan
-
-mju_asin
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_asin    asin
-
-mju_acos
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_acos    acos
-
-mju_atan2
-~~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_atan2   atan2
-
-mju_tanh
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_tanh    tanh
-
-mju_pow
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_pow     pow
-
-mju_abs
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_abs     fabs
-
-mju_log
-~~~~~~~
-
-.. code-block:: C
-
-   #define mju_log     log
-
-mju_log10
-~~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_log10   log10
-
-mju_floor
-~~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_floor   floor
-
-mju_ceil
-~~~~~~~~
-
-.. code-block:: C
-
-   #define mju_ceil    ceil
-
-.. _Vectormath:
-
-.. _Quaternions:
-
-.. _Poses:
-
-.. _Decompositions:
-
-.. _mju_cholFactorBand:
-
-Band-dense Cholesky decomposition.
-|br| Add ``diagadd + diagmul*mat_ii`` to diagonal before decomposition.
-|br| Returns the minimum value of the factorized diagonal or 0 if rank-deficient.
-
-   **Symmetric band-dense matrices**
-
-   :ref:`mju_cholFactorBand` and subsequent functions containing the substring "band" operate on matrices which are a
-   generalization of symmetric `band matrices <https://en.wikipedia.org/wiki/Band_matrix>`_. *Symmetric band-dense* or
-   "arrowhead" matrices have non-zeros along proximal diagonal bands and dense blocks on the bottom rows and right
-   columns. These matrices have the property that Cholesky factorization creates no fill-in and can therefore be
-   performed efficiently in-place. Matrix structure is defined by three integers:
-
-   - ``ntotal``: the number of rows (columns) of the symmetric matrix.
-   - ``nband``: the number of bands under (over) the diagonal, inclusive of the diagonal.
-   - ``ndense``: the number of dense rows (columns) at the bottom (right).
-
-   The non-zeros are stored in memory as two contiguous row-major blocks, colored green and blue in the illustration
-   below. The first block has size ``nband x (ntotal-ndense)`` and contains the diagonal and the bands below it. The
-   second block has size ``ndense x ntotal`` and contains the dense part. Total required memory is the sum of the block
-   sizes.
-
-   .. figure:: /images/APIreference/arrowhead.svg
-      :width: 750px
-      :align: left
-
-   For example, consider an arrowhead matrix with ``nband = 3``, ``ndense = 2`` and ``ntotal = 8``. In this example, the
-   total memory required is ``3*(8-2) + 2*8 = 34`` mjtNum's, laid out as follows:
-
-   .. code-block::
-
-      0   1   2
-          3   4   5
-              6   7   8
-                  9   10  11
-                      12  13  14
-                          15  16  17
-              18  19  20  21  22  23  24  25
-              26  27  28  29  30  31  32  33
-
-
-   The diagonal elements are ``2, 5, 8, 11, 14, 17, 24, 33``.
-   |br| Elements ``0, 1, 3, 25`` are present in memory but never touched.
-
-.. _mju_boxQP:
-
-Minimize :math:`\tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u`, return rank or -1 if failed.
-
-inputs:
-  ``n``           - problem dimension
-
-  ``H``           - SPD matrix                ``n*n``
-
-  ``g``           - bias vector               ``n``
-
-  ``lower``       - lower bounds              ``n``
-
-  ``upper``       - upper bounds              ``n``
-
-  ``res``         - solution warmstart        ``n``
-
-return value:
-  ``nfree <= n``  - rank of unconstrained subspace, -1 if failure
-
-outputs (required):
-  ``res``         - solution                  ``n``
-
-  ``R``           - subspace Cholesky factor  ``nfree*nfree``,    allocated: ``n*(n+7)``
-
-outputs (optional):
-  ``index``       - set of free dimensions    ``nfree``,          allocated: ``n``
-
-notes:
-  The initial value of ``res`` is used to warmstart the solver.
-  ``R`` must have allocated size ``n*(n+7)``, but only ``nfree*nfree`` values are used as output.
-  ``index`` (if given) must have allocated size ``n``, but only ``nfree`` values are used as output.
-  The convenience function :ref:`mju_boxQPmalloc` allocates the required data structures.
-  Only the lower triangles of H and R are read from and written to, respectively.
-
-.. _mju_boxQPmalloc:
-
-Allocate heap memory for box-constrained Quadratic Program.
-As in :ref:`mju_boxQP`, ``index``, ``lower``, and ``upper`` are optional.
-Free all pointers with ``mju_free()``.
-
-.. _mju_symmetrize:
-
-Symmetrize square matrix :math:`R = \frac{1}{2}(M + M^T)`.
-
-.. _Miscellaneous:
-
-.. _mju_sigmoid:
-
-Twice continuously differentiable sigmoid function using a quintic polynomial:
-
-.. math::
-   s(x) =
-   \begin{cases}
-      0,                    &       & x \le 0  \\
-      6x^5 - 15x^4 + 10x^3, & 0 \lt & x \lt 1  \\
-      1,                    & 1 \le & x \qquad
-   \end{cases}
-
-.. _Derivatives-api:
-
-The functions below provide useful derivatives of various functions, both analytic and
-finite-differenced. The latter have names with the suffix ``FD``. Note that unlike much of the API,
-outputs of derivative functions are the trailing rather than leading arguments.
-
-.. _mjd_transitionFD:
-
-Compute finite-differenced discrete-time transition matrices.
-
-Letting :math:`x, u` denote the current :ref:`state<siPhysicsState>` and :ref:`control<siInput>`
-vector in an mjData instance, and letting :math:`y, s` denote the next state and sensor
-values, the top-level :ref:`mj_step` function computes :math:`(x,u) \rightarrow (y,s)`
-:ref:`mjd_transitionFD` computes the four associated Jacobians using finite-differencing.
-These matrices and their dimensions are:
-
-.. csv-table::
-   :header: "matrix", "Jacobian", "dimension"
-   :widths: auto
-   :align: left
-
-   ``A``, :math:`\partial y / \partial x`, ``2*nv+na x 2*nv+na``
-   ``B``, :math:`\partial y / \partial u`, ``2*nv+na x nu``
-   ``C``, :math:`\partial s / \partial x`, ``nsensordata x 2*nv+na``
-   ``D``, :math:`\partial s / \partial u`, ``nsensordata x nu``
-
-- All outputs are optional (can be NULL).
-- ``eps`` is the finite-differencing epsilon.
-- ``flg_centered`` denotes whether to use forward (0) or centered (1) differences.
-- The Runge-Kutta integrator (:ref:`mjINT_RK4<mjtIntegrator>`) is not supported.
-
-.. admonition:: Improving speed and accuracy
-   :class: tip
-
-   warmstart
-     If warm-starts are not :ref:`disabled<option-flag-warmstart>`, the warm-start accelerations
-     ``mjData.qacc_warmstart`` which are present at call-time are loaded at the start of every relevant pipeline call,
-     to preserve determinism. If solver computations are an expensive part of the simulation, the following trick can
-     lead to significant speed-ups: First call :ref:`mj_forward` to let the solver converge, then reduce :ref:`solver
-     iterations<option-iterations>` significantly, then call :ref:`mjd_transitionFD`, finally, restore the original
-     value of :ref:`iterations<option-iterations>`. Because we are already near the solution, few iteration are required
-     to find the new minimum. This is especially true for the :ref:`Newton<option-solver>` solver, where the required
-     number of iteration for convergence near the minimum can be as low as 1.
-
-   tolerance
-      Accuracy can be improved if solver :ref:`tolerance<option-tolerance>` is set to 0. This means that all calls to
-      the solver will perform exactly the same number of iterations, preventing numerical errors due to early
-      termination. Of course, this means that :ref:`solver iterations<option-iterations>` should be small, to not tread
-      water at the minimum. This method and the one described above can and should be combined.
-
-*Nullable:* ``A``, ``B``, ``D``, ``C``
-
-.. _mjd_inverseFD:
-
-Finite differenced continuous-time inverse-dynamics Jacobians.
-
-Letting :math:`x, a` denote the current :ref:`state<siPhysicsState>` and acceleration vectors in an mjData instance, and
-letting :math:`f, s` denote the forces computed by the inverse dynamics (``qfrc_inverse``), the function
-:ref:`mj_inverse` computes :math:`(x,a) \rightarrow (f,s)`. :ref:`mjd_inverseFD` computes seven associated Jacobians
-using finite-differencing. These matrices and their dimensions are:
-
-.. csv-table::
-   :header: "matrix", "Jacobian", "dimension"
-   :widths: auto
-   :align: left
-
-   ``DfDq``, :math:`\partial f / \partial q`, ``nv x nv``
-   ``DfDv``, :math:`\partial f / \partial v`, ``nv x nv``
-   ``DfDa``, :math:`\partial f / \partial a`, ``nv x nv``
-   ``DsDq``, :math:`\partial s / \partial q`, ``nv x nsensordata``
-   ``DsDv``, :math:`\partial s / \partial v`, ``nv x nsensordata``
-   ``DsDa``, :math:`\partial s / \partial a`, ``nv x nsensordata``
-   ``DmDq``, :math:`\partial M / \partial q`, ``nv x nC``
-
-- All outputs are optional (can be NULL).
-- All outputs are transposed relative to Control Theory convention (i.e., column major).
-- ``DmDq``, which contains a sparse representation of the ``nv x nv x nv`` tensor :math:`\partial M / \partial q`, is
-  not strictly an inverse dynamics Jacobian but is useful in related applications. It is provided as a convenience to
-  the user, since the required values are already computed if either of the other two :math:`\partial / \partial q`
-  Jacobians are requested.
-- ``eps`` is the (forward) finite-differencing epsilon.
-- ``flg_actuation`` denotes whether to subtract actuation forces (``qfrc_actuator``) from the output of the inverse
-  dynamics. If this flag is positive, actuator forces are not considered as external.
-- The model option flag ``invdiscrete`` should correspond to the representation of ``mjData.qacc`` in order to compute
-  the correct derivative information.
-
-.. attention::
-   - The Runge-Kutta 4th-order integrator (``mjINT_RK4``) is not supported.
-   - The noslip solver is not supported.
-
-*Nullable:* ``DfDq``, ``DfDv``, ``DfDa``, ``DsDq``, ``DsDv``, ``DsDa``, ``DmDq``
-
-.. _mjd_subQuat:
-
-Derivatives of :ref:`mju_subQuat` (quaternion difference).
-
-*Nullable:* ``Da``, ``Db``
-
-.. _mjd_quatIntegrate:
-
-Derivatives of :ref:`mju_quatIntegrate`.
-
-:math:`{\tt \small mju\_quatIntegrate}(q, v, h)` performs the in-place rotation :math:`q \leftarrow q + v h`,
-where :math:`q \in \mathbf{S}^3` is a unit quaternion, :math:`v \in \mathbf{R}^3` is a 3D angular velocity and
-:math:`h \in \mathbf{R^+}` is a timestep. This is equivalent to :math:`{\tt \small mju\_quatIntegrate}(q, s, 1.0)`,
-where :math:`s` is the scaled velocity :math:`s = h v`.
-
-:math:`{\tt \small mjd\_quatIntegrate}(v, h, D_q, D_v, D_h)` computes the Jacobians of the output :math:`q` with respect
-to the inputs. Below, :math:`\bar q` denotes the pre-modified quaternion:
-
-.. math::
-   \begin{aligned}
-      D_q &= \partial q / \partial \bar q \\
-      D_v &= \partial q / \partial v \\
-      D_h &= \partial q / \partial h
-   \end{aligned}
-
-Note that derivatives depend only on :math:`h` and :math:`v` (in fact, on :math:`s = h v`).
-All outputs are optional.
-
-*Nullable:* ``Dquat``, ``Dvel``, ``Dscale``
-
-.. _Resources:
-
-Resources are the interface between :ref:`resource providers <exProvider>` and MuJoCo model compilation code.
-These functions provide the means to query the resource provider and obtain resources.
diff --git a/doc/APIreference/index.rst b/doc/APIreference/index.rst
deleted file mode 100644
index 6f916867..00000000
--- a/doc/APIreference/index.rst
+++ /dev/null
@@ -1,20 +0,0 @@
-.. _APIreference:
-
-=============
-API Reference
-=============
-
-This chapter is the reference manual for the MuJoCo API. It is automatically kept in sync with MuJoCo's header files,
-but also contains additional information not available in the headers. The API is composed of 3 categories:
-
-.. table::
-   :class: aligntop
-
-   +--------------------+--------------------+--------------------+
-   |                    |                    |                    |
-   | .. toctree::       | .. toctree::       | .. toctree::       |
-   |    :maxdepth: 3    |    :maxdepth: 2    |    :maxdepth: 2    |
-   |                    |                    |                    |
-   |    APItypes        |    APIfunctions    |    APIglobals      |
-   |                    |                    |                    |
-   +--------------------+--------------------+--------------------+
diff --git a/doc/Makefile b/doc/Makefile
deleted file mode 100644
index fd1f1b72..00000000
--- a/doc/Makefile
+++ /dev/null
@@ -1,19 +0,0 @@
-# Minimal makefile for Sphinx documentation
-
-.DEFAULT_GOAL := help
-
-# You can set these variables from the command line.
-SPHINXOPTS    =
-SPHINXBUILD   = sphinx-build
-SOURCEDIR     = .
-BUILDDIR      = _build
-
-.PHONY: help
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-.PHONY: Makefile
-%: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/doc/OpenUSD/building.rst b/doc/OpenUSD/building.rst
deleted file mode 100644
index 21b50aee..00000000
--- a/doc/OpenUSD/building.rst
+++ /dev/null
@@ -1,63 +0,0 @@
-Building
-========
-
-.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
-
-MuJoCo must be built against a pre-built USD library, we provide a utility to do so but you may also bring your own USD
-libraries.
-
-The following instructions assume that you have cloned MuJoCo into ``~/mujoco`` and have a build directory at
-``~/mujoco/build``.
-
-.. _usdBuildingUSD:
-
-Building USD
-------------
-
-If you have a pre-built USD library, you can skip this section.
-
-MuJoCo provides a CMake project that simplifies the process of building USD. It will download and build USD with only
-the necessary features enabled.
-
-.. code-block:: bash
-
-   cd ~/mujoco
-   cmake -Bcmake/third_party_deps/openusd/build cmake/third_party_deps/openusd
-   cmake --build cmake/third_party_deps/openusd/build
-
-If you want to customize the build process, you can use USD's ``build_usd.py`` script. It's recommended to use a
-separate installation directory that exists outside of the cloned repository directory.
-
-.. code-block:: bash
-
-   git clone https://github.com/PixarAnimationStudios/OpenUSD
-   python OpenUSD/build_scripts/build_usd.py /path/to/my_usd_install_dir
-
-.. _usdEnablingUSD:
-
-Enabling USD
-------------
-
-If USD was built with the third_party_deps/openusd CMake project, you can enable USD support with the MUJOCO_WITH_USD
-flag.
-
-.. code-block:: bash
-
-   cd ~/mujoco
-   cmake -Bbuild -S. -DMUJOCO_WITH_USD=True
-   cmake --build build -j 64
-
-Otherwise, if you have a pre-built USD library, you must also pass the pxr_DIR flag.
-
-.. code-block:: bash
-
-   cd ~/mujoco
-   cmake -Bbuild -S. -DMUJOCO_WITH_USD=True -Dpxr_DIR=/path/to/my_usd_install_dir
-   cmake --build build -j 64
-
-
-If we now run :ref:`simulate.cc <saSimulate>`, we will be able to drag and drop USD files.
-
-.. code-block:: bash
-
-   simulate
diff --git a/doc/OpenUSD/exporting.rst b/doc/OpenUSD/exporting.rst
deleted file mode 100644
index 6dbf17c8..00000000
--- a/doc/OpenUSD/exporting.rst
+++ /dev/null
@@ -1,26 +0,0 @@
-Exporting
-=========
-
-.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
-
-Currently, exporting MuJoCo scenes to OpenUSD format is an area of active development. The primary method for exporting
-is expected to be through the Python API.
-
-USDExporter
------------
-
-At the moment the only way to export USD from MuJoCo is to use the existing USDExporter in :doc:`../python`.
-
-We are working on native support for writing simulations as animations to existing USD scenes, please check back here
-for updates.
-
-mujoco-usd-converter
---------------------
-
-To convert existing MJCF assets to USD following strong authoring guidelines we recommend the `Newton
-mujoco-usd-converter <https://github.com/newton-physics/mujoco-usd-converter>`__. These assets will have no reference to
-the original MJCF assets but will use the :doc:`mjcPhysics <mjcPhysics>` schemas to enable faithful representation of
-the source assets.
-
-When opened, these assets should be similar to the ones generated by the :doc:`MJCF file format plugin
-<mjcf_file_format_plugin>`, but there will not be any runtime overhead from converting MJCF to USD.
diff --git a/doc/OpenUSD/importing.rst b/doc/OpenUSD/importing.rst
deleted file mode 100644
index a0111088..00000000
--- a/doc/OpenUSD/importing.rst
+++ /dev/null
@@ -1,29 +0,0 @@
-Importing
-=========
-
-.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
-
-MuJoCo can load assets from OpenUSD files (``.usd``, ``.usda``, ``.usdc``, ``.usdz``). This allows you to incorporate
-assets and scenes defined in USD into your MuJoCo simulations.
-
-USD in MJCF
------------------------------
-
-If you have built mujoco with USD enabled, you can reference USD assets from MJCF via the ``<model`` tag with content
-type ``text/usd``.
-
-.. code-block:: xml
-    :caption: example.xml
-
-    <mujoco>
-      <asset>
-        <model file="chair.usdz" name="chair" content_type="text/usd"/>
-      </asset>
-
-      <worldbody>
-        ...
-      </worldbody>
-    </mujoco>
-
-In this example the ``<model file="chair.usdz"/>`` line in ``<asset>`` tells MuJoCo to load and process the USD file.
-
diff --git a/doc/OpenUSD/index.rst b/doc/OpenUSD/index.rst
deleted file mode 100644
index 675bbf6b..00000000
--- a/doc/OpenUSD/index.rst
+++ /dev/null
@@ -1,63 +0,0 @@
-OpenUSD
-===========
-
-.. toctree::
-    :hidden:
-
-    building
-    mjcPhysics
-    mjcf_file_format_plugin
-    importing
-    exporting
-
-.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
-
-Introduction
-------------
-
-This chapter describes MuJoCo's support for `OpenUSD <https://openusd.org/release/intro.html>`__. USD (Universal Scene
-Description) is an open-source framework developed by Pixar for describing 3D scenes. MuJoCo's integration allows users
-to leverage USD's rich ecosystem and tooling.
-
-What is OpenUSD?
-----------------
-
-USD is a high-performance, extensible system for describing, composing, simulating, and collaborating on 3D data.
-Originally developed by Pixar Animation Studios, USD is now used across various industries, including visual effects,
-animation, gaming, and robotics, to streamline complex 3D workflows. It provides a common language for different
-software applications to exchange 3D scene information.
-
-Why do we care about OpenUSD?
------------------------------
-
-Integrating USD with MuJoCo offers several advantages:
-
-*   **Interoperability:** USD is supported by a wide range of 3D content creation tools (e.g., Houdini, Maya, Blender).
-    This allows MuJoCo users to easily import scenes and assets created in these tools.
-*   **Rich Scene Description:** USD provides a powerful and flexible way to represent complex scenes, including
-    geometry, materials, lighting, and hierarchies.
-*   **Collaboration:** USD's layering and composition features enable powerful and efficient
-    non-destructive authoring pipelines.
-
-USD support overview
-------------------------------------------------------
-
-*   **Import:** You can load USD assets (specifically ``.usd``, ``.usda``, ``.usdc``, ``.usdz`` files) into MuJoCo via
-    MJCF or dragging and dropping into :ref:`simulate.cc <saSimulate>`.
-*   **Schemas:** MuJoCo primarily uses the standard `UsdPhysics
-    <https://openusd.org/dev/api/usd_physics_page_front.html>`__ schemas for representing physics properties.
-*   **Extensions:** Custom :doc:`mjcPhysics` schemas are provided to cover MuJoCo-specific features not available in
-    ``UsdPhysics``.
-*   **MJCF File Format Plugin:** A :doc:`mjcf_file_format_plugin` allows treating MJCF files as USD layers in any native USD
-    application.
-*   **Export:** MuJoCo scenes can be exported to USD.
-
-Where do I learn more about USD?
-------------------------------------------
-
-*   `Remedy's Book of USD <https://remedy-entertainment.github.io/USDBook>`__: Friendly introduction to USD.
-*   `Official OpenUSD Documentation <https://openusd.org/release/intro.html>`__: Official documentation for API and
-    implementation details.
-*   `Pixar's USD Introduction <https://graphics.pixar.com/usd/release/index.html>`__: Simple example usage of USD.
-*   `NVIDIA's USD Resources <https://developer.nvidia.com/usd>`__: Set of USD resources primarily concerned with asset
-    structure.
diff --git a/doc/OpenUSD/mjcPhysics.rst b/doc/OpenUSD/mjcPhysics.rst
deleted file mode 100644
index 454eb6b0..00000000
--- a/doc/OpenUSD/mjcPhysics.rst
+++ /dev/null
@@ -1,107 +0,0 @@
-mjcPhysics
-==========
-
-.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
-
-The ``mjcPhysics`` `schema <https://openusd.org/release/api/_usd__page__generating_schemas.html>`__ allows for detailed
-specification of a MuJoCo simulation environment directly within a USD file. The aim is not to replace `UsdPhysics
-<https://openusd.org/release/api/usd_physics_page_front.html>`__, but to extend existing concepts and create new types
-only where is necessary.
-
-The schema can be use `codeless <https://openusd.org/dev/api/_usd__page__generating_schemas.html#Codeless_Schemas>`__,
-or can be built with its C++ bindings. We've pre-generated `the code
-<https://github.com/google-deepmind/mujoco/tree/main/src/experimental/usd/mjcPhysics>`__ via `usdGenSchema
-<https://openusd.org/dev/api/_usd__page__generating_schemas.html>`_ for internal MuJoCo usage, but it should also work
-outside of MuJoCo.
-
-API Schemas
------------
-
-MjcSceneAPI
-^^^^^^^^^^^
-
-This API schema provides global options for the MuJoCo simulation. It is an
-amalgamation of the ``<option>``, ``<option/flag>`` and ``<compiler>`` elements in
-MJCF. Users should apply this to an existing
-`UsdPhysicsScene <https://openusd.org/dev/api/class_usd_physics_scene.html>`__
-prim.
-
-Key attributes include:
-
--   **mjc:option**: Attributes in this namespace map to the ``<option>`` element.
--   **mjc:flag**: Attributes in this namespace map to the ``<option/flag>`` element.
--   **mjc:compiler**: Attributes in this namespace map to the ``<compiler>`` element.
-
-MjcSiteAPI
-^^^^^^^^^^
-
-This API class is used to define a MuJoCo site, it can be applied to
-`UsdGeomSphere <https://openusd.org/dev/api/class_usd_geom_sphere.html>`__,
-`UsdGeomCapsule <https://openusd.org/dev/api/class_usd_geom_capsule.html>`__,
-`UsdGeomCylinder <https://openusd.org/dev/api/class_usd_geom_cylinder.html>`__, and
-`UsdGeomCube <https://openusd.org/dev/api/class_usd_geom_cube.html>`__.
-
-MjcImageableAPI
-^^^^^^^^^^^^^^^
-
-This API class provides attributes for strictly visual entities in MuJoCo, in
-MuJoCo terms we would quantify these has having ``contype = conaffinity = 0``.
-
-MjcCollisionAPI
-^^^^^^^^^^^^^^^
-
-This API class is applied to prims that represent collision geometry and should
-be applied alongside
-`UsdPhysicsCollisionAPI <https://openusd.org/dev/api/class_usd_physics_collision_a_p_i.html>`__.
-
-MjcMeshCollisionAPI
-^^^^^^^^^^^^^^^^^^^
-
-This API class is applied to prims that represent mesh collision geometry and
-should be applied alongside
-`UsdPhysicsMeshCollisionAPI <https://openusd.org/dev/api/class_usd_physics_mesh_collision_a_p_i.html>`__.
-
-MjcJointAPI
-^^^^^^^^^^^
-
-This API class is applied to `UsdPhysicsJoint <https://openusd.org/dev/api/class_usd_physics_joint.html>`__ prims,
-adding extra attributes to fully describe MuJoCo joints.
-
-MjcMaterialAPI
-^^^^^^^^^^^^^^
-
-This API class provides attributes for physical materials and is an extension of `UsdPhysicsMaterialAPI
-<https://openusd.org/dev/api/class_usd_physics_material_a_p_i.html>`__
-
-Type Schemas
-------------
-
-MjcActuator
-^^^^^^^^^^^
-
-This class represents a MuJoCo actuator, which is responsible for applying force to a transmission target joint, body,
-or site specific via a `relationship <https://openusd.org/dev/api/class_usd_relationship.html>`__.
-
-We do not use the existing `UsdPhysicsDriveAPI <https://openusd.org/dev/api/class_usd_physics_drive_a_p_i.html>`__ as it
-is closer to a runtime construct and the concepts do not map very closely.
-
-MjcKeyframe
-^^^^^^^^^^^
-
-This type holds tensor values representing simulator state at specific time values.
-
-In MJCF this is the ``<keyframe>`` element and has a ``time`` attribute. In USD we map the time attribute to
-`timeSamples <https://openusd.org/release/tut_xforms.html>`__ instead.
-
-The order of the values in the keyframes should map to the depth first ordered traversal of rigidbodies in the composed
-stage.
-
-MjcTendon
-^^^^^^^^^
-
-This type represents both fixed and spatial tendons.
-
-In MJCF this is the ``<tendon>`` element. The tendon path is represented by the ordered list of targets in the
-``mjc:path`` relationship attribute. In MJCF we can specify attributes such as ``sidesite`` and ``divisor`` on
-path targets; but in USD we cannot attach data to relationship attributes as elegantly, so these become indexed
-array attributes such as ``mjc:sideSites`` and ``mjs:path:divisors``.
diff --git a/doc/OpenUSD/mjcf_file_format_plugin.rst b/doc/OpenUSD/mjcf_file_format_plugin.rst
deleted file mode 100644
index 1676a33d..00000000
--- a/doc/OpenUSD/mjcf_file_format_plugin.rst
+++ /dev/null
@@ -1,87 +0,0 @@
-File Format Plugin
-=========================
-
-What is an SdfFileFormat plugin?
---------------------------------
-
-In the OpenUSD framework, ``Sdf`` stands for Scene Description Foundations. It's the underlying layer that handles the
-serialization and composition of scene data. A ``SdfFileFormat`` plugin is a component that teaches USD how to read and
-write a specific file format.
-
-By default, USD comes with plugins for its own formats (``.usda``, ``.usdc``, ``.usdz``) and the community has created
-several plugin extension such as the `Adobe File Format Plugins
-<https://github.com/adobe/USD-Fileformat-plugins/tree/main>`__.
-
-The MJCF ``SdfFileFormat`` plugin allows USD-aware applications to directly understand and interact with MuJoCo's native
-``.xml`` (MJCF) files as if they were native USD files.
-
-What does it enable?
-------------------------
-
-This plugin enables:
-
-1.  **Referencing MJCF files in USD:** Using standard USD composition arcs (like references, payloads) to include an
-    MJCF file directly within a larger USD scene. For example, you can place a MuJoCo robot defined in an ``.xml`` file
-    into a room scene modeled in USD.
-2.  **Load MJCF files in USD tools:** Tools like ``usdview`` or other USD-based
-    applications can open, inspect, and render MJCF files, translating the MJCF elements into USD prims and attributes
-    on the fly.
-3.  **Convert MJCF to USD:** The plugin can be used as a basis for converting MJCF files to persistent
-    USD files (e.g., ``.usda`` or ``.usdc``).
-
-Essentially, it makes MJCF a first-class citizen in the USD ecosystem.
-
-Usage
-------------------
-
-1.  **Installation:** refer to :doc:`building`.
-
-2.  **Referencing in a USD file (e.g., ``.usda``):**
-
-    .. code-block:: usd
-        :caption: example.usda
-
-        #usda 1.0
-        (
-            upAxis = "Z"
-        )
-
-        def Xform "world"
-        {
-            def "robot" (
-                prepend references = @./my_robot.xml@
-            )
-            {
-            }
-        }
-
-    In this example, ``my_robot.xml`` is an MJCF file in the same directory. USD will use the plugin to load and
-    interpret its contents.
-
-3.  **Opening in usdview:**
-
-    .. code-block:: bash
-
-       usdview my_robot.xml
-
-    If the plugin is correctly set up, ``usdview`` will render the robot defined in the MJCF file.
-
-4.  **Using in Python (with USD API):**
-
-    .. code-block:: python
-
-        from pxr import Usd
-
-        # Load an MJCF file as a USD stage
-        stage = Usd.Stage.Open('my_robot.xml')
-
-        if stage:
-            print(f"Successfully opened {stage.GetRootLayer().identifier}")
-            # You can now inspect the stage as any other USD stage
-            for prim in stage.TraverseAll():
-                print(prim.GetPath())
-        else:
-            print("Failed to open MJCF file")
-
-    This plugin significantly enhances the interoperability between MuJoCo and USD-based workflows, allowing
-    seamless integration of physics assets defined in MJCF into broader 3D environments.
diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
deleted file mode 100644
index 56ecda56..00000000
--- a/doc/XMLreference.rst
+++ /dev/null
@@ -1,10859 +0,0 @@
-=============
-XML Reference
-=============
-
-Introduction
-------------
-
-This chapter is the reference manual for the MJCF modeling language used in MuJoCo.
-
-
-.. _CSchema:
-
-XML schema
-~~~~~~~~~~
-
-The dropdown below summarizes the XML elements and their attributes in MJCF. All information in MJCF is entered through
-elements and attributes. Text content in elements is not used; if present, the parser ignores it.
-
-.. only:: html
-
-   The icons to the right of each element name have the following meaning:
-
-   .. list-table::
-      :widths: 6 94
-
-      * - |!|
-        - required element, can appear only once
-      * - |@|
-        - optional element, can appear multiple times recursively
-      * - |?|
-        - optional element, can appear only once
-      * - |*|
-        - optional element, can appear multiple times (default case, no icon)
-
-   |br|
-
-   .. container:: schema-small
-
-      .. include:: XMLschema.rst
-
-.. only:: latex
-
-   .. note::
-      The XML schema table is only available in the HTML version of this documentation.
-
-
-.. _CType:
-
-Attribute types
-~~~~~~~~~~~~~~~
-
-| Each attribute has a data type enforced by the parser. The available data types are:
-
-========= ==============================================================================================
-string    An arbitrary string, usually specifying a file name or a user-defined name of a model element.
-int(N)    An array of N integers. If N is omitted it equals 1.
-real(N)   An array of N real-valued numbers. If N is omitted it equals 1.
-[...]     Keyword attribute. The list of valid keywords is given in brackets.
-========= ==============================================================================================
-
-|
-| For array-type attributes, the length of the array is enforced by the parser unless specified otherwise in the
-  reference documentation below.
-| In addition to having a data type, attributes can be required or optional. Optional attributes can have internal
-  defaults or not. Optional attributes that do not have internal defaults are initialized in a special undefined state.
-  This state is different from any valid setting that can be entered in the XML. This mechanism enables the compiler to
-  determine if the attribute has been "touched" by the user, either explicitly or through defaults, and take
-  appropriate action. Some attributes have internal defaults (usually 0) which are not actually allowed by the
-  compiler. When such attributes become relevant in a given context, they must be set to allowed values.
-
-+-------------+--------------------------------------------------------------------------------------------------+
-| required    | The attribute is required by the parser. If it is not present the parser will generate an error. |
-+-------------+--------------------------------------------------------------------------------------------------+
-| optional    | The attribute is optional. There is no internal default. The attribute is initialized in the     |
-|             | undefined state.                                                                                 |
-+-------------+--------------------------------------------------------------------------------------------------+
-| "..."       | The attribute is optional. The internal default is given in quotes.                              |
-+-------------+--------------------------------------------------------------------------------------------------+
-
-
-In the reference documentation below the attribute name is shown in boldface, followed by its data type, followed by the
-required/optional status including the internal default if any. For example, the attribute angle is a keyword attribute
-whose value can be "radian" or "degree". It is an optional attribute and has internal default "degree". Therefore it
-will appear in the reference documentation as
-
-:at:`angle`: :at-val:`[radian, degree], "degree"`
-   .. raw:: html
-
-      <p style="display: none"></p>
-
-
-.. _Reference:
-
-MJCF Reference
---------------
-
-MJCF files have a unique top-level element :ref:`mujoco <mujoco>`. The next-level elements are referred to as
-*sections*. They are all optional. Some sections are merely used for grouping and have no attributes. Sections can be
-repeated, to facilitate merging of models via the :ref:`include <include>` element. The *order* of attributes within an
-element can be arbitrary. The order of child elements within a parent element can also be arbitrary, with four
-exceptions:
-
--  The order of :ref:`joint <body-joint>` elements within a :ref:`body <body>` matters because joint transformations are
-   performed in sequence.
--  The order of elements in a :ref:`spatial <tendon-spatial>` tendon matters because it determines the sequence of
-   objects that the tendon passes through or wraps around.
--  The order of repeated sections matters when the same attribute is set multiple times to different values. In that
-   case the last setting takes effect for the entire model.
--  The order of multiple actuator shortcuts in the same defaults class matters, because each shortcut sets the
-   attributes of the single :ref:`general <actuator-general>` element in that defaults class, overriding the previous
-   settings.
-
-In the remainder of this chapter we describe all valid MJCF elements and their attributes. Some elements can be used in
-multiple contexts, in which case their meaning depends on the parent element. This is why we always show the parent as a
-prefix in the documentation below.
-
-.. _meta-element:
-
-Meta elements
-~~~~~~~~~~~~~
-
-These elements are not strictly part of the low-level MJCF format definition, but rather instruct the compiler to
-perform some operation on the model. A general property of meta-elements is that they disappear from the model upon
-saving the XML. There are currently six meta-elements in MJCF:
-
-- :ref:`include<include>`, :ref:`frame<frame>`, and :ref:`replicate<replicate>` which are outside of the schema.
-- :ref:`composite<body-composite>`, :ref:`flexcomp<body-flexcomp>` and :ref:`attach<body-attach>` which are part of the
-  schema, but serve to procedurally generate other MJCF elements.
-
-.. _frame:
-
-**frame** |@|
-^^^^^^^^^^^^^
-
-The frame meta-element is a pure coordinate transformation that can wrap any group of elements in the kinematic tree
-(under :ref:`worldbody<body>`). After compilation, frame elements disappear and their transformation is accumulated
-in their direct children. The attributes of the frame meta-element are documented :ref:`below<body-frame>`.
-
-.. collapse:: Usage example of frame
-
-   Loading this model and saving it:
-
-   .. code-block:: xml
-
-      <mujoco>
-        <worldbody>
-          <frame quat="0 0 1 0">
-             <geom name="Alice" quat="0 1 0 0" size="1"/>
-          </frame>
-
-          <frame pos="0 1 0">
-            <geom name="Bob" pos="0 1 0" size="1"/>
-            <body name="Carl" pos="1 0 0">
-              ...
-            </body>
-          </frame>
-        </worldbody>
-      </mujoco>
-
-   Results in this model:
-
-   .. code-block:: xml
-
-      <mujoco>
-        <worldbody>
-          <geom name="Alice" quat="0 0 0 1" size="1"/>
-          <geom name="Bob" pos="0 2 0" size="1"/>
-          <body name="Carl" pos="1 1 0">
-            ...
-          </body>
-        </worldbody>
-      </mujoco>
-
-   Note that in the saved model, the frame elements have disappeared but their transformation was accumulated with those
-   of their child elements.
-
-.. _replicate:
-
-**replicate** |@|
-^^^^^^^^^^^^^^^^^
-
-The replicate element duplicates the enclosed kinematic tree elements with incremental translational and rotational
-offsets, adding namespace suffixes to avoid name collisions. Appended suffix strings are integers in the
-range ``[0...count-1]`` with the minimum number of digits required to represent the total element count (i.e., if
-replicating 200 times, suffixes will be ``000, 001, ...`` etc). All referencing elements are automatically replicated
-and namespaced appropriately. Detailed examples of models using replicate can be found in the
-`model/replicate/ <https://github.com/google-deepmind/mujoco/tree/main/model/replicate>`__ directory.
-
-There are some caveats concerning :ref:`keyframes<keyframe>` when using replicate. Since :ref:`mjs_attach` is used to
-self-attach multiple times the enclosed kinematic tree, if this tree contains further :ref:`attach<body-attach>`
-elements, keyframes will not be replicated nor namespaced by :ref:`replicate<replicate>`, but they will be attached and
-namespaced once by the innermost call of :ref:`mjs_attach`. See the limitations discussed in
-:ref:`attachment<meAttachment>`.
-
-.. _replicate-count:
-
-:at:`count`: :at-val:`int, required`
-   The number of replicas. Must be positive.
-
-.. _replicate-sep:
-
-:at:`sep`: :at-val:`string, optional`
-   The namespace separator. This optional string is prepended to the namespace suffix string. Note that for nested
-   replicate elements, the innermost namespace suffixes are appended first.
-
-.. _replicate-offset:
-
-:at:`offset`: :at-val:`real(3), optional`
-   Translational offset along the three coordinate axes. In general, the frame of the offset is with respect to the
-   previous replica, except for the first one which is with respect to the replicate element's parent.
-   If there is no rotation, these values are always in the frame of the replicate element's parent.
-
-.. _replicate-euler:
-
-:at:`euler`: :at-val:`real(3), optional`
-   Rotation angles around three coordinate axes between two subsequent replicas. The angular units and rotation sequence
-   respect the global :ref:`angle<compiler-angle>` and :ref:`eulerseq<compiler-eulerseq>` settings. Rotation is always
-   with respect to the frame of the previous replica, so total rotation is cumulative.
-
-.. collapse:: Usage example of replicate
-
-   Loading this model and saving it:
-
-   .. code-block:: xml
-
-      <mujoco>
-        <worldbody>
-          <replicate count="2" offset="0 1 0" euler="90 0 0">
-            <replicate count="2" sep="-" offset="1 0 0" euler="0 90 0">
-              <geom name="Alice" size=".1"/>
-            </replicate>
-          </replicate>
-        </worldbody>
-
-        <sensor>
-          <accelerometer name="Bob" site="Alice"/>
-        </sensor>
-      </mujoco>
-
-   Results in this model:
-
-   .. code-block:: xml
-
-      <mujoco>
-        <worldbody>
-          <geom name="Alice-00" size="0.1"/>
-          <geom name="Alice-10" size="0.1" pos="1 0 0" quat="1 0 1 0"/>
-          <geom name="Alice-01" size="0.1" pos="0 1 0" quat="1 1 0 0"/>
-          <geom name="Alice-11" size="0.1" pos="1 1 0" quat="0.5 0.5 0.5 0.5"/>
-        </worldbody>
-
-        <sensor>
-          <accelerometer name="Bob-00" site="Alice-00"/>
-          <accelerometer name="Bob-10" site="Alice-10"/>
-          <accelerometer name="Bob-01" site="Alice-01"/>
-          <accelerometer name="Bob-11" site="Alice-11"/>
-        </sensor>
-      </mujoco>
-
-.. _include:
-
-**include** |*|
-^^^^^^^^^^^^^^^
-
-This element does not strictly belong to MJCF. Instead it is a meta-element, used to assemble multiple XML
-files in a single document object model (DOM) before parsing. The included file must be a valid XML file with a unique
-top-level element. This top-level element is removed by the parser, and the elements below it are inserted at the
-location of the :el:`include` element. At least one element must be inserted as a result of this procedure. The
-:el:`include` element can be used wherever an XML element is expected in the MJCF file. Nested includes are allowed,
-however a given XML file can be included at most once in the entire model. After all the included XML files have been
-assembled into a single DOM, it must correspond to a valid MJCF model. Other than that, it is up to the user to decide
-how to use includes and how to modularize large files if desired.
-
-:at:`file`: :at-val:`string, required`
-   The name of the XML file to be included. The file location is relative to the directory of the main MJCF file. If the
-   file is not in the same directory, it should be prefixed with a relative path.
-
-.. admonition:: Prefer attach to include
-   :class: note
-
-   While some use cases for :ref:`include<include>` remain valid, it is recommended to use the
-   :ref:`attach<body-attach>` element instead, where applicable.
-
-
-.. _mujoco:
-
-**mujoco** |!|
-~~~~~~~~~~~~~~
-
-The unique top-level element, identifying the XML file as an MJCF model file.
-
-.. _mujoco-model:
-
-:at:`model`: :at-val:`string, "MuJoCo Model"`
-   The name of the model. This name is shown in the title bar of :ref:`simulate.cc <saSimulate>`.
-
-
-
-.. _option:
-
-**option** |*|
-~~~~~~~~~~~~~~
-
-This element is in one-to-one correspondence with the low level structure mjOption contained in the field mjModel.opt of
-mjModel. These are simulation options and do not affect the compilation process in any way; they are simply copied into
-the low level model. Even though mjOption can be modified by the user at runtime, it is nevertheless a good idea to
-adjust it properly through the XML.
-
-.. _option-timestep:
-
-:at:`timestep`: :at-val:`real, "0.002"`
-   Simulation time step in seconds. This is the single most important parameter affecting the speed-accuracy trade-off
-   which is inherent in every physics simulation. Smaller values result in better accuracy and stability. To achieve
-   real-time performance, the time step must be larger than the CPU time per step (or 4 times larger when using the RK4
-   integrator). The CPU time is measured with internal timers. It should be monitored when adjusting the time step.
-   MuJoCo can simulate most robotic systems a lot faster than real-time, however models with many floating objects
-   (resulting in many contacts) are more demanding computationally. Keep in mind that stability is determined not only
-   by the time step but also by the :ref:`CSolver`; in particular softer constraints can be simulated with larger time
-   steps. When fine-tuning a challenging model, it is recommended to experiment with both settings jointly. In
-   optimization-related applications, real-time is no longer good enough and instead it is desirable to run the
-   simulation as fast as possible. In that case the time step should be made as large as possible.
-
-.. _option-impratio:
-
-:at:`impratio`: :at-val:`real, "1"`
-   This attribute determines the ratio of frictional-to-normal constraint impedance for elliptic friction cones. The
-   setting of solimp determines a single impedance value for all contact dimensions, which is then modulated by this
-   attribute. Settings larger than 1 cause friction forces to be "harder" than normal forces, having the general effect
-   of preventing slip, without increasing the actual friction coefficient. For pyramidal friction cones the situation is
-   more complex because the pyramidal approximation mixes normal and frictional dimensions within each basis vector; it
-   is not recommended to use high impratio values with pyramidal cones.
-
-.. _option-gravity:
-
-:at:`gravity`: :at-val:`real(3), "0 0 -9.81"`
-   Gravitational acceleration vector. In the default world orientation the Z-axis points up. The MuJoCo GUI is organized
-   around this convention (both the camera and perturbation commands are based on it) so we do not recommend deviating
-   from it.
-
-.. _option-wind:
-
-:at:`wind`: :at-val:`real(3), "0 0 0"`
-   Velocity vector of the medium (i.e., wind). This vector is subtracted from the 3D translational velocity of each
-   body, and the result is used to compute viscous, lift and drag forces acting on the body; recall :ref:`Passive forces
-   <gePassive>` in the Computation chapter. The magnitude of these forces scales with the values of the next two
-   attributes.
-
-
-.. _option-magnetic:
-
-:at:`magnetic`: :at-val:`real(3), "0 -0.5 0"`
-   Global magnetic flux. This vector is used by magnetometer sensors, which are defined as sites and return the magnetic
-   flux at the site position expressed in the site frame.
-
-.. _option-density:
-
-:at:`density`: :at-val:`real, "0"`
-   Density of the medium, not to be confused with the geom density used to infer masses and inertias. This parameter is
-   used to simulate lift and drag forces, which scale quadratically with velocity. In SI units the density of air is
-   around 1.2 while the density of water is around 1000 depending on temperature. Setting density to 0 disables lift and
-   drag forces.
-
-.. _option-viscosity:
-
-:at:`viscosity`: :at-val:`real, "0"`
-   Viscosity of the medium. This parameter is used to simulate viscous forces, which scale linearly with velocity. In SI
-   units the viscosity of air is around 0.00002 while the viscosity of water is around 0.0009 depending on temperature.
-   Setting viscosity to 0 disables viscous forces. Note that the default Euler :ref:`integrator <geIntegration>` handles
-   damping in the joints implicitly – which improves stability and accuracy. It does not presently do this with body
-   viscosity. Therefore, if the goal is merely to create a damped simulation (as opposed to modeling the specific
-   effects of viscosity), we recommend using joint damping rather than body viscosity, or switching to the
-   :at:`implicit` or :at:`implicitfast` integrators.
-
-.. _option-o_margin:
-
-:at:`o_margin`: :at-val:`real, "0"`
-   This attribute replaces the margin parameter of all active contact pairs when :ref:`Contact override <COverride>` is
-   enabled. Otherwise MuJoCo uses the element-specific margin attribute of :ref:`geom<body-geom>` or
-   :ref:`pair<contact-pair>` depending on how the contact pair was generated. See :ref:`margin and gap<coMarginGap>` in
-   the Computation chapter. The related gap parameter does not have a global override.
-
-.. _option-o_solref:
-.. _option-o_solimp:
-.. _option-o_friction:
-
-:at:`o_solref`, :at:`o_solimp`, :at:`o_friction`
-   These attributes replace the solref, solimp and friction parameters of all active contact pairs when contact override is
-   enabled. See :ref:`CSolver` for details.
-
-.. _option-integrator:
-
-:at:`integrator`: :at-val:`[Euler, RK4, implicit, implicitfast], "Euler"`
-   This attribute selects the numerical :ref:`integrator <geIntegration>` to be used. Currently the available
-   integrators are the semi-implicit Euler method, the fixed-step 4-th order Runge Kutta method, the
-   Implicit-in-velocity Euler method, and :at:`implicitfast`, which drops the Coriolis and centrifugal terms. See
-   :ref:`Numerical Integration<geIntegration>` for more details.
-
-.. _option-cone:
-
-:at:`cone`: :at-val:`[pyramidal, elliptic], "pyramidal"`
-   The type of contact friction cone. Elliptic cones are a better model of the physical reality, but pyramidal cones
-   sometimes make the solver faster and more robust.
-
-.. _option-jacobian:
-
-:at:`jacobian`: :at-val:`[dense, sparse, auto], "auto"`
-   The type of constraint Jacobian and matrices computed from it. Auto resolves to dense when the number of degrees of
-   freedom is up to 60, and sparse over 60.
-
-.. _option-solver:
-
-:at:`solver`: :at-val:`[PGS, CG, Newton], "Newton"`
-   This attribute selects one of the constraint solver :ref:`algorithms <soAlgorithms>` described in the Computation
-   chapter. Guidelines for solver selection and parameter tuning are available in the :ref:`Algorithms <CAlgorithms>`
-   section above.
-
-.. _option-iterations:
-
-:at:`iterations`: :at-val:`int, "100"`
-   Maximum number of iterations of the constraint solver. When the warmstart attribute of :ref:`flag <option-flag>` is
-   enabled (which is the default), accurate results are obtained with fewer iterations; if the warmstarted solution
-   already satisfies the tolerance, the CG and Newton solvers terminate with zero iterations. Larger and more complex
-   systems with many interacting constraints require more iterations. Note that mjData.solver contains statistics about
-   solver convergence, also shown in the profiler.
-
-.. _option-tolerance:
-
-:at:`tolerance`: :at-val:`real, "1e-8"`
-   Tolerance threshold used for early termination of the iterative solver. For PGS, the threshold is applied to the cost
-   improvement between two iterations. For CG and Newton, it is applied to the smaller of the cost improvement and the
-   gradient norm. For Newton, it is additionally applied to the Newton decrement :math:`\tfrac{1}{2} g^T H^{-1} g`, the
-   predicted cost improvement of the next iteration. Before the first iteration, CG and Newton also apply it to a
-   :ref:`convergence certificate<soAlgorithms>` of the warmstarted solution, possibly terminating with zero iterations.
-   Set the tolerance to 0 to disable early termination.
-
-.. _option-ls_iterations:
-
-:at:`ls_iterations`: :at-val:`int, "50"`
-   Maximum number of linesearch iterations performed by CG/Newton constraint solvers. Ensures that at most
-   :ref:`iterations<option-iterations>` times :ref:`ls_iterations<option-ls_iterations>` linesearch iterations are
-   performed during each constraint solve.
-
-.. _option-ls_tolerance:
-
-:at:`ls_tolerance`: :at-val:`real, "0.01"`
-   Tolerance threshold used for early termination of the linesearch algorithm.
-
-.. _option-noslip_iterations:
-
-:at:`noslip_iterations`: :at-val:`int, "0"`
-   Maximum number of iterations of the Noslip solver. This is a post-processing step executed after the main solver. It
-   uses a modified PGS method to suppress slip/drift in friction dimensions resulting from the soft-constraint model.
-   The default setting 0 disables this post-processing step.
-
-.. _option-noslip_tolerance:
-
-:at:`noslip_tolerance`: :at-val:`real, "1e-6"`
-   Tolerance threshold used for early termination of the Noslip solver.
-
-.. _option-ccd_iterations:
-
-:at:`ccd_iterations`: :at-val:`int, "50"`
-   Maximum number of iterations of the algorithm used for convex collisions. This rarely needs to be adjusted,
-   except in situations where some geoms have very large aspect ratios.
-
-.. _option-ccd_tolerance:
-
-:at:`ccd_tolerance`: :at-val:`real, "1e-6"`
-   Tolerance threshold used for early termination of the convex collision algorithm.
-
-.. _option-sleep_tolerance:
-
-:at:`sleep_tolerance`: :at-val:`real, "1e-3"`
-   Velocity tolerance below which :ref:`sleeping<Sleeping>` is allowed.
-
-.. _option-sdf_iterations:
-
-:at:`sdf_iterations`: :at-val:`int, "10"`
-   Number of iterations used for Signed Distance Field collisions (per initial point).
-
-.. _option-sdf_initpoints:
-
-:at:`sdf_initpoints`: :at-val:`int, "40"`
-   Number of starting points used for finding contacts with Signed Distance Field collisions.
-
-.. youtube:: H9qG9Zf2W44
-   :align: right
-   :width: 240px
-
-.. _option-actuatorgroupdisable:
-
-:at:`actuatorgroupdisable`: :at-val:`int(31), optional`
-   List of actuator groups to disable. Actuators whose :ref:`group<actuator-general-group>` is in this list will produce
-   no force. If they are stateful, their activation states will not be integrated. Internally this list is
-   implemented as an integer bitfield, so values must be in the range ``0 <= group <= 30``. If not set, all actuator
-   groups are enabled. See `example model
-   <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/actuator_group_disable.xml>`__
-   and associated screen-capture on the right.
-
-.. _option-flag:
-
-:el-prefix:`option/` |-| **flag** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element sets the flags that enable and disable different parts of the simulation pipeline. The actual flags used at
-runtime are represented as the bits of two integers, namely mjModel.opt.disableflags and mjModel.opt.enableflags, used
-to disable standard features and enable optional features respectively. The reason for this separation is that setting
-both integers to 0 restores the default. In the XML we do not make this separation explicit, except for the default
-attribute values - which are "enable" for flags corresponding to standard features, and "disable" for flags
-corresponding to optional features. In the documentation below, we explain what happens when the setting is different
-from its default.
-
-.. _option-flag-constraint:
-
-:at:`constraint`: :at-val:`[disable, enable], "enable"`
-   This flag disables all standard computations related to the constraint solver. As a result, no constraint forces are
-   applied. Note that the next four flags disable the computations related to a specific type of constraint. Both this
-   flag and the type-specific flag must be set to "enable" for a given computation to be performed.
-
-.. _option-flag-equality:
-
-:at:`equality`: :at-val:`[disable, enable], "enable"`
-   This flag disables all standard computations related to equality constraints.
-
-.. _option-flag-frictionloss:
-
-:at:`frictionloss`: :at-val:`[disable, enable], "enable"`
-   This flag disables all standard computations related to friction loss constraints.
-
-.. _option-flag-limit:
-
-:at:`limit`: :at-val:`[disable, enable], "enable"`
-   This flag disables all standard computations related to joint and tendon limit constraints.
-
-.. _option-flag-contact:
-
-:at:`contact`: :at-val:`[disable, enable], "enable"`
-   This flag disables collision detection and all standard computations related to contact constraints.
-
-.. _option-flag-spring:
-
-:at:`spring`: :at-val:`[disable, enable], "enable"`
-   This flag disables passive joint and tendon springs. If passive :ref:`damper <option-flag-damper>` forces are
-   also disabled, **all** passive forces are disabled, including gravity compensation, fluid forces, forces computed by
-   the :ref:`mjcb_passive` callback, and forces computed by :ref:`plugins <exPlugin>` when passed the
-   :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
-
-.. _option-flag-damper:
-
-:at:`damper`: :at-val:`[disable, enable], "enable"`
-   This flag disables passive joint and tendon dampers. If passive :ref:`spring <option-flag-spring>` forces are also
-   disabled, **all** passive forces are disabled, including gravity compensation, fluid forces, forces computed by the
-   :ref:`mjcb_passive` callback, and forces computed by :ref:`plugins <exPlugin>` when passed the
-   :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
-
-.. _option-flag-gravity:
-
-:at:`gravity`: :at-val:`[disable, enable], "enable"`
-   This flag causes the gravitational acceleration vector in mjOption to be replaced with (0 0 0) at runtime, without
-   changing the value in mjOption. Once the flag is re-enabled, the value in mjOption is used.
-
-.. _option-flag-clampctrl:
-
-:at:`clampctrl`: :at-val:`[disable, enable], "enable"`
-   This flag disables the clamping of control inputs to all actuators, even if the actuator-specific attributes are set
-   to enable clamping.
-
-.. _option-flag-warmstart:
-
-:at:`warmstart`: :at-val:`[disable, enable], "enable"`
-   This flag disables warm-starting of the constraint solver. By default the solver uses the solution (i.e., the
-   constraint force) from the previous time step to initialize the iterative optimization. This feature should be
-   disabled when evaluating the dynamics at a collection of states that do not form a trajectory - in which case warm
-   starts make no sense and are likely to slow down the solver.
-
-.. _option-flag-filterparent:
-
-:at:`filterparent`: :at-val:`[disable, enable], "enable"`
-   This flag disables the filtering of contact pairs where the two geoms belong to a parent and child body; recall
-   contact :ref:`selection <coSelection>` in the Computation chapter.
-
-.. _option-flag-actuation:
-
-:at:`actuation`: :at-val:`[disable, enable], "enable"`
-   This flag disables all standard computations related to actuator forces, including the actuator dynamics. As a
-   result, no actuator forces are applied to the simulation.
-
-.. _option-flag-refsafe:
-
-:at:`refsafe`: :at-val:`[disable, enable], "enable"`
-   This flag enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the
-   simulation timestep. Recall that solref[0] is the stiffness of the virtual spring-damper used for constraint
-   stabilization. If this setting is enabled, the solver uses max(solref[0], 2*timestep) in place of solref[0]
-   separately for each active constraint.
-
-.. _option-flag-sensor:
-
-:at:`sensor`: :at-val:`[disable, enable], "enable"`
-   This flag disables all computations related to sensors. When disabled, sensor values will remain constant, either
-   zeros if disabled at the start of simulation, or, if disabled at runtime, whatever value was last computed.
-
-.. _option-flag-midphase:
-
-:at:`midphase`: :at-val:`[disable, enable], "enable"`
-   This flag disables the mid-phase collision filtering using a static AABB bounding volume hierarchy (a BVH binary
-   tree). If disabled, all geoms pairs that are allowed to collide are checked for collisions.
-
-.. _option-flag-nativeccd:
-
-:at:`nativeccd`: :at-val:`[disable, enable], "enable"`
-   This flag enables the native convex collision detection pipeline instead of using the
-   `libccd library <https://github.com/danfis/libccd>`__, see :ref:`convex collisions<coCCD>` for more details.
-
-.. _option-flag-island:
-
-:at:`island`: :at-val:`[disable, enable], "enable"`
-   This flag enables discovery and construction of constraint islands: disjoint sets of constraints and
-   degrees-of-freedom that do not interact and can be solved independently. Islanding is not yet supported by the PGS
-   solver. See :ref:`soIsland` for more details. The :ref:`mjVIS_ISLAND <mjtVisFlag>` enables
-   `island visualization <https://youtu.be/Vc1tq0fFvQA>`__.
-
-.. _option-flag-eulerdamp:
-
-:at:`eulerdamp`: :at-val:`[disable, enable], "enable"`
-   This flag disables implicit integration with respect to joint damping in the Euler integrator. See the
-   :ref:`Numerical Integration<geIntegration>` section for more details.
-
-.. _option-flag-autoreset:
-
-:at:`autoreset`: :at-val:`[disable, enable], "enable"`
-   This flag disables the automatic resetting of the simulation state when numerical issues are detected.
-
-.. _option-flag-override:
-
-:at:`override`: :at-val:`[disable, enable], "disable"`
-   This flag enables the :ref:`Contact override <COverride>` mechanism.
-
-.. _option-flag-energy:
-
-:at:`energy`: :at-val:`[disable, enable], "disable"`
-   This flag enables the computation of potential and kinetic energy in ``mjData.energy[0, 1]`` respectively,
-   and displayed in the simulate GUI info overlay. Potential energy includes the gravitational component summed over
-   all bodies :math:`\sum_b m_b g h` and energy stored in passive springs in joints, tendons and flexes
-   :math:`\tfrac{1}{2} k x^2`, where :math:`x` is the displacement and :math:`k` is the spring constant. Kinetic
-   energy is given by :math:`\tfrac{1}{2} v^T M v`, where :math:`v` is the velocity and :math:`M` is the
-   mass matrix. Note that potential and kinetic energy in constraints is not accounted for.
-
-   The extra computation (also triggered by :ref:`potential<sensor-e_potential>` and
-   :ref:`kinetic<sensor-e_kinetic>` energy sensors) adds some CPU time but it is usually negligible. Monitoring energy
-   for a system that is supposed to be energy-conserving is one of the best ways to assess the accuracy of a complex
-   simulation.
-
-.. _option-flag-fwdinv:
-
-:at:`fwdinv`: :at-val:`[disable, enable], "disable"`
-   This flag enables the automatic comparison of forward and inverse dynamics. When enabled, the inverse dynamics is
-   invoked after mj_forward (or internally within mj_step) and the difference in applied forces is recorded in
-   mjData.solver_fwdinv[2]. The first value is the relative norm of the discrepancy in joint space, the next is in
-   constraint space.
-
-.. _option-flag-invdiscrete:
-
-:at:`invdiscrete`: :at-val:`[disable, enable], "disable"`
-   This flag enables discrete-time inverse dynamics with :ref:`mj_inverse` for all
-   :ref:`integrators<option-integrator>` other than ``RK4``. Recall from the
-   :ref:`numerical integration<geIntegration>` section that the one-step integrators (``Euler``, ``implicit`` and
-   ``implicitfast``), modify the mass matrix :math:`M \rightarrow M-hD`. This implies that finite-differenced
-   accelerations :math:`(v_{t+h} - v_t)/h` will not correspond to the continuous-time acceleration ``mjData.qacc``.
-   When this flag is enabled, :ref:`mj_inverse` will interpret ``qacc`` as having been computed from the difference of
-   two sequential velocities, and undo the above modification.
-
-
-.. _option-flag-multiccd:
-
-:at:`multiccd`: :at-val:`[disable, enable], "enable"`
-   This flag enables multiple-contact collision detection for geom pairs that use a general-purpose convex-convex
-   collider e.g., mesh-mesh collisions. This can be useful when the contacting geoms have a flat surface and the
-   single contact point generated by the convex-convex collider cannot accurately capture the surface contact, leading
-   to instabilities that typically manifest as sliding or wobbling. The implementation of this feature depends on the
-   selected convex collision pipeline, see :ref:`convex collisions<coCCD>` for more details.
-
-.. _option-flag-sleep:
-
-:at:`sleep`: :at-val:`[disable, enable], "disable"`
-   This flag enables :ref:`sleeping<Sleeping>`. Disabling this flag when some trees are sleeping will wake them.
-
-   .. admonition:: flag value at initialization time
-      :class: attention
-
-      Unlike any other :ref:`flag<option-flag>`, the :at:`sleep` flag has an effect during :ref:`mjData`
-      **initialization** (:ref:`mj_makeData` or :ref:`mj_resetData`). First, it must be set at initialization time in
-      order for the :ref:`sleep-init<body-sleep>` policy to take effect. Second, it must be set in order for static
-      quantities to be computed. See :ref:`implementation notes<siSleep>` for more details.
-
-.. _option-flag-diagexact:
-
-:at:`diagexact`: :at-val:`[disable, enable], "disable"`
-   This flag enables computation of the exact diagonal of the constraint-space inertia matrix :math:`A = J M^{-1} J^T`,
-   replacing the body-based approximation normally used. The exact diagonal is computed from the whitened Jacobian
-   :math:`Y = J M^{-1/2}` as :math:`A_{ii} = \|Y_i\|^2`. This provides a more accurate
-   :ref:`impedance<soParameters>` computation, which can improve solver quality for models with complex kinematic
-   coupling. See :ref:`Diagonal approximation <soExactDiag>` for details on the approximation errors that this flag
-   eliminates. The cost is one back-substitution with the Cholesky factor of the mass matrix per active constraint row;
-   if dual solvers are used (:ref:`PGS<option-solver>` or :ref:`NoSlip<option-noslip_iterations>`), the cost is
-   negligible since :math:`Y` is computed anyway. Consider enabling this flag when observing divergence or poor
-   constraint quality, particularly in models with highly anisotropic body inertias or bodies operating far from the
-   initial configuration ``qpos0``.
-
-.. _compiler:
-
-**compiler** |*|
-~~~~~~~~~~~~~~~~
-
-This element is used to set options for the built-in parser and compiler. After parsing and compilation it no longer
-has any effect. The settings here are global and apply to the entire model.
-
-.. _compiler-autolimits:
-
-:at:`autolimits`: :at-val:`[false, true], "true"`
-   This attribute affects the behavior of attributes such as "limited" (on <body-joint> or <tendon>), "forcelimited",
-   "ctrllimited", and "actlimited" (on <actuator>). If "true", these attributes are unnecessary and their value
-   will be inferred from the presence of their corresponding "range" attribute.
-   If "false", no such inference will happen: For a joint to be limited, both limited="true" and range="min max" must
-   be specified. In this mode, it is an error to specify a range without a limit.
-
-.. _compiler-boundmass:
-
-:at:`boundmass`: :at-val:`real, "0"`
-   This attribute imposes a lower bound on the mass of each body except for the world body. Setting this attribute to
-   a value greater than 0 can be used as a quick fix for poorly designed models that contain massless moving bodies,
-   such as the dummy bodies often used in URDF models to attach sensors. Note that in MuJoCo there is no need to create
-   dummy bodies.
-
-.. _compiler-boundinertia:
-
-:at:`boundinertia`: :at-val:`real, "0"`
-   This attribute imposes a lower bound on the diagonal inertia components of each body except for the world body. Its
-   use is similar to boundmass above.
-
-.. _compiler-settotalmass:
-
-:at:`settotalmass`: :at-val:`real, "-1"`
-   If this value is positive, the compiler will scale the masses and inertias of all bodies in the model, so that the
-   total mass equals the value specified here. The world body has mass 0 and does not participate in any mass-related
-   computations. This scaling is performed last, after all other operations affecting the body mass and inertia. The
-   same scaling operation can be applied at runtime to the compiled mjModel with the function
-   :ref:`mj_setTotalmass`.
-
-.. _compiler-balanceinertia:
-
-:at:`balanceinertia`: :at-val:`[false, true], "false"`
-   A valid diagonal inertia matrix must satisfy A+B>=C for all permutations of the three diagonal elements. Some poorly
-   designed models violate this constraint, which will normally result in a compile error. If this attribute is set to
-   "true", the compiler will silently set all three diagonal elements to their average value whenever the above
-   condition is violated.
-
-.. _compiler-strippath:
-
-:at:`strippath`: :at-val:`[false, true], "false"`
-   When this attribute is "true", the parser will remove any path information in file names specified in the model. This
-   is useful for loading models created on a different system using a different directory structure.
-
-.. _compiler-coordinate:
-
-:at:`coordinate`: :at-val:`[local, global], "local"`
-   This attribute specifies whether frame positions and orientations are expressed in local coordinates. The "global"
-   option is no longer supported and will cause an error.
-
-.. _compiler-angle:
-
-:at:`angle`: :at-val:`[radian, degree], "degree" for MJCF, always "radian" for URDF`
-   This attribute specifies whether the angles in the MJCF model are expressed in units of degrees or radians. The
-   compiler converts degrees into radians, and mjModel always uses radians. For URDF models the parser sets this
-   attribute to "radian" internally, regardless of the XML setting.
-
-.. image:: images/changelog/meshfit.png
-   :align: right
-   :width: 40%
-
-.. _compiler-fitaabb:
-
-:at:`fitaabb`: :at-val:`[false, true], "false"`
-   The compiler is able to replace a mesh with a geometric primitive fitted to that mesh; see :ref:`geom <body-geom>`
-   below. If this attribute is "true", the fitting procedure uses the axis-aligned bounding box (AABB) of the mesh,
-   choosing the smallest primitive whose AABB contains the mesh AABB. Otherwise it uses the equivalent-inertia box of
-   the mesh. The type of geometric primitive used for fitting is specified separately for each geom. The models used to
-   generate the image on the right can be found `here
-   <https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/fitmesh_inertiabox.xml>`__ (fit inertia box)
-   and `here <https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/fitmesh_aabb.xml>`__ (fit aabb).
-
-.. _compiler-eulerseq:
-
-:at:`eulerseq`: :at-val:`string, "xyz"`
-   This attribute specifies the sequence of Euler rotations for all :at:`euler` attributes of elements that have spatial
-   frames, as explained in :ref:`COrientation`. This must be a string with exactly 3 characters from the set {x, y, z,
-   X, Y, Z}. The character at position n determines the axis around which the n-th rotation is performed. Lower case
-   letters denote axes that rotate with the frame (intrinsic), while upper case letters denote axes that remain fixed in
-   the parent frame (extrinsic). The "rpy" convention used in URDF corresponds to "XYZ" in MJCF.
-
-.. _compiler-meshdir:
-
-:at:`meshdir`: :at-val:`string, optional`
-   This attribute instructs the compiler where to look for mesh and height field files. The full path to a file is
-   determined as follows. If the strippath attribute described above is "true", all path information from the file name
-   is removed. The following checks are then applied in order: (1) if the file name contains an absolute path, it is
-   used without further changes; (2) if this attribute is set and contains an absolute path, the full path is the string
-   given here appended with the file name; (3) the full path is the path to the main MJCF model file, appended with the
-   value of this attribute if specified, appended with the file name.
-
-.. _compiler-texturedir:
-
-:at:`texturedir`: :at-val:`string, optional`
-   This attribute is used to instruct the compiler where to look for texture files. It works in the same way as meshdir
-   above.
-
-.. _compiler-assetdir:
-
-:at:`assetdir`: :at-val:`string, optional`
-   This attribute sets the values of both :at:`meshdir` and :at:`texturedir` above. Values in the latter attributes take
-   precedence over :at:`assetdir`.
-
-.. _compiler-discardvisual:
-
-:at:`discardvisual`: :at-val:`[false, true], "false" for MJCF, "true" for URDF`
-   This attribute instructs the compiler to discard all model elements which are purely visual and have no effect on the
-   physics (with one exception, see below). This often enables smaller :ref:`mjModel` structs and faster simulation.
-
-   - All materials are discarded.
-   - All textures are discarded.
-   - All geoms with :ref:`contype<body-geom-contype>` |-| = |-| :ref:`conaffinity<body-geom-conaffinity>` |-| =0 are
-     discarded, if they are not referenced in another MJCF element. If a discarded geom was used for inferring body
-     inertia, an explicit :ref:`inertial<body-inertial>` element is added to the body.
-   - All meshes which are not referenced by any geom (in particular those discarded above) are discarded.
-
-   The resulting compiled model will have exactly the same dynamics as the original model. The only engine-level
-   computation which might change is the output of :ref:`raycasting<mj_ray>` computations, as used for example by
-   :ref:`rangefinder<sensor-rangefinder>` sensors, since raycasting reports distances to visual geoms. When visualizing
-   models compiled with this flag, it is important to remember that collision geoms are often placed in a
-   :ref:`group<body-geom-group>` which is invisible by default.
-
-.. _compiler-usethread:
-
-:at:`usethread`: :at-val:`[false, true], "true"`
-   If this attribute is "true", the model compiler will run in multi-threaded mode. Multi-threading is used for
-   computing the length ranges of actuators and for parallel loading and processing of meshes.
-
-.. _compiler-fusestatic:
-
-:at:`fusestatic`: :at-val:`[false, true], "false" for MJCF, "true" for URDF`
-   This attribute controls a compiler optimization feature where static bodies are fused with their parent, and any
-   elements defined in those bodies are reassigned to the parent. Static bodies are fused with their parent unless
-
-   - They are referenced by another element in the model.
-   - They contain a site which is referenced by a :ref:`force<sensor-force>` or :ref:`torque<sensor-torque>` sensor.
-
-   This optimization is particularly useful when importing URDF models which often have many dummy bodies, but can also
-   be used to optimize MJCF models. After optimization, the new model has identical kinematics and dynamics as the
-   original but is faster to simulate.
-
-.. _compiler-inertiafromgeom:
-
-:at:`inertiafromgeom`: :at-val:`[false, true, auto], "auto"`
-   This attribute controls the automatic inference of body masses and inertias from geoms attached to the body. If this
-   setting is "false", no automatic inference is performed. In that case each body must have explicitly defined mass and
-   inertia with the :ref:`inertial <body-inertial>` element, or else a compile error will be generated. If this setting is
-   "true", the mass and inertia of each body will be inferred from the geoms attached to it, overriding any values
-   specified with the :el:`inertial` element. The default setting "auto" means that masses and inertias are inferred
-   automatically only when the :el:`inertial` element is missing in the body definition. One reason to set this
-   attribute to "true" instead of "auto" is to override inertial data imported from a poorly designed model. In
-   particular, a number of publicly available URDF models have seemingly arbitrary inertias which are too large compared
-   to the mass. This results in equivalent inertia boxes which extend far beyond the geometric boundaries of the model.
-   Note that the built-in OpenGL visualizer can render equivalent inertia boxes.
-
-.. _compiler-alignfree:
-
-:at:`alignfree`: :at-val:`[false, true], "false"`
-   This attribute toggles the default behaviour of an optimization that applies to bodies with a
-   :ref:`free joint<body-freejoint>` and no child bodies.
-   When true, the body frame and free joint will automatically be aligned with inertial frame, which leads to both
-   faster and more stable simulation. See :ref:`freejoint/align<body-freejoint-align>` for details.
-
-.. _compiler-inertiagrouprange:
-
-:at:`inertiagrouprange`: :at-val:`int(2), "0 5"`
-   This attribute specifies the range of geom groups that are used to infer body masses and inertias (when such
-   inference is enabled). The group attribute of :ref:`geom <body-geom>` is an integer. If this integer falls in the range
-   specified here, the geom will be used in the inertial computation, otherwise it will be ignored. This feature is
-   useful in models that have redundant sets of geoms for collision and visualization. Note that the world body does not
-   participate in the inertial computations, so any geoms attached to it are automatically ignored. Therefore it is not
-   necessary to adjust this attribute and the geom-specific groups so as to exclude world geoms from the inertial
-   computation.
-
-.. _compiler-saveinertial:
-
-:at:`saveinertial`: :at-val:`[false, true], "false"`
-   If set to "true", the compiler will save explicit :ref:`inertial <body-inertial>` clauses for all bodies.
-
-.. _compiler-conflict:
-
-:at:`conflict`: :at-val:`[warning, merge, error], "warning"`
-   This attribute controls how conflicting global attributes (physics options, sizes, visual settings) are resolved when
-   a child spec is attached to a parent using :ref:`mjs_attach`. A conflict occurs when both the parent and child specify
-   authored values for the same field and those values differ. See :ref:`Attribute Merging <meAttributeMerging>` for
-   details and a per-field table.
-
-   :at-val:`warning`
-      Parent values take precedence. When a conflict is detected, a warning is emitted but the parent value is not
-      modified. This is the default and preserves the pre-existing attachment behavior.
-
-   :at-val:`merge`
-      Fields are merged using field-specific strategies (minimum, maximum, OR, or error), depending on the field's
-      semantics. When only the child specifies an authored value, it is adopted by the parent. See the
-      :ref:`merging table <meAttributeMergingTable>` for per-field details.
-
-   :at-val:`error`
-      Any conflict between authored values results in a compile error. This is the strictest mode and is useful for
-      detecting unintended attribute mismatches.
-
-.. _compiler-lengthrange:
-
-:el-prefix:`compiler/` |-| **lengthrange** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element controls the computation of actuator length ranges. For an overview of this functionality see :ref:`Length
-range <CLengthRange>` section. Note that if this element is omitted the defaults shown below still apply. In order to
-disable length range computations altogether, include this element and set mode="none".
-
-.. _compiler-lengthrange-mode:
-
-:at:`mode`: :at-val:`[none, muscle, muscleuser, all], "muscle"`
-   Determines the type of actuators to which length range computation is applied. "none" disables this functionality.
-   "all" applies it to all actuators. "muscle" applies it to actuators whose gaintype or biastype is set to "muscle".
-   "muscleuser" applies it to actuators whose gaintype or biastype is set to either "muscle" or "user". The default is
-   "muscle" because MuJoCo's muscle model requires actuator length ranges to be defined.
-
-.. _compiler-lengthrange-useexisting:
-
-:at:`useexisting`: :at-val:`[false, true], "true"`
-   If this attribute is "true" and the length range for a given actuator is already defined in the model, the existing
-   value will be used and the automatic computation will be skipped. The range is considered defined if the first number
-   is smaller than the second number. The only reason to set this attribute to "false" is to force re-computation of
-   actuator length ranges - which is needed when the model geometry is modified. Note that the automatic computation
-   relies on simulation and can be slow, so saving the model and using the existing values when possible is recommended.
-
-.. _compiler-lengthrange-uselimit:
-
-:at:`uselimit`: :at-val:`[false, true], "false"`
-   If this attribute is "true" and the actuator is attached to a joint or a tendon which has limits defined, these
-   limits will be copied into the actuator length range and the automatic computation will be skipped. This may seem
-   like a good idea but note that in complex models the feasible range of tendon actuators depends on the entire model,
-   and may be smaller than the user-defined limits for that tendon. So the safer approach is to set this to "false", and
-   let the automatic computation discover the feasible range.
-
-.. _compiler-lengthrange-accel:
-
-:at:`accel`: :at-val:`real, "20"`
-   This attribute scales the forces applied to the simulation in order to push each actuator to its smallest and largest
-   length. The force magnitude is computed so that the resulting joint-space acceleration vector has norm equal to this
-   attribute.
-
-.. _compiler-lengthrange-maxforce:
-
-:at:`maxforce`: :at-val:`real, "0"`
-   The force computed via the accel attribute above can be very large when the actuator has very small moments. Such a
-   force will still produce reasonable acceleration (by construction) but large numbers could cause numerical issues.
-   Although we have never observed such issues, the present attribute is provided as a safeguard. Setting it to a value
-   larger than 0 limits the norm of the force being applied during simulation. The default setting of 0 disables this
-   safeguard.
-
-.. _compiler-lengthrange-timeconst:
-
-:at:`timeconst`: :at-val:`real, "1"`
-   The simulation is damped in a non-physical way so as to push the actuators to their limits without the risk of
-   instabilities. This is done by simply scaling down the joint velocity at each time step. In the absence of new
-   accelerations, such scaling will decrease the velocity exponentially. The timeconst attribute specifies the time
-   constant of this exponential decrease, in seconds.
-
-.. _compiler-lengthrange-timestep:
-
-:at:`timestep`: :at-val:`real, "0.01"`
-   The timestep used for the internal simulation. Setting this to 0 will cause the model timestep to be used. The latter
-   is not the default because models that can go unstable usually have small timesteps, while the simulation here is
-   artificially damped and very stable. To speed up the length range computation, users can attempt to increase this
-   value.
-
-.. _compiler-lengthrange-inttotal:
-
-:at:`inttotal`: :at-val:`real, "10"`
-   The total time interval (in seconds) for running the internal simulation, for each actuator and actuator direction.
-   Each simulation is initialized at qpos0. It is expected to settle after inttotal time has passed.
-
-.. _compiler-lengthrange-interval:
-
-:at:`interval`: :at-val:`real, "2"`
-   The time interval at the end of the simulation over which length data is collected and analyzed. The maximum (or
-   respectively minimum) length achieved during this interval is recorded. The difference between the maximum and
-   minimum is also recorded and is used as a measure of divergence. If the simulation settles, this difference will be
-   small. If it is not small, this could be because the simulation has not yet settled - in which case the above
-   attributes should be adjusted - or because the model does not have sufficient joint and tendon limits and so the
-   actuator range is effectively unlimited. Both of these conditions cause the same compiler error. Recall that contacts
-   are disabled in this simulation, so joint and tendon limits as well as overall geometry are the only things that can
-   prevent actuators from having infinite length.
-
-.. _compiler-lengthrange-tolrange:
-
-:at:`tolrange`: :at-val:`real, "0.05"`
-   This determines the threshold for detecting divergence and generating a compiler error. The range of actuator lengths
-   observed during interval is divided by the overall range computed via simulation. If that value is larger than
-   tolrange, a compiler error is generated. So one way to suppress compiler errors is to simply make this attribute
-   larger, but in that case the results could be inaccurate.
-
-
-.. _size:
-
-**size** |*|
-~~~~~~~~~~~~
-
-This element specifies size parameters that cannot be inferred from the number of elements in the model. Unlike the
-fields of mjOption which can be modified at runtime, sizes are structural parameters and should not be modified after
-compilation.
-
-.. _size-memory:
-
-:at:`memory`: :at-val:`string, "-1"`
-   This attribute specifies the size of memory allocated for dynamic arrays in the ``mjData.arena`` memory space, in
-   bytes. The default setting of ``-1`` instructs the compiler to guess how much space to allocate. Appending the digits
-   with one of the letters {K, M, G, T, P, E} sets the unit to be {kilo, mega, giga, tera, peta, exa}-byte,
-   respectively. Thus "16M" means "allocate 16 megabytes of ``arena`` memory".
-   See the :ref:`Memory allocation <CSize>` section for details.
-
-.. _size-njmax:
-
-:at:`njmax`: :at-val:`int, "-1"` |nbsp| |nbsp| |nbsp| (legacy)
-   This is a deprecated legacy attribute. It previously determined the maximum allowed number of constraints.
-   Currently it means "allocate as much memory as would have previously been required for this number of
-   constraints". Specifying both :at:`njmax` and :at:`memory` leads to an error.
-
-.. _size-nconmax:
-
-:at:`nconmax`: :at-val:`int, "-1"` |nbsp| |nbsp| |nbsp| (legacy)
-   This attribute specifies the maximum number of contacts that will be generated at runtime.  If the number of active
-   contacts is about to exceed this value, the extra contacts are discarded and a warning is generated. This is a
-   deprecated legacy attribute which previously affected memory allocation. It is kept for backwards compatibility
-   and debugging purposes.
-
-.. _size-nstack:
-
-:at:`nstack`: :at-val:`int, "-1"` |nbsp| |nbsp| |nbsp| (legacy)
-   This is a deprecated legacy attribute. It previously determined the maximum size of the :ref:`stack <siStack>`.
-   If :at:`nstack` is specified, then the size of ``mjData.narena`` is ``nstack * sizeof(mjtNum)`` bytes, plus an
-   additional space for the constraint solver. Specifying both :at:`nstack` and :at:`memory` leads to an error.
-
-.. _size-nuserdata:
-
-:at:`nuserdata`: :at-val:`int, "0"`
-   The size of the field mjData.userdata of mjData. This field should be used to store custom dynamic variables. See
-   also :ref:`CUser`.
-
-.. _size-nkey:
-
-:at:`nkey`: :at-val:`int, "0"`
-   The number of key frames allocated in mjModel is the larger of this value and the number of :ref:`key <keyframe-key>`
-   elements below. Note that the interactive simulator has the ability to take snapshots of the system state and save
-   them as key frames.
-
-.. _size-nuser_body:
-
-:at:`nuser_body`: :at-val:`int, "-1"`
-   The number of custom user parameters added to the definition of each body. See also :ref:`User parameters <CUser>`.
-   The parameter values are set via the user attribute of the :ref:`body <body>` element. These values are not accessed
-   by MuJoCo. They can be used to define element properties needed in user callbacks and other custom code.
-
-.. _size-nuser_jnt:
-
-:at:`nuser_jnt`: :at-val:`int, "-1"`
-   The number of custom user parameters added to the definition of each :ref:`joint <body-joint>`.
-
-.. _size-nuser_geom:
-
-:at:`nuser_geom`: :at-val:`int, "-1"`
-   The number of custom user parameters added to the definition of each :ref:`geom <body-geom>`.
-
-.. _size-nuser_site:
-
-:at:`nuser_site`: :at-val:`int, "-1"`
-   The number of custom user parameters added to the definition of each :ref:`site <body-site>`.
-
-.. _size-nuser_cam:
-
-:at:`nuser_cam`: :at-val:`int, "-1"`
-   The number of custom user parameters added to the definition of each :ref:`camera <body-camera>`.
-
-.. _size-nuser_tendon:
-
-:at:`nuser_tendon`: :at-val:`int, "-1"`
-   The number of custom user parameters added to the definition of each :ref:`tendon <tendon>`.
-
-.. _size-nuser_actuator:
-
-:at:`nuser_actuator`: :at-val:`int, "-1"`
-   The number of custom user parameters added to the definition of each :ref:`actuator <actuator>`.
-
-.. _size-nuser_sensor:
-
-:at:`nuser_sensor`: :at-val:`int, "-1"`
-   The number of custom user parameters added to the definition of each :ref:`sensor <sensor>`.
-
-
-.. _statistic:
-
-**statistic** |*|
-~~~~~~~~~~~~~~~~~
-
-This element is used to override model statistics computed by the compiler. These statistics are not only informational
-but are also used to scale various components of the rendering and perturbation. We provide an override mechanism in the
-XML because it is sometimes easier to adjust a small number of model statistics than a larger number of visual
-parameters.
-
-.. _statistic-meanmass:
-
-:at:`meanmass`: :at-val:`real, optional`
-   If this attribute is specified, it replaces the value of mjModel.stat.meanmass computed by the compiler. The computed
-   value is the average body mass, not counting the massless world body. At runtime this value scales the perturbation
-   force.
-
-.. _statistic-meaninertia:
-
-:at:`meaninertia`: :at-val:`real, optional`
-   If this attribute is specified, it replaces the value of mjModel.stat.meaninertia computed by the compiler. The
-   computed value is the average diagonal element of the joint-space inertia matrix when the model is in qpos0. At
-   runtime this value scales the solver cost and gradient used for early termination.
-
-.. _statistic-meansize:
-
-:at:`meansize`: :at-val:`real, optional`
-   If this attribute is specified, it replaces the value of ``mjModel.stat.meansize`` computed by the compiler. At
-   runtime this value multiplies the attributes of the :ref:`scale <visual-scale>` element above, and acts as their
-   length unit. If specific lengths are desired, it can be convenient to set :at:`meansize` to a round number like 1 or
-   0.01 so that :ref:`scale <visual-scale>` values are in recognized length units. This is the only semantic of
-   :at:`meansize` and setting it has no other side-effect. The automatically computed value is heuristic, representing
-   the average body radius. The heuristic is based on geom sizes when present, the distances between joints when
-   present, and the sizes of the body equivalent inertia boxes.
-
-.. _statistic-extent:
-
-:at:`extent`: :at-val:`real, optional`
-   If this attribute is specified, it replaces the value of mjModel.stat.extent computed by the compiler. The computed
-   value is half the side of the bounding box of the model in the initial configuration. At runtime this value is
-   multiplied by some of the attributes of the :ref:`map <visual-map>` element above. When the model is first loaded,
-   the free camera's initial distance from the :at:`center` (see below) is 1.5 times the :at:`extent`. Must be strictly
-   positive.
-
-.. _statistic-center:
-
-:at:`center`: :at-val:`real(3), optional`
-   If this attribute is specified, it replaces the value of mjModel.stat.center computed by the compiler. The computed
-   value is the center of the bounding box of the entire model in the initial configuration. This 3D vector is used to
-   center the view of the free camera when the model is first loaded.
-
-
-
-.. _asset:
-
-**asset** |*|
-~~~~~~~~~~~~~
-
-This is a grouping element for defining assets. It does not have attributes. Assets are created in the model so that
-they can be referenced from other model elements; recall the discussion of :ref:`Assets <Assets>` in the Overview
-chapter. Assets opened from a file can be identified in two different ways: filename extensions or the ``content_type``
-attribute. MuJoCo will attempt to open a file specified by the content type provided, and only defaults to the filename
-extension if no ``content_type`` attribute is specified. The content type is ignored if the asset isn't loaded from a
-file.
-
-
-.. _asset-mesh:
-
-:el-prefix:`asset/` |-| **mesh** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a mesh asset, which can then be referenced from geoms. If the referencing geom type is
-:at-val:`mesh` the mesh is instantiated in the model, otherwise a geometric primitive is automatically fitted to it; see
-the :ref:`geom <body-geom>` element below.
-
-MuJoCo works with triangulated meshes. They can be loaded from binary STL files, OBJ files or MSH files with custom
-format described below, or vertex and face data specified directly in the XML. Software such as MeshLab can be used to
-convert from other mesh formats to STL or OBJ. While any collection of triangles can be loaded as a mesh and rendered,
-collision detection works with the convex hull of the mesh as explained in :ref:`Collision`. The mesh appearance
-(including texture mapping) is controlled by the :at:`material` and :at:`rgba` attributes of the referencing geom,
-similarly to height fields.
-
-Meshes can have explicit texture coordinates instead of relying on the automated texture
-mapping mechanism. When provided, these explicit coordinates have priority. Note that texture coordinates can be
-specified with OBJ files and MSH files, as well as explicitly in the XML with the :at:`texcoord` attribute, but not via
-STL files. These mechanism cannot be mixed. So if you have an STL mesh, the only way to add texture coordinates to it is
-to convert to one of the other supported formats.
-
-.. _legacy-msh-docs:
-
-.. collapse:: Legacy MSH file format
-
-   The binary MSH file starts with 4 integers specifying the number of vertex positions (nvertex), vertex normals
-   (nnormal), vertex texture coordinates (ntexcoord), and vertex indices making up the faces (nface), followed by the
-   numeric data. nvertex must be at least 4. nnormal and ntexcoord can be zero (in which case the corresponding data is
-   not defined) or equal to nvertex. nface can also be zero, in which case faces are constructed automatically from the
-   convex hull of the vertex positions. The file size in bytes must be exactly: 16 + 12*(nvertex + nnormal + nface) +
-   8*ntexcoord. The contents of the file must be as follows:
-
-   .. code:: Text
-
-          (int32)   nvertex
-          (int32)   nnormal
-          (int32)   ntexcoord
-          (int32)   nface
-          (float)   vertex_positions[3*nvertex]
-          (float)   vertex_normals[3*nnormal]
-          (float)   vertex_texcoords[2*ntexcoord]
-          (int32)   face_vertex_indices[3*nface]
-
-Poorly designed meshes can display rendering artifacts. In particular, the shadow mapping mechanism relies on having
-some distance between front and back-facing triangle faces. If the faces are repeated, with opposite normals as
-determined by the vertex order in each triangle, this causes shadow aliasing. The solution is to remove the repeated
-faces (which can be done in MeshLab) or use a better designed mesh. Flipped faces are checked by MuJoCo for meshes
-specified as OBJ or XML and an error message is returned.
-
-The size of the mesh is determined by the 3D coordinates of the vertex data in the mesh file, multiplied by the
-components of the :at:`scale` attribute below. Scaling is applied separately for each coordinate axis. Note that
-negative scaling values can be used to flip the mesh; this is a legitimate operation. The size parameters of the
-referencing geoms are ignored, similarly to height fields. We also provide a mechanism to translate and
-rotate the 3D coordinates, using the attributes :ref:`refpos<asset-mesh-refpos>` and :ref:`refquat<asset-mesh-refquat>`.
-
-A mesh can also be defined without faces (a point cloud essentially). In that case the convex hull is constructed
-automatically.This makes it easy to construct simple shapes directly in the XML. For example, a pyramid can be created
-as follows:
-
-.. code-block:: xml
-
-   <asset>
-     <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-   </asset>
-
-Positioning and orienting is complicated by the fact that vertex data in the source asset are often relative to
-coordinate frames whose origin is not inside the mesh. In contrast, MuJoCo expects the origin of a geom's local frame to
-coincide with the geometric center of the shape. We resolve this discrepancy by pre-processing the mesh in the compiler,
-so that it is centered around (0,0,0) and its principal axes of inertia are the coordinate axes. We save the translation
-and rotation offsets applied to the source asset in :ref:`mjModel.mesh_pos<mjModel>` and
-:ref:`mjModel.mesh_quat<mjModel>`; these are required if one reads vertex data from the source and needs to re-apply the
-transform. These offsets are then composed with the referencing geom's position and orientation; see also the :at:`mesh`
-attribute of :ref:`geom <body-geom>` below. Fortunately most meshes used in robot models are designed in a coordinate
-frame centered at the joint. This makes the corresponding MJCF model intuitive: we set the body frame at the joint, so
-that the joint position is (0,0,0) in the body frame, and simply reference the mesh. Below is an MJCF model fragment of
-a forearm, containing all the information needed to put the mesh where one would expect it to be. The body position is
-specified relative to the parent body, namely the upper arm (not shown). It is offset by 35 cm which is the typical
-length of the human upper arm. If the mesh vertex data were not designed in the above convention, we would have to use
-the geom position and orientation (or the :at:`refpos`, :at:`refquat` mechanism) to compensate, but in practice this is
-rarely needed.
-
-.. code-block:: xml
-
-   <asset>
-     <mesh file="forearm.stl"/>
-   </asset>
-
-   <body pos="0 0 0.35"/>
-     <joint type="hinge" axis="1 0 0"/>
-     <geom type="mesh" mesh="forearm"/>
-   </body>
-
-The inertial computation mentioned above is part of an algorithm used not only to center and align the mesh, but also to
-infer the mass and inertia of the body to which it is attached. This is done by computing the centroid of the triangle
-faces, connecting each face with the centroid to form a triangular pyramid, computing the mass and signed inertia of all
-pyramids (considered solid, or hollow if :at:`shellinertia` is true) and accumulating them. The sign ensures that
-pyramids on the outside of the surfaces are subtracted, as can occur with concave geometries. This algorithm can be
-found in section 1.3.8 of Computational Geometry in C (Second Edition) by Joseph O'Rourke.
-
-The full list of processing steps applied by the compiler to each mesh is as follows:
-
-#. For STL meshes, remove any repeated vertices and re-index the faces if needed. If the mesh is not STL, we assume that
-   the desired vertices and faces have already been generated and do not apply removal or re-indexing;
-#. If vertex normals are not provided, generate normals automatically, using a weighted average of the surrounding face
-   normals. If sharp edges are encountered, the renderer uses the face normals to preserve the visual information about
-   the edge, unless :ref:`smoothnormal<asset-mesh-smoothnormal>` is true.
-   Note that normals cannot be provided with STL meshes;
-#. Scale, translate and rotate the vertices and normals, re-normalize the normals in case of scaling. Save these
-   transformations in ``mjModel.mesh_{pos, quat, scale}``.
-#. Construct the convex hull if specified;
-#. Find the centroid of all triangle faces, and construct the union-of-pyramids representation. Triangles whose area is
-   too small (below the :ref:`mjMINVAL <glNumericEngine>` value of 1E-14) result in compile error;
-#. Compute the center of mass and inertia matrix of the union-of-pyramids. Use eigenvalue decomposition to find the
-   principal axes of inertia. Center and align the mesh, saving the translational and rotational offsets for subsequent
-   geom-related computations.
-
-.. _asset-mesh-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the mesh, used for referencing. If omitted, the mesh name equals the file name without the path and
-   extension.
-
-.. _asset-mesh-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes (only scale in this case).
-
-.. _asset-mesh-content_type:
-
-:at:`content_type`: :at-val:`string, optional`
-   If the file attribute is specified, then this sets the
-   `Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`__ (formerly known as MIME type) of the
-   file to be loaded. Any filename extensions will be overloaded.  Currently ``model/vnd.mujoco.msh``, ``model/obj``,
-   and ``model/stl`` are supported.
-
-.. _asset-mesh-file:
-
-:at:`file`: :at-val:`string, optional`
-   The file from which the mesh will be loaded. The path is determined as described in the meshdir attribute of
-   :ref:`compiler <compiler>`. The file extension must be "stl", "msh", or "obj" (not case sensitive) specifying the
-   file type.  If the file name is omitted, the vertex attribute becomes required.
-
-.. _asset-mesh-scale:
-
-:at:`scale`: :at-val:`real(3), "1 1 1"`
-   This attribute specifies the scaling that will be applied to the vertex data along each coordinate axis. Negative
-   values are allowed, resulting in flipping the mesh along the corresponding axis.
-
-.. _asset-mesh-inertia:
-
-:at:`inertia`: :at-val:`[convex, exact, legacy, shell], "legacy"`
-   This attribute controls how the mesh is used when mass and inertia are
-   :ref:`inferred from geometry<compiler-inertiafromgeom>`. The default value is :at-val:`legacy` for backward
-   compatibility, but :at-val:`convex` is recommended.
-
-   :at-val:`convex`: Use the mesh's convex hull to compute volume and inertia, assuming uniform density.
-
-   :at-val:`exact`: Compute volume and inertia exactly, even for non-convex meshes. This algorithm requires a
-   well-oriented, watertight mesh and will error otherwise.
-
-   :at-val:`legacy`: Use the legacy algorithm, leads to volume overcounting for non-convex meshes. Though currently the
-   default to avoid breakages, it is not recommended.
-
-   :at-val:`shell`: Assume mass is concentrated on the surface of the mesh. Use the mesh's surface to compute
-   the inertia, assuming uniform surface density.
-
-.. _asset-mesh-smoothnormal:
-
-:at:`smoothnormal`: :at-val:`[false, true], "false"`
-   Controls the automatic generation of vertex normals when normals are not given explicitly. If true, smooth normals
-   are generated by averaging the face normals at each vertex, with weight proportional to the face area. If false,
-   faces at large angles relative to the average normal are excluded from the average. In this way, sharp edges (as in
-   cube edges) are not smoothed.
-
-.. _asset-mesh-maxhullvert:
-
-:at:`maxhullvert`: :at-val:`int, "-1"`
-   Maximum number of vertices in a mesh's convex hull. Currently this is implemented by asking qhull
-   `to terminate <http://www.qhull.org/html/qh-optt.htm#TAn>`__ after :at:`maxhullvert` vertices. The default
-   value of -1 means "unlimited". Positive values must be larger than 3.
-
-.. _asset-mesh-vertex:
-
-:at:`vertex`: :at-val:`real(3*nvert), optional`
-   Vertex 3D position data. You can specify position data in the XML using this attribute, or using a binary file, but
-   not both.
-
-.. _asset-mesh-normal:
-
-:at:`normal`: :at-val:`real(3*nvert), optional`
-   Vertex 3D normal data. If specified, the number of normals must equal the number of vertices. The model compiler
-   normalizes the normals automatically.
-
-.. _asset-mesh-texcoord:
-
-:at:`texcoord`: :at-val:`real(2*nvert), optional`
-   Vertex 2D texture coordinates, which are numbers between 0 and 1. If specified, the number of texture coordinate
-   pairs must equal the number of vertices.
-
-.. _asset-mesh-face:
-
-:at:`face`: :at-val:`int(3*nface), optional`
-   Faces of the mesh. Each face is a sequence of 3 vertex indices, in counter-clockwise order. The indices must be
-   integers between 0 and nvert-1.
-
-.. _asset-mesh-refpos:
-
-:at:`refpos`: :at-val:`real(3), "0 0 0"`
-   Reference position relative to which the 3D vertex coordinates are defined. This vector is subtracted from the
-   positions.
-
-.. _asset-mesh-refquat:
-
-:at:`refquat`: :at-val:`real(4), "1 0 0 0"`
-   Reference orientation relative to which the 3D vertex coordinates and normals are defined. The conjugate of this
-   quaternion is used to rotate the positions and normals. The model compiler normalizes the quaternion automatically.
-
-.. _asset-mesh-builtin:
-
-:at:`builtin`: :at-val:`string, optional`
-   The mesh is generated by the compiler from a set of parameters specified in :ref:`params<asset-mesh-params>`.
-   When saved to XML, meshes produced this way are converted to explicit vertices. The Python bindings include
-   :ref:`convenience methods <PyEditConvenience>` for generating these meshes.
-   The available built-in types, their parameters and semantics are:
-
-   .. image:: images/XMLreference/s.png
-      :width: 23%
-      :align: right
-      :target: https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/makemesh.xml
-
-   :at-val:`sphere` (subdivision)
-      Repeated subdivisions of a unit icosahedron ("icosphere"). For :math:`s` subdivisions, this mesh
-      has :math:`V = 2 + 10 \cdot 4^s` vertices and :math:`F = 20 \cdot 4^s` faces.
-
-      **subdivision**: integer in [0-4]: The number of subdivisions to apply to icosahedron faces.
-
-   .. image:: images/XMLreference/h.png
-      :width: 23%
-      :align: right
-      :target: https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/makemesh.xml
-
-   :at-val:`hemisphere` (resolution)
-      Quad-projected hemisphere. For resolution :math:`r`, this mesh has :math:`4r` edges and
-      vertices on the equator and a total of :math:`V = 2 + 2(r+1)(r+2)` vertices and
-      :math:`F = 4(r+1)(r+2)` faces.
-
-      **resolution**: integer in [0-10]: Equator discretization of one hemisphere quadrant.
-
-   .. image:: images/XMLreference/c.png
-      :width: 23%
-      :align: right
-      :target: https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/makemesh.xml
-
-   :at-val:`cone` (nvert, radius)
-      The convex hull of a regular unit polygon at z = -1 and a unit polygon with the given radius at z = 1.
-      If radius is 1, the mesh a prism. If radius is 0, only a single vertex is placed at (0, 0, 1) and the mesh is a
-      discrete cone. If radius is positive, the mesh is a truncated discrete cone.
-
-      **nvert**: integer >= 3: The number vertices in the polygon.
-      |br| **radius**: real in [0, 1]: The radius of the top face.
-
-   .. image:: images/XMLreference/ss.png
-      :width: 23%
-      :align: right
-      :target: https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/makemesh.xml
-
-   :at-val:`supersphere` (resolution, e, n)
-      A generalization of a sphere, also known as a superellipsoid (we use 'supersphere' since semiaxis rescaling is
-      performed by the :ref:`scale<asset-mesh-scale>` attribute). If the **n** and **e** parameters are both 1, the
-      shape is a sphere. See `here <https://en.wikipedia.org/wiki/Superellipsoid>`__ for more details.
-
-      **resolution** integer >= 3: Longitude and latitude discretization.
-      |br| **e**: real >= 0: The "east-west" exponent.
-      |br| **n**: real >= 0: The "north-south" exponent.
-
-   .. image:: images/XMLreference/st.png
-      :width: 23%
-      :align: right
-      :target: https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/makemesh.xml
-
-   :at-val:`supertorus` (resolution, radius, s, t)
-      A generalization of a torus with major radius of 1 and given minor radius. If the **s** and **t** parameters are
-      both 1, the shape is a torus. See `here <https://en.wikipedia.org/wiki/Supertoroid>`__ for more details. Note that
-      this shape is inherently non-convex, and the :ref:`standard caveats<coDecomposition>` about mesh collisions apply.
-
-      **resolution** integer >= 3: Discretization of both circumfrences.
-      |br| **radius**: real in (0, 1]: The minor radius of the torus.
-      |br| **s**: real > 0: The "squareness" of minor sections.
-      |br| **t**: real > 0: The "squareness" of major sections.
-
-   .. image:: images/XMLreference/w.png
-      :width: 23%
-      :align: right
-      :target: https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/makemesh.xml
-
-   :at-val:`wedge` (res_phi, res_theta, fov_phi, fov_theta, gamma)
-      A slice of a unit spherical shell in spherical coordinates. This mesh is designed to be used by the :ref:`tactile
-      sensor<sensor-tactile>`, which reports data at the vertices.
-
-      **res_phi**: integer >= 0: The vertical resolution of the slice.
-      |br| **res_theta**: integer >= 0: The horizontal resolution of the slice.
-      |br| **fov_phi**: real in (0, 180]: The horizontal field of view (degrees).
-      |br| **fov_phi**: real in (0, 90): The vertical field of view (degrees).
-      |br| **gamma**: real in [0, 1]: Foveal deformation of the discretization.
-
-   :at-val:`plate` (res_x, res_y)
-      A rectangular plate with given resolution in each dimension. This mesh is designed to be used by the :ref:`tactile
-      sensor<sensor-tactile>`, which reports data at the vertices.
-
-      **res_x**: integer > 0: The horizontal resolution of the plate.
-      |br| **res_y**: integer > 0: The vertical resolution of the plate.
-
-.. _asset-mesh-params:
-
-:at:`params`: :at-val:`real(nparam), optional`
-   The parameters used to generate a builtin mesh. The number and type of parameters and their semantic depends on the
-   mesh type. See :ref:`mesh/builtin<asset-mesh-builtin>` for details.
-
-.. _asset-mesh-material:
-
-:at:`material`: :at-val:`string, optional`
-   Fallback material for mesh geoms that do not specify their own material.
-
-.. _mesh-plugin:
-
-:el-prefix:`mesh/` |-| **plugin** |?|
-'''''''''''''''''''''''''''''''''''''
-
-Associate this mesh with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
-
-.. _mesh-plugin-plugin:
-
-:at:`plugin`: :at-val:`string, optional`
-   Plugin identifier, used for implicit plugin instantiation.
-
-.. _mesh-plugin-instance:
-
-:at:`instance`: :at-val:`string, optional`
-   Instance name, used for explicit plugin instantiation.
-
-
-
-.. _asset-hfield:
-
-:el-prefix:`asset/` |-| **hfield** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a height field asset, which can then be referenced from geoms with type "hfield". A height field,
-also known as terrain map, is a 2D matrix of elevation data. The data can be specified in one of three ways:
-
-#. The elevation data can be loaded from a PNG file. The image is converted internally to gray scale, and the intensity
-   of each pixel is used to define elevation; white is high and black is low.
-
-#. The elevation data can be loaded from a binary file in the custom format described below. As with all other matrices
-   used in MuJoCo, the data ordering is row-major, like pixels in an image. If the data size is nrow-by-ncol, the file
-   must have 4*(2+nrow*ncol) bytes:
-
-   ::
-
-              (int32)   nrow
-              (int32)   ncol
-              (float32) data[nrow*ncol]
-
-
-#. The elevation data can be left undefined at compile time. This is done by specifying the attributes nrow and ncol.
-   The compiler allocates space for the height field data in mjModel and sets it to 0. The user can then generate a
-   custom height field at runtime, either programmatically or using sensor data.
-
-| Regardless of which method is used to specify the elevation data, the compiler always normalizes it to the range [0
-  1]. However if the data is left undefined at compile time and generated later at runtime, it is the user's
-  responsibility to normalize it.
-| The position and orientation of the height field is determined by the geom that references it. The spatial extent on
-  the other hand is specified by the height field asset itself via the size attribute, and cannot be modified by the
-  referencing geom (the geom size parameters are ignored in this case). The same approach is used for meshes below:
-  positioning is done by the geom while sizing is done by the asset. This is because height fields and meshes involve
-  sizing operations that are not common to other geoms.
-| For collision detection, a height field is treated as a union of triangular prisms. Collisions between height fields
-  and other geoms (except for planes and other height fields which are not supported) are computed by first selecting
-  the sub-grid of prisms that could collide with the geom based on its bounding box, and then using the general convex
-  collider. The number of possible contacts between a height field and a geom is limited to 50
-  (:ref:`mjMAXCONPAIR <glNumericEngine>`); any contacts beyond that are discarded. To avoid penetration due to discarded
-  contacts, the spatial features of the height field should be large compared to the geoms it collides with.
-
-.. _asset-hfield-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the height field, used for referencing. If the name is omitted and a file name is specified, the height field
-   name equals the file name without the path and extension.
-
-.. _asset-hfield-content_type:
-
-:at:`content_type`: :at-val:`string, optional`
-   If the file attribute is specified, then this sets the
-   `Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`__ (formerly known as MIME types) of the
-   file to be loaded. Any filename extensions will be overloaded.  Currently ``image/png`` and
-   ``image/vnd.mujoco.hfield`` are supported.
-
-.. _asset-hfield-file:
-
-:at:`file`: :at-val:`string, optional`
-   If this attribute is specified, the elevation data is loaded from the given file. If the file extension is ".png",
-   not case-sensitive, the file is treated as a PNG file. Otherwise it is treated as a binary file in the above custom
-   format. The number of rows and columns in the data are determined from the file contents. Loading data from a file
-   and setting nrow or ncol below to non-zero values results is compile error, even if these settings are consistent
-   with the file contents.
-
-.. _asset-hfield-nrow:
-
-:at:`nrow`: :at-val:`int, "0"`
-   This attribute and the next are used to allocate a height field in mjModel. If the :at:`elevation` attribute is not
-   set, the elevation data is set to 0. This attribute specifies the number of rows in the elevation data matrix. The
-   default value of 0 means that the data will be loaded from a file, which will be used to infer the size of the
-   matrix.
-
-.. _asset-hfield-ncol:
-
-:at:`ncol`: :at-val:`int, "0"`
-   This attribute specifies the number of columns in the elevation data matrix.
-
-.. _asset-hfield-elevation:
-
-:at:`elevation`: :at-val:`real(nrow*ncol), optional`
-   This attribute specifies the elevation data matrix. Values are automatically normalized to lie between 0 and 1 by
-   first subtracting the minimum value and then dividing by the (maximum-minimum) difference, if not 0. If not provided,
-   values are set to 0. Note that the row order of data in :ref:`mjModel` and :ref:`mjsHField` is flipped w.r.t. the
-   order in XML i.e., it is bottom-to-top.
-
-.. _asset-hfield-size:
-
-:at:`size`: :at-val:`real(4), required`
-   .. figure:: images/XMLreference/peaks.png
-      :width: 350px
-      :align: right
-
-   The four numbers here are (radius_x, radius_y, elevation_z, base_z). The height field is centered at the referencing
-   geom's local frame. Elevation is in the +Z direction. The first two numbers specify the X and Y extent (or "radius")
-   of the rectangle over which the height field is defined. This may seem unnatural for rectangles, but it is natural
-   for spheres and other geom types, and we prefer to use the same convention throughout the model. The third number is
-   the maximum elevation; it scales the elevation data which is normalized to [0-1]. Thus the minimum elevation point is
-   at Z=0 and the maximum elevation point is at Z=elevation_z. The last number is the depth of a box in the -Z direction
-   serving as a "base" for the height field. Without this automatically generated box, the height field would have zero
-   thickness at places there the normalized elevation data is zero. Unlike planes which impose global unilateral
-   constraints, height fields are treated as unions of regular geoms, so there is no notion of being "under" the height
-   field. Instead a geom is either inside or outside the height field - which is why the inside part must have non-zero
-   thickness. The example on the right is the MATLAB "peaks" surface saved in our custom height field format, and loaded
-   as an asset with size = "1 1 1 0.1". The horizontal size of the box is 2, the difference between the maximum and
-   minimum elevation is 1, and the depth of the base added below the minimum elevation point is 0.1.
-
-
-.. _asset-skin:
-
-:el-prefix:`asset/` |-| **skin** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. _asset-skin-name:
-.. _asset-skin-file:
-.. _asset-skin-vertex:
-.. _asset-skin-texcoord:
-.. _asset-skin-face:
-.. _asset-skin-inflate:
-.. _asset-skin-material:
-.. _asset-skin-rgba:
-.. _asset-skin-group:
-
-:ref:`Skins<deformable-skin>` are grouped under the :ref:`deformable<deformable>` element. Specifying them here is
-deprecated.
-
-
-
-.. _asset-texture:
-
-:el-prefix:`asset/` |-| **texture** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-This element creates a texture asset, which is then referenced from a :ref:`material <asset-material>` asset, which
-is finally referenced from a model element that needs to be textured.
-
-The texture data can be loaded from files or can be generated by the compiler as a procedural texture. Because
-different texture types require different parameters, only a subset of the attributes below are used for any given
-texture. Provisions are provided for loading cube and skybox textures from individual image files.
-
-Two file formats are supported for loading textures: PNG and KTX. The loader will use the extension of the file name to
-determine which format to use. Alternatively, the content_type attribute can be used to specify the format explicitly.
-Only ``image/png`` and ``image/ktx`` are supported.
-
-.. _asset-texture-name:
-
-:at:`name`: :at-val:`string, optional`
-   As with all other assets, a texture must have a name in order to be referenced. However if the texture is loaded from
-   a single file with the file attribute, the explicit name can be omitted and the file name (without the path and
-   extension) becomes the texture name. If the name after parsing is empty and the texture type is not "skybox", the
-   compiler will generate an error.
-
-.. _asset-texture-type:
-
-:at:`type`: :at-val:`[2d, cube, skybox], "cube"`
-   This attribute determines how the texture is represented and mapped to objects. It also determines which of the
-   remaining attributes are relevant. The keywords have the following meaning:
-
-   The **cube** type has the effect of shrink-wrapping a texture cube over an object. Apart from
-   the adjustment provided by the texuniform attribute of :ref:`material <asset-material>`, the process is automatic.
-   Internally the GPU constructs a ray from the center of the object to each pixel (or rather fragment), finds the
-   intersection of this ray with the cube surface (the cube and the object have the same center), and uses the
-   corresponding texture color. The six square images defining the cube can be the same or different; if they are the
-   same, only one copy is stored in mjModel. There are four mechanisms for specifying the texture data:
-
-   #. Single file (PNG or KTX) specified with the file attribute, containing a square image which is repeated on each
-      side of the cube. This is the most common approach. If for example the goal is to create the appearance of wood,
-      repeating the same image on all sides is sufficient.
-   #. Single file containing a composite image from which the six squares are extracted by the compiler. The layout of
-      the composite image is determined by the gridsize and gridlayout attributes.
-   #. Six separate files specified with the attributes fileright, fileleft etc, each containing one square image.
-   #. Procedural texture generated internally. The type of procedural texture is determined by the builtin attribute.
-      The texture data also depends on a number of parameters documented below.
-
-   The **skybox** type is very similar to cube mapping, and in fact the texture data is specified in exactly the same
-   way. The only difference is that the visualizer uses the first such texture defined in the model to render a skybox.
-   This is a large box centered at the camera and always moving with it, with size determined automatically from the far
-   clipping plane. The idea is that images on the skybox appear stationary, as if they are infinitely far away. If such
-   a texture is referenced from a material applied to a regular object, the effect is equivalent to a cube map. Note
-   however that the images suitable for skyboxes are rarely suitable for texturing objects.
-
-   The **2d** type maps a 2D image to a 3D object using :ref:`texture coordinates<asset-mesh-texcoord>` (a.k.a UV
-   coordinates). However, UV coordinates are only available for meshes. For primitive geoms, the texture is mapped to
-   the object surface using the local XY coordinates of the geom, effectively projecting the texture along the Z axis.
-   This sort of mapping is only suitable for planes and height fields, since their top surfaces always face the Z axis.
-   2d textures can be rectangular, unlike the sides of cube textures which must be square. The scaling can be controlled
-   with the texrepeat attribute of :ref:`material <asset-material>`. The data can be loaded from a single file or
-   created procedurally.
-
-.. _asset-texture-colorspace:
-
-:at:`colorspace`: :at-val:`[auto, linear, sRGB], "auto"`
-   This attribute determines the color space of the texture. The default value ``auto`` means that the color space will
-   be determined from the image file itself.  If no color space is defined in the file, then ``linear`` is assumed.
-
-.. _asset-texture-content_type:
-
-:at:`content_type`: :at-val:`string, optional`
-   If the file attribute is specified, then this sets the
-   `Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (formerly known as MIME types) of the
-   file to be loaded. Any filename extensions will be ignored.  Currently ``image/png`` and ``image/ktx`` are supported.
-
-.. _asset-texture-file:
-
-:at:`file`: :at-val:`string, optional`
-   If this attribute is specified, and the builtin attribute below is set to "none", the texture data is loaded from a
-   single file. See the texturedir attribute of :ref:`compiler <compiler>` regarding the file path.
-
-.. _asset-texture-gridsize:
-
-:at:`gridsize`: :at-val:`int(2), "1 1"`
-   When a cube or skybox texture is loaded from a single file, this attribute and the next specify how the six square
-   sides of the texture cube are obtained from the single image. The default setting "1 1" means that the same image is
-   repeated on all sides of the cube. Otherwise the image is interpreted as a grid from which the six sides are
-   extracted. The two integers here correspond to the number of rows and columns in the grid. Each integer must be
-   positive and the product of the two cannot exceed 12. The number of rows and columns in the image must be integer
-   multiples of the number of rows and columns in the grid, and these two multiples must be equal, so that the extracted
-   images are square.
-
-.. _asset-texture-gridlayout:
-
-:at:`gridlayout`: :at-val:`string, "............"`
-   .. figure:: images/XMLreference/skybox.png
-      :width: 250px
-      :align: right
-
-   When a cube or skybox texture is loaded from a single file, and the grid size is different from "1 1", this attribute
-   specifies which grid cells are used and which side of the cube they correspond to. There are many skybox textures
-   available online as composite images, but they do not use the same convention, which is why we have designed a
-   flexible mechanism for decoding them. The string specified here must be composed of characters from the set {'.',
-   'R', 'L', 'U', 'D', 'F', 'B'}. The number of characters must equal the product of the two grid sizes. The grid is
-   scanned in row-major order. The '.' character denotes an unused cell. The other characters are the first letters of
-   Right, Left, Up, Down, Front, Back; see below for coordinate frame description. If the symbol for a given side
-   appears more than once, the last definition is used. If a given side is omitted, it is filled with the color
-   specified by the rgb1 attribute. For example, the desert landscape below can be loaded as a skybox or a cube map
-   using gridsize = "3 4" and gridlayout = ".U..LFRB.D.." The full-resolution image file without the markings can be
-   downloaded `here <_static/desert.png>`__.
-
-.. _asset-texture-fileright:
-
-.. _asset-texture-fileleft:
-
-.. _asset-texture-fileup:
-
-.. _asset-texture-filedown:
-
-.. _asset-texture-filefront:
-
-.. _asset-texture-fileback:
-
-:at:`fileright`, :at:`fileleft`, :at:`fileup`, :at:`filedown`, :at:`filefront`, :at:`fileback` : string, optional
-   These attributes are used to load the six sides of a cube or skybox texture from separate files, but only if the file
-   attribute is omitted and the builtin attribute is set to "none". If any one of these attributes are omitted, the
-   corresponding side is filled with the color specified by the rgb1 attribute. The coordinate frame here is unusual.
-   When a skybox is viewed with the default free camera in its initial configuration, the Right, Left, Up, Down sides
-   appear where one would expect them. The Back side appears in front of the viewer, because the viewer is in the middle
-   of the box and is facing its back. There is however a complication. In MuJoCo the +Z axis points up, while existing
-   skybox textures (which are non-trivial to design) tend to assume that the +Y axis points up. Changing coordinates
-   cannot be done by merely renaming files; instead one would have to transpose and/or mirror some of the images. To
-   avoid this complication, we render the skybox rotated by 90 deg around the +X axis, in violation of our convention.
-   However we cannot do the same for regular objects. Thus the mapping of skybox and cube textures on regular objects,
-   expressed in the local frame of the object, is as follows:
-   Right = +X, Left = -X, Up = +Y, Down = -Y, Front = +Z, Back = -Z.
-
-.. _asset-texture-builtin:
-
-:at:`builtin`: :at-val:`[none, gradient, checker, flat], "none"`
-   This and the remaining attributes control the generation of procedural textures. If the value of this attribute is
-   different from "none", the texture is treated as procedural and any file names are ignored. The keywords have the
-   following meaning:
-
-   **gradient**
-      Generates a color gradient from rgb1 to rgb2. The interpolation in color space is done through
-      a sigmoid function. For cube and skybox textures the gradient is along the +Y axis, i.e., from top to bottom for
-      skybox rendering.
-
-   **checker**
-      Generates a 2-by-2 checker pattern with alternating colors given by rgb1 and rgb2. This is suitable for rendering
-      ground planes and also for marking objects with rotational symmetries. Note that 2d textures can be scaled so as
-      to repeat the pattern as many times as necessary. For cube and skybox textures, the checker pattern is painted on
-      each side of the cube.
-
-   **flat**
-      Fills the entire texture with rgb1, except for the bottom face of cube and skybox textures which is
-      filled with rgb2.
-
-.. _asset-texture-rgb1:
-
-:at:`rgb1`: :at-val:`real(3), "0.8 0.8 0.8"`
-   The first color used for procedural texture generation. This color is also used to fill missing sides of cube and
-   skybox textures loaded from files. The components of this and all other RGB(A) vectors should be in the range [0 1].
-
-.. _asset-texture-rgb2:
-
-:at:`rgb2`: :at-val:`real(3), "0.5 0.5 0.5"`
-   The second color used for procedural texture generation.
-
-.. _asset-texture-mark:
-
-:at:`mark`: :at-val:`[none, edge, cross, random], "none"`
-   Procedural textures can be marked with the markrgb color, on top of the colors determined by the builtin type. "edge"
-   means that the edges of all texture images are marked. "cross" means that a cross is marked in the middle of each
-   image. "random" means that randomly chosen pixels are marked. All markings are one-pixel wide, thus the markings
-   appear larger and more diffuse on smaller textures.
-
-.. _asset-texture-markrgb:
-
-:at:`markrgb`: :at-val:`real(3), "0 0 0"`
-   The color used for procedural texture markings.
-
-.. _asset-texture-random:
-
-:at:`random`: :at-val:`real, "0.01"`
-   When the mark attribute is set to "random", this attribute determines the probability of turning on each pixel. Note
-   that larger textures have more pixels, and the probability here is applied independently to each pixel -- thus the
-   texture size and probability need to be adjusted jointly. Together with a gradient skybox texture, this can create
-   the appearance of a night sky with stars. The random number generator is initialized with a fixed seed.
-
-.. _asset-texture-width:
-
-:at:`width`: :at-val:`int, "0"`
-   The width of a procedural texture, i.e., the number of columns in the image. Larger values usually result in higher
-   quality images, although in some cases (e.g. checker patterns) small values are sufficient. For textures loaded from
-   files, this attribute is ignored.
-
-.. _asset-texture-height:
-
-:at:`height`: :at-val:`int, "0"`
-   The height of the procedural texture, i.e., the number of rows in the image. For cube and skybox textures, this
-   attribute is ignored and the height is set to 6 times the width. For textures loaded from files, this attribute is
-   ignored.
-
-.. _asset-texture-hflip:
-
-:at:`hflip`: :at-val:`[false, true], "false"`
-   If true, images loaded from file are flipped in the horizontal direction. Does not affect procedural textures.
-
-.. _asset-texture-vflip:
-
-:at:`vflip`: :at-val:`[false, true], "false"`
-   If true, images loaded from file are flipped in the vertical direction. Does not affect procedural textures.
-
-.. _asset-texture-nchannel:
-
-:at:`nchannel`: :at-val:`int, "3"`
-   The number of channels in the texture image file. This allows loading 4-channel textures (RGBA) or single-channel
-   textures (e.g., for Physics-Based Rendering properties such as roughness or metallic).
-
-
-.. _asset-material:
-
-:el-prefix:`asset/` |-| **material** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a material asset. It can be referenced from :ref:`skins <deformable-skin>`, :ref:`geoms <body-geom>`,
-:ref:`sites <body-site>` and :ref:`tendons <tendon>` to set their appearance. Note that all these elements also have a
-local rgba attribute, which is more convenient when only colors need to be adjusted, because it does not require
-creating materials and referencing them. Materials are useful for adjusting appearance properties beyond color. However
-once a material is created, it is more natural the specify the color using the material, so that all appearance
-properties are grouped together.
-
-.. _asset-material-name:
-
-:at:`name`: :at-val:`string, required`
-   Name of the material, used for referencing.
-
-.. _asset-material-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
-.. _asset-material-texture:
-
-:at:`texture`: :at-val:`string, optional`
-   If this attribute is specified, the material has a texture associated with it. Referencing the material from a model
-   element will cause the texture to be applied to that element. Note that the value of this attribute is the name of a
-   texture asset, not a texture file name. Textures cannot be loaded in the material definition; instead they must be
-   loaded explicitly via the :ref:`texture <asset-texture>` element and then referenced here. The texture referenced
-   here is used for specifying the RGB values. For advanced rendering (e.g., Physics-Based Rendering), more texture
-   types need to be specified (e.g., roughness, metallic).  In this case, this texture attribute should be omitted, and
-   the texture types should be specified using :ref:`layer <material-layer>` child elements. Note however that the
-   built-in renderer does not support PBR properties, so these advanced rendering features are only available when using
-   an external renderer.
-
-.. _asset-material-texrepeat:
-
-:at:`texrepeat`: :at-val:`real(2), "1 1"`
-   This attribute applies to textures of type "2d". It specifies how many times the texture image is repeated, relative
-   to either the object size or the spatial unit, as determined by the next attribute.
-
-.. _asset-material-texuniform:
-
-:at:`texuniform`: :at-val:`[false, true], "false"`
-   For cube textures, this attribute controls how cube mapping is applied. The default value "false" means apply cube
-   mapping directly, using the actual size of the object. The value "true" maps the texture to a unit object before
-   scaling it to its actual size (geometric primitives are created by the renderer as unit objects and then scaled). In
-   some cases this leads to more uniform texture appearance, but in general, which settings produces better results
-   depends on the texture and the object. For 2d textures, this attribute interacts with texrepeat above. Let texrepeat
-   be N. The default value "false" means that the 2d texture is repeated N times over the (z-facing side of the) object.
-   The value "true" means that the 2d texture is repeated N times over one spatial unit, regardless of object size.
-
-.. _asset-material-emission:
-
-:at:`emission`: :at-val:`real, "0"`
-   Emission in OpenGL has the RGBA format, however we only provide a scalar setting. The RGB components of the OpenGL
-   emission vector are the RGB components of the material color multiplied by the value specified here. The alpha
-   component is 1.
-
-.. _asset-material-specular:
-
-:at:`specular`: :at-val:`real, "0.5"`
-   Specularity in OpenGL has the RGBA format, however we only provide a scalar setting. The RGB components of the OpenGL
-   specularity vector are all equal to the value specified here. The alpha component is 1. This value should be in the
-   range [0 1].
-
-.. _asset-material-shininess:
-
-:at:`shininess`: :at-val:`real, "0.5"`
-   Shininess in OpenGL is a number between 0 and 128. The value given here is multiplied by 128 before passing it to
-   OpenGL, so it should be in the range [0 1]. Larger values correspond to tighter specular highlight (thus reducing the
-   overall amount of highlight but making it more salient visually). This interacts with the specularity setting; see
-   OpenGL documentation for details.
-
-.. _asset-material-reflectance:
-
-:at:`reflectance`: :at-val:`real, "0"`
-   This attribute should be in the range [0 1]. If the value is greater than 0, and the material is applied to a plane
-   or a box geom, the renderer will simulate reflectance. The larger the value, the stronger the reflectance. For boxes,
-   only the face in the direction of the local +Z axis is reflective. Simulating reflectance properly requires
-   ray-tracing. This renderer uses the stencil buffer and suitable projections instead to approximate it. Only the
-   first reflective geom in the model is rendered as such. This adds one extra rendering pass through
-   all geoms, in addition to the extra rendering pass added by each shadow-casting light.
-
-.. _asset-material-metallic:
-
-:at:`metallic`: :at-val:`real, "-1"`
-   This attribute corresponds to uniform metallicity coefficient applied to the entire material. This attribute has no
-   effect in MuJoCo's native renderer, but it can be useful when rendering scenes with a physically-based renderer. In
-   this case, if a non-negative value is specified, this metallic value should be multiplied by the metallic texture
-   sampled value to obtain the final metallicity of the material.
-
-.. _asset-material-roughness:
-
-:at:`roughness`: :at-val:`real, "-1"`
-   This attribute corresponds to uniform roughness coefficient applied to the entire material. This attribute has no
-   effect in MuJoCo's native renderer, but it can be useful when rendering scenes with a physically-based renderer. In
-   this case, if a non-negative value is specified, this roughness value should be multiplied by the roughness texture
-   sampled value to obtain the final roughness of the material.
-
-.. _asset-material-rgba:
-
-:at:`rgba`: :at-val:`real(4), "1 1 1 1"`
-   Color and transparency of the material. All components should be in the range [0 1]. Note that the texture color (if
-   assigned) and the color specified here are multiplied component-wise. Thus the default value of "1 1 1 1" has the
-   effect of leaving the texture unchanged. When the material is applied to a model element which defines its own local
-   rgba attribute, the local definition has precedence. Note that this "local" definition could in fact come from a
-   defaults class. The remaining material properties always apply.
-
-.. _material-layer:
-
-:el-prefix:`material/` |-| **layer** |*|
-''''''''''''''''''''''''''''''''''''''''
-
-If multiple textures are needed to specify the appearance of a material, the :ref:`texture <asset-material-texture>`
-attribute cannot be used, and :el:`layer` child elements must be used instead. Specifying both the :at:`texture`
-attribute and :el:`layer` child elements is an error.
-
-.. _material-layer-texture:
-
-:at:`texture`: :at-val:`string, required`
-   Name of the texture, like the :ref:`texture <asset-material-texture>` attribute.
-
-.. _material-layer-role:
-
-:at:`role`: :at-val:`string, required`
-   Role of the texture. The valid values, expected number of channels, and the role semantics are:
-
-   .. list-table::
-      :widths: 1 1 8
-      :header-rows: 1
-
-      * - value
-        - channels
-        - description
-      * - :at:`rgb`
-        - 3
-        - base color / albedo [red, green, blue]
-      * - :at:`normal`
-        - 3
-        - bump map (surface normals)
-      * - :at:`occlusion`
-        - 1
-        - ambient occlusion
-      * - :at:`roughness`
-        - 1
-        - roughness
-      * - :at:`metallic`
-        - 1
-        - metallicity
-      * - :at:`opacity`
-        - 1
-        - opacity (alpha channel)
-      * - :at:`emissive`
-        - 4
-        - RGB light emission intensity, exposure weight in 4th channel
-      * - :at:`orm`
-        - 3
-        - packed 3 channel [occlusion, roughness, metallic]
-      * - :at:`rgba`
-        - 4
-        - packed 4 channel [red, green, blue, alpha]
-
-.. _asset-model:
-
-:el-prefix:`asset/` |-| **model** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-This element specifies other MJCF models which may be used for :ref:`attachment<body-attach>` in the current model.
-
-.. _asset-model-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the sub-model, used for referencing in :ref:`attach<body-attach>`. If unspecified, the
-   :ref:`model name<mujoco-model>` is used.
-
-.. _asset-model-file:
-
-:at:`file`: :at-val:`string, required`
-   The file from which the sub-model will be loaded. Note that the sub-model must be a valid MJCF model.
-
-.. _asset-model-content_type:
-
-:at:`content_type` :at-val:`string, optional`
-   The file type to be loaded into a model. Currently only text/xml is supported.
-
-
-.. _body:
-
-**(world)body** |@|
-~~~~~~~~~~~~~~~~~~~
-
-This element is used to construct the :ref:`kinematic tree <CTree>` via nesting. The element :el:`worldbody` is used for
-the top-level body, while the element :el:`body` is used for all other bodies. The top-level body is a restricted type
-of body: it cannot have child elements :ref:`inertial <body-inertial>` and :ref:`joint <body-joint>`, and also cannot
-have any attributes. It corresponds to the origin of the world frame, within which the rest of the kinematic tree is
-defined. Its body name is automatically defined as "world".
-
-.. _body-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the body.
-
-.. _body-childclass:
-
-:at:`childclass`: :at-val:`string, optional`
-   If this attribute is present, all descendant elements that admit a defaults class will use the class specified here,
-   unless they specify their own class or another body or frame with a childclass attribute is encountered along the
-   chain of nested bodies and frames. Recall :ref:`CDefault`.
-
-.. _body-mocap:
-
-:at:`mocap`: :at-val:`[false, true], "false"`
-   If this attribute is "true", the body is labeled as a mocap body. This is allowed only for bodies that are children
-   of the world body and have no joints. Such bodies are fixed from the viewpoint of the dynamics, but nevertheless the
-   forward kinematics set their position and orientation from the fields ``mjData.mocap_{pos,quat}`` at each
-   time step. The size of these arrays is adjusted by the compiler so as to match the number of mocap bodies in the
-   model. This mechanism can be used to stream motion capture data into the simulation. Mocap bodies can also be moved
-   via mouse perturbations in the interactive visualizer, even in dynamic simulation mode. This can be useful for
-   creating props with adjustable position and orientation. Mocap bodies are the weld root of their own kinematic
-   subtree rather than being welded to the world: their children receive standard parent-child collision filtering,
-   they do not generate contacts with static geometry, and contact with a mocap body wakes
-   :ref:`sleeping<Sleeping>` bodies. See :ref:`mocap bodies<CMocap>` for more details.
-
-.. _body-pos:
-
-:at:`pos`: :at-val:`real(3), optional`
-   The 3D position of the body frame, in the parent coordinate frame. If undefined it defaults to (0,0,0).
-
-.. _body-quat:
-
-.. _body-axisangle:
-
-.. _body-xyaxes:
-
-.. _body-zaxis:
-
-.. _body-euler:
-
-:at:`quat`, :at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler`
-   See :ref:`COrientation`.
-
-.. _body-gravcomp:
-
-:at:`gravcomp`: :at-val:`real, "0"`
-  Gravity compensation force, specified as fraction of body weight. This attribute creates an upwards force applied to
-  the body's center of mass, countering the force of gravity. As an example, a value of ``1`` creates an upward force
-  equal to the body's weight and compensates for gravity exactly. Values greater than ``1`` will create a net upwards
-  force or buoyancy effect.
-
-.. _body-sleep:
-
-:at:`sleep`: :at-val:`[auto, never, allowed, init], "auto"`
-   :ref:`Sleep<Sleeping>` policy for the tree under this body. This attribute is only supported by moving bodies which
-   are the root of a kinematic :ref:`tree<ElemTree>`. For the default :at-val:`auto`, the compiler will set the sleep
-   policy as follows:
-
-   - A tree which is affected by actuators is not allowed to sleep (overridable).
-   - Trees which are connected by tendons which have non-zero stiffness and damping are not allowed to sleep
-     (overridable).
-   - Trees which are connected by tendons which connect more than two trees are not allowed to sleep (not overridable).
-   - Constraint-free :ref:`flexes<ElemFlex>` are not allowed to sleep (not overridable).
-   - All other trees are allowed to sleep (overridable).
-
-   The policies :at-val:`never` and :at-val:`allowed` constitute user overrides of the automatic compiler policy.
-
-   The :at-val:`init` sleep policy can only be specified by the user and means "initialize this tree as asleep". This
-   policy is implemented in :ref:`mj_resetData` and :ref:`mj_makeData` and only applies to the default configuration. If
-   a :ref:`keyframe<keyframe>` changes the configuration of (or assigns nonzero velocity to) a sleeping tree, it will be
-   woken up. This policy is useful for very large models where waiting for the automatic sleeping mechanism to kick in
-   can be expensive. Trees initialized as sleeping can be placed in unstable configurations like deep penetration or in
-   mid-air, but will only move when woken up. Also note that this policy can fail. For example if a tree marked as
-   sleep="init" is in contact with a tree not marked as such (i.e., they are in the same :ref:`island<soIsland>`) then
-   it is impossible to put the tree to sleep; such `models
-   <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/sleep/init_island_fail.xml>`__ will lead to
-   a compilation error.
-
-   See :ref:`implementation notes<siSleep>` for more details.
-
-.. _body-simple:
-
-:at:`simple`: :at-val:`[false, auto], "auto"`
-   Controls the *simple body* optimization. When a body qualifies as "simple", its inertial matrix block in the mass
-   matrix is diagonal, representing independent translational and rotational degrees of freedom. The optimization
-   omits storing of the zero-valued off-diagonal entries, reducing memory footprint and computation.
-
-   A body qualifies for this optimization if it satisfies all of the following:
-
-   - **Inertial frame alignment**: The body's inertial frame coincides with its body frame.
-   - **Kinematic root**: The body's parent is either the world body or a static body.
-   - **Leaf body**: The body is a leaf node in the kinematic tree (it has no child bodies).
-   - **Origin-centered joints**: All joints belonging to this body must reside at the body's origin.
-   - **Aligned joint axes**: Any hinge or slide joint axes must be aligned with the local coordinate axes, and at most
-     one joint with rotational degrees of freedom (hinge or ball) is permitted.
-   - **No inertia-bearing tendons**: The body must not contain sites or geoms used as wrap objects by any tendon that
-     has non-zero :ref:`armature<tendon-spatial-armature>`.
-
-   Setting this attribute to :at-val:`false` disables the optimization for this body. This is necessary for domain
-   randomization workflows where model parameters (such as joint/inertial offsets or angles) are perturbed dynamically
-   during simulation and updated via :ref:`mj_setConst`. Because a body compiled with the simple optimization active
-   cannot dynamically lose its simple state at runtime (which would require reallocation of sparse matrix structures),
-   any runtime parameter change that violates the simple conditions will trigger a validation error unless
-   ``simple="false"`` was explicitly declared in the XML.
-
-.. _body-user:
-
-:at:`user`: :at-val:`real(nbody_user), "0 0 ..."`
-   See :ref:`CUser`.
-
-
-.. _body-inertial:
-
-:el-prefix:`body/` |-| **inertial** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element specifies the mass and inertial properties of the body. If this element is not included in a given body,
-the inertial properties are inferred from the geoms attached to the body. When a compiled MJCF model is saved, the XML
-writer saves the inertial properties explicitly using this element, even if they were inferred from geoms. The inertial
-frame is such that its center coincides with the center of mass of the body, and its axes coincide with the principal
-axes of inertia of the body. Thus the inertia matrix is diagonal in this frame.
-
-
-.. _body-inertial-pos:
-
-:at:`pos`: :at-val:`real(3), required`
-   Position of the inertial frame. This attribute is required even when the inertial properties can be inferred from
-   geoms. This is because the presence of the :el:`inertial` element itself disables the automatic inference mechanism.
-
-.. _body-inertial-quat:
-
-.. _body-inertial-axisangle:
-
-.. _body-inertial-xyaxes:
-
-.. _body-inertial-zaxis:
-
-.. _body-inertial-euler:
-
-:at:`quat`, :at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler`
-   Orientation of the inertial frame. See :ref:`COrientation`.
-
-.. _body-inertial-mass:
-
-:at:`mass`: :at-val:`real, required`
-   Mass of the body. Negative values are not allowed. MuJoCo requires the inertia matrix in generalized coordinates to
-   be positive-definite, which can sometimes be achieved even if some bodies have zero mass. In general however there is
-   no reason to use massless bodies. Such bodies are often used in other engines to bypass the limitation that joints
-   cannot be combined, or to attach sensors and cameras. In MuJoCo primitive joint types can be combined, and we have
-   sites which are a more efficient attachment mechanism.
-
-.. _body-inertial-diaginertia:
-
-:at:`diaginertia`: :at-val:`real(3), optional`
-   Diagonal inertia matrix, expressing the body inertia relative to the inertial frame. If this attribute is omitted,
-   the next attribute becomes required.
-
-.. _body-inertial-fullinertia:
-
-:at:`fullinertia`: :at-val:`real(6), optional`
-   Full inertia matrix M. Since M is 3-by-3 and symmetric, it is specified using only 6 numbers in the following order:
-   M(1,1), M(2,2), M(3,3), M(1,2), M(1,3), M(2,3). The compiler computes the eigenvalue decomposition of M and sets the
-   frame orientation and diagonal inertia accordingly. If non-positive eigenvalues are encountered (i.e., if M is not
-   positive definite) a compile error is generated.
-
-
-.. _body-joint:
-
-:el-prefix:`body/` |-| **joint** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a joint. As explained in :ref:`Kinematic tree <CTree>`, a joint creates motion degrees of freedom
-between the body where it is defined and the body's parent. If multiple joints are defined in the same body, the
-corresponding spatial transformations (of the body frame relative to the parent frame) are applied in order. If no
-joints are defined, the body is welded to its parent. Joints cannot be defined in the world body. At runtime the
-positions and orientations of all joints defined in the model are stored in the vector ``mjData.qpos``, in the order in
-which they appear in the kinematic tree. The linear and angular velocities are stored in the vector ``mjData.qvel``.
-These two vectors have different dimensionality when free or ball joints are used, because such joints represent
-rotations as unit quaternions.
-
-.. _body-joint-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the joint.
-
-.. _body-joint-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
-.. _body-joint-type:
-
-:at:`type`: :at-val:`[free, ball, slide, hinge], "hinge"`
-   Type of the joint. The keywords have the following meaning:
-   The **free** type creates a free "joint" with three translational degrees of freedom followed by three rotational
-   degrees of freedom. In other words it makes the body floating. The rotation is represented as a unit quaternion. This
-   joint type is only allowed in bodies that are children of the world body. No other joints can be defined in the body
-   if a free joint is defined. Unlike the remaining joint types, free joints do not have a position within the body
-   frame. Instead the joint position is assumed to coincide with the center of the body frame. Thus at runtime the
-   position and orientation data of the free joint correspond to the global position and orientation of the body frame.
-   Free joints cannot have limits.
-
-   The **ball** type creates a ball joint with three rotational degrees of freedom. The rotation is represented as a
-   unit quaternion. The quaternion (1,0,0,0) corresponds to the initial configuration in which the model is defined. Any
-   other quaternion is interpreted as a 3D rotation relative to this initial configuration. The rotation is around the
-   point defined by the :ref:`pos<body-joint-pos>` attribute. If a body has a ball joint, it cannot have other
-   rotational joints (ball or hinge). Combining ball joints with slide joints in the same body is allowed.
-
-   The **slide** type creates a sliding or prismatic joint with one translational degree of freedom. Such joints are
-   defined by a position and a sliding direction. For simulation purposes only the direction is needed; the joint
-   position is used for rendering purposes.
-
-   The **hinge** type creates a hinge joint with one rotational degree of freedom. The rotation takes place around a
-   specified axis through a specified position. This is the most common type of joint and is therefore the default. Most
-   models contain only hinge and free joints.
-
-.. _body-joint-group:
-
-:at:`group`: :at-val:`int, "0"`
-   Integer group to which the joint belongs. This attribute can be used for custom tags. It is also used by the
-   visualizer to enable and disable the rendering of entire groups of joints.
-
-.. _body-joint-pos:
-
-:at:`pos`: :at-val:`real(3), "0 0 0"`
-   Position of the joint, specified in the frame of the body where the joint is defined.
-   For free joints this attribute is ignored.
-
-.. _body-joint-axis:
-
-:at:`axis`: :at-val:`real(3), "0 0 1"`
-   This attribute specifies the axis of rotation for hinge joints and the direction of translation for slide joints. It
-   is ignored for free and ball joints. The vector specified here is automatically normalized to unit length as long as
-   its length is greater than 10E-14; otherwise a compile error is generated.
-
-.. _body-joint-springdamper:
-
-:at:`springdamper`: :at-val:`real(2), "0 0"`
-   When both numbers are positive, the compiler will override any stiffness and damping values specified with the
-   attributes below, and will instead set them automatically so that the resulting mass-spring-damper for this joint has
-   the desired time constant (first value) and damping ratio (second value). This is done by taking into account the
-   joint inertia in the model reference configuration. Note that the format is the same as the solref parameter of the
-   constraint solver.
-
-.. _body-joint-solreflimit:
-
-.. _body-joint-solimplimit:
-
-:at:`solreflimit`, :at:`solimplimit`
-   Constraint solver parameters for simulating joint limits. See :ref:`CSolver`.
-
-.. _body-joint-solreffriction:
-
-.. _body-joint-solimpfriction:
-
-:at:`solreffriction`, :at:`solimpfriction`
-   Constraint solver parameters for simulating dry friction.
-   See also :ref:`Friction<CSolverFriction>`.
-
-.. _body-joint-stiffness:
-
-:at:`stiffness`: :at-val:`real, "0 0 0"`
-   Joint stiffness coefficients :math:`a, b, c`. A positive :math:`a` produces the standard restorative linear spring
-   force :math:`f = -a x`, where :math:`x` is the joint displacement from equilibrium given by
-   :ref:`springref<body-joint-springref>`.
-
-   If the optional second and third components are set, they define a nonlinear
-   polynomial spring force :math:`f(x) = -(a x + b x^2 + c x^3)`.
-   See :ref:`Polynomial forces<gePolynomial>` for details.
-
-.. _body-joint-range:
-
-:at:`range`: :at-val:`real(2), "0 0"`
-   The joint limits. Limits can be imposed on all joint types except for free joints. For hinge and ball joints, the
-   range is specified in degrees or radians depending on the angle attribute of :ref:`compiler <compiler>`. For ball
-   joints, the limit is imposed on the angle of rotation (relative to the reference configuration) regardless of the
-   axis of rotation. Only the second range parameter is used for ball joints; the first range parameter should be set to
-   0. See the :ref:`Limit <coLimit>` section in the Computation chapter for more information.
-   |br| Setting this attribute without specifying :at:`limited` is an error if :at:`autolimits` is "false" in
-   :ref:`compiler <compiler>`.
-
-.. _body-joint-limited:
-
-:at:`limited`: :at-val:`[false, true, auto], "auto"`
-   This attribute specifies if the joint has limits. It interacts with the :ref:`range<body-joint-range>` attribute. If
-   this attribute is "false", joint limits are disabled. If this attribute is "true", joint limits are enabled. If this
-   attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, joint limits will be enabled if range
-   is defined.
-
-.. _body-joint-actuatorfrcrange:
-
-:at:`actuatorfrcrange`: :at-val:`real(2), "0 0"`
-   Range for clamping total actuator forces acting on this joint. See :ref:`CForceRange` for details. It is available
-   only for scalar joints (hinge and slider) and ignored for ball and free joints. |br| The compiler expects the first
-   value to be smaller than the second value. |br| Setting this attribute without specifying :at:`actuatorfrclimited`
-   is an error if :at:`compiler-autolimits` is "false".
-
-.. _body-joint-actuatorfrclimited:
-
-:at:`actuatorfrclimited`: :at-val:`[false, true, auto], "auto"`
-   This attribute specifies whether actuator forces acting on the joint should be clamped. See :ref:`CForceRange` for
-   details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. |br| This
-   attribute interacts with the :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` attribute. If this attribute is
-   "false", actuator force clamping is disabled. If it is "true", actuator force clamping is enabled. If this attribute
-   is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will be enabled if
-   :at:`actuatorfrcrange` is defined.
-
-.. _body-joint-actuatorgravcomp:
-
-:at:`actuatorgravcomp`: :at-val:`[false, true], "false"`
-   If this flag is enabled, gravity compensation applied to this joint is added to actuator forces
-   (``mjData.qfrc_actuator``) rather than passive forces (``mjData.qfrc_passive``). Notionally, this means that gravity
-   compensation is the result of a control system rather than natural buoyancy. In practice, enabling this flag is
-   useful when joint-level actuator force clamping is used. In this case, the total actuation force applied on a joint,
-   including gravity compensation, is guaranteed to not exceed the specified limits. See :ref:`CForceRange` and
-   :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` for more details on this type of force limit.
-
-.. _body-joint-margin:
-
-:at:`margin`: :at-val:`real, "0"`
-   The distance threshold below which limits become active. Recall that the :ref:`Constraint solver <Solver>` normally
-   generates forces as soon as a constraint becomes active, even if the margin parameter makes that happen at a
-   distance. This attribute together with solreflimit and solimplimit can be used to model a soft joint limit.
-
-.. _body-joint-ref:
-
-:at:`ref`: :at-val:`real, "0"`
-   The reference position or angle of the joint. This attribute is only used for slide and hinge joints. It defines the
-   joint value corresponding to the initial model configuration. Note that the initial configuration itself is
-   unmodified, only the value of the joint at this configuration. The amount of spatial transformation that the joint
-   applies at runtime equals the current joint value stored in ``mjData.qpos`` minus this reference value stored in
-   ``mjModel.qpos0``. The meaning of these vectors is discussed in the :ref:`Kinematic tree <Kinematic>` section in the
-   Overview chapter.
-
-.. _body-joint-springref:
-
-:at:`springref`: :at-val:`real, "0"`
-   The joint position or angle in which the joint spring (if any) achieves equilibrium. Similar to the vector
-   mjModel.qpos0 which stores all joint reference values specified with the ref attribute above, all spring reference
-   values specified with this attribute are stored in the vector mjModel.qpos_spring. The model configuration
-   corresponding to mjModel.qpos_spring is also used to compute the spring reference lengths of all tendons, stored in
-   mjModel.tendon_lengthspring. This is because :ref:`tendons <tendon>` can also have springs.
-
-.. image:: images/XMLreference/armature.gif
-   :width: 40%
-   :align: right
-   :class: only-light
-   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/armature_equivalence.xml
-.. image:: images/XMLreference/armature_dark.gif
-   :width: 40%
-   :align: right
-   :class: only-dark
-   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/armature_equivalence.xml
-
-.. _body-joint-armature:
-
-:at:`armature`: :at-val:`real, "0"`
-   Additional inertia associated with movement of the joint that is not due to body mass. This added inertia is usually
-   due to a rotor (a.k.a `armature <https://en.wikipedia.org/wiki/Armature_(electrical)>`__) spinning faster than the
-   joint itself due to a geared transmission. In the illustration, we compare (*left*) a 2-dof system with an armature
-   body (purple box), coupled with a gear ratio of :math:`3` to the pendulum using a :ref:`joint
-   equality<equality-joint>` constraint, and (*right*) a simple 1-dof pendulum with an equivalent :at:`armature`.
-   Because the gear ratio appears twice, multiplying both forces and lengths, the effect is known as "reflected
-   inertia" and the equivalent value is the inertia of the spinning body multiplied by the *square of the gear ratio*,
-   in this case :math:`9=3^2`. The value applies to all degrees of freedom created by this joint.
-
-   Besides increasing the realism of joints with geared transmission, positive :at:`armature` significantly improves
-   simulation stability, even for small values, and is a recommended possible fix when encountering stability issues.
-
-.. _body-joint-damping:
-
-:at:`damping`: :at-val:`real, "0 0 0"`
-   Damping coefficients :math:`a, b, c`.
-   A positive :math:`a` produces the standard dissipative linear damping force :math:`f(v) = -a v`,
-   where :math:`v` is the joint velocity. Despite its simplicity,
-   larger damping values can make numerical integrators unstable, which is why our Euler integrator handles
-   damping implicitly. See :ref:`Integration <geIntegration>` in the Computation chapter.
-
-   If the optional second and third components are set, they define a nonlinear polynomial damping force
-   :math:`f(v) = -(a v + b v |v| + c v^3)`.
-   Note the anti-symmetrization of the quadratic term, ensuring that the force is an odd function of
-   velocity. See :ref:`Polynomial forces<gePolynomial>` for details.
-
-.. _body-joint-frictionloss:
-
-:at:`frictionloss`: :at-val:`real, "0"`
-   Friction loss due to dry friction. This value is the same for all degrees of freedom created by this joint.
-   Semantically friction loss does not make sense for free joints, but the compiler allows it. To enable friction loss,
-   set this attribute to a positive value.
-
-.. _body-joint-user:
-
-:at:`user`: :at-val:`real(njnt_user), "0 0 ..."`
-   See :ref:`CUser`.
-
-
-.. _body-freejoint:
-
-:el-prefix:`body/` |-| **freejoint** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a free joint whose only attributes are :at:`name` and :at:`group`. The :el:`freejoint` element is
-an XML shortcut for
-
-.. code-block:: xml
-
-   <joint type="free" stiffness="0" damping="0" frictionloss="0" armature="0"/>
-
-While this joint can evidently be created with the :ref:`joint <body-joint>` element, default joint settings could
-affect it. This is usually undesirable as physical free bodies do not have nonzero stiffness, damping, friction or
-armature. To avoid this complication, the :el:`freejoint` element was introduced, ensuring joint defaults are *not
-inherited*. If the XML model is saved, it will appear as a regular joint of type :at:`free`.
-
-
-.. _body-freejoint-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the joint.
-
-.. _body-freejoint-group:
-
-:at:`group`: :at-val:`int, "0"`
-   Integer group to which the joint belongs. This attribute can be used for custom tags. It is also used by the
-   visualizer to enable and disable the rendering of entire groups of joints.
-
-.. _body-freejoint-align:
-
-:at:`align`: :at-val:`[false, true, auto], "auto"`
-   When set to :at-val:`true`, the body frame and free joint will automatically be aligned with inertial frame. When set
-   to :at-val:`false`, no alignment will occur. When set to :at-val:`auto`, the compiler's
-   :ref:`alignfree<compiler-alignfree>` global attribute will be respected.
-
-   Inertial frame alignment is an optimization only applies to bodies with a free joint and no child bodies ("simple
-   free bodies"). The alignment diagonalizes the 6x6 inertia matrix and minimizes bias forces, leading to faster and
-   more stable simulation. While this behaviour is a strict improvement, it modifies the semantics of the free joint,
-   making ``qpos`` and ``qvel`` values saved in older versions (for example, in :ref:`keyframes<keyframe>`) invalid.
-
-   Note that the :at:`align` attribute is never saved to XML. Instead, the pose of simple free bodies and their children
-   will be modified such that the body frame and inertial frame are aligned.
-
-.. _body-geom:
-
-:el-prefix:`body/` |-| **geom** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a geom, and attaches it rigidly to the body within which the geom is defined. Multiple geoms can
-be attached to the same body. At runtime they determine the appearance and collision properties of the body. At
-compile time they can also determine the inertial properties of the body, depending on the presence of the
-:ref:`inertial <body-inertial>` element and the setting of the inertiafromgeom attribute of :ref:`compiler <compiler>`.
-This is done by summing the masses and inertias of all geoms attached to the body with geom group in the range
-specified by the inertiagrouprange attribute of :ref:`compiler <compiler>`. The geom masses and inertias are computed
-using the geom shape, a specified density or a geom mass which implies a density, and the assumption of uniform
-density.
-
-Geoms are not strictly required for physics simulation. One can create and simulate a model that only has bodies and
-joints. Such a model can even be visualized, using equivalent inertia boxes to represent bodies. Only contact forces
-would be missing from such a simulation. We do not recommend using such models, but knowing that this is possible
-helps clarify the role of bodies and geoms in MuJoCo.
-
-.. _body-geom-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the geom.
-
-.. _body-geom-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
-.. _body-geom-type:
-
-:at:`type`: :at-val:`[plane, hfield, sphere, capsule, ellipsoid, cylinder, box, mesh, sdf], "sphere"`
-   Type of geometric shape. The keywords have the following meaning: The **plane** type defines a surface which is
-   infinite for collision detection purposes. It can only be attached to the world body or static children of the world.
-   The plane passes through a point specified via the pos attribute. It is normal to the Z axis of the geom's local
-   frame. The +Z direction corresponds to empty space. Thus the position and orientation defaults of (0,0,0) and
-   (1,0,0,0) would create a ground plane at Z=0 elevation, with +Z being the vertical direction in the world (which is
-   MuJoCo's convention). Since the plane is infinite, it could have been defined using any other point in the plane. The
-   specified position however has additional meaning with regard to rendering. If either of the first two size
-   parameters are positive, the plane is rendered as a rectangle of finite size (in the positive dimensions). This
-   rectangle is centered at the specified position. Three size parameters are required. The first two specify the half-
-   size of the rectangle along the X and Y axes. The third size parameter is unusual: it specifies the spacing between
-   the grid subdivisions of the plane for rendering purposes. The subdivisions are revealed in wireframe rendering mode,
-   but in general they should not be used to paint a grid over the ground plane (textures should be used for that
-   purpose). Instead their role is to improve lighting and shadows, similar to the subdivisions used to render boxes.
-   When planes are viewed from the back, the are automatically made semi-transparent. Planes and the +Z faces of boxes
-   are the only surfaces that can show reflections, if the :ref:`material <asset-material>` applied to the geom has
-   positive reflection. To render an infinite plane, set the first two size parameters to zero.
-
-   The **hfield** type defines a height field geom. The geom must reference the desired height field asset with the
-   hfield attribute below. The position and orientation of the geom set the position and orientation of the height
-   field. The size of the geom is ignored, and the size parameters of the height field asset are used instead. See the
-   description of the :ref:`hfield <asset-hfield>` element. Similar to planes, height field geoms can only be attached
-   to the world body or to static children of the world.
-
-   The **sphere** type defines a sphere. This and the next four types correspond to built-in geometric primitives. These
-   primitives are treated as analytic surfaces for collision detection purposes, in many cases relying on custom pair-
-   wise collision routines. Models including only planes, spheres, capsules and boxes are the most efficient in terms of
-   collision detection. Other geom types invoke the general-purpose convex collider. The sphere is centered at the
-   geom's position. Only one size parameter is used, specifying the radius of the sphere. Rendering of geometric
-   primitives is done with automatically generated meshes whose density can be adjusted via
-   :ref:`quality <visual-quality>`. The sphere mesh is triangulated along the lines of latitude and longitude,
-   with the Z axis passing through the north and south pole. This can be useful in wireframe mode for visualizing frame
-   orientation.
-
-   The **capsule** type defines a capsule, which is a cylinder capped with two half-spheres. It is oriented along the Z
-   axis of the geom's frame. When the geom frame is specified in the usual way, two size parameters are required: the
-   radius of the capsule followed by the half-height of the cylinder part. However capsules as well as cylinders can
-   also be thought of as connectors, allowing an alternative specification with the fromto attribute below. In that case
-   only one size parameter is required, namely the radius of the capsule.
-
-   The **ellipsoid** type defines a ellipsoid. This is a sphere scaled separately along the X, Y and Z axes of the local
-   frame. It requires three size parameters, corresponding to the three radii. Note that even though ellipsoids are
-   smooth, their collisions are handled via the general-purpose convex collider. The only exception are plane-ellipsoid
-   collisions which are computed analytically.
-
-   The **cylinder** type defines a cylinder. It requires two size parameters: the radius and half-height of the
-   cylinder. The cylinder is oriented along the Z axis of the geom's frame. It can alternatively be specified with the
-   fromto attribute below.
-
-   The **box** type defines a box. Three size parameters are required, corresponding to the half-sizes of the box along
-   the X, Y and Z axes of the geom's frame. Note that box-box collisions can generate up to 8 contact points.
-
-   The **mesh** type defines a mesh. The geom must reference the desired mesh asset with the mesh attribute. Note that
-   mesh assets can also be referenced from other geom types, causing primitive shapes to be fitted; see below. The size
-   is determined by the mesh asset and the geom size parameters are ignored. Unlike all other geoms, the position and
-   orientation of mesh geoms after compilation do not equal the settings of the corresponding attributes here. Instead
-   they are offset by the translation and rotation that were needed to center and align the mesh asset in its own
-   coordinate frame. Recall the discussion of centering and alignment in the :ref:`mesh <asset-mesh>` element.
-
-   The **sdf** type defines a signed distance field (SDF, also referred to as signed distance function). In order to
-   visualize the SDF, a custom mesh must be specified using the :ref:`mesh/plugin <mesh-plugin>` attribute. See the
-   `model/plugin/sdf/ <https://github.com/google-deepmind/mujoco/tree/main/model/plugin/sdf>`__ directory for example models
-   with SDF geometries. For more details regarding SDF plugins, see the :ref:`Extensions chapter<exWriting>`.
-
-.. _body-geom-contype:
-
-:at:`contype`: :at-val:`int, "1"`
-   This attribute and the next specify 32-bit integer bitmasks used for contact filtering of dynamically generated
-   contact pairs. See :ref:`Collision` in the Computation chapter. Two geoms can collide if the contype of one geom
-   is compatible with the conaffinity of the other geom or vice versa. Compatible means that the two bitmasks have
-   a common bit set to 1.
-
-.. _body-geom-conaffinity:
-
-:at:`conaffinity`: :at-val:`int, "1"`
-   Bitmask for contact filtering; see contype above.
-
-.. _body-geom-condim:
-
-:at:`condim`: :at-val:`int, "3"`
-   The dimensionality of the contact space for a dynamically generated contact pair is set to the maximum of the condim
-   values of the two participating geoms. See :ref:`coContact` in the Computation chapter. The allowed values and their
-   meaning are:
-
-   +--------+----------------------------------------------------------------------------------------------------------+
-   | condim | Description                                                                                              |
-   +========+==========================================================================================================+
-   | 1      | Frictionless contact.                                                                                    |
-   +--------+----------------------------------------------------------------------------------------------------------+
-   | 3      | Regular frictional contact, opposing slip in the tangent plane.                                          |
-   +--------+----------------------------------------------------------------------------------------------------------+
-   | 4      | Frictional contact, opposing slip in the tangent plane and rotation around the contact normal. This is   |
-   |        | useful for modeling soft contacts (independent of contact penetration).                                  |
-   +--------+----------------------------------------------------------------------------------------------------------+
-   | 6      | Frictional contact, opposing slip in the tangent plane, rotation around the contact normal and rotation  |
-   |        | around the two axes of the tangent plane. The latter frictional effects are useful for preventing        |
-   |        | objects from indefinite rolling.                                                                         |
-   +--------+----------------------------------------------------------------------------------------------------------+
-
-.. _body-geom-group:
-
-:at:`group`: :at-val:`int, "0"`
-   This attribute specifies an integer group to which the geom belongs. The only effect on the physics is at compile
-   time, when body masses and inertias are inferred from geoms selected based on their group; see inertiagrouprange
-   attribute of :ref:`compiler <compiler>`. At runtime this attribute is used by the visualizer to enable and disable
-   the rendering of entire geom groups. By default, groups 0, 1 and 2 are visible, while all other groups are invisible.
-   The group attribute can also be used as a tag for custom computations.
-
-.. _body-geom-priority:
-
-:at:`priority`: :at-val:`int, "0"`
-   The geom priority determines how the properties of two colliding geoms are combined to form the properties of the
-   contact. This interacts with the solmix attribute. See :ref:`CContact`.
-
-.. _body-geom-size:
-
-:at:`size`: :at-val:`real(3), "0 0 0"`
-   Geom size parameters. The number of required parameters and their meaning depends on the geom type as documented
-   under the type attribute. Here we only provide a summary. All required size parameters must be positive; the internal
-   defaults correspond to invalid settings. Note that when a non-mesh geom type references a mesh, a geometric primitive
-   of that type is fitted to the mesh. In that case the sizes are obtained from the mesh, and the geom size parameters
-   are ignored. Thus the number and description of required size parameters in the table below only apply to geoms that
-   do not reference meshes.
-
-   +---------+--------+------------------------------------------------------------------------------------------------+
-   | Type    | Number | Description                                                                                    |
-   +=========+========+================================================================================================+
-   | plane   | 3      | X half-size; Y half-size; spacing between square grid lines for rendering. If either the X or Y|
-   |         |        | half-size is 0, the plane is rendered as infinite in the dimension(s) with 0 size.             |
-   +---------+--------+------------------------------------------------------------------------------------------------+
-   | hfield  | 0      | The geom sizes are ignored and the height field sizes are used instead.                        |
-   +---------+--------+------------------------------------------------------------------------------------------------+
-   | sphere  | 1      | Radius of the sphere.                                                                          |
-   +---------+--------+------------------------------------------------------------------------------------------------+
-   | capsule | 1 or 2 | Radius of the capsule; half-length of the cylinder part when not using the :at:`fromto`        |
-   |         |        | specification.                                                                                 |
-   +---------+--------+------------------------------------------------------------------------------------------------+
-   |ellipsoid| 3      | X radius; Y radius; Z radius.                                                                  |
-   +---------+--------+------------------------------------------------------------------------------------------------+
-   |cylinder | 1 or 2 | Radius of the cylinder; half-length of the cylinder when not using the :at:`fromto`            |
-   |         |        | specification.                                                                                 |
-   +---------+--------+------------------------------------------------------------------------------------------------+
-   | box     | 3      | X half-size; Y half-size; Z half-size.                                                         |
-   +---------+--------+------------------------------------------------------------------------------------------------+
-   | mesh    | 0      | The geom sizes are ignored and the mesh sizes are used instead.                                |
-   +---------+--------+------------------------------------------------------------------------------------------------+
-
-.. _body-geom-material:
-
-:at:`material`: :at-val:`string, optional`
-   If specified, this attribute applies a material to the geom. Otherwise, if unspecified and the type of the geom is
-   a **mesh** the compiler will apply the mesh asset :ref:`material <asset-mesh-material>` if present.
-
-   The material determines the visual properties of the geom. The only exception is color: if the rgba attribute below
-   is different from its internal default, it takes precedence while the remaining material properties are still
-   applied. Note that if the same material is referenced from multiple geoms (as well as sites and tendons) and the user
-   changes some of its properties at runtime, these changes will take effect immediately for all model elements
-   referencing the material. This is because the compiler saves the material and its properties as a separate element in
-   mjModel, and the elements using this material only keep a reference to it.
-
-.. _body-geom-rgba:
-
-:at:`rgba`: :at-val:`real(4), "0.5 0.5 0.5 1"`
-   Instead of creating material assets and referencing them, this attribute can be used to set color and transparency
-   only. This is not as flexible as the material mechanism, but is more convenient and is often sufficient. If the value
-   of this attribute is different from the internal default, it takes precedence over the material.
-
-.. _body-geom-friction:
-
-:at:`friction`: :at-val:`real(3), "1 0.005 0.0001"`
-   Contact friction parameters for dynamically generated contact pairs. The first number is the sliding friction, acting
-   along both axes of the tangent plane. The second number is the torsional friction, acting around the contact normal.
-   The third number is the rolling friction, acting around both axes of the tangent plane. The friction parameters for
-   the contact pair are combined depending on the solmix and priority attributes, as explained in :ref:`Contact
-   parameters <CContact>`. See the general :ref:`Contact<coContact>` section for descriptions of the semantics of this
-   attribute.
-
-.. _body-geom-mass:
-
-:at:`mass`: :at-val:`real, optional`
-   If this attribute is specified, the density attribute below is ignored and the geom density is computed from the
-   given mass, using the geom shape and the assumption of uniform density. The computed density is then used to obtain
-   the geom inertia. Recall that the geom mass and inertia are only used during compilation, to infer the body mass and
-   inertia if necessary. At runtime only the body inertial properties affect the simulation; the geom mass and inertia
-   are not saved in mjModel.
-
-.. _body-geom-density:
-
-:at:`density`: :at-val:`real, "1000"`
-   Material density used to compute the geom mass and inertia. The computation is based on the geom shape and the
-   assumption of uniform density. The internal default of 1000 is the density of water in SI units. This attribute is
-   used only when the mass attribute above is unspecified. If `shellinertia` is "false" (the default), density has
-   semantics of mass/volume; if "true", it has semantics of mass/area.
-
-.. _body-geom-shellinertia:
-
-:at:`shellinertia` :at-val:`[false, true], "false"`
-   If true, the geom's inertia is computed assuming that all the mass is concentrated on the surface. In this case
-   :at:`density` is interpreted as surface rather than volumetric density. This attribute only applies to primitive
-   geoms and is ignored for meshes. Surface inertia for meshes can be specified by setting the
-   :ref:`asset/mesh/inertia<asset-mesh-inertia>` attribute to :at-val:`"shell"`.
-
-.. _body-geom-solmix:
-
-:at:`solmix`: :at-val:`real, "1"`
-   This attribute specifies the weight used for averaging of contact parameters, and interacts with the priority
-   attribute. See :ref:`CContact`.
-
-.. _body-geom-solref:
-
-.. _body-geom-solimp:
-
-:at:`solref`, :at:`solimp`
-   Constraint solver parameters for contact simulation. See :ref:`CSolver`.
-
-.. _body-geom-margin:
-
-:at:`margin`: :at-val:`real, "0"`
-   Geometric inflation of the geom surface for the purpose of contact force generation. When the distance between two
-   geom surfaces is below ``margin``, the contact is considered active and contact forces are generated. The constraint
-   impedance can be a function of distance, as explained in :ref:`CSolver`. The quantity this function is applied to is
-   the distance between the two geoms minus the ``margin``. See :ref:`margin and gap<coMarginGap>`.
-
-.. _body-geom-gap:
-
-:at:`gap`: :at-val:`real, "0"`
-   Additional contact detection buffer beyond ``margin``. When this value is positive, contacts are detected at
-   distance ``margin + gap`` but forces are only generated at distance ``margin``. Contacts with distance between
-   ``margin`` and ``margin + gap`` are included in ``mjData.contact`` as inactive contacts (with ``efc_address`` = -1).
-   These inactive contacts can be used for custom computations, for example by :ref:`adhesion<actuator-adhesion>`
-   actuators which use contacts in the gap zone to generate adhesive forces without producing contact forces.
-   See :ref:`margin and gap<coMarginGap>`.
-
-.. _body-geom-surfacevel:
-
-.. youtube:: PdSdrqhSiZA
-   :aspect: 16:7
-   :align: right
-   :width: 35%
-
-:at:`surfacevel`: :at-val:`real(6), "0 0 0 0 0 0"`
-   Velocity of the geom's surface as seen by contacts, given as a velocity field :math:`\sigma(x)` with two components:
-   a constant velocity :math:`v` (first three numbers) and a rotational field with angular velocity :math:`\omega` (last
-   three numbers) about the geom frame origin :math:`p`, both expressed in the geom frame:
-
-   .. math::
-      \sigma(x) = v + \omega \times (x - p)
-
-   A contact with the geom observes the surface moving along this field, with the velocity projected onto the contact's
-   tangent plane: no normal velocity is imparted. When :at:`condim` is 4 or larger, the angular velocity :math:`\omega`
-   also drives torsional friction. :at:`surfacevel` models surfaces that move while the geom itself does not: conveyor
-   belts, treadmills and turntables can be constructed with no degrees of freedom. Friction drives touching bodies along
-   the motion of the surface: objects placed on a conveyor are transported at belt speed, and a turntable (angular
-   surface velocity about the cylinder axis) imparts tangential velocity that grows with radius. Surface velocities of
-   two touching geoms compose as relative velocity, and compose correctly with body motion (a conveyor mounted on a
-   moving vehicle works as expected). Note that this attribute describes the geom's *entire* surface: a box with
-   constant ``surfacevel`` moves all six faces. When contact points are visualized, a contact with a moving surface
-   additionally displays an arrow along the tangential surface velocity at the contact point. This attribute can be
-   modified at runtime.
-
-.. _body-geom-adhesion:
-
-.. youtube:: GioWwB36XHI
-   :align: right
-   :width: 40%
-
-:at:`adhesion`: :at-val:`real, "0"`
-   Adhesive force of contacts with this geom, in units of force. Geometrically, the friction cone is translated down
-   along the normal so that the force origin lies strictly inside it: each contact can pull with up to ``adhesion``
-   before breaking, and the friction budget becomes :math:`\mu(f_N + \text{adhesion})`. Contacts resist sliding even
-   under zero normal force, the defining property of cohesive materials. This is useful for sticky materials (tape,
-   gecko feet, tacky rubber) and as a physical stabilizer for grasping. The adhesion of a contact is the sum of the
-   values of the two contacting geoms, or the value of the higher-:ref:`priority<body-geom-priority>` geom if priorities
-   differ; an explicit contact :ref:`pair<contact-pair>` overrides both. Note that adhesion is *per contact*: a box face
-   resting on a plane generates four contact points and therefore four times the pull-off force of a single-point
-   contact. To let adhesion act across a small separation (attraction at a distance), set :ref:`gap<body-geom-gap>` to
-   the desired interaction range. This can be used to model magnets. Resting penetration is unaffected by adhesion (the
-   compression behavior of the contact is unchanged; only a tensile branch is added), and :ref:`mj_contactForce` reports
-   the net interface force, whose normal component can be negative under tension. The underlying model is described in
-   the :ref:`Computation chapter<soAdhesion>`. For adhesion as a *controlled* force — switched on and off like a vacuum
-   gripper, dividing a total force between a body's contacts and pressing the bodies together — see the :ref:`adhesion
-   actuator<actuator-adhesion>`.
-
-.. _body-geom-fromto:
-
-:at:`fromto`: :at-val:`real(6), optional`
-   .. figure:: images/XMLreference/fromto.png
-      :width: 350px
-      :align: right
-
-   This attribute can only be used with capsule, box, cylinder and ellipsoid geoms. It provides an alternative
-   specification of the geom length as well as the frame position and orientation. The six numbers are the 3D
-   coordinates of one point followed by the 3D coordinates of another point. The elongated part of the geom connects
-   these two points, with the +Z axis of the geom's frame oriented from the first towards the second point, while in the
-   perpendicular direction, the geom sizes are both equal to the first value of the :at:`size` attribute. The frame
-   orientation is obtained with the same procedure as the :at:`zaxis` attribute described in :ref:`Frame orientations
-   <COrientation>`. The frame position is in the middle between the end points. If this attribute is specified, the
-   remaining position and orientation-related attributes are ignored. The image on the right demonstrates use of
-   :at:`fromto` with the four supported geoms, using identical Z values. The model is `here <_static/fromto.xml>`__.
-   Note that the :at:`fromto` semantics of *capsule* are unique: the two end points specify the segment around which
-   the radius defines the capsule surface.
-
-.. _body-geom-pos:
-
-:at:`pos`: :at-val:`real(3), "0 0 0"`
-   Position of the geom, specified in the frame of the body where the geom is defined.
-
-.. _body-geom-quat:
-
-.. _body-geom-axisangle:
-
-.. _body-geom-xyaxes:
-
-.. _body-geom-zaxis:
-
-.. _body-geom-euler:
-
-:at:`quat`, :at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler`
-   Orientation of the geom frame. See :ref:`COrientation`.
-
-.. _body-geom-hfield:
-
-:at:`hfield`: :at-val:`string, optional`
-   This attribute must be specified if and only if the geom type is "hfield". It references the height field asset to be
-   instantiated at the position and orientation of the geom frame.
-
-.. _body-geom-mesh:
-
-:at:`mesh`: :at-val:`string, optional`
-   If the geom type is "mesh", this attribute is required. It references the mesh asset to be instantiated. This
-   attribute can also be specified if the geom type corresponds to a geometric primitive, namely one of "sphere",
-   "capsule", "cylinder", "ellipsoid", "box". In that case the primitive is automatically fitted to the mesh asset
-   referenced here. The fitting procedure uses either the equivalent inertia box or the axis-aligned bounding box of the
-   mesh, as determined by the attribute fitaabb of :ref:`compiler <compiler>`. The resulting size of the fitted geom is
-   usually what one would expect, but if not, it can be further adjusted with the fitscale attribute below. In the
-   compiled mjModel the geom is represented as a regular geom of the specified primitive type, and there is no reference
-   to the mesh used for fitting.
-
-.. _body-geom-fitscale:
-
-:at:`fitscale`: :at-val:`real, "1"`
-   This attribute is used only when a primitive geometric type is being fitted to a mesh asset. The scale specified here
-   is relative to the output of the automated fitting procedure. The default value of 1 leaves the result unchanged, a
-   value of 2 makes all sizes of the fitted geom two times larger.
-
-.. _body-geom-fluidshape:
-
-:at:`fluidshape`: :at-val:`[none, ellipsoid], "none"`
-   "ellipsoid" activates the geom-level fluid interaction model based on an ellipsoidal approximation of the geom
-   shape. When active, the model based on :ref:`body inertia sizes <flInertia>` is disabled for the body in which the
-   geom is defined. See section on :ref:`ellipsoid-based<flEllipsoid>` fluid interaction model for details.
-
-.. _body-geom-fluidcoef:
-
-:at:`fluidcoef`: :at-val:`real(5), "0.5 0.25 1.5 1.0 1.0"`
-   Dimensionless coefficients of fluid interaction model, as follows.
-   See section on :ref:`ellipsoid-based<flEllipsoid>` fluid interaction model for details.
-
-
-.. list-table::
-   :width: 60%
-   :align: left
-   :widths: 1 5 2 1
-   :header-rows: 1
-
-   * - Index
-     - Description
-     - Symbol
-     - Default
-   * - 0
-     - Blunt drag coefficient
-     - :math:`C_{D, \text{blunt}}`
-     - 0.5
-   * - 1
-     - Slender drag coefficient
-     - :math:`C_{D, \text{slender}}`
-     - 0.25
-   * - 2
-     - Angular drag coefficient
-     - :math:`C_{D, \text{angular}}`
-     - 1.5
-   * - 3
-     - Kutta lift coefficient
-     - :math:`C_K`
-     - 1.0
-   * - 4
-     - Magnus lift coefficient
-     - :math:`C_M`
-     - 1.0
-
-
-.. _body-geom-user:
-
-:at:`user`: :at-val:`real(nuser_geom), "0 0 ..."`
-   See :ref:`CUser`.
-
-.. _geom-plugin:
-
-:el-prefix:`geom/` |-| **plugin** |?|
-'''''''''''''''''''''''''''''''''''''
-
-Associate this geom with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
-
-.. _geom-plugin-plugin:
-
-:at:`plugin`: :at-val:`string, optional`
-   Plugin identifier, used for implicit plugin instantiation.
-
-.. _geom-plugin-instance:
-
-:at:`instance`: :at-val:`string, optional`
-   Instance name, used for explicit plugin instantiation.
-
-
-.. _body-site:
-
-:el-prefix:`body/` |-| **site** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a site, which is a simplified and restricted kind of geom. A small subset of the geom attributes
-are available here; see the :ref:`geom <body-geom>` element for their detailed documentation. Semantically sites represent
-locations of interest relative to the body frames. Sites do not participate in collisions and computation of body masses
-and inertias. The geometric shapes that can be used to render sites are limited to a subset of the available geom types.
-However sites can be used in some places where geoms are not allowed: mounting sensors, specifying via-points of spatial
-tendons, constructing slider-crank transmissions for actuators.
-
-
-.. _body-site-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the site.
-
-.. _body-site-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
-.. _body-site-type:
-
-:at:`type`: :at-val:`[sphere, capsule, ellipsoid, cylinder, box], "sphere"`
-   Type of geometric shape. This is used for rendering, and also determines the active sensor zone for :ref:`touch
-   sensors <sensor-touch>`.
-
-.. _body-site-group:
-
-:at:`group`: :at-val:`int, "0"`
-   Integer group to which the site belongs. This attribute can be used for custom tags. It is also used by the
-   visualizer to enable and disable the rendering of entire groups of sites.
-
-.. _body-site-material:
-
-:at:`material`: :at-val:`string, optional`
-   Material used to specify the visual properties of the site.
-
-.. _body-site-rgba:
-
-:at:`rgba`: :at-val:`real(4), "0.5 0.5 0.5 1"`
-   Color and transparency. If this value is different from the internal default, it overrides the corresponding material
-   properties.
-
-.. _body-site-size:
-
-:at:`size`: :at-val:`real(3), "0.005 0.005 0.005"`
-   Sizes of the geometric shape representing the site.
-
-.. _body-site-fromto:
-
-:at:`fromto`: :at-val:`real(6), optional`
-   This attribute can only be used with capsule, cylinder, ellipsoid and box sites. It provides an alternative
-   specification of the site length as well as the frame position and orientation. The six numbers are the 3D
-   coordinates of one point followed by the 3D coordinates of another point. The elongated part of the site connects
-   these two points, with the +Z axis of the site's frame oriented from the first towards the second point. The frame
-   orientation is obtained with the same procedure as the zaxis attribute described in :ref:`Frame orientations
-   <COrientation>`. The frame position is in the middle between the two points. If this attribute is specified, the
-   remaining position and orientation-related attributes are ignored.
-
-.. _body-site-pos:
-
-:at:`pos`: :at-val:`real(3), "0 0 0"`
-   Position of the site frame.
-
-.. _body-site-quat:
-
-.. _body-site-axisangle:
-
-.. _body-site-xyaxes:
-
-.. _body-site-zaxis:
-
-.. _body-site-euler:
-
-:at:`quat`, :at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler`
-   Orientation of the site frame. See :ref:`COrientation`.
-
-.. _body-site-user:
-
-:at:`user`: :at-val:`real(nuser_site), "0 0 ..."`
-   See :ref:`CUser`.
-
-
-.. _body-camera:
-
-:el-prefix:`body/` |-| **camera** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a camera, which moves with the body where it is defined. To create a fixed camera, define it in the
-world body. The cameras created here are in addition to the default free camera which is always defined and is adjusted
-via the :ref:`visual <visual>` element. Internally MuJoCo uses a flexible camera model, where the viewpoint and
-projection surface are adjusted independently so as to obtain oblique projections needed for virtual environments. This
-functionality however is not accessible through MJCF. Instead, the cameras created with this element (as well as the
-free camera) have a viewpoint that is always centered in front of the projection surface. The viewpoint coincides with
-the center of the camera frame. The camera is looking along the -Z axis of its frame. The +X axis points to the right,
-and the +Y axis points up. Thus the frame position and orientation are the key adjustments that need to be made here.
-
-
-.. _body-camera-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the camera.
-
-.. _body-camera-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
-.. _body-camera-mode:
-
-:at:`mode`: :at-val:`[fixed, track, trackcom, targetbody, targetbodycom], "fixed"`
-   This attribute specifies how the camera position and orientation in world coordinates are computed in forward
-   kinematics (which in turn determine what the camera sees). "fixed" means that the position and orientation specified
-   below are fixed relative to the body where the camera is defined. "track" means that the camera position is at a
-   constant offset from the body in world coordinates, while the camera orientation is constant in world coordinates.
-   These constants are determined by applying forward kinematics in qpos0 and treating the camera as fixed. Tracking can
-   be used for example to position a camera above a body, point it down so it sees the body, and have it always remain
-   above the body no matter how the body translates and rotates. "trackcom" is similar to "track" but the constant
-   spatial offset is defined relative to the center of mass of the kinematic subtree starting at the body in which the
-   camera is defined. This can be used to keep an entire mechanism in view. Note that the subtree center of mass for the
-   world body is the center of mass of the entire model. So if a camera is defined in the world body in mode "trackcom",
-   it will track the entire model. "targetbody" means that the camera position is fixed in the body frame, while the
-   camera orientation is adjusted so that it always points towards the targeted body (which is specified with the target
-   attribute below). This can be used for example to model an eye that fixates a moving object; the object will be the
-   target, and the camera/eye will be defined in the body corresponding to the head. "targetbodycom" is the same as
-   "targetbody" but the camera is oriented towards the center of mass of the subtree starting at the target body.
-
-.. _body-camera-target:
-
-:at:`target`: :at-val:`string, optional`
-   When the camera mode is "targetbody" or "targetbodycom", this attribute becomes required. It specifies which body
-   should be targeted by the camera. In all other modes this attribute is ignored.
-
-.. _body-camera-projection:
-
-:at:`projection`: :at-val:`[perspective, orthographic], "perspective"`
-   Whether the camera uses a perspective (the default) or orthographic projection. Setting this
-   attribute to "orthographic" changes the semantic of the :ref:`fovy<body-camera-fovy>` attribute, see below.
-
-.. _body-camera-fovy:
-
-:at:`fovy`: :at-val:`real, "45"`
-   Vertical field-of-view of the camera. If the camera uses a perspective projection, the field-of-view is expressed in
-   degrees, regardless of the global :ref:`compiler/angle <compiler-angle>` setting. If the camera uses an orthographic
-   projection, the field-of-view is expressed in units of length; note that in this case the default of 45 is too large
-   for most scenes and should likely be reduced. In either case, the horizontal field of view is computed automatically
-   given the window size and the vertical field of view.
-
-.. _body-camera-resolution:
-
-:at:`resolution`: :at-val:`int(2), "1 1"`
-   Resolution of the camera in pixels [width height]. Note that these values are not used for rendering since those
-   dimensions are determined by the size of the rendering context. This attribute serves as a convenient
-   location to save the required resolution. Setting either value larger than 1
-   enables frustum visualization when the :ref:`mjVIS_CAMERA<mjtVisFlag>` visualization flag is active.
-
-.. _body-camera-output:
-
-:at:`output`: :at-val:`[rgb, depth, distance, normal, segmentation], "rgb"`
-   Types of output images supported by the camera.
-
-   - :at-val:`rgb`: RGB image.
-   - :at-val:`depth`: Depth image (distance from camera plane).
-   - :at-val:`distance`: Distance image (distance from camera origin).
-   - :at-val:`normal`: Surface normal image.
-   - :at-val:`segmentation`: Segmentation image.
-
-   This attribute is not used for rendering, but serves as a convenient location to save the output types supported by
-   the camera. The :at:`output` attribute can contain multiple types, e.g. :at-val:`"rgb normal"`.
-
-.. _body-camera-sensorsize:
-
-:at:`sensorsize`: :at-val:`real(2), "0 0"`
-   Size of the camera sensor in length units. When specified, all intrinsic attributes become active and :at:`fovy`
-   is ignored. The field-of-view is then computed automatically from the focal length and sensor size.
-
-.. _body-camera-focal:
-.. _body-camera-focalpixel:
-
-:at:`focal` / :at:`focalpixel`: :at-val:`real(2), "0 0"`
-   Focal length in physical length units or in pixels, respectively. If both are specified, the pixel
-   value is used and the length value is ignored.
-
-.. _body-camera-principal:
-.. _body-camera-principalpixel:
-
-:at:`principal` / :at:`principalpixel`: :at-val:`real(2), "0 0"`
-   Offset of the principal point (optical axis intersection with the image plane) from the image center. If both are
-   specified, the pixel value is used. At zero offset, the rendered image is centered on the camera's negative Z axis,
-   as in a standard pinhole camera model.
-
-.. _body-camera-ipd:
-
-:at:`ipd`: :at-val:`real, "0.068"`
-   Inter-pupilary distance. This attribute only has an effect during stereoscopic rendering. It specifies the distance
-   between the left and right viewpoints. Each viewpoint is shifted by +/- half of the distance specified here, along
-   the X axis of the camera frame.
-
-.. _body-camera-pos:
-
-:at:`pos`: :at-val:`real(3), "0 0 0"`
-   Position of the camera frame.
-
-.. _body-camera-quat:
-
-.. _body-camera-axisangle:
-
-.. _body-camera-xyaxes:
-
-.. _body-camera-zaxis:
-
-.. _body-camera-euler:
-
-:at:`quat`, :at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler`
-   Orientation of the camera frame. See :ref:`COrientation`.
-   Note that specifically for cameras, the :at:`xyaxes` attribute is semantically convenient as the X and Y axes
-   correspond to the directions "right" and "up" in pixel space, respectively.
-
-.. _body-camera-user:
-
-:at:`user`: :at-val:`real(nuser_cam), "0 0 ..."`
-   See :ref:`CUser`.
-
-
-.. _body-light:
-
-:el-prefix:`body/` |-| **light** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a light, which moves with the body where it is defined. To create a fixed light, define it in the
-world body. The lights created here are in addition to the headlight which is always defined and is configured via the
-:ref:`visual <visual>` element. Lights shine along the direction specified by the dir attribute. They do not have
-a full spatial frame with three orthogonal axes.
-
-By default, MuJoCo uses the standard OpenGL (fixed functional) Phong lighting model for its rendering, with augmented
-with shadow mapping. (See the OpenGL documentation for more information, including details about various attributes.)
-
-MJCF also supports alternative lighting models (e.g. physically-based rendering) by providing additional attributes.
-Attributes may be applied or ignored depending on the lighting model being used.
-
-
-.. _body-light-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the light.
-
-.. _body-light-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
-.. _body-light-mode:
-
-:at:`mode`: :at-val:`[fixed, track, trackcom, targetbody, targetbodycom], "fixed"`
-   This is identical to the mode attribute of :ref:`camera <body-camera>` above. It specifies the how the light position
-   and orientation in world coordinates are computed in forward kinematics (which in turn determine what the light
-   illuminates).
-
-.. _body-light-target:
-
-:at:`target`: :at-val:`string, optional`
-   This is identical to the target attribute of :ref:`camera <body-camera>` above. It specifies which body should be
-   targeted in "targetbody" and "targetbodycom" modes.
-
-.. _body-light-type:
-
-:at:`type`: :at-val:`[spot, directional, point, image], "spot"`
-   Determines the type of light. Note that some light types may not be supported by some renderers (e.g. only spot and
-   directional lights are supported by the default native renderer).
-
-.. _body-light-directional:
-
-:at:`directional`: :at-val:`[false, true], "false"`
-   This is a deprecated legacy attribute. Please use light :ref:`type <body-light-type>` instead. If set to "true", and
-   no type is specified, this will change the light type to be directional.
-
-.. _body-light-castshadow:
-
-:at:`castshadow`: :at-val:`[false, true], "true"`
-   If this attribute is "true" the light will cast shadows. More precisely, the geoms illuminated by the light will cast
-   shadows, however this is a property of lights rather than geoms. Since each shadow-casting light causes one extra
-   rendering pass through all geoms, this attribute should be used with caution. Higher quality of the shadows is
-   achieved by increasing the value of the shadowsize attribute of :ref:`quality <visual-quality>`, as well as
-   positioning spotlights closer to the surface on which shadows appear, and limiting the volume in which shadows are
-   cast. For spotlights this volume is a cone, whose angle is the cutoff attribute below multiplied by the shadowscale
-   attribute of :ref:`map <visual-map>`. For directional lights this volume is a box, whose half-sizes in the directions
-   orthogonal to the light are the model extent multiplied by the shadowclip attribute of :ref:`map <visual-map>`. The
-   model extent is computed by the compiler but can also be overridden by specifying the extent attribute of
-   :ref:`statistic <statistic>`. Internally the shadow-mapping mechanism renders the scene from the light viewpoint (as
-   if it were a camera) into a depth texture, and then renders again from the camera viewpoint, using the depth texture
-   to create shadows. The internal rendering pass uses the same near and far clipping planes as regular rendering, i.e.,
-   these clipping planes bound the cone or box shadow volume in the light direction. As a result, some shadows
-   (especially those very close to the light) may be clipped.
-
-.. _body-light-active:
-
-:at:`active`: :at-val:`[false, true], "true"`
-   The light is active if this attribute is "true". This can be used at runtime to turn lights on and off.
-
-.. _body-light-pos:
-
-:at:`pos`: :at-val:`real(3), "0 0 0"`
-   Position of the light. This attribute only affects the rendering for spotlights, but it should also be defined for
-   directional lights because we render the cameras as decorative elements.
-
-.. _body-light-dir:
-
-:at:`dir`: :at-val:`real(3), "0 0 -1"`
-   Direction of the light.
-
-.. _body-light-diffuse:
-
-:at:`diffuse`: :at-val:`real(3), "0.7 0.7 0.7"`
-   The color of the light. For the Phong (default) lighting model, this defines the diffuse color of
-   the light.
-
-.. _body-light-texture:
-
-:at:`texture`: :at-val:`string, optional`
-   The texture to use for image-based lighting. This is unused by the default Phong lighting model.
-
-.. _body-light-intensity:
-
-:at:`intensity`: :at-val:`real, "0.0"`
-   The intensity of the light source, measured in candela, used for physically-based lighting models.
-   This is unused by the default Phong lighting model.
-
-.. _body-light-ambient:
-
-:at:`ambient`: :at-val:`real(3), "0 0 0"`
-   The ambient color of the light, used by the default Phong lighting model.
-
-.. _body-light-specular:
-
-:at:`specular`: :at-val:`real(3), "0.3 0.3 0.3"`
-   The specular color of the light, used by the default Phong lighting model.
-
-.. _body-light-range:
-
-:at:`range`: :at-val:`real, "10.0"`
-   The effective range of the light. Objects further than this distance from the light position
-   will not be illuminated by this light. This only applies to spotlights.
-
-.. _body-light-bulbradius:
-
-:at:`bulbradius`: :at-val:`real, "0.02"`
-   The radius of the light-emitting surface. Larger radii produce softer shadows in renderers that
-   support soft shadows. Ignored by the classic renderer.
-
-.. _body-light-attenuation:
-
-:at:`attenuation`: :at-val:`real(3), "1 0 0"`
-   These are the constant, linear and quadratic attenuation coefficients, used by the default Phong lighting model.
-   The default corresponds to no attenuation. Physically-based lighting models instead attenuate with the inverse
-   square of distance, scaled by :ref:`intensity<body-light-intensity>` and limited by :ref:`range<body-light-range>`.
-
-.. _body-light-cutoff:
-
-:at:`cutoff`: :at-val:`real, "45"`
-   Cutoff angle for spotlights, always in degrees regardless of the global angle setting. The falloff of intensity
-   inside the cone is controlled by :ref:`softness<body-light-softness>` for physically-based lighting models and by
-   :ref:`exponent<body-light-exponent>` for the default Phong lighting model.
-
-.. _body-light-softness:
-
-:at:`softness`: :at-val:`real, "0.2"`
-   Edge softness for spotlights, as a fraction of the :ref:`cutoff<body-light-cutoff>` angle in [0, 1], used by
-   physically-based lighting models. The light delivers its full :ref:`intensity<body-light-intensity>` inside the
-   cone, falling to zero over the outer softness fraction of the cone angle; the default corresponds to a sharp-edged
-   cone. This is unused by the default Phong lighting model, which uses :ref:`exponent<body-light-exponent>`.
-
-.. _body-light-exponent:
-
-:at:`exponent`: :at-val:`real, "10"`
-   Exponent for spotlights, used by the default Phong lighting model. This setting controls the softness of the
-   spotlight cutoff. Physically-based lighting models use :ref:`softness<body-light-softness>` instead.
-
-.. _body-composite:
-
-:el-prefix:`body/` |-| **composite** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This is not a model element, but rather a macro which expands into multiple model elements representing a composite
-object. These elements are bodies (with their own joints and geoms) that become children of the parent body containing
-the macro. The macro expansion is done by the model compiler. If the resulting model is then saved, the macro will be
-replaced with the actual model elements. The defaults mechanism used in the rest of MJCF does not apply here, even if
-the parent body has a childclass attribute defined. Instead there are internal defaults adjusted automatically for each
-composite object type. See :ref:`CComposite` in the modeling guide for more detailed explanation. Note that several
-legacy composite types have been replaced by :ref:`replicate<replicate>` (for repeated objects) and
-:ref:`flexcomp<body-flexcomp>` (for soft objects). Therefore, the only supported composite type is now
-cable, which produces an inextensible chain of bodies connected with ball joints.
-
-.. _body-composite-prefix:
-
-:at:`prefix`: :at-val:`string, optional`
-   All automatically generated model elements have names indicating the element type and index. For example, the body at
-   coordinates (2, 0) in a 2D grid is named "B2_0" by default. If prefix="C" is specified, the same body is named
-   "CB2_0". The prefix is needed when multiple composite objects are used in the same model, to avoid name conflicts.
-
-.. _body-composite-type:
-
-:at:`type`: :at-val:`[cable], required`
-   This attribute determines the type of composite object. The only supported type is cable.
-
-   The **cable** type creates a 1D chain of bodies connected with ball joints, each having a geom with user-defined type
-   (cylinder, capsule or box). The geometry can either be defined with an array of 3D vertex coordinates :at:`vertex`
-   or with prescribed functions with the option :at:`curve`. Only linear and trigonometric functions are supported. For
-   example, an helix can be obtained with curve="cos(s) sin(s) s". The size is set with the option
-   :at:`size`, resulting in :math:`f(s)=\{\text{size}[1]\cdot\cos(2\pi\cdot\text{size}[2]),\;
-   \text{size}[1]\cdot\sin(2\pi\cdot\text{size}[2]),\; \text{size}[0]\cdot s\}`.
-
-.. _body-composite-count:
-
-:at:`count`: :at-val:`int(3), required`
-   The element count in each dimension of the grid. This can have 1, 2 or 3 numbers, specifying the element count along
-   the X, Y and Z axis of the parent body frame within. Any missing numbers default to 1. If any of these numbers is 1,
-   all subsequent numbers must also be 1, so that the leading dimensions of the grid are used. This means for example
-   that a 1D grid will always extend along the X axis. To achieve a different orientation, rotate the frame of the
-   parent body. Note that some types imply a grid of certain dimensionality, so the requirements for this attribute
-   depend on the specified type.
-
-.. _body-composite-offset:
-
-:at:`offset`: :at-val:`real(3), "0 0 0"`
-   It specifies a 3D offset from the center of the parent body to the center of the first body of the cable. The offset
-   is expressed in the local coordinate frame of the parent body.
-
-.. _body-composite-quat:
-
-:at:`quat`: :at-val:`real(4), "1 0 0 0"`
-   It specifies a quaternion that rotates the first body frame. The quaternion is expressed in the parent body frame.
-
-.. _body-composite-vertex:
-
-:at:`vertex`: :at-val:`real(3*nvert), optional`
-   Vertex 3D positions in global coordinates.
-
-.. _body-composite-initial:
-
-:at:`initial`: :at-val:`[free, ball, none], "0"`
-   Behavior of the first point. Free: free joint. Ball: ball joint. None: no dof.
-
-.. _body-composite-curve:
-
-:at:`curve`: :at-val:`string(3), optional`
-   Functions specifying the vertex positions. Available functions are `s`, `cos(s)`, and `sin(s)`, where `s` is the arc
-   length parameter.
-
-.. _body-composite-size:
-
-:at:`size`: :at-val:`int(3), optional`
-   Scaling of the curve functions. `size[0]` is the scaling of `s`, `size[1]` is the radius of `\cos(s)` and `\sin(s)`,
-   and `size[2]` is the speed of the argument (i.e. `\cos(2*\pi*size[2]*s)`).
-
-
-.. _composite-joint:
-
-:el-prefix:`composite/` |-| **joint** |*|
-'''''''''''''''''''''''''''''''''''''''''
-
-Depending on the composite type, some joints are created automatically (e.g. the universal joints in rope) while other
-joints are optional (e.g. the stretch and twist joints in rope). This sub-element is used to specify which optional
-joints should be created, as well as to adjust the attributes of both automatic and optional joints.
-
-.. _composite-joint-kind:
-
-:at:`kind`: :at-val:`[main], required`
-   The joint kind here is orthogonal to the joint type in the rest of MJCF. The joint kind refers to the function of the
-   joint within the mechanism comprising the composite body, while the joint type (hinge or slide) is implied by the
-   joint kind and composite body type.
-
-   The **main** kind corresponds to the main joints forming each composite type. These joints are automatically included
-   in the model even if the joint sub-element is missing. The main joints are 3D sliders for particle and grid; 1D
-   sliders for box, cylinder and rope; universal joints for cloth, rope and loop. Even though the main joints are
-   included automatically, this sub-element is still useful for adjusting their attributes.
-
-.. _composite-joint-solreffix:
-
-.. _composite-joint-solimpfix:
-
-:at:`solreffix`, :at:`solimpfix`
-   These are the solref and solimp attributes used to equality-constrain the joint. Whether or not a given joint is
-   quality-constrained depends on the joint kind and composite object type as explained above. For joints that are not
-   equality-constrained, this attribute has no effect. The defaults are adjusted depending on the composite type.
-   Otherwise these attributes obey the same rules as all other solref and solimp attributes in MJCF. See :ref:`Solver
-   parameters <CSolver>`.
-
-.. _composite-joint-axis:
-
-.. _composite-joint-group:
-
-.. _composite-joint-stiffness:
-
-.. _composite-joint-damping:
-
-.. _composite-joint-armature:
-
-.. _composite-joint-limited:
-
-.. _composite-joint-range:
-
-.. _composite-joint-margin:
-
-.. _composite-joint-solreflimit:
-
-.. _composite-joint-solimplimit:
-
-.. _composite-joint-frictionloss:
-
-.. _composite-joint-solreffriction:
-
-.. _composite-joint-solimpfriction:
-
-.. _composite-joint-type:
-
-.. |body/composite/joint attrib list| replace::
-   :at:`axis`, :at:`group`, :at:`stiffness`, :at:`damping`, :at:`armature`, :at:`limited`, :at:`range`, :at:`margin`,
-   :at:`solreflimit`, :at:`solimplimit`, :at:`frictionloss`, :at:`solreffriction`, :at:`solimpfriction`, :at:`type`
-
-|body/composite/joint attrib list|
-   Same meaning as regular :ref:`joint <body-joint>` attributes.
-
-
-.. _composite-geom:
-
-:el-prefix:`composite/` |-| **geom** |?|
-''''''''''''''''''''''''''''''''''''''''
-
-This sub-element adjusts the attributes of the geoms in the composite object. The default attributes are the same as in
-the rest of MJCF (except that user-defined defaults have no effect here). Note that the geom sub-element can appear
-only once, unlike joint and tendon sub-elements which can appear multiple times. This is because different kinds of
-joints and tendons have different sets of attributes, while all geoms in the composite object are identical.
-
-.. _composite-geom-type:
-
-.. _composite-geom-contype:
-
-.. _composite-geom-conaffinity:
-
-.. _composite-geom-condim:
-
-.. _composite-geom-group:
-
-.. _composite-geom-priority:
-
-.. _composite-geom-size:
-
-.. _composite-geom-material:
-
-.. _composite-geom-rgba:
-
-.. _composite-geom-friction:
-
-.. _composite-geom-mass:
-
-.. _composite-geom-density:
-
-.. _composite-geom-solmix:
-
-.. _composite-geom-solref:
-
-.. _composite-geom-solimp:
-
-.. _composite-geom-margin:
-
-.. _composite-geom-gap:
-
-.. _composite-geom-surfacevel:
-
-.. _composite-geom-adhesion:
-
-.. |body/composite/geom attrib list| replace::
-   :at:`type`, :at:`contype`, :at:`conaffinity`, :at:`condim`, :at:`group`, :at:`priority`, :at:`size`, :at:`material`,
-   :at:`rgba`, :at:`friction`, :at:`mass`, :at:`density`, :at:`solmix`, :at:`solref`, :at:`solimp`, :at:`margin`,
-   :at:`gap`, :at:`surfacevel`, :at:`adhesion`
-
-|body/composite/geom attrib list|
-   Same meaning as regular :ref:`geom <body-geom>` attributes.
-
-
-.. _composite-site:
-
-:el-prefix:`composite/` |-| **site** |?|
-''''''''''''''''''''''''''''''''''''''''
-
-This sub-element adjusts the attributes of the sites in the composite object. Otherwise it is the same as geom above.
-
-.. _composite-site-group:
-
-.. _composite-site-size:
-
-.. _composite-site-material:
-
-.. _composite-site-rgba:
-
-:at:`group`, :at:`size`, :at:`material`, :at:`rgba`
-   Same meaning as regular :ref:`site <body-site>` attributes.
-
-
-.. _composite-skin:
-
-:el-prefix:`composite/` |-| **skin** |?|
-''''''''''''''''''''''''''''''''''''''''
-
-If this element is included, the model compiler will generate a skinned mesh asset and attach it to the element bodies
-of the composite object. Skin can be attached to 2D grid, cloth, box, cylinder and ellipsoid. For other composite types
-it has no effect. Note that the skin created here is equivalent to a skin specified directly in the XML, as opposed to a
-skin loaded from file. So if the model is saved as XML, it will contain a large section describing the
-automatically-generated skin.
-
-.. _composite-skin-texcoord:
-
-:at:`texcoord`: :at-val:`[false, true], "false"`
-   If this is true, explicit texture coordinates will be generated, mapping the skin to the unit square in texture
-   space. This is needed when the material specifies a texture. If texcoord is false and the skin has texture, the
-   texture will appear fixed to the world instead of the skin. The reason for having this attribute in the first place
-   is because skins with texture coordinates upload these coordinates to the GPU even if no texture is applied later. So
-   this attribute should be set to false in cases where no texture will be applied via the material attribute.
-
-.. _composite-skin-material:
-
-.. _composite-skin-rgba:
-
-.. _composite-skin-group:
-
-:at:`material`, :at:`rgba`, :at:`group`:
-   Same meaning as in :ref:`geom <body-geom>`.
-
-.. _composite-skin-inflate:
-
-:at:`inflate`: :at-val:`real, "0"`
-   The default value of 0 means that the automatically-generated skin passes through the centers of the body elements
-   comprising the composite object. Positive values offset each skin vertex by the specified amount, in the direction
-   normal to the (non-inflated) skin at that vertex. This has two uses. First, in 2D objects, a small positive inflate
-   factor is needed to avoid aliasing artifacts. Second, collisions are done with geoms that create some thickness, even
-   for 2D objects. Inflating the skin with a value equal to the geom size will render the skin as a "mattress" that
-   better represents the actual collision geometry. The value of this attribute is copied into the corresponding
-   attribute of the :el:`skin` asset being created.
-
-.. _composite-skin-subgrid:
-
-:at:`subgrid`: :at-val:`int, "0"`
-   This is only applicable to cloth and 2D grid types, and has no effect for any other composite type. The default value
-   of 0 means that the skin has as many vertices as the number of element bodies. A positive value causes subdivision,
-   with the specified number of (additional) grid lines. In this case the model compiler generates a denser skin using
-   bi-cubic interpolation. This increases the quality of the rendering (especially in the absence of textures) but also
-   slows down the renderer, so use it with caution. Values above 3 are unlikely to be needed.
-
-
-.. _composite-plugin:
-
-:el-prefix:`composite/` |-| **plugin** |?|
-''''''''''''''''''''''''''''''''''''''''''
-
-Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
-
-.. _composite-plugin-plugin:
-
-:at:`plugin`: :at-val:`string, optional`
-   Plugin identifier, used for implicit plugin instantiation.
-
-.. _composite-plugin-instance:
-
-:at:`instance`: :at-val:`string, optional`
-   Instance name, used for explicit plugin instantiation.
-
-
-
-.. _body-flexcomp:
-
-:el-prefix:`body/` |-| **flexcomp** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Similar to :el:`composite`, this element is not a model element, but rather a macro which expands into multiple
-model elements representing a deformable entity. In particular this macro creates one
-:ref:`flex<deformable-flex>` element, a number of bodies that are children of the body in which the :el:`flexcomp` is
-defined, and optionally one :ref:`flex equality<equality-flex>` which constrains all flex edges to their initial length.
-A number of attributes are specified here and then passed through to the automatically-constructed flex. The primary
-role of :el:`flexcomp` is to automate the creation of a (possibly large) collection of moving bodies with corresponding
-joints, and connect them with stretchable flex elements. See :ref:`flex<deformable-flex>` and :ref:`deformable
-objects<CDeformable>` documentation for specifics on how flexes work. Here we only describe the automated construction
-process.
-
-An important distinction between :el:`flex` and :el:`flexcomp` is that the flex references bodies and specifies vertex
-coordinates in the frames of those bodies, while the flexcomp defines *points*. Each flexcomp point corresponds to one
-body and one vertex in the underlying flex. If the flexcomp point is *pinned*, the corresponding flex body is the parent
-body of the flexcomp, while the corresponding flex vertex coordinates equal the flexcomp point coordinates. If the
-flexcomp point is not pinned, a new child body is created at the coordinates of the flexcomp point (within the flexcomp
-parent body), and then the coordinates of the flex vertex within that new body are (0,0,0). The mechanism for
-:ref:`pinning<flexcomp-pin>` flexcomp points is explained below.
-
-While :el:`composite` objects need bodies with geoms for collisions and sites for connecting tendons, flexes
-generate their own collisions and shape-preserving forces. Thus the bodies created here are much simpler: no geoms,
-sites or tendons are needed.
-Most of the bodies created here have 3 orthogonal slider joints, corresponding to freely moving point masses. In some
-cases we generate radial slider joints, allowing only expansion and contraction. Since no geoms are generated, the
-bodies need to have explicit inertial parameters.
-
-Below is a simple example of a flexcomp, modeling a (somewhat flexible) double pendulum with one end pinned to the
-world:
-
-.. code-block:: xml
-
-   <mujoco>
-     <worldbody>
-       <flexcomp name="FL" type="grid" dim="1" count="3 1 1" mass="3" spacing="0.2 0.2 0.2">
-         <pin id="0"/>
-       </flexcomp>
-     </worldbody>
-   </mujoco>
-
-This flexcomp has 3 points, however the first point is pinned to the world (i.e. the parent of the flexcomp) and so only
-two bodies are automatically created, namely FL_1 and FL_2. Here is what this flexcomp generates after loading and
-saving the XML:
-
-.. code-block:: xml
-
-   <mujoco>
-     <worldbody>
-       <body name="FL_1">
-         <inertial pos="0 0 0" mass="1" diaginertia="1.66667e-05 1.66667e-05 1.66667e-05"/>
-         <joint pos="0 0 0" axis="1 0 0" type="slide"/>
-         <joint pos="0 0 0" axis="0 1 0" type="slide"/>
-         <joint pos="0 0 0" axis="0 0 1" type="slide"/>
-       </body>
-       <body name="FL_2" pos="0.2 0 0">
-         <inertial pos="0 0 0" mass="1" diaginertia="1.66667e-05 1.66667e-05 1.66667e-05"/>
-         <joint pos="0 0 0" axis="1 0 0" type="slide"/>
-         <joint pos="0 0 0" axis="0 1 0" type="slide"/>
-         <joint pos="0 0 0" axis="0 0 1" type="slide"/>
-       </body>
-     </worldbody>
-     <deformable>
-       <flex name="FL" dim="1" body="world FL_1 FL_2" vertex="-0.2 0 0 0 0 0 0 0 0" element="0 1 1 2"/>
-     </deformable>
-     <equality>
-       <flex flex="FL"/>
-     </equality>
-   </mujoco>
-
-
-.. _body-flexcomp-name:
-
-:at:`name`: :at-val:`string, required`
-   The name of the flex element being generated automatically. This name is used as a prefix for all bodies that are
-   automatically generated here, and is also referenced by the corresponding flex equality constraint (if applicable).
-
-.. _body-flexcomp-dim:
-
-:at:`dim`: :at-val:`int(1), "2"`
-   Dimensionality of the flex object. This value must be 1, 2 or 3. The flex elements are capsules in 1D, triangles with
-   radius in 2D, and tetrahedra with radius in 3D. Certain flexcomp types imply a dimensionality, in which case the
-   value specified here is ignored.
-
-.. youtube:: uNt3i8hrJu4
-   :align: right
-   :width: 240px
-
-.. _body-flexcomp-dof:
-
-:at:`dof`: :at-val:`[full, radial, trilinear, quadratic, 2d], "full"`
-   The parametrization of the flex's degrees of freedom (dofs). See the video on the right illustrating the
-   different parametrizations with deformable spheres. The three models in the video are respectively
-   `sphere_full <https://github.com/google-deepmind/mujoco/blob/main/model/flex/sphere_full.xml>`__,
-   `sphere_radial <https://github.com/google-deepmind/mujoco/blob/main/model/flex/sphere_radial.xml>`__
-   and `sphere_trilinear <https://github.com/google-deepmind/mujoco/blob/main/model/flex/sphere_trilinear.xml>`__.
-
-   **full**
-     Three translational dofs per vertex. This is the most expressive but also the most expensive option.
-
-   **radial**
-     A single radial translational dof per vertex. Note that unlike in the "full" case, the radial parametrization
-     requires a free joint at the flex's parent in order for free body motion to be possible. This type of
-     parametrization is appropriate for shapes that are relatively spherical.
-
-   **2d**
-     Two orthogonal translational dofs (X and Y) per vertex. This restricts the motion of the vertices to planes
-     parallel to the parent body's X-Y plane.
-
-   **trilinear**
-     Three translational dofs at each corner of the bounding box of the flex, for a total of 24 dofs for the entire
-     flex, independent of the number of vertices. The positions of the vertices are updated using trilinear
-     interpolation over the bounding box.
-
-   .. youtube:: qJFbx-FR7Bc
-      :align: right
-      :width: 240px
-
-   Trilinear and quadratic flexes are much faster than the previous two options, and are the preferred choice if the
-   expected deformations can be captured by the reduced parametriation. For example, see the video on the right
-   comparing `full <https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper.xml>`__ and `trilinear
-   <https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper_trilinear.xml>`__ flexes for modeling
-   deformable gripper pads.
-
-   Note that the choice of dof parametrization affects the deformation modes of the flex but has no effect on the
-   accuracy of the collision geometry, which always takes into account the high-resolution mesh of the flex.
-
-   **quadratic**
-     Three translational dofs per corner, edge, face, and volume of the bounding box of the flex, for a total of 81 dofs
-     for the entire flex, independent of the number of vertices. The positions of the vertices are updated using
-     quadratic interpolation over the bounding box. While this option requires more degrees of freedom than trilinear
-     flexes, it enables curved deformation modes, while the only modes achievable for trilinear flexes are
-     strech/compression and shear. To understand the difference between the two parametrizations, see `a trilinear cube
-     <https://github.com/google-deepmind/mujoco/blob/main/model/flex/trilinear.xml>`__ and `a quadratic cube
-     <https://github.com/google-deepmind/mujoco/blob/main/model/flex/quadratic.xml>`__.
-
-   Note that a higher interpolation order generally requires a smaller time step for stability, although usually not as
-   large as with the "full" option and a fine mesh.
-
-.. _body-flexcomp-type:
-
-:at:`type`: :at-val:`[grid, box, cylinder, ellipsoid, disc, circle, mesh, gmsh, direct], "grid"`
-   This attribute determines the type of :el:`flexcomp` object. The remaining attributes and sub-elements are then
-   interpreted according to the type. Default settings are also adjusted depending on the type. Different types
-   correspond to different methods for specifying the flexcomp points and the stretchable elements that connect them.
-   They fall in three categories: direct specification entered in the XML, direct specification loaded from file, and
-   automated generation from higher-level specification.
-
-   **grid** generates a rectangular grid of points in 1D, 2D or 3D as specified by :at:`dim`. The number of points in
-   each dimension is determined by :at:`count` while the grid spacing in each dimension is determined by :at:`spacing`.
-   Make sure the spacing is sufficiently large relative to :at:`radius` to avoid permanent contacts. In 2D and 3D the
-   grid is automatically triangulated, and corresponding flex elements are created (triangles or tetrahedra). In 1D the
-   elements are capsules connecting consecutive pairs of points.
-
-   **box** generates a 3D box object, however flex bodies are only generated on the outer shell. Each flex body has a
-   radial slider joint allowing it to move in and out from the center of the box. The parent body would normally be a
-   floating body. The box surface is triangulated, and each flex element is a tetrahedron connecting the center of the
-   box with one triangle face. :at:`count` and :at:`spacing` determine the count and spacing of the flex bodies, similar
-   to the **grid** type in 3D. Note that the resulting flex has the same topology as the box generated by
-   :el:`composite`.
-
-   **cylinder** is the same as **box**, except the points are projected on the surface of a cylinder.
-
-   **ellipsoid** is the same as **box**, except the points are projected on the surface of an ellipsoid.
-
-   **disc** is the same as **box**, except the points are projected on the surface of a disc. It is only compatible
-   with :at:`dim=2`.
-
-   **circle** is the same as **grid**, except the points are sampled along a circle so that the first and last points
-   are the same. The radius of the circle is computed such that each segment has the requested spacing. It is only
-   compatible with :at:`dim=1`.
-
-   **mesh** loads the flexcomp points and elements (i.e. triangles) from a mesh file, in the same file formats as mesh
-   assets, excluding the legacy .msh format. A mesh asset is not actually added to the model. Instead the vertex and
-   face data from the mesh file are used to populate the point and element data of the flexcomp. :at:`dim` is
-   automatically set to 2. Recall that a mesh asset in MuJoCo can be used as a rigid geom attached to a single body. In
-   contrast, the flex generated here corresponds to a soft mesh with the same initial shape, where each vertex is a
-   separate moving body (unless pinned).
-
-   .. _gmsh-file-docs:
-
-   **gmsh** is similar to mesh, but it loads a GMSH file in
-   `format 4.1 <https://gmsh.info//doc/texinfo/gmsh.html#MSH-file-format>`__
-   and `format 2.2 <https://gmsh.info//doc/texinfo/gmsh.html#MSH-file-format-version-2-_0028Legacy_0029>`__
-   (ascii or binary). The file extension can be anything; the parser recognizes the format by examining
-   the file header. This is a very rich file format, allowing all kinds of elements with different dimensionality and
-   topology. MuJoCo only supports GMSH element types 1, 2, 4 which happen to correspond to our 1D, 2D and 3D flexes and
-   assumes that the nodes are specified in a single block. Only the Nodes and Elements sections of the GMHS file are
-   processed, and used to populate the point and element data of the flexcomp. The parser will generate an error if the
-   GMSH file contains meshes that are not supported by MuJoCo. :at:`dim` is automatically set to the dimensionality
-   specified in the GMSH file. Presently this is the only mechanism to load a large tetrahedral mesh in MuJoCo and
-   generate a corresponding soft entity. If such a mesh is available in a different file format, use the freely
-   available `GMSH software <https://gmsh.info/>`__ to convert it to GMSH in one of the supported versions.
-
-   **direct** allows the user to specify the point and element data of the flexcomp directly in the XML. Note that
-   flexcomp will still generate moving bodies automatically, as well as automate other settings; so it still provides
-   convenience compared to specifying the corresponding flex directly.
-
-.. _body-flexcomp-count:
-
-:at:`count`: :at-val:`int(3), "10 10 10"`
-   Specifies the number of automatically generated points in each dimension for types **grid**, **box**, **cylinder**,
-   and **ellipsoid**.
-
-.. _body-flexcomp-cellcount:
-
-:at:`cellcount`: :at-val:`int(3), "1 1 1"`
-   Specifies the number of cells in each dimension for the background interpolation grid when using **trilinear** or
-   **quadratic** dofs.
-
-.. _body-flexcomp-spacing:
-
-:at:`spacing`: :at-val:`real(3), "0.02 0.02 0.02"`
-   The spacing between the automatically generated points in each dimension. The spacing should be sufficiently large
-   compared to the radius, to avoid permanent contacts.
-
-.. _body-flexcomp-point:
-
-:at:`point`: :at-val:`real(3*npoint), optional`
-   The 3D coordinates of the points. This attribute is only used with type **direct**. All other flexcomp types generate
-   their own points. The points are used to construct bodies and vertices as explained earlier.
-
-.. _body-flexcomp-element:
-
-:at:`element`: :at-val:`int((dim+1)*npoint), optional`
-   The zero-based point ids forming each flex elements. This attribute is only used with type **direct**. All other
-   flexcomp types generate their own elements. This data is passed through to the automatically-generated flex.
-
-.. _body-flexcomp-texcoord:
-
-:at:`texcoord`: :at-val:`real(2*npoint), optional`
-   Texture coordinates of each point, passed through to the automatically-generated flex. Note that flexcomp does not
-   generate texture coordinates automatically, except for 2D grids, box, cylinder and ellipsoid. For all other types,
-   the user can specify explicit texture coordinates here, even if the points themselves were generated automatically.
-   This requires understanding of the layout of the automatically-generated points and how they correspond to the
-   texture referenced by the material.
-
-.. _body-flexcomp-mass:
-
-:at:`mass`: :at-val:`real(1), "1"`
-   The mass of each automatically-generated body equals this value divided by the number of points. Note that pinning
-   some points does not affect the mass of the other bodies.
-
-.. _body-flexcomp-inertiabox:
-
-:at:`inertiabox`: :at-val:`real(1), "0.005"`
-   Even though the automatically-generated bodies have the physics of point masses, with slider joints, MuJoCo still
-   requires each body to have rotational inertia. The inertias generated here are diagonal, and are computed such that
-   the corresponding equivalent-inertia boxes have sides equal to this value.
-
-.. _body-flexcomp-file:
-
-:at:`file`: :at-val:`string, optional`
-   The name of the file from which a **surface** (triangular) or **volumetric** (tetrahedral) mesh is loaded. For
-   surface meshes, the file extension is used to determine the file format. Supported formats are GMSH and the formats
-   specified in :ref:`mesh assets<asset-mesh>`, excluding the legacy .msh format. Volumetric meshes are supported only
-   in GMSH format. See :ref:`here<gmsh-file-docs>` for more information on GMSH files.
-
-.. _body-flexcomp-rigid:
-
-:at:`rigid`: :at-val:`[true, false], "false"`
-   If this is true, all points correspond to vertices within the parent body, and no new bodies are created. This is
-   equivalent to pinning all points. Note that if all points are indeed pinned, the model compiler will detect that the
-   flex is rigid (which behaves is a non-convex mesh in collision detection).
-
-.. _body-flexcomp-pos:
-
-:at:`pos`: :at-val:`real(3), "0 0 0"`
-   This 3D vector translates all points relative to the frame of the parent body.
-
-.. _body-flexcomp-quat:
-
-:at:`quat`: :at-val:`real(4), "1 0 0 0"`
-   This is a quaternion rotation of all points around the :at:`pos` vector specified above. Together these two vectors
-   define a pose transformation, used to position and orient the points as needed.
-
-.. _body-flexcomp-axisangle:
-.. _body-flexcomp-xyaxes:
-.. _body-flexcomp-zaxis:
-.. _body-flexcomp-euler:
-
-:at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler`
-   Alternative specification of rotation, that can be used instead of :at:`quat`.
-
-.. _body-flexcomp-scale:
-
-:at:`scale`: :at-val:`real(3), "1 1 1"`
-   Scaling of all point coordinates, for types that specify coordinates explicitly. Scaling is applied after the pose
-   transformation.
-
-.. _body-flexcomp-radius:
-.. _body-flexcomp-material:
-.. _body-flexcomp-rgba:
-.. _body-flexcomp-group:
-.. _body-flexcomp-flatskin:
-
-:at:`radius`, :at:`material`, :at:`rgba`, :at:`group`, :at:`flatskin`
-   These attributes are directly passed through to the automatically-generated :ref:`flex<deformable-flex>` object and
-   have the same meaning.
-
-.. _body-flexcomp-origin:
-
-:at:`origin`: :at-val:`real(3), "0 0 0"`
-   The origin of the flexcomp. Used for generating a volumetric mesh from an OBJ surface mesh. Each surface triangle is
-   connected to the origin to create a tetrahedron, so the resulting volumetric mesh is guaranteed to be well-formed
-   only for convex shapes.
-
-.. _flexcomp-contact:
-
-:el-prefix:`flexcomp/` |-| **contact** |*|
-''''''''''''''''''''''''''''''''''''''''''
-
-.. _flexcomp-contact-internal:
-.. _flexcomp-contact-selfcollide:
-.. _flexcomp-contact-activelayers:
-.. _flexcomp-contact-contype:
-.. _flexcomp-contact-conaffinity:
-.. _flexcomp-contact-condim:
-.. _flexcomp-contact-priority:
-.. _flexcomp-contact-friction:
-.. _flexcomp-contact-solmix:
-.. _flexcomp-contact-solref:
-.. _flexcomp-contact-solimp:
-.. _flexcomp-contact-margin:
-.. _flexcomp-contact-gap:
-.. _flexcomp-contact-passive:
-
-.. |body/flexcomp/contact attrib list| replace::
-   :at:`internal`, :at:`selfcollide`, :at:`activelayers`, :at:`contype`, :at:`conaffinity`, :at:`condim`,
-   :at:`priority`, :at:`friction`, :at:`solmix`, :at:`solimp`, :at:`margin`, :at:`gap`
-
-|body/flexcomp/contact attrib list|
-   Same as in :ref:`flex/contact<flex-contact>`. All attributes are passed through to the automatically-generated flex.
-
-.. _flexcomp-edge:
-
-:el-prefix:`flexcomp/` |-| **edge** |*|
-'''''''''''''''''''''''''''''''''''''''
-
-Each flex element has one edge in 1D (coinciding with the capsule element), three edges in 2D, and six edges in 3D. The
-edges are generated automatically when the flex element is compiled, and the user cannot specify them directly. This
-element is used to adjust the properties of all edges in the flex.
-
-.. _flexcomp-edge-equality:
-
-:at:`equality`: :at-val:`[false, true, vert, strain], "false"`
-   The type of equality constraint applied to this edge. If :at-val:`false`, no equality constraint is applied. If
-   :at-val:`true`, then edge constraints are enforced. If :at-val:`vert`, an averaged constraint is used, see
-   :ref:`flexvert<equality-flexvert>`. if :at-val:`strain`, then a constraint is added to enforce that the invariants of
-   the strain tensor do not change; this is only equality constraint type supported for trilinear and quadratic
-   :ref:`dofs<body-flexcomp-dof>` elements and :ref:`here<equality-flexstrain>`.
-
-.. _flexcomp-edge-solref:
-.. _flexcomp-edge-solimp:
-
-:at:`solref`, :at:`solimp`
-   The standard constraint parameters, passed through to the automatically generated equality constraint.
-
-.. _flexcomp-edge-stiffness:
-.. _flexcomp-edge-damping:
-
-:at:`stiffness`, :at:`damping`
-   Edge stiffness and damping, passed through to the automatically generated flex.
-
-
-.. _flexcomp-elasticity:
-
-:el-prefix:`flexcomp/` |-| **elasticity** |*|
-'''''''''''''''''''''''''''''''''''''''''''''
-
-.. _flexcomp-elasticity-young:
-.. _flexcomp-elasticity-poisson:
-.. _flexcomp-elasticity-damping:
-.. _flexcomp-elasticity-thickness:
-.. _flexcomp-elasticity-elastic2d:
-
-.. |body/flexcomp/elasticity attrib list| replace::
-   :at:`young`, :at:`poisson`, :at:`damping`, :at:`thickness`, :at:`elastic2d`
-
-|body/flexcomp/elasticity attrib list|
-   Same as in :ref:`flex/elasticity<flex-elasticity>`.
-   All attributes are passed through to the automatically-generated flex.
-
-.. _flexcomp-pin:
-
-:el-prefix:`flexcomp/` |-| **pin** |*|
-''''''''''''''''''''''''''''''''''''''
-
-Each point is either pinned or not pinned. The effect of pinning was explained earlier. This element is used to specify
-which points are pinned. Note that each attribute below can be used to specify multiple pins, and in addition to that,
-the :el:`pin` element itself can be repeated for user convenience. The effects are cumulative; pinning the same point
-multiple times is allowed.
-
-.. _flexcomp-pin-id:
-
-:at:`id`: :at-val:`int(n), required`
-   Zero-based ids of points to pin. When the points are automatically-generated, the user needs to understand their
-   layout in order to decide which points to pin. This can be done by first creating a flexcomp without any pins,
-   loading it in the simulator, and showing the body labels.
-
-.. _flexcomp-pin-range:
-
-:at:`range`: :at-val:`int(2*n), required`
-   Ranges of points to pin. Each range is specified by two integers.
-
-.. _flexcomp-pin-grid:
-
-:at:`grid`: :at-val:`int(dim*n), required`
-   Grid coordinates of points to pin. This can only be used with type grid.
-
-.. _flexcomp-pin-gridrange:
-
-:at:`gridrange`: :at-val:`int(2*dim*n), required`
-   Ranges of grid coordinates of points to pin. Each range is specified by (dim) integers for the minimum of the range
-   followed by (dim) integers for the maximum of the range. This can only be used with type grid.
-
-.. _flexcomp-plugin:
-
-:el-prefix:`flexcomp/` |-| **plugin** |?|
-'''''''''''''''''''''''''''''''''''''''''
-
-Associate this flexcomp with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
-
-.. _flexcomp-plugin-plugin:
-
-:at:`plugin`: :at-val:`string, optional`
-   Plugin identifier, used for implicit plugin instantiation.
-
-.. _flexcomp-plugin-instance:
-
-:at:`instance`: :at-val:`string, optional`
-   Instance name, used for explicit plugin instantiation.
-
-
-.. _body-plugin:
-
-:el-prefix:`body/` |-| **plugin** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
-
-.. _body-plugin-plugin:
-
-:at:`plugin`: :at-val:`string, optional`
-   Plugin identifier, used for implicit plugin instantiation.
-
-.. _body-plugin-instance:
-
-:at:`instance`: :at-val:`string, optional`
-   Instance name, used for explicit plugin instantiation.
-
-
-.. _body-attach:
-
-:el-prefix:`body/` |-| **attach** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-The :el:`attach` element is used to insert elements from another (child) model, or from the current model itself
-(self-attachment), into this (parent) model's kinematic tree. Unlike :ref:`include<include>`, which is implemented in
-the parser and is equivalent to copying and pasting XML from one file into another, :el:`attach` is implemented in the
-model compiler. In order to use this element to import from another model, the sub-model must first be defined as an
-:ref:`asset<asset-model>`. When creating an attachment, a frame, body or the entire child model in the child model is
-specified, and all referencing elements outside the kinematic tree (e.g., sensors and actuators), are also copied into
-the parent model. Additionally, any elements referenced from within the attached subtree (e.g. defaults and assets) will
-be copied in to the parent model. For self-attaching within the same model, the :at:`model` attribute is omitted, and a
-body or frame must be specified. :el:`attach` is a :ref:`meta-element`, so upon saving all attachments will appear in
-the saved XML file. Note that this element is a subset of the functionality of the procedural
-:ref:`attachment<meAttachment>` functionality. As such, it shares the same limitations as described there. See example
-`here <https://github.com/google-deepmind/mujoco/blob/main/test/xml/testdata/parent.xml>`__.
-
-.. admonition:: Known issues
-   :class: note
-
-   The following known limitations exist, to be addressed in a future release:
-
-   - All assets from the child model will be copied in, whether they are referenced or not.
-   - Circular references are not checked for and will lead to infinite loops.
-   - When attaching a model with :ref:`keyframes<keyframe>`, model compilation is required for the re-indexing to be
-     finalized. If a second attachment is performed without compilation, the keyframes from the first attachment will be
-     lost.
-
-.. _body-attach-model:
-
-:at:`model`: :at-val:`string, optional`
-   The child model from which to attach a subtree or a frame.
-   If omitted, the attachment is performed within the current model (self-attachment).
-
-.. _body-attach-body:
-
-:at:`body`: :at-val:`string, optional`
-   Name of the body in the child model to attach here. The body and its subtree will be attached. If neither this
-   attribute nor :ref:`frame<body-attach-frame>` is specified (only one allowed), the contents of the world body will
-   be attached in a new :ref:`frame<body-frame>`.
-
-.. _body-attach-frame:
-
-:at:`frame`: :at-val:`string, optional`
-   Name of the frame in the child model to attach here. If neither this attribute nor :ref:`body<body-attach-body>` is
-   specified (only one allowed), the contents of the world body will be attached in a new :ref:`frame<body-frame>`.
-
-.. _body-attach-prefix:
-
-:at:`prefix`: :at-val:`string, required`
-   Prefix to prepend to names of elements in the child model. This attribute is required to prevent name collisions with
-   the parent or when attaching the same sub-tree multiple times.
-
-
-.. _body-frame:
-
-:el-prefix:`body/` |-| **frame** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Frames specify a coordinate transformation which is applied to all child elements. They disappear during compilation
-and the transformation they encode is accumulated in their direct children. See :ref:`frame<frame>` for examples.
-
-.. _frame-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the frame.
-
-.. _frame-childclass:
-
-:at:`childclass`: :at-val:`string, optional`
-   If this attribute is present, all descendant elements that admit a defaults class will use the class specified here,
-   unless they specify their own class or another frame or body with a childclass attribute is encountered along the
-   chain of nested bodies and frames. Recall :ref:`CDefault`.
-
-.. _frame-pos:
-
-:at:`pos`: :at-val:`real(3), "0 0 0"`
-   The 3D position of the frame, in the parent coordinate system.
-
-.. _frame-quat:
-
-.. _frame-axisangle:
-
-.. _frame-xyaxes:
-
-.. _frame-zaxis:
-
-.. _frame-euler:
-
-:at:`quat`, :at:`axisangle`, :at:`xyaxes`, :at:`zaxis`, :at:`euler`
-   See :ref:`COrientation`.
-
-
-
-.. _contact:
-
-**contact** |*|
-~~~~~~~~~~~~~~~
-
-This is a grouping element and does not have any attributes. It groups elements that are used to adjust the generation
-of candidate contact pairs for collision checking. :ref:`Collision` was described in detail in the Computation chapter,
-thus the description here is brief.
-
-
-.. _contact-pair:
-
-:el-prefix:`contact/` |-| **pair** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a predefined geom pair which will be checked for collision. Unlike dynamically generated pairs
-whose properties are inferred from the corresponding geom properties, the pairs created here specify all their
-properties explicitly or through defaults, and the properties of the individual geoms are not used. Anisotropic
-friction can only be created with this element.
-
-.. _contact-pair-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of this contact pair.
-
-.. _contact-pair-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
-.. _contact-pair-geom1:
-
-:at:`geom1`: :at-val:`string, required`
-   The name of the first geom in the pair.
-
-.. _contact-pair-geom2:
-
-:at:`geom2`: :at-val:`string, required`
-   The name of the second geom in the pair. The contact force vector computed by the solver and stored in
-   mjData.efc_force points from the first towards the second geom by convention. The forces applied to the system are of
-   course equal and opposite, so the order of geoms does not affect the physics.
-
-.. _contact-pair-condim:
-
-:at:`condim`: :at-val:`int, "3"`
-   The dimensionality of the contacts generated by this geom pair.
-
-.. _contact-pair-friction:
-
-:at:`friction`: :at-val:`real(5), "1 1 0.005 0.0001 0.0001"`
-   The friction coefficients of the contacts generated by this geom pair. Making the first two coefficients different
-   results in anisotropic tangential friction. Making the last two coefficients different results in anisotropic rolling
-   friction. The length of this array is not enforced by the parser, and can be smaller than 5. This is because some of
-   the coefficients may not be used, depending on the contact dimensionality. Unspecified coefficients remain equal to
-   their defaults.
-
-.. _contact-pair-solref:
-
-.. _contact-pair-solimp:
-
-:at:`solref`, :at:`solimp`
-   Constraint solver parameters for contact simulation. See :ref:`CSolver`.
-
-.. _contact-pair-solreffriction:
-
-:at:`solreffriction`: :at-val:`real, "0 0"`
-   Contact reference acceleration, in the friction dimensions. This attribute has the same semantics as other
-   :at:`solref` attributes (described in :ref:`CSolver`), with two important distictions:
-
-   - The default :at-val:`"0 0"` means "use the same values as :at:`solref`".
-   - This attribute only takes effect for :ref:`elliptic friction cones<option-cone>`, since pyramidal cones mix normal
-     and frictional forces.
-
-   Note that as with other :at:`solreffriction` attributes, the constraint violation is identically 0. Therefore, when
-   using positive semantics :at:`solreffriction[1]` is ignored, while for negative semantics :at:`solreffriction[0]` is
-   ignored. See :ref:`Friction<CSolverFriction>` for more details.
-
-.. _contact-pair-margin:
-
-:at:`margin`: :at-val:`real, "0"`
-   Geometric inflation for the purpose of contact force generation. Contacts are detected at distance ``margin + gap``
-   and forces are generated at distance ``margin``.
-
-.. _contact-pair-gap:
-
-:at:`gap`: :at-val:`real, "0"`
-   Additional contact detection buffer beyond ``margin``. When this value is positive, contacts with distance between
-   ``margin`` and ``margin + gap`` are included in ``mjData.contact`` as inactive contacts but no contact forces are
-   generated.
-
-.. _contact-pair-adhesion:
-
-:at:`adhesion`: :at-val:`real, "0"`
-   Adhesive force of contacts generated by this pair, overriding the sum of the geoms'
-   :ref:`adhesion<body-geom-adhesion>` values. See there for detailed semantics.
-
-
-.. _contact-exclude:
-
-:el-prefix:`contact/` |-| **exclude** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element is used to exclude a pair of bodies from collision checking. Unlike all other contact-related elements
-which refer to geoms, this element refers to bodies. Experience has shown that exclusion is more useful on the level of
-bodies. Collisions between any geom defined in the first body and any geom defined in the second body are excluded.
-
-.. _contact-exclude-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of this exclude pair.
-
-.. _contact-exclude-body1:
-
-:at:`body1`: :at-val:`string, required`
-   The name of the first body in the pair.
-
-.. _contact-exclude-body2:
-
-:at:`body2`: :at-val:`string, required`
-   The name of the second body in the pair.
-
-
-.. _deformable:
-
-**deformable** |*|
-~~~~~~~~~~~~~~~~~~
-
-This is a grouping element and does not have any attributes. It groups elements that specify deformable objects, namely flexes and skins.
-
-
-.. _deformable-flex:
-
-:el-prefix:`deformable/` |-| **flex** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Flexible objects (or flexes) are collections of massless stretchable geometric elements (capsules, triangles or
-tetrahedra) connecting vertices that are defined within different moving body frames. These
-stretchable elements support collisions and contact forces, which are then distributed to all the interconnected bodies.
-Flexes also generate passive and constraint forces as needed to simulate deformable entities with the desired material
-properties. The modeling of flexes is automated and simplified by the :ref:`flexcomp<body-flexcomp>` element. In most
-cases, the user will specify a :el:`flexcomp` which will then automatically construct the corresponding low-level
-:el:`flex`. See :ref:`deformable objects<CDeformable>` for additional information.
-
-.. _deformable-flex-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the flex.
-
-.. _deformable-flex-dim:
-
-:at:`dim`: :at-val:`int, "2"`
-   Dimensionality of the flex. Allowed values are 1, 2 and 3. In 1D the elements are capsules, in 2D the elements are
-   triangles with radius, in 3D the elements are tetrahedra with (optional) radius.
-
-.. _deformable-flex-radius:
-
-:at:`radius`: :at-val:`real, "0.005"`
-   Radius of all flex elements. It can be zero in 3D, but must be positive in 1D and 2D. The radius affects both
-   collision detection and rendering. In 1D and 2D it is needed to make the elements volumetric.
-
-.. _deformable-flex-body:
-
-:at:`body`: :at-val:`string(nvert or 1), required`
-   An array of MuJoCo body names (separated by white space) to which each vertex belongs. The number of body names
-   should either equal the number of vertices (nvert), or be a single body. If a single body is specified, all vertices
-   are defined within that body - in which case the flex becomes a rigid body. The latter functionality effectively
-   creates a general non-convex mesh (unlike mesh geoms which are convexified for collision detection purposes).
-
-.. _deformable-flex-vertex:
-
-:at:`vertex`: :at-val:`real(3*nvert), optional`
-   The local coordinates of the vertices within the corresponding body frames. If this attribute is omitted, all
-   coordinates are (0,0,0) or in other words, the vertices coincide with the centers of the body frames.
-
-.. _deformable-flex-texcoord:
-
-:at:`texcoord`: :at-val:`real(2*vert or ntexcoord), optional`
-   Texture coordinates. If omitted, texture mapping for this flex is disabled, even if a texture is specified in the
-   material.
-
-.. _deformable-flex-elemtexcoord:
-
-:at:`elemtexcoord`: :at-val:`int((dim+1)*nelem), optional`
-   Texture indices for each face. If omitted, texture are assumed to be vertex-based.
-
-.. _deformable-flex-element:
-
-:at:`element`: :at-val:`int((dim+1)*nelem), required`
-   For each element of the flex, this lists the zero-based indices of the vertices forming that flex element. We need
-   two vertices to specify a capsule, three vertices to specify a triangle, and four vertices to specify a tetrahedron -
-   which is why the number of indices equals (dim+1) times the number of elements. In 2D, the vertices should be listed
-   in counter-clockwise order. In 1D and 3D the order is irrelevant; in 3D the model compiler will rearrange the
-   vertices as needed. Repeated vertex indices within a flex element are not allowed. The topology of the flex is not
-   enforced; it could correspond to a continuous soft body, or a collection of disconnected stretchable elements, or
-   anything in-between.
-
-.. _deformable-flex-flatskin:
-
-:at:`flatskin`: :at-val:`[true, false], "false"`
-   This attribute determines whether 2D and 3D flexes that are rendered in flexskin mode will use smooth or flat
-   shading. The default smooth shading is suitable in most cases, however if the object is intended to have visible
-   sharp edges (such as a cube) then flat shading is more natural.
-
-.. _deformable-flex-material:
-
-:at:`material`: :at-val:`string, optional`
-   If specified, this attribute applies a :ref:`material<asset-material>` to the flex. Note that textures specified in
-   the material will be applied only if the flex has explicit texture coordinates.
-
-.. _deformable-flex-rgba:
-
-:at:`rgba`: :at-val:`real(4), "0.5 0.5 0.5 1"`
-   Instead of creating material assets and referencing them, this attribute can be used to set color and transparency
-   only. This is not as flexible as the material mechanism, but is more convenient and is often sufficient. If the value
-   of this attribute is different from the internal default, it takes precedence over the material.
-
-.. _deformable-flex-group:
-
-:at:`group`: :at-val:`int, "0"`
-   Integer group to which the flex belongs. This attribute can be used for custom tags. It is also used by the
-   visualizer to enable and disable the rendering of entire groups of flexes.
-
-.. _deformable-flex-node:
-
-:at:`node`: :at-val:`string(nnode), optional`
-   The degrees-of-freedom of the flex.
-   An array of MuJoCo body names (separated by white space) to which each node belongs. The number of body names
-   should equal the number of nodes (nnode). See the flexcomp :ref:`dof<body-flexcomp-dof>` attribute for more details.
-
-.. _deformable-flex-nodecoord:
-
-:at:`nodecoord`: :at-val:`real(3*nnode), optional`
-   The local coordinates of the nodes within the corresponding body frames. If this attribute is omitted, all
-   coordinates are (0,0,0) or in other words, the nodes coincide with the centers of the body frames. Nonzero
-   coordinates are required when several nodes share a body, for example nodes pinned to a parent body.
-
-.. _deformable-flex-cellcount:
-
-:at:`cellcount`: :at-val:`int(3), optional`
-   When using **trilinear** or **quadratic** dofs, this specifies the number of cells in each dimension for the
-   background interpolation grid.
-
-.. _deformable-flex-dof:
-
-:at:`dof`: :at-val:`[trilinear, quadratic], optional`
-   Interpolation order for the flex.
-
-.. _flex-edge:
-
-:el-prefix:`flex/` |-| **edge** |?|
-'''''''''''''''''''''''''''''''''''
-
-This element adjusts the passive or constraint properties of all edges of the flex. A flex edge can have a damping
-passive force and an :ref:`equality constraint<equality-flex>` associated with it, resulting in edge constraint forces.
-In the latter case, passive forces are usually unnecessary. For a 1D flex, an edge can also have a passive stiffness,
-while ``Solid`` or ``Membrane`` first-party plugins can be used for the 2D and 3D case, respectively. which would
-generally make edge constraints unnecessary. However these are modeling choices left to the user. MuJoCo allows all
-these mechanisms to be combined as desired.
-
-.. _flex-edge-stiffness:
-
-:at:`stiffness`: :at-val:`real(1), "0"`
-   Stiffness of all edges. Only for 1D flex. For 2D and 3D, plugins must be used.
-
-.. _flex-edge-damping:
-
-:at:`damping`: :at-val:`real(1), "0"`
-   Damping of all edges.
-
-
-.. _flex-elasticity:
-
-:el-prefix:`flex/` |-| **elasticity** |?|
-'''''''''''''''''''''''''''''''''''''''''
-
-The elasticity model is a `Saint Venant-Kirchhoff
-<https://en.wikipedia.org/wiki/Hyperelastic_material#Saint_Venant%E2%80%93Kirchhoff_model>`__ model discretized with
-piecewise linear finite elements, intended to simulate the compression or elongation of hyperelastic materials subjected
-to large displacements (finite rotations) and small strains, since it uses a nonlinear strain-displacement but a linear
-stress-strain relationship. See also :ref:`deformable <CDeformable>` objects and `this model
-<https://github.com/google-deepmind/mujoco/blob/main/model/flex/floppy.xml>`__.
-
-.. _flex-elasticity-young:
-
-:at:`young`: :at-val:`real(1), "0"`
-   Young's elastic modulus, a measure of tensile and compressive stiffness for continuum elastic materials.
-   Units of :math:`\textrm{pressure}=\textrm{force}/\textrm{area}`.
-
-.. _flex-elasticity-poisson:
-
-:at:`poisson`: :at-val:`real(1), "0"`
-   Poisson's ratio, the ratio of transverse deformation to applied longitudinal strain.
-   This unitless quantity is in the range :math:`[0, 0.5)`.
-   Small or large values imply compressibility or incompressiblity, respectively.
-
-.. _flex-elasticity-damping:
-
-:at:`damping`: :at-val:`real(1), "0"`
-   Rayleigh's damping coefficient, units of time.
-   This quantity scales the stiffness defined by Young's modulus to produce the damping matrix.
-
-.. _flex-elasticity-thickness:
-
-:at:`thickness`: :at-val:`real(1), "-1"`
-   Shell thickness, units of length; only for used 2D flexes. Used to scale the stretching stiffness.
-   This thickness can be set equal to 2 times the :ref:`radius <deformable-flex-radius>` in order to match the geometry,
-   but is exposed separately since the radius might be constrained by considerations related to collision detection.
-
-.. _flex-elasticity-elastic2d:
-
-:at:`elastic2d`: :at-val:`[none, bend, stretch, both], "none"`
-   Elastic contribution to passive forces of 2D flexes. "none": none, "bend": bending only, "stretch": stretching only,
-   "both": bending and stretching. Bending is not yet supported by :ref:`dof<body-flexcomp-dof>` **trilinear** and
-   **quadratic**.
-
-.. _flex-contact:
-
-:el-prefix:`flex/` |-| **contact** |?|
-''''''''''''''''''''''''''''''''''''''
-
-This element adjusts the contact properties of the flex. It is mostly identical to geom contact properties, with some
-extensions specific to flexes.
-
-.. _flex-contact-internal:
-
-:at:`internal`: :at-val:`[true, false], "false"`
-   Enables or disables internal collisions which prevent flex self-penetration and element inversion. Note that flex
-   elements that have shared vertices cannot collide (or else there will be permanent contacts). In 1D and 2D, internal
-   collision checks rely on predefined vertex-element pairs, where the vertex is treated as a sphere with the same
-   radius as the flex. These spheres correspond to non-shared vertices of neighboring elements on the periphery of the
-   flex. The pre-defined vertex-element pairs are generated by the model compiler automatically. In 3D, internal
-   collision checks are performed within each tetraheron: each vertex is collided with the plane corresponding to the
-   opposing triangle face (again using the flex radius). The resulting contacts are always created with condim 1, gap 0,
-   margin 0. Note that internal contacts modify the behavior implied by the :ref:`elasticity parameters<flex-elasticity>`
-   and is recommended only for flexes where element inversion cannot be prevented.
-
-.. _flex-contact-selfcollide:
-
-:at:`selfcollide`: :at-val:`[none, narrow, bvh, sap, auto], "auto"`
-   This determines the strategy for midphase collision pruning of element pairs belonging to the same flex. **none**
-   means flex elements cannot collide with each other. **narrow** means narrow phase only (i.e. all pairs are checked).
-   This is a diagnostic tool and is never a good idea in practice. **bvh** and **sap** refer to bounding volume
-   hierarchies and sweep-and-prune (which are two different strategies for midphase collision pruning). **auto** selects
-   **sap** in 1D and 2D, and **bvh** in 3D. Which strategy performs better depends on the specifics of the model. The
-   automatic setting is just a simple rule which we have found to perform well in general.
-
-.. _flex-contact-activelayers:
-
-:at:`activelayers`: :at-val:`int(1), "1"`
-   This only has an effect for 3D flexes. Each tetrahedron is labeled by the model compiler with an integer
-   corresponding to (graph) distance to the outside surface of the flex. Thus outside-facing elements are in layer 0,
-   their neighbors are in layer 1, etc. This attribute specifies how many layers will be allowed to participate in
-   collisions. The default setting 1 means that only one layer (i.e. layer 0) can collide, with itself and with the rest
-   of the world. This is usually sufficient, however if the outer layer is composed of small tetrahedra, another body
-   can "pierce" it and get stuck. In that case the value should be increased.
-
-
-.. _flex-contact-contype:
-.. _flex-contact-conaffinity:
-.. _flex-contact-condim:
-.. _flex-contact-priority:
-.. _flex-contact-friction:
-.. _flex-contact-solmix:
-.. _flex-contact-solref:
-.. _flex-contact-solimp:
-.. _flex-contact-margin:
-.. _flex-contact-gap:
-
-.. |deformable/flex/contact attrib list| replace::
-   :at:`contype`, :at:`conaffinity`, :at:`condim`, :at:`priority`, :at:`friction`,
-   :at:`solmix`, :at:`solref`, :at:`solimp`, :at:`margin`, :at:`gap`
-
-|deformable/flex/contact attrib list|
-   Same meaning as regular :ref:`geom <body-geom>` attributes.
-
-.. _flex-contact-passive:
-
-:at:`passive`: :at-val:`[true, false], "false"`
-   When enabled, contact of this flex with another flex, with itself, or with static geometry is not added to the
-   contact solver and is instead applied as a passive normal force. Contact with a body that can move is left on the
-   constraint solver.
-
-   Friction is not modelled on this path: every passive contact is frictionless (condim 1) regardless of the
-   specified condim, and the force is purely normal. A flex therefore slides freely over static geometry, so a cloth
-   will not stay draped over a fixed shape and will not come to rest on a slope. Where friction matters more than
-   non-penetration, leave this option off.
-
-   The force is a penalty on penetration depth whose stiffness is chosen as a natural frequency scaled by the
-   participating vertex mass, so a single value is appropriate across model scales; it is not user-specified. That
-   stiffness is integrated implicitly, its curvature being carried by the effective metric, and is therefore far
-   stiffer than an explicit force at the same timestep could be. It follows that the feature requires an integrator
-   whose constraint solve runs in that metric: :at:`implicit` or :at:`implicitfast` with the CG solver, pyramidal
-   friction cones and sleep disabled. A model requesting passive flex collisions otherwise is rejected with an error.
-
-   Being a penalty force, it does not guarantee non-penetration: a thin flex moving fast enough to cross another
-   within one step will pass through it. This is an experimental feature.
-
-
-.. _deformable-skin:
-
-:el-prefix:`deformable/` |-| **skin** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-These are deformable meshes whose vertex positions and normals are computed each time the model is rendered. MuJoCo
-skins are only used for visualization and do not affect the physics in any way. In particular, collisions involve the
-geoms of the bodies to which the skin is attached, and not the skin itself. Unlike regular meshes which are referenced
-from geoms and participate in collisions, the skin is not referenced from anywhere else in the model. It is a
-stand-alone element that is used by renderer and not by the simulator.
-
-The skin has vertex positions and normals updated at runtime, and triangle faces and optional texture coordinates
-which are predefined. It also has "bones" used for updating. Bones are regular MuJoCo bodies referenced with the
-:el:`bone` subelement. Each bone has a list of vertex indices and corresponding real-valued weights which specify how
-much the bone position and orientation influence the corresponding vertex. The vertex has local coordinates with
-respect to every bone that influences it. The local coordinates are computed by the model compiler, given global
-vertex coordinates and global bind poses for each body. The bind poses do not have to correspond to the model
-reference configuration qpos0. Note that the vertex positions and bone bind poses provided in the skin definition are
-always global, even if the model itself is defined in local coordinates.
-
-At runtime the local coordinates of each vertex with respect to each bone that influences it are converted to global
-coordinates, and averaged in proportion to the corresponding weights to obtain a single set of 3D coordinates for each
-vertex. Normals then are computed automatically given the resulting global vertex positions and face information.
-Finally, the skin can be inflated by applying an offset to each vertex position along its (computed) normal.
-Skins are one-sided for rendering purposes; this is because back-face culling is needed to avoid shading and aliasing
-artifacts. When the skin is a closed 3D shape this does not matter because the back sides cannot be seen. But if the
-skin is a 2D object, we have to specify both sides and offset them slightly to avoid artifacts. Note that the
-composite objects generate skins automatically. So one can save an XML model with a composite
-object, and obtain an elaborate example of how a skin is specified in the XML.
-
-Similar to meshes, skins can be specified directly in the XML via attributes documented later, or loaded from a binary
-SKN file which is in a custom format. The specification of skins is more complex than meshes because of the bone
-subelements. The file format starts with a header of 4 integers: nvertex, ntexcoord, nface, nbone. The first three are
-the same as in meshes, and specify the total number of vertices, texture coordinate pairs, and triangle faces in the
-skin. ntexcoord can be zero or equal to nvertex. nbone specifies the number of MuJoCo bodies that will be used as
-bones in the skin. The header is followed by the vertex, texcoord and face data, followed by a specification for each
-bone. The bone specification contains the name of the corresponding model body, 3D bind position, 4D bind quaternion,
-number of vertices influenced by the bone, and the vertex index array and weight array. Body names are represented as
-fixed-length character arrays and are expected to be 0-terminated. Characters after the first 0 are ignored. The
-contents of the SKN file are:
-
-.. code:: Text
-
-       (int32)   nvertex
-       (int32)   ntexcoord
-       (int32)   nface
-       (int32)   nbone
-       (float)   vertex_positions[3*nvertex]
-       (float)   vertex_texcoords[2*ntexcoord]
-       (int32)   face_vertex_indices[3*nface]
-       for each bone:
-           (char)    body_name[40]
-           (float)   bind_position[3]
-           (float)   bind_quaternion[4]
-           (int32)   vertex_count
-           (int32)   vertex_index[vertex_count]
-           (float)   vertex_weight[vertex_count]
-
-Similar to the other custom binary formats used in MuJoCo, the file size in bytes is strictly enforced by the model
-compiler. The skin file format has subelements so the overall file size formula is difficult to write down, but should
-be clear from the above specification.
-
-.. _deformable-skin-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the skin.
-
-.. _deformable-skin-file:
-
-:at:`file`: :at-val:`string, optional`
-   The SKN file from which the skin will be loaded. The path is determined as described in the meshdir attribute of
-   :ref:`compiler <compiler>`. If the file is omitted, the skin specification must be provided in the XML using the
-   attributes below.
-
-.. _deformable-skin-vertex:
-
-:at:`vertex`: :at-val:`real(3*nvert), optional`
-   Vertex 3D positions, in the global bind pose where the skin is defined.
-
-.. _deformable-skin-texcoord:
-
-:at:`texcoord`: :at-val:`real(2*nvert), optional`
-   Vertex 2D texture coordinates, between 0 and 1. Note that skin and geom texturing are somewhat different. Geoms can
-   use automated texture coordinate generation while skins cannot. This is because skin data are computed directly in
-   global coordinates. So if the material references a texture, one should specify explicit texture coordinates for the
-   skin using this attribute. Otherwise the texture will appear to be stationary in the world while the skin moves
-   around (creating an interesting effect but probably not as intended).
-
-.. _deformable-skin-face:
-
-:at:`face`: :at-val:`int(3*nface), optional`
-   Triangular skin faces. Each face is a triple of vertex indices, which are integers between zero and nvert-1.
-
-.. _deformable-skin-inflate:
-
-:at:`inflate`: :at-val:`real, "0"`
-   If this number is not zero, the position of vertex during updating will be offset along the vertex normal, but the
-   distance specified in this attribute. This is particularly useful for skins representing flexible 2D shapes.
-
-.. _deformable-skin-material:
-
-:at:`material`: :at-val:`string, optional`
-   If specified, this attribute applies a material to the skin.
-
-.. _deformable-skin-rgba:
-
-:at:`rgba`: :at-val:`real(4), "0.5 0.5 0.5 1"`
-   Instead of creating material assets and referencing them, this attribute can be used to set color and transparency
-   only. This is not as flexible as the material mechanism, but is more convenient and is often sufficient. If the value
-   of this attribute is different from the internal default, it takes precedence over the material.
-
-.. _deformable-skin-group:
-
-:at:`group`: :at-val:`int, "0"`
-   Integer group to which the skin belongs. This attribute can be used for custom tags. It is also used by the
-   visualizer to enable and disable the rendering of entire groups of skins.
-
-
-.. _skin-bone:
-
-:el-prefix:`skin/` |-| **bone** |*|
-'''''''''''''''''''''''''''''''''''
-
-This element defines a bone of the skin. The bone is a regular MuJoCo body which is referenced by name here.
-
-
-.. _skin-bone-body:
-
-:at:`body`: :at-val:`string, required`
-   Name of the body corresponding to this bone.
-
-.. _skin-bone-bindpos:
-
-:at:`bindpos`: :at-val:`real(3), required`
-   Global body position corresponding to the bind pose.
-
-.. _skin-bone-bindquat:
-
-:at:`bindquat`: :at-val:`real(4), required`
-   Global body orientation corresponding to the bind pose.
-
-.. _skin-bone-vertid:
-
-:at:`vertid`: :at-val:`int(nvert), required`
-   Integer indices of the vertices influenced by this bone. The vertex index corresponds to the order of the vertex in
-   the skin mesh. The number of vertex indices specified here (nvert) must equal the number of vertex weights specified
-   with the next attribute. The same vertex may be influenced by multiple bones, and each vertex must be influenced by
-   at least one bone.
-
-.. _skin-bone-vertweight:
-
-:at:`vertweight`: :at-val:`real(nvert), required`
-   Weights for the vertices influenced by this bone, in the same order as the vertex indices. Negative weights are
-   allowed (which is needed for cubic interpolation for example) however the sum of all bone weights for a given vertex
-   must be positive.
-
-
-
-.. _equality:
-
-**equality** |*|
-~~~~~~~~~~~~~~~~
-
-This is a grouping element for equality constraints. It does not have attributes. See the :ref:`Equality <coEquality>`
-section of the Computation chapter for a detailed description of equality constraints. Several attributes are common to
-all equality constraint types, thus we document them only once, under the :ref:`connect <equality-connect>` element.
-
-
-.. _equality-connect:
-
-:el-prefix:`equality/` |-| **connect** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates an equality constraint that connects two bodies at a point. The constraint effectively defines a
-ball joint outside the kinematic tree. Connect constraints can be specified in one of two ways
-
-- Using :ref:`body1<equality-connect-body1>` and :ref:`anchor<equality-connect-anchor>` (both required) and
-  optionally :ref:`body2<equality-connect-body2>`. When using this specification, the constraint is assumed to be
-  satisfied at the configuration in which the model is defined (``mjData.qpos0``).
-- :ref:`site1<equality-connect-site1>` and :ref:`site2<equality-connect-site2>` (both required). When using this
-  specification, the two sites will be pulled together by the constraint, regardless of their position in the default
-  configuration. An example of this specification is shown in
-  `this model <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/equality_site.xml>`__.
-
-.. _equality-connect-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the equality constraint.
-
-.. _equality-connect-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
-.. _equality-connect-active:
-
-:at:`active`: :at-val:`[false, true], "true"`
-   If this attribute is set to "true", the constraint is active and the constraint solver will try to enforce it. The
-   field :ref:`mjModel.eq_active0<mjModel>` corresponds to this value, and is used to initialize
-   :ref:`mjData.eq_active<mjData>`, which is user-settable at runtime.
-
-.. _equality-connect-solref:
-
-.. _equality-connect-solimp:
-
-:at:`solref`, :at:`solimp`
-   Constraint solver parameters for equality constraint simulation. See :ref:`CSolver`.
-
-.. _equality-connect-body1:
-
-:at:`body1`: :at-val:`string, optional`
-   Name of the first body participating in the constraint. Either this attribute and :at:`anchor` must be specified, or
-   :at:`site1` and :at:`site2` must be specified.
-
-.. _equality-connect-body2:
-
-:at:`body2`: :at-val:`string, optional`
-   Name of the second body participating in the constraint. If this attribute is omitted, the second body is the world
-   body.
-
-.. _equality-connect-anchor:
-
-:at:`anchor`: :at-val:`real(3), optional`
-   Coordinates of the 3D anchor point where the two bodies are connected, in the local coordinate frame of :at:`body1`.
-   The constraint is assumed to be satisfied in the configuration at which the model is defined (``mjData.qpos0``),
-   which lets the compiler compute the associated anchor point for :at:`body2`.
-
-.. _equality-connect-site1:
-
-:at:`site1`: :at-val:`string, optional`
-   Name of a site belonging to the first body participating in the constraint. When specified, :at:`site2` must also be
-   specified. The (:at:`site1`, :at:`site2`) specification is a more flexible alternative to the body-based
-   specification, and is different in two ways. First, the sites are not required to overlap at the default
-   configuration; if they do not overlap then the sites will "snap together" at the beginning of the simulation. Second,
-   changing the site positions in ``mjModel.site_pos`` at runtime will correctly change the position of the constraint
-   (i.e. the content of ``mjModel.eq_data`` has no effect when this semantic is used).
-
-.. _equality-connect-site2:
-
-:at:`site2`: :at-val:`string, optional`
-   Name of a site belonging to the second body participating in the constraint. When specified, :at:`site1` must also be
-   specified. See the :ref:`site1<equality-connect-site1>` description for more details.
-
-.. _equality-weld:
-
-:el-prefix:`equality/` |-| **weld** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a weld equality constraint. It attaches two bodies to each other, removing all relative degrees of
-freedom between them (softly of course, like all other constraints in MuJoCo). The two bodies are not required to be
-close to each other. The relative body position and orientation being enforced by the constraint solver is the one in
-which the model was defined. Note that two bodies can also be welded together rigidly, by defining one body as a child
-of the other body, without any joint elements in the child body. Weld constraints can be specified in one of two ways:
-
-- Using :ref:`body1<equality-weld-body1>` (and optionally :ref:`anchor<equality-weld-anchor>`,
-  :ref:`relpose<equality-weld-relpose>`, :ref:`body2<equality-weld-body2>`). When using this specification, the
-  constraint is assumed to be satisfied at the configuration in which the model is defined.
-- :ref:`site1<equality-weld-site1>` and :ref:`site2<equality-weld-site2>` (both required). When using this
-  specification, the frames of the two sites will be aligned by the constraint, regardless of their position in the
-  default configuration. An example of this specification is shown in
-  `this model <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/equality_site.xml>`__.
-
-.. _equality-weld-name:
-
-.. _equality-weld-class:
-
-.. _equality-weld-active:
-
-.. _equality-weld-solref:
-
-.. _equality-weld-solimp:
-
-:at:`name`, :at:`class`, :at:`active`, :at:`solref`, :at:`solimp`
-   Same as in :ref:`connect <equality-connect>` element.
-
-.. _equality-weld-body1:
-
-:at:`body1`: :at-val:`string, optional`
-   Name of the first body participating in the constraint. Either this attribute and must be specified or :at:`site1`
-   and :at:`site2` must be specified.
-
-.. _equality-weld-body2:
-
-:at:`body2`: :at-val:`string, optional`
-   Name of the second body. If this attribute is omitted, the second body is the world body. Welding a body to the world
-   and changing the corresponding component of mjData.eq_active at runtime can be used to fix the body temporarily.
-
-.. _equality-weld-relpose:
-
-:at:`relpose`: :at-val:`real(7), "0 1 0 0 0 0 0"`
-   This attribute specifies the relative pose (3D position followed by 4D quaternion orientation) of the anchor point
-   relative to body1. The position part (first 3 components) gives the anchor coordinates in the local frame of body1,
-   and the quaternion part (last 4 components) gives the relative orientation of body2 relative to body1. If the
-   quaternion part (i.e., last 4 components of the vector) are all zeros, as in the default setting, this attribute is
-   ignored and the relative pose is the one corresponding to the model reference pose in qpos0. The unusual
-   default is because all equality constraint types share the same default for their numeric parameters.
-
-.. _equality-weld-anchor:
-
-:at:`anchor`: :at-val:`real(3), "0 0 0"`
-   Coordinates of the weld point relative to body2. If :at:`relpose` is not specified, the meaning of
-   this parameter is the same as for connect constraints, except that is relative to body2. If :at:`relpose` is
-   specified, body1 will use the pose to compute its anchor point.
-
-.. _equality-weld-site1:
-
-:at:`site1`: :at-val:`string, optional`
-   Name of a site belonging to the first body participating in the constraint. When specified, :at:`site2` must also be
-   specified. The (:at:`site1`, :at:`site2`) specification is a more flexible alternative to the body-based
-   specification, and is different in two ways. First, the sites are not required to overlap at the default
-   configuration; if they do not overlap then the sites will "snap together" at the beginning of the simulation. Second,
-   changing the site position and orientation in ``mjModel.site_pos`` and ``mjModel.site_quat`` at runtime will
-   correctly change the position and orientation of the constraint (i.e. the content of ``mjModel.eq_data`` has no
-   effect when this semantic is used, with the exception of :ref:`torquescale<equality-weld-torquescale>`).
-
-.. _equality-weld-site2:
-
-:at:`site2`: :at-val:`string, optional`
-   Name of a site belonging to the second body participating in the constraint. When specified, :at:`site1` must also be
-   specified. See the :ref:`site1<equality-weld-site1>` description for more details.
-
-.. _equality-weld-torquescale:
-
-:at:`torquescale`: :at-val:`real, "1"`
-   A constant that scales the angular residual (angular constraint violation). Notionally in units of
-   :math:`\textrm{torque}/\textrm{force}=\textrm{length}`. Intuitively this coefficient defines how much the weld
-   "cares" about rotational displacements vs. translational displacements. Setting this value to 0 makes the :el:`weld`
-   behave like a :el:`connect` constraint. Note that this value has units of length and can therefore be understood as
-   follows. Imagining that the weld is implemented by a flat patch of glue sticking the two bodies together,
-   :at:`torquescale` can be interpreted as the diameter of this glue patch.
-
-
-.. _equality-joint:
-
-:el-prefix:`equality/` |-| **joint** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element constrains the position or angle of one joint to be a quartic polynomial of another joint. Only scalar
-joint types (slide and hinge) can be used.
-
-
-.. _equality-joint-name:
-
-.. _equality-joint-class:
-
-.. _equality-joint-active:
-
-.. _equality-joint-solref:
-
-.. _equality-joint-solimp:
-
-:at:`name`, :at:`class`, :at:`active`, :at:`solref`, :at:`solimp`
-   Same as in :ref:`connect <equality-connect>` element.
-
-.. _equality-joint-joint1:
-
-:at:`joint1`: :at-val:`string, required`
-   Name of the first joint.
-
-.. _equality-joint-joint2:
-
-:at:`joint2`: :at-val:`string, optional`
-   Name of the second joint. If this attribute is omitted, the first joint is fixed to a constant.
-
-.. _equality-joint-polycoef:
-
-:at:`polycoef`: :at-val:`real(5), "0 1 0 0 0"`
-   Coefficients :math:`a_0 \ldots a_4` of the quartic polynomial. If the joint values of :at:`joint1` and :at:`joint2`
-   are respectively :math:`y` and :math:`x`, and their reference positions (corresponding to the joint values in the
-   initial model configuration) are :math:`y_0` and :math:`x_0`, the constraint is:
-
-   .. math::
-      y-y_0 = a_0 + a_1(x-x_0) + a_2(x-x_0)^2 + a_3(x-x_0)^3 + a_4(x-x_0)^4
-
-   Omitting :at:`joint2` is equivalent to setting :math:`x = x_0`, in which case the constraint is
-   :math:`y = y_0 + a_0`.
-
-.. _equality-tendon:
-
-:el-prefix:`equality/` |-| **tendon** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element constrains the length of one tendon to be a quartic polynomial of another tendon.
-
-
-.. _equality-tendon-name:
-
-.. _equality-tendon-class:
-
-.. _equality-tendon-active:
-
-.. _equality-tendon-solref:
-
-.. _equality-tendon-solimp:
-
-:at:`name`, :at:`class`, :at:`active`, :at:`solref`, :at:`solimp`
-   Same as in :ref:`connect <equality-connect>` element.
-
-.. _equality-tendon-tendon1:
-
-:at:`tendon1`: :at-val:`string, required`
-   Name of the first tendon.
-
-.. _equality-tendon-tendon2:
-
-:at:`tendon2`: :at-val:`string, optional`
-   Name of the second tendon. If this attribute is omitted, the first tendon is fixed to a constant.
-
-.. _equality-tendon-polycoef:
-
-:at:`polycoef`: :at-val:`real(5), "0 1 0 0 0"`
-   Same as in the :ref:`equality/joint <equality-joint>` element above, but applied to tendon lengths instead of joint
-   positions.
-
-
-.. _equality-flex:
-
-:el-prefix:`equality/` |-| **flex** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element constrains the lengths of all edges of a specified flex to their respective lengths in the initial model
-configuration. In this way the edges are used to maintain the shape of the deformable entity. Note that all other
-equality constraint types add a fixed number of scalar constraints, while this element adds as many scalar constraints
-as there are edges in the specified flex. See `this model
-<https://github.com/google-deepmind/mujoco/blob/main/model/flex/plate.xml>`__ for an example.
-
-.. _equality-flex-name:
-.. _equality-flex-class:
-.. _equality-flex-active:
-.. _equality-flex-solref:
-.. _equality-flex-solimp:
-
-:at:`name`, :at:`class`, :at:`active`, :at:`solref`, :at:`solimp`
-   Same as in :ref:`connect <equality-connect>` element.
-
-.. _equality-flex-flex:
-
-:at:`flex`: :at-val:`string, required`
-   Name of the flex whose edges are being constrained.
-
-
-.. _equality-flexvert:
-
-:el-prefix:`equality/` |-| **flexvert** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element constrains the trace and the derminant of the strain tensor to that of the identity matrix as in Chen, Kry,
-and Vouga, "Locking-free Simulation of Isometric Thin Plates", 2019. The strain tensor is computed per triangle and
-averaged over all triangles adjacent to a vertex. This reduces the number of constraints from 2T to 2V, freeing V
-degrees of freedom to avoid locking. It is only supported for dimension 2, i.e., cloth-like flexes. See `this model
-<https://github.com/google-deepmind/mujoco/blob/main/model/flex/poncho.xml>`__ for an example.
-
-.. _equality-flexvert-name:
-.. _equality-flexvert-class:
-.. _equality-flexvert-active:
-.. _equality-flexvert-solref:
-.. _equality-flexvert-solimp:
-
-:at:`name`, :at:`class`, :at:`active`, :at:`solref`, :at:`solimp`
-   Same as in :ref:`connect <equality-connect>` element.
-
-.. _equality-flexvert-flex:
-
-:at:`flex`: :at-val:`string, required`
-   Name of the flex whose vertices are being constrained.
-
-
-.. _equality-flexstrain:
-
-:el-prefix:`equality/` |-| **flexstrain** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element constrains the strain of a trilinear or quadratic flex to its initial values. For trilinear elements,
-a B-bar formulation is used to prevent volumetric locking: the trace of strain (I₁) and volume ratio (J-1 = det(F)-1)
-are constrained at the element center, while the three off-diagonal shear components (E₁₂, E₁₃, E₂₃) are constrained
-at each of the 8 Gauss points, giving 26 constraints per element. For quadratic elements, all 6 strain components
-(3 invariants + 3 shear) are constrained at each of the 27 Gauss points, giving 162 constraints per element. This
-constraint type is only supported for dimension 3 flexes with trilinear or quadratic interpolation. See `this model
-<https://github.com/google-deepmind/mujoco/blob/main/model/flex/strain.xml>`__ for an example.
-
-.. _equality-flexstrain-name:
-.. _equality-flexstrain-class:
-.. _equality-flexstrain-active:
-.. _equality-flexstrain-solref:
-.. _equality-flexstrain-solimp:
-
-:at:`name`, :at:`class`, :at:`active`, :at:`solref`, :at:`solimp`
-   Same as in :ref:`connect <equality-connect>` element.
-
-.. _equality-flexstrain-flex:
-
-:at:`flex`: :at-val:`string, required`
-   Name of the flex whose strain is being constrained.
-
-.. _equality-flexstrain-cell:
-
-:at:`cell`: :at-val:`int(3), optional`
-   3D grid index (i, j, k) identifying the cell in the flex object. The grid size is specified in the :ref:`cellcount
-   <deformable-flex-cellcount>` attribute.
-
-
-.. _tendon:
-
-**tendon** |*|
-~~~~~~~~~~~~~~
-
-Grouping element for tendon definitions. The attributes of fixed tendons are a subset of the attributes of spatial
-tendons, thus we document them only once under spatial tendons. Tendons can be used to impose length limits, simulate
-spring, damping and dry friction forces, as well as attach actuators to them. When used in equality constraints, tendons
-can also represent different forms of mechanical coupling.
-
-
-.. _tendon-spatial:
-
-:el-prefix:`tendon/` |-| **spatial** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: images/XMLreference/tendon.png
-   :width: 400px
-   :align: right
-
-This element creates a spatial tendon, which is a minimum-length path passing through specified via-points and
-wrapping around specified obstacle geoms. The objects along the path are defined with the sub-elements
-:ref:`site <spatial-site>` and :ref:`geom <spatial-geom>` below. One can also define :ref:`pulleys <spatial-pulley>`
-which split the path in multiple branches. Each branch of the tendon path must start and end with a site, and if it
-has multiple obstacle geoms they must be separated by sites - so as to avoid the need for an iterative solver at the
-tendon level. This example illustrates a multi-branch tendon acting as a finger extensor, with a counter-weight
-instead of an actuator: `tendon.xml <_static/tendon.xml>`__.
-
-A second form of wrapping is where the tendon is constrained to pass *through* a geom rather than
-wrap around it. This is enabled automatically when a sidesite is specified and its position is inside the volume of
-the obstacle geom.
-
-.. youtube:: I2q7D0Vda-A
-   :width: 300px
-   :align: right
-
-**Visualization:** Tendon paths are visualized as in the image above, respecting the :ref:`width<tendon-spatial-width>`,
-:ref:`material<tendon-spatial-material>` and :ref:`rgba<tendon-spatial-rgba>` attributes below. A special kind of
-visualization is used for unactuated 2-point tendons with :ref:`range<tendon-spatial-range>` or
-:ref:`springlength<tendon-spatial-springlength>` of the form :at-val:`[0 X]`, with positive X. Such tendons act like a
-cable, applying force only when stretched. Therefore when not stretched, they are drawn as a catenary of
-length X, as in the clip on the right of `this example model
-<https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`__.
-
-.. _tendon-spatial-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the tendon.
-
-.. _tendon-spatial-class:
-
-:at:`class`: :at-val:`string, optional`
-   Defaults class for setting unspecified attributes.
-
-.. _tendon-spatial-group:
-
-:at:`group`: :at-val:`int, "0"`
-   Integer group to which the tendon belongs. This attribute can be used for custom tags. It is also used by the
-   visualizer to enable and disable the rendering of entire groups of tendons.
-
-.. _tendon-spatial-limited:
-
-:at:`limited`: :at-val:`[false, true, auto], "auto"`
-   If this attribute is "true", the length limits defined by the range attribute below are imposed by the constraint
-   solver. If this attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, length limits
-   will be enabled if range is defined.
-
-.. _tendon-spatial-actuatorfrclimited:
-
-:at:`actuatorfrclimited`: :at-val:`[false, true, auto], "auto"`
-   This attribute specifies whether actuator forces acting on the tendon should be clamped. See :ref:`CForceRange` for
-   details. This attribute interacts with the :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>` attribute. If
-   this attribute is "false", actuator force clamping is disabled. If it is "true", actuator force clamping is enabled.
-   If this attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will
-   be enabled if :at:`actuatorfrcrange` is defined.
-
-.. _tendon-spatial-range:
-
-:at:`range`: :at-val:`real(2), "0 0"`
-   Range of allowed tendon lengths. Setting this attribute without specifying :at:`limited` is an error, unless
-   :at:`autolimits` is set in :ref:`compiler <compiler>`.
-
-.. _tendon-spatial-actuatorfrcrange:
-
-:at:`actuatorfrcrange`: :at-val:`real(2), "0 0"`
-   Range for clamping total actuator forces acting on this tendon. See :ref:`CForceRange` for details. The compiler
-   expects the lower bound to be nonpositive and the upper bound to be nonnegative. |br| Setting this attribute without
-   specifying :at:`actuatorfrclimited` is an error if :at:`compiler-autolimits` is "false".
-
-.. _tendon-spatial-solreflimit:
-
-.. _tendon-spatial-solimplimit:
-
-:at:`solreflimit`, :at:`solimplimit`
-   Constraint solver parameters for simulating tendon limits. See :ref:`CSolver`.
-
-.. _tendon-spatial-solreffriction:
-
-.. _tendon-spatial-solimpfriction:
-
-:at:`solreffriction`, :at:`solimpfriction`
-   Constraint solver parameters for simulating dry friction in the tendon.
-   See also :ref:`Friction<CSolverFriction>`.
-
-.. _tendon-spatial-margin:
-
-:at:`margin`: :at-val:`real, "0"`
-   The limit constraint becomes active when the absolute value of the difference between the tendon length and either
-   limit of the specified range falls below this margin. Similar to contacts, the margin parameter is subtracted from
-   the difference between the range limit and the tendon length. The resulting constraint distance is always negative
-   when the constraint is active. This quantity is used to compute constraint impedance as a function of distance, as
-   explained in :ref:`CSolver`.
-
-.. _tendon-spatial-frictionloss:
-
-:at:`frictionloss`: :at-val:`real, "0"`
-   Friction loss caused by dry friction. To enable friction loss, set this attribute to a positive value.
-
-.. _tendon-spatial-width:
-
-:at:`width`: :at-val:`real, "0.003"`
-   Radius of the cross-section area of the spatial tendon, used for rendering. Parts of the tendon that wrap around geom
-   obstacles are rendered with reduced width.
-
-.. _tendon-spatial-material:
-
-:at:`material`: :at-val:`string, optional`
-   Material used to set the appearance of the tendon.
-
-.. _tendon-spatial-rgba:
-
-:at:`rgba`: :at-val:`real(4), "0.5 0.5 0.5 1"`
-   Color and transparency of the tendon. When this value is different from the internal default, it overrides the
-   corresponding material properties. If a :at:`material` is unspecified and :at:`rgba` has the default value, limited
-   tendons whose length exceeds the limit are recolored using the value of the :ref:`constraint impedance<soParameters>`
-   :math:`d` to mix the default color and :ref:`rgba/constraint<visual-rgba-constraint>`.
-
-.. _tendon-spatial-springlength:
-
-:at:`springlength`: :at-val:`real(2), "-1 -1"`
-   Spring resting position, can take either one or two values. If one value is given, it corresponds to the length of
-   the tendon at rest. If it is ``-1``, the tendon resting length is determined from the model reference configuration
-   in ``mjModel.qpos0``.  |br| Note that the default value of ``-1``, which invokes the automatic length computation,
-   was designed with :ref:`spatial<tendon-spatial>` tendons in mind, which can only have nonegative length. In order to
-   set the :at:`springlength` of a :ref:`fixed<tendon-fixed>` tendon to ``-1``, use a nearby value like ``-0.99999``.
-   |br| If two non-decreasing values are given, they define a `dead-band <https://en.wikipedia.org/wiki/Deadband>`_
-   range. If the tendon length is between the two values, the force is 0. If it is outside this range, the force behaves
-   like a regular spring, with the rest-point corresponding to the nearest :at:`springlength` value. A deadband can be
-   used to define tendons whose limits are enforced by springs rather than constraints.
-
-.. _tendon-spatial-stiffness:
-
-.. youtube:: aKa3ZlEF9_Y
-   :aspect: 2:1
-   :align: right
-   :width: 35%
-
-:at:`stiffness`: :at-val:`real, "0 0 0"`
-   Tendon stiffness coefficients :math:`a, b, c`. A positive :math:`a` generates a linear spring force
-   :math:`f(x) = -a x`, acting along the tendon. Here :math:`x` is the tendon displacement
-   defined by :ref:`springlength<tendon-spatial-springlength>`.
-
-   If the optional second and third components are set, they define a nonlinear polynomial spring force
-   :math:`f(x) = -(a x + b x^2 + c x^3)`. See :ref:`Polynomial forces<gePolynomial>` for details.
-
-   The clip on the right is of
-   `this model <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/passive/poly_stiffness.xml>`__.
-
-.. _tendon-spatial-damping:
-
-:at:`damping`: :at-val:`real, "0 0 0"`
-   Damping coefficients :math:`a, b, c`.
-   A positive :math:`a` produces the standard dissipative linear damping force :math:`f(v) = -a v`.
-
-   If the optional second and third components are set, they define a nonlinear polynomial damping force
-   :math:`f(v) = -(a v + b v |v| + c v^3)`.
-   Note the anti-symmetrization of the quadratic term, ensuring that the force is an odd function of
-   velocity. See :ref:`Polynomial forces<gePolynomial>` for details.
-
-.. image:: images/XMLreference/tendon_armature.gif
-   :width: 30%
-   :align: right
-   :class: only-light
-   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/core_smooth/ten_armature_1_compare.xml
-.. image:: images/XMLreference/tendon_armature_dark.gif
-   :width: 30%
-   :align: right
-   :class: only-dark
-   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/core_smooth/ten_armature_1_compare.xml
-
-.. _tendon-spatial-armature:
-
-:at:`armature`: :at-val:`real, "0"`
-   Inertia associated with changes in tendon length. Setting this attribute to a positive value :math:`m` adds a kinetic
-   energy term :math:`\frac{1}{2}mv^2`, where :math:`v` is the tendon velocity. Tendon inertia is most valuable
-   when modeling the :ref:`armature<body-joint-armature>` inertia in a linear actuator which contains a spinning element
-   or the inertial motion of a fluid in a linear hydraulic actuator. In the illustration, we compare (*left*) a 3-dof
-   system with a "tendon" implemented with a rotational joint and a slider joint with
-   :ref:`armature<body-joint-armature>`, attached to the world with a :ref:`connect<equality-connect>` constraint and
-   (*right*) an equivalent 1-dof model with an armature-bearing tendon. Like joint :ref:`armature<body-joint-armature>`,
-   this added inertia is only associated with changes in tendon length, and would not affect the dynamics of a moving
-   fixed-length tendon. Because the tendon Jacobian :math:`J` is position-dependent, tendon armature leads to an
-   additional bias-force term :math:`c = m J \dot{J}^T \dot{q}`.
-
-.. _tendon-spatial-user:
-
-:at:`user`: :at-val:`real(nuser_tendon), "0 0 ..."`
-   See :ref:`CUser`.
-
-
-.. _spatial-site:
-
-:el-prefix:`spatial/` |-| **site** |*|
-''''''''''''''''''''''''''''''''''''''
-
-This attribute specifies a site that the tendon path has to pass through. Recall that sites are rigidly attached to
-bodies.
-
-.. _spatial-site-site:
-
-:at:`site`: :at-val:`string, required`
-   The name of the site that the tendon must pass through.
-
-
-.. _spatial-geom:
-
-:el-prefix:`spatial/` |-| **geom** |*|
-''''''''''''''''''''''''''''''''''''''
-
-This element specifies a geom that acts as an obstacle for the tendon path. If the minimum-length path does not touch
-the geom it has no effect; otherwise the path wraps around the surface of the geom. Wrapping is computed analytically,
-which is why we restrict the geom types allowed here to spheres and cylinders. The latter are treated as having infinite
-length for tendon wrapping purposes. If a sidesite is defined, and its position is inside the geom, then the tendon is
-constrained to pass through the geom instead of passing around it.
-
-.. _spatial-geom-geom:
-
-:at:`geom`: :at-val:`string, required`
-   The name of a geom that acts as an obstacle for the tendon path. Only sphere and cylinder geoms can be referenced
-   here.
-
-.. _spatial-geom-sidesite:
-
-:at:`sidesite`: :at-val:`string, optional`
-   To prevent the tendon path from snapping from one side of the geom to the other as the model configuration varies,
-   the user can define a preferred "side" of the geom. At runtime, the wrap that is closer to the specified site is
-   automatically selected. Specifying a side site is often needed in practice. If the side site is inside the geom, the
-   tendon is constrained to pass through the interior of the geom.
-
-
-.. _spatial-pulley:
-
-:el-prefix:`spatial/` |-| **pulley** |*|
-''''''''''''''''''''''''''''''''''''''''
-
-This element starts a new branch in the tendon path. The branches are not required to be connected spatially. Similar to
-the transmissions described in the :ref:`Actuation model <geActuation>` section of the Computation
-chapter, the quantity that affects the simulation is the tendon length and its gradient with respect to the joint
-positions. If a spatial tendon has multiple branches, the length of each branch is divided by the divisor attribute of
-the pulley element that started the branch, and added up to obtain the overall tendon length. This is why the spatial
-relations among branches are not relevant to the simulation. The `tendon.xml <_static/tendon.xml>`__ example above
-illustrated the use of pulleys.
-
-.. _spatial-pulley-divisor:
-
-:at:`divisor`: :at-val:`real, required`
-   The length of the tendon branch started by the pulley element is divided by the value specified here. For a physical
-   pulley that splits a single branch into two parallel branches, the common branch would have divisor value of 1 and
-   the two branches following the pulley would have divisor values of 2. If one of them is further split by another
-   pulley, each new branch would have divisor value of 4 and so on. Note that in MJCF each branch starts with a pulley,
-   thus a single physical pulley is modeled with two MJCF pulleys. If no pulley elements are included in the tendon
-   path, the first and only branch has divisor value of 1.
-
-
-.. _tendon-fixed:
-
-:el-prefix:`tendon/` |-| **fixed** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates an abstract tendon whose length is defined as a linear combination of joint positions. Recall that
-the tendon length and its gradient are the only quantities needed for simulation. Thus we could define any scalar
-function of joint positions, call it "tendon", and use it in MuJoCo. The only such function supported is a fixed linear
-combination. The attributes of fixed tendons are a subset of the attributes of spatial tendons and have the same meaning
-as above.
-
-.. _tendon-fixed-name:
-
-.. _tendon-fixed-class:
-
-.. _tendon-fixed-group:
-
-.. _tendon-fixed-limited:
-
-.. _tendon-fixed-actuatorfrclimited:
-
-.. _tendon-fixed-range:
-
-.. _tendon-fixed-actuatorfrcrange:
-
-.. _tendon-fixed-solreflimit:
-
-.. _tendon-fixed-solimplimit:
-
-.. _tendon-fixed-solreffriction:
-
-.. _tendon-fixed-solimpfriction:
-
-.. _tendon-fixed-frictionloss:
-
-.. _tendon-fixed-margin:
-
-.. _tendon-fixed-springlength:
-
-.. _tendon-fixed-stiffness:
-
-.. _tendon-fixed-damping:
-
-.. _tendon-fixed-armature:
-
-.. _tendon-fixed-user:
-
-.. |tendon/fixed attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`limited`, :at:`range`, :at:`solreflimit`, :at:`solimplimit`,
-   :at:`solreffriction`, :at:`solimpfriction`, :at:`frictionloss`, :at:`margin`, :at:`springlength`, :at:`stiffness`,
-   :at:`damping`, :at:`user`
-
-|tendon/fixed attrib list|
-   Same as in the :ref:`spatial <tendon-spatial>` element.
-
-
-.. _fixed-joint:
-
-:el-prefix:`fixed/` |-| **joint** |*|
-'''''''''''''''''''''''''''''''''''''
-
-This element adds a joint to the computation of the fixed tendon length. The position or angle of each included joint is
-multiplied by the corresponding coef value, and added up to obtain the tendon length.
-
-.. _fixed-joint-joint:
-
-:at:`joint`: :at-val:`string, required`
-   Name of the joint to be added to the fixed tendon. Only scalar joints (slide and hinge) can be referenced here.
-
-.. _fixed-joint-coef:
-
-:at:`coef`: :at-val:`real, required`
-   Scalar coefficient multiplying the position or angle of the specified joint.
-
-
-.. _actuator:
-
-**actuator** |*|
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This is a grouping element for actuator definitions. Recall the discussion of MuJoCo's :ref:`Actuation model
-<geActuation>` in the Computation chapter, and the :ref:`Actuator shortcuts <CActShortcuts>` discussed earlier in this
-chapter. The first 13 attributes of all actuator-related elements below are the same, so we document them only once,
-under the :el:`general` actuator.
-
-
-.. _actuator-general:
-
-:el-prefix:`actuator/` |-| **general** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a general actuator, providing full access to all actuator components and allowing the user to
-specify them independently.
-
-
-.. _actuator-general-name:
-
-:at:`name`: :at-val:`string, optional`
-   Element name. See :ref:`CName`.
-
-.. _actuator-general-class:
-
-:at:`class`: :at-val:`string, optional`
-   Active defaults class. See :ref:`CDefault`.
-
-.. _actuator-general-group:
-
-:at:`group`: :at-val:`int, "0"`
-   Integer group to which the actuator belongs. This attribute can be used for custom tags. It is also used by the
-   visualizer to enable and disable the rendering of entire groups of actuators.
-
-.. _actuator-general-nsample:
-
-:at:`nsample`: :at-val:`int, "0"`
-   If greater than 0, this attribute creates a time-indexed ring buffer with :at:`nsample` samples of this actuator's
-   ``ctrl`` history. During state advancement, the current control input is appended to the buffer with timestamp
-   ``time``, and the oldest sample is removed. Values in the history buffer can be read via :ref:`mj_readCtrl`.
-
-   A positive :at-val:`nsample` is required for :ref:`delay<actuator-general-delay>`.
-   See :ref:`Delays<CDelay>` for details.
-
-.. _actuator-general-interp:
-
-:at:`interp`: :at-val:`[zoh, linear, cubic], "zoh"`
-   The interpolation method used when reading from the history buffer. Corresponds to the ``interp`` argument in
-   :ref:`mj_readCtrl`.
-
-   - ``zoh``: Zero-order hold (piecewise constant).
-   - ``linear``: Piecewise linear interpolation.
-   - ``cubic``: Cubic spline interpolation (Catmull-Rom).
-
-   The :at:`interp` value is for advanced use-cases, see :ref:`Delays<CDelay>` for details.
-
-.. _actuator-general-delay:
-
-:at:`delay`: :at-val:`real, "0"`
-   If greater than 0, then during the forward dynamics, instead of reading the control input to the actuator from
-   ``mjData.ctrl``, the control input is read from the history buffer using :ref:`mj_readCtrl`.
-   Requires a history buffer (:ref:`nsample<actuator-general-nsample>` > 0).
-
-   In the most common case, ``delay = nsample * timestep``.
-
-.. _actuator-general-ctrllimited:
-
-:at:`ctrllimited`: :at-val:`[false, true, auto], "auto"`
-   If true, the control input to this actuator is automatically clamped to :at:`ctrlrange` at runtime. If false, control
-   input clamping is disabled. If "auto" and :at:`autolimits` is set in :ref:`compiler <compiler>`, control
-   clamping will automatically be set to true if :at:`ctrlrange` is defined without explicitly setting this attribute
-   to "true". Note that control input clamping can also be globally disabled with the :at:`clampctrl` attribute of
-   :ref:`option/flag <option-flag>`.
-
-.. _actuator-general-forcelimited:
-
-:at:`forcelimited`: :at-val:`[false, true, auto], "auto"`
-   If true, the force output of this actuator is automatically clamped to :at:`forcerange` at runtime. If false, force
-   clamping is disabled. If "auto" and :at:`autolimits` is set in :ref:`compiler <compiler>`, force clamping will
-   automatically be set to true if :at:`forcerange` is defined without explicitly setting this attribute to "true".
-
-.. _actuator-general-actlimited:
-
-:at:`actlimited`: :at-val:`[false, true, auto], "auto"`
-   If true, the internal state (activation) associated with this actuator is automatically clamped to :at:`actrange` at
-   runtime. If false, activation clamping is disabled. If "auto" and :at:`autolimits` is set in
-   :ref:`compiler <compiler>`, activation clamping will automatically be set to true if :at:`actrange` is defined
-   without explicitly setting this attribute to "true". See the :ref:`Activation clamping <CActRange>` section for more
-   details.
-
-.. _actuator-general-ctrlrange:
-
-:at:`ctrlrange`: :at-val:`real(2), "0 0"`
-   Range for clamping the control input. The first value must be smaller than the second value.
-   |br| Setting this attribute without specifying :at:`ctrllimited` is an error if :at:`autolimits` is "false" in
-   :ref:`compiler <compiler>`.
-
-.. _actuator-general-forcerange:
-
-:at:`forcerange`: :at-val:`real(2), "0 0"`
-   Range for clamping the force output. The first value must be no greater than the second value.
-   On :ref:`orientation<actuator-orientation>` actuators the force is a 3D torque, clamped on its norm: the second
-   value bounds the torque magnitude and the first value must be 0.
-   |br| Setting this attribute without specifying :at:`forcelimited` is an error if :at:`autolimits` is "false" in
-   :ref:`compiler <compiler>`.
-
-.. _actuator-general-actrange:
-
-:at:`actrange`: :at-val:`real(2), "0 0"`
-   Range for clamping the activation state. The first value must be no greater than the second value.
-   See the :ref:`Activation clamping <CActRange>` section for more details.
-   |br| Setting this attribute without specifying :at:`actlimited` is an error if :at:`autolimits` is "false" in
-   :ref:`compiler <compiler>`.
-
-.. _actuator-general-lengthrange:
-
-:at:`lengthrange`: :at-val:`real(2), "0 0"`
-   Range of feasible lengths of the actuator's transmission. See :ref:`Length Range <CLengthRange>`.
-
-.. _actuator-general-gear:
-
-:at:`gear`: :at-val:`real(6), "1 0 0 0 0 0"`
-   This attribute scales the length (and consequently moment arms, velocity and force) of the actuator, for all
-   transmission types. It is different from the gain in the force generation mechanism, because the gain only scales the
-   force output and does not affect the length, moment arms and velocity. For actuators with scalar transmission, only
-   the first element of this vector is used. The remaining elements are needed for joint, jointinparent and site
-   transmissions where this attribute is used to specify 3D force and torque axes.
-
-.. _actuator-general-damping:
-
-:at:`damping`: :at-val:`real(3), "0 0 0"`
-   Viscous damping coefficients, contributed by the actuator to its transmission target (joint or tendon only).
-   The damping value is scaled by :ref:`gear<actuator-general-gear>` squared, because the gear ratio scales both forces
-   and velocities, leading to reflected damping (analogous to :ref:`reflected inertia<actuator-general-armature>`).
-   Like :ref:`joint damping<body-joint-damping>`, coefficients correspond to linear, quadratic and cubic velocity.
-   See :ref:`Polynomial forces<gePolynomial>` for details.
-
-   Several actuator shortcuts have a :at:`kv` attribute which maps to :ref:`-biasprm[2]<actuator-general-biasprm>` and
-   has similar semantics to :at:`damping`: (e.g.,
-   :ref:`position/kv<actuator-position-kv>`). The differences between these attributes are:
-
-   - :at:`damping` is applied at the transmission target, and therefore includes the gear\ :sup:`2` factor. This factor
-     is not required for :at:`kv` as it is already applied in actuator space (so the units are identical).
-   - Implicit integration works for :at:`damping` when using the Euler integrator but not for :at:`kv`.
-     To get implicit integration for :at:`kv`, implicit or implicitfast is required, see
-     :ref:`Integrators<geIntegrators>`.
-   - :at:`damping` allows for polynomial damping, while :at:`kv` is only linear.
-   - Damping forces generated by :at:`kv` are subject to :ref:`forcerange<actuator-general-forcerange>` clamping, but
-     forces generated by :at:`damping` are not.
-
-   Finally, note that while it is permitted for nonzero damping and :ref:`armature<actuator-general-armature>` to be
-   specified for multiple actuators acting on the same transmission target, it is more performant to specify
-   them for only one actuator. Since these values are summed anyway, it is recommended to place all damping and
-   armature for one transmission target in a single actuator definition.
-
-.. _actuator-general-armature:
-
-:at:`armature`: :at-val:`real, "0"`
-   Armature inertia (or mass for slider joints) contributed by the actuator to its transmission target (joint or tendon
-   only). This is the actual inertia of the spinning element inside the actuator (e.g., a rotor). The contributed value
-   is scaled by :ref:`gear<actuator-general-gear>` squared, because the gear ratio scales both forces and velocities,
-   leading to `reflected inertia <https://en.wikipedia.org/wiki/Reflective_inertia>`__. See
-   :ref:`joint<body-joint-armature>` and :ref:`tendon<tendon-fixed-armature>` armature for more details.
-
-   See also the note in :ref:`damping<actuator-general-damping>` regarding multiple actuators acting on the same
-   transmission target.
-
-.. _actuator-general-cranklength:
-
-:at:`cranklength`: :at-val:`real, "0"`
-   Used only for the slider-crank transmission type. Specifies the length of the connecting rod. The compiler expects
-   this value to be positive when a slider-crank transmission is present.
-
-.. _actuator-general-joint:
-
-:at:`joint`: :at-val:`string, optional`
-   This and the next four attributes determine the type of actuator transmission. All of them are optional, and exactly
-   one of them must be specified. If this attribute is specified, the actuator acts on the given joint.
-
-   For **hinge** and **slide** joints, the actuator length equals the joint position/angle times the first element of
-   :at:`gear`.
-
-   For **ball** joints, the first three elements of gear define a 3d rotation axis in the child frame around which the
-   actuator produces torque. The actuator length is defined as the dot-product between this gear axis and the angle-axis
-   representation of the joint quaternion, and is in units of radian if :at:`gear` is normalized (generally scaled by
-   the norm of :at:`gear`). Note that the length is defined on a circle: after total rotation of more than :math:`\pi`
-   it wraps to :math:`-\pi`, and vice-versa. :ref:`position<actuator-position>` and
-   :ref:`intvelocity<actuator-intvelocity>` servos on such transmissions interpret their setpoint on the circle, driving
-   towards the nearest representative of the target, so targets can be wound continuously through any number of turns
-   and no control limits are required to prevent wrapping.
-
-   For **free** joints, gear defines a 3d translation axis in the world frame followed by a 3d rotation axis in the
-   child frame. The actuator generates force and torque relative to the specified axes. The actuator length for free
-   joints is defined as zero (so cannot be used with position servos).
-
-.. _actuator-general-jointinparent:
-
-:at:`jointinparent`: :at-val:`string, optional`
-   Identical to joint, except that for ball and free joints, the 3d rotation axis given by gear is defined in the parent
-   frame (which is the world frame for free joints) rather than the child frame.
-
-.. _actuator-general-site:
-
-:at:`site`: :at-val:`string, optional`
-   This transmission can apply force and torque at a site. The gear vector defines a 3d translation axis followed by a
-   3d rotation axis. Both are defined in the site's frame. This can be used to model jets and propellers. The effect is
-   similar to actuating a free joint, and the actuator length is defined as zero unless a :at:`refsite` is defined (see
-   below). One difference from the :at:`joint` and :at:`jointinparent` transmissions above is that here the actuator
-   operates on a site rather than a joint, but this difference disappears when the site is defined at the frame origin
-   of the free-floating body. The other difference is that for site transmissions both the translation and rotation axes
-   are defined in local coordinates. In contrast, translation is global and rotation is local for :at:`joint`, and both
-   translation and rotation are global for :at:`jointinparent`.
-
-..  youtube:: s-0JHanqV1A
-    :aspect: 16:7
-    :align: right
-    :height: 150px
-
-.. _actuator-general-refsite:
-
-:at:`refsite`: :at-val:`string, optional`
-   When using a :at:`site` transmission, measure the translation and rotation w.r.t the frame of the :at:`refsite`. In
-   this case the actuator *does* have length and :el:`position` actuators can be used to directly control an end
-   effector, see `refsite.xml
-   <https://github.com/google-deepmind/mujoco/tree/main/test/engine/testdata/actuation/refsite.xml>`__ example model. As
-   above, the length is the dot product of the :at:`gear` vector and the frame difference. So ``gear="0 1 0 0 0 0"``
-   means "Y-offset of :at:`site` in the :at:`refsite` frame", while ``gear="0 0 0 0 0 1"`` means rotation "Z- rotation
-   of :at:`site` in the :at:`refsite` frame". It is recommended to use a normalized :at:`gear` vector with nonzeros in
-   only the first 3 *or* the last 3 elements of :at:`gear`, so the actuator length will be in either length units or
-   radians, respectively. As with ball joints (see :ref:`general/joint<actuator-general-joint>` above), rotational
-   lengths are defined on a circle and servo setpoints are interpreted on it; control limits are not required to prevent
-   wrapping.
-
-.. _actuator-general-body:
-
-:at:`body`: :at-val:`string, optional`
-   This transmission can apply linear forces at contact points in the direction of the contact normal. The set of
-   contacts is all those belonging to the specified :at:`body`. This can be used to model natural active adhesion
-   mechanisms like the feet of geckos and insects. The actuator length is again defined as zero. For more information,
-   see the :ref:`adhesion<actuator-adhesion>` shortcut below.
-
-.. _actuator-general-tendon:
-
-:at:`tendon`: :at-val:`string, optional`
-   If specified, the actuator acts on the given tendon. The actuator length equals the tendon length times the gear
-   ratio. Both spatial and fixed tendons can be used.
-
-.. _actuator-general-cranksite:
-
-:at:`cranksite`: :at-val:`string, optional`
-   If specified, the actuator acts on a slider-crank mechanism which is implicitly determined by the actuator (i.e., it
-   is not a separate model element). The specified site corresponds to the pin joining the crank and the connecting rod.
-   The actuator length equals the position of the slider-crank mechanism times the gear ratio.
-
-.. _actuator-general-slidersite:
-
-:at:`slidersite`: :at-val:`string, required for slider-crank transmission`
-   Used only for the slider-crank transmission type. The specified site is the pin joining the slider and the connecting
-   rod. The slider moves along the z-axis of the slidersite frame. Therefore the site should be oriented as needed when
-   it is defined in the kinematic tree; its orientation cannot be changed in the actuator definition.
-
-.. _actuator-general-user:
-
-:at:`user`: :at-val:`real(nuser_actuator), "0 ... 0"`
-   See :ref:`CUser`.
-
-.. _actuator-general-actdim:
-
-:at:`actdim`: :at-val:`real, "-1"`
-   Dimension of the activation state. The default value of ``-1`` instructs the compiler to set the dimension according
-   to the :at:`dyntype`. Values larger than ``1`` are only allowed for user-defined activation dynamics, as native types
-   require dimensions of only 0 or 1. For activation dimensions bigger than 1, the *last element* is used to generate
-   force.
-
-.. _actuator-general-dyntype:
-
-:at:`dyntype`: :at-val:`[none, integrator, filter, filterexact, pid, dcmotor, muscle, user], "none"`
-   Activation dynamics type for the actuator. The available dynamics types were already described in the :ref:`Actuation
-   model <geActuation>` section. Repeating that description in somewhat different notation (corresponding to the mjModel
-   and mjData fields involved) we have:
-
-   ============= ======================================
-   Keyword       Description
-   ============= ======================================
-   none          No internal state
-   integrator    act_dot = ctrl
-   filter        act_dot = (ctrl - act) / dynprm[0]
-   filterexact   Like filter but with exact integration
-   pid           act_dot = position error; see :ref:`pid<actuator-pid>`
-   dcmotor       DC motor electrical dynamics, see :ref:`dcmotor<actuator-dcmotor>`
-   muscle        act_dot = mju_muscleDynamics(...)
-   user          act_dot = mjcb_act_dyn(...)
-   ============= ======================================
-
-.. _actuator-general-gaintype:
-
-:at:`gaintype`: :at-val:`[fixed, affine, muscle, dcmotor, pid, so3, user], "fixed"`
-   The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be
-   affine. As already explained in :ref:`Actuation model <geActuation>`, the general formula is:
-   scalar_force = gain_term \* (act or ctrl) + bias_term.
-   The formula uses the activation state when present, and the control otherwise. The keywords have the following
-   meaning:
-
-   ======= ===============================
-   Keyword Description
-   ======= ===============================
-   fixed   gain_term = gainprm[0]
-   affine  gain_term = gain_prm[0] + gain_prm[1]*length + gain_prm[2]*velocity
-   muscle  gain_term = mju_muscleGain(...)
-   dcmotor DC motor gain (K or K/R), see :ref:`dcmotor<actuator-dcmotor>`
-   pid     PID controller with setpoint inputs, see :ref:`pid<actuator-pid>`
-   so3     geodesic orientation servo, computed jointly over 3 force outputs, see :ref:`orientation<actuator-orientation>`
-   user    gain_term = mjcb_act_gain(...)
-   ======= ===============================
-
-.. _actuator-general-biastype:
-
-:at:`biastype`: :at-val:`[none, affine, muscle, dcmotor, so3, user], "none"`
-   The keywords have the following meaning:
-
-   ======= ================================================================
-   Keyword Description
-   ======= ================================================================
-   none    bias_term = 0
-   affine  bias_term = biasprm[0] + biasprm[1]*length + biasprm[2]*velocity
-   muscle  bias_term = mju_muscleBias(...)
-   dcmotor DC motor bias: back-EMF, cogging, LuGre friction, see :ref:`dcmotor<actuator-dcmotor>`
-   so3     damping term of the geodesic orientation servo, see :ref:`orientation<actuator-orientation>`
-   user    bias_term = mjcb_act_bias(...)
-   ======= ================================================================
-
-   Note that :at:`gaintype` and :at:`biastype` must either both be "so3" or neither.
-
-.. _actuator-general-dynprm:
-
-:at:`dynprm`: :at-val:`real(10), "1 0 ... 0"`
-   Activation dynamics parameters. The built-in activation types (except for muscle) use only the first parameter, but
-   we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is
-   not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible
-   with muscle actuators; see :ref:`muscle <actuator-muscle>` below.
-
-.. _actuator-general-gainprm:
-
-:at:`gainprm`: :at-val:`real(10), "1 0 ... 0"`
-   Gain parameters. The built-in gain types (except for muscle) use only the first parameter, but we provide additional
-   parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the
-   parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators;
-   see :ref:`muscle <actuator-muscle>` below.
-
-.. _actuator-general-biasprm:
-
-:at:`biasprm`: :at-val:`real(10), "0 ... 0"`
-   Bias parameters. The affine bias type uses three parameters. The length of this array is not enforced by the parser,
-   so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators; see
-   :ref:`muscle <actuator-muscle>` below.
-
-.. _actuator-general-velrange:
-
-:at:`velrange`: :at-val:`real(2), "0 0"`
-   Range of the velocity-setpoint input of a :ref:`pid<actuator-pid>` actuator.
-
-.. _actuator-general-ffrange:
-
-:at:`ffrange`: :at-val:`real(2), "0 0"`
-   Range of the feedforward input of a :ref:`pid<actuator-pid>` actuator.
-
-.. _actuator-general-input:
-
-:at:`input`: :at-val:`string, optional`
-   Input signature of the actuator: which controls make up its control block, recorded in
-   ``mjModel.actuator_ctrlspec``. For gaintype "so3" it selects the orientation chart: "expmap" (3 controls, the
-   default) or "quat" (4 controls); see :ref:`orientation/input<actuator-orientation-input>`. For gaintypes "pid" and
-   "dcmotor" it is a token list selecting the input subset; see :ref:`pid/input<actuator-pid-input>` and
-   :ref:`dcmotor/input<actuator-dcmotor-input>`.
-
-.. _actuator-general-actearly:
-
-:at:`actearly`: :at-val:`[false, true], "false"`
-   If true, force computation will use the next value of the activation variable rather than the current one.
-   Setting this flag reduces the delay between the control and accelerations by one time-step.
-
-.. _actuator-motor:
-
-:el-prefix:`actuator/` |-| **motor** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This and the next three elements are the :ref:`Actuator shortcuts <CActShortcuts>` discussed earlier. When
-such a shortcut is encountered, the parser creates a :el:`general` actuator and sets its dynprm, gainprm and biasprm
-attributes to the internal defaults shown above, regardless of any default settings. It then adjusts dyntype, gaintype
-and biastype depending on the shortcut, parses any custom attributes (beyond the common ones), and translates them
-into regular attributes (i.e., attributes of the :el:`general` actuator type) as explained here.
-
-This element creates a direct-drive actuator. The underlying :el:`general` attributes are set as follows:
-
-========= ======= ========= =======
-Attribute Setting Attribute Setting
-========= ======= ========= =======
-dyntype   none    dynprm    1 0 0
-gaintype  fixed   gainprm   1 0 0
-biastype  none    biasprm   0 0 0
-========= ======= ========= =======
-
-
-This element does not have custom attributes. It only has common attributes, which are:
-
-.. _actuator-motor-name:
-
-.. _actuator-motor-class:
-
-.. _actuator-motor-group:
-
-.. _actuator-motor-delay:
-
-.. _actuator-motor-nsample:
-
-.. _actuator-motor-interp:
-
-.. _actuator-motor-ctrllimited:
-
-.. _actuator-motor-forcelimited:
-
-.. _actuator-motor-ctrlrange:
-
-.. _actuator-motor-forcerange:
-
-.. _actuator-motor-lengthrange:
-
-.. _actuator-motor-gear:
-
-.. _actuator-motor-cranklength:
-
-.. _actuator-motor-joint:
-
-.. _actuator-motor-jointinparent:
-
-.. _actuator-motor-tendon:
-
-.. _actuator-motor-cranksite:
-
-.. _actuator-motor-slidersite:
-
-.. _actuator-motor-site:
-
-.. _actuator-motor-refsite:
-
-.. _actuator-motor-user:
-
-.. _actuator-motor-damping:
-
-.. _actuator-motor-armature:
-
-
-.. |actuator/motor attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
-   :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
-   :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
-
-|actuator/motor attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-
-.. _actuator-position:
-
-:el-prefix:`actuator/` |-| **position** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a position servo with an optional first-order filter. The underlying :el:`general` attributes are
-set as follows:
-
-========= =================== ========= =============
-Attribute Setting             Attribute Setting
-========= =================== ========= =============
-dyntype   none or filterexact dynprm    timeconst 0 0
-gaintype  fixed               gainprm   kp 0 0
-biastype  affine              biasprm   0 -kp -kv
-========= =================== ========= =============
-
-On purely rotational transmissions, setpoints are interpreted on the circle; see :ref:`gear<actuator-general-gear>`.
-
-This element has one custom attribute in addition to the common attributes:
-
-.. _actuator-position-name:
-
-.. _actuator-position-class:
-
-.. _actuator-position-group:
-
-.. _actuator-position-delay:
-
-.. _actuator-position-nsample:
-
-.. _actuator-position-interp:
-
-.. _actuator-position-ctrllimited:
-
-.. _actuator-position-forcelimited:
-
-.. _actuator-position-ctrlrange:
-
-.. _actuator-position-forcerange:
-
-.. _actuator-position-lengthrange:
-
-.. _actuator-position-gear:
-
-.. _actuator-position-cranklength:
-
-.. _actuator-position-joint:
-
-.. _actuator-position-jointinparent:
-
-.. _actuator-position-tendon:
-
-.. _actuator-position-cranksite:
-
-.. _actuator-position-slidersite:
-
-.. _actuator-position-site:
-
-.. _actuator-position-refsite:
-
-.. _actuator-position-user:
-
-.. _actuator-position-damping:
-
-.. _actuator-position-armature:
-
-.. |actuator/position attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
-   :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
-   :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
-
-|actuator/position attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-.. _actuator-position-kp:
-
-:at:`kp`: :at-val:`real, "1"`
-   Position feedback gain.
-
-.. _actuator-position-kv:
-
-:at:`kv`: :at-val:`real, "0"`
-   Damping applied by the actuator.
-   When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
-
-.. _actuator-position-dampratio:
-
-:at:`dampratio`: :at-val:`real, "0"`
-   Damping applied by the actuator, using damping ratio units.
-   This attribute is exclusive with :at:`kv` and has similar meaning, but instead of units of force/velocity, the units
-   are :math:`2 \sqrt{k_p \cdot m}`, corresponding to a harmonic oscillator's
-   `damping ratio <https://en.wikipedia.org/wiki/Damping#Damping_ratio_definition>`__.
-   A value of 1 corresponds to a *critically damped* oscillator, which often produces desirable behavior.
-   Values smaller or larger than 1 correspond to underdamped and overdamped oscillations, respectively.
-   The mass :math:`m` is computed at the reference configuration ``mjModel.qpos0``, taking into account joint
-   :ref:`armature <body-joint-armature>`.
-   However, passive :ref:`damping <body-joint-damping>` or :ref:`frictionloss <body-joint-frictionloss>` in the affected
-   joints are not taken into account; if they are non-negligible, :at:`dampratio` values smaller than 1 might be
-   required to achieve desirable motion.
-   When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
-
-.. _actuator-position-timeconst:
-
-:at:`timeconst`: :at-val:`real, "0"`
-   Time-constant of optional first-order filter.  If larger than zero, the actuator uses the :at:`filterexact`
-   :ref:`dynamics type<actuator-general-dyntype>`, if zero (the default) no filter is used.
-
-
-.. _actuator-position-inheritrange:
-
-:at:`inheritrange`: :at-val:`real, "0"`
-   Automatically set the actuator's :at:`ctrlrange` to match the transmission target's :at:`range`. The default value
-   means "disabled". A positive value :at-val:`X` sets the :at:`ctrlrange` around the midpoint of the target range,
-   scaled by :at-val:`X`. For example if the target joint has :at:`range` of :at-val:`[0, 1]`, then a value of
-   :at-val:`1.0` will set :at:`ctrlrange` to :at-val:`[0, 1]`; values of :at-val:`0.8` and :at-val:`1.2` will set the
-   :at:`ctrlrange` to :at-val:`[0.1, 0.9]` and :at-val:`[-0.1, 1.1]`, respectively. Values smaller than 1 are useful for
-   not hitting the limits; values larger than 1 are useful for maintaining control authority at the limits (being able
-   to push on them). This attribute is exclusive with :at:`ctrlrange` and available only for joint and tendon
-   transmissions which have :at:`range` defined. Note that while :at:`inheritrange` is available both as a
-   :ref:`position<actuator-position>` attribute and in the :ref:`default class<default-position-inheritrange>`,
-   saved XMLs always convert it to explicit :at:`ctrlrange` at the actuator.
-
-.. _actuator-pid:
-
-:el-prefix:`actuator/` |-| **pid** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a PID controller with position and velocity setpoint inputs on a single force output, with optional
-integral action and feedforward. With the default input signature ``[pos, vel]`` the force is
-:math:`k_p (u_{pos} - l) + k_v (u_{vel} - v)` where :math:`l, v` are the actuator length and velocity; with a zero
-velocity setpoint this is identical to :ref:`position<actuator-position>`. The input signature is any subset of
-``[pos, vel, ff]``, selected by :ref:`input<actuator-pid-input>`: an absent setpoint input is fixed at zero, and the
-``ff`` input adds a feedforward force. Integral action is enabled by :ref:`ki<actuator-pid-ki>`: the position error is integrated in
-:ref:`act<siPhysicsState>` and contributes :math:`k_i \cdot act` to the force, with anti-windup clamping by
-:ref:`imax<actuator-pid-imax>`.
-:ref:`slewmax<actuator-pid-slewmax>` limits the rate of change of the effective position setpoint. Each of these
-features, when enabled, adds one activation state, in the order [slew, integral]. The underlying
-:ref:`general<actuator-general>` attributes are set as follows:
-
-========= ===================== ========= =========
-Attribute Setting               Attribute Setting
-========= ===================== ========= =========
-dyntype   none or pid dynprm    imax 0 0
-gaintype  pid                   gainprm   ki 0 0
-biastype  affine                biasprm   0 -kp -kv
-========= ===================== ========= =========
-
-This element has custom attributes in addition to the common attributes:
-
-.. _actuator-pid-name:
-
-.. _actuator-pid-class:
-
-.. _actuator-pid-group:
-
-.. _actuator-pid-nsample:
-
-.. _actuator-pid-interp:
-
-.. _actuator-pid-delay:
-
-.. _actuator-pid-ctrllimited:
-
-.. _actuator-pid-forcelimited:
-
-.. _actuator-pid-ctrlrange:
-
-.. _actuator-pid-forcerange:
-
-.. _actuator-pid-lengthrange:
-
-.. _actuator-pid-gear:
-
-.. _actuator-pid-damping:
-
-.. _actuator-pid-armature:
-
-.. _actuator-pid-cranklength:
-
-.. _actuator-pid-user:
-
-.. _actuator-pid-joint:
-
-.. _actuator-pid-jointinparent:
-
-.. _actuator-pid-tendon:
-
-.. _actuator-pid-slidersite:
-
-.. _actuator-pid-cranksite:
-
-.. _actuator-pid-site:
-
-.. _actuator-pid-refsite:
-
-.. _actuator-pid-kp:
-
-:at:`kp`: :at-val:`real, "1"`
-   Position feedback gain.
-
-.. _actuator-pid-kv:
-
-:at:`kv`: :at-val:`real, "0"`
-   Velocity feedback gain: applied to the velocity error when the ``vel`` input is present, and as pure damping
-   otherwise. When using this attribute, it is recommended to use the implicitfast or implicit
-   :ref:`integrators<geIntegration>`.
-
-.. _actuator-pid-dampratio:
-
-:at:`dampratio`: :at-val:`real, "0"`
-   Damping applied by the actuator, using damping ratio units, as for
-   :ref:`position/dampratio<actuator-position-dampratio>`. This attribute is exclusive with :at:`kv`.
-
-.. _actuator-pid-ki:
-
-:at:`ki`: :at-val:`real, "0"`
-   Integral gain. A nonzero value enables integral action: the position error is integrated in
-   :ref:`act<siPhysicsState>` (:ref:`dyntype<actuator-general-dyntype>` "pid") and contributes :math:`k_i \cdot act`
-   to the force.
-   Requires the ``pos`` input.
-
-.. _actuator-pid-imax:
-
-:at:`imax`: :at-val:`real, "0"`
-   Anti-windup limit on the integral state: accumulation stops beyond ±\ :at:`imax`. The default value 0 means
-   "unclamped".
-
-.. _actuator-pid-slewmax:
-
-:at:`slewmax`: :at-val:`real, "0"`
-   Maximum rate of change of the effective position setpoint. When positive, the commanded setpoint is rate-limited
-   through an activation state holding the effective setpoint, as for the
-   :ref:`dcmotor controller<actuator-dcmotor-controller>`. The default value 0 means "unlimited".
-
-.. _actuator-pid-input:
-
-:at:`input`: :at-val:`string, "pos vel"`
-   Input signature: a space-separated subset of the tokens "pos", "vel" and "ff", packed in this canonical order.
-   Absent setpoint inputs are fixed at zero, so the control vector contains no inert entries.
-
-.. _actuator-pid-posrange:
-
-:at:`posrange`: :at-val:`real(2), "0 0"`
-   Range of the position-setpoint input; an alias of :ref:`ctrlrange<actuator-general-ctrlrange>` (the first
-   input).
-
-.. _actuator-pid-velrange:
-
-:at:`velrange`: :at-val:`real(2), "0 0"`
-   Range of the velocity-setpoint input.
-
-.. _actuator-pid-ffrange:
-
-:at:`ffrange`: :at-val:`real(2), "0 0"`
-   Range of the feedforward input.
-
-.. _actuator-pid-inheritrange:
-
-:at:`inheritrange`: :at-val:`real, "0"`
-   Identical to :ref:`position/inheritrange<actuator-position-inheritrange>`, setting :at:`posrange` from the
-   transmission target's :at:`range`.
-
-.. _actuator-orientation:
-
-:el-prefix:`actuator/` |-| **orientation** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. youtube:: 17XpwnqyCXs
-   :aspect: 16:7
-   :align: right
-   :width: 40%
-
-This element creates an orientation servo: a geodesic PD controller on a relative orientation, targeting a ball
-:ref:`joint<actuator-general-joint>` or a :ref:`site<actuator-general-site>` with a
-:ref:`refsite<actuator-general-refsite>`. Unlike per-axis :ref:`position<actuator-position>` servos, the servo acts
-jointly on the full orientation: the force is :math:`k_p \log(q^{-1} q_{target}) - k_v \omega`, exact for arbitrary axis
-combinations, with a unique equilibrium at every commanded orientation. The transmission has 3 force outputs; force,
-error and angular velocity are expressed in the child (joint or site) frame. The commanded orientation is given in the
-:ref:`input<actuator-orientation-input>` chart: an exponential-map vector (3 controls, the default) or a quaternion (4
-controls). :ref:`forcerange<actuator-general-forcerange>` clamps the norm of the output torque,
-preserving its direction; the lower bound must be 0.
-:ref:`Actuator sensors<sensor-actuatorpos>` report one value per force output. The integrator variant, which
-stores the orientation setpoint in :ref:`act<siPhysicsState>`, is available via :ref:`general<actuator-general>` with
-:ref:`dyntype<actuator-general-dyntype>` "integrator" and is expmap-only. The video on the right shows this `example
-model <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/orientation.xml>`__.
-The underlying :el:`general` attributes are set as follows:
-
-========= ======= ========= =========
-Attribute Setting Attribute Setting
-========= ======= ========= =========
-dyntype   none    gainprm   kp 0 0
-gaintype  so3     biasprm   0 -kp -kv
-biastype  so3
-========= ======= ========= =========
-
-.. _actuator-orientation-ctrlrange:
-
-:at:`ctrlrange`: :at-val:`real(2), "0 0"`
-   Range for clamping the control input, as described in :ref:`ctrlrange <actuator-general-ctrlrange>`. For this
-   multi-input actuator, the same range limits are replicated and applied independently to each of the 3 (expmap) or 4
-   (quaternion) control inputs in the control block.
-
-.. _actuator-orientation-forcerange:
-
-:at:`forcerange`: :at-val:`real(2), "0 0"`
-   Range for clamping the torque output, as described in :ref:`forcerange <actuator-general-forcerange>`. The torque is
-   clamped on its norm, preserving its direction: the second value bounds the torque magnitude and the first value must
-   be 0.
-
-This element has custom attributes in addition to the common attributes:
-
-.. _actuator-orientation-name:
-
-.. _actuator-orientation-class:
-
-.. _actuator-orientation-group:
-
-.. _actuator-orientation-nsample:
-
-.. _actuator-orientation-interp:
-
-.. _actuator-orientation-delay:
-
-.. _actuator-orientation-forcelimited:
-
-.. _actuator-orientation-user:
-
-.. _actuator-orientation-joint:
-
-.. _actuator-orientation-site:
-
-.. _actuator-orientation-refsite:
-
-.. _actuator-orientation-kp:
-
-:at:`kp`: :at-val:`real, "1"`
-   Position feedback gain, in units of torque per radian of geodesic error.
-
-.. _actuator-orientation-kv:
-
-:at:`kv`: :at-val:`real, "0"`
-   Damping applied by the actuator, per force output.
-   When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
-
-.. _actuator-orientation-dampratio:
-
-:at:`dampratio`: :at-val:`real, "0"`
-   Damping applied by the actuator, using damping ratio units, as for
-   :ref:`position/dampratio<actuator-position-dampratio>`. This attribute is exclusive with :at:`kv`.
-
-.. _actuator-orientation-input:
-
-:at:`input`: :at-val:`[expmap, quat], "expmap"`
-   `Chart <https://en.wikipedia.org/wiki/Manifold#Charts>`__ of the commanded orientation. With "expmap" the control
-   block is an exponential-map vector (3 controls, in radians). With "quat" the control block is a quaternion (4
-   controls, :ref:`w-first <siLayout>`); the commanded quaternion is normalized by the servo, making the force scale-
-   and antipodally-invariant, and the control block resets to the identity quaternion. The quat chart requires
-   ``dyntype="none"``.
-
-.. _actuator-velocity:
-
-:el-prefix:`actuator/` |-| **velocity** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a velocity servo. Note that a PD controller with both position and velocity setpoint inputs is
-provided by the :ref:`pid<actuator-pid>` actuator.
-When using this actuator, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
-The underlying :el:`general` attributes are set as follows:
-
-========= ======= ========= =======
-Attribute Setting Attribute Setting
-========= ======= ========= =======
-dyntype   none    dynprm    1 0 0
-gaintype  fixed   gainprm   kv 0 0
-biastype  affine  biasprm   0 0 -kv
-========= ======= ========= =======
-
-This element has one custom attribute in addition to the common attributes:
-
-.. _actuator-velocity-name:
-
-.. _actuator-velocity-class:
-
-.. _actuator-velocity-group:
-
-.. _actuator-velocity-delay:
-
-.. _actuator-velocity-nsample:
-
-.. _actuator-velocity-interp:
-
-.. _actuator-velocity-ctrllimited:
-
-.. _actuator-velocity-forcelimited:
-
-.. _actuator-velocity-ctrlrange:
-
-.. _actuator-velocity-forcerange:
-
-.. _actuator-velocity-lengthrange:
-
-.. _actuator-velocity-gear:
-
-.. _actuator-velocity-cranklength:
-
-.. _actuator-velocity-joint:
-
-.. _actuator-velocity-jointinparent:
-
-.. _actuator-velocity-tendon:
-
-.. _actuator-velocity-cranksite:
-
-.. _actuator-velocity-slidersite:
-
-.. _actuator-velocity-site:
-
-.. _actuator-velocity-refsite:
-
-.. _actuator-velocity-user:
-
-.. _actuator-velocity-damping:
-
-.. _actuator-velocity-armature:
-
-.. |actuator/velocity attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
-   :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
-   :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
-
-|actuator/velocity attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-.. _actuator-velocity-kv:
-
-:at:`kv`: :at-val:`real, "1"`
-   Velocity feedback gain.
-
-
-.. _actuator-intvelocity:
-
-:el-prefix:`actuator/` |-| **intvelocity** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates an integrated-velocity servo. For more information, see the
-:ref:`Activation clamping <CActRange>` section of the Modeling chapter. The underlying
-:el:`general` attributes are set as follows:
-
-========= =========== ========= =========
-Attribute Setting     Attribute Setting
-========= =========== ========= =========
-dyntype   integrator  dynprm    1 0 0
-gaintype  fixed       gainprm   kp 0 0
-biastype  affine      biasprm   0 -kp -kv
-========= =========== ========= =========
-
-Activation clamping is controlled by :at:`actlimited` and :at:`actrange`, like any stateful actuator. On purely
-rotational transmissions, setpoints are interpreted on the circle, as for :ref:`position<actuator-position>`; the
-integrated setpoint is re-anchored to a bounded representative at each timestep, so clamping is not required for
-winding targets.
-
-This element has one custom attribute in addition to the common attributes:
-
-.. _actuator-intvelocity-name:
-
-.. _actuator-intvelocity-class:
-
-.. _actuator-intvelocity-group:
-
-.. _actuator-intvelocity-delay:
-
-.. _actuator-intvelocity-nsample:
-
-.. _actuator-intvelocity-interp:
-
-.. _actuator-intvelocity-ctrllimited:
-
-.. _actuator-intvelocity-forcelimited:
-
-.. _actuator-intvelocity-actlimited:
-
-.. _actuator-intvelocity-ctrlrange:
-
-.. _actuator-intvelocity-forcerange:
-
-.. _actuator-intvelocity-actrange:
-
-.. _actuator-intvelocity-lengthrange:
-
-.. _actuator-intvelocity-gear:
-
-.. _actuator-intvelocity-cranklength:
-
-.. _actuator-intvelocity-joint:
-
-.. _actuator-intvelocity-jointinparent:
-
-.. _actuator-intvelocity-tendon:
-
-.. _actuator-intvelocity-cranksite:
-
-.. _actuator-intvelocity-slidersite:
-
-.. _actuator-intvelocity-site:
-
-.. _actuator-intvelocity-refsite:
-
-.. _actuator-intvelocity-user:
-
-.. _actuator-intvelocity-damping:
-
-.. _actuator-intvelocity-armature:
-
-.. |actuator/intvelocity attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`actlimited`,
-   :at:`ctrlrange`, :at:`forcerange`, :at:`actrange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`,
-   :at:`jointinparent`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`,
-   :at:`damping`, :at:`armature`
-
-|actuator/intvelocity attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-.. _actuator-intvelocity-kp:
-
-:at:`kp`: :at-val:`real, "1"`
-   Position feedback gain.
-
-.. _actuator-intvelocity-kv:
-
-:at:`kv`: :at-val:`real, "0"`
-   Damping applied by the actuator.
-   When using this attribute, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
-
-.. _actuator-intvelocity-dampratio:
-
-:at:`dampratio`: :at-val:`real, "0"`
-   See :ref:`position/dampratio<actuator-position-dampratio>`.
-
-.. _actuator-intvelocity-inheritrange:
-
-:at:`inheritrange`: :at-val:`real, "0"`
-   Identical to :ref:`position/inheritrange<actuator-position-inheritrange>`, but sets :at:`actrange` (which has the
-   same length semantics as the transmission target) rather than :at:`ctrlrange` (which has velocity semantics).
-
-.. _actuator-damper:
-
-:el-prefix:`actuator/` |-| **damper** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element is an active damper which produces a force proportional to both velocity and control: ``F = - kv * velocity
-* control``, where ``kv`` must be nonnegative. :at:`ctrlrange` is required and must also be nonnegative.
-When using this actuator, it is recommended to use the implicitfast or implicit :ref:`integrators<geIntegration>`.
-The underlying :el:`general` attributes are set as follows:
-
-=========== ======= ========= =======
-Attribute   Setting Attribute Setting
-=========== ======= ========= =======
-dyntype     none    dynprm    1 0 0
-gaintype    affine  gainprm   0 0 -kv
-biastype    none    biasprm   0 0 0
-ctrllimited true
-=========== ======= ========= =======
-
-
-This element has one custom attribute in addition to the common attributes:
-
-.. _actuator-damper-name:
-
-.. _actuator-damper-class:
-
-.. _actuator-damper-group:
-
-.. _actuator-damper-delay:
-
-.. _actuator-damper-nsample:
-
-.. _actuator-damper-interp:
-
-.. _actuator-damper-ctrllimited:
-
-.. _actuator-damper-forcelimited:
-
-.. _actuator-damper-ctrlrange:
-
-.. _actuator-damper-forcerange:
-
-.. _actuator-damper-lengthrange:
-
-.. _actuator-damper-gear:
-
-.. _actuator-damper-cranklength:
-
-.. _actuator-damper-joint:
-
-.. _actuator-damper-jointinparent:
-
-.. _actuator-damper-tendon:
-
-.. _actuator-damper-cranksite:
-
-.. _actuator-damper-slidersite:
-
-.. _actuator-damper-site:
-
-.. _actuator-damper-refsite:
-
-.. _actuator-damper-user:
-
-.. _actuator-damper-damping:
-
-.. _actuator-damper-armature:
-
-.. |actuator/damper attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
-   :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
-   :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
-
-|actuator/damper attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-.. _actuator-damper-kv:
-
-:at:`kv`: :at-val:`real, "1"`
-   Velocity feedback gain.
-
-
-.. _actuator-cylinder:
-
-:el-prefix:`actuator/` |-| **cylinder** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element is suitable for modeling pneumatic or hydraulic cylinders. The underlying :el:`general` attributes are
-set as follows:
-
-========= ======= ========= =============
-Attribute Setting Attribute Setting
-========= ======= ========= =============
-dyntype   filter  dynprm    timeconst 0 0
-gaintype  fixed   gainprm   area 0 0
-biastype  affine  biasprm   bias(3)
-========= ======= ========= =============
-
-
-This element has four custom attributes in addition to the common attributes:
-
-.. _actuator-cylinder-name:
-
-.. _actuator-cylinder-class:
-
-.. _actuator-cylinder-group:
-
-.. _actuator-cylinder-delay:
-
-.. _actuator-cylinder-nsample:
-
-.. _actuator-cylinder-interp:
-
-.. _actuator-cylinder-ctrllimited:
-
-.. _actuator-cylinder-forcelimited:
-
-.. _actuator-cylinder-ctrlrange:
-
-.. _actuator-cylinder-forcerange:
-
-.. _actuator-cylinder-lengthrange:
-
-.. _actuator-cylinder-gear:
-
-.. _actuator-cylinder-cranklength:
-
-.. _actuator-cylinder-joint:
-
-.. _actuator-cylinder-jointinparent:
-
-.. _actuator-cylinder-tendon:
-
-.. _actuator-cylinder-cranksite:
-
-.. _actuator-cylinder-slidersite:
-
-.. _actuator-cylinder-site:
-
-.. _actuator-cylinder-refsite:
-
-.. _actuator-cylinder-user:
-
-.. _actuator-cylinder-damping:
-
-.. _actuator-cylinder-armature:
-
-.. |actuator/cylinder attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
-   :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
-   :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`, :at:`damping`, :at:`armature`
-
-|actuator/cylinder attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-.. _actuator-cylinder-timeconst:
-
-:at:`timeconst`: :at-val:`real, "1"`
-   Time constant of the activation dynamics.
-
-.. _actuator-cylinder-area:
-
-:at:`area`: :at-val:`real, "1"`
-   Area of the cylinder. This is used internally as actuator gain.
-
-.. _actuator-cylinder-diameter:
-
-:at:`diameter`: :at-val:`real, optional`
-   Instead of area the user can specify diameter. If both are specified, diameter has precedence.
-
-.. _actuator-cylinder-bias:
-
-:at:`bias`: :at-val:`real(3), "0 0 0"`
-   Bias parameters, copied internally into biasprm.
-
-
-.. _actuator-muscle:
-
-:el-prefix:`actuator/` |-| **muscle** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element is used to model a muscle actuator, as described in the :ref:`Muscles actuators <CMuscle>`
-section. The underlying :el:`general` attributes are set as follows:
-
-========= ======= ========= ======================================================
-Attribute Setting Attribute Setting
-========= ======= ========= ======================================================
-dyntype   muscle  dynprm    timeconst(2) tausmooth
-gaintype  muscle  gainprm   range(2), force, scale, lmin, lmax, vmax, fpmax, fvmax
-biastype  muscle  biasprm   same as gainprm
-========= ======= ========= ======================================================
-
-
-This element has nine custom attributes in addition to the common attributes:
-
-.. _actuator-muscle-name:
-
-.. _actuator-muscle-class:
-
-.. _actuator-muscle-group:
-
-.. _actuator-muscle-delay:
-
-.. _actuator-muscle-nsample:
-
-.. _actuator-muscle-interp:
-
-.. _actuator-muscle-ctrllimited:
-
-.. _actuator-muscle-forcelimited:
-
-.. _actuator-muscle-ctrlrange:
-
-.. _actuator-muscle-forcerange:
-
-.. _actuator-muscle-lengthrange:
-
-.. _actuator-muscle-gear:
-
-.. _actuator-muscle-cranklength:
-
-.. _actuator-muscle-joint:
-
-.. _actuator-muscle-jointinparent:
-
-.. _actuator-muscle-tendon:
-
-.. _actuator-muscle-cranksite:
-
-.. _actuator-muscle-slidersite:
-
-.. _actuator-muscle-user:
-
-.. _actuator-muscle-damping:
-
-.. _actuator-muscle-armature:
-
-
-.. |actuator/muscle attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`ctrllimited`, :at:`forcelimited`, :at:`ctrlrange`,
-   :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`, :at:`tendon`,
-   :at:`cranksite`, :at:`slidersite`, :at:`user`, :at:`damping`, :at:`armature`
-
-|actuator/muscle attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-.. _actuator-muscle-timeconst:
-
-:at:`timeconst`: :at-val:`real(2), "0.01 0.04"`
-   Time constants for activation and de-activation dynamics.
-
-.. _actuator-muscle-tausmooth:
-
-:at:`tausmooth`: :at-val:`real, "0"`
-   Width of smooth transition between activation and deactivation time constants. Units of ctrl, must be
-   nonnegative.
-
-.. _actuator-muscle-range:
-
-:at:`range`: :at-val:`real(2), "0.75 1.05"`
-   Operating length range of the muscle, in units of L0.
-
-.. _actuator-muscle-force:
-
-:at:`force`: :at-val:`real, "-1"`
-   Peak active force at rest. If this value is negative, the peak force is determined automatically using the scale
-   attribute below.
-
-.. _actuator-muscle-scale:
-
-:at:`scale`: :at-val:`real, "200"`
-   If the force attribute is negative, the peak active force for the muscle is set to this value divided by
-   mjModel.actuator_acc0. The latter is the norm of the joint-space acceleration vector caused by unit force on the
-   actuator's transmission in qpos0. In other words, scaling produces higher peak forces for muscles that pull more
-   weight.
-
-.. _actuator-muscle-lmin:
-
-:at:`lmin`: :at-val:`real, "0.5"`
-   Lower position range of the normalized FLV curve, in units of L0.
-
-.. _actuator-muscle-lmax:
-
-:at:`lmax`: :at-val:`real, "1.6"`
-   Upper position range of the normalized FLV curve, in units of L0.
-
-.. _actuator-muscle-vmax:
-
-:at:`vmax`: :at-val:`real, "1.5"`
-   Shortening velocity at which muscle force drops to zero, in units of L0 per second.
-
-.. _actuator-muscle-fpmax:
-
-:at:`fpmax`: :at-val:`real, "1.3"`
-   Passive force generated at lmax, relative to the peak rest force.
-
-.. _actuator-muscle-fvmax:
-
-:at:`fvmax`: :at-val:`real, "1.2"`
-   Active force generated at saturating lengthening velocity, relative to the peak rest force.
-
-
-.. _actuator-adhesion:
-
-:el-prefix:`actuator/` |-| **adhesion** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-..  youtube:: BcHZ5BFeTmU
-    :aspect: 16:7
-    :align: right
-    :height: 150px
-
-This element defines an active adhesion actuator which injects forces at contacts in the normal direction, see
-illustration video. The model shown in the video can be found `here
-<https://github.com/google-deepmind/mujoco/tree/main/model/adhesion>`_ and includes inline annotations. The transmission
-target is a :el:`body`, and adhesive forces are injected into all contacts involving geoms which belong to this body.
-The force is divided equally between multiple contacts. When the :ref:`gap<body-geom-gap>` attribute is not used, this
-actuator requires active contacts and cannot apply a force at a distance, more like the active adhesion on the feet of
-geckos and insects rather than an industrial vacuum gripper. In order to enable "suction at a distance", set the
-:ref:`gap<body-geom-gap>` attribute of the body's geoms to a positive value. This creates a layer around each geom where
-contacts are detected but no contact forces are generated, and the adhesive force can act across this gap. In the video
-above, such inactive contacts are blue, while active contacts are orange. An adhesion actuator's length is always 0.
-:at:`ctrlrange` is required and must also be nonnegative (no repulsive forces are allowed). For adhesion as a
-*passive* property of the contacting surfaces — always on, per contact, and leaving resting penetration unaffected —
-see the :ref:`geom/adhesion<body-geom-adhesion>` attribute. The underlying :el:`general`
-attributes are set as follows:
-
-=========== ======= =========== ========
-Attribute   Setting Attribute   Setting
-=========== ======= =========== ========
-dyntype     none    dynprm      1 0 0
-gaintype    fixed   gainprm     gain 0 0
-biastype    none    biasprm     0 0 0
-trntype     body    ctrllimited true
-=========== ======= =========== ========
-
-This element has a subset of the common attributes and two custom attributes.
-
-.. _actuator-adhesion-name:
-
-.. _actuator-adhesion-class:
-
-.. _actuator-adhesion-group:
-
-.. _actuator-adhesion-delay:
-
-.. _actuator-adhesion-nsample:
-
-.. _actuator-adhesion-interp:
-
-.. _actuator-adhesion-forcelimited:
-
-.. _actuator-adhesion-ctrlrange:
-
-.. _actuator-adhesion-forcerange:
-
-.. _actuator-adhesion-user:
-
-.. |actuator/adhesion attrib list| replace:: :at:`name`, :at:`class`, :at:`group`, :at:`delay`,
-   :at:`forcelimited`, :at:`ctrlrange`, :at:`forcerange`, :at:`user`
-
-|actuator/adhesion attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-.. _actuator-adhesion-body:
-
-:at:`body`: :at-val:`string, required`
-   The actuator acts on all contacts involving this body's geoms.
-
-.. _actuator-adhesion-gain:
-
-:at:`gain`: :at-val:`real, "1"`
-   Gain of the adhesion actuator, in units of force. The total adhesion force applied by the actuator is the control
-   value multiplied by the gain. This force is distributed equally between all the contacts involving geoms belonging
-   to the target body.
-
-
-.. _actuator-dcmotor:
-
-:el-prefix:`actuator/` |-| **dcmotor** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-This element creates a DC motor actuator. See the `DC motor technical note <_static/dcmotor.pdf>`__ for complete
-mathematical formulations and parameter semantics, but we include a few important notes below. Note that :el:`dcmotor`
-does not conform to the affine gain / bias structure of the :ref:`general actuation model<geActuation>`, except for
-the stateless case.
-
-- :ref:`resistance<actuator-dcmotor-resistance>`, :ref:`motorconst<actuator-dcmotor-motorconst>` and
-  :ref:`nominal<actuator-dcmotor-nominal>` are each optional, but some combination of them is required.
-  See Section 2.1 of the `technical note <_static/dcmotor.pdf>`__.
-- The control block is selected by :ref:`input<actuator-dcmotor-input>`: any subset of ``[pos, vel, ff]``, where
-  ``pos`` and ``vel`` are setpoint inputs to the on-board :ref:`PID controller<actuator-dcmotor-controller>` and
-  ``ff`` is a torque feedforward added to its output; the ``voltage`` input is the raw terminal voltage. The
-  default is the plain voltage-commanded motor. With
-  ``input="none"`` the actuator has no control inputs at all and acts as a purely passive device.
-- Optional features include electrical dynamics (:ref:`inductance<actuator-dcmotor-inductance>`),
-  :ref:`cogging torque<actuator-dcmotor-cogging>`, :ref:`thermal resistance variation<actuator-dcmotor-thermal>`, and
-  :ref:`LuGre<actuator-dcmotor-lugre>` friction.
-
-The underlying :el:`general` attributes are set to the :el:`dcmotor` type, and their associated parameter arrays are
-computed internally:
-
-========= ======= ========= ========
-Attribute Setting Attribute Setting
-========= ======= ========= ========
-dyntype   dcmotor dynprm    computed
-gaintype  dcmotor gainprm   computed
-biastype  dcmotor biasprm   computed
-========= ======= ========= ========
-
-This element has the following custom attributes in addition to the common attributes:
-
-.. _actuator-dcmotor-name:
-
-.. _actuator-dcmotor-class:
-
-.. _actuator-dcmotor-group:
-
-.. _actuator-dcmotor-delay:
-
-.. _actuator-dcmotor-nsample:
-
-.. _actuator-dcmotor-interp:
-
-.. _actuator-dcmotor-ctrllimited:
-
-.. _actuator-dcmotor-ctrlrange:
-
-.. _actuator-dcmotor-lengthrange:
-
-.. _actuator-dcmotor-gear:
-
-.. _actuator-dcmotor-damping:
-
-.. _actuator-dcmotor-armature:
-
-.. _actuator-dcmotor-cranklength:
-
-.. _actuator-dcmotor-joint:
-
-.. _actuator-dcmotor-jointinparent:
-
-.. _actuator-dcmotor-tendon:
-
-.. _actuator-dcmotor-cranksite:
-
-.. _actuator-dcmotor-slidersite:
-
-.. _actuator-dcmotor-site:
-
-.. _actuator-dcmotor-refsite:
-
-.. _actuator-dcmotor-user:
-
-.. |actuator/dcmotor attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`nsample`, :at:`interp`, :at:`delay`, :at:`ctrllimited`, :at:`ctrlrange`,
-   :at:`lengthrange`, :at:`gear`, :at:`damping`, :at:`armature`, :at:`cranklength`, :at:`joint`, :at:`jointinparent`,
-   :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`site`, :at:`refsite`, :at:`user`
-
-|actuator/dcmotor attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-.. _actuator-dcmotor-resistance:
-
-:at:`resistance`: :at-val:`real, optional`
-   Terminal resistance :math:`R` in Ohm. (see `tech note <_static/dcmotor.pdf>`__, Sections 1.1 and 2.1)
-
-.. _actuator-dcmotor-motorconst:
-
-:at:`motorconst`: :at-val:`real(2), optional`
-   Motor constants, defined as :at:`motorconst` = ":at-val:`Kt` :at-val:`Ke`" (N·m/A, equivalently V·s/rad).
-   :at-val:`Kt` is the torque constant and :at-val:`Ke` the back-EMF constant; they can differ when magnetic saturation
-   is present. If both are positive, the effective constant is :math:`K = \sqrt{K_t K_e}` (geometric mean). If only one
-   is positive, :math:`K` equals that value. If a datasheet specifies the speed constant :math:`K_v` in rad/(V·s), use
-   :math:`K_e = 1/K_v`. (see `tech note <_static/dcmotor.pdf>`__, Sections 1.1 and 2.1)
-
-.. _actuator-dcmotor-nominal:
-
-:at:`nominal`: :at-val:`real(3), optional`
-   Nominal operating point, defined as :at:`nominal` = ":at-val:`voltage` :at-val:`stall_torque`
-   :at-val:`no_load_speed`". The compiler derives :math:`K =` :at-val:`voltage` / :at-val:`no_load_speed` and :math:`R =
-   K` · :at-val:`voltage` / :at-val:`stall_torque`. (see `tech note <_static/dcmotor.pdf>`__, Sections 1.1 and 2.1)
-
-.. _actuator-dcmotor-inductance:
-
-:at:`inductance`: :at-val:`real(2), "0 0"`
-   Electrical dynamics, defined as :at:`inductance` = ":at-val:`L` :at-val:`timeconst`" (Henry, seconds). These are
-   alternative specifications: :at-val:`L` is the winding inductance and :at-val:`timeconst` :math:`= L/R` is the
-   electrical time constant. Specify one; if both are given, :at-val:`L` takes precedence. If both are 0 (the default),
-   no electrical dynamics are modeled and the current is computed algebraically. Adds one activation variable for
-   armature current. (see `tech note <_static/dcmotor.pdf>`__, Sections 1.1.1 and 2.2)
-
-.. _actuator-dcmotor-thermal:
-
-:at:`thermal`: :at-val:`real(6), "0 0 0 0 0 0"`
-   Thermal model, defined as :at:`thermal` = ":at-val:`resistance` :at-val:`capacitance` :at-val:`timeconst`
-   :at-val:`tempcoef` :at-val:`reftemp` :at-val:`ambient`" (K/W, J/K, s, 1/K, °C, °C). The first three sub-values
-   specify the thermal time constant: :at-val:`timeconst` = :at-val:`resistance` :math:`\times` :at-val:`capacitance`.
-   Specify either :at-val:`timeconst` directly, or :at-val:`resistance` and :at-val:`capacitance`; if all three are
-   given, :at-val:`timeconst` takes precedence. If all are 0 (the default), thermal modeling is disabled. Adds one
-   activation variable for winding temperature. (see `tech note <_static/dcmotor.pdf>`__, Sections 1.3 and 2.3)
-
-.. _actuator-dcmotor-saturation:
-
-:at:`saturation`: :at-val:`real(3), "0 0 0"`
-   Limits on the actuator, defined as :at:`saturation` = ":at-val:`torque` :at-val:`current`
-   :at-val:`current_rate`". :at-val:`torque` and :at-val:`current` are alternative specifications of the maximum
-   continuous torque: if :at-val:`current` is given, :at-val:`torque` :math:`= K \cdot` :at-val:`current`; if both are
-   given, :at-val:`torque` takes precedence. Sets :at:`forcerange` to [:math:`-\tau_{\max},\, \tau_{\max}`].
-   :at-val:`current_rate` sets the maximum rate of change of current :math:`(di/dt)_{\max}` (requires
-   :ref:`inductance<actuator-dcmotor-inductance>`). A value of 0 (the default) for any sub-value disables the respective
-   limit. (see `tech note <_static/dcmotor.pdf>`__, Section 2)
-
-.. _actuator-dcmotor-cogging:
-
-:at:`cogging`: :at-val:`real(3), "0 0 0"`
-   Cogging torque, defined as :at:`cogging` = ":at-val:`amplitude` :at-val:`poles` :at-val:`phase`" (N·m, integer, rad).
-   Adds a position-dependent torque :math:`= \textsf{amplitude} \cdot \sin(\textsf{poles} \cdot \theta +
-   \textsf{phase})`. Disabled when :at-val:`amplitude` = 0 (the default).
-   (see `tech note <_static/dcmotor.pdf>`__, Sections 1.2 and 2.1)
-
-.. _actuator-dcmotor-lugre:
-
-:at:`lugre`: :at-val:`real(5), "0 0 0 0 0"`
-   LuGre friction, defined as :at:`lugre` = ":at-val:`stiffness` :at-val:`damping` :at-val:`coulomb`
-   :at-val:`static` :at-val:`stribeck`" (N·m/rad, N·m·s/rad, N·m, N·m, rad/s). Disabled when
-   :at-val:`stiffness` = 0 (the default). Adds one activation variable for bristle deflection. Note that the
-   viscous damping coefficient :math:`\sigma_2` is not part of the :at:`lugre` attribute and should be
-   added to the standard actuator :ref:`damping<actuator-general-damping>` attribute.
-   (see `tech note <_static/dcmotor.pdf>`__, Sections 1.4 and 2.4)
-
-.. _actuator-dcmotor-input:
-
-:at:`input`: :at-val:`string, "voltage"`
-   Input signature: a space-separated subset of the tokens "pos", "vel", "ff" and "voltage", required in this
-   canonical order. The ``pos`` and ``vel`` inputs are setpoints for the on-board
-   :ref:`controller<actuator-dcmotor-controller>`, and ``ff`` is a torque feedforward added to its output, as for
-   :ref:`pid/input<actuator-pid-input>`. The ``voltage`` input is different in kind: it is the raw terminal voltage
-   of the physical device, applied downstream of the controller and its :at-val:`Vmax` clamp.
-   ``input="voltage"`` (the default) is the plain voltage-commanded motor. Absent setpoint inputs are fixed at zero.
-   The keyword "none" selects the empty signature: the actuator has no control inputs and is purely
-   passive, useful for modeling :ref:`friction<actuator-dcmotor-lugre>` and :ref:`cogging<actuator-dcmotor-cogging>`
-   as passive joint forces. The terminal voltage is zero, so back-EMF drives current through the (shorted) motor and
-   brakes the joint; setting :ref:`motorconst<actuator-dcmotor-motorconst>` to zero disables the electrical branch.
-   (see `tech note <_static/dcmotor.pdf>`__, Section 2.5)
-
-.. _actuator-dcmotor-controller:
-
-:at:`controller`: :at-val:`real(6), "0 0 0 0 0 0"`
-   PID controller parameters, defined as :at:`controller` = ":at-val:`kp` :at-val:`ki` :at-val:`kd`
-   :at-val:`slewmax` :at-val:`Imax` :at-val:`Vmax`". The gains are in torque space, as for
-   :ref:`pid<actuator-pid>`: the controller commands the torque
-   :math:`\tau = k_p (u_{pos} - l) + k_d (u_{vel} - \dot{l}) + k_i x_I + u_{f\!f}` over the inputs present in the
-   :ref:`input<actuator-dcmotor-input>` signature, absent setpoints being fixed at zero, and drives the voltage
-   :math:`v = (R/K)\,\tau + K \dot{l}`, the second term compensating back-EMF as in a current-controlled driver:
-   commanded torque is delivered exactly until a limit is reached. Torque-space gains from datasheet voltage-space
-   values are obtained by multiplying by :math:`K/R`. The integrator state
-   :math:`x_I` accumulates position error and requires the ``pos`` input; controller gains require a controller
-   input and a positive :ref:`motorconst<actuator-dcmotor-motorconst>`.
-   A value of 0 (the default) disables the respective feature. When positive, :at-val:`slewmax` limits the
-   rate-of-change of the first input (position setpoint in rad/s, or with signatures lacking ``pos``, velocity
-   setpoint or torque feedforward), :at-val:`Imax` clamps the integrator state (anti-windup), and :at-val:`Vmax`
-   clamps the drive voltage :math:`v_{\max}` (Volt), upstream of the raw ``voltage`` input.
-   (see `tech note <_static/dcmotor.pdf>`__, Section 2.5)
-
-.. _actuator-plugin:
-
-:el-prefix:`actuator/` |-| **plugin** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Associate this actuator with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
-
-.. _actuator-plugin-plugin:
-
-:at:`plugin`: :at-val:`string, optional`
-   Plugin identifier, used for implicit plugin instantiation.
-
-.. _actuator-plugin-instance:
-
-:at:`instance`: :at-val:`string, optional`
-   Instance name, used for explicit plugin instantiation.
-
-.. _actuator-plugin-dyntype:
-
-:at:`dyntype`: :at-val:`[none, integrator, filter, filterexact, pid, dcmotor, muscle, user], "none"`
-   Activation dynamics type for the actuator. The available dynamics types were already described in the :ref:`Actuation
-   model <geActuation>` section. If :ref:`dyntype<actuator-general-dyntype>` is not "none", an activation variable will
-   be added to the actuator. This variable will be added after any activation state computed by the plugin (see
-   :ref:`actuator plugin activations<exActuatorAct>`).
-
-.. _actuator-plugin-actrange:
-
-:at:`actrange`: :at-val:`real(2), "0 0"`
-   Range for clamping the activation state associated with this actuator's dyntype. The limit doesn't apply to
-   activations computed by the plugin. The first value must be no greater than the second value.
-   See the :ref:`Activation clamping <CActRange>` section for more details.
-
-.. _actuator-plugin-name:
-
-.. _actuator-plugin-class:
-
-.. _actuator-plugin-group:
-
-.. _actuator-plugin-delay:
-
-.. _actuator-plugin-nsample:
-
-.. _actuator-plugin-interp:
-
-.. _actuator-plugin-actlimited:
-
-.. _actuator-plugin-ctrllimited:
-
-.. _actuator-plugin-forcelimited:
-
-.. _actuator-plugin-ctrlrange:
-
-.. _actuator-plugin-forcerange:
-
-.. _actuator-plugin-lengthrange:
-
-.. _actuator-plugin-gear:
-
-.. _actuator-plugin-cranklength:
-
-.. _actuator-plugin-joint:
-
-.. _actuator-plugin-jointinparent:
-
-.. _actuator-plugin-site:
-
-.. _actuator-plugin-tendon:
-
-.. _actuator-plugin-cranksite:
-
-.. _actuator-plugin-slidersite:
-
-.. _actuator-plugin-user:
-
-.. _actuator-plugin-actdim:
-
-.. _actuator-plugin-dynprm:
-
-.. _actuator-plugin-actearly:
-
-.. _actuator-plugin-damping:
-
-.. _actuator-plugin-armature:
-
-.. |actuator/plugin attrib list| replace::
-   :at:`name`, :at:`class`, :at:`group`, :at:`delay`, :at:`actlimited`, :at:`ctrllimited`, :at:`forcelimited`,
-   :at:`ctrlrange`, :at:`forcerange`, :at:`lengthrange`, :at:`gear`, :at:`cranklength`, :at:`joint`,
-   :at:`jointinparent`, :at:`site`, :at:`tendon`, :at:`cranksite`, :at:`slidersite`, :at:`user`, :at:`actdim`,
-   :at:`dynprm`, :at:`actearly`, :at:`damping`, :at:`armature`
-
-|actuator/plugin attrib list|
-   Same as in actuator/ :ref:`general <actuator-general>`.
-
-
-.. _sensor:
-
-**sensor** |*|
-~~~~~~~~~~~~~~
-
-This is a grouping element for sensor definitions. It does not have attributes. The outputs of all sensors are
-concatenated in the field mjData.sensordata which has size mjModel.nsensordata. This data is not used in any internal
-computations.
-
-In addition to the sensors created with the elements below, the top-level function
-:ref:`mj_step` computes the quantities mjData.cacc, mjData.cfrc_int and mjData.crfc_ext
-corresponding to body accelerations and interaction forces. Some of these quantities are used to compute the output of
-certain sensors (force, acceleration, etc.) but even if no such sensors are defined in the model, these quantities
-themselves are "features" that could be of interest to the user.
-
-
-.. _sensor-touch:
-
-:el-prefix:`sensor/` |-| **touch** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a touch sensor. The active sensor zone is defined by a site. If a contact point falls within the
-site's volume, and involves a geom attached to the same body as the site, the corresponding contact force is included in
-the sensor reading. If a contact point falls outside the sensor zone, but the normal ray intersects the sensor zone, it
-is also included. This re-projection feature is needed because, without it, the contact point may leave the sensor zone
-from the back (due to soft contacts) and cause an erroneous force reading. The output of this sensor is a non-negative
-scalar. It is computed by adding up the (scalar) normal forces from all included contacts.
-
-.. _sensor-touch-name:
-
-.. _sensor-touch-noise:
-
-.. _sensor-touch-cutoff:
-
-.. _sensor-touch-nsample:
-
-.. _sensor-touch-interp:
-
-.. _sensor-touch-interval:
-
-.. _sensor-touch-delay:
-
-.. _sensor-touch-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-touch-site:
-
-:at:`site`: :at-val:`string, required`
-   Site defining the active sensor zone.
-
-
-.. _sensor-accelerometer:
-
-:el-prefix:`sensor/` |-| **accelerometer** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a 3-axis accelerometer. The sensor is mounted at a site, and has the same position and orientation
-as the site frame. This sensor outputs three numbers, which are the linear acceleration of the site (including gravity)
-in local coordinates.
-
-The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstraint` during sensor computation.
-
-.. _sensor-accelerometer-name:
-
-.. _sensor-accelerometer-noise:
-
-.. _sensor-accelerometer-cutoff:
-
-.. _sensor-accelerometer-nsample:
-
-.. _sensor-accelerometer-interp:
-
-.. _sensor-accelerometer-interval:
-
-.. _sensor-accelerometer-delay:
-
-.. _sensor-accelerometer-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-accelerometer-site:
-
-:at:`site`: :at-val:`string, required`
-   Site where the sensor is mounted. The accelerometer is centered and aligned with the site local frame.
-
-
-.. _sensor-velocimeter:
-
-:el-prefix:`sensor/` |-| **velocimeter** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a 3-axis velocimeter. The sensor is mounted at a site, and has the same position and orientation as
-the site frame. This sensor outputs three numbers, which are the linear velocity of the site in local coordinates.
-
-.. _sensor-velocimeter-name:
-
-.. _sensor-velocimeter-noise:
-
-.. _sensor-velocimeter-cutoff:
-
-.. _sensor-velocimeter-nsample:
-
-.. _sensor-velocimeter-interp:
-
-.. _sensor-velocimeter-interval:
-
-.. _sensor-velocimeter-delay:
-
-.. _sensor-velocimeter-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-velocimeter-site:
-
-:at:`site`: :at-val:`string, required`
-   Site where the sensor is mounted. The velocimeter is centered and aligned with the site local frame.
-
-
-.. _sensor-gyro:
-
-:el-prefix:`sensor/` |-| **gyro** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a 3-axis gyroscope. The sensor is mounted at a site, and has the same position and orientation as
-the site frame. This sensor outputs three numbers, which are the angular velocity of the site in local coordinates. This
-sensor is often used in conjunction with an :ref:`accelerometer <sensor-accelerometer>` mounted at the same site, to
-simulate an inertial measurement unit (IMU).
-
-.. _sensor-gyro-name:
-
-.. _sensor-gyro-noise:
-
-.. _sensor-gyro-cutoff:
-
-.. _sensor-gyro-nsample:
-
-.. _sensor-gyro-interp:
-
-.. _sensor-gyro-interval:
-
-.. _sensor-gyro-delay:
-
-.. _sensor-gyro-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-gyro-site:
-
-:at:`site`: :at-val:`string, required`
-   Site where the sensor is mounted. The gyroscope is centered and aligned with the site local frame.
-
-
-.. _sensor-force:
-
-:el-prefix:`sensor/` |-| **force** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a 3-axis force sensor. The sensor outputs three numbers, which are the interaction force between a
-child and a parent body, expressed in the site frame defining the sensor. The convention is that the site is attached to
-the child body, and the force points from the child towards the parent. The computation here takes into account all
-forces acting on the system, including contacts as well as external perturbations. Using this sensor often requires
-creating a dummy body welded to its parent (i.e., having no joint elements).
-
-The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstraint` during sensor computation.
-
-.. _sensor-force-name:
-
-.. _sensor-force-noise:
-
-.. _sensor-force-cutoff:
-
-.. _sensor-force-nsample:
-
-.. _sensor-force-interp:
-
-.. _sensor-force-interval:
-
-.. _sensor-force-delay:
-
-.. _sensor-force-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-force-site:
-
-:at:`site`: :at-val:`string, required`
-   Site where the sensor is mounted. The measured interaction force is between the body where the site is defined and
-   its parent body, and points from the child towards the parent. The physical sensor being modeled could of course be
-   attached to the parent body, in which case the sensor data would have the opposite sign. Note that each body has a
-   unique parent but can have multiple children, which is why we define this sensor through the child rather than the
-   parent body in the pair.
-
-
-.. _sensor-torque:
-
-:el-prefix:`sensor/` |-| **torque** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a 3-axis torque sensor. This is similar to the :ref:`force <sensor-force>` sensor above, but
-measures torque rather than force.
-
-The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstraint` during sensor computation.
-
-.. _sensor-torque-name:
-
-.. _sensor-torque-noise:
-
-.. _sensor-torque-cutoff:
-
-.. _sensor-torque-nsample:
-
-.. _sensor-torque-interp:
-
-.. _sensor-torque-interval:
-
-.. _sensor-torque-delay:
-
-.. _sensor-torque-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-torque-site:
-
-:at:`site`: :at-val:`string, required`
-   Site where the sensor is mounted. The measured interaction torque is between the body where the site is defined and
-   its parent body.
-
-
-.. _sensor-magnetometer:
-
-:el-prefix:`sensor/` |-| **magnetometer** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a magnetometer. It measures the magnetic flux at the sensor site position, expressed in the sensor
-site frame. The output is a 3D vector.
-
-.. _sensor-magnetometer-name:
-
-.. _sensor-magnetometer-noise:
-
-.. _sensor-magnetometer-cutoff:
-
-.. _sensor-magnetometer-nsample:
-
-.. _sensor-magnetometer-interp:
-
-.. _sensor-magnetometer-interval:
-
-.. _sensor-magnetometer-delay:
-
-.. _sensor-magnetometer-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-magnetometer-site:
-
-:at:`site`: :at-val:`string, required`
-   The site where the sensor is attached.
-
-.. _sensor-rangefinder:
-
-:el-prefix:`sensor/` |-| **rangefinder** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a rangefinder.
-
-- If associated with a :ref:`site<sensor-rangefinder-site>`, it measures the distance to the nearest geom surface, along
-  the ray defined by the positive Z-axis of the site.
-- If associated with a :ref:`camera<sensor-rangefinder-camera>`, it outputs one distance measurement for each pixel in
-  the camera image. Note that cameras face the :ref:`negative Z-axis<body-camera>` of their frame. The number of
-  measurements in this case is equal to product of the camera's width and height
-  :ref:`resolutions<body-camera-resolution>`.
-
-.. image:: images/XMLreference/rfcamera.png
-   :width: 45%
-   :align: right
-   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/sensor/rfcamera.xml
-
-If a ray does not intersect any geom surface, the sensor output is -1. If the origin of the ray is inside a geom, the
-surface is still detected. Geoms attached to the same body as the sensor site/camera are excluded. Invisible geoms,
-defined as geoms whose rgba (or whose material rgba) has alpha=0, are also excluded. Note however that geoms made
-invisible in the visualizer by disabling their geom group are not excluded; this is because sensor calculations are
-independent of the visualizer.
-
-The image on the right (click to see the model being visualized) shows two rangefinder sensors attached to a
-perspective and an orthographic camera, with frustums visualized. Both cameras have 4x4 resolution, for 16 rays
-each. The rangefinder sensors report :at:`data` = :at-val:`"dist point normal"` (see below), so we can see the rays
-(lines), the intersection points (spheres) and the surface normals (arrows).
-
-.. _sensor-rangefinder-data:
-
-:at:`data`: :at-val:`[dist, dir, origin, point, normal, depth], "dist"`
-   By default, the rangefinder outputs a distance measurement, as described above. However, it is also possible to
-   specify a set of output data fields. The :at:`data` attribute can contain **multiple sequential data types**, as long
-   as the relative order---as listed above---is maintained. For example, :at:`data` = :at-val:`"dist point normal"` will
-   return 7 numbers per ray, while :at:`data` = :at-val:`"point origin"` is an error because :at-val:`origin` must come
-   before :at-val:`point`.
-
-   - :at-val:`dist` **real(1)**: The distance from the ray origin to the nearest geom surface, -1 if no surface was hit.
-     If this data type is included, rays will be visualized as lines.
-   - :at-val:`dir` **real(3)**: Normalized direction of the ray, or (0, 0, 0) if no surface was hit.
-   - :at-val:`origin` **real(3)**: The point from which the ray emanates (global frame). For sites and perspective
-     cameras, this is the site/camera xpos. However for orthographic cameras, ray origins are spatially distributed
-     along the image plane.
-   - :at-val:`point` **real(3)**: The point where the ray intersects the nearest geom surface in the global frame, or
-     (0, 0, 0) if no surface was hit. If this data type is included, intersection points will be visualized as spheres.
-   - :at-val:`normal`: **real(3)**: The geom surface normal at the point where the ray intersects it, in the global
-     frame, or (0, 0, 0) if no surface was hit. Note that normals always point towards the outside of the geom surface,
-     regardless of the ray origin. If this data type is included along with either :at-val:`dist` or :at-val:`point`,
-     normals will be visualized as arrows at the intersection points.
-   - :at-val:`depth`: **real(1)**: The distance of the hit point from the camera plane, -1 if no surface was hit. Note
-     that this depth semantic corresponds to depth images in the computer graphics sense.
-
-.. _sensor-rangefinder-name:
-
-.. _sensor-rangefinder-noise:
-
-.. _sensor-rangefinder-cutoff:
-
-.. _sensor-rangefinder-nsample:
-
-.. _sensor-rangefinder-interp:
-
-.. _sensor-rangefinder-interval:
-
-.. _sensor-rangefinder-delay:
-
-.. _sensor-rangefinder-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-rangefinder-site:
-
-:at:`site`: :at-val:`string, optional`
-   The site where the sensor is attached.
-
-.. _sensor-rangefinder-camera:
-
-:at:`camera`: :at-val:`string, optional`
-   The camera where the sensor is attached.
-
-.. _sensor-camprojection:
-
-:el-prefix:`sensor/` |-| **camprojection** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a camera projection sensor: the location of a target site, projected onto a camera image in pixel
-coordinates. The pixel origin (0, 0) is located at the top-left corner. Values are not clipped, so targets which fall
-outside the camera image will take values above or below the pixel range limits. Moreover, points behind the camera are
-also projected onto the image, so it is up to the user to filter out such points, if desired. This can be done using a
-:ref:`framepos<sensor-framepos>` sensor with the camera as a reference frame: a negative/positive value in the
-z-coordinate indicates a location in front of/behind the camera plane, respectively.
-
-.. _sensor-camprojection-site:
-
-:at:`site`: :at-val:`string, required`
-   The site which is projected on to the camera image.
-
-.. _sensor-camprojection-camera:
-
-:at:`camera`: :at-val:`string, required`
-   The camera used for the projection, its :ref:`resolution<body-camera-resolution>` attribute must be positive.
-
-.. _sensor-camprojection-name:
-
-.. _sensor-camprojection-noise:
-
-.. _sensor-camprojection-cutoff:
-
-.. _sensor-camprojection-nsample:
-
-.. _sensor-camprojection-interp:
-
-.. _sensor-camprojection-interval:
-
-.. _sensor-camprojection-delay:
-
-.. _sensor-camprojection-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-jointpos:
-
-:el-prefix:`sensor/` |-| **jointpos** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This and the remaining sensor elements do not involve sensor-specific computations. Instead they copy into the array
-mjData.sensordata quantities that are already computed. This element creates a joint position or angle sensor. It can be
-attached to scalar joints (slide or hinge). Its output is scalar.
-
-.. _sensor-jointpos-name:
-
-.. _sensor-jointpos-noise:
-
-.. _sensor-jointpos-cutoff:
-
-.. _sensor-jointpos-nsample:
-
-.. _sensor-jointpos-interp:
-
-.. _sensor-jointpos-interval:
-
-.. _sensor-jointpos-delay:
-
-.. _sensor-jointpos-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-jointpos-joint:
-
-:at:`joint`: :at-val:`string, required`
-   The joint whose position or angle will be sensed. Only scalar joints can be referenced here. The sensor output is
-   copied from mjData.qpos.
-
-
-.. _sensor-jointvel:
-
-:el-prefix:`sensor/` |-| **jointvel** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a joint velocity sensor. It can be attached to scalar joints (slide or hinge). Its output is
-scalar.
-
-.. _sensor-jointvel-name:
-
-.. _sensor-jointvel-noise:
-
-.. _sensor-jointvel-cutoff:
-
-.. _sensor-jointvel-nsample:
-
-.. _sensor-jointvel-interp:
-
-.. _sensor-jointvel-interval:
-
-.. _sensor-jointvel-delay:
-
-.. _sensor-jointvel-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-jointvel-joint:
-
-:at:`joint`: :at-val:`string, required`
-   The joint whose velocity will be sensed. Only scalar joints can be referenced here. The sensor output is copied from
-   mjData.qvel.
-
-
-.. _sensor-tendonpos:
-
-:el-prefix:`sensor/` |-| **tendonpos** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a tendon length sensor. It can be attached to both spatial and fixed tendons. Its output is scalar.
-
-.. _sensor-tendonpos-name:
-
-.. _sensor-tendonpos-noise:
-
-.. _sensor-tendonpos-cutoff:
-
-.. _sensor-tendonpos-nsample:
-
-.. _sensor-tendonpos-interp:
-
-.. _sensor-tendonpos-interval:
-
-.. _sensor-tendonpos-delay:
-
-.. _sensor-tendonpos-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-tendonpos-tendon:
-
-:at:`tendon`: :at-val:`string, required`
-   The tendon whose length will be sensed. The sensor output is copied from mjData.ten_length.
-
-
-.. _sensor-tendonvel:
-
-:el-prefix:`sensor/` |-| **tendonvel** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a tendon velocity sensor. It can be attached to both spatial and fixed tendons. Its output is
-scalar.
-
-.. _sensor-tendonvel-name:
-
-.. _sensor-tendonvel-noise:
-
-.. _sensor-tendonvel-cutoff:
-
-.. _sensor-tendonvel-nsample:
-
-.. _sensor-tendonvel-interp:
-
-.. _sensor-tendonvel-interval:
-
-.. _sensor-tendonvel-delay:
-
-.. _sensor-tendonvel-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-tendonvel-tendon:
-
-:at:`tendon`: :at-val:`string, required`
-   The tendon whose velocity will be sensed. The sensor output is copied from mjData.ten_velocity.
-
-
-.. _sensor-actuatorpos:
-
-:el-prefix:`sensor/` |-| **actuatorpos** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates an actuator length sensor. Recall that each actuator has a transmission which has length. This
-sensor can be attached to any actuator. Its output is scalar.
-
-.. _sensor-actuatorpos-name:
-
-.. _sensor-actuatorpos-noise:
-
-.. _sensor-actuatorpos-cutoff:
-
-.. _sensor-actuatorpos-nsample:
-
-.. _sensor-actuatorpos-interp:
-
-.. _sensor-actuatorpos-interval:
-
-.. _sensor-actuatorpos-delay:
-
-.. _sensor-actuatorpos-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-actuatorpos-actuator:
-
-:at:`actuator`: :at-val:`string, required`
-   The actuator whose transmission's length will be sensed. The sensor output is copied from mjData.actuator_length.
-
-
-.. _sensor-actuatorvel:
-
-:el-prefix:`sensor/` |-| **actuatorvel** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates an actuator velocity sensor. This sensor can be attached to any actuator. Its output is scalar.
-
-.. _sensor-actuatorvel-name:
-
-.. _sensor-actuatorvel-noise:
-
-.. _sensor-actuatorvel-cutoff:
-
-.. _sensor-actuatorvel-nsample:
-
-.. _sensor-actuatorvel-interp:
-
-.. _sensor-actuatorvel-interval:
-
-.. _sensor-actuatorvel-delay:
-
-.. _sensor-actuatorvel-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-actuatorvel-actuator:
-
-:at:`actuator`: :at-val:`string, required`
-   The actuator whose transmission's velocity will be sensed. The sensor output is copied from mjData.actuator_velocity.
-
-
-.. _sensor-actuatorfrc:
-
-:el-prefix:`sensor/` |-| **actuatorfrc** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates an actuator force sensor. The quantity being sensed is the scalar actuator force, not the
-generalized force contributed by the actuator (the latter is the product of the scalar force and the vector of moment
-arms determined by the transmission). This sensor can be attached to any actuator. Its output is scalar.
-
-.. _sensor-actuatorfrc-name:
-
-.. _sensor-actuatorfrc-noise:
-
-.. _sensor-actuatorfrc-cutoff:
-
-.. _sensor-actuatorfrc-nsample:
-
-.. _sensor-actuatorfrc-interp:
-
-.. _sensor-actuatorfrc-interval:
-
-.. _sensor-actuatorfrc-delay:
-
-.. _sensor-actuatorfrc-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-actuatorfrc-actuator:
-
-:at:`actuator`: :at-val:`string, required`
-   The actuator whose scalar force output will be sensed. The sensor output is copied from mjData.actuator_force.
-
-
-.. _sensor-jointactuatorfrc:
-
-:el-prefix:`sensor/` |-| **jointactuatorfrc** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates an actuator force sensor, measured at a joint. The quantity being sensed is the generalized force
-contributed by all actuators to a single scalar joint (hinge or slider). If the joint's
-:ref:`actuatorgravcomp<body-joint-actuatorgravcomp>` attribute is "true", this sensor will also measure contributions by
-gravity compensation forces (which are added directly to the joint and would *not* register in the
-:ref:`actuatorfrc<sensor-actuatorfrc>`) sensor. This type of sensor is important when multiple actuators act on a single
-joint or when a single actuator acts on multiple joints. See :ref:`CForceRange` for details.
-
-
-.. _sensor-jointactuatorfrc-name:
-
-.. _sensor-jointactuatorfrc-noise:
-
-.. _sensor-jointactuatorfrc-cutoff:
-
-.. _sensor-jointactuatorfrc-nsample:
-
-.. _sensor-jointactuatorfrc-interp:
-
-.. _sensor-jointactuatorfrc-interval:
-
-.. _sensor-jointactuatorfrc-delay:
-
-.. _sensor-jointactuatorfrc-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-jointactuatorfrc-joint:
-
-:at:`joint`: :at-val:`string, required`
-   The joint where actuator forces will be sensed. The sensor output is copied from ``mjData.qfrc_actuator``.
-
-
-.. _sensor-tendonactuatorfrc:
-
-:el-prefix:`sensor/` |-| **tendonactuatorfrc** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates an actuator force sensor, measured at a tendon. The quantity being sensed is the total force
-contributed by all actuators to a single tendon. This type of sensor is important when multiple actuators act on a
-single tendon. See :ref:`CForceRange` for details.
-
-
-.. _sensor-tendonactuatorfrc-name:
-
-.. _sensor-tendonactuatorfrc-noise:
-
-.. _sensor-tendonactuatorfrc-cutoff:
-
-.. _sensor-tendonactuatorfrc-nsample:
-
-.. _sensor-tendonactuatorfrc-interp:
-
-.. _sensor-tendonactuatorfrc-interval:
-
-.. _sensor-tendonactuatorfrc-delay:
-
-.. _sensor-tendonactuatorfrc-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-tendonactuatorfrc-tendon:
-
-:at:`tendon`: :at-val:`string, required`
-   The tendon where actuator forces will be sensed.
-
-
-.. _sensor-ballquat:
-
-:el-prefix:`sensor/` |-| **ballquat** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a quaternion sensor for a ball joints. It outputs 4 numbers corresponding to a unit quaternion.
-
-.. _sensor-ballquat-name:
-
-.. _sensor-ballquat-noise:
-
-.. _sensor-ballquat-cutoff:
-
-.. _sensor-ballquat-nsample:
-
-.. _sensor-ballquat-interp:
-
-.. _sensor-ballquat-interval:
-
-.. _sensor-ballquat-delay:
-
-.. _sensor-ballquat-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-ballquat-joint:
-
-:at:`joint`: :at-val:`string, required`
-   The ball joint whose quaternion is sensed. The sensor output is copied from mjData.qpos.
-
-
-.. _sensor-ballangvel:
-
-:el-prefix:`sensor/` |-| **ballangvel** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a ball joint angular velocity sensor. It outputs 3 numbers corresponding to the angular velocity of
-the joint. The norm of that vector is the rotation speed in rad/s and the direction is the axis around which the
-rotation takes place.
-
-.. _sensor-ballangvel-name:
-
-.. _sensor-ballangvel-noise:
-
-.. _sensor-ballangvel-cutoff:
-
-.. _sensor-ballangvel-nsample:
-
-.. _sensor-ballangvel-interp:
-
-.. _sensor-ballangvel-interval:
-
-.. _sensor-ballangvel-delay:
-
-.. _sensor-ballangvel-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-ballangvel-joint:
-
-:at:`joint`: :at-val:`string, required`
-   The ball joint whose angular velocity is sensed. The sensor output is copied from mjData.qvel.
-
-
-.. _sensor-jointlimitpos:
-
-:el-prefix:`sensor/` |-| **jointlimitpos** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a joint limit sensor for position.
-
-.. _sensor-jointlimitpos-name:
-
-.. _sensor-jointlimitpos-noise:
-
-.. _sensor-jointlimitpos-cutoff:
-
-.. _sensor-jointlimitpos-nsample:
-
-.. _sensor-jointlimitpos-interp:
-
-.. _sensor-jointlimitpos-interval:
-
-.. _sensor-jointlimitpos-delay:
-
-.. _sensor-jointlimitpos-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-jointlimitpos-joint:
-
-:at:`joint`: :at-val:`string, required`
-   The joint whose limit is sensed. The sensor output equals mjData.efc_pos - mjData.efc_margin for the corresponding
-   limit constraint. Note that the result is negative if the limit is violated, regardless of which side of the limit is
-   violated. If both sides of the limit are violated simultaneously, only the first component is returned. If there is
-   no violation, the result is 0.
-
-
-.. _sensor-jointlimitvel:
-
-:el-prefix:`sensor/` |-| **jointlimitvel** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a joint limit sensor for velocity.
-
-.. _sensor-jointlimitvel-name:
-
-.. _sensor-jointlimitvel-noise:
-
-.. _sensor-jointlimitvel-cutoff:
-
-.. _sensor-jointlimitvel-nsample:
-
-.. _sensor-jointlimitvel-interp:
-
-.. _sensor-jointlimitvel-interval:
-
-.. _sensor-jointlimitvel-delay:
-
-.. _sensor-jointlimitvel-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-jointlimitvel-joint:
-
-:at:`joint`: :at-val:`string, required`
-   The joint whose limit is sensed. The sensor output is copied from mjData.efc_vel. If the joint limit is not violated,
-   the result is 0.
-
-
-.. _sensor-jointlimitfrc:
-
-:el-prefix:`sensor/` |-| **jointlimitfrc** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a joint limit sensor for constraint force.
-
-.. _sensor-jointlimitfrc-name:
-
-.. _sensor-jointlimitfrc-noise:
-
-.. _sensor-jointlimitfrc-cutoff:
-
-.. _sensor-jointlimitfrc-nsample:
-
-.. _sensor-jointlimitfrc-interp:
-
-.. _sensor-jointlimitfrc-interval:
-
-.. _sensor-jointlimitfrc-delay:
-
-.. _sensor-jointlimitfrc-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-jointlimitfrc-joint:
-
-:at:`joint`: :at-val:`string, required`
-   The joint whose limit is sensed. The sensor output is copied from mjData.efc_force. If the joint limit is not
-   violated, the result is 0.
-
-
-.. _sensor-tendonlimitpos:
-
-:el-prefix:`sensor/` |-| **tendonlimitpos** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a tendon limit sensor for position.
-
-.. _sensor-tendonlimitpos-name:
-
-.. _sensor-tendonlimitpos-noise:
-
-.. _sensor-tendonlimitpos-cutoff:
-
-.. _sensor-tendonlimitpos-nsample:
-
-.. _sensor-tendonlimitpos-interp:
-
-.. _sensor-tendonlimitpos-interval:
-
-.. _sensor-tendonlimitpos-delay:
-
-.. _sensor-tendonlimitpos-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-tendonlimitpos-tendon:
-
-:at:`tendon`: :at-val:`string, required`
-   The tendon whose limit is sensed. The sensor output equals mjData.efc_pos - mjData.efc_margin for the corresponding
-   limit constraint. If the tendon limit is not violated, the result is 0.
-
-
-.. _sensor-tendonlimitvel:
-
-:el-prefix:`sensor/` |-| **tendonlimitvel** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a tendon limit sensor for velocity.
-
-.. _sensor-tendonlimitvel-name:
-
-.. _sensor-tendonlimitvel-noise:
-
-.. _sensor-tendonlimitvel-cutoff:
-
-.. _sensor-tendonlimitvel-nsample:
-
-.. _sensor-tendonlimitvel-interp:
-
-.. _sensor-tendonlimitvel-interval:
-
-.. _sensor-tendonlimitvel-delay:
-
-.. _sensor-tendonlimitvel-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-tendonlimitvel-tendon:
-
-:at:`tendon`: :at-val:`string, required`
-   The tendon whose limit is sensed. The sensor output is copied from mjData.efc_vel. If the tendon limit is not
-   violated, the result is 0.
-
-
-.. _sensor-tendonlimitfrc:
-
-:el-prefix:`sensor/` |-| **tendonlimitfrc** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a tendon limit sensor for constraint force.
-
-.. _sensor-tendonlimitfrc-name:
-
-.. _sensor-tendonlimitfrc-noise:
-
-.. _sensor-tendonlimitfrc-cutoff:
-
-.. _sensor-tendonlimitfrc-nsample:
-
-.. _sensor-tendonlimitfrc-interp:
-
-.. _sensor-tendonlimitfrc-interval:
-
-.. _sensor-tendonlimitfrc-delay:
-
-.. _sensor-tendonlimitfrc-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-tendonlimitfrc-tendon:
-
-:at:`tendon`: :at-val:`string, required`
-   The tendon whose limit is sensed. The sensor output is copied from mjData.efc_force. If the tendon limit is not
-   violated, the result is 0.
-
-
-.. _sensor-framepos:
-
-:el-prefix:`sensor/` |-| **framepos** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the 3D position of the spatial frame of the object, in global coordinates or
-optionally with respect to a given frame-of-reference.
-
-.. _sensor-framepos-name:
-
-.. _sensor-framepos-noise:
-
-.. _sensor-framepos-cutoff:
-
-.. _sensor-framepos-nsample:
-
-.. _sensor-framepos-interp:
-
-.. _sensor-framepos-interval:
-
-.. _sensor-framepos-delay:
-
-.. _sensor-framepos-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-framepos-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   The type of object to which the sensor is attached. This must be an object type that has a spatial frame. "body"
-   refers to the inertial frame of the body, while "xbody" refers to the regular frame of the body (usually centered at
-   the joint with the parent body).
-
-.. _sensor-framepos-objname:
-
-:at:`objname`: :at-val:`string, required`
-   The name of the object to which the sensor is attached.
-
-.. _sensor-framepos-reftype:
-
-:at:`reftype`: :at-val:`[body, xbody, geom, site, camera]`
-   The type of object to which the frame-of-reference is attached. The semantics are identical to the :at:`objtype`
-   attribute. If :at:`reftype` and :at:`refname` are given, the sensor values will be measured with respect to this
-   frame. If they are not given, sensor values will be measured with respect to the global frame.
-
-.. _sensor-framepos-refname:
-
-:at:`refname`: :at-val:`string`
-   The name of the object to which the frame-of-reference is attached.
-
-
-.. _sensor-framequat:
-
-:el-prefix:`sensor/` |-| **framequat** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the unit quaternion specifying the orientation of the spatial frame of the
-object, in global coordinates.
-
-.. _sensor-framequat-name:
-
-.. _sensor-framequat-noise:
-
-.. _sensor-framequat-cutoff:
-
-.. _sensor-framequat-nsample:
-
-.. _sensor-framequat-interp:
-
-.. _sensor-framequat-interval:
-
-.. _sensor-framequat-delay:
-
-.. _sensor-framequat-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-framequat-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framequat-objname:
-
-:at:`objname`: :at-val:`string, required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framequat-reftype:
-
-:at:`reftype`: :at-val:`[body, xbody, geom, site, camera]`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framequat-refname:
-
-:at:`refname`: :at-val:`string`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-
-.. _sensor-framexaxis:
-
-:el-prefix:`sensor/` |-| **framexaxis** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the 3D unit vector corresponding to the X-axis of the spatial frame of the
-object, in global coordinates.
-
-.. _sensor-framexaxis-name:
-
-.. _sensor-framexaxis-noise:
-
-.. _sensor-framexaxis-cutoff:
-
-.. _sensor-framexaxis-nsample:
-
-.. _sensor-framexaxis-interp:
-
-.. _sensor-framexaxis-interval:
-
-.. _sensor-framexaxis-delay:
-
-.. _sensor-framexaxis-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-framexaxis-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framexaxis-objname:
-
-:at:`objname`: :at-val:`string, required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framexaxis-reftype:
-
-:at:`reftype`: :at-val:`[body, xbody, geom, site, camera]`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framexaxis-refname:
-
-:at:`refname`: :at-val:`string`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-
-.. _sensor-frameyaxis:
-
-:el-prefix:`sensor/` |-| **frameyaxis** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the 3D unit vector corresponding to the Y-axis of the spatial frame of the
-object, in global coordinates.
-
-.. _sensor-frameyaxis-name:
-
-.. _sensor-frameyaxis-noise:
-
-.. _sensor-frameyaxis-cutoff:
-
-.. _sensor-frameyaxis-nsample:
-
-.. _sensor-frameyaxis-interp:
-
-.. _sensor-frameyaxis-interval:
-
-.. _sensor-frameyaxis-delay:
-
-.. _sensor-frameyaxis-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-frameyaxis-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-frameyaxis-objname:
-
-:at:`objname`: :at-val:`string, required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-frameyaxis-reftype:
-
-:at:`reftype`: :at-val:`[body, xbody, geom, site, camera]`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-frameyaxis-refname:
-
-:at:`refname`: :at-val:`string`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-
-.. _sensor-framezaxis:
-
-:el-prefix:`sensor/` |-| **framezaxis** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the 3D unit vector corresponding to the Z-axis of the spatial frame of the
-object, in global coordinates.
-
-.. _sensor-framezaxis-name:
-
-.. _sensor-framezaxis-noise:
-
-.. _sensor-framezaxis-cutoff:
-
-.. _sensor-framezaxis-nsample:
-
-.. _sensor-framezaxis-interp:
-
-.. _sensor-framezaxis-interval:
-
-.. _sensor-framezaxis-delay:
-
-.. _sensor-framezaxis-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-framezaxis-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framezaxis-objname:
-
-:at:`objname`: :at-val:`string, required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framezaxis-reftype:
-
-:at:`reftype`: :at-val:`[body, xbody, geom, site, camera]`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framezaxis-refname:
-
-:at:`refname`: :at-val:`string`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-
-.. _sensor-framelinvel:
-
-:el-prefix:`sensor/` |-| **framelinvel** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the 3D linear velocity of the spatial frame of the object, in global
-coordinates.
-
-.. _sensor-framelinvel-name:
-
-.. _sensor-framelinvel-noise:
-
-.. _sensor-framelinvel-cutoff:
-
-.. _sensor-framelinvel-nsample:
-
-.. _sensor-framelinvel-interp:
-
-.. _sensor-framelinvel-interval:
-
-.. _sensor-framelinvel-delay:
-
-.. _sensor-framelinvel-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-framelinvel-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framelinvel-objname:
-
-:at:`objname`: :at-val:`string, required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framelinvel-reftype:
-
-:at:`reftype`: :at-val:`[body, xbody, geom, site, camera]`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framelinvel-refname:
-
-:at:`refname`: :at-val:`string`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-
-.. _sensor-frameangvel:
-
-:el-prefix:`sensor/` |-| **frameangvel** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the 3D angular velocity of the spatial frame of the object, in global
-coordinates.
-
-.. _sensor-frameangvel-name:
-
-.. _sensor-frameangvel-noise:
-
-.. _sensor-frameangvel-cutoff:
-
-.. _sensor-frameangvel-nsample:
-
-.. _sensor-frameangvel-interp:
-
-.. _sensor-frameangvel-interval:
-
-.. _sensor-frameangvel-delay:
-
-.. _sensor-frameangvel-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-frameangvel-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-frameangvel-objname:
-
-:at:`objname`: :at-val:`string, required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-frameangvel-reftype:
-
-:at:`reftype`: :at-val:`[body, xbody, geom, site, camera]`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-frameangvel-refname:
-
-:at:`refname`: :at-val:`string`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-
-.. _sensor-framelinacc:
-
-:el-prefix:`sensor/` |-| **framelinacc** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the 3D linear acceleration of the spatial frame of the object, in global
-coordinates.
-
-The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstraint` during sensor computation.
-
-.. _sensor-framelinacc-name:
-
-.. _sensor-framelinacc-noise:
-
-.. _sensor-framelinacc-cutoff:
-
-.. _sensor-framelinacc-nsample:
-
-.. _sensor-framelinacc-interp:
-
-.. _sensor-framelinacc-interval:
-
-.. _sensor-framelinacc-delay:
-
-.. _sensor-framelinacc-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-framelinacc-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-framelinacc-objname:
-
-:at:`objname`: :at-val:`string, required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-
-.. _sensor-frameangacc:
-
-:el-prefix:`sensor/` |-| **frameangacc** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the 3D angular acceleration of the spatial frame of the object, in global
-coordinates.
-
-The presence of this sensor in a model triggers a call to :ref:`mj_rnePostConstraint` during sensor computation.
-
-.. _sensor-frameangacc-name:
-
-.. _sensor-frameangacc-noise:
-
-.. _sensor-frameangacc-cutoff:
-
-.. _sensor-frameangacc-nsample:
-
-.. _sensor-frameangacc-interp:
-
-.. _sensor-frameangacc-interval:
-
-.. _sensor-frameangacc-delay:
-
-.. _sensor-frameangacc-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-frameangacc-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-.. _sensor-frameangacc-objname:
-
-:at:`objname`: :at-val:`string, required`
-   See :ref:`framepos<sensor-framepos>` sensor.
-
-
-.. _sensor-subtreecom:
-
-:el-prefix:`sensor/` |-| **subtreecom** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates sensor that returns the center of mass of the kinematic subtree rooted at a specified body, in
-global coordinates.
-
-.. _sensor-subtreecom-name:
-
-.. _sensor-subtreecom-noise:
-
-.. _sensor-subtreecom-cutoff:
-
-.. _sensor-subtreecom-nsample:
-
-.. _sensor-subtreecom-interp:
-
-.. _sensor-subtreecom-interval:
-
-.. _sensor-subtreecom-delay:
-
-.. _sensor-subtreecom-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-subtreecom-body:
-
-:at:`body`: :at-val:`string, required`
-   Name of the body where the kinematic subtree is rooted.
-
-
-.. _sensor-subtreelinvel:
-
-:el-prefix:`sensor/` |-| **subtreelinvel** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates sensor that returns the linear velocity of the center of mass of the kinematic subtree rooted at a
-specified body, in global coordinates.
-
-The presence of this sensor in a model triggers a call to :ref:`mj_subtreeVel` during sensor computation.
-
-.. _sensor-subtreelinvel-name:
-
-.. _sensor-subtreelinvel-noise:
-
-.. _sensor-subtreelinvel-cutoff:
-
-.. _sensor-subtreelinvel-nsample:
-
-.. _sensor-subtreelinvel-interp:
-
-.. _sensor-subtreelinvel-interval:
-
-.. _sensor-subtreelinvel-delay:
-
-.. _sensor-subtreelinvel-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-subtreelinvel-body:
-
-:at:`body`: :at-val:`string, required`
-   Name of the body where the kinematic subtree is rooted.
-
-
-.. _sensor-subtreeangmom:
-
-:el-prefix:`sensor/` |-| **subtreeangmom** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates sensor that returns the angular momentum around the center of mass of the kinematic subtree rooted
-at a specified body, in global coordinates.
-
-The presence of this sensor in a model triggers a call to :ref:`mj_subtreeVel` during sensor computation.
-
-.. _sensor-subtreeangmom-name:
-
-.. _sensor-subtreeangmom-noise:
-
-.. _sensor-subtreeangmom-cutoff:
-
-.. _sensor-subtreeangmom-nsample:
-
-.. _sensor-subtreeangmom-interp:
-
-.. _sensor-subtreeangmom-interval:
-
-.. _sensor-subtreeangmom-delay:
-
-.. _sensor-subtreeangmom-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-subtreeangmom-body:
-
-:at:`body`: :at-val:`string, required`
-   Name of the body where the kinematic subtree is rooted.
-
-
-.. _sensor-insidesite:
-
-:el-prefix:`sensor/` |-| **insidesite** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-This element creates a sensor that returns 1 if the given object is inside a site, 0 otherwise.
-It is useful for triggering events in surrounding environment logic.
-See `example model <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/sensor/insidesite.xml>`__.
-
-.. _sensor-insidesite-name:
-
-.. _sensor-insidesite-noise:
-
-.. _sensor-insidesite-cutoff:
-
-.. _sensor-insidesite-nsample:
-
-.. _sensor-insidesite-interp:
-
-.. _sensor-insidesite-interval:
-
-.. _sensor-insidesite-delay:
-
-.. _sensor-insidesite-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-insidesite-objtype:
-
-:at:`objtype`: :at-val:`[body, xbody, geom, site, camera], required`
-   The type of the object whose position will be queried.
-   See :ref:`framepos<sensor-framepos>`.
-
-.. _sensor-insidesite-objname:
-
-:at:`objname`: :at-val:`string, required`
-   The name of the object whose position will be queried.
-   See :ref:`framepos<sensor-framepos>`.
-
-.. _sensor-insidesite-site:
-
-:at:`site`: :at-val:`string`
-   The site defining the volume used for the inside check.
-
-
-
-.. _collision-sensors:
-
-collision sensors
-^^^^^^^^^^^^^^^^^
-
-The following 3 sensor types, :ref:`sensor/distance<sensor-distance>`, :ref:`sensor/normal<sensor-normal>` and
-:ref:`sensor/fromto<sensor-fromto>`, respectively measure the distance, normal direction and line segment of the
-smallest signed distance between the surfaces of two geoms using the narrow-phase geom-geom colliders. The collision
-computation is always performed, independently of the standard collision :ref:`selection and filtering<coSelection>`
-pipeline. These 3 sensors share some common properties:
-
-.. admonition:: different (correct) behavior under `nativeccd`
-   :class: note
-
-   As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
-   :ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
-
-.. _collision-sensors-cutoff:
-
-:at:`cutoff`
-   For most sensors, the :at:`cutoff` attribute simply defines a clipping operation on sensor values. For collision
-   sensors, it defines the maximum distance at which collisions will be detected, corresponding to the ``dismax``
-   argument of :ref:`mj_geomDistance`. For example, at the default value of 0, only negative distances (corresponding
-   to geom-geom penetration) will be reported by :ref:`sensor/distance<sensor-distance>`.
-   In order to determine collision properties of non-penetrating geom pairs, a positive :at:`cutoff` is required.
-
-:at:`geom1`, :at:`geom2`, :at:`body1`, :at:`body2`
-   For all 3 collision sensor types, the two colliding geoms can be specified explicitly using the :at:`geom1` and
-   :at:`geom2` attributes or implicitly, using :at:`body1`, :at:`body2`. In the latter case the sensor will iterate over
-   all geoms of the specified body or bodies (mixed specification like :at:`geom1`, :at:`body2` are allowed), and
-   select the collision with the smallest signed distance.
-
-.. _sensor-distance:
-
-:el-prefix:`sensor/` |-| **distance** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the smallest signed distance between the surfaces of two geoms.
-See :ref:`collision-sensors` for more details about sensors of this type.
-
-.. _sensor-distance-cutoff:
-
-:at:`cutoff`
-   See :ref:`collision-sensors` for the semantics of this attribute, which is different than for other sensor categories.
-   If no collision is detected, the distance sensor returns the :at:`cutoff` value, so in this case
-   :at:`cutoff` acts as a maximum clipping value, in addition to the special semantics.
-
-.. _sensor-distance-geom1:
-
-:at:`geom1`: :at-val:`string, optional`
-   Name of the first geom. Exactly one of (:at:`geom1`, :at:`body1`) must be specified.
-
-.. _sensor-distance-geom2:
-
-:at:`geom2`: :at-val:`string, optional`
-   Name of the second geom. Exactly one of (:at:`geom2`, :at:`body2`) must be specified.
-
-.. _sensor-distance-body1:
-
-:at:`body1`: :at-val:`string, optional`
-   Name of the first body. Exactly one of (:at:`geom1`, :at:`body1`) must be specified.
-
-.. _sensor-distance-body2:
-
-:at:`body2`: :at-val:`string, optional`
-   Name of the second body. Exactly one of (:at:`geom2`, :at:`body2`) must be specified.
-
-.. _sensor-distance-name:
-
-.. _sensor-distance-noise:
-
-.. _sensor-distance-nsample:
-
-.. _sensor-distance-interp:
-
-.. _sensor-distance-interval:
-
-.. _sensor-distance-delay:
-
-.. _sensor-distance-user:
-
-:at:`name`, :at:`noise`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`:
-   See :ref:`CSensor`.
-
-
-.. _sensor-normal:
-
-:el-prefix:`sensor/` |-| **normal** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the normal direction of the smallest signed distance between the surfaces of
-two geoms. It is guaranteed to point from the surface of geom1 to the surface of geom2, though note that in the case of
-penetration, this direction is generally in the opposite direction to that of the centroids.
-See :ref:`collision-sensors` for more details about sensors of this type.
-
-.. _sensor-normal-cutoff:
-
-:at:`cutoff`
-   See :ref:`collision-sensors` for the semantics of this attribute, which is different than for other sensor categories.
-   If no collision is detected, the :ref:`normal<sensor-normal>` sensor returns (0, 0, 0), otherwise it returns a
-   normalized direction vector. For this sensor, :at:`cutoff` does not lead to any clamping.
-
-.. _sensor-normal-geom1:
-
-:at:`geom1`: :at-val:`string, optional`
-   Name of the first geom. Exactly one of (:at:`geom1`, :at:`body1`) must be specified.
-
-.. _sensor-normal-geom2:
-
-:at:`geom2`: :at-val:`string, optional`
-   Name of the second geom. Exactly one of (:at:`geom2`, :at:`body2`) must be specified.
-
-.. _sensor-normal-body1:
-
-:at:`body1`: :at-val:`string, optional`
-   Name of the first body. Exactly one of (:at:`geom1`, :at:`body1`) must be specified.
-
-.. _sensor-normal-body2:
-
-:at:`body2`: :at-val:`string, optional`
-   Name of the second body. Exactly one of (:at:`geom2`, :at:`body2`) must be specified.
-
-.. _sensor-normal-name:
-
-.. _sensor-normal-noise:
-
-.. _sensor-normal-nsample:
-
-.. _sensor-normal-interp:
-
-.. _sensor-normal-interval:
-
-.. _sensor-normal-delay:
-
-.. _sensor-normal-user:
-
-:at:`name`, :at:`noise`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`:
-   See :ref:`CSensor`.
-
-
-.. _sensor-fromto:
-
-:el-prefix:`sensor/` |-| **fromto** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a sensor that returns the segment defining the smallest signed distance between the surfaces of two
-geoms. The segment is defined by 6 numbers (x1, y1, z1, x2, y2, z2) corresponding to two points in the world frame.
-(x1, y1, z1) is on the surface of geom1, (x2, y2, z2) is on the surface of geom2. When this sensor is present and the
-:ref:`mjVIS_RANGEFINDER<mjtVisFlag>` visualization flag is set, segments will be visualized as rangefinder rays.
-See :ref:`collision-sensors` for more details about sensors of this type.
-
-.. _sensor-fromto-cutoff:
-
-:at:`cutoff`
-   See :ref:`collision-sensors` for the semantics of this attribute, which is different than for other sensor categories.
-   If no collision is detected, the :ref:`fromto<sensor-fromto>` sensor returns 6 zeros.
-   For this sensor, :at:`cutoff` does not lead to any clamping.
-
-.. _sensor-fromto-geom1:
-
-:at:`geom1`: :at-val:`string, optional`
-   Name of the first geom. Exactly one of (:at:`geom1`, :at:`body1`) must be specified.
-
-.. _sensor-fromto-geom2:
-
-:at:`geom2`: :at-val:`string, optional`
-   Name of the second geom. Exactly one of (:at:`geom2`, :at:`body2`) must be specified.
-
-.. _sensor-fromto-body1:
-
-:at:`body1`: :at-val:`string, optional`
-   Name of the first body. Exactly one of (:at:`geom1`, :at:`body1`) must be specified.
-
-.. _sensor-fromto-body2:
-
-:at:`body2`: :at-val:`string, optional`
-   Name of the second body. Exactly one of (:at:`geom2`, :at:`body2`) must be specified.
-
-.. _sensor-fromto-name:
-
-.. _sensor-fromto-noise:
-
-.. _sensor-fromto-nsample:
-
-.. _sensor-fromto-interp:
-
-.. _sensor-fromto-interval:
-
-.. _sensor-fromto-delay:
-
-.. _sensor-fromto-user:
-
-:at:`name`, :at:`noise`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`:
-   See :ref:`CSensor`.
-
-
-.. _sensor-contact:
-
-:el-prefix:`sensor/` |-| **contact** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-**Motivation:** The array of contacts which occur during the main dynamics pipeline is inherently variable-sized. The
-purpose of the contact sensor is to report contact-related information in a fixed-size array. This is useful as
-input to learning-based agents and in environment logic.
-
-Unlike the purely geometric :ref:`collision-sensors` that act independently of the dynamics pipeline, the contact
-sensor reports information that was discovered during the collision and constraint steps, extracting data
-from ``mjData.{contact, efc_force}``, ignoring contacts that were filtered out by the :ref:`standard<coSelection>`
-mechanism and produce no force.
-
-Contact sensor output involves three stages: **matching**, **reduction**, and **extraction**.
-
-Matching
-  Selects a set of contacts from ``mjData.contact`` using criteria defined by :ref:`geom1<sensor-contact-geom1>`,
-  :ref:`geom2<sensor-contact-geom2>`, :ref:`body1<sensor-contact-body1>`, :ref:`body2<sensor-contact-body2>`,
-  :ref:`subtree1<sensor-contact-subtree1>`, :ref:`subtree2<sensor-contact-subtree2>` and
-  :ref:`site<sensor-contact-site>`. Matching applies an intersection of criteria, for example setting
-  :ref:`body1<sensor-contact-body1>` and :ref:`body2<sensor-contact-body2>` will match contacts that involve both
-  bodies, while setting only :ref:`geom1<sensor-contact-geom1>` will match any contacts involving that geom. Setting
-  :ref:`site<sensor-contact-site>` will match contacts that are inside the volume defined by the site; this matching
-  criterion can be used with {geom2, body2, subtree2}. The subtree attributes take a body name and match all contacts
-  involving the body's subtree i.e., the body and all of its descendants. Setting
-  :ref:`subtree1<sensor-contact-subtree1>` and :ref:`subtree2<sensor-contact-subtree2>` to the same body will match
-  self-collisions in the subtree. Specifying no matching criterion will match all contacts.
-
-Reduction
-  Reduces the number of matched contacts to exactly :ref:`num<sensor-contact-num>` sub-arrays, or "slots".
-  If less than :at:`num` contacts match, the remaining slots are set to be identically zero. Note that the default,
-  "unsorted" reduction criterion is potentially non-deterministic. See :ref:`reduce<sensor-contact-reduce>` below.
-
-Extraction
-  Copies the set of fields specified by the user into each slot, see :ref:`data<sensor-contact-data>`.
-
-.. _sensor-contact-geom1:
-.. _sensor-contact-geom2:
-
-:at:`geom1`, :at:`geom2`: :at-val:`string, optional`
-   Name of a geom participating in a contact. See **matching** :ref:`above <sensor-contact>`.
-
-.. _sensor-contact-body1:
-.. _sensor-contact-body2:
-
-:at:`body1`, :at:`body2`: :at-val:`string, optional`
-   Name of a body participating in a contact. See **matching** :ref:`above <sensor-contact>`.
-
-.. _sensor-contact-subtree1:
-.. _sensor-contact-subtree2:
-
-:at:`subtree1`, :at:`subtree2`: :at-val:`string, optional`
-   Name of a body whose subtree is participating in a contact. See **matching** :ref:`above <sensor-contact>`.
-
-.. _sensor-contact-site:
-
-:at:`site`: :at-val:`string, optional`
-   Name of a site within whose volume the contact position must be found in order to match.
-   See **matching** :ref:`above <sensor-contact>`.
-
-.. _sensor-contact-num:
-
-:at:`num`: :at-val:`int, "1"`
-   Number of contacts to report. The sensor will always report :at:`num` sequential data arrays ("slots") per contact.
-   The order in which contacts are reported depends on the :ref:`reduce<sensor-contact-reduce>` attribute.
-
-.. _sensor-contact-data:
-
-:at:`data`: :at-val:`[found, force, torque, dist, pos, normal, tangent], "found"`
-   Specification of which data field(s) to report from the selected contacts.
-
-   - :at-val:`found` **real(1)**: This field serves two purposes. First, it indicates whether a contact was found in
-     this slot, 0 means not found while a positive number means found. Second, the positive value equals the number of
-     *matching* contacts. So if :at:`num = 3` contacts were requested but only 2 were matched, the :at-val:`found`
-     fields will equal (2, 2, 0); if 6 were matched they will equal (6, 6, 6).
-   - :at-val:`force` **real(3)**: The contact force, in the contact frame.
-   - :at-val:`torque` **real(3)**: The contact torque, in the contact frame.
-   - :at-val:`dist` **real(1)**: The penetration distance.
-   - :at-val:`pos`: **real(3)**: The contact position, in the global frame.
-   - :at-val:`normal`: **real(3)**: The contact normal direction, in the global frame.
-   - :at-val:`tangent`: **real(3)**: The first tangent direction, in the global frame.
-     In order to complete the full 3x3 contact frame, use tangent2 = cross(normal, tangent).
-
-   Importantly, the :at:`data` attribute can contain **multiple sequential data types**, as long as the relative
-   order---as listed above---is maintained. For example, :at:`data` = :at-val:`"found force dist"` will return 5 numbers
-   per contact (the concatenated values of [found, force, dist]), while :at:`data` = :at-val:`"force found dist"` is an
-   error because :at-val:`found` must come before :at-val:`force`.
-
-   Missing contacts
-      If less than :at:`num` contacts satisfy the matching criterion, the entire data slot is set to be identically
-      zero. Because most data types can take 0 as a valid value, only the zero-ness of the :at-val:`normal` and
-      :at-val:`tangent` unit vectors can be used to unambiguously detect an empty slot. For this reason, the
-      :at-val:`found` data type is in place to allow for simple detection of missing contacts.
-
-   Size of sensordata block
-      Unlike other sensors, the size of the corresponding sensordata block depends on the values of its attributes
-      :ref:`num<sensor-contact-num>` and :ref:`data<sensor-contact-data>`. The total size of the output of a contact
-      sensor is the product ``num x size(selected data fields)``. For example, requesting :at:`num = 6` contacts
-      with :at:`data =` :at-val:`"force dist normal"` (3+1+3=7), will result in a sensordata block of 42 numbers (6
-      consecutive slots x 7 numbers per slot).
-
-   Direction convention
-      Because contacts create two equal-and-opposite forces between contacting bodies, there is freedom in the
-      choice of which body impinges on which.
-
-      The sensor's convention is for "geom1/body1/subtree1" and "geom2/body2/subtree2" to determine the direction of
-      the normal. The normal always points from the first to the second.
-
-      In the case that a direction cannot be determined, as when only a :at:`site` is used as the matching criterion, or
-      when both subtrees are the same, the normal direction is the same as it is in ``mjData.contact``, where the normal
-      points from the first to the second geom, and the two geoms are sorted according to their order in :ref:`mjtGeom`.
-
-.. _sensor-contact-reduce:
-
-:at:`reduce`: :at-val:`[none, mindist, maxforce, netforce], "none"`
-   Reduction criterion to use. Also see **reduction** :ref:`above <sensor-contact>`.
-
-   - **none**: Returns the first :at:`num` contacts that satisfy the matching criterion, in the order that they appear
-     in ``mjData.contact``. Note that while this is the fastest option, it is also potentially non-deterministic: future
-     changes to collision detection code may cause the identity and order of matching contacts to change.
-   - **mindist**: Returns :at:`num` contacts with the smallest penetration depth, ascending order.
-   - **maxforce**: Returns :at:`num` contacts with the largest force norm, descending order.
-   - **netforce**: This reduction criterion returns one new "synthetic" contact, located at the force-weighted centroid
-     of all matched contacts. The frame of the contact is the global frame, so normal and tangent directions lose their
-     natural semantic. The force and torque are computed such that a wrench applied at the computed position will have
-     the same net effect as all the matching contacts combined. Note that this reduction criterion always returns
-     exactly one contact.
-
-.. _sensor-contact-cutoff:
-
-:at:`cutoff`:
-   This attribute is ignored.
-
-.. _sensor-contact-name:
-
-.. _sensor-contact-nsample:
-
-.. _sensor-contact-interp:
-
-.. _sensor-contact-interval:
-
-.. _sensor-contact-delay:
-
-.. _sensor-contact-user:
-
-.. _sensor-contact-noise:
-
-:at:`name`, :at:`noise`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`:
-   See :ref:`CSensor`.
-
-.. _sensor-tactile:
-
-:el-prefix:`sensor/` |-| **tactile** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-.. image:: images/XMLreference/tactile.png
-   :align: right
-   :width: 30%
-   :target: https://github.com/google-deepmind/mujoco/blob/main/model/tactile/tactile.xml
-
-The tactile sensor returns the maximum penetration depth and the sliding velocities in the tangent frame at given points
-between the geom associated with the sensor and the SDF geoms in contact with it. The sensor is associated with a geom
-and a mesh. It is activated by the contact between its associated geom and other geoms. The vertices of the mesh, when
-positioned in the geom frame, are the points at which sensor values are computed, so the dimension of the output is 3
-times the number of vertices in the mesh. The mesh must have 3 normal vectors per vertex, which are used to compute the
-tangent frame. If the penetration depth is positive (no contact), then all values are 0 for the corresponding vertex.
-Only contacts with geoms of type SDF contribute to the sensor output. The sensor can be visualized by enabling the
-visualization of contact points.
-
-.. _sensor-tactile-geom:
-
-:at:`geom`: :at-val:`string, required`
-   Name of the geom to associate the tactile sensor with.
-
-.. _sensor-tactile-mesh:
-
-:at:`mesh`: :at-val:`string, required`
-   Name of the mesh to associate the tactile sensor with.
-
-.. _sensor-tactile-name:
-
-.. _sensor-tactile-nsample:
-
-.. _sensor-tactile-interp:
-
-.. _sensor-tactile-interval:
-
-.. _sensor-tactile-delay:
-
-.. _sensor-tactile-user:
-
-:at:`name`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`:
-   See :ref:`CSensor`.
-
-.. _sensor-e_potential:
-
-:el-prefix:`sensor/` |-| **e_potential** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates sensor that returns the potential energy.
-
-.. _sensor-e_potential-name:
-
-.. _sensor-e_potential-noise:
-
-.. _sensor-e_potential-cutoff:
-
-.. _sensor-e_potential-nsample:
-
-.. _sensor-e_potential-interp:
-
-.. _sensor-e_potential-interval:
-
-.. _sensor-e_potential-delay:
-
-.. _sensor-e_potential-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-
-.. _sensor-e_kinetic:
-
-:el-prefix:`sensor/` |-| **e_kinetic** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates sensor that returns the kinetic energy.
-
-.. _sensor-e_kinetic-name:
-
-.. _sensor-e_kinetic-noise:
-
-.. _sensor-e_kinetic-cutoff:
-
-.. _sensor-e_kinetic-nsample:
-
-.. _sensor-e_kinetic-interp:
-
-.. _sensor-e_kinetic-interval:
-
-.. _sensor-e_kinetic-delay:
-
-.. _sensor-e_kinetic-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-
-.. _sensor-clock:
-
-:el-prefix:`sensor/` |-| **clock** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates sensor that returns the simulation time.
-
-.. _sensor-clock-name:
-
-.. _sensor-clock-noise:
-
-.. _sensor-clock-cutoff:
-
-.. _sensor-clock-nsample:
-
-.. _sensor-clock-interp:
-
-.. _sensor-clock-interval:
-
-.. _sensor-clock-delay:
-
-.. _sensor-clock-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`nsample`, :at:`interval`, :at:`delay`, :at:`user`
-   See :ref:`CSensor`.
-
-
-.. _sensor-user:
-
-:el-prefix:`sensor/` |-| **user** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a user sensor. MuJoCo does not know how to compute the output of this sensor. Instead the user
-should install the callback :ref:`mjcb_sensor` which is expected to fill in the sensor data in ``mjData.sensordata``.
-The specification in the XML is used to allocate space for this sensor, and also determine which MuJoCo object it is
-attached to and what stage of computation it needs before the data can be computed. Note that the MuJoCo object
-referenced here can be a tuple, which in turn can reference a custom collection of MuJoCo objects -- for example
-several bodies whose center of mass is of interest.
-
-If a user sensor is of :ref:`stage<sensor-user-needstage>` "vel" or "acc", then :ref:`mj_subtreeVel` or
-:ref:`mj_rnePostConstraint` will be triggered, respectively.
-
-.. _sensor-user-name:
-
-.. _sensor-user-noise:
-
-.. _sensor-user-cutoff:
-
-.. _sensor-user-user:
-
-:at:`name`, :at:`noise`, :at:`cutoff`, :at:`user`
-   See :ref:`CSensor`.
-
-.. _sensor-user-objtype:
-
-:at:`objtype`: :at-val:`(any element type that can be named), optional`
-   Type of the MuJoCo object to which the sensor is attached. This together with the objname attribute determines the
-   actual object. If unspecified, will be :ref:`mjOBJ_UNKNOWN<mjtObj>`.
-
-.. _sensor-user-objname:
-
-:at:`objname`: :at-val:`string, optional`
-   Name of the MuJoCo object to which the sensor is attached.
-
-.. _sensor-user-datatype:
-
-:at:`datatype`: :at-val:`[real, positive, axis, quaternion], "real"`
-   The type of output generated by this sensor. "axis" means a unit-length 3D vector. "quat" means a unit quaternion.
-   These need to be declared because when MuJoCo adds noise, it must respect the vector normalization. "real" means a
-   generic array (or scalar) of real values to which noise can be added independently.
-
-.. _sensor-user-needstage:
-
-:at:`needstage`: :at-val:`[pos, vel, acc], "acc"`
-   The MuJoCo computation stage that must be completed before the user callback mjcb_sensor() is able to evaluate the
-   output of this sensor.
-
-.. _sensor-user-dim:
-
-:at:`dim`: :at-val:`int, required`
-   Number of scalar outputs of this sensor.
-
-
-.. _sensor-plugin:
-
-:el-prefix:`sensor/` |-| **plugin** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Ascociate this sensor with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin` or :at:`instance` are required.
-
-.. _sensor-plugin-plugin:
-
-:at:`plugin`: :at-val:`string, optional`
-   Plugin identifier, used for implicit plugin instantiation.
-
-.. _sensor-plugin-instance:
-
-:at:`instance`: :at-val:`string, optional`
-   Instance name, used for explicit plugin instantiation.
-
-.. _sensor-plugin-name:
-
-.. _sensor-plugin-cutoff:
-
-.. _sensor-plugin-objtype:
-
-.. _sensor-plugin-objname:
-
-.. _sensor-plugin-reftype:
-
-.. _sensor-plugin-refname:
-
-.. _sensor-plugin-user:
-
-.. |sensor/plugin attrib list| replace:: :at:`name`, :at:`cutoff`, :at:`objtype`, :at:`objname`, :at:`reftype`,
-   :at:`refname`, :at:`user`
-
-|sensor/plugin attrib list|
-   See :ref:`CSensor`.
-
-
-.. _keyframe:
-
-**keyframe** |*|
-~~~~~~~~~~~~~~~~
-
-This is a grouping element for keyframe definitions. It does not have attributes. Keyframes can be used to create a
-library of states that are of interest to the user, and to initialize the simulation state to one of the states in the
-library. They are not needed by any MuJoCo computations. The number of keyframes allocated in mjModel is the larger of
-the nkey attribute of :ref:`size <size>`, and the number of elements defined here. If fewer than nkey elements are
-defined here, the undefined keyframes have all their data set to 0, except for the qpos attribute which is set to
-mjModel.qpos0.
-The user can also set keyframe data in mjModel at runtime; this data will then appear in the saved MJCF model. Note that
-in :ref:`simulate.cc <saSimulate>` the simulation state can be copied into a selected keyframe and vice versa.
-
-
-.. _keyframe-key:
-
-:el-prefix:`keyframe/` |-| **key** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element sets the data for one of the keyframes. They are set in the order in which they appear here. If the number
-of elements specified in the given vectors is less than the size of the corresponding mjData array, missing entries will
-be set to their values in the default configuration.
-
-
-.. _keyframe-key-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of this keyframe.
-
-.. _keyframe-key-time:
-
-:at:`time`: :at-val:`real, "0"`
-   Simulation time, copied into mjData.time when the simulation state is set to this keyframe.
-
-.. _keyframe-key-qpos:
-
-:at:`qpos`: :at-val:`real(mjModel.nq), default = mjModel.qpos0`
-   Vector of joint positions, copied into mjData.qpos when the simulation state is set to this keyframe.
-
-.. _keyframe-key-qvel:
-
-:at:`qvel`: :at-val:`real(mjModel.nq), "0 0 ..."`
-   Vector of joint velocities, copied into mjData.qvel when the simulation state is set to this keyframe.
-
-.. _keyframe-key-act:
-
-:at:`act`: :at-val:`real(mjModel.na), "0 0 ..."`
-   Vector of actuator activations, copied into mjData.act when the simulation state is set to this keyframe.
-
-.. _keyframe-key-ctrl:
-
-:at:`ctrl`: :at-val:`real(mjModel.nu), "0 0 ..."`
-   Vector of controls, copied into mjData.ctrl when the simulation state is set to this keyframe.
-
-.. _keyframe-key-mpos:
-
-:at:`mpos`: :at-val:`real(3*mjModel.nmocap), default = mjModel.body_pos`
-   Vector of mocap body positions, copied into mjData.mocap_pos when the simulation state is set to this keyframe.
-
-.. _keyframe-key-mquat:
-
-:at:`mquat`: :at-val:`real(4*mjModel.nmocap), default = mjModel.body_quat`
-   Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe.
-
-
-
-.. _visual:
-
-**visual** |*|
-~~~~~~~~~~~~~~
-
-This element is in one-to-one correspondence with the low level structure mjVisual contained in the field mjModel.vis
-of mjModel. The settings here affect the visualizer, or more precisely the abstract phase of visualization which
-yields a list of geometric entities for subsequent rendering. The settings here are global, in contrast with the
-element-specific visual settings. The global and element-specific settings refer to non-overlapping properties. Some
-of the global settings affect properties such as triangulation of geometric primitives that cannot be set per element.
-Other global settings affect the properties of decorative objects, i.e., objects such as contact points and force
-arrows which do not correspond to model elements. The visual settings are grouped semantically into several
-subsections.
-|br| This element is a good candidate for the :ref:`file include <CInclude>` mechanism. One can create an XML file with
-coordinated visual settings corresponding to a "theme", and then include this file in multiple models.
-
-.. _visual-global:
-
-:el-prefix:`visual/` |-| **global** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-While all settings in mjVisual are global, the settings here could not be fit into any of the other subsections. So this
-is effectively a miscellaneous subsection.
-
-.. _visual-global-cameraid:
-
-:at:`cameraid`: :at-val:`int, "-1"`
-   The id of the camera used when initially loading the model in the visualizer. The default value of -1 means the free
-   camera. In order to specify a :ref:`modeled camera<body-camera>`, use the camera's id as given by :ref:`mj_name2id`.
-
-.. _visual-global-orthographic:
-
-:at:`orthographic`: :at-val:`[false, true], "false"`
-   Whether the free camera uses a perspective projection (the default) or an orthographic projection. Setting this
-   attribute changes the semantic of the :ref:`global/fovy<visual-global-fovy>` attribute, see below.
-
-.. _visual-global-fovy:
-
-:at:`fovy`: :at-val:`real, "45"`
-   This attribute specifies the vertical field of view of the free camera, i.e., the camera that is always available in
-   the visualizer even if no cameras are explicitly defined in the model. If the camera uses a perspective projection,
-   the field-of-view is expressed in degrees, regardless of the global :ref:`compiler/angle <compiler-angle>` setting.
-   If the camera uses an orthographic projection, the field-of-view is expressed in units of length; note that in this
-   case the default of 45 is too large for most scenes and should likely be reduced. In either case, the horizontal
-   field of view is computed automatically given the window size and the vertical field of view. The same convention
-   applies to the :ref:`camera/fovy <body-camera-fovy>` attribute.
-
-.. _visual-global-ipd:
-
-:at:`ipd`: :at-val:`real, "0.068"`
-   This attribute specifies the inter-pupilary distance of the free camera. It only affects the rendering in
-   stereoscopic mode. The left and right viewpoints are offset by half of this value in the corresponding direction.
-
-.. _visual-global-azimuth:
-
-:at:`azimuth`: :at-val:`real, "90"`
-   This attribute specifies the initial azimuth of the free camera around the vertical z-axis, in degrees. A value of 0
-   corresponds to looking in the positive x direction, while the default value of 90 corresponds to looking in the
-   positive y direction. The look-at point itself is specified by the :ref:`statistic/center<statistic-center>`
-   attribute, while the distance from the look-at point is controlled by the :ref:`statistic/extent<statistic-extent>`
-   attribute.
-
-.. _visual-global-elevation:
-
-:at:`elevation`: :at-val:`real, "-45"`
-   This attribute specifies the initial elevation of the free camera with respect to the lookat point. Note that since
-   this is a rotation around a vector parallel to the camera's X-axis (right in pixel space), *negative* numbers
-   correspond to moving the camera *up* from the horizontal plane, and vice-versa. The look-at point itself is specified
-   by the :ref:`statistic/center<statistic-center>` attribute, while the distance from the look-at point is controlled
-   by the :ref:`statistic/extent<statistic-extent>` attribute.
-
-.. _visual-global-linewidth:
-
-:at:`linewidth`: :at-val:`real, "1"`
-   This attribute specifies the line-width in the sense of OpenGL. It affects the rendering in wire-frame mode.
-
-.. _visual-global-glow:
-
-:at:`glow`: :at-val:`real, "0.3"`
-   The value of this attribute is added to the emission coefficient of all geoms attached to the selected body. As a
-   result, the selected body appears to glow.
-
-.. _visual-global-realtime:
-
-:at:`realtime`: :at-val:`real, "1"`
-   This value sets the initial real-time factor of the model, when loaded in `simulate`. 1: real time. Less than 1:
-   slower than real time. Must be greater than 0.
-
-.. _visual-global-offwidth:
-
-:at:`offwidth`: :at-val:`int, "640"`
-   This and the next attribute specify the size in pixels of the off-screen OpenGL rendering buffer. This attribute
-   specifies the width of the buffer. The size of this buffer can also be adjusted at runtime, but it is usually more
-   convenient to set it in the XML.
-
-.. _visual-global-offheight:
-
-:at:`offheight`: :at-val:`int, "480"`
-   This attribute specifies the height in pixels of the OpenGL off-screen rendering buffer.
-
-.. _visual-global-ellipsoidinertia:
-
-:at:`ellipsoidinertia`: :at-val:`[false, true], "false"`
-   This attribute specifies how the equivalent inertia is visualized. "false":
-   use box, "true": use ellipsoid.
-
-.. _visual-global-bvactive:
-
-:at:`bvactive`: :at-val:`[false, true], "false"`
-   This attribute specifies whether collision and raycasting code should mark elements of Bounding Volume Hierarchies
-   as intersecting, for the purpose of visualization. Setting this attribute to "true" can slow down simulation for
-   models with high-resolution meshes, due to the O(N) cost of clearing visualization flags at each step.
-
-.. _visual-quality:
-
-:el-prefix:`visual/` |-| **quality** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element specifies settings that affect the quality of the rendering. Larger values result in higher quality but
-possibly slower speed. Note that :ref:`simulate.cc <saSimulate>` displays the frames per second (FPS). The target FPS is
-60 Hz; if the number shown in the visualizer is substantially lower, this means that the GPU is over-loaded and the
-visualization should somehow be simplified.
-
-.. _visual-quality-shadowsize:
-
-:at:`shadowsize`: :at-val:`int, "4096"`
-   This attribute specifies the size of the square texture used for shadow mapping. Higher values result in smoother
-   shadows. The size of the area over which a :ref:`light <body-light>` can cast shadows also affects smoothness, so
-   these settings should be adjusted jointly. The default here is somewhat conservative. Most modern GPUs are able to
-   handle significantly larger textures without slowing down.
-
-.. _visual-quality-offsamples:
-
-:at:`offsamples`: :at-val:`int, "4"`
-   This attribute specifies the number of multi-samples for offscreen rendering. Larger values produce better
-   anti-aliasing but can slow down the GPU. Set this to 0 to disable multi-sampling. Note that this attribute only
-   affects offscreen rendering. For regular window rendering, multi-sampling is specified in an OS-dependent way when
-   the OpenGL context for the window is first created, and cannot be changed from within MuJoCo.
-   |br| When rendering segmentation images, multi-sampling is automatically disabled so as not to average segmentation
-   indices. However, some rendering backends ignore the automatic disabling. If your segmentation images contain bad
-   indices, try manually setting this attribute to 0.
-
-.. _visual-quality-numslices:
-
-:at:`numslices`: :at-val:`int, "28"`
-   This and the next three attributes specify the density of internally-generated meshes for geometric primitives. Such
-   meshes are only used for rendering, while the collision detector works with the underlying analytic surfaces. This
-   value is passed to the various visualizer functions as the "slices" parameter as used in GLU. It specifies the number
-   of subdivisions around the Z-axis, similar to lines of longitude.
-
-.. _visual-quality-numstacks:
-
-:at:`numstacks`: :at-val:`int, "16"`
-   This value of this attribute is passed to the various visualization functions as the "stacks" parameter as used in
-   GLU. It specifies the number of subdivisions along the Z-axis, similar to lines of latitude.
-
-.. _visual-quality-numquads:
-
-:at:`numquads`: :at-val:`int, "4"`
-   This attribute specifies the number of rectangles for rendering box faces, automatically-generated planes (as opposed
-   to geom planes which have an element-specific attribute with the same function), and sides of height fields. Even
-   though a geometrically correct rendering can be obtained by setting this value to 1, illumination works better for
-   larger values because we use per-vertex illumination (as opposed to per-fragment).
-
-
-.. _visual-headlight:
-
-:el-prefix:`visual/` |-| **headlight** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element is used to adjust the properties of the headlight. There is always a built-in headlight, in addition to any
-lights explicitly defined in the model. The headlight is a directional light centered at the current camera and pointed
-in the direction in which the camera is looking. It does not cast shadows (which would be invisible anyway). Note that
-lights are additive, so if explicit lights are defined in the model, the intensity of the headlight would normally need
-to be reduced.
-
-.. _visual-headlight-ambient:
-
-:at:`ambient`: :at-val:`real(3), "0.1 0.1 0.1"`
-   The ambient component of the headlight, in the sense of OpenGL. The alpha component here and in the next two
-   attributes is set to 1 and cannot be adjusted.
-
-.. _visual-headlight-diffuse:
-
-:at:`diffuse`: :at-val:`real(3), "0.4 0.4 0.4"`
-   The diffuse component of the headlight, in the sense of OpenGL.
-
-.. _visual-headlight-specular:
-
-:at:`specular`: :at-val:`real(3), "0.5 0.5 0.5"`
-   The specular component of the headlight, in the sense of OpenGL.
-
-.. _visual-headlight-active:
-
-:at:`active`: :at-val:`int, "1"`
-   This attribute enables and disables the headlight. A value of 0 means disabled, any other value means enabled.
-
-
-.. _visual-map:
-
-:el-prefix:`visual/` |-| **map** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element is used to specify scaling quantities that affect both the visualization and built-in mouse perturbations.
-Unlike the scaling quantities in the next element which are specific to spatial extent, the quantities here are
-miscellaneous.
-
-.. _visual-map-stiffness:
-
-:at:`stiffness`: :at-val:`real, "100"`
-   This attribute controls the strength of mouse perturbations. The internal perturbation mechanism simulates a
-   mass-spring-damper with critical damping, unit mass, and stiffness given here. Larger values mean that a larger force
-   will be applied for the same displacement between the selected body and the mouse-controlled target.
-
-.. _visual-map-stiffnessrot:
-
-:at:`stiffnessrot`: :at-val:`real, "500"`
-   Same as above but applies to rotational perturbations rather than translational perturbations. Empirically, the
-   rotational stiffness needs to be larger in order for rotational mouse perturbations to have an effect.
-
-.. _visual-map-force:
-
-:at:`force`: :at-val:`real, "0.005"`
-   This attributes controls the visualization of both contact forces and perturbation forces. The length of the rendered
-   force vector equals the force magnitude multiplied by the value of this attribute and divided by the mean body mass
-   for the model (see :ref:`statistic <statistic>` element).
-
-.. _visual-map-torque:
-
-:at:`torque`: :at-val:`real, "0.1"`
-   Same as above, but controls the rendering of contact torque and perturbation torque rather than force (currently
-   disabled).
-
-.. _visual-map-alpha:
-
-:at:`alpha`: :at-val:`real, "0.3"`
-   When transparency is turned on in the visualizer, the geoms attached to all moving bodies are made more transparent.
-   This is done by multiplying the geom-specific alpha values by this value.
-
-.. _visual-map-fogstart:
-
-:at:`fogstart`: :at-val:`real, "3"`
-   The visualizer can simulate linear fog, in the sense of OpenGL. The start position of the fog is the model extent
-   (see :ref:`statistic <statistic>` element) multiplied by the value of this attribute.
-
-.. _visual-map-fogend:
-
-:at:`fogend`: :at-val:`real, "10"`
-   The end position of the fog is the model extent multiplied by the value of this attribute.
-
-.. _visual-map-znear:
-
-:at:`znear`: :at-val:`real, "0.01"`
-   This and the next attribute determine the clipping planes of the OpenGL projection. The near clipping plane is
-   particularly important: setting it too close causes (often severe) loss of resolution in the depth buffer, while
-   setting it too far causes objects of interest to be clipped, making it impossible to zoom in. The distance to the
-   near clipping plane is the model ``extent`` multiplied by the value of this attribute. Must be strictly positive.
-
-.. _visual-map-zfar:
-
-:at:`zfar`: :at-val:`real, "50"`
-   The distance to the far clipping plane is the model ``extent`` multiplied by the value of this attribute.
-
-.. _visual-map-haze:
-
-:at:`haze`: :at-val:`real, "0.3"`
-   Proportion of the distance-to-horizon that is covered by haze (when haze rendering is enabled and a skybox is
-   present).
-
-.. _visual-map-shadowclip:
-
-:at:`shadowclip`: :at-val:`real, "1"`
-   As mentioned above, shadow quality depends on the size of the shadow texture as well as the area where a given light
-   can cast shadows. For directional lights, the area would be infinite unless we limited it somehow. This attribute
-   specifies the limits, as +/- the model extent multiplied by the present value. These limits define a square in the
-   plane orthogonal to the light direction. If a shadow crosses the boundary of this virtual square, it will disappear
-   abruptly, revealing the edges of the square.
-
-.. _visual-map-shadowscale:
-
-:at:`shadowscale`: :at-val:`real, "0.6"`
-   This attribute plays a similar role as the previous one, but applies to spotlights rather than directional lights.
-   Spotlights have a cutoff angle, limited internally to 80 deg. However this angle is often too large to obtain good
-   quality shadows, and it is necessary to limit the shadow to a smaller cone. The angle of the cone in which shadows
-   can be cast is the light cutoff multiplied by the present value.
-
-.. _visual-map-actuatortendon:
-
-:at:`actuatortendon`: :at-val:`real, "2"`
-   Ratio of actuator width to tendon width for rendering of actuators attached to tendons.
-
-
-.. _visual-scale:
-
-:el-prefix:`visual/` |-| **scale** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-The settings in this element control the spatial extent of various decorative objects. In all cases, the rendered size
-equals the mean body size (see :ref:`statistic <statistic>` element) multiplied by the value of an attribute
-documented below.
-
-.. _visual-scale-forcewidth:
-
-:at:`forcewidth`: :at-val:`real, "0.1"`
-   The radius of the arrows used to render contact forces and perturbation forces.
-
-.. _visual-scale-contactwidth:
-
-:at:`contactwidth`: :at-val:`real, "0.3"`
-   The radius of the cylinders used to render contact points. The normal direction of the cylinder is aligned with the
-   contact normal. Making the cylinder short and wide results in a "pancake" representation of the tangent plane.
-
-.. _visual-scale-contactheight:
-
-:at:`contactheight`: :at-val:`real, "0.1"`
-   The height of the cylinders used to render contact points.
-
-.. _visual-scale-connect:
-
-:at:`connect`: :at-val:`real, "0.2"`
-   The radius of the capsules used to connect bodies and joints, resulting in an automatically generated skeleton.
-
-.. _visual-scale-com:
-
-:at:`com`: :at-val:`real, "0.4"`
-   The radius of the spheres used to render the centers of mass of kinematic sub-trees.
-
-.. _visual-scale-camera:
-
-:at:`camera`: :at-val:`real, "0.3"`
-   The size of the decorative object used to represent model cameras in the rendering.
-
-.. _visual-scale-light:
-
-:at:`light`: :at-val:`real, "0.3"`
-   The size of the decorative object used to represent model lights in the rendering.
-
-.. _visual-scale-selectpoint:
-
-:at:`selectpoint`: :at-val:`real, "0.2"`
-   The radius of the sphere used to render the selection point (i.e., the point where the user left-double-clicked to
-   select a body). Note that the local and global coordinates of this point can be printed in the 3D view by activating
-   the corresponding rendering flags. In this way, the coordinates of points of interest can be found.
-
-.. _visual-scale-jointlength:
-
-:at:`jointlength`: :at-val:`real, "1.0"`
-   The length of the arrows used to render joint axes.
-
-.. _visual-scale-jointwidth:
-
-:at:`jointwidth`: :at-val:`real, "0.1"`
-   The radius of the arrows used to render joint axes.
-
-.. _visual-scale-actuatorlength:
-
-:at:`actuatorlength`: :at-val:`real, "0.7"`
-   The length of the arrows used to render actuators acting on scalar joints only.
-
-.. _visual-scale-actuatorwidth:
-
-:at:`actuatorwidth`: :at-val:`real, "0.2"`
-   The radius of the arrows used to render actuators acting on scalar joints only.
-
-.. _visual-scale-framelength:
-
-:at:`framelength`: :at-val:`real, "1.0"`
-   The length of the cylinders used to render coordinate frames. The world frame is automatically scaled relative to
-   this setting.
-
-.. _visual-scale-framewidth:
-
-:at:`framewidth`: :at-val:`real, "0.1"`
-   The radius of the cylinders used to render coordinate frames.
-
-.. _visual-scale-constraint:
-
-:at:`constraint`: :at-val:`real, "0.1"`
-   The radius of the capsules used to render violations in spatial constraints.
-
-.. _visual-scale-slidercrank:
-
-:at:`slidercrank`: :at-val:`real, "0.2"`
-   The radius of the capsules used to render slider-crank mechanisms. The second part of the mechanism is automatically
-   scaled relative to this setting.
-
-.. _visual-scale-frustum:
-
-:at:`frustum`: :at-val:`real, "10"`
-   The distance of the zfar plane from the camera pinhole for rendering the frustum.
-
-
-.. _visual-rgba:
-
-:el-prefix:`visual/` |-| **rgba** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-The settings in this element control the color and transparency (rgba) of various decorative objects. We will call this
-combined attribute "color" to simplify terminology below. All values should be in the range [0 1]. An alpha value of 0
-disables the rendering of the corresponding object.
-
-.. _visual-rgba-fog:
-
-:at:`fog`: :at-val:`real(4), "0 0 0 1"`
-   When fog is enabled, the color of all pixels fades towards the color specified here. The spatial extent of the fading
-   is controlled by the fogstart and fogend attributes of the :ref:`map <visual-map>` element above.
-
-.. _visual-rgba-haze:
-
-:at:`haze`: :at-val:`real(4), "1 1 1 1"`
-   Haze color at the horizon, used to transition between an infinite plane and a skybox smoothly. The default creates
-   white haze. To create a seamless transition, make sure the skybox colors near the horizon are similar to the plane
-   color/texture, and set the haze color somewhere in that color gamut.
-
-.. _visual-rgba-force:
-
-:at:`force`: :at-val:`real(4), "1 0.5 0.5 1"`
-   Color of the arrows used to render perturbation forces.
-
-.. _visual-rgba-inertia:
-
-:at:`inertia`: :at-val:`real(4), "0.8 0.2 0.2 0.6"`
-   Color of the boxes used to render equivalent body inertias. This is the only rgba setting that has transparency by
-   default, because it is usually desirable to see the geoms inside the inertia box.
-
-.. _visual-rgba-joint:
-
-:at:`joint`: :at-val:`real(4), "0.2 0.6 0.8 1"`
-   Color of the arrows used to render joint axes. If a joint is limited and the joint value exceeds the limit, the
-   value of the :ref:`constraint impedance<soParameters>` :math:`d` is used to mix this color and
-   :ref:`rgba/constraint<visual-rgba-constraint>`.
-
-.. _visual-rgba-actuator:
-
-:at:`actuator`: :at-val:`real(4), "0.2 0.25 0.2 1"`
-   Actuator color for neutral value of the control.
-
-.. _visual-rgba-actuatornegative:
-
-:at:`actuatornegative`: :at-val:`real(4), "0.2 0.6 0.9 1"`
-   Actuator color for most negative value of the control.
-
-.. _visual-rgba-actuatorpositive:
-
-:at:`actuatorpositive`: :at-val:`real(4), "0.9 0.4 0.2 1"`
-   Actuator color for most positive value of the control.
-
-.. _visual-rgba-com:
-
-:at:`com`: :at-val:`real(4), "0.9 0.9 0.9 1"`
-   Color of the spheres used to render sub-tree centers of mass.
-
-.. _visual-rgba-camera:
-
-:at:`camera`: :at-val:`real(4), "0.6 0.9 0.6 1"`
-   Color of the decorative object used to represent model cameras in the rendering.
-
-.. _visual-rgba-light:
-
-:at:`light`: :at-val:`real(4), "0.6 0.6 0.9 1"`
-   Color of the decorative object used to represent model lights in the rendering.
-
-.. _visual-rgba-selectpoint:
-
-:at:`selectpoint`: :at-val:`real(4), "0.9 0.9 0.1 1"`
-   Color of the sphere used to render the selection point.
-
-.. _visual-rgba-connect:
-
-:at:`connect`: :at-val:`real(4), "0.2 0.2 0.8 1"`
-   Color of the capsules used to connect bodies and joints, resulting in an automatically generated skeleton.
-
-.. _visual-rgba-contactpoint:
-
-:at:`contactpoint`: :at-val:`real(4), "0.9 0.6 0.2 1"`
-   Color of the cylinders used to render contact points.
-
-.. _visual-rgba-contactforce:
-
-:at:`contactforce`: :at-val:`real(4), "0.7 0.9 0.9 1"`
-   Color of the arrows used to render contact forces. When splitting of contact forces into normal and tangential
-   components is enabled, this color is used to render the normal components.
-
-.. _visual-rgba-contactfriction:
-
-:at:`contactfriction`: :at-val:`real(4), "0.9 0.8 0.4 1"`
-   Color of the arrows used to render contact tangential forces, only when splitting is enabled.
-
-.. _visual-rgba-contacttorque:
-
-:at:`contacttorque`: :at-val:`real(4), "0.9 0.7 0.9 1"`
-   Color of the arrows used to render contact torques (currently disabled).
-
-.. _visual-rgba-contactgap:
-
-:at:`contactgap`: :at-val:`real(4), "0.5 0.8 0.9 1"`
-   Color of contacts that fall in the contact gap (and are thereby excluded from contact force computations).
-
-.. _visual-rgba-rangefinder:
-
-:at:`rangefinder`: :at-val:`real(4), "1 1 0.1 1"`
-   Color of line geoms used to render rangefinder sensors.
-
-.. _visual-rgba-constraint:
-
-:at:`constraint`: :at-val:`real(4), "0.9 0 0 1"`
-   Color corresponding to spatial constraint violations -- equality constraints, joint limits, and tendon limits.
-
-.. _visual-rgba-slidercrank:
-
-:at:`slidercrank`: :at-val:`real(4), "0.5 0.3 0.8 1"`
-   Color of slider-crank mechanisms.
-
-.. _visual-rgba-crankbroken:
-
-:at:`crankbroken`: :at-val:`real(4), "0.9 0 0 1"`
-   Color used to render the crank of slide-crank mechanisms, in model configurations where the specified rod length
-   cannot be maintained, i.e., it is "broken".
-
-.. _visual-rgba-frustum:
-
-:at:`frustum`: :at-val:`real(4), "1 1 0 0.2"`
-   Color used to render the camera frustum.
-
-.. _visual-rgba-bv:
-
-:at:`bv`: :at-val:`real(4), "0 1 0 0.5"`
-   Color used to render bounding volumes.
-
-.. _visual-rgba-bvactive:
-
-:at:`bvactive`: :at-val:`real(4), "1 0 0 0.5"`
-   Color used to render active bounding volumes, if the :ref:`bvactive<visual-global-bvactive>` flag is "true".
-
-
-
-.. _default:
-
-**default** |@|
-~~~~~~~~~~~~~~~
-
-This element is used to create a new defaults class; see :ref:`CDefault` above. Defaults classes can be nested,
-inheriting all attribute values from their parent. The top-level defaults class is always defined; it is called "main"
-if omitted.
-
-.. _default-class:
-
-:at:`class`: :at-val:`string, required (except at the top level)`
-   The name of the defaults class. It must be unique among all defaults classes. This name is used to make the class
-   active when creating an actual model element.
-
-
-.. _default-mesh:
-
-.. _default-mesh-scale:
-
-.. _default-mesh-maxhullvert:
-
-.. _default-mesh-inertia:
-
-:el-prefix:`default/` |-| **mesh** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`mesh <asset-mesh>` element of the defaults class.
-| The available attributes are: :ref:`scale <asset-mesh-scale>` and :ref:`maxhullvert <asset-mesh-maxhullvert>`.
-
-
-.. _default-material:
-
-.. _default-material-texture:
-
-.. _default-material-emission:
-
-.. _default-material-specular:
-
-.. _default-material-shininess:
-
-.. _default-material-reflectance:
-
-.. _default-material-metallic:
-
-.. _default-material-roughness:
-
-.. _default-material-rgba:
-
-.. _default-material-texrepeat:
-
-.. _default-material-texuniform:
-
-:el-prefix:`default/` |-| **material** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`material <asset-material>` element of the defaults class.
-| All material attributes are available here except: name, class.
-
-
-.. _default-joint:
-
-.. _default-joint-type:
-
-.. _default-joint-group:
-
-.. _default-joint-pos:
-
-.. _default-joint-axis:
-
-.. _default-joint-springdamper:
-
-.. _default-joint-limited:
-
-.. _default-joint-actuatorfrclimited:
-
-.. _default-joint-actuatorgravcomp:
-
-.. _default-joint-solreflimit:
-
-.. _default-joint-solimplimit:
-
-.. _default-joint-solreffriction:
-
-.. _default-joint-solimpfriction:
-
-.. _default-joint-stiffness:
-
-.. _default-joint-range:
-
-.. _default-joint-actuatorfrcrange:
-
-.. _default-joint-margin:
-
-.. _default-joint-ref:
-
-.. _default-joint-springref:
-
-.. _default-joint-armature:
-
-.. _default-joint-damping:
-
-.. _default-joint-frictionloss:
-
-.. _default-joint-user:
-
-:el-prefix:`default/` |-| **joint** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`joint <body-joint>` element of the defaults class.
-| All joint attributes are available here except: name, class.
-
-
-.. _default-geom:
-
-.. _default-geom-type:
-
-.. _default-geom-pos:
-
-.. _default-geom-quat:
-
-.. _default-geom-contype:
-
-.. _default-geom-conaffinity:
-
-.. _default-geom-condim:
-
-.. _default-geom-group:
-
-.. _default-geom-priority:
-
-.. _default-geom-size:
-
-.. _default-geom-material:
-
-.. _default-geom-friction:
-
-.. _default-geom-mass:
-
-.. _default-geom-density:
-
-.. _default-geom-shellinertia:
-
-.. _default-geom-solmix:
-
-.. _default-geom-solref:
-
-.. _default-geom-solimp:
-
-.. _default-geom-margin:
-
-.. _default-geom-gap:
-
-.. _default-geom-surfacevel:
-
-.. _default-geom-adhesion:
-
-.. _default-geom-fromto:
-
-.. _default-geom-axisangle:
-
-.. _default-geom-xyaxes:
-
-.. _default-geom-zaxis:
-
-.. _default-geom-euler:
-
-.. _default-geom-hfield:
-
-.. _default-geom-mesh:
-
-.. _default-geom-fitscale:
-
-.. _default-geom-rgba:
-
-.. _default-geom-fluidshape:
-
-.. _default-geom-fluidcoef:
-
-.. _default-geom-user:
-
-:el-prefix:`default/` |-| **geom** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`geom <body-geom>` element of the defaults class.
-| All geom attributes are available here except: name, class.
-
-
-.. _default-site:
-
-.. _default-site-type:
-
-.. _default-site-group:
-
-.. _default-site-pos:
-
-.. _default-site-quat:
-
-.. _default-site-material:
-
-.. _default-site-size:
-
-.. _default-site-fromto:
-
-.. _default-site-axisangle:
-
-.. _default-site-xyaxes:
-
-.. _default-site-zaxis:
-
-.. _default-site-euler:
-
-.. _default-site-rgba:
-
-.. _default-site-user:
-
-:el-prefix:`default/` |-| **site** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`site <body-site>` element of the defaults class.
-| All site attributes are available here except: name, class.
-
-.. _default-camera-projection:
-
-.. _default-camera-fovy:
-
-.. _default-camera-resolution:
-
-.. _default-camera-output:
-
-.. _default-camera-ipd:
-
-.. _default-camera-pos:
-
-.. _default-camera-quat:
-
-.. _default-camera-axisangle:
-
-.. _default-camera-xyaxes:
-
-.. _default-camera-zaxis:
-
-.. _default-camera-euler:
-
-.. _default-camera-mode:
-
-.. _default-camera-user:
-
-.. _default-camera-focal:
-
-.. _default-camera-focalpixel:
-
-.. _default-camera-principal:
-
-.. _default-camera-principalpixel:
-
-.. _default-camera-sensorsize:
-
-.. _default-camera:
-
-
-:el-prefix:`default/` |-| **camera** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`camera <body-camera>` element of the defaults class.
-| All camera attributes are available here except: name, class, mode, target.
-
-
-.. _default-light:
-
-.. _default-light-pos:
-
-.. _default-light-dir:
-
-.. _default-light-type:
-
-.. _default-light-directional:
-
-.. _default-light-castshadow:
-
-.. _default-light-active:
-
-.. _default-light-diffuse:
-
-.. _default-light-intensity:
-
-.. _default-light-ambient:
-
-.. _default-light-specular:
-
-.. _default-light-bulbradius:
-
-.. _default-light-range:
-
-.. _default-light-attenuation:
-
-.. _default-light-cutoff:
-
-.. _default-light-softness:
-
-.. _default-light-exponent:
-
-.. _default-light-mode:
-
-:el-prefix:`default/` |-| **light** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`light <body-light>` element of the defaults class.
-| All light attributes are available here except: name, class.
-
-
-.. _default-pair:
-
-.. _default-pair-condim:
-
-.. _default-pair-friction:
-
-.. _default-pair-solref:
-
-.. _default-pair-solreffriction:
-
-.. _default-pair-solimp:
-
-.. _default-pair-gap:
-
-.. _default-pair-margin:
-
-.. _default-pair-adhesion:
-
-:el-prefix:`default/` |-| **pair** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`pair <contact-pair>` element of the defaults class.
-| All pair attributes are available here except: name, class, geom1, geom2.
-
-
-.. _default-equality:
-
-.. _default-equality-active:
-
-.. _default-equality-solref:
-
-.. _default-equality-solimp:
-
-:el-prefix:`default/` |-| **equality** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`equality <equality>` element of the defaults class. The actual
-  equality constraints have types depending on the sub-element used to define them. However here we are setting
-  attributes common to all equality constraint types, which is why we do not make a distinction between types.
-| The equality sub-element attributes available here are: :at:`active`, :at:`solref`, :at:`solimp`.
-
-
-.. _default-tendon:
-
-.. _default-tendon-group:
-
-.. _default-tendon-limited:
-
-.. _default-tendon-actuatorfrclimited:
-
-.. _default-tendon-range:
-
-.. _default-tendon-actuatorfrcrange:
-
-.. _default-tendon-solreflimit:
-
-.. _default-tendon-solimplimit:
-
-.. _default-tendon-solreffriction:
-
-.. _default-tendon-solimpfriction:
-
-.. _default-tendon-frictionloss:
-
-.. _default-tendon-springlength:
-
-.. _default-tendon-width:
-
-.. _default-tendon-material:
-
-.. _default-tendon-margin:
-
-.. _default-tendon-stiffness:
-
-.. _default-tendon-damping:
-
-.. _default-tendon-rgba:
-
-.. _default-tendon-user:
-
-:el-prefix:`default/` |-| **tendon** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`tendon <tendon>` element of the defaults class. Similar to
-  equality constraints, the actual tendons have types, but here we are setting attributes common to all types.
-| All tendon sub-element attributes are available here except: name, class.
-
-
-.. _default-general:
-
-.. _default-general-ctrllimited:
-
-.. _default-general-forcelimited:
-
-.. _default-general-actlimited:
-
-.. _default-general-ctrlrange:
-
-.. _default-general-forcerange:
-
-.. _default-general-actrange:
-
-.. _default-general-gear:
-
-.. _default-general-damping:
-
-.. _default-general-armature:
-
-.. _default-general-cranklength:
-
-.. _default-general-user:
-
-.. _default-general-group:
-
-.. _default-general-delay:
-
-.. _default-general-nsample:
-
-.. _default-general-interp:
-
-.. _default-general-actdim:
-
-.. _default-general-dyntype:
-
-.. _default-general-gaintype:
-
-.. _default-general-biastype:
-
-.. _default-general-dynprm:
-
-.. _default-general-gainprm:
-
-.. _default-general-biasprm:
-
-.. _default-general-velrange:
-
-.. _default-general-ffrange:
-
-.. _default-general-input:
-
-.. _default-general-actearly:
-
-:el-prefix:`default/` |-| **general** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-| This element sets the attributes of the dummy :ref:`general <actuator-general>` element of the defaults class.
-| All general attributes are available here except: name, class, joint, jointinparent, site, refsite, tendon,
-  slidersite, cranksite.
-
-
-.. _default-motor:
-
-.. _default-motor-ctrllimited:
-
-.. _default-motor-forcelimited:
-
-.. _default-motor-ctrlrange:
-
-.. _default-motor-forcerange:
-
-.. _default-motor-gear:
-
-.. _default-motor-damping:
-
-.. _default-motor-armature:
-
-.. _default-motor-cranklength:
-
-.. _default-motor-user:
-
-.. _default-motor-group:
-
-.. _default-motor-delay:
-
-.. _default-motor-nsample:
-
-.. _default-motor-interp:
-
-:el-prefix:`default/` |-| **motor** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This and the next three elements set the attributes of the :ref:`general <actuator-general>` element using
-:ref:`Actuator shortcuts <CActShortcuts>`. It does not make sense to use more than one such shortcut in the same
-defaults class, because they set the same underlying attributes, replacing any previous settings. All
-:ref:`motor <actuator-motor>` attributes are available here except: name, class, joint, jointinparent, site, refsite,
-tendon, slidersite, cranksite.
-
-
-.. _default-position:
-
-.. _default-position-ctrllimited:
-
-.. _default-position-forcelimited:
-
-.. _default-position-ctrlrange:
-
-.. _default-position-inheritrange:
-
-.. _default-position-forcerange:
-
-.. _default-position-gear:
-
-.. _default-position-damping:
-
-.. _default-position-armature:
-
-.. _default-position-cranklength:
-
-.. _default-position-user:
-
-.. _default-position-group:
-
-.. _default-position-delay:
-
-.. _default-position-nsample:
-
-.. _default-position-interp:
-
-.. _default-position-kp:
-
-.. _default-position-kv:
-
-.. _default-position-dampratio:
-
-.. _default-position-timeconst:
-
-:el-prefix:`default/` |-| **position** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`position <actuator-position>` attributes are available here except: name, class, joint, jointinparent, site,
-refsite, tendon, slidersite, cranksite.
-
-
-.. _default-velocity:
-
-.. _default-velocity-ctrllimited:
-
-.. _default-velocity-forcelimited:
-
-.. _default-velocity-ctrlrange:
-
-.. _default-velocity-forcerange:
-
-.. _default-velocity-gear:
-
-.. _default-velocity-damping:
-
-.. _default-velocity-armature:
-
-.. _default-velocity-cranklength:
-
-.. _default-velocity-user:
-
-.. _default-velocity-group:
-
-.. _default-velocity-delay:
-
-.. _default-velocity-nsample:
-
-.. _default-velocity-interp:
-
-.. _default-velocity-kv:
-
-:el-prefix:`default/` |-| **velocity** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`velocity <actuator-velocity>` attributes are available here except: name, class, joint, jointinparent, site,
-refsite, tendon, slidersite, cranksite.
-
-
-.. _default-intvelocity:
-
-.. _default-intvelocity-ctrllimited:
-
-.. _default-intvelocity-forcelimited:
-
-.. _default-intvelocity-actlimited:
-
-.. _default-intvelocity-ctrlrange:
-
-.. _default-intvelocity-forcerange:
-
-.. _default-intvelocity-actrange:
-
-.. _default-intvelocity-inheritrange:
-
-.. _default-intvelocity-gear:
-
-.. _default-intvelocity-damping:
-
-.. _default-intvelocity-armature:
-
-.. _default-intvelocity-cranklength:
-
-.. _default-intvelocity-user:
-
-.. _default-intvelocity-group:
-
-.. _default-intvelocity-delay:
-
-.. _default-intvelocity-nsample:
-
-.. _default-intvelocity-interp:
-
-.. _default-intvelocity-kp:
-
-.. _default-intvelocity-kv:
-
-.. _default-intvelocity-dampratio:
-
-:el-prefix:`default/` |-| **intvelocity** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`intvelocity <actuator-intvelocity>` attributes are available here except: name, class, joint, jointinparent,
-site, refsite, tendon, slidersite, cranksite.
-
-
-.. _default-pid:
-
-.. _default-pid-ctrllimited:
-
-.. _default-pid-forcelimited:
-
-.. _default-pid-ctrlrange:
-
-.. _default-pid-posrange:
-
-.. _default-pid-velrange:
-
-.. _default-pid-ffrange:
-
-.. _default-pid-forcerange:
-
-.. _default-pid-inheritrange:
-
-.. _default-pid-gear:
-
-.. _default-pid-damping:
-
-.. _default-pid-armature:
-
-.. _default-pid-cranklength:
-
-.. _default-pid-user:
-
-.. _default-pid-group:
-
-.. _default-pid-nsample:
-
-.. _default-pid-interp:
-
-.. _default-pid-delay:
-
-.. _default-pid-kp:
-
-.. _default-pid-kv:
-
-.. _default-pid-dampratio:
-
-.. _default-pid-ki:
-
-.. _default-pid-imax:
-
-.. _default-pid-slewmax:
-
-.. _default-pid-input:
-
-:el-prefix:`default/` |-| **pid** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`pid <actuator-pid>` attributes are available here except: name, class, joint, jointinparent,
-site, refsite, tendon, slidersite, cranksite.
-
-
-.. _default-orientation:
-
-.. _default-orientation-forcelimited:
-
-.. _default-orientation-ctrlrange:
-
-.. _default-orientation-forcerange:
-
-.. _default-orientation-user:
-
-.. _default-orientation-group:
-
-.. _default-orientation-nsample:
-
-.. _default-orientation-interp:
-
-.. _default-orientation-delay:
-
-.. _default-orientation-kp:
-
-.. _default-orientation-kv:
-
-.. _default-orientation-dampratio:
-
-.. _default-orientation-input:
-
-:el-prefix:`default/` |-| **orientation** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`orientation <actuator-orientation>` attributes are available here except: name, class, joint, site, refsite.
-
-
-.. _default-damper:
-
-.. _default-damper-forcelimited:
-
-.. _default-damper-ctrlrange:
-
-.. _default-damper-forcerange:
-
-.. _default-damper-gear:
-
-.. _default-damper-damping:
-
-.. _default-damper-armature:
-
-.. _default-damper-cranklength:
-
-.. _default-damper-user:
-
-.. _default-damper-group:
-
-.. _default-damper-delay:
-
-.. _default-damper-nsample:
-
-.. _default-damper-interp:
-
-.. _default-damper-kv:
-
-:el-prefix:`default/` |-| **damper** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`damper <actuator-damper>` attributes are available here except: name, class, joint, jointinparent, site,
-refsite, tendon, slidersite, cranksite.
-
-
-.. _default-cylinder:
-
-.. _default-cylinder-ctrllimited:
-
-.. _default-cylinder-forcelimited:
-
-.. _default-cylinder-ctrlrange:
-
-.. _default-cylinder-forcerange:
-
-.. _default-cylinder-gear:
-
-.. _default-cylinder-damping:
-
-.. _default-cylinder-armature:
-
-.. _default-cylinder-cranklength:
-
-.. _default-cylinder-user:
-
-.. _default-cylinder-group:
-
-.. _default-cylinder-delay:
-
-.. _default-cylinder-nsample:
-
-.. _default-cylinder-interp:
-
-.. _default-cylinder-timeconst:
-
-.. _default-cylinder-area:
-
-.. _default-cylinder-diameter:
-
-.. _default-cylinder-bias:
-
-:el-prefix:`default/` |-| **cylinder** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`cylinder <actuator-cylinder>` attributes are available here except: name, class, joint, jointinparent, site,
-refsite, tendon, slidersite, cranksite.
-
-
-.. _default-muscle:
-
-.. _default-muscle-ctrllimited:
-
-.. _default-muscle-forcelimited:
-
-.. _default-muscle-ctrlrange:
-
-.. _default-muscle-forcerange:
-
-.. _default-muscle-gear:
-
-.. _default-muscle-damping:
-
-.. _default-muscle-armature:
-
-.. _default-muscle-cranklength:
-
-.. _default-muscle-user:
-
-.. _default-muscle-group:
-
-.. _default-muscle-delay:
-
-.. _default-muscle-nsample:
-
-.. _default-muscle-interp:
-
-.. _default-muscle-timeconst:
-
-.. _default-muscle-range:
-
-.. _default-muscle-force:
-
-.. _default-muscle-scale:
-
-.. _default-muscle-lmin:
-
-.. _default-muscle-lmax:
-
-.. _default-muscle-vmax:
-
-.. _default-muscle-fpmax:
-
-.. _default-muscle-fvmax:
-
-:el-prefix:`default/` |-| **muscle** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`muscle <actuator-muscle>` attributes are available here except: name, class, joint, jointinparent, site,
-refsite, tendon, slidersite, cranksite.
-
-
-.. _default-adhesion:
-
-.. _default-adhesion-forcelimited:
-
-.. _default-adhesion-ctrlrange:
-
-.. _default-adhesion-forcerange:
-
-.. _default-adhesion-gain:
-
-.. _default-adhesion-user:
-
-.. _default-adhesion-group:
-
-.. _default-adhesion-delay:
-
-.. _default-adhesion-nsample:
-
-.. _default-adhesion-interp:
-
-:el-prefix:`default/` |-| **adhesion** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`adhesion <actuator-adhesion>` attributes are available here except: name, class, body.
-
-
-.. _default-dcmotor:
-
-.. _default-dcmotor-ctrllimited:
-
-.. _default-dcmotor-ctrlrange:
-
-.. _default-dcmotor-gear:
-
-.. _default-dcmotor-damping:
-
-.. _default-dcmotor-armature:
-
-.. _default-dcmotor-cranklength:
-
-.. _default-dcmotor-user:
-
-.. _default-dcmotor-group:
-
-.. _default-dcmotor-delay:
-
-.. _default-dcmotor-nsample:
-
-.. _default-dcmotor-interp:
-
-.. _default-dcmotor-motorconst:
-
-.. _default-dcmotor-resistance:
-
-.. _default-dcmotor-nominal:
-
-.. _default-dcmotor-saturation:
-
-.. _default-dcmotor-inductance:
-
-.. _default-dcmotor-cogging:
-
-.. _default-dcmotor-controller:
-
-.. _default-dcmotor-input:
-
-.. _default-dcmotor-thermal:
-
-.. _default-dcmotor-lugre:
-
-:el-prefix:`default/` |-| **dcmotor** |?|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-All :ref:`dcmotor <actuator-dcmotor>` attributes are available here except: name, class, joint, jointinparent, site,
-refsite, tendon, slidersite, cranksite.
-
-
-.. _custom:
-
-**custom** |*|
-~~~~~~~~~~~~~~
-
-This is a grouping element for custom numeric and text elements. It does not have attributes.
-
-
-.. _custom-numeric:
-
-:el-prefix:`custom/` |-| **numeric** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a custom numeric array in mjModel.
-
-.. _custom-numeric-name:
-
-:at:`name`: :at-val:`string, required`
-   The name of the array. This attribute is required because the only way to find a custom element of interest at
-   runtime is through its name.
-
-.. _custom-numeric-size:
-
-:at:`size`: :at-val:`int, optional`
-   If specified this attribute sets the size of the data array, in doubles. If this attribute is not specified, the size
-   will be inferred from the actual data array below.
-
-.. _custom-numeric-data:
-
-:at:`data`: :at-val:`real(size), "0 0 ..."`
-   Numeric data to be copied into mjModel. If size is specified, the length of the array given here cannot exceed the
-   specified size. If the length of the array is smaller, the missing components are set to 0. Note that custom arrays
-   can be created for storing information at runtime - which is why data initialization is optional. It becomes required
-   only when the array size is omitted.
-
-
-.. _custom-text:
-
-:el-prefix:`custom/` |-| **text** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a custom text field in mjModel. It could be used to store keyword commands for user callbacks and
-other custom computations.
-
-.. _custom-text-name:
-
-:at:`name`: :at-val:`string, required`
-   Name of the custom text field.
-
-.. _custom-text-data:
-
-:at:`data`: :at-val:`string, required`
-   Custom text to be copied into mjModel.
-
-
-.. _custom-tuple:
-
-:el-prefix:`custom/` |-| **tuple** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element creates a custom tuple, which is a list of MuJoCo objects. The list is created by referencing the desired
-objects by name.
-
-.. _custom-tuple-name:
-
-:at:`name`: :at-val:`string, required`
-   Name of the custom tuple.
-
-
-.. _tuple-element:
-
-:el-prefix:`tuple/` |-| **element** |*|
-'''''''''''''''''''''''''''''''''''''''
-
-This adds an element to the tuple.
-
-
-.. _tuple-element-objtype:
-
-:at:`objtype`: :at-val:`(any element type that can be named), required`
-   Type of the object being added.
-
-.. _tuple-element-objname:
-
-:at:`objname`: :at-val:`string, required`
-   Name of the object being added. The type and name must reference a named MuJoCo element defined somewhere in the
-   model. Tuples can also be referenced (including self-references).
-
-.. _tuple-element-prm:
-
-:at:`prm`: :at-val:`real, "0"`
-   Real-valued parameter associated with this element of the tuple. Its use is up to the user.
-
-
-.. _extension:
-
-**extension** |*|
-~~~~~~~~~~~~~~~~~
-
-This is a grouping element for MuJoCo extensions. Extensions allow the user to extend MuJoCo's capabilities with custom
-code and are described in detail in the Programming chapter's :ref:`exExtension` page. Currently, the only available
-extension type are :ref:`exPlugin`.
-
-.. _extension-plugin:
-
-:el-prefix:`extension/` |-| **plugin** |*|
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-This element specifies that an engine plugin is required in order to simulate this model.
-See :ref:`exPlugin` for more details.
-
-.. _extension-plugin-plugin:
-
-:at:`plugin`: :at-val:`string, required`
-   Identifier of the plugin.
-
-.. _plugin-instance:
-
-:el-prefix:`plugin/` |-| **instance** |*|
-'''''''''''''''''''''''''''''''''''''''''
-
-Declares a plugin instance. Explicit instance declaration is required when multiple elements are backed by the same
-plugin, or when global plugin configuration is desired. See plugin :ref:`declaration<exDeclaration>` and
-:ref:`configuration<exConfiguration>` for more details.
-
-.. _plugin-instance-name:
-
-:at:`name`: :at-val:`string, required`
-   Name of the plugin instance.
-
-.. _plugin-config:
-
-.. _instance-config:
-
-:el-prefix:`instance/` |-| **config** |*|
-"""""""""""""""""""""""""""""""""""""""""
-
-Configuration of a plugin instance. When implicitly declaring a plugin under a model element, configuration is
-performed with identical semantics using :el:`element/plugin/config`. The elements which currently support plugins are
-:el:`body`, :el:`composite`, :el:`actuator` and :el:`sensor`.
-
-.. _plugin-config-key:
-
-.. _instance-config-key:
-
-:at:`key`: :at-val:`string, optional`
-   Key used for plugin configuration.
-
-.. _plugin-config-value:
-
-.. _instance-config-value:
-
-:at:`value`: :at-val:`string, optional`
-   Value associated with key.
diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
deleted file mode 100644
index ef80bf9b..00000000
--- a/doc/XMLschema.rst
+++ /dev/null
@@ -1,6777 +0,0 @@
-..
-  DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-.. raw:: html
-
-   <div class="schema-controls" style="margin-bottom: 1em;">
-     <button onclick="document.querySelectorAll('.schema-small details').forEach(d => d.open = true)" class="sd-btn sd-btn-outline-primary sd-btn-sm">Expand All</button>
-     <button onclick="document.querySelectorAll('.schema-small details details').forEach(d => d.open = false)" class="sd-btn sd-btn-outline-secondary sd-btn-sm" style="margin-left: 0.5em;">Collapse All</button>
-   </div>
-
-.. dropdown:: :ref:`mujoco<mujoco>` :octicon:`star`
-   :open:
-
-   .. grid:: 2 3 4 4
-      :gutter: 0
-
-      .. grid-item::
-         :ref:`model<mujoco-model>`
-
-
-   .. dropdown:: :ref:`option<option>` |*|
-
-      .. grid:: 2 3 4 4
-         :gutter: 0
-
-         .. grid-item::
-            :ref:`timestep<option-timestep>`
-
-         .. grid-item::
-            :ref:`impratio<option-impratio>`
-
-         .. grid-item::
-            :ref:`tolerance<option-tolerance>`
-
-         .. grid-item::
-            :ref:`ls_tolerance<option-ls_tolerance>`
-
-         .. grid-item::
-            :ref:`noslip_tolerance<option-noslip_tolerance>`
-
-         .. grid-item::
-            :ref:`ccd_tolerance<option-ccd_tolerance>`
-
-         .. grid-item::
-            :ref:`sleep_tolerance<option-sleep_tolerance>`
-
-         .. grid-item::
-            :ref:`gravity<option-gravity>`
-
-         .. grid-item::
-            :ref:`wind<option-wind>`
-
-         .. grid-item::
-            :ref:`magnetic<option-magnetic>`
-
-         .. grid-item::
-            :ref:`density<option-density>`
-
-         .. grid-item::
-            :ref:`viscosity<option-viscosity>`
-
-         .. grid-item::
-            :ref:`o_margin<option-o_margin>`
-
-         .. grid-item::
-            :ref:`o_solref<option-o_solref>`
-
-         .. grid-item::
-            :ref:`o_solimp<option-o_solimp>`
-
-         .. grid-item::
-            :ref:`o_friction<option-o_friction>`
-
-         .. grid-item::
-            :ref:`integrator<option-integrator>`
-
-         .. grid-item::
-            :ref:`cone<option-cone>`
-
-         .. grid-item::
-            :ref:`jacobian<option-jacobian>`
-
-         .. grid-item::
-            :ref:`solver<option-solver>`
-
-         .. grid-item::
-            :ref:`iterations<option-iterations>`
-
-         .. grid-item::
-            :ref:`ls_iterations<option-ls_iterations>`
-
-         .. grid-item::
-            :ref:`noslip_iterations<option-noslip_iterations>`
-
-         .. grid-item::
-            :ref:`ccd_iterations<option-ccd_iterations>`
-
-         .. grid-item::
-            :ref:`sdf_iterations<option-sdf_iterations>`
-
-         .. grid-item::
-            :ref:`sdf_initpoints<option-sdf_initpoints>`
-
-         .. grid-item::
-            :ref:`actuatorgroupdisable<option-actuatorgroupdisable>`
-
-
-      .. dropdown:: :ref:`flag<option-flag>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`constraint<option-flag-constraint>`
-
-            .. grid-item::
-               :ref:`equality<option-flag-equality>`
-
-            .. grid-item::
-               :ref:`frictionloss<option-flag-frictionloss>`
-
-            .. grid-item::
-               :ref:`limit<option-flag-limit>`
-
-            .. grid-item::
-               :ref:`contact<option-flag-contact>`
-
-            .. grid-item::
-               :ref:`spring<option-flag-spring>`
-
-            .. grid-item::
-               :ref:`damper<option-flag-damper>`
-
-            .. grid-item::
-               :ref:`gravity<option-flag-gravity>`
-
-            .. grid-item::
-               :ref:`clampctrl<option-flag-clampctrl>`
-
-            .. grid-item::
-               :ref:`warmstart<option-flag-warmstart>`
-
-            .. grid-item::
-               :ref:`filterparent<option-flag-filterparent>`
-
-            .. grid-item::
-               :ref:`actuation<option-flag-actuation>`
-
-            .. grid-item::
-               :ref:`refsafe<option-flag-refsafe>`
-
-            .. grid-item::
-               :ref:`sensor<option-flag-sensor>`
-
-            .. grid-item::
-               :ref:`midphase<option-flag-midphase>`
-
-            .. grid-item::
-               :ref:`eulerdamp<option-flag-eulerdamp>`
-
-            .. grid-item::
-               :ref:`autoreset<option-flag-autoreset>`
-
-            .. grid-item::
-               :ref:`nativeccd<option-flag-nativeccd>`
-
-            .. grid-item::
-               :ref:`island<option-flag-island>`
-
-            .. grid-item::
-               :ref:`multiccd<option-flag-multiccd>`
-
-            .. grid-item::
-               :ref:`override<option-flag-override>`
-
-            .. grid-item::
-               :ref:`energy<option-flag-energy>`
-
-            .. grid-item::
-               :ref:`fwdinv<option-flag-fwdinv>`
-
-            .. grid-item::
-               :ref:`invdiscrete<option-flag-invdiscrete>`
-
-            .. grid-item::
-               :ref:`sleep<option-flag-sleep>`
-
-            .. grid-item::
-               :ref:`diagexact<option-flag-diagexact>`
-
-
-   .. dropdown:: :ref:`compiler<compiler>` |*|
-
-      .. grid:: 2 3 4 4
-         :gutter: 0
-
-         .. grid-item::
-            :ref:`autolimits<compiler-autolimits>`
-
-         .. grid-item::
-            :ref:`boundmass<compiler-boundmass>`
-
-         .. grid-item::
-            :ref:`boundinertia<compiler-boundinertia>`
-
-         .. grid-item::
-            :ref:`settotalmass<compiler-settotalmass>`
-
-         .. grid-item::
-            :ref:`balanceinertia<compiler-balanceinertia>`
-
-         .. grid-item::
-            :ref:`strippath<compiler-strippath>`
-
-         .. grid-item::
-            :ref:`coordinate<compiler-coordinate>`
-
-         .. grid-item::
-            :ref:`angle<compiler-angle>`
-
-         .. grid-item::
-            :ref:`fitaabb<compiler-fitaabb>`
-
-         .. grid-item::
-            :ref:`eulerseq<compiler-eulerseq>`
-
-         .. grid-item::
-            :ref:`meshdir<compiler-meshdir>`
-
-         .. grid-item::
-            :ref:`texturedir<compiler-texturedir>`
-
-         .. grid-item::
-            :ref:`discardvisual<compiler-discardvisual>`
-
-         .. grid-item::
-            :ref:`usethread<compiler-usethread>`
-
-         .. grid-item::
-            :ref:`fusestatic<compiler-fusestatic>`
-
-         .. grid-item::
-            :ref:`inertiafromgeom<compiler-inertiafromgeom>`
-
-         .. grid-item::
-            :ref:`inertiagrouprange<compiler-inertiagrouprange>`
-
-         .. grid-item::
-            :ref:`saveinertial<compiler-saveinertial>`
-
-         .. grid-item::
-            :ref:`assetdir<compiler-assetdir>`
-
-         .. grid-item::
-            :ref:`alignfree<compiler-alignfree>`
-
-         .. grid-item::
-            :ref:`conflict<compiler-conflict>`
-
-
-      .. dropdown:: :ref:`lengthrange<compiler-lengthrange>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`mode<compiler-lengthrange-mode>`
-
-            .. grid-item::
-               :ref:`useexisting<compiler-lengthrange-useexisting>`
-
-            .. grid-item::
-               :ref:`uselimit<compiler-lengthrange-uselimit>`
-
-            .. grid-item::
-               :ref:`accel<compiler-lengthrange-accel>`
-
-            .. grid-item::
-               :ref:`maxforce<compiler-lengthrange-maxforce>`
-
-            .. grid-item::
-               :ref:`timeconst<compiler-lengthrange-timeconst>`
-
-            .. grid-item::
-               :ref:`timestep<compiler-lengthrange-timestep>`
-
-            .. grid-item::
-               :ref:`inttotal<compiler-lengthrange-inttotal>`
-
-            .. grid-item::
-               :ref:`interval<compiler-lengthrange-interval>`
-
-            .. grid-item::
-               :ref:`tolrange<compiler-lengthrange-tolrange>`
-
-
-   .. dropdown:: :ref:`size<size>` |*|
-
-      .. grid:: 2 3 4 4
-         :gutter: 0
-
-         .. grid-item::
-            :ref:`memory<size-memory>`
-
-         .. grid-item::
-            :ref:`njmax<size-njmax>`
-
-         .. grid-item::
-            :ref:`nconmax<size-nconmax>`
-
-         .. grid-item::
-            :ref:`nstack<size-nstack>`
-
-         .. grid-item::
-            :ref:`nuserdata<size-nuserdata>`
-
-         .. grid-item::
-            :ref:`nkey<size-nkey>`
-
-         .. grid-item::
-            :ref:`nuser_body<size-nuser_body>`
-
-         .. grid-item::
-            :ref:`nuser_jnt<size-nuser_jnt>`
-
-         .. grid-item::
-            :ref:`nuser_geom<size-nuser_geom>`
-
-         .. grid-item::
-            :ref:`nuser_site<size-nuser_site>`
-
-         .. grid-item::
-            :ref:`nuser_cam<size-nuser_cam>`
-
-         .. grid-item::
-            :ref:`nuser_tendon<size-nuser_tendon>`
-
-         .. grid-item::
-            :ref:`nuser_actuator<size-nuser_actuator>`
-
-         .. grid-item::
-            :ref:`nuser_sensor<size-nuser_sensor>`
-
-
-   .. dropdown:: :ref:`statistic<statistic>` |*|
-
-      .. grid:: 2 3 4 4
-         :gutter: 0
-
-         .. grid-item::
-            :ref:`meaninertia<statistic-meaninertia>`
-
-         .. grid-item::
-            :ref:`meanmass<statistic-meanmass>`
-
-         .. grid-item::
-            :ref:`meansize<statistic-meansize>`
-
-         .. grid-item::
-            :ref:`extent<statistic-extent>`
-
-         .. grid-item::
-            :ref:`center<statistic-center>`
-
-
-   .. dropdown:: :ref:`asset<asset>` |*|
-
-
-      .. dropdown:: :ref:`mesh<asset-mesh>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<asset-mesh-name>`
-
-            .. grid-item::
-               :ref:`class<asset-mesh-class>`
-
-            .. grid-item::
-               :ref:`content_type<asset-mesh-content_type>`
-
-            .. grid-item::
-               :ref:`file<asset-mesh-file>`
-
-            .. grid-item::
-               :ref:`vertex<asset-mesh-vertex>`
-
-            .. grid-item::
-               :ref:`normal<asset-mesh-normal>`
-
-            .. grid-item::
-               :ref:`texcoord<asset-mesh-texcoord>`
-
-            .. grid-item::
-               :ref:`face<asset-mesh-face>`
-
-            .. grid-item::
-               :ref:`refpos<asset-mesh-refpos>`
-
-            .. grid-item::
-               :ref:`refquat<asset-mesh-refquat>`
-
-            .. grid-item::
-               :ref:`scale<asset-mesh-scale>`
-
-            .. grid-item::
-               :ref:`smoothnormal<asset-mesh-smoothnormal>`
-
-            .. grid-item::
-               :ref:`maxhullvert<asset-mesh-maxhullvert>`
-
-            .. grid-item::
-               :ref:`inertia<asset-mesh-inertia>`
-
-            .. grid-item::
-               :ref:`builtin<asset-mesh-builtin>`
-
-            .. grid-item::
-               :ref:`params<asset-mesh-params>`
-
-            .. grid-item::
-               :ref:`material<asset-mesh-material>`
-
-
-         .. dropdown:: :ref:`plugin<mesh-plugin>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`plugin<mesh-plugin-plugin>`
-
-               .. grid-item::
-                  :ref:`instance<mesh-plugin-instance>`
-
-
-            .. dropdown:: :ref:`config<plugin-config>` |*|
-
-               .. grid:: 2 3 4 4
-                  :gutter: 0
-
-                  .. grid-item::
-                     :ref:`key<plugin-config-key>`
-
-                  .. grid-item::
-                     :ref:`value<plugin-config-value>`
-
-
-      .. dropdown:: :ref:`hfield<asset-hfield>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<asset-hfield-name>`
-
-            .. grid-item::
-               :ref:`content_type<asset-hfield-content_type>`
-
-            .. grid-item::
-               :ref:`file<asset-hfield-file>`
-
-            .. grid-item::
-               :ref:`nrow<asset-hfield-nrow>`
-
-            .. grid-item::
-               :ref:`ncol<asset-hfield-ncol>`
-
-            .. grid-item::
-               :ref:`size<asset-hfield-size>`
-
-            .. grid-item::
-               :ref:`elevation<asset-hfield-elevation>`
-
-
-      .. dropdown:: :ref:`skin<asset-skin>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<asset-skin-name>`
-
-            .. grid-item::
-               :ref:`file<asset-skin-file>`
-
-            .. grid-item::
-               :ref:`material<asset-skin-material>`
-
-            .. grid-item::
-               :ref:`rgba<asset-skin-rgba>`
-
-            .. grid-item::
-               :ref:`inflate<asset-skin-inflate>`
-
-            .. grid-item::
-               :ref:`vertex<asset-skin-vertex>`
-
-            .. grid-item::
-               :ref:`texcoord<asset-skin-texcoord>`
-
-            .. grid-item::
-               :ref:`face<asset-skin-face>`
-
-            .. grid-item::
-               :ref:`group<asset-skin-group>`
-
-
-         .. dropdown:: :ref:`bone<skin-bone>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`body<skin-bone-body>`
-
-               .. grid-item::
-                  :ref:`bindpos<skin-bone-bindpos>`
-
-               .. grid-item::
-                  :ref:`bindquat<skin-bone-bindquat>`
-
-               .. grid-item::
-                  :ref:`vertid<skin-bone-vertid>`
-
-               .. grid-item::
-                  :ref:`vertweight<skin-bone-vertweight>`
-
-
-      .. dropdown:: :ref:`texture<asset-texture>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<asset-texture-name>`
-
-            .. grid-item::
-               :ref:`type<asset-texture-type>`
-
-            .. grid-item::
-               :ref:`colorspace<asset-texture-colorspace>`
-
-            .. grid-item::
-               :ref:`content_type<asset-texture-content_type>`
-
-            .. grid-item::
-               :ref:`file<asset-texture-file>`
-
-            .. grid-item::
-               :ref:`gridsize<asset-texture-gridsize>`
-
-            .. grid-item::
-               :ref:`gridlayout<asset-texture-gridlayout>`
-
-            .. grid-item::
-               :ref:`fileright<asset-texture-fileright>`
-
-            .. grid-item::
-               :ref:`fileleft<asset-texture-fileleft>`
-
-            .. grid-item::
-               :ref:`fileup<asset-texture-fileup>`
-
-            .. grid-item::
-               :ref:`filedown<asset-texture-filedown>`
-
-            .. grid-item::
-               :ref:`filefront<asset-texture-filefront>`
-
-            .. grid-item::
-               :ref:`fileback<asset-texture-fileback>`
-
-            .. grid-item::
-               :ref:`builtin<asset-texture-builtin>`
-
-            .. grid-item::
-               :ref:`rgb1<asset-texture-rgb1>`
-
-            .. grid-item::
-               :ref:`rgb2<asset-texture-rgb2>`
-
-            .. grid-item::
-               :ref:`mark<asset-texture-mark>`
-
-            .. grid-item::
-               :ref:`markrgb<asset-texture-markrgb>`
-
-            .. grid-item::
-               :ref:`random<asset-texture-random>`
-
-            .. grid-item::
-               :ref:`width<asset-texture-width>`
-
-            .. grid-item::
-               :ref:`height<asset-texture-height>`
-
-            .. grid-item::
-               :ref:`hflip<asset-texture-hflip>`
-
-            .. grid-item::
-               :ref:`vflip<asset-texture-vflip>`
-
-            .. grid-item::
-               :ref:`nchannel<asset-texture-nchannel>`
-
-
-      .. dropdown:: :ref:`material<asset-material>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<asset-material-name>`
-
-            .. grid-item::
-               :ref:`class<asset-material-class>`
-
-            .. grid-item::
-               :ref:`texture<asset-material-texture>`
-
-            .. grid-item::
-               :ref:`texrepeat<asset-material-texrepeat>`
-
-            .. grid-item::
-               :ref:`texuniform<asset-material-texuniform>`
-
-            .. grid-item::
-               :ref:`emission<asset-material-emission>`
-
-            .. grid-item::
-               :ref:`specular<asset-material-specular>`
-
-            .. grid-item::
-               :ref:`shininess<asset-material-shininess>`
-
-            .. grid-item::
-               :ref:`reflectance<asset-material-reflectance>`
-
-            .. grid-item::
-               :ref:`metallic<asset-material-metallic>`
-
-            .. grid-item::
-               :ref:`roughness<asset-material-roughness>`
-
-            .. grid-item::
-               :ref:`rgba<asset-material-rgba>`
-
-
-         .. dropdown:: :ref:`layer<material-layer>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`texture<material-layer-texture>`
-
-               .. grid-item::
-                  :ref:`role<material-layer-role>`
-
-
-      .. dropdown:: :ref:`model<asset-model>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<asset-model-name>`
-
-            .. grid-item::
-               :ref:`file<asset-model-file>`
-
-            .. grid-item::
-               :ref:`content_type<asset-model-content_type>`
-
-
-   .. dropdown:: :ref:`(world)body<body>` :octicon:`sync`
-
-      .. grid:: 2 3 4 4
-         :gutter: 0
-
-         .. grid-item::
-            :ref:`name<body-name>`
-
-         .. grid-item::
-            :ref:`childclass<body-childclass>`
-
-         .. grid-item::
-            :ref:`pos<body-pos>`
-
-         .. grid-item::
-            :ref:`quat<body-quat>`
-
-         .. grid-item::
-            :ref:`axisangle<body-axisangle>`
-
-         .. grid-item::
-            :ref:`xyaxes<body-xyaxes>`
-
-         .. grid-item::
-            :ref:`zaxis<body-zaxis>`
-
-         .. grid-item::
-            :ref:`euler<body-euler>`
-
-         .. grid-item::
-            :ref:`mocap<body-mocap>`
-
-         .. grid-item::
-            :ref:`gravcomp<body-gravcomp>`
-
-         .. grid-item::
-            :ref:`sleep<body-sleep>`
-
-         .. grid-item::
-            :ref:`simple<body-simple>`
-
-         .. grid-item::
-            :ref:`user<body-user>`
-
-
-      .. dropdown:: :ref:`inertial<body-inertial>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`pos<body-inertial-pos>`
-
-            .. grid-item::
-               :ref:`quat<body-inertial-quat>`
-
-            .. grid-item::
-               :ref:`mass<body-inertial-mass>`
-
-            .. grid-item::
-               :ref:`diaginertia<body-inertial-diaginertia>`
-
-            .. grid-item::
-               :ref:`axisangle<body-inertial-axisangle>`
-
-            .. grid-item::
-               :ref:`xyaxes<body-inertial-xyaxes>`
-
-            .. grid-item::
-               :ref:`zaxis<body-inertial-zaxis>`
-
-            .. grid-item::
-               :ref:`euler<body-inertial-euler>`
-
-            .. grid-item::
-               :ref:`fullinertia<body-inertial-fullinertia>`
-
-
-      .. dropdown:: :ref:`joint<body-joint>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<body-joint-name>`
-
-            .. grid-item::
-               :ref:`class<body-joint-class>`
-
-            .. grid-item::
-               :ref:`type<body-joint-type>`
-
-            .. grid-item::
-               :ref:`group<body-joint-group>`
-
-            .. grid-item::
-               :ref:`pos<body-joint-pos>`
-
-            .. grid-item::
-               :ref:`axis<body-joint-axis>`
-
-            .. grid-item::
-               :ref:`springdamper<body-joint-springdamper>`
-
-            .. grid-item::
-               :ref:`limited<body-joint-limited>`
-
-            .. grid-item::
-               :ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`
-
-            .. grid-item::
-               :ref:`solreflimit<body-joint-solreflimit>`
-
-            .. grid-item::
-               :ref:`solimplimit<body-joint-solimplimit>`
-
-            .. grid-item::
-               :ref:`solreffriction<body-joint-solreffriction>`
-
-            .. grid-item::
-               :ref:`solimpfriction<body-joint-solimpfriction>`
-
-            .. grid-item::
-               :ref:`stiffness<body-joint-stiffness>`
-
-            .. grid-item::
-               :ref:`range<body-joint-range>`
-
-            .. grid-item::
-               :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>`
-
-            .. grid-item::
-               :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`
-
-            .. grid-item::
-               :ref:`margin<body-joint-margin>`
-
-            .. grid-item::
-               :ref:`ref<body-joint-ref>`
-
-            .. grid-item::
-               :ref:`springref<body-joint-springref>`
-
-            .. grid-item::
-               :ref:`armature<body-joint-armature>`
-
-            .. grid-item::
-               :ref:`damping<body-joint-damping>`
-
-            .. grid-item::
-               :ref:`frictionloss<body-joint-frictionloss>`
-
-            .. grid-item::
-               :ref:`user<body-joint-user>`
-
-
-      .. dropdown:: :ref:`freejoint<body-freejoint>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<body-freejoint-name>`
-
-            .. grid-item::
-               :ref:`group<body-freejoint-group>`
-
-            .. grid-item::
-               :ref:`align<body-freejoint-align>`
-
-
-      .. dropdown:: :ref:`geom<body-geom>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<body-geom-name>`
-
-            .. grid-item::
-               :ref:`class<body-geom-class>`
-
-            .. grid-item::
-               :ref:`type<body-geom-type>`
-
-            .. grid-item::
-               :ref:`contype<body-geom-contype>`
-
-            .. grid-item::
-               :ref:`conaffinity<body-geom-conaffinity>`
-
-            .. grid-item::
-               :ref:`condim<body-geom-condim>`
-
-            .. grid-item::
-               :ref:`group<body-geom-group>`
-
-            .. grid-item::
-               :ref:`priority<body-geom-priority>`
-
-            .. grid-item::
-               :ref:`size<body-geom-size>`
-
-            .. grid-item::
-               :ref:`material<body-geom-material>`
-
-            .. grid-item::
-               :ref:`friction<body-geom-friction>`
-
-            .. grid-item::
-               :ref:`mass<body-geom-mass>`
-
-            .. grid-item::
-               :ref:`density<body-geom-density>`
-
-            .. grid-item::
-               :ref:`shellinertia<body-geom-shellinertia>`
-
-            .. grid-item::
-               :ref:`solmix<body-geom-solmix>`
-
-            .. grid-item::
-               :ref:`solref<body-geom-solref>`
-
-            .. grid-item::
-               :ref:`solimp<body-geom-solimp>`
-
-            .. grid-item::
-               :ref:`margin<body-geom-margin>`
-
-            .. grid-item::
-               :ref:`gap<body-geom-gap>`
-
-            .. grid-item::
-               :ref:`surfacevel<body-geom-surfacevel>`
-
-            .. grid-item::
-               :ref:`adhesion<body-geom-adhesion>`
-
-            .. grid-item::
-               :ref:`fromto<body-geom-fromto>`
-
-            .. grid-item::
-               :ref:`pos<body-geom-pos>`
-
-            .. grid-item::
-               :ref:`quat<body-geom-quat>`
-
-            .. grid-item::
-               :ref:`axisangle<body-geom-axisangle>`
-
-            .. grid-item::
-               :ref:`xyaxes<body-geom-xyaxes>`
-
-            .. grid-item::
-               :ref:`zaxis<body-geom-zaxis>`
-
-            .. grid-item::
-               :ref:`euler<body-geom-euler>`
-
-            .. grid-item::
-               :ref:`hfield<body-geom-hfield>`
-
-            .. grid-item::
-               :ref:`mesh<body-geom-mesh>`
-
-            .. grid-item::
-               :ref:`fitscale<body-geom-fitscale>`
-
-            .. grid-item::
-               :ref:`rgba<body-geom-rgba>`
-
-            .. grid-item::
-               :ref:`fluidshape<body-geom-fluidshape>`
-
-            .. grid-item::
-               :ref:`fluidcoef<body-geom-fluidcoef>`
-
-            .. grid-item::
-               :ref:`user<body-geom-user>`
-
-
-         .. dropdown:: :ref:`plugin<geom-plugin>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`plugin<geom-plugin-plugin>`
-
-               .. grid-item::
-                  :ref:`instance<geom-plugin-instance>`
-
-
-            .. dropdown:: :ref:`config<plugin-config>` |*|
-
-               .. grid:: 2 3 4 4
-                  :gutter: 0
-
-                  .. grid-item::
-                     :ref:`key<plugin-config-key>`
-
-                  .. grid-item::
-                     :ref:`value<plugin-config-value>`
-
-
-      .. dropdown:: :ref:`attach<body-attach>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`model<body-attach-model>`
-
-            .. grid-item::
-               :ref:`body<body-attach-body>`
-
-            .. grid-item::
-               :ref:`frame<body-attach-frame>`
-
-            .. grid-item::
-               :ref:`prefix<body-attach-prefix>`
-
-
-      .. dropdown:: :ref:`site<body-site>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<body-site-name>`
-
-            .. grid-item::
-               :ref:`class<body-site-class>`
-
-            .. grid-item::
-               :ref:`type<body-site-type>`
-
-            .. grid-item::
-               :ref:`group<body-site-group>`
-
-            .. grid-item::
-               :ref:`pos<body-site-pos>`
-
-            .. grid-item::
-               :ref:`quat<body-site-quat>`
-
-            .. grid-item::
-               :ref:`axisangle<body-site-axisangle>`
-
-            .. grid-item::
-               :ref:`xyaxes<body-site-xyaxes>`
-
-            .. grid-item::
-               :ref:`zaxis<body-site-zaxis>`
-
-            .. grid-item::
-               :ref:`euler<body-site-euler>`
-
-            .. grid-item::
-               :ref:`material<body-site-material>`
-
-            .. grid-item::
-               :ref:`size<body-site-size>`
-
-            .. grid-item::
-               :ref:`fromto<body-site-fromto>`
-
-            .. grid-item::
-               :ref:`rgba<body-site-rgba>`
-
-            .. grid-item::
-               :ref:`user<body-site-user>`
-
-
-      .. dropdown:: :ref:`camera<body-camera>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<body-camera-name>`
-
-            .. grid-item::
-               :ref:`class<body-camera-class>`
-
-            .. grid-item::
-               :ref:`projection<body-camera-projection>`
-
-            .. grid-item::
-               :ref:`fovy<body-camera-fovy>`
-
-            .. grid-item::
-               :ref:`ipd<body-camera-ipd>`
-
-            .. grid-item::
-               :ref:`resolution<body-camera-resolution>`
-
-            .. grid-item::
-               :ref:`output<body-camera-output>`
-
-            .. grid-item::
-               :ref:`pos<body-camera-pos>`
-
-            .. grid-item::
-               :ref:`quat<body-camera-quat>`
-
-            .. grid-item::
-               :ref:`axisangle<body-camera-axisangle>`
-
-            .. grid-item::
-               :ref:`xyaxes<body-camera-xyaxes>`
-
-            .. grid-item::
-               :ref:`zaxis<body-camera-zaxis>`
-
-            .. grid-item::
-               :ref:`euler<body-camera-euler>`
-
-            .. grid-item::
-               :ref:`mode<body-camera-mode>`
-
-            .. grid-item::
-               :ref:`target<body-camera-target>`
-
-            .. grid-item::
-               :ref:`focal<body-camera-focal>`
-
-            .. grid-item::
-               :ref:`focalpixel<body-camera-focalpixel>`
-
-            .. grid-item::
-               :ref:`principal<body-camera-principal>`
-
-            .. grid-item::
-               :ref:`principalpixel<body-camera-principalpixel>`
-
-            .. grid-item::
-               :ref:`sensorsize<body-camera-sensorsize>`
-
-            .. grid-item::
-               :ref:`user<body-camera-user>`
-
-
-      .. dropdown:: :ref:`light<body-light>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<body-light-name>`
-
-            .. grid-item::
-               :ref:`class<body-light-class>`
-
-            .. grid-item::
-               :ref:`directional<body-light-directional>`
-
-            .. grid-item::
-               :ref:`type<body-light-type>`
-
-            .. grid-item::
-               :ref:`castshadow<body-light-castshadow>`
-
-            .. grid-item::
-               :ref:`active<body-light-active>`
-
-            .. grid-item::
-               :ref:`pos<body-light-pos>`
-
-            .. grid-item::
-               :ref:`dir<body-light-dir>`
-
-            .. grid-item::
-               :ref:`bulbradius<body-light-bulbradius>`
-
-            .. grid-item::
-               :ref:`intensity<body-light-intensity>`
-
-            .. grid-item::
-               :ref:`range<body-light-range>`
-
-            .. grid-item::
-               :ref:`attenuation<body-light-attenuation>`
-
-            .. grid-item::
-               :ref:`cutoff<body-light-cutoff>`
-
-            .. grid-item::
-               :ref:`softness<body-light-softness>`
-
-            .. grid-item::
-               :ref:`exponent<body-light-exponent>`
-
-            .. grid-item::
-               :ref:`ambient<body-light-ambient>`
-
-            .. grid-item::
-               :ref:`diffuse<body-light-diffuse>`
-
-            .. grid-item::
-               :ref:`specular<body-light-specular>`
-
-            .. grid-item::
-               :ref:`mode<body-light-mode>`
-
-            .. grid-item::
-               :ref:`target<body-light-target>`
-
-            .. grid-item::
-               :ref:`texture<body-light-texture>`
-
-
-      .. dropdown:: :ref:`plugin<body-plugin>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`plugin<body-plugin-plugin>`
-
-            .. grid-item::
-               :ref:`instance<body-plugin-instance>`
-
-
-         .. dropdown:: :ref:`config<plugin-config>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`key<plugin-config-key>`
-
-               .. grid-item::
-                  :ref:`value<plugin-config-value>`
-
-
-      .. dropdown:: :ref:`composite<body-composite>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`prefix<body-composite-prefix>`
-
-            .. grid-item::
-               :ref:`type<body-composite-type>`
-
-            .. grid-item::
-               :ref:`count<body-composite-count>`
-
-            .. grid-item::
-               :ref:`offset<body-composite-offset>`
-
-            .. grid-item::
-               :ref:`vertex<body-composite-vertex>`
-
-            .. grid-item::
-               :ref:`initial<body-composite-initial>`
-
-            .. grid-item::
-               :ref:`curve<body-composite-curve>`
-
-            .. grid-item::
-               :ref:`size<body-composite-size>`
-
-            .. grid-item::
-               :ref:`quat<body-composite-quat>`
-
-
-         .. dropdown:: :ref:`joint<composite-joint>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`kind<composite-joint-kind>`
-
-               .. grid-item::
-                  :ref:`group<composite-joint-group>`
-
-               .. grid-item::
-                  :ref:`stiffness<composite-joint-stiffness>`
-
-               .. grid-item::
-                  :ref:`damping<composite-joint-damping>`
-
-               .. grid-item::
-                  :ref:`armature<composite-joint-armature>`
-
-               .. grid-item::
-                  :ref:`solreffix<composite-joint-solreffix>`
-
-               .. grid-item::
-                  :ref:`solimpfix<composite-joint-solimpfix>`
-
-               .. grid-item::
-                  :ref:`type<composite-joint-type>`
-
-               .. grid-item::
-                  :ref:`axis<composite-joint-axis>`
-
-               .. grid-item::
-                  :ref:`limited<composite-joint-limited>`
-
-               .. grid-item::
-                  :ref:`range<composite-joint-range>`
-
-               .. grid-item::
-                  :ref:`margin<composite-joint-margin>`
-
-               .. grid-item::
-                  :ref:`solreflimit<composite-joint-solreflimit>`
-
-               .. grid-item::
-                  :ref:`solimplimit<composite-joint-solimplimit>`
-
-               .. grid-item::
-                  :ref:`frictionloss<composite-joint-frictionloss>`
-
-               .. grid-item::
-                  :ref:`solreffriction<composite-joint-solreffriction>`
-
-               .. grid-item::
-                  :ref:`solimpfriction<composite-joint-solimpfriction>`
-
-
-         .. dropdown:: :ref:`skin<composite-skin>` :octicon:`dot`
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`texcoord<composite-skin-texcoord>`
-
-               .. grid-item::
-                  :ref:`material<composite-skin-material>`
-
-               .. grid-item::
-                  :ref:`group<composite-skin-group>`
-
-               .. grid-item::
-                  :ref:`rgba<composite-skin-rgba>`
-
-               .. grid-item::
-                  :ref:`inflate<composite-skin-inflate>`
-
-               .. grid-item::
-                  :ref:`subgrid<composite-skin-subgrid>`
-
-
-         .. dropdown:: :ref:`geom<composite-geom>` :octicon:`dot`
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`type<composite-geom-type>`
-
-               .. grid-item::
-                  :ref:`contype<composite-geom-contype>`
-
-               .. grid-item::
-                  :ref:`conaffinity<composite-geom-conaffinity>`
-
-               .. grid-item::
-                  :ref:`condim<composite-geom-condim>`
-
-               .. grid-item::
-                  :ref:`group<composite-geom-group>`
-
-               .. grid-item::
-                  :ref:`priority<composite-geom-priority>`
-
-               .. grid-item::
-                  :ref:`size<composite-geom-size>`
-
-               .. grid-item::
-                  :ref:`material<composite-geom-material>`
-
-               .. grid-item::
-                  :ref:`rgba<composite-geom-rgba>`
-
-               .. grid-item::
-                  :ref:`friction<composite-geom-friction>`
-
-               .. grid-item::
-                  :ref:`mass<composite-geom-mass>`
-
-               .. grid-item::
-                  :ref:`density<composite-geom-density>`
-
-               .. grid-item::
-                  :ref:`solmix<composite-geom-solmix>`
-
-               .. grid-item::
-                  :ref:`solref<composite-geom-solref>`
-
-               .. grid-item::
-                  :ref:`solimp<composite-geom-solimp>`
-
-               .. grid-item::
-                  :ref:`margin<composite-geom-margin>`
-
-               .. grid-item::
-                  :ref:`gap<composite-geom-gap>`
-
-               .. grid-item::
-                  :ref:`surfacevel<composite-geom-surfacevel>`
-
-               .. grid-item::
-                  :ref:`adhesion<composite-geom-adhesion>`
-
-
-         .. dropdown:: :ref:`site<composite-site>` :octicon:`dot`
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`group<composite-site-group>`
-
-               .. grid-item::
-                  :ref:`size<composite-site-size>`
-
-               .. grid-item::
-                  :ref:`material<composite-site-material>`
-
-               .. grid-item::
-                  :ref:`rgba<composite-site-rgba>`
-
-
-         .. dropdown:: :ref:`plugin<composite-plugin>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`plugin<composite-plugin-plugin>`
-
-               .. grid-item::
-                  :ref:`instance<composite-plugin-instance>`
-
-
-            .. dropdown:: :ref:`config<plugin-config>` |*|
-
-               .. grid:: 2 3 4 4
-                  :gutter: 0
-
-                  .. grid-item::
-                     :ref:`key<plugin-config-key>`
-
-                  .. grid-item::
-                     :ref:`value<plugin-config-value>`
-
-
-      .. dropdown:: :ref:`flexcomp<body-flexcomp>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<body-flexcomp-name>`
-
-            .. grid-item::
-               :ref:`type<body-flexcomp-type>`
-
-            .. grid-item::
-               :ref:`group<body-flexcomp-group>`
-
-            .. grid-item::
-               :ref:`dim<body-flexcomp-dim>`
-
-            .. grid-item::
-               :ref:`dof<body-flexcomp-dof>`
-
-            .. grid-item::
-               :ref:`count<body-flexcomp-count>`
-
-            .. grid-item::
-               :ref:`cellcount<body-flexcomp-cellcount>`
-
-            .. grid-item::
-               :ref:`spacing<body-flexcomp-spacing>`
-
-            .. grid-item::
-               :ref:`radius<body-flexcomp-radius>`
-
-            .. grid-item::
-               :ref:`rigid<body-flexcomp-rigid>`
-
-            .. grid-item::
-               :ref:`mass<body-flexcomp-mass>`
-
-            .. grid-item::
-               :ref:`inertiabox<body-flexcomp-inertiabox>`
-
-            .. grid-item::
-               :ref:`scale<body-flexcomp-scale>`
-
-            .. grid-item::
-               :ref:`file<body-flexcomp-file>`
-
-            .. grid-item::
-               :ref:`point<body-flexcomp-point>`
-
-            .. grid-item::
-               :ref:`element<body-flexcomp-element>`
-
-            .. grid-item::
-               :ref:`texcoord<body-flexcomp-texcoord>`
-
-            .. grid-item::
-               :ref:`material<body-flexcomp-material>`
-
-            .. grid-item::
-               :ref:`rgba<body-flexcomp-rgba>`
-
-            .. grid-item::
-               :ref:`flatskin<body-flexcomp-flatskin>`
-
-            .. grid-item::
-               :ref:`pos<body-flexcomp-pos>`
-
-            .. grid-item::
-               :ref:`quat<body-flexcomp-quat>`
-
-            .. grid-item::
-               :ref:`axisangle<body-flexcomp-axisangle>`
-
-            .. grid-item::
-               :ref:`xyaxes<body-flexcomp-xyaxes>`
-
-            .. grid-item::
-               :ref:`zaxis<body-flexcomp-zaxis>`
-
-            .. grid-item::
-               :ref:`euler<body-flexcomp-euler>`
-
-            .. grid-item::
-               :ref:`origin<body-flexcomp-origin>`
-
-
-         .. dropdown:: :ref:`edge<flexcomp-edge>` :octicon:`dot`
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`equality<flexcomp-edge-equality>`
-
-               .. grid-item::
-                  :ref:`solref<flexcomp-edge-solref>`
-
-               .. grid-item::
-                  :ref:`solimp<flexcomp-edge-solimp>`
-
-               .. grid-item::
-                  :ref:`stiffness<flexcomp-edge-stiffness>`
-
-               .. grid-item::
-                  :ref:`damping<flexcomp-edge-damping>`
-
-
-         .. dropdown:: :ref:`elasticity<flexcomp-elasticity>` :octicon:`dot`
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`young<flexcomp-elasticity-young>`
-
-               .. grid-item::
-                  :ref:`poisson<flexcomp-elasticity-poisson>`
-
-               .. grid-item::
-                  :ref:`damping<flexcomp-elasticity-damping>`
-
-               .. grid-item::
-                  :ref:`thickness<flexcomp-elasticity-thickness>`
-
-               .. grid-item::
-                  :ref:`elastic2d<flexcomp-elasticity-elastic2d>`
-
-
-         .. dropdown:: :ref:`contact<flexcomp-contact>` :octicon:`dot`
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`contype<flexcomp-contact-contype>`
-
-               .. grid-item::
-                  :ref:`conaffinity<flexcomp-contact-conaffinity>`
-
-               .. grid-item::
-                  :ref:`condim<flexcomp-contact-condim>`
-
-               .. grid-item::
-                  :ref:`priority<flexcomp-contact-priority>`
-
-               .. grid-item::
-                  :ref:`friction<flexcomp-contact-friction>`
-
-               .. grid-item::
-                  :ref:`solmix<flexcomp-contact-solmix>`
-
-               .. grid-item::
-                  :ref:`solref<flexcomp-contact-solref>`
-
-               .. grid-item::
-                  :ref:`solimp<flexcomp-contact-solimp>`
-
-               .. grid-item::
-                  :ref:`margin<flexcomp-contact-margin>`
-
-               .. grid-item::
-                  :ref:`gap<flexcomp-contact-gap>`
-
-               .. grid-item::
-                  :ref:`internal<flexcomp-contact-internal>`
-
-               .. grid-item::
-                  :ref:`selfcollide<flexcomp-contact-selfcollide>`
-
-               .. grid-item::
-                  :ref:`activelayers<flexcomp-contact-activelayers>`
-
-               .. grid-item::
-                  :ref:`passive<flexcomp-contact-passive>`
-
-
-         .. dropdown:: :ref:`pin<flexcomp-pin>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`id<flexcomp-pin-id>`
-
-               .. grid-item::
-                  :ref:`range<flexcomp-pin-range>`
-
-               .. grid-item::
-                  :ref:`grid<flexcomp-pin-grid>`
-
-               .. grid-item::
-                  :ref:`gridrange<flexcomp-pin-gridrange>`
-
-
-         .. dropdown:: :ref:`plugin<flexcomp-plugin>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`plugin<flexcomp-plugin-plugin>`
-
-               .. grid-item::
-                  :ref:`instance<flexcomp-plugin-instance>`
-
-
-            .. dropdown:: :ref:`config<plugin-config>` |*|
-
-               .. grid:: 2 3 4 4
-                  :gutter: 0
-
-                  .. grid-item::
-                     :ref:`key<plugin-config-key>`
-
-                  .. grid-item::
-                     :ref:`value<plugin-config-value>`
-
-
-   .. dropdown:: :ref:`deformable<deformable>` |*|
-
-
-      .. dropdown:: :ref:`flex<deformable-flex>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<deformable-flex-name>`
-
-            .. grid-item::
-               :ref:`group<deformable-flex-group>`
-
-            .. grid-item::
-               :ref:`dim<deformable-flex-dim>`
-
-            .. grid-item::
-               :ref:`radius<deformable-flex-radius>`
-
-            .. grid-item::
-               :ref:`material<deformable-flex-material>`
-
-            .. grid-item::
-               :ref:`rgba<deformable-flex-rgba>`
-
-            .. grid-item::
-               :ref:`flatskin<deformable-flex-flatskin>`
-
-            .. grid-item::
-               :ref:`body<deformable-flex-body>`
-
-            .. grid-item::
-               :ref:`vertex<deformable-flex-vertex>`
-
-            .. grid-item::
-               :ref:`element<deformable-flex-element>`
-
-            .. grid-item::
-               :ref:`texcoord<deformable-flex-texcoord>`
-
-            .. grid-item::
-               :ref:`elemtexcoord<deformable-flex-elemtexcoord>`
-
-            .. grid-item::
-               :ref:`node<deformable-flex-node>`
-
-            .. grid-item::
-               :ref:`nodecoord<deformable-flex-nodecoord>`
-
-            .. grid-item::
-               :ref:`cellcount<deformable-flex-cellcount>`
-
-            .. grid-item::
-               :ref:`dof<deformable-flex-dof>`
-
-
-         .. dropdown:: :ref:`contact<flex-contact>` :octicon:`dot`
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`contype<flex-contact-contype>`
-
-               .. grid-item::
-                  :ref:`conaffinity<flex-contact-conaffinity>`
-
-               .. grid-item::
-                  :ref:`condim<flex-contact-condim>`
-
-               .. grid-item::
-                  :ref:`priority<flex-contact-priority>`
-
-               .. grid-item::
-                  :ref:`friction<flex-contact-friction>`
-
-               .. grid-item::
-                  :ref:`solmix<flex-contact-solmix>`
-
-               .. grid-item::
-                  :ref:`solref<flex-contact-solref>`
-
-               .. grid-item::
-                  :ref:`solimp<flex-contact-solimp>`
-
-               .. grid-item::
-                  :ref:`margin<flex-contact-margin>`
-
-               .. grid-item::
-                  :ref:`gap<flex-contact-gap>`
-
-               .. grid-item::
-                  :ref:`internal<flex-contact-internal>`
-
-               .. grid-item::
-                  :ref:`selfcollide<flex-contact-selfcollide>`
-
-               .. grid-item::
-                  :ref:`activelayers<flex-contact-activelayers>`
-
-               .. grid-item::
-                  :ref:`passive<flex-contact-passive>`
-
-
-         .. dropdown:: :ref:`edge<flex-edge>` :octicon:`dot`
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`stiffness<flex-edge-stiffness>`
-
-               .. grid-item::
-                  :ref:`damping<flex-edge-damping>`
-
-
-         .. dropdown:: :ref:`elasticity<flex-elasticity>` :octicon:`dot`
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`young<flex-elasticity-young>`
-
-               .. grid-item::
-                  :ref:`poisson<flex-elasticity-poisson>`
-
-               .. grid-item::
-                  :ref:`damping<flex-elasticity-damping>`
-
-               .. grid-item::
-                  :ref:`thickness<flex-elasticity-thickness>`
-
-               .. grid-item::
-                  :ref:`elastic2d<flex-elasticity-elastic2d>`
-
-
-      .. dropdown:: :ref:`skin<deformable-skin>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<deformable-skin-name>`
-
-            .. grid-item::
-               :ref:`file<deformable-skin-file>`
-
-            .. grid-item::
-               :ref:`material<deformable-skin-material>`
-
-            .. grid-item::
-               :ref:`rgba<deformable-skin-rgba>`
-
-            .. grid-item::
-               :ref:`inflate<deformable-skin-inflate>`
-
-            .. grid-item::
-               :ref:`vertex<deformable-skin-vertex>`
-
-            .. grid-item::
-               :ref:`texcoord<deformable-skin-texcoord>`
-
-            .. grid-item::
-               :ref:`face<deformable-skin-face>`
-
-            .. grid-item::
-               :ref:`group<deformable-skin-group>`
-
-
-         .. dropdown:: :ref:`bone<skin-bone>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`body<skin-bone-body>`
-
-               .. grid-item::
-                  :ref:`bindpos<skin-bone-bindpos>`
-
-               .. grid-item::
-                  :ref:`bindquat<skin-bone-bindquat>`
-
-               .. grid-item::
-                  :ref:`vertid<skin-bone-vertid>`
-
-               .. grid-item::
-                  :ref:`vertweight<skin-bone-vertweight>`
-
-
-   .. dropdown:: :ref:`contact<contact>` |*|
-
-
-      .. dropdown:: :ref:`pair<contact-pair>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<contact-pair-name>`
-
-            .. grid-item::
-               :ref:`class<contact-pair-class>`
-
-            .. grid-item::
-               :ref:`geom1<contact-pair-geom1>`
-
-            .. grid-item::
-               :ref:`geom2<contact-pair-geom2>`
-
-            .. grid-item::
-               :ref:`condim<contact-pair-condim>`
-
-            .. grid-item::
-               :ref:`friction<contact-pair-friction>`
-
-            .. grid-item::
-               :ref:`solref<contact-pair-solref>`
-
-            .. grid-item::
-               :ref:`solreffriction<contact-pair-solreffriction>`
-
-            .. grid-item::
-               :ref:`solimp<contact-pair-solimp>`
-
-            .. grid-item::
-               :ref:`gap<contact-pair-gap>`
-
-            .. grid-item::
-               :ref:`margin<contact-pair-margin>`
-
-            .. grid-item::
-               :ref:`adhesion<contact-pair-adhesion>`
-
-
-      .. dropdown:: :ref:`exclude<contact-exclude>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<contact-exclude-name>`
-
-            .. grid-item::
-               :ref:`body1<contact-exclude-body1>`
-
-            .. grid-item::
-               :ref:`body2<contact-exclude-body2>`
-
-
-   .. dropdown:: :ref:`equality<equality>` |*|
-
-
-      .. dropdown:: :ref:`connect<equality-connect>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<equality-connect-name>`
-
-            .. grid-item::
-               :ref:`class<equality-connect-class>`
-
-            .. grid-item::
-               :ref:`active<equality-connect-active>`
-
-            .. grid-item::
-               :ref:`solref<equality-connect-solref>`
-
-            .. grid-item::
-               :ref:`solimp<equality-connect-solimp>`
-
-            .. grid-item::
-               :ref:`body1<equality-connect-body1>`
-
-            .. grid-item::
-               :ref:`body2<equality-connect-body2>`
-
-            .. grid-item::
-               :ref:`anchor<equality-connect-anchor>`
-
-            .. grid-item::
-               :ref:`site1<equality-connect-site1>`
-
-            .. grid-item::
-               :ref:`site2<equality-connect-site2>`
-
-
-      .. dropdown:: :ref:`weld<equality-weld>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<equality-weld-name>`
-
-            .. grid-item::
-               :ref:`class<equality-weld-class>`
-
-            .. grid-item::
-               :ref:`active<equality-weld-active>`
-
-            .. grid-item::
-               :ref:`solref<equality-weld-solref>`
-
-            .. grid-item::
-               :ref:`solimp<equality-weld-solimp>`
-
-            .. grid-item::
-               :ref:`body1<equality-weld-body1>`
-
-            .. grid-item::
-               :ref:`body2<equality-weld-body2>`
-
-            .. grid-item::
-               :ref:`relpose<equality-weld-relpose>`
-
-            .. grid-item::
-               :ref:`anchor<equality-weld-anchor>`
-
-            .. grid-item::
-               :ref:`site1<equality-weld-site1>`
-
-            .. grid-item::
-               :ref:`site2<equality-weld-site2>`
-
-            .. grid-item::
-               :ref:`torquescale<equality-weld-torquescale>`
-
-
-      .. dropdown:: :ref:`joint<equality-joint>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<equality-joint-name>`
-
-            .. grid-item::
-               :ref:`class<equality-joint-class>`
-
-            .. grid-item::
-               :ref:`active<equality-joint-active>`
-
-            .. grid-item::
-               :ref:`solref<equality-joint-solref>`
-
-            .. grid-item::
-               :ref:`solimp<equality-joint-solimp>`
-
-            .. grid-item::
-               :ref:`joint1<equality-joint-joint1>`
-
-            .. grid-item::
-               :ref:`joint2<equality-joint-joint2>`
-
-            .. grid-item::
-               :ref:`polycoef<equality-joint-polycoef>`
-
-
-      .. dropdown:: :ref:`tendon<equality-tendon>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<equality-tendon-name>`
-
-            .. grid-item::
-               :ref:`class<equality-tendon-class>`
-
-            .. grid-item::
-               :ref:`active<equality-tendon-active>`
-
-            .. grid-item::
-               :ref:`solref<equality-tendon-solref>`
-
-            .. grid-item::
-               :ref:`solimp<equality-tendon-solimp>`
-
-            .. grid-item::
-               :ref:`tendon1<equality-tendon-tendon1>`
-
-            .. grid-item::
-               :ref:`tendon2<equality-tendon-tendon2>`
-
-            .. grid-item::
-               :ref:`polycoef<equality-tendon-polycoef>`
-
-
-      .. dropdown:: :ref:`flex<equality-flex>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<equality-flex-name>`
-
-            .. grid-item::
-               :ref:`class<equality-flex-class>`
-
-            .. grid-item::
-               :ref:`active<equality-flex-active>`
-
-            .. grid-item::
-               :ref:`solref<equality-flex-solref>`
-
-            .. grid-item::
-               :ref:`solimp<equality-flex-solimp>`
-
-            .. grid-item::
-               :ref:`flex<equality-flex-flex>`
-
-
-      .. dropdown:: :ref:`flexvert<equality-flexvert>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<equality-flexvert-name>`
-
-            .. grid-item::
-               :ref:`class<equality-flexvert-class>`
-
-            .. grid-item::
-               :ref:`active<equality-flexvert-active>`
-
-            .. grid-item::
-               :ref:`solref<equality-flexvert-solref>`
-
-            .. grid-item::
-               :ref:`solimp<equality-flexvert-solimp>`
-
-            .. grid-item::
-               :ref:`flex<equality-flexvert-flex>`
-
-
-      .. dropdown:: :ref:`flexstrain<equality-flexstrain>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<equality-flexstrain-name>`
-
-            .. grid-item::
-               :ref:`class<equality-flexstrain-class>`
-
-            .. grid-item::
-               :ref:`active<equality-flexstrain-active>`
-
-            .. grid-item::
-               :ref:`solref<equality-flexstrain-solref>`
-
-            .. grid-item::
-               :ref:`solimp<equality-flexstrain-solimp>`
-
-            .. grid-item::
-               :ref:`flex<equality-flexstrain-flex>`
-
-            .. grid-item::
-               :ref:`cell<equality-flexstrain-cell>`
-
-
-   .. dropdown:: :ref:`tendon<tendon>` |*|
-
-
-      .. dropdown:: :ref:`spatial<tendon-spatial>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<tendon-spatial-name>`
-
-            .. grid-item::
-               :ref:`class<tendon-spatial-class>`
-
-            .. grid-item::
-               :ref:`group<tendon-spatial-group>`
-
-            .. grid-item::
-               :ref:`limited<tendon-spatial-limited>`
-
-            .. grid-item::
-               :ref:`actuatorfrclimited<tendon-spatial-actuatorfrclimited>`
-
-            .. grid-item::
-               :ref:`range<tendon-spatial-range>`
-
-            .. grid-item::
-               :ref:`actuatorfrcrange<tendon-spatial-actuatorfrcrange>`
-
-            .. grid-item::
-               :ref:`solreflimit<tendon-spatial-solreflimit>`
-
-            .. grid-item::
-               :ref:`solimplimit<tendon-spatial-solimplimit>`
-
-            .. grid-item::
-               :ref:`solreffriction<tendon-spatial-solreffriction>`
-
-            .. grid-item::
-               :ref:`solimpfriction<tendon-spatial-solimpfriction>`
-
-            .. grid-item::
-               :ref:`frictionloss<tendon-spatial-frictionloss>`
-
-            .. grid-item::
-               :ref:`springlength<tendon-spatial-springlength>`
-
-            .. grid-item::
-               :ref:`width<tendon-spatial-width>`
-
-            .. grid-item::
-               :ref:`material<tendon-spatial-material>`
-
-            .. grid-item::
-               :ref:`margin<tendon-spatial-margin>`
-
-            .. grid-item::
-               :ref:`stiffness<tendon-spatial-stiffness>`
-
-            .. grid-item::
-               :ref:`damping<tendon-spatial-damping>`
-
-            .. grid-item::
-               :ref:`armature<tendon-spatial-armature>`
-
-            .. grid-item::
-               :ref:`rgba<tendon-spatial-rgba>`
-
-            .. grid-item::
-               :ref:`user<tendon-spatial-user>`
-
-
-         .. dropdown:: :ref:`site<spatial-site>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`site<spatial-site-site>`
-
-
-         .. dropdown:: :ref:`geom<spatial-geom>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`geom<spatial-geom-geom>`
-
-               .. grid-item::
-                  :ref:`sidesite<spatial-geom-sidesite>`
-
-
-         .. dropdown:: :ref:`pulley<spatial-pulley>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`divisor<spatial-pulley-divisor>`
-
-
-      .. dropdown:: :ref:`fixed<tendon-fixed>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<tendon-fixed-name>`
-
-            .. grid-item::
-               :ref:`class<tendon-fixed-class>`
-
-            .. grid-item::
-               :ref:`group<tendon-fixed-group>`
-
-            .. grid-item::
-               :ref:`limited<tendon-fixed-limited>`
-
-            .. grid-item::
-               :ref:`actuatorfrclimited<tendon-fixed-actuatorfrclimited>`
-
-            .. grid-item::
-               :ref:`range<tendon-fixed-range>`
-
-            .. grid-item::
-               :ref:`actuatorfrcrange<tendon-fixed-actuatorfrcrange>`
-
-            .. grid-item::
-               :ref:`solreflimit<tendon-fixed-solreflimit>`
-
-            .. grid-item::
-               :ref:`solimplimit<tendon-fixed-solimplimit>`
-
-            .. grid-item::
-               :ref:`solreffriction<tendon-fixed-solreffriction>`
-
-            .. grid-item::
-               :ref:`solimpfriction<tendon-fixed-solimpfriction>`
-
-            .. grid-item::
-               :ref:`frictionloss<tendon-fixed-frictionloss>`
-
-            .. grid-item::
-               :ref:`springlength<tendon-fixed-springlength>`
-
-            .. grid-item::
-               :ref:`margin<tendon-fixed-margin>`
-
-            .. grid-item::
-               :ref:`stiffness<tendon-fixed-stiffness>`
-
-            .. grid-item::
-               :ref:`damping<tendon-fixed-damping>`
-
-            .. grid-item::
-               :ref:`armature<tendon-fixed-armature>`
-
-            .. grid-item::
-               :ref:`user<tendon-fixed-user>`
-
-
-         .. dropdown:: :ref:`joint<fixed-joint>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`joint<fixed-joint-joint>`
-
-               .. grid-item::
-                  :ref:`coef<fixed-joint-coef>`
-
-
-   .. dropdown:: :ref:`actuator<actuator>` |*|
-
-
-      .. dropdown:: :ref:`general<actuator-general>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-general-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-general-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-general-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-general-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-general-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-general-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-general-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-general-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-general-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-general-forcelimited>`
-
-            .. grid-item::
-               :ref:`actlimited<actuator-general-actlimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-general-forcerange>`
-
-            .. grid-item::
-               :ref:`actrange<actuator-general-actrange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-general-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-general-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-general-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-general-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-general-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-general-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-general-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-general-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-general-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-general-cranksite>`
-
-            .. grid-item::
-               :ref:`site<actuator-general-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-general-refsite>`
-
-            .. grid-item::
-               :ref:`body<actuator-general-body>`
-
-            .. grid-item::
-               :ref:`actdim<actuator-general-actdim>`
-
-            .. grid-item::
-               :ref:`input<actuator-general-input>`
-
-            .. grid-item::
-               :ref:`velrange<actuator-general-velrange>`
-
-            .. grid-item::
-               :ref:`ffrange<actuator-general-ffrange>`
-
-            .. grid-item::
-               :ref:`dyntype<actuator-general-dyntype>`
-
-            .. grid-item::
-               :ref:`gaintype<actuator-general-gaintype>`
-
-            .. grid-item::
-               :ref:`biastype<actuator-general-biastype>`
-
-            .. grid-item::
-               :ref:`dynprm<actuator-general-dynprm>`
-
-            .. grid-item::
-               :ref:`gainprm<actuator-general-gainprm>`
-
-            .. grid-item::
-               :ref:`biasprm<actuator-general-biasprm>`
-
-            .. grid-item::
-               :ref:`actearly<actuator-general-actearly>`
-
-
-      .. dropdown:: :ref:`motor<actuator-motor>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-motor-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-motor-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-motor-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-motor-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-motor-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-motor-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-motor-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-motor-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-motor-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-motor-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-motor-forcerange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-motor-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-motor-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-motor-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-motor-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-motor-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-motor-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-motor-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-motor-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-motor-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-motor-cranksite>`
-
-            .. grid-item::
-               :ref:`site<actuator-motor-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-motor-refsite>`
-
-
-      .. dropdown:: :ref:`position<actuator-position>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-position-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-position-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-position-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-position-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-position-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-position-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-position-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-position-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-position-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-position-forcelimited>`
-
-            .. grid-item::
-               :ref:`inheritrange<actuator-position-inheritrange>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-position-forcerange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-position-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-position-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-position-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-position-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-position-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-position-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-position-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-position-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-position-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-position-cranksite>`
-
-            .. grid-item::
-               :ref:`site<actuator-position-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-position-refsite>`
-
-            .. grid-item::
-               :ref:`kp<actuator-position-kp>`
-
-            .. grid-item::
-               :ref:`kv<actuator-position-kv>`
-
-            .. grid-item::
-               :ref:`dampratio<actuator-position-dampratio>`
-
-            .. grid-item::
-               :ref:`timeconst<actuator-position-timeconst>`
-
-
-      .. dropdown:: :ref:`velocity<actuator-velocity>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-velocity-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-velocity-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-velocity-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-velocity-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-velocity-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-velocity-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-velocity-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-velocity-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-velocity-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-velocity-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-velocity-forcerange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-velocity-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-velocity-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-velocity-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-velocity-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-velocity-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-velocity-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-velocity-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-velocity-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-velocity-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-velocity-cranksite>`
-
-            .. grid-item::
-               :ref:`site<actuator-velocity-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-velocity-refsite>`
-
-            .. grid-item::
-               :ref:`kv<actuator-velocity-kv>`
-
-
-      .. dropdown:: :ref:`intvelocity<actuator-intvelocity>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-intvelocity-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-intvelocity-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-intvelocity-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-intvelocity-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-intvelocity-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-intvelocity-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-intvelocity-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-intvelocity-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-intvelocity-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-intvelocity-forcelimited>`
-
-            .. grid-item::
-               :ref:`actlimited<actuator-intvelocity-actlimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-intvelocity-forcerange>`
-
-            .. grid-item::
-               :ref:`actrange<actuator-intvelocity-actrange>`
-
-            .. grid-item::
-               :ref:`inheritrange<actuator-intvelocity-inheritrange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-intvelocity-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-intvelocity-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-intvelocity-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-intvelocity-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-intvelocity-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-intvelocity-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-intvelocity-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-intvelocity-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-intvelocity-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-intvelocity-cranksite>`
-
-            .. grid-item::
-               :ref:`site<actuator-intvelocity-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-intvelocity-refsite>`
-
-            .. grid-item::
-               :ref:`kp<actuator-intvelocity-kp>`
-
-            .. grid-item::
-               :ref:`kv<actuator-intvelocity-kv>`
-
-            .. grid-item::
-               :ref:`dampratio<actuator-intvelocity-dampratio>`
-
-
-      .. dropdown:: :ref:`orientation<actuator-orientation>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-orientation-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-orientation-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-orientation-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-orientation-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-orientation-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-orientation-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-orientation-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-orientation-user>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-orientation-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-orientation-forcerange>`
-
-            .. grid-item::
-               :ref:`joint<actuator-orientation-joint>`
-
-            .. grid-item::
-               :ref:`site<actuator-orientation-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-orientation-refsite>`
-
-            .. grid-item::
-               :ref:`kp<actuator-orientation-kp>`
-
-            .. grid-item::
-               :ref:`kv<actuator-orientation-kv>`
-
-            .. grid-item::
-               :ref:`dampratio<actuator-orientation-dampratio>`
-
-            .. grid-item::
-               :ref:`input<actuator-orientation-input>`
-
-
-      .. dropdown:: :ref:`pid<actuator-pid>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-pid-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-pid-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-pid-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-pid-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-pid-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-pid-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-pid-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-pid-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-pid-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-pid-forcelimited>`
-
-            .. grid-item::
-               :ref:`posrange<actuator-pid-posrange>`
-
-            .. grid-item::
-               :ref:`velrange<actuator-pid-velrange>`
-
-            .. grid-item::
-               :ref:`ffrange<actuator-pid-ffrange>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-pid-forcerange>`
-
-            .. grid-item::
-               :ref:`inheritrange<actuator-pid-inheritrange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-pid-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-pid-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-pid-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-pid-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-pid-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-pid-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-pid-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-pid-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-pid-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-pid-cranksite>`
-
-            .. grid-item::
-               :ref:`site<actuator-pid-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-pid-refsite>`
-
-            .. grid-item::
-               :ref:`kp<actuator-pid-kp>`
-
-            .. grid-item::
-               :ref:`kv<actuator-pid-kv>`
-
-            .. grid-item::
-               :ref:`dampratio<actuator-pid-dampratio>`
-
-            .. grid-item::
-               :ref:`ki<actuator-pid-ki>`
-
-            .. grid-item::
-               :ref:`imax<actuator-pid-imax>`
-
-            .. grid-item::
-               :ref:`slewmax<actuator-pid-slewmax>`
-
-            .. grid-item::
-               :ref:`input<actuator-pid-input>`
-
-
-      .. dropdown:: :ref:`damper<actuator-damper>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-damper-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-damper-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-damper-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-damper-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-damper-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-damper-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-damper-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-damper-user>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-damper-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-damper-forcerange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-damper-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-damper-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-damper-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-damper-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-damper-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-damper-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-damper-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-damper-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-damper-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-damper-cranksite>`
-
-            .. grid-item::
-               :ref:`site<actuator-damper-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-damper-refsite>`
-
-            .. grid-item::
-               :ref:`kv<actuator-damper-kv>`
-
-
-      .. dropdown:: :ref:`cylinder<actuator-cylinder>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-cylinder-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-cylinder-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-cylinder-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-cylinder-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-cylinder-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-cylinder-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-cylinder-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-cylinder-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-cylinder-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-cylinder-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-cylinder-forcerange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-cylinder-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-cylinder-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-cylinder-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-cylinder-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-cylinder-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-cylinder-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-cylinder-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-cylinder-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-cylinder-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-cylinder-cranksite>`
-
-            .. grid-item::
-               :ref:`site<actuator-cylinder-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-cylinder-refsite>`
-
-            .. grid-item::
-               :ref:`timeconst<actuator-cylinder-timeconst>`
-
-            .. grid-item::
-               :ref:`area<actuator-cylinder-area>`
-
-            .. grid-item::
-               :ref:`diameter<actuator-cylinder-diameter>`
-
-            .. grid-item::
-               :ref:`bias<actuator-cylinder-bias>`
-
-
-      .. dropdown:: :ref:`muscle<actuator-muscle>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-muscle-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-muscle-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-muscle-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-muscle-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-muscle-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-muscle-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-muscle-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-muscle-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-muscle-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-muscle-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-muscle-forcerange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-muscle-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-muscle-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-muscle-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-muscle-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-muscle-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-muscle-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-muscle-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-muscle-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-muscle-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-muscle-cranksite>`
-
-            .. grid-item::
-               :ref:`timeconst<actuator-muscle-timeconst>`
-
-            .. grid-item::
-               :ref:`tausmooth<actuator-muscle-tausmooth>`
-
-            .. grid-item::
-               :ref:`range<actuator-muscle-range>`
-
-            .. grid-item::
-               :ref:`force<actuator-muscle-force>`
-
-            .. grid-item::
-               :ref:`scale<actuator-muscle-scale>`
-
-            .. grid-item::
-               :ref:`lmin<actuator-muscle-lmin>`
-
-            .. grid-item::
-               :ref:`lmax<actuator-muscle-lmax>`
-
-            .. grid-item::
-               :ref:`vmax<actuator-muscle-vmax>`
-
-            .. grid-item::
-               :ref:`fpmax<actuator-muscle-fpmax>`
-
-            .. grid-item::
-               :ref:`fvmax<actuator-muscle-fvmax>`
-
-
-      .. dropdown:: :ref:`adhesion<actuator-adhesion>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-adhesion-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-adhesion-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-adhesion-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-adhesion-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-adhesion-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-adhesion-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-adhesion-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-adhesion-user>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-adhesion-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-adhesion-forcerange>`
-
-            .. grid-item::
-               :ref:`body<actuator-adhesion-body>`
-
-            .. grid-item::
-               :ref:`gain<actuator-adhesion-gain>`
-
-
-      .. dropdown:: :ref:`dcmotor<actuator-dcmotor>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-dcmotor-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-dcmotor-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-dcmotor-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-dcmotor-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-dcmotor-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-dcmotor-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-dcmotor-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-dcmotor-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-dcmotor-ctrllimited>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-dcmotor-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-dcmotor-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-dcmotor-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-dcmotor-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-dcmotor-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-dcmotor-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-dcmotor-jointinparent>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-dcmotor-tendon>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-dcmotor-slidersite>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-dcmotor-cranksite>`
-
-            .. grid-item::
-               :ref:`site<actuator-dcmotor-site>`
-
-            .. grid-item::
-               :ref:`refsite<actuator-dcmotor-refsite>`
-
-            .. grid-item::
-               :ref:`motorconst<actuator-dcmotor-motorconst>`
-
-            .. grid-item::
-               :ref:`resistance<actuator-dcmotor-resistance>`
-
-            .. grid-item::
-               :ref:`nominal<actuator-dcmotor-nominal>`
-
-            .. grid-item::
-               :ref:`saturation<actuator-dcmotor-saturation>`
-
-            .. grid-item::
-               :ref:`inductance<actuator-dcmotor-inductance>`
-
-            .. grid-item::
-               :ref:`cogging<actuator-dcmotor-cogging>`
-
-            .. grid-item::
-               :ref:`controller<actuator-dcmotor-controller>`
-
-            .. grid-item::
-               :ref:`thermal<actuator-dcmotor-thermal>`
-
-            .. grid-item::
-               :ref:`lugre<actuator-dcmotor-lugre>`
-
-            .. grid-item::
-               :ref:`input<actuator-dcmotor-input>`
-
-
-      .. dropdown:: :ref:`plugin<actuator-plugin>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<actuator-plugin-name>`
-
-            .. grid-item::
-               :ref:`class<actuator-plugin-class>`
-
-            .. grid-item::
-               :ref:`group<actuator-plugin-group>`
-
-            .. grid-item::
-               :ref:`nsample<actuator-plugin-nsample>`
-
-            .. grid-item::
-               :ref:`interp<actuator-plugin-interp>`
-
-            .. grid-item::
-               :ref:`delay<actuator-plugin-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<actuator-plugin-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<actuator-plugin-user>`
-
-            .. grid-item::
-               :ref:`plugin<actuator-plugin-plugin>`
-
-            .. grid-item::
-               :ref:`instance<actuator-plugin-instance>`
-
-            .. grid-item::
-               :ref:`ctrllimited<actuator-plugin-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<actuator-plugin-forcelimited>`
-
-            .. grid-item::
-               :ref:`actlimited<actuator-plugin-actlimited>`
-
-            .. grid-item::
-               :ref:`forcerange<actuator-plugin-forcerange>`
-
-            .. grid-item::
-               :ref:`actrange<actuator-plugin-actrange>`
-
-            .. grid-item::
-               :ref:`lengthrange<actuator-plugin-lengthrange>`
-
-            .. grid-item::
-               :ref:`gear<actuator-plugin-gear>`
-
-            .. grid-item::
-               :ref:`damping<actuator-plugin-damping>`
-
-            .. grid-item::
-               :ref:`armature<actuator-plugin-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<actuator-plugin-cranklength>`
-
-            .. grid-item::
-               :ref:`joint<actuator-plugin-joint>`
-
-            .. grid-item::
-               :ref:`jointinparent<actuator-plugin-jointinparent>`
-
-            .. grid-item::
-               :ref:`site<actuator-plugin-site>`
-
-            .. grid-item::
-               :ref:`actdim<actuator-plugin-actdim>`
-
-            .. grid-item::
-               :ref:`dyntype<actuator-plugin-dyntype>`
-
-            .. grid-item::
-               :ref:`dynprm<actuator-plugin-dynprm>`
-
-            .. grid-item::
-               :ref:`tendon<actuator-plugin-tendon>`
-
-            .. grid-item::
-               :ref:`cranksite<actuator-plugin-cranksite>`
-
-            .. grid-item::
-               :ref:`slidersite<actuator-plugin-slidersite>`
-
-            .. grid-item::
-               :ref:`actearly<actuator-plugin-actearly>`
-
-
-         .. dropdown:: :ref:`config<plugin-config>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`key<plugin-config-key>`
-
-               .. grid-item::
-                  :ref:`value<plugin-config-value>`
-
-
-   .. dropdown:: :ref:`sensor<sensor>` |*|
-
-
-      .. dropdown:: :ref:`touch<sensor-touch>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-touch-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-touch-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-touch-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-touch-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-touch-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-touch-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-touch-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-touch-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-touch-site>`
-
-
-      .. dropdown:: :ref:`accelerometer<sensor-accelerometer>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-accelerometer-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-accelerometer-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-accelerometer-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-accelerometer-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-accelerometer-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-accelerometer-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-accelerometer-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-accelerometer-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-accelerometer-site>`
-
-
-      .. dropdown:: :ref:`velocimeter<sensor-velocimeter>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-velocimeter-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-velocimeter-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-velocimeter-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-velocimeter-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-velocimeter-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-velocimeter-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-velocimeter-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-velocimeter-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-velocimeter-site>`
-
-
-      .. dropdown:: :ref:`gyro<sensor-gyro>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-gyro-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-gyro-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-gyro-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-gyro-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-gyro-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-gyro-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-gyro-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-gyro-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-gyro-site>`
-
-
-      .. dropdown:: :ref:`force<sensor-force>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-force-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-force-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-force-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-force-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-force-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-force-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-force-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-force-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-force-site>`
-
-
-      .. dropdown:: :ref:`torque<sensor-torque>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-torque-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-torque-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-torque-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-torque-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-torque-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-torque-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-torque-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-torque-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-torque-site>`
-
-
-      .. dropdown:: :ref:`magnetometer<sensor-magnetometer>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-magnetometer-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-magnetometer-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-magnetometer-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-magnetometer-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-magnetometer-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-magnetometer-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-magnetometer-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-magnetometer-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-magnetometer-site>`
-
-
-      .. dropdown:: :ref:`camprojection<sensor-camprojection>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-camprojection-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-camprojection-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-camprojection-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-camprojection-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-camprojection-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-camprojection-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-camprojection-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-camprojection-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-camprojection-site>`
-
-            .. grid-item::
-               :ref:`camera<sensor-camprojection-camera>`
-
-
-      .. dropdown:: :ref:`rangefinder<sensor-rangefinder>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-rangefinder-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-rangefinder-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-rangefinder-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-rangefinder-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-rangefinder-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-rangefinder-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-rangefinder-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-rangefinder-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-rangefinder-site>`
-
-            .. grid-item::
-               :ref:`camera<sensor-rangefinder-camera>`
-
-            .. grid-item::
-               :ref:`data<sensor-rangefinder-data>`
-
-
-      .. dropdown:: :ref:`jointpos<sensor-jointpos>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-jointpos-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-jointpos-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-jointpos-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-jointpos-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-jointpos-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-jointpos-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-jointpos-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-jointpos-user>`
-
-            .. grid-item::
-               :ref:`joint<sensor-jointpos-joint>`
-
-
-      .. dropdown:: :ref:`jointvel<sensor-jointvel>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-jointvel-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-jointvel-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-jointvel-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-jointvel-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-jointvel-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-jointvel-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-jointvel-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-jointvel-user>`
-
-            .. grid-item::
-               :ref:`joint<sensor-jointvel-joint>`
-
-
-      .. dropdown:: :ref:`tendonpos<sensor-tendonpos>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-tendonpos-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-tendonpos-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-tendonpos-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-tendonpos-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-tendonpos-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-tendonpos-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-tendonpos-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-tendonpos-user>`
-
-            .. grid-item::
-               :ref:`tendon<sensor-tendonpos-tendon>`
-
-
-      .. dropdown:: :ref:`tendonvel<sensor-tendonvel>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-tendonvel-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-tendonvel-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-tendonvel-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-tendonvel-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-tendonvel-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-tendonvel-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-tendonvel-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-tendonvel-user>`
-
-            .. grid-item::
-               :ref:`tendon<sensor-tendonvel-tendon>`
-
-
-      .. dropdown:: :ref:`actuatorpos<sensor-actuatorpos>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-actuatorpos-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-actuatorpos-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-actuatorpos-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-actuatorpos-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-actuatorpos-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-actuatorpos-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-actuatorpos-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-actuatorpos-user>`
-
-            .. grid-item::
-               :ref:`actuator<sensor-actuatorpos-actuator>`
-
-
-      .. dropdown:: :ref:`actuatorvel<sensor-actuatorvel>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-actuatorvel-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-actuatorvel-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-actuatorvel-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-actuatorvel-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-actuatorvel-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-actuatorvel-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-actuatorvel-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-actuatorvel-user>`
-
-            .. grid-item::
-               :ref:`actuator<sensor-actuatorvel-actuator>`
-
-
-      .. dropdown:: :ref:`actuatorfrc<sensor-actuatorfrc>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-actuatorfrc-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-actuatorfrc-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-actuatorfrc-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-actuatorfrc-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-actuatorfrc-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-actuatorfrc-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-actuatorfrc-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-actuatorfrc-user>`
-
-            .. grid-item::
-               :ref:`actuator<sensor-actuatorfrc-actuator>`
-
-
-      .. dropdown:: :ref:`jointactuatorfrc<sensor-jointactuatorfrc>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-jointactuatorfrc-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-jointactuatorfrc-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-jointactuatorfrc-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-jointactuatorfrc-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-jointactuatorfrc-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-jointactuatorfrc-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-jointactuatorfrc-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-jointactuatorfrc-user>`
-
-            .. grid-item::
-               :ref:`joint<sensor-jointactuatorfrc-joint>`
-
-
-      .. dropdown:: :ref:`tendonactuatorfrc<sensor-tendonactuatorfrc>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-tendonactuatorfrc-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-tendonactuatorfrc-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-tendonactuatorfrc-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-tendonactuatorfrc-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-tendonactuatorfrc-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-tendonactuatorfrc-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-tendonactuatorfrc-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-tendonactuatorfrc-user>`
-
-            .. grid-item::
-               :ref:`tendon<sensor-tendonactuatorfrc-tendon>`
-
-
-      .. dropdown:: :ref:`ballquat<sensor-ballquat>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-ballquat-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-ballquat-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-ballquat-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-ballquat-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-ballquat-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-ballquat-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-ballquat-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-ballquat-user>`
-
-            .. grid-item::
-               :ref:`joint<sensor-ballquat-joint>`
-
-
-      .. dropdown:: :ref:`ballangvel<sensor-ballangvel>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-ballangvel-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-ballangvel-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-ballangvel-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-ballangvel-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-ballangvel-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-ballangvel-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-ballangvel-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-ballangvel-user>`
-
-            .. grid-item::
-               :ref:`joint<sensor-ballangvel-joint>`
-
-
-      .. dropdown:: :ref:`jointlimitpos<sensor-jointlimitpos>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-jointlimitpos-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-jointlimitpos-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-jointlimitpos-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-jointlimitpos-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-jointlimitpos-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-jointlimitpos-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-jointlimitpos-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-jointlimitpos-user>`
-
-            .. grid-item::
-               :ref:`joint<sensor-jointlimitpos-joint>`
-
-
-      .. dropdown:: :ref:`jointlimitvel<sensor-jointlimitvel>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-jointlimitvel-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-jointlimitvel-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-jointlimitvel-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-jointlimitvel-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-jointlimitvel-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-jointlimitvel-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-jointlimitvel-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-jointlimitvel-user>`
-
-            .. grid-item::
-               :ref:`joint<sensor-jointlimitvel-joint>`
-
-
-      .. dropdown:: :ref:`jointlimitfrc<sensor-jointlimitfrc>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-jointlimitfrc-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-jointlimitfrc-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-jointlimitfrc-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-jointlimitfrc-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-jointlimitfrc-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-jointlimitfrc-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-jointlimitfrc-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-jointlimitfrc-user>`
-
-            .. grid-item::
-               :ref:`joint<sensor-jointlimitfrc-joint>`
-
-
-      .. dropdown:: :ref:`tendonlimitpos<sensor-tendonlimitpos>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-tendonlimitpos-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-tendonlimitpos-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-tendonlimitpos-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-tendonlimitpos-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-tendonlimitpos-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-tendonlimitpos-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-tendonlimitpos-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-tendonlimitpos-user>`
-
-            .. grid-item::
-               :ref:`tendon<sensor-tendonlimitpos-tendon>`
-
-
-      .. dropdown:: :ref:`tendonlimitvel<sensor-tendonlimitvel>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-tendonlimitvel-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-tendonlimitvel-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-tendonlimitvel-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-tendonlimitvel-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-tendonlimitvel-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-tendonlimitvel-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-tendonlimitvel-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-tendonlimitvel-user>`
-
-            .. grid-item::
-               :ref:`tendon<sensor-tendonlimitvel-tendon>`
-
-
-      .. dropdown:: :ref:`tendonlimitfrc<sensor-tendonlimitfrc>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-tendonlimitfrc-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-tendonlimitfrc-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-tendonlimitfrc-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-tendonlimitfrc-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-tendonlimitfrc-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-tendonlimitfrc-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-tendonlimitfrc-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-tendonlimitfrc-user>`
-
-            .. grid-item::
-               :ref:`tendon<sensor-tendonlimitfrc-tendon>`
-
-
-      .. dropdown:: :ref:`framepos<sensor-framepos>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-framepos-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-framepos-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-framepos-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-framepos-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-framepos-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-framepos-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-framepos-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-framepos-user>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-framepos-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-framepos-objname>`
-
-            .. grid-item::
-               :ref:`reftype<sensor-framepos-reftype>`
-
-            .. grid-item::
-               :ref:`refname<sensor-framepos-refname>`
-
-
-      .. dropdown:: :ref:`framequat<sensor-framequat>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-framequat-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-framequat-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-framequat-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-framequat-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-framequat-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-framequat-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-framequat-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-framequat-user>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-framequat-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-framequat-objname>`
-
-            .. grid-item::
-               :ref:`reftype<sensor-framequat-reftype>`
-
-            .. grid-item::
-               :ref:`refname<sensor-framequat-refname>`
-
-
-      .. dropdown:: :ref:`framexaxis<sensor-framexaxis>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-framexaxis-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-framexaxis-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-framexaxis-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-framexaxis-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-framexaxis-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-framexaxis-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-framexaxis-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-framexaxis-user>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-framexaxis-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-framexaxis-objname>`
-
-            .. grid-item::
-               :ref:`reftype<sensor-framexaxis-reftype>`
-
-            .. grid-item::
-               :ref:`refname<sensor-framexaxis-refname>`
-
-
-      .. dropdown:: :ref:`frameyaxis<sensor-frameyaxis>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-frameyaxis-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-frameyaxis-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-frameyaxis-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-frameyaxis-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-frameyaxis-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-frameyaxis-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-frameyaxis-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-frameyaxis-user>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-frameyaxis-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-frameyaxis-objname>`
-
-            .. grid-item::
-               :ref:`reftype<sensor-frameyaxis-reftype>`
-
-            .. grid-item::
-               :ref:`refname<sensor-frameyaxis-refname>`
-
-
-      .. dropdown:: :ref:`framezaxis<sensor-framezaxis>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-framezaxis-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-framezaxis-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-framezaxis-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-framezaxis-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-framezaxis-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-framezaxis-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-framezaxis-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-framezaxis-user>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-framezaxis-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-framezaxis-objname>`
-
-            .. grid-item::
-               :ref:`reftype<sensor-framezaxis-reftype>`
-
-            .. grid-item::
-               :ref:`refname<sensor-framezaxis-refname>`
-
-
-      .. dropdown:: :ref:`framelinvel<sensor-framelinvel>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-framelinvel-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-framelinvel-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-framelinvel-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-framelinvel-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-framelinvel-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-framelinvel-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-framelinvel-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-framelinvel-user>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-framelinvel-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-framelinvel-objname>`
-
-            .. grid-item::
-               :ref:`reftype<sensor-framelinvel-reftype>`
-
-            .. grid-item::
-               :ref:`refname<sensor-framelinvel-refname>`
-
-
-      .. dropdown:: :ref:`frameangvel<sensor-frameangvel>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-frameangvel-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-frameangvel-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-frameangvel-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-frameangvel-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-frameangvel-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-frameangvel-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-frameangvel-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-frameangvel-user>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-frameangvel-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-frameangvel-objname>`
-
-            .. grid-item::
-               :ref:`reftype<sensor-frameangvel-reftype>`
-
-            .. grid-item::
-               :ref:`refname<sensor-frameangvel-refname>`
-
-
-      .. dropdown:: :ref:`framelinacc<sensor-framelinacc>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-framelinacc-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-framelinacc-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-framelinacc-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-framelinacc-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-framelinacc-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-framelinacc-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-framelinacc-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-framelinacc-user>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-framelinacc-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-framelinacc-objname>`
-
-
-      .. dropdown:: :ref:`frameangacc<sensor-frameangacc>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-frameangacc-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-frameangacc-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-frameangacc-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-frameangacc-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-frameangacc-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-frameangacc-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-frameangacc-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-frameangacc-user>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-frameangacc-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-frameangacc-objname>`
-
-
-      .. dropdown:: :ref:`subtreecom<sensor-subtreecom>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-subtreecom-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-subtreecom-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-subtreecom-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-subtreecom-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-subtreecom-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-subtreecom-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-subtreecom-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-subtreecom-user>`
-
-            .. grid-item::
-               :ref:`body<sensor-subtreecom-body>`
-
-
-      .. dropdown:: :ref:`subtreelinvel<sensor-subtreelinvel>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-subtreelinvel-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-subtreelinvel-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-subtreelinvel-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-subtreelinvel-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-subtreelinvel-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-subtreelinvel-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-subtreelinvel-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-subtreelinvel-user>`
-
-            .. grid-item::
-               :ref:`body<sensor-subtreelinvel-body>`
-
-
-      .. dropdown:: :ref:`subtreeangmom<sensor-subtreeangmom>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-subtreeangmom-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-subtreeangmom-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-subtreeangmom-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-subtreeangmom-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-subtreeangmom-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-subtreeangmom-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-subtreeangmom-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-subtreeangmom-user>`
-
-            .. grid-item::
-               :ref:`body<sensor-subtreeangmom-body>`
-
-
-      .. dropdown:: :ref:`insidesite<sensor-insidesite>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-insidesite-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-insidesite-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-insidesite-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-insidesite-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-insidesite-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-insidesite-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-insidesite-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-insidesite-user>`
-
-            .. grid-item::
-               :ref:`site<sensor-insidesite-site>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-insidesite-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-insidesite-objname>`
-
-
-      .. dropdown:: :ref:`distance<sensor-distance>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-distance-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-distance-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-distance-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-distance-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-distance-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-distance-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-distance-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-distance-user>`
-
-            .. grid-item::
-               :ref:`geom1<sensor-distance-geom1>`
-
-            .. grid-item::
-               :ref:`geom2<sensor-distance-geom2>`
-
-            .. grid-item::
-               :ref:`body1<sensor-distance-body1>`
-
-            .. grid-item::
-               :ref:`body2<sensor-distance-body2>`
-
-
-      .. dropdown:: :ref:`normal<sensor-normal>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-normal-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-normal-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-normal-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-normal-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-normal-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-normal-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-normal-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-normal-user>`
-
-            .. grid-item::
-               :ref:`geom1<sensor-normal-geom1>`
-
-            .. grid-item::
-               :ref:`geom2<sensor-normal-geom2>`
-
-            .. grid-item::
-               :ref:`body1<sensor-normal-body1>`
-
-            .. grid-item::
-               :ref:`body2<sensor-normal-body2>`
-
-
-      .. dropdown:: :ref:`fromto<sensor-fromto>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-fromto-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-fromto-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-fromto-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-fromto-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-fromto-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-fromto-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-fromto-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-fromto-user>`
-
-            .. grid-item::
-               :ref:`geom1<sensor-fromto-geom1>`
-
-            .. grid-item::
-               :ref:`geom2<sensor-fromto-geom2>`
-
-            .. grid-item::
-               :ref:`body1<sensor-fromto-body1>`
-
-            .. grid-item::
-               :ref:`body2<sensor-fromto-body2>`
-
-
-      .. dropdown:: :ref:`contact<sensor-contact>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-contact-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-contact-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-contact-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-contact-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-contact-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-contact-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-contact-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-contact-user>`
-
-            .. grid-item::
-               :ref:`geom1<sensor-contact-geom1>`
-
-            .. grid-item::
-               :ref:`geom2<sensor-contact-geom2>`
-
-            .. grid-item::
-               :ref:`body1<sensor-contact-body1>`
-
-            .. grid-item::
-               :ref:`body2<sensor-contact-body2>`
-
-            .. grid-item::
-               :ref:`subtree1<sensor-contact-subtree1>`
-
-            .. grid-item::
-               :ref:`subtree2<sensor-contact-subtree2>`
-
-            .. grid-item::
-               :ref:`site<sensor-contact-site>`
-
-            .. grid-item::
-               :ref:`num<sensor-contact-num>`
-
-            .. grid-item::
-               :ref:`data<sensor-contact-data>`
-
-            .. grid-item::
-               :ref:`reduce<sensor-contact-reduce>`
-
-
-      .. dropdown:: :ref:`e_potential<sensor-e_potential>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-e_potential-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-e_potential-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-e_potential-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-e_potential-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-e_potential-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-e_potential-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-e_potential-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-e_potential-user>`
-
-
-      .. dropdown:: :ref:`e_kinetic<sensor-e_kinetic>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-e_kinetic-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-e_kinetic-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-e_kinetic-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-e_kinetic-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-e_kinetic-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-e_kinetic-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-e_kinetic-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-e_kinetic-user>`
-
-
-      .. dropdown:: :ref:`clock<sensor-clock>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-clock-name>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-clock-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-clock-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-clock-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-clock-interval>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-clock-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-clock-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-clock-user>`
-
-
-      .. dropdown:: :ref:`tactile<sensor-tactile>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-tactile-name>`
-
-            .. grid-item::
-               :ref:`geom<sensor-tactile-geom>`
-
-            .. grid-item::
-               :ref:`mesh<sensor-tactile-mesh>`
-
-            .. grid-item::
-               :ref:`nsample<sensor-tactile-nsample>`
-
-            .. grid-item::
-               :ref:`interp<sensor-tactile-interp>`
-
-            .. grid-item::
-               :ref:`delay<sensor-tactile-delay>`
-
-            .. grid-item::
-               :ref:`interval<sensor-tactile-interval>`
-
-            .. grid-item::
-               :ref:`user<sensor-tactile-user>`
-
-
-      .. dropdown:: :ref:`user<sensor-user>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-user-name>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-user-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-user-objname>`
-
-            .. grid-item::
-               :ref:`datatype<sensor-user-datatype>`
-
-            .. grid-item::
-               :ref:`needstage<sensor-user-needstage>`
-
-            .. grid-item::
-               :ref:`dim<sensor-user-dim>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-user-cutoff>`
-
-            .. grid-item::
-               :ref:`noise<sensor-user-noise>`
-
-            .. grid-item::
-               :ref:`user<sensor-user-user>`
-
-
-      .. dropdown:: :ref:`plugin<sensor-plugin>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<sensor-plugin-name>`
-
-            .. grid-item::
-               :ref:`plugin<sensor-plugin-plugin>`
-
-            .. grid-item::
-               :ref:`instance<sensor-plugin-instance>`
-
-            .. grid-item::
-               :ref:`cutoff<sensor-plugin-cutoff>`
-
-            .. grid-item::
-               :ref:`objtype<sensor-plugin-objtype>`
-
-            .. grid-item::
-               :ref:`objname<sensor-plugin-objname>`
-
-            .. grid-item::
-               :ref:`reftype<sensor-plugin-reftype>`
-
-            .. grid-item::
-               :ref:`refname<sensor-plugin-refname>`
-
-            .. grid-item::
-               :ref:`user<sensor-plugin-user>`
-
-
-         .. dropdown:: :ref:`config<plugin-config>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`key<plugin-config-key>`
-
-               .. grid-item::
-                  :ref:`value<plugin-config-value>`
-
-
-   .. dropdown:: :ref:`keyframe<keyframe>` |*|
-
-
-      .. dropdown:: :ref:`key<keyframe-key>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<keyframe-key-name>`
-
-            .. grid-item::
-               :ref:`time<keyframe-key-time>`
-
-            .. grid-item::
-               :ref:`qpos<keyframe-key-qpos>`
-
-            .. grid-item::
-               :ref:`qvel<keyframe-key-qvel>`
-
-            .. grid-item::
-               :ref:`act<keyframe-key-act>`
-
-            .. grid-item::
-               :ref:`mpos<keyframe-key-mpos>`
-
-            .. grid-item::
-               :ref:`mquat<keyframe-key-mquat>`
-
-            .. grid-item::
-               :ref:`ctrl<keyframe-key-ctrl>`
-
-
-   .. dropdown:: :ref:`visual<visual>` |*|
-
-
-      .. dropdown:: :ref:`global<visual-global>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`cameraid<visual-global-cameraid>`
-
-            .. grid-item::
-               :ref:`orthographic<visual-global-orthographic>`
-
-            .. grid-item::
-               :ref:`fovy<visual-global-fovy>`
-
-            .. grid-item::
-               :ref:`ipd<visual-global-ipd>`
-
-            .. grid-item::
-               :ref:`azimuth<visual-global-azimuth>`
-
-            .. grid-item::
-               :ref:`elevation<visual-global-elevation>`
-
-            .. grid-item::
-               :ref:`linewidth<visual-global-linewidth>`
-
-            .. grid-item::
-               :ref:`glow<visual-global-glow>`
-
-            .. grid-item::
-               :ref:`offwidth<visual-global-offwidth>`
-
-            .. grid-item::
-               :ref:`offheight<visual-global-offheight>`
-
-            .. grid-item::
-               :ref:`realtime<visual-global-realtime>`
-
-            .. grid-item::
-               :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>`
-
-            .. grid-item::
-               :ref:`bvactive<visual-global-bvactive>`
-
-
-      .. dropdown:: :ref:`quality<visual-quality>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`shadowsize<visual-quality-shadowsize>`
-
-            .. grid-item::
-               :ref:`offsamples<visual-quality-offsamples>`
-
-            .. grid-item::
-               :ref:`numslices<visual-quality-numslices>`
-
-            .. grid-item::
-               :ref:`numstacks<visual-quality-numstacks>`
-
-            .. grid-item::
-               :ref:`numquads<visual-quality-numquads>`
-
-
-      .. dropdown:: :ref:`headlight<visual-headlight>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`ambient<visual-headlight-ambient>`
-
-            .. grid-item::
-               :ref:`diffuse<visual-headlight-diffuse>`
-
-            .. grid-item::
-               :ref:`specular<visual-headlight-specular>`
-
-            .. grid-item::
-               :ref:`active<visual-headlight-active>`
-
-
-      .. dropdown:: :ref:`map<visual-map>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`stiffness<visual-map-stiffness>`
-
-            .. grid-item::
-               :ref:`stiffnessrot<visual-map-stiffnessrot>`
-
-            .. grid-item::
-               :ref:`force<visual-map-force>`
-
-            .. grid-item::
-               :ref:`torque<visual-map-torque>`
-
-            .. grid-item::
-               :ref:`alpha<visual-map-alpha>`
-
-            .. grid-item::
-               :ref:`fogstart<visual-map-fogstart>`
-
-            .. grid-item::
-               :ref:`fogend<visual-map-fogend>`
-
-            .. grid-item::
-               :ref:`znear<visual-map-znear>`
-
-            .. grid-item::
-               :ref:`zfar<visual-map-zfar>`
-
-            .. grid-item::
-               :ref:`haze<visual-map-haze>`
-
-            .. grid-item::
-               :ref:`shadowclip<visual-map-shadowclip>`
-
-            .. grid-item::
-               :ref:`shadowscale<visual-map-shadowscale>`
-
-            .. grid-item::
-               :ref:`actuatortendon<visual-map-actuatortendon>`
-
-
-      .. dropdown:: :ref:`scale<visual-scale>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`forcewidth<visual-scale-forcewidth>`
-
-            .. grid-item::
-               :ref:`contactwidth<visual-scale-contactwidth>`
-
-            .. grid-item::
-               :ref:`contactheight<visual-scale-contactheight>`
-
-            .. grid-item::
-               :ref:`connect<visual-scale-connect>`
-
-            .. grid-item::
-               :ref:`com<visual-scale-com>`
-
-            .. grid-item::
-               :ref:`camera<visual-scale-camera>`
-
-            .. grid-item::
-               :ref:`light<visual-scale-light>`
-
-            .. grid-item::
-               :ref:`selectpoint<visual-scale-selectpoint>`
-
-            .. grid-item::
-               :ref:`jointlength<visual-scale-jointlength>`
-
-            .. grid-item::
-               :ref:`jointwidth<visual-scale-jointwidth>`
-
-            .. grid-item::
-               :ref:`actuatorlength<visual-scale-actuatorlength>`
-
-            .. grid-item::
-               :ref:`actuatorwidth<visual-scale-actuatorwidth>`
-
-            .. grid-item::
-               :ref:`framelength<visual-scale-framelength>`
-
-            .. grid-item::
-               :ref:`framewidth<visual-scale-framewidth>`
-
-            .. grid-item::
-               :ref:`constraint<visual-scale-constraint>`
-
-            .. grid-item::
-               :ref:`slidercrank<visual-scale-slidercrank>`
-
-            .. grid-item::
-               :ref:`frustum<visual-scale-frustum>`
-
-
-      .. dropdown:: :ref:`rgba<visual-rgba>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`fog<visual-rgba-fog>`
-
-            .. grid-item::
-               :ref:`haze<visual-rgba-haze>`
-
-            .. grid-item::
-               :ref:`force<visual-rgba-force>`
-
-            .. grid-item::
-               :ref:`inertia<visual-rgba-inertia>`
-
-            .. grid-item::
-               :ref:`joint<visual-rgba-joint>`
-
-            .. grid-item::
-               :ref:`actuator<visual-rgba-actuator>`
-
-            .. grid-item::
-               :ref:`actuatornegative<visual-rgba-actuatornegative>`
-
-            .. grid-item::
-               :ref:`actuatorpositive<visual-rgba-actuatorpositive>`
-
-            .. grid-item::
-               :ref:`com<visual-rgba-com>`
-
-            .. grid-item::
-               :ref:`camera<visual-rgba-camera>`
-
-            .. grid-item::
-               :ref:`light<visual-rgba-light>`
-
-            .. grid-item::
-               :ref:`selectpoint<visual-rgba-selectpoint>`
-
-            .. grid-item::
-               :ref:`connect<visual-rgba-connect>`
-
-            .. grid-item::
-               :ref:`contactpoint<visual-rgba-contactpoint>`
-
-            .. grid-item::
-               :ref:`contactforce<visual-rgba-contactforce>`
-
-            .. grid-item::
-               :ref:`contactfriction<visual-rgba-contactfriction>`
-
-            .. grid-item::
-               :ref:`contacttorque<visual-rgba-contacttorque>`
-
-            .. grid-item::
-               :ref:`contactgap<visual-rgba-contactgap>`
-
-            .. grid-item::
-               :ref:`rangefinder<visual-rgba-rangefinder>`
-
-            .. grid-item::
-               :ref:`constraint<visual-rgba-constraint>`
-
-            .. grid-item::
-               :ref:`slidercrank<visual-rgba-slidercrank>`
-
-            .. grid-item::
-               :ref:`crankbroken<visual-rgba-crankbroken>`
-
-            .. grid-item::
-               :ref:`frustum<visual-rgba-frustum>`
-
-            .. grid-item::
-               :ref:`bv<visual-rgba-bv>`
-
-            .. grid-item::
-               :ref:`bvactive<visual-rgba-bvactive>`
-
-
-   .. dropdown:: :ref:`default<default>` :octicon:`sync`
-
-      .. grid:: 2 3 4 4
-         :gutter: 0
-
-         .. grid-item::
-            :ref:`class<default-class>`
-
-
-      .. dropdown:: :ref:`mesh<default-mesh>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`scale<default-mesh-scale>`
-
-            .. grid-item::
-               :ref:`maxhullvert<default-mesh-maxhullvert>`
-
-            .. grid-item::
-               :ref:`inertia<default-mesh-inertia>`
-
-
-      .. dropdown:: :ref:`material<default-material>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`texture<default-material-texture>`
-
-            .. grid-item::
-               :ref:`texrepeat<default-material-texrepeat>`
-
-            .. grid-item::
-               :ref:`texuniform<default-material-texuniform>`
-
-            .. grid-item::
-               :ref:`emission<default-material-emission>`
-
-            .. grid-item::
-               :ref:`specular<default-material-specular>`
-
-            .. grid-item::
-               :ref:`shininess<default-material-shininess>`
-
-            .. grid-item::
-               :ref:`reflectance<default-material-reflectance>`
-
-            .. grid-item::
-               :ref:`metallic<default-material-metallic>`
-
-            .. grid-item::
-               :ref:`roughness<default-material-roughness>`
-
-            .. grid-item::
-               :ref:`rgba<default-material-rgba>`
-
-
-         .. dropdown:: :ref:`layer<material-layer>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`texture<material-layer-texture>`
-
-               .. grid-item::
-                  :ref:`role<material-layer-role>`
-
-
-      .. dropdown:: :ref:`joint<default-joint>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`type<default-joint-type>`
-
-            .. grid-item::
-               :ref:`group<default-joint-group>`
-
-            .. grid-item::
-               :ref:`pos<default-joint-pos>`
-
-            .. grid-item::
-               :ref:`axis<default-joint-axis>`
-
-            .. grid-item::
-               :ref:`springdamper<default-joint-springdamper>`
-
-            .. grid-item::
-               :ref:`limited<default-joint-limited>`
-
-            .. grid-item::
-               :ref:`actuatorfrclimited<default-joint-actuatorfrclimited>`
-
-            .. grid-item::
-               :ref:`solreflimit<default-joint-solreflimit>`
-
-            .. grid-item::
-               :ref:`solimplimit<default-joint-solimplimit>`
-
-            .. grid-item::
-               :ref:`solreffriction<default-joint-solreffriction>`
-
-            .. grid-item::
-               :ref:`solimpfriction<default-joint-solimpfriction>`
-
-            .. grid-item::
-               :ref:`stiffness<default-joint-stiffness>`
-
-            .. grid-item::
-               :ref:`range<default-joint-range>`
-
-            .. grid-item::
-               :ref:`actuatorfrcrange<default-joint-actuatorfrcrange>`
-
-            .. grid-item::
-               :ref:`actuatorgravcomp<default-joint-actuatorgravcomp>`
-
-            .. grid-item::
-               :ref:`margin<default-joint-margin>`
-
-            .. grid-item::
-               :ref:`ref<default-joint-ref>`
-
-            .. grid-item::
-               :ref:`springref<default-joint-springref>`
-
-            .. grid-item::
-               :ref:`armature<default-joint-armature>`
-
-            .. grid-item::
-               :ref:`damping<default-joint-damping>`
-
-            .. grid-item::
-               :ref:`frictionloss<default-joint-frictionloss>`
-
-            .. grid-item::
-               :ref:`user<default-joint-user>`
-
-
-      .. dropdown:: :ref:`geom<default-geom>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`type<default-geom-type>`
-
-            .. grid-item::
-               :ref:`contype<default-geom-contype>`
-
-            .. grid-item::
-               :ref:`conaffinity<default-geom-conaffinity>`
-
-            .. grid-item::
-               :ref:`condim<default-geom-condim>`
-
-            .. grid-item::
-               :ref:`group<default-geom-group>`
-
-            .. grid-item::
-               :ref:`priority<default-geom-priority>`
-
-            .. grid-item::
-               :ref:`size<default-geom-size>`
-
-            .. grid-item::
-               :ref:`material<default-geom-material>`
-
-            .. grid-item::
-               :ref:`friction<default-geom-friction>`
-
-            .. grid-item::
-               :ref:`mass<default-geom-mass>`
-
-            .. grid-item::
-               :ref:`density<default-geom-density>`
-
-            .. grid-item::
-               :ref:`shellinertia<default-geom-shellinertia>`
-
-            .. grid-item::
-               :ref:`solmix<default-geom-solmix>`
-
-            .. grid-item::
-               :ref:`solref<default-geom-solref>`
-
-            .. grid-item::
-               :ref:`solimp<default-geom-solimp>`
-
-            .. grid-item::
-               :ref:`margin<default-geom-margin>`
-
-            .. grid-item::
-               :ref:`gap<default-geom-gap>`
-
-            .. grid-item::
-               :ref:`surfacevel<default-geom-surfacevel>`
-
-            .. grid-item::
-               :ref:`adhesion<default-geom-adhesion>`
-
-            .. grid-item::
-               :ref:`fromto<default-geom-fromto>`
-
-            .. grid-item::
-               :ref:`pos<default-geom-pos>`
-
-            .. grid-item::
-               :ref:`quat<default-geom-quat>`
-
-            .. grid-item::
-               :ref:`axisangle<default-geom-axisangle>`
-
-            .. grid-item::
-               :ref:`xyaxes<default-geom-xyaxes>`
-
-            .. grid-item::
-               :ref:`zaxis<default-geom-zaxis>`
-
-            .. grid-item::
-               :ref:`euler<default-geom-euler>`
-
-            .. grid-item::
-               :ref:`hfield<default-geom-hfield>`
-
-            .. grid-item::
-               :ref:`mesh<default-geom-mesh>`
-
-            .. grid-item::
-               :ref:`fitscale<default-geom-fitscale>`
-
-            .. grid-item::
-               :ref:`rgba<default-geom-rgba>`
-
-            .. grid-item::
-               :ref:`fluidshape<default-geom-fluidshape>`
-
-            .. grid-item::
-               :ref:`fluidcoef<default-geom-fluidcoef>`
-
-            .. grid-item::
-               :ref:`user<default-geom-user>`
-
-
-      .. dropdown:: :ref:`site<default-site>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`type<default-site-type>`
-
-            .. grid-item::
-               :ref:`group<default-site-group>`
-
-            .. grid-item::
-               :ref:`pos<default-site-pos>`
-
-            .. grid-item::
-               :ref:`quat<default-site-quat>`
-
-            .. grid-item::
-               :ref:`axisangle<default-site-axisangle>`
-
-            .. grid-item::
-               :ref:`xyaxes<default-site-xyaxes>`
-
-            .. grid-item::
-               :ref:`zaxis<default-site-zaxis>`
-
-            .. grid-item::
-               :ref:`euler<default-site-euler>`
-
-            .. grid-item::
-               :ref:`material<default-site-material>`
-
-            .. grid-item::
-               :ref:`size<default-site-size>`
-
-            .. grid-item::
-               :ref:`fromto<default-site-fromto>`
-
-            .. grid-item::
-               :ref:`rgba<default-site-rgba>`
-
-            .. grid-item::
-               :ref:`user<default-site-user>`
-
-
-      .. dropdown:: :ref:`camera<default-camera>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`projection<default-camera-projection>`
-
-            .. grid-item::
-               :ref:`fovy<default-camera-fovy>`
-
-            .. grid-item::
-               :ref:`ipd<default-camera-ipd>`
-
-            .. grid-item::
-               :ref:`resolution<default-camera-resolution>`
-
-            .. grid-item::
-               :ref:`output<default-camera-output>`
-
-            .. grid-item::
-               :ref:`pos<default-camera-pos>`
-
-            .. grid-item::
-               :ref:`quat<default-camera-quat>`
-
-            .. grid-item::
-               :ref:`axisangle<default-camera-axisangle>`
-
-            .. grid-item::
-               :ref:`xyaxes<default-camera-xyaxes>`
-
-            .. grid-item::
-               :ref:`zaxis<default-camera-zaxis>`
-
-            .. grid-item::
-               :ref:`euler<default-camera-euler>`
-
-            .. grid-item::
-               :ref:`mode<default-camera-mode>`
-
-            .. grid-item::
-               :ref:`focal<default-camera-focal>`
-
-            .. grid-item::
-               :ref:`focalpixel<default-camera-focalpixel>`
-
-            .. grid-item::
-               :ref:`principal<default-camera-principal>`
-
-            .. grid-item::
-               :ref:`principalpixel<default-camera-principalpixel>`
-
-            .. grid-item::
-               :ref:`sensorsize<default-camera-sensorsize>`
-
-            .. grid-item::
-               :ref:`user<default-camera-user>`
-
-
-      .. dropdown:: :ref:`light<default-light>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`directional<default-light-directional>`
-
-            .. grid-item::
-               :ref:`type<default-light-type>`
-
-            .. grid-item::
-               :ref:`castshadow<default-light-castshadow>`
-
-            .. grid-item::
-               :ref:`active<default-light-active>`
-
-            .. grid-item::
-               :ref:`pos<default-light-pos>`
-
-            .. grid-item::
-               :ref:`dir<default-light-dir>`
-
-            .. grid-item::
-               :ref:`bulbradius<default-light-bulbradius>`
-
-            .. grid-item::
-               :ref:`intensity<default-light-intensity>`
-
-            .. grid-item::
-               :ref:`range<default-light-range>`
-
-            .. grid-item::
-               :ref:`attenuation<default-light-attenuation>`
-
-            .. grid-item::
-               :ref:`cutoff<default-light-cutoff>`
-
-            .. grid-item::
-               :ref:`softness<default-light-softness>`
-
-            .. grid-item::
-               :ref:`exponent<default-light-exponent>`
-
-            .. grid-item::
-               :ref:`ambient<default-light-ambient>`
-
-            .. grid-item::
-               :ref:`diffuse<default-light-diffuse>`
-
-            .. grid-item::
-               :ref:`specular<default-light-specular>`
-
-            .. grid-item::
-               :ref:`mode<default-light-mode>`
-
-
-      .. dropdown:: :ref:`pair<default-pair>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`condim<default-pair-condim>`
-
-            .. grid-item::
-               :ref:`friction<default-pair-friction>`
-
-            .. grid-item::
-               :ref:`solref<default-pair-solref>`
-
-            .. grid-item::
-               :ref:`solreffriction<default-pair-solreffriction>`
-
-            .. grid-item::
-               :ref:`solimp<default-pair-solimp>`
-
-            .. grid-item::
-               :ref:`gap<default-pair-gap>`
-
-            .. grid-item::
-               :ref:`margin<default-pair-margin>`
-
-            .. grid-item::
-               :ref:`adhesion<default-pair-adhesion>`
-
-
-      .. dropdown:: :ref:`equality<default-equality>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`active<default-equality-active>`
-
-            .. grid-item::
-               :ref:`solref<default-equality-solref>`
-
-            .. grid-item::
-               :ref:`solimp<default-equality-solimp>`
-
-
-      .. dropdown:: :ref:`tendon<default-tendon>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-tendon-group>`
-
-            .. grid-item::
-               :ref:`limited<default-tendon-limited>`
-
-            .. grid-item::
-               :ref:`range<default-tendon-range>`
-
-            .. grid-item::
-               :ref:`solreflimit<default-tendon-solreflimit>`
-
-            .. grid-item::
-               :ref:`solimplimit<default-tendon-solimplimit>`
-
-            .. grid-item::
-               :ref:`solreffriction<default-tendon-solreffriction>`
-
-            .. grid-item::
-               :ref:`solimpfriction<default-tendon-solimpfriction>`
-
-            .. grid-item::
-               :ref:`frictionloss<default-tendon-frictionloss>`
-
-            .. grid-item::
-               :ref:`springlength<default-tendon-springlength>`
-
-            .. grid-item::
-               :ref:`width<default-tendon-width>`
-
-            .. grid-item::
-               :ref:`material<default-tendon-material>`
-
-            .. grid-item::
-               :ref:`margin<default-tendon-margin>`
-
-            .. grid-item::
-               :ref:`stiffness<default-tendon-stiffness>`
-
-            .. grid-item::
-               :ref:`damping<default-tendon-damping>`
-
-            .. grid-item::
-               :ref:`rgba<default-tendon-rgba>`
-
-            .. grid-item::
-               :ref:`user<default-tendon-user>`
-
-
-      .. dropdown:: :ref:`general<default-general>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-general-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-general-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-general-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-general-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-general-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-general-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<default-general-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-general-forcelimited>`
-
-            .. grid-item::
-               :ref:`actlimited<default-general-actlimited>`
-
-            .. grid-item::
-               :ref:`forcerange<default-general-forcerange>`
-
-            .. grid-item::
-               :ref:`actrange<default-general-actrange>`
-
-            .. grid-item::
-               :ref:`gear<default-general-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-general-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-general-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-general-cranklength>`
-
-            .. grid-item::
-               :ref:`actdim<default-general-actdim>`
-
-            .. grid-item::
-               :ref:`input<default-general-input>`
-
-            .. grid-item::
-               :ref:`velrange<default-general-velrange>`
-
-            .. grid-item::
-               :ref:`ffrange<default-general-ffrange>`
-
-            .. grid-item::
-               :ref:`dyntype<default-general-dyntype>`
-
-            .. grid-item::
-               :ref:`gaintype<default-general-gaintype>`
-
-            .. grid-item::
-               :ref:`biastype<default-general-biastype>`
-
-            .. grid-item::
-               :ref:`dynprm<default-general-dynprm>`
-
-            .. grid-item::
-               :ref:`gainprm<default-general-gainprm>`
-
-            .. grid-item::
-               :ref:`biasprm<default-general-biasprm>`
-
-            .. grid-item::
-               :ref:`actearly<default-general-actearly>`
-
-
-      .. dropdown:: :ref:`motor<default-motor>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-motor-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-motor-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-motor-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-motor-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-motor-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-motor-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<default-motor-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-motor-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<default-motor-forcerange>`
-
-            .. grid-item::
-               :ref:`gear<default-motor-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-motor-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-motor-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-motor-cranklength>`
-
-
-      .. dropdown:: :ref:`position<default-position>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-position-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-position-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-position-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-position-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-position-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-position-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<default-position-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-position-forcelimited>`
-
-            .. grid-item::
-               :ref:`inheritrange<default-position-inheritrange>`
-
-            .. grid-item::
-               :ref:`forcerange<default-position-forcerange>`
-
-            .. grid-item::
-               :ref:`gear<default-position-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-position-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-position-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-position-cranklength>`
-
-            .. grid-item::
-               :ref:`kp<default-position-kp>`
-
-            .. grid-item::
-               :ref:`kv<default-position-kv>`
-
-            .. grid-item::
-               :ref:`dampratio<default-position-dampratio>`
-
-            .. grid-item::
-               :ref:`timeconst<default-position-timeconst>`
-
-
-      .. dropdown:: :ref:`velocity<default-velocity>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-velocity-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-velocity-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-velocity-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-velocity-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-velocity-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-velocity-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<default-velocity-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-velocity-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<default-velocity-forcerange>`
-
-            .. grid-item::
-               :ref:`gear<default-velocity-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-velocity-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-velocity-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-velocity-cranklength>`
-
-            .. grid-item::
-               :ref:`kv<default-velocity-kv>`
-
-
-      .. dropdown:: :ref:`intvelocity<default-intvelocity>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-intvelocity-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-intvelocity-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-intvelocity-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-intvelocity-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-intvelocity-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-intvelocity-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<default-intvelocity-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-intvelocity-forcelimited>`
-
-            .. grid-item::
-               :ref:`actlimited<default-intvelocity-actlimited>`
-
-            .. grid-item::
-               :ref:`forcerange<default-intvelocity-forcerange>`
-
-            .. grid-item::
-               :ref:`actrange<default-intvelocity-actrange>`
-
-            .. grid-item::
-               :ref:`inheritrange<default-intvelocity-inheritrange>`
-
-            .. grid-item::
-               :ref:`gear<default-intvelocity-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-intvelocity-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-intvelocity-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-intvelocity-cranklength>`
-
-            .. grid-item::
-               :ref:`kp<default-intvelocity-kp>`
-
-            .. grid-item::
-               :ref:`kv<default-intvelocity-kv>`
-
-            .. grid-item::
-               :ref:`dampratio<default-intvelocity-dampratio>`
-
-
-      .. dropdown:: :ref:`orientation<default-orientation>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-orientation-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-orientation-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-orientation-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-orientation-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-orientation-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-orientation-user>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-orientation-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<default-orientation-forcerange>`
-
-            .. grid-item::
-               :ref:`kp<default-orientation-kp>`
-
-            .. grid-item::
-               :ref:`kv<default-orientation-kv>`
-
-            .. grid-item::
-               :ref:`dampratio<default-orientation-dampratio>`
-
-            .. grid-item::
-               :ref:`input<default-orientation-input>`
-
-
-      .. dropdown:: :ref:`pid<default-pid>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-pid-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-pid-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-pid-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-pid-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-pid-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-pid-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<default-pid-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-pid-forcelimited>`
-
-            .. grid-item::
-               :ref:`posrange<default-pid-posrange>`
-
-            .. grid-item::
-               :ref:`velrange<default-pid-velrange>`
-
-            .. grid-item::
-               :ref:`ffrange<default-pid-ffrange>`
-
-            .. grid-item::
-               :ref:`forcerange<default-pid-forcerange>`
-
-            .. grid-item::
-               :ref:`inheritrange<default-pid-inheritrange>`
-
-            .. grid-item::
-               :ref:`gear<default-pid-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-pid-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-pid-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-pid-cranklength>`
-
-            .. grid-item::
-               :ref:`kp<default-pid-kp>`
-
-            .. grid-item::
-               :ref:`kv<default-pid-kv>`
-
-            .. grid-item::
-               :ref:`dampratio<default-pid-dampratio>`
-
-            .. grid-item::
-               :ref:`ki<default-pid-ki>`
-
-            .. grid-item::
-               :ref:`imax<default-pid-imax>`
-
-            .. grid-item::
-               :ref:`slewmax<default-pid-slewmax>`
-
-            .. grid-item::
-               :ref:`input<default-pid-input>`
-
-
-      .. dropdown:: :ref:`damper<default-damper>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-damper-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-damper-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-damper-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-damper-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-damper-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-damper-user>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-damper-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<default-damper-forcerange>`
-
-            .. grid-item::
-               :ref:`gear<default-damper-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-damper-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-damper-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-damper-cranklength>`
-
-            .. grid-item::
-               :ref:`kv<default-damper-kv>`
-
-
-      .. dropdown:: :ref:`cylinder<default-cylinder>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-cylinder-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-cylinder-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-cylinder-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-cylinder-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-cylinder-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-cylinder-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<default-cylinder-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-cylinder-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<default-cylinder-forcerange>`
-
-            .. grid-item::
-               :ref:`gear<default-cylinder-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-cylinder-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-cylinder-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-cylinder-cranklength>`
-
-            .. grid-item::
-               :ref:`timeconst<default-cylinder-timeconst>`
-
-            .. grid-item::
-               :ref:`area<default-cylinder-area>`
-
-            .. grid-item::
-               :ref:`diameter<default-cylinder-diameter>`
-
-            .. grid-item::
-               :ref:`bias<default-cylinder-bias>`
-
-
-      .. dropdown:: :ref:`muscle<default-muscle>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-muscle-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-muscle-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-muscle-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-muscle-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-muscle-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-muscle-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<default-muscle-ctrllimited>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-muscle-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<default-muscle-forcerange>`
-
-            .. grid-item::
-               :ref:`gear<default-muscle-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-muscle-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-muscle-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-muscle-cranklength>`
-
-            .. grid-item::
-               :ref:`timeconst<default-muscle-timeconst>`
-
-            .. grid-item::
-               :ref:`range<default-muscle-range>`
-
-            .. grid-item::
-               :ref:`force<default-muscle-force>`
-
-            .. grid-item::
-               :ref:`scale<default-muscle-scale>`
-
-            .. grid-item::
-               :ref:`lmin<default-muscle-lmin>`
-
-            .. grid-item::
-               :ref:`lmax<default-muscle-lmax>`
-
-            .. grid-item::
-               :ref:`vmax<default-muscle-vmax>`
-
-            .. grid-item::
-               :ref:`fpmax<default-muscle-fpmax>`
-
-            .. grid-item::
-               :ref:`fvmax<default-muscle-fvmax>`
-
-
-      .. dropdown:: :ref:`adhesion<default-adhesion>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-adhesion-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-adhesion-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-adhesion-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-adhesion-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-adhesion-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-adhesion-user>`
-
-            .. grid-item::
-               :ref:`forcelimited<default-adhesion-forcelimited>`
-
-            .. grid-item::
-               :ref:`forcerange<default-adhesion-forcerange>`
-
-            .. grid-item::
-               :ref:`gain<default-adhesion-gain>`
-
-
-      .. dropdown:: :ref:`dcmotor<default-dcmotor>` :octicon:`dot`
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`group<default-dcmotor-group>`
-
-            .. grid-item::
-               :ref:`nsample<default-dcmotor-nsample>`
-
-            .. grid-item::
-               :ref:`interp<default-dcmotor-interp>`
-
-            .. grid-item::
-               :ref:`delay<default-dcmotor-delay>`
-
-            .. grid-item::
-               :ref:`ctrlrange<default-dcmotor-ctrlrange>`
-
-            .. grid-item::
-               :ref:`user<default-dcmotor-user>`
-
-            .. grid-item::
-               :ref:`ctrllimited<default-dcmotor-ctrllimited>`
-
-            .. grid-item::
-               :ref:`gear<default-dcmotor-gear>`
-
-            .. grid-item::
-               :ref:`damping<default-dcmotor-damping>`
-
-            .. grid-item::
-               :ref:`armature<default-dcmotor-armature>`
-
-            .. grid-item::
-               :ref:`cranklength<default-dcmotor-cranklength>`
-
-            .. grid-item::
-               :ref:`motorconst<default-dcmotor-motorconst>`
-
-            .. grid-item::
-               :ref:`resistance<default-dcmotor-resistance>`
-
-            .. grid-item::
-               :ref:`nominal<default-dcmotor-nominal>`
-
-            .. grid-item::
-               :ref:`saturation<default-dcmotor-saturation>`
-
-            .. grid-item::
-               :ref:`inductance<default-dcmotor-inductance>`
-
-            .. grid-item::
-               :ref:`cogging<default-dcmotor-cogging>`
-
-            .. grid-item::
-               :ref:`controller<default-dcmotor-controller>`
-
-            .. grid-item::
-               :ref:`thermal<default-dcmotor-thermal>`
-
-            .. grid-item::
-               :ref:`lugre<default-dcmotor-lugre>`
-
-            .. grid-item::
-               :ref:`input<default-dcmotor-input>`
-
-
-   .. dropdown:: :ref:`custom<custom>` |*|
-
-
-      .. dropdown:: :ref:`numeric<custom-numeric>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<custom-numeric-name>`
-
-            .. grid-item::
-               :ref:`size<custom-numeric-size>`
-
-            .. grid-item::
-               :ref:`data<custom-numeric-data>`
-
-
-      .. dropdown:: :ref:`text<custom-text>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<custom-text-name>`
-
-            .. grid-item::
-               :ref:`data<custom-text-data>`
-
-
-      .. dropdown:: :ref:`tuple<custom-tuple>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`name<custom-tuple-name>`
-
-
-         .. dropdown:: :ref:`element<tuple-element>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`objtype<tuple-element-objtype>`
-
-               .. grid-item::
-                  :ref:`objname<tuple-element-objname>`
-
-               .. grid-item::
-                  :ref:`prm<tuple-element-prm>`
-
-
-   .. dropdown:: :ref:`extension<extension>` |*|
-
-
-      .. dropdown:: :ref:`plugin<extension-plugin>` |*|
-
-         .. grid:: 2 3 4 4
-            :gutter: 0
-
-            .. grid-item::
-               :ref:`plugin<extension-plugin-plugin>`
-
-
-         .. dropdown:: :ref:`instance<plugin-instance>` |*|
-
-            .. grid:: 2 3 4 4
-               :gutter: 0
-
-               .. grid-item::
-                  :ref:`name<plugin-instance-name>`
-
-
-            .. dropdown:: :ref:`config<instance-config>` |*|
-
-               .. grid:: 2 3 4 4
-                  :gutter: 0
-
-                  .. grid-item::
-                     :ref:`key<instance-config-key>`
-
-                  .. grid-item::
-                     :ref:`value<instance-config-value>`
diff --git a/doc/_static/FLV.m b/doc/_static/FLV.m
deleted file mode 100644
index cfea8a8d..00000000
--- a/doc/_static/FLV.m
+++ /dev/null
@@ -1,145 +0,0 @@
-% Copyright 2021 DeepMind Technologies Limited
-%
-% Licensed under the Apache License, Version 2.0 (the "License");
-% you may not use this file except in compliance with the License.
-% You may obtain a copy of the License at
-%
-%     http://www.apache.org/licenses/LICENSE-2.0
-%
-% Unless required by applicable law or agreed to in writing, software
-% distributed under the License is distributed on an "AS IS" BASIS,
-% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-% See the License for the specific language governing permissions and
-% limitations under the License.
-
-
-% Force-Length-Velocity function of MuJoCo muscle model
-% Defaults: FLV(0.5, 1.6, 1.5, 1.3, 1.2)
-
-
-function FLV(lmin, lmax, vmax, fpmax, fvmax)
-
-    % derived quantities
-  a = 0.5*(lmin+1);
-  b = 0.5*(1+lmax);
-  c = fvmax-1;
-
-    % length and velocity ranges to plot
-    LL = linspace(lmin, lmax, 51);
-    VV = linspace(-vmax, vmax, 51);
-
-    % length-passive
-    FP = zeros(size(LL));
-    for i=1:length(LL)
-        L = LL(i);
-
-        if L<=1
-            FP(i) = 0;
-        elseif L<=b
-            x = (L-1)/(b-1);
-            FP(i) = 0.25*fpmax*x*x*x;
-        else
-            x = (L-b)/(b-1);
-            FP(i) = 0.25*fpmax*(1+3*x);
-        end
-    end
-
-    % length-active
-    FL = zeros(size(LL));
-    for i=1:length(LL)
-        L = LL(i);
-
-        FL(i) = bump(L, lmin, 1, lmax) + 0.15*bump(L, lmin, 0.5*(lmin+0.95), 0.95);
-    end
-
-    % velocity-active
-    FV = zeros(size(VV));
-    for i=1:length(VV)
-        V = VV(i)/vmax;
-
-        if V<=-1
-            FV(i) = 0;
-        elseif V<=0
-            FV(i) = (V+1)*(V+1);
-        elseif V<=c
-            FV(i) = fvmax - (c-V)*(c-V)/c;
-        else
-            FV(i) = fvmax;
-        end
-    end
-
-    % plot length
-    figure(1);
-    clf;
-    subplot(2,2,1);
-    plot(LL, FL, 'r', 'linewidth', 1);
-    hold on;
-    plot(LL, 0.5*FL, 'b', 'linewidth', 1);
-    plot(LL, FP, 'k', 'linewidth', 1);
-    axis tight;
-    xlabel('length (L0)');
-    ylabel('force (F0)');
-    text(0.9, 0.85, 'act = 1.0');
-    text(0.9, 0.4, 'act = 0.5');
-    text(1.3, 1.2, 'passive');
-    box off;
-    grid on;
-    set(gca, 'xtick', [lmin 1 lmax], 'xticklabel', {'lmin', '1', 'lmax'}, ...
-    'ytick', [0 1 fpmax], 'yticklabel', {'0', '1', 'fpmax'});
-
-    % plot velocity
-    subplot(2,2,2);
-    set( plot(VV, FV, 'linewidth', 1), 'color', [.1 .5 .1]);
-    axis tight;
-    xlabel('velocity (L0/s)');
-    ylabel('force (F0)');
-    box off;
-    grid on;
-    set(gca, 'xtick', [-vmax 0 vmax], 'xticklabel', {'-vmax', '0', 'vmax'}, ...
-    'ytick', [0 1 fvmax], 'yticklabel', {'0', '1', 'fvmax'});
-
-    % plot full activation
-    subplot(2,2,3);
-    surf(LL, VV, FV'*FL + ones(size(VV))'*FP);
-    axis tight;
-    xlabel('length');
-    ylabel('velocity');
-    zlabel('force');
-    title('act = 1.0');
-    box off;
-    set(gca, 'xtick', [lmin, 1, lmax], 'ytick', [-vmax, 0, vmax], 'ztick', [0, 1]);
-
-    % plot half activation
-    subplot(2,2,4);
-    surf(LL, VV, 0.5*FV'*FL + ones(size(VV))'*FP);
-    axis tight;
-    xlabel('length');
-    ylabel('velocity');
-    zlabel('force');
-    title('act = 0.5');
-    box off;
-    set(gca, 'xtick', [lmin, 1, lmax], 'ytick', [-vmax, 0, vmax], 'ztick', [0, 1]);
-end
-
-
-% skewed bump function: quadratic spline
-function y = bump(L, A, mid, B)
-    left = 0.5*(A+mid);
-    right = 0.5*(mid+B);
-
-    if (L<=A) || (L>=B)
-        y = 0;
-    elseif L<left
-        x = (L-A)/(left-A);
-        y = 0.5*x*x;
-    elseif L<mid
-        x = (mid-L)/(mid-left);
-        y = 1-0.5*x*x;
-    elseif L<right
-        x = (L-mid)/(right-mid);
-        y = 1-0.5*x*x;
-    else
-        x = (B-L)/(B-right);
-        y = 0.5*x*x;
-    end
-end
diff --git a/doc/_static/dcmotor.pdf b/doc/_static/dcmotor.pdf
deleted file mode 100644
index e9945ada..00000000
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diff --git a/doc/_static/desert.png b/doc/_static/desert.png
deleted file mode 100644
index 7846fe55..00000000
Binary files a/doc/_static/desert.png and /dev/null differ
diff --git a/doc/_static/example.mp4 b/doc/_static/example.mp4
deleted file mode 100644
index c723b848..00000000
Binary files a/doc/_static/example.mp4 and /dev/null differ
diff --git a/doc/_static/example.xml b/doc/_static/example.xml
deleted file mode 100644
index 1f3364ae..00000000
--- a/doc/_static/example.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<mujoco model="example">
-  <default>
-    <geom rgba=".8 .6 .4 1"/>
-  </default>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
-    <body pos="0 0 1">
-      <joint type="ball"/>
-      <geom type="capsule" size="0.06" fromto="0 0 0  0 0 -.4"/>
-      <body pos="0 0 -0.4">
-        <joint axis="0 1 0"/>
-        <joint axis="1 0 0"/>
-        <geom type="capsule" size="0.04" fromto="0 0 0  .3 0 0"/>
-        <body pos=".3 0 0">
-          <joint axis="0 1 0"/>
-          <joint axis="0 0 1"/>
-          <geom pos=".1 0 0" size="0.1 0.08 0.02" type="ellipsoid"/>
-          <site name="end1" pos="0.2 0 0" size="0.01"/>
-        </body>
-      </body>
-    </body>
-
-    <body pos="0.3 0 0.1">
-      <joint type="free"/>
-      <geom size="0.07 0.1" type="cylinder"/>
-      <site name="end2" pos="0 0 0.1" size="0.01"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial limited="true" range="0 0.6" width="0.005">
-      <site site="end1"/>
-      <site site="end2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/doc/_static/example_saved.txt b/doc/_static/example_saved.txt
deleted file mode 100644
index 2ed03228..00000000
--- a/doc/_static/example_saved.txt
+++ /dev/null
@@ -1,662 +0,0 @@
-MuJoCo version 2.3.3
-model name     example
-
-nq                    15
-nv                    13
-nbody                 5
-nbvh                  4
-njnt                  6
-ngeom                 4
-nsite                 2
-nlight                1
-ntex                  1
-ntexdata              1179648
-ntendon               1
-nwrap                 2
-nnames                41
-nnames_map            40
-nM                    49
-nD                    85
-nB                    40
-njmax                 -1
-nconmax               -1
-nstack                1835008
-nbuffer               1191840
-
-timestep              0.002
-apirate               1e+02
-impratio              1
-tolerance             1e-08
-noslip_tolerance      1e-06
-mpr_tolerance         1e-06
-density               0
-viscosity             0
-o_margin              0
-integrator            0
-collision             0
-cone                  0
-jacobian              2
-solver                2
-iterations            100
-noslip_iterations     0
-mpr_iterations        50
-disableflags          0
-enableflags           0
-gravity               0         0        -9.8
-wind                  0         0         0
-magnetic              0        -0.5       0
-o_solref              0.02      1
-o_solimp              0.9       0.95      0.001     0.5       2
-
-totalmass             11
-
-meaninertia           0.86
-meanmass              2.7
-meansize              0.17
-extent                1.1
-center                0.12     0        0.52
-
-qpos0                 1         0         0         0         0         0         0         0         0.3       0         0.1       1         0         0         0
-
-qpos_spring           1         0         0         0         0         0         0         0         0.3       0         0.1       1         0         0         0
-
-
-BODY 0:
-  name                  world
-  body_parentid         0
-  body_rootid           0
-  body_weldid           0
-  body_mocapid          -1
-  body_jntnum           0
-  body_jntadr           -1
-  body_dofnum           0
-  body_dofadr           -1
-  body_geomnum          0
-  body_geomadr          -1
-  body_simple           1
-  body_sameframe        1
-  body_pos              0         0         0
-  body_quat             1         0         0         0
-  body_ipos             0         0         0
-  body_iquat            1         0         0         0
-  body_mass             0
-  body_subtreemass      11
-  body_inertia          0         0         0
-  body_invweight0       0         0
-  body_gravcomp         0
-  body_plugin           -1
-  body_bvhadr           -1
-  body_bvhnum           0
-
-BODY 1:
-  name
-  body_parentid         0
-  body_rootid           1
-  body_weldid           1
-  body_mocapid          -1
-  body_jntnum           1
-  body_jntadr           0
-  body_dofnum           3
-  body_dofadr           0
-  body_geomnum          1
-  body_geomadr          0
-  body_simple           0
-  body_sameframe        0
-  body_pos              0         0         1
-  body_quat             1         0         0         0
-  body_ipos             0         0        -0.2
-  body_iquat            1         0         0         0
-  body_mass             5.4
-  body_subtreemass      7.9
-  body_inertia          0.11      0.11      0.0094
-  body_invweight0       0.048     6.9
-  body_gravcomp         0
-  body_plugin           -1
-  body_bvhadr           0
-  body_bvhnum           1
-
-BODY 2:
-  name
-  body_parentid         1
-  body_rootid           1
-  body_weldid           2
-  body_mocapid          -1
-  body_jntnum           2
-  body_jntadr           1
-  body_dofnum           2
-  body_dofadr           3
-  body_geomnum          1
-  body_geomadr          1
-  body_simple           0
-  body_sameframe        0
-  body_pos              0         0        -0.4
-  body_quat             1         0         0         0
-  body_ipos             0.15      0         0
-  body_iquat            0.71      0        -0.71      0
-  body_mass             1.8
-  body_subtreemass      2.4
-  body_inertia          0.019     0.019     0.0014
-  body_invweight0       0.29      1.6e+02
-  body_gravcomp         0
-  body_plugin           -1
-  body_bvhadr           1
-  body_bvhnum           1
-
-BODY 3:
-  name
-  body_parentid         2
-  body_rootid           1
-  body_weldid           3
-  body_mocapid          -1
-  body_jntnum           2
-  body_jntadr           3
-  body_dofnum           2
-  body_dofadr           5
-  body_geomnum          1
-  body_geomadr          2
-  body_simple           0
-  body_sameframe        0
-  body_pos              0.3       0         0
-  body_quat             1         0         0         0
-  body_ipos             0.1       0         0
-  body_iquat            1         0         0         0
-  body_mass             0.67
-  body_subtreemass      0.67
-  body_inertia          0.00091   0.0014    0.0022
-  body_invweight0       0.9       2.7e+02
-  body_gravcomp         0
-  body_plugin           -1
-  body_bvhadr           2
-  body_bvhnum           1
-
-BODY 4:
-  name
-  body_parentid         0
-  body_rootid           4
-  body_weldid           4
-  body_mocapid          -1
-  body_jntnum           1
-  body_jntadr           5
-  body_dofnum           6
-  body_dofadr           7
-  body_geomnum          1
-  body_geomadr          3
-  body_simple           1
-  body_sameframe        1
-  body_pos              0.3       0         0.1
-  body_quat             1         0         0         0
-  body_ipos             0         0         0
-  body_iquat            1         0         0         0
-  body_mass             3.1
-  body_subtreemass      3.1
-  body_inertia          0.014     0.014     0.0075
-  body_invweight0       0.32      92
-  body_gravcomp         0
-  body_plugin           -1
-  body_bvhadr           3
-  body_bvhnum           1
-
-
-JOINT 0:
-  name
-  jnt_type              1
-  jnt_qposadr           0
-  jnt_dofadr            0
-  jnt_bodyid            1
-  jnt_group             0
-  jnt_limited           0
-  jnt_solref            0.02      1
-  jnt_solimp            0.9       0.95      0.001     0.5       2
-  jnt_pos               0         0         0
-  jnt_axis              0         0         1
-  jnt_stiffness         0
-  jnt_range             0         0
-  jnt_margin            0
-
-JOINT 1:
-  name
-  jnt_type              3
-  jnt_qposadr           4
-  jnt_dofadr            3
-  jnt_bodyid            2
-  jnt_group             0
-  jnt_limited           0
-  jnt_solref            0.02      1
-  jnt_solimp            0.9       0.95      0.001     0.5       2
-  jnt_pos               0         0         0
-  jnt_axis              0         1         0
-  jnt_stiffness         0
-  jnt_range             0         0
-  jnt_margin            0
-
-JOINT 2:
-  name
-  jnt_type              3
-  jnt_qposadr           5
-  jnt_dofadr            4
-  jnt_bodyid            2
-  jnt_group             0
-  jnt_limited           0
-  jnt_solref            0.02      1
-  jnt_solimp            0.9       0.95      0.001     0.5       2
-  jnt_pos               0         0         0
-  jnt_axis              1         0         0
-  jnt_stiffness         0
-  jnt_range             0         0
-  jnt_margin            0
-
-JOINT 3:
-  name
-  jnt_type              3
-  jnt_qposadr           6
-  jnt_dofadr            5
-  jnt_bodyid            3
-  jnt_group             0
-  jnt_limited           0
-  jnt_solref            0.02      1
-  jnt_solimp            0.9       0.95      0.001     0.5       2
-  jnt_pos               0         0         0
-  jnt_axis              0         1         0
-  jnt_stiffness         0
-  jnt_range             0         0
-  jnt_margin            0
-
-JOINT 4:
-  name
-  jnt_type              3
-  jnt_qposadr           7
-  jnt_dofadr            6
-  jnt_bodyid            3
-  jnt_group             0
-  jnt_limited           0
-  jnt_solref            0.02      1
-  jnt_solimp            0.9       0.95      0.001     0.5       2
-  jnt_pos               0         0         0
-  jnt_axis              0         0         1
-  jnt_stiffness         0
-  jnt_range             0         0
-  jnt_margin            0
-
-JOINT 5:
-  name
-  jnt_type              0
-  jnt_qposadr           8
-  jnt_dofadr            7
-  jnt_bodyid            4
-  jnt_group             0
-  jnt_limited           0
-  jnt_solref            0.02      1
-  jnt_solimp            0.9       0.95      0.001     0.5       2
-  jnt_pos               0         0         0
-  jnt_axis              0         0         1
-  jnt_stiffness         0
-  jnt_range             0         0
-  jnt_margin            0
-
-
-DOF 0:
-  dof_bodyid            1
-  dof_jntid             0
-  dof_parentid          -1
-  dof_Madr              0
-  dof_simplenum         0
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        6.9
-  dof_M0                0.72
-
-DOF 1:
-  dof_bodyid            1
-  dof_jntid             0
-  dof_parentid          0
-  dof_Madr              1
-  dof_simplenum         0
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        6.9
-  dof_M0                0.89
-
-DOF 2:
-  dof_bodyid            1
-  dof_jntid             0
-  dof_parentid          1
-  dof_Madr              3
-  dof_simplenum         0
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        6.9
-  dof_M0                0.18
-
-DOF 3:
-  dof_bodyid            2
-  dof_jntid             1
-  dof_parentid          2
-  dof_Madr              6
-  dof_simplenum         0
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        16
-  dof_M0                0.17
-
-DOF 4:
-  dof_bodyid            2
-  dof_jntid             2
-  dof_parentid          3
-  dof_Madr              10
-  dof_simplenum         0
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        4.4e+02
-  dof_M0                0.0023
-
-DOF 5:
-  dof_bodyid            3
-  dof_jntid             3
-  dof_parentid          4
-  dof_Madr              15
-  dof_simplenum         0
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        3e+02
-  dof_M0                0.0081
-
-DOF 6:
-  dof_bodyid            3
-  dof_jntid             4
-  dof_parentid          5
-  dof_Madr              21
-  dof_simplenum         0
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        2.5e+02
-  dof_M0                0.0089
-
-DOF 7:
-  dof_bodyid            4
-  dof_jntid             5
-  dof_parentid          -1
-  dof_Madr              28
-  dof_simplenum         6
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        0.32
-  dof_M0                3.1
-
-DOF 8:
-  dof_bodyid            4
-  dof_jntid             5
-  dof_parentid          7
-  dof_Madr              29
-  dof_simplenum         5
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        0.32
-  dof_M0                3.1
-
-DOF 9:
-  dof_bodyid            4
-  dof_jntid             5
-  dof_parentid          8
-  dof_Madr              31
-  dof_simplenum         4
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        0.32
-  dof_M0                3.1
-
-DOF 10:
-  dof_bodyid            4
-  dof_jntid             5
-  dof_parentid          9
-  dof_Madr              34
-  dof_simplenum         3
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        92
-  dof_M0                0.014
-
-DOF 11:
-  dof_bodyid            4
-  dof_jntid             5
-  dof_parentid          10
-  dof_Madr              38
-  dof_simplenum         2
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        92
-  dof_M0                0.014
-
-DOF 12:
-  dof_bodyid            4
-  dof_jntid             5
-  dof_parentid          11
-  dof_Madr              43
-  dof_simplenum         1
-  dof_solref            0.02      1
-  dof_solimp            0.9       0.95      0.001     0.5       2
-  dof_frictionloss      0
-  dof_armature          0
-  dof_damping           0
-  dof_invweight0        92
-  dof_M0                0.0075
-
-
-GEOM 0:
-  name
-  geom_type             3
-  geom_contype          1
-  geom_conaffinity      1
-  geom_condim           3
-  geom_bodyid           1
-  geom_dataid           -1
-  geom_matid            -1
-  geom_group            0
-  geom_priority         0
-  geom_sameframe        2
-  geom_solmix           1
-  geom_solref           0.02      1
-  geom_solimp           0.9       0.95      0.001     0.5       2
-  geom_size             0.06      0.2       0
-  geom_aabb             0         0         0         0.06      0.06      0.26
-  geom_rbound           0.26
-  geom_pos              0         0        -0.2
-  geom_quat             1         0         0         0
-  geom_friction         1         0.005     0.0001
-  geom_margin           0
-  geom_gap              0
-  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0
-  geom_rgba             0.8       0.6       0.4       1
-
-GEOM 1:
-  name
-  geom_type             3
-  geom_contype          1
-  geom_conaffinity      1
-  geom_condim           3
-  geom_bodyid           2
-  geom_dataid           -1
-  geom_matid            -1
-  geom_group            0
-  geom_priority         0
-  geom_sameframe        2
-  geom_solmix           1
-  geom_solref           0.02      1
-  geom_solimp           0.9       0.95      0.001     0.5       2
-  geom_size             0.04      0.15      0
-  geom_aabb             0         0         0         0.04      0.04      0.19
-  geom_rbound           0.19
-  geom_pos              0.15      0         0
-  geom_quat             0.71      0        -0.71      0
-  geom_friction         1         0.005     0.0001
-  geom_margin           0
-  geom_gap              0
-  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0
-  geom_rgba             0.8       0.6       0.4       1
-
-GEOM 2:
-  name
-  geom_type             4
-  geom_contype          1
-  geom_conaffinity      1
-  geom_condim           3
-  geom_bodyid           3
-  geom_dataid           -1
-  geom_matid            -1
-  geom_group            0
-  geom_priority         0
-  geom_sameframe        2
-  geom_solmix           1
-  geom_solref           0.02      1
-  geom_solimp           0.9       0.95      0.001     0.5       2
-  geom_size             0.1       0.08      0.02
-  geom_aabb             0         0         0         0.1       0.08      0.02
-  geom_rbound           0.1
-  geom_pos              0.1       0         0
-  geom_quat             1         0         0         0
-  geom_friction         1         0.005     0.0001
-  geom_margin           0
-  geom_gap              0
-  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0
-  geom_rgba             0.8       0.6       0.4       1
-
-GEOM 3:
-  name
-  geom_type             5
-  geom_contype          1
-  geom_conaffinity      1
-  geom_condim           3
-  geom_bodyid           4
-  geom_dataid           -1
-  geom_matid            -1
-  geom_group            0
-  geom_priority         0
-  geom_sameframe        1
-  geom_solmix           1
-  geom_solref           0.02      1
-  geom_solimp           0.9       0.95      0.001     0.5       2
-  geom_size             0.07      0.1       0
-  geom_aabb             0         0         0         0.07      0.07      0.1
-  geom_rbound           0.12
-  geom_pos              0         0         0
-  geom_quat             1         0         0         0
-  geom_friction         1         0.005     0.0001
-  geom_margin           0
-  geom_gap              0
-  geom_fluid            0         0         0         0         0         0         0         0         0         0         0         0
-  geom_rgba             0.8       0.6       0.4       1
-
-
-SITE 0:
-  name                  end1
-  site_type             2
-  site_bodyid           3
-  site_matid            -1
-  site_group            0
-  site_sameframe        0
-  site_size             0.01      0.005     0.005
-  site_pos              0.2       0         0
-  site_quat             1         0         0         0
-  site_rgba             0.5       0.5       0.5       1
-
-SITE 1:
-  name                  end2
-  site_type             2
-  site_bodyid           4
-  site_matid            -1
-  site_group            0
-  site_sameframe        0
-  site_size             0.01      0.005     0.005
-  site_pos              0         0         0.1
-  site_quat             1         0         0         0
-  site_rgba             0.5       0.5       0.5       1
-
-
-LIGHT 0:
-  name
-  light_mode            0
-  light_bodyid          0
-  light_targetbodyid    -1
-  light_directional     0
-  light_castshadow      1
-  light_active          1
-  light_pos             0         1         1
-  light_dir             0        -0.71     -0.71
-  light_poscom0        -0.13      1         0.44
-  light_pos0            0         1         1
-  light_dir0            0        -0.71     -0.71
-  light_attenuation     1         0         0
-  light_cutoff          45
-  light_exponent        10
-  light_ambient         0         0         0
-  light_diffuse         1         1         1
-  light_specular        0.3       0.3       0.3
-
-
-TEXTURE 0:
-  name
-  tex_type              2
-  tex_height            1536
-  tex_width             256
-  tex_adr               0
-
-
-TENDON 0:
-  name
-  tendon_adr            0
-  tendon_num            2
-  tendon_matid          -1
-  tendon_group          0
-  tendon_limited        1
-  tendon_width          0.005
-  tendon_solref_lim     0.02      1
-  tendon_solimp_lim     0.9       0.95      0.001     0.5       2
-  tendon_solref_fri     0.02      1
-  tendon_solimp_fri     0.9       0.95      0.001     0.5       2
-  tendon_range          0         0.6
-  tendon_margin         0
-  tendon_stiffness      0
-  tendon_damping        0
-  tendon_frictionloss   0
-  tendon_lengthspring   0.45      0.45
-  tendon_length0        0.45
-  tendon_invweight0     4.9
-  tendon_rgba           0.5       0.5       0.5       1
-  path
-    3 0  0
-    3 1  0
diff --git a/doc/_static/example_saved.xml b/doc/_static/example_saved.xml
deleted file mode 100644
index bcfdc2bd..00000000
--- a/doc/_static/example_saved.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<mujoco model="example">
-  <compiler angle="radian" autolimits="true"/>
-  <default class="main">
-    <geom rgba="0.8 0.6 0.4 1"/>
-  </default>
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
-  </asset>
-  <worldbody>
-    <light pos="0 1 1" dir="0 -0.707107 -0.707107" diffuse="1 1 1"/>
-    <body pos="0 0 1">
-      <joint pos="0 0 0" type="ball"/>
-      <geom size="0.06 0.2" pos="0 0 -0.2" type="capsule"/>
-      <body pos="0 0 -0.4">
-        <joint pos="0 0 0" axis="0 1 0"/>
-        <joint pos="0 0 0" axis="1 0 0"/>
-        <geom size="0.04 0.15" pos="0.15 0 0" quat="0.707107 0 -0.707107 0" type="capsule"/>
-        <body pos="0.3 0 0">
-          <joint pos="0 0 0" axis="0 1 0"/>
-          <joint pos="0 0 0" axis="0 0 1"/>
-          <geom size="0.1 0.08 0.02" pos="0.1 0 0" type="ellipsoid"/>
-          <site name="end1" pos="0.2 0 0" size="0.01"/>
-        </body>
-      </body>
-    </body>
-    <body pos="0.3 0 0.1">
-      <joint type="free"/>
-      <geom size="0.07 0.1" type="cylinder"/>
-      <site name="end2" pos="0 0 0.1" size="0.01"/>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial range="0 0.6" width="0.005">
-      <site site="end1"/>
-      <site site="end2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/doc/_static/favicons/favicon-16x16.png b/doc/_static/favicons/favicon-16x16.png
deleted file mode 100644
index 0b509cc2..00000000
Binary files a/doc/_static/favicons/favicon-16x16.png and /dev/null differ
diff --git a/doc/_static/favicons/favicon-180x180.png b/doc/_static/favicons/favicon-180x180.png
deleted file mode 100644
index d9cecc75..00000000
Binary files a/doc/_static/favicons/favicon-180x180.png and /dev/null differ
diff --git a/doc/_static/favicons/favicon-192x192.png b/doc/_static/favicons/favicon-192x192.png
deleted file mode 100644
index efeeb4f2..00000000
Binary files a/doc/_static/favicons/favicon-192x192.png and /dev/null differ
diff --git a/doc/_static/favicons/favicon-32x32.png b/doc/_static/favicons/favicon-32x32.png
deleted file mode 100644
index 55a81f3c..00000000
Binary files a/doc/_static/favicons/favicon-32x32.png and /dev/null differ
diff --git a/doc/_static/fromto.xml b/doc/_static/fromto.xml
deleted file mode 100644
index ec78f51d..00000000
--- a/doc/_static/fromto.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<mujoco>
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 -1 5" dir="1 1 -10"/>
-    <light pos="1.5 -1 5" dir="-1 1 -10"/>
-    <camera name="front" pos=".75 -5 1.5" xyaxes="1 0 0 0 .3 1"/>
-
-    <geom type="plane" material="grid" size="0 0 .1" pos="0 0 -.1"/>
-    <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-    <geom type="box" size="0.1" fromto=".5 0 0 .5 0 1"/>
-    <geom type="cylinder" size="0.1" fromto="1 0 0 1 0 1"/>
-    <geom type="ellipsoid" size="0.1" fromto="1.5 0 0 1.5 0 1"/>
-  </worldbody>
-</mujoco>
diff --git a/doc/_static/gyroscopic.xml b/doc/_static/gyroscopic.xml
deleted file mode 100644
index 61568bc5..00000000
--- a/doc/_static/gyroscopic.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<mujoco>
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <statistic extent="1"/>
-
-  <!-- switch the integrator to "implicit" for better gyroscopic stabillity -->
-  <option timestep="0.01" integrator="implicitfast"/>
-
-  <worldbody>
-    <geom pos="0 0 -.5" type="plane" size="100 100 .1" zaxis=".5 0 1" material="grid"/>
-    <body pos="0 0 .3">
-      <freejoint/>
-      <geom type="ellipsoid" size="0.15 0.1 0.07" euler="20 40 60"/>
-      <light pos="0 0 1.5" mode="track"/>
-      <camera pos="0 -1.498 0.1" xyaxes="1 0 0 0 0 1" mode="track"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/doc/_static/hello.xml b/doc/_static/hello.xml
deleted file mode 100644
index 568a0dd7..00000000
--- a/doc/_static/hello.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco>
-  <worldbody>
-        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
-    <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
-    <body pos="0 0 1">
-      <joint type="free"/>
-      <geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/doc/_static/onthispage_mjwarp.js b/doc/_static/onthispage_mjwarp.js
deleted file mode 100644
index e8990e47..00000000
--- a/doc/_static/onthispage_mjwarp.js
+++ /dev/null
@@ -1,80 +0,0 @@
-/**
- * This script hides Sphinx auto-generated attribute links from the
- * "On this page" sidebar.
- * Adapted for the Furo theme.
- * Uses a MutationObserver to wait for Furo's JavaScript to create the
- * sidebar before attempting to modify it.
- */
-function hideAttributesFromTOC() {
-  // Furo's "On this page" sidebar container has the class .toc-tree
-  const tocContainerSelector = '.toc-tree';
-
-  // Step 1: Find all attribute definitions and collect their IDs.
-  const attributeDefs = document.querySelectorAll('dl.py.attribute');
-  if (attributeDefs.length === 0) {
-    return false;  // No attributes on this page, nothing to do.
-  }
-  const attributeIds = new Set();
-  attributeDefs.forEach(def => {
-    const term = def.querySelector('dt');
-    if (term && term.id) {
-      attributeIds.add(term.id);
-    }
-  });
-
-  if (attributeIds.size === 0) {
-    return false;  // No attribute IDs found.
-  }
-
-  // Step 2: Find the sidebar container.
-  const tocContainer = document.querySelector(tocContainerSelector);
-  if (!tocContainer) {
-    // Container not found yet. The observer will try again.
-    return false;
-  }
-
-  // Step 3: Get all links within that sidebar.
-  const tocLinks = tocContainer.querySelectorAll('a');
-  if (tocLinks.length === 0) {
-    return false;  // Container found, but it's empty. Let's wait.
-  }
-
-  // Step 4: Iterate through the links and hide the ones that match.
-  let hiddenCount = 0;
-  tocLinks.forEach(link => {
-    const href = link.getAttribute('href');
-    if (href && href.startsWith('#')) {
-      const linkId = href.substring(1);
-      if (attributeIds.has(linkId)) {
-        // In Furo, the link is inside a list item (<li>) which we need to hide.
-        const listItem = link.closest('li');
-        if (listItem && listItem.style.display !== 'none') {
-          console.log(`Hiding sidebar link for: #${linkId}`);
-          listItem.style.display = 'none';
-          hiddenCount++;
-        }
-      }
-    }
-  });
-
-  // If we successfully hid the links, we can stop observing.
-  if (hiddenCount > 0) {
-    return true;  // Signal success
-  }
-
-  // If we found the container but didn't hide anything, maybe it's not fully
-  // rendered. Let the observer run a few more times. A better approach might be
-  // needed if this fails, but for most cases, this is sufficient.
-  return false;
-}
-
-// Use a MutationObserver to wait for the page to be dynamically built.
-const observer = new MutationObserver((mutations, obs) => {
-  // We only need to run our function once successfully.
-  if (hideAttributesFromTOC()) {
-    obs.disconnect();  // Stop observing once the task is done.
-  }
-});
-
-// Start observing the entire document body for added/removed nodes.
-observer.observe(document.body, {childList: true, subtree: true});
diff --git a/doc/_static/pendulum.xml b/doc/_static/pendulum.xml
deleted file mode 100644
index ce15d1df..00000000
--- a/doc/_static/pendulum.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="energy conserving pendulum">
-  <option integrator="RK4">
-    <flag constraint="disable" energy="enable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 0 2"/>
-    <geom pos="0 0 -.5" type="plane" size="1 1 .01"/>
-    <body pos="0 0 0">
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="cylinder" size="0.02" fromto="0 -.02 0 0 .02 0"/>
-      <geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
-      <body pos="0.1 0 0">
-        <joint type="slide" axis="1 0 0" stiffness="200"/>
-        <geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
-        <body pos=".1 0 0">
-          <joint type="ball"/>
-          <geom type="box" size=".02" fromto="0 0 0 0 .1 0"/>
-          <body pos="0 .1 0">
-            <joint axis="1 0 0"/>
-            <geom type="capsule" size="0.02" fromto="0 0 0 0 .1 0"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/doc/_static/tendon.xml b/doc/_static/tendon.xml
deleted file mode 100644
index ab1c4227..00000000
--- a/doc/_static/tendon.xml
+++ /dev/null
@@ -1,66 +0,0 @@
-<mujoco model="tendon">
-  <default>
-    <joint axis="0 1 0" range="0 60" limited="true"/>
-    <geom type="capsule" size=".01" rgba=".9 .7 .1 1"/>
-    <site rgba=".9 .9 .9 1"/>
-    <default class="visual_cylinder">
-      <geom type="cylinder" fromto="0 .015 0  0 -.015 0" size=".02" rgba=".3 .9 .3 .4"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <body name="weight" pos="-.03 0 .175">
-      <joint axis="0 0 1" pos="0 0 .025" type="slide"/>
-      <geom type="cylinder" size=".03 .025" density="5000" rgba=".2 .2 .5 1"/>
-      <site name="s1" pos="0 0 .025"/>
-    </body>
-
-    <site name="s2" pos="-.03 0 .33"/>
-
-    <body pos="0 0 .3">
-      <joint/>
-      <geom name="g1" class="visual_cylinder"/>
-      <geom fromto="0 0 0  .1 0 0"/>
-      <site name="s3" pos=".02 0 .03"/>
-
-      <body pos=".1 0 0">
-        <joint/>
-        <geom name="g2" class="visual_cylinder"/>
-        <geom fromto="0 0 0  .1 0 0"/>
-        <site name="s4" pos=".03 0 .01"/>
-        <site name="s5" pos=".05 0 .02"/>
-        <site name="side2" pos="0 0 .03"/>
-
-        <body pos=".1 0 0">
-          <joint/>
-          <geom name="g3" class="visual_cylinder"/>
-          <geom fromto="0 0 0  .1 0 0"/>
-          <site name="s6" pos=".03 0 .01"/>
-          <site name="side3" pos="0 0 .03"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial range="0 .33" limited="true" width=".002" rgba=".95 .3 .3 1">
-      <site site="s1"/>
-      <site site="s2"/>
-      <geom geom="g1"/>
-      <site site="s3"/>
-
-      <pulley divisor="2"/>
-      <site site="s3"/>
-      <geom geom="g2" sidesite="side2"/>
-      <site site="s4"/>
-
-      <pulley divisor="2"/>
-      <site site="s3"/>
-      <geom geom="g2" sidesite="side2"/>
-      <site site="s5"/>
-      <geom geom="g3" sidesite="side3"/>
-      <site site="s6"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/doc/changelog.rst b/doc/changelog.rst
deleted file mode 100644
index 8d06f8dd..00000000
--- a/doc/changelog.rst
+++ /dev/null
@@ -1,3493 +0,0 @@
-=========
-Changelog
-=========
-
-Upcoming version (not yet released)
------------------------------------
-
-General
-^^^^^^^
-
-- The MJCF grammar is now defined in a single source of truth schema file,
-  `src/xml/mjcf.schema <https://github.com/google-deepmind/mujoco/tree/main/src/xml/mjcf.schema>`__. The parser's
-  grammar table, presence constraints, keyword maps, typed attribute bindings and save policies are generated from it
-  and gated by tests, as are the schema's enum keywords and declared defaults against the C headers and
-  default-constructors.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   - Removed the custom binary texture format (``image/vnd.mujoco.texture``) and the automatic fallback to custom
-     textures when loading files with unrecognized extensions. Textures can now only be loaded from PNG (``image/png``)
-     and KTX (``image/ktx``) files.
-
-Actuation
-^^^^^^^^^
-- Added the :ref:`pid<actuator-pid>` actuator: a PID controller with real position and velocity setpoint inputs,
-  optional integral action (:ref:`ki<actuator-pid-ki>`, integrating the position error with
-  :ref:`imax<actuator-pid-imax>` anti-windup), setpoint rate limiting (:ref:`slewmax<actuator-pid-slewmax>`), and an
-  optional feedforward input. This subsumes the functionality of the ``mujoco.pid`` plugin with proper activation
-  state: correct under all integrators and visible to keyframes and sensors. With a zero velocity setpoint it is
-  identical to :ref:`position<actuator-position>`. The input signature is any subset of ``[pos, vel, ff]``, selected
-  by :ref:`input<actuator-pid-input>`; absent setpoint inputs are fixed at zero, so the control vector contains no
-  inert entries.
-- The :ref:`dcmotor<actuator-dcmotor>` on-board controller is redesigned: the
-  :ref:`input<actuator-dcmotor-input>` attribute selects any subset of ``[pos, vel, ff, voltage]``, where ``pos``
-  and ``vel`` are setpoints for the controller, ``ff`` is a torque feedforward, and ``voltage`` is the raw terminal
-  voltage (the default, a plain voltage-commanded motor). Controller gains are in torque space, as for
-  :ref:`pid<actuator-pid>`, and the drive voltage compensates back-EMF as in a current-controlled driver: commanded
-  torque is delivered exactly until a limit is reached. The keyword ``input="none"`` selects the empty signature:
-  the actuator has no control inputs and is purely passive, so friction, cogging and back-EMF braking can be used
-  as passive joint forces.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   - The mode-flag semantics of :ref:`dcmotor/input<actuator-dcmotor-input>` ("voltage", "position", "velocity",
-     selecting the interpretation of a single control) are replaced by input signatures, and the controller gains
-     changed from voltage space to torque space. The old velocity mode's integral term (integrated-velocity
-     tracking) is retired without replacement; the integrator always accumulates position error.
-
-     **Migration:** Voltage-commanded motors (the default) are unchanged. Replace ``input="position"`` with
-     ``input="pos"`` and ``input="velocity"`` with ``input="vel"``, and multiply the controller gains by
-     :math:`K/R` (torque per volt). The motor's back-EMF damping, previously felt in addition to the controller's
-     damping, is now compensated: to preserve behavior when the velocity setpoint is zero, add :math:`K^2/R` to the
-     converted :at-val:`kd`.
-
-Engine
-^^^^^^
-
-- Optimized large-mesh convex collision detection with up to 2x speedup in certain cases.
-- Replaced the per-step sparse Cholesky factorization of the flex block of the implicit effective metric M + K with
-  its prefactored per-vertex 3x3 diagonal blocks. The blocks precondition the CG constraint solver and drive an
-  iterative solve for ``qacc_smooth``, which now converges on :ref:`tolerance<option-tolerance>` rather than a fixed
-  threshold. Flexes with :ref:`elastic2d<flex-elasticity-elastic2d>` stretch stiffness step roughly twice as fast;
-  bending-only flexes keep the exact constant factor and are unchanged.
-- Rewrote cleaner box-box SAT collider.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   - Contacts of a flex with :ref:`passive<flexcomp-contact-passive>` collisions are now integrated implicitly:
-     their stiffness is carried by the effective metric rather than applied as an explicit spring, and can be far
-     stiffer than the timestep would otherwise permit. Models using passive collisions should be re-checked: the
-     feature now requires :at:`implicit` or :at:`implicitfast` with the CG solver, pyramidal cones and sleep
-     disabled; passive handling covers flex-flex, self-, and static-geometry contact, while contact with a moving
-     body stays on the constraint solver; and the stiffness is now a mass-scaled natural frequency rather than a
-     fixed 1e4.
-
-   - Removed ``mjData.efm_L_rownnz``, ``mjData.efm_L_rowadr`` and ``mjData.efm_L_colind``. They described the sparsity
-     of the effective-metric Cholesky factor, which no longer exists; ``mjData.efm_L`` now holds dense 3x3 blocks,
-     9 numbers per covered vertex. ``mjData.efm_active`` no longer takes the value 2: nothing selects a solve path on
-     preconditioner exactness, so it is now a plain 0/1 flag.
-   - Changed the default value of :ref:`bvactive<visual-global-bvactive>` from "true" to "false". This avoids
-     unnecessarily clearing bounding volume hierarchy visualization flags at every simulation step, which can be a
-     bottleneck for models with large meshes.
-   - Mocap bodies and their dof-less descendants are now the root of their own weld group: ``mjModel.body_weldid`` of a
-     mocap body equals its own id rather than 0. Consequences: dragging a mocap body into sleeping objects now wakes
-     them; children of mocap bodies receive standard :ref:`parent-child collision filtering<SurprisingCollisions>`;
-     mocap bodies no longer count as static geometry for ray casting, and contact-matching sensors aggregate their
-     contacts under the mocap body rather than the world; and geom pairs where neither body can move no longer generate
-     contacts.
-
-Models
-^^^^^^
-
-- Added `drape <https://github.com/google-deepmind/mujoco/blob/main/model/flex/drape.xml>`__ example model: three
-  cloths draped over a sphere, demonstrating :ref:`passive<flex-contact-passive>` collisions. It replaces the
-  ``sphere_passive`` model, which has been removed.
-
-- Added `bag <https://github.com/google-deepmind/mujoco/blob/main/model/flex/bag.xml>`__ example model: a cloth bag,
-  held open by pinning the ring of vertices around its mouth, catching the standard humanoid dropped in from above.
-  Unlike the poncho models, which are bending-only, this model exercises the 2D
-  :ref:`stretch<flex-elasticity-elastic2d>` elasticity of a flex.
-
-Rendering
-^^^^^^^^^
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   .. image:: https://www.gstatic.com/mujoco/doc/images/changelog/primitives_textured.gif
-      :align: right
-      :width: 40%
-
-   - Added explicit texture coordinates to built-in geometries (Plane, Box, Sphere, Ellipsoid, Capsule,
-     Cylinder) in both the Classic renderer and Filament. 2D textures applied to primitive shapes will look different
-     as textures are mapped using canonical UV parameterizations rather than projecting onto the :math:`x,y` plane.
-
-     For finite planes, textures are now anchored to the bottom-left corner instead of the center. This will cause the
-     most common visual breakage, as common procedural checker textures will be phase shifted. Infinite planes continue
-     to be anchored at the origin with no visual changes.
-
-     .. image:: images/changelog/plane_uv_tiling.png
-        :align: center
-        :width: 70%
-   - Added :ref:`light/softness<body-light-softness>`: edge softness for spotlights under physically-based lighting
-     models, given as the fraction of the cone over which intensity falls to zero. The default of 0.2 is a semi-soft
-     cone which delivers the full :ref:`intensity<body-light-intensity>` everywhere inside it, so that illuminance
-     follows :math:`E = I/d^2` independent of the :ref:`cutoff<body-light-cutoff>` angle. Previously the filament
-     renderer treated the entire cone as penumbra, dimming spotlights well below their rated intensity, increasingly
-     so for narrow cutoffs.
-
-     **Migration:** Set :at:`softness` to 1 to reproduce the previous appearance of existing models.
-
-MJX
-^^^
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   - :func:`mjx.render` and :func:`mjx.render_with_segmentation` now return the updated :class:`mjx.Data` as the last
-     element in their return tuple (i.e. ``(rgb, depth, d)`` and ``(rgb, depth, seg, d)``). This ensures JAX/XLA
-     strictly enforces causal scheduling between sequential ``refit_bvh`` and ``render`` calls.
-
-     **Migration:** Update unpacking calls from ``pixels, depth = mjx.render(mx, d, rc)`` to
-     ``pixels, depth, d = mjx.render(mx, d, rc)``.
-
-Bug fixes
-^^^^^^^^^
-
-- Fixed a bug where models with pinned interpolated flex nodes (e.g. a :ref:`flexcomp<body-flexcomp>` with
-  :at:`dof` "trilinear" and pinned vertices) could not be reloaded after saving: node coordinates within their body
-  frames were not saved, degenerating the interpolation grid. They are now saved in the new flex
-  :ref:`nodecoord<deformable-flex-nodecoord>` attribute.
-- Fixed a bug in the box-box collider where near-degenerate face clipping could generate contacts with spuriously
-  large penetration depth between nearly touching thin boxes with positive margin, causing resting stacks to explode.
-- Fixed a bug in the box-box collider where penetrations deeper than a box's smallest half-size could produce no
-  contacts, letting boxes tunnel through thin boxes. Fixes :issue:`1800`.
-- Fixed the flex stretch stiffness operator, which was the Gauss-Newton Hessian of the stretch force rather than its
-  Jacobian: the geometric (stress-proportional) term was missing. Only the tensile part of that term is added, since
-  it is positive semi-definite exactly when the edge is in tension, and its consumers require an SPD operator; the
-  stretch force itself is unchanged. This affects the implicit integrators and the implicit effective metric, so
-  flexes using ``elastic2d="stretch"`` integrate slightly differently. Bending-only flexes are unaffected.
-
-OpenUSD
-^^^^^^^
-
-- Upgraded Newton USD schemas support to version 0.4.0:
-
-  - ``NewtonJointAPI`` (``newton:armature``, ``newton:damping``, ``newton:friction``) deprecates the ``MjcJointAPI``
-    equivalent ``mjc:armature``, ``mjc:damping``, and ``mjc:frictionloss`` attributes.
-  - ``NewtonMassAPI`` (``newton:massModel``, ``newton:inertia``) deprecates the ``MjcCollisionAPI``
-    equivalent ``mjc:shellinertia`` and ``MjcMeshCollisionAPI`` ``mjc:inertia`` attributes. This completes the
-    deprecation of all ``MjcMeshCollisionAPI`` attributes, slating it for removal in a future release.
-  - Added support for ``NewtonSiteAPI`` to declare sites, ``MjcSiteAPI`` auto applies this schema, but remains
-    as an extension for the ``mjc:group`` attribute.
-  - Added support for ``NewtonMaterialAPI`` (``newton:contactAdhesion``, ``newton:torsionalFriction``,
-    ``newton:rollingFriction``). This deprecates ``MjcMaterialAPI`` which will be removed in a future release.
-  - Added support for ``NewtonMimicAPI`` (``newton:mimicJoint``, ``newton:mimicCoef0``, ``newton:mimicCoef1``) as a
-    base for ``MjcEqualityJointAPI``, this deprecates the ``mjc:coef0`` and ``mjc:coef1`` attributes and the
-    ``mjc:target`` relationship.
-  - Added support for ``NewtonArticulationRootAPI`` (``newton:jointsAddMobility``).
-
-.. admonition:: Breaking ABI changes
-   :class: caution
-
-   - :ref:`mjsActuator` gained ``velrange`` and ``ffrange`` fields, changing its size and layout. The :ref:`mjtGain`
-     and :ref:`mjtDyn` enums gained ``pid`` members, shifting the values of ``mjGAIN_USER`` and ``mjDYN_USER``.
-   - :ref:`mjResource` gained an ``args`` field (changing its size and layout), used to hold optional extra encoding and
-     decoding arguments formatted as URI query parameters (separated by ``&``).
-
-Version 3.11.0 (July 27, 2026)
-------------------------------
-
-Engine
-^^^^^^
-
-.. youtube:: PdSdrqhSiZA
-   :aspect: 16:7
-   :align: right
-   :width: 35%
-
-1. :commit:`4787c809` Added :ref:`geom/surfacevel<body-geom-surfacevel>`: the velocity of a geom's surface as seen by
-   contacts, given as a velocity field with a constant component and a rotational component about the geom frame origin.
-   This allows conveyor belts, treadmills and turntables to be modeled with static geoms and no degrees of freedom:
-   friction drives touching bodies along the motion of the surface, with the field projected onto each contact's tangent
-   plane. Surface velocities compose correctly with each other and with body motion.
-   Note that the contact rows of ``mjData.efc_vel``, and the constraint-state sensors that read them, report the
-   velocity relative to the moving surface rather than to the geom, since that is the quantity the constraint acts
-   on; for geoms without :at:`surfacevel` the two are identical. Contact-point visualization draws an arrow along the
-   surface velocity at contacts with moving surfaces.
-
-.. youtube:: GioWwB36XHI
-   :aspect: 16:7
-   :align: right
-   :width: 35%
-
-2. :commit:`a264d0bc` Added :ref:`geom/adhesion<body-geom-adhesion>` and :ref:`pair/adhesion<contact-pair-adhesion>`: an
-   adhesive force associated with a contact, useful for modeling sticky materials. Contacts can pull with up to the
-   given force before breaking, and the friction budget becomes :math:`\mu(f_N + \text{adhesion})`. Combined with
-   :ref:`gap<body-geom-gap>`, adhesive contacts apply "adhesion at a distance", useful for modeling magnets. Resting
-   penetration is unaffected by adhesion. :ref:`mj_contactForce` reports the net interface force, whose normal component
-   can now be negative.
-3. :commit:`f0fa3d82` Replaced midpoint integration of free bodies with :ref:`gyroscopic derivatives<geFreeBody>` in the
-   ``implicitfast`` :ref:`integrator<geIntegrators>`: the bias-force derivative of every standalone free body is applied
-   via a local unsymmetric solve of its decoupled block, making ``implicitfast`` identical to ``implicit`` for such
-   bodies. Unlike midpoint integration, which required vacuum and no constraints, this applies in all environments
-   (contacts, fluid, constraints), and is compatible with discrete-time inverse dynamics. Spinning free bodies no
-   longer gain energy, but tumbling motion is now mildly damped; models requiring long-horizon energy conservation of
-   tumbling bodies in vacuum should use ``RK4``. The :ref:`invdiscrete<option-flag-invdiscrete>` flag no longer has any
-   effect on forward dynamics.
-4. :commit:`5618666a` Added :ref:`body/simple<body-simple>` attribute ("false"/"auto") to disable the *simple body* mass
-   matrix optimization. This is useful for domain randomization, where model parameters may change post-compilation.
-5. :commit:`14c0b0c9` :ref:`mj_setConst` now recomputes the ``mjModel.{body,geom,site}_sameframe`` flags, to account for
-   changes in body/geom/site frames after compilation.
-6. :commit:`2444defc` Added support for :ref:`multiccd <coMultiCCD>` with arbitrarily large meshes.
-7. :commit:`a04b0c5b` Added ``flg_gravcomp`` and ``flg_surfacevel`` boolean flags to ``mjModel``. These flags replace
-   the fast-path checks as originally guarded by ``ngravcomp``. Since the engine uses these integers as flags (zero vs.
-   non-zero), the new flags are honest boolean properties, writeable from the Python bindings at runtime. The field
-   ``ngravcomp`` is deprecated and will be removed in a future release.
-8. :commit:`a1f38c8e` Replaced quadratic scratch in DFS flood-fill island discovery with a linear-memory Union-Find
-   (disjoint set). Contribution by :github:user:`teerthsharma`.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   9. :commit:`ff629889` Changed the default value of :ref:`sleep_tolerance<option-sleep_tolerance>` from 1e-4 to 1e-3
-      (1mm/sec in SI units).
-   10. :commit:`315bcfbf` Removed the legacy sparse ancestor-walk inertia matrix ``mjData.qM``. The joint-space inertia
-       matrix is now stored exclusively in the compressed sparse row (CSR) format ``mjData.M``.
-   11. :commit:`7e9ac58f` Switched :ref:`mjd_inverseFD` to use the CSR-format ``mjData.M`` representation instead of the
-       legacy ``mjData.qM`` for the mass matrix derivative. This changes the shape of the ``DmDq`` parameter from
-       ``(nv x nM)`` to ``(nv x nC)``.
-   12. :commit:`1ea2d884` :ref:`mju_round` now breaks ties away from zero rather than towards :math:`+\infty`. This only
-       affects negative half-integers, e.g. ``mju_round(-2.5)`` now returns -3 rather than -2.
-   13. :commit:`fa36015b` Removed unneeded `mjvScene` argument from :ref:`mjv_moveCamera`.
-   14. :commit:`ba9a6503` Split up :ref:`mjrfMeshData` into `mjrfMeshData` and `mjrfMeshConfig` to allow reuploading of
-       mesh data without having to recreate the mesh object. Introduces :ref:`mjrf_defaultMeshConfig` and
-       :ref:`mjrf_setMeshData` functions.
-   15. :commit:`ba9a6503` Removed `bytes` field from :ref:`mjrVertexAttribute`.
-
-.. admonition:: Breaking ABI changes
-   :class: caution
-
-   16. :commit:`072e963f` :ref:`mjModel` gained the ``actuator_ctrlspec`` field (input signature of each actuator), and
-       :ref:`mjsActuator` gained ``ctrlspec``, changing their size and layout. The :ref:`mjtGain` and :ref:`mjtBias`
-       enums gained ``so3`` members, shifting the values of ``mjGAIN_USER`` and ``mjBIAS_USER``.
-   17. :commit:`d43c3ed4` Added ``texid``, ``texuniform`` and ``texrepeat`` fields to :ref:`mjvGeom`.
-   18. :commit:`a264d0bc` The :ref:`mjContact` struct gained an ``adhesion`` member, changing its size and layout.
-
-.. admonition:: Bug fixes
-   :class: admonition
-
-   19. :commit:`dddb2767` Fixed a bug where ``body_margin`` excluded ``gap``, causing the mid-phase collision filter to
-       incorrectly prune in-gap contacts on multi-geom bodies.
-
-Actuation
-^^^^^^^^^
-20. :commit:`d507e921` Refactored actuator infrastructure in preparation for MIMO (multi-input multi-output) actuator
-    support. Each actuator now has ``ctrlnum`` (number of controls) and ``outnum`` (number of force outputs). The total
-    counts ``nu = sum(ctrlnum)`` and ``nout = sum(outnum)`` dimension ``mjData.ctrl`` and ``mjData.actuator_force``,
-    respectively, ``nactuator`` is the number of actuators. For existing actuators ``ctrnum = outnum = 1``, so
-    ``nactuator == nu == nout`` and existing code is unaffected.
-21. :commit:`56a93979` Setpoints of :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
-    servos acting on 3D rotational transmissions (ball joints, or site transmissions with a
-    :ref:`refsite<actuator-general-refsite>` and purely rotational gear) are now interpreted on the circle: the force
-    uses the setpoint representative nearest the current angle, so targets winding beyond half a turn are tracked
-    continuously instead of slipping by full turns. Behavior is identical whenever the error does not exceed π.
-    Relatedly, ``intvelocity`` actuators now expose :ref:`actlimited<actuator-intvelocity-actlimited>`, which was
-    previously hardcoded to "true": as for :ref:`general<actuator-general>` actuators it defaults to "auto", so
-    activation clamping is enabled by specifying ``actrange``. Unclamped integrated setpoints are well-behaved on
-    rotational transmissions, where they wrap.
-
-.. youtube:: 17XpwnqyCXs
-   :aspect: 16:7
-   :align: right
-   :width: 35%
-
-22. :commit:`072e963f` Added the :ref:`orientation<actuator-orientation>` actuator: a geodesic servo on a new SO(3)
-    transmission (ball joints, or a site with a :ref:`refsite<actuator-general-refsite>`), acting jointly on the full
-    relative orientation with an exact equilibrium at every commanded orientation. This is the first actuator with
-    multiple force outputs (3), and, with ``input="quat"``, the first with different input and output dimensions (4
-    controls, 3 outputs). The input signature is recorded in the new ``mjModel.actuator_ctrlspec``, exposed as the
-    :ref:`input<actuator-general-input>` attribute.
-23. :commit:`072e963f` Added :ref:`mj_actuatorInputName`, returning the name of an actuator input (e.g. "qw" for the
-    first control of a quaternion-commanded orientation actuator). The control sliders in :ref:`simulate<saSimulate>`
-    and MuJoCo Studio are now generated per control and labeled with the actuator name plus the input name suffix.
-24. :commit:`072e963f` Viewer control sliders now use a defined :ref:`ctrlrange<actuator-general-ctrlrange>` even when
-    :ref:`ctrllimited<actuator-general-ctrllimited>` is "false": the range sets the slider span, while clamping remains
-    controlled by :at:`ctrllimited`.
-25. :commit:`072e963f` Added :ref:`mj_resetCtrl`, setting controls to neutral values: zero, except quaternion inputs
-    which reset to the identity quaternion. Called by :ref:`mj_resetData` and the viewers' "Clear All".
-
-Solvers
-^^^^^^^
-26. :commit:`ea230a95` Flex elasticity (stretch, bending, interpolation stiffness) is now integrated implicitly inside
-    the CG constraint solver via an *effective metric*: the mass matrix is augmented with the stiffness Hessian,
-    so contact and elastic forces are solved against one consistent metric. This replaces the previous post-hoc CG
-    correction, which modified ``qacc`` after the constraint solve. The gate is ``solver="CG"`` with an implicit
-    integrator and flex stiffness present; Newton and PGS are unaffected. Bending-only models pay zero per-step
-    factorization cost (the factor is precomputed in :ref:`mj_setConst<mj_setConst>`). Inverse dynamics
-    (:ref:`mj_inverse<mj_inverse>`) is now discrete-consistent with forward dynamics for gated models.
-27. :commit:`c499f7f2` Added Nesterov momentum extrapolation with adaptive gradient restart (O'Donoghue-Candès) to the
-    PGS solver, significantly improving convergence. Overall PGS now requires ~2x fewer iterations.
-28. :commit:`1e66efd1` Added the Newton decrement -- the quadratic model's predicted cost improvement of the next
-    iteration -- as a third early-termination criterion of the :ref:`Newton solver<soAlgorithms>`, alongside cost
-    improvement and gradient norm. This reduces iteration counts at no accuracy cost. Proposed by
-    :github:user:`adenzler-nvidia` in :doc:`MJWarp <mjwarp/index>` pull request
-    `1520 <https://github.com/google-deepmind/mujoco_warp/pull/1520>`__.
-29. :commit:`c69ef030` The CG and Newton solvers now terminate with zero iterations when a duality-gap certificate
-    proves that the warmstarted solution already satisfies the tolerance. The certificate requires only the existing
-    mass-matrix factorization, so quiescent scenes skip Hessian construction, factorization and the line search
-    entirely. Newton zero-iteration exits additionally require the gradient criterion, preserving Newton's
-    characteristic force-level accuracy. See :ref:`Warmstart<soAlgorithms>` in the Computation chapter for details.
-
-
-Compiler
-^^^^^^^^
-30. :commit:`4e1795b9` :ref:`mj_encode` now supports encoding of MJB and TXT files.
-31. :commit:`c6c3ec31` The :ref:`attach<body-attach>` element now supports self-attachment (attaching elements of the
-    current model to itself) by omitting the :ref:`model<body-attach-model>` attribute. It also supports attaching a
-    frame via the new :ref:`frame<body-attach-frame>` attribute, which is mutually exclusive with
-    :ref:`body<body-attach-body>`.
-32. :commit:`040872fd` Fixed loading of :ref:`.mjz <MJZArchives>` archives in :ref:`simulate<saSimulate>`: the archive
-    was unmounted before model compilation, so assets failed to load. Failures in the :ref:`mjz <MJZArchives>` decoder
-    now emit a warning with the underlying error instead of the generic "could not decode content" message.
-33. :commit:`ebd4abae` The :ref:`mjz <MJZArchives>` decoder now searches for ``model.xml`` and ``<stem>/model.xml`` as a
-    fallback if ``<stem>.xml`` and ``<stem>/<stem>.xml`` are not found.
-34. :commit:`dc7581ac` Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in
-    :ref:`mjpResourceProvider`.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   35. :commit:`d83ef0b6` The return type of :ref:`mj_encode` and the :ref:`mjfEncode` callback changed from ``int`` to
-       ``mjtSize`` (64-bit).
-
-.. admonition:: Bug fixes
-   :class: admonition
-
-   36. :commit:`f5f9d9ef` Fixed a bug in the mesh compiler where normals were scaled as vectors rather than covectors.
-
-Python bindings
-^^^^^^^^^^^^^^^
-37. :commit:`a07ae6f8` The bindings now support free threading (`PEP 703 <https://peps.python.org/pep-0703/>`__) for
-    Python 3.14.
-
-Documentation
-^^^^^^^^^^^^^
-38. :commit:`1f1bfa9e` Expanded documentation for :ref:`spec.encode <meSaving>` workflows and added detailed
-    documentation for the :ref:`MJZ Archive <MJZArchives>` format (``.mjz`` / ``.zip``).
-
-
-Version 3.10.0 (June 22, 2026)
-------------------------------
-
-General
-^^^^^^^
-1. :commit:`b935d415` Added :ref:`mju_threadpool`, a new function for creating a thread pool on an ``mjData`` instance.
-   When a thread pool is initialized, parts of the simulation pipeline, such as collision detection and constraint
-   solving across islands, are parallelized. The thread pool is automatically destroyed when the ``mjData`` is freed.
-2. :commit:`58f6d524` Added a unified :ref:`logging API<siError>`:
-
-   - All errors, warnings, and informational messages are now routed through a single :ref:`mjfLogHandler` callback
-     receiving a structured :ref:`mjLogMessage`.
-   - Users can install a custom handler via :ref:`mju_setLogHandler`,
-     configure the default handler's behavior (console/file output, topic filtering) via :ref:`mju_setLogConfig`.
-   - Messages can be emitted via :ref:`mju_info` and :ref:`mju_message`.
-   - New types: :ref:`mjtLogLevel`, :ref:`mjtLogTopic`, :ref:`mjLogMessage`, :ref:`mjLogConfig`.
-   - The legacy callbacks :ref:`mju_user_error` and :ref:`mju_user_warning` are deprecated but remain functional.
-
-3. :commit:`6f8bb5ef` Added :ref:`mjs_numWarnings` and :ref:`mjs_getWarning` for retrieving all warnings accumulated
-   during model compilation and attachment. Deprecated :ref:`mjs_isWarning` in favor of ``mjs_numWarnings(s) > 0``.
-4. :commit:`410c7316` Added the :ref:`compiler/conflict<compiler-conflict>` attribute for controlling how conflicting
-   global attributes are resolved during :ref:`attachment<mjs_attach>`. Possible values are "warning" (default: parent
-   values take precedence, warnings emitted on conflicts), "merge" (per-field min/max/error strategy), and "error" (any
-   conflict raises an error). See :ref:`Attribute Merging <meAttributeMerging>` for details.
-
-   .. admonition:: Future breaking API changes
-      :class: warning
-
-      The current default conflict resolution policy "warn" (ignore the child model) is backward compatible.
-      However, the default policy will change to "merge" in a future release.
-
-5. :commit:`cd6db9eb` Improved primal solver convergence under float32. Improvements initially proposed by
-   :github:user:`n3b` in :issue:`2313` and :github:user:`adenzler-nvidia` in :doc:`MJWarp <mjwarp/index>` pull request
-   `1374 <https://github.com/google-deepmind/mujoco_warp/pull/1374>`__.
-6. :commit:`828052e6` The :ref:`CG solver<soAlgorithms>` now uses the Hager-Zhang conjugate direction update instead of
-   the Polak-Ribiere-Plus formula. This improves convergence and leads to a significant speedup under float32.
-7. :commit:`4c381635` Added :ref:`mjs_makeFlex`, a new C API function equivalent to the :ref:`flexcomp<body-flexcomp>`
-   element for programmatically creating flex objects with auto-generated bodies, joints, and equality constraints.
-   Exposed as ``body.make_flex()`` in Python.
-8. :commit:`7a7dc7cc` Added support for loading 1D flex components from OBJ line segments
-9. :commit:`ea2d785e` Significantly improved the quality of coarse convex hulls produced by the
-   :ref:`maxhullvert<asset-mesh-maxhullvert>` attribute by invoking Qhull's
-   `Q9 <http://www.qhull.org/html/qh-optq.htm#Q9>`__ option.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   10. :commit:`b935d415` The header file ``mjthread.h`` was removed along with the old engine threading API.
-       |br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
-   11. :commit:`96bf8aea` Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into
-       :ref:`mj_fwdConstraint` (multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from
-       the arena and are now allocated on the stack.
-   12. :commit:`4548e81e` Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the
-       ``mjData`` field ``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or
-       approximate diagonal of the :math:`A` ("Delassus") matrix.
-   13. :commit:`062b0f1e` The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
-   14. :commit:`7b9b8806` Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to
-       ``mj_fullM(m, d, dst)`` as part of the planned deprecation of ``mjData.qM`` in favor of the CSR-format
-       ``mjData.M``.
-
-       **Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)``
-       or ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
-
-Bug fixes
-^^^^^^^^^
-15. :commit:`a8eaccd2` Fixed a vulnerability in the System Identification toolbox where loading a trajectory or time
-    series called ``np.load`` with ``allow_pickle=True``, allowing arbitrary code execution from a malicious ``.npz``
-    file. Signal metadata is now serialized as JSON and loaded with ``allow_pickle=False``.
-16. :commit:`b9fb817a` Fixed a bug in the :ref:`mjz <MJZArchives>` :ref:`decoder <mjpDecoder>` where unnormalized paths
-    would fail to be read.
-17. :commit:`986d73c0` Fixed a bug where the mesh compiler would produce non-unit convex hull polygon normals.
-
-Version 3.9.0 (May 27, 2026)
-----------------------------
-
-General
-^^^^^^^
-1. :commit:`71d1014e` Added ``mjData.efc_Y``, the whitened constraint Jacobian :math:`Y = J M^{-1/2}`, allocated in the
-   arena when dual solvers (PGS or NoSlip) are used or when :ref:`diagexact<option-flag-diagexact>` is enabled.
-2. :commit:`71d1014e` Added the :ref:`diagexact<option-flag-diagexact>` enable flag, which computes the exact diagonal
-   of the constraint-space inertia matrix at the current configuration, replacing the default compile-time
-   approximation. This improves solver quality for models with anisotropic inertias or complex kinematic coupling. See
-   :ref:`Exact diagonal <soExactDiag>` for details.
-3. :commit:`7bfdbad8` The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced
-   in the previous release, now uses a fixed seed. The previous implementation seeded with ``mjData.time``, which
-   introduced subtle yet undesirable time dependence.
-4. :commit:`f712eed4` Flexes are now allowed to sleep, with the exception of completely passive (constraint-free)
-   flexes.
-5. :commit:`bdf00966` Added compiler timing diagnostics via the new :ref:`mjtCTimer` enum and the :ref:`mjs_getTimer` C
-   API. After :ref:`mj_compile`, per-category timings (total, assets, mesh loading, convex hull, normals, inertia, BVH,
-   octree, textures) are available via ``mjs_getTimer(spec)``. The :ref:`compile<saCompile>` sample prints a detailed
-   timing breakdown when run without an output file.
-6. :commit:`393c1e42` Added :ref:`mjtBool` to represent boolean variables, replacing :ref:`mjtByte` across all boolean
-   fields in :ref:`mjModel`, :ref:`mjData`, and public C API function signatures.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   7. :commit:`a4e49f2d` The semantics of the contact ``margin`` and ``gap`` parameters have been redesigned for
-      conceptual clarity and consistency with `Newton <https://github.com/newton-physics/newton>`__. See the new
-      :ref:`margin and gap<coMarginGap>` documentation section for details.
-
-      Previously, ``margin`` controlled the *detection threshold* (contacts exist when ``dist < margin``) and ``gap``
-      was subtracted from it to produce the *force threshold* (forces generated when ``dist < margin - gap``). This was
-      unintuitive: users expected ``margin`` to mean geometric inflation and ``gap`` to mean a spatial gap.
-
-      Under the new semantics, ``margin`` is the geometric inflation of the geom surface and ``gap`` is an additional
-      detection buffer beyond the inflated surface:
-
-      - **Detection**: contacts are created when ``dist < margin + gap``.
-      - **Force generation**: constraint forces are applied when ``dist < margin``.
-      - **Inactive contacts**: contacts with ``margin < dist ≤ margin + gap`` are included in ``mjData.contact`` but
-        generate no force (``efc_address = -1``). This is useful for :ref:`adhesion<actuator-adhesion>` actuators and
-        custom callbacks.
-
-      With the default values ``margin = 0``, ``gap = 0``, the behavior is unchanged.
-
-      .. image:: images/modeling/margin_gap_light.svg
-         :width: 80%
-         :align: center
-         :class: only-light
-
-      .. image:: images/modeling/margin_gap_dark.svg
-         :width: 80%
-         :align: center
-         :class: only-dark
-
-      |
-
-      **Migration:** Models that use the default ``gap="0"`` (the vast majority) require no changes. For models with
-      ``gap > 0``, apply the following transformation to preserve identical behavior:
-
-      .. code-block::
-
-         margin_new = margin_old - gap_old
-         gap_new    = gap_old
-
-      For example, a geom with the old attributes ``margin="0.1" gap="0.1"`` should be changed to
-      ``margin="0" gap="0.1"``.
-
-      Negative ``margin`` values are now permitted (corresponding to ``gap > margin`` under the old semantics). The
-      constraint ``margin + gap >= 0`` should be maintained to ensure valid collision detection.
-
-   8. :commit:`7174d33f` The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the
-      :ref:`mjContact` struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase
-      collision detection.
-
-   9. :commit:`2810edd2` The header file ``mjtnum.h`` was renamed to
-      `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>` and now includes all
-      enum type definitions.
-
-   10. :commit:`f6cd0234` The :ref:`tactile<sensor-tactile>` sensor now reports raw depth instead of an estimated
-       pressure.
-
-   11. :commit:`072125c4` MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data``
-       in favor of ``naconmax``.
-
-   12. :commit:`15d27b36` Maybe-breaking: Added `mjassert.h
-       <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjassert.h>`__, a new header containing
-       compile-time assertions that verify the sizes of MuJoCo's public types for ABI stability. This is a first step
-       towards replacing ``int`` with strongly-typed enums in the public API. If these assertions fail on your compiler
-       or platform, please report the issue on GitHub.
-
-
-Version 3.8.1 (May 11, 2026)
-----------------------------
-
-General
-^^^^^^^
-1. :commit:`647af382` Added island support for the :ref:`PGS solver<soAlgorithms>`.
-2. :commit:`4ed69b5c` The :ref:`PGS solver<soAlgorithms>` now iterates over constraints in pseudo-random order,
-   improving performance by ~20%.
-3. :commit:`b9c1877e` Added support for :ref:`elastic2d<flex-elasticity-elastic2d>` for trilinear and quadratic flex
-   :ref:`dofs<body-flexcomp-dof>`.
-4. :commit:`910b3336` Midpoint integration is now restricted to the ``implicitfast``
-   :ref:`integrator<geIntegrators>` and is disabled when fluid forces are active
-   (nonzero :ref:`density<option-density>` or :ref:`viscosity<option-viscosity>`).
-   Midpoint integration treats external forces as zero-order-hold constants, which causes
-   energy gain in the presence of contacts and in fluid media.
-5. :commit:`ec50260e` Added :ref:`mjs_getOriginSpec`, returning the spec that originally defined an element, prior to
-   attachment. This is in contrast to :ref:`mjs_getSpec` which returns the spec currently owning the element. If the
-   element is not the result of an attach operation, the functions are identical.
-6. :commit:`767c607f` Added :ref:`mju_sym2dense`, converting a lower-triangular, implicitly symmetric CSR matrix to a
-   dense symmetric matrix. The inertia matrix ``mjData.M`` is an example of such a matrix.
-
-.. admonition:: Future breaking API changes
-   :class: warning
-
-   7. :commit:`767c607f` The introduction of :ref:`mju_sym2dense` is a step towards the removal of the legacy-format
-      ``mjData.qM`` in favor of the CSR-format ``mjData.M``. This removal will involve a future breaking change to
-      :ref:`mj_fullM` (which currently accepts a ``qM``-like matrix as an argument). To prevent a future breakage,
-      replace ``mj_fullM(m, dst, d->qM)``  with
-      |br| ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
-
-
-Bug fixes
-^^^^^^^^^
-
-8. :commit:`3e960ba3` Fixed default for multiccd in :doc:`mjcPhysics <OpenUSD/mjcPhysics>`.
-
-Python
-^^^^^^
-
-9. :commit:`d92fe081` Added ``MjSpec.encode`` method, wrapping :ref:`mj_encode`.
-10. :commit:`723b8b1e` Added ``mujoco.MjVfs`` Python binding to interact with the Virtual File System directly from
-    Python. See :ref:`Virtual File System <PyVFS>` for usage details.
-
-    .. warning::
-       The previous way of passing assets via a dictionary mapping asset names to bytes is **deprecated** and will be
-       removed in an upcoming release. You cannot specify both the ``assets`` dictionary and the ``vfs`` argument at the
-       same time. ``MjVfs`` should be used as a drop-in replacement.
-
-
-Version 3.8.0 (April 24, 2026)
-------------------------------
-
-General
-^^^^^^^
-1. :commit:`a04cf1b2` Added support for Python 3.14.
-2. :commit:`2f2d00da` Added :ref:`multi-cell support<body-flexcomp-cellcount>` for trilinear and quadratic flexes. Note
-   that the implicit integrator uses a dense solver for the flex degrees of freedom, which can be slow for multi-cell
-   flexes.
-3. :commit:`3d45a331` Refactored ``strain`` flex :ref:`equality constraints<flexcomp-edge-equality>` to be instantiated
-   per cell instead of per flex object, reducing the number of degrees of freedom per constraint row. The equality can
-   be associated with a specific cell with the new attribute :ref:`cell <equality-flexstrain-cell>`
-4. :commit:`33259718` Added new :ref:`mj_maxContact<mj_maxContact>` function to get the maximum number of possible
-   contacts returned by colliding two geoms.
-5. :commit:`4cfebcc3` Added ``mj_containsBufferVFS`` and ``mj_containsFileVFS`` to check for existence of buffers and
-   files in VFS.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   6. :commit:`6cb6e5a9` The :ref:`multiccd<coMultiCCD>` option (multiple contacts returned from the convex collision
-      detection pipeline) is now enabled by default. The new implementation (as opposed to the legacy pipeline) has
-      little performance overhead and improves stability.
-
-      **Migration:** Disable :ref:`multiccd<option-flag-multiccd>` to recover the previous behavior.
-
-Documentation
-^^^^^^^^^^^^^
-
-7. :commit:`2f5e5d3d` Added :ref:`documentation<exDecoder>` for :ref:`mjpDecoder` plugins.
-
-Bug fixes
-^^^^^^^^^
-
-8. :commit:`da01bd37` Asset paths in attached child specs are now resolved relative to the model file directory of the
-   child spec, rather than the parent spec. This prevents the origin of the parent spec to affect the resolution of
-   asset paths in the child spec.
-
-Version 3.7.0 (April 14, 2026)
-------------------------------
-
-General
-^^^^^^^
-
-1. :commit:`70a7647a` Added the :ref:`dcmotor<actuator-dcmotor>` actuator for modeling DC motors. Supports optional
-   electrical dynamics (inductance), cogging torque, thermal resistance variation, and LuGre friction. See the
-   `technical note <_static/dcmotor.pdf>`__ for more details.
-2. :commit:`510d75f4` Actuators with joint or tendon transmissions can now contribute
-   :ref:`damping<actuator-general-damping>` and :ref:`armature<actuator-general-armature>` to their transmission target.
-   These are applied during the passive force and inertia computations, respectively, and are scaled by gear\ :sup:`2`
-   ("reflected" damping/inertia).
-
-.. youtube:: aKa3ZlEF9_Y
-   :align: right
-   :width: 35%
-
-3. :commit:`efae9157` Stiffness in :ref:`joints<body-joint-stiffness>` and :ref:`tendons<tendon-spatial-stiffness>` and
-   damping in :ref:`joints<body-joint-damping>` and :ref:`tendons<tendon-spatial-damping>` now support nonlinear
-   polynomial :ref:`force profiles<gePolynomial>`. New ``mjModel`` arrays (``jnt_stiffnesspoly``,
-   ``tendon_stiffnesspoly``, ``dof_dampingpoly``, ``tendon_dampingpoly``) hold higher-order coefficients. The existing
-   scalar arrays (``jnt_stiffness``, ``dof_damping``, etc.) continue to hold the linear coefficient and are unchanged.
-   The polynomial order is defined by the new constant :ref:`mjNPOLY<glNumericSizes>`. A future breaking C-API change
-   may unify the linear and higher-order coefficients into a single array.
-4. :commit:`0c337799` Added midpoint integration for standalone free bodies in ``implicit`` and
-   ``implicitfast`` :ref:`integrators<geIntegrators>`. This applies the implicit midpoint rule to the rotational
-   dynamics of free bodies with no children, conserving kinetic energy to machine precision in the absence of external
-   torques. The :ref:`invdiscrete<option-flag-invdiscrete>` flag now also disables midpoint integration, providing an
-   opt-out mechanism.
-5. :commit:`412cee20` Added the centripetal/Coriolis acceleration term :math:`\dot{J}v` to the constraint solver bias
-   for :ref:`connect<equality-connect>` and :ref:`weld<equality-weld>` equality constaints. This significantly improves
-   the stability of constrained mechanisms like four-bar linkages. See :ref:`Dual problem<soDual>` for details.
-
-6. :commit:`f5d3ce34` Introduced :ref:`mjpEncoder`, the counterpart to :ref:`mjpDecoder` for encoding of :ref:`mjSpec`
-   and :ref:`mjModel` into :ref:`mjResource`.
-
-7. :commit:`f5d3ce34` Added :ref:`mj_encode`, :ref:`mjp_registerEncoder`, :ref:`mjp_defaultEncoder`, and
-   :ref:`mjp_findEncoder`.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   8. :commit:`efae9157` The ``mjs`` layer fields ``stiffness`` and ``damping`` in :ref:`mjsJoint` and :ref:`mjsTendon`
-      have been widened from ``mjtNum`` scalars to ``mjtNum[mjNPOLY+1]`` arrays. The first element is the linear
-      coefficient (previously the scalar), and subsequent elements are the higher-order :ref:`polynomial<gePolynomial>`
-      coefficients.
-
-      **Migration:** Replace assignments like ``joint.stiffness = val`` with ``joint.stiffness[0] = val``.
-   9. :commit:`15ca42ff` ``.obj`` and ``.stl`` decoders are now included as source when building MuJoCo with CMake. This
-      fixes the behaviour from the previous release where it required downstream code to load these plugins explicitly.
-
-   10. :commit:`4b1667e4` The ``vertcollide`` field in :ref:`mjsFlex` has been removed. It is no longer required since
-       :doc:`MuJoCo Warp <mjwarp/index>` supports native flex collisions.
-
-   11. :commit:`f2461f9c` :ref:`mjPLUGIN_LIB_INIT` macro now requires a name argument to avoid initialization function
-       name collisions. When building with MSVC, we now use the C runtime initialization section to initialize plugins
-       instead of ``DllMain``. See :ref:`plugin registration<exRegistration>` for more details.
-
-   12. :commit:`0e04436d` The :ref:`mjtWarning` enum value ``mjWARN_VGEOMFULL`` is removed. Exhaustion of visual geoms
-       is now handled internally by the :ref:`mjvScene`.
-   13. :commit:`7ae07d81` URDF parsing no longer hardcodes :ref:`strippath<compiler-strippath>` to "true". The setting
-       is now respected and the default is "false". Setting this is attribute is now the responsibility of the user.
-
-       **Migration:** Set :ref:`strippath<compiler-strippath>` to "true" in MJCF or programmatically using
-
-       .. code-block:: python
-
-         spec = mujoco.MjSpec.from_file("path/to/model.urdf")
-         spec.compiler.strippath = True
-
-
-Bug fixes
-^^^^^^^^^
-
-14. :commit:`ecc22667` The compiler now correctly accounts for negative scaling when loading user specified mesh data.
-
-Version 3.6.0 (March 10, 2026)
-------------------------------
-
-General
-^^^^^^^
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   1. :commit:`9efe41c0` The tendon Jacobian ``ten_J`` is now always sparse. The fields ``ten_J_rownnz``,
-      ``ten_J_rowadr``, and ``ten_J_colind`` have been moved from :ref:`mjData` to :ref:`mjModel` and are no longer
-      computed at run time by ``mj_tendon`` but at compile time.
-
-2. :commit:`6890e133` Added :ref:`mjs_getCompiler` C API function and a ``compiler`` read-only property to all Python
-   spec element types. This allows querying the compiler settings (e.g., ``meshdir``) from any element, with the correct
-   originating spec's compiler preserved after attachment.
-3. :commit:`713b5524` Added a new ``strain`` :ref:`equality constraint<flexcomp-edge-equality>` type for trilinear and
-   quadratic :ref:`dofs<body-flexcomp-dof>`.
-4. :commit:`bf74d01d` Flexes now support collisions with SDF geoms.
-5. :commit:`5903d482` Improved memory requirements for ``ten_J`` and ``ten_J_colind`` by reducing the upper bound for
-   the number of non-zeros ``nJten``.
-6. :commit:`37e993f6` Improved memory requirements for ``actuator_moment`` and ``moment_colind`` by reducing the upper
-   bound for the number of non-zeros ``nJmom``.
-
-MJX
-^^^
-
-7. :commit:`62a32386` Add batch rendering support for MJX-Warp. See the
-   :ref:`MJX-Warp batch rendering<MjxWarpBatchRendering>` section for details.
-
-Bug fixes
-^^^^^^^^^
-
-8. :commit:`6ec808e2` Fixed a bug where :ref:`mjs_attach` silently dropped spatial tendons with wrapping geometries that
-   had no ``sidesite`` attribute (:issue:`3119`, reported by :github:user:`tomstewart89`).
-
-Version 3.5.0 (February 12, 2026)
----------------------------------
-
-Significant new features
-^^^^^^^^^^^^^^^^^^^^^^^^
-
-1. :commit:`b64b527e` :doc:`MuJoCo Warp <mjwarp/index>` is now officially released.
-2. :commit:`146a5c08` Added a new **System Identification** toolbox (Python), see
-   `README <https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/sysid/README.md>`__ for details.
-   |br| A Colab notebook demonstrating the toolbox is available here: |sysid_colab|
-   |br| Contribution by :github:user:`kevinzakka`, :github:user:`aftersomemath`, :github:user:`jonathanembleyriches`,
-   :github:user:`qiayuanl`, :github:user:`spjardim` and :github:user:`gizemozd`.
-
-.. |sysid_colab| image:: https://colab.research.google.com/assets/colab-badge.png
-                 :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mujoco/sysid/sysid.ipynb
-
-
-3. :commit:`6419534b` Actuators and sensors now support arbitrary delays via history buffers, and sensor values can be
-   computed at intervals larger than the simulation timestep. Using a delay or interval introduces a new
-   ``mjData.history`` variable to the :ref:`Physics state<siPhysicsState>`. See :ref:`Delays<CDelay>` for details.
-
-.. image:: images/changelog/poncho.png
-   :width: 45%
-   :align: right
-   :target: https://github.com/google-deepmind/mujoco/blob/main/model/flex/poncho.xml
-
-4. :commit:`7da271c6` Added new :ref:`flexvert<equality-flexvert>` equality constraints that enable cloth simulations
-   with coarser meshes. This adds a new attribute value ``vert`` to flexcomp edge
-   :ref:`equality<flexcomp-edge-equality>` and the new equality type :ref:`flexvert<equality-flexvert>`. Uses the method
-   described in `Chen, Kry and Vouga, 2019 <https://arxiv.org/abs/1911.05204>`__.
-5. :commit:`0041fdcb` Added implicit integration support for deformable objects (flex) in ``implicit`` and
-   ``implicitfast`` :ref:`integrators<geIntegration>`. This method extracts the flex degrees of freedom and solves them
-   as a dense block, enabling increased stability for stiff flex objects without reducing the timestep. It is compatible
-   with the ``trilinear`` and ``quadratic`` :ref:`dof<body-flexcomp-dof>` types.
-
-.. image:: images/XMLreference/rfcamera.png
-   :width: 45%
-   :align: right
-   :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/sensor/rfcamera.xml
-
-6. :commit:`9d646e65` Rangefinder sensors can now be attached to a camera using the
-   :ref:`rangefinder/camera<sensor-rangefinder-camera>` attribute. In this case, the sensor respects the
-   :ref:`camera/resolution<body-camera-resolution>` attribute and casts multiple rays, one for each pixel.
-7. :commit:`ed15493a` :ref:`Rangefinders<sensor-rangefinder>` can now report various kinds of information besides ray
-   distances, including surface normals and intersection points.
-
-.. container:: custom-clear
-
-   .. raw:: html
-
-      <div style="clear: both;"></div>
-
-General
-^^^^^^^
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   8. :commit:`218226fc` Ray-cast functions now optionally compute the surface normal at the ray intersection. This is a
-      breaking change due to the addition of the ``mjtNum normal[3]`` argument. The modified functions are
-      :ref:`mj_ray`, :ref:`mj_multiRay`, :ref:`mju_rayGeom`, :ref:`mj_rayFlex`, :ref:`mj_rayHfield` and
-      :ref:`mj_rayMesh`.
-
-      **Migration:** In C/C++, pass ``NULL`` to the ``normal`` argument. In Python, in all functions except
-      :ref:`mj_multiRay`, it defaults to ``None``, so no action is required.
-
-   9. :commit:`218226fc` ``mju_rayFlex`` has been renamed to :ref:`mj_rayFlex` for consistency with other functions that
-      take ``mjModel*`` and ``mjData*`` arguments.
-
-   10. :commit:`b8a4ac5d` The ``mjModel.cam_orthographic`` field has been renamed to ``cam_projection``, with the
-       semantic of a new enum type :ref:`mjtProjection`. This will allow for more projection types in the future like
-       fisheye cameras. Relatedly, the ``camera/orthographic`` MJCF attribute for cameras has been renamed to
-       :ref:`camera/projection<body-camera-projection>` and now accepts the values ``orthographic`` and ``perspective``.
-
-       **Migration:** Replace ``orthographic = "false/true"`` with ``projection="perspective/orthographic"``,
-       respectively.
-
-   11. :commit:`cb9a9c15` Removed ``getdir`` from the ``mjpResourceProvider`` struct. All Resource Providers now use the
-       same shared implementation.
-   12. :commit:`6af0d4c8` When combining the ``margin`` or ``gap`` :ref:`parameters<CContact>` of two geoms to obtain
-       the parameters of a contact, the respective values are now **summed** rather than taking the maximum. This allows
-       geom margins to be a proper "inflation" of the geom.
-
-13. :commit:`c7f57663` Camera frustum visualization is now triggered by setting
-    :ref:`resolution<body-camera-resolution>` to values larger than 1. Relatedly, frustum visualization also works for
-    :ref:`orthographic<body-camera-projection>` cameras. See :ref:`rangefinder<sensor-rangefinder>` for details.
-14. :commit:`608115ab` Cameras now have an :ref:`output<body-camera-output>` attribute, parsed into the
-    ``mjModel.cam_output`` bitfield. Unused by the renderer, it serves as a convenient location to store a camera's
-    supported output types.
-15. :commit:`37762e3f` Added :ref:`mj_mountVFS` and :ref:`mj_unmountVFS` functions for mounting a custom VFS provider.
-    Mounting allows providers to be used to open/read/close resources dynamically at arbitrary paths.
-16. :commit:`1d2d0b1c` The optimization whereby sequential :ref:`collision sensors<collision-sensors>` with identical
-    attributes shared computation has been removed. This results in a (likely minor) performance regression for models
-    which exploited this optimization. To recover the performance, use the :ref:`fromto<sensor-fromto>` and compute the
-    other values manually. If ``from = fromto[0:3]`` and ``to = fromto[3:6]`` then ``distance = norm(to-from)`` and
-    ``normal = normalize(to-from)``.
-17. :commit:`a5dc57c0` :doc:`OpenUSD <OpenUSD/index>`:
-
-    - Parsing has been moved out of experimental into a mjpDecoder plugin. (documentation pending)
-    - OpenUSD can now be built with the
-      `third_party_deps/openusd <https://github.com/google-deepmind/mujoco/tree/main/cmake/third_party_deps/openusd>`__
-      CMake utility project.
-    - ``USD_DIR`` is no longer used by the MuJoCo CMake project, instead use ``pxr_DIR`` if you have a pre-built USD
-      library.
-    - Users no longer have to set ``PXR_PLUGINPATH_NAME`` environment variable, MuJoCo should load USD plugins
-      automatically.
-18. :commit:`1ff74ba8` Non-breaking ABI changes:
-
-    - The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from
-      ``unsigned int`` to ``int``. Before this change, invalid negative arguments passed to this function would result
-      in a silent implicit cast; now, negativity will trigger an error.
-    - Added a :ref:`depth<mjtRndFlag>` rendering flag.
-    - Allocation sizes in :ref:`mjModel` now use 64-bit rather than 32-bit integers to accommodate larger scenes.
-
-
-MJX
-^^^
-19. :commit:`1483aefe` Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
-20. :commit:`d07f39b4` Add ``graph_mode`` argument to ``put_model`` to support multiple Warp graph capture modes.
-
-Documentation
-^^^^^^^^^^^^^
-21. :commit:`b77977a9` General improvements to the :ref:`Programming/Simulation<Simulation>` chapter. Notably, the main
-    discussion of :ref:`state<siStateControl>` has been moved there, and the section on :ref:`mjModel changes<siChange>`
-    has been expanded.
-22. :commit:`c5925e7b` The usability of the :ref:`MJCF schema<CSchema>` is improved with a collapsible dropdown menu
-    with links to elements and attributes.
-23. :commit:`c54f1fe3` MuJoCo version numbering is now based on Semantic Versioning, see
-    `VERSIONING.md <https://github.com/google-deepmind/mujoco/blob/main/VERSIONING.md>`__.
-
-
-Bug fixes
-^^^^^^^^^
-24. :commit:`b4668294` Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity
-    derivatives were incorrectly computed when the force was clamped by :ref:`forcerange<actuator-general-forcerange>`.
-25. :commit:`7f74487a` Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity
-    derivatives did not account for the :ref:`actearly<actuator-general-actearly>` flag.
-26. :commit:`64a2345c` Multi-threaded mesh processing, enabled by the :ref:`usethread<compiler-usethread>` compiler flag
-    (on by default), was in fact disabled by the flag. Fixing this bug speeds up compilation of mesh-heavy models by (up
-    to) the number of available cores.
-27. :commit:`223ba99e` The ``vertid`` argument of :ref:`mj_rayFlex` and :ref:`mju_raySkin` was marked as nullable but
-    was not; it is now nullable.
-28. :commit:`c1b3b306` Fixed :ref:`gravcomp<body-gravcomp>` being ignored for bodies with no joints nested inside
-    jointed parent bodies (:issue:`3066`, reported by :github:user:`Alex108306`).
-
-Version 3.4.0 (December 5, 2025)
---------------------------------
-
-General
-^^^^^^^
-
-.. youtube:: vct493lGQ8Q
-   :aspect: 2:1
-   :align: right
-   :width: 35%
-
-1. :commit:`8734cab3` Introduced a major new feature: :ref:`sleeping islands<Sleeping>`. Preliminary release for early
-   testing, see documentation for details.
-2. :commit:`3a7aa84e` Added "quadratic" option to :ref:`flexcomp/dof<body-flexcomp-dof>`. This type of fast
-   :ref:`deformable<CDeformable>` flex object is similar to the "trilinear" option, but it includes curved deformations.
-3. :commit:`b6f25ca6` Raise an error if there are name collisions also during parsing.
-4. :commit:`b6f25ca6` Increase Windows stack size to 16MB to enable models with deep nested body hierarchies.
-5. :commit:`19e2d0ae` Added a new pipeline component function :ref:`mj_fwdKinematics` that combines all kinematics-like
-   sub-components. Relatedly, added a clarifying table at the top of the :ref:`Simulation Pipeline<Pipeline>` chapter.
-6. :commit:`2f65e237` Added a new :ref:`mj_extractState` function that allows a subset of a state that was previously
-   returned by :ref:`mj_getState` to be extracted without having to be written back into ``mjData`` first.
-7. :commit:`888d3a7b` Added a new :ref:`mj_copyState` function that copies state components from one ``mjData`` to
-   another.
-8. :commit:`ac2cd5df` Tendon paths can now be queried from Python via ``MjsTendon.path``, the returned object
-   is iterable and indexing it will give the ``MjsWrap`` at the given index in the path.
-9. :commit:`ac2cd5df` ``MjsWrap`` now exposes:
-
-   - ``type -> mujoco.mjtWrap``
-   - ``target -> MjsSite|MjsJoint|MjsGeom|None``
-   - ``sidesite -> MjsSite|None``
-   - ``coef -> real``
-   - ``divisor -> real``
-
-10. :commit:`86a77ff8` Non-breaking ABI changes:
-
-    - :ref:`mjtSize` is now defined as ``int64_t`` rather than ``uint64_t`` to avoid future type-promotion bugs.
-    - :ref:`mj_sizeModel` now returns an :ref:`mjtSize` rather than an ``int``.
-
-MJX
-^^^
-
-11. :commit:`c34ac712` ``warp-lang`` optional dependency is updated to 1.10.0. ``pmap`` now works with MuJoCo Warp from
-    MJX.
-
-.. admonition:: Breaking ABI changes
-   :class: attention
-
-   12. :commit:`d0f32a7f` ``mjx.Model.tex_data`` is now a numpy ndarray instead of a jax.Array, to avoid vmapping over
-       this potentially large array. This may break certain use-cases with Madrona MJX, but we are no longer supporting
-       this codepath. We will be migrating users to a Warp-based batch renderer.
-
-
-Bug fixes
-^^^^^^^^^
-
-13. :commit:`88383684` Fixed a bug in the box-box distance computation. Reported by :github:user:`nvtw`.
-
-Version 3.3.7 (October 13, 2025)
---------------------------------
-
-General
-^^^^^^^
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   1. :commit:`77e025ea` The mjSpec C API fields :ref:`meshdir<compiler-meshdir>` and
-      :ref:`texturedir<compiler-texturedir>` have been moved to
-      `compiler.meshdir <https://github.com/google-deepmind/mujoco/blob/0baac589993220095cf09e153f194f35ca0f0738/include/mujoco/mjspec.h#L154>`__
-      and
-      `compiler.texturedir <https://github.com/google-deepmind/mujoco/blob/0baac589993220095cf09e153f194f35ca0f0738/include/mujoco/mjspec.h#L155>`__
-      respectively. For backwards compatibility, the old fields are still available in the Python API but will be
-      removed in a future release.
-
-      **Migration:** Replace ``meshdir`` and ``texturedir`` with ``compiler.meshdir`` and ``compiler.texturedir``.
-   2. :commit:`192da874` Remove ``_full_compat`` from ``mjx.put_data`` and ``mjx.put_model``.
-   3. :commit:`b56cf98e` ``nconmax`` and ``njmax`` fields in ``mjx.make_data`` now default to ``None`` instead of -1.
-      ``nconmax`` will be deprecated in favor of ``naconmax`` in a future release.
-
-
-4. :commit:`fe8384b6` Joint decorators and spatial tendons which have limits defined and whose current value (angle or
-   length) exceeds the limit, are recolored by using the :ref:`constraint impedance<soParameters>` :math:`d` to mix the
-   existing color with :ref:`visual/rgba/constraint<visual-rgba-constraint>`. For spatial tendons, this visualization
-   aid is active only if no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is
-   default.
-5. :commit:`6320b959` Added :ref:`mju_getXMLDependencies` for computing a list of unique asset dependencies from an MJCF
-   file.
-6. :commit:`e4704cd2` Added the code sample ``dependencies`` which provides command line utility for printing the result
-   of :ref:`mju_getXMLDependencies`.
-7. :commit:`bd68f0c6` The minimum C++ standard required to compile MuJoCo is now C++20, this has been the case within
-   Google since 2023 but the CMake update was forgotten.
-
-.. admonition:: Breaking ABI changes
-   :class: attention
-
-   8. :commit:`431f9657` The attribute ``mjOption.apirate`` was unused and has been removed.
-   9. :commit:`b56cf98e` MJX ``nconmax`` and ``njmax`` fields in ``mjx.make_data`` now default to ``None`` instead of
-      -1.
-
-MJX
-^^^
-10. :commit:`6ae9cc80` Fix :issue:`2508`, ``qLD`` shapes mismatched mjModel during ``get_data_into``.
-11. :commit:`b56cf98e` Pull in MuJoCo Warp update to ``io.py``, and use ``naconmax`` instead of ``nconmax`` to set the
-    maximum number of contacts over all environments.
-
-Bug fixes
-^^^^^^^^^
-12. :commit:`98682ae2` Fix :issue:`2881`, :at:`fitaabb` was adding an offset to the mesh and applying an incorrect frame
-    transformation. Also, unify the meaning of fitting a geom to a mesh AABB: it now means to find the smallest geom
-    such that its AABB contains the mesh AABB.
-
-Version 3.3.6 (September 15, 2025)
-----------------------------------
-
-General
-^^^^^^^
-1. :commit:`ec94bb49` Constraint island discovery and construction, previously an experimental feature, is now
-   :ref:`documented<soIsland>` and promoted to default; disable it with :ref:`option/flag/island <option-flag-island>`.
-   We expect islanding to be a strict improvement over the monolithic constraint solver, please let us know if you
-   experience any issues.
-2. :commit:`7443e685` :ref:`Contact sensor<sensor-contact>` :at-val:`subtree1/subtree2` specification is now available
-   for any body, not just direct children of the world.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   3. :commit:`6ec5f8b9` The update of ``mjData.qacc_warmstart`` was moved from the end of the solver call
-      (:ref:`mj_fwdConstraint`) to the end of :ref:`mj_step`, and is now updated with all other state variables. This
-      change makes :ref:`mj_forward` fully idempotent.
-
-      Before this change, calling :ref:`mj_forward` repeatedly would make the constraint solver converge,
-      since each subsequent call would start from the previously updated ``qacc_warmstart`` value.
-      Indeed, this is precisely what happened in the viewer, which calls :ref:`mj_forward` repeatedly in PAUSE mode.
-
-      **Migration:** If your code depended on this behavior, you can recover it by updating manually after each
-      :ref:`mj_forward`: ``qacc_warmstart ← qacc``. The behavior is available in :ref:`simulate<saSimulate>` by
-      clicking the "Pause update" toggle (off by default).
-
-      Furthermore, this change has a numerical impact on the output of the :ref:`RK4 <geIntegrators>` integrator.
-      Before this change, due to the ``qacc_warmstart`` update occurring after each of the four Runge-Kutta substeps,
-      the solver convergence of RK4 was faster, at the cost of unprincipled integration. This change makes the RK4
-      integration principled and well-defined. Since this change to RK4 is effectively a bug fix, migration to the
-      previous behavior is not provided.
-
-   4. :commit:`b092563c` The ``mjDSBL_PASSIVE`` flag for disabling passive forces was removed and replaced by
-      :ref:`mjDSBL_SPRING<mjtDisableBit>` and :ref:`mjDSBL_DAMPER<mjtDisableBit>` with corresponding
-      :ref:`mjcf<option-flag-spring>` :ref:`attributes<option-flag-damper>`. Each flag disables only joint and tendon
-      springs or dampers, respectively. When both flags are set, **all** passive forces are disabled, including gravity
-      compensation, fluid forces, forces computed by the :ref:`mjcb_passive` callback, and forces computed by
-      :ref:`plugins <exPlugin>` when passed the :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
-
-      **Migration:** Set both flags to recover the behavior of the previous flag.
-
-
-.. admonition:: Breaking ABI changes
-   :class: attention
-
-   5. :commit:`ed6fa7fe` Removed ``mjMOUSE_SELECT`` flag for :ref:`mjtMouse` as it is no longer in use.
-
-   6. :commit:`ec94bb49` The promotion of islanding to default involved removing the enable flag ``mjENBL_ISLAND`` and
-      converting it to a disable flag :ref:`mjDSBL_ISLAND <mjtDisableBit>`.
-
-7. :commit:`b66175eb` Added support for shells with a curved reference configuration. See this `example
-   <https://github.com/google-deepmind/mujoco/blob/main/model/flex/basket.xml>`__.
-8. :commit:`8acd83f3` Added experimental option for :ref:`passive<flex-contact-passive>` contacts involving flexes.
-
-9. :commit:`1fb1810b` Added support for assigning a default material to a mesh asset using the
-   :ref:`mesh/material <asset-mesh-material>` attribute.
-
-MJX
-^^^
-10. :commit:`1763fa53` Promote ``ten_length`` to the public MJX API. Add Warp support for ``mjx.tendon``.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   11. :commit:`1763fa53` ``ten_length`` was moved from ``mjx.Data._impl.ten_length`` to a public field
-       ``mjx.Data.ten_length``.
-
-Bug fixes
-^^^^^^^^^
-12. :commit:`ec94bb49` Fixed a latent bug where MjData objects were not serialized correctly by the Python bindings when
-    islanding was enabled.
-
-
-Version 3.3.5 (August 8, 2025)
-------------------------------
-
-General
-^^^^^^^
-1. :commit:`e6c57159` Added the :ref:`insidesite<sensor-insidesite>` sensor, for checking if an object is inside the
-   volume of a site. It is useful for triggering events in surrounding environment logic.
-2. :commit:`d0e4771c` Added the :ref:`contact<sensor-contact>` sensor, for reporting contact information according to
-   user-defined criteria.
-   The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is
-   useful as input to learning-based agents and in environment logic.
-3. :commit:`51babec9` Added the :ref:`tactile<sensor-tactile>` sensor, for measuring the penetration depth between two
-   objects at given points and the sliding velocities in the tangent frame. The sensor reports tactile data only when
-   colliding with SDFs.
-4. :commit:`0b11e3e3` Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__.
-   SDFs are now supported natively in mjModel.
-5. :commit:`5e666635` Removed ``oct_depth`` from :ref:`mjvOption` (unused).
-6. :commit:`89f47890` Added the functionality to create a builtin meshes, see :ref:`mesh/builtin<asset-mesh-builtin>`.
-7. :commit:`ad0dc0de` Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function
-   :ref:`mj_makeM`, which combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
-   :ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use
-   :ref:`mj_makeM` instead.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   8. :commit:`5e666635` Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by
-      :ref:`mjVIS_MESHBVH<mjtVisFlag>`.
-
-Bug fixes
-^^^^^^^^^
-9. :commit:`6e7aaacb` Fixed a bug that caused object lists in the child to have missing elements after attaching an
-   mjSpec. This was caused by adding to the lists only the objects that belong to the tree of the requested body, but
-   this causes to skip objects that were attached, since they belong to the tree of the parent.
-10. :commit:`3434f5d9` Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could
-    only collide via a :ref:`contact pair<contact-pair>`.
-
-Python
-^^^^^^
-11. :commit:`2e60d058` On Linux, built distribution packages (wheels) now target the ``manylinux_2_28`` platform tag.
-    Previously MuJoCo wheels targeted ``manylinux2014`` based on CentOS 7, which reached end-of-life in June 2024.
-
-MJX
-^^^
-12. :commit:`47bc16a3` Add Warp as a backend implementation for MJX. The implementation can be specified via
-    ``mjx.put_model(m, impl='warp')`` and ``mjx.make_data(m, impl='warp')``. The warp implementation requires
-    a CUDA device and ``warp-lang`` to be installed (``pip install mujoco-mjx[warp]``). This feature is available in
-    "beta" and some bugs are expected.
-
-Version 3.3.4 (July 8, 2025)
-----------------------------
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   1. :commit:`18d5d5d0` The functions ``mjs_detachBody`` and ``mjs_detachDefault`` have been replaced by
-      :ref:`mjs_delete`.
-   2. :commit:`0488d9f4` The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``.
-   3. :commit:`564c51dd` In the mjSpec C API, directly setting an element's name using :ref:`mjs_setString` has been
-      replaced with a new function :ref:`mjs_setName` which allows checking for naming collisions at set-time rather
-      than compile-time, for earlier catching of errors. Relatedly, the ``name`` attribute has been removed from all mjs
-      elements. Known issue: the error is not raised during parsing.
-   4. :commit:`47bc16a3` For MJX, the ``mjx.Option`` dataclass now has private and public fields similar to
-      ``mjx.Model`` and ``mjx.Data``. Some fields are no longer publicly available due to differences in the
-      underlying implementations of this data structure.
-
-General
-^^^^^^^
-5. :commit:`14dc7c2a` Added support for setting the initial camera in the viewer using
-   :ref:`visual/global/cameraid<visual-global-cameraid>`.
-6. :commit:`09f7154e` Added support to only sync the state in the Python :ref:`passive viewer<PyViewerPassive>`'s
-   ``Sync`` method, this is useful to improve performance. The default behavior is unchanged and copies the entire model
-   and data.
-
-Bug fixes
-^^^^^^^^^
-7. :commit:`4ce62932` Inverse dynamics were not being computed correctly when
-   :ref:`tendon armature<tendon-spatial-armature>` was present, now fixed.
-8. :commit:`45d4cacc` Fix bug in ``mjx.put_data`` where ``actuator_moment`` was not being copied correctly for the C
-   implementation.
-
-Documentation
-^^^^^^^^^^^^^
-9. :commit:`7548d370` Added missing item documentation and clarified the nature of breaking changes in the 3.3.3
-   changelog. See items 3 and 4 below.
-
-Version 3.3.3 (June 10, 2025)
------------------------------
-
-General
-^^^^^^^
-1. :commit:`ecb769fc` Refactored island implementation so that island data is memory-contiguous. This speeds up island
-   processing in the solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is
-   supported).
-2. :commit:`7edbdd0a` Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is
-   active depending on the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   3. :commit:`74cc904e` Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
-      :ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
-      types.
-
-      **Migration:** Replace light/directional="false/true" with light/type="spot/directional", respectively.
-
-   4. :commit:`3e9bc79b` Added :ref:`mjtColorSpace` enum and associated :ref:`colorspace<asset-texture-colorspace>`
-      attribute that allows to specify the color space of textures (either linear or
-      `sRGB <https://en.wikipedia.org/wiki/SRGB>`__). Since this property is now read correctly from PNG files, textures
-      files which use sRGB will now be rendered differently.
-
-      **Migration:** Set :ref:`colorspace<asset-texture-colorspace>` to "linear" for all textures that should look like
-      they did before this change.
-
-5. :commit:`89e39dc0` Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional
-   logic to support the introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the
-   traditional ``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
-6. :commit:`84ad22a5` Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible
-   mjSpec.
-7. :commit:`b8768aa1` Removed the limitation of :ref:`fusestatic<compiler-fusestatic>` to models which contain no
-   references. The fusestatic flag will now fuse all bodies which are not referenced and ignore bodies which are
-   referenced.
-
-Simulate
-^^^^^^^^
-8. :commit:`ced63018` The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization
-   of ``mjModel`` and ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by
-   :ref:`mjv_copyModel` and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization.
-
-.. image:: images/changelog/procedural_terrain_generation.png
-   :width: 33%
-   :align: right
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-9. :commit:`3a4b6e6c` Added examples of procedural terrain generation to the Model Editing tutorial: |mjspec_colab|
-
-MJX
-^^^
-10. :commit:`caaf7b3a` Added tendon armature.
-
-Version 3.3.2 (April 28, 2025)
-------------------------------
-
-MJX
-^^^
-1. :commit:`51c489fc` Added inverse dynamics.
-2. :commit:`f317bd17` Added tendon actuator force sensor.
-3. :commit:`421c487d` Fix :issue:`2606` such that ``make_data`` copies over ``mocap_pos`` and ``mocap_quat``
-   from ``body_pos`` and ``body_quat``.
-
-Version 3.3.1 (Apr 9, 2025)
-----------------------------
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   1. :commit:`f25fc63f` The default value of the flag for toggling :ref:`internal flex contacts<flex-contact-internal>`
-      was changed from "true" to "false". This feature has proven to be counterintuitive for users.
-   2. :commit:`a02a27d4` All of the attach functions (``mjs_attachBody``, ``mjs_attachFrame``, ``mjs_attachToSite``,
-      ``mjs_attachFrameToSite``) have been removed and replaced by a single function :ref:`mjs_attach`.
-
-General
-^^^^^^^
-3. :commit:`d05251af` Added :ref:`tendon armature<tendon-spatial-armature>`: inertia associated with changes in tendon
-   length.
-4. :commit:`f96f3e1c` Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial
-   clauses for all bodies when saving to XML.
-5. :commit:`e8c67ca5` Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`.
-   Moreover, allow the composite to be the direct child of a frame.
-6. :commit:`96dda6ea` Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
-   :ref:`tendon actuator force sensor<sensor-tendonactuatorfrc>`.
-
-MJX
-^^^
-7. :commit:`8fc616bf` Added tendon actuator force limits.
-
-Bug fixes
-^^^^^^^^^
-8. :commit:`de48f417` :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to
-   which the Jacobian is computed, now fixed.
-9. :commit:`1bf24e9f` Fixed a bug that caused the parent frame of elements in the child worldbody to be incorrectly set
-   when attaching an mjSpec to a frame or a site.
-10. :commit:`40393f46` Fixed a bug that caused shadow rendering to flicker on platforms (e.g., MacOS) that do not
-    support ARB_clip_control. Fixed in collaboration with :github:user:`aftersomemath`.
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-.. youtube:: LbANnKMDOHg
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-11. :commit:`16e49f27` Added examples of procedural model creation to the Model Editing tutorial: |mjspec_colab|
-12. :commit:`ebd30493` Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding
-    :ref:`section<PyMJCF>` in the documentation.
-
-.. |mjspec_colab| image:: https://colab.research.google.com/assets/colab-badge.png
-                  :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb
-
-Version 3.3.0 (Feb 26, 2025)
-----------------------------
-
-Feature promotion
-^^^^^^^^^^^^^^^^^
-.. youtube:: qJFbx-FR7Bc
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-1. :commit:`7cdf1806` Introduced a new kind of **fast deformable body**, activated by setting
-   :ref:`flexcomp/dof<body-flexcomp-dof>` to "trilinear". This type of :ref:`deformable<CDeformable>` flex object has
-   the same collision geometry as a regular flex, but has far fewer degrees of freedom. Instead of 3 dofs per vertex,
-   only the corners of the bounding box are free to move, with the positions of the interior vertices computed with
-   trilinear interpolation of the 8 corners, for a total of 24 dofs for the entire flex object (or less, if some of the
-   corners are pinned). This limits the types of deformation achievable by the flex, but allows for much faster
-   simulation. For example, see the video on the right comparing
-   `full <https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper.xml>`__ and
-   `trilinear <https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper_trilinear.xml>`__ flexes for
-   modeling deformable gripper pads.
-
-
-.. image:: images/computation/ccd_light.gif
-      :width: 20%
-      :align: right
-      :class: only-light
-
-.. image:: images/computation/ccd_dark.gif
-   :width: 20%
-   :align: right
-   :class: only-dark
-
-2. :commit:`ed16f2da` The native convex collision detection pipeline introduced in 3.2.3 and enabled by the
-   :ref:`nativeccd<option-flag-nativeccd>` flag, is now the default. See the section on
-   :ref:`Convex Collision Detection<coCCD>` for more details.
-
-   **Migration:** If the new pipeline breaks your workflow, set :ref:`nativeccd<option-flag-nativeccd>` to "disable".
-
-General
-^^^^^^^
-3. :commit:`37d7591c` Add support for custom plots in the MuJoCo viewer by exposing a ``viewport`` property, a
-   ``set_figures`` method, and a ``clear_figures`` method.
-4. :commit:`7cdf1806` Separate collision and deformation meshes for :ref:`flex<deformable-flex>`. This enables a fixed
-   cost for the soft body computations, while preserving the fidelity of high-resolution collisions.
-5. :commit:`240a7afd` Added :ref:`potential<sensor-e_potential>` and :ref:`kinetic<sensor-e_kinetic>` energy sensors.
-6. :commit:`ac2a324f` Improved shadow rendering in the native renderer.
-7. :commit:`b0e9d086` Moved ``introspect`` to ``python/introspect``.
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   8. :commit:`ed16f2da` As mentioned above, the native convex collision detection pipeline is now the default, which
-      may break some workflows. In this case, set :ref:`nativeccd<option-flag-nativeccd>` to "disable" to restore the
-      old behavior.
-   9. :commit:`c2138c3f` Added :ref:`mjs_setDeepCopy` API function. When the deep copy flag is 0, attaching a model will
-      not copy it to the parent, so the original references to the child can be used to modify the parent after
-      attachment. The default behavior is to perform such a shallow copy. The old behavior of creating a deep copy of
-      the child model while attaching can be restored by setting the deep copy flag to 1.
-   10. :commit:`89253d95` Changes to inertia inference from meshes:
-
-       Previously, in order to specify that the mass lies on the surface, :ref:`geom/shellinertia<body-geom-shellinertia>`
-       could be used for any geom type. Now this attribute is ignored if the geom is a mesh; instead, inertia inference
-       for meshes is specified in the asset, using the :ref:`asset/mesh/inertia<asset-mesh-inertia>` attribute.
-
-       Previously, if the volumetric inertia computation failed (for example due to a very flat mesh), the compiler
-       would silently fall back to surface inertia computation. Now, the compiler will throw an informative error.
-   11. :commit:`0fcd20f0` Removed the composite type ``grid``. Users should instead use :ref:`flexcomp<body-flexcomp>`.
-   12. :commit:`c52d1b39` Removed the ``particle`` composite type. It is recommended to use the more generic
-       :ref:`replicate<replicate>` instead, see for example `this model
-       <https://github.com/google-deepmind/mujoco/blob/main/model/replicate/particle.xml>`__.
-
-MJX
-^^^
-13. :commit:`f4096bca` Added support for spatial tendons with internal sphere and cylinder wrapping.
-14. :commit:`e0664b1b` Fix a bug with box-box collisions :issue:`2356`.
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-15. :commit:`7a2ad8fd` Added a pedagogical colab notebook for ``mujoco.rollout``, a Python module for multithreaded
-    simulation rollouts. It is available here |rollout_colab|.
-    |br| Contribution by :github:user:`aftersomemath`.
-
-.. |rollout_colab| image:: https://colab.research.google.com/assets/colab-badge.png
-                   :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/rollout.ipynb
-
-Version 3.2.7 (Jan 14, 2025)
-----------------------------
-
-Python bindings
-^^^^^^^^^^^^^^^
-1. :commit:`a7eb6efd` :ref:`rollout<PyRollout>` now features native multi-threading. If a sequence of ``MjData``
-   instances of length ``nthread`` is passed in, ``rollout`` will automatically create a thread pool and parallelize
-   the computation. The thread pool can be reused across calls, but then the function cannot be called simultaneously
-   from multiple threads. To run multiple threaded rollouts simultaneously, use the new class ``Rollout`` which
-   encapsulates the thread pool. Contribution by :github:user:`aftersomemath`.
-2. :commit:`40ef08c8` Fix global namespace pollution when using ``mjpython`` (:issue:`2265`).
-
-General
-^^^^^^^
-
-.. admonition:: Breaking API changes (minor)
-   :class: attention
-
-   3. :commit:`69c9ac07` The field ``mjData.qLDiagSqrtInv`` has been removed. This field is only required for the dual
-      solvers. It is now computed as-needed rather than unconditionally. Relatedly, added the corresponding argument to
-      :ref:`mj_solveM2`.
-
-4. :commit:`d4ca66a4` Reduced the memory footprint of the PGS solver's :ref:`A matrix<soDual>`. This was the last
-   remaining dense-memory allocation in MuJoCo, allowing for a significant reduction of the
-   :ref:`dynamic memory allocation heuristic<CSize>`.
-
-Bug fixes
-^^^^^^^^^
-5. :commit:`0e7d2ef6` Fixed a bug in the box-sphere collider, depth was incorrect for deep penetrations (:issue:`2206`).
-6. :commit:`ec322641` Fixed a bug in :ref:`mj_mulM2` and added a test.
-
-Version 3.2.6 (Dec 2, 2024)
----------------------------
-
-General
-^^^^^^^
-1. :commit:`300450f8` Removed rope and loop from :ref:`composite<body-composite>`. The user is encouraged to instead use
-   the :at:`cable` plugin or :ref:`flexcomp<body-flexcomp>`, respectively.
-
-MJX
-^^^
-2. :commit:`0f381a9e` Added muscle actuators.
-
-Python bindings
-^^^^^^^^^^^^^^^
-3. :commit:`74dcd51d` Provide prebuilt wheels for Python 3.13.
-4. :commit:`3a12db9a` Added ``bind`` method and removed id attribute from :ref:`mjSpec` objects. Using ids is error
-   prone in scenarios of repeated attachment and detachment. Python users are encouraged to use names for unique
-   identification of model elements.
-5. :commit:`943eb6bc` :ref:`rollout<PyRollout>` can now accept sequences of MjModel of length ``nroll``. Also removed
-   the ``nroll`` argument because its value can always be inferred.
-
-Bug fixes
-^^^^^^^^^
-6. :commit:`f9569cda` Fixed :issue:`2212`, type error in ``mjx.get_data``.
-7. :commit:`5c23ae11` Fixed bug introduced in 3.2.0 in handling of :ref:`texrepeat<asset-material-texrepeat>` attribute,
-   was mistakenly cast from ``float`` to ``int``, (fixed :issue:`2223`).
-
-Version 3.2.5 (Nov 4, 2024)
----------------------------
-
-Feature promotion
-^^^^^^^^^^^^^^^^^
-1. :commit:`b6037d17` The :doc:`Model Editing<programming/modeledit>` framework afforded by :ref:`mjSpec`, introduced in
-   3.2.0 as an in-development feature, is now stable and recommended for general use.
-2. :commit:`298ce31e` The native convex collision detection pipeline introduced in 3.2.3 and enabled by the
-   :ref:`nativeccd<option-flag-nativeccd>` flag, is not yet the default but is already recommended for general use.
-   Please try it when encountering collision-related problems and report any issues you encounter.
-
-General
-^^^^^^^
-
-3. :commit:`b598d79b` The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
-   :ref:`inertia<asset-mesh-inertia>` attribute.
-4. :commit:`7dc8aef8` The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has
-   been removed.
-5. :commit:`d8494fef` Removed the deprecated ``mju_rotVecMat``, ``mju_rotVecMatT`` and ``mjv_makeConnector`` functions.
-6. :commit:`2b0629d7` Sorting now uses a faster, native sort function (fixes :issue:`1638`).
-7. :commit:`61cb552f` The PBR texture layers introduced in 3.2.1 were refactored from separate sub-elements to a single
-   :ref:`layer<material-layer>` sub-element.
-8. :commit:`831d9881` The composite types box, cylinder, and sphere have been removed. Users should instead use the
-   equivalent types available in :ref:`flexcomp<body-flexcomp>`.
-
-MJX
-^^^
-9. :commit:`680fb3e5` Added ``apply_ft``, ``jac``, and  ``xfrc_accumulate`` as public functions.
-10. :commit:`b00a7c67` Added ``TOUCH`` sensor.
-11. :commit:`f24de91c` Added support for ``eq_active``. Fixes :issue:`2173`.
-12. :commit:`3c21abc0` Added ray intersection with ellipsoid.
-
-Bug fixes
-^^^^^^^^^
-13. :commit:`864b805a` Fixed several bugs related to connect and weld constraints with site semantics (fixes
-    :issue:`2179`, reported by :github:user:`yinfanyi`). The introduction of site specification to connects and welds in
-    3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`, but these changes were not
-    properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected
-    force/torque sensors and runtime enabling/disabling of such constraints.
-14. :commit:`7620aef5` Fixed a bug in slider-crank :ref:`transmission<geTransmission>`. The bug was introduced in 3.0.0.
-15. :commit:`831d9881` Fixed a bug in flex texture coordinates that prevented the correct allocation of textures in
-    mjModel.
-
-
-Documentation
-^^^^^^^^^^^^^
-16. :commit:`1d58576d` Function headers in the :doc:`API reference <../APIreference/APIfunctions>` now link to their
-    source definitions in GitHub.
-
-Version 3.2.4 (Oct 15, 2024)
-----------------------------
-
-General
-^^^^^^^
-
-.. youtube:: e8lUuykQPGs
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-1. :commit:`2dd51873` The Newton solver no longer requires ``nv*nv`` memory allocation, allowing for much larger models.
-   See e.g.,
-   `100_humanoids.xml  <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/100_humanoids.xml>`__. Two
-   quadratic-memory allocations still remain to be fully sparsified: ``mjData.actuator_moment`` and the matrices used by
-   the PGS solver.
-2. :commit:`4998e7b3` Removed the :at:`solid` and :at:`membrane` plugins and moved the associated computations into the
-   engine. See `3D example model <https://github.com/google-deepmind/mujoco/blob/main/model/flex/floppy.xml>`__ and `2D
-   example model <https://github.com/google-deepmind/mujoco/blob/main/model/flex/trampoline.xml>`__ for examples of flex
-   objects that previously required these plugins.
-3. :commit:`6832df30` Replaced the function ``mjs_setActivePlugins`` with :ref:`mjs_activatePlugin`.
-
-MJX
-^^^
-4. :commit:`1a9d3070` Added ``mocap_pos`` and ``mocap_quat`` in kinematics.
-5. :commit:`160ed9bf` Added support for :ref:`spatial tendons <tendon-spatial>` with pulleys and external sphere and
-   cylinder wrapping.
-6. :commit:`fa22e6d0` Added sphere-cylinder and sphere-ellipsoid collision functions (:issue:`2126`).
-7. :commit:`22e4f7fc` Fixed a bug with frictionloss constraints.
-8. :commit:`ac91a763` Added ``TENDONPOS`` and ``TENDONVEL`` sensors.
-9. :commit:`19459263` Fixed a bug with the computation of tangential contact forces in ``_decode_pyramid``.
-10. :commit:`096853e1` Added ``JOINTINPARENT`` actuator transmission type.
-
-Python bindings
-^^^^^^^^^^^^^^^
-11. :commit:`6881ce24` Removed support for Python 3.8, now that it's
-    `deprecated upstream <https://devguide.python.org/versions>`__.
-
-Bug fixes
-^^^^^^^^^
-12. :commit:`ab3954d8` Fixed a bug where ``actuator_force`` was not set in MJX (:issue:`2068`).
-13. :commit:`5838f847` Fixed bug where MJX data tendon fields were incorrect after calling ``mjx.put_data``.
-14. :commit:`8d84b5f6` The compiler now returns an error if height fields are used with
-    :ref:`collision sensors<collision-sensors>` as they are not yet supported.
-
-
-Version 3.2.3 (Sep 16, 2024)
-----------------------------
-
-General
-^^^^^^^
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   1. :commit:`088079ef` The runtime options ``mpr_tolerance`` and ``mpr_iterations`` were renamed to
-      :ref:`ccd_tolerance<option-ccd_tolerance>` and :ref:`ccd_iterations<option-ccd_iterations>`, both in XML and in
-      the :ref:`mjOption` struct. This is because the new convex collision detection pipeline (see below) does not use
-      the MPR algorithm. The semantics of these options remain identical.
-   2. :commit:`d3dfa6f9` The functions ``mjs_findMesh`` and ``mjs_findKeyframe`` were replaced by ``mjs_findElement``,
-      which allows to look for any object type.
-   3. :commit:`4862b9e7` The experimental use of 2D/3D elasticity plugins with :ref:`composite<body-composite>` has been
-      removed. Users should instead use :ref:`flexcomp<body-flexcomp>`, which provides the correct collision behavior.
-
-4. :commit:`0bffd744` Added the :ref:`nativeccd<option-flag-nativeccd>` flag. When this flag is enabled, general convex
-   collision detection is handled with a new native code path, rather than
-   `libccd <https://github.com/danfis/libccd>`__. This feature is in early stages of testing, but users who've
-   experienced issues related to collision detection are welcome to experiment with it and report any issues.
-
-.. youtube:: kcM_oauk3ZA
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-5. :commit:`60a1921b` Added a new way of defining :ref:`connect<equality-connect>` and :ref:`weld<equality-weld>`
-   equality constraints, using two sites. The new semantic is useful when the assumption that the constraint is
-   satisfied in the base configuration does not hold. In this case the sites will "snap together" at the beginning of
-   the simulation. Additionally, changing the site positions (``mjModel.site_pos``) and orientations
-   ( ``mjModel.site_quat``) at runtime will correctly modify the constraint definition. This
-   `example model <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/equality_site.xml>`__ using
-   the new semantic is shown in the video on the right.
-6. :commit:`8954a088` Introduced **free joint alignment**, an optimization that applies to bodies with a free joint and
-   no child bodies (simple free-floating bodies): automatically aligning the body frame with the inertial frame. This
-   feature can be toggled individually using the :ref:`freejoint/align<body-freejoint-align>` attribute or globally
-   using the compiler :ref:`alignfree<compiler-alignfree>` attribute. The alignment diagonalizes the related 6x6 inertia
-   sub-matrix, leading to both faster and more stable simulation of free bodies.
-
-   While this optimization is a strict improvement, it changes the semantics of the joint's degrees-of-freedom.
-   Therefore, ``qpos`` and ``qvel`` values saved in older versions (for example, in :ref:`keyframes<keyframe>`) will
-   become invalid. The global compiler attribute currently defaults to "false" due to this potential breakage, but could
-   be changed to "true" in a future release. Aligned free joints are recommended for all new models.
-
-7. :commit:`851bb6ee` Added an :ref:`mjSpec` option for creating a texture directly from a buffer.
-8. :commit:`466368ef` :ref:`shell (surface) inertia <body-geom-shellinertia>` is now supported by all geom types.
-9. :commit:`afd7c73f` When :ref:`attaching<meAttachment>` sub-models, :ref:`keyframes<keyframe>` will now be correctly
-   merged into the parent model, but only on the first attachment.
-10. :commit:`8b03daa0` Added the :ref:`mjtSameFrame` enum which contains the possible frame alignments of bodies and
-    their children. These alignments are used for computation shortcuts in :ref:`mj_kinematics`.
-11. :commit:`2d3d5415` Added :ref:`mj_jacDot` for computing time-derivatives of kinematic Jacobians. Fixes :issue:`411`.
-
-MJX
-^^^
-12. :commit:`a74c184f` Added ``efc_pos`` to ``mjx.Data`` (:issue:`1388`).
-13. :commit:`6a12787a` Added position-dependent sensors: ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``,
-    ``JOINTPOS``, ``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``,
-    ``FRAMEQUAT``, ``SUBTREECOM``, ``CLOCK``.
-14. :commit:`9805df61` Added velocity-dependent sensors: ``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``,
-    ``BALLANGVEL``, ``FRAMELINVEL``, ``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``.
-15. :commit:`9d732117` Added acceleration/force-dependent sensors: ``ACCELEROMETER``, ``FORCE``, ``TORQUE``,
-    ``ACTUATORFRC``, ``JOINTACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``.
-16. :commit:`390bce23` Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
-17. :commit:`390bce23` Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and
-    ``mjx.put_data``.
-18. :commit:`a68141ee` Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
-    :doc:`fluid drag <computation/fluid>`.
-19. :commit:`494e166f` Fixed a bug where ``qLDiagInv`` had the wrong size for sparse mass matrices.
-20. :commit:`49711fa1` Added support for joint and tendon :ref:`frictionloss <coFriction>`.
-21. :commit:`cd8ff440` Added support for :ref:`connect<equality-connect>` equality constraints using two sites.
-22. :commit:`e3d3a24b` Added support for :ref:`spatial tendons <tendon-spatial>` with site wrapping.
-
-Bug fixes
-^^^^^^^^^
-23. :commit:`39896f80` Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies
-    (:issue:`1875`, contribution by :github:user:`michael-ahn`).
-24. :commit:`0bcaa856` Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of
-    the implicit integrators, wrong derivatives would be computed.
-25. :commit:`3e701b21` Fixed a bug in tendon wrapping around spheres. Before this fix, tendons that wrapped around
-    spheres with an externally-placed :ref:`sidesite<spatial-geom-sidesite>` could jump inside the sphere instead of
-    wrapping around it.
-26. :commit:`567793c2` Fixed a bug that caused :at:`meshdir` and :at:`texturedir` to be overwritten during model
-    :ref:`attachment<meAttachment>`, preventing model attachment for models with assets in different directories.
-
-Python bindings
-^^^^^^^^^^^^^^^
-27. :commit:`cfc7dc98` Added support for engine plugins in :ref:`mjSpec` (:issue:`1903`).
-28. :commit:`9a27fc14` Better error reporting for issues with the assets dictionary, when loading models.
-
-
-Version 3.2.2 (Aug 8, 2024)
----------------------------
-
-General
-^^^^^^^
-1. :commit:`9db9df73` Increase texture and material limit back to 1000. 3.2.0 inadvertently reduced this limit to 100,
-   breaking some existing models (:issue:`1877`).
-
-Version 3.2.1 (Aug 5, 2024)
----------------------------
-
-General
-^^^^^^^
-1. :commit:`e92af73c` Renamed ``mjModel.tex_rgb`` to ``mjModel.tex_data``.
-2. :commit:`24a55506` Added a new :ref:`autoreset<option-flag-autoreset>` flag to disable automatic reset when NaNs or
-   infinities are detected.
-3. :commit:`33e59606` Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of
-   multiple textures for rendering (e.g., ``occlusion, roughness, metallic``). Note that the MuJoCo renderer doesn't
-   support these new features, and they are made available for use with external renderers.
-4. :commit:`82c27165` Sorting (``mjQUICKSORT``) now calls ``std::sort`` when building with C++ (:issue:`1638`).
-
-MJX
-^^^
-5. :commit:`dbe18f57` Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the
-   corresponding MuJoCo structs.
-6. :commit:`2d24c588` Added support for :ref:`fixed tendons <tendon-fixed>`.
-7. :commit:`2d24c588` Added support for tendon length limits (``mjCNSTR_LIMIT_TENDON`` in :ref:`mjtConstraint`).
-8. :commit:`2d24c588` Added support for tendon equality constraints (``mjEQ_TENDON`` in :ref:`mjtEq`).
-9. :commit:`2d24c588` Added support for tendon actuator transmission (``mjTRN_TENDON`` in :ref:`mjtTrn`).
-
-Python bindings
-^^^^^^^^^^^^^^^
-10. :commit:`70ac76bb` Added support for asset dictionary argument in ``mujoco.spec.from_file``,
-    ``mujoco.spec.from_string`` and ``mujoco.spec.compile``.
-
-
-Bug fixes
-^^^^^^^^^
-11. :commit:`a4bd2bec` Fixed a bug where implicit integrators did not take into account disabled actuators
-    (:issue:`1838`).
-
-Version 3.2.0 (Jul 15, 2024)
-----------------------------
-
-New features
-^^^^^^^^^^^^
-
-1. :commit:`e13ddfa2` Introduced a major new feature: **procedural model creation and editing**, using a new top-level
-   data-structure :ref:`mjSpec`. See the :doc:`Model Editing<programming/modeledit>` chapter for details.
-   Note that as of this release this feature is still in testing and subject to future breaking changes.
-   Fixes :issue:`364`.
-
-General
-^^^^^^^
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   2. :commit:`e66b9a36` Removed deprecated ``mj_makeEmptyFileVFS`` and ``mj_findFileVFS`` functions. The constants
-      ``mjMAXVFS`` and ``mjMAXVFSNAME`` are also removed as they are no longer needed.
-
-      **Migration:** Use :ref:`mj_addBufferVFS` to copy a buffer into a VFS file directly.
-
-   3. :commit:`57e6760e` Calls to :ref:`mj_defaultVFS` may allocate memory inside VFS, and the corresponding
-      :ref:`mj_deleteVFS` must be called to deallocate any internal allocated memory.
-
-   4. :commit:`60670485` Deprecated ``mju_rotVecMat`` and ``mju_rotVecMatT`` in favor of :ref:`mju_mulMatVec3` and
-      :ref:`mju_mulMatTVec3`. These function names and argument order are more consistent with the rest of the API.
-      The older functions have been removed from the Python bindings and will be removed from the C API in the next
-      release.
-   5. :commit:`393895bb` Removed the ``actuator_actdim`` callback from actuator plugins. They now have the ``actdim``
-      attribute, which must be used with actuators that write state to the ``act`` array. This fixed a crash which
-      happened when keyframes were used in a model with stateful actuator plugins. The PID plugin will give an error
-      when the wrong value of actdim is provided.
-
-6. :commit:`27b9ddda` Added :ref:`attach<body-attach>` meta-element to MJCF, which allows :ref:`attaching<meAttachment>`
-   a subtree from a different model to a body in the current model.
-7. :commit:`57e6760e` The :ref:`VFS<Virtualfilesystem>` implementation has been rewritten in C++ and is now considerably
-   more efficient in speed and memory footprint.
-
-.. youtube:: ZXBTEIDWHhs
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-8. :commit:`07fc95ca` Added support for orthographic cameras. This is available for both fixed cameras and the free
-   camera, using the ``camera/orthographic`` and :ref:`global/orthographic<visual-global-orthographic>`
-   attributes, respectively.
-9. :commit:`ace0c8f0` Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's
-   convex hull.
-10. :commit:`c9bcf837` Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
-11. :commit:`5ed464b4` Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
-12. :commit:`3f3b39bb` Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
-    `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`__
-    with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
-    point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
-
-    Relatedly, fixed various type errors that prevented building with single-precision.
-13. :commit:`22a10fd2` Quaternions in ``mjData.qpos`` and ``mjData.mocap_quat`` are no longer normalized in-place by
-    :ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in
-    ``mjData.qpos`` will be normalized.
-14. :commit:`3d1d1d07` Mesh loading in the compiler, which is usually the slowest part of the loading process, is now
-    multi-threaded.
-
-MJX
-~~~
-15. :commit:`4c3d9461` Added support for :ref:`elliptic friction cones<option-cone>`.
-16. :commit:`4c3d9461` Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint
-    settings.
-17. :commit:`4c3d9461` Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
-
-
-.. youtube:: P83tKA1iz2Y
-   :align: right
-   :width: 360px
-
-Simulate
-^^^^^^^^
-18. :commit:`1eb70864` Added improved tutorial video.
-19. :commit:`f37f8408` Improved the Brownian noise generator.
-20. :commit:`3d1d1d07` Now displaying model load times if they are longer than 0.25 seconds.
-
-Python bindings
-^^^^^^^^^^^^^^^
-21. :commit:`2188cba4` Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance
-    (:issue:`1572`).
-
-Bug fixes
-^^^^^^^^^
-22. :commit:`e7301edd` Fix an issue where ``mj_copyData`` (or ``copy.copy()`` in the Python bindings) was not copying
-    contact information correctly (:issue:`1710`).
-23. :commit:`8e827d0d` Fix an issue with saving to XML that caused frames to be written multiple times (:issue:`1802`).
-
-Version 3.1.6 (Jun 3, 2024)
----------------------------
-
-General
-^^^^^^^
-
-1. :commit:`02d01545` Added :ref:`mj_geomDistance` for computing the shortest signed distance between two geoms and
-   optionally a segment connecting them. Relatedly, added the 3 sensors: :ref:`distance<sensor-distance>`,
-   :ref:`normal<sensor-normal>`, :ref:`fromto<sensor-fromto>`. See the function and sensor documentation for details.
-   Fixes :issue:`51`.
-2. :commit:`2830a407` Improvements to position actuators:
-
-   - Added :ref:`timeconst<actuator-position-timeconst>` attribute to the :ref:`position actuator<actuator-position>`.
-     When set to a positive value, the actuator is made stateful with :at:`filterexact` dynamics.
-   - Added :ref:`dampratio<actuator-position-dampratio>` to both :el:`position` and :el:`intvelocity` actuators. An
-     alternative to the :at:`kv` attribute, it provides a convenient way to set actuator damping using natural units.
-     See attribute documentation for details.
-
-MJX
-^^^
-
-3. :commit:`c511d022` Add height-field collision support. Fixes :issue:`1491`.
-4. :commit:`c511d022` Add a pre-compiled field ``mesh_convex`` to ``mjx.Model`` so that mesh properties can be vmapped
-   over. Fixes :issue:`1655`.
-5. :commit:`c511d022` Fix a bug in convex mesh collisions, where erroneous edge contacts were being created even though
-   face separating axes were found. Fixes :issue:`1695`.
-
-Bug fixes
-^^^^^^^^^
-
-6. :commit:`96844db9` Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is
-   enabled, as is often the case for URDF imports. Fixes :issue:`1069`, :issue:`1577`.
-7. :commit:`1d181786` Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the
-   vector storing them. Fixes :issue:`1539`.
-
-Version 3.1.5 (May 7, 2024)
----------------------------
-
-General
-^^^^^^^
-
-.. youtube:: 5k0_wsIRAFc
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-1. :commit:`26f23066` Added the :ref:`replicate<replicate>` to MJCF, a :ref:`meta-element<meta-element>` which permits
-   to repeat a subtree with incremental translational and rotational offsets.
-2. :commit:`ad045968` Enabled an internal cache in the MuJoCo compiler resulting in recompilation speedup. Currently,
-   processed textures, hfields, and OBJ meshes are cached. Support for Unity environments is not yet available.
-3. :commit:`6481a838` Added ``mjModel.mesh_scale``: the scaling applied to asset vertices, as specified in the
-   :ref:`scale<asset-mesh-scale>` attribute.
-4. :commit:`caf215e3` Added visual properties which are ignored by the native renderer, but can be used by external
-   renderers:
-
-   - :ref:`light/bulbradius<body-light-bulbradius>` attribute and corresponding ``mjModel.light_bulbradius`` field.
-   - :ref:`material/metallic<asset-material-metallic>` attribute and corresponding ``mjModel.material_metallic`` field.
-   - :ref:`material/roughness<asset-material-roughness>` attribute and corresponding ``mjModel.material_roughness``
-     field.
-5. :commit:`546a27ca` The type of the ``size`` argument of :ref:`mj_stackAllocNum` and :ref:`mj_stackAllocInt` was
-   changed from ``int`` to ``size_t``.
-6. :commit:`131b1745` Added support for gmsh format version 2.2 surface meshes in :ref:`flexcomp<body-flexcomp-file>`.
-
-MJX
-^^^
-.. admonition:: Breaking API changes
-   :class: attention
-
-   7. :commit:`718e079c` Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack
-      critical new functionality.
-
-      **Migration:** Use ``mjx.get_data_into`` instead of ``mjx.device_get_into``, and ``mjx.put_data`` instead of
-      ``mjx.device_put``.
-
-8. :commit:`0cd28d24` Added cylinder plane collisions.
-9. :commit:`71333938` Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
-10. :commit:`71333938` Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
-11. :commit:`3b64217b` Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
-12. :commit:`a4df9120` Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and
-    ``mjx.count_constraints``.
-13. :commit:`a4df9120` Changed the way meshes are organized on device to speed up collision detection when a mesh is
-    replicated for many geoms.
-14. :commit:`a4df9120` Fixed a bug where capsules might be ignored in broadphase colliision checking.
-15. :commit:`c2d0c5dd` Added cylinder collisions using SDFs.
-16. :commit:`71333938` Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
-17. :commit:`d15db545` Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and
-    :ref:`mj_name2id`.
-18. :commit:`e9709900` Added support for :ref:`gravcomp<body-gravcomp>` and
-    :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
-19. :commit:`719476c2` Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
-20. :commit:`24bc1c8b` Added a new
-    `differentiable physics tutorial <https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/training_apg.ipynb>`__
-    that demonstrates training locomotion policies with analytical gradients automatically derived from the MJX physics
-    step. Contribution by :github:user:`Andrew-Luo1`.
-
-Bug fixes
-^^^^^^^^^
-21. :commit:`0cd28d24` Defaults of lights were not being saved, now fixed.
-22. :commit:`4b6c07cd` Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
-23. :commit:`2b497581` Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as
-    optional but was actually not optional.
-24. :commit:`546a27ca` Fixed bug that prevented memory allocations larger than 2.15 GB. Fixes :issue:`1606`.
-
-
-Version 3.1.4 (April 10th, 2024)
---------------------------------
-
-General
-^^^^^^^
-.. admonition:: Breaking API changes
-   :class: attention
-
-   1. :commit:`5d26b50f` Removed the ability to natively add noise to sensors. Note that the ``mjModel.sensor_noise``
-      field and :ref:`corresponding attribute<CSensor>` are kept and now function as a convenient location for the user
-      to save standard-deviation information for their own use. This feature was removed because:
-
-      - There was no mechanism to seed the random noise generator.
-      - It was not thread-safe, even if seeding would have been provided, sampling on multiple threads would lead to
-        non-reproducible results.
-      - This feature was seen as overreach by the engine. Adding noise should be the user's responsibility.
-      - We are not aware of anyone who was actually using the feature.
-
-      **Migration:** Add noise to sensor values yourself.
-
-2. :commit:`47ba72ea` Added the :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>` joint attribute. When enabled,
-   gravity compensation forces on the joint are treated as applied by actuators. See attribute documentation for more
-   details. The example model
-   `refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`__,
-   which demonstrates Cartesian actuation of an arm, has been updated to use this attribute.
-3. :commit:`4f0293c6` Added support for gmsh format 2.2 , tetrahedral mesh, as generated by e.g.
-   `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
-
-4. :commit:`5a365603` Added :ref:`mju_euler2Quat` for converting an Euler-angle sequence to quaternion.
-
-MJX
-^^^
-5. :commit:`22cd96fb` Improved performance of SAT for convex collisions.
-6. :commit:`f2e107f7` Fixed bug for sphere/capsule-convex deep penetration.
-7. :commit:`02c62c11` Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than
-   ``mjx.make_data``.
-8. :commit:`2386353b` Throw an error for margin/gap for convex mesh collisions, since they are not supported.
-9. :commit:`2b3f336b` Added ellipsoid plane collisions.
-10. :commit:`b4419235` Added support for userdata.
-11. :commit:`2b3f336b` Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions
-    (SDFs).
-
-Simulate
-^^^^^^^^
-12. :commit:`bb42ff16` Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle
-    the :ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the
-    other flag.
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-.. youtube:: xHDS0n5DpqM
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-13. :commit:`adc4b92c` Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System
-    Identification (sysID). The sysID tutorial is work in progress, but a pedagogical colab notebook with examples,
-    including Inverse Kinematics, is available here: |ls_colab|
-    |br| The video on the right shows example clips from the tutorial.
-
-.. |ls_colab| image:: https://colab.research.google.com/assets/colab-badge.png
-              :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb
-
-
-Version 3.1.3 (March 5th, 2024)
--------------------------------
-
-General
-^^^^^^^
-1. :commit:`05150546` Added the :at:`inheritrange` attribute to :ref:`position<actuator-position>` and
-   :ref:`intvelocity<actuator-intvelocity>` actuators, allowing convenient setting of the actuator's
-   :at:`ctrlrange` or :at:`actrange` (respectively), according to the range of the transmission
-   target (joint or tendon). See :ref:`position/inheritrange<actuator-position-inheritrange>` for
-   details.
-2. :commit:`a4a621f6` Deprecated ``mj_makeEmptyFileVFS`` in favor of :ref:`mj_addBufferVFS`. :ref:`mjVFS` now computes
-   checksums of its internal file buffers. :ref:`mj_addBufferVFS` allocates an empty buffer with a given name in an
-   mjVFS and copies the data buffer into it, combining and replacing the deprecated two-step process of calling
-   ``mj_makeEmptyFileVFS`` followed by a direct copy into the given mjVFS internal file buffer.
-3. :commit:`6b7d7142` Added :ref:`mj_angmomMat` which computes the ``3 x nv`` angular momentum matrix :math:`H(q)`,
-   providing the linear mapping from generalized velocities to subtree angular momentum :math:`h = H \dot q`.
-   Contribution by :github:user:`v-r-a`.
-
-MJX
-^^^
-4. :commit:`4933a2c7` Improved performance of getting and putting device data.
-
-   - Use ``tobytes()`` for numpy array serialization, which is orders of magnitude faster than converting to tuples.
-   - Avoid reallocating host ``mjData`` arrays when array shapes are unchanged.
-   - Speed up calculation of ``mjx.ncon`` for models with many geoms.
-   - Avoid calling ``mjx.ncon`` in ``mjx.get_data_into`` when ``nc`` can be derived from ``mjx.Data``.
-5. :commit:`e77c3cb2` Fixed a bug in ``mjx-viewer`` that prevented it from running.  Updated ``mjx-viewer`` to use newer
-   ``mjx.get_data_into`` function call.
-6. :commit:`47bb4a82` Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
-7. :commit:`47bb4a82` Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in
-   :ref:`mjtSolver`.
-8. :commit:`6a346c42` Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
-9. :commit:`2067e208` Added support for cameras in ``mjx.Model`` and ``mjx.Data``. Fixes :issue:`1422`.
-10. :commit:`419be4c6` Added an implementation of broadphase using `top_k` and bounding spheres.
-
-Python bindings
-^^^^^^^^^^^^^^^
-11. :commit:`abf6d41b` Fixed incorrect data types in the bindings for the ``geom``, ``vert``, ``elem``, and ``flex``
-    array members of the ``mjContact`` struct, and all array members of the ``mjrContext`` struct.
-
-Version 3.1.2 (February 05, 2024)
----------------------------------
-
-General
-^^^^^^^
-1. :commit:`e0864ab7` Improved the :ref:`discardvisual<compiler-discardvisual>` compiler flag, which now discards all
-   visual-only assets. See :ref:`discardvisual<compiler-discardvisual>` for details.
-2. :commit:`2feefbc5` Removed the :ref:`timer<mjtTimer>` for midphase colllision detection, it is now folded in with the
-   narrowphase timer. This is because timing the two phases separately required fine-grained timers inside the collision
-   functions; these functions are so small and fast that the timer itself was incurring a measurable cost.
-3. :commit:`fea7c10b` Added the flag :ref:`bvactive<visual-global-bvactive>` to ``visual/global``, allowing users to
-   turn off visualisation of active bounding volumes (the red/green boxes in this :ref:`this changelog item<midphase>`).
-   For models with very high-resolution meshes, the computation required for this visualization can slow down simulation
-   speed. Fixes :issue:`1279`.
-
-   - Added color of :ref:`bounding volumes<visual-rgba-bv>` and :ref:`active bounding volumes<visual-rgba-bvactive>`
-     to :ref:`visual/rgba<visual-rgba>`.
-4. :commit:`e143b3db` Height-field elevation data can now be specified directly in XML with the
-   :ref:`elevation<asset-hfield-elevation>` attribute (and not only with PNG files).
-   See `example model <https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/hfield_xml.xml>`__.
-
-MJX
-^^^
-5. :commit:`80f50c94` Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
-6. :commit:`8ce2c920` Added :at:`site` transmission.
-7. :commit:`feb92bf5` Updated MJX colab tutorial with more stable quadruped environment.
-8. :commit:`a02fc405` Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
-9. :commit:`0a7be173` Added ``mjx.is_sparse`` which mirrors :ref:`mj_isSparse` and ``mjx.full_m`` which mirrors
-   :ref:`mj_fullM`.
-10. :commit:`0a7be173` Added support for specifying sparse or dense mass matrices via :ref:`option-jacobian`.
-11. :commit:`508669a9` Raise a not implemented error when nonzero frictionloss is present. Fixes :issue:`1344`.
-
-Python bindings
-^^^^^^^^^^^^^^^
-12. :commit:`aceb52bd` Improved the implementation of the :ref:`rollout<PyRollout>` module. Note the changes below are
-    breaking, dependent code will require modification.
-
-    - Uses :ref:`mjSTATE_FULLPHYSICS<siFullPhysics>` as state spec, enabling divergence detection by inspecting time.
-    - Allows user-defined control spec for any combination of :ref:`user input<siInput>` fields as controls.
-    - Outputs are no longer squeezed and always have dim=3.
-13. :commit:`7bb0ce42` The ``sync`` function for the :ref:`passive viewer<PyViewerPassive>` can now pick up changes to
-    rendering flags in ``user_scn``, as requested in :issue:`1190`.
-
-Bug fixes
-^^^^^^^^^
-14. :commit:`1e2e0b30` Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
-    :issue:`1270`.
-15. :commit:`a14a584f` Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
-    bound of the length range. Fixes :issue:`1342`.
-
-
-Version 3.1.1 (December 18, 2023)
------------------------------------
-
-Bug fixes
-^^^^^^^^^
-1. :commit:`d39ed1d3` Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts if one box was
-   deeply embedded in the other.
-2. :commit:`dc0d0c59` Fixed a bug in :ref:`simulate<saSimulate>` where the "LOADING..." message was not showing
-   correctly.
-3. :commit:`d39ed1d3` Fixed a crash in the Python :ref:`passive viewer<PyViewerPassive>`, when used with models
-   containing Flex objects.
-4. :commit:`0915d69c` Fixed a bug in MJX where ``site_xmat`` was ignored in ``get_data`` and ``put_data``
-5. :commit:`d39ed1d3` Fixed a bug in MJX where ``efc_address`` was sometimes incorrectly calculated in ``get_data``.
-
-
-Version 3.1.0 (December 12, 2023)
----------------------------------
-
-General
-^^^^^^^
-1. :commit:`8ca51b53` Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new
-   objective function for the optimization. This allows to decrease the number of initial points needed for finding the
-   contacts and is more robust for very small or large geom sizes.
-2. :commit:`eb9568a4` Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure
-   coordinate transformation on its direct children, without requiring a :ref:`body<body>`.
-3. :commit:`762371c3` Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and
-   :ref:`intvelocity<actuator-intvelocity>` actuators, for specifying actuator-applied damping. This can be used to
-   implement a PD controller with 0 reference velocity. When using this attribute, it is recommended to use the
-   implicitfast or implicit :ref:`integrators<geIntegration>`.
-
-Plugins
-^^^^^^^
-4. :commit:`f2025c6a` Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state,
-   rather than ``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute
-   activation variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
-5. :commit:`ca046cbf` Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__
-   actuator plugin, a configurable PID controller that implements the Integral term, which is not available with native
-   MuJoCo actuators.
-
-MJX
-^^^
-6. :commit:`35c90844` Added ``site_xpos`` and ``site_xmat`` to MJX.
-7. :commit:`67fa7c1d` Added ``put_data``, ``put_model``, ``get_data`` to replace ``device_put`` and ``device_get_into``,
-   which will be deprecated. These new functions correctly translate fields that are the result of intermediate
-   calculations such as ``efc_J``.
-
-Bug fixes
-^^^^^^^^^
-8. :commit:`cd56a41f` Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian
-   actuators on a quadruped. Before this fix such actuators could lead to non-conservation of momentum.
-9. :commit:`cd56a41f` Fix bug that prevented using flex with :ref:`simulate<saSimulate>`.
-10. :commit:`7d8d4d39` Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
-11. :commit:`3c05f9fa` Release Python wheels targeting macOS 10.16 to support x86_64 systems where
-    ``SYSTEM_VERSION_COMPAT`` is set. The minimum supported version is still 11.0, but we release these wheels to fix
-    compatibility for those users. See :issue:`1213`.
-12. :commit:`49ddb7ca` Fixed mass computation of meshes: Use the correct mesh volume instead of approximating it using
-    the inertia box.
-
-Version 3.0.1 (November 15, 2023)
----------------------------------
-
-General
-^^^^^^^
-1. :commit:`a89412bb` Added sub-terms of total passive forces in ``mjData.qfrc_passive`` to :ref:`mjData`:
-   ``qfrc_{spring, damper, gravcomp, fluid}``. The sum of these vectors equals ``qfrc_passive``.
-
-.. youtube:: H9qG9Zf2W44
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-2. :commit:`893c4042` Added :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` attribute and associated
-   :ref:`mjOption.disableactuator<mjOption>` integer bitfield, which can be used to disable sets of actuators at runtime
-   according to their :ref:`group<actuator-general-group>`. Fixes :issue:`1092`. See :ref:`CActDisable`.
-
-   - The first 6 actuator groups are toggleable in the :ref:`simulate<saSimulate>` viewer. See `example model
-     <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/actuator_group_disable.xml>`__
-     and associated screen-capture on the right.
-
-3. :commit:`7e419276` Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 200.
-
-MJX
-^^^
-4. :commit:`3c0a56c1` Added support for Newton solver (``mjSOL_NEWTON`` in :ref:`mjtSolver`). The Newton solver
-   significantly speeds up simulation on GPU:
-
-   .. list-table:: Steps-per-second, Conjugate Gradient vs. Newton on A100
-      :header-rows: 1
-      :align: left
-
-      * - Model
-        - CG
-        - Newton
-        - Speedup
-      * - `Humanoid <https://github.com/google-deepmind/mujoco/tree/56006355b29424658b56aedb48a4269bd4361c68/mjx/mujoco/mjx/benchmark/model/humanoid>`__
-        - 640,000
-        - 1,020,000
-        - **1.6 x**
-      * - `Barkour v0 <https://github.com/google-deepmind/mujoco/tree/56006355b29424658b56aedb48a4269bd4361c68/mjx/mujoco/mjx/benchmark/model/barkour_v0>`__
-        - 1,290,000
-        - 1,750,000
-        - **1.35 x**
-      * - `Shadow Hand <https://github.com/google-deepmind/mujoco/tree/56006355b29424658b56aedb48a4269bd4361c68/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
-        - 215,000
-        - 270,000
-        - **1.25 x**
-
-   Humanoid is the standard MuJoCo humanoid,
-   `Google Barkour <https://blog.research.google/2023/05/barkour-benchmarking-animal-level.html>`__ and the Shadow Hand
-   are both available in the :ref:`MuJoCo Menagerie<Menagerie>`.
-5. :commit:`70699765` Added support for joint equality constraints (``mjEQ_JOINT`` in :ref:`mjtEq`).
-6. :commit:`f6ed57e9` Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
-7. :commit:`e4a9f535` Made ``device_put`` type validation more verbose (fixes :issue:`1113`).
-8. :commit:`843360b7` Removed empty EFC rows from ``MJX``, for joints with no limits (fixes :issue:`1117`).
-9. :commit:`c8146372` Fixed bug in ``scan.body_tree`` that led to incorrect smooth dynamics for some kinematic tree
-   layouts.
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-10. :commit:`4c24be9e` Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line
-    Tools.
-11. :commit:`084facc9` Fixed a crash when copying instances of ``mujoco.MjData`` for models that use plugins. Introduced
-    a ``model`` attribute to ``MjData`` which is reference to the model that was used to create that ``MjData``
-    instance.
-
-Simulate
-^^^^^^^^
-12. :commit:`f6ed57e9` :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync"
-    buttons.
-
-Documentation
-^^^^^^^^^^^^^
-
-.. youtube:: cE3s_IfO4g4
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-13. :commit:`8d5966ee` Added cell to the `tutorial colab <https://github.com/google-deepmind/mujoco#getting-started>`__
-    providing an example of procedural camera control:
-14. :commit:`2bb8652b` Added documentation for the :ref:`UI` framework.
-15. :commit:`dc8bac2f` Fixed typos and supported fields in docs (fixes :issue:`1105` and :issue:`1106`).
-
-
-Bug fixes
-^^^^^^^^^
-16. :commit:`86d9c84e` Fixed bug relating to welds modified with :ref:`torquescale<equality-weld-torquescale>`.
-
-Version 3.0.0 (October 18, 2023)
---------------------------------
-
-New features
-^^^^^^^^^^^^
-
-1. :commit:`8f9c690c` Added simulation on GPU and TPU via the new :doc:`mjx` (MJX) Python module. Python users can now
-   natively run MuJoCo simulations at millions of steps per second on Google TPU or their own accelerator hardware.
-
-   - MJX is designed to work with on-device reinforcement learning algorithms.  This Colab notebook demonstrates using
-     MJX along with reinforcement learning to train humanoid and quadruped robots to locomote: |colab|
-   - The MJX API is compatible with MuJoCo but is missing some features in this release.  See the outline of
-     :ref:`MJX feature parity <MjxFeatureParity>` for more details.
-
-.. |colab| image:: https://colab.research.google.com/assets/colab-badge.png
-           :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb
-
-.. youtube:: QewlEqIZi1o
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-2. :commit:`fdb04158` Added new signed distance field (SDF) collision primitive. SDFs can take any shape and are not
-   constrained to be convex. Collision points are found by minimizing the maximum of the two colliding SDFs via gradient
-   descent.
-
-   - Added new SDF plugin for defining implicit geometries. The plugin must define methods computing an SDF and its
-     gradient at query points. See the :ref:`documentation<exWriting>` for more details.
-
-.. youtube:: ra2bTiZHGlw
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-3. :commit:`139a8ae2` Added new low-level model element called ``flex``, used to define deformable objects. These
-   `simplicial complexes <https://en.wikipedia.org/wiki/Simplicial_complex>`__ can be of dimension 1, 2
-   or 3, corresponding to stretchable lines, triangles or tetrahedra. Two new MJCF elements are used
-   to define flexes. The top-level :ref:`deformable<deformable>` section contains the low-level flex definition.
-   The :ref:`flexcomp<body-flexcomp>` element, similar to :ref:`composite<body-composite>` is a convenience macro for
-   creating deformables, and supports the GMSH tetrahedral file format.
-
-   - Added `shell <https://github.com/deepmind/mujoco/blob/main/plugin/elasticity/shell.cc>`__ passive force plugin,
-     computing bending forces using a constant precomputed Hessian (cotangent operator).
-
-   **Note**: This feature is still under development and subject to change. In particular, deformable object
-   functionality is currently available both via :ref:`deformable<CDeformable>` and :ref:`composite<CComposite>`,
-   and both are modifiable by the first-party
-   `elasticity plugins <https://github.com/google-deepmind/mujoco/tree/main/plugin/elasticity>`__. We expect some of
-   this functionality to be unified in the future.
-
-.. youtube:: Vc1tq0fFvQA
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-4. :commit:`3e034e38` Added constraint island discovery with :ref:`mj_island`. Constraint islands are disjoint sets of
-   constraints and degrees-of-freedom that do not interact. The only solver which currently supports islands is
-   :ref:`CG<option-solver>`. Island discovery can be activated using a new :ref:`enable flag<option-flag-island>`.
-   If island discovery is enabled, geoms, contacts and tendons will be colored according to the corresponding island,
-   see video. Island discovery is currently disabled for models that have deformable objects (see previous item).
-
-5. :commit:`62251869` Added ``mjThreadPool`` and ``mjTask`` which allow for multi-threaded operations within the MuJoCo
-   engine pipeline. If engine-internal threading is enabled, the following operations will be multi-threaded:
-
-   - Island constraint resolution, if island discovery is :ref:`enabled<option-flag-island>` and the
-     :ref:`CG solver<option-solver>` is selected. The
-     `22 humanoids <https://github.com/deepmind/mujoco/blob/main/model/humanoid/22_humanoids.xml>`__ model shows a 3x
-     speedup compared to the single threaded simulation.
-   - Inertia-related computations and collision detection will happen in parallel.
-
-   Engine-internal threading is a work in progress and currently only available in first-party code via the
-   :ref:`testspeed<saTestspeed>` utility, exposed with the ``npoolthread`` flag.
-
-6. :commit:`139a8ae2` Added capability to initialize :ref:`composite<body-composite>` particles from OBJ files. Fixes
-   :issue:`642` and :issue:`674`.
-
-General
-^^^^^^^
-
-.. admonition:: Breaking API changes
-   :class: attention
-
-   7. :commit:`ba66bd4f` Removed the macros ``mjMARKSTACK`` and ``mjFREESTACK``.
-
-      **Migration:** These macros have been replaced by new functions :ref:`mj_markStack` and
-      :ref:`mj_freeStack`. These functions manage the :ref:`mjData stack<siStack>` in a fully encapsulated way (i.e.,
-      without introducing a local variable at the call site).
-
-   8. :commit:`9902b735` Renamed ``mj_stackAlloc`` to :ref:`mj_stackAllocNum`. The new function :ref:`mj_stackAllocByte`
-      allocates an arbitrary number of bytes and has an additional argument for specifying the alignment of the returned
-      pointer.
-
-      **Migration:** The functionality for allocating ``mjtNum`` arrays is now available via :ref:`mj_stackAllocNum`.
-
-   9. :commit:`49290772` Renamed the ``nstack`` field in :ref:`mjModel` and :ref:`mjData` to ``narena``. Changed
-      ``narena``, ``pstack``, and ``maxuse_stack`` to count number of bytes rather than number of :ref:`mjtNum` |-| s.
-
-   10. :commit:`86d8b912` Changed :ref:`mjData.solver<mjData>`, the array used to collect solver diagnostic information.
-       This array of :ref:`mjSolverStat` structs is now of length ``mjNISLAND * mjNSOLVER``, interpreted as as a matrix.
-       Each row of length ``mjNSOLVER`` contains separate solver statistics for each constraint island.
-       If the solver does not use islands, only row 0 is filled.
-
-       - The new constant :ref:`mjNISLAND<glNumericSizes>` was set to 20.
-       - :ref:`mjNSOLVER<glNumericSizes>` was reduced from 1000 to 200.
-       - Added :ref:`mjData.solver_nisland<mjData>`: the number of islands for which the solver ran.
-       - Renamed ``mjData.solver_iter`` to ``solver_niter``. Both this member and ``mjData.solver_nnz`` are now integer
-         vectors of length ``mjNISLAND``.
-
-   11. :commit:`9cf1f6eb` Removed ``mjOption.collision`` and the associated ``option/collision`` attribute.
-
-       **Migration:**
-
-       - For models which have ``<option collision="all"/>``, delete the attribute.
-       - For models which have ``<option collision="dynamic"/>``, delete all :ref:`pair<contact-pair>` elements.
-       - For models which have ``<option collision="predefined"/>``, disable all dynamic collisions (determined
-         via contype/conaffinity) by first deleting all :ref:`contype<body-geom-contype>` and
-         :ref:`conaffinity<body-geom-conaffinity>` attributes in the model and then setting them globally to ``0`` using
-         |br| ``<default> <geom contype="0" conaffinity="0"/> </default>``.
-
-   12. :commit:`d3d46e16` Removed the :at:`rope` and :at:`cloth` composite objects.
-
-       **Migration:** Users should use the :at:`cable` and :at:`shell` elasticity plugins.
-
-   13. :commit:`ee78b8f7` Added :ref:`mjData.eq_active<mjData>` user input variable, for enabling/disabling the state of
-       equality constraints. Renamed ``mjModel.eq_active`` to :ref:`mjModel.eq_active0<mjModel>`, which now has the
-       semantic of "initial value of ``mjData.eq_active``". Fixes :issue:`876`.
-
-       **Migration:** Replace uses of ``mjModel.eq_active`` with ``mjData.eq_active``.
-
-   14. :commit:`d88675a0` Changed the default of :ref:`autolimits<compiler-autolimits>` from "false" to "true". This is
-       a minor breaking change. The potential breakage applies to models which have elements with "range" defined and
-       "limited" not set. Such models cannot be loaded since version 2.2.2 (July 2022).
-
-15. :commit:`2c3297b3` Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order
-    filter states with the exact formula rather than with Euler integration.
-16. :commit:`2c3297b3` Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit
-    integration for actuator forces: using the next step's actuator state to compute the current actuator forces.
-17. :commit:`a276c49c` Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version
-    to :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
-    :ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
-18. :commit:`b7cf479a` Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of
-    joint damping in the Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
-19. :commit:`819b5cb9` Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse
-    dynamics for all :ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more
-    details.
-20. :commit:`1a3215e3` Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>`
-    options for adjusting linesearch stopping criteria in CG and Newton solvers. These can be useful for performance
-    tuning.
-21. :commit:`ccda87aa` Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing
-    transformation applied to mesh assets. Fixes :issue:`409`.
-22. :commit:`8064ad59` Added camera :ref:`resolution<body-camera-resolution>` attribute and
-    :ref:`camprojection<sensor-camprojection>` sensor. If camera resolution is set to positive values, the camera
-    projection sensor will report the location of a target site, projected onto the camera image, in pixel coordinates.
-23. :commit:`36d2ffe4` Added :ref:`camera<body-camera>` calibration attributes:
-
-    - The new attributes are :ref:`resolution<body-camera-resolution>`, :ref:`focal<body-camera-focal>`,
-      :ref:`focalpixel<body-camera-focalpixel>`, :ref:`principal<body-camera-principal>`,
-      :ref:`principalpixel<body-camera-principalpixel>` and :ref:`sensorsize<body-camera-sensorsize>`.
-    - Visualize the calibrated frustum using the :ref:`mjVIS_CAMERA<mjtVisFlag>` visualization flag when these
-      attributes are specified. See the following
-      `example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/vis_visualize/frustum.xml>`__.
-    - Note that these attributes only take effect for offline rendering and do not affect interactive visualisation.
-24. :commit:`59164702` Implemented reversed Z rendering for better depth precision. An enum :ref:`mjtDepthMap` was added
-    with values ``mjDEPTH_ZERONEAR`` and ``mjDEPTH_ZEROFAR``, which can be used to set the new ``readDepthMap``
-    attribute in :ref:`mjrContext` to control how the depth returned by :ref:`mjr_readPixels` is mapped from ``znear``
-    to ``zfar``. Contribution :pr:`978` by `Levi Burner <https://github.com/aftersomemath>`__.
-25. :commit:`fb4cf472` Deleted the code sample ``testxml``. The functionality provided by this utility is implemented in
-    the `WriteReadCompare <https://github.com/google-deepmind/mujoco/blob/main/test/xml/xml_native_writer_test.cc>`__
-    test.
-26. :commit:`a1b6026b` Deleted the code sample ``derivative``. Functionality provided by :ref:`mjd_transitionFD`.
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-27. :commit:`631b16e7` Fixed :issue:`870` where calling ``update_scene`` with an invalid camera name used the default
-    camera.
-28. :commit:`2e15574b` Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to
-    add custom visualization geoms (:issue:`1023`).
-29. :commit:`a1d0cbd6` Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions
-    ``viewer.launch`` and ``viewer.launch_passive``, which allow users to launch a viewer with UI panels hidden.
-
-Simulate
-^^^^^^^^
-
-.. youtube:: YSvWn_poqWs
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-30. :commit:`3e12f0d5` Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
-    :ref:`Python viewer<PyViewerManaged>`. State history can be viewed by scrubbing the History slider and (more
-    precisely) with the left and right arrow keys. See screen capture:
-
-31. :commit:`93d1c3c9` The ``LOADING...`` label is now shown correctly. Contribution :pr:`1070` by
-    `Levi Burner <https://github.com/aftersomemath>`__.
-
-Documentation
-^^^^^^^^^^^^^
-
-.. youtube:: nljr0X79vI0
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-32. :commit:`18e4e101` Added :doc:`detailed documentation <computation/fluid>` of fluid force modeling, and an
-    illustrative example model showing
-    `tumbling cards <https://github.com/google-deepmind/mujoco/blob/main/model/cards/cards.xml>`__ using the
-    ellipsoid-based fluid model.
-
-Bug fixes
-^^^^^^^^^
-
-33. :commit:`b0077e40` Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the
-    construction of midphase collision trees.
-
-34. :commit:`1bd6c94e` Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality
-    constraints.
-
-
-Version 2.3.7 (July 20, 2023)
------------------------------
-
-General
-^^^^^^^
-
-1. :commit:`a7021df6` Added primitive collider for sphere-cylinder contacts, previously this pair used the generic
-   convex-convex collider.
-#. :commit:`51aa375a` Added :ref:`joint-actuatorforcerange<body-joint-actuatorfrcrange>` for clamping total actuator
-   force at joints and :ref:`sensor-jointactuatorfrc<sensor-jointactuatorfrc>` for measuring total actuation force
-   applied at a joint. The most important use case for joint-level actuator force clamping is to ensure that
-   :ref:`Cartesian actuator<actuator-general-refsite>` forces are realizable by individual motors at the joints.
-   See :ref:`CForceRange` for details.
-#. :commit:`5fcdae77` Added an optional ``content_type`` attribute to hfield, texture, and mesh assets. This attribute
-   supports a formatted `Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (previously known
-   as MIME type) string used to determine the type of the asset file without resorting to pulling the type from the file
-   extension.
-#. :commit:`5cfbb6ac` Added analytic derivatives for quaternion :ref:`subtraction<mjd_subQuat>` and
-   :ref:`integration<mjd_quatIntegrate>` (rotation with an angular velocity). Derivatives are in the 3D tangent space.
-#. :commit:`c50c92cc` Added :ref:`mjv_connector` which has identical functionality to ``mjv_makeConnector``, but with
-   more convenient "from-to" argument parametrization. ``mjv_makeConnector`` is now deprecated.
-#. :commit:`242aea93` Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still
-   maintained by Apple.
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-7. :commit:`0ccfef73` The :ref:`passive viewer<PyViewerPassive>` handle now exposes ``update_hfield``, ``update_mesh``,
-   and ``update_texture`` methods to allow users to update renderable assets.
-   (Issues :issue:`812`, :issue:`958`, :issue:`965`).
-#. :commit:`06b70832` Allow a custom keyboard event callback to be specified in the
-   :ref:`passive viewer<PyViewerPassive>` (:issue:`766`).
-#. :commit:`f7847ba7` Fix GLFW crash when Python exits while the passive viewer is running (:issue:`790`).
-
-Models
-^^^^^^
-
-10. :commit:`51aa375a` Added simple `car <https://github.com/google-deepmind/mujoco/blob/main/model/car/car.xml>`__
-    example model.
-
-
-Version 2.3.6 (June 20, 2023)
------------------------------
-
-.. note::
-   MuJoCo 2.3.6 is the last version to officially support Python 3.7.
-
-.. youtube:: ZppeDArq6AU
-   :align: right
-   :width: 240px
-
-Models
-^^^^^^
-
-1. :commit:`3d71b160` Added
-   `3x3x3 cube <https://github.com/google-deepmind/mujoco/blob/main/model/cube/cube_3x3x3.xml>`__ example model. See
-   `README <https://github.com/google-deepmind/mujoco/blob/main/model/cube/README.md>`__ for details.
-
-Bug fixes
-^^^^^^^^^
-
-2. :commit:`41a70499` Fixed a bug that was causing an incorrect computation of the mesh bounding box and coordinate
-   frame if the volume was invalid. In such case, now MuJoCo only accepts a non-watertight geometry if
-   :ref:`shellinertia<body-geom-shellinertia>` is equal to ``true``.
-#. :commit:`55c7f45d` Fixed the sparse Jacobian multiplication logic that is used to compute derivatives for tendon
-   damping and fluid force, which affects the behaviour of the
-   :ref:`implicit and implicitfast integrators<geIntegration>`.
-#. :commit:`c66d7940` Fixes to :ref:`mj_ray`, in line with geom visualisation conventions:
-
-   - Planes and height-fields respect the ``geom_group`` and ``flg_static`` arguments. Before this change, rays would
-     intersect planes and height-fields unconditionally.
-   - ``flg_static`` now applies to all static geoms, not just those which are direct children of the world body.
-
-.. youtube:: hqIMTNGaLF4
-   :align: right
-   :width: 240px
-
-Plugins
-^^^^^^^
-
-5. :commit:`b397b312` Added touch-grid sensor plugin. See
-   `documentation <https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`__ for details, and
-   associated
-   `touch_grid.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/sensor/touch_grid.xml>`__ example
-   model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`__.
-
-Simulate
-^^^^^^^^
-
-.. youtube:: mXVPbppGk5I
-   :aspect: 16:7
-   :align: right
-   :width: 240px
-
-6. :commit:`d40c3959` Added Visualization tab to simulate UI, corresponding to elements of the :ref:`visual<visual>`
-   MJCF element. After modifying values in the GUI, a saved XML will contain the new values. The modifiable members of
-   :ref:`mjStatistic` (:ref:`extent<statistic-extent>`, :ref:`meansize<statistic-meansize>` and
-   :ref:`center<statistic-center>`) are computed by the compiler and therefore do not have defaults. In order for these
-   attributes to appear in the saved XML, a value must be specified in the loaded XML.
-
-.. image:: images/changelog/simulate_text_width.png
-   :align: right
-   :width: 380px
-   :alt: Before / After
-
-7. :commit:`d40c3959` Increased text width for UI elements in the default spacing. [before / after]:
-
-General
-^^^^^^^
-
-8. :commit:`f67e3595` Added :ref:`mj_getState` and :ref:`mj_setState` for getting and setting the simulation state as a
-   concatenated vector of floating point numbers. See the :ref:`State<geState>`  section for details.
-#. :commit:`d82f5ce5` Added :ref:`mjContact.solreffriction<mjContact>`, allowing different :ref:`solref<CSolver>`
-   parameters for the normal and frictional axes of contacts when using :ref:`elliptic friction cones<option-cone>`.
-   This attribute is required for elastic frictional collisions, see associated
-   `example model <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/spin_recoil.xml>`__
-   mimicking the spin-bounce recoil behaviour of
-   `elastic rubber balls <https://www.youtube.com/watch?v=uFLJcRegIVQ&t=3s>`__. This is an advanced option currently
-   only supported by explicit :ref:`contact pairs<contact-pair>`, using the
-   :ref:`solreffriction<contact-pair-solreffriction>` attribute.
-#. :commit:`c50177d3` Added :ref:`mjd_inverseFD` for finite-differenced inverse-dynamics derivatives.
-#. :commit:`49efa9cc` Added functions for operations on banded-then-dense "arrowhead" matrices. Such matrices are common
-   when doing direct trajectory optimization. See :ref:`mju_cholFactorBand` documentation for details.
-#. :commit:`2ad82d59` Added :ref:`mj_multiRay` function for intersecting multiple rays emanating from a single point.
-   This is significantly faster than calling :ref:`mj_ray` multiple times.
-#. :commit:`9d1a21f9` Ray-mesh collisions are now up to 10x faster, using a bounding volume hierarchy of mesh faces.
-#. :commit:`3d82d2a4` Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 100.
-#. :commit:`67f0f515` Added :ref:`documentation<exProvider>` for resource providers.
-#. :commit:`49efa9cc` Changed the formula for :ref:`mju_sigmoid`, a finite-support sigmoid
-   :math:`s \colon \mathbf R \rightarrow [0, 1]`. Previously, the smooth part consisted of two stitched quadratics, once
-   continuously differentiable. It is now a single quintic, twice continuously differentiable:
-
-   .. math::
-      s(x) =
-      \begin{cases}
-         0,                    &       & x \le 0  \\
-         6x^5 - 15x^4 + 10x^3, & 0 \lt & x \lt 1  \\
-         1,                    & 1 \le & x \qquad
-      \end{cases}
-
-17. :commit:`770b4b36` Added optional :ref:`tausmooth<actuator-muscle-tausmooth>` attribute to muscle actuators. When
-    positive, the time-constant :math:`\tau` of muscle activation/deactivation uses :ref:`mju_sigmoid` to transition
-    smoothly between the two extremal values given by the `Millard et al. (2013) <https://doi.org/10.1115/1.4023390>`__
-    muscle model, within a range of width tausmooth.  See :ref:`Muscle actuators<CMuscle>` for more details.
-    Relatedly, :ref:`mju_muscleDynamics` now takes 3 parameters instead of 2, adding the new smoothing-width parameter.
-#. :commit:`f887c1e9` Moved public C macro definitions out of mujoco.h into a new public header file called
-    `mjmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__. The new file
-    is included by mujoco.h so this change does not break existing user code.
-#. :commit:`f887c1e9` Added instrumentation for the
-    `Address Sanitizer (ASAN) <https://clang.llvm.org/docs/AddressSanitizer.html>`__ and
-    `Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__ to detect memory bugs when allocating
-    from the ``mjData`` stack and arena.
-#. :commit:`f887c1e9` Removed ``pstack`` and ``parena`` from the output of ``mj_printData``, since these are
-    implementation details of the ``mjData`` allocators that are affected by diagnostic paddings in instrumented builds.
-#. :commit:`466c9aca` Removed the ``mj_activate`` and ``mj_deactivate`` functions. These had been kept around for
-    compatibility with old user code from when MuJoCo was closed source, but have been no-op functions since open
-    sourcing.
-
-
-Version 2.3.5 (April 25, 2023)
-------------------------------
-
-Bug fixes
-^^^^^^^^^
-
-1. :commit:`d23c5e78` Fix asset loading bug that prevented OBJ and PNG files from being read from disk when :ref:`mjVFS`
-   is used.
-#. :commit:`d23c5e78` Fix occasional segmentation faults on macOS when mouse perturbations are applied in the Python
-   passive viewer.
-
-Plugins
-^^^^^^^
-
-3. :commit:`d23c5e78` The ``visualize`` callback in :ref:`mjpPlugin` now receives an :ref:`mjvOption` as an input
-   argument.
-
-
-Version 2.3.4 (April 20, 2023)
-------------------------------
-
-.. note::
-
-   This version is affected by an asset loading bug that prevents OBJ and PNG files from being read from disk when
-   ``mjVFS`` is used. Users are advised to skip to version 2.3.5 instead.
-
-General
-^^^^^^^
-
-1. :commit:`7cc42ecf` Removed the "global" setting of the :ref:`compiler/coordinate<compiler-coordinate>` attribute.
-   This rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert
-   older models which used this option, load and save them in MuJoCo 2.3.3 or older.
-
-.. image:: images/changelog/ellipsoidinertia.gif
-   :align: right
-   :width: 240px
-
-2. :commit:`7cc42ecf` Added :ref:`visual-global<visual-global>` flag
-   :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` to visualize equivalent body inertias with ellipsoids instead
-   of the default boxes.
-#. :commit:`5f132af6` Added midphase and broadphase collision statistics to :ref:`mjData`.
-#. :commit:`01b84089` Added documentation for :ref:`engine plugins<exPlugin>`.
-#. :commit:`2e23594f` Added struct information to the ``introspect`` module.
-#. :commit:`fe3dccfd` Added a new extension mechanism called :ref:`resource providers<exProvider>`. This extensible
-   mechanism allows MuJoCo to read assets from data sources other than the local OS filesystem or
-   the :ref:`Virtual file system<Virtualfilesystem>`.
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-7. :commit:`6d63e046` Offscreen rendering on macOS is no longer restricted to the main thread. This is achieved by using
-   the low-level Core OpenGL (CGL) API to create the OpenGL context, rather than going via GLFW which relies on Cocoa's
-   NSOpenGL. The resulting context is not tied to a Cocoa window, and is therefore not tied to the main thread.
-#. :commit:`34226bf5` Fixed a race condition in ``viewer.launch_passive`` and ``viewer.launch_repl``. These functions
-   could previously return before an internal call to ``mj_forward``. This allows user code to continue and potentially
-   modify physics state concurrently with the internal ``mj_forward``, resulting in e.g.
-   `MuJoCo stack overflow error <https://github.com/google-deepmind/mujoco/issues/783>`__
-   or `segmentation fault <https://github.com/google-deepmind/mujoco/issues/790>`__.
-#. :commit:`0db9a453` The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the
-   viewer. The passive viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the
-   physics state. This is to avoid race conditions that can result in visual artifacts. See
-   :ref:`documentation<PyViewerPassive>` for details.
-#. :commit:`b362cb49` The ``viewer.launch_repl`` function has been removed since its functionality is superseded by
-   ``launch_passive``.
-#. :commit:`2e23594f` Added a small number of missing struct fields discovered through the new ``introspect`` metadata.
-
-Bug fixes
-^^^^^^^^^
-
-12. :commit:`101c647a` Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast
-    integrator.
-#. :commit:`0db9a453` Removed spurious whole-arena copying in `mj_copyData`, which can considerably
-    `slow down <https://github.com/google-deepmind/mujoco/issues/568>`__ the copying operation.
-#. :commit:`2d69b158` Make :ref:`shellinertia<body-geom-shellinertia>` ignore ``exactmeshinertia``, which is
-    only used for legacy volume computations (`#759 <https://github.com/google-deepmind/mujoco/issues/759>`__).
-
-
-Version 2.3.3 (March 20, 2023)
-------------------------------
-
-General
-^^^^^^^
-
-1. :commit:`8c7f6ce5` Improvements to implicit integration:
-
-   - The derivatives of the RNE algorithm are now computed using sparse math, leading to significant speed
-     improvements for large models when using the :ref:`implicit integrator<geIntegration>`.
-   - A new integrator called ``implicitfast`` was added. It is similar to the existing implicit integrator, but skips the
-     derivatives of Coriolis and centripetal forces. See the :ref:`numerical integration<geIntegration>` section for a
-     detailed motivation and discussion. The implicitfast integrator is recommended for all new models and will
-     become the default integrator in a future version.
-
-   The table below shows the compute cost of the 627-DoF `humanoid100
-   <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid100.xml>`__ model using different
-   integrators. "implicit (old)" uses dense RNE derivatives, "implicit (new)" is after the sparsification mentioned
-   above. Timings were measured on a single core of an AMD 3995WX CPU.
-
-.. csv-table::
-   :header: "timing", "Euler", "implicitfast", "implicit (new)", "implicit (old)"
-   :widths: auto
-   :align: left
-
-   one step (ms),  0.5,   0.53,  0.77,  5.0
-   steps/second,   2000,  1900,  1300,  200
-
-.. image:: images/computation/midphase.gif
-   :align: right
-   :width: 350px
-
-.. _midphase:
-
-2. :commit:`70959c1a` Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>`
-   for more details. This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial
-   frame. The GIF on the right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`__.
-#. :commit:`49c939ea` The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly
-   requested.
-#. :commit:`c57a588a` Corrected the spelling of the ``inteval`` attribute to ``interval`` in the :ref:`mjLROpt` struct.
-#. :commit:`9756ed0d` Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices
-   are no longer duplicated in order to circumvent this limitation as they previously were.
-#. :commit:`50bebcb4` The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix
-   memory allocation. For instance, the constraint Jacobian matrix from the `humanoid100
-   <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid100.xml>`__ model, which previously
-   required ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
-#. :commit:`d3d789cf` Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like
-   arguments). The functions ``mju_error_i``, ``mju_error_s``, ``mju_warning_i``, and ``mju_warning_s`` are now
-   deprecated.
-#. :commit:`056e8492` Implemented a performant ``mju_sqrMatTDSparse`` function that doesn't require dense memory
-   allocation.
-#. :commit:`8696247f` Added ``mj_stackAllocInt`` to get correct size for allocating ints on mjData stack. Reducing stack
-   memory usage by 10% - 15%.
-
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-10. :commit:`e58d53e7` Fixed IPython history corruption when using ``viewer.launch_repl``. The ``launch_repl`` function
-    now provides seamless continuation of an IPython interactive shell session, and is no longer considered experimental
-    feature.
-#. :commit:`7a0def97` Added ``viewer.launch_passive`` which launches the interactive viewer in a passive, non-blocking
-    mode. Calls to ``launch_passive`` return immediately, allowing user code to continue execution, with the viewer
-    automatically reflecting any changes to the physics state. (Note that this functionality is currently in
-    experimental/beta stage, and is not yet described in our :ref:`viewer documentation<PyViewer>`.)
-#. :commit:`7a0def97` Added the ``mjpython`` launcher for macOS, which is required for ``viewer.launch_passive`` to
-   function there.
-#. :commit:`71c5f179` Removed ``efc_`` fields from joint indexers. Since the introduction of arena memory, these fields
-    now have dynamic sizes that change between time steps depending on the number of active constraints, breaking strict
-    correspondence between joints and ``efc_`` rows.
-#. :commit:`e20ab6c9` Added a number of missing fields to the bindings of ``mjVisual`` and ``mjvPerturb`` structs.
-
-Simulate
-^^^^^^^^
-
-15. :commit:`2f0fb1e4` Implemented a workaround for `broken VSync <https://github.com/glfw/glfw/issues/2249>`__ on macOS
-    so that the frame rate is correctly capped when the Vertical Sync toggle is enabled.
-
-.. image:: images/changelog/contactlabel.png
-   :align: right
-   :width: 400px
-
-16. :commit:`2607e67f` Added optional labels to contact visualization, indicating which two geoms are contacting (names
-    if defined, ids otherwise). This can be useful in cluttered scenes.
-
-|br|
-
-
-Version 2.3.2 (February 7, 2023)
---------------------------------
-
-General
-^^^^^^^
-
-1. :commit:`c741dfce` A more performant mju_transposeSparse has been implemented that doesn't require dense memory
-   allocation. For a constraint Jacobian matrix from the
-   `humanoid100.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid100.xml>`__ model,
-   this function is 35% faster.
-#. :commit:`f1007df0` The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search
-   for better performance.
-#. :commit:`929e09f8` Geom names are now parsed from URDF. Any duplicate names are ignored.
-   ``mj_printData`` output now contains contacting geom names.
-
-Bug fixes
-^^^^^^^^^
-
-4. :commit:`6ba4d6f0` Fixed a bug that for :at:`shellinertia` equal to ``true`` caused the mesh orientation to be
-   overwritten by the principal components of the shell inertia, while the vertex coordinates are rotated using the
-   volumetric inertia. Now the volumetric inertia orientation is used also in the shell case.
-#. :commit:`19b6c70e` Fixed misalignment bug in mesh-to-primitive fitting when using the bounding box fitting option
-   :at:`fitaabb`.
-
-.. image:: images/changelog/meshfit.png
-   :align: right
-   :width: 300px
-
-6. :commit:`d022cd1a` The ``launch_repl`` functionality in the Python viewer has been fixed.
-#. :commit:`06557c14` Set ``time`` correctly in ``mjd_transitionFD``, to support time-dependent user code.
-#. :commit:`6b80b010` Fixed sensor data dimension validation when ``user`` type sensors are present.
-#. :commit:`093125c2` Fixed incorrect plugin error message when a null ``nsensordata`` callback is encountered during
-   model compilation.
-#. :commit:`e9869d3b` Correctly end the timer (``TM_END``) ``mj_fwdConstraint`` returns early.
-#. :commit:`436fc6e7` Fixed an infinite loop in ``mj_deleteFileVFS``.
-
-Simulate
-^^^^^^^^
-
-12. :commit:`bc0184d6` Increased precision of simulate sensor plot y-axis by 1 digit
-    (`#719 <https://github.com/google-deepmind/mujoco/issues/719>`_).
-#. :commit:`79fffdc0` Body labels are now drawn at the body frame rather than inertial frame, unless inertia is being
-   visualised.
-
-Plugins
-^^^^^^^
-
-14. :commit:`5c021d04` The ``reset`` callback now receives instance-specific ``plugin_state`` and ``plugin_data`` as
-    arguments, rather than the entire ``mjData``. Since ``reset`` is called inside ``mj_resetData`` before any physics
-    forwarding call has been made, it is an error to read anything from ``mjData`` at this stage.
-#. :commit:`30b4309a` The ``capabilities`` field in ``mjpPlugin`` is renamed ``capabilityflags`` to more clearly
-    indicate that this is a bit field.
-
-
-Version 2.3.1 (December 6, 2022)
---------------------------------
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-1. :commit:`0846f38c` The ``simulate`` GUI is now available through the ``mujoco`` Python package as ``mujoco.viewer``.
-   See :ref:`documentation<PyViewer>` for details. (Contribution by `Levi Burner <https://github.com/aftersomemath>`__.)
-#. :commit:`ef695bb8` The ``Renderer`` class from the MuJoCo tutorial Colab is now available directly in the native
-   Python bindings.
-
-General
-^^^^^^^
-
-3. :commit:`893942a7` The tendon :at:`springlength` attribute can now take two values. Given two non-decreasing values,
-   `springlength` specifies a `deadband  <https://en.wikipedia.org/wiki/Deadband>`__ range for spring stiffness. If the
-   tendon length is between the two values, the force is 0. If length is outside this range, the force behaves like a
-   regular spring, with the spring resting length corresponding to the nearest :at:`springlength` value. This can be
-   used to create tendons whose limits are enforced by springs rather than constraints, which are cheaper and easier to
-   analyse. See
-   `tendon_springlength.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/tendon_springlength.xml>`__
-   example model.
-
-   .. attention::
-     This is a minor breaking API change. ``mjModel.tendon_lengthspring`` now has size ``ntendon x 2`` rather than
-     ``ntendon x 1``.
-
-   .. youtube:: -PJ6afdETUg
-      :align: right
-      :height: 150px
-
-#. :commit:`0eb7f871` Removed the requirement that stateless actuators come before stateful actuators.
-#. :commit:`f905c7fb` Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
-#. :commit:`23092a11` Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and
-   buoyancy. See `balloons.xml <https://github.com/google-deepmind/mujoco/blob/main/model/balloons/balloons.xml>`__
-   example model.
-#. :commit:`36b30e45` Renamed the ``cable`` plugin library to ``elasticity``.
-#. :commit:`0b45129c` Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1
-   are only allowed for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test
-   implementing 2nd-order activation dynamics to
-   `engine_forward_test.cc <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`__.
-#. :commit:`3b89b0fd` Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified
-   geometry and multiple joints. See the two new examples:
-   `particle_free.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free.xml>`__ and
-   `particle_free2d.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free2d.xml>`__.
-#. :commit:`7b0fbc63` Performance improvements for non-AVX configurations:
-
-   - 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`__. See `engine_core_smooth_benchmark_test
-     <https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`__.
-   - 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
-     <https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`__.
-#. :commit:`d0b1a973` Added new :at:`solid` passive force plugin:
-
-   .. youtube:: AGcTGHbbze4
-      :align: right
-      :height: 150px
-
-   - This is new force field compatible with the :ref:`composite<body-composite>` particles.
-   - Generates a tetrahedral mesh having particles with mass concentrated at vertices.
-   - Uses a piecewise-constant strain model equivalent to finite elements but expressed in a coordinate-free
-     formulation. This implies that all quantities can be precomputed except edge elongation, as in a mass-spring model.
-   - Only suitable for small strains (large displacements but small deformations). Tetrahedra may invert if subject to
-     large loads.
-
-#. :commit:`9ecade07` Added API functions ``mj_loadPluginLibrary`` and ``mj_loadAllPluginLibraries``. The first function
-   is identical to ``dlopen`` on a POSIX system, and to ``LoadLibraryA`` on Windows. The second function scans a
-   specified directory for all dynamic libraries file and loads each library found. Dynamic libraries opened by these
-   functions are assumed to register one or more MuJoCo plugins on load.
-#. :commit:`0d52feaa` Added an optional ``visualize`` callback to plugins, which is called during ``mjv_updateScene``.
-   This callback allows custom plugin visualizations. Enable stress visualization for the Cable plugin as an example.
-#. :commit:`dee1d602` Sensors of type :ref:`user<sensor-user>` no longer require :at:`objtype`, :at:`objname` and
-   :at:`needstage`. If unspecified, the objtype is now :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype`
-   default is now :at-val:`"real"`, :at:`needstage` default is now :at-val:`"acc"`.
-#. :commit:`638c9a69` Added support for capsules in URDF import.
-#. :commit:`df25d7d6` On macOS, issue an informative error message when run under
-   `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`__ translation on an Apple Silicon machine. Pre-built MuJoCo
-   binaries make use of `AVX <https://en.wikipedia.org/wiki/Advanced_Vector_Extensions>`__ instructions on x86-64
-   machines, which is not supported by Rosetta 2. (Before this version, users only get a cryptic "Illegal instruction"
-   message.)
-
-Bug fixes
-^^^^^^^^^
-
-17. :commit:`89185b4a` Fixed bug in ``mj_addFileVFS`` that was causing the file path to be ignored (introduced in
-    2.1.4).
-
-Simulate
-^^^^^^^^
-
-18. :commit:`2ebc5f09` Renamed the directory in which the ``simulate`` application searches for plugins from ``plugin``
-    to ``mujoco_plugin``.
-#. :commit:`165e72f7` Mouse force perturbations are now applied at the selection point rather than the body center of
-   mass.
-
-
-Version 2.3.0 (October 18, 2022)
---------------------------------
-
-General
-^^^^^^^
-
-1. :commit:`58fd72f5` The ``contact`` array and arrays prefixed with ``efc_`` in ``mjData`` were moved out of the
-   ``buffer`` into a new ``arena`` memory space. These arrays are no longer allocated with fixed sizes when ``mjData``
-   is created. Instead, the exact memory requirement is determined during each call to :ref:`mj_forward` (specifically,
-   in :ref:`mj_collision` and :ref:`mj_makeConstraint`) and the arrays are allocated from the ``arena`` space. The
-   ``stack`` now also shares its available memory with ``arena``. This change reduces the memory footprint of ``mjData``
-   in models that do not use the PGS solver, and will allow for significant memory reductions in the future.
-   See the :ref:`Memory allocation <CSize>` section for details.
-
-   .. youtube:: RHnXD6uO3Mg
-      :aspect: 16:7
-      :align: right
-      :height: 150px
-
-#. :commit:`f151e84a` Added colab notebook tutorial showing how to balance the humanoid on one leg with a Linear
-   Quadratic Regulator. The notebook uses MuJoCo's native Python bindings, and includes a draft ``Renderer`` class, for
-   easy rendering in Python. |br| Try it yourself:  |LQRopenincolab|
-
-   .. |LQRopenincolab| image:: https://colab.research.google.com/assets/colab-badge.png
-                       :target: https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb
-
-#. :commit:`04d44e1e` Updates to humanoid model:
-   - Added two keyframes (stand-on-one-leg and squat).
-   - Increased maximum hip flexion angle.
-   - Added hamstring tendons which couple the hip and knee at high hip flexion angles.
-   - General cosmetic improvements, including improved use of defaults and better naming scheme.
-
-#. :commit:`89579766` Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the
-   box-constrained Quadratic Program:
-
-   .. math::
-
-      x^* = \text{argmin} \; \tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u
-
-   The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`__,
-   converges after 2-5 Cholesky factorisations, independent of problem size.
-
-#. :commit:`f4e7fa97` Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and
-   :math:`y` on both sides. The function returns :math:`x^TMy`.
-
-#. :commit:`1e2a9a53` Added new plugin API. Plugins allow developers to extend MuJoCo's capability without modifying
-   core engine code. The plugin mechanism is intended to replace the existing callbacks, though these will remain for
-   the time being as an option for simple use cases and backward compatibility. The new mechanism manages stateful
-   plugins and supports multiple plugins from different sources, allowing MuJoCo extensions to be introduced in a
-   modular fashion, rather than as global overrides. Note the new mechanism is currently undocumented except in code, as
-   we test it internally. If you are interested in using the plugin mechanism, please get in touch first.
-
-#. :commit:`cce35e18` Added :at:`assetdir` compiler option, which sets the values of both :at:`meshdir` and
-   :at:`texturedir`. Values in the latter attributes take precedence over :at:`assetdir`.
-
-#. :commit:`84d16844` Added :at:`realtime` option to :ref:`visual<visual>` for starting a simulation at a slower speed.
-
-#. :commit:`e250ff0d` Added new :at:`cable` composite type:
-
-   - Cable elements are connected with ball joints.
-   - The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`.
-   - The boundary bodies are exposed with the names :at:`B_last` and :at:`B_first`.
-   - The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`.
-   - The orientation of the body frame **is** the orientation of the material frame of the curve.
-
-#. :commit:`e250ff0d` Added new :at:`cable` passive force plugin:
-
-   - Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
-   - The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
-   - New `cable.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/cable.xml>`__ example
-     showing the formation of plectoneme.
-   - New `coil.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/coil.xml>`__  example
-     showing a curved equilibrium configuration.
-   - New `belt.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/belt.xml>`__  example
-     showing interaction between twist and anisotropy.
-   - Added test using cantilever exact solution.
-
-   +--------------------------+--------------------------+--------------------------+
-   | .. youtube:: 25kQP671fJE | .. youtube:: 4DvGe-BodFU | .. youtube:: QcGdpUd5H0c |
-   |   :align: center         |   :align: center         |    :align: center        |
-   |   :height: 140px         |   :height: 140px         |    :height: 140px        |
-   +--------------------------+--------------------------+--------------------------+
-
-Python bindings
-^^^^^^^^^^^^^^^
-11. :commit:`c13979cd` Added ``id`` and ``name`` properties to
-    `named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`__ objects.
-    These provide more Pythonic API access to ``mj_name2id`` and ``mj_id2name`` respectively.
-
-#. :commit:`58fd72f5` The length of ``MjData.contact`` is now ``ncon`` rather than ``nconmax``, allowing it to be
-   straightforwardly used as an iterator without needing to check ``ncon``.
-
-#. :commit:`ec6ea6a6` Fix a memory leak when a Python callable is installed as callback
-   (`#527 <https://github.com/google-deepmind/mujoco/issues/527>`__).
-
-
-Version 2.2.2 (September 7, 2022)
----------------------------------
-
-General
-^^^^^^^
-
-.. youtube:: BcHZ5BFeTmU
-   :aspect: 16:7
-   :align: right
-   :height: 150px
-
-1. :commit:`3d77eb1e` Added :ref:`adhesion actuators<actuator-adhesion>` mimicking vacuum grippers and adhesive
-   biomechanical appendages.
-#. :commit:`3d77eb1e` Added related
-   `example model <https://github.com/google-deepmind/mujoco/tree/main/model/adhesion>`__ and video:
-#. :commit:`fcf41317` Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a
-   subtree.
-#. :commit:`d26501c0` Added :at:`torquescale` and :at:`anchor` attributes to :el:`weld` constraints. :at:`torquescale`
-   sets the torque-to-force ratio exerted by the constraint, :at:`anchor` sets the point at which the weld wrench is
-   applied. See :ref:`weld <equality-weld>` for more details.
-#. :commit:`d26501c0` Increased ``mjNEQDATA``, the row length of equality constraint parameters in ``mjModel.eq_data``,
-   from 7 to 11.
-#. :commit:`d26501c0` Added visualisation of anchor points for both :el:`connect` and :el:`weld` constraints (activated
-   by the 'N' key in ``simulate``).
-#. :commit:`8ca5887c` Added
-   `weld.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/weld.xml>`__ showing different
-   uses of new weld attributes.
-
-   .. youtube:: s-0JHanqV1A
-      :aspect: 16:7
-      :align: right
-      :height: 150px
-
-#. :commit:`46da1285` Cartesian 6D end-effector control is now possible by adding a reference site to actuators with
-   :at:`site` transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<actuator-general>`
-   documentation and
-   `refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`__
-   example model.
-
-#. :commit:`a693a2d9` Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and
-   actuator :at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true``
-   if the corresponding range *is defined* and ``false`` otherwise.
-
-   If ``autolimits="false"`` (the default) models where a :at:`range` attribute is specified without the :at:`limited`
-   attribute will fail to compile. A future release will change the default of :at:`autolimits` to ``true``, and this
-   compilation error allows users to catch this future change of behavior.
-
-   .. attention::
-     This is a breaking change. In models where a range was defined but :at:`limited` was unspecified, explicitly set
-     limited to ``false`` or remove the range to maintain the current behavior of your model.
-
-#. :commit:`8ca5887c` Added moment of inertia computation for all well-formed meshes. This option is activated by
-   setting the compiler flag :at:`exactmeshinertia` to ``true`` (defaults to ``false``). This default may change in the
-   future.
-#. :commit:`5c5449bf` Added parameter :at:`shellinertia` to :at:`geom`, for locating the inferred inertia on the
-   boundary (shell). Currently only meshes are supported.
-#. :commit:`833dc740` For meshes from which volumetric inertia is inferred, raise error if the orientation of mesh faces
-   is not consistent. If this occurs, fix the mesh in e.g., MeshLab or Blender.
-
-   .. youtube:: I2q7D0Vda-A
-      :align: right
-      :height: 150px
-
-#. :commit:`ae0ac86e` Added catenary visualisation for hanging tendons. The model seen in the video can be found
-   `here <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`__.
-#. :commit:`b966a378` Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<visual-global>`, defining
-   the initial orientation of the free camera at model load time.
-#. :commit:`b966a378` Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above
-   attributes.
-#. :commit:`80b4ffdd` ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
-#. :commit:`834e8dd5` Improvements to time synchronisation in `simulate`, in particular report actual real-time factor
-   if different from requested factor (if e.g., the timestep is so small that simulation cannot keep up with real-time).
-#. :commit:`090fe2db` Added a disable flag for sensors.
-#. :commit:`fdbbc8bb` :ref:`mju_mulQuat` and :ref:`mju_mulQuatAxis` support in place computation. For example
-   |br| ``mju_mulQuat(a, a, b);`` sets the quaternion ``a`` equal to the product of ``a`` and ``b``.
-#. :commit:`e3a82247` Added sensor matrices to ``mjd_transitionFD`` (note this is an API change).
-
-Deleted/deprecated features
-^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-21. :commit:`c8ff7b3d` Removed ``distance`` constraints.
-
-Bug fixes
-^^^^^^^^^
-
-22. :commit:`f71daed6` Fixed rendering of some transparent geoms in reflection.
-#. :commit:`0b2f19bb` Fixed ``intvelocity`` defaults parsing.
-
-
-Version 2.2.1 (July 18, 2022)
------------------------------
-
-General
-^^^^^^^
-
-1. :commit:`228264c9` Added ``mjd_transitionFD`` to compute efficient finite difference approximations of the
-   state-transition and control-transition matrices, :ref:`see here<derivatives>` for more details.
-#. :commit:`373cc894` Added derivatives for the ellipsoid fluid model.
-#. :commit:`09a5efc0` Added ``ctrl`` attribute to :ref:`keyframes<keyframe>`.
-#. :commit:`c14a7ef4` Added ``clock`` sensor which :ref:`measures time<sensor-clock>`.
-#. :commit:`2d0995b4` Added visualisation groups to skins.
-#. :commit:`6ead1461` Added actuator visualisation for ``free`` and ``ball`` joints and for actuators with ``site``
-   transmission.
-#. :commit:`d3a86bb7` Added visualisation for actuator activations.
-#. :commit:`d3a86bb7` Added ``<actuator-intvelocity>`` actuator shortcut for "integrated velocity" actuators, documented
-   :ref:`here <actuator-intvelocity>`.
-#. :commit:`d3a86bb7` Added ``<actuator-damper>`` actuator shortcut for active-damping actuators, documented
-   :ref:`here <actuator-damper>`.
-#. :commit:`ec7133b0` ``mju_rotVecMat`` and ``mju_rotVecMatT`` now support in-place multiplication.
-#. :commit:`d3a86bb7` ``mjData.ctrl`` values are no longer clamped in-place, remain untouched by the engine.
-#. :commit:`d3a86bb7` Arrays in mjData's buffer now align to 64-byte boundaries rather than 8-byte.
-#. :commit:`f887c1e9` Added memory poisoning when building with
-   `Address Sanitizer (ASAN) <https://clang.llvm.org/docs/AddressSanitizer.html>`__ and
-   `Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__. This allows ASAN to detect reads and
-   writes to regions in ``mjModel.buffer`` and ``mjData.buffer`` that do not lie within an array, and for MSAN to detect
-   reads from uninitialised fields in ``mjData`` following ``mj_resetData``.
-#. :commit:`373cc894` Added a
-   `slider-crank example model <https://github.com/google-deepmind/mujoco/tree/main/model/slider_crank>`__.
-
-Bug fixes
-^^^^^^^^^
-
-15. :commit:`d3a86bb7` :ref:`Activation clamping <CActRange>` was not being applied in the
-    :ref:`implicit integrator<geIntegration>`.
-#. :commit:`d3a86bb7` Stricter parsing of orientation specifiers. Before this change, a specification that included both
-   ``quat`` and an :ref:`alternative specifier<COrientation>` e.g., ``<geom ... quat=".1 .2 .3 .4" euler="10 20 30">``,
-   would lead to the ``quat`` being ignored and only ``euler`` being used. After this change a parse error will be
-   thrown.
-#. :commit:`f3453cf8` Stricter parsing of XML attributes. Before this change an erroneous XML snippet like
-   ``<geom size="1/2 3 4">`` would have been parsed as ``size="1 0 0"`` and no error would have been thrown. Now throws
-   an error.
-#. :commit:`d3a86bb7` Trying to load a ``NaN`` via XML like ``<geom size="1 NaN 4">``, while allowed for debugging
-   purposes, will now print a warning.
-#. :commit:`d5672639` Fixed null pointer dereference in ``mj_loadModel``.
-#. :commit:`dbef8e6c` Fixed memory leaks when loading an invalid model from MJB.
-#. :commit:`d3a86bb7` Integer overflows are now avoided when computing ``mjModel`` buffer sizes.
-#. :commit:`d3a86bb7` Added missing warning string for ``mjWARN_BADCTRL``.
-
-Packaging
-^^^^^^^^^
-
-23. :commit:`d3a86bb7` Changed MacOS packaging so that the copy of ``mujoco.framework`` embedded in ``MuJoCo.app`` can
-    be used to build applications externally.
-
-
-Version 2.2.0 (May 23, 2022)
-----------------------------
-
-Open Sourcing
-^^^^^^^^^^^^^
-
-1. :commit:`1913a02b` MuJoCo is now fully open-source software. Newly available top level directories are:
-
-   a. ``src/``: All source files. Subdirectories correspond to the modules described in the Programming chapter
-   :ref:`introduction<inIntro>`:
-
-   - ``src/engine/``: Core engine.
-   - ``src/xml/``: XML parser.
-   - ``src/user/``: Model compiler.
-   - ``src/visualize/``: Abstract visualizer.
-   - ``src/ui/``: UI framework.
-
-   b. ``test/``: Tests and corresponding asset files.
-
-   c. ``dist/``: Files related to packaging and binary distribution.
-
-#. :commit:`1913a02b` Added
-   `contributor's guide <https://github.com/google-deepmind/mujoco/blob/main/CONTRIBUTING.md>`__ and
-   `style guide <https://github.com/google-deepmind/mujoco/blob/main/STYLEGUIDE.md>`__.
-
-General
-^^^^^^^
-
-3. :commit:`64bc6d27` Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
-
-   - Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
-   - Damping and fluid-drag passive forces.
-   - Actuation forces.
-
-#. :commit:`64bc6d27` Added ``implicit`` integrator. Using the analytic derivatives above, a new implicit-in-velocity
-   integrator was added. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability
-   and computational cost. It is most useful for models which use fluid drag (e.g. for flying or swimming) and for
-   models which use :ref:`velocity actuators<actuator-velocity>`. For more details, see the
-   :ref:`Numerical Integration<geIntegration>` section.
-
-#. :commit:`1913a02b` Added :at:`actlimited` and :at:`actrange` attributes to
-   :ref:`general actuators<actuator-general>`, for clamping actuator internal states (activations). This clamping is
-   useful for integrated-velocity actuators, see the :ref:`Activation clamping <CActRange>` section for details.
-
-#. :commit:`1913a02b` ``mjData`` fields ``qfrc_unc`` (unconstrained forces) and ``qacc_unc`` (unconstrained
-   accelerations) were renamed ``qfrc_smooth`` and ``qacc_smooth``, respectively. While "unconstrained" is precise,
-   "smooth" is more intelligible than "unc".
-
-#. :commit:`1913a02b` Public headers have been moved from ``/include`` to ``/include/mujoco/``, in line with the
-   directory layout common in other open source projects. Developers are encouraged to include MuJoCo public headers in
-   their own codebase via ``#include <mujoco/filename.h>``.
-
-#. :commit:`1913a02b` The default shadow resolution specified by the :ref:`shadowsize<visual-quality>` attribute was
-   increased from 1024 to 4096.
-
-#. :commit:`1913a02b` Saved XMLs now use 2-space indents.
-
-Bug fixes
-^^^^^^^^^
-
-10. :commit:`1913a02b` Antialiasing was disabled for segmentation rendering. Before this change, if the
-    :ref:`offsamples<visual-quality>` attribute was greater than 0 (the default value is 4), pixels that overlapped with
-    multiple geoms would receive averaged segmentation IDs, leading to incorrect or non-existent IDs. After this change
-    :at:`offsamples` is ignored during segmentation rendering.
-
-#. :commit:`1913a02b` The value of the enable flag for the experimental multiCCD feature was made sequential with other
-    enable flags. Sequentiality is assumed in the ``simulate`` UI and elsewhere.
-
-#. :commit:`1913a02b` Fix issue of duplicated meshes when saving models with OBJ meshes using mj_saveLastXML.
-
-
-Version 2.1.5 (Apr. 13, 2022)
------------------------------
-
-General
-^^^^^^^
-
-1. :commit:`87539dbd` Added an experimental feature: multi-contact convex collision detection, activated by an enable
-   flag. See full description :ref:`here <option-flag>`.
-
-Bug fixes
-^^^^^^^^^
-
-2. :commit:`87539dbd` GLAD initialization logic on Linux now calls ``dlopen`` to load a GL platform dynamic library if a
-   ``*GetProcAddress`` function is not already present in the process' global symbol table. In particular, processes
-   that use GLFW to set up a rendering context that are not explicitly linked against ``libGLX.so`` (this applies to the
-   Python interpreter, for example) will now work correctly rather than fail with a ``gladLoadGL`` error when
-   ``mjr_makeContext`` is called.
-
-#. :commit:`87539dbd` In the Python bindings, named indexers for scalar fields (e.g. the ``ctrl`` field for actuators)
-   now return a NumPy array of shape ``(1,)`` rather than ``()``. This allows values to be assigned to these fields more
-   straightforwardly.
-
-Version 2.1.4 (Apr. 4, 2022)
-----------------------------
-
-General
-^^^^^^^
-
-1. :commit:`90dea1bd` MuJoCo now uses GLAD to manage OpenGL API access instead of GLEW. On Linux, there is no longer a
-   need to link against different GL wrangling libraries depending on whether GLX, EGL, or OSMesa is being used.
-   Instead, users can simply use GLX, EGL, or OSMesa to create a GL context and ``mjr_makeContext`` will detect which
-   one is being used.
-
-#. :commit:`90dea1bd` Added visualisation for contact frames. This is useful when writing or modifying collision
-   functions, when the actual direction of the x and y axes of a contact can be important.
-
-Binary build
-^^^^^^^^^^^^
-
-3. :commit:`90dea1bd` The ``_nogl`` dynamic library is no longer provided on Linux and Windows. The switch to GLAD
-   allows us to resolve OpenGL symbols when ``mjr_makeContext`` is called rather than when the library is loaded. As a
-   result, the MuJoCo library no longer has an explicit dynamic dependency on OpenGL, and can be used on system where
-   OpenGL is not present.
-
-Simulate
-^^^^^^^^
-
-4. :commit:`90dea1bd` Fixed a bug in simulate where pressing '[' or ']' when a model is not loaded causes a crash.
-
-#. :commit:`90dea1bd` Contact frame visualisation was added to the Simulate GUI.
-
-#. :commit:`90dea1bd` Renamed "set key", "reset to key" to "save key" and "load key", respectively.
-
-#. :commit:`90dea1bd` Changed bindings of F6 and F7 from the not very useful "vertical sync" and "busy wait" to the more
-   useful cycling of frames and labels.
-
-Bug fixes
-^^^^^^^^^
-
-8. :commit:`90dea1bd` ``mj_resetData`` zeroes out the ``solver_nnz`` field.
-
-#. :commit:`90dea1bd` Removed a special branch in ``mju_quat2mat`` for unit quaternions. Previously, ``mju_quat2mat``
-   skipped all computation if the real part of the quaternion equals 1.0. For very small angles (e.g. when finite
-   differencing), the cosine can evaluate to exactly 1.0 at double precision while the sine is still nonzero.
-
-
-Version 2.1.3 (Mar. 23, 2022)
------------------------------
-
-General
-^^^^^^^
-
-1. :commit:`df048e54` ``simulate`` now supports cycling through cameras (with the ``[`` and ``]`` keys).
-#. :commit:`df048e54` ``mjVIS_STATIC`` toggles all static bodies, not just direct children of the world.
-
-Python bindings
-^^^^^^^^^^^^^^^
-
-3. :commit:`df048e54` Added a ``free()`` method to ``MjrContext``.
-#. :commit:`df048e54` Enums now support arithmetic and bitwise operations with numbers.
-
-Bug fixes
-^^^^^^^^^
-
-5. :commit:`df048e54` Fixed rendering bug for planes, introduced in 2.1.2. This broke maze environments in
-   `dm_control <https://github.com/google-deepmind/dm_control>`__.
-
-
-Version 2.1.2 (Mar. 15, 2022)
------------------------------
-
-New modules
-^^^^^^^^^^^
-
-1. :commit:`3577e2cf` Added new :doc:`Python bindings<python>`, which can be installed via ``pip install mujoco``,
-   and imported as ``import mujoco``.
-#. :commit:`3577e2cf` Added new :doc:`Unity plug-in<unity>`.
-#. :commit:`3577e2cf` Added a new ``introspect`` module, which provides reflection-like capability for MuJoCo's public
-   API, currently describing functions and enums. While implemented in Python, this module is expected to be generally
-   useful for automatic code generation targeting multiple languages. (This is not shipped as part of the ``mujoco``
-   Python bindings package.)
-
-API changes
-^^^^^^^^^^^
-
-4. :commit:`3577e2cf` Moved definition of ``mjtNum`` floating point type into a new header
-   `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`__.
-#. :commit:`3577e2cf` Renamed header `mujoco_export.h` to :ref:`mjexport.h<inHeader>`.
-#. :commit:`3577e2cf` Added ``mj_printFormattedData``, which accepts a format string for floating point numbers, for
-   example to increase precision.
-
-General
-^^^^^^^
-
-7. :commit:`3577e2cf` MuJoCo can load `OBJ <https://en.wikipedia.org/wiki/Wavefront_.obj_file>`__ mesh files.
-
-   a. Meshes containing polygons with more than 4 vertices are not supported.
-   #. In OBJ files containing multiple object groups, any groups after the first one will be ignored.
-   #. Added (post-release, not included in the 2.1.2 archive) textured
-      `mug <https://github.com/google-deepmind/mujoco/blob/main/model/mug/mug.xml>`__ example model:
-
-      .. image:: images/changelog/mug.png
-         :width: 300px
-
-
-#. :commit:`3577e2cf` Added optional frame-of-reference specification to :ref:`framepos<sensor-framepos>`,
-   :ref:`framequat<sensor-framequat>`, :ref:`framexaxis<sensor-framexaxis>`, :ref:`frameyaxis<sensor-frameyaxis>`,
-   :ref:`framezaxis<sensor-framezaxis>`, :ref:`framelinvel<sensor-framelinvel>`, and
-   :ref:`frameangvel<sensor-frameangvel>` sensors. The frame-of-reference is specified by new :at:`reftype` and
-   :at:`refname` attributes.
-
-#. :commit:`3577e2cf` Sizes of :ref:`user parameters <CUser>` are now automatically inferred.
-
-   a. Declarations of user parameters in the top-level :ref:`size <size>` clause (e.g. :at:`nuser_body`,
-      :at:`nuser_jnt`, etc.) now accept a value of -1, which is the default. This will automatically set the value to
-      the length of the maximum associated :at:`user` attribute defined in the model.
-   #. Setting a value smaller than -1 will lead to a compiler error (previously a segfault).
-   #. Setting a value to a length smaller than some :at:`user` attribute defined in the model will lead to an error
-      (previously additional values were ignored).
-
-#. :commit:`3577e2cf` Increased the maximum number of lights in an :ref:`mjvScene` from 8 to 100.
-
-#. :commit:`3577e2cf` Saved XML files only contain explicit :ref:`inertial <body-inertial>` elements if the original XML
-   included them. Inertias that were automatically inferred by the compiler's :ref:`inertiafromgeom <compiler>`
-   mechanism remain unspecified.
-
-#. :commit:`3577e2cf` User-selected geoms are always rendered as opaque. This is useful in interactive visualizers.
-
-#. :commit:`3577e2cf` Static geoms now respect their :ref:`geom group<body-geom>` for visualisation. Until this change
-   rendering of static geoms could only be toggled using the :ref:`mjVIS_STATIC<mjtVisFlag>` visualisation flag . After
-   this change, both the geom group and the visualisation flag need to be enabled for the geom to be rendered.
-
-#. :commit:`3577e2cf` Pointer parameters in function declarations in :ref:`mujoco.h<inHeader>` that are supposed to
-   represent fixed-length arrays are now spelled as arrays with extents, e.g. ``mjtNum quat[4]`` rather than
-   ``mjtNum* quat``. From the perspective of C and C++, this is a non-change since array types in function signatures
-   decay to pointer types. However, it allows autogenerated code to be aware of expected input shapes.
-
-#. :commit:`147efb51` Experimental stateless fluid interaction model. As described :ref:`here <gePassive>`, fluid forces
-   use sizes computed from body inertia. While sometimes convenient, this is very rarely a good approximation. In the
-   new model forces act on geoms, rather than bodies, and have a several user-settable parameters. The model is
-   activated by setting a new attribute: ``<geom fluidshape="ellipsoid"/>``. The parameters are described succinctly
-   :ref:`here<body-geom>`, but we leave a full description or the model and its parameters to when this feature leaves
-   experimental status.
-
-Bug fixes
-^^^^^^^^^
-
-16. :commit:`3577e2cf` ``mj_loadXML`` and ``mj_saveLastXML`` are now locale-independent. The Unity plugin should now
-    work correctly for users whose system locales use commas as decimal separators.
-#. :commit:`3577e2cf` XML assets in VFS no longer need to end in a null character. Instead, the file size is determined
-    by the size parameter of the corresponding VFS entry.
-#. :commit:`3577e2cf` Fix a vertex buffer object memory leak in ``mjrContext`` when skins are used.
-#. :commit:`3577e2cf` Camera quaternions are now normalized during XML compilation.
-
-Binary build
-^^^^^^^^^^^^
-
-20. :commit:`3577e2cf` Windows binaries are now built with Clang.
-
-Version 2.1.1 (Dec. 16, 2021)
------------------------------
-
-API changes
-^^^^^^^^^^^
-
-1. :commit:`a499b381` Added ``mj_printFormattedModel``, which accepts a format string for floating point numbers, for
-   example to increase precision.
-#. :commit:`a499b381` Added ``mj_versionString``, which returns human-readable string that represents the version of the
-   MuJoCo binary.
-#. :commit:`a499b381` Converted leading underscores to trailing underscores in private instances of API struct
-   definitions, to conform to reserved identifier directive, see
-   `C standard: Section 7.1.3 <https://www.open-std.org/jtc1/sc22/wg14/www/docs/n1570.pdf>`__.
-
-   .. attention::
-      This is a minor breaking change. Code which references private instances will break. To fix, replace leading
-      underscores with trailing underscores, e.g. ``_mjModel`` |rarr| ``mjModel_``.
-
-General
-^^^^^^^
-
-4. :commit:`a499b381` Safer string handling: replaced ``strcat``, ``strcpy``, and ``sprintf`` with ``strncat``,
-   ``strncpy``, and ``snprintf`` respectively.
-#. :commit:`ee39340a` Changed indentation from 4 spaces to 2 spaces, K&R bracing style, added braces to one-line
-   conditionals.
-
-Bug Fixes
-^^^^^^^^^
-
-6. :commit:`a499b381` Fixed reading from uninitialized memory in PGS solver.
-#. :commit:`a499b381` Computed capsule inertias are now exact. Until this change, capsule masses and inertias computed
-   by the :ref:`compiler <compiler>`'s :at:`inertiafromgeom` mechanism were approximated by a cylinder, formed by the
-   capsule's cylindrical middle section, extended on both ends by half the capsule radius. Capsule inertias are now
-   computed with the `Parallel Axis theorem <https://en.wikipedia.org/wiki/Parallel_axis_theorem>`__, applied to the two
-   hemispherical end-caps.
-
-   .. attention::
-      This is a minor breaking change. Simulation of a model with automatically-computed capsule inertias will be
-      numerically different, leading to, for example, breakage of golden-value tests.
-#. :commit:`a499b381` Fixed bug related to :ref:`force <sensor-force>` and :ref:`torque <sensor-torque>` sensors. Until
-   this change, forces and torques reported by F/T sensors ignored out-of-tree constraint wrenches except those produced
-   by contacts. Force and torque sensors now correctly take into account the effects of
-   :ref:`connect <equality-connect>` and :ref:`weld <equality-weld>` constraints.
-
-   .. note::
-      Forces generated by :ref:`spatial tendons <tendon-spatial>` which are outside the kinematic tree (i.e., between
-      bodies which have no ancestral relationship) are still not taken into account by force and torque sensors. This
-      remains a future work item.
-
-Code samples
-^^^^^^^^^^^^
-
-9. :commit:`a499b381` ``testspeed``: Added injection of pseudo-random control noise, turned on by default. This is to
-   avoid settling into some fixed contact configuration and providing an unrealistic timing measure.
-#. :commit:`a499b381` ``simulate``:
-
-   a. Added slower-than-real-time functionality, which is controlled via the '+' and '-' keys.
-   #. Added sliders for injecting Brownian noise into the controls.
-   #. Added "Print Camera" button to print an MJCF clause with the pose of the current camera.
-   #. The camera pose is not reset when reloading the same model file.
-
-Updated dependencies
-^^^^^^^^^^^^^^^^^^^^
-
-11. :commit:`a499b381` ``TinyXML`` was replaced with ``TinyXML2`` 6.2.0.
-#. :commit:`a499b381` ``qhull`` was upgraded to version 8.0.2.
-#. :commit:`a499b381` ``libCCD`` was upgraded to version 1.4.
-#. :commit:`a499b381` On Linux, ``libstdc++`` was replaced with ``libc++``.
-
-Binary build
-^^^^^^^^^^^^
-
-15. :commit:`a499b381` MacOS packaging. We now ship Universal binaries that natively support both Apple Silicon and
-    Intel CPUs.
-
-    a. MuJoCo library is now packaged as a `Framework Bundle
-       <https://developer.apple.com/library/archive/documentation/MacOSX/Conceptual/BPFrameworks/Concepts/FrameworkAnato
-       my.html>`__, allowing it to be incorporated more easily into Xcode projects (including Swift projects). Developers
-       are encouraged to compile and link against MuJoCo using the ``-framework mujoco`` flag, however all header files
-       and the ``libmujoco.2.1.1.dylib`` library can still be directly accessed inside the framework.
-    #. Sample applications are now packaged into an Application Bundle called ``MuJoCo.app``. When launched via GUI,
-       the bundle launches the ``simulate`` executable. Other precompiled sample programs are shipped inside that bundle
-       (in ``MuJoCo.app/Contents/MacOS``) and can be launched via command line.
-    #. Binaries are now signed and the disk image is notarized.
-
-#. :commit:`a499b381` Windows binaries and libraries are now signed.
-#. :commit:`a499b381` Link-time optimization is enabled on Linux and macOS, leading to an average of \~20% speedup when
-   benchmarked on three test models (``cloth.xml``, ``humanoid.xml``, and ``humanoid100.xml``).
-#. :commit:`a499b381` Linux binaries are now built with LLVM/Clang instead of GCC.
-#. :commit:`a499b381` An AArch64 (aka ARM64) Linux build is also provided.
-#. :commit:`a499b381` Private symbols are no longer stripped from shared libraries on Linux and MacOS.
-
-Sample models
-^^^^^^^^^^^^^
-21. :commit:`a499b381` Clean-up of the ``model/`` directory.
-
-    a. Rearranged into subdirectories which include all dependencies.
-    #. Added descriptions in XML comments, cleaned up XMLs.
-    #. Deleted some composite models: ``grid1``, ``grid1pin``, ``grid2``, ``softcylinder``, ``softellipsoid``.
-
-#. :commit:`a499b381` Added descriptive animations in ``docs/images/models/`` :
-
-|humanoid|   |particle|
-
-
-Version 2.1.0 (Oct. 18, 2021)
------------------------------
-
-New features
-^^^^^^^^^^^^
-
-1. Keyframes now have ``mocap_pos`` and ``mocap_quat`` fields (mpos and quat attributes in the XML) allowing mocap
-   poses to be stored in keyframes.
-2. New utility functions: ``mju_insertionSortInt`` (integer insertion sort) and ``mju_sigmoid`` (constructing a
-   sigmoid from two half-quadratics).
-
-General
-^^^^^^^
-
-3. The preallocated sizes in the virtual file system (VFS) increased to 2000 and 1000, to allow for larger projects.
-#. The C structs in the ``mjuiItem`` union are now named, for compatibility.
-#. Fixed: ``mjcb_contactfilter`` type is ``mjfConFilt`` (was ``mjfGeneric``).
-#. Fixed: The array of sensors in ``mjCModel`` was not cleared.
-#. Cleaned up cross-platform code (internal changes, not visible via the API).
-#. Fixed a bug in parsing of XML ``texcoord`` data (related to number of vertices).
-#. Fixed a bug in `simulate.cc <https://github.com/google-deepmind/mujoco/blob/main/simulate/simulate.cc>`__ related to
-   ``nkey`` (the number of keyframes).
-#. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and
-   conaffinity==0``).
-
-UI
-^^
-
-11. Figure selection type changed from ``int`` to ``float``.
-#. Figures now show data coordinates, when selection and highlight are enabled.
-#. Changed ``mjMAXUIMULTI`` to 35, ``mjMAXUITEXT`` to 300, ``mjMAXUIRECT`` to 25.
-#. Added collapsible sub-sections, implemented as separators with state: ``mjSEPCLOSED`` collapsed, ``mjSEPCLOSED+1``
-   expanded.
-#. Added ``mjITEM_RADIOLINE`` item type.
-#. Added function ``mjui_addToSection`` to simplify UI section construction.
-#. Added subplot titles to ``mjvFigure``.
-
-Rendering
-^^^^^^^^^
-
-18. ``render_gl2`` guards against non-finite floating point data in the axis range computation.
-#. ``render_gl2`` draws lines from back to front for better visibility.
-#. Added function ``mjr_label`` (for text labels).
-#. ``mjr_render`` exits immediately if ``ngeom==0``, to avoid errors from uninitialized scenes (e.g. ``frustrum==0``).
-#. Added scissor box in ``mjr_render``, so we don't clear the entire window at every frame.
-
-
-License manager
-^^^^^^^^^^^^^^^
-
-23. Removed the entire license manager. The functions ``mj_activate`` and ``mj_deactivate`` are still there for
-    backward compatibility, but now they do nothing and it is no longer necessary to call them.
-#. Removed the remote license certificate functions ``mj_certXXX``.
-
-Earlier versions
-----------------
-
-For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`__.
-
-.. |humanoid| image:: images/models/humanoid.gif
-   :width: 270px
-.. |particle| image:: images/models/particle.gif
-   :width: 270px
diff --git a/doc/computation/fluid.rst b/doc/computation/fluid.rst
deleted file mode 100644
index 6248a3c3..00000000
--- a/doc/computation/fluid.rst
+++ /dev/null
@@ -1,595 +0,0 @@
-Fluid forces
-============
-
-Proper simulation of fluid dynamics is beyond the scope of MuJoCo, and would be too slow for the applications we aim to
-facilitate. Nevertheless we provide two phenomenological models which are sufficient for simulating behaviors
-such as flying and swimming. These models are *stateless*, in the sense that no additional states are assigned to the
-surrounding fluid, yet are able to capture the salient features of rigid bodies moving through a fluid medium.
-
-Both models are enabled by setting the :ref:`density<option-density>` and :ref:`viscosity<option-viscosity>` attributes
-to positive values. These parameters correspond to the density :math:`\rho` and viscosity :math:`\beta` of the medium.
-
-1. The :ref:`Inertia-based model<flInertia>`, uses only viscosity and density, inferring geometry from body
-   equivalent-inertia boxes.
-2. The :ref:`Ellipsoid-based model <flEllipsoid>` is more elaborate, using an ellipsoid approximation of geoms.
-   In addition to the global viscosity and density of the medium, this model exposes 5 tunable parameters per
-   interacting geom.
-
-.. tip::
-   As detailed in the :ref:`Numerical Integration<geIntegration>` section, implicit integration significantly improves
-   simulation stability in the presence of velocity-dependent forces. Both of the fluid-force models described below
-   exhibit this property, so the ``implicit`` or ``implicitfast`` :ref:`intergrators<option-integrator>` are
-   recommended when using fluid forces. The required analytic derivatives for both models are fully implemented.
-
-.. _flInertia:
-
-Inertia model
--------------
-
-In this model the shape of each body, for fluid dynamics purposes, is assumed to be the *equivalent inertia box*,
-which can also be visualized. For a body with mass :math:`\mathcal{M}` and inertia matrix :math:`\mathcal{I}`, the
-half-dimensions (i.e. half-width, half-depth and half-height) of the equivalent inertia box are
-
-.. math::
-   \begin{align*}
-   r_x = \sqrt{\frac{3}{2 \mathcal{M}} \left(\mathcal{I}_{yy} + \mathcal{I}_{zz} - \mathcal{I}_{xx} \right)}  \\
-   r_y = \sqrt{\frac{3}{2 \mathcal{M}} \left(\mathcal{I}_{zz} + \mathcal{I}_{xx} - \mathcal{I}_{yy} \right)}  \\
-   r_z = \sqrt{\frac{3}{2 \mathcal{M}} \left(\mathcal{I}_{xx} + \mathcal{I}_{yy} - \mathcal{I}_{zz} \right)}
-   \end{align*}
-
-Let :math:`\mathbf{v}` and :math:`\boldsymbol{\omega}` denote the linear and angular body velocity of the body in
-the body-local frame (aligned with the equivalent inertia box). The force :math:`\mathbf{f}_{\text{inertia}}` and
-torque :math:`\mathbf{g}_{\text{inertia}}` exerted by the fluid onto the solid are the sum of the terms
-
-.. math::
-   \begin{align*}
-   \mathbf{f}_{\text{inertia}} &= \mathbf{f}_D + \mathbf{f}_V  \\
-   \mathbf{g}_{\text{inertia}} &= \mathbf{g}_D + \mathbf{g}_V
-   \end{align*}
-
-Here subscripts :math:`D` and :math:`V` denote quadratic Drag and Viscous resistance.
-
-The quadratic drag terms depend on the density :math:`\rho` of the fluid, scale quadratically with the velocity
-of the body, and are a valid approximation of the fluid forces at high Reynolds numbers.
-The torque is obtained by integrating the force resulting from the rotation over the surface area.
-The :math:`i`-th component of the force and torque can be written as
-
-.. math::
-   \begin{aligned}
-   f_{D, i} = \quad &- 2  \rho r_j r_k |v_i| v_i \\
-   g_{D, i} = \quad &- {1 \over 2} \rho r_i \left(r_j^4 + r_k^4 \right) |\omega_i| \omega_i \\
-   \end{aligned}
-
-The viscous resistance terms depend on the fluid viscosity :math:`\beta`, scale linearly with the body velocity, and
-approximate the fluid forces at low Reynolds numbers. Note that viscosity can be used independent of density to make
-the simulation more damped. We use the formulas for the equivalent sphere with radius
-:math:`r_{eq} = (r_x + r_y + r_z) / 3`  at low Reynolds numbers. The resulting 3D force and torque in local
-body coordinates are
-
-.. math::
-   \begin{aligned}
-   f_{V, i} = \quad &- 6 \beta \pi r_{eq} v_i \\
-   g_{V, i} = \quad &- 8 \beta \pi r_{eq}^3 \omega_i \\
-   \end{aligned}
-
-One can also affect these forces by specifying a non-zero :ref:`wind<option-wind>`, which is a 3D vector subtracted
-from the body linear velocity in the fluid dynamics computation.
-
-.. _flEllipsoid:
-
-Ellipsoid model
----------------
-
-.. cssclass:: caption-small
-.. figure:: ../images/computation/fruitfly.png
-   :figwidth: 50%
-   :align: right
-
-   The flight-capable Drosophila Melanogaster model in this figure is described in :cite:t:`Vaxenburg2024`.
-
-
-In this section we describe and derive a stateless model of the forces exerted onto a moving rigid body by the
-surrounding fluid, based on an ellipsoidal approximation of geom shape. This model provides finer-grained control of the
-different types of fluid forces than the inertia-based model of the previous section. The motivating use-case for this
-model is insect flight, see figure on the right.
-
-Summary
-~~~~~~~
-
-The model is activated per-geom by setting the :ref:`fluidshape<body-geom-fluidshape>` attribute to ``ellipsoid``, which
-also disables the inertia-based model for the parent body. The
-5 numbers in the :ref:`fluidcoef<body-geom-fluidcoef>` attribute correspond to the following semantics
-
-
-.. list-table::
-   :width: 60%
-   :align: left
-   :widths: 1 5 2 1
-   :header-rows: 1
-
-   * - Index
-     - Description
-     - Symbol
-     - Default
-   * - 0
-     - Blunt drag coefficient
-     - :math:`C_{D, \text{blunt}}`
-     - 0.5
-   * - 1
-     - Slender drag coefficient
-     - :math:`C_{D, \text{slender}}`
-     - 0.25
-   * - 2
-     - Angular drag coefficient
-     - :math:`C_{D, \text{angular}}`
-     - 1.5
-   * - 3
-     - Kutta lift coefficient
-     - :math:`C_K`
-     - 1.0
-   * - 4
-     - Magnus lift coefficient
-     - :math:`C_M`
-     - 1.0
-
-Elements of the model are a generalization of :cite:t:`andersen2005b` to 3 dimensions.
-The force :math:`\mathbf{f}_{\text{ellipsoid}}` and torque
-:math:`\mathbf{g}_{\text{ellipsoid}}` exerted by the fluid onto the solid are
-the sum of the terms
-
-.. math::
-   \begin{align*}
-   \mathbf{f}_{\text{ellipsoid}} &= \mathbf{f}_A + \mathbf{f}_D + \mathbf{f}_M + \mathbf{f}_K + \mathbf{f}_V  \\
-   \mathbf{g}_{\text{ellipsoid}} &= \mathbf{g}_A + \mathbf{g}_D + \mathbf{g}_V
-   \end{align*}
-
-Where subscripts :math:`A`, :math:`D`, :math:`M`, :math:`K` and  :math:`V` denote Added mass, viscous Drag, Magnus lift,
-Kutta lift and Viscous resistance, respectively. The :math:`D`, :math:`M` and :math:`K` terms are scaled by the respective
-:math:`C_D`, :math:`C_M` and :math:`C_K` coefficients above, the viscous resistance scales with the fluid viscosity
-:math:`\beta`, while the added mass term cannot be scaled.
-
-Notation
-~~~~~~~~
-
-We describe the motion of the object in an inviscid, incompressible quiescent fluid of density :math:`\rho`. The
-arbitrarily-shaped object is described in the model as the equivalent ellipsoid of semi-axes
-:math:`\mathbf{r} = \{r_x, r_y, r_z\}`.
-The problem is described in a reference frame aligned with the sides of the ellipsoid and moving with it. The
-body has velocity :math:`\mathbf{v} = \{v_x, v_y, v_z\}` and angular velocity
-:math:`\boldsymbol{\omega} = \{\omega_x, \omega_y, \omega_z\}`. We will also use
-
-.. math::
-   \begin{align*}
-       r_\text{max} &= \max(r_x, r_y, r_z) \\
-       r_\text{min} &= \min(r_x, r_y, r_z) \\
-       r_\text{mid} &= r_x + r_y + r_z - r_\text{max} - r_\text{min}
-   \end{align*}
-
-The Reynolds number is the ratio between inertial and viscous forces within a flow and is defined as :math:`Re=u~l/\beta`, where
-:math:`\beta` is the kinematic viscosity of the fluid, :math:`u` is the characteristic speed of the flow (or, by change of frame, the
-speed of the body), and :math:`l` is a characteristic size of the flow or the body.
-
-We will use :math:`\Gamma` to denote circulation, which is the line integral of the velocity field around a closed curve
-:math:`\Gamma = \oint \mathbf{v} \cdot \textrm{d} \mathbf{l}` and, due to Stokes' Theorem,
-:math:`\Gamma = \int_S \nabla \times \mathbf{v} \cdot \textrm{d}\mathbf{s}`.
-In fluid dynamics notation the symbol :math:`\boldsymbol{\omega}` is often used for the
-vorticity, defined as :math:`\nabla \times \mathbf{v}`, rather than the angular velocity. For a rigid-body motion, the
-vorticity is twice the angular velocity.
-
-Finally, we use the subscripts :math:`i, j, k` to denote triplets of equations that apply symmetrically to
-:math:`x, y, z`. For example :math:`a_i = b_j + b_k` is shorthand for the 3 equations
-
-.. math::
-   \begin{align*}
-       a_x &= b_y + b_z \\
-       a_y &= b_x + b_z \\
-       a_z &= b_x + b_y
-   \end{align*}
-
-.. _flProjection:
-
-Ellipsoid projection
-~~~~~~~~~~~~~~~~~~~~
-
-We present the following result.
-
-.. admonition:: Lemma
-   :class: note
-
-   Given an ellipsoid with semi-axes :math:`(r_x, r_y, r_z)` aligned with the coordinate axes :math:`(x, y, z)`, and a
-   unit vector :math:`\mathbf{u} = (u_x, u_y, u_z)`, the area projected by the ellipsoid onto the plane normal to
-   :math:`\mathbf{u}` is
-
-   .. math::
-      A^{\mathrm{proj}}_{\mathbf{u}} = \pi \sqrt{\frac{r_y^4 r_z^4 u_x^2 + r_z^4 r_x^4 u_y^2 + r_x^4 r_y^4 u_z^2}{r_y^2 r_z^2 u_x^2 + r_z^2 r_x^2 u_y^2 + r_x^2 r_y^2 u_z^2}}
-
-.. collapse:: Expand for derivation
-
-   .. admonition:: Derivation of lemma
-      :class: tip
-
-      **Area of an ellipse**
-         Any ellipse centered at the origin can be described in terms of a quadratic form a
-         :math:`\mathbf{x}^T Q \mathbf{x} = 1`, where :math:`Q` is a real, symmetric, positive-definite 2x2 matrix that
-         defines the orientation and  semi-axis lengths of the ellipse, and :math:`\mathbf{x} = (x, y)` are points on the
-         ellipse. The area of the ellipse is given by
-
-         .. math::
-            A = \frac{\pi}{\sqrt{\det Q}} .
-
-      **Ellipsoid cross-section**
-         We begin by computing the area of the ellipse formed by intersecting an ellipsoid centered at the origin with the
-         plane :math:`\Pi_{\mathbf{n}}` through the origin with unit normal :math:`\mathbf{n} = (n_x, n_y, n_z)`. Let
-         :math:`(r_x, r_y, r_z)` be the semi-axis lengths of the ellipsoid. Without loss of generality, it is sufficient to
-         assume that the axes of the ellipsoid are aligned with the coordinate axes. The ellipsoid can then be described as
-         :math:`\mathbf{x}^T Q \mathbf{x} = 1`, where
-         :math:`Q = \textrm{diag}\mathopen{}\left( \left. 1 \middle/ r_x^2 \right., \left. 1 \middle/ r_y^2 \right., \left. 1 \middle/ r_z^2 \right. \right)\mathclose{}`
-         and :math:`\mathbf{x} = (x, y, z)` are the points on the ellipsoid.
-
-         We proceed by rotating the plane :math:`\Pi_{\mathbf{n}}` together with the ellipsoid so that the normal of the
-         rotated plane points along the :math:`z` axis. This would then allow us to get the desired intersection by setting
-         the :math:`z` coordinate to zero. Writing :math:`\mathbf{\hat{z}}` for the unit vector along the :math:`z` axis, we
-         have
-
-         .. math::
-            \begin{align*}
-            \mathbf{n} \times \mathbf{\hat{z}} &= \sin\theta \, \mathbf{m}, \\
-            \mathbf{n} \cdot \mathbf{\hat{z}} &= \cos\theta ,
-            \end{align*}
-
-         where :math:`\mathbf{m}` is the unit vector that defines the rotation axis and :math:`\theta` is the rotation
-         angle. We can rearrange these to get quantities that we need to form a rotation quaternion, namely
-
-         .. math::
-            \begin{align*}
-            \cos\frac{\theta}{2}
-            &= \sqrt{\frac{1+\cos\theta}{2}}
-            &= \sqrt{\frac{1 + \mathbf{n} \cdot \mathbf{\hat{z}}}{2}}, \\
-            \sin\frac{\theta}{2}\,\mathbf{m}
-            &= \frac{\mathbf{n} \times \mathbf{\hat{z}}}{2\cos\frac{\theta}{2}}
-            &= \frac{\mathbf{n} \times \mathbf{\hat{z}}}{\sqrt{2 (1 + \mathbf{n} \cdot \mathbf{\hat{z}})}} .
-            \end{align*}
-
-         The rotation quaternion :math:`q = q_r + q_x \mathbf{i} + q_y \mathbf{j} + q_z \mathbf{k}` is therefore given by
-
-         .. math::
-            q_r = \sqrt{\frac{1 + n_z}{2}}, \quad
-            q_x = \frac{n_y}{\sqrt{2 \left(1+n_z\right)}},  \quad
-            q_y = \frac{-n_x}{\sqrt{2 \left(1+n_z\right)}}, \quad
-            q_z = 0 .
-
-         From this, the rotation matrix is given by
-
-         .. math::
-            \def\arraystretch{1.33}
-            \begin{align*}
-            R &= \begin{pmatrix}
-            1 - 2 q_y^2 - 2 q_z^2 & 2 \left(q_x q_y - q_r q_z\right) & 2 \left(q_x q_z + q_r q_y\right) \\
-            2 \left(q_x q_y + q_r q_z\right) & 1 - 2 q_x^2 - 2 q_z^2 & 2 \left(q_y q_z - q_r q_x\right) \\
-            2 \left(q_x q_z - q_r q_y\right) & 2 \left(q_y q_z + q_r q_x\right) & 1 - 2 q_x^2 - 2 q_y^2
-            \end{pmatrix} \\
-            &= \begin{pmatrix}
-            1 - \left. n_x^2 \middle/ \left( 1+n_z \right) \right. & \left. -n_x n_y \middle/ \left( 1+n_z \right) \right. & -n_x \\
-            \left. -n_x n_y \middle/ \left( 1+n_z \right) \right. & 1 - \left. n_y^2 \middle/ \left( 1+n_z \right) \right. & -n_y \\
-            n_x & n_y & 1 - \left. \left( n_x^2 + n_y^2 \right) \middle/ \left( \vphantom{n_x^2} 1+n_z \right) \right.
-            \end{pmatrix},
-            \end{align*}
-
-         and the rotated ellipsoid is described via the transformed quadratic form
-
-         .. math::
-            \mathbf{x}^T Q' \mathbf{x} = \mathbf{x}^T \left( R^T Q R \right) \mathbf{x} = 1 .
-
-         From the formula for ellipse area above, for the area of the ellipse at :math:`z=0`, we need
-
-         .. math::
-            \begin{align*}
-            Q'_{xx} &= \frac{1}{r_x^2} R_{xx}^2 + \frac{1}{r_y^2} R_{yx}^2 + \frac{1}{r_z^2} R_{zx}^2 , \\
-            Q'_{yy} &= \frac{1}{r_x^2} R_{xy}^2 + \frac{1}{r_y^2} R_{yy}^2 + \frac{1}{r_z^2} R_{zy}^2 , \\
-            Q'_{xy} &= \frac{1}{r_x^2} R_{xx} R_{xy} + \frac{1}{r_y^2} R_{yx} R_{yy} + \frac{1}{r_z^2} R_{zx} R_{zy} ,
-            \end{align*}
-
-         and the desired area is given by
-
-         .. math::
-            A^{\cap}_{\mathbf{n}}
-            = \frac{\pi}{\sqrt{\vphantom{Q'^2_{xy}} \det Q'}}
-            = \frac{\pi}{\sqrt{Q'_{xx} Q'_{yy} - Q'^2_{xy}}}
-            = \frac{\pi r_x r_y r_z}{\sqrt{r_x^2 n_x^2 + r_y^2 n_y^2 + r_z^2 n_z^2}},
-
-         where the superscript :math:`\cap` denotes that the area pertains to the ellipse at the *intersection*
-         with :math:`\Pi_{\mathbf{n}}`.
-
-      **Projected ellipse**
-         Let :math:`\mathbf{u} = (u_x, u_y, u_z)` be some unit vector (in our context, it is the direction of the velocity
-         of the fluid impinging on an ellipsoid) and let :math:`\Pi_{\mathbf{u}}` be the plane normal to :math:`\mathbf{u}`.
-         In general, the ellipse formed by projecting an ellipsoid :math:`\mathcal{E}` onto :math:`\Pi_{\mathbf{u}}`
-         (denoted :math:`\mathcal{E}^{\mathrm{proj}}_{\mathbf{u}}`) is different from the one formed by intersecting
-         :math:`\mathcal{E}` with :math:`\Pi_{\mathbf{u}}` (denoted :math:`\mathcal{E}^{\cap}_{\mathbf{u}}`).
-
-         An important property of :math:`\mathcal{E}^{\mathrm{proj}}_{\mathbf{u}}` is that :math:`\mathbf{u}` is tangent
-         to the ellipsoid :math:`\mathcal{E}` at every point on :math:`\mathcal{E}^{\mathrm{proj}}_{\mathbf{u}}`.
-
-         We can regard :math:`\mathcal{E}` as the image of the unit sphere :math:`\mathcal{S}` under a stretching
-         transformation :math:`T = \mathrm{diag}(r_x, r_y, r_z)`. Furthermore, if :math:`\mathbf{\tilde{u}}` is a vector
-         tangent to :math:`\mathcal{S}`, then its image
-         :math:`\mathbf{u}=T\mathbf{\tilde{u}}=(r_x \tilde{u}_x, r_y \tilde{u}_y, r_z \tilde{u}_z)` is tangent to the
-         ellipsoid. The ellipse :math:`\mathcal{E}^{\mathrm{proj}}_{\mathbf{u}}` is therefore the image
-         under :math:`T` of the circle :math:`\mathcal{C}^{\cap}_{\mathbf{\tilde{u}}}` at the intersection between
-         :math:`\mathcal{S}` and :math:`\Pi_{\mathbf{\tilde{u}}}` (for spheres :math:`\mathcal{C}^{\cap}` and
-         :math:`\mathcal{C}^{\mathrm{proj}}` do coincide).
-
-         Let :math:`\mathbf{\tilde{v}}` and :math:`\mathbf{\tilde{w}}` be some orthogonal pair of vectors in the plane
-         :math:`\Pi_{\mathbf{\tilde{u}}}`, then :math:`\mathbf{\tilde{u}} = \mathbf{\tilde{v}} \times \mathbf{\tilde{w}}`.
-         Their images under :math:`T` are :math:`\mathbf{v} = (r_x \tilde{v}_x, r_y \tilde{v}_y, r_z \tilde {v}_z)` and
-         :math:`\mathbf{w} = (r_x \tilde{w}_x, r_y \tilde{w}_y, r_z \tilde {w}_z)` respectively, and they remain orthogonal
-         vectors in the plane of :math:`\mathcal{E}^{\mathrm{proj}}_{\mathbf{u}}`. A (non-unit) normal to the ellipse
-         :math:`\mathcal{E}^{\mathrm{proj}}_{\mathbf{u}}` is therefore given by
-
-         .. math::
-            \mathbf{N} = \mathbf{v} \times \mathbf{w}
-            = (r_y r_z \tilde{u}_x, r_z r_x \tilde{u}_y, r_x r_y \tilde{u}_z)
-            = \left( \frac{r_y r_z}{r_x} u_x, \frac{r_z r_x}{r_y} u_y, \frac{r_x r_y}{r_z} u_z \right).
-
-         This shows that :math:`\mathcal{E}^{\mathrm{proj}}_{\mathbf{u}} = \mathcal{E}^{\cap}_{\mathbf{n}}`, where
-         :math:`\mathbf{n} = \mathbf{N} / \left\Vert\mathbf{N}\right\Vert`. Its area is given by the formula derived in the
-         previous section, leading to the result stated above.
-
-Added mass
-~~~~~~~~~~
-
-For a body moving in a fluid, added mass or virtual mass measures the inertia of the fluid that is moved due to the
-body's motion. It can be derived from potential flow theory (i.e. it is present also for inviscid flows).
-
-Following Chapter 5 of :cite:t:`lamb1932`, the forces :math:`\mathbf{f}_{V}` and torques :math:`\mathbf{g}_{V}` exerted
-onto a moving body due to generation of motion in the fluid from rest can be written as:
-
-.. math::
-   \begin{align*}
-       \mathbf{f}_{A} &= - \frac{\textrm{d}}{\textrm{d} t} \nabla_{\mathbf{v}} \mathcal{T} + \nabla_{\mathbf{v}} \mathcal{T} \times \boldsymbol{\omega} \\
-       \mathbf{g}_{A} &= - \frac{\textrm{d}}{\textrm{d} t} \nabla_{\boldsymbol{\omega}} \mathcal{T} + \nabla_{\mathbf{v}} \mathcal{T} \times \mathbf{v} + \boldsymbol{\omega} \times \nabla_{\boldsymbol{\omega}} \mathcal{T}
-   \end{align*}
-
-where :math:`\mathcal{T}` is the kinetic energy of the fluid alone. These forces are often described as added or
-virtual mass because they are due to the inertia of the fluid that is to moved or deflected by the accelerating body. In
-fact, for a body with constant linear velocity these forces reduce to zero. We consider the body as having three planes
-of symmetry because under this assumption the kinetic energy greatly simplifies and can be written as:
-
-.. math::
-   2 \mathcal{T} = m_{A, x} v_x^2 + m_{A, y} v_y^2 + m_{A, z} v_z^2 +
-                 I_{A, x} \omega_x^2 + I_ {A, y} \omega_y^2 + I_{A, z} \omega_z^2
-
-
-For convenience we introduce the added-mass vector :math:`\mathbf{m}_A = \{m_{A, x}, m_{A, y}, m_{A, z}\}` and added-moment of
-inertia vector :math:`\mathbf{I}_A = \{I_{A, x}, I_{A, y}, I_{A, z}\}`. Each of these quantities should estimate the inertia
-of the moved fluid due the motion of the body in the corresponding direction and can be derived from potential flow
-theory for some simple geometries.
-
-For a body with three planes of symmetry, we can write in compact form the forces and torques due to added inertia:
-
-.. math::
-   \begin{align*}
-       \mathbf{f}_{A} &= - \mathbf{m}_A \circ \dot{\mathbf{v}} + \left(\mathbf{m}_A \circ \mathbf{v} \right) \times \boldsymbol{\omega} \\
-       \mathbf{g}_{A} &= - \mathbf{I}_A \circ \dot{\boldsymbol{\omega}} + \left(\mathbf{m}_A \circ \mathbf{v} \right) \times \mathbf{v} + \left(\mathbf{I}_A \circ \boldsymbol{\omega} \right) \times \boldsymbol{\omega}
-   \end{align*}
-
-Here :math:`\circ` denotes an element-wise product, :math:`\dot{\mathbf{v}}` is the linear acceleration and
-:math:`\dot{\boldsymbol{\omega}}` is the angular acceleration. :math:`\mathbf{m}_A \circ \mathbf{v}` and
-:math:`\mathbf{I}_A \circ \boldsymbol{\omega}` are the virtual linear and angular momentum respectively.
-
-For an ellipsoid of semi-axis :math:`\mathbf{r} = \{r_x, r_y, r_z\}` and volume :math:`V = 4 \pi r_x r_y r_z / 3`, the
-virtual inertia coefficients were derived by :cite:t:`tuckerman1925`. Let:
-
-.. math::
-   \kappa_i = \int_0^\infty \frac{r_i r_j r_k}{\sqrt{(r_i^2 + \lambda)^3 (r_j^2 + \lambda) (r_k^2 + \lambda)}} \textrm{d} \lambda
-
-
-It should be noted that these coefficients are non-dimensional (i.e. if all semi-axes are multiplied by the same scalar
-the coefficients remain the same). The virtual masses of the ellipsoid are:
-
-.. math::
-   m_{A, i} = \rho V \frac{\kappa_i}{2 - \kappa_i}
-
-And the virtual moments of inertia are:
-
-.. math::
-   I_{A, i} = \frac{\rho V}{5} \frac{(r_j^2 - r_k^2)^2 (\kappa_k-\kappa_j)}{2(r_j^2 - r_k^2) + (r_j^2 + r_k^2) (\kappa_j-\kappa_k)}
-
-Viscous drag
-~~~~~~~~~~~~
-
-The drag force acts to oppose the motion of the body relative to the surrounding flow. We found that viscous forces
-serve also to reduce the stiffness of the equations of motion extended with the fluid dynamic terms. For this reason, we
-opted to err on the conservative side and chose approximations of the viscous terms that may overestimate dissipation.
-
-Despite being ultimately caused by viscous dissipation, for high Reynolds numbers the drag is independent of the
-viscosity and scales with the second power of the velocity. It can be written as:
-
-.. math::
-   \begin{align*}
-   \mathbf{f}_\text{D} = - C_D~\rho~ A_D ~ \|\mathbf{v}\|~ \mathbf{v}\\
-   \mathbf{g}_\text{D} = - C_D \rho~ I_D ~ \|\boldsymbol{\omega}\| ~ \boldsymbol{\omega}
-   \end{align*}
-
-Where :math:`C_D` is a drag coefficient, and :math:`A_D` is a reference surface area (e.g. a measure of the projected
-area on the plane normal to the flow), and :math:`I_D` a reference moment of inertia.
-
-.. youtube:: nljr0X79vI0
-   :align: right
-   :width: 50%
-
-Even for simple shapes, the terms :math:`C_D`, :math:`A_D` and :math:`I_D` need to be tuned to the problem-specific
-physics and dynamical scales :cite:p:`duan2015`. For example, the drag coefficient :math:`C_D` generally decreases with
-increasing Reynolds numbers, and a single reference area :math:`A_D` may not be sufficient to account for the skin
-drag for highly irregular or slender bodies. For example, experimental fits are derived from problems ranging from
-falling playing cards :cite:p:`wang2004,andersen2005a,andersen2005b` to particle transport :cite:p:`loth2008,
-bagheri2016`. See screen capture of the
-`cards.xml <https://github.com/deepmind/mujoco/blob/main/model/cards/cards.xml>`__ model on the right.
-
-We derive a formula for :math:`\mathbf{f}_\text{D}` based on two surfaces :math:`A^\text{proj}_\mathbf{v}` and
-:math:`A_\text{max}`. The first, :math:`A^\text{proj}_\mathbf{v}`, is the cylindrical projection of the body onto a
-plane normal to the velocity :math:`\mathbf{v}`. The second is the maximum projected surface
-:math:`A_\text{max} = \pi r_{max} r_{mid}`.
-
-.. math::
-   \mathbf{f}_\text{D} = - \rho~ \big[  C_{D, \text{blunt}} ~ A^\text{proj}_\mathbf{v} ~ +
-   C_{D, \text{slender}}\left(A_\text{max} - A^\text{proj}_\mathbf{v} \right) \big] ~ \|\mathbf{v}\|~ \mathbf{v}
-
-The formula and derivation for :math:`A^\text{proj}_\mathbf{v}` is given in the :ref:`lemma<flProjection>` above.
-
-We propose an analogous model for the angular drag. For each Cartesian axis we consider the moment of inertia of the
-maximum swept ellipsoid obtained by the rotation of the body around the axis. The resulting diagonal entries of the
-moment of inertia are:
-
-.. math::
-   \mathbf{I}_{D,ii} = \frac{8\pi}{15} ~r_i ~\max(r_j, ~r_k)^4 .
-
-Given this reference moment of inertia, the angular drag torque is computed as:
-
-.. math::
-   \mathbf{g}_\text{D} = - \rho ~ \boldsymbol{\omega} ~ \Big( \big[ C_{D, \text{angular}} ~ \mathbf{I}_D ~ +
-   C_{D, \text{slender}} \left(\mathbf{I}_\text{max} - \mathbf{I}_D \right) \big] \cdot \boldsymbol{\omega} \Big)
-
-
-Here :math:`\mathbf{I}_\text{max}` is a vector with each entry equal to the maximal component of :math:`\mathbf{I}_D`.
-
-Finally the viscous resistance terms, also known as linear drag, well approvimate the fluid forces for Reynolds
-numbers around or below :math:`O(10)`. These are computed for the equivalent sphere with Stokes' law
-:cite:p:`stokes1850,lamb1932`:
-
-.. math::
-   \begin{align*}
-   \mathbf{f}_\text{V} &= - 6 \pi r_D \beta \mathbf{v}\\
-   \mathbf{g}_\text{V} &= - 8 \pi r_D^3 \beta \boldsymbol{\omega}
-   \end{align*}
-
-Here, :math:`r_D = (r_x + r_y + r_z)/3` is the radius of the equivalent sphere and :math:`\beta` is the kinematic
-viscosity of the medium (e.g. :math:`1.48~\times 10^{-5}~m^2/s` for ambient-temperature air and
-:math:`0.89 \times 10^{-4}~m^2/s` for water). To make a quantitative example, Stokes' law become accurate for
-room-temperature air if :math:`u\cdot l \lesssim 2 \times 10^{-4}~m^2/s`, where :math:`u` is the speed and
-:math:`l` a characteristic length of the body.
-
-Viscous lift
-~~~~~~~~~~~~
-
-The Kutta-Joukowski theorem calculates the lift :math:`L` of a two-dimensional body translating in a uniform flow with
-speed `u` as :math:`L = \rho u \Gamma`. Here, :math:`\Gamma` is the circulation around the body. In the next
-subsections we define two sources of circulation and the resulting lift forces.
-
-Magnus force
-^^^^^^^^^^^^
-
-.. cssclass:: caption-small
-.. figure:: ../images/computation/magnus.png
-   :figwidth: 45%
-   :align: right
-
-   Smoke flow visualization of the flow past a rotating cylinder (WikiMedia Commons, CC BY-SA 4.0). Due to viscosity,
-   the rotating cylinder deflects the incoming flow upward and receives a downwards force (red arrow).
-
-The Magnus effect describes the motion of a rotating object moving through a fluid. Through viscous effects, a spinning
-object induces rotation in the surrounding fluid. This rotation deflects the trajectory of the fluid past the object
-(i.e. it causes linear acceleration), and the object receives an equal an opposite reaction. For a cylinder, the Magnus
-force per unit length of the cylinder can be computed as :math:`F_\text{M} / L = \rho v \Gamma`, where :math:`\Gamma`
-is the circulation of the flow caused by the rotation and :math:`v` the velocity of the object. We estimate this force
-for an arbitrary body as:
-
-.. math::
-   \mathbf{f}_{\text{M}} = C_M ~\rho~ V~ \boldsymbol{\omega}\times\mathbf{v} ,
-
-where :math:`V` is the volume of the body and :math:`C_M` is a coefficient for the force, typically set to 1.
-
-It's worth making an example. To reduce the number of variables, suppose a body rotating in only one direction, e.g.
-:math:`\boldsymbol{\omega} = \{0, 0, \omega_z\}`, translating along the other two, e.g. :math:`\mathbf{v} = \{v_x, v_y, 0\}`. The
-sum of the force due to added mass and the force due to the Magnus effect along, for example, :math:`x` is:
-
-.. math::
-   \frac{f}{\pi \rho r_z} = v_y \omega_z \left(2 r_x \min\{r_x, r_z\} - (r_x + r_z)^2\right)
-
-Note that the two terms have opposite signs.
-
-Kutta condition
-^^^^^^^^^^^^^^^
-
-A stagnation point is a location in the flow field where the velocity is zero. For a body moving in a flow (in 2D, in
-the frame moving with the body) there are two stagnation points: in the front, where the stream-lines separate to either
-sides of the body, and in the rear, where they reconnect. A moving body with a sharp trailing (rear) edge will generate
-in the surrounding flow a circulation of sufficient strength to hold the rear stagnation point at the trailing edge.
-This is the Kutta condition, a fluid dynamic phenomenon that can be observed for solid bodies with sharp corners, such
-as slender bodies or the trailing edges of airfoils.
-
-.. figure:: ../images/computation/kutta_cond_plate.svg
-   :class: only-light
-   :figwidth: 95%
-   :align: left
-
-.. cssclass:: caption-small
-.. figure:: ../images/computation/kutta_cond_plate_dark.svg
-   :class: only-dark
-   :figwidth: 95%
-   :align: left
-
-   Sketch of the Kutta condition. Blue lines are streamlines and the two magenta points are the stagnation points. The
-   dividing streamline, which connects the two stagnation points, is marked in green. The dividing streamline and the
-   body inscribe an area where the flow is said to be "separated" and recirculates within. This circulation produces an
-   upward force acting on the plate.
-
-For a two-dimensional flow sketched in the figure above, the circulation due to the Kutta condition can be estimated as:
-:math:`\Gamma_\text{K} = C_K ~ r_x ~ \| \mathbf{v}\| ~ \sin(2\alpha)`,
-where :math:`C_K` is a lift coefficient, and :math:`\alpha` is the angle between the velocity vector and its projection
-onto the surface. The lift force per unit length can be computed with the Kutta–Joukowski theorem as
-:math:`\mathbf{f}_K / L = \rho \Gamma_\text{K} \times \mathbf{v}`.
-
-In order to extend the lift force equation to three-dimensional motions, we consider the normal
-:math:`\mathbf{n}_{s, \mathbf{v}} = \{\frac{r_y r_z}{r_x}v_x, \frac{r_z r_x}{r_y}v_y, \frac{r_x r_y}{r_z}v_z\}`
-to the cross-section of the body which generates the body's projection :math:`A^\text{proj}_\mathbf{v}` onto a plane
-normal to the velocity given in the :ref:`lemma<flProjection>` above and the corresponding unit vector
-:math:`\hat{\mathbf{n}}_{s, \mathbf{v}}`.
-We use this direction to decompose :math:`\mathbf{v} = \mathbf{v}_\parallel ~+~ \mathbf{v}_\perp` with
-:math:`\mathbf{v}_\perp = \left(\mathbf{v} \cdot \hat{\mathbf{n}}_{s, \mathbf{v}}\right) \hat{\mathbf{n}}_{s, \mathbf{v}}`.
-We write the lift force as:
-
-.. math::
-   \begin{align*}
-       \mathbf{f}_\text{K} &= \frac{C_K~\rho~ A^\text{proj}_\mathbf{v}}{\|\mathbf{v}\|}
-                                 \left( \mathbf{v} \times \mathbf{v}_\parallel\right)\times \mathbf{v} \\
-       &= C_K~\rho~ A^\text{proj}_\mathbf{v} \left(\hat{\mathbf{v}} \cdot \hat{\mathbf{n}}_{s, \mathbf{v}}\right)
-                                 \left( \hat{\mathbf{n}}_{s, \mathbf{v}} \times \mathbf{v} \right)\times \mathbf{v}
-   \end{align*}
-
-Here, :math:`\hat{\mathbf{v}}` is the unit-normal along :math:`\mathbf{v}`. Note that the direction of :math:`\hat{\mathbf{n}}_{s,
-\mathbf{v}}` differs from :math:`\hat{\mathbf{v}}` only on the planes where the semi-axes of the body are unequal. So for
-example, for spherical bodies :math:`\hat{\mathbf{n}}_{s, \mathbf{v}} \equiv \hat{\mathbf{v}}` and by construction
-:math:`\mathbf{f}_\text{K} = 0`.
-
-Let's unpack the relation with an example. Suppose a body with :math:`r_x = r_y` and :math:`r_z \ll r_x`. Note that the vector
-:math:`\hat{\mathbf{n}}_{s, \mathbf{v}} \times \hat{\mathbf{v}}` gives the direction of the circulation induced by the
-deflection of the flow by the solid body. Along :math:`z`, the circulation will be proportional to :math:`\frac{r_y r_z}{r_x}v_x v_y
-- \frac{r_z r_x}{r_y}v_x v_y = 0` (due to :math:`r_x = r_y`). Therefore, on the plane where the solid is blunt, the motion
-produces no circulation.
-
-Now, for simplicity, let :math:`v_x = 0`. In this case also the circulation along :math:`y`, proportional
-to :math:`\frac{r_y r_z}{r_x}v_x v_z - \frac{r_y r_x}{r_y}v_x v_z`, is zero. The only non-zero component of the circulation
-will be along :math:`x` and be proportional to :math:`\left(\frac{r_x r_z}{r_y} - \frac{r_x r_y}{r_z}\right) v_y v_z \approx
-\frac{r_x^2}{r_z} v_y v_z`.
-
-We would have :math:`\mathbf{v}_\parallel = \{v_x, 0, v_z\}` and
-:math:`\Gamma \propto \{r_z v_y v_z, ~ 0,~ - r_x v_x v_y \} / \|\mathbf{v}\|`.
-The motion produces no circulation on the plane where the solid is blunt, and on the other two planes
-the circulation is
-:math:`\Gamma \propto r_\Gamma ~ \|\mathbf{v}\|~ \sin(2 \alpha) ~ = ~2 r_\Gamma ~\|\mathbf{v}\| ~\sin(\alpha)~\cos(\alpha)`
-with :math:`\alpha` the angle between the velocity and its projection on the body on the plane (e.g. on the plane
-orthogonal to :math:`x` we have :math:`\sin(\alpha) = v_y/\|\mathbf{v}\|` and
-:math:`\cos(\alpha) = v_z/\|\mathbf{v}\|`), and :math:`r_\Gamma`, the lift surface on the plane (e.g. :math:`r_z` for
-the plane orthogonal to :math:`x`). Furthermore, the direction of the circulation is given by the cross product (because
-the solid boundary "rotates" the incoming flow velocity towards its projection on the body).
-
-Acknowledgements
-~~~~~~~~~~~~~~~~
-
-The design and implementation of the model in this section are the work of Guido Novati.
-
-References
-~~~~~~~~~~
-
-.. bibliography::
diff --git a/doc/computation/index.rst b/doc/computation/index.rst
deleted file mode 100644
index 8fe11777..00000000
--- a/doc/computation/index.rst
+++ /dev/null
@@ -1,2380 +0,0 @@
-Computation
-===========
-
-.. toctree::
-    :hidden:
-
-    fluid
-
-
-Introduction
-------------
-
-This chapter describes the mathematical and algorithmic foundations of MuJoCo. The overall framework is fairly standard
-for readers familiar with modeling and simulation in generalized or joint coordinates. Therefore we summarize that
-material briefly. Most of the chapter is devoted to how we handle contacts and other constraints. This approach is based
-on our recent research and is unique to MuJoCo, so we take the time to motivate it and explain it in detail. Additional
-information can be found in the paper below, although some of the technical ideas in this chapter are new and have not
-been described elsewhere.
-
-   `Analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo
-   <https://scholar.google.com/scholar?cluster=9217655838195954277>`__ E. Todorov (2014).
-
-.. _Motivation:
-
-Soft contact model
-------------------
-
-Robots as well as humans interact with their environment primarily through physical contact. Given the increasing
-importance of physics modeling in robotics, machine learning, animation, virtual reality, biomechanics and other fields,
-there is need for simulation models of contact dynamics that are both physically accurate and computationally efficient.
-One application of simulation models is to assess candidate estimation and control strategies before deploying them on
-physical systems. Another application is to automate the design of those strategies -- usually through numerical
-optimization that uses simulation in an inner loop. The latter application imposes an additional constraint: the
-objective function defined with respect to the contact dynamics should be amenable to numerical optimization. The
-contact model underlying MuJoCo has benefits along these and other relevant dimensions. In the following sections we
-discuss its benefits, while clarifying the differences from the linear complementarity (LCP) family of contact models
-which are the *de facto* standard.
-
-.. _moRealism:
-
-Physical realism and soft contacts
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Many of the advantages of our contact model can be traced to the fact that we drop the strict complementarity constraint
-at the heart of the LCP formulation. We will call this family of models convex; see :ref:`References` for related work.
-For frictionless contacts dropping the explicit complementarity constraint makes no difference, because the
-Karush-Kuhn-Tucker (KKT) optimality conditions for the resulting convex quadratic program are equivalent to an LCP. But
-for frictional contacts there are differences.
-
-If one sees convex models as approximations to LCP, the logical question to ask is how good that approximation is.
-However we do not see it that way. Instead, we see both LCP models and convex models as different approximations to
-physical reality, each with its strengths and weaknesses. The immediate consequence of dropping strict complementarity
-and replacing it with a cost is that complementarity can be violated -- meaning that force and velocity in the contact
-normal direction can be simultaneously positive, and frictional forces may not be maximally dissipative. A related
-phenomenon is that the only way to initiate slip is to generate some motion in the normal direction. These effects are
-numerically small yet undesirable. This shortcoming however has little practical relevance, because it is premised on
-the assumption of hard contact. Yet all physical materials allow some deformation. This is particularly important in
-robotics, where the parts of the robot that come in contact with the environment are usually designed to be soft. For
-soft contacts complementarity has to be violated: when there is penetration and the material is pushing the contacting
-bodies apart, both the normal force and velocity are positive. Furthermore if an object is resting on a soft surface
-with some penetration, and we push it sideways, we would expect it to move up a bit as it starts sliding. So the
-deviations from LCP actually increase physical realism in the presence of soft contacts.
-
-Of course not every soft model is desirable; for example spring-damper models are soft but are plagued by instabilities.
-At the same time different materials have different profiles, and so unlike hard contact models, a soft model must have
-sufficiently rich parameterization if it is to be adapted to multiple systems of interest. This in turn facilitates
-system identification of contact model parameters.
-
-.. _moEfficiency:
-
-Computational efficiency
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-LCP models with frictional contact correspond to NP-hard optimization problems. This has given rise to an industry of
-approximate solvers, with the unfortunate side-effect that many popular physics engines use poorly-documented shortcuts
-and the resulting equations of motion are difficult to characterize. To be fair, NP-hardness is a statement about
-worst-case performance and does not mean that solving the LCP quickly is impossible in practice. Still, convex
-optimization has well-established advantages. In MuJoCo we have observed that for typical robotic models, 10 sweeps of a
-projected Gauss-Seidel method (PGS) yield solutions which for practical purposes are indistinguishable from the global
-minimum. Of course there are problems that are much harder to solve numerically, even though they are convex, and for
-such problems we have conjugate gradient solvers with higher-order convergence.
-
-The requirements for computational efficiency are different depending on the use case. If all we need is real-time
-simulation, modern computers are fast enough to handle most robotic systems of interest even with inefficient solvers.
-In the context of optimization however, there is no such thing as fast-enough simulation. If the objective functions and
-their derivatives can be computed faster, this translates into larger search horizons or training sets or sample sizes,
-which in turn leads to increased performance. This is why we have invested a lot of effort in developing efficient
-solvers.
-
-.. _moContinuous:
-
-Continuous time
-~~~~~~~~~~~~~~~
-
-One might have thought that the equations of motion for any physical system would be uniquely defined in continuous
-time. However frictional contacts are problematic because the Coulomb friction model is not well-defined in continuous
-time (Painleve's paradox). This has made discrete-time approximations and associated velocity-stepping schemes very
-popular. The continuous-time limit of these models is rarely investigated. For a single contact and under not
-necessarily realistic assumptions on the applied forces, the limit satisfies the differential-inclusion form of the
-Coulomb friction model, while for multiple simultaneous contacts there can be multiple solutions depending on how
-exactly the continuous-time limit is taken. These difficulties can be traced to the assumption of hard contact.
-
-Convex models of frictional contact have also relied on discrete-time approximations in the past, but this is not
-necessary. The present model is defined in continuous-time, in terms of forces and accelerations. This is more natural
-given that time in the real world is continuous. It is also the preferred formulation in the controls literature, and
-indeed we are hoping that MuJoCo will attract users from that community. Another advantage of continuous-time
-formulations is that they are amenable to sophisticated numerical integration, without having to pay the computational
-overhead of discrete-time variational integrators (which are necessarily implicit when the inertia is
-configuration-dependent). Continuous-time dynamics are also well-defined backward in time, which is needed in some
-optimization algorithms.
-
-.. _moInverse:
-
-Inverse dynamics and optimization
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-The objective of inverse dynamics is to recover the applied force and contact force given the position, velocity and
-acceleration of the multi-joint system. With hard contacts this computation is impossible. Consider pushing against a
-wall without moving. The contact force cannot be recovered from the kinematics, unless of course we consider the
-material deformations -- in which case we need a soft contact model. Inverse dynamics are trivial to compute with
-spring-damper models of contact, because in that case the contact force is only a function of position and velocity and
-does not depend on applied force. But this is also the reason why spring-damper models are undesirable: ignoring the
-applied force means that an error is introduced at each time step, and so the simulator is perpetually in
-error-correction mode, in turn causing instabilities. In contrast, modern contact solvers take the applied force (as
-well as all internal forces) into account when computing the contact force/impulse. But this complicates inversion. The
-present contact model has a uniquely-defined inverse. The inverse dynamics are in fact easier to compute than the
-forward dynamics, because the optimization problem becomes diagonal and decomposes into independent optimization
-problems over individual contacts -- which can be solved analytically.
-
-Inverse dynamics play a key role in optimization algorithms arising in system identification, estimation and control.
-They make it possible to treat the sequence of positions (or a parametric representation thereof) as the object being
-optimized. Velocities and acceleration are then computed by differentiating the positions; inverse dynamics are used to
-compute the applied and contact forces; and finally an objective function is constructed which can depend on all of the
-above. This is interchangeably called space-time optimization, spectral method, direct collocation. MuJoCo is uniquely
-suited to facilitate such computations in the presence of contacts and other constraints.
-
-.. _Framework:
-
-General framework
------------------
-
-Our notation is summarized in the table below. Additional notation specific to constraints will be introduced later.
-When available, we also show the fields of main data structures :ref:`mjModel` and :ref:`mjData` corresponding to the
-mathematical notation.
-
-.. list-table::
-   :widths: 2 2 7 4
-   :header-rows: 1
-
-   * - Symbol
-     - Size
-     - Description
-     - MuJoCo field
-   * - :math:`\nq`
-     -
-     - number of position coordinates
-     - ``mjModel.nq``
-   * - :math:`\nv`
-     -
-     - number of degrees of freedom
-     - ``mjModel.nv``
-   * - :math:`\nc`
-     -
-     - number of active constraints
-     - ``mjData.nefc``
-   * - :math:`q`
-     - :math:`\nq`
-     - joint position
-     - ``mjData.qpos``
-   * - :math:`v`
-     - :math:`\nv`
-     - joint velocity
-     - ``mjData.qvel``
-   * - :math:`\tau`
-     - :math:`\nv`
-     - applied force: passive, actuation, external
-     - ``mjData.qfrc_passive`` + ``mjData.qfrc_actuator`` + ``mjData.qfrc_applied``
-   * - :math:`c(q, v)`
-     - :math:`\nv`
-     - bias force: Coriolis, centrifugal, gravitational
-     - ``mjData.qfrc_bias``
-   * - :math:`M(q)`
-     - :math:`\nv \times \nv`
-     - inertia in joint space
-     - ``mjData.qM``
-   * - :math:`J(q)`
-     - :math:`\nc \times \nv`
-     - constraint
-       Jacobian
-     - ``mjData.efc_J``
-   * - :math:`r(q)`
-     - :math:`\nc`
-     - constraint residual
-     - ``mjData.efc_pos``
-   * - :math:`f(q, v,\tau)`
-     - :math:`\nc`
-     - constraint force
-     - ``mjData.efc_force``
-
-All model elements are enumerated at compile time and assembled into the above system-level vectors and matrices. In our
-earlier arm model :ref:`example <Examples>` the model has :math:`\nv = 13` degrees of freedom: 3 for the ball joint, one
-for each of the 4 hinge joints, and 6 for the free-floating object. They appear in the same order in all system-level
-vectors and matrices whose dimensionality is :math:`\nv`. The data corresponding to a given model element can be
-recovered via indexing operations as illustrated in the :ref:`Clarifications` section in the Overview chapter. Vectors
-and matrices with dimensionality :math:`\nc` are somewhat different because the active :ref:`constraints <Constraint>`
-change at runtime. In that case there is still a fixed enumeration order (corresponding to the order in which the model
-elements appear in ``mjModel``) but any inactive constraints are omitted.
-
-The number of position coordinates :math:`\nq` is larger than the number of degrees of freedom :math:`\nv` whenever
-quaternions are used to represent 3D orientations. This occurs when the model contains ball joints or free joints (i.e.,
-in most models). In that case :math:`\dot{q}` does not equal :math:`v`, at least not in the usual sense. Instead one has
-to consider the group of rigid body orientations :math:`SO(3)` - which has the geometry of a unit sphere in 4D space.
-Velocities live in the 3D tangent space to this sphere. This is taken into account by all internal computations. For
-custom computations, MuJoCo provides the function :ref:`mj_differentiatePos` which "subtracts" two position vectors with
-dimensionality :math:`\nq` and returns a velocity vector with dimensionality :math:`\nv`. A number of quaternion-related
-utility functions are also provided.
-
-MuJoCo computes both forward and inverse dynamics in continuous time. Forward dynamics are then integrated over the
-specified ``mjModel.opt.timestep`` with the chosen :ref:`numerical
-integrator <geIntegration>`. The general equations of motion in continuous time are
-
-.. math::
-   M \dot{v} + c = \tau + J^T f
-   :label: eq:motion
-
-The Jacobian establishes the relationship between quantities in joint and constraint coordinates. It maps motion vectors
-(velocities and accelerations) from joint to constraint coordinates: the joint velocity :math:`v` maps to velocity
-:math:`J v` in constraint coordinates. The transpose of the Jacobian maps force vectors from constraint to joint
-coordinates: the constraint force :math:`f` maps to force :math:`J^T f` in joint coordinates.
-
-The joint-space inertia matrix :math:`M` is always invertible. Therefore once the constraint force :math:`f` is known,
-we can finalize the forward and inverse dynamics computations as
-
-.. math::
-   \begin{aligned}
-   \text{forward:} & & \dot{v} &= M^{-1} (\tau + J^T f - c) \\
-   \text{inverse:} & & \tau    &= M \dot{v} + c - J^T f \\
-   \end{aligned}
-
-The computation of the constraint force is the hard part and will be described later. But first, we complete the
-description of the general framework by summarizing how the above quantities up to the constraint Jacobian are computed.
-
--  The applied force :math:`\tau` includes :ref:`passive <gePassive>` forces from spring-dampers and fluid dynamics,
-   :ref:`actuation <geActuation>` forces, and additional forces specified by the user.
--  The bias force :math:`c` includes Coriolis, centrifugal and gravitational forces. Their sum is computed using the
-   Recursive Newton-Euler (RNE) algorithm with acceleration set to 0.
--  The joint-space inertia matrix :math:`M` is computed using the Composite Rigid-Body (CRB) algorithm. This matrix is
-   usually quite sparse, and we represent it as such, in a custom format tailored to kinematic trees.
--  Since we often need to multiply vectors by the inverse of :math:`M`, we compute its :math:`L^T D L` factorization in
-   a way that preserves sparsity. When a quantity of the form :math:`M^{-1} x` is needed later, it is computed via
-   sparse back-substitution.
-
-Before any of these computations we apply forward kinematics, which computes the global position and orientation of all
-spatial objects as well as the joint axes. While it is often recommended to apply RNE and CRB in local coordinates, here
-we are setting the stage for collision detection which is done in global coordinates, thus RNE and CRB are also
-implemented in global coordinates. Nevertheless, to improve floating point accuracy, we represent the data for each
-kinematic subtree in a global frame centered at the subtree center of mass (fields starting with c in ``mjData``). A
-detailed summary of the :ref:`simulation pipeline <Pipeline>` is given at the end of the chapter.
-
-.. _geActuation:
-
-Actuation model
-~~~~~~~~~~~~~~~
-
-MuJoCo provides a flexible actuator model. Most actuators are single-input-single-output (SISO): the input to
-actuator :math:`i` is a scalar control :math:`u_i` specified by the user, and the output is a scalar force
-:math:`p_i`, which is mapped to joint coordinates by a vector of moment arms determined by the transmission. An
-actuator can also have activation state :math:`w_i` with its own dynamics. The control inputs for all actuators are
-stored in ``mjData.ctrl``, the force outputs are stored in ``mjData.actuator_force``, and the activation states (if
-any) are stored in ``mjData.act``.
-
-More generally, an actuator can have several control inputs, several force outputs, or both. For example, a servo
-which accepts both a position setpoint and a velocity setpoint has two inputs and one output. The number of inputs
-is a property of the actuator type, and the number of outputs is a property of its transmission; neither is
-specified directly by the user. Since the number of inputs and the number of outputs can vary per actuator, the model
-has three separate counts: the number of actuators ``nactuator``, the total number of controls ``nu``, and the total
-number of force outputs ``nout``. In a model where all actuators are SISO, all three are equal. Note that outputs are
-counted in actuation space, before the mapping to joint coordinates: a tendon actuator with a single force output can
-move many joints.
-
-These three components of an actuator -- transmission, activation dynamics, and force generation -- determine how the
-actuator works. The user can set them independently for maximum flexibility, or use :ref:`Actuator shortcuts
-<CActShortcuts>` which instantiate common actuator types.
-
-.. _geTransmission:
-
-Transmission
-^^^^^^^^^^^^
-
-The transmission attaches the actuator to the rest of the system. Each force output of the actuator has a scalar
-length :math:`l_k(q)`, defined by the type of transmission and its parameters, for example the
-:ref:`gear<actuator-general-gear>` vector. The gradient :math:`\nabla l_k` is an :math:`\nv`-dimensional vector of
-moment arms; it determines the mapping from the scalar output force to joint forces. The number of force outputs is
-likewise determined by the transmission; all the types listed below define a single output. The transmission
-properties are determined by the MuJoCo object to which the actuator is attached; the possible attachment object
-types are :at:`joint`, :at:`tendon`, :at:`jointinparent`, :at:`slider-crank`, :at:`site`, and :at:`body`.
-
-:at:`joint` and :at:`tendon`
-   The :at:`joint` and :at:`tendon` transmission types act as expected and correspond to the actuator applying forces or
-   torques to the target object. Ball joints are special, see the :ref:`actuator/general/joint<actuator-general-joint>`
-   documentation for more details.
-
-:at:`jointinparent`
-   The :at:`jointinparent` transmission is unique to ball and free joint and asserts that rotation should be measured
-   in the parent rather than child frame.
-
-:at:`slider-crank`
-   :at:`slider-crank` `transmissions <https://en.wikipedia.org/wiki/Slider-crank_linkage>`_ transform a linear force to
-   a torque, as in a piston-driven combustion engine. `This model
-   <https://github.com/google-deepmind/mujoco/blob/main/model/slider_crank/slider_crank.xml>`__ contains pedagogical
-   examples. Slider-cranks can also be modeled explicitly by creating MuJoCo bodies and coupling them with equality
-   constraints, but that is both less efficient and less stable.
-
-:at:`body`
-   :el:`body` transmission corresponds to applying forces at contact points belonging to a body, in
-   order to model vacuum grippers and biomechanical adhesive appendages. For more information about adhesion, see the
-   :ref:`adhesion<actuator-adhesion>` actuator documentation. These transmission targets have a fixed zero length
-   :math:`l_i(q) = 0`.
-
-:at:`site`
-   Site transmissions correspond to applying a Cartsian force/torque in the frame of a site. When a :at:`refsite` is not
-   defined (see below), these targets have a fixed zero length :math:`l_i(q) = 0` and are useful for modeling jets and
-   propellors: forces and torques which are fixed to the site frame.
-
-   If a :at:`site` transmission is defined with the optional :at:`refsite` attribute, forces and torques are applied in
-   the frame of the reference site rather than the site's own frame. If a reference site is defined, the length of the
-   actuator is nonzero and corresponds to the pose difference of the two sites, projected onto a chosen direction in the
-   reference frame. This length can then be controlled with a :el:`position` actuator, allowing for Cartesian
-   end-effector control. See the :ref:`refsite<actuator-general-refsite>` documentation for more details.
-
-.. _geActivation:
-
-Stateful actuators
-^^^^^^^^^^^^^^^^^^
-
-Some actuators such as pneumatic and hydraulic cylinders as well as biological muscles have an internal state called
-"activation". This is a true dynamic state, beyond the joint positions :math:`q` and velocities :math:`v`. Including
-such actuators in the model results in 3rd-order dynamics. We denote the vector of actuator activations :math:`w`.
-They have some first-order dynamics
-
-.. math::
-   \dot{w}_i \left( u_i, w_i, l_i, \dot{l}_i \right)
-
-determined by the activation type and corresponding model parameters. Note that each actuator has scalar dynamics
-independent of the other actuators. The activation types currently implemented are
-
-.. math::
-   \begin{aligned}
-   \text{integrator}:  & & \dot{w}_i &= u_i \\
-   \text{filter}:      & & \dot{w}_i &= (u_i - w_i) / \texttt{t} \\
-   \text{filterexact}: & & \dot{w}_i &= (u_i - w_i) / \texttt{t} \\
-   \text{muscle}:      & & \dot{w}_i &= \textrm{muscle}(u_i, w_i, l_i, \dot{l}_i)
-   \end{aligned}
-
-where :math:`\texttt{t}` is an actuator-specific time-constant stored in ``mjModel.actuator_dynprm``. In addition, the
-type can be "user", in which case :math:`w_i` is computed by the user-defined callback :ref:`mjcb_act_dyn`. The type can
-also be "none" which corresponds to a regular actuator with no activation state. The dimensionality of :math:`w` equals
-the number of actuators whose activation type is different from "none".
-
-For more information regarding muscle activation dynamics, see :ref:`CMuscle`.
-
-For ``filterexact`` activation dynamics, Euler integration of :math:`\dot{w}` is replaced with the analytic integral:
-
-.. math::
-   \begin{aligned}
-   \text{filter}:      & & w_{i+1} &= w_i + h (u_i - w_i) / \texttt{t} \\
-   \text{filterexact}: & & w_{i+1} &= w_i + (u_i - w_i) (1 - e^{-h / \texttt{t}}) \\
-   \end{aligned}
-
-The two expressions converge to the same value in the :math:`h \rightarrow 0` limit. Note that Euler-integrated filters
-diverge for :math:`\texttt{t} < h`, while exactly-integrated filters are stable for any positive :math:`\texttt{t}`.
-
-:ref:`actearly<actuator-general-actearly>`:
-  If the :ref:`actearly<actuator-general-actearly>` attribute is set to "true", ``mjData.actuator_force`` is computed
-  based on :math:`w_{i+1}` (the next activation), reducing the delay between changes to :math:`u` and their effects on
-  the acceleration by one time step (so the total dynamics are second-order rather than third order).
-
-.. _geActuatorForce:
-
-Force generation
-^^^^^^^^^^^^^^^^
-
-Each actuator generates a scalar force for each of its outputs, as a function of its controls, activation states,
-and lengths and velocities. Similarly to activation dynamics, force generation is actuator-specific: the inputs and
-outputs of a single actuator can interact, but different actuators cannot affect each other. For SISO actuators the
-force is affine in the activation state when present, and in the control otherwise:
-
-.. math::
-   p_i = (a w_i \; \text{or} \; a u_i) + b_0 + b_1 l_i + b_2 \dot{l}_i
-
-Here :math:`a` is an actuator-specific gain parameter and :math:`b_0, b_1, b_2` are actuator-specific bias
-parameters, stored in ``mjModel.actuator_gainprm`` and ``mjModel.actuator_biasprm`` respectively. Different settings
-of the gain and bias parameters can be used to model direct force control as well as position and velocity servos -in
-which case the control/activation has the meaning of reference position or velocity. Multi-input actuator types
-define their own force laws. One can also compute custom gain and bias terms for SISO actuators by installing the
-callbacks :ref:`mjcb_act_gain` and :ref:`mjcb_act_bias` and setting the gain and bias type to "user". Note that
-affine force generation makes it possible to infer the controls/activations from the applied force computed in
-inverse dynamics, using the pseudo-inverse of the matrix of moment arms.
-
-Putting all this together, the net force in generalized coordinates contributed by all actuators is the sum over all
-force outputs
-
-.. math::
-   \sum_k \nabla l_k(q) \; p_k
-
-This quantity is stored in ``mjData.qfrc_actuator``. It is added to the applied force vector :math:`\tau`, together
-with any user-defined forces in joint or Cartesian coordinates (which are stored in ``mjData.qfrc_applied`` and
-``mjData.xfrc_applied`` respectively).
-
-.. _gePassive:
-
-Passive forces
-~~~~~~~~~~~~~~
-
-Passive forces are defined as forces that depend only on position and velocity, and not on control in forward dynamics
-or acceleration in inverse dynamics. As a result, such forces are inputs to both the forward and inverse dynamics
-computations, and are identical in both cases. They are stored in ``mjData.qfrc_passive``. The passive forces computed
-by MuJoCo are also passive in the sense of physics, i.e., they do not increase energy, however the user can install the
-callback :ref:`mjcb_passive` and add forces to ``mjData.qfrc_passive`` that may increase energy. This will not interfere
-with MuJoCo's operation as long as such user forces depend only on position and velocity.
-
-MuJoCo can compute three types of passive forces:
-
-- Spring-dampers in joints and tendons. See the following attributes for details.
-  |br| **Joints:**
-  :ref:`stiffness<body-joint-stiffness>`, :ref:`springref<body-joint-springref>`,
-  :ref:`damping<body-joint-damping>`, :ref:`springdamper<body-joint-springdamper>`.
-  |br| **Tendons:** :ref:`stiffness<tendon-spatial-stiffness>`,
-  :ref:`springlength<tendon-spatial-springlength>`, :ref:`damping<tendon-spatial-damping>`.
-- Gravity compensation forces. See the body :ref:`gravcomp<body-gravcomp>` attribute for details.
-- Fluid forces exerted by the surrounding medium. See the :doc:`Fluid forces <fluid>` chapter for details.
-
-.. _gePolynomial:
-
-Polynomial forces
-^^^^^^^^^^^^^^^^^
-
-Nonlinear stiffness (:ref:`joints<body-joint-stiffness>`, :ref:`tendons<tendon-spatial-stiffness>`) and
-damping (:ref:`joints<body-joint-damping>`, :ref:`tendons<tendon-spatial-damping>`) are defined by polynomials
-:math:`f` of order :ref:`mjNPOLY + 1<glNumericSizes>`. The actual force applied to the system is :math:`-f`, meaning
-that sign-preserving functions yield a restorative (stiffness) or dissipative (damping) force.
-
-The stiffness polynomial takes the standard form (where :math:`x` is displacement):
-
-.. math::
-   f(x) = a x + b x^2 + c x^3 + \dots
-
-The damping polynomial takes the anti-symmetrized form (where :math:`v` is velocity):
-
-.. math::
-   f(v) = a v + b v |v| + c v^3 + \dots
-
-**Anti-symmetrization**
-  The damping polynomial uses anti-symmetrized even-powered monomials (e.g., :math:`v^2 \rightarrow v|v|`) so that the
-  function is odd: :math:`f(-v) = -f(v)`. This guarantees the force reverses direction with velocity. This formulation
-  is also physically motivated, as some natural forms of damping (like fluid drag) display an anti-symmetric quadratic
-  profile.
-
-  In contrast, asymmetric (or rather, non-anti-symmetric) stiffness profiles are physically common (e.g., biological
-  fascia), making the standard polynomial form and its Taylor-series convenience more appropriate.
-
-**Sign-preservation**
-  In both cases, sensible choices of coefficients often satisfy the **sign-preservation** condition
-  :math:`z \cdot f(z) \geq 0`. This condition is equivalent to requiring that the integral of :math:`f` (Potential
-  Energy for stiffness and Dissipation for damping) is globally convex with a minimum at the origin.
-
-  - For stiffness, violations of the condition create repulsive forces and/or multiple equilibria.
-  - For damping, violations create non-dissipative forces that inject mechanical energy into the system.
-
-  The sign-preservation condition is not enforced by the compiler; it is the user's responsibility to ensure it is
-  satisfied. The analytical conditions on the coefficients for orders up to 3 are:
-
-  .. math::
-     \begin{aligned}
-      \textrm{Standard:} \qquad & a \geq 0, \qquad c \geq 0, \qquad b^2 \leq 4 a c \\
-      \textrm{Anti-symmetrized:} \qquad & a \geq 0, \qquad c \geq 0, \qquad b < 0 \implies b^2 \leq 4 a c
-     \end{aligned}
-
-**mjModel fields**
-  Although MJCF accepts the coefficients as a single array (as does the :ref:`mjs layer<mjsJoint>`),
-  the linear coefficient in ``mjModel`` is stored separately from the higher-order ones.
-  For example, if :ref:`joint/stiffness<body-joint-stiffness>` = "a b c",
-  then ``jnt_stiffness[i] = a``, ``jnt_stiffnesspoly[i*mjNPOLY] = b`` and ``jnt_stiffnesspoly[i*mjNPOLY + 1] = c``.
-  A future breaking change of the C-API may unify the linear and higher-order coefficients into a single array.
-
-.. _geIntegration:
-
-Numerical integration
-~~~~~~~~~~~~~~~~~~~~~
-
-MuJoCo computes forward and inverse dynamics in continuous time. The end result of forward dynamics is the joint
-acceleration :math:`a=\dot{v}` as well as the actuator activations :math:`\dot{w}` when present in the model. These are
-used to advance the simulation time from :math:`t` to :math:`t+h`, and to update the state variables :math:`q, v, w`.
-
-Four numerical integrators are available, three single-step integrators and the multi-step 4th order Runge-Kutta
-integrator. Before describing the integrators, we begin with a general description of single-step Euler integrators:
-*explicit*, *semi-implicit* and *implicit-in-velocity*. The *explicit* Euler method is not supported by MuJoCo but has
-pedagogical value. It can be written as:
-
-.. math::
-   :label: eq_explicit
-
-   \begin{aligned}
-      \textrm{activation:}\quad w_{t+h} &= w_t + h \dot{w}_t \\
-      \textrm{velocity:}\quad v_{t+h} &= v_t + h a_t \\
-      \textrm{position:}\quad q_{t+h} &= q_t + h v_t
-   \end{aligned}
-
-Note that in the presence of quaternions, the operation :math:`q_t + h v_t` is more involved than a simple summation, as
-the dimensionalities of :math:`q` and :math:`v` are different. The reason explicit Euler is not implemented is that the
-following formulation, known as *semi-implicit* Euler is `strictly better <https://en.wikipedia.org/wiki/Semi-
-implicit_Euler_method>`_, and standard in physics simulation:
-
-.. math::
-  :label: eq_semimplicit
-
-   \begin{aligned}
-      v_{t+h} &= v_t + h a_t \\
-      q_{t+h} &= q_t + h v_{\color{red}t+h}
-   \end{aligned}
-
-Comparing :eq:`eq_explicit` and :eq:`eq_semimplicit`, we see that in semi-implicit Euler, the position is updated using
-the *new* velocity. *Implicit* Euler means:
-
-.. math::
-   :label: eq_implicit
-
-   \begin{aligned}
-      v_{t+h} &= v_t + h a_{\color{red}t+h} \\
-      q_{t+h} &= q_t + h v_{t+h}
-   \end{aligned}
-
-Comparing :eq:`eq_semimplicit` and :eq:`eq_implicit`, we see that the acceleration :math:`a_{t+h}=\dot{v}_{t+h}` on the
-right-hand side of the velocity update is evaluated at the *next time step*. While evaluating the next acceleration
-is not possible without stepping, we can use a first-order Taylor expansion to approximate this quantity, and
-take a single step of Newton's method. When the expansion is only with respect to velocity (and not position), the
-integrator is known as *implicit-in-velocity* Euler. This approach is particularly effective in systems where
-instabilities are caused by velocity-dependent forces: multi-joint pendulums, bodies tumbling through space, systems
-with lift and drag forces, and systems with substantial damping in tendons and actuators. Writing the
-acceleration as a function of velocity, :math:`a_t = a(v_t)`, the velocity update we aim to approximate is
-
-.. math:: v_{t+h} = v_t + h a(v_{t+h})
-
-This is a non-linear equation in the unknown vector :math:`v_{t+h}` and can be solved numerically at each time step
-using a first-order expansion of :math:`a(v_{t+h})` around :math:`v_t`. Recall that the forward dynamics are
-
-.. math::
-   :label: eq_forward
-
-   a(v) = M^{-1} \big(\tau(v) - c(v) + J^T f(v)\big)
-
-Thus we define the derivative
-
-.. math::
-   \begin{aligned}
-       {\partial a(v) \over \partial v} &= M^{-1} D \\
-       D &\equiv {\partial \over \partial v} \Big(\tau(v) - c (v) + J^T f(v)\Big)
-   \end{aligned}
-
-The velocity update corresponding to Newton's method is as follows. First, we expand the right-hand side to first order
-
-.. math::
-   \begin{aligned}
-      v_{t+h} &= v_t + h a(v_{t+h}) \\
-              &\approx v_t + h \big( a(v_t) + {\partial a(v) \over \partial v} \cdot (v_{t+h}-v_t) \big) \\
-              &= v_t + h a(v_t) + h M^{-1} D \cdot (v_{t+h}-v_t)
-   \end{aligned}
-
-Premultiplying by :math:`M` and rearranging yields
-
-.. math:: (M-h D) v_{t+h} = (M-h D) v_t + h M a(v_t)
-
-Solving for :math:`v_{t+h}`, we obtain the implicit-in-velocity update
-
-.. math::
-   :label: eq_implicit_update
-
-   \begin{aligned}
-       v_{t+h} &= v_t + h \widehat{M}^{-1} M a(v_t) \\
-       \widehat{M} &\equiv M-h D
-   \end{aligned}
-
-.. _geFreeBody:
-
-Gyroscopic derivatives for free bodies
-   The ``implicitfast`` integrator described :ref:`below<geIntegrators>` excludes the derivatives of centripetal,
-   Coriolis and gyroscopic forces from :math:`D`, so that :math:`\widehat M` remains symmetric and can be factorized
-   with the faster Cholesky decomposition. However integrating gyroscopic forces explicitly can lead to
-   energy gain and divergence of fast-spinning free bodies with asymmetric inertia.
-
-   Therefore for *standalone free bodies* (free joints whose body has no children), these derivatives are reinstated.
-   The rows of :math:`\widehat M` corresponding to such a body form a :math:`6\times 6` block which is decoupled from
-   the rest of the system. After the global Cholesky solve, this block is re-assembled with the exact derivative of the
-   body's bias force and re-solved with an optimized :math:`6\times 6` LU routine. For standalone free bodies,
-   ``implicitfast`` and ``implicit`` therefore compute identical updates.
-
-   **Properties.** The kinetic energy of a spinning free body is non-increasing in the absence of applied force.
-   Steady spins about principal axes are conserved almost exactly; tumbling motion is mildly damped, at a rate
-   scaling like :math:`(h|\omega|)^2` per step. Systems requiring long-horizon energy conservation of tumbling
-   bodies should use the ``RK4`` integrator.
-
-.. _geIntegrators:
-
-Integrators
-^^^^^^^^^^^
-MuJoCo supports four integrators: three single-step integrators and the multi-step 4th order Runge-Kutta integrator.
-All three single-step integrators in MuJoCo use the update :eq:`eq_implicit_update`, with different definitions of the
-:math:`D` matrix, which is always computed analytically.
-
-Semi-implicit with implicit joint damping (``Euler``)
-   For this method, :math:`D` only includes derivatives of joint damping. Note that in this case :math:`D` is diagonal
-   and :math:`\widehat{M}` is symmetric, so :math:`L^TL` decomposition (a variant of Cholesky) can be used. This
-   factorization is stored in ``mjData.qH``. If the model has no joint damping or the
-   :ref:`eulerdamp<option-flag-eulerdamp>` disable flag is set, implicit damping is disabled and the semi-implicit
-   update :eq:`eq_semimplicit` is used, rather than :eq:`eq_implicit_update`, avoiding the additional factorization of
-   :math:`\widehat{M}` (*additional* because :math:`M` is already factorized for the acceleration update
-   :eq:`eq_forward`).
-
-Implicit-in-velocity (``implicit``)
-   For this method, :math:`D` includes derivatives of all forces except the constraint forces :math:`J^T f(v)`. These
-   are currently ignored since even though computing them is possible, it is complicated, and numerical tests show that
-   including them does not confer much benefit. That said, analytical derivatives of constraint forces are planned for a
-   future version. Additionally, we restrict :math:`D` to have the same sparsity pattern as :math:`M`, for computational
-   efficiency. This restriction will exclude damping in tendons which connect bodies that are on different branches of
-   the kinematic tree. Since :math:`D` is not symmetric, we cannot use Cholesky factorization, but because :math:`D` and
-   :math:`M` have the same sparsity pattern corresponding to the topology of the kinematic tree, reverse-order
-   :math:`LU` factorization of :math:`\widehat{M}` is guaranteed to have `no fill-in
-   <https://link.springer.com/book/10.1007/978-1-4899-7560-7>`_.  This factorization is stored ``mjData.qLU``.
-
-Fast implicit-in-velocity (``implicitfast``)
-   For this method, :math:`D` includes derivatives of all forces used in the implicit method, with the exception of the
-   centripetal and Coriolis forces :math:`c (v)` computed by the RNE algorithm. Additionally, it is symmetrized :math:`D
-   \leftarrow (D + D^T)/2`. One reason for dropping the RNE derivatives is that they are the most expensive to compute.
-   Second, these forces change rapidly only at high rotational velocities of complex pendula and spinning bodies,
-   scenarios which are not common and already well-handled by the Runge-Kutta integrator (see below). Because the RNE
-   derivatives are also the main source of asymmetry of :math:`D`, by dropping them and symmetrizing, we can use the
-   faster :math:`L^TL` rather than :math:`LU` decomposition.
-   For standalone free bodies, the dropped :ref:`gyroscopic derivatives<geFreeBody>` are reinstated with a local
-   unsymmetric solve, preventing energy gain of spinning bodies at negligible additional cost.
-
-4th-order Runge-Kutta (``RK4``)
-   One advantage of our continuous-time formulation is that we can use higher order integrators such as Runge-Kutta or
-   multistep methods. MuJoCo implements the fixed-step `4th-order Runge-Kutta method
-   <https://en.wikipedia.org/wiki/Runge–Kutta_methods#Derivation_of_the_Runge–Kutta_fourth-order_method>`__, though
-   users can easily implement other integrators by calling :ref:`mj_forward` and integrating accelerations themselves.
-   We have observed that for energy-conserving systems (`example <../_static/pendulum.xml>`__), RK4 is qualitatively
-   better than the single-step methods, both in terms of stability and accuracy, even when the timestep is decreased by
-   a factor of 4 (so the computational effort is identical). In the presence of large velocity-dependent forces, if the
-   chosen single-step method integrates those forces implicitly, single-step methods can be significantly more stable
-   than RK4.
-
-.. admonition:: Choosing timestep and integrator
-   :class: tip
-
-   :ref:`timestep<option-timestep>`
-    The accuracy and stability of all integrators can be improved by reducing the time step :math:`h`.
-    Of course a smaller time step also slows down the simulation. The time step is perhaps the single most important
-    parameter that the user can adjust. If it is too large, the simulation will become unstable. If it is too small, CPU
-    time will be wasted without meaningful improvement in accuracy. There is always a comfortable range where the time
-    step is "just right", but that range is model-dependent.
-
-   :ref:`integrator<option-integrator>`
-    Summary: The recommended integrator is ``implicitfast`` which usually has the best tradeoff of stability and
-    performance.
-
-    **Euler**:
-     Use ``Euler`` for compatibility with older models.
-    **implicitfast**:
-     The ``implicitfast`` integrator has similar computational cost to ``Euler``, yet provides
-     increased stability, and is therefore a strict improvement. It is the recommended integrator for most models.
-    **implicit**:
-     The benefit over ``implicitfast`` is the implicit integration of Coriolis and centripetal forces for *coupled*
-     rotational systems such as multi-link pendula. For standalone free bodies the two integrators coincide, since
-     ``implicitfast`` applies the :ref:`gyroscopic derivatives<geFreeBody>` to such bodies. For example,
-     `gyroscopic.xml <../_static/gyroscopic.xml>`__ shows an ellipsoid rolling on an inclined plane; both
-     ``implicitfast`` and ``implicit`` handle this case well, while ``Euler`` quickly diverges.
-    **RK4**:
-     This integrator is best for systems which are energy conserving, or almost energy-conserving. `pendulum.xml
-     <../_static/pendulum.xml>`__ shows a complicated pendulum mechanism which diverges quickly using ``Euler`` or
-     ``implicitfast`` yet conserves energy well under ``RK4``. Note that under ``implicit``, this model doesn't diverge
-     but rather loses energy.
-
-
-.. Leave links below to sections that were previously here and have moved to the simulation chapter.
-.. _gePhysicsState:
-.. _geFullPhysics:
-.. _geInput:
-.. _geWarmstart:
-.. _geIntegrationState:
-.. _geSimulationState:
-
-.. _geState:
-
-The State
-~~~~~~~~~
-
-To complete our description of the general framework we will quickly discuss the notion of *state*. MuJoCo has a
-compact, well-defined internal state which, together with the :ref:`deterministic pipeline<piReproducibility>`, means
-that operations like (re)setting the state and computing dynamics derivatives are also well-defined.
-
-The state is entirely encapsulated in the :ref:`mjData` struct and consists of several components. The components are
-enumerated in :ref:`mjtState` as bit flags. Concatenated state vectors can be conveniently read from and written into
-:ref:`mjData` using :ref:`mj_getState` and :ref:`mj_setState`, respectively.
-
-More detail can be found in the :ref:`State and Control<siStateControl>` section in the Simulation chapter.
-
-.. _Constraint:
-
-Constraint model
-----------------
-
-MuJoCo has a very flexible constraint model, which is nevertheless handled in a uniform way by the
-:ref:`solver <Solver>` described later. Here we explain what the individual constraints are conceptually, and how they
-are laid out in the system-level vector and matrices with dimensionality :math:`\nc`. Each conceptual constraint can
-contribute one or more scalar constraints towards the total count :math:`\nc`, and each scalar constraint has a
-corresponding row in the constraint Jacobian :math:`J`. Active constraints are ordered by type in the order in which the
-types are described below, and then by model element within each type. The types are: equality, friction loss, limit,
-contact. Limits are handled as frictionless contacts by the solver and are not treated as a separate type internally. We
-use the prefix ``efc`` in ``mjData`` to denote system-level vectors and matrices with constraint-related data.
-
-.. _coEquality:
-
-Equality
-~~~~~~~~
-
-MuJoCo can model equality constraints in the general form :math:`r(q) = 0` where :math:`r` can be any differentiable
-scalar or vector function of the position vector :math:`q`. It has the semantics of a residual. The solver can actually
-work with non-holonomic constraints as well, but we do not yet have such constraint types defined. Each equality
-constraint contributes :math:`\dim(r)` elements to the total constraint count :math:`\nc`. The corresponding block in
-:math:`J` is simply the Jacobian of the residual, namely :math:`\partial r / \partial q`. Note that due to the
-properties of quaternions, differentiation with respect to :math:`q` produces vectors of size :math:`\nv` rather than
-:math:`\nq`.
-
-Among other applications, equality constraints can be used to create "loop joints", i.e., joints that cannot be modeled
-via the kinematic tree. Gaming engines represent all joints in this way. The same can be done in MuJoCo but is not
-recommended -- because it leads to both slower and less accurate simulation, effectively turning MuJoCo into a gaming
-engine. The only reason to represent joints with equality constraints would be to model soft joints -- which can be done
-via the constraint solver but not via the kinematic tree.
-
-There are five types of equality constraints described next. The numbers in the headings correspond to the
-dimensionality of the constraint residual in each case.
-
-``connect`` : 3
-   This constraint connects two bodies at a point, effectively creating a ball joint outside the kinematic tree. The
-   model specifies the two bodies to be connected, and a point (or "anchor") in the local frame of each body. The
-   constraint residual is then defined as the difference between the global 3D positions of these points. Note that
-   specifying two connect constraints for the same pair of bodies can be used to model a hinge joint outside the
-   kinematic tree. Specifying three or more connect constraints (whose anchors are not co-linear) is mathematically
-   equivalent to a weld constraint but is less efficient computationally.
-
-``weld`` : 6
-   This constraint welds two bodies together, suppressing all relative degrees of freedom between them. The relative
-   body positions and orientations that are being enforced by the constraint solver are parameters in ``mjModel``. The
-   compiler computes them from the initial configuration in which the model is defined, namely ``mjModel.qpos0``, but
-   the user can change them later. The 6D residual has a 3D position component identical to the connect constraint,
-   followed by a 3D orientation component. The latter is defined as :math:`\sin(\theta/2)
-   (x, y, z)` where :math:`\theta` is the rotation angle in radians and :math:`(x, y, z)` is the unit vector
-   corresponding to the rotation axis. For small angles this approaches the exponential map representation of the
-   orientation difference (modulo a factor of 2). For large angles it avoids the wrap-around discontinuity that would
-   result if we used :math:`\theta` instead of :math:`\sin(\theta/2)`. It does have a drawback though: when the angle
-   approaches 180 deg the constraint becomes weak. Note also that if one body is a child of the other body, a faster and
-   more accurate way to implement the weld constraint is to simply remove all joints defined in the child body.
-
-``joint`` : 1
-   This constraint applies only to scalar joints: hinge and slide. It can be used to lock one joint into a constant
-   position, or to couple two joints via a quartic polynomial. Locking a joint is better achieved by removing the joint,
-   however it can be useful in special cases such as modeling backlash (via a soft equality constraint). Coupling of two
-   joints is useful for modeling helical joints, or other forms of mechanical coupling. The quartic polynomial model is
-   defined as follows. Suppose :math:`y` is the position of the first joint and :math:`x` is the position of the second
-   joint, and the subscript 0 denotes the corresponding joint positions when the model is in the initial configuration
-   ``mjModel.qpos0``. Then the equality constraint is
-
-   .. math::
-      y-y_0 = a_0 + a_1 \left( x-x_0 \right) + a_2 \left( x-x_0 \right)^2 +
-              a_3 \left( x-x_0 \right)^3 + a_4 \left( x-x_0 \right)^4
-
-   where :math:`a_0, \ldots, a_4` are coefficients defined in the model. If the constraint involves only one joint, it
-   reduces to :math:`y-y_0 = a_0`.
-
-``tendon`` : 1
-   This constraint is very similar to the joint constraint above, but applies to the length of tendons instead of the
-   position of joints. Tendons are length quantities that depend on the vector of positions. This dependence can be a
-   linear combination of scalar joint positions, or a minimal-length string wrapping around spatial obstacles. Unlike
-   joints whose positions in model configuration ``mjModel.qpos0`` can be read directly from the position vector, the
-   computation of tendon lengths is less trivial. This is why the "resting lengths" of all tendons are computed by the
-   compiler and stored in ``mjModel``. In general, all fields of ``mjModel`` whose names end with 0 are quantities
-   computed by the compiler in the initial model configuration ``mjModel.qpos0``.
-
-``distance`` : 1
-   .. attention::
-      Distance equality constraints were removed in MuJoCo version 2.2.2. If you are using an earlier version, please
-      switch to the corresponding version of the documentation.
-
-.. _coFriction:
-
-Friction loss
-~~~~~~~~~~~~~
-
-Friction loss is also known as dry friction, or static friction, or load-independent friction (in contrast with Coulomb
-friction which scales with normal force). Similar to damping or viscosity, it has the effect of opposing motion. However
-it acts preemptively before the onset of motion, and so it cannot be modeled as a velocity-dependent force. Instead it
-is modeled as a constraint, namely an upper limit on the absolute value of the force that friction can generate. This
-limit is specified via the attribute frictionloss of the corresponding model element, and can be applied to joints and
-tendons.
-
-Friction loss is different from all other constraint types in that there is no position residual that can be associated
-with it; so we formally set the corresponding components of :math:`r(q)` to zero. Indeed we will see later that our
-constraint solver formulation needs to be extended in an unusual way to incorporate this constraint. Nevertheless the
-velocity of the affected joint or tendon acts as a velocity "residual" - because the effect of the constraint is to
-reduce this velocity and ideally keep it at zero. Thus the corresponding block in the constraint Jacobian is simply the
-Jacobian of the joint position (or tendon length) with respect to :math:`q`. For scalar joints this is a vector of 0s
-with a 1 at the joint address. For tendons this is known as the moment arm vector.
-
-``joint`` : 1, 3 or 6
-   Friction loss can be defined not only for scalar joints (slide and hinge), but also for ball joints which have 3
-   degrees of freedom, and free joints which have 6 degrees of freedom. When defined, it is applied independently to all
-   degrees of freedom of the affected joint. The frictionloss parameter has implicit units compatible with the joint
-   (linear or angular). Free joints are an exception because they have both linear and angular components, and the MJCF
-   model format allows a single frictionloss parameter per joint. In that case the same parameter is used for both the
-   linear and angular components. It could be argued that friction loss in free joints should not be allowed. However we
-   allow it because it can model useful non-physical effects, such as keeping an object in place until something pushes
-   it with sufficient force.
-
-``tendon`` : 1
-   Tendons are scalar quantities, thus defining friction loss for a tendon always adds one scalar constraint. For
-   spatial tendons this could be used to model friction between the tendon and the surfaces it wraps around. Such
-   friction will be load-independent though. To construct a more detailed model of this phenomenon, create several small
-   floating spheres and connect them with tendons in series. Then the contacts between the spheres and the surrounding
-   surfaces will have load-dependent (i.e., Coulomb) friction, but this is less efficient to simulate.
-
-.. _coLimit:
-
-Limit
-~~~~~
-
-Limits as well as contacts have a well-defined spatial residual, but unlike equality constraints they are uni-lateral,
-i.e. they introduce inequality rather than equality constraints. Limits can be defined for joints and tendons. This is
-done by tagging the corresponding model element as "limited" and defining its "range" parameter. The residual
-:math:`r(q)` is the distance between the current position/length and the closer of the two limiting values specified in
-range. The sign of this distance is automatically adjusted so that it is positive if the limit is not yet reached, zero
-at the limit, and negative if the limit is violated. The constraint becomes active when this distance falls below the
-"margin" parameter. However this is not the same as offsetting limit by margin and setting margin to 0. Instead the
-constraint force depends on distance through the solver :ref:`parameters <soParameters>` described later.
-
-It is possible that both the lower and the upper limits for a given joint or tendon become active. In that case they are
-both included in the list of scalar constraints, however this situation should be avoided -- by increasing the range or
-decreasing the margin. In particular, avoid using narrow ranges to approximate an equality constraint. Instead use an
-explicit equality constraint, and if some slack is desired make the constraint soft by adjusting the solver parameters.
-This is more efficient computationally, not only because it involves one scalar constraint instead of two, but also
-because solving for equality constraint forces is generally faster.
-
-``joint`` : 1 or 2
-   Limits can be defined for scalar joints (hinge and slide) as well as for ball joints. Scalar joints are treated as
-   described above. Ball joint limits are applied to the exponential-map or angle-axis representation of the joint
-   quaternion, i.e., the vector :math:`(\theta x, \theta y, \theta z)` where :math:`\theta` is the rotation angle and
-   :math:`(x, y, z)` is the unit vector corresponding to the rotation axis. The limit is applied to the absolute value
-   of the rotation angle :math:`\theta`. At runtime the limit is determined by the larger of the two range parameters.
-   For semantic clarity however, one should use the second range parameter to specify the limit and set the first range
-   parameter to 0. This rule is enforced by the compiler.
-
-``tendon`` : 1 or 2
-   Tendon are scalar quantities and their limits are treated as described above. Note that fixed tendons (which are
-   linear combinations of scalar joint positions) can have both positive and negative "lengths", because joint positions
-   are defined relative to the joint reference and can be both positive and negative. Spatial tendons however have true
-   lengths which cannot be negative. Keep this in mind when setting ranges and margins for tendon limits.
-
-.. _coContact:
-
-Contact
-~~~~~~~
-
-Contacts are the most elaborate constraint type, both in terms of specifying them in the model and in terms of the
-computations that need to be performed. This is because contact modeling is challenging to begin with, and furthermore
-we support a general contact model allowing tangential, torsional and rolling friction, as well as elliptic and
-pyramidal friction cones.
-
-MuJoCo works with point contacts, defined geometrically by a point between two geoms and a spatial frame centered at
-that point, both expressed in global coordinates. The first (:math:`x`) axis of this frame is the contact normal
-direction, while the remaining (:math:`y` and :math:`z`) axes define the tangent plane. One might have expected the
-normal to correspond to the :math:`z` axis, as in MuJoCo's visualization convention, but we support frictionless
-contacts where only the normal axis is used, which is why we want to have the normal in first position. Similar to
-limits, the contact distance is positive when the two geoms are separated, zero when they touch, and negative when they
-penetrate. The contact point is in the middle between the two surfaces along the normal axis (for mesh collisions this
-may be approximate). :ref:`Collision
-detection <Collision>` is a separate topic discussed in detail below. All we need for now is that the contact point,
-spatial frame and normal distance are given by the collision detector.
-
-In addition to the above quantities which are computed online, each contact has several parameters obtained from the
-model definition.
-
-.. list-table::
-   :widths: 2 6
-   :header-rows: 1
-
-   * - Parameter
-     - Description
-   * - ``condim``
-     - Dimensionality of the contact force/torque in the contact frame. |br| It can be 1, 3, 4 or 6.
-   * - ``friction``
-     - Vector of friction coefficients with dimensionality ``condim-1``. See below for semantics of the specific
-       coefficients.
-   * - ``margin``
-     - The geometric inflation of the geom surfaces. Contacts are detected when the distance is below
-       ``margin + gap``, and contact forces are generated when the distance is below ``margin``.
-   * - ``gap``
-     - An additional detection buffer beyond ``margin``. Contacts with distance between ``margin`` and
-       ``margin + gap`` are included in ``mjData.contact`` as inactive contacts, but no contact forces are generated.
-       This is useful for action-at-a-distance effects, for example by :ref:`adhesion<actuator-adhesion>` actuators.
-   * - ``solref`` and ``solimp``
-     - :ref:`Solver <Solver>` parameters, explained later.
-
-.. _coMarginGap:
-
-margin and gap
-^^^^^^^^^^^^^^
-
-Each geom has a ``margin`` and a ``gap`` parameter, defined in the table above. The values for both parameters are
-:ref:`summed<CContact>` when considering contact between the two geoms. Together they define three regimes of contact
-detection and force generation, illustrated in the figure below.
-
-.. image:: ../images/modeling/margin_gap_light.svg
-   :width: 90%
-   :align: center
-   :class: only-light
-
-.. image:: ../images/modeling/margin_gap_dark.svg
-   :width: 90%
-   :align: center
-   :class: only-dark
-
-The distance between two geom surfaces determines which regime applies:
-
-- **No contact** (distance > ``margin + gap``): The geom surfaces, including their gap buffers, are not overlapping.
-  No contact is generated.
-
-- **Inactive contact** (``margin`` < distance ≤ ``margin + gap``): A contact is detected and included in
-  ``mjData.contact``, but no contact force is generated (``efc_address = -1``). These contacts can be used for custom
-  computations, for example by :ref:`adhesion<actuator-adhesion>` actuators.
-
-- **Active contact** (distance ≤ ``margin``): The contact is active and constraint forces are generated. The constraint
-  impedance function is applied to the quantity ``distance - margin``, which is non-positive in this regime.
-
-Negative ``margin`` values, corresponding "shrinkgage" of the geometric shape, are permitted. In this case
-``margin + gap >= 0`` must be maintained for collision detection to work correctly.
-
-.. _coCondim:
-
-condim
-^^^^^^
-The contact friction cone can be either elliptic or pyramidal. This is a global setting determined by the choice of
-constraint solver: the elliptic solvers work with elliptic cones, while the pyramidal solvers work with pyramidal cones,
-as defined later. The ``condim`` parameter determines the contact type, and has the following meaning:
-
-``condim = 1`` : 1 for elliptic, 1 for pyramidal
-   This corresponds to a frictionless contact and adds only one scalar constraint. Recall that the first axis of the
-   contact frame is the contact normal. Frictionless contacts can only generate force along the normal. This is very
-   similar to a joint or tendon limit, but is applied to the distance between two geoms.
-
-``condim = 3`` : 3 for elliptic, 4 for pyramidal
-   This is a regular frictional contact, which can generate normal force as well as a tangential friction force opposing
-   slip. An interpretation of this number is the slope of a surface above which a flat object will begin to slip
-   under gravity.
-
-``condim = 4`` : 4 for elliptic, 6 for pyramidal
-   In addition to normal and tangential force, this contact can generate torsional friction torque opposing rotation
-   around the contact normal, corresponding to a torque generated by a contacting surface patch. This is useful for
-   modeling soft fingers, and can substantially improve the stability of simulated grasping. Torsional friction
-   coefficients have **units of length** which can be interpreted as the diameter of the surface contact patch.
-
-``condim = 6`` : 6 for elliptic, 10 for pyramidal
-   This contact can oppose motion in all relative degrees of freedom between the two geoms. In particular it adds
-   rolling friction, which can be used for example to stop a ball from rolling indefinitely on a plane. Rolling friction
-   in the real world results from energy dissipated by local deformations near the contact point. It can be
-   used to model rolling friction between tires and a road, and in general to stabilize contacts. Rolling friction
-   coefficients also have **units of length** which can be interperted as the depth of the local deformation within
-   which energy is dissipated.
-
-Note that condim cannot be 2 or 5. This is because the two tangential directions and the two rolling directions are
-treated as pairs. The friction coefficients within a pair can be different though, which can be used to model skating
-for example.
-
-.. _coCones:
-
-Friction cones
-^^^^^^^^^^^^^^
-
-Now we describe the friction cones and the corresponding Jacobians more formally. In this section only, let :math:`f`
-denote the vector of constraint forces for a single contact (as opposed to the system-level vector of constraint
-forces), :math:`\mu` the vector of friction coefficients, and :math:`n` the contact dimensionality condim. For
-:math:`n > 1` the elliptic and pyramidal friction cones are defined as
-
-.. math::
-   \begin{aligned}
-   \text{elliptic cone}: & & \mathcal{K} &=
-      \left\{ f \in \mathbb{R}^n : f_1 \geq 0,
-              f_1^2 \geq \sum_{i=2}^n {f_i^2 / \mu_{i-1}^2} \right\} \\
-   \text{pyramidal cone}: & & \mathcal{K} &=
-      \left\{ f \in \mathbb{R}^{2(n-1)} : f \geq 0 \right\} \\
-  \end{aligned}
-
-The vector inequality in the pyramidal cone definition is meant element-wise. For :math:`n=1` both cones are defined as
-the non-negative ray (which is a special case of a cone). Note that the system-level friction cone discussed in the
-solver section below will also be denoted :math:`\mathcal{K}`. It is the product of the friction cones for the
-individual contacts as defined here.
-
-We also need to specify how the constraint force acts on the system. This is done by associating a 6D basis vector with
-each component of :math:`f`. The basis vectors are spatial vectors: 3D force followed by 3D torque. Arranging the basis
-vectors into the columns of a matrix :math:`E`, the force/torque generated by the constraint force in the contact frame
-is :math:`E f`. The matrix of basis vectors is constructed as follows.
-
-.. image:: ../images/computation/contact_frame.svg
-   :width: 700px
-   :align: center
-   :class: only-light
-
-.. image:: ../images/computation/contact_frame_dark.svg
-   :width: 700px
-   :align: center
-   :class: only-dark
-
-The figure illustrates the full basis set corresponding to the case :math:`n = 6`. Otherwise we use only the first
-:math:`n` or :math:`2(n-1)` columns depending on the cone type. Elliptic cones are easier to understand. Since the
-matrix :math:`E` is the identity matrix, the first three components of :math:`f` are forces acting along the axes of the
-contact frame, while the next three components are torques acting around the axes. For pyramidal cones, the basis
-vectors correspond to the edges of a pyramid. Each vector combines a normal force component and either a frictional
-force or a frictional torque component. The scaling by the friction coefficients ensures that all basis vectors lie
-within the elliptic friction cone we are approximating. The same holds for any convex combination of these vectors.
-
-Finally we specify how the contact Jacobian is computed. First we construct the :math:`6`-by-:math:`\nv` matrix
-:math:`S` which maps joint velocities :math:`v` to spatial velocities :math:`S v` expressed in the contact frame. This
-is done by considering the contact point as belonging to one or the other geom, computing its spatial Jacobian, and
-subtracting these two Jacobians to obtain :math:`S`. The convention we use is that the contact force acts from the first
-towards the second geom, so the spatial Jacobian for the first geom has negative sign. The contact Jacobian is then
-:math:`E^T S`. As with all other constraints, this matrix is inserted into the system-level Jacobian :math:`J`.
-
-.. _Solver:
-
-Constraint solver
------------------
-
-This section explains how the constraint forces are computed. This is done in two stages. First, the constraint forces
-are defined as the unique global solution to a convex optimization problem. It is a quadratic program for pyramidal
-cones and a conic program for elliptic cones. Second, the optimization problem is solved with the algorithms described
-below. We also describe the parameters of the constraint model and how they affect the resulting dynamics.
-
-The definition of the optimization problem itself has two steps. We start with a primal problem defined over
-accelerations :math:`\dot{v}` where the constraint forces are implicit. We then transform the primal problem over
-accelerations into its Lagrange dual. The dual is a convex optimization problem over constraint forces, which also play
-the role of Lagrange multipliers for the primal problem. In forward dynamics, either the primal or the dual problem has
-to be solved numerically. In inverse dynamics, the problem becomes diagonal and can be solved analytically.
-
-The primal formulation is based on a generalization of the Gauss principle of least constraint. In its basic form, the
-Gauss principle states that if we have unconstrained dynamics :math:`M \dot{v} = \tau` and impose acceleration
-constraint :math:`J \dot{v} = \ar`, the resulting acceleration will be
-
-.. math::
-   \dot{v} = \arg \min_x \left\| x-M^{-1} \tau \right\|^2_M \\
-   \textrm{subject to} \; J x = \ar
-
-where the weighted :math:`L_2` norm is the usual :math:`\|x\|^2_M = x^T M x`. Thus the constraint causes the smallest
-possible deviation from the unconstrained acceleration :math:`M^{-1}\tau`, where the metric for measuring deviations in
-joint coordinates is given by the inertia matrix. This principle is known to be equivalent to the Lagrange-d'Alembert
-principle of constrained motion. Here we will use it to obtain a rich yet principled model of soft constraints. This
-will be done by generalizing both the cost function and the constraints in the Gauss principle.
-
-We will use the following notation beyond the notation introduced earlier:
-
-.. list-table::
-   :widths: 1 1 4
-   :header-rows: 1
-
-   * - Symbol
-     - Size
-     - Description
-   * - :math:`z`
-     - :math:`\nc`
-     - constraint deformations
-   * - :math:`\omega`
-     - :math:`\nc`
-     - velocity of constraint deformations
-   * - :math:`k`
-     - :math:`\nc`
-     - virtual constraint stiffness
-   * - :math:`b`
-     - :math:`\nc`
-     - virtual constraint damping
-   * - :math:`d`
-     - :math:`\nc`
-     - constraint impedance
-   * - :math:`A(q)`
-     - :math:`\nc \times \nc`
-     - inverse inertia in constraint space
-   * - :math:`R(q)`
-     - :math:`\nc \times \nc`
-     - diagonal regularizer in constraint space
-   * - :math:`\ar`
-     - :math:`\nc`
-     - reference acceleration in constraint space
-   * - :math:`\au(q, v, \tau)`
-     - :math:`\nc`
-     - unconstrained acceleration in constraint space
-   * - :math:`\ac(q, v, \dot{v})`
-     - :math:`\nc`
-     - constrained acceleration in constraint space
-   * - :math:`\mathcal{K}(q)`
-     -
-     - product of all contact friction cones
-   * - :math:`\eta`
-     -
-     - upper bounds on friction loss forces
-   * - :math:`\Omega(q)`
-     -
-     - convex set of admissible constraint forces
-   * - :math:`\mathcal{E}, \mathcal{F}, \mathcal{C}`
-     -
-     - index sets for Equality, Friction loss, Contact constraints
-
-The index sets will be used to refer to parts of vectors and matrices. For example, :math:`J_\mathcal{C}` is the
-sub-matrix of all rows of the Jacobian that correspond to contact constraints.
-
-.. _soPrimal:
-
-Primal problem
-~~~~~~~~~~~~~~
-
-We first formulate the optimization problem whose solution yields the constrained acceleration :math:`\dot{v}`, and then
-explain what it means and why it makes sense. That problem is
-
-.. math::
-   (\dot{v}, \dot{\omega}) = \arg \min_{(x, y)}
-                             \left\|x-M^{-1}(\tau-c)\right\|^2_M +
-                             \left\|y-\ar\right\|^{\text{Huber}(\eta)}_{R^{-1}} \\
-   \textrm{subject to} \;
-   J_\mathcal{E} x_\mathcal{E} - y_\mathcal{E} = 0, \;
-   J_\mathcal{F} x_\mathcal{F} - y_\mathcal{F} = 0, \;
-   J_\mathcal{C} x_\mathcal{C} - y_\mathcal{C} \in \mathcal{K}^*
-   :label: eq:primal
-
-The new players here are the diagonal regularizer :math:`R > 0` which makes the constraints soft, and the reference
-acceleration :math:`\ar` which stabilizes the constraints; the latter is a spring-damper defined in the
-:ref:`Parameters <soParameters>` section below. It is similar in spirit to Baumgarte stabilization,
-but instead of adding a constraint force directly, it modifies the optimization problem whose solution is the constraint
-force. Since this problem is itself constrained, the relation between :math:`\ar` and :math:`f` is generally non-linear.
-The quantities :math:`R` and :math:`\ar` are computed from the solver :ref:`parameters <soParameters>` as described
-later. For now we assume they are given.
-
-The optimization variable :math:`x` stands for acceleration as in the Gauss principle, while :math:`y` is a slack
-variable in constraint space. It is needed to model soft constraints. If we forced the solution to reach
-:math:`y = \ar`, which we could do by taking the limit :math:`R \to 0`, we would obtain a hard constraint model. This
-limit is not allowed in MuJoCo, but nevertheless one can construct models that are phenomenologically hard.
-
-The symbol :math:`\mathcal{K}^*` denotes the dual to the friction cone. It is motivated by mathematical reverse
-engineering: we want to recover the constraint :math:`f \in \mathcal{K}` after taking the dual of our primal problem,
-and the dual of the dual of a cone is the cone itself. The pyramidal friction cone defined earlier is actually
-self-dual, but the elliptic one is not.
-
-The Huber "norm" is based on the Huber function from robust statistics: it is a quadratic around zero, and transitions
-smoothly to a linear function when the absolute value of the argument crosses a threshold -- in this case given by the
-friction loss parameters. Setting :math:`\eta = \infty` recovers the quadratic norm; we use this convention for all
-constraint forces that are not due to friction loss. This is another instance of reverse engineering: we want to obtain
-interval constraints on the friction loss forces, which is non-trivial because Lagrange duality usually yields
-non-negativity constraints. It turns out that the Huber function is precisely what one needs in order to obtain interval
-constraints in the dual. In the absence of friction loss constraints both norms become quadratic.
-
-We now relate problem :eq:`eq:primal` more closely to the Gauss principle, and give physical meaning to the slack
-variables. Consider an augmented dynamical system with position :math:`(q, z)` and velocity :math:`(v, \omega)`. The new
-state variables correspond to deformation dynamics. Similarly to the original system where :math:`v` is not the same as
-:math:`\dot{q}`, here :math:`\omega` is not the same as :math:`\dot{z}`, although the reason is different. Deformation
-is related to non-zero position residual. Recall that we have well-defined position residuals for equality constraints,
-limits, all components of pyramidal friction cones, and the normal component of elliptic friction cones. For these
-deformation variables we have :math:`\dot{z} = \omega`. For friction loss and frictional components of elliptic cones
-however, we have :math:`z = 0` while :math:`\omega \neq 0`. This is because even though there may be motion in the
-constraint space (which the constraint force aims to prevent), there is no position error. The augmented dynamics are
-
-.. math::
-   \begin{aligned}
-   \tilde{q} &= {q \brack z}, &
-   \tilde{v} &= {v \brack \omega}, &
-   \tilde{c} &= {c \brack 0}, \\
-   \tilde{\tau} &= {\tau \brack {R^{-1} \ar}}, &
-   \tilde{M} &= \left[\begin{array}{cc}
-                      M & 0 \\
-                      0 & R^{-1}
-                      \end{array} \right], &
-   \tilde{J} &= \left[ \begin{array}{cc}J & -I \end{array} \right] \\
-   \end{aligned}
-
-Applying the Gauss principle to this system yields the primal optimization problem above, except for the Huber norm. The
-general equations of motion :eq:`eq:motion` now become
-
-.. math::
-   \tilde{M} \dot{\tilde{v}} + \tilde{c} = \tilde{\tau} + \tilde{J}^T f
-
-Unpacking all the tildes yields the explicit form of the original and the deformation dynamics:
-
-.. math::
-   \begin{aligned}
-   M \dot{v} + c &= \tau +J^T f \\
-   \dot{\omega} &= \ar - R f \\
-   \end{aligned}
-
-Thus :math:`R` has the meaning of inverse deformation inertia, while :math:`\ar` has the meaning of unforced deformation
-acceleration.
-
-Does MuJoCo keep these deformation variables as part of the system state and integrate their dynamics together with the
-joint positions and velocities? No, although such an option may be worth providing in the future. Recall that we defined
-the functional dependence of the regularizer and the reference acceleration as :math:`R(q)` and :math:`\ar(q, v)`. This
-makes problem :eq:`eq:primal` dependent only on :math:`(q, v, \tau)`, and so the original dynamics are not actually
-affected by the deformation dynamics. Since the general constraint model we developed up to now makes no assumptions
-about how :math:`R` and :math:`\ar` are computed, our choice is consistent and improves simulator efficiency.
-Nevertheless, given that these quantities turned out to be related to the deformation dynamics, it may be more natural
-to define them as :math:`R(z)` and :math:`\ar (z, \omega)` and simulate the entire augmented system. Below we clarify
-some of the benefits of such a simulation.
-
-When do the deformation dynamics "track" the original dynamics exactly? One can verify that this happens when the
-constraint force :math:`f` equals the quantity :math:`f^+` defined in the parameter section below. Then the deformation
-states become static functions of the joint position and velocity, namely :math:`z = r(q)` and :math:`\omega = J(q) v`.
-But in general this is not the case. Suppose you push your finger into a soft material, pull it back faster than the
-material can recover its shape, and push again. The contact force you experience on the second push depends not only on
-the rigid-body positions of your finger and the object, but also on the material deformation created during the first
-push. Simulating the above augmented dynamics would capture this phenomenon, while the model implemented in MuJoCo
-ignores it and instead assumes that all objects recover their shape before the next contact. There is a related
-phenomenon associated with slip in friction dimensions which is also ignored.
-
-.. _soReduced:
-
-Reduced primal problem
-~~~~~~~~~~~~~~~~~~~~~~
-
-The primal problem defined in :eq:`eq:primal`, as well as the dual problem we will obtain later, are both constrained
-optimization problems. The dual will turn out to have a simpler form, but still, constrained optimization is numerically
-less efficient than unconstrained optimization. It turns out that the primal problem can be reduced to unconstrained
-optimization over accelerations. If :math:`x` in :eq:`eq:primal` is given, minimizing over :math:`y` can be done in
-closed form. This also eliminates the constraints, in the sense that the solution for :math:`y` automatically satisfies
-the constraints. We are then left with an unconstrained optimization problem over :math:`x` which can be solved with
-more efficient algorithms.
-
-The reduction is based on the fact that minimization over :math:`y` in :eq:`eq:primal` comes down to finding the nearest
-point on the constraint set -- which is either a plane or a cone, and can be done analytically. Substituting the result,
-we obtain the unconstrained problem
-
-.. math::
-   \dot{v} = \arg \min_{x} \left\|x-M^{-1}(\tau-c)\right\|^2_M +
-             s \left( J x - \ar \right)
-   :label: eq:reduced
-
-The function :math:`s(\cdot)` plays the role of a soft-constraint penalty. It can be shown to be convex and
-once-continuously-differentiable. In the case of pyramidal friction cones it is a quadratic spline.
-
-Another appealing feature of the reduced formulation is that the inverse dynamics can be easily computed. Since the
-above problem is unconstrained and convex, the unique global minimum makes the gradient vanish. This yields the identity
-
-.. math::
-   M \dot{v} + c = \tau - J^T \nabla s \left( J \dot{v} - \ar \right)
-
-which is the analytical inverse dynamics in the presence of soft constraints. Comparing to the equations of motion
-:eq:`eq:motion`, we see that the constraint forces :math:`f` are given by the negative gradient of the function
-:math:`s(\cdot)`. Differentiating one more time with respect to :math:`\dot{v}` yields
-
-.. math::
-   \frac{\partial \tau}{\partial \dot{v}} = M + J^T H[s] J
-
-This is the analytical derivative of applied force with respect to acceleration. Thus we see that the function
-:math:`s(\cdot)` and its derivatives are key to the MuJoCo physics model.
-
-.. _soDual:
-
-Dual problem
-~~~~~~~~~~~~
-
-The procedure for constructing a Lagrange dual is somewhat tedious but well-established. We skip to the result. The
-Lagrange dual to the primal problem defined above is
-
-.. math::
-   f = \arg\min_\lambda \frac{1}{2} \lambda^{T} \left( A+R \right) \lambda +
-       \lambda^T \left( \au - \ar \right) \\
-   \text{subject to} \; \lambda \in \Omega
-   :label: eq:dual
-
-where the inverse inertia in constraint space is
-
-.. math::
-   A = J M^{-1} J^T
-
-and the unconstrained acceleration in constraint space is
-
-.. math::
-   \au = J M^{-1} (\tau-c) + \dot{J} v
-
-The constraint set :math:`\Omega` is as follows. :math:`\lambda_\mathcal{E}` is unconstrained, because it is the
-Lagrange multiplier for an equality constraint in the primal problem. For friction loss we have the box constraint
-:math:`\left|\lambda_\mathcal{F}\right| \leq \eta` applied element-wise. For contacts we have
-:math:`\lambda_\mathcal{C} \in \mathcal{K}`. For pyramidal cones this is simply :math:`\lambda_\mathcal{C} \geq 0`,
-while for elliptic cones it is a second-order cone constraint. While :math:`A` is only symmetric positive semi-definite,
-:math:`R` is symmetric positive definite by construction, and so the above quadratic cost is strictly convex. Thus for
-pyramidal friction cones we have a convex box-constrained quadratic program, and for elliptic friction cones we have a
-mixture of box constraints and second-order cone constraints. The :ref:`algorithms <soAlgorithms>` for solving this
-problem are described later.
-
-As mentioned earlier, MuJoCo's constraint model has uniquely-defined inverse dynamics, and we already saw one way to
-derive it in the reduced formulation above. Here we derive it again from the dual formulation. Recall that in inverse
-dynamics we have access to :math:`(q, v, \dot{v})` instead of :math:`(q, v, \tau)`, so the unconstrained acceleration
-:math:`\au` is unknown. However we can compute the constrained acceleration
-
-.. math::
-   \ac = J \dot{v} + \dot{J} v
-
-Inverse dynamics can now be computed by solving the optimization problem
-
-.. math::
-   f = \arg \min_\lambda \frac{1}{2} \lambda^{T} R \lambda +
-       \lambda^T \left( \ac - \ar \right) \\
-   \text{subject to} \; \lambda \in \Omega
-
-By comparing the KKT conditions for these two convex optimization problems, one can verify that their solutions coincide
-when
-
-.. math::
-   \ac = \au + Af
-   :label: eq:identity
-
-This key identity is essentially Newton's second law projected in constraint space. It is derived by moving the term
-:math:`c` in the equations of motion :eq:`eq:motion` to the right hand side, multiplying by :math:`J M^{-1}` from the
-left, adding :math:`\dot{J} v` to both sides, and substituting the above definitions of :math:`A, \au, \ac`. Computing
-:math:`\dot{J} v` requires differentiating the constraint Jacobian with respect to time, which is nontrivial.
-Although this term cancels in the identity :eq:`eq:identity` and so does not affect the forward-inverse comparison, its
-omission in the forward dynamics introduces a velocity-dependent bias for any constraint whose Jacobian varies with
-configuration. We compute this term for equality constraints (connect and weld) where Jacobian differentiation
-is tractable. For contacts, the term remains omitted due to the complexity of differentiating the contact frame through
-the collision pipeline.
-
-Note that the quadratic term in the inverse problem is weighted by :math:`R` instead of :math:`A+R`. This is the key
-structural insight: the :math:`A` matrix cancels entirely, leaving only :math:`R` in the quadratic term. Two
-consequences follow. First, in the limit :math:`R \to 0` corresponding to hard constraints the inverse is no longer
-defined, as one would expect. Second, the inverse problem is diagonal, i.e., it decouples into independent optimization
-problems over the individual constraint forces. Since :math:`R` is diagonal, no matrix inversion or factorization is
-needed -- the inverse dynamics require no optimization at all, only analytical formulas. The only remaining coupling is
-due to the constraint set :math:`\Omega`, but that set is also decoupled over the conceptual constraints discussed
-earlier. It turns out that all these independent optimization problems can be solved analytically. The only non-trivial
-case is the elliptic friction cone model; we have shown how it can be handled in the above-referenced
-`paper <https://scholar.google.com/scholar?cluster=9217655838195954277>`__. It requires a certain coupling of the
-diagonal values of :math:`R`, which is automatically enforced by MuJoCo so as to enable an exact analytical inverse for
-every model.
-
-Once the forward dynamics are computed, the inverse dynamics are essentially free in terms of computation. This is
-because the forward dynamics need all the quantities that enter into the inverse problem, and so the only extra step is
-the analytical formula. This makes it possible to implement an automatic correctness check in MuJoCo. When the flag
-``fwdinv`` in ``mjModel.opt.enableflags`` is on, the forward and inverse dynamics are automatically compared at the end
-of each time step, and the difference is recorded in ``mjData.solver_fwdinv``. Discrepancies indicate that the forward
-solver---which is numerical and is usually terminated early---is not converging well. Of course the inverse dynamics are
-also useful on their own, without computing the forward dynamics first.
-
-.. _soAlgorithms:
-
-Algorithms
-~~~~~~~~~~
-
-Here we describe the numerical algorithms (or "solvers") for solving the above convex optimization problems. The Newton
-and CG solvers work with the reduced primal formulation :eq:`eq:reduced`, while the PGS solver works with the dual
-formulation :eq:`eq:dual`. Note that numerical solvers are only needed in forward dynamics. Inverse dynamics are handled
-analytically.
-
-Each solver algorithm can be used with both pyramidal and elliptic friction cones, and both dense and sparse
-representations of the constraint Jacobian and related matrices.
-
-**CG** : conjugate gradient method
-   This algorithm uses the non-linear conjugate gradient method with the Hager-Zhang formula. Line-search is
-   exact, using Newton's method in one dimension with analytical second derivatives on the piecewise-quadratic
-   cost. CG has no setup cost.
-
-**Newton** : Newton's method
-   This algorithm implements the exact Newton method, with analytical second-order derivatives and Cholesky
-   factorization of the Hessian. The line-search is the same as in the CG method. When constraint states change between
-   iterations (e.g., a constraint transitions from quadratic to linear), the Hessian factorization is updated
-   incrementally via rank-1 Cholesky updates, avoiding full refactorization. Early termination is triggered when any of
-   three quantities falls below :ref:`tolerance<option-tolerance>`: the cost improvement of the last iteration, the
-   gradient norm, and the Newton decrement :math:`\tfrac{1}{2} g^T H^{-1} g` -- the predicted cost improvement of the
-   next iteration. It is the default solver.
-
-**PGS** : Projected Gauss-Seidel method
-   This is the most common algorithm used in physics simulators, and used to be the default in MuJoCo, until we
-   developed the Newton method which appears to be better in every way. PGS uses the dual formulation. Unlike
-   gradient-based methods which improve the solution along oblique directions, Gauss-Seidel works on one scalar component
-   at a time, and sets it to its optimal value given the current values of all other components. One sweep of PGS has
-   the computational complexity of one matrix-vector multiplication (although the constants are larger). It has
-   first-order convergence but nevertheless makes rapid progress in a few iterations.
-
-   .. image:: ../images/computation/gPGS.svg
-      :width: 500px
-      :align: center
-      :class: only-light
-
-   .. image:: ../images/computation/gPGS_dark.svg
-      :width: 500px
-      :align: center
-      :class: only-dark
-
-   When using pyramidal friction cones, the problem involves box constraints to which PGS has traditionally been
-   applied. If we applied PGS directly to the conic constraints resulting from elliptic friction cones, it would get
-   stuck in a continuum of local minima; see left panel. This is because it can only make progress along the coordinate
-   axes. The right panel illustrates our solution to this problem. We still update one contact at a time, but within a
-   contact we update along non-orthogonal axes adapted to the constraint surface, as follows. First, we optimize the
-   quadratic cost along the ray from the tip of the cone through the current solution. Then we slice the cone with a
-   hyperplane passing through the current solution and orthogonal to the contact normal. This yields an ellipsoid which
-   can be up to 5-dimensional, given our contact model. Now we optimize the quadratic cost within this ellipsoid. This
-   is an instance of quadratically constrained quadratic programming (QCQP). Since there is only one scalar constraint
-   (however nonlinear it may be), the dual is a scalar optimization problem over the unknown Lagrange multiplier. We
-   solve this problem with Newton's method applied until convergence -- which in practice takes less than 10 iterations,
-   and involves small matrices. Overall this algorithm has similar behavior to PGS for pyramidal cones, but it can
-   handle elliptic cones without approximating them. It does more work per contact, however the contact dimensionality
-   is smaller, and these two factors roughly balance each other.
-
-**NoSlip** : post-processing pass
-   This is not a standalone solver but a post-processing step, enabled by setting ``noslip_iterations`` to a positive
-   value in :ref:`option <option>`. After the main solver (Newton, CG, or PGS) has converged, the NoSlip solver
-   re-solves the friction dimensions only, using a PGS sweep with :math:`R = 0` (i.e., hard constraints) in those
-   dimensions. This suppresses the contact slip that is inherent to soft-constraint models. However, this cascade of
-   optimization steps no longer solves a single well-defined optimization problem; it is an ad-hoc correction that can
-   occasionally cause instabilities in models with complex multi-contact interactions.
-
-**Warmstart**
-   Before solving, the solver warmstarts the constraint forces from the previous time step. It evaluates the cost of
-   the warmstarted forces and compares it against the cost of zero forces (i.e., the unconstrained solution
-   ``qacc_smooth``). The lower-cost initialization is used. This dual warmstart strategy is robust: it quickly
-   bootstraps the solver when constraints persist across time steps, but avoids carrying over stale forces from
-   constraints that have disappeared.
-
-   Because every zone of the piecewise-quadratic cost has curvature of at least :math:`M`, the cost is strongly convex
-   in the :math:`M`-norm, which bounds the suboptimality of any point by the duality gap at its constraint forces:
-   :math:`\text{cost}(a) - \text{cost}^* \le \tfrac{1}{2} g^T M^{-1} g`. Before starting iterations, the CG and Newton
-   solvers evaluate this certificate at the warmstarted point, using the already-computed factorization of
-   :math:`M`. If it is below tolerance, convergence is proven and the solver returns immediately with zero iterations;
-   in the Newton case this skips constructing and factorizing the Hessian. In a quiescent, well-warmstarted scene this
-   eliminates nearly the entire cost of the constraint solver.
-
-.. _soIsland:
-
-Constraint islands
-~~~~~~~~~~~~~~~~~~
-
-.. image:: ../images/computation/island.svg
-   :width: 58%
-   :align: right
-
-Consider the abstract graph defined by degrees of freedom (:ref:`DOFs<ElemDof>`) and constraints. A vertex is all the
-DOFs in a single kinematic :ref:`tree<ElemTree>`; an edge is a constraint (a contact, equality or tendon limit) between
-two bodies belonging to different trees. A *constraint island* is a disjoint sub-graph which can be solved for
-independently, because constraint forces cannot propagate between islands. Constraint island discovery and construction
-("islanding") involves finding these disjoint subgraphs and reordering both the DOFs and constraints to make them
-memory-contiguous. This amounts to a block-diagonalization of the constraint Jacobian :math:`J`, as illustrated in the
-figure. On the left is the monolithic Jacobian of size :math:`\nc \times \nv`, where we use the :ref:`corresponding
-<Framework>` size names from MuJoCo's data structures ``mjData.nefc`` and ``mjModel.nv``. On the right is the
-block-diagonalized Jacobian with 3 islands that can be solved independently. Note that islanding also identifies
-unconstrained DOFs, so ``mjData.nidof``, the total number of DOFs in all islands, might be smaller than ``mjModel.nv``.
-While islanding is not free (see implementation in `engine_island.c
-<https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_island.c>`__), it is worth the effort:
-
-- Different islands require different numbers of iterations to converge, and a monolithic solve would run for the
-  number required by the slowest island.
-- Unconstrained DOFs are completely untouched by the solver, which otherwise needs to discover that they are unaffected.
-- Solving separate islands can be multi-threaded.
-
-.. _soParameters:
-
-Parameters
-~~~~~~~~~~
-
-Here we explain how the quantities :math:`R, \ar` are computed from model parameters. For the chosen
-parameterization to make sense, we first need to understand how these quantities affect the dynamics. We focus on the
-unconstrained minimizer of :eq:`eq:dual`, namely
-
-.. math::
-   f^+ = (A+R)^{-1} (\ar - \au)
-
-If it happens that :math:`f^+ \in \Omega`, then :math:`f^+ = f` is the actual constraint force generated by our model.
-We focus on this case because it is common, in the sense that the subset of the constraints in :math:`\Omega` that are
-active at any given time is usually small, and furthermore it is the only case that we can actually analyze.
-Substituting :math:`f^+` in the constraint dynamics :eq:`eq:identity` and rearranging terms yields
-
-.. math::
-   \ac = A(A+R)^{-1} \ar + R (A+R)^{-1} \au
-
-Thus the constrained acceleration interpolates between the unconstrained and the reference acceleration. In particular,
-in the limit :math:`R \to 0` we have a hard constraint and :math:`\ac = \ar`, while in the limit :math:`R \to \infty` we
-have have an infinitely soft constraint (i.e., no constraint) and :math:`\ac = \au`. It is then natural to introduce a
-model parameter which directly controls the interpolation. We call this parameter *impedance* and denote it :math:`d`.
-It is a vector with dimensionality :math:`\nc` satisfying :math:`0<d<1` element-wise. Once it is specified, we compute
-the diagonal elements of the regularizer as
-
-.. math::
-   :label: eq:impedance_R
-
-   R_{ii} = \frac{1-d_i}{d_i} \hat{A}_{ii}
-
-Note that we are not using the diagonal of the actual :math:`A` matrix, but an approximation to it. This is because we
-do not want to have to compute :math:`A` in the sparse solver or in the inverse dynamics. The approximation (which is
-limited to the diagonal) is constructed using the "end-effector" inertias of all bodies, joints and tendons when the
-model is in the initial configuration ``mjModel.qpos0``. These quantities are computed by the compiler. If our
-approximation happened to be exact, and :math:`A` itself happened to be diagonal, then the acceleration of each scalar
-constraint would satisfy
-
-.. math::
-   \aci = d_i \ari + (1-d_i) \aui
-
-and so we would achieve the desired interpolation effect. This of course does not hold exactly in general, but the goal
-here is to construct a sensible and intuitive parameterization of the constraint model and get the scaling right.
-
-.. _soExactDiag:
-
-Diagonal approximation
-  The approximation has three sources of error: (i) it is frozen at ``qpos0`` rather than evaluated at the current
-  configuration; (ii) it averages the directional inverse inertia into a scalar, assuming isotropy; and (iii) it treats
-  the contributions of different bodies as independent, ignoring kinematic coupling through shared DOFs. These errors
-  are usually modest, but can become significant for models with highly anisotropic inertias or long kinematic chains
-  that operate far from ``qpos0``. In severe cases — particularly when the averaged inertia becomes near-zero despite
-  finite directional inertia — the regularizer :math:`R` becomes near-zero, making constraints infinitely hard and
-  causing divergence. The :ref:`diagexact<option-flag-diagexact>` flag replaces the approximation with the exact
-  diagonal :math:`A_{ii} = \|Y_i\|^2`, where :math:`Y = J M^{-1/2}` is the whitened Jacobian, computed at the current
-  configuration. This eliminates all three sources of error at a modest runtime cost: computing :math:`Y` requires a
-  back-substitution with the Cholesky factor of the mass matrix for each active constraint row; if :ref:`dual
-  solvers<soAlgorithms>` are used (PGS or NoSlip), the cost is negligible since :math:`Y` is computed anyway.
-
-Next we explain how the reference acceleration is computed. As already mentioned, we use a spring-damper model
-parameterized by *damping* and *stiffness* coefficients element-wise:
-
-.. math::
-   :label: eq:aref
-
-   \ari = -b_i (J v)_i - k_i r_i
-
-Recall that :math:`r` is the position residual, while :math:`J v` is the joint velocity projected in constraint space;
-the indexing notation refers to one component of the projected velocity vector. For friction loss and friction
-dimensions of elliptic cones, :math:`r \equiv 0` and therefore :math:`k=0`, so the reference acceleration reduces to
-pure damping: :math:`\ari = -b_i (J v)_i`. More detail is given in the :ref:`Friction<CSolverFriction>` section of the
-Modeling chapter. For the tangential rows of contacts whose geoms specify a
-:ref:`surface velocity<body-geom-surfacevel>`, the projected velocity :math:`(J v)_i` is biased by the relative
-velocity of the surface material, so that the reference acceleration drives the contact toward moving *with* the
-surface; this is how conveyor belts and turntables are implemented, and it is also the quantity reported in the
-contact rows of ``mjData.efc_vel``.
-
-.. _soAdhesion:
-
-Adhesion
-  Contacts of geoms with nonzero :ref:`adhesion<body-geom-adhesion>` force :math:`\delta` can pull: the feasible force
-  set is the friction cone *translated down the contact normal* by :math:`\delta`. This is implemented with an exact
-  factorization which leaves the cone machinery untouched. A constant attractive force :math:`\delta` along the contact
-  normal is accumulated into the passive force ``mjData.qfrc_adhesion``, and the reference acceleration of the contact's
-  normal row is biased:
-
-  .. math::
-     \ar \rightarrow \ar + R \, \delta
-
-  (for pyramidal cones the bias is distributed equally over the :math:`2(\mathrm{dim}-1)` edges). To see that this
-  factorization is exactly cone translation, combine :math:`f = (A+R)^{-1}(\ar - \au)` with :eq:`eq:identity` to obtain
-  the force relation :math:`R f = \ar - \ac`, and consider the net interface force :math:`f - \delta`: the passive
-  attraction cancels :math:`A \delta` in :eq:`eq:identity` while the bias cancels :math:`R \delta` in the force
-  relation, so the pair :math:`(f - \delta, \ac)` satisfies exactly the unbiased equations, with the cone membership of
-  :math:`f` becoming membership of the translated cone for :math:`f - \delta`. Consequently the compression branch of
-  the net contact force is independent of adhesion — resting penetration is unaffected — while a tensile branch of depth
-  :math:`\delta` is added. Adhesive contacts remain active when separated within the :ref:`gap<body-geom-gap>` band and
-  the biased reference acceleration continues to pull the geoms together across this distance.
-
-To summarize, the constraint behavior is determined by three per-constraint quantities: impedance :math:`0<d<1`, damping
-:math:`b > 0`, and stiffness :math:`k \geq 0`. These are computed from the :at:`solimp` and :at:`solref` attributes as
-described in the :ref:`solver parameters <soRefScaling>` section of the Modeling chapter, which also offers additional
-automation (e.g., achieving critical damping, or varying :math:`d` with distance to model a soft contact layer). The
-quantities :math:`R, \ar` are then computed from :eq:`eq:impedance_R` and :eq:`eq:aref`, and the selected optimization
-algorithm is applied to solve problem :eq:`eq:dual`.
-
-The closed-loop constraint dynamics resulting from the combination of :math:`R` and :math:`\ar` are analyzed in
-detail in the :ref:`Solver parameters <CSolver>` section of the Modeling chapter. In brief, each scalar constraint
-behaves approximately as a damped second-order system whose time constant and damping ratio are set by the :at:`solref`
-attribute, and whose strength is controlled by the impedance :math:`d` set via :at:`solimp`. When critically damped
-(:math:`\text{dampratio} = 1`), the steady-state penetration under a constant external load is independent of the
-effective mass in constraint space -- a consequence of the impedance-scaled parameterization.
-
-.. _soCones:
-
-Friction cones
-~~~~~~~~~~~~~~
-
-As explained above, MuJoCo allows both elliptic friction cones and pyramidal approximations to them; the selected solver
-determines which type of friction cone is used. The pyramidal approximation has :math:`2 (n-1)` edges where :math:`n`
-is the dimensionality of the contact space as specified by :at:`condim`. We could add more edges yielding better
-approximations to the underlying elliptic cone, but this is pointless because the resulting solver would become
-slower than its elliptic counterpart.
-
-One might have expected that if we were to increase the number of edges in the pyramidal approximation, the solution to
-our optimization problem :eq:`eq:primal` would converge to the solution for the elliptic cone. This is true in the limit
-of hard contacts. For soft contacts however, this turns out not be true. This surprising fact is not merely a
-mathematical curiosity; it can have visible effects on the dynamics, which in earlier versions of MuJoCo made it
-difficult to achieve fine grasping behaviors with the pyramidal approximation. To understand this phenomenon, consider
-fixing the acceleration variables :math:`x` in problem :eq:`eq:primal` and optimize away the deformation variables
-:math:`y`. It can be shown that the resulting optimization problem over :math:`x` is equivalent to a penalty method for
-constrained optimization, where the penalty is a half-quadratic starting at the constraint boundary. Think of it as a
-"shadow" being cast by the boundary. The shape of this shadow is different for elliptic cones and their pyramidal
-approximations, no matter how accurate the approximation is. The figure below illustrates this effect for 2D contacts
-where the pyramid is not even an approximation, but represents the same constraint set as the elliptic cone. We plot the
-contours of the penalty/shadow for the pyramidal (red) and elliptic (dashed blue) cones, for different friction
-coefficients varying from left to right. Mathematically, the penalty in the pyramidal case is a quadratic spline, while
-the penalty in the elliptic case contains pieces that are quadratics minus square roots of quadratics -- allowing
-circular contours around the tip of the cone.
-
-.. image:: ../images/computation/softcontact.png
-   :width: 600px
-   :align: center
-   :class: only-light
-
-.. image:: ../images/computation/softcontact_dark.png
-   :width: 600px
-   :align: center
-   :class: only-dark
-
-In summary, elliptic and pyramidal friction cones define different soft-contact dynamics (although they are usually very
-close). The elliptic model is more principled and more consistent with physical intuition, and the corresponding solvers
-are quite efficient, but depending on the model may not be as efficient as the pyramidal solvers.
-
-.. _Collision:
-
-Collision detection
--------------------
-
-Collision detection operates on geoms, which are geometric entities rigidly attached to the underlying bodies. The
-output of collision detection is the list of active contacts, defined as having contact distance smaller than their
-margin parameter. They are stored in the global array ``mjData.contact`` which is then used to construct the constraint
-Jacobian and compute the constraint force. Below we explain how geom pairs are selected for collision checking, how
-collision checking is done, and how the parameters of the resulting contact are determined.
-
-.. _coSelection:
-
-Selection
-~~~~~~~~~
-
-If a model has :math:`n` geoms, there are :math:`n (n-1)/2` geoms pairs that can potentially collide. Checking all these
-pairs in detail (also known as near-phase collision detection) is prohibitively expensive for large systems. Fortunately
-some of these potential collisions are undesirable and therefore excluded by the user at the modeling stage, while
-others can be pruned quickly without a detailed check. MuJoCo has flexible mechanisms for deciding which geom pairs are
-checked in detail. The decision process involves two stages: generation and filtering.
-
-Generation
-   First we generate a list of candidate geom pairs by merging from two sources: pairs of bodies that might contain
-   colliding geoms and the explicit list of geom pairs defined with the :ref:`pair <contact-pair>` element in MJCF.
-
-   The body pairs are generated via broad-phase collision detection based on a modified sweep-and-prune algorithm. The
-   modification is that the axis for sorting is chosen as the principal eigenvector of the covariance matrix of all geom
-   centers -- which maximizes the spread. Then, for each body pair, mid-phase collision detection is performed using a
-   static bounding volume hierarchy (a BVH binary tree) of axis-aligned bounding boxes (AABB). Each body is equipped
-   with an AABB tree of its geoms, aligned with the body inertial or geom frames for all inner or leaf nodes,
-   respectively.
-
-   Finally, the user can explicitly exclude certain body pairs using the :ref:`exclude <contact-exclude>` element in
-   MJCF. At the end of this step we have a list of geoms pairs that is typically much smaller than :math:`n (n-1)/2`,
-   but can still be pruned further before detailed collision checking.
-
-Filtering
-   Next we apply four filters to the list generated in the previous step. Filters 1 and 2 are applied to all geom pairs.
-   Filters 3 and 4 are applied only to pairs generated by the body-pair mechanism, thereby allowing the user to bypass
-   those filters by specifying geom pairs explicitly.
-
-   1. The types of the two geoms must correspond to a collision function that is capable of performing the detailed
-      check. This is usually the case but there are exceptions (for example plane-plane collisions are not supported),
-      and furthermore the user may override the default table of collision functions with NULL pointers, effectively
-      disabling collisions between certain geom types.
-   2. A bounding sphere test is applied, taking into account the contact margin. If one of the geoms in the pair is a
-      plane, this becomes a plane-sphere test.
-   3. The two geoms cannot belong to the same body. Furthermore, they cannot belong to a parent and a child body, unless
-      the parent is the world body. The motivation is to avoid permanent contacts within bodies and joints. Note that if
-      several bodies are welded together in the sense that there are no joints between them, they are treated as a
-      single body for the purposes of this test. :ref:`Mocap bodies<CMocap>` and their dof-less descendants form their
-      own weld group, distinct from the world weld, so the parent-child exclusion applies to children of mocap bodies as
-      usual. Additionally, geom pairs where neither body can move (both weld groups have no degrees of freedom) are
-      skipped, so mocap bodies do not generate contacts with static geometry or with each other. The parent-filter test
-      can be disabled by the user, while the same-body test cannot be disabled.
-   4. The two geoms must be "compatible" in the following sense. Each geom has integer parameters ``contype`` and
-      ``conaffinity``. The boolean expression below must be true for the test to pass:
-
-      ``(contype1 & conaffinity2) || (contype2 & conaffinity1)``
-
-      This requires the ``contype`` of one geom and the ``conaffinity`` of the other geom to have a common bit set to 1.
-      This is a powerful mechanism borrowed from Open Dynamics Engine. The default setting for all geoms is
-      ``contype = conaffinity = 1`` which always passes the test, so the user can ignore this mechanism if it is
-      confusing at first.
-
-.. _coChecking:
-
-Checking
-~~~~~~~~
-Detailed collision checking, also known as *near-phase* or narrow-phase_ collision detection, is performed by functions
-that depend on the geom types in the pair. The table of narrow-phase collision functions can be inspected at the top of
-`engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__
-and exposed to users who wish to install their own colliders as :ref:`mjCOLLISIONFUNC`. MuJoCo supports several
-primitive geometric shapes: plane, sphere, capsule, cylinder, ellipsoid, and box. It also supports triangulated meshes and
-height-fields.
-
-.. _narrow-phase: https://en.wikipedia.org/wiki/Collision_detection#Narrow_phase
-
-With the notable exception of :ref:`SDF plugins<exSDF>` (see documentation therein), collision detection is limited to
-*convex* geoms. All primitive types are convex. Height-fields are not convex but internally they are treated as a
-collection of triangular prisms (using custom collision pruning beyond the filters described above). Meshes specified by
-the user can be non-convex, and are rendered as such. For collision purposes however they are replaced with their convex
-hulls (visualized with the 'H' key in :ref:`simulate <saSimulate>`), computed by the `qhull <http://www.qhull.org/>`__
-library.
-
-.. _coCCD:
-
-Convex collisions
-^^^^^^^^^^^^^^^^^
-All collisions involving pairs of geoms that do not have an analytic collider (e.g., meshes), are handled by one of two
-general-purpose convex collision detection (CCD) pipelines:
-
-native pipeline (default)
-  The native CCD pipeline ("nativeccd") is implemented natively in MuJoCo, based on the Gilbert-Johnson-Keerthi and
-  Expanding Polytope algorithms (GJK_ / EPA_). The native pipeline is both faster and more robust than the MPR-based
-  pipeline.
-
-libccd pipeline (legacy)
-  This legacy pipeline is based on the libccd_ library, and uses Minkowski Portal Refinement (MPR_). It is activated by
-  disabling the :ref:`nativeccd<option-flag-nativeccd>` flag.
-
-.. _libccd: https://github.com/danfis/libccd
-.. _MPR: https://en.wikipedia.org/wiki/Minkowski_Portal_Refinement
-.. _GJK: https://en.wikipedia.org/wiki/Gilbert%E2%80%93Johnson%E2%80%93Keerthi_distance_algorithm
-.. _EPA: http://scroll.stanford.edu/courses/cs468-01-fall/Papers/van-den-bergen.pdf
-
-Both pipelines are controlled by a tolerance (in units of distance) and maximum iteration parameters exposed as
-``mjOption.ccd_tolerance`` (:ref:`ccd_tolerance<option-ccd_tolerance>`) and ``mjOption.ccd_iterations``
-(:ref:`ccd_iterations<option-ccd_iterations>`), respectively.
-
-.. _coMultiCCD:
-
-Multiple contacts
-^^^^^^^^^^^^^^^^^
-Some colliders can return more than one contact per colliding pair to model edge or surface contacts, as when two flat
-objects touch. For example the capsule-plane and box-plane colliders can return up to two or four contacts,
-respectively. Standard general-purpose convex collision algorithms like MPR and GJK/EPA always return a single contact
-point, which is problematic for surface contact scenarios (e.g., box-stacking). Both of MuJoCo's CCD pipelines can
-return multiple points per contacting pair ("multiccd"). This behavior is controlled by the
-:ref:`multiccd<option-flag-multiccd>` flag, but is implemented in different ways with different trade-offs:
-
-multi-run pipeline (legacy)
-  Multiple contact points are found by rotating the two geoms by ±1e-3 radians around the tangential axes and
-  re-running the collision routine. If a new contact is detected it is added, allowing for up to 4 additional contact
-  points. This method is effective, but increases the cost of each collision call by a factor of 5.  This method is
-  used when the :ref:`nativeccd<option-flag-nativeccd>` flag is disabled, and for geoms collisions involving cylinders
-  and capsules or with :ref:`positive contact margins<body-geom-margin>`.
-
-single-shot pipeline
-  The single-shot pipeline is used in conjunction with the native CCD pipeline, i.e., when the
-  :ref:`nativeccd<option-flag-nativeccd>` flag is enabled. As this pipeline is one-shot and most of the geom analysis
-  is done at compilation time, there is very little performance overhead. Supported geoms are boxes and meshes without
-  :ref:`positive contact margins<body-geom-margin>`.
-
-.. _coDistance:
-
-.. image:: ../images/computation/ccd_light.gif
-   :width: 25%
-   :align: right
-   :class: only-light
-
-.. image:: ../images/computation/ccd_dark.gif
-   :width: 25%
-   :align: right
-   :class: only-dark
-
-Geom distance
-^^^^^^^^^^^^^
-
-The narrow-phase collision functions described :ref:`above<coChecking>` drive the :ref:`mj_geomDistance` function and
-associated :ref:`collision-sensors`. Due to the limitations of MPR, the legacy pipeline will return incorrect values
-(top) except at very small distances relative to the geom sizes, and is discouraged for this use case. In
-contrast, the GJK-based native pipeline (bottom), computes the correct values at all distances.
-
-.. _coDecomposition:
-
-Convex decomposition
-^^^^^^^^^^^^^^^^^^^^
-
-In order to model a non-convex object other than a height field, the user must decompose it into a union of convex geoms
-(which can be primitive shapes or meshes) and attach them to the same body. The other exception to this rule (besides
-height fields) are :ref:`Signed Distance Functions<exSDF>` (see documentation therein), which in certain cases (e.g.,
-`analytic SDFs <https://github.com/google-deepmind/mujoco/blob/main/plugin/sdf/README.md#gear>`__) can be efficient, but
-have other requirements and limitations.
-
-Open source mesh-decomposition tools like the `CoACD library <https://github.com/SarahWeiii/CoACD>`__ can be used
-outside MuJoCo to automate this process. Finally, all built-in collision functions can be replaced with custom
-callbacks. This can be used to incorporate a general-purpose "triangle soup" collision detector for example. However we
-do not recommend such an approach. Pre-processing the geometry and representing it as a union of convex geoms takes some
-work, but it pays off at runtime and yields both faster and more stable simulation.
-
-.. _coPairwise:
-
-Pair-wise colliders
-^^^^^^^^^^^^^^^^^^^
-
-The table below provides information about the colliders used for different geom pairs. These values can be computed
-dynamically by the :ref:`mj_maxContact` function. Use the toggles to see the max number of contacts returned with the
-parameters :ref:`nativeccd<option-flag-nativeccd>`, :ref:`multiccd<option-flag-multiccd>`, and
-:ref:`margin<body-geom-margin>`.
-
-.. raw:: html
-
-   <div class="pairwise-toggles">
-     <div class="pairwise-toggle-item">
-       <label class="pairwise-switch">
-         <input type="checkbox" id="nativeccd-checkbox" checked>
-         <span class="pairwise-slider"></span>
-       </label>
-       <span>nativeccd</span>
-     </div>
-     <div class="pairwise-toggle-item">
-       <label class="pairwise-switch">
-         <input type="checkbox" id="multiccd-checkbox">
-         <span class="pairwise-slider"></span>
-       </label>
-       <span>multiccd</span>
-     </div>
-     <div class="pairwise-toggle-item">
-       <label class="pairwise-switch">
-         <input type="checkbox" id="margin-checkbox">
-         <span class="pairwise-slider"></span>
-       </label>
-       <span>with margin</span>
-     </div>
-   </div>
-
-.. list-table::
-   :header-rows: 1
-   :stub-columns: 1
-   :widths: auto
-   :class: table-pairwise
-
-   * -
-     - Sphere
-     - Capsule
-     - Ellipsoid
-     - Cylinder
-     - Box
-     - Mesh
-     - SDF
-   * - Plane
-     - | primitive
-       | **1**
-     - | primitive
-       | **2**
-     - | primitive
-       | **1**
-     - | primitive
-       | **4**
-     - | primitive
-       | **4**
-     - | primitive
-       | **3**
-     - | primitive
-       | **1**
-   * - HField
-     - | HFieldCCD
-       | :ref:`mjMAXCONPAIR <glNumericEngine>`
-     - | HFieldCCD
-       | :ref:`mjMAXCONPAIR <glNumericEngine>`
-     - | HFieldCCD
-       | :ref:`mjMAXCONPAIR <glNumericEngine>`
-     - | HFieldCCD
-       | :ref:`mjMAXCONPAIR <glNumericEngine>`
-     - | HFieldCCD
-       | :ref:`mjMAXCONPAIR <glNumericEngine>`
-     - | HFieldCCD
-       | :ref:`mjMAXCONPAIR <glNumericEngine>`
-     - | HFieldSDF
-       | :ref:`sdf_initpoints <option-sdf_initpoints>`
-   * - Sphere
-     - | primitive
-       | **1**
-     - | primitive
-       | **1**
-     - | CCD
-       | **1**
-     - | primitive
-       | **1**
-     - | primitive
-       | **1**
-     - | CCD
-       | **1**
-     - | SDF
-       | :ref:`sdf_initpoints <option-sdf_initpoints>`
-   * - Capsule
-     -
-     - | primitive
-       | **2**
-     - | CCD
-       | **1**
-     -
-       .. raw:: html
-
-         <div class="line">CCD</div>
-         <div class="line">
-           <div class="multiccd-off"><strong>1</strong></div>
-           <div class="multiccd-native"><strong>5</strong></div>
-           <div class="multiccd-legacy"><strong>5</strong></div>
-         </div>
-
-     - | primitive
-       | **2**
-     -
-       .. raw:: html
-
-         <div class="line">CCD</div>
-         <div class="line">
-           <div class="multiccd-off"><strong>1</strong></div>
-           <div class="multiccd-native"><strong>5</strong></div>
-           <div class="multiccd-legacy"><strong>5</strong></div>
-         </div>
-
-     - | SDF
-       | :ref:`sdf_initpoints <option-sdf_initpoints>`
-   * - Ellipsoid
-     -
-     -
-     - | CCD
-       | **1**
-     - | CCD
-       | **1**
-     - | CCD
-       | **1**
-     - | CCD
-       | **1**
-     - | SDF
-       | :ref:`sdf_initpoints <option-sdf_initpoints>`
-   * - Cylinder
-     -
-     -
-     -
-     -
-       .. raw:: html
-
-         <div class="line">CCD</div>
-         <div class="line">
-           <div class="multiccd-off"><strong>1</strong></div>
-           <div class="multiccd-native"><strong>5</strong></div>
-           <div class="multiccd-legacy"><strong>5</strong></div>
-         </div>
-
-     -
-       .. raw:: html
-
-         <div class="line">CCD</div>
-         <div class="line">
-           <div class="multiccd-off"><strong>1</strong></div>
-           <div class="multiccd-native"><strong>5</strong></div>
-           <div class="multiccd-legacy"><strong>5</strong></div>
-         </div>
-
-     -
-       .. raw:: html
-
-         <div class="line">CCD</div>
-         <div class="line">
-           <div class="multiccd-off"><strong>1</strong></div>
-           <div class="multiccd-native"><strong>5</strong></div>
-           <div class="multiccd-legacy"><strong>5</strong></div>
-         </div>
-
-     - | SDF
-       | :ref:`sdf_initpoints <option-sdf_initpoints>`
-   * - Box
-     -
-     -
-     -
-     -
-     - | primitive
-       | **8**
-     -
-       .. raw:: html
-
-         <div class="line">CCD</div>
-         <div class="line">
-           <div class="multiccd-off"><strong>1</strong></div>
-           <div class="multiccd-native"><strong>4</strong></div>
-           <div class="multiccd-legacy"><strong>5</strong></div>
-         </div>
-
-     - | SDF
-       | :ref:`sdf_initpoints <option-sdf_initpoints>`
-   * - Mesh
-     -
-     -
-     -
-     -
-     -
-     -
-       .. raw:: html
-
-         <div class="line">CCD</div>
-         <div class="line">
-            <div class="multiccd-off"><strong>1</strong></div>
-            <div class="multiccd-native"><strong>4</strong></div>
-            <div class="multiccd-legacy"><strong>5</strong></div>
-         </div>
-
-     - | MeshSDF
-       | :ref:`sdf_initpoints <option-sdf_initpoints>`
-   * - SDF
-     -
-     -
-     -
-     -
-     -
-     -
-     - | SDF
-       | :ref:`sdf_initpoints <option-sdf_initpoints>`
-
-.. raw:: html
-
-   <script>
-     const pairwiseToggles = () => {
-       const table = document.querySelector('.table-pairwise');
-       const toggles = [
-         {id: 'nativeccd-checkbox', cls: 'nativeccd-enabled'},
-         {id: 'multiccd-checkbox', cls: 'multiccd-enabled'},
-         {id: 'margin-checkbox', cls: 'margin-enabled'}
-       ];
-
-       toggles.forEach(toggle => {
-         const cb = document.getElementById(toggle.id);
-         if (cb.checked) {
-           table.classList.add(toggle.cls);
-         }
-         cb.addEventListener('change', () => {
-           table.classList.toggle(toggle.cls, this.checked);
-         });
-       });
-     };
-     pairwiseToggles();
-   </script>
-
-
-
-.. _Sleeping:
-
-Sleeping islands
-----------------
-
-Sleeping is a performance optimization whereby movable elements of the simulation that are detected to be stationary are
-temporarily removed from the pipeline ("put to sleep"). This optimization is most useful when the model contains a large
-number of passive objects. The smallest unit which can be asleep or awake is a :ref:`kinematic tree<ElemTree>`, however
-trees are always put to sleep together with other trees to which they are connected by constraints, hence the term
-"sleeping :ref:`islands<soIsland>`".
-
-.. youtube:: vct493lGQ8Q
-   :align: right
-   :width: 50%
-
-The video on the right demonstrates several aspects of sleeping. First we show the `dominos
-<https://github.com/google-deepmind/mujoco/blob/main/model/sleep/dominos.xml>`__ model, which simulates a traditional
-"chain reaction" of falling domino bricks. All bricks except one are in a stable equilibrium and quickly go to sleep,
-but the first brick, which is unstable, remains awake and starts falling. Every time a contact is made between awake and
-sleeping bricks, the latter are woken automatically. After stabilizing on the ground, piles of bricks are put to sleep
-again and their associated contacts disappear. This sequence is repeated with island visualization enabled, which
-recolors geoms according to the first DOF of their island, using darker colors if asleep. At the end of the subclip,
-sleeping is toggled off and on, demonstrating the speed gain afforded by sleeping (lower right). The second subclip
-shows a variant of the `100 humanoids
-<https://github.com/google-deepmind/mujoco/blob/main/model/sleep/100_humanoids.xml>`__ model, where all humanoids are
-*initialized asleep*. Trees initialized as sleeping can be in any configuration, including floating in mid-air, deep
-penetration, etc. One humanoid is manually woken by direct user perturbation and then dragged around to wake any other
-humanoid that it touches.
-
-While the smooth dynamics benefit from sleeping, the largest speedup is due to the reduced number of contacts. Sleeping
-islands behave like static bodies for the purpose of collision detection: all contacts within an island and between the
-island and static bodies are skipped. In the case of static piles of objects, the number of skipped contacts can be
-high, leading to substantial speed gains. Contacts between sleeping islands and awake trees are allowed, and indeed are
-the main automatic trigger for waking, though manual waking is also supported. Because waking happens in the
-:ref:`position stage <piStages>` of the pipeline it is effectively instantaneous, and the woken island will behave
-exactly as if it was awake all along.
-
-Sleeping is off by default and enabled using the :ref:`sleep<option-flag-sleep>` flag. A detailed description of the
-sleeping mechanism is provided in the :ref:`Simulation chapter<siSleep>` but here we provide a brief overview.
-
-Sleeping can occur in one of two ways:
-
-- **Automatic:** A tree whose maximum velocity in absolute value is less than the
-  :ref:`tolerance <option-sleep_tolerance>` for :ref:`mjMINAWAKE <glNumericEngine>` time steps is marked as "ready to sleep".
-  If all trees in an island are ready to sleep, they are put to sleep during state advancement.
-- **Initialized asleep:** By setting the :ref:`body/sleep<body-sleep>` attribute of a tree root to "init", it is
-  marked as "initialized-asleep" and put to sleep during :ref:`mjData` initialization.
-
-.. _Pipeline:
-
-Simulation pipeline
--------------------
-
-Here we summarize the sequence of computations involved in forward and inverse dynamics respectively. Most of them were
-already described. Keep in mind that the bit flags in ``mjModel.opt.disableflags`` and ``mjModel.opt.enableflags`` can
-be used to skip default steps and to enable optional steps respectively. Callbacks are not shown here.
-
-.. _piForward:
-
-Forward dynamics
-~~~~~~~~~~~~~~~~
-
-The source file `engine_forward.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_forward.c>`__
-contains the high-level forward dynamics pipeline.
-
-Top level
-^^^^^^^^^
-- The top-level function :ref:`mj_step` invokes the entire sequence of stages below **1-26**.
-- :ref:`mj_forward` invokes only stages **2-23**, computing the continuous-time forward dynamics, ending with the
-  acceleration ``mjData.qacc``.
-- :ref:`mj_step1` invokes stages **1-19** and :ref:`mj_step2` invokes stages **20-26**, breaking :ref:`mj_step` into two
-  distinct phases. This allows the user to write controllers that depend on quantities derived from the positions and
-  velocities (but not forces, since those have not yet been computed). Note that the :ref:`mj_step1` → :ref:`mj_step2`
-  pipeline does not support the Runge Kutta integrator.
-- :ref:`mj_fwdPosition` invokes stages **2-11**, the position-dependent part of the pipeline.
-
-.. the table below was created and is editable in tablesgenerator.com
-
-Schematic breakdown of the forward dynamic pipeline:
-
-.. table::
-   :class: small-centered no-stripes
-
-   +-------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------+
-   | top-level functions     |                                                    :ref:`mj_step`                                                                               |
-   |                         +----------------------------------------------------------------------------------------------------------------+--------------------------------+
-   |                         |                                   :ref:`mj_step1`                                                              |          :ref:`mj_step2`       |
-   |                         +----------------------------------------------------------------------------------------------------------------+--------------+-------+---------+
-   |                         |                                      :ref:`mj_forward`                                                                        |       |         |
-   +=========================+===+=============================================================+====+====================================+====+==============+=======+=========+
-   | component / description |   |             :ref:`fwdPosition<mj_fwdPosition>`              |    | :ref:`fwdVelocity<mj_fwdVelocity>` |    |              |       |         |
-   |                         +---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+
-   |                         |   | :ref:`fwdKinematics<mj_fwdKinematics>` | inertia, collision |    |                                    |    | acceleration |       | advance |
-   +-------------------------+---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+
-   | stage                   | 1 |         2-5                            |         6-11       | 12 |         13-18                      | 19 |    20-23     | 24,25 |     26  |
-   +-------------------------+---+----------------------------------------+--------------------+----+------------------------------------+----+--------------+-------+---------+
-
-
-.. _piStages:
-
-Stages
-^^^^^^
-Below we describe the pipeline stages and API functions corresponding to each stage. All functions write their outputs
-into attributes of :ref:`mjData`. It is informative to compare the list below with the :ref:`mjData` struct definition,
-wherein comments above blocks of attributes specify the function that computes them. Note that each stage depends on
-the values computed in some or all of the previous stages.
-
-1. Check the positions and velocities for invalid or unacceptably large real values indicating divergence. If divergence
-   is detected, the state is automatically reset and the corresponding warning is raised:
-   :ref:`mj_checkPos`, :ref:`mj_checkVel`
-
-Position
-''''''''
-The stages below compute quantities that depend on the generalized positions ``mjData.qpos``.
-
-2. Compute the forward kinematics. This yields the global positions and orientations of all bodies, geoms, sites,
-   cameras and lights. It also normalizes all quaternions: :ref:`mj_kinematics`, :ref:`mj_camLight`
-3. Compute the body inertias and joint axes, in global frames centered at the centers of mass of the corresponding
-   kinematic subtrees: :ref:`mj_comPos`
-4. Compute quantities related to :ref:`flex<deformable-flex>` objects: :ref:`mj_flex`
-5. Compute the tendon lengths and moment arms. This includes the computation of minimal-length paths for spatial
-   tendons: :ref:`mj_tendon`
-6. Compute the composite rigid body inertias and joint-space inertia matrix: :ref:`mj_makeM`
-7. Compute the sparse factorization of the joint-space inertia matrix: :ref:`mj_factorM`
-8. Construct the list of active contacts. This includes both broad-phase and near-phase collision detection:
-   :ref:`mj_collision`
-9. Construct the constraint Jacobian, compute the constraint residuals, construct islands: :ref:`mj_makeConstraint`,
-   ``mj_island`` (not yet exposed in the API)
-10. Compute the actuator lengths and moment arms: :ref:`mj_transmission`
-11. Compute the matrices and vectors needed by the constraint solvers: :ref:`mj_projectConstraint`
-12. Compute sensor data that only depends on position, and the potential energy if enabled: :ref:`mj_sensorPos`,
-    :ref:`mj_energyPos`
-
-Velocity
-''''''''
-The stages below compute quantities that depend on the generalized velocity ``mjData.qvel``. Due to the sequential
-dependence structure of the pipeline, the actual dependence is on both ``qpos`` and ``qvel``.
-
-13. Compute the tendon, flex edge and actuator velocities: :ref:`mj_fwdVelocity`
-14. Compute the body velocities and rates of change of the joint axes, again in the global coordinate frames centered at
-    the subtree centers of mass: :ref:`mj_comVel`
-15. Compute passive forces -- spring-dampers in joints and tendons, and fluid forces: :ref:`mj_passive`
-16. Compute sensor data that depends on velocity, and the kinetic energy if enabled
-    (if required by sensors, call :ref:`mj_subtreeVel`): :ref:`mj_sensorVel`
-17. Compute the reference constraint acceleration: :ref:`mj_referenceConstraint`
-18. Compute the vector of Coriolis, centrifugal and gravitational forces: :ref:`mj_rne`
-
-Control callback
-''''''''''''''''
-19. Invoke the user-defined control callback if defined: :ref:`mjcb_control`
-
-Force/acceleration
-''''''''''''''''''
-The stages below compute quantities that depend on :ref:`user inputs<siInput>`. Due to the sequential nature
-of the pipeline, the actual dependence is on the entire :ref:`integration state<siIntegrationState>`.
-
-20. Compute the actuator forces and activation dynamics if defined: :ref:`mj_fwdActuation`
-21. Compute the joint acceleration resulting from all forces except for the (still unknown) constraint forces:
-    :ref:`mj_fwdAcceleration`
-22. Compute the constraint forces with the selected solver, and update the joint acceleration so as to account for the
-    constraint forces. This yields the vector ``mjData.qacc`` which is the main output of forward dynamics:
-    :ref:`mj_fwdConstraint`
-23. Compute sensor data that depends on force and acceleration if enabled
-    (if required by sensors, call :ref:`mj_rnePostConstraint`): :ref:`mj_sensorAcc`
-24. Check the acceleration for invalid or unacceptably large real values. If divergence is detected, the state is
-    automatically reset and the corresponding warning is raised: :ref:`mj_checkAcc`
-25. Compare the results of forward and inverse dynamics, so as to diagnose poor solver convergence in the forward
-    dynamics. This is an optional step, and is performed only when enabled: :ref:`mj_compareFwdInv`
-26. Advance the simulation state by one time step, using the selected integrator. Note that the Runge-Kutta integrator
-    repeats the above sequence three more times, except for the optional computations which are performed only once:
-    one of :ref:`mj_Euler`, :ref:`mj_RungeKutta`, :ref:`mj_implicit`
-
-.. _piConsistency:
-
-Consistency in ``mjData``
-~~~~~~~~~~~~~~~~~~~~~~~~~
-The MuJoCo computation pipeline is entirely imperative, nothing happens automatically. This leads to behavior which
-can seem unexpected to users more familiar with other paradigms. Here are two examples of intended behaviors which can
-sometimes be surprising:
-
-- After setting :ref:`the state<geState>`, state-derived quantities do not automatically correspond to the new state.
-  The required stage or stages must be manually invoked. For example after setting the generalized positions
-  ``mjData.qpos``, Cartesian positions and orientations will not be consistent with ``qpos`` without first calling
-  :ref:`mj_kinematics`.
-- After an :ref:`mj_step`, which terminates immediately after updating the state, quantities in ``mjData`` correspond
-  to the *previous* state (or more precisely, the *transition* between the previous and current state).
-  In particular, all position-dependent sensor values and position-dependent computations like kinematic
-  :ref:`Jacobians<mj_jac>`, will be with respect to the *previous positions*.
-
-
-
-.. _piReproducibility:
-
-Reproducibility
-~~~~~~~~~~~~~~~
-
-MuJoCo's simulation pipeline is entirely deterministic and reproducible -- if a :ref:`state<geState>` in a trajectory is
-saved and reloaded and :ref:`mj_step` called again, the resulting next state will be identical. However, there are some
-important caveats:
-
-- Save all the required :ref:`integration state<siIntegrationState>` components. In particular :ref:`warmstart
-  accelerations<siWarmstart>` have only a very small effect on the next state, but should be saved if bit-wise equality
-  is required.
-- Any numerical difference between states, no matter how small, will become significant upon integration, especially for
-  systems with contact. Contact events have high `Lyapunov exponents
-  <https://en.wikipedia.org/wiki/Lyapunov_exponent>`__; this is a property of any rigid-body simulator (and indeed of
-  `real-world physics <https://en.wikipedia.org/wiki/Roulette>`__) and is not MuJoCo-specific.
-- Exact reproducibility is only guaranteed within a **single version**, on the **same architecture**. Small numerical
-  differences are quite common between versioned releases, for example due to code optimizations. This means that when
-  saving an initial state and an open-loop control sequence, the resulting rolled-out trajectory will be identical
-  within the same version, but will likely be different between MuJoCo versions or different operating systems.
-
-.. _piInverse:
-
-Inverse dynamics
-~~~~~~~~~~~~~~~~
-
-The top-level function :ref:`mj_inverse` invokes the following sequence of computations. The notes above regarding
-:ref:`consistency<piConsistency>` and :ref:`reproducibility<piReproducibility>` apply here as well.
-
-#. Compute the forward kinematics.
-#. Compute the body inertias and joint axes.
-#. Compute the tendon lengths and moment arms.
-#. Compute the actuator lengths and moment arms.
-#. Compute the composite rigid body inertias and form the joint-space inertia matrix.
-#. Compute the sparse factorization of the joint-space inertia matrix.
-#. Construct the list of active contacts.
-#. Construct the constraint Jacobian and compute the constraint residuals.
-#. Compute sensor data that only depends on position, and the potential energy if enabled.
-#. Compute the tendon and actuator velocities.
-#. Compute the body velocities and joint axes rates of change.
-#. Compute sensor data that depends on velocity, and the kinetic energy if enabled.
-   If required by sensors, call :ref:`mj_subtreeVel`.
-#. Compute all passive forces.
-#. Compute the reference constraint acceleration.
-#. If the :ref:`invdiscrete<option-flag-invdiscrete>` flag is set and the :ref:`integrator<option-integrator>` is not
-   ``RK4``, convert input accelerations from discrete to continuous time.
-#. Compute the constraint force. This is done analytically, without using a numerical solver.
-#. Compute the inverse dynamics for the unconstrained system.
-#. Compute sensor data that depends on force and acceleration if enabled.
-   If required by sensors, call :ref:`mj_rnePostConstraint`.
-#. Compute the vector ``mjData.qfrc_inverse`` by combining all results. This is the main output of inverse dynamics. It
-   equals the sum of external and actuation forces.
-
-
-.. _derivatives:
-
-Derivatives
------------
-
-MuJoCo's entire computational pipeline including its constraint solver are analytically differentiable in principle.
-Writing efficient implementations of these derivatives is a long term goal of the development team. Analytic derivatives
-of the smooth dynamics (excluding constraints) with respect to velocity are already computed and enable the two
-:ref:`implicit integrators<geIntegration>`.
-
-Note that the default value of the :ref:`solver impedance<CSolverImpedance>` is such that contacts are *not*
-differentiable by default, and needs to be :ref:`set to 0<solimp0>` in order for contact-force onset to be smooth.
-
-Two functions are currently available which use efficient finite-differencing in order to compute dynamics Jacobians:
-
-:ref:`mjd_transitionFD`:
-  Computes state-transition and control-transition Jacobians for the discrete-time forward dynamics (:ref:`mj_step`).
-  See :ref:`documentation<mjd_transitionFD>`.
-
-:ref:`mjd_inverseFD`:
-  Computes Jacobians for the continuous or discrete-time inverse dynamics (:ref:`mj_inverse`).
-  See :ref:`documentation<mjd_inverseFD>`.
-
-These derivatives are made efficient by exploiting MuJoCo's configurable computation pipeline so that quantities are not
-recomputed when not required. For example when differencing with respect to controls, quantities which depend only on
-position and velocity are not recomputed. Additionally, solver warmstarts, quaternions and control clamping are handled
-correctly. Both forward and centered differences are supported.
-
-
-.. _References:
-
-References
-----------
-
-Here we provide a brief annotated list of references and relate them to the main text.
-
-Recursive algorithms for computing robot kinematics and dynamics have a long history. The book by Featherstone is a
-standard reference. Our implementation of the RNE and CRB algorithms as well as sparse inertia factorization are based
-on it.
-
-   R. Featherstone. Rigid Body Dynamics Algorithms. Springer, 2008.
-
-The MPR algorithm we use for convex mesh collisions was introduced by Snethen.
-
-   G. Snethen. Complex collision made simple, Game Programming Gems 7, 165-178, 2008.
-
-The linear complementarity (LCP) approach to contact modeling, which we discussed but did not actually use here, was
-introduced by Stewart and Trinkle. Note that this is a well-developed area with many more recent papers on it.
-
-   D. Stewart and J. Trinkle. An implicit time-stepping scheme for rigid-body dynamics with inelastic collisions and
-   coulomb friction. International Journal Numerical Methods Engineering, 39:2673-2691, 1996.
-
-We now address the prior work related to our constraint model and its roots in the Gauss principle. Udwadia and Kalaba
-resurrected interest in the Gauss principle by pointing out the possibility of generalizing it.
-
-   F. Udwadia and R. Kalaba. A new perspective on constrained motion. Proceedings of the Royal Society, 1992.
-
-The first such generalization relevant to contact modeling was done by Redon et al, who extended the Gauss principle to
-include inequality constraints on acceleration and used it to model frictionless contacts. This resulted in a convex
-quadratic program (QP).
-
-   S. Redon, A. Kheddar and S. Coquillart. Gauss's least constraint principle and rigid body simulations. IEEE
-   International Conference on Robotics and Automation, 2002.
-
-In an effort to approximate the LCP problem with a more tractable one, Anitescu proposed a QP over accelerations which
-is essentially the hard limit of the contact model we developed here. The difference from the earlier model by Redon et
-al is that instead of using a single inequality per contact (in the normal direction only), Anitescu used multiple
-inequalities forming a pyramid. This is all it takes to transition from frictionless to frictional contacts in convex
-complementarity-free models.
-
-   M. Anitescu. Optimization-based simulation of nonsmooth rigid multibody dynamics. Math. Program. Ser. A, 105:113-143,
-   2006.
-
-Drumwright and Shell proposed a QP over contact forces, which is the dual to the QP developed earlier by Anitescu, and
-is again restricted to hard contacts.
-
-   E. Drumwright and D. Shell, Modeling contact friction and joint friction in dynamic robotic simulation using the
-   principle of maximum dissipation. International Workshop on the Algorithmic Foundations of Robotics, 2010.
-
-The first version of our present model was developed in the paper below. This was again a convex optimization problem,
-but it allowed soft contacts and other constraints and had a uniquely-defined inverse.
-
-   E. Todorov. A convex, smooth and invertible contact model for trajectory optimization. IEEE International Conference
-   on Robotics and Automation, 2011.
-
-None of these convex models of frictional contact were derived from the Gauss principle systematically, as we did in the
-present chapter. The augmented dynamics developed here is new. The continuous-time formulation is also new, and is a
-departure from modern contact solvers which rely on "velocity-stepping" schemes in discrete time.
-
-The way we obtained a soft constraint model is reminiscent of the constraint force mixing (CFM) parameter in the Open
-Dynamics Engine (ODE), even though ODE is based on the LCP formalism and solves a different problem.
-
-   R. Smith. Open Dynamics Engine user guide. 2006.
-
-Lacoursiere introduced "ghost variables" which appear related to our deformation dynamics. However they are somewhat
-difficult to interpret (as their name suggests) and the exact relation to our model remains to be clarified.
-
-   C. Lacoursiere. Ghosts and machines: Regularized variational methods for interactive simulations of multibodies with
-   dry frictional contacts. PhD Thesis, Umea University, 2007.
diff --git a/doc/conf.py b/doc/conf.py
deleted file mode 100644
index 3643d190..00000000
--- a/doc/conf.py
+++ /dev/null
@@ -1,275 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#    http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Configuration file for the Sphinx documentation builder."""
-
-import os
-import sys
-
-# -- Path setup --------------------------------------------------------------
-#
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-
-sys.path.insert(0, os.path.abspath('../'))
-sys.path.append(os.path.abspath('ext'))
-sys.path.insert(0, os.path.abspath('../mjx/mujoco/mjx/third_party'))
-
-from sphinxcontrib import katex  # pylint: disable=g-import-not-at-top
-from sphinxcontrib import youtube  # pylint: disable=g-import-not-at-top,unused-import
-
-# -- Project information -----------------------------------------------------
-
-project = 'MuJoCo'
-copyright = 'DeepMind Technologies Limited'  # pylint: disable=redefined-builtin
-author = 'Google DeepMind'
-
-# -- General configuration ---------------------------------------------------
-
-master_doc = 'index'
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.napoleon',
-    'sphinx.ext.viewcode',
-    'sphinx.ext.extlinks',
-    'sphinxcontrib.bibtex',
-    'sphinxcontrib.katex',
-    'sphinxcontrib.youtube',
-    'sphinx_copybutton',
-    'sphinx_design',
-    'sphinx_favicon',
-    'sphinx_reredirects',
-    'sphinx_toolbox.collapse',
-    'sphinx_toolbox.github',
-    'sphinx_toolbox.sidebar_links',
-    'mujoco_include',
-]
-
-napoleon_custom_sections = [('warp only fields', 'attributes')]
-
-# Links to GitHub issues and pull requests.
-extlinks = {
-    'issue': (
-        'https://github.com/google-deepmind/mujoco/issues/%s',
-        'issue #%s',
-    ),
-    'pr': ('https://github.com/google-deepmind/mujoco/pull/%s', 'PR #%s'),
-    'commit': ('https://github.com/google-deepmind/mujoco/commit/%s', '%s'),
-}
-
-# MuJoCo Warp documentation
-napoleon_google_docstring = True
-autodoc_class_signature = 'separated'
-add_module_names = False
-toc_object_entries_show_parents = 'hide'
-default_role = 'literal'
-
-
-# Suppress warnings from docstrings with RST formatting issues
-def setup(app):
-  import logging
-
-  class SphinxWarningFilter(logging.Filter):
-
-    def filter(self, record):
-      msg = record.getMessage()
-      # e.g. qpos0: qpos values at default pose (*, nq)
-      if 'Inline emphasis start-string' in msg:
-        return False
-      # e.g. see `name` for details
-      if 'Inline interpreted text' in msg:
-        return False
-      # e.g. multi-line definition without trailing blank line
-      if 'Definition list ends without a blank line' in msg:
-        return False
-      # e.g. mjsactuator_ reference in C++ docstrings
-      if 'Unknown target name' in msg:
-        return False
-      return True
-
-  for handler in logging.getLogger('sphinx').handlers:
-    handler.addFilter(SphinxWarningFilter())
-
-
-# GitHub-related options
-github_username = 'google-deepmind'
-github_repository = 'mujoco'
-
-# Bibtex references for sphinxcontrib.bibtex
-bibtex_bibfiles = ['references.bib']
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['templates']
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = [
-    '_build',
-    'Thumbs.db',
-    '.DS_Store',
-    'includes/*',
-    'APIreference/functions.rst',
-    'APIreference/functions_override.rst',
-    'XMLschema.rst',
-]
-
-redirects = {
-    # index.rst just contains the table of contents definition.
-    'index': 'overview.html',
-    'computation': 'computation/index.html',
-    'programming': 'programming/index.html',
-    'APIreference': 'APIreference/index.html',
-}
-
-rst_prolog = """
-.. include:: /includes/macros.rst
-.. include:: /includes/roles.rst
-.. include:: <isonum.txt>
-"""
-
-# -- Options for autodoc -----------------------------------------------------
-
-autodoc_default_options = {
-    'member-order': 'bysource',
-    'special-members': True,
-    'exclude-members': '__repr__, __str__, __weakref__',
-}
-
-# -- Options for HTML output -------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
-html_theme = 'furo'
-html_title = 'MuJoCo Documentation'
-html_logo = 'images/banner.svg'
-
-SHARED_CSS_VARIABLES = {
-    'admonition-font-size': '1rem',
-    'admonition-title-font-size': '1rem',
-    'sidebar-item-font-size': '130%',
-}
-
-# font-stack--monospace used in code blocks, Inconsolata fits in 100 chars.
-html_theme_options = {
-    'light_css_variables': {
-        'color-brand-visited': 'var(--color-brand-content)',
-        'font-stack--monospace': 'Inconsolata,Consolas,ui-monospace,monospace',
-        'at-color': '#830b2b',
-        'at-val-color': '#bc103e',
-        'body-color': '#14234b',
-        'color-highlight-on-target': '#e5e8ed',
-        'primary-header-color': '#0053d6',
-        'row-odd-background-color': '#f0f3f7',
-        'rst-content-a-color': '#2980b9',
-        'secondary-header-color': '#123693',
-        'wy-menu-vertical-background-color': '#0053d6',
-        'wy-menu-vertical-color': 'white',
-        'wy-nav-side-background-color': '#0053d6',
-    },
-    'dark_css_variables': {
-        'color-brand-visited': 'var(--color-brand-content)',
-        'at-color': '#ffaab7',
-        'at-val-color': '#ff95a6',
-        'body-color': '#14234b',
-        'color-admonition-background': '#1e1e21',
-        'color-highlight-on-target': '#3d4045',
-        'primary-header-color': '#a8caff',
-        'row-odd-background-color': '#222326',
-        'rst-content-a-color': '#2980b9',
-        'secondary-header-color': '#458dff',
-        'wy-menu-vertical-background-color': '#0053d6',
-        'wy-menu-vertical-color': 'white',
-        'wy-nav-side-background-color': '#0053d6',
-    },
-}
-
-for v in html_theme_options.values():
-  if isinstance(v, dict):
-    v.update(SHARED_CSS_VARIABLES)
-
-pygments_style = 'default'
-pygments_dark_style = 'monokai'
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = [
-    '_static',
-    'css',
-    'js',
-]
-html_css_files = [
-    'theme_overrides.css',
-    'theme_overrides_mjwarp.css',
-]
-html_js_files = [
-    'linenumbers.js',
-    'onthispage_mjwarp.js',
-]
-
-favicons = [
-    {
-        'sizes': '16x16',
-        'href': 'favicons/favicon-16x16.png',
-    },
-    {
-        'sizes': '32x32',
-        'href': 'favicons/favicon-32x32.png',
-    },
-    {
-        'rel': 'apple-touch-icon',
-        'sizes': '180x180',
-        'href': 'favicons/favicon-180x180.png',
-    },
-    {
-        'sizes': '180x180',
-        'href': 'favicons/favicon-180x180.png',
-    },
-    {
-        'sizes': '192x192',
-        'href': 'favicons/favicon-192x192.png',
-    },
-]
-
-html_permalinks_icon = '#'
-
-# -- Options for katex ------------------------------------------------------
-
-# See: https://sphinxcontrib-katex.readthedocs.io/en/0.4.1/macros.html
-# {ar au, ac} are {reference, unconstrained, constrained} acceleration, resp.
-latex_macros = r"""
-    \def \d              #1{\operatorname{#1}}
-    \def \ar             {a_{\rm ref}}
-    \def \au             {a_0}
-    \def \ac             {a_1}
-    \def \ari            {a_{{\rm ref},i}}
-    \def \aui            {a_{0,i}}
-    \def \aci            {a_{1,i}}
-    \def \nv             {n_{\scriptscriptstyle V}}
-    \def \nc             {n_{\scriptscriptstyle C}}
-    \def \nq             {n_{\scriptscriptstyle Q}}
-"""
-
-# Translate LaTeX macros to KaTeX and add to options for HTML builder
-katex_macros = katex.latex_defs_to_katex_macros(latex_macros)
-katex_options = 'macros: {' + katex_macros + '}'
-
-# Add LaTeX macros for LATEX builder
-latex_elements = {'preamble': latex_macros}
diff --git a/doc/css/theme_overrides.css b/doc/css/theme_overrides.css
deleted file mode 100644
index 9a5a18c5..00000000
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+++ /dev/null
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-@import url('https://fonts.googleapis.com/css2?family=Inconsolata:wdth,wght@110,500&display=swap');
-@import url('https://fonts.googleapis.com/css2?family=DM+Mono&display=swap');
-
-/* Font used for ``inline code``, should match body sans-serif. */
-code {
-  font-family: 'DM Mono', monospace;
-}
-
-/* Disable scroll on anchor. */
-html {
-  scroll-behavior: auto;
-}
-
-body {
-  font-family: 'DM Sans', 'Helvetica Neue', 'Arial', sans-serif;
-  -webkit-font-smoothing: antialiased;
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-
-/* Make the search bar query text readable in dark theme. */
-body[data-theme="dark"] {
-  --color-sidebar-search-foreground: white;
-}
-@media (prefers-color-scheme: dark) {
-  body[data-theme="auto"] {
-    --color-sidebar-search-foreground: white;
-  }
-}
-
-/* Make table shadows visible in dark theme. */
-body[data-theme="dark"] table.docutils:not(.mjcf-attributes) {
-  box-shadow: 0 0.2rem 0.5rem rgba(255, 255, 255, 0.15);
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-/*
- * ===================================================================
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- *
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- * function/method parameters. Includes aggressive overrides to resolve
- * conflicts with `theme_overrides.css`.
- * ===================================================================
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-
-
-/*
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- * -------------------------------------------
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diff --git a/doc/dcmotor/buildpdf.sh b/doc/dcmotor/buildpdf.sh
deleted file mode 100755
index ed73a053..00000000
--- a/doc/dcmotor/buildpdf.sh
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/bin/bash
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-pdflatex -interaction=nonstopmode -jobname=dcmotor dcmotor.tex 2>&1 | grep -E '(Error|Output written)' && \
-bibtex dcmotor 2>&1 | grep -v '^$' && \
-pdflatex -interaction=nonstopmode -jobname=dcmotor dcmotor.tex 2>&1 | grep -E '(Error|Output written)' && \
-pdflatex -interaction=nonstopmode -jobname=dcmotor dcmotor.tex 2>&1 | grep -E '(Error|Output written)' && \
-rm -f *.{aux,log,out,bbl,blg} && \
-mv dcmotor.pdf ../_static/
diff --git a/doc/dcmotor/dcmotor.tex b/doc/dcmotor/dcmotor.tex
deleted file mode 100644
index d1cd5980..00000000
--- a/doc/dcmotor/dcmotor.tex
+++ /dev/null
@@ -1,1369 +0,0 @@
-% Copyright 2026 DeepMind Technologies Limited
-%
-% Licensed under the Apache License, Version 2.0 (the "License");
-% you may not use this file except in compliance with the License.
-% You may obtain a copy of the License at
-%
-%     http://www.apache.org/licenses/LICENSE-2.0
-%
-% Unless required by applicable law or agreed to in writing, software
-% distributed under the License is distributed on an "AS IS" BASIS,
-% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-% See the License for the specific language governing permissions and
-% limitations under the License.
-
-\documentclass[10pt, a4paper, twocolumn]{article}
-\usepackage[utf8]{inputenc}
-\usepackage[T1]{fontenc}
-\usepackage{roboto-mono}
-\usepackage{relsize}
-\let\oldtexttt\texttt
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-\usepackage{float}
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-\usepackage{stfloats}
-\usepackage{url}
-\renewcommand{\UrlFont}{\small\ttfamily}
-\usepackage{tikz}
-\usepackage{pgfplots}
-\pgfplotsset{compat=1.18}
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-\usepackage{subcaption}
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-\usepackage{xcolor}
-\usepackage{listings}
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-  aboveskip=0.8em,
-  belowskip=0.5em,
-  morekeywords={mjtNum, mjModel, mjData, mjtByte},
-}
-
-\newcommand{\atR}{\texttt{resistance}}
-\newcommand{\atK}{\texttt{motorconst}}
-\newcommand{\atKt}{\texttt{motorconst:Kt}}
-\newcommand{\atKe}{\texttt{motorconst:Ke}}
-\newcommand{\atVM}{\texttt{nominal:voltage}}
-\newcommand{\atSTALL}{\texttt{nominal:stall\_torque}}
-\newcommand{\atNLS}{\texttt{nominal:no\_load\_speed}}
-\newcommand{\atTMAX}{\texttt{saturation:torque}}
-\newcommand{\atIMAX}{\texttt{saturation:current}}
-\newcommand{\atVMAX}{\texttt{controller:Vmax}}
-\newcommand{\atCRATE}{\texttt{saturation:current\_rate}}
-\newcommand{\atKP}{\texttt{controller:kp}}
-\newcommand{\atKI}{\texttt{controller:ki}}
-\newcommand{\atKD}{\texttt{controller:kd}}
-\newcommand{\atSLEW}{\texttt{controller:slewmax}}
-\newcommand{\atIMAXINT}{\texttt{controller:Imax}}
-\newcommand{\atL}{\texttt{inductance:L}}
-\newcommand{\atTE}{\texttt{inductance:timeconst}}
-\newcommand{\atCOGA}{\texttt{cogging:amplitude}}
-\newcommand{\atCOGP}{\texttt{cogging:poles}}
-\newcommand{\atCOGPH}{\texttt{cogging:phase}}
-\newcommand{\atRT}{\texttt{thermal:resistance}}
-\newcommand{\atTC}{\texttt{thermal:capacitance}}
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-\newcommand{\atALPHA}{\texttt{thermal:tempcoef}}
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-\newcommand{\atTAUC}{\texttt{lugre:coulomb}}
-\newcommand{\atTAUS}{\texttt{lugre:static}}
-\newcommand{\atWS}{\texttt{lugre:stribeck}}
-
-\title{MuJoCo DC Motor Model}
-\author{Google DeepMind}
-\date{}
-
-\begin{document}
-
-\maketitle
-
-\noindent We review DC motors and describe MuJoCo's \href{https://mujoco.readthedocs.io/en/stable/XMLreference.html#actuator-dcmotor}{\texttt{dcmotor} actuator}. The equations are derived for brushed motors but apply equally to brushless ones, where electronic commutation reduces to an equivalent circuit.
-
-%=============================================================================
-% BACKGROUND
-%=============================================================================
-\section{Background}
-\label{sec:background}
-
-We use SI units throughout, but any coherent system of units applies. We assume motion is rotational; for linear motion replace radians with meters as required.
-
-% ---------------------------------------------------------------------------
-%  Electromagnetic Model
-% ---------------------------------------------------------------------------
-\subsection{Electromagnetic Model}
-\label{sec:electromagnetics}
-
-The key electro-mechanical variables are
-
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}lll@{}}
-\toprule
-Symbol & Description & Units \\
-\midrule
-$v$ & Applied voltage & Volt \\
-$i$ & Current & Ampere \\
-$\omega$ & Angular velocity & radian/second \\
-$\tau$ & Output torque & Newton $\cdot$ meter \\
-\bottomrule
-\end{tabular}
-\end{table}
-
-\noindent and the key constants are
-
-\begin{table}[H]
-\centering
-\footnotesize
-\begin{tabular}{@{}lll@{}}
-\toprule
-Symbol & Description & Units \\
-\midrule
-$R$ & Resistance & Ohm \\
-$K_t$ & Torque constant & Newton $\cdot$ meter/Ampere \\
-$K_e$ & Back-EMF constant & Volt $\cdot$ second/radian \\
-\bottomrule
-\end{tabular}
-\end{table}
-
-\noindent The quasi-static model~\cite{hughes2019, maxon_formulas, simscape_dcmotor} assumes instantaneous electrical dynamics: current and torque are direct functions of voltage and velocity. The constitutive equations are the voltage balance \eqref{eq:voltage} and the torque law \eqref{eq:torque_law}:
-\begin{subequations}
-\label{eq:motor_laws}
-\begin{align}
-  v &= i \, R + K_e \, \omega \label{eq:voltage} \\
-  \tau &= K_t i \label{eq:torque_law}
-\end{align}
-\end{subequations}
-
-\noindent Solving for current and substituting, we have
-
-\begin{equation}
-  \tau = \frac{K_t}{R} (v - K_e \, \omega)
-  \label{eq:torque_speed}
-\end{equation}
-
-\noindent Output torque is proportional to the difference between applied and back-EMF voltage $v_{\text{back}} = K_e \, \omega$ (Figure~\ref{fig:torque_speed}).
-
-\paragraph{Electrical constants.}
-Fundamentally, both $K_t$ and $K_e$ arise from the same physical quantity: the magnetic flux $\Phi$ of the coil. Faraday's law gives $v_{\text{back}} = \Phi \, \omega$ and the Lorentz force gives $\tau = \Phi \, i$, so in SI units:
-
-\begin{equation*}
-  K_e = K_t
-  \label{eq:ke_eq_kt}
-\end{equation*}
-
-\noindent This can also be seen from energy conservation: $P_e = i \, (K_e \, \omega) = (K_t \, i) \, \omega = P_m$.
-
-\pagebreak
-\noindent Note the dimensions match:
-
-\vspace*{-\abovedisplayskip}
-\begin{equation*}
-  \frac{\text{Volt}}{\text{radian}/\text{second}}
-  = \frac{\text{Joule}}{\text{Coulomb}/\text{second}}
-  = \frac{\text{Newton} \cdot \text{meter}}{\text{Ampere}}
-\end{equation*}
-
-\noindent If these constants are the same, why have both? Two reasons. First, datasheets typically use mixed units ($K_e$ in RPM/V, $K_t$ in mN$\cdot$m/A), giving different values for the same physical quantity. Second, $K_t$ and $K_e$ are measured differently: $K_t$ by locking the rotor and measuring torque per Ampere; $K_e$ by spinning the rotor and measuring open-circuit Volts per radian/second. In the first case, high currents can lead to magnetic field saturation in the core, causing the effective $K_t$ to drop below $K_e$. The equality $K_e = K_t$ thus assumes $\Phi$ independent of $i$. We make this assumption for now and use a single motor constant $K \equiv K_t = K_e$ throughout the remainder of this document and internally in MuJoCo, but see note at end of \S\ref{sec:dcmotor}.
-
-\begin{figure}[H]
-\centering
-\begin{tikzpicture}
-\pgfmathsetmacro{\taus}{1.0}
-\pgfmathsetmacro{\wz}{1.0}
-\begin{axis}[
-  width=0.9\columnwidth, height=0.55\columnwidth,
-  axis lines=left,
-  clip=false,
-  xlabel={$\omega$}, ylabel={$\tau$},
-  xmin=0, xmax={\wz*1.15}, ymin=0, ymax={\taus*1.15},
-  xtick={\wz}, xticklabels={$\omega_0$},
-  ytick={\taus}, yticklabels={$\tau_0$},
-  tick style={thick},
-  every axis x label/.style={at={(ticklabel* cs:1)}, anchor=west},
-  every axis y label/.style={at={(ticklabel* cs:1)}, anchor=south},
-]
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-\addplot[thick, blue!25] coordinates {(0,\taus*0.8) (\wz*0.8,0)};
-\addplot[thick, blue!50] coordinates {(0,\taus*0.9) (\wz*0.9,0)};
-\addplot[thick, blue] coordinates {(0,\taus) (\wz,0)};
-\node[font=\scriptsize, text=gray, align=center]
-  at (axis cs: \wz*0.25, \taus*0.2)
-  {decreasing\\ voltage};
-\draw[->, thick, gray] (axis cs: \wz*0.4, \taus*0.55)
-  -- (axis cs: \wz*0.4, \taus*0.15);
-\node[font=\scriptsize] at (axis cs: \wz*0.4, -0.08)
-  {Speed};
-\node[font=\scriptsize, rotate=90] at (axis cs: -0.04, \taus*0.4)
-  {Torque};
-\end{axis}
-\end{tikzpicture}
-\caption{Torque-speed relationship \eqref{eq:torque_speed} at fixed voltage. As voltage decreases, the maximum torque and speed decrease linearly.}
-\label{fig:torque_speed}
-\end{figure}
-
-\paragraph{Current Saturation.}
-A maximum current rating $i_{\max}$ limits the output torque:
-\begin{equation}
-  \tau = \text{clip}\!\left(\frac{K}{R}(v - K \, \omega),\;
-    \pm K \, i_{\max} \right)
-  \label{eq:saturation}
-\end{equation}
-where the maximum torque $\tau_{\max} = K \, i_{\max}$. The feasible torque-speed envelope forms a parallelogram:
-
-\begin{figure}[H]
-\centering
-\begin{tikzpicture}
-\pgfmathsetmacro{\taus}{1.3}
-\pgfmathsetmacro{\wz}{1.0}
-\pgfmathsetmacro{\taumax}{0.7}
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-  xmin=-1.6, xmax=1.6, ymin=-1.6, ymax=1.6,
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-  ytick={-\taus, \taus},
-  yticklabels={$-\tau_0$, $\tau_0$},
-  tick style={thick},
-  every axis x label/.style={at={(ticklabel* cs:1)}, anchor=west},
-  every axis y label/.style={at={(ticklabel* cs:1)}, anchor=south},
-]
-\fill[blue, opacity=0.08]
-  (-\wcl, \taumax) -- (\wcu, \taumax) -- (\wcl, -\taumax)
-  -- (-\wcu, -\taumax) -- cycle;
-\addplot[thick, dashed, gray] coordinates {(-\wext, \dexthi) (\wext, \dextlo)};
-\addplot[thick, dashed, gray] coordinates {(-\wext, -\dextlo) (\wext, -\dexthi)};
-\addplot[thick, dashed, gray] coordinates {(-1.55, \taumax) (1.55, \taumax)};
-\addplot[thick, dashed, gray] coordinates {(-1.55, -\taumax) (1.55, -\taumax)};
-\addplot[thick, blue] coordinates
-  {(-\wcl, \taumax) (\wcu, \taumax) (\wcl, -\taumax) (-\wcu, -\taumax)
-   (-\wcl, \taumax)};
-\node[font=\scriptsize, anchor=south] at (axis cs: \wz, \taumax)
-  {$\tau_{\max}$};
-\node[font=\scriptsize, anchor=north] at (axis cs: -\wz, -\taumax)
-  {$-\tau_{\max}$};
-\draw[thick, dashed, gray] (axis cs: \wz, 0) -- (axis cs: \wz, -\taumax);
-\draw[thick, dashed, gray] (axis cs: -\wz, 0) -- (axis cs: -\wz, \taumax);
-\node[font=\normalsize, anchor=south] at (axis cs: \wz, 0.05) {$\omega_0$};
-\end{axis}
-\end{tikzpicture}
-\caption{Torque-speed envelope with current saturation~\eqref{eq:saturation}.}
-\label{fig:saturation}
-\end{figure}
-
-\noindent Note that datasheets typically distinguish two current limits. The \emph{continuous} (or \emph{nominal}) current $i_{\max}$ is the thermal limit: the maximum current the motor can sustain indefinitely without exceeding its maximum winding temperature. The \emph{peak} current $i_{\text{peak}}$ is a higher short-term limit, typically 5--10$\times$ the continuous value, constrained by demagnetization or commutation limits.
-
-\begin{table}[H]
-\centering
-\footnotesize
-\setlength{\tabcolsep}{3pt}
-\renewcommand{\arraystretch}{1.2}
-\begin{tabular}{@{}llll@{}}
-\toprule
-Symbol & Description & Condition & Formula/note\\
-\midrule
-$\tau_0$ & Stall Torque & $\omega=0$ & $\tau_0 = Kv / R$ \\
-$\omega_0$ & No-Load Speed & $\tau_{\text{load}}=0$ &
-  $\omega_0 \approx v / K$ \\
-$\partial\omega / \partial\tau$ & Gradient & Slope &
-  $-R/K^2$ \\
-$i_{\max}$ & Maximum Current & Limit & Thermal limit \\
-$\tau_{\max}$ & Maximum Torque & Limit & $\tau_{\max} = K \, i_{\max}$ \\
-\bottomrule
-\end{tabular}
-\caption{Named constants derived from the motor equations.}
-\label{tab:electromech_constants}
-\end{table}
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Inductance}
-\label{sec:inductance}
-
-Including the effects of winding inductance $L$ (Henry) means treating the current $i$ as a state variable:
-\begin{equation}
-  v = L \, \frac{di}{dt} + i \, R + K \, \omega
-  \label{eq:inductance}
-\end{equation}
-The change in current is proportional to the voltage and negatively proportional to both the instantaneous current and the rotation velocity. The time constant of this ODE is $t_e = L/R$. If $t_e \ll \Delta t$ (the simulation timestep), the current equilibrates within a single step and the quasi-static approximation~\eqref{eq:torque_speed} is adequate.
-
-Motor drivers often impose a hard limit on $di/dt$ to protect windings and electronics, bounding the torque ramp rate to $K \cdot (di/dt)_{\max}$.
-
-% ---------------------------------------------------------------------------
-%  Mechanical Model
-% ---------------------------------------------------------------------------
-\subsection{Mechanical Model}
-\label{sec:mechanical}
-
-Several purely mechanical phenomena affect the motor's behavior and delivered torque, warping the electromagnetic performance envelope.
-
-\paragraph{Mechanical losses.}
-These reduce the net torque available at the shaft: $\tau_{\text{net}} = \tau_{\text{elec}} - \tau_{\text{loss}}$.
-\begin{itemize}
-  \item \textbf{Coulomb:} Constant torque opposing rotation (dry friction).
-    $\tau_{\text{loss}} = \tau_c \, \text{sgn}(\omega)$. Discontinuous; already available in MuJoCo as \texttt{frictionloss}.
-  \item \textbf{Viscous:} Drag is a smooth function of speed $\tau_{\text{loss}} = b(\omega)$. The simplest model is linear, with drag proportional to speed $\tau_{\text{loss}} = B \, \omega$, but higher order terms may be needed for higher-fidelity models e.g., $\tau_{\text{loss}} = B_1 \, \omega + B_2 \, \omega |\omega| + B_3 \, \omega^3 + \dots$.
-\end{itemize}
-
-\noindent Datasheets report the \emph{no-load current} $i_0$: the current drawn when spinning freely at no-load speed $\omega_0$. At steady state, the electromagnetic torque balances all mechanical losses:
-\begin{equation}
-  K \, i_0 = \tau_c + B \, \omega_0
-  \label{eq:noload}
-\end{equation}
-This provides one constraint on two unknowns ($\tau_c$ and $B$). Without additional data, the user must either assume one dominates or obtain friction measurements at multiple speeds. In MuJoCo terms, $\tau_c$ maps to \texttt{frictionloss} and $B$ to \texttt{damping}.
-
-Combining current saturation with both mechanical losses, the net torque is:
-\begin{equation*}
-  \tau_{\text{net}} = \text{clip}\!\left( \frac{K}{R}(v - K \, \omega),\;
-    \pm K\, i_{\max} \right) - B \, \omega - \tau_c \, \text{sgn}(\omega)
-  \label{eq:net_torque}
-\end{equation*}
-The clipping applies to the electrical torque (current limit), while both friction terms are mechanical losses applied to the output post-clipping. Viscous drag $-B\omega$ tilts the envelope; Coulomb friction $-\tau_c\,\text{sgn}(\omega)$ shifts the right half ($\omega > 0$) down and the left half ($\omega < 0$) up, creating a $2\tau_c$ discontinuity at $\omega = 0$ (Figure~\ref{fig:drag_linear}).
-
-\begin{figure}[H]
-\centering
-\begin{subfigure}[t]{\columnwidth}
-\centering
-\begin{tikzpicture}
-\pgfmathsetmacro{\taus}{1.3}
-\pgfmathsetmacro{\wz}{1.0}
-\pgfmathsetmacro{\taumax}{0.7}
-\pgfmathsetmacro{\bvis}{0.3}
-\pgfmathsetmacro{\tauf}{0.2}
-\pgfmathsetmacro{\slope}{\taus/\wz}
-\pgfmathsetmacro{\wcu}{(\taus-\taumax)/\slope}
-\pgfmathsetmacro{\wcl}{(\taus+\taumax)/\slope}
-\pgfmathsetmacro{\wext}{1.5}
-\pgfmathsetmacro{\dragL}{\bvis*\wext}
-\pgfmathsetmacro{\dragR}{-\bvis*\wext}
-%% Right half vertices (ω ≥ 0): shifted down by τ_f
-\pgfmathsetmacro{\Ra}{\taumax-\tauf}
-\pgfmathsetmacro{\Rb}{\taumax-\bvis*\wcu-\tauf}
-\pgfmathsetmacro{\Rc}{-\taumax-\bvis*\wcl-\tauf}
-\pgfmathsetmacro{\Rd}{-\taumax-\tauf}
-%% Left half vertices (ω ≤ 0): shifted up by τ_f
-\pgfmathsetmacro{\La}{\taumax+\bvis*\wcl+\tauf}
-\pgfmathsetmacro{\Lb}{\taumax+\tauf}
-\pgfmathsetmacro{\Lc}{-\taumax+\tauf}
-\pgfmathsetmacro{\Ld}{-\taumax+\bvis*\wcu+\tauf}
-\begin{axis}[
-  width=0.9\columnwidth, height=0.6\columnwidth,
-  axis lines=middle,
-  xlabel={$\omega$}, ylabel={$\tau$},
-  xmin=-1.8, xmax=1.8, ymin=-1.8, ymax=1.8,
-  xtick=\empty, ytick=\empty,
-  tick style={thick},
-  every axis x label/.style={at={(ticklabel* cs:1)}, anchor=west},
-  every axis y label/.style={at={(ticklabel* cs:1)}, anchor=south},
-]
-\fill[blue, opacity=0.08]
-  (0, \Lb) -- (-\wcl, \La) -- (-\wcu, \Ld) -- (0, \Lc)
-  -- (0, \Rd) -- (\wcl, \Rc) -- (\wcu, \Rb) -- (0, \Ra) -- cycle;
-\addplot[thick, blue] coordinates
-  {(0, \Lb) (-\wcl, \La) (-\wcu, \Ld) (0, \Lc)
-   (0, \Rd) (\wcl, \Rc) (\wcu, \Rb) (0, \Ra) (0, \Lb)};
-\addplot[thick, dashed, gray] coordinates {(0.01, {-\tauf-\bvis*0.01}) (\wext, {-\tauf+\dragR})};
-\addplot[thick, dashed, gray] coordinates {(-\wext, {\tauf+\dragL}) (-0.01, {\tauf+\bvis*0.01})};
-\node[font=\footnotesize, anchor=north west] at (axis cs: -1.75, -0.45)
-  {$-B\omega - \tau_c\,\text{sgn}(\omega)$};
-\draw[->, gray, thick] (axis cs: -1.4, -0.45) -- (axis cs: -1.3, {\tauf+\bvis});
-\pgfmathsetmacro{\gapmid}{(\Ra+\Lb)/2}
-\draw[thick, <->, gray] (axis cs: 0.12, \Ra) -- (axis cs: 0.12, \Lb);
-\node[font=\scriptsize, anchor=west] at (axis cs: 0.18, \gapmid)
-  {$2\tau_c$};
-\end{axis}
-\end{tikzpicture}
-\caption{Linear viscous drag and Coulomb friction.}
-\label{fig:drag_linear}
-\end{subfigure}
-
-\vspace{0.5em}
-
-\begin{subfigure}[t]{\columnwidth}
-\centering
-\begin{tikzpicture}
-\pgfmathsetmacro{\taus}{1.3}
-\pgfmathsetmacro{\wz}{1.0}
-\pgfmathsetmacro{\taumax}{0.7}
-\pgfmathsetmacro{\Bone}{0.15}
-\pgfmathsetmacro{\Btwo}{0.35}
-\pgfmathsetmacro{\slope}{\taus/\wz}
-\pgfmathsetmacro{\wcl}{(\taus+\taumax)/\slope}
-\pgfmathsetmacro{\wext}{1.7}
-\begin{axis}[
-  width=0.9\columnwidth, height=0.6\columnwidth,
-  axis lines=middle,
-  xlabel={$\omega$}, ylabel={$\tau$},
-  xmin=-2.0, xmax=2.0, ymin=-2.0, ymax=2.0,
-  xtick=\empty, ytick=\empty,
-  tick style={thick},
-  every axis x label/.style={at={(ticklabel* cs:1)}, anchor=west},
-  every axis y label/.style={at={(ticklabel* cs:1)}, anchor=south},
-  samples=200,
-]
-\addplot[name path=upper, thick, blue, domain=-\wcl:\wcl]
-  {min(\taus - \slope*x, \taumax) - \Bone*x - \Btwo*x*abs(x)};
-\addplot[name path=lower, thick, blue, domain=-\wcl:\wcl]
-  {max(-\taus - \slope*x, -\taumax) - \Bone*x - \Btwo*x*abs(x)};
-\addplot[blue, opacity=0.08] fill between[of=upper and lower];
-\addplot[thick, dashed, gray, domain=-\wext:\wext]
-  {-\Bone*x - \Btwo*x*abs(x)};
-\node[font=\footnotesize, anchor=north west] at (axis cs: -1.9, -0.5)
-  {$-b(\omega)$};
-\draw[->, gray, thick] (axis cs: -1.5, -0.5) -- (axis cs: -1.3, {0.1 + 0.35*1.3*1.3});
-\end{axis}
-\end{tikzpicture}
-\caption{Nonlinear viscous drag $b(\omega) = B_1\omega + B_2\omega|\omega|$, no friction.}
-\label{fig:drag_nonlinear}
-\end{subfigure}
-
-\caption{Torque-speed envelopes with mechanical losses. The dashed gray line shows the drag function; the shaded region is the achievable torque at each speed. Note that datasheet torque-speed curves typically plot the first quadrant only.}
-\label{fig:drag}
-\end{figure}
-
-\paragraph{Rotor Inertia and Gearing.}
-Every DC motor datasheet lists the rotor inertia $J_r$ (kg$\cdot$m$^2$). When a gear train with ratio $N$ is attached, the effective inertia reflected to the output shaft is $J_{\text{eff}} = J_r N^2$~\cite{tedrake2024}. Note that real gearboxes also introduce efficiency losses (typically 70--90\%), which reduce the transmitted torque by a multiplicative factor $\eta$, approximated by effectively reducing the motor constant $K_{\text{eff}} = \eta K$.
-
-\paragraph{Cogging Torque.}
-Brushless DC motors exhibit \emph{cogging torque}: a position-dependent torque ripple caused by the interaction between permanent magnets and stator slots. It can be modeled as a periodic bias:
-\begin{equation}
-  \tau_{\text{cog}}(\theta) = A \sin(N_p \, \theta + \phi)
-  \label{eq:cogging}
-\end{equation}
-where $A$ is the amplitude, $N_p$ is the number of pole pairs times the number of slots per pole, and $\phi$ is a phase offset. Cogging torque is significant primarily at low speeds. Datasheets sometimes report peak cogging as a percentage of rated torque (typically 1--5\%).
-
-\begin{table}[H]
-\centering
-\footnotesize
-\setlength{\tabcolsep}{3pt}
-\renewcommand{\arraystretch}{1.2}
-\begin{tabular}{@{}lll@{}}
-\toprule
-Symbol & Description & Formula / Note \\
-\midrule
-$\tau_c$ & Coulomb friction & $\tau_c\,\text{sgn}(\omega)$ \\
-$B$ & Viscous drag (linear) & $-B\,\omega$ \\
-$\omega_0$ & No-load speed &
-  $\omega_0 = v\,K / (K^2 + R\,B)$ \\
-$J_r$ & Rotor inertia & units: kg$\cdot$m$^2$ \\
-$N$ & Gear ratio & $J_{\text{eff}} = J_r N^2$ \\
-$\eta$ & Gearbox efficiency & $K' = \eta \, K$ \\
-$A$ & Cogging amplitude & $\tau_{\text{cog}} = A\sin(N_p\theta + \phi)$ \\
-$N_p$ & Cogging periodicity & poles $\times$ slots/pole \\
-$\phi$ & Cogging phase & offset \\
-\bottomrule
-\end{tabular}
-\caption{Named constants related to mechanical properties. Unlike in Table~\ref{tab:electromech_constants}, the non-approximate expression for $\omega_0$ takes into account the linear drag $B$ (assuming no high-order terms).}
-\label{tab:key_constants}
-\end{table}
-
-\paragraph{Backlash.}
-Gearboxes introduce backlash: a small angular deadband where the motor can turn without moving the output shaft. Datasheets report this in arcminutes. MuJoCo supports backlash modeling via a dual-joint decomposition; \href{https://mujoco.readthedocs.io/en/stable/modeling.html#backlash}{see here} for details.
-
-% ---------------------------------------------------------------------------
-%  Thermal Model
-% ---------------------------------------------------------------------------
-\subsection{Thermal Model}
-\label{sec:thermal}
-
-Winding temperature affects motor performance primarily through increased copper resistance, and can be modeled as a single lumped thermal state. The thermal constants are
-
-\begin{table}[H]
-\centering
-\footnotesize
-\begin{tabular}{@{}lll@{}}
-\toprule
-Symbol & Description & Units \\
-\midrule
-$R_T$ & Thermal resistance & Kelvin/Watt \\
-$C$ & Thermal capacitance & Joule/Kelvin \\
-$t_T = R_T C$ & Thermal time constant & second \\
-$\alpha$ & Resistance temp.\ coefficient & 1/Kelvin \\
-$T_0$ & Reference temperature & degree Celsius \\
-$T_a$ & Ambient temperature & degree Celsius \\
-\bottomrule
-\end{tabular}
-\caption{Thermal model constants. Units involving temperature differences use Kelvin (equivalent to Celsius for differences); absolute temperatures use degree Celsius, following datasheet convention.}
-\end{table}
-
-\noindent Note that some manufacturers specify two thermal resistances: $R_{\text{th1}}$ (winding-to-housing) and $R_{\text{th2}}$ (housing-to-ambient), which sum to give the total winding-to-ambient thermal resistance $R_T = R_{\text{th1}} + R_{\text{th2}}$. The single-node model above uses $R_T$ directly.
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Lumped Thermal ODE}
-\label{sec:thermal_ode}
-
-The winding temperature $T$ evolves according to a first-order lumped model driven by the power dissipation $P$ (Watt, detailed in \S\ref{sec:thermal_losses}):
-\begin{equation}
-  \frac{\partial T}{\partial t} = \frac{1}{C} P - \frac{T - T_a}{t_T}
-  \label{eq:thermal_ode}
-\end{equation}
-where $t_T = R_T C$ is the thermal time constant. This produces exponential rise/decay toward a steady-state temperature $T_{ss} = T_a + R_T P$ (Figure~\ref{fig:thermal_response}).
-
-\begin{figure}[ht]
-\centering
-\resizebox{\columnwidth}{!}{%
-\begin{tikzpicture}
-\pgfmathsetmacro{\Tss}{1.0}
-\pgfmathsetmacro{\ttau}{1.0}
-\pgfmathsetmacro{\xmax}{4.5}
-\begin{axis}[
-  width=0.9\columnwidth, height=0.45\columnwidth,
-  axis lines=left,
-  clip=false,
-  xlabel={$t$}, ylabel={$T - T_a$},
-  xmin=0, xmax=\xmax, ymin=0, ymax={\Tss*1.25},
-  xtick={\ttau}, xticklabels={$t_T$},
-  ytick={{\Tss*(1-exp(-1))}, \Tss},
-  yticklabels={$(1{-}1/e)\,R_T P$, $R_T P$},
-  tick style={thick},
-  every axis x label/.style={at={(ticklabel* cs:1)}, anchor=west},
-  every axis y label/.style={at={(ticklabel* cs:1)}, anchor=south},
-]
-\addplot[thick, blue, domain=0:\xmax, samples=100]
-  {\Tss*(1 - exp(-x/\ttau))};
-\addplot[thick, dashed, gray] coordinates {(0,\Tss) (\xmax,\Tss)};
-\draw[thick, dashed, gray] (axis cs:\ttau, 0) -- (axis cs:\ttau, {\Tss*(1-exp(-1))});
-\draw[thick, dashed, gray] (axis cs:0, {\Tss*(1-exp(-1))}) -- (axis cs:\ttau, {\Tss*(1-exp(-1))});
-\node[font=\scriptsize, anchor=south] at (axis cs:\xmax*0.5, \Tss)
-  {$T_{ss} = T_a + R_T P$};
-\end{axis}
-\end{tikzpicture}}%
-\caption{Temperature rise under constant power dissipation $P$.
-  At $t = t_T$, it reaches $(1-1/e) \approx 63\%$ of its steady-state value.}
-\label{fig:thermal_response}
-\end{figure}
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Losses}
-\label{sec:thermal_losses}
-
-The dominant loss is copper (Joule) heating:
-\begin{equation*}
-  P = i^2 R(T)
-  \label{eq:copper_loss}
-\end{equation*}
-Optionally, speed-dependent iron losses (eddy-current and hysteresis losses in the stator laminations) can be included~\cite{hughes2019}:
-\begin{equation*}
-  P = i^2 R(T) + K_{\text{fe}} \omega^2
-  \label{eq:total_loss}
-\end{equation*}
-The iron loss coefficient $K_{\text{fe}}$ is not typically listed on datasheets and must be identified from efficiency curves or manufacturer simulation tools. For most hobby and robotics motors, iron losses are small compared to copper losses and can be neglected. They become significant at high speeds in large industrial motors.
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Temperature-Dependent Resistance}
-\label{sec:resistance_temperature}
-
-Copper resistance increases approximately linearly with temperature:
-\begin{equation}
-  R(T) = R_0 \left(1 + \alpha (T - T_0)\right)
-  \label{eq:resistance_temperature}
-\end{equation}
-where $R_0$ is resistance at reference temperature $T_0$ and $\alpha \approx 0.0039 \, \text{K}^{-1}$ for copper. This is the dominant thermal feedback: as $T$ rises, $R$ increases, so for a given voltage the current $i = (v - K \omega) / R(T)$ drops, reducing torque.
-
-Note that $R(T)$ also increases heating for a given current ($P = i^2 R(T)$), creating mild positive feedback under current control.
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Magnet Flux Derating}
-\label{sec:magnet_derating}
-
-Permanent magnet flux weakens with temperature, reducing $K$:
-\begin{equation*}
-  K(T) = K_0 \left(1 + \alpha_m (T - T_0)\right)
-  \label{eq:kt_temperature}
-\end{equation*}
-with $\alpha_m < 0$ (motor-dependent). This effect is often small over normal operating ranges and can be ignored.
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Thermal Derating}
-\label{sec:thermal_derating}
-
-Real actuators limit current as winding temperature approaches a maximum:
-\begin{equation*}
-  i_{\max}(T) = \begin{cases}
-    i_{\text{rated}} & T \le T_1 \\
-    i_{\text{safe}} + (i_{\text{rated}} - i_{\text{safe}}) \, s(T) & T_1 < T < T_2 \\
-    i_{\text{safe}} & T \ge T_2
-  \end{cases}
-\end{equation*}
-where $s(T)$ is a smooth interpolant between $T_1$ and $T_2$. This reduces the maximum available torque as the motor heats up.
-
-% ---------------------------------------------------------------------------
-%  Micro-Friction Models
-% ---------------------------------------------------------------------------
-\subsection{Micro-Friction Models}
-\label{sec:micro_friction}
-
-Simple macroscopic friction models (Coulomb, viscous) cannot capture complex mechanical phenomena common in real motors with gear trains, such as pre-sliding hysteresis and stick-slip limit cycles. To capture these behaviors, a richer dynamic model is required. At the microscopic level, two surfaces in contact touch at many asperities which deform elastically under tangential load. This can be modeled as an average bristle deflection $z$, governed by a first-order ODE driven by the relative velocity $\omega$. Friction torque is then a function of $z$, $\dot{z}$, and $\omega$.
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Dahl Model}
-\label{sec:dahl}
-
-The simplest stateful model~\cite{dahl68} treats friction as a rate-independent hysteresis operator derived from the stress-strain curve:
-\begin{equation*}
-  \dot{z} = \omega - \frac{\sigma_0}{\tau_c} |\omega| \, z
-  \label{eq:dahl_state}
-\end{equation*}
-with output $\tau = -\sigma_0 z$. In steady state ($\dot{z}=0$), $z_{ss} = \tau_c \, \text{sgn}(\omega) / \sigma_0$ so $\tau_{ss} = -\tau_c \, \text{sgn}(\omega)$: pure Coulomb friction opposing motion. The two parameters are the bristle stiffness $\sigma_0$ (torque/radian) and the Coulomb friction torque $\tau_c$.
-For small displacements the model is approximately linear ($\tau \approx -\sigma_0 \theta$), giving spring-like pre-sliding behavior with hysteresis during direction reversals (Figure~\ref{fig:hysteresis}). The Dahl model does not capture the Stribeck effect~\cite{stribeck1902} (the drop in friction at low velocity) and thus cannot predict stick-slip motion.
-
-\begin{figure}[H]
-\centering
-\begin{tikzpicture}
-\begin{axis}[
-  width=0.9\columnwidth, height=0.55\columnwidth,
-  axis lines=middle,
-  xlabel={$\theta$}, ylabel={$\tau$},
-  xmin=-1.4, xmax=1.4, ymin=-1.4, ymax=1.4,
-  xtick=\empty, ytick=\empty,
-  every axis x label/.style={at={(ticklabel* cs:1)}, anchor=west},
-  every axis y label/.style={at={(ticklabel* cs:1)}, anchor=south},
-  clip=false,
-]
-\pgfmathsetmacro{\sig}{2.5}
-\pgfmathsetmacro{\Fc}{1.0}
-\pgfmathsetmacro{\xm}{1.0}
-\pgfmathsetmacro{\ch}{(exp(\sig*\xm)+exp(-\sig*\xm))/2}
-\addplot[thick, blue, domain=-\xm:\xm, samples=150, name path=lower]
-  {-\Fc*(1 - exp(-\sig*x)/\ch)};
-\addplot[thick, blue, domain=-\xm:\xm, samples=150, name path=upper]
-  {\Fc*(1 - exp(\sig*x)/\ch)};
-\addplot[blue, opacity=0.08] fill between[of=lower and upper];
-\draw[thick, dotted] (axis cs:-1.4, -\Fc) -- (axis cs:1.4, -\Fc)
-  node[right, font=\scriptsize] {$-\tau_c$};
-\draw[thick, dotted] (axis cs:-1.4, \Fc) -- (axis cs:1.4, \Fc)
-  node[right, font=\scriptsize] {$\tau_c$};
-\draw[->, thick, gray] (axis cs:0.05, -0.78) -- (axis cs:0.25, -0.83);
-\draw[->, thick, gray] (axis cs:-0.05, 0.78) -- (axis cs:-0.25, 0.83);
-\end{axis}
-\end{tikzpicture}
-\caption{Hysteresis loop: friction torque $\tau$ vs.\ displacement $\theta$ under slow
-  periodic loading (Dahl model).
-  The loop area represents energy dissipated per cycle.
-  Unlike memoryless Coulomb friction, the torque is continuous.}
-\label{fig:hysteresis}
-\end{figure}
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{LuGre Model}
-\label{sec:lugre}
-
-The LuGre model~\cite{dewit95, lugre_revisited} extends Dahl by making the bristle saturation velocity-dependent and adding micro-damping and viscous terms:
-\begin{subequations}
-\label{eq:lugre}
-\begin{align}
-  \dot{z} &= \omega - \sigma_0 \frac{|\omega|}{g(\omega)} z
-    \label{eq:lugre_state} \\
-  \tau &= -(\sigma_0 z + \sigma_1 \dot{z} + \sigma_2 \omega)
-    \label{eq:lugre_force}
-\end{align}
-\end{subequations}
-where the function $g(\omega)$ captures the Stribeck effect:
-\begin{equation}
-  g(\omega) = \tau_c + (\tau_s - \tau_c) \, e^{-(\omega/\omega_s)^\gamma}
-  \label{eq:stribeck}
-\end{equation}
-with exponent $\gamma$ typically 1 or 2. In steady state, $\tau_{ss}(\omega) = -g(\omega) \, \text{sgn}(\omega) - \sigma_2 \omega$: the classic Stribeck curve (Figure~\ref{fig:stribeck}).
-
-\begin{figure}[H]
-\centering
-\begin{tikzpicture}
-\begin{axis}[
-  width=0.9\columnwidth, height=0.55\columnwidth,
-  axis lines=middle,
-  xlabel={$\omega$}, ylabel={$\tau_{ss}$},
-  xmin=-3, xmax=3, ymin=-2.5, ymax=2.5,
-  xtick=\empty, ytick=\empty,
-  every axis x label/.style={at={(ticklabel* cs:1)}, anchor=west},
-  every axis y label/.style={at={(ticklabel* cs:1)}, anchor=south},
-  clip=false,
-]
-\pgfmathsetmacro{\Fc}{1.0}
-\pgfmathsetmacro{\Fs}{1.8}
-\pgfmathsetmacro{\vs}{0.5}
-\pgfmathsetmacro{\sigtwo}{0.15}
-\addplot[thick, blue, domain=0.01:3, samples=200]
-  {-(\Fc + (\Fs-\Fc)*exp(-(x/\vs)^2)) - \sigtwo*x};
-\addplot[thick, blue, domain=-3:-0.01, samples=200]
-  {(\Fc + (\Fs-\Fc)*exp(-(-x/\vs)^2)) - \sigtwo*x};
-\addplot[thick, dashed, gray, domain=-3:3, samples=2] {-\sigtwo*x};
-\draw[thick, dotted] (axis cs:0,-\Fs) -- (axis cs:3,-\Fs)
-  node[right, font=\scriptsize] {$-\tau_s$};
-\draw[thick, dotted] (axis cs:0,-\Fc) -- (axis cs:3,-\Fc)
-  node[right, font=\scriptsize] {$-\tau_c$};
-\draw[thick, dotted] (axis cs:0,\Fs) -- (axis cs:-3,\Fs)
-  node[left, font=\scriptsize] {$\tau_s$};
-\draw[thick, dotted] (axis cs:0,\Fc) -- (axis cs:-3,\Fc)
-  node[left, font=\scriptsize] {$\tau_c$};
-\node[font=\footnotesize, anchor=north east] at (axis cs:-0.5, -0.1)
-  {$-\sigma_2\omega$};
-\end{axis}
-\end{tikzpicture}
-\caption{Steady-state friction $\tau_{ss}(\omega) = -g(\omega)\,\text{sgn}(\omega) - \sigma_2 \omega$.
-  Stiction torque $\tau_s$ at $\omega\!=\!0$ drops to Coulomb level $\tau_c$
-  over velocity scale $\omega_s$ (Stribeck effect). Friction opposes motion.}
-\label{fig:stribeck}
-\end{figure}
-
-\noindent The Dahl model is recovered by setting $g(\omega) = \tau_c$ and $\sigma_1 = \sigma_2 = 0$. Linearizing around $\omega = z = 0$ gives second-order dynamics $J\ddot{\theta} - (\sigma_1 + \sigma_2)\dot{\theta} - \sigma_0 \theta = \tau$ (applied torque): a spring-damper with natural frequency $\omega_n = \sqrt{\sigma_0/J}$, critically damped when $\sigma_1 = 2\sqrt{J\sigma_0}$.
-
-The LuGre model can be shown to be input-strictly-passive (the map $\omega \mapsto \tau$ dissipates energy) provided $\sigma_2 > \sigma_1 (\tau_s - \tau_c)/\tau_c$. This passivity condition limits $\sigma_1$ and can lead to underdamped micro-dynamics, motivating the following extension.
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Velocity-Dependent Damping}
-\label{sec:vel_damping}
-
-The passivity constraint on $\sigma_1$ can be relaxed by making the micro-damping decrease with velocity:
-\begin{equation*}
-  \sigma_1(\omega) = \bar{\sigma}_1\, e^{-(\omega/\omega_s)^\beta}
-  \label{eq:sigma1_vel}
-\end{equation*}
-This allows large damping in the stiction regime (good for numerical stability and physical fidelity) while satisfying passivity at higher velocities where $\sigma_1 \to 0$.
-
-Together with $\tau_c$ from \S\ref{sec:mechanical}, the LuGre model with velocity-dependent damping adds six parameters:
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}lll@{}}
-\toprule
-Symbol & Description & Units \\
-\midrule
-$\sigma_0$ & Bristle stiffness, pre-sliding slope & N$\cdot$m/rad \\
-$\bar{\sigma}_1$ & Peak bristle damping at $\omega = 0$ & N$\cdot$m$\cdot$s/rad \\
-$\sigma_2$ & Viscous damping coefficient & N$\cdot$m$\cdot$s/rad \\
-$\tau_s$ & Stiction torque, $\tau_s \ge \tau_c$ & N$\cdot$m \\
-$\omega_s$ & Stribeck velocity & rad/s \\
-$\beta$ & Damping decay exponent & dimensionless \\
-\bottomrule
-\end{tabular}
-\caption{Parameters of the LuGre friction model (\S\ref{sec:lugre}--\ref{sec:vel_damping}).}
-\label{tab:lugre_params}
-\end{table}
-
-
-\newpage
-%=============================================================================
-% IMPLEMENTATION
-%=============================================================================
-\section{Implementation}
-\label{sec:implementation}
-
-Here we describe MuJoCo's \href{https://mujoco.readthedocs.io/en/stable/XMLreference.html#actuator-dcmotor}{\texttt{dcmotor} actuator}. Some scalars are grouped into vectors; we use a colon to denote such scalar sub-attributes, e.g.\ \texttt{cogging:phase} refers to the third element of the \texttt{cogging} attribute (see Tables \ref{tab:mjcf_attributes} and \ref{tab:cogging_impl}).
-
-\begin{table}[H]
-\centering
-\footnotesize
-\begin{tabular}{@{}llp{5cm}@{}}
-\toprule
-Attribute & Size & Description \\
-\midrule
-\texttt{resistance} & 1 & Terminal resistance $R$ \\
-\texttt{motorconst} & 2 & Motor constants ($K_t, K_e$; see below) \\
-\texttt{nominal}    & 3 & Nominal operating point ($v_n, \tau_0, \omega_0$) \\
-\texttt{inductance} & 2 & Electrical dynamics ($L, t_e$) \\
-\texttt{thermal}    & 6 & Thermal model ($R_T, C, t_T, \alpha, T_0, T_a$) \\
-\texttt{saturation} & 3 & Limits ($\tau_{\max}, i_{\max}, (di{/}dt)_{\max}$) \\
-\midrule
-\texttt{cogging}    & 3 & Cogging torque ($A, N_p, \phi$) \\
-\texttt{lugre}      & 5 & LuGre friction ($\sigma_0, \sigma_1, \tau_c, \tau_s, \omega_s$) \\
-\texttt{damping}    & 3 & Viscous damping coefficients \\
-\texttt{armature}   & 1 & Armature inertia \\
-\midrule
-\texttt{input}      & string & Input block: subset of \texttt{pos vel ff voltage}, or \texttt{none} \\
-\texttt{controller} & 6 & Gains, slew, and voltage saturation ($k_p, k_i, k_d, s, I_{\max}, v_{\max}$) \\
-\bottomrule
-\end{tabular}
-\caption{MJCF attributes for the \texttt{dcmotor} actuator, split into electrical, mechanical and controller groupings.}
-\label{tab:mjcf_attributes}
-\end{table}
-
-% ---------------------------------------------------------------------------
-%  Stateless dcmotor
-% ---------------------------------------------------------------------------
-\subsection{Stateless DC Motor}
-\label{sec:dcmotor}
-
-The output torque of the stateless motor follows Eq.~\eqref{eq:saturation}, mapping physical parameters to the underlying affine model. The three core parameters are the effective motor constant $K$, resistance $R$, and maximum torque $\tau_{\max}$.
-They are stored in \texttt{mjModel} as follows:
-
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}lll@{}}
-\toprule
-Symbol & Description & \texttt{mjModel} storage \\
-\midrule
-$R$ & Resistance & \texttt{gainprm[0]} \\
-$K$ & Effective motor constant & \texttt{gainprm[1]} \\
-$\tau_{\max}$ & Maximum torque & \texttt{forcerange} \\
-\bottomrule
-\end{tabular}
-\caption{Stateless DC motor core parameters.}
-\end{table}
-
-\noindent The gain $G = K/R$ and back-EMF bias $-GK\omega$ are computed at runtime. Storing $R$ separately allows temperature-dependent resistance $R(T)$, Eq.~\eqref{eq:resistance_temperature}, to be applied. These three core parameters can be specified with a combination of eight sub-attributes
-
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}lll@{}}
-\toprule
-Attribute & Symbol & Units \\
-\midrule
-\atR{} & $R$ & Ohm \\
-\atKt{} & $K_t$ & N$\cdot$m/A \\
-\atKe{} & $K_e$ & V$\cdot$s/rad \\
-\atVM{} & $v_n$ & Volt \\
-\atSTALL{} & $\tau_0\!=\!Kv_n/R$ & N$\cdot$m \\
-\atNLS{} & $\omega_0\!\approx\!v_n/K$ & rad/s \\
-\atTMAX{} & $\tau_{\max}$ & N$\cdot$m \\
-\atIMAX{} & $i_{\max}$ & Ampere \\
-\bottomrule
-\end{tabular}
-\caption{Stateless DC motor basic attributes.}
-\end{table}
-
-\noindent The attribute \atK{} has two sub-attributes, \texttt{Kt} and \texttt{Ke}. If both are positive, $K = \sqrt{K_t K_e}$ (preserving power balance $K^2 = K_t K_e$). If only one is positive, $K$ equals that value.
-
-\pagebreak
-\noindent The following attribute combinations are supported:
-\begin{enumerate}[itemsep=2pt, parsep=0pt, topsep=2pt]
-  \item Effective motor constant $K$, one of:
-    \begin{itemize}[itemsep=1pt, parsep=0pt, topsep=1pt]
-      \item \atKt{} \emph{and/or} \atKe{}
-      \item \atNLS{} \emph{and} \atVM{}
-    \end{itemize}
-  \item Resistance $R$, one of:
-    \begin{itemize}[itemsep=1pt, parsep=0pt, topsep=1pt]
-      \item \atR{}
-      \item \atSTALL{} \emph{and} \atVM{}
-    \end{itemize}
-  \item Maximum torque $\tau_{\max}$, one of:
-    \begin{itemize}[itemsep=1pt, parsep=0pt, topsep=1pt]
-      \item \atTMAX{}
-      \item \atIMAX{}
-    \end{itemize}
-\end{enumerate}
-
-\noindent \atIMAX{} corresponds to the continuous (thermal) current limit. Peak current behavior can be approximated with the thermal model (\S\ref{sec:temperature_impl}).
-
-\paragraph{Rotor Inertia and Gearing.} To model rotor inertia with a gear train, set the actuator's \texttt{armature} $= J_r$ and \texttt{gear} $= N$. Actuator-level \texttt{armature} automatically scales the inertia by $N^2$ to reflect $J_{\text{eff}}$ to the output shaft.
-
-\paragraph{Mechanical Drag.} The full torque-speed envelope applies viscous drag \emph{outside} the current clamp:
-\begin{equation*}
-  \tau_{\text{net}} = \text{clip}\!\left( \frac{K}{R}(v - K \, \omega),\;
-    \pm \tau_{\max} \right) - b(\omega)
-  \label{eq:drag}
-\end{equation*}
-Actuator-level \texttt{damping} reproduces this post-clamp behavior. It accepts an array of polynomial drag coefficients (\texttt{damping[0]} $= B_1$, \texttt{damping[1]} $= B_2$, $\dots$). As with \texttt{armature}, actuator-level \texttt{damping} is scaled by $N^2$.
-
-\paragraph{Cogging Torque.} The magnetic torque ripple of Eq.~\eqref{eq:cogging} is modeled as a periodic bias added to the actuator force, where $\theta$ is the \texttt{actuator\_length}, i.e.\ the transmission-transformed joint angle.
-
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}lll@{}}
-\toprule
-Attribute & Symbol & Units \\
-\midrule
-\atCOGA{} & $A$ & N$\cdot$m \\
-\atCOGP{} & $N_p$ & dimensionless \\
-\atCOGPH{} & $\phi$ & radian \\
-\bottomrule
-\end{tabular}
-\caption{Cogging torque attributes.}
-\label{tab:cogging_impl}
-\end{table}
-
-\paragraph{Mapping to Isaac Lab.}
-Isaac Lab~\cite{isaaclab2025} implements the stateless DC motor model. Table~\ref{tab:mapping} maps its attributes to the constants defined in this document and to the \texttt{dcmotor} attributes.
-
-\begin{table}[H]
-\centering
-\footnotesize
-\begin{tabular}{@{}lll@{}}
-\toprule
-Symbol & MuJoCo & Isaac Lab \\
-\midrule
-$\tau_0$ & \atSTALL{} & \texttt{saturation\_effort} \\
-$\omega_0$ & \atNLS{} & \texttt{velocity\_limit} \\
-$\tau_{\max}$ & \atTMAX{} & \texttt{effort\_limit} \\
-\bottomrule
-\end{tabular}
-\caption{Mapping of attributes to Isaac Lab.}
-\label{tab:mapping}
-\end{table}
-
-\noindent Isaac Lab does not expose electrical parameters. To reproduce the same torque-speed envelope, set \atVM{} to any positive value (e.g.,~\texttt{1}) and \texttt{ctrlrange} to $\pm$\,that value (e.g., \texttt{"-1 1"}).
-
-\paragraph{Gearbox Efficiency.} Gearbox efficiency $\eta$ is not a separate attribute. To account for transmission losses, reduce the motor constant: $K \rightarrow \eta K$. This correctly reduces forward torque transmission.
-
-\paragraph{Computed parameters.}
-Several derived quantities that appear on datasheets can be computed and used to cross-check the parameterization. The torque-speed gradient $\partial\omega/\partial\tau = -R/K^2$ gives the slope of the torque-speed line (Table~\ref{tab:electromech_constants}). The mechanical time constant $t_m = R\,J/K^2$ is the time for the motor to reach 63\% of its no-load speed under a voltage step, where $J$ is the rotor inertia (\texttt{armature}). The nominal (continuous) torque is $\tau_n = K \cdot i_{\max}$. The no-load current $i_0$ can be computed from Eq.~\eqref{eq:noload} given known friction parameters. See Table~\ref{tab:datasheet}.
-
-\paragraph{Not modeled:}
-Nonlinear torque constant $K_t(i)$. Separate $K_t$ and $K_e$ values are accepted via \atKt{} and \atKe{} but collapsed to a single effective $K = \sqrt{K_t K_e}$.
-
-
-% ---------------------------------------------------------------------------
-%  Stateful Current
-% ---------------------------------------------------------------------------
-\subsection{Stateful Current}
-\label{sec:current_impl}
-
-A winding current state variable governed by Eq.~\eqref{eq:inductance} is added if the electrical time constant $t_e > 0$ (derived from inductance $L > 0$ or specified directly). When enabled, the state is integrated by \texttt{mjDYN\_DCMOTOR}, and the gain switches from $K/R$ (stateless) to $K$ (stateful).
-The time constant $t_e$ can be determined by either:
-
-\begin{itemize}[itemsep=0pt, parsep=0pt, topsep=2pt]
-  \item \atTE{}
-  \item \atL{} \emph{and} \atR{} (via $t_e = L/R$)
-\end{itemize}
-
-\paragraph{Current rate limiting.} When the sub-attribute \atCRATE{} is set ($(di/dt)_{\max} > 0$) and the current state is enabled ($t_e > 0$), the rate of change of current is clamped:
-\begin{equation*}
-  \frac{di}{dt} \leftarrow \text{clip}\!\left(\frac{di}{dt},\; \pm(di/dt)_{\max}\right)
-\end{equation*}
-This limits the torque ramp rate to $K \cdot (di/dt)_{\max}$ (N$\cdot$m/s) without requiring any additional state variables, since the current $i$ is already an activation variable and we are simply clamping its rate of change. This attribute has no effect when $t_e = 0$ (stateless current).
-
-\begin{table}[H]
-\centering
-\footnotesize
-\begin{tabular}{@{}lll@{}}
-\toprule
-Attribute & Symbol & Units \\
-\midrule
-\atL{} & $L$ & Henry \\
-\atTE{} & $t_e\!=\!L/R$ & second \\
-\atCRATE{} & $(di{/}dt)_{\max}$ & Ampere/second \\
-\bottomrule
-\end{tabular}
-\caption{Stateful current attributes.}
-\end{table}
-
-% ---------------------------------------------------------------------------
-%  Temperature
-% ---------------------------------------------------------------------------
-\subsection{Temperature}
-\label{sec:temperature_impl}
-
-A winding temperature state governed by the lumped ODE~\eqref{eq:thermal_ode} is added if any of the thermal attributes ($R_T, C, t_T$) are specified. The state $T$ is the temperature rise above ambient ($T = T_{\text{winding}} - T_a$), so the absolute temperature is $T + T_a$. Temperature modifies the winding resistance via Eq.~\eqref{eq:resistance_temperature}, which feeds back into the motor equation: higher temperature increases resistance, leading to reduced current for a given voltage.
-
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}lll@{}}
-\toprule
-Attribute & Symbol & Units \\
-\midrule
-\atRT{} & $R_T$ & K/W \\
-\atTC{} & $C$ & J/K \\
-\atTT{} & $t_T\!=\!R_T C$ & s \\
-\atALPHA{} & $\alpha$ & 1/K \\
-\atTREF{} & $T_0$ & \textdegree C \\
-\atTAMB{} & $T_a$ & \textdegree C \\
-\bottomrule
-\end{tabular}
-\caption{Thermal model attributes.}
-\end{table}
-
-\noindent The time constant $t_T$ can be determined by either:
-\begin{itemize}[itemsep=0pt, parsep=0pt, topsep=2pt]
-  \item \atTT{}
-  \item \atRT{} \emph{and} \atTC{}
-\end{itemize}
-
-\paragraph{Not modeled:}
-Iron losses (\S\ref{sec:thermal_losses}), magnet flux derating (\S\ref{sec:magnet_derating}), and thermal current derating (\S\ref{sec:thermal_derating}). Only copper losses ($i^2 R$) drive the thermal model; $K$ is treated as temperature-independent.
-
-% ---------------------------------------------------------------------------
-%  Stateful Friction
-% ---------------------------------------------------------------------------
-\subsection{Stateful Friction}
-\label{sec:friction_impl}
-
-A bristle deflection state governed by the LuGre model (\S\ref{sec:lugre}) is added if the bristle stiffness $\sigma_0 > 0$.
-
-The Stribeck function $g(\omega)$, Eq.~\eqref{eq:stribeck}, determines velocity-dependent friction, and the friction force is given by Eq.~\eqref{eq:lugre_force}. The bristle state is integrated using the exact ZOH scheme~\eqref{eq:zoh}. The viscous term $\sigma_2 \omega$ is specified by via the standard \texttt{damping} attribute to leverage MuJoCo's implicit integration.
-\paragraph{Integration.}
-The bristle stiffness $\sigma_0$ is typically very large ($10^5$--$10^6$ N$\cdot$m/rad), creating a stiff ODE. At constant velocity, the state equation~\eqref{eq:lugre_state} has the form $\dot{z} = a z + b \omega$ where $a = -\sigma_0 |\omega| / g(\omega)$ and $b = 1$. Euler integration is unstable unless $|1 + a \Delta t| < 1$, requiring impractically small timesteps ($\Delta t < 2g(\omega)/(\sigma_0 |\omega|)$, on the order of microseconds).
-Under a zero-order hold assumption ($\omega$ constant over the timestep), the linear ODE $\dot{z} = az + b\omega$ can be solved exactly:
-\begin{equation}
-  z_{k+1} = e^{a \Delta t} z_k
-    + \frac{b(e^{a \Delta t} - 1)}{a} \, \omega
-  \label{eq:zoh}
-\end{equation}
-reducing to $z_{k+1} = z_k + b\omega\Delta t$ in the limit $a \to 0$. This integration is unconditionally stable for any $\Delta t$.
-
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}lll@{}}
-\toprule
-Attribute & Symbol & Units \\
-\midrule
-\atSIG{} & $\sigma_0$ & N$\cdot$m/rad \\
-\atSIGD{} & $\sigma_1$ & N$\cdot$m$\cdot$s/rad \\
-\atTAUC{} & $\tau_c$ & N$\cdot$m \\
-\atTAUS{} & $\tau_s$ & N$\cdot$m \\
-\atWS{} & $\omega_s$ & rad/s \\
-\bottomrule
-\end{tabular}
-\caption{LuGre friction attributes.}
-\end{table}
-
-\noindent\textbf{Not modeled:}
-Velocity-dependent bristle damping $\sigma_1(\omega)$ (\S\ref{sec:vel_damping}), a constant $\sigma_1$ is used. The Stribeck exponent is not exposed and fixed at $\gamma = 2$.
-
-\newpage
-% ---------------------------------------------------------------------------
-%  PID Controller
-% ---------------------------------------------------------------------------
-\subsection{PID Controller}
-\label{sec:controller}
-
-Many actuators embed an on-board controller computing drive voltage from position or velocity commands. To model such actuators, \texttt{dcmotor} supports an optional controller layer upstream of the motor physics. Two attributes control this behavior:
-
-\begin{table}[H]
-\centering
-\footnotesize
-\begin{tabular}{@{}llp{4.2cm}@{}}
-\toprule
-Attribute & Type & Description \\
-\midrule
-\texttt{input} & string & subset of \texttt{pos vel ff voltage}, in canonical order; \texttt{none} (passive) \\
-\texttt{controller} & vector & Gains, slew, and voltage saturation ($k_p, k_i, k_d, s, I_{\max}, v_{\max}$) \\
-\bottomrule
-\end{tabular}
-\caption{Controller attributes. Default \texttt{input} is \texttt{voltage}.}
-\label{tab:controller_attributes}
-\end{table}
-
-\noindent Unlike the motor parameters in Table~\ref{tab:datasheet}, controller gains are user-specified firmware settings. MuJoCo uses {\em torque-space} units (e.g., $k_p$ in N$\cdot$m/rad), matching the \texttt{pid} actuator. Voltage-space datasheet gains (V/rad) convert by multiplying by $K/R$, though empirical calibration is often necessary due to unknown internal units on real hardware.
-
-The controller computes a target voltage $v$ from the \texttt{ctrl} command. All motor physics --- cogging, saturation, friction, etc. --- apply identically downstream of $v$. The \texttt{input} attribute selects the controller:
-
-\begin{figure}[H]
-\centering
-\resizebox{\columnwidth}{!}{%
-\begin{tikzpicture}[
-  block/.style={draw, rounded corners=2pt, minimum height=1.6em,
-                font=\scriptsize, fill=blue!5},
-  mode/.style={font=\scriptsize, text=blue!70!black},
-  arr/.style={->, thick, >=stealth},
-  every node/.style={inner sep=2pt},
-]
-% ctrl input
-\node[font=\small] (ctrl) at (0, 3.8) {\texttt{ctrl} $=$ Input block $(\theta^*, \dot\theta^*, \tau_{f\!f}, v_{\text{raw}})$ \; (present members only)};
-
-% Controller box
-\node[block, minimum width=7.2cm, minimum height=6.5em, align=center]
-  (sel) at (0, 1.8) {};
-\node[font=\footnotesize\bfseries, anchor=north] at (0, 2.7)
-  {Controller};
-\node[mode] at (0, 1.45) {$\begin{aligned}
-  \tau &= k_p(\theta^*\!-\!\theta) + k_d(\dot\theta^*\!-\!\dot\theta) + k_i x_I + \tau_{f\!f} \\[2pt]
-  v &= \text{clip}(\tfrac{R}{K}\tau + K\dot\theta,\, \pm v_{\max}) + v_{\text{raw}} \\[2pt]
-  &\phantom{=}\ \text{absent inputs are zero;}\quad \text{\texttt{input=\textquotedbl none\textquotedbl:}}\ v = 0
-\end{aligned}$};
-
-% arrow ctrl to controller
-\draw[arr] (ctrl.south) -- (sel.north);
-
-% Motor block
-\node[block, font=\footnotesize\bfseries, minimum width=5.5cm, minimum height=2.2em, align=center]
-  (motor) at (0, -0.8) {DC Motor physics};
-
-% single arrow with v label
-\draw[arr] (sel.south) -- (motor.north)
-  node[midway, fill=white, font=\small, inner sep=2pt] {Voltage $v$};
-
-% output
-\node[font=\small] (tau) at (0, -1.8) {Torque $\tau$};
-\draw[arr] (motor.south) -- (tau.north);
-
-\end{tikzpicture}}%
-\caption{Controller pipeline. The \texttt{input} attribute selects which members of the control block are present; motor physics is identical downstream.}
-\label{fig:controller_pipeline}
-\end{figure}
-
-\subsubsection{Setpoint Mode}
-\label{sec:setpoint_mode}
-
-When \texttt{input="pos vel ff"} (or subset thereof), the actuator owns a
-block of controls $u = (\theta^*, \dot\theta^*, \tau_{f\!f})$: a position setpoint, a velocity
-setpoint and a torque feedforward. Any subset may be selected, and the \texttt{dcmotor}'s \texttt{actuator\_ctrlnum} is variable.
-An absent input corresponds to a setpoint frozen at
-zero. The controller commands a torque and converts it to drive voltage:
-\begin{align}
-  \tau &= k_p \, (\theta^* - \theta) + k_d \, (\dot\theta^* - \dot\theta)
-      + k_i \, x_I \; + \, \tau_{f\!f}
-  \label{eq:setpoint_mode} \\
-  v &= \frac{R}{K} \, \tau + K \dot\theta
-  \label{eq:torque_to_voltage}
-\end{align}
-where the second term of \eqref{eq:torque_to_voltage} compensates back-EMF, as the
-current loop of a real torque-mode driver does: commanded torque is delivered {\em
-exactly} until a limit binds, and the torque-speed envelope emerges from voltage
-saturation (\S\ref{sec:voltage_saturation}). The map uses the nameplate $R$; thermal
-resistance growth (\S\ref{sec:resistance_temperature}) is not compensated. The
-integrator state accumulates the position error, $\dot x_I = \theta^* - \theta$,
-subject to anti-windup (\S\ref{sec:anti_windup}). When $k_i = 0$, no integral state
-is added and the controller reduces to PD; when $k_p = k_i = 0$, it is a pure
-velocity servo. The back-EMF compensation also cancels the motor's $-K^2/R$ damping
-bias, so the net physical damping delivered by an unclipped torque-mode motor is
-$-k_d$, matching \texttt{pid}. The separate \texttt{voltage} input is the raw
-terminal voltage, added downstream of the controller and its saturation.
-
-\subsubsection{Passive Operation}
-\label{sec:passive}
-
-\texttt{input="none"} selects the {\em empty} input block: the actuator owns no
-controls at all and acts as a purely passive device. The terminal voltage is
-identically zero, so the motor operates with shorted terminals: back-EMF drives
-current through $R$ and brakes the joint (dynamic braking), while cogging
-\eqref{eq:cogging} and LuGre friction (\S\ref{sec:lugre}) act as passive joint
-forces. Setting \texttt{motorconst} to zero decouples the electrical branch,
-leaving pure friction and cogging. This exists because MuJoCo associates auxiliary
-dynamic states (such as the LuGre bristle) with actuators, not joints: a passive
-\texttt{dcmotor} is the idiomatic way to attach these passive phenomena to a joint.
-Controller gains, slew rate limiting and integral gain require a controller input and are rejected.
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Setpoint Slew Rate}
-\label{sec:setpoint_slew}
-
-The user command $u = {}$\texttt{ctrl} can change discontinuously between timesteps. When \atSLEW{} is set ($s > 0$), the effective setpoint is rate-limited:
-\begin{equation*}
-  u \leftarrow \text{clip}(u, \; u_{\text{prev}} \pm s \cdot \Delta t)
-\end{equation*}
-where $u_{\text{prev}}$ is the previous effective setpoint and $\Delta t$ is the timestep. This smoothly ramps the reference trajectory instead of allowing instantaneous jumps.
-
-\paragraph{State variable.} When $s > 0$, one activation state $u_{\text{prev}}$ is allocated, and updated each step to $u$ (post-clamping).
-
-\paragraph{Units.} The slew rate $s$ limits the first controller input, with corresponding units: position setpoint (rad/s), velocity setpoint (rad/s$^2$), or torque feedforward (N$\cdot$m/s). The raw \texttt{voltage} input is never rate-limited; \texttt{slewmax} requires a controller input.
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Anti-windup}
-\label{sec:anti_windup}
-
-When $k_i > 0$, the integrator state $x_I$ provides steady-state error correction. However, sustained saturation or large setpoint changes can cause $x_I$ to grow excessively, leading to overshoot (integral windup). To prevent this, when \atIMAXINT{} is set ($I_{\max} > 0$), the state is bounded each step:
-\begin{equation*}
-  x_I \leftarrow \text{clip}(x_I, \pm I_{\max})
-\end{equation*}
-This prevents controller windup even when drive signals are saturated.
-
-%  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-\subsubsection{Voltage Saturation}
-\label{sec:voltage_saturation}
-
-With setpoint inputs, the computed voltage $v$ can be arbitrarily large (proportional to the error). Real motor drivers are limited by their supply voltage. When \atVMAX{} is set ($v_{\max} > 0$), a voltage clamp is applied before the motor equations:
-\begin{equation*}
-  v \leftarrow \text{clip}(v, \pm v_{\max})
-  \label{eq:vlimit}
-\end{equation*}
-This differs from \texttt{ctrlrange} (clamping user commands $u$) and \texttt{forcerange} (clamping output torque). The clamp applies to the controller output only: the raw \texttt{voltage} input is added downstream, unclamped (use \texttt{ctrlrange} to bound it). Because the torque-to-voltage map \eqref{eq:torque_to_voltage} compensates back-EMF, the achievable torque under \atVMAX{} shrinks with speed: the torque-speed envelope of \S\ref{sec:electromagnetics}.
-
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}lll@{}}
-\toprule
-Attribute & Symbol & Units \\
-\midrule
-\atKP{} & $k_p$ & N$\cdot$m/rad \\
-\atKI{} & $k_i$ & N$\cdot$m/(rad$\cdot$s) \\
-\atKD{} & $k_d$ & N$\cdot$m$\cdot$s/rad \\
-\atSLEW{} & $s$ & ctrl-units/s \\
-\atIMAXINT{} & $I_{\max}$ & rad$\cdot$s \\
-\atVMAX{} & $v_{\max}$ & Volt \\
-\bottomrule
-\end{tabular}
-\caption{Controller attributes.}
-\label{tab:controller_attrs}
-\end{table}
-
-% ---------------------------------------------------------------------------
-\vfill\newpage
-
-%  Low-Level Semantics
-% ---------------------------------------------------------------------------
-\subsection{Low-Level Semantics}
-\label{sec:array_semantics}
-
-The \texttt{dcmotor} actuator uses the enum value types \texttt{mjGAIN\_DCMOTOR}, \texttt{mjDYN\_DCMOTOR}, \texttt{mjBIAS\_DCMOTOR}, and populates the rows of several \texttt{mjModel} arrays (all \texttt{actuator\_*}), as follows:
-
-\begin{table}[H]
-\centering
-\footnotesize
-\begin{tabular}{@{}llll@{}}
-\toprule
-Array & Index & Symbol & Description \\
-\midrule
-\texttt{gainprm} & 0 & $R$ & Resistance ($\Omega$) \\
-& 1 & $K$ & Motor constant (N$\cdot$m/A) \\
-& 2 & $\alpha$ & Resistance coeff.\ ($\text{K}^{-1}$) \\
-& 3 & $T_0$ & Reference temperature (\textdegree C) \\
-& 4 & $k_p$ & Controller proportional gain \\
-& 5 & $k_i$ & Controller integral gain \\
-& 6 & $k_d$ & Controller derivative gain \\
-& 7 & $v_{\max}$ & Voltage saturation (V) \\
-& 8 & --- & Reserved \\
-\midrule
-\texttt{dynprm} & 0 & $t_e$ & Electrical time constant (s) \\
-& 1 & $(di{/}dt)_{\max}$ & Current rate limit (A/s) \\
-& 2 & $R_T$ & Thermal resistance ($\text{K}$/W) \\
-& 3 & $C$ & Thermal capacitance (J/$\text{K}$) \\
-& 4 & $T_a$ & Ambient temperature (\textdegree C) \\
-& 5 & $\sigma_0$ & LuGre bristle stiffness \\
-& 6 & $\sigma_1$ & LuGre bristle damping \\
-& 7 & $s$ & Controller slew rate \\
-& 8 & $I_{\max}$ & Integral limit (anti-windup) \\
-\midrule
-\texttt{biasprm} & 0 & $A$ & Cogging amplitude (N$\cdot$m) \\
-& 1 & $N_p$ & Cogging periodicity \\
-& 2 & $\phi$ & Cogging phase (rad) \\
-& 3 & $\tau_c$ & LuGre Coulomb fric. (N$\cdot$m) \\
-& 4 & $\tau_s$ & LuGre static fric. (N$\cdot$m) \\
-& 5 & $\omega_s$ & Stribeck velocity (rad/s) \\
-\midrule
-\texttt{forcerange} & 0 & $-\tau_{\max}$ & Minimum torque (N$\cdot$m) \\
-& 1 & $\tau_{\max}$ & Maximum torque (N$\cdot$m) \\
-\midrule
-\texttt{damping} & 0 & $B_1 (+\sigma_2)$ & Linear (+ LuGre viscous) \\
-& 1 & $B_2$ & Quadratic \\
-& 2 & $B_3$ & Cubic \\
-\midrule
-\texttt{armature} & 0 & $J_r$ & Actuator armature \\
-\midrule
-\texttt{gear} & 0 & $N$ & Gear ratio \\
-\midrule
-\texttt{ctrlspec} & 0 & --- & Input signature (\texttt{mjtCtrlInput} bitmask) \\
-\bottomrule
-\end{tabular}
-\caption{\texttt{mjModel} array semantics for the \texttt{dcmotor} actuator.}
-\label{tab:array_semantics}
-\end{table}
-
-\paragraph{Runtime mutability.}
-Most \texttt{mjModel} parameters listed above may be freely modified at runtime for system identification or gain tuning. However, five parameters control the \emph{number} of activation states, which is determined at compile time and cannot change during simulation. Toggling any of the following parameters between zero and positive after compilation is an error:
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}llcl@{}}
-\toprule
-Parameter & Storage & State & Semantics \\
-\midrule
-$s$ & \texttt{dynprm[7]} & $u_{\text{prev}}$ & previous control \\
-$k_i$ & \texttt{gainprm[5]} & $x_I$ & controller integral \\
-$R_T, C$ & \texttt{dynprm[2,3]} & $T$ & temperature rise \\
-$\sigma_0$ & \texttt{dynprm[5]} & $z$ & bristle deflection \\
-$t_e$ & \texttt{dynprm[0]} & $i$ & winding current \\
-\bottomrule
-\end{tabular}
-\caption{Compile-time state switches, allocated in \texttt{act} in the order shown. Do not toggle between zero and positive at runtime.}
-\end{table}
-
-
-\onecolumn
-%=============================================================================
-% DATASHEET MAPPING
-%=============================================================================
-\section{Datasheet Mapping}
-\label{sec:datasheet}
-
-Table~\ref{tab:datasheet} maps commercial motor datasheet specifications to attributes. The left column shows the datasheet entry as typically labeled by motor manufacturers; the right column shows the corresponding \texttt{dcmotor} MJCF attribute, when one exists. Derived quantities that are not direct attributes (gradient, mechanical time constant) are included for completeness.
-
-\begin{table}[H]
-\centering
-\small
-\begin{tabular}{@{}lllll@{}}
-\toprule
-Specification & Symbol & Formula / Note & Datasheet Symbol & Attribute \\
-\midrule
-Resistance & $R$ & Terminal resistance & R, Ra & \atR{} \\
-Torque Constant & $K_t$ & $\tau = K_t i$ & kt, km & \atKt{} \\
-Back-EMF Constant & $K_e$ & $v_{\text{back}} = K_e \omega$ & ke & \atKe{} \\
-Speed Constant & $K_v$ & $K_v = 1/K_e$ & kn, kv & $1/$\atKe{} \\
-Nominal Voltage & $v_n$ & Rated voltage (e.g., 24V) & Un, VDC & \atVM{} \\
-No-load Speed & $\omega_0$ & $\omega_0 \approx v_n / K$ & n0 & \atNLS{} \\
-Stall Torque & $\tau_0$ & $\tau_0 = K v_n / R$ & MH, Ts & \atSTALL{} \\
-Stall Current & $i_s$ & Max.\ possible: $i_s = v_n / R$ & IA & \\
-Nominal Current & $i_{\max}$ & Thermal limit (continuous) & Ic, IN & \atIMAX{} \\
-Peak Current & $i_{\text{peak}}$ & Short-term limit & Ipk & \\
-\midrule
-Coulomb Friction & $\tau_c$ & Dry friction opposing motion & $T_f$ & \texttt{frictionloss} (joint)\\
-Viscous Friction & $B$ & Drag $\propto \omega$ & $C_v$ & \texttt{damping} \\
-Rotor Inertia & $J_r$ & Reflected: $J_{\text{eff}} = J_r N^2$ & J, Jm & \texttt{armature} \\
-Gear Ratio & $N$ & Reduction ratio & $N$, $i$ & \texttt{gear} \\
-Gearbox Efficiency & $\eta$ & Fold into $K$: use $\eta K$ & $\eta$ & \\
-Cogging Amplitude & $A$ & Peak cogging torque & --- & \atCOGA{} \\
-Cogging Periodicity & $N_p$ & Poles $\times$ slots/pole & --- & \atCOGP{} \\
-\midrule
-Nominal Torque & $\tau_n$ & $\tau_n = K \cdot i_{\max}$ & $M_N$, $T_c$ & \\
-No-load Current & $i_0$ & Friction: Eq.~\eqref{eq:noload} & $I_0$ & \\
-Gradient & $\partial\omega/\partial\tau$ & $-R / K^2$ & $\Delta n / \Delta M$ & \\
-Mech.\ Time Const. & $t_m$ & $t_m = R\,J / K^2$ & $\tau_m$ & \\
-\midrule
-Inductance & $L$ & Terminal inductance & L & \atL{} \\
-Elec.\ Time Const. & $t_e$ & $t_e = L / R$ & $\tau_e$ & \atTE{} \\
-\midrule
-Thermal Resistance & $R_T$ & Winding-to-ambient & Rth & \atRT{} \\
-Thermal Capacitance & $C$ & $C = t_T / R_T$ & $C_{\text{th}}$ & \atTC{} \\
-Thermal Time Const. & $t_T$ & $t_T = R_T C$ & $\tau_{\text{th}}$ & \atTT{} \\
-Ref.\ Temperature & $T_0$ & Temperature at which $R$ is specified & $T_{\text{ref}}$ & \atTREF{} \\
-Ambient Temperature & $T_a$ & Operating environment & --- & \atTAMB{} \\
-Max.\ Winding Temp. & $T_{\max}$ & Absolute limit & $T_{\max}$ & \\
-Res.\ Temp.\ Coeff. & $\alpha$ & $\approx 0.0039\, \text{K}^{-1}$ (copper) & $\alpha_{\text{Cu}}$ & \atALPHA{} \\
-\bottomrule
-\end{tabular}
-\caption{Datasheet parameters and their relation to model constants. Groups: electrical, mechanical, derived, inductance, thermal.}
-\label{tab:datasheet}
-\end{table}
-
-\small
-\bibliographystyle{ieeetr}
-\bibliography{refs}
-
-\end{document}
diff --git a/doc/dcmotor/refs.bib b/doc/dcmotor/refs.bib
deleted file mode 100644
index 29708bc7..00000000
--- a/doc/dcmotor/refs.bib
+++ /dev/null
@@ -1,82 +0,0 @@
-@article{dewit95,
-  author  = {Canudas de Wit, C. and Olsson, H. and {\AA}str{\"o}m, K. J. and Lischinsky, P.},
-  title   = {{A New Model for Control of Systems with Friction}},
-  journal = {IEEE Transactions on Automatic Control},
-  volume  = {40},
-  number  = {3},
-  pages   = {419--425},
-  year    = {1995},
-  month   = mar,
-}
-
-@article{lugre_revisited,
-  author  = {{\AA}str{\"o}m, K. J. and Canudas de Wit, C.},
-  title   = {{Revisiting the LuGre Friction Model}},
-  journal = {IEEE Control Systems Magazine},
-  volume  = {28},
-  number  = {6},
-  pages   = {101--114},
-  year    = {2008},
-  month   = dec,
-}
-
-@techreport{dahl68,
-  author      = {Dahl, P.},
-  title       = {{A Solid Friction Model}},
-  institution = {The Aerospace Corporation},
-  address     = {El Segundo, CA},
-  number      = {TOR-0158(3107-18)-1},
-  year        = {1968},
-}
-
-@book{hughes2019,
-  author    = {Hughes, Austin and Drury, Bill},
-  title     = {{Electric Motors and Drives: Fundamentals, Types and Applications}},
-  edition   = {5th},
-  publisher = {Newnes},
-  year      = {2019},
-}
-
-@book{tedrake2024,
-  author    = {Tedrake, Russ},
-  title     = {{Underactuated Robotics: Algorithms for Walking, Running,
-               Swimming, Flying, and Manipulation}},
-  publisher = {MIT},
-  year      = {2024},
-  note      = {Course notes for MIT 6.832, \url{https://underactuated.mit.edu}},
-}
-
-@article{isaaclab2025,
-  author  = {Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou
-             and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin
-             and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad
-             and Mandlekar, Ajay and Babich, Buck and State, Gavriel
-             and Hutter, Marco and Garg, Animesh},
-  title   = {{Isaac Lab: A Unified and Modular Framework for Robot Learning}},
-  journal = {arXiv preprint arXiv:2502.11048},
-  year    = {2025},
-}
-
-@article{stribeck1902,
-  author  = {Stribeck, R.},
-  title   = {{Die wesentlichen Eigenschaften der Gleit- und Rollenlager}},
-  journal = {Zeitschrift des Vereines Deutscher Ingenieure},
-  volume  = {46},
-  pages   = {1341--1348, 1432--1438, 1463--1470},
-  year    = {1902},
-}
-
-@misc{maxon_formulas,
-  author       = {{Maxon Motor AG}},
-  title        = {{Key Information on Maxon DC Motors and Maxon EC Motors}},
-  howpublished = {\url{https://www.maxongroup.com}},
-  year         = {2024},
-  note         = {{Maxon} Academy Technical Notes},
-}
-
-@misc{simscape_dcmotor,
-  author       = {{MathWorks}},
-  title        = {{DC Motor --- Simscape Electrical Block Reference}},
-  howpublished = {\url{https://www.mathworks.com/help/sps/ref/dcmotor.html}},
-  year         = {2024},
-}
diff --git a/doc/docutils.conf b/doc/docutils.conf
deleted file mode 100644
index d22dcc57..00000000
--- a/doc/docutils.conf
+++ /dev/null
@@ -1,2 +0,0 @@
-[html writers]
-table-style: colwidths-grid
diff --git a/doc/ext/header_reader.py b/doc/ext/header_reader.py
deleted file mode 100644
index 07dac9ed..00000000
--- a/doc/ext/header_reader.py
+++ /dev/null
@@ -1,233 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Reads MuJoCo header files and generates a doc-friendly data structure."""
-
-import dataclasses
-import re
-
-from typing import Optional, List, Dict
-
-# Precompiled regex for matching a section.
-_SECTION_REGEX = re.compile(r'^//-+ (?P<section>.+) -+$')
-
-# Precompiled regex for matching a C function definition.
-_FUNCTION_REGEX = re.compile(r'(?P<token>mj\w+)\s*\(')
-
-# Precompiled regex for matching a C function ending.
-_FUNCTION_ENDING_REGEX = re.compile(r'\);\s$')
-
-# Precompiled regex for matching a C struct ending.
-_STRUCT_END_REGEX_1 = re.compile(r'^typedef\s+struct\s+\w+\s+(?P<token>mj\w+);')
-
-# Precompiled regex for matching a C struct ending (version 2).
-_STRUCT_END_REGEX_2 = re.compile(r'^}\s+(?P<token>mj\w+);')
-
-# Precompiled regex for matching a C enum ending.
-_ENUM_END_REGEX = re.compile(r'^}\s+(?P<token>mj\w+);')
-
-# Precompiled regex for matching a C type with a nullable annotation.
-_NULLABLE_REGEX = re.compile(r'(?P<leading_space>\s*)Nullable:\s*(?P<args>.*)')
-
-
-@dataclasses.dataclass
-class ApiDefinition:
-  """Defines a C reference parsed from a C header file."""
-  token: str
-  c_type: str
-  code: str
-  start: int
-  end: int
-  section: str
-  doc: str
-
-
-class ApiState:
-  """Internal state of the reader used for parsing header files."""
-
-  def __init__(self):
-    self.token = ''
-    self.section = ''
-    self.code = ''
-    self.doc = ''
-
-    self._state = None
-    self._start = 0
-    self._end = 0
-
-  @property
-  def state(self):
-    return self._state
-
-  def export_definition(self):
-    return ApiDefinition(self.token, self._state, self.code, self._start,  # pyrefly: ignore[bad-argument-type]
-                         self._end, self.section, self.doc)
-
-  def start(self, state):
-    self._state = state
-    self._start = self._end
-
-  def iterate(self):
-    self._end += 1
-
-  def end(self):
-    self.token = ''
-    self._state = None
-    self.code = ''
-    self.doc = ''
-
-
-def read(lines: List[str]) -> Dict[str, ApiDefinition]:
-  """Reads  header lines and returns a maps of ApiDefinition's."""
-
-  api = {}
-  stripped_functions = False
-  s = ApiState()
-
-  for line in lines:
-    s.iterate()
-    section = _find_section(line)
-    if section is not None:
-      if 'MJAPI FUNCTIONS' in section:
-        # Stripped functions do not begin with MJAPI, and must be under the
-        # predefined section 'MJAPI FUNCTIONS'.  This is because the docs don't
-        # include this prefix, and so we need to read such functions from the
-        # reference header.
-        stripped_functions = True
-      s.section = section
-      s.end()
-      continue
-
-    if s.state == 'DOC':
-      token = _find_function_start(line, stripped_functions)
-      if token is not None:
-        if stripped_functions:
-          s.code = f'{s.code}{line}'
-        else:
-          decl = line.replace('MJAPI ', '')
-          decl = decl[6:] if decl.startswith(' ' * 6) else decl
-          s.code = f'{s.code}{decl}'
-        s.token = token
-        s.start('FUNCTION')
-        if _is_function_end(line):
-          api[token] = s.export_definition()
-          s.end()
-        continue
-      elif line.startswith('//'):
-        if len(line) > 3 and line[3].isupper():
-          s.doc += '\n'
-        comment = line[3:]
-        match = re.match(_NULLABLE_REGEX, comment)
-        if match:
-          groups = match.groupdict()
-          args = [
-              f'``{arg.strip()}``'
-              for arg in groups['args'].split(',')
-              if arg.strip()
-          ]
-          comment = f'{groups["leading_space"]}*Nullable:* {", ".join(args)}'
-        s.doc = f'{s.doc}{comment}'
-      else:
-        s.end()
-    if s.state == 'FUNCTION':
-      if stripped_functions:
-        s.code = f'{s.code}{line}'
-      else:
-        decl = line.replace('MJAPI ', '')
-        decl = decl[6:] if decl.startswith(' ' * 6) else decl
-        s.code = f'{s.code}{decl}'
-      if _is_function_end(line):
-        api[s.token] = s.export_definition()
-        s.end()
-    elif s.state == 'ENUM':
-      match = _ENUM_END_REGEX.search(line)
-      if match is not None:
-        s.code = f'{s.code}{line}'
-        s.token = match.group('token')
-        api[s.token] = s.export_definition()
-        s.end()
-      else:
-        s.code = f'{s.code}{line}'
-    elif s.state == 'STRUCT':
-      match = _STRUCT_END_REGEX_1.search(line)
-      if match is None:
-        match = _STRUCT_END_REGEX_2.search(line)
-
-      if match is not None:
-        s.code = f'{s.code}{line}'
-        s.token = match.group('token')
-        api[s.token] = s.export_definition()
-        s.end()
-      else:
-        s.code = f'{s.code}{line}'
-    elif s.state is None:
-      if line.startswith('typedef enum'):
-        s.start('ENUM')
-        s.code = f'{s.code}{line}'
-
-      if line.startswith('struct') or line.startswith('typedef struct'):
-        s.start('STRUCT')
-        s.code = f'{s.code}{line}'
-
-      match = _STRUCT_END_REGEX_1.search(line)
-      if match is not None:
-        s.token = match.group('token')
-        api[s.token] = s.export_definition()
-        s.end()
-
-      if line.startswith('//'):
-        s.doc = f'{s.doc}{line[3:]}'
-        s.start('DOC')
-
-      token = _find_function_start(line, stripped_functions)
-      if token is not None:
-        if stripped_functions:
-          s.code = f'{s.code}{line}'
-        else:
-          decl = line.replace('MJAPI ', '')
-          decl = decl[6:] if decl.startswith(' ' * 6) else decl
-          s.code = f'{s.code}{decl}'
-        s.token = token
-        s.start('FUNCTION')
-        if _is_function_end(line):
-          api[token] = s.export_definition()
-          s.end()
-
-  return api
-
-
-def _find_section(line) -> Optional[str]:
-  match = _SECTION_REGEX.search(line)
-  if match is not None:
-    return match.group('section').strip()
-  return None
-
-
-def _find_function_start(line, stripped) -> Optional[str]:
-  if (
-      'extern' not in line
-      and 'typedef' not in line
-      and '#define' not in line
-      and '_DEBUG_' not in line
-      and not line.startswith('//')
-  ) or stripped:
-    match = _FUNCTION_REGEX.search(line)
-    if match is not None:
-      return match.group('token')
-  return None
-
-
-def _is_function_end(line):
-  match = _FUNCTION_ENDING_REGEX.search(line)
-  return match is not None
diff --git a/doc/ext/header_reader_test.py b/doc/ext/header_reader_test.py
deleted file mode 100644
index 3fd413cd..00000000
--- a/doc/ext/header_reader_test.py
+++ /dev/null
@@ -1,105 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for MuJoCo API header reader."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-
-import header_reader
-
-_EXAMPLE = """
-//------- My favorite section --------
-
-// My function
-MJAPI void mj_function(int a, int b);
-
-// My other function
-// This one has multiple lines
-MJAPI const char* mj_other_function(int a, int b,
-                                    const char* a);
-
-typedef enum mjEnum_ {
-  mjVALUE1 // Some value
-  mjVALUE2 // Some other value
-} mjEnum;
-
-struct mjStruct_ {
-  int value1 // Some value
-  int value2 // Some other value
-};
-typedef struct mjStruct_ mjStruct;
-// My favorite struct
-typedef struct mjStruct2_ {
-  int value1 // Another value
-  int value2 // More more value
-} mjStruct2;
-
-MJAPI void mj_no_doc(int a, void* b);
-
-//------------ MJAPI FUNCTIONS --------------
-
-void mj_stripped(int a, int b,
-                 int c);
-"""
-
-_API = header_reader.read([f'{line}\n' for line in _EXAMPLE.split('\n')])
-
-
-class MuJoCoApiGeneratorTest(parameterized.TestCase):
-
-  def test_enums_line_numbers(self):
-    self.assertEqual(_API['mjEnum'].start, 12)
-    self.assertEqual(_API['mjEnum'].end, 15)
-
-  def test_structs_line_numbers(self):
-    self.assertEqual(_API['mjStruct'].start, 17)
-    self.assertEqual(_API['mjStruct'].end, 21)
-
-  def test_structs2_line_numbers(self):
-    self.assertEqual(_API['mjStruct2'].start, 23)
-    self.assertEqual(_API['mjStruct2'].end, 26)
-
-  def test_function_line_numbers(self):
-    self.assertEqual(_API['mj_function'].start, 5)
-    self.assertEqual(_API['mj_function'].end, 5)
-
-  def test_function_code(self):
-    self.assertEqual(_API['mj_function'].code,
-                     'void mj_function(int a, int b);\n')
-
-  def test_function_section(self):
-    self.assertEqual(_API['mj_function'].section, 'My favorite section')
-
-  def test_function_doc(self):
-    self.assertEqual(_API['mj_function'].doc, 'My function\n')
-
-  def test_multi_line_doc(self):
-    self.assertEqual(_API['mj_other_function'].doc,
-                     'My other function\n\nThis one has multiple lines\n')
-
-  def test_multi_line_function(self):
-    self.assertEqual(_API['mj_other_function'].start, 9)
-    self.assertEqual(_API['mj_other_function'].end, 10)
-
-  def test_no_doc_function(self):
-    self.assertEqual(_API['mj_no_doc'].start, 28)
-    self.assertEqual(_API['mj_no_doc'].end, 28)
-
-  def test_stripped_functions(self):
-    self.assertEqual(_API['mj_stripped'].start, 32)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/doc/ext/mujoco_include.py b/doc/ext/mujoco_include.py
deleted file mode 100644
index ea9d2b1c..00000000
--- a/doc/ext/mujoco_include.py
+++ /dev/null
@@ -1,56 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Sphinx extension for the mujoco-include directive."""
-
-import header_reader
-from sphinx.application import Sphinx
-from sphinx.directives.code import LiteralInclude
-from sphinx.util.console import red
-
-_FILENAME = 'includes/references.h'
-_ERROR_LINE = 16
-
-
-class MujocoInclude(LiteralInclude):
-  """Extension to LiteralInclude directive for MuJoCo."""
-
-  def run(self):
-    mujoco_api = self.env.app.config['mujoco_include_header']
-    token = self.arguments[0]
-    source = mujoco_api.get(token)
-    start_line = _ERROR_LINE
-    end_line = _ERROR_LINE
-
-    if source is None:
-      print(red(f'Warning: C reference \'{token}\' not found.'))
-    else:
-      start_line = source.start
-      end_line = source.end
-
-    # Config arguments and options for LiteralInclude.
-    self.arguments[0] = f'../{_FILENAME}'
-    self.options['language'] = 'C'
-    self.options['lines'] = f'{start_line}-{end_line}'
-
-    return list(LiteralInclude.run(self))
-
-
-def setup(app: Sphinx) -> None:
-  api = {}
-  with open(_FILENAME, 'r') as file:
-    api = header_reader.read(file.readlines())
-
-  app.add_config_value('mujoco_include_header', api, '')
-  app.add_directive('mujoco-include', MujocoInclude)
diff --git a/doc/generate/generate_api_header.py b/doc/generate/generate_api_header.py
deleted file mode 100755
index fd0acc42..00000000
--- a/doc/generate/generate_api_header.py
+++ /dev/null
@@ -1,104 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates API for APIReference.rst."""
-
-import sys
-from typing import Dict
-
-import os
-import sys
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-sys.path.insert(0, os.path.join(_REPO_ROOT, 'doc', 'ext'))
-import header_reader
-
-_HEADER_FILES = [
-    'include/mujoco/mjassert.h',
-    'include/mujoco/mjdata.h',
-    'include/mujoco/mjexport.h',
-    'include/mujoco/mjmacro.h',
-    'include/mujoco/mjmodel.h',
-    'include/mujoco/mjplugin.h',
-    'include/mujoco/mjrender.h',
-    'include/mujoco/mjrfilament.h',
-    'include/mujoco/mjspec.h',
-    'include/mujoco/mjspecmacro.h',
-    'include/mujoco/mjtype.h',
-    'include/mujoco/mjui.h',
-    'include/mujoco/mjvisualize.h',
-    'include/mujoco/mjxmacro.h',
-    'include/mujoco/mujoco.h',
-]
-
-
-def generate_reference_header(
-    api: Dict[str, header_reader.ApiDefinition]) -> str:
-  """Generates the reference header file used by APIRererence.rst."""
-
-  source = """
-  // Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-// Error: C reference not found
-// NOLINTBEGIN\n\n""".lstrip()
-
-  for value in api.values():
-    if value.c_type != 'FUNCTION':
-      source = f'{source}{value.code}'
-
-  source = f"""{source}
-//----------------------------- MJAPI FUNCTIONS --------------------------------
-"""
-
-  for value in api.values():
-    if value.c_type == 'FUNCTION':
-      source = f'{source}{value.code}'
-  source = f'{source}// NOLINTEND\n'
-  return source
-
-
-def read_headers() -> Dict[str, header_reader.ApiDefinition]:
-  """Reads API header files and generates a mapping between C tokens and C header definitions."""
-
-  api = {}
-
-  for header in _HEADER_FILES:
-    filepath = os.path.join(_REPO_ROOT, header)
-    with open(filepath, 'r', encoding='utf-8') as file:
-      api.update(header_reader.read(file.readlines()))
-  return api
-
-
-def main() -> None:
-  if len(sys.argv) > 1:
-    sys.exit('Too many command-line arguments.')
-
-  sys.stdout.buffer.write(generate_reference_header(read_headers()).encode('utf-8'))
-
-
-if __name__ == '__main__':
-  main()
diff --git a/doc/generate/generate_default_table.py b/doc/generate/generate_default_table.py
deleted file mode 100644
index f770e564..00000000
--- a/doc/generate/generate_default_table.py
+++ /dev/null
@@ -1,226 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates the default-value check table from src/xml/mjcf.schema.
-
-The schema declares attribute defaults, but the defaults that act live in
-the C default-constructors (mjs_default*, mj_defaultOption, ...). This
-emits src/xml/generated/mjcf_default_table.inc: one row per defaulted attribute,
-binding the declared values to the field they describe, consumed by
-SchemaDefaultsTest, which compares every row against a freshly-constructed
-spec -- so a schema default that disagrees with the C defaults is a test
-failure, not documentation drift. Checked in and gated by
-test/doc/doc_test.py.
-"""
-
-import os  # pylint: disable=unused-import
-import sys
-
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-sys.path.insert(0, _SCRIPT_DIR)
-import generate_read_table
-import mjcf_schema
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
-
-# kind codes shared with the test
-KIND_BY_CTYPE = {'double': 0, 'float': 1, 'int': 2,
-                 'mjtByte': 3, 'mjtBool': 3, 'mjtNum': 4}
-
-_HEADER = '''\
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
-// doc/generate/generate_default_table.py; test/doc/doc_test.py checks
-// freshness.
-//
-// One row per bound numeric schema attribute -- total coverage, whether or
-// not a default is declared. SchemaDefaultsTest compares every row against a
-// freshly-constructed spec: declared values must match the C
-// default-constructors, values beyond ndecl must be zero, and rows marked
-// unset must hold the mjNAN sentinel. A nonzero constructor default with no
-// schema declaration is therefore a test failure: the schema cannot silently
-// under-declare. Rows are {attr, offset, kind, len, ndecl, unset, values};
-// kind: 0=double 1=float 2=int 3=byte 4=mjtNum.
-
-// clang-format off
-struct mjXDefaultEntry {
-  const char* attr;
-  int offset;
-  int kind;
-  int len;
-  int ndecl;
-  int unset;
-  double value[8];
-};
-
-struct mjXDefaultTable {
-  const char* structname;
-  const mjXDefaultEntry* entries;
-  int n;
-};
-
-'''
-
-
-def _values(schema, attr):
-  """(ndecl, [C value expressions]) for an attribute's declared default."""
-  default = attr.default
-  if attr.type == 'enum':
-    constants = dict(schema.enums[attr.target].items)
-    return 1, [f'(double){constants[default]}']
-  if attr.type == 'bool':
-    return 1, ['1' if default == 'true' else '0']
-  values = default if isinstance(default, tuple) else (default,)
-  return len(values), [repr(v) for v in values]
-
-
-# fields whose constructor default is the mjNAN "unset" sentinel, not a value;
-# the schema deliberately declares no default and the test asserts the NaN
-UNSET_SENTINELS = {
-    ('mjsBody', 'ipos'), ('mjsBody', 'fullinertia'),
-    ('mjsGeom', 'mass'), ('mjsGeom', 'fromto'),
-    ('mjsSite', 'fromto'),
-    ('mjStatistic', 'meaninertia'), ('mjStatistic', 'meanmass'),
-    ('mjStatistic', 'meansize'), ('mjStatistic', 'extent'),
-    ('mjStatistic', 'center'),
-}
-
-
-def collect(schema, structs):
-  """struct key -> list of row tuples, deduplicated across elements.
-
-  Emits a row for every bound numeric attribute. An attribute with a declared
-  default contributes its values; an undeclared one contributes an all-zero
-  expectation (or the unset flag for UNSET_SENTINELS), so the test enforces
-  that every nonzero constructor default is declared in the schema. A declared
-  row replaces an undeclared row for the same field; two declared rows must
-  agree.
-  """
-  tables = {}
-  seen = {}
-  for element in schema.elements.values():
-    if not element.spec:
-      continue
-    sub = element.facets.get('field')
-    key = f'{element.spec}.{sub}' if sub else element.spec
-    fields = structs.get(key)
-    if fields is None:
-      continue
-    prefix = f'{sub}.' if sub else ''
-    for attr in schema.expanded_attrs(element):
-      if attr.type in ('string', 'file', 'chars', 'ref', 'id', 'flags'):
-        continue
-      field = attr.facets.get('field', attr.name)
-      entry = fields.get(field)
-      if entry is None:
-        if 'reading' in attr.facets or attr.default is None:
-          continue  # custom lowering with no direct binding
-        raise ValueError(f'{element.name}.{attr.name}: no field '
-                         f'{element.spec}.{field}')
-      ctype, dim = entry
-      if ctype not in KIND_BY_CTYPE and not ctype.startswith('mjt'):
-        if attr.default is None:
-          continue  # not a numeric field: nothing to compare
-        raise ValueError(f'{element.name}.{attr.name}: default bound to '
-                         f'field {field} ({ctype})')
-      if ctype.endswith('*'):
-        continue  # vector pointers have no in-place default
-      kind = KIND_BY_CTYPE.get(ctype, 2)  # other mjt enums are int-sized
-      length = dim if dim is not None else '1'
-      unset = 1 if (key, field) in UNSET_SENTINELS else 0
-      if attr.default is None:
-        ndecl, values = 0, []
-      else:
-        if unset:
-          raise ValueError(f'{element.name}.{attr.name}: declared default '
-                           'on an unset-sentinel field')
-        ndecl, values = _values(schema, attr)
-      if ndecl > 8:
-        raise ValueError(f'{element.name}.{attr.name}: {ndecl} default '
-                         'values exceed the row capacity')
-      row = (attr.name, f'(int)offsetof({element.spec}, {prefix}{field})',
-             kind, str(length), ndecl, unset, values)
-      prior = seen.get((key, field))
-      if prior is not None:
-        prior_row, prior_declared = prior
-        declared = attr.default is not None
-        if declared and prior_declared and prior_row[4:] != row[4:]:
-          raise ValueError(f'{element.name}.{attr.name}: conflicting '
-                           f'defaults for {key}.{field}')
-        if not declared or prior_declared:
-          continue  # keep the existing (declared or equivalent) row
-        tables[key][tables[key].index(prior_row)] = row
-        seen[(key, field)] = (row, True)
-        continue
-      seen[(key, field)] = (row, attr.default is not None)
-      tables.setdefault(key, []).append(row)
-  return tables
-
-
-def generate() -> str:
-  """Generates the mjcf_default_table.inc content as a string."""
-  schema = mjcf_schema.parse_file(SCHEMA_PATH)
-  structs = generate_read_table.parse_spec_structs(
-      generate_read_table.SPEC_H_PATH, generate_read_table.MODEL_H_PATH)
-  tables = collect(schema, structs)
-  out = [_HEADER]
-  for key in sorted(tables):
-    array = 'kDefaults_' + key.replace('.', '_')
-    out.append(f'static const mjXDefaultEntry {array}[] = {{')
-    for attr, offset, kind, length, ndecl, unset, values in tables[key]:
-      vals = ', '.join(values) if values else '0'
-      out.append(f'  {{"{attr}", {offset}, {kind}, {length}, {ndecl}, {unset}, '
-                 f'{{{vals}}}}},')
-    out.append('};')
-    out.append('')
-  out.append('static const mjXDefaultTable kDefaultTables[] = {')
-  for key in sorted(tables):
-    array = 'kDefaults_' + key.replace('.', '_')
-    root = key.split('.')[0]
-    out.append(f'  {{"{root}", {array}, '
-               f'(int)(sizeof({array}) / sizeof({array}[0]))}},')
-  out.append('};')
-  out.append('static const int kDefaultTablesN = '
-             '(int)(sizeof(kDefaultTables) / sizeof(kDefaultTables[0]));')
-  out.append('// clang-format on')
-  return '\n'.join(out) + '\n'
-
-
-def main() -> int:
-  if len(sys.argv) > 2:
-    sys.exit('usage: generate_default_table.py [output.inc]')
-  text = generate()
-  if len(sys.argv) == 2:
-    with open(sys.argv[1], 'w', encoding='utf-8') as file:
-      file.write(text)
-  else:
-    sys.stdout.write(text)
-  return 0
-
-
-if __name__ == '__main__':
-  sys.exit(main())
diff --git a/doc/generate/generate_dmcontrol.py b/doc/generate/generate_dmcontrol.py
deleted file mode 100644
index 1c20c2b2..00000000
--- a/doc/generate/generate_dmcontrol.py
+++ /dev/null
@@ -1,394 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates dm_control's schema.xml dialect from mjcf.schema.
-
-dm_control's PyMJCF library builds its element classes from a hand-maintained
-schema.xml; this emitter replaces that file with a generated one so the MJCF
-facts live in one place. The element surface is deliberately frozen to what
-dm_control supports today: new MJCF elements are listed in EXCLUDED_ELEMENTS
-and not emitted, while attributes of supported elements are emitted in full
-from the schema, so keyword sets, arities and defaults can no longer drift.
-
-The dialect is dm_control's: a nested element tree (one node per context,
-recursion expressed with recursive="true"), attribute types keyword / array /
-int / float / string / identifier / reference / basepath / file, and element
-flags repeated / on_demand / namespace. Facts PyMJCF needs that mjcf.schema
-deliberately does not model -- attach-merge conflict policy, on-demand
-construction, and dm_control's namespace grouping -- are carried as overlay
-tables below, harvested once from the hand-maintained file.
-
-The generated file is checked in as src/xml/generated/dmcontrol_schema.xml
-and gated by test/doc/doc_test.py; dm_control vendors it at pin bumps.
-"""
-
-import sys
-from xml.sax import saxutils
-
-import os
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-sys.path.insert(0, _SCRIPT_DIR)
-import mjcf_schema
-import generate_xsd
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
-
-# elements dm_control does not support; the surface is frozen, so new MJCF
-# elements are added here rather than emitted (sensor_contact is excluded
-# because PyMJCF cannot handle its multi-keyword data attribute)
-EXCLUDED_ELEMENTS = {
-    'pid', 'dcmotor', 'replicate', 'frame', 'attach', 'model',
-    'sensor_contact',
-}
-# (parent element, child element) pairs excluded in that context only
-EXCLUDED_CHILDREN = {('worldbody', 'plugin')}
-
-# PyMJCF attach-merge policy: (element, attribute) -> conflict_behavior
-# (None = conflict_allowed with no behavior). Harvested from dm_control.
-CONFLICTS = {
-    ('compiler', 'assetdir'): None,
-    ('compiler', 'meshdir'): None,
-    ('compiler', 'texturedir'): None,
-    ('map', 'zfar'): 'max',
-    ('map', 'znear'): 'min',
-    ('mujoco', 'model'): None,
-    ('option', 'ccd_iterations'): 'max',
-    ('option', 'ccd_tolerance'): 'min',
-    ('option', 'iterations'): 'max',
-    ('option', 'ls_iterations'): 'max',
-    ('option', 'ls_tolerance'): 'min',
-    ('option', 'noslip_iterations'): 'max',
-    ('option', 'noslip_tolerance'): 'min',
-    ('option', 'sdf_initpoints'): 'max',
-    ('option', 'sdf_iterations'): 'max',
-    ('option', 'timestep'): 'min',
-    ('option', 'tolerance'): 'min',
-    ('size', 'memory'): 'max_bytes',
-    ('size', 'nconmax'): 'max',
-    ('size', 'njmax'): 'max',
-}
-
-# (parent, tag) pairs PyMJCF exposes as singletons even where MJCF admits
-# repetition (repeated sections merge at load): the flag is API surface
-# (root.option.timestep vs a list view), harvested from the hand file
-SINGLETONS = {
-    ('body', 'freejoint'), ('body', 'inertial'),
-    ('compiler', 'lengthrange'),
-    ('composite', 'geom'), ('composite', 'site'), ('composite', 'skin'),
-    ('default', 'adhesion'), ('default', 'camera'), ('default', 'cylinder'),
-    ('default', 'damper'), ('default', 'equality'), ('default', 'general'),
-    ('default', 'geom'), ('default', 'intvelocity'), ('default', 'joint'),
-    ('default', 'light'), ('default', 'material'), ('default', 'mesh'),
-    ('default', 'motor'), ('default', 'muscle'), ('default', 'orientation'),
-    ('default', 'pair'), ('default', 'position'), ('default', 'site'),
-    ('default', 'tendon'), ('default', 'velocity'),
-    ('mujoco', 'actuator'), ('mujoco', 'asset'), ('mujoco', 'compiler'),
-    ('mujoco', 'contact'), ('mujoco', 'custom'), ('mujoco', 'default'),
-    ('mujoco', 'deformable'), ('mujoco', 'equality'),
-    ('mujoco', 'extension'), ('mujoco', 'keyframe'), ('mujoco', 'option'),
-    ('mujoco', 'sensor'), ('mujoco', 'size'), ('mujoco', 'statistic'),
-    ('mujoco', 'tendon'), ('mujoco', 'visual'), ('mujoco', 'worldbody'),
-    ('option', 'flag'),
-    ('visual', 'global'), ('visual', 'headlight'), ('visual', 'map'),
-    ('visual', 'quality'), ('visual', 'rgba'), ('visual', 'scale'),
-}
-
-# elements PyMJCF constructs on demand rather than eagerly
-ON_DEMAND = {'inertial', 'freejoint'}
-
-# dm_control groups some identifier namespaces more coarsely than the
-# schema's id<ns> targets; keyed by element name
-NAMESPACE_OVERRIDES = {
-    'exclude': 'contact',
-    'flex': 'deformable',
-    'flexcomp': 'flexcomp',
-    'instance': 'plugin',
-    'pair': 'contact',
-}
-# per-context namespaces: the same schema element namescopes differently by
-# parent (dm_control's asset skin lives in 'skin', deformable skin in
-# 'deformable')
-CONTEXT_NAMESPACE = {('deformable', 'skin'): 'deformable'}
-# attributes that are PyMJCF identifiers although the schema types them as
-# plain strings (composite prefixes namescope the generated elements)
-IDENTIFIER_OVERRIDES = {('composite', 'prefix')}
-# the same grouping applied to reference targets
-REF_NS_MAP = {'instance': 'plugin', 'flex': 'deformable',
-              'skin': 'deformable', 'pair': 'contact', 'exclude': 'contact'}
-
-# compiler directory attributes are PyMJCF basepaths
-BASEPATHS = {'meshdir': 'mesh', 'texturedir': 'texture', 'assetdir': 'asset'}
-# path namespace for file-typed attributes, by owning element. In MJCF, meshdir
-# is the base directory for meshes, heightfields, and skins.
-FILE_NS = {'mesh': 'mesh', 'texture': 'texture', 'hfield': 'mesh',
-           'skin': 'mesh'}
-
-
-def _format_number(value):
-  """Format a numeric default the shortest exact way: 2.0 -> '2'."""
-  if isinstance(value, float) and value == int(value) and abs(value) < 1e15:
-    return str(int(value))
-  return repr(value)
-
-
-def _fmt_default(attr):
-  """Format a declared default the way dm_control's file writes values."""
-  d = attr.default
-  if d is None:
-    return None
-  if isinstance(d, tuple):
-    return ' '.join(_format_number(v) for v in d)
-  if isinstance(d, (int, float)):
-    return _format_number(d)
-  return str(d)
-
-
-class _Emitter:
-  """Emits the dm_control schema tree by walking mjcf.schema from mujoco."""
-
-  def __init__(self, schema):
-    self.schema = schema
-    self.dims = generate_xsd.parse_dims()
-    self.lines = []
-    self.ref_namespaces = set()   # (element, attr, ns) of emitted references
-    self.id_namespaces = set()    # namespaces populated by emitted elements
-
-  def out(self, indent, text):
-    self.lines.append(' ' * indent + text)
-
-  def resolve(self, bound):
-    if isinstance(bound, str):
-      return self.dims[bound]
-    return bound
-
-  def element_namespace(self, element, parent):
-    """Returns the dm_control namespace for an element.
-
-    Any identifier-typed attribute makes the element identified (their
-    parser accepts any; default's identifier is 'class', not 'name').
-
-    Args:
-      element: The mjcf.schema element to inspect.
-      parent: Optional name of the parent element context.
-
-    Returns:
-      The string namespace name, or None.
-    """
-    if (parent, element.name) in CONTEXT_NAMESPACE:
-      return CONTEXT_NAMESPACE[(parent, element.name)]
-    if element.name in NAMESPACE_OVERRIDES:
-      return NAMESPACE_OVERRIDES[element.name]
-    for a in self.schema.expanded_attrs(element):
-      if a.type == 'id' or (element.name, a.name) in IDENTIFIER_OVERRIDES:
-        return a.target if a.type == 'id' else element.name
-    return None
-
-  def attr_parts(self, element, attr, attr_names):
-    """Returns the type-describing XML attribute string for one attribute.
-
-    Args:
-      element: The owning element.
-      attr: The mjcf.schema attribute.
-      attr_names: Set of attribute names for the element.
-
-    Returns:
-      A formatted XML attribute string.
-    """
-    lo, hi = attr.arity.lo, self.resolve(attr.arity.hi)
-    # sensor-style object references are typed by a sibling attribute; the
-    # schema leaves these as strings (the target kind is value-dependent),
-    # but PyMJCF's attachment namespacing needs the dynamic reference
-    if attr.name == 'objname' and 'objtype' in attr_names:
-      return 'type="reference" reference_namespace="attrib:objtype"'
-    if attr.name == 'refname' and 'reftype' in attr_names:
-      return 'type="reference" reference_namespace="attrib:reftype"'
-    if (element.name, attr.name) in IDENTIFIER_OVERRIDES:
-      return 'type="identifier"'
-    if element.name == 'mujoco' and attr.name == 'model':
-      return 'type="string"'  # the model's own name, not a reference
-    if attr.name in BASEPATHS and element.name == 'compiler':
-      return f'type="basepath" path_namespace="{BASEPATHS[attr.name]}"'
-    if attr.type == 'file':
-      ns = FILE_NS.get(element.name)
-      ns_part = f' path_namespace="{ns}"' if ns else ''
-      return f'type="file"{ns_part}'
-    if attr.type == 'enum':
-      keywords = ' '.join(k for k, _ in self.schema.enums[attr.target].items)
-      return f'type="keyword" valid_values={saxutils.quoteattr(keywords)}'
-    if attr.type == 'bool':
-      return 'type="keyword" valid_values="false true"'
-    if attr.type == 'id':
-      return 'type="identifier"'
-    if attr.type == 'ref':
-      ns = REF_NS_MAP.get(attr.target, attr.target)
-      self.ref_namespaces.add((element.name, attr.name, ns))
-      return f'type="reference" reference_namespace="{ns}"'
-    if attr.type in ('string', 'chars', 'flags'):
-      # flags (multi-keyword) attributes are opaque strings to PyMJCF
-      return 'type="string"'
-    if attr.type in ('double', 'float', 'int'):
-      base = 'int' if attr.type == 'int' else 'float'
-      if (lo, hi) == (1, 1):
-        return f'type="{base}"'
-      size = f' array_size="{hi}"' if hi is not None else ''
-      return f'type="array" array_type="{base}"{size}'
-    raise ValueError(f'{element.name}.{attr.name}: unmapped type {attr.type}')
-
-  def emit_attr(self, indent, element, attr, attr_names):
-    """Emits a single <attribute .../> XML element.
-
-    Args:
-      indent: Indentation level in spaces.
-      element: The owning element.
-      attr: The mjcf.schema attribute.
-      attr_names: Set of attribute names for the element.
-    """
-    parts = [f'<attribute name="{attr.name}"',
-             self.attr_parts(element, attr, attr_names)]
-    if attr.facets.get('required'):
-      parts.append('required="true"')
-    default = _fmt_default(attr)
-    if default is not None:
-      parts.append(f'default={saxutils.quoteattr(default)}')
-    behavior = CONFLICTS.get((element.name, attr.name), 'ABSENT')
-    if behavior != 'ABSENT':
-      parts.append('conflict_allowed="true"')
-      if behavior is not None:
-        parts.append(f'conflict_behavior="{behavior}"')
-    self.out(indent, ' '.join(parts) + '/>')
-
-  def emit_element(self, element, tag, card, projected, indent, ancestry,
-                   parent=None):
-    """Emits one element node.
-
-    Self-recursion is expressed dm_control's way: the full definition
-    carries recursive="true" and lists no self-child -- their parser links
-    children[name] back to the element itself. Non-self cycles cannot occur
-    on the emitted surface (frame and replicate are excluded), which the
-    ancestry assertion enforces.
-
-    Args:
-      element: The mjcf.schema element to emit.
-      tag: XML element tag name.
-      card: Cardinality string ('!', '?', '*', 'R').
-      projected: Whether defaults are projected.
-      indent: Current indentation level in spaces.
-      ancestry: Set of parent element names in current stack.
-      parent: Optional name of parent element.
-    """
-    assert (
-        element.name not in ancestry
-        or (element.name == 'default' and parent == 'default')
-    ), f'unexpected cycle at {element.name}'
-    self_recursive = any(c.name == element.name for c in element.children())
-    # the top-level default is a singleton in PyMJCF (root.default.geom...)
-    # while nested defaults are repeated: one recursive spec cannot carry
-    # both flags, so the top node is emitted unflagged with an explicit
-    # nested recursive+repeated copy, exactly dm_control's historical shape
-    top_default = element.name == 'default' and parent == 'mujoco'
-    parts = [f'<element name="{tag}"']
-    if self_recursive and not top_default:
-      parts.append('recursive="true"')
-    if (card in ('*', 'R') and not top_default and
-        (parent, tag) not in SINGLETONS):
-      parts.append('repeated="true"')
-    if element.name in ON_DEMAND:
-      parts.append('on_demand="true"')
-    ns = self.element_namespace(element, parent)
-    if ns:
-      self.id_namespaces.add(ns)
-    if ns and ns != tag:
-      # the parser defaults an identified element's namespace to its name
-      parts.append(f'namespace="{ns}"')
-    head = ' '.join(parts) + '>'
-    self.out(indent, head)
-
-    attrs = self.schema.expanded_attrs(element)
-    if projected:
-      attrs = [a for a in attrs if a.name not in ('name', 'class')
-               and not a.facets.get('nodefault')]
-    attr_names = {a.name for a in attrs}
-    if attrs:
-      self.out(indent + 2, '<attributes>')
-      for attr in attrs:
-        self.emit_attr(indent + 4, element, attr, attr_names)
-      self.out(indent + 2, '</attributes>')
-
-    children = []
-    for child in element.children():
-      if child.name == element.name:
-        if top_default:
-          # the nested recursive+repeated copy of the default subtree
-          children.append((element, tag, child.card, projected))
-        continue  # otherwise self-recursion is the recursive flag
-      target = self.schema.elements[child.name]
-      child_tag = target.xml_name()
-      if element.name == 'mujoco' and child.name == 'body':
-        target, child_tag = self.schema.elements['worldbody'], 'worldbody'
-      if (target.name in EXCLUDED_ELEMENTS or
-          (element.name, target.name) in EXCLUDED_CHILDREN):
-        continue
-      child_projected = (projected or
-                         (element.name == 'default' and
-                          not child.name.startswith('default_') and
-                          child.name != 'default'))
-      if projected and child.name == 'plugin':
-        continue
-      children.append((target, child_tag, child.card, child_projected))
-    if children:
-      self.out(indent + 2, '<children>')
-      for target, child_tag, card_, child_projected in children:
-        self.emit_element(target, child_tag, card_, child_projected,
-                          indent + 4, ancestry | {element.name},
-                          parent=element.name)
-      self.out(indent + 2, '</children>')
-    self.out(indent, '</element>')
-
-  def generate(self):
-    """Generate the full schema XML as a string."""
-    self.out(0, '<!-- Generated by generate_dmcontrol.py from mjcf.schema;')
-    self.out(0, '     do not edit by hand. The element surface is frozen to')
-    self.out(0, '     what dm_control supports (see EXCLUDED_ELEMENTS);')
-    self.out(0, '     attribute facts follow mjcf.schema. -->')
-    self.emit_element(self.schema.elements['mujoco'], 'mujoco', '!',
-                      False, 0, frozenset())
-    dangling = {r for r in self.ref_namespaces
-                if r[2] not in self.id_namespaces}
-    if dangling:
-      raise ValueError('references into namespaces no emitted element '
-                       f'populates: {sorted(dangling)}')
-    return '\n'.join(self.lines) + '\n'
-
-
-def generate():
-  """Generate the dmcontrol_schema.xml content as a string."""
-  schema = mjcf_schema.parse_file(SCHEMA_PATH)
-  return _Emitter(schema).generate()
-
-
-def main():
-  """CLI entry point: generate dmcontrol_schema.xml to stdout or a file."""
-  if len(sys.argv) > 2:
-    sys.exit('usage: generate_dmcontrol.py [output.xml]')
-  text = generate()
-  if len(sys.argv) == 2:
-    with open(sys.argv[1], 'w', encoding='utf-8') as f:
-      f.write(text)
-  else:
-    sys.stdout.write(text)
-  return 0
-
-
-if __name__ == '__main__':
-  sys.exit(main())
diff --git a/doc/generate/generate_functions.py b/doc/generate/generate_functions.py
deleted file mode 100644
index abdb4c21..00000000
--- a/doc/generate/generate_functions.py
+++ /dev/null
@@ -1,170 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates functions API for APIreference.rst."""
-
-import re
-import sys
-
-import os
-import sys
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-sys.path.insert(0, _SCRIPT_DIR)
-import generate_api_header
-_FUNCTIONS_OVERRIDE = 'doc/APIreference/functions_override.rst'
-
-_RST_SECTION_REGEX = re.compile(r'^\.\. (?P<section>_[A-Z].+):')
-_RST_FUNCTION_REGEX = re.compile(r'^\.\. _(?P<function>mj.+):')
-
-rst_to_section = {
-    '_Parseandcompile': ['Parse and compile', ''],
-    '_Mainsimulation': ['Main simulation', ''],
-    '_Support': ['Support', ''],
-    '_Components': ['Components', ''],
-    '_Subcomponents': ['Sub components', ''],
-    '_Raycollisions': ['Ray casting', ''],
-    '_Printing': ['Printing', ''],
-    '_Virtualfilesystem': ['Virtual file system', ''],
-    '_Assetcache': ['Asset cache', ''],
-    '_Resources': ['Resources', ''],
-    '_Initialization': ['Initialization', ''],
-    '_Errorandmemory': ['Error and memory', ''],
-    '_Miscellaneous': ['Miscellaneous', ''],
-    '_Interaction': ['Interaction', ''],
-    '_Visualization-api': ['Visualization', ''],
-    '_OpenGLrendering': ['OpenGL rendering', ''],
-    '_FilamentRenderingApi': ['Filament rendering', ''],
-    '_UIframework': ['UI framework', ''],
-    '_Derivatives-api': ['Derivatives', ''],
-    '_Signeddistancefunction': ['Signed Distance Functions', ''],
-    '_Plugins-api': ['Plugins', ''],
-    '_Thread': ['Threads', ''],
-    '_Standardmath': ['Standard math', ''],
-    '_Vectormath': ['Vector math', ''],
-    '_Sparsemath': ['Sparse math', ''],
-    '_Quaternions': ['Quaternions', ''],
-    '_Poses': ['Poses', ''],
-    '_Decompositions': ['Decompositions / Solvers', ''],
-    '_Attachment': ['Attachment', ''],
-    '_AddTreeElements': ['Tree elements', ''],
-    '_AddNonTreeElements': ['Non-tree elements', ''],
-    '_Setactuatorparameters': ['Set actuator parameters', ''],
-    '_AddAssets': ['Assets', ''],
-    '_FindAndGetUtilities': ['Find and get utilities', ''],
-    '_AttributeSetters': ['Attribute setters', ''],
-    '_AttributeGetters': ['Attribute getters', ''],
-    '_SpecUtilities': ['Spec utilities', ''],
-    '_ElementInitialization': ['Element initialization', ''],
-    '_ElementCasting': ['Element casting', ''],
-}
-
-
-def generate() -> str:
-  """Generates functions.rst."""
-  rst_str = ''
-  api = generate_api_header.read_headers()
-
-  filepath = os.path.join(_REPO_ROOT, _FUNCTIONS_OVERRIDE)
-  with open(filepath, 'r', encoding='utf-8') as file:
-    current_section = None
-    current_function = None
-    for line in file:
-
-      # Try matching a section.
-      match = _RST_SECTION_REGEX.search(line)
-      if match is not None:
-        current_section = match.group('section')
-        if current_section in rst_to_section:
-          current_function = None
-        else:
-          current_section = None
-        continue
-
-      # Try matching a function
-      match = _RST_FUNCTION_REGEX.search(line)
-      if match is not None:
-        current_function = match.group('function')
-        if current_function in api:
-          api[current_function].doc = ''
-          current_section = None
-        else:
-          current_function = None
-        continue
-
-      # Update section doc.
-      if current_section is not None:
-        rst_to_section[current_section][1] += line
-
-      # Override doc.
-      if current_function is not None:
-        api[current_function].doc += line
-
-  # Check that all function sections from the headers are mapped.
-  mapped_sections = {v[0] for v in rst_to_section.values()}
-  for token, defn in api.items():
-    if defn.c_type == 'FUNCTION' and defn.section not in mapped_sections:
-      raise ValueError(
-          f'Function {token!r} is in unmapped section {defn.section!r}. '
-          f'Add an entry to rst_to_section in generate_functions.py.'
-      )
-
-  # Write out RST file.
-  rst_str += ("""
-..
-  AUTOGENERATED: DO NOT EDIT MANUALLY
-
-
-""".lstrip())
-
-  for section in rst_to_section:
-    section_title = rst_to_section[section][0]
-    rst_str += (
-        f"""
-.. {section}:
-
-{section_title}
-{'^'*len(section_title)}
-{rst_to_section[section][1]}""".lstrip())
-
-    for token in api:
-      if api[token].c_type != 'FUNCTION' or api[token].section != section_title:
-        continue
-
-      doc = api[token].doc.strip()
-      doc = doc.replace('&nbsp;', '``&nbsp;``')
-
-      rst_str += (f"""
-.. _{token}:
-
-`{token} <#{token}>`__
-{'~'*(2*len(token)+8)}
-
-.. mujoco-include:: {token}
-
-{doc}
-
-""".lstrip())
-  return rst_str
-
-
-def main() -> None:
-  if len(sys.argv) > 1:
-    sys.exit('Too many command-line arguments.')
-
-  sys.stdout.buffer.write(generate().encode('utf-8'))
-
-
-if __name__ == '__main__':
-  main()
diff --git a/doc/generate/generate_linenumbers.py b/doc/generate/generate_linenumbers.py
deleted file mode 100755
index c2a772e9..00000000
--- a/doc/generate/generate_linenumbers.py
+++ /dev/null
@@ -1,112 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Script to automatically extract and insert MuJoCo source file paths."""
-
-import argparse
-import os
-import re
-import sys
-
-
-def main():
-  """Extracts MuJoCo source file paths and updates linenumbers.js."""
-  parser = argparse.ArgumentParser(description='Update SRCS in linenumbers.js')
-  parser.add_argument(
-      '--src_dir', required=True, help='Path to mujoco src directory')
-  parser.add_argument(
-      '--js_file', required=True, help='Path to linenumbers.js file')
-  parser.add_argument(
-      '--ref_file', required=True, help='Path to references.h')
-  parser.add_argument(
-      '--check', action='store_true',
-      help='Check if SRCS matches, without updating')
-  args = parser.parse_args()
-
-  with open(args.ref_file, 'r', encoding='utf-8') as f:
-    ref_content = f.read()
-
-  # Extract all mj_... symbols that might be function names
-  valid_funcs = set(re.findall(r'\bmj[a-zA-Z0-9_]*\b', ref_content))
-
-  srcs = []
-  pattern = re.compile(r'^(const )?[a-zA-Z0-9_*]+\s+(.+)\(.+[{,]$')
-
-  for root, _, files in os.walk(args.src_dir):
-    for f in files:
-      if f.endswith('.c') or f.endswith('.cc'):
-        path = os.path.relpath(os.path.join(root, f), args.src_dir)
-        # Ensure we use forward slashes for Javascript array
-        path = path.replace('\\', '/')
-
-        # Check if it has any function defined in references.h
-        filepath = os.path.join(root, f)
-        found = False
-        with open(filepath, 'r', encoding='utf-8') as cf:
-          for line in cf:
-            line = line.strip('\n')
-            match = pattern.match(line)
-            key = None
-            if match:
-              key = match.group(2).strip()
-
-            # edge cases
-            if 'user_api.cc' in filepath and line.startswith(
-                '[[nodiscard]] int mj_recompile('):
-              key = 'mj_recompile'
-            elif 'engine_io.c' in filepath:
-              if line.startswith('void mj_freeStack('):
-                key = 'mj_freeStack'
-              elif line.startswith('void mj_markStack('):
-                key = 'mj_markStack'
-
-            if key and key in valid_funcs:
-              found = True
-              break
-
-        if found:
-          srcs.append(path)
-
-  srcs = sorted(srcs)
-
-  with open(args.js_file, 'r', encoding='utf-8') as f:
-    content = f.read()
-
-  # Find the const SRCS = [ ... ]; block
-  js_pattern = re.compile(r'const SRCS = \[\n(.*?)\n\];', re.DOTALL)
-  match = js_pattern.search(content)
-  if not match:
-    sys.exit('Could not find const SRCS = [ in linenumbers.js')
-
-  current_srcs_str = match.group(1)
-
-  # Generate the new string
-  new_srcs_str = '\n'.join([f"  '{s}'," for s in srcs])
-
-  if current_srcs_str == new_srcs_str:
-    print('SRCS is up to date.')
-    sys.exit(0)
-
-  if args.check:
-    print('SRCS is not up to date. Please run update_docs to update it.')
-    sys.exit(1)
-
-  # Otherwise, update the file
-  new_content = content[:match.start(1)] + new_srcs_str + content[match.end(1):]
-  with open(args.js_file, 'w', encoding='utf-8') as f:
-    f.write(new_content)
-  print(f'Updated SRCS in {args.js_file} with {len(srcs)} files.')
-
-if __name__ == '__main__':
-  main()
diff --git a/doc/generate/generate_mjcf_map.py b/doc/generate/generate_mjcf_map.py
deleted file mode 100644
index c757ca6b..00000000
--- a/doc/generate/generate_mjcf_map.py
+++ /dev/null
@@ -1,117 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates the keyword-map header from src/xml/mjcf.schema.
-
-Emits src/xml/generated/mjcf_map.h: one mjMap array and size constant per schema
-enum, as C++17 inline variables, so the reader, the writer and the
-generated tables share one definition with no extern declarations to
-maintain. It is checked in and gated by test/doc/doc_test.py, which
-regenerates it from the schema and diffs.
-"""
-
-import os  # pylint: disable=unused-import
-import sys
-
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-sys.path.insert(0, _SCRIPT_DIR)
-import mjcf_schema
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
-_GUARD = 'MUJOCO_SRC_XML_GENERATED_MJCF_MAP_H_'
-
-_INCLUDES = '''\
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-#include "user/user_composite.h"
-#include "user/user_flexcomp.h"
-#include "xml/xml_util.h"'''
-
-_HEADER = f'''\
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
-// doc/generate/generate_mjcf_map.py; test/doc/doc_test.py checks freshness.
-//
-// Keyword maps, one per schema enum, shared by the reader, the writer and
-// the generated tables. Inline variables: including this header is all a
-// translation unit needs.
-
-#ifndef HEADER_GUARD_PLACEHOLDER
-#define HEADER_GUARD_PLACEHOLDER
-
-{_INCLUDES}
-
-// clang-format off
-
-// keywords of the built-in bool type (not a schema enum)
-inline constexpr mjMap bool_map[] = {{
-  {{"false",   0}},
-  {{"true",    1}},
-}};
-
-'''
-
-_FOOTER = '''\
-// clang-format on
-
-#endif  // HEADER_GUARD_PLACEHOLDER
-'''
-
-
-def generate() -> str:
-  """Generates the mjcf_map.h content as a string."""
-  schema = mjcf_schema.parse_file(SCHEMA_PATH)
-  out = []
-  for enum in schema.enums.values():
-    width = max(len(key) for key in enum.keywords()) + 3
-    out.append(f'// enum {enum.name}')
-    out.append(f'inline constexpr mjMap {enum.name}_map[] = {{')
-    for key, value in enum.items:
-      padded = f'"{key}",'.ljust(width + 1)
-      out.append(f'  {{{padded} {value}}},')
-    out.append('};')
-    out.append(f'inline constexpr int {enum.name}_sz = {len(enum.items)};')
-    out.append('')
-  header = _HEADER.replace('HEADER_GUARD_PLACEHOLDER', _GUARD)
-  footer = _FOOTER.replace('HEADER_GUARD_PLACEHOLDER', _GUARD)
-  return header + '\n'.join(out) + footer
-
-
-def main() -> int:
-  if len(sys.argv) > 2:
-    sys.exit('usage: generate_mjcf_map.py [output.h]')
-  text = generate()
-  if len(sys.argv) == 2:
-    with open(sys.argv[1], 'w', encoding='utf-8') as file:
-      file.write(text)
-  else:
-    sys.stdout.write(text)
-  return 0
-
-
-if __name__ == '__main__':
-  sys.exit(main())
diff --git a/doc/generate/generate_mjcf_table.py b/doc/generate/generate_mjcf_table.py
deleted file mode 100644
index 13a00840..00000000
--- a/doc/generate/generate_mjcf_table.py
+++ /dev/null
@@ -1,186 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates the MJCF[] grammar table from src/xml/mjcf.schema.
-
-The table (src/xml/generated/mjcf_table.inc) is the element tree consumed by the
-mjXSchema validator: rows of {name, cardinality, attributes...} with
-{"<"}/{">"} nesting markers. It is checked in and gated by
-test/doc/doc_test.py, which regenerates it from the schema and diffs.
-"""
-
-import sys
-
-import os
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-sys.path.insert(0, _SCRIPT_DIR)
-import mjcf_schema
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
-
-_HEADER = '''\
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
-// doc/generate/generate_mjcf_table.py; test/doc/doc_test.py checks freshness.
-//
-// The MJCF grammar table consumed by mjXSchema: rows of {name, cardinality,
-// attributes...} with {"<"}/{">"} nesting markers. worldbody, frame and
-// replicate have no rows: mjXSchema::NameMatch validates them against the
-// body row (see the alias= facets in mjcf.schema).
-
-// clang-format off
-'''
-
-_WIDTH = 100
-
-
-def _wrap_row(parts: list[str], indent: int) -> list[str]:
-  """One {...}, initializer, wrapped at _WIDTH with hanging indent."""
-  lines = []
-  line = ' ' * indent + '{' + parts[0]
-  for part in parts[1:]:
-    candidate = f'{line}, {part}'
-    if len(candidate) + 2 > _WIDTH:  # room for "},"
-      lines.append(line + ',')
-      line = ' ' * (indent + 4) + part
-    else:
-      line = candidate
-  lines.append(line + '},')
-  return lines
-
-
-KIND_CHAR = {'exclusive': 'e', 'together': 't', 'requires': 'r',
-             'oneof': 'o'}
-
-
-def _element_constraints(schema, element):
-  """Element's own constraints plus those of transitively used groups."""
-  cons = list(element.constraints())
-  visited = set()
-  stack = [m.group for m in element.members
-           if isinstance(m, mjcf_schema.Use)]
-  while stack:
-    name = stack.pop()
-    if name in visited:
-      continue
-    visited.add(name)
-    group = schema.groups[name]
-    for member in group.members:
-      if isinstance(member, mjcf_schema.Constraint):
-        cons.append(member)
-      elif isinstance(member, mjcf_schema.Use):
-        stack.append(member.group)
-  return cons
-
-
-def generate() -> str:
-  """Generates the C++ grammar table header file contents from mjcf.schema."""
-  schema = mjcf_schema.parse_file(SCHEMA_PATH)
-  out = []
-  constraints = []
-  count = 0
-
-  def emit_entry(lines: list[str]):
-    nonlocal count
-    out.extend(lines)
-    count += 1
-
-  def visit(element: mjcf_schema.Element, card: str, indent: int,
-            project: bool):
-    # a row in default context is the element's defaultable projection
-    attrs = [a for a in schema.expanded_attrs(element)]
-    if project:
-      attrs = [a for a in attrs
-               if a.name not in ('name', 'class')
-               and not a.facets.get('nodefault')]
-    parts = [f'"{element.xml_name()}"', f'"{card}"']
-    parts += [f'"{a.name}"' for a in attrs]
-    row_index = count
-    emit_entry(_wrap_row(parts, indent))
-
-    # presence constraints whose attributes all survive in this row
-    row_attrs = {a.name for a in attrs}
-    for con in _element_constraints(schema, element):
-      if all(all(n in row_attrs for n in b) for b in con.bundles):
-        spec = '|'.join(' '.join(b) for b in con.bundles)
-        constraints.append(f"  {{{row_index}, '{KIND_CHAR[con.kind]}', "
-                           f'"{spec}"}},')
-
-    # self-recursion is implied by card R; alias elements (worldbody, frame,
-    # replicate) have no rows -- mjXSchema::NameMatch admits their tags
-    # against the body row
-    children = [c for c in element.children()
-                if c.name != element.name
-                and 'alias' not in schema.elements[c.name].facets]
-    if project:
-      # plugin configuration is not settable per-class
-      children = [c for c in children if c.name != 'plugin']
-    if not children:
-      return
-    emit_entry([' ' * indent + '{"<"},'])
-    for child in children:
-      decl = schema.elements[child.name]
-      child_project = project or (
-          element.name == 'default' and not child.name.startswith('default_'))
-      visit(decl, child.card, indent + 4, child_project)
-      if indent == 0:
-        out.append('')
-    emit_entry([' ' * indent + '{">"},'])
-
-  visit(schema.elements['mujoco'], '!', 0, False)
-
-  body = '\n'.join(out)
-  con_body = '\n'.join(constraints)
-  return (_HEADER +
-          'std::vector<const char*> MJCF[] = {\n' + body + '\n};\n'
-          '// clang-format on\n\n'
-          'const int nMJCF = sizeof(MJCF) / sizeof(MJCF[0]);\n\n'
-          '// presence constraints, indexed into MJCF[]; enforced by\n'
-          '// mjXSchema::Check. spec: attribute bundles, space-joined,\n'
-          "// '|'-separated; kind: e=exclusive t=together r=requires o=oneof\n"
-          '// clang-format off\n'
-          'const mjXConstraintDef MJCF_constraints[] = {\n' + con_body +
-          '\n};\n'
-          '// clang-format on\n\n'
-          'const int nMJCF_constraints = '
-          'sizeof(MJCF_constraints) / sizeof(MJCF_constraints[0]);\n')
-
-
-def main() -> int:
-  if len(sys.argv) > 2:
-    sys.exit('usage: generate_mjcf_table.py [output.inc]')
-  text = generate()
-  if len(sys.argv) == 2:
-    with open(sys.argv[1], 'w', encoding='utf-8') as file:
-      file.write(text)
-  else:
-    sys.stdout.write(text)
-  return 0
-
-
-if __name__ == '__main__':
-  sys.exit(main())
diff --git a/doc/generate/generate_read_table.py b/doc/generate/generate_read_table.py
deleted file mode 100644
index d14eaeda..00000000
--- a/doc/generate/generate_read_table.py
+++ /dev/null
@@ -1,431 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates keyword maps and typed attribute-read rows from mjcf.schema.
-
-Emits src/xml/generated/mjcf_read_table.inc: per-element mjXAttr row arrays
-consumed by mjXReader::ReadAttrTable, plus the kSensorDispatch tag table and
-shared group arrays.
-
-Which elements get rows is determined automatically: every schema element with
-a bound spec struct and at least one table-drivable attribute is included,
-unless it appears in NOT_TABLE_DRIVEN (elements whose OneX() readers have
-custom logic). A coverage check in doc_test verifies that every emitted row
-array is consumed by the reader or writer, and that NOT_TABLE_DRIVEN names
-only elements that exist in the schema.
-
-Field offsets are emitted as offsetof() expressions, so binding mistakes are
-compile errors, and the field's C type (parsed from mjspec.h) selects the row
-kind, so mjtNum vs double is decided by the struct, not by the schema.
-"""
-
-import os  # pylint: disable=unused-import
-import re
-import sys
-
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-sys.path.insert(0, _SCRIPT_DIR)
-import mjcf_schema
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
-SPEC_H_PATH = os.path.join(_REPO_ROOT, 'include', 'mujoco', 'mjspec.h')
-MODEL_H_PATH = os.path.join(_REPO_ROOT, 'include', 'mujoco', 'mjmodel.h')
-
-# elements with a bound spec whose OneX() reader is NOT table-driven;
-# their rows are not emitted. These are the genuinely irregular elements
-# whose readers have custom logic that can't be factored into ReadAttrTable.
-# If you add a new schema element with a bound spec, either migrate its
-# reader to ReadAttrTable (it will be auto-included) or add it here.
-NOT_TABLE_DRIVEN = {
-    # actuator shorthands: read shared rows + per-tag remappings
-    'motor', 'position', 'velocity', 'intvelocity', 'orientation',
-    'pid', 'damper', 'cylinder', 'muscle', 'adhesion', 'dcmotor',
-    'actuator_plugin',
-    # equality subtypes: read shared equality_base + per-type refs
-    'connect', 'weld', 'equality_joint', 'equality_tendon',
-    'equality_flex', 'flexvert', 'flexstrain',
-    # sensors with custom reading logic
-    'rangefinder', 'distance', 'user', 'normal', 'fromto',
-    'sensor_contact', 'sensor_plugin', 'tactile',
-    # other irregulars
-    'frame', 'plugin', 'numeric', 'text', 'tuple',
-}
-
-# sensors whose whole branch derives from the schema (identity constants +
-# references); their arrays are also collected into kSensorDispatch
-SENSOR_DISPATCH = [
-    'touch',
-    'accelerometer',
-    'velocimeter',
-    'gyro',
-    'force',
-    'torque',
-    'magnetometer',
-    'camprojection',
-    'jointpos',
-    'jointvel',
-    'tendonpos',
-    'tendonvel',
-    'actuatorpos',
-    'actuatorvel',
-    'actuatorfrc',
-    'jointactuatorfrc',
-    'tendonactuatorfrc',
-    'ballquat',
-    'ballangvel',
-    'jointlimitpos',
-    'jointlimitvel',
-    'jointlimitfrc',
-    'tendonlimitpos',
-    'tendonlimitvel',
-    'tendonlimitfrc',
-    'framepos',
-    'framequat',
-    'framexaxis',
-    'frameyaxis',
-    'framezaxis',
-    'framelinvel',
-    'frameangvel',
-    'framelinacc',
-    'frameangacc',
-    'insidesite',
-    'subtreecom',
-    'subtreelinvel',
-    'subtreeangmom',
-    'e_potential',
-    'e_kinetic',
-    'clock',
-]
-
-# shared groups emitted as standalone row arrays, for shared OneX() readers:
-# group name -> (bound struct, emitted array name)
-EMIT_GROUPS = {
-    'equality_base': ('mjsEquality', 'kEqualityBaseAttrs'),
-    'sensor_base': ('mjsSensor', 'kSensorBaseAttrs'),
-}
-
-# groups whose attributes are hand-read in the OneX() remnant;
-# their rows are not emitted
-HAND_GROUPS = ['orientation', 'transmission',
-               'sensor_base']  # read via kSensorBaseAttrs before dispatch
-
-# mjspec.h array-dimension expressions equivalent to a numeric schema bound;
-# the expression is emitted as the row length so it tracks the header
-DIM_EQUIV = {'mjNPOLY+1': '3'}
-
-# schema scalar/C-type -> mjXAttr kind
-KIND_BY_CTYPE = {'mjString*': 'kString', 'int': 'kInt', 'double': 'kDouble',
-                 'mjtNum': 'kNum', 'float': 'kFloat'}
-
-_HEADER = '''\
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
-// doc/generate/generate_read_table.py; test/doc/doc_test.py checks freshness.
-//
-// Typed attribute rows for table-driven reading (mjXReader::ReadAttrTable),
-// one array per migrated element. Rows are {attr, kind, len, exact,
-// required, nodefault, handwrite, offset}; keyword maps are defined in
-// mjcf_map.h.
-
-// clang-format off
-'''
-
-
-def array_name(element_name):
-  """Return the row-array name emitted for an element."""
-  return f'k{element_name.capitalize()}Attrs'
-
-
-def _has_table_attrs(schema, element):
-  """Check if the element has at least one non-custom table-drivable attr."""
-  return any('reading' not in attr.facets
-             for attr in schema.expanded_attrs(element))
-
-
-def table_driven_elements(schema):
-  """Return the list of element names whose readers are table-driven.
-
-  An element is table-driven if it has a bound spec struct, at least one
-  table-drivable attribute, and is not in NOT_TABLE_DRIVEN.
-
-  Args:
-    schema: Parsed schema object.
-  """
-  result = []
-  for name, element in schema.elements.items():
-    if not element.spec:
-      continue
-    if not _has_table_attrs(schema, element):
-      continue
-    if name in NOT_TABLE_DRIVEN:
-      continue
-    result.append(name)
-  return result
-
-
-def parse_spec_structs(*paths):
-  """Parse struct layouts from C headers.
-
-  Args:
-    *paths: Paths to C header files to parse.
-
-  Returns:
-    A dict mapping struct name -> {field: (ctype, dim-or-None)}.
-    Nested anonymous sub-structs (the mjVisual sections) are exposed as
-    'Outer.subname' pseudo-structs.
-  """
-  structs = {}
-  field_re = re.compile(
-      r'^\s*([\w<>*]+(?:\s*\*)?)\s+(\w+)(\[([^\]]+)\])?\s*;', re.M)
-  for path in paths:
-    with open(path, encoding='utf-8') as f:
-      text = f.read()
-    for m in re.finditer(r'typedef struct (mj\w+)_ \{(.*?)\n\} \1;', text,
-                         re.S):
-      name, body = m.group(1), m.group(2)
-      for sm in re.finditer(r'struct \{(.*?)\} (\w+);', body, re.S):
-        sub_fields = {}
-        for fm in field_re.finditer(sm.group(1)):
-          ctype, fname, _, dim = fm.groups()
-          sub_fields[fname] = (ctype.replace(' ', ''), dim)
-        structs[f'{name}.{sm.group(2)}'] = sub_fields
-      body = re.sub(r'struct \{.*?\} \w+;', '', body, flags=re.S)
-      fields = {}
-      for fm in field_re.finditer(body):
-        ctype, fname, _, dim = fm.groups()
-        fields[fname] = (ctype.replace(' ', ''), dim)
-      structs[name] = fields
-  return structs
-
-
-def _attr_row(spec, fields, attr, ctx, prefix=''):
-  """Return a row tuple for one attribute, or None if it has no row."""
-  required = 'true' if attr.facets.get('required') else 'false'
-  nodefault = 'true' if attr.facets.get('nodefault') else 'false'
-  handwrite = 'true' if attr.facets.get('writing') else 'false'
-  if attr.type == 'id' and attr.name == 'name':
-    # names are never settable in default classes
-    return (f'"{attr.name}"', 'mjXAttr::kName', '1', 'true', required,
-            'true', 'false', '-1')
-  if attr.type == 'ref' and attr.target == 'default':
-    return None  # class selection is handled by the section parsers
-  if attr.type == 'file':
-    return None  # files need VFS/asset-dir context: hand-read in the remnant
-  field = attr.facets.get('field', attr.name)
-  entry = fields.get(field)
-  if entry is None:
-    raise ValueError(f'{ctx}.{attr.name}: no field {spec}.{field}')
-  ctype, dim = entry
-  if attr.type in ('string', 'file', 'ref', 'id'):
-    if ctype == 'mjStringVec*':
-      kind, length, exact = 'kStringVec', '1', 'true'
-    elif ctype != 'mjString*':
-      raise ValueError(f'{ctx}.{attr.name}: bound to non-string '
-                       f'field {field} ({ctype})')
-    else:
-      kind, length, exact = 'kString', '1', 'true'
-  elif attr.type == 'enum':
-    if not ctype.startswith('mjt') and ctype != 'int':
-      raise ValueError(f'{ctx}.{attr.name}: enum bound to '
-                       f'field {field} ({ctype})')
-    kind = 'kEnumByte' if ctype in ('mjtByte', 'mjtBool') else 'kEnum'
-    length, exact = '1', 'true'
-  elif attr.type == 'flags':
-    if ctype != 'int':
-      raise ValueError(f'{ctx}.{attr.name}: flags bound to '
-                       f'field {field} ({ctype})')
-    kind, length, exact = 'kFlags', '1', 'true'
-  elif attr.type == 'bool':
-    if ctype in ('mjtBool', 'mjtByte'):
-      kind, length, exact = 'kBool', '1', 'true'
-    elif ctype == 'int' or ctype.startswith('mjt'):
-      # int-typed flag: read through the keyword map (values are 0/1)
-      row = [f'"{attr.name}"', 'mjXAttr::kEnum', '1', 'true', required,
-             nodefault, handwrite,
-             f'(int)offsetof({spec}, {prefix}{field})', 'bool_map', '2']
-      return tuple(row)
-    else:
-      raise ValueError(f'{ctx}.{attr.name}: bool bound to '
-                       f'field {field} ({ctype})')
-  elif attr.type == 'chars':
-    if ctype != 'char' or dim is None:
-      raise ValueError(f'{ctx}.{attr.name}: chars bound to '
-                       f'field {field} ({ctype})')
-    lo, hi = attr.arity.lo, attr.arity.hi
-    if str(dim) != str(hi):
-      raise ValueError(f'{ctx}.{attr.name}: chars arity {hi} vs '
-                       f'field dim {dim}')
-    kind, length = 'kChars', str(hi)
-    exact = 'true' if lo == hi else 'false'
-  elif attr.type in ('double', 'float', 'int') and attr.arity.hi is None:
-    vec_kinds = {'mjDoubleVec*': 'kDoubleVec', 'mjFloatVec*': 'kFloatVec',
-                 'mjIntVec*': 'kIntVec'}
-    kind = vec_kinds.get(ctype)
-    if kind is None:
-      raise ValueError(f'{ctx}.{attr.name}: unbounded vector '
-                       f'bound to field {field} ({ctype})')
-    length, exact = '1', 'true'
-  elif attr.type in ('double', 'float', 'int'):
-    kind = KIND_BY_CTYPE.get(ctype)
-    if kind is None or (attr.type == 'int') != (kind == 'kInt'):
-      raise ValueError(f'{ctx}.{attr.name}: schema type '
-                       f'{attr.type} vs field {field} ({ctype})')
-    lo, hi = attr.arity.lo, attr.arity.hi
-    length = str(hi)
-    declared = dim if dim is not None else '1'
-    if str(declared) != length:
-      if DIM_EQUIV.get(str(declared)) == length:
-        length = str(declared)  # emit the expression: it tracks the header
-      else:
-        raise ValueError(f'{ctx}.{attr.name}: arity {length} vs '
-                         f'field dim {declared}')
-    exact = 'true' if lo == hi or (lo == 1 and hi == 1) else 'false'
-  else:
-    raise ValueError(f'{ctx}.{attr.name}: kind {attr.type} is '
-                     'not table-drivable yet')
-  offset = f'(int)offsetof({spec}, {prefix}{field})'
-  row = [f'"{attr.name}"', f'mjXAttr::{kind}', length, exact,
-         required, nodefault, handwrite, offset]
-  if kind in ('kEnum', 'kEnumByte', 'kFlags'):
-    row += [f'{attr.target}_map', f'{attr.target}_sz']
-  return tuple(row)
-
-
-def rows_for(schema, structs, element_name):
-  """Return (struct name, list of row tuples) for one table-driven element."""
-  element = schema.elements[element_name]
-  if not element.spec:
-    raise ValueError(f'{element_name}: no bound spec struct')
-  sub = element.facets.get('field')
-  key = f'{element.spec}.{sub}' if sub else element.spec
-  fields = structs.get(key)
-  if fields is None:
-    raise ValueError(f'{element_name}: struct {key} not found in headers')
-  prefix = f'{sub}.' if sub else ''
-
-  hand_attrs = set()
-  for gname in HAND_GROUPS:
-    if any(isinstance(m, mjcf_schema.Use) and m.group == gname
-           for m in element.members):
-      hand_attrs |= {m.name for m in schema.groups[gname].members}
-
-  rows = []
-  for const in element.consts():
-    entry = fields.get(const.field)
-    if entry is None:
-      raise ValueError(f'{element_name}: set {const.field}: no field '
-                       f'{element.spec}.{const.field}')
-    ctype = entry[0]
-    if not ctype.startswith('mjt') and ctype != 'int':
-      raise ValueError(f'{element_name}: set {const.field}: field is {ctype}')
-    rows.append(('nullptr', 'mjXAttr::kConst', '1', 'true', 'false', 'false',
-                 'false',
-                 f'(int)offsetof({element.spec}, {prefix}{const.field})',
-                 'nullptr', '0', const.value))
-  for attr in schema.expanded_attrs(element):
-    if attr.name in hand_attrs or 'reading' in attr.facets:
-      continue  # hand-read in the OneX() remnant
-    row = _attr_row(element.spec, fields, attr, element_name,
-                    prefix=prefix)
-    if row is not None:
-      rows.append(row)
-  return element.spec, rows
-
-
-def rows_for_group(schema, structs, group_name, spec):
-  """Return list of row tuples for a shared group, bound to the given struct."""
-  fields = structs.get(spec)
-  if fields is None:
-    raise ValueError(f'{group_name}: struct {spec} not in mjspec.h')
-  rows = []
-  for attr in schema.groups[group_name].members:
-    if not isinstance(attr, mjcf_schema.Attr) or 'reading' in attr.facets:
-      continue
-    row = _attr_row(spec, fields, attr, group_name)
-    if row is not None:
-      rows.append(row)
-  return rows
-
-
-def generate():
-  """Generate the mjcf_read_table.inc content as a string."""
-  schema = mjcf_schema.parse_file(SCHEMA_PATH)
-  structs = parse_spec_structs(SPEC_H_PATH, MODEL_H_PATH)
-  migrated = table_driven_elements(schema)
-  out = [_HEADER]
-  for name in migrated:
-    struct, rows = rows_for(schema, structs, name)
-    array = array_name(name)
-    out.append(f'// {name} ({struct})')
-    out.append(f'inline constexpr mjXAttr {array}[] = {{')
-    for row in rows:
-      out.append('  {' + ', '.join(row) + '},')
-    out.append('};')
-    out.append(f'inline constexpr int {array}N = '
-               f'sizeof({array}) / sizeof({array}[0]);')
-    out.append('')
-  out.append('// sensors fully described by the schema: dispatch by tag')
-  out.append('struct mjXSensorEntry { const char* tag; const mjXAttr* rows;'
-             ' int n; };')
-  out.append('inline constexpr mjXSensorEntry kSensorDispatch[] = {')
-  for name in SENSOR_DISPATCH:
-    array = array_name(name)
-    tag = schema.elements[name].xml_name()
-    out.append(f'  {{"{tag}", {array}, {array}N}},')
-  out.append('};')
-  out.append('inline constexpr int kSensorDispatchN = '
-             'sizeof(kSensorDispatch) / sizeof(kSensorDispatch[0]);')
-  out.append('')
-  for gname, (struct, array) in EMIT_GROUPS.items():
-    rows = rows_for_group(schema, structs, gname, struct)
-    out.append(f'// group {gname} ({struct})')
-    out.append(f'inline constexpr mjXAttr {array}[] = {{')
-    for row in rows:
-      out.append('  {' + ', '.join(row) + '},')
-    out.append('};')
-    out.append(f'inline constexpr int {array}N = '
-               f'sizeof({array}) / sizeof({array}[0]);')
-    out.append('')
-  out.append('// clang-format on')
-  return '\n'.join(out) + '\n'
-
-
-def main():
-  """CLI entry point: generate mjcf_read_table.inc to stdout or a file."""
-  if len(sys.argv) > 2:
-    sys.exit('usage: generate_read_table.py [output.inc]')
-  text = generate()
-  if len(sys.argv) == 2:
-    with open(sys.argv[1], 'w', encoding='utf-8') as file:
-      file.write(text)
-  else:
-    sys.stdout.write(text)
-  return 0
-
-
-if __name__ == '__main__':
-  sys.exit(main())
diff --git a/doc/generate/generate_schema.py b/doc/generate/generate_schema.py
deleted file mode 100644
index 48b6810d..00000000
--- a/doc/generate/generate_schema.py
+++ /dev/null
@@ -1,239 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates MJCF schema using dropdown directives for XMLreference.rst.
-
-Generates XMLschema.rst by reading xml_native_reader.cc and producing
-nested dropdown directives with list-table for attributes.
-"""
-
-import copy
-import sys
-
-import os
-
-# Map symbols to icons:
-# ! = required element, can appear only once -> star (prominent, required)
-# ? = optional element, can appear only once -> dot (minimal, single)
-# * = optional element, can appear many times -> None (no icon, most common)
-# R = optional element, can appear many times recursively -> sync (recursive)
-SYMBOL_TO_ICON = {
-    '!': 'star',
-    '?': 'dot',
-    '*': None,
-    'R': 'sync',
-}
-
-ELEMENT_ORDER = [
-    'mujoco',
-    'option',
-    'compiler',
-    'size',
-    'statistic',
-    'asset',
-    'body',
-    'deformable',
-    'contact',
-    'equality',
-    'tendon',
-    'actuator',
-    'sensor',
-    'keyframe',
-    'visual',
-    'default',
-    'custom',
-    'extension',
-]
-
-# Special display names for elements (when different from the element name)
-ELEMENT_DISPLAY_NAME = {
-    'body': '(world)body',
-}
-
-
-def generate_dropdown(
-    element_name: str,
-    symbol: str,
-    link_name: str,
-    attributes: list[str],
-    links: list[str],
-    level: int,
-    is_top_level: bool = False,
-) -> str:
-  """Generate a dropdown directive for an element with its attributes."""
-  indent = '   ' * level
-  output = ''
-
-  display_name = ELEMENT_DISPLAY_NAME.get(element_name, element_name)
-  icon = SYMBOL_TO_ICON.get(symbol)
-  # Element name is a :ref: link. Icon/macro goes on the right side.
-  # Use |*| for * elements (even though it's empty) for future flexibility.
-  element_link = f':ref:`{display_name}<{link_name}>`'
-  if icon:
-    title = f'{element_link} :octicon:`{icon}`'
-  else:
-    title = f'{element_link} |*|'
-  output += f'{indent}.. dropdown:: {title}\n'
-  if is_top_level:
-    output += f'{indent}   :open:\n'
-  output += '\n'
-
-  content_indent = indent + '   '
-
-  # Responsive grid for attributes (2-3-4-4: mobile-tablet-desktop-large)
-  if attributes:
-    output += f'{content_indent}.. grid:: 2 3 4 4\n'
-    output += f'{content_indent}   :gutter: 0\n'
-    output += '\n'
-
-    for attr in attributes:
-      att_link_name = f'{link_name}-{attr}'
-      if att_link_name not in links:
-        raise ValueError(
-            f'Link for attribute {att_link_name} not found, update'
-            ' XMLreference.rst'
-        )
-      output += f'{content_indent}   .. grid-item::\n'
-      output += f'{content_indent}      :ref:`{attr}<{att_link_name}>`\n'
-      output += '\n'
-
-  output += '\n'
-  return output
-
-
-def generate() -> str:
-  """Generates XMLschema.rst by parsing mjcf_table.inc.
-
-  The schema is defined in mjcf_table.inc (generated from mjcf.schema) as a
-  nested structure called MJCF[]. This function parses that structure and
-  generates nested dropdown directives with list-tables for attributes.
-
-  Returns:
-    RST content with nested dropdown directives for the MJCF schema.
-  """
-  script_dir = os.path.dirname(os.path.abspath(__file__))
-  repo_root = os.path.dirname(os.path.dirname(script_dir))
-  filepath = os.path.join(repo_root, 'src', 'xml', 'generated', 'mjcf_table.inc')
-  xmlfile = os.path.join(repo_root, 'doc', 'XMLreference.rst')
-
-  # Collect all link targets from XMLreference.rst for validation.
-  links = []
-  with open(xmlfile, 'r', encoding='utf-8') as file:
-    for line in file:
-      if line.startswith('.. _'):
-        links.append(line.strip()[4:-1])
-
-  output = """..
-  DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-.. raw:: html
-
-   <div class="schema-controls" style="margin-bottom: 1em;">
-     <button onclick="document.querySelectorAll('.schema-small details').forEach(d => d.open = true)" class="sd-btn sd-btn-outline-primary sd-btn-sm">Expand All</button>
-     <button onclick="document.querySelectorAll('.schema-small details details').forEach(d => d.open = false)" class="sd-btn sd-btn-outline-secondary sd-btn-sm" style="margin-left: 0.5em;">Collapse All</button>
-   </div>
-
-"""
-
-  with open(filepath, 'r', encoding='utf-8') as file:
-    to_strip = {' ', '{', '}', '"'}
-
-    # Process each top-level element in a specific order for consistent output.
-    for top_element in ELEMENT_ORDER:
-      level = 0
-      element: list[str] = []
-      parent = ['', '', '', '', '']  # Track parent elements for link names.
-      found_element = False
-      file.seek(0)
-
-      # Skip to the MJCF schema definition in the C++ source.
-      for line in file:
-        if 'std::vector<const char*> MJCF[] = {' in line.strip():
-          break
-
-      # Parse the schema structure.
-      for line in file:
-        if line.strip().endswith('};'):
-          break  # End of schema definition.
-
-        # Track nesting level using angle brackets in the C++ source.
-        if '<' in line:
-          level += 1
-          continue
-        if '>' in line:
-          level -= 1
-          continue
-
-        # Parse element definition from the line.
-        line_is_done = 1 if '}' in line else 0
-        line_copy = copy.copy(line)
-        for item in to_strip:
-          line_copy = line_copy.replace(item, '')
-        element += [item for item in line_copy.split(',') if item != '\n']
-
-        # Determine if this element belongs to the current top-level element.
-        outer_level = level == 0 and top_element == 'mujoco'
-        top_level = level == 1 and element and top_element == element[0]
-        sub_level = level > 1 and top_element == parent[2]
-        level_is_correct = outer_level or top_level or sub_level
-
-        if found_element and not level_is_correct:
-          break  # Done with this top-level element.
-        found_element = level_is_correct
-
-        # Generate dropdown for completed element definition.
-        if line_is_done and level_is_correct:
-          # Link name: top-level uses element name, nested uses parent-child.
-          link_name = element[0]
-          if level > 1:
-            link_name = parent[level] + '-' + element[0]
-          if link_name not in links:
-            raise ValueError(
-                f'Link for element {link_name} not found, update'
-                ' XMLreference.rst'
-            )
-          attributes = element[2:]  # First two items are name and symbol.
-
-          # Adjust indentation level for RST output.
-          dropdown_level = 0 if level == 0 else (1 if level == 1 else level)
-          is_top_level = level == 0
-          output += generate_dropdown(
-              element[0],
-              element[1],
-              link_name,
-              attributes,
-              links,
-              dropdown_level,
-              is_top_level,
-          )
-
-        # Track parent elements for building nested link names.
-        if line_is_done:
-          if level < 4:
-            parent[level + 1] = element[0]
-          element = []
-
-  # single newline at end of file
-  return output.rstrip('\n') + '\n'
-
-
-def main() -> int:
-  if len(sys.argv) > 1:
-    sys.exit('Too many command-line arguments.')
-  sys.stdout.buffer.write(generate().encode('utf-8'))
-  return 0
-
-
-if __name__ == '__main__':
-  main()
diff --git a/doc/generate/generate_xsd.py b/doc/generate/generate_xsd.py
deleted file mode 100644
index f2037f1a..00000000
--- a/doc/generate/generate_xsd.py
+++ /dev/null
@@ -1,375 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates the published XML Schema (mjcf.xsd) from mjcf.schema.
-
-The XSD is deliberately permissive: it must never reject a legal model.
-XSD 1.0 cannot express MJCF's order-insensitive children with per-child
-cardinality (xs:all forbids maxOccurs > 1), so every content model is an
-unbounded xs:choice, and presence constraints (exclusive/together/requires/
-oneof) are not expressible at all. Both are carried as xs:documentation
-annotations.
-
-Element tags repeat across contexts with different content (e.g. joint under
-body, default and equality), so every element is declared locally inside its
-parent's complexType; the named complexTypes carry the schema element names.
-Inside <default>, children use projected types (attributes minus name/class
-minus nodefault), mirroring the grammar-table projection.
-
-The generated file is checked in as src/xml/generated/mjcf.xsd and gated by
-test/doc/doc_test.py, which regenerates it from the schema and diffs.
-"""
-
-import os
-import re
-import sys
-from xml.sax.saxutils import escape
-
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-sys.path.insert(0, _SCRIPT_DIR)
-import mjcf_schema
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-SCHEMA_PATH = os.path.join(_REPO_ROOT, 'src', 'xml', 'mjcf.schema')
-MJMODEL_H_PATH = os.path.join(_REPO_ROOT, 'include', 'mujoco', 'mjmodel.h')
-
-# schema scalar type -> XSD base type
-SCALAR_XSD = {'int': 'xs:int', 'double': 'xs:double', 'float': 'xs:float',
-              'string': 'xs:string', 'file': 'xs:string'}
-
-_CONSTRAINT_TEXT = {
-    'exclusive': 'at most one of',
-    'together': 'together or absent',
-    'requires': 'first requires second',
-    'oneof': 'at least one of',
-}
-
-
-def parse_dims():
-  """Return {name: value} for the mjN* dimension macros in mjmodel.h."""
-  with open(MJMODEL_H_PATH, encoding='utf-8') as f:
-    text = f.read()
-  return {m.group(1): int(m.group(2))
-          for m in re.finditer(r'^#define\s+(mjN\w+)\s+(\d+)', text, re.M)}
-
-
-def _num(value):
-  """Format a numeric default the shortest exact way: 2.0 -> '2'."""
-  if isinstance(value, float) and value == int(value) and abs(value) < 1e15:
-    return str(int(value))
-  return repr(value)
-
-
-def _default_str(attr):
-  """Return the attribute default as an XSD default string, or None."""
-  d = attr.default
-  if d is None:
-    return None
-  if isinstance(d, tuple):
-    return ' '.join(_num(v) for v in d)
-  if isinstance(d, (int, float)):
-    return _num(d)
-  return str(d)
-
-
-class _Emitter:
-  """Accumulates the XSD document with shared simple types deduped."""
-
-  def __init__(self, schema):
-    self.schema = schema
-    self.dims = parse_dims()
-    self.lines = []
-    self.vector_types = {}   # type name -> definition lines
-    self.emitted = set()     # (element name, projected) complexTypes emitted
-    self.pending = []
-
-  def out(self, indent, text):
-    """Appends a line of text at the specified indentation level."""
-    self.lines.append(' ' * indent + text)
-
-  def doc(self, indent, texts):
-    """Emit an annotation block for the given documentation lines."""
-    texts = [t for t in texts if t]
-    if not texts:
-      return
-    self.out(indent, '<xs:annotation>')
-    for t in texts:
-      self.out(indent + 2, f'<xs:documentation>{escape(t)}</xs:documentation>')
-    self.out(indent, '</xs:annotation>')
-
-  def resolve(self, bound):
-    """Resolve an arity bound: int, mjN* macro name, or None."""
-    if isinstance(bound, str):
-      return self.dims[bound]
-    return bound
-
-  def vector_type(self, base, lo, hi):
-    """Return (and register) the named list type for a vector attribute."""
-    if hi is None:
-      name = f'{base}list'
-    elif lo == hi:
-      name = f'{base}{hi}'
-    else:
-      name = f'{base}{lo}to{hi}'
-    if name not in self.vector_types:
-      lines = [f'<xs:simpleType name="{name}">']
-      if hi is None and lo <= 1:
-        lines += [f'  <xs:list itemType="{SCALAR_XSD[base]}"/>']
-      else:
-        lines += ['  <xs:restriction>',
-                  '    <xs:simpleType>',
-                  f'      <xs:list itemType="{SCALAR_XSD[base]}"/>',
-                  '    </xs:simpleType>']
-        if lo == hi:
-          lines += [f'    <xs:length value="{hi}"/>']
-        else:
-          if lo > 0:
-            lines += [f'    <xs:minLength value="{lo}"/>']
-          if hi is not None:
-            lines += [f'    <xs:maxLength value="{hi}"/>']
-        lines += ['  </xs:restriction>']
-      lines += ['</xs:simpleType>']
-      self.vector_types[name] = lines
-    return name
-
-  def attr_type(self, attr, ctx):
-    """Return (type name or None, inline restriction lines) for an attribute.
-
-    A None type name with inline lines means the attribute carries an
-    anonymous simpleType restriction.
-    """
-    numeric_facets = [f for f in ('min', 'max', 'positive')
-                      if f in attr.facets or attr.facets.get(f)]
-    if attr.type == 'bool':
-      return 'kw_bool', []
-    if attr.type == 'enum':
-      return f'kw_{attr.target}', []
-    if attr.type == 'flags':
-      return f'kwlist_{attr.target}', []
-    if attr.type in ('string', 'file', 'ref', 'id'):
-      return 'xs:string', []
-    if attr.type == 'chars':
-      lo, hi = attr.arity.lo, attr.arity.hi
-      lines = ['<xs:simpleType>', '  <xs:restriction base="xs:string">']
-      if 'pattern' in attr.facets:
-        lines += [f'    <xs:pattern value="{escape(attr.facets["pattern"])}"/>']
-      elif lo == hi:
-        lines += [f'    <xs:length value="{hi}"/>']
-      else:
-        lines += [f'    <xs:minLength value="{lo}"/>',
-                  f'    <xs:maxLength value="{hi}"/>']
-      lines += ['  </xs:restriction>', '</xs:simpleType>']
-      return None, lines
-    # numeric scalars and vectors
-    base = SCALAR_XSD[attr.type]
-    lo, hi = attr.arity.lo, self.resolve(attr.arity.hi)
-    if (lo, hi) == (1, 1):
-      if not numeric_facets:
-        return base, []
-      lines = ['<xs:simpleType>', f'  <xs:restriction base="{base}">']
-      if 'min' in attr.facets:
-        lines += [f'    <xs:minInclusive value="{_num(attr.facets["min"])}"/>']
-      if 'max' in attr.facets:
-        lines += [f'    <xs:maxInclusive value="{_num(attr.facets["max"])}"/>']
-      if attr.facets.get('positive'):
-        lines += ['    <xs:minExclusive value="0"/>']
-      lines += ['  </xs:restriction>', '</xs:simpleType>']
-      return None, lines
-    if numeric_facets:
-      raise ValueError(f'{ctx}.{attr.name}: numeric facets on a vector '
-                       'attribute are not supported by the XSD emitter')
-    return self.vector_type(attr.type, lo, hi), []
-
-  def emit_attr(self, indent, attr, ctx):
-    """Emit one xs:attribute."""
-    tname, inline = self.attr_type(attr, ctx)
-    parts = [f'name="{attr.name}"']
-    if tname:
-      parts.append(f'type="{tname}"')
-    if attr.facets.get('required'):
-      parts.append('use="required"')
-    default = _default_str(attr)
-    if default is not None:
-      parts.append(f'default="{escape(default)}"')
-    head = f'<xs:attribute {" ".join(parts)}'
-    if not inline and not attr.doc:
-      self.out(indent, head + '/>')
-      return
-    self.out(indent, head + '>')
-    self.doc(indent + 2, [attr.doc])
-    for line in inline:
-      self.out(indent + 2, line)
-    self.out(indent, '</xs:attribute>')
-
-  def type_name(self, element_name, projected):
-    return f'default_{element_name}' if projected else element_name
-
-  def constraint_docs(self, element):
-    """Presence constraints as documentation lines (not XSD-expressible)."""
-    import generate_mjcf_table
-    docs = []
-    for con in generate_mjcf_table._element_constraints(self.schema, element):
-      bundles = ['+'.join(b) for b in con.bundles]
-      docs.append(f'constraint: {_CONSTRAINT_TEXT[con.kind]}: '
-                  f'{", ".join(bundles)}')
-    return docs
-
-  def emit_complex_type(self, name, projected):
-    """Emit the complexType for one schema element (possibly projected)."""
-    element = self.schema.elements[name]
-    tname = self.type_name(name, projected)
-    self.out(2, f'<xs:complexType name="{tname}">')
-    docs = [element.doc] if not projected else []
-    docs += self.constraint_docs(element)
-    cards = [f'{c.name} ({c.card})' for c in element.children()]
-    if cards:
-      docs.append('children, with cardinality the XSD cannot enforce '
-                  '(? at most one, ! exactly one, * any number, R recursive): '
-                  + ', '.join(cards))
-    self.doc(4, docs)
-
-    children = list(element.children())
-    if projected:
-      children = [c for c in children if c.name != 'plugin']
-    if children:
-      self.out(4, '<xs:choice minOccurs="0" maxOccurs="unbounded">')
-      for child in children:
-        target = self.schema.elements[child.name]
-        tag = target.xml_name()
-        if name == 'mujoco' and child.name == 'body':
-          # the top-level body is spelled worldbody (mjXSchema::NameMatch)
-          target = self.schema.elements['worldbody']
-          tag = 'worldbody'
-        child_projected = (projected or
-                           (name == 'default' and
-                            not child.name.startswith('default_') and
-                            child.name != 'default'))
-        ctype = self.type_name(target.name, child_projected)
-        self.out(6, f'<xs:element name="{tag}" type="{ctype}"/>')
-        self.queue(target.name, child_projected)
-      # the include directive is spliced before parsing and may appear
-      # anywhere; admit it in every content model
-      self.out(6, '<xs:element name="include" type="include"/>')
-      self.out(4, '</xs:choice>')
-
-    attrs = self.schema.expanded_attrs(element)
-    if projected:
-      attrs = [a for a in attrs
-               if a.name not in ('name', 'class')
-               and not a.facets.get('nodefault')]
-    for attr in attrs:
-      self.emit_attr(4, attr, tname)
-    self.out(2, '</xs:complexType>')
-    self.out(0, '')
-
-  def queue(self, name, projected):
-    """Enqueues an element name and projection flag for processing."""
-    self.pending.append((name, projected))
-
-  def generate(self):
-    """Return the complete XSD document as a string."""
-    schema = self.schema
-    self.out(0, '<?xml version="1.0" encoding="UTF-8"?>')
-    self.out(0, '<!-- Generated by generate_xsd.py from mjcf.schema.')
-    self.out(0, '     Do not edit by hand; see test/doc/doc_test.py.')
-    self.out(0, '')
-    self.out(0, '     This schema is deliberately permissive: it never')
-    self.out(0, '     rejects a legal model, but accepts some models the')
-    self.out(0, '     parser rejects. Child cardinality and attribute')
-    self.out(0, '     presence constraints are carried as documentation')
-    self.out(0, '     annotations. -->')
-    self.out(0, '<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">')
-    self.out(0, '')
-
-    # keyword simple types: bool, then one per schema enum
-    self.out(2, '<xs:simpleType name="kw_bool">')
-    self.out(4, '<xs:restriction base="xs:string">')
-    for kw in ('false', 'true'):
-      self.out(6, f'<xs:enumeration value="{kw}"/>')
-    self.out(4, '</xs:restriction>')
-    self.out(2, '</xs:simpleType>')
-    self.out(0, '')
-    flags_targets = set()
-    for element in schema.elements.values():
-      for attr in schema.expanded_attrs(element):
-        if attr.type == 'flags':
-          flags_targets.add(attr.target)
-    for enum in schema.enums.values():
-      self.out(2, f'<xs:simpleType name="kw_{enum.name}">')
-      self.doc(4, [enum.doc])
-      self.out(4, '<xs:restriction base="xs:string">')
-      for kw, _ in enum.items:
-        self.out(6, f'<xs:enumeration value="{escape(kw)}"/>')
-      self.out(4, '</xs:restriction>')
-      self.out(2, '</xs:simpleType>')
-      if enum.name in flags_targets:
-        self.out(2, f'<xs:simpleType name="kwlist_{enum.name}">')
-        self.out(4, f'<xs:list itemType="kw_{enum.name}"/>')
-        self.out(2, '</xs:simpleType>')
-      self.out(0, '')
-
-    # complexTypes, walked from the root so projections are discovered;
-    # vector simple types are collected on the way and emitted after
-    body_mark = len(self.lines)
-    self.pending = [('mujoco', False)]
-    while self.pending:
-      name, projected = self.pending.pop(0)
-      if (name, projected) in self.emitted:
-        continue
-      self.emitted.add((name, projected))
-      self.emit_complex_type(name, projected)
-
-    unreached = set(schema.elements) - {n for n, _ in self.emitted}
-    if unreached:
-      raise ValueError(f'elements unreachable from mujoco: {unreached}')
-
-    # the include directive: spliced before parsing, not part of mjcf.schema
-    self.out(2, '<xs:complexType name="include">')
-    self.doc(4, ['includes another MJCF file; resolved before parsing'])
-    self.out(4, '<xs:attribute name="file" type="xs:string" use="required"/>')
-    self.out(2, '</xs:complexType>')
-    self.out(0, '')
-
-    vec_lines = []
-    for tname in sorted(self.vector_types):
-      for line in self.vector_types[tname]:
-        vec_lines.append('  ' + line)
-      vec_lines.append('')
-    self.lines[body_mark:body_mark] = vec_lines
-
-    self.out(2, '<xs:element name="mujoco" type="mujoco"/>')
-    self.out(0, '</xs:schema>')
-    return '\n'.join(self.lines) + '\n'
-
-
-def generate():
-  """Generate the mjcf.xsd content as a string."""
-  schema = mjcf_schema.parse_file(SCHEMA_PATH)
-  return _Emitter(schema).generate()
-
-
-def main():
-  """CLI entry point: generate mjcf.xsd to stdout or a file."""
-  if len(sys.argv) > 2:
-    sys.exit('usage: generate_xsd.py [output.xsd]')
-  text = generate()
-  if len(sys.argv) == 2:
-    with open(sys.argv[1], 'w', encoding='utf-8') as f:
-      f.write(text)
-  else:
-    sys.stdout.write(text)
-  return 0
-
-
-if __name__ == '__main__':
-  sys.exit(main())
diff --git a/doc/generate/mjcf_schema.py b/doc/generate/mjcf_schema.py
deleted file mode 100644
index 169142c4..00000000
--- a/doc/generate/mjcf_schema.py
+++ /dev/null
@@ -1,765 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Parser for the MJCF schema definition language.
-
-The MJCF grammar is defined in a single hand-edited file (src/xml/mjcf.schema)
-written in a small declarative language. This module parses and validates that
-language and exposes the result as plain dataclasses, consumed by the
-generators in this directory.
-
-Grammar (see designs doc for rationale):
-
-  schema    := { decl }
-  decl      := enum | group | element
-  enum      := "enum" IDENT [":" IDENT] "{" { key "=" value } "}"
-  key       := IDENT | STRING             # XML keyword ("2d" needs quoting)
-  value     := IDENT | NUMBER             # C constant name or literal value
-  group     := "group" IDENT ["variant"] "{" { attr | use | constraint } "}"
-  element   := "element" IDENT [":" IDENT] ["(" facet {"," facet} ")"]
-               "{" { attr | use | child | const | constraint } "}"
-  const     := "set" IDENT "=" IDENT
-               (field takes the C constant when the element is read; states
-               what the element's identity implies, e.g. a sensor's type)
-  attr      := IDENT ":" type ["=" default] ["(" facet {"," facet} ")"]
-  type      := scalar ["[" [arity] "]"] | "enum" "<" IDENT ">"
-             | "flags" "<" IDENT ">" | "id" "<" IDENT ">" | "ref" "<" IDENT ">"
-  constraint:= verb bundle bundle { bundle }
-               verb := "exclusive" | "together" | "requires" | "oneof"
-               bundle := IDENT { "+" IDENT }
-               (presence constraints over attributes: exclusive = at most one
-               bundle present, together = all-or-none, requires a b = a needs
-               b, oneof = at least one bundle complete; a bundle is complete
-               when all its attributes appear)
-  scalar    := "double" | "float" | "int" | "bool" | "string" | "file"
-             | "chars"
-  arity     := NUMBER | NUMBER ".." NUMBER | NUMBER ".." IDENT
-  default   := NUMBER | STRING | IDENT | "{" NUMBER {"," NUMBER} "}"
-  facet     := IDENT ["=" (IDENT | STRING | NUMBER)]
-  child     := "child" IDENT card
-  card      := "?" | "!" | "*" | "R"
-  use       := "use" IDENT
-
-Names and references (the dm_control model, namespaces explicit): an
-attribute of type id<ns> declares a name in namespace `ns` (e.g. geom name);
-an attribute of type ref<ns> holds the name of an object in that namespace
-(e.g. an actuator's site). Namespaces exist by virtue of id declarations;
-a ref into a namespace nothing declares into is an error.
-"""
-
-import dataclasses
-import re
-import sys
-
-from typing import Any, Optional, Union
-
-# Facets accepted on attributes. Unknown facets are an error: forward
-# compatibility is explicit, not silent.
-KNOWN_FACETS = frozenset({'field', 'required', 'nodefault', 'pattern',
-                          'reading', 'writing', 'min', 'max', 'positive'})
-
-# Facets accepted on elements. Element names must be unique, but the same XML
-# tag means different elements in different contexts (joint under body,
-# equality, composite, tendon/fixed); 'xml' gives the tag when it differs from
-# the declaration name. 'alias' records the mjXSchema::NameMatch behavior of
-# tags validated against another element's row (worldbody, frame, replicate
-# all match body): the MJCF[] emitter skips aliased elements, the XSD emitter
-# declares them fully. 'field' names the sub-struct of the bound spec that
-# this element's attributes live in (the mjVisual sub-sections).
-ELEMENT_FACETS = frozenset({'xml', 'alias', 'field'})
-
-# 'file' is a string resolved against asset directories and the VFS
-# (the reader's ReadAttrFile); kept distinct for XSD/tooling and bindings.
-# 'bool' is a primitive whose XML keywords are exactly "true" and "false".
-# 'chars' is text bound to a fixed char array; its arity counts characters,
-# not space-separated tokens, and must be bounded.
-SCALAR_TYPES = frozenset({'double', 'float', 'int', 'bool', 'string',
-                          'file', 'chars'})
-
-CARDINALITIES = frozenset({'?', '!', '*', 'R'})
-
-
-class SchemaError(Exception):
-  """Parse or validation error, formatted as path:line: message."""
-
-  def __init__(self, path: str, line: int, message: str):
-    super().__init__(f'{path}:{line}: {message}')
-    self.path = path
-    self.line = line
-    self.message = message
-
-
-@dataclasses.dataclass
-class Arity:
-  """Token count of a vector attribute: exact, ranged, or unbounded.
-
-  `hi` is an int, a symbolic C constant name (e.g. 'mjNREF'), or None for
-  unbounded. Scalar attributes have arity (1, 1).
-  """
-  lo: int
-  hi: Union[int, str, None]
-
-  def is_scalar(self) -> bool:
-    return self.lo == 1 and self.hi == 1
-
-
-@dataclasses.dataclass
-class Attr:
-  """An attribute declaration in the MJCF schema."""
-  name: str
-  type: str                    # scalar name, 'enum' or 'ref'
-  target: Optional[str]        # enum or ref target name
-  arity: Arity
-  default: Union[None, float, str, tuple[float, ...]]
-  facets: dict[str, Union[bool, str, float]]
-  doc: Optional[str]
-  line: int
-
-
-@dataclasses.dataclass
-class Use:
-  """A `use` directive referencing a group in the MJCF schema."""
-  group: str
-  line: int
-
-
-@dataclasses.dataclass
-class Child:
-  """A child element declaration in the MJCF schema."""
-  name: str
-  card: str
-  doc: Optional[str]
-  line: int
-
-
-@dataclasses.dataclass
-class Const:
-  """A constant assignment (`set field = CONST`) in an element declaration."""
-  field: str      # bound C field
-  value: str      # C constant it takes
-  doc: Optional[str]
-  line: int
-
-
-@dataclasses.dataclass
-class Constraint:
-  """A presence constraint over attributes in the MJCF schema."""
-  kind: str                     # exclusive | together | requires | oneof
-  bundles: list[tuple[str, ...]]  # attribute bundles ('+'-joined in source)
-  doc: Optional[str]
-  line: int
-
-
-@dataclasses.dataclass
-class Group:
-  """An attribute group declaration in the MJCF schema."""
-  name: str
-  variant: bool
-  members: list[Union[Attr, Use, Constraint]]
-  doc: Optional[str]
-  line: int
-
-
-@dataclasses.dataclass
-class Element:
-  """An XML element declaration in the MJCF schema."""
-  name: str
-  spec: Optional[str]          # bound mjs struct name, e.g. 'mjsGeom'
-  facets: dict[str, Union[bool, str, float]]
-  members: list[Union[Attr, Use, Child, Const, Constraint]]
-  doc: Optional[str]
-  line: int
-
-  def children(self) -> list[Child]:
-    return [m for m in self.members if isinstance(m, Child)]
-
-  def consts(self) -> list[Const]:
-    return [m for m in self.members if isinstance(m, Const)]
-
-  def constraints(self) -> list[Constraint]:
-    return [m for m in self.members if isinstance(m, Constraint)]
-
-  def xml_name(self) -> str:
-    return str(self.facets.get('xml', self.name))
-
-
-@dataclasses.dataclass
-class Enum:
-  """An enum declaration in the MJCF schema."""
-  name: str
-  ctype: Optional[str]         # bound C enum type, e.g. 'mjtGeom'
-  items: list[tuple[str, str]]  # (xml keyword, C constant or literal)
-  doc: Optional[str]
-  line: int
-
-  def keywords(self) -> list[str]:
-    return [key for key, _ in self.items]
-
-
-@dataclasses.dataclass
-class Schema:
-  """Top-level parsed representation of an MJCF schema."""
-  enums: dict[str, Enum]
-  groups: dict[str, Group]
-  elements: dict[str, Element]
-  path: str
-
-  def expanded_attrs(self, element: Element) -> list[Attr]:
-    """Element's attributes with `use` groups expanded, in declaration order."""
-    out = []
-    for member in element.members:
-      if isinstance(member, Attr):
-        out.append(member)
-      elif isinstance(member, Use):
-        out.extend(self._group_attrs(member.group))
-    return out
-
-  def _group_attrs(self, name: str) -> list[Attr]:
-    out = []
-    for member in self.groups[name].members:
-      if isinstance(member, Attr):
-        out.append(member)
-      elif isinstance(member, Use):
-        out.extend(self._group_attrs(member.group))
-    return out
-
-
-#--------------------------------- lexer ---------------------------------------
-
-# NUMBER must not swallow the first dot of a '..' range: 0..3 lexes as
-# NUMBER(0) DOTDOT NUMBER(3) via the (?!\.) lookahead.
-_TOKEN_RE = re.compile(r"""
-    (?P<ws>[ \t]+)
-  | (?P<comment>\#[^\n]*)
-  | (?P<newline>\n)
-  | (?P<string>"[^"\n]*")
-  | (?P<number>-?(?:\d+(?:\.(?!\.)\d*)?|\.\d+)(?:[eE][+-]?\d+)?)
-  | (?P<dotdot>\.\.)
-  | (?P<ident>[A-Za-z_][A-Za-z0-9_]*)
-  | (?P<punct>[{}()\[\]<>:=,?!*+])
-""", re.VERBOSE)
-
-
-@dataclasses.dataclass
-class _Token:
-  kind: str    # 'string' | 'number' | 'dotdot' | 'ident' | punct char | 'eof'
-  value: str
-  line: int
-
-
-def _lex(text: str, path: str) -> tuple[list[_Token], dict[int, str]]:
-  """Returns tokens and a map of line number -> trailing comment text."""
-  tokens = []
-  comments = {}
-  line = 1
-  pos = 0
-  while pos < len(text):
-    match = _TOKEN_RE.match(text, pos)
-    if not match:
-      raise SchemaError(path, line, f'unexpected character {text[pos]!r}')
-    kind = match.lastgroup
-    value = match.group()
-    if kind == 'newline':
-      line += 1
-    elif kind == 'comment':
-      comments[line] = value[1:].strip()
-    elif kind == 'punct':
-      tokens.append(_Token(value, value, line))
-    elif kind != 'ws':
-      tokens.append(_Token(kind, value, line))  # pyrefly: ignore[bad-argument-type]
-    pos = match.end()
-  tokens.append(_Token('eof', '', line))
-  return tokens, comments
-
-
-#--------------------------------- parser --------------------------------------
-
-
-class _Parser:
-  """Recursive-descent parser over the token stream."""
-
-  def __init__(self, text: str, path: str):
-    self.path = path
-    self.tokens, self.comments = _lex(text, path)
-    self.pos = 0
-
-  def error(self, message: str, line: Optional[int] = None) -> SchemaError:
-    return SchemaError(self.path, line or self.peek().line, message)
-
-  def peek(self) -> _Token:
-    return self.tokens[self.pos]
-
-  def next(self) -> _Token:
-    token = self.tokens[self.pos]
-    self.pos += 1
-    return token
-
-  def expect(self, kind: str) -> _Token:
-    token = self.next()
-    if token.kind != kind:
-      raise self.error(f'expected {kind!r}, got {token.value!r}',
-                       line=token.line)
-    return token
-
-  def accept(self, kind: str, value: Optional[str] = None) -> Optional[_Token]:
-    token = self.peek()
-    if token.kind == kind and (value is None or token.value == value):
-      return self.next()
-    return None
-
-  def doc_for(self, line: int) -> Optional[str]:
-    return self.comments.get(line)
-
-  def parse(self) -> Schema:
-    """Parses the token stream into a Schema dataclass."""
-    schema = Schema(enums={}, groups={}, elements={},
-                    path=self.path)
-    while self.peek().kind != 'eof':
-      token = self.expect('ident')
-      if token.value == 'enum':
-        enum = self.parse_enum(token.line)
-        self.declare(schema.enums, enum.name, 'enum', token.line)
-        schema.enums[enum.name] = enum
-      elif token.value == 'group':
-        group = self.parse_group(token.line)
-        self.declare(schema.groups, group.name, 'group', token.line)
-        schema.groups[group.name] = group
-      elif token.value == 'element':
-        element = self.parse_element(token.line)
-        self.declare(schema.elements, element.name, 'element', token.line)
-        schema.elements[element.name] = element
-      else:
-        raise self.error(
-            f"expected 'enum', 'group' or 'element', "
-            f'got {token.value!r}', line=token.line)
-    return schema
-
-  def declare(self, table: dict[str, Any], name: str, what: str, line: int):
-    """Ensures declaration names are unique within a table."""
-    if name in table:
-      raise self.error(f'duplicate {what} {name!r} '
-                       f'(first declared on line {table[name].line})',
-                       line=line)
-
-  def parse_enum(self, line: int) -> Enum:
-    """Parses an enum declaration."""
-    name = self.expect('ident').value
-    ctype = self.expect('ident').value if self.accept(':') else None
-    doc = self.doc_for(line)
-    self.expect('{')
-    items = []
-    seen = {}
-    while not self.accept('}'):
-      key_token = self.next()
-      if key_token.kind == 'string':
-        key = key_token.value.strip('"')
-      elif key_token.kind == 'ident':
-        key = key_token.value
-      else:
-        raise self.error(f'expected enum keyword, got {key_token.value!r}',
-                         line=key_token.line)
-      if key in seen:
-        raise self.error(f'duplicate enum keyword {key!r}',
-                         line=key_token.line)
-      seen[key] = key_token.line
-      self.expect('=')
-      value_token = self.next()
-      if value_token.kind not in ('ident', 'number'):
-        raise self.error(f'expected C constant or number, '
-                         f'got {value_token.value!r}', line=value_token.line)
-      items.append((key, value_token.value))
-    if not items:
-      raise self.error(f'enum {name!r} is empty', line=line)
-    return Enum(name=name, ctype=ctype, items=items, doc=doc, line=line)
-
-  def parse_group(self, line: int) -> Group:
-    """Parses a group declaration."""
-    name = self.expect('ident').value
-    variant = bool(self.accept('ident', 'variant'))
-    doc = self.doc_for(line)
-    self.expect('{')
-    members = []
-    while not self.accept('}'):
-      members.append(self.parse_member(allow_child=False))
-    if not members:
-      raise self.error(f'group {name!r} is empty', line=line)
-    return Group(name=name, variant=variant, members=members, doc=doc,
-                 line=line)
-
-  def parse_element(self, line: int) -> Element:
-    """Parses an element declaration."""
-    name = self.expect('ident').value
-    spec = self.expect('ident').value if self.accept(':') else None
-    facets = self.parse_facets(ELEMENT_FACETS) if self.accept('(') else {}
-    doc = self.doc_for(line)
-    self.expect('{')
-    members = []
-    while not self.accept('}'):
-      members.append(self.parse_member(allow_child=True))
-    return Element(name=name, spec=spec, facets=facets, members=members,
-                   doc=doc, line=line)
-
-  CONSTRAINT_VERBS = frozenset({'exclusive', 'together', 'requires', 'oneof'})
-
-  def parse_member(self, allow_child: bool) -> Union[Attr, Use, Child, Const,
-                                                     Constraint]:
-    """Parses a member of a group or element."""
-    token = self.expect('ident')
-    if token.value == 'use':
-      return Use(group=self.expect('ident').value, line=token.line)
-    if token.value in self.CONSTRAINT_VERBS and self.peek().kind == 'ident':
-      # constraints are single-line constructs
-      bundles = []
-      while self.peek().kind == 'ident' and self.peek().line == token.line:
-        bundle = [self.expect('ident').value]
-        while self.accept('+'):
-          bundle.append(self.expect('ident').value)
-        bundles.append(tuple(bundle))
-      if len(bundles) < 2:
-        raise self.error(f'{token.value!r} needs at least two attributes',
-                         line=token.line)
-      return Constraint(kind=token.value, bundles=bundles,
-                        doc=self.doc_for(token.line), line=token.line)
-    if token.value == 'set':
-      if not allow_child:
-        raise self.error("'set' is not allowed in a group", line=token.line)
-      field = self.expect('ident').value
-      self.expect('=')
-      value = self.expect('ident').value
-      return Const(field=field, value=value, doc=self.doc_for(token.line),
-                   line=token.line)
-    if token.value == 'child':
-      if not allow_child:
-        raise self.error("'child' is not allowed in a group", line=token.line)
-      name = self.expect('ident').value
-      card = self.next()
-      if card.value not in CARDINALITIES:
-        raise self.error(f'expected cardinality (? ! * R), '
-                         f'got {card.value!r}', line=card.line)
-      return Child(name=name, card=card.value, doc=self.doc_for(token.line),
-                   line=token.line)
-    return self.parse_attr(token)
-
-  def parse_attr(self, name_token: _Token) -> Attr:
-    """Parses an attribute declaration."""
-    line = name_token.line
-    self.expect(':')
-    attr_type, target, arity = self.parse_type()
-    default = self.parse_default() if self.accept('=') else None
-    facets = self.parse_facets() if self.accept('(') else {}
-    return Attr(name=name_token.value, type=attr_type, target=target,
-                arity=arity, default=default, facets=facets,
-                doc=self.doc_for(line), line=line)
-
-  def parse_type(self) -> tuple[str, Optional[str], Arity]:
-    """Parses an attribute type declaration."""
-    token = self.expect('ident')
-    if token.value in ('enum', 'flags', 'ref', 'id'):
-      self.expect('<')
-      target = self.expect('ident').value
-      self.expect('>')
-      return token.value, target, Arity(1, 1)
-    if token.value not in SCALAR_TYPES:
-      raise self.error(f'unknown type {token.value!r}', line=token.line)
-    return token.value, None, self.parse_arity()
-
-  def parse_arity(self) -> Arity:
-    """Parses attribute arity specification."""
-    if not self.accept('['):
-      return Arity(1, 1)
-    if self.accept(']'):
-      return Arity(0, None)  # unbounded
-    lo_token = self.expect('number')
-    lo = self.parse_int(lo_token)
-    if not self.accept('dotdot'):
-      self.expect(']')
-      return Arity(lo, lo)
-    hi_token = self.next()
-    if hi_token.kind == 'number':
-      hi = self.parse_int(hi_token)
-      if hi <= lo:
-        raise self.error(f'arity range [{lo}..{hi}] is not increasing',
-                         line=hi_token.line)
-    elif hi_token.kind == 'ident':
-      hi = hi_token.value  # symbolic bound, e.g. mjNREF
-    else:
-      raise self.error(f'expected arity bound, got {hi_token.value!r}',
-                       line=hi_token.line)
-    self.expect(']')
-    return Arity(lo, hi)
-
-  def parse_int(self, token: _Token) -> int:
-    """Parses an integer value from a token."""
-    try:
-      value = int(token.value)
-    except ValueError:
-      raise self.error(f'expected integer, got {token.value!r}',
-                       line=token.line) from None
-    if value < 0:
-      raise self.error('arity may not be negative', line=token.line)
-    return value
-
-  def parse_default(self) -> Union[float, str, tuple[float, ...]]:
-    """Parses default value for an attribute."""
-    token = self.next()
-    if token.kind == 'number':
-      return float(token.value)
-    if token.kind == 'string':
-      return token.value.strip('"')
-    if token.kind == 'ident':
-      return token.value  # enum keyword
-    if token.kind == '{':
-      values = [float(self.expect('number').value)]
-      while self.accept(','):
-        values.append(float(self.expect('number').value))
-      self.expect('}')
-      return tuple(values)
-    raise self.error(f'expected default value, got {token.value!r}',
-                     line=token.line)
-
-  def parse_facets(self, known=KNOWN_FACETS) -> dict[str, Union[bool, str,
-                                                                float]]:
-    """Parses attribute or element facets."""
-    facets = {}
-    while True:
-      token = self.expect('ident')
-      if token.value not in known:
-        raise self.error(f'unknown facet {token.value!r}', line=token.line)
-      if token.value in facets:
-        raise self.error(f'duplicate facet {token.value!r}', line=token.line)
-      if self.accept('='):
-        value_token = self.next()
-        if value_token.kind == 'string':
-          facets[token.value] = value_token.value.strip('"')
-        elif value_token.kind == 'ident':
-          facets[token.value] = value_token.value
-        elif value_token.kind == 'number':
-          facets[token.value] = float(value_token.value)
-        else:
-          raise self.error(f'expected facet value, got {value_token.value!r}',
-                           line=value_token.line)
-      else:
-        facets[token.value] = True
-      if self.accept(')'):
-        return facets
-      self.expect(',')
-
-
-#------------------------------- validation ------------------------------------
-
-
-def _validate(schema: Schema):
-  """Semantic checks; raises SchemaError on the first violation."""
-  path = schema.path
-
-  def err(line: int, message: str):
-    raise SchemaError(path, line, message)
-
-  # group use graph: dangling targets and cycles
-  for group in schema.groups.values():
-    _check_group_cycle(schema, group.name, [], group.line)
-  for group in schema.groups.values():
-    member_names = {m.name for m in group.members
-                    if isinstance(m, Attr)}
-    for con in [m for m in group.members if isinstance(m, Constraint)]:
-      for bundle in con.bundles:
-        for name in bundle:
-          if name not in member_names:
-            err(con.line, f'constraint references unknown attribute {name!r}')
-    if group.variant:
-      for member in group.members:
-        if isinstance(member, Use):
-          err(member.line,
-              f"variant group {group.name!r} may not contain 'use'")
-        elif isinstance(member, Attr) and member.facets.get('required'):
-          err(member.line, f'attribute {member.name!r} in variant group '
-              f'{group.name!r} may not be required')
-
-  containers = list(schema.groups.values()) + list(schema.elements.values())
-  for container in containers:
-    for member in container.members:
-      if isinstance(member, Use) and member.group not in schema.groups:
-        err(member.line, f'use of undeclared group {member.group!r}')
-
-  # namespaces exist by virtue of id<ns> declarations
-  namespaces = set()
-  for container in containers:
-    for member in container.members:
-      if isinstance(member, Attr) and member.type == 'id':
-        namespaces.add(member.target)
-
-  for element in schema.elements.values():
-    # element facets
-    for facet in ('xml', 'alias'):
-      if facet in element.facets and not isinstance(element.facets[facet], str):
-        err(element.line, f'element facet {facet!r} requires a name')
-    alias = element.facets.get('alias')
-    if alias is not None and alias not in schema.elements:
-      err(element.line,
-          f'alias references undeclared element {alias!r}')
-
-    # children: dangling targets and duplicates
-    seen_children = set()
-    for child in element.children():
-      if child.name not in schema.elements:
-        err(child.line, f'child references undeclared element {child.name!r}')
-      if child.name in seen_children:
-        err(child.line, f'duplicate child {child.name!r}')
-      seen_children.add(child.name)
-
-    # attributes: duplicates across direct and use-expanded members
-    seen_attrs = {}
-    for attr in schema.expanded_attrs(element):
-      if attr.name in seen_attrs:
-        err(attr.line if attr.line > seen_attrs[attr.name] else element.line,
-            f'duplicate attribute {attr.name!r} in element {element.name!r} '
-            f'(directly or via use)')
-      seen_attrs[attr.name] = attr.line
-
-    # constraints reference the element's own (expanded) attributes
-    for con in element.constraints():
-      for bundle in con.bundles:
-        for name in bundle:
-          if name not in seen_attrs:
-            err(con.line, f'constraint references unknown attribute {name!r}')
-      if con.kind == 'requires' and (
-          len(con.bundles) != 2 or any(len(b) != 1 for b in con.bundles)):
-        err(con.line, "'requires' takes exactly two attributes")
-
-  # per-attribute checks, wherever the attribute is declared
-  for container in containers:
-    for attr in container.members:
-      if isinstance(attr, Attr):
-        _validate_attr(schema, attr, namespaces)
-
-
-def _check_group_cycle(schema: Schema, name: str, stack: list[str], line: int):
-  """Recursively checks for cycles in group `use` references."""
-  if name in stack:
-    cycle = ' -> '.join(stack + [name])
-    raise SchemaError(schema.path, line, f'group use cycle: {cycle}')
-  group = schema.groups.get(name)
-  if group is None:
-    return  # dangling use is reported separately with its own line
-  for member in group.members:
-    if isinstance(member, Use):
-      _check_group_cycle(schema, member.group, stack + [name], member.line)
-
-
-def _validate_attr(schema: Schema, attr: Attr, namespaces: set[str]):
-  """Validates semantic constraints for a single attribute."""
-  path = schema.path
-
-  def err(message: str):
-    raise SchemaError(path, attr.line, message)
-
-  # target existence
-  if attr.type in ('enum', 'flags') and attr.target not in schema.enums:
-    err(f'attribute {attr.name!r} references undeclared enum {attr.target!r}')
-  if attr.type == 'ref' and attr.target not in namespaces:
-    err(f'attribute {attr.name!r} references namespace {attr.target!r}, '
-        f'which no id<{attr.target}> declares')
-
-  # arity restrictions
-  if attr.type in ('file', 'bool') and not attr.arity.is_scalar():
-    err(f'{attr.type} attribute {attr.name!r} may not be a vector')
-  if attr.type == 'chars' and not isinstance(attr.arity.hi, int):
-    err(f'chars attribute {attr.name!r} must declare a bounded length')
-
-  # facet payloads
-  if 'pattern' in attr.facets and attr.type not in ('string', 'chars'):
-    err("facet 'pattern' requires a text attribute")
-  numeric = attr.type in ('double', 'float', 'int')
-  for facet in ('min', 'max'):
-    if facet in attr.facets and not (
-        numeric and isinstance(attr.facets[facet], (int, float))):
-      err(f'facet {facet!r} requires a numeric attribute and value')
-  if 'min' in attr.facets and 'max' in attr.facets:
-    if attr.facets['min'] > attr.facets['max']:  # pyrefly: ignore[unsupported-operation]
-      err("facet 'min' cannot be greater than 'max'")
-  if attr.facets.get('positive') and not numeric:
-    err("facet 'positive' requires a numeric attribute")
-  if attr.facets.get('required') and attr.default is not None:
-    err(f'attribute {attr.name!r} is required and has a default')
-
-  # defaults
-  if attr.default is None:
-    return
-  if attr.type == 'enum':
-    if not isinstance(attr.default, str):
-      err(f'default for enum attribute {attr.name!r} must be a keyword')
-    keywords = schema.enums[attr.target].keywords()  # pyrefly: ignore[bad-index]
-    if attr.default not in keywords:
-      err(f'default {attr.default!r} is not a keyword of enum '
-          f'{attr.target!r}')
-    return
-  if attr.type in ('ref', 'id', 'chars'):
-    err(f'{attr.type} attribute {attr.name!r} may not have a default')
-  if attr.type == 'bool':
-    if attr.default not in ('true', 'false'):
-      err(f'default for bool attribute {attr.name!r} must be true or false')
-    return
-  if attr.type in ('string', 'file'):
-    if not isinstance(attr.default, str):
-      err(f'default for {attr.type} attribute {attr.name!r} must be a string')
-    return
-  # numeric scalars and vectors
-  if isinstance(attr.default, str):
-    err(f'default for numeric attribute {attr.name!r} must be numeric')
-  n = len(attr.default) if isinstance(attr.default, tuple) else 1
-  lo, hi = attr.arity.lo, attr.arity.hi
-  if isinstance(attr.default, tuple) and attr.arity.is_scalar():
-    err(f'vector default for scalar attribute {attr.name!r}')
-  if n < lo:
-    err(f'default for {attr.name!r} has {n} values, arity requires '
-        f'at least {lo}')
-  if isinstance(hi, int) and n > hi:
-    err(f'default for {attr.name!r} has {n} values, arity allows '
-        f'at most {hi}')
-
-
-#--------------------------------- entry points --------------------------------
-
-
-def parse_string(text: str, path: str = '<string>') -> Schema:
-  """Parses an MJCF schema from a string."""
-  schema = _Parser(text, path).parse()
-  _validate(schema)
-  return schema
-
-
-def parse_file(path: str) -> Schema:
-  """Parses an MJCF schema from a file path."""
-  with open(path, 'r', encoding='utf-8') as file:
-    return parse_string(file.read(), path)
-
-
-def main() -> int:
-  """CLI entry point for checking an MJCF schema file."""
-  if len(sys.argv) != 2:
-    sys.exit(f'usage: {sys.argv[0]} <mjcf.schema>')
-  try:
-    schema = parse_file(sys.argv[1])
-  except SchemaError as error:
-    sys.exit(str(error))
-  n_attrs = sum(len(schema.expanded_attrs(e))
-                for e in schema.elements.values())
-  print(f'{sys.argv[1]}: '
-        f'{len(schema.elements)} elements, {len(schema.groups)} groups, '
-        f'{len(schema.enums)} enums, {n_attrs} attributes')
-  return 0
-
-
-if __name__ == '__main__':
-  sys.exit(main())
diff --git a/doc/images/APIreference/arrowhead.svg b/doc/images/APIreference/arrowhead.svg
deleted file mode 100644
index 5a98995c..00000000
--- a/doc/images/APIreference/arrowhead.svg
+++ /dev/null
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@@ -1,54 +0,0 @@
-..
-   Macros for adding non-breaking spaces for indentation.
-
-.. |_| unicode:: 0xA0 0xA0
-   :trim:
-
-.. |_2| unicode:: 0xA0 0xA0 0xA0 0xA0
-   :trim:
-
-.. |_3| unicode:: 0xA0 0xA0 0xA0 0xA0 0xA0 0xA0
-   :trim:
-
-.. |_4| unicode:: 0xA0 0xA0 0xA0 0xA0 0xA0 0xA0 0xA0 0xA0
-   :trim:
-
-..
-   Macro for L shaped arrow
-
-.. |L| unicode:: 0x21B3  0xA0
-   :trim:
-
-..
-   Macro for injecting a custom line break.
-
-.. |br| raw:: html
-
-  <br/>
-
-..
-   Macro for unicode word-joiner character.
-
-.. |-| unicode:: U+2060
-   :trim:
-
-..
-   Macro for icon for required element, can appear only once.
-
-.. |!| replace:: :octicon:`star`
-
-..
-   Macro for icon for optional element, can appear only once.
-
-.. |?| replace:: :octicon:`dot`
-
-..
-   Macro for icon for optional element, can appear multiple times (no icon).
-
-.. |*| unicode:: U+200B
-   :trim:
-
-..
-   Macro for icon for optional element that can appear recursively.
-
-.. |@| replace:: :octicon:`sync`
diff --git a/doc/includes/references.h b/doc/includes/references.h
deleted file mode 100644
index 497f754a..00000000
--- a/doc/includes/references.h
+++ /dev/null
@@ -1,4131 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-// Error: C reference not found
-// NOLINTBEGIN
-
-typedef struct mjPreContact_ {     // contact parameters set by narrowphase collision functions
-  mjtNum dist;
-  mjtNum pos[3];
-  mjtNum normal[3];                // contact normal of the collision
-  mjtNum tangent[3];               // first tangent direction
-} mjPreContact;
-typedef struct mjContact_ {        // result of collision detection functions
-  // contact parameters set by narrowphase collision function
-  mjtNum  dist;                    // distance between nearest points; neg: penetration
-  mjtNum  pos[3];                  // position of contact point: midpoint between geoms
-  mjtNum  frame[9];                // normal is in [0-2], points from geom[0] to geom[1]
-
-  // contact parameters set by mj_collideGeoms
-  mjtNum  includemargin;           // margin for force generation
-  mjtNum  friction[5];             // tangent1, 2, spin, roll1, 2
-  mjtNum  solref[mjNREF];          // constraint solver reference, normal direction
-  mjtNum  solreffriction[mjNREF];  // constraint solver reference, friction directions
-  mjtNum  solimp[mjNIMP];          // constraint solver impedance
-  mjtNum  adhesion;                // adhesive force along the contact normal
-
-  // internal storage used by solver
-  mjtNum  mu;                      // friction of regularized cone, set by mj_makeConstraint
-  mjtNum  H[36];                   // cone Hessian, set by mj_constraintUpdate
-
-  // contact descriptors set by mj_collideXXX
-  int     dim;                     // contact space dimensionality: 1, 3, 4 or 6
-  int     geom1;                   // id of geom 1; deprecated, use geom[0]
-  int     geom2;                   // id of geom 2; deprecated, use geom[1]
-  int     geom[2];                 // geom ids; -1 for flex
-  int     flex[2];                 // flex ids; -1 for geom
-  int     elem[2];                 // element ids; -1 for geom or flex vertex
-  int     vert[2];                 // vertex ids;  -1 for geom or flex element
-
-  // flag set by mj_setContact or mj_instantiateContact
-  int     exclude;                 // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive
-
-  // address computed by mj_instantiateContact
-  int     efc_address;             // address in efc; -1: not included
-} mjContact;
-typedef struct mjWarningStat_ {  // warning statistics
-  int     lastinfo;              // info from last warning
-  int     number;                // how many times was warning raised
-} mjWarningStat;
-typedef struct mjTimerStat_ {  // timer statistics
-  mjtNum  duration;            // cumulative duration
-  int     number;              // how many times was timer called
-} mjTimerStat;
-typedef struct mjSolverStat_ {  // per-iteration solver statistics
-  mjtNum  improvement;          // cost reduction, scaled by 1/trace(M(qpos0))
-  mjtNum  gradient;             // gradient norm (primal only, scaled)
-  mjtNum  lineslope;            // slope in linesearch
-  int     nactive;              // number of active constraints
-  int     nchange;              // number of constraint state changes
-  int     neval;                // number of cost evaluations in line search
-  int     nupdate;              // number of Cholesky updates in line search
-} mjSolverStat;
-typedef struct mjData_ {
-  // constant sizes
-  mjtSize narena;            // size of the arena in bytes (inclusive of the stack)
-  mjtSize nbuffer;           // size of main buffer in bytes
-  int     nplugin;           // number of plugin instances
-
-  // stack pointer
-  size_t  pstack;            // first available byte in stack (mutable)
-  size_t  pbase;             // value of pstack when mj_markStack was last called (mutable)
-
-  // arena pointer
-  size_t  parena;            // first available byte in arena
-
-  // threading
-  uintptr_t threadpool;      // thread pool pointer
-  mjtBool threadlock;        // disable stack freeing during threaded execution
-
-  // memory utilization statistics
-  mjtSize maxuse_stack;                       // maximum stack allocation in bytes (mutable)
-  mjtSize maxuse_arena;                       // maximum arena allocation in bytes
-  int     maxuse_con;                         // maximum number of contacts
-  int     maxuse_efc;                         // maximum number of scalar constraints
-
-  // solver statistics
-  mjSolverStat  solver[mjNISLAND*mjNSOLVER];  // solver statistics per island, per iteration
-  int           solver_niter[mjNISLAND];      // number of solver iterations, per island
-  int           solver_nnz[mjNISLAND];        // number of nonzeros in solver matrix, per island
-  mjtNum        solver_fwdinv[2];             // forward-inverse comparison: qfrc, efc
-
-  // diagnostics
-  mjWarningStat warning[mjNWARNING];          // warning statistics (mutable)
-  mjTimerStat   timer[mjNTIMER];              // timer statistics
-
-  // variable sizes
-  int     ncon;              // number of detected contacts
-  int     ne;                // number of equality constraints
-  int     nf;                // number of friction constraints
-  int     nl;                // number of limit constraints
-  int     nefc;              // number of constraints
-  int     nJ;                // number of non-zeros in constraint Jacobian
-  int     efm_active;        // implicit effective metric M+K is active (see mjd_effBuild)
-  int     nefmK;             // number of non-zeros in effective-stiffness CSR
-  int     nefmdof;           // number of 3x3 blocks in the effective-metric preconditioner
-  int     nefmL;             // size of the effective-metric block storage (9*nefmdof)
-  int     nY;                // number of non-zeros in constraint inverse inertia square root
-  int     nA;                // number of non-zeros in constraint inverse inertia matrix
-  int     nisland;           // number of detected constraint islands
-  int     nidof;             // number of dofs in all islands
-  int     ntree_awake;       // number of awake trees
-  int     nbody_awake;       // number of awake dynamic and static bodies
-  int     nparent_awake;     // number of bodies with awake parents
-  int     nv_awake;          // number of awake dofs
-
-  // flags marking lazily evaluated stages
-  mjtBool flg_energypos;     // has mj_energyPos been called
-  mjtBool flg_energyvel;     // has mj_energyVel been called
-  mjtBool flg_subtreevel;    // has mj_subtreeVel been called
-  mjtBool flg_rnepost;       // has mj_rnePostConstraint been called
-
-  // global properties
-  mjtNum  time;              // simulation time
-  mjtNum  energy[2];         // potential, kinetic energy
-
-  //-------------------- end of info header
-
-  // buffers
-  void*   buffer;            // main buffer; all pointers point in it            (nbuffer bytes)
-  void*   arena;             // arena+stack buffer                               (narena bytes)
-
-  //-------------------- main inputs and outputs of the computation
-
-  // state
-  mjtNum* qpos;              // position                                         (nq x 1)
-  mjtNum* qvel;              // velocity                                         (nv x 1)
-  mjtNum* act;               // actuator activation                              (na x 1)
-  mjtNum* history;           // history buffer                                   (nhistory x 1)
-  mjtNum* qacc_warmstart;    // acceleration used for warmstart                  (nv x 1)
-  mjtNum* plugin_state;      // plugin state                                     (npluginstate x 1)
-
-  // control
-  mjtNum* ctrl;              // control                                          (nu x 1)
-  mjtNum* qfrc_applied;      // applied generalized force                        (nv x 1)
-  mjtNum* xfrc_applied;      // applied Cartesian force/torque                   (nbody x 6)
-  mjtBool* eq_active;        // enable/disable constraints                       (neq x 1)
-
-  // mocap data
-  mjtNum* mocap_pos;         // positions of mocap bodies                        (nmocap x 3)
-  mjtNum* mocap_quat;        // orientations of mocap bodies                     (nmocap x 4)
-
-  // dynamics
-  mjtNum* qacc;              // acceleration                                     (nv x 1)
-  mjtNum* act_dot;           // time-derivative of actuator activation           (na x 1)
-
-  // user data
-  mjtNum* userdata;          // user data, not touched by engine                 (nuserdata x 1)
-
-  // sensors
-  mjtNum* sensordata;        // sensor data array                                (nsensordata x 1)
-
-  // sleep state
-  int*    tree_asleep;       // <0: awake; >=0: index cycle of sleeping trees    (ntree x 1)
-
-  // plugins
-  int*       plugin;         // copy of m->plugin, required for deletion         (nplugin x 1)
-  uintptr_t* plugin_data;    // pointer to plugin-managed data structure         (nplugin x 1)
-
-  //-------------------- POSITION dependent
-
-  // computed by mj_fwdPosition/mj_kinematics
-  mjtNum* xpos;              // Cartesian position of body frame                 (nbody x 3)
-  mjtNum* xquat;             // Cartesian orientation of body frame              (nbody x 4)
-  mjtNum* xmat;              // Cartesian orientation of body frame              (nbody x 9)
-  mjtNum* xipos;             // Cartesian position of body com                   (nbody x 3)
-  mjtNum* ximat;             // Cartesian orientation of body inertia            (nbody x 9)
-  mjtNum* xanchor;           // Cartesian position of joint anchor               (njnt x 3)
-  mjtNum* xaxis;             // Cartesian joint axis                             (njnt x 3)
-  mjtNum* geom_xpos;         // Cartesian geom position                          (ngeom x 3)
-  mjtNum* geom_xmat;         // Cartesian geom orientation                       (ngeom x 9)
-  mjtNum* site_xpos;         // Cartesian site position                          (nsite x 3)
-  mjtNum* site_xmat;         // Cartesian site orientation                       (nsite x 9)
-  mjtNum* cam_xpos;          // Cartesian camera position                        (ncam x 3)
-  mjtNum* cam_xmat;          // Cartesian camera orientation                     (ncam x 9)
-  mjtNum* light_xpos;        // Cartesian light position                         (nlight x 3)
-  mjtNum* light_xdir;        // Cartesian light direction                        (nlight x 3)
-
-  // computed by mj_fwdPosition/mj_comPos
-  mjtNum* subtree_com;       // center of mass of each subtree                   (nbody x 3)
-  mjtNum* cdof;              // com-based motion axis of each dof (rot:lin)      (nv x 6)
-  mjtNum* cinert;            // com-based body inertia and mass                  (nbody x 10)
-
-  // computed by mj_fwdPosition/mj_flex
-  mjtNum* flexvert_xpos;     // Cartesian flex vertex positions                  (nflexvert x 3)
-  mjtNum* flexelem_aabb;     // flex element bounding boxes (center, size)       (nflexelem x 6)
-  mjtNum* flexelem_krot;     // corotated element stiffness (implicit only)      (nflexstiffness x 1)
-  mjtNum* flexedge_J;        // flex edge Jacobian                               (nJfe x 1)
-  mjtNum* flexedge_length;   // flex edge lengths                                (nflexedge x 1)
-  mjtNum* flexvert_J;        // flex vertex Jacobian                             (nJfv x 2)
-  mjtNum* flexvert_length;   // flex vertex lengths                              (nflexvert x 2)
-  mjtNum* bvh_aabb_dyn;      // global bounding box (center, size)               (nbvhdynamic x 6)
-
-  // computed by mj_fwdPosition/mj_tendon
-  int*    ten_wrapadr;       // start address of tendon's path                   (ntendon x 1)
-  int*    ten_wrapnum;       // number of wrap points in path                    (ntendon x 1)
-  mjtNum* ten_J;             // tendon Jacobian                                  (nJten x 1)
-  mjtNum* ten_length;        // tendon lengths                                   (ntendon x 1)
-  int*    wrap_obj;          // geom id; -1: site; -2: pulley                    (nwrap x 2)
-  mjtNum* wrap_xpos;         // Cartesian 3D points in all paths                 (nwrap x 6)
-
-  // computed by mj_fwdPosition/mj_transmission
-  mjtNum* actuator_length;   // actuator lengths, one per force output           (nout x 1)
-  int*    moment_rownnz;     // number of non-zeros in actuator_moment row       (nout x 1)
-  int*    moment_rowadr;     // row start address in colind array                (nout x 1)
-  int*    moment_colind;     // column indices in sparse Jacobian                (nJmom x 1)
-  mjtNum* actuator_moment;   // actuator moments                                 (nJmom x 1)
-
-  // computed by mj_fwdPosition/mj_makeM
-  mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
-  mjtNum* M;                 // inertia (sparse)                                 (nC x 1)
-
-  // computed by mj_fwdPosition/mj_factorM
-  mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
-  mjtNum* qLDiagInv;         // 1/diag(D)                                        (nv x 1)
-
-  // computed by mj_collision/mj_collideTree
-  mjtBool* bvh_active;       // was bounding volume checked for collision        (nbvh x 1)
-
-  // computed by mj_updateSleep
-  int*    tree_awake;        // is tree awake; 0: asleep; 1: awake               (ntree x 1)
-  int*    body_awake;        // body sleep state (mjtSleepState)                 (nbody x 1)
-  int*    body_awake_ind;    // indices of awake and static bodies               (nbody x 1)
-  int*    parent_awake_ind;  // indices of bodies with awake or static parents   (nbody x 1)
-  int*    dof_awake_ind;     // indices of awake dofs                            (nv x 1)
-
-  //-------------------- POSITION, VELOCITY dependent
-
-  // computed by mj_fwdVelocity
-  mjtNum* flexedge_velocity; // flex edge velocities                             (nflexedge x 1)
-  mjtNum* ten_velocity;      // tendon velocities                                (ntendon x 1)
-  mjtNum* actuator_velocity; // actuator velocities, one per force output        (nout x 1)
-
-  // computed by mj_fwdVelocity/mj_comVel
-  mjtNum* cvel;              // com-based velocity (rot:lin)                     (nbody x 6)
-  mjtNum* cdof_dot;          // time-derivative of cdof (rot:lin)                (nv x 6)
-
-  // computed by mj_fwdVelocity/mj_rne (without acceleration)
-  mjtNum* qfrc_bias;         // C(qpos,qvel)                                     (nv x 1)
-
-  // computed by mj_fwdVelocity/mj_passive
-  mjtNum* qfrc_spring;       // passive spring force                             (nv x 1)
-  mjtNum* qfrc_damper;       // passive damper force                             (nv x 1)
-  mjtNum* qfrc_gravcomp;     // passive gravity compensation force               (nv x 1)
-  mjtNum* qfrc_fluid;        // passive fluid force                              (nv x 1)
-  mjtNum* qfrc_adhesion;     // passive contact adhesion force                   (nv x 1)
-  mjtNum* qfrc_passive;      // total passive force                              (nv x 1)
-
-  // computed by mj_sensorVel/mj_subtreeVel if needed
-  mjtNum* subtree_linvel;    // linear velocity of subtree com                   (nbody x 3)
-  mjtNum* subtree_angmom;    // angular momentum about subtree com               (nbody x 3)
-
-  // computed by mj_Euler or mj_implicit
-  mjtNum* qH;                // L'*D*L factorization of modified M               (nC x 1)
-  mjtNum* qHDiagInv;         // 1/diag(D) of modified M                          (nv x 1)
-
-  // computed by mj_implicit/mj_derivative
-  mjtNum* qDeriv;            // d (passive + actuator - bias) / d qvel           (nD x 1)
-
-  // computed by mj_implicit/mju_factorLUSparse
-  mjtNum* qLU;               // sparse LU of (M - dt*qDeriv)                     (nD x 1)
-
-  //-------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
-
-  // computed by mj_fwdActuation
-  mjtNum* actuator_force;    // actuator force in actuation space                (nout x 1)
-  mjtNum* qfrc_actuator;     // actuator force in joint space                    (nv x 1)
-
-  // computed by mj_fwdAcceleration
-  mjtNum* qfrc_smooth;       // net unconstrained force                          (nv x 1)
-  mjtNum* qacc_smooth;       // unconstrained acceleration                       (nv x 1)
-
-  // computed by mj_fwdConstraint/mj_inverse
-  mjtNum* qfrc_constraint;   // constraint force                                 (nv x 1)
-
-  // computed by mj_inverse
-  mjtNum* qfrc_inverse;      // net external force; should equal:
-                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator   (nv x 1)
-
-  // computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
-  mjtNum* cacc;              // com-based acceleration                           (nbody x 6)
-  mjtNum* cfrc_int;          // com-based interaction force with parent          (nbody x 6)
-  mjtNum* cfrc_ext;          // com-based external force on body                 (nbody x 6)
-
-  //-------------------- arena-allocated: POSITION dependent
-
-  // computed by mj_collision
-  mjContact* contact;        // array of all detected contacts                   (ncon x 1)
-
-  // computed by mj_makeConstraint
-  int*    efc_type;          // constraint type (mjtConstraint)                  (nefc x 1)
-  int*    efc_id;            // id of object of specified type                   (nefc x 1)
-  int*    efc_J_rownnz;      // number of non-zeros in constraint Jacobian row   (nefc x 1)
-  int*    efc_J_rowadr;      // row start address in colind array                (nefc x 1)
-  int*    efc_J_rowsuper;    // number of subsequent rows in supernode           (nefc x 1)
-  int*    efc_J_colind;      // column indices in constraint Jacobian            (nJ x 1)
-  mjtNum* efc_J;             // constraint Jacobian                              (nJ x 1)
-  mjtNum* efc_pos;           // constraint position (equality, contact)          (nefc x 1)
-  mjtNum* efc_margin;        // inclusion margin (contact)                       (nefc x 1)
-  mjtNum* efc_frictionloss;  // frictionloss (friction)                          (nefc x 1)
-  mjtNum* efc_diagA;         // diagonal of A matrix, approximate or exact       (nefc x 1)
-  mjtNum* efc_KBIP;          // stiffness, damping, impedance, imp'              (nefc x 4)
-  mjtNum* efc_D;             // constraint mass                                  (nefc x 1)
-  mjtNum* efc_R;             // inverse constraint mass                          (nefc x 1)
-  int*    tendon_efcadr;     // first efc address involving tendon; -1: none     (ntendon x 1)
-
-  // computed by mj_island (island tree structure)
-  int*    tree_island;       // island id of this tree; -1: none                 (ntree x 1)
-  int*    island_ntree;      // number of trees in this island                   (nisland x 1)
-  int*    island_itreeadr;   // island start address in itree vector             (nisland x 1)
-  int*    map_itree2tree;    // map from itree to tree                           (ntree x 1)
-
-  // computed by mj_island (island dof structure)
-  int*    dof_island;        // island id of this dof; -1: none                  (nv x 1)
-  int*    island_nv;         // number of dofs in this island                    (nisland x 1)
-  int*    island_idofadr;    // island start address in idof vector              (nisland x 1)
-  int*    island_dofadr;     // island start address in dof vector               (nisland x 1)
-  int*    map_dof2idof;      // map from dof to idof                             (nv x 1)
-  int*    map_idof2dof;      // map from idof to dof;  >= nidof: unconstrained   (nv x 1)
-
-  // computed by mj_island (dofs sorted by island)
-  mjtNum* ifrc_smooth;       // net unconstrained force                          (nidof x 1)
-  mjtNum* iacc_smooth;       // unconstrained acceleration                       (nidof x 1)
-  mjtNum* iacc;              // acceleration                                     (nidof x 1)
-
-  // computed by mj_island (island constraint structure)
-  int*    efc_island;        // island id of this constraint                     (nefc x 1)
-  int*    island_ne;         // number of equality constraints in island         (nisland x 1)
-  int*    island_nf;         // number of friction constraints in island         (nisland x 1)
-  int*    island_nefc;       // number of constraints in island                  (nisland x 1)
-  int*    island_iefcadr;    // start address in iefc vector                     (nisland x 1)
-  int*    map_efc2iefc;      // map from efc to iefc                             (nefc x 1)
-  int*    map_iefc2efc;      // map from iefc to efc                             (nefc x 1)
-
-  // computed by mj_island (constraints sorted by island)
-  int*    iefc_type;         // constraint type (mjtConstraint)                  (nefc x 1)
-  int*    iefc_id;           // id of object of specified type                   (nefc x 1)
-  mjtNum* iefc_frictionloss; // frictionloss (friction)                          (nefc x 1)
-  mjtNum* iefc_D;            // constraint mass                                  (nefc x 1)
-  mjtNum* iefc_R;            // inverse constraint mass                          (nefc x 1)
-
-  // computed by mj_projectConstraint (PGS solver)
-  int*    efc_Y_rownnz;      // number of non-zeros in Y row                     (nefc x 1)
-  int*    efc_Y_rowadr;      // row start address in Y colind array              (nefc x 1)
-  int*    efc_Y_colind;      // column indices in sparse Y                       (nY x 1)
-  mjtNum* efc_Y;             // whitened Jacobian Y = J*M^(-1/2)                 (nY x 1)
-  int*    efc_AR_rownnz;     // number of non-zeros in AR                        (nefc x 1)
-  int*    efc_AR_rowadr;     // row start address in AR colind array             (nefc x 1)
-  int*    efc_AR_colind;     // column indices in sparse AR                      (nA x 1)
-  mjtNum* efc_AR;            // J*inv(M)*J' + R                                  (nA x 1)
-
-  //-------------------- arena-allocated: POSITION, VELOCITY dependent
-
-  // computed by mj_fwdVelocity/mj_referenceConstraint
-  mjtNum* efc_vel;           // velocity in constraint space: J*qvel             (nefc x 1)
-  mjtNum* efc_aref;          // reference pseudo-acceleration                    (nefc x 1)
-
-  // computed by mj_fwdPosition/mj_invPosition when the implicit effective metric M+K is active
-  mjtNum* efm_c;             // smooth-force shift h*K*qvel                      (nv x 1)
-  int*    efm_K_rownnz;      // effective-stiffness CSR row nonzeros             (nv x 1)
-  int*    efm_K_rowadr;      // effective-stiffness CSR row addresses            (nv x 1)
-  int*    efm_K_colind;      // effective-stiffness CSR column indices           (nefmK x 1)
-  mjtNum* efm_K_val;         // effective-stiffness CSR values                   (nefmK x 1)
-  int*    efm_dofid;         // block k -> dof address of its vertex triple      (nefmdof x 1)
-  mjtNum* efm_L;             // factored 3x3 diagonal blocks of M+K              (nefmL x 1)
-
-  //-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
-
-  // computed by mj_fwdConstraint/mj_inverse
-  mjtNum* efc_b;             // linear cost term: J*qacc_smooth - aref           (nefc x 1)
-  mjtNum* iefc_aref;         // reference pseudo-acceleration                    (nefc x 1)
-  int*    iefc_state;        // constraint state (mjtConstraintState)            (nefc x 1)
-  mjtNum* iefc_force;        // constraint force in constraint space             (nefc x 1)
-  int*    efc_state;         // constraint state (mjtConstraintState)            (nefc x 1)
-  mjtNum* efc_force;         // constraint force in constraint space             (nefc x 1)
-  mjtNum* ifrc_constraint;   // constraint force                                 (nidof x 1)
-
-  // compilation signature
-  uint64_t  signature;       // also held by the mjSpec that compiled the model
-} mjData;
-typedef struct mjLROpt_ {         // options for mj_setLengthRange()
-  // flags
-  int mode;                       // which actuators to process (mjtLRMode)
-  int useexisting;                // use existing length range if available
-  int uselimit;                   // use joint and tendon limits if available
-
-  // algorithm parameters
-  mjtNum accel;                   // target acceleration used to compute force
-  mjtNum maxforce;                // maximum force; 0: no limit
-  mjtNum timeconst;               // time constant for velocity reduction; min 0.01
-  mjtNum timestep;                // simulation timestep; 0: use mjOption.timestep
-  mjtNum inttotal;                // total simulation time interval
-  mjtNum interval;                // evaluation time interval (at the end)
-  mjtNum tolrange;                // convergence tolerance (relative to range)
-} mjLROpt;
-typedef struct mjCache_ {         // asset cache used by the compiler
-  void* impl_;                    // internal pointer to cache
-} mjCache;
-typedef struct mjVFS_ {           // virtual file system for loading from memory
-  void* impl_;                    // internal pointer to VFS memory
-} mjVFS;
-typedef struct mjOption_ {        // physics options
-  // timing parameters
-  mjtNum timestep;                // timestep
-
-  // solver parameters
-  mjtNum impratio;                // ratio of friction-to-normal contact impedance
-  mjtNum tolerance;               // main solver tolerance
-  mjtNum ls_tolerance;            // CG/Newton linesearch tolerance
-  mjtNum noslip_tolerance;        // noslip solver tolerance
-  mjtNum ccd_tolerance;           // convex collision solver tolerance
-
-  // sleep settings
-  mjtNum sleep_tolerance;         // sleep velocity tolerance
-
-  // physical constants
-  mjtNum gravity[3];              // gravitational acceleration
-  mjtNum wind[3];                 // wind (for lift, drag and viscosity)
-  mjtNum magnetic[3];             // global magnetic flux
-  mjtNum density;                 // density of medium
-  mjtNum viscosity;               // viscosity of medium
-
-  // override contact solver parameters (if enabled)
-  mjtNum o_margin;                // margin
-  mjtNum o_solref[mjNREF];        // solref
-  mjtNum o_solimp[mjNIMP];        // solimp
-  mjtNum o_friction[5];           // friction
-
-  // discrete settings
-  int integrator;                 // integration mode (mjtIntegrator)
-  int cone;                       // type of friction cone (mjtCone)
-  int jacobian;                   // type of Jacobian (mjtJacobian)
-  int solver;                     // solver algorithm (mjtSolver)
-  int iterations;                 // maximum number of main solver iterations
-  int ls_iterations;              // maximum number of CG/Newton linesearch iterations
-  int noslip_iterations;          // maximum number of noslip solver iterations
-  int ccd_iterations;             // maximum number of convex collision solver iterations
-  int disableflags;               // bit flags for disabling standard features
-  int enableflags;                // bit flags for enabling optional features
-  int disableactuator;            // bit flags for disabling actuators by group id
-
-  // sdf collision settings
-  int sdf_initpoints;             // number of starting points for gradient descent
-  int sdf_iterations;             // max number of iterations for gradient descent
-} mjOption;
-typedef struct mjVisual_ {        // visualization options
-  struct {                        // global parameters
-    int   cameraid;               // initial camera id (-1: free)
-    int   orthographic;           // is the free camera orthographic (0: no, 1: yes)
-    float fovy;                   // y field-of-view of free camera (orthographic ? length : degree)
-    float ipd;                    // inter-pupilary distance for free camera
-    float azimuth;                // initial azimuth of free camera (degrees)
-    float elevation;              // initial elevation of free camera (degrees)
-    float linewidth;              // line width for wireframe and ray rendering
-    float glow;                   // glow coefficient for selected body
-    float realtime;               // initial real-time factor (1: real time)
-    int   offwidth;               // width of offscreen buffer
-    int   offheight;              // height of offscreen buffer
-    int   ellipsoidinertia;       // geom for inertia visualization (0: box, 1: ellipsoid)
-    int   bvactive;               // visualize active bounding volumes (0: no, 1: yes)
-  } global;
-
-  struct {                        // rendering quality
-    int   shadowsize;             // size of shadowmap texture
-    int   offsamples;             // number of multisamples for offscreen rendering
-    int   numslices;              // number of slices for builtin geom drawing
-    int   numstacks;              // number of stacks for builtin geom drawing
-    int   numquads;               // number of quads for box rendering
-  } quality;
-
-  struct {                        // head light
-    float ambient[3];             // ambient rgb (alpha=1)
-    float diffuse[3];             // diffuse rgb (alpha=1)
-    float specular[3];            // specular rgb (alpha=1)
-    int   active;                 // is headlight active
-  } headlight;
-
-  struct {                        // mapping
-    float stiffness;              // mouse perturbation stiffness (space->force)
-    float stiffnessrot;           // mouse perturbation stiffness (space->torque)
-    float force;                  // from force units to space units
-    float torque;                 // from torque units to space units
-    float alpha;                  // scale geom alphas when transparency is enabled
-    float fogstart;               // OpenGL fog starts at fogstart * mjModel.stat.extent
-    float fogend;                 // OpenGL fog ends at fogend * mjModel.stat.extent
-    float znear;                  // near clipping plane = znear * mjModel.stat.extent
-    float zfar;                   // far clipping plane = zfar * mjModel.stat.extent
-    float haze;                   // haze ratio
-    float shadowclip;             // directional light: shadowclip * mjModel.stat.extent
-    float shadowscale;            // spot light: shadowscale * light.cutoff
-    float actuatortendon;         // scale tendon width
-  } map;
-
-  struct {                        // scale of decor elements relative to mean body size
-    float forcewidth;             // width of force arrow
-    float contactwidth;           // contact width
-    float contactheight;          // contact height
-    float connect;                // autoconnect capsule width
-    float com;                    // com radius
-    float camera;                 // camera object
-    float light;                  // light object
-    float selectpoint;            // selection point
-    float jointlength;            // joint length
-    float jointwidth;             // joint width
-    float actuatorlength;         // actuator length
-    float actuatorwidth;          // actuator width
-    float framelength;            // bodyframe axis length
-    float framewidth;             // bodyframe axis width
-    float constraint;             // constraint width
-    float slidercrank;            // slidercrank width
-    float frustum;                // frustum zfar plane
-  } scale;
-
-  struct {                        // color of decor elements
-    float fog[4];                 // fog
-    float haze[4];                // haze
-    float force[4];               // external force
-    float inertia[4];             // inertia box
-    float joint[4];               // joint
-    float actuator[4];            // actuator, neutral
-    float actuatornegative[4];    // actuator, negative limit
-    float actuatorpositive[4];    // actuator, positive limit
-    float com[4];                 // center of mass
-    float camera[4];              // camera object
-    float light[4];               // light object
-    float selectpoint[4];         // selection point
-    float connect[4];             // auto connect
-    float contactpoint[4];        // contact point
-    float contactforce[4];        // contact force
-    float contactfriction[4];     // contact friction force
-    float contacttorque[4];       // contact torque
-    float contactgap[4];          // contact point in gap
-    float rangefinder[4];         // rangefinder ray
-    float constraint[4];          // constraint
-    float slidercrank[4];         // slidercrank
-    float crankbroken[4];         // used when crank must be stretched/broken
-    float frustum[4];             // camera frustum
-    float bv[4];                  // bounding volume
-    float bvactive[4];            // active bounding volume
-  } rgba;
-} mjVisual;
-typedef struct mjStatistic_ {     // model statistics (in qpos0)
-  mjtNum meaninertia;             // mean diagonal inertia
-  mjtNum meanmass;                // mean body mass
-  mjtNum meansize;                // mean body size
-  mjtNum extent;                  // spatial extent
-  mjtNum center[3];               // center of model
-} mjStatistic;
-typedef struct mjModel_ {
-  // ------------------------------- sizes
-
-  // sizes needed at mjModel construction
-  mjtSize nq;                     // number of generalized coordinates = dim(qpos)
-  mjtSize nv;                     // number of degrees of freedom = dim(qvel)
-  mjtSize nu;                     // number of scalar controls = dim(ctrl)
-  mjtSize nactuator;              // number of actuators
-  mjtSize nout;                   // number of force outputs, derived from transmission type
-  mjtSize na;                     // number of activation states = dim(act)
-  mjtSize nbody;                  // number of bodies
-  mjtSize nbvh;                   // number of total bounding volumes in all bodies
-  mjtSize nbvhstatic;             // number of static bounding volumes (aabb stored in mjModel)
-  mjtSize nbvhdynamic;            // number of dynamic bounding volumes (aabb stored in mjData)
-  mjtSize noct;                   // number of total octree cells in all meshes
-  mjtSize njnt;                   // number of joints
-  mjtSize ntree;                  // number of kinematic trees under world body
-  mjtSize nM;                     // number of non-zeros in sparse inertia matrix
-  mjtSize nB;                     // number of non-zeros in sparse body-dof matrix
-  mjtSize nC;                     // number of non-zeros in sparse reduced dof-dof matrix
-  mjtSize nD;                     // number of non-zeros in sparse dof-dof matrix
-  mjtSize ngeom;                  // number of geoms
-  mjtSize nsite;                  // number of sites
-  mjtSize ncam;                   // number of cameras
-  mjtSize nlight;                 // number of lights
-  mjtSize nflex;                  // number of flexes
-  mjtSize nflexnode;              // number of dofs in all flexes
-  mjtSize nflexvert;              // number of vertices in all flexes
-  mjtSize nflexedge;              // number of edges in all flexes
-  mjtSize nflexelem;              // number of elements in all flexes
-  mjtSize nflexelemdata;          // number of element vertex ids in all flexes
-  mjtSize nflexstiffness;         // number of stiffness parameters in all flexes
-  mjtSize nflexbending;           // number of bending parameters in all flexes
-  mjtSize nefm0dof;               // number of dofs covered by the constant metric factor
-  mjtSize nefm0L;                 // number of non-zeros in the constant metric factor
-  mjtSize nflexelemedge;          // number of element edge ids in all flexes
-  mjtSize nflexshelldata;         // number of shell fragment vertex ids in all flexes
-  mjtSize nflexevpair;            // number of element-vertex pairs in all flexes
-  mjtSize nflextexcoord;          // number of vertices with texture coordinates
-  mjtSize nJfe;                   // number of non-zeros in sparse flexedge Jacobian matrix
-  mjtSize nJfv;                   // number of non-zeros in sparse flexvert Jacobian matrix
-  mjtSize nmesh;                  // number of meshes
-  mjtSize nmeshvert;              // number of vertices in all meshes
-  mjtSize nmeshnormal;            // number of normals in all meshes
-  mjtSize nmeshtexcoord;          // number of texcoords in all meshes
-  mjtSize nmeshface;              // number of triangular faces in all meshes
-  mjtSize nmeshgraph;             // number of ints in mesh auxiliary data
-  mjtSize nmeshpoly;              // number of polygons in all meshes
-  mjtSize nmeshpolyvert;          // number of vertices in all polygons
-  mjtSize nmeshpolymap;           // number of polygons in vertex map
-  mjtSize nskin;                  // number of skins
-  mjtSize nskinvert;              // number of vertices in all skins
-  mjtSize nskintexvert;           // number of vertices with texcoords in all skins
-  mjtSize nskinface;              // number of triangular faces in all skins
-  mjtSize nskinbone;              // number of bones in all skins
-  mjtSize nskinbonevert;          // number of vertices in all skin bones
-  mjtSize nhfield;                // number of heightfields
-  mjtSize nhfielddata;            // number of data points in all heightfields
-  mjtSize ntex;                   // number of textures
-  mjtSize ntexdata;               // number of bytes in texture rgb data
-  mjtSize nmat;                   // number of materials
-  mjtSize npair;                  // number of predefined geom pairs
-  mjtSize nexclude;               // number of excluded geom pairs
-  mjtSize neq;                    // number of equality constraints
-  mjtSize ntendon;                // number of tendons
-  mjtSize nJten;                  // number of non-zeros in sparse ten_J matrix
-  mjtSize nwrap;                  // number of wrap objects in all tendon paths
-  mjtSize nsensor;                // number of sensors
-  mjtSize nnumeric;               // number of numeric custom fields
-  mjtSize nnumericdata;           // number of mjtNums in all numeric fields
-  mjtSize ntext;                  // number of text custom fields
-  mjtSize ntextdata;              // number of mjtBytes in all text fields
-  mjtSize ntuple;                 // number of tuple custom fields
-  mjtSize ntupledata;             // number of objects in all tuple fields
-  mjtSize nkey;                   // number of keyframes
-  mjtSize nmocap;                 // number of mocap bodies
-  mjtSize nplugin;                // number of plugin instances
-  mjtSize npluginattr;            // number of chars in all plugin config attributes
-  mjtSize nuser_body;             // number of mjtNums in body_user
-  mjtSize nuser_jnt;              // number of mjtNums in jnt_user
-  mjtSize nuser_geom;             // number of mjtNums in geom_user
-  mjtSize nuser_site;             // number of mjtNums in site_user
-  mjtSize nuser_cam;              // number of mjtNums in cam_user
-  mjtSize nuser_tendon;           // number of mjtNums in tendon_user
-  mjtSize nuser_actuator;         // number of mjtNums in actuator_user
-  mjtSize nuser_sensor;           // number of mjtNums in sensor_user
-  mjtSize nnames;                 // number of chars in all names
-  mjtSize npaths;                 // number of chars in all paths
-
-  // sizes set after mjModel construction
-  mjtSize nnames_map;             // number of slots in the names hash map
-  mjtSize nJmom;                  // number of non-zeros in sparse actuator_moment matrix
-  mjtSize ngravcomp;              // number of bodies with nonzero gravcomp
-  mjtSize nemax;                  // number of potential equality-constraint rows
-  mjtSize njmax;                  // number of available rows in constraint Jacobian (legacy)
-  mjtSize nconmax;                // number of potential contacts in contact list (legacy)
-  mjtSize npolygonmax;            // maximum number of vertices in a mesh polygon
-  mjtSize nmeshdegmax;            // maximum number of edges adjacent to a mesh vertex
-  mjtSize nuserdata;              // number of mjtNums reserved for the user
-  mjtSize nsensordata;            // number of mjtNums in sensor data vector
-  mjtSize npluginstate;           // number of mjtNums in plugin state vector
-  mjtSize nhistory;               // number of mjtNums in history buffer
-
-  // buffer sizes
-  mjtSize narena;                 // number of bytes in the mjData arena (inclusive of stack)
-  mjtSize nbuffer;                // number of bytes in buffer
-
-  // ------------------------------- flags
-
-  mjtBool flg_gravcomp;           // whether any body has nonzero gravcomp
-  mjtBool flg_surfacevel;         // whether any geom has nonzero surfacevel
-  mjtBool flg_adhesion;           // whether any geom or pair has nonzero adhesion
-
-  // ------------------------------- options and statistics
-
-  mjOption opt;                   // physics options
-  mjVisual vis;                   // visualization options
-  mjStatistic stat;               // model statistics
-
-  // ------------------------------- buffers
-
-  // main buffer
-  void*     buffer;               // main buffer; all pointers point in it    (nbuffer)
-
-  // default generalized coordinates
-  mjtNum*   qpos0;                // qpos values at default pose              (nq x 1)
-  mjtNum*   qpos_spring;          // reference pose for springs               (nq x 1)
-
-  // bodies
-  int*      body_parentid;        // id of body's parent                      (nbody x 1)
-  int*      body_rootid;          // ancestor that is direct child of world   (nbody x 1)
-  int*      body_weldid;          // top dof-less ancestor; mocap: own root   (nbody x 1)
-  int*      body_mocapid;         // id of mocap data; -1: none               (nbody x 1)
-  int*      body_jntnum;          // number of joints for this body           (nbody x 1)
-  int*      body_jntadr;          // start addr of joints; -1: no joints      (nbody x 1)
-  int*      body_dofnum;          // number of motion degrees of freedom      (nbody x 1)
-  int*      body_dofadr;          // start addr of dofs; -1: no dofs          (nbody x 1)
-  int*      body_treeid;          // id of body's kinematic tree; -1: static  (nbody x 1)
-  int*      body_geomnum;         // number of geoms                          (nbody x 1)
-  int*      body_geomadr;         // start addr of geoms; -1: no geoms        (nbody x 1)
-  mjtByte*  body_simple;          // 1: diag M; 2: diag M, sliders only       (nbody x 1)
-  mjtByte*  body_sameframe;       // same frame as inertia (mjtSameframe)     (nbody x 1)
-  mjtNum*   body_pos;             // position offset rel. to parent body      (nbody x 3)
-  mjtNum*   body_quat;            // orientation offset rel. to parent body   (nbody x 4)
-  mjtNum*   body_ipos;            // local position of center of mass         (nbody x 3)
-  mjtNum*   body_iquat;           // local orientation of inertia ellipsoid   (nbody x 4)
-  mjtNum*   body_mass;            // mass                                     (nbody x 1)
-  mjtNum*   body_subtreemass;     // mass of subtree starting at this body    (nbody x 1)
-  mjtNum*   body_inertia;         // diagonal inertia in ipos/iquat frame     (nbody x 3)
-  mjtNum*   body_invweight0;      // mean inv inert in qpos0 (trn, rot)       (nbody x 2)
-  mjtNum*   body_gravcomp;        // antigravity force, units of body weight  (nbody x 1)
-  mjtNum*   body_margin;          // MAX over all geom margins+gaps           (nbody x 1)
-  mjtNum*   body_user;            // user data                                (nbody x nuser_body)
-  int*      body_plugin;          // plugin instance id; -1: not in use       (nbody x 1)
-  int*      body_contype;         // OR over all geom contypes                (nbody x 1)
-  int*      body_conaffinity;     // OR over all geom conaffinities           (nbody x 1)
-  int*      body_bvhadr;          // address of bvh root                      (nbody x 1)
-  int*      body_bvhnum;          // number of bounding volumes               (nbody x 1)
-
-  // bounding volume hierarchy
-  int*      bvh_depth;            // depth in the bounding volume hierarchy   (nbvh x 1)
-  int*      bvh_child;            // left and right children in tree          (nbvh x 2)
-  int*      bvh_nodeid;           // geom or elem id of node; -1: non-leaf    (nbvh x 1)
-  mjtNum*   bvh_aabb;             // local bounding box (center, size)        (nbvhstatic x 6)
-
-  // octree spatial partitioning
-  int*      oct_depth;            // depth in the octree                      (noct x 1)
-  int*      oct_child;            // children of octree node                  (noct x 8)
-  mjtNum*   oct_aabb;             // octree node bounding box (center, size)  (noct x 6)
-  mjtNum*   oct_coeff;            // octree interpolation coefficients        (noct x 8)
-
-  // joints
-  int*      jnt_type;             // type of joint (mjtJoint)                 (njnt x 1)
-  int*      jnt_qposadr;          // start addr in 'qpos' for joint's data    (njnt x 1)
-  int*      jnt_dofadr;           // start addr in 'qvel' for joint's data    (njnt x 1)
-  int*      jnt_bodyid;           // id of joint's body                       (njnt x 1)
-  int*      jnt_actuatorid;       // actuator contributing damping / armature (njnt x 1)
-  int*      jnt_group;            // group for visibility                     (njnt x 1)
-  mjtBool*  jnt_limited;          // does joint have limits                   (njnt x 1)
-  mjtBool*  jnt_actfrclimited;    // does joint have actuator force limits    (njnt x 1)
-  mjtBool*  jnt_actgravcomp;      // is gravcomp force applied via actuators  (njnt x 1)
-  mjtNum*   jnt_solref;           // constraint solver reference: limit       (njnt x mjNREF)
-  mjtNum*   jnt_solimp;           // constraint solver impedance: limit       (njnt x mjNIMP)
-  mjtNum*   jnt_pos;              // local anchor position                    (njnt x 3)
-  mjtNum*   jnt_axis;             // local joint axis                         (njnt x 3)
-  mjtNum*   jnt_stiffness;        // linear stiffness coefficient             (njnt x 1)
-  mjtNum*   jnt_stiffnesspoly;    // high-order stiffness coefficients        (njnt x mjNPOLY)
-  mjtNum*   jnt_range;            // joint limits                             (njnt x 2)
-  mjtNum*   jnt_actfrcrange;      // range of total actuator force            (njnt x 2)
-  mjtNum*   jnt_margin;           // min distance for limit detection         (njnt x 1)
-  mjtNum*   jnt_user;             // user data                                (njnt x nuser_jnt)
-
-  // dofs
-  int*      dof_bodyid;           // id of dof's body                         (nv x 1)
-  int*      dof_jntid;            // id of dof's joint                        (nv x 1)
-  int*      dof_parentid;         // id of dof's parent; -1: none             (nv x 1)
-  int*      dof_treeid;           // id of dof's kinematic tree               (nv x 1)
-  int*      dof_Madr;             // dof address in M-diagonal                (nv x 1)
-  int*      dof_simplenum;        // number of consecutive simple dofs        (nv x 1)
-  mjtNum*   dof_solref;           // constraint solver reference:frictionloss (nv x mjNREF)
-  mjtNum*   dof_solimp;           // constraint solver impedance:frictionloss (nv x mjNIMP)
-  mjtNum*   dof_frictionloss;     // dof friction loss                        (nv x 1)
-  mjtNum*   dof_armature;         // dof armature inertia/mass                (nv x 1)
-  mjtNum*   dof_damping;          // linear damping coefficient               (nv x 1)
-  mjtNum*   dof_dampingpoly;      // high-order damping coefficients          (nv x mjNPOLY)
-  mjtNum*   dof_invweight0;       // diag. inverse inertia in qpos0           (nv x 1)
-  mjtNum*   dof_M0;               // diag. inertia in qpos0                   (nv x 1)
-  mjtNum*   dof_length;           // linear: 1; angular: approx. length scale (nv x 1)
-
-  // trees
-  int*      tree_bodyadr;         // start addr of bodies                     (ntree x 1)
-  int*      tree_bodynum;         // number of bodies in tree                 (ntree x 1)
-  int*      tree_dofadr;          // start addr of dofs                       (ntree x 1)
-  int*      tree_dofnum;          // number of dofs in tree                   (ntree x 1)
-  int*      tree_sleep_policy;    // sleep policy (mjtSleepPolicy)            (ntree x 1)
-
-  // geoms
-  int*      geom_type;            // geometric type (mjtGeom)                 (ngeom x 1)
-  int*      geom_contype;         // geom contact type                        (ngeom x 1)
-  int*      geom_conaffinity;     // geom contact affinity                    (ngeom x 1)
-  int*      geom_condim;          // contact dimensionality (1, 3, 4, 6)      (ngeom x 1)
-  int*      geom_bodyid;          // id of geom's body                        (ngeom x 1)
-  int*      geom_dataid;          // id of geom's mesh/hfield; -1: none       (ngeom x 1)
-  int*      geom_matid;           // material id for rendering; -1: none      (ngeom x 1)
-  int*      geom_group;           // group for visibility                     (ngeom x 1)
-  int*      geom_priority;        // geom contact priority                    (ngeom x 1)
-  int*      geom_plugin;          // plugin instance id; -1: not in use       (ngeom x 1)
-  mjtByte*  geom_sameframe;       // same frame as body (mjtSameframe)        (ngeom x 1)
-  mjtNum*   geom_solmix;          // mixing coef for solref/imp in geom pair  (ngeom x 1)
-  mjtNum*   geom_solref;          // constraint solver reference: contact     (ngeom x mjNREF)
-  mjtNum*   geom_solimp;          // constraint solver impedance: contact     (ngeom x mjNIMP)
-  mjtNum*   geom_size;            // geom-specific size parameters            (ngeom x 3)
-  mjtNum*   geom_aabb;            // bounding box, (center, size)             (ngeom x 6)
-  mjtNum*   geom_rbound;          // radius of bounding sphere                (ngeom x 1)
-  mjtNum*   geom_pos;             // local position offset rel. to body       (ngeom x 3)
-  mjtNum*   geom_quat;            // local orientation offset rel. to body    (ngeom x 4)
-  mjtNum*   geom_friction;        // friction for (slide, spin, roll)         (ngeom x 3)
-  mjtNum*   geom_margin;          // geometric inflation for contact          (ngeom x 1)
-  mjtNum*   geom_gap;             // additional contact detection buffer      (ngeom x 1)
-  mjtNum*   geom_surfacevel;      // surface velocity in local frame: lin,ang (ngeom x 6)
-  mjtNum*   geom_adhesion;        // adhesive force of contacts               (ngeom x 1)
-  mjtNum*   geom_fluid;           // fluid interaction parameters             (ngeom x mjNFLUID)
-  mjtNum*   geom_user;            // user data                                (ngeom x nuser_geom)
-  float*    geom_rgba;            // rgba when material is omitted            (ngeom x 4)
-
-  // sites
-  int*      site_type;            // geom type for rendering (mjtGeom)        (nsite x 1)
-  int*      site_bodyid;          // id of site's body                        (nsite x 1)
-  int*      site_matid;           // material id for rendering; -1: none      (nsite x 1)
-  int*      site_group;           // group for visibility                     (nsite x 1)
-  mjtByte*  site_sameframe;       // same frame as body (mjtSameframe)        (nsite x 1)
-  mjtNum*   site_size;            // geom size for rendering                  (nsite x 3)
-  mjtNum*   site_pos;             // local position offset rel. to body       (nsite x 3)
-  mjtNum*   site_quat;            // local orientation offset rel. to body    (nsite x 4)
-  mjtNum*   site_user;            // user data                                (nsite x nuser_site)
-  float*    site_rgba;            // rgba when material is omitted            (nsite x 4)
-
-  // cameras
-  int*      cam_mode;             // camera tracking mode (mjtCamLight)       (ncam x 1)
-  int*      cam_bodyid;           // id of camera's body                      (ncam x 1)
-  int*      cam_targetbodyid;     // id of targeted body; -1: none            (ncam x 1)
-  mjtNum*   cam_pos;              // position rel. to body frame              (ncam x 3)
-  mjtNum*   cam_quat;             // orientation rel. to body frame           (ncam x 4)
-  mjtNum*   cam_poscom0;          // global position rel. to sub-com in qpos0 (ncam x 3)
-  mjtNum*   cam_pos0;             // global position rel. to body in qpos0    (ncam x 3)
-  mjtNum*   cam_mat0;             // global orientation in qpos0              (ncam x 9)
-  int*      cam_projection;       // projection type (mjtProjection)          (ncam x 1)
-  mjtNum*   cam_fovy;             // y field-of-view (ortho ? len : deg)      (ncam x 1)
-  mjtNum*   cam_ipd;              // inter-pupilary distance                  (ncam x 1)
-  int*      cam_resolution;       // resolution: pixels [width, height]       (ncam x 2)
-  int*      cam_output;           // output types (mjtCamOut bit flags)       (ncam x 1)
-  float*    cam_sensorsize;       // sensor size: length [width, height]      (ncam x 2)
-  float*    cam_intrinsic;        // [focal length; principal point]          (ncam x 4)
-  mjtNum*   cam_user;             // user data                                (ncam x nuser_cam)
-
-  // lights
-  int*      light_mode;           // light tracking mode (mjtCamLight)        (nlight x 1)
-  int*      light_bodyid;         // id of light's body                       (nlight x 1)
-  int*      light_targetbodyid;   // id of targeted body; -1: none            (nlight x 1)
-  int*      light_type;           // spot, directional, etc. (mjtLightType)   (nlight x 1)
-  int*      light_texid;          // texture id for image lights              (nlight x 1)
-  mjtBool*  light_castshadow;     // does light cast shadows                  (nlight x 1)
-  float*    light_bulbradius;     // light radius for soft shadows            (nlight x 1)
-  float*    light_intensity;      // intensity, in candela                    (nlight x 1)
-  float*    light_range;          // range of effectiveness                   (nlight x 1)
-  mjtBool*  light_active;         // is light on                              (nlight x 1)
-  mjtNum*   light_pos;            // position rel. to body frame              (nlight x 3)
-  mjtNum*   light_dir;            // direction rel. to body frame             (nlight x 3)
-  mjtNum*   light_poscom0;        // global position rel. to sub-com in qpos0 (nlight x 3)
-  mjtNum*   light_pos0;           // global position rel. to body in qpos0    (nlight x 3)
-  mjtNum*   light_dir0;           // global direction in qpos0                (nlight x 3)
-  float*    light_attenuation;    // OpenGL attenuation (quadratic model)     (nlight x 3)
-  float*    light_cutoff;         // OpenGL cutoff                            (nlight x 1)
-  float*    light_softness;       // spotlight edge softness                  (nlight x 1)
-  float*    light_exponent;       // OpenGL exponent                          (nlight x 1)
-  float*    light_ambient;        // ambient rgb (alpha=1)                    (nlight x 3)
-  float*    light_diffuse;        // diffuse rgb (alpha=1)                    (nlight x 3)
-  float*    light_specular;       // specular rgb (alpha=1)                   (nlight x 3)
-
-  // flexes: contact properties
-  int*      flex_contype;         // flex contact type                        (nflex x 1)
-  int*      flex_conaffinity;     // flex contact affinity                    (nflex x 1)
-  int*      flex_condim;          // contact dimensionality (1, 3, 4, 6)      (nflex x 1)
-  int*      flex_priority;        // flex contact priority                    (nflex x 1)
-  mjtNum*   flex_solmix;          // mix coef for solref/imp in contact pair  (nflex x 1)
-  mjtNum*   flex_solref;          // constraint solver reference: contact     (nflex x mjNREF)
-  mjtNum*   flex_solimp;          // constraint solver impedance: contact     (nflex x mjNIMP)
-  mjtNum*   flex_friction;        // friction for (slide, spin, roll)         (nflex x 3)
-  mjtNum*   flex_margin;          // geometric inflation for contact          (nflex x 1)
-  mjtNum*   flex_gap;             // additional contact detection buffer      (nflex x 1)
-  mjtBool*  flex_internal;        // internal flex collision enabled          (nflex x 1)
-  int*      flex_selfcollide;     // self collision mode (mjtFlexSelf)        (nflex x 1)
-  int*      flex_activelayers;    // number of active element layers, 3D only (nflex x 1)
-  int*      flex_passive;         // passive collisions enabled               (nflex x 1)
-
-  // flexes: other properties
-  int*      flex_dim;             // 1: lines, 2: triangles, 3: tetrahedra    (nflex x 1)
-  int*      flex_matid;           // material id for rendering                (nflex x 1)
-  int*      flex_group;           // group for visibility                     (nflex x 1)
-  int*      flex_interp;          // interpolation (0: vertex, 1: nodes)      (nflex x 1)
-  int*      flex_cellnum;         // finite cell num per dimension            (nflex x 3)
-  int*      flex_nodeadr;         // first node address                       (nflex x 1)
-  int*      flex_nodenum;         // number of nodes                          (nflex x 1)
-  int*      flex_vertadr;         // first vertex address                     (nflex x 1)
-  int*      flex_vertnum;         // number of vertices                       (nflex x 1)
-  int*      flex_edgeadr;         // first edge address                       (nflex x 1)
-  int*      flex_edgenum;         // number of edges                          (nflex x 1)
-  int*      flex_elemadr;         // first element address                    (nflex x 1)
-  int*      flex_elemnum;         // number of elements                       (nflex x 1)
-  int*      flex_elemdataadr;     // first element vertex id address          (nflex x 1)
-  int*      flex_stiffnessadr;    // stiffness matrix address                 (nflex x 1)
-  int*      flex_elemedgeadr;     // first element edge id address            (nflex x 1)
-  int*      flex_bendingadr;      // first bending data address               (nflex x 1)
-  int*      flex_shellnum;        // number of shells                         (nflex x 1)
-  int*      flex_shelldataadr;    // first shell data address                 (nflex x 1)
-  int*      flex_evpairadr;       // first evpair address                     (nflex x 1)
-  int*      flex_evpairnum;       // number of evpairs                        (nflex x 1)
-  int*      flex_texcoordadr;     // address in flex_texcoord; -1: none       (nflex x 1)
-  int*      flex_nodebodyid;      // node body ids                            (nflexnode x 1)
-  int*      flex_vertbodyid;      // vertex body ids                          (nflexvert x 1)
-  int*      flex_vertedgeadr;     // first edge address                       (nflexvert x 1)
-  int*      flex_vertedgenum;     // number of edges                          (nflexvert x 1)
-  int*      flex_vertedge;        // edge indices                             (nflexedge x 2)
-  int*      flex_edge;            // edge vertex ids (2 per edge)             (nflexedge x 2)
-  int*      flex_edgeflap;        // adjacent vertex ids (dim=2 only)         (nflexedge x 2)
-  int*      flex_elem;            // element vertex ids (dim+1 per elem)      (nflexelemdata x 1)
-  int*      flex_elemtexcoord;    // element texture coordinates (dim+1)      (nflexelemdata x 1)
-  int*      flex_elemedge;        // element edge ids                         (nflexelemedge x 1)
-  int*      flex_elemlayer;       // element distance from surface, 3D only   (nflexelem x 1)
-  int*      flex_shell;           // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
-  int*      flex_evpair;          // (element, vertex) collision pairs        (nflexevpair x 2)
-  mjtNum*   flex_vert;            // vertex positions in local body frames    (nflexvert x 3)
-  mjtNum*   flex_vert0;           // vertex positions in qpos0 on [0, 1]^d    (nflexvert x 3)
-  mjtNum*   flex_vertmetric;      // inverse of reference shape matrix        (nflexvert x 4)
-  mjtNum*   flex_node;            // node positions in local body frames      (nflexnode x 3)
-  mjtNum*   flex_node0;           // Cartesian node positions in qpos0        (nflexnode x 3)
-  mjtNum*   flexedge_length0;     // edge lengths in qpos0                    (nflexedge x 1)
-  mjtNum*   flexedge_invweight0;  // edge inv. weight in qpos0                (nflexedge x 1)
-  mjtNum*   flex_radius;          // radius around primitive element          (nflex x 1)
-  mjtNum*   flex_size;            // vertex bounding box half sizes in qpos0  (nflex x 3)
-  mjtNum*   flex_stiffness;       // finite element stiffness matrix          (nflexstiffness x 1)
-  mjtNum*   flex_bending;         // bending stiffness                        (nflexbending x 1)
-  int*      efm0_dofid;           // constant metric factor row->dof address  (nefm0dof x 1)
-  int*      efm0_L_rownnz;        // constant metric factor row nonzeros      (nefm0dof x 1)
-  int*      efm0_L_rowadr;        // constant metric factor row addresses     (nefm0dof x 1)
-  int*      efm0_L_colind;        // constant metric factor column indices    (nefm0L x 1)
-  mjtNum*   efm0_L;               // factor of M + (dt^2+dt*d)*K_bend         (nefm0L x 1)
-  mjtNum*   flex_damping;         // Rayleigh's damping coefficient           (nflex x 1)
-  mjtNum*   flex_edgestiffness;   // edge stiffness                           (nflex x 1)
-  mjtNum*   flex_edgedamping;     // edge damping                             (nflex x 1)
-  int*      flex_edgeequality;    // 0:none, 1:edges, 2:vertices, 3:strain    (nflex x 1)
-  mjtBool*  flex_rigid;           // are all vertices in the same body        (nflex x 1)
-  mjtBool*  flexedge_rigid;       // are both edge vertices in same body      (nflexedge x 1)
-  mjtBool*  flex_centered;        // are all vertex coordinates (0,0,0)       (nflex x 1)
-  mjtBool*  flex_flatskin;        // render flex skin with flat shading       (nflex x 1)
-  int*      flex_bvhadr;          // address of bvh root; -1: no bvh          (nflex x 1)
-  int*      flex_bvhnum;          // number of bounding volumes               (nflex x 1)
-  int*      flexedge_J_rownnz;    // number of non-zeros in Jacobian row      (nflexedge x 1)
-  int*      flexedge_J_rowadr;    // row start address in colind array        (nflexedge x 1)
-  int*      flexedge_J_colind;    // column indices in sparse Jacobian        (nJfe x 1)
-  int*      flexvert_J_rownnz;    // number of non-zeros in Jacobian row      (nflexvert x 2)
-  int*      flexvert_J_rowadr;    // row start address in colind array        (nflexvert x 2)
-  int*      flexvert_J_colind;    // column indices in sparse Jacobian        (nJfv x 2)
-  float*    flex_rgba;            // rgba when material is omitted            (nflex x 4)
-  float*    flex_texcoord;        // vertex texture coordinates               (nflextexcoord x 2)
-
-  // meshes
-  int*      mesh_vertadr;         // first vertex address                     (nmesh x 1)
-  int*      mesh_vertnum;         // number of vertices                       (nmesh x 1)
-  int*      mesh_faceadr;         // first face address                       (nmesh x 1)
-  int*      mesh_facenum;         // number of faces                          (nmesh x 1)
-  int*      mesh_bvhadr;          // address of bvh root                      (nmesh x 1)
-  int*      mesh_bvhnum;          // number of bvh                            (nmesh x 1)
-  int*      mesh_octadr;          // address of octree root                   (nmesh x 1)
-  int*      mesh_octnum;          // number of octree nodes                   (nmesh x 1)
-  int*      mesh_normaladr;       // first normal address                     (nmesh x 1)
-  int*      mesh_normalnum;       // number of normals                        (nmesh x 1)
-  int*      mesh_texcoordadr;     // texcoord data address; -1: no texcoord   (nmesh x 1)
-  int*      mesh_texcoordnum;     // number of texcoord                       (nmesh x 1)
-  int*      mesh_graphadr;        // graph data address; -1: no graph         (nmesh x 1)
-  int*      mesh_extrema;         // extremum vertices in 3x3x3 directions    (nmesh x 27)
-  float*    mesh_vert;            // vertex positions for all meshes          (nmeshvert x 3)
-  float*    mesh_normal;          // normals for all meshes                   (nmeshnormal x 3)
-  float*    mesh_texcoord;        // vertex texcoords for all meshes          (nmeshtexcoord x 2)
-  int*      mesh_face;            // vertex face data                         (nmeshface x 3)
-  int*      mesh_facenormal;      // normal face data                         (nmeshface x 3)
-  int*      mesh_facetexcoord;    // texture face data                        (nmeshface x 3)
-  int*      mesh_graph;           // convex graph data                        (nmeshgraph x 1)
-  mjtNum*   mesh_scale;           // scaling applied to asset vertices        (nmesh x 3)
-  mjtNum*   mesh_pos;             // translation applied to asset vertices    (nmesh x 3)
-  mjtNum*   mesh_quat;            // rotation applied to asset vertices       (nmesh x 4)
-  int*      mesh_pathadr;         // address of asset path for mesh; -1: none (nmesh x 1)
-  int*      mesh_polynum;         // number of polygons per mesh              (nmesh x 1)
-  int*      mesh_polyadr;         // first polygon address per mesh           (nmesh x 1)
-  mjtNum*   mesh_polynormal;      // all polygon normals                      (nmeshpoly x 3)
-  int*      mesh_polyvertadr;     // polygon vertex start address             (nmeshpoly x 1)
-  int*      mesh_polyvertnum;     // number of vertices per polygon           (nmeshpoly x 1)
-  int*      mesh_polyvert;        // all polygon vertices                     (nmeshpolyvert x 1)
-  int*      mesh_polymapadr;      // first polygon address per vertex         (nmeshvert x 1)
-  int*      mesh_polymapnum;      // number of polygons per vertex            (nmeshvert x 1)
-  int*      mesh_polymap;         // vertex to polygon map                    (nmeshpolymap x 1)
-
-  // skins
-  int*      skin_matid;           // skin material id; -1: none               (nskin x 1)
-  int*      skin_group;           // group for visibility                     (nskin x 1)
-  float*    skin_rgba;            // skin rgba                                (nskin x 4)
-  float*    skin_inflate;         // inflate skin in normal direction         (nskin x 1)
-  int*      skin_vertadr;         // first vertex address                     (nskin x 1)
-  int*      skin_vertnum;         // number of vertices                       (nskin x 1)
-  int*      skin_texcoordadr;     // texcoord data address; -1: no texcoord   (nskin x 1)
-  int*      skin_faceadr;         // first face address                       (nskin x 1)
-  int*      skin_facenum;         // number of faces                          (nskin x 1)
-  int*      skin_boneadr;         // first bone in skin                       (nskin x 1)
-  int*      skin_bonenum;         // number of bones in skin                  (nskin x 1)
-  float*    skin_vert;            // vertex positions for all skin meshes     (nskinvert x 3)
-  float*    skin_texcoord;        // vertex texcoords for all skin meshes     (nskintexvert x 2)
-  int*      skin_face;            // triangle faces for all skin meshes       (nskinface x 3)
-  int*      skin_bonevertadr;     // first vertex in each bone                (nskinbone x 1)
-  int*      skin_bonevertnum;     // number of vertices in each bone          (nskinbone x 1)
-  float*    skin_bonebindpos;     // bind pos of each bone                    (nskinbone x 3)
-  float*    skin_bonebindquat;    // bind quat of each bone                   (nskinbone x 4)
-  int*      skin_bonebodyid;      // body id of each bone                     (nskinbone x 1)
-  int*      skin_bonevertid;      // mesh ids of vertices in each bone        (nskinbonevert x 1)
-  float*    skin_bonevertweight;  // weights of vertices in each bone         (nskinbonevert x 1)
-  int*      skin_pathadr;         // address of asset path for skin; -1: none (nskin x 1)
-
-  // height fields
-  mjtNum*   hfield_size;          // (x, y, z_top, z_bottom)                  (nhfield x 4)
-  int*      hfield_nrow;          // number of rows in grid                   (nhfield x 1)
-  int*      hfield_ncol;          // number of columns in grid                (nhfield x 1)
-  int*      hfield_adr;           // address in hfield_data                   (nhfield x 1)
-  float*    hfield_data;          // elevation data                           (nhfielddata x 1)
-  int*      hfield_pathadr;       // address of hfield asset path; -1: none   (nhfield x 1)
-
-  // textures
-  int*      tex_type;             // texture type (mjtTexture)                (ntex x 1)
-  int*      tex_colorspace;       // texture colorspace (mjtColorSpace)       (ntex x 1)
-  int*      tex_height;           // number of rows in texture image          (ntex x 1)
-  int*      tex_width;            // number of columns in texture image       (ntex x 1)
-  int*      tex_nchannel;         // number of channels in texture image      (ntex x 1)
-  mjtSize*  tex_adr;              // start address in tex_data                (ntex x 1)
-  mjtByte*  tex_data;             // pixel values                             (ntexdata x 1)
-  int*      tex_pathadr;          // address of texture asset path; -1: none  (ntex x 1)
-
-  // materials
-  int*      mat_texid;            // indices of textures; -1: none            (nmat x mjNTEXROLE)
-  mjtBool*  mat_texuniform;       // make texture cube uniform                (nmat x 1)
-  float*    mat_texrepeat;        // texture repetition for 2d mapping        (nmat x 2)
-  float*    mat_emission;         // emission (x rgb)                         (nmat x 1)
-  float*    mat_specular;         // specular (x white)                       (nmat x 1)
-  float*    mat_shininess;        // shininess coef                           (nmat x 1)
-  float*    mat_reflectance;      // reflectance (0: disable)                 (nmat x 1)
-  float*    mat_metallic;         // metallic coef                            (nmat x 1)
-  float*    mat_roughness;        // roughness coef                           (nmat x 1)
-  float*    mat_rgba;             // rgba                                     (nmat x 4)
-
-  // predefined geom pairs for collision detection; has precedence over exclude
-  int*      pair_dim;             // contact dimensionality                   (npair x 1)
-  int*      pair_geom1;           // id of geom1                              (npair x 1)
-  int*      pair_geom2;           // id of geom2                              (npair x 1)
-  int*      pair_signature;       // body1 << 16 + body2                      (npair x 1)
-  mjtNum*   pair_solref;          // solver reference: contact normal         (npair x mjNREF)
-  mjtNum*   pair_solreffriction;  // solver reference: contact friction       (npair x mjNREF)
-  mjtNum*   pair_solimp;          // solver impedance: contact                (npair x mjNIMP)
-  mjtNum*   pair_margin;          // geometric inflation for contact          (npair x 1)
-  mjtNum*   pair_gap;             // additional contact detection buffer      (npair x 1)
-  mjtNum*   pair_adhesion;        // adhesive force of contacts               (npair x 1)
-  mjtNum*   pair_friction;        // tangent1, 2, spin, roll1, 2              (npair x 5)
-
-  // excluded body pairs for collision detection
-  int*      exclude_signature;    // body1 << 16 + body2                      (nexclude x 1)
-
-  // equality constraints
-  int*      eq_type;              // constraint type (mjtEq)                  (neq x 1)
-  int*      eq_obj1id;            // id of object 1                           (neq x 1)
-  int*      eq_obj2id;            // id of object 2                           (neq x 1)
-  int*      eq_objtype;           // type of both objects (mjtObj)            (neq x 1)
-  mjtBool*  eq_active0;           // initial enable/disable constraint state  (neq x 1)
-  mjtNum*   eq_solref;            // constraint solver reference              (neq x mjNREF)
-  mjtNum*   eq_solimp;            // constraint solver impedance              (neq x mjNIMP)
-  mjtNum*   eq_data;              // numeric data for constraint              (neq x mjNEQDATA)
-
-  // tendons
-  int*      tendon_adr;           // address of first object in tendon's path (ntendon x 1)
-  int*      tendon_num;           // number of objects in tendon's path       (ntendon x 1)
-  int*      tendon_matid;         // material id for rendering                (ntendon x 1)
-  int*      tendon_actuatorid;    // actuator contributing damping / armature (ntendon x 1)
-  int*      tendon_group;         // group for visibility                     (ntendon x 1)
-  int*      tendon_treenum;       // number of trees along tendon's path      (ntendon x 1)
-  int*      tendon_treeid;        // first two trees along tendon's path      (ntendon x 2)
-  int*      ten_J_rownnz;         // number of non-zeros in Jacobian row      (ntendon x 1)
-  int*      ten_J_rowadr;         // row start address in colind array        (ntendon x 1)
-  int*      ten_J_colind;         // column indices in sparse Jacobian        (nJten x 1)
-  mjtBool*  tendon_limited;       // does tendon have length limits           (ntendon x 1)
-  mjtBool*  tendon_actfrclimited; // does tendon have actuator force limits   (ntendon x 1)
-  mjtNum*   tendon_width;         // width for rendering                      (ntendon x 1)
-  mjtNum*   tendon_solref_lim;    // constraint solver reference: limit       (ntendon x mjNREF)
-  mjtNum*   tendon_solimp_lim;    // constraint solver impedance: limit       (ntendon x mjNIMP)
-  mjtNum*   tendon_solref_fri;    // constraint solver reference: friction    (ntendon x mjNREF)
-  mjtNum*   tendon_solimp_fri;    // constraint solver impedance: friction    (ntendon x mjNIMP)
-  mjtNum*   tendon_range;         // tendon length limits                     (ntendon x 2)
-  mjtNum*   tendon_actfrcrange;   // range of total actuator force            (ntendon x 2)
-  mjtNum*   tendon_margin;        // min distance for limit detection         (ntendon x 1)
-  mjtNum*   tendon_stiffness;     // linear stiffness coefficient             (ntendon x 1)
-  mjtNum*   tendon_stiffnesspoly; // high-order stiffness coefficients        (ntendon x mjNPOLY)
-  mjtNum*   tendon_damping;       // linear damping coefficient               (ntendon x 1)
-  mjtNum*   tendon_dampingpoly;   // high-order damping coefficients          (ntendon x mjNPOLY)
-  mjtNum*   tendon_armature;      // inertia associated with tendon velocity  (ntendon x 1)
-  mjtNum*   tendon_frictionloss;  // loss due to friction                     (ntendon x 1)
-  mjtNum*   tendon_lengthspring;  // spring resting length range              (ntendon x 2)
-  mjtNum*   tendon_length0;       // tendon length in qpos0                   (ntendon x 1)
-  mjtNum*   tendon_invweight0;    // inv. weight in qpos0                     (ntendon x 1)
-  mjtNum*   tendon_user;          // user data                                (ntendon x nuser_tendon)
-  float*    tendon_rgba;          // rgba when material is omitted            (ntendon x 4)
-
-  // list of all wrap objects in tendon paths
-  int*      wrap_type;            // wrap object type (mjtWrap)               (nwrap x 1)
-  int*      wrap_objid;           // object id: geom, site, joint             (nwrap x 1)
-  mjtNum*   wrap_prm;             // divisor, joint coef, or site id          (nwrap x 1)
-
-  // actuators
-  int*      actuator_trntype;     // transmission type (mjtTrn)               (nactuator x 1)
-  int*      actuator_dyntype;     // dynamics type (mjtDyn)                   (nactuator x 1)
-  int*      actuator_gaintype;    // gain type (mjtGain)                      (nactuator x 1)
-  int*      actuator_biastype;    // bias type (mjtBias)                      (nactuator x 1)
-  int*      actuator_ctrladr;     // address of first control                 (nactuator x 1)
-  int*      actuator_ctrlnum;     // number of controls                       (nactuator x 1)
-  int*      actuator_ctrlspec;    // input signature, scoped by gaintype      (nactuator x 1)
-  int*      actuator_outadr;      // address of first force output            (nactuator x 1)
-  int*      actuator_outnum;      // number of force outputs, from trntype    (nactuator x 1)
-  int*      actuator_actadr;      // first activation address; -1: stateless  (nactuator x 1)
-  int*      actuator_actnum;      // number of activation variables           (nactuator x 1)
-  int*      actuator_trnid;       // transmission id: joint, tendon, site     (nactuator x 2)
-  mjtNum*   actuator_cranklength; // crank length for slider-crank            (nactuator x 1)
-  mjtNum*   actuator_dynprm;      // dynamics parameters                      (nactuator x mjNDYN)
-  mjtNum*   actuator_gainprm;     // gain parameters                          (nactuator x mjNGAIN)
-  mjtNum*   actuator_biasprm;     // bias parameters                          (nactuator x mjNBIAS)
-  mjtBool*  actuator_actlimited;  // is activation limited                    (nactuator x 1)
-  mjtNum*   actuator_actrange;    // range of activations                     (nactuator x 2)
-  mjtBool*  actuator_actearly;    // step activation before force             (nactuator x 1)
-  int*      actuator_history;     // history buffer: [nsample, interp]        (nactuator x 2)
-  int*      actuator_historyadr;  // address in history buffer; -1: none      (nactuator x 1)
-  mjtNum*   actuator_delay;       // delay time; 0: no delay                  (nactuator x 1)
-  mjtNum*   actuator_damping;     // linear damping coefficient               (nactuator x 1)
-  mjtNum*   actuator_dampingpoly; // high-order damping coefficients          (nactuator x mjNPOLY)
-  mjtNum*   actuator_armature;    // armature added to target (joint, tendon) (nactuator x 1)
-  int*      actuator_group;       // group for visibility                     (nactuator x 1)
-  mjtNum*   actuator_user;        // user data                                (nactuator x nuser_actuator)
-  int*      actuator_plugin;      // plugin instance id; -1: not a plugin     (nactuator x 1)
-  mjtBool*  actuator_forcelimited;// is force limited                         (nactuator x 1)
-  mjtNum*   actuator_forcerange;  // range of forces                          (nactuator x 2)
-  mjtBool*  actuator_ctrllimited; // is control limited                       (nu x 1)
-  mjtNum*   actuator_ctrlrange;   // range of controls                        (nu x 2)
-  mjtNum*   actuator_gear;        // scale length and transmitted force       (nout x 6)
-  mjtNum*   actuator_acc0;        // acceleration from unit force in qpos0    (nout x 1)
-  mjtNum*   actuator_length0;     // actuator length in qpos0                 (nout x 1)
-  mjtNum*   actuator_lengthrange; // feasible actuator length range           (nout x 2)
-
-  // sensors
-  int*      sensor_type;          // sensor type (mjtSensor)                  (nsensor x 1)
-  int*      sensor_datatype;      // numeric data type (mjtDataType)          (nsensor x 1)
-  int*      sensor_needstage;     // required compute stage (mjtStage)        (nsensor x 1)
-  int*      sensor_objtype;       // type of sensorized object (mjtObj)       (nsensor x 1)
-  int*      sensor_objid;         // id of sensorized object                  (nsensor x 1)
-  int*      sensor_reftype;       // type of reference frame (mjtObj)         (nsensor x 1)
-  int*      sensor_refid;         // id of reference frame; -1: global frame  (nsensor x 1)
-  int*      sensor_intprm;        // sensor parameters                        (nsensor x mjNSENS)
-  int*      sensor_dim;           // number of scalar outputs                 (nsensor x 1)
-  int*      sensor_adr;           // address in sensor array                  (nsensor x 1)
-  mjtNum*   sensor_cutoff;        // cutoff for real and positive; 0: ignore  (nsensor x 1)
-  mjtNum*   sensor_noise;         // noise standard deviation                 (nsensor x 1)
-  int*      sensor_history;       // history buffer: [nsample, interp]        (nsensor x 2)
-  int*      sensor_historyadr;    // address in history buffer; -1: none      (nsensor x 1)
-  mjtNum*   sensor_delay;         // delay time in seconds; 0: no delay       (nsensor x 1)
-  mjtNum*   sensor_interval;      // interval: [period, phase] in seconds     (nsensor x 2)
-  mjtNum*   sensor_user;          // user data                                (nsensor x nuser_sensor)
-  int*      sensor_plugin;        // plugin instance id; -1: not a plugin     (nsensor x 1)
-
-  // plugin instances
-  int*      plugin;               // globally registered plugin slot number   (nplugin x 1)
-  int*      plugin_stateadr;      // address in the plugin state array        (nplugin x 1)
-  int*      plugin_statenum;      // number of states in the plugin instance  (nplugin x 1)
-  char*     plugin_attr;          // config attributes of plugin instances    (npluginattr x 1)
-  int*      plugin_attradr;       // address to each instance's config attrib (nplugin x 1)
-
-  // custom numeric fields
-  int*      numeric_adr;          // address of field in numeric_data         (nnumeric x 1)
-  int*      numeric_size;         // size of numeric field                    (nnumeric x 1)
-  mjtNum*   numeric_data;         // array of all numeric fields              (nnumericdata x 1)
-
-  // custom text fields
-  int*      text_adr;             // address of text in text_data             (ntext x 1)
-  int*      text_size;            // size of text field (strlen+1)            (ntext x 1)
-  char*     text_data;            // array of all text fields (0-terminated)  (ntextdata x 1)
-
-  // custom tuple fields
-  int*      tuple_adr;            // address of text in text_data             (ntuple x 1)
-  int*      tuple_size;           // number of objects in tuple               (ntuple x 1)
-  int*      tuple_objtype;        // array of object types in all tuples      (ntupledata x 1)
-  int*      tuple_objid;          // array of object ids in all tuples        (ntupledata x 1)
-  mjtNum*   tuple_objprm;         // array of object params in all tuples     (ntupledata x 1)
-
-  // keyframes
-  mjtNum*   key_time;             // key time                                 (nkey x 1)
-  mjtNum*   key_qpos;             // key position                             (nkey x nq)
-  mjtNum*   key_qvel;             // key velocity                             (nkey x nv)
-  mjtNum*   key_act;              // key activation                           (nkey x na)
-  mjtNum*   key_mpos;             // key mocap position                       (nkey x nmocap*3)
-  mjtNum*   key_mquat;            // key mocap quaternion                     (nkey x nmocap*4)
-  mjtNum*   key_ctrl;             // key control                              (nkey x nu)
-
-  // names
-  int*      name_bodyadr;         // body name pointers                       (nbody x 1)
-  int*      name_jntadr;          // joint name pointers                      (njnt x 1)
-  int*      name_geomadr;         // geom name pointers                       (ngeom x 1)
-  int*      name_siteadr;         // site name pointers                       (nsite x 1)
-  int*      name_camadr;          // camera name pointers                     (ncam x 1)
-  int*      name_lightadr;        // light name pointers                      (nlight x 1)
-  int*      name_flexadr;         // flex name pointers                       (nflex x 1)
-  int*      name_meshadr;         // mesh name pointers                       (nmesh x 1)
-  int*      name_skinadr;         // skin name pointers                       (nskin x 1)
-  int*      name_hfieldadr;       // hfield name pointers                     (nhfield x 1)
-  int*      name_texadr;          // texture name pointers                    (ntex x 1)
-  int*      name_matadr;          // material name pointers                   (nmat x 1)
-  int*      name_pairadr;         // geom pair name pointers                  (npair x 1)
-  int*      name_excludeadr;      // exclude name pointers                    (nexclude x 1)
-  int*      name_eqadr;           // equality constraint name pointers        (neq x 1)
-  int*      name_tendonadr;       // tendon name pointers                     (ntendon x 1)
-  int*      name_actuatoradr;     // actuator name pointers                   (nactuator x 1)
-  int*      name_sensoradr;       // sensor name pointers                     (nsensor x 1)
-  int*      name_numericadr;      // numeric name pointers                    (nnumeric x 1)
-  int*      name_textadr;         // text name pointers                       (ntext x 1)
-  int*      name_tupleadr;        // tuple name pointers                      (ntuple x 1)
-  int*      name_keyadr;          // keyframe name pointers                   (nkey x 1)
-  int*      name_pluginadr;       // plugin instance name pointers            (nplugin x 1)
-  char*     names;                // names of all objects, 0-terminated       (nnames x 1)
-  int*      names_map;            // internal hash map of names               (nnames_map x 1)
-
-  // paths
-  char*     paths;                // paths to assets, 0-terminated            (npaths x 1)
-
-  // sparse structures
-  int*      B_rownnz;             // body-dof: non-zeros in each row          (nbody x 1)
-  int*      B_rowadr;             // body-dof: row addresses                  (nbody x 1)
-  int*      B_colind;             // body-dof: column indices                 (nB x 1)
-  int*      M_rownnz;             // reduced inertia: non-zeros in each row   (nv x 1)
-  int*      M_rowadr;             // reduced inertia: row addresses           (nv x 1)
-  int*      M_colind;             // reduced inertia: column indices          (nC x 1)
-  int*      mapM2M;               // index mapping from qM to M               (nC x 1)
-  int*      D_rownnz;             // full inertia: non-zeros in each row      (nv x 1)
-  int*      D_rowadr;             // full inertia: row addresses              (nv x 1)
-  int*      D_diag;               // full inertia: index of diagonal element  (nv x 1)
-  int*      D_colind;             // full inertia: column indices             (nD x 1)
-  int*      mapM2D;               // index mapping from M to D                (nD x 1)
-  int*      mapD2M;               // index mapping from D to M                (nC x 1)
-
-  // compilation signature
-  uint64_t  signature;            // also held by the mjSpec that compiled this model
-} mjModel;
-typedef struct mjResource_ {
-  char* name;                                   // name of resource (filename, etc)
-  void* data;                                   // opaque data pointer
-  mjVFS* vfs;                                   // pointer to the VFS
-  char timestamp[512];                          // timestamp of the resource
-  const struct mjpResourceProvider* provider;   // pointer to the provider
-  const char* args;  // resource arguments/hints, URI query format key=val&...
-                     // (optional)
-} mjResource;
-typedef struct mjpResourceProvider {
-  const char* prefix;               // prefix for match against a resource name
-  mjfOpenResource open;             // opening callback
-  mjfReadResource read;             // reading callback
-  mjfCloseResource close;           // closing callback
-  mjfMountResource mount;           // mounting callback (optional)
-  mjfUnmountResource unmount;       // unmounting callback (optional)
-  mjfResourceModified modified;     // resource modified callback (optional)
-  mjfWriteResource write;           // writing callback (optional)
-  void* data;                       // opaque data pointer (resource invariant)
-} mjpResourceProvider;
-typedef struct mjpDecoder {
-  const char* content_type;
-  const char* extension;
-  // user-facing functions
-  mjfCanDecode can_decode;  // quickly check if this decoder can handle the resource
-  mjfDecode decode;         // main decoding function
-  // the caller takes ownership of the spec returned by decode and is responsible
-  // for cleaning it up
-} mjpDecoder;
-typedef struct mjpEncoder {
-  const char* content_type;
-  const char* extension;
-  mjfEncode encode;  //  Function to encode an mjSpec and mjModel to a mjResource.
-  mjfCloseResource close_resource;  // Function to close/free the resource.
-} mjpEncoder;
-typedef enum mjtPluginCapabilityBit_ {
-  mjPLUGIN_ACTUATOR = 1<<0,       // actuator forces
-  mjPLUGIN_SENSOR   = 1<<1,       // sensor measurements
-  mjPLUGIN_PASSIVE  = 1<<2,       // passive forces
-  mjPLUGIN_SDF      = 1<<3,       // signed distance fields
-} mjtPluginCapabilityBit;
-typedef struct mjpPlugin_ {
-  const char* name;               // globally unique name identifying the plugin
-
-  int nattribute;                 // number of configuration attributes
-  const char* const* attributes;  // name of configuration attributes
-
-  int capabilityflags;            // plugin capabilities: bitfield of mjtPluginCapabilityBit
-  int needstage;                  // sensor computation stage (mjtStage)
-
-  // number of mjtNums needed to store the state of a plugin instance (required)
-  int (*nstate)(const mjModel* m, int instance);
-
-  // dimension of the specified sensor's output (required only for sensor plugins)
-  int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
-
-  // called when a new mjData is being created (required), returns 0 on success or -1 on failure
-  int (*init)(const mjModel* m, mjData* d, int instance);
-
-  // called when an mjData is being freed (optional)
-  void (*destroy)(mjData* d, int instance);
-
-  // called when an mjData is being copied (optional)
-  void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
-
-  // called when an mjData is being reset (required)
-  void (*reset)(const mjModel* m, mjtNum* plugin_state, void* plugin_data, int instance);
-
-  // called when the plugin needs to update its outputs (required)
-  void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
-
-  // called when time integration occurs (optional)
-  void (*advance)(const mjModel* m, mjData* d, int instance);
-
-  // called by mjv_updateScene (optional)
-  void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
-
-  // methods specific to actuators (optional)
-
-  // updates the actuator plugin's entries in act_dot
-  // called after native act_dot is computed and before the compute callback
-  void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
-
-  // methods specific to signed distance fields (optional)
-
-  // signed distance from the surface
-  mjtNum (*sdf_distance)(const mjtNum point[3], const mjData* d, int instance);
-
-  // gradient of distance with respect to local coordinates
-  void (*sdf_gradient)(mjtNum gradient[3], const mjtNum point[3], const mjData* d, int instance);
-
-  // called during compilation for marching cubes
-  mjtNum (*sdf_staticdistance)(const mjtNum point[3], const mjtNum* attributes);
-
-  // convert attributes and provide defaults if not present
-  void (*sdf_attribute)(mjtNum attribute[], const char* name[], const char* value[]);
-
-  // bounding box of implicit surface
-  void (*sdf_aabb)(mjtNum aabb[6], const mjtNum* attributes);
-} mjpPlugin;
-typedef struct mjSDF_ {
-  const mjpPlugin** plugin;
-  int* id;
-  mjtSDFType type;
-  mjtNum* relpos;
-  mjtNum* relmat;
-  mjtGeom* geomtype;
-} mjSDF;
-typedef enum mjtGridPos_ {        // grid position for overlay
-  mjGRID_TOPLEFT      = 0,        // top left
-  mjGRID_TOPRIGHT,                // top right
-  mjGRID_BOTTOMLEFT,              // bottom left
-  mjGRID_BOTTOMRIGHT,             // bottom right
-  mjGRID_TOP,                     // top center
-  mjGRID_BOTTOM,                  // bottom center
-  mjGRID_LEFT,                    // left center
-  mjGRID_RIGHT                    // right center
-} mjtGridPos;
-typedef enum mjtFramebuffer_ {    // OpenGL framebuffer option
-  mjFB_WINDOW         = 0,        // default/window buffer
-  mjFB_OFFSCREEN                  // offscreen buffer
-} mjtFramebuffer;
-typedef enum mjtDepthMap_ {       // depth mapping for `mjr_readPixels`
-  mjDEPTH_ZERONEAR    = 0,        // standard depth map; 0: znear, 1: zfar
-  mjDEPTH_ZEROFAR     = 1         // reversed depth map; 1: znear, 0: zfar
-} mjtDepthMap;
-typedef enum mjtFontScale_ {      // font scale, used at context creation
-  mjFONTSCALE_50      = 50,       // 50% scale, suitable for low-res rendering
-  mjFONTSCALE_100     = 100,      // normal scale, suitable in the absence of DPI scaling
-  mjFONTSCALE_150     = 150,      // 150% scale
-  mjFONTSCALE_200     = 200,      // 200% scale
-  mjFONTSCALE_250     = 250,      // 250% scale
-  mjFONTSCALE_300     = 300       // 300% scale
-} mjtFontScale;
-typedef enum mjtFont_ {           // font type, used at each text operation
-  mjFONT_NORMAL       = 0,        // normal font
-  mjFONT_SHADOW,                  // normal font with shadow (for higher contrast)
-  mjFONT_BIG                      // big font (for user alerts)
-} mjtFont;
-typedef enum mjrPixelFormat_ {    // pixel format for textures
-  mjPIXEL_FORMAT_UNKNOWN = 0,     // unknown/unspecified
-  mjPIXEL_FORMAT_R8,              // 1 channel, 8 bit
-  mjPIXEL_FORMAT_RGB8,            // 3 channels, 8 bits per channel
-  mjPIXEL_FORMAT_RGBA8,           // 4 channels, 8 bits per channel
-  mjPIXEL_FORMAT_R32F,            // 1 channel, 32 bit float
-  mjPIXEL_FORMAT_DEPTH32F,        // 1 channel, 32 bit float, for depth buffers
-  mjPIXEL_FORMAT_KTX,             // ktx compressed data
-} mjrPixelFormat;
-typedef enum mjrVertexAttributeUsage_ {   // usage/purpose of a vertex attribute
-  mjVERTEX_ATTRIBUTE_USAGE_POSITION = 0,  // vertex position
-  mjVERTEX_ATTRIBUTE_USAGE_NORMAL,        // vertex normal
-  mjVERTEX_ATTRIBUTE_USAGE_TANGENTS,      // vertex tangents
-  mjVERTEX_ATTRIBUTE_USAGE_UV,            // vertex texture coordinates
-  mjVERTEX_ATTRIBUTE_USAGE_COLOR,         // vertex color
-} mjrVertexAttributeUsage;
-typedef enum mjrVertexAttributeType_ {  // data format of a vertex attribute
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT2 = 0,   // 2D 32-bit float vector
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT3,       // 3D 32-bit float vector
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT4,       // 4D 32-bit float vector
-  mjVERTEX_ATTRIBUTE_TYPE_UBYTE4,       // 4D unsigned 8-bit byte vector
-} mjrVertexAttributeType;
-typedef enum mjrIndexType_ {  // data type of index buffer data
-  mjINDEX_TYPE_U16 = 0,       // 16-bit unsigned integer
-  mjINDEX_TYPE_U32,           // 32-bit unsigned integer
-} mjrIndexType;
-typedef enum mjrMeshPrimitiveType_ {    // type of mesh primitive
-  mjMESH_PRIMITIVE_TYPE_TRIANGLES = 0,  // triangles
-  mjMESH_PRIMITIVE_TYPE_LINES,          // lines
-} mjrMeshPrimitiveType;
-typedef struct mjrRect_ {         // OpenGL rectangle
-  int left;                       // left (usually 0)
-  int bottom;                     // bottom (usually 0)
-  int width;                      // width (usually buffer width)
-  int height;                     // height (usually buffer height)
-} mjrRect;
-typedef struct mjrRendererInfo_ {  // active renderer identity
-  const char* renderer;            // renderer family: classic, filament, noop
-  const char* backend;             // graphics backend: opengl, vulkan; empty if uninitialized
-} mjrRendererInfo;
-typedef struct mjrVertexAttribute_ {  // vertex attribute format specification
-  int usage;                          // position, normal, etc [mjrVertexAttributeUsage]
-  int type;                           // float3, ubyte4, etc. [mjrVertexAttributeType]
-} mjrVertexAttribute;
-typedef struct mjrContext_ {        // custom OpenGL context
-  // parameters copied from mjVisual
-  float lineWidth;                  // line width for wireframe rendering
-  float shadowClip;                 // clipping radius for directional lights
-  float shadowScale;                // fraction of light cutoff for spot lights
-  float fogStart;                   // fog start = stat.extent * vis.map.fogstart
-  float fogEnd;                     // fog end = stat.extent * vis.map.fogend
-  float fogRGBA[4];                 // fog rgba
-  int shadowSize;                   // size of shadow map texture
-  int offWidth;                     // width of offscreen buffer
-  int offHeight;                    // height of offscreen buffer
-  int offSamples;                   // number of offscreen buffer multisamples
-
-  // parameters specified at creation
-  int fontScale;                    // font scale
-  int auxWidth[mjNAUX];             // auxiliary buffer width
-  int auxHeight[mjNAUX];            // auxiliary buffer height
-  int auxSamples[mjNAUX];           // auxiliary buffer multisamples
-
-  // offscreen rendering objects
-  unsigned int offFBO;              // offscreen framebuffer object
-  unsigned int offFBO_r;            // offscreen framebuffer for resolving multisamples
-  unsigned int offColor;            // offscreen color buffer
-  unsigned int offColor_r;          // offscreen color buffer for resolving multisamples
-  unsigned int offDepthStencil;     // offscreen depth and stencil buffer
-  unsigned int offDepthStencil_r;   // offscreen depth and stencil buffer for multisamples
-
-  // shadow rendering objects
-  unsigned int shadowFBO;           // shadow map framebuffer object
-  unsigned int shadowTex;           // shadow map texture
-
-  // auxiliary buffers
-  unsigned int auxFBO[mjNAUX];      // auxiliary framebuffer object
-  unsigned int auxFBO_r[mjNAUX];    // auxiliary framebuffer object for resolving
-  unsigned int auxColor[mjNAUX];    // auxiliary color buffer
-  unsigned int auxColor_r[mjNAUX];  // auxiliary color buffer for resolving
-
-  // materials with textures
-  int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
-  int mat_texuniform[mjMAXMATERIAL];       // uniform cube mapping
-  float mat_texrepeat[mjMAXMATERIAL*2];    // texture repetition for 2d mapping
-
-  // texture objects and info
-  int ntexture;                            // number of allocated textures
-  int textureType[mjMAXTEXTURE];           // type of texture (mjtTexture) (ntexture)
-  unsigned int texture[mjMAXTEXTURE];      // texture names
-
-  // displaylist starting positions
-  unsigned int basePlane;           // all planes from model
-  unsigned int baseMesh;            // all meshes from model
-  unsigned int baseHField;          // all height fields from model
-  unsigned int baseBuiltin;         // all builtin geoms, with quality from model
-  unsigned int baseFontNormal;      // normal font
-  unsigned int baseFontShadow;      // shadow font
-  unsigned int baseFontBig;         // big font
-
-  // displaylist ranges
-  int rangePlane;                   // all planes from model
-  int rangeMesh;                    // all meshes from model
-  int rangeHField;                  // all hfields from model
-  int rangeBuiltin;                 // all builtin geoms, with quality from model
-  int rangeFont;                    // all characters in font
-
-  // skin VBOs
-  int nskin;                        // number of skins
-  unsigned int* skinvertVBO;        // skin vertex position VBOs (nskin)
-  unsigned int* skinnormalVBO;      // skin vertex normal VBOs (nskin)
-  unsigned int* skintexcoordVBO;    // skin vertex texture coordinate VBOs (nskin)
-  unsigned int* skinfaceVBO;        // skin face index VBOs (nskin)
-
-  // character info
-  int charWidth[127];               // character widths: normal and shadow
-  int charWidthBig[127];            // character widths: big
-  int charHeight;                   // character heights: normal and shadow
-  int charHeightBig;                // character heights: big
-
-  // capabilities
-  int glInitialized;                // is OpenGL initialized
-  int windowAvailable;              // is default/window framebuffer available
-  int windowSamples;                // number of samples for default/window framebuffer
-  int windowStereo;                 // is stereo available for default/window framebuffer
-  int windowDoublebuffer;           // is default/window framebuffer double buffered
-
-  // framebuffer
-  int currentBuffer;                // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
-
-  // pixel output format
-  int readPixelFormat;              // default color pixel format for mjr_readPixels
-
-  // depth output format
-  int readDepthMap;                 // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
-} mjrContext;
-typedef struct mjrfContext_ mjrfContext;
-typedef struct mjrfTexture_ mjrfTexture;
-typedef struct mjrfMesh_ mjrfMesh;
-typedef struct mjrfScene_ mjrfScene;
-typedef struct mjrfLight_ mjrfLight;
-typedef struct mjrfRenderable_ mjrfRenderable;
-typedef struct mjrfRenderTarget_ mjrfRenderTarget;
-typedef enum mjrGraphicsApi_ {
-  mjGRAPHICS_API_DEFAULT = 0,   // default (platform-dependent)
-  mjGRAPHICS_API_OPENGL,        // desktop, mobile (GLES), web (WebGL)
-  mjGRAPHICS_API_VULKAN,        // vulkan
-} mjrGraphicsApi;
-typedef struct mjrfContextConfig_ {
-  int graphics_api;                  // rendering graphics API [mjrGraphicsApi]
-  mjtBool force_software_rendering;  // force backend to use software rendering
-  void* native_window;               // platform-dependent window handle (or nullptr for windowless)
-} mjrfContextConfig;
-typedef enum mjrDrawMode_ {
-  mjDRAW_MODE_DEFAULT,                // default colors and lighting
-  mjDRAW_MODE_DEFAULT_NO_TEXTURES,    // default, but without textures
-  mjDRAW_MODE_WIREFRAME,              // wireframe rendering
-  mjDRAW_MODE_DEPTH,                  // grayscale depth map
-  mjDRAW_MODE_ISLANDS,                // color objects based on island and sleep state
-  mjDRAW_MODE_SEGMENTATION_BY_ID,     // color objects based on segmentation id
-  mjDRAW_MODE_SEGMENTATION_BY_COLOR,  // generate visually distinct colors using segmentation id
-} mjrDrawMode;
-typedef struct mjrfRenderRequest_ {
-  mjrfScene* scene;                  // scene to render
-  mjrCamera camera;                  // camera (viewpoint) from which to render scene
-  mjrRect viewport;                  // viewport (rect area) into which to render
-  mjrfRenderTarget* target;          // target used for rendering (or nullptr for window rendering)
-  int draw_mode;                     // method to use for drawing objects [mjrDrawMode]
-  mjtBool enable_post_processing;    // enable post processing, enabled by default
-  mjtBool enable_reflections;        // enable reflections, enabled by default
-  mjtBool enable_shadows;            // enable shadows, enabled by default
-} mjrfRenderRequest;
-typedef struct mjrfReadPixelsRequest_ {
-  mjrfRenderTarget* target;              // render target from which to read the image pixels
-  void* output;                          // buffer into which the pixels will be stored
-  mjtSize num_bytes;                     // size of output buffer
-  mjrfCallback read_completed;           // callback when read is complete; can use to free output
-  void* user_data;                       // user data for read_completed_callback
-} mjrfReadPixelsRequest;
-typedef struct mjrfFrameStats_ {
-  double frame_rate;              // frame rate, in frames per second
-} mjrfFrameStats;
-typedef struct mjrfTextureConfig_ {
-  int width;                         // texture width, or number of bytes for compressed data (e.g. KTX)
-  int height;                        // texture height, or 0 for compressed data (e.g. KTX)
-  int format;                        // pixel format (e.g. RGB8, RGBA8, KTX, etc.) [mjrPixelFormat]
-  int color_space;                   // color space (e.g. LINEAR, sRGB, etc.) [mjrColorSpace]
-  int sampler_type;                  // texture sampler (e.g. 2D, cube, etc.) [mjrSamplerType]
-} mjrfTextureConfig;
-typedef struct mjrfTextureData_ {
-  const void* bytes;               // pointer to image data, or nullptr for empty texture
-  mjtSize num_bytes;               // number of bytes in the image data
-  mjrfCallback release;            // callback when data has finished uploading
-  void* user_data;                 // user data for release callback
-} mjrfTextureData;
-typedef struct mjrfMeshConfig_ {
-  mjtSize max_vertices;         // maximum number of vertices
-  mjtSize max_indices;          // maximum number of indices
-  int num_attributes;           // number of defined attributes
-  mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute information
-  mjtBool interleaved;          // true if vertex attributes are interleaved
-  int index_type;               // index data format (e.g. UINT16 or UINT32) [mjrIndexType]
-  int primitive_type;           // index interpretation (e.g. TRIANGLES, etc.) [mjrMeshPrimitiveType]
-} mjrfMeshConfig;
-typedef struct mjrfMeshData_ {
-  mjtSize num_vertices;         // number of vertices
-  const void* vertices[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute data arrays
-  mjtSize num_indices;          // number of indices
-  const void* indices;          // indices data array
-  mjtBool compute_bounds;       // if true, compute bounds from vertex positions
-  float bounds_min[3];          // min/max bounds; assume unset if bounds_min == bounds_max
-  float bounds_max[3];
-  mjrfCallback release;         // callback when data has finished uploading
-  void* user_data;              // user data for release callback
-} mjrfMeshData;
-typedef struct mjrfSceneParams_ {
-} mjrfSceneParams;
-typedef struct mjrfLightParams_ {
-  int type;                        // type of light (e.g. spot, point, image, etc.) [mjrLightType]
-  const mjrfTexture* texture;      // texture; only for image lights
-  float color[3];                  // RGB color
-  float intensity;                 // light intensity, in candela
-  mjtBool cast_shadows;            // if true, cast shadows
-  float range;                     // effective range of light, in meters
-  float spot_cone_angle;           // spot light cone angle, in degrees
-  float spot_softness;             // spot light edge softness, fraction of cone angle in [0, 1]
-  int shadow_map_size;             // size of shadow map texture, 0 to use default size
-  float bulb_radius;               // bulb radius, used for soft shadows
-  float vsm_blur_width;            // variance shadow map blur width
-} mjrfLightParams;
-typedef struct mjrfMaterial_ {
-  float color[4];               // object color; defaults to white
-  int32_t segmentation_id;      // ID for segmentation rendering; maps to RGB8 color (i.e. 24 bits)
-  int32_t island_id;            // ID to which the renderable belongs
-  int sleep_state;              // sleep state of the renderable [mjtSleepState]
-  float uv_scale[3];            // scale applied to UV coordinates; defaults to (1,1,1)
-  float uv_offset[3];           // offset applied to UV coordinates; defaults to (0,0,0)
-  float scissor[4];             // if non-zero, applies scissor testing when rendering
-  float metallic;               // metallic factory [0, 1]; disabled if < 0
-  float roughness;              // roughness factor [0, 1]; disabled if < 0
-  float specular;               // specular factor [0, 1]; disabled if < 0
-  float glossiness;             // glossiness factor [0, 1]; disabled if < 0
-  float emissive;               // emissive/glow factor [0, 1]; disabled if < 0
-  float reflectance;            // blend factor for reflective surfaces [0, 1]; applies only to planes
-  mjtBool decor_ux;             // for ux elements, does not apply any lighting
-  mjtBool selected;             // for "selected" ux elements, adds additional styling
-  const mjrfTexture* color_texture;       // color/albedo texture (RGB8)
-  const mjrfTexture* opacity_texture;     // opacity texture (A8)
-  const mjrfTexture* normal_texture;      // normal map texture (RGB8)
-  const mjrfTexture* metallic_texture;    // metallic map texture (R8)
-  const mjrfTexture* roughness_texture;   // roughness map texture (R8)
-  const mjrfTexture* occlusion_texture;   // ambient occlusion texture (R8)
-  const mjrfTexture* orm_texture;         // occlusion/roughness/metallic texture (RGB8)
-  const mjrfTexture* emissive_texture;    // emissive texture (RGB8)
-  const mjrfTexture* reflection_texture;  // reflection texture, for internal use only
-} mjrfMaterial;
-typedef struct mjrfRenderableParams_ {
-  mjtBool cast_shadows;                 // if true, casts shadows
-  mjtBool receive_shadows;              // if true, receives shadows
-  uint16_t blend_order;                 // controls draw order for transparent objects [0, 8]
-} mjrfRenderableParams;
-typedef struct mjrfRenderTargetConfig_ {
-  int width;                              // texture width
-  int height;                             // texture height
-  int color_format;                       // pixel format for color buffer [mjrPixelFormat]
-  int depth_format;                       // pixel format for depth buffer [mjrPixelFormat]
-} mjrfRenderTargetConfig;
-typedef enum mjtGeomInertia {      // type of inertia inference
-  mjINERTIA_VOLUME = 0,            // mass distributed in the volume
-  mjINERTIA_SHELL,                 // mass distributed on the surface
-} mjtGeomInertia;
-typedef enum mjtMeshInertia {      // type of mesh inertia
-  mjMESH_INERTIA_CONVEX = 0,       // convex mesh inertia
-  mjMESH_INERTIA_EXACT,            // exact mesh inertia
-  mjMESH_INERTIA_LEGACY,           // legacy mesh inertia
-  mjMESH_INERTIA_SHELL             // shell mesh inertia
-} mjtMeshInertia;
-typedef enum mjtMeshBuiltin {      // type of built-in procedural mesh
-  mjMESH_BUILTIN_NONE = 0,         // no built-in mesh
-  mjMESH_BUILTIN_SPHERE,           // sphere
-  mjMESH_BUILTIN_HEMISPHERE,       // hemisphere
-  mjMESH_BUILTIN_CONE,             // cone
-  mjMESH_BUILTIN_SUPERSPHERE,      // supersphere
-  mjMESH_BUILTIN_SUPERTORUS,       // supertorus
-  mjMESH_BUILTIN_WEDGE,            // wedge
-  mjMESH_BUILTIN_PLATE,            // plate
-} mjtMeshBuiltin;
-typedef enum mjtBuiltin {          // type of built-in procedural texture
-  mjBUILTIN_NONE = 0,              // no built-in texture
-  mjBUILTIN_GRADIENT,              // gradient: rgb1->rgb2
-  mjBUILTIN_CHECKER,               // checker pattern: rgb1, rgb2
-  mjBUILTIN_FLAT                   // 2d: rgb1; cube: rgb1-up, rgb2-side, rgb3-down
-} mjtBuiltin;
-typedef enum mjtMark {             // mark type for procedural textures
-  mjMARK_NONE = 0,                 // no mark
-  mjMARK_EDGE,                     // edges
-  mjMARK_CROSS,                    // cross
-  mjMARK_RANDOM                    // random dots
-} mjtMark;
-typedef enum mjtLimited {          // type of limit specification
-  mjLIMITED_FALSE = 0,             // not limited
-  mjLIMITED_TRUE,                  // limited
-  mjLIMITED_AUTO,                  // limited inferred from presence of range
-} mjtLimited;
-typedef enum mjtAlignFree {        // whether to align free joints with the inertial frame
-  mjALIGNFREE_FALSE = 0,           // don't align
-  mjALIGNFREE_TRUE,                // align
-  mjALIGNFREE_AUTO,                // respect the global compiler flag
-} mjtAlignFree;
-typedef enum mjtInertiaFromGeom {  // whether to infer body inertias from child geoms
-  mjINERTIAFROMGEOM_FALSE = 0,     // do not use; inertial element required
-  mjINERTIAFROMGEOM_TRUE,          // always use; overwrite inertial element
-  mjINERTIAFROMGEOM_AUTO           // use only if inertial element is missing
-} mjtInertiaFromGeom;
-typedef enum mjtOrientation {      // type of orientation specifier
-  mjORIENTATION_QUAT = 0,          // quaternion
-  mjORIENTATION_AXISANGLE,         // axis and angle
-  mjORIENTATION_XYAXES,            // x and y axes
-  mjORIENTATION_ZAXIS,             // z axis (minimal rotation)
-  mjORIENTATION_EULER,             // Euler angles
-} mjtOrientation;
-typedef enum mjtConflict {         // conflict resolution for attach
-  mjCONFLICT_WARNING = 0,          // keep parent, warn on conflict
-  mjCONFLICT_MERGE,                // merge: min/max/error per field
-  mjCONFLICT_ERROR,                // error on any conflict
-} mjtConflict;
-typedef enum mjtCTimer {           // compiler timing categories
-  // top-level timers (wall-clock)
-  mjCTIMER_TOTAL = 0,              // total compile time
-  mjCTIMER_ASSETS,                 // asset compilation
-
-  // asset sub-timers (CPU time, summed across all assets)
-  mjCTIMER_TEXTURE,                // textures
-  mjCTIMER_MESH_LOAD,              // mesh: file loading
-  mjCTIMER_MESH_HULL,              // mesh: convex hull
-  mjCTIMER_MESH_POLYGON,           // mesh: normals and polygons
-  mjCTIMER_MESH_INERTIA,           // mesh: volume, CoM, inertia
-  mjCTIMER_MESH_BVH,               // mesh: bounding volume hierarchy
-  mjCTIMER_MESH_OCTREE,            // mesh: octree and SDF
-
-  mjNCTIMER                        // number of compiler timers
-} mjtCTimer;
-typedef struct mjsElement_ {       // element type, do not modify
-  mjtObj elemtype;                 // element type
-  uint64_t signature;              // compilation signature
-} mjsElement;
-typedef struct mjsCompiler_ {      // compiler options
-  mjtBool autolimits;              // infer "limited" attribute based on range
-  double boundmass;                // enforce minimum body mass
-  double boundinertia;             // enforce minimum body diagonal inertia
-  double settotalmass;             // rescale masses and inertias; <=0: ignore
-  mjtBool balanceinertia;          // automatically impose A + B >= C rule
-  mjtBool fitaabb;                 // meshfit to aabb instead of inertia box
-  mjtBool degree;                  // angles in radians or degrees
-  char eulerseq[3];                // sequence for euler rotations
-  mjtBool discardvisual;           // discard visual geoms in parser
-  mjtBool usethread;               // use multiple threads to speed up compiler
-  mjtBool fusestatic;              // fuse static bodies with parent
-  mjtInertiaFromGeom inertiafromgeom; // use geom inertias
-  int inertiagrouprange[2];        // range of geom groups used to compute inertia
-  mjtBool saveinertial;            // save explicit inertial clause for all bodies to XML
-  mjtBool alignfree;               // align free joints with inertial frame
-  mjtConflict conflict;            // conflict resolution for attach
-  mjLROpt LRopt;                   // options for lengthrange computation
-  mjString* meshdir;               // mesh and hfield directory
-  mjString* texturedir;            // texture directory
-  uint64_t authored;               // bitmask of authored compiler fields
-} mjsCompiler;
-typedef struct mjsAuthored_ {      // authored tracking bitmasks for mjModel structs
-  uint64_t option;                 // authored mjOption fields
-  int      disableflags;           // individual authored disable flags
-  int      enableflags;            // individual authored enable flags
-  int      disableactuator;        // individual authored actuator groups
-  uint64_t visual_global;          // authored visual.global fields
-  uint64_t visual_quality;         // authored visual.quality fields
-  uint64_t visual_headlight;       // authored visual.headlight fields
-  uint64_t visual_map;             // authored visual.map fields
-  uint64_t visual_scale;           // authored visual.scale fields
-  uint64_t visual_rgba;            // authored visual.rgba fields
-} mjsAuthored;
-typedef struct mjSpec_ {           // model specification
-  mjsElement* element;             // element type
-  mjString* modelname;             // model name
-
-  // compiler data
-  mjsCompiler compiler;            // compiler options
-  mjtBool strippath;               // automatically strip paths from mesh files
-
-  // engine data
-  mjOption option;                 // physics options
-  mjVisual visual;                 // visual options
-  mjStatistic stat;                // statistics override (if defined)
-
-  // sizes
-  mjtSize memory;                  // number of bytes in arena+stack memory
-  int nemax;                       // max number of equality constraints
-  int nuserdata;                   // number of mjtNums in userdata
-  int nuser_body;                  // number of mjtNums in body_user
-  int nuser_jnt;                   // number of mjtNums in jnt_user
-  int nuser_geom;                  // number of mjtNums in geom_user
-  int nuser_site;                  // number of mjtNums in site_user
-  int nuser_cam;                   // number of mjtNums in cam_user
-  int nuser_tendon;                // number of mjtNums in tendon_user
-  int nuser_actuator;              // number of mjtNums in actuator_user
-  int nuser_sensor;                // number of mjtNums in sensor_user
-  int nkey;                        // number of keyframes
-  int njmax;                       // (deprecated) max number of constraints
-  int nconmax;                     // (deprecated) max number of detected contacts
-  mjtSize nstack;                  // (deprecated) number of mjtNums in mjData stack
-
-  // global data
-  mjString* comment;               // comment at top of XML
-  mjString* modelfiledir;          // path to model file
-
-  // other
-  mjtBool hasImplicitPluginElem;   // already encountered an implicit plugin sensor/actuator
-
-  // authored tracking bitmasks for mjModel structs
-  mjsAuthored authored;
-} mjSpec;
-typedef struct mjsOrientation_ {   // alternative orientation specifiers
-  mjtOrientation type;             // active orientation specifier
-  double axisangle[4];             // axis and angle
-  double xyaxes[6];                // x and y axes
-  double zaxis[3];                 // z axis (minimal rotation)
-  double euler[3];                 // Euler angles
-} mjsOrientation;
-typedef struct mjsPlugin_ {        // plugin specification
-  mjsElement* element;             // element type
-  mjString* name;                  // instance name
-  mjString* plugin_name;           // plugin name
-  mjtBool active;                  // is the plugin active
-  mjString* info;                  // message appended to compiler errors
-} mjsPlugin;
-typedef struct mjsBody_ {          // body specification
-  mjsElement* element;             // element type
-  mjString* childclass;            // childclass name
-
-  // body frame
-  double pos[3];                   // frame position
-  double quat[4];                  // frame orientation
-  mjsOrientation alt;              // frame alternative orientation
-
-  // inertial frame
-  double mass;                     // mass
-  double ipos[3];                  // inertial frame position
-  double iquat[4];                 // inertial frame orientation
-  double inertia[3];               // diagonal inertia (in i-frame)
-  mjsOrientation ialt;             // inertial frame alternative orientation
-  double fullinertia[6];           // non-axis-aligned inertia matrix
-
-  // other
-  mjtBool mocap;                   // is this a mocap body
-  double gravcomp;                 // gravity compensation
-  mjtSleepPolicy sleep;            // sleep policy
-  mjtByte simple;                  // simple body optimization (0: false, 1: auto)
-  mjDoubleVec* userdata;           // user data
-  mjtBool explicitinertial;        // whether to save the body with explicit inertial clause
-  mjsPlugin plugin;                // passive force plugin
-  mjString* info;                  // message appended to compiler errors
-} mjsBody;
-typedef struct mjsFrame_ {         // frame specification
-  mjsElement* element;             // element type
-  mjString* childclass;            // childclass name
-  double pos[3];                   // position
-  double quat[4];                  // orientation
-  mjsOrientation alt;              // alternative orientation
-  mjString* info;                  // message appended to compiler errors
-} mjsFrame;
-typedef struct mjsJoint_ {         // joint specification
-  mjsElement* element;             // element type
-  mjtJoint type;                   // joint type
-
-  // kinematics
-  double pos[3];                   // anchor position
-  double axis[3];                  // joint axis
-  double ref;                      // value at reference configuration: qpos0
-  mjtAlignFree align;              // align free joint with body com
-
-  // stiffness
-  double stiffness[mjNPOLY+1];     // stiffness coefficients
-  double springref;                // spring reference value: qpos_spring
-  double springdamper[2];          // timeconst, dampratio
-
-  // limits
-  mjtLimited limited;              // does joint have limits
-  double range[2];                 // joint limits
-  double margin;                   // margin value for joint limit detection
-  mjtNum solref_limit[mjNREF];     // solver reference: joint limits
-  mjtNum solimp_limit[mjNIMP];     // solver impedance: joint limits
-  mjtLimited actfrclimited;        // are actuator forces on joint limited
-  double actfrcrange[2];           // actuator force limits
-
-  // dof properties
-  double armature;                 // armature inertia (mass for slider)
-  double damping[mjNPOLY+1];       // damping coefficients
-  double frictionloss;             // friction loss
-  mjtNum solref_friction[mjNREF];  // solver reference: dof friction
-  mjtNum solimp_friction[mjNIMP];  // solver impedance: dof friction
-
-  // other
-  int group;                       // group
-  mjtBool actgravcomp;             // is gravcomp force applied via actuators
-  mjDoubleVec* userdata;           // user data
-  mjString* info;                  // message appended to compiler errors
-} mjsJoint;
-typedef struct mjsGeom_ {          // geom specification
-  mjsElement* element;             // element type
-  mjtGeom type;                    // geom type
-
-  // frame, size
-  double pos[3];                   // position
-  double quat[4];                  // orientation
-  mjsOrientation alt;              // alternative orientation
-  double fromto[6];                // alternative for capsule, cylinder, box, ellipsoid
-  double size[3];                  // type-specific size
-
-  // contact related
-  int contype;                     // contact type
-  int conaffinity;                 // contact affinity
-  int condim;                      // contact dimensionality
-  int priority;                    // contact priority
-  double friction[3];              // one-sided friction coefficients: slide, roll, spin
-  double solmix;                   // solver mixing for contact pairs
-  mjtNum solref[mjNREF];           // solver reference
-  mjtNum solimp[mjNIMP];           // solver impedance
-  double margin;                   // margin for contact detection
-  double gap;                      // additional contact detection buffer
-  double surfacevel[6];            // surface velocity in local frame: linear, angular
-  double adhesion;                 // adhesive force of contacts
-
-  // inertia inference
-  double mass;                     // used to compute density
-  double density;                  // used to compute mass and inertia from volume or surface
-  mjtGeomInertia typeinertia;      // selects between surface and volume inertia
-
-  // fluid forces
-  mjtNum fluid_ellipsoid;          // whether ellipsoid-fluid model is active
-  mjtNum fluid_coefs[5];           // ellipsoid-fluid interaction coefs
-
-  // visual
-  mjString* material;              // name of material
-  float rgba[4];                   // rgba when material is omitted
-  int group;                       // group
-
-  // other
-  mjString* hfieldname;            // heightfield attached to geom
-  mjString* meshname;              // mesh attached to geom
-  double fitscale;                 // scale mesh uniformly
-  mjDoubleVec* userdata;           // user data
-  mjsPlugin plugin;                // sdf plugin
-  mjString* info;                  // message appended to compiler errors
-} mjsGeom;
-typedef struct mjsSite_ {          // site specification
-  mjsElement* element;             // element type
-
-  // frame, size
-  double pos[3];                   // position
-  double quat[4];                  // orientation
-  mjsOrientation alt;              // alternative orientation
-  double fromto[6];                // alternative for capsule, cylinder, box, ellipsoid
-  double size[3];                  // geom size
-
-  // visual
-  mjtGeom type;                    // geom type
-  mjString* material;              // name of material
-  int group;                       // group
-  float rgba[4];                   // rgba when material is omitted
-
-  // other
-  mjDoubleVec* userdata;           // user data
-  mjString* info;                  // message appended to compiler errors
-} mjsSite;
-typedef struct mjsCamera_ {        // camera specification
-  mjsElement* element;             // element type
-
-  // extrinsics
-  double pos[3];                   // position
-  double quat[4];                  // orientation
-  mjsOrientation alt;              // alternative orientation
-  mjtCamLight mode;                // tracking mode
-  mjString* targetbody;            // target body for tracking/targeting
-
-  // intrinsics
-  mjtProjection proj;              // camera projection type
-  int resolution[2];               // resolution (pixel)
-  int output;                      // bit flags for output type
-  double fovy;                     // y-field of view
-  double ipd;                      // inter-pupillary distance
-  float intrinsic[4];              // camera intrinsics (length)
-  float sensor_size[2];            // sensor size (length)
-  float focal_length[2];           // focal length (length)
-  float focal_pixel[2];            // focal length (pixel)
-  float principal_length[2];       // principal point (length)
-  float principal_pixel[2];        // principal point (pixel)
-
-  // other
-  mjDoubleVec* userdata;           // user data
-  mjString* info;                  // message appended to compiler errors
-} mjsCamera;
-typedef struct mjsLight_ {         // light specification
-  mjsElement* element;             // element type
-
-  // frame
-  double pos[3];                   // position
-  double dir[3];                   // direction
-  mjtCamLight mode;                // tracking mode
-  mjString* targetbody;            // target body for targeting
-
-  // intrinsics
-  mjtBool active;                  // is light active
-  mjtLightType type;               // type of light
-  mjString* texture;               // texture name for image lights
-  mjtBool castshadow;              // does light cast shadows
-  float bulbradius;                // bulb radius, for soft shadows
-  float intensity;                 // intensity, in candelas
-  float range;                     // range of effectiveness
-  float attenuation[3];            // OpenGL attenuation (quadratic model)
-  float cutoff;                    // OpenGL cutoff
-  float softness;                  // spotlight edge softness
-  float exponent;                  // OpenGL exponent
-  float ambient[3];                // ambient color
-  float diffuse[3];                // diffuse color
-  float specular[3];               // specular color
-
-  // other
-  mjString* info;                  // message appended to compiler errors
-} mjsLight;
-typedef struct mjsFlex_ {          // flex specification
-  mjsElement* element;             // element type
-
-  // contact properties
-  int contype;                     // contact type
-  int conaffinity;                 // contact affinity
-  int condim;                      // contact dimensionality
-  int priority;                    // contact priority
-  double friction[3];              // one-sided friction coefficients: slide, roll, spin
-  double solmix;                   // solver mixing for contact pairs
-  mjtNum solref[mjNREF];           // solver reference
-  mjtNum solimp[mjNIMP];           // solver impedance
-  double margin;                   // margin for contact detection
-  double gap;                      // additional contact detection buffer
-
-  // other properties
-  int dim;                         // element dimensionality
-  double radius;                   // radius around primitive element
-  double size[3];                  // vertex bounding box half sizes in qpos0
-  mjtBool internal;                // enable internal collisions
-  mjtBool flatskin;                // render flex skin with flat shading
-  mjtFlexSelf selfcollide;         // mode for flex self collision
-  int passive;                     // mode for passive collisions
-  int activelayers;                // number of active element layers in 3D
-  int group;                       // group for visualization
-  double edgestiffness;            // edge stiffness
-  double edgedamping;              // edge damping
-  float rgba[4];                   // rgba when material is omitted
-  mjString* material;              // name of material used for rendering
-  double young;                    // Young's modulus
-  double poisson;                  // Poisson's ratio
-  double damping;                  // Rayleigh's damping
-  double thickness;                // thickness (2D only)
-  int elastic2d;                   // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
-  int cellcount[3];                // grid cell count for finite cell method
-  int order;                       // interpolation order (1: trilinear, 2: quadratic)
-
-  // mesh properties
-  mjStringVec* nodebody;           // node body names
-  mjStringVec* vertbody;           // vertex body names
-  mjDoubleVec* node;               // node positions
-  mjDoubleVec* vert;               // vertex positions
-  mjIntVec* elem;                  // element vertex ids
-  mjFloatVec* texcoord;            // vertex texture coordinates
-  mjIntVec* elemtexcoord;          // element texture coordinates
-
-  // other
-  mjString* info;                  // message appended to compiler errors
-} mjsFlex;
-typedef struct mjsMesh_ {          // mesh specification
-  mjsElement* element;             // element type
-  mjString* content_type;          // content type of file
-  mjString* file;                  // mesh file
-  double refpos[3];                // reference position
-  double refquat[4];               // reference orientation
-  double scale[3];                 // rescale mesh
-  mjtMeshInertia inertia;          // inertia type (convex, legacy, exact, shell)
-  mjtBool smoothnormal;            // do not exclude large-angle faces from normals
-  mjtBool needsdf;                 // compute sdf from mesh
-  int maxhullvert;                 // maximum vertex count for the convex hull
-  mjFloatVec* uservert;            // user vertex data
-  mjFloatVec* usernormal;          // user normal data
-  mjFloatVec* usertexcoord;        // user texcoord data
-  mjIntVec* userface;              // user vertex indices
-  mjIntVec* userfacenormal;        // user face normal indices
-  mjIntVec* userfacetexcoord;      // user texcoord indices
-  mjsPlugin plugin;                // sdf plugin
-  mjString* material;              // name of material
-  int octree_maxdepth;             // max octree depth
-  mjString* info;                  // message appended to compiler errors
-} mjsMesh;
-typedef struct mjsHField_ {        // height field specification
-  mjsElement* element;             // element type
-  mjString* content_type;          // content type of file
-  mjString* file;                  // file: (nrow, ncol, [elevation data])
-  double size[4];                  // hfield size (ignore referencing geom size)
-  int nrow;                        // number of rows
-  int ncol;                        // number of columns
-  mjFloatVec* userdata;            // user-provided elevation data
-  mjString* info;                  // message appended to compiler errors
-} mjsHField;
-typedef struct mjsSkin_ {          // skin specification
-  mjsElement* element;             // element type
-  mjString* file;                  // skin file
-  mjString* material;              // name of material used for rendering
-  float rgba[4];                   // rgba when material is omitted
-  float inflate;                   // inflate in normal direction
-  int group;                       // group for visualization
-
-  // mesh
-  mjFloatVec* vert;                // vertex positions
-  mjFloatVec* texcoord;            // texture coordinates
-  mjIntVec* face;                  // faces
-
-  // skin
-  mjStringVec* bodyname;           // body names
-  mjFloatVec* bindpos;             // bind pos
-  mjFloatVec* bindquat;            // bind quat
-  mjIntVecVec* vertid;             // vertex ids
-  mjFloatVecVec* vertweight;       // vertex weights
-
-  // other
-  mjString* info;                  // message appended to compiler errors
-} mjsSkin;
-typedef struct mjsTexture_ {       // texture specification
-  mjsElement* element;             // element type
-  mjtTexture type;                 // texture type
-  mjtColorSpace colorspace;        // colorspace
-
-  // method 1: builtin
-  mjtBuiltin builtin;              // builtin type
-  mjtMark mark;                    // mark type
-  double rgb1[3];                  // first color for builtin
-  double rgb2[3];                  // second color for builtin
-  double markrgb[3];               // mark color
-  double random;                   // probability of random dots
-  int height;                      // height in pixels (square for cube and skybox)
-  int width;                       // width in pixels
-  int nchannel;                    // number of channels
-
-  // method 2: single file
-  mjString* content_type;          // content type of file
-  mjString* file;                  // png file to load; use for all sides of cube
-  int gridsize[2];                 // size of grid for composite file; (1,1)-repeat
-  char gridlayout[12];             // row-major: L,R,F,B,U,D for faces; . for unused
-
-  // method 3: separate files
-  mjStringVec* cubefiles;          // different file for each side of the cube
-
-  // method 4: from buffer read by user
-  mjByteVec* data;                  // texture data
-
-  // flip options
-  mjtBool hflip;                   // horizontal flip
-  mjtBool vflip;                   // vertical flip
-
-  // other
-  mjString* info;                  // message appended to compiler errors
-} mjsTexture;
-typedef struct mjsMaterial_ {      // material specification
-  mjsElement* element;             // element type
-  mjStringVec* textures;           // names of textures (empty: none)
-  mjtBool texuniform;              // make texture cube uniform
-  float texrepeat[2];              // texture repetition for 2D mapping
-  float emission;                  // emission
-  float specular;                  // specular
-  float shininess;                 // shininess
-  float reflectance;               // reflectance
-  float metallic;                  // metallic
-  float roughness;                 // roughness
-  float rgba[4];                   // rgba
-  mjString* info;                  // message appended to compiler errors
-} mjsMaterial;
-typedef struct mjsPair_ {          // pair specification
-  mjsElement* element;             // element type
-  mjString* geomname1;             // name of geom 1
-  mjString* geomname2;             // name of geom 2
-
-  // optional parameters: computed from geoms if not set by user
-  int condim;                      // contact dimensionality
-  mjtNum solref[mjNREF];           // solver reference, normal direction
-  mjtNum solreffriction[mjNREF];   // solver reference, frictional directions
-  mjtNum solimp[mjNIMP];           // solver impedance
-  double margin;                   // margin for contact detection
-  double gap;                      // additional contact detection buffer
-  double adhesion;                 // adhesive force of contacts
-  double friction[5];              // full contact friction
-  mjString* info;                  // message appended to errors
-} mjsPair;
-typedef struct mjsExclude_ {       // exclude specification
-  mjsElement* element;             // element type
-  mjString* bodyname1;             // name of geom 1
-  mjString* bodyname2;             // name of geom 2
-  mjString* info;                  // message appended to errors
-} mjsExclude;
-typedef struct mjsEquality_ {      // equality specification
-  mjsElement* element;             // element type
-  mjtEq type;                      // constraint type
-  double data[mjNEQDATA];          // type-dependent data
-  mjtBool active;                  // is equality initially active
-  mjString* name1;                 // name of object 1
-  mjString* name2;                 // name of object 2
-  mjtObj objtype;                  // type of both objects
-  mjtNum solref[mjNREF];           // solver reference
-  mjtNum solimp[mjNIMP];           // solver impedance
-  mjString* info;                  // message appended to errors
-} mjsEquality;
-typedef struct mjsTendon_ {        // tendon specification
-  mjsElement* element;             // element type
-
-  // stiffness, damping, friction, armature
-  double stiffness[mjNPOLY+1];     // stiffness coefficients
-  double springlength[2];          // spring resting length; {-1, -1}: use qpos_spring
-  double damping[mjNPOLY+1];       // damping coefficients
-  double frictionloss;             // friction loss
-  mjtNum solref_friction[mjNREF];  // solver reference: tendon friction
-  mjtNum solimp_friction[mjNIMP];  // solver impedance: tendon friction
-  double armature;                 // inertia associated with tendon velocity
-
-  // length range
-  mjtLimited limited;              // does tendon have limits
-  mjtLimited actfrclimited;        // does tendon have actuator force limits
-  double range[2];                 // length limits
-  double actfrcrange[2];           // actuator force limits
-  double margin;                   // margin value for tendon limit detection
-  mjtNum solref_limit[mjNREF];     // solver reference: tendon limits
-  mjtNum solimp_limit[mjNIMP];     // solver impedance: tendon limits
-
-  // visual
-  mjString* material;              // name of material for rendering
-  double width;                    // width for rendering
-  float rgba[4];                   // rgba when material is omitted
-  int group;                       // group
-
-  // other
-  mjDoubleVec* userdata;           // user data
-  mjString* info;                  // message appended to errors
-} mjsTendon;
-typedef struct mjsWrap_ {          // wrapping object specification
-  mjsElement* element;             // element type
-  mjtWrap type;                    // wrap type
-  mjString* info;                  // message appended to errors
-} mjsWrap;
-typedef struct mjsActuator_ {      // actuator specification
-  mjsElement* element;             // element type
-
-  // gain, bias
-  mjtGain gaintype;                // gain type
-  double gainprm[mjNGAIN];         // gain parameters
-  mjtBias biastype;                // bias type
-  double biasprm[mjNBIAS];         // bias parameters
-
-  // activation state
-  mjtDyn dyntype;                  // dynamics type
-  double dynprm[mjNDYN];           // dynamics parameters
-  int actdim;                      // number of activation variables
-  int ctrlspec;                    // input signature, scoped by gaintype; 0: type default
-  double velrange[2];              // range of the velocity-setpoint input (pid)
-  double ffrange[2];               // range of the feedforward input (pid)
-  mjtBool actearly;                // apply next activations to qfrc
-
-  // transmission
-  mjtTrn trntype;                  // transmission type
-  double gear[6];                  // length and transmitted force scaling
-  mjString* target;                // name of transmission target
-  mjString* refsite;               // reference site, for site transmission
-  mjString* slidersite;            // site defining cylinder, for slider-crank
-  double cranklength;              // crank length, for slider-crank
-  double lengthrange[2];           // transmission length range
-  double inheritrange;             // automatic range setting for position and intvelocity
-  double damping[mjNPOLY+1];       // damping coefficients
-  double armature;                 // armature inertia
-
-  // input/output clamping
-  mjtLimited ctrllimited;          // are control limits defined
-  double ctrlrange[2];             // control range
-  mjtLimited forcelimited;         // are force limits defined
-  double forcerange[2];            // force range
-  mjtLimited actlimited;           // are activation limits defined
-  double actrange[2];              // activation range
-
-  // other
-  int group;                       // group
-  int nsample;                     // number of samples in history buffer
-  int interp;                      // interpolation order (0=ZOH, 1=linear, 2=cubic)
-  double delay;                    // delay time in seconds; 0: no delay
-  mjDoubleVec* userdata;           // user data
-  mjsPlugin plugin;                // actuator plugin
-  mjString* info;                  // message appended to compiler errors
-} mjsActuator;
-typedef struct mjsSensor_ {        // sensor specification
-  mjsElement* element;             // element type
-
-  // sensor definition
-  mjtSensor type;                  // type of sensor
-  mjtObj objtype;                  // type of sensorized object
-  mjString* objname;               // name of sensorized object
-  mjtObj reftype;                  // type of referenced object
-  mjString* refname;               // name of referenced object
-  int intprm[mjNSENS];             // integer parameters
-
-  // user-defined sensors
-  mjtDataType datatype;            // data type for sensor measurement
-  mjtStage needstage;              // compute stage needed to simulate sensor
-  int dim;                         // number of scalar outputs
-
-  // output post-processing
-  double cutoff;                   // cutoff for real and positive datatypes
-  double noise;                    // noise stdev
-
-  // history buffer
-  int nsample;                     // number of samples in history buffer
-  int interp;                      // interpolation order (0=ZOH, 1=linear, 2=cubic)
-  double delay;                    // delay time in seconds
-  double interval[2];              // [period, time_prev] in seconds
-
-  // other
-  mjDoubleVec* userdata;           // user data
-  mjsPlugin plugin;                // sensor plugin
-  mjString* info;                  // message appended to compiler errors
-} mjsSensor;
-typedef struct mjsNumeric_ {       // custom numeric field specification
-  mjsElement* element;             // element type
-  mjDoubleVec* data;               // initialization data
-  int size;                        // array size, can be bigger than data size
-  mjString* info;                  // message appended to compiler errors
-} mjsNumeric;
-typedef struct mjsText_ {          // custom text specification
-  mjsElement* element;             // element type
-  mjString* data;                  // text string
-  mjString* info;                  // message appended to compiler errors
-} mjsText;
-typedef struct mjsTuple_ {         // tuple specification
-  mjsElement* element;             // element type
-  mjIntVec* objtype;               // object types
-  mjStringVec* objname;            // object names
-  mjDoubleVec* objprm;             // object parameters
-  mjString* info;                  // message appended to compiler errors
-} mjsTuple;
-typedef struct mjsKey_ {           // keyframe specification
-  mjsElement* element;             // element type
-  double time;                     // time
-  mjDoubleVec* qpos;               // qpos
-  mjDoubleVec* qvel;               // qvel
-  mjDoubleVec* act;                // act
-  mjDoubleVec* mpos;               // mocap pos
-  mjDoubleVec* mquat;              // mocap quat
-  mjDoubleVec* ctrl;               // ctrl
-  mjString* info;                  // message appended to compiler errors
-} mjsKey;
-typedef struct mjsDefault_ {       // default specification
-  mjsElement* element;             // element type
-  mjsJoint* joint;                 // joint defaults
-  mjsGeom* geom;                   // geom defaults
-  mjsSite* site;                   // site defaults
-  mjsCamera* camera;               // camera defaults
-  mjsLight* light;                 // light defaults
-  mjsFlex* flex;                   // flex defaults
-  mjsMesh* mesh;                   // mesh defaults
-  mjsMaterial* material;           // material defaults
-  mjsPair* pair;                   // pair defaults
-  mjsEquality* equality;           // equality defaults
-  mjsTendon* tendon;               // tendon defaults
-  mjsActuator* actuator;           // actuator defaults
-} mjsDefault;
-typedef enum mjtDisableBit {      // disable default feature bitflags
-  mjDSBL_CONSTRAINT   = 1<<0,     // entire constraint solver
-  mjDSBL_EQUALITY     = 1<<1,     // equality constraints
-  mjDSBL_FRICTIONLOSS = 1<<2,     // joint and tendon frictionloss constraints
-  mjDSBL_LIMIT        = 1<<3,     // joint and tendon limit constraints
-  mjDSBL_CONTACT      = 1<<4,     // contact constraints
-  mjDSBL_SPRING       = 1<<5,     // passive spring forces
-  mjDSBL_DAMPER       = 1<<6,     // passive damping forces
-  mjDSBL_GRAVITY      = 1<<7,     // gravitational forces
-  mjDSBL_CLAMPCTRL    = 1<<8,     // clamp control to specified range
-  mjDSBL_WARMSTART    = 1<<9,     // warmstart constraint solver
-  mjDSBL_FILTERPARENT = 1<<10,    // remove collisions with parent body
-  mjDSBL_ACTUATION    = 1<<11,    // apply actuation forces
-  mjDSBL_REFSAFE      = 1<<12,    // integrator safety: make ref[0]>=2*timestep
-  mjDSBL_SENSOR       = 1<<13,    // sensors
-  mjDSBL_MIDPHASE     = 1<<14,    // mid-phase collision filtering
-  mjDSBL_EULERDAMP    = 1<<15,    // implicit integration of joint damping in Euler integrator
-  mjDSBL_AUTORESET    = 1<<16,    // automatic reset when numerical issues are detected
-  mjDSBL_NATIVECCD    = 1<<17,    // native convex collision detection
-  mjDSBL_ISLAND       = 1<<18,    // constraint island discovery
-  mjDSBL_MULTICCD     = 1<<19,    // multiple CCD contact points
-
-  mjNDISABLE          = 20        // number of disable flags
-} mjtDisableBit;
-typedef enum mjtEnableBit {       // enable optional feature bitflags
-  mjENBL_OVERRIDE     = 1<<0,     // override contact parameters
-  mjENBL_ENERGY       = 1<<1,     // energy computation
-  mjENBL_FWDINV       = 1<<2,     // record solver statistics
-  mjENBL_INVDISCRETE  = 1<<3,     // discrete-time inverse dynamics
-  mjENBL_SLEEP        = 1<<4,     // sleeping
-  mjENBL_DIAGEXACT    = 1<<5,     // exact diagonal of constraint inertia
-
-  mjNENABLE           = 6         // number of enable flags
-} mjtEnableBit;
-typedef enum mjtJoint {           // type of degree of freedom
-  mjJNT_FREE          = 0,        // global position and orientation (quat)       (7)
-  mjJNT_BALL,                     // orientation (quat) relative to parent        (4)
-  mjJNT_SLIDE,                    // sliding distance along body-fixed axis       (1)
-  mjJNT_HINGE                     // rotation angle (rad) around body-fixed axis  (1)
-} mjtJoint;
-typedef enum mjtGeom {            // type of geometric shape
-  // regular geom types
-  mjGEOM_PLANE        = 0,        // plane
-  mjGEOM_HFIELD,                  // height field
-  mjGEOM_SPHERE,                  // sphere
-  mjGEOM_CAPSULE,                 // capsule
-  mjGEOM_ELLIPSOID,               // ellipsoid
-  mjGEOM_CYLINDER,                // cylinder
-  mjGEOM_BOX,                     // box
-  mjGEOM_MESH,                    // mesh
-  mjGEOM_SDF,                     // signed distance field
-
-  mjNGEOMTYPES,                   // number of regular geom types
-
-  // rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES
-  mjGEOM_ARROW        = 100,      // arrow
-  mjGEOM_ARROW1,                  // arrow without wedges
-  mjGEOM_ARROW2,                  // arrow in both directions
-  mjGEOM_LINE,                    // line
-  mjGEOM_LINEBOX,                 // box with line edges
-  mjGEOM_FLEX,                    // flex
-  mjGEOM_SKIN,                    // skin
-  mjGEOM_LABEL,                   // text label
-  mjGEOM_TRIANGLE,                // triangle
-
-  mjGEOM_NONE         = 1001      // missing geom type
-} mjtGeom;
-typedef enum mjtProjection {      // type of camera projection
-  mjPROJ_PERSPECTIVE  = 0,        // perspective
-  mjPROJ_ORTHOGRAPHIC             // orthographic
-} mjtProjection;
-typedef enum mjtCamLight {        // tracking mode for camera and light
-  mjCAMLIGHT_FIXED    = 0,        // pos and rot fixed in body
-  mjCAMLIGHT_TRACK,               // pos tracks body, rot fixed in global
-  mjCAMLIGHT_TRACKCOM,            // pos tracks subtree com, rot fixed in body
-  mjCAMLIGHT_TARGETBODY,          // pos fixed in body, rot tracks target body
-  mjCAMLIGHT_TARGETBODYCOM        // pos fixed in body, rot tracks target subtree com
-} mjtCamLight;
-typedef enum mjtLightType {       // type of light
-  mjLIGHT_SPOT        = 0,        // spot
-  mjLIGHT_DIRECTIONAL,            // directional
-  mjLIGHT_POINT,                  // point
-  mjLIGHT_IMAGE,                  // image-based
-} mjtLightType;
-typedef enum mjtTexture {         // type of texture
-  mjTEXTURE_2D        = 0,        // 2d texture, suitable for planes and hfields
-  mjTEXTURE_CUBE,                 // cube texture, suitable for all other geom types
-  mjTEXTURE_SKYBOX                // cube texture used as skybox
-} mjtTexture;
-typedef enum mjtTextureRole {     // role of texture map in rendering
-  mjTEXROLE_USER      = 0,        // unspecified
-  mjTEXROLE_RGB,                  // base color (albedo)
-  mjTEXROLE_OCCLUSION,            // ambient occlusion
-  mjTEXROLE_ROUGHNESS,            // roughness
-  mjTEXROLE_METALLIC,             // metallic
-  mjTEXROLE_NORMAL,               // normal (bump) map
-  mjTEXROLE_OPACITY,              // opacity
-  mjTEXROLE_EMISSIVE,             // light emission
-  mjTEXROLE_RGBA,                 // base color, opacity
-  mjTEXROLE_ORM,                  // occlusion, roughness, metallic
-  mjNTEXROLE
-} mjtTextureRole;
-typedef enum mjtColorSpace {      // type of color space encoding
-  mjCOLORSPACE_AUTO   = 0,        // attempts to autodetect color space, defaults to linear
-  mjCOLORSPACE_LINEAR,            // linear color space
-  mjCOLORSPACE_SRGB               // standard RGB color space
-} mjtColorSpace;
-typedef enum mjtIntegrator {      // integrator mode
-  mjINT_EULER         = 0,        // semi-implicit Euler
-  mjINT_RK4,                      // 4th-order Runge Kutta
-  mjINT_IMPLICIT,                 // implicit in velocity
-  mjINT_IMPLICITFAST              // implicit in velocity, no rne derivative
-} mjtIntegrator;
-typedef enum mjtCone {            // type of friction cone
-  mjCONE_PYRAMIDAL     = 0,       // pyramidal
-  mjCONE_ELLIPTIC                 // elliptic
-} mjtCone;
-typedef enum mjtJacobian {        // type of constraint Jacobian
-  mjJAC_DENSE          = 0,       // dense
-  mjJAC_SPARSE,                   // sparse
-  mjJAC_AUTO                      // dense if nv<60, sparse otherwise
-} mjtJacobian;
-typedef enum mjtSolver {          // constraint solver algorithm
-  mjSOL_PGS            = 0,       // PGS    (dual)
-  mjSOL_CG,                       // CG     (primal)
-  mjSOL_NEWTON                    // Newton (primal)
-} mjtSolver;
-typedef enum mjtEq {              // type of equality constraint
-  mjEQ_CONNECT        = 0,        // connect two bodies at a point (ball joint)
-  mjEQ_WELD,                      // fix relative position and orientation of two bodies
-  mjEQ_JOINT,                     // couple the values of two scalar joints with cubic
-  mjEQ_TENDON,                    // couple the lengths of two tendons with cubic
-  mjEQ_FLEX,                      // fix all edge lengths of a flex
-  mjEQ_FLEXVERT,                  // fix all vertex lengths of a flex
-  mjEQ_FLEXSTRAIN,                // constrain strain of a trilinear/quadratic flex (B-bar)
-  mjEQ_DISTANCE                   // unsupported, will cause an error if used
-} mjtEq;
-typedef enum mjtWrap {            // type of tendon wrap object
-  mjWRAP_NONE         = 0,        // null object
-  mjWRAP_JOINT,                   // constant moment arm
-  mjWRAP_PULLEY,                  // pulley used to split tendon
-  mjWRAP_SITE,                    // pass through site
-  mjWRAP_SPHERE,                  // wrap around sphere
-  mjWRAP_CYLINDER                 // wrap around (infinite) cylinder
-} mjtWrap;
-typedef enum mjtTrn {             // type of actuator transmission
-  mjTRN_JOINT         = 0,        // force on joint
-  mjTRN_JOINTINPARENT,            // force on joint, expressed in parent frame
-  mjTRN_SLIDERCRANK,              // force via slider-crank linkage
-  mjTRN_TENDON,                   // force on tendon
-  mjTRN_SITE,                     // force on site
-  mjTRN_BODY,                     // adhesion force on a body's geoms
-  mjTRN_SO3,                      // torque on a relative orientation (3 force outputs)
-
-  mjTRN_UNDEFINED     = 1000      // undefined transmission type
-} mjtTrn;
-typedef enum mjtDyn {             // type of actuator dynamics
-  mjDYN_NONE          = 0,        // no internal dynamics; ctrl specifies force
-  mjDYN_INTEGRATOR,               // integrator: da/dt = u
-  mjDYN_FILTER,                   // linear filter: da/dt = (u-a) / tau
-  mjDYN_FILTEREXACT,              // linear filter: da/dt = (u-a) / tau, with exact integration
-  mjDYN_MUSCLE,                   // piecewise linear filter with two time constants
-  mjDYN_DCMOTOR,                  // DC motor electrical dynamics
-  mjDYN_PID,                      // PID controller states: slew, integral
-  mjDYN_USER                      // user-defined dynamics type
-} mjtDyn;
-typedef enum mjtGain {            // type of actuator gain
-  mjGAIN_FIXED        = 0,        // fixed gain
-  mjGAIN_AFFINE,                  // const + kp*length + kv*velocity
-  mjGAIN_MUSCLE,                  // muscle FLV curve computed by mju_muscleGain()
-  mjGAIN_DCMOTOR,                 // DC motor gain: K or K/R
-  mjGAIN_SO3,                     // geodesic servo on an SO3 transmission: force = kp * log(error)
-  mjGAIN_PID,                     // PID controller: position and velocity setpoint inputs
-  mjGAIN_USER                     // user-defined gain type
-} mjtGain;
-typedef enum mjtBias {            // type of actuator bias
-  mjBIAS_NONE         = 0,        // no bias
-  mjBIAS_AFFINE,                  // const + kp*length + kv*velocity
-  mjBIAS_MUSCLE,                  // muscle passive force computed by mju_muscleBias()
-  mjBIAS_DCMOTOR,                 // DC motor bias: back-EMF, cogging, LuGre friction
-  mjBIAS_SO3,                     // damping term of the SO3 geodesic servo
-  mjBIAS_USER                     // user-defined bias type
-} mjtBias;
-typedef enum mjtCtrlChart {       // so3 input signature (actuator_ctrlspec): orientation chart
-  mjCHART_EXPMAP      = 1,        // exponential-map orientation target: 3 controls
-  mjCHART_QUAT        = 2         // quaternion orientation target: 4 controls
-} mjtCtrlChart;
-typedef enum mjtCtrlInput {       // servo input signature (actuator_ctrlspec): present-input bits
-  mjINPUT_POS         = 1,        // position setpoint input
-  mjINPUT_VEL         = 2,        // velocity setpoint input
-  mjINPUT_FF          = 4,        // feedforward input, in the actuator's output space
-  mjINPUT_VOLTAGE     = 8,        // raw terminal voltage input (dcmotor)
-  mjINPUT_NONE        = 16        // explicitly no inputs: purely passive (dcmotor)
-} mjtCtrlInput;
-typedef enum mjtObj {             // type of MujoCo object
-  mjOBJ_UNKNOWN       = 0,        // unknown object type
-  mjOBJ_BODY,                     // body
-  mjOBJ_XBODY,                    // body, used to access regular frame instead of i-frame
-  mjOBJ_JOINT,                    // joint
-  mjOBJ_DOF,                      // dof
-  mjOBJ_GEOM,                     // geom
-  mjOBJ_SITE,                     // site
-  mjOBJ_CAMERA,                   // camera
-  mjOBJ_LIGHT,                    // light
-  mjOBJ_FLEX,                     // flex
-  mjOBJ_MESH,                     // mesh
-  mjOBJ_SKIN,                     // skin
-  mjOBJ_HFIELD,                   // heightfield
-  mjOBJ_TEXTURE,                  // texture
-  mjOBJ_MATERIAL,                 // material for rendering
-  mjOBJ_PAIR,                     // geom pair to include
-  mjOBJ_EXCLUDE,                  // body pair to exclude
-  mjOBJ_EQUALITY,                 // equality constraint
-  mjOBJ_TENDON,                   // tendon
-  mjOBJ_ACTUATOR,                 // actuator
-  mjOBJ_SENSOR,                   // sensor
-  mjOBJ_NUMERIC,                  // numeric
-  mjOBJ_TEXT,                     // text
-  mjOBJ_TUPLE,                    // tuple
-  mjOBJ_KEY,                      // keyframe
-  mjOBJ_PLUGIN,                   // plugin instance
-
-  mjNOBJECT,                      // number of object types
-
-  // meta elements, do not appear in mjModel
-  mjOBJ_FRAME         = 100,      // frame
-  mjOBJ_DEFAULT,                  // default
-  mjOBJ_MODEL                     // entire model
-} mjtObj;
-typedef enum mjtSensor {         // type of sensor
-  // common robotic sensors, attached to a site
-  mjSENS_TOUCH        = 0,        // scalar contact normal forces summed over sensor zone
-  mjSENS_ACCELEROMETER,           // 3D linear acceleration, in local frame
-  mjSENS_VELOCIMETER,             // 3D linear velocity, in local frame
-  mjSENS_GYRO,                    // 3D angular velocity, in local frame
-  mjSENS_FORCE,                   // 3D force between site's body and its parent body
-  mjSENS_TORQUE,                  // 3D torque between site's body and its parent body
-  mjSENS_MAGNETOMETER,            // 3D magnetometer
-  mjSENS_RANGEFINDER,             // scalar distance to nearest geom along z-axis
-  mjSENS_CAMPROJECTION,           // pixel coordinates of a site in the camera image
-
-  // sensors related to scalar joints, tendons, actuators
-  mjSENS_JOINTPOS,                // scalar joint position (hinge and slide only)
-  mjSENS_JOINTVEL,                // scalar joint velocity (hinge and slide only)
-  mjSENS_TENDONPOS,               // scalar tendon position
-  mjSENS_TENDONVEL,               // scalar tendon velocity
-  mjSENS_ACTUATORPOS,             // scalar actuator position
-  mjSENS_ACTUATORVEL,             // scalar actuator velocity
-  mjSENS_ACTUATORFRC,             // scalar actuator force
-  mjSENS_JOINTACTFRC,             // scalar actuator force, measured at the joint
-  mjSENS_TENDONACTFRC,            // scalar actuator force, measured at the tendon
-
-  // sensors related to ball joints
-  mjSENS_BALLQUAT,                // 4D ball joint quaternion
-  mjSENS_BALLANGVEL,              // 3D ball joint angular velocity
-
-  // joint and tendon limit sensors, in constraint space
-  mjSENS_JOINTLIMITPOS,           // joint limit distance-margin
-  mjSENS_JOINTLIMITVEL,           // joint limit velocity
-  mjSENS_JOINTLIMITFRC,           // joint limit force
-  mjSENS_TENDONLIMITPOS,          // tendon limit distance-margin
-  mjSENS_TENDONLIMITVEL,          // tendon limit velocity
-  mjSENS_TENDONLIMITFRC,          // tendon limit force
-
-  // sensors attached to an object with spatial frame: (x)body, geom, site, camera
-  mjSENS_FRAMEPOS,                // 3D position
-  mjSENS_FRAMEQUAT,               // 4D unit quaternion orientation
-  mjSENS_FRAMEXAXIS,              // 3D unit vector: x-axis of object's frame
-  mjSENS_FRAMEYAXIS,              // 3D unit vector: y-axis of object's frame
-  mjSENS_FRAMEZAXIS,              // 3D unit vector: z-axis of object's frame
-  mjSENS_FRAMELINVEL,             // 3D linear velocity
-  mjSENS_FRAMEANGVEL,             // 3D angular velocity
-  mjSENS_FRAMELINACC,             // 3D linear acceleration
-  mjSENS_FRAMEANGACC,             // 3D angular acceleration
-
-  // sensors related to kinematic subtrees; attached to a body (which is the subtree root)
-  mjSENS_SUBTREECOM,              // 3D center of mass of subtree
-  mjSENS_SUBTREELINVEL,           // 3D linear velocity of subtree
-  mjSENS_SUBTREEANGMOM,           // 3D angular momentum of subtree
-
-  // sensors of geometric relationships
-  mjSENS_INSIDESITE,              // 1 if object is inside a site, 0 otherwise
-  mjSENS_GEOMDIST,                // signed distance between two geoms
-  mjSENS_GEOMNORMAL,              // normal direction between two geoms
-  mjSENS_GEOMFROMTO,              // segment between two geoms
-
-  // sensors for reporting contacts which occurred during the simulation
-  mjSENS_CONTACT,                 // contacts which occurred during the simulation
-
-  // global sensors
-  mjSENS_E_POTENTIAL,             // potential energy
-  mjSENS_E_KINETIC,               // kinetic energy
-  mjSENS_CLOCK,                   // simulation time
-
-  // sensors related to SDFs
-  mjSENS_TACTILE,                 // tactile sensor
-
-  // plugin-controlled sensors
-  mjSENS_PLUGIN,                  // plugin-controlled
-
-  // user-defined sensor
-  mjSENS_USER                     // sensor data provided by mjcb_sensor callback
-} mjtSensor;
-typedef enum mjtStage {           // computation stage
-  mjSTAGE_NONE        = 0,        // no computations
-  mjSTAGE_POS,                    // position-dependent computations
-  mjSTAGE_VEL,                    // velocity-dependent computations
-  mjSTAGE_ACC                     // acceleration/force-dependent computations
-} mjtStage;
-typedef enum mjtDataType {        // data type for sensors
-  mjDATATYPE_REAL     = 0,        // real values, no constraints
-  mjDATATYPE_POSITIVE,            // positive values; 0 or negative: inactive
-  mjDATATYPE_AXIS,                // 3D unit vector
-  mjDATATYPE_QUATERNION           // unit quaternion
-} mjtDataType;
-typedef enum mjtConDataField {    // data fields returned by contact sensors
-  mjCONDATA_FOUND     = 0,        // whether a contact was found
-  mjCONDATA_FORCE,                // contact force
-  mjCONDATA_TORQUE,               // contact torque
-  mjCONDATA_DIST,                 // contact penetration distance
-  mjCONDATA_POS,                  // contact position
-  mjCONDATA_NORMAL,               // contact frame normal
-  mjCONDATA_TANGENT,              // contact frame first tangent
-
-  mjNCONDATA                      // number of contact sensor data fields
-} mjtConDataField;
-typedef enum mjtRayDataField {    // data fields returned by rangefinder sensors
-  mjRAYDATA_DIST     = 0,         // distance from ray origin to nearest surface
-  mjRAYDATA_DIR,                  // normalized ray direction
-  mjRAYDATA_ORIGIN,               // ray origin
-  mjRAYDATA_POINT,                // point at which ray intersects nearest surface
-  mjRAYDATA_NORMAL,               // surface normal at intersection point
-  mjRAYDATA_DEPTH,                // depth along z-axis
-
-  mjNRAYDATA                      // number of rangefinder sensor data fields
-} mjtRayDataField;
-typedef enum mjtCamOutBit {       // camera output type bitflags
-  mjCAMOUT_RGB        = 1<<0,     // RGB image
-  mjCAMOUT_DEPTH      = 1<<1,     // depth image (distance from camera plane)
-  mjCAMOUT_DIST       = 1<<2,     // distance image (distance from camera origin)
-  mjCAMOUT_NORMAL     = 1<<3,     // normal image
-  mjCAMOUT_SEG        = 1<<4,     // segmentation image
-
-  mjNCAMOUT           = 5         // number of camera output types
-} mjtCamOutBit;
-typedef enum mjtSameFrame {       // frame alignment of bodies with their children
-  mjSAMEFRAME_NONE    = 0,        // no alignment
-  mjSAMEFRAME_BODY,               // frame is same as body frame
-  mjSAMEFRAME_INERTIA,            // frame is same as inertial frame
-  mjSAMEFRAME_BODYROT,            // frame orientation is same as body orientation
-  mjSAMEFRAME_INERTIAROT          // frame orientation is same as inertia orientation
-} mjtSameFrame;
-typedef enum mjtSleepPolicy {     // per-tree sleep policy
-  mjSLEEP_AUTO        = 0,        // compiler chooses sleep policy
-  mjSLEEP_AUTO_NEVER,             // compiler sleep policy: never
-  mjSLEEP_AUTO_ALLOWED,           // compiler sleep policy: allowed
-  mjSLEEP_NEVER,                  // user sleep policy: never
-  mjSLEEP_ALLOWED,                // user sleep policy: allowed
-  mjSLEEP_INIT,                   // user sleep policy: initialized asleep
-} mjtSleepPolicy;
-typedef enum mjtLRMode {          // mode for actuator length range computation
-  mjLRMODE_NONE       = 0,        // do not process any actuators
-  mjLRMODE_MUSCLE,                // process muscle actuators
-  mjLRMODE_MUSCLEUSER,            // process muscle and user actuators
-  mjLRMODE_ALL                    // process all actuators
-} mjtLRMode;
-typedef enum mjtFlexSelf {        // mode for flex selfcollide
-  mjFLEXSELF_NONE     = 0,        // no self-collisions
-  mjFLEXSELF_NARROW,              // skip midphase, go directly to narrowphase
-  mjFLEXSELF_BVH,                 // use BVH in midphase (if midphase enabled)
-  mjFLEXSELF_SAP,                 // use SAP in midphase
-  mjFLEXSELF_AUTO                 // choose between BVH and SAP automatically
-} mjtFlexSelf;
-typedef enum mjtSDFType {         // signed distance function (SDF) type
-  mjSDFTYPE_SINGLE    = 0,        // single SDF
-  mjSDFTYPE_INTERSECTION,         // max(A, B)
-  mjSDFTYPE_MIDSURFACE,           // A - B
-  mjSDFTYPE_COLLISION,            // A + B + abs(max(A, B))
-} mjtSDFType;
-typedef enum mjtState {             // state elements
-  mjSTATE_TIME           = 1<<0,    // time
-  mjSTATE_QPOS           = 1<<1,    // position
-  mjSTATE_QVEL           = 1<<2,    // velocity
-  mjSTATE_ACT            = 1<<3,    // actuator activation
-  mjSTATE_HISTORY        = 1<<4,    // history buffers (control, sensor)
-  mjSTATE_WARMSTART      = 1<<5,    // acceleration used for warmstart
-  mjSTATE_CTRL           = 1<<6,    // control
-  mjSTATE_QFRC_APPLIED   = 1<<7,    // applied generalized force
-  mjSTATE_XFRC_APPLIED   = 1<<8,    // applied Cartesian force/torque
-  mjSTATE_EQ_ACTIVE      = 1<<9,    // enable/disable constraints
-  mjSTATE_MOCAP_POS      = 1<<10,   // positions of mocap bodies
-  mjSTATE_MOCAP_QUAT     = 1<<11,   // orientations of mocap bodies
-  mjSTATE_USERDATA       = 1<<12,   // user data
-  mjSTATE_PLUGIN         = 1<<13,   // plugin state
-
-  mjNSTATE               = 14,      // number of state elements
-
-  // convenience values for commonly used state specifications
-  mjSTATE_PHYSICS        = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
-  mjSTATE_FULLPHYSICS    = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
-  mjSTATE_USER           = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
-                           mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
-                           mjSTATE_USERDATA,
-  mjSTATE_INTEGRATION    = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
-} mjtState;
-typedef enum mjtConstraint {        // type of constraint
-  mjCNSTR_EQUALITY       = 0,       // equality constraint
-  mjCNSTR_FRICTION_DOF,             // dof friction
-  mjCNSTR_FRICTION_TENDON,          // tendon friction
-  mjCNSTR_LIMIT_JOINT,              // joint limit
-  mjCNSTR_LIMIT_TENDON,             // tendon limit
-  mjCNSTR_CONTACT_FRICTIONLESS,     // frictionless contact
-  mjCNSTR_CONTACT_PYRAMIDAL,        // frictional contact, pyramidal friction cone
-  mjCNSTR_CONTACT_ELLIPTIC          // frictional contact, elliptic friction cone
-} mjtConstraint;
-typedef enum mjtConstraintState {   // constraint state
-  mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
-  mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
-  mjCNSTRSTATE_LINEARNEG,           // linear cost, negative side (friction)
-  mjCNSTRSTATE_LINEARPOS,           // linear cost, positive side (friction)
-  mjCNSTRSTATE_CONE                 // squared distance to cone cost (elliptic contact)
-} mjtConstraintState;
-typedef enum mjtWarning {           // warning types
-  mjWARN_INERTIA         = 0,       // (near) singular inertia matrix
-  mjWARN_CONTACTFULL,               // too many contacts in contact list
-  mjWARN_CNSTRFULL,                 // too many constraints
-  mjWARN_BADQPOS,                   // bad number in qpos
-  mjWARN_BADQVEL,                   // bad number in qvel
-  mjWARN_BADQACC,                   // bad number in qacc
-  mjWARN_BADCTRL,                   // bad number in ctrl
-
-  mjNWARNING                        // number of warnings
-} mjtWarning;
-typedef enum mjtTimer {             // internal timers
-  // main api
-  mjTIMER_STEP           = 0,       // step
-  mjTIMER_FORWARD,                  // forward
-  mjTIMER_INVERSE,                  // inverse
-
-  // breakdown of step/forward
-  mjTIMER_POSITION,                 // fwdPosition
-  mjTIMER_VELOCITY,                 // fwdVelocity
-  mjTIMER_ACTUATION,                // fwdActuation
-  mjTIMER_CONSTRAINT,               // fwdConstraint
-  mjTIMER_ADVANCE,                  // mj_Euler, mj_implicit
-
-  // breakdown of fwdPosition
-  mjTIMER_POS_KINEMATICS,           // kinematics, com, tendon, transmission
-  mjTIMER_POS_INERTIA,              // inertia computations
-  mjTIMER_POS_COLLISION,            // collision detection
-  mjTIMER_POS_MAKE,                 // make constraints
-  mjTIMER_POS_PROJECT,              // project constraints
-
-  // breakdown of mj_collision
-  mjTIMER_COL_BROAD,                // broadphase
-  mjTIMER_COL_NARROW,               // narrowphase
-
-  mjNTIMER                          // number of timers
-} mjtTimer;
-typedef enum mjtSleepState {        // sleep state of an object
-  mjS_STATIC = -1,                  // object is static
-  mjS_ASLEEP = 0,                   // object is asleep
-  mjS_AWAKE  = 1                    // object is awake
-} mjtSleepState;
-typedef enum mjtLogLevel {        // log message severity
-  mjLOG_DEBUG       = 0,          // internal engine debug trace (opt-in via topic filtering)
-  mjLOG_INFO,                     // informational (opt-in via topic filtering)
-  mjLOG_WARNING,                  // warning
-  mjLOG_ERROR,                    // error
-} mjtLogLevel;
-typedef enum mjtLogTopic {        // log topic identifiers
-  mjTOPIC_NONE     = 0,           // no topic (always passes filtering)
-                                  // INFO topics:
-  mjTOPIC_TIME_STP = 1,           // timing diagnostics (step)
-  mjTOPIC_TIME_CMP = 2,           // timing diagnostics (compile)
-                                  // DEBUG topics:
-  mjTOPIC_SLEEP    = 3,           // sleep/wake events
-
-  mjNTOPIC         = 3            // number of filterable topics
-} mjtLogTopic;
-typedef struct mjLogMessage_ {    // structured log message
-  int level;                      // mjtLogLevel
-  int topic;                      // mjtLogTopic (0 for error/warning/user)
-  char subject[1024];             // message subject (one-liner, printf-formatted)
-  const char* body;               // message body (multi-line detail, or NULL)
-  const char* func;               // __func__ or NULL
-  const char* file;               // __FILE__ or NULL
-  int line;                       // __LINE__ or 0
-  mjtBool timestamp;              // prepend timestamp to output
-} mjLogMessage;
-typedef struct mjLogConfig_ {     // log handler default configuration
-  mjtBool logto_console;          // print to console (default: true)
-  mjtBool logto_file;             // print to log file (default: true)
-  char logfile[1024];             // log file path (default: "MUJOCO_LOG.TXT")
-  int topics;                     // enabled info topic bitmask (default: 0)
-} mjLogConfig;
-typedef enum mjtButton {          // mouse button
-  mjBUTTON_NONE = 0,              // no button
-  mjBUTTON_LEFT,                  // left button
-  mjBUTTON_RIGHT,                 // right button
-  mjBUTTON_MIDDLE                 // middle button
-} mjtButton;
-typedef enum mjtEvent {           // mouse and keyboard event type
-  mjEVENT_NONE = 0,               // no event
-  mjEVENT_MOVE,                   // mouse move
-  mjEVENT_PRESS,                  // mouse button press
-  mjEVENT_RELEASE,                // mouse button release
-  mjEVENT_SCROLL,                 // scroll
-  mjEVENT_KEY,                    // key press
-  mjEVENT_RESIZE,                 // resize
-  mjEVENT_REDRAW,                 // redraw
-  mjEVENT_FILESDROP               // files drop
-} mjtEvent;
-typedef enum mjtItem {            // UI item type
-  mjITEM_END = -2,                // end of definition list (not an item)
-  mjITEM_SECTION = -1,            // section (not an item)
-  mjITEM_SEPARATOR = 0,           // separator
-  mjITEM_STATIC,                  // static text
-  mjITEM_BUTTON,                  // button
-
-  // the rest have data pointer
-  mjITEM_CHECKINT,                // check box, int value
-  mjITEM_CHECKBYTE,               // check box, mjtByte value
-  mjITEM_RADIO,                   // radio group
-  mjITEM_RADIOLINE,               // radio group, single line
-  mjITEM_SELECT,                  // selection box
-  mjITEM_SLIDERINT,               // slider, int value
-  mjITEM_SLIDERNUM,               // slider, mjtNum value
-  mjITEM_EDITINT,                 // editable array, int values
-  mjITEM_EDITNUM,                 // editable array, mjtNum values
-  mjITEM_EDITFLOAT,               // editable array, float values
-  mjITEM_EDITTXT,                 // editable text
-
-  mjNITEM                         // number of item types
-} mjtItem;
-typedef enum mjtSection {         // UI section state
-  mjSECT_CLOSED = 0,              // closed state (regular section)
-  mjSECT_OPEN,                    // open state (regular section)
-  mjSECT_FIXED                    // fixed section: always open, no title
-} mjtSection;
-typedef struct mjuiState_ {       // mouse and keyboard state
-  // constants set by user
-  int nrect;                      // number of rectangles used
-  mjrRect rect[mjMAXUIRECT];      // rectangles (index 0: entire window)
-  void* userdata;                 // pointer to user data (for callbacks)
-
-  // event type
-  int type;                       // (type mjtEvent)
-
-  // mouse buttons
-  int left;                       // is left button down
-  int right;                      // is right button down
-  int middle;                     // is middle button down
-  int doubleclick;                // is last press a double click
-  int button;                     // which button was pressed (mjtButton)
-  double buttontime;              // time of last button press
-
-  // mouse position
-  double x;                       // x position
-  double y;                       // y position
-  double dx;                      // x displacement
-  double dy;                      // y displacement
-  double sx;                      // x scroll
-  double sy;                      // y scroll
-
-  // keyboard
-  int control;                    // is control down
-  int shift;                      // is shift down
-  int alt;                        // is alt down
-  int key;                        // which key was pressed
-  double keytime;                 // time of last key press
-
-  // rectangle ownership and dragging
-  int mouserect;                  // which rectangle contains mouse
-  int dragrect;                   // which rectangle is dragged with mouse
-  int dragbutton;                 // which button started drag (mjtButton)
-
-  // files dropping (only valid when type == mjEVENT_FILESDROP)
-  int dropcount;                  // number of files dropped
-  const char** droppaths;         // paths to files dropped
-} mjuiState;
-typedef struct mjuiThemeSpacing_ {  // UI visualization theme spacing
-  int total;                        // total width
-  int scroll;                       // scrollbar width
-  int label;                        // label width
-  int section;                      // section gap
-  int cornersect;                   // corner radius for section
-  int cornersep;                    // corner radius for separator
-  int itemside;                     // item side gap
-  int itemmid;                      // item middle gap
-  int itemver;                      // item vertical gap
-  int texthor;                      // text horizontal gap
-  int textver;                      // text vertical gap
-  int linescroll;                   // number of pixels to scroll
-  int samples;                      // number of multisamples
-} mjuiThemeSpacing;
-typedef struct mjuiThemeColor_ {  // UI visualization theme color
-  float master[3];                // master background
-  float thumb[3];                 // scrollbar thumb
-  float secttitle[3];             // section title
-  float secttitle2[3];            // section title: bottom color
-  float secttitleuncheck[3];      // section title with unchecked box
-  float secttitleuncheck2[3];     // section title with unchecked box: bottom color
-  float secttitlecheck[3];        // section title with checked box
-  float secttitlecheck2[3];       // section title with checked box: bottom color
-  float sectfont[3];              // section font
-  float sectsymbol[3];            // section symbol
-  float sectpane[3];              // section pane
-  float separator[3];             // separator title
-  float separator2[3];            // separator title: bottom color
-  float shortcut[3];              // shortcut background
-  float fontactive[3];            // font active
-  float fontinactive[3];          // font inactive
-  float decorinactive[3];         // decor inactive
-  float decorinactive2[3];        // inactive slider color 2
-  float button[3];                // button
-  float check[3];                 // check
-  float radio[3];                 // radio
-  float select[3];                // select
-  float select2[3];               // select pane
-  float slider[3];                // slider
-  float slider2[3];               // slider color 2
-  float edit[3];                  // edit
-  float edit2[3];                 // edit invalid
-  float cursor[3];                // edit cursor
-} mjuiThemeColor;
-struct mjuiItemSingle_ {          // check and button-related
-  int modifier;                   // 0: none, 1: control, 2: shift; 4: alt
-  int shortcut;                   // shortcut key; 0: undefined
-};
-
-
-struct mjuiItemMulti_ {                  // static, radio and select-related
-  int nelem;                             // number of elements in group
-  char name[mjMAXUIMULTI][mjMAXUINAME];  // element names
-};
-
-
-struct mjuiItemSlider_ {          // slider-related
-  double range[2];                // slider range
-  double divisions;               // number of range divisions
-};
-
-
-struct mjuiItemEdit_ {            // edit-related
-  int nelem;                      // number of elements in list
-  double range[mjMAXUIEDIT][2];   // element range (min>=max: ignore)
-};
-
-
-typedef struct mjuiItem_ {        // UI item
-  // common properties
-  int type;                       // type (mjtItem)
-  char name[mjMAXUINAME];         // name
-  int state;                      // 0: disable, 1: enable, 2+: use predicate
-  void *pdata;                    // data pointer (type-specific)
-  int sectionid;                  // id of section containing item
-  int itemid;                     // id of item within section
-  int userid;                     // user-supplied id (for event handling)
-
-  // type-specific properties
-  union {
-    struct mjuiItemSingle_ single;  // check and button
-    struct mjuiItemMulti_ multi;    // static, radio and select
-    struct mjuiItemSlider_ slider;  // slider
-    struct mjuiItemEdit_ edit;      // edit
-  };
-
-  // internal
-  mjrRect rect;                   // rectangle occupied by item
-  int skip;                       // item skipped due to closed separator
-} mjuiItem;
-typedef struct mjuiSection_ {     // UI section
-  // properties
-  char name[mjMAXUINAME];         // name
-  int state;                      // section state (mjtSection)
-  int modifier;                   // 0: none, 1: control, 2: shift; 4: alt
-  int shortcut;                   // shortcut key; 0: undefined
-  int checkbox;                   // 0: none, 1: unchecked, 2: checked
-  int nitem;                      // number of items in use
-  mjuiItem item[mjMAXUIITEM];     // preallocated array of items
-
-  // internal
-  mjrRect rtitle;                 // rectangle occupied by title
-  mjrRect rcontent;               // rectangle occupied by content
-  int lastclick;                  // last mouse click over this section
-} mjuiSection;
-typedef struct mjUI_ {            // entire UI
-  // constants set by user
-  mjuiThemeSpacing spacing;       // UI theme spacing
-  mjuiThemeColor color;           // UI theme color
-  mjfItemEnable predicate;        // callback to set item state programmatically
-  void* userdata;                 // pointer to user data (passed to predicate)
-  int rectid;                     // index of this ui rectangle in mjuiState
-  int auxid;                      // aux buffer index of this ui
-  int radiocol;                   // number of radio columns (0 defaults to 2)
-
-  // UI sizes (framebuffer units)
-  int width;                      // width
-  int height;                     // current height
-  int maxheight;                  // height when all sections open
-  int scroll;                     // scroll from top of UI
-
-  // mouse focus and count
-  int mousesect;                  // 0: none, -1: scroll, otherwise 1+section
-  int mouseitem;                  // item within section
-  int mousehelp;                  // help button down: print shortcuts
-  int mouseclicks;                // number of mouse clicks over UI
-  int mousesectcheck;             // 0: none, otherwise 1+section
-
-  // keyboard focus and edit
-  int editsect;                   // 0: none, otherwise 1+section
-  int edititem;                   // item within section
-  int editcursor;                 // cursor position
-  int editscroll;                 // horizontal scroll
-  char edittext[mjMAXUITEXT];     // current text
-  mjuiItem* editchanged;          // pointer to changed edit in last mjui_event
-
-  // sections
-  int nsect;                      // number of sections in use
-  mjuiSection sect[mjMAXUISECT];  // preallocated array of sections
-} mjUI;
-typedef struct mjuiDef_ {         // table passed to mjui_add()
-  int type;                       // type (mjtItem); -1: section
-  char name[mjMAXUINAME];         // name
-  int state;                      // state
-  void* pdata;                    // pointer to data
-  char other[mjMAXUITEXT];        // string with type-specific properties
-  int otherint;                   // int with type-specific properties
-} mjuiDef;
-typedef enum mjtCatBit_ {         // bitflags for mjvGeom category
-  mjCAT_STATIC        = 1,        // model elements in body 0
-  mjCAT_DYNAMIC       = 2,        // model elements in all other bodies
-  mjCAT_DECOR         = 4,        // decorative geoms
-  mjCAT_ALL           = 7         // select all categories
-} mjtCatBit;
-typedef enum mjtMouse_ {          // mouse interaction mode
-  mjMOUSE_NONE        = 0,        // no action
-  mjMOUSE_ROTATE_V,               // rotate (orbit) vertically
-  mjMOUSE_ROTATE_H,               // rotate (orbit) horizontally
-  mjMOUSE_MOVE_V,                 // move along vertical plane
-  mjMOUSE_MOVE_H,                 // move along horizontal plane
-  mjMOUSE_ZOOM,                   // zoom (towards/away from lookat point)
-  mjMOUSE_MOVE_V_REL,             // move (truck, pedestal), vertical plane rel. to target
-  mjMOUSE_MOVE_H_REL,             // move (truck, dolly), horizontal plane rel. to target
-  mjMOUSE_TURN_V,                 // turn (tilt) vertically
-  mjMOUSE_TURN_H,                 // turn (pan) horizontally
-} mjtMouse;
-typedef enum mjtPertBit_ {        // mouse perturbations
-  mjPERT_TRANSLATE    = 1,        // translation
-  mjPERT_ROTATE       = 2         // rotation
-} mjtPertBit;
-typedef enum mjtCamera_ {         // abstract camera type
-  mjCAMERA_FREE       = 0,        // free camera
-  mjCAMERA_TRACKING,              // tracking camera; uses trackbodyid
-  mjCAMERA_FIXED,                 // fixed camera; uses fixedcamid
-  mjCAMERA_USER                   // user is responsible for setting OpenGL camera
-} mjtCamera;
-typedef enum mjtLabel_ {          // object labeling
-  mjLABEL_NONE        = 0,        // nothing
-  mjLABEL_BODY,                   // body labels
-  mjLABEL_JOINT,                  // joint labels
-  mjLABEL_GEOM,                   // geom labels
-  mjLABEL_SITE,                   // site labels
-  mjLABEL_CAMERA,                 // camera labels
-  mjLABEL_LIGHT,                  // light labels
-  mjLABEL_TENDON,                 // tendon labels
-  mjLABEL_ACTUATOR,               // actuator labels
-  mjLABEL_CONSTRAINT,             // constraint labels
-  mjLABEL_FLEX,                   // flex labels
-  mjLABEL_SKIN,                   // skin labels
-  mjLABEL_SELECTION,              // selected object
-  mjLABEL_SELPNT,                 // coordinates of selection point
-  mjLABEL_CONTACTPOINT,           // contact information
-  mjLABEL_CONTACTFORCE,           // magnitude of contact force
-  mjLABEL_ISLAND,                 // id of island
-
-  mjNLABEL                        // number of label types
-} mjtLabel;
-typedef enum mjtFrame_ {          // frame visualization
-  mjFRAME_NONE        = 0,        // no frames
-  mjFRAME_BODY,                   // body frames
-  mjFRAME_GEOM,                   // geom frames
-  mjFRAME_SITE,                   // site frames
-  mjFRAME_CAMERA,                 // camera frames
-  mjFRAME_LIGHT,                  // light frames
-  mjFRAME_CONTACT,                // contact frames
-  mjFRAME_WORLD,                  // world frame
-
-  mjNFRAME                        // number of visualization frames
-} mjtFrame;
-typedef enum mjtVisFlag_ {        // flags enabling model element visualization
-  mjVIS_CONVEXHULL    = 0,        // mesh convex hull
-  mjVIS_TEXTURE,                  // textures
-  mjVIS_JOINT,                    // joints
-  mjVIS_CAMERA,                   // cameras
-  mjVIS_ACTUATOR,                 // actuators
-  mjVIS_ACTIVATION,               // activations
-  mjVIS_LIGHT,                    // lights
-  mjVIS_TENDON,                   // tendons
-  mjVIS_RANGEFINDER,              // rangefinder sensors
-  mjVIS_CONSTRAINT,               // point constraints
-  mjVIS_INERTIA,                  // equivalent inertia boxes
-  mjVIS_SCLINERTIA,               // scale equivalent inertia boxes with mass
-  mjVIS_PERTFORCE,                // perturbation force
-  mjVIS_PERTOBJ,                  // perturbation object
-  mjVIS_CONTACTPOINT,             // contact points
-  mjVIS_ISLAND,                   // constraint islands
-  mjVIS_CONTACTFORCE,             // contact force
-  mjVIS_CONTACTSPLIT,             // split contact force into normal and tangent
-  mjVIS_TRANSPARENT,              // make dynamic geoms more transparent
-  mjVIS_AUTOCONNECT,              // auto connect joints and body coms
-  mjVIS_COM,                      // center of mass
-  mjVIS_SELECT,                   // selection point
-  mjVIS_STATIC,                   // static bodies
-  mjVIS_SKIN,                     // skin
-  mjVIS_FLEXVERT,                 // flex vertices
-  mjVIS_FLEXEDGE,                 // flex edges
-  mjVIS_FLEXFACE,                 // flex element faces
-  mjVIS_FLEXSKIN,                 // flex smooth skin (disables the rest)
-  mjVIS_BODYBVH,                  // body bounding volume hierarchy
-  mjVIS_MESHBVH,                  // mesh bounding volume hierarchy
-  mjVIS_SDFITER,                  // iterations of SDF gradient descent
-
-  mjNVISFLAG                      // number of visualization flags
-} mjtVisFlag;
-typedef enum mjtRndFlag_ {        // flags enabling rendering effects
-  mjRND_SHADOW        = 0,        // shadows
-  mjRND_WIREFRAME,                // wireframe
-  mjRND_REFLECTION,               // reflections
-  mjRND_ADDITIVE,                 // additive transparency
-  mjRND_SKYBOX,                   // skybox
-  mjRND_FOG,                      // fog
-  mjRND_HAZE,                     // haze
-  mjRND_DEPTH,                    // depth
-  mjRND_SEGMENT,                  // segmentation with random color
-  mjRND_IDCOLOR,                  // segmentation with segid+1 color
-  mjRND_CULL_FACE,                // cull backward faces
-
-  mjNRNDFLAG                      // number of rendering flags
-} mjtRndFlag;
-typedef enum mjtStereo_ {         // type of stereo rendering
-  mjSTEREO_NONE       = 0,        // no stereo; use left eye only
-  mjSTEREO_QUADBUFFERED,          // quad buffered; revert to side-by-side if no hardware support
-  mjSTEREO_SIDEBYSIDE             // side-by-side
-} mjtStereo;
-typedef struct mjvPerturb_ {      // object selection and perturbation
-  int      select;                // selected body id; non-positive: none
-  int      flexselect;            // selected flex id; negative: none
-  int      skinselect;            // selected skin id; negative: none
-  int      active;                // perturbation bitmask (mjtPertBit)
-  int      active2;               // secondary perturbation bitmask (mjtPertBit)
-  mjtNum   refpos[3];             // reference position for selected object
-  mjtNum   refquat[4];            // reference orientation for selected object
-  mjtNum   refselpos[3];          // reference position for selection point
-  mjtNum   localpos[3];           // selection point in object coordinates
-  mjtNum   localmass;             // spatial inertia at selection point
-  mjtNum   scale;                 // relative mouse motion-to-space scaling (set by initPerturb)
-} mjvPerturb;
-typedef struct mjvCamera_ {       // abstract camera
-  // type and ids
-  int      type;                  // camera type (mjtCamera)
-  int      fixedcamid;            // fixed camera id
-  int      trackbodyid;           // body id to track
-
-  // abstract camera pose specification
-  mjtNum   lookat[3];             // lookat point
-  mjtNum   distance;              // distance to lookat point or tracked body
-  mjtNum   azimuth;               // camera azimuth (deg)
-  mjtNum   elevation;             // camera elevation (deg)
-
-  // orthographic / perspective
-  int      orthographic;          // 0: perspective; 1: orthographic
-} mjvCamera;
-typedef struct mjvGLCamera_ {     // OpenGL camera
-  // camera frame
-  float    pos[3];                // position
-  float    forward[3];            // forward direction
-  float    up[3];                 // up direction
-
-  // camera projection
-  float    frustum_center;        // hor. center (left,right set to match aspect)
-  float    frustum_width;         // width (not used for rendering)
-  float    frustum_bottom;        // bottom
-  float    frustum_top;           // top
-  float    frustum_near;          // near
-  float    frustum_far;           // far
-
-  // orthographic / perspective
-  int      orthographic;          // 0: perspective; 1: orthographic
-} mjvGLCamera;
-typedef struct mjvGeom_ {         // abstract geom
-  // type info
-  int      type;                  // geom type (mjtGeom)
-  int      dataid;                // mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)
-  int      objtype;               // mujoco object type; mjOBJ_UNKNOWN for decor
-  int      objid;                 // mujoco object id; -1 for decor
-  int      category;              // visual category
-  int      matid;                 // material id; -1: no textured material
-  int      texid;                 // texture id; -1: none
-  int      texuniform;            // uniform cube mapping
-  int      texcoord;              // mesh or flex geom has texture coordinates
-  int      segid;                 // segmentation id; -1: not shown
-
-  // spatial transform
-  float    size[3];               // size parameters
-  float    pos[3];                // Cartesian position
-  float    mat[9];                // Cartesian orientation
-
-  // material properties
-  float    rgba[4];               // color and transparency
-  float    emission;              // emission coef
-  float    specular;              // specular coef
-  float    shininess;             // shininess coef
-  float    reflectance;           // reflectance coef
-  float    texrepeat[2];          // texture repetition for 2d mapping
-
-  char     label[100];            // text label
-
-  // transparency rendering (set internally)
-  float    camdist;               // distance to camera (used by sorter)
-  float    modelrbound;           // geom rbound from model, 0 if not model geom
-  mjtByte  transparent;           // treat geom as transparent
-} mjvGeom;
-typedef struct mjvLight_ {        // OpenGL light
-  int      id;                    // light id, -1 for headlight
-  float    pos[3];                // position rel. to body frame
-  float    dir[3];                // direction rel. to body frame
-  int      type;                  // type (mjtLightType)
-  int      texid;                 // texture id for image lights
-  float    attenuation[3];        // OpenGL attenuation (quadratic model)
-  float    cutoff;                // OpenGL cutoff
-  float    exponent;              // OpenGL exponent
-  float    ambient[3];            // ambient rgb (alpha=1)
-  float    diffuse[3];            // diffuse rgb (alpha=1)
-  float    specular[3];           // specular rgb (alpha=1)
-  mjtByte  headlight;             // headlight
-  mjtByte  castshadow;            // does light cast shadows
-  float    bulbradius;            // bulb radius for soft shadows
-  float    intensity;             // intensity, in candelas
-  float    range;                 // range of effectiveness
-  float    softness;              // spotlight edge softness
-} mjvLight;
-typedef struct mjvOption_ {          // abstract visualization options
-  int      label;                    // what objects to label (mjtLabel)
-  int      frame;                    // which frame to show (mjtFrame)
-  mjtByte  geomgroup[mjNGROUP];      // geom visualization by group
-  mjtByte  sitegroup[mjNGROUP];      // site visualization by group
-  mjtByte  jointgroup[mjNGROUP];     // joint visualization by group
-  mjtByte  tendongroup[mjNGROUP];    // tendon visualization by group
-  mjtByte  actuatorgroup[mjNGROUP];  // actuator visualization by group
-  mjtByte  flexgroup[mjNGROUP];      // flex visualization by group
-  mjtByte  skingroup[mjNGROUP];      // skin visualization by group
-  mjtByte  flags[mjNVISFLAG];        // visualization flags (indexed by mjtVisFlag)
-  int      bvh_depth;                // depth of the bounding volume hierarchy to be visualized
-  int      flex_layer;               // element layer to be visualized for 3D flex
-} mjvOption;
-typedef struct mjvScene_ {        // abstract scene passed to OpenGL renderer
-  // abstract geoms
-  int      maxgeom;               // size of allocated geom buffer
-  int      ngeom;                 // number of geoms currently in buffer
-  mjvGeom* geoms;                 // buffer for geoms (ngeom)
-  int*     geomorder;             // buffer for ordering geoms by distance to camera (ngeom)
-
-  // flex data
-  int      nflex;                 // number of flexes
-  int*     flexedgeadr;           // address of flex edges (nflex)
-  int*     flexedgenum;           // number of edges in flex (nflex)
-  int*     flexvertadr;           // address of flex vertices (nflex)
-  int*     flexvertnum;           // number of vertices in flex (nflex)
-  int*     flexfaceadr;           // address of flex faces (nflex)
-  int*     flexfacenum;           // number of flex faces allocated (nflex)
-  int*     flexfaceused;          // number of flex faces currently in use (nflex)
-  int*     flexedge;              // flex edge data (2*nflexedge)
-  float*   flexvert;              // flex vertices (3*nflexvert)
-  float*   flexface;              // flex faces vertices (9*sum(flexfacenum))
-  float*   flexnormal;            // flex face normals (9*sum(flexfacenum))
-  float*   flextexcoord;          // flex face texture coordinates (6*sum(flexfacenum))
-  mjtByte  flexvertopt;           // copy of mjVIS_FLEXVERT mjvOption flag
-  mjtByte  flexedgeopt;           // copy of mjVIS_FLEXEDGE mjvOption flag
-  mjtByte  flexfaceopt;           // copy of mjVIS_FLEXFACE mjvOption flag
-  mjtByte  flexskinopt;           // copy of mjVIS_FLEXSKIN mjvOption flag
-
-  // skin data
-  int      nskin;                 // number of skins
-  int*     skinfacenum;           // number of faces in skin (nskin)
-  int*     skinvertadr;           // address of skin vertices (nskin)
-  int*     skinvertnum;           // number of vertices in skin (nskin)
-  float*   skinvert;              // skin vertex data (3*nskinvert)
-  float*   skinnormal;            // skin normal data (3*nskinvert)
-
-  // OpenGL lights
-  int      nlight;                // number of lights currently in buffer
-  mjvLight lights[mjMAXLIGHT];    // buffer for lights (nlight)
-
-  // OpenGL cameras
-  mjvGLCamera camera[2];          // left and right camera
-
-  // OpenGL model transformation
-  mjtByte  enabletransform;       // enable model transformation
-  float    translate[3];          // model translation
-  float    rotate[4];             // model quaternion rotation
-  float    scale;                 // model scaling
-
-  // OpenGL rendering effects
-  int      stereo;                // stereoscopic rendering (mjtStereo)
-  mjtByte  flags[mjNRNDFLAG];     // rendering flags (indexed by mjtRndFlag)
-
-  // framing
-  int      framewidth;            // frame pixel width; 0: disable framing
-  float    framergb[3];           // frame color
-
-  // geom buffer status
-  int      status;                // 0: ok, 1: geoms exhausted, warning issued
-} mjvScene;
-typedef struct mjvFigure_ {       // abstract 2D figure passed to OpenGL renderer
-  // enable flags
-  int     flg_legend;             // show legend
-  int     flg_ticklabel[2];       // show grid tick labels (x,y)
-  int     flg_extend;             // automatically extend axis ranges to fit data
-  int     flg_barplot;            // isolated line segments (i.e. GL_LINES)
-  int     flg_selection;          // vertical selection line
-  int     flg_symmetric;          // symmetric y-axis
-
-  // style settings
-  float   linewidth;              // line width
-  float   gridwidth;              // grid line width
-  int     gridsize[2];            // number of grid points in (x,y)
-  float   gridrgb[3];             // grid line rgb
-  float   figurergba[4];          // figure color and alpha
-  float   panergba[4];            // pane color and alpha
-  float   legendrgba[4];          // legend color and alpha
-  float   textrgb[3];             // text color
-  float   linergb[mjMAXLINE][3];  // line colors
-  float   range[2][2];            // axis ranges; (min>=max) automatic
-  char    xformat[20];            // x-tick label format for sprintf
-  char    yformat[20];            // y-tick label format for sprintf
-  char    minwidth[20];           // string used to determine min y-tick width
-
-  // text labels
-  char    title[1000];            // figure title; subplots separated with 2+ spaces
-  char    xlabel[100];            // x-axis label
-  char    linename[mjMAXLINE][100];  // line names for legend
-
-  // dynamic settings
-  int     legendoffset;           // number of lines to offset legend
-  int     subplot;                // selected subplot (for title rendering)
-  int     highlight[2];           // if point is in legend rect, highlight line
-  int     highlightid;            // if id>=0 and no point, highlight id
-  float   selection;              // selection line x-value
-
-  // line data
-  int     linepnt[mjMAXLINE];     // number of points in line; (0) disable
-  float   linedata[mjMAXLINE][2*mjMAXLINEPNT];  // line data (x,y)
-
-  // output from renderer
-  int     xaxispixel[2];          // range of x-axis in pixels
-  int     yaxispixel[2];          // range of y-axis in pixels
-  float   xaxisdata[2];           // range of x-axis in data units
-  float   yaxisdata[2];           // range of y-axis in data units
-} mjvFigure;
-
-//----------------------------- MJAPI FUNCTIONS --------------------------------
-void mjrf_defaultContextConfig(mjrfContextConfig* config);
-mjrfContext* mjrf_createContext(const mjrfContextConfig* config);
-void mjrf_destroyContext(mjrfContext* ctx);
-void mjrf_getRendererInfo(mjrfContext* ctx, mjrRendererInfo* info);
-void mjrf_defaultRenderRequest(mjrfRenderRequest* request);
-void mjrf_defaultReadPixelsRequest(mjrfReadPixelsRequest* request);
-mjrfFrameHandle mjrf_render(mjrfContext* ctx, const mjrfRenderRequest* req, int nreq,
-                      const mjrfReadPixelsRequest* read_req, int nread_req);
-void mjrf_waitForFrame(mjrfContext* ctx, mjrfFrameHandle frame);
-void mjrf_setClearColor(mjrfContext* ctx, const float color[3]);
-void mjrf_defaultFrameStats(mjrfFrameStats* stats);
-void mjrf_getFrameStats(mjrfContext* ctx, mjrfFrameHandle frame, mjrfFrameStats* stats_out);
-void mjrf_defaultTextureConfig(mjrfTextureConfig* config);
-mjrfTexture* mjrf_createTexture(mjrfContext* ctx, const mjrfTextureConfig* config);
-void mjrf_destroyTexture(mjrfTexture* texture);
-void mjrf_defaultTextureData(mjrfTextureData* data);
-void mjrf_setTextureData(mjrfTexture* texture, const mjrfTextureData* data);
-int mjrf_getTextureWidth(const mjrfTexture* texture);
-int mjrf_getTextureHeight(const mjrfTexture* texture);
-int mjrf_getTextureSamplerType(const mjrfTexture* texture);
-void mjrf_defaultMeshConfig(mjrfMeshConfig* config);
-mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshConfig* config);
-void mjrf_destroyMesh(mjrfMesh* mesh);
-void mjrf_defaultMeshData(mjrfMeshData* data);
-void mjrf_setMeshData(mjrfMesh* mesh, const mjrfMeshData* data);
-void mjrf_defaultSceneParams(mjrfSceneParams* params);
-mjrfScene* mjrf_createScene(mjrfContext* ctx, const mjrfSceneParams* params);
-void mjrf_destroyScene(mjrfScene* scene);
-void mjrf_addLightToScene(mjrfScene* scene, mjrfLight* light);
-void mjrf_removeLightFromScene(mjrfScene* scene, mjrfLight* light);
-void mjrf_addRenderableToScene(mjrfScene* scene, mjrfRenderable* renderable);
-void mjrf_removeRenderableFromScene(mjrfScene* scene, mjrfRenderable* renderable);
-void mjrf_setSceneSkybox(mjrfScene* scene, const mjrfTexture* texture);
-void mjrf_configureSceneFromModel(mjrfScene* scene, const mjModel* model);
-void mjrf_defaultLightParams(mjrfLightParams* params);
-mjrfLight* mjrf_createLight(mjrfContext* ctx, const mjrfLightParams* params);
-void mjrf_destroyLight(mjrfLight* light);
-void mjrf_setLightEnabled(mjrfLight* light, mjtBool enabled);
-void mjrf_setLightIntensity(mjrfLight* light, float intensity);
-void mjrf_setLightShadowMapSize(mjrfLight* light, int map_size);
-void mjrf_setLightColor(mjrfLight* light, const float color[3]);
-void mjrf_setLightTransform(mjrfLight* light, const float position[3], const float direction[3]);
-int mjrf_getLightType(const mjrfLight* light);
-void mjrf_defaultMaterial(mjrfMaterial* material);
-void mjrf_defaultRenderableParams(mjrfRenderableParams* params);
-mjrfRenderable* mjrf_createRenderable(mjrfContext* ctx, const mjrfRenderableParams* params);
-void mjrf_destroyRenderable(mjrfRenderable* renderable);
-void mjrf_setRenderableMesh(mjrfRenderable* renderable, const mjrfMesh* mesh, int elem_offset,
-                      int elem_count);
-void mjrf_setRenderableGeomMesh(mjrfRenderable* renderable, int type, int nstack, int nslice,
-                          int nquad);
-void mjrf_setRenderableMaterial(mjrfRenderable* renderable, const mjrfMaterial* material);
-void mjrf_getRenderableMaterial(mjrfRenderable* renderable, mjrfMaterial* material);
-void mjrf_setRenderableTransform(mjrfRenderable* renderable, const float position[3],
-                           const float rotation[9]);
-void mjrf_setRenderableSize(mjrfRenderable* renderable, const float size[3]);
-void mjrf_defaultRenderTargetConfig(mjrfRenderTargetConfig* config);
-mjrfRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx, const mjrfRenderTargetConfig* config);
-void mjrf_destroyRenderTarget(mjrfRenderTarget* render_target);
-void mjrf_resizeRenderTarget(mjrfRenderTarget* render_target, int width, int height);
-void mj_defaultVFS(mjVFS* vfs);
-int mj_mountVFS(mjVFS* vfs, const char* filepath, const mjpResourceProvider* provider);
-int mj_unmountVFS(mjVFS* vfs, const char* filename);
-int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
-int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
-int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
-int mj_containsBufferVFS(mjVFS* vfs, const char* name);
-int mj_containsFileVFS(mjVFS* vfs, const char* directory, const char* filename);
-void mj_deleteVFS(mjVFS* vfs);
-size_t mj_getCacheSize(const mjCache* cache);
-size_t mj_getCacheCapacity(const mjCache* cache);
-size_t mj_setCacheCapacity(mjCache* cache, size_t size);
-mjCache* mj_getCache(void);
-void mj_clearCache(mjCache* cache);
-mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
-mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
-mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
-mjSpec* mj_parse(const char* filename, const char* content_type,
-                 const mjVFS* vfs, char* error, int error_sz);
-mjtSize mj_encode(const mjSpec* s, const mjModel* m, const char* filename,
-                  const char* content_type, const mjVFS* vfs, char* error,
-                  int error_sz);
-mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
-int mj_copyBack(mjSpec* s, const mjModel* m);
-int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
-int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
-void mj_freeLastXML(void);
-int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
-int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
-void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
-void mj_step(const mjModel* m, mjData* d);
-void mj_step1(const mjModel* m, mjData* d);
-void mj_step2(const mjModel* m, mjData* d);
-void mj_forward(const mjModel* m, mjData* d);
-void mj_inverse(const mjModel* m, mjData* d);
-void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
-void mj_inverseSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
-void mj_defaultLROpt(mjLROpt* opt);
-void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
-void mj_defaultOption(mjOption* opt);
-void mj_defaultVisual(mjVisual* vis);
-mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
-void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
-mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
-mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz);
-void mj_deleteModel(mjModel* m);
-mjtSize mj_sizeModel(const mjModel* m);
-mjData* mj_makeData(const mjModel* m);
-mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
-mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
-void mj_resetCtrl(const mjModel* m, mjData* d);
-void mj_resetData(const mjModel* m, mjData* d);
-void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
-void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
-void mj_markStack(mjData* d);
-void mj_freeStack(mjData* d);
-void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
-mjtNum* mj_stackAllocNum(mjData* d, size_t size);
-int* mj_stackAllocInt(mjData* d, size_t size);
-void mj_deleteData(mjData* d);
-void mj_resetCallbacks(void);
-void mj_setConst(mjModel* m, mjData* d);
-int mj_setLengthRange(mjModel* m, mjData* d, int index,
-                      const mjLROpt* opt, char* error, int error_sz);
-mjSpec* mj_makeSpec(void);
-mjSpec* mj_copySpec(const mjSpec* s);
-void mj_deleteSpec(mjSpec* s);
-int mjs_activatePlugin(mjSpec* s, const char* name);
-int mjs_setDeepCopy(mjSpec* s, int deepcopy);
-void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
-void mj_printModel(const mjModel* m, const char* filename);
-void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filename,
-                           const char* float_format);
-void mj_printData(const mjModel* m, const mjData* d, const char* filename);
-void mju_printMat(const mjtNum* mat, int nr, int nc);
-void mju_printMatSparse(const mjtNum* mat, int nr,
-                        const int* rownnz, const int* rowadr, const int* colind);
-int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
-                   int flg_html, int flg_pad);
-void mj_printScene(const mjvScene* s, const char* filename);
-void mj_printFormattedScene(const mjvScene* s, const char* filename,
-                            const char* float_format);
-void mj_fwdKinematics(const mjModel* m, mjData* d);
-void mj_fwdPosition(const mjModel* m, mjData* d);
-void mj_fwdVelocity(const mjModel* m, mjData* d);
-void mj_fwdActuation(const mjModel* m, mjData* d);
-void mj_fwdAcceleration(const mjModel* m, mjData* d);
-void mj_fwdConstraint(const mjModel* m, mjData* d);
-void mj_Euler(const mjModel* m, mjData* d);
-void mj_RungeKutta(const mjModel* m, mjData* d, int N);
-void mj_implicit(const mjModel* m, mjData* d);
-void mj_invPosition(const mjModel* m, mjData* d);
-void mj_invVelocity(const mjModel* m, mjData* d);
-void mj_invConstraint(const mjModel* m, mjData* d);
-void mj_compareFwdInv(const mjModel* m, mjData* d);
-void mj_sensorPos(const mjModel* m, mjData* d);
-void mj_sensorVel(const mjModel* m, mjData* d);
-void mj_sensorAcc(const mjModel* m, mjData* d);
-void mj_energyPos(const mjModel* m, mjData* d);
-void mj_energyVel(const mjModel* m, mjData* d);
-void mj_checkPos(const mjModel* m, mjData* d);
-void mj_checkVel(const mjModel* m, mjData* d);
-void mj_checkAcc(const mjModel* m, mjData* d);
-void mj_kinematics(const mjModel* m, mjData* d);
-void mj_comPos(const mjModel* m, mjData* d);
-void mj_camlight(const mjModel* m, mjData* d);
-void mj_flex(const mjModel* m, mjData* d);
-void mj_tendon(const mjModel* m, mjData* d);
-void mj_transmission(const mjModel* m, mjData* d);
-void mj_crb(const mjModel* m, mjData* d);
-void mj_makeM(const mjModel* m, mjData* d);
-void mj_factorM(const mjModel* m, mjData* d);
-void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
-void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
-                const mjtNum* sqrtInvD, int n);
-void mj_comVel(const mjModel* m, mjData* d);
-void mj_passive(const mjModel* m, mjData* d);
-void mj_subtreeVel(const mjModel* m, mjData* d);
-void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
-void mj_rnePostConstraint(const mjModel* m, mjData* d);
-int mj_maxContact(const mjModel* m, int g1, int g2, int has_margin);
-void mj_collision(const mjModel* m, mjData* d);
-void mj_makeConstraint(const mjModel* m, mjData* d);
-void mj_island(const mjModel* m, mjData* d);
-void mj_projectConstraint(const mjModel* m, mjData* d);
-void mj_referenceConstraint(const mjModel* m, mjData* d);
-void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
-                         mjtNum cost[1], int flg_coneHessian);
-int mj_stateSize(const mjModel* m, int sig);
-void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig);
-void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig,
-                     mjtNum* dst, int dstsig);
-void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig);
-void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig);
-mjtNum mj_readCtrl(const mjModel* m, const mjData* d, int id, mjtNum time, int interp);
-const mjtNum* mj_readSensor(const mjModel* m, const mjData* d, int id, mjtNum time,
-                            mjtNum* result, int interp);
-void mj_initCtrlHistory(const mjModel* m, mjData* d, int id,
-                        const mjtNum* times, const mjtNum* values);
-void mj_initSensorHistory(const mjModel* m, mjData* d, int id,
-                          const mjtNum* times, const mjtNum* values, mjtNum phase);
-void mj_setKeyframe(mjModel* m, const mjData* d, int k);
-int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
-int mj_isPyramidal(const mjModel* m);
-int mj_isSparse(const mjModel* m);
-int mj_isDual(const mjModel* m);
-void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
-            const mjtNum point[3], int body);
-void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
-void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
-void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
-void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom);
-void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site);
-void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
-                     const mjtNum point[3], const mjtNum axis[3], int body);
-void mj_jacDot(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
-               const mjtNum point[3], int body);
-void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
-int mj_name2id(const mjModel* m, int type, const char* name);
-const char* mj_id2name(const mjModel* m, int type, int id);
-const char* mj_actuatorInputName(const mjModel* m, int id, int input);
-void mj_fullM(const mjModel* m, const mjData* d, mjtNum* dst);
-void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind);
-void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3],
-                const mjtNum point[3], int body, mjtNum* qfrc_target);
-void mj_objectVelocity(const mjModel* m, const mjData* d,
-                       int objtype, int objid, mjtNum res[6], int flg_local);
-void mj_objectAcceleration(const mjModel* m, const mjData* d,
-                           int objtype, int objid, mjtNum res[6], int flg_local);
-mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
-                       mjtNum fromto[6]);
-void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
-void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
-                         const mjtNum* qpos1, const mjtNum* qpos2);
-void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
-void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
-void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9], const mjtNum pos[3],
-                     const mjtNum quat[4], int body, mjtByte sameframe);
-mjtNum mj_getTotalmass(const mjModel* m);
-void mj_setTotalmass(mjModel* m, mjtNum newmass);
-const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
-void mj_loadPluginLibrary(const char* path);
-void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
-int mj_version(void);
-const char* mj_versionString(void);
-mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
-              const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
-              int geomid[1], mjtNum normal[3]);
-void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
-                 const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
-                 int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff);
-mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
-                    const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
-mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
-                  const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
-mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
-                   const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
-                   mjtNum normal[3]);
-mjtNum mj_rayFlex(const mjModel* m, const mjData* d, int flex_layer,
-                  mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
-                  mjtBool flg_skin, int flexid, const mjtNum pnt[3],
-                  const mjtNum vec[3], int vertid[1], mjtNum normal[3]);
-mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
-                   const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
-void mjv_defaultCamera(mjvCamera* cam);
-void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
-void mjv_defaultPerturb(mjvPerturb* pert);
-void mjv_room2model(mjtNum modelpos[3], mjtNum modelquat[4], const mjtNum roompos[3],
-                    const mjtNum roomquat[4], const mjvScene* scn);
-void mjv_model2room(mjtNum roompos[3], mjtNum roomquat[4], const mjtNum modelpos[3],
-                    const mjtNum modelquat[4], const mjvScene* scn);
-void mjv_cameraInModel(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
-                       const mjvScene* scn);
-void mjv_cameraInRoom(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
-                      const mjvScene* scn);
-mjtNum mjv_frustumHeight(const mjvScene* scn);
-void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
-void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam);
-void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
-                     mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
-void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
-                   const mjtNum roomup[3], mjvScene* scn);
-void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
-void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
-                          int flg_paused);
-void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
-mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
-mjvGLCamera mjv_camera2GLCamera(const mjModel* model, const mjData* data,
-                                const mjvCamera* mjv_camera);
-int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
-               mjtNum aspectratio, mjtNum relx, mjtNum rely,
-               const mjvScene* scn, mjtNum selpnt[3],
-               int geomid[1], int flexid[1], int skinid[1]);
-void mjv_defaultOption(mjvOption* opt);
-void mjv_defaultFigure(mjvFigure* fig);
-void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
-                  const mjtNum pos[3], const mjtNum mat[9], const float rgba[4]);
-void mjv_connector(mjvGeom* geom, int type, mjtNum width,
-                   const mjtNum from[3], const mjtNum to[3]);
-void mjv_defaultScene(mjvScene* scn);
-void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
-void mjv_freeScene(mjvScene* scn);
-void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
-                     const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
-void mjv_copyModel(mjModel* dest, const mjModel* src);
-void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
-                  const mjvPerturb* pert, int catmask, mjvScene* scn);
-void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
-void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
-void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
-void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
-                     const mjData* d, const mjvCamera* cam);
-void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  const mjModel* m,
-                       const mjvCamera* cam);
-void mjr_defaultContext(mjrContext* con);
-void mjr_defaultRendererInfo(mjrRendererInfo* info);
-void mjr_getRendererInfo(mjrRendererInfo* info);
-void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
-void mjr_changeFont(int fontscale, mjrContext* con);
-void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
-void mjr_freeContext(mjrContext* con);
-void mjr_resizeOffscreen(int width, int height, mjrContext* con);
-void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
-void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
-void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
-void mjr_restoreBuffer(const mjrContext* con);
-void mjr_setBuffer(int framebuffer, mjrContext* con);
-void mjr_readPixels(unsigned char* rgb, float* depth,
-                    mjrRect viewport, const mjrContext* con);
-void mjr_drawPixels(const unsigned char* rgb, const float* depth,
-                    mjrRect viewport, const mjrContext* con);
-void mjr_blitBuffer(mjrRect src, mjrRect dst,
-                    int flg_color, int flg_depth, const mjrContext* con);
-void mjr_setAux(int index, const mjrContext* con);
-void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con);
-void mjr_text(int font, const char* txt, const mjrContext* con,
-              float x, float y, float r, float g, float b);
-void mjr_overlay(int font, int gridpos, mjrRect viewport,
-                 const char* overlay, const char* overlay2, const mjrContext* con);
-mjrRect mjr_maxViewport(const mjrContext* con);
-void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
-void mjr_label(mjrRect viewport, int font, const char* txt,
-               float r, float g, float b, float a, float rt, float gt, float bt,
-               const mjrContext* con);
-void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
-void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
-void mjr_finish(void);
-int mjr_getError(void);
-int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
-mjuiThemeSpacing mjui_themeSpacing(int ind);
-mjuiThemeColor mjui_themeColor(int ind);
-void mjui_add(mjUI* ui, const mjuiDef* def);
-void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def);
-void mjui_resize(mjUI* ui, const mjrContext* con);
-void mjui_update(int section, int item, const mjUI* ui,
-                 const mjuiState* state, const mjrContext* con);
-mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
-void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
-void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
-void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
-void mju_clearHandlers(void);
-mjfLogHandler mju_setLogHandler(mjfLogHandler handler);
-mjLogConfig mju_getLogConfig(void);
-void mju_setLogConfig(mjLogConfig config);
-void mju_info(int topic, const char* msg, ...) mjPRINTFLIKE(2, 3);
-void mju_message(const mjLogMessage* msg);
-void* mju_malloc(size_t size);
-void mju_free(void* ptr);
-void mj_warning(mjData* d, int warning, int info);
-void mju_writeLog(const char* type, const char* msg);
-const char* mjs_getError(mjSpec* s);
-const double* mjs_getTimer(mjSpec* s);
-int mjs_isWarning(mjSpec* s);
-int mjs_numWarnings(const mjSpec* spec);
-const char* mjs_getWarning(const mjSpec* spec, int index);
-void mju_zero3(mjtNum res[3]);
-void mju_copy3(mjtNum res[3], const mjtNum data[3]);
-void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
-void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
-void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
-void mju_addTo3(mjtNum res[3], const mjtNum vec[3]);
-void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]);
-void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
-void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
-mjtNum mju_normalize3(mjtNum vec[3]);
-mjtNum mju_norm3(const mjtNum vec[3]);
-mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
-mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
-void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
-void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
-void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
-void mju_zero4(mjtNum res[4]);
-void mju_unit4(mjtNum res[4]);
-void mju_copy4(mjtNum res[4], const mjtNum data[4]);
-mjtNum mju_normalize4(mjtNum vec[4]);
-void mju_zero(mjtNum* res, int n);
-void mju_fill(mjtNum* res, mjtNum val, int n);
-void mju_copy(mjtNum* res, const mjtNum* vec, int n);
-mjtNum mju_sum(const mjtNum* vec, int n);
-mjtNum mju_L1(const mjtNum* vec, int n);
-void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
-void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
-void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
-void mju_addTo(mjtNum* res, const mjtNum* vec, int n);
-void mju_subFrom(mjtNum* res, const mjtNum* vec, int n);
-void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
-void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
-mjtNum mju_normalize(mjtNum* res, int n);
-mjtNum mju_norm(const mjtNum* res, int n);
-mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n);
-void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
-void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
-mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
-void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
-void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
-void mju_eye(mjtNum* mat, int n);
-void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                   int r1, int c1, int c2);
-void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                    int r1, int c1, int r2);
-void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                    int r1, int c1, int c2);
-void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc);
-void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
-                          const mjtNum newpos[3], const mjtNum oldpos[3],
-                          const mjtNum rotnew2old[9]);
-int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                     int* rownnz, int* rowadr, int* colind, int nnz);
-void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                      const int* rownnz, const int* rowadr, const int* colind);
-void mju_sym2dense(mjtNum* res, const mjtNum* mat, int n,
-                   const int* rownnz, const int* rowadr, const int* colind);
-void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
-void mju_negQuat(mjtNum res[4], const mjtNum quat[4]);
-void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]);
-void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]);
-void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle);
-void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt);
-void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]);
-void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]);
-void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
-void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
-void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
-void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
-int mju_mat2Rot(mjtNum quat[4], const mjtNum mat[9]);
-void mju_euler2Quat(mjtNum quat[4], const mjtNum euler[3], const char* seq);
-void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
-                 const mjtNum pos1[3], const mjtNum quat1[4],
-                 const mjtNum pos2[3], const mjtNum quat2[4]);
-void mju_negPose(mjtNum posres[3], mjtNum quatres[4],
-                 const mjtNum pos[3], const mjtNum quat[4]);
-void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
-                    const mjtNum vec[3]);
-int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
-void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
-int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
-mjtNum mju_cholFactorBand(mjtNum* mat, int ntotal, int nband, int ndense,
-                          mjtNum diagadd, mjtNum diagmul);
-void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                       int ntotal, int nband, int ndense);
-void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
-                    mjtBool flg_sym);
-void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense);
-void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                       int ntotal, int nband, int ndense, int nvec, mjtBool flg_sym);
-int mju_bandDiag(int i, int ntotal, int nband, int ndense);
-int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
-int mju_boxQP(mjtNum* res, mjtNum* R, int* index, const mjtNum* H, const mjtNum* g, int n,
-              const mjtNum* lower, const mjtNum* upper);
-void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index, mjtNum** H, mjtNum** g, int n,
-                     mjtNum** lower, mjtNum** upper);
-mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
-                      mjtNum acc0, const mjtNum prm[9]);
-mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
-                      mjtNum acc0, const mjtNum prm[9]);
-mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]);
-void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum* mu, int dim);
-void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim);
-mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
-mjtNum mju_min(mjtNum a, mjtNum b);
-mjtNum mju_max(mjtNum a, mjtNum b);
-mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max);
-mjtNum mju_sign(mjtNum x);
-int mju_round(mjtNum x);
-const char* mju_type2Str(int type);
-int mju_str2Type(const char* str);
-const char* mju_writeNumBytes(size_t nbytes);
-const char* mju_warningText(int warning, size_t info);
-int mju_isBad(mjtNum x);
-int mju_isZero(const mjtNum* vec, int n);
-mjtNum mju_standardNormal(mjtNum* num2);
-void mju_f2n(mjtNum* res, const float* vec, int n);
-void mju_n2f(float* res, const mjtNum* vec, int n);
-void mju_d2n(mjtNum* res, const double* vec, int n);
-void mju_n2d(double* res, const mjtNum* vec, int n);
-void mju_insertionSort(mjtNum* list, int n);
-void mju_insertionSortInt(int* list, int n);
-mjtNum mju_Halton(int index, int base);
-char* mju_strncpy(char *dst, const char *src, int n);
-mjtNum mju_sigmoid(mjtNum x);
-const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
-mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
-void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
-                  const mjtNum x[3]);
-void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_centered,
-                      mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
-void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuation,
-                   mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
-                   mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
-                   mjtNum *DmDq);
-void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
-void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
-                       mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]);
-void mjp_defaultPlugin(mjpPlugin* plugin);
-int mjp_registerPlugin(const mjpPlugin* plugin);
-int mjp_pluginCount(void);
-const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
-const mjpPlugin* mjp_getPluginAtSlot(int slot);
-void mjp_defaultResourceProvider(mjpResourceProvider* provider);
-int mjp_registerResourceProvider(const mjpResourceProvider* provider);
-int mjp_resourceProviderCount(void);
-const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name);
-const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot);
-void mjp_registerDecoder(const mjpDecoder* decoder);
-void mjp_defaultDecoder(mjpDecoder* decoder);
-const mjpDecoder* mjp_findDecoder(const mjResource* resource, const char* content_type);
-void mjp_registerEncoder(const mjpEncoder* encoder);
-void mjp_defaultEncoder(mjpEncoder* encoder);
-const mjpEncoder* mjp_findEncoder(const char* filename, const char* content_type);
-mjResource* mju_openResource(const char* dir, const char* name,
-                             const mjVFS* vfs, char* error, size_t nerror);
-void mju_closeResource(mjResource* resource);
-int mju_readResource(mjResource* resource, const void** buffer);
-mjtSize mju_writeResource(const char* name, const void* buffer, mjtSize nbytes,
-                          const mjVFS* vfs, char* error, size_t nerror);
-void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir);
-int mju_isModifiedResource(const mjResource* resource, const char* timestamp);
-mjSpec* mju_decodeResource(mjResource* resource, const char* content_type,
-                           const mjVFS* vfs);
-void mju_threadpool(mjData* d, int nthread);
-mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
-                       const char* prefix, const char* suffix);
-mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
-mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
-mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
-mjsJoint* mjs_addFreeJoint(mjsBody* body);
-mjsGeom* mjs_addGeom(mjsBody* body, const mjsDefault* def);
-mjsCamera* mjs_addCamera(mjsBody* body, const mjsDefault* def);
-mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
-mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
-int mjs_delete(mjSpec* spec, mjsElement* element);
-mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* def);
-mjsSensor* mjs_addSensor(mjSpec* s);
-mjsFlex* mjs_addFlex(mjSpec* s);
-mjsFlex* mjs_makeFlex(mjsBody* body, const char* name, const char* type, int dim,
-                      const char* dof, const int count[3], const int cellcount[3],
-                      const double spacing[3], const double scale[3], double radius,
-                      double mass, double inertiabox, int equality, int rigid, int flatskin,
-                      int elastic2d, const double pos[3], const double quat[4],
-                      const double origin[3], const char* file, const mjVFS* vfs);
-mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* def);
-mjsExclude* mjs_addExclude(mjSpec* s);
-mjsEquality* mjs_addEquality(mjSpec* s, const mjsDefault* def);
-mjsTendon* mjs_addTendon(mjSpec* s, const mjsDefault* def);
-mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
-mjsWrap* mjs_wrapGeom(mjsTendon* tendon, const char* name, const char* sidesite);
-mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
-mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
-mjsNumeric* mjs_addNumeric(mjSpec* s);
-mjsText* mjs_addText(mjSpec* s);
-mjsTuple* mjs_addTuple(mjSpec* s);
-mjsKey* mjs_addKey(mjSpec* s);
-mjsPlugin* mjs_addPlugin(mjSpec* s);
-mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
-const char* mjs_setToMotor(mjsActuator* actuator);
-const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
-                              double dampratio[1], double timeconst[1], double inheritrange);
-const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
-                                 double dampratio[1], double timeconst[1], double inheritrange);
-const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
-const char* mjs_setToOrientation(mjsActuator* actuator, double kp, double kv[1],
-                                 double dampratio[1], int ctrlspec);
-const char* mjs_setToPID(mjsActuator* actuator, double kp, double kv[1], double dampratio[1],
-                         double ki[1], double imax[1], double slewmax[1], double inheritrange,
-                         int ctrlspec);
-const char* mjs_setToDamper(mjsActuator* actuator, double kv);
-const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
-                              double bias, double area, double diameter);
-const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
-                            double range[2], double force, double scale, double lmin,
-                            double lmax, double vmax, double fpmax, double fvmax);
-const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
-const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
-                             double nominal[3], double saturation[3], double inductance[2],
-                             double cogging[3], double controller[6], double thermal[6],
-                             double lugre[5], int ctrlspec);
-mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
-mjsHField* mjs_addHField(mjSpec* s);
-mjsSkin* mjs_addSkin(mjSpec* s);
-mjsTexture* mjs_addTexture(mjSpec* s);
-mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
-int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams);
-mjSpec* mjs_getSpec(const mjsElement* element);
-mjSpec* mjs_getOriginSpec(const mjsElement* element);
-mjsCompiler* mjs_getCompiler(const mjsElement* element);
-mjSpec* mjs_findSpec(const mjSpec* spec, const char* name);
-mjsBody* mjs_findBody(const mjSpec* s, const char* name);
-mjsElement* mjs_findElement(const mjSpec* s, mjtObj type, const char* name);
-mjsBody* mjs_findChild(const mjsBody* body, const char* name);
-mjsBody* mjs_getParent(const mjsElement* element);
-mjsFrame* mjs_getFrame(const mjsElement* element);
-mjsFrame* mjs_findFrame(const mjSpec* s, const char* name);
-mjsDefault* mjs_getDefault(const mjsElement* element);
-mjsDefault* mjs_findDefault(const mjSpec* s, const char* classname);
-mjsDefault* mjs_getSpecDefault(const mjSpec* s);
-int mjs_getId(const mjsElement* element);
-mjsElement* mjs_firstChild(const mjsBody* body, mjtObj type, int recurse);
-mjsElement* mjs_nextChild(const mjsBody* body, const mjsElement* child, int recurse);
-mjsElement* mjs_firstElement(const mjSpec* s, mjtObj type);
-mjsElement* mjs_nextElement(const mjSpec* s, const mjsElement* element);
-mjsElement* mjs_getWrapTarget(const mjsWrap* wrap);
-mjsSite* mjs_getWrapSideSite(const mjsWrap* wrap);
-double mjs_getWrapDivisor(const mjsWrap* wrap);
-double mjs_getWrapCoef(const mjsWrap* wrap);
-int mjs_setName(mjsElement* element, const char* name);
-void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
-void mjs_setString(mjString* dest, const char* text);
-void mjs_setStringVec(mjStringVec* dest, const char* text);
-mjtBool mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
-void mjs_appendString(mjStringVec* dest, const char* text);
-void mjs_setInt(mjIntVec* dest, const int* array, int size);
-void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size);
-void mjs_setFloat(mjFloatVec* dest, const float* array, int size);
-void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size);
-void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
-void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
-mjString* mjs_getName(mjsElement* element);
-const char* mjs_getString(const mjString* source);
-const double* mjs_getDouble(const mjDoubleVec* source, int* size);
-int mjs_getWrapNum(const mjsTendon* tendonspec);
-mjsWrap* mjs_getWrap(const mjsTendon* tendonspec, int i);
-const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
-void mjs_setDefault(mjsElement* element, const mjsDefault* def);
-int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
-const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
-                                   const mjsOrientation* orientation);
-mjsFrame* mjs_bodyToFrame(mjsBody** body);
-void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
-void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
-                                 const void* data,
-                                 void (*cleanup)(const void*));
-const void* mjs_getUserValue(mjsElement* element, const char* key);
-void mjs_deleteUserValue(mjsElement* element, const char* key);
-int mjs_sensorDim(const mjsSensor* sensor);
-void mjs_defaultSpec(mjSpec* spec);
-void mjs_defaultOrientation(mjsOrientation* orient);
-void mjs_defaultBody(mjsBody* body);
-void mjs_defaultFrame(mjsFrame* frame);
-void mjs_defaultJoint(mjsJoint* joint);
-void mjs_defaultGeom(mjsGeom* geom);
-void mjs_defaultSite(mjsSite* site);
-void mjs_defaultCamera(mjsCamera* camera);
-void mjs_defaultLight(mjsLight* light);
-void mjs_defaultFlex(mjsFlex* flex);
-void mjs_defaultMesh(mjsMesh* mesh);
-void mjs_defaultHField(mjsHField* hfield);
-void mjs_defaultSkin(mjsSkin* skin);
-void mjs_defaultTexture(mjsTexture* texture);
-void mjs_defaultMaterial(mjsMaterial* material);
-void mjs_defaultPair(mjsPair* pair);
-void mjs_defaultEquality(mjsEquality* equality);
-void mjs_defaultTendon(mjsTendon* tendon);
-void mjs_defaultActuator(mjsActuator* actuator);
-void mjs_defaultSensor(mjsSensor* sensor);
-void mjs_defaultNumeric(mjsNumeric* numeric);
-void mjs_defaultText(mjsText* text);
-void mjs_defaultTuple(mjsTuple* tuple);
-void mjs_defaultKey(mjsKey* key);
-void mjs_defaultPlugin(mjsPlugin* plugin);
-mjsBody* mjs_asBody(mjsElement* element);
-mjsGeom* mjs_asGeom(mjsElement* element);
-mjsJoint* mjs_asJoint(mjsElement* element);
-mjsSite* mjs_asSite(mjsElement* element);
-mjsCamera* mjs_asCamera(mjsElement* element);
-mjsLight* mjs_asLight(mjsElement* element);
-mjsFrame* mjs_asFrame(mjsElement* element);
-mjsActuator* mjs_asActuator(mjsElement* element);
-mjsSensor* mjs_asSensor(mjsElement* element);
-mjsFlex* mjs_asFlex(mjsElement* element);
-mjsPair* mjs_asPair(mjsElement* element);
-mjsEquality* mjs_asEquality(mjsElement* element);
-mjsExclude* mjs_asExclude(mjsElement* element);
-mjsTendon* mjs_asTendon(mjsElement* element);
-mjsNumeric* mjs_asNumeric(mjsElement* element);
-mjsText* mjs_asText(mjsElement* element);
-mjsTuple* mjs_asTuple(mjsElement* element);
-mjsKey* mjs_asKey(mjsElement* element);
-mjsMesh* mjs_asMesh(mjsElement* element);
-mjsHField* mjs_asHField(mjsElement* element);
-mjsSkin* mjs_asSkin(mjsElement* element);
-mjsTexture* mjs_asTexture(mjsElement* element);
-mjsMaterial* mjs_asMaterial(mjsElement* element);
-mjsPlugin* mjs_asPlugin(mjsElement* element);
-// NOLINTEND
diff --git a/doc/includes/roles.rst b/doc/includes/roles.rst
deleted file mode 100644
index 6f1cebf7..00000000
--- a/doc/includes/roles.rst
+++ /dev/null
@@ -1,30 +0,0 @@
-..
-   Role for XML elements in the MJCF spec.
-.. role:: el
-
-..
-   Role for the prefix of XML element names in the MJCF spec.
-.. role:: el-prefix
-
-..
-   Role for XML attribute names in the MJCF spec.
-.. role:: at
-
-..
-   Role for attribute value specs in MJCF spec.
-.. role:: at-val
-
-..
-   Role for pretty-printed inline C/C++ code.
-.. role:: cpp(code)
-   :language: C++
-
-..
-   Role for pretty-printed inline Python code.
-.. role:: python(code)
-   :language: Python
-
-..
-   Role for pretty-printed inline shell code.
-.. role:: shell(code)
-   :language: bash
diff --git a/doc/index.rst b/doc/index.rst
deleted file mode 100644
index 5c1be571..00000000
--- a/doc/index.rst
+++ /dev/null
@@ -1,26 +0,0 @@
-..
-   This file is not used as index.html, but only to define the toctree.
-   This is because toctree cannot contain a reference to the page where it's
-   defined (https://github.com/sphinx-doc/sphinx/issues/4602).
-   The `redirects` setting in conf.py makes this page redirect to overview.html.
-
-.. toctree::
-   :hidden:
-
-   overview
-   computation/index.rst
-   modeling
-   XMLreference
-   programming/index.rst
-   APIreference/index.rst
-   python
-   MuJoCo XLA <mjx>
-   MuJoCo Warp <mjwarp/index.rst>
-   unity
-   OpenUSD/index.rst
-   models
-   changelog
-
-
-.. sidebar-links::
-   :github:
diff --git a/doc/js/linenumbers.js b/doc/js/linenumbers.js
deleted file mode 100644
index aa107936..00000000
--- a/doc/js/linenumbers.js
+++ /dev/null
@@ -1,135 +0,0 @@
-// DO NOT EDIT. THE SRCS ARRAY IS AUTOMATICALLY GENERATED.
-const SRCS = [
-  'engine/engine_callback.c',
-  'engine/engine_collision_driver.c',
-  'engine/engine_collision_sdf.c',
-  'engine/engine_core_constraint.c',
-  'engine/engine_core_smooth.c',
-  'engine/engine_core_util.c',
-  'engine/engine_derivative.c',
-  'engine/engine_derivative_fd.c',
-  'engine/engine_forward.c',
-  'engine/engine_init.c',
-  'engine/engine_inverse.c',
-  'engine/engine_io.c',
-  'engine/engine_island.c',
-  'engine/engine_memory.c',
-  'engine/engine_name.c',
-  'engine/engine_passive.c',
-  'engine/engine_plugin.cc',
-  'engine/engine_print.c',
-  'engine/engine_ray.c',
-  'engine/engine_sensor.c',
-  'engine/engine_setconst.c',
-  'engine/engine_sleep.c',
-  'engine/engine_support.c',
-  'engine/engine_thread.cc',
-  'engine/engine_util_blas.c',
-  'engine/engine_util_errmem.c',
-  'engine/engine_util_misc.c',
-  'engine/engine_util_solve.c',
-  'engine/engine_util_sparse.c',
-  'engine/engine_util_spatial.c',
-  'engine/engine_vis_init.c',
-  'engine/engine_vis_interact.c',
-  'engine/engine_vis_visualize.c',
-  'experimental/filament/mjr_compat.cc',
-  'render/classic/render_context.c',
-  'render/classic/render_gl2.c',
-  'render/classic/render_gl3.c',
-  'render/classic/render_util.c',
-  'render/filament/mjrfilament.cc',
-  'render/noop/render_noop.c',
-  'ui/ui_main.c',
-  'user/user_api.cc',
-  'user/user_init.c',
-  'user/user_resource.cc',
-  'user/user_vfs.cc',
-  'xml/xml_api.cc',
-  'xml/xml_util.cc',
-];
-
-class LineNumbers {
-  constructor() {
-    this.map = new Map();
-  }
-
-  static fetch(src) {
-    const url = `https://raw.githubusercontent.com/google-deepmind/mujoco/refs/heads/main/src/${src}`;
-    const request = new XMLHttpRequest();
-    return new Promise((resolve, reject) => {
-      request.onreadystatechange = () => {
-        if (request.readyState === 4) {
-          if (request.status === 200) {
-            resolve(request.responseText);
-          } else {
-            reject(request.status);
-          }
-        }
-      };
-      request.open('GET', url, true);
-      request.send();
-    });
-  }
-
-  fetchAll() {
-    let requests = [];
-    for (const src of SRCS) {
-      requests.push(LineNumbers.fetch(src).then(contents => {
-        this.processSrc(src, contents);
-      }, reason => {/* swallow error */}));
-    }
-    Promise.all(requests).then(() => {
-      const anchors = document.querySelectorAll('h3 a.reference.external');
-      for (const anchor of anchors) {
-        const url = anchor.getAttribute('href');
-        if (url.startsWith('#')) {
-          const key = url.substring(1);
-          if (this.map.has(key)) {
-            anchor.href = this.map.get(key);
-          } else {
-            console.log(`No line number found for ${key}`);
-          }
-        }
-      }
-    });
-  }
-
-  processSrc(src, contents) {
-    const lines = contents.split('\n');
-    const re = /^(const )?[a-zA-Z0-9_*]+\s(.+)\(.+[{,]$/;
-    for (let i = 0; i < lines.length; i++) {
-      if (lines[i].match(re)) {
-        const key = lines[i].match(re)[2];
-        this.map.set(key, `https://github.com/google-deepmind/mujoco/blob/main/src/${src}#L${i+1}`);
-      }
-    }
-
-    // edge cases
-    if (src == 'user/user_api.cc') {
-      for (let i = 0; i < lines.length; i++) {
-        if (lines[i].startsWith('[[nodiscard]] int mj_recompile(')) {
-          const key = 'mj_recompile';
-          this.map.set(key, `https://github.com/google-deepmind/mujoco/blob/main/src/${src}#L${i+1}`);
-        }
-      }
-    } else if (src == 'engine/engine_io.c') {
-      for (let i = 0; i < lines.length; i++) {
-        if (lines[i].startsWith('void mj_freeStack(')) {
-          const key = 'mj_freeStack';
-          this.map.set(key, `https://github.com/google-deepmind/mujoco/blob/main/src/${src}#L${i+1}`);
-        } else if (lines[i].startsWith('void mj_markStack(')) {
-          const key = 'mj_markStack';
-          this.map.set(key, `https://github.com/google-deepmind/mujoco/blob/main/src/${src}#L${i+1}`);
-        }
-      }
-    }
-  }
-}
-
-window.onload = () => {
-  if (document.getElementById('fetchlines')) {
-    let lines = new LineNumbers();
-    lines.fetchAll();
-  }
-};
diff --git a/doc/make_mujoco_stubs.py b/doc/make_mujoco_stubs.py
deleted file mode 100644
index be9dab13..00000000
--- a/doc/make_mujoco_stubs.py
+++ /dev/null
@@ -1,178 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates a pip-installable doc-only mujoco stub package.
-
-This creates a lightweight pure-Python package that provides the mujoco
-public API surface (enums, constants) without C extensions, for use by
-Sphinx autodoc during documentation builds.
-
-Usage:
-  python doc/make_mujoco_stubs.py <output_dir>
-"""
-
-import glob
-import os
-import re
-import shutil
-import sys
-import textwrap
-from typing import Dict, Sequence
-
-
-def _read_version(repo_root: str) -> str:
-  """Reads the mujoco version from python/pyproject.toml."""
-  with open(os.path.join(repo_root, 'python', 'pyproject.toml')) as f:
-    for line in f:
-      m = re.fullmatch(r'version\s*=\s*"([^"]+)"', line.strip())
-      if m:
-        return m.group(1)
-  raise RuntimeError('Could not find version in python/pyproject.toml')
-
-
-def _parse_constants(repo_root: str) -> Dict[str, str]:
-  """Parses numeric #define constants from MuJoCo C headers."""
-  consts = {}
-  for path in glob.glob(os.path.join(repo_root, 'include', 'mujoco', '*.h')):
-    with open(path) as f:
-      for line in f:
-        # Match #define mjCONST 1.23 or 1.23f, capturing only the numeric part.
-        # Use (?:\s|$) to ensure we match the end of the token safely.
-        m = re.search(
-            r'^\s*#define\s+(mj[A-Z]\w*)\s+([\d.eE+\-]+)f?(?:\s|$)', line
-        )
-        if m:
-          consts[m.group(1)] = m.group(2)
-  return consts
-
-
-_PYPROJECT_TEMPLATE = textwrap.dedent("""\
-    [build-system]
-    requires = ["setuptools"]
-    build-backend = "setuptools.build_meta"
-
-    [project]
-    name = "mujoco"
-    version = "{version}"
-    requires-python = ">=3.10"
-    dependencies = []
-
-    [tool.setuptools]
-    include-package-data = false
-
-    [tool.setuptools.packages.find]
-    include = ["mujoco*"]
-""")
-
-_INIT_PY_TEMPLATE = textwrap.dedent("""\
-    \"\"\"Doc-only stub for MuJoCo. Provides enums and constants for autodoc.\"\"\"
-    import enum
-    import sys
-
-    __path__ = __import__('pkgutil').extend_path(__path__, __name__)
-
-    from mujoco.introspect.enums import ENUMS
-
-    _mod = sys.modules[__name__]
-    for _n, _d in ENUMS.items():
-        _cls = enum.IntEnum(_n, list(_d.values.items()))
-        setattr(_mod, _n, _cls)
-        for _vn, _vv in _d.values.items():
-            setattr(_mod, _vn, _vv)
-
-    {constants}
-
-    try:
-        from importlib.metadata import version as _v
-        __version__ = _v('mujoco')
-    except Exception:
-        __version__ = '0.0.0'
-
-    def mj_versionString():
-        return __version__
-
-    # Stub types for C extensions (MjModel, MjData, mj_* functions, etc.)
-    # needed by MJX and mujoco_warp imports during Sphinx autodoc.
-    # Each accessed name gets a dynamically created class so that Sphinx
-    # renders the real type name instead of "Mock".
-    _mock_cache = {{}}
-
-    def _make_mock_meta(mock_name):
-        class _MockMeta(type):
-            def __getattr__(cls, name):
-                return _make_mock(f'{{mock_name}}.{{name}}')
-            def __instancecheck__(cls, instance):
-                return True
-            def __repr__(cls):
-                return mock_name
-        return _MockMeta
-
-    def _make_mock(qualname):
-        if qualname in _mock_cache:
-            return _mock_cache[qualname]
-        basename = qualname.rsplit('.', 1)[-1]
-        meta = _make_mock_meta(qualname)
-        cls = meta(basename, (), {{
-            '__init__': lambda self, *a, **kw: None,
-            '__call__': lambda self, *a, **kw: _make_mock(qualname)(),
-            '__getattr__': lambda self, name: _make_mock(f'{{qualname}}.{{name}}'),
-            '__class_getitem__': classmethod(lambda cls, item: cls),
-            '__iter__': lambda self: iter([]),
-            '__bool__': lambda self: False,
-            '__repr__': lambda self: qualname,
-            '__module__': 'mujoco',
-            '__qualname__': basename,
-        }})
-        _mock_cache[qualname] = cls
-        return cls
-
-    def __getattr__(name):
-        return _make_mock(name)
-""")
-
-
-def main(argv: Sequence[str]) -> None:
-  """Generates the doc-only mujoco stub package."""
-  if len(argv) != 2:
-    print(f'Usage: {argv[0]} <output_dir>', file=sys.stderr)
-    sys.exit(1)
-
-  output_dir = argv[1]
-  repo_root = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-  version = _read_version(repo_root)
-  consts = _parse_constants(repo_root)
-
-  mujoco_dir = os.path.join(output_dir, 'mujoco')
-  os.makedirs(mujoco_dir, exist_ok=True)
-
-  # Write pyproject.toml.
-  with open(os.path.join(output_dir, 'pyproject.toml'), 'w') as f:
-    f.write(_PYPROJECT_TEMPLATE.format(version=version))
-
-  # Write mujoco/__init__.py with constants inlined.
-  constants_str = '\n'.join(f'{k} = {v}' for k, v in sorted(consts.items()))
-  with open(os.path.join(mujoco_dir, '__init__.py'), 'w') as f:
-    f.write(_INIT_PY_TEMPLATE.format(constants=constants_str))
-
-  # Copy introspect/ into the package.
-  introspect_src = os.path.join(repo_root, 'python', 'mujoco', 'introspect')
-  introspect_dst = os.path.join(mujoco_dir, 'introspect')
-  shutil.rmtree(introspect_dst, ignore_errors=True)
-  shutil.copytree(introspect_src, introspect_dst)
-
-  print(f'Generated doc-only mujoco {version} package at {output_dir}')
-
-
-if __name__ == '__main__':
-  main(sys.argv)
diff --git a/doc/mjwarp/api.rst b/doc/mjwarp/api.rst
deleted file mode 100644
index 37dec84f..00000000
--- a/doc/mjwarp/api.rst
+++ /dev/null
@@ -1,24 +0,0 @@
-MuJoCo Warp API
-===============
-
-.. automodule:: mujoco_warp
-  :members:
-  :imported-members:
-  :special-members: False
-  :private-members: False
-  :exclude-members:
-      __init__,
-      __format__,
-      __new__,
-      __eq__,
-      __hash__,
-      __repr__,
-      __weakref__,
-      __or__,
-      __and__,
-      __xor__,
-      __ror__,
-      __rand__,
-      __rxor__,
-      __invert__,
-
diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst
deleted file mode 100644
index 3a598a6b..00000000
--- a/doc/mjwarp/index.rst
+++ /dev/null
@@ -1,1356 +0,0 @@
-.. _MJW:
-
-====================
-MuJoCo Warp (MJWarp)
-====================
-
-.. toctree::
-    :hidden:
-
-    API <api.rst>
-
-MuJoCo Warp (MJWarp) is an implementation of MuJoCo written in `Warp <https://nvidia.github.io/warp/>`__ and optimized
-for `NVIDIA <https://nvidia.com>`__ hardware and parallel simulation. MJWarp lives in the
-`google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository.
-
-MJWarp is developed and maintained as a joint effort by `NVIDIA <https://nvidia.com>`__ and
-`Google DeepMind <https://deepmind.google/>`__.
-
-.. _MJW_tutorial:
-
-Tutorial notebook
-=================
-
-The MJWarp basics are covered in a tutorial |notebook| |open in colab|.
-
-.. |notebook| replace:: `[notebook] <https://github.com/google-deepmind/mujoco_warp/blob/main/notebooks/tutorial.ipynb>`__
-
-.. |open in colab| replace:: `[open in colab] <https://colab.research.google.com/github/google-deepmind/mujoco_warp/blob/main/notebooks/tutorial.ipynb>`__
-
-
-When To Use MJWarp?
-===================
-
-High throughput
----------------
-
-The MuJoCo ecosystem offers multiple options for batched simulation.
-
-- :ref:`mujoco.rollout <PyRollout>`: Python API for multi-threaded calls to :ref:`mj_step` on CPU. High throughput
-  can be achieved with hardware that has fast cores and large thread counts, but overall performance of applications
-  requiring frequent host<>device transfers (e.g., reinforcement learning with simulation on CPU and learning on GPU)
-  may be bottlenecked by transfer overhead.
-- **mjx.step**: `jax.vmap` and `jax.pmap` enable multi-threaded and multi-device simulation with JAX on CPUs, GPUs, or
-  TPUs.
-- :func:`mujoco_warp.step <mujoco_warp.step>`: Python API for multi-threaded and multi-device simulation with CUDA via
-  Warp on NVIDIA GPUs. Improved scaling for contact-rich scenes compared to the MJX JAX implementation.
-
-.. TODO(robotics-simulation): add link to mjx.step
-.. TODO(robotics-simulation): add step/time comparison plot
-
-Low latency
------------
-
-MJWarp is optimized for throughput: the total number of simulation steps per unit time whereas MuJoCo is optimized for
-latency: time for one simulation step. It is expected that a simulation step with MJWarp will be less performant
-than a step with MuJoCo for the same simulation.
-
-As a result, MJWarp is well suited for applications where large numbers of
-samples are required, like reinforcement learning, while MuJoCo is likely more useful for real-time applications like
-online control (e.g., model predictive control) or interactive graphical interfaces (e.g., simulation-based
-teleoperation).
-
-Complex scenes
---------------
-
-MJWarp scales better than MJX for scenes with many geoms or degrees of freedom, but not as well as MuJoCo. There may be
-significant performance degradation in MJWarp for scenes beyond 60 degrees of freedom (DoFs). Supporting these larger scenes
-is a high priority and progress is tracked in GitHub issues for: sparse Jacobians
-`#88 <https://github.com/google-deepmind/mujoco_warp/issues/88>`__, block Cholesky factorization and solve
-`#320 <https://github.com/google-deepmind/mujoco_warp/issues/320>`__, constraint islands
-`#886 <https://github.com/google-deepmind/mujoco_warp/issues/886>`__, and sleeping islands
-`#887 <https://github.com/google-deepmind/mujoco_warp/issues/887>`__.
-
-.. TODO(robotic-simulation): add graph for ngeom and nv scaling
-
-Differentiability
------------------
-
-The dynamics API in MJX is automatically differentiable via JAX. We are considering whether to support this in MJWarp
-via Warp - if this feature is important to you, please chime in on this issue
-`here <https://github.com/google-deepmind/mujoco_warp/issues/500>`__.
-
-.. TODO(robotics-simulation): Newton multi-physics
-
-.. _MJW_install:
-
-Installation
-============
-
-**From PyPI:**
-
-.. code-block:: shell
-
-    pip install mujoco-warp
-
-**From source:**
-
-.. code-block:: shell
-
-    git clone https://github.com/google-deepmind/mujoco_warp.git
-    cd mujoco_warp
-    uv sync --all-extras
-
-To make sure everything is working:
-
-.. code-block:: shell
-
-    uv run pytest -n 8
-
-.. _MJW_Usage:
-
-Basic Usage
-===========
-
-Once installed, the package can be imported via ``import mujoco_warp as mjw``. Structs, functions, and enums are
-available directly from the top-level :mod:`mjw <mujoco_warp>` module.
-
-Structs
--------
-Before running MJWarp functions on an NVIDIA GPU, structs must be copied onto the device via
-:func:`mjw.put_model <mujoco_warp.put_model>` and :func:`mjw.make_data <mujoco_warp.make_data>` or
-:func:`mjw.put_data <mujoco_warp.put_data>` functions. Placing an :ref:`mjModel` on device yields an
-:class:`mjw.Model <mujoco_warp.Model>`. Placing an :ref:`mjData` on device yields an
-:class:`mjw.Data <mujoco_warp.Data>`.
-
-.. code-block:: python
-
-  mjm = mujoco.MjModel.from_xml_string("...")
-  mjd = mujoco.MjData(mjm)
-  m = mjw.put_model(mjm)
-  d = mjw.put_data(mjm, mjd)
-
-These MJWarp variants mirror their MuJoCo counterparts but have a few key differences:
-
-#. :class:`mjw.Model <mujoco_warp.Model>` and :class:`mjw.Data <mujoco_warp.Data>` contain Warp arrays that are copied
-   onto device.
-#. Some fields are missing from :class:`mjw.Model <mujoco_warp.Model>` and :class:`mjw.Data <mujoco_warp.Data>` for
-   features that are unsupported.
-
-Batch sizes
------------
-
-MJWarp is optimized for parallel simulation. A batch of simulations can be specified with three parameters:
-
-- :attr:`nworld <mujoco_warp.Data.nworld>`: Number of worlds to simulate.
-- _`nconmax`: Expected number of contacts per world. The maximum number of contacts for all worlds is
-  ``nconmax * nworld``.
-- _`naconmax`: Alternative to `nconmax`_, maximum number of contacts over all worlds. If `nconmax`_ and `naconmax`_ are
-  both set then `nconmax`_ is ignored.
-- _`njmax`: Maximum number of constraints per world.
-
-.. admonition:: Semantic difference for `nconmax`_ and `njmax`_.
-  :class: note
-
-  It is possible for the number of contacts per world to exceed `nconmax`_ if the total number of contacts for all
-  worlds does not exceed ``nworld x nconmax``. However, the number of constraints per world is strictly limited by
-  `njmax`_.
-
-.. admonition:: XML parsing
-  :class: note
-
-  Values for `nconmax`_ and `njmax`_ are not parsed from :ref:`size/nconmax <size-nconmax>` and
-  :ref:`size/njmax <size-njmax>` (these parameters are deprecated). Values for these parameters must be provided to
-  :func:`mjw.make_data <mujoco_warp.make_data>` or :func:`mjw.put_data <mujoco_warp.put_data>`.
-
-Functions
----------
-
-MuJoCo functions are exposed as MJWarp functions of the same name, but following
-`PEP 8 <https://peps.python.org/pep-0008/>`__-compliant names. Most of the :ref:`main simulation <Mainsimulation>` and
-some of the :ref:`sub-components <Subcomponents>` for forward simulation are available from the top-level
-:mod:`mjw <mujoco_warp>` module.
-
-Minimal example
----------------
-
-.. code-block:: python
-
-   # Throw a ball at 100 different velocities.
-
-   import mujoco
-   import mujoco_warp as mjw
-   import warp as wp
-
-   _MJCF=r"""
-   <mujoco>
-     <worldbody>
-       <body>
-         <freejoint/>
-         <geom size=".15" mass="1" type="sphere"/>
-       </body>
-     </worldbody>
-   </mujoco>
-   """
-
-   mjm = mujoco.MjModel.from_xml_string(_MJCF)
-   m = mjw.put_model(mjm)
-   d = mjw.make_data(mjm, nworld=100)
-
-   # initialize velocities
-   wp.copy(d.qvel, wp.array([[float(i) / 100, 0, 0, 0, 0, 0] for i in range(100)], dtype=float))
-
-   # simulate physics
-   mjw.step(m, d)
-
-   print(f'qpos:\n{d.qpos.numpy()}')
-
-.. _mjwCLI:
-
-Command line scripts
---------------------
-
-Benchmark an environment with _`testspeed`
-
-.. code-block:: shell
-
-    mjwarp-testspeed benchmark/humanoid/humanoid.xml
-
-.. _mjwViewer:
-
-Interactive environment simulation with MJWarp
-
-.. code-block:: shell
-
-    mjwarp-viewer benchmark/humanoid/humanoid.xml
-
-Feature Parity
-==============
-
-MJWarp supports most of the main simulation features of MuJoCo, with a few exceptions. MJWarp will raise an exception if
-asked to copy to device an :ref:`mjModel` with field values referencing unsupported features. For the most up-to-date
-feature availability, please see
-`MuJoCo API Compatibility <https://github.com/google-deepmind/mujoco_warp#mujoco-api-compatibility>`__.
-
-.. _mjwPerf:
-
-Performance Tuning
-==================
-
-The following are considerations for optimizing the performance of MJWarp.
-
-.. _mjwGC:
-
-Graph capture
--------------
-
-MJWarp functions, for example :func:`mjw.step <mujoco_warp.step>`, often comprise a collection of kernel launches. Warp
-will launch these kernels individually if the function is called directly. To improve performance, especially if the
-function will be called multiple times, it is recommended to capture the operations that comprise the function as a CUDA
-graph
-
-.. code-block:: python
-
-  with wp.ScopedCapture() as capture:
-    mjw.step(m, d)
-
-The graph can then be launched or re-launched
-
-.. code-block:: python
-
-  wp.capture_launch(capture.graph)
-
-and will typically be significantly faster compared to calling the function directly. Please see the
-`Warp Graph API reference <https://nvidia.github.io/warp/modules/runtime.html#graph-api-reference>`__ for details.
-
-Batch sizes
------------
-
-The maximum numbers of contacts and constraints, `nconmax`_ / `naconmax`_ and `njmax`_ respectively, are specified when
-creating :class:`mjw.Data <mujoco_warp.Data>` with :func:`mjw.make_data <mujoco_warp.make_data>` or
-:func:`mjw.put_data <mujoco_warp.put_data>`. Memory and computation scales with the values of these parameters. For best
-performance, the values of these parameters should be set as small as possible while ensuring the simulation does not
-exceed these limits.
-
-It is expected that good values for these limits will be environment specific. In practice, selecting good values
-typically involves trial-and-error. :func:`mjwarp-testspeed <mujoco_warp.testspeed>` with the flag `--measure_alloc` for
-printing the number of contacts and constraints at each simulation step and interacting with the simulation via
-:func:`mjwarp-viewer <mujoco_warp.viewer>` and checking for overflow errors can both be useful techniques for
-iteratively testing values for these parameters.
-
-Solver iterations
------------------
-
-MuJoCo's default solver settings for the maximum numbers of :ref:`solver iterations<option-iterations>` and
-:ref:`linesearch iterations<option-ls_iterations>` are expected to provide reasonable performance. Reducing MJWarp's
-settings :attr:`Option.iterations <mujoco_warp.Option.iterations>` and/or
-:attr:`Option.ls_iterations <mujoco_warp.Option.ls_iterations>` limits may improve performance and should be secondary
-considerations after tuning `nconmax`_ / `naconmax`_ and `njmax`_.
-
-Reducing these limits too much may prevent the constraint solver from converging and can lead to inaccurate or unstable
-simulation.
-
-.. admonition:: Impact on Performance: MJX (JAX) and MJWarp
-  :class: note
-
-  In :ref:`MJX<mjx>` these solver parameters are key for controlling simulation performance. With MJWarp, in contrast,
-  once all worlds have converged the solver can early exit and avoid unnecessary computation. As a result, the values
-  of these settings have comparatively less impact on performance.
-
-Contact sensor matching
------------------------
-
-Scenes that include :ref:`contact sensors<sensor-contact>` have a parameter that specifies the maximum number of matched
-contacts per sensor :attr:`Option.contact_sensor_max_match <mujoco_warp.Option.contact_sensor_max_match>`. For best
-performance, the value of this parameter should be as small as possible while ensuring the simulation does not exceed
-the limit. Matched contacts that exceed this limit will be ignored.
-
-The value of this parameter can be set directly, for example ``model.opt.contact_sensor_maxmatch = 16``, or via an XML
-custom numeric field
-
-.. code-block:: xml
-
-   <custom>
-     <numeric name="contact_sensor_maxmatch" data="16"/>
-   </custom>
-
-Similar to the maximum numbers of contacts and constraints, a good value for this setting is expected to be environment
-specific. :func:`mjwarp-testspeed <mujoco_warp.testspeed>` and :func:`mjwarp-viewer <mujoco_warp.viewer>` may be useful
-for tuning the value of this parameter.
-
-
-Memory
-------
-
-Simulation throughput is often limited by memory requirements for large numbers of worlds. Considerations for optimizing
-memory utilization include:
-
-- CCD colliders require more memory than primitive colliders, see MuJoCo's :ref:`pair-wise colliders table <coPairwise>`
-  for information about colliders.
-- :ref:`multiccd <option-flag-multiccd>` requires more memory than CCD.
-- CCD memory requirements scale linearly with :ref:`Option.ccd_iterations <option-ccd_iterations>`.
-- A scene with at least one mesh geom and using :ref:`multiccd <option-flag-multiccd>` will have memory requirements
-  that scale linearly with the maximum number of vertices per face and with the maximum number of edges per vertex,
-  computed over all meshes.
-
-`testspeed`_ provides the flag ``--memory`` for reporting a simulation's total memory utilization and information about
-:class:`mjw.Model <mujoco_warp.Model>` and :class:`mjw.Data <mujoco_warp.Data>` fields that require significant memory.
-Memory allocated inline, including for CCD and the constraint solver, can also be significant and is reported as
-``Other memory``.
-
-.. admonition:: Maximum number of contacts per collider
-  :class: note
-
-  Some MJWarp colliders have a different maximum number of contacts compared to MuJoCo:
-
-  - ``PLANE<>MESH``: 4 versus 3
-  - ``HFieldCCD``: 4 versus ``mjMAXCONPAIR``
-
-.. admonition:: Sparsity
-  :class: note
-
-  Sparse Jacobians can enable significant memory savings. Updates for this feature are tracked in GitHub issue
-  `#88 <https://github.com/google-deepmind/mujoco_warp/issues/88>`__.
-
-The :func:`mjw.make_data <mujoco_warp.make_data>` or :func:`mjw.put_data <mujoco_warp.put_data>` argument
-``nccdmax`` / ``naccdmax`` can be set to a value less than `nconmax`_ / `naconmax`_ in order to reduce the memory
-requirements for CCD. The value for this parameter should be the maximum number of contacts generated by a CCD
-collider, per world or for all worlds, respectively. For example, a batched simulation with 10 worlds that generates 80
-total contacts with per-collider contacts: mesh-mesh: 30 (CCD), ellipsoid-ellipsoid: 10 (CCD), and sphere-sphere: 40
-(primitive) should set `nconmax`_ / `naconmax`_ to at least 8 / 80 (may require more for broadphase) and
-``nccdmax`` / ``naccdmax`` to 3 / 30.
-
-Large scenes
-------------
-
-Simulating scenes with many DoFs (i.e., `nv`) can be computationally
-expensive. However, in many scenarios, a significant portion of the scene may
-be stationary. MJWarp can put stationary objects to *sleep* (see
-:ref:`Sleeping`), excluding them from the working set of many of its
-calculations. Furthermore, MJWarp groups bodies into independent
-:ref:`islands <soIsland>`; if all bodies in an island are stationary, the
-entire island is put to sleep. Currently, both the collision pipeline and the
-constraint solver benefit from sleeping, and more sleeping-aware components
-may be added in the future.
-
-Compact solver
-~~~~~~~~~~~~~~
-
-To optimize performance in scenes with many total DoFs but a relatively
-small number of active DoFs (typically fewer than 64, such as two robot
-arms with grippers (16 DoFs) and 8 active objects (48 DoFs)), MJWarp
-provides a **compact solver** that leverages this sleeping mechanism:
-
-1. Identifies the set of active DOFs for each world, determined from the active islands.
-2. **Compacts** these active DOFs into a single, contiguous dense workspace of a known maximum size (``nvmax``).
-3. Executes the constraint solver (Newton) using GPU-optimized tile operations (such as blocked Cholesky
-   factorization) of fixed size on this compacted space.
-4. Scatters the results back to the global state, freezing the inactive DOFs.
-
-By using a fixed-size compacted workspace, the solver avoids GPU thread divergence and leverages
-high-performance tensor/matrix operations optimized for fixed tile sizes.
-
-.. rubric:: Enabling the compact solver
-
-1. Enable the Newton solver:
-
-   - Via XML:
-
-     .. code-block:: xml
-
-        <option solver="Newton"/>
-
-   - Via Python ``MjSpec``:
-
-     .. code-block:: python
-
-        spec = mujoco.MjSpec()
-        spec.option.solver = mujoco.mjtSolver.mjSOL_NEWTON
-
-2. Enable sleep:
-
-   - Via XML:
-
-     .. code-block:: xml
-
-        <option>
-          <flag sleep="enable"/>
-        </option>
-
-   - Via Python ``MjSpec``:
-
-     .. code-block:: python
-
-        spec = mujoco.MjSpec()
-        spec.option.enableflags |= mujoco.mjtEnableBit.mjENBL_SLEEP
-
-3. Specify the maximum expected active DOFs for any world (``nvmax``) when allocating data. This sizes the
-   compacted workspace.
-
-   - In Python:
-
-     .. code-block:: python
-
-        # Allocate data with a maximum of 64 active DOFs per world
-        d = mjw.make_data(mjm, nworld=2048, nvmax=64)
-
-   - Via the command line:
-
-     .. code-block:: shell
-
-        mjwarp-testspeed scene.xml --nvmax=64
-
-   If ``nvmax`` is not specified, it defaults to the full number of DOFs (``nv``). Sizing ``nvmax``
-   to a tight upper bound of the expected active DOFs significantly reduces GPU memory usage and improves
-   throughput.
-
-.. TODO(taylorhowell): update example with correct island cycles initialization
-
-4. When setting ``nvmax < nv`` it is recommended to initialize all trees to asleep in order to avoid initial dof
-   overflow.
-
-   .. code-block:: python
-
-      d.tree_asleep.assign(np.array(np.arange(mjm.ntree, dtype=np.int32)), dtype=np.int32)
-
-.. note::
-   Consider increasing the sleep tolerance setting (e.g., ``sleep_tolerance="0.01"`` in XML options or
-   ``spec.option.sleep_tolerance = 0.01`` in Python) from its default value (0.001) to more quickly
-   sleep objects.
-
-.. _mjwBatch:
-
-Batched :class:`Model <mujoco_warp.Model>` Fields
-=================================================
-
-To enable batched simulation with different model parameter values, many :class:`mjw.Model <mujoco_warp.Model>` fields
-have a leading batch dimension. By default, the leading dimension is 1 (i.e., ``field.shape[0] == 1``) and the same
-value(s) will be applied to all worlds. It is possible to override one of these fields with a ``wp.array`` that has a
-leading dimension greater than one. This field will be indexed with a modulo operation of the world id and batch
-dimension: ``field[worldid % field.shape[0]]``.
-
-.. admonition:: Graph capture
-  :class: warning
-
-  The field array should be overridden prior to
-  :ref:`graph capture <mjwGC>` (i.e., ``wp.ScopedCapture``)
-  since the update will not be applied to an existing graph.
-
-.. code-block:: python
-
-   # override shape and values
-   m.dof_damping = wp.array([[0.1], [0.2]], dtype=float)
-
-   with wp.ScopedCapture() as capture:
-     mjw.step(m, d)
-
-It is possible to override the field shape and set the field values after graph capture
-
-.. code-block:: python
-
-   # override shape
-   m.dof_damping = wp.empty((2, 1), dtype=float)
-
-   with wp.ScopedCapture() as capture:
-     mjw.step(m, d)
-
-   # set batched values
-   dof_damping = wp.array([[0.1], [0.2]], dtype=float)
-   wp.copy(m.dof_damping, dof_damping)  # m.dof = dof_damping will not update the captured graph
-
-Modifying fields
-----------------
-
-The recommended workflow for modifying an :ref:`mjModel` field is to first modify the corresponding :ref:`mjSpec` and
-then compile to create a new :ref:`mjModel` with the updated field. However, compilation currently requires a host call:
-1 call per new field instance, i.e., ``nworld`` host calls for ``nworld`` instances.
-
-Certain fields are safe to modify directly without compilation, enabling on-device updates. Please see
-:ref:`mjModel changes<sichange>` for details about specific fields. Additionally,
-`GitHub issue 893 <https://github.com/google-deepmind/mujoco_warp/issues/893>`__ tracks adding on-device updates for a
-subset of fields.
-
-Per-world assets
-----------------
-
-Per-world assets enable heterogeneous worlds where different worlds simulate different
-`assets <https://mujoco.readthedocs.io/en/latest/XMLreference.html#asset>`__ including meshes, height fields, materials,
-and textures. The general workflow is:
-
-1. Create an :ref:`mjSpec` with **all** assets.
-2. Compile each variant by mutating the spec and calling ``spec.compile()``.
-3. Compile a **base** model and create :class:`mjw.Model <mujoco_warp.Model>` from it.
-4. Override the relevant :class:`mjw.Model <mujoco_warp.Model>` fields with per-world arrays built from the compiled
-   variants.
-
-.. rubric:: Per-world meshes
-
-**Example 1 — Per-world meshes: Geom-level** randomization (1 body, 1 geom, 2 mesh assets):
-
-The base scene includes all mesh assets. The geom references one mesh (``mesh_a``); a second mesh
-(``mesh_b``) is available for per-world substitution.
-
-.. code-block:: xml
-
-  <mujoco>
-    <asset>
-      <mesh name="mesh_a" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
-      <mesh name="mesh_b" vertex="0 0 0 2 0 0 0 2 0 0 0 2"/>
-    </asset>
-    <worldbody>
-      <body pos="0 0 1">
-        <freejoint/>
-        <geom name="obj" type="mesh" mesh="mesh_a"/>
-      </body>
-    </worldbody>
-  </mujoco>
-
-.. code-block:: python
-
-  nworld = 4
-
-  # base spec: 1 body with 1 mesh geom, all mesh assets
-  spec = mujoco.MjSpec()
-  mesh_a = spec.add_mesh()
-  mesh_a.name = "mesh_a"
-  mesh_a.uservert = [0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1]
-
-  mesh_b = spec.add_mesh()
-  mesh_b.name = "mesh_b"
-  mesh_b.uservert = [0, 0, 0, 2, 0, 0, 0, 2, 0, 0, 0, 2]
-
-  body = spec.worldbody.add_body()
-  body.pos = [0, 0, 1]
-  body.add_freejoint()
-  geom = body.add_geom()
-  geom.name = "obj"
-  geom.type = mujoco.mjtGeom.mjGEOM_MESH
-  geom.meshname = "mesh_a"
-
-  # compile each variant
-  geom.meshname = "mesh_a"
-  mjm_a = spec.compile()
-  geom.meshname = "mesh_b"
-  mjm_b = spec.compile()
-
-  # restore and compile base
-  geom.meshname = "mesh_a"
-  mjm = spec.compile()
-
-  m = mjw.put_model(mjm)
-  d = mjw.make_data(mjm, nworld=nworld)
-
-  # build per-world arrays: worlds 0-1 use mesh_a, worlds 2-3 use mesh_b
-  geom_id = mujoco.mj_name2id(mjm, mujoco.mjtObj.mjOBJ_GEOM, "obj")
-  variants = [mjm_a, mjm_b]
-  assignment = [0, 0, 1, 1]  # variant index per world
-
-  # build per-world arrays
-  dataid = np.tile(mjm.geom_dataid, (nworld, 1))
-  geom_size = np.zeros((nworld, mjm.ngeom, 3))
-  geom_aabb = np.zeros((nworld, mjm.ngeom, 2, 3))
-  geom_rbound = np.zeros((nworld, mjm.ngeom))
-  geom_pos = np.zeros((nworld, mjm.ngeom, 3))
-  body_mass = np.zeros((nworld, mjm.nbody))
-  body_subtreemass = np.zeros((nworld, mjm.nbody))
-  body_inertia = np.zeros((nworld, mjm.nbody, 3))
-  body_invweight0 = np.zeros((nworld, mjm.nbody, 2))
-  body_ipos = np.zeros((nworld, mjm.nbody, 3))
-  body_iquat = np.zeros((nworld, mjm.nbody, 4))
-
-  for w in range(nworld):
-    ref = variants[assignment[w]]
-    dataid[w, geom_id] = ref.geom_dataid[geom_id]
-    geom_size[w] = ref.geom_size
-    geom_aabb[w] = ref.geom_aabb.reshape(mjm.ngeom, 2, 3)
-    geom_rbound[w] = ref.geom_rbound
-    geom_pos[w] = ref.geom_pos
-    body_mass[w] = ref.body_mass
-    body_subtreemass[w] = ref.body_subtreemass
-    body_inertia[w] = ref.body_inertia
-    body_invweight0[w] = ref.body_invweight0
-    body_ipos[w] = ref.body_ipos
-    body_iquat[w] = ref.body_iquat
-
-  m.geom_dataid = wp.array(dataid, dtype=int)
-  m.geom_size = wp.array(geom_size, dtype=wp.vec3)
-  m.geom_aabb = wp.array(geom_aabb, dtype=wp.vec3)
-  m.geom_rbound = wp.array(geom_rbound, dtype=float)
-  m.geom_pos = wp.array(geom_pos, dtype=wp.vec3)
-  m.body_mass = wp.array(body_mass, dtype=float)
-  m.body_subtreemass = wp.array(body_subtreemass, dtype=float)
-  m.body_inertia = wp.array(body_inertia, dtype=wp.vec3)
-  m.body_invweight0 = wp.array(body_invweight0, dtype=wp.vec2)
-  m.body_ipos = wp.array(body_ipos, dtype=wp.vec3)
-  m.body_iquat = wp.array(body_iquat, dtype=wp.quat)
-
-**Example 2 — Per-world meshes: Body-level** randomization (1 body, 1 or 2 geoms, 3 mesh assets):
-
-.. admonition:: Maximum geom count
-   :class: important
-
-   For body-level randomization, the base ``mjModel`` provided to ``mjw.put_model`` should specify the **maximum number
-   of geoms** required across all variants. Geom slots that are unused in a particular variant can be disabled
-   (e.g., ``contype=0``, ``conaffinity=0``, ``dataid=-1``), but they should still be present as part of the body in the
-   base model.
-
-.. code-block:: xml
-
-  <mujoco>
-    <asset>
-      <mesh name="mA" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
-      <mesh name="mB" vertex="0 0 0 2 0 0 0 2 0 0 0 2"/>
-      <mesh name="mC" vertex="0 0 0 3 0 0 0 3 0 0 0 3"/>
-    </asset>
-    <worldbody>
-      <body name="obj" pos="0 0 1">
-        <freejoint/>
-        <geom name="obj_0" type="mesh" mesh="mA"/>
-        <geom name="obj_1" size=".001" contype="0" conaffinity="0" mass="0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-
-.. code-block:: python
-
-  nworld = 6
-
-  # base spec: body with 2 geom slots (max across variants), all mesh assets
-  spec = mujoco.MjSpec()
-  for name, scale in [("mA", 1), ("mB", 2), ("mC", 3)]:
-    mesh = spec.add_mesh()
-    mesh.name = name
-    mesh.uservert = [0, 0, 0, scale, 0, 0, 0, scale, 0, 0, 0, scale]
-
-  body = spec.worldbody.add_body()
-  body.name = "obj"
-  body.pos = [0, 0, 1]
-  body.add_freejoint()
-
-  g0 = body.add_geom()
-  g0.name = "obj_0"
-  g0.type = mujoco.mjtGeom.mjGEOM_MESH
-  g0.meshname = "mA"
-
-  # null geom slot: disabled collision, no mesh
-  g1 = body.add_geom()
-  g1.name = "obj_1"
-  g1.size = [0.001, 0, 0]
-  g1.contype = 0
-  g1.conaffinity = 0
-  g1.mass = 0
-
-  # variant A: 1 geom (mesh mA), g1 stays null
-  mjm_a = spec.compile()
-
-  # variant B: 2 geoms (mesh mB + mC)
-  g0.meshname = "mB"
-  g1.type = mujoco.mjtGeom.mjGEOM_MESH
-  g1.meshname = "mC"
-  g1.contype = 1
-  g1.conaffinity = 1
-  mjm_b = spec.compile()
-
-  # restore base and compile
-  g0.meshname = "mA"
-  g1.type = mujoco.mjtGeom.mjGEOM_SPHERE
-  g1.contype = 0
-  g1.conaffinity = 0
-  mjm = spec.compile()
-
-  m = mjw.put_model(mjm)
-  d = mjw.make_data(mjm, nworld=nworld)
-
-  # worlds 0-2: variant A (1 active geom), worlds 3-5: variant B (2 active geoms)
-  variants = [mjm_a, mjm_b]
-  assignment = [0, 0, 0, 1, 1, 1]
-
-  geom0_id = mujoco.mj_name2id(mjm, mujoco.mjtObj.mjOBJ_GEOM, "obj_0")
-  geom1_id = mujoco.mj_name2id(mjm, mujoco.mjtObj.mjOBJ_GEOM, "obj_1")
-  body_id = mjm.geom_bodyid[geom0_id]
-
-  # build per-world arrays
-  dataid = np.tile(mjm.geom_dataid, (nworld, 1))
-  geom_size = np.zeros((nworld, mjm.ngeom, 3))
-  geom_rbound = np.zeros((nworld, mjm.ngeom))
-  geom_aabb = np.zeros((nworld, mjm.ngeom, 2, 3))
-  geom_pos = np.zeros((nworld, mjm.ngeom, 3))
-  body_mass = np.zeros((nworld, mjm.nbody))
-  body_subtreemass = np.zeros((nworld, mjm.nbody))
-  body_inertia = np.zeros((nworld, mjm.nbody, 3))
-  body_invweight0 = np.zeros((nworld, mjm.nbody, 2))
-  body_ipos = np.zeros((nworld, mjm.nbody, 3))
-  body_iquat = np.zeros((nworld, mjm.nbody, 4))
-
-  for w in range(nworld):
-    ref = variants[assignment[w]]
-    dataid[w] = ref.geom_dataid
-    # disable unused geom slot for variant A
-    if assignment[w] == 0:
-      dataid[w, geom1_id] = -1
-    geom_size[w] = ref.geom_size
-    geom_rbound[w] = ref.geom_rbound
-    geom_aabb[w] = ref.geom_aabb.reshape(mjm.ngeom, 2, 3)
-    geom_pos[w] = ref.geom_pos
-    body_mass[w] = ref.body_mass
-    body_subtreemass[w] = ref.body_subtreemass
-    body_inertia[w] = ref.body_inertia
-    body_invweight0[w] = ref.body_invweight0
-    body_ipos[w] = ref.body_ipos
-    body_iquat[w] = ref.body_iquat
-
-  m.geom_dataid = wp.array(dataid, dtype=int)
-  m.geom_size = wp.array(geom_size, dtype=wp.vec3)
-  m.geom_rbound = wp.array(geom_rbound, dtype=float)
-  m.geom_aabb = wp.array(geom_aabb, dtype=wp.vec3)
-  m.geom_pos = wp.array(geom_pos, dtype=wp.vec3)
-  m.body_mass = wp.array(body_mass, dtype=float)
-  m.body_subtreemass = wp.array(body_subtreemass, dtype=float)
-  m.body_inertia = wp.array(body_inertia, dtype=wp.vec3)
-  m.body_invweight0 = wp.array(body_invweight0, dtype=wp.vec2)
-  m.body_ipos = wp.array(body_ipos, dtype=wp.vec3)
-  m.body_iquat = wp.array(body_iquat, dtype=wp.quat)
-
-**Batched fields** — fields that must be overridden for per-world meshes:
-
-.. list-table::
-   :width: 90%
-   :align: left
-   :widths: 3 2 3
-   :header-rows: 1
-
-   * - Field
-     - dtype
-     - Shape
-   * - ``geom_dataid``
-     - ``int``
-     - ``(nworld, ngeom)``
-   * - ``geom_size``
-     - ``wp.vec3``
-     - ``(nworld, ngeom)``
-   * - ``geom_aabb``
-     - ``wp.vec3``
-     - ``(nworld, ngeom, 2)``
-   * - ``geom_rbound``
-     - ``float``
-     - ``(nworld, ngeom)``
-   * - ``geom_pos``
-     - ``wp.vec3``
-     - ``(nworld, ngeom)``
-   * - ``body_mass``
-     - ``float``
-     - ``(nworld, nbody)``
-   * - ``body_subtreemass``
-     - ``float``
-     - ``(nworld, nbody)``
-   * - ``body_inertia``
-     - ``wp.vec3``
-     - ``(nworld, nbody)``
-   * - ``body_invweight0``
-     - ``wp.vec2``
-     - ``(nworld, nbody)``
-   * - ``body_ipos``
-     - ``wp.vec3``
-     - ``(nworld, nbody)``
-   * - ``body_iquat``
-     - ``wp.quat``
-     - ``(nworld, nbody)``
-
-Per-world height fields, materials, and textures can be similarly formulated.
-
-.. admonition:: Per-world asset dependent field construction
-  :class: note
-
-  MJWarp enables per-world asset functionality but does not provide utilities for construction of dependent per-world
-  field variants. Construction is left to the user or environment authoring frameworks.
-
-Batch Rendering
-===============
-
-MJWarp provides a batch renderer for high-throughput ray tracing built on
-`Warp's accelerated BVHs <https://nvidia.github.io/warp/api_reference/_generated/warp.Bvh.html#warp.Bvh>`__ for
-rendering worlds with multiple cameras in parallel.
-
-Key features:
-
-- **Mesh rendering with textures**: BVH-accelerated mesh rendering with full texture support.
-- **Heightfield rendering**: Optimized rendering for heightfields.
-- **Flex rendering**: Render :ref:`flex<deformable-flex>` objects.
-- **Lighting and shadows**: Dynamic lighting with configurable shadows; domain randomizable: `light_active`,
-  `light_type`, `light_castshadow`, `light_xpos`, `light_xdir`.
-- **Heterogeneous multi-camera**: Multiple cameras per world and each camera can have a different resolution
-  (`cam_resolution`), field of view (`cam_fovy`, `cam_sensorsize`, `cam_intrinsic`), and output mode (`cam_output`).
-- **Domain Randomization**: Per-world :class:`mjw.Model <mujoco_warp.Model>` fields (see
-  :ref:`Batched Model Fields <mjwBatch>` above): `geom_matid`, `geom_size`, `geom_rgba`, `mat_texid`, `mat_texrepeat`,
-  `mat_rgba`.
-- **BVH-accelerated ray/rays API**: Ray casting: Accelerated :func:`mjw.ray <mujoco_warp.ray>`,
-  :func:`mjw.rays <mujoco_warp.rays>`, and :ref:`rangefinder sensors <sensor-rangefinder>` via
-  `Warp's BVHs <https://nvidia.github.io/warp/api_reference/_generated/warp.Bvh.html#warp.Bvh>`__.
-
-Basic Usage
------------
-
-Rendering or raycasting requires a :class:`mjw.RenderContext <mujoco_warp.RenderContext>` which contains BVH structures,
-rendering specific fields, and output buffers.
-
-.. code-block:: python
-
-    rc = mjw.create_render_context(
-        mjm,
-        nworld=1,
-        cam_res=(256, 256),           # Override camera resolution (or per-camera list)
-        render_rgb=True,              # Enable RGB output (or per-camera list)
-        render_depth=True,            # Enable depth output (or per-camera list)
-        use_textures=True,            # Apply material textures
-        use_shadows=False,            # Enable shadow casting (slower)
-        enabled_geom_groups=[0, 1],   # Only render geoms in groups 0 and 1
-        cam_active=[True, False],     # Selectively enable/disable cameras
-        flex_render_smooth=True,      # Smooth shading for soft bodies
-    )
-
-Each :class:`mjw.RenderContext <mujoco_warp.RenderContext>` parameter can be applied globally or per camera.
-Additionally, values for :class:`mjw.RenderContext <mujoco_warp.RenderContext>` parameters can be parsed from XML:
-
-.. code-block:: xml
-
-    <camera name="front_camera" pos="3 0 2" xyaxes="0 1 0 -0.6 0 0.8" resolution="64 64" output="rgb depth"/>
-
-or set via :ref:`mjSpec <mjspec>` for camera customization.
-
-To render, first call :func:`mjw.refit_bvh <mujoco_warp.refit_bvh>` to update the BVH trees,
-followed by :func:`mjw.render <mujoco_warp.render>` to write to output buffers.
-
-.. code-block:: python
-
-    mjw.refit_bvh(m, d, rc)
-    mjw.render(m, d, rc)
-
-The output buffers contain stacked pixels for all cameras with shape `(nworld, npixel)` and RGB data is
-packed into one `uint32` variable. `RenderContext.rgb_adr` and `RenderContext.depth_adr` provide per-camera indexing.
-For convenience, :func:`mjw.get_rgb <mujoco_warp.get_rgb>` and :func:`mjw.get_depth <mujoco_warp.get_depth>`
-return processed and reshaped RGB and depth data for a given camera batched for all worlds.
-
-.. code-block:: python
-
-    nworld = 1
-    cam_index = 0
-    resolution = rc.cam_res.numpy()[cam_index]
-    rgb_data = wp.zeros((nworld, resolution[1], resolution[0]), dtype=wp.vec3)
-    mjw.get_rgb(rc, rgb_data=rgb_data, cam_id=cam_index)
-
-A complete example can be found in the MJWarp tutorial |notebook| |open in colab|.
-
-Benchmarks
-----------
-
-Rendering can be benchmarked using `testspeed`_:
-
-.. code-block:: shell
-
-    mjwarp-testspeed benchmarks/primitives.xml --function=render
-
-For benchmark results across a variety of scenes, see the
-`released benchmarks <https://github.com/google-deepmind/mujoco_warp/pull/1113>`__.
-
-Notes
------
-
-- **Meshes**: Rendering computation scales with mesh complexity, specifically the number of vertices and faces. A
-  primitive is expected to have better performance (i.e., higher throughput) compared to a similar-sized
-  :ref:`mesh<body-geom-mesh>` or :ref:`heightfield <body-geom-hfield>`.
-- **Scaling**: Rendering scales linearly with resolution (total pixel count) and camera count.
-
-.. _mjwFAQ:
-
-Frequently Asked Questions
-==========================
-
-Learning frameworks
--------------------
-
-**Does MJWarp work with JAX?**
-
-Yes. MJWarp is interoperable with `JAX <https://jax.readthedocs.io/>`__. Please see the
-`Warp Interoperability <https://nvidia.github.io/warp/modules/interoperability.html#jax>`__ documentation for details.
-
-Additionally, :ref:`MJX <mjx>` provides a JAX API for a subset of MJWarp's :doc:`API <api>`. The implementation is
-specified with ``impl='warp'``.
-
-**Does MJWarp work with PyTorch?**
-
-Yes. MJWarp is interoperable with `PyTorch <https://pytorch.org>`__. Please see the
-`Warp Interoperability <https://nvidia.github.io/warp/modules/interoperability.html#pytorch>`__ documentation for
-details.
-
-**How to train policies with MJWarp physics?**
-
-For examples that train policies with MJWarp physics, please see:
-
-- `Isaac Lab <https://github.com/isaac-sim/IsaacLab/tree/feature/newton>`__: Train via
-  `Newton API <https://github.com/newton-physics/newton>`__.
-- `mjlab <https://github.com/mujocolab/mjlab>`__: Train directly with MJWarp using PyTorch.
-- `MuJoCo Playground <https://github.com/google-deepmind/mujoco_playground>`__: Train via :ref:`MJX API <mjx>`.
-
-Features
---------
-
-.. _mjwDiff:
-
-**Is MJWarp differentiable?**
-
-No. MJWarp is not currently differentiable via
-Warp's `automatic differentiation <https://nvidia.github.io/warp/modules/differentiability.html#differentiability>`__
-functionality. Updates from the team related to enabling automatic differentiation for MJWarp are tracked in this
-`GitHub issue <https://github.com/google-deepmind/mujoco_warp/issues/500>`__.
-
-**Does MJWarp work with multiple GPUs?**
-
-Yes. Warp's ``wp.ScopedDevice`` enables multi-GPU computation
-
-.. code-block:: python
-
-   # create a graph for each device
-   graph = {}
-   for device in wp.get_cuda_devices():
-     with wp.ScopedDevice(device):
-       m = mjw.put_model(mjm)
-       d = mjw.make_data(mjm)
-       with wp.ScopedCapture(device) as capture:
-         mjw.step(m, d)
-       graph[device] = capture.graph
-
-   # launch a graph on each device
-   for device in wp.get_cuda_devices():
-     wp.capture_launch(graph[device])
-
-Please see the
-`Warp documentation <https://nvidia.github.io/modules/devices.html#example-using-wp-scopeddevice-with-multiple-gpus>`__
-for details and
-`mjlab distributed training <https://mujocolab.github.io/mjlab/main/source/training/distributed_training.html>`__ for a
-reinforcement learning example.
-
-**Is MJWarp on GPU deterministic?**
-
-No. There may be ordering or *small* numerical differences between results computed by different executions of the same
-code. This is characteristic of non-deterministic atomic operations on GPU. Set device to CPU with
-``wp.set_device("cpu")`` for deterministic results.
-
-Developments for deterministic results on GPU are tracked in this
-`GitHub issue <https://github.com/google-deepmind/mujoco_warp/issues/562>`__.
-
-**How are orientations represented?**
-
-Orientations are represented as unit quaternions and follow :ref:`MuJoCo's conventions<siLayout>`:
-``w, x, y, z`` or ``scalar, vector``.
-
-.. admonition:: ``wp.quaternion``
-  :class: note
-
-  MJWarp utilizes Warp's `built-in type <https://nvidia.github.io/warp/modules/functions.html#warp.quaternion>`__
-  ``wp.quaternion``. Importantly however, MJWarp does not utilize Warp's ``x, y, z, w`` quaternion convention or
-  operations and instead implements quaternion routines that follow MuJoCo's conventions. Please see
-  `math.py <https://github.com/google-deepmind/mujoco_warp/blob/main/mujoco_warp/_src/math.py>`__ for the
-  implementations.
-
-**Does MJWarp have a named access API / bind?**
-
-No. Updates for this feature are tracked in this
-`GitHub issue <https://github.com/google-deepmind/mujoco_warp/issues/884>`__.
-
-**Why are contacts reported when there are no collisions?**
-
-1 contact will be reported for each unique geom pair that contributes to any collision sensor, even if this geom pair is
-not in collision. Unlike MuJoCo or MJX where :ref:`collision sensors<collision-sensors>` make separate calls to
-collision routines while computing sensor data, MJWarp computes and stores the data for these sensors in contacts while
-running its main collision pipeline.
-
-:ref:`Contact sensors<sensor-contact>` will report the correct information for contacts affecting the physics.
-
-**Why are Jacobians always dense?**
-
-Sparse Jacobians are not currently implemented and ``Data`` fields: ``ten_J``, ``actuator_moment``, ``flexedge_J``, and
-``efc.J`` are always represented as dense matrices. Support for sparse Jacobians is tracked in GitHub issue
-`#88 <https://github.com/google-deepmind/mujoco_warp/issues/88>`__.
-
-**Why do some arrays have different shapes compared to mjModel or mjData?**
-
-By default for batched simulation, many :class:`mjw.Data <mujoco_warp.Data>` fields having a leading batch dimension of
-size ``Data.nworld``. Some :class:`mjw.Model <mujoco_warp.Model>` fields having a leading batch dimension with size
-``1``, indicating that this
-:ref:`field can be overridden with an array of batched parameters for domain randomization <mjwBatch>`.
-
-Additionally, certain fields including ``Model.qM``, ``Data.efc.J``, and ``Data.efc.D`` are padded to enable fast
-loading on GPU.
-
-**Why are numerical results from MJWarp and MuJoCo different?**
-
-MJWarp utilizes `float <https://nvidia.github.io/warp/modules/functions.html#warp.float32>`__s in contrast to MuJoCo's
-default double representation for :ref:`mjtNum`. Solver settings, including iterations, collision detection, and small
-friction values may be sensitive to differences in floating point representation.
-
-If you encounter unexpected results, including NaNs, please open a GitHub issue.
-
-**Why is inertia matrix qM sparsity not consistent with MuJoCo / MJX?**
-
-.. admonition:: ``mjtJacobian`` semantics
-   :class: note
-
-   - MuJoCo's inertia matrix is always sparse and :ref:`mjtJacobian` affects constraint Jacobians and related quantities
-   - MJWarp's (and MJX's) constraint Jacobian is always dense and :ref:`mjtJacobian` is repurposed to affect the inertia
-     matrix that can be represented as dense or sparse
-
-The automatic sparsity threshold utilized by MJWarp for ``AUTO`` is optimized for GPU and set to ``nv > 32``,
-unlike MuJoCo and MJX which use ``nv >= 60``. Dense ``DENSE`` and sparse ``SPARSE`` settings are consistent with MuJoCo
-and MJX.
-
-This feature is likely to change in the future.
-
-**How to fix simulation runtime warnings?**
-
-Warnings are provided when memory requirements exceed existing allocations during simulation:
-
-- `nconmax`_ / `njmax`_: The maximum number of contacts / constraints has been exceeded. Increase the value of the
-  setting by updating the relevant argument to :func:`mjw.make_data <mujoco_warp.make_data>` or
-  :func:`mjw.put_data <mujoco_warp.put_data>`.
-- ``mjw.Option.ccd_iterations``: The convex collision detection algorithm has exceeded the maximum number of iterations.
-  Increase the value of this setting in the XML / :ref:`mjSpec` / :ref:`mjModel`. Importantly, this change must be made
-  to the :ref:`mjModel` instance that is provided to :func:`mjw.put_model <mujoco_warp.put_model>` and
-  :func:`mjw.make_data <mujoco_warp.make_data>` / :func:`mjw.put_data <mujoco_warp.put_data>`.
-- ``mjw.Option.contact_sensor_maxmatch``: The maximum number of contact matches for a
-  :ref:`contact sensor<sensor-contact>`'s matching criteria has been exceeded. Increase the value of this MJWarp-only
-  setting `m.opt.contact_sensor_maxmatch`. Alternatively, refactor the contact sensor matching criteria, for example if
-  the 2 geoms of interest are known, specify ``geom1`` and ``geom2``.
-- ``height field collision overflow``: The number of potential contacts generated by a height field exceeds
-  :ref:`mjMAXCONPAIR <glNumericEngine>` and some contacts are ignored. To resolve this warning, reduce the height field
-  resolution or reduce the size of the geom interacting with the height field.
-
-Compilation
------------
-
-**How can compilation time be improved?**
-
-Limit the number of unique colliders that require the general convex collision pipeline. These colliders are listed as
-``_CONVEX_COLLISION_PAIRS`` in
-`collision_convex.py <https://github.com/google-deepmind/mujoco_warp/blob/main/mujoco_warp/_src/collision_convex.py>`__.
-Improvements to the compilation time for the pipeline are tracked in this
-`GitHub issue <https://github.com/google-deepmind/mujoco_warp/issues/813>`__.
-
-**Why are the physics not working as expected after upgrading MJWarp?**
-
-The Warp cache may be incompatible with the current code and should be cleared as part of the debugging process. This
-can be accomplished by deleting the directory ``~/.cache/warp`` or via Python
-
-.. code-block:: python
-
-   import warp as wp
-   wp.clear_kernel_cache()
-
-**Is it possible to compile MJWarp ahead of time instead of at runtime?**
-
-Yes. Please see Warp's
-`Ahead-of-Time Compilation Workflows <https://nvidia.github.io/warp/codegen.html#ahead-of-time-compilation-workflows>`__
-documentation for details.
-
-Differences from MuJoCo
-=======================
-
-This section notes differences between MJWarp and MuJoCo.
-
-Warmstart
----------
-
-If warmstarts are not :ref:`disabled <option-flag-warmstart>`, the MJWarp solver warmstart always initializes the
-acceleration with ``qacc_warmstart``. In contrast, MuJoCo performs a comparison between ``qacc_smooth`` and
-``qacc_warmstart`` to determine which one is utilized for the initialization.
-
-Inertia matrix factorization
-----------------------------
-
-When using dense computation, MJWarp's factorization of the inertia matrix ``qLD`` is computed with Warp's ``L'L``
-Cholesky factorization
-`wp.tile_cholesky <https://nvidia.github.io/warp/language_reference/_generated/warp._src.lang.tile_cholesky.html>`__
-and the result is not expected to match MuJoCo's corresponding field because a different reverse-mode ``L'DL`` routine
-:ref:`mj_factorM` is utilized.
-
-Options
--------
-
-:class:`mjw.Option <mujoco_warp.Option>` fields correspond to their :ref:`mjOption` counterparts with the following
-exceptions:
-
-- :ref:`impratio <option-impratio>` is stored as its inverse square root ``impratio_invsqrt``.
-- The constraint solver setting :ref:`tolerance <option-tolerance>` is clamped to a minimum value of ``1e-6``.
-- Contact :ref:`override <option-flag-override>` parameters :ref:`o_margin <option-o_margin>`,
-  :ref:`o_solref <option-o_solref>`, :ref:`o_solimp <option-o_solimp>`, and :ref:`o_friction <option-o_friction>` are
-  not available.
-
-:ref:`disableflags <option-flag>` has the following differences:
-
-- :ref:`mjDSBL_MIDPHASE <mjtDisablebit>` is not available.
-- :ref:`mjDSBL_AUTORESET <mjtDisablebit>` is not available.
-- :ref:`mjDSBL_NATIVECCD <mjtDisablebit>` changes the default box-box collider from CCD to a primitive collider.
-
-:ref:`enableflags <option-flag>` has the following differences:
-
-- :ref:`mjENBL_OVERRIDE <mjtEnablebit>` is not available.
-- :ref:`mjENBL_FWDINV <mjtEnablebit>` is not available.
-
-Additional MJWarp-only options are available:
-
-- ``broadphase``: type of broadphase algorithm (:class:`mjw.BroadphaseType <mujoco_warp.BroadphaseType>`)
-- ``broadphase_filter``: type of filtering utilized by broadphase
-  (:class:`mjw.BroadphaseFilter <mujoco_warp.BroadphaseFilter>`)
-- ``graph_conditional``: use CUDA graph conditional
-- ``run_collision_detection``: use collision detection routine
-- ``contact_sensor_maxmatch``: maximum number of contacts for contact sensor matching criteria
-
-.. admonition:: Fluid model
-  :class: note
-
-  Modifying fluid model parameters: ``density``, ``viscosity``, or ``wind`` may require updating
-  ``Model.has_fluid``.
-
-.. admonition:: Graph capture
-  :class: note
-
-  A new :ref:`graph capture <mjwGC>` may be necessary after modifying an :class:`mjw.Option <mujoco_warp.Option>` field
-  in order for the updated setting to take effect.
-
-SDF plugins
------------
-
-SDF collisions support plugins. The following example for
-`plugin/sdf/bowl.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/sdf/bowl.xml>`__ illustrates how to implement the
-SDF plugin implementation in `bowl.cc <https://github.com/google-deepmind/mujoco/blob/main/plugin/sdf/bowl.cc>`__:
-
-.. code-block:: python
-
-  import mujoco_warp as mjw
-  import warp as wp
-
-  # distance function
-  @wp.func
-  def bowl(p: wp.vec3, attr: wp.vec3) -> float:
-    """Signed distance function for a bowl shape.
-
-    attr[0] = height
-    attr[1] = radius
-    attr[2] = thickness
-    """
-    height = attr[0]
-    radius = attr[1]
-    thick = attr[2]
-    width = wp.sqrt(radius * radius - height * height)
-
-    # q = (norm_xy(p), p.z)
-    q0 = wp.sqrt(p[0] * p[0] + p[1] * p[1])
-    q1 = p[2]
-
-    # qdiff = q - (width, height)
-    qdiff0 = q0 - width
-    qdiff1 = q1 - height
-
-    if height * q0 < width * q1:
-      dist = wp.sqrt(qdiff0 * qdiff0 + qdiff1 * qdiff1)
-    else:
-      q_norm = wp.sqrt(q0 * q0 + q1 * q1)
-      dist = wp.abs(q_norm - radius)
-
-    return dist - thick
-
-
-  # gradient of distance function
-  @wp.func
-  def bowl_sdf_grad(p: wp.vec3, attr: wp.vec3) -> wp.vec3:
-    """Gradient of bowl SDF via finite differences."""
-    eps = float(1e-6)
-    f0 = bowl(p, attr)
-
-    px = wp.vec3(p[0] + eps, p[1], p[2])
-    py = wp.vec3(p[0], p[1] + eps, p[2])
-    pz = wp.vec3(p[0], p[1], p[2] + eps)
-
-    grad = wp.vec3(
-      (bowl(px, attr) - f0) / eps,
-      (bowl(py, attr) - f0) / eps,
-      (bowl(pz, attr) - f0) / eps,
-    )
-    return grad
-
-
-  # register the bowl SDF plugin
-  @wp.func
-  def user_sdf(p: wp.vec3, attr: wp.vec3, sdf_type: int) -> float:
-    return bowl(p, attr)
-
-
-  @wp.func
-  def user_sdf_grad(p: wp.vec3, attr: wp.vec3, sdf_type: int) -> wp.vec3:
-    return bowl_sdf_grad(p, attr)
-
-
-  # override the module-level hooks
-  mjw._src.collision_sdf.user_sdf = user_sdf
-  mjw._src.collision_sdf.user_sdf_grad = user_sdf_grad
-
-Physics callbacks
------------------
-
-MuJoCo provides global `physics callbacks <https://mujoco.readthedocs.io/en/latest/APIreference/APIglobals.html#physics-callbacks>`__
-that allow users to inject custom logic into the simulation pipeline. MJWarp supports a similar mechanism, but callbacks
-are Python functions set per-model on the :class:`mjw.Model <mujoco_warp.Model>` instance via ``Model.callback`` rather than as global
-function pointers.
-
-The following callbacks are available:
-
-.. list-table::
-   :width: 90%
-   :align: left
-   :widths: 3 5
-   :header-rows: 1
-
-   * - Callback
-     - Description
-   * - ``control``
-     - Custom control laws, writes to ``Data.ctrl``
-   * - ``passive``
-     - Custom passive forces, writes to ``Data.qfrc_passive``
-   * - ``act_dyn``
-     - Custom actuator dynamics, writes to ``Data.act_dot``
-   * - ``act_gain``
-     - Custom actuator gains, writes to ``Data.actuator_force``
-   * - ``act_bias``
-     - Custom actuator biases, writes to ``Data.actuator_force``
-   * - ``sensor``
-     - Custom sensors, writes to ``Data.sensordata``; receives an additional ``stage`` argument
-   * - ``contactfilter``
-     - Custom contact filtering, writes to ``Data.contact``
-
-.. code-block:: python
-
-  import mujoco
-  import mujoco_warp as mjw
-  import warp as wp
-
-  _MJCF = r"""
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size=".1"/>
-        <joint name="hinge"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="hinge"/>
-    </actuator>
-  </mujoco>
-  """
-
-  @wp.kernel
-  def _ctrl_callback(ctrl_out: wp.array2d(dtype=float)):
-    worldid = wp.tid()
-    ctrl_out[worldid, 0] = 2.0
-
-  def ctrl_callback(m, d):
-    wp.launch(_ctrl_callback, dim=(d.nworld,), outputs=[d.ctrl])
-
-  mjm = mujoco.MjModel.from_xml_string(_MJCF)
-  m = mjw.put_model(mjm)
-  d = mjw.make_data(mjm)
-
-  m.callback.control = ctrl_callback
-  mjw.step(m, d)
-  assert d.ctrl.numpy()[0, 0] == 2.0
-
-Box-box collisions
-------------------
-
-By default, box-box collisions use the general-purpose convex collision pipeline (GJK/EPA). A specialized primitive
-collider based on
-`engine_collision_box.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_box.c>`__
-is available by setting the ``NATIVECCD`` disable flag:
-
-.. code-block:: python
-
-   m.opt.disableflags |= mjw.DisableBit.NATIVECCD
-
-The specialized collider generates up to 8 contact points, compared to up to 4 for the convex pipeline, and may improve
-contact stability for tasks involving box stacking or manipulation.
-
-CCD margin
-----------
-
-Non-zero :ref:`geom margin <body-geom-margin>` or :ref:`pair margin <contact-pair-margin>` is not supported with certain
-CCD colliders and will raise a ``NotImplementedError`` when calling :func:`mjw.put_model <mujoco_warp.put_model>`:
-
-.. list-table::
-   :width: 90%
-   :align: left
-   :widths: 3 3 4
-   :header-rows: 1
-
-   * - Geom pair
-     - Scenario
-     - Workaround
-   * - box-box, box-mesh, mesh-mesh
-     - :ref:`MULTICCD <option-flag-multiccd>` enabled (on by default)
-     - Set margin to ``0`` or disable ``MULTICCD``
-   * - box-box
-     - :ref:`NATIVECCD <option-flag-nativeccd>` enabled (on by default)
-     - Set margin to ``0`` or disable ``NATIVECCD``
-
-Rendering
----------
-
-The batch renderer included in MJWarp serves a different purpose than MuJoCo's renderer. The MJWarp batch
-renderer is a single hit raycaster optimized for high throughput and low fidelity.
-
-It supports:
- * Simple lambertian diffuse shading
- * Basic point lights and directional lights
- * Textures
- * Shadows
-
-It does not support:
- * Advanced lighting effects such as global illumination
- * Physically based material properties
diff --git a/doc/mjwarp/update_types.py b/doc/mjwarp/update_types.py
deleted file mode 100644
index 88eec3da..00000000
--- a/doc/mjwarp/update_types.py
+++ /dev/null
@@ -1,82 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Update types.py with valid attribute types.
-
-Instances like
-
-@dataclasses.dataclass
-class Option:
-  ...
-  timestep: array("*", float)
-  ...
-
-that do not have valid attribute types are not properly parsed during
-documentation generation.
-
-This script updates such instances with valid types
-
-@dataclasses.dataclass
-class Option:
-  ...
-  timestep: wp.array[float]
-  ...
-"""
-
-import re
-import sys
-
-
-def replace_array_calls(match):
-  """Replaces array() calls with wp.array, wp.array2d, etc."""
-  args_str = match.group(1)
-  if '...' in args_str:
-    return match.group(0)  # Do not replace call in docstring
-
-  args = [a.strip() for a in args_str.split(',')]
-  n_args = len(args)
-  dtype = args[-1]
-
-  if n_args == 2:
-    return f'wp.array[{dtype}]'
-  elif n_args == 3:
-    return f'wp.array2d[{dtype}]'
-  elif n_args == 4:
-    return f'wp.array3d[{dtype}]'
-  elif n_args == 5:
-    return f'wp.array4d[{dtype}]'
-  else:
-    return match.group(0)
-
-
-def process_file(filepath):
-  """Reads types.py, replaces array() calls, and writes back to file."""
-  try:
-    with open(filepath, 'r') as f:
-      content = f.read()
-  except FileNotFoundError:
-    print(f'Error: Could not find {filepath}', file=sys.stderr)
-    return
-
-  new_content = re.sub(r'(?<!\.)\barray\(([^)]+)\)', replace_array_calls, content)
-
-  with open(filepath, 'w') as f:
-    f.write(new_content)
-  print(f'Processed {filepath}')
-
-
-if __name__ == '__main__':
-  if len(sys.argv) != 2:
-    print('Usage: python update_types.py <path_to_types.py>', file=sys.stderr)
-    sys.exit(1)
-  process_file(sys.argv[1])
diff --git a/doc/mjx.rst b/doc/mjx.rst
deleted file mode 100644
index 6bb2a9dd..00000000
--- a/doc/mjx.rst
+++ /dev/null
@@ -1,677 +0,0 @@
-.. _Mjx:
-
-================
-MuJoCo XLA (MJX)
-================
-
-.. toctree::
-    :hidden:
-
-    API <mjx_api.rst>
-
-MuJoCo XLA (MJX) provides a `JAX <https://github.com/jax-ml/jax#readme>`__ API for various implementations of MuJoCo. MJX can be found
-under the `mjx <https://github.com/google-deepmind/mujoco/tree/main/mjx>`__ directory in the MuJoCo repository.
-
-MJX allows users to run MuJoCo
-on all compute hardware supported by the `XLA <https://www.tensorflow.org/xla>`__ compiler. A JAX re-implementation of
-MuJoCo (:ref:`MJX-JAX <MjxJAX>`) is available. MJX-JAX
-`runs on <https://jax.readthedocs.io/en/latest/installation.html#supported-platforms>`__: Nvidia and AMD GPUs,
-Apple Silicon, and `Google Cloud TPUs <https://cloud.google.com/tpu>`__. A Warp implementation of MuJoCo
-(:ref:`MJX-Warp <MjxWarp>`) optimizes performance specifically for NVIDIA GPUs, resolving
-several performance bottlenecks exhibited in MJX-JAX.
-
-MJX is distributed as a separate package called ``mujoco-mjx`` on `PyPI <https://pypi.org/project/mujoco-mjx>`__.
-It depends on the main ``mujoco`` package for model compilation and visualization, and also depends on
-:ref:`MuJoCo Warp <MJW>` for the Warp implementation of MuJoCo.
-
-.. _MjxInstallation:
-
-Installation
-============
-
-The recommended way to install this package is via `PyPI <https://pypi.org/project/mujoco-mjx/>`__:
-
-.. code-block:: shell
-
-   pip install mujoco-mjx
-
-To use :ref:`MuJoCo Warp <MJW>` with MJX, install via:
-
-.. code-block:: shell
-
-   pip install mujoco-mjx[warp]
-
-A copy of the MuJoCo library is provided as part of this package's dependencies and does **not** need to be downloaded
-or installed separately.
-
-.. _MjxExample:
-
-Minimal example
-===============
-
-Once installed, you can use MJX by importing the ``mujoco.mjx`` package. A MuJoCo model is placed on device by calling ``mjx.put_model``,
-and a MuJoCo data is created on device with ``mjx.make_data``. You can then step the simulation with ``mjx.step``.
-
-.. code-block:: python
-
-   # Throw a ball at 100 different velocities.
-
-   import jax
-   import mujoco
-   from mujoco import mjx
-
-   XML=r"""
-   <mujoco>
-     <worldbody>
-       <body>
-         <freejoint/>
-         <geom size=".15" mass="1" type="sphere"/>
-       </body>
-     </worldbody>
-   </mujoco>
-   """
-
-   model = mujoco.MjModel.from_xml_string(XML)
-   mjx_model = mjx.put_model(model)
-
-   @jax.vmap
-   def batched_step(vel):
-     mjx_data = mjx.make_data(mjx_model)
-     qvel = mjx_data.qvel.at[0].set(vel)
-     mjx_data = mjx_data.replace(qvel=qvel)
-     pos = mjx.step(mjx_model, mjx_data).qpos[0]
-     return pos
-
-   vel = jax.numpy.arange(0.0, 1.0, 0.01)
-   pos = jax.jit(batched_step)(vel)
-   print(pos)
-
-
-MJX Implementations
-===================
-
-MJX currently supports two implementations of MuJoCo: a pure :ref:`JAX <MjxJAX>` and a :ref:`Warp <MjxWarp>` implementation.
-
-.. _MjxWarp:
-
-MJX-Warp
---------
-
-MJX-Warp uses :ref:`MuJoCo Warp <MJW>`, the most fully-featured
-implementation of MuJoCo for hardware accelerated devices. MJX-Warp resolves key performance
-bottlenecks exhibited in MJX-JAX around contacts and constraints.
-
-Note that unlike MJX-JAX, MJX-Warp does not support automatic differentiation and has no immediate plans to
-support auto-diff.
-
-Basic Usage
-~~~~~~~~~~~
-
-We create model and data by passing ``impl='warp'`` to the ``mjx.put_model`` and ``mjx.make_data`` functions:
-
-.. code-block:: python
-
-   mj_model = mujoco.MjModel.from_xml_path(...)
-   model = mjx.put_model(mj_model, impl='warp')
-   data = mjx.make_data(mj_model, impl='warp', naconmax=naconmax, njmax=njmax)
-
-Notice that we pass two extra arguments to ``mjx.make_data``:
-
-* ``naconmax`` defines the maximum number of contacts for all worlds combined.
-* ``njmax`` defines the maximum number of constraints per world. If you are developing a new scene, these parameters
-  should be tuned by loading them in the :ref:`viewer <mjwViewer>` and increasing the values accordingly as overflows
-  occur. Scale ``naconmax`` by the number of environments you'll eventually need in a ``jax.vmap``!
-
-Contacts
-~~~~~~~~
-
-Since JAX and Warp diverge in their implementations of contact buffers, contacts are located in the private
-``mjx.Data._impl`` instead of ``mjx.Data.contact``. We encourage users to read out contacts solely through
-:ref:`contact sensors <sensor-contact>`.
-
-For more details and examples of using MJX-Warp in the wild, see the announcement in MuJoCo Playground
-`here <https://github.com/google-deepmind/mujoco_playground/discussions/197>`__.
-
-Batched ``Data`` updates
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-With MJX-JAX it is possible to reset a subset of environments in a batch with
-`jax.tree.map(jax.numpy.where, done, reset_data, data)`. However, this approach does not work out-of-the-box for
-MJX-Warp due to internal implementation details.
-
-To support batched ``Data`` updates for both implementations, MJX provides a unified `where` method on `Data` objects:
-
-.. code-block:: python
-
-   data = data.where(done, reset_data)
-
-
-.. _MjxWarpGraphModes:
-
-Graph Modes
-~~~~~~~~~~~
-
-The ``mjx.put_model`` function accepts a ``graph_mode`` argument to configure the CUDA graph capture behavior,
-exposed by the ``mjx.warp.GraphMode`` enum. When called from JAX, CUDA graphs are captured by the Warp
-Foreign Function interface and are cached to help improve runtime performance. See the
-`Warp JAX interoperability documentation <https://nvidia.github.io/warp/user_guide/interoperability.html#jax>`__
-for more details. The graph mode can be configured as follows:
-
-.. code-block:: python
-
-   import mujoco.mjx.warp as mjxw
-
-   model = mjx.put_model(mj_model, impl='warp', graph_mode=mjxw.GraphMode.WARP_STAGED)
-
-The various graph modes have certain performance tradeoffs:
-
-* ``JAX``: Does not work with MuJoCo Warp since the Warp implementation creates child graph nodes that cannot be rolled
-  up into the XLA graph.
-* ``WARP``: (Default) Warp captures the CUDA graph internally and caches it using buffer pointers from XLA. JAX and XLA
-  often optimize memory layouts in unexpected ways and may change buffer pointers between calls to Warp. Since
-  Warp/CUDA require stable pointers, CUDA graphs will be re-captured if the input and output buffer pointers change.
-  Graph captures are typically expensive to run, so excessive graph recaptures due to unstable pointers from JAX
-  will degrade performance. If your JAX program is bottlenecked by
-  excessive graph captures, consider ``WARP_STAGED`` or ``WARP_STAGED_EX``.
-* ``WARP_STAGED``: Staging buffers are created (thus increasing memory usage) and the XLA buffers are copied in and out
-  of staging buffers so that the CUDA graph gets consistent memory pointers. A CUDA graph capture occurs only once.
-* ``WARP_STAGED_EX``: Similar to ``WARP_STAGED`` but the copy operations are moved outside the initial graph capture.
-
-Depending on how your JAX program handles memory, you may want to use ``WARP_STAGED`` or ``WARP_STAGED_EX`` to avoid
-excessive graph captures.
-
-The following table shows an example of the tradeoff between different graph modes. We report Steps per Second (SPS)
-of different configurations on the Humanoid and Aloha Pot scenes. Notice that if we force a graph recapture on every
-step, there is a significant performance drop:
-
-.. list-table:: Steps per Second (SPS) for MJX-Warp Graph Modes
-   :widths: 50 25 25
-   :header-rows: 1
-
-   * - Configuration
-     - Humanoid
-     - Aloha Pot
-   * - Pure Warp (No JAX FFI)
-     - 3.35M
-     - 2.45M
-   * - JAX FFI (``WARP``)
-     - 2.96M
-     - 2.33M
-   * - JAX FFI (``WARP`` with forced recaptures on every step)
-     - 0.80M
-     - 0.65M
-
-
-To mitigate the recaptures, we can use ``WARP_STAGED`` or ``WARP_STAGED_EX``. Since these modes introduce staging buffers,
-they may exhibit lower performance than ``WARP``, but they are significantly more performant than ``WARP`` if there are
-excessive graph captures in the JAX-Warp FFI layer.
-
-.. list-table:: Steps per Second (SPS) for MJX-Warp Graph Modes
-   :widths: 50 25 25
-   :header-rows: 1
-
-   * - Configuration
-     - Humanoid
-     - Aloha Pot
-   * - JAX FFI (``WARP_STAGED``)
-     - 2.67M
-     - 1.96M
-   * - JAX FFI (``WARP`` with forced recaptures on every step)
-     - 0.80M
-     - 0.65M
-
-
-.. _MjxWarpBatchRendering:
-
-Batch Rendering
-~~~~~~~~~~~~~~~
-
-MJX-Warp includes a hardware-accelerated batch renderer for generating pixel observations (such as RGB and depth)
-across multiple parallel environments.
-
-To use the batch renderer, you must first create a render context that allocates the necessary buffers.
-Note that the number of parallel worlds (``nworld``) is fixed when creating the context.
-``create_render_context`` returns a render context object that provides direct access to buffer
-metadata (camera resolution, addresses, etc.). Call ``.pytree()`` to obtain the lightweight JAX
-pytree that should be passed into ``jit``/``vmap``-compiled functions:
-
-.. code-block:: python
-
-    from mujoco.mjx import create_render_context
-
-    rc = create_render_context(
-        mjm=m,
-        nworld=nworld,
-        cam_res=(width, height),
-        use_textures=True,
-        use_shadows=True,
-        render_rgb=[True] * ncam,
-        render_depth=[False] * ncam,
-        enabled_geom_groups=[0, 1, 2],
-    )
-
-Hold a reference to ``rc`` for the lifetime of your program and pass ``rc.pytree()`` to
-downstream JAX functions.  The pytree is a lightweight handle that refers back to the
-context via an internal registry.
-
-Once the context is created, you can render images within a compiled JAX function. This involves updating the bounding
-volume hierarchy (BVH) and executing the raycaster:
-
-.. code-block:: python
-
-    from mujoco.mjx import get_rgb
-
-    @jax.jit
-    def render_fn(mx, d, rc_pytree):
-        # 1. Update the BVH for the current scene state
-        d = mjx.refit_bvh(mx, d, rc_pytree)
-
-        # 2. Render all configured cameras
-        pixels, _, d = mjx.render(mx, d, rc_pytree)
-
-        # 3. Extract the RGB tensor for the first camera (index 0)
-        rgb = get_rgb(rc_pytree, 0, pixels)
-
-        return rgb, d
-
-    rgb, d = render_fn(mx, d, rc.pytree())
-
-.. NOTE::
-   :func:`~mujoco.mjx.refit_bvh` and :func:`~mujoco.mjx.render` update an internal execution token
-   (``d._impl._jax_token``) within :class:`~mujoco.mjx.Data`. Passing ``d`` sequentially through
-   ``refit_bvh`` and ``render`` creates an explicit data dependency, preventing XLA from reordering BVH
-   updates and raycasting passes across iterations or unrolled loops.
-
-.. WARNING::
-   The batch dimension ``nworld`` is fixed when the render context is created via
-   :func:`~mujoco.mjx.create_render_context` since the underlying Warp render context allocates
-   buffers for ``nworld`` environments that are not visible to JAX. :func:`~mujoco.mjx.render`
-   will always return outputs with a leading batch dimension of size ``nworld``. Because of this,
-   there is a known issue where :func:`~mujoco.mjx.render` does not play nice with a
-   ``jax.vmap(jax.lax.scan)``.
-
-Multi-GPU with ``pmap``
-^^^^^^^^^^^^^^^^^^^^^^^
-
-To render across multiple GPUs, create a render context **per device** by passing ``devices`` to
-:func:`create_render_context <mujoco.mjx.create_render_context>`.
-
-.. code-block:: python
-
-    ndevices = jax.local_device_count()
-    nworld_per_device = nworld // ndevices
-
-    # Create one render context for all devices
-    rc = create_render_context(
-        mjm=m,
-        nworld=nworld_per_device,
-        devices=[f'cuda:{i}' for i in range(ndevices)],
-        cam_res=(width, height),
-    )
-
-Then use ``jax.pmap`` to parallelize the rendering across devices. See the complete example in
-`visualize_render.py <https://github.com/google-deepmind/mujoco/blob/main/mjx/mujoco/mjx/warp/visualize_render.py>`__.
-
-.. _MjxJAX:
-
-MJX-JAX
--------
-
-MJX-JAX is a re-implementation of MuJoCo that uses the same algorithms as the MuJoCo implementation. However, in order
-to properly leverage JAX, MJX deliberately diverges from the MuJoCo API in a few places (see below). For users looking
-for a simulator that is performant for small scenes and that roughly supports gradients, MJX-JAX is a good option. We
-point users to :ref:`MJX-Warp <MjxWarp>` otherwise.
-
-MJX-JAX allows MuJoCo to run on all compute
-`hardware supported <https://jax.readthedocs.io/en/latest/installation.html#supported-platforms>`__ by the
-`XLA <https://www.tensorflow.org/xla>`__ compiler via the `JAX <https://github.com/jax-ml/jax#readme>`__ framework
-(AMD GPUs, Apple Silicon, and `Google Cloud TPUs <https://cloud.google.com/tpu>`__).
-
-The MJX-JAX API is consistent with the main simulation functions in the MuJoCo API, although it is missing some
-features. While the :ref:`API documentation <Mainsimulation>` is applicable to both libraries, we indicate features
-unsupported by MJX-JAX in the :ref:`notes <MjxFeatureParity>` below.
-
-MJX-JAX is a successor to the `generalized physics pipeline <https://github.com/google/brax/tree/main/brax/generalized>`__
-in Google's `Brax <https://github.com/google/brax>`__ physics and reinforcement learning library.  MJX-JAX was built
-by core contributors to both MuJoCo and Brax.  Brax
-depends on the ``mujoco-mjx`` package, and Brax's existing
-`generalized pipeline <https://github.com/google/brax/tree/main/brax/generalized>`__ is no longer maintained.
-
-.. _MjxNotebook:
-
-Tutorial notebook
-=================
-
-The following IPython notebook demonstrates the use of MJX along with reinforcement learning to train humanoid and
-quadruped robots to locomote: |colab|.
-
-.. |colab| image:: https://colab.research.google.com/assets/colab-badge.png
-           :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb
-
-.. _MjxUsage:
-
-In-depth usage
-==============
-
-.. _MjxStructs:
-
-Structs
--------
-
-Before running MJX functions on an accelerator device, structs must be copied onto the device via the ``mjx.put_model``
-and ``mjx.put_data`` functions. Placing an :ref:`mjModel` on device yields an ``mjx.Model``. Placing an :ref:`mjData` on
-device yields an ``mjx.Data``:
-
-.. code-block:: python
-
-   model = mujoco.MjModel.from_xml_string("...")
-   data = mujoco.MjData(model)
-   mjx_model = mjx.put_model(model)
-   mjx_data = mjx.put_data(model, data)
-
-These MJX variants mirror their MuJoCo counterparts but have a few key differences:
-
-#. ``mjx.Model`` and ``mjx.Data`` contain JAX arrays that are copied onto device.
-#. Some fields are missing from ``mjx.Model`` and ``mjx.Data`` for features that are private
-   to a specific implementation of MuJoCo, or that are :ref:`unsupported <mjxFeatureParity>`.
-#. JAX arrays in ``mjx.Model`` and ``mjx.Data`` support adding batch dimensions. Batch dimensions are a natural way to
-   express domain randomization (in the case of ``mjx.Model``) or high-throughput simulation for reinforcement learning
-   (in the case of ``mjx.Data``).
-#. Numpy arrays in ``mjx.Model`` and ``mjx.Data`` are structural fields that control the output of JIT compilation.
-   Modifying these arrays will force JAX to recompile MJX functions. As an example, ``jnt_limited`` is a numpy array
-   passed by reference from :ref:`mjModel`, which determines if joint limit constraints should be applied. If
-   ``jnt_limited`` is modified, JAX will re-compile MJX functions. On the other hand, ``jnt_range`` is a JAX array that
-   can be modified at runtime, and will only apply to joints with limits as specified by the ``jnt_limited`` field.
-
-
-Neither ``mjx.Model`` nor ``mjx.Data`` are meant to be constructed manually.  An ``mjx.Data`` may be created by calling
-``mjx.make_data``, which mirrors the :ref:`mj_makeData` function in MuJoCo:
-
-.. code-block:: python
-
-   model = mujoco.MjModel.from_xml_string("...")
-   mjx_model = mjx.put_model(model)
-   mjx_data = mjx.make_data(model)
-
-Using ``mjx.make_data`` may be preferable when constructing batched ``mjx.Data`` structures inside of a ``vmap``.
-
-.. _MjxFunctions:
-
-Functions
----------
-
-MuJoCo functions are exposed as MJX functions of the same name, but following `PEP 8
-<https://peps.python.org/pep-0008/>`__-compliant names. Most of the :ref:`main simulation <Mainsimulation>` and some of
-the :ref:`sub-components <Subcomponents>` for forward simulation are available from the top-level ``mjx`` module.
-
-MJX functions are not `JIT compiled <https://jax.readthedocs.io/en/latest/jax-101/02-jitting.html>`__ by default -- we
-leave it to the user to JIT MJX functions, or JIT their own functions that reference MJX functions.  See the
-:ref:`minimal example <MjxExample>` below.
-
-.. _MjxEnums:
-
-Enums and constants
--------------------
-
-MJX enums are available as ``mjx.EnumType.ENUM_VALUE``, for example ``mjx.JointType.FREE``. Enums for unsupported MJX
-features are omitted from the MJX enum declaration.  MJX declares no constants but references MuJoCo constants directly.
-
-
-.. _MjxCli:
-
-Helpful Command Line Scripts
-----------------------------
-
-We provide two command line scripts with the ``mujoco-mjx`` package:
-
-.. code-block:: shell
-
-   mjx-testspeed --mjcf=/PATH/TO/MJCF/ --base_path=.
-
-This command takes in a path to an MJCF file along with optional arguments (use ``--help`` for more information)
-and computes helpful metrics for performance tuning. The command will output, among other things, the total
-simulation time, the total steps per second and the total realtime factor (here total is across all available
-devices).
-
-.. code-block:: shell
-
-   mjx-viewer --help
-
-This command launches the MJX model in the simulate viewer, allowing you to visualize and interact with the model.
-Note this steps the simulation using MJX physics (not C MuJoCo) so it can be helpful for example for debugging
-solver parameters.
-
-.. _MjxFeatureParity:
-
-Feature Parity
-==============
-
-MJX supports most of the main simulation features of MuJoCo for execution on hardware-accelerated devices. MJX will
-raise an exception if asked to copy an :ref:`mjModel` to the device that references unsupported features.
-
-The following table compares feature support between MJX-Warp and MJX-JAX compared to MuJoCo:
-
-.. list-table::
-   :width: 100%
-   :align: left
-   :widths: 2 4 4
-   :header-rows: 1
-
-   * - Category
-     - MJX-Warp
-     - MJX-JAX
-   * - Dynamics
-     - :ref:`Forward <mj_forward>`, :ref:`Inverse <mj_inverse>`
-     - :ref:`Forward <mj_forward>`, :ref:`Inverse <mj_inverse>`
-   * - Differentiability [1]_
-     - ✗
-     - ✓
-   * - :ref:`Joint <mjtJoint>`
-     - All
-     - ``FREE``, ``BALL``, ``SLIDE``, ``HINGE``
-   * - :ref:`Transmission <mjtTrn>`
-     - All
-     - ``JOINT``, ``JOINTINPARENT``, ``SITE``, ``TENDON``
-   * - :ref:`Actuator Dynamics <mjtDyn>`
-     - All
-     - ``NONE``, ``INTEGRATOR``, ``FILTER``, ``FILTEREXACT``, ``MUSCLE``
-   * - :ref:`Actuator Gain <mjtGain>`
-     - All
-     - ``FIXED``, ``AFFINE``, ``MUSCLE``
-   * - :ref:`Actuator Bias <mjtBias>`
-     - All
-     - ``NONE``, ``AFFINE``, ``MUSCLE``
-   * - :ref:`Geom <mjtGeom>`
-     - All
-     - ``PLANE``, ``HFIELD``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH`` are fully implemented. ``ELLIPSOID`` and
-       ``CYLINDER`` are implemented but only collide with other primitives [3]_, note that ``BOX`` is implemented as a mesh.
-   * - :ref:`Constraint <mjtConstraint>`
-     - All
-     - ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_FRICTIONLESS``, ``CONTACT_PYRAMIDAL``, ``CONTACT_ELLIPTIC``,
-       ``FRICTION_DOF``, ``FRICTION_TENDON``
-   * - :ref:`Equality <mjtEq>`
-     - All
-     - ``CONNECT``, ``WELD``, ``JOINT``, ``TENDON``
-   * - :ref:`Integrator <mjtIntegrator>`
-     - All except ``IMPLICITFAST`` midpoint integrator feature
-     - ``EULER``, ``RK4``, ``IMPLICITFAST`` (``IMPLICITFAST`` not supported with :doc:`fluid drag <computation/fluid>`)
-   * - :ref:`Cone <mjtCone>`
-     - All
-     - ``PYRAMIDAL``, ``ELLIPTIC``
-   * - :ref:`Condim <coContact>`
-     - All
-     - 1, 3, 4, 6 (1 is not supported with ``ELLIPTIC``)
-   * - :ref:`Solver <mjtSolver>`
-     - All except ``PGS``, ``noslip``
-     - ``CG``, ``NEWTON``
-   * - Fluid Model
-     - All
-     - :ref:`flInertia` only
-   * - :ref:`Tendon Wrapping <mjtWrap>`
-     - All
-     - ``JOINT``, ``SITE``, ``PULLEY``, ``SPHERE``, ``CYLINDER``
-   * - :ref:`Tendons <tendon>`
-     - All
-     - :ref:`Fixed <tendon-fixed>`, :ref:`Spatial <tendon-spatial>`
-   * - :ref:`Sensors <mjtSensor>`
-     - All except ``PLUGIN``
-     - See notes below [2]_
-   * - Flex
-     - ``VERTCOLLIDE``, ``ELASTICITY``
-     - Not supported.
-   * - Mass matrix format
-     - Sparse and Dense
-     - Sparse and Dense
-   * - Jacobian format
-     - ``DENSE`` and ``SPARSE``
-     - ``DENSE`` only
-   * - Lights
-     - ✓
-     - Positions and directions
-   * - Ray
-     - All, BVH for meshes, hfield, and flex
-     - Slow for meshes, hfield and flex unimplemented
-
-
-.. [1] Differentiability is `mostly supported <https://github.com/google-deepmind/mujoco/issues/2259>`__ in MJX-JAX but is
-       **not** currently available in MJX-Warp. See `Warp differentiability <https://nvidia.github.io/warp/user_guide/differentiability.html>`__
-       for more details.
-.. [2] **Sensors**: ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``, ``TENDONPOS``, ``ACTUATORPOS``,
-       ``BALLQUAT``, ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``, ``SUBTREECOM``, ``CLOCK``,
-       ``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``TENDONVEL``, ``ACTUATORVEL``, ``BALLANGVEL``, ``FRAMELINVEL``,
-       ``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``TOUCH``, ``CONTACT``, ``ACCELEROMETER``, ``FORCE``,
-       ``TORQUE``, ``ACTUATORFRC``, ``JOINTACTFRC``, ``TENDONACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``
-       (``CONTACT``: matching ``none-none``, ``geom-geom``; reduction ``mindist``, ``maxforce``; data ``all``)
-.. [3] **Geom unsupported**: ``SDF``. Collisions between (``SPHERE``, ``BOX``, ``MESH``, ``HFIELD``) and ``CYLINDER``.
-       Collisions between (``BOX``, ``MESH``, ``HFIELD``) and ``ELLIPSOID``.
-
-.. _MjxPerformance:
-
-Performance Tuning
-==================
-
-.. _MjxPerformanceWarp:
-
-MJX-Warp
---------
-
-:ref:`MJX-Warp <MjxWarp>` mitigates performance issues around scaling the number of contacts and constraints from
-:ref:`MJX-JAX <MjxSharpBits>`. MJX-Warp also fully supports mesh collisions. See the section on MuJoCo Warp
-performance tuning `here <https://mujoco.readthedocs.io/en/stable/mjwarp/index.html#performance-tuning>`__.
-
-.. _MjxPerformanceJAX:
-
-MJX-JAX
--------
-
-.. note::
-
-   :ref:`MJX-Warp <MjxWarp>` mitigates many of the performance issues with MJX-JAX!
-
-For MJX-JAX to perform well, some configuration parameters should be adjusted from their default MuJoCo values:
-
-:ref:`option/iterations<option-iterations>` and :ref:`option/ls_iterations<option-ls_iterations>`
-  The :ref:`iterations<option-iterations>` and :ref:`ls_iterations<option-ls_iterations>` attributes---which control
-  solver and linesearch iterations, respectively---should be brought down to just low enough that the simulation remains
-  stable. Accurate solver forces are not so important in reinforcement learning in which domain randomization is often
-  used to add noise to physics for sim-to-real. The ``NEWTON`` :ref:`Solver <mjtSolver>` delivers excellent convergence
-  with very few (often just one) solver iterations, and performs well on GPU. ``CG`` is currently a better choice for
-  TPU.
-
-:ref:`contact/pair<contact-pair>`
-  Consider explicitly marking geoms for collision detection to reduce the number of contacts that MJX-JAX must consider
-  during each step.  Enabling only an explicit list of valid contacts can have a dramatic effect on simulation
-  performance in MJX-JAX.  Doing this well often requires an understanding of the task -- for example, the
-  `OpenAI Gym Humanoid <https://github.com/openai/gym/blob/master/gym/envs/mujoco/humanoid_v4.py>`__ task resets when
-  the humanoid starts to fall, so full contact with the floor is not needed.
-
-:ref:`maxhullvert<asset-mesh-maxhullvert>`
-   Set :ref:`maxhullvert<asset-mesh-maxhullvert>` to `64` or less for better convex mesh collision performance.
-
-:ref:`option/flag/eulerdamp<option-flag-eulerdamp>`
-  Disabling ``eulerdamp`` can help performance and is often not needed for stability. Read the
-  :ref:`Numerical Integration<geIntegration>` section for details regarding the semantics of this flag.
-
-:ref:`option/jacobian<option-jacobian>`
-  Explicitly setting "dense" or "sparse" may speed up simulation depending on your device. Modern TPUs have specialized
-  hardware for rapidly operating over sparse matrices, whereas GPUs tend to be faster with dense matrices as long as
-  they fit onto the device. As such, the behavior in MJX-JAX for the default "auto" setting is sparse if ``nv >= 60``
-  (60 or more degrees of freedom), or if MJX-JAX detects a TPU as the default backend, otherwise "dense". For TPU, using
-  "sparse" with the Newton solver can speed up simulation by 2x to 3x. For GPU, choosing "dense" may impart a more modest
-  speedup of 10% to 20%, as long as the dense matrices can fit on the device.
-
-Broadphase
-  While MuJoCo handles broadphase culling out of the box, MJX-JAX requires additional parameters. For an approximate
-  version of broadphase, use the experimental custom numeric parameters ``max_contact_points`` and ``max_geom_pairs``.
-  ``max_contact_points`` caps the number of contact points sent to the solver for each condim type. ``max_geom_pairs``
-  caps the total number of geom-pairs sent to respective collision functions for each geom-type pair. As an example, the
-  `shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/test_data/shadow_hand>`__ environment
-  makes use of these parameters.
-
-GPU performance
-~~~~~~~~~~~~~~~
-
-The following environment variables should be set:
-
-``XLA_FLAGS=--xla_gpu_triton_gemm_any=true``
-  This enables the Triton-based GEMM (matmul) emitter for any GEMM that it supports.  This can yield a 30% speedup on
-  NVIDIA GPUs.  If you have multiple GPUs, you may also benefit from enabling flags related to
-  `communication between GPUs <https://jax.readthedocs.io/en/latest/gpu_performance_tips.html>`__.
-
-.. _MjxSharpBits:
-
-🔪 MJX-JAX - The Sharp Bits 🔪
-==============================
-
-.. note::
-
-   :ref:`MJX-Warp <MjxWarp>` mitigates many of the sharp bits of MJX-JAX!
-
-GPUs and TPUs have unique performance tradeoffs that MJX-JAX is subject to.  MJX-JAX specializes in simulating big batches of
-parallel identical physics scenes using algorithms that can be efficiently vectorized on
-`SIMD hardware <https://en.wikipedia.org/wiki/Single_instruction,_multiple_data>`__.  This specialization is useful
-for machine learning workloads such as `reinforcement learning <https://en.wikipedia.org/wiki/Reinforcement_learning>`__
-that require massive data throughput.
-
-There are certain workflows that MJX-JAX is ill-suited for (that MJX-Warp entirely mitigates):
-
-Single scene simulation
-  Simulating a single scene (1 instance of :ref:`mjData`), MJX-JAX can be **10x** slower than MuJoCo, which has been
-  carefully optimized for CPU.  MJX-JAX works best when simulating thousands or tens of thousands of scenes in parallel.
-
-Collisions between large meshes
-  MJX-JAX supports collisions between convex mesh geometries. However the convex collision algorithms in MJX-JAX are
-  implemented differently than in MuJoCo. MJX-JAX uses a branchless version of the `Separating Axis Test
-  <https://ubm-twvideo01.s3.amazonaws.com/o1/vault/gdc2013/slides/822403Gregorius_Dirk_TheSeparatingAxisTest.pdf>`__
-  (SAT) to determine if geometries are colliding with convex meshes, while MuJoCo uses either MPR or GJK/EPA, see
-  :ref:`Collision Detection<coChecking>` for more details. SAT works well for smaller meshes but suffers in both runtime
-  and memory for larger meshes.
-
-  For collisions with convex meshes and primitives, the convex decomposition of the mesh should have roughly **200
-  vertices or less** for reasonable performance. For convex-convex collisions, the convex mesh should have roughly
-  **fewer than 32 vertices**. We recommend using :ref:`maxhullvert<asset-mesh-maxhullvert>` in the MuJoCo compiler to
-  achieve desired convex mesh properties. With careful tuning, MJX-JAX can simulate scenes with mesh collisions -- see the
-  MJX-JAX `shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/test_data/shadow_hand>`__ config
-  for an example. Speeding up mesh collision detection is an active area of development for MJX-JAX.
-
-Large, complex scenes with many contacts
-  Accelerators exhibit poor performance for
-  `branching code <https://aschrein.github.io/jekyll/update/2019/06/13/whatsup-with-my-branches-on-gpu.html#tldr>`__.
-  Branching is used in broad-phase collision detection, when identifying potential collisions between large numbers of
-  bodies in a scene.  MJX-JAX ships with a simple branchless broad-phase algorithm (see performance tuning) but it is not as
-  powerful as the one in MuJoCo.
-
-  To see how this affects simulation, let us consider a physics scene with increasing numbers of humanoid bodies,
-  varied from 1 to 10. We simulate this scene using CPU MuJoCo on an Apple M3 Max and a 64-core AMD 3995WX and time
-  it using :ref:`testspeed<saTestspeed>`, using ``2 x numcore`` threads. We time the MJX-JAX simulation on an Nvidia
-  A100 GPU using a batch size of 8192 and an 8-chip
-  `v5 TPU <https://cloud.google.com/blog/products/compute/announcing-cloud-tpu-v5e-and-a3-gpus-in-ga>`__
-  machine using a batch size of 16384. Note the vertical scale is logarithmic.
-
-  .. figure:: images/mjx/SPS.svg
-     :width: 95%
-     :align: center
-
-  The values for a single humanoid (leftmost datapoints) for the four timed architectures are **650K**, **1.8M**,
-  **950K** and **2.7M** steps per second, respectively. Note that as we increase the number of humanoids (which
-  increases the number of potential contacts in a scene), MJX-JAX throughput decreases more rapidly than MuJoCo.
diff --git a/doc/mjx_api.rst b/doc/mjx_api.rst
deleted file mode 100644
index 291674e3..00000000
--- a/doc/mjx_api.rst
+++ /dev/null
@@ -1,45 +0,0 @@
-MJX API
-=======
-
-.. automodule:: mujoco.mjx
-  :members:
-  :imported-members:
-  :special-members: False
-  :private-members: False
-  :exclude-members:
-      Any,
-      __init__,
-      __format__,
-      __new__,
-      __eq__,
-      __hash__,
-      __repr__,
-      __weakref__,
-      __or__,
-      __and__,
-      __xor__,
-      __ror__,
-      __rand__,
-      __rxor__,
-      __invert__,
-      __delattr__,
-      __setattr__,
-      __getattr__,
-      __getattribute__,
-      __reduce__,
-      __reduce_ex__,
-      __sizeof__,
-      __str__,
-      __module__,
-      __doc__,
-      __dict__,
-      __class__,
-      __le__,
-      __lt__,
-      __ge__,
-      __gt__,
-      __ne__,
-      __bool__,
-      __init_subclass__,
-      replace,
-
diff --git a/doc/modeling.rst b/doc/modeling.rst
deleted file mode 100644
index 4da2b996..00000000
--- a/doc/modeling.rst
+++ /dev/null
@@ -1,1867 +0,0 @@
-========
-Modeling
-========
-
-Introduction
-------------
-
-MuJoCo's native model format is **MJCF**, an XML-based language designed to describe complex dynamical systems. This
-chapter is the primary MJCF modeling guide. The complete element and attribute reference manual is available in the
-:doc:`XMLreference` chapter. MuJoCo also supports loading models from other formats such as URDF (see :ref:`URDF
-extensions <CURDF>`), MJZ Zip archives (see :ref:`MJZ Archives <MJZArchives>`), and OpenUSD (see :doc:`OpenUSD/index`).
-
-MJCF models can represent complex dynamical systems with a wide range of features and model elements. Accessing all
-these features requires a rich modeling format, which can become cumbersome if it is not designed with usability in
-mind. Therefore we have made an effort to design MJCF as a scalable format, allowing users to start small and build
-more detailed models later. Particularly helpful in this regard is the extensive :ref:`default setting <CDefault>`
-mechanism inspired by the idea of Cascading Style Sheets (CSS) inlined in HTML. It enables users to rapidly create new
-models and experiment with them. Experimentation is further aided by numerous :ref:`options <option>` which can be used
-to reconfigure the simulation pipeline, and by quick re-loading that makes model editing an interactive process.
-
-One can think of MJCF as a hybrid between a modeling format and a programming language. There is a built-in compiler,
-which is a concept normally associated with programming languages. While MJCF does not have the power of a
-general-purpose programming language, a number of sophisticated compile-time computations are invoked automatically
-depending on how the model is designed.
-
-.. _ProceduralModeling:
-
-Procedural Modeling
-~~~~~~~~~~~~~~~~~~~~~
-
-This chapter covers high-level model design. For detailed documentation on programmatic modeling via the :ref:`mjSpec`
-API—including loading, editing, compiling, and saving models in C/C++ or Python—see the
-:doc:`Model Editing <programming/modeledit>` chapter.
-
-
-.. _Mechanisms:
-
-MJCF Mechanisms
----------------
-
-MJCF uses several mechanisms for model creation which span multiple model elements. To avoid repetition we describe them
-in detail only once in this section. These mechanisms do not correspond to new simulation concepts beyond those
-introduced in the Computation chapter. Their role is to simplify the creation of MJCF models, and to enable the use of
-different data formats without need for manual conversion to a canonical format.
-
-.. _CTree:
-
-Kinematic tree
-~~~~~~~~~~~~~~
-
-The main part of the MJCF file is an XML tree created by nested :ref:`body <body>` elements. The top-level body is
-special and is called :el:`worldbody`. This tree organization is in contrast with URDF where one creates a collection of
-links and then connects them with joints that specify a child and a parent link. In MJCF the child body is literally a
-child of the parent body, in the sense of XML.
-
-When a :ref:`joint <body-joint>` is defined inside a body, its function is not to connect the parent and child but
-rather to create motion degrees of freedom between them. If no joints are defined within a given body, that body is
-welded to its parent. A body in MJCF can contain multiple joints, thus there is no need to introduce dummy bodies for
-creating composite joints. Instead simply define all the primitive joints that form the desired composite joint within
-the same body. For example, two sliders and one hinge can be used to model a body moving in a plane.
-
-Other MJCF elements can be defined within the tree created by nested body elements, in particular
-:ref:`joint <body-joint>`, :ref:`geom <body-geom>`, :ref:`site <body-site>`, :ref:`camera <body-camera>`, :ref:`light
-<body-light>`. When an element is defined within a body, it is fixed to the local frame of that body and always moves
-with it. Elements that refer to multiple bodies, or do not refer to bodies at all, are defined in separate sections
-outside the kinematic tree.
-
-.. _CDefault:
-
-Default settings
-~~~~~~~~~~~~~~~~
-
-MJCF has an elaborate mechanism for setting default attribute values. This allows us to have a large number of elements
-and attributes needed to expose the rich functionality of the software, and at the same time write short and readable
-model files. This mechanism further enables the user to introduce a change in one place and have it propagate throughout
-the model. We start with an example.
-
-.. code-block:: xml
-
-   <mujoco>
-     <default class="main">
-       <geom rgba="1 0 0 1"/>
-       <default class="sub">
-         <geom rgba="0 1 0 1"/>
-       </default>
-     </default>
-
-     <worldbody>
-       <geom type="box"/>
-       <body childclass="sub">
-         <geom type="ellipsoid"/>
-         <geom type="sphere" rgba="0 0 1 1"/>
-         <geom type="cylinder" class="main"/>
-       </body>
-     </worldbody>
-   </mujoco>
-
-This example will not actually compile because some required information is missing, but here we are only interested
-in the setting of geom rgba values. The four geoms created above will end up with the following rgba values as a
-result of the default setting mechanism:
-
-========= =========
-geom type geom rgba
-========= =========
-box       1 0 0 1
-ellipsoid 0 1 0 1
-sphere    0 0 1 1
-cylinder  1 0 0 1
-========= =========
-
-
-The box uses the top-level defaults class "main" to set the values of its undefined attributes, because no other class
-was specified. The body specifies childclass "sub", causing all children of this body (and all their children etc.) to
-use class "sub" unless specified otherwise. So the ellipsoid uses class "sub". The sphere has explicitly defined rgba
-which overrides the default settings. The cylinder specifies defaults class "main", and so it uses "main" instead of
-"sub", even though the latter was specified in the childclass attribute of the body containing the geom.
-
-Now we describe the general rules. MuJoCo supports unlimited number of defaults classes, created by possibly nested
-:ref:`default <default>` elements in the XML. Each class has a unique name -- which is a required
-attribute except for the top-level class whose name is "main" if left undefined. Each class also has a complete
-collection of dummy model elements, with their attributes set as follows. When a defaults class is defined within
-another defaults class, the child automatically inherits all attribute values from the parent. It can then override
-some or all of them by defining the corresponding attributes. The top-level defaults class does not have a parent, and
-so its attributes are initialized to internal defaults which are shown in the :doc:`Reference chapter<XMLreference>`.
-
-The dummy elements contained in the defaults classes are not part of the model; they are only used to initialize the
-attribute values of the actual model elements. When an actual element is first created, all its attributes are copied
-from the corresponding dummy element in the defaults class that is currently active. There is always an active
-defaults class, which can be determined in one of three ways. If no class is specified in the present element or any
-of its ancestor bodies, the top-level class is used (regardless of whether it is called "main" or something else). If
-no class is specified in the present element but one or more of its ancestor bodies specify a childclass, then the
-childclass from the nearest ancestor body is used. If the present element specifies a class, that class is used
-regardless of any childclass attributes in its ancestor bodies.
-
-Some attributes, such as body inertia, can be in a special undefined state. This instructs the compiler to infer the
-corresponding value from other information, in this case the inertias of the geoms attached to the body. The undefined
-state cannot be entered in the XML file. Therefore once an attribute is defined in a given class, it cannot be undefined
-in that class or in any of its child classes. So if the goal is to leave a certain attribute undefined in a given model
-element, it must be undefined in the active defaults class.
-
-A final twist here is actuators. They are different because some of the actuator-related elements are actually
-shortcuts, and shortcuts interact with the defaults setting mechanism in a non-obvious way. This is explained in the
-:ref:`Actuator shortcuts <CActShortcuts>` section below.
-
-.. _CFrame:
-
-Coordinate frames
-~~~~~~~~~~~~~~~~~
-
-The positions and orientations of all elements defined in the kinematic tree are expressed in local coordinates,
-relative to the parent body for bodies, and relative to the body that contains the element for geoms, joints, sites,
-cameras and lights.
-
-A related attribute is :ref:`compiler/angle<compiler-angle>`. It specifies whether angles in the MJCF file are expressed
-in degrees or radians (after compilation, angles are always expressed in radians).
-
-Positions are specified using
-
-:at:`pos`: :at-val:`real(3), "0 0 0"`
-   Position relative to parent.
-
-.. _COrientation:
-
-Frame orientations
-^^^^^^^^^^^^^^^^^^
-
-Several model elements have right-handed spatial frames associated with them. These are all the elements defined in the
-kinematic tree except for joints. A spatial frame is defined by its position and orientation. Specifying 3D positions is
-straightforward, but specifying 3D orientations can be challenging. This is why MJCF provides several alternative
-mechanisms. No matter which mechanism the user chooses, the frame orientation is always converted internally to a unit
-quaternion. Recall that a 3D rotation by angle :math:`a` around axis given by the unit vector :math:`(x, y, z)`
-corresponds to the quaternion :math:`(\cos(a/2), \: \sin(a/2) \cdot (x, y, z))`. Also recall that every 3D orientation
-can be uniquely specified by a single 3D rotation by some angle around some axis.
-
-All MJCF elements that have spatial frames allow the five attributes listed below. The frame orientation is specified
-using at most one of these attributes. The :at:`quat` attribute has a default value corresponding to the null
-rotation, while the others are initialized in the special undefined state. Thus if none of these attributes are
-specified by the user, the frame is not rotated.
-
-:at:`quat`: :at-val:`real(4), "1 0 0 0"`
-   If the quaternion is known, this is the preferred was to specify the frame orientation because it does not involve
-   conversions. Instead it is normalized to unit length and copied into mjModel during compilation. When a model is
-   saved as MJCF, all frame orientations are expressed as quaternions using this attribute.
-:at:`axisangle`: :at-val:`real(4), optional`
-   These are the quantities :math:`(x, y, z, a)` mentioned above. The last number is the angle of rotation, in degrees
-   or radians as specified by the :at:`angle` attribute of :ref:`compiler <compiler>`. The first three numbers determine
-   a 3D vector which is the rotation axis. This vector is normalized to unit length during compilation, so the user can
-   specify a vector of any non-zero length. Keep in mind that the rotation is right-handed; if the direction of the
-   vector :math:`(x, y, z)` is reversed this will result in the opposite rotation. Changing the sign of :math:`a` can
-   also be used to specify the opposite rotation.
-:at:`euler`: :at-val:`real(3), optional`
-   Rotation angles around three coordinate axes. The sequence of axes around which these rotations are applied is
-   determined by the :at:`eulerseq` attribute of :ref:`compiler <compiler>` and is the same for the
-   entire model.
-:at:`xyaxes`: :at-val:`real(6), optional`
-   The first 3 numbers are the X axis of the frame. The next 3 numbers are the Y axis of the frame, which is
-   automatically made orthogonal to the X axis. The Z axis is then defined as the cross-product of the X and Y axes.
-:at:`zaxis`: :at-val:`real(3), optional`
-   The Z axis of the frame. The compiler finds the minimal rotation that maps the vector :math:`(0, 0, 1)` into the
-   vector specified here. This determines the X and Y axes of the frame implicitly. This is useful for geoms with
-   rotational symmetry around the Z axis, as well as lights -- which are oriented along the Z axis of their frame.
-
-.. _CSolver:
-
-Solver parameters
-~~~~~~~~~~~~~~~~~
-
-The constraint solver finds forces that satisfy soft constraints, parameterized by three quantities: the *impedance*
-:math:`d` (how strongly to enforce the constraint), *stiffness* :math:`k`, and *damping* :math:`b` (how to respond to
-violations). These are described mathematically in the :ref:`Parameters <soParameters>` section of the Computation
-chapter. Here we explain how to set them. Setting is done indirectly, through the attributes :at:`solref` and
-:at:`solimp` which are available in all MJCF elements involving constraints. These parameters can be adjusted per
-constraint, or per defaults class, or left undefined -- in which case MuJoCo uses the internal defaults shown below.
-Note also the override mechanism available in :ref:`option <option>`; it can be used to change all contact-related
-solver parameters at runtime, so as to experiment interactively with parameter settings or implement continuation
-methods for numerical optimization.
-
-Here we focus on a single scalar constraint. Using slightly different notation from the Computation chapter, let
-:math:`\ac` denote the acceleration, :math:`v` the velocity, :math:`r` the position or residual (defined as 0 in
-friction dimensions), :math:`k` and :math:`b` the stiffness and damping of the virtual spring used to define the
-reference acceleration :math:`\ar = -b v - k r` (see :eq:`eq:aref`).
-Let :math:`d` be the constraint impedance, and :math:`\au` the
-acceleration in the absence of constraint force. Our earlier analysis revealed that the dynamics in constraint space are
-approximately
-
-.. math::
-   \ac + d \cdot (b v + k r) = (1 - d)\cdot \au
-   :label: eq:constraint
-
-Again, the parameters that are under the user's control are :math:`d, b, k`. The remaining quantities are functions of
-the system state and are computed automatically at each time step.
-
-.. _CSolverImpedance:
-
-Impedance
-^^^^^^^^^
-
-We begin by explaining the constraint impedance :math:`d`.
-
-.. admonition:: Intuitive description of the **impedance**
-
-   The *impedance* :math:`d \in (0, 1)` corresponds to a constraint's **ability to generate force**.
-   Small values of :math:`d` correspond to weak constraints while large values of :math:`d`
-   correspond to strong constraints. The impedance affects the constraint at all times, in particular when the system is
-   at rest. Impedance is set using the :at:`solimp` attribute.
-
-Recall that :math:`d` must lie between 0 and 1; internally MuJoCo clamps it to the range [:ref:`mjMINIMP mjMAXIMP
-<glNumericEngine>`] which is currently set to [0.0001 0.9999]. It causes the solver to interpolate between the unforced
-acceleration :math:`\au` and reference acceleration :math:`\ar`. The user can set :math:`d` to a constant, or
-take advantage of its interpolating property and make it position-dependent, i.e., a function of the constraint
-violation :math:`r`. Position-dependent impedance can be used to model soft contact layers around objects, or define
-equality constraints that become stronger with larger violation (so as to approximate backlash, for example). The shape
-of the function :math:`d(r)` is determined by the element-specific parameter vector :at:`solimp`.
-
-**solimp :** real(5), "0.9 0.95 0.001 0.5 2"
-   The five numbers (:math:`d_0`, :math:`d_\text{width}`, :math:`\text{width}`, :math:`\text{midpoint}`,
-   :math:`\text{power}`) parameterize :math:`d(r)` -- the impedance :math:`d` as a function of the constraint
-   violation :math:`r`.
-
-   The first 3 values indicate that the impedance will vary smoothly as :math:`r` varies from
-   :math:`0` to :math:`\text{width}`:
-
-   .. math::
-      d(0) = d_0, \quad d(\text{width}) = d_\text{width}
-
-   The 4th and 5th values, :math:`\text{midpoint}` and :math:`\text{power}`, control the shape of the sigmoidal
-   function that interpolates between :math:`d_0` and :math:`d_\text{width}`, as shown in the plots below.
-   The plots show two reflected sigmoids, because the impedance :math:`d(r)` depends on the absolute
-   value of :math:`r`. The :math:`\text{power}` (of the polynomial spline used to generate the function) must be 1 or
-   greater. The :math:`\text{midpoint}` (specifying the inflection point) must be between 0 and 1, and is expressed in
-   units of :math:`\text{width}`. Note that when :math:`\text{power}` is 1, the function is linear regardless of the
-   :math:`\text{midpoint}`.
-
-   .. image:: images/modeling/impedance.png
-      :width: 600px
-      :align: center
-      :class: only-light
-
-   .. image:: images/modeling/impedance_dark.png
-      :width: 600px
-      :align: center
-      :class: only-dark
-
-   These plots show the impedance :math:`d(r)` on the vertical axis, as a function of the constraint violation :math:`r`
-   on the horizontal axis.
-
-   For equality constraints, :math:`r` is the constraint violation. For limits, normal directions of elliptic cones and
-   all directions of pyramidal cones, :math:`r` is the (limit or contact) distance minus the margin at which the
-   constraint becomes active; for contacts this margin is :ref:`margin<body-geom-margin>`.
-   Limit and contact constraints are active when :math:`r < 0` (penetration).
-
-   For frictional constraints, see :ref:`Friction<CSolverFriction>`.
-
-   .. _solimp0:
-
-   .. admonition:: Smoothness and differentiability
-      :class: tip
-
-      For completely smooth (differentiable) dynamics, limits and contacts should have :math:`d_0=0` (``solimp[0]=0``).
-      Specifically for contacts, the :ref:`mixing rules<solmixing>` of geom-associated solver parameters should be kept
-      in mind. See also discussion of derivatives in the :ref:`Computation chapter<derivatives>` and in the
-      :ref:`mjd_transitionFD` documentation.
-
-.. _CSolverReference:
-
-Reference
-^^^^^^^^^
-
-Next we explain the setting of the stiffness :math:`k` and damping :math:`b` which control the reference acceleration
-:math:`\ar`.
-
-.. admonition:: Intuitive description of the **reference acceleration**
-
-   The *reference acceleration* :math:`\ar` determines the **motion that constraint is trying to achieve** in order to
-   rectify violation. Imagine a body dropped onto the plane. Upon impact the constraint will generate a normal force
-   which attempts to rectify the penetration using a particular motion; this motion is the reference acceleration.
-
-   Another way of understanding the reference acceleration is to think of the unmodeled deformation variables
-   described in the :ref:`Computation chapter<soPrimal>`. Imagine two bodies pressed together, leading to deformation at
-   the contact. Now pull the bodies apart very quickly; the motion of the deformation as it settles into its undeformed
-   state is the reference acceleration.
-
-   This acceleration is defined by two numbers, a stiffness :math:`k` and damping :math:`b` which can be set directly or
-   re-parameterized as the time-constant and damping ratio of a mass-spring-damper system (a `harmonic oscillator
-   <https://en.wikipedia.org/wiki/Harmonic_oscillator>`__). The reference acceleration is controlled by the :at:`solref`
-   attribute.
-
-There are two formats for this attribute, determined by the sign of the numbers. If both numbers are positive the
-specification is considered to be in the :math:`(\text{timeconst}, \text{dampratio})` format. If negative it is in the
-"direct" :math:`(-\text{stiffness}, -\text{damping})` format.
-
-For frictional constraints, the mass-spring-damper analysis below does not directly apply;
-see :ref:`Friction<CSolverFriction>`.
-
-**solref :** real(2), "0.02 1"
-   We first describe the default, positive-value format where the two numbers are
-   :math:`(\text{timeconst}, \text{dampratio})`.
-
-   .. _soRefScaling:
-
-   The idea here is to re-parameterize the model in terms of the time constant and damping ratio of a mass-spring-damper
-   system. By "time constant" we mean the inverse of the natural frequency times the damping ratio. Now recall that the
-   products :math:`d \cdot k` and :math:`d \cdot b` in :eq:`eq:constraint` are the effective stiffness and damping in
-   constraint space. Because the impedance :math:`d(r)` varies with the
-   position residual :math:`r`, we cannot achieve constant mass-spring-damper properties; completely undoing the scaling
-   by :math:`d` is undesirable because the limit :math:`d = 0` would no longer disable the constraint. Instead, we
-   absorb one factor of :math:`d(r)` into :math:`k` (but not into :math:`b`), so that the damping ratio remains constant
-   while the time constant scales with :math:`d(r)`. The formulas are
-
-   .. math::
-      :label: eq:solref_standard
-
-      \begin{aligned}
-      b &= 2 / (d_\text{width}\cdot \text{timeconst}) \\
-      k &= d(r) / (d_\text{width}^2 \cdot \text{timeconst}^2 \cdot \text{dampratio}^2) \\
-      \end{aligned}
-
-   The timeconst parameter should be at least two times larger than the simulation time step, otherwise the system can
-   become too stiff relative to the numerical integrator (especially when Euler integration is used) and the simulation
-   can go unstable. This is enforced internally, unless the :ref:`refsafe<option-flag-refsafe>` attribute of :ref:`flag
-   <option-flag>` is set to false. The :math:`\text{dampratio}` parameter would normally be set to 1, corresponding to
-   critical damping. Smaller values result in under-damped or bouncy constraints, while larger values result in
-   over-damped constraints. Combining :eq:`eq:solref_standard` with :eq:`eq:constraint`, we can derive the following
-   If the reference acceleration is given using the positive number format and the impedance is constant
-   :math:`d = d_0 = d_\text{width}`, then the penetration depth at rest is
-
-   .. math::
-      r = \au \cdot (1 - d) \cdot \text{timeconst}^2 \cdot \text{dampratio}^2
-
-   Next we describe the direct format where the two numbers are :math:`(-\text{stiffness}, -\text{damping})`. This
-   allows direct control over restitution in particular. We still apply some scaling so that the same numbers can be
-   used with different impedances, but the scaling no longer depends on :math:`r` and the two numbers no longer
-   interact. The scaling formulas are
-
-   .. math::
-      :label: eq:solref_direct
-
-      \begin{aligned}
-      b &= \text{damping} / d_\text{width} \\
-      k &= \text{stiffness} \cdot d(r) / d_\text{width}^2 \\
-      \end{aligned}
-
-   Similarly to the derivation following :eq:`eq:solref_standard`, if the reference acceleration is given using the
-   impedance is constant, then the penetration depth at rest is
-
-   .. math::
-      r = \frac{\au (1 - d)}{\text{stiffness}}
-
-.. tip::
-   In the positive-value default format, the :math:`\text{timeconst}` parameter controls constraint **softness**.
-   It is specified in units of time and means "how quickly is the constraint trying to resolve the violation". Larger
-   values correspond to softer constraints.
-
-   The negative-value "direct" format is more flexible, for example allowing for perfectly elastic collisions
-   (:math:`\text{damping} = 0`). It is the recommended format for system identification.
-
-   A :math:`\text{dampratio}` of 1 in the positive-value format is equivalent to
-   :math:`\text{damping} = 2 \sqrt{ \text{stiffness} }` in the direct format.
-
-.. _CSolverFriction:
-
-Friction
-^^^^^^^^
-
-Friction loss constraints (in joints and tendons) and friction dimensions of elliptic contact cones have zero position
-violation: :math:`r \equiv 0`. This simplifies the constraint model (see also :ref:`soParameters`):
-
-- The **impedance** is always :math:`d_0` (:at:`solimp[0]`), since :math:`d(r)` is evaluated at :math:`r=0`.
-  The sigmoid shape parameters (:math:`\text{width}`, :math:`\text{midpoint}`, :math:`\text{power}`) have no effect.
-- The dynamics are **first-order** (exponential decay of constraint velocity, no spring): the stiffness :math:`k` is
-  always 0.
-- In the standard :at:`solref` format, the time constant controls exponential velocity decay. The damping ratio is
-  ignored (it only appears in the :math:`k` formula).
-- In the direct :at:`solref` format, the damping (second value) is used but the stiffness (first value) is ignored.
-- :math:`d_\text{width}` (:at:`solimp[1]`) still affects the damping :math:`b` as a scaling denominator
-  (:eq:`eq:solref_standard`, :eq:`eq:solref_direct`), even though it does not affect the impedance.
-
-.. _CContact:
-
-Contact parameters
-~~~~~~~~~~~~~~~~~~
-
-The parameters of each contact were described in the :ref:`Contact <coContact>` section of the Computation
-chapter. Here we explain how these parameters are set. If the geom pair is explicitly defined with the XML element
-:ref:`pair <contact-pair>`, it has attributes specifying all contact parameters directly. In that case the
-parameters of the individual geoms are ignored. If on the other hand the contact is generated by the dynamic mechanism,
-its parameters need to be inferred from the two geoms in the contact pair. If the two geoms have identical parameters
-there is nothing to do, but what if their parameters are different? In that case we use the geom attributes
-:at:`solmix` and :at:`priority` to decide how to combine them. The combination rules for each contact parameter
-are as follows:
-
-**condim**
-   If one of the two geoms has higher priority, its condim is used. If both geoms have the same priority, the maximum of
-   the two condims is used. In this way a frictionless geom and a frictional geom form a frictional contact, unless the
-   frictionless geom has higher priority. The latter is desirable in particle systems for example, where we may not want
-   the particles to stick to any objects.
-**friction**
-   Recall that contacts can have up to 5 friction coefficients: two tangential, one torsional, two rolling. Each contact
-   in mjData.contact actually has all 5 of them, even if condim is less than 6 and not all coefficients are used. In
-   contrast, geoms have only 3 friction coefficients: tangential (same for both axes), torsional, rolling (same for both
-   axes). Each of these 3D vectors of friction coefficients is expanded into a 5D vector of friction coefficients by
-   replicating the tangential and rolling components. See the :ref:`Contact<coContact>` section in the Computation
-   chapter for an intuitive description of the semantics of tangential, torsional and rolling coefficients.
-
-   The contact friction coefficients are then computed according to the following rule: if one of the two geoms has
-   higher priority, its friction coefficients are used. Otherwise the **element-wise maximum** of each friction
-   coefficient over the two geoms is used.
-
-   The reason for having 5 coefficients per contact and only 3 per geom is as follows. For a contact pair, we want to
-   allow the most flexible model our solver can handle. As mentioned earlier, anisotropic friction can be exploited to
-   model effects such as skating. This however requires knowing how the two axes of the contact tangent plane are
-   oriented. For a predefined contact pair we know the two geom types in advance, and the corresponding collision
-   function always generates contact frames oriented in the same way -- which we do not describe here but it can be seen
-   in the visualizer. For individual geoms however, we do not know which other geoms they might collide with and what
-   their geom types might be, so there is no way to know how the contact tangent plane will be oriented when specifying
-   an individual geom. This is why MuJoCo does not allow anisotropic friction in the individual geom specifications, but
-   only in the explicit contact pair specifications.
-**margin**, **gap**
-   The sum of the two geom margins (or gaps respectively) is used. The geom priority is ignored here, because the
-   margin and gap are distance properties and a one-sided specification makes little sense.
-   See :ref:`margin and gap<coMarginGap>`.
-
-.. _solmixing:
-
-**solref**, **solimp**
-   If one of the two geoms has higher :ref:`priority<body-geom-priority>`, its solref and solimp parameters are used. If
-   both geoms have the same priority, the weighted average is used. The weights are proportional to the solmix
-   attributes, i.e., weight1 = solmix1 / (solmix1 + solmix2) and similarly for weight2. There is one important exception
-   to this weighted averaging rule. If solref for either geom is non-positive, i.e., it relies on the direct format,
-   then the element-wise minimum is used regardless of solmix. This is because averaging solref parameters in different
-   formats would be meaningless.
-
-.. _COverride:
-
-Contact override
-~~~~~~~~~~~~~~~~
-
-MuJoCo uses an elaborate as well as novel :ref:`Constraint model <Constraint>` described in the
-Computation chapter. Gaining an intuition for how this model works requires some experimentation. In order to
-facilitate this process, we provide a mechanism to override some of the solver parameters, without making changes to
-the actual model. Once the override is disabled, the simulation reverts to the parameters specified in the model. This
-mechanism can also be used to implement continuation methods in the context of numerical optimization (such as optimal
-control or state estimation). This is done by allowing contacts to act from a distance in the early phases of
-optimization---so as to help the optimizer find a gradient and get close to a good solution---and reducing this effect
-later to make the final solution physically realistic.
-
-The relevant settings here are the :at:`override` attribute of :ref:`flag <option-flag>` which
-enables and disables this mechanism, and the :at:`o_margin`, :at:`o_solref`, :at:`o_solimp` attributes of
-:ref:`option <option>` which specify the new solver parameters. Note that the override applies only to
-contacts, and not to other types of constraints. In principle there are many real-valued parameters in a MuJoCo model
-that could benefit from a similar override mechanism. However we had to draw a line somewhere, and contacts are the
-natural choice because they give rise to the richest yet most difficult-to-tune behavior. Furthermore, contact
-dynamics often present a challenge in terms of numerical optimization, and experience has shown that continuation over
-contact parameters can help avoid local minima.
-
-.. _CUser:
-
-User parameters
-~~~~~~~~~~~~~~~
-
-A number of MJCF elements have the optional attribute :at:`user`, which defines a custom element-specific parameter
-array. This interacts with the corresponding "nuser_XXX" attribute of the :ref:`size <size>` element. If for example we
-set :at:`nuser_geom` to 5, then every geom in mjModel will have a custom array of 5 real-valued parameters. These geom-
-specific parameters are either defined in the MJCF file via the :at:`user` attribute of :ref:`geom <body-geom>`, or set
-to 0 by the compiler if this attribute is omitted. The default value of all "nuser_XXX" attributes is -1, which
-instructs the compiler to automatically set this value to the length of the maximum associated :at:`user` attribute
-defined in the model. MuJoCo does not use these parameters in any internal computations; instead they are available for
-custom computations. The parser allows arrays of arbitrary length in the XML, and the compiler later resizes them to
-length nuser_XXX.
-
-Some element-specific parameters that are normally used in internal computations can also be used in custom
-computations. This is done by installing user callbacks which override parts of the simulation pipeline. For example,
-the :ref:`general <actuator-general>` actuator element has attributes :at:`dyntype` and :at:`dynprm`. If
-:at:`dyntype` is set to "user", then MuJoCo will call :ref:`mjcb_act_dyn` to compute
-the actuator dynamics instead of calling its internal function. The user function pointed to by
-:ref:`mjcb_act_dyn` can interpret the parameters defined in :at:`dynprm` however it
-wishes. However the length of this parameter array cannot be changed (unlike the custom arrays described earlier whose
-length is defined in the MJCF file). The same applies to other callbacks.
-
-In addition to the element-specific user parameters described above, one can include global data in the model via
-:ref:`custom <custom>` elements. For data that change in the course of the simulation, there is also
-the array mjData.userdata whose size is determined by the :at:`nuserdata` attribute of the
-:ref:`size <size>` element.
-
-.. _CAlgorithms:
-
-Solver settings
-~~~~~~~~~~~~~~~
-
-The computation of constraint forces and constrained accelerations involves solving an optimization problem
-numerically. MuJoCo has three algorithms for solving this optimization problem: Newton, CG, PGS. Each of them can be
-applied to a pyramidal or elliptic model of the friction cones, and with dense or sparse constraint Jacobians. In
-addition, the user can specify the maximum number of iterations, and tolerance level which controls early termination.
-There is also a NoSlip solver, which is a post-processing step enabled by specifying a positive number of NoSlip
-iterations. All these algorithm settings can be specified in the :ref:`option <option>` element.
-
-The default settings work well for most models, but in some cases it is necessary to tune the algorithm. The best way to
-do this is to experiment with the relevant settings and use the visual profiler in :ref:`simulate.cc <saSimulate>`,
-which shows the timing of different computations as well as solver statistics per iteration. We can offer the following
-general guidelines and observations:
-
--  The constraint Jacobian should be dense for small models and sparse for large models. The default setting is 'auto';
-   it resolves to dense when the number of degrees of freedom is up to 60, and sparse over 60. Note however that the
-   threshold is better defined in terms of number of active constraints, which is model and behavior dependent.
--  The choice between pyramidal and elliptic friction cones is a modeling choice rather than an algorithmic choice,
-   i.e., it leads to a different optimization problem solved with the same algorithms. Elliptic cones correspond more
-   closely to physical reality. However pyramidal cones can improve the performance of the algorithms -- but not
-   necessarily. While the default is pyramidal, we recommend trying the elliptic cones. When contact slip is a problem,
-   the best way to suppress it is to use elliptic cones, large impratio, and the Newton algorithm with very small
-   tolerance. If that is not sufficient, enable the Noslip solver.
--  The Newton algorithm is the best choice for most models. It has quadratic convergence near the global minimum and
-   gets there in surprisingly few iterations -- usually around 5, and rarely more than 20. It should be used with
-   aggressive tolerance values, say 1e-10, because it is capable of achieving high accuracy without added delay (due to
-   quadratic convergence at the end). The only situation where we have seen it slow down are large models with elliptic
-   cones and many slipping contacts. In that regime the Hessian factorization needs a lot of updates. It may also slow
-   down in some large models with unfortunate ordering of model elements that results in high fill-in (computing the
-   optimal elimination order is NP-hard, so we are relying on a heuristic). Note that the number of non-zeros in the
-   factorized Hessian can be monitored in the profiler.
--  The CG algorithm works well in the situation described above where Newton slows down. In general CG shows linear
-   convergence with a good rate, but it cannot compete with Newton in terms of number of iterations, especially when
-   high accuracy is desired. However its iterations are much faster, and are not affected by fill-in or increased
-   complexity due to elliptic cones. If Newton proves to be too slow, try CG next.
--  The PGS solver is best when the number of degrees of freedom is larger than the number of constraints. PGS solves a
-   constrained optimization problem and has sub-linear convergence in our experience, however it usually makes rapid
-   progress on the first few iterations. So it is a good choice when inaccurate solutions can be tolerated. For systems
-   with large mass ratios or other model properties causing poor conditioning, PGS convergence tends to be rather slow.
-   Keep in mind that PGS performs sequential updates, and therefore breaks symmetry in systems where the physics should
-   be symmetric. In contrast, CG and Newton perform parallel updates and preserve symmetry.
--  The NoSlip solver is a modified PGS solver. It is executed as a post-processing step after the main solver (which can
-   be Newton, CG or PGS). The main solver updates all unknowns. In contrast, the NoSlip solver updates only the
-   constraint forces in friction dimensions, and ignores constraint regularization. This has the effect of suppressing
-   the drift or slip caused by the soft-constraint model. However, this cascade of optimization steps is no longer
-   solving a well-defined optimization problem (or any other problem); instead it is just an adhoc mechanism. While it
-   usually does its job, we have seen some instabilities in models with more complex interactions among multiple
-   contacts.
--  PGS has a setup cost (in terms of CPU time) for computing the inverse inertia in constraint space. Similarly, Newton
-   has a setup cost for the initial factorization of the Hessian, and incurs additional factorization costs depending on
-   how many factorization updates are needed later. CG does not have any setup cost. Since the NoSlip solver is also a
-   PGS solver, the PGS setup cost will be paid whenever NoSlip is enabled, even if the main solver is CG or Newton. The
-   setup operation for the main PGS and NoSlip PGS is the same, thus the setup cost is paid only once when both are
-   enabled.
-
-.. _CActuators:
-
-Actuators
-~~~~~~~~~
-
-This section describes various aspects of using actuators in MuJoCo. See the :ref:`Actuation model <geActuation>`
-regarding the computational model.
-
-.. _CActDisable:
-
-Group disable
-^^^^^^^^^^^^^
-
-The :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` attribute, which can be changed at runtime by setting the
-:ref:`mjOption.disableactuator<mjOption>` integer bitfield, allows the user to disable sets of actuators according to
-their :ref:`group<actuator-general-group>`. This feature is convenient when one would like to use multiple types of
-actuators for the same kinematic tree. For example consider a robot with firmware that supports multiple control modes
-e.g., torque-control and position-control. In this case, one can define both types of actuators in the same MJCF
-model, assigning one type of actuator to group 0 and the other to group 1.
-
-.. youtube:: H9qG9Zf2W44
-   :aspect: 2:1
-   :align: right
-   :width: 40%
-
-The :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` MJCF attribute selects which groups are disabled by
-default, and :ref:`mjOption.disableactuator<mjOption>` can be set at runtime to switch the active set. Note that the
-total number of actuators ``mjModel.nu`` remains unchanged, as do the actuator indices, so it is up to the user to know
-that the respective ``mjData.ctrl`` values of disabled actuators will be ignored and produce no force. `This example
-model <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/actuator_group_disable.xml>`__
-has three actuator groups which can be toggled at runtime in the :ref:`simulate<saSimulate>` interactive viewer.
-See `example model
-<https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/actuator_group_disable.xml>`__
-and associated screen-capture on the right.
-
-.. _CActShortcuts:
-
-Shortcuts
-^^^^^^^^^
-
-As explained in the :ref:`Actuation model <geActuation>` section of the Computation chapter, MuJoCo offers a flexible
-actuator model with transmission, activation dynamics and force generation components that can be specified
-independently. The full functionality can be accessed via the XML element :ref:`general <actuator-general>` which allows
-the user to create a variety of custom actuators. In addition, MJCF provides shortcuts for configuring common actuators.
-This is done via the XML elements :ref:`motor <actuator-motor>`, :ref:`position <actuator-position>`, :ref:`velocity
-<actuator-velocity>`, :ref:`intvelocity <actuator-intvelocity>`, :ref:`damper<actuator-damper>`,
-:ref:`cylinder<actuator-cylinder>`, :ref:`muscle <actuator-muscle>`, :ref:`adhesion <actuator-adhesion>`, and
-:ref:`dcmotor<actuator-dcmotor>`. These are
-*not* separate model elements. Internally MuJoCo supports only one actuator type -which is why when an MJCF model is
-saved all actuators are written as :el:`general`. Shortcuts create general actuators implicitly, set their attributes to
-suitable values, and expose a subset of attributes with possibly different names. For example, :el:`position` creates a
-position servo with attribute :at:`kp` which is the servo gain. However :el:`general` does not have an attribute
-:at:`kp`. Instead the parser adjusts the gain and bias parameters of the general actuator in a coordinated way so as to
-mimic a position servo. The same effect could have been achieved by using :el:`general` directly, and setting its
-attributes to certain values as described below.
-
-Actuator shortcuts also interact with defaults. Recall that the :ref:`default setting <CDefault>` mechanism involves
-classes, each of which has a complete collection of dummy elements (one of each element type) used to initialize the
-attributes of the actual model elements. In particular, each defaults class has only one general actuator element.
-What happens if we specify :el:`position` and later :el:`velocity` in the same defaults class? The XML elements are
-processed in order, and the attributes of the single general actuator are set every time an actuator-related element
-is encountered. Thus :el:`velocity` has precedence. If however we specify :el:`general` in the defaults class, it will
-only set the attributes that are given explicitly, and leave the rest unchanged. A similar complication arises when
-creating actual model elements. Suppose the active defaults class specified :el:`position`, and now we create an
-actuator using :el:`general` and omit some of its attributes. The missing attributes will be set to whatever values
-are used to model a position servo, even though this actuator may not be intended as a position servo.
-
-In light of these potential complications, we recommend a simple approach: use the same actuator shortcut in both the
-defaults class and in the creation of actual model elements. If a given model requires different actuators, either
-create multiple defaults classes, or avoid using defaults for actuators and instead specify all their attributes
-explicitly.
-
-.. _CForceRange:
-
-Force limits
-^^^^^^^^^^^^
-
-Actuator forces are usually limited between lower and upper bounds. These limits can be enforced in three ways:
-
-Control clamping with :ref:`ctrlrange<actuator-general-ctrlrange>`:
-  If this actuator attribute is set, the input control value will be clamped. For simple :ref:`motors<actuator-motor>`,
-  clamping the control input is equivalent to clamping the force output.
-
-Force clamping at actuator output with :ref:`forcerange<actuator-general-forcerange>`:
-  If this actuator attribute is set, the actuator's output force will be clamped. This attribute is useful for e.g.
-  :ref:`position actuators<actuator-position>`, to keep the forces within bounds. Note that position actuators
-  usually also require control range clamping to avoid hitting joint limits.
-
-Force clamping at joint input with :ref:`joint/actuatorfrcrange<body-joint-actuatorfrcrange>`:
-  This joint attribute clamps input forces from all actuators acting on the joint, after passing through the
-  :ref:`transmission<geTransmission>`. Clamping actuator forces at the joint is equivalent to clamping them at the
-  actuator if the transmission is trivial (there is a one-to-one relationship between the actuator and the joint).
-  However, in situations where multiple actuators act on one joint or one actuator acts on multiple joints---yet the
-  actual torque is applied by a single physical actuator at the joint---it is desirable to clamp the forces at the joint
-  itself. Below are three examples where it is desirable to clamp actuator forces at the joint, rather than the
-  actuator:
-
-  - In `this example model
-    <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/joint_force_clamp.xml>`__ ,
-    two actuators, a :ref:`motor<actuator-motor>` and a :ref:`damper<actuator-damper>`, act on a single joint.
-  - In `this example model <https://github.com/google-deepmind/mujoco/blob/main/model/car/car.xml>`__ (similar to a "Dubin's
-    Car"), two actuators act on two wheels via a :ref:`fixed tendon<tendon-fixed>` transmission in order to apply
-    symmetric (roll forward/back) and antisymmetric (turn right/left) torques.
-  - In `this example model <https://github.com/google-deepmind/mujoco/tree/main/test/engine/testdata/actuation/refsite.xml>`__,
-    a :ref:`site transmission<actuator-general-refsite>` implements a Cartesian controller of an arm end-effector.
-    In order for the computed torques to be realisable by individual, torque-limited joint motors, they need to be
-    clamped at the joints.
-
-  Note that in this case, where forces/torques are combined by the transmission, one should use the
-  :ref:`jointactuatorfrc<sensor-jointactuatorfrc>` sensor to report the total actuator force acting on a joint.
-  The standard :ref:`actuatorfrc<sensor-actuatorfrc>` sensor will continue to report the pre-clamped actuator force.
-
-Force clamping at tendon input with :ref:`tendon/actuatorfrcrange<tendon-spatial-actuatorfrcrange>`:
-  This tendon attribute clamps input forces from all actuators acting on the tendon.
-
-The clamping options above are non-exclusive and can be combined as required.
-
-.. _CLengthRange:
-
-Length range
-^^^^^^^^^^^^
-
-The field ``mjModel.actuator_lengthrange`` contains the range of feasible actuator lengths (or more
-precisely, lengths of the actuator's transmission). This is needed to simulate :ref:`muscle actuators <CMuscle>`.
-Here we focus on what actuator_lengthrange means and how to set it.
-
-Unlike all other fields of mjModel which are exact physical or geometric quantities, actuator_lengthrange is an
-approximation. Intuitively it corresponds to the minimum and maximum length that the actuator's transmission can reach
-over all "feasible" configurations of the model. However MuJoCo constraints are soft, so in principle any
-configuration is feasible. Yet we need a well-defined range for muscle modeling. There are three ways to set this
-range: (1) provide it explicitly using the attribute lengthrange available in all actuators; (2) copy it from the
-limits of the joint or tendon to which the actuator is attached; (3) compute it automatically, as explained in the
-rest of this section. There are many options here, controlled with the XML element
-:ref:`lengthrange <compiler-lengthrange>`.
-
-Automatic computation of actuator length ranges is done at compile time, and the results are stored in
-mjModel.actuator_lengthrange of the compiled model. If the model is then saved (either as XML or MJB), the computation
-does not need to be repeated at the next load. This is important because the computation can slow down the model
-compiler with large musculo-skeletal models. Indeed we have made the compiler multi-threaded just to speed up this
-operation (different actuators are processed in parallel in different threads).
-
-Automatic computation relies on modified physics simulation. For each actuator we apply force (negative when computing
-the minimum, positive when computing the maximum) through the actuator's transmission, advance the simulation in a
-damped regime avoiding instabilities, give it enough time to settle and record the result. This is related to gradient
-descent with momentum, and indeed we have experimented with explicit gradient-based optimization, but the problem is
-that it is not clear what objective we should be optimizing (given the mix of soft constraints). By using simulation,
-we are essentially letting the physics tell us what to optimize. Keep in mind though that this is still an
-optimization process, and as such it has parameters that may need to be adjusted. We provide conservative defaults
-which should work with most models, but if they don't, use the attributes of
-:ref:`lengthrange <compiler-lengthrange>` for fine-tuning.
-
-It is important to keep in mind the geometry of the model when using this feature. The implicit assumption here is
-that feasible actuator lengths are indeed limited. Furthermore we do not consider contacts as limiting factors (in
-fact we disable contacts internally in this simulation, together with passive forces, gravity, friction loss and
-actuator forces). This is because models with contacts can tangle up and produce many local minima. So the actuator
-should be limited either because of joint or tendon limits defined in the model (which are enabled during this
-simulation) or due to geometry. To illustrate the latter, consider a tendon with one end attached to the world and the
-other end attached to an object spinning around a hinge joint attached to the world. In this case the minimum and
-maximum length of the tendon are well-defined and depend on the size of the circle that the attachment point traces in
-space, even though neither the joint nor the tendon have limits defined by the user. But if the actuator is attached
-to the joint, or to a fixed tendon equal to the joint, then it is unlimited. The compiler will return an error in this
-case, but it cannot tell if the error is due to lack of convergence or because the actuator length is unlimited. All
-of this sounds overly complicated, and it is in the sense that we are considering all possible corner cases here. In
-practice length ranges will almost always be used with muscle actuators attached to spatial tendons, and there will be
-joint limits defined in the model, effectively limiting the lengths of the muscle actuators. If you get a convergence
-error in such a model, the most likely explanation is that you forgot to include joint limits.
-
-.. _CActivation:
-
-Stateful actuators
-^^^^^^^^^^^^^^^^^^
-
-As described in the :ref:`Actuation model <geActuation>` section of the Computation chapter, MuJoCo supports actuators
-with internal dynamics whose states are called "activations".
-
-.. _CActRange:
-
-Activation limits
-'''''''''''''''''
-
-One useful application of stateful actuators is the
-"integrated-velocity" actuator, implemented by the :ref:`intvelocity<actuator-intvelocity>` shortcut. Different from the
-:ref:`pure velocity<actuator-velocity>` actuators, which implement direct feedback on transmission target's velocity,
-*integrated-velocity* actuators couple an *integrator* with a *position-feedback* actuator. In this case the semantics
-of the activation state are "the setpoint of the position actuator", and the semantics of the control signal are "the
-velocity of the setpoint of the position actuator". Note that in real robotic systems this integrated-velocity actuator
-is the most common implementation of actuators with velocity semantics, rather than pure feedback on velocity which is
-often quite unstable (both in real life and in simulation).
-
-In the case of integrated-velocity actuators, it is often desirable to *clamp* the activation state, since otherwise the
-position target would keep integrating beyond the joint limits, leading to loss of controllabillity. (On purely
-rotational transmissions, the setpoint wraps on the circle and stays bounded without clamping; see
-:ref:`gear<actuator-general-gear>`.) To see the effect of activation clamping, load the example model below:
-
-.. collapse:: Example model with activation limits
-
-   .. code-block:: xml
-
-      <mujoco>
-      <default>
-         <joint axis="0 0 1" limited="true" range="-90 90" damping="0.3"/>
-         <geom size=".1 .1 .1" type="box"/>
-      </default>
-
-      <worldbody>
-         <body>
-            <joint name="joint1"/>
-            <geom/>
-         </body>
-         <body pos=".3 0 0">
-            <joint name="joint2"/>
-            <geom/>
-         </body>
-      </worldbody>
-
-      <actuator>
-         <intvelocity name="unclamped" joint="joint1"/>
-         <intvelocity name="clamped" joint="joint2" actrange="-1.57 1.57"/>
-      </actuator>
-      </mujoco>
-
-Note that the :at:`actrange` attribute is always specified in native units (radians), even though the joint range
-can be either in degrees (the default) or radians, depending on the :ref:`compiler/angle <compiler>` attribute.
-
-.. _CMuscle:
-
-Muscles
-'''''''
-
-We provide a set of tools for modeling biological muscles. Users who want to add muscles with minimum
-effort can do so with a single line of XML in the actuator section:
-
-.. code-block:: xml
-
-   <actuator>
-       <muscle name="mymuscle" tendon="mytendon">
-   </actuator>
-
-Biological muscles look very different from each other, yet behave in remarkably similar ways once certain scaling is
-applied. Our default settings apply such scaling, which is why one can obtain a reasonable muscle model without
-adjusting any parameters. Constructing a more detailed model will of course require parameter adjustment, as explained
-in this section.
-
-Keep in mind that even though the muscle model is quite elaborate, it is still a type of MuJoCo actuator and obeys the
-same conventions as all other actuators. A muscle can be defined using :ref:`general <actuator-general>`, but
-the shortcut :ref:`muscle <actuator-muscle>` is more convenient. As with all other actuators, the force
-production mechanism and the transmission are defined independently. Nevertheless, muscles only make (bio)physical
-sense when attached to tendon or joint transmissions. For concreteness we will assume a tendon transmission here.
-
-First we discuss length and length scaling. The range of feasible lengths of the transmission (i.e., MuJoCo tendon) will
-play an important role; see :ref:`Length range <CLengthRange>` section above. In biomechanics, a muscle and a tendon are
-attached in series and form a muscle-tendon actuator. Our convention is somewhat different: in MuJoCo the entity that
-has spatial properties (in particular length and velocity) is the tendon, while the muscle is an abstract force-
-generating mechanism that pulls on the tendon. Thus the tendon length in MuJoCo corresponds to the muscle+tendon length
-in biomechanics. We assume that the biological tendon is inelastic, with constant length :math:`L_T`, while the
-biological muscle length :math:`L_M` varies over time. The MuJoCo tendon length is the sum of the biological muscle and
-tendon lengths:
-
-.. math::
-   \texttt{actuator\_length} = L_T + L_M
-
-Another important constant is the optimal resting length of the muscle, denoted :math:`L_0`. It equals the length
-:math:`L_M` at which the muscle generates maximum active force at zero velocity. We do not ask the user to specify
-:math:`L_0` and :math:`L_T` directly, because it is difficult to know their numeric values given the spatial complexity
-of the tendon routing and wrapping. Instead we compute :math:`L_0` and :math:`L_T` automatically as follows. The length
-range computation described above already provided the operating range for :math:`L_T+L_M`. In addition, we ask the user
-to specify the operating range for the muscle length :math:`L_M` scaled by the (still unknown) constant :math:`L_0`.
-This is done with the attribute range; the default scaled range is :math:`(0.75, 1.05)`. Now we can compute the two
-constants, using the fact that the actual and scaled ranges have to map to each other:
-
-.. math::
-   \begin{aligned}
-   (\texttt{actuator\_lengthrange[0]} - L_T) / L_0 &= \texttt{range[0]} \\
-   (\texttt{actuator\_lengthrange[1]} - L_T) / L_0 &= \texttt{range[1]} \\
-   \end{aligned}
-
-At runtime, we compute the scaled muscle length and velocity as:
-
-.. math::
-   \begin{aligned}
-   L &= (\texttt{actuator\_length} - L_T) / L_0 \\
-   V &= \texttt{actuator\_velocity} / L_0 \\
-   \end{aligned}
-
-The advantage of the scaled quantities is that all muscles behave similarly in that representation. The behavior is
-captured by the Force-Length-Velocity (:math:`\text{\small FLV}`) function measured in many experimental papers. We
-approximate this function as follows:
-
-.. image:: images/modeling/musclemodel.png
-   :width: 650px
-   :align: center
-   :class: only-light
-
-.. image:: images/modeling/musclemodel_dark.png
-   :width: 650px
-   :align: center
-   :class: only-dark
-
-The function is in the form:
-
-.. math::
-   \text{\small FLV}(L, V, \texttt{act}) = F_L(L)\cdot F_V(V)\cdot \texttt{act} + F_P(L)
-
-Comparing to the general form of a MuJoCo actuator, we see that :math:`F_L\cdot F_V` is the actuator gain and
-:math:`F_P` is the actuator bias. :math:`F_L` is the active force as a function of length, while :math:`F_V` is the
-active force as a function of velocity. They are multiplied to obtain the overall active force (note the scaling by act
-which is the actuator activation). :math:`F_P` is the passive force which is always present regardless of activation.
-The output of the :math:`\text{\small FLV}` function is the scaled muscle force. We multiply the scaled force by a
-muscle-specific constant :math:`F_0` to obtain the actual force:
-
-.. math::
-   \texttt{actuator\_force} = -\text{\small FLV}(L, V, \texttt{act}) \cdot F_0
-
-The negative sign is because positive muscle activation generates pulling force. The constant :math:`F_0` is the peak
-active force at zero velocity. It is related to the muscle thickness (i.e., physiological cross-sectional area or PCSA).
-If known, it can be set with the attribute force of element :ref:`muscle <actuator-muscle>`. If it is not known, we set
-it to :math:`-1` which is the default. In that case we rely on the fact that larger muscles tend to act on joints that
-move more weight. The attribute scale defines this relationship as:
-
-.. math::
-   F_0 = \text{scale} / \texttt{actuator\_acc0}
-
-The quantity :math:`\texttt{actuator\_acc0}` is precomputed by the model compiler. It is the norm of the joint
-acceleration caused by unit force acting on the actuator transmission. Intuitively, :math:`\text{scale}` determines how
-strong the muscle is "on average" while its actual strength depends on the geometric and inertial properties of the
-entire model.
-
-Thus far we encountered three constants that define the properties of an individual muscle: :math:`L_T, L_0, F_0`. In
-addition, the function :math:`\text{\small FLV}` itself has several parameters illustrated in the above figure:
-:math:`l_\text{min}, l_\text{max}, v_\text{max}, f_\text{pmax}, f_\text{vmax}`. These are supposed to be the same for
-all muscles, however different experimental papers suggest different shapes of the FLV function, thus users familiar
-with that literature may want to adjust them. We provide the MATLAB function `FLV.m <_static/FLV.m>`__ which was used to
-generate the above figure and shows how we compute the :math:`\text{\small FLV}` function.
-
-Before embarking on a mission to design more accurate :math:`\text{\small FLV}` functions, consider the fact that the
-operating range of the muscle has a bigger effect than the shape of the :math:`\text{\small FLV}` function, and in many
-cases this parameter is unknown. Below is a graphical illustration:
-
-.. image:: images/modeling/musclerange.png
-   :width: 500px
-   :align: center
-   :class: only-light
-
-.. image:: images/modeling/musclerange_dark.png
-   :width: 500px
-   :align: center
-   :class: only-dark
-
-This figure format is common in the biomechanics literature, showing the operating range of each muscle superimposed on
-the normalized :math:`\text{FL}` curve (ignore the vertical displacement). Our default range is shown in black. The blue
-curves are experimental data for two arm muscles. One can find muscles with small range, large range, range spanning the
-ascending portion of the :math:`\text{FL}` curve, or the descending portion, or some of both. Now suppose you have a
-model with 50 muscles. Do you believe that someone did careful experiments and measured the operating range for every
-muscle in your model, taking into account all the joints that the muscle spans? If not, then it is better to think of
-musculo-skeletal models as having the same general behavior as the biological system, while being different in various
-details -- including details that are of great interest to some research community. For most muscle properties which
-modelers consider constant and known, there is an experimental paper showing that they vary under some conditions. This
-is not to discourage people from building accurate models, but rather to discourage people from believing too strongly
-in their models.
-
-Coming back to our muscle model, there is the muscle activation ``act``. This is the state of a first-order nonlinear
-filter whose input is the control signal. The filter dynamics are:
-
-
-.. math::
-   \frac{\partial}{\partial t}\texttt{act} = \frac{\texttt{ctrl} - \texttt{act}}{\tau(\texttt{ctrl}, \texttt{act})}
-
-Internally the control signal is clamped to [0, 1] even if the actuator does not have a control range specified. There
-are two time constants specified with the attribute timeconst, namely :math:`\text{timeconst} = (\tau_\text{act},
-\tau_\text{deact})` with defaults :math:`(0.01, 0.04)`. Following `Millard et al. (2013)
-<https://doi.org/10.1115/1.4023390>`__, the effective time constant :math:`\tau` is then computed at runtime as:
-
-.. math::
-   \tau(\texttt{ctrl}, \texttt{act}) =
-   \begin{cases}
-      \tau_\text{act} \cdot (0.5 + 1.5\cdot\texttt{act}) & \texttt{ctrl}-\texttt{act} \gt 0 \\
-      \tau_\text{deact} / (0.5 + 1.5\cdot\texttt{act}) & \texttt{ctrl} - \texttt{act} \leq 0
-   \end{cases}
-
-Since the above equation describes discontinuous switching, which can be undesirable when using derivative-based
-optimization, we introduce the optional smoothing parameter :ref:`tausmooth<actuator-muscle-tausmooth>`. When greater
-than 0, the switching is replaced by :ref:`mju_sigmoid`, which will smoothly interpolate between the two values within
-the range :math:`(\texttt{ctrl}-\texttt{act}) \pm \text{tausmooth}/2`.
-
-Now we summarize the attributes of element :ref:`muscle <actuator-muscle>` which users may want to adjust,
-depending on their familiarity with the biomechanics literature and availability of detailed measurements with regard
-to a particular model:
-
-Defaults
-   Use the built-in defaults everywhere. All you have to do is attach a muscle to a tendon, as shown at the beginning of
-   this section. This yields a generic yet reasonable model.
-scale
-   If you do not know the strength of individual muscles but want to make all muscles stronger or weaker, adjust scale.
-   This can be adjusted separately for each muscle, but it makes more sense to set it once in the
-   :ref:`default <default>` element.
-force
-   If you know the peak active force :math:`F_0` of the individual muscles, enter it here. Many experimental papers
-   contain this data.
-range
-   The operating range of the muscle in scaled lengths is also available in some papers. It is not clear how reliable
-   such measurements are (given that muscles act on many joints) but they do exist. Note that the range differs
-   substantially between muscles.
-timeconst
-   Muscles are composed of slow-twitch and fast-twitch fibers. The typical muscle is mixed, but some muscles have a
-   higher proportion of one or the other fiber type, making them faster or slower. This can be modeled by adjusting the
-   time constants. The vmax parameter of the :math:`\text{\small FLV}` function should also be adjusted accordingly.
-tausmooth
-   When positive, smooths the transition between activation and de-activation time-constants. While a single
-   `motor unit <https://en.wikipedia.org/wiki/Motor_unit>`__ is either activating or de-activating, an entire muscle
-   will have a mixture of many units, leading to a corresponding mixture of timescales.
-lmin, lmax, vmax, fpmax, fvmax
-   These are the parameters controlling the shape of the :math:`\text{\small FLV}` function. Advanced users can
-   experiment with them; see MATLAB function `FLV.m <_static/FLV.m>`__. Similar to the scale setting, if you want to
-   change the :math:`\text{\small FLV}` parameters for all muscles, do so in the :ref:`default <default>` element.
-Custom model
-   Instead of adjusting the parameters of our muscle model, users can implement a different model, by setting gaintype,
-   biastype and dyntype of a :ref:`general <actuator-general>` actuator to "user" and providing callbacks at
-   runtime. Or, leave some of these types set to "muscle" and use our model, while replacing the other components. Note
-   that tendon geometry computations are still handled by the standard MuJoCo pipeline providing actuator_length,
-   actuator_velocity and actuator_lengthrange as inputs to the user's muscle model. Custom callbacks could then simulate
-   elastic tendons or any other detail we have chosen to omit.
-
-**Relation to OpenSim**
-
-The standard software used by researchers in biomechanics is OpenSim. We have designed our muscle model to be similar
-to the OpenSim model where possible, while making simplifications which result in significantly faster and more stable
-simulations. To help MuJoCo users convert OpenSim models, here we summarize the similarities and differences.
-
-The activation dynamics model is identical to OpenSim, including the default time constants.
-
-The :math:`\text{\small FLV}` function is not exactly the same, but both MuJoCo and OpenSim approximate the same
-experimental data, so they are very close. For a description of the OpenSim model and summary of relevant experimental
-data, see `Millard et al. (2013) <https://doi.org/10.1115/1.4023390>`__.
-
-We assume inelastic tendons while OpenSim can model tendon elasticity. We decided not to do that here, because tendon
-elasticity requires fast-equilibrium assumptions which in turn require various tweaks and are prone to simulation
-instability. In practice tendons are quite stiff, and their effect can be captured approximately by stretching the
-:math:`\text{FL}` curve corresponding to the inelastic case (`Zajac (1989)
-<https://pubmed.ncbi.nlm.nih.gov/2676342/>`__). This can be done in MuJoCo by shortening the muscle operating range.
-
-Pennation angle (i.e., the angle between the muscle and the line of force) is not modeled in MuJoCo and is assumed to
-be 0. This effect can be approximated by scaling down the muscle force and also adjusting the operating range.
-
-Tendon wrapping is also more limited in MuJoCo. We allow spheres and infinite cylinders as wrapping objects, and require
-two wrapping objects to be separated by a fixed site in the tendon path. This is to avoid the need for iterative
-computations of tendon paths. We also allow "side sites" to be placed inside the sphere or cylinder,
-which causes an inverse wrap: the tendon path is constrained to pass through the object instead of going around it. This
-can replace torus wrapping objects used in OpenSim to keep the tendon path within a given area. Overall, tendon wrapping
-is the most challenging part of converting an OpenSim model to a MuJoCo model, and requires some manual work. On the
-bright side, there is a small number of high-quality OpenSim models in use, so once they are converted we are done.
-
-Below we illustrate the four types of tendon wrapping available. Note that the curved sections of the
-wrapping tendons are rendered as straight, but the geometry pipeline works with the actual curves and computes their
-lengths and moments analytically:
-
-|image3|
-
-.. _CSensor:
-
-Sensors
-~~~~~~~
-
-MuJoCo can simulate a wide variety of sensors as described in the :ref:`sensor <sensor>` element below.
-User sensor types can also be defined, and are evaluated by the callback
-:ref:`mjcb_sensor`. Sensors do not affect the simulation. Instead their outputs are
-copied in the array mjData.sensordata and are available for user processing.
-
-Here we describe the XML attributes common to all sensor types, so as to avoid repetition later.
-
-.. _sensor-name:
-
-:at:`name`: :at-val:`string, optional`
-   Name of the sensor.
-
-.. _sensor-noise:
-
-:at:`noise`: :at-val:`real, "0"`
-   The standard deviation of the noise model of this sensor. This attribute does not affect the simulation; it serves as
-   a convenient location for storing standard deviation information for later use.
-
-.. _sensor-cutoff:
-
-:at:`cutoff`: :at-val:`real, "0"`
-   When this value is positive, it limits the absolute value of the sensor output. It is also used to normalize the
-   sensor data plots in :ref:`simulate.cc <saSimulate>`. Note that :at:`cutoff` has a different meaning for
-   :ref:`collision sensors<collision-sensors>`.
-
-.. _sensor-nsample:
-
-:at:`nsample`: :at-val:`int, "0"`
-   If :at-val:`nsample` is greater than 0, creates a time-indexed ring buffer with :at:`nsample` slots of sensor data.
-   During state advancement, the current sensor data is appended to the buffer with timestamp ``time``, and the oldest
-   sample is removed. Values in the history buffer can be read via :ref:`mj_readSensor`. A positive :at-val:`nsample`
-   is required for both :ref:`delay<sensor-delay>` and :ref:`interval<sensor-interval>` features.
-
-   See :ref:`Delays<CDelay>` for details.
-
-.. _sensor-interp:
-
-:at:`interp`: :at-val:`[zoh, linear, cubic], "zoh"`
-   The interpolation method used when reading from the history buffer. Corresponds to the ``interp`` argument in
-   :ref:`mj_readSensor`.
-
-   - ``zoh``: Zero-order hold (piecewise constant).
-   - ``linear``: Piecewise linear interpolation.
-   - ``cubic``: Cubic spline interpolation (Catmull-Rom).
-
-   The :at:`interp` value is for advanced use-cases, see :ref:`Delays<CDelay>` for details.
-
-.. _sensor-delay:
-
-:at:`delay`: :at-val:`real, "0"`
-   If greater than 0, sensor values in ``mjData.sensordata`` are read from the history buffer at ``time - delay`` rather
-   than computed directly. Requires positive :ref:`nsample<sensor-nsample>`, cannot be negative.
-
-   In the most common case, ``delay = nsample * timestep``, see :ref:`Delays<CDelay>` for details.
-
-.. _sensor-interval:
-
-:at:`interval`: :at-val:`real, "0 0"`
-   This attribute controls how often sensor values are recomputed. It is useful for modeling sensors that have a larger
-   sampling period than the simulation timestep. Requires a history buffer (:ref:`nsample <sensor-nsample>` > 0).
-
-   This attribute is defined by two real-valued numbers, both in units of time, called :at:`interval` =
-   ":at-val:`period` :at-val:`phase`". It is possible to only specify the :at-val:`period`, in which case the
-   :at-val:`phase` is assumed to be 0.
-
-   The :at-val:`period` specifies the interval period between recomputations. The default value of 0 has the special
-   meaning "every simulation timestep". Note that the period is not required to be an integer multiple of the timestep.
-   For example, if the simulation timestep is 1.0, and :at-val:`period` is 2.5, the sensor will be computed at times
-   0.0, 3.0, 5.0, 8.0, 10.0, 13.0, ... with the actual interval alternating between 2 and 3 timesteps. :at-val:`period`
-   cannot be negative. Note that only ``period > timestep`` values make sense; values smaller than or equal to the
-   timestep will not lead to an error but merely cause the sensor to be recomputed at every timestep.
-
-   The :at-val:`phase` only takes effect during history buffer initialization in :ref:`mj_resetData`. It specifies the
-   last time that the sensor was computed "before the simulation started" in continuous time (i.e., disregarding the
-   quantization of timesteps). It is useful for precisely controlling the *relative phase* of sensor computation and
-   simulation time, when interval is used. The default value of 0 has the special meaning ":at-val:`-period`", i.e.
-   specifying that the sensor should be computed at the first timestep of the simulation. Continuing our example from
-   earlier, if the timestep is 1.0 and interval is ":at-val:`2.5 -1.5`", the sensor will be computed at times 1.0, 4.0,
-   6.0, 9.0, 11.0, 14.0, etc. :at-val:`phase` must be in the range :math:`(-\text{period}, 0]`.
-
-:at:`user`: :at-val:`real(nuser_sensor), "0 0 ..."`
-   See :ref:`User parameters <CUser>`.
-
-.. _CDelay:
-
-Delays
-~~~~~~
-
-Both actuators and sensors support time delays via a ring buffer that stores timestamped samples. When the integer
-attribute :at:`nsample` (:ref:`actuators<actuator-general-nsample>`, :ref:`sensors<sensor-nsample>`) is positive, a
-buffer with :at:`nsample` slots is included in the :ref:`physics state<siPhysicsState>` component ``mjData.history``
-and the samples and current timestamps are written into the buffer upon state advancement.
-
-If additionally the real-valued :at:`delay` attribute (:ref:`actuators<actuator-general-delay>`,
-:ref:`sensors<sensor-delay>`) is positive, then during the forward dynamics the control or sensor values are read from
-the history buffer (instead of being read from ``ctrl`` or recomputed, respectively). Positive :at:`delay` requires
-positive :at:`nsample`.
-
-Note that since reading happens before writing, the minimum positive delay is effectively one timestep, despite
-:at:`delay` being real-valued.
-
-Delayed reading in the engine is triggered by positive :at:`delay`, and performed by the API functions
-:ref:`mj_readCtrl` and :ref:`mj_readSensor`, which read from the buffer at ``time - delay``, effectively implementing
-the requested delay. These functions take ``time`` as an argument and can be used whenever :at:`nsample` is positive,
-allowing the user to inspect the contents of the history buffer at any time, including in a "history-only" mode
-(:at:`nsample` > 0, :at:`delay` = 0), where past values are accessible via the API but the simulation is unaffected.
-
-**Sensor Modes**
-
-Sensors support both :ref:`delay<sensor-delay>` and :ref:`interval/period<sensor-interval>` attributes.
-The combination determines behavior:
-
-.. list-table::
-   :header-rows: 1
-   :widths: 10 10 80
-
-   * - delay
-     - period
-     - Write / Read behavior
-   * - = 0
-     - = 0
-     - History-only: computed every step, written to ``sensordata``, pushed into history buffer
-   * - > 0
-     - = 0
-     - Delayed: computed every step, ``sensordata`` contains delayed reading (read from buffer)
-   * - = 0
-     - > 0
-     - Periodic: computed on period, ``sensordata`` contains last computed value (no delay)
-   * - > 0
-     - > 0
-     - Periodic + Delayed: computed on period, ``sensordata`` contains delayed reading (read from buffer)
-
-**Initialization**
-
-History buffers are initialized by :ref:`mj_resetData` as follows:
-
-- **Values**: Always initialized to zero. For custom initialization after reset, call :ref:`mj_initCtrlHistory`
-  and :ref:`mj_initSensorHistory`.
-
-- **Actuator timestamps**: ``[..., -2*dt, -dt]``.
-
-- **Sensor timestamps** without :ref:`interval<sensor-interval>`: ``[..., -2*dt, -dt]``.
-
-- **Sensor timestamps** with :ref:`interval<sensor-interval>`: Samples are spaced at ``period`` intervals rather than
-  ``dt``. The continuous-time timestamps ``[..., phase-2*period, phase-period, phase]`` are rounded up to the nearest
-  multiple of ``dt``, since that is when samples could have been computed. If ``phase = 0`` (the default), it is
-  interpreted as ``-period``, meaning the first sample will be computed at ``t = 0``.
-
-**Causality and interpolation**
-
-The most common positive delay value is ``delay = timestep * nsample``, which implements a simple
-history buffer, with no causality issues.
-
-.. warning::
-
-   If ``delay > timestep * nsample``, then data will be read before the earliest buffer bound, resulting in non-causal
-   extrapolation: using a value from before it was actually recorded. This scenario will not lead to a runtime error,
-   so it is up to the user to avoid it.
-
-Setting ``delay < timestep * nsample`` is not problematic and can be useful for system identification and stochastic
-delays. In these use cases, one should choose a maximum possible ``delay_max`` and set ``nsample = ceil(delay_max /
-timestep)``. Then at run-time or sysID-time, the :ref:`mjModel` fields ``actuator_delay`` or ``sensor_delay`` can be
-safely modified, so long as ``delay_max`` is not exceeded.
-
-.. image:: images/modeling/delay_buffer_light.svg
-   :width: 50%
-   :align: right
-   :class: only-light
-
-.. image:: images/modeling/delay_buffer_dark.svg
-   :width: 50%
-   :align: right
-   :class: only-dark
-
-These two use cases are the reason for including the :at:`interp` attribute (:ref:`actuators<actuator-general-interp>`,
-:ref:`sensors<sensor-interp>`). While real-world exogenous delays are generally a zero-order-hold phenomenon, this
-implies discontinuity: a small change in the delay has no effect, until the timestep threshold is crossed. For example
-with ``dt = 0.1`` and ``nsample = 2``, there is no functional difference between ``delay = 0.2`` and ``delay = 0.101``
-(both read from the oldest sample), but stepping from ``delay = 0.101`` to ``delay = 0.1`` crosses a threshold and
-changes behavior. By allowing higher order interpolation, the effect of delays becomes continuous (``interp = linear``)
-and differentiable (``interp = cubic``).
-
-Note that interpolation does not makes sense for some types of sensors, for example sensors that report integer values
-(e.g. :ref:`insidesite<sensor-insidesite>`).
-
-.. _CCamera:
-
-Cameras
-~~~~~~~
-
-Besides the default, user-controllable, free camera, "fixed" cameras can be attached to the kinematic tree.
-
-Extrinsics
-   By default, camera frames are attached to the containing body. The optional :ref:`mode<body-camera-mode>` and
-   :ref:`target<body-camera-target>` attributes can be used to specify cameras that track (move with) or target (look
-   at) a body or subtree. Cameras look towards the negative Z axis of the camera frame, while positive X and Y correspond to
-   *right* and *up* in the image plane, respectively.
-
-Projection
-   Cameras use :ref:`perspective<body-camera-projection>` projection by default. Setting
-   :ref:`projection<body-camera-projection>` to ``orthographic`` switches to an orthographic projection, where the
-   :ref:`fovy<body-camera-fovy>` attribute is interpreted as the vertical extent in length units rather than degrees.
-
-Intrinsics
-   Camera intrinsics are specified using :ref:`ipd<body-camera-ipd>` (inter-pupilary distance, required for
-   stereoscopic rendering and VR) and :ref:`fovy<body-camera-fovy>` (vertical field of view, in degrees).
-
-   The above specification implies a perfect point camera with no aberrations. However when calibrating real cameras,
-   two types of linear aberration can be expressed using standard rendering pipelines. The first is different focal
-   lengths in the vertical and horizontal directions (axis-aligned astigmatism). The second is a non-centered principal
-   point. These can be specified using the :ref:`focal<body-camera-focal>` and :ref:`principal<body-camera-principal>`
-   attributes. When these calibration-related attributes are used, the physical
-   :ref:`sensor size<body-camera-sensorsize>` and camera :ref:`resolution<body-camera-resolution>` must also be
-   specified. In this case, the rendering frustum can be visualized.
-
-.. _CComposite:
-
-Composite objects
-~~~~~~~~~~~~~~~~~
-
-Composite objects are collections of existing elements originally designed to simulate particle systems, ropes, cloth,
-and soft bodies. Over time, most of these types have been replaced by :ref:`replicate<replicate>` (for repeated objects)
-and :ref:`flexcomp<body-flexcomp>` (for soft objects). Therefore, the only supported composite type is now ``cable``,
-which produces an inextensible chain of bodies connected with ball joints.
-
-Composite objects are made up of regular MuJoCo bodies, which we call "element bodies" in this context. The collection
-of element bodies is generated by the model compiler automatically. The user configures the automatic generator on a
-high level, using the XML element :ref:`composite <body-composite>` and its attributes and sub-elements, as
-described in the XML reference chapter. If the compiled model is then saved, :el:`composite` is no longer present and is
-replaced with the collection of regular model elements that were automatically generated. So think of it as a macro that
-gets expanded by the model compiler. The element bodies are created as children of the body within which :el:`composite`
-appears; thus a composite object appears in the same place in the XML where a regular child body may have been defined.
-Each automatically-generated element body has a single geom attached to it. We have designed the composite object
-generator to have intuitive high-level controls as much as possible, but at the same time it exposes a large number of
-options that interact with each other and can profoundly affect the resulting physics. So at some point users should
-read the :ref:`reference documentation <body-composite>` carefully.
-
-In addition to setting up the physics, the composite object generator creates suitable rendering. Objects can be
-rendered as :ref:`skins <asset-skin>`. The skin is generated automatically, and can be textured as well as subdivided
-using bi-cubic interpolation. The actual physics and in particular the collision detection are based on the element
-bodies and their geoms, while the skin is purely a visualization object. Yet in some situations we prefer to look at the
-skin representation, as in `this model
-<https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/belt.xml>`__, whose skin is a continuous
-flexible surface and not a collection of discontinuous thin boxes. However when fine-tuning the model and trying to
-understand the physics behind it, it is useful to be able to render the geoms. To switch the rendering style, disable
-the rendering of skins and enable group 3 for geoms and tendons.
-
-**Cable**.
-
-As a quick start, MuJoCo comes with an example of composite cables. In all examples we have a static scene which is
-included in the model, followed by a single composite object. The XML snippets below are just the definition of the
-composite object; see the XML model files in the distribution for the complete examples.
-
-|coil|
-
-.. code-block:: xml
-
-   <extension>
-      <plugin plugin="mujoco.elasticity.cable"/>
-   </extension>
-
-   <worldbody>
-      <composite prefix="actuated" type="cable" curve="cos(s) sin(s) s" count="41 1 1"
-                 size="0.25 .1 4" offset="0.25 0 .05" initial="none">
-         <plugin plugin="mujoco.elasticity.cable">
-            <!--Units are in Pa (SI)-->
-            <config key="twist" value="5e8"/>
-            <config key="bend" value="15e8"/>
-            <config key="vmax" value="0"/>
-         </plugin>
-         <joint kind="main" damping="0.15" armature="0.01"/>
-         <geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
-      </composite>
-   </worldbody>
-
-The cable simulates an inextensible elastic 1D object having twist and bending stiffness. It is discretized using a
-sequence of capsules or boxes. Its stiffness and inertia properties are computed directly from the given parameters and
-the shape of the cross section, which allows for anisotropic behaviors, which can be found in e.g. belts or computer
-cables. It is a single kinematic tree, so it is exactly inextensible without the use of additional constraints, enabling
-the use of large time steps. The elastic model is geometrically exact and based on computing the Bishop or twist-free
-frame of the centerline, i.e., the line passing through the center of the cross section. The orientations of the geoms
-are expressed with respect to this frame and then decomposed into twist and bending components, hence different
-stiffnesses can be set independently. Moreover, it is possible to specify if the stress-free configuration is flat or
-curve, such as in the case of coil springs. The cable requires using a first-party :ref:`engine plugin<exPlugin>`, which
-may be integrated directly into the engine in the future.
-
-**Deprecated types**.
-
-All composite types other than ``cable`` have been deprecated or removed. Use :ref:`replicate<replicate>` for repeated
-objects (e.g., particle systems) and :ref:`flex<CDeformable>` deformable objects for soft bodies (ropes, cloth,
-volumetric solids).
-
-.. _CDeformable:
-
-Deformable objects
-~~~~~~~~~~~~~~~~~~
-
-The :ref:`composite objects <CComposite>` described earlier were intended to emulate soft bodies in what is effectively
-a rigid-body simulator. This was possible because MuJoCo constraints are soft, but nevertheless it was limited in
-functionality and modeling power. In MuJoCo 3.0 we have introduced true deformable objects involving new model elements.
-The :ref:`skin<deformable-skin>` described earlier was actually one such element, but it is merely used for
-visualization. We now have a related element :ref:`flex<deformable-flex>` which generates contact forces, constraint
-forces and passive forces as needed to model a wide range of deformable entities. Both skins and flexes are now defined
-within a new grouping element in the XML called :ref:`deformable<deformable>`. A flex is a low-level element that
-specifies everything needed at runtime, but is difficult to design at modeling time. To aid with modeling, we have
-further introduced the element :ref:`flexcomp<body-flexcomp>` which automates the creation of the low-level flex,
-similar to how :ref:`composite<body-composite>` automates the creation of (collections of) MuJoCo objects needed to
-emulate a soft body. Flexes may eventually supersede composites, but for now both are useful for somewhat different
-purposes.
-
-A flex is a collection of MuJoCo bodies that are connected with massless stretchable elements. These elements can be
-capsules (1D flex), triangles (2D flex), or tetrahedra (3D flex). In all cases we allow a radius, which makes the
-elements smooth and also volumetric in 1D and 2D. The primitive elements are illustrated below:
-
-.. image:: images/modeling/flexelem.png
-   :width: 600px
-   :align: center
-
-Thus far these look like geoms. But the key difference is that they deform: as the bodies (vertices) move independently
-of each other, the shape of the elements changes in real time. Collisions and contact forces are now generalized to
-handle these deformable geometric elements. Note that when two such elements collide, the contact no longer involves
-just two bodies, but can involve up to 8 bodies (if both elements are tetrahedra). Contact forces are computed as
-before, given the contact frame and relevant quantities expressed in that frame. But then the contact force is
-distributed among all interacting bodies. The notion of contact Jacobian is complicated because the contact point cannot
-be considered fixed in any body frame. Instead we use a weighting scheme to "assign" each contact point to multiple
-bodies. It is also possible to create a rigid flex, by assigning all vertices to the same body. This is a way to
-re-purpose the new flex collision machinery to implement rigid non-convex mesh collisions (unlike mesh geoms which are
-convexified for collision purposes).
-
-**Deformation model**.
-
-In order to preserve the shape of the flex (in a soft sense), we need to generate passive or constraint forces. Prior to
-MuJoCo 3.0 this would involve a large number of tendons plus constraints on tendons and joints. This is still possible
-here, but inefficient both in terms of modeling and in terms of simulation when the flex is large. Instead, the design
-philosophy is to use a single set of parameters and provide two modeling choices: a new (soft) equality constraint type
-that applies to all edges of a given flex, which permits large time steps, or a discretized continuum representation,
-where each element is in a constant stress state, which is equivalent to piecewise linear finite elements and achieves
-improved realism and accuracy. The edge-based model could be seen as a "lumped" stiffness model, where the correct
-coupling of deformation modes (e.g. shear and volumetric) is averaged in a single quantity. The continuum model enables
-instead to specify shear and volumetric stiffnesses separately using the `Poisson's ratio
-<https://en.wikipedia.org/wiki/Poisson%27s_ratio>`__ of the material. For more details, see the `Saint Venant-Kirchhoff
-<https://en.wikipedia.org/wiki/Hyperelastic_material#Saint_Venant%E2%80%93Kirchhoff_model>`__ hyperelastic model.
-
-**Parametrization types**.
-
-While the default behavior of :el:`flexcomp` produces a "full" flex where every node corresponds to a MuJoCo body, it
-also supports specialized :ref:`parametrizations<body-flexcomp-dof>` for volumetric objects: **trilinear** and
-**quadratic**. Instead of directly simulating all nodes, these options define a background grid of cells. The positions
-of the interior vertices are computed by interpolating the positions of the cell corners. Trilinear flexes use 8-node
-hexahedral cells with linear interpolation along each axis, while quadratic flexes use 27-node cells with quadratic
-interpolation, allowing for curved deformation modes. These grid-based parametrizations require fewer degrees of freedom
-than full flexes and can result in significantly faster simulation times, especially for large volumetric soft bodies.
-
-**Creation and visualization**.
-
-.. code-block:: xml
-
-   <option timestep=".001"/>
-
-   <worldbody>
-      <flexcomp type="grid" count="24 4 4" spacing=".1 .1 .1" pos=".1 0 1.5"
-                radius=".0" rgba="0 .7 .7 1" name="softbody" dim="3" mass="7">
-         <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
-         <edge damping="1"/>
-         <elasticity poisson="0.2" young="5e4">
-      </flexcomp>
-   </worldbody>
-
-Using the :ref:`flexcomp<body-flexcomp>` element, we can create flexes from meshes, including tetrahedral meshes, and
-automatically generate all the bodies/vertices and connect them with suitable elements. We can also create grids and
-other topologies automatically. This machinery makes it easy to create very large flexes, involving thousands or even
-tens of thousands of bodies, elements and edges. Obviously such simulations will not be fast. Even for medium-sized
-flexes, pruning of collision pairs is essential. This is why we have developed elaborate methods for pruning
-self-collisions; see XML reference.
-
-In case of 3D flexes made of tetrahedra, it may be useful to examine how the flex is "triangulated" internally. We have
-a special visualization mode that peels off the outer layers. Below is an example with the Stanford Bunny. Note how it
-has smaller tetrahedra on the outside and larger ones on the inside. This mesh design makes sense, because we want the
-collision surface to be accurate, but on the inside we just need soft material properties -- which require less spatial
-resolution. In order to convert a surface mesh to a tetrahedral mesh, we recommend open tools like the
-`fTetWild library <https://github.com/wildmeshing/fTetWild>`__.
-
-|bunny1| |bunny2|
-
-
-.. _CInclude:
-
-Including files
-~~~~~~~~~~~~~~~
-
-MJCF files can include other XML files using the :ref:`include <include>` element. Mechanistically, the
-parser replaces the DOM node corresponding to the include element in the master file with the list of XML elements
-that are children of the top-level element in the included file. The top-level element itself is discarded, because it
-is a grouping element for XML purposes and would violate the MJCF format if included.
-
-This functionality enables modular MJCF models; see the MPL family of models in the model library. One example of
-modularity is constructing a model of a robot (which tends to be elaborate) and then including it in multiple
-"scenes", i.e., MJCF models defining the objects in the robot's environment. Another example is creating a file with
-commonly used assets (say materials with carefully adjusted rgba values) and including it in multiple models which
-reference those assets.
-
-The included files are not required to be valid MJCF files on their own, but they usually are. Indeed we have designed
-this mechanism to allow MJCF models to be included in other MJCF models. To make this possible, repeated MJCF sections
-are allowed even when that does not make sense semantically in the context of a single model. For example, we allow
-the kinematic tree to have multiple roots (i.e., multiple :el:`worldbody` elements) which are merged automatically by
-the parser. Otherwise including robots into scenes would be impossible.
-
-The flexibility of repeated MJCF sections comes at a price: global settings that apply to the entire model, such as
-the :at:`angle` attribute of :ref:`compiler <compiler>` for example, can be defined multiple times.
-MuJoCo allows this, and uses the last definition encountered in the composite model, after all include elements have
-been processed. So if model A is defined in degrees and model B is defined in radians, and A is included in B after
-the :el:`compiler` element in B, the entire composite model will be treated as if it was defined in degrees -- leading
-to undesirable consequences in this case. The user has to make sure that models included in each other are compatible
-in this sense; local vs. global coordinates is another compatibility requirement.
-
-Finally, as explained next, element names must be unique among all elements of the same type. So for example if the
-same geom name is used in two models, and one model is included in the other, this will result in compile error.
-Including the same XML file more than once is a parsing error. The reason for this restriction is that we want to
-avoid repeated element names as well as infinite recursion caused by inclusion.
-
-.. _CName:
-
-Naming elements
-~~~~~~~~~~~~~~~
-
-Most model elements in MJCF can have names. They are defined with the attribute :at:`name` of the corresponding XML
-element. When a given model element is named, its name must be unique among all elements of the same type. Names are
-case-sensitive. They are used at compile time to reference the corresponding element, and are also saved in mjModel
-for user convenience at runtime.
-
-The name is usually an optional attribute. We recommend leaving it undefined (so as to keep the model file shorter)
-unless there is a specific reason to define it. There can be several such reasons:
-
--  Some model elements need to reference other elements as part of their creation. For example, a spatial tendon needs
-   to reference sites in order to specify the via points it passes through. Referencing can only be done by name. Note
-   that assets exist for the sole purpose of being referenced, so they must have a name, however it can be omitted and
-   set implicitly from the corresponding file name.
--  The visualizer offers the option to label all model elements of a given type. When a name is available, it is printed
-   next to the object in the 3D view; otherwise a generic label in the format "body 7" is printed.
--  The function :ref:`mj_name2id` returns the index of the model element with given type and
-   name. Conversely, the function :ref:`mj_id2name` returns the name given the index. This
-   is useful for custom computations involving a model element that is identified by its name in the XML (as opposed to
-   relying on a fixed index which can change when the model is edited).
--  The model file could in principle become more readable by naming certain elements. Keep in mind however that XML
-   itself has a commenting mechanism, and that mechanism is more suitable for achieving readability -- especially since
-   most text editors provide syntax highlighting which detects XML comments.
-
-.. _CURDF:
-
-URDF extensions
-~~~~~~~~~~~~~~~
-
-The Unified Robot Description Format (URDF) is a popular XML file format in which many existing robots have been
-modeled. This is why we have implemented support for URDF even though it can only represent a subset of the model
-elements available in MuJoCo. In addition to standard URDF files, MuJoCo can load files that have a custom (from the
-viewpoint of URDF) :el:`mujoco` element as a child of the top-level element :el:`robot`. This custom element can have
-sub-elements :ref:`compiler <compiler>`, :ref:`option <option>`,
-:ref:`size <size>` with the same functionality as in MJCF, except that the default compiler settings
-are modified so as to accommodate the URDF modeling convention. The :ref:`compiler <compiler>` extension
-in particular has proven very useful, and indeed several of its attributes were introduced because a number of
-existing URDF models have non-physical dynamics parameters which MuJoCo's built-in compiler will reject if left
-unmodified. This extension is also needed to specify mesh directories. Also note that the compiler attributes
-:ref:`strippath<compiler-strippath>`, :ref:`angle<compiler-angle>`, :ref:`fusestatic<compiler-fusestatic>` and
-:ref:`discardvisual<compiler-discardvisual>` have different default values for URDF and MJCF.
-
-Note that the while MJCF models are checked against a custom XML schema by the parser, URDF models are not. Even the
-MuJoCo-specific elements embedded in the URDF file are not checked. As a result, mis-typed attribute names are
-silently ignored, which can result in major confusion if the typo remains unnoticed.
-
-Here is an example extension section of a URDF model:
-
-.. code-block:: xml
-
-   <robot name="darwin">
-     <mujoco>
-       <compiler meshdir="../mesh/darwin/" balanceinertia="true" discardvisual="false"/>
-     </mujoco>
-     <link name="MP_BODY">
-       ...
-   </robot>
-
-The above extensions make URDF more usable but still limited. If the user wants to build models taking full advantage of
-MuJoCo and at the same time maintain URDF compatibility, we recommend the following procedure. Introduce extensions in
-the URDF as needed, load it and save it as MJCF. Then add information to the MJCF using
-:ref:`include <include>` elements whenever possible. In this way, if the URDF is modified, the
-corresponding MJCF can be easily re-created. In our experience though, URDF files tend to be static while MJCF files are
-often edited. Thus in practice it is usually sufficient to convert the URDF to MJCF once and after that only work with
-the MJCF.
-
-.. _CMocap:
-
-MoCap bodies
-~~~~~~~~~~~~
-
-``mocap`` bodies are static children of the world (i.e., have no joints) and their :at:`mocap` attribute is set to
-"true". They can be used to input a data stream from a motion capture device into a MuJoCo simulation. Suppose you are
-holding a VR controller, or an object instrumented with motion capture markers (e.g. Vicon), and want to have a
-simulated object moving in the same way but also interacting with other simulated objects. There is a dilemma here:
-virtual objects cannot push on your physical hand, so your hand (and thereby the object you are controlling) can
-violate the simulated physics. But at the same time we want the resulting simulation to be reasonable. How do we do
-this?
-
-Mocap bodies and their dof-less descendants form their own *weld group*, rooted at the mocap body
-(``mjModel.body_weldid`` equals the mocap body's own id rather than 0, the world). This has several consequences:
-children of mocap bodies receive the standard parent-child collision exclusion; mocap bodies do not generate contacts
-with static geometry or with each other; and when :ref:`sleeping<Sleeping>` is enabled, mocap bodies count as awake —
-contact with a mocap body, or an active equality constraint connecting to one, wakes sleeping objects, so dragging a
-mocap body through a pile of sleeping objects behaves as expected.
-
-The first step is to define a mocap body in the MJCF model, and implement code that reads the data stream at runtime and
-sets :ref:`mjData.mocap_pos <siMocap>` and :ref:`mjData.mocap_quat <siMocap>` to the position and orientation received
-from the motion capture system. The :ref:`simulate.cc <saSimulate>` code sample uses the mouse as a motion capture
-device, allowing the user to move mocap bodies around:
-
-|particle|
-
-The key thing to understand about mocap bodies is that the simulator treats them as being fixed. We are causing them to
-move from one simulation time step to the next by updating their position and orientation directly, but as far as the
-physics model is concerned their position and orientation are constant. So what happens if we make contact with a
-regular dynamic body, as in the particle examples provided with the MuJoCo distribution (recall that in those example we
-have a capsule probe which is a mocap body that we move with the mouse). A contact between two regular bodies will
-experience penetration as well as relative velocity, while contact with a mocap body is missing the relative velocity
-component because the simulator does not know that the mocap body itself is moving. So the resulting contact force is
-smaller and it takes longer for the contact to push the dynamic object away. Also, in more complex simulations the fact
-that we are doing something inconsistent with the physics can cause instabilities.
-
-There is however a better-behaved alternative. In addition to the mocap body, we include a second regular body and
-connect it to the mocap body with a weld equality constraint. In the plots below, the pink box is the mocap body and
-it is connected to the base of the hand. In the absence of other constraints, the hand tracks the mocap body almost
-perfectly (and much better than a spring-damper would) because the constraints are handled implicitly and can produce
-large forces without destabilizing the simulation. But if the hand is forced to make contact with the table for example
-(right plot) it cannot simultaneously respect the contact constraint and track the mocap body. This is because the
-mocap body is free to go through the table. So which constraint wins? That depends on the softness of the weld
-constraint relative to the contact constraint. The corresponding :at:`solref` and :at:`solimp` parameters need to be
-adjusted so as to achieve the desired trade-off. See the Modular Prosthetic Limb (MPL) hand model available on the
-MuJoCo Forum for an example; the plots below are generated with that model.
-
-|image18| |image19|
-
-.. _CSize:
-
-Memory allocation
-~~~~~~~~~~~~~~~~~
-
-MuJoCo preallocates all the memory needed at runtime in :ref:`mjData`, and does not access the heap allocator after
-model creation. Memory in :ref:`mjData` is allocated by :ref:`mj_makeData` in two contiguous blocks:
-
-- ``mjData.buffer`` contains fixed-size arrays.
-- ``mjData.arena`` contains dynamically-sized arrays.
-
-There are two types of dynamic arrays allocated in the ``arena`` memory space.
-
-- contacts and constraint-related arrays are laid out from the beginning of the ``arena``.
-- :ref:`stack <siStack>` arrays are laid out from the end of the ``arena``.
-
-By allocating dynamic quantities from both sides of the ``arena`` space, variable-sized memory allocation is controlled
-by a single number: the :at:`memory` attribute of the :ref:`size <size>` MJCF element. Unlike the fixed-size arrays in
-the ``buffer``, variable-sized arrays in the arena can be ``NULL``, for example after a call to :ref:`mj_resetData`.
-When ``arena`` memory runs out, one of three things will happen, depending on the type of memory requested:
-
-- If memory runs out during contact allocation, a warning will be raised and subsequent contacts will not be added in
-  this step, but simulation continues as usual.
-- If memory runs out during constraint-related allocation, a warning will be raised and the constraint solver will be
-  disabled in this step, but simulation continues as usual. Note that physics without the constraint solver will
-  generally be very different, but allowing the simulation to continue can still be useful, e.g. during
-  scene initialization when many bodies are temporarily overlapping.
-- If memory runs out during stack array allocation, a hard error will occur.
-
-Unlike the size of the ``buffer``, the size of the ``arena`` cannot be pre-computed, since the number of contacts and
-stack usage is not known in advance. So how should one choose it? The following simple heuristic is currently used,
-though it may be improved in the future: enough memory is allocated for 100 contacts and 500 scalar constraints, under
-worst-case conditions. If this heuristic is insufficient, we recommend the following procedure. Increase the ``arena``
-memory significantly using the :at:`memory` attribute, and inspect the actual memory used at runtime.
-``mjData.maxuse_arena`` keeps track of the maximum ``arena`` memory utilization since the last reset. The :ref:`simulate
-<saSimulate>` viewer shows this number as a fraction of the total arena space (in the info window in the lower-left
-corner). So one can start with a large number, simulate for a while, and if the fractions are small go back to the XML
-and reduce the allocation size. Keep in mind though that memory utilization can change dramatically in the course of the
-simulation, depending on how many constraints are active and which constraint solver is used. The CG solver is the most
-memory efficient, followed by the Newton solver, while the PGS solver is the most memory intensive. When we design
-models, we usually aim for 50% utilization in the worst-case scenario encountered while exploring the model. If you only
-intend to use the CG solver, you can get away with significantly smaller arena allocation.
-
-.. _Tips:
-
-Tips and tricks
----------------
-
-Here we provide guidance on how to accomplish some common modeling tasks. There is no new material here, in the sense
-that everything in this section can be inferred from the rest of the documentation. Nevertheless the inference process
-is not always obvious, so it may be useful to have it spelled out.
-
-.. _CPerformance:
-
-Performance tuning
-~~~~~~~~~~~~~~~~~~
-
-Below is a list of steps one can take in order to maximize simulation throughput. All of the recommendations
-involve parameter tweaking. It is recommended that these be carried out in interactive fashion while looking at the
-:ref:`simulate<saSimulate>` utility's built-in profiler. A detailed and sometimes more useful profile is also reported
-by the :ref:`testspeed<saTestspeed>` utility. When embarking on the more elaborate steps below, target the most
-expensive pipeline component reported by the profiler. Note that some of these are subtly different for MJX, see
-dedicated section :ref:`therein<MjxPerformance>`.
-
-1. :ref:`Timestep<option-timestep>`: Try to increase the simulation timestep. As explained at the end of the
-   :ref:`Numerical Integration<geIntegration>` section, the timestep is the single most important parameter in any
-   model. The default value is chosen for stability rather than efficiency, and can often be increased. At some point,
-   increasing it further will cause divergence, so the optimal timestep is the largest timestep at which divergence
-   never happens or is very rare. The actual value is model-dependent.
-2. :ref:`Integrator<option-integrator>`: Choose your integrator according to the recommendations at the end of the
-   :ref:`Numerical Integration<geIntegration>` section. The default recommended choice is the ``implicitfast``
-   integrator.
-3. :ref:`Constraint Jacobians<option-jacobian>`: Try switching the Jacobian setting between "dense" and "sparse". These
-   two options use separate code paths using dense or sparse algebra, but are otherwise computationally identical, so
-   the faster one is always preferred. The default "auto" heuristic does not always make the right choice.
-4. **Constraint solver:** If the profiler reports that a large chunk of time is spent in the solver, consider the
-   following:
-
-   - :ref:`solver<option-solver>`: The default Newton is often the fastest solver, as it requires the smallest
-     number of iterations to converge. For large models the CG solver might be faster, for models with more degrees of
-     freedom than constraints, the PGS solver will be fastest, though this situation is not common.
-   - :ref:`iterations<option-iterations>` and :ref:`tolerance<option-tolerance>`: Try reducing the number of iterations
-     or, equivalently, increasing the solver's termination tolerance. In particular for the Newton solver, which
-     typically achieves numerical convergence in 2-3 (expensive) iterations, the last iteration increases the precision
-     to a level that has no noticeable effect, and can be skipped.
-5. **Collisions:** If the profiler reports that collision detection takes up a large chunk of the computation
-   time, consider the following steps:
-
-   - Reduce the number of checked collisions using the
-     :ref:`contype<body-geom-contype>` / :ref:`conaffinity<body-geom-conaffinity>` mechanism described in the
-     :ref:`Collision detection<Collision>` section.
-   - Modify collision geometries, replacing expensive collision tests (e.g. mesh-mesh) with cheaper primitive-primitive
-     collisions. As a rule of thumb, collisions which have custom pair functions in the collision table at the top of
-     `engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__
-     are significantly cheaper than those that use the generic convex-convex collider ``mjc_Convex``. The most expensive
-     collisions are those involving SDF geometries.
-   - If replacing collision meshes with primitives is not feasible, decimate the meshes as much as possible. Open source
-     tools like trimesh, Blender, MeshLab and CoACD are very useful in this regard.
-6. :ref:`Friction cones<option-cone>`: Elliptic cones are more accurate and better at preventing slip with high
-   :ref:`impratio<option-impratio>`, but are more expensive. If accurate friction is not important, try switching
-   to pyramidal cones.
-7. For custom builds, MuJoCo can be compiled with 32-bit floating point precision (rather than the default 64-bit). For
-   large models where memory bandwidth is the bottleneck, this can improve performance. See :ref:`mjtNum` for more
-   information. Note that float32 rarely yields measurable speedups in typical models.
-
-.. _CSlippage:
-
-Preventing slip
-~~~~~~~~~~~~~~~
-
-Below is a list of steps one can take in order to diagnose and solve contact slippage, which is especially problematic
-in manipulation tasks. In order to diagnose slippage, it is recommended to use the :ref:`simulate<saSimulate>` utility's
-built in visualization options to inspect contacts and contact forces. It is often helpful to tweak the visual size of
-contacts and forces (using the global :ref:`meansize<statistic-meansize>` or the specific
-:ref:`contactwidth<visual-scale-contactwidth>`, :ref:`contactheight<visual-scale-contactheight>` and
-:ref:`forcewidth<visual-scale-forcewidth>` attributes) and the :ref:`force scaling<visual-map-force>` attribute, to
-better visualize and understand the contact configuration and resulting forces.
-
-**Slip-preventing contact forces are outside the friction cone**
-  This implies that the physics cannot prevent slip, even in principle. This occurs when:
-
-  a. *The normal force is too small.* Ensure that the maximum force that can be applied by the gripper multiplied by
-     the sliding friction coefficient is significantly greater than the weight of the object.
-  b. *The sliding friction coefficient is too low.* Increase the sliding :ref:`friction<body-geom-friction>`
-     coefficient.
-  c. *Torsional friction is insufficient to apply the required torques.* Increase :ref:`condim<body-geom-condim>` to
-     4 or 6 and choose appropriate friction coefficients.
-     **condim 4** enables torsional friction, preventing rotation around the normal.
-     **condim 6** also enables rolling friction, preventing rotation around the tangential directions.
-     See the :ref:`Contact<coContact>` section for details and the specific semantics of these coefficients.
-
-**The geometry does not support the required forces or torques**
-  This is a common real-world problem, solved by improved design of grippers and handles.
-
-  a. Improve the geometry of the contacting geoms in order to add more contact points, possibly with non-flat
-     geometry (e.g., bumps), so slippage is prevented by the normal force and not only frictional components.
-  b. If contacts are between flat surfaces, make sure that the flag :ref:`multiccd<option-flag-multiccd>` is not
-     disabled (enabled by default), as it allows the detector to find more contacts than the single contact
-     returned by the convex-convex collider.
-  c. Make sure that the flag :ref:`nativeccd<option-flag-nativeccd>` is not disabled (enabled by default),
-     as NativeCCD is a more accurate and efficient convex collision detection algorithm.
-
-**High-frequency vibration**
-  High-frequency, low-amplitude vibrations are also a real-world problem in many industrial settings, but unlike in
-  simulation, in the real world they are audible. Such vibration is often caused by controllers with very
-  high gains and sometimes by stick-slip feedback from contacts or joints, resonating with the eigen-modes of the
-  mechanism. The easiest way to diagnose such vibration is to visualize contact forces in
-  :ref:`simulate<saSimulate>`. The solution is usually to reduce the :ref:`timestep<option-timestep>` and/or add
-  some :ref:`armature<body-joint-armature>` to the relevant joints. Another reason for vibration is feedback from
-  explicit damping. Use the implicit or implicitfast integrators, as documented in the
-  :ref:`Numerical Integration<geIntegration>` section.
-
-**Slow slippage**
-  Unlike the above problems which lead to fast slippage, slow, gradual slippage is a property of MuJoCo's contact
-  model by design, since without it the inverse dynamics are not defined. This is discussed in detail in the
-  :ref:`softness and slip<Soft>` clarification. This type of slippage can be addressed in two ways.
-
-  a. Increase the :ref:`impratio<option-impratio>` parameter. This will reduce (but not entirely prevent) slow
-     slippage. Note that high impratio values work well only with :ref:`elliptic cones<option-cone>`.
-  b. Enable the NoSlip solver by increasing :ref:`noslip_iterations<option-noslip_iterations>` to a positive integer.
-     A small number (1, 2 or 3) is usually sufficient. The NoSlip post-processing solver will entirely prevent slip,
-     at the cost of making inverse dynamics ill-defined and additional computational cost.
-
-.. _CBacklash:
-
-Backlash
-~~~~~~~~
-
-Backlash is present in many robotic joints. It is usually caused by small gaps between gears in the gearbox, but could
-also be caused by some sloppiness in the joint mechanism. The effect is that the motor can turn for a small angle before
-the joint turns, or vice versa (when external force is applied on the joint). Backlash can be modeled in MuJoCo as
-follows. Instead of having a single hinge joint within the body, define two hinge joints with identical position and
-orientation:
-
-.. code-block:: xml
-
-   <body>
-     <joint name="J1" type="hinge" pos="0 0 0" axis="0 0 1" armature="0.01"/>
-     <joint name="J2" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-1 1"/>
-   </body>
-
-Thus the overall rotation of the body relative to its parent is J1+J2. Now define an actuator acting only on J1. The
-small joint range on J2 keeps it near 0, yet allows it to move a bit in the direction of the force acting on it,
-producing a backlash effect. Note the :at:`armature` attribute in J1. Without it the joint-space inertia matrix
-will be singular, because the two joints could accelerate in opposite directions without encountering any inertia. The
-physical gears responsible for the backlash actually have rotational inertia (which we call armature) so this is a
-realistic modeling approach. The numbers in this example should be adjusted to obtain the desired behavior. The
-:at:`solref` and :at:`solimp` parameters of the joint limit constraint could also be adjusted, to make the
-backlash rotation end at a softer or a harder limit.
-
-Instead of specifying joint limits in J2, one can specify a soft equality constraint keeping J2=0. The constraint
-impedance function should then be adjusted so the constraint is weak near J2=0 and gets stronger away from 0. The new
-parameterization of impedance functions shown in :ref:`Solver parameters <CSolver>` enables this. Compared to joint
-limits, the equality constraint approach will generate a softer transition between the backlash regime and the limit
-regime. It will also be active all the time, which is convenient in user code that needs the constraint violation or
-constraint force as input.
-
-.. _CRestitution:
-
-Restitution
-~~~~~~~~~~~
-
-Another mechanism exists for specifying :at:`solref`, as explained in :ref:`Solver parameters <CSolver>`.
-When both numbers are non-positive, they are interpreted as (-stiffness, -damping) and scaled by the constraint
-impedance. To achieve perfect restitution for contacts and other constraints, set stiffness to some reasonably large
-value and damping to zero. Below is an example of a sphere bouncing on a plane with restitution coefficient of 1, so
-that the energy before and after contact is approximately preserved. It is not exactly preserved because the contact
-itself is soft and takes several time steps, and the (implicit) deformations during those time steps are not exactly
-energy-preserving. But the overall effect is that the ball bounces for a very long time without changing its peak height
-in a visible way, and the energy fluctuates around the initial value instead of drifting.
-
-.. code-block:: xml
-
-   <worldbody>
-     <geom type="plane" size="1 1 .1"/>
-
-     <body pos="0 0 1">
-       <freejoint/>
-       <geom type="sphere" size="0.1" solref="-1000 0"/>
-     </body>
-   </worldbody>
-
-
-.. _CConstraintImpedance:
-
-Constraint accuracy
-~~~~~~~~~~~~~~~~~~~
-MuJoCo's :ref:`constraint impedance<soParameters>` computation relies on an approximate diagonal of the constraint-space
-inertia matrix, computed once at compile time from the initial configuration ``qpos0``.
-
-In the vast majority of models this approximation is entirely adequate. However, in certain situations—such as models
-with highly anisotropic inertias, complex kinematic chains, or bodies operating far from ``qpos0``—the approximation
-may become inaccurate. This can occasionally manifest as unexplained solver divergence (``badqacc`` warnings),
-excessive penetration, unrealistic slip, or poor solver convergence. A useful diagnostic is the
-:ref:`fwdinv<option-flag-fwdinv>` flag: if the forward-inverse discrepancy is large, inaccurate constraint scaling may
-be a contributing factor.
-
-If you suspect that the compile-time approximation is insufficient for your model, you can enable the
-:ref:`diagexact<option-flag-diagexact>` flag to compute the exact diagonal at runtime. See :ref:`Diagonal approximation
-<soExactDiag>` for details on the underlying mechanics and performance implications.
-
-
-.. |image3| image:: images/modeling/tendonwraps.png
-   :width: 500px
-.. |image4| image:: images/modeling/particle.png
-   :height: 300px
-.. |image5| image:: images/modeling/particle2.png
-   :height: 300px
-.. |image6| image:: images/modeling/grid1.png
-   :height: 200px
-.. |image7| image:: images/modeling/grid1pin.png
-   :height: 200px
-.. |image8| image:: images/modeling/grid2.png
-   :height: 300px
-.. |image9| image:: images/modeling/grid2pin.png
-   :height: 300px
-.. |image10| image:: images/modeling/rope.png
-   :height: 200px
-.. |image11| image:: images/modeling/loop.png
-   :height: 200px
-.. |image12| image:: images/modeling/cloth.png
-   :height: 300px
-.. |image13| image:: images/modeling/cloth2.png
-   :height: 300px
-.. |image14| image:: images/modeling/box.png
-   :height: 300px
-.. |image15| image:: images/modeling/box2.png
-   :height: 300px
-.. |image16| image:: images/modeling/cylinder.png
-   :height: 300px
-.. |image17| image:: images/modeling/ellipsoid.png
-   :height: 300px
-.. |image18| image:: images/modeling/mocap1.png
-   :height: 250px
-.. |image19| image:: images/modeling/mocap2.png
-   :height: 250px
-.. |particle| image:: images/models/particle.gif
-   :width: 270px
-.. |bunny1| image:: images/modeling/bunny1.png
-   :width: 300px
-.. |bunny2| image:: images/modeling/bunny2.png
-   :width: 300px
-.. |coil| image:: images/modeling/coil.png
-   :width: 300px
diff --git a/doc/models.rst b/doc/models.rst
deleted file mode 100644
index 1ccd43b5..00000000
--- a/doc/models.rst
+++ /dev/null
@@ -1,155 +0,0 @@
-=============
-Model Gallery
-=============
-
-.. _Menagerie:
-
-MuJoCo Menagerie
-----------------
-
-A physics simulator is only as good as the model it is simulating, and in a
-powerful simulator like MuJoCo with many modeling options, it is easy to create
-"bad" models which do not behave as expected. The goal of **MuJoCo Menagerie**
-is to provide the community with a curated collection of well-designed models
-that work well right out of the box.
-
-For more information, visit the `Menagerie repository <https://github.com/google-deepmind/mujoco_menagerie>`__.
-
-Bipeds
-^^^^^^
-
-.. list-table::
-   :header-rows: 1
-
-   * - Model
-     - Preview
-   * - `Agility Cassie <https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/agility_cassie/cassie.png
-
-Humanoids
-^^^^^^^^^
-
-.. list-table::
-   :header-rows: 1
-
-   * - Model
-     - Preview
-   * - `Unitree G1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_g1>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_g1/g1.png
-   * - `Unitree H1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_h1/h1.png
-   * - `Robotis OP3 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotis_op3>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/robotis_op3/op3.png
-
-Mobile Manipulators
-^^^^^^^^^^^^^^^^^^^
-
-.. list-table::
-   :header-rows: 1
-
-   * - Model
-     - Preview
-   * - `Google Robot <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_robot>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/google_robot/robot.png
-   * - `Hello Robot Stretch 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/hello_robot_stretch>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/hello_robot_stretch/stretch.png
-
-Quadrupeds
-^^^^^^^^^^
-
-.. list-table::
-   :header-rows: 1
-
-   * - Model
-     - Preview
-   * - `Unitree A1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_a1>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_a1/a1.png
-   * - `Unitree Go1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go1>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_go1/go1.png
-   * - `Unitree Go2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go2>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_go2/go2.png
-   * - `Anybotics ANYmal B <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_b>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/anybotics_anymal_b/anymal_b.png
-   * - `Anybotics ANYmal C <https://github.com/google-deepmind/mujoco_menagerie/tree/main/anybotics_anymal_c>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/anybotics_anymal_c/anymal_c.png
-   * - `Google Barkour v0 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_v0>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/google_barkour_v0/barkour_v0.png
-   * - `Google Barkour vB <https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_vb>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/google_barkour_vb/barkour_vb.png
-   * - `Boston Dynamics Spot <https://github.com/google-deepmind/mujoco_menagerie/tree/main/boston_dynamics_spot>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/boston_dynamics_spot/spot.png
-
-Grippers & Hands
-^^^^^^^^^^^^^^^^
-
-.. list-table::
-   :header-rows: 1
-
-   * - Model
-     - Preview
-   * - `Shadow E3M5 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/shadow_hand/shadow_hand.png
-   * - `Robotiq 2F-85 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/robotiq_2f85/2f85.png
-   * - `Wonik Allegro <https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/wonik_allegro/allegro_hand.png
-
-Arms
-^^^^
-
-.. list-table::
-   :header-rows: 1
-
-   * - Model
-     - Preview
-   * - `Franka Emika Panda <https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/franka_emika_panda/panda.png
-   * - `Franka FR3 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_fr3>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/franka_fr3/fr3.png
-   * - `Universal Robots UR5e <https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/universal_robots_ur5e/ur5e.png
-   * - `Universal Robots UR10e <https://github.com/google-deepmind/mujoco_menagerie/tree/main/universal_robots_ur10e>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/universal_robots_ur10e/ur10e.png
-   * - `LBR iiwa14 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/kuka_iiwa_14>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/kuka_iiwa_14/iiwa_14.png
-   * - `UFACTORY xArm7 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_xarm7>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/ufactory_xarm7/xarm7.png
-   * - `Rethink Robotics Sawyer <https://github.com/google-deepmind/mujoco_menagerie/tree/main/rethink_robotics_sawyer>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/rethink_robotics_sawyer/sawyer.png
-   * - `UFactory Lite 6 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_lite6>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/ufactory_lite6/lite6.png
-   * - `ViperX 300 6DOF <https://github.com/google-deepmind/mujoco_menagerie/tree/main/trossen_vx300s>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/trossen_vx300s/vx300s.png
-   * - `WidowX 250 6DOF <https://github.com/google-deepmind/mujoco_menagerie/tree/main/trossen_wx250s>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/trossen_wx250s/wx250s.png
-   * - `ALOHA 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/aloha>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/aloha/aloha.png
-   * - `Unitree Z1 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_z1>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/unitree_z1/z1.png
-
-Drones
-^^^^^^
-
-.. list-table::
-   :header-rows: 1
-
-   * - Model
-     - Preview
-   * - `Skydio X2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/skydio_x2/x2.png
-   * - `Bitcraze Crazyflie 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/bitcraze_crazyflie_2>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/bitcraze_crazyflie_2/cf2.png
-
-
-Biomechanical
-^^^^^^^^^^^^^
-
-.. list-table::
-   :header-rows: 1
-
-   * - Model
-     - Preview
-   * - `Fruitfly <https://github.com/google-deepmind/mujoco_menagerie/tree/main/flybody>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/flybody/flybody.png
-   * - `MS-Human-700 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/ms_human_700>`_
-     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/ms_human_700/ms_human_700.png
diff --git a/doc/overview.rst b/doc/overview.rst
deleted file mode 100644
index 245766bc..00000000
--- a/doc/overview.rst
+++ /dev/null
@@ -1,1031 +0,0 @@
-Overview
-========
-
-Introduction
-------------
-
-**MuJoCo** stands for **Mu**\ lti-**Jo**\ int dynamics with **Co**\ ntact. It is a general purpose physics engine that
-aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and
-other areas that demand fast and accurate simulation of articulated structures interacting with their environment.
-Initially developed by Roboti LLC, it was acquired and made `freely available
-<https://github.com/google-deepmind/mujoco/blob/main/LICENSE>`__ by Google DeepMind in October 2021, and open sourced in
-May 2022. The MuJoCo codebase is available at the `google-deepmind/mujoco
-<https://github.com/google-deepmind/mujoco>`__ repository on GitHub.
-
-MuJoCo is a C/C++ library with a C API, intended for researchers and developers. The runtime simulation module is tuned
-to maximize performance and operates on low-level data structures which are preallocated by the built-in XML parser and
-compiler. The user defines models in the native MJCF scene description language -- an XML file format designed to be as
-human readable and editable as possible. URDF model files can also be loaded. The library includes interactive
-visualization with a native GUI, rendered in OpenGL. MuJoCo further exposes a large number of utility functions for
-computing physics-related quantities.
-
-MuJoCo can be used to implement model-based computations such as control synthesis, state estimation, system
-identification, mechanism design, data analysis through inverse dynamics, and parallel sampling for machine learning
-applications. It can also be used as a more traditional simulator, including for gaming and interactive virtual
-environments.
-
-
-.. _Features:
-
-Key features
-~~~~~~~~~~~~
-
-MuJoCo has a long list of features. Here we outline the most notable ones.
-
-Generalized coordinates combined with modern contact dynamics
-   Physics engines have traditionally separated in two categories. Robotics and biomechanics engines use efficient and
-   accurate recursive algorithms in generalized or joint coordinates. However they either leave out contact dynamics, or
-   rely on the earlier spring-damper approach which requires very small time-steps. Gaming engines use a more modern
-   approach where contact forces are found by solving an optimization problem. However, they often resort to the
-   over-specified Cartesian representation where joint constraints are imposed numerically, causing inaccuracies and
-   instabilities when elaborate kinematic structures are involved. MuJoCo pioneered the combination of simulation in
-   generalized coordinates with optimization-based contact dynamics. This approach has since been adopted by other
-   simulators. Users accustomed to gaming engines may find the generalized coordinates counterintuitive at first; see
-   :ref:`Clarifications` section below.
-
-Soft, convex and analytically-invertible contact dynamics
-   In the modern approach to contact dynamics, the forces or impulses caused by frictional contacts are usually defined
-   as the solution to a linear or non-linear complementarity problem (LCP or NCP), both of which are NP-hard. MuJoCo is
-   based on a different formulation of the physics of contact which reduces to a convex optimization problem, as
-   explained in detail in the :doc:`computation/index` chapter. Our model allows soft contacts and other constraints,
-   and has a uniquely-defined inverse facilitating data analysis and control applications. The default Newton solver
-   provides quadratic convergence; alternative algorithms include a conjugate gradient method and a generalized
-   Projected Gauss-Seidel method that can handle elliptic friction cones. The solver provides unified treatment of
-   frictional contacts including torsional and rolling friction, frictionless contacts, joint and tendon limits, dry
-   friction in joints and tendons, as well as a variety of equality constraints.
-
-Tendon geometry
-   MuJoCo can model the 3D geometry of tendons -- which are minimum-path-length strings obeying wrapping and via-point
-   constraints. The mechanism is similar to the one in OpenSim but implements a more restricted, closed-form set of
-   wrapping options to speed up computation. It also offers robotics-specific structures such as pulleys and coupled
-   degrees of freedom. Tendons can be used for actuation as well as to impose inequality or equality constraints on the
-   tendon length.
-
-General actuation model
-   Designing a sufficiently rich actuation model while using a model-agnostic API is challenging. MuJoCo achieves this
-   goal by adopting an abstract actuation model that can have different types of transmission, force generation, and
-   internal dynamics (i.e., state variables which make the overall dynamics 3rd order). These components can be
-   instantiated so as to model motors, pneumatic and hydraulic cylinders, PD controllers, biological muscles and many
-   other actuators in a unified way.
-
-Reconfigurable computation pipeline
-   MuJoCo has a top-level stepper function :ref:`mj_step` which runs the entire forward dynamics and advances the state
-   of the simulation. In many applications beyond simulation, however, it is beneficial to be able to run selected parts
-   of the computation pipeline. To this end MuJoCo provides a large number of :ref:`flags <option-flag>` which can be
-   set in any combination, allowing the user to reconfigure the pipeline as needed, beyond the selection of algorithms
-   and algorithm parameters via :ref:`options <option>`. Furthermore many lower-level functions can be called directly.
-   User-defined callbacks can implement custom force fields, actuators, collision routines, and feedback controllers.
-
-Model compilation
-   As mentioned above, the user defines a MuJoCo model in an XML file format called MJCF. This model is then compiled by
-   the built-in compiler into the low-level data structure :ref:`mjModel`, which is cross-indexed and optimized for
-   runtime computation. The compiled model can also be saved in a binary MJB file.
-
-.. _ModelAndData:
-
-Separation of model and data
-   MuJoCo separates simulation parameters into two data structures (C structs) at runtime:
-
-   -  :ref:`mjModel` contains the model description and is expected to remain constant. There are other structures
-      embedded in it that contain simulation and visualization options, and those options need to be changed
-      occasionally, but this is done by the user.
-   -  :ref:`mjData` contains all dynamic variables and intermediate results. It is used as a scratch pad where all
-      functions read their inputs and write their outputs -- which then become the inputs to subsequent stages in the
-      simulation pipeline. It also contains a preallocated and internally managed stack, so that the runtime module
-      does not need to call memory allocation functions after the model is initialized.
-
-   :ref:`mjModel` is constructed by the compiler. :ref:`mjData` is constructed at runtime, given
-   :ref:`mjModel`. This separation makes it easy to simulate multiple models as well as multiple states and controls for
-   each model, in turn facilitating :ref:`multi-threading <siMultithread>` for sampling and :ref:`finite
-   differences <mjd_transitionFD>`. The top-level API functions reflect this basic separation, and have
-   the format:
-
-   .. code:: C
-
-      void mj_step(const mjModel* m, mjData* d);
-
-Performance
-   MuJoCo's runtime performs zero memory allocations after initialization -- all working memory is preallocated in
-   ``mjData``. A single simulation step is single-threaded by default, but :ref:`constraint islands <soIsland>` enable
-   per-island parallelism within a step. Large-scale data-parallel sampling is achieved by creating multiple ``mjData``
-   instances that share the same ``mjModel`` and running them on separate threads; see :ref:`multi-threading
-   <siMultithread>`.
-
-Interactive simulation and visualization
-   The native :ref:`3D visualizer <Visualization>` provides rendering of meshes and geometric primitives, textures,
-   reflections, shadows, fog, transparency, wireframes, skyboxes, stereoscopic visualization (on video cards supporting
-   quad-buffered OpenGL). This functionality is used to generate 3D rendering that helps the user gain insight into the
-   physics simulation, including visual aids such as automatically generated model skeletons, equivalent inertia boxes,
-   contact positions and normals, contact forces that can be separated into normal and tangential components, external
-   perturbation forces, local frames, joint and actuator axes, and text labels. The visualizer expects a generic window
-   with an OpenGL rendering context, thereby allowing users to adopt a GUI library of their choice. The code sample
-   :ref:`simulate.cc <saSimulate>` distributed with MuJoCo shows how to do that with the GLFW library. A related
-   usability feature is the ability to "reach into" the simulation, push objects around and see how the physics respond.
-   The user selects the body to which the external forces and torques will be applied, and sees a real-time rendering of
-   the perturbations together with their dynamic consequences. This can be used to debug the model visually, to test the
-   response of a feedback controller, or to configure the model into a desired pose.
-
-Powerful yet intuitive modeling language
-   MuJoCo has its own modeling language called MJCF. The goal of MJCF is to provide access to all of MuJoCo's compute
-   capabilities, and at the same time enable users to develop new models quickly and experiment with them. This goal is
-   achieved in large part due to an extensive :ref:`default setting <CDefault>` mechanism that resembles Cascading Style
-   Sheets (CSS) inlined in HTML. While MJCF has many elements and attributes, the user needs to set surprisingly few of
-   them in any given model. This makes MJCF files shorter and more readable than many other formats.
-
-Automated generation of composite flexible objects
-   MuJoCo's soft constraints can be used to model ropes, cloth, and deformable 3D objects. This requires a large
-   collection of regular bodies, joint, tendons and constraints to work together. The modeling language has high-level
-   macros which are automatically expanded by the model compiler into the necessary collections of standard model
-   elements. Importantly, these resulting flexible objects are able to fully interact with the rest of the simulation.
-
-Constraint islands and sleeping
-   The constraint solver automatically discovers independent :ref:`constraint islands <soIsland>` -- groups of bodies
-   coupled by constraints that can be solved independently. This enables per-island parallelism and avoids over-solving:
-   each island converges with the number of iterations it needs, and unconstrained degrees of freedom are skipped
-   entirely. Additionally, :ref:`island sleeping <Sleeping>` can freeze stationary islands, substantially reducing
-   computation when parts of the scene are at rest.
-
-Plugin system
-   MuJoCo supports :doc:`engine plugins <programming/extension>` that extend the physics engine with custom
-   elements: sensors, actuators, and passive forces. Plugins are dynamically loaded shared libraries that register
-   themselves with the engine and are instantiated per model element. This allows extending MuJoCo without modifying
-   the core engine.
-
-GPU-accelerated backends
-   In addition to the C engine, MuJoCo has GPU-accelerated backends for large-scale parallel simulation:
-   :doc:`MJX <mjx>` (JAX) and :doc:`MuJoCo Warp <mjwarp/index>` (NVIDIA Warp). Both backends consume the same
-   ``mjModel`` and ``mjData`` structures, allowing seamless transfer between CPU and GPU. First-class
-   :doc:`Python bindings <python>` provide access to the full C API.
-
-.. _Instance:
-
-Model instances
-~~~~~~~~~~~~~~~
-
-There are several entities called "model" in MuJoCo. The user defines the model in an XML file written in MJCF or URDF.
-The software can then create multiple instances of the same model in different media (file or memory) and on different
-levels of description (high or low). All combinations are possible as shown in the following table:
-
-+------------+-------------------------------------+----------------------------+
-|            | High level                          | Low level                  |
-+============+=====================================+============================+
-| **File**   | MJCF/URDF (XML), MJZ (Zip archive)  | MJB (binary)               |
-+------------+-------------------------------------+----------------------------+
-| **Memory** | :ref:`mjSpec` (C struct)            | :ref:`mjModel` (C struct)  |
-+------------+-------------------------------------+----------------------------+
-
-All runtime computations are performed with :ref:`mjModel` which is too complex to create manually. This is why we have
-two levels of modeling. The high level exists for user convenience: its sole purpose is to be compiled into a low level
-model on which computations can be performed. The resulting :ref:`mjModel` can be loaded and saved into a binary file
-(MJB), however those are version-specific and cannot be decompiled, thus models should always be maintained as XML
-files or packaged into MJZ archives.
-
-The :ref:`mjSpec` C struct is in one-to-one correspondence with the MJCF file format. The XML loader interprets the MJCF
-or URDF file, creates the corresponding :ref:`mjSpec` and compiles it to :ref:`mjModel`. The user can create
-:ref:`mjSpec` programmatically and then save it to MJCF/MJZ or compile it. Procedural model creation and editing is
-described in the :doc:`Model Editing <programming/modeledit>` chapter.
-
-The following diagram shows the different paths to obtaining an :ref:`mjModel`:
-
--  (text editor) → MJCF/URDF file → (MuJoCo parser → mjSpec → compiler) → mjModel
--  MJZ archive → (MJZ decoder → mjSpec → compiler) → mjModel
--  (user code) → mjSpec → (MuJoCo compiler) → mjModel
--  MJB file → (model loader) → mjModel
-
-Models and specs can also be serialized or packaged back to disk using :ref:`mj_encode`.
-
-.. _Examples:
-
-Examples
-~~~~~~~~
-
-Here is a simple model in MuJoCo's MJCF format. It defines a plane fixed to the world, a light to better illuminate
-objects and cast shadows, and a floating box with 6 DOFs (this is what the "free" joint does).
-
-`hello.xml <_static/hello.xml>`__:
-
-.. code:: xml
-
-   <mujoco>
-     <worldbody>
-       <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
-       <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
-       <body pos="0 0 1">
-         <joint type="free"/>
-         <geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
-       </body>
-     </worldbody>
-   </mujoco>
-
-The built-in OpenGL visualizer renders this model as:
-
-.. image:: images/overview/hello.png
-   :width: 300px
-   :align: center
-
-If this model is simulated, the box will fall on the ground. Basic simulation code for the passive dynamics, without
-rendering, is given below.
-
-.. code:: c
-
-   #include "mujoco.h"
-   #include "stdio.h"
-
-   char error[1000];
-   mjModel* m;
-   mjData* d;
-
-   int main(void) {
-     // load model from file and check for errors
-     m = mj_loadXML("hello.xml", NULL, error, 1000);
-     if (!m) {
-       printf("%s\n", error);
-       return 1;
-     }
-
-     // make data corresponding to model
-     d = mj_makeData(m);
-
-     // run simulation for 10 seconds
-     while (d->time < 10)
-       mj_step(m, d);
-
-     // free model and data
-     mj_deleteData(d);
-     mj_deleteModel(m);
-
-     return 0;
-   }
-
-This is technically a C file, but it is also a legitimate C++ file. Indeed the MuJoCo API is compatible with both C and
-C++. Normally user code would be written in C++ because it adds convenience, and does not sacrifice efficiency because
-the computational bottlenecks are in the simulator which is already highly optimized.
-
-The function :ref:`mj_step` is the top-level function which advances the simulation state by one time step. This example
-of course is just a passive dynamical system. Things get more interesting when the user specifies controls or applies
-forces and starts interacting with the system.
-
-Next we provide a more elaborate example illustrating several features of MJCF. Consider the following
-`example.xml <_static/example.xml>`__:
-
-.. code:: xml
-
-   <mujoco model="example">
-     <default>
-       <geom rgba=".8 .6 .4 1"/>
-     </default>
-
-     <asset>
-       <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
-     </asset>
-
-     <worldbody>
-       <light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
-       <body pos="0 0 1">
-         <joint type="ball"/>
-         <geom type="capsule" size="0.06" fromto="0 0 0  0 0 -.4"/>
-         <body pos="0 0 -0.4">
-           <joint axis="0 1 0"/>
-           <joint axis="1 0 0"/>
-           <geom type="capsule" size="0.04" fromto="0 0 0  .3 0 0"/>
-           <body pos=".3 0 0">
-             <joint axis="0 1 0"/>
-             <joint axis="0 0 1"/>
-             <geom pos=".1 0 0" size="0.1 0.08 0.02" type="ellipsoid"/>
-             <site name="end1" pos="0.2 0 0" size="0.01"/>
-           </body>
-         </body>
-       </body>
-
-       <body pos="0.3 0 0.1">
-         <joint type="free"/>
-         <geom size="0.07 0.1" type="cylinder"/>
-         <site name="end2" pos="0 0 0.1" size="0.01"/>
-       </body>
-     </worldbody>
-
-     <tendon>
-       <spatial limited="true" range="0 0.6" width="0.005">
-         <site site="end1"/>
-         <site site="end2"/>
-       </spatial>
-     </tendon>
-   </mujoco>
-
-.. raw:: html
-
-   <figure class="align-right">
-      <video width="200" height="295" muted autoplay loop>
-         <source src="_static/example.mp4" type="video/mp4">
-      </video>
-   </figure>
-
-This model is a 7 degree-of-freedom arm "holding" a string with a cylinder attached at the other end. The string is
-implemented as a tendon with length limits. There is ball joint at the shoulder and pairs of hinge joints at the elbow
-and wrist. The box inside the cylinder indicates a free "joint". The outer body element in the XML is the required
-:el:`worldbody`. Note that using multiple joints between two bodies does not require creating dummy bodies.
-
-The MJCF file contains the minimum information needed to specify the model. Capsules are defined by line-segments in
-space -- in which case only the radius of the capsule is needed. The positions and orientations of body frames are
-inferred from the geoms belonging to them. Inertial properties are inferred from the geom shape under a uniform density
-assumption. The two sites are named because the tendon definition needs to reference them, but nothing else is named.
-Joint axes are defined only for the hinge joints but not the ball joint. Collision rules are defined automatically.
-Friction properties, gravity, simulation time step etc. are set to their defaults. The default geom color specified at
-the top applies to all geoms.
-
-Apart from saving the compiled model in the binary MJB format, we can save it as MJCF or as human-readable text; see
-`example_saved.xml <_static/example_saved.xml>`__ and `example_saved.txt <_static/example_saved.txt>`__
-respectively. The XML version is similar to the original, while the text version contains all information from
-``mjModel``. Comparing the text version to the XML version reveals how much work the model compiler did for us.
-
-.. _Elements:
-
-Model elements
---------------
-
-This section provides brief descriptions of all elements that can be included in a MuJoCo model. Later we explain in
-more detail the underlying computations, the way elements are specified in MJCF, and their representation in
-``mjModel``.
-
-.. _Options:
-
-Options
-~~~~~~~
-
-Each model has three sets of options listed below. They are always included. If their values are not specified in the
-XML file, default values are used. The options are designed such that the user can change their values before each
-simulation time step. Within a time step however none of the options should be changed.
-
-``mjOption``
-^^^^^^^^^^^^
-
-This structure contains all options that affect the physics simulation. It is used to select algorithms and set their
-parameters, enable and disable different portions of the simulation pipeline, and adjust system-level physical
-properties such as gravity.
-
-``mjVisual``
-^^^^^^^^^^^^
-
-This structure contains all visualization options. There are additional OpenGL rendering options, but these are
-session-dependent and are not part of the model.
-
-``mjStatistic``
-^^^^^^^^^^^^^^^
-
-This structure contains statistics about the model which are computed by the compiler: average body mass, spatial
-extent of the model etc. It is included for information purposes, and also because the visualizer uses it for
-automatic scaling.
-
-.. _Assets:
-
-Assets
-~~~~~~
-
-Assets are not in themselves model elements. Model elements can reference them, in which case the asset somehow changes
-the properties of the referencing element. One asset can be referenced by multiple model elements. Since the sole
-purpose of including an asset is to reference it, and referencing can only be done by name, every asset has a name
-(which may be inferred from a file name when applicable). In contrast, the names of regular elements can be left
-undefined.
-
-Mesh
-^^^^
-
-MuJoCo can load triangulated meshes from OBJ files and binary STL. Software such as `MeshLab
-<https://www.meshlab.net/>`__ can be used to convert from other formats. While any collection of triangles can be
-loaded and visualized as a mesh, the collision detector works with the convex hull. There are compile-time options
-for scaling the mesh, as well as fitting a primitive geometric shape to it. The mesh can also be used to
-automatically infer inertial properties -- by treating it as a union of triangular pyramids and combining their
-masses and inertias. Note that meshes have no color, instead the mesh is colored using the material properties of the
-referencing geom. In contrast, all spatial properties are determined by the mesh data. MuJoCo supports both OBJ and a
-custom binary file format for normals and texture coordinates. Meshes can also be embedded directly in the XML.
-
-Skin
-^^^^
-
-Skinned meshes (or skins) are meshes whose shape can deform at runtime. Their vertices are attached to rigid bodies
-(called bones in this context) and each vertex can belong to multiple bones, resulting in smooth deformations of the
-skin. Skins are purely visualization objects and do not affect the physics, but nevertheless they can enhance visual
-realism significantly. Skins can be loaded from custom binary files, or embedded directly in the XML, similar to
-meshes. When generating composite flexible objects automatically, the model compiler also generates skins for these
-objects.
-
-Height field
-^^^^^^^^^^^^
-
-Height fields can be loaded from PNG files (converted to gray-scale internally) or from files in a custom binary
-format described later. A height field is a rectangular grid of elevation data. The compiler normalizes the data to
-the range [0-1]. The actual spatial extent of the height field is then determined by the size parameters of the
-referencing geom. Height fields can only be referenced from geoms that are attached to the world body. For rendering
-and collision detection purposes, the grid rectangles are automatically triangulated, thus the height field is
-treated as a union of triangular prisms. Collision detection with such a composite object can in principle generate a
-large number of contact points for a single geom pair. If that happens, only the first 64 contact points are kept.
-The rationale is that height fields should be used to model terrain maps whose spatial features are large compared to
-the other objects in the simulation, so the number of contacts will be small for well-designed models.
-
-Texture
-^^^^^^^
-
-Textures can be loaded from PNG or KTX files or synthesized by the compiler based on user-defined procedural parameters.
-There is also the option to leave the texture empty at model creation time and change it later at runtime -- so as to
-render video in a MuJoCo simulation, or create other dynamic effects. The visualizer supports two types of texture
-mapping: 2D and cube. 2D mapping is useful for planes and height fields. Cube mapping is useful for "shrink-wrapping"
-textures around 3D objects without having to specify texture coordinates. It is also used to create a skybox. The six
-sides of a cube maps can be loaded from separate image files, or from one composite image file, or generated by
-repeating the same image. Unlike all other assets which are referenced directly from model elements, textures can
-only be referenced from another asset (namely material) which is then referenced from model elements.
-
-Material
-^^^^^^^^
-
-Materials are used to control the appearance of geoms, sites and tendons. This is done by referencing the material
-from the corresponding model element. Appearance includes texture mapping as well as other properties that interact
-with OpenGL lights below: RGBA, specularity, shininess, emission. Materials can also be used to make objects
-reflective. Currently reflections are rendered only on planes and on the Z+ faces of boxes. Note that model elements
-can also have their local RGBA parameter for setting color. If both material and local RGBA are specified, the local
-definition has precedence.
-
-.. _Kinematic:
-
-Kinematic tree
-~~~~~~~~~~~~~~
-
-MuJoCo simulates the dynamics of a collection of rigid bodies whose motion is usually constrained. The system state is
-represented in joint coordinates and the bodies are explicitly organized into kinematic trees. The tree structure is
-given by ``mjModel.body_parentid``, an integer array of length ``nbody >= 1``. The top-level "world" body always exists
-(with id ``0``) and is its own parent, thus ``body_parentid[0] == 0`` and ``body_parentid[i] < i`` for all other ``i``.
-Note that the world body and other static (joint-less) child bodies form a unique "static tree" with no associated
-degrees of freedom. Below this top-level static tree, multiple kinematic trees can be attached, see :ref:`Tree
-<ElemTree>` below.
-
-Kinematic loops are not allowed; if loop joints are needed they should be modeled with equality constraints. Thus the
-backbone of a MuJoCo model is one or several kinematic trees formed by nested body definitions; an isolated floating
-body counts as a tree. Several other elements listed below are defined within a body and belong to that body. This is in
-contrast with the stand-alone elements listed later which cannot be associated with a single body.
-
-.. _ElemBody:
-
-Body
-^^^^
-
-Bodies have mass and inertial properties but do not have any geometric properties. Instead geometric shapes (or
-geoms) are attached to the bodies. Each body has two coordinate frames: the frame used to define it as well as to
-position other elements relative to it, and an inertial frame centered at the body's center of mass and aligned with
-its principal axes of inertia. The body inertia matrix is therefore diagonal in this frame. At each time step MuJoCo
-computes the forward kinematics recursively, yielding all body positions and orientations in global Cartesian
-coordinates. This provides the basis for all subsequent computations.
-The number of bodies is given by ``mjModel.nbody``.
-
-.. _ElemJoint:
-
-Joint
-^^^^^
-
-Joints are defined within bodies. They create motion degrees of freedom (DOFs) between the body and its parent. In
-the absence of joints the body is welded to its parent. This is the opposite of gaming engines which use
-over-complete Cartesian coordinates, where joints remove DOFs instead of adding them. There are four types of joints:
-ball, slide, hinge, and a "free joint" which creates floating bodies. A single body can have multiple joints. In this
-way composite joints are created automatically, without having to define dummy bodies. The orientation components of
-ball and free joints are represented as unit quaternions, and all computations in MuJoCo respect the properties of
-quaternions. The number of joints is given by ``mjModel.njnt``.
-
-Joint reference
-'''''''''''''''
-
-The reference pose is a vector of joint positions stored in ``mjModel.qpos0``. It corresponds to the numeric values
-of the joints when the model is in its initial configuration. In our earlier example the elbow was created in a bent
-configuration at 90° angle. But MuJoCo does not know what an elbow is, and so by default it treats this joint
-configuration as having numeric value of 0. We can override the default behavior and specify that the initial
-configuration corresponds to 90°, using the ref attribute of :ref:`joint <body-joint>`. The reference values of all
-joints are assembled into the vector ``mjModel.qpos0``. Whenever the simulation is reset, the joint configuration
-``mjData.qpos`` is set to ``mjModel.qpos0``. At runtime the joint position vector is interpreted relative to the
-reference pose. In particular, the amount of spatial transformation applied by the joints is ``mjData.qpos -
-mjModel.qpos0``. This transformation is in addition to the parent-child translation and rotation offsets stored in
-the body elements of ``mjModel``. The ref attribute only applies to scalar joints (slide and hinge). For ball joints,
-the quaternion saved in ``mjModel.qpos0`` is always (1,0,0,0) which corresponds to the null rotation. For free
-joints, the global 3D position and quaternion of the floating body are saved in ``mjModel.qpos0``.
-
-Spring reference
-''''''''''''''''
-
-This is the pose in which all joint and tendon springs achieve their resting length. Spring forces are generated
-when the joint configuration deviates from the spring reference pose, and are linear in the amount of deviation. The
-spring reference pose is saved in ``mjModel.qpos_spring``. For slide and hinge joints, the spring reference is
-specified with the attribute springref. For ball and free joints, the spring reference corresponds to the initial
-model configuration.
-
-.. _ElemDof:
-
-DOF
-^^^
-
-Degrees of freedom are closely related to joints, but are not in one-to-one correspondence because ball and free
-joints have multiple DOFs. Think of joints as specifying positional information, and of DOFs as specifying velocity
-and force information. More formally, the joint positions are coordinates over the configuration manifold of the
-system, while the joint velocities are coordinates over the tangent space to this manifold at the current position.
-DOFs have velocity-related properties such as friction loss, damping, armature inertia. All generalized forces acting
-on the system are expressed in the space of DOFs. In contrast, joints have position-related properties such as limits
-and spring stiffness. DOFs are not specified directly by the user. Instead they are created by the compiler given the
-joints. The number of DOFs is given by ``mjModel.nv``.
-
-.. _ElemTree:
-
-Tree
-^^^^
-
-As explained :ref:`above <Kinematic>`, moving bodies are organized into kinematic trees. A kinematic tree or "tree" is
-*a movable body and all of its descendants*. Thus the world and other static bodies are in the global tree structure but
-not associated with any *tree*. Because the global tree structure uses a depth-first organization, all bodies, joints
-and DOFs belonging to a single tree are always sequential. Note that unlike bodies which (if static) are not associated
-with any tree, joints and DOFs are always associated with a tree. Both :ref:`island discovery <soIsland>` and
-:ref:`island sleeping <Sleeping>` operate on the level of trees.
-
-The number of trees is given by ``mjModel.ntree``. For example, a model containing three free bodies and the `standard
-humanoid <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid.xml>`__ has ``ntree = 4``. Note
-that while trees are indeed subtrees of the global tree (whose root is the world), this should not be confused with the
-specific term ``subtree``, which is reserved for per-body partial trees, thus ``mjModel.body_subtreemass`` gives the
-total mass of the partial tree under each body, for all bodies.
-
-.. _ElemGeom:
-
-Geom
-^^^^
-
-Geoms are 3D shapes rigidly attached to the bodies. Multiple geoms can be attached to the same body. This is
-particularly useful in light of the fact that MuJoCo only supports convex geom-geom collisions, and the only way to
-create non-convex objects is to represent them as a union of convex geoms. Apart from collision detection and
-subsequent computation of contact forces, geoms are used for rendering, as well as automatic inference of body masses
-and inertias when the latter are omitted. MuJoCo supports several primitive geometric shapes: plane, sphere, capsule,
-ellipsoid, cylinder, box. A geom can also be a mesh or a height field; this is done by referencing the corresponding
-asset. Geoms have a number of material properties that affect the simulation and visualization.
-The number of geoms is given by ``mjModel.ngeom``.
-
-.. _ElemSite:
-
-Site
-^^^^
-
-Sites are essentially light geoms. They represent locations of interest within the body frame. Sites do not
-participate in collision detection or automated computation of inertial properties, however they can be used to
-specify the spatial properties of other objects like sensors, tendon routing, and slider-crank endpoints.
-The number of sites is given by ``mjModel.nsite``.
-
-.. _ElemCamera:
-
-Camera
-^^^^^^
-
-Multiple cameras can be defined in a model. There is always a default camera which the user can freely move with the
-mouse in the interactive visualizer. However it is often convenient to define additional cameras that are either
-fixed to the world, or are attached to one of the bodies and move with it. In addition to the camera position and
-orientation, the user can adjust the vertical field of view and the inter-pupilary distance for stereoscopic rendering,
-as well as create oblique projections needed for stereoscopic virtual environments. When modeling real cameras with
-imperfect optics, it is possible to specify separate focal lengths for the horizontal and vertical directions and a
-non-centered principal point.
-The number of cameras is given by ``mjModel.ncam``.
-
-.. _ElemLight:
-
-Light
-^^^^^
-
-Lights can be fixed to the world body or attached to moving bodies. The visualizer provides access to the full
-lighting model in OpenGL (fixed function) including ambient, diffuse and specular components, attenuation and cutoff,
-positional and directional lighting, fog. Lights, or rather the objects illuminated by them, can also cast shadows.
-However, similar to material reflections, each shadow-casting light adds one rendering pass so this feature should be
-used with caution. Documenting the lighting model in detail is beyond the scope of this chapter; see `OpenGL
-documentation <http://www.glprogramming.com/red/chapter05.html>`__ instead. Note that in addition to lights defined
-by the user in the kinematic tree, there is a default headlight that moves with the camera. Its properties are
-adjusted through the mjVisual options.
-The number of lights is given by ``mjModel.nlight``.
-
-.. _Standalone:
-
-Stand-alone
-~~~~~~~~~~~
-
-Here we describe the model elements which do not belong to an individual body, and therefore are described outside the
-kinematic tree.
-
-.. _ElemTendon:
-
-Tendon
-^^^^^^
-
-Tendons are scalar length elements that can be used for actuation, imposing limits and equality constraints, or
-creating spring-dampers and friction loss. There are two types of tendons: fixed and spatial. Fixed tendons are
-linear combinations of (scalar) joint positions. They are useful for modeling mechanical coupling. Spatial tendons
-are defined as the shortest path that passes through a sequence of specified sites (or via-points) or wraps around
-specified geoms. Only spheres and cylinders are supported as wrapping geoms, and cylinders are treated as having
-infinite length for wrapping purposes. To avoid abrupt jumps of the tendon from one side of the wrapping geom to the
-other, the user can also specify the preferred side. If there are multiple wrapping geoms in the tendon path they
-must be separated by sites, so as to avoid the need for an iterative solver. Spatial tendons can also be split into
-multiple branches using pulleys.
-
-.. _ElemActuator:
-
-Actuator
-^^^^^^^^
-
-MuJoCo provides a flexible actuator model, with three components that can be specified independently. Together they
-determine how the actuator works. Common actuator types are obtained by specifying these components in a coordinated
-way. The three components are transmission, activation dynamics, and force generation. The transmission specifies how
-the actuator is attached to the rest of the system; available types are joint, tendon, slider-crank, site and body. The
-activation dynamics can be used to model internal activation states of pneumatic or hydraulic cylinders as well as
-biological muscles; using such actuators makes the overall system dynamics 3rd-order. The force generation mechanism
-determines how the scalar control signal provided as input to the actuator is mapped into a scalar force, which is in
-turn mapped into a generalized force by the moment arms inferred from the transmission.
-
-.. _ElemSensor:
-
-Sensor
-^^^^^^
-
-MuJoCo can generate simulated sensor data which is saved in the global array ``mjData.sensordata``. The result is not
-used in any internal computations; instead it is provided because the user presumably needs it for custom computation
-or data analysis. Available sensor types include touch sensors, inertial measurement units (IMUs), force-torque
-sensors, joint and tendon position and velocity sensors, actuator sensors, body frame sensors, rangefinders, and
-many others; see the :ref:`Sensor <sensor>` section of the XML reference for the complete list. There is also a user
-sensor type, allowing user code to insert any other quantity of interest in the sensor data array. MuJoCo also has
-off-screen rendering capabilities, making it straightforward to simulate both color and depth camera sensors. This is
-not included in the standard sensor model and instead has to be done programmatically, as illustrated in the code
-sample :ref:`simulate.cc <saSimulate>`.
-
-.. _ElemEquality:
-
-Equality
-^^^^^^^^
-
-Equality constraints can impose additional constraints beyond those already imposed by the kinematic tree structure
-and the joints/DOFs defined in it. They can be used to create loop joints, or in general model mechanical coupling.
-The internal forces that enforce these constraints are computed together with all other constraint forces. The
-available equality constraint types are: connect two bodies at a point (creating a ball joint outside the kinematic
-tree); weld two bodies together; fix the position of a joint or tendon; couple the positions of two joints or two
-tendons via a cubic polynomial; constrain the edges of a flex (i.e. deformable mesh) to their initial lengths.
-
-.. _ElemFlex:
-
-Flex
-^^^^
-
-Flexes represent deformable meshes that can be 1, 2 or 3 dimensional (thus their elements
-are capsules, triangles or tetrahedra). Unlike geoms which are static shapes attached rigidly to a single body, the
-elements of a flex are deformable: they are constructed by connecting multiple bodies, thus the body positions and
-orientations determine the shape of the flex elements at runtime. These deformable elements support collisions and
-contact forces, as well as generate passive and constraint forces which softly preserve the shape of the deformable
-entity. Automation is provided to load a mesh from a file, construct bodies corresponding to the mesh vertices,
-construct flex elements corresponding to the mesh faces (or lines or tetrahedra, depending on dimensionality), and
-obtain a corresponding deformable mesh.
-
-Contact pair
-^^^^^^^^^^^^
-
-Contact generation in MuJoCo is an elaborate process. Geom pairs that are checked for contact can come from two
-sources: automated proximity tests and other filters collectively called "dynamic", as well as an explicit list of
-geom pairs provided in the model. The latter is a separate type of model element. Because a contact involves a
-combination of two geoms, the explicit specification allows the user to define contact parameters in ways that cannot
-be done with the dynamic mechanism. It is also useful for fine-tuning the contact model, in particular adding contact
-pairs that were removed by an aggressive filtering scheme. The contact machinery is now extended to flex elements,
-which can create contact interactions between more than two bodies. However such collisions are automated and cannot
-be finetuned using contact pairs.
-
-Contact exclude
-^^^^^^^^^^^^^^^
-
-This is the opposite of contact pairs: it specifies pairs of bodies (rather than geoms) which should be excluded from
-the generation of candidate contact pairs. It is useful for disabling contacts between bodies whose geometry causes
-an undesirable permanent contact. Note that MuJoCo has other mechanisms for dealing with this situation (in
-particular geoms cannot collide if they belong to the same body or to a parent and a child body), but sometimes these
-automated mechanisms are not sufficient and explicit exclusion becomes necessary.
-
-Custom numeric
-^^^^^^^^^^^^^^
-
-There are three ways to enter custom numbers in a MuJoCo simulation. First, global numeric fields can be defined in
-the XML. They have a name and an array of real values. Second, the definition of certain model elements can be
-extended with element-specific custom arrays. This is done by setting the attributes ``nuser_XXX`` in the XML element
-``size``. Third, there is the array ``mjData.userdata`` which is not used by any MuJoCo computations. The user can
-store results from custom computations there; recall that everything that changes over time should be stored in
-``mjData`` and not in ``mjModel``.
-
-Custom text
-^^^^^^^^^^^
-
-Custom text fields can be saved in the model. They can be used in custom computations -- either to specify keyword
-commands, or to provide some other textual information. Do not use them for comments though; there is no benefit to
-saving comments in a compiled model. XML has its own commenting mechanism (ignored by MuJoCo's parser and compiler)
-which is more suitable.
-
-Custom tuple
-^^^^^^^^^^^^
-
-Custom tuples are lists of MuJoCo model elements, possibly including other tuples. They are not used by the
-simulator, but are available for specifying groups of elements that are needed for user code. For example, one can
-use tuples to define pairs of bodies for custom contact processing.
-
-Keyframe
-^^^^^^^^
-
-A keyframe is a snapshot of the simulation state variables. It contains joint positions, joint velocities, actuator
-activations, controls, mocap body poses, and the simulation time. The model can contain a library of keyframes.
-They are useful for resetting the state of the system to a point of interest. Note that keyframes are not intended
-for storing trajectory data in the model; external files should be used for this purpose.
-
-.. _Clarifications:
-
-Clarifications
---------------
-
-The reader is likely to have experience with other physics simulators and related conventions, as well as general
-programming practices that are not aligned with MuJoCo. This has the potential to cause confusion. The goal of this
-section is to preemptively clarify the aspects that are most likely to be confusing; it is somewhere in-between a FAQ
-and a tutorial on selected topics. We will need to refer to material covered later in the documentation, but
-nevertheless the text below is as self-contained and introductory as possible.
-
-.. _Divergence:
-
-Divergence
-~~~~~~~~~~
-
-Divergence of a simulation happens when elements of the state tend quickly to infinity. In MuJoCo this is usually
-manifested as an :ref:`mjWARN_BADQACC<mjtwarning>` warning. Divergence is endemic to all physics simulation and is not
-necessarily indicative of a bad model or bug in the simulator, but is rather a hint that the timestep  is too large for
-the given choice of integrator. In physics simulation there is always a tension between speed (large time steps) and
-stability (small timesteps). A model which is well-tuned for speed has the largest possible timestep that does not
-diverge, which usually means that it *can* be made to diverge under extreme conditions. In that sense *rare* cases of
-divergence can actually be indicative of a well-tuned model. In all cases it should be possible to prevent divergence by
-reducing the timestep and/or switching to a more stable :ref:`integrator <geIntegration>`. If that fails, the culprit is
-different. For example in models where bodies are initialized in penetration, large repulsive forces could push them
-away and cause divergence.
-
-
-.. _Units:
-
-Units are unspecified
-~~~~~~~~~~~~~~~~~~~~~
-
-MuJoCo does not specify basic physical units. The user may interpret the system of units as they choose, as long as it
-is consistent. To understand this, consider an example: the dynamics of a 1 meter spaceship that weighs 1 kilogram and
-has a 1 Newton thruster are the same as those of a 1 cm spaceship that weighs 1 gram and has a 1 dyn thruster. This is
-because both `MKS <https://en.wikipedia.org/wiki/MKS_system_of_units>`__ and `CGS
-<https://en.wikipedia.org/wiki/Centimetre%E2%80%93gram%E2%80%93second_system_of_units>`__ are consistent systems of
-units. This property allows the user to scale their model as they choose, which is useful when simulating very small or
-very large things, to improve the numerical properties of the simulation.
-
-That said, users are encouraged to use MKS, as there are two places where MuJoCo uses MKS-like default values:
-
-- The default value of :ref:`gravity<option>` is (0, 0, -9.81), which corresponds to Earth surface gravity in MKS.
-  Note that this does not really specify the MKS system of units, since we might be using CGS on
-  `Enceladus <https://en.wikipedia.org/wiki/Enceladus>`__.
-- The default value of :ref:`geom density<body-geom>` (used to infer body masses and inertias) is 1000, which
-  corresponds to the density of water in MKS.
-
-Once a consistent system of basic units (length, mass, time) is chosen, all derived units correspond to this system, as
-in `Dimensional Analysis <https://en.wikipedia.org/wiki/Dimensional_analysis>`__. For example if our model is
-interpreted as MKS, then forces and torques are in Newton and Newton-Meter, respectively.
-
-**Angles:** Although angles can be specified using degrees in MJCF (and indeed degrees are the
-:ref:`default <compiler>`), all angular quantities :ref:`mjModel` and :ref:`mjData` are expressed in
-`radians <https://en.wikipedia.org/wiki/Radian>`__. So, for example, if we are using MKS, angular velocities reported by
-:ref:`gyroscopes<sensor-gyro>` would be in rad/s while stiffness of hinge joints would be in Nm/rad.
-
-
-.. _SurprisingCollisions:
-
-Surprising Collisions
-~~~~~~~~~~~~~~~~~~~~~
-
-MuJoCo by default excludes collisions between geoms that belong to body pairs which have a direct parent-child
-relationship. For example, consider the arm model in the :ref:`Examples` section above: there is no collision at the
-"elbow" even though the capsule geoms are penetrating, because the forearm is an immediate child of the upper arm.
-
-However, this exclusion is **not applied if the parent is a static body** i.e., the world body, or a body without any
-degrees of freedom relative to the world body. This behavior, documented in the :ref:`Collision detection<Collision>`
-section, prevents objects from falling through the floor or moving through walls. However, this behavior often leads to
-the following situation:
-
-The user comments out the root joint of a floating-base model, perhaps in order to prevent it from falling; now that the
-base body is counted as static, new collisions appear that were not there before and the user is confused. There are
-three easy ways to avoid this problem:
-
-1. Make the newly static body a :ref:`mocap body<body-mocap>`. Mocap bodies are the root of their own body group for
-   the purposes of collision filtering, rather than being welded to the world, so the parent-child exclusion applies to
-   their children as usual. As a bonus, the body can be moved around interactively.
-
-2. Don't remove the root joint. Perhaps it is enough to :ref:`disable gravity<option-flag>` and possibly add some
-   :ref:`fluid viscosity<option>` in order to prevent your model from moving around too much.
-
-3. Use :ref:`collision filtering<Collision>` to explicitly disable the unwanted collisions, either by setting the
-   relevant :at:`contype` and :at:`conaffinity` attributes, or by using a contact :ref:`exclude <contact-exclude>`
-   directive.
-
-
-.. _NotObject:
-
-Data-oriented design
-~~~~~~~~~~~~~~~~~~~~
-
-MuJoCo uses a data-oriented architecture rather than an object-oriented one. The natural semantic entity here is the
-entire physics simulator, rather than individual objects with private state and methods. Instead of objects, we have a
-small number of data structures and a large number of functions that operate on them.
-
-We separate the model (``mjModel``) from the data (``mjData``). These are both data structures. The model contains
-everything needed to describe the constant properties of the physical system being modeled, while the data contains the
-time-varying state and the reusable intermediate results of internal computations. All top-level functions expect
-pointers to ``mjModel`` and ``mjData`` as arguments. This design avoids global variables and naturally supports
-multi-threading: each thread simply operates on its own ``mjData`` instance.
-
-.. _Soft:
-
-Softness and slip
-~~~~~~~~~~~~~~~~~
-
-As we will explain at length in the :doc:`computation/index` chapter, MuJoCo is based on a mathematical model of the
-physics of contact and other constraints. This model is inherently soft, in the sense that pushing harder against a
-constraint will always result in larger acceleration, and so the inverse dynamics can be uniquely defined. This is
-desirable because it yields a convex optimization problem and enables analyses that rely on inverse dynamics, and
-furthermore, most contacts that we need to model in practice have some softness. However once we allow soft constraints,
-we are effectively creating a new type of dynamics -- namely deformation dynamics -- and now we must specify how these
-dynamics behave. This calls for elaborate parameterization of contacts and other constraints, involving the attributes
-:at:`solref` and :at:`solimp` that can be set per constraints and will be described later.
-
-An often confusing aspect of this soft model is that gradual contact slip cannot be avoided. Similarly, frictional
-joints will gradually yield under gravity. This is not because the solver is unable to prevent slip, in the sense of
-reaching the friction cone or friction loss limit, but because it is not trying to prevent slip in the first place.
-Recall that larger force against a given constraint must result in larger acceleration. If slip were to be fully
-suppressed, this key property would have to be violated. So if you see gradual slip in your simulation, the intuitive
-explanation may be that the friction is insufficient, but that is rarely the case in MuJoCo. Instead the ``solref`` and
-``solimp`` parameter vectors need to be adjusted in order to reduce this effect. Increasing constraint impedance (first
-two elements of ``solimp``) as well as the global ``mjModel.opt.impratio`` setting can be particularly effective. Such
-adjustment often requires smaller time steps to keep the simulation stable, because they make the nonlinear dynamics
-more difficult to integrate numerically. Slip is also reduced by the Newton solver which is more accurate in general.
-
-For situations where it is desirable to suppress slip completely, there is a :ref:`NoSlip <soAlgorithms>`
-post-processing solver which runs after the main solver. It updates the contact forces in friction dimensions by
-disregarding constraint softness. When this option is used however, MuJoCo is no longer solving the convex optimization
-problem it was designed to solve, and the simulation may become less robust. Thus using the Newton solver with elliptic
-friction cones and large value of ``impratio`` is the recommended way of reducing slip. For more detailed
-recommendations, see :ref:`preventing slip<CSlippage>` in the Modeling chapter.
-
-.. _TypeNameId:
-
-Types, names, ids
-~~~~~~~~~~~~~~~~~
-
-MuJoCo supports a large number of model elements, as summarized earlier. Each element type has a corresponding section
-in ``mjModel`` listing its various properties. For example the joint limit data is in the array
-
-.. code:: C
-
-   mjtNum* jnt_range;             // joint limits       (njnt x 2)
-
-The size of each array (``njnt`` in this case) is also given in ``mjModel``. The limits of the first joint are included
-first, followed by the limits of the second joint etc. This ordering reflects the fact that all matrices in MuJoCo have
-row-major format.
-
-The available element types are defined in `mjtype.h
-<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__, in the enum type :ref:`mjtObj`.
-These enums are mostly used internally. One exception are the functions :ref:`mj_name2id` and :ref:`mj_id2name` in the
-MuJoCo API, which map element names to integer ids and vice versa. These functions take an element type as input.
-
-Naming model elements in the XML is optional. Two elements of the same type (e.g. two joints) cannot have the same name.
-Naming is required only when a given element needs to be referenced elsewhere in the model; referencing in the XML can
-only be done by name. Once the model is compiled, the names are still stored in ``mjModel`` for user convenience,
-although they have no further effect on the simulation. Names are useful for finding the corresponding integer ids, as
-well as rendering: if you enable joint labels for example, a string will be shown next to each joint (elements with
-undefined names are labeled as "joint N" where N is the id).
-
-The integer ids of the elements are essential for indexing the MuJoCo data arrays. The ids are 0-based, following the C
-convention. Suppose we already have ``mjModel* m``. To print the range of a joint named "elbow", do:
-
-.. code:: C
-
-   int jntid = mj_name2id(m, mjOBJ_JOINT, "elbow");
-   if (jntid >= 0)
-      printf("(%f, %f)\n", m->jnt_range[2*jntid], m->jnt_range[2*jntid+1]);
-
-
-If the name is not found the function returns -1, which is why one should always check for id>=0.
-
-.. _BodyGeomSite:
-
-Bodies, geoms, sites
-~~~~~~~~~~~~~~~~~~~~
-
-Bodies, geoms and sites are MuJoCo elements which roughly correspond to rigid bodies in the physical world. So why are
-they separate? For semantic as well as computational reasons explained here.
-
-First the similarities. Bodies, geoms and sites all have spatial frames attached to them (although bodies also have a
-second frame which is centered at the body center of mass and aligned with the principal axes of inertia). The positions
-and orientations of these frames are computed at each time step from ``mjData.qpos`` via forward kinematics. The results
-of forward kinematics are available in ``mjData`` as xpos, xquat and xmat for bodies, geom_xpos and geom_xmat for geoms,
-site_xpos and site_xmat for sites.
-
-Now the differences. Bodies are used to construct the kinematic tree and are containers for other elements, including
-geoms and sites. Bodies have a spatial frame, inertial properties, but no properties related to appearance or collision
-geometry. This is because such properties do not affect the physics (except for contacts of course, but these are
-handled separately). If you have seen diagrams of kinematic trees in robotics textbooks, the bodies are usually drawn as
-amorphous shapes -- to make the point that their actual shape is irrelevant to the physics.
-
-Geoms (short for geometric primitive) are used to specify appearance and collision geometry. Each geom belongs to a body
-and is rigidly attached to that body. Multiple geoms can be attached to the same body. This is particularly useful in
-light of the fact that MuJoCo's collision detector assumes that all geoms are convex (it internally replaces meshes with
-their convex hulls if the meshes are not convex). Thus if you want to model a non-convex shape, you have to decompose it
-into a union of convex geoms and attach all of them to the same body.
-
-A geom can also have density or mass values specified in the XML, which the model compiler uses to compute the parent
-body's mass and inertia. Mass is either specified or computed from a geom's volume and :ref:`density
-<body-geom-density>`. Inertia is computed from the mass, shape, and uniform density assumption. If the
-:ref:`shellinertia <body-geom-shellinertia>` flag is set, mass is assumed to be uniformly distributed on the **surface**,
-:at:`density` is interpreted as mass-per-area, and the inertia contribution to the parent body is computed accordingly.
-In the actual ``mjModel`` being simulated, geoms do not have inertial properties.
-
-Sites are light geoms. They have the same appearance properties but cannot participate in collisions and cannot be used
-to infer body masses. On the other hand sites can do things that geoms cannot do: they can specify the volumes of touch
-sensors, the attachment of IMU sensors, the routing of spatial tendons, the end-points of slider-crank actuators. These
-are all spatial quantities, and yet they do not correspond to entities that should have mass or collide with other
-entities -- which is why the site element was created. Sites can also be used to specify points (or rather frames) of
-interest to the user.
-
-The following example illustrates the point that multiple sites and geoms can be attached to the same body: two sites
-and two geoms to one body in this case.
-
-.. code:: XML
-
-   <mujoco>
-     <worldbody>
-       <body pos="0 0 0">
-         <geom type="sphere" size=".1" rgba=".9 .9 .1 1"/>
-         <geom type="capsule" pos="0 0 .1" size=".05 .1" rgba=".9 .9 .1 1"/>
-         <site type="box" pos="0 -.1 .3" size=".02 .02 .02" rgba=".9 .1 .9 1"/>
-         <site type="ellipsoid" pos="0 .1 .3" size=".02 .03 .04" rgba=".9 .1 .9 1"/>
-       </body>
-     </worldbody>
-   </mujoco>
-
-.. figure:: images/overview/bodygeomsite.png
-   :width: 200px
-   :align: right
-
-This model is rendered by the OpenGL visualizer as:
-
-Note the red box. This is an equivalent-inertia box rendering of the body inertial properties, and is generated by
-MuJoCo internally. The box is over the geoms but not over the sites. This is because only the geoms were used to
-(automatically) infer the inertial properties of the body. If we happen to know the latter, we can of course specify
-them directly. But it is often more convenient to let the model compiler infer these body properties from the geoms
-attached to it, using the assumption of uniform density (geom density can be specified in the XML; the default is the
-density of water).
-
-.. _JointCo:
-
-Joint coordinates
-~~~~~~~~~~~~~~~~~
-
-One of the key distinctions between MuJoCo and gaming engines is that MuJoCo operates in generalized or joint
-coordinates, while most gaming engines operate in Cartesian coordinates. The differences between these two approaches
-can be summarized as follows:
-
-Joint coordinates:
-
--  Best suited for elaborate kinematic structures such as robots;
--  Joints **add** degrees of freedom among bodies that would be welded together by default;
--  Joint constraints are implicit in the representation and cannot be violated;
--  The positions and orientations of the simulated bodies are obtained from the generalized coordinates via forward
-   kinematics, and cannot be manipulated directly (except for root bodies).
-
-Cartesian coordinates:
-
--  Best suited for many bodies that bounce off each other, as in molecular dynamics and box stacking;
--  Joints **remove** degrees of freedom among bodies that would be free-floating by default;
--  Joint constraints are enforced numerically and can be violated;
--  The positions and orientations of the simulated bodies are represented explicitly and can be manipulated directly,
-   although this can introduce further joint constraint violations.
-
-Joint coordinates can be particularly confusing when working with free-floating bodies that are part of a model which
-also contains kinematic trees. This is clarified below.
-
-.. _Floating:
-
-Floating objects
-~~~~~~~~~~~~~~~~
-
-When working in joint coordinates, you cannot simply set the position and orientation of an arbitrary body to whatever
-you want. To achieve that effect you would have to implement some form of inverse kinematics, which computes a (not
-necessarily unique) set of joint coordinates for which the forward kinematics place the body where you want it to be.
-
-The situation is different for floating bodies, i.e., bodies that are connected to the world with a free joint. The
-positions and orientations as well as the linear and angular velocities of such bodies are explicitly represented in
-``mjData.qpos`` and ``mjData.qvel``, and can therefore be manipulated directly. For structured state manipulation and
-serialization, see :ref:`State and control <siStateControl>` in the Simulation chapter.
-
-The semantics of free joints are as follows. The position data is 7 numbers (3D position followed
-by unit quaternion) while the velocity data is 6 numbers (3D linear velocity followed by 3D angular velocity).
-The linear positions of free joints are in the global frame, as are
-linear velocities. The orientation of a free joint (the quaternion) is also in the global frame. However, the rotational
-velocities of a free joint are in the local body frame. This is not so much a design decision but rather correct
-use of the topology of quaternions. Angular velocities live in the quaternion tangent space, which is defined locally
-for a certain orientation, so frame-local angular velocities are the natural parameterization.
-Accelerations are defined in the same space as the corresponding velocities.
-
-Free joints are always defined in the body frame, yet it is computationally favorable to align this frame with the
-body's inertia. Read more about this option in the documentation of the :ref:`freejoint/align<body-freejoint-align>`
-attribute.
diff --git a/doc/programming/extension.rst b/doc/programming/extension.rst
deleted file mode 100644
index 3af6886d..00000000
--- a/doc/programming/extension.rst
+++ /dev/null
@@ -1,656 +0,0 @@
-.. _exExtension:
-
-Extensions
-----------
-
-This section describes MuJoCo's mechanisms for user-authored extensions. At present, extensibility is provided by
-via :ref:`engine plugins<exPlugin>`, :ref:`decoders<exDecoder>`, and :ref:`resource providers<exProvider>`.
-
-.. _exPlugin:
-
-Engine plugins
-~~~~~~~~~~~~~~
-
-Engine plugins allow user-defined logic to be inserted into various parts of MuJoCo's
-computational pipeline. For example, custom sensor and actuator types can be implemented as plugins. Plugin features are
-referenced in the XML content of an MJCF model, allowing MJCF to remain an abstract physical description of
-a system even if the simulation requirements extend beyond MuJoCo's built-in capabilities.
-
-The plugin mechanism was designed to overcome the disadvantages of MuJoCo's :ref:`physics callbacks<glPhysics>`. These
-global callbacks (:ref:`usage example<siSimulation>`) are still available and useful for fast prototyping or when
-the user wishes to implement functionality in Python, but are generally deprecated as a stable mechanism for extended
-functionality. The central features of the plugin mechanism are:
-
-- **Thread safety:** Plugin instances (see below) are thread-local, avoiding collisions.
-- **Statefulness:** Plugins can be stateful, and their state will be (de)serialized correctly.
-- **Interoperability:** Different plugins can coexist without interference.
-
-Both users and developers of plugins should familiarize themselves with two key concepts:
-
-Plugin
-  A **plugin** is a collection of functions and static attributes that implement its capabilities, bundled into an
-  :ref:`mjpPlugin` struct. Plugin functions are **stateless**: they depend only on the
-  arguments passed to them. When a plugin requires an internal state, it declares this state
-  and allows MuJoCo to manage it and pass it in. This enables (de)serialization of the full simulation state.
-  A plugin can therefore be regarded as the "pure logic" part of the functionality and is often bundled as a C library.
-  A plugin is neither a model element nor is it associated with specific model elements.
-
-Plugin instance
-  A plugin **instance** represents the self-contained runtime state that is operated on by the
-  plugin: when the plugin logic is executed, the instance state is passed in by the engine.
-  A plugin instance is itself a model element of type :ref:`mjOBJ_PLUGIN<mjtObj>`.
-  There are ``mjModel.nplugin`` instances with id's in ``[0 nplugin-1]``. Like other elements, instances
-  can have names, with :ref:`mj_name2id` and :ref:`mj_id2name` mapping between id's and names. Unlike the
-  plugin code which is loaded once into a global table, multiple instances of the same plugin can be defined and have a
-  one-to-many relationship with other model elements.
-
-  **one-to-one:**
-    In this simplest case, each instance is referenced once in the model. For example,
-    two sensors may declare that their values are computed by two plugin instances of the same plugin.
-    In this case, every time the sensor output is computed, the plugin logic will be executed separately.
-
-  **one-to-many:**
-    Alternatively, the behavior of multiple elements can be backed by a single plugin instance. There are
-    two main scenarios where this is useful:
-
-  * The values of different element types are linked to the same physical entity and computation. For example
-    consider a motor with an internal thermometer. This would manifest as an actuator and sensor, both associated with
-    the same plugin instance which computes both torque outputs and temperature readings.
-  * It is advantageous to batch the computation of multiple related elements together, for example where the computed
-    value is the output of a neural network. The canonical example here is a robot that is equipped with ``N`` motors,
-    where motor dynamics are modeled as a neural network. In this case, it can be substantially faster to produce the
-    torque output of all N actuators in a single forward pass than for each motor separately.
-
-Below, we begin by describing plugins from a user perspective:
-
-* Types of plugin capabilities.
-* How plugins are declared and configured in an MJCF model.
-* How plugin states are incorporated into :ref:`mjData`, and what users need to do to safely duplicate and serialize
-  :ref:`mjData` structs when plugin instances are present.
-
-Next, we describe the logistics of plugin registration that are relevant to both users and developers of plugins. This
-is followed by a section that targets plugin developers.
-
-.. _exCapabilities:
-
-Plugin capabilities
-^^^^^^^^^^^^^^^^^^^
-
-A plugin is described by the contents of its associated :ref:`mjpPlugin` struct. The ``capabilityflags`` member is an
-integer bitfield describing the plugin's capabilities, where bit semantics are defined in the enum
-:ref:`mjtPluginCapabilityBit`. Using a bitfield allows plugins to support multiple types of computation. The currently
-supported plugin capabilities are:
-
-* Actuator plugin
-* Sensor plugin
-* Passive force plugin
-* Signed distance field plugin
-
-Additional capabilities will be added in the future as required.
-
-
-.. _exDeclaration:
-
-Declaration in MJCF
-^^^^^^^^^^^^^^^^^^^
-
-First, a plugin dependency must be declared through ``<extension><plugin>``. When the model is parsed, if any plugin
-is declared but not registered (see below), a model compilation error is raised. If only a single MJCF element is
-backed by a plugin, instances can be implicitly created in-place. If multiple elements are backed by the same plugin,
-instance declaration must be explicit:
-
-.. code:: xml
-
-   <mujoco>
-     <extension>
-       <plugin plugin="mujoco.test.simple_sensor_plugin"/>
-       <plugin plugin="mujoco.test.actuator_sensor_plugin">
-         <instance name="explicit_instance"/>
-       </plugin>
-     </extension>
-     ...
-     <sensor>
-       <plugin name="sensor0" plugin="mujoco.test.simple_sensor_plugin"/>
-       <plugin name="sensor1" plugin="mujoco.test.simple_sensor_plugin"/>
-       <plugin name="sensor2" instance="explicit_instance"/>
-     </sensor>
-     ...
-     <actuator>
-       <plugin name="actuator2" instance="explicit_instance"/>
-     </actuator>
-   </mujoco>
-
-In the example above, ``sensor0`` and ``sensor1`` are each backed by a simple plugin that does not share computation
-among elements, so an instance is implicitly created for each sensor by directly referencing the plugin identifier.
-In contrast, ``sensor2`` and ``actuator2`` are backed by a plugin that shares computation, so they must reference a
-shared instance that was explicitly declared.
-
-
-.. _exConfiguration:
-
-Configuration in MJCF
-^^^^^^^^^^^^^^^^^^^^^
-
-Plugins can declare custom attributes that represent specialized configurable parameters. For example, a DC motor model
-may expose the resistance, inductance, and capacitance as configuration attributes. In MJCF, the values of these
-attributes can be specified via ``<config>`` elements, where each ``<config>`` has a key and a value. Valid keys and
-values are specified by the plugin developers, but are declared to MuJoCo during plugin registration time so that the
-MuJoCo model compiler can raise errors for invalid values.
-
-.. code:: xml
-
-   <mujoco>
-     <extension>
-       <plugin plugin="mujoco.test.simple_actuator_plugin">
-         <instance name="explicit_instance">
-           <config key="resistance" value="1.0"/>
-           <config key="inductance" value="2.0"/>
-         </instance>
-       </plugin>
-     </extension>
-     ...
-     <actuator>
-       <plugin name="actuator0" instance="explicit_instance"/>
-       <plugin name="actuator1" plugin="mujoco.test.simple_actuator_plugin">
-           <config key="resistance" value="3.0"/>
-           <config key="inductance" value="4.0"/>
-       </plugin>
-     </actuator>
-   </mujoco>
-
-In the example above, ``actuator0`` refers to a pre-existing plugin instance that was created and configured via the
-``<instance>`` element, while ``actuator1`` is implicitly creating and configuring a new plugin instance in-place. Note
-that it would be an error to add ``<config>`` child elements directly to ``actuator0`` because a new plugin instance is
-not being created there.
-
-.. _exPluginState:
-
-Plugin state
-^^^^^^^^^^^^
-
-While plugin code should be stateless, individual plugin instances are permitted to hold time-dependent state that is
-intended to evolve alongside MuJoCo physics, for example temperature variables in thermodynamically coupled actuator
-models. Separately, it may also be desirable for plugin instances to memoize potentially expensive parts of their
-operation. For example, sensor or actuator plugins that are backed by pretrained neural networks will want to preload
-their weights at model compilation time. It is important for us to distinguish between these two types of per-instance
-plugin payload. The term **plugin state** refers to the time-dependent state of the plugin instance that consists of
-*floating point* values, while the term **plugin data** refers to *arbitrary data structures* consisting of memoized
-payload that should be considered implementation detail for the plugin's computation.
-
-Crucially, plugin data must be reconstructible only from plugin configuration attributes, the plugin state,
-and :ref:`MuJoCo state variables<geState>`. This means that the plugin data is not expected to be serializable, and will
-not be serialized by MuJoCo when it copies or stores data. On the other hand, plugin state is considered an integral
-part of the physics and must be serialized alongside MuJoCo's other state variables in order for the physics to be
-faithfully restored.
-
-Plugins must declare the number of floating point values required for each instance via the ``nstate`` callback of its
-:ref:`mjpPlugin` struct. Note that this number can depend on the exact configuration of the instance. During
-:ref:`mj_makeData`, MuJoCo allocates the requisite number of slots in the ``plugin_state`` field of :ref:`mjData` for
-each plugin instance. The ``plugin_stateadr`` field in :ref:`mjModel` indicates the position within the overall
-``plugin_state`` array at which each plugin instance can find its state values.
-
-Plugin data, however, is entirely opaque from MuJoCo's point of view. During :ref:`mj_makeData`, MuJoCo calls the
-``init`` callback from the relevant :ref:`mjpPlugin`. In this callback, the plugin is permitted to allocate or otherwise
-create an arbitrary data structure that it requires to function and stores its pointer in the ``plugin_data`` field of
-:ref:`mjData` that is being created. During :ref:`mj_deleteData`, MuJoCo calls the ``destroy`` callback from the same
-:ref:`mjpPlugin`, and the plugin is responsible for deallocating its internal resources associated with the instance.
-
-When :ref:`mjData` is being copied via :ref:`mj_copyData`, MuJoCo will copy over the plugin state. However, the plugin
-code is responsible for setting up the plugin data for the newly copied :ref:`mjData`. To facilitate this, MuJoCo calls
-the ``copy`` callback from :ref:`mjpPlugin` for each plugin instance present.
-
-.. _exActuatorAct:
-
-Actuator states
-"""""""""""""""
-
-When writing stateful actuator plugins, there are two choices for where to save the actuator state. One option is using
-``plugin_state`` as described above, and the other is to use ``mjData.act`` by implementing the callback on
-:ref:`mjpPlugin`.
-
-When using the latter option, the actuator plugin's state will be added to ``mjData.act``, and MuJoCo will
-automatically integrate ``mjData.act_dot`` values between timesteps. One advantage of this approach is that
-finite-differencing functions like :ref:`mjd_transitionFD` will work as they do for native actuators. The
-``mjpPlugin.advance`` callback will be called after ``act_dot`` is integrated, and actuator plugins may overwrite
-the ``act`` values at that point, if the built-in integrator is not appropriate.
-
-Users may specify the :ref:`dyntype<actuator-plugin-dyntype>` attribute on actuator plugins, to introduce a filter or
-an integrator between user inputs and actuator states. When they do, the state variable introduced by
-``dyntype`` will be placed *after* the plugin's state variables in the ``act`` array.
-
-.. _exRegistration:
-
-Registration
-^^^^^^^^^^^^
-
-Plugins must be registered with MuJoCo before they can be referenced in MJCF models.
-
-One-off plugins that are intended to support a specific application (or throwaway plugins that are implemented to help
-troubleshoot issues with a model) can be statically linked into the application. This can be as simple as preparing an
-:ref:`mjpPlugin` struct in the ``main`` function, then passing it to :ref:`mjp_registerPlugin` to be registered with
-MuJoCo.
-
-Generally, reusable plugins are expected to be packaged as libraries and should be registered when the library is
-loaded. In GCC-compatible compilers, this can be achieved by calling :ref:`mjp_registerPlugin` in a function that is
-declared with ``__attribute__((constructor))``, while in MSVC this can be done by injecting code into the C runtime
-initialization. MuJoCo provides a convenience macro :ref:`mjPLUGIN_LIB_INIT` that expands to either of these constructs
-depending on the compiler used.
-
-Users of plugins that are delivered as dynamic libraries as described above can load the library using the function
-:ref:`mj_loadPluginLibrary`. This is the preferred way to load dynamic libraries containing MuJoCo plugins (rather than,
-say, calling ``dlopen`` or ``LoadLibraryA`` directly) since the exact way in which MuJoCo expects dynamic libraries to
-auto-register plugins may change over time, but :ref:`mj_loadPluginLibrary` is expected to also evolve to reflect the
-best practices.
-
-For applications that need to be able to load arbitrary user-provided MJCF models, it may be desirable to automatically
-scan and load all dynamic libraries found without a specific directory. Users who bring along an MJCF that requires a
-plugin can then be instructed to place the requisite plugin libraries in the relevant directory. For example, this is
-what is done in the :ref:`saSimulate` interactive viewer application. The :ref:`mj_loadAllPluginLibraries` function is
-provided for this scan-and-load use case.
-
-.. _exWriting:
-
-Writing plugins
-^^^^^^^^^^^^^^^
-
-This section, targeted at developers, is incomplete. We encourage people who wish to write their own plugins
-to contact the MuJoCo development team for help. A good starting point for experienced developers is the
-`associated tests <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_plugin_test.cc>`_ and the
-first-party plugins in the `first-party plugin directory <https://github.com/google-deepmind/mujoco/tree/main/plugin>`_.
-
-A future version of this section will include:
-
-* The content of the :ref:`mjpPlugin` struct.
-* Which functions and properties need to be provided in order to define a plugin.
-* How to declare custom MJCF attributes for a plugin.
-* Things that developers need to keep in mind in order to ensure that plugins function correctly when :ref:`mjData` is
-  copied, stepped, or reset.
-
-There are several first-party plugin directories:
-
-actuator
-""""""""
-The plugins in the `actuator/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/actuator>`__ directory
-implement custom actuators, so far only a PID controller. See the `README
-<https://github.com/google-deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ for details.
-
-
-elasticity
-""""""""""
-The plugins in the `elasticity/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/elasticity>`__ directory are
-passive forces based on continuum mechanics for 1-dimensional and 2-dimensional bodies. The 1D model is invariant under
-rotations and captures the large deformation of elastic cables, decoupling twisting and bending strains. The 2D model is
-a suitable for computing the bending stiffness of thin elastic plates (i.e. shells having a flat stress-free
-configuration). In this case, the elastic energy is quadratic and therefore the stiffness matrix is constant. For more
-information, please see the `README
-<https://github.com/google-deepmind/mujoco/blob/main/plugin/elasticity/README.md>`__.
-
-
-sensor
-""""""
-The plugins in the `sensor/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/sensor>`__ directory implement
-custom sensors. Currently the sole sensor plugin is the touch grid sensor, see the `README
-<https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`__ for details.
-
-.. _exSDF:
-
-sdf
-"""
-The plugins in the `sdf/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/sdf>`__ directory
-specify custom shapes in a mesh-free manner, by defining methods computing a signed distance field and its gradient at
-query points. This shape then acts as a new geom type in the collision table at the top of `engine_collision_driver.c
-<https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__. For more information
-concerning the available SDFs and how to write your own implicit geometry, please see the `README
-<https://github.com/google-deepmind/mujoco/blob/main/plugin/sdf/README.md>`__. The rest of this section will give more
-detail concerning the collision algorithm and the plugin engine interface.
-
-Collision points are found by minimizing the function A + B + abs(max(A, B)), where A and B are the two colliding
-SDFs, via gradient descent. Because SDFs are non-convex, multiple starting points are required in order to converge to
-multiple local minima. The number of starting points is set using :ref:`sdf_initpoints<option-sdf_initpoints>`, and
-are initialized using the Halton sequence inside the intersection of the axis-aligned bounding boxes. The number of
-gradient descent iterations is set using :ref:`sdf_iterations<option-sdf_iterations>`.
-
-While *exact* SDFs---encoding the precise signed distance to the surface---are preferred, collisions are possible with
-any function whose value vanishes at the surface and grows monotonically away from it, with a negative sign in the
-interior. For such functions, it is still possible to find collisions, albeit with a possibly
-increased number of starting points.
-
-The ``sdf_distance`` method is called by the compiler to produce a visual mesh for rendering using the marching cubes
-algorithm implemented by `MarchingCubeCpp <https://github.com/aparis69/MarchingCubeCpp>`__.
-
-Future improvement to the gradient descent algorithm, such as a line search which takes advantage of the properties of
-SDFs, might reduce the number of iterations and/or starting points.
-
-For the sdf plugin, the following methods need to be specified
-
-``sdf_distance``:
-  Returns the signed distance of the query point given in local coordinates.
-
-``sdf_staticdistance``:
-  This is the static version of the previous function, taking config attributes as additional inputs. This function is
-  required because mesh creation occurs during model compilation before the plugin object has been instantiated.
-
-``sdf_gradient``:
-  Computes the gradient in local coordinates of the SDF at the query point.
-
-``sdf_aabb``:
-  Computes the axis-aligned bounding box in local coordinates. This volume is voxelized uniformly before the call to
-  the marching cubes algorithm.
-
-.. _exDecoder:
-
-Decoders
-~~~~~~~~
-
-Decoder plugins extend asset loading capabilities beyond MJCF and URDF. They are :ref:`registered<mjPLUGIN_LIB_INIT>`
-similarly to other MuJoCo plugins.
-
-MuJoCo ships with two built-in decoders for common mesh formats:
-
-- **OBJ decoder** (``plugin/obj_decoder``) -- `Wavefront OBJ <https://en.wikipedia.org/wiki/Wavefront_.obj_file>`_.
-- **STL decoder** (``plugin/stl_decoder``) -- `STL <https://en.wikipedia.org/wiki/STL_(file_format)>`_.
-
-Additionally, we provide the following optional decoder plugins:
-
-- **USD decoder** (``plugin/usd_decoder``) -- `Universal Scene Description <https://openusd.org/release/index.html>`_.
-
-These plugins also serve as examples for how to write custom decoders. The obj decoder is perhaps the simplest to
-understand, while the USD decoder is more complex due to its support for entire scenes.
-
-.. _exDecoderInterface:
-
-Decoder interface
-^^^^^^^^^^^^^^^^^
-
-A decoder is described by the :ref:`mjpDecoder` struct, which has the following fields:
-
-``content_type``
-  A MIME-like content type string identifying the format. For example, ``"model/obj"``, or ``"model/stl"``.
-  When a mesh asset specifies a ``content-type`` attribute in MJCF, this string is used
-  to find the appropriate decoder.
-
-``extension``
-  A file extension string (including the dot) used for matching when no content type is specified. Multiple
-  extensions can be separated by pipes (`|`) for formats with multiple extensions such as ``.usd|.usda|.usdc|.usdz``.
-
-``can_decode``
-  A callback of type :ref:`mjfCanDecode` that determines whether the decoder can handle a given resource. This is
-  typically implemented by checking the file extension but may also check the file contents to differentiate between
-  formats. For example, URDF and MJCF files both have a ``.xml`` extension. Returns nonzero if the decoder can handle
-  the resource.
-
-``decode``
-  A callback of type :ref:`mjfDecode` that performs the actual decoding. It receives an :ref:`mjResource` and
-  returns a newly allocated :ref:`mjSpec` containing the decoded asset data. The caller takes
-  ownership of the returned spec and is responsible for freeing it with :ref:`mj_deleteSpec`. Returns ``NULL`` on
-  failure.
-
-When a decoder is invoked for a mesh asset, the compiler will reference the first mesh element in the spec returned
-by the ``decode`` callback.
-
-When a decoder is invoked for a model asset, the spec returned by the ``decode`` callback may contain any number of
-elements of any type.
-
-.. _exDecoderRegistration:
-
-Registration
-^^^^^^^^^^^^
-
-Decoders must be registered before they can be used. Registration is performed via
-:ref:`mjp_registerDecoder`. The :ref:`mjp_defaultDecoder` function initializes an :ref:`mjpDecoder` struct with
-default values. The :ref:`mjPLUGIN_LIB_INIT` macro is used to define the initialization function that registers the
-decoder when the library is loaded.
-
-.. code-block:: C
-
-   mjPLUGIN_LIB_INIT(my_format_decoder) {
-     mjpDecoder decoder;
-     mjp_defaultDecoder(&decoder);
-     decoder.content_type = "model/my-format";
-     decoder.extension = ".myf|.myfa|.myfc";
-     decoder.decode = MyDecode;
-     decoder.can_decode = MyCanDecode;
-     mjp_registerDecoder(&decoder);
-   }
-
-
-.. _exDecoderExample:
-
-Example
-^^^^^^^
-
-Below is a minimal decoder that reads a hypothetical binary mesh format:
-
-.. code-block:: C
-
-   #include <mujoco.h>
-
-   static mjSpec* MyDecode(mjResource* resource, const mjVFS* vfs) {
-     const void* bytes = NULL;
-     int nbytes = mju_readResource(resource, &bytes);
-     if (nbytes < 0) {
-       mju_warning("failed to read resource '%s'", resource->name);
-       return NULL;
-     }
-
-     /* ... parse bytes into vertex/face arrays ... */
-
-     mjSpec* spec = mj_makeSpec();
-     mjsMesh* mesh = mjs_addMesh(spec, NULL);
-     mjs_setString(mesh->file, resource->name);
-     mjs_setFloat(mesh->uservert, vertices, nvert * 3);
-     mjs_setInt(mesh->userface, faces, nface * 3);
-     return spec;
-   }
-
-   static int MyCanDecode(const mjResource* resource) {
-     /* check file extension */
-     const char* name = resource->name;
-     int len = strlen(name);
-     return len > 4 && strcmp(name + len - 4, ".myf") == 0;
-   }
-
-   mjPLUGIN_LIB_INIT(my_format_decoder) {
-     mjpDecoder decoder;
-     mjp_defaultDecoder(&decoder);
-     decoder.content_type = "model/my-format";
-     decoder.extension = ".myf";
-     decoder.decode = MyDecode;
-     decoder.can_decode = MyCanDecode;
-     mjp_registerDecoder(&decoder);
-   }
-
-Once registered, the decoder is used automatically when MuJoCo encounters an asset with a matching file extension
-or content type:
-
-.. code-block:: xml
-
-   <asset>
-     <mesh file="my_mesh.myf"/>
-   </asset>
-
-
-.. _exEncoder:
-
-Encoders
-~~~~~~~~
-
-Encoder plugins extend asset serialization and model saving capabilities beyond native formats (XML, MJB, TXT).
-Encoders are :ref:`registered <mjPLUGIN_LIB_INIT>` similarly to other MuJoCo plugins.
-
-MuJoCo ships with a built-in Zip encoder for ``.mjz`` archives (``src/xml/mjz/mjz_encoder.cc``).
-
-.. _exEncoderInterface:
-
-Encoder interface
-^^^^^^^^^^^^^^^^^
-
-An encoder is described by the :ref:`mjpEncoder` struct, which has the following fields:
-
-``content_type``
-  A MIME-like content type string identifying the output format (e.g. ``"application/zip"``). When :ref:`mj_encode` is
-  called with an explicit ``content_type`` argument, this string is used to find the appropriate encoder.
-
-``extension``
-  A file extension string (including the dot) used for format matching when no content type is specified. Multiple
-  extensions can be separated by pipes (`|`) such as ``.mjz|.zip``.
-
-``encode``
-  A callback of type :ref:`mjfEncode` that performs the actual serialization. It receives an :ref:`mjSpec`, an
-  optional compiled :ref:`mjModel`, an optional :ref:`mjVFS`, and an output :ref:`mjResource`. Returns the number of
-  bytes written on success, or -1 on failure.
-
-``close_resource``
-  An optional callback that frees any memory allocated inside ``mjResource.data`` by the ``encode`` callback.
-
-.. _exEncoderRegistration:
-
-Registration
-^^^^^^^^^^^^
-
-Encoders must be registered before they can be used via :ref:`mj_encode`. Registration is performed via
-:ref:`mjp_registerEncoder`. The :ref:`mjp_defaultEncoder` function initializes an :ref:`mjpEncoder` struct with default
-values. The :ref:`mjPLUGIN_LIB_INIT` macro defines the initialization function that registers the encoder when the
-plugin library is loaded.
-
-.. code-block:: C
-
-   mjPLUGIN_LIB_INIT(my_format_encoder) {
-     mjpEncoder encoder;
-     mjp_defaultEncoder(&encoder);
-     encoder.content_type = "application/x-myformat";
-     encoder.extension = ".myf";
-     encoder.encode = MyEncode;
-     encoder.close_resource = MyCloseResource;
-     mjp_registerEncoder(&encoder);
-   }
-
-
-.. _exProvider:
-
-Resource providers
-~~~~~~~~~~~~~~~~~~
-
-Resource providers extend MuJoCo to load assets (XML files, meshes, textures, and etc.) that don't necessarily come from
-the OS filesystem or the Virtual File System (:ref:`mjVFS`). For example, downloading assets from the Internet could be
-implemented as a resource provider. These extensions are handled abstractly in MuJoCo via the :ref:`mjResource` struct.
-
-.. _exProviderStructure:
-
-Overview
-^^^^^^^^
-
-Creating a new resource provider works by registering a :ref:`mjpResourceProvider` struct via
-:ref:`mjp_registerResourceProvider` in a global table. Once a resource provider is registered it can be used by all
-loading functions. The :ref:`mjpResourceProvider` struct stores three types of fields:
-
-.. _Uniform Resource Identifier: https://en.wikipedia.org/wiki/Uniform_Resource_Identifier
-
-Resource prefix
-  Resources are identified by prefixes in their name. The chosen prefix should have a valid `Uniform Resource
-  Identifier`_ (URI) scheme syntax. Resource names should also have a valid URI syntax, however this isn't enforced. A
-  resource name with the syntax ``{prefix}:{filename}`` will match a provider using the scheme ``prefix``.  For
-  instance, a resource provider accessing assets via the Internet might use ``http`` as its scheme. In this case a
-  resource with the name ``http://www.example.com/myasset.obj`` would match against this resource provider. Schemes are
-  case-insensitive so that ``HTTP://www.example.com/myasset.obj`` will also match. Note the importance of the colon.
-  URI syntax requires that a colon follows the prefix in a resource name in order to match against a scheme. For example
-  ``https://www.example.com/myasset.obj`` would NOT be a match since the scheme is designated as ``https``.
-
-Callbacks
-  There are three callbacks that a resource provider is required to implement: :ref:`open<mjfOpenResource>`,
-  :ref:`read<mjfReadResource>`, and :ref:`close<mjfCloseResource>`. The other two callback
-  :ref:`getdir<mjfGetResourceDir>` and :ref:`modified<mjfResourceModified>` are optional. More details on these callbacks
-  are given below.
-
-Data Pointer
-  Lastly, there's an opaque data pointer for the provider to pass data into the callbacks. This data pointer is constant
-  within a given model.
-
-Resource providers work via callbacks:
-
-- :ref:`mjfOpenResource<mjfOpenResource>`: The open callback takes a single parameter of type :ref:`mjResource`.  The
-  name field of the resource should be used to verify that the resource exists and populate the resource data field with
-  any extra information needed for the resource. On failure this callback should return 0 (false) or else 1 (true).
-- :ref:`mjfReadResource<mjfReadResource>`: The read callback takes as arguments a :ref:`mjResource` and a pointer to a
-  void pointer called the ``buffer``. The read callback should point the ``buffer`` pointer to the location of where the
-  bytes of the resource can be read and return the number of bytes pointed to in the ``buffer``.  On failure, this
-  callback should return -1.
-- :ref:`mjfCloseResource<mjfCloseResource>`: This callback takes a single parameter of type :ref:`mjResource`, and
-  should be used to free any memory allocated in the data field in the supplied resource.
-- :ref:`mjfGetResourceDir<mjfGetResourceDir>`: This callback is optional and is used to extract the directory from a
-  resource name.  For example, the resource name ``http://www.example.com/myasset.obj`` would have
-  ``http://www.example.com/`` as its directory.
-- :ref:`mjfResourceModified<mjfResourceModified>`: This callback is optional and is used to check if an existing
-  opened resource has been modified from its original source.
-
-.. _exProviderUsage:
-
-Usage
-^^^^^
-
-When a resource provider is registered, it can be used immediately to open assets. If the asset filename has a prefix
-that matches with the prefix of a registered provider, then that provider will be used to load the asset.
-
-.. _exProviderExample:
-
-Example
-"""""""
-
-.. _data URI scheme: https://en.wikipedia.org/wiki/Data_URI_scheme
-
-This section provides a basic example of a resource provider that reads from a `data URI scheme`_. First we implement
-the callbacks:
-
-.. code-block:: C
-
-   int str_open_callback(mjResource* resource) {
-     // call some util function to validate
-     if (!is_valid_data_uri(resource->name)) {
-       return 0; // return failure
-     }
-
-     // some upper bound for the data
-     resource->data = mju_malloc(get_data_uri_size(resource->name));
-     if (resource->data == NULL) {
-       return 0; // return failure
-     }
-
-     // fill data from string (some util function)
-     get_data_uri(resource->name, &data);
-   }
-
-   int str_read_callback(mjResource* resource, const void** buffer) {
-     *buffer = resource->data;
-     return get_data_uri_size(resource->name);
-   }
-
-   void str_close_callback(mjResource* resource) {
-     mju_free(resource->data);
-   }
-
-Next we create the resource provider and register it with MuJoCo:
-
-.. code-block:: C
-
-   mjpResourceProvider resourceProvider = {
-     .prefix = "data",
-     .open = str_open_callback,
-     .read = str_read_callback,
-     .close = str_close_callback,
-   };
-
-   // return positive number on success
-   if (!mjp_registerResourceProvider(&resourceProvider)) {
-     // ...
-     // return failure
-   }
-
-Now we can write assets as strings in our MJCF files:
-
-.. code-block:: xml
-
-   <asset>
-     <texture name="grid" file="grid.png" type="2d"/>
-     <mesh content-type="model/obj" file="data:model/obj;base64,I215IG9iamVjdA0KdiAxIDAgMA0KdiAwIDEgMA0KdiAwIDAgMQ=="/>
-     ...
-   </asset>
diff --git a/doc/programming/index.rst b/doc/programming/index.rst
deleted file mode 100644
index 9110ae8d..00000000
--- a/doc/programming/index.rst
+++ /dev/null
@@ -1,284 +0,0 @@
-===========
-Programming
-===========
-
-.. _inIntro:
-
-Introduction
-~~~~~~~~~~~~
-
-This chapter is the MuJoCo programming guide. A separate chapter contains the :doc:`../APIreference/index`
-documentation. MuJoCo is a dynamic library compatible with Windows, Linux and macOS, which requires a processor with AVX
-instructions. The library exposes the full functionality of the simulator through a compiler-independent shared-memory C
-API. It can also be used in C++ programs.
-
-The MuJoCo codebase is organized into subdirectories corresponding to different major areas of functionality:
-
-Engine
-   The simulator (or physics engine) is written in C. It is responsible for all runtime computations.
-Parser
-   The XML parser is written in C++. It can parse MJCF models and URDF models, converting them into an internal mjCModel
-   C++ object which is exposed to the user via mjSpec.
-Compiler
-   The compiler is written in C++. It takes an mjCModel C++ object constructed by the parser, and converts it into an
-   mjModel C structure used at runtime.
-Thread
-   The threading framework is written in C++ and exposed in C. It provides a thread pool interface
-   to process tasks asynchronously. To enable use in MuJoCo, call ``mju_threadpool``.
-Rendering
-   There are two rendering libraries provided by MuJoCo. The :ref:`classic rendering<OpenGLrendering>` library is
-   written in C and uses OpenGL 1.5. It provides a simple and efficient way to visualize MuJoCo models. The
-   :ref:`filament rendering<FilamentRendering>` library is written in C++ and uses the externally-devloped Filament
-   rendering engine. It provides more modern and feature-rich real-time rendering capabilities.
-Abstract visualizer
-   The abstract visualizer is written in C. It generates a list of abstract geometric entities representing the
-   simulation state, with all information needed for rendering with the Classic renderer. It also provides abstract
-   mouse hooks for camera and perturbation control.
-UI framework
-   The UI framework is written in C and is designed to work with the :ref:`classic OpenGL renderer<OpenGLrendering>`.
-   UI elements are rendered in OpenGL. It has its own event mechanism and abstract hooks for keyboard and mouse input.
-   The code samples use it with GLFW, but it can also be used with other window libraries.
-
-.. _inStart:
-
-Getting started
-~~~~~~~~~~~~~~~
-
-MuJoCo is an open-source project. Pre-built dynamic libraries are available for x86_64 and arm64 machines running
-Windows, Linux, and macOS. These can be downloaded from the `GitHub Releases page
-<https://github.com/google-deepmind/mujoco/releases>`_. Users who do not intend to develop or modify core MuJoCo code
-are encouraged to use our pre-built libraries, as these come bundled with the same versions of dependencies that we
-regularly test against, and benefit from build flags that have been tuned for performance. Our pre-built libraries are
-almost entirely self-contained and do not require any other library to be present, outside the standard C runtime. We
-also hide all symbols apart from those that form MuJoCo's public API, thus ensuring that it can coexist with any other
-libraries that may be loaded into the process (including other versions of libraries that MuJoCo depends on).
-
-The pre-built distribution is a single .zip on Windows, .dmg on macOS, and .tar.gz on Linux. There is no installer.
-On Windows and Linux, simply extract the archive in a directory of your choice. From the ``bin`` subdirectory, you can
-now run the precompiled code samples, for example:
-
-.. code-block:: Text
-
-     Windows:           simulate ..\model\humanoid\humanoid.xml
-     Linux and macOS:   ./simulate ../model/humanoid/humanoid.xml
-
-The directory structure is shown below. Users can re-organize it if needed, as well as install the dynamic libraries in
-other directories and set the path accordingly. The only file created automatically is MUJOCO_LOG.TXT in the executable
-directory; it contains error and warning messages, and can be deleted at any time.
-
-.. code-block:: Text
-
-     bin     - dynamic libraries, executables, MUJOCO_LOG.TXT
-     doc     - README.txt and REFERENCE.txt
-     include - header files needed to develop with MuJoCo
-     model   - model collection
-     sample  - code samples and CMakeLists.txt needed to build them
-
-After verifying that the simulator works, you may also want to re-compile the code samples to ensure that you have a
-working development environment. We provide a cross-platform `CMake
-<https://github.com/google-deepmind/mujoco/blob/main/sample/CMakeLists.txt>`__ setup that can be used to build sample
-applications independently of the MuJoCo library itself.
-
-On macOS, the DMG disk image contains ``MuJoCo.app``, which you can double-click to launch the ``simulate`` GUI. You can
-also drag ``MuJoCo.app`` into the ``/Applications`` on your system, as you would to install any other app. As well as the
-``MuJoCo.app`` `Application Bundle <https://developer.apple.com/go/?id=bundle-
-structure>`__, the DMG includes the ``mujoco.framework`` subdirectory containing the MuJoCo dynamic library and all of
-its public headers. If you are using Xcode, you can import it as a framework dependency on your project. (This also
-works for Swift projects without any modification). If you are building manually, you can use ``-F`` and
-``-framework mujoco`` to specify the header search path and the library search path respectively.
-
-.. _inBuild:
-
-Building from source
-~~~~~~~~~~~~~~~~~~~~
-
-To build MuJoCo from source, you will need CMake and a working C++17 compiler installed. The steps are:
-
-#. Clone the ``mujoco`` repository: ``git clone https://github.com/google-deepmind/mujoco.git``
-#. Create a new build directory and ``cd`` into it.
-#. Run :shell:`cmake $PATH_TO_CLONED_REPO` to configure the build.
-#. Run ``cmake --build .`` to build.
-
-MuJoCo's build system automatically fetches dependencies from upstream repositories over the Internet using CMake's
-`FetchContent <https://cmake.org/cmake/help/latest/module/FetchContent.html>`_ module.
-
-The main CMake setup will build the MuJoCo library itself along with all sample applications, but the Python
-bindings are not built. Those come with their own build instructions, which can be found in the :doc:`../python`
-section of the documentation.
-
-Additionally, the CMake setup also implements an installation phase which will copy and organize the output files to a
-target directory.
-
-#. Select the directory: :shell:`cmake $PATH_TO_CLONED_REPO -DCMAKE_INSTALL_PREFIX=<my_install_dir>`
-#. After building, install with ``cmake --install .``
-#. If desired, proceed to building the Python bindings - see
-   :ref:`PyBuild`.
-
-**Notes:**
-
-- To optimize runtime performance build with ``-DCMAKE_BUILD_TYPE=Release``.
-- When building on Windows with MSVC, use Visual Studio 2019 or later and make sure Windows SDK version 10.0.22000 or
-  later is installed (see :issue:`862` for more details).
-- We've found that performance on Windows is best when building with Clang, rather than MSVC.
-
-.. tip::
-   As a reference, a working build configuration can be found in MuJoCo's
-   `continuous integration setup <https://github.com/google-deepmind/mujoco/blob/main/.github/workflows/build.yml>`_ on
-   GitHub.
-
-.. _inBuildDocs:
-
-Building the docs
-~~~~~~~~~~~~~~~~~
-
-If you wish to build the documentation locally, for example to test pull-requests that improve it, do:
-
-1. Clone the ``mujoco`` repository: ``git clone https://github.com/google-deepmind/mujoco.git``
-2. Go to the ``doc/`` directory: ``cd mujoco/doc``
-3. Install the dependencies: ``pip install -r requirements.txt``
-   |br| Note that the MuJoCo Warp API documentation is autogenerated and requires additional dependencies.
-   See `.readthedocs.yml <https://github.com/google-deepmind/mujoco/blob/main/.readthedocs.yml>`__ for details.
-4. Build the HTML: ``make html``
-5. Open ``_build/html/index.html`` in your browser of choice.
-
-.. _inHeader:
-
-Header files
-~~~~~~~~~~~~
-
-The distribution contains several header files which are identical on all platforms. They are also available from the
-links below, to make this documentation self-contained.
-
-`mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`__
-   This is the main header file and must be included in all programs using MuJoCo. It defines all API functions and
-   global variables, and includes all other header files except mjxmacro.h and mjspecmacro.h.
-`mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`__
-   Defines the C structure :ref:`mjModel` which is the runtime representation of the
-   model being simulated.
-`mjdata.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__
-   Defines the C structure :ref:`mjData` which is the workspace where all computations
-   read their inputs and write their outputs.
-`mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`__
-   Defines the primitive types and structures needed by the abstract visualizer.
-`mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`__
-   Defines the primitive types and structures needed by the OpenGL renderer.
-`mjrfilament.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrfilament.h>`__
-   Defines the primitive types and structures needed by the filament renderer.
-`mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__
-   Defines the primitive types and structures needed by the UI framework.
-`mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__
-   Defines primitive types and enums, including the ``mjtNum`` floating-point type to be either ``double`` or ``float``
-   (see :ref:`mjtNum`).
-`mjspec.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspec.h>`__
-   Defines enums and structs used for :doc:`procedural model editing <modeledit>`.
-`mjplugin.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjplugin.h>`__
-   Defines data structures required by :ref:`engine plugins<exPlugin>`.
-`mjmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__
-   Defines C macros that are useful in user code.
-`mjxmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`__
-   This file is optional and is not included by mujoco.h. It defines :ref:`X Macros <tyXMacro>` that can
-   automate the mapping of mjModel and mjData into scripting languages, as well as other operations that require
-   accessing all fields of mjModel and mjData.
-`mjspecmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjspecmacro.h>`__
-   This file is optional and is not included by mujoco.h. It defines :ref:`X Macros <tyXMacro>` that can
-   automate the mapping of mjSpec and its element structs into scripting languages, as well as other operations that require
-   accessing all fields of mjSpec during procedural model editing.
-`mjexport.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjexport.h>`__
-   Macros used for exporting public symbols from the MuJoCo library. This header should not be used directly by client
-   code.
-`mjsan.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjsan.h>`__
-   Definitions required when building with sanitizer instrumentation.
-`mjassert.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjassert.h>`__
-   Compile-time size assertions verifying MuJoCo ABI stability across C and C++ compilers.
-
-.. _inVersion:
-
-Versions and compatibility
-~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-MuJoCo has been used extensively since 2010 and is quite mature (even though our version numbering scheme is quite
-conservative). Nevertheless it remains under active development, and we have many exciting ideas for new features and
-are also making changes based on user feedback. This leads to unavoidable changes in both the modeling language and the
-API. While we encourage users to upgrade to the latest version, we recognize that this is not always feasible,
-especially when other developers release software that relies on MuJoCo. Therefore we have introduced simple
-mechanisms to help avoid version conflicts, as follows.
-
-The situation is more subtle if existing code was developed with a certain version of MuJoCo, and is now being
-compiled and linked with a different version. If the definitions of the API functions used in that code have changed,
-either the compiler or the linker will generate errors. But even if the function definitions have not changed, it may
-still be a good idea to assert that the software version is the same. To this end, the main header (mujoco.h) defines
-the symbol :ref:`mjVERSION_HEADER <glNumericVersion>` and the library provides the function
-:ref:`mj_version`. Thus the header and library versions can be compared with:
-
-.. code-block:: C
-
-   // recommended version check
-   if (mjVERSION_HEADER != mj_version())
-     complain();
-
-Note that only the main header defines this symbol. We assume that the collection of headers released with each software
-version will stay together and will not be mixed between versions. To avoid complications with floating-point
-comparisons, the above symbol and function use integers rather than floating-point numbers. See
-`VERSIONING.md <https://github.com/google-deepmind/mujoco/blob/main/VERSIONING.md>`__ for the encoding formula and
-version semantics.
-
-.. _inNaming:
-
-Naming convention
-~~~~~~~~~~~~~~~~~
-
-All symbols defined in the API start with the prefix "mj". The character after "mj" in the prefix determines the family
-to which the symbol belongs. First we list the prefixes corresponding to type definitions.
-
-``mj``
-   Core simulation data structure (C struct), for example :ref:`mjModel`. If all characters
-   after the prefix are capital, for example :ref:`mjMIN`, this is a macro or a symbol (#define).
-``mjt``
-   Primitive type, for example :ref:`mjtNum` and :ref:`mjtGeom`. Most types in this family are enums.
-``mjf``
-   Callback function type, for example :ref:`mjfGeneric`.
-``mjs``
-   Data structure related to :doc:`procedural model editing <modeledit>`, for example :ref:`mjsJoint`.
-``mjv``
-   Data structure related to abstract visualization, for example :ref:`mjvCamera`.
-``mjrf``
-   Data structure related to filament rendering, for example :ref:`mjrfContext`.
-``mjr``
-   Data structure related to OpenGL rendering, for example :ref:`mjrContext`.
-``mjui``
-   Data structure related to UI framework, for example :ref:`mjuiSection`.
-
-Next we list the prefixes corresponding to function definitions. Note that function prefixes always end with underscore.
-
-``mj_``
-   Core simulation function, for example :ref:`mj_step`. Almost all such functions have
-   pointers to mjModel and mjData as their first two arguments, possibly followed by other arguments. They usually write
-   their outputs to mjData.
-``mju_``
-   Utility function, for example :ref:`mju_mulMatVec`. These functions are self-contained
-   in the sense that they do not have mjModel and mjData pointers as their arguments.
-``mjv_``
-   Function related to abstract visualization, for example :ref:`mjv_updateScene`.
-``mjrf_``
-   Function related to filament rendering, for example :ref:`mjrf_render`.
-``mjr_``
-   Function related to OpenGL rendering, for example :ref:`mjr_render`.
-``mjui_``
-   Function related to UI framework, for example :ref:`mjui_update`.
-``mjcb_``
-   Global callback function pointer, for example :ref:`mjcb_control`. The user can install
-   custom callbacks by setting these global pointers to user-defined functions.
-``mjd_``
-   Functions for computing derivatives, for example :ref:`mjd_transitionFD`.
-``mjs_``
-   Functions for :doc:`procedural model editing <modeledit>`, for example :ref:`mjs_addJoint`.
-
-.. toctree::
-    :hidden:
-
-    simulation
-    visualization
-    ui
-    modeledit
-    samples
-    extension
diff --git a/doc/programming/modeledit.rst b/doc/programming/modeledit.rst
deleted file mode 100644
index cba84eea..00000000
--- a/doc/programming/modeledit.rst
+++ /dev/null
@@ -1,370 +0,0 @@
-Model Editing
--------------
-
-It is possible to create and modify models using the :ref:`mjSpec` struct and related API.
-This data structure is in one-to-one correspondence with MJCF and indeed, MuJoCo's own XML parsers (both MJCF and URDF)
-use this API when loading a model.
-
-
-.. _meOverview:
-
-Overview
-~~~~~~~~
-
-The API augments the traditional workflow of creating and editing models using XML files, breaking up the *parse* and
-*compile* steps. As summarized in the :ref:`Overview chapter<Instance>`, the traditional workflow is:
-
- 1. Create an XML model description file (MJCF or URDF) and associated assets. |br|
- 2. Call :ref:`mj_loadXML`, obtain an :ref:`mjModel` instance.
-
-The workflow using :ref:`mjSpec` is:
-
- 1. Create an empty :ref:`mjSpec` using :ref:`mj_makeSpec` or parse an existing XML file using :ref:`mj_parseXML`.
- 2. Programmatically edit the :ref:`mjSpec` data structure by adding, modifying, and removing elements.
- 3. Compile the :ref:`mjSpec` to an :ref:`mjModel` instance using :ref:`mj_compile`.
-
- After compilation, the :ref:`mjSpec` remains editable, so steps 2 and 3 are interchangeable.
-
-
-.. _Load:
-.. _meLoading:
-
-Model Parsing & Loading
-~~~~~~~~~~~~~~~~~~~~~~~
-
-As summarized in :ref:`Model instances <Instance>`, model description files (MJCF, MJZ, URDF, USD) are parsed into an
-:ref:`mjSpec` using :ref:`mj_parse` (or ``mjSpec.from_file()`` / ``mjSpec.from_string()`` in Python). The model format is
-inferred from the content type or file extension, and parsing into an :ref:`mjSpec` is delegated to the appropriate
-:ref:`decoder <exDecoder>` plugin.
-
-.. code-block:: C
-
-   char error[1000] = "";
-   mjSpec* spec = mj_parse(vfs, "robot.xml", NULL, NULL, error, sizeof(error));
-
-For convenience, :ref:`mj_loadXML` (or Python ``MjModel.from_xml_path()``) combines parsing and compilation into a
-single step, returning a compiled :ref:`mjModel` directly from an XML file or ``.mjz`` archive.
-
-Alternatively, a pre-compiled :ref:`mjModel` can be loaded directly from a binary MJB file using :ref:`mj_loadModel`
-(or Python ``MjModel.from_binary_path()``).
-
-.. _Compile:
-.. _meCompilation:
-
-Model Compilation
-~~~~~~~~~~~~~~~~~
-
-Once a high-level :ref:`mjSpec` is created---by parsing a file, loading an archive, or constructing it
-programmatically---it is compiled into an :ref:`mjModel` using :ref:`mj_compile`.
-
-Compilation is independent of loading, working in the exact same way regardless of how :ref:`mjSpec` was constructed.
-Both the parser and the compiler perform extensive error checking and abort when the first error is encountered. The
-parser uses a custom schema to validate file structure, elements, and attributes, while the compiler applies semantic
-checks and executes a test simulation step to catch runtime errors.
-
-Parsing and compilation are extremely fast—typically less than a second—making interactive model design, live editing,
-and rapid reloading seamless.
-
-.. _Save:
-.. _meSaving:
-
-Model Encoding & Saving
-~~~~~~~~~~~~~~~~~~~~~~~
-Model specs and compiled models can be serialized to files using :ref:`mj_encode`, or directly saved to XML strings
-using :ref:`mj_saveXMLString` or :ref:`mj_saveXML`.
-
-The :ref:`mj_encode` function provides a unified entry point for serializing models:
-
-.. code-block:: C
-
-   char error[1024] = "";
-   mjtSize bytes_written = mj_encode(spec, model, "robot.mjz", NULL, vfs, error, sizeof(error));
-
-The output format is selected automatically based on the file extension (case-insensitive) or explicit ``content_type``:
-
-- **MJCF XML** (``.xml``): Flattens the spec into a single MJCF XML file using :ref:`mj_saveXML`. If an explicit
-  :ref:`mjModel` argument is passed, :ref:`mj_encode` will copy modified values back from ``mjModel`` into the spec
-  prior to saving. In the Computation chapter we show an `example <_static/example.xml>`__ MJCF file and the
-  corresponding `saved example <_static/example_saved.xml>`__.
-- **MJZ Archive** (``.mjz`` or ``.zip``): Bundles the spec and all associated external assets (meshes, textures,
-  included XMLs) into a self-contained Zip archive via the built-in ``mjz_encoder``.
-- **MJB Binary** (``.mjb``): Serializes the compiled :ref:`mjModel` in MuJoCo binary format via :ref:`mj_saveModel`.
-  MJB files are standalone, do not refer to external files, and load faster than XML, but are version-specific and
-  cannot be decompiled back to XML. Requires a compiled ``model``; does **not** serialize anything from ``spec``.
-- **TXT** (``.txt``): Writes a human-readable text dump via :ref:`mj_printModel`. Useful for diffing and debugging.
-  Requires a compiled ``model``; does **not** serialize anything from ``spec``.
-
-Importantly, saved XML will take into account any defined defaults. This is useful when a model has many repeated
-values, for example if loaded from URDF, which does not support defaults. In such a case one can add default classes,
-set the class of the relevant elements, and save; the resulting XML will use the defaults and be more human-readable.
-
-.. _MJZArchives:
-
-MJZ Archives
-~~~~~~~~~~~~
-
-Complex MuJoCo models often consist of multiple files: a main MJCF XML file, included XML sub-trees, and external asset
-files (meshes, textures, height fields). The **MJZ** format (extension ``.mjz`` or ``.zip``) provides a convenient way
-to bundle an entire model and all of its referenced assets into a single **Zip archive**.
-
-Root XML Discovery
-^^^^^^^^^^^^^^^^^^
-
-When decoding an ``.mjz`` archive, MuJoCo searches for the root model XML file in the following order:
-
-1. `<archive_stem>.xml` at the root of the archive (e.g. ``my_model.xml`` inside ``my_model.mjz``). This is
-   considered **best practice**.
-2. `<archive_stem>/<archive_stem>.xml` inside a top-level directory matching the archive name (e.g.
-   ``my_model/my_model.xml``).
-3. `model.xml` at the root of the archive (common zipped MJCF fallback).
-
-VFS Requirement
-^^^^^^^^^^^^^^^
-
-Parsing and compilation of an ``.mjz`` archive (and all of its contained asset files) require using the **exact same
-VFS instance**.
-
-.. _meCustomFormats:
-
-Custom formats
-~~~~~~~~~~~~~~
-Adding support for new file formats can be done with :ref:`mjp_registerDecoder` and :ref:`mjp_registerEncoder`.
-When :ref:`mj_parse` and :ref:`mj_encode` are called for a non-native extension or content type, the appropriate plugins
-are found via :ref:`mjp_findDecoder` and :ref:`mjp_findEncoder`. For further details on writing custom format plugins,
-see :ref:`Decoders <exDecoder>` and :ref:`Encoders <exEncoder>`.
-
-
-.. _meUsage:
-
-Usage
-~~~~~
-
-Here we describe the C API for procedural model editing, but it is also exposed in the :ref:`Python
-bindings<PyModelEdit>`. Advanced users can refer to `user_api_test.cc
-<https://github.com/google-deepmind/mujoco/blob/main/test/user/user_api_test.cc>`__ and the MJCF parser in
-`xml_native_reader.cc <https://github.com/google-deepmind/mujoco/blob/main/src/xml/xml_native_reader.cc>`__ for
-more usage examples. After creating a new :ref:`mjSpec` or parsing an existing XML file to an :ref:`mjSpec`,
-procedural editing corresponds to setting attributes. For example, in order to change the timestep, one can do:
-
-.. code-block:: C
-
-   mjSpec* spec = mj_makeSpec();
-   spec->opt.timestep = 0.01;
-   ...
-   mjModel* model = mj_compile(spec, NULL);
-
-Attributes which have variable length are C++ vectors and strings, :ref:`exposed to C as opaque types<ArrayHandles>`.
-In C one uses the provided :ref:`getters<AttributeGetters>` and :ref:`setters<AttributeSetters>`:
-
-.. code-block:: C
-
-   mjs_setString(spec->modelname, "my_model");
-
-In C++, one can use vectors and strings directly:
-
-.. code-block:: C++
-
-   std::string modelname = "my_model";
-   *spec->modelname = modelname;
-
-.. _meMjsElements:
-
-Model elements
-^^^^^^^^^^^^^^
-Model elements corresponding to MJCF are exposed to the user as C structs with the ``mjs`` prefix. The definitions are
-listed under the :ref:`Model Editing<tySpecStructure>` section of the struct reference. For example, an MJCF
-:ref:`geom<body-geom>` corresponds to an :ref:`mjsGeom`.
-
-Global defaults for all elements are set by :ref:`initializers<ElementInitialization>` like :ref:`mjs_defaultGeom`.
-These functions are defined in `user_init.c
-<https://github.com/google-deepmind/mujoco/blob/main/src/user/user_init.c>`__ and are the source of truth for all
-default values.
-
-Elements cannot be created directly; they are returned to the user by the corresponding constructor function, e.g.
-:ref:`mjs_addGeom`. For example, to add a box geom to the world body, one would do
-
-.. code-block:: C
-
-   mjSpec* spec = mj_makeSpec();                                  // make an empty spec
-   mjsBody* world = mjs_findBody(spec, "world");                  // find the world body
-   mjsGeom* my_geom = mjs_addGeom(world, NULL);                   // add a geom to the world
-   my_geom->type = mjGEOM_BOX;                                    // set geom type
-   my_geom->size[0] = my_geom->size[1] = my_geom->size[2] = 0.5;  // set box size
-   mjModel* model = mj_compile(spec, NULL);                       // compile to mjModel
-   ...
-   mj_deleteModel(model);                                         // free model
-   mj_deleteSpec(spec);                                           // free spec
-
-The ``NULL`` second argument to :ref:`mjs_addGeom` is the optional default class pointer. When using defaults
-procedurally, default classes are passed in explicitly to element constructors. The global defaults of all elements
-(used when no default class is passed in) can be inspected in
-`user_init.c <https://github.com/google-deepmind/mujoco/blob/main/src/user/user_init.c>`__.
-
-.. _meMemory:
-
-Memory management
-^^^^^^^^^^^^^^^^^
-
-As seen in the examples above, model elements are never allocated by the user directly, but rather returned by a
-constructor. The library takes ownership of all elements and frees them when the parent :ref:`mjSpec` is deleted using
-:ref:`mj_deleteSpec`. The user is only responsible for freeing :ref:`mjSpec` structs.
-
-.. _meAttachment:
-
-Attachment
-^^^^^^^^^^
-
-This framework introduces a powerful new feature: attaching and deleting model subtrees. This feature is already used to
-power the :ref:`attach<body-attach>` and :ref:`replicate<replicate>` meta-elements in MJCF. Attachment allows the user to
-move or copy a subtree from one model into another, while also copying or moving related referenced assets and
-referencing elements from outside the kinematic tree (e.g., actuators and sensors). Similarly, deleting a subtree will
-remove all associated elements from the model. The default behavior ("shallow copy") is to move the child into the
-parent while attaching, so subsequent changes to the child will also change the parent. Alternatively, the user can
-choose to make an entirely new copy during attach using :ref:`mjs_setDeepCopy`. This flag is temporarily set to true
-while parsing XMLs. It is possible to :ref:`attach a body or an mjSpec to a frame<mjs_attach>`:
-
-.. code-block:: C
-
-   mjSpec* parent = mj_makeSpec();
-   mjSpec* child = mj_makeSpec();
-   parent->compiler.degree = 0;
-   child->compiler.degree = 1;
-   mjsElement* frame = mjs_addFrame(mjs_findBody(parent, "world"), NULL)->element;
-   mjsElement* body = mjs_addBody(mjs_findBody(child, "world"), NULL)->element;
-   mjsBody* attached_body_1 = mjs_asBody(mjs_attach(frame, body, "attached-", "-1"));
-
-or :ref:`attach a body or an mjSpec to a site<mjs_attach>`:
-
-.. code-block:: C
-
-   mjSpec* parent = mj_makeSpec();
-   mjSpec* child = mj_makeSpec();
-   mjsElement* site = mjs_addSite(mjs_findBody(parent, "world"), NULL)->element;
-   mjsElement* body = mjs_addBody(mjs_findBody(child, "world"), NULL)->element;
-   mjsBody* attached_body_2 = mjs_asBody(mjs_attach(site, body, "attached-", "-2"));
-
-or :ref:`attach a frame or an mjSpec to a body<mjs_attach>`:
-
-.. code-block:: C
-
-   mjSpec* parent = mj_makeSpec();
-   mjSpec* child = mj_makeSpec();
-   mjsElement* body = mjs_addBody(mjs_findBody(parent, "world"), NULL)->element;
-   mjsElement* frame = mjs_addFrame(mjs_findBody(child, "world"), NULL)->element;
-   mjsFrame* attached_frame = mjs_asFrame(mjs_attach(body, frame, "attached-", "-1"));
-
-Note that in the above examples, the parent and child models have different values for ``compiler.degree``,
-corresponding to the :ref:`compiler/angle<compiler-angle>` attribute, specifying the units in which angles are
-interpreted. Compiler flags are carried over during attachment, so the child model will be compiled using the child
-flags, while the parent will be compiled using the parent flags.
-
-Note also that once a child is attached by reference to a parent, the child cannot be compiled on its own.
-
-.. admonition:: Known issues
-   :class: note
-
-   The following known limitations exist:
-
-   - All assets from the child model will be copied in, whether they are referenced or not, if the parent and the child
-     are not the same mjSpec.
-   - Circular references are not checked for and will lead to infinite loops.
-   - When attaching a model with :ref:`keyframes<keyframe>`, model compilation is required for the re-indexing to be
-     finalized. If a second attachment is performed without compilation, the keyframes from the first attachment will be
-     lost.
-
-.. _meAttributeMerging:
-
-Attribute Merging
-^^^^^^^^^^^^^^^^^
-
-When attaching a child spec (or an element from a child spec) to a parent spec using :ref:`mjs_attach`, global
-attributes from the child may conflict with those in the parent. A conflict occurs when both the parent and child
-specify authored values for the same field and those values differ. Note that for XML-based models, explicitly writing a
-value (even if it matches the default value) counts as authoring and can trigger conflicts. The
-:ref:`compiler/conflict<compiler-conflict>` attribute controls how such conflicts are resolved. Fields where only one
-side specifies an authored value never conflict.
-
-:at-val:`warning` (default)
-   Parent values take precedence. Whenever a conflict is detected, a warning is emitted but the parent value is not
-   modified. This preserves the pre-existing attachment behavior.
-
-:at-val:`merge`
-   Attribute values are merged using a per-field strategy as described in the table below. When only the child specifies
-   an authored value, it is adopted by the parent.
-
-:at-val:`error`
-   Any conflict results in a compile error. No values are modified.
-
-The table below describes the per-field merge strategy used in :at-val:`merge` mode.
-
-.. list-table:: Attribute Merging Behavior (:at-val:`merge` mode)
-   :widths: 15 60 25
-   :header-rows: 1
-   :name: meAttributeMergingTable
-
-   * - Behavior
-     - Fields
-     - Justification
-   * - **Minimum**
-     - **option**: :ref:`timestep<option-timestep>`, :ref:`tolerance<option-tolerance>`, :ref:`ls_tolerance<option-ls_tolerance>`,
-       :ref:`noslip_tolerance<option-noslip_tolerance>`, :ref:`ccd_tolerance<option-ccd_tolerance>`,
-       :ref:`sleep_tolerance<option-sleep_tolerance>`,
-       |br| **visual**: :ref:`znear<visual-map-znear>`, :ref:`realtime<visual-global-realtime>`
-     - Preserves precision and stability.
-   * - **Maximum**
-     - **option**: :ref:`iterations<option-iterations>`, :ref:`ls_iterations<option-ls_iterations>`,
-       :ref:`noslip_iterations<option-noslip_iterations>`, :ref:`ccd_iterations<option-ccd_iterations>`,
-       :ref:`sdf_iterations<option-sdf_iterations>`, :ref:`sdf_initpoints<option-sdf_initpoints>`,
-       |br| **size**: :ref:`memory<size-memory>`, :ref:`nkey<size-nkey>`, :ref:`nuserdata<size-nuserdata>`,
-       :ref:`nuser_body<size-nuser_body>`, :ref:`nuser_jnt<size-nuser_jnt>`, :ref:`nuser_geom<size-nuser_geom>`, :ref:`nuser_site<size-nuser_site>`,
-       :ref:`nuser_cam<size-nuser_cam>`, :ref:`nuser_tendon<size-nuser_tendon>`, :ref:`nuser_actuator<size-nuser_actuator>`, :ref:`nuser_sensor<size-nuser_sensor>`
-       |br| **visual**: :ref:`zfar<visual-map-zfar>`
-     - Ensures sufficient resources and limits.
-   * - **OR (union)**
-     - **option**: :ref:`disableflags<option-flag>`, :ref:`enableflags<option-flag>`,
-       :ref:`disableactuator<option-actuatorgroupdisable>`
-     - Flags from both models are combined.
-   * - **Error**
-     - **option**: :ref:`gravity<option-gravity>`, :ref:`wind<option-wind>`, :ref:`magnetic<option-magnetic>`,
-       :ref:`density<option-density>`, :ref:`viscosity<option-viscosity>`, :ref:`integrator<option-integrator>`,
-       :ref:`cone<option-cone>`, :ref:`jacobian<option-jacobian>`, :ref:`solver<option-solver>`,
-       :ref:`impratio<option-impratio>`,
-       :ref:`o_margin<option-o_margin>`, :ref:`o_solref<option-o_solref>`, :ref:`o_solimp<option-o_solimp>`,
-       :ref:`o_friction<option-o_friction>`
-     - Raised if non-default values conflict.
-
-.. _meDefault:
-
-Default classes
-^^^^^^^^^^^^^^^
-Default classes are fully supported in the new API, however using them requires an understanding of how defaults
-are implemented. As explained in the :ref:`Default settings <CDefault>` section, default classes are first loaded as a
-tree of dummy elements, which are then used to initialize elements which reference them. When editing models with
-defaults, this initialization is explicit:
-
-.. code-block:: C
-
-   mjSpec* spec = mj_makeSpec();
-   mjsDefault* main = mjs_getSpecDefault(spec);
-   main->geom.type = mjGEOM_BOX;
-   mjsGeom* geom = mjs_addGeom(mjs_findBody(spec, "world"), main);
-
-Importantly, changing a default class after it has been used to initialize elements will not change the properties of
-already initialized elements.
-
-.. admonition:: Possible future change
-   :class: note
-
-   The behavior described above, where defaults are only applied at initialization, is a remnant of the old, XML-only
-   loading pipeline. A future API change could allow defaults to be changed and applied after initialization. If you
-   think this feature is important to you, please let us know on GitHub.
-
-
-.. _meRecompilation:
-
-In-place recompilation
-^^^^^^^^^^^^^^^^^^^^^^
-
-Compilation with :ref:`mj_compile` can be called at any point to obtain a new mjModel instance. In contrast,
-:ref:`mj_recompile` updates an existing mjModel and mjData pair in-place, while preserving the simulation state. This
-allows model editing to occur **during simulation**, for example adding or removing bodies.
diff --git a/doc/programming/samples.rst b/doc/programming/samples.rst
deleted file mode 100644
index 9b1003c1..00000000
--- a/doc/programming/samples.rst
+++ /dev/null
@@ -1,498 +0,0 @@
-.. _Sample:
-
-Code samples
-------------
-
-MuJoCo comes with several code samples providing useful functionality. Some of them are quite elaborate
-(:ref:`simulate.cc <saSimulate>` in particular) but nevertheless we hope that they will help users learn how to program
-with the library.
-
-.. _saTestspeed:
-
-`testspeed <https://github.com/google-deepmind/mujoco/blob/main/sample/testspeed.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This code sample times the simulation of a given model. The timing is straightforward: the simulation of the passive
-dynamics (with optional control noise) is rolled-out for the specified number of steps, while collecting statistics
-about the number of contacts, scalar constraints, and CPU times from internal profiling. The results are then printed to
-the console. To simulate controlled dynamics instead of passive dynamics one can either install a control callback
-:ref:`mjcb_control`, or modify the code to set control signals explicitly, as explained in the :ref:`simulation loop
-<siSimulation>` section below. This command-line utility is run with
-
-.. code-block:: Shell
-
-   testspeed [options] model
-
-Where the command-line options and arguments are
-
-.. list-table::
-   :width: 95%
-   :align: left
-   :widths: 2 1 4
-   :header-rows: 1
-
-   * - Option
-     - Default
-     - Meaning
-   * - ``model``
-     - (required)
-     - path to model (positional argument)
-   * - ``--nstep=N``
-     - 10000
-     - number of steps per rollout
-   * - ``--nthread=N``
-     - 1
-     - number of threads running parallel rollouts
-   * - ``--noisestd=X``
-     - 0.01
-     - scale of pseudo-random noise injected into actuators
-   * - ``--noiserate=X``
-     - 0.1
-     - rate of convergence to ctrl keyframe/midpoint
-   * - ``--nenginethread=N``
-     - 0
-     - number of threads in engine-internal threadpool
-   * - ``--solver=S``
-     - Newton
-     - override constraint solver algorithm (PGS, CG, Newton)
-   * - ``--cone=C``
-     - Pyramidal
-     - override friction cone type (Pyramidal, Elliptic)
-   * - ``--jacobian=J``
-     - Auto
-     - override constraint Jacobian type (Dense, Sparse, Auto)
-   * - ``--integrator=I``
-     - Euler
-     - override integration mode (Euler, RK4, Implicit, ImplicitFast)
-   * - ``--iterations=N``
-     - 100
-     - override solver iterations limit
-   * - ``--tolerance=X``
-     - 1e-8
-     - override solver convergence tolerance
-   * - ``--sleep_tolerance=X``
-     - 1e-4
-     - override sleep tolerance
-   * - ``--noslip_iterations=N``
-     - 0
-     - override noslip solver iterations limit
-
-**Notes:**
-
-- When ``nthread > 1`` is specified, the code allocates a single mjModel and per-thread mjData, and runs ``nthread``
-  identical simulations in parallel. This tests performance with all cores active, as in Reinforcement
-  Learning scenarios where samples are collected in parallel. The optimal ``nthread`` usually equals the number of
-  logical cores.
-- By default, the simulation starts from the model reference configuration with zero velocities. However, if a
-  keyframe named "test" is present in the model, it is used as the initial state.
-- The physics option override flags (such as ``--solver``) only override the model settings if they are explicitly
-  specified on the command line; otherwise, the model options configured in the XML file are preserved.
-- The control noise arguments (``noisestd`` and ``noiserate``) prevent models from settling into a static state where,
-  due to warmstarts, one can measure artificially faster simulation.
-- When ``nenginethread > 1`` is specified, an engine-internal thread pool is created with the specified number of
-  threads, to speed up simulation of large scenes. Note that while it is possible to use both ``nthread`` and
-  ``nenginethread``, the scenarios for which one would want these different types of multithreading are usually mutually
-  exclusive.
-- For more repeatable performance statistics, run the tool with the ``performance``
-  `governor <https://www.kernel.org/doc/Documentation/cpu-freq/governors.txt>`__ on Linux, or the
-  ``High Performance`` power plan on Windows, to reduce noise from CPU scaling.
-- Many modern CPUs contain a mixture of "performance" and "efficiency" cores. Users should consider restricting the
-  process to only run on the same type of cores for more interpretable performance statistics. This can be done via the
-  `taskset <https://man7.org/linux/man-pages/man1/taskset.1.html>`__ command on Linux, or the
-  `start /affinity <https://learn.microsoft.com/en-us/windows-server/administration/windows-commands/start>`__
-  command on Windows (processor affinity cannot be specified through documented API means on macOS).
-
-.. _saSimulate:
-
-`simulate <https://github.com/google-deepmind/mujoco/blob/main/simulate>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This code sample is a fully-featured interactive simulator. It opens an OpenGL window using the platform-independent
-GLFW library, and renders the simulation state in it. There is built-in help, simulation statistics, profiler, sensor
-data plots. The model file can be specified as a command-line argument, or loaded at runtime using drag-and-drop
-functionality. This code sample uses the native UI to render various controls, and provides an
-illustration of how the new UI framework is intended to be used. Below is a screen-capture of ``simulate`` in action:
-
-..  youtube:: P83tKA1iz2Y
-    :aspect: 16:9
-    :width: 95%
-    :align: center
-
-Interaction is done with the mouse; built-in help with a summary of available commands is available by pressing the
-``F1`` key. Briefly, an object is selected by left-double-click. The user can then apply forces and torques on the
-selected object by holding Ctrl and dragging the mouse. Dragging the mouse alone (without Ctrl) moves the camera. There
-are keyboard shortcuts for pausing the simulation, resetting, and re-loading the model file. The latter functionality is
-very useful while editing the model in an XML editor. The complete set of shortcuts is given in
-:ref:`saSimulateShortcuts` below.
-
-.. _saSimulateShortcuts:
-
-Shortcuts
-^^^^^^^^^
-
-The ``F1`` help overlay lists the most common commands. The tables below are the complete reference, and also apply to
-the Python viewer launched with :ref:`mujoco.viewer<PyViewer>`, which is built on the same ``Simulate`` UI. Shortcuts
-that step or pause the simulation have no effect in passive mode, where stepping is driven by user code.
-
-In addition to the shortcuts listed here, every UI control shows its own shortcut when the right mouse button is held
-over the UI panel.
-
-Simulation and camera
-"""""""""""""""""""""
-
-.. list-table::
-   :width: 95%
-   :align: left
-   :widths: 1 3
-   :header-rows: 1
-
-   * - Key
-     - Action
-   * - ``Space``
-     - Play / pause
-   * - ``Right arrow``
-     - Step forward
-   * - ``Left arrow``
-     - Step backward, through the history buffer
-   * - ``+`` (actually ``=``)
-     - Speed up
-   * - ``-``
-     - Slow down
-   * - ``Backspace``
-     - Reset
-   * - ``Ctrl C``
-     - Copy state to clipboard
-   * - ``Ctrl L``
-     - Reload the model
-   * - ``Ctrl A``
-     - Align the free camera
-   * - ``Esc``
-     - Switch to the free camera
-   * - ``[`` / ``]``
-     - Cycle down / up through the fixed cameras defined in the model
-   * - ``Page Up``
-     - Select the parent of the currently selected body
-   * - ``Tab`` / ``Shift Tab``
-     - Toggle the left / right UI panel
-
-Panels and files
-""""""""""""""""
-
-.. list-table::
-   :width: 95%
-   :align: left
-   :widths: 1 3
-   :header-rows: 1
-
-   * - Key
-     - Action
-   * - ``F1``
-     - Toggle the help overlay
-   * - ``F2``
-     - Toggle the info overlay
-   * - ``F3``
-     - Toggle the profiler
-   * - ``F4``
-     - Toggle the sensor plots
-   * - ``F5``
-     - Toggle fullscreen
-   * - ``F6``
-     - Cycle the frame visualization
-   * - ``F7``
-     - Cycle the label visualization
-   * - ``Ctrl M``
-     - Print the model to ``MJMODEL.TXT``
-   * - ``Ctrl D``
-     - Print the data to ``MJDATA.TXT``
-   * - ``Ctrl P``
-     - Save a screenshot
-   * - ``Ctrl Q``
-     - Quit
-   * - ``Alt`` + letter
-     - Expand / collapse a UI section: ``F`` File, ``O`` Option, ``S`` Simulation, ``W`` Watch, ``P`` Physics,
-       ``R`` Rendering, ``V`` Visualization, ``G`` Group enable, ``L`` Logging, ``J`` Joint, ``C`` Control,
-       ``E`` Equality
-
-Visibility groups
-"""""""""""""""""
-
-.. list-table::
-   :width: 95%
-   :align: left
-   :widths: 1 3
-   :header-rows: 1
-
-   * - Key
-     - Action
-   * - ``0`` … ``5``
-     - Toggle visibility of geom group 0 … 5
-   * - ``Shift 0`` … ``Shift 5``
-     - Toggle visibility of site group 0 … 5
-
-Visualization flags
-"""""""""""""""""""
-
-These toggle the abstract visualization flags in the Rendering section, and correspond to the shortcuts declared in
-``mjVISSTRING``. Flags with no shortcut assigned (Select Point, the Flex flags and SDF iters) are omitted.
-
-.. list-table::
-   :width: 95%
-   :align: left
-   :widths: 1 3 1 3
-   :header-rows: 1
-
-   * - Key
-     - Flag
-     - Key
-     - Flag
-   * - ``H``
-     - Convex Hull
-     - ``X``
-     - Texture
-   * - ``J``
-     - Joint
-     - ``Q``
-     - Camera
-   * - ``U``
-     - Actuator
-     - ``,``
-     - Activation
-   * - ``Z``
-     - Light
-     - ``V``
-     - Tendon
-   * - ``Y``
-     - Range Finder
-     - ``E``
-     - Equality
-   * - ``I``
-     - Inertia
-     - ``'``
-     - Scale Inertia
-   * - ``B``
-     - Perturb Force
-     - ``O``
-     - Perturb Object
-   * - ``C``
-     - Contact Point
-     - ``N``
-     - Island
-   * - ``F``
-     - Contact Force
-     - ``P``
-     - Contact Split
-   * - ``T``
-     - Transparent
-     - ``A``
-     - Auto Connect
-   * - ``M``
-     - Center of Mass
-     - ``D``
-     - Static Body
-   * - ``;``
-     - Skin
-     - :literal:`\``
-     - Body Tree
-   * - ``\``
-     - Mesh Tree
-     -
-     -
-
-Rendering flags
-"""""""""""""""
-
-These toggle the OpenGL effects in the Rendering section, and correspond to the shortcuts declared in ``mjRNDSTRING``.
-Flags with no shortcut assigned (Depth, Id Color and Cull Face) are omitted.
-
-.. list-table::
-   :width: 95%
-   :align: left
-   :widths: 1 3 1 3
-   :header-rows: 1
-
-   * - Key
-     - Flag
-     - Key
-     - Flag
-   * - ``S``
-     - Shadow
-     - ``W``
-     - Wireframe
-   * - ``R``
-     - Reflection
-     - ``L``
-     - Additive
-   * - ``K``
-     - Skybox
-     - ``G``
-     - Fog
-   * - ``/``
-     - Haze
-     -
-     -
-
-Mouse
-"""""
-
-.. list-table::
-   :width: 95%
-   :align: left
-   :widths: 2 3
-   :header-rows: 1
-
-   * - Action
-     - Effect
-   * - Left drag
-     - Orbit the camera
-   * - Right drag
-     - Pan camera in vertical plane
-   * - ``Shift`` right drag
-     - Pan camera in horizontal plane
-   * - Scroll, or middle drag
-     - Zoom
-   * - Double-click
-     - Select an object
-   * - Right double-click
-     - Center the camera on the clicked point
-   * - ``Ctrl`` right double-click
-     - Track the selected body
-   * - ``Ctrl`` drag
-     - Rotate the selected object
-   * - ``Ctrl`` right drag
-     - Translate object in vertical plane
-   * - ``Ctrl`` ``Shift`` right drag
-     - Translate object in horizontal plane
-   * - Right-button hold over the UI
-     - Show the shortcut of each UI control
-   * - Double-click a UI section title
-     - Expand / collapse all sections
-
-The code is long yet reasonably commented, so it is best to just read it. Here we provide a high-level overview.
-The ``main()`` function initializes both MuJoCo and GLFW, opens a window, and install GLFW callbacks for mouse and
-keyboard handling. Note that there is no render callback; GLFW puts the user in charge, instead of running a rendering
-loop behind the scenes. The main loop handles UI events and rendering. The simulation is handled in a background
-thread, which is synchronized with the main thread.
-
-The mouse and keyboard callbacks perform whatever action is necessary. Many of these actions invoke functionality
-provided by MuJoCo's :ref:`abstract visualization <Abstract>` mechanism. Indeed this mechanism is designed to be
-hooked to mouse and keyboard events more or less directly, and provides camera as well as perturbation control.
-
-The profiler and sensor data plots illustrate the use of the :ref:`mjr_figure` function
-that can plot elaborate 2D figures with grids, annotation, axis scaling etc. The information presented in the profiler
-is extracted from the diagnostic fields of mjData. It is a very useful tool for tuning the parameters of the
-constraint solver algorithms. The outputs of the sensors defined in the model are visualized as a bar graph.
-
-Note that the profiler shows timing information collected with high-resolution timers. On Windows, depending on the
-power settings, the OS may reduce the CPU frequency; this is because :ref:`simulate.cc <saSimulate>` sleeps most of
-the time in order to slow down to realtime. This results in inaccurate timings. To avoid this problem, change the
-Windows power plan so that the minimum processor state is 100%.
-
-.. _saCompile:
-
-`compile <https://github.com/google-deepmind/mujoco/blob/main/sample/compile.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This code sample invokes the built-in parser and compiler. It implements all possible model conversions from (MJCF,
-URDF, MJB) format to (MJCF, MJB, TXT) format. Models saved as MJCF use a canonical subset of our format as described in
-the :doc:`../modeling` chapter, and therefore MJCF-to-MJCF conversion will generally result in a different file.
-The TXT format is a human-readable road-map to the model. It cannot be loaded by MuJoCo, but can be a very useful aid
-during model development. It is in one-to-one correspondence with the compiled mjModel. Note also that one can use the
-function :ref:`mj_printData` to create a text file which is in one-to-one correspondence
-with mjData, although this is not done by the code sample.
-
-If the input file is MJCF or URDF and the output file is empty, compilation is performed twice to measure the impact
-of the compiler's :ref:`asset cache<Assetcache>`. A detailed timing breakdown is printed for each compilation, showing
-total time, asset processing time (wall clock), and per-category CPU times for meshes and textures. These timings are
-read from the :ref:`mjtCTimer` fields via :ref:`mjs_getTimer`, which can be read programmatically
-after any call to :ref:`mj_compile`.
-
-.. _saBasic:
-
-`basic <https://github.com/google-deepmind/mujoco/blob/main/sample/basic.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This code sample is a minimal interactive simulator. The model file must be provided as command-line argument. It
-opens an OpenGL window using the platform-independent GLFW library, and renders the simulation state at 60 fps while
-advancing the simulation in real-time. Press Backspace to reset the simulation. The mouse can be used to control the
-camera: left drag to rotate, right drag to translate in the vertical plane, shift right drag to translate in the
-horizontal plane, scroll or middle drag to zoom.
-
-The :ref:`Visualization` programming guide below explains how visualization works. This code sample is a minimal
-illustration of the concepts in that guide.
-
-.. _saRecord:
-
-`record <https://github.com/google-deepmind/mujoco/blob/main/sample/record.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This code sample simulates the passive dynamics of a given model, renders it offscreen, reads the color and depth pixel
-values, and saves them into a raw data file that can then be converted into a movie file with tools such as ffmpeg. The
-rendering is simplified compared to :ref:`simulate.cc <saSimulate>` because there is no user interaction, visualization
-options or timing; instead we simply render with the default settings as fast as possible. The dimensions and number of
-multi-samples for the offscreen buffer are specified in the MuJoCo model with the visual/global/{`offwidth
-<https://mujoco.readthedocs.io/en/stable/XMLreference.html#visual-global-offwidth>`__, `offheight
-<https://mujoco.readthedocs.io/en/stable/XMLreference.html#visual-global-offheight>`__} and visual/quality/`offsamples
-<https://mujoco.readthedocs.io/en/stable/XMLreference.html#visual-quality-offsamples>`_ attributes, while the simulation
-duration, frames-per-second to be rendered (usually much less than the physics simulation rate), and output file name
-are specified as command-line arguments.
-
-.. code-block:: Shell
-
-   record modelfile duration fps rgbfile [adddepth]
-
-Where the command line arguments are
-
-.. list-table::
-   :width: 95%
-   :align: left
-   :widths: 1 1 5
-   :header-rows: 1
-
-   * - Argument
-     - Default
-     - Meaning
-   * - ``modelfile``
-     - (required)
-     - path to model
-   * - ``duration``
-     - (required)
-     - duration of the recording in seconds
-   * - ``fps``
-     - (required)
-     - number of frames per second
-   * - ``rgbfile``
-     - (required)
-     - path to raw recording file
-   * - ``adddepth``
-     - 1
-     - overlay depth image in the lower left corner (0: none)
-
-For example, a 5 second animation at 60 frames per second is created with:
-
-.. code-block:: Shell
-
-   record humanoid.xml 5 60 rgb.out
-
-The default `humanoid.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid.xml>`__ model
-specifies offscreen rendering with 2560x1440 resolution. With this information in hand, we can compress the (large) raw
-data file into a playable movie file:
-
-.. code-block:: Shell
-
-   ffmpeg -f rawvideo -pixel_format rgb24 -video_size 2560x1440
-          -framerate 60 -i rgb.out -vf "vflip,format=yuv420p" video.mp4
-
-Note that the offscreen rendering resolution of the model and ffmpeg's video_size must be identical.
-
-This sample can be compiled in three ways which differ in how the OpenGL context is created: using GLFW with an
-invisible window, using OSMesa, or using EGL. The latter two options are only available on Linux and are invoked by
-defining the symbols MJ_OSMESA or MJ_EGL when compiling record.cc. The functions ``initOpenGL`` and ``closeOpenGL``
-create and close the OpenGL context in three different ways depending on which of the above symbols is defined.
-
-Note that the MuJoCo rendering code does not depend on how the OpenGL context was created. This is the beauty of
-OpenGL: it leaves context creation to the platform, and the actual rendering is then standard and works in the same
-way on all platforms. In retrospect, the decision to leave context creation out of the standard has led to unnecessary
-proliferation of overlapping technologies, which differ not only between platforms but also within a platform in the
-case of Linux. The addition of a couple of extra functions (such as those provided by OSMesa for example) could have
-avoided a lot of confusion. EGL is a newer standard from Khronos which aims to do this, and it is gaining popularity.
-But we cannot yet assume that all users have it installed.
diff --git a/doc/programming/simulation.rst b/doc/programming/simulation.rst
deleted file mode 100644
index 82cdb029..00000000
--- a/doc/programming/simulation.rst
+++ /dev/null
@@ -1,1464 +0,0 @@
-.. _Simulation:
-
-Simulation
-----------
-
-.. _siInitialization:
-
-Initialization
-~~~~~~~~~~~~~~
-
-:ref:`mjModel` and :ref:`mjData` should never be allocated directly by the user. Instead they are allocated and
-initialized by the corresponding API functions. These are very elaborate data structures, containing (arrays of) other
-structures, preallocated data arrays for all intermediate results, as well as an :ref:`internal stack <siStack>`. Our
-strategy is to allocate all necessary heap memory at the beginning of the simulation, and free it after the simulation
-is done, so that we never have to call the C memory allocation and deallocation functions during the simulation. This is
-done for speed, avoidance of memory fragmentation, GPU portability, and ease of managing the state of the entire
-simulator during a reset. It also means however that the maximal variable-memory allocation given by the :at:`memory`
-attribute in the :ref:`size <size>` MJCF element, which affects the allocation of :ref:`mjData`, must be set to a
-sufficiently large value. If this maximal size is exceeded during simulation, it is not increased dynamically, but
-instead an error is generated. See also :ref:`diagnostics <siDiagnostics>` below.
-
-First we must call one of the functions that allocates and initializes mjModel and returns a pointer to it. The
-available options are
-
-.. code-block:: C
-
-   // option 1: parse and compile XML from file
-   mjModel* m = mj_loadXML("mymodel.xml", NULL, errstr, errstr_sz);
-
-   // option 2: parse and compile XML from virtual file system
-   mjModel* m = mj_loadXML("mymodel.xml", vfs, errstr, errstr_sz);
-
-   // option 3: load precompiled model from MJB file
-   mjModel* m = mj_loadModel("mymodel.mjb", NULL);
-
-   // option 4: load precompiled model from virtual file system
-   mjModel* m = mj_loadModel("mymodel.mjb", vfs);
-
-   // option 5: deep copy from existing mjModel
-   mjModel* m = mj_copyModel(NULL, mexisting);
-
-   // option 6: compile model from mjSpec
-   mjModel* m = mj_compile(spec, vfs);
-
-All these functions return a NULL pointer if there is an error or warning. In the case of XML parsing and model
-compilation, a description of the error is returned in the string provided as argument. For the remaining functions, the
-low-level :ref:`mju_error` or :ref:`mju_warning` is called with the error/warning message; see :ref:`error handling
-<siError>`. Once we have a pointer to the mjModel that was allocated by one of the above functions, we pass it as
-argument to all API functions that need model access. Note that most functions treat this pointer as ``const``; more on
-this in :ref:`model changes <siChange>` below.
-
-The virtual file system (VFS) allows disk resources to be loaded in memory or created programmatically by the user, and
-then MuJoCo's load functions search for files in the VFS before accessing the disk. See :ref:`Virtualfilesystem` in the
-API Reference chapter.
-
-In addition to mjModel which holds the model description, we also need mjData which is the workspace where all
-computations are performed. Note that mjData is specific to a given mjModel. The API functions generally assume that
-users know what they are doing, and perform minimal argument checking. If the mjModel and mjData passed to any API
-function are incompatible (or NULL) the resulting behavior is undefined. mjData is created with
-
-.. code-block:: C
-
-   // option 1: create mjData corresponding to given mjModel
-   mjData* d = mj_makeData(m);
-
-   // option 2: deep copy from existing mjData
-   mjData* d = mj_copyData(NULL, m, dexisting);
-
-Once both mjModel and mjData are allocated and initialized, we can call the various simulation functions. When we are
-done, we can delete them with
-
-.. code-block:: C
-
-   // deallocate existing mjModel
-   mj_deleteModel(m);
-
-   // deallocate existing mjData
-   mj_deleteData(d);
-
-The code samples illustrate the complete initialization and termination sequence.
-
-MuJoCo simulations are :ref:`deterministic <piReproducibility>`.
-
-.. _siSimulation:
-
-Simulation loop
-~~~~~~~~~~~~~~~
-
-There are multiple ways to run a simulation loop in MuJoCo. The simplest way is to call the top-level simulation
-function :ref:`mj_step` in a loop such as
-
-.. code-block:: C
-
-   // simulate until t = 10 seconds
-   while (d->time < 10)
-     mj_step(m, d);
-
-This by itself will simulate the passive dynamics, because we have not provided any control signals or applied forces.
-The default way to control the system is to implement a control callback, for example
-
-.. code-block:: C
-
-   // simple controller applying damping to each DOF
-   void mycontroller(const mjModel* m, mjData* d) {
-     if (m->nu == m->nv)
-       mju_scl(d->ctrl, d->qvel, -0.1, m->nv);
-   }
-
-This illustrates two concepts. First, we are checking if the number of controls ``mjModel.nu`` equals the number of
-DoFs ``mjModel.nv``. In general, the same callback may be used with multiple models depending on how the user code is
-structured, and so it is a good idea to check the model dimensions in the callback. Second, MuJoCo has a library of
-BLAS-like functions that are very useful; indeed a large part of the code base consists of calling such functions
-internally. The :ref:`mju_scl` function above scales the velocity vector ``mjData.qvel`` by a constant feedback
-gain and copies the result into the control vector ``mjData.ctrl``. To install this callback, we simply assign it to the
-global control callback pointer :ref:`mjcb_control`:
-
-.. code-block:: C
-
-   // install control callback
-   mjcb_control = mycontroller;
-
-Now if we call :ref:`mj_step`, our control callback will be executed whenever the control
-signal is needed by the simulation pipeline, and as a result we will end up simulating the controlled dynamics.
-
-Instead of relying on a control callback, we could set the control vector ``mjData.ctrl`` directly. Alternatively we
-could set applied forces as explained in :ref:`state and control <siStateControl>`. If we could compute these control-
-related quantities before ``mj_step`` is called, then the simulation loop for the controlled dynamics (without using a
-control callback) would become
-
-.. code-block:: C
-
-   while (d->time < 10) {
-     // set d->ctrl or d->qfrc_applied or d->xfrc_applied
-     mj_step(m, d);
-   }
-
-Why would we not be able to compute the controls before ``mj_step`` is called? After all, isn't this what causality
-means? The answer is subtle but important, and has to do with the fact that we are simulating in discrete time. The top-
-level simulation function ``mj_step`` does two things: compute the :ref:`forward dynamics <siForward>` in
-continuous time, and then integrate over a time period specified by ``mjModel.opt.timestep``. Forward dynamics computes
-the acceleration ``mjData.qacc`` at time ``mjData.time``, given the :ref:`state and control <siStateControl>` at time
-``mjData.time``. The numerical integrator then advances the state and time to ``mjData.time + mjModel.opt.timestep``.
-Now, the control is required to be a function of the state at time ``mjData.time``. However a general feedback
-controller can be a very complex function, depending on various features of the state -- in particular all the features
-computed by MuJoCo as intermediate results of the simulation. These may include contacts, Jacobians, passive forces.
-None of these quantities are available before ``mj_step`` is called (or rather, they are available but *outdated by one
-time step*). In contrast, when ``mj_step`` calls our control callback, it does so as late in the computation as possible
--- namely after all the intermediate results dependent on the state but not on the control have been computed.
-
-The same effect can be achieved without using a control callback. This is done by breaking ``mj_step`` in two parts:
-before the control is needed, and after the control is needed. The simulation loop now becomes
-
-.. code-block:: C
-
-   while (d->time < 10) {
-     mj_step1(m, d);
-     // set d->ctrl or d->qfrc_applied or d->xfrc_applied
-     mj_step2(m, d);
-   }
-
-There is one complication however: this only works with the single-step :ref:`integrators<geIntegration>` (Euler,
-implicit, implicitfast). The Runge-Kutta integrator needs to evaluate the entire dynamics including the feedback control
-law multiple times per step, which can only be done using a control callback. With the single-step integrators, the
-above separation of ``mj_step`` into :ref:`mj_step1` and :ref:`mj_step2` is sufficient to provide the control law with
-the intermediate results of the computation.
-
-To make the above discussion clearer, we provide the internal implementation of :ref:`mj_step`, :ref:`mj_step1` and
-:ref:`mj_step2`, omitting some code that computes timing diagnostics. The main simulation function is
-
-.. code-block:: C
-
-   void mj_step(const mjModel* m, mjData* d) {
-     // common to all integrators
-     mj_checkPos(m, d);
-     mj_checkVel(m, d);
-     mj_forward(m, d);
-     mj_checkAcc(m, d);
-
-     // use selected integrator
-     switch ((mjtIntegrator) m->opt.integrator) {
-     case mjINT_EULER:
-       mj_Euler(m, d);
-       break;
-
-     case mjINT_RK4:
-       mj_RungeKutta(m, d, 4);
-       break;
-
-     case mjINT_IMPLICIT:
-     case mjINT_IMPLICITFAST:
-       mj_implicit(m, d);
-       break;
-
-     default:
-       mjERROR("invalid integrator");
-     }
-   }
-
-The checking functions reset the simulation automatically if any numerical values have become invalid or too large.
-The control callback (if any) is called from within the forward dynamics function.
-
-Next we show the implementation of the two-part stepping approach, although the specifics will make sense only after
-we explain the :ref:`forward dynamics <siForward>` later. Note that the control callback is now called directly, since
-we have essentially unpacked the forward dynamics function. Note also that we always call a single-step integrator in
-:ref:`mj_step2`; if RK4 is selected, the integrator will default to Euler.
-
-.. code-block:: C
-
-   void mj_step1(const mjModel* m, mjData* d) {
-     mj_checkPos(m, d);
-     mj_checkVel(m, d);
-     mj_fwdPosition(m, d);
-     mj_sensorPos(m, d);
-     mj_energyPos(m, d);
-     mj_fwdVelocity(m, d);
-     mj_sensorVel(m, d);
-     mj_energyVel(m, d);
-
-     // if we had a callback we would be using mj_step, but call it anyway
-     if (mjcb_control)
-       mjcb_control(m, d);
-   }
-
-   void mj_step2(const mjModel* m, mjData* d) {
-     mj_fwdActuation(m, d);
-     mj_fwdAcceleration(m, d);
-     mj_fwdConstraint(m, d);
-     mj_sensorAcc(m, d);
-     mj_checkAcc(m, d);
-
-     // integrate with Euler or implicit; RK4 defaults to Euler
-     if (m->opt.integrator == mjINT_IMPLICIT || m->opt.integrator == mjINT_IMPLICITFAST)
-       mj_implicit(m, d);
-     else
-       mj_Euler(m, d);
-   }
-
-.. _siStateControl:
-
-State and control
-~~~~~~~~~~~~~~~~~
-MuJoCo has a well-defined state that is easy to set, reset and advance through time. This is closely related to the
-notion of state of a dynamical system. Dynamical systems are usually described in the general form
-
-.. code-block:: Text
-
-     dx/dt = f(t, x, u)
-
-where ``t`` is the time, ``x`` is the state vector, ``u`` is the control vector, and ``f`` is the function that computes
-the time-derivative of the state. This is a continuous-time formulation, and indeed the physics model simulated by
-MuJoCo is defined in continuous time. Even though the numerical integrator operates in discrete time, the main part of
-the computation---namely the function :ref:`mj_forward`---corresponds to the continuous-time dynamics function
-``f(t,x,u)`` above. Below we explain this correspondence.
-
-.. _siStateComponents:
-
-State components
-^^^^^^^^^^^^^^^^
-The state is composed of distinct components, described in the :ref:`mjtState` bitfield enum, which enumerates both
-individual components and combinations of components. These are:
-
-.. _siPhysicsState:
-
-Physics state
-"""""""""""""
-The *physics state* (:ref:`mjSTATE_PHYSICS<mjtState>`) contains the main quantities which are time-integrated during
-stepping. These are ``mjData.{qpos, qvel, act, history}``:
-
-Position: ``qpos``
-  The configuration in generalized coordinates, denoted in the :ref:`Numerical Integration<geIntegration>` section as
-  :math:`q`.
-
-Velocity: ``qvel``
-  The generalized velocities, denoted in the :ref:`Numerical Integration<geIntegration>` section as :math:`v`. In the
-  presence of quaternions (i.e., when free or ball joints are used), the position vector ``mjData.qpos`` has higher
-  dimensionality than the velocity vector ``mjData.qvel`` and so this is not a simple time-derivative in the sense of
-  scalars, but instead takes quaternion algebra into account.
-
-Actuator activation: ``act``
-  For a second-order mechanical system, the state contains only position and velocity, but MuJoCo also models stateful
-  actuators (such as biological muscles) that have their own activation states assembled in ``mjData.act``, denoted
-  as :math:`w` in the :ref:`Numerical Integration<geIntegration>` section.
-
-History buffer: ``history``
-  When actuators or sensors have a positive :at:`nsample` attribute (:ref:`actuators<actuator-general-nsample>`,
-  :ref:`sensors<sensor-nsample>`), this buffer stores timestamped samples of previous
-  control or sensor values. See :ref:`Delays<CDelay>` for details.
-
-.. _siFullPhysics:
-
-Full physics state
-""""""""""""""""""
-`t, x` above correspond to the *full physics state* (:ref:`mjSTATE_FULLPHYSICS<mjtState>`) -- everything which advances
-in time. It is the :ref:`Physics state<siPhysicsState>` and two additional components:
-
-Time: ``time``
-  While mechanics is time-invariant, user-defined control laws may be time-dependent; in particular control laws
-  obtained from trajectories are often time-indexed. The time ``t`` (``mjData.time``) is therefore a state component
-  with ``dt/dt == 1``.
-
-Plugin state: ``plugin_state``
-  ``mjData.plugin_state`` are states declared by :ref:`engine plugins<exPlugin>`. Please see the :ref:`exPluginState`
-  section for more details.
-
-.. _siInput:
-
-User inputs
-"""""""""""
-These input fields (:ref:`mjSTATE_USER<mjtState>`) are set by the user and affect the physics simulation, but are
-untouched by the simulator. All input fields except for MoCap poses default to 0. A general property of all :ref:`User
-input<siInput>` arrays is that they are untouched by the library. Therefore, in the sense that a value written to this
-memory is persistent, they can also be considered stateful.
-
-The control vector ``u`` mostly corresponds to the array ``mjData.ctrl``, containing the actuation signal set by the
-user. "Mostly" because torques and wrenches can also be applied directly using ``mjData.qfrc_applied`` and
-``mjData.xfrc_applied``, respectively. The poses of mocap bodies, which are :ref:`user-controlled static
-bodies<CMocap>`, are also a user-input. The field ``mjData.userdata`` is a fixed-size memory block (allocated by setting
-:ref:`nuserdata<size-nuserdata>`) meant to serve the user for any purpose, and can be used to store various state-like
-and control-like quantities.
-
-Control: ``ctrl``
-  Controls are defined by the :ref:`actuator<actuator>` section of the XML. ``mjData.ctrl`` values either produce
-  generalized forces directly (stateless actuators), or affect the actuator activations in ``mjData.act``, which then
-  produce forces. Note that while all actuators produce forces, the semantics of ``ctrl`` and ``act`` depend on the
-  specific parameters of the :ref:`actuation model<geActuation>`.
-
-Auxiliary Controls: ``qfrc_applied`` and ``xfrc_applied``
-  | ``mjData.qfrc_applied`` are directly applied generalized forces.
-  | ``mjData.xfrc_applied`` are Cartesian wrenches applied to the CoM of individual bodies. This field is used for
-    example, by the :ref:`native viewer<saSimulate>` to apply mouse perturbations.
-  | Note that the effects of ``qfrc_applied`` and ``xfrc_applied`` can be recreated by appropriate actuator
-    definitions.
-
-.. _siMocap:
-
-MoCap poses: ``mocap_pos`` and ``mocap_quat``
-  ``mjData.mocap_pos`` and ``mjData.mocap_quat`` are special optional kinematic states :ref:`described here<CMocap>`,
-  which allow the user to set the positions and orientations of static bodies in real-time, for example when streaming
-  6D poses from a motion-capture device. The default values set by :ref:`mj_resetData` are the poses of the bodies at
-  the default configuration.
-
-Equality constraint toggle: ``eq_active``
-  ``mjData.eq_active`` is a byte-valued array that allows the user to toggle the state of equality constraints at
-  runtime. The initial value of this array is ``mjModel.eq_active0`` which can be set in XML using the
-  :ref:`active<equality-connect-active>` attribute of :ref:`equality constraints<coEquality>`.
-
-User data: ``userdata``
-  ``mjData.userdata`` acts as a user-defined memory space untouched by the engine. For example it can be used by
-  callbacks. This is described in more detail in the :ref:`Programming chapter<siSimulation>`.
-
-.. _siWarmstart:
-
-Warmstarts
-""""""""""
-
-Warmstart accelerations: ``qacc_warmstart``
-  ``mjData.qacc_warmstart`` are the previous step's accelerations used to warmstart the constraint solver.
-  Assuming that the current solution is not very different from the previous one, this can speed up simulation by
-  reducing the number of iterations required for convergence. When using a slowly-converging :ref:`constraint
-  solver<Solver>` like PGS, these can speed up simulation by reducing the number of iterations required for convergence.
-  Note however that the default Newton solver converges so quickly (usually 2-3 iterations), that warmstarts often have
-  a negligible effect on speed and can be :ref:`disabled<option-flag-warmstart>`.
-
-  Because our optimization problem is :ref:`strictly convex<Solver>` with a single global minimum, different solver
-  initialization have no perceptible effect on the solution, assuming that convergence was achieved. The effect becomes
-  significant if numerical convergence is not achieved, either due to slow convergence or if
-  :ref:`iterations<option-iterations>` or :ref:`tolerance<option-tolerance>` are capped, as is sometimes done in
-  :ref:`MJX<MjxPerformance>`.
-
-  The other case where warmstarts are critical is if perfect numerical reproducibility is required, when loading a
-  non-initial state (since the initial state is always cold-started). Note that even though their effect on physics is
-  negligible, many physical systems will accumulate small differences `exponentially
-  <https://en.wikipedia.org/wiki/Lyapunov_exponent>`__ when time-stepping, quickly leading to divergent trajectories for
-  different warmstarts. See :ref:`Reproducibility<piReproducibility>` for more details.
-
-.. _siIntegrationState:
-
-Integration state
-"""""""""""""""""
-The *integration state* (:ref:`mjSTATE_INTEGRATION<mjtState>`) is the union of all the above :ref:`mjData` fields and
-constitutes the entire set of inputs to the *forward dynamics*. The pipeline output of two :ref:`mjData` instances with
-the same integration state will be identical. In the case of *inverse dynamics*, ``mjData.qacc`` is also treated as an
-input variable. All other :ref:`mjData` fields are functions of the integration state.
-
-Note that the full integration state as given by :ref:`mjSTATE_INTEGRATION<mjtState>` is maximalist and includes fields
-which are often unused. If a small state size is desired, it might be sensible to avoid saving unused fields.
-In particular ``xfrc_applied`` can be quite large (``nbody x 6``) yet is often unused.
-
-.. _siSimulationState:
-
-Simulation state
-""""""""""""""""
-The *simulation state* is the entirety of the :ref:`mjData` struct and associated memory buffer. This state includes all
-derived quantities computed during dynamics computation. Because the :ref:`mjData` buffers are preallocated for the
-worst case, it is often significantly faster to recompute derived quantities from the :ref:`integration
-state<siIntegrationState>` rather than using :ref:`mj_copyData`. See :ref:`Notes on sleeping <siSleepNotes>` for caveats
-regarding the simulation state when sleeping is enabled.
-
-.. _siStateManipulation:
-
-State manipulation
-^^^^^^^^^^^^^^^^^^
-Manipulation of the state is facilitated by the :ref:`mjtState` bitfield enum, which enumerates the state components
-documented above. Combinations of the components, some of which are available in the enum itself, can be OR'ed together
-to form bitfield values, for example
-
-.. code-block:: C
-
-   int sig = mjSTATE_TIME | mjSTATE_QPOS | mjSTATE_CTRL;  // custom choice of state components
-
-The functions using these bitfields are :ref:`mj_getState`, :ref:`mj_setState`, :ref:`mj_copyState` and
-:ref:`mj_extractState`. For example after copying the :ref:`integration state<siIntegrationState>` from an :ref:`mjData`
-instance ``src`` into another instance ``dst``:
-
-.. code-block:: C
-
-   mj_copyState(model, src, dst, mjSTATE_INTEGRATION);
-
-stepping ``src`` or ``dst`` will produce identical results. States can be retrieved and set from a single
-:ref:`mjtNum` array:
-
-.. code-block:: C
-
-   int sig = mjSTATE_TIME | mjSTATE_QPOS | mjSTATE_CTRL;
-   int size = mj_stateSize(model, sig);
-   mjtNum* state = mju_malloc(size * sizeof(mjtNum));
-   mj_getState(model, src, state, sig);  // copy time, qpos and ctrl from src into state
-   mj_setState(model, dst, state, sig);  // copy time, qpos and ctrl from state into dst
-
-The entire mjData can also be copied with the function :ref:`mj_copyData` but is of course much slower than
-:ref:`mj_copyState`.
-
-Also relevant in this context is the function :ref:`mj_resetData`. It sets ``mjData.qpos`` equal to the model reference
-configuration ``mjModel.qpos0``, ``mjData.mocap_pos`` and ``mjData.mocap_quat`` equal to the corresponding fixed body
-poses from mjModel; and all other state and control variables to 0. When some trees are *initialized asleep*, this
-function does more work, see :ref:`sleeping <siSleepSleeping>` below.
-
-.. _siForward:
-
-Forward dynamics
-~~~~~~~~~~~~~~~~
-The goal of forward dynamics is to compute the time-derivative of the state, namely the acceleration vector
-``mjData.qacc`` and the activation time-derivative ``mjData.act_dot``. Along the way it computes everything else needed
-to simulate the dynamics, including active contacts and other constraints, joint-space inertia and its :math:`L^TDL`
-decomposition, constraint forces, sensor data and so on. All these intermediate results are available in :ref:`mjData`
-and can be used in custom computations. As illustrated in the :ref:`simulation loop <siSimulation>` section above, the
-main stepper function :ref:`mj_step` calls :ref:`mj_forward` to do most of the work, and then calls the numerical
-integrator to advance the simulation state to the next discrete point in time.
-
-The forward dynamics function :ref:`mj_forward` internally calls :ref:`mj_forwardSkip` with
-skip arguments (mjSTAGE_NONE, 0), where the latter function is implemented as
-
-.. code-block:: C
-
-   void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
-     // position-dependent
-     if (skipstage < mjSTAGE_POS) {
-       mj_fwdPosition(m, d);
-       if (!skipsensor)
-         mj_sensorPos(m, d);
-       if (mjENABLED(mjENBL_ENERGY))
-         mj_energyPos(m, d);
-     }
-
-     // velocity-dependent
-     if (skipstage < mjSTAGE_VEL) {
-       mj_fwdVelocity(m, d);
-       if (!skipsensor)
-         mj_sensorVel(m, d);
-       if (mjENABLED(mjENBL_ENERGY))
-         mj_energyVel(m, d);
-     }
-
-     // acceleration-dependent
-     if (mjcb_control)
-       mjcb_control(m, d);
-     mj_fwdActuation(m, d);
-     mj_fwdAcceleration(m, d);
-     mj_fwdConstraint(m, d);
-     if (!skipsensor)
-       mj_sensorAcc(m, d);
-   }
-
-Note that this is the same sequence of calls as in :ref:`mj_step1` and :ref:`mj_step2` above, except that checking of
-real values and computing features such as sensor and energy are omitted. The functions being called are components of
-the simulation pipeline. In turn they call sub-components.
-
-The integer argument skipstage determines which parts of the computation will be skipped. The possible skip levels are
-
-mjSTAGE_NONE
-   Skip nothing. Run all computations.
-mjSTAGE_POS
-   Skip computations that depend on position but not on velocity or control or applied force. Examples of such
-   computations include forward kinematics, collision detection, inertia matrix computation and decomposition. These
-   computations typically take the most CPU time and should be skipped when possible (see below).
-mjSTAGE_VEL
-   Skip computations that depend on position and velocity but not on control or applied force. Examples include the
-   computation of Coriolis and centrifugal forces, passive damping forces, reference accelerations for constraint
-   stabilization.
-
-The intermediate result fields of mjData are organized into sections according to which part of the state is needed in
-order to compute them. Calling :ref:`mj_forwardSkip` with mjSTAGE_POS assumes that the fields in the first section
-(position dependent) have already been computed and does not recompute them. Similarly, mjSTAGE_VEL assumes that the
-fields in the first and second sections (position and velocity dependent) have already been computed.
-
-When can we use the above machinery and skip some of the computations? In a regular simulation this is not possible.
-However, MuJoCo is designed not only for simulation but also for more advanced applications such as model-based
-optimization, machine learning etc. In such settings one often needs to sample the dynamics at a cloud of nearby
-states, or approximate derivatives via finite differences -- which is another form of sampling. If the samples are
-arranged on a grid, where only the position or only the velocity or only the control is different from the center
-point, then the above mechanism can improve performance by about a factor of 2.
-
-.. _siInverse:
-
-Inverse dynamics
-~~~~~~~~~~~~~~~~
-
-The computation of inverse dynamics is a unique feature of MuJoCo, and is not found in any other modern engine capable
-of simulating contacts. Inverse dynamics are well-defined and very efficient to compute, thanks to our
-:ref:`soft-constraint model <Constraint>` described in the Overview chapter. In fact once the position and
-velocity-dependent computations that are shared with forward dynamics have been performed, the recovery of constraint
-and applied forces given the acceleration comes down to an analytical formula. This is so fast that we actually use
-inverse dynamics (with the acceleration computed at the previous time step) to warm-start the iterative constraint
-solver in forward dynamics.
-
-The inputs to inverse dynamics are the same as the state vector in forward dynamics as illustrated in :ref:`state and
-control <siStateControl>`, but without ``mjData.act`` and ``mjData.time``. Assuming no callbacks that depend on user-
-defined state variables, the inputs to inverse dynamics are the following fields of mjData:
-
-::
-
-     (mjData.qpos, mjData.qvel, mjData.qacc, mjData.mocap_pos, mjData.mocap_quat)
-
-The main output is ``mjData.qfrc_inverse``. This is the force that must have acted on the system in order to achieve the
-observed acceleration ``mjData.qacc``. If forward dynamics were to be computed exactly, by running the iterative solver
-to full convergence, we would have
-
-::
-
-     mjData.qfrc_inverse = mjData.qfrc_applied + Jacobian'*mjData.xfrc_applied + mjData.qfrc_actuator
-
-where ``mjData.qfrc_actuator`` is the joint-space force produced by the actuators and the Jacobian is the mapping from
-joint to Cartesian space. When the :ref:`fwdinv<option-flag-fwdinv>` flag in ``mjModel.opt.enableflags`` is set, the
-above identity is used to monitor the quality of the forward dynamics solution. In particular, the two components of
-``mjData.solver_fwdinv`` are set to the L2 norm of the difference between the forward and inverse solutions, in terms of
-joint forces and constraint forces respectively.
-
-Similar to forward dynamics, :ref:`mj_inverse` internally calls :ref:`mj_inverseSkip` with skip arguments
-``(mjSTAGE_NONE, 0)``. The skip mechanism is the same as in forward dynamics, and can be used to speed up structured
-sampling. The result ``mjData.qfrc_inverse`` is obtained by using the Recursive Newton-Euler algorithm to compute the
-net force acting on the system, and then subtracting from it all internal forces.
-
-Inverse dynamics can be used as an analytical tool when experimental data are available. This is common in robotics as
-well as biomechanics. It can also be used to compute the joint torques needed to drive the system along a given
-reference trajectory; this is known as computed torque control. In the context of state estimation, system
-identification and optimal control, it can be used within an optimization loop to find sequences of states that
-minimize physics violation along with other costs. Physics violation can be quantified as the norm of any unexplained
-external force computed by inverse dynamics.
-
-.. _siMultithread:
-
-Multi-threading
-~~~~~~~~~~~~~~~
-
-MuJoCo has support for within-step multi-threading. When a thread pool is initialized via
-``mju_threadpool``, parts of the simulation pipeline — such as collision detection and constraint solving across
-:ref:`islands<siSleep>` — can be distributed across worker threads.
-
-The more common and well-supported use of multi-threading is to speed up sampling operations that are
-common in more advanced applications. Simulation is inherently serial over time (the output of one mj_step is the
-input to the next), while in sampling many calls to either forward or inverse dynamics can be executed in parallel
-since there are no dependencies among them, except perhaps for a common initial state.
-
-MuJoCo was designed for multi-threading from its beginning. Unlike most existing simulators where the notion of
-dynamical system state is difficult to map to the software state and is often distributed among multiple objects, in
-MuJoCo we have the unified data structure mjData which contains everything that changes over time. Recall the
-discussion of :ref:`state and control <siStateControl>`. The key idea is to create one mjData for each thread, and
-then use it for all per-thread computations. Below is the general template, using OpenMP to simplify thread
-management.
-
-.. code-block:: C
-
-   // prepare OpenMP
-   int nthread = omp_get_num_procs();      // get number of logical cores
-   omp_set_dynamic(0);                     // disable dynamic scheduling
-   omp_set_num_threads(nthread);           // number of threads = number of logical cores
-
-   // allocate per-thread mjData
-   mjData* d[64];
-   for (int n=0; n < nthread; n++)
-     d[n] = mj_makeData(m);
-
-   // ... serial code, perhaps using its own mjData* dmain
-
-   // parallel section
-   #pragma omp parallel
-   {
-     int n = omp_get_thread_num();       // thread-private variable with thread id (0 to nthread-1)
-
-     // ... initialize d[n] from results in serial code
-
-     // thread function
-     worker(m, d[n]);                    // shared mjModel (read-only), per-thread mjData (read-write)
-   }
-
-   // delete per-thread mjData
-   for (int n=0; n < nthread; n++)
-     mj_deleteData(d[n]);
-
-Since all top-level API functions treat mjModel as ``const``, this multi-threading scheme is safe. Each thread only
-writes to its own mjData. Therefore no further synchronization among threads is needed.
-
-The above template reflects a particular style of parallel processing. Instead of creating a large number of threads,
-one for each work item, and letting OpenMP distribute them among processors, we rely on manual scheduling. More
-precisely, we create as many threads as there are processors, and then within the ``worker`` function we distribute the
-work explicitly among threads. This approach is more efficient because the thread-specific mjData is large compared to
-the processor cache.
-
-We also use a shared mjModel for cache-efficiency. In some situations it may not be possible to use the same mjModel
-for all threads. One obvious reason is that mjModel may need to be modified within the thread function. Another reason
-is that the mjOption structure which is contained within mjModel may need to be adjusted (so as to control the number
-of solver iterations for example), although this is likely to be the same for all parallel threads and so the
-adjustment can be made in the shared model before the parallel section.
-
-How the thread-specific mjData is initialized and what the thread function does is of course application-dependent.
-Nevertheless, the general efficiency guidelines from the earlier sections apply here. Copying the state into the
-thread-specific mjData and running MuJoCo to fill in the rest may be faster than using mj_copyData. Furthermore, the
-skip mechanism available in both forward and inverse dynamics is particularly useful in parallel sampling
-applications, because the samples usually have structure allowing some computations to be re-used. Finally, keep in
-mind that the forward solver is iterative and good warm-start can substantially reduce the number of necessary
-iterations. When samples are close to each other in state and control space, the solution for one sample (ideally in
-the center) can be used to warm-start all the other samples. In this setting it is important to make sure that the
-different results between nearby samples reflect genuine differences between the samples, and not different warm-start
-or termination of the iterative solver.
-
-.. _siChange:
-
-mjModel changes
-~~~~~~~~~~~~~~~
-
-.. admonition:: Procedural Model editing with :ref:`mjSpec`
-   :class: tip
-
-   The discussion below regarding :ref:`mjModel` modifications was written before the introduction of procedural
-   :doc:`Model Editing<modeledit>`. It is still valid, but the new framework is the safe and recommended way to modify
-   models. The main reason to modify an :ref:`mjModel` at runtime rather than modifying the :ref:`mjSpec` and compiling
-   again is *speed*. However it can be unsafe to make some changes, either in the sense that segfaults are possible, or
-   that the physics will change unexpectedly.
-
-The general rule is that real-valued parameters are safe to change, while structural integer parameters are not because
-that may result in incorrect sizes or indexing. This rule does not hold universally, and below we describe the
-exceptions.
-
-Exceptions to the general rule that **integer** types are **not safe to change**:
-
-.. list-table::
-   :widths: 1 1 4
-   :header-rows: 1
-   :class: table-small
-
-   * - Field
-     - Modifiability
-     - Notes
-   * - ``XXX_limited`` |br| ``XXX_group`` |br| ``XXX_matid`` |br| ``XXX_texid``
-     - Safe
-     -
-   * - ``XXX_sameframe``
-     - Unsafe
-     - This flag tells the engine to skip a parent/child frame transformation. It is safe to change from nonzero to
-       zero, but not vice versa.
-   * - ``geom_contype`` |br| ``geom_conaffinity``
-     - Unsafe
-     - This is a possible to do safely if ``body_contype`` and ``body_conaffinity`` of the parent body are updated to be
-       the bitwise OR over all child geoms.
-   * - ``geom_condim`` |br| ``geom_priority``
-     - Safe
-     -
-   * - ``cam_resolution``
-     - Safe
-     -
-   * - ``light_castshadow`` |br| ``light_active``
-     - Safe
-     -
-   * - ``flex_contype`` |br|  ``flex_conaffinity`` |br|  ``flex_condim`` |br|  ``flex_priority``
-     - Safe
-     -
-   * - ``tex_data``
-     - Safe
-     - Must call :ref:`mjr_uploadTexture` to update the values in GPU memory.
-
-When considering exceptions to the rule that real-valued parameters are safe to change, we need to note the function
-:ref:`mj_setConst`, which constitutes the last step of the compilation process. This function propagates changes from
-some fields to other fields, allowing changes that would otherwise be unsafe.
-
-Exceptions to the general rule that **real-valued** types **are safe to change**:
-
-.. list-table::
-   :widths: 1 1 4
-   :header-rows: 1
-   :class: table-small
-
-   * - Field
-     - Modifiability
-     - Notes
-   * - ``qpos0`` |br| ``qpos_spring``
-     - Safe with :ref:`mj_setConst`.
-     -
-   * - ``body_mass`` |br| ``body_inertia`` |br| ``body_ipos`` |br| ``body_iquat``
-     - Safe with :ref:`mj_setConst`.
-     - Note that mass and inertia are usually scaled together, since inertia is :math:`\sum m r^2`. Scaling them
-       separately is legitimate, but implies a changing of the spatial mass distribution. Also note that diagonal
-       inertias must obey the triangle inequality.
-   * - ``body_pos`` |br| ``body_quat``
-     - Safe with :ref:`mj_setConst`.
-     - Unsafe for static bodies, invalidates the midphase collision structures (BVH).
-   * - ``body_gravcomp``
-     - Safe.
-     - If passing from a state where all bodies have zero gravity compensation to a state where some bodies have
-       non-zero gravity compensation (or vice-versa), the ``flg_gravcomp`` flag in :ref:`mjModel` must be updated.
-       This can be done directly or by calling :ref:`mj_setConst`.
-   * - ``dof_armature``
-     - Safe with :ref:`mj_setConst`.
-     -
-   * - ``geom_pos`` |br| ``geom_quat`` |br| ``geom_size`` |br| ``geom_rbound`` |br| ``geom_aabb``
-     - Unsafe.
-     -
-   * - ``geom_surfacevel``
-     - Safe.
-     - If passing from a state where all geoms have zero surface velocity to a state where some geoms have
-       non-zero surface velocity (or vice-versa), the ``flg_surfacevel`` flag in :ref:`mjModel` must be updated.
-       This can be done directly or by calling :ref:`mj_setConst`.
-   * - ``{site,cam,light}_`` |br| ``{pos,quat}``
-     - Mostly safe.
-     - For cameras and lights with tracking or targeting, :ref:`mj_setConst` is required.
-   * - ``tendon_stiffness`` |br| ``tendon_damping``
-     - Mostly safe.
-     - Affects whether kinematic trees are allowed to sleep. If changing from/to zero, :ref:`mj_setConst` is required.
-   * - ``actuator_gainprm`` |br| ``actuator_biasprm``
-     - Mostly safe.
-     - For position-like actuators using :ref:`dampratio<actuator-position-dampratio>`, :ref:`mj_setConst` is required.
-   * - ``eq_data``
-     - Safe with :ref:`mj_setConst`.
-     - For connect and weld constraints, offsets are computed if not provided.
-   * - ``hfield_size``
-     - Safe with :ref:`mj_setConst`.
-     -
-   * - ``hfield_data``
-     - Safe.
-     - Data range must be in [0, 1].
-       |br| :ref:`mjr_uploadHField` is required to update the values in GPU memory.
-   * -  ``mesh_scale`` |br| ``mesh_pos`` |br| ``mesh_quat``
-     - Not unsafe, but has no effect.
-     - ``mesh_pos`` and ``mesh_quat`` affect SDF sensors at runtime.
-   * - ``mesh_vert`` |br| ``mesh_normal`` |br| ``mesh_face`` |br| ``mesh_polynormal``
-     - Unsafe for colliding meshes.
-     - Safe for visual meshes, but requires :ref:`mjr_uploadMesh` to update the values in GPU memory.
-   * - ``bvh_aabb`` |br| ``oct_aabb`` |br| ``oct_coeff``
-     - Unsafe
-     -
-
-Finally, if changes are made to mjModel at runtime, it may be desirable to save them back to the XML. The functions
-:ref:`mj_saveLastXML` and :ref:`mj_copyBack` do that in a limited sense: they copy all real-valued parameters from
-:ref:`mjModel` back to the :ref:`mjSpec` (the global internal spec in the former case, the user's copy in the latter).
-This does not cover all possible changes that the user could have made. The only way to guarantee that all changes are
-saved is to save the model as a binary MJB file with the function :ref:`mj_saveModel`, or even better, make the changes
-directly in XML or :ref:`mjSpec`. So in summary, we have reasonable but not perfect mechanisms for saving model changes.
-The reason for this lack of perfection is that we are working with a compiled model, so this is like changing a binary
-executable and asking a "decompiler" to make corresponding changes to the C code -- it is just not possible in general.
-
-.. _siLayout:
-
-Data layout
-~~~~~~~~~~~
-
-All matrices in MuJoCo are in **row-major** format. For example, the linear memory array (a0, a1, ... a5) represents the
-2-by-3 matrix
-
-.. code-block:: Text
-
-     a0 a1 a2
-     a3 a4 a5
-
-This convention has traditionally been associated with C, while the opposite column-major convention has been
-associated with Fortran. There is no particular reason to choose one over the other, but whatever the choice is, it is
-essential to keep it in mind at all times. All MuJoCo utility functions that operate on matrices, such as
-:ref:`mju_mulMatMat`, :ref:`mju_mulMatVec` etc. assume this matrix layout. For vectors there is of course no
-difference between row-major and column-major formats.
-
-When possible, MuJoCo exploits sparsity. This can make all the difference between O(N) and O(N^3) scaling. The inertia
-matrix ``mjData.qM`` and its LTDL factorization ``mjData.qLD`` are always represented as sparse. ``qM`` uses a custom
-indexing format designed for matrices that correspond to tree topology, while ``qLD`` uses the standard CSR format.
-``qM`` will be migrated to CSR in an upcoming change. The functions :ref:`mj_factorM`, :ref:`mj_solveM`,
-:ref:`mj_solveM2` and :ref:`mj_mulM` are used for sparse factorization, substitution and matrix-vector multiplication.
-The user can also convert these matrices to dense format with the function :ref:`mj_fullM` although MuJoCo never does
-that internally.
-
-The constraint Jacobian matrix ``mjData.efc_J`` is represented as sparse whenever the sparse Jacobian option is
-enabled. The function :ref:`mj_isSparse` can be used to determine if sparse format is currently in use. In that case
-the transposed Jacobian ``mjData.efc_JT`` is also computed, and the inverse constraint inertia ``mjData.efc_AR``
-becomes sparse. Sparse matrices are stored in the compressed sparse row (CSR) format. For a generic matrix A with
-dimensionality m-by-n, this format is:
-
-======== ====== ============================================
-Variable Size   Meaning
-======== ====== ============================================
-A        m \* n Real-valued data
-A_rownnz m      Number of non-zeros per row
-A_rowadr m      Starting index of row data in A and A_colind
-A_colind m \* n Column indices
-======== ====== ============================================
-
-
-Thus A[A_rowadr[r]+k] is the element of the underlying dense matrix at row r and column A_colind[A_rowadr[r]+k], where
-k < A_rownnz[r]. Normally m*n storage is not necessary (assuming the matrix is indeed sparse) but we allocate space
-for the worst-case scenario. Furthermore, in operations that can change the sparsity pattern, it is more efficient to
-spread out the data so that we do not have to perform many memory moves when inserting new data. We call this sparse
-layout "uncompressed". It is still a valid layout, but instead of A_rowadr[r] = A_rowadr[r-1] + A_rownnz[r] which is
-the standard convention, we set A_rowadr[r] = r*n. MuJoCo uses sparse matrices internally
-
-To represent 3D orientations and rotations, MuJoCo uses unit quaternions -- namely 4D unit vectors arranged as q = (w,
-x, y, z). Here (x, y, z) is the rotation axis unit vector scaled by sin(a/2), where a is the rotation angle in
-radians, and w = cos(a/2). Thus the quaternion corresponding to a null rotation is (1, 0, 0, 0). This is the default
-setting of all quaternions in MJCF.
-
-MuJoCo also uses 6D spatial vectors internally. These are quantities in mjData prefixed with 'c', namely cvel, cacc,
-cdot, etc. They are spatial motion and force vectors that combine a 3D rotational component followed by a 3D
-translational component. We do not provide utility functions for working with them, and documenting them is beyond our
-scope here. See Roy Featherstone's webpage on `Spatial Algebra <http://royfeatherstone.org/spatial/>`__. The unusual
-order (rotation before translation) is based on this material, and was apparently standard convention in the past.
-
-The data structures mjModel and mjData contain many pointers to preallocated buffers. The constructors of these data
-structures (mj_makeModel and mj_makeData) allocate one large buffer, namely ``mjModel.buffer`` and ``mjData.buffer``,
-and then partition it and set all the other pointers in it. mjData also contains a stack outside this main buffer, as
-discussed below. Even if two pointers appear one after the other, say ``mjData.qpos`` and ``mjData.qvel``, do not
-assume that the data arrays are contiguous and there is no gap between them. The constructors implement byte-alignment
-for each data array, and skip bytes when necessary. So if you want to copy ``mjData.qpos`` and ``mjData.qvel``, the
-correct way to do it is the hard way:
-
-.. code-block:: C
-
-   // do this
-   mju_copy(myqpos, d->qpos, m->nq);
-   mju_copy(myqvel, d->qvel, m->nv);
-
-   // DO NOT do this, there may be padding at the end of d->qpos
-   mju_copy(myqposqvel, d->qpos, m->nq + m->nv);
-
-The :ref:`X Macros <tyXMacro>` defined in the optional header file ``mjxmacro.h`` can be used to automate allocation of
-data structure that match mjModel and mjData, for example when writing a MuJoCo wrapper for a scripting language.
-
-.. _siStack:
-
-Internal stack
-~~~~~~~~~~~~~~
-
-MuJoCo allocates and manages dynamic memory in an "arena" space in ``mjData.arena``. The arena memory space
-contains two types of dynamically allocated memory:
-
- - Memory related to constraints, since the number of contacts is unknown at the beginning of a step.
- - Memory for temporary variables, managed by an internal stack mechanism.
-
-See :ref:`CSize` for details regarding the layout of the arena and internal stack.
-
-Most top-level MuJoCo functions allocate space on the :ref:`mjData` stack, use it for internal computations, and then
-deallocate it. They cannot do this with the regular C stack because the allocation size is determined dynamically at
-runtime. Calling the heap memory management functions would be inefficient and result in fragmentation -- thus a custom
-stack. When any MuJoCo function is called, upon return the value of ``mjData.pstack`` is the same. The only exception is
-the function :ref:`mj_resetData` and its variants: they set ``mjData.pstack = 0``. Note that this function is called
-internally when an instability is detected in :ref:`mj_step`, :ref:`mj_step1` and :ref:`mj_step2`. So if user functions
-take advantage of the custom stack, this needs to be done in-between MuJoCo calls that have the potential to reset the
-simulation.
-
-Below is the general template for using the custom stack in user code.
-
-.. code-block:: C
-
-   // mark an mjData stack frame
-   mj_markStack(d);
-
-   // allocate space
-   mjtNum* myqpos = mj_stackAllocNum(d, m->nq);
-   mjtNum* myqvel = mj_stackAllocNum(d, m->nv);
-
-   // restore the mjData stack frame
-   mj_freeStack(d);
-
-The function :ref:`mj_stackAllocNum` checks if there is enough space, and if so it advances the stack pointer,
-otherwise it triggers an error. It also keeps track of the maximum stack allocation;
-see :ref:`diagnostics <siDiagnostics>` below. Note that :ref:`mj_stackAllocNum` is only used for allocating
-``mjtNum`` arrays, the most common type of array. :ref:`mj_stackAllocInt` is provided for integer array allocation,
-and :ref:`mj_stackAllocByte` is provided for allocation of arbitrary number of bytes and alignment.
-
-.. _siError:
-
-Errors, warnings, logging
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
-MuJoCo has a unified logging system for errors, warnings and informational messages. All log output is routed
-through a single callback of type :ref:`mjfLogHandler`, which receives a structured :ref:`mjLogMessage`
-containing the severity level, message text, and optional source location. Errors are fatal and terminate the
-program by default. Warnings indicate problematic but non-fatal conditions. Informational messages provide
-optional diagnostic output.
-
-.. _siLogHandler:
-
-Installing a handler
-^^^^^^^^^^^^^^^^^^^^
-
-Users who want to intercept and process MuJoCo's log output should install a log handler using
-:ref:`mju_setLogHandler`. The handler receives all errors, warnings and info messages as a single structured
-callback:
-
-.. code-block:: C
-
-   void my_handler(const mjLogMessage* msg) {
-     // do something with msg, for example:
-     printf("%s\n", msg->subject);
-   }
-
-   // install handler, save previous
-   mjfLogHandler prev = mju_setLogHandler(my_handler);
-
-   // ... do work ...
-
-   // restore previous handler
-   mju_setLogHandler(prev);
-
-:ref:`mju_setLogHandler` returns the previously installed handler (which is never ``NULL``; passing ``NULL`` restores
-the default handler). The previous handler can be used in two ways:
-
-* **Save/restore**: A library or subsystem can temporarily install its own handler and later restore the previous one.
-* **Chaining**: A custom handler can act as a pure observer by calling the previous handler at the end of its callback
-  to preserve existing behavior. Conversely, handlers intended to intercept and recover from errors (e.g., via
-  ``longjmp``) should not chain to the previous handler.
-
-When the handler is called with ``level == mjLOG_ERROR``, the error is always fatal: the :ref:`default handler
-<siDefaultHandler>` terminates the process with ``exit(EXIT_FAILURE)`` (unless a legacy error handler is installed).
-Handlers that wish to recover from errors (e.g., to throw a C++ exception or convert to a Python exception) must not
-return — they should ``longjmp`` to a previously established recovery point or otherwise transfer control before
-returning. This is how the compiler and Python bindings handle errors. MuJoCo is written with the assumption that
-error handlers will not return; if they do, the behavior of the software is undefined.
-
-.. warning::
-   Log handlers must not call :ref:`mju_error` from within the callback; this will cause infinite recursion.
-
-.. _siDefaultHandler:
-
-Default handler
-^^^^^^^^^^^^^^^
-
-If no custom handler is installed (or if ``NULL`` is passed to :ref:`mju_setLogHandler`), MuJoCo uses a default
-handler that provides the following behavior:
-
-#. If a legacy handler (:ref:`mju_user_error` or :ref:`mju_user_warning`) is installed, it is called with the
-   formatted message text. This provides backward compatibility with existing code.
-#. Otherwise, the message is written to the log file (default: ``MUJOCO_LOG.TXT``) and printed to the
-   console (``stderr`` for errors and warnings, ``stdout`` for info).
-#. For errors, the program is terminated with ``exit(EXIT_FAILURE)`` (unless a legacy error handler is installed).
-
-The default handler's behavior can be configured using :ref:`mju_setLogConfig` and :ref:`mju_getLogConfig`,
-which control whether output goes to the console, the log file path (or disabling file logging by setting it to
-an empty string), and which info topics are enabled.
-
-.. _siErrorRecovery:
-
-Error recovery
-^^^^^^^^^^^^^^
-
-One situation where it is desirable to continue even after an error is an interactive simulator that fails to load a
-model file. This could be because the user provided the wrong file name, or because model compilation failed. This is
-handled by a special mechanism which avoids calling mju_error. The model loading functions
-:ref:`mj_loadXML` and :ref:`mj_loadModel` return NULL if the
-operation fails, and there is no need to exit the program. In the case of mj_loadXML there is an output argument
-containing the parser or compiler error that caused the failure, while mj_loadModel generates corresponding warnings
-(see below).
-
-Internally mj_loadXML actually uses the mju_error mechanism, by temporarily installing a thread-local handler
-(using the internal ``_mjPRIVATE_setTlsLogHandler``) that triggers a C++ exception, which is then intercepted.
-This thread-local override takes priority over the global handler and affects only the calling thread.
-
-.. _siInfoMessages:
-
-Informational messages
-^^^^^^^^^^^^^^^^^^^^^^
-
-MuJoCo provides two :ref:`levels<mjtLogLevel>` of opt-in diagnostic logging: informational messages (``mjLOG_INFO``) and
-debug traces (``mjLOG_DEBUG``). Both use topic identifiers from the :ref:`mjtLogTopic` enum, but have a subtle
-architectural distinction in how filtering is applied:
-
-* **INFO messages**: Emitted unconditionally by the engine. Filtering happens on the **consumer side** inside the
-  default handler. Custom handlers installed via :ref:`mju_setLogHandler` receive all INFO messages and
-  can implement their own filtering logic.
-
-* **DEBUG messages**: Designed for tight, high-frequency simulation loops where constructing strings would be a
-  performance bottleneck. Therefore, filtering happens on the **producer side**. If a topic is disabled, the message is
-  never constructed or dispatched. Consequently, custom handlers will only receive DEBUG messages if the topic is
-  explicitly enabled in the active :ref:`mjLogConfig`.
-
-In the default handler, INFO messages are followed by a blank line for readability, whereas high-frequency DEBUG traces
-are printed compactly without trailing blank lines.
-
-To enable topics in the default handler configuration:
-
-.. code-block:: C
-
-   // enable sleep/wake messages
-   mjLogConfig config = mju_getLogConfig();
-   config.topics |= (1 << (mjTOPIC_SLEEP - 1));
-   mju_setLogConfig(config);
-
-Topic 0 (``mjTOPIC_NONE``) always passes through, regardless of the topic configuration.
-
-Note that topics are 1-indexed, so the bitmask for topic ``t`` is ``(1 << (t - 1))``. This is also how the
-``topics`` field of :ref:`mjLogConfig` is encoded.
-
-Topics can also be enabled via the environment variable ``MUJOCO_LOG_TOPICS``, which is read once at startup.
-The value is a comma-separated list of topic names (case-insensitive), derived from the :ref:`mjtLogTopic` enum
-by removing the ``mjTOPIC_`` prefix and lowercasing (e.g., ``mjTOPIC_SLEEP`` becomes ``sleep``).
-For example:
-
-.. code-block:: shell
-
-   export MUJOCO_LOG_TOPICS=sleep,time_stp
-
-This is equivalent to programmatically enabling the corresponding topic bits via :ref:`mju_setLogConfig`, and is
-useful for enabling diagnostics without modifying code.
-
-
-.. _siLogFrameworks:
-
-Frameworks and wrappers
-^^^^^^^^^^^^^^^^^^^^^^^
-
-Framework authors (e.g., those building Python bindings, MATLAB wrappers, or game engine integrations) should
-install a custom log handler to route MuJoCo's output to their environment's logging system:
-
-.. code-block:: C
-
-   // example: route to a framework's logging API
-   void framework_handler(const mjLogMessage* msg) {
-     if (msg->level == mjLOG_ERROR) {
-       framework_log_error(msg->subject);
-       framework_abort();  // must not return
-     } else if (msg->level == mjLOG_WARNING) {
-       framework_log_warning(msg->subject);
-     } else {
-       framework_log_info(msg->subject);
-     }
-   }
-
-   mju_setLogHandler(framework_handler);
-
-The :ref:`mjLogMessage` struct also provides source location information (``func``, ``file``, ``line``) when
-available, which can be useful for debugging.
-
-.. _siLogLegacy:
-
-Legacy handlers
-^^^^^^^^^^^^^^^
-
-The global function pointers :ref:`mju_user_error` and :ref:`mju_user_warning` are still supported for backward
-compatibility, but are deprecated in favor of :ref:`mju_setLogHandler`. When both a custom log handler and legacy
-handlers are installed, the custom log handler takes precedence. The legacy handlers are only consulted by the
-*default* handler when no custom handler has been installed.
-
-.. _siLogMemory:
-
-Memory handlers
-^^^^^^^^^^^^^^^
-
-When MuJoCo allocates and frees memory on the heap, it always uses the functions :ref:`mju_malloc` and
-:ref:`mju_free`. These functions call the user callbacks :ref:`mju_user_malloc` and :ref:`mju_user_free` when
-installed, otherwise they call the standard C functions malloc and free. The reason for this indirection is because
-users may want MuJoCo to use a heap under their control. In MATLAB for example, a user callback for memory allocation
-would use mxmalloc and mexMakeArrayPersistent.
-
-.. _siDiagnostics:
-
-Diagnostics
-~~~~~~~~~~~
-
-MuJoCo has several built-in diagnostics mechanisms that can be used to fine-tune the model. Their outputs are grouped
-in the diagnostics section at the beginning of mjData.
-
-When the simulator encounters a situation that is not a terminal error but is nevertheless suspicious and likely to
-result in inaccurate numerical results, it triggers a warning. There are several possible warning types, indexed by
-the enum type :ref:`mjtWarning`. The array ``mjData.warning`` contains one :ref:`mjWarningStat` data structure per
-warning type, indicating how many times each warning type has been triggered since the last reset and any information
-about the warning (usually the index of the problematic model element). The counters are cleared upon reset. When a
-warning of a given type is first triggered, the warning text is also printed by mju_warning as documented in
-:ref:`error and memory <siError>` above. All this is done by the function :ref:`mj_warning` which the simulator calls
-internally when it encounters a warning. The user can also call this function directly to emulate a warning.
-
-When a model needs to be optimized for high-speed simulation, it is important to know where in the pipeline the CPU
-time is spent. This can in turn suggest which parts of the model to simplify or how to design the user application.
-MuJoCo provides an extensive profiling mechanism. It involves multiple timers indexed by the enum type
-:ref:`mjtTimer`. Each timer corresponds to a top-level API function, or to a component of such a function. Similar to
-warnings, timer information accumulates and is only cleared on reset. The array ``mjData.timer`` contains one
-:ref:`mjTimerStat` data structure per timer. The average duration per call for a given timer (corresponding to
-``mj_step`` in the example below) can be computed as:
-
-.. code-block:: C
-
-   mjtNum avtm = d->timer[mjTIMER_STEP].duration / mjMAX(1, d->timer[mjTIMER_STEP].number);
-
-This mechanism is built into MuJoCo, but it only works when the timer callback :ref:`mjcb_time` is installed by the
-user. Otherwise all timer durations are 0. The reason for this design is because there is no platform-independent way
-to implement high-resolution timers in C without bringing in additional dependencies. Also, most of the time the user
-does not need timing, and in that case there is no reason to call timing functions.
-
-One part of the simulation pipeline that needs to be monitored closely is the iterative constraint solver. The
-simplest diagnostic here is ``mjData.solver_niter`` which shows how many iterations the solver took on the last call to
-mj_step or ``mj_forward``. Note that the solver has tolerance parameters for early termination, so this number is
-usually smaller than the maximum number of iterations allowed; it can be 0 when a warmstarted solution is already
-certified as converged, in which case no iterations are performed and no statistics are written. The array
-``mjData.solver`` contains one :ref:`mjSolverStat` data structure per iteration of the constraint solver, with
-information about the constraint state and line search.
-
-When the option :at:`fwdinv` is enabled in ``mjModel.opt.enableflags``, the field ``mjData.fwdinv`` is also populated.
-It contains the difference between the forward and inverse dynamics, in terms of generalized forces and constraint
-forces. Recall that that the inverse dynamics use analytical formulas and are always exact, thus any discrepancy is
-due to poor convergence of the iterative solver in the forward dynamics. The numbers in ``mjData.solver`` near
-termination have similar order-of-magnitude as the numbers in ``mjData.fwdinv``, but nevertheless these are two
-different diagnostics.
-
-Since MuJoCo's runtime works with compiled models, memory is preallocated when a model is compiled or loaded. Recall the
-:at:`memory` attribute of the :ref:`size <size>` element in MJCF. It determines the preallocated space for dynamic
-arrays. How is the user supposed to know what the appropriate value is? If there were a reliable recipe we would have
-implemented it in the compiler, but there isn't one. The theoretical worst-case, namely all geoms contacting all other
-geoms, calls for huge allocation which is almost never needed in practice. Our approach is to provide default settings
-in MJCF which are sufficient for most models, and allow the user to adjust them manually with the above attribute. If
-the simulator runs out of dynamic memory at runtime it will trigger an error. When such errors are triggered, the user
-should increase :at:`memory`. The field ``mjData.maxuse_arena`` is designed to help with this adjustment. It keeps track
-of the maximum arena use since the last reset. So one strategy is to make very large allocation, then monitor
-``mjData.maxuse_arena`` statistics during typical simulations, and use it to reduce the allocation.
-
-The kinetic and potential energy are computed and stored in ``mjData.energy`` when the corresponding flag in
-``mjModel.opt.enableflags`` is set. This can be used as another diagnostic. In general, simulation instability is
-associated with increasing energy. In some special cases (when all unilateral constraints, actuators and dissipative
-forces are disabled) the underlying physical system is energy-conserving. In that case any temporal fluctuations in
-the total energy indicate inaccuracies in numerical integration. For such systems the Runge-Kutta integrator has much
-better performance than the default semi-implicit Euler integrator.
-
-.. _siJacobian:
-
-Jacobians
-~~~~~~~~~
-
-The derivative of any vector function with respect to its vector argument is called Jacobian. When this term is used
-in multi-joint kinematics and dynamics, it refers to the derivative of some spatial quantity as a function of the
-system configuration. In that case the Jacobian is also a linear map that operates on vectors in the (co)tangent space
-to the configuration manifold -- such as velocities, momenta, accelerations, forces. One caveat here is that the system
-configuration encoded in ``mjData.qpos`` has dimensionality ``mjModel.nq``, while the tangent space has dimensionality
-``mjModel.nv``, and the latter is smaller when quaternion joints are present. So the size of the Jacobian matrix is
-N-by-``mjModel.nv`` where N is the dimensionality of the spatial quantity being differentiated.
-
-MuJoCo can differentiate analytically many spatial quantities. These include tendon lengths, actuator transmission
-lengths, end-effector poses, contact and other constraint violations. In the case of tendons and actuator
-transmissions the corresponding quantities are ``mjData.ten_moment`` and ``mjData.actuator_moment``; we call them
-moment arms but mathematically they are Jacobians. The Jacobian matrix of all scalar constraint violations is stored in
-``mjData.efc_J``. Note that we are talking about constraint violations rather than the constraints themselves. This is
-because constraint violations have units of length, i.e., they are spatial quantities that we can differentiate.
-Constraints are more abstract entities and it is not clear what it means to differentiate them.
-
-Beyond these automatically-computed Jacobians, we provide support functions allowing the user to compute additional
-Jacobians on demand. The main function for doing this is :ref:`mj_jac`. It is given a 3D point and a MuJoCo body to
-which this point is considered to be attached. ``mj_jac`` then computes both the translational and rotational
-Jacobians, which tell us how a spatial frame anchored at the given point will translate and rotate if we make a small
-change to the kinematic configuration. More precisely, the Jacobian maps joint velocities to end-effector velocities,
-while the transpose of the Jacobian maps end-effector forces to joint forces. There are also several other
-``mj_jacXXX`` functions; these are convenience functions that call the main ``mj_jac`` function with different points
-of interest -- such as a body center of mass, geom center etc.
-
-The ability to compute end-effector Jacobians exactly and efficiently is a key advantage of working in joint
-coordinates. Such Jacobians are the foundation of many control schemes that map end-effector errors to actuator
-commands suitable for suppressing those errors. The computation of end-effector Jacobians in MuJoCo via the ``mj_jac``
-function is essentially free in terms of CPU cost; so do not hesitate to use this function.
-
-.. _siContact:
-
-Contacts
-~~~~~~~~
-
-Collision detection and solving for contact forces were explained in detail in the :doc:`../computation/index` chapter.
-Here we further clarify contact processing from a programming perspective.
-
-The collision detection stage finds contacts between geoms, and records them in the array ``mjData.contact`` of
-:ref:`mjContact` data structures. They are sorted such that multiple contacts between the same pair of bodies are
-contiguous (note that one body can have multiple geoms attached to it), and the body pairs themselves are sorted such
-that the first body acts as the major index and the second body as the minor index. Not all detected contacts are
-included in the contact force computation. When a contact is included, its mjContact.exclude field is 0, and its
-mjContact.efc_address is the address in the list of active scalar constraints. Reasons for exclusion can be the
-:at:`gap` attribute of :ref:`geom <body-geom>`, as well as certain kinds of internal processing that use virtual contacts
-for intermediate computations.
-
-The list ``mjData.contact`` is generated by the position stage of both forward and inverse dynamics. This is done
-automatically. However the user can override the internal collision detection functions, for example to implement
-non-convex mesh collisions, or to replace some of the convex collision functions we use with geom-specific primitives
-beyond the ones provided by MuJoCo. The global 2D array :ref:`mjCOLLISIONFUNC` contains the collision function pointer
-for each pair of geom types (in the upper-left triangle). To replace them, simply set these pointers to your
-functions. The collision function type is :ref:`mjfCollision`. When user collision functions detect contacts, they
-should construct an :ref:`mjContact` structure for each contact and then call the function :ref:`mj_addContact` to add that
-contact to ``mjData.contact``. The reference documentation of mj_addContact explains which fields of mjContact must be
-filled in by custom collision functions. Note that the functions we are talking about here correspond to near-phase
-collisions, and are called only after the list of candidate geom pairs has been constructed by the internal
-broad-phase collision mechanism.
-
-After the constraint forces have been computed, the vector of forces for contact ``i`` starts at:
-
-.. code-block:: C
-
-   mjtNum* contactforce = d->efc_force + d->contact[i].efc_address;
-
-and similarly for all other ``efc_XXX`` vectors. Keep in mind that the contact friction cone can be pyramidal or
-elliptic, depending on which solver is selected in ``mjModel.opt``. The function :ref:`mj_isPyramidal`
-can be used to determine which friction cone type is used. For pyramidal cones, the interpretation of the contact force
-(whose address we computed above) is non-trivial, because the components are forces along redundant non-orthogonal axes
-corresponding to the edges of the pyramid. The function :ref:`mj_contactForce` can be
-used to convert the force generated by a given contact into a more intuitive format: a 3D force followed by a 3D torque.
-The torque component will be zero when :at:`condim` is 1 or 3, and non-zero otherwise. This force and torque are
-expressed in the contact frame given by mjContact.frame. Unlike all other matrices in mjData, this matrix is stored in
-transposed form. Normally a 3-by-3 matrix corresponding to a coordinate frame would have the frame axes along the
-columns. Here the axes are along the rows of the matrix. Thus, given that MuJoCo uses row-major format, the contact
-normal axis (which is the X axis of the contact frame by our convention) is in position mjContact.frame[0-2], the Y axis
-is in [3-5] and the Z axis is in [6-8]. The reason for this arrangement is because we can have frictionless contacts
-where only the normal axis is used, so it makes sense to have its coordinates in the first 3 positions of
-``mjContact.frame``.
-
-.. _siSleep:
-
-Sleeping islands
-~~~~~~~~~~~~~~~~
-
-Sleeping islands are described in broad strokes in the :ref:`Computation chapter <Sleeping>`. Here we focus on
-implementation details.
-
-The high level sleep state of :ref:`trees<ElemTree>` is described by ``mjData.tree_asleep`` (though see caveat below). A
-negative value means a tree is awake, non-negative means asleep. Maximally awake trees are given the value - |-| (1 |-|
-+ |-| :ref:`mjMINAWAKE<glNumericEngine>`), and for every timestep where their velocity falls below the sleep :ref:`tolerance
-<option-sleep_tolerance>`, this integer is incremented, up to -1, which means "ready to sleep". If all trees in an
-island are ready to sleep, they are put to sleep during state advancement and their associated values in ``tree_asleep``
-are set to a (non-negative) index cycle: the "sleeping island". If any tree in the island is woken, all are woken.
-
-.. _siSleepPolicy:
-
-Sleep policy
-^^^^^^^^^^^^
-
-The ability of a kinematic tree to sleep is governed by a policy determined at model compile time. The compiler
-automatically determines the :ref:`policy<mjtSleepPolicy>` to be either "allowed" or "never", though these can be
-overridden using the :ref:`body/sleep <body-sleep>` attribute (see documentation therein). There is also a special
-"init" sleep policy, see next section.
-
-.. _siSleepSleeping:
-
-Sleeping
-^^^^^^^^
-
-Sleeping can happen in one of two ways:
-
-**Automatic:**
-  The velocity threshold described above is w.r.t. the infinity norm (largest absolute value) of all velocities
-  associated with an island. Before taking this norm, velocities are scaled elementwise by ``mjModel.dof_length``
-  because rotational and translational velocities have different units. The length of a translational DOF is 1; the
-  length of a rotational DOF corresponds to the mean length of its associated geometry. Thus :ref:`sleep_tolerance
-  <option-sleep_tolerance>` has units of [length/time].
-
-  When an island is put to sleep, its associated velocities are set to 0. Therefore, on any timestep where
-  islands are put to sleep, all velocity-dependent quantities must be recomputed before the sleep state is propagated
-  using a call to :ref:`mj_forwardSkip`.
-
-  If any tree in the island has the "never" sleep policy, the entire island cannot sleep.
-
-**Initialized asleep:**
-  By setting the :ref:`body/sleep<body-sleep>` attribute of a tree root to "init", it is marked as "initialized asleep"
-  and put to sleep during :ref:`mjData` initialization. This is useful for large models where waiting for many trees to
-  fall asleep can be expensive.
-
-  Since trees which share contacts or are otherwise in the same island must sleep together, if some trees in an island
-  are initialized as sleeping, all of them must be marked as such. `This model
-  <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/sleep/init_island_fail.xml>`__ contains an
-  example XML that will produce a compilation error because this condition is not met. Finally, note that the
-  initialized-asleep feature is only available for the default configuration (and not keyframes, see discussion below).
-
-.. _siSleepWaking:
-
-Waking
-^^^^^^
-
-Waking happens at the beginning of the timestep, either during :ref:`mj_kinematics` or soon thereafter during the
-:ref:`position stage <piStages>` of the simulation pipeline. A sleeping island is woken up according to the following
-criteria:
-
-- Its associated configuration ``qpos`` is changed by the user, for example when repositioning the
-  configuration interactively when the simulation is paused.
-- Its associated velocity ``qvel``  or applied forces ``qfrc_applied`` or ``xfrc_applied`` are set by the user to
-  a non-zero value, for example when perturbing the model interactively during simulation.
-  Note that the check is performed by bytewise comparison to 0, so setting an associated element to
-  the floating point value ``-0.0`` will wake the island but have no other side-effects.
-- It comes into contact with an awake tree. Waking due to contact leads to collision detection being run *twice*, but
-  only on the timestep when it occurs. This is required in order to detect contacts inside the island and between the
-  island and the world, which were skipped in the first run when it was deemed asleep.
-- It comes into contact with a :ref:`mocap body<CMocap>`, or is connected to one by an active equality constraint.
-  Mocap bodies count as awake, since the user can move them at any time.
-- It is connected to an awake tree by an active equality constraint or limited tendon.
-- It is connected by an equality constraint to a sleeping tree in a different island. For this to occur, the equality
-  must have been disabled when both trees were put to sleep.
-
-The automatic wake criteria listed above are designed so that sleeping islands behave as if they were awake, but this
-is not always the case. For example, if free bodies on the floor are put to sleep and then gravity is reversed, they
-will remain sleeping in place until woken for another reason. The most extreme example of non-physicality are islands
-which are initialized asleep. These can be placed in mid-air or in deep collisions, but will not move until woken.
-
-.. _siSleepNotes:
-
-Notes
-^^^^^
-
-**Sleeping actuators**
-  As explained in the :ref:`body/sleep <body-sleep>` documentation, trees with actuators are by default not allowed to
-  sleep, but this can be overridden by the user. The reason sleeping is not allowed by default is that once an actuator
-  is marked as asleep, the computation required to wake it is no longer performed. Even if it were performed (i.e. if
-  actuation forces were always computed for all actuators, regardless of their sleep state), this computation happens in
-  acceleration/force stage, by which time it is already too late to wake a tree, since waking must happen in the
-  position stage. Therefore, if a tree with actuators is allowed to sleep, waking must be done manually by touching the
-  associated velocities or forces, as described above.
-
-**Sleeping sensors**
-  For most sensors, we can skip the computation of their values when their associated objects are asleep, reporting the
-  value that was computed when those objects were last awake. Some sensors are always awake, but disabling sleep will
-  not affect their computed values:
-
-  - :ref:`rangefinder<sensor-rangefinder>` sensors are always awake; the sleep state of the site they are attached to
-    is not relevant to the reported value.
-  - :ref:`clock<sensor-clock>` sensors are always awake (no associated object).
-  - :ref:`user<sensor-user>` and :ref:`plugin<sensor-plugin>` sensors are always awake.
-
-  Some sensors are always awake, yet disabling sleep may affect their computed value. These are sensors that explicitly
-  depend on the presence of contacts, yet the contacts that were present when they were last awake are not sufficient
-  to determine their current value:
-
-  - :ref:`contact<sensor-contact>` sensors that have no object specifier (match all contacts).
-  - :ref:`contact<sensor-contact>` sensors whose only object specifier is static.
-  - :ref:`contact<sensor-contact>` sensors that use the :at:`site` attribute.
-  - :ref:`force<sensor-force>` or :ref:`torque<sensor-torque>` sensors attached to a static body (e.g., a weight sensor
-    on the floor).
-
-**Provisional choices**
-  Some implementation choices are provisional and subject to change.
-
-  A concrete example is the decision to hard-code the value of :ref:`mjMINAWAKE<glNumericEngine>` instead of exposing it to
-  the user as a runtime option. This was done for two reasons. First, in our experiments, we've found that changing this
-  value is equivalent to changing the :ref:`sleep_tolerance<option-sleep_tolerance>`, which is the more useful knob.
-  Second, one could argue for a time-to-sleep semantic that is in units of time rather than an integer number of
-  timesteps. Until there is clear evidence that one or both of these reasons are invalid, we've opted for a simple
-  numeric constant.
-
-**Static bodies**
-  Besides the main optimization of allowing kinematic trees to sleep, the sleep feature also includes another, related
-  optimization: the skipping of computation related to static bodies. This can be valuable if, for example,
-  the world body or its static children contain a large number of geoms, whose poses will be computed only once.
-
-  This leads to a subtle (if unlikely) "gotcha". Although it is allowed to enable sleeping during simulation, sleeping
-  must be enabled either at initialization time or after at least one :ref:`mj_step`. To wit:
-
-  .. code-block:: C
-
-     // this is OK:
-     mjData* d = mj_makeData(m);            // sleeping is enabled at init time
-     mj_step(m, d);
-     ...
-
-     // this is also OK:
-     mjData* d = mj_makeData(m);            // sleeping is disabled at init time
-     mj_step(m, d);
-     ...
-     m->opt.enableflags |= mjENABLE_SLEEP;  // enable sleeping after at least one step
-     mj_step(m, d);
-
-     // this is an error:
-     mjData* d = mj_makeData(m);            // sleeping is disabled at init time
-     m->opt.enableflags |= mjENABLE_SLEEP;  // enable sleeping
-     mj_step(m, d);                         // undefined behavior, static elements not computed
-
-
-**Violated assumptions**
-  Sleeping breaks several assumptions that are baked into the core of MuJoCo (and continue to hold if sleeping is
-  disabled).
-
-  *Pipeline stages*: It is usually guaranteed that no velocity-related quantities will be read before the end of the
-  position stage and that no force-related quantities will be read before the end of velocity stage. This assumption,
-  which lies at the heart of the :ref:`mj_step1`/:ref:`mj_step2` split, is violated by the reading of ``qvel``,
-  ``qfrc_applied`` and ``xfrc_applied`` in :ref:`mj_kinematics`.
-
-  *Compact state*: While the sleep state is notionally given by ``mjData.tree_asleep``, this is a mirage. Once an island
-  is asleep, the entire subset of position and velocity-dependent quantities in mjData associated with it becomes
-  a pre-computed latent state that is "waiting for the island to wake up". For this reason, the only way to fully save
-  and restore the state of a simulation with sleeping elements is to :ref:`copy<mj_copyData>` the entire mjData
-  structure. This is also the reason why sleep initialization is only available for the default configuration and not
-  for keyframes. Note that saving and loading the state using the :ref:`standard tools<geState>` remains a valid
-  operation, merely that sleeping islands will be implicitly woken up.
-
-
-**RK4 integrator**
-  The RK4 integrator is not currently supported, due to the subtleties of waking inside the sub-steps.
-
-
-.. _siCoordinate:
-
-Coordinate frames and transformations
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-There are multiple coordinate frames used in MuJoCo. The top-level distinction is between joint coordinates and
-Cartesian coordinates. The mapping from the vector of joints coordinates to the Cartesian positions and orientations
-of all bodies is called forward kinematics and is the first step in the physics pipeline. The opposite mapping is
-called inverse kinematics but it is not uniquely defined and is not implemented in MuJoCo. Recall that mappings
-between the tangent spaces (i.e., joint velocities and forces to Cartesian velocities and forces) are given by the body
-Jacobians.
-
-Here we explain further subtleties and subdivisions of the coordinate frames, and summarize the available
-transformation functions. In joint coordinates, the only complication is that the position vector ``mjData.qpos`` has
-different dimensionality than the velocity and acceleration vectors ``mjData.qvel`` and ``mjData.qacc`` due to
-quaternion joints. The function :ref:`mj_differentiatePos` "subtracts" two joint position vectors and returns a
-velocity vector. Conversely, the function :ref:`mj_integratePos` takes a position vector and a velocity vector, and
-returns a new position vector which has been displaced by the given velocity.
-
-Cartesian coordinates are more complicated because there are three different coordinate frames that we use: local,
-global, and com-based. Local coordinates are used in mjModel to represent the static offsets between a parent and a
-child body, as well as the static offsets between a body and any geoms, sites, cameras and lights attached to it.
-These static offsets are applied in addition to any joint transformations. So ``mjModel.body_pos``,
-``mjModel.body_quat`` and all other spatial quantities in mjModel are expressed in local coordinates. The job of
-forward kinematics is to accumulate the joint transformations and static offsets along the kinematic tree and compute
-all positions and orientations in global coordinates. The quantities in mjData that start with "x" are expressed in
-global coordinates. These are ``mjData.xpos``, ``mjData.geom_xpos`` etc. Frame orientations are usually stored as
-3-by-3 matrices (xmat), except for bodies whose orientation is also stored as a unit quaternion ``mjData.xquat``. Given
-this body quaternion, the quaternions of all other objects attached to the body can be reconstructed by a quaternion
-multiplication. The function :ref:`mj_local2Global` converts from local body coordinates to global Cartesian
-coordinates.
-
-A pose is a grouping of a 3D position and a unit quaternion orientation.
-There is no separate data structure; the grouping is in terms of logic. This represents a position and orientation in
-space, or in other words a spatial frame. Note that OpenGL uses 4-by-4 matrices to represent the same information,
-except here we use a quaternion for orientation. The function mju_mulPose multiplies two poses, meaning that it
-transforms the first pose by the second pose (the order is important). ``mju_negPose`` constructs the opposite pose,
-while ``mju_trnVecPose`` transforms a 3D vector by a pose, mapping it from local coordinates to global coordinates if
-we think of the pose as a coordinate frame. If we want to manipulate only the orientation part, we can do that with the
-analogous quaternion utility functions :ref:`mju_mulQuat`, :ref:`mju_negQuat` and :ref:`mju_rotVecQuat`.
-
-Finally, there is the com-based frame. This is used to represent 6D spatial vectors containing a 3D angular velocity
-or acceleration or torque, followed by a 3D linear velocity or acceleration or force. Note the backwards order:
-rotation followed by translation. ``mjData.cdof`` and ``mjData.cacc`` are example of such vectors; the names start with
-"c". These vectors play a key role in the multi-joint dynamics computation. Explaining this is beyond our scope here;
-see Featherstone's excellent `slides <http://royfeatherstone.org/spatial>`__ on the subject. In general, the user should
-avoid working with such quantities directly. Instead use the functions :ref:`mj_objectVelocity`,
-:ref:`mj_objectAcceleration` and the low-level :ref:`mju_transformSpatial` to obtain linear and angular velocities,
-accelerations and forces for a given body. Still, for the interested reader, we summarize the most unusual aspect of
-the "c" quantities. Suppose we want to represent a body spinning in place. One might expect a spatial velocity that
-has non-zero angular velocity and zero linear velocity. However this is not the case. The rotation is interpreted as
-taking place around an axis through the center of the coordinate frame, which is outside the body (we use the center
-of mass of the kinematic tree). Such a rotation will not only rotate the body but also translate it. Therefore the
-spatial vector must have non-zero linear velocity to compensate for the side-effect of rotation around an off-body
-axis. If you call mj_objectVelocity, the resulting 6D quantity will be represented in a frame that is centered at the
-body and aligned with the world. Thus the linear component will now be zero as expected. This function will also put
-translation in front of rotation, which is our convention for local and global coordinates.
diff --git a/doc/programming/ui.rst b/doc/programming/ui.rst
deleted file mode 100644
index df96ccc3..00000000
--- a/doc/programming/ui.rst
+++ /dev/null
@@ -1,105 +0,0 @@
-.. _UI:
-
-User Interface
---------------
-
-MuJoCo has a native UI framework. Its use is illustrated in the :ref:`simulate.cc <saSimulate>` viewer. It is
-designed to be fast in terms of updating and rendering, easy to use both for the developer and for the user,
-cross-platform, and integrated with the native MuJoCo renderer. In order to achieve these design goals, we have omitted
-many features and customization options that are available in other UI frameworks, and instead focused on efficiency and
-automation.
-
-
-
-.. _uiDesign:
-
-Design overview
-~~~~~~~~~~~~~~~
-
-
-Native OpenGL rendering
-  We do not use any helper tools or libraries. Instead we provide C code for rendering all UI elements directly in
-  OpenGL. We support multiple UIs, each of which is a virtual rectangle that can be taller than the visible window. The
-  elements of each UI are rendered offscreen in auxiliary OpenGL buffers, via minimal updates, only when changes are
-  necessary. At each screen refresh we then copy the pixels from these auxiliary buffers to the window framebuffer, and
-  also implement vertical scroll bars when the window is smaller than the UI. This copy operation is done on the GPU and
-  is very fast.
-
-
-Platform abstraction
-  The software design has 3 layers: OpenGL rendering of UI elements working in conjunction with the MuJoCo renderer
-  (which is fully cross-platform); abstract functions for access to windows, keyboard and mouse, defined as pure virtual
-  functions in the ``PlatformUIAdapter`` class; and an implementation of those functions in the derived class
-  ``GlfwAdapter``. `GLFW <https://www.glfw.org/>`__ itself is cross-platform. Nevertheless, we have opted for this
-  layered design in order to separate generic from platform-specific functionality. If GLFW needs to be replaced with
-  another similar framework for some reason, only ``GlfwAdapter`` will need to be rewritten.
-
-
-Themes and appearance
-  Individual UI elements do not allow customization in terms of appearance or layout. Instead, we use themes for colors
-  and spacing, and arrange all UI elements automatically. Several built-in themes are provided and the user can design
-  custom themes, however the entire UI uses a single theme for all elements. Appearance is minimalist: mostly colored
-  rectangles with text. Bitmaps and other custom decorations are not supported. The UI element types are check boxes,
-  radio button groups, selection lists, sliders, text edit boxes, static text, buttons, separators. These elements are
-  grouped into sections which can be expanded and collapsed.
-
-
-Layout and rectangles
-  Each UI is one virtual rectangle, whose width is determined by the theme and whose height is determined by the
-  sections, items within each section, and also the expand/collapse state of each section. The sizes and auxiliary
-  buffers for these virtual rectangles are handled automatically when the UI is updated. Each UI has a visible rectangle
-  on the screen, and in addition there are other rectangles -- for 3D rendering, 2D figures, and possibly custom OpenGL
-  rendering. All these visible rectangles are saved (in :ref:`mjuiState`) and are used to determine where mouse events
-  should be directed. The rectangle layout is updated by a callback provided by the user.
-
-
-Static allocation and creation
-  Rather than allocating and deallocating a large number of objects corresponding to UI elements and linking them
-  together, we create a single C struct (type :ref:`mjUI`) with static allocation supporting some maximum number of
-  sections and elements; and then keep a record of how many are in use. UI creation is simplified by helper functions
-  whose input is a C struct (type :ref:`mjuiDef`) that is essentially a table where each row describes one UI element
-  (see below). This makes it possible to construct elaborate user interfaces with surprisingly little C code.
-  Programmatic UI creation is also possible, for example when populating a UI with sliders corresponding to MuJoCo model
-  joints.
-
-
-Minimal state
-  The UI is designed to be as stateless as possible, so as to simplify development. This has two aspects. First, instead
-  of replicating user data within the UI elements, we store pointers to user data. For example, we might create a UI
-  slider and set its data pointer to ``mjData* d->qpos+7``. This slider will visualize as well as control the 7th scalar
-  component of the qpos vector of a MuJoCo model. Thus, when the simulation is updated, we have to remember to update
-  the UI as well. And furthermore we have to disable UI editing when the simulation is being updated. But the advantage
-  is that the UI becomes easier to construct, and there is no danger of discrepancies between user data and the UI.
-  Second, the UI elements themselves are mostly stateless. Instead we keep track of a minimal set of global states, in
-  particular mouse and keyboard state, section expand/collapse, contents of the text box being edited if any.
-
-
-Automated enable and disable
-  While each UI item can be set in enabled or disabled state directly, we also provide automation as follows. Each UI
-  item can be assigned an integer category. Then a :ref:`mjfItemEnable` callback determines whether each category should
-  be enabled or disabled, based on some program-specific conditions. For example, sliders that can change the values of
-  MuJoCo model joints should be disabled when the simulation state is being updated.
-
-
-
-.. _uiAPI:
-
-Main API
-~~~~~~~~
-
-Click on the links below for detailed API reference of the main UI data structures and functions.
-
-
-**Main data structures:**
-
-- :ref:`mjUI<mjUI>`: An entire UI.
-- :ref:`mjuiState<mjuiState>`: Global UI state.
-- :ref:`mjuiDef<mjuiDef>`: One entry in the definition table used for UI construction.
-
-
-**Main functions:**
-
-- :ref:`mjui_update<mjui_update>`: Main UI update function.
-- :ref:`mjui_render<mjui_render>`: Renders the UI.
-- :ref:`mjui_event<mjui_event>`: Low-level event handler.
-- :ref:`mjui_add<mjui_add>`: Helper function used to construct a UI.
diff --git a/doc/programming/visualization.rst b/doc/programming/visualization.rst
deleted file mode 100644
index 9b9ef516..00000000
--- a/doc/programming/visualization.rst
+++ /dev/null
@@ -1,506 +0,0 @@
-.. _Visualization:
-
-Visualization
--------------
-
-.. admonition:: MuJoCo Studio
-   :class: note
-
-   We are actively developing a new visualizer platform called
-   `MuJoCo Studio <https://github.com/google-deepmind/mujoco/blob/main/src/experimental/studio>`__. We will update this
-   section once it becomes more established.
-
-MuJoCo has a native 3D visualizer. Its use is illustrated in the :ref:`simulate.cc <saSimulate>` code sample and in
-the simpler :ref:`basic.cc <saBasic>` code sample. While it is not a full-featured rendering engine, it is a
-convenient, efficient and reasonably good-looking visualizer that facilitates research and development. It renders not
-only the simulation state but also decorative elements such as contact points and forces, equivalent inertia boxes,
-convex hulls, kinematic trees, constraint violations, spatial frames, and text labels; these can provide insight into
-the physics simulation and help fine-tune the model.
-
-The visualizer is tightly integrated with the simulator and supports both onscreen and offscreen rendering, as
-illustrated in the :ref:`record.cc <saRecord>` code sample. This makes it suitable for synthetic computer vision and
-machine learning applications, especially in cloud environments. VR integration is also available, facilitating
-applications that utilize head-mounted displays.
-
-Visualization in MuJoCo is a two-stage process:
-
-Abstract visualization and interaction
-   This stage populates the :ref:`mjvScene` data structure with a list of geometric objects, lights, cameras, and
-   everything else needed to produce a 3D rendering. It also provides abstract keyboard and mouse hooks for user
-   interaction. The relevant data structure and function names have the prefix ``mjv``.
-OpenGL rendering
-   This stage takes the mjvScene data structure populated in the abstract visualization stage, and renders it. It also
-   provides basic 2D drawing and framebuffer access, so that most applications would not need to call OpenGL directly.
-   The relevant data structure and function names have the prefix ``mjr``.
-
-There are several reasons for this separation. First, the two stages are conceptually different and separating them is
-good software design. Second, they have different dependencies, both internally and in terms of additional libraries;
-in particular, abstract visualization does not require any graphics libraries. Third, users who wish to integrate
-another rendering engine with MuJoCo can bypass the native OpenGL renderer but still take advantage of the abstract
-visualizer.
-
-Below is a mixture of C code and pseudo-code in comments, illustrating the structure of a MuJoCo application which
-does both simulation and rendering. This is a short version of the :ref:`basic.cc <saBasic>` code sample. For
-concreteness we assume that GLFW is used, although it can be replaced with a different window library such as GLUT or
-one of its derivatives.
-
-.. code-block:: C
-
-   // MuJoCo data structures
-   mjModel* m = NULL;                  // MuJoCo model
-   mjData* d = NULL;                   // MuJoCo data
-   mjvCamera cam;                      // abstract camera
-   mjvOption opt;                      // visualization options
-   mjvScene scn;                       // abstract scene
-   mjrContext con;                     // custom GPU context
-
-   // ... load model and data
-
-   // init GLFW, create window, make OpenGL context current, request v-sync
-   glfwInit();
-   GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
-   glfwMakeContextCurrent(window);
-   glfwSwapInterval(1);
-
-   // initialize visualization data structures
-   mjv_defaultCamera(&cam);
-   mjv_defaultPerturb(&pert);
-   mjv_defaultOption(&opt);
-   mjr_defaultContext(&con);
-
-   // create scene and context
-   mjv_makeScene(m, &scn, 1000);
-   mjr_makeContext(m, &con, mjFONTSCALE_100);
-
-   // ... install GLFW keyboard and mouse callbacks
-
-   // run main loop, target real-time simulation and 60 fps rendering
-   while( !glfwWindowShouldClose(window) ) {
-     // advance interactive simulation for 1/60 sec
-     //  Assuming MuJoCo can simulate faster than real-time, which it usually can,
-     //  this loop will finish on time for the next frame to be rendered at 60 fps.
-     //  Otherwise add a cpu timer and exit this loop when it is time to render.
-     mjtNum simstart = d->time;
-     while( d->time - simstart < 1.0/60.0 )
-         mj_step(m, d);
-
-     // get framebuffer viewport
-     mjrRect viewport = {0, 0, 0, 0};
-     glfwGetFramebufferSize(window, &viewport.width, &viewport.height);
-
-     // update scene and render
-     mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
-     mjr_render(viewport, &scn, &con);
-
-     // swap OpenGL buffers (blocking call due to v-sync)
-     glfwSwapBuffers(window);
-
-     // process pending GUI events, call GLFW callbacks
-     glfwPollEvents();
-   }
-
-   // close GLFW, free visualization storage
-   glfwTerminate();
-   mjv_freeScene(&scn);
-   mjr_freeContext(&con);
-
-   // ... free MuJoCo model and data
-
-.. _Abstract:
-
-Abstract visualization and interaction
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-This stage populates the :ref:`mjvScene` data structure with a list of geometric objects,
-lights, cameras, and everything else needed to produce a 3D rendering. It also provides abstract keyboard and mouse
-hooks for user interaction.
-
-.. _viCamera:
-
-Cameras
-'''''''
-
-There are two types of camera objects: an abstract camera represented with the stand-alone data structure
-:ref:`mjvCamera`, and a low-level OpenGL camera represented with the data structure
-:ref:`mjvGLCamera` which is embedded in mjvScene. When present, the abstract camera is
-used during scene update to automatically compute the OpenGL camera parameters, which are then used by the OpenGL
-renderer. Alternatively, the user can bypass the abstract camera mechanism and set the OpenGL camera parameters
-directly, as discussed in the Virtual Reality section below.
-
-The abstract camera can represent three different camera types as determined by mjvCamera.type. The possible settings
-are defined by the enum mjtCamera:
-
-mjCAMERA_FREE
-   This is the most commonly used abstract camera. It can be freely moved with the mouse. It has a lookat point,
-   distance to the lookat point, azimuth, and elevation; twist around the line of sight is not allowed. The function
-   :ref:`mjv_moveCamera` is a mouse hook for controlling all these camera properties interactively with the mouse.
-   When :ref:`simulate.cc <saSimulate>` first starts, it uses the free camera.
-mjCAMERA_TRACKING
-   This is similar to the free camera, except the lookat point is no longer a free parameter but instead is coupled to
-   the MuJoCo body whose id is given by mjvCamera.trackbodyid. At each update, the lookat point is set to the center of
-   mass of the kinematic subtree rooted at the specified body. There is also some filtering which produces smooth camera
-   motion. The distance, azimuth, and elevation are controlled by the user and are not modified automatically. This is
-   useful for tracking a body as it moves around, without turning the camera. To switch from the free to the tracking
-   camera in :ref:`simulate.cc <saSimulate>`, hold Ctrl and right-double-click on the body of interest. Press Esc to go
-   back to the free camera.
-mjCAMERA_FIXED
-   This refers to a camera explicitly defined in the model, unlike the free and tracking cameras which only exist in the
-   visualizer and are not defined in the model. The id of the model camera is given by mjvCamera.fixedcamid. This camera
-   is fixed in the sense that the visualizer cannot change its pose or any other parameters. However the simulator
-   computes the camera pose at each time step, and if the camera is attached to a moving body or is in tracking or
-   targeting mode, it will move.
-mjCAMERA_USER
-   This means that the abstract camera is ignored during an update and the low-level OpenGL cameras are not changed. It
-   is equivalent to not specifying an abstract camera at all, i.e., passing a NULL pointer to mjvCamera in the update
-   functions explained below.
-
-The low-level mjvGLCamera is what determines the actual rendering. There are two such cameras embedded in mjvScene, one
-for each eye. Each has position, forward and up directions. Forward corresponds to the negative Z axis of the camera
-frame, while up corresponds to the positive Y axis. There is also a frustum in the sense of OpenGL, except we store the
-average of the left and right frustum edges and then during rendering compute the actual edges from the viewport aspect
-ratio assuming 1:1 pixel aspect ratio. The distance between the two camera positions corresponds to the inter-pupillary
-distance (ipd). When the low-level camera parameters are computed automatically from an abstract camera, the ipd as well
-as vertical field of view (fovy) are taken from ``mjModel.vis.global.ipd``/``fovy`` for free and tracking cameras, and
-from the camera-specific ``mjModel.cam_ipd/fovy`` for cameras defined in the model. When stereoscopic mode is not
-enabled, as determined by mjvScene.stereo, the camera data for the two eyes are internally averaged during rendering.
-
-.. _viSelect:
-
-Selection
-'''''''''
-
-In many applications we need to click on a point and determine the 3D object to which this point/pixel belongs. This is
-done with the function :ref:`mjv_select`, which uses :ref:`ray collisions <Raycollisions>`. Ray collisions functionality
-is engine-level and does not depend on the visualizer (indeed it is also used to simulate :ref:`rangefinder
-<sensor-rangefinder>` sensors independent of visualization), but the select function is implemented in the visualizer
-because it needs information about the camera and viewport.
-
-The function mjv_select returns the index of the geom at the specified window coordinates, or -1 if there is no geom
-at those coordinates. The 3D position is also returned. See the code sample :ref:`simulate.cc <saSimulate>` for an
-example of how to use this function. Internally, mjv_select calls the engine-level function :ref:`mj_ray` which in turn
-calls the per-geom functions :ref:`mj_rayMesh`, :ref:`mj_rayHfield`, and :ref:`mju_rayGeom`. The user can implement
-custom selection mechanisms by calling these functions directly. In a VR application for example, it would make sense to
-use the hand-held controller as a "laser pointer" that can select objects.
-
-.. _viPerturb:
-
-Perturbations
-'''''''''''''
-
-Interactive perturbations have proven very useful in exploring the model dynamics as well as probing closed-loop control
-systems. The user is free to implement any perturbation mechanism of their choice by setting ``mjData.qfrc_applied`` or
-``mjData.xfrc_applied`` to suitable forces (in generalized and Cartesian coordinates respectively).
-
-All objects needed to implement interactive perturbations are grouped into the data structure :ref:`mjvPerturb`.
-Its use is illustrated in :ref:`simulate.cc <saSimulate>`.
-The idea is to select a MuJoCo body of interest, and provide a reference pose (i.e., a 3D position and quaternion
-orientation) for that body. These are stored in mjPerturb.refpos/quat. The function :ref:`mjv_movePerturb` is a mouse
-hook for controlling the reference pose with the mouse. The function :ref:`mjv_initPerturb` is used to set the
-reference pose equal to the selected body pose at the onset of perturbation, so as to avoid jumps.
-
-This perturbation object can then be used to move the selected body directly (when the simulation is paused or when the
-selected body is a mocap body), or to apply forces and torques to the body. This is done with the functions
-:ref:`mjv_applyPerturbPose` and :ref:`mjv_applyPerturbForce` respectively. The latter function writes the external
-perturbation force to ``mjData.xfrc_applied`` for the selected body. However it does not clear ``mjData.xfrc_applied``
-for the remaining bodies, thus it is recommended to clear it in user code, in case the selected body changed and some
-perturbation force was left over from a previous time step. If there is more than one device that can apply
-perturbations or user code needs to add perturbations from other sources, the user must implement the necessary logic so
-that only the desired perturbations are present in ``mjData.xfrc_applied`` and any old perturbations are cleared.
-
-In addition to affecting the simulation, the perturbation object is recognized by the abstract visualizer and can be
-rendered. This is done by adding a visual string to denote the positional difference, and a rotating cube to denote
-the reference orientation of the selected body. The perturbation forces themselves can also be rendered when the
-corresponding visualization flag in :ref:`mjvOption` is enabled.
-
-.. _viUpdate:
-
-Scene update
-''''''''''''
-
-Finally, we bring all of the above elements together and explain how mjvScene is updated before being passed to the
-OpenGL rendering stage. This can be done with a single call to the function :ref:`mjv_updateScene` at each frame.
-mjvCamera and mjvPerturb are arguments to this function, or they can be NULL pointers in which case the corresponding
-functionality is disabled. In VR applications the parameters of mjvScene.camera[n], n=0,1 must also be set at each
-frame; this is done by user code outside mjv_updateScene. The function mjv_updateScene examines mjModel and mjData,
-constructs all geoms that need to be rendered (according to the specified visualization options), and populates the
-array mjvScene.geom with :ref:`mjvGeom` objects. Note that mjvGeom is an abstract geom, and is not in one-to-one
-correspondence with the simulation geoms in mjModel and mjData. In particular, mjvGeom contains the geom pose, scale,
-shape (primitive or mesh index in mjModel), material properties, textures (index in mjModel), labeling, and everything
-else needed for specify how rendering should be done. mjvScene also contains up to eight OpenGL lights which are
-copied from the model, as well as a headlight which is in light position 0 when present.
-
-The above procedure is the most common approach, and it updates the entire scene at each frame. In addition, we
-provide two functions for finer control. :ref:`mjv_updateCamera` updates only the camera (i.e., maps the abstract
-mjvCamera to the low-level mjvGLCamera) but does not touch the geoms or lights. This is useful when the user is moving
-the camera rapidly but the simulation state has not changed - in that case there is no point in re-creating the lists
-of geoms and lights.
-
-More advanced rendering effects can be achieved by manipulating the list of abstract geoms. For example, the user can
-add custom geoms at the end of the list. Sometimes it is desirable to render a sequence of simulation states (i.e., a
-trajectory) and not just the current state. For this purpose, we have provided the function :ref:`mjv_addGeoms` which
-adds the geoms corresponding to the current simulation state to the list already in mjvScene. It does not change the
-list of lights, because lighting is additive and having too many lights will make the scene too bright. Importantly,
-the user can select which geom categories will be added, via a bitmask of enum type mjtCatBit:
-
-mjCAT_STATIC
-   This selects MuJoCo geoms and sites belonging to the world body (which has body id 0).
-mjCAT_DYNAMIC
-   This selects MuJoCo geoms and sites belonging to bodies other than the world body.
-mjCAT_DECOR
-   This selects decorative elements such as force arrows, automatically-generated skeletons, equivalent inertia boxes,
-   and any other elements that were added by the abstract visualizer and do not correspond to MuJoCo geoms and sites
-   defined in the model.
-mjCAT_ALL
-   This selects all of the above categories.
-
-The main update function mjv_updateScene would normally be called with mjCAT_ALL. It clears the geom list and calls
-mjv_addGeom to add only the geoms for the current model state. If we want to render a trajectory, we have to be careful
-to avoid visual clutter. So it makes sense to render one of the frames with mjCAT_ALL (usually the first or the last
-depending on the use case), and all other frames with mjCAT_DYNAMIC. Since the static/world objects are not moving,
-rendering them in each frame will only slow down the GPU and create visual aliasing. As for the decor elements, there
-could be situations where we want to render all of them - for example to visualize the evolution of contact forces over
-time. In summary, there is plenty of flexibility in how mjvScene is constructed. We have provided automation for the
-main use cases, but the user can also make programmatic changes as needed.
-
-.. _viVR:
-
-Virtual reality
-'''''''''''''''
-
-In desktop applications it is convenient to use an abstract mjvCamera allowing intuitive mouse control, and then
-automatically map it to mjvGLCamera used for rendering. In VR applications the situation is very different. In that
-case the head/eyes of the user as well as the projection surface are being tracked, and therefore have physical
-presence in the room. If anything can be moved by the user (with a mouse or other input device) it is the position,
-orientation and scale of the model relative to the room. This is called model transformation, and is represented in
-mjvScene. The function :ref:`mjv_moveModel` is a mouse hook for controlling this transformation. When using an
-abstract mjvCamera during update, the model transformation is automatically disabled, by setting the flag
-mjvScene.enabletransform = 0 rather than clearing the actual parameters. In this way the user can switch between VR
-and desktop camera mode without losing the model transformation parameters.
-
-Since we have introduced two spaces, namely model space and room space, we need to map between them as well as clarify
-which spatial quantities are defined with respect to which spatial frame. Everything accessible by the simulator lives
-in the model space. The room space is only accessible by the visualizer. The only quantities defined in room space are
-the mjvGLCamera parameters. The functions :ref:`mjv_room2model`, :ref:`mjv_model2room`, :ref:`mjv_cameraInModel`,
-and :ref:`mjv_cameraInRoom` perform the necessary transformations, and are needed for VR applications.
-
-While MuJoCo does not provide a built-in VR application, it provides data structures and functions to support VR
-integration in user code.
-
-**Head tracking and cameras**
-   In a typical VR application, a tracking device provides the positions and orientations of the user's eyes in
-   real-time. These data can be copied directly into the two ``mjvGLCamera`` structures in ``mjvScene.camera[n]``
-   (where ``n=0`` is the left eye and ``n=1`` is the right eye). The ``mjvGLCamera`` frustum parameters must also be
-   set according to the physical characteristics of the tracked display.
-
-**Controllers and mocap bodies**
-   Hand-held spatial controllers are also tracked in room space. The function :ref:`mjv_room2model` can map these
-   poses to model space. Once in model space, the controller poses can be used to update the position of MuJoCo
-   *mocap bodies*. Mocap bodies are treated as fixed from the viewpoint of physics, yet the user is expected to move
-   them programmatically at each simulation step. They can interact with the simulation through contacts, or better
-   yet, through soft equality constraints to regular bodies which in turn make contacts. This provides effective
-   dynamic filtering and avoids contacts involving bodies that behave as if they are infinitely heavy. The
-   time-varying positions and orientations of the mocap bodies are stored in ``mjData.mocap_pos`` and
-   ``mjData.mocap_quat``.
-
-.. _Rendering:
-
-OpenGL Rendering
-~~~~~~~~~~~~~~~~
-
-This stage takes the mjvScene data structure populated in the abstract visualization stage, and renders it. It also
-provides basic 2D drawing and framebuffer access, so that most applications would not need to call OpenGL directly.
-
-.. _reOpenGL:
-
-Using OpenGL
-'''''''''''''
-
-MuJoCo uses OpenGL 1.5 in the compatibility profile with the ``ARB_framebuffer_object`` and ``ARB_vertex_buffer_object``
-extensions. OpenGL symbols are loaded via `GLAD <https://github.com/Dav1dde/glad>`_ the first time the
-:ref:`mjr_makeContext` function is called. This means that the MuJoCo library itself does not have an explicit
-dependency on OpenGL and can be used on systems without OpenGL support, as long as ``mjr_`` functions are not called.
-
-Applications that use MuJoCo's built-in rendering functionalities are responsible for linking against an appropriate
-OpenGL context creation library and for ensuring that there is an OpenGL context that is made current on the running
-thread. On Windows and macOS, there is a canonical OpenGL library provided by the operating system. On Linux, MuJoCo
-currently supports GLX for rendering to an X11 window, OSMesa for headless software rendering, and EGL for hardware
-accelerated headless rendering.
-
-
-.. _reContext:
-
-Context and GPU resources
-'''''''''''''''''''''''''
-
-The first step in the rendering process is to create the model-specific GPU context :ref:`mjrContext`. This is done by
-first clearing the data structure with the function :ref:`mjr_defaultContext`, and then calling the function
-:ref:`mjr_makeContext`. This was already illustrated earlier; the relevant code is:
-
-.. code-block:: C
-
-   mjModel* m;
-   mjrContext con;
-
-   // clear mjrContext only once before first use
-   mjr_defaultContext(&con);
-
-   // create window with OpenGL context, make it current
-   GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
-   glfwMakeContextCurrent(window);
-
-   // ... load MuJoCo model
-
-   // make model-specific mjrContext
-   mjr_makeContext(m, &con, mjFONTSCALE_100);
-
-   // ... load another MuJoCo model
-
-   // make mjrContext for new model (old context freed automatically)
-   mjr_makeContext(m, &con, mjFONTSCALE_100);
-
-   // free context when done
-   mjr_freeContext(&con);
-
-How is mjrContext related to an OpenGL context? An OpenGL context is what enables the application to talk to the video
-driver and send rendering commands. It must exist and must be current in the calling thread before mjr_makeContext is
-called. GLFW and related libraries provide the necessary functions as shown above.
-
-mjrContext is specific to MuJoCo. After creation, it contains references (called "names" in OpenGL) to all the
-resources that were uploaded to the GPU by mjr_makeContext. These include model-specific resources such as meshes and
-textures, as well as generic resources such as font bitmaps for the specified font scale, framebuffer objects for
-shadow mapping and offscreen rendering, and associated renderbuffers. It also contains OpenGL-related options copied
-from ``mjModel.vis``, capabilities of the default window framebuffer that are discovered automatically, and the
-currently active buffer for rendering; see :ref:`buffers <reBuffer>` below. Note that even though MuJoCo uses
-fixed-function OpenGL, it avoids immediate mode rendering and instead uploads all resources to the GPU upfront. This
-makes it as efficient as a modern shader, and possibly more efficient, because fixed-function OpenGL is now implemented
-via internal shaders that have been written by the video driver developers and tuned extensively.
-
-Most of the fields of mjrContext remain constant after the call to mjr_makeContext. The only exception is
-mjrContext.currentBuffer which changes whenever the active buffer changes. Some of the GPU resources may also change
-because the user can upload modified resources with the functions :ref:`mjr_uploadTexture`, :ref:`mjr_uploadMesh`,
-:ref:`mjr_uploadHField`. This can be used to achieve dynamic effects such as inserting a video feed into the
-rendering, or modulating a terrain map. Such modifications affect the resources residing on the GPU, but their OpenGL
-names are reused; thus, the change is not actually visible in mjrContext.
-
-The user should **never** make changes to mjrContext directly. MuJoCo's renderer assumes that only it can manage
-mjrContext. In fact this kind of object would normally be opaque and its internal structure would not be exposed to
-the user. We are exposing it because MuJoCo has an open design and also because users may want to interleave their own
-OpenGL code with MuJoCo's renderer, in which case they may need read access to some fields of mjrContext. For example
-in VR applications the user needs to blit from MuJoCo's offscreen buffer to a texture provided by a VR SDK.
-
-When a different MuJoCo model is loaded, mjr_makeContext must be called again. There is also the function
-:ref:`mjr_freeContext` which frees the GPU resources while preserving the initialization and capabilities flags. This
-function should be called when the application is about to exit. It is called automatically from within
-mjr_makeContext, so you do not need to call it directly when a different model is loaded, although it is not an error
-to do so. The function mjr_defaultContext must be called once before rendering starts, to clear the memory allocated
-for the data structure mjrContext. If you call it after calling mjr_makeContext, it will wipe out any record that GPU
-resources were allocated without freeing those resources, so don't do that.
-
-.. _reBuffer:
-
-Buffers for rendering
-'''''''''''''''''''''
-
-In addition to the default window framebuffer, OpenGL can support unlimited framebuffer objects (FBOs) for custom
-rendering. In MuJoCo we provide systematic support for two framebuffers: the default window framebuffer, and one
-offscreen framebuffer. They are referred to by the constants in the enum type :ref:`mjtFramebuffer`, namely
-mjFB_WINDOW and mjFB_OFFSCREEN. At any time, one of these two buffers is active for the purposes of MuJoCo rendering,
-meaning that all subsequent commands are directed to it. There are two additional framebuffer objects referenced in
-mjrContext, needed for shadow mapping and resolving multi-sample buffers, but these are used internally and the user
-should not attempt to access them directly.
-
-The active buffer is set with the function :ref:`mjr_setBuffer`. This sets the value of mjrContext.activeBuffer and
-configures the OpenGL state accordingly. When mjr_makeContext is called, internally it calls mjr_setBuffer with
-argument mjFB_WINDOW, so that rendering starts in the window buffer by default. If the specified buffer does not
-exist, mjr_setBuffer automatically defaults to the other buffer (note that when using headless rendering on Linux,
-there may be no window framebuffer).
-
-From the perspective of OpenGL, there are important differences between the window framebuffer and offscreen
-framebuffer, and these differences affect how the MuJoCo user interacts with the renderer. The window framebuffer is
-created and managed by the operating system and not by OpenGL. As a result, properties such as resolution,
-double-buffering, quad-buffered stereo, multi-samples, v-sync are set outside OpenGL; this is done by GLFW calls in our
-code samples. All OpenGL can do is detect these properties; we do this in mjr_makeContext and record the results in the
-various window capabilities fields of mjrContext. This is why such properties are not part of the MuJoCo model; they are
-session/software-specific and not model-specific. In contrast, the offscreen framebuffer is managed entirely by OpenGL,
-and so we can create that buffer with whatever properties we want, namely with the resolution and multi-sample
-properties specified in ``mjModel.vis``.
-
-The user can directly access the pixels in the two buffers. This is done with the functions :ref:`mjr_readPixels`,
-:ref:`mjr_drawPixels` and :ref:`mjr_blitBuffer`. Read/draw transfer pixels from/to the active buffer to/from the CPU.
-Blit transfers pixels between the two buffers on the GPU and is therefore much faster. The direction is from the
-active buffer to the buffer that is not active. Note that mjr_blitBuffer has source and destination viewports that can
-have different size, allowing the image to be scaled in the process.
-
-.. _reDraw:
-
-Drawing pixels
-''''''''''''''
-
-The main rendering function is :ref:`mjr_render`. Its arguments are a rectangular viewport for rendering, the mjvScene
-which was populated by the abstract visualizer, and the mjrContext which was created by mjr_makeContext. The viewport
-can be the entire active buffer, or part of it for custom effects. A viewport corresponding to the entire buffer can
-be obtained with the function :ref:`mjr_maxViewport`. Note that while the offscreen buffer size does not change, the
-window buffer size changes whenever the user resizes or maximizes the window. Therefore user code should not assume
-fixed viewport size. In the code sample :ref:`simulate.cc <saSimulate>` we use a callback which is triggered whenever
-the window size changes, while in :ref:`basic.cc <saBasic>` we simply check the window size every time we render. On
-certain scaled displays (notably on MacOS) the window size and framebuffer size can be different. So if you are
-getting the size with GLFW functions, use glfwGetFramebufferSize rather than glfwGetWindowSize. On the other hand,
-mouse coordinates are returned by the operating system in window rather than framebuffer units; thus the mouse
-interaction functions discussed earlier should use glfwGetWindowSize to obtain the window height needed to normalize
-the mouse displacement data.
-
-mjr_render renders all mjvGeoms from the list mjvScene.geom. The abstract visualization options mjvOption are no
-longer relevant here; they are used by mjv_updateScene to determine which geoms to add, and as far as mjr_render is
-concerned these options are already baked-in. There is however another set of rendering options that are embedded in
-mjvScene, and these affect the OpenGL rendering process. The array mjvScene.flags contains flags indexed by the enum
-type :ref:`mjtRndFlag` and include options for enabling and disabling wireframe mode, shadows, reflections, skyboxes
-and fog. Shadows and reflections involve additional rendering passes. MuJoCo's renderer is very efficient, but
-depending on the model complexity and available GPU, it may be necessary to disable one or both of these effects in
-some cases.
-
-The parameter mjvScene.stereo determines the stereo mode. The possible values are given by the enum type
-:ref:`mjtStereo` and are as follows:
-
-mjSTEREO_NONE
-   Stereo rendering is disabled. The average of the two OpenGL cameras in mjvScene is used. Note that the renderer
-   always expects both cameras to be properly defined, even if stereo is not used.
-mjSTEREO_QUADBUFFERED
-   This mode works only when the active buffer is the window, and the window supports quad-buffered OpenGL. This
-   requires a professional video card. The code sample :ref:`simulate.cc <saSimulate>` attempts to open such a window.
-   In this mode MuJoCo's renderer uses the GL_BACK_LEFT and GL_BACK_RIGHT buffers to render the two views (as determined
-   by the two OpenGL cameras in mjvScene) when the window is double-buffered, and GL_FRONT_LEFT and GL_FRONT_RIGHT
-   otherwise. If the window does not support quad-buffered OpenGL or the active buffer is the offscreen buffer, the
-   renderer reverts to the side-by-side mode described next.
-mjSTEREO_SIDEBYSIDE
-   This stereo mode does not require special hardware and is always available. The viewport given to mjr_render is split
-   in two equal rectangles side-by-side. The left view is rendered on the left side and the right view on the right
-   side. In principle users can cross their eyes and see stereo on a regular monitor, but the goal here is to show it in
-   a stereoscopic device. Most head-mounted displays support this stereo mode.
-
-In addition to the main mjr_render function, we provide several functions for "decorating" the image. These are 2D
-rendering functions and include :ref:`mjr_overlay`, :ref:`mjr_text`, :ref:`mjr_rectangle`, and :ref:`mjr_figure`. The
-user can draw additional decorations with their own OpenGL code. This should be done after mjr_render, because
-mjr_render clears the viewport.
-
-We also provide the functions :ref:`mjr_finish` and :ref:`mjr_getError` for explicit synchronization with the GPU and
-for OpenGL error checking. They simply call glFinish and glGetError internally. This together with the basic 2d
-drawing functions above is meant to provide enough functionality so that most users will not need to write OpenGL
-code. Of course we cannot achieve this in all cases, short of providing wrappers for all of OpenGL.
-
-
-.. _FilamentRendering:
-
-Filament Rendering
-~~~~~~~~~~~~~~~~~~
-
-MuJoCo also provides a `Filament <https://github.com/google/filament>`_ based renderer for 3D visualization of its
-simulations.
-
-Filament is a real-time physically based rendering (PBR) engine developed by Google. It is designed to be as small as
-possible and as efficient as possible, while still providing high-quality results. It works across all major platforms
-(Linux, Windows, macOS, Android, iOS, Web) and supports OpenGL, Vulkan, and Metal.
-
-MuJoCo's current integration with the Filament renderer is done by setting `MUJOCO_USE_FILAMENT` to 1 in the CMake Build
-configuration. This effectively replaces the OpenGL-based `mjr` function implementations with Filament-based ones. It
-also makes the underlying Filament `mjrf` :ref:`types <tyFilamentRenderStructure>` and
-:ref:`functions <FilamentRenderingApi>` available for use.
diff --git a/doc/python.rst b/doc/python.rst
deleted file mode 100644
index 0f8e0830..00000000
--- a/doc/python.rst
+++ /dev/null
@@ -1,1175 +0,0 @@
-======
-Python
-======
-
-MuJoCo comes with native Python bindings that are developed in C++ using
-`pybind11 <https://pybind11.readthedocs.io/>`__. The Python API is consistent with the underlying C API. This leads to
-some non-Pythonic code structure (e.g. order of function arguments), but it has the benefit that the
-:doc:`API documentation<APIreference/index>` is applicable to both languages.
-
-The Python bindings are distributed as the ``mujoco`` package on `PyPI <https://pypi.org/project/mujoco>`__. These are
-low-level bindings that are meant to give as close to a direct access to the MuJoCo library as possible. However, in
-order to provide an API and semantics that developers would expect in a typical Python library, the bindings
-deliberately diverge from the raw MuJoCo API in a number of places, which are documented throughout this page.
-
-Google DeepMind’s `dm_control <https://github.com/google-deepmind/dm_control>`__ reinforcement learning library depends
-on the ``mujoco`` package and continues to be supported by Google DeepMind. For code that depends on dm_control versions
-prior to 1.0.0, consult the
-`migration guide <https://github.com/google-deepmind/dm_control/blob/main/migration_guide_1.0.md>`__.
-
-For mujoco-py users, we include :ref:`migration notes <PyMjpy_migration>` below.
-
-.. _PyNotebook:
-
-Tutorial notebook
-=================
-
-A MuJoCo tutorial using the Python bindings is available here: |mjcolab|
-
-.. |mjcolab| image:: https://colab.research.google.com/assets/colab-badge.png
-             :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb
-
-.. _PyInstallation:
-
-Installation
-============
-
-The recommended way to install this package is via `PyPI <https://pypi.org/project/mujoco/>`__:
-
-.. code-block:: shell
-
-   pip install mujoco
-
-A copy of the MuJoCo library is provided as part of the package and does **not** need to be downloaded or installed
-separately.
-
-.. _PyViewer:
-
-Interactive viewer
-==================
-
-An interactive GUI viewer is provided as part of the Python package in the ``mujoco.viewer`` module. It is based on the
-same codebase as the :ref:`simulate<saSimulate>` application that ships with the MuJoCo binary releases. Three distinct
-use cases are supported: :ref:`managed viewer<PyViewerManaged>`, :ref:`standalone app<PyViewerApp>`, and :ref:`passive
-viewer<PyViewerPassive>`.
-
-.. _PyViewerManaged:
-
-Managed viewer
---------------
-
-The ``viewer.launch`` function launches the interactive viewer and *blocks user code* which is useful to support precise
-timing of the physics loop. This mode should be used if user code is implemented as :ref:`engine
-plugins<exPlugin>` or :ref:`physics callbacks<glPhysics>`, and is called by MuJoCo during :ref:`mj_step`.
-
-- ``viewer.launch()`` launches an empty visualization session, where a model can be loaded by drag-and-drop.
-- ``viewer.launch(model)`` launches a visualization session for the given ``mjModel`` where the visualizer
-  internally creates its own instance of ``mjData``
-- ``viewer.launch(model, data)`` is the same as above, except that the visualizer operates directly on the given
-  ``mjData`` instance -- upon exit the ``data`` object will have been modified.
-
-.. _PyViewerApp:
-
-Standalone app
---------------
-
-The ``mujoco.viewer`` Python package uses the ``if __name__ == '__main__'`` mechanism to allow the :ref:`managed
-viewer<PyViewerManaged>` to be called directly from the command line as a standalone app:
-
-- ``python -m mujoco.viewer`` launches an empty visualization session, where a model can be loaded by drag-and-drop.
-- ``python -m mujoco.viewer --mjcf=/path/to/some/mjcf.xml`` launches a visualization session for the specified
-  model file.
-
-.. _PyViewerPassive:
-
-Passive viewer
---------------
-
-The ``viewer.launch_passive`` function launches the interactive viewer in a way which *does not block*, allowing user
-code to continue execution. In this mode, the user's script is responsible for timing and advancing the physics state,
-and mouse-drag perturbations will not work unless the user explicitly synchronizes incoming events.
-
-.. warning::
-  On MacOS, ``launch_passive`` requires that the user script is executed via a special ``mjpython`` launcher, this is
-  needed to circumvent a platform limitation which requires the main thread to be one that does the rendering. The
-  ``mjpython`` command is installed as part of the ``mujoco`` package, and can be used as a drop-in replacement for the
-  usual ``python`` command and supports an identical set of command line flags and arguments. For example, a script can
-  be executed via ``mjpython my_script.py``, and an IPython shell can be launched via ``mjpython -m IPython``.
-
-The ``launch_passive`` function returns a handle which can be used to interact with the viewer. It has the following
-attributes:
-
-- ``cam``, ``opt``, and ``pert`` properties: correspond to :ref:`mjvCamera`, :ref:`mjvOption`, and :ref:`mjvPerturb`
-  structs, respectively.
-
-- ``lock()``: provides a mutex lock for the viewer as a context manager. Since the viewer operates its own
-  thread, user code must ensure that it is holding the viewer lock before modifying any physics or visualization
-  state. These include the ``mjModel`` and ``mjData`` instance passed to ``launch_passive``, and also the ``cam``,
-  ``opt``, and ``pert`` properties of the viewer handle.
-
-- ``sync(state_only=False)``: synchronizes between the user's ``mjModel``, ``mjData`` and the GUI. In order to allow
-  user scripts to make arbitrary modifications to ``mjModel`` and ``mjData`` without needing to hold the viewer lock,
-  the passive viewer does not access or modify these structs outside of ``sync`` calls. If the ``state_only`` argument
-  is ``True``, instead of syncing everything, only the ``mjData`` fields corresponding to
-  :ref:`mjSTATE_INTEGRATION<mjtState>` are synced, followed by a call to :ref:`mj_forward`. The latter option is much
-  faster, but would not pick up arbitrary changes as in the default case. Changes made via the GUI are picked up in
-  either case but changing e.g., ``mjModel.geom_rgba`` via code will be picked up when ``state_only=False`` but not when
-  ``state_only=True``.
-
-  User scripts must call ``sync`` in order for the viewer to reflect physics state changes. The ``sync`` function
-  also transfers user inputs from the GUI back into ``mjOption`` (inside ``mjModel``) and ``mjData``, including
-  enable/disable flags, control inputs, and mouse perturbations.
-
-- ``update_hfield(hfieldid)``: updates the height field data at the specified ``hfieldid`` for subsequent renderings.
-
-- ``update_mesh(meshid)``: updates the mesh data at the specified ``meshid`` for subsequent renderings.
-
-- ``update_texture(texid)``: updates the texture data at the specified ``texid`` for subsequent renderings.
-
-- ``close()``: programmatically closes the viewer window. This method can be safely called without locking.
-
-- ``is_running()``: returns ``True`` if the viewer window is running and ``False`` if it is closed.
-  This method can be safely called without locking.
-
-- ``user_scn``: an :ref:`mjvScene` object that allows users to add change rendering flags and add custom
-  visualization geoms to the rendered scene. This is separate from the ``mjvScene`` that the viewer uses internally to
-  render the final scene, and is entirely under the user's control. User scripts can call e.g. :ref:`mjv_initGeom` or
-  :ref:`mjv_connector` to add visualization geoms to ``user_scn``, and upon the next call to ``sync()``, the viewer
-  will incorporate these geoms to future rendered images. Similarly, user scripts can make changes to ``user_scn.flags``
-  which would be picked up at the next call to ``sync()``. The ``sync()`` call also copies changes to rendering flags
-  made via the GUI back into ``user_scn`` to preserve consistency. For example:
-
-  .. code-block:: python
-
-    with mujoco.viewer.launch_passive(m, d, key_callback=key_callback) as viewer:
-
-      # Enable wireframe rendering of the entire scene.
-      viewer.user_scn.flags[mujoco.mjtRndFlag.mjRND_WIREFRAME] = 1
-      viewer.sync()
-
-      while viewer.is_running():
-        ...
-        # Step the physics.
-        mujoco.mj_step(m, d)
-
-        # Add a 3x3x3 grid of variously colored spheres to the middle of the scene.
-        viewer.user_scn.ngeom = 0
-        i = 0
-        for x, y, z in itertools.product(*((range(-1, 2),) * 3)):
-          mujoco.mjv_initGeom(
-              viewer.user_scn.geoms[i],
-              type=mujoco.mjtGeom.mjGEOM_SPHERE,
-              size=[0.02, 0, 0],
-              pos=0.1*np.array([x, y, z]),
-              mat=np.eye(3).flatten(),
-              rgba=0.5*np.array([x + 1, y + 1, z + 1, 2])
-          )
-          i += 1
-        viewer.user_scn.ngeom = i
-        viewer.sync()
-        ...
-
-The viewer handle can also be used as a context manager which calls ``close()`` automatically upon exit. A minimal
-example of a user script that uses ``launch_passive`` might look like the following. (Note that example is a simple
-illustrative example that does **not** necessarily keep the physics ticking at the correct wallclock rate.)
-
-.. code-block:: python
-
-  import time
-
-  import mujoco
-  import mujoco.viewer
-
-  m = mujoco.MjModel.from_xml_path('/path/to/mjcf.xml')
-  d = mujoco.MjData(m)
-
-  with mujoco.viewer.launch_passive(m, d) as viewer:
-    # Close the viewer automatically after 30 wall-seconds.
-    start = time.time()
-    while viewer.is_running() and time.time() - start < 30:
-      step_start = time.time()
-
-      # mj_step can be replaced with code that also evaluates
-      # a policy and applies a control signal before stepping the physics.
-      mujoco.mj_step(m, d)
-
-      # Example modification of a viewer option: toggle contact points every two seconds.
-      with viewer.lock():
-        viewer.opt.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] = int(d.time % 2)
-
-      # Pick up changes to the physics state, apply perturbations, update options from GUI.
-      viewer.sync()
-
-      # Rudimentary time keeping, will drift relative to wall clock.
-      time_until_next_step = m.opt.timestep - (time.time() - step_start)
-      if time_until_next_step > 0:
-        time.sleep(time_until_next_step)
-
-Optionally, ``viewer.launch_passive`` accepts the following keyword arguments.
-
-- ``key_callback``: A callable which gets called each time a keyboard event occurs in the viewer window. This allows
-  user scripts to react to various key presses, e.g., pause or resume the run loop when the spacebar is pressed.
-
-  .. code-block:: python
-
-    paused = False
-
-    def key_callback(keycode):
-      if chr(keycode) == ' ':
-        nonlocal paused
-        paused = not paused
-
-    ...
-
-    with mujoco.viewer.launch_passive(m, d, key_callback=key_callback) as viewer:
-      while viewer.is_running():
-        ...
-        if not paused:
-          mujoco.mj_step(m, d)
-          viewer.sync()
-        ...
-
-- ``show_left_ui`` and ``show_right_ui``: Boolean arguments indicating whether UI panels should be visible
-  or hidden when the viewer is launched. Note that regardless of the values specified, the user can still toggle the
-  visibility of these panels after launch by pressing Tab or Shift+Tab.
-
-.. _PyUsage:
-
-Basic usage
-===========
-
-Once installed, the package can be imported via ``import mujoco``. Structs, functions, constants, and enums are
-available directly from the top-level ``mujoco`` module.
-
-.. _PyStructs:
-
-Structs
--------
-
-The bindings include Python classes that expose MuJoCo data structures. For maximum performance, these classes provide
-access to the raw memory used by MuJoCo without copying or buffering. This means that some MuJoCo functions (e.g.,
-:ref:`mj_step`) change the content of fields *in place*. The user is therefore advised to create copies where required.
-For example, when logging the position of a body, one could write
-``positions.append(data.body('my_body').xpos.copy())``. Without the ``.copy()``, the list would contain identical
-elements, all pointing to the most recent value. The same applies to NumPy slices. For example if a local
-variable ``qpos_slice = data.qpos[3:8]`` is created and then :ref:`mj_step` is called, the values in ``qpos_slice``
-will have been changed.
-
-In order to conform to `PEP 8 <https://peps.python.org/pep-0008/>`__
-naming guidelines, struct names begin with a capital letter, for example ``mjData`` becomes ``mujoco.MjData`` in Python.
-
-All structs other than ``mjModel`` have constructors in Python. For structs that have an ``mj_defaultFoo``-style
-initialization function, the Python constructor calls the default initializer automatically, so for example
-``mujoco.MjOption()`` creates a new ``mjOption`` instance that is pre-initialized with :ref:`mj_defaultOption`.
-Otherwise, the Python constructor zero-initializes the underlying C struct.
-
-Structs with a ``mj_makeFoo``-style initialization function have corresponding constructor overloads in Python,
-for example ``mujoco.MjvScene(model, maxgeom=10)`` in Python creates a new ``mjvScene`` instance that is
-initialized with ``mjv_makeScene(model, [the new mjvScene instance], 10)`` in C. When this form of initialization is
-used, the corresponding deallocation function ``mj_freeFoo/mj_deleteFoo`` is automatically called when the Python
-object is deleted. The user does not need to manually free resources.
-
-The ``mujoco.MjModel`` class does not have a Python constructor. Instead, we provide three static factory functions
-that create a new :ref:`mjModel` instance: ``mujoco.MjModel.from_xml_string``, ``mujoco.MjModel.from_xml_path``, and
-``mujoco.MjModel.from_binary_path``. The first function accepts a model XML as a string, while the latter two
-functions accept the path to either an XML or MJB model file. All three functions optionally accept a Python
-dictionary which is converted into a MuJoCo :ref:`Virtualfilesystem` for use during model compilation.
-
-
-
-.. _PyFunctions:
-
-Functions
----------
-
-MuJoCo functions are exposed as Python functions of the same name. Unlike with structs, we do not attempt to make
-the function names `PEP 8 <https://peps.python.org/pep-0008/>`__-compliant, as MuJoCo uses both underscores and
-CamelCases. In most cases, function arguments appear exactly as they do in C, and keyword arguments are supported
-with the same names as declared in :ref:`mujoco.h<inHeader>`. Python bindings to C functions that accept array input
-arguments expect NumPy arrays or iterable objects that are convertible to NumPy arrays (e.g. lists). Output
-arguments (i.e. array arguments that MuJoCo expect to write values back to the caller) must always be writeable
-NumPy arrays.
-
-In the C API, functions that take dynamically-sized arrays as inputs expect a pointer argument to the array along with
-an integer argument that specifies the array's size. In Python, the size arguments are omitted since we can
-automatically (and indeed, more safely) deduce it from the NumPy array. When calling these functions, pass all
-arguments other than array sizes in the same order as they appear in :ref:`mujoco.h<inHeader>`, or use keyword
-arguments. For example, :ref:`mj_jac` should be called as ``mujoco.mj_jac(m, d, jacp, jacr, point, body)`` in Python.
-
-The bindings **releases the Python Global Interpreter Lock (GIL)** before calling the underlying MuJoCo function.
-This allows for some thread-based parallelism, however users should bear in mind that the GIL is only released for the
-duration of the MuJoCo C function itself, and not during the execution of any other Python code.
-
-.. note::
-   One place where the bindings do offer added functionality is the top-level :ref:`mj_step` function. Since it is
-   often called in a loop, we have added an additional ``nstep`` argument, indicating how many times the underlying
-   :ref:`mj_step` should be called. If not specified, ``nstep`` takes the default value of 1. The following two code
-   snippets perform the same computation, but the first one does so without acquiring the GIL in between subsequent
-   physics steps:
-
-   .. code-block:: python
-
-      mj_step(model, data, nstep=20)
-
-   .. code-block:: python
-
-      for _ in range(20):
-        mj_step(model, data)
-
-.. _PyEnums:
-
-Enums and constants
--------------------
-
-MuJoCo enums are available as ``mujoco.mjtEnumType.ENUM_VALUE``, for example ``mujoco.mjtObj.mjOBJ_SITE``. MuJoCo
-constants are available with the same name directly under the ``mujoco`` module, for example ``mujoco.mjVISSTRING``.
-
-.. _PyExample:
-
-Minimal example
----------------
-
-.. code-block:: python
-
-   import mujoco
-
-   XML=r"""
-   <mujoco>
-     <asset>
-       <mesh file="gizmo.stl"/>
-     </asset>
-     <worldbody>
-       <body>
-         <freejoint/>
-         <geom type="mesh" name="gizmo" mesh="gizmo"/>
-       </body>
-     </worldbody>
-   </mujoco>
-   """
-
-   ASSETS=dict()
-   with open('/path/to/gizmo.stl', 'rb') as f:
-     ASSETS['gizmo.stl'] = f.read()
-
-   model = mujoco.MjModel.from_xml_string(XML, ASSETS)
-   data = mujoco.MjData(model)
-   while data.time < 1:
-     mujoco.mj_step(model, data)
-     print(data.geom_xpos)
-
-.. _PyNamed:
-
-Named access
-------------
-
-Most well-designed MuJoCo models assign names to objects (joints, geoms, bodies, etc.) of interest. When the model is
-compiled down to an ``mjModel`` instance, these names become associated with numeric IDs that are used to index into the
-various array members. For convenience and code readability, the Python bindings provide "named access" API on
-``MjModel`` and ``MjData``. Each ``name_fooadr`` field in the ``mjModel`` struct defines a name category ``foo``.
-
-For each name category ``foo``, ``mujoco.MjModel`` and ``mujoco.MjData`` objects provide a method ``foo`` that takes
-a single string argument, and returns an accessor object for all arrays corresponding to the entity ``foo`` of the
-given name. The accessor object contains attributes whose names correspond to the fields of either ``mujoco.MjModel`` or
-``mujoco.MjData`` but with the part before the underscore removed. In addition, accessor objects also provide ``id`` and
-``name`` properties, which can be used as replacements for ``mj_name2id`` and ``mj_id2name`` respectively. For example:
-
-- ``m.geom('gizmo')`` returns an accessor for arrays in the ``MjModel`` object ``m`` associated with the geom named
-  "gizmo".
-- ``m.geom('gizmo').rgba`` is a NumPy array view of length 4 that specifies the RGBA color for the geom.
-  Specifically, it corresponds to the portion of ``m.geom_rgba[4*i:4*i+4]`` where
-  ``i = mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_GEOM, 'gizmo')``.
-- ``m.geom('gizmo').id`` is the same number as returned by ``mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_GEOM, 'gizmo')``.
-- ``m.geom(i).name`` is ``'gizmo'``, where ``i = mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_GEOM, 'gizmo')``.
-
-Additionally, the Python API define a number of aliases for some name categories corresponding to the XML element name
-in the MJCF schema that defines an entity of that category. For example, ``m.joint('foo')`` is the same as
-``m.jnt('foo')``. A complete list of these aliases are provided below.
-
-The accessor for joints is somewhat different that of the other categories. Some ``mjModel`` and ``mjData`` fields
-(those of size size ``nq`` or ``nv``) are associated with degrees of freedom (DoFs) rather than joints. This is because
-different types of joints have different numbers of DoFs. We nevertheless associate these fields to their corresponding
-joints, for example through ``d.joint('foo').qpos`` and ``d.joint('foo').qvel``, however the size of these arrays would
-differ between accessors depending on the joint's type.
-
-Named access is guaranteed to be O(1) in the number of entities in the model. In other words, the time it takes to
-access an entity by name does not grow with the number of names or entities in the model.
-
-For completeness, we provide here a complete list of all name categories in MuJoCo, along with their corresponding
-aliases defined in the Python API.
-
-- ``body``
-- ``jnt`` or ``joint``
-- ``geom``
-- ``site``
-- ``cam`` or ``camera``
-- ``light``
-- ``mesh``
-- ``skin``
-- ``hfield``
-- ``tex`` or ``texture``
-- ``mat`` or ``material``
-- ``pair``
-- ``exclude``
-- ``eq`` or ``equality``
-- ``tendon`` or ``ten``
-- ``actuator``
-- ``sensor``
-- ``numeric``
-- ``text``
-- ``tuple``
-- ``key`` or ``keyframe``
-
-.. _PyRender:
-
-Rendering
----------
-
-MuJoCo itself expects users to set up a working OpenGL context before calling any of its ``mjr_`` rendering routine.
-The Python bindings provide a basic class ``mujoco.GLContext`` that helps users set up such a context for offscreen
-rendering. To create a context, call ``ctx = mujoco.GLContext(max_width, max_height)``. Once the context is created,
-it must be made current before MuJoCo rendering functions can be called, which you can do so via ``ctx.make_current()``.
-Note that a context can only be made current on one thread at any given time, and all subsequent rendering calls must be
-made on the same thread.
-
-The context is freed automatically when the ``ctx`` object is deleted, but in some multi-threaded scenario it may be
-necessary to explicitly free the underlying OpenGL context. To do so, call ``ctx.free()``, after which point it is the
-user's responsibility to ensure that no further rendering calls are made on the context.
-
-Once the context is created, users can follow MuJoCo's standard rendering, for example as documented in the
-:ref:`Visualization` section.
-
-.. _PyError:
-
-Error handling
---------------
-
-MuJoCo reports irrecoverable errors via the :ref:`mju_error` mechanism, which immediately terminates the entire process.
-Users are permitted to install a custom error handler via the :ref:`mju_user_error` callback, but it too is expected
-to terminate the process, otherwise the behavior of MuJoCo after the callback returns is undefined. In actuality, it is
-sufficient to ensure that error callbacks do not return *to MuJoCo*, but it is permitted to use
-`longjmp <https://en.cppreference.com/w/c/program/longjmp>`__ to skip MuJoCo's call stack back to the external callsite.
-
-The Python bindings utilizes longjmp to allow it to convert irrecoverable MuJoCo errors into Python exceptions of type
-``mujoco.FatalError`` that can be caught and processed in the usual Pythonic way. Furthermore, it installs its error
-callback in a thread-local manner using a currently private API, thus allowing for concurrent calls into MuJoCo from
-multiple threads.
-
-.. _PyCallbacks:
-
-Callbacks
----------
-
-MuJoCo allows users to install custom callback functions to modify certain parts of its computation pipeline.
-For example, :ref:`mjcb_sensor` can be used to implement custom sensors, and :ref:`mjcb_control` can be used to
-implement custom actuators. Callbacks are exposed through the function pointers prefixed ``mjcb_`` in
-:ref:`mujoco.h<inHeader>`.
-
-For each callback ``mjcb_foo``, users can set it to a Python callable via ``mujoco.set_mjcb_foo(some_callable)``. To
-reset it, call ``mujoco.set_mjcb_foo(None)``. To retrieve the currently installed callback, call
-``mujoco.get_mjcb_foo()``. (The getter **should not** be used if the callback is not installed via the Python bindings.)
-The bindings automatically acquire the GIL each time the callback is entered, and release it before reentering MuJoCo.
-This is likely to incur a severe performance impact as callbacks are triggered several times throughout MuJoCo's
-computation pipeline and is unlikely to be suitable for "production" use case. However, it is expected that this feature
-will be useful for prototyping complex models.
-
-Alternatively, if a callback is implemented in a native dynamic library, users can use
-`ctypes <https://docs.python.org/3/library/ctypes.html>`__ to obtain a Python handle to the C function pointer and pass
-it to ``mujoco.set_mjcb_foo``. The bindings will then retrieve the underlying function pointer and assign it directly to
-the raw callback pointer, and the GIL will **not** be acquired each time the callback is entered.
-
-.. _PyModelEdit:
-
-Model editing
-=============
-The C API for model editing is documented in the :doc:`Programming<../programming/modeledit>` chapter.
-This functionality is mirrored in the Python API, with the addition of several convenience methods.
-Below is a minimal usage example, more examples can be found in the Model Editing
-`colab notebook <https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb>`__.
-
-
-.. code-block:: python
-
-   import mujoco
-   spec = mujoco.MjSpec()
-   spec.modelname = "my model"
-   body = spec.worldbody.add_body(
-       pos=[1, 2, 3],
-       quat=[0, 1, 0, 0],
-   )
-   geom = body.add_geom(
-       name='my_geom',
-       type=mujoco.mjtGeom.mjGEOM_SPHERE,
-       size=[1, 0, 0],
-       rgba=[1, 0, 0, 1],
-   )
-   ...
-   model = spec.compile()
-
-Construction
-------------
-
-The ``MjSpec`` object wraps the :ref:`mjSpec` struct and can be constructed in three ways:
-
-1. Create an empty spec: ``spec = mujoco.MjSpec()``
-2. Load the spec from XML string: ``spec = mujoco.MjSpec.from_string(xml_string)``
-3. Load the spec from XML file: ``spec = mujoco.MjSpec.from_file(file_path)``
-
-Note the ``from_string()`` and ``from_file()`` methods can only be called at construction time.
-
-.. _PyVFS:
-
-Assets
-^^^^^^
-
-MuJoCo optionally uses a :ref:`Virtual File System <Virtualfilesystem>` (VFS) to load assets (like meshes and textures)
-from memory. Some :ref:`decoders<exDecoder>` may also choose to leverage the VFS as a way to load assets on
-demand, such as when addressing files in an archive format. This requires the same VFS to be used when parsing and
-compiling a spec (and all attached specs) into a model.
-
-The Python bindings provide the ``mujoco.MjVfs`` as a wrapper around the :ref:`mjVFS` C struct.
-
-``MjVfs`` supports the context manager protocol, which ensures that resources are properly freed when leaving the block:
-
-.. code-block:: python
-
-   with mujoco.MjVfs() as vfs:
-       vfs["model.xml"] = b"<mujoco/>"
-       spec = mujoco.MjSpec.from_string("model.xml", vfs=vfs)
-       spec.compile(vfs=vfs)
-
-You can also create an instance directly and call ``close()`` when done:
-
-.. code-block:: python
-
-   vfs = mujoco.MjVfs()
-   vfs["model.xml"] = some_xml_string.encode("utf-8")
-   spec = mujoco.MjSpec.from_file("model.xml", vfs=vfs)
-   spec.compile(vfs=vfs)
-   vfs.close()
-
-The ``MjVfs`` object supports dictionary-like operations to manage buffers:
-
-- ``vfs["name"] = data``: Adds a buffer to the VFS. ``data`` must be of type ``bytes``.
-- ``del vfs["name"]``: Deletes a file from the VFS.
-- ``"name" in vfs``: Checks if a file exists in the VFS.
-
-The static factory functions ``mujoco.MjModel.from_xml_string``, ``mujoco.MjModel.from_xml_path``,
-``mujoco.MjSpec.from_string`` and ``mujoco.MjSpec.from_file`` accept an optional ``vfs`` argument. Additionally, the
-``spec.compile()`` function also accepts an optional ``vfs`` argument.
-
-.. warning::
-   The previous way of passing assets via a dictionary mapping asset names to bytes is **deprecated** and will be
-   removed in the next release. You cannot specify both the ``assets`` dictionary and the ``vfs`` argument at the same
-   time. ``MjVfs`` should be used as a drop-in replacement.
-
-For reference, the deprecated ``assets`` dictionary approach looked like this:
-
-.. code-block:: python
-
-  assets = {'image.png': b'image_data'}
-  spec = mujoco.MjSpec.from_string(xml_referencing_image_png, assets=assets)
-  model = spec.compile()
-
-  # Or
-
-  spec = mujoco.MjSpec.from_string(xml_referencing_image_png)
-  spec.assets = {'image.png': b'image_data'}
-  model = spec.compile()
-
-Save to XML
------------
-
-Compiled ``MjSpec`` objects can be saved to XML string with the ``to_xml()`` method:
-
-.. code-block:: python
-
-   print(spec.to_xml())
-
-.. code-block:: XML
-
-   <mujoco model="my model">
-     <compiler angle="radian"/>
-
-     <worldbody>
-       <body pos="1 2 3" quat="0 1 0 0">
-         <geom name="my_geom" size="1" rgba="1 0 0 1"/>
-       </body>
-     </worldbody>
-   </mujoco>
-
-Alternatively, specs or compiled models can be serialized to a file using ``encode()``:
-
-.. code-block:: python
-
-   # Save spec directly to an MJCF XML file
-   spec.encode('model.xml')
-
-   # Save XML from a compiled model; copies modified model values back to spec prior to saving
-   spec.encode('model.xml', model=model)
-
-   # Save compiled model to binary MJB format (serializes mjModel only, not spec)
-   spec.encode('model.mjb', model=model)
-
-   # Package spec and all referenced external assets (meshes, textures) into an MJZ zip archive
-   spec.encode('robot.mjz', model=model)
-
-The ``encode()`` method accepts the target filename, an optional compiled ``model`` (:ref:`MjModel`), an optional
-``vfs`` (:ref:`MjVFS`), and an optional ``content_type``. The target format is automatically determined by the file
-extension (``.xml``, ``.mjb``, ``.txt``, ``.mjz``) or content type.
-
-Attachment
-----------
-
-It is possible to combine multiple specs by using attachments. The following options are possible:
-
--   Attach a body from the child spec to a frame in the parent spec: ``body.attach_body(body, prefix, suffix)``, returns
-    the reference to the attached body, which should be identical to the body used as input.
--   Attach a frame from the child spec to a body in the parent spec: ``body.attach_frame(frame, prefix, suffix)``,
-    returns the reference to the attached frame, which should be identical to the frame used as input.
--   Attach a child spec to a site in the parent spec: ``parent_spec.attach(child_spec, site=site_name_or_obj)``, returns
-    the reference to a frame, which is the attached worldbody transformed into a frame. The site must belong to the
-    child spec. Prefix and suffix can also be specified as keyword arguments.
--   Attach a child spec to a frame in the parent spec: ``parent_spec.attach(child_spec, frame=frame_name_or_obj)``,
-    returns the reference to a frame, which is the attached worldbody transformed into a frame. The frame must
-    belong to the child spec. Prefix and suffix can also be specified as keyword arguments.
-
-The default behavior of attaching is to not copy, so all the child references (except for the worldbody) are still valid
-in the parent and therefore modifying the child will modify the parent. This is not true for the attach
-:ref:`attach<body-attach>` and :ref:`replicate<replicate>` meta-elements in MJCF, which create deep copies while
-attaching. However, it is possible to override the default behavior by setting ``spec.copy_during_attach`` to
-``True``. In this case, the child spec is copied and the references to the child will not point to the parent.
-
-.. code-block:: python
-
-   import mujoco
-
-   # Create the parent spec.
-   parent = mujoco.MjSpec()
-   body = parent.worldbody.add_body()
-   frame = parent.worldbody.add_frame()
-   site = parent.worldbody.add_site()
-
-   # Create the child spec.
-   child = mujoco.MjSpec()
-   child_body = child.worldbody.add_body()
-   child_frame = child.worldbody.add_frame()
-
-   # Attach the child to the parent in different ways.
-   body_in_frame = frame.attach_body(child_body, 'child-', '')
-   frame_in_body = body.attach_frame(child_frame, 'child-', '')
-   worldframe_in_site = parent.attach(child, site=site, prefix='child-')
-   worldframe_in_frame = parent.attach(child, frame=frame, prefix='child-')
-
-.. _PyEditConvenience:
-
-Convenience methods
--------------------
-
-The Python bindings provide a number of convenience methods and attributes not directly available in the C API in order
-to make model editing easier:
-
-Named access
-^^^^^^^^^^^^
-The ``MjSpec`` object has methods like ``.body(), .joint(), .site(), ...`` for named access of elements.
-``spec.geom('my_geom')`` will return the :ref:`mjsGeom` called "my_geom", or ``None`` if it does not exist.
-
-Element lists
-^^^^^^^^^^^^^
-Lists of all elements in a spec can be accessed using named properties, using the plural form. For example,
-``spec.meshes`` returns a list of all meshes in the spec. The following properties are implemented: ``sites``,
-``geoms``, ``joints``, ``lights``, ``cameras``, ``bodies``, ``frames``, ``materials``, ``meshes``, ``pairs``,
-``equalities``, ``tendons``, ``actuators``, ``skins``, ``textures``, ``texts``, ``tuples``, ``flexes``, ``hfields``,
-``keys``, ``numerics``, ``excludes``, ``sensors``, ``plugins``.
-
-Element removal
-^^^^^^^^^^^^^^^
-The method ``delete()`` removes the corresponding element from the spec, e.g. ``spec.delete(spec.geom('my_geom'))`` will
-remove the geom named "my_geom" and all of the elements that reference it. For elements that can have children (bodies
-and defaults), ``delete`` also removes all of their children. When deleting body subtrees, all elements which reference
-elements in the subtree, will also be removed.
-
-Tree traversal
-^^^^^^^^^^^^^^
-Traversal of the kinematic tree is aided by the following methods which return tree-related lists of elements:
-
-Direct children:
-  Like the spec-level element lists described above, bodies have properties which return lists of all direct children.
-  For example, ``body.geoms`` returns a list of all geoms that are direct children of the body. This works for all
-  in tree elements namely ``bodies``, ``joints``, ``geoms``, ``sites``, ``cameras``, ``lights`` and ``frames``.
-
-Recursive search:
-  ``body.find_all()`` returns a list of all elements of the given type which are in the subtree of the given body.
-  Element types can be specified with the :ref:`mjtObj` enum, or with the corresponding string. For example either
-  ``body.find_all(mujoco.mjtObj.mjOBJ_SITE)`` or ``body.find_all('site')`` will return a list of all sites under the
-  body.
-
-Parent:
-  The parent body of a given element -- including bodies and frames -- can be accessed via the ``parent`` property.
-  For example, the parent of a site can be accessed via ``site.parent``.
-
-Serialization
-^^^^^^^^^^^^^
-The ``MjSpec`` object can be serialized with all of its assets using the function ``spec.to_zip(file)``, where ``file``
-can be either a path to a file or a file object. In order to load the spec from a zip file, use ``spec =
-MjSpec.from_zip(file)``, where ``file`` is a path to a zip file or a zip file object.
-
-Mesh creation
-^^^^^^^^^^^^^
-The :ref:`mjsMesh` object includes convenience methods for model creation with named attributes, corresponding to the
-:ref:`mesh/builtin<asset-mesh-builtin>` semantics. See `specs_test.py
-<https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/specs_test.py>`__.
-
-.. code-block:: python
-
-   mesh = spec.add_mesh(name='prism')
-   mesh.make_cone(nedge=5, radius=1)
-
-Texture editing
-^^^^^^^^^^^^^^^
-The :ref:`mjsTexture` buffer option stores the texture bytes in the ``data`` attribute. This attribute can be read and
-modified, for example:
-
-.. code-block:: python
-
-  texture = spec.add_texture(name='texture', height=1, width=3, nchannel=3)
-  texture.data = bytes([255, 0, 0, 0, 255, 0, 0, 0, 255])  # Assign red, green and blue pixels.
-  texture.data[1] = 255  # Change the first pixel to yellow.
-
-.. _PyMJCF:
-
-Relationship to ``PyMJCF`` and ``bind``
----------------------------------------
-
-`dm_control <https://github.com/google-deepmind/dm_control/tree/main>`__'s
-`PyMJCF <https://github.com/google-deepmind/dm_control/blob/main/dm_control/mjcf/README.md>`__ module provides similar
-functionality to the native model editing API described here, but is roughly two orders of magnitude slower due to its
-reliance on Python manipulation of strings.
-
-For users familiar with ``PyMJCF``, the ``MjSpec`` object is conceptually similar to ``dm_control``'s
-``mjcf_model``. A more detailed migration guide could be added here in the future; in the meantime, note that the
-Model Editing
-`colab notebook <https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb>`__
-includes a reimplementation of the ``PyMJCF`` example in the ``dm_control``
-`tutorial notebook <https://github.com/google-deepmind/dm_control/blob/main/dm_control/mjcf/tutorial.ipynb>`__.
-
-``PyMJCF`` provides a notion of "binding", giving access to :ref:`mjModel` and :ref:`mjData` values via a helper class.
-In the native API, the helper class is not needed, so it is possible to directly bind an ``mjs`` object to
-:ref:`mjModel` and :ref:`mjData`. For example, say we have multiple geoms containing the string "torso" in their name.
-We want to get their Cartesian positions in the XY plane from ``mjData``. This can be done as follows:
-
-.. code-block:: python
-
-   torsos = [data.bind(geom) for geom in spec.geoms if 'torso' in geom.name]
-   pos_x = [torso.xpos[0] for torso in torsos]
-   pos_y = [torso.xpos[1] for torso in torsos]
-
-Using the ``bind`` method requires the :ref:`mjModel` and :ref:`mjData` to be compiled from the :`ref:`mjSpec`. If
-objects are added or removed from the :ref:`mjSpec` since the last compilation, an error is raised.
-
-Notes
------
-
-- :ref:`mj_recompile` works differently than in the C API. In the C API, it modifies the model and the data in place,
-  while in the Python API it returns new :ref:`MjModel` and :ref:`MjData` objects. This is to avoid dangling references.
-
-.. _PyBuild:
-
-Building from source
-====================
-
-.. note::
-    Building from source is only necessary if you are modifying the
-    Python bindings (or are trying to run on exceptionally old Linux systems).
-    If that's not the case, then we recommend installing the prebuilt binaries
-    from PyPI.
-
-1. Make sure you have CMake and a C++17 compiler installed.
-
-2. Clone the entire ``mujoco`` repository from GitHub.
-
-   .. code-block:: shell
-
-     git clone https://github.com/google-deepmind/mujoco.git
-
-3. Install MuJoCo. Either download the
-   `latest binary release <https://github.com/google-deepmind/mujoco/releases>`__
-   from GitHub (On macOS, the download corresponds to a DMG file which you can
-   mount by double-clicking or running ``hdiutil attach <dmg_file>``),
-   or *build* and *install* it from source as per the instructions in
-   :ref:`inBuild`.
-
-4. ``cd`` into the python directory of the cloned MuJoCo codebase:
-
-   .. code-block:: shell
-
-      cd mujoco/python
-
-5. Create a virtual environment:
-
-   .. code-block:: shell
-
-      python3 -m venv /tmp/mujoco
-      source /tmp/mujoco/bin/activate
-
-6. Generate a `source distribution <https://packaging.python.org/en/latest/glossary/#term-Source-Distribution-or-sdist>`__
-   tarball with the ``make_sdist.sh`` script.
-
-   .. code-block:: shell
-
-      bash make_sdist.sh
-
-   The ``make_sdist.sh`` script generates additional C++ header files that are
-   needed to build the bindings, and also pulls in required files from elsewhere
-   in the repository outside the ``python`` directory into the sdist. Upon
-   completion, the script will create a ``dist`` directory with a
-   ``mujoco-x.y.z.tar.gz`` file (where ``x.y.z`` is the version number).
-
-7. Use the generated source distribution to build and install the bindings.
-   You'll need to specify the path to the MuJoCo library you downloaded
-   or built and installed earlier in the ``MUJOCO_PATH`` environment
-   variable, and the path to the MuJoCo plugin directory in the
-   ``MUJOCO_PLUGIN_PATH`` environment variable. You can point the
-   ``MUJOCO_PLUGIN_PATH`` environment variable to the ``plugin``
-   folder of the MuJoCo codebase you cloned.
-
-   .. note::
-      For macOS, the files need to be extracted from the DMG.
-      Once you mounted it as in step 2, the ``mujoco.framework`` directory can be found in ``/Volumes/MuJoCo``,
-      and the plugins directory can be found in ``/Volumes/MuJoCo/MuJoCo.app/Contents/MacOS/mujoco_plugin``.
-      Those two directories can be copied out somewhere convenient, or you can use
-      ``MUJOCO_PATH=/Volumes/MuJoCo MUJOCO_PLUGIN_PATH=/Volumes/MuJoCo/MuJoCo.app/Contents/MacOS/mujoco_plugin``.
-
-   .. code-block:: shell
-
-      cd dist
-      MUJOCO_PATH=/PATH/TO/MUJOCO \
-      MUJOCO_PLUGIN_PATH=/PATH/TO/MUJOCO/PLUGIN \
-      pip install mujoco-x.y.z.tar.gz
-
-The Python bindings should now be installed! To check that they've been
-successfully installed, ``cd`` outside of the ``mujoco`` directory and run
-``python -c "import mujoco"``.
-
-.. tip::
-   As a reference, a working build configuration can be found in MuJoCo's
-   `continuous integration setup <https://github.com/google-deepmind/mujoco/blob/main/.github/workflows/build.yml>`_ on
-   GitHub.
-
-
-.. _PyModule:
-
-Modules
-=======
-
-The ``mujoco`` package contains two sub-modules: ``mujoco.rollout`` and ``mujoco.minimize``
-
-.. _PyRollout:
-
-rollout
--------
-``mujoco.rollout`` and ``mujoco.rollout.Rollout`` show how to add additional C/C++ functionality, exposed as a Python
-module via pybind11. It is implemented in `rollout.cc
-<https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/rollout.cc>`__ and wrapped in `rollout.py
-<https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/rollout.py>`__. The module addresses a common
-use-case where tight loops implemented outside of Python are beneficial: rolling out a trajectory (i.e., calling
-:ref:`mj_step` in a loop), given an initial state and sequence of controls, and returning subsequent states and sensor
-values. The rollouts are run in parallel with an internally managed thread pool if multiple MjData instances (one per
-thread) are passed as an argument. This notebook shows how to use ``rollout`` |rollout_colab|, along with some
-benchmarks e.g., the figure below.
-
-.. |rollout_colab| image:: https://colab.research.google.com/assets/colab-badge.png
-                   :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/rollout.ipynb
-
-.. image:: images/python/rollout.png
-   :align: right
-   :width: 97%
-
-The basic usage form is
-
-.. code-block:: python
-
-   state, sensordata = rollout.rollout(model, data, initial_state, control)
-
-- ``model`` is either a single instance of MjModel or a sequence of homogeneous MjModels of length ``nbatch``.
-  Homogeneous models have the same integer sizes, but floating point values can differ.
-- ``data`` is either a single instance of MjData or a sequence of compatible MjDatas of length ``nthread``.
-- ``initial_state`` is an ``nbatch x nstate`` array, with ``nbatch`` initial states of size ``nstate``, where
-  ``nstate = mj_stateSize(model, mjtState.mjSTATE_FULLPHYSICS)`` is the size of the
-  :ref:`full physics state<siFullPhysics>`.
-- ``control`` is a ``nbatch x nstep x ncontrol`` array of controls. Controls are by default the ``mjModel.nu`` standard
-  actuators, but any combination of :ref:`user input<siInput>` arrays can be specified by passing an optional
-  ``control_spec`` bitflag.
-
-If a rollout diverges, the current state and sensor values are used to fill the remainder of the trajectory.
-Therefore, non-increasing time values can be used to detect diverged rollouts.
-
-The ``rollout`` function is designed to be computationally stateless, so all inputs of the stepping pipeline are set and
-any values already present in the given ``MjData`` instance will have no effect on the output.
-
-By default ``rollout.rollout`` creates a new thread pool every call if ``len(data) > 1``. To reuse the thread pool
-over multiple calls use the ``persistent_pool`` argument. ``rollout.rollout`` is not thread safe when using
-a persistent pool. The basic usage form is
-
-.. code-block:: python
-
-   state, sensordata = rollout.rollout(model, data, initial_state, persistent_pool=True)
-
-The pool is shutdown on interpreter shutdown or by a call to ``rollout.shutdown_persistent_pool``.
-
-To use multiple thread pools from multiple threads, use ``Rollout`` objects. The basic usage form is
-
-.. code-block:: python
-
-   # Pool shutdown upon exiting block.
-   with rollout.Rollout(nthread=nthread) as rollout_:
-    rollout_.rollout(model, data, initial_state)
-
-or
-
-.. code-block:: python
-
-   # Pool shutdown on object deletion or call to rollout_.close().
-   # To ensure clean shutdown of threads, call close() before interpreter exit.
-   rollout_ = rollout.Rollout(nthread=nthread)
-   rollout_.rollout(model, data, initial_state)
-   rollout_.close()
-
-Since the Global Interpreter Lock is released, this function can also be threaded using Python threads. However, this
-is less efficient than using native threads. See the ``test_threading`` function in
-`rollout_test.py <https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/rollout_test.py>`__ for an example
-of threaded operation (and for more general usage examples).
-
-.. _PyMinimize:
-
-minimize
---------
-
-This module contains optimization-related utilities.
-
-The ``minimize.least_squares()`` function implements a nonlinear Least Squares optimizer solving sequential
-Quadratic Programs with :ref:`mju_boxQP`. It is documented in the associated notebook: |lscolab|
-
-.. |lscolab| image:: https://colab.research.google.com/assets/colab-badge.png
-             :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb
-
-.. _PyUSDexport:
-
-USD exporter
-------------
-
-The `USD exporter <https://github.com/google-deepmind/mujoco/tree/main/python/mujoco/usd>`__ module allows users to save
-scenes and trajectories in the `USD format <https://openusd.org/release/index.html>`__ for rendering in external
-renderers such as NVIDIA Omniverse or Blender. These renderers provide higher quality rendering capabilities not
-provided by the default renderer. Additionally, exporting to USD allows users to include different types of texture maps
-to make objects in the scene look more realistic.
-
-.. _PyUSDInstallation:
-
-Installation
-^^^^^^^^^^^^
-
-The recommended way to install the necessary requirements for the USD exporter is via
-`PyPI <https://pypi.org/project/mujoco/>`__:
-
-.. code-block:: shell
-
-   pip install mujoco[usd]
-
-This installs the optional dependencies ``usd-core`` and ``pillow`` required by the USD exporter.
-
-If you are building from source, please ensure to `build the Python bindings
-<https://mujoco.readthedocs.io/en/stable/python.html#building-from-source>`__. Then, using pip, install the required
-``usd-core`` and ``pillow`` packages.
-
-.. _PyUSDExporter:
-
-USDExporter
-^^^^^^^^^^^
-
-The ``USDExporter`` class in the ``mujoco.usd.exporter`` module allows saving full trajectories in addition to defining
-custom cameras and lights. The constructor arguments of a ``USDExporter`` instance are:
-
-- ``model``: An MjModel instance. The USD exporter reads relevant information from the model including details about
-  cameras, lights, textures, and object geometries.
-
-- ``max_geom``: Maximum number of geoms in a scene, required when instantiating the internal :ref:`mjvScene`.
-
-- ``output_directory``: Name of the directory under which the exported USD file and all relevant
-  assets are stored. When saving a scene/trajectory as a USD file, the exporter creates the following directory
-  structure.
-
-  .. code-block:: text
-
-      output_directory_root/
-      └-output_directory/
-        ├-assets/
-        | ├-texture_0.png
-        | ├-texture_1.png
-        | └-...
-        └─frames/
-          └-frame_301.usd
-
-  Using this file structure allows users to easily archive the ``output_directory``. All paths to assets in the USD file
-  are relative, facilitating the use of the USD archive on another machine.
-
-- ``output_directory_root``: Root directory to add USD trajectory to.
-
-- ``light_intensity``: Intensity of all lights. Note that the units of intensity may be defined differently in
-  different renderers, so this value may need to be adjusted on a render-specific basis.
-
-- ``camera_names``: List of cameras to be stored in the USD file. At each time step, for each camera defined, we
-  calculate its position and orientation and add that value for that given frame in the USD. USD allows us to store
-  multiple cameras.
-
-- ``verbose``: Whether or not to print log messages from the exporter.
-
-If you wish to export a model loaded directly from an MJCF, we provide a `demo
-<https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/usd/demo.py>`__ script that shows how to do so. This
-demo file also serves as an example of the USD export functionality.
-
-.. _PyUSDBasicUsage:
-
-Basic usage
-^^^^^^^^^^^
-
-Once the optional dependencies are installed, the USD exporter can be imported via ``from mujoco.usd import exporter``.
-
-Below, we demonstrate a simple example of using the ``USDExporter``. During initialization, the ``USDExporter`` creates
-an empty USD stage, as well as the assets and frames directories if they do not already exist. Additionally, it
-generates .png files for each texture defined in the model. Every time ``update_scene`` is called, the exporter records
-the position and orientation of all geoms, lights, and cameras in the scene.
-
-The ``USDExporter`` keeps track of frames internally by maintaining a frame counter. Each time ``update_scene`` is
-called, the counter is incremented, and the poses of all geoms, cameras, and lights are saved for the corresponding
-frame. It's important to note that you can step through the simulation multiple times before calling ``update_scene``.
-The final USD file will only store the poses of the geoms, lights, and cameras as they were at the last update_scene
-call.
-
-.. code-block:: python
-
-    import mujoco
-    from mujoco.usd import exporter
-
-    m = mujoco.MjModel.from_xml_path('/path/to/mjcf.xml')
-    d = mujoco.MjData(m)
-
-    # Create the USDExporter
-    exp = exporter.USDExporter(model=m)
-
-    duration = 5
-    framerate = 60
-    while d.time < duration:
-
-      # Step the physics
-      mujoco.mj_step(m, d)
-
-      if exp.frame_count < d.time * framerate:
-        # Update the USD with a new frame
-        exp.update_scene(data=d)
-
-    # Export the USD file
-    exp.save_scene(filetype="usd")
-
-
-
-.. _PyUSDExportAPI:
-
-USD Export API
-^^^^^^^^^^^^^^
-
-- ``update_scene(self, data, scene_option)``: updates the scene with the latest simulation data passed in by the
-  user. This function updates the geom, cameras, and lights in the scene.
-
-- ``add_light(self, pos, intensity, radius, color, obj_name, light_type)``: adds a light to the USD scene with the
-  given properties post hoc.
-
-- ``add_camera(self, pos, rotation_xyz, obj_name)``: adds a camera to the USD scene with the given properties post hoc.
-
-- ``save_scene(self, filetype)``:  exports the USD scene using one of the USD filetype extensions ``.usd``, ``.usda``,
-  or ``.usdc``.
-
-.. _PyUSDTodos:
-
-Missing features
-^^^^^^^^^^^^^^^^
-
-Below, we list remaining action items for the USD exporter. Please feel free to suggest additional requests
-by creating a new `feature request <https://github.com/google-deepmind/mujoco/issues/new/choose>`__ in GitHub.
-
-- Add support for additional texture maps including metallic, occlusion, roughness, bump, etc.
-
-- Add support for online rendering with Isaac.
-
-- Add support for custom cameras.
-
-
-.. _PyUtility:
-
-Utilities
-=========
-
-The `python/mujoco <https://github.com/google-deepmind/mujoco/tree/main/python/mujoco>`__ directory also contains
-utility scripts.
-
-
-.. _PyMsh2obj:
-
-msh2obj.py
-----------
-
-The `msh2obj.py <https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/msh2obj.py>`__ script converts the
-:ref:`legacy .msh format<legacy-msh-docs>` for surface meshes (different from the possibly-volumetric
-:ref:`gmsh format<gmsh-file-docs>` also using .msh), to OBJ files. The legacy format is deprecated and will be removed
-in a future release. Please convert all legacy files to OBJ.
-
-
-
-.. _PyMjpy_migration:
-
-mujoco-py migration
-===================
-
-In mujoco-py, the main entry point is the `MjSim <https://github.com/openai/mujoco-py/blob/master/mujoco_py/mjsim.pyx>`_
-class.  Users construct a stateful ``MjSim`` instance from an MJCF model (similar to ``dm_control.Physics``), and this
-instance holds references to an ``mjModel`` instance and its associated ``mjData``.  In contrast, the MuJoCo Python
-bindings (``mujoco``) take a more low-level approach, as explained above: following the design principle of the C
-library, the ``mujoco`` module itself is stateless, and merely wraps the underlying native structs and functions.
-
-While a complete survey of mujoco-py is beyond the scope of this document, we offer below implementation notes for a
-non-exhaustive list of specific mujoco-py features:
-
-``mujoco_py.load_model_from_xml(bstring)``
-   This factory function constructs a stateful ``MjSim`` instance. When using ``mujoco``, the user should call the
-   factory function ``mujoco.MjModel.from_xml_*`` as described :ref:`above <PyStructs>`. The user is then responsible
-   for holding the resulting ``MjModel`` struct instance and explicitly generating the corresponding ``MjData`` by
-   calling ``mujoco.MjData(model)``.
-
-``sim.reset()``, ``sim.forward()``, ``sim.step()``
-   Here as above, ``mujoco`` users needs to call the underlying library functions, passing instances of ``MjModel`` and
-   ``MjData``: :ref:`mujoco.mj_resetData(model, data) <mj_resetData>`, :ref:`mujoco.mj_forward(model, data)
-   <mj_forward>`, and :ref:`mujoco.mj_step(model, data) <mj_step>`.
-
-``sim.get_state()``, ``sim.set_state(state)``, ``sim.get_flattened_state()``, ``sim.set_state_from_flattened(state)``
-   The MuJoCo library’s computation is deterministic given a specific input, as explained in the :ref:`Programming
-   section <Simulation>`. mujoco-py implements methods for getting and setting some of the relevant fields (and
-   similarly ``dm_control.Physics`` offers methods that correspond to the flattened case). This functionality is
-   described in the :ref:`State and Control<siStateControl>` section.
-
-``sim.model.get_joint_qvel_addr(joint_name)``
-   This is a convenience method in mujoco-py that returns a list of contiguous indices corresponding to this joint. The
-   list starts from ``model.jnt_qposadr[joint_index]``, and its length depends on the joint type. ``mujoco`` doesn't
-   offer this functionality, but this list can be easily constructed using ``model.jnt_qposadr[joint_index]`` and
-   ``xrange``.
-
-``sim.model.*_name2id(name)``
-   mujoco-py creates dicts in ``MjSim`` that allow for efficient lookup of indices for objects of different types:
-   ``site_name2id``, ``body_name2id`` etc. These functions replace the function :ref:`mujoco.mj_name2id(model,
-   type_enum, name) <mj_name2id>`. ``mujoco`` offers a different approach for using entity names – :ref:`named access
-   <PyNamed>`, as well as access to the native :ref:`mj_name2id`.
-
-``sim.save(fstream, format_name)``
-   This is the one context in which the MuJoCo library (and therefore also ``mujoco``) is stateful: it holds a copy in
-   memory of the last XML that was compiled, which is used in :ref:`mujoco.mj_saveLastXML(fname) <mj_saveLastXML>`. Note
-   that mujoco-py’s implementation has a convenient extra feature, whereby the pose (as determined by ``sim.data``’s
-   state) is transformed to a keyframe that’s added to the model before saving. This extra feature is not currently
-   available in ``mujoco``.
diff --git a/doc/references.bib b/doc/references.bib
deleted file mode 100644
index 71a3432d..00000000
--- a/doc/references.bib
+++ /dev/null
@@ -1,101 +0,0 @@
-@book{lamb1932,
-  title={Hydrodynamics. Sixth edition.},
-  author={Lamb, Horace},
-  year={1932},
-  publisher={Cambridge University Press}
-}
-
-@book{kennard1967,
-  title={Irrotational Flow of Frictionless Fluids: Mostly of Invariable Density},
-  author={Kennard, Earle Hesse},
-  volume={2299},
-  year={1967},
-  publisher={US Government Printing Office}
-}
-
-@book{tuckerman1925,
-  title={Inertia factors of ellipsoids for use in airship design},
-  author={Tuckerman, LB},
-  year={1925},
-  publisher={US Government Printing Office}
-}
-
-@article{wang2004,
-  title={Unsteady forces and flows in low Reynolds number hovering flight: two-dimensional computations vs robotic wing experiments},
-  author={Wang, Z Jane and Birch, James M and Dickinson, Michael H},
-  journal={Journal of Experimental Biology},
-  volume={207},
-  number={3},
-  pages={449--460},
-  year={2004},
-  publisher={Company of Biologists}
-}
-@article{andersen2005a,
-  title={Unsteady aerodynamics of fluttering and tumbling plates},
-  author={Andersen, A and Pesavento, U and Wang, Z Jane},
-  journal={Journal of Fluid Mechanics},
-  volume={541},
-  pages={65--90},
-  year={2005},
-  publisher={Cambridge University Press}
-}
-@article{andersen2005b,
-  title={Analysis of transitions between fluttering, tumbling and steady descent of falling cards},
-  author={Andersen, Anders and Pesavento, Umberto and Wang, Z Jane},
-  journal={Journal of Fluid Mechanics},
-  volume={541},
-  pages={91--104},
-  year={2005},
-  publisher={Cambridge University Press}
-}
-
-@article{stokes1850,
-  title={On the effect of internal friction of fluids on the motion of pendulums},
-  author={Stokes, GG},
-  journal={Trans. Camb. phi1. S0c},
-  volume={9},
-  number={8},
-  pages={106},
-  year={1850}
-}
-
-@article{loth2008,
-  title={Drag of non-spherical solid particles of regular and irregular shape},
-  author={Loth, E},
-  journal={Powder Technology},
-  volume={182},
-  number={3},
-  pages={342--353},
-  year={2008},
-  publisher={Elsevier}
-}
-@article{bagheri2016,
-  title={On the drag of freely falling non-spherical particles},
-  author={Bagheri, Gholamhossein and Bonadonna, Costanza},
-  journal={Powder Technology},
-  volume={301},
-  pages={526--544},
-  year={2016},
-  publisher={Elsevier}
-}
-@article{duan2015,
-  title={Sphere drag and heat transfer},
-  author={Duan, Zhipeng and He, Boshu and Duan, Yuanyuan},
-  journal={Scientific reports},
-  volume={5},
-  number={1},
-  pages={1--7},
-  year={2015},
-  publisher={Nature Publishing Group}
-}
-
-@article {Vaxenburg2024,
-  author = {Roman Vaxenburg and Igor Siwanowicz and Josh Merel and Alice A Robie and Carmen Morrow and Guido Novati and Zinovia Stefanidi and Gwyneth M Card and Michael B Reiser and Matthew M Botvinick and Kristin M Branson and Yuval Tassa and Srinivas C Turaga},
-  title = {Whole-body simulation of realistic fruit fly locomotion with deep reinforcement learning},
-  elocation-id = {2024.03.11.584515},
-  year = {2024},
-  doi = {10.1101/2024.03.11.584515},
-  publisher = {Cold Spring Harbor Laboratory},
-
-  journal = {bioRxiv}
-}
diff --git a/doc/requirements.txt b/doc/requirements.txt
deleted file mode 100644
index e711bbfe..00000000
--- a/doc/requirements.txt
+++ /dev/null
@@ -1,18 +0,0 @@
-Sphinx==7.4.7
-furo==2024.8.6
-sphinxcontrib-bibtex==2.6.3
-sphinxcontrib-katex==0.9.4
-sphinxcontrib-youtube==1.2.0
-sphinx-copybutton==0.5.2
-sphinx-design==0.6.1
-sphinx-favicon==1.0.1
-sphinx-reredirects==0.1.1
-sphinx-toolbox==3.8.2
-nbsphinx==0.9.1
-pandoc==1.1.0
-pygments==2.20.0
-jq==1.8.0
-Jinja2==3.1.6
-wheel==0.46.2
-# see https://github.com/aws/aws-sam-cli/issues/3661 regarding markupsafe
-markupsafe==2.0.1
diff --git a/doc/templates/layout.html b/doc/templates/layout.html
deleted file mode 100644
index 851ca634..00000000
--- a/doc/templates/layout.html
+++ /dev/null
@@ -1,21 +0,0 @@
-{% extends "!layout.html" %}
-{% block htmltitle %}
-  <link rel=“preconnect” href=“https://fonts.googleapis.com“ crossorigin>
-  <link rel=“preconnect” href=“https://fonts.gstatic.com” crossorigin>
-  {{ super() }}
-{% endblock %}
-{% block scripts %}
-  {{ super() }}
-  {# Override home link to point to MuJoCo homepage.
-     Ideally this would be done as part of the theme rather than in JS.
-   #}
-  <script>
-    document.addEventListener('DOMContentLoaded', (event) => {
-        let homeLink = document.querySelector('a.icon');
-        {# Be extra safe and don't break the page if theme changes and querySelector can't match. #}
-        if (homeLink) {
-          homeLink.href="https://mujoco.org";
-        }
-    });
-  </script>
-{% endblock %}
diff --git a/doc/unity.rst b/doc/unity.rst
deleted file mode 100644
index 1ae36714..00000000
--- a/doc/unity.rst
+++ /dev/null
@@ -1,352 +0,0 @@
-=============
-Unity Plug-in
-=============
-
-Introduction
-------------
-
-The MuJoCo `Unity plug-in <https://github.com/google-deepmind/mujoco/tree/main/unity>`__ allows the Unity Editor and
-runtime to use the MuJoCo physics engine.  Users can import MJCF files and edit the models in the Editor.  The plug-in
-relies on Unity for most aspects -- assets, game logic, simulation time -- but uses MuJoCo to determine how objects
-move, giving the designer access to MuJoCo's full API.
-
-An example project using MuJoCo's Unity plugin in a set of introductory tutorials are also available as a `standalone
-repository <https://github.com/Balint-H/mj-unity-tutorial>`__.
-
-.. _UInstallation:
-
-Installation instructions
--------------------------
-
-The `plug-in directory <https://github.com/google-deepmind/mujoco/tree/main/unity>`__ includes a
-``package.json`` file.  Unity's package manager recognizes this file and will import the plug-in's C# codebase to your
-project. In addition, Unity also needs the native MuJoCo library, which can be found in the corresponding `platform
-archive <https://github.com/google-deepmind/mujoco/releases>`__. If you wish to simply use the plug-in and not
-develop it, you should use one of the version-specific stable commits of the repository, identified by git tags. Check
-out the relevant version of the cloned repository with git (``git checkout 3.X.Y`` where X and Y specify the engine
-version). Simply using the ``main`` branch of the repository may not be compatible with the most recent release binary
-of MuJoCo.
-
-On Unity version 2020.2 and later, the Package Manager will look for the native library file and copy it to the package
-directory when the package is imported. Alternatively, you can manually copy the native library to the package directory
-and rename it, see platform-specific instructions below. The library can also be copied into any location under your
-project's Assets directory.
-
-MacOS
-_____
-
-The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
-a trusted binary. Then, copy the dynamic library file from
-``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.12.0.dylib`` (it can be
-found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
-
-Linux
-_____
-
-Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
-``~/.mujoco/mujoco-3.12.0/lib/libmujoco.so.3.12.0`` and rename it as ``libmujoco.so``.
-
-Windows
-_______
-
-Expand the ``zip`` archive to a directory called ``MuJoCo`` in your user directory, and copy the file
-``MuJoCo\bin\mujoco.dll``.
-
-.. _UUsing:
-
-Using the plug-in
------------------
-
-.. _UImporter:
-
-Importer
-________
-
-The importer is invoked from the Editor's *Asset* menu: click on "Import MuJoCo Scene" and select the XML file with your
-model's MJCF specification.
-
-Context menus
-_____________
-
-- Right-clicking a geom component offers two options:
-
-  - "Add mesh renderer" adds components to the same game object that render the geom: a standard ``MeshRenderer`` and a
-    ``MjMeshFilter`` that creates a procedural mesh that is recreated when the geom shape properties change.
-  - "Convert to free object" adds two new game objects: a parent with an ``MjBody`` component and a sibling with an
-    ``MjFreeJoint`` component.  This allows the previously static geom to move about freely in the scene. This action
-    only applies to "world" geoms -- those that do not currently have an ``MjBody`` parent.
-
-- Right-clicking a Unity Collider offers the option to "Add a matching MuJoCo geom" to the same game object.  Note that
-  this does not comprise a complete conversion of the physics -- Rigidbody, ArticulationBody and Joint configurations
-  still need to be recreated manually.
-
-Mouse spring
-____________
-
-When the selected game object has an ``MjBody`` component, spring forces can be applied to this body towards the mouse
-cursor through a control-left-drag action in the Scene view.  The 3D position of the spring force origin is found by
-projecting the mouse position on a plane defined by the camera X direction and the world Y direction.  Adding the shift
-key changes the projection plane to be parallel to the world's X and Z axes.
-
-.. _UTips:
-
-Tips to Unity users
-___________________
-
-- If any compilation or runtime errors are encountered, the state of the system is undefined.  Therefore, we recommend
-  turning on “Error Pause” in the console window.
-- In PhysX, every `Rigidbody` is a “free body”.  In contrast, MuJoCo requires explicit specification of joints for
-  mobility. For convenience, we provide a context menu for “freeing” a world geom (i.e., an ``MjGeom`` component without
-  any ``MjBody`` ancestor) by adding a parent ``MjBody`` and a sibling ``MjFreeJoint``.
-- The plug-in doesn’t support collision detection without physical presence, so there is no built-in notion of trigger
-  colliders.  The presence or absence of a contact force can be read by adding a touch sensor and reading its
-  ``SensorReading`` value (which will correspond to the normal force, see `touch sensor documentation <sensor-touch>`).
-
-.. _UDesign:
-
-Design principles
------------------
-
-The plug-in design provides a one-to-one mapping between MJCF elements and Unity components.  In order to simulate a
-Unity scene (e.g., when the user hits the “play” button in the Editor) using MuJoCo, the plug-in:
-
-1. Scans the GameObject hierarchy in the scene for MuJoCo components.
-2. Creates an MJCF description and passes it to MuJoCo’s compiler.
-3. Binds every component to the MuJoCo runtime via the corresponding index in MuJoCo’s data structures. This index is
-   used for updating Unity’s transforms during simulation.
-
-This design principle has several implications:
-
-- Most fields of the Unity components correspond directly to MJCF attributes. Therefore, the user can refer to the
-  MuJoCo documentation for details on the semantics of different values.
-- The layout of MuJoCo components in the GameObject hierarchy determines the layout of the resulting MuJoCo model.
-  Therefore, we adopt a design rule that **every game object must have at most one MuJoCo component**.
-- We rely on Unity for spatial configuration, which requires vector components to be `swizzled
-  <https://en.wikipedia.org/wiki/Swizzling_(computer_graphics)>`__ since Unity uses left-handed frames with Y as the
-  vertical axis, while MuJoCo uses right-handed frames with Z as the vertical axis.
-- Unity transform scaling affects positions, orientations, and scale of the entire game object subtree.  However, MuJoCo
-  doesn’t support collision of skewed cylinders and capsules (skewed spheres are supported via the ellipsoid primitive).
-  The gizmo for geoms and sites ignores this skew (similarly to PhysX colliders), and will always show the primitive
-  shape as it will appear to the physics.
-- During runtime, changing values of component fields will not trigger scene recreation, so it will have no immediate
-  effect on the physics.  However, the new values will be loaded upon the next scene recreation.
-
-Wherever possible, we do things the Unity Way: gravity is read from Unity’s physics settings, and the simulation step is
-read from Unity’s Time Manager’s `Fixed Timestep`.  All aspects of appearance (e.g., meshes, materials, and textures)
-are handled by Unity’s Asset Manager, and RGBA specifications are done using material assets.
-
-.. _UNotes:
-
-Implementation notes
---------------------
-
-Importer workflow
-_________________
-
-When the user selects an MJCF file, the importer first loads
-the file in MuJoCo, saves it to a temporary location, and then processes the generated saved file.  This has several
-effects:
-
-- It validates the MJCF - we are guaranteed that the saved MJCF matches the :ref:`schema <CSchema>`.
-- It validates the assets (materials, meshes, textures) and imports these assets into Unity, as well as creating new
-  material assets for geom RGBA specification.
-- It allows the importer to handle :ref:`\<include\> <include>` elements without replicating MuJoCo’s file-system
-  workflow.
-
-In Unity, there is no equivalent to MJCF’s “cascading” :ref:`\<default\> <default>` clauses.  Therefore, components in
-Unity reflect the corresponding elements’ state after applying all the relevant default classes, and the class structure
-in the original MJCF is discarded.
-
-The MuJoCo Scene
-________________
-
-When a MuJoCo scene is created, the ``MjScene`` component first scans the scene for all instances of ``MjComponent``.
-Each component creates its own MJCF element using Unity scene’s spatial structure to describe the model’s initial
-reference pose (called ``qpos0`` in MuJoCo).  ``MjScene`` combines these XML elements according to the hierarchy of the
-respective game objects and creates a single MJCF description of the physics model. It then creates the runtime structs
-``mjModel`` and ``mjData``, and binds each component to the runtime by identifying its unique index.
-
-During runtime, ``MjScene.FixedUpdate()`` calls :ref:`mj_step`, and then synchronizes the state of each game object
-according to the index ``MjComponent.MujocoId`` identified at binding time.  An ``MjScene`` component is added
-automatically when the application starts (e.g., when the user hits “play”) if and only if the scene includes any MuJoCo
-components. If your application’s initialization phase involves ticking the physics while adding game objects and
-components, you can call ``MjScene.CreateScene()`` when the initialization phase is over.
-
-Scene recreation maintains continuity of physics and state in the following way:
-
-1. The position and velocity of joints are cached.
-2. MuJoCo’s state is reset (to ``qpos0``) and Unity transforms are synchronized.
-3. A new XML is generated, creating a model that has the same ``qpos0`` as the previous one for the joints that
-   persisted.
-4. The MuJoCo state (for the joints that persisted) is set from the cache, and Unity transforms are synchronized.
-
-MuJoCo has functionality for dynamic scene editing (through :ref:`mjSpec`), however, this is not yet
-supported in the Unity plugin. Therefore, adding and removing MuJoCo components causes complete scene recreation.  This
-can be expensive for large models or if it happens frequently.  We intend to lift this performance limitation to be in a
-future versions of the plugin.
-
-Global Settings
-_______________
-
-An exception to the one-element-per-one-component is the Global Settings component.  This component is responsible for
-all the configuration options that are included in the fixed-size, singleton, global elements of MJCF.  Currently it
-holds information that corresponds to the :ref:`\<option\> <option>` and :ref:`\<size\> <size>` elements, and in the
-future it will also be used for the :ref:`\<compiler\> <compiler>` element, if/when fields there will be relevant to the
-Unity plug-in.
-
-Invoking the importer at application runtime
-____________________________________________
-
-The importer is implemented by the class ``MjImporterWithAssets``, which is a subclass of ``MjcfImporter``.  This parent
-class takes an MJCF string and generates the hierarchy of components.  It can be invoked at play-time (it doesn’t
-involve Editor functionality), and it doesn’t invoke any functions of the MuJoCo library.  This is useful when MuJoCo
-models are generated procedurally (e.g., by some evolutionary process) and/or when an MJCF is imported only to be
-converted (e.g., to PhysX, or URDF).  Since it cannot interact with Unity’s ``AssetManager`` (which is a feature of the
-Editor), this class’s functionality is restricted.  Specifically:
-
-- It ignores all assets (including collision meshes).
-- It ignores visuals (including RGBA specifications).
-
-MuJoCo sensor components
-________________________
-
-MuJoCo defines many sensors, and we were concerned that creating a separate ``MjComponent`` class for each would lead to
-a lot of code duplication.  Therefore, we created classes according to the type of object (actuator / body / geom /
-joint / site) whose properties are measured, and the type (scalar / vector / quaternion) of the measured data.
-
-Here’s a table that maps types to sensors:
-
-+------------------------+---------------+---------------------+
-| **Mujoco Object Type** | **Data Type** | **Sensor Name**     |
-+------------------------+---------------+---------------------+
-| Actuator               | Scalar        | - ``actuatorpos``   |
-|                        |               | - ``actuatorvel``   |
-|                        |               | - ``actuatorfrc``   |
-+------------------------+---------------+---------------------+
-| Body                   | Vector        | - ``subtreecom``    |
-|                        |               | - ``subtreelinvel`` |
-|                        |               | - ``subtreeangmom`` |
-|                        |               | - ``framepos``      |
-|                        |               | - ``framexaxis``    |
-|                        |               | - ``frameyaxis``    |
-|                        |               | - ``framezaxis``    |
-|                        |               | - ``framelinvel``   |
-|                        |               | - ``frameangvel``   |
-|                        |               | - ``framelinacc``   |
-|                        |               | - ``frameangacc``   |
-+------------------------+---------------+---------------------+
-| Body                   | Quaternion    | - ``framequat``     |
-+------------------------+---------------+---------------------+
-| Geom                   | Vector        | - ``framepos``      |
-|                        |               | - ``framexaxis``    |
-|                        |               | - ``frameyaxis``    |
-|                        |               | - ``framezaxis``    |
-|                        |               | - ``framelinvel``   |
-|                        |               | - ``frameangvel``   |
-|                        |               | - ``framelinacc``   |
-|                        |               | - ``frameangacc``   |
-+------------------------+---------------+---------------------+
-| Geom                   | Quaternion    | - ``framequat``     |
-+------------------------+---------------+---------------------+
-| Joint                  | Scalar        | - ``jointpos``      |
-|                        |               | - ``jointvel``      |
-|                        |               | - ``jointlimitpos`` |
-|                        |               | - ``jointlimitvel`` |
-|                        |               | - ``jointlimitfrc`` |
-+------------------------+---------------+---------------------+
-| Site                   | Scalar        | - ``touch``         |
-|                        |               | - ``rangefinder``   |
-+------------------------+---------------+---------------------+
-| Site                   | Vector        | - ``accelerometer`` |
-|                        |               | - ``velocimeter``   |
-|                        |               | - ``force``         |
-|                        |               | - ``torque``        |
-|                        |               | - ``gyro``          |
-|                        |               | - ``magnetometer``  |
-|                        |               | - ``framepos``      |
-|                        |               | - ``framexaxis``    |
-|                        |               | - ``frameyaxis``    |
-|                        |               | - ``framezaxis``    |
-|                        |               | - ``framelinvel``   |
-|                        |               | - ``frameangvel``   |
-|                        |               | - ``framelinacc``   |
-|                        |               | - ``frameangacc``   |
-+------------------------+---------------+---------------------+
-| Site                   | Quaternion    | - ``framequat``     |
-+------------------------+---------------+---------------------+
-
-Here’s the same table in reverse, mapping sensors to classes:
-
-================= ===================================
-Sensor Name       Plugin Class
-================= ===================================
-``accelerometer`` SiteVector
-``actuatorfrc``   ActuatorScalar
-``actuatorpos``   ActuatorScalar
-``actuatorvel``   ActuatorScalar
-``force``         SiteVector
-``frameangacc``   \*Vector (depends on frame type)
-``frameangvel``   \*Vector (depends on frame type)
-``framelinacc``   \*Vector (depends on frame type)
-``framelinvel``   \*Vector (depends on frame type)
-``framepos``      \*Vector (depends on frame type)
-``framequat``     \*Quaternion (depends on frame type)
-``framexaxis``    \*Vector (depends on frame type)
-``frameyaxis``    \*Vector (depends on frame type)
-``framezaxis``    \*Vector (depends on frame type)
-``gyro``          SiteVector
-``jointlimitfrc`` JointScalar
-``jointlimitpos`` JointScalar
-``jointlimitvel`` JointScalar
-``jointpos``      JointScalar
-``jointvel``      JointScalar
-``magnetometer``  SiteVector
-``subtreeangmom`` BodyVector
-``subtreecom``    BodyVector
-``subtreelinvel`` BodyVector
-``torque``        SiteVector
-``touch``         SiteScalar
-``velocimeter``   SiteVector
-================= ===================================
-
-The following sensors are not yet implemented:
-
-| ``tendonpos``
-| ``tendonvel``
-| ``ballquat``
-| ``ballangvel``
-| ``tendonlimitpos``
-| ``tendonlimitvel``
-| ``tendonlimitfrc``
-| ``user``
-
-Mesh Shapes
-___________
-
-The plug-in allows using arbitrary Unity meshes for MuJoCo collision.  At model compilation, MuJoCo calls `qhull
-<http://www.qhull.org/>`__ to create a convex hull of the mesh, and uses that for collisions.  Currently the computed
-convex hull is not visible in Unity, but we intend to expose it in future versions.
-
-Height fields
-_____________
-
-MuJoCo hfields are represented in Unity through terrain gameobjects. This allows the use of the terrain editing tools
-available in Unity to generate shapes for collisions with MuJoCo. When selecting hfield type in the Unity geom
-component, the right click context menu provides utility to add the corresponding Unity terrain to the scene. The data
-from the terrain is dynamically kept in sync with the simulation.
-
-MuJoCo plugins
-______________
-
-The current version of the Unity package does not support loading MJCF scenes that use :ref:`MuJoCo plugins<exPlugin>` such as
-`elasticity <https://github.com/google-deepmind/mujoco/tree/main/plugin/elasticity#readme>`__ . Adding basic functionality to do this will be part of an upcoming release.
-
-Interaction with External Processes
-___________________________________
-
-Roboti’s `MuJoCo plug-in for Unity <https://roboti.us/download.html>`__ steps the simulation in an external Python
-process, and uses Unity only for rendering.  In contrast, our plug-in relies on Unity to step the simulation. It should
-be possible to use our plug-in while an external process "drives" the simulation, for example by setting ``qpos``,
-calling ``mj_kinematics``, synchronizing the transforms, and then using Unity to render or compute game logic. In order
-to establish communication with an external process, you can use Unity's `ML-Agents
-<https://github.com/Unity-Technologies/ml-agents>`__ package.
diff --git a/eslint.config.js b/eslint.config.js
new file mode 100644
index 00000000..9fd38e29
--- /dev/null
+++ b/eslint.config.js
@@ -0,0 +1,6 @@
+import js from '@eslint/js';
+import globals from 'globals';
+import tseslint from 'typescript-eslint';
+import reactHooks from 'eslint-plugin-react-hooks';
+import reactRefresh from 'eslint-plugin-react-refresh';
+export default tseslint.config({ignores:['web-platform-dist','node_modules']},js.configs.recommended,...tseslint.configs.recommended,{files:['web_platform/**/*.{ts,tsx}'],languageOptions:{globals:{...globals.browser,...globals.node}},plugins:{'react-hooks':reactHooks,'react-refresh':reactRefresh},rules:{...reactHooks.configs.recommended.rules,'react-refresh/only-export-components':['warn',{allowConstantExport:true}],'@typescript-eslint/no-explicit-any':'off'}});
diff --git a/include/mujoco/.clang-format b/include/mujoco/.clang-format
deleted file mode 100644
index 8b0b33c2..00000000
--- a/include/mujoco/.clang-format
+++ /dev/null
@@ -1,4 +0,0 @@
----
-# disable clang-format for public headers
-DisableFormat: true
-...
diff --git a/include/mujoco/experimental/usd/layer_sink.h b/include/mujoco/experimental/usd/layer_sink.h
deleted file mode 100644
index 34af9134..00000000
--- a/include/mujoco/experimental/usd/layer_sink.h
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
-#define MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
-
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/usd/common.h>
-
-namespace mujoco {
-namespace usd {
-
-// A sink for writing pose data to an SDF layer.
-// Opinions will be authored on the edit target layer for the
-// passed stage argument.
-class LayerSink {
- public:
-  explicit LayerSink(pxr::UsdStageRefPtr stage);
-  void Update(const mjData* const data, std::vector<pxr::SdfPath> body_paths_);
-
- private:
-  pxr::UsdStageRefPtr stage_;
-};
-}  // namespace usd
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
diff --git a/include/mujoco/experimental/usd/mjcPhysics/actuator.h b/include/mujoco/experimental/usd/mjcPhysics/actuator.h
deleted file mode 100644
index fc3e3fdc..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/actuator.h
+++ /dev/null
@@ -1,874 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_ACTUATOR_H
-#define MJCPHYSICS_GENERATED_ACTUATOR_H
-
-/// \file mjcPhysics/actuator.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCACTUATOR                                                                //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsActuator
-///
-/// Known as actuator in MuJoCo, this prim represents force transmission to
-/// joints, bodies, or sites.
-///
-/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
-/// below that are text/tokens, the actual token is published and defined in
-/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
-/// use MjcPhysicsTokens->rightHanded as the value.
-///
-class MjcPhysicsActuator : public UsdTyped {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
-
-  /// Construct a MjcPhysicsActuator on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsActuator::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsActuator(const UsdPrim& prim = UsdPrim())
-      : UsdTyped(prim) {}
-
-  /// Construct a MjcPhysicsActuator on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsActuator(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsActuator(const UsdSchemaBase& schemaObj)
-      : UsdTyped(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsActuator();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsActuator holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsActuator(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsActuator Get(const UsdStagePtr& stage, const SdfPath& path);
-
-  /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
-  /// is defined (according to UsdPrim::IsDefined()) on this stage.
-  ///
-  /// If a prim adhering to this schema at \p path is already defined on this
-  /// stage, return that prim.  Otherwise author an \a SdfPrimSpec with
-  /// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
-  /// the prim at \p path at the current EditTarget.  Author \a SdfPrimSpec s
-  /// with \p specifier == \a SdfSpecifierDef and empty typeName at the
-  /// current EditTarget for any nonexistent, or existing but not \a Defined
-  /// ancestors.
-  ///
-  /// The given \a path must be an absolute prim path that does not contain
-  /// any variant selections.
-  ///
-  /// If it is impossible to author any of the necessary PrimSpecs, (for
-  /// example, in case \a path cannot map to the current UsdEditTarget's
-  /// namespace) issue an error and return an invalid \a UsdPrim.
-  ///
-  /// Note that this method may return a defined prim whose typeName does not
-  /// specify this schema class, in case a stronger typeName opinion overrides
-  /// the opinion at the current EditTarget.
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsActuator Define(const UsdStagePtr& stage,
-                                   const SdfPath& path);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // GROUP
-  // --------------------------------------------------------------------- //
-  /// Integer MuJoCo group to which the transmission belongs.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:group = 0` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetGroupAttr() const;
-
-  /// See GetGroupAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCCTRLLIMITED
-  // --------------------------------------------------------------------- //
-  /// If true, the control input to this actuator is automatically clamped to
-  /// ctrlrange at runtime. If false, control input clamping is disabled. If
-  /// 'auto' and autolimits is set in compiler, control clamping will
-  /// automatically be set to true if ctrlrange is defined without explicitly
-  /// setting this attribute to 'true'. Note that control input clamping can
-  /// also be globally disabled with the clampctrl attribute of option/flag.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:ctrlLimited = "auto"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcCtrlLimitedAttr() const;
-
-  /// See GetMjcCtrlLimitedAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcCtrlLimitedAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCFORCELIMITED
-  // --------------------------------------------------------------------- //
-  /// If true, the force output of this actuator is automatically clamped to
-  /// forcerange at runtime. If false, force clamping is disabled. If 'auto' and
-  /// autolimits is set in compiler, force clamping will automatically be set to
-  /// true if forcerange is defined without explicitly setting this attribute to
-  /// 'true'.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:forceLimited = "auto"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcForceLimitedAttr() const;
-
-  /// See GetMjcForceLimitedAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcForceLimitedAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACTLIMITED
-  // --------------------------------------------------------------------- //
-  /// If true, the internal state (activation) associated with this actuator is
-  /// automatically clamped to actrange at runtime. If false, activation
-  /// clamping is disabled. If 'auto' and autolimits is set in compiler,
-  /// activation clamping will automatically be set to true if actrange is
-  /// defined without explicitly setting this attribute to 'true'. See the
-  /// Activation clamping section for more details.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:actLimited = "auto"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActLimitedAttr() const;
-
-  /// See GetMjcActLimitedAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActLimitedAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCCTRLRANGEMIN
-  // --------------------------------------------------------------------- //
-  /// Minimum range for clamping the control input. The first value must be
-  /// smaller than the second value. Setting this attribute without specifying
-  /// ctrllimited is an error if autolimits is 'false' in compiler.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:ctrlRange:min = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcCtrlRangeMinAttr() const;
-
-  /// See GetMjcCtrlRangeMinAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcCtrlRangeMinAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCCTRLRANGEMAX
-  // --------------------------------------------------------------------- //
-  /// Maximum range for clamping the control input. The first value must be
-  /// smaller than the second value. Setting this attribute without specifying
-  /// ctrllimited is an error if autolimits is 'false' in compiler.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:ctrlRange:max = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcCtrlRangeMaxAttr() const;
-
-  /// See GetMjcCtrlRangeMaxAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcCtrlRangeMaxAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCFORCERANGEMIN
-  // --------------------------------------------------------------------- //
-  /// Minimum range for clamping the force output. The first value must be no
-  /// greater than the second value. Setting this attribute without specifying
-  /// forcelimited is an error if autolimits is 'false' in compiler.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:forceRange:min = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcForceRangeMinAttr() const;
-
-  /// See GetMjcForceRangeMinAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcForceRangeMinAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCFORCERANGEMAX
-  // --------------------------------------------------------------------- //
-  /// Maximum range for clamping the force output. The first value must be no
-  /// greater than the second value. Setting this attribute without specifying
-  /// forcelimited is an error if autolimits is 'false' in compiler.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:forceRange:max = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcForceRangeMaxAttr() const;
-
-  /// See GetMjcForceRangeMaxAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcForceRangeMaxAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACTRANGEMIN
-  // --------------------------------------------------------------------- //
-  /// Minimum range for clamping the activation state. The first value must be
-  /// no greater than the second value. See the Activation clamping section for
-  /// more details. Setting this attribute without specifying actlimited is an
-  /// error if autolimits is 'false' in compiler.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:actRange:min = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActRangeMinAttr() const;
-
-  /// See GetMjcActRangeMinAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActRangeMinAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACTRANGEMAX
-  // --------------------------------------------------------------------- //
-  /// Maximum range for clamping the activation state. The first value must be
-  /// no greater than the second value. See the Activation clamping section for
-  /// more details. Setting this attribute without specifying actlimited is an
-  /// error if autolimits is 'false' in compiler.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:actRange:max = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActRangeMaxAttr() const;
-
-  /// See GetMjcActRangeMaxAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActRangeMaxAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCLENGTHRANGEMIN
-  // --------------------------------------------------------------------- //
-  /// Minimum range of feasible lengths of the actuator's transmission.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:lengthRange:min = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcLengthRangeMinAttr() const;
-
-  /// See GetMjcLengthRangeMinAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcLengthRangeMinAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCLENGTHRANGEMAX
-  // --------------------------------------------------------------------- //
-  /// Maximum range of feasible lengths of the actuator's transmission.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:lengthRange:max = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcLengthRangeMaxAttr() const;
-
-  /// See GetMjcLengthRangeMaxAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcLengthRangeMaxAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCGEAR
-  // --------------------------------------------------------------------- //
-  /// This attribute scales the length (and consequently moment arms, velocity
-  /// and force) of the actuator, for all transmission types. It is different
-  /// from the gain in the force generation mechanism, because the gain only
-  /// scales the force output and does not affect the length, moment arms and
-  /// velocity. For actuators with scalar transmission, only the first element
-  /// of this vector is used. The remaining elements are needed for joint,
-  /// jointinparent and site transmissions where this attribute is used to
-  /// specify 3D force and torque axes.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcGearAttr() const;
-
-  /// See GetMjcGearAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcGearAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCCRANKLENGTH
-  // --------------------------------------------------------------------- //
-  /// Used only for the slider-crank transmission type. Specifies the length of
-  /// the connecting rod. The compiler expects this value to be positive when a
-  /// slider-crank transmission is present.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:crankLength = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcCrankLengthAttr() const;
-
-  /// See GetMjcCrankLengthAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcCrankLengthAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCJOINTINPARENT
-  // --------------------------------------------------------------------- //
-  /// If true and applied to ball and free joints, the 3d rotation axis given by
-  /// gear is defined in the parent frame (which is the world frame for free
-  /// joints) rather than the child frame.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:jointInParent = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcJointInParentAttr() const;
-
-  /// See GetMjcJointInParentAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcJointInParentAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACTDIM
-  // --------------------------------------------------------------------- //
-  /// Dimension of the activation state. The default value of -1 instructs the
-  /// compiler to set the dimension according to the dyntype. Values larger than
-  /// 1 are only allowed for user-defined activation dynamics, as native types
-  /// require dimensions of only 0 or 1. For activation dimensions bigger than
-  /// 1, the last element is used to generate force.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:actDim = -1` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActDimAttr() const;
-
-  /// See GetMjcActDimAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActDimAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCDYNTYPE
-  // --------------------------------------------------------------------- //
-  /// Activation dynamics type for the actuator. The available dynamics types
-  /// were already described in the Actuation model section.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:dynType = "none"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | none, integrator, filter,
-  /// filterexact, muscle, user |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcDynTypeAttr() const;
-
-  /// See GetMjcDynTypeAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcDynTypeAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCGAINTYPE
-  // --------------------------------------------------------------------- //
-  /// The gain and bias together determine the output of the force generation
-  /// mechanism, which is currently assumed to be affine.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:gainType = "fixed"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | fixed, affine, muscle, user |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcGainTypeAttr() const;
-
-  /// See GetMjcGainTypeAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcGainTypeAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCBIASTYPE
-  // --------------------------------------------------------------------- //
-  /// The gain and bias together determine the output of the force generation
-  /// mechanism, which is currently assumed to be affine.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:biasType = "none"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | none, affine, muscle, user |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcBiasTypeAttr() const;
-
-  /// See GetMjcBiasTypeAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcBiasTypeAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCDYNPRM
-  // --------------------------------------------------------------------- //
-  /// Activation dynamics parameters. The built-in activation types (except for
-  /// muscle) use only the first parameter, but we provide additional parameters
-  /// in case user callbacks implement a more elaborate model. The length of
-  /// this array is not enforced by the parser, so the user can enter as many
-  /// parameters as needed. These defaults are not compatible with muscle
-  /// actuators.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0,
-  /// 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
-  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcDynPrmAttr() const;
-
-  /// See GetMjcDynPrmAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcDynPrmAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCGAINPRM
-  // --------------------------------------------------------------------- //
-  /// Gain parameters. The built-in gain types (except for muscle) use only the
-  /// first parameter, but we provide additional parameters in case user
-  /// callbacks implement a more elaborate model. The length of this array is
-  /// not enforced by the parser, so the user can enter as many parameters as
-  /// needed. These defaults are not compatible with muscle actuators.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0,
-  /// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
-  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcGainPrmAttr() const;
-
-  /// See GetMjcGainPrmAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcGainPrmAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCBIASPRM
-  // --------------------------------------------------------------------- //
-  /// Bias parameters. The affine bias type uses three parameters. The length of
-  /// this array is not enforced by the parser, so the user can enter as many
-  /// parameters as needed. These defaults are not compatible with muscle
-  /// actuators.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0,
-  /// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
-  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcBiasPrmAttr() const;
-
-  /// See GetMjcBiasPrmAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcBiasPrmAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACTEARLY
-  // --------------------------------------------------------------------- //
-  /// If true, force computation will use the next value of the activation
-  /// variable rather than the current one. Setting this flag reduces the delay
-  /// between the control and accelerations by one time-step.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:actEarly = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActEarlyAttr() const;
-
-  /// See GetMjcActEarlyAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActEarlyAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCINHERITRANGE
-  // --------------------------------------------------------------------- //
-  /// Automatically set the actuator’s ctrlrange to match the transmission
-  /// target’s range. The default value means disabled. A positive value X sets
-  /// the ctrlrange around the midpoint of the target range, scaled by X. For
-  /// example if the target joint has range of [0, 1], then a value of 1.0 will
-  /// set ctrlrange to [0, 1]; values of 0.8 and 1.2 will set the ctrlrange to
-  /// [0.1, 0.9] and [-0.1, 1.1], respectively. Values smaller than 1 are useful
-  /// for not hitting the limits; values larger than 1 are useful for
-  /// maintaining control authority at the limits (being able to push on them).
-  /// This attribute is exclusive with ctrlrange and available only for joint
-  /// and tendon transmissions which have range defined.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:inheritRange = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcInheritRangeAttr() const;
-
-  /// See GetMjcInheritRangeAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcInheritRangeAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCTARGET
-  // --------------------------------------------------------------------- //
-  /// Actuator transmission target.
-  ///
-  MJCPHYSICS_API
-  UsdRelationship GetMjcTargetRel() const;
-
-  /// See GetMjcTargetRel(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
-  MJCPHYSICS_API
-  UsdRelationship CreateMjcTargetRel() const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCREFSITE
-  // --------------------------------------------------------------------- //
-  /// When applied to a site, measure the translation and rotation w.r.t the
-  /// frame of the refsite. In this case the actuator does have length and
-  /// position actuators can be used to directly control an end effector, see
-  /// refsite.xml example model. As above, the length is the dot product of the
-  /// gear vector and the frame difference. So gear='0 1 0 0 0 0' means
-  /// 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means
-  /// rotation 'Z- rotation of site in the refsite frame'. It is recommended to
-  /// use a normalized gear vector with nonzeros in only the first 3 or the last
-  /// 3 elements of gear, so the actuator length will be in either length units
-  /// or radians, respectively. As with ball joints (see joint above), for
-  /// rotations which exceed a total angle of pi will wrap around, so tighter
-  /// limits are recommended.
-  ///
-  MJCPHYSICS_API
-  UsdRelationship GetMjcRefSiteRel() const;
-
-  /// See GetMjcRefSiteRel(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
-  MJCPHYSICS_API
-  UsdRelationship CreateMjcRefSiteRel() const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSLIDERSITE
-  // --------------------------------------------------------------------- //
-  /// Used only for the slider-crank transmission type. The target site is the
-  /// pin joining the slider and the connecting rod. The slider moves along the
-  /// z-axis of the slidersite frame. Therefore the site should be oriented as
-  /// needed when it is defined in the kinematic tree; its orientation cannot be
-  /// changed in the actuator definition.
-  ///
-  MJCPHYSICS_API
-  UsdRelationship GetMjcSliderSiteRel() const;
-
-  /// See GetMjcSliderSiteRel(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
-  MJCPHYSICS_API
-  UsdRelationship CreateMjcSliderSiteRel() const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/api.h b/include/mujoco/experimental/usd/mjcPhysics/api.h
deleted file mode 100644
index 79cbbded..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/api.h
+++ /dev/null
@@ -1,44 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_API_H
-#define MJCPHYSICS_API_H
-
-#include <pxr/base/arch/export.h>
-
-#if defined(PXR_STATIC)
-#define MJCPHYSICS_API
-#define MJCPHYSICS_API_TEMPLATE_CLASS(...)
-#define MJCPHYSICS_API_TEMPLATE_STRUCT(...)
-#define MJCPHYSICS_LOCAL
-#else
-#if defined(MJCPHYSICS_EXPORTS)
-#define MJCPHYSICS_API ARCH_EXPORT
-#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
-  ARCH_EXPORT_TEMPLATE(class, __VA_ARGS__)
-#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
-  ARCH_EXPORT_TEMPLATE(struct, __VA_ARGS__)
-#else
-#define MJCPHYSICS_API ARCH_IMPORT
-#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
-  ARCH_IMPORT_TEMPLATE(class, __VA_ARGS__)
-#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
-  ARCH_IMPORT_TEMPLATE(struct, __VA_ARGS__)
-#endif
-#define MJCPHYSICS_LOCAL ARCH_HIDDEN
-#endif
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h b/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
deleted file mode 100644
index 01fd01a1..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
+++ /dev/null
@@ -1,393 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_COLLISIONAPI_H
-#define MJCPHYSICS_GENERATED_COLLISIONAPI_H
-
-/// \file mjcPhysics/collisionAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCCOLLISIONAPI                                                            //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsCollisionAPI
-///
-/// API describing a MuJoCo collider.
-///
-class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsCollisionAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsCollisionAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsCollisionAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsCollisionAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsCollisionAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsCollisionAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsCollisionAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsCollisionAPI Get(const UsdStagePtr& stage,
-                                    const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcCollisionAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsCollisionAPI object is returned upon success.
-  /// An invalid (or empty) MjcPhysicsCollisionAPI object is returned upon
-  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsCollisionAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // GROUP
-  // --------------------------------------------------------------------- //
-  /// Integer MuJoCo group to which the collider belongs.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:group = 0` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetGroupAttr() const;
-
-  /// See GetGroupAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SHELLINERTIA
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use NewtonMassAPI's newton:massModel = "shell" instead.
-  ///
-  /// Enables handling of the inertia assuming mass is concentrated on the
-  /// surface.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:shellinertia = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetShellInertiaAttr() const;
-
-  /// See GetShellInertiaAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateShellInertiaAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // PRIORITY
-  // --------------------------------------------------------------------- //
-  /// Priority determining how the properties of two colliders are combined to
-  /// form the properties of the contact.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:priority = 0` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetPriorityAttr() const;
-
-  /// See GetPriorityAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreatePriorityAttr(VtValue const& defaultValue = VtValue(),
-                                  bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // CONDIM
-  // --------------------------------------------------------------------- //
-  /// The dimensionality of the contact space for a dynamically generated
-  /// contact pair is set to the maximum of the condim values of the two
-  /// participating geoms.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:condim = 3` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetConDimAttr() const;
-
-  /// See GetConDimAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateConDimAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLMIX
-  // --------------------------------------------------------------------- //
-  /// Specifies the weight used for averaging of contact parameters, and
-  /// interacts with the priority attribute.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:solmix = 1` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolMixAttr() const;
-
-  /// See GetSolMixAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolMixAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLREF
-  // --------------------------------------------------------------------- //
-  /// Specifies the weight used for averaging of contact parameters, and
-  /// interacts with the priority attribute.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solref = [0.02, 1]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolRefAttr() const;
-
-  /// See GetSolRefAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolRefAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLIMP
-  // --------------------------------------------------------------------- //
-  /// Specifies the weight used for averaging of contact parameters, and
-  /// interacts with the priority attribute.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2]`
-  /// | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
-  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolImpAttr() const;
-
-  /// See GetSolImpAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolImpAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MARGIN
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:contactMargin and newton:contactGap instead.
-  ///
-  /// Geometric inflation of the geom surface for the purpose of contact force
-  /// generation.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:margin = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMarginAttr() const;
-
-  /// See GetMarginAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMarginAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // GAP
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:contactGap instead.
-  ///
-  /// Additional contact detection buffer beyond margin. Contacts are detected
-  /// at distance margin + gap but forces are only generated at distance margin.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:gap = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetGapAttr() const;
-
-  /// See GetGapAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateGapAttr(VtValue const& defaultValue = VtValue(),
-                             bool writeSparsely = false) const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/equalityAPI.h b/include/mujoco/experimental/usd/mjcPhysics/equalityAPI.h
deleted file mode 100644
index 581bd91f..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/equalityAPI.h
+++ /dev/null
@@ -1,224 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_EQUALITYAPI_H
-#define MJCPHYSICS_GENERATED_EQUALITYAPI_H
-
-/// \file mjcPhysics/equalityAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCEQUALITYAPI                                                             //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsEqualityAPI
-///
-/// Base API for equality constraints.
-///
-class MjcPhysicsEqualityAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsEqualityAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsEqualityAPI::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsEqualityAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsEqualityAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsEqualityAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsEqualityAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsEqualityAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsEqualityAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsEqualityAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsEqualityAPI Get(const UsdStagePtr& stage,
-                                   const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcEqualityAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsEqualityAPI object is returned upon success.
-  /// An invalid (or empty) MjcPhysicsEqualityAPI object is returned upon
-  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsEqualityAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLREF
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameter for equality constraint simulation.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solref = [0.02, 1]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolRefAttr() const;
-
-  /// See GetSolRefAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolRefAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLIMP
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameter for equality constraint simulation.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2]`
-  /// | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
-  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolImpAttr() const;
-
-  /// See GetSolImpAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolImpAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCTARGET
-  // --------------------------------------------------------------------- //
-  /// Secondary target of the equality constraint.
-  ///
-  MJCPHYSICS_API
-  UsdRelationship GetMjcTargetRel() const;
-
-  /// See GetMjcTargetRel(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
-  MJCPHYSICS_API
-  UsdRelationship CreateMjcTargetRel() const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h b/include/mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h
deleted file mode 100644
index 2143f1f2..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h
+++ /dev/null
@@ -1,163 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_EQUALITYCONNECTAPI_H
-#define MJCPHYSICS_GENERATED_EQUALITYCONNECTAPI_H
-
-/// \file mjcPhysics/equalityConnectAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCEQUALITYCONNECTAPI                                                      //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsEqualityConnectAPI
-///
-/// API providing extension attributes to represent equality/connect
-/// constraints.
-///
-class MjcPhysicsEqualityConnectAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsEqualityConnectAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsEqualityConnectAPI::Get(prim.GetStage(),
-  /// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
-  /// error for an invalid \p prim
-  explicit MjcPhysicsEqualityConnectAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsEqualityConnectAPI on the prim held by \p schemaObj
-  /// . Should be preferred over
-  /// MjcPhysicsEqualityConnectAPI(schemaObj.GetPrim()), as it preserves
-  /// SchemaBase state.
-  explicit MjcPhysicsEqualityConnectAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsEqualityConnectAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsEqualityConnectAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsEqualityConnectAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsEqualityConnectAPI Get(const UsdStagePtr& stage,
-                                          const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcEqualityConnectAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsEqualityConnectAPI object is returned upon
-  /// success. An invalid (or empty) MjcPhysicsEqualityConnectAPI object is
-  /// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsEqualityConnectAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/equalityJointAPI.h b/include/mujoco/experimental/usd/mjcPhysics/equalityJointAPI.h
deleted file mode 100644
index 16e13037..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/equalityJointAPI.h
+++ /dev/null
@@ -1,365 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_EQUALITYJOINTAPI_H
-#define MJCPHYSICS_GENERATED_EQUALITYJOINTAPI_H
-
-/// \file mjcPhysics/equalityJointAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCEQUALITYJOINTAPI                                                        //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsEqualityJointAPI
-///
-/// API providing extension attributes to represent equality/joint constraints.
-///
-/// This API is applied to a joint prim which acts as the follower (joint0). The
-/// leader joint (joint1) is specified via the newton:mimicJoint relationship
-/// inherited from NewtonMimicAPI.
-///
-/// The follower's position or angle is constrained to be a quartic polynomial
-/// of the leader's position or angle: joint0 = coef0 + coef1*(joint1) +
-/// coef2*(joint1)^2 + coef3*(joint1)^3 + coef4*(joint1)^4
-///
-/// The constant (coef0) and linear (coef1) coefficients are provided by
-/// NewtonMimicAPI as newton:mimicCoef0 and newton:mimicCoef1. The higher-order
-/// coefficients (coef2-coef4) are provided by this API.
-///
-/// Only scalar joint types (slide and hinge) can be used.
-///
-class MjcPhysicsEqualityJointAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsEqualityJointAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsEqualityJointAPI::Get(prim.GetStage(),
-  /// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
-  /// error for an invalid \p prim
-  explicit MjcPhysicsEqualityJointAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsEqualityJointAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsEqualityJointAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsEqualityJointAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsEqualityJointAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsEqualityJointAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsEqualityJointAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsEqualityJointAPI Get(const UsdStagePtr& stage,
-                                        const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcEqualityJointAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsEqualityJointAPI object is returned upon
-  /// success. An invalid (or empty) MjcPhysicsEqualityJointAPI object is
-  /// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsEqualityJointAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLIMP
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameter for equality constraint simulation.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2]`
-  /// | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
-  /// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolImpAttr() const;
-
-  /// See GetSolImpAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolImpAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLREF
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameter for equality constraint simulation.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solref = [0.02, 1]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolRefAttr() const;
-
-  /// See GetSolRefAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolRefAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // COEF0
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:mimicCoef0 instead.
-  ///
-  /// Constant coefficient a0 of the quartic polynomial. The constraint is:
-  /// y = y0 + a0 + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:coef0 = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetCoef0Attr() const;
-
-  /// See GetCoef0Attr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateCoef0Attr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // COEF1
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:mimicCoef1 instead.
-  ///
-  /// Linear coefficient a1 of the quartic polynomial.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:coef1 = 1` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetCoef1Attr() const;
-
-  /// See GetCoef1Attr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateCoef1Attr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // COEF2
-  // --------------------------------------------------------------------- //
-  /// Quadratic coefficient a2 of the quartic polynomial.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:coef2 = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetCoef2Attr() const;
-
-  /// See GetCoef2Attr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateCoef2Attr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // COEF3
-  // --------------------------------------------------------------------- //
-  /// Cubic coefficient a3 of the quartic polynomial.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:coef3 = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetCoef3Attr() const;
-
-  /// See GetCoef3Attr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateCoef3Attr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // COEF4
-  // --------------------------------------------------------------------- //
-  /// Quartic coefficient a4 of the quartic polynomial.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:coef4 = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetCoef4Attr() const;
-
-  /// See GetCoef4Attr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateCoef4Attr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCTARGET
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:mimicJoint instead.
-  ///
-  /// Secondary target of the equality constraint (the leader/reference joint).
-  ///
-  MJCPHYSICS_API
-  UsdRelationship GetMjcTargetRel() const;
-
-  /// See GetMjcTargetRel(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
-  MJCPHYSICS_API
-  UsdRelationship CreateMjcTargetRel() const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h b/include/mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h
deleted file mode 100644
index 3839dbb6..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h
+++ /dev/null
@@ -1,189 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_EQUALITYWELDAPI_H
-#define MJCPHYSICS_GENERATED_EQUALITYWELDAPI_H
-
-/// \file mjcPhysics/equalityWeldAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCEQUALITYWELDAPI                                                         //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsEqualityWeldAPI
-///
-/// API providing extension attributes to represent equality/weld constraints.
-///
-class MjcPhysicsEqualityWeldAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsEqualityWeldAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsEqualityWeldAPI::Get(prim.GetStage(),
-  /// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
-  /// error for an invalid \p prim
-  explicit MjcPhysicsEqualityWeldAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsEqualityWeldAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsEqualityWeldAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsEqualityWeldAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsEqualityWeldAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsEqualityWeldAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsEqualityWeldAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsEqualityWeldAPI Get(const UsdStagePtr& stage,
-                                       const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcEqualityWeldAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsEqualityWeldAPI object is returned upon success.
-  /// An invalid (or empty) MjcPhysicsEqualityWeldAPI object is returned upon
-  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsEqualityWeldAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // TORQUESCALE
-  // --------------------------------------------------------------------- //
-  /// A constant that scales the angular residual (angular constraint
-  /// violation). Notionally in units of torque/force = length. Intuitively this
-  /// coefficient defines how much the weld “cares” about rotational
-  /// displacements vs. translational displacements.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform float mjc:torqueScale = 1` |
-  /// | C++ Type | float |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Float |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetTorqueScaleAttr() const;
-
-  /// See GetTorqueScaleAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateTorqueScaleAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/imageableAPI.h b/include/mujoco/experimental/usd/mjcPhysics/imageableAPI.h
deleted file mode 100644
index ec578d9c..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/imageableAPI.h
+++ /dev/null
@@ -1,186 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_IMAGEABLEAPI_H
-#define MJCPHYSICS_GENERATED_IMAGEABLEAPI_H
-
-/// \file mjcPhysics/imageableAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCIMAGEABLEAPI                                                            //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsImageableAPI
-///
-/// API describing attributes for visual entities in MuJoCo.
-///
-class MjcPhysicsImageableAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsImageableAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsImageableAPI::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsImageableAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsImageableAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsImageableAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsImageableAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsImageableAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsImageableAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsImageableAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsImageableAPI Get(const UsdStagePtr& stage,
-                                    const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcImageableAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsImageableAPI object is returned upon success.
-  /// An invalid (or empty) MjcPhysicsImageableAPI object is returned upon
-  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsImageableAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // GROUP
-  // --------------------------------------------------------------------- //
-  /// Integer MuJoCo group to which the imageable belongs.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:group = 0` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetGroupAttr() const;
-
-  /// See GetGroupAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/jointAPI.h b/include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
deleted file mode 100644
index 7c3b17fd..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
+++ /dev/null
@@ -1,654 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_JOINTAPI_H
-#define MJCPHYSICS_GENERATED_JOINTAPI_H
-
-/// \file mjcPhysics/jointAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCJOINTAPI                                                                //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsJointAPI
-///
-/// API describing a MuJoCo joint.
-///
-/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
-/// below that are text/tokens, the actual token is published and defined in
-/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
-/// use MjcPhysicsTokens->rightHanded as the value.
-///
-class MjcPhysicsJointAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsJointAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsJointAPI::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsJointAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsJointAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsJointAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsJointAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsJointAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsJointAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsJointAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsJointAPI Get(const UsdStagePtr& stage, const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcJointAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsJointAPI object is returned upon success.
-  /// An invalid (or empty) MjcPhysicsJointAPI object is returned upon
-  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsJointAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // GROUP
-  // --------------------------------------------------------------------- //
-  /// Integer MuJoCo group to which the joint belongs.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:group = 0` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetGroupAttr() const;
-
-  /// See GetGroupAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSPRINGDAMPER
-  // --------------------------------------------------------------------- //
-  /// When both numbers are positive, the compiler will override any stiffness
-  /// and damping values specified with the attributes below, and will instead
-  /// set them automatically so that the resulting mass-spring-damper for this
-  /// joint has the desired time constant (first value) and damping ratio
-  /// (second value). This is done by taking into account the joint inertia in
-  /// the model reference configuration. Note that the format is the same as the
-  /// solref parameter of the constraint solver.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:springdamper = [0, 0]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcSpringdamperAttr() const;
-
-  /// See GetMjcSpringdamperAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcSpringdamperAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSOLREFLIMIT
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameters for simulating joint limits.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solreflimit = [0.02, 1]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcSolreflimitAttr() const;
-
-  /// See GetMjcSolreflimitAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcSolreflimitAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSOLIMPLIMIT
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameters for simulating joint limits.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001,
-  /// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
-  /// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcSolimplimitAttr() const;
-
-  /// See GetMjcSolimplimitAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcSolimplimitAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSOLREFFRICTION
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameters for simulating dry friction.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solreffriction = [0.02, 1]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcSolreffrictionAttr() const;
-
-  /// See GetMjcSolreffrictionAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcSolreffrictionAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSOLIMPFRICTION
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameters for simulating dry friction.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001,
-  /// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
-  /// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcSolimpfrictionAttr() const;
-
-  /// See GetMjcSolimpfrictionAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcSolimpfrictionAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSTIFFNESS
-  // --------------------------------------------------------------------- //
-  /// Joint stiffness. If this value is positive, a spring will be created with
-  /// equilibrium position given by springref below. The spring force is
-  /// computed along with the other passive forces.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:stiffness = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcStiffnessAttr() const;
-
-  /// See GetMjcStiffnessAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcStiffnessAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACTUATORFRCRANGEMIN
-  // --------------------------------------------------------------------- //
-  /// Minimum range for clamping total actuator forces acting on this joint. See
-  /// Force limits for details. It is available only for scalar joints (hinge
-  /// and slider) and ignored for ball and free joints. The compiler expects the
-  /// first value to be smaller than the second value. Setting this attribute
-  /// without specifying actuatorfrclimited is an error if compiler-autolimits
-  /// is 'false'.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:actuatorfrcrange:min = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActuatorfrcrangeMinAttr() const;
-
-  /// See GetMjcActuatorfrcrangeMinAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActuatorfrcrangeMinAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACTUATORFRCRANGEMAX
-  // --------------------------------------------------------------------- //
-  /// Maximum range for clamping total actuator forces acting on this joint. See
-  /// Force limits for details. It is available only for scalar joints (hinge
-  /// and slider) and ignored for ball and free joints. The compiler expects the
-  /// first value to be smaller than the second value. Setting this attribute
-  /// without specifying actuatorfrclimited is an error if compiler-autolimits
-  /// is 'false'.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:actuatorfrcrange:max = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActuatorfrcrangeMaxAttr() const;
-
-  /// See GetMjcActuatorfrcrangeMaxAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActuatorfrcrangeMaxAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACTUATORFRCLIMITED
-  // --------------------------------------------------------------------- //
-  /// This attribute specifies whether actuator forces acting on the joint
-  /// should be clamped. See Force limits for details. It is available only for
-  /// scalar joints (hinge and slider) and ignored for ball and free joints.
-  /// This attribute interacts with the actuatorfrcrange attribute. If this
-  /// attribute is 'false', actuator force clamping is disabled. If it is
-  /// 'true', actuator force clamping is enabled. If this attribute is 'auto',
-  /// and autolimits is set in compiler, actuator force clamping will be enabled
-  /// if actuatorfrcrange is defined.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:actuatorfrclimited = "auto"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActuatorfrclimitedAttr() const;
-
-  /// See GetMjcActuatorfrclimitedAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActuatorfrclimitedAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACTUATORGRAVCOMP
-  // --------------------------------------------------------------------- //
-  /// If this flag is enabled, gravity compensation applied to this joint is
-  /// added to actuator forces (mjData.qfrc_actuator) rather than passive forces
-  /// (mjData.qfrc_passive). Notionally, this means that gravity compensation is
-  /// the result of a control system rather than natural buoyancy. In practice,
-  /// enabling this flag is useful when joint-level actuator force clamping is
-  /// used. In this case, the total actuation force applied on a joint,
-  /// including gravity compensation, is guaranteed to not exceed the specified
-  /// limits. See Force limits and actuatorfrcrange for more details on this
-  /// type of force limit.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:actuatorgravcomp = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActuatorgravcompAttr() const;
-
-  /// See GetMjcActuatorgravcompAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActuatorgravcompAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCMARGIN
-  // --------------------------------------------------------------------- //
-  /// The distance threshold below which limits become active. Recall that the
-  /// Constraint solver normally generates forces as soon as a constraint
-  /// becomes active, even if the margin parameter makes that happen at a
-  /// distance. This attribute together with solreflimit and solimplimit can be
-  /// used to model a soft joint limit.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:margin = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcMarginAttr() const;
-
-  /// See GetMjcMarginAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcMarginAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCREF
-  // --------------------------------------------------------------------- //
-  /// The reference position or angle of the joint. This attribute is only used
-  /// for slide and hinge joints. It defines the joint value corresponding to
-  /// the initial model configuration. The amount of spatial transformation that
-  /// the joint applies at runtime equals the current joint value stored in
-  /// mjData.qpos minus this reference value stored in mjModel.qpos0. The
-  /// meaning of these vectors was discussed in the Stand-alone section in the
-  /// Overview chapter.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:ref = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcRefAttr() const;
-
-  /// See GetMjcRefAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcRefAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSPRINGREF
-  // --------------------------------------------------------------------- //
-  /// The joint position or angle in which the joint spring (if any) achieves
-  /// equilibrium. Similar to the vector mjModel.qpos0 which stores all joint
-  /// reference values specified with the ref attribute above, all spring
-  /// reference values specified with this attribute are stored in the vector
-  /// mjModel.qpos_spring. The model configuration corresponding to
-  /// mjModel.qpos_spring is also used to compute the spring reference lengths
-  /// of all tendons, stored in mjModel.tendon_lengthspring. This is because
-  /// tendons can also have springs.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:springref = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcSpringrefAttr() const;
-
-  /// See GetMjcSpringrefAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcSpringrefAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCARMATURE
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:armature instead.
-  ///
-  /// Additional inertia associated with movement of the joint that is not due
-  /// to body mass. This added inertia is usually due to a rotor (a.k.a
-  /// armature) spinning faster than the joint itself due to a geared
-  /// transmission. The value applies to all degrees of freedom created by this
-  /// joint. Besides increasing the realism of joints with geared transmission,
-  /// positive armature significantly improves simulation stability, even for
-  /// small values, and is a recommended possible fix when encountering
-  /// stability issues.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:armature = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcArmatureAttr() const;
-
-  /// See GetMjcArmatureAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcArmatureAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCDAMPING
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:damping instead.
-  ///
-  /// Damping applied to all degrees of freedom created by this joint. Unlike
-  /// friction loss which is computed by the constraint solver, damping is
-  /// simply a force linear in velocity. It is included in the passive forces.
-  /// Despite this simplicity, larger damping values can make numerical
-  /// integrators unstable, which is why our Euler integrator handles damping
-  /// implicitly. See Integration in the Computation chapter.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:damping = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcDampingAttr() const;
-
-  /// See GetMjcDampingAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcDampingAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCFRICTIONLOSS
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:friction instead.
-  ///
-  /// Friction loss due to dry friction. This value is the same for all degrees
-  /// of freedom created by this joint. Semantically friction loss does not make
-  /// sense for free joints, but the compiler allows it. To enable friction
-  /// loss, set this attribute to a positive value.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:frictionloss = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcFrictionlossAttr() const;
-
-  /// See GetMjcFrictionlossAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcFrictionlossAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/keyframe.h b/include/mujoco/experimental/usd/mjcPhysics/keyframe.h
deleted file mode 100644
index 572f26a5..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/keyframe.h
+++ /dev/null
@@ -1,294 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_KEYFRAME_H
-#define MJCPHYSICS_GENERATED_KEYFRAME_H
-
-/// \file mjcPhysics/keyframe.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCKEYFRAME                                                                //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsKeyframe
-///
-/// Represents time independent keyframe values.
-///
-class MjcPhysicsKeyframe : public UsdTyped {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
-
-  /// Construct a MjcPhysicsKeyframe on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsKeyframe::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsKeyframe(const UsdPrim& prim = UsdPrim())
-      : UsdTyped(prim) {}
-
-  /// Construct a MjcPhysicsKeyframe on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsKeyframe(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsKeyframe(const UsdSchemaBase& schemaObj)
-      : UsdTyped(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsKeyframe();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsKeyframe holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsKeyframe(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsKeyframe Get(const UsdStagePtr& stage, const SdfPath& path);
-
-  /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
-  /// is defined (according to UsdPrim::IsDefined()) on this stage.
-  ///
-  /// If a prim adhering to this schema at \p path is already defined on this
-  /// stage, return that prim.  Otherwise author an \a SdfPrimSpec with
-  /// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
-  /// the prim at \p path at the current EditTarget.  Author \a SdfPrimSpec s
-  /// with \p specifier == \a SdfSpecifierDef and empty typeName at the
-  /// current EditTarget for any nonexistent, or existing but not \a Defined
-  /// ancestors.
-  ///
-  /// The given \a path must be an absolute prim path that does not contain
-  /// any variant selections.
-  ///
-  /// If it is impossible to author any of the necessary PrimSpecs, (for
-  /// example, in case \a path cannot map to the current UsdEditTarget's
-  /// namespace) issue an error and return an invalid \a UsdPrim.
-  ///
-  /// Note that this method may return a defined prim whose typeName does not
-  /// specify this schema class, in case a stronger typeName opinion overrides
-  /// the opinion at the current EditTarget.
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsKeyframe Define(const UsdStagePtr& stage,
-                                   const SdfPath& path);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCQPOS
-  // --------------------------------------------------------------------- //
-  /// Vector of joint positions, copied into mjData.qpos when the simulation
-  /// state is set to this keyframe.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `double[] mjc:qpos` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcQposAttr() const;
-
-  /// See GetMjcQposAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcQposAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCQVEL
-  // --------------------------------------------------------------------- //
-  /// Vector of joint velocities, copied into mjData.qvel when the simulation
-  /// state is set to this keyframe.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `double[] mjc:qvel` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcQvelAttr() const;
-
-  /// See GetMjcQvelAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcQvelAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCACT
-  // --------------------------------------------------------------------- //
-  /// Vector of actuator activations, copied into mjData.act when the simulation
-  /// state is set to this keyframe.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `double[] mjc:act` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcActAttr() const;
-
-  /// See GetMjcActAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcActAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCCTRL
-  // --------------------------------------------------------------------- //
-  /// Vector of controls, copied into mjData.ctrl when the simulation state is
-  /// set to this keyframe.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `double[] mjc:ctrl` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcCtrlAttr() const;
-
-  /// See GetMjcCtrlAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcCtrlAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCMPOS
-  // --------------------------------------------------------------------- //
-  /// Vector of mocap body positions, copied into mjData.mocap_pos when the
-  /// simulation state is set to this keyframe.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `double[] mjc:mpos` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcMposAttr() const;
-
-  /// See GetMjcMposAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcMposAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCMQUAT
-  // --------------------------------------------------------------------- //
-  /// Vector of mocap body quaternions, copied into mjData.mocap_quat when the
-  /// simulation state is set to this keyframe.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `double[] mjc:mquat` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcMquatAttr() const;
-
-  /// See GetMjcMquatAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcMquatAttr(VtValue const& defaultValue = VtValue(),
-                                  bool writeSparsely = false) const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/materialAPI.h b/include/mujoco/experimental/usd/mjcPhysics/materialAPI.h
deleted file mode 100644
index cc38b7d4..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/materialAPI.h
+++ /dev/null
@@ -1,219 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_MATERIALAPI_H
-#define MJCPHYSICS_GENERATED_MATERIALAPI_H
-
-/// \file mjcPhysics/materialAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCMATERIALAPI                                                             //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsMaterialAPI
-///
-/// DEPRECATED: Use NewtonMaterialAPI instead. All attributes on this API have
-/// been superseded by Newton equivalents.
-///
-/// API providing extension attributes to represent physical MuJoCo materials.
-///
-class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsMaterialAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsMaterialAPI::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsMaterialAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsMaterialAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsMaterialAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsMaterialAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsMaterialAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsMaterialAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsMaterialAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsMaterialAPI Get(const UsdStagePtr& stage,
-                                   const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcMaterialAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsMaterialAPI object is returned upon success.
-  /// An invalid (or empty) MjcPhysicsMaterialAPI object is returned upon
-  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsMaterialAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // TORSIONALFRICTION
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:torsionalFriction instead.
-  ///
-  /// Friction value acting around contact normal.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:torsionalfriction = 0.005` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetTorsionalFrictionAttr() const;
-
-  /// See GetTorsionalFrictionAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateTorsionalFrictionAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ROLLINGFRICTION
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:rollingFriction instead.
-  ///
-  /// Friction value acting around both axes on the contact tangent plane.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:rollingfriction = 0.0001` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetRollingFrictionAttr() const;
-
-  /// See GetRollingFrictionAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateRollingFrictionAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h b/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
deleted file mode 100644
index 39e77e3b..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
+++ /dev/null
@@ -1,223 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
-#define MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
-
-/// \file mjcPhysics/meshCollisionAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCMESHCOLLISIONAPI                                                        //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsMeshCollisionAPI
-///
-/// API describing a MuJoCo mesh collider.
-///
-/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
-/// below that are text/tokens, the actual token is published and defined in
-/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
-/// use MjcPhysicsTokens->rightHanded as the value.
-///
-class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsMeshCollisionAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsMeshCollisionAPI::Get(prim.GetStage(),
-  /// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
-  /// error for an invalid \p prim
-  explicit MjcPhysicsMeshCollisionAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsMeshCollisionAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsMeshCollisionAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsMeshCollisionAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsMeshCollisionAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsMeshCollisionAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsMeshCollisionAPI Get(const UsdStagePtr& stage,
-                                        const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcMeshCollisionAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsMeshCollisionAPI object is returned upon
-  /// success. An invalid (or empty) MjcPhysicsMeshCollisionAPI object is
-  /// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsMeshCollisionAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // INERTIA
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use NewtonMassAPI's newton:massModel or UsdPhysics's
-  /// physics:approximation instead.
-  ///
-  /// Controls how a mesh is used when mass and inertia are inferred from
-  /// geometry.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:inertia = "legacy"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | legacy, convex, exact, shell |
-  MJCPHYSICS_API
-  UsdAttribute GetInertiaAttr() const;
-
-  /// See GetInertiaAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateInertiaAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MAXHULLVERT
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:maxHullVertices instead.
-  ///
-  /// Sets an upper limit on the number of vertices in the meshes convex hull.
-  /// The default value of -1 means unlimited.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:maxhullvert = -1` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMaxHullVertAttr() const;
-
-  /// See GetMaxHullVertAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMaxHullVertAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h b/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
deleted file mode 100644
index 9b6d404a..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+++ /dev/null
@@ -1,1789 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_SCENEAPI_H
-#define MJCPHYSICS_GENERATED_SCENEAPI_H
-
-/// \file mjcPhysics/sceneAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCSCENEAPI                                                                //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsSceneAPI
-///
-/// API providing global simulation options for MuJoCo.
-///
-/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
-/// below that are text/tokens, the actual token is published and defined in
-/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
-/// use MjcPhysicsTokens->rightHanded as the value.
-///
-class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsSceneAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsSceneAPI::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsSceneAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsSceneAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsSceneAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsSceneAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsSceneAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsSceneAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsSceneAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsSceneAPI Get(const UsdStagePtr& stage, const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcSceneAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsSceneAPI object is returned upon success.
-  /// An invalid (or empty) MjcPhysicsSceneAPI object is returned upon
-  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsSceneAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // TIMESTEP
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:timeStepsPerSecond instead.
-  ///
-  /// Controls the timestep in seconds used by MuJoCo.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:timestep = 0.002` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetTimestepAttr() const;
-
-  /// See GetTimestepAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateTimestepAttr(VtValue const& defaultValue = VtValue(),
-                                  bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // IMPRATIO
-  // --------------------------------------------------------------------- //
-  /// Ratio of frictional-to-normal constraint impedance for elliptic
-  /// friction cones.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:impratio = 1` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetImpRatioAttr() const;
-
-  /// See GetImpRatioAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateImpRatioAttr(VtValue const& defaultValue = VtValue(),
-                                  bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // WIND
-  // --------------------------------------------------------------------- //
-  /// Velocity vector of medium (i.e. wind).
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double3 mjc:option:wind = (0, 0, 0)` |
-  /// | C++ Type | GfVec3d |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetWindAttr() const;
-
-  /// See GetWindAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateWindAttr(VtValue const& defaultValue = VtValue(),
-                              bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MAGNETIC
-  // --------------------------------------------------------------------- //
-  /// Global magnetic flux.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double3 mjc:option:magnetic = (0, -0.5, 0)` |
-  /// | C++ Type | GfVec3d |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMagneticAttr() const;
-
-  /// See GetMagneticAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMagneticAttr(VtValue const& defaultValue = VtValue(),
-                                  bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // DENSITY
-  // --------------------------------------------------------------------- //
-  /// Density of medium.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:density = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetDensityAttr() const;
-
-  /// See GetDensityAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateDensityAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // VISCOSITY
-  // --------------------------------------------------------------------- //
-  /// Viscosity of medium.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:viscosity = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetViscosityAttr() const;
-
-  /// See GetViscosityAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateViscosityAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // OMARGIN
-  // --------------------------------------------------------------------- //
-  /// Replaces the margin parameter of all active contact pairs when
-  /// Contact override is enabled.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:o_margin = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetOMarginAttr() const;
-
-  /// See GetOMarginAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateOMarginAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // OSOLREF
-  // --------------------------------------------------------------------- //
-  /// Replaces the solref parameter of all active contact pairs when
-  /// Contact override is enabled.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:option:o_solref = [0.02, 1]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetOSolRefAttr() const;
-
-  /// See GetOSolRefAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateOSolRefAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // OSOLIMP
-  // --------------------------------------------------------------------- //
-  /// Replaces the solimp parameter of all active contact pairs when
-  /// Contact override is enabled.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:option:o_solimp = [0.9, 0.95, 0.001,
-  /// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
-  /// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetOSolImpAttr() const;
-
-  /// See GetOSolImpAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateOSolImpAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // OFRICTION
-  // --------------------------------------------------------------------- //
-  /// Replaces the friction parameter of all active contact pairs when
-  /// Contact override is enabled.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:option:o_friction = [1, 1, 0.005,
-  /// 0.0001, 0.0001]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes
-  /// "Usd Type" | SdfValueTypeNames->DoubleArray | | \ref SdfVariability
-  /// "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetOFrictionAttr() const;
-
-  /// See GetOFrictionAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateOFrictionAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // INTEGRATOR
-  // --------------------------------------------------------------------- //
-  /// Numerical integrator to be used.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:option:integrator = "euler"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | euler, rk4, implicit,
-  /// implicitfast |
-  MJCPHYSICS_API
-  UsdAttribute GetIntegratorAttr() const;
-
-  /// See GetIntegratorAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateIntegratorAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // CONE
-  // --------------------------------------------------------------------- //
-  /// The type of contact friction cone.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:option:cone = "pyramidal"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | pyramidal, elliptic |
-  MJCPHYSICS_API
-  UsdAttribute GetConeAttr() const;
-
-  /// See GetConeAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateConeAttr(VtValue const& defaultValue = VtValue(),
-                              bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // JACOBIAN
-  // --------------------------------------------------------------------- //
-  /// The type of constraint Jacobian and matrices computed from it.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:option:jacobian = "auto"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | auto, dense, sparse |
-  MJCPHYSICS_API
-  UsdAttribute GetJacobianAttr() const;
-
-  /// See GetJacobianAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateJacobianAttr(VtValue const& defaultValue = VtValue(),
-                                  bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLVER
-  // --------------------------------------------------------------------- //
-  /// Constraint solver algorithm to be used.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:option:solver = "newton"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | pgs, cg, newton |
-  MJCPHYSICS_API
-  UsdAttribute GetSolverAttr() const;
-
-  /// See GetSolverAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolverAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ITERATIONS
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:maxSolverIterations instead.
-  ///
-  /// Maximum number of iterations of the constraint solver.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:option:iterations = 100` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetIterationsAttr() const;
-
-  /// See GetIterationsAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateIterationsAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // TOLERANCE
-  // --------------------------------------------------------------------- //
-  /// Tolerance threshold used for early termination of the iterative
-  /// solver.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:tolerance = 1e-8` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetToleranceAttr() const;
-
-  /// See GetToleranceAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateToleranceAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // LSITERATIONS
-  // --------------------------------------------------------------------- //
-  /// Maximum number of linesearch iterations performed by CG/Newton
-  /// constraint solvers.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:option:ls_iterations = 50` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetLSIterationsAttr() const;
-
-  /// See GetLSIterationsAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateLSIterationsAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // LSTOLERANCE
-  // --------------------------------------------------------------------- //
-  /// Tolerance threshold used for early termination of the linesearch
-  /// algorithm.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:ls_tolerance = 0.01` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetLSToleranceAttr() const;
-
-  /// See GetLSToleranceAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateLSToleranceAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // NOSLIPITERATIONS
-  // --------------------------------------------------------------------- //
-  /// Maximum number of iterations of the Noslip solver.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:option:noslip_iterations = 0` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetNoslipIterationsAttr() const;
-
-  /// See GetNoslipIterationsAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateNoslipIterationsAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // NOSLIPTOLERANCE
-  // --------------------------------------------------------------------- //
-  /// Tolerance threshold used for early termination of the Noslip solver.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:noslip_tolerance = 0.000001` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetNoslipToleranceAttr() const;
-
-  /// See GetNoslipToleranceAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateNoslipToleranceAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // CCDITERATIONS
-  // --------------------------------------------------------------------- //
-  /// Maximum number of iterations of the algorithm used for convex collisions.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:option:ccd_iterations = 35` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetCCDIterationsAttr() const;
-
-  /// See GetCCDIterationsAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateCCDIterationsAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // CCDTOLERANCE
-  // --------------------------------------------------------------------- //
-  /// Tolerance threshold used for early termination of the convex
-  /// collision algorithm.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:ccd_tolerance = 0.000001` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetCCDToleranceAttr() const;
-
-  /// See GetCCDToleranceAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateCCDToleranceAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SDFITERATIONS
-  // --------------------------------------------------------------------- //
-  /// Number of iterations used for Signed Distance Field collisions
-  /// (per initial point).
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:option:sdf_iterations = 10` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSDFIterationsAttr() const;
-
-  /// See GetSDFIterationsAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSDFIterationsAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SDFINITPOINTS
-  // --------------------------------------------------------------------- //
-  /// Number of starting points used for finding contacts with Signed
-  /// Distance Field collisions.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:option:sdf_initpoints = 40` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSDFInitPointsAttr() const;
-
-  /// See GetSDFInitPointsAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSDFInitPointsAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ACTUATORGROUPDISABLE
-  // --------------------------------------------------------------------- //
-  /// List of actuator groups to disable.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int[] mjc:option:actuatorgroupdisable = []` |
-  /// | C++ Type | VtArray<int> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetActuatorGroupDisableAttr() const;
-
-  /// See GetActuatorGroupDisableAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateActuatorGroupDisableAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // CONSTRAINTFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables constraint solver.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:constraint = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetConstraintFlagAttr() const;
-
-  /// See GetConstraintFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateConstraintFlagAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // EQUALITYFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables all standard computations related to equality constraints.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:equality = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetEqualityFlagAttr() const;
-
-  /// See GetEqualityFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateEqualityFlagAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // FRICTIONLOSSFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables all standard computations related to friction loss constraints.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:frictionloss = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetFrictionLossFlagAttr() const;
-
-  /// See GetFrictionLossFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateFrictionLossFlagAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // LIMITFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables all standard computations related to joint and tendon limit
-  /// constraints.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:limit = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetLimitFlagAttr() const;
-
-  /// See GetLimitFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateLimitFlagAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // CONTACTFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables collision detection and all standard computations related to
-  /// contact constraints.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:contact = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetContactFlagAttr() const;
-
-  /// See GetContactFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateContactFlagAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SPRINGFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the simulation of joint and tendon springs.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:spring = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSpringFlagAttr() const;
-
-  /// See GetSpringFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSpringFlagAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // DAMPERFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the simulation of joint and tendon dampers.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:damper = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetDamperFlagAttr() const;
-
-  /// See GetDamperFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateDamperFlagAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // GRAVITYFLAG
-  // --------------------------------------------------------------------- //
-  /// DEPRECATED: Use newton:gravityEnabled instead.
-  ///
-  /// Enables the application of gravitational acceleration as defined in
-  /// mjOption.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:gravity = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetGravityFlagAttr() const;
-
-  /// See GetGravityFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateGravityFlagAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // CLAMPCTRLFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the clamping of control inputs to all actuators, according to
-  /// actuator-specific attributes.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:clampctrl = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetClampCtrlFlagAttr() const;
-
-  /// See GetClampCtrlFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateClampCtrlFlagAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // WARMSTARTFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables warm-starting of the constraint solver, using the solution from
-  /// the previous time step to initialize the iterative optimization.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:warmstart = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetWarmStartFlagAttr() const;
-
-  /// See GetWarmStartFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateWarmStartFlagAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // FILTERPARENTFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the filtering of contact pairs where the two geoms belong to a
-  /// parent and child body.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:filterparent = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetFilterParentFlagAttr() const;
-
-  /// See GetFilterParentFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateFilterParentFlagAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ACTUATIONFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables all standard computations related to actuator forces, including
-  /// actuator dynamics.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:actuation = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetActuationFlagAttr() const;
-
-  /// See GetActuationFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateActuationFlagAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // REFSAFEFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables a safety mechanism that prevents instabilities due to solref[0]
-  /// being too small compared to the simulation timestep.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:refsafe = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetRefSafeFlagAttr() const;
-
-  /// See GetRefSafeFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateRefSafeFlagAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SENSORFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables all computations related to sensors.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:sensor = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSensorFlagAttr() const;
-
-  /// See GetSensorFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSensorFlagAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MIDPHASEFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables mid-phase collision filtering using a static AABB bounding volume
-  /// hierarchy (BVH).
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:midphase = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMidPhaseFlagAttr() const;
-
-  /// See GetMidPhaseFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMidPhaseFlagAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // NATIVECCDFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the native convex collision detection pipeline instead of using
-  /// the libccd library.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:nativeccd = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetNativeCCDFlagAttr() const;
-
-  /// See GetNativeCCDFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateNativeCCDFlagAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // EULERDAMPFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables implicit integration with respect to joint damping in the Euler
-  /// integrator.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:eulerdamp = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetEulerDampFlagAttr() const;
-
-  /// See GetEulerDampFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateEulerDampFlagAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // AUTORESETFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the automatic resetting of the simulation state when numerical
-  /// issues are detected.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:autoreset = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetAutoResetFlagAttr() const;
-
-  /// See GetAutoResetFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateAutoResetFlagAttr(VtValue const& defaultValue = VtValue(),
-                                       bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // OVERRIDEFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the contact override mechanism.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:override = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetOverrideFlagAttr() const;
-
-  /// See GetOverrideFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateOverrideFlagAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ENERGYFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the computation of potential and kinetic energy
-  /// (mjData.energy[0,1]).
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:energy = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetEnergyFlagAttr() const;
-
-  /// See GetEnergyFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateEnergyFlagAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // FWDINVFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the automatic comparison of forward and inverse dynamics.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:fwdinv = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetFwdinvFlagAttr() const;
-
-  /// See GetFwdinvFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateFwdinvFlagAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // INVDISCRETEFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables discrete-time inverse dynamics with mj_inverse for integrators
-  /// other than RK4.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:invdiscrete = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetInvDiscreteFlagAttr() const;
-
-  /// See GetInvDiscreteFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateInvDiscreteFlagAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MULTICCDFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables multiple-contact collision detection for geom pairs using a
-  /// general-purpose convex-convex collider.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:multiccd = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMultiCCDFlagAttr() const;
-
-  /// See GetMultiCCDFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMultiCCDFlagAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ISLANDFLAG
-  // --------------------------------------------------------------------- //
-  /// Enables the discovery of constraint islands.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:flag:island = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetIslandFlagAttr() const;
-
-  /// See GetIslandFlagAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateIslandFlagAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // AUTOLIMITS
-  // --------------------------------------------------------------------- //
-  /// This attribute affects the behavior of attributes such as "limited" (on
-  /// MjcJointAPI), "forcelimited" "ctrllimited", and "actlimited" (on
-  /// MjcActuator). If True, these attributes are unnecessary and their value
-  /// will be inferred from the presence of their corresponding "range"
-  /// attribute. If False, no such inference will happen: For a joint to be
-  /// limited, both limited=True and range:min/max must be specified. In this
-  /// mode, it is an error to specify a range without a limit.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:compiler:autoLimits = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetAutoLimitsAttr() const;
-
-  /// See GetAutoLimitsAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateAutoLimitsAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // BOUNDMASS
-  // --------------------------------------------------------------------- //
-  /// This attribute imposes a lower bound on the mass of each body except for
-  /// the world body.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:compiler:boundMass = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetBoundMassAttr() const;
-
-  /// See GetBoundMassAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateBoundMassAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // BOUNDINERTIA
-  // --------------------------------------------------------------------- //
-  /// This attribute imposes a lower bound on the diagonal inertia components of
-  /// each body except for the world body.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:compiler:boundInertia = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetBoundInertiaAttr() const;
-
-  /// See GetBoundInertiaAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateBoundInertiaAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SETTOTALMASS
-  // --------------------------------------------------------------------- //
-  /// If this value is positive, the compiler will scale the masses and inertias
-  /// of all bodies in the model, so that the total mass equals the value
-  /// specified here. The world body has mass 0 and does not participate in any
-  /// mass-related computations. This scaling is performed last, after all other
-  /// operations affecting the body mass and inertia. The same scaling operation
-  /// can be applied at runtime to the compiled mjModel with the function
-  /// mj_setTotalmass.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:compiler:setTotalMass = -1` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSetTotalMassAttr() const;
-
-  /// See GetSetTotalMassAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSetTotalMassAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // USETHREAD
-  // --------------------------------------------------------------------- //
-  /// If this is True, the model compiler will run in multi-threaded mode.
-  /// Currently multi-threading is used for computing the length ranges of
-  /// actuators and for parallel loading of meshes.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:compiler:useThread = 1` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetUseThreadAttr() const;
-
-  /// See GetUseThreadAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateUseThreadAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // BALANCEINERTIA
-  // --------------------------------------------------------------------- //
-  /// A valid diagonal inertia matrix must satisfy A+B>=C for all permutations
-  /// of the three diagonal elements. Some poorly designed models violate this
-  /// constraint, which will normally result in a compile error. If this
-  /// attribute is set to "true", the compiler will silently set all three
-  /// diagonal elements to their average value whenever the above condition is
-  /// violated.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:compiler:balanceInertia = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetBalanceInertiaAttr() const;
-
-  /// See GetBalanceInertiaAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateBalanceInertiaAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ANGLE
-  // --------------------------------------------------------------------- //
-  /// This attribute specifies whether the angles in mjcPhysics attributes have
-  /// units of degrees or radians if not otherwise noted.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:compiler:angle = "degree"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | degree, radian |
-  MJCPHYSICS_API
-  UsdAttribute GetAngleAttr() const;
-
-  /// See GetAngleAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateAngleAttr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // FITAABB
-  // --------------------------------------------------------------------- //
-  /// The compiler is able to replace a mesh with a geometric primitive fitted
-  /// to that mesh. If this attribute is True, the fitting procedure uses the
-  /// axis-aligned bounding box (AABB) of the mesh. Otherwise it uses the
-  /// equivalent-inertia box of the mesh.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:compiler:fitAABB = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetFitAABBAttr() const;
-
-  /// See GetFitAABBAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateFitAABBAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // FUSESTATIC
-  // --------------------------------------------------------------------- //
-  /// This attribute controls a compiler optimization feature where static
-  /// bodies are fused with their parent, and any elements defined in those
-  /// bodies are reassigned to the parent. Static bodies are fused with their
-  /// parent unless
-  ///
-  /// * They are referenced by another element in the model.
-  ///
-  /// * They contain a site which is referenced by a force or torque sensor.
-  ///
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:compiler:fuseStatic = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetFuseStaticAttr() const;
-
-  /// See GetFuseStaticAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateFuseStaticAttr(VtValue const& defaultValue = VtValue(),
-                                    bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // INERTIAFROMGEOM
-  // --------------------------------------------------------------------- //
-  /// This attribute controls the automatic inference of body masses and
-  /// inertias from geoms attached to the body. If this setting is "false", no
-  /// automatic inference is performed. In that case each body must have
-  /// explicitly defined mass and inertia with the inertial element, or else a
-  /// compile error will be generated. If this setting is "true", the mass and
-  /// inertia of each body will be inferred from the geoms attached to it,
-  /// overriding any values specified with the inertial element. The default
-  /// setting "auto" means that masses and inertias are inferred automatically
-  /// only when the inertial element is missing in the body definition. One
-  /// reason to set this attribute to "true" instead of "auto" is to override
-  /// inertial data imported from a poorly designed model.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:compiler:inertiaFromGeom = "auto"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
-  MJCPHYSICS_API
-  UsdAttribute GetInertiaFromGeomAttr() const;
-
-  /// See GetInertiaFromGeomAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateInertiaFromGeomAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ALIGNFREE
-  // --------------------------------------------------------------------- //
-  /// This attribute toggles the default behaviour of an optimization that
-  /// applies to bodies with a free joint and no child bodies. When True, the
-  /// body frame and free joint will automatically be aligned with inertial
-  /// frame, which leads to both faster and more stable simulation.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:compiler:alignFree = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetAlignFreeAttr() const;
-
-  /// See GetAlignFreeAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateAlignFreeAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // INERTIAGROUPRANGEMIN
-  // --------------------------------------------------------------------- //
-  /// This attribute specifies the maximum of the geom group range that is used
-  /// to infer body masses and inertias (when such inference is enabled). The
-  /// group attribute of geom is an integer. If this integer falls in the range
-  /// specified here, the collider will be used in the inertial computation,
-  /// otherwise it will be ignored. Note that the world body does not
-  /// participate in the inertial computations, so any geoms attached to it are
-  /// automatically ignored. Therefore it is not necessary to adjust this
-  /// attribute and the geom-specific groups so as to exclude world geoms from
-  /// the inertial computation.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:compiler:inertiaGroupRange:min = 0` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetInertiaGroupRangeMinAttr() const;
-
-  /// See GetInertiaGroupRangeMinAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateInertiaGroupRangeMinAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // INERTIAGROUPRANGEMAX
-  // --------------------------------------------------------------------- //
-  /// This attribute specifies the maximum of the geom group range that is used
-  /// to infer body masses and inertias (when such inference is enabled). The
-  /// group attribute of geom is an integer. If this integer falls in the range
-  /// specified here, the geom will be used in the inertial computation,
-  /// otherwise it will be ignored. This feature is useful in models that have
-  /// redundant sets of geoms for collision and visualization. Note that the
-  /// world body does not participate in the inertial computations, so any geoms
-  /// attached to it are automatically ignored. Therefore it is not necessary to
-  /// adjust this attribute and the geom-specific groups so as to exclude world
-  /// geoms from the inertial computation.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:compiler:inertiaGroupRange:max = 5` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetInertiaGroupRangeMaxAttr() const;
-
-  /// See GetInertiaGroupRangeMaxAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateInertiaGroupRangeMaxAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SAVEINERTIAL
-  // --------------------------------------------------------------------- //
-  /// If True, the compiler will save explicit inertial clauses for all bodies.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform bool mjc:compiler:saveInertial = 0` |
-  /// | C++ Type | bool |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSaveInertialAttr() const;
-
-  /// See GetSaveInertialAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSaveInertialAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h b/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
deleted file mode 100644
index 0455be70..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
+++ /dev/null
@@ -1,185 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_SITEAPI_H
-#define MJCPHYSICS_GENERATED_SITEAPI_H
-
-/// \file mjcPhysics/siteAPI.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/apiSchemaBase.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCSITEAPI                                                                 //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsSiteAPI
-///
-/// API describing a MuJoCo site.
-///
-class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
-
-  /// Construct a MjcPhysicsSiteAPI on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsSiteAPI::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsSiteAPI(const UsdPrim& prim = UsdPrim())
-      : UsdAPISchemaBase(prim) {}
-
-  /// Construct a MjcPhysicsSiteAPI on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsSiteAPI(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsSiteAPI(const UsdSchemaBase& schemaObj)
-      : UsdAPISchemaBase(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsSiteAPI();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsSiteAPI holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsSiteAPI(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsSiteAPI Get(const UsdStagePtr& stage, const SdfPath& path);
-
-  /// Returns true if this <b>single-apply</b> API schema can be applied to
-  /// the given \p prim. If this schema can not be a applied to the prim,
-  /// this returns false and, if provided, populates \p whyNot with the
-  /// reason it can not be applied.
-  ///
-  /// Note that if CanApply returns false, that does not necessarily imply
-  /// that calling Apply will fail. Callers are expected to call CanApply
-  /// before calling Apply if they want to ensure that it is valid to
-  /// apply a schema.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
-
-  /// Applies this <b>single-apply</b> API schema to the given \p prim.
-  /// This information is stored by adding "MjcSiteAPI" to the
-  /// token-valued, listOp metadata \em apiSchemas on the prim.
-  ///
-  /// \return A valid MjcPhysicsSiteAPI object is returned upon success.
-  /// An invalid (or empty) MjcPhysicsSiteAPI object is returned upon
-  /// failure. See \ref UsdPrim::ApplyAPI() for conditions
-  /// resulting in failure.
-  ///
-  /// \sa UsdPrim::GetAppliedSchemas()
-  /// \sa UsdPrim::HasAPI()
-  /// \sa UsdPrim::CanApplyAPI()
-  /// \sa UsdPrim::ApplyAPI()
-  /// \sa UsdPrim::RemoveAPI()
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsSiteAPI Apply(const UsdPrim& prim);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // GROUP
-  // --------------------------------------------------------------------- //
-  /// Integer MuJoCo group to which the collider belongs.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:group = 0` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetGroupAttr() const;
-
-  /// See GetGroupAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/tendon.h b/include/mujoco/experimental/usd/mjcPhysics/tendon.h
deleted file mode 100644
index 8e4fab72..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/tendon.h
+++ /dev/null
@@ -1,843 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_GENERATED_TENDON_H
-#define MJCPHYSICS_GENERATED_TENDON_H
-
-/// \file mjcPhysics/tendon.h
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-class SdfAssetPath;
-
-// -------------------------------------------------------------------------- //
-// MJCTENDON                                                                  //
-// -------------------------------------------------------------------------- //
-
-/// \class MjcPhysicsTendon
-///
-/// Type describing fixed and spatial tendons.
-///
-/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
-/// below that are text/tokens, the actual token is published and defined in
-/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
-/// use MjcPhysicsTokens->rightHanded as the value.
-///
-class MjcPhysicsTendon : public UsdTyped {
- public:
-  /// Compile time constant representing what kind of schema this class is.
-  ///
-  /// \sa UsdSchemaKind
-  static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
-
-  /// Construct a MjcPhysicsTendon on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsTendon::Get(prim.GetStage(), prim.GetPath())
-  /// for a \em valid \p prim, but will not immediately throw an error for
-  /// an invalid \p prim
-  explicit MjcPhysicsTendon(const UsdPrim& prim = UsdPrim()) : UsdTyped(prim) {}
-
-  /// Construct a MjcPhysicsTendon on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsTendon(schemaObj.GetPrim()),
-  /// as it preserves SchemaBase state.
-  explicit MjcPhysicsTendon(const UsdSchemaBase& schemaObj)
-      : UsdTyped(schemaObj) {}
-
-  /// Destructor.
-  MJCPHYSICS_API
-  virtual ~MjcPhysicsTendon();
-
-  /// Return a vector of names of all pre-declared attributes for this schema
-  /// class and all its ancestor classes.  Does not include attributes that
-  /// may be authored by custom/extended methods of the schemas involved.
-  MJCPHYSICS_API
-  static const TfTokenVector& GetSchemaAttributeNames(
-      bool includeInherited = true);
-
-  /// Return a MjcPhysicsTendon holding the prim adhering to this
-  /// schema at \p path on \p stage.  If no prim exists at \p path on
-  /// \p stage, or if the prim at that path does not adhere to this schema,
-  /// return an invalid schema object.  This is shorthand for the following:
-  ///
-  /// \code
-  /// MjcPhysicsTendon(stage->GetPrimAtPath(path));
-  /// \endcode
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsTendon Get(const UsdStagePtr& stage, const SdfPath& path);
-
-  /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
-  /// is defined (according to UsdPrim::IsDefined()) on this stage.
-  ///
-  /// If a prim adhering to this schema at \p path is already defined on this
-  /// stage, return that prim.  Otherwise author an \a SdfPrimSpec with
-  /// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
-  /// the prim at \p path at the current EditTarget.  Author \a SdfPrimSpec s
-  /// with \p specifier == \a SdfSpecifierDef and empty typeName at the
-  /// current EditTarget for any nonexistent, or existing but not \a Defined
-  /// ancestors.
-  ///
-  /// The given \a path must be an absolute prim path that does not contain
-  /// any variant selections.
-  ///
-  /// If it is impossible to author any of the necessary PrimSpecs, (for
-  /// example, in case \a path cannot map to the current UsdEditTarget's
-  /// namespace) issue an error and return an invalid \a UsdPrim.
-  ///
-  /// Note that this method may return a defined prim whose typeName does not
-  /// specify this schema class, in case a stronger typeName opinion overrides
-  /// the opinion at the current EditTarget.
-  ///
-  MJCPHYSICS_API
-  static MjcPhysicsTendon Define(const UsdStagePtr& stage, const SdfPath& path);
-
- protected:
-  /// Returns the kind of schema this class belongs to.
-  ///
-  /// \sa UsdSchemaKind
-  MJCPHYSICS_API
-  UsdSchemaKind _GetSchemaKind() const override;
-
- private:
-  // needs to invoke _GetStaticTfType.
-  friend class UsdSchemaRegistry;
-  MJCPHYSICS_API
-  static const TfType& _GetStaticTfType();
-
-  static bool _IsTypedSchema();
-
-  // override SchemaBase virtuals.
-  MJCPHYSICS_API
-  const TfType& _GetTfType() const override;
-
- public:
-  // --------------------------------------------------------------------- //
-  // TYPE
-  // --------------------------------------------------------------------- //
-  /// Type of tendon, valid values are 'spatial' and 'fixed'.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:type = "spatial"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | spatial, fixed |
-  MJCPHYSICS_API
-  UsdAttribute GetTypeAttr() const;
-
-  /// See GetTypeAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateTypeAttr(VtValue const& defaultValue = VtValue(),
-                              bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCPATHINDICES
-  // --------------------------------------------------------------------- //
-  /// This list represents the order in which the tendon wraps the sites in
-  /// mjc:path.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int[] mjc:path:indices = []` |
-  /// | C++ Type | VtArray<int> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcPathIndicesAttr() const;
-
-  /// See GetMjcPathIndicesAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcPathIndicesAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSIDESITESINDICES
-  // --------------------------------------------------------------------- //
-  /// For spatial tendons, if mjc:sideSites has targets then index 'i' in this
-  /// list represents the position in the relationship targets of mjc:sideSites
-  /// that the geom at index 'i' in mjc:path uses as a side site. It is
-  /// considered an authoring error to assign a side site to something other
-  /// than a geom. Geoms that do not use a side site should use index value
-  /// '-1'.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int[] mjc:sideSites:indices = []` |
-  /// | C++ Type | VtArray<int> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcSideSitesIndicesAttr() const;
-
-  /// See GetMjcSideSitesIndicesAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcSideSitesIndicesAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCPATHSEGMENTS
-  // --------------------------------------------------------------------- //
-  /// For spatial tendons, this holds the index of the segment each tendon path
-  /// wrap point belongs to.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int[] mjc:path:segments = []` |
-  /// | C++ Type | VtArray<int> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcPathSegmentsAttr() const;
-
-  /// See GetMjcPathSegmentsAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcPathSegmentsAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCPATHDIVISORS
-  // --------------------------------------------------------------------- //
-  /// For spatial tendons, this represents an indexed array of divisors. A
-  /// tendon path segments' length contribution to the overall tendon length is
-  /// divided by its divisor.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:path:divisors = []` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcPathDivisorsAttr() const;
-
-  /// See GetMjcPathDivisorsAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcPathDivisorsAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCPATHCOEF
-  // --------------------------------------------------------------------- //
-  /// For fixed tendons passing through joints this represents a multiplicative
-  /// factor on the position or angle of the targeted joint.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:path:coef = []` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMjcPathCoefAttr() const;
-
-  /// See GetMjcPathCoefAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMjcPathCoefAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // GROUP
-  // --------------------------------------------------------------------- //
-  /// Integer MuJoCo group to which the tendon belongs.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform int mjc:group = 0` |
-  /// | C++ Type | int |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetGroupAttr() const;
-
-  /// See GetGroupAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // LIMITED
-  // --------------------------------------------------------------------- //
-  /// If true, the tendon length is limited to the range specified by
-  /// mjc:range:min/max.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:limited = "auto"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | auto, true, false |
-  MJCPHYSICS_API
-  UsdAttribute GetLimitedAttr() const;
-
-  /// See GetLimitedAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateLimitedAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ACTUATORFRCLIMITED
-  // --------------------------------------------------------------------- //
-  /// This attribute specifies whether actuator forces acting on the tendon
-  /// should be clamped. See Force limits for details. This attribute interacts
-  /// with the actuatorfrcrange attribute. If this attribute is “false”,
-  /// actuator force clamping is disabled. If it is “true”, actuator force
-  /// clamping is enabled. If this attribute is “auto”, and autolimits is set in
-  /// compiler, actuator force clamping will be enabled if actuatorfrcrange is
-  /// defined.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform token mjc:actuatorfrclimited = "auto"` |
-  /// | C++ Type | TfToken |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  /// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
-  MJCPHYSICS_API
-  UsdAttribute GetActuatorFrcLimitedAttr() const;
-
-  /// See GetActuatorFrcLimitedAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateActuatorFrcLimitedAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // RANGEMIN
-  // --------------------------------------------------------------------- //
-  /// Minimum allowed tendon length. Setting this attribute without specifying
-  /// limited is an error, unless autolimits is set in compiler.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:range:min = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetRangeMinAttr() const;
-
-  /// See GetRangeMinAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateRangeMinAttr(VtValue const& defaultValue = VtValue(),
-                                  bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // RANGEMAX
-  // --------------------------------------------------------------------- //
-  /// Maximum allowed tendon length. Setting this attribute without specifying
-  /// limited is an error, unless autolimits is set in compiler.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:range:max = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetRangeMaxAttr() const;
-
-  /// See GetRangeMaxAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateRangeMaxAttr(VtValue const& defaultValue = VtValue(),
-                                  bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ACTUATORFRCRANGEMIN
-  // --------------------------------------------------------------------- //
-  /// Minimum range for clamping total actuator forces acting on this tendon.
-  /// See Force limits for details. The compiler expects the lower bound to be
-  /// nonpositive. Setting this attribute without specifying actuatorfrclimited
-  /// is an error if compiler-autolimits is “false”.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:actuatorfrcrange:min = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetActuatorFrcRangeMinAttr() const;
-
-  /// See GetActuatorFrcRangeMinAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateActuatorFrcRangeMinAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ACTUATORFRCRANGEMAX
-  // --------------------------------------------------------------------- //
-  /// Maximum range for clamping total actuator forces acting on this tendon.
-  /// See Force limits for details. The compiler expects the upper bound to be
-  /// nonnegative. Setting this attribute without specifying actuatorfrclimited
-  /// is an error if compiler-autolimits is “false”.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:actuatorfrcrange:max = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetActuatorFrcRangeMaxAttr() const;
-
-  /// See GetActuatorFrcRangeMaxAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateActuatorFrcRangeMaxAttr(
-      VtValue const& defaultValue = VtValue(),
-      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLREFLIMIT
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameters for simulating tendon limits.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solreflimit = [0.02, 1]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolRefLimitAttr() const;
-
-  /// See GetSolRefLimitAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolRefLimitAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLIMPLIMIT
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameters for simulating tendon limits.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001,
-  /// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
-  /// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolImpLimitAttr() const;
-
-  /// See GetSolImpLimitAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolImpLimitAttr(VtValue const& defaultValue = VtValue(),
-                                     bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLREFFRICTION
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameters for simulating dry friction in the tendon.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solreffriction = [0.02, 1]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolRefFrictionAttr() const;
-
-  /// See GetSolRefFrictionAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolRefFrictionAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SOLIMPFRICTION
-  // --------------------------------------------------------------------- //
-  /// Constraint solver parameters for simulating dry friction in the tendon.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001,
-  /// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
-  /// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
-  /// SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSolImpFrictionAttr() const;
-
-  /// See GetSolImpFrictionAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSolImpFrictionAttr(VtValue const& defaultValue = VtValue(),
-                                        bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MARGIN
-  // --------------------------------------------------------------------- //
-  /// The limit constraint becomes active when the absolute value of the
-  /// difference between the tendon length and either limit of the specified
-  /// range falls below this margin. Similar to contacts, the margin parameter
-  /// is subtracted from the difference between the range limit and the tendon
-  /// length. The resulting constraint distance is always negative when the
-  /// constraint is active. This quantity is used to compute constraint
-  /// impedance as a function of distance.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:margin = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetMarginAttr() const;
-
-  /// See GetMarginAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateMarginAttr(VtValue const& defaultValue = VtValue(),
-                                bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // FRICTIONLOSS
-  // --------------------------------------------------------------------- //
-  /// Friction loss caused by dry friction. To enable friction loss, set this
-  /// attribute to a positive value.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:frictionloss = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetFrictionLossAttr() const;
-
-  /// See GetFrictionLossAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateFrictionLossAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // WIDTH
-  // --------------------------------------------------------------------- //
-  /// Radius of the cross-section area of the spatial tendon, used for rendering
-  /// in MuJoCo. Parts of the tendon that wrap around geom obstacles are
-  /// rendered with reduced width.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:width = 0.003` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetWidthAttr() const;
-
-  /// See GetWidthAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateWidthAttr(VtValue const& defaultValue = VtValue(),
-                               bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // RGBA
-  // --------------------------------------------------------------------- //
-  /// Color and transparency of the tendon in MuJoCo.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform color4f mjc:rgba = (0.5, 0.5, 0.5, 1)` |
-  /// | C++ Type | GfVec4f |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Color4f |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetRgbaAttr() const;
-
-  /// See GetRgbaAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateRgbaAttr(VtValue const& defaultValue = VtValue(),
-                              bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // SPRINGLENGTH
-  // --------------------------------------------------------------------- //
-  /// Spring resting position, can take either one or two values. If one value
-  /// is given, it corresponds to the length of the tendon at rest. If it is -1,
-  /// the tendon resting length is determined from the model reference
-  /// configuration in mjModel.qpos0. Note that the default value of -1, which
-  /// invokes the automatic length computation, was designed with spatial
-  /// tendons in mind, which can only have nonegative length. In order to set
-  /// the springlength of a fixed tendon to -1, use a nearby value like
-  /// -0.99999. If two non-decreasing values are given, they define a dead-band
-  /// range. If the tendon length is between the two values, the force is 0. If
-  /// it is outside this range, the force behaves like a regular spring, with
-  /// the rest-point corresponding to the nearest springlength value. A deadband
-  /// can be used to define tendons whose limits are enforced by springs rather
-  /// than constraints.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double[] mjc:springlength = [-1, -1]` |
-  /// | C++ Type | VtArray<double> |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetSpringLengthAttr() const;
-
-  /// See GetSpringLengthAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateSpringLengthAttr(VtValue const& defaultValue = VtValue(),
-                                      bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // STIFFNESS
-  // --------------------------------------------------------------------- //
-  /// Stiffness coefficient. A positive value generates a spring force (linear
-  /// in position) acting along the tendon.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:stiffness = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetStiffnessAttr() const;
-
-  /// See GetStiffnessAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateStiffnessAttr(VtValue const& defaultValue = VtValue(),
-                                   bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // DAMPING
-  // --------------------------------------------------------------------- //
-  /// Damping coefficient. A positive value generates a damping force (linear in
-  /// velocity) acting along the tendon. Unlike joint damping which is
-  /// integrated implicitly by the Euler method, tendon damping is not
-  /// integrated implicitly, thus joint damping should be used if possible.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:damping = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetDampingAttr() const;
-
-  /// See GetDampingAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateDampingAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // ARMATURE
-  // --------------------------------------------------------------------- //
-  /// Inertia associated with changes in tendon length.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:armature = 0` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetArmatureAttr() const;
-
-  /// See GetArmatureAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateArmatureAttr(VtValue const& defaultValue = VtValue(),
-                                  bool writeSparsely = false) const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCPATH
-  // --------------------------------------------------------------------- //
-  /// For spatial tendons, this describes a list of unique of sites and geoms
-  /// the tendon wraps. For fixed tendons, this is instead a list of joints.
-  ///
-  MJCPHYSICS_API
-  UsdRelationship GetMjcPathRel() const;
-
-  /// See GetMjcPathRel(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
-  MJCPHYSICS_API
-  UsdRelationship CreateMjcPathRel() const;
-
- public:
-  // --------------------------------------------------------------------- //
-  // MJCSIDESITES
-  // --------------------------------------------------------------------- //
-  /// For spatial tendons, a geom wrapped by the tendon may specify which side
-  /// of the geom the tendon wraps around via a site prim. This is a list of
-  /// sites that are used as side sites in mjc:path.
-  ///
-  MJCPHYSICS_API
-  UsdRelationship GetMjcSideSitesRel() const;
-
-  /// See GetMjcSideSitesRel(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
-  MJCPHYSICS_API
-  UsdRelationship CreateMjcSideSitesRel() const;
-
- public:
-  // ===================================================================== //
-  // Feel free to add custom code below this line, it will be preserved by
-  // the code generator.
-  //
-  // Just remember to:
-  //  - Close the class declaration with };
-  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
-  //  - Close the include guard with #endif
-  // ===================================================================== //
-  // --(BEGIN CUSTOM CODE)--
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/mjcPhysics/tokens.h b/include/mujoco/experimental/usd/mjcPhysics/tokens.h
deleted file mode 100644
index 66d2d44c..00000000
--- a/include/mujoco/experimental/usd/mjcPhysics/tokens.h
+++ /dev/null
@@ -1,853 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#ifndef MJCPHYSICS_TOKENS_H
-#define MJCPHYSICS_TOKENS_H
-
-/// \file mjcPhysics/tokens.h
-
-// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
-//
-// This is an automatically generated file (by usdGenSchema.py).
-// Do not hand-edit!
-//
-// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
-
-#include <vector>
-
-#include <mujoco/experimental/usd/mjcPhysics/api.h>
-#include <pxr/base/tf/staticData.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/pxr.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-/// \class MjcPhysicsTokensType
-///
-/// \link MjcPhysicsTokens \endlink provides static, efficient
-/// \link TfToken TfTokens\endlink for use in all public USD API.
-///
-/// These tokens are auto-generated from the module's schema, representing
-/// property names, for when you need to fetch an attribute or relationship
-/// directly by name, e.g. UsdPrim::GetAttribute(), in the most efficient
-/// manner, and allow the compiler to verify that you spelled the name
-/// correctly.
-///
-/// MjcPhysicsTokens also contains all of the \em allowedTokens values
-/// declared for schema builtin attributes of 'token' scene description type.
-/// Use MjcPhysicsTokens like so:
-///
-/// \code
-///     gprim.GetMyTokenValuedAttr().Set(MjcPhysicsTokens->affine);
-/// \endcode
-struct MjcPhysicsTokensType {
-  MJCPHYSICS_API MjcPhysicsTokensType();
-  /// \brief "affine"
-  ///
-  /// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
-  /// value for MjcPhysicsActuator::GetMjcGainTypeAttr()
-  const TfToken affine;
-  /// \brief "auto"
-  ///
-  /// Fallback value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Fallback
-  /// value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value for
-  /// MjcPhysicsActuator::GetMjcActLimitedAttr(), Fallback value for
-  /// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Fallback value for
-  /// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Fallback value for
-  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), Fallback value for
-  /// MjcPhysicsTendon::GetActuatorFrcLimitedAttr(), Fallback value for
-  /// MjcPhysicsTendon::GetLimitedAttr(),  This token represents the auto
-  /// constraint Jacobian and matrices computed from it.
-  const TfToken auto_;
-  /// \brief "cg"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
-  /// represents the CG constraint solver algorithm.
-  const TfToken cg;
-  /// \brief "convex"
-  ///
-  /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
-  const TfToken convex;
-  /// \brief "degree"
-  ///
-  /// Fallback value for MjcPhysicsSceneAPI::GetAngleAttr()
-  const TfToken degree;
-  /// \brief "dense"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
-  /// represents the dense constraint Jacobian and matrices computed from it.
-  const TfToken dense;
-  /// \brief "elliptic"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetConeAttr(),  This token
-  /// represents the elliptic contact friction cone type.
-  const TfToken elliptic;
-  /// \brief "euler"
-  ///
-  /// Fallback value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
-  /// represents the Euler numerical integrator.
-  const TfToken euler;
-  /// \brief "exact"
-  ///
-  /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
-  const TfToken exact;
-  /// \brief "false"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Possible
-  /// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
-  /// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
-  /// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
-  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), Possible value for
-  /// MjcPhysicsTendon::GetActuatorFrcLimitedAttr(), Possible value for
-  /// MjcPhysicsTendon::GetLimitedAttr()
-  const TfToken false_;
-  /// \brief "filter"
-  ///
-  /// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
-  const TfToken filter;
-  /// \brief "filterexact"
-  ///
-  /// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
-  const TfToken filterexact;
-  /// \brief "fixed"
-  ///
-  /// Fallback value for MjcPhysicsActuator::GetMjcGainTypeAttr(), Possible
-  /// value for MjcPhysicsTendon::GetTypeAttr()
-  const TfToken fixed;
-  /// \brief "implicit"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
-  /// represents the implicit numerical integrator.
-  const TfToken implicit;
-  /// \brief "implicitfast"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
-  /// represents the implicitfast numerical integrator.
-  const TfToken implicitfast;
-  /// \brief "integrator"
-  ///
-  /// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
-  const TfToken integrator;
-  /// \brief "legacy"
-  ///
-  /// Fallback value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
-  const TfToken legacy;
-  /// \brief "mjc:act"
-  ///
-  /// MjcPhysicsKeyframe
-  const TfToken mjcAct;
-  /// \brief "mjc:actDim"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcActDim;
-  /// \brief "mjc:actEarly"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcActEarly;
-  /// \brief "mjc:actLimited"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcActLimited;
-  /// \brief "mjc:actRange:max"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcActRangeMax;
-  /// \brief "mjc:actRange:min"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcActRangeMin;
-  /// \brief "mjc:actuatorfrclimited"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcActuatorfrclimited;
-  /// \brief "mjc:actuatorfrcrange:max"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcActuatorfrcrangeMax;
-  /// \brief "mjc:actuatorfrcrange:min"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcActuatorfrcrangeMin;
-  /// \brief "mjc:actuatorgravcomp"
-  ///
-  /// MjcPhysicsJointAPI
-  const TfToken mjcActuatorgravcomp;
-  /// \brief "mjc:armature"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcArmature;
-  /// \brief "mjc:biasPrm"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcBiasPrm;
-  /// \brief "mjc:biasType"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcBiasType;
-  /// \brief "mjc:coef0"
-  ///
-  /// MjcPhysicsEqualityJointAPI
-  const TfToken mjcCoef0;
-  /// \brief "mjc:coef1"
-  ///
-  /// MjcPhysicsEqualityJointAPI
-  const TfToken mjcCoef1;
-  /// \brief "mjc:coef2"
-  ///
-  /// MjcPhysicsEqualityJointAPI
-  const TfToken mjcCoef2;
-  /// \brief "mjc:coef3"
-  ///
-  /// MjcPhysicsEqualityJointAPI
-  const TfToken mjcCoef3;
-  /// \brief "mjc:coef4"
-  ///
-  /// MjcPhysicsEqualityJointAPI
-  const TfToken mjcCoef4;
-  /// \brief "mjc:compiler:alignFree"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerAlignFree;
-  /// \brief "mjc:compiler:angle"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerAngle;
-  /// \brief "mjc:compiler:autoLimits"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerAutoLimits;
-  /// \brief "mjc:compiler:balanceInertia"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerBalanceInertia;
-  /// \brief "mjc:compiler:boundInertia"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerBoundInertia;
-  /// \brief "mjc:compiler:boundMass"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerBoundMass;
-  /// \brief "mjc:compiler:fitAABB"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerFitAABB;
-  /// \brief "mjc:compiler:fuseStatic"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerFuseStatic;
-  /// \brief "mjc:compiler:inertiaFromGeom"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerInertiaFromGeom;
-  /// \brief "mjc:compiler:inertiaGroupRange:max"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerInertiaGroupRangeMax;
-  /// \brief "mjc:compiler:inertiaGroupRange:min"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerInertiaGroupRangeMin;
-  /// \brief "mjc:compiler:saveInertial"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerSaveInertial;
-  /// \brief "mjc:compiler:setTotalMass"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerSetTotalMass;
-  /// \brief "mjc:compiler:useThread"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcCompilerUseThread;
-  /// \brief "mjc:condim"
-  ///
-  /// MjcPhysicsCollisionAPI
-  const TfToken mjcCondim;
-  /// \brief "mjc:crankLength"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcCrankLength;
-  /// \brief "mjc:ctrl"
-  ///
-  /// MjcPhysicsKeyframe
-  const TfToken mjcCtrl;
-  /// \brief "mjc:ctrlLimited"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcCtrlLimited;
-  /// \brief "mjc:ctrlRange:max"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcCtrlRangeMax;
-  /// \brief "mjc:ctrlRange:min"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcCtrlRangeMin;
-  /// \brief "mjc:damping"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcDamping;
-  /// \brief "mjc:dynPrm"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcDynPrm;
-  /// \brief "mjc:dynType"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcDynType;
-  /// \brief "mjc:flag:actuation"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagActuation;
-  /// \brief "mjc:flag:autoreset"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagAutoreset;
-  /// \brief "mjc:flag:clampctrl"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagClampctrl;
-  /// \brief "mjc:flag:constraint"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagConstraint;
-  /// \brief "mjc:flag:contact"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagContact;
-  /// \brief "mjc:flag:damper"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagDamper;
-  /// \brief "mjc:flag:energy"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagEnergy;
-  /// \brief "mjc:flag:equality"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagEquality;
-  /// \brief "mjc:flag:eulerdamp"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagEulerdamp;
-  /// \brief "mjc:flag:filterparent"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagFilterparent;
-  /// \brief "mjc:flag:frictionloss"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagFrictionloss;
-  /// \brief "mjc:flag:fwdinv"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagFwdinv;
-  /// \brief "mjc:flag:gravity"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagGravity;
-  /// \brief "mjc:flag:invdiscrete"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagInvdiscrete;
-  /// \brief "mjc:flag:island"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagIsland;
-  /// \brief "mjc:flag:limit"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagLimit;
-  /// \brief "mjc:flag:midphase"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagMidphase;
-  /// \brief "mjc:flag:multiccd"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagMulticcd;
-  /// \brief "mjc:flag:nativeccd"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagNativeccd;
-  /// \brief "mjc:flag:override"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagOverride;
-  /// \brief "mjc:flag:refsafe"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagRefsafe;
-  /// \brief "mjc:flag:sensor"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagSensor;
-  /// \brief "mjc:flag:spring"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagSpring;
-  /// \brief "mjc:flag:warmstart"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcFlagWarmstart;
-  /// \brief "mjc:forceLimited"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcForceLimited;
-  /// \brief "mjc:forceRange:max"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcForceRangeMax;
-  /// \brief "mjc:forceRange:min"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcForceRangeMin;
-  /// \brief "mjc:frictionloss"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcFrictionloss;
-  /// \brief "mjc:gainPrm"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcGainPrm;
-  /// \brief "mjc:gainType"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcGainType;
-  /// \brief "mjc:gap"
-  ///
-  /// MjcPhysicsCollisionAPI
-  const TfToken mjcGap;
-  /// \brief "mjc:gear"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcGear;
-  /// \brief "mjc:group"
-  ///
-  /// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
-  /// MjcPhysicsActuator, MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcGroup;
-  /// \brief "mjc:inertia"
-  ///
-  /// MjcPhysicsMeshCollisionAPI
-  const TfToken mjcInertia;
-  /// \brief "mjc:inheritRange"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcInheritRange;
-  /// \brief "mjc:jointInParent"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcJointInParent;
-  /// \brief "mjc:lengthRange:max"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcLengthRangeMax;
-  /// \brief "mjc:lengthRange:min"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcLengthRangeMin;
-  /// \brief "mjc:limited"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcLimited;
-  /// \brief "mjc:margin"
-  ///
-  /// MjcPhysicsCollisionAPI, MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcMargin;
-  /// \brief "mjc:maxhullvert"
-  ///
-  /// MjcPhysicsMeshCollisionAPI
-  const TfToken mjcMaxhullvert;
-  /// \brief "mjc:mpos"
-  ///
-  /// MjcPhysicsKeyframe
-  const TfToken mjcMpos;
-  /// \brief "mjc:mquat"
-  ///
-  /// MjcPhysicsKeyframe
-  const TfToken mjcMquat;
-  /// \brief "mjc:option:actuatorgroupdisable"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionActuatorgroupdisable;
-  /// \brief "mjc:option:ccd_iterations"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionCcd_iterations;
-  /// \brief "mjc:option:ccd_tolerance"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionCcd_tolerance;
-  /// \brief "mjc:option:cone"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionCone;
-  /// \brief "mjc:option:density"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionDensity;
-  /// \brief "mjc:option:impratio"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionImpratio;
-  /// \brief "mjc:option:integrator"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionIntegrator;
-  /// \brief "mjc:option:iterations"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionIterations;
-  /// \brief "mjc:option:jacobian"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionJacobian;
-  /// \brief "mjc:option:ls_iterations"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionLs_iterations;
-  /// \brief "mjc:option:ls_tolerance"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionLs_tolerance;
-  /// \brief "mjc:option:magnetic"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionMagnetic;
-  /// \brief "mjc:option:noslip_iterations"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionNoslip_iterations;
-  /// \brief "mjc:option:noslip_tolerance"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionNoslip_tolerance;
-  /// \brief "mjc:option:o_friction"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionO_friction;
-  /// \brief "mjc:option:o_margin"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionO_margin;
-  /// \brief "mjc:option:o_solimp"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionO_solimp;
-  /// \brief "mjc:option:o_solref"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionO_solref;
-  /// \brief "mjc:option:sdf_initpoints"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionSdf_initpoints;
-  /// \brief "mjc:option:sdf_iterations"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionSdf_iterations;
-  /// \brief "mjc:option:solver"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionSolver;
-  /// \brief "mjc:option:timestep"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionTimestep;
-  /// \brief "mjc:option:tolerance"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionTolerance;
-  /// \brief "mjc:option:viscosity"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionViscosity;
-  /// \brief "mjc:option:wind"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionWind;
-  /// \brief "mjc:path"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcPath;
-  /// \brief "mjc:path:coef"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcPathCoef;
-  /// \brief "mjc:path:divisors"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcPathDivisors;
-  /// \brief "mjc:path:indices"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcPathIndices;
-  /// \brief "mjc:path:segments"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcPathSegments;
-  /// \brief "mjc:priority"
-  ///
-  /// MjcPhysicsCollisionAPI
-  const TfToken mjcPriority;
-  /// \brief "mjc:qpos"
-  ///
-  /// MjcPhysicsKeyframe
-  const TfToken mjcQpos;
-  /// \brief "mjc:qvel"
-  ///
-  /// MjcPhysicsKeyframe
-  const TfToken mjcQvel;
-  /// \brief "mjc:range:max"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcRangeMax;
-  /// \brief "mjc:range:min"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcRangeMin;
-  /// \brief "mjc:ref"
-  ///
-  /// MjcPhysicsJointAPI
-  const TfToken mjcRef;
-  /// \brief "mjc:refSite"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcRefSite;
-  /// \brief "mjc:rgba"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcRgba;
-  /// \brief "mjc:rollingfriction"
-  ///
-  /// MjcPhysicsMaterialAPI
-  const TfToken mjcRollingfriction;
-  /// \brief "mjc:shellinertia"
-  ///
-  /// MjcPhysicsCollisionAPI
-  const TfToken mjcShellinertia;
-  /// \brief "mjc:sideSites"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcSideSites;
-  /// \brief "mjc:sideSites:indices"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcSideSitesIndices;
-  /// \brief "mjc:sliderSite"
-  ///
-  /// MjcPhysicsActuator
-  const TfToken mjcSliderSite;
-  /// \brief "mjc:solimp"
-  ///
-  /// MjcPhysicsCollisionAPI, MjcPhysicsEqualityAPI, MjcPhysicsEqualityJointAPI
-  const TfToken mjcSolimp;
-  /// \brief "mjc:solimpfriction"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcSolimpfriction;
-  /// \brief "mjc:solimplimit"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcSolimplimit;
-  /// \brief "mjc:solmix"
-  ///
-  /// MjcPhysicsCollisionAPI
-  const TfToken mjcSolmix;
-  /// \brief "mjc:solref"
-  ///
-  /// MjcPhysicsCollisionAPI, MjcPhysicsEqualityAPI, MjcPhysicsEqualityJointAPI
-  const TfToken mjcSolref;
-  /// \brief "mjc:solreffriction"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcSolreffriction;
-  /// \brief "mjc:solreflimit"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcSolreflimit;
-  /// \brief "mjc:springdamper"
-  ///
-  /// MjcPhysicsJointAPI
-  const TfToken mjcSpringdamper;
-  /// \brief "mjc:springlength"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcSpringlength;
-  /// \brief "mjc:springref"
-  ///
-  /// MjcPhysicsJointAPI
-  const TfToken mjcSpringref;
-  /// \brief "mjc:stiffness"
-  ///
-  /// MjcPhysicsJointAPI, MjcPhysicsTendon
-  const TfToken mjcStiffness;
-  /// \brief "mjc:target"
-  ///
-  /// MjcPhysicsActuator, MjcPhysicsEqualityAPI, MjcPhysicsEqualityJointAPI
-  const TfToken mjcTarget;
-  /// \brief "mjc:torqueScale"
-  ///
-  /// MjcPhysicsEqualityWeldAPI
-  const TfToken mjcTorqueScale;
-  /// \brief "mjc:torsionalfriction"
-  ///
-  /// MjcPhysicsMaterialAPI
-  const TfToken mjcTorsionalfriction;
-  /// \brief "mjc:type"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcType;
-  /// \brief "mjc:width"
-  ///
-  /// MjcPhysicsTendon
-  const TfToken mjcWidth;
-  /// \brief "muscle"
-  ///
-  /// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
-  /// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
-  /// MjcPhysicsActuator::GetMjcGainTypeAttr()
-  const TfToken muscle;
-  /// \brief "newton"
-  ///
-  /// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
-  /// represents the Newton constraint solver algorithm.
-  const TfToken newton;
-  /// \brief "none"
-  ///
-  /// Fallback value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Fallback
-  /// value for MjcPhysicsActuator::GetMjcDynTypeAttr()
-  const TfToken none;
-  /// \brief "pgs"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(),  This token
-  /// represents the PGS constraint solver algorithm.
-  const TfToken pgs;
-  /// \brief "pyramidal"
-  ///
-  /// Fallback value for MjcPhysicsSceneAPI::GetConeAttr(),  This token
-  /// represents the pyramidal contact friction cone type.
-  const TfToken pyramidal;
-  /// \brief "radian"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetAngleAttr()
-  const TfToken radian;
-  /// \brief "rk4"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(),  This token
-  /// represents the RK4 numerical integrator.
-  const TfToken rk4;
-  /// \brief "shell"
-  ///
-  /// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
-  const TfToken shell;
-  /// \brief "sparse"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(),  This token
-  /// represents the sparse constraint Jacobian and matrices computed from it.
-  const TfToken sparse;
-  /// \brief "spatial"
-  ///
-  /// Fallback value for MjcPhysicsTendon::GetTypeAttr()
-  const TfToken spatial;
-  /// \brief "true"
-  ///
-  /// Possible value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Possible
-  /// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
-  /// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
-  /// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
-  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), Possible value for
-  /// MjcPhysicsTendon::GetActuatorFrcLimitedAttr(), Possible value for
-  /// MjcPhysicsTendon::GetLimitedAttr()
-  const TfToken true_;
-  /// \brief "user"
-  ///
-  /// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
-  /// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
-  /// MjcPhysicsActuator::GetMjcGainTypeAttr()
-  const TfToken user;
-  /// \brief "MjcActuator"
-  ///
-  /// Schema identifier and family for MjcPhysicsActuator
-  const TfToken MjcActuator;
-  /// \brief "MjcCollisionAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsCollisionAPI
-  const TfToken MjcCollisionAPI;
-  /// \brief "MjcEqualityAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsEqualityAPI
-  const TfToken MjcEqualityAPI;
-  /// \brief "MjcEqualityConnectAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsEqualityConnectAPI
-  const TfToken MjcEqualityConnectAPI;
-  /// \brief "MjcEqualityJointAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsEqualityJointAPI
-  const TfToken MjcEqualityJointAPI;
-  /// \brief "MjcEqualityWeldAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsEqualityWeldAPI
-  const TfToken MjcEqualityWeldAPI;
-  /// \brief "MjcImageableAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsImageableAPI
-  const TfToken MjcImageableAPI;
-  /// \brief "MjcJointAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsJointAPI
-  const TfToken MjcJointAPI;
-  /// \brief "MjcKeyframe"
-  ///
-  /// Schema identifier and family for MjcPhysicsKeyframe
-  const TfToken MjcKeyframe;
-  /// \brief "MjcMaterialAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsMaterialAPI
-  const TfToken MjcMaterialAPI;
-  /// \brief "MjcMeshCollisionAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsMeshCollisionAPI
-  const TfToken MjcMeshCollisionAPI;
-  /// \brief "MjcSceneAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsSceneAPI
-  const TfToken MjcSceneAPI;
-  /// \brief "MjcSiteAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsSiteAPI
-  const TfToken MjcSiteAPI;
-  /// \brief "MjcTendon"
-  ///
-  /// Schema identifier and family for MjcPhysicsTendon
-  const TfToken MjcTendon;
-  /// A vector of all of the tokens listed above.
-  const std::vector<TfToken> allTokens;
-};
-
-/// \var MjcPhysicsTokens
-///
-/// A global variable with static, efficient \link TfToken TfTokens\endlink
-/// for use in all public USD API.  \sa MjcPhysicsTokensType
-extern MJCPHYSICS_API TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif
diff --git a/include/mujoco/experimental/usd/utils.h b/include/mujoco/experimental/usd/utils.h
deleted file mode 100644
index 99d33c9b..00000000
--- a/include/mujoco/experimental/usd/utils.h
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
-
-#include <mujoco/mujoco.h>
-#include <pxr/usd/sdf/path.h>
-
-namespace mujoco {
-namespace usd {
-
-// Sets a user value on an mjsElement with the key "usd_primpath".
-MJAPI void SetUsdPrimPathUserValue(mjsElement* element,
-                             const pxr::SdfPath& prim_path);
-
-// Gets the user value associated with the key "usd_primpath" from an
-// mjsElement. Returns empty pxr::SdfPath() if the value is not found.
-MJAPI pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element);
-
-}  // namespace usd
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
diff --git a/include/mujoco/experimental/usd/writer.h b/include/mujoco/experimental/usd/writer.h
deleted file mode 100644
index b866deaf..00000000
--- a/include/mujoco/experimental/usd/writer.h
+++ /dev/null
@@ -1,53 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
-
-#include <functional>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/usd/common.h>
-
-namespace mujoco {
-namespace usd {
-using PoseSinkFn =
-    std::function<void(const mjData* const, std::vector<pxr::SdfPath>)>;
-
-class Writer {
- public:
-  Writer(pxr::UsdStageRefPtr stage, mjSpec* spec, mjModel_* model);
-  ~Writer();
-  Writer(const Writer&) = delete;
-  Writer& operator=(const Writer&) = delete;
-
-  void Update(const mjData* const data);
-  void AddSink(PoseSinkFn sink_fn);
-
- private:
-  void WriteSpecsWithoutUSDOriginToLayer();
-  void BuildMjUsdMapping();
-
-  pxr::UsdStageRefPtr stage_;
-  std::vector<pxr::SdfPath> body_id_to_path_;
-  mjSpec* spec_ = nullptr;
-  mjModel_* model_ = nullptr;
-  std::vector<PoseSinkFn> pose_sinks_;
-};
-}  // namespace usd
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
diff --git a/include/mujoco/mjassert.h b/include/mujoco/mjassert.h
deleted file mode 100644
index 58e055ac..00000000
--- a/include/mujoco/mjassert.h
+++ /dev/null
@@ -1,156 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJASSERT_H_
-#define MUJOCO_MJASSERT_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjrender.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjspecmacro.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjui.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mjxmacro.h>
-
-#if defined(__cplusplus)
-  #define MJ_ASSERT_SIZE(type, size) \
-    static_assert(sizeof(type) == (size), #type " must be " #size " bytes for MuJoCo ABI stability")
-  #define MJ_STATIC_ASSERT(expr) static_assert(expr)
-#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
-  #define MJ_ASSERT_SIZE(type, size) \
-    _Static_assert(sizeof(type) == (size), #type " must be " #size " bytes for MuJoCo ABI stability")
-  #define MJ_STATIC_ASSERT(expr) _Static_assert(expr, #expr)
-#else
-  #define MJ_ASSERT_SIZE(type, size) \
-    typedef char mj_assert_##type[sizeof(type) == (size) ? 1 : -1]
-  #define MJ_STATIC_ASSERT(expr)
-#endif
-
-// primitive types
-#if !defined(mjUSESINGLE)
-MJ_ASSERT_SIZE(mjtNum, 8);
-#else
-MJ_ASSERT_SIZE(mjtNum, 4);
-#endif
-MJ_ASSERT_SIZE(mjtByte, 1);
-MJ_ASSERT_SIZE(mjtBool, 1);
-MJ_ASSERT_SIZE(mjtSize, 8);
-
-// mjModel enums
-MJ_ASSERT_SIZE(mjtDisableBit, 4);
-MJ_ASSERT_SIZE(mjtEnableBit, 4);
-MJ_ASSERT_SIZE(mjtJoint, 4);
-MJ_ASSERT_SIZE(mjtGeom, 4);
-MJ_ASSERT_SIZE(mjtProjection, 4);
-MJ_ASSERT_SIZE(mjtCamLight, 4);
-MJ_ASSERT_SIZE(mjtLightType, 4);
-MJ_ASSERT_SIZE(mjtTexture, 4);
-MJ_ASSERT_SIZE(mjtTextureRole, 4);
-MJ_ASSERT_SIZE(mjtColorSpace, 4);
-MJ_ASSERT_SIZE(mjtIntegrator, 4);
-MJ_ASSERT_SIZE(mjtCone, 4);
-MJ_ASSERT_SIZE(mjtJacobian, 4);
-MJ_ASSERT_SIZE(mjtSolver, 4);
-MJ_ASSERT_SIZE(mjtEq, 4);
-MJ_ASSERT_SIZE(mjtWrap, 4);
-MJ_ASSERT_SIZE(mjtTrn, 4);
-MJ_ASSERT_SIZE(mjtDyn, 4);
-MJ_ASSERT_SIZE(mjtGain, 4);
-MJ_ASSERT_SIZE(mjtBias, 4);
-MJ_ASSERT_SIZE(mjtObj, 4);
-MJ_ASSERT_SIZE(mjtSensor, 4);
-MJ_ASSERT_SIZE(mjtStage, 4);
-MJ_ASSERT_SIZE(mjtDataType, 4);
-MJ_ASSERT_SIZE(mjtConDataField, 4);
-MJ_ASSERT_SIZE(mjtRayDataField, 4);
-MJ_ASSERT_SIZE(mjtCamOutBit, 4);
-MJ_ASSERT_SIZE(mjtSameFrame, 4);
-MJ_ASSERT_SIZE(mjtSleepPolicy, 4);
-MJ_ASSERT_SIZE(mjtLRMode, 4);
-MJ_ASSERT_SIZE(mjtFlexSelf, 4);
-MJ_ASSERT_SIZE(mjtSDFType, 4);
-
-// mjData enums
-MJ_ASSERT_SIZE(mjtState, 4);
-MJ_ASSERT_SIZE(mjtConstraint, 4);
-MJ_ASSERT_SIZE(mjtConstraintState, 4);
-MJ_ASSERT_SIZE(mjtWarning, 4);
-MJ_ASSERT_SIZE(mjtTimer, 4);
-MJ_ASSERT_SIZE(mjtSleepState, 4);
-
-// mjspec.h
-MJ_ASSERT_SIZE(mjtGeomInertia, 4);
-MJ_ASSERT_SIZE(mjtMeshInertia, 4);
-MJ_ASSERT_SIZE(mjtMeshBuiltin, 4);
-MJ_ASSERT_SIZE(mjtBuiltin, 4);
-MJ_ASSERT_SIZE(mjtMark, 4);
-MJ_ASSERT_SIZE(mjtLimited, 4);
-MJ_ASSERT_SIZE(mjtAlignFree, 4);
-MJ_ASSERT_SIZE(mjtInertiaFromGeom, 4);
-MJ_ASSERT_SIZE(mjtOrientation, 4);
-
-// mjvisualize.h
-MJ_ASSERT_SIZE(mjtCatBit, 4);
-MJ_ASSERT_SIZE(mjtMouse, 4);
-MJ_ASSERT_SIZE(mjtPertBit, 4);
-MJ_ASSERT_SIZE(mjtCamera, 4);
-MJ_ASSERT_SIZE(mjtLabel, 4);
-MJ_ASSERT_SIZE(mjtFrame, 4);
-MJ_ASSERT_SIZE(mjtVisFlag, 4);
-MJ_ASSERT_SIZE(mjtRndFlag, 4);
-MJ_ASSERT_SIZE(mjtStereo, 4);
-
-// mjrender.h
-MJ_ASSERT_SIZE(mjtGridPos, 4);
-MJ_ASSERT_SIZE(mjtFramebuffer, 4);
-MJ_ASSERT_SIZE(mjtDepthMap, 4);
-MJ_ASSERT_SIZE(mjtFontScale, 4);
-MJ_ASSERT_SIZE(mjtFont, 4);
-
-// mjui.h
-MJ_ASSERT_SIZE(mjtButton, 4);
-MJ_ASSERT_SIZE(mjtEvent, 4);
-MJ_ASSERT_SIZE(mjtItem, 4);
-MJ_ASSERT_SIZE(mjtSection, 4);
-
-// mjplugin.h
-MJ_ASSERT_SIZE(mjtPluginCapabilityBit, 4);
-
-// authored bitmask field count assertions
-// each authored bitmask is uint64_t, so each FIELDS macro must have <= 64 entries
-#define X(type, name, dim) +1
-#define XVEC(type, name, dim) +1
-
-// mjsCompiler
-MJ_STATIC_ASSERT((0 MJSCOMPILER_FIELDS) <= 64);
-
-// mjOption and mjVisual
-MJ_STATIC_ASSERT((0 MJOPTION_FIELDS)           <= 64);
-MJ_STATIC_ASSERT((0 MJVISUAL_GLOBAL_FIELDS)    <= 64);
-MJ_STATIC_ASSERT((0 MJVISUAL_QUALITY_FIELDS)   <= 64);
-MJ_STATIC_ASSERT((0 MJVISUAL_HEADLIGHT_FIELDS) <= 64);
-MJ_STATIC_ASSERT((0 MJVISUAL_MAP_FIELDS)       <= 64);
-MJ_STATIC_ASSERT((0 MJVISUAL_SCALE_FIELDS)     <= 64);
-MJ_STATIC_ASSERT((0 MJVISUAL_RGBA_FIELDS)      <= 64);
-
-#undef X
-#undef XVEC
-
-#undef MJ_ASSERT_SIZE
-#undef MJ_STATIC_ASSERT
-
-#endif  // MUJOCO_MJASSERT_H_
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
deleted file mode 100644
index b95c2362..00000000
--- a/include/mujoco/mjdata.h
+++ /dev/null
@@ -1,449 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJDATA_H_
-#define MUJOCO_MJDATA_H_
-
-#include <stddef.h>
-#include <stdint.h>
-
-#include <mujoco/mjtype.h>
-#include <mujoco/mjmodel.h>
-
-
-
-
-//------------------------------------- Contact ----------------------------------------------------
-
-typedef struct mjPreContact_ {     // contact parameters set by narrowphase collision functions
-  mjtNum dist;
-  mjtNum pos[3];
-  mjtNum normal[3];                // contact normal of the collision
-  mjtNum tangent[3];               // first tangent direction
-} mjPreContact;
-
-
-typedef struct mjContact_ {        // result of collision detection functions
-  // contact parameters set by narrowphase collision function
-  mjtNum  dist;                    // distance between nearest points; neg: penetration
-  mjtNum  pos[3];                  // position of contact point: midpoint between geoms
-  mjtNum  frame[9];                // normal is in [0-2], points from geom[0] to geom[1]
-
-  // contact parameters set by mj_collideGeoms
-  mjtNum  includemargin;           // margin for force generation
-  mjtNum  friction[5];             // tangent1, 2, spin, roll1, 2
-  mjtNum  solref[mjNREF];          // constraint solver reference, normal direction
-  mjtNum  solreffriction[mjNREF];  // constraint solver reference, friction directions
-  mjtNum  solimp[mjNIMP];          // constraint solver impedance
-  mjtNum  adhesion;                // adhesive force along the contact normal
-
-  // internal storage used by solver
-  mjtNum  mu;                      // friction of regularized cone, set by mj_makeConstraint
-  mjtNum  H[36];                   // cone Hessian, set by mj_constraintUpdate
-
-  // contact descriptors set by mj_collideXXX
-  int     dim;                     // contact space dimensionality: 1, 3, 4 or 6
-  int     geom1;                   // id of geom 1; deprecated, use geom[0]
-  int     geom2;                   // id of geom 2; deprecated, use geom[1]
-  int     geom[2];                 // geom ids; -1 for flex
-  int     flex[2];                 // flex ids; -1 for geom
-  int     elem[2];                 // element ids; -1 for geom or flex vertex
-  int     vert[2];                 // vertex ids;  -1 for geom or flex element
-
-  // flag set by mj_setContact or mj_instantiateContact
-  int     exclude;                 // 0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive
-
-  // address computed by mj_instantiateContact
-  int     efc_address;             // address in efc; -1: not included
-} mjContact;
-
-
-//---------------------------------- diagnostics ---------------------------------------------------
-
-typedef struct mjWarningStat_ {  // warning statistics
-  int     lastinfo;              // info from last warning
-  int     number;                // how many times was warning raised
-} mjWarningStat;
-
-
-typedef struct mjTimerStat_ {  // timer statistics
-  mjtNum  duration;            // cumulative duration
-  int     number;              // how many times was timer called
-} mjTimerStat;
-
-
-typedef struct mjSolverStat_ {  // per-iteration solver statistics
-  mjtNum  improvement;          // cost reduction, scaled by 1/trace(M(qpos0))
-  mjtNum  gradient;             // gradient norm (primal only, scaled)
-  mjtNum  lineslope;            // slope in linesearch
-  int     nactive;              // number of active constraints
-  int     nchange;              // number of constraint state changes
-  int     neval;                // number of cost evaluations in line search
-  int     nupdate;              // number of Cholesky updates in line search
-} mjSolverStat;
-
-
-//---------------------------------- mjData --------------------------------------------------------
-
-typedef struct mjData_ {
-  // constant sizes
-  mjtSize narena;            // size of the arena in bytes (inclusive of the stack)
-  mjtSize nbuffer;           // size of main buffer in bytes
-  int     nplugin;           // number of plugin instances
-
-  // stack pointer
-  size_t  pstack;            // first available byte in stack (mutable)
-  size_t  pbase;             // value of pstack when mj_markStack was last called (mutable)
-
-  // arena pointer
-  size_t  parena;            // first available byte in arena
-
-  // threading
-  uintptr_t threadpool;      // thread pool pointer
-  mjtBool threadlock;        // disable stack freeing during threaded execution
-
-  // memory utilization statistics
-  mjtSize maxuse_stack;                       // maximum stack allocation in bytes (mutable)
-  mjtSize maxuse_arena;                       // maximum arena allocation in bytes
-  int     maxuse_con;                         // maximum number of contacts
-  int     maxuse_efc;                         // maximum number of scalar constraints
-
-  // solver statistics
-  mjSolverStat  solver[mjNISLAND*mjNSOLVER];  // solver statistics per island, per iteration
-  int           solver_niter[mjNISLAND];      // number of solver iterations, per island
-  int           solver_nnz[mjNISLAND];        // number of nonzeros in solver matrix, per island
-  mjtNum        solver_fwdinv[2];             // forward-inverse comparison: qfrc, efc
-
-  // diagnostics
-  mjWarningStat warning[mjNWARNING];          // warning statistics (mutable)
-  mjTimerStat   timer[mjNTIMER];              // timer statistics
-
-  // variable sizes
-  int     ncon;              // number of detected contacts
-  int     ne;                // number of equality constraints
-  int     nf;                // number of friction constraints
-  int     nl;                // number of limit constraints
-  int     nefc;              // number of constraints
-  int     nJ;                // number of non-zeros in constraint Jacobian
-  int     efm_active;        // implicit effective metric M+K is active (see mjd_effBuild)
-  int     nefmK;             // number of non-zeros in effective-stiffness CSR
-  int     nefmdof;           // number of 3x3 blocks in the effective-metric preconditioner
-  int     nefmL;             // size of the effective-metric block storage (9*nefmdof)
-  int     nY;                // number of non-zeros in constraint inverse inertia square root
-  int     nA;                // number of non-zeros in constraint inverse inertia matrix
-  int     nisland;           // number of detected constraint islands
-  int     nidof;             // number of dofs in all islands
-  int     ntree_awake;       // number of awake trees
-  int     nbody_awake;       // number of awake dynamic and static bodies
-  int     nparent_awake;     // number of bodies with awake parents
-  int     nv_awake;          // number of awake dofs
-
-  // flags marking lazily evaluated stages
-  mjtBool flg_energypos;     // has mj_energyPos been called
-  mjtBool flg_energyvel;     // has mj_energyVel been called
-  mjtBool flg_subtreevel;    // has mj_subtreeVel been called
-  mjtBool flg_rnepost;       // has mj_rnePostConstraint been called
-
-  // global properties
-  mjtNum  time;              // simulation time
-  mjtNum  energy[2];         // potential, kinetic energy
-
-  //-------------------- end of info header
-
-  // buffers
-  void*   buffer;            // main buffer; all pointers point in it            (nbuffer bytes)
-  void*   arena;             // arena+stack buffer                               (narena bytes)
-
-  //-------------------- main inputs and outputs of the computation
-
-  // state
-  mjtNum* qpos;              // position                                         (nq x 1)
-  mjtNum* qvel;              // velocity                                         (nv x 1)
-  mjtNum* act;               // actuator activation                              (na x 1)
-  mjtNum* history;           // history buffer                                   (nhistory x 1)
-  mjtNum* qacc_warmstart;    // acceleration used for warmstart                  (nv x 1)
-  mjtNum* plugin_state;      // plugin state                                     (npluginstate x 1)
-
-  // control
-  mjtNum* ctrl;              // control                                          (nu x 1)
-  mjtNum* qfrc_applied;      // applied generalized force                        (nv x 1)
-  mjtNum* xfrc_applied;      // applied Cartesian force/torque                   (nbody x 6)
-  mjtBool* eq_active;        // enable/disable constraints                       (neq x 1)
-
-  // mocap data
-  mjtNum* mocap_pos;         // positions of mocap bodies                        (nmocap x 3)
-  mjtNum* mocap_quat;        // orientations of mocap bodies                     (nmocap x 4)
-
-  // dynamics
-  mjtNum* qacc;              // acceleration                                     (nv x 1)
-  mjtNum* act_dot;           // time-derivative of actuator activation           (na x 1)
-
-  // user data
-  mjtNum* userdata;          // user data, not touched by engine                 (nuserdata x 1)
-
-  // sensors
-  mjtNum* sensordata;        // sensor data array                                (nsensordata x 1)
-
-  // sleep state
-  int*    tree_asleep;       // <0: awake; >=0: index cycle of sleeping trees    (ntree x 1)
-
-  // plugins
-  int*       plugin;         // copy of m->plugin, required for deletion         (nplugin x 1)
-  uintptr_t* plugin_data;    // pointer to plugin-managed data structure         (nplugin x 1)
-
-  //-------------------- POSITION dependent
-
-  // computed by mj_fwdPosition/mj_kinematics
-  mjtNum* xpos;              // Cartesian position of body frame                 (nbody x 3)
-  mjtNum* xquat;             // Cartesian orientation of body frame              (nbody x 4)
-  mjtNum* xmat;              // Cartesian orientation of body frame              (nbody x 9)
-  mjtNum* xipos;             // Cartesian position of body com                   (nbody x 3)
-  mjtNum* ximat;             // Cartesian orientation of body inertia            (nbody x 9)
-  mjtNum* xanchor;           // Cartesian position of joint anchor               (njnt x 3)
-  mjtNum* xaxis;             // Cartesian joint axis                             (njnt x 3)
-  mjtNum* geom_xpos;         // Cartesian geom position                          (ngeom x 3)
-  mjtNum* geom_xmat;         // Cartesian geom orientation                       (ngeom x 9)
-  mjtNum* site_xpos;         // Cartesian site position                          (nsite x 3)
-  mjtNum* site_xmat;         // Cartesian site orientation                       (nsite x 9)
-  mjtNum* cam_xpos;          // Cartesian camera position                        (ncam x 3)
-  mjtNum* cam_xmat;          // Cartesian camera orientation                     (ncam x 9)
-  mjtNum* light_xpos;        // Cartesian light position                         (nlight x 3)
-  mjtNum* light_xdir;        // Cartesian light direction                        (nlight x 3)
-
-  // computed by mj_fwdPosition/mj_comPos
-  mjtNum* subtree_com;       // center of mass of each subtree                   (nbody x 3)
-  mjtNum* cdof;              // com-based motion axis of each dof (rot:lin)      (nv x 6)
-  mjtNum* cinert;            // com-based body inertia and mass                  (nbody x 10)
-
-  // computed by mj_fwdPosition/mj_flex
-  mjtNum* flexvert_xpos;     // Cartesian flex vertex positions                  (nflexvert x 3)
-  mjtNum* flexelem_aabb;     // flex element bounding boxes (center, size)       (nflexelem x 6)
-  mjtNum* flexelem_krot;     // corotated element stiffness (implicit only)      (nflexstiffness x 1)
-  mjtNum* flexedge_J;        // flex edge Jacobian                               (nJfe x 1)
-  mjtNum* flexedge_length;   // flex edge lengths                                (nflexedge x 1)
-  mjtNum* flexvert_J;        // flex vertex Jacobian                             (nJfv x 2)
-  mjtNum* flexvert_length;   // flex vertex lengths                              (nflexvert x 2)
-  mjtNum* bvh_aabb_dyn;      // global bounding box (center, size)               (nbvhdynamic x 6)
-
-  // computed by mj_fwdPosition/mj_tendon
-  int*    ten_wrapadr;       // start address of tendon's path                   (ntendon x 1)
-  int*    ten_wrapnum;       // number of wrap points in path                    (ntendon x 1)
-  mjtNum* ten_J;             // tendon Jacobian                                  (nJten x 1)
-  mjtNum* ten_length;        // tendon lengths                                   (ntendon x 1)
-  int*    wrap_obj;          // geom id; -1: site; -2: pulley                    (nwrap x 2)
-  mjtNum* wrap_xpos;         // Cartesian 3D points in all paths                 (nwrap x 6)
-
-  // computed by mj_fwdPosition/mj_transmission
-  mjtNum* actuator_length;   // actuator lengths, one per force output           (nout x 1)
-  int*    moment_rownnz;     // number of non-zeros in actuator_moment row       (nout x 1)
-  int*    moment_rowadr;     // row start address in colind array                (nout x 1)
-  int*    moment_colind;     // column indices in sparse Jacobian                (nJmom x 1)
-  mjtNum* actuator_moment;   // actuator moments                                 (nJmom x 1)
-
-  // computed by mj_fwdPosition/mj_makeM
-  mjtNum* crb;               // com-based composite inertia and mass             (nbody x 10)
-  mjtNum* M;                 // inertia (sparse)                                 (nC x 1)
-
-  // computed by mj_fwdPosition/mj_factorM
-  mjtNum* qLD;               // L'*D*L factorization of M (sparse)               (nC x 1)
-  mjtNum* qLDiagInv;         // 1/diag(D)                                        (nv x 1)
-
-  // computed by mj_collision/mj_collideTree
-  mjtBool* bvh_active;       // was bounding volume checked for collision        (nbvh x 1)
-
-  // computed by mj_updateSleep
-  int*    tree_awake;        // is tree awake; 0: asleep; 1: awake               (ntree x 1)
-  int*    body_awake;        // body sleep state (mjtSleepState)                 (nbody x 1)
-  int*    body_awake_ind;    // indices of awake and static bodies               (nbody x 1)
-  int*    parent_awake_ind;  // indices of bodies with awake or static parents   (nbody x 1)
-  int*    dof_awake_ind;     // indices of awake dofs                            (nv x 1)
-
-  //-------------------- POSITION, VELOCITY dependent
-
-  // computed by mj_fwdVelocity
-  mjtNum* flexedge_velocity; // flex edge velocities                             (nflexedge x 1)
-  mjtNum* ten_velocity;      // tendon velocities                                (ntendon x 1)
-  mjtNum* actuator_velocity; // actuator velocities, one per force output        (nout x 1)
-
-  // computed by mj_fwdVelocity/mj_comVel
-  mjtNum* cvel;              // com-based velocity (rot:lin)                     (nbody x 6)
-  mjtNum* cdof_dot;          // time-derivative of cdof (rot:lin)                (nv x 6)
-
-  // computed by mj_fwdVelocity/mj_rne (without acceleration)
-  mjtNum* qfrc_bias;         // C(qpos,qvel)                                     (nv x 1)
-
-  // computed by mj_fwdVelocity/mj_passive
-  mjtNum* qfrc_spring;       // passive spring force                             (nv x 1)
-  mjtNum* qfrc_damper;       // passive damper force                             (nv x 1)
-  mjtNum* qfrc_gravcomp;     // passive gravity compensation force               (nv x 1)
-  mjtNum* qfrc_fluid;        // passive fluid force                              (nv x 1)
-  mjtNum* qfrc_adhesion;     // passive contact adhesion force                   (nv x 1)
-  mjtNum* qfrc_passive;      // total passive force                              (nv x 1)
-
-  // computed by mj_sensorVel/mj_subtreeVel if needed
-  mjtNum* subtree_linvel;    // linear velocity of subtree com                   (nbody x 3)
-  mjtNum* subtree_angmom;    // angular momentum about subtree com               (nbody x 3)
-
-  // computed by mj_Euler or mj_implicit
-  mjtNum* qH;                // L'*D*L factorization of modified M               (nC x 1)
-  mjtNum* qHDiagInv;         // 1/diag(D) of modified M                          (nv x 1)
-
-  // computed by mj_implicit/mj_derivative
-  mjtNum* qDeriv;            // d (passive + actuator - bias) / d qvel           (nD x 1)
-
-  // computed by mj_implicit/mju_factorLUSparse
-  mjtNum* qLU;               // sparse LU of (M - dt*qDeriv)                     (nD x 1)
-
-  //-------------------- POSITION, VELOCITY, CONTROL/ACCELERATION dependent
-
-  // computed by mj_fwdActuation
-  mjtNum* actuator_force;    // actuator force in actuation space                (nout x 1)
-  mjtNum* qfrc_actuator;     // actuator force in joint space                    (nv x 1)
-
-  // computed by mj_fwdAcceleration
-  mjtNum* qfrc_smooth;       // net unconstrained force                          (nv x 1)
-  mjtNum* qacc_smooth;       // unconstrained acceleration                       (nv x 1)
-
-  // computed by mj_fwdConstraint/mj_inverse
-  mjtNum* qfrc_constraint;   // constraint force                                 (nv x 1)
-
-  // computed by mj_inverse
-  mjtNum* qfrc_inverse;      // net external force; should equal:
-                             // qfrc_applied + J'*xfrc_applied + qfrc_actuator   (nv x 1)
-
-  // computed by mj_sensorAcc/mj_rnePostConstraint if needed; rotation:translation format
-  mjtNum* cacc;              // com-based acceleration                           (nbody x 6)
-  mjtNum* cfrc_int;          // com-based interaction force with parent          (nbody x 6)
-  mjtNum* cfrc_ext;          // com-based external force on body                 (nbody x 6)
-
-  //-------------------- arena-allocated: POSITION dependent
-
-  // computed by mj_collision
-  mjContact* contact;        // array of all detected contacts                   (ncon x 1)
-
-  // computed by mj_makeConstraint
-  int*    efc_type;          // constraint type (mjtConstraint)                  (nefc x 1)
-  int*    efc_id;            // id of object of specified type                   (nefc x 1)
-  int*    efc_J_rownnz;      // number of non-zeros in constraint Jacobian row   (nefc x 1)
-  int*    efc_J_rowadr;      // row start address in colind array                (nefc x 1)
-  int*    efc_J_rowsuper;    // number of subsequent rows in supernode           (nefc x 1)
-  int*    efc_J_colind;      // column indices in constraint Jacobian            (nJ x 1)
-  mjtNum* efc_J;             // constraint Jacobian                              (nJ x 1)
-  mjtNum* efc_pos;           // constraint position (equality, contact)          (nefc x 1)
-  mjtNum* efc_margin;        // inclusion margin (contact)                       (nefc x 1)
-  mjtNum* efc_frictionloss;  // frictionloss (friction)                          (nefc x 1)
-  mjtNum* efc_diagA;         // diagonal of A matrix, approximate or exact       (nefc x 1)
-  mjtNum* efc_KBIP;          // stiffness, damping, impedance, imp'              (nefc x 4)
-  mjtNum* efc_D;             // constraint mass                                  (nefc x 1)
-  mjtNum* efc_R;             // inverse constraint mass                          (nefc x 1)
-  int*    tendon_efcadr;     // first efc address involving tendon; -1: none     (ntendon x 1)
-
-  // computed by mj_island (island tree structure)
-  int*    tree_island;       // island id of this tree; -1: none                 (ntree x 1)
-  int*    island_ntree;      // number of trees in this island                   (nisland x 1)
-  int*    island_itreeadr;   // island start address in itree vector             (nisland x 1)
-  int*    map_itree2tree;    // map from itree to tree                           (ntree x 1)
-
-  // computed by mj_island (island dof structure)
-  int*    dof_island;        // island id of this dof; -1: none                  (nv x 1)
-  int*    island_nv;         // number of dofs in this island                    (nisland x 1)
-  int*    island_idofadr;    // island start address in idof vector              (nisland x 1)
-  int*    island_dofadr;     // island start address in dof vector               (nisland x 1)
-  int*    map_dof2idof;      // map from dof to idof                             (nv x 1)
-  int*    map_idof2dof;      // map from idof to dof;  >= nidof: unconstrained   (nv x 1)
-
-  // computed by mj_island (dofs sorted by island)
-  mjtNum* ifrc_smooth;       // net unconstrained force                          (nidof x 1)
-  mjtNum* iacc_smooth;       // unconstrained acceleration                       (nidof x 1)
-  mjtNum* iacc;              // acceleration                                     (nidof x 1)
-
-  // computed by mj_island (island constraint structure)
-  int*    efc_island;        // island id of this constraint                     (nefc x 1)
-  int*    island_ne;         // number of equality constraints in island         (nisland x 1)
-  int*    island_nf;         // number of friction constraints in island         (nisland x 1)
-  int*    island_nefc;       // number of constraints in island                  (nisland x 1)
-  int*    island_iefcadr;    // start address in iefc vector                     (nisland x 1)
-  int*    map_efc2iefc;      // map from efc to iefc                             (nefc x 1)
-  int*    map_iefc2efc;      // map from iefc to efc                             (nefc x 1)
-
-  // computed by mj_island (constraints sorted by island)
-  int*    iefc_type;         // constraint type (mjtConstraint)                  (nefc x 1)
-  int*    iefc_id;           // id of object of specified type                   (nefc x 1)
-  mjtNum* iefc_frictionloss; // frictionloss (friction)                          (nefc x 1)
-  mjtNum* iefc_D;            // constraint mass                                  (nefc x 1)
-  mjtNum* iefc_R;            // inverse constraint mass                          (nefc x 1)
-
-  // computed by mj_projectConstraint (PGS solver)
-  int*    efc_Y_rownnz;      // number of non-zeros in Y row                     (nefc x 1)
-  int*    efc_Y_rowadr;      // row start address in Y colind array              (nefc x 1)
-  int*    efc_Y_colind;      // column indices in sparse Y                       (nY x 1)
-  mjtNum* efc_Y;             // whitened Jacobian Y = J*M^(-1/2)                 (nY x 1)
-  int*    efc_AR_rownnz;     // number of non-zeros in AR                        (nefc x 1)
-  int*    efc_AR_rowadr;     // row start address in AR colind array             (nefc x 1)
-  int*    efc_AR_colind;     // column indices in sparse AR                      (nA x 1)
-  mjtNum* efc_AR;            // J*inv(M)*J' + R                                  (nA x 1)
-
-  //-------------------- arena-allocated: POSITION, VELOCITY dependent
-
-  // computed by mj_fwdVelocity/mj_referenceConstraint
-  mjtNum* efc_vel;           // velocity in constraint space: J*qvel             (nefc x 1)
-  mjtNum* efc_aref;          // reference pseudo-acceleration                    (nefc x 1)
-
-  // computed by mj_fwdPosition/mj_invPosition when the implicit effective metric M+K is active
-  mjtNum* efm_c;             // smooth-force shift h*K*qvel                      (nv x 1)
-  int*    efm_K_rownnz;      // effective-stiffness CSR row nonzeros             (nv x 1)
-  int*    efm_K_rowadr;      // effective-stiffness CSR row addresses            (nv x 1)
-  int*    efm_K_colind;      // effective-stiffness CSR column indices           (nefmK x 1)
-  mjtNum* efm_K_val;         // effective-stiffness CSR values                   (nefmK x 1)
-  int*    efm_dofid;         // block k -> dof address of its vertex triple      (nefmdof x 1)
-  mjtNum* efm_L;             // factored 3x3 diagonal blocks of M+K              (nefmL x 1)
-
-  //-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
-
-  // computed by mj_fwdConstraint/mj_inverse
-  mjtNum* efc_b;             // linear cost term: J*qacc_smooth - aref           (nefc x 1)
-  mjtNum* iefc_aref;         // reference pseudo-acceleration                    (nefc x 1)
-  int*    iefc_state;        // constraint state (mjtConstraintState)            (nefc x 1)
-  mjtNum* iefc_force;        // constraint force in constraint space             (nefc x 1)
-  int*    efc_state;         // constraint state (mjtConstraintState)            (nefc x 1)
-  mjtNum* efc_force;         // constraint force in constraint space             (nefc x 1)
-  mjtNum* ifrc_constraint;   // constraint force                                 (nidof x 1)
-
-  // compilation signature
-  uint64_t  signature;       // also held by the mjSpec that compiled the model
-} mjData;
-
-
-//---------------------------------- callback function types ---------------------------------------
-
-// generic MuJoCo function
-typedef void (*mjfGeneric)(const mjModel* m, mjData* d);
-
-// contact filter: 1- discard, 0- collide
-typedef int (*mjfConFilt)(const mjModel* m, mjData* d, int geom1, int geom2);
-
-// sensor simulation
-typedef void (*mjfSensor)(const mjModel* m, mjData* d, int stage);
-
-// timer
-typedef mjtNum (*mjfTime)(void);
-
-// actuator dynamics, gain, bias
-typedef mjtNum (*mjfAct)(const mjModel* m, const mjData* d, int id);
-
-// collision detection
-typedef int (*mjfCollision)(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                            mjtNum margin);
-
-#endif  // MUJOCO_MJDATA_H_
diff --git a/include/mujoco/mjexport.h b/include/mujoco/mjexport.h
deleted file mode 100644
index 1194e03c..00000000
--- a/include/mujoco/mjexport.h
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJEXPORT_H_
-#define MUJOCO_MJEXPORT_H_
-
-#if defined _WIN32 || defined __CYGWIN__
-  #define MUJOCO_HELPER_DLL_IMPORT __declspec(dllimport)
-  #define MUJOCO_HELPER_DLL_EXPORT __declspec(dllexport)
-  #define MUJOCO_HELPER_DLL_LOCAL
-#else
-  #if __GNUC__ >= 4
-    #define MUJOCO_HELPER_DLL_IMPORT __attribute__ ((visibility ("default")))
-    #define MUJOCO_HELPER_DLL_EXPORT __attribute__ ((visibility ("default")))
-    #define MUJOCO_HELPER_DLL_LOCAL  __attribute__ ((visibility ("hidden")))
-  #else
-    #define MUJOCO_HELPER_DLL_IMPORT
-    #define MUJOCO_HELPER_DLL_EXPORT
-    #define MUJOCO_HELPER_DLL_LOCAL
-  #endif
-#endif
-
-#ifdef MJ_STATIC
-  // static library
-  #define MJAPI
-  #define MJLOCAL
-#else
-  #ifdef MUJOCO_DLL_EXPORTS
-    #define MJAPI MUJOCO_HELPER_DLL_EXPORT
-  #else
-    #define MJAPI MUJOCO_HELPER_DLL_IMPORT
-  #endif
-  #define MJLOCAL MUJOCO_HELPER_DLL_LOCAL
-#endif
-
-#endif  // MUJOCO_MJEXPORT_H_
diff --git a/include/mujoco/mjmacro.h b/include/mujoco/mjmacro.h
deleted file mode 100644
index a50c117c..00000000
--- a/include/mujoco/mjmacro.h
+++ /dev/null
@@ -1,38 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJMACRO_H_
-#define MUJOCO_MJMACRO_H_
-
-// max and min (use only for primitive types)
-#define mjMAX(a, b) (((a) > (b)) ? (a) : (b))
-#define mjMIN(a, b) (((a) < (b)) ? (a) : (b))
-
-// return current value of mjOption enable/disable flags
-#define mjDISABLED(x) (m->opt.disableflags & (x))
-#define mjENABLED(x)  (m->opt.enableflags & (x))
-
-// is actuator disabled
-#define mjACTUATORDISABLED(i) (m->opt.disableactuator & (1 << m->actuator_group[i]))
-
-// annotation for functions that accept printf-like variadic arguments
-#ifndef mjPRINTFLIKE
-  #if defined(__GNUC__)
-    #define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
-  #else
-    #define mjPRINTFLIKE(n, m)
-  #endif
-#endif
-
-#endif  // MUJOCO_MJMACRO_H_
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
deleted file mode 100644
index 38628692..00000000
--- a/include/mujoco/mjmodel.h
+++ /dev/null
@@ -1,922 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJMODEL_H_
-#define MUJOCO_MJMODEL_H_
-
-#include <stddef.h>
-#include <stdint.h>
-
-#include <mujoco/mjtype.h>
-
-// global constants
-#define mjPI            3.14159265358979323846
-#define mjMAXVAL        1E+10     // maximum value in qpos, qvel, qacc
-#define mjMINMU         1E-5      // minimum friction coefficient
-#define mjMINIMP        0.0001    // minimum constraint impedance
-#define mjMAXIMP        0.9999    // maximum constraint impedance
-#define mjMAXCONPAIR    50        // maximum number of contacts per geom pair
-#define mjMAXTREEDEPTH  50        // maximum bounding volume hierarchy depth
-#define mjMAXFLEXNODES  27        // maximum number of flex nodes
-#define mjMINAWAKE      10        // minimum number of timesteps before sleeping
-
-
-//---------------------------------- sizes ---------------------------------------------------------
-
-#define mjNEQDATA       11        // number of eq_data fields
-#define mjNDYN          10        // number of actuator dynamics parameters
-#define mjNGAIN         10        // number of actuator gain parameters
-#define mjNBIAS         10        // number of actuator bias parameters
-#define mjNFLUID        12        // number of fluid interaction parameters
-#define mjNREF          2         // number of solver reference parameters
-#define mjNIMP          5         // number of solver impedance parameters
-#define mjNPOLY         2         // number of high-order polynomial coefficients
-#define mjNSENS         3         // number of sensor parameters
-#define mjNSOLVER       200       // size of one mjData.solver array
-#define mjNISLAND       20        // number of mjData.solver arrays
-
-
-
-//---------------------------------- mjLROpt -------------------------------------------------------
-
-typedef struct mjLROpt_ {         // options for mj_setLengthRange()
-  // flags
-  int mode;                       // which actuators to process (mjtLRMode)
-  int useexisting;                // use existing length range if available
-  int uselimit;                   // use joint and tendon limits if available
-
-  // algorithm parameters
-  mjtNum accel;                   // target acceleration used to compute force
-  mjtNum maxforce;                // maximum force; 0: no limit
-  mjtNum timeconst;               // time constant for velocity reduction; min 0.01
-  mjtNum timestep;                // simulation timestep; 0: use mjOption.timestep
-  mjtNum inttotal;                // total simulation time interval
-  mjtNum interval;                // evaluation time interval (at the end)
-  mjtNum tolrange;                // convergence tolerance (relative to range)
-} mjLROpt;
-
-//---------------------------------- mjCache -------------------------------------------------------
-
-typedef struct mjCache_ {         // asset cache used by the compiler
-  void* impl_;                    // internal pointer to cache
-} mjCache;
-
-//---------------------------------- mjVFS ---------------------------------------------------------
-
-typedef struct mjVFS_ {           // virtual file system for loading from memory
-  void* impl_;                    // internal pointer to VFS memory
-} mjVFS;
-
-//---------------------------------- mjOption ------------------------------------------------------
-
-typedef struct mjOption_ {        // physics options
-  // timing parameters
-  mjtNum timestep;                // timestep
-
-  // solver parameters
-  mjtNum impratio;                // ratio of friction-to-normal contact impedance
-  mjtNum tolerance;               // main solver tolerance
-  mjtNum ls_tolerance;            // CG/Newton linesearch tolerance
-  mjtNum noslip_tolerance;        // noslip solver tolerance
-  mjtNum ccd_tolerance;           // convex collision solver tolerance
-
-  // sleep settings
-  mjtNum sleep_tolerance;         // sleep velocity tolerance
-
-  // physical constants
-  mjtNum gravity[3];              // gravitational acceleration
-  mjtNum wind[3];                 // wind (for lift, drag and viscosity)
-  mjtNum magnetic[3];             // global magnetic flux
-  mjtNum density;                 // density of medium
-  mjtNum viscosity;               // viscosity of medium
-
-  // override contact solver parameters (if enabled)
-  mjtNum o_margin;                // margin
-  mjtNum o_solref[mjNREF];        // solref
-  mjtNum o_solimp[mjNIMP];        // solimp
-  mjtNum o_friction[5];           // friction
-
-  // discrete settings
-  int integrator;                 // integration mode (mjtIntegrator)
-  int cone;                       // type of friction cone (mjtCone)
-  int jacobian;                   // type of Jacobian (mjtJacobian)
-  int solver;                     // solver algorithm (mjtSolver)
-  int iterations;                 // maximum number of main solver iterations
-  int ls_iterations;              // maximum number of CG/Newton linesearch iterations
-  int noslip_iterations;          // maximum number of noslip solver iterations
-  int ccd_iterations;             // maximum number of convex collision solver iterations
-  int disableflags;               // bit flags for disabling standard features
-  int enableflags;                // bit flags for enabling optional features
-  int disableactuator;            // bit flags for disabling actuators by group id
-
-  // sdf collision settings
-  int sdf_initpoints;             // number of starting points for gradient descent
-  int sdf_iterations;             // max number of iterations for gradient descent
-} mjOption;
-
-
-//---------------------------------- mjVisual ------------------------------------------------------
-
-typedef struct mjVisual_ {        // visualization options
-  struct {                        // global parameters
-    int   cameraid;               // initial camera id (-1: free)
-    int   orthographic;           // is the free camera orthographic (0: no, 1: yes)
-    float fovy;                   // y field-of-view of free camera (orthographic ? length : degree)
-    float ipd;                    // inter-pupilary distance for free camera
-    float azimuth;                // initial azimuth of free camera (degrees)
-    float elevation;              // initial elevation of free camera (degrees)
-    float linewidth;              // line width for wireframe and ray rendering
-    float glow;                   // glow coefficient for selected body
-    float realtime;               // initial real-time factor (1: real time)
-    int   offwidth;               // width of offscreen buffer
-    int   offheight;              // height of offscreen buffer
-    int   ellipsoidinertia;       // geom for inertia visualization (0: box, 1: ellipsoid)
-    int   bvactive;               // visualize active bounding volumes (0: no, 1: yes)
-  } global;
-
-  struct {                        // rendering quality
-    int   shadowsize;             // size of shadowmap texture
-    int   offsamples;             // number of multisamples for offscreen rendering
-    int   numslices;              // number of slices for builtin geom drawing
-    int   numstacks;              // number of stacks for builtin geom drawing
-    int   numquads;               // number of quads for box rendering
-  } quality;
-
-  struct {                        // head light
-    float ambient[3];             // ambient rgb (alpha=1)
-    float diffuse[3];             // diffuse rgb (alpha=1)
-    float specular[3];            // specular rgb (alpha=1)
-    int   active;                 // is headlight active
-  } headlight;
-
-  struct {                        // mapping
-    float stiffness;              // mouse perturbation stiffness (space->force)
-    float stiffnessrot;           // mouse perturbation stiffness (space->torque)
-    float force;                  // from force units to space units
-    float torque;                 // from torque units to space units
-    float alpha;                  // scale geom alphas when transparency is enabled
-    float fogstart;               // OpenGL fog starts at fogstart * mjModel.stat.extent
-    float fogend;                 // OpenGL fog ends at fogend * mjModel.stat.extent
-    float znear;                  // near clipping plane = znear * mjModel.stat.extent
-    float zfar;                   // far clipping plane = zfar * mjModel.stat.extent
-    float haze;                   // haze ratio
-    float shadowclip;             // directional light: shadowclip * mjModel.stat.extent
-    float shadowscale;            // spot light: shadowscale * light.cutoff
-    float actuatortendon;         // scale tendon width
-  } map;
-
-  struct {                        // scale of decor elements relative to mean body size
-    float forcewidth;             // width of force arrow
-    float contactwidth;           // contact width
-    float contactheight;          // contact height
-    float connect;                // autoconnect capsule width
-    float com;                    // com radius
-    float camera;                 // camera object
-    float light;                  // light object
-    float selectpoint;            // selection point
-    float jointlength;            // joint length
-    float jointwidth;             // joint width
-    float actuatorlength;         // actuator length
-    float actuatorwidth;          // actuator width
-    float framelength;            // bodyframe axis length
-    float framewidth;             // bodyframe axis width
-    float constraint;             // constraint width
-    float slidercrank;            // slidercrank width
-    float frustum;                // frustum zfar plane
-  } scale;
-
-  struct {                        // color of decor elements
-    float fog[4];                 // fog
-    float haze[4];                // haze
-    float force[4];               // external force
-    float inertia[4];             // inertia box
-    float joint[4];               // joint
-    float actuator[4];            // actuator, neutral
-    float actuatornegative[4];    // actuator, negative limit
-    float actuatorpositive[4];    // actuator, positive limit
-    float com[4];                 // center of mass
-    float camera[4];              // camera object
-    float light[4];               // light object
-    float selectpoint[4];         // selection point
-    float connect[4];             // auto connect
-    float contactpoint[4];        // contact point
-    float contactforce[4];        // contact force
-    float contactfriction[4];     // contact friction force
-    float contacttorque[4];       // contact torque
-    float contactgap[4];          // contact point in gap
-    float rangefinder[4];         // rangefinder ray
-    float constraint[4];          // constraint
-    float slidercrank[4];         // slidercrank
-    float crankbroken[4];         // used when crank must be stretched/broken
-    float frustum[4];             // camera frustum
-    float bv[4];                  // bounding volume
-    float bvactive[4];            // active bounding volume
-  } rgba;
-} mjVisual;
-
-
-//---------------------------------- mjStatistic ---------------------------------------------------
-
-typedef struct mjStatistic_ {     // model statistics (in qpos0)
-  mjtNum meaninertia;             // mean diagonal inertia
-  mjtNum meanmass;                // mean body mass
-  mjtNum meansize;                // mean body size
-  mjtNum extent;                  // spatial extent
-  mjtNum center[3];               // center of model
-} mjStatistic;
-
-
-//---------------------------------- mjModel -------------------------------------------------------
-
-typedef struct mjModel_ {
-  // ------------------------------- sizes
-
-  // sizes needed at mjModel construction
-  mjtSize nq;                     // number of generalized coordinates = dim(qpos)
-  mjtSize nv;                     // number of degrees of freedom = dim(qvel)
-  mjtSize nu;                     // number of scalar controls = dim(ctrl)
-  mjtSize nactuator;              // number of actuators
-  mjtSize nout;                   // number of force outputs, derived from transmission type
-  mjtSize na;                     // number of activation states = dim(act)
-  mjtSize nbody;                  // number of bodies
-  mjtSize nbvh;                   // number of total bounding volumes in all bodies
-  mjtSize nbvhstatic;             // number of static bounding volumes (aabb stored in mjModel)
-  mjtSize nbvhdynamic;            // number of dynamic bounding volumes (aabb stored in mjData)
-  mjtSize noct;                   // number of total octree cells in all meshes
-  mjtSize njnt;                   // number of joints
-  mjtSize ntree;                  // number of kinematic trees under world body
-  mjtSize nM;                     // number of non-zeros in sparse inertia matrix
-  mjtSize nB;                     // number of non-zeros in sparse body-dof matrix
-  mjtSize nC;                     // number of non-zeros in sparse reduced dof-dof matrix
-  mjtSize nD;                     // number of non-zeros in sparse dof-dof matrix
-  mjtSize ngeom;                  // number of geoms
-  mjtSize nsite;                  // number of sites
-  mjtSize ncam;                   // number of cameras
-  mjtSize nlight;                 // number of lights
-  mjtSize nflex;                  // number of flexes
-  mjtSize nflexnode;              // number of dofs in all flexes
-  mjtSize nflexvert;              // number of vertices in all flexes
-  mjtSize nflexedge;              // number of edges in all flexes
-  mjtSize nflexelem;              // number of elements in all flexes
-  mjtSize nflexelemdata;          // number of element vertex ids in all flexes
-  mjtSize nflexstiffness;         // number of stiffness parameters in all flexes
-  mjtSize nflexbending;           // number of bending parameters in all flexes
-  mjtSize nefm0dof;               // number of dofs covered by the constant metric factor
-  mjtSize nefm0L;                 // number of non-zeros in the constant metric factor
-  mjtSize nflexelemedge;          // number of element edge ids in all flexes
-  mjtSize nflexshelldata;         // number of shell fragment vertex ids in all flexes
-  mjtSize nflexevpair;            // number of element-vertex pairs in all flexes
-  mjtSize nflextexcoord;          // number of vertices with texture coordinates
-  mjtSize nJfe;                   // number of non-zeros in sparse flexedge Jacobian matrix
-  mjtSize nJfv;                   // number of non-zeros in sparse flexvert Jacobian matrix
-  mjtSize nmesh;                  // number of meshes
-  mjtSize nmeshvert;              // number of vertices in all meshes
-  mjtSize nmeshnormal;            // number of normals in all meshes
-  mjtSize nmeshtexcoord;          // number of texcoords in all meshes
-  mjtSize nmeshface;              // number of triangular faces in all meshes
-  mjtSize nmeshgraph;             // number of ints in mesh auxiliary data
-  mjtSize nmeshpoly;              // number of polygons in all meshes
-  mjtSize nmeshpolyvert;          // number of vertices in all polygons
-  mjtSize nmeshpolymap;           // number of polygons in vertex map
-  mjtSize nskin;                  // number of skins
-  mjtSize nskinvert;              // number of vertices in all skins
-  mjtSize nskintexvert;           // number of vertices with texcoords in all skins
-  mjtSize nskinface;              // number of triangular faces in all skins
-  mjtSize nskinbone;              // number of bones in all skins
-  mjtSize nskinbonevert;          // number of vertices in all skin bones
-  mjtSize nhfield;                // number of heightfields
-  mjtSize nhfielddata;            // number of data points in all heightfields
-  mjtSize ntex;                   // number of textures
-  mjtSize ntexdata;               // number of bytes in texture rgb data
-  mjtSize nmat;                   // number of materials
-  mjtSize npair;                  // number of predefined geom pairs
-  mjtSize nexclude;               // number of excluded geom pairs
-  mjtSize neq;                    // number of equality constraints
-  mjtSize ntendon;                // number of tendons
-  mjtSize nJten;                  // number of non-zeros in sparse ten_J matrix
-  mjtSize nwrap;                  // number of wrap objects in all tendon paths
-  mjtSize nsensor;                // number of sensors
-  mjtSize nnumeric;               // number of numeric custom fields
-  mjtSize nnumericdata;           // number of mjtNums in all numeric fields
-  mjtSize ntext;                  // number of text custom fields
-  mjtSize ntextdata;              // number of mjtBytes in all text fields
-  mjtSize ntuple;                 // number of tuple custom fields
-  mjtSize ntupledata;             // number of objects in all tuple fields
-  mjtSize nkey;                   // number of keyframes
-  mjtSize nmocap;                 // number of mocap bodies
-  mjtSize nplugin;                // number of plugin instances
-  mjtSize npluginattr;            // number of chars in all plugin config attributes
-  mjtSize nuser_body;             // number of mjtNums in body_user
-  mjtSize nuser_jnt;              // number of mjtNums in jnt_user
-  mjtSize nuser_geom;             // number of mjtNums in geom_user
-  mjtSize nuser_site;             // number of mjtNums in site_user
-  mjtSize nuser_cam;              // number of mjtNums in cam_user
-  mjtSize nuser_tendon;           // number of mjtNums in tendon_user
-  mjtSize nuser_actuator;         // number of mjtNums in actuator_user
-  mjtSize nuser_sensor;           // number of mjtNums in sensor_user
-  mjtSize nnames;                 // number of chars in all names
-  mjtSize npaths;                 // number of chars in all paths
-
-  // sizes set after mjModel construction
-  mjtSize nnames_map;             // number of slots in the names hash map
-  mjtSize nJmom;                  // number of non-zeros in sparse actuator_moment matrix
-  mjtSize ngravcomp;              // number of bodies with nonzero gravcomp
-  mjtSize nemax;                  // number of potential equality-constraint rows
-  mjtSize njmax;                  // number of available rows in constraint Jacobian (legacy)
-  mjtSize nconmax;                // number of potential contacts in contact list (legacy)
-  mjtSize npolygonmax;            // maximum number of vertices in a mesh polygon
-  mjtSize nmeshdegmax;            // maximum number of edges adjacent to a mesh vertex
-  mjtSize nuserdata;              // number of mjtNums reserved for the user
-  mjtSize nsensordata;            // number of mjtNums in sensor data vector
-  mjtSize npluginstate;           // number of mjtNums in plugin state vector
-  mjtSize nhistory;               // number of mjtNums in history buffer
-
-  // buffer sizes
-  mjtSize narena;                 // number of bytes in the mjData arena (inclusive of stack)
-  mjtSize nbuffer;                // number of bytes in buffer
-
-  // ------------------------------- flags
-
-  mjtBool flg_gravcomp;           // whether any body has nonzero gravcomp
-  mjtBool flg_surfacevel;         // whether any geom has nonzero surfacevel
-  mjtBool flg_adhesion;           // whether any geom or pair has nonzero adhesion
-
-  // ------------------------------- options and statistics
-
-  mjOption opt;                   // physics options
-  mjVisual vis;                   // visualization options
-  mjStatistic stat;               // model statistics
-
-  // ------------------------------- buffers
-
-  // main buffer
-  void*     buffer;               // main buffer; all pointers point in it    (nbuffer)
-
-  // default generalized coordinates
-  mjtNum*   qpos0;                // qpos values at default pose              (nq x 1)
-  mjtNum*   qpos_spring;          // reference pose for springs               (nq x 1)
-
-  // bodies
-  int*      body_parentid;        // id of body's parent                      (nbody x 1)
-  int*      body_rootid;          // ancestor that is direct child of world   (nbody x 1)
-  int*      body_weldid;          // top dof-less ancestor; mocap: own root   (nbody x 1)
-  int*      body_mocapid;         // id of mocap data; -1: none               (nbody x 1)
-  int*      body_jntnum;          // number of joints for this body           (nbody x 1)
-  int*      body_jntadr;          // start addr of joints; -1: no joints      (nbody x 1)
-  int*      body_dofnum;          // number of motion degrees of freedom      (nbody x 1)
-  int*      body_dofadr;          // start addr of dofs; -1: no dofs          (nbody x 1)
-  int*      body_treeid;          // id of body's kinematic tree; -1: static  (nbody x 1)
-  int*      body_geomnum;         // number of geoms                          (nbody x 1)
-  int*      body_geomadr;         // start addr of geoms; -1: no geoms        (nbody x 1)
-  mjtByte*  body_simple;          // 1: diag M; 2: diag M, sliders only       (nbody x 1)
-  mjtByte*  body_sameframe;       // same frame as inertia (mjtSameframe)     (nbody x 1)
-  mjtNum*   body_pos;             // position offset rel. to parent body      (nbody x 3)
-  mjtNum*   body_quat;            // orientation offset rel. to parent body   (nbody x 4)
-  mjtNum*   body_ipos;            // local position of center of mass         (nbody x 3)
-  mjtNum*   body_iquat;           // local orientation of inertia ellipsoid   (nbody x 4)
-  mjtNum*   body_mass;            // mass                                     (nbody x 1)
-  mjtNum*   body_subtreemass;     // mass of subtree starting at this body    (nbody x 1)
-  mjtNum*   body_inertia;         // diagonal inertia in ipos/iquat frame     (nbody x 3)
-  mjtNum*   body_invweight0;      // mean inv inert in qpos0 (trn, rot)       (nbody x 2)
-  mjtNum*   body_gravcomp;        // antigravity force, units of body weight  (nbody x 1)
-  mjtNum*   body_margin;          // MAX over all geom margins+gaps           (nbody x 1)
-  mjtNum*   body_user;            // user data                                (nbody x nuser_body)
-  int*      body_plugin;          // plugin instance id; -1: not in use       (nbody x 1)
-  int*      body_contype;         // OR over all geom contypes                (nbody x 1)
-  int*      body_conaffinity;     // OR over all geom conaffinities           (nbody x 1)
-  int*      body_bvhadr;          // address of bvh root                      (nbody x 1)
-  int*      body_bvhnum;          // number of bounding volumes               (nbody x 1)
-
-  // bounding volume hierarchy
-  int*      bvh_depth;            // depth in the bounding volume hierarchy   (nbvh x 1)
-  int*      bvh_child;            // left and right children in tree          (nbvh x 2)
-  int*      bvh_nodeid;           // geom or elem id of node; -1: non-leaf    (nbvh x 1)
-  mjtNum*   bvh_aabb;             // local bounding box (center, size)        (nbvhstatic x 6)
-
-  // octree spatial partitioning
-  int*      oct_depth;            // depth in the octree                      (noct x 1)
-  int*      oct_child;            // children of octree node                  (noct x 8)
-  mjtNum*   oct_aabb;             // octree node bounding box (center, size)  (noct x 6)
-  mjtNum*   oct_coeff;            // octree interpolation coefficients        (noct x 8)
-
-  // joints
-  int*      jnt_type;             // type of joint (mjtJoint)                 (njnt x 1)
-  int*      jnt_qposadr;          // start addr in 'qpos' for joint's data    (njnt x 1)
-  int*      jnt_dofadr;           // start addr in 'qvel' for joint's data    (njnt x 1)
-  int*      jnt_bodyid;           // id of joint's body                       (njnt x 1)
-  int*      jnt_actuatorid;       // actuator contributing damping / armature (njnt x 1)
-  int*      jnt_group;            // group for visibility                     (njnt x 1)
-  mjtBool*  jnt_limited;          // does joint have limits                   (njnt x 1)
-  mjtBool*  jnt_actfrclimited;    // does joint have actuator force limits    (njnt x 1)
-  mjtBool*  jnt_actgravcomp;      // is gravcomp force applied via actuators  (njnt x 1)
-  mjtNum*   jnt_solref;           // constraint solver reference: limit       (njnt x mjNREF)
-  mjtNum*   jnt_solimp;           // constraint solver impedance: limit       (njnt x mjNIMP)
-  mjtNum*   jnt_pos;              // local anchor position                    (njnt x 3)
-  mjtNum*   jnt_axis;             // local joint axis                         (njnt x 3)
-  mjtNum*   jnt_stiffness;        // linear stiffness coefficient             (njnt x 1)
-  mjtNum*   jnt_stiffnesspoly;    // high-order stiffness coefficients        (njnt x mjNPOLY)
-  mjtNum*   jnt_range;            // joint limits                             (njnt x 2)
-  mjtNum*   jnt_actfrcrange;      // range of total actuator force            (njnt x 2)
-  mjtNum*   jnt_margin;           // min distance for limit detection         (njnt x 1)
-  mjtNum*   jnt_user;             // user data                                (njnt x nuser_jnt)
-
-  // dofs
-  int*      dof_bodyid;           // id of dof's body                         (nv x 1)
-  int*      dof_jntid;            // id of dof's joint                        (nv x 1)
-  int*      dof_parentid;         // id of dof's parent; -1: none             (nv x 1)
-  int*      dof_treeid;           // id of dof's kinematic tree               (nv x 1)
-  int*      dof_Madr;             // dof address in M-diagonal                (nv x 1)
-  int*      dof_simplenum;        // number of consecutive simple dofs        (nv x 1)
-  mjtNum*   dof_solref;           // constraint solver reference:frictionloss (nv x mjNREF)
-  mjtNum*   dof_solimp;           // constraint solver impedance:frictionloss (nv x mjNIMP)
-  mjtNum*   dof_frictionloss;     // dof friction loss                        (nv x 1)
-  mjtNum*   dof_armature;         // dof armature inertia/mass                (nv x 1)
-  mjtNum*   dof_damping;          // linear damping coefficient               (nv x 1)
-  mjtNum*   dof_dampingpoly;      // high-order damping coefficients          (nv x mjNPOLY)
-  mjtNum*   dof_invweight0;       // diag. inverse inertia in qpos0           (nv x 1)
-  mjtNum*   dof_M0;               // diag. inertia in qpos0                   (nv x 1)
-  mjtNum*   dof_length;           // linear: 1; angular: approx. length scale (nv x 1)
-
-  // trees
-  int*      tree_bodyadr;         // start addr of bodies                     (ntree x 1)
-  int*      tree_bodynum;         // number of bodies in tree                 (ntree x 1)
-  int*      tree_dofadr;          // start addr of dofs                       (ntree x 1)
-  int*      tree_dofnum;          // number of dofs in tree                   (ntree x 1)
-  int*      tree_sleep_policy;    // sleep policy (mjtSleepPolicy)            (ntree x 1)
-
-  // geoms
-  int*      geom_type;            // geometric type (mjtGeom)                 (ngeom x 1)
-  int*      geom_contype;         // geom contact type                        (ngeom x 1)
-  int*      geom_conaffinity;     // geom contact affinity                    (ngeom x 1)
-  int*      geom_condim;          // contact dimensionality (1, 3, 4, 6)      (ngeom x 1)
-  int*      geom_bodyid;          // id of geom's body                        (ngeom x 1)
-  int*      geom_dataid;          // id of geom's mesh/hfield; -1: none       (ngeom x 1)
-  int*      geom_matid;           // material id for rendering; -1: none      (ngeom x 1)
-  int*      geom_group;           // group for visibility                     (ngeom x 1)
-  int*      geom_priority;        // geom contact priority                    (ngeom x 1)
-  int*      geom_plugin;          // plugin instance id; -1: not in use       (ngeom x 1)
-  mjtByte*  geom_sameframe;       // same frame as body (mjtSameframe)        (ngeom x 1)
-  mjtNum*   geom_solmix;          // mixing coef for solref/imp in geom pair  (ngeom x 1)
-  mjtNum*   geom_solref;          // constraint solver reference: contact     (ngeom x mjNREF)
-  mjtNum*   geom_solimp;          // constraint solver impedance: contact     (ngeom x mjNIMP)
-  mjtNum*   geom_size;            // geom-specific size parameters            (ngeom x 3)
-  mjtNum*   geom_aabb;            // bounding box, (center, size)             (ngeom x 6)
-  mjtNum*   geom_rbound;          // radius of bounding sphere                (ngeom x 1)
-  mjtNum*   geom_pos;             // local position offset rel. to body       (ngeom x 3)
-  mjtNum*   geom_quat;            // local orientation offset rel. to body    (ngeom x 4)
-  mjtNum*   geom_friction;        // friction for (slide, spin, roll)         (ngeom x 3)
-  mjtNum*   geom_margin;          // geometric inflation for contact          (ngeom x 1)
-  mjtNum*   geom_gap;             // additional contact detection buffer      (ngeom x 1)
-  mjtNum*   geom_surfacevel;      // surface velocity in local frame: lin,ang (ngeom x 6)
-  mjtNum*   geom_adhesion;        // adhesive force of contacts               (ngeom x 1)
-  mjtNum*   geom_fluid;           // fluid interaction parameters             (ngeom x mjNFLUID)
-  mjtNum*   geom_user;            // user data                                (ngeom x nuser_geom)
-  float*    geom_rgba;            // rgba when material is omitted            (ngeom x 4)
-
-  // sites
-  int*      site_type;            // geom type for rendering (mjtGeom)        (nsite x 1)
-  int*      site_bodyid;          // id of site's body                        (nsite x 1)
-  int*      site_matid;           // material id for rendering; -1: none      (nsite x 1)
-  int*      site_group;           // group for visibility                     (nsite x 1)
-  mjtByte*  site_sameframe;       // same frame as body (mjtSameframe)        (nsite x 1)
-  mjtNum*   site_size;            // geom size for rendering                  (nsite x 3)
-  mjtNum*   site_pos;             // local position offset rel. to body       (nsite x 3)
-  mjtNum*   site_quat;            // local orientation offset rel. to body    (nsite x 4)
-  mjtNum*   site_user;            // user data                                (nsite x nuser_site)
-  float*    site_rgba;            // rgba when material is omitted            (nsite x 4)
-
-  // cameras
-  int*      cam_mode;             // camera tracking mode (mjtCamLight)       (ncam x 1)
-  int*      cam_bodyid;           // id of camera's body                      (ncam x 1)
-  int*      cam_targetbodyid;     // id of targeted body; -1: none            (ncam x 1)
-  mjtNum*   cam_pos;              // position rel. to body frame              (ncam x 3)
-  mjtNum*   cam_quat;             // orientation rel. to body frame           (ncam x 4)
-  mjtNum*   cam_poscom0;          // global position rel. to sub-com in qpos0 (ncam x 3)
-  mjtNum*   cam_pos0;             // global position rel. to body in qpos0    (ncam x 3)
-  mjtNum*   cam_mat0;             // global orientation in qpos0              (ncam x 9)
-  int*      cam_projection;       // projection type (mjtProjection)          (ncam x 1)
-  mjtNum*   cam_fovy;             // y field-of-view (ortho ? len : deg)      (ncam x 1)
-  mjtNum*   cam_ipd;              // inter-pupilary distance                  (ncam x 1)
-  int*      cam_resolution;       // resolution: pixels [width, height]       (ncam x 2)
-  int*      cam_output;           // output types (mjtCamOut bit flags)       (ncam x 1)
-  float*    cam_sensorsize;       // sensor size: length [width, height]      (ncam x 2)
-  float*    cam_intrinsic;        // [focal length; principal point]          (ncam x 4)
-  mjtNum*   cam_user;             // user data                                (ncam x nuser_cam)
-
-  // lights
-  int*      light_mode;           // light tracking mode (mjtCamLight)        (nlight x 1)
-  int*      light_bodyid;         // id of light's body                       (nlight x 1)
-  int*      light_targetbodyid;   // id of targeted body; -1: none            (nlight x 1)
-  int*      light_type;           // spot, directional, etc. (mjtLightType)   (nlight x 1)
-  int*      light_texid;          // texture id for image lights              (nlight x 1)
-  mjtBool*  light_castshadow;     // does light cast shadows                  (nlight x 1)
-  float*    light_bulbradius;     // light radius for soft shadows            (nlight x 1)
-  float*    light_intensity;      // intensity, in candela                    (nlight x 1)
-  float*    light_range;          // range of effectiveness                   (nlight x 1)
-  mjtBool*  light_active;         // is light on                              (nlight x 1)
-  mjtNum*   light_pos;            // position rel. to body frame              (nlight x 3)
-  mjtNum*   light_dir;            // direction rel. to body frame             (nlight x 3)
-  mjtNum*   light_poscom0;        // global position rel. to sub-com in qpos0 (nlight x 3)
-  mjtNum*   light_pos0;           // global position rel. to body in qpos0    (nlight x 3)
-  mjtNum*   light_dir0;           // global direction in qpos0                (nlight x 3)
-  float*    light_attenuation;    // OpenGL attenuation (quadratic model)     (nlight x 3)
-  float*    light_cutoff;         // OpenGL cutoff                            (nlight x 1)
-  float*    light_softness;       // spotlight edge softness                  (nlight x 1)
-  float*    light_exponent;       // OpenGL exponent                          (nlight x 1)
-  float*    light_ambient;        // ambient rgb (alpha=1)                    (nlight x 3)
-  float*    light_diffuse;        // diffuse rgb (alpha=1)                    (nlight x 3)
-  float*    light_specular;       // specular rgb (alpha=1)                   (nlight x 3)
-
-  // flexes: contact properties
-  int*      flex_contype;         // flex contact type                        (nflex x 1)
-  int*      flex_conaffinity;     // flex contact affinity                    (nflex x 1)
-  int*      flex_condim;          // contact dimensionality (1, 3, 4, 6)      (nflex x 1)
-  int*      flex_priority;        // flex contact priority                    (nflex x 1)
-  mjtNum*   flex_solmix;          // mix coef for solref/imp in contact pair  (nflex x 1)
-  mjtNum*   flex_solref;          // constraint solver reference: contact     (nflex x mjNREF)
-  mjtNum*   flex_solimp;          // constraint solver impedance: contact     (nflex x mjNIMP)
-  mjtNum*   flex_friction;        // friction for (slide, spin, roll)         (nflex x 3)
-  mjtNum*   flex_margin;          // geometric inflation for contact          (nflex x 1)
-  mjtNum*   flex_gap;             // additional contact detection buffer      (nflex x 1)
-  mjtBool*  flex_internal;        // internal flex collision enabled          (nflex x 1)
-  int*      flex_selfcollide;     // self collision mode (mjtFlexSelf)        (nflex x 1)
-  int*      flex_activelayers;    // number of active element layers, 3D only (nflex x 1)
-  int*      flex_passive;         // passive collisions enabled               (nflex x 1)
-
-  // flexes: other properties
-  int*      flex_dim;             // 1: lines, 2: triangles, 3: tetrahedra    (nflex x 1)
-  int*      flex_matid;           // material id for rendering                (nflex x 1)
-  int*      flex_group;           // group for visibility                     (nflex x 1)
-  int*      flex_interp;          // interpolation (0: vertex, 1: nodes)      (nflex x 1)
-  int*      flex_cellnum;         // finite cell num per dimension            (nflex x 3)
-  int*      flex_nodeadr;         // first node address                       (nflex x 1)
-  int*      flex_nodenum;         // number of nodes                          (nflex x 1)
-  int*      flex_vertadr;         // first vertex address                     (nflex x 1)
-  int*      flex_vertnum;         // number of vertices                       (nflex x 1)
-  int*      flex_edgeadr;         // first edge address                       (nflex x 1)
-  int*      flex_edgenum;         // number of edges                          (nflex x 1)
-  int*      flex_elemadr;         // first element address                    (nflex x 1)
-  int*      flex_elemnum;         // number of elements                       (nflex x 1)
-  int*      flex_elemdataadr;     // first element vertex id address          (nflex x 1)
-  int*      flex_stiffnessadr;    // stiffness matrix address                 (nflex x 1)
-  int*      flex_elemedgeadr;     // first element edge id address            (nflex x 1)
-  int*      flex_bendingadr;      // first bending data address               (nflex x 1)
-  int*      flex_shellnum;        // number of shells                         (nflex x 1)
-  int*      flex_shelldataadr;    // first shell data address                 (nflex x 1)
-  int*      flex_evpairadr;       // first evpair address                     (nflex x 1)
-  int*      flex_evpairnum;       // number of evpairs                        (nflex x 1)
-  int*      flex_texcoordadr;     // address in flex_texcoord; -1: none       (nflex x 1)
-  int*      flex_nodebodyid;      // node body ids                            (nflexnode x 1)
-  int*      flex_vertbodyid;      // vertex body ids                          (nflexvert x 1)
-  int*      flex_vertedgeadr;     // first edge address                       (nflexvert x 1)
-  int*      flex_vertedgenum;     // number of edges                          (nflexvert x 1)
-  int*      flex_vertedge;        // edge indices                             (nflexedge x 2)
-  int*      flex_edge;            // edge vertex ids (2 per edge)             (nflexedge x 2)
-  int*      flex_edgeflap;        // adjacent vertex ids (dim=2 only)         (nflexedge x 2)
-  int*      flex_elem;            // element vertex ids (dim+1 per elem)      (nflexelemdata x 1)
-  int*      flex_elemtexcoord;    // element texture coordinates (dim+1)      (nflexelemdata x 1)
-  int*      flex_elemedge;        // element edge ids                         (nflexelemedge x 1)
-  int*      flex_elemlayer;       // element distance from surface, 3D only   (nflexelem x 1)
-  int*      flex_shell;           // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
-  int*      flex_evpair;          // (element, vertex) collision pairs        (nflexevpair x 2)
-  mjtNum*   flex_vert;            // vertex positions in local body frames    (nflexvert x 3)
-  mjtNum*   flex_vert0;           // vertex positions in qpos0 on [0, 1]^d    (nflexvert x 3)
-  mjtNum*   flex_vertmetric;      // inverse of reference shape matrix        (nflexvert x 4)
-  mjtNum*   flex_node;            // node positions in local body frames      (nflexnode x 3)
-  mjtNum*   flex_node0;           // Cartesian node positions in qpos0        (nflexnode x 3)
-  mjtNum*   flexedge_length0;     // edge lengths in qpos0                    (nflexedge x 1)
-  mjtNum*   flexedge_invweight0;  // edge inv. weight in qpos0                (nflexedge x 1)
-  mjtNum*   flex_radius;          // radius around primitive element          (nflex x 1)
-  mjtNum*   flex_size;            // vertex bounding box half sizes in qpos0  (nflex x 3)
-  mjtNum*   flex_stiffness;       // finite element stiffness matrix          (nflexstiffness x 1)
-  mjtNum*   flex_bending;         // bending stiffness                        (nflexbending x 1)
-  int*      efm0_dofid;           // constant metric factor row->dof address  (nefm0dof x 1)
-  int*      efm0_L_rownnz;        // constant metric factor row nonzeros      (nefm0dof x 1)
-  int*      efm0_L_rowadr;        // constant metric factor row addresses     (nefm0dof x 1)
-  int*      efm0_L_colind;        // constant metric factor column indices    (nefm0L x 1)
-  mjtNum*   efm0_L;               // factor of M + (dt^2+dt*d)*K_bend         (nefm0L x 1)
-  mjtNum*   flex_damping;         // Rayleigh's damping coefficient           (nflex x 1)
-  mjtNum*   flex_edgestiffness;   // edge stiffness                           (nflex x 1)
-  mjtNum*   flex_edgedamping;     // edge damping                             (nflex x 1)
-  int*      flex_edgeequality;    // 0:none, 1:edges, 2:vertices, 3:strain    (nflex x 1)
-  mjtBool*  flex_rigid;           // are all vertices in the same body        (nflex x 1)
-  mjtBool*  flexedge_rigid;       // are both edge vertices in same body      (nflexedge x 1)
-  mjtBool*  flex_centered;        // are all vertex coordinates (0,0,0)       (nflex x 1)
-  mjtBool*  flex_flatskin;        // render flex skin with flat shading       (nflex x 1)
-  int*      flex_bvhadr;          // address of bvh root; -1: no bvh          (nflex x 1)
-  int*      flex_bvhnum;          // number of bounding volumes               (nflex x 1)
-  int*      flexedge_J_rownnz;    // number of non-zeros in Jacobian row      (nflexedge x 1)
-  int*      flexedge_J_rowadr;    // row start address in colind array        (nflexedge x 1)
-  int*      flexedge_J_colind;    // column indices in sparse Jacobian        (nJfe x 1)
-  int*      flexvert_J_rownnz;    // number of non-zeros in Jacobian row      (nflexvert x 2)
-  int*      flexvert_J_rowadr;    // row start address in colind array        (nflexvert x 2)
-  int*      flexvert_J_colind;    // column indices in sparse Jacobian        (nJfv x 2)
-  float*    flex_rgba;            // rgba when material is omitted            (nflex x 4)
-  float*    flex_texcoord;        // vertex texture coordinates               (nflextexcoord x 2)
-
-  // meshes
-  int*      mesh_vertadr;         // first vertex address                     (nmesh x 1)
-  int*      mesh_vertnum;         // number of vertices                       (nmesh x 1)
-  int*      mesh_faceadr;         // first face address                       (nmesh x 1)
-  int*      mesh_facenum;         // number of faces                          (nmesh x 1)
-  int*      mesh_bvhadr;          // address of bvh root                      (nmesh x 1)
-  int*      mesh_bvhnum;          // number of bvh                            (nmesh x 1)
-  int*      mesh_octadr;          // address of octree root                   (nmesh x 1)
-  int*      mesh_octnum;          // number of octree nodes                   (nmesh x 1)
-  int*      mesh_normaladr;       // first normal address                     (nmesh x 1)
-  int*      mesh_normalnum;       // number of normals                        (nmesh x 1)
-  int*      mesh_texcoordadr;     // texcoord data address; -1: no texcoord   (nmesh x 1)
-  int*      mesh_texcoordnum;     // number of texcoord                       (nmesh x 1)
-  int*      mesh_graphadr;        // graph data address; -1: no graph         (nmesh x 1)
-  int*      mesh_extrema;         // extremum vertices in 3x3x3 directions    (nmesh x 27)
-  float*    mesh_vert;            // vertex positions for all meshes          (nmeshvert x 3)
-  float*    mesh_normal;          // normals for all meshes                   (nmeshnormal x 3)
-  float*    mesh_texcoord;        // vertex texcoords for all meshes          (nmeshtexcoord x 2)
-  int*      mesh_face;            // vertex face data                         (nmeshface x 3)
-  int*      mesh_facenormal;      // normal face data                         (nmeshface x 3)
-  int*      mesh_facetexcoord;    // texture face data                        (nmeshface x 3)
-  int*      mesh_graph;           // convex graph data                        (nmeshgraph x 1)
-  mjtNum*   mesh_scale;           // scaling applied to asset vertices        (nmesh x 3)
-  mjtNum*   mesh_pos;             // translation applied to asset vertices    (nmesh x 3)
-  mjtNum*   mesh_quat;            // rotation applied to asset vertices       (nmesh x 4)
-  int*      mesh_pathadr;         // address of asset path for mesh; -1: none (nmesh x 1)
-  int*      mesh_polynum;         // number of polygons per mesh              (nmesh x 1)
-  int*      mesh_polyadr;         // first polygon address per mesh           (nmesh x 1)
-  mjtNum*   mesh_polynormal;      // all polygon normals                      (nmeshpoly x 3)
-  int*      mesh_polyvertadr;     // polygon vertex start address             (nmeshpoly x 1)
-  int*      mesh_polyvertnum;     // number of vertices per polygon           (nmeshpoly x 1)
-  int*      mesh_polyvert;        // all polygon vertices                     (nmeshpolyvert x 1)
-  int*      mesh_polymapadr;      // first polygon address per vertex         (nmeshvert x 1)
-  int*      mesh_polymapnum;      // number of polygons per vertex            (nmeshvert x 1)
-  int*      mesh_polymap;         // vertex to polygon map                    (nmeshpolymap x 1)
-
-  // skins
-  int*      skin_matid;           // skin material id; -1: none               (nskin x 1)
-  int*      skin_group;           // group for visibility                     (nskin x 1)
-  float*    skin_rgba;            // skin rgba                                (nskin x 4)
-  float*    skin_inflate;         // inflate skin in normal direction         (nskin x 1)
-  int*      skin_vertadr;         // first vertex address                     (nskin x 1)
-  int*      skin_vertnum;         // number of vertices                       (nskin x 1)
-  int*      skin_texcoordadr;     // texcoord data address; -1: no texcoord   (nskin x 1)
-  int*      skin_faceadr;         // first face address                       (nskin x 1)
-  int*      skin_facenum;         // number of faces                          (nskin x 1)
-  int*      skin_boneadr;         // first bone in skin                       (nskin x 1)
-  int*      skin_bonenum;         // number of bones in skin                  (nskin x 1)
-  float*    skin_vert;            // vertex positions for all skin meshes     (nskinvert x 3)
-  float*    skin_texcoord;        // vertex texcoords for all skin meshes     (nskintexvert x 2)
-  int*      skin_face;            // triangle faces for all skin meshes       (nskinface x 3)
-  int*      skin_bonevertadr;     // first vertex in each bone                (nskinbone x 1)
-  int*      skin_bonevertnum;     // number of vertices in each bone          (nskinbone x 1)
-  float*    skin_bonebindpos;     // bind pos of each bone                    (nskinbone x 3)
-  float*    skin_bonebindquat;    // bind quat of each bone                   (nskinbone x 4)
-  int*      skin_bonebodyid;      // body id of each bone                     (nskinbone x 1)
-  int*      skin_bonevertid;      // mesh ids of vertices in each bone        (nskinbonevert x 1)
-  float*    skin_bonevertweight;  // weights of vertices in each bone         (nskinbonevert x 1)
-  int*      skin_pathadr;         // address of asset path for skin; -1: none (nskin x 1)
-
-  // height fields
-  mjtNum*   hfield_size;          // (x, y, z_top, z_bottom)                  (nhfield x 4)
-  int*      hfield_nrow;          // number of rows in grid                   (nhfield x 1)
-  int*      hfield_ncol;          // number of columns in grid                (nhfield x 1)
-  int*      hfield_adr;           // address in hfield_data                   (nhfield x 1)
-  float*    hfield_data;          // elevation data                           (nhfielddata x 1)
-  int*      hfield_pathadr;       // address of hfield asset path; -1: none   (nhfield x 1)
-
-  // textures
-  int*      tex_type;             // texture type (mjtTexture)                (ntex x 1)
-  int*      tex_colorspace;       // texture colorspace (mjtColorSpace)       (ntex x 1)
-  int*      tex_height;           // number of rows in texture image          (ntex x 1)
-  int*      tex_width;            // number of columns in texture image       (ntex x 1)
-  int*      tex_nchannel;         // number of channels in texture image      (ntex x 1)
-  mjtSize*  tex_adr;              // start address in tex_data                (ntex x 1)
-  mjtByte*  tex_data;             // pixel values                             (ntexdata x 1)
-  int*      tex_pathadr;          // address of texture asset path; -1: none  (ntex x 1)
-
-  // materials
-  int*      mat_texid;            // indices of textures; -1: none            (nmat x mjNTEXROLE)
-  mjtBool*  mat_texuniform;       // make texture cube uniform                (nmat x 1)
-  float*    mat_texrepeat;        // texture repetition for 2d mapping        (nmat x 2)
-  float*    mat_emission;         // emission (x rgb)                         (nmat x 1)
-  float*    mat_specular;         // specular (x white)                       (nmat x 1)
-  float*    mat_shininess;        // shininess coef                           (nmat x 1)
-  float*    mat_reflectance;      // reflectance (0: disable)                 (nmat x 1)
-  float*    mat_metallic;         // metallic coef                            (nmat x 1)
-  float*    mat_roughness;        // roughness coef                           (nmat x 1)
-  float*    mat_rgba;             // rgba                                     (nmat x 4)
-
-  // predefined geom pairs for collision detection; has precedence over exclude
-  int*      pair_dim;             // contact dimensionality                   (npair x 1)
-  int*      pair_geom1;           // id of geom1                              (npair x 1)
-  int*      pair_geom2;           // id of geom2                              (npair x 1)
-  int*      pair_signature;       // body1 << 16 + body2                      (npair x 1)
-  mjtNum*   pair_solref;          // solver reference: contact normal         (npair x mjNREF)
-  mjtNum*   pair_solreffriction;  // solver reference: contact friction       (npair x mjNREF)
-  mjtNum*   pair_solimp;          // solver impedance: contact                (npair x mjNIMP)
-  mjtNum*   pair_margin;          // geometric inflation for contact          (npair x 1)
-  mjtNum*   pair_gap;             // additional contact detection buffer      (npair x 1)
-  mjtNum*   pair_adhesion;        // adhesive force of contacts               (npair x 1)
-  mjtNum*   pair_friction;        // tangent1, 2, spin, roll1, 2              (npair x 5)
-
-  // excluded body pairs for collision detection
-  int*      exclude_signature;    // body1 << 16 + body2                      (nexclude x 1)
-
-  // equality constraints
-  int*      eq_type;              // constraint type (mjtEq)                  (neq x 1)
-  int*      eq_obj1id;            // id of object 1                           (neq x 1)
-  int*      eq_obj2id;            // id of object 2                           (neq x 1)
-  int*      eq_objtype;           // type of both objects (mjtObj)            (neq x 1)
-  mjtBool*  eq_active0;           // initial enable/disable constraint state  (neq x 1)
-  mjtNum*   eq_solref;            // constraint solver reference              (neq x mjNREF)
-  mjtNum*   eq_solimp;            // constraint solver impedance              (neq x mjNIMP)
-  mjtNum*   eq_data;              // numeric data for constraint              (neq x mjNEQDATA)
-
-  // tendons
-  int*      tendon_adr;           // address of first object in tendon's path (ntendon x 1)
-  int*      tendon_num;           // number of objects in tendon's path       (ntendon x 1)
-  int*      tendon_matid;         // material id for rendering                (ntendon x 1)
-  int*      tendon_actuatorid;    // actuator contributing damping / armature (ntendon x 1)
-  int*      tendon_group;         // group for visibility                     (ntendon x 1)
-  int*      tendon_treenum;       // number of trees along tendon's path      (ntendon x 1)
-  int*      tendon_treeid;        // first two trees along tendon's path      (ntendon x 2)
-  int*      ten_J_rownnz;         // number of non-zeros in Jacobian row      (ntendon x 1)
-  int*      ten_J_rowadr;         // row start address in colind array        (ntendon x 1)
-  int*      ten_J_colind;         // column indices in sparse Jacobian        (nJten x 1)
-  mjtBool*  tendon_limited;       // does tendon have length limits           (ntendon x 1)
-  mjtBool*  tendon_actfrclimited; // does tendon have actuator force limits   (ntendon x 1)
-  mjtNum*   tendon_width;         // width for rendering                      (ntendon x 1)
-  mjtNum*   tendon_solref_lim;    // constraint solver reference: limit       (ntendon x mjNREF)
-  mjtNum*   tendon_solimp_lim;    // constraint solver impedance: limit       (ntendon x mjNIMP)
-  mjtNum*   tendon_solref_fri;    // constraint solver reference: friction    (ntendon x mjNREF)
-  mjtNum*   tendon_solimp_fri;    // constraint solver impedance: friction    (ntendon x mjNIMP)
-  mjtNum*   tendon_range;         // tendon length limits                     (ntendon x 2)
-  mjtNum*   tendon_actfrcrange;   // range of total actuator force            (ntendon x 2)
-  mjtNum*   tendon_margin;        // min distance for limit detection         (ntendon x 1)
-  mjtNum*   tendon_stiffness;     // linear stiffness coefficient             (ntendon x 1)
-  mjtNum*   tendon_stiffnesspoly; // high-order stiffness coefficients        (ntendon x mjNPOLY)
-  mjtNum*   tendon_damping;       // linear damping coefficient               (ntendon x 1)
-  mjtNum*   tendon_dampingpoly;   // high-order damping coefficients          (ntendon x mjNPOLY)
-  mjtNum*   tendon_armature;      // inertia associated with tendon velocity  (ntendon x 1)
-  mjtNum*   tendon_frictionloss;  // loss due to friction                     (ntendon x 1)
-  mjtNum*   tendon_lengthspring;  // spring resting length range              (ntendon x 2)
-  mjtNum*   tendon_length0;       // tendon length in qpos0                   (ntendon x 1)
-  mjtNum*   tendon_invweight0;    // inv. weight in qpos0                     (ntendon x 1)
-  mjtNum*   tendon_user;          // user data                                (ntendon x nuser_tendon)
-  float*    tendon_rgba;          // rgba when material is omitted            (ntendon x 4)
-
-  // list of all wrap objects in tendon paths
-  int*      wrap_type;            // wrap object type (mjtWrap)               (nwrap x 1)
-  int*      wrap_objid;           // object id: geom, site, joint             (nwrap x 1)
-  mjtNum*   wrap_prm;             // divisor, joint coef, or site id          (nwrap x 1)
-
-  // actuators
-  int*      actuator_trntype;     // transmission type (mjtTrn)               (nactuator x 1)
-  int*      actuator_dyntype;     // dynamics type (mjtDyn)                   (nactuator x 1)
-  int*      actuator_gaintype;    // gain type (mjtGain)                      (nactuator x 1)
-  int*      actuator_biastype;    // bias type (mjtBias)                      (nactuator x 1)
-  int*      actuator_ctrladr;     // address of first control                 (nactuator x 1)
-  int*      actuator_ctrlnum;     // number of controls                       (nactuator x 1)
-  int*      actuator_ctrlspec;    // input signature, scoped by gaintype      (nactuator x 1)
-  int*      actuator_outadr;      // address of first force output            (nactuator x 1)
-  int*      actuator_outnum;      // number of force outputs, from trntype    (nactuator x 1)
-  int*      actuator_actadr;      // first activation address; -1: stateless  (nactuator x 1)
-  int*      actuator_actnum;      // number of activation variables           (nactuator x 1)
-  int*      actuator_trnid;       // transmission id: joint, tendon, site     (nactuator x 2)
-  mjtNum*   actuator_cranklength; // crank length for slider-crank            (nactuator x 1)
-  mjtNum*   actuator_dynprm;      // dynamics parameters                      (nactuator x mjNDYN)
-  mjtNum*   actuator_gainprm;     // gain parameters                          (nactuator x mjNGAIN)
-  mjtNum*   actuator_biasprm;     // bias parameters                          (nactuator x mjNBIAS)
-  mjtBool*  actuator_actlimited;  // is activation limited                    (nactuator x 1)
-  mjtNum*   actuator_actrange;    // range of activations                     (nactuator x 2)
-  mjtBool*  actuator_actearly;    // step activation before force             (nactuator x 1)
-  int*      actuator_history;     // history buffer: [nsample, interp]        (nactuator x 2)
-  int*      actuator_historyadr;  // address in history buffer; -1: none      (nactuator x 1)
-  mjtNum*   actuator_delay;       // delay time; 0: no delay                  (nactuator x 1)
-  mjtNum*   actuator_damping;     // linear damping coefficient               (nactuator x 1)
-  mjtNum*   actuator_dampingpoly; // high-order damping coefficients          (nactuator x mjNPOLY)
-  mjtNum*   actuator_armature;    // armature added to target (joint, tendon) (nactuator x 1)
-  int*      actuator_group;       // group for visibility                     (nactuator x 1)
-  mjtNum*   actuator_user;        // user data                                (nactuator x nuser_actuator)
-  int*      actuator_plugin;      // plugin instance id; -1: not a plugin     (nactuator x 1)
-  mjtBool*  actuator_forcelimited;// is force limited                         (nactuator x 1)
-  mjtNum*   actuator_forcerange;  // range of forces                          (nactuator x 2)
-  mjtBool*  actuator_ctrllimited; // is control limited                       (nu x 1)
-  mjtNum*   actuator_ctrlrange;   // range of controls                        (nu x 2)
-  mjtNum*   actuator_gear;        // scale length and transmitted force       (nout x 6)
-  mjtNum*   actuator_acc0;        // acceleration from unit force in qpos0    (nout x 1)
-  mjtNum*   actuator_length0;     // actuator length in qpos0                 (nout x 1)
-  mjtNum*   actuator_lengthrange; // feasible actuator length range           (nout x 2)
-
-  // sensors
-  int*      sensor_type;          // sensor type (mjtSensor)                  (nsensor x 1)
-  int*      sensor_datatype;      // numeric data type (mjtDataType)          (nsensor x 1)
-  int*      sensor_needstage;     // required compute stage (mjtStage)        (nsensor x 1)
-  int*      sensor_objtype;       // type of sensorized object (mjtObj)       (nsensor x 1)
-  int*      sensor_objid;         // id of sensorized object                  (nsensor x 1)
-  int*      sensor_reftype;       // type of reference frame (mjtObj)         (nsensor x 1)
-  int*      sensor_refid;         // id of reference frame; -1: global frame  (nsensor x 1)
-  int*      sensor_intprm;        // sensor parameters                        (nsensor x mjNSENS)
-  int*      sensor_dim;           // number of scalar outputs                 (nsensor x 1)
-  int*      sensor_adr;           // address in sensor array                  (nsensor x 1)
-  mjtNum*   sensor_cutoff;        // cutoff for real and positive; 0: ignore  (nsensor x 1)
-  mjtNum*   sensor_noise;         // noise standard deviation                 (nsensor x 1)
-  int*      sensor_history;       // history buffer: [nsample, interp]        (nsensor x 2)
-  int*      sensor_historyadr;    // address in history buffer; -1: none      (nsensor x 1)
-  mjtNum*   sensor_delay;         // delay time in seconds; 0: no delay       (nsensor x 1)
-  mjtNum*   sensor_interval;      // interval: [period, phase] in seconds     (nsensor x 2)
-  mjtNum*   sensor_user;          // user data                                (nsensor x nuser_sensor)
-  int*      sensor_plugin;        // plugin instance id; -1: not a plugin     (nsensor x 1)
-
-  // plugin instances
-  int*      plugin;               // globally registered plugin slot number   (nplugin x 1)
-  int*      plugin_stateadr;      // address in the plugin state array        (nplugin x 1)
-  int*      plugin_statenum;      // number of states in the plugin instance  (nplugin x 1)
-  char*     plugin_attr;          // config attributes of plugin instances    (npluginattr x 1)
-  int*      plugin_attradr;       // address to each instance's config attrib (nplugin x 1)
-
-  // custom numeric fields
-  int*      numeric_adr;          // address of field in numeric_data         (nnumeric x 1)
-  int*      numeric_size;         // size of numeric field                    (nnumeric x 1)
-  mjtNum*   numeric_data;         // array of all numeric fields              (nnumericdata x 1)
-
-  // custom text fields
-  int*      text_adr;             // address of text in text_data             (ntext x 1)
-  int*      text_size;            // size of text field (strlen+1)            (ntext x 1)
-  char*     text_data;            // array of all text fields (0-terminated)  (ntextdata x 1)
-
-  // custom tuple fields
-  int*      tuple_adr;            // address of text in text_data             (ntuple x 1)
-  int*      tuple_size;           // number of objects in tuple               (ntuple x 1)
-  int*      tuple_objtype;        // array of object types in all tuples      (ntupledata x 1)
-  int*      tuple_objid;          // array of object ids in all tuples        (ntupledata x 1)
-  mjtNum*   tuple_objprm;         // array of object params in all tuples     (ntupledata x 1)
-
-  // keyframes
-  mjtNum*   key_time;             // key time                                 (nkey x 1)
-  mjtNum*   key_qpos;             // key position                             (nkey x nq)
-  mjtNum*   key_qvel;             // key velocity                             (nkey x nv)
-  mjtNum*   key_act;              // key activation                           (nkey x na)
-  mjtNum*   key_mpos;             // key mocap position                       (nkey x nmocap*3)
-  mjtNum*   key_mquat;            // key mocap quaternion                     (nkey x nmocap*4)
-  mjtNum*   key_ctrl;             // key control                              (nkey x nu)
-
-  // names
-  int*      name_bodyadr;         // body name pointers                       (nbody x 1)
-  int*      name_jntadr;          // joint name pointers                      (njnt x 1)
-  int*      name_geomadr;         // geom name pointers                       (ngeom x 1)
-  int*      name_siteadr;         // site name pointers                       (nsite x 1)
-  int*      name_camadr;          // camera name pointers                     (ncam x 1)
-  int*      name_lightadr;        // light name pointers                      (nlight x 1)
-  int*      name_flexadr;         // flex name pointers                       (nflex x 1)
-  int*      name_meshadr;         // mesh name pointers                       (nmesh x 1)
-  int*      name_skinadr;         // skin name pointers                       (nskin x 1)
-  int*      name_hfieldadr;       // hfield name pointers                     (nhfield x 1)
-  int*      name_texadr;          // texture name pointers                    (ntex x 1)
-  int*      name_matadr;          // material name pointers                   (nmat x 1)
-  int*      name_pairadr;         // geom pair name pointers                  (npair x 1)
-  int*      name_excludeadr;      // exclude name pointers                    (nexclude x 1)
-  int*      name_eqadr;           // equality constraint name pointers        (neq x 1)
-  int*      name_tendonadr;       // tendon name pointers                     (ntendon x 1)
-  int*      name_actuatoradr;     // actuator name pointers                   (nactuator x 1)
-  int*      name_sensoradr;       // sensor name pointers                     (nsensor x 1)
-  int*      name_numericadr;      // numeric name pointers                    (nnumeric x 1)
-  int*      name_textadr;         // text name pointers                       (ntext x 1)
-  int*      name_tupleadr;        // tuple name pointers                      (ntuple x 1)
-  int*      name_keyadr;          // keyframe name pointers                   (nkey x 1)
-  int*      name_pluginadr;       // plugin instance name pointers            (nplugin x 1)
-  char*     names;                // names of all objects, 0-terminated       (nnames x 1)
-  int*      names_map;            // internal hash map of names               (nnames_map x 1)
-
-  // paths
-  char*     paths;                // paths to assets, 0-terminated            (npaths x 1)
-
-  // sparse structures
-  int*      B_rownnz;             // body-dof: non-zeros in each row          (nbody x 1)
-  int*      B_rowadr;             // body-dof: row addresses                  (nbody x 1)
-  int*      B_colind;             // body-dof: column indices                 (nB x 1)
-  int*      M_rownnz;             // reduced inertia: non-zeros in each row   (nv x 1)
-  int*      M_rowadr;             // reduced inertia: row addresses           (nv x 1)
-  int*      M_colind;             // reduced inertia: column indices          (nC x 1)
-  int*      mapM2M;               // index mapping from qM to M               (nC x 1)
-  int*      D_rownnz;             // full inertia: non-zeros in each row      (nv x 1)
-  int*      D_rowadr;             // full inertia: row addresses              (nv x 1)
-  int*      D_diag;               // full inertia: index of diagonal element  (nv x 1)
-  int*      D_colind;             // full inertia: column indices             (nD x 1)
-  int*      mapM2D;               // index mapping from M to D                (nD x 1)
-  int*      mapD2M;               // index mapping from D to M                (nC x 1)
-
-  // compilation signature
-  uint64_t  signature;            // also held by the mjSpec that compiled this model
-} mjModel;
-
-#endif  // MUJOCO_MJMODEL_H_
diff --git a/include/mujoco/mjplugin.h b/include/mujoco/mjplugin.h
deleted file mode 100644
index 9a13f6a8..00000000
--- a/include/mujoco/mjplugin.h
+++ /dev/null
@@ -1,233 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_INCLUDE_MJPLUGIN_H_
-#define MUJOCO_INCLUDE_MJPLUGIN_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-
-
-//---------------------------------- Resource Provider ---------------------------------------------
-
-typedef struct mjResource_ {
-  char* name;                                   // name of resource (filename, etc)
-  void* data;                                   // opaque data pointer
-  mjVFS* vfs;                                   // pointer to the VFS
-  char timestamp[512];                          // timestamp of the resource
-  const struct mjpResourceProvider* provider;   // pointer to the provider
-  const char* args;  // resource arguments/hints, URI query format key=val&...
-                     // (optional)
-} mjResource;
-
-// callback for opening a resource, returns zero on failure.
-// Note: If opening fails, the close callback will not be called. Therefore, the
-// open callback is responsible for cleaning up any allocated memory before
-// returning 0.
-typedef int (*mjfOpenResource)(mjResource* resource);
-
-// callback for reading a resource
-// return number of bytes stored in buffer, return -1 if error
-typedef int (*mjfReadResource)(mjResource* resource, const void** buffer);
-
-// callback for closing a resource (responsible for freeing any allocated memory)
-typedef void (*mjfCloseResource)(mjResource* resource);
-
-// callback for mounting a resource (provider), returns zero on failure
-typedef int (*mjfMountResource)(mjResource* resource);
-
-// callback for unmounting a resource (provider), returns zero on failure
-typedef int (*mjfUnmountResource)(mjResource* resource);
-
-// callback for checking if the current resource was modified from the time
-// specified by the timestamp
-// returns 0 if the resource's timestamp matches the provided timestamp
-// returns > 0 if the resource is younger than the given timestamp
-// returns < 0 if the resource is older than the given timestamp
-typedef int (*mjfResourceModified)(const mjResource* resource, const char* timestamp);
-
-// callback for writing bytes to a resource
-// return number of bytes written, return -1 if error
-typedef mjtSize (*mjfWriteResource)(mjResource* resource, const void* buffer, mjtSize nbytes);
-
-// struct describing a single resource provider
-typedef struct mjpResourceProvider {
-  const char* prefix;               // prefix for match against a resource name
-  mjfOpenResource open;             // opening callback
-  mjfReadResource read;             // reading callback
-  mjfCloseResource close;           // closing callback
-  mjfMountResource mount;           // mounting callback (optional)
-  mjfUnmountResource unmount;       // unmounting callback (optional)
-  mjfResourceModified modified;     // resource modified callback (optional)
-  mjfWriteResource write;           // writing callback (optional)
-  void* data;                       // opaque data pointer (resource invariant)
-} mjpResourceProvider;
-
-//---------------------------------- Decoder -------------------------------------------------------
-
-// function pointer types
-// return an mjSpec representing the decoded resource.
-typedef mjSpec* (*mjfDecode)(mjResource* resource, const mjVFS* vfs);
-// return true if the given resource can be decoded.
-typedef int (*mjfCanDecode)(const mjResource* resource);
-
-// the struct defining the decoder plugin's interface
-typedef struct mjpDecoder {
-  const char* content_type;
-  const char* extension;
-  // user-facing functions
-  mjfCanDecode can_decode;  // quickly check if this decoder can handle the resource
-  mjfDecode decode;         // main decoding function
-  // the caller takes ownership of the spec returned by decode and is responsible
-  // for cleaning it up
-} mjpDecoder;
-
-//---------------------------------- Encoder -------------------------------------------------------
-
-typedef mjtSize (*mjfEncode)(const mjSpec* s, const mjModel* m, const mjVFS* vfs,
-                            mjResource* resource);
-
-typedef struct mjpEncoder {
-  const char* content_type;
-  const char* extension;
-  mjfEncode encode;  //  Function to encode an mjSpec and mjModel to a mjResource.
-  mjfCloseResource close_resource;  // Function to close/free the resource.
-} mjpEncoder;
-
-//---------------------------------- Plugins -------------------------------------------------------
-
-typedef enum mjtPluginCapabilityBit_ {
-  mjPLUGIN_ACTUATOR = 1<<0,       // actuator forces
-  mjPLUGIN_SENSOR   = 1<<1,       // sensor measurements
-  mjPLUGIN_PASSIVE  = 1<<2,       // passive forces
-  mjPLUGIN_SDF      = 1<<3,       // signed distance fields
-} mjtPluginCapabilityBit;
-
-typedef struct mjpPlugin_ {
-  const char* name;               // globally unique name identifying the plugin
-
-  int nattribute;                 // number of configuration attributes
-  const char* const* attributes;  // name of configuration attributes
-
-  int capabilityflags;            // plugin capabilities: bitfield of mjtPluginCapabilityBit
-  int needstage;                  // sensor computation stage (mjtStage)
-
-  // number of mjtNums needed to store the state of a plugin instance (required)
-  int (*nstate)(const mjModel* m, int instance);
-
-  // dimension of the specified sensor's output (required only for sensor plugins)
-  int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
-
-  // called when a new mjData is being created (required), returns 0 on success or -1 on failure
-  int (*init)(const mjModel* m, mjData* d, int instance);
-
-  // called when an mjData is being freed (optional)
-  void (*destroy)(mjData* d, int instance);
-
-  // called when an mjData is being copied (optional)
-  void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
-
-  // called when an mjData is being reset (required)
-  void (*reset)(const mjModel* m, mjtNum* plugin_state, void* plugin_data, int instance);
-
-  // called when the plugin needs to update its outputs (required)
-  void (*compute)(const mjModel* m, mjData* d, int instance, int capability_bit);
-
-  // called when time integration occurs (optional)
-  void (*advance)(const mjModel* m, mjData* d, int instance);
-
-  // called by mjv_updateScene (optional)
-  void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
-
-  // methods specific to actuators (optional)
-
-  // updates the actuator plugin's entries in act_dot
-  // called after native act_dot is computed and before the compute callback
-  void (*actuator_act_dot)(const mjModel* m, mjData* d, int instance);
-
-  // methods specific to signed distance fields (optional)
-
-  // signed distance from the surface
-  mjtNum (*sdf_distance)(const mjtNum point[3], const mjData* d, int instance);
-
-  // gradient of distance with respect to local coordinates
-  void (*sdf_gradient)(mjtNum gradient[3], const mjtNum point[3], const mjData* d, int instance);
-
-  // called during compilation for marching cubes
-  mjtNum (*sdf_staticdistance)(const mjtNum point[3], const mjtNum* attributes);
-
-  // convert attributes and provide defaults if not present
-  void (*sdf_attribute)(mjtNum attribute[], const char* name[], const char* value[]);
-
-  // bounding box of implicit surface
-  void (*sdf_aabb)(mjtNum aabb[6], const mjtNum* attributes);
-} mjpPlugin;
-
-typedef struct mjSDF_ {
-  const mjpPlugin** plugin;
-  int* id;
-  mjtSDFType type;
-  mjtNum* relpos;
-  mjtNum* relmat;
-  mjtGeom* geomtype;
-} mjSDF;
-
-//------------------------------------ Initialization ----------------------------------------------
-
-#if defined(__has_attribute)
-  #if __has_attribute(constructor)
-    #define mjPLUGIN_LIB_INIT(n)                                     \
-      static void _mj_init_##n(void) __attribute__((constructor));   \
-      static void _mj_init_##n(void)
-  #endif
-#elif defined(_MSC_VER)
-    // on x86, symbols are decorated with a leading underscore
-    #ifdef _M_IX86
-      #define LINKER_NAME "__mj_ptr_"
-    #else
-      #define LINKER_NAME "_mj_ptr_"
-    #endif
-
-    #pragma section(".CRT$XCU", read)
-
-    #if !defined(mjEXTERNC)
-      #if defined(__cplusplus)
-        #define mjEXTERNC extern "C"
-      #else
-        #define mjEXTERNC
-      #endif  // defined(__cplusplus)
-    #endif  // !defined(mjEXTERNC)
-
-    #define mjPLUGIN_LIB_INIT(n)                                                          \
-      static void __cdecl _mj_init_##n(void);                                             \
-      /* use mjEXTERNC to prevent C++ name mangling */                                    \
-      /* allocate the function pointer to the .CRT$XCU section of the executable */       \
-      /* functions in this section are executed on startup before calling main() */       \
-      mjEXTERNC __declspec(allocate(".CRT$XCU"))                                          \
-      void (__cdecl * _mj_ptr_##n)(void) = _mj_init_##n;                                  \
-      /* Force the linker to include the pointer symbol */                                \
-      __pragma(comment(linker, "/include:" LINKER_NAME #n))                               \
-      static void __cdecl _mj_init_##n(void)
-
-#else
-    #error "Unknown compiler: Plugin registration not supported."
-#endif
-
-// function pointer type for mj_loadAllPluginLibraries callback
-typedef void (*mjfPluginLibraryLoadCallback)(const char* filename, int first, int count);
-
-#endif  // MUJOCO_INCLUDE_MJPLUGIN_H_
diff --git a/include/mujoco/mjrender.h b/include/mujoco/mjrender.h
deleted file mode 100644
index 2fd12e22..00000000
--- a/include/mujoco/mjrender.h
+++ /dev/null
@@ -1,237 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJRENDER_H_
-#define MUJOCO_MJRENDER_H_
-
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-#define mjNAUX          10        // number of auxiliary buffers
-#define mjMAXTEXTURE    1000      // maximum number of textures
-#define mjMAXMATERIAL   1000      // maximum number of materials with textures
-
-//---------------------------------- primitive types (mjt) -----------------------------------------
-
-typedef enum mjtGridPos_ {        // grid position for overlay
-  mjGRID_TOPLEFT      = 0,        // top left
-  mjGRID_TOPRIGHT,                // top right
-  mjGRID_BOTTOMLEFT,              // bottom left
-  mjGRID_BOTTOMRIGHT,             // bottom right
-  mjGRID_TOP,                     // top center
-  mjGRID_BOTTOM,                  // bottom center
-  mjGRID_LEFT,                    // left center
-  mjGRID_RIGHT                    // right center
-} mjtGridPos;
-
-
-typedef enum mjtFramebuffer_ {    // OpenGL framebuffer option
-  mjFB_WINDOW         = 0,        // default/window buffer
-  mjFB_OFFSCREEN                  // offscreen buffer
-} mjtFramebuffer;
-
-
-typedef enum mjtDepthMap_ {       // depth mapping for `mjr_readPixels`
-  mjDEPTH_ZERONEAR    = 0,        // standard depth map; 0: znear, 1: zfar
-  mjDEPTH_ZEROFAR     = 1         // reversed depth map; 1: znear, 0: zfar
-} mjtDepthMap;
-
-
-typedef enum mjtFontScale_ {      // font scale, used at context creation
-  mjFONTSCALE_50      = 50,       // 50% scale, suitable for low-res rendering
-  mjFONTSCALE_100     = 100,      // normal scale, suitable in the absence of DPI scaling
-  mjFONTSCALE_150     = 150,      // 150% scale
-  mjFONTSCALE_200     = 200,      // 200% scale
-  mjFONTSCALE_250     = 250,      // 250% scale
-  mjFONTSCALE_300     = 300       // 300% scale
-} mjtFontScale;
-
-
-typedef enum mjtFont_ {           // font type, used at each text operation
-  mjFONT_NORMAL       = 0,        // normal font
-  mjFONT_SHADOW,                  // normal font with shadow (for higher contrast)
-  mjFONT_BIG                      // big font (for user alerts)
-} mjtFont;
-
-
-typedef enum mjrPixelFormat_ {    // pixel format for textures
-  mjPIXEL_FORMAT_UNKNOWN = 0,     // unknown/unspecified
-  mjPIXEL_FORMAT_R8,              // 1 channel, 8 bit
-  mjPIXEL_FORMAT_RGB8,            // 3 channels, 8 bits per channel
-  mjPIXEL_FORMAT_RGBA8,           // 4 channels, 8 bits per channel
-  mjPIXEL_FORMAT_R32F,            // 1 channel, 32 bit float
-  mjPIXEL_FORMAT_DEPTH32F,        // 1 channel, 32 bit float, for depth buffers
-  mjPIXEL_FORMAT_KTX,             // ktx compressed data
-} mjrPixelFormat;
-
-
-typedef enum mjrVertexAttributeUsage_ {   // usage/purpose of a vertex attribute
-  mjVERTEX_ATTRIBUTE_USAGE_POSITION = 0,  // vertex position
-  mjVERTEX_ATTRIBUTE_USAGE_NORMAL,        // vertex normal
-  mjVERTEX_ATTRIBUTE_USAGE_TANGENTS,      // vertex tangents
-  mjVERTEX_ATTRIBUTE_USAGE_UV,            // vertex texture coordinates
-  mjVERTEX_ATTRIBUTE_USAGE_COLOR,         // vertex color
-} mjrVertexAttributeUsage;
-
-
-typedef enum mjrVertexAttributeType_ {  // data format of a vertex attribute
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT2 = 0,   // 2D 32-bit float vector
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT3,       // 3D 32-bit float vector
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT4,       // 4D 32-bit float vector
-  mjVERTEX_ATTRIBUTE_TYPE_UBYTE4,       // 4D unsigned 8-bit byte vector
-} mjrVertexAttributeType;
-
-
-typedef enum mjrIndexType_ {  // data type of index buffer data
-  mjINDEX_TYPE_U16 = 0,       // 16-bit unsigned integer
-  mjINDEX_TYPE_U32,           // 32-bit unsigned integer
-} mjrIndexType;
-
-
-typedef enum mjrMeshPrimitiveType_ {    // type of mesh primitive
-  mjMESH_PRIMITIVE_TYPE_TRIANGLES = 0,  // triangles
-  mjMESH_PRIMITIVE_TYPE_LINES,          // lines
-} mjrMeshPrimitiveType;
-
-
-typedef struct mjrRect_ {         // OpenGL rectangle
-  int left;                       // left (usually 0)
-  int bottom;                     // bottom (usually 0)
-  int width;                      // width (usually buffer width)
-  int height;                     // height (usually buffer height)
-} mjrRect;
-
-
-typedef struct mjrRendererInfo_ {  // active renderer identity
-  const char* renderer;            // renderer family: classic, filament, noop
-  const char* backend;             // graphics backend: opengl, vulkan; empty if uninitialized
-} mjrRendererInfo;
-
-
-typedef struct mjrVertexAttribute_ {  // vertex attribute format specification
-  int usage;                          // position, normal, etc [mjrVertexAttributeUsage]
-  int type;                           // float3, ubyte4, etc. [mjrVertexAttributeType]
-} mjrVertexAttribute;
-
-
-// alias non-rendering types into mjr namespace
-typedef mjtTexture mjrSamplerType;
-typedef mjtColorSpace mjrColorSpace;
-typedef mjtLightType mjrLightType;
-typedef mjvGLCamera mjrCamera;
-
-
-//---------------------------------- mjrContext ----------------------------------------------------
-
-typedef struct mjrContext_ {        // custom OpenGL context
-  // parameters copied from mjVisual
-  float lineWidth;                  // line width for wireframe rendering
-  float shadowClip;                 // clipping radius for directional lights
-  float shadowScale;                // fraction of light cutoff for spot lights
-  float fogStart;                   // fog start = stat.extent * vis.map.fogstart
-  float fogEnd;                     // fog end = stat.extent * vis.map.fogend
-  float fogRGBA[4];                 // fog rgba
-  int shadowSize;                   // size of shadow map texture
-  int offWidth;                     // width of offscreen buffer
-  int offHeight;                    // height of offscreen buffer
-  int offSamples;                   // number of offscreen buffer multisamples
-
-  // parameters specified at creation
-  int fontScale;                    // font scale
-  int auxWidth[mjNAUX];             // auxiliary buffer width
-  int auxHeight[mjNAUX];            // auxiliary buffer height
-  int auxSamples[mjNAUX];           // auxiliary buffer multisamples
-
-  // offscreen rendering objects
-  unsigned int offFBO;              // offscreen framebuffer object
-  unsigned int offFBO_r;            // offscreen framebuffer for resolving multisamples
-  unsigned int offColor;            // offscreen color buffer
-  unsigned int offColor_r;          // offscreen color buffer for resolving multisamples
-  unsigned int offDepthStencil;     // offscreen depth and stencil buffer
-  unsigned int offDepthStencil_r;   // offscreen depth and stencil buffer for multisamples
-
-  // shadow rendering objects
-  unsigned int shadowFBO;           // shadow map framebuffer object
-  unsigned int shadowTex;           // shadow map texture
-
-  // auxiliary buffers
-  unsigned int auxFBO[mjNAUX];      // auxiliary framebuffer object
-  unsigned int auxFBO_r[mjNAUX];    // auxiliary framebuffer object for resolving
-  unsigned int auxColor[mjNAUX];    // auxiliary color buffer
-  unsigned int auxColor_r[mjNAUX];  // auxiliary color buffer for resolving
-
-  // materials with textures
-  int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
-  int mat_texuniform[mjMAXMATERIAL];       // uniform cube mapping
-  float mat_texrepeat[mjMAXMATERIAL*2];    // texture repetition for 2d mapping
-
-  // texture objects and info
-  int ntexture;                            // number of allocated textures
-  int textureType[mjMAXTEXTURE];           // type of texture (mjtTexture) (ntexture)
-  unsigned int texture[mjMAXTEXTURE];      // texture names
-
-  // displaylist starting positions
-  unsigned int basePlane;           // all planes from model
-  unsigned int baseMesh;            // all meshes from model
-  unsigned int baseHField;          // all height fields from model
-  unsigned int baseBuiltin;         // all builtin geoms, with quality from model
-  unsigned int baseFontNormal;      // normal font
-  unsigned int baseFontShadow;      // shadow font
-  unsigned int baseFontBig;         // big font
-
-  // displaylist ranges
-  int rangePlane;                   // all planes from model
-  int rangeMesh;                    // all meshes from model
-  int rangeHField;                  // all hfields from model
-  int rangeBuiltin;                 // all builtin geoms, with quality from model
-  int rangeFont;                    // all characters in font
-
-  // skin VBOs
-  int nskin;                        // number of skins
-  unsigned int* skinvertVBO;        // skin vertex position VBOs (nskin)
-  unsigned int* skinnormalVBO;      // skin vertex normal VBOs (nskin)
-  unsigned int* skintexcoordVBO;    // skin vertex texture coordinate VBOs (nskin)
-  unsigned int* skinfaceVBO;        // skin face index VBOs (nskin)
-
-  // character info
-  int charWidth[127];               // character widths: normal and shadow
-  int charWidthBig[127];            // character widths: big
-  int charHeight;                   // character heights: normal and shadow
-  int charHeightBig;                // character heights: big
-
-  // capabilities
-  int glInitialized;                // is OpenGL initialized
-  int windowAvailable;              // is default/window framebuffer available
-  int windowSamples;                // number of samples for default/window framebuffer
-  int windowStereo;                 // is stereo available for default/window framebuffer
-  int windowDoublebuffer;           // is default/window framebuffer double buffered
-
-  // framebuffer
-  int currentBuffer;                // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
-
-  // pixel output format
-  int readPixelFormat;              // default color pixel format for mjr_readPixels
-
-  // depth output format
-  int readDepthMap;                 // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
-} mjrContext;
-
-#if defined(__cplusplus)
-}
-#endif
-#endif  // MUJOCO_MJRENDER_H_
diff --git a/include/mujoco/mjrfilament.h b/include/mujoco/mjrfilament.h
deleted file mode 100644
index 21f0ed76..00000000
--- a/include/mujoco/mjrfilament.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJRFILAMENT_H_
-#define MUJOCO_MJRFILAMENT_H_
-
-#include <stdint.h>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjrender.h>
-#include <mujoco/mjtype.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-//---------------------------------- Filament rendering --------------------------------------------
-
-// Opaque handles for each of our components.
-typedef struct mjrfContext_ mjrfContext;
-typedef struct mjrfTexture_ mjrfTexture;
-typedef struct mjrfMesh_ mjrfMesh;
-typedef struct mjrfScene_ mjrfScene;
-typedef struct mjrfLight_ mjrfLight;
-typedef struct mjrfRenderable_ mjrfRenderable;
-typedef struct mjrfRenderTarget_ mjrfRenderTarget;
-
-// Callback function type for rendering operations.
-typedef void (*mjrfCallback)(void* user_data);
-
-// Underlying graphics API to use for rendering.
-typedef enum mjrGraphicsApi_ {
-  mjGRAPHICS_API_DEFAULT = 0,   // default (platform-dependent)
-  mjGRAPHICS_API_OPENGL,        // desktop, mobile (GLES), web (WebGL)
-  mjGRAPHICS_API_VULKAN,        // vulkan
-} mjrGraphicsApi;
-
-// Parameters for creating filament graphics context (mjrfContext).
-typedef struct mjrfContextConfig_ {
-  int graphics_api;                  // rendering graphics API [mjrGraphicsApi]
-  mjtBool force_software_rendering;  // force backend to use software rendering
-  void* native_window;               // platform-dependent window handle (or nullptr for windowless)
-} mjrfContextConfig;
-
-// Initializes the mjrfContextConfig to default values.
-void mjrf_defaultContextConfig(mjrfContextConfig* config);
-
-// Creates a filament rendering context.
-mjrfContext* mjrf_createContext(const mjrfContextConfig* config);
-
-// Destroys the filament rendering context.
-void mjrf_destroyContext(mjrfContext* ctx);
-
-// Gets active renderer information for the given filament context.
-void mjrf_getRendererInfo(mjrfContext* ctx, mjrRendererInfo* info);
-
-// High-level control for how to draw objects in the scene.
-typedef enum mjrDrawMode_ {
-  mjDRAW_MODE_DEFAULT,                // default colors and lighting
-  mjDRAW_MODE_DEFAULT_NO_TEXTURES,    // default, but without textures
-  mjDRAW_MODE_WIREFRAME,              // wireframe rendering
-  mjDRAW_MODE_DEPTH,                  // grayscale depth map
-  mjDRAW_MODE_ISLANDS,                // color objects based on island and sleep state
-  mjDRAW_MODE_SEGMENTATION_BY_ID,     // color objects based on segmentation id
-  mjDRAW_MODE_SEGMENTATION_BY_COLOR,  // generate visually distinct colors using segmentation id
-} mjrDrawMode;
-
-// A single rendering operation.
-typedef struct mjrfRenderRequest_ {
-  mjrfScene* scene;                  // scene to render
-  mjrCamera camera;                  // camera (viewpoint) from which to render scene
-  mjrRect viewport;                  // viewport (rect area) into which to render
-  mjrfRenderTarget* target;          // target used for rendering (or nullptr for window rendering)
-  int draw_mode;                     // method to use for drawing objects [mjrDrawMode]
-  mjtBool enable_post_processing;    // enable post processing, enabled by default
-  mjtBool enable_reflections;        // enable reflections, enabled by default
-  mjtBool enable_shadows;            // enable shadows, enabled by default
-} mjrfRenderRequest;
-
-// Initializes the mjrfRenderRequest to default values.
-void mjrf_defaultRenderRequest(mjrfRenderRequest* request);
-
-// A single pixel read operation.
-typedef struct mjrfReadPixelsRequest_ {
-  mjrfRenderTarget* target;              // render target from which to read the image pixels
-  void* output;                          // buffer into which the pixels will be stored
-  mjtSize num_bytes;                     // size of output buffer
-  mjrfCallback read_completed;           // callback when read is complete; can use to free output
-  void* user_data;                       // user data for read_completed_callback
-} mjrfReadPixelsRequest;
-
-// Initializes the mjrfReadPixelsRequest to default values.
-void mjrf_defaultReadPixelsRequest(mjrfReadPixelsRequest* request);
-
-// Unique handle assigned to each render request; used to block until request is completed or query
-// the status of the request.
-typedef uint64_t mjrfFrameHandle;
-
-// Submits the given requests for rendering. Because rendering happens asynchronously, callers have
-// to submit both the render and read requests in the same call. Multiple requests and reads can be
-// submitted in a single call. These requests will be processed in order, so some care must be
-// taken. Firstly, requests should be grouped by target. Next, the combined area of the viewports
-// for all requests for a given target must be contained within the dimensions of the target itself.
-//
-// Callbacks will be invoked from within this function, though there is no guarantee on which
-// invocation of this function it will be done.
-mjrfFrameHandle mjrf_render(mjrfContext* ctx, const mjrfRenderRequest* req, int nreq,
-                            const mjrfReadPixelsRequest* read_req, int nread_req);
-
-// Waits for all rendering operations to complete for the given frame handle, triggering any
-// callbacks as needed.
-void mjrf_waitForFrame(mjrfContext* ctx, mjrfFrameHandle frame);
-
-// Sets the clear color for the renderer.
-void mjrf_setClearColor(mjrfContext* ctx, const float color[3]);
-
-// Information for a single frame of rendering.
-typedef struct mjrfFrameStats_ {
-  double frame_rate;              // frame rate, in frames per second
-} mjrfFrameStats;
-
-// Initializes the mjrFrameStats to default values.
-void mjrf_defaultFrameStats(mjrfFrameStats* stats);
-
-// Returns the stats for the given frame but updating the given `stats_out`.
-void mjrf_getFrameStats(mjrfContext* ctx, mjrfFrameHandle frame, mjrfFrameStats* stats_out);
-
-// Parameters for creating a texture (mjrfTexture).
-typedef struct mjrfTextureConfig_ {
-  int width;                         // texture width, or number of bytes for compressed data (e.g. KTX)
-  int height;                        // texture height, or 0 for compressed data (e.g. KTX)
-  int format;                        // pixel format (e.g. RGB8, RGBA8, KTX, etc.) [mjrPixelFormat]
-  int color_space;                   // color space (e.g. LINEAR, sRGB, etc.) [mjrColorSpace]
-  int sampler_type;                  // texture sampler (e.g. 2D, cube, etc.) [mjrSamplerType]
-} mjrfTextureConfig;
-
-// Initializes the mjrfTextureConfig to default values.
-void mjrf_defaultTextureConfig(mjrfTextureConfig* config);
-
-// Creates a filament texture. Note that the texture will not be created on the GPU until
-// `mjrf_setTextureData()` is called.
-mjrfTexture* mjrf_createTexture(mjrfContext* ctx, const mjrfTextureConfig* config);
-
-// Destroys the texture.
-void mjrf_destroyTexture(mjrfTexture* texture);
-
-// Binary data payload for an mjrfTexture.
-typedef struct mjrfTextureData_ {
-  const void* bytes;               // pointer to image data, or nullptr for empty texture
-  mjtSize num_bytes;               // number of bytes in the image data
-  mjrfCallback release;            // callback when data has finished uploading
-  void* user_data;                 // user data for release callback
-} mjrfTextureData;
-
-// Initializes the mjrfTextureData to default values.
-void mjrf_defaultTextureData(mjrfTextureData* data);
-
-// Uploads the given texture data to the texture.
-void mjrf_setTextureData(mjrfTexture* texture, const mjrfTextureData* data);
-
-// Returns the width of the texture.
-int mjrf_getTextureWidth(const mjrfTexture* texture);
-
-// Returns the height of the texture.
-int mjrf_getTextureHeight(const mjrfTexture* texture);
-
-// Returns the sampler type (mjrSamplerType) used by the texture.
-// [returns: mjrSamplerType]
-int mjrf_getTextureSamplerType(const mjrfTexture* texture);
-
-// Maximum number of vertex attributes in a mesh.
-enum { mjMAX_VERTEX_ATTRIBUTES = 16 };
-
-// Parameters describing a mesh (mjrfMesh).
-typedef struct mjrfMeshConfig_ {
-  mjtSize max_vertices;         // maximum number of vertices
-  mjtSize max_indices;          // maximum number of indices
-  int num_attributes;           // number of defined attributes
-  mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute information
-  mjtBool interleaved;          // true if vertex attributes are interleaved
-  int index_type;               // index data format (e.g. UINT16 or UINT32) [mjrIndexType]
-  int primitive_type;           // index interpretation (e.g. TRIANGLES, etc.) [mjrMeshPrimitiveType]
-} mjrfMeshConfig;
-
-// Initializes the mjrfMeshConfig to default values.
-void mjrf_defaultMeshConfig(mjrfMeshConfig* config);
-
-// Creates an empty mesh with the given config.
-mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshConfig* config);
-
-// Destroys the mesh.
-void mjrf_destroyMesh(mjrfMesh* mesh);
-
-// Binary data used for creating a mesh (mjrfMesh).
-typedef struct mjrfMeshData_ {
-  mjtSize num_vertices;         // number of vertices
-  const void* vertices[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute data arrays
-  mjtSize num_indices;          // number of indices
-  const void* indices;          // indices data array
-  mjtBool compute_bounds;       // if true, compute bounds from vertex positions
-  float bounds_min[3];          // min/max bounds; assume unset if bounds_min == bounds_max
-  float bounds_max[3];
-  mjrfCallback release;         // callback when data has finished uploading
-  void* user_data;              // user data for release callback
-} mjrfMeshData;
-
-// Initializes the mjrfMeshData to default values.
-void mjrf_defaultMeshData(mjrfMeshData* data);
-
-// Uploads the given mesh data to the mesh.
-void mjrf_setMeshData(mjrfMesh* mesh, const mjrfMeshData* data);
-
-// Parameters for creating a scene (mjrfScene).
-typedef struct mjrfSceneParams_ {
-} mjrfSceneParams;
-
-// Initializes the mjrfSceneParams to default values.
-void mjrf_defaultSceneParams(mjrfSceneParams* params);
-
-// Creates a scene with the given parameters.
-mjrfScene* mjrf_createScene(mjrfContext* ctx, const mjrfSceneParams* params);
-
-// Destroys the scene.
-void mjrf_destroyScene(mjrfScene* scene);
-
-// Adds a light to the scene.
-void mjrf_addLightToScene(mjrfScene* scene, mjrfLight* light);
-
-// Removes the light from the scene.
-void mjrf_removeLightFromScene(mjrfScene* scene, mjrfLight* light);
-
-// Adds a renderable to the scene.
-void mjrf_addRenderableToScene(mjrfScene* scene, mjrfRenderable* renderable);
-
-// Removes the renderable from the scene.
-void mjrf_removeRenderableFromScene(mjrfScene* scene, mjrfRenderable* renderable);
-
-// Sets the skybox (cube texture) for the scene.
-void mjrf_setSceneSkybox(mjrfScene* scene, const mjrfTexture* texture);
-
-// Configures the scene based on the parameters in an mjModel.
-void mjrf_configureSceneFromModel(mjrfScene* scene, const mjModel* model);
-
-// Parameters for creating a light (mjrfLight).
-typedef struct mjrfLightParams_ {
-  int type;                        // type of light (e.g. spot, point, image, etc.) [mjrLightType]
-  const mjrfTexture* texture;      // texture; only for image lights
-  float color[3];                  // RGB color
-  float intensity;                 // light intensity, in candela
-  mjtBool cast_shadows;            // if true, cast shadows
-  float range;                     // effective range of light, in meters
-  float spot_cone_angle;           // spot light cone angle, in degrees
-  float spot_softness;             // spot light edge softness, fraction of cone angle in [0, 1]
-  int shadow_map_size;             // size of shadow map texture, 0 to use default size
-  float bulb_radius;               // bulb radius, used for soft shadows
-  float vsm_blur_width;            // variance shadow map blur width
-} mjrfLightParams;
-
-// Initializes the mjrfLightParams to default values.
-void mjrf_defaultLightParams(mjrfLightParams* params);
-
-// Creates a light for the filament renderer.
-mjrfLight* mjrf_createLight(mjrfContext* ctx, const mjrfLightParams* params);
-
-// Destroys the light.
-void mjrf_destroyLight(mjrfLight* light);
-
-// Enables or disables the light.
-void mjrf_setLightEnabled(mjrfLight* light, mjtBool enabled);
-
-// Sets the intensity of the light, in candela.
-void mjrf_setLightIntensity(mjrfLight* light, float intensity);
-
-// Sets the resolution of the light's shadow map, in texels.
-void mjrf_setLightShadowMapSize(mjrfLight* light, int map_size);
-
-// Sets the RGB color of the light.
-void mjrf_setLightColor(mjrfLight* light, const float color[3]);
-
-// Sets the position and direction of the light.
-void mjrf_setLightTransform(mjrfLight* light, const float position[3], const float direction[3]);
-
-// Returns the type of the light (mjrLightType).
-int mjrf_getLightType(const mjrfLight* light);
-
-// Material properties for a renderable (mjrfRenderable).
-typedef struct mjrfMaterial_ {
-  float color[4];               // object color; defaults to white
-  int32_t segmentation_id;      // ID for segmentation rendering; maps to RGB8 color (i.e. 24 bits)
-  int32_t island_id;            // ID to which the renderable belongs
-  int sleep_state;              // sleep state of the renderable [mjtSleepState]
-  float uv_scale[3];            // scale applied to UV coordinates; defaults to (1,1,1)
-  float uv_offset[3];           // offset applied to UV coordinates; defaults to (0,0,0)
-  float scissor[4];             // if non-zero, applies scissor testing when rendering
-  float metallic;               // metallic factory [0, 1]; disabled if < 0
-  float roughness;              // roughness factor [0, 1]; disabled if < 0
-  float specular;               // specular factor [0, 1]; disabled if < 0
-  float glossiness;             // glossiness factor [0, 1]; disabled if < 0
-  float emissive;               // emissive/glow factor [0, 1]; disabled if < 0
-  float reflectance;            // blend factor for reflective surfaces [0, 1]; applies only to planes
-  mjtBool decor_ux;             // for ux elements, does not apply any lighting
-  mjtBool selected;             // for "selected" ux elements, adds additional styling
-  const mjrfTexture* color_texture;       // color/albedo texture (RGB8)
-  const mjrfTexture* opacity_texture;     // opacity texture (A8)
-  const mjrfTexture* normal_texture;      // normal map texture (RGB8)
-  const mjrfTexture* metallic_texture;    // metallic map texture (R8)
-  const mjrfTexture* roughness_texture;   // roughness map texture (R8)
-  const mjrfTexture* occlusion_texture;   // ambient occlusion texture (R8)
-  const mjrfTexture* orm_texture;         // occlusion/roughness/metallic texture (RGB8)
-  const mjrfTexture* emissive_texture;    // emissive texture (RGB8)
-  const mjrfTexture* reflection_texture;  // reflection texture, for internal use only
-} mjrfMaterial;
-
-// Initializes the mjrfMaterial to default values.
-void mjrf_defaultMaterial(mjrfMaterial* material);
-
-// Parameters for creating a renderable (mjrfRenderable).
-typedef struct mjrfRenderableParams_ {
-  mjtBool cast_shadows;                 // if true, casts shadows
-  mjtBool receive_shadows;              // if true, receives shadows
-  uint16_t blend_order;                 // controls draw order for transparent objects [0, 8]
-} mjrfRenderableParams;
-
-// Initializes the mjrfRenderableParams to default values.
-void mjrf_defaultRenderableParams(mjrfRenderableParams* params);
-
-// Creates a renderable with the given parameters.
-mjrfRenderable* mjrf_createRenderable(mjrfContext* ctx, const mjrfRenderableParams* params);
-
-// Destroys the renderable.
-void mjrf_destroyRenderable(mjrfRenderable* renderable);
-
-// Sets the mesh of the renderable.
-void mjrf_setRenderableMesh(mjrfRenderable* renderable, const mjrfMesh* mesh, int elem_offset,
-                            int elem_count);
-
-// Sets the mesh of the renderable to a built-in mesh based on the geom type. Note: using the same
-// parameters (nstack, nslice, nquad) will have better performance as the internal mesh data can be
-// shared across renderables.
-// [type: mjtGeom]
-void mjrf_setRenderableGeomMesh(mjrfRenderable* renderable, int type, int nstack, int nslice,
-                                int nquad);
-
-// Sets the material properties and textures of the renderable.
-void mjrf_setRenderableMaterial(mjrfRenderable* renderable, const mjrfMaterial* material);
-
-// Copies the material properties of the renderable into the given mjrfMaterial.
-void mjrf_getRenderableMaterial(mjrfRenderable* renderable, mjrfMaterial* material);
-
-// Sets the transform position and rotation of the renderable.
-void mjrf_setRenderableTransform(mjrfRenderable* renderable, const float position[3],
-                                 const float rotation[9]);
-
-// Sets the size of the renderable. Note that, for most renderables, this is equivalent to setting
-// the scale. However, for some geom-based renderables, the size scale is not applied uniformly
-// (e.g. the spherical ends of a capsule are scaled such that they always remain spherical).
-void mjrf_setRenderableSize(mjrfRenderable* renderable, const float size[3]);
-
-// Parameters for creating a render target (mjrfRenderTarget).
-typedef struct mjrfRenderTargetConfig_ {
-  int width;                              // texture width
-  int height;                             // texture height
-  int color_format;                       // pixel format for color buffer [mjrPixelFormat]
-  int depth_format;                       // pixel format for depth buffer [mjrPixelFormat]
-} mjrfRenderTargetConfig;
-
-// Initializes the RenderTargetConfig to default values.
-void mjrf_defaultRenderTargetConfig(mjrfRenderTargetConfig* config);
-
-// Creates a render target for the filament renderer.
-mjrfRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx, const mjrfRenderTargetConfig* config);
-
-// Destroys the render target.
-void mjrf_destroyRenderTarget(mjrfRenderTarget* render_target);
-
-// Resizes the render target to the given width and height.
-void mjrf_resizeRenderTarget(mjrfRenderTarget* render_target, int width, int height);
-
-// Draws an ImGui editor for the given scene, exposing filament-specific settings.
-void mjrf_DEBUG_drawImguiEditor(mjrfScene* scene);
-
-#if defined(__cplusplus)
-}  // extern "C"
-#endif
-
-#endif  // MUJOCO_MJRFILAMENT_H_
diff --git a/include/mujoco/mjsan.h b/include/mujoco/mjsan.h
deleted file mode 100644
index dcacfd9f..00000000
--- a/include/mujoco/mjsan.h
+++ /dev/null
@@ -1,76 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_INCLUDE_MJSAN_H_
-#define MUJOCO_INCLUDE_MJSAN_H_
-
-// Define ADDRESS_SANITIZER if implied by other macros.
-#if !defined(ADDRESS_SANITIZER)
-  #if defined(__SANITIZE_ADDRESS__)
-    #define ADDRESS_SANITIZER
-  #elif defined(__has_feature)
-    #if __has_feature(address_sanitizer)
-      #define ADDRESS_SANITIZER
-    #endif
-  #endif
-#endif
-
-// Define mjUSEASAN if ADDRESS_SANITIZER is active and we are not on MSVC.
-// MSVC asan (/fsanitize=address defines ADDRESS_SANITIZER via EnableASAN) cannot use the GCC/clang
-// attribute+asm instrumentation below, so we exclude it.
-#if defined(ADDRESS_SANITIZER) && !defined(_MSC_VER)
-  #define mjUSEASAN
-#endif
-
-// Include asan interface header, or provide stubs for poison/unpoison macros when not using asan.
-#ifdef mjUSEASAN
-  #include <sanitizer/asan_interface.h>
-#elif defined(_MSC_VER)
-  #define ASAN_POISON_MEMORY_REGION(addr, size)
-  #define ASAN_UNPOISON_MEMORY_REGION(addr, size)
-#else
-  #define ASAN_POISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
-  #define ASAN_UNPOISON_MEMORY_REGION(addr, size) ((void)(addr), (void)(size))
-#endif
-
-// When built and run under address sanitizer (asan), mj_markStack and mj_freeStack are instrumented
-// to detect leakage of mjData stack frames. When the compiler inlines several callees that call
-// into mark/free into the same function, this instrumentation requires that the compiler retains
-// separate mark/free calls for each original callee. The memory-clobbered asm blocks act as a
-// barrier to prevent mark/free calls from being combined under optimization.
-#ifdef mjUSEASAN
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void mj__markStack(mjData*) __attribute__((noinline));
-static inline void mj_markStack(mjData* d) __attribute__((always_inline)) {
-  asm volatile("" ::: "memory");
-  mj__markStack(d);
-  asm volatile("" ::: "memory");
-}
-
-void mj__freeStack(mjData*) __attribute__((noinline));
-static inline void mj_freeStack(mjData* d) __attribute__((always_inline)) {
-  asm volatile("" ::: "memory");
-  mj__freeStack(d);
-  asm volatile("" ::: "memory");
-}
-
-#ifdef __cplusplus
-}
-#endif  // __cplusplus
-#endif  // mjUSEASAN
-
-#endif  // MUJOCO_INCLUDE_MJSAN_H_
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
deleted file mode 100644
index eda69f15..00000000
--- a/include/mujoco/mjspec.h
+++ /dev/null
@@ -1,854 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_INCLUDE_MJSPEC_H_
-#define MUJOCO_INCLUDE_MJSPEC_H_
-
-#include <stddef.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-
-// this is a C-API
-#ifdef __cplusplus
-#include <cstddef>
-#include <cstdint>
-#include <string>
-#include <vector>
-
-extern "C" {
-#endif
-
-//-------------------------------- handles to strings and arrays -----------------------------------
-
-#ifdef __cplusplus
-  // C++: defined to be compatible with corresponding std types
-  using mjString      = std::string;
-  using mjStringVec   = std::vector<std::string>;
-  using mjIntVec      = std::vector<int>;
-  using mjIntVecVec   = std::vector<std::vector<int>>;
-  using mjFloatVec    = std::vector<float>;
-  using mjFloatVecVec = std::vector<std::vector<float>>;
-  using mjDoubleVec   = std::vector<double>;
-  using mjByteVec     = std::vector<std::byte>;
-#else
-  // C: opaque types
-  typedef void mjString;
-  typedef void mjStringVec;
-  typedef void mjIntVec;
-  typedef void mjIntVecVec;
-  typedef void mjFloatVec;
-  typedef void mjFloatVecVec;
-  typedef void mjDoubleVec;
-  typedef void mjByteVec;
-#endif
-
-
-//-------------------------------- enum types (mjt) ------------------------------------------------
-
-typedef enum mjtGeomInertia {      // type of inertia inference
-  mjINERTIA_VOLUME = 0,            // mass distributed in the volume
-  mjINERTIA_SHELL,                 // mass distributed on the surface
-} mjtGeomInertia;
-
-
-typedef enum mjtMeshInertia {      // type of mesh inertia
-  mjMESH_INERTIA_CONVEX = 0,       // convex mesh inertia
-  mjMESH_INERTIA_EXACT,            // exact mesh inertia
-  mjMESH_INERTIA_LEGACY,           // legacy mesh inertia
-  mjMESH_INERTIA_SHELL             // shell mesh inertia
-} mjtMeshInertia;
-
-
-typedef enum mjtMeshBuiltin {      // type of built-in procedural mesh
-  mjMESH_BUILTIN_NONE = 0,         // no built-in mesh
-  mjMESH_BUILTIN_SPHERE,           // sphere
-  mjMESH_BUILTIN_HEMISPHERE,       // hemisphere
-  mjMESH_BUILTIN_CONE,             // cone
-  mjMESH_BUILTIN_SUPERSPHERE,      // supersphere
-  mjMESH_BUILTIN_SUPERTORUS,       // supertorus
-  mjMESH_BUILTIN_WEDGE,            // wedge
-  mjMESH_BUILTIN_PLATE,            // plate
-} mjtMeshBuiltin;
-
-
-typedef enum mjtBuiltin {          // type of built-in procedural texture
-  mjBUILTIN_NONE = 0,              // no built-in texture
-  mjBUILTIN_GRADIENT,              // gradient: rgb1->rgb2
-  mjBUILTIN_CHECKER,               // checker pattern: rgb1, rgb2
-  mjBUILTIN_FLAT                   // 2d: rgb1; cube: rgb1-up, rgb2-side, rgb3-down
-} mjtBuiltin;
-
-
-typedef enum mjtMark {             // mark type for procedural textures
-  mjMARK_NONE = 0,                 // no mark
-  mjMARK_EDGE,                     // edges
-  mjMARK_CROSS,                    // cross
-  mjMARK_RANDOM                    // random dots
-} mjtMark;
-
-
-typedef enum mjtLimited {          // type of limit specification
-  mjLIMITED_FALSE = 0,             // not limited
-  mjLIMITED_TRUE,                  // limited
-  mjLIMITED_AUTO,                  // limited inferred from presence of range
-} mjtLimited;
-
-
-typedef enum mjtAlignFree {        // whether to align free joints with the inertial frame
-  mjALIGNFREE_FALSE = 0,           // don't align
-  mjALIGNFREE_TRUE,                // align
-  mjALIGNFREE_AUTO,                // respect the global compiler flag
-} mjtAlignFree;
-
-
-typedef enum mjtInertiaFromGeom {  // whether to infer body inertias from child geoms
-  mjINERTIAFROMGEOM_FALSE = 0,     // do not use; inertial element required
-  mjINERTIAFROMGEOM_TRUE,          // always use; overwrite inertial element
-  mjINERTIAFROMGEOM_AUTO           // use only if inertial element is missing
-} mjtInertiaFromGeom;
-
-
-typedef enum mjtOrientation {      // type of orientation specifier
-  mjORIENTATION_QUAT = 0,          // quaternion
-  mjORIENTATION_AXISANGLE,         // axis and angle
-  mjORIENTATION_XYAXES,            // x and y axes
-  mjORIENTATION_ZAXIS,             // z axis (minimal rotation)
-  mjORIENTATION_EULER,             // Euler angles
-} mjtOrientation;
-
-typedef enum mjtConflict {         // conflict resolution for attach
-  mjCONFLICT_WARNING = 0,          // keep parent, warn on conflict
-  mjCONFLICT_MERGE,                // merge: min/max/error per field
-  mjCONFLICT_ERROR,                // error on any conflict
-} mjtConflict;
-
-typedef enum mjtCTimer {           // compiler timing categories
-  // top-level timers (wall-clock)
-  mjCTIMER_TOTAL = 0,              // total compile time
-  mjCTIMER_ASSETS,                 // asset compilation
-
-  // asset sub-timers (CPU time, summed across all assets)
-  mjCTIMER_TEXTURE,                // textures
-  mjCTIMER_MESH_LOAD,              // mesh: file loading
-  mjCTIMER_MESH_HULL,              // mesh: convex hull
-  mjCTIMER_MESH_POLYGON,           // mesh: normals and polygons
-  mjCTIMER_MESH_INERTIA,           // mesh: volume, CoM, inertia
-  mjCTIMER_MESH_BVH,               // mesh: bounding volume hierarchy
-  mjCTIMER_MESH_OCTREE,            // mesh: octree and SDF
-
-  mjNCTIMER                        // number of compiler timers
-} mjtCTimer;
-
-
-//-------------------------------- attribute structs (mjs) -----------------------------------------
-
-typedef struct mjsElement_ {       // element type, do not modify
-  mjtObj elemtype;                 // element type
-  uint64_t signature;              // compilation signature
-} mjsElement;
-
-
-typedef struct mjsCompiler_ {      // compiler options
-  mjtBool autolimits;              // infer "limited" attribute based on range
-  double boundmass;                // enforce minimum body mass
-  double boundinertia;             // enforce minimum body diagonal inertia
-  double settotalmass;             // rescale masses and inertias; <=0: ignore
-  mjtBool balanceinertia;          // automatically impose A + B >= C rule
-  mjtBool fitaabb;                 // meshfit to aabb instead of inertia box
-  mjtBool degree;                  // angles in radians or degrees
-  char eulerseq[3];                // sequence for euler rotations
-  mjtBool discardvisual;           // discard visual geoms in parser
-  mjtBool usethread;               // use multiple threads to speed up compiler
-  mjtBool fusestatic;              // fuse static bodies with parent
-  mjtInertiaFromGeom inertiafromgeom; // use geom inertias
-  int inertiagrouprange[2];        // range of geom groups used to compute inertia
-  mjtBool saveinertial;            // save explicit inertial clause for all bodies to XML
-  mjtBool alignfree;               // align free joints with inertial frame
-  mjtConflict conflict;            // conflict resolution for attach
-  mjLROpt LRopt;                   // options for lengthrange computation
-  mjString* meshdir;               // mesh and hfield directory
-  mjString* texturedir;            // texture directory
-  uint64_t authored;               // bitmask of authored compiler fields
-} mjsCompiler;
-
-
-typedef struct mjsAuthored_ {      // authored tracking bitmasks for mjModel structs
-  uint64_t option;                 // authored mjOption fields
-  int      disableflags;           // individual authored disable flags
-  int      enableflags;            // individual authored enable flags
-  int      disableactuator;        // individual authored actuator groups
-  uint64_t visual_global;          // authored visual.global fields
-  uint64_t visual_quality;         // authored visual.quality fields
-  uint64_t visual_headlight;       // authored visual.headlight fields
-  uint64_t visual_map;             // authored visual.map fields
-  uint64_t visual_scale;           // authored visual.scale fields
-  uint64_t visual_rgba;            // authored visual.rgba fields
-} mjsAuthored;
-
-
-typedef struct mjSpec_ {           // model specification
-  mjsElement* element;             // element type
-  mjString* modelname;             // model name
-
-  // compiler data
-  mjsCompiler compiler;            // compiler options
-  mjtBool strippath;               // automatically strip paths from mesh files
-
-  // engine data
-  mjOption option;                 // physics options
-  mjVisual visual;                 // visual options
-  mjStatistic stat;                // statistics override (if defined)
-
-  // sizes
-  mjtSize memory;                  // number of bytes in arena+stack memory
-  int nemax;                       // max number of equality constraints
-  int nuserdata;                   // number of mjtNums in userdata
-  int nuser_body;                  // number of mjtNums in body_user
-  int nuser_jnt;                   // number of mjtNums in jnt_user
-  int nuser_geom;                  // number of mjtNums in geom_user
-  int nuser_site;                  // number of mjtNums in site_user
-  int nuser_cam;                   // number of mjtNums in cam_user
-  int nuser_tendon;                // number of mjtNums in tendon_user
-  int nuser_actuator;              // number of mjtNums in actuator_user
-  int nuser_sensor;                // number of mjtNums in sensor_user
-  int nkey;                        // number of keyframes
-  int njmax;                       // (deprecated) max number of constraints
-  int nconmax;                     // (deprecated) max number of detected contacts
-  mjtSize nstack;                  // (deprecated) number of mjtNums in mjData stack
-
-  // global data
-  mjString* comment;               // comment at top of XML
-  mjString* modelfiledir;          // path to model file
-
-  // other
-  mjtBool hasImplicitPluginElem;   // already encountered an implicit plugin sensor/actuator
-
-  // authored tracking bitmasks for mjModel structs
-  mjsAuthored authored;
-} mjSpec;
-
-
-typedef struct mjsOrientation_ {   // alternative orientation specifiers
-  mjtOrientation type;             // active orientation specifier
-  double axisangle[4];             // axis and angle
-  double xyaxes[6];                // x and y axes
-  double zaxis[3];                 // z axis (minimal rotation)
-  double euler[3];                 // Euler angles
-} mjsOrientation;
-
-
-typedef struct mjsPlugin_ {        // plugin specification
-  mjsElement* element;             // element type
-  mjString* name;                  // instance name
-  mjString* plugin_name;           // plugin name
-  mjtBool active;                  // is the plugin active
-  mjString* info;                  // message appended to compiler errors
-} mjsPlugin;
-
-
-typedef struct mjsBody_ {          // body specification
-  mjsElement* element;             // element type
-  mjString* childclass;            // childclass name
-
-  // body frame
-  double pos[3];                   // frame position
-  double quat[4];                  // frame orientation
-  mjsOrientation alt;              // frame alternative orientation
-
-  // inertial frame
-  double mass;                     // mass
-  double ipos[3];                  // inertial frame position
-  double iquat[4];                 // inertial frame orientation
-  double inertia[3];               // diagonal inertia (in i-frame)
-  mjsOrientation ialt;             // inertial frame alternative orientation
-  double fullinertia[6];           // non-axis-aligned inertia matrix
-
-  // other
-  mjtBool mocap;                   // is this a mocap body
-  double gravcomp;                 // gravity compensation
-  mjtSleepPolicy sleep;            // sleep policy
-  mjtByte simple;                  // simple body optimization (0: false, 1: auto)
-  mjDoubleVec* userdata;           // user data
-  mjtBool explicitinertial;        // whether to save the body with explicit inertial clause
-  mjsPlugin plugin;                // passive force plugin
-  mjString* info;                  // message appended to compiler errors
-} mjsBody;
-
-
-typedef struct mjsFrame_ {         // frame specification
-  mjsElement* element;             // element type
-  mjString* childclass;            // childclass name
-  double pos[3];                   // position
-  double quat[4];                  // orientation
-  mjsOrientation alt;              // alternative orientation
-  mjString* info;                  // message appended to compiler errors
-} mjsFrame;
-
-
-typedef struct mjsJoint_ {         // joint specification
-  mjsElement* element;             // element type
-  mjtJoint type;                   // joint type
-
-  // kinematics
-  double pos[3];                   // anchor position
-  double axis[3];                  // joint axis
-  double ref;                      // value at reference configuration: qpos0
-  mjtAlignFree align;              // align free joint with body com
-
-  // stiffness
-  double stiffness[mjNPOLY+1];     // stiffness coefficients
-  double springref;                // spring reference value: qpos_spring
-  double springdamper[2];          // timeconst, dampratio
-
-  // limits
-  mjtLimited limited;              // does joint have limits
-  double range[2];                 // joint limits
-  double margin;                   // margin value for joint limit detection
-  mjtNum solref_limit[mjNREF];     // solver reference: joint limits
-  mjtNum solimp_limit[mjNIMP];     // solver impedance: joint limits
-  mjtLimited actfrclimited;        // are actuator forces on joint limited
-  double actfrcrange[2];           // actuator force limits
-
-  // dof properties
-  double armature;                 // armature inertia (mass for slider)
-  double damping[mjNPOLY+1];       // damping coefficients
-  double frictionloss;             // friction loss
-  mjtNum solref_friction[mjNREF];  // solver reference: dof friction
-  mjtNum solimp_friction[mjNIMP];  // solver impedance: dof friction
-
-  // other
-  int group;                       // group
-  mjtBool actgravcomp;             // is gravcomp force applied via actuators
-  mjDoubleVec* userdata;           // user data
-  mjString* info;                  // message appended to compiler errors
-} mjsJoint;
-
-
-typedef struct mjsGeom_ {          // geom specification
-  mjsElement* element;             // element type
-  mjtGeom type;                    // geom type
-
-  // frame, size
-  double pos[3];                   // position
-  double quat[4];                  // orientation
-  mjsOrientation alt;              // alternative orientation
-  double fromto[6];                // alternative for capsule, cylinder, box, ellipsoid
-  double size[3];                  // type-specific size
-
-  // contact related
-  int contype;                     // contact type
-  int conaffinity;                 // contact affinity
-  int condim;                      // contact dimensionality
-  int priority;                    // contact priority
-  double friction[3];              // one-sided friction coefficients: slide, roll, spin
-  double solmix;                   // solver mixing for contact pairs
-  mjtNum solref[mjNREF];           // solver reference
-  mjtNum solimp[mjNIMP];           // solver impedance
-  double margin;                   // margin for contact detection
-  double gap;                      // additional contact detection buffer
-  double surfacevel[6];            // surface velocity in local frame: linear, angular
-  double adhesion;                 // adhesive force of contacts
-
-  // inertia inference
-  double mass;                     // used to compute density
-  double density;                  // used to compute mass and inertia from volume or surface
-  mjtGeomInertia typeinertia;      // selects between surface and volume inertia
-
-  // fluid forces
-  mjtNum fluid_ellipsoid;          // whether ellipsoid-fluid model is active
-  mjtNum fluid_coefs[5];           // ellipsoid-fluid interaction coefs
-
-  // visual
-  mjString* material;              // name of material
-  float rgba[4];                   // rgba when material is omitted
-  int group;                       // group
-
-  // other
-  mjString* hfieldname;            // heightfield attached to geom
-  mjString* meshname;              // mesh attached to geom
-  double fitscale;                 // scale mesh uniformly
-  mjDoubleVec* userdata;           // user data
-  mjsPlugin plugin;                // sdf plugin
-  mjString* info;                  // message appended to compiler errors
-} mjsGeom;
-
-
-typedef struct mjsSite_ {          // site specification
-  mjsElement* element;             // element type
-
-  // frame, size
-  double pos[3];                   // position
-  double quat[4];                  // orientation
-  mjsOrientation alt;              // alternative orientation
-  double fromto[6];                // alternative for capsule, cylinder, box, ellipsoid
-  double size[3];                  // geom size
-
-  // visual
-  mjtGeom type;                    // geom type
-  mjString* material;              // name of material
-  int group;                       // group
-  float rgba[4];                   // rgba when material is omitted
-
-  // other
-  mjDoubleVec* userdata;           // user data
-  mjString* info;                  // message appended to compiler errors
-} mjsSite;
-
-
-typedef struct mjsCamera_ {        // camera specification
-  mjsElement* element;             // element type
-
-  // extrinsics
-  double pos[3];                   // position
-  double quat[4];                  // orientation
-  mjsOrientation alt;              // alternative orientation
-  mjtCamLight mode;                // tracking mode
-  mjString* targetbody;            // target body for tracking/targeting
-
-  // intrinsics
-  mjtProjection proj;              // camera projection type
-  int resolution[2];               // resolution (pixel)
-  int output;                      // bit flags for output type
-  double fovy;                     // y-field of view
-  double ipd;                      // inter-pupillary distance
-  float intrinsic[4];              // camera intrinsics (length)
-  float sensor_size[2];            // sensor size (length)
-  float focal_length[2];           // focal length (length)
-  float focal_pixel[2];            // focal length (pixel)
-  float principal_length[2];       // principal point (length)
-  float principal_pixel[2];        // principal point (pixel)
-
-  // other
-  mjDoubleVec* userdata;           // user data
-  mjString* info;                  // message appended to compiler errors
-} mjsCamera;
-
-
-typedef struct mjsLight_ {         // light specification
-  mjsElement* element;             // element type
-
-  // frame
-  double pos[3];                   // position
-  double dir[3];                   // direction
-  mjtCamLight mode;                // tracking mode
-  mjString* targetbody;            // target body for targeting
-
-  // intrinsics
-  mjtBool active;                  // is light active
-  mjtLightType type;               // type of light
-  mjString* texture;               // texture name for image lights
-  mjtBool castshadow;              // does light cast shadows
-  float bulbradius;                // bulb radius, for soft shadows
-  float intensity;                 // intensity, in candelas
-  float range;                     // range of effectiveness
-  float attenuation[3];            // OpenGL attenuation (quadratic model)
-  float cutoff;                    // OpenGL cutoff
-  float softness;                  // spotlight edge softness
-  float exponent;                  // OpenGL exponent
-  float ambient[3];                // ambient color
-  float diffuse[3];                // diffuse color
-  float specular[3];               // specular color
-
-  // other
-  mjString* info;                  // message appended to compiler errors
-} mjsLight;
-
-
-typedef struct mjsFlex_ {          // flex specification
-  mjsElement* element;             // element type
-
-  // contact properties
-  int contype;                     // contact type
-  int conaffinity;                 // contact affinity
-  int condim;                      // contact dimensionality
-  int priority;                    // contact priority
-  double friction[3];              // one-sided friction coefficients: slide, roll, spin
-  double solmix;                   // solver mixing for contact pairs
-  mjtNum solref[mjNREF];           // solver reference
-  mjtNum solimp[mjNIMP];           // solver impedance
-  double margin;                   // margin for contact detection
-  double gap;                      // additional contact detection buffer
-
-  // other properties
-  int dim;                         // element dimensionality
-  double radius;                   // radius around primitive element
-  double size[3];                  // vertex bounding box half sizes in qpos0
-  mjtBool internal;                // enable internal collisions
-  mjtBool flatskin;                // render flex skin with flat shading
-  mjtFlexSelf selfcollide;         // mode for flex self collision
-  int passive;                     // mode for passive collisions
-  int activelayers;                // number of active element layers in 3D
-  int group;                       // group for visualization
-  double edgestiffness;            // edge stiffness
-  double edgedamping;              // edge damping
-  float rgba[4];                   // rgba when material is omitted
-  mjString* material;              // name of material used for rendering
-  double young;                    // Young's modulus
-  double poisson;                  // Poisson's ratio
-  double damping;                  // Rayleigh's damping
-  double thickness;                // thickness (2D only)
-  int elastic2d;                   // 2D passive forces; 0: none, 1: bending, 2: stretching, 3: both
-  int cellcount[3];                // grid cell count for finite cell method
-  int order;                       // interpolation order (1: trilinear, 2: quadratic)
-
-  // mesh properties
-  mjStringVec* nodebody;           // node body names
-  mjStringVec* vertbody;           // vertex body names
-  mjDoubleVec* node;               // node positions
-  mjDoubleVec* vert;               // vertex positions
-  mjIntVec* elem;                  // element vertex ids
-  mjFloatVec* texcoord;            // vertex texture coordinates
-  mjIntVec* elemtexcoord;          // element texture coordinates
-
-  // other
-  mjString* info;                  // message appended to compiler errors
-} mjsFlex;
-
-
-typedef struct mjsMesh_ {          // mesh specification
-  mjsElement* element;             // element type
-  mjString* content_type;          // content type of file
-  mjString* file;                  // mesh file
-  double refpos[3];                // reference position
-  double refquat[4];               // reference orientation
-  double scale[3];                 // rescale mesh
-  mjtMeshInertia inertia;          // inertia type (convex, legacy, exact, shell)
-  mjtBool smoothnormal;            // do not exclude large-angle faces from normals
-  mjtBool needsdf;                 // compute sdf from mesh
-  int maxhullvert;                 // maximum vertex count for the convex hull
-  mjFloatVec* uservert;            // user vertex data
-  mjFloatVec* usernormal;          // user normal data
-  mjFloatVec* usertexcoord;        // user texcoord data
-  mjIntVec* userface;              // user vertex indices
-  mjIntVec* userfacenormal;        // user face normal indices
-  mjIntVec* userfacetexcoord;      // user texcoord indices
-  mjsPlugin plugin;                // sdf plugin
-  mjString* material;              // name of material
-  int octree_maxdepth;             // max octree depth
-  mjString* info;                  // message appended to compiler errors
-} mjsMesh;
-
-
-typedef struct mjsHField_ {        // height field specification
-  mjsElement* element;             // element type
-  mjString* content_type;          // content type of file
-  mjString* file;                  // file: (nrow, ncol, [elevation data])
-  double size[4];                  // hfield size (ignore referencing geom size)
-  int nrow;                        // number of rows
-  int ncol;                        // number of columns
-  mjFloatVec* userdata;            // user-provided elevation data
-  mjString* info;                  // message appended to compiler errors
-} mjsHField;
-
-
-
-typedef struct mjsSkin_ {          // skin specification
-  mjsElement* element;             // element type
-  mjString* file;                  // skin file
-  mjString* material;              // name of material used for rendering
-  float rgba[4];                   // rgba when material is omitted
-  float inflate;                   // inflate in normal direction
-  int group;                       // group for visualization
-
-  // mesh
-  mjFloatVec* vert;                // vertex positions
-  mjFloatVec* texcoord;            // texture coordinates
-  mjIntVec* face;                  // faces
-
-  // skin
-  mjStringVec* bodyname;           // body names
-  mjFloatVec* bindpos;             // bind pos
-  mjFloatVec* bindquat;            // bind quat
-  mjIntVecVec* vertid;             // vertex ids
-  mjFloatVecVec* vertweight;       // vertex weights
-
-  // other
-  mjString* info;                  // message appended to compiler errors
-} mjsSkin;
-
-
-typedef struct mjsTexture_ {       // texture specification
-  mjsElement* element;             // element type
-  mjtTexture type;                 // texture type
-  mjtColorSpace colorspace;        // colorspace
-
-  // method 1: builtin
-  mjtBuiltin builtin;              // builtin type
-  mjtMark mark;                    // mark type
-  double rgb1[3];                  // first color for builtin
-  double rgb2[3];                  // second color for builtin
-  double markrgb[3];               // mark color
-  double random;                   // probability of random dots
-  int height;                      // height in pixels (square for cube and skybox)
-  int width;                       // width in pixels
-  int nchannel;                    // number of channels
-
-  // method 2: single file
-  mjString* content_type;          // content type of file
-  mjString* file;                  // png file to load; use for all sides of cube
-  int gridsize[2];                 // size of grid for composite file; (1,1)-repeat
-  char gridlayout[12];             // row-major: L,R,F,B,U,D for faces; . for unused
-
-  // method 3: separate files
-  mjStringVec* cubefiles;          // different file for each side of the cube
-
-  // method 4: from buffer read by user
-  mjByteVec* data;                  // texture data
-
-  // flip options
-  mjtBool hflip;                   // horizontal flip
-  mjtBool vflip;                   // vertical flip
-
-  // other
-  mjString* info;                  // message appended to compiler errors
-} mjsTexture;
-
-
-typedef struct mjsMaterial_ {      // material specification
-  mjsElement* element;             // element type
-  mjStringVec* textures;           // names of textures (empty: none)
-  mjtBool texuniform;              // make texture cube uniform
-  float texrepeat[2];              // texture repetition for 2D mapping
-  float emission;                  // emission
-  float specular;                  // specular
-  float shininess;                 // shininess
-  float reflectance;               // reflectance
-  float metallic;                  // metallic
-  float roughness;                 // roughness
-  float rgba[4];                   // rgba
-  mjString* info;                  // message appended to compiler errors
-} mjsMaterial;
-
-
-typedef struct mjsPair_ {          // pair specification
-  mjsElement* element;             // element type
-  mjString* geomname1;             // name of geom 1
-  mjString* geomname2;             // name of geom 2
-
-  // optional parameters: computed from geoms if not set by user
-  int condim;                      // contact dimensionality
-  mjtNum solref[mjNREF];           // solver reference, normal direction
-  mjtNum solreffriction[mjNREF];   // solver reference, frictional directions
-  mjtNum solimp[mjNIMP];           // solver impedance
-  double margin;                   // margin for contact detection
-  double gap;                      // additional contact detection buffer
-  double adhesion;                 // adhesive force of contacts
-  double friction[5];              // full contact friction
-  mjString* info;                  // message appended to errors
-} mjsPair;
-
-
-typedef struct mjsExclude_ {       // exclude specification
-  mjsElement* element;             // element type
-  mjString* bodyname1;             // name of geom 1
-  mjString* bodyname2;             // name of geom 2
-  mjString* info;                  // message appended to errors
-} mjsExclude;
-
-
-typedef struct mjsEquality_ {      // equality specification
-  mjsElement* element;             // element type
-  mjtEq type;                      // constraint type
-  double data[mjNEQDATA];          // type-dependent data
-  mjtBool active;                  // is equality initially active
-  mjString* name1;                 // name of object 1
-  mjString* name2;                 // name of object 2
-  mjtObj objtype;                  // type of both objects
-  mjtNum solref[mjNREF];           // solver reference
-  mjtNum solimp[mjNIMP];           // solver impedance
-  mjString* info;                  // message appended to errors
-} mjsEquality;
-
-
-typedef struct mjsTendon_ {        // tendon specification
-  mjsElement* element;             // element type
-
-  // stiffness, damping, friction, armature
-  double stiffness[mjNPOLY+1];     // stiffness coefficients
-  double springlength[2];          // spring resting length; {-1, -1}: use qpos_spring
-  double damping[mjNPOLY+1];       // damping coefficients
-  double frictionloss;             // friction loss
-  mjtNum solref_friction[mjNREF];  // solver reference: tendon friction
-  mjtNum solimp_friction[mjNIMP];  // solver impedance: tendon friction
-  double armature;                 // inertia associated with tendon velocity
-
-  // length range
-  mjtLimited limited;              // does tendon have limits
-  mjtLimited actfrclimited;        // does tendon have actuator force limits
-  double range[2];                 // length limits
-  double actfrcrange[2];           // actuator force limits
-  double margin;                   // margin value for tendon limit detection
-  mjtNum solref_limit[mjNREF];     // solver reference: tendon limits
-  mjtNum solimp_limit[mjNIMP];     // solver impedance: tendon limits
-
-  // visual
-  mjString* material;              // name of material for rendering
-  double width;                    // width for rendering
-  float rgba[4];                   // rgba when material is omitted
-  int group;                       // group
-
-  // other
-  mjDoubleVec* userdata;           // user data
-  mjString* info;                  // message appended to errors
-} mjsTendon;
-
-
-typedef struct mjsWrap_ {          // wrapping object specification
-  mjsElement* element;             // element type
-  mjtWrap type;                    // wrap type
-  mjString* info;                  // message appended to errors
-} mjsWrap;
-
-
-typedef struct mjsActuator_ {      // actuator specification
-  mjsElement* element;             // element type
-
-  // gain, bias
-  mjtGain gaintype;                // gain type
-  double gainprm[mjNGAIN];         // gain parameters
-  mjtBias biastype;                // bias type
-  double biasprm[mjNBIAS];         // bias parameters
-
-  // activation state
-  mjtDyn dyntype;                  // dynamics type
-  double dynprm[mjNDYN];           // dynamics parameters
-  int actdim;                      // number of activation variables
-  int ctrlspec;                    // input signature, scoped by gaintype; 0: type default
-  double velrange[2];              // range of the velocity-setpoint input (pid)
-  double ffrange[2];               // range of the feedforward input (pid)
-  mjtBool actearly;                // apply next activations to qfrc
-
-  // transmission
-  mjtTrn trntype;                  // transmission type
-  double gear[6];                  // length and transmitted force scaling
-  mjString* target;                // name of transmission target
-  mjString* refsite;               // reference site, for site transmission
-  mjString* slidersite;            // site defining cylinder, for slider-crank
-  double cranklength;              // crank length, for slider-crank
-  double lengthrange[2];           // transmission length range
-  double inheritrange;             // automatic range setting for position and intvelocity
-  double damping[mjNPOLY+1];       // damping coefficients
-  double armature;                 // armature inertia
-
-  // input/output clamping
-  mjtLimited ctrllimited;          // are control limits defined
-  double ctrlrange[2];             // control range
-  mjtLimited forcelimited;         // are force limits defined
-  double forcerange[2];            // force range
-  mjtLimited actlimited;           // are activation limits defined
-  double actrange[2];              // activation range
-
-  // other
-  int group;                       // group
-  int nsample;                     // number of samples in history buffer
-  int interp;                      // interpolation order (0=ZOH, 1=linear, 2=cubic)
-  double delay;                    // delay time in seconds; 0: no delay
-  mjDoubleVec* userdata;           // user data
-  mjsPlugin plugin;                // actuator plugin
-  mjString* info;                  // message appended to compiler errors
-} mjsActuator;
-
-
-typedef struct mjsSensor_ {        // sensor specification
-  mjsElement* element;             // element type
-
-  // sensor definition
-  mjtSensor type;                  // type of sensor
-  mjtObj objtype;                  // type of sensorized object
-  mjString* objname;               // name of sensorized object
-  mjtObj reftype;                  // type of referenced object
-  mjString* refname;               // name of referenced object
-  int intprm[mjNSENS];             // integer parameters
-
-  // user-defined sensors
-  mjtDataType datatype;            // data type for sensor measurement
-  mjtStage needstage;              // compute stage needed to simulate sensor
-  int dim;                         // number of scalar outputs
-
-  // output post-processing
-  double cutoff;                   // cutoff for real and positive datatypes
-  double noise;                    // noise stdev
-
-  // history buffer
-  int nsample;                     // number of samples in history buffer
-  int interp;                      // interpolation order (0=ZOH, 1=linear, 2=cubic)
-  double delay;                    // delay time in seconds
-  double interval[2];              // [period, time_prev] in seconds
-
-  // other
-  mjDoubleVec* userdata;           // user data
-  mjsPlugin plugin;                // sensor plugin
-  mjString* info;                  // message appended to compiler errors
-} mjsSensor;
-
-
-typedef struct mjsNumeric_ {       // custom numeric field specification
-  mjsElement* element;             // element type
-  mjDoubleVec* data;               // initialization data
-  int size;                        // array size, can be bigger than data size
-  mjString* info;                  // message appended to compiler errors
-} mjsNumeric;
-
-
-typedef struct mjsText_ {          // custom text specification
-  mjsElement* element;             // element type
-  mjString* data;                  // text string
-  mjString* info;                  // message appended to compiler errors
-} mjsText;
-
-
-typedef struct mjsTuple_ {         // tuple specification
-  mjsElement* element;             // element type
-  mjIntVec* objtype;               // object types
-  mjStringVec* objname;            // object names
-  mjDoubleVec* objprm;             // object parameters
-  mjString* info;                  // message appended to compiler errors
-} mjsTuple;
-
-
-typedef struct mjsKey_ {           // keyframe specification
-  mjsElement* element;             // element type
-  double time;                     // time
-  mjDoubleVec* qpos;               // qpos
-  mjDoubleVec* qvel;               // qvel
-  mjDoubleVec* act;                // act
-  mjDoubleVec* mpos;               // mocap pos
-  mjDoubleVec* mquat;              // mocap quat
-  mjDoubleVec* ctrl;               // ctrl
-  mjString* info;                  // message appended to compiler errors
-} mjsKey;
-
-
-typedef struct mjsDefault_ {       // default specification
-  mjsElement* element;             // element type
-  mjsJoint* joint;                 // joint defaults
-  mjsGeom* geom;                   // geom defaults
-  mjsSite* site;                   // site defaults
-  mjsCamera* camera;               // camera defaults
-  mjsLight* light;                 // light defaults
-  mjsFlex* flex;                   // flex defaults
-  mjsMesh* mesh;                   // mesh defaults
-  mjsMaterial* material;           // material defaults
-  mjsPair* pair;                   // pair defaults
-  mjsEquality* equality;           // equality defaults
-  mjsTendon* tendon;               // tendon defaults
-  mjsActuator* actuator;           // actuator defaults
-} mjsDefault;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_INCLUDE_MJSPEC_H_
diff --git a/include/mujoco/mjspecmacro.h b/include/mujoco/mjspecmacro.h
deleted file mode 100644
index 2da1165e..00000000
--- a/include/mujoco/mjspecmacro.h
+++ /dev/null
@@ -1,612 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJSPECMACRO_H_
-#define MUJOCO_MJSPECMACRO_H_
-
-
-//-------------------------------- mjsElement ------------------------------------------------------
-
-#define MJSELEMENT_FIELDS       \
-    X( mjtObj,   elemtype,  1 ) \
-    X( uint64_t, signature, 1 )
-
-
-//-------------------------------- mjsCompiler -----------------------------------------------------
-
-#define MJSCOMPILER_FIELDS                    \
-  X(mjtBool,            autolimits,        1) \
-  X(double,             boundmass,         1) \
-  X(double,             boundinertia,      1) \
-  X(double,             settotalmass,      1) \
-  X(mjtBool,            balanceinertia,    1) \
-  X(mjtBool,            fitaabb,           1) \
-  X(mjtBool,            degree,            1) \
-  XVEC(char,            eulerseq,          3) \
-  X(mjtBool,            discardvisual,     1) \
-  X(mjtBool,            usethread,         1) \
-  X(mjtBool,            fusestatic,        1) \
-  X(mjtInertiaFromGeom, inertiafromgeom,   1) \
-  XVEC(int,             inertiagrouprange, 2) \
-  X(mjtBool,            saveinertial,      1) \
-  X(mjtBool,            alignfree,         1) \
-  X(mjtConflict,        conflict,          1) \
-  X(mjLROpt,            LRopt,             1) \
-  X(mjString*,          meshdir,           1) \
-  X(mjString*,          texturedir,        1) \
-  X(uint64_t,           authored,          1)
-
-//-------------------------------- mjSpec ----------------------------------------------------------
-
-#define MJSPEC_FIELDS                          \
-    X( mjsElement*, element,               1 ) \
-    X( mjString*,   modelname,             1 ) \
-    X( mjsCompiler, compiler,              1 ) \
-    X( mjtBool,     strippath,             1 ) \
-    X( mjOption,    option,                1 ) \
-    X( mjVisual,    visual,                1 ) \
-    X( mjStatistic, stat,                  1 ) \
-    X( mjtSize,     memory,                1 ) \
-    X( int,         nemax,                 1 ) \
-    X( int,         nuserdata,             1 ) \
-    X( int,         nuser_body,            1 ) \
-    X( int,         nuser_jnt,             1 ) \
-    X( int,         nuser_geom,            1 ) \
-    X( int,         nuser_site,            1 ) \
-    X( int,         nuser_cam,             1 ) \
-    X( int,         nuser_tendon,          1 ) \
-    X( int,         nuser_actuator,        1 ) \
-    X( int,         nuser_sensor,          1 ) \
-    X( int,         nkey,                  1 ) \
-    X( int,         njmax,                 1 ) \
-    X( int,         nconmax,               1 ) \
-    X( mjtSize,     nstack,                1 ) \
-    X( mjString*,   comment,               1 ) \
-    X( mjString*,   modelfiledir,          1 ) \
-    X( mjtBool,     hasImplicitPluginElem, 1 )
-
-
-//-------------------------------- mjsOrientation --------------------------------------------------
-
-#define MJSORIENTATION_FIELDS            \
-    X   ( mjtOrientation, type,      1 ) \
-    XVEC( double,         axisangle, 4 ) \
-    XVEC( double,         xyaxes,    6 ) \
-    XVEC( double,         zaxis,     3 ) \
-    XVEC( double,         euler,     3 )
-
-
-//-------------------------------- mjsPlugin -------------------------------------------------------
-
-#define MJSPLUGIN_FIELDS             \
-    X( mjsElement*, element,     1 ) \
-    X( mjString*,   name,        1 ) \
-    X( mjString*,   plugin_name, 1 ) \
-    X( mjtBool,     active,      1 ) \
-    X( mjString*,   info,        1 )
-
-
-//-------------------------------- mjsBody ---------------------------------------------------------
-
-#define MJSBODY_FIELDS                           \
-    X   ( mjsElement*,     element,          1 ) \
-    X   ( mjString*,       childclass,       1 ) \
-    XVEC( double,          pos,              3 ) \
-    XVEC( double,          quat,             4 ) \
-    X   ( mjsOrientation,  alt,              1 ) \
-    X   ( double,          mass,             1 ) \
-    XVEC( double,          ipos,             3 ) \
-    XVEC( double,          iquat,            4 ) \
-    XVEC( double,          inertia,          3 ) \
-    X   ( mjsOrientation,  ialt,             1 ) \
-    XVEC( double,          fullinertia,      6 ) \
-    X   ( mjtBool,         mocap,            1 ) \
-    X   ( double,          gravcomp,         1 ) \
-    X   ( mjtSleepPolicy,  sleep,            1 ) \
-    X   ( mjtByte,         simple,           1 ) \
-    X   ( mjDoubleVec*,    userdata,         1 ) \
-    X   ( mjtBool,         explicitinertial, 1 ) \
-    X   ( mjsPlugin,       plugin,           1 ) \
-    X   ( mjString*,       info,             1 )
-
-
-//-------------------------------- mjsFrame --------------------------------------------------------
-
-#define MJSFRAME_FIELDS                   \
-    X   ( mjsElement*,    element,    1 ) \
-    X   ( mjString*,      childclass, 1 ) \
-    XVEC( double,         pos,        3 ) \
-    XVEC( double,         quat,       4 ) \
-    X   ( mjsOrientation, alt,        1 ) \
-    X   ( mjString*,      info,       1 )
-
-
-//-------------------------------- mjsJoint --------------------------------------------------------
-
-#define MJSJOINT_FIELDS                               \
-    X   ( mjsElement*,   element,         1         ) \
-    X   ( mjtJoint,      type,            1         ) \
-    XVEC( double,        pos,             3         ) \
-    XVEC( double,        axis,            3         ) \
-    X   ( double,        ref,             1         ) \
-    X   ( mjtAlignFree,  align,           1         ) \
-    XVEC( double,        stiffness,       mjNPOLY+1 ) \
-    X   ( double,        springref,       1         ) \
-    XVEC( double,        springdamper,    2         ) \
-    X   ( mjtLimited,    limited,         1         ) \
-    XVEC( double,        range,           2         ) \
-    X   ( double,        margin,          1         ) \
-    XVEC( mjtNum,        solref_limit,    mjNREF    ) \
-    XVEC( mjtNum,        solimp_limit,    mjNIMP    ) \
-    X   ( mjtLimited,    actfrclimited,   1         ) \
-    XVEC( double,        actfrcrange,     2         ) \
-    X   ( double,        armature,        1         ) \
-    XVEC( double,        damping,         mjNPOLY+1 ) \
-    X   ( double,        frictionloss,    1         ) \
-    XVEC( mjtNum,        solref_friction, mjNREF    ) \
-    XVEC( mjtNum,        solimp_friction, mjNIMP    ) \
-    X   ( int,           group,           1         ) \
-    X   ( mjtBool,       actgravcomp,     1         ) \
-    X   ( mjDoubleVec*,  userdata,        1         ) \
-    X   ( mjString*,     info,            1         )
-
-
-//-------------------------------- mjsGeom ---------------------------------------------------------
-
-#define MJSGEOM_FIELDS                              \
-    X   ( mjsElement*,    element,         1      ) \
-    X   ( mjtGeom,        type,            1      ) \
-    XVEC( double,         pos,             3      ) \
-    XVEC( double,         quat,            4      ) \
-    X   ( mjsOrientation, alt,             1      ) \
-    XVEC( double,         fromto,          6      ) \
-    XVEC( double,         size,            3      ) \
-    X   ( int,            contype,         1      ) \
-    X   ( int,            conaffinity,     1      ) \
-    X   ( int,            condim,          1      ) \
-    X   ( int,            priority,        1      ) \
-    XVEC( double,         friction,        3      ) \
-    X   ( double,         solmix,          1      ) \
-    XVEC( mjtNum,         solref,          mjNREF ) \
-    XVEC( mjtNum,         solimp,          mjNIMP ) \
-    X   ( double,         margin,          1      ) \
-    X   ( double,         gap,             1      ) \
-    XVEC( double,         surfacevel,      6      ) \
-    X   ( double,         adhesion,        1      ) \
-    X   ( double,         mass,            1      ) \
-    X   ( double,         density,         1      ) \
-    X   ( mjtGeomInertia, typeinertia,     1      ) \
-    X   ( mjtNum,         fluid_ellipsoid, 1      ) \
-    XVEC( mjtNum,         fluid_coefs,     5      ) \
-    X   ( mjString*,      material,        1      ) \
-    XVEC( float,          rgba,            4      ) \
-    X   ( int,            group,           1      ) \
-    X   ( mjString*,      hfieldname,      1      ) \
-    X   ( mjString*,      meshname,        1      ) \
-    X   ( double,         fitscale,        1      ) \
-    X   ( mjDoubleVec*,   userdata,        1      ) \
-    X   ( mjsPlugin,      plugin,          1      ) \
-    X   ( mjString*,      info,            1      )
-
-
-//-------------------------------- mjsSite ---------------------------------------------------------
-
-#define MJSSITE_FIELDS                  \
-    X   ( mjsElement*,    element,  1 ) \
-    XVEC( double,         pos,      3 ) \
-    XVEC( double,         quat,     4 ) \
-    X   ( mjsOrientation, alt,      1 ) \
-    XVEC( double,         fromto,   6 ) \
-    XVEC( double,         size,     3 ) \
-    X   ( mjtGeom,        type,     1 ) \
-    X   ( mjString*,      material, 1 ) \
-    X   ( int,            group,    1 ) \
-    XVEC( float,          rgba,     4 ) \
-    X   ( mjDoubleVec*,   userdata, 1 ) \
-    X   ( mjString*,      info,     1 )
-
-
-//-------------------------------- mjsCamera -------------------------------------------------------
-
-#define MJSCAMERA_FIELDS                        \
-    X   ( mjsElement*,    element,          1 ) \
-    XVEC( double,         pos,              3 ) \
-    XVEC( double,         quat,             4 ) \
-    X   ( mjsOrientation, alt,              1 ) \
-    X   ( mjtCamLight,    mode,             1 ) \
-    X   ( mjString*,      targetbody,       1 ) \
-    X   ( mjtProjection,  proj,             1 ) \
-    XVEC( int,            resolution,       2 ) \
-    X   ( int,            output,           1 ) \
-    X   ( double,         fovy,             1 ) \
-    X   ( double,         ipd,              1 ) \
-    XVEC( float,          intrinsic,        4 ) \
-    XVEC( float,          sensor_size,      2 ) \
-    XVEC( float,          focal_length,     2 ) \
-    XVEC( float,          focal_pixel,      2 ) \
-    XVEC( float,          principal_length, 2 ) \
-    XVEC( float,          principal_pixel,  2 ) \
-    X   ( mjDoubleVec*,   userdata,         1 ) \
-    X   ( mjString*,      info,             1 )
-
-
-//-------------------------------- mjsLight --------------------------------------------------------
-
-#define MJSLIGHT_FIELDS                  \
-    X   ( mjsElement*,  element,     1 ) \
-    XVEC( double,       pos,         3 ) \
-    XVEC( double,       dir,         3 ) \
-    X   ( mjtCamLight,  mode,        1 ) \
-    X   ( mjString*,    targetbody,  1 ) \
-    X   ( mjtBool,      active,      1 ) \
-    X   ( mjtLightType, type,        1 ) \
-    X   ( mjString*,    texture,     1 ) \
-    X   ( mjtBool,      castshadow,  1 ) \
-    X   ( float,        bulbradius,  1 ) \
-    X   ( float,        intensity,   1 ) \
-    X   ( float,        range,       1 ) \
-    XVEC( float,        attenuation, 3 ) \
-    X   ( float,        cutoff,      1 ) \
-    X   ( float,        softness,    1 ) \
-    X   ( float,        exponent,    1 ) \
-    XVEC( float,        ambient,     3 ) \
-    XVEC( float,        diffuse,     3 ) \
-    XVEC( float,        specular,    3 ) \
-    X   ( mjString*,    info,        1 )
-
-
-//-------------------------------- mjsFlex ---------------------------------------------------------
-
-#define MJSFLEX_FIELDS                           \
-    X   ( mjsElement*,   element,       1      ) \
-    X   ( int,           contype,       1      ) \
-    X   ( int,           conaffinity,   1      ) \
-    X   ( int,           condim,        1      ) \
-    X   ( int,           priority,      1      ) \
-    XVEC( double,        friction,      3      ) \
-    X   ( double,        solmix,        1      ) \
-    XVEC( mjtNum,        solref,        mjNREF ) \
-    XVEC( mjtNum,        solimp,        mjNIMP ) \
-    X   ( double,        margin,        1      ) \
-    X   ( double,        gap,           1      ) \
-    X   ( int,           dim,           1      ) \
-    X   ( double,        radius,        1      ) \
-    XVEC( double,        size,          3      ) \
-    X   ( mjtBool,       internal,      1      ) \
-    X   ( mjtBool,       flatskin,      1      ) \
-    X   ( mjtFlexSelf,   selfcollide,   1      ) \
-    X   ( int,           passive,       1      ) \
-    X   ( int,           activelayers,  1      ) \
-    X   ( int,           group,         1      ) \
-    X   ( double,        edgestiffness, 1      ) \
-    X   ( double,        edgedamping,   1      ) \
-    XVEC( float,         rgba,          4      ) \
-    X   ( mjString*,     material,      1      ) \
-    X   ( double,        young,         1      ) \
-    X   ( double,        poisson,       1      ) \
-    X   ( double,        damping,       1      ) \
-    X   ( double,        thickness,     1      ) \
-    X   ( int,           elastic2d,     1      ) \
-    XVEC( int,           cellcount,     3      ) \
-    X   ( int,           order,         1      ) \
-    X   ( mjStringVec*,  nodebody,      1      ) \
-    X   ( mjStringVec*,  vertbody,      1      ) \
-    X   ( mjDoubleVec*,  node,          1      ) \
-    X   ( mjDoubleVec*,  vert,          1      ) \
-    X   ( mjIntVec*,     elem,          1      ) \
-    X   ( mjFloatVec*,   texcoord,      1      ) \
-    X   ( mjIntVec*,     elemtexcoord,  1      ) \
-    X   ( mjString*,     info,          1      )
-
-
-//-------------------------------- mjsMesh ---------------------------------------------------------
-
-#define MJSMESH_FIELDS                           \
-    X   ( mjsElement*,     element,          1 ) \
-    X   ( mjString*,       content_type,     1 ) \
-    X   ( mjString*,       file,             1 ) \
-    XVEC( double,          refpos,           3 ) \
-    XVEC( double,          refquat,          4 ) \
-    XVEC( double,          scale,            3 ) \
-    X   ( mjtMeshInertia,  inertia,          1 ) \
-    X   ( mjtBool,         smoothnormal,     1 ) \
-    X   ( mjtBool,         needsdf,          1 ) \
-    X   ( int,             maxhullvert,      1 ) \
-    X   ( mjFloatVec*,     uservert,         1 ) \
-    X   ( mjFloatVec*,     usernormal,       1 ) \
-    X   ( mjFloatVec*,     usertexcoord,     1 ) \
-    X   ( mjIntVec*,       userface,         1 ) \
-    X   ( mjIntVec*,       userfacenormal,   1 ) \
-    X   ( mjIntVec*,       userfacetexcoord, 1 ) \
-    X   ( mjsPlugin,       plugin,           1 ) \
-    X   ( mjString*,       material,         1 ) \
-    X   ( int,             octree_maxdepth,  1 ) \
-    X   ( mjString*,       info,             1 )
-
-
-//-------------------------------- mjsHField -------------------------------------------------------
-
-#define MJSHFIELD_FIELDS                  \
-    X   ( mjsElement*,  element,      1 ) \
-    X   ( mjString*,    content_type, 1 ) \
-    X   ( mjString*,    file,         1 ) \
-    XVEC( double,       size,         4 ) \
-    X   ( int,          nrow,         1 ) \
-    X   ( int,          ncol,         1 ) \
-    X   ( mjFloatVec*,  userdata,     1 ) \
-    X   ( mjString*,    info,         1 )
-
-
-//-------------------------------- mjsSkin ---------------------------------------------------------
-
-#define MJSSKIN_FIELDS                    \
-    X   ( mjsElement*,    element,    1 ) \
-    X   ( mjString*,      file,       1 ) \
-    X   ( mjString*,      material,   1 ) \
-    XVEC( float,          rgba,       4 ) \
-    X   ( float,          inflate,    1 ) \
-    X   ( int,            group,      1 ) \
-    X   ( mjFloatVec*,    vert,       1 ) \
-    X   ( mjFloatVec*,    texcoord,   1 ) \
-    X   ( mjIntVec*,      face,       1 ) \
-    X   ( mjStringVec*,   bodyname,   1 ) \
-    X   ( mjFloatVec*,    bindpos,    1 ) \
-    X   ( mjFloatVec*,    bindquat,   1 ) \
-    X   ( mjIntVecVec*,   vertid,     1 ) \
-    X   ( mjFloatVecVec*, vertweight, 1 ) \
-    X   ( mjString*,      info,       1 )
-
-
-//-------------------------------- mjsTexture ------------------------------------------------------
-
-#define MJSTEXTURE_FIELDS                    \
-    X   ( mjsElement*,    element,      1  ) \
-    X   ( mjtTexture,     type,         1  ) \
-    X   ( mjtColorSpace,  colorspace,   1  ) \
-    X   ( mjtBuiltin,     builtin,      1  ) \
-    X   ( mjtMark,        mark,         1  ) \
-    XVEC( double,         rgb1,         3  ) \
-    XVEC( double,         rgb2,         3  ) \
-    XVEC( double,         markrgb,      3  ) \
-    X   ( double,         random,       1  ) \
-    X   ( int,            height,       1  ) \
-    X   ( int,            width,        1  ) \
-    X   ( int,            nchannel,     1  ) \
-    X   ( mjString*,      content_type, 1  ) \
-    X   ( mjString*,      file,         1  ) \
-    XVEC( int,            gridsize,     2  ) \
-    XVEC( char,           gridlayout,   12 ) \
-    X   ( mjStringVec*,   cubefiles,    1  ) \
-    X   ( mjByteVec*,     data,         1  ) \
-    X   ( mjtBool,        hflip,        1  ) \
-    X   ( mjtBool,        vflip,        1  ) \
-    X   ( mjString*,      info,         1  )
-
-
-//-------------------------------- mjsMaterial -----------------------------------------------------
-
-#define MJSMATERIAL_FIELDS               \
-    X   ( mjsElement*,  element,     1 ) \
-    X   ( mjStringVec*, textures,    1 ) \
-    X   ( mjtBool,      texuniform,  1 ) \
-    XVEC( float,        texrepeat,   2 ) \
-    X   ( float,        emission,    1 ) \
-    X   ( float,        specular,    1 ) \
-    X   ( float,        shininess,   1 ) \
-    X   ( float,        reflectance, 1 ) \
-    X   ( float,        metallic,    1 ) \
-    X   ( float,        roughness,   1 ) \
-    XVEC( float,        rgba,        4 ) \
-    X   ( mjString*,    info,        1 )
-
-
-//-------------------------------- mjsPair ---------------------------------------------------------
-
-#define MJSPAIR_FIELDS                          \
-    X   ( mjsElement*, element,        1      ) \
-    X   ( mjString*,   geomname1,      1      ) \
-    X   ( mjString*,   geomname2,      1      ) \
-    X   ( int,         condim,         1      ) \
-    XVEC( mjtNum,      solref,         mjNREF ) \
-    XVEC( mjtNum,      solreffriction, mjNREF ) \
-    XVEC( mjtNum,      solimp,         mjNIMP ) \
-    X   ( double,      margin,         1      ) \
-    X   ( double,      gap,            1      ) \
-    X   ( double,      adhesion,       1      ) \
-    XVEC( double,      friction,       5      ) \
-    X   ( mjString*,   info,           1      )
-
-
-//-------------------------------- mjsExclude ------------------------------------------------------
-
-#define MJSEXCLUDE_FIELDS          \
-    X( mjsElement*, element,   1 ) \
-    X( mjString*,   bodyname1, 1 ) \
-    X( mjString*,   bodyname2, 1 ) \
-    X( mjString*,   info,      1 )
-
-
-//-------------------------------- mjsEquality -----------------------------------------------------
-
-#define MJSEQUALITY_FIELDS                  \
-    X   ( mjsElement*, element, 1         ) \
-    X   ( mjtEq,       type,    1         ) \
-    XVEC( double,      data,    mjNEQDATA ) \
-    X   ( mjtBool,     active,  1         ) \
-    X   ( mjString*,   name1,   1         ) \
-    X   ( mjString*,   name2,   1         ) \
-    X   ( mjtObj,      objtype, 1         ) \
-    XVEC( mjtNum,      solref,  mjNREF    ) \
-    XVEC( mjtNum,      solimp,  mjNIMP    ) \
-    X   ( mjString*,   info,    1         )
-
-
-//-------------------------------- mjsTendon -------------------------------------------------------
-
-#define MJSTENDON_FIELDS                              \
-    X   ( mjsElement*,   element,         1         ) \
-    XVEC( double,        stiffness,       mjNPOLY+1 ) \
-    XVEC( double,        springlength,    2         ) \
-    XVEC( double,        damping,         mjNPOLY+1 ) \
-    X   ( double,        frictionloss,    1         ) \
-    XVEC( mjtNum,        solref_friction, mjNREF    ) \
-    XVEC( mjtNum,        solimp_friction, mjNIMP    ) \
-    X   ( double,        armature,        1         ) \
-    X   ( mjtLimited,    limited,         1         ) \
-    X   ( mjtLimited,    actfrclimited,   1         ) \
-    XVEC( double,        range,           2         ) \
-    XVEC( double,        actfrcrange,     2         ) \
-    X   ( double,        margin,          1         ) \
-    XVEC( mjtNum,        solref_limit,    mjNREF    ) \
-    XVEC( mjtNum,        solimp_limit,    mjNIMP    ) \
-    X   ( mjString*,     material,        1         ) \
-    X   ( double,        width,           1         ) \
-    XVEC( float,         rgba,            4         ) \
-    X   ( int,           group,           1         ) \
-    X   ( mjDoubleVec*,  userdata,        1         ) \
-    X   ( mjString*,     info,            1         )
-
-
-//-------------------------------- mjsWrap ---------------------------------------------------------
-
-#define MJSWRAP_FIELDS           \
-    X( mjsElement*, element, 1 ) \
-    X( mjtWrap,     type,    1 ) \
-    X( mjString*,   info,    1 )
-
-
-//-------------------------------- mjsActuator -----------------------------------------------------
-
-#define MJSACTUATOR_FIELDS                          \
-    X   ( mjsElement*,   element,       1         ) \
-    X   ( mjtGain,       gaintype,      1         ) \
-    XVEC( double,        gainprm,       mjNGAIN   ) \
-    X   ( mjtBias,       biastype,      1         ) \
-    XVEC( double,        biasprm,       mjNBIAS   ) \
-    X   ( mjtDyn,        dyntype,       1         ) \
-    XVEC( double,        dynprm,        mjNDYN    ) \
-    X   ( int,           actdim,        1         ) \
-    X   ( int,           ctrlspec,      1         ) \
-    XVEC( double,        velrange,      2         ) \
-    XVEC( double,        ffrange,       2         ) \
-    X   ( mjtBool,       actearly,      1         ) \
-    X   ( mjtTrn,        trntype,       1         ) \
-    XVEC( double,        gear,          6         ) \
-    X   ( mjString*,     target,        1         ) \
-    X   ( mjString*,     refsite,       1         ) \
-    X   ( mjString*,     slidersite,    1         ) \
-    X   ( double,        cranklength,   1         ) \
-    XVEC( double,        lengthrange,   2         ) \
-    X   ( double,        inheritrange,  1         ) \
-    XVEC( double,        damping,       mjNPOLY+1 ) \
-    X   ( double,        armature,      1         ) \
-    X   ( mjtLimited,    ctrllimited,   1         ) \
-    XVEC( double,        ctrlrange,     2         ) \
-    X   ( mjtLimited,    forcelimited,  1         ) \
-    XVEC( double,        forcerange,    2         ) \
-    X   ( mjtLimited,    actlimited,    1         ) \
-    XVEC( double,        actrange,      2         ) \
-    X   ( int,           group,         1         ) \
-    X   ( int,           nsample,       1         ) \
-    X   ( int,           interp,        1         ) \
-    X   ( double,        delay,         1         ) \
-    X   ( mjDoubleVec*,  userdata,      1         ) \
-    X   ( mjsPlugin,     plugin,        1         ) \
-    X   ( mjString*,     info,          1         )
-
-
-//-------------------------------- mjsSensor -------------------------------------------------------
-
-#define MJSSENSOR_FIELDS                      \
-    X   ( mjsElement*,   element,   1       ) \
-    X   ( mjtSensor,     type,      1       ) \
-    X   ( mjtObj,        objtype,   1       ) \
-    X   ( mjString*,     objname,   1       ) \
-    X   ( mjtObj,        reftype,   1       ) \
-    X   ( mjString*,     refname,   1       ) \
-    XVEC( int,           intprm,    mjNSENS ) \
-    X   ( mjtDataType,   datatype,  1       ) \
-    X   ( mjtStage,      needstage, 1       ) \
-    X   ( int,           dim,       1       ) \
-    X   ( double,        cutoff,    1       ) \
-    X   ( double,        noise,     1       ) \
-    X   ( int,           nsample,   1       ) \
-    X   ( int,           interp,    1       ) \
-    X   ( double,        delay,     1       ) \
-    XVEC( double,        interval,  2       ) \
-    X   ( mjDoubleVec*,  userdata,  1       ) \
-    X   ( mjsPlugin,     plugin,    1       ) \
-    X   ( mjString*,     info,      1       )
-
-
-//-------------------------------- mjsNumeric ------------------------------------------------------
-
-#define MJSNUMERIC_FIELDS         \
-    X( mjsElement*,  element, 1 ) \
-    X( mjDoubleVec*, data,    1 ) \
-    X( int,          size,    1 ) \
-    X( mjString*,    info,    1 )
-
-
-//-------------------------------- mjsText ---------------------------------------------------------
-
-#define MJSTEXT_FIELDS           \
-    X( mjsElement*, element, 1 ) \
-    X( mjString*,   data,    1 ) \
-    X( mjString*,   info,    1 )
-
-
-//-------------------------------- mjsTuple --------------------------------------------------------
-
-#define MJSTUPLE_FIELDS           \
-    X( mjsElement*,  element, 1 ) \
-    X( mjIntVec*,    objtype, 1 ) \
-    X( mjStringVec*, objname, 1 ) \
-    X( mjDoubleVec*, objprm,  1 ) \
-    X( mjString*,    info,    1 )
-
-
-//-------------------------------- mjsKey ----------------------------------------------------------
-
-#define MJSKEY_FIELDS             \
-    X( mjsElement*,  element, 1 ) \
-    X( double,       time,    1 ) \
-    X( mjDoubleVec*, qpos,    1 ) \
-    X( mjDoubleVec*, qvel,    1 ) \
-    X( mjDoubleVec*, act,     1 ) \
-    X( mjDoubleVec*, mpos,    1 ) \
-    X( mjDoubleVec*, mquat,   1 ) \
-    X( mjDoubleVec*, ctrl,    1 ) \
-    X( mjString*,    info,    1 )
-
-
-//-------------------------------- mjsDefault ------------------------------------------------------
-
-#define MJSDEFAULT_FIELDS          \
-    X( mjsElement*,  element,  1 ) \
-    X( mjsJoint*,    joint,    1 ) \
-    X( mjsGeom*,     geom,     1 ) \
-    X( mjsSite*,     site,     1 ) \
-    X( mjsCamera*,   camera,   1 ) \
-    X( mjsLight*,    light,    1 ) \
-    X( mjsFlex*,     flex,     1 ) \
-    X( mjsMesh*,     mesh,     1 ) \
-    X( mjsMaterial*, material, 1 ) \
-    X( mjsPair*,     pair,     1 ) \
-    X( mjsEquality*, equality, 1 ) \
-    X( mjsTendon*,   tendon,   1 ) \
-    X( mjsActuator*, actuator, 1 )
-
-
-#endif  // MUJOCO_MJSPECMACRO_H_
diff --git a/include/mujoco/mjtype.h b/include/mujoco/mjtype.h
deleted file mode 100644
index 1d3f0937..00000000
--- a/include/mujoco/mjtype.h
+++ /dev/null
@@ -1,642 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_INCLUDE_MJTYPE_H_
-#define MUJOCO_INCLUDE_MJTYPE_H_
-
-#include <stdbool.h>
-#include <stdint.h>
-
-
-//---------------------------------- floating-point definition -------------------------------------
-
-// floating point data type and minval
-#ifndef mjUSESINGLE
-  typedef double mjtNum;
-  #define mjMINVAL    1E-15       // minimum value in any denominator
-#else
-  typedef float mjtNum;
-  #define mjMINVAL    1E-15f
-#endif
-
-
-
-//---------------------------------- byte definition -----------------------------------------------
-
-typedef unsigned char mjtByte;    // used for small integers and binary data
-
-#ifndef __cplusplus
-  typedef _Bool mjtBool;          // used for boolean values
-#else
-  typedef bool mjtBool;           // used for boolean values
-#endif
-
-//---------------------------------- size definition -----------------------------------------------
-
-typedef int64_t mjtSize;          // used for buffer sizes
-
-
-
-//---------------------------------- enum types (mjModel) ------------------------------------------
-
-typedef enum mjtDisableBit {      // disable default feature bitflags
-  mjDSBL_CONSTRAINT   = 1<<0,     // entire constraint solver
-  mjDSBL_EQUALITY     = 1<<1,     // equality constraints
-  mjDSBL_FRICTIONLOSS = 1<<2,     // joint and tendon frictionloss constraints
-  mjDSBL_LIMIT        = 1<<3,     // joint and tendon limit constraints
-  mjDSBL_CONTACT      = 1<<4,     // contact constraints
-  mjDSBL_SPRING       = 1<<5,     // passive spring forces
-  mjDSBL_DAMPER       = 1<<6,     // passive damping forces
-  mjDSBL_GRAVITY      = 1<<7,     // gravitational forces
-  mjDSBL_CLAMPCTRL    = 1<<8,     // clamp control to specified range
-  mjDSBL_WARMSTART    = 1<<9,     // warmstart constraint solver
-  mjDSBL_FILTERPARENT = 1<<10,    // remove collisions with parent body
-  mjDSBL_ACTUATION    = 1<<11,    // apply actuation forces
-  mjDSBL_REFSAFE      = 1<<12,    // integrator safety: make ref[0]>=2*timestep
-  mjDSBL_SENSOR       = 1<<13,    // sensors
-  mjDSBL_MIDPHASE     = 1<<14,    // mid-phase collision filtering
-  mjDSBL_EULERDAMP    = 1<<15,    // implicit integration of joint damping in Euler integrator
-  mjDSBL_AUTORESET    = 1<<16,    // automatic reset when numerical issues are detected
-  mjDSBL_NATIVECCD    = 1<<17,    // native convex collision detection
-  mjDSBL_ISLAND       = 1<<18,    // constraint island discovery
-  mjDSBL_MULTICCD     = 1<<19,    // multiple CCD contact points
-
-  mjNDISABLE          = 20        // number of disable flags
-} mjtDisableBit;
-
-
-typedef enum mjtEnableBit {       // enable optional feature bitflags
-  mjENBL_OVERRIDE     = 1<<0,     // override contact parameters
-  mjENBL_ENERGY       = 1<<1,     // energy computation
-  mjENBL_FWDINV       = 1<<2,     // record solver statistics
-  mjENBL_INVDISCRETE  = 1<<3,     // discrete-time inverse dynamics
-  mjENBL_SLEEP        = 1<<4,     // sleeping
-  mjENBL_DIAGEXACT    = 1<<5,     // exact diagonal of constraint inertia
-
-  mjNENABLE           = 6         // number of enable flags
-} mjtEnableBit;
-
-
-typedef enum mjtJoint {           // type of degree of freedom
-  mjJNT_FREE          = 0,        // global position and orientation (quat)       (7)
-  mjJNT_BALL,                     // orientation (quat) relative to parent        (4)
-  mjJNT_SLIDE,                    // sliding distance along body-fixed axis       (1)
-  mjJNT_HINGE                     // rotation angle (rad) around body-fixed axis  (1)
-} mjtJoint;
-
-
-typedef enum mjtGeom {            // type of geometric shape
-  // regular geom types
-  mjGEOM_PLANE        = 0,        // plane
-  mjGEOM_HFIELD,                  // height field
-  mjGEOM_SPHERE,                  // sphere
-  mjGEOM_CAPSULE,                 // capsule
-  mjGEOM_ELLIPSOID,               // ellipsoid
-  mjGEOM_CYLINDER,                // cylinder
-  mjGEOM_BOX,                     // box
-  mjGEOM_MESH,                    // mesh
-  mjGEOM_SDF,                     // signed distance field
-
-  mjNGEOMTYPES,                   // number of regular geom types
-
-  // rendering-only geom types: not used in mjModel, not counted in mjNGEOMTYPES
-  mjGEOM_ARROW        = 100,      // arrow
-  mjGEOM_ARROW1,                  // arrow without wedges
-  mjGEOM_ARROW2,                  // arrow in both directions
-  mjGEOM_LINE,                    // line
-  mjGEOM_LINEBOX,                 // box with line edges
-  mjGEOM_FLEX,                    // flex
-  mjGEOM_SKIN,                    // skin
-  mjGEOM_LABEL,                   // text label
-  mjGEOM_TRIANGLE,                // triangle
-
-  mjGEOM_NONE         = 1001      // missing geom type
-} mjtGeom;
-
-
-typedef enum mjtProjection {      // type of camera projection
-  mjPROJ_PERSPECTIVE  = 0,        // perspective
-  mjPROJ_ORTHOGRAPHIC             // orthographic
-} mjtProjection;
-
-
-typedef enum mjtCamLight {        // tracking mode for camera and light
-  mjCAMLIGHT_FIXED    = 0,        // pos and rot fixed in body
-  mjCAMLIGHT_TRACK,               // pos tracks body, rot fixed in global
-  mjCAMLIGHT_TRACKCOM,            // pos tracks subtree com, rot fixed in body
-  mjCAMLIGHT_TARGETBODY,          // pos fixed in body, rot tracks target body
-  mjCAMLIGHT_TARGETBODYCOM        // pos fixed in body, rot tracks target subtree com
-} mjtCamLight;
-
-
-typedef enum mjtLightType {       // type of light
-  mjLIGHT_SPOT        = 0,        // spot
-  mjLIGHT_DIRECTIONAL,            // directional
-  mjLIGHT_POINT,                  // point
-  mjLIGHT_IMAGE,                  // image-based
-} mjtLightType;
-
-
-typedef enum mjtTexture {         // type of texture
-  mjTEXTURE_2D        = 0,        // 2d texture, suitable for planes and hfields
-  mjTEXTURE_CUBE,                 // cube texture, suitable for all other geom types
-  mjTEXTURE_SKYBOX                // cube texture used as skybox
-} mjtTexture;
-
-
-typedef enum mjtTextureRole {     // role of texture map in rendering
-  mjTEXROLE_USER      = 0,        // unspecified
-  mjTEXROLE_RGB,                  // base color (albedo)
-  mjTEXROLE_OCCLUSION,            // ambient occlusion
-  mjTEXROLE_ROUGHNESS,            // roughness
-  mjTEXROLE_METALLIC,             // metallic
-  mjTEXROLE_NORMAL,               // normal (bump) map
-  mjTEXROLE_OPACITY,              // opacity
-  mjTEXROLE_EMISSIVE,             // light emission
-  mjTEXROLE_RGBA,                 // base color, opacity
-  mjTEXROLE_ORM,                  // occlusion, roughness, metallic
-  mjNTEXROLE
-} mjtTextureRole;
-
-
-typedef enum mjtColorSpace {      // type of color space encoding
-  mjCOLORSPACE_AUTO   = 0,        // attempts to autodetect color space, defaults to linear
-  mjCOLORSPACE_LINEAR,            // linear color space
-  mjCOLORSPACE_SRGB               // standard RGB color space
-} mjtColorSpace;
-
-
-typedef enum mjtIntegrator {      // integrator mode
-  mjINT_EULER         = 0,        // semi-implicit Euler
-  mjINT_RK4,                      // 4th-order Runge Kutta
-  mjINT_IMPLICIT,                 // implicit in velocity
-  mjINT_IMPLICITFAST              // implicit in velocity, no rne derivative
-} mjtIntegrator;
-
-
-typedef enum mjtCone {            // type of friction cone
-  mjCONE_PYRAMIDAL     = 0,       // pyramidal
-  mjCONE_ELLIPTIC                 // elliptic
-} mjtCone;
-
-
-typedef enum mjtJacobian {        // type of constraint Jacobian
-  mjJAC_DENSE          = 0,       // dense
-  mjJAC_SPARSE,                   // sparse
-  mjJAC_AUTO                      // dense if nv<60, sparse otherwise
-} mjtJacobian;
-
-
-typedef enum mjtSolver {          // constraint solver algorithm
-  mjSOL_PGS            = 0,       // PGS    (dual)
-  mjSOL_CG,                       // CG     (primal)
-  mjSOL_NEWTON                    // Newton (primal)
-} mjtSolver;
-
-
-typedef enum mjtEq {              // type of equality constraint
-  mjEQ_CONNECT        = 0,        // connect two bodies at a point (ball joint)
-  mjEQ_WELD,                      // fix relative position and orientation of two bodies
-  mjEQ_JOINT,                     // couple the values of two scalar joints with cubic
-  mjEQ_TENDON,                    // couple the lengths of two tendons with cubic
-  mjEQ_FLEX,                      // fix all edge lengths of a flex
-  mjEQ_FLEXVERT,                  // fix all vertex lengths of a flex
-  mjEQ_FLEXSTRAIN,                // constrain strain of a trilinear/quadratic flex (B-bar)
-  mjEQ_DISTANCE                   // unsupported, will cause an error if used
-} mjtEq;
-
-
-typedef enum mjtWrap {            // type of tendon wrap object
-  mjWRAP_NONE         = 0,        // null object
-  mjWRAP_JOINT,                   // constant moment arm
-  mjWRAP_PULLEY,                  // pulley used to split tendon
-  mjWRAP_SITE,                    // pass through site
-  mjWRAP_SPHERE,                  // wrap around sphere
-  mjWRAP_CYLINDER                 // wrap around (infinite) cylinder
-} mjtWrap;
-
-
-typedef enum mjtTrn {             // type of actuator transmission
-  mjTRN_JOINT         = 0,        // force on joint
-  mjTRN_JOINTINPARENT,            // force on joint, expressed in parent frame
-  mjTRN_SLIDERCRANK,              // force via slider-crank linkage
-  mjTRN_TENDON,                   // force on tendon
-  mjTRN_SITE,                     // force on site
-  mjTRN_BODY,                     // adhesion force on a body's geoms
-  mjTRN_SO3,                      // torque on a relative orientation (3 force outputs)
-
-  mjTRN_UNDEFINED     = 1000      // undefined transmission type
-} mjtTrn;
-
-
-typedef enum mjtDyn {             // type of actuator dynamics
-  mjDYN_NONE          = 0,        // no internal dynamics; ctrl specifies force
-  mjDYN_INTEGRATOR,               // integrator: da/dt = u
-  mjDYN_FILTER,                   // linear filter: da/dt = (u-a) / tau
-  mjDYN_FILTEREXACT,              // linear filter: da/dt = (u-a) / tau, with exact integration
-  mjDYN_MUSCLE,                   // piecewise linear filter with two time constants
-  mjDYN_DCMOTOR,                  // DC motor electrical dynamics
-  mjDYN_PID,                      // PID controller states: slew, integral
-  mjDYN_USER                      // user-defined dynamics type
-} mjtDyn;
-
-
-typedef enum mjtGain {            // type of actuator gain
-  mjGAIN_FIXED        = 0,        // fixed gain
-  mjGAIN_AFFINE,                  // const + kp*length + kv*velocity
-  mjGAIN_MUSCLE,                  // muscle FLV curve computed by mju_muscleGain()
-  mjGAIN_DCMOTOR,                 // DC motor gain: K or K/R
-  mjGAIN_SO3,                     // geodesic servo on an SO3 transmission: force = kp * log(error)
-  mjGAIN_PID,                     // PID controller: position and velocity setpoint inputs
-  mjGAIN_USER                     // user-defined gain type
-} mjtGain;
-
-
-typedef enum mjtBias {            // type of actuator bias
-  mjBIAS_NONE         = 0,        // no bias
-  mjBIAS_AFFINE,                  // const + kp*length + kv*velocity
-  mjBIAS_MUSCLE,                  // muscle passive force computed by mju_muscleBias()
-  mjBIAS_DCMOTOR,                 // DC motor bias: back-EMF, cogging, LuGre friction
-  mjBIAS_SO3,                     // damping term of the SO3 geodesic servo
-  mjBIAS_USER                     // user-defined bias type
-} mjtBias;
-
-
-typedef enum mjtCtrlChart {       // so3 input signature (actuator_ctrlspec): orientation chart
-  mjCHART_EXPMAP      = 1,        // exponential-map orientation target: 3 controls
-  mjCHART_QUAT        = 2         // quaternion orientation target: 4 controls
-} mjtCtrlChart;
-
-
-typedef enum mjtCtrlInput {       // servo input signature (actuator_ctrlspec): present-input bits
-  mjINPUT_POS         = 1,        // position setpoint input
-  mjINPUT_VEL         = 2,        // velocity setpoint input
-  mjINPUT_FF          = 4,        // feedforward input, in the actuator's output space
-  mjINPUT_VOLTAGE     = 8,        // raw terminal voltage input (dcmotor)
-  mjINPUT_NONE        = 16        // explicitly no inputs: purely passive (dcmotor)
-} mjtCtrlInput;
-
-
-typedef enum mjtObj {             // type of MujoCo object
-  mjOBJ_UNKNOWN       = 0,        // unknown object type
-  mjOBJ_BODY,                     // body
-  mjOBJ_XBODY,                    // body, used to access regular frame instead of i-frame
-  mjOBJ_JOINT,                    // joint
-  mjOBJ_DOF,                      // dof
-  mjOBJ_GEOM,                     // geom
-  mjOBJ_SITE,                     // site
-  mjOBJ_CAMERA,                   // camera
-  mjOBJ_LIGHT,                    // light
-  mjOBJ_FLEX,                     // flex
-  mjOBJ_MESH,                     // mesh
-  mjOBJ_SKIN,                     // skin
-  mjOBJ_HFIELD,                   // heightfield
-  mjOBJ_TEXTURE,                  // texture
-  mjOBJ_MATERIAL,                 // material for rendering
-  mjOBJ_PAIR,                     // geom pair to include
-  mjOBJ_EXCLUDE,                  // body pair to exclude
-  mjOBJ_EQUALITY,                 // equality constraint
-  mjOBJ_TENDON,                   // tendon
-  mjOBJ_ACTUATOR,                 // actuator
-  mjOBJ_SENSOR,                   // sensor
-  mjOBJ_NUMERIC,                  // numeric
-  mjOBJ_TEXT,                     // text
-  mjOBJ_TUPLE,                    // tuple
-  mjOBJ_KEY,                      // keyframe
-  mjOBJ_PLUGIN,                   // plugin instance
-
-  mjNOBJECT,                      // number of object types
-
-  // meta elements, do not appear in mjModel
-  mjOBJ_FRAME         = 100,      // frame
-  mjOBJ_DEFAULT,                  // default
-  mjOBJ_MODEL                     // entire model
-} mjtObj;
-
-
-typedef enum mjtSensor {         // type of sensor
-  // common robotic sensors, attached to a site
-  mjSENS_TOUCH        = 0,        // scalar contact normal forces summed over sensor zone
-  mjSENS_ACCELEROMETER,           // 3D linear acceleration, in local frame
-  mjSENS_VELOCIMETER,             // 3D linear velocity, in local frame
-  mjSENS_GYRO,                    // 3D angular velocity, in local frame
-  mjSENS_FORCE,                   // 3D force between site's body and its parent body
-  mjSENS_TORQUE,                  // 3D torque between site's body and its parent body
-  mjSENS_MAGNETOMETER,            // 3D magnetometer
-  mjSENS_RANGEFINDER,             // scalar distance to nearest geom along z-axis
-  mjSENS_CAMPROJECTION,           // pixel coordinates of a site in the camera image
-
-  // sensors related to scalar joints, tendons, actuators
-  mjSENS_JOINTPOS,                // scalar joint position (hinge and slide only)
-  mjSENS_JOINTVEL,                // scalar joint velocity (hinge and slide only)
-  mjSENS_TENDONPOS,               // scalar tendon position
-  mjSENS_TENDONVEL,               // scalar tendon velocity
-  mjSENS_ACTUATORPOS,             // scalar actuator position
-  mjSENS_ACTUATORVEL,             // scalar actuator velocity
-  mjSENS_ACTUATORFRC,             // scalar actuator force
-  mjSENS_JOINTACTFRC,             // scalar actuator force, measured at the joint
-  mjSENS_TENDONACTFRC,            // scalar actuator force, measured at the tendon
-
-  // sensors related to ball joints
-  mjSENS_BALLQUAT,                // 4D ball joint quaternion
-  mjSENS_BALLANGVEL,              // 3D ball joint angular velocity
-
-  // joint and tendon limit sensors, in constraint space
-  mjSENS_JOINTLIMITPOS,           // joint limit distance-margin
-  mjSENS_JOINTLIMITVEL,           // joint limit velocity
-  mjSENS_JOINTLIMITFRC,           // joint limit force
-  mjSENS_TENDONLIMITPOS,          // tendon limit distance-margin
-  mjSENS_TENDONLIMITVEL,          // tendon limit velocity
-  mjSENS_TENDONLIMITFRC,          // tendon limit force
-
-  // sensors attached to an object with spatial frame: (x)body, geom, site, camera
-  mjSENS_FRAMEPOS,                // 3D position
-  mjSENS_FRAMEQUAT,               // 4D unit quaternion orientation
-  mjSENS_FRAMEXAXIS,              // 3D unit vector: x-axis of object's frame
-  mjSENS_FRAMEYAXIS,              // 3D unit vector: y-axis of object's frame
-  mjSENS_FRAMEZAXIS,              // 3D unit vector: z-axis of object's frame
-  mjSENS_FRAMELINVEL,             // 3D linear velocity
-  mjSENS_FRAMEANGVEL,             // 3D angular velocity
-  mjSENS_FRAMELINACC,             // 3D linear acceleration
-  mjSENS_FRAMEANGACC,             // 3D angular acceleration
-
-  // sensors related to kinematic subtrees; attached to a body (which is the subtree root)
-  mjSENS_SUBTREECOM,              // 3D center of mass of subtree
-  mjSENS_SUBTREELINVEL,           // 3D linear velocity of subtree
-  mjSENS_SUBTREEANGMOM,           // 3D angular momentum of subtree
-
-  // sensors of geometric relationships
-  mjSENS_INSIDESITE,              // 1 if object is inside a site, 0 otherwise
-  mjSENS_GEOMDIST,                // signed distance between two geoms
-  mjSENS_GEOMNORMAL,              // normal direction between two geoms
-  mjSENS_GEOMFROMTO,              // segment between two geoms
-
-  // sensors for reporting contacts which occurred during the simulation
-  mjSENS_CONTACT,                 // contacts which occurred during the simulation
-
-  // global sensors
-  mjSENS_E_POTENTIAL,             // potential energy
-  mjSENS_E_KINETIC,               // kinetic energy
-  mjSENS_CLOCK,                   // simulation time
-
-  // sensors related to SDFs
-  mjSENS_TACTILE,                 // tactile sensor
-
-  // plugin-controlled sensors
-  mjSENS_PLUGIN,                  // plugin-controlled
-
-  // user-defined sensor
-  mjSENS_USER                     // sensor data provided by mjcb_sensor callback
-} mjtSensor;
-
-
-typedef enum mjtStage {           // computation stage
-  mjSTAGE_NONE        = 0,        // no computations
-  mjSTAGE_POS,                    // position-dependent computations
-  mjSTAGE_VEL,                    // velocity-dependent computations
-  mjSTAGE_ACC                     // acceleration/force-dependent computations
-} mjtStage;
-
-
-typedef enum mjtDataType {        // data type for sensors
-  mjDATATYPE_REAL     = 0,        // real values, no constraints
-  mjDATATYPE_POSITIVE,            // positive values; 0 or negative: inactive
-  mjDATATYPE_AXIS,                // 3D unit vector
-  mjDATATYPE_QUATERNION           // unit quaternion
-} mjtDataType;
-
-
-typedef enum mjtConDataField {    // data fields returned by contact sensors
-  mjCONDATA_FOUND     = 0,        // whether a contact was found
-  mjCONDATA_FORCE,                // contact force
-  mjCONDATA_TORQUE,               // contact torque
-  mjCONDATA_DIST,                 // contact penetration distance
-  mjCONDATA_POS,                  // contact position
-  mjCONDATA_NORMAL,               // contact frame normal
-  mjCONDATA_TANGENT,              // contact frame first tangent
-
-  mjNCONDATA                      // number of contact sensor data fields
-} mjtConDataField;
-
-
-typedef enum mjtRayDataField {    // data fields returned by rangefinder sensors
-  mjRAYDATA_DIST     = 0,         // distance from ray origin to nearest surface
-  mjRAYDATA_DIR,                  // normalized ray direction
-  mjRAYDATA_ORIGIN,               // ray origin
-  mjRAYDATA_POINT,                // point at which ray intersects nearest surface
-  mjRAYDATA_NORMAL,               // surface normal at intersection point
-  mjRAYDATA_DEPTH,                // depth along z-axis
-
-  mjNRAYDATA                      // number of rangefinder sensor data fields
-} mjtRayDataField;
-
-
-typedef enum mjtCamOutBit {       // camera output type bitflags
-  mjCAMOUT_RGB        = 1<<0,     // RGB image
-  mjCAMOUT_DEPTH      = 1<<1,     // depth image (distance from camera plane)
-  mjCAMOUT_DIST       = 1<<2,     // distance image (distance from camera origin)
-  mjCAMOUT_NORMAL     = 1<<3,     // normal image
-  mjCAMOUT_SEG        = 1<<4,     // segmentation image
-
-  mjNCAMOUT           = 5         // number of camera output types
-} mjtCamOutBit;
-
-
-typedef enum mjtSameFrame {       // frame alignment of bodies with their children
-  mjSAMEFRAME_NONE    = 0,        // no alignment
-  mjSAMEFRAME_BODY,               // frame is same as body frame
-  mjSAMEFRAME_INERTIA,            // frame is same as inertial frame
-  mjSAMEFRAME_BODYROT,            // frame orientation is same as body orientation
-  mjSAMEFRAME_INERTIAROT          // frame orientation is same as inertia orientation
-} mjtSameFrame;
-
-
-typedef enum mjtSleepPolicy {     // per-tree sleep policy
-  mjSLEEP_AUTO        = 0,        // compiler chooses sleep policy
-  mjSLEEP_AUTO_NEVER,             // compiler sleep policy: never
-  mjSLEEP_AUTO_ALLOWED,           // compiler sleep policy: allowed
-  mjSLEEP_NEVER,                  // user sleep policy: never
-  mjSLEEP_ALLOWED,                // user sleep policy: allowed
-  mjSLEEP_INIT,                   // user sleep policy: initialized asleep
-} mjtSleepPolicy;
-
-
-typedef enum mjtLRMode {          // mode for actuator length range computation
-  mjLRMODE_NONE       = 0,        // do not process any actuators
-  mjLRMODE_MUSCLE,                // process muscle actuators
-  mjLRMODE_MUSCLEUSER,            // process muscle and user actuators
-  mjLRMODE_ALL                    // process all actuators
-} mjtLRMode;
-
-
-typedef enum mjtFlexSelf {        // mode for flex selfcollide
-  mjFLEXSELF_NONE     = 0,        // no self-collisions
-  mjFLEXSELF_NARROW,              // skip midphase, go directly to narrowphase
-  mjFLEXSELF_BVH,                 // use BVH in midphase (if midphase enabled)
-  mjFLEXSELF_SAP,                 // use SAP in midphase
-  mjFLEXSELF_AUTO                 // choose between BVH and SAP automatically
-} mjtFlexSelf;
-
-
-typedef enum mjtSDFType {         // signed distance function (SDF) type
-  mjSDFTYPE_SINGLE    = 0,        // single SDF
-  mjSDFTYPE_INTERSECTION,         // max(A, B)
-  mjSDFTYPE_MIDSURFACE,           // A - B
-  mjSDFTYPE_COLLISION,            // A + B + abs(max(A, B))
-} mjtSDFType;
-
-
-
-//---------------------------------- enum types (mjData) -------------------------------------------
-
-typedef enum mjtState {             // state elements
-  mjSTATE_TIME           = 1<<0,    // time
-  mjSTATE_QPOS           = 1<<1,    // position
-  mjSTATE_QVEL           = 1<<2,    // velocity
-  mjSTATE_ACT            = 1<<3,    // actuator activation
-  mjSTATE_HISTORY        = 1<<4,    // history buffers (control, sensor)
-  mjSTATE_WARMSTART      = 1<<5,    // acceleration used for warmstart
-  mjSTATE_CTRL           = 1<<6,    // control
-  mjSTATE_QFRC_APPLIED   = 1<<7,    // applied generalized force
-  mjSTATE_XFRC_APPLIED   = 1<<8,    // applied Cartesian force/torque
-  mjSTATE_EQ_ACTIVE      = 1<<9,    // enable/disable constraints
-  mjSTATE_MOCAP_POS      = 1<<10,   // positions of mocap bodies
-  mjSTATE_MOCAP_QUAT     = 1<<11,   // orientations of mocap bodies
-  mjSTATE_USERDATA       = 1<<12,   // user data
-  mjSTATE_PLUGIN         = 1<<13,   // plugin state
-
-  mjNSTATE               = 14,      // number of state elements
-
-  // convenience values for commonly used state specifications
-  mjSTATE_PHYSICS        = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT | mjSTATE_HISTORY,
-  mjSTATE_FULLPHYSICS    = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
-  mjSTATE_USER           = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
-                           mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
-                           mjSTATE_USERDATA,
-  mjSTATE_INTEGRATION    = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
-} mjtState;
-
-
-typedef enum mjtConstraint {        // type of constraint
-  mjCNSTR_EQUALITY       = 0,       // equality constraint
-  mjCNSTR_FRICTION_DOF,             // dof friction
-  mjCNSTR_FRICTION_TENDON,          // tendon friction
-  mjCNSTR_LIMIT_JOINT,              // joint limit
-  mjCNSTR_LIMIT_TENDON,             // tendon limit
-  mjCNSTR_CONTACT_FRICTIONLESS,     // frictionless contact
-  mjCNSTR_CONTACT_PYRAMIDAL,        // frictional contact, pyramidal friction cone
-  mjCNSTR_CONTACT_ELLIPTIC          // frictional contact, elliptic friction cone
-} mjtConstraint;
-
-
-typedef enum mjtConstraintState {   // constraint state
-  mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
-  mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
-  mjCNSTRSTATE_LINEARNEG,           // linear cost, negative side (friction)
-  mjCNSTRSTATE_LINEARPOS,           // linear cost, positive side (friction)
-  mjCNSTRSTATE_CONE                 // squared distance to cone cost (elliptic contact)
-} mjtConstraintState;
-
-
-typedef enum mjtWarning {           // warning types
-  mjWARN_INERTIA         = 0,       // (near) singular inertia matrix
-  mjWARN_CONTACTFULL,               // too many contacts in contact list
-  mjWARN_CNSTRFULL,                 // too many constraints
-  mjWARN_BADQPOS,                   // bad number in qpos
-  mjWARN_BADQVEL,                   // bad number in qvel
-  mjWARN_BADQACC,                   // bad number in qacc
-  mjWARN_BADCTRL,                   // bad number in ctrl
-
-  mjNWARNING                        // number of warnings
-} mjtWarning;
-
-
-typedef enum mjtTimer {             // internal timers
-  // main api
-  mjTIMER_STEP           = 0,       // step
-  mjTIMER_FORWARD,                  // forward
-  mjTIMER_INVERSE,                  // inverse
-
-  // breakdown of step/forward
-  mjTIMER_POSITION,                 // fwdPosition
-  mjTIMER_VELOCITY,                 // fwdVelocity
-  mjTIMER_ACTUATION,                // fwdActuation
-  mjTIMER_CONSTRAINT,               // fwdConstraint
-  mjTIMER_ADVANCE,                  // mj_Euler, mj_implicit
-
-  // breakdown of fwdPosition
-  mjTIMER_POS_KINEMATICS,           // kinematics, com, tendon, transmission
-  mjTIMER_POS_INERTIA,              // inertia computations
-  mjTIMER_POS_COLLISION,            // collision detection
-  mjTIMER_POS_MAKE,                 // make constraints
-  mjTIMER_POS_PROJECT,              // project constraints
-
-  // breakdown of mj_collision
-  mjTIMER_COL_BROAD,                // broadphase
-  mjTIMER_COL_NARROW,               // narrowphase
-
-  mjNTIMER                          // number of timers
-} mjtTimer;
-
-
-typedef enum mjtSleepState {        // sleep state of an object
-  mjS_STATIC = -1,                  // object is static
-  mjS_ASLEEP = 0,                   // object is asleep
-  mjS_AWAKE  = 1                    // object is awake
-} mjtSleepState;
-
-
-
-//---------------------------------- logging -------------------------------------------------------
-
-typedef enum mjtLogLevel {        // log message severity
-  mjLOG_DEBUG       = 0,          // internal engine debug trace (opt-in via topic filtering)
-  mjLOG_INFO,                     // informational (opt-in via topic filtering)
-  mjLOG_WARNING,                  // warning
-  mjLOG_ERROR,                    // error
-} mjtLogLevel;
-
-typedef enum mjtLogTopic {        // log topic identifiers
-  mjTOPIC_NONE     = 0,           // no topic (always passes filtering)
-                                  // INFO topics:
-  mjTOPIC_TIME_STP = 1,           // timing diagnostics (step)
-  mjTOPIC_TIME_CMP = 2,           // timing diagnostics (compile)
-                                  // DEBUG topics:
-  mjTOPIC_SLEEP    = 3,           // sleep/wake events
-
-  mjNTOPIC         = 3            // number of filterable topics
-} mjtLogTopic;
-
-typedef struct mjLogMessage_ {    // structured log message
-  int level;                      // mjtLogLevel
-  int topic;                      // mjtLogTopic (0 for error/warning/user)
-  char subject[1024];             // message subject (one-liner, printf-formatted)
-  const char* body;               // message body (multi-line detail, or NULL)
-  const char* func;               // __func__ or NULL
-  const char* file;               // __FILE__ or NULL
-  int line;                       // __LINE__ or 0
-  mjtBool timestamp;              // prepend timestamp to output
-} mjLogMessage;
-
-typedef struct mjLogConfig_ {     // log handler default configuration
-  mjtBool logto_console;          // print to console (default: true)
-  mjtBool logto_file;             // print to log file (default: true)
-  char logfile[1024];             // log file path (default: "MUJOCO_LOG.TXT")
-  int topics;                     // enabled info topic bitmask (default: 0)
-} mjLogConfig;
-
-// function type for log handler callback; must be thread-safe, must not call mju_error
-typedef void (*mjfLogHandler)(const mjLogMessage*);
-
-#endif  // MUJOCO_INCLUDE_MJTYPE_H_
diff --git a/include/mujoco/mjui.h b/include/mujoco/mjui.h
deleted file mode 100644
index d6b7e398..00000000
--- a/include/mujoco/mjui.h
+++ /dev/null
@@ -1,338 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJUI_H_
-#define MUJOCO_MJUI_H_
-
-#include <mujoco/mjrender.h>
-
-#define mjMAXUISECT     10      // maximum number of sections
-#define mjMAXUIITEM     200     // maximum number of items per section
-#define mjMAXUITEXT     300     // maximum number of chars in edittext and other
-#define mjMAXUINAME     40      // maximum number of chars in name
-#define mjMAXUIMULTI    35      // maximum number of radio/select items in group
-#define mjMAXUIEDIT     7       // maximum number of elements in edit list
-#define mjMAXUIRECT     25      // maximum number of rectangles
-
-#define mjSEPCLOSED     1000    // closed state of adjustable separator
-#define mjPRESERVE      2000    // preserve section or separator state
-
-
-// key codes matching GLFW (user must remap for other frameworks)
-#define mjKEY_ESCAPE     256
-#define mjKEY_ENTER      257
-#define mjKEY_TAB        258
-#define mjKEY_BACKSPACE  259
-#define mjKEY_INSERT     260
-#define mjKEY_DELETE     261
-#define mjKEY_RIGHT      262
-#define mjKEY_LEFT       263
-#define mjKEY_DOWN       264
-#define mjKEY_UP         265
-#define mjKEY_PAGE_UP    266
-#define mjKEY_PAGE_DOWN  267
-#define mjKEY_HOME       268
-#define mjKEY_END        269
-#define mjKEY_F1         290
-#define mjKEY_F2         291
-#define mjKEY_F3         292
-#define mjKEY_F4         293
-#define mjKEY_F5         294
-#define mjKEY_F6         295
-#define mjKEY_F7         296
-#define mjKEY_F8         297
-#define mjKEY_F9         298
-#define mjKEY_F10        299
-#define mjKEY_F11        300
-#define mjKEY_F12        301
-#define mjKEY_NUMPAD_0   320
-#define mjKEY_NUMPAD_9   329
-
-
-//---------------------------------- primitive types (mjt) -----------------------------------------
-
-typedef enum mjtButton {          // mouse button
-  mjBUTTON_NONE = 0,              // no button
-  mjBUTTON_LEFT,                  // left button
-  mjBUTTON_RIGHT,                 // right button
-  mjBUTTON_MIDDLE                 // middle button
-} mjtButton;
-
-
-typedef enum mjtEvent {           // mouse and keyboard event type
-  mjEVENT_NONE = 0,               // no event
-  mjEVENT_MOVE,                   // mouse move
-  mjEVENT_PRESS,                  // mouse button press
-  mjEVENT_RELEASE,                // mouse button release
-  mjEVENT_SCROLL,                 // scroll
-  mjEVENT_KEY,                    // key press
-  mjEVENT_RESIZE,                 // resize
-  mjEVENT_REDRAW,                 // redraw
-  mjEVENT_FILESDROP               // files drop
-} mjtEvent;
-
-
-typedef enum mjtItem {            // UI item type
-  mjITEM_END = -2,                // end of definition list (not an item)
-  mjITEM_SECTION = -1,            // section (not an item)
-  mjITEM_SEPARATOR = 0,           // separator
-  mjITEM_STATIC,                  // static text
-  mjITEM_BUTTON,                  // button
-
-  // the rest have data pointer
-  mjITEM_CHECKINT,                // check box, int value
-  mjITEM_CHECKBYTE,               // check box, mjtByte value
-  mjITEM_RADIO,                   // radio group
-  mjITEM_RADIOLINE,               // radio group, single line
-  mjITEM_SELECT,                  // selection box
-  mjITEM_SLIDERINT,               // slider, int value
-  mjITEM_SLIDERNUM,               // slider, mjtNum value
-  mjITEM_EDITINT,                 // editable array, int values
-  mjITEM_EDITNUM,                 // editable array, mjtNum values
-  mjITEM_EDITFLOAT,               // editable array, float values
-  mjITEM_EDITTXT,                 // editable text
-
-  mjNITEM                         // number of item types
-} mjtItem;
-
-
-typedef enum mjtSection {         // UI section state
-  mjSECT_CLOSED = 0,              // closed state (regular section)
-  mjSECT_OPEN,                    // open state (regular section)
-  mjSECT_FIXED                    // fixed section: always open, no title
-} mjtSection;
-
-
-// predicate function: set enable/disable based on item category
-typedef int (*mjfItemEnable)(int category, void* data);
-
-
-//---------------------------------- mjuiState -----------------------------------------------------
-
-typedef struct mjuiState_ {       // mouse and keyboard state
-  // constants set by user
-  int nrect;                      // number of rectangles used
-  mjrRect rect[mjMAXUIRECT];      // rectangles (index 0: entire window)
-  void* userdata;                 // pointer to user data (for callbacks)
-
-  // event type
-  int type;                       // (type mjtEvent)
-
-  // mouse buttons
-  int left;                       // is left button down
-  int right;                      // is right button down
-  int middle;                     // is middle button down
-  int doubleclick;                // is last press a double click
-  int button;                     // which button was pressed (mjtButton)
-  double buttontime;              // time of last button press
-
-  // mouse position
-  double x;                       // x position
-  double y;                       // y position
-  double dx;                      // x displacement
-  double dy;                      // y displacement
-  double sx;                      // x scroll
-  double sy;                      // y scroll
-
-  // keyboard
-  int control;                    // is control down
-  int shift;                      // is shift down
-  int alt;                        // is alt down
-  int key;                        // which key was pressed
-  double keytime;                 // time of last key press
-
-  // rectangle ownership and dragging
-  int mouserect;                  // which rectangle contains mouse
-  int dragrect;                   // which rectangle is dragged with mouse
-  int dragbutton;                 // which button started drag (mjtButton)
-
-  // files dropping (only valid when type == mjEVENT_FILESDROP)
-  int dropcount;                  // number of files dropped
-  const char** droppaths;         // paths to files dropped
-} mjuiState;
-
-
-//---------------------------------- mjuiThemeSpacing ----------------------------------------------
-
-typedef struct mjuiThemeSpacing_ {  // UI visualization theme spacing
-  int total;                        // total width
-  int scroll;                       // scrollbar width
-  int label;                        // label width
-  int section;                      // section gap
-  int cornersect;                   // corner radius for section
-  int cornersep;                    // corner radius for separator
-  int itemside;                     // item side gap
-  int itemmid;                      // item middle gap
-  int itemver;                      // item vertical gap
-  int texthor;                      // text horizontal gap
-  int textver;                      // text vertical gap
-  int linescroll;                   // number of pixels to scroll
-  int samples;                      // number of multisamples
-} mjuiThemeSpacing;
-
-
-//---------------------------------- mjuiThemeColor ------------------------------------------------
-
-typedef struct mjuiThemeColor_ {  // UI visualization theme color
-  float master[3];                // master background
-  float thumb[3];                 // scrollbar thumb
-  float secttitle[3];             // section title
-  float secttitle2[3];            // section title: bottom color
-  float secttitleuncheck[3];      // section title with unchecked box
-  float secttitleuncheck2[3];     // section title with unchecked box: bottom color
-  float secttitlecheck[3];        // section title with checked box
-  float secttitlecheck2[3];       // section title with checked box: bottom color
-  float sectfont[3];              // section font
-  float sectsymbol[3];            // section symbol
-  float sectpane[3];              // section pane
-  float separator[3];             // separator title
-  float separator2[3];            // separator title: bottom color
-  float shortcut[3];              // shortcut background
-  float fontactive[3];            // font active
-  float fontinactive[3];          // font inactive
-  float decorinactive[3];         // decor inactive
-  float decorinactive2[3];        // inactive slider color 2
-  float button[3];                // button
-  float check[3];                 // check
-  float radio[3];                 // radio
-  float select[3];                // select
-  float select2[3];               // select pane
-  float slider[3];                // slider
-  float slider2[3];               // slider color 2
-  float edit[3];                  // edit
-  float edit2[3];                 // edit invalid
-  float cursor[3];                // edit cursor
-} mjuiThemeColor;
-
-
-//---------------------------------- mjuiItem ------------------------------------------------------
-
-struct mjuiItemSingle_ {          // check and button-related
-  int modifier;                   // 0: none, 1: control, 2: shift; 4: alt
-  int shortcut;                   // shortcut key; 0: undefined
-};
-
-
-struct mjuiItemMulti_ {                  // static, radio and select-related
-  int nelem;                             // number of elements in group
-  char name[mjMAXUIMULTI][mjMAXUINAME];  // element names
-};
-
-
-struct mjuiItemSlider_ {          // slider-related
-  double range[2];                // slider range
-  double divisions;               // number of range divisions
-};
-
-
-struct mjuiItemEdit_ {            // edit-related
-  int nelem;                      // number of elements in list
-  double range[mjMAXUIEDIT][2];   // element range (min>=max: ignore)
-};
-
-
-typedef struct mjuiItem_ {        // UI item
-  // common properties
-  int type;                       // type (mjtItem)
-  char name[mjMAXUINAME];         // name
-  int state;                      // 0: disable, 1: enable, 2+: use predicate
-  void *pdata;                    // data pointer (type-specific)
-  int sectionid;                  // id of section containing item
-  int itemid;                     // id of item within section
-  int userid;                     // user-supplied id (for event handling)
-
-  // type-specific properties
-  union {
-    struct mjuiItemSingle_ single;  // check and button
-    struct mjuiItemMulti_ multi;    // static, radio and select
-    struct mjuiItemSlider_ slider;  // slider
-    struct mjuiItemEdit_ edit;      // edit
-  };
-
-  // internal
-  mjrRect rect;                   // rectangle occupied by item
-  int skip;                       // item skipped due to closed separator
-} mjuiItem;
-
-
-//---------------------------------- mjuiSection ---------------------------------------------------
-
-typedef struct mjuiSection_ {     // UI section
-  // properties
-  char name[mjMAXUINAME];         // name
-  int state;                      // section state (mjtSection)
-  int modifier;                   // 0: none, 1: control, 2: shift; 4: alt
-  int shortcut;                   // shortcut key; 0: undefined
-  int checkbox;                   // 0: none, 1: unchecked, 2: checked
-  int nitem;                      // number of items in use
-  mjuiItem item[mjMAXUIITEM];     // preallocated array of items
-
-  // internal
-  mjrRect rtitle;                 // rectangle occupied by title
-  mjrRect rcontent;               // rectangle occupied by content
-  int lastclick;                  // last mouse click over this section
-} mjuiSection;
-
-
-//---------------------------------- mjUI ----------------------------------------------------------
-
-typedef struct mjUI_ {            // entire UI
-  // constants set by user
-  mjuiThemeSpacing spacing;       // UI theme spacing
-  mjuiThemeColor color;           // UI theme color
-  mjfItemEnable predicate;        // callback to set item state programmatically
-  void* userdata;                 // pointer to user data (passed to predicate)
-  int rectid;                     // index of this ui rectangle in mjuiState
-  int auxid;                      // aux buffer index of this ui
-  int radiocol;                   // number of radio columns (0 defaults to 2)
-
-  // UI sizes (framebuffer units)
-  int width;                      // width
-  int height;                     // current height
-  int maxheight;                  // height when all sections open
-  int scroll;                     // scroll from top of UI
-
-  // mouse focus and count
-  int mousesect;                  // 0: none, -1: scroll, otherwise 1+section
-  int mouseitem;                  // item within section
-  int mousehelp;                  // help button down: print shortcuts
-  int mouseclicks;                // number of mouse clicks over UI
-  int mousesectcheck;             // 0: none, otherwise 1+section
-
-  // keyboard focus and edit
-  int editsect;                   // 0: none, otherwise 1+section
-  int edititem;                   // item within section
-  int editcursor;                 // cursor position
-  int editscroll;                 // horizontal scroll
-  char edittext[mjMAXUITEXT];     // current text
-  mjuiItem* editchanged;          // pointer to changed edit in last mjui_event
-
-  // sections
-  int nsect;                      // number of sections in use
-  mjuiSection sect[mjMAXUISECT];  // preallocated array of sections
-} mjUI;
-
-
-//---------------------------------- mjuiDef -------------------------------------------------------
-
-typedef struct mjuiDef_ {         // table passed to mjui_add()
-  int type;                       // type (mjtItem); -1: section
-  char name[mjMAXUINAME];         // name
-  int state;                      // state
-  void* pdata;                    // pointer to data
-  char other[mjMAXUITEXT];        // string with type-specific properties
-  int otherint;                   // int with type-specific properties
-} mjuiDef;
-
-#endif  // MUJOCO_MJUI_H_
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
deleted file mode 100644
index e8946742..00000000
--- a/include/mujoco/mjvisualize.h
+++ /dev/null
@@ -1,413 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJVISUALIZE_H_
-#define MUJOCO_MJVISUALIZE_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-
-#define mjNGROUP        6         // number of geom, site, joint, skin groups with visflags
-#define mjMAXLIGHT      100       // maximum number of lights in a scene
-#define mjMAXOVERLAY    500       // maximum number of characters in overlay text
-#define mjMAXLINE       100       // maximum number of lines per plot
-#define mjMAXLINEPNT    1001      // maximum number points per line
-#define mjMAXPLANEGRID  200       // maximum number of grid divisions for plane
-
-
-//---------------------------------- primitive types (mjt) -----------------------------------------
-
-typedef enum mjtCatBit_ {         // bitflags for mjvGeom category
-  mjCAT_STATIC        = 1,        // model elements in body 0
-  mjCAT_DYNAMIC       = 2,        // model elements in all other bodies
-  mjCAT_DECOR         = 4,        // decorative geoms
-  mjCAT_ALL           = 7         // select all categories
-} mjtCatBit;
-
-
-typedef enum mjtMouse_ {          // mouse interaction mode
-  mjMOUSE_NONE        = 0,        // no action
-  mjMOUSE_ROTATE_V,               // rotate (orbit) vertically
-  mjMOUSE_ROTATE_H,               // rotate (orbit) horizontally
-  mjMOUSE_MOVE_V,                 // move along vertical plane
-  mjMOUSE_MOVE_H,                 // move along horizontal plane
-  mjMOUSE_ZOOM,                   // zoom (towards/away from lookat point)
-  mjMOUSE_MOVE_V_REL,             // move (truck, pedestal), vertical plane rel. to target
-  mjMOUSE_MOVE_H_REL,             // move (truck, dolly), horizontal plane rel. to target
-  mjMOUSE_TURN_V,                 // turn (tilt) vertically
-  mjMOUSE_TURN_H,                 // turn (pan) horizontally
-} mjtMouse;
-
-
-typedef enum mjtPertBit_ {        // mouse perturbations
-  mjPERT_TRANSLATE    = 1,        // translation
-  mjPERT_ROTATE       = 2         // rotation
-} mjtPertBit;
-
-
-typedef enum mjtCamera_ {         // abstract camera type
-  mjCAMERA_FREE       = 0,        // free camera
-  mjCAMERA_TRACKING,              // tracking camera; uses trackbodyid
-  mjCAMERA_FIXED,                 // fixed camera; uses fixedcamid
-  mjCAMERA_USER                   // user is responsible for setting OpenGL camera
-} mjtCamera;
-
-
-typedef enum mjtLabel_ {          // object labeling
-  mjLABEL_NONE        = 0,        // nothing
-  mjLABEL_BODY,                   // body labels
-  mjLABEL_JOINT,                  // joint labels
-  mjLABEL_GEOM,                   // geom labels
-  mjLABEL_SITE,                   // site labels
-  mjLABEL_CAMERA,                 // camera labels
-  mjLABEL_LIGHT,                  // light labels
-  mjLABEL_TENDON,                 // tendon labels
-  mjLABEL_ACTUATOR,               // actuator labels
-  mjLABEL_CONSTRAINT,             // constraint labels
-  mjLABEL_FLEX,                   // flex labels
-  mjLABEL_SKIN,                   // skin labels
-  mjLABEL_SELECTION,              // selected object
-  mjLABEL_SELPNT,                 // coordinates of selection point
-  mjLABEL_CONTACTPOINT,           // contact information
-  mjLABEL_CONTACTFORCE,           // magnitude of contact force
-  mjLABEL_ISLAND,                 // id of island
-
-  mjNLABEL                        // number of label types
-} mjtLabel;
-
-
-typedef enum mjtFrame_ {          // frame visualization
-  mjFRAME_NONE        = 0,        // no frames
-  mjFRAME_BODY,                   // body frames
-  mjFRAME_GEOM,                   // geom frames
-  mjFRAME_SITE,                   // site frames
-  mjFRAME_CAMERA,                 // camera frames
-  mjFRAME_LIGHT,                  // light frames
-  mjFRAME_CONTACT,                // contact frames
-  mjFRAME_WORLD,                  // world frame
-
-  mjNFRAME                        // number of visualization frames
-} mjtFrame;
-
-
-typedef enum mjtVisFlag_ {        // flags enabling model element visualization
-  mjVIS_CONVEXHULL    = 0,        // mesh convex hull
-  mjVIS_TEXTURE,                  // textures
-  mjVIS_JOINT,                    // joints
-  mjVIS_CAMERA,                   // cameras
-  mjVIS_ACTUATOR,                 // actuators
-  mjVIS_ACTIVATION,               // activations
-  mjVIS_LIGHT,                    // lights
-  mjVIS_TENDON,                   // tendons
-  mjVIS_RANGEFINDER,              // rangefinder sensors
-  mjVIS_CONSTRAINT,               // point constraints
-  mjVIS_INERTIA,                  // equivalent inertia boxes
-  mjVIS_SCLINERTIA,               // scale equivalent inertia boxes with mass
-  mjVIS_PERTFORCE,                // perturbation force
-  mjVIS_PERTOBJ,                  // perturbation object
-  mjVIS_CONTACTPOINT,             // contact points
-  mjVIS_ISLAND,                   // constraint islands
-  mjVIS_CONTACTFORCE,             // contact force
-  mjVIS_CONTACTSPLIT,             // split contact force into normal and tangent
-  mjVIS_TRANSPARENT,              // make dynamic geoms more transparent
-  mjVIS_AUTOCONNECT,              // auto connect joints and body coms
-  mjVIS_COM,                      // center of mass
-  mjVIS_SELECT,                   // selection point
-  mjVIS_STATIC,                   // static bodies
-  mjVIS_SKIN,                     // skin
-  mjVIS_FLEXVERT,                 // flex vertices
-  mjVIS_FLEXEDGE,                 // flex edges
-  mjVIS_FLEXFACE,                 // flex element faces
-  mjVIS_FLEXSKIN,                 // flex smooth skin (disables the rest)
-  mjVIS_BODYBVH,                  // body bounding volume hierarchy
-  mjVIS_MESHBVH,                  // mesh bounding volume hierarchy
-  mjVIS_SDFITER,                  // iterations of SDF gradient descent
-
-  mjNVISFLAG                      // number of visualization flags
-} mjtVisFlag;
-
-
-typedef enum mjtRndFlag_ {        // flags enabling rendering effects
-  mjRND_SHADOW        = 0,        // shadows
-  mjRND_WIREFRAME,                // wireframe
-  mjRND_REFLECTION,               // reflections
-  mjRND_ADDITIVE,                 // additive transparency
-  mjRND_SKYBOX,                   // skybox
-  mjRND_FOG,                      // fog
-  mjRND_HAZE,                     // haze
-  mjRND_DEPTH,                    // depth
-  mjRND_SEGMENT,                  // segmentation with random color
-  mjRND_IDCOLOR,                  // segmentation with segid+1 color
-  mjRND_CULL_FACE,                // cull backward faces
-
-  mjNRNDFLAG                      // number of rendering flags
-} mjtRndFlag;
-
-
-typedef enum mjtStereo_ {         // type of stereo rendering
-  mjSTEREO_NONE       = 0,        // no stereo; use left eye only
-  mjSTEREO_QUADBUFFERED,          // quad buffered; revert to side-by-side if no hardware support
-  mjSTEREO_SIDEBYSIDE             // side-by-side
-} mjtStereo;
-
-
-//---------------------------------- mjvPerturb ----------------------------------------------------
-
-typedef struct mjvPerturb_ {      // object selection and perturbation
-  int      select;                // selected body id; non-positive: none
-  int      flexselect;            // selected flex id; negative: none
-  int      skinselect;            // selected skin id; negative: none
-  int      active;                // perturbation bitmask (mjtPertBit)
-  int      active2;               // secondary perturbation bitmask (mjtPertBit)
-  mjtNum   refpos[3];             // reference position for selected object
-  mjtNum   refquat[4];            // reference orientation for selected object
-  mjtNum   refselpos[3];          // reference position for selection point
-  mjtNum   localpos[3];           // selection point in object coordinates
-  mjtNum   localmass;             // spatial inertia at selection point
-  mjtNum   scale;                 // relative mouse motion-to-space scaling (set by initPerturb)
-} mjvPerturb;
-
-
-//---------------------------------- mjvCamera -----------------------------------------------------
-
-typedef struct mjvCamera_ {       // abstract camera
-  // type and ids
-  int      type;                  // camera type (mjtCamera)
-  int      fixedcamid;            // fixed camera id
-  int      trackbodyid;           // body id to track
-
-  // abstract camera pose specification
-  mjtNum   lookat[3];             // lookat point
-  mjtNum   distance;              // distance to lookat point or tracked body
-  mjtNum   azimuth;               // camera azimuth (deg)
-  mjtNum   elevation;             // camera elevation (deg)
-
-  // orthographic / perspective
-  int      orthographic;          // 0: perspective; 1: orthographic
-} mjvCamera;
-
-
-//---------------------------------- mjvGLCamera ---------------------------------------------------
-
-typedef struct mjvGLCamera_ {     // OpenGL camera
-  // camera frame
-  float    pos[3];                // position
-  float    forward[3];            // forward direction
-  float    up[3];                 // up direction
-
-  // camera projection
-  float    frustum_center;        // hor. center (left,right set to match aspect)
-  float    frustum_width;         // width (not used for rendering)
-  float    frustum_bottom;        // bottom
-  float    frustum_top;           // top
-  float    frustum_near;          // near
-  float    frustum_far;           // far
-
-  // orthographic / perspective
-  int      orthographic;          // 0: perspective; 1: orthographic
-} mjvGLCamera;
-
-
-//---------------------------------- mjvGeom -------------------------------------------------------
-
-typedef struct mjvGeom_ {         // abstract geom
-  // type info
-  int      type;                  // geom type (mjtGeom)
-  int      dataid;                // mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)
-  int      objtype;               // mujoco object type; mjOBJ_UNKNOWN for decor
-  int      objid;                 // mujoco object id; -1 for decor
-  int      category;              // visual category
-  int      matid;                 // material id; -1: no textured material
-  int      texid;                 // texture id; -1: none
-  int      texuniform;            // uniform cube mapping
-  int      texcoord;              // mesh or flex geom has texture coordinates
-  int      segid;                 // segmentation id; -1: not shown
-
-  // spatial transform
-  float    size[3];               // size parameters
-  float    pos[3];                // Cartesian position
-  float    mat[9];                // Cartesian orientation
-
-  // material properties
-  float    rgba[4];               // color and transparency
-  float    emission;              // emission coef
-  float    specular;              // specular coef
-  float    shininess;             // shininess coef
-  float    reflectance;           // reflectance coef
-  float    texrepeat[2];          // texture repetition for 2d mapping
-
-  char     label[100];            // text label
-
-  // transparency rendering (set internally)
-  float    camdist;               // distance to camera (used by sorter)
-  float    modelrbound;           // geom rbound from model, 0 if not model geom
-  mjtByte  transparent;           // treat geom as transparent
-} mjvGeom;
-
-
-//---------------------------------- mjvLight ------------------------------------------------------
-
-typedef struct mjvLight_ {        // OpenGL light
-  int      id;                    // light id, -1 for headlight
-  float    pos[3];                // position rel. to body frame
-  float    dir[3];                // direction rel. to body frame
-  int      type;                  // type (mjtLightType)
-  int      texid;                 // texture id for image lights
-  float    attenuation[3];        // OpenGL attenuation (quadratic model)
-  float    cutoff;                // OpenGL cutoff
-  float    exponent;              // OpenGL exponent
-  float    ambient[3];            // ambient rgb (alpha=1)
-  float    diffuse[3];            // diffuse rgb (alpha=1)
-  float    specular[3];           // specular rgb (alpha=1)
-  mjtByte  headlight;             // headlight
-  mjtByte  castshadow;            // does light cast shadows
-  float    bulbradius;            // bulb radius for soft shadows
-  float    intensity;             // intensity, in candelas
-  float    range;                 // range of effectiveness
-  float    softness;              // spotlight edge softness
-} mjvLight;
-
-
-//---------------------------------- mjvOption -----------------------------------------------------
-
-typedef struct mjvOption_ {          // abstract visualization options
-  int      label;                    // what objects to label (mjtLabel)
-  int      frame;                    // which frame to show (mjtFrame)
-  mjtByte  geomgroup[mjNGROUP];      // geom visualization by group
-  mjtByte  sitegroup[mjNGROUP];      // site visualization by group
-  mjtByte  jointgroup[mjNGROUP];     // joint visualization by group
-  mjtByte  tendongroup[mjNGROUP];    // tendon visualization by group
-  mjtByte  actuatorgroup[mjNGROUP];  // actuator visualization by group
-  mjtByte  flexgroup[mjNGROUP];      // flex visualization by group
-  mjtByte  skingroup[mjNGROUP];      // skin visualization by group
-  mjtByte  flags[mjNVISFLAG];        // visualization flags (indexed by mjtVisFlag)
-  int      bvh_depth;                // depth of the bounding volume hierarchy to be visualized
-  int      flex_layer;               // element layer to be visualized for 3D flex
-} mjvOption;
-
-
-//---------------------------------- mjvScene ------------------------------------------------------
-
-typedef struct mjvScene_ {        // abstract scene passed to OpenGL renderer
-  // abstract geoms
-  int      maxgeom;               // size of allocated geom buffer
-  int      ngeom;                 // number of geoms currently in buffer
-  mjvGeom* geoms;                 // buffer for geoms (ngeom)
-  int*     geomorder;             // buffer for ordering geoms by distance to camera (ngeom)
-
-  // flex data
-  int      nflex;                 // number of flexes
-  int*     flexedgeadr;           // address of flex edges (nflex)
-  int*     flexedgenum;           // number of edges in flex (nflex)
-  int*     flexvertadr;           // address of flex vertices (nflex)
-  int*     flexvertnum;           // number of vertices in flex (nflex)
-  int*     flexfaceadr;           // address of flex faces (nflex)
-  int*     flexfacenum;           // number of flex faces allocated (nflex)
-  int*     flexfaceused;          // number of flex faces currently in use (nflex)
-  int*     flexedge;              // flex edge data (2*nflexedge)
-  float*   flexvert;              // flex vertices (3*nflexvert)
-  float*   flexface;              // flex faces vertices (9*sum(flexfacenum))
-  float*   flexnormal;            // flex face normals (9*sum(flexfacenum))
-  float*   flextexcoord;          // flex face texture coordinates (6*sum(flexfacenum))
-  mjtByte  flexvertopt;           // copy of mjVIS_FLEXVERT mjvOption flag
-  mjtByte  flexedgeopt;           // copy of mjVIS_FLEXEDGE mjvOption flag
-  mjtByte  flexfaceopt;           // copy of mjVIS_FLEXFACE mjvOption flag
-  mjtByte  flexskinopt;           // copy of mjVIS_FLEXSKIN mjvOption flag
-
-  // skin data
-  int      nskin;                 // number of skins
-  int*     skinfacenum;           // number of faces in skin (nskin)
-  int*     skinvertadr;           // address of skin vertices (nskin)
-  int*     skinvertnum;           // number of vertices in skin (nskin)
-  float*   skinvert;              // skin vertex data (3*nskinvert)
-  float*   skinnormal;            // skin normal data (3*nskinvert)
-
-  // OpenGL lights
-  int      nlight;                // number of lights currently in buffer
-  mjvLight lights[mjMAXLIGHT];    // buffer for lights (nlight)
-
-  // OpenGL cameras
-  mjvGLCamera camera[2];          // left and right camera
-
-  // OpenGL model transformation
-  mjtByte  enabletransform;       // enable model transformation
-  float    translate[3];          // model translation
-  float    rotate[4];             // model quaternion rotation
-  float    scale;                 // model scaling
-
-  // OpenGL rendering effects
-  int      stereo;                // stereoscopic rendering (mjtStereo)
-  mjtByte  flags[mjNRNDFLAG];     // rendering flags (indexed by mjtRndFlag)
-
-  // framing
-  int      framewidth;            // frame pixel width; 0: disable framing
-  float    framergb[3];           // frame color
-
-  // geom buffer status
-  int      status;                // 0: ok, 1: geoms exhausted, warning issued
-} mjvScene;
-
-
-//---------------------------------- mjvFigure -----------------------------------------------------
-
-typedef struct mjvFigure_ {       // abstract 2D figure passed to OpenGL renderer
-  // enable flags
-  int     flg_legend;             // show legend
-  int     flg_ticklabel[2];       // show grid tick labels (x,y)
-  int     flg_extend;             // automatically extend axis ranges to fit data
-  int     flg_barplot;            // isolated line segments (i.e. GL_LINES)
-  int     flg_selection;          // vertical selection line
-  int     flg_symmetric;          // symmetric y-axis
-
-  // style settings
-  float   linewidth;              // line width
-  float   gridwidth;              // grid line width
-  int     gridsize[2];            // number of grid points in (x,y)
-  float   gridrgb[3];             // grid line rgb
-  float   figurergba[4];          // figure color and alpha
-  float   panergba[4];            // pane color and alpha
-  float   legendrgba[4];          // legend color and alpha
-  float   textrgb[3];             // text color
-  float   linergb[mjMAXLINE][3];  // line colors
-  float   range[2][2];            // axis ranges; (min>=max) automatic
-  char    xformat[20];            // x-tick label format for sprintf
-  char    yformat[20];            // y-tick label format for sprintf
-  char    minwidth[20];           // string used to determine min y-tick width
-
-  // text labels
-  char    title[1000];            // figure title; subplots separated with 2+ spaces
-  char    xlabel[100];            // x-axis label
-  char    linename[mjMAXLINE][100];  // line names for legend
-
-  // dynamic settings
-  int     legendoffset;           // number of lines to offset legend
-  int     subplot;                // selected subplot (for title rendering)
-  int     highlight[2];           // if point is in legend rect, highlight line
-  int     highlightid;            // if id>=0 and no point, highlight id
-  float   selection;              // selection line x-value
-
-  // line data
-  int     linepnt[mjMAXLINE];     // number of points in line; (0) disable
-  float   linedata[mjMAXLINE][2*mjMAXLINEPNT];  // line data (x,y)
-
-  // output from renderer
-  int     xaxispixel[2];          // range of x-axis in pixels
-  int     yaxispixel[2];          // range of y-axis in pixels
-  float   xaxisdata[2];           // range of x-axis in data units
-  float   yaxisdata[2];           // range of y-axis in data units
-} mjvFigure;
-
-#endif  // MUJOCO_MJVISUALIZE_H_
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
deleted file mode 100644
index 8b48328d..00000000
--- a/include/mujoco/mjxmacro.h
+++ /dev/null
@@ -1,1084 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MJXMACRO_H_
-#define MUJOCO_MJXMACRO_H_
-
-
-//-------------------------------- mjOption --------------------------------------------------------
-
-// fields of mjOption
-// XVEC means that a field is a vector (i.e. size > 1)
-#define MJOPTION_FIELDS                        \
-    X   ( mjtNum, timestep,          1      )  \
-    X   ( mjtNum, impratio,          1      )  \
-    X   ( mjtNum, tolerance,         1      )  \
-    X   ( mjtNum, ls_tolerance,      1      )  \
-    X   ( mjtNum, noslip_tolerance,  1      )  \
-    X   ( mjtNum, ccd_tolerance,     1      )  \
-    X   ( mjtNum, sleep_tolerance,   1      )  \
-    XVEC( mjtNum, gravity,           3      )  \
-    XVEC( mjtNum, wind,              3      )  \
-    XVEC( mjtNum, magnetic,          3      )  \
-    X   ( mjtNum, density,           1      )  \
-    X   ( mjtNum, viscosity,         1      )  \
-    X   ( mjtNum, o_margin,          1      )  \
-    XVEC( mjtNum, o_solref,          mjNREF )  \
-    XVEC( mjtNum, o_solimp,          mjNIMP )  \
-    XVEC( mjtNum, o_friction,        5      )  \
-    X   ( int,    integrator,        1      )  \
-    X   ( int,    cone,              1      )  \
-    X   ( int,    jacobian,          1      )  \
-    X   ( int,    solver,            1      )  \
-    X   ( int,    iterations,        1      )  \
-    X   ( int,    ls_iterations,     1      )  \
-    X   ( int,    noslip_iterations, 1      )  \
-    X   ( int,    ccd_iterations,    1      )  \
-    X   ( int,    disableflags,      1      )  \
-    X   ( int,    enableflags,       1      )  \
-    X   ( int,    disableactuator,   1      )  \
-    X   ( int,    sdf_initpoints,    1      )  \
-    X   ( int,    sdf_iterations,    1      )
-
-
-//-------------------------------- mjStatistic -----------------------------------------------------
-
-// fields of mjStatistic
-#define MJSTATISTIC_FIELDS  \
-    X   ( meaninertia, 1 )  \
-    X   ( meanmass,    1 )  \
-    X   ( meansize,    1 )  \
-    X   ( extent,      1 )  \
-    XVEC( center,      3 )
-
-
-//-------------------------------- mjVisual --------------------------------------------------------
-
-// fields of mjVisual
-#define MJVISUAL_GLOBAL_FIELDS          \
-    X   ( int,   cameraid,         1 )  \
-    X   ( int,   orthographic,     1 )  \
-    X   ( float, fovy,             1 )  \
-    X   ( float, ipd,              1 )  \
-    X   ( float, azimuth,          1 )  \
-    X   ( float, elevation,        1 )  \
-    X   ( float, linewidth,        1 )  \
-    X   ( float, glow,             1 )  \
-    X   ( float, realtime,         1 )  \
-    X   ( int,   offwidth,         1 )  \
-    X   ( int,   offheight,        1 )  \
-    X   ( int,   ellipsoidinertia, 1 )  \
-    X   ( int,   bvactive,         1 )
-
-#define MJVISUAL_QUALITY_FIELDS  \
-    X   ( int, shadowsize, 1 )   \
-    X   ( int, offsamples, 1 )   \
-    X   ( int, numslices,  1 )   \
-    X   ( int, numstacks,  1 )   \
-    X   ( int, numquads,   1 )
-
-#define MJVISUAL_HEADLIGHT_FIELDS       \
-    XVEC( float, ambient,          3 )  \
-    XVEC( float, diffuse,          3 )  \
-    XVEC( float, specular,         3 )  \
-    X   ( int,   active,           1 )
-
-#define MJVISUAL_MAP_FIELDS           \
-    X   ( float, stiffness,      1 )  \
-    X   ( float, stiffnessrot,   1 )  \
-    X   ( float, force,          1 )  \
-    X   ( float, torque,         1 )  \
-    X   ( float, alpha,          1 )  \
-    X   ( float, fogstart,       1 )  \
-    X   ( float, fogend,         1 )  \
-    X   ( float, znear,          1 )  \
-    X   ( float, zfar,           1 )  \
-    X   ( float, haze,           1 )  \
-    X   ( float, shadowclip,     1 )  \
-    X   ( float, shadowscale,    1 )  \
-    X   ( float, actuatortendon, 1 )
-
-#define MJVISUAL_SCALE_FIELDS         \
-    X   ( float, forcewidth,     1 )  \
-    X   ( float, contactwidth,   1 )  \
-    X   ( float, contactheight,  1 )  \
-    X   ( float, connect,        1 )  \
-    X   ( float, com,            1 )  \
-    X   ( float, camera,         1 )  \
-    X   ( float, light,          1 )  \
-    X   ( float, selectpoint,    1 )  \
-    X   ( float, jointlength,    1 )  \
-    X   ( float, jointwidth,     1 )  \
-    X   ( float, actuatorlength, 1 )  \
-    X   ( float, actuatorwidth,  1 )  \
-    X   ( float, framelength,    1 )  \
-    X   ( float, framewidth,     1 )  \
-    X   ( float, constraint,     1 )  \
-    X   ( float, slidercrank,    1 )  \
-    X   ( float, frustum,        1 )
-
-#define MJVISUAL_RGBA_FIELDS            \
-    XVEC( float, fog,              4 )  \
-    XVEC( float, haze,             4 )  \
-    XVEC( float, force,            4 )  \
-    XVEC( float, inertia,          4 )  \
-    XVEC( float, joint,            4 )  \
-    XVEC( float, actuator,         4 )  \
-    XVEC( float, actuatornegative, 4 )  \
-    XVEC( float, actuatorpositive, 4 )  \
-    XVEC( float, com,              4 )  \
-    XVEC( float, camera,           4 )  \
-    XVEC( float, light,            4 )  \
-    XVEC( float, selectpoint,      4 )  \
-    XVEC( float, connect,          4 )  \
-    XVEC( float, contactpoint,     4 )  \
-    XVEC( float, contactforce,     4 )  \
-    XVEC( float, contactfriction,  4 )  \
-    XVEC( float, contacttorque,    4 )  \
-    XVEC( float, contactgap,       4 )  \
-    XVEC( float, rangefinder,      4 )  \
-    XVEC( float, constraint,       4 )  \
-    XVEC( float, slidercrank,      4 )  \
-    XVEC( float, crankbroken,      4 )  \
-    XVEC( float, frustum,          4 )  \
-    XVEC( float, bv,               4 )  \
-    XVEC( float, bvactive,         4 )
-
-
-//-------------------------------- mjModel ---------------------------------------------------------
-
-// size fields of mjModel
-#define MJMODEL_SIZES       \
-    X( nq )                 \
-    X( nv )                 \
-    X( nu )                 \
-    X( nactuator )          \
-    X( nout )               \
-    X( na )                 \
-    X( nbody )              \
-    X( nbvh )               \
-    X( nbvhstatic )         \
-    X( nbvhdynamic )        \
-    X( noct )               \
-    X( njnt )               \
-    X( ntree )              \
-    X( nM )                 \
-    X( nB )                 \
-    X( nC )                 \
-    X( nD )                 \
-    X( ngeom )              \
-    X( nsite )              \
-    X( ncam )               \
-    X( nlight )             \
-    X( nflex )              \
-    X( nflexnode )          \
-    X( nflexvert )          \
-    X( nflexedge )          \
-    X( nflexelem )          \
-    X( nflexelemdata )      \
-    X( nflexstiffness )     \
-    X( nflexbending )       \
-    X( nefm0dof )           \
-    X( nefm0L )             \
-    X( nflexelemedge )      \
-    X( nflexshelldata )     \
-    X( nflexevpair )        \
-    X( nflextexcoord )      \
-    X( nJfe )               \
-    X( nJfv )               \
-    X( nmesh )              \
-    X( nmeshvert )          \
-    X( nmeshnormal )        \
-    X( nmeshtexcoord )      \
-    X( nmeshface )          \
-    X( nmeshgraph )         \
-    X( nmeshpoly )          \
-    X( nmeshpolyvert )      \
-    X( nmeshpolymap )       \
-    X( nskin )              \
-    X( nskinvert )          \
-    X( nskintexvert )       \
-    X( nskinface )          \
-    X( nskinbone )          \
-    X( nskinbonevert )      \
-    X( nhfield )            \
-    X( nhfielddata )        \
-    X( ntex )               \
-    X( ntexdata )           \
-    X( nmat )               \
-    X( npair )              \
-    X( nexclude )           \
-    X( neq )                \
-    X( ntendon )            \
-    X( nJten )              \
-    X( nwrap )              \
-    X( nsensor )            \
-    X( nnumeric )           \
-    X( nnumericdata )       \
-    X( ntext )              \
-    X( ntextdata )          \
-    X( ntuple )             \
-    X( ntupledata )         \
-    X( nkey )               \
-    X( nmocap )             \
-    X( nplugin )            \
-    X( npluginattr )        \
-    X( nuser_body )         \
-    X( nuser_jnt )          \
-    X( nuser_geom )         \
-    X( nuser_site )         \
-    X( nuser_cam )          \
-    X( nuser_tendon )       \
-    X( nuser_actuator )     \
-    X( nuser_sensor )       \
-    X( nnames )             \
-    X( npaths )             \
-    X( nnames_map )         \
-    X( nJmom )              \
-    X( ngravcomp )          \
-    X( nemax )              \
-    X( njmax )              \
-    X( nconmax )            \
-    X( npolygonmax )        \
-    X( nmeshdegmax )        \
-    X( nuserdata )          \
-    X( nsensordata )        \
-    X( npluginstate )       \
-    X( nhistory )           \
-    X( narena )             \
-    X( nbuffer )
-
-    /* nbuffer needs to be the final field */
-
-
-// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
-#define MJMODEL_POINTERS_PREAMBLE( m )      \
-    int nuser_body = m->nuser_body;         \
-    int nuser_jnt = m->nuser_jnt;           \
-    int nuser_geom = m->nuser_geom;         \
-    int nuser_site = m->nuser_site;         \
-    int nuser_cam = m->nuser_cam;           \
-    int nuser_tendon = m->nuser_tendon;     \
-    int nuser_actuator = m->nuser_actuator; \
-    int nuser_sensor = m->nuser_sensor;     \
-    int nq = m->nq;                         \
-    int nv = m->nv;                         \
-    int na = m->na;                         \
-    int nu = m->nu;                         \
-    int nmocap = m->nmocap;
-
-// macro for annotating that an array size in an X macro is a member of mjModel
-// by default this macro does nothing, but users can redefine it as necessary
-#define MJ_M(n) n
-
-
-// pointer fields of mjModel
-// XNV means that the field is not required to construct mjvScene
-// (by default we define XNV to be the same as X)
-#define MJMODEL_POINTERS_BODY                                                   \
-    X   ( int,     body_parentid,         nbody,         1                    ) \
-    X   ( int,     body_rootid,           nbody,         1                    ) \
-    X   ( int,     body_weldid,           nbody,         1                    ) \
-    X   ( int,     body_mocapid,          nbody,         1                    ) \
-    X   ( int,     body_jntnum,           nbody,         1                    ) \
-    X   ( int,     body_jntadr,           nbody,         1                    ) \
-    X   ( int,     body_dofnum,           nbody,         1                    ) \
-    X   ( int,     body_dofadr,           nbody,         1                    ) \
-    X   ( int,     body_treeid,           nbody,         1                    ) \
-    X   ( int,     body_geomnum,          nbody,         1                    ) \
-    X   ( int,     body_geomadr,          nbody,         1                    ) \
-    X   ( mjtByte, body_simple,           nbody,         1                    ) \
-    X   ( mjtByte, body_sameframe,        nbody,         1                    ) \
-    X   ( mjtNum,  body_pos,              nbody,         3                    ) \
-    X   ( mjtNum,  body_quat,             nbody,         4                    ) \
-    X   ( mjtNum,  body_ipos,             nbody,         3                    ) \
-    X   ( mjtNum,  body_iquat,            nbody,         4                    ) \
-    X   ( mjtNum,  body_mass,             nbody,         1                    ) \
-    X   ( mjtNum,  body_subtreemass,      nbody,         1                    ) \
-    X   ( mjtNum,  body_inertia,          nbody,         3                    ) \
-    X   ( mjtNum,  body_invweight0,       nbody,         2                    ) \
-    X   ( mjtNum,  body_gravcomp,         nbody,         1                    ) \
-    X   ( mjtNum,  body_margin,           nbody,         1                    ) \
-    X   ( mjtNum,  body_user,             nbody,         MJ_M(nuser_body)     ) \
-    X   ( int,     body_plugin,           nbody,         1                    ) \
-    X   ( int,     body_contype,          nbody,         1                    ) \
-    X   ( int,     body_conaffinity,      nbody,         1                    ) \
-    X   ( int,     body_bvhadr,           nbody,         1                    ) \
-    X   ( int,     body_bvhnum,           nbody,         1                    )
-
-#define MJMODEL_POINTERS_JOINT                                                  \
-    X   ( int,     jnt_type,              njnt,          1                    ) \
-    X   ( int,     jnt_qposadr,           njnt,          1                    ) \
-    X   ( int,     jnt_dofadr,            njnt,          1                    ) \
-    X   ( int,     jnt_bodyid,            njnt,          1                    ) \
-    X   ( int,     jnt_actuatorid,        njnt,          1                    ) \
-    X   ( int,     jnt_group,             njnt,          1                    ) \
-    X   ( mjtBool, jnt_limited,           njnt,          1                    ) \
-    X   ( mjtBool, jnt_actfrclimited,     njnt,          1                    ) \
-    X   ( mjtBool, jnt_actgravcomp,       njnt,          1                    ) \
-    X   ( mjtNum,  jnt_solref,            njnt,          mjNREF               ) \
-    X   ( mjtNum,  jnt_solimp,            njnt,          mjNIMP               ) \
-    X   ( mjtNum,  jnt_pos,               njnt,          3                    ) \
-    X   ( mjtNum,  jnt_axis,              njnt,          3                    ) \
-    X   ( mjtNum,  jnt_stiffness,         njnt,          1                    ) \
-    X   ( mjtNum,  jnt_stiffnesspoly,     njnt,          mjNPOLY              ) \
-    X   ( mjtNum,  jnt_range,             njnt,          2                    ) \
-    X   ( mjtNum,  jnt_actfrcrange,       njnt,          2                    ) \
-    X   ( mjtNum,  jnt_margin,            njnt,          1                    ) \
-    X   ( mjtNum,  jnt_user,              njnt,          MJ_M(nuser_jnt)      )
-
-#define MJMODEL_POINTERS_DOF                                                    \
-    X   ( int,     dof_bodyid,            nv,            1                    ) \
-    X   ( int,     dof_jntid,             nv,            1                    ) \
-    X   ( int,     dof_parentid,          nv,            1                    ) \
-    X   ( int,     dof_treeid,            nv,            1                    ) \
-    X   ( int,     dof_Madr,              nv,            1                    ) \
-    X   ( int,     dof_simplenum,         nv,            1                    ) \
-    X   ( mjtNum,  dof_solref,            nv,            mjNREF               ) \
-    X   ( mjtNum,  dof_solimp,            nv,            mjNIMP               ) \
-    X   ( mjtNum,  dof_frictionloss,      nv,            1                    ) \
-    X   ( mjtNum,  dof_armature,          nv,            1                    ) \
-    X   ( mjtNum,  dof_damping,           nv,            1                    ) \
-    X   ( mjtNum,  dof_dampingpoly,       nv,            mjNPOLY              ) \
-    X   ( mjtNum,  dof_invweight0,        nv,            1                    ) \
-    X   ( mjtNum,  dof_M0,                nv,            1                    ) \
-    X   ( mjtNum,  dof_length,            nv,            1                    )
-
-#define MJMODEL_POINTERS_TREE                                                   \
-    X   ( int,     tree_bodyadr,          ntree,         1                    ) \
-    X   ( int,     tree_bodynum,          ntree,         1                    ) \
-    X   ( int,     tree_dofadr,           ntree,         1                    ) \
-    X   ( int,     tree_dofnum,           ntree,         1                    ) \
-    X   ( int,     tree_sleep_policy,     ntree,         1                    )
-
-#define MJMODEL_POINTERS_GEOM                                                   \
-    X   ( int,     geom_type,             ngeom,         1                    ) \
-    X   ( int,     geom_contype,          ngeom,         1                    ) \
-    X   ( int,     geom_conaffinity,      ngeom,         1                    ) \
-    X   ( int,     geom_condim,           ngeom,         1                    ) \
-    X   ( int,     geom_bodyid,           ngeom,         1                    ) \
-    X   ( int,     geom_dataid,           ngeom,         1                    ) \
-    X   ( int,     geom_matid,            ngeom,         1                    ) \
-    X   ( int,     geom_group,            ngeom,         1                    ) \
-    X   ( int,     geom_priority,         ngeom,         1                    ) \
-    X   ( int,     geom_plugin,           ngeom,         1                    ) \
-    X   ( mjtByte, geom_sameframe,        ngeom,         1                    ) \
-    X   ( mjtNum,  geom_solmix,           ngeom,         1                    ) \
-    X   ( mjtNum,  geom_solref,           ngeom,         mjNREF               ) \
-    X   ( mjtNum,  geom_solimp,           ngeom,         mjNIMP               ) \
-    X   ( mjtNum,  geom_size,             ngeom,         3                    ) \
-    X   ( mjtNum,  geom_aabb,             ngeom,         6                    ) \
-    X   ( mjtNum,  geom_rbound,           ngeom,         1                    ) \
-    X   ( mjtNum,  geom_pos,              ngeom,         3                    ) \
-    X   ( mjtNum,  geom_quat,             ngeom,         4                    ) \
-    X   ( mjtNum,  geom_friction,         ngeom,         3                    ) \
-    X   ( mjtNum,  geom_margin,           ngeom,         1                    ) \
-    X   ( mjtNum,  geom_gap,              ngeom,         1                    ) \
-    X   ( mjtNum,  geom_surfacevel,       ngeom,         6                    ) \
-    X   ( mjtNum,  geom_adhesion,         ngeom,         1                    ) \
-    XNV ( mjtNum,  geom_fluid,            ngeom,         mjNFLUID             ) \
-    X   ( mjtNum,  geom_user,             ngeom,         MJ_M(nuser_geom)     ) \
-    X   ( float,   geom_rgba,             ngeom,         4                    )
-
-#define MJMODEL_POINTERS_SITE                                                   \
-    X   ( int,     site_type,             nsite,         1                    ) \
-    X   ( int,     site_bodyid,           nsite,         1                    ) \
-    X   ( int,     site_matid,            nsite,         1                    ) \
-    X   ( int,     site_group,            nsite,         1                    ) \
-    X   ( mjtByte, site_sameframe,        nsite,         1                    ) \
-    X   ( mjtNum,  site_size,             nsite,         3                    ) \
-    X   ( mjtNum,  site_pos,              nsite,         3                    ) \
-    X   ( mjtNum,  site_quat,             nsite,         4                    ) \
-    X   ( mjtNum,  site_user,             nsite,         MJ_M(nuser_site)     ) \
-    X   ( float,   site_rgba,             nsite,         4                    )
-
-#define MJMODEL_POINTERS_CAMERA                                                 \
-    X   ( int,     cam_mode,              ncam,          1                    ) \
-    X   ( int,     cam_bodyid,            ncam,          1                    ) \
-    X   ( int,     cam_targetbodyid,      ncam,          1                    ) \
-    X   ( mjtNum,  cam_pos,               ncam,          3                    ) \
-    X   ( mjtNum,  cam_quat,              ncam,          4                    ) \
-    X   ( mjtNum,  cam_poscom0,           ncam,          3                    ) \
-    X   ( mjtNum,  cam_pos0,              ncam,          3                    ) \
-    X   ( mjtNum,  cam_mat0,              ncam,          9                    ) \
-    X   ( int,     cam_projection,        ncam,          1                    ) \
-    X   ( mjtNum,  cam_fovy,              ncam,          1                    ) \
-    X   ( mjtNum,  cam_ipd,               ncam,          1                    ) \
-    X   ( int,     cam_resolution,        ncam,          2                    ) \
-    X   ( int,     cam_output,            ncam,          1                    ) \
-    X   ( float,   cam_sensorsize,        ncam,          2                    ) \
-    X   ( float,   cam_intrinsic,         ncam,          4                    ) \
-    X   ( mjtNum,  cam_user,              ncam,          MJ_M(nuser_cam)      )
-
-#define MJMODEL_POINTERS_LIGHT                                                  \
-    X   ( int,     light_mode,            nlight,        1                    ) \
-    X   ( int,     light_bodyid,          nlight,        1                    ) \
-    X   ( int,     light_targetbodyid,    nlight,        1                    ) \
-    X   ( int,     light_type,            nlight,        1                    ) \
-    X   ( int,     light_texid,           nlight,        1                    ) \
-    X   ( mjtBool, light_castshadow,      nlight,        1                    ) \
-    X   ( float,   light_bulbradius,      nlight,        1                    ) \
-    X   ( float,   light_intensity,       nlight,        1                    ) \
-    X   ( float,   light_range,           nlight,        1                    ) \
-    X   ( mjtBool, light_active,          nlight,        1                    ) \
-    X   ( mjtNum,  light_pos,             nlight,        3                    ) \
-    X   ( mjtNum,  light_dir,             nlight,        3                    ) \
-    X   ( mjtNum,  light_poscom0,         nlight,        3                    ) \
-    X   ( mjtNum,  light_pos0,            nlight,        3                    ) \
-    X   ( mjtNum,  light_dir0,            nlight,        3                    ) \
-    X   ( float,   light_attenuation,     nlight,        3                    ) \
-    X   ( float,   light_cutoff,          nlight,        1                    ) \
-    X   ( float,   light_softness,        nlight,        1                    ) \
-    X   ( float,   light_exponent,        nlight,        1                    ) \
-    X   ( float,   light_ambient,         nlight,        3                    ) \
-    X   ( float,   light_diffuse,         nlight,        3                    ) \
-    X   ( float,   light_specular,        nlight,        3                    )
-
-#define MJMODEL_POINTERS_FLEX                                                   \
-    X   ( int,     flex_contype,          nflex,         1                    ) \
-    X   ( int,     flex_conaffinity,      nflex,         1                    ) \
-    X   ( int,     flex_condim,           nflex,         1                    ) \
-    X   ( int,     flex_priority,         nflex,         1                    ) \
-    X   ( mjtNum,  flex_solmix,           nflex,         1                    ) \
-    X   ( mjtNum,  flex_solref,           nflex,         mjNREF               ) \
-    X   ( mjtNum,  flex_solimp,           nflex,         mjNIMP               ) \
-    X   ( mjtNum,  flex_friction,         nflex,         3                    ) \
-    X   ( mjtNum,  flex_margin,           nflex,         1                    ) \
-    X   ( mjtNum,  flex_gap,              nflex,         1                    ) \
-    X   ( mjtBool, flex_internal,         nflex,         1                    ) \
-    X   ( int,     flex_selfcollide,      nflex,         1                    ) \
-    X   ( int,     flex_activelayers,     nflex,         1                    ) \
-    X   ( int,     flex_passive,          nflex,         1                    ) \
-    X   ( int,     flex_dim,              nflex,         1                    ) \
-    X   ( int,     flex_matid,            nflex,         1                    ) \
-    X   ( int,     flex_group,            nflex,         1                    ) \
-    X   ( int,     flex_interp,           nflex,         1                    ) \
-    X   ( int,     flex_cellnum,          nflex,         3                    ) \
-    X   ( int,     flex_nodeadr,          nflex,         1                    ) \
-    X   ( int,     flex_nodenum,          nflex,         1                    ) \
-    X   ( int,     flex_vertadr,          nflex,         1                    ) \
-    X   ( int,     flex_vertnum,          nflex,         1                    ) \
-    X   ( int,     flex_edgeadr,          nflex,         1                    ) \
-    X   ( int,     flex_edgenum,          nflex,         1                    ) \
-    X   ( int,     flex_elemadr,          nflex,         1                    ) \
-    X   ( int,     flex_elemnum,          nflex,         1                    ) \
-    X   ( int,     flex_elemdataadr,      nflex,         1                    ) \
-    X   ( int,     flex_stiffnessadr,     nflex,         1                    ) \
-    X   ( int,     flex_elemedgeadr,      nflex,         1                    ) \
-    X   ( int,     flex_bendingadr,       nflex,         1                    ) \
-    X   ( int,     flex_shellnum,         nflex,         1                    ) \
-    X   ( int,     flex_shelldataadr,     nflex,         1                    ) \
-    X   ( int,     flex_evpairadr,        nflex,         1                    ) \
-    X   ( int,     flex_evpairnum,        nflex,         1                    ) \
-    X   ( int,     flex_texcoordadr,      nflex,         1                    ) \
-    X   ( int,     flex_nodebodyid,       nflexnode,     1                    ) \
-    X   ( int,     flex_vertbodyid,       nflexvert,     1                    ) \
-    X   ( int,     flex_vertedgeadr,      nflexvert,     1                    ) \
-    X   ( int,     flex_vertedgenum,      nflexvert,     1                    ) \
-    X   ( int,     flex_vertedge,         nflexedge,     2                    ) \
-    X   ( int,     flex_edge,             nflexedge,     2                    ) \
-    X   ( int,     flex_edgeflap,         nflexedge,     2                    ) \
-    X   ( int,     flex_elem,             nflexelemdata, 1                    ) \
-    X   ( int,     flex_elemtexcoord,     nflexelemdata, 1                    ) \
-    X   ( int,     flex_elemedge,         nflexelemedge, 1                    ) \
-    X   ( int,     flex_elemlayer,        nflexelem,     1                    ) \
-    X   ( int,     flex_shell,            nflexshelldata,1                    ) \
-    X   ( int,     flex_evpair,           nflexevpair,   2                    ) \
-    X   ( mjtNum,  flex_vert,             nflexvert,     3                    ) \
-    X   ( mjtNum,  flex_vert0,            nflexvert,     3                    ) \
-    X   ( mjtNum,  flex_vertmetric,       nflexvert,     4                    ) \
-    X   ( mjtNum,  flex_node,             nflexnode,     3                    ) \
-    X   ( mjtNum,  flex_node0,            nflexnode,     3                    ) \
-    X   ( mjtNum,  flexedge_length0,      nflexedge,     1                    ) \
-    X   ( mjtNum,  flexedge_invweight0,   nflexedge,     1                    ) \
-    X   ( mjtNum,  flex_radius,           nflex,         1                    ) \
-    X   ( mjtNum,  flex_size,             nflex,         3                    ) \
-    X   ( mjtNum,  flex_stiffness,        nflexstiffness, 1                   ) \
-    X   ( mjtNum,  flex_bending,          nflexbending,  1                    ) \
-    X   ( int,     efm0_dofid,            nefm0dof,      1                    ) \
-    X   ( int,     efm0_L_rownnz,         nefm0dof,      1                    ) \
-    X   ( int,     efm0_L_rowadr,         nefm0dof,      1                    ) \
-    X   ( int,     efm0_L_colind,         nefm0L,        1                    ) \
-    X   ( mjtNum,  efm0_L,                nefm0L,        1                    ) \
-    X   ( mjtNum,  flex_damping,          nflex,         1                    ) \
-    X   ( mjtNum,  flex_edgestiffness,    nflex,         1                    ) \
-    X   ( mjtNum,  flex_edgedamping,      nflex,         1                    ) \
-    X   ( int,     flex_edgeequality,     nflex,         1                    ) \
-    X   ( mjtBool, flex_rigid,            nflex,         1                    ) \
-    X   ( mjtBool, flexedge_rigid,        nflexedge,     1                    ) \
-    X   ( mjtBool, flex_centered,         nflex,         1                    ) \
-    X   ( mjtBool, flex_flatskin,         nflex,         1                    ) \
-    X   ( int,     flex_bvhadr,           nflex,         1                    ) \
-    X   ( int,     flex_bvhnum,           nflex,         1                    ) \
-    X   ( int,     flexedge_J_rownnz,     nflexedge,     1                    ) \
-    X   ( int,     flexedge_J_rowadr,     nflexedge,     1                    ) \
-    X   ( int,     flexedge_J_colind,     nJfe,          1                    ) \
-    X   ( int,     flexvert_J_rownnz,     nflexvert,     2                    ) \
-    X   ( int,     flexvert_J_rowadr,     nflexvert,     2                    ) \
-    X   ( int,     flexvert_J_colind,     nJfv,          2                    ) \
-    X   ( float,   flex_rgba,             nflex,         4                    ) \
-    X   ( float,   flex_texcoord,         nflextexcoord, 2                    )
-
-#define MJMODEL_POINTERS_MESH                                                   \
-    X   ( int,     mesh_vertadr,          nmesh,         1                    ) \
-    X   ( int,     mesh_vertnum,          nmesh,         1                    ) \
-    X   ( int,     mesh_faceadr,          nmesh,         1                    ) \
-    X   ( int,     mesh_facenum,          nmesh,         1                    ) \
-    X   ( int,     mesh_bvhadr,           nmesh,         1                    ) \
-    X   ( int,     mesh_bvhnum,           nmesh,         1                    ) \
-    X   ( int,     mesh_octadr,           nmesh,         1                    ) \
-    X   ( int,     mesh_octnum,           nmesh,         1                    ) \
-    X   ( int,     mesh_normaladr,        nmesh,         1                    ) \
-    X   ( int,     mesh_normalnum,        nmesh,         1                    ) \
-    X   ( int,     mesh_texcoordadr,      nmesh,         1                    ) \
-    X   ( int,     mesh_texcoordnum,      nmesh,         1                    ) \
-    X   ( int,     mesh_graphadr,         nmesh,         1                    ) \
-    X   ( int,     mesh_extrema,          nmesh,         27                   ) \
-    XNV ( float,   mesh_vert,             nmeshvert,     3                    ) \
-    XNV ( float,   mesh_normal,           nmeshnormal,   3                    ) \
-    XNV ( float,   mesh_texcoord,         nmeshtexcoord, 2                    ) \
-    XNV ( int,     mesh_face,             nmeshface,     3                    ) \
-    XNV ( int,     mesh_facenormal,       nmeshface,     3                    ) \
-    XNV ( int,     mesh_facetexcoord,     nmeshface,     3                    ) \
-    XNV ( int,     mesh_graph,            nmeshgraph,    1                    ) \
-    X   ( mjtNum,  mesh_scale,            nmesh,         3                    ) \
-    X   ( mjtNum,  mesh_pos,              nmesh,         3                    ) \
-    X   ( mjtNum,  mesh_quat,             nmesh,         4                    ) \
-    X   ( int,     mesh_pathadr,          nmesh,         1                    ) \
-    XNV ( int,     mesh_polynum,          nmesh,         1                    ) \
-    XNV ( int,     mesh_polyadr,          nmesh,         1                    ) \
-    XNV ( mjtNum,  mesh_polynormal,       nmeshpoly,     3                    ) \
-    XNV ( int,     mesh_polyvertadr,      nmeshpoly,     1                    ) \
-    XNV ( int,     mesh_polyvertnum,      nmeshpoly,     1                    ) \
-    XNV ( int,     mesh_polyvert,         nmeshpolyvert, 1                    ) \
-    XNV ( int,     mesh_polymapadr,       nmeshvert,     1                    ) \
-    XNV ( int,     mesh_polymapnum,       nmeshvert,     1                    ) \
-    XNV ( int,     mesh_polymap,          nmeshpolymap,  1                    )
-
-#define MJMODEL_POINTERS_SKIN                                                   \
-    X   ( int,     skin_matid,            nskin,         1                    ) \
-    X   ( int,     skin_group,            nskin,         1                    ) \
-    X   ( float,   skin_rgba,             nskin,         4                    ) \
-    X   ( float,   skin_inflate,          nskin,         1                    ) \
-    X   ( int,     skin_vertadr,          nskin,         1                    ) \
-    X   ( int,     skin_vertnum,          nskin,         1                    ) \
-    X   ( int,     skin_texcoordadr,      nskin,         1                    ) \
-    X   ( int,     skin_faceadr,          nskin,         1                    ) \
-    X   ( int,     skin_facenum,          nskin,         1                    ) \
-    X   ( int,     skin_boneadr,          nskin,         1                    ) \
-    X   ( int,     skin_bonenum,          nskin,         1                    ) \
-    X   ( float,   skin_vert,             nskinvert,     3                    ) \
-    X   ( float,   skin_texcoord,         nskintexvert,  2                    ) \
-    X   ( int,     skin_face,             nskinface,     3                    ) \
-    X   ( int,     skin_bonevertadr,      nskinbone,     1                    ) \
-    X   ( int,     skin_bonevertnum,      nskinbone,     1                    ) \
-    X   ( float,   skin_bonebindpos,      nskinbone,     3                    ) \
-    X   ( float,   skin_bonebindquat,     nskinbone,     4                    ) \
-    X   ( int,     skin_bonebodyid,       nskinbone,     1                    ) \
-    X   ( int,     skin_bonevertid,       nskinbonevert, 1                    ) \
-    X   ( float,   skin_bonevertweight,   nskinbonevert, 1                    ) \
-    X   ( int,     skin_pathadr,          nskin,         1                    )
-
-#define MJMODEL_POINTERS_HFIELD                                                 \
-    X   ( mjtNum,  hfield_size,           nhfield,       4                    ) \
-    X   ( int,     hfield_nrow,           nhfield,       1                    ) \
-    X   ( int,     hfield_ncol,           nhfield,       1                    ) \
-    X   ( int,     hfield_adr,            nhfield,       1                    ) \
-    XNV ( float,   hfield_data,           nhfielddata,   1                    ) \
-    X   ( int,     hfield_pathadr,        nhfield,       1                    )
-
-#define MJMODEL_POINTERS_TEXTURE                                                \
-    X   ( int,     tex_type,              ntex,          1                    ) \
-    X   ( int,     tex_colorspace,        ntex,          1                    ) \
-    X   ( int,     tex_height,            ntex,          1                    ) \
-    X   ( int,     tex_width,             ntex,          1                    ) \
-    X   ( int,     tex_nchannel,          ntex,          1                    ) \
-    X   ( mjtSize, tex_adr,               ntex,          1                    ) \
-    XNV ( mjtByte, tex_data,              ntexdata,      1                    ) \
-    X   ( int,     tex_pathadr,           ntex,          1                    )
-
-#define MJMODEL_POINTERS_MATERIAL                                               \
-    X   ( int,     mat_texid,             nmat,          mjNTEXROLE           ) \
-    X   ( mjtBool, mat_texuniform,        nmat,          1                    ) \
-    X   ( float,   mat_texrepeat,         nmat,          2                    ) \
-    X   ( float,   mat_emission,          nmat,          1                    ) \
-    X   ( float,   mat_specular,          nmat,          1                    ) \
-    X   ( float,   mat_shininess,         nmat,          1                    ) \
-    X   ( float,   mat_reflectance,       nmat,          1                    ) \
-    X   ( float,   mat_metallic,          nmat,          1                    ) \
-    X   ( float,   mat_roughness,         nmat,          1                    ) \
-    X   ( float,   mat_rgba,              nmat,          4                    )
-
-#define MJMODEL_POINTERS_PAIR                                                   \
-    X   ( int,     pair_dim,              npair,         1                    ) \
-    X   ( int,     pair_geom1,            npair,         1                    ) \
-    X   ( int,     pair_geom2,            npair,         1                    ) \
-    X   ( int,     pair_signature,        npair,         1                    ) \
-    X   ( mjtNum,  pair_solref,           npair,         mjNREF               ) \
-    X   ( mjtNum,  pair_solreffriction,   npair,         mjNREF               ) \
-    X   ( mjtNum,  pair_solimp,           npair,         mjNIMP               ) \
-    X   ( mjtNum,  pair_margin,           npair,         1                    ) \
-    X   ( mjtNum,  pair_gap,              npair,         1                    ) \
-    X   ( mjtNum,  pair_adhesion,         npair,         1                    ) \
-    X   ( mjtNum,  pair_friction,         npair,         5                    )
-
-#define MJMODEL_POINTERS_EXCLUDE                                                \
-    X   ( int,     exclude_signature,     nexclude,      1                    )
-
-#define MJMODEL_POINTERS_EQUALITY                                               \
-    X   ( int,     eq_type,               neq,           1                    ) \
-    X   ( int,     eq_obj1id,             neq,           1                    ) \
-    X   ( int,     eq_obj2id,             neq,           1                    ) \
-    X   ( int,     eq_objtype,            neq,           1                    ) \
-    X   ( mjtBool, eq_active0,            neq,           1                    ) \
-    X   ( mjtNum,  eq_solref,             neq,           mjNREF               ) \
-    X   ( mjtNum,  eq_solimp,             neq,           mjNIMP               ) \
-    X   ( mjtNum,  eq_data,               neq,           mjNEQDATA            )
-
-#define MJMODEL_POINTERS_TENDON                                                 \
-    X   ( int,     tendon_adr,            ntendon,       1                    ) \
-    X   ( int,     tendon_num,            ntendon,       1                    ) \
-    X   ( int,     tendon_matid,          ntendon,       1                    ) \
-    X   ( int,     tendon_actuatorid,     ntendon,       1                    ) \
-    X   ( int,     tendon_group,          ntendon,       1                    ) \
-    X   ( int,     tendon_treenum,        ntendon,       1                    ) \
-    X   ( int,     tendon_treeid,         ntendon,       2                    ) \
-    X   ( int,     ten_J_rownnz,          ntendon,       1                    ) \
-    X   ( int,     ten_J_rowadr,          ntendon,       1                    ) \
-    X   ( int,     ten_J_colind,          nJten,         1                    ) \
-    X   ( mjtBool, tendon_limited,        ntendon,       1                    ) \
-    X   ( mjtBool, tendon_actfrclimited,  ntendon,       1                    ) \
-    X   ( mjtNum,  tendon_width,          ntendon,       1                    ) \
-    X   ( mjtNum,  tendon_solref_lim,     ntendon,       mjNREF               ) \
-    X   ( mjtNum,  tendon_solimp_lim,     ntendon,       mjNIMP               ) \
-    X   ( mjtNum,  tendon_solref_fri,     ntendon,       mjNREF               ) \
-    X   ( mjtNum,  tendon_solimp_fri,     ntendon,       mjNIMP               ) \
-    X   ( mjtNum,  tendon_range,          ntendon,       2                    ) \
-    X   ( mjtNum,  tendon_actfrcrange,    ntendon,       2                    ) \
-    X   ( mjtNum,  tendon_margin,         ntendon,       1                    ) \
-    X   ( mjtNum,  tendon_stiffness,      ntendon,       1                    ) \
-    X   ( mjtNum,  tendon_stiffnesspoly,  ntendon,       mjNPOLY              ) \
-    X   ( mjtNum,  tendon_damping,        ntendon,       1                    ) \
-    X   ( mjtNum,  tendon_dampingpoly,    ntendon,       mjNPOLY              ) \
-    X   ( mjtNum,  tendon_armature,       ntendon,       1                    ) \
-    X   ( mjtNum,  tendon_frictionloss,   ntendon,       1                    ) \
-    X   ( mjtNum,  tendon_lengthspring,   ntendon,       2                    ) \
-    X   ( mjtNum,  tendon_length0,        ntendon,       1                    ) \
-    X   ( mjtNum,  tendon_invweight0,     ntendon,       1                    ) \
-    X   ( mjtNum,  tendon_user,           ntendon,       MJ_M(nuser_tendon)   ) \
-    X   ( float,   tendon_rgba,           ntendon,       4                    )
-
-#define MJMODEL_POINTERS_ACTUATOR                                               \
-    X   ( int,     actuator_trntype,      nactuator,     1                    ) \
-    X   ( int,     actuator_dyntype,      nactuator,     1                    ) \
-    X   ( int,     actuator_gaintype,     nactuator,     1                    ) \
-    X   ( int,     actuator_biastype,     nactuator,     1                    ) \
-    X   ( int,     actuator_ctrladr,      nactuator,     1                    ) \
-    X   ( int,     actuator_ctrlnum,      nactuator,     1                    ) \
-    X   ( int,     actuator_ctrlspec,     nactuator,     1                    ) \
-    X   ( int,     actuator_outadr,       nactuator,     1                    ) \
-    X   ( int,     actuator_outnum,       nactuator,     1                    ) \
-    X   ( int,     actuator_actadr,       nactuator,     1                    ) \
-    X   ( int,     actuator_actnum,       nactuator,     1                    ) \
-    X   ( int,     actuator_trnid,        nactuator,     2                    ) \
-    X   ( mjtNum,  actuator_cranklength,  nactuator,     1                    ) \
-    X   ( mjtNum,  actuator_dynprm,       nactuator,     mjNDYN               ) \
-    X   ( mjtNum,  actuator_gainprm,      nactuator,     mjNGAIN              ) \
-    X   ( mjtNum,  actuator_biasprm,      nactuator,     mjNBIAS              ) \
-    X   ( mjtBool, actuator_actlimited,   nactuator,     1                    ) \
-    X   ( mjtNum,  actuator_actrange,     nactuator,     2                    ) \
-    X   ( mjtBool, actuator_actearly,     nactuator,     1                    ) \
-    X   ( int,     actuator_history,      nactuator,     2                    ) \
-    X   ( int,     actuator_historyadr,   nactuator,     1                    ) \
-    X   ( mjtNum,  actuator_delay,        nactuator,     1                    ) \
-    X   ( mjtNum,  actuator_damping,      nactuator,     1                    ) \
-    X   ( mjtNum,  actuator_dampingpoly,  nactuator,     mjNPOLY              ) \
-    X   ( mjtNum,  actuator_armature,     nactuator,     1                    ) \
-    X   ( int,     actuator_group,        nactuator,     1                    ) \
-    X   ( mjtNum,  actuator_user,         nactuator,     MJ_M(nuser_actuator) ) \
-    X   ( int,     actuator_plugin,       nactuator,     1                    ) \
-    X   ( mjtBool, actuator_forcelimited, nactuator,     1                    ) \
-    X   ( mjtNum,  actuator_forcerange,   nactuator,     2                    ) \
-    X   ( mjtBool, actuator_ctrllimited,  nu,            1                    ) \
-    X   ( mjtNum,  actuator_ctrlrange,    nu,            2                    ) \
-    X   ( mjtNum,  actuator_gear,         nout,          6                    ) \
-    X   ( mjtNum,  actuator_acc0,         nout,          1                    ) \
-    X   ( mjtNum,  actuator_length0,      nout,          1                    ) \
-    X   ( mjtNum,  actuator_lengthrange,  nout,          2                    )
-
-#define MJMODEL_POINTERS_SENSOR                                                 \
-    X   ( int,     sensor_type,           nsensor,       1                    ) \
-    X   ( int,     sensor_datatype,       nsensor,       1                    ) \
-    X   ( int,     sensor_needstage,      nsensor,       1                    ) \
-    X   ( int,     sensor_objtype,        nsensor,       1                    ) \
-    X   ( int,     sensor_objid,          nsensor,       1                    ) \
-    X   ( int,     sensor_reftype,        nsensor,       1                    ) \
-    X   ( int,     sensor_refid,          nsensor,       1                    ) \
-    X   ( int,     sensor_intprm,         nsensor,       mjNSENS              ) \
-    X   ( int,     sensor_dim,            nsensor,       1                    ) \
-    X   ( int,     sensor_adr,            nsensor,       1                    ) \
-    X   ( mjtNum,  sensor_cutoff,         nsensor,       1                    ) \
-    X   ( mjtNum,  sensor_noise,          nsensor,       1                    ) \
-    X   ( int,     sensor_history,        nsensor,       2                    ) \
-    X   ( int,     sensor_historyadr,     nsensor,       1                    ) \
-    X   ( mjtNum,  sensor_delay,          nsensor,       1                    ) \
-    X   ( mjtNum,  sensor_interval,       nsensor,       2                    ) \
-    X   ( mjtNum,  sensor_user,           nsensor,       MJ_M(nuser_sensor)   ) \
-    X   ( int,     sensor_plugin,         nsensor,       1                    )
-
-#define MJMODEL_POINTERS                                                        \
-    X   ( mjtNum,  qpos0,                 nq,            1                    ) \
-    X   ( mjtNum,  qpos_spring,           nq,            1                    ) \
-    MJMODEL_POINTERS_BODY                                                       \
-    X   ( int,     bvh_depth,             nbvh,          1                    ) \
-    X   ( int,     bvh_child,             nbvh,          2                    ) \
-    X   ( int,     bvh_nodeid,            nbvh,          1                    ) \
-    X   ( mjtNum,  bvh_aabb,              nbvhstatic,    6                    ) \
-    X   ( int,     oct_depth,             noct,          1                    ) \
-    X   ( int,     oct_child,             noct,          8                    ) \
-    X   ( mjtNum,  oct_aabb,              noct,          6                    ) \
-    X   ( mjtNum,  oct_coeff,             noct,          8                    ) \
-    MJMODEL_POINTERS_JOINT                                                      \
-    MJMODEL_POINTERS_DOF                                                        \
-    MJMODEL_POINTERS_TREE                                                       \
-    MJMODEL_POINTERS_GEOM                                                       \
-    MJMODEL_POINTERS_SITE                                                       \
-    MJMODEL_POINTERS_CAMERA                                                     \
-    MJMODEL_POINTERS_LIGHT                                                      \
-    MJMODEL_POINTERS_FLEX                                                       \
-    MJMODEL_POINTERS_MESH                                                       \
-    MJMODEL_POINTERS_SKIN                                                       \
-    MJMODEL_POINTERS_HFIELD                                                     \
-    MJMODEL_POINTERS_TEXTURE                                                    \
-    MJMODEL_POINTERS_MATERIAL                                                   \
-    MJMODEL_POINTERS_PAIR                                                       \
-    MJMODEL_POINTERS_EXCLUDE                                                    \
-    MJMODEL_POINTERS_EQUALITY                                                   \
-    MJMODEL_POINTERS_TENDON                                                     \
-    X   ( int,     wrap_type,             nwrap,         1                    ) \
-    X   ( int,     wrap_objid,            nwrap,         1                    ) \
-    X   ( mjtNum,  wrap_prm,              nwrap,         1                    ) \
-    MJMODEL_POINTERS_ACTUATOR                                                   \
-    MJMODEL_POINTERS_SENSOR                                                     \
-    X   ( int,     plugin,                nplugin,       1                    ) \
-    X   ( int,     plugin_stateadr,       nplugin,       1                    ) \
-    X   ( int,     plugin_statenum,       nplugin,       1                    ) \
-    X   ( char,    plugin_attr,           npluginattr,   1                    ) \
-    X   ( int,     plugin_attradr,        nplugin,       1                    ) \
-    X   ( int,     numeric_adr,           nnumeric,      1                    ) \
-    X   ( int,     numeric_size,          nnumeric,      1                    ) \
-    X   ( mjtNum,  numeric_data,          nnumericdata,  1                    ) \
-    X   ( int,     text_adr,              ntext,         1                    ) \
-    X   ( int,     text_size,             ntext,         1                    ) \
-    X   ( char,    text_data,             ntextdata,     1                    ) \
-    X   ( int,     tuple_adr,             ntuple,        1                    ) \
-    X   ( int,     tuple_size,            ntuple,        1                    ) \
-    X   ( int,     tuple_objtype,         ntupledata,    1                    ) \
-    X   ( int,     tuple_objid,           ntupledata,    1                    ) \
-    X   ( mjtNum,  tuple_objprm,          ntupledata,    1                    ) \
-    X   ( mjtNum,  key_time,              nkey,          1                    ) \
-    X   ( mjtNum,  key_qpos,              nkey,          MJ_M(nq)             ) \
-    X   ( mjtNum,  key_qvel,              nkey,          MJ_M(nv)             ) \
-    X   ( mjtNum,  key_act,               nkey,          MJ_M(na)             ) \
-    X   ( mjtNum,  key_mpos,              nkey,          MJ_M(nmocap)*3       ) \
-    X   ( mjtNum,  key_mquat,             nkey,          MJ_M(nmocap)*4       ) \
-    X   ( mjtNum,  key_ctrl,              nkey,          MJ_M(nu)             ) \
-    X   ( int,     name_bodyadr,          nbody,         1                    ) \
-    X   ( int,     name_jntadr,           njnt,          1                    ) \
-    X   ( int,     name_geomadr,          ngeom,         1                    ) \
-    X   ( int,     name_siteadr,          nsite,         1                    ) \
-    X   ( int,     name_camadr,           ncam,          1                    ) \
-    X   ( int,     name_lightadr,         nlight,        1                    ) \
-    X   ( int,     name_flexadr,          nflex,         1                    ) \
-    X   ( int,     name_meshadr,          nmesh,         1                    ) \
-    X   ( int,     name_skinadr,          nskin,         1                    ) \
-    X   ( int,     name_hfieldadr,        nhfield,       1                    ) \
-    X   ( int,     name_texadr,           ntex,          1                    ) \
-    X   ( int,     name_matadr,           nmat,          1                    ) \
-    X   ( int,     name_pairadr,          npair,         1                    ) \
-    X   ( int,     name_excludeadr,       nexclude,      1                    ) \
-    X   ( int,     name_eqadr,            neq,           1                    ) \
-    X   ( int,     name_tendonadr,        ntendon,       1                    ) \
-    X   ( int,     name_actuatoradr,      nactuator,     1                    ) \
-    X   ( int,     name_sensoradr,        nsensor,       1                    ) \
-    X   ( int,     name_numericadr,       nnumeric,      1                    ) \
-    X   ( int,     name_textadr,          ntext,         1                    ) \
-    X   ( int,     name_tupleadr,         ntuple,        1                    ) \
-    X   ( int,     name_keyadr,           nkey,          1                    ) \
-    X   ( int,     name_pluginadr,        nplugin,       1                    ) \
-    X   ( char,    names,                 nnames,        1                    ) \
-    X   ( int,     names_map,             nnames_map,    1                    ) \
-    X   ( char,    paths,                 npaths,        1                    ) \
-    X   ( int,     B_rownnz,              nbody,         1                    ) \
-    X   ( int,     B_rowadr,              nbody,         1                    ) \
-    X   ( int,     B_colind,              nB,            1                    ) \
-    X   ( int,     M_rownnz,              nv,            1                    ) \
-    X   ( int,     M_rowadr,              nv,            1                    ) \
-    X   ( int,     M_colind,              nC,            1                    ) \
-    X   ( int,     mapM2M,                nC,            1                    ) \
-    X   ( int,     D_rownnz,              nv,            1                    ) \
-    X   ( int,     D_rowadr,              nv,            1                    ) \
-    X   ( int,     D_diag,                nv,            1                    ) \
-    X   ( int,     D_colind,              nD,            1                    ) \
-    X   ( int,     mapM2D,                nD,            1                    ) \
-    X   ( int,     mapD2M,                nC,            1                    )
-
-//-------------------------------- mjData ----------------------------------------------------------
-
-// pointer fields of mjData
-// XNV means that the field is not required to construct mjvScene
-// (by default we define XNV to be the same as X)
-#define MJDATA_POINTERS                                            \
-    X   ( mjtNum,    qpos,              nq,          1           ) \
-    X   ( mjtNum,    qvel,              nv,          1           ) \
-    X   ( mjtNum,    act,               na,          1           ) \
-    X   ( mjtNum,    history,           nhistory,    1           ) \
-    X   ( mjtNum,    qacc_warmstart,    nv,          1           ) \
-    X   ( mjtNum,    plugin_state,      npluginstate, 1          ) \
-    X   ( mjtNum,    ctrl,              nu,          1           ) \
-    X   ( mjtNum,    qfrc_applied,      nv,          1           ) \
-    X   ( mjtNum,    xfrc_applied,      nbody,       6           ) \
-    X   ( mjtBool,   eq_active,         neq,         1           ) \
-    X   ( mjtNum,    mocap_pos,         nmocap,      3           ) \
-    X   ( mjtNum,    mocap_quat,        nmocap,      4           ) \
-    X   ( mjtNum,    qacc,              nv,          1           ) \
-    X   ( mjtNum,    act_dot,           na,          1           ) \
-    X   ( mjtNum,    userdata,          nuserdata,   1           ) \
-    X   ( mjtNum,    sensordata,        nsensordata, 1           ) \
-    X   ( int,       tree_asleep,       ntree,       1           ) \
-    X   ( int,       plugin,            nplugin,     1           ) \
-    X   ( uintptr_t, plugin_data,       nplugin,     1           ) \
-    X   ( mjtNum,    xpos,              nbody,       3           ) \
-    X   ( mjtNum,    xquat,             nbody,       4           ) \
-    X   ( mjtNum,    xmat,              nbody,       9           ) \
-    X   ( mjtNum,    xipos,             nbody,       3           ) \
-    X   ( mjtNum,    ximat,             nbody,       9           ) \
-    X   ( mjtNum,    xanchor,           njnt,        3           ) \
-    X   ( mjtNum,    xaxis,             njnt,        3           ) \
-    X   ( mjtNum,    geom_xpos,         ngeom,       3           ) \
-    X   ( mjtNum,    geom_xmat,         ngeom,       9           ) \
-    X   ( mjtNum,    site_xpos,         nsite,       3           ) \
-    X   ( mjtNum,    site_xmat,         nsite,       9           ) \
-    X   ( mjtNum,    cam_xpos,          ncam,        3           ) \
-    X   ( mjtNum,    cam_xmat,          ncam,        9           ) \
-    X   ( mjtNum,    light_xpos,        nlight,      3           ) \
-    X   ( mjtNum,    light_xdir,        nlight,      3           ) \
-    X   ( mjtNum,    subtree_com,       nbody,       3           ) \
-    X   ( mjtNum,    cdof,              nv,          6           ) \
-    X   ( mjtNum,    cinert,            nbody,       10          ) \
-    X   ( mjtNum,    flexvert_xpos,     nflexvert,   3           ) \
-    X   ( mjtNum,    flexelem_aabb,     nflexelem,   6           ) \
-    X   ( mjtNum,    flexelem_krot,     nflexstiffness, 1        ) \
-    X   ( mjtNum,    flexedge_J,        nJfe,        1           ) \
-    X   ( mjtNum,    flexedge_length,   nflexedge,   1           ) \
-    X   ( mjtNum,    flexvert_J,        nJfv,        2           ) \
-    X   ( mjtNum,    flexvert_length,   nflexvert,   2           ) \
-    X   ( mjtNum,    bvh_aabb_dyn,      nbvhdynamic, 6           ) \
-    X   ( int,       ten_wrapadr,       ntendon,     1           ) \
-    X   ( int,       ten_wrapnum,       ntendon,     1           ) \
-    X   ( mjtNum,    ten_J,             nJten,       1           ) \
-    X   ( mjtNum,    ten_length,        ntendon,     1           ) \
-    X   ( int,       wrap_obj,          nwrap,       2           ) \
-    X   ( mjtNum,    wrap_xpos,         nwrap,       6           ) \
-    X   ( mjtNum,    actuator_length,   nout,        1           ) \
-    X   ( int,       moment_rownnz,     nout,        1           ) \
-    X   ( int,       moment_rowadr,     nout,        1           ) \
-    X   ( int,       moment_colind,     nJmom,       1           ) \
-    X   ( mjtNum,    actuator_moment,   nJmom,       1           ) \
-    XNV ( mjtNum,    crb,               nbody,       10          ) \
-    XNV ( mjtNum,    M,                 nC,          1           ) \
-    XNV ( mjtNum,    qLD,               nC,          1           ) \
-    X   ( mjtNum,    qLDiagInv,         nv,          1           ) \
-    X   ( mjtBool,   bvh_active,        nbvh,        1           ) \
-    X   ( int,       tree_awake,        ntree,       1           ) \
-    X   ( int,       body_awake,        nbody,       1           ) \
-    X   ( int,       body_awake_ind,    nbody,       1           ) \
-    X   ( int,       parent_awake_ind,  nbody,       1           ) \
-    X   ( int,       dof_awake_ind,     nv,          1           ) \
-    X   ( mjtNum,    flexedge_velocity, nflexedge,   1           ) \
-    X   ( mjtNum,    ten_velocity,      ntendon,     1           ) \
-    X   ( mjtNum,    actuator_velocity, nout,        1           ) \
-    X   ( mjtNum,    cvel,              nbody,       6           ) \
-    X   ( mjtNum,    cdof_dot,          nv,          6           ) \
-    X   ( mjtNum,    qfrc_bias,         nv,          1           ) \
-    X   ( mjtNum,    qfrc_spring,       nv,          1           ) \
-    X   ( mjtNum,    qfrc_damper,       nv,          1           ) \
-    X   ( mjtNum,    qfrc_gravcomp,     nv,          1           ) \
-    X   ( mjtNum,    qfrc_fluid,        nv,          1           ) \
-    X   ( mjtNum,    qfrc_adhesion,     nv,          1           ) \
-    X   ( mjtNum,    qfrc_passive,      nv,          1           ) \
-    X   ( mjtNum,    subtree_linvel,    nbody,       3           ) \
-    X   ( mjtNum,    subtree_angmom,    nbody,       3           ) \
-    XNV ( mjtNum,    qH,                nC,          1           ) \
-    X   ( mjtNum,    qHDiagInv,         nv,          1           ) \
-    XNV ( mjtNum,    qDeriv,            nD,          1           ) \
-    XNV ( mjtNum,    qLU,               nD,          1           ) \
-    X   ( mjtNum,    actuator_force,    nout,        1           ) \
-    X   ( mjtNum,    qfrc_actuator,     nv,          1           ) \
-    X   ( mjtNum,    qfrc_smooth,       nv,          1           ) \
-    X   ( mjtNum,    qacc_smooth,       nv,          1           ) \
-    X   ( mjtNum,    qfrc_constraint,   nv,          1           ) \
-    X   ( mjtNum,    qfrc_inverse,      nv,          1           ) \
-    X   ( mjtNum,    cacc,              nbody,       6           ) \
-    X   ( mjtNum,    cfrc_int,          nbody,       6           ) \
-    X   ( mjtNum,    cfrc_ext,          nbody,       6           )
-
-
-// macro for annotating that an array size in an X macro is a member of mjData
-// by default this macro does nothing, but users can redefine it as necessary
-#define MJ_D(n) n
-
-// array of contacts
-#define MJDATA_ARENA_POINTERS_CONTACT \
-    X( mjContact, contact, MJ_D(ncon), 1 )
-
-// array fields of mjData that are used in the primal problem
-#define MJDATA_ARENA_POINTERS_SOLVER                     \
-    X  ( int,      efc_type,          MJ_D(nefc),    1 ) \
-    X  ( int,      efc_id,            MJ_D(nefc),    1 ) \
-    XNV( int,      efc_J_rownnz,      MJ_D(nefc),    1 ) \
-    XNV( int,      efc_J_rowadr,      MJ_D(nefc),    1 ) \
-    XNV( int,      efc_J_rowsuper,    MJ_D(nefc),    1 ) \
-    XNV( int,      efc_J_colind,      MJ_D(nJ),      1 ) \
-    XNV( mjtNum,   efc_J,             MJ_D(nJ),      1 ) \
-    X  ( mjtNum,   efc_pos,           MJ_D(nefc),    1 ) \
-    X  ( mjtNum,   efc_margin,        MJ_D(nefc),    1 ) \
-    X  ( mjtNum,   efc_frictionloss,  MJ_D(nefc),    1 ) \
-    X  ( mjtNum,   efc_diagA,         MJ_D(nefc),    1 ) \
-    X  ( mjtNum,   efc_KBIP,          MJ_D(nefc),    4 ) \
-    X  ( mjtNum,   efc_D,             MJ_D(nefc),    1 ) \
-    X  ( mjtNum,   efc_R,             MJ_D(nefc),    1 ) \
-    X  ( int,      tendon_efcadr,     MJ_M(ntendon), 1 ) \
-    X  ( mjtNum,   efc_vel,           MJ_D(nefc),    1 ) \
-    X  ( mjtNum,   efc_aref,          MJ_D(nefc),    1 ) \
-    X  ( mjtNum,   efc_b,             MJ_D(nefc),    1 ) \
-    X  ( int,      efc_state,         MJ_D(nefc),    1 ) \
-    X  ( mjtNum,   efc_force,         MJ_D(nefc),    1 )
-
-// array fields of mjData that are used in the dual problem
-#define MJDATA_ARENA_POINTERS_DUAL                       \
-    XNV( int,      efc_Y_rownnz,      MJ_D(nefc),    1 ) \
-    XNV( int,      efc_Y_rowadr,      MJ_D(nefc),    1 ) \
-    XNV( int,      efc_Y_colind,      MJ_D(nY),      1 ) \
-    XNV( mjtNum,   efc_Y,             MJ_D(nY),      1 ) \
-    XNV( int,      efc_AR_rownnz,     MJ_D(nefc),    1 ) \
-    XNV( int,      efc_AR_rowadr,     MJ_D(nefc),    1 ) \
-    XNV( int,      efc_AR_colind,     MJ_D(nA),      1 ) \
-    XNV( mjtNum,   efc_AR,            MJ_D(nA),      1 )
-
-// array fields of mjData that are used for constraint islands
-#define MJDATA_ARENA_POINTERS_ISLAND                     \
-    X  ( int,     tree_island,       MJ_M(ntree),    1 ) \
-    X  ( int,     island_ntree,      MJ_D(nisland),  1 ) \
-    X  ( int,     island_itreeadr,   MJ_D(nisland),  1 ) \
-    X  ( int,     map_itree2tree,    MJ_M(ntree),    1 ) \
-    X  ( int,     dof_island,        MJ_M(nv),       1 ) \
-    X  ( int,     island_nv,         MJ_D(nisland),  1 ) \
-    X  ( int,     island_idofadr,    MJ_D(nisland),  1 ) \
-    X  ( int,     island_dofadr,     MJ_D(nisland),  1 ) \
-    X  ( int,     map_dof2idof,      MJ_M(nv),       1 ) \
-    X  ( int,     map_idof2dof,      MJ_M(nv),       1 ) \
-    X  ( mjtNum,  ifrc_smooth,       MJ_D(nidof),    1 ) \
-    X  ( mjtNum,  iacc_smooth,       MJ_D(nidof),    1 ) \
-    X  ( mjtNum,  iacc,              MJ_D(nidof),    1 ) \
-    X  ( int,     efc_island,        MJ_D(nefc),     1 ) \
-    X  ( int,     island_ne,         MJ_D(nisland),  1 ) \
-    X  ( int,     island_nf,         MJ_D(nisland),  1 ) \
-    X  ( int,     island_nefc,       MJ_D(nisland),  1 ) \
-    X  ( int,     island_iefcadr,    MJ_D(nisland),  1 ) \
-    X  ( int,     map_efc2iefc,      MJ_D(nefc),     1 ) \
-    X  ( int,     map_iefc2efc,      MJ_D(nefc),     1 ) \
-    X  ( int,     iefc_type,         MJ_D(nefc),     1 ) \
-    X  ( int,     iefc_id,           MJ_D(nefc),     1 ) \
-    X  ( mjtNum,  iefc_frictionloss, MJ_D(nefc),     1 ) \
-    X  ( mjtNum,  iefc_D,            MJ_D(nefc),     1 ) \
-    X  ( mjtNum,  iefc_R,            MJ_D(nefc),     1 ) \
-    X  ( mjtNum,  iefc_aref,         MJ_D(nefc),     1 ) \
-    X  ( int,     iefc_state,        MJ_D(nefc),     1 ) \
-    X  ( mjtNum,  iefc_force,        MJ_D(nefc),     1 ) \
-    X  ( mjtNum,  ifrc_constraint,   MJ_D(nidof),    1 )
-
-// array fields of mjData that live in d->arena
-#define MJDATA_ARENA_POINTERS_EFM                        \
-    X  ( mjtNum,   efm_c,             MJ_M(nv),          1 ) \
-    X  ( int,      efm_K_rownnz,      MJ_M(nv),          1 ) \
-    X  ( int,      efm_K_rowadr,      MJ_M(nv),          1 ) \
-    X  ( int,      efm_K_colind,      MJ_D(nefmK),       1 ) \
-    X  ( mjtNum,   efm_K_val,         MJ_D(nefmK),       1 ) \
-    X  ( int,      efm_dofid,         MJ_D(nefmdof),     1 ) \
-    X  ( mjtNum,   efm_L,             MJ_D(nefmL),       1 )
-
-
-#define MJDATA_ARENA_POINTERS          \
-    MJDATA_ARENA_POINTERS_CONTACT      \
-    MJDATA_ARENA_POINTERS_SOLVER       \
-    MJDATA_ARENA_POINTERS_DUAL         \
-    MJDATA_ARENA_POINTERS_ISLAND       \
-    MJDATA_ARENA_POINTERS_EFM
-
-
-// scalar fields of mjData
-#define MJDATA_SCALAR                  \
-    X( size_t,    narena             ) \
-    X( size_t,    nbuffer            ) \
-    X( int,       nplugin            ) \
-    X( size_t,    pstack             ) \
-    X( size_t,    pbase              ) \
-    X( size_t,    parena             ) \
-    X( uintptr_t, threadpool         ) \
-    X( size_t,    maxuse_stack       ) \
-    X( size_t,    maxuse_arena       ) \
-    X( int,       maxuse_con         ) \
-    X( int,       maxuse_efc         ) \
-    X( int,       ncon               ) \
-    X( int,       ne                 ) \
-    X( int,       nf                 ) \
-    X( int,       nl                 ) \
-    X( int,       nefc               ) \
-    X( int,       nJ                 ) \
-    X( int,       efm_active         ) \
-    X( int,       nefmK              ) \
-    X( int,       nefmdof            ) \
-    X( int,       nefmL              ) \
-    X( int,       nY                 ) \
-    X( int,       nA                 ) \
-    X( int,       nisland            ) \
-    X( int,       nidof              ) \
-    X( int,       ntree_awake        ) \
-    X( int,       nbody_awake        ) \
-    X( int,       nparent_awake      ) \
-    X( int,       nv_awake           ) \
-    X( mjtBool,   flg_energypos      ) \
-    X( mjtBool,   flg_energyvel      ) \
-    X( mjtBool,   flg_subtreevel     ) \
-    X( mjtBool,   flg_rnepost        ) \
-    X( mjtNum,    time               )
-
-
-// vector fields of mjData
-#define MJDATA_VECTOR                                                \
-    X( mjSolverStat,   solver,             mjNISLAND,    mjNSOLVER ) \
-    X( int,            solver_niter,       mjNISLAND,    1         ) \
-    X( int,            solver_nnz,         mjNISLAND,    1         ) \
-    X( mjtNum,         solver_fwdinv,      2,            1         ) \
-    X( mjWarningStat,  warning,            mjNWARNING,   1         ) \
-    X( mjTimerStat,    timer,              mjNTIMER,     1         ) \
-    X( mjtNum,         energy,             2,            1         )
-
-// alias XNV to be the same as X
-// to obtain only X macros for fields that are relevant for mjvScene creation,
-// redefine XNV to expand to nothing
-#define XNV X
-
-#endif  // MUJOCO_MJXMACRO_H_
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
deleted file mode 100644
index e00f1275..00000000
--- a/include/mujoco/mujoco.h
+++ /dev/null
@@ -1,2134 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_MUJOCO_H_
-#define MUJOCO_MUJOCO_H_
-
-// header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 3012000
-
-// needed to define size_t, fabs and log10
-#include <stdlib.h>
-#include <math.h>
-
-// type definitions
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjrender.h>
-#include <mujoco/mjsan.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjui.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mjassert.h>
-
-// this is a C-API
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// user memory handlers
-MJAPI extern void* (*mju_user_malloc)(size_t);
-MJAPI extern void  (*mju_user_free)(void*);
-
-// legacy error/warning handlers (deprecated: prefer mju_setLogHandler)
-MJAPI extern void  (*mju_user_error)(const char*);
-MJAPI extern void  (*mju_user_warning)(const char*);
-
-
-// callbacks extending computation pipeline
-MJAPI extern mjfGeneric  mjcb_passive;
-MJAPI extern mjfGeneric  mjcb_control;
-MJAPI extern mjfConFilt  mjcb_contactfilter;
-MJAPI extern mjfSensor   mjcb_sensor;
-MJAPI extern mjfTime     mjcb_time;
-MJAPI extern mjfAct      mjcb_act_dyn;
-MJAPI extern mjfAct      mjcb_act_gain;
-MJAPI extern mjfAct      mjcb_act_bias;
-
-
-// collision function table
-MJAPI extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES];
-
-
-// string names
-MJAPI extern const char* mjDISABLESTRING[mjNDISABLE];
-MJAPI extern const char* mjENABLESTRING[mjNENABLE];
-MJAPI extern const char* mjTIMERSTRING[mjNTIMER];
-MJAPI extern const char* mjLABELSTRING[mjNLABEL];
-MJAPI extern const char* mjFRAMESTRING[mjNFRAME];
-MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3];
-MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
-MJAPI extern const char* mjTOPICSTRING[mjNTOPIC];
-
-
-//---------------------------------- Virtual file system -------------------------------------------
-
-// Initialize an empty VFS, mj_deleteVFS must be called to deallocate the VFS.
-MJAPI void mj_defaultVFS(mjVFS* vfs);
-
-// Mount a ResourceProvider to handle file operations under the given path; return 0: success,
-// 2: repeated name, -1: invalid resource provider.
-MJAPI int mj_mountVFS(mjVFS* vfs, const char* filepath, const mjpResourceProvider* provider);
-
-// Unmount a previously mounted ResourceProvider; return 0: success, -1: not found in VFS.
-MJAPI int mj_unmountVFS(mjVFS* vfs, const char* filename);
-
-// Add file to VFS; return 0: success, 2: repeated name, -1: failed to load.
-MJAPI int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
-
-// Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to load.
-MJAPI int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
-
-// Delete file from VFS; return 0: success, -1: not found in VFS.
-MJAPI int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
-
-// Check if buffer exists in VFS; return 1: exists, 0: not found.
-MJAPI int mj_containsBufferVFS(mjVFS* vfs, const char* name);
-
-// Check if file exists in VFS; return 1: exists, 0: not found.
-MJAPI int mj_containsFileVFS(mjVFS* vfs, const char* directory, const char* filename);
-
-// Delete all files from VFS and deallocates VFS internal memory.
-MJAPI void mj_deleteVFS(mjVFS* vfs);
-
-//------------------------------------ Asset cache -------------------------------------------------
-
-// Get the current size of the asset cache in bytes.
-MJAPI size_t mj_getCacheSize(const mjCache* cache);
-
-// Get the capacity of the asset cache in bytes.
-MJAPI size_t mj_getCacheCapacity(const mjCache* cache);
-
-// Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.
-MJAPI size_t mj_setCacheCapacity(mjCache* cache, size_t size);
-
-// Get the internal asset cache used by the compiler.
-MJAPI mjCache* mj_getCache(void);
-
-// Clear the asset cache.
-MJAPI void mj_clearCache(mjCache* cache);
-
-//---------------------------------- Parse and compile ---------------------------------------------
-
-// Parse XML file in MJCF or URDF format, compile it; return low-level model.
-// If vfs is not NULL, look up files in vfs before reading from disk.
-// If error is not NULL, it must have size error_sz.
-// Nullable: vfs, error
-MJAPI mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
-
-// Parse spec from XML file.
-// Nullable: vfs, error
-MJAPI mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
-
-// Parse spec from XML string.
-// Nullable: vfs, error
-MJAPI mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
-
-// Parse spec from a file.
-// Nullable: vfs, error
-MJAPI mjSpec* mj_parse(const char* filename, const char* content_type,
-                       const mjVFS* vfs, char* error, int error_sz);
-
-// Encode spec/model to a file using a registered encoder.
-// Returns the number of bytes written on success, -1 on failure.
-// Nullable: m, vfs, error
-MJAPI mjtSize mj_encode(const mjSpec* s, const mjModel* m, const char* filename,
-                        const char* content_type, const mjVFS* vfs, char* error,
-                        int error_sz);
-
-// Compile spec to model.
-// Nullable: vfs
-MJAPI mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
-
-// Copy real-valued arrays from model to spec; return 1 on success.
-MJAPI int mj_copyBack(mjSpec* s, const mjModel* m);
-
-// Recompile spec to model, preserving the state; return 0 on success.
-// Nullable: vfs
-MJAPI int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
-
-// Update XML data structures with info from low-level model created with mj_loadXML, save as MJCF.
-// If error is not NULL, it must have size error_sz.
-// Nullable: error
-MJAPI int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
-
-// Free last XML model if loaded. Called internally at each load.
-MJAPI void mj_freeLastXML(void);
-
-// Save spec to XML string; return 0 on success, -1 on failure.
-// If length of the output buffer is too small; return the required size.
-// Nullable: error
-MJAPI int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
-
-// Save spec to XML file; return 0 on success, -1 otherwise.
-// Nullable: error
-MJAPI int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
-
-// Given MJCF filename, fills dependencies with a list of all other asset files it depends on.
-// The search is recursive, and the list includes the filename itself.
-MJAPI void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies);
-
-//---------------------------------- Main simulation -----------------------------------------------
-
-// Advance simulation, use control callback to obtain external force and control.
-MJAPI void mj_step(const mjModel* m, mjData* d);
-
-// Advance simulation in two steps: before external force and control is set by user.
-MJAPI void mj_step1(const mjModel* m, mjData* d);
-
-// Advance simulation in two steps: after external force and control is set by user.
-MJAPI void mj_step2(const mjModel* m, mjData* d);
-
-// Forward dynamics: same as mj_step but do not integrate in time.
-MJAPI void mj_forward(const mjModel* m, mjData* d);
-
-// Inverse dynamics: qacc must be set before calling.
-MJAPI void mj_inverse(const mjModel* m, mjData* d);
-
-// Forward dynamics with skip; skipstage is mjtStage.
-MJAPI void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
-
-// Inverse dynamics with skip; skipstage is mjtStage.
-MJAPI void mj_inverseSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
-
-
-//---------------------------------- Initialization ------------------------------------------------
-
-// Set default options for length range computation.
-MJAPI void mj_defaultLROpt(mjLROpt* opt);
-
-// Set solver parameters to default values.
-// Nullable: solref, solimp
-MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
-
-// Set physics options to default values.
-MJAPI void mj_defaultOption(mjOption* opt);
-
-// Set visual options to default values.
-MJAPI void mj_defaultVisual(mjVisual* vis);
-
-// Copy mjModel, allocate new if dest is NULL.
-// Nullable: dest
-MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
-
-// Save model to binary MJB file or memory buffer; buffer has precedence when given.
-// Nullable: filename, buffer
-MJAPI void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
-
-// Load model from binary MJB file.
-// If vfs is not NULL, look up file in vfs before reading from disk.
-// Nullable: vfs
-MJAPI mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
-
-// Load model from memory buffer.
-MJAPI mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz);
-
-// Free memory allocation in model.
-MJAPI void mj_deleteModel(mjModel* m);
-
-// Return size of buffer needed to hold model.
-MJAPI mjtSize mj_sizeModel(const mjModel* m);
-
-// Allocate mjData corresponding to given model.
-// If the model buffer is unallocated the initial configuration will not be set.
-MJAPI mjData* mj_makeData(const mjModel* m);
-
-// Copy mjData.
-// m is only required to contain the size fields from MJMODEL_INTS.
-MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
-
-// Copy mjData, skip large arrays not required for visualization.
-MJAPI mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
-
-// Reset ctrl to neutral values: zero, except quaternion inputs which reset to the identity.
-MJAPI void mj_resetCtrl(const mjModel* m, mjData* d);
-
-// Reset data to defaults.
-MJAPI void mj_resetData(const mjModel* m, mjData* d);
-
-// Reset data to defaults, fill everything else with debug_value.
-MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
-
-// Reset data. If 0 <= key < nkey, set fields from specified keyframe.
-MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
-
-#ifndef mjUSEASAN  // Stack management functions declared in mjsan.h if ASAN is active.
-
-// Mark a new frame on the mjData stack.
-MJAPI void mj_markStack(mjData* d);
-
-// Free the current mjData stack frame. All pointers returned by mj_stackAlloc since the last call
-// to mj_markStack must no longer be used afterwards.
-MJAPI void mj_freeStack(mjData* d);
-
-#endif  // ADDRESS_SANITIZER
-
-// Allocate a number of bytes on mjData stack at a specific alignment.
-// Call mju_error on stack overflow.
-MJAPI void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
-
-// Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow.
-MJAPI mjtNum* mj_stackAllocNum(mjData* d, size_t size);
-
-// Allocate array of ints on mjData stack. Call mju_error on stack overflow.
-MJAPI int* mj_stackAllocInt(mjData* d, size_t size);
-
-// Free memory allocation in mjData.
-MJAPI void mj_deleteData(mjData* d);
-
-// Reset all callbacks to NULL pointers (NULL is the default).
-MJAPI void mj_resetCallbacks(void);
-
-// Set constant fields of mjModel, corresponding to qpos0 configuration.
-MJAPI void mj_setConst(mjModel* m, mjData* d);
-
-// Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.
-// Nullable: error
-MJAPI int mj_setLengthRange(mjModel* m, mjData* d, int index,
-                            const mjLROpt* opt, char* error, int error_sz);
-
-// Create empty spec.
-MJAPI mjSpec* mj_makeSpec(void);
-
-// Copy spec.
-MJAPI mjSpec* mj_copySpec(const mjSpec* s);
-
-// Free memory allocation in mjSpec.
-MJAPI void mj_deleteSpec(mjSpec* s);
-
-// Activate plugin; return 0 on success.
-MJAPI int mjs_activatePlugin(mjSpec* s, const char* name);
-
-// Turn deep copy on or off attach; return 0 on success.
-MJAPI int mjs_setDeepCopy(mjSpec* s, int deepcopy);
-
-
-//---------------------------------- Printing ------------------------------------------------------
-
-// Print mjModel to text file, specifying format.
-// float_format must be a valid printf-style format string for a single float value.
-MJAPI void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
-
-// Print model to text file.
-MJAPI void mj_printModel(const mjModel* m, const char* filename);
-
-// Print mjData to text file, specifying format.
-// float_format must be a valid printf-style format string for a single float value.
-MJAPI void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filename,
-                                 const char* float_format);
-
-// Print data to text file.
-MJAPI void mj_printData(const mjModel* m, const mjData* d, const char* filename);
-
-// Print matrix to screen.
-MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc);
-
-// Print sparse matrix to screen.
-MJAPI void mju_printMatSparse(const mjtNum* mat, int nr,
-                              const int* rownnz, const int* rowadr, const int* colind);
-
-// Print internal XML schema as plain text or HTML, with style-padding or &nbsp;.
-MJAPI int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
-                         int flg_html, int flg_pad);
-
-// Print scene to text file.
-MJAPI void mj_printScene(const mjvScene* s, const char* filename);
-
-// Print scene to text file, specifying format.
-// float_format must be a valid printf-style format string for a single float value.
-MJAPI void mj_printFormattedScene(const mjvScene* s, const char* filename,
-                                  const char* float_format);
-
-
-//---------------------------------- Components ----------------------------------------------------
-
-// Run all kinematics-like computations (kinematics, comPos, camlight, flex, tendon).
-MJAPI void mj_fwdKinematics(const mjModel* m, mjData* d);
-
-// Run position-dependent computations.
-MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);
-
-// Run velocity-dependent computations.
-MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d);
-
-// Compute actuator force qfrc_actuator.
-MJAPI void mj_fwdActuation(const mjModel* m, mjData* d);
-
-// Add up all non-constraint forces, compute qacc_smooth.
-MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d);
-
-// Run selected constraint solver.
-MJAPI void mj_fwdConstraint(const mjModel* m, mjData* d);
-
-// Euler integrator, semi-implicit in velocity.
-MJAPI void mj_Euler(const mjModel* m, mjData* d);
-
-// Runge-Kutta explicit order-N integrator.
-MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N);
-
-// Implicit-in-velocity integrators.
-MJAPI void mj_implicit(const mjModel* m, mjData* d);
-
-// Run position-dependent computations in inverse dynamics.
-MJAPI void mj_invPosition(const mjModel* m, mjData* d);
-
-// Run velocity-dependent computations in inverse dynamics.
-MJAPI void mj_invVelocity(const mjModel* m, mjData* d);
-
-// Apply the analytical formula for inverse constraint dynamics.
-MJAPI void mj_invConstraint(const mjModel* m, mjData* d);
-
-// Compare forward and inverse dynamics, save results in fwdinv.
-MJAPI void mj_compareFwdInv(const mjModel* m, mjData* d);
-
-
-//---------------------------------- Sub components ------------------------------------------------
-
-// Evaluate position-dependent sensors.
-MJAPI void mj_sensorPos(const mjModel* m, mjData* d);
-
-// Evaluate velocity-dependent sensors.
-MJAPI void mj_sensorVel(const mjModel* m, mjData* d);
-
-// Evaluate acceleration and force-dependent sensors.
-MJAPI void mj_sensorAcc(const mjModel* m, mjData* d);
-
-// Evaluate position-dependent energy (potential).
-MJAPI void mj_energyPos(const mjModel* m, mjData* d);
-
-// Evaluate velocity-dependent energy (kinetic).
-MJAPI void mj_energyVel(const mjModel* m, mjData* d);
-
-// Check qpos, reset if any element is too big or nan.
-MJAPI void mj_checkPos(const mjModel* m, mjData* d);
-
-// Check qvel, reset if any element is too big or nan.
-MJAPI void mj_checkVel(const mjModel* m, mjData* d);
-
-// Check qacc, reset if any element is too big or nan.
-MJAPI void mj_checkAcc(const mjModel* m, mjData* d);
-
-// Run forward kinematics.
-MJAPI void mj_kinematics(const mjModel* m, mjData* d);
-
-// Map inertias and motion dofs to global frame centered at CoM.
-MJAPI void mj_comPos(const mjModel* m, mjData* d);
-
-// Compute camera and light positions and orientations.
-MJAPI void mj_camlight(const mjModel* m, mjData* d);
-
-// Compute flex-related quantities.
-MJAPI void mj_flex(const mjModel* m, mjData* d);
-
-// Compute tendon lengths, velocities and moment arms.
-MJAPI void mj_tendon(const mjModel* m, mjData* d);
-
-// Compute actuator transmission lengths and moments.
-MJAPI void mj_transmission(const mjModel* m, mjData* d);
-
-// Run composite rigid body inertia algorithm (CRB).
-MJAPI void mj_crb(const mjModel* m, mjData* d);
-
-// Make inertia matrix.
-MJAPI void mj_makeM(const mjModel* m, mjData* d);
-
-// Compute sparse L'*D*L factorizaton of inertia matrix.
-MJAPI void mj_factorM(const mjModel* m, mjData* d);
-
-// Solve linear system M * x = y using factorization:  x = inv(L'*D*L)*y
-MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
-
-// Half of linear solve:  x = sqrt(inv(D))*inv(L')*y
-MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
-                      const mjtNum* sqrtInvD, int n);
-
-// Compute cvel, cdof_dot.
-MJAPI void mj_comVel(const mjModel* m, mjData* d);
-
-// Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces.
-MJAPI void mj_passive(const mjModel* m, mjData* d);
-
-// Sub-tree linear velocity and angular momentum: compute subtree_linvel, subtree_angmom.
-MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);
-
-// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.
-MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
-
-// RNE with complete data: compute cacc, cfrc_ext, cfrc_int.
-MJAPI void mj_rnePostConstraint(const mjModel* m, mjData* d);
-
-// Return the maximum number of contacts that can be generated between two geoms.
-// If has_margin is -1, then the margin is pulled from the model, otherwise if has_margin > 0
-// indicates that the geoms have a positive margin.
-MJAPI int mj_maxContact(const mjModel* m, int g1, int g2, int has_margin);
-
-// Run collision detection.
-MJAPI void mj_collision(const mjModel* m, mjData* d);
-
-// Construct constraints.
-MJAPI void mj_makeConstraint(const mjModel* m, mjData* d);
-
-// Find constraint islands.
-MJAPI void mj_island(const mjModel* m, mjData* d);
-
-// Compute inverse constraint inertia efc_AR.
-MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
-
-// Compute efc_vel, efc_aref.
-MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
-
-// Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians.
-// If cost is not NULL, set *cost = s(jar) where jar = Jac*qacc-aref.
-// Nullable: cost
-MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
-                               mjtNum cost[1], int flg_coneHessian);
-
-
-//---------------------------------- Support -------------------------------------------------------
-
-// Return size of state signature.
-MJAPI int mj_stateSize(const mjModel* m, int sig);
-
-// Get state.
-MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig);
-
-// Extract a subset of components from a state previously obtained via mj_getState.
-MJAPI void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig,
-                           mjtNum* dst, int dstsig);
-
-// Set state.
-MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig);
-
-// Copy state from src to dst.
-MJAPI void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig);
-
-// Read ctrl value for actuator at given time.
-// Returns d->ctrl[id] if no history, otherwise reads from history buffer.
-// interp: 0=zero-order-hold, 1=linear, 2=cubic spline.
-MJAPI mjtNum mj_readCtrl(const mjModel* m, const mjData* d, int id, mjtNum time, int interp);
-
-// Read sensor value from history buffer at given time.
-// Returns pointer to sensordata (no history) or history buffer (exact match),
-// or NULL if interpolation performed (writes to result).
-// interp: 0=zero-order-hold, 1=linear, 2=cubic spline.
-MJAPI const mjtNum* mj_readSensor(const mjModel* m, const mjData* d, int id, mjtNum time,
-                                  mjtNum* result, int interp);
-
-// Initialize history buffer for actuator; if times is NULL, uses existing buffer timestamps.
-// Nullable: times
-MJAPI void mj_initCtrlHistory(const mjModel* m, mjData* d, int id,
-                              const mjtNum* times, const mjtNum* values);
-
-// Initialize history buffer for sensor; if times is NULL, uses existing buffer timestamps.
-// phase sets the user slot (last computation time for interval sensors).
-// Nullable: times
-MJAPI void mj_initSensorHistory(const mjModel* m, mjData* d, int id,
-                                const mjtNum* times, const mjtNum* values, mjtNum phase);
-
-// Copy current state to the k-th model keyframe.
-MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k);
-
-// Add contact to d->contact list; return 0 if success; 1 if buffer full.
-MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
-
-// Determine type of friction cone.
-MJAPI int mj_isPyramidal(const mjModel* m);
-
-// Determine type of constraint Jacobian.
-MJAPI int mj_isSparse(const mjModel* m);
-
-// Determine type of solver (PGS is dual, CG and Newton are primal).
-MJAPI int mj_isDual(const mjModel* m);
-
-// Multiply dense or sparse constraint Jacobian by vector.
-MJAPI void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// Multiply dense or sparse constraint Jacobian transpose by vector.
-MJAPI void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// Compute 3/6-by-nv end-effector Jacobian of global point attached to given body.
-// Nullable: jacp, jacr
-MJAPI void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
-                  const mjtNum point[3], int body);
-
-// Compute body frame end-effector Jacobian.
-// Nullable: jacp, jacr
-MJAPI void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
-
-// Compute body center-of-mass end-effector Jacobian.
-// Nullable: jacp, jacr
-MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body);
-
-// Compute subtree center-of-mass end-effector Jacobian.
-MJAPI void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
-
-// Compute geom end-effector Jacobian.
-// Nullable: jacp, jacr
-MJAPI void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom);
-
-// Compute site end-effector Jacobian.
-// Nullable: jacp, jacr
-MJAPI void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site);
-
-// Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.
-// Nullable: jacPoint, jacAxis
-MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
-                           const mjtNum point[3], const mjtNum axis[3], int body);
-
-// Compute 3/6-by-nv Jacobian time derivative of global point attached to given body.
-// Nullable: jacp, jacr
-MJAPI void mj_jacDot(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr,
-                     const mjtNum point[3], int body);
-
-// Compute subtree angular momentum matrix.
-MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
-
-// Get id of object with the specified mjtObj type and name; return -1 if id not found.
-MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
-
-// Get name of object with the specified mjtObj type and id; return NULL if name not found.
-MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
-
-// Get name of actuator input, determined by the actuator type and input signature;
-// return NULL if the actuator type defines no input names.
-MJAPI const char* mj_actuatorInputName(const mjModel* m, int id, int input);
-
-// Convert sparse inertia matrix into full (i.e. dense) matrix.
-MJAPI void mj_fullM(const mjModel* m, const mjData* d, mjtNum* dst);
-
-// Multiply vector by inertia matrix.
-MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// Multiply vector by (inertia matrix)^(1/2).
-MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// Add inertia matrix to destination matrix (lower triangle only).
-// Destination can be sparse or dense when all int* are NULL.
-// Nullable: rownnz, rowadr, colind
-MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind);
-
-// Apply Cartesian force and torque (outside xfrc_applied mechanism).
-// Nullable: force, torque
-MJAPI void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3],
-                      const mjtNum point[3], int body, mjtNum* qfrc_target);
-
-// Compute object 6D velocity (rot:lin) in object-centered frame, world/local orientation.
-MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
-                             int objtype, int objid, mjtNum res[6], int flg_local);
-
-// Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation.
-MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
-                                 int objtype, int objid, mjtNum res[6], int flg_local);
-
-// Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.
-// Nullable: fromto
-MJAPI mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
-                             mjtNum fromto[6]);
-
-// Extract 6D force:torque given contact id, in the contact frame.
-MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
-
-// Compute velocity by finite-differencing two positions.
-MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
-                               const mjtNum* qpos1, const mjtNum* qpos2);
-
-// Integrate position with given velocity.
-MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
-
-// Normalize all quaternions in qpos-type vector.
-MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
-
-// Map from body local to global Cartesian coordinates, sameframe takes values from mjtSameFrame.
-MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9], const mjtNum pos[3],
-                           const mjtNum quat[4], int body, mjtByte sameframe);
-
-// Sum all body masses.
-MJAPI mjtNum mj_getTotalmass(const mjModel* m);
-
-// Scale body masses and inertias to achieve specified total mass.
-MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass);
-
-// Return a config attribute value of a plugin instance;
-// NULL: invalid plugin instance ID or attribute name
-MJAPI const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
-
-// Load a dynamic library. The dynamic library is assumed to register one or more plugins.
-MJAPI void mj_loadPluginLibrary(const char* path);
-
-// Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory
-// are assumed to register one or more plugins. Optionally, if a callback is specified, it is called
-// for each dynamic library encountered that registers plugins.
-MJAPI void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
-
-// Return version number: 1.0.2 is encoded as 102.
-MJAPI int mj_version(void);
-
-// Return the current version of MuJoCo as a null-terminated string.
-MJAPI const char* mj_versionString(void);
-
-
-//---------------------------------- Ray casting ---------------------------------------------------
-
-// Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
-// Return distance (x) to nearest surface, or -1 if no intersection.
-// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.
-// Nullable: geomgroup, geomid, normal
-MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
-                    const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
-                    int geomid[1], mjtNum normal[3]);
-
-// Intersect multiple rays emanating from a single point, compute normals if given.
-// Similar semantics to mj_ray, but vec, normal and dist are arrays.
-// Geoms further than cutoff are ignored.
-// Nullable: geomgroup, geomid, normal
-MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
-                       const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
-                       int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff);
-
-// Intersect ray with hfield; return nearest distance or -1 if no intersection.
-// Nullable: normal
-MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
-                          const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
-
-// Intersect ray with mesh; return nearest distance or -1 if no intersection.
-// Nullable: normal
-MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
-                        const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
-
-// Intersect ray with pure geom; return nearest distance or -1 if no intersection.
-// Nullable: normal
-MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
-                         const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
-                         mjtNum normal[3]);
-
-// Intersect ray with flex; return nearest distance or -1 if no intersection,
-// and also output nearest vertex id and surface normal.
-// Nullable: vertid, normal
-MJAPI mjtNum mj_rayFlex(const mjModel* m, const mjData* d, int flex_layer,
-                        mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
-                        mjtBool flg_skin, int flexid, const mjtNum pnt[3],
-                        const mjtNum vec[3], int vertid[1], mjtNum normal[3]);
-
-// Intersect ray with skin; return nearest distance or -1 if no intersection,
-// and also output nearest vertex id.
-// Nullable: vertid
-MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
-                         const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
-
-//---------------------------------- Interaction ---------------------------------------------------
-
-// Set default camera.
-MJAPI void mjv_defaultCamera(mjvCamera* cam);
-
-// Set default free camera.
-MJAPI void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
-
-// Set default perturbation.
-MJAPI void mjv_defaultPerturb(mjvPerturb* pert);
-
-// Transform pose from room to model space.
-MJAPI void mjv_room2model(mjtNum modelpos[3], mjtNum modelquat[4], const mjtNum roompos[3],
-                          const mjtNum roomquat[4], const mjvScene* scn);
-
-// Transform pose from model to room space.
-MJAPI void mjv_model2room(mjtNum roompos[3], mjtNum roomquat[4], const mjtNum modelpos[3],
-                          const mjtNum modelquat[4], const mjvScene* scn);
-
-// Get camera info in model space; average left and right OpenGL cameras.
-MJAPI void mjv_cameraInModel(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
-                             const mjvScene* scn);
-
-// Get camera info in room space; average left and right OpenGL cameras.
-MJAPI void mjv_cameraInRoom(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3],
-                            const mjvScene* scn);
-
-// Get frustum height at unit distance from camera; average left and right OpenGL cameras.
-MJAPI mjtNum mjv_frustumHeight(const mjvScene* scn);
-
-// Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).
-MJAPI void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
-
-// Move camera with mouse; action is mjtMouse.
-MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam);
-
-// Move perturb object with mouse; action is mjtMouse.
-MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
-                           mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
-
-// Move model with mouse; action is mjtMouse.
-MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
-                         const mjtNum roomup[3], mjvScene* scn);
-
-// Copy perturb pos,quat from selected body; set scale for perturbation.
-MJAPI void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
-
-// Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise.
-// Write d->qpos only if flg_paused and subtree root for selected body has free joint.
-MJAPI void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
-                                int flg_paused);
-
-// Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.
-MJAPI void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
-
-// Return the average of two OpenGL cameras.
-MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
-
-// Converts a mjvCamera to a mjvGLCamera.
-MJAPI mjvGLCamera mjv_camera2GLCamera(const mjModel* model, const mjData* data,
-                                      const mjvCamera* mjv_camera);
-
-// Select geom, flex or skin with mouse; return bodyid; -1: none selected.
-// Nullable: geomid, flexid, skinid
-MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
-                     mjtNum aspectratio, mjtNum relx, mjtNum rely,
-                     const mjvScene* scn, mjtNum selpnt[3],
-                     int geomid[1], int flexid[1], int skinid[1]);
-
-
-//---------------------------------- Visualization -------------------------------------------------
-
-// Set default visualization options.
-MJAPI void mjv_defaultOption(mjvOption* opt);
-
-// Set default figure.
-MJAPI void mjv_defaultFigure(mjvFigure* fig);
-
-// Initialize given geom fields when not NULL, set the rest to their default values.
-// Nullable: size, pos, mat, rgba
-MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum size[3],
-                        const mjtNum pos[3], const mjtNum mat[9], const float rgba[4]);
-
-// Set (type, size, pos, mat) for connector-type geom between given points.
-// Assume that mjv_initGeom was already called to set all other properties.
-// Width of mjGEOM_LINE is denominated in pixels.
-MJAPI void mjv_connector(mjvGeom* geom, int type, mjtNum width,
-                         const mjtNum from[3], const mjtNum to[3]);
-
-// Set default abstract scene.
-MJAPI void mjv_defaultScene(mjvScene* scn);
-
-// Allocate resources in abstract scene.
-MJAPI void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
-
-// Free abstract scene.
-MJAPI void mjv_freeScene(mjvScene* scn);
-
-// Update entire scene given model state.
-MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
-                           const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
-
-// Copy mjModel, skip large arrays not required for abstract visualization.
-// Nullable: dest
-MJAPI void mjv_copyModel(mjModel* dest, const mjModel* src);
-
-// Add geoms from selected categories.
-MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
-                        const mjvPerturb* pert, int catmask, mjvScene* scn);
-
-// Make list of lights.
-MJAPI void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
-
-// Update camera.
-MJAPI void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
-
-// Update skins.
-MJAPI void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
-
-// Compute camera position and forward, up, and right vectors.
-// Nullable: headpos, forward, up, right
-MJAPI void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
-                           const mjData* d, const mjvCamera* cam);
-
-// Compute camera frustum: vertical, horizontal, and clip planes.
-// Nullable: zver, zhor, zclip
-MJAPI void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  const mjModel* m,
-                             const mjvCamera* cam);
-
-
-//---------------------------------- OpenGL rendering ----------------------------------------------
-
-// Set default mjrContext.
-MJAPI void mjr_defaultContext(mjrContext* con);
-
-// Set default mjrRendererInfo.
-MJAPI void mjr_defaultRendererInfo(mjrRendererInfo* info);
-
-// Get active renderer information.
-MJAPI void mjr_getRendererInfo(mjrRendererInfo* info);
-
-// Allocate resources in custom OpenGL context; fontscale is mjtFontScale.
-MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
-
-// Change font of existing context.
-MJAPI void mjr_changeFont(int fontscale, mjrContext* con);
-
-// Add Aux buffer with given index to context; free previous Aux buffer.
-MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
-
-// Free resources in custom OpenGL context, set to default.
-MJAPI void mjr_freeContext(mjrContext* con);
-
-// Resize offscreen buffers.
-MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con);
-
-// Upload texture to GPU, overwriting previous upload if any.
-MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
-
-// Upload mesh to GPU, overwriting previous upload if any.
-MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
-
-// Upload height field to GPU, overwriting previous upload if any.
-MJAPI void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
-
-// Make con->currentBuffer current again.
-MJAPI void mjr_restoreBuffer(const mjrContext* con);
-
-// Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN.
-// If only one buffer is available, set that buffer and ignore framebuffer argument.
-MJAPI void mjr_setBuffer(int framebuffer, mjrContext* con);
-
-// Read pixels from current OpenGL framebuffer to client buffer.
-// Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
-MJAPI void mjr_readPixels(unsigned char* rgb, float* depth,
-                          mjrRect viewport, const mjrContext* con);
-
-// Draw pixels from client buffer to current OpenGL framebuffer.
-// Viewport is in OpenGL framebuffer; client buffer starts at (0,0).
-MJAPI void mjr_drawPixels(const unsigned char* rgb, const float* depth,
-                          mjrRect viewport, const mjrContext* con);
-
-// Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer.
-// If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.
-MJAPI void mjr_blitBuffer(mjrRect src, mjrRect dst,
-                          int flg_color, int flg_depth, const mjrContext* con);
-
-// Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
-MJAPI void mjr_setAux(int index, const mjrContext* con);
-
-// Blit from Aux buffer to con->currentBuffer.
-MJAPI void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con);
-
-// Draw text at (x,y) in relative coordinates; font is mjtFont.
-MJAPI void mjr_text(int font, const char* txt, const mjrContext* con,
-                    float x, float y, float r, float g, float b);
-
-// Draw text overlay; font is mjtFont; gridpos is mjtGridPos.
-MJAPI void mjr_overlay(int font, int gridpos, mjrRect viewport,
-                       const char* overlay, const char* overlay2, const mjrContext* con);
-
-// Get maximum viewport for active buffer.
-MJAPI mjrRect mjr_maxViewport(const mjrContext* con);
-
-// Draw rectangle.
-MJAPI void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
-
-// Draw rectangle with centered text.
-MJAPI void mjr_label(mjrRect viewport, int font, const char* txt,
-                     float r, float g, float b, float a, float rt, float gt, float bt,
-                     const mjrContext* con);
-
-// Draw 2D figure.
-MJAPI void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
-
-// Render 3D scene.
-MJAPI void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
-
-// Call glFinish.
-MJAPI void mjr_finish(void);
-
-// Call glGetError and return result.
-MJAPI int mjr_getError(void);
-
-// Find first rectangle containing mouse, -1: not found.
-MJAPI int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
-
-
-//---------------------------------- UI framework --------------------------------------------------
-
-// Get builtin UI theme spacing (ind: 0-1).
-MJAPI mjuiThemeSpacing mjui_themeSpacing(int ind);
-
-// Get builtin UI theme color (ind: 0-3).
-MJAPI mjuiThemeColor mjui_themeColor(int ind);
-
-// Add definitions to UI.
-MJAPI void mjui_add(mjUI* ui, const mjuiDef* def);
-
-// Add definitions to UI section.
-MJAPI void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def);
-
-// Compute UI sizes.
-MJAPI void mjui_resize(mjUI* ui, const mjrContext* con);
-
-// Update specific section/item; -1: update all.
-MJAPI void mjui_update(int section, int item, const mjUI* ui,
-                       const mjuiState* state, const mjrContext* con);
-
-// Handle UI event; return pointer to changed item, NULL if no change.
-MJAPI mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
-
-// Copy UI image to current buffer.
-MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
-
-
-//---------------------------------- Error and memory ----------------------------------------------
-
-// Main error function; does not return to caller.
-MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
-
-// Main warning function; returns to caller.
-MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
-
-// Clear user error and memory handlers.
-MJAPI void mju_clearHandlers(void);
-
-// Set the active log handler; return the previous handler.
-// If handler is NULL, restore the default handler.
-MJAPI mjfLogHandler mju_setLogHandler(mjfLogHandler handler);
-
-// Get default handler configuration.
-MJAPI mjLogConfig mju_getLogConfig(void);
-
-// Set default handler configuration.
-MJAPI void mju_setLogConfig(mjLogConfig config);
-
-// Log an info message with optional topic filtering.
-MJAPI void mju_info(int topic, const char* msg, ...) mjPRINTFLIKE(2, 3);
-
-// Dispatch a structured log message to the active handler.
-MJAPI void mju_message(const mjLogMessage* msg);
-
-// Allocate memory; byte-align on 64; pad size to multiple of 64.
-MJAPI void* mju_malloc(size_t size);
-
-// Free memory, using free() by default.
-MJAPI void mju_free(void* ptr);
-
-// High-level warning function: count warnings in mjData, print only the first.
-MJAPI void mj_warning(mjData* d, int warning, int info);
-
-// Write [datetime, type: message] to MUJOCO_LOG.TXT.
-MJAPI void mju_writeLog(const char* type, const char* msg);
-
-// Get compiler error message from spec.
-MJAPI const char* mjs_getError(mjSpec* s);
-
-// Get compiler timing diagnostics from spec, returns pointer to array of size mjNCTIMER.
-MJAPI const double* mjs_getTimer(mjSpec* s);
-
-// Return 1 if compiler error is a warning. Deprecated: use mjs_numWarnings(s) > 0.
-MJAPI int mjs_isWarning(mjSpec* s);
-
-// Get number of warnings accumulated in the spec.
-MJAPI int mjs_numWarnings(const mjSpec* spec);
-
-// Get the i-th warning message (returns nullptr if index out of bounds).
-MJAPI const char* mjs_getWarning(const mjSpec* spec, int index);
-
-//---------------------------------- Standard math -------------------------------------------------
-
-#if !defined(mjUSESINGLE)
-  #define mju_sqrt    sqrt
-  #define mju_exp     exp
-  #define mju_sin     sin
-  #define mju_cos     cos
-  #define mju_tan     tan
-  #define mju_asin    asin
-  #define mju_acos    acos
-  #define mju_atan2   atan2
-  #define mju_tanh    tanh
-  #define mju_pow     pow
-  #define mju_abs     fabs
-  #define mju_log     log
-  #define mju_log10   log10
-  #define mju_floor   floor
-  #define mju_ceil    ceil
-
-#else
-  #define mju_sqrt    sqrtf
-  #define mju_exp     expf
-  #define mju_sin     sinf
-  #define mju_cos     cosf
-  #define mju_tan     tanf
-  #define mju_asin    asinf
-  #define mju_acos    acosf
-  #define mju_atan2   atan2f
-  #define mju_tanh    tanhf
-  #define mju_pow     powf
-  #define mju_abs     fabsf
-  #define mju_log     logf
-  #define mju_log10   log10f
-  #define mju_floor   floorf
-  #define mju_ceil    ceilf
-#endif
-
-
-//---------------------------------- Vector math ---------------------------------------------------
-
-// Set res = 0.
-MJAPI void mju_zero3(mjtNum res[3]);
-
-// Set res = vec.
-MJAPI void mju_copy3(mjtNum res[3], const mjtNum data[3]);
-
-// Set res = vec*scl.
-MJAPI void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
-
-// Set res = vec1 + vec2.
-MJAPI void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// Set res = vec1 - vec2.
-MJAPI void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// Set res = res + vec.
-MJAPI void mju_addTo3(mjtNum res[3], const mjtNum vec[3]);
-
-// Set res = res - vec.
-MJAPI void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]);
-
-// Set res = res + vec*scl.
-MJAPI void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
-
-// Set res = vec1 + vec2*scl.
-MJAPI void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
-
-// Normalize vector; return length before normalization.
-MJAPI mjtNum mju_normalize3(mjtNum vec[3]);
-
-// Return vector length (without normalizing the vector).
-MJAPI mjtNum mju_norm3(const mjtNum vec[3]);
-
-// Return dot-product of vec1 and vec2.
-MJAPI mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// Return Cartesian distance between 3D vectors pos1 and pos2.
-MJAPI mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
-
-// Multiply 3-by-3 matrix by vector: res = mat * vec.
-MJAPI void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
-
-// Multiply transposed 3-by-3 matrix by vector: res = mat' * vec.
-MJAPI void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
-
-// Compute cross-product: res = cross(a, b).
-MJAPI void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
-
-// Set res = 0.
-MJAPI void mju_zero4(mjtNum res[4]);
-
-// Set res = (1,0,0,0).
-MJAPI void mju_unit4(mjtNum res[4]);
-
-// Set res = vec.
-MJAPI void mju_copy4(mjtNum res[4], const mjtNum data[4]);
-
-// Normalize vector; return length before normalization.
-MJAPI mjtNum mju_normalize4(mjtNum vec[4]);
-
-// Set res = 0.
-MJAPI void mju_zero(mjtNum* res, int n);
-
-// Set res = val.
-MJAPI void mju_fill(mjtNum* res, mjtNum val, int n);
-
-// Set res = vec.
-MJAPI void mju_copy(mjtNum* res, const mjtNum* vec, int n);
-
-// Return sum(vec).
-MJAPI mjtNum mju_sum(const mjtNum* vec, int n);
-
-// Return L1 norm: sum(abs(vec)).
-MJAPI mjtNum mju_L1(const mjtNum* vec, int n);
-
-// Set res = vec*scl.
-MJAPI void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
-
-// Set res = vec1 + vec2.
-MJAPI void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
-
-// Set res = vec1 - vec2.
-MJAPI void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
-
-// Set res = res + vec.
-MJAPI void mju_addTo(mjtNum* res, const mjtNum* vec, int n);
-
-// Set res = res - vec.
-MJAPI void mju_subFrom(mjtNum* res, const mjtNum* vec, int n);
-
-// Set res = res + vec*scl.
-MJAPI void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
-
-// Set res = vec1 + vec2*scl.
-MJAPI void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
-
-// Normalize vector; return length before normalization.
-MJAPI mjtNum mju_normalize(mjtNum* res, int n);
-
-// Return vector length (without normalizing vector).
-MJAPI mjtNum mju_norm(const mjtNum* res, int n);
-
-// Return dot-product of vec1 and vec2.
-MJAPI mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n);
-
-// Multiply matrix and vector: res = mat * vec.
-MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
-
-// Multiply transposed matrix and vector: res = mat' * vec.
-MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
-
-// Multiply square matrix with vectors on both sides: return vec1' * mat * vec2.
-MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
-
-// Transpose matrix: res = mat'.
-MJAPI void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
-
-// Symmetrize square matrix res = (mat + mat')/2.
-MJAPI void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
-
-// Set mat to the identity matrix.
-MJAPI void mju_eye(mjtNum* mat, int n);
-
-// Multiply matrices: res = mat1 * mat2.
-MJAPI void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                         int r1, int c1, int c2);
-
-// Multiply matrices, second argument transposed: res = mat1 * mat2'.
-MJAPI void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                          int r1, int c1, int r2);
-
-// Multiply matrices, first argument transposed: res = mat1' * mat2.
-MJAPI void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                          int r1, int c1, int c2);
-
-// Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise.
-MJAPI void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc);
-
-// Coordinate transform of 6D motion or force vector in rotation:translation format.
-// rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.
-// Nullable: rotnew2old
-MJAPI void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
-                                const mjtNum newpos[3], const mjtNum oldpos[3],
-                                const mjtNum rotnew2old[9]);
-
-
-//---------------------------------- Sparse math ---------------------------------------------------
-
-// Convert matrix from dense to sparse.
-//  nnz is size of res and colind; return 1 if too small, 0 otherwise.
-MJAPI int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                           int* rownnz, int* rowadr, int* colind, int nnz);
-
-// Convert matrix from sparse to dense.
-MJAPI void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                            const int* rownnz, const int* rowadr, const int* colind);
-
-// Convert lower-triangular symmetric CSR matrix to full dense matrix.
-MJAPI void mju_sym2dense(mjtNum* res, const mjtNum* mat, int n,
-                         const int* rownnz, const int* rowadr, const int* colind);
-
-
-//---------------------------------- Quaternions ---------------------------------------------------
-
-// Rotate vector by quaternion.
-MJAPI void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
-
-// Conjugate quaternion, corresponding to opposite rotation.
-MJAPI void mju_negQuat(mjtNum res[4], const mjtNum quat[4]);
-
-// Multiply quaternions.
-MJAPI void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]);
-
-// Multiply quaternion and axis.
-MJAPI void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]);
-
-// Convert axisAngle to quaternion.
-MJAPI void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle);
-
-// Convert quaternion (corresponding to orientation difference) to 3D velocity.
-MJAPI void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt);
-
-// Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.
-MJAPI void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]);
-
-// Convert quaternion to 3D rotation matrix.
-MJAPI void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]);
-
-// Convert 3D rotation matrix to quaternion.
-MJAPI void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
-
-// Compute time-derivative of quaternion, given 3D rotational velocity.
-MJAPI void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
-
-// Integrate quaternion given 3D angular velocity.
-MJAPI void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
-
-// Construct quaternion performing rotation from z-axis to given vector.
-MJAPI void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
-
-// Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion.
-// Return the number of iterations required to converge.
-MJAPI int mju_mat2Rot(mjtNum quat[4], const mjtNum mat[9]);
-
-// Convert sequence of Euler angles (radians) to quaternion.
-// seq[0,1,2] must be in 'xyzXYZ', lower/upper-case mean intrinsic/extrinsic rotations.
-MJAPI void mju_euler2Quat(mjtNum quat[4], const mjtNum euler[3], const char* seq);
-
-
-//---------------------------------- Poses ---------------------------------------------------------
-
-// Multiply two poses.
-MJAPI void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
-                       const mjtNum pos1[3], const mjtNum quat1[4],
-                       const mjtNum pos2[3], const mjtNum quat2[4]);
-
-// Conjugate pose, corresponding to the opposite spatial transformation.
-MJAPI void mju_negPose(mjtNum posres[3], mjtNum quatres[4],
-                       const mjtNum pos[3], const mjtNum quat[4]);
-
-// Transform vector by pose.
-MJAPI void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
-                          const mjtNum vec[3]);
-
-
-//--------------------------------- Decompositions / Solvers ---------------------------------------
-
-// Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.
-MJAPI int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
-
-// Solve (mat*mat') * res = vec, where mat is a Cholesky factor.
-MJAPI void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
-
-// Cholesky rank-one update: L*L' +/- x*x'; return rank.
-MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
-
-// Band-dense Cholesky decomposition.
-//  Return minimum value in the factorized diagonal, or 0 if rank-deficient.
-//  mat has (ntotal-ndense) x nband + ndense x ntotal elements.
-//  The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive.
-//  The second ndense x ntotal store the band part as entire dense rows.
-//  Add diagadd+diagmul*mat_ii to diagonal before factorization.
-MJAPI mjtNum mju_cholFactorBand(mjtNum* mat, int ntotal, int nband, int ndense,
-                                mjtNum diagadd, mjtNum diagmul);
-
-// Solve (mat*mat')*res = vec where mat is a band-dense Cholesky factor.
-MJAPI void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                             int ntotal, int nband, int ndense);
-
-// Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0.
-MJAPI void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
-                          mjtBool flg_sym);
-
-// Convert dense matrix to banded matrix.
-MJAPI void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense);
-
-// Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0.
-MJAPI void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                             int ntotal, int nband, int ndense, int nvec, mjtBool flg_sym);
-
-// Address of diagonal element i in band-dense matrix representation.
-MJAPI int mju_bandDiag(int i, int ntotal, int nband, int ndense);
-
-// Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.
-MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
-
-// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <= upper; return rank or -1 if failed
-//   inputs:
-//     n           - problem dimension
-//     H           - SPD matrix                n*n
-//     g           - bias vector               n
-//     lower       - lower bounds              n
-//     upper       - upper bounds              n
-//     res         - solution warmstart        n
-//   return value:
-//     nfree <= n  - rank of unconstrained subspace, -1 if failure
-//   outputs (required):
-//     res         - solution                  n
-//     R           - subspace Cholesky factor  nfree*nfree    allocated: n*(n+7)
-//   outputs (optional):
-//     index       - set of free dimensions    nfree          allocated: n
-//   notes:
-//     the initial value of res is used to warmstart the solver
-//     R must have allocatd size n*(n+7), but only nfree*nfree values are used in output
-//     index (if given) must have allocated size n, but only nfree values are used in output
-//     only the lower triangles of H and R and are read from and written to, respectively
-//     the convenience function mju_boxQPmalloc allocates the required data structures
-// Nullable: index, lower, upper
-MJAPI int mju_boxQP(mjtNum* res, mjtNum* R, int* index, const mjtNum* H, const mjtNum* g, int n,
-                    const mjtNum* lower, const mjtNum* upper);
-
-// allocate heap memory for box-constrained Quadratic Program
-//   as in mju_boxQP, index, lower, and upper are optional
-//   free all pointers with mju_free()
-MJAPI void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index, mjtNum** H, mjtNum** g, int n,
-                           mjtNum** lower, mjtNum** upper);
-
-
-//---------------------------------- Miscellaneous -------------------------------------------------
-
-// Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
-MJAPI mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
-                            mjtNum acc0, const mjtNum prm[9]);
-
-// Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
-MJAPI mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
-                            mjtNum acc0, const mjtNum prm[9]);
-
-// Muscle activation dynamics, prm = (tau_act, tau_deact, smoothing_width).
-MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]);
-
-// Convert contact force to pyramid representation.
-MJAPI void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum* mu, int dim);
-
-// Convert pyramid representation to contact force.
-MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim);
-
-// Integrate spring-damper analytically; return pos(dt).
-MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
-
-// Return min(a,b) with single evaluation of a and b.
-MJAPI mjtNum mju_min(mjtNum a, mjtNum b);
-
-// Return max(a,b) with single evaluation of a and b.
-MJAPI mjtNum mju_max(mjtNum a, mjtNum b);
-
-// Clip x to the range [min, max].
-MJAPI mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max);
-
-// Return sign of x: +1, -1 or 0.
-MJAPI mjtNum mju_sign(mjtNum x);
-
-// Round x to nearest integer.
-MJAPI int mju_round(mjtNum x);
-
-// Convert type id (mjtObj) to type name.
-MJAPI const char* mju_type2Str(int type);
-
-// Convert type name to type id (mjtObj).
-MJAPI int mju_str2Type(const char* str);
-
-// Return human readable number of bytes using standard letter suffix.
-MJAPI const char* mju_writeNumBytes(size_t nbytes);
-
-// Construct a warning message given the warning type and info.
-MJAPI const char* mju_warningText(int warning, size_t info);
-
-// Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.
-MJAPI int mju_isBad(mjtNum x);
-
-// Return 1 if all elements are 0.
-MJAPI int mju_isZero(const mjtNum* vec, int n);
-
-// Standard normal random number generator (optional second number).
-MJAPI mjtNum mju_standardNormal(mjtNum* num2);
-
-// Convert from float to mjtNum.
-MJAPI void mju_f2n(mjtNum* res, const float* vec, int n);
-
-// Convert from mjtNum to float.
-MJAPI void mju_n2f(float* res, const mjtNum* vec, int n);
-
-// Convert from double to mjtNum.
-MJAPI void mju_d2n(mjtNum* res, const double* vec, int n);
-
-// Convert from mjtNum to double.
-MJAPI void mju_n2d(double* res, const mjtNum* vec, int n);
-
-// Insertion sort, resulting list is in increasing order.
-MJAPI void mju_insertionSort(mjtNum* list, int n);
-
-// Integer insertion sort, resulting list is in increasing order.
-MJAPI void mju_insertionSortInt(int* list, int n);
-
-// Generate Halton sequence.
-MJAPI mjtNum mju_Halton(int index, int base);
-
-// Call strncpy, then set dst[n-1] = 0.
-MJAPI char* mju_strncpy(char *dst, const char *src, int n);
-
-// Sigmoid function over 0<=x<=1 using quintic polynomial.
-MJAPI mjtNum mju_sigmoid(mjtNum x);
-
-
-//---------------------------------- Signed Distance Functions -------------------------------------
-
-// get sdf from geom id
-MJAPI const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
-
-// signed distance function
-MJAPI mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
-
-// gradient of sdf
-MJAPI void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
-                        const mjtNum x[3]);
-
-
-//---------------------------------- Derivatives ---------------------------------------------------
-
-// Finite differenced transition matrices (control theory notation)
-//   d(x_next) = A*dx + B*du
-//   d(sensor) = C*dx + D*du
-//   required output matrix dimensions:
-//      A: (2*nv+na x 2*nv+na)
-//      B: (2*nv+na x nu)
-//      D: (nsensordata x 2*nv+na)
-//      C: (nsensordata x nu)
-// Nullable: A, B, C, D
-MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_centered,
-                            mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
-
-// Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration)
-//   All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention):
-//     DfDq: (nv x nv)
-//     DfDv: (nv x nv)
-//     DfDa: (nv x nv)
-//     DsDq: (nv x nsensordata)
-//     DsDv: (nv x nsensordata)
-//     DsDa: (nv x nsensordata)
-//     DmDq: (nv x nC)
-//   single-letter shortcuts:
-//     inputs: q=qpos, v=qvel, a=qacc
-//     outputs: f=qfrc_inverse, s=sensordata, m=M
-//   notes:
-//     optionally computes mass matrix Jacobian DmDq
-//     flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse
-// Nullable: DfDq, DfDv, DfDa, DsDq, DsDv, DsDa, DmDq
-MJAPI void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuation,
-                         mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
-                         mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
-                         mjtNum *DmDq);
-
-// Derivatives of mju_subQuat.
-// Nullable: Da, Db
-MJAPI void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
-
-// Derivatives of mju_quatIntegrate.
-// Nullable: Dquat, Dvel, Dscale
-MJAPI void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
-                             mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]);
-
-
-//---------------------------------- Plugins -------------------------------------------------------
-
-// Set default plugin definition.
-MJAPI void mjp_defaultPlugin(mjpPlugin* plugin);
-
-// Globally register a plugin. This function is thread-safe.
-// If an identical mjpPlugin is already registered, this function does nothing.
-// If a non-identical mjpPlugin with the same name is already registered, an mju_error is raised.
-// Two mjpPlugins are considered identical if all member function pointers and numbers are equal,
-// and the name and attribute strings are all identical, however the char pointers to the strings
-// need not be the same.
-MJAPI int mjp_registerPlugin(const mjpPlugin* plugin);
-
-// Return the number of globally registered plugins.
-MJAPI int mjp_pluginCount(void);
-
-// Look up a plugin by name. If slot is not NULL, also write its registered slot number into it.
-MJAPI const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
-
-// Look up a plugin by the registered slot number that was returned by mjp_registerPlugin.
-MJAPI const mjpPlugin* mjp_getPluginAtSlot(int slot);
-
-// Set default resource provider definition.
-MJAPI void mjp_defaultResourceProvider(mjpResourceProvider* provider);
-
-// Globally register a resource provider in a thread-safe manner. The provider must have a prefix
-// that is not a sub-prefix or super-prefix of any current registered providers.
-// Return a slot number >= 0 on success, -1 on failure.
-MJAPI int mjp_registerResourceProvider(const mjpResourceProvider* provider);
-
-// Return the number of globally registered resource providers.
-MJAPI int mjp_resourceProviderCount(void);
-
-// Return the resource provider with the prefix that matches against the resource name.
-// If no match, return NULL.
-MJAPI const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name);
-
-// Look up a resource provider by slot number returned by mjp_registerResourceProvider.
-// If invalid slot number, return NULL.
-MJAPI const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot);
-
-// Globally register a decoder. This function is thread-safe.
-// If an identical mjpDecoder is already registered, this function does nothing.
-// If a non-identical mjpDecoder with the same name is already registered, an mju_error is raised.
-MJAPI void mjp_registerDecoder(const mjpDecoder* decoder);
-
-// Set default resource decoder definition.
-MJAPI void mjp_defaultDecoder(mjpDecoder* decoder);
-
-// Return the resource provider with the prefix that matches against the resource name.
-// If no match, return NULL.
-MJAPI const mjpDecoder* mjp_findDecoder(const mjResource* resource, const char* content_type);
-
-// Globally register an encoder. This function is thread-safe.
-// If an identical mjpEncoder is already registered, this function does nothing.
-// If a non-identical mjpEncoder with the same name is already registered, an mju_error is raised.
-MJAPI void mjp_registerEncoder(const mjpEncoder* encoder);
-
-// Set default resource encoder definition.
-MJAPI void mjp_defaultEncoder(mjpEncoder* encoder);
-
-// Return the encoder that matches against the content type or filename extension.
-// If no match, return NULL.
-MJAPI const mjpEncoder* mjp_findEncoder(const char* filename, const char* content_type);
-
-
-
-//---------------------------------- Resources -----------------------------------------------------
-
-// Open a resource; if the name doesn't have a prefix matching a registered resource provider,
-// then the OS filesystem is used.
-// Nullable: dir, vfs, error
-MJAPI mjResource* mju_openResource(const char* dir, const char* name,
-                                   const mjVFS* vfs, char* error, size_t nerror);
-
-// Close a resource; no-op if resource is NULL.
-MJAPI void mju_closeResource(mjResource* resource);
-
-// Set buffer to bytes read from the resource and return number of bytes in buffer;
-// return negative value if error.
-MJAPI int mju_readResource(mjResource* resource, const void** buffer);
-
-// Write resource data via its resource provider, return bytes written or -1 on error.
-// Nullable: vfs, error
-MJAPI mjtSize mju_writeResource(const char* name, const void* buffer, mjtSize nbytes,
-                                const mjVFS* vfs, char* error, size_t nerror);
-
-// For a resource with a name partitioned as {dir}{filename}, get the dir and ndir pointers.
-MJAPI void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir);
-
-// Compare resource timestamp to provided timestamp.
-// Return 0 if timestamps match, >0 if resource is newer, <0 if resource is older.
-MJAPI int mju_isModifiedResource(const mjResource* resource, const char* timestamp);
-
-// Find the decoder for a resource and return the decoded spec.
-// The caller takes ownership of the spec and is responsible for cleaning it up.
-// Nullable: vfs
-MJAPI mjSpec* mju_decodeResource(mjResource* resource, const char* content_type,
-                                 const mjVFS* vfs);
-
-
-//---------------------------------- Threads -------------------------------------------------------
-
-// Create a thread pool with nthread worker threads.
-MJAPI void mju_threadpool(mjData* d, int nthread);
-
-
-//---------------------------------- Attachment ----------------------------------------------------
-
-// Attach child to a parent; return the attached element if success or NULL otherwise.
-MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
-                             const char* prefix, const char* suffix);
-
-
-//---------------------------------- Tree elements -------------------------------------------------
-
-// Add child body to body; return child.
-// Nullable: def
-MJAPI mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
-
-// Add site to body; return site spec.
-// Nullable: def
-MJAPI mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
-
-// Add joint to body.
-// Nullable: def
-MJAPI mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
-
-// Add freejoint to body.
-MJAPI mjsJoint* mjs_addFreeJoint(mjsBody* body);
-
-// Add geom to body.
-// Nullable: def
-MJAPI mjsGeom* mjs_addGeom(mjsBody* body, const mjsDefault* def);
-
-// Add camera to body.
-// Nullable: def
-MJAPI mjsCamera* mjs_addCamera(mjsBody* body, const mjsDefault* def);
-
-// Add light to body.
-// Nullable: def
-MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
-
-// Add frame to body.
-MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
-
-// Remove object corresponding to the given element; return 0 on success.
-MJAPI int mjs_delete(mjSpec* spec, mjsElement* element);
-
-
-//---------------------------------- Non-tree elements ---------------------------------------------
-
-// Add actuator.
-// Nullable: def
-MJAPI mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* def);
-
-// Add sensor.
-MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
-
-// Add flex.
-MJAPI mjsFlex* mjs_addFlex(mjSpec* s);
-
-// Add flexcomp: create flex with auto-generated bodies/joints, return flex spec.
-// Nullable: type, dof, count, cellcount, spacing, scale, pos, quat, origin, file, vfs
-MJAPI mjsFlex* mjs_makeFlex(mjsBody* body, const char* name, const char* type, int dim,
-                            const char* dof, const int count[3], const int cellcount[3],
-                            const double spacing[3], const double scale[3], double radius,
-                            double mass, double inertiabox, int equality, int rigid, int flatskin,
-                            int elastic2d, const double pos[3], const double quat[4],
-                            const double origin[3], const char* file, const mjVFS* vfs);
-
-// Add contact pair.
-// Nullable: def
-MJAPI mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* def);
-
-// Add excluded body pair.
-MJAPI mjsExclude* mjs_addExclude(mjSpec* s);
-
-// Add equality.
-// Nullable: def
-MJAPI mjsEquality* mjs_addEquality(mjSpec* s, const mjsDefault* def);
-
-// Add tendon.
-// Nullable: def
-MJAPI mjsTendon* mjs_addTendon(mjSpec* s, const mjsDefault* def);
-
-// Wrap site using tendon.
-MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
-
-// Wrap geom using tendon.
-MJAPI mjsWrap* mjs_wrapGeom(mjsTendon* tendon, const char* name, const char* sidesite);
-
-// Wrap joint using tendon.
-MJAPI mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
-
-// Wrap pulley using tendon.
-MJAPI mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
-
-// Add numeric.
-MJAPI mjsNumeric* mjs_addNumeric(mjSpec* s);
-
-// Add text.
-MJAPI mjsText* mjs_addText(mjSpec* s);
-
-// Add tuple.
-MJAPI mjsTuple* mjs_addTuple(mjSpec* s);
-
-// Add keyframe.
-MJAPI mjsKey* mjs_addKey(mjSpec* s);
-
-// Add plugin.
-MJAPI mjsPlugin* mjs_addPlugin(mjSpec* s);
-
-// Add default.
-// Nullable: parent
-MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
-
-
-//---------------------------------- Set actuator parameters ---------------------------------------
-
-// Set actuator to motor; return error if any.
-MJAPI const char* mjs_setToMotor(mjsActuator* actuator);
-
-// Set actuator to position; return error if any.
-MJAPI const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
-                                    double dampratio[1], double timeconst[1], double inheritrange);
-
-// Set actuator to integrated velocity; return error if any.
-MJAPI const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
-                                       double dampratio[1], double timeconst[1], double inheritrange);
-
-// Set actuator to velocity servo; return error if any.
-MJAPI const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
-
-// Set actuator to orientation servo.
-MJAPI const char* mjs_setToOrientation(mjsActuator* actuator, double kp, double kv[1],
-                                       double dampratio[1], int ctrlspec);
-
-// Set actuator to PID controller.
-MJAPI const char* mjs_setToPID(mjsActuator* actuator, double kp, double kv[1], double dampratio[1],
-                               double ki[1], double imax[1], double slewmax[1], double inheritrange,
-                               int ctrlspec);
-
-// Set actuator to activate damper; return error if any.
-MJAPI const char* mjs_setToDamper(mjsActuator* actuator, double kv);
-
-// Set actuator to hydraulic or pneumatic cylinder; return error if any.
-MJAPI const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
-                                    double bias, double area, double diameter);
-
-// Set actuator to muscle; return error if any.a
-MJAPI const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
-                                  double range[2], double force, double scale, double lmin,
-                                  double lmax, double vmax, double fpmax, double fvmax);
-
-// Set actuator to active adhesion; return error if any.
-MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
-
-// Set actuator to DC motor; return error if any.
-// Nullable: motorconst, nominal, saturation, inductance, cogging, controller, thermal, lugre
-MJAPI const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
-                                   double nominal[3], double saturation[3], double inductance[2],
-                                   double cogging[3], double controller[6], double thermal[6],
-                                   double lugre[5], int ctrlspec);
-
-
-//---------------------------------- Assets --------------------------------------------------------
-
-// Add mesh.
-// Nullable: def
-MJAPI mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
-
-// Add height field.
-MJAPI mjsHField* mjs_addHField(mjSpec* s);
-
-// Add skin.
-MJAPI mjsSkin* mjs_addSkin(mjSpec* s);
-
-// Add texture.
-MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
-
-// Add material.
-// Nullable: def
-MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
-
-// Sets the vertices and normals of a mesh.
-MJAPI int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams);
-
-//---------------------------------- Find and get utilities ----------------------------------------
-
-// Get spec from body.
-MJAPI mjSpec* mjs_getSpec(const mjsElement* element);
-
-// get spec that originally defined an element
-// contrary to mjs_getSpec, this does not change after attachment
-MJAPI mjSpec* mjs_getOriginSpec(const mjsElement* element);
-
-// Get compiler associated with element's origin spec.
-MJAPI mjsCompiler* mjs_getCompiler(const mjsElement* element);
-
-// Find spec (model asset) by name.
-MJAPI mjSpec* mjs_findSpec(const mjSpec* spec, const char* name);
-
-// Find body in spec by name.
-MJAPI mjsBody* mjs_findBody(const mjSpec* s, const char* name);
-
-// Find element in spec by name.
-MJAPI mjsElement* mjs_findElement(const mjSpec* s, mjtObj type, const char* name);
-
-// Find child body by name.
-MJAPI mjsBody* mjs_findChild(const mjsBody* body, const char* name);
-
-// Get parent body.
-MJAPI mjsBody* mjs_getParent(const mjsElement* element);
-
-// Get parent frame.
-MJAPI mjsFrame* mjs_getFrame(const mjsElement* element);
-
-// Find frame by name.
-MJAPI mjsFrame* mjs_findFrame(const mjSpec* s, const char* name);
-
-// Get default corresponding to an element.
-MJAPI mjsDefault* mjs_getDefault(const mjsElement* element);
-
-// Find default in model by class name.
-MJAPI mjsDefault* mjs_findDefault(const mjSpec* s, const char* classname);
-
-// Get global default from model.
-MJAPI mjsDefault* mjs_getSpecDefault(const mjSpec* s);
-
-// Get element id.
-MJAPI int mjs_getId(const mjsElement* element);
-
-// Return body's first child of given type. If recurse is nonzero, also search the body's subtree.
-MJAPI mjsElement* mjs_firstChild(const mjsBody* body, mjtObj type, int recurse);
-
-// Return body's next child of the same type; return NULL if child is last.
-// If recurse is nonzero, also search the body's subtree.
-MJAPI mjsElement* mjs_nextChild(const mjsBody* body, const mjsElement* child, int recurse);
-
-// Return spec's first element of selected type.
-MJAPI mjsElement* mjs_firstElement(const mjSpec* s, mjtObj type);
-
-// Return spec's next element; return NULL if element is last.
-MJAPI mjsElement* mjs_nextElement(const mjSpec* s, const mjsElement* element);
-
-// Get wrapped element in tendon path.
-MJAPI mjsElement* mjs_getWrapTarget(const mjsWrap* wrap);
-
-// Get wrapped element side site in tendon path if it has one, nullptr otherwise.
-MJAPI mjsSite* mjs_getWrapSideSite(const mjsWrap* wrap);
-
-// Get divisor of mjsWrap wrapping a puller.
-MJAPI double mjs_getWrapDivisor(const mjsWrap* wrap);
-
-// Get coefficient of mjsWrap wrapping a joint.
-MJAPI double mjs_getWrapCoef(const mjsWrap* wrap);
-
-//---------------------------------- Attribute setters ---------------------------------------------
-
-// Set element's name; return 0 on success.
-MJAPI int mjs_setName(mjsElement* element, const char* name);
-
-// Copy buffer.
-MJAPI void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
-
-// Copy text to string.
-MJAPI void mjs_setString(mjString* dest, const char* text);
-
-// Split text to entries and copy to string vector.
-MJAPI void mjs_setStringVec(mjStringVec* dest, const char* text);
-
-// Set entry in string vector.
-MJAPI mjtBool mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
-
-// Append text entry to string vector.
-MJAPI void mjs_appendString(mjStringVec* dest, const char* text);
-
-// Copy int array to vector.
-MJAPI void mjs_setInt(mjIntVec* dest, const int* array, int size);
-
-// Append int array to vector of arrays.
-MJAPI void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size);
-
-// Copy float array to vector.
-MJAPI void mjs_setFloat(mjFloatVec* dest, const float* array, int size);
-
-// Append float array to vector of arrays.
-MJAPI void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size);
-
-// Copy double array to vector.
-MJAPI void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
-
-// Set plugin attributes.
-MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
-
-
-//---------------------------------- Attribute getters ---------------------------------------------
-
-// Get element's name.
-MJAPI mjString* mjs_getName(mjsElement* element);
-
-// Get string contents.
-MJAPI const char* mjs_getString(const mjString* source);
-
-// Get double array contents and optionally its size.
-// Nullable: size
-MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
-
-// Get number of elements a tendon wraps.
-MJAPI int mjs_getWrapNum(const mjsTendon* tendonspec);
-
-// Get mjsWrap element at position i in the tendon path.
-MJAPI mjsWrap* mjs_getWrap(const mjsTendon* tendonspec, int i);
-
-// Get plugin attributes.
-MJAPI const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
-
-
-//---------------------------------- Spec utilities ------------------------------------------------
-
-// Set element's default.
-MJAPI void mjs_setDefault(mjsElement* element, const mjsDefault* def);
-
-// Set element's enclosing frame; return 0 on success.
-MJAPI int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
-
-// Resolve alternative orientations to quat; return error if any.
-MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
-                                         const mjsOrientation* orientation);
-
-// Transform body into a frame.
-MJAPI mjsFrame* mjs_bodyToFrame(mjsBody** body);
-
-// Set user payload, overriding the existing value for the specified key if present.
-MJAPI void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
-
-// Set user payload, overriding the existing value for the specified key if
-// present. This version differs from mjs_setUserValue in that it takes a
-// cleanup function that will be called when the user payload is deleted.
-MJAPI void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
-                                       const void* data,
-                                       void (*cleanup)(const void*));
-
-// Return user payload or NULL if none found.
-MJAPI const void* mjs_getUserValue(mjsElement* element, const char* key);
-
-// Delete user payload.
-MJAPI void mjs_deleteUserValue(mjsElement* element, const char* key);
-
-// Return sensor dimension.
-MJAPI int mjs_sensorDim(const mjsSensor* sensor);
-
-//---------------------------------- Element initialization  ---------------------------------------
-
-// Default spec attributes.
-MJAPI void mjs_defaultSpec(mjSpec* spec);
-
-// Default orientation attributes.
-MJAPI void mjs_defaultOrientation(mjsOrientation* orient);
-
-// Default body attributes.
-MJAPI void mjs_defaultBody(mjsBody* body);
-
-// Default frame attributes.
-MJAPI void mjs_defaultFrame(mjsFrame* frame);
-
-// Default joint attributes.
-MJAPI void mjs_defaultJoint(mjsJoint* joint);
-
-// Default geom attributes.
-MJAPI void mjs_defaultGeom(mjsGeom* geom);
-
-// Default site attributes.
-MJAPI void mjs_defaultSite(mjsSite* site);
-
-// Default camera attributes.
-MJAPI void mjs_defaultCamera(mjsCamera* camera);
-
-// Default light attributes.
-MJAPI void mjs_defaultLight(mjsLight* light);
-
-// Default flex attributes.
-MJAPI void mjs_defaultFlex(mjsFlex* flex);
-
-// Default mesh attributes.
-MJAPI void mjs_defaultMesh(mjsMesh* mesh);
-
-// Default height field attributes.
-MJAPI void mjs_defaultHField(mjsHField* hfield);
-
-// Default skin attributes.
-MJAPI void mjs_defaultSkin(mjsSkin* skin);
-
-// Default texture attributes.
-MJAPI void mjs_defaultTexture(mjsTexture* texture);
-
-// Default material attributes.
-MJAPI void mjs_defaultMaterial(mjsMaterial* material);
-
-// Default pair attributes.
-MJAPI void mjs_defaultPair(mjsPair* pair);
-
-// Default equality attributes.
-MJAPI void mjs_defaultEquality(mjsEquality* equality);
-
-// Default tendon attributes.
-MJAPI void mjs_defaultTendon(mjsTendon* tendon);
-
-// Default actuator attributes.
-MJAPI void mjs_defaultActuator(mjsActuator* actuator);
-
-// Default sensor attributes.
-MJAPI void mjs_defaultSensor(mjsSensor* sensor);
-
-// Default numeric attributes.
-MJAPI void mjs_defaultNumeric(mjsNumeric* numeric);
-
-// Default text attributes.
-MJAPI void mjs_defaultText(mjsText* text);
-
-// Default tuple attributes.
-MJAPI void mjs_defaultTuple(mjsTuple* tuple);
-
-// Default keyframe attributes.
-MJAPI void mjs_defaultKey(mjsKey* key);
-
-// Default plugin attributes.
-MJAPI void mjs_defaultPlugin(mjsPlugin* plugin);
-
-
-//---------------------------------- Element casting -----------------------------------------------
-
-// Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.
-MJAPI mjsBody* mjs_asBody(mjsElement* element);
-
-// Safely cast an element as mjsGeom, or return NULL if the element is not an mjsGeom.
-MJAPI mjsGeom* mjs_asGeom(mjsElement* element);
-
-// Safely cast an element as mjsJoint, or return NULL if the element is not an mjsJoint.
-MJAPI mjsJoint* mjs_asJoint(mjsElement* element);
-
-// Safely cast an element as mjsSite, or return NULL if the element is not an mjsSite.
-MJAPI mjsSite* mjs_asSite(mjsElement* element);
-
-// Safely cast an element as mjsCamera, or return NULL if the element is not an mjsCamera.
-MJAPI mjsCamera* mjs_asCamera(mjsElement* element);
-
-// Safely cast an element as mjsLight, or return NULL if the element is not an mjsLight.
-MJAPI mjsLight* mjs_asLight(mjsElement* element);
-
-// Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.
-MJAPI mjsFrame* mjs_asFrame(mjsElement* element);
-
-// Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.
-MJAPI mjsActuator* mjs_asActuator(mjsElement* element);
-
-// Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.
-MJAPI mjsSensor* mjs_asSensor(mjsElement* element);
-
-// Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.
-MJAPI mjsFlex* mjs_asFlex(mjsElement* element);
-
-// Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.
-MJAPI mjsPair* mjs_asPair(mjsElement* element);
-
-// Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.
-MJAPI mjsEquality* mjs_asEquality(mjsElement* element);
-
-// Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.
-MJAPI mjsExclude* mjs_asExclude(mjsElement* element);
-
-// Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.
-MJAPI mjsTendon* mjs_asTendon(mjsElement* element);
-
-// Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.
-MJAPI mjsNumeric* mjs_asNumeric(mjsElement* element);
-
-// Safely cast an element as mjsText, or return NULL if the element is not an mjsText.
-MJAPI mjsText* mjs_asText(mjsElement* element);
-
-// Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.
-MJAPI mjsTuple* mjs_asTuple(mjsElement* element);
-
-// Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.
-MJAPI mjsKey* mjs_asKey(mjsElement* element);
-
-// Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.
-MJAPI mjsMesh* mjs_asMesh(mjsElement* element);
-
-// Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.
-MJAPI mjsHField* mjs_asHField(mjsElement* element);
-
-// Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.
-MJAPI mjsSkin* mjs_asSkin(mjsElement* element);
-
-// Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.
-MJAPI mjsTexture* mjs_asTexture(mjsElement* element);
-
-// Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.
-MJAPI mjsMaterial* mjs_asMaterial(mjsElement* element);
-
-// Safely cast an element as mjsPlugin, or return NULL if the element is not an mjsPlugin.
-MJAPI mjsPlugin* mjs_asPlugin(mjsElement* element);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_MUJOCO_H_
diff --git a/mjx/MANIFEST.in b/mjx/MANIFEST.in
deleted file mode 100644
index 4bc2067d..00000000
--- a/mjx/MANIFEST.in
+++ /dev/null
@@ -1 +0,0 @@
-recursive-include mujoco/mjx/test_data *
diff --git a/mjx/README.md b/mjx/README.md
deleted file mode 100644
index bb653700..00000000
--- a/mjx/README.md
+++ /dev/null
@@ -1,39 +0,0 @@
-# MuJoCo XLA (MJX)
-
-[![PyPI Python Version][pypi-versions-badge]][pypi]
-[![PyPI version][pypi-badge]][pypi]
-
-[pypi-versions-badge]: https://img.shields.io/pypi/pyversions/mujoco-mjx
-[pypi-badge]: https://badge.fury.io/py/mujoco-mjx.svg
-[pypi]: https://pypi.org/project/mujoco-mjx/
-
-本软件包是基于 [JAX](https://github.com/jax-ml/jax) 对 [MuJoCo 物理引擎](https://github.com/google-deepmind/mujoco) 的重新实现。该库由 Google DeepMind 开发和维护，并与 MuJoCo 本身的最新进展保持同步。
-
-`mujoco-mjx` 软件包在 API 上与 MuJoCo 兼容，但缺少 MuJoCo 中的某些功能。有关功能特性的对齐情况，请参阅我们的[官方文档](https://mujoco.readthedocs.io/en/stable/mjx.html)。
-
-## 安装
-
-推荐通过 [PyPI](https://pypi.org/project/mujoco-mjx/) 安装本软件包：
-
-```sh
-pip install mujoco-mjx
-```
-
-## 使用说明
-
-安装完成后，可以通过 `from mujoco import mjx` 导入该包。有关该包 API 的更多详细信息，请参阅我们的[官方文档](https://mujoco.readthedocs.io/en/stable/mjx.html)。
-
-我们建议查阅教程 Notebook，它介绍了 MJX API 并在数分钟内训练一个强化学习策略：
-[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb)
-
-## 版本规范
-
-版本号的 `major.minor.micro` 部分与该库所基于的 MuJoCo 版本保持一致。可选地，如果我们发布了针对同一 MuJoCo 版本的 MJX 自身更新，则会添加 `.postN` 后缀，例如 `3.0.1.post2` 表示针对 MuJoCo 3.0.1 的 MJX 第二次更新。
-
-## 开源许可证与免责声明
-
-Copyright 2023 DeepMind Technologies Limited
-
-MuJoCo 及其相关库基于 Apache 许可证 2.0 版（Apache License, Version 2.0）授权。您可在 https://www.apache.org/licenses/LICENSE-2.0 获取许可证副本。
-
-本项目不是 Google 官方支持的产品。
diff --git a/mjx/cuda_requirements.txt b/mjx/cuda_requirements.txt
deleted file mode 100644
index d6bbdc7a..00000000
--- a/mjx/cuda_requirements.txt
+++ /dev/null
@@ -1,27 +0,0 @@
-jax-cuda12-plugin==0.8.3; python_version >= '3.13' \
-    --hash=sha256:11d7cb222cfd4d5f6b7691df61516a5edc9298b7879dd6caaccc6dfc64678c70 \
-    --hash=sha256:7bb68f693e16038cad77197aba914375795e5bb7e99f4a4f023b67bb50cad8c2 \
-    --hash=sha256:9e3f1335a6812f5b28ace211a17d9ede46b8b46ceb4b8d9c8c697d3b4ada513f \
-    --hash=sha256:b38c4bd34062c01d22a8c6a2225254dcd429771e97e024f3a2ccc1d6d24fd856 \
-    --hash=sha256:b3f64b5059a39c18ec006c136475f46d088a11164e7e6ee2444e76305da87a1b \
-    --hash=sha256:bb20d8b794ce52d644967c7229c5e0a01d3b1fac7efc60fbbfcd046a745a66c6 \
-    --hash=sha256:f9a722128e2b423469a5dab8f9f96d77257d153ca7d96850b25a475191efaacc \
-    --hash=sha256:fb9d49d43c4447793630079632e6fbb4a5ce30c388955131fe3ba96efec91817
-jax-cuda12-plugin==0.5.3; python_version < '3.13' \
-    --hash=sha256:2030cf1208ce4ea70ee56cac61ddd239f9798695fc39bb7739c50a25d6e9da44 \
-    --hash=sha256:298d2d768f1029b74a0b1d01270e549349d2c37dc07658796542cda967eb7bd3 \
-    --hash=sha256:6171aed2f4b3bdd5fc13782de1072c6a634fce13731b75d0cb0a6ab8f4e6e650 \
-    --hash=sha256:aaa704a5ef547595d022db1c1e4878a0677116412a9360c115d67ff4b64e1596 \
-    --hash=sha256:ba2555967f9b6c381c8b4ef9fb03d05bc55ec25ecfee5cfe45c5ace34f7d4152 \
-    --hash=sha256:c2517a7c2186f8708894696e26cf96ebd60b7879ceca398b2c46abb28d2c96c8
-jax-cuda12-pjrt==0.8.3; python_version >= '3.13' \
-    --hash=sha256:f6d085fa7b2836cd79b14cabf1058ddb50c5161bfca9ede407993fa4f7547b7b \
-    --hash=sha256:f740c661dd4064ff45dedf170fd0c4ff1a25d077636ad293307e8d28c78e65d7
-jax-cuda12-pjrt==0.5.3; python_version < '3.13' \
-    --hash=sha256:04ee111eaf5fc2692978ad4a5c84d5925e42eb05c1701849ba3a53f6515400cc \
-    --hash=sha256:c5378306568ba0c81b230a779dd3194c9dd10339ab6360ae80928108d37e7f75
-warp-lang==1.16.0 \
-    --hash=sha256:19a7590c4484e8250ab19165311d2a1774138663b361c41e8be2865c7515c4ae \
-    --hash=sha256:8690c9096e0a271985339d4aa4b37675e7d62852620ca861ac032dc85b124542 \
-    --hash=sha256:96449fc1e3b354185e2f09434fb794b5953ab2e8673b104d7e7f48d5d418bb35 \
-    --hash=sha256:d4715171bd6821436b82293d774c9a082ace08215c189572b4348d1e48fb8ee8
diff --git a/mjx/mujoco/mjx/__init__.py b/mjx/mujoco/mjx/__init__.py
deleted file mode 100644
index b97abb4b..00000000
--- a/mjx/mujoco/mjx/__init__.py
+++ /dev/null
@@ -1,79 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Public API for MJX."""
-
-# isort: off
-from mujoco.mjx._src.forward import step
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import Data
-# isort: on
-
-# pylint:disable=g-importing-member
-from mujoco.mjx._src.bvh import refit_bvh
-from mujoco.mjx._src.collision_driver import collision
-from mujoco.mjx._src.constraint import make_constraint
-from mujoco.mjx._src.derivative import deriv_smooth_vel
-from mujoco.mjx._src.forward import euler
-from mujoco.mjx._src.forward import forward
-from mujoco.mjx._src.forward import fwd_acceleration
-from mujoco.mjx._src.forward import fwd_actuation
-from mujoco.mjx._src.forward import fwd_position
-from mujoco.mjx._src.forward import fwd_velocity
-from mujoco.mjx._src.forward import implicit
-from mujoco.mjx._src.forward import rungekutta4
-from mujoco.mjx._src.inverse import inverse
-from mujoco.mjx._src.io import create_render_context
-from mujoco.mjx._src.io import get_data
-from mujoco.mjx._src.io import get_data_into
-from mujoco.mjx._src.io import get_state
-from mujoco.mjx._src.io import make_data
-from mujoco.mjx._src.io import put_data
-from mujoco.mjx._src.io import put_model
-from mujoco.mjx._src.io import set_state
-from mujoco.mjx._src.io import state_size
-from mujoco.mjx._src.passive import passive
-from mujoco.mjx._src.ray import ray
-from mujoco.mjx._src.render import render
-from mujoco.mjx._src.render import render_with_segmentation
-from mujoco.mjx._src.render_util import get_depth
-from mujoco.mjx._src.render_util import get_rgb
-from mujoco.mjx._src.render_util import get_segmentation
-from mujoco.mjx._src.sensor import sensor_acc
-from mujoco.mjx._src.sensor import sensor_pos
-from mujoco.mjx._src.sensor import sensor_vel
-from mujoco.mjx._src.smooth import camlight
-from mujoco.mjx._src.smooth import com_pos
-from mujoco.mjx._src.smooth import com_vel
-from mujoco.mjx._src.smooth import crb
-from mujoco.mjx._src.smooth import factor_m
-from mujoco.mjx._src.smooth import kinematics
-from mujoco.mjx._src.smooth import rne
-from mujoco.mjx._src.smooth import rne_postconstraint
-from mujoco.mjx._src.smooth import subtree_vel
-from mujoco.mjx._src.smooth import tendon
-from mujoco.mjx._src.smooth import tendon_armature
-from mujoco.mjx._src.smooth import tendon_bias
-from mujoco.mjx._src.smooth import transmission
-from mujoco.mjx._src.solver import solve
-from mujoco.mjx._src.support import apply_ft
-from mujoco.mjx._src.support import full_m
-from mujoco.mjx._src.support import id2name
-from mujoco.mjx._src.support import is_sparse
-from mujoco.mjx._src.support import jac
-from mujoco.mjx._src.support import mul_m
-from mujoco.mjx._src.support import name2id
-from mujoco.mjx._src.support import xfrc_accumulate
-from mujoco.mjx._src.test_util import benchmark
-from mujoco.mjx._src.types import *
diff --git a/mjx/mujoco/mjx/_src/__init__.py b/mjx/mujoco/mjx/_src/__init__.py
deleted file mode 100644
index 4ad51d69..00000000
--- a/mjx/mujoco/mjx/_src/__init__.py
+++ /dev/null
@@ -1,14 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
diff --git a/mjx/mujoco/mjx/_src/bvh.py b/mjx/mujoco/mjx/_src/bvh.py
deleted file mode 100644
index 1a75a8a0..00000000
--- a/mjx/mujoco/mjx/_src/bvh.py
+++ /dev/null
@@ -1,40 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""BVH helpers for MJX."""
-
-from typing import Any
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import Impl
-from mujoco.mjx._src.types import Model
-# pylint: enable=g-importing-member
-import mujoco.mjx.warp as mjxw
-
-
-def refit_bvh(m: Model, d: Data, ctx: Any):
-  """Refit the scene BVH for the current pose."""
-  if m.impl == Impl.WARP and d.impl == Impl.WARP and mjxw.WARP_INSTALLED:
-    import mujoco.mjx.warp.render_context as mjxw_rc  # pylint: disable=g-import-not-at-top  # pytype: disable=import-error
-    from mujoco.mjx.warp import bvh as mjxw_bvh  # pylint: disable=g-import-not-at-top  # pytype: disable=import-error
-
-    if not isinstance(ctx, mjxw_rc.RenderContextPytree):
-      raise TypeError(
-          f'Expected RenderContextPytree, got {type(ctx).__name__}.'
-          ' Use rc.pytree() to get the JAX-compatible handle.'
-      )
-
-    return mjxw_bvh.refit_bvh(m, d, ctx)
-
-  raise NotImplementedError('refit_bvh only implemented for MuJoCo Warp.')
diff --git a/mjx/mujoco/mjx/_src/collision_convex.py b/mjx/mujoco/mjx/_src/collision_convex.py
deleted file mode 100644
index 61950b68..00000000
--- a/mjx/mujoco/mjx/_src/collision_convex.py
+++ /dev/null
@@ -1,1117 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Convex collisions."""
-
-import functools
-from typing import Callable, Tuple, Union
-
-import jax
-from jax import numpy as jp
-from mujoco.mjx._src import math
-from mujoco.mjx._src import mesh
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.collision_types import Collision
-from mujoco.mjx._src.collision_types import ConvexInfo
-from mujoco.mjx._src.collision_types import FunctionKey
-from mujoco.mjx._src.collision_types import GeomInfo
-from mujoco.mjx._src.collision_types import HFieldInfo
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import GeomType
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-# pylint: enable=g-importing-member
-
-_GeomInfo = Union[GeomInfo, ConvexInfo]
-
-
-def collider(ncon: int):
-  """Wraps collision functions for use by collision_driver."""
-
-  def wrapper(collision_fn):
-    def collide(
-        m: Model, d: Data, key: FunctionKey, geom: jax.Array
-    ) -> Collision:
-      if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-        raise ValueError('collider requires JAX backend implementation.')
-
-      g1, g2 = geom.T
-      infos = [
-          GeomInfo(d.geom_xpos[g1], d.geom_xmat[g1], m.geom_size[g1]),
-          GeomInfo(d.geom_xpos[g2], d.geom_xmat[g2], m.geom_size[g2]),
-      ]
-      in_axes = [0, 0]
-      fn = collision_fn
-      for i in [0, 1]:
-        if key.types[i] == GeomType.BOX:
-          infos[i] = mesh.box(infos[i])  # pyrefly: ignore[unsupported-operation]
-          in_axes[i] = jax.tree_util.tree_map(lambda x: None, infos[i]).replace(
-              pos=0, mat=0, size=0, face=0, vert=0
-          )
-        elif key.types[i] == GeomType.MESH:
-          c, cm = infos[i], m._impl.mesh_convex[key.data_ids[i]]
-          infos[i] = ConvexInfo(**vars(c), **vars(cm))  # pyrefly: ignore[unsupported-operation]
-          in_axes[i] = jax.tree_util.tree_map(lambda x: None, infos[i]).replace(
-              pos=0, mat=0, size=0
-          )
-        elif key.types[i] == GeomType.HFIELD:
-          hfield_info = mesh.hfield(m, key.data_ids[i])
-          infos[i] = hfield_info.replace(pos=infos[i].pos, mat=infos[i].mat)  # pyrefly: ignore[unsupported-operation]
-          in_axes[i] = hfield_info.replace(pos=0, mat=0, data=None)  # pyrefly: ignore[unsupported-operation]
-          fn = functools.partial(fn, subgrid_size=key.subgrid_size)
-      dist, pos, frame = jax.vmap(fn, in_axes=in_axes)(*infos)  # pytype: disable=wrong-keyword-args
-      if ncon > 1:
-        return jax.tree_util.tree_map(jp.concatenate, (dist, pos, frame))
-      return dist, pos, frame
-
-    collide.ncon = ncon  # pyrefly: ignore[missing-attribute]
-    return collide
-
-  return wrapper
-
-
-def _closest_segment_point_plane(
-    a: jax.Array, b: jax.Array, p0: jax.Array, plane_normal: jax.Array
-) -> jax.Array:
-  """Gets the closest point between a line segment and a plane.
-
-  Args:
-    a: first line segment point
-    b: second line segment point
-    p0: point on plane
-    plane_normal: plane normal
-
-  Returns:
-    closest point between the line segment and the plane
-  """
-  # Parametrize a line segment as S(t) = a + t * (b - a), plug it into the plane
-  # equation dot(n, S(t)) - d = 0, then solve for t to get the line-plane
-  # intersection. We then clip t to be in [0, 1] to be on the line segment.
-  n = plane_normal
-  d = jp.sum(p0 * n)  # shortest distance from origin to plane
-  denom = jp.sum(n * (b - a))
-  t = (d - jp.sum(n * a)) / (denom + 1e-6 * (denom == 0.0))
-  t = jp.clip(t, 0, 1)
-  segment_point = a + t * (b - a)
-
-  return segment_point
-
-
-def _manifold_points(
-    poly: jax.Array, poly_mask: jax.Array, poly_norm: jax.Array
-) -> jax.Array:
-  """Chooses four points on the polygon with approximately maximal area."""
-  dist_mask = jp.where(poly_mask, 0.0, -1e6)
-  a_idx = jp.argmax(dist_mask)
-  a = poly[a_idx]
-  # choose point b furthest from a
-  b_idx = (((a - poly) ** 2).sum(axis=1) + dist_mask).argmax()
-  b = poly[b_idx]
-  # choose point c furthest along the axis orthogonal to (a-b)
-  ab = jp.cross(poly_norm, a - b)
-  ap = a - poly
-  c_idx = (jp.abs(ap.dot(ab)) + dist_mask).argmax()
-  c = poly[c_idx]
-  # choose point d furthest from the other two triangle edges
-  ac = jp.cross(poly_norm, a - c)
-  bc = jp.cross(poly_norm, b - c)
-  bp = b - poly
-  dist_bp = jp.abs(bp.dot(bc)) + dist_mask
-  dist_ap = jp.abs(ap.dot(ac)) + dist_mask
-  d_idx = (dist_bp + dist_ap).argmax() % poly.shape[0]
-  return jp.array([a_idx, b_idx, c_idx, d_idx])
-
-
-@collider(ncon=4)
-def plane_convex(plane: GeomInfo, convex: ConvexInfo) -> Collision:
-  """Calculates contacts between a plane and a convex object."""
-  vert = convex.vert
-
-  # get points in the convex frame
-  plane_pos = convex.mat.T @ (plane.pos - convex.pos)
-  n = convex.mat.T @ plane.mat[:, 2]
-  support = (plane_pos - vert) @ n
-  # search for manifold points within a 1mm skin depth
-  idx = _manifold_points(vert, support > jp.maximum(0, support.max() - 1e-3), n)
-  pos = vert[idx]
-
-  # convert to world frame
-  pos = convex.pos + pos @ convex.mat.T
-  n = plane.mat[:, 2]
-
-  frame = jp.stack([math.make_frame(n)] * 4, axis=0)
-  unique = jp.tril(idx == idx[:, None]).sum(axis=1) == 1
-  dist = jp.where(unique, -support[idx], 1)
-  pos = pos - 0.5 * dist[:, None] * n
-  return dist, pos, frame
-
-
-def _sphere_convex(sphere: GeomInfo, convex: ConvexInfo) -> Collision:
-  """Calculates contact between a sphere and a convex mesh."""
-  faces = convex.face
-  normals = convex.face_normal
-
-  # Put sphere in convex frame.
-  sphere_pos = convex.mat.T @ (sphere.pos - convex.pos)
-
-  # Get support from face normals.
-  @jax.vmap
-  def get_support(faces, normal):
-    pos = sphere_pos - normal * sphere.size[0]
-    return jp.dot(pos - faces[0], normal)
-
-  support = get_support(faces, normals)
-  has_separating_axis = jp.any(support >= 0)
-
-  # Pick the face with the best separating axis.
-  best_idx = support.argmax()
-  face = faces[best_idx]
-  face_normal = normals[best_idx]
-
-  # Get closest point between the polygon face and the sphere center point.
-  # Project the sphere center point onto poly plane. If it's inside polygon
-  # side planes, then we're done.
-  pt = _project_pt_onto_plane(sphere_pos, face[0], face_normal)
-  edge_p0 = jp.roll(face, 1, axis=0)
-  edge_p1 = face
-  side_normals = jax.vmap(jp.cross, in_axes=[0, None])(
-      edge_p1 - edge_p0,
-      face_normal,
-  )
-  edge_dist = jax.vmap(
-      lambda plane_pt, plane_norm, pt=pt: (pt - plane_pt).dot(plane_norm)
-  )(edge_p0, side_normals)
-  pt_on_face = jp.all(edge_dist <= 0)  # lte to handle degenerate edges
-
-  # If the point is outside side planes, project onto the closest side plane
-  # that the point is in front of.
-  degenerate_edge = jp.all(side_normals == 0, axis=1)
-  behind = edge_dist < 0.0
-  edge_dist = jp.where(degenerate_edge | behind, 1e12, edge_dist)
-  idx = edge_dist.argmin()
-  edge_pt = math.closest_segment_point(edge_p0[idx], edge_p1[idx], pt)
-  pt = jp.where(pt_on_face, pt, edge_pt)
-
-  # Get the normal, dist, and contact position.
-  pt_normal, d = math.normalize_with_norm(pt - sphere_pos)
-  # Ensure normal points towards convex centroid. Assume convex centroid is at
-  # the origin.
-  inside = jp.dot(pt, pt_normal) > 0
-  sign = jp.where(inside, -1, 1)
-  n = jp.where(pt_on_face | (d < 1e-6), -face_normal, sign * pt_normal)
-  d *= sign
-
-  spt = sphere_pos + n * sphere.size[0]
-  dist = jp.where(has_separating_axis, 1.0, d - sphere.size[0])
-  pos = (pt + spt) * 0.5
-
-  # Go back to world frame.
-  n = convex.mat @ n
-  pos = convex.mat @ pos + convex.pos
-
-  return dist, pos, n
-
-
-@collider(ncon=1)
-def sphere_convex(sphere: GeomInfo, convex: ConvexInfo) -> Collision:
-  """Calculates contact between a sphere and a convex mesh."""
-  dist, pos, n = _sphere_convex(sphere, convex)
-  return dist, pos, math.make_frame(n)
-
-
-def _capsule_convex(cap: GeomInfo, convex: ConvexInfo) -> Collision:
-  """Calculates contacts between a capsule and a convex object."""
-  # Get convex transformed normals, faces, and vertices.
-  faces = convex.face
-  normals = convex.face_normal
-
-  # Put capsule in convex frame.
-  cap_pos = convex.mat.T @ (cap.pos - convex.pos)
-  axis, length = cap.mat[:, 2], cap.size[1]
-  axis = convex.mat.T @ axis
-  seg = axis * length
-  cap_pts = jp.array([
-      cap_pos - seg,
-      cap_pos + seg,
-  ])
-
-  # Get support from face normals.
-  @jax.vmap
-  def get_support(face, normal):
-    pts = cap_pts - normal * cap.size[0]
-    sup = jax.vmap(lambda x: jp.dot(x - face[0], normal))(pts)
-    return sup.min()
-
-  support = get_support(faces, normals)
-  has_support = jp.all(support < 0)
-
-  # Pick the face with minimal penetration.
-  best_idx = support.argmax()
-  face = faces[best_idx]
-  normal = normals[best_idx]
-
-  # Clip the segment against side planes and create two contact points against
-  # the face.
-  edge_p0 = jp.roll(face, 1, axis=0)
-  edge_p1 = face
-  side_planes = jax.vmap(jp.cross, in_axes=[0, None])(
-      edge_p1 - edge_p0,
-      normal,
-  )
-  cap_pts_clipped, mask = _clip_edge_to_planes(
-      cap_pts[0], cap_pts[1], edge_p0, side_planes
-  )
-  cap_pts_clipped = cap_pts_clipped - normal * cap.size[0]
-  face_pts = jax.vmap(_project_pt_onto_plane, in_axes=[0, None, None])(
-      cap_pts_clipped, face[0], normal
-  )
-  # Create variables for the face contact.
-  pos = (cap_pts_clipped + face_pts) * 0.5
-  contact_normal = -jp.stack([normal] * 2, 0)
-  face_penetration = jp.where(
-      mask & has_support, jp.dot(face_pts - cap_pts_clipped, normal), -1
-  )
-
-  # Pick a potential shallow edge contact.
-  def get_edge_axis(edge):
-    edge_closest_pt, cap_closest_pt = math.closest_segment_to_segment_points(
-        edge[0], edge[1], cap_pts[0], cap_pts[1]
-    )
-    edge_dir = edge_closest_pt - cap_closest_pt
-    degenerate_edge_dir = jp.sum(jp.square(edge_dir)) < 1e-6
-    edge_axis, edge_dist = math.normalize_with_norm(edge_dir)
-    return (
-        edge_dist,
-        edge_axis,
-        degenerate_edge_dir,
-        edge_closest_pt,
-        cap_closest_pt,
-    )
-
-  edge = jp.take(convex.vert, convex.edge, axis=0)
-  edge_face_normal = convex.edge_face_normal  # pytype: disable=attribute-error
-
-  res = jax.vmap(get_edge_axis)(edge.reshape(-1, 2, 3))
-  e_idx = jp.abs(res[0]).argmin()
-  (
-      edge_dist,
-      edge_axis,
-      degenerate_edge_dir,
-      edge_closest_pt,
-      cap_closest_pt,
-  ) = jax.tree_util.tree_map(lambda x, i=e_idx: jp.take(x, i, axis=0), res)
-
-  edge_face_normals = edge_face_normal[e_idx]
-  edge_voronoi_front = ((edge_face_normals @ edge_axis) < 0).all()
-  shallow = ~degenerate_edge_dir & edge_voronoi_front
-  edge_penetration = jp.where(shallow, cap.size[0] - edge_dist, -1)
-
-  # Determine edge contact position.
-  edge_pos = (
-      edge_closest_pt + (cap_closest_pt + edge_axis * cap.size[0])
-  ) * 0.5
-  edge_dir_parallel_to_face = (
-      jp.abs(edge_axis.dot(normal)) > 0.99
-  ) & ~degenerate_edge_dir
-  min_face_penetration = face_penetration.min()
-  has_edge_contact = (
-      (edge_penetration > 0)
-      # prefer edge contact if the edge is smaller than face penetration
-      & jp.where(
-          min_face_penetration > 0,
-          edge_penetration < min_face_penetration,
-          True,
-      )
-      # prefer face contact if the edge axis is parallel to the face normal
-      & ~edge_dir_parallel_to_face
-      # make sure we have a shallow contact
-      & edge_voronoi_front
-  )
-
-  # Get the contact info.
-  pos = jp.where(has_edge_contact, pos.at[0].set(edge_pos), pos)
-  n = jp.where(
-      has_edge_contact, contact_normal.at[0].set(edge_axis), contact_normal
-  )
-
-  # Go back to world frame.
-  pos = convex.pos + pos @ convex.mat.T
-  n = n @ convex.mat.T
-
-  dist = -jp.where(
-      has_edge_contact, jp.array([edge_penetration, -1]), face_penetration
-  )
-  return dist, pos, n
-
-
-@collider(ncon=2)
-def capsule_convex(cap: GeomInfo, convex: ConvexInfo) -> Collision:
-  """Calculates contacts between a capsule and a convex object."""
-  dist, pos, n = _capsule_convex(cap, convex)
-  frame = jax.vmap(math.make_frame)(n)
-  return dist, pos, frame
-
-
-def _project_pt_onto_plane(
-    pt: jax.Array, plane_pt: jax.Array, plane_normal: jax.Array
-) -> jax.Array:
-  """Projects a point onto a plane along the plane normal."""
-  dist = (pt - plane_pt).dot(plane_normal)
-  return pt - dist * plane_normal
-
-
-def _project_poly_onto_plane(
-    poly: jax.Array, plane_pt: jax.Array, plane_normal: jax.Array
-) -> jax.Array:
-  """Projects a polygon onto a plane using the plane normal."""
-  return jax.vmap(_project_pt_onto_plane, in_axes=[0, None, None])(
-      poly, plane_pt, math.normalize(plane_normal)
-  )
-
-
-def _project_poly_onto_poly_plane(
-    poly1: jax.Array, norm1: jax.Array, poly2: jax.Array, norm2: jax.Array
-) -> jax.Array:
-  """Projects poly1 onto the poly2 plane along poly1's normal."""
-  d = poly2[0].dot(norm2)
-  denom = norm1.dot(norm2)
-  t = (d - poly1.dot(norm2)) / (denom + 1e-6 * (denom == 0.0))
-  new_poly = poly1 + t.reshape(-1, 1) * norm1
-  return new_poly
-
-
-def _point_in_front_of_plane(
-    plane_pt: jax.Array, plane_normal: jax.Array, pt: jax.Array
-) -> jax.Array:
-  """Checks if a point is strictly in front of a plane."""
-  return (pt - plane_pt).dot(plane_normal) > 1e-6
-
-
-def _clip_edge_to_planes(
-    edge_p0: jax.Array,
-    edge_p1: jax.Array,
-    plane_pts: jax.Array,
-    plane_normals: jax.Array,
-) -> Tuple[jax.Array, jax.Array]:
-  """Clips an edge against side planes.
-
-  We return two clipped points, and a mask to include the new edge or not.
-
-  Args:
-    edge_p0: the first point on the edge
-    edge_p1: the second point on the edge
-    plane_pts: side plane points
-    plane_normals: side plane normals
-
-  Returns:
-    new_ps: new edge points that are clipped against side planes
-    mask: a boolean mask, True if an edge point is a valid clipped point and
-    False otherwise
-  """
-  p0, p1 = edge_p0, edge_p1
-  p0_in_front = jax.vmap(jp.dot)(p0 - plane_pts, plane_normals) > 1e-6
-  p1_in_front = jax.vmap(jp.dot)(p1 - plane_pts, plane_normals) > 1e-6
-
-  # Get candidate clipped points along line segment (p0, p1) by clipping against
-  # all clipping planes.
-  candidate_clipped_ps = jax.vmap(
-      _closest_segment_point_plane, in_axes=[None, None, 0, 0]
-  )(p0, p1, plane_pts, plane_normals)
-
-  def clip_edge_point(p0, p1, p0_in_front, clipped_ps):
-    @jax.vmap
-    def choose_edge_point(in_front, clipped_p):
-      return jp.where(in_front, clipped_p, p0)
-
-    # Pick the clipped point if p0 is in front of the clipping plane. Otherwise
-    # keep p0 as the edge point.
-    new_edge_ps = choose_edge_point(p0_in_front, clipped_ps)
-
-    # Pick the clipped point that is most along the edge direction.
-    # This degenerates to picking the original point p0 if p0 is *not* in front
-    # of any clipping planes.
-    dists = jp.dot(new_edge_ps - p0, p1 - p0)
-    new_edge_p = new_edge_ps[jp.argmax(dists)]
-    return new_edge_p
-
-  # Clip each edge point.
-  new_p0 = clip_edge_point(p0, p1, p0_in_front, candidate_clipped_ps)
-  new_p1 = clip_edge_point(p1, p0, p1_in_front, candidate_clipped_ps)
-  clipped_pts = jp.array([new_p0, new_p1])
-
-  # Keep the original points if both points are in front of any of the clipping
-  # planes, rather than creating a new clipped edge. If the entire subject edge
-  # is in front of any clipping plane, we need to grab an edge from the clipping
-  # polygon instead.
-  both_in_front = p0_in_front & p1_in_front
-  mask = ~jp.any(both_in_front)
-  new_ps = jp.where(mask, clipped_pts, jp.array([p0, p1]))
-  # Mask out crossing clipped edge points.
-  mask = jp.where((p0 - p1).dot(new_ps[0] - new_ps[1]) < 0, False, mask)
-  return new_ps, jp.array([mask, mask])
-
-
-def _clip(
-    clipping_poly: jax.Array,
-    subject_poly: jax.Array,
-    clipping_normal: jax.Array,
-    subject_normal: jax.Array,
-) -> Tuple[jax.Array, jax.Array]:
-  """Clips a subject polygon against a clipping polygon.
-
-  A parallelized clipping algorithm for convex polygons. The result is a set of
-  vertices on the clipped subject polygon in the subject polygon plane.
-
-  Args:
-    clipping_poly: the polygon that we use to clip the subject polygon against
-    subject_poly: the polygon that gets clipped
-    clipping_normal: normal of the clipping polygon
-    subject_normal: normal of the subject polygon
-
-  Returns:
-    clipped_pts: points on the clipped polygon
-    mask: True if a point is in the clipping polygon, False otherwise
-  """
-  # Get clipping edge points, edge planes, and edge normals.
-  clipping_p0 = jp.roll(clipping_poly, 1, axis=0)
-  clipping_plane_pts = clipping_p0
-  clipping_p1 = clipping_poly
-  clipping_plane_normals = jax.vmap(jp.cross, in_axes=[0, None])(
-      clipping_p1 - clipping_p0,
-      clipping_normal,
-  )
-
-  # Get subject edge points, edge planes, and edge normals.
-  subject_edge_p0 = jp.roll(subject_poly, 1, axis=0)
-  subject_plane_pts = subject_edge_p0
-  subject_edge_p1 = subject_poly
-  subject_plane_normals = jax.vmap(jp.cross, in_axes=[0, None])(
-      subject_edge_p1 - subject_edge_p0,
-      subject_normal,
-  )
-
-  # Clip all edges of the subject poly against clipping side planes.
-  clipped_edges0, masks0 = jax.vmap(
-      _clip_edge_to_planes, in_axes=[0, 0, None, None]
-  )(
-      subject_edge_p0,
-      subject_edge_p1,
-      clipping_plane_pts,
-      clipping_plane_normals,
-  )
-
-  # Project the clipping poly onto the subject plane.
-  clipping_p0_s = _project_poly_onto_poly_plane(
-      clipping_p0, clipping_normal, subject_poly, subject_normal
-  )
-  clipping_p1_s = _project_poly_onto_poly_plane(
-      clipping_p1, clipping_normal, subject_poly, subject_normal
-  )
-
-  # Clip all edges of the clipping poly against subject planes.
-  clipped_edges1, masks1 = jax.vmap(
-      _clip_edge_to_planes, in_axes=[0, 0, None, None]
-  )(clipping_p0_s, clipping_p1_s, subject_plane_pts, subject_plane_normals)
-
-  # Merge the points and reshape.
-  clipped_edges = jp.concatenate([clipped_edges0, clipped_edges1])
-  masks = jp.concatenate([masks0, masks1])
-  clipped_points = clipped_edges.reshape((-1, 3))
-  mask = masks.reshape(-1)
-
-  return clipped_points, mask
-
-
-def _create_contact_manifold(
-    clipping_poly: jax.Array,
-    subject_poly: jax.Array,
-    clipping_norm: jax.Array,
-    subject_norm: jax.Array,
-    sep_axis: jax.Array,
-) -> Tuple[jax.Array, jax.Array, jax.Array]:
-  """Creates a contact manifold between two convex polygons.
-
-  The polygon faces are expected to have a counter clockwise winding order so
-  that clipping plane normals point away from the polygon center.
-
-  Args:
-    clipping_poly: the reference polygon to clip the contact against.
-    subject_poly: the subject polygon to clip contacts onto.
-    clipping_norm: the clipping polygon normal.
-    subject_norm: the subject polygon normal.
-    sep_axis: the separating axis
-
-  Returns:
-    tuple of dist, pos, and normal
-  """
-  # Clip the subject (incident) face onto the clipping (reference) face.
-  # The incident points are clipped points on the subject polygon.
-  poly_incident, mask = _clip(
-      clipping_poly, subject_poly, clipping_norm, subject_norm
-  )
-  # The reference points are clipped points on the clipping polygon.
-  poly_ref = _project_poly_onto_plane(
-      poly_incident, clipping_poly[0], clipping_norm
-  )
-  behind_clipping_plane = _point_in_front_of_plane(
-      clipping_poly[0], -clipping_norm, poly_incident
-  )
-  mask = mask & behind_clipping_plane
-
-  # Choose four contact points.
-  best = _manifold_points(poly_ref, mask, clipping_norm)
-  contact_pts = jp.take(poly_ref, best, axis=0)
-  mask_pts = jp.take(mask, best, axis=0)
-  penetration_dir = jp.take(poly_incident, best, axis=0) - contact_pts
-  penetration = penetration_dir.dot(-clipping_norm)
-
-  dist = jp.where(mask_pts, -penetration, jp.ones_like(penetration))
-  pos = contact_pts
-  normal = -jp.stack([sep_axis] * 4, 0)
-  return dist, pos, normal
-
-
-def _box_box_impl(
-    faces_a: jax.Array,
-    faces_b: jax.Array,
-    vertices_a: jax.Array,
-    vertices_b: jax.Array,
-    normals_a: jax.Array,
-    normals_b: jax.Array,
-    unique_edges_a: jax.Array,
-    unique_edges_b: jax.Array,
-) -> Tuple[jax.Array, jax.Array, jax.Array]:
-  """Runs the Separating Axis Test for two boxes.
-
-  Args:
-    faces_a: Faces for hull A.
-    faces_b: Faces for hull B.
-    vertices_a: Vertices for hull A.
-    vertices_b: Vertices for hull B.
-    normals_a: Normal vectors for hull A faces.
-    normals_b: Normal vectors for hull B faces.
-    unique_edges_a: Unique edges for hull A.
-    unique_edges_b: Unique edges for hull B.
-
-  Returns:
-    tuple of dist, pos, and normal
-  """
-  edge_dir_a, edge_dir_b = unique_edges_a, unique_edges_b
-  edge_dir_a_r = jp.tile(edge_dir_a, reps=(edge_dir_b.shape[0], 1))
-  edge_dir_b_r = jp.repeat(edge_dir_b, repeats=edge_dir_a.shape[0], axis=0)
-  edge_axes = jax.vmap(jp.cross)(edge_dir_a_r, edge_dir_b_r)
-  degenerate_edge_axes = (edge_axes**2).sum(axis=1) < 1e-6
-  edge_axes = jax.vmap(lambda x: math.normalize(x, axis=0))(edge_axes)
-  n_face_axes = normals_a.shape[0] + normals_b.shape[0]
-  degenerate_axes = jp.concatenate(
-      [jp.array([False] * n_face_axes), degenerate_edge_axes]
-  )
-
-  axes = jp.concatenate([normals_a, normals_b, edge_axes])
-
-  # for each separating axis, get the support
-  @jax.vmap
-  def get_support(axis, is_degenerate):
-    # the matmul here is more performant with vmap(dot)
-    dot = functools.partial(jp.dot, precision=jax.lax.Precision.HIGH)
-    support_a = jax.vmap(dot, in_axes=[None, 0])(axis, vertices_a)
-    support_b = jax.vmap(dot, in_axes=[None, 0])(axis, vertices_b)
-    dist1 = support_a.max() - support_b.min()
-    dist2 = support_b.max() - support_a.min()
-    sign = jp.where(dist1 > dist2, -1, 1)
-    dist = jp.minimum(dist1, dist2)
-    dist = jp.where(~is_degenerate, dist, 1e6)  # degenerate axis
-    return dist, sign
-
-  support, sign = get_support(axes, degenerate_axes)
-
-  # get the best face axis
-  best_face_idx = jp.argmin(support[:n_face_axes])
-  best_face_axis = axes[best_face_idx]
-
-  # choose the best separating axis
-  best_idx = jp.argmin(support)
-  best_sign = sign[best_idx]
-  best_axis = axes[best_idx]
-  is_edge_contact = best_idx >= n_face_axes
-  is_edge_contact &= jp.abs(best_face_axis.dot(best_axis)) < 0.99  # prefer face
-
-  # get the (reference) face most aligned with the separating axis
-  dist_a = normals_a @ best_axis
-  dist_b = normals_b @ best_axis
-  a_max = dist_a.argmax()
-  b_max = dist_b.argmax()
-  a_min = dist_a.argmin()
-  b_min = dist_b.argmin()
-
-  ref_face = jp.where(best_sign > 0, faces_a[a_max], faces_b[b_max])
-  ref_face_norm = jp.where(best_sign > 0, normals_a[a_max], normals_b[b_max])
-  incident_face = jp.where(best_sign > 0, faces_b[b_min], faces_a[a_min])
-  incident_face_norm = jp.where(
-      best_sign > 0, normals_b[b_min], normals_a[a_min]
-  )
-
-  dist, pos, normal = _create_contact_manifold(
-      ref_face,
-      incident_face,
-      ref_face_norm,
-      incident_face_norm,
-      -best_sign * best_axis,
-  )
-
-  # For edge contacts, we use the clipped face point, mainly for performance
-  # reasons. For small penetration, the clipped face point is roughly the edge
-  # contact point.
-  idx = dist.argmin()
-  dist = jp.where(
-      is_edge_contact,
-      jp.array([dist[idx], 1, 1, 1]),
-      dist,
-  )
-  pos = jp.where(is_edge_contact, jp.tile(pos[idx], (4, 1)), pos)
-
-  return dist, pos, normal
-
-
-def _box_box(b1: ConvexInfo, b2: ConvexInfo) -> Collision:
-  """Calculates contacts between two boxes."""
-  faces1 = b1.face
-  faces2 = b2.face
-
-  to_local_pos = b2.mat.T @ (b1.pos - b2.pos)
-  to_local_mat = b2.mat.T @ b1.mat
-
-  faces1 = to_local_pos + faces1 @ to_local_mat.T
-  normals1 = b1.face_normal @ to_local_mat.T
-  normals2 = b2.face_normal
-
-  vertices1 = to_local_pos + b1.vert @ to_local_mat.T
-  vertices2 = b2.vert
-
-  dist, pos, normal = _box_box_impl(
-      faces1,
-      faces2,
-      vertices1,
-      vertices2,
-      normals1,
-      normals2,
-      to_local_mat.T,
-      jp.eye(3, dtype=float),
-  )
-
-  # Go back to world frame.
-  pos = b2.pos + pos @ b2.mat.T
-  n = normal @ b2.mat.T
-  dist = jp.where(jp.isinf(dist), jp.finfo(dist.dtype).max, dist)
-
-  return dist, pos, n
-
-
-def _arcs_intersect(
-    a: jax.Array, b: jax.Array, c: jax.Array, d: jax.Array
-) -> jax.Array:
-  """Tests if arcs AB and CD on the unit sphere intersect."""
-  ba, dc = jp.cross(b, a), jp.cross(d, c)
-  cba, dba = jp.dot(c, ba), jp.dot(d, ba)
-  adc, bdc = jp.dot(a, dc), jp.dot(b, dc)
-  return (cba * dba < 0) & (adc * bdc < 0) & (cba * bdc > 0)
-
-
-def _sat_gaussmap(
-    centroid_a: jax.Array,
-    faces_a: jax.Array,
-    faces_b: jax.Array,
-    vertices_a: jax.Array,
-    vertices_b: jax.Array,
-    normals_a: jax.Array,
-    normals_b: jax.Array,
-    edges_a: jax.Array,
-    edges_b: jax.Array,
-    edge_face_normals_a: jax.Array,
-    edge_face_normals_b: jax.Array,
-) -> Tuple[jax.Array, jax.Array, jax.Array]:
-  """Runs the Separating Axis Test for a pair of hulls.
-
-  Runs the separating axis test for all faces. Tests edge separating axes via
-  edge intersections on gauss maps for all edge pairs. h/t to Dirk Gregorius
-  for the implementation details and gauss map trick.
-
-  Args:
-    centroid_a: Centroid of hull A.
-    faces_a: Faces for hull A.
-    faces_b: Faces for hull B.
-    vertices_a: Vertices for hull A.
-    vertices_b: Vertices for hull B.
-    normals_a: Normal vectors for hull A faces.
-    normals_b: Normal vectors for hull B faces.
-    edges_a: Edges for hull A.
-    edges_b: Edges for hull B.
-    edge_face_normals_a: Face normals for edges in hull A.
-    edge_face_normals_b: Face normals for edges in hull B.
-
-  Returns:
-    tuple of dist, pos, and normal
-  """
-  # Handle face separating axes.
-  axes = jp.concatenate([normals_a, -normals_b])
-
-  @jax.vmap
-  def get_support(axis):
-    # the matmul here is more performant with vmap(dot)
-    dot = functools.partial(jp.dot, precision=jax.lax.Precision.HIGH)
-    support_a = jax.vmap(dot, in_axes=[None, 0])(axis, vertices_a)
-    support_b = jax.vmap(dot, in_axes=[None, 0])(axis, vertices_b)
-    dist = support_a.max() - support_b.min()
-    separating = dist < 0
-    dist = jp.where(dist < 0, 1e6, dist)
-    return dist, separating
-
-  support, separating = get_support(axes)
-  is_face_separating = separating.any()
-
-  # choose the best separating axis
-  best_idx = jp.argmin(support)
-  best_axis = axes[best_idx]
-
-  # get the (reference) face most aligned with the separating axis
-  dist_a = normals_a @ best_axis
-  dist_b = normals_b @ -best_axis
-  face_a_idx = dist_a.argmax()
-  face_b_idx = dist_b.argmax()
-
-  cond = best_idx < normals_a.shape[0]
-  ref_face = jp.where(cond, faces_a[face_a_idx], faces_b[face_b_idx])
-  incident_face = jp.where(cond, faces_b[face_b_idx], faces_a[face_a_idx])
-  ref_face_norm = jp.where(cond, normals_a[face_a_idx], normals_b[face_b_idx])
-  incident_face_norm = jp.where(
-      cond, normals_b[face_b_idx], normals_a[face_a_idx]
-  )
-
-  dist, pos, normal = _create_contact_manifold(
-      ref_face,
-      incident_face,
-      ref_face_norm,
-      incident_face_norm,
-      -best_axis,
-  )
-  dist = jp.where(is_face_separating, 1.0, dist)
-
-  # Handle edge separating axes by checking all edge pairs.
-  a_idx = jp.tile(jp.arange(edges_a.shape[0]), reps=edges_b.shape[0])
-  b_idx = jp.repeat(
-      jp.arange(edges_b.shape[0]), repeats=edges_a.shape[0], axis=0
-  )
-  normal_a_1 = edge_face_normals_a[a_idx, 0]
-  normal_a_2 = edge_face_normals_a[a_idx, 1]
-  normal_b_1 = edge_face_normals_b[b_idx, 0]
-  normal_b_2 = edge_face_normals_b[b_idx, 1]
-  is_minkowski_face = jax.vmap(_arcs_intersect)(
-      normal_a_1, normal_a_2, -normal_b_1, -normal_b_2
-  )
-
-  # get distances
-  edge_a_dir = jax.vmap(math.normalize)(edges_a[:, 0] - edges_a[:, 1])[a_idx]
-  edge_b_dir = jax.vmap(math.normalize)(edges_b[:, 0] - edges_b[:, 1])[b_idx]
-  edges_a, edges_b = edges_a[a_idx], edges_b[b_idx]
-  edge_a_pt, edge_a_pt_2 = edges_a[:, 0], edges_a[:, 1]
-  edge_b_pt, edge_b_pt_2 = edges_b[:, 0], edges_b[:, 1]
-
-  def get_normals(a_dir, a_pt, b_dir):
-    edge_axis = jp.cross(a_dir, b_dir)
-    degenerate_edge_axis = jp.sum(edge_axis**2) < 1e-6
-    edge_axis = math.normalize(edge_axis)
-    # correct normal to point from a to b, object b is at the origin
-    sign = jp.where(jp.dot(edge_axis, a_pt - centroid_a) > 0.0, 1.0, -1.0)
-    return edge_axis * sign, degenerate_edge_axis
-
-  edge_axes, degenerate_edge_axes = jax.vmap(get_normals)(
-      edge_a_dir, edge_a_pt, edge_b_dir
-  )
-  edge_dist = jax.vmap(jp.dot)(edge_axes, edge_b_pt - edge_a_pt)
-  # handle degenerate axis
-  edge_dist = jp.where(degenerate_edge_axes, -jp.inf, edge_dist)
-  # ensure edges create minkowski face
-  edge_dist = jp.where(is_minkowski_face, edge_dist, -jp.inf)
-
-  best_edge_idx = edge_dist.argmax()
-  best_edge_dist = edge_dist[best_edge_idx]
-  is_edge_contact = jp.where(
-      dist.max() < 0.0,
-      best_edge_dist > dist.max() - 1e-6,
-      (best_edge_dist < 0) & ~jp.isinf(best_edge_dist),
-  )
-  is_edge_contact = is_edge_contact & ~is_face_separating
-  normal = jp.where(is_edge_contact, edge_axes[best_edge_idx], normal)
-  dist = jp.where(
-      is_edge_contact,
-      jp.array([best_edge_dist, 1, 1, 1]),
-      dist,
-  )
-  a_closest, b_closest = math.closest_segment_to_segment_points(
-      edge_a_pt[best_edge_idx],
-      edge_a_pt_2[best_edge_idx],
-      edge_b_pt[best_edge_idx],
-      edge_b_pt_2[best_edge_idx],
-  )
-  pos = jp.where(
-      is_edge_contact, jp.tile(0.5 * (a_closest + b_closest), (4, 1)), pos
-  )
-
-  return dist, pos, normal
-
-
-def _convex_convex(c1: ConvexInfo, c2: ConvexInfo) -> Collision:
-  """Calculates contacts between two convex meshes."""
-  # pad face vertices so that we can broadcast between geom1 and geom2
-  # face has shape (n_face, n_vert, 3)
-  nvert1, nvert2 = c1.face.shape[1], c2.face.shape[1]
-  if nvert1 < nvert2:
-    face = jp.pad(c1.face, ((0, 0), (0, nvert2 - nvert1), (0, 0)), 'edge')
-    c1 = c1.replace(face=face)
-  elif nvert2 < nvert1:
-    face = jp.pad(c2.face, ((0, 0), (0, nvert1 - nvert2), (0, 0)), 'edge')
-    c2 = c2.replace(face=face)
-
-  # ensure that the first object has fewer verts
-  swapped = c1.vert.shape[0] > c2.vert.shape[0]
-  if swapped:
-    c1, c2 = c2, c1
-
-  faces1 = c1.face
-  faces2 = c2.face
-
-  # convert to c2 frame
-  to_local_pos = c2.mat.T @ (c1.pos - c2.pos)
-  to_local_mat = c2.mat.T @ c1.mat
-
-  faces1 = to_local_pos + faces1 @ to_local_mat.T
-  normals1 = c1.face_normal @ to_local_mat.T
-  normals2 = c2.face_normal
-
-  vertices1 = to_local_pos + c1.vert @ to_local_mat.T
-  vertices2 = c2.vert
-
-  edges1 = jp.take(vertices1, c1.edge, axis=0)
-  edges2 = jp.take(vertices2, c2.edge, axis=0)
-
-  edge_face_normals1 = c1.edge_face_normal @ to_local_mat.T
-  edge_face_normals2 = c2.edge_face_normal
-
-  dist, pos, normal = _sat_gaussmap(
-      to_local_pos,
-      faces1,
-      faces2,
-      vertices1,
-      vertices2,
-      normals1,
-      normals2,
-      edges1,
-      edges2,
-      edge_face_normals1,
-      edge_face_normals2,
-  )
-
-  # Go back to world frame.
-  pos = c2.pos + pos @ c2.mat.T
-  n = normal @ c2.mat.T
-  n = -n if swapped else n
-  dist = jp.where(jp.isinf(dist), jp.finfo(dist.dtype).max, dist)
-
-  return dist, pos, n
-
-
-@collider(ncon=4)
-def box_box(b1: ConvexInfo, b2: ConvexInfo) -> Collision:
-  """Calculates contacts between two boxes."""
-  dist, pos, n = _box_box(b1, b2)
-  frame = jax.vmap(math.make_frame)(n)
-  return dist, pos, frame
-
-
-@collider(ncon=4)
-def convex_convex(c1: ConvexInfo, c2: ConvexInfo) -> Collision:
-  """Calculates contacts between two convex objects."""
-  dist, pos, n = _convex_convex(c1, c2)
-  frame = jax.vmap(math.make_frame)(n)
-  return dist, pos, frame
-
-
-def _hfield_collision(
-    collider_fn: Callable[[_GeomInfo, _GeomInfo], Collision],
-    h: HFieldInfo,
-    obj: _GeomInfo,
-    obj_rbound: jax.Array,
-    subgrid_size: Tuple[int, int],
-) -> Collision:
-  """Collides an object with prisms in a height field."""
-  # put obj in hfield frame
-  obj_pos = h.mat.T @ (obj.pos - h.pos)
-  obj_mat = h.mat.T @ obj.mat
-
-  xmin = obj_pos[0] - obj_rbound
-  ymin = obj_pos[1] - obj_rbound
-  cmin = jp.floor((xmin + h.size[0]) / (2 * h.size[0]) * (h.ncol - 1))
-  cmin = cmin.astype(int)
-  rmin = jp.floor((ymin + h.size[1]) / (2 * h.size[1]) * (h.nrow - 1))
-  rmin = rmin.astype(int)
-
-  # compute real-valued grid step
-  dx = 2.0 * h.size[0] / (h.ncol - 1)
-  dy = 2.0 * h.size[1] / (h.nrow - 1)
-
-  # set zbottom value using base size
-  bvert = jp.array([0.0, 0.0, -h.size[3]])
-  bmask = jp.array([True, True, False])
-
-  # process all prisms in sub-grid
-  rs = jp.repeat(jp.arange(subgrid_size[1]), subgrid_size[0])
-  cs = jp.tile(jp.arange(subgrid_size[0]), subgrid_size[1])
-
-  @jax.vmap
-  def make_prisms(r, c):
-    ri, ci = rmin + r, cmin + c
-
-    # ensure ri, ci are in the bounds of the hfield
-    ri = jp.clip(ri, 0, h.nrow - 2)
-    ci = jp.clip(ci, 0, h.ncol - 2)
-
-    p1 = [
-        dx * ci - h.size[0],
-        dy * ri - h.size[1],
-        h.data[ci, ri] * h.size[2],
-    ]
-    p2 = [
-        dx * (ci + 1) - h.size[0],
-        dy * (ri + 1) - h.size[1],
-        h.data[ci + 1, ri + 1] * h.size[2],
-    ]
-    p3 = [
-        dx * ci - h.size[0],
-        dy * (ri + 1) - h.size[1],
-        h.data[ci, ri + 1] * h.size[2],
-    ]
-    top = jp.array([p1, p2, p3])
-    bottom = jp.array([p1, p3, p2]) * bmask + bvert
-    vert = jp.concatenate([bottom, top])
-    prism1 = mesh.hfield_prism(vert)
-
-    p3 = p2
-    p2 = [
-        dx * (ci + 1) - h.size[0],
-        dy * ri - h.size[1],
-        h.data[ci + 1, ri] * h.size[2],
-    ]
-    top = jp.array([p1, p2, p3])
-    bottom = jp.array([p1, p3, p2]) * bmask + bvert
-    vert = jp.concatenate([bottom, top])
-    # NB: If the order of verts is updated above, the corresponding
-    # hfield_prism function must be updated to ensure that all faces have the
-    # correct winding order.
-    prism2 = mesh.hfield_prism(vert)
-
-    return prism1, prism2
-
-  prism1, prism2 = make_prisms(rs, cs)
-  n_prisms = 2 * rs.shape[0]
-  prisms = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), prism1, prism2)
-  dist, pos, n = jax.vmap(collider_fn, in_axes=[None, 0])(
-      obj.replace(pos=obj_pos, mat=obj_mat), prisms
-  )
-
-  dist = dist.flatten()
-  pos = pos.reshape((-1, 3))
-  n = n.reshape((-1, 3))
-  n *= -1  # flip the normal since we flipped args in the call to collider_fn
-
-  # Check that we're in the half-space of the hfield norm. If not, pick the top
-  # face norm. This resolves issues with cracks of doom.
-  n_repeats = dist.shape[0] // n_prisms
-  top_norm = jp.repeat(prisms.face_normal[:, 1], n_repeats, axis=0)
-  cond = jax.vmap(jp.dot, in_axes=[0, None])(n, h.mat[2]) < 1e-6
-  n = jp.where(cond[:, None], top_norm, n)
-
-  return dist, pos, n
-
-
-@collider(ncon=4)
-def hfield_sphere(
-    h: HFieldInfo, s: GeomInfo, subgrid_size: Tuple[int, int]
-) -> Collision:
-  """Calculates contacts between a hfield and a sphere."""
-  rbound = jp.max(s.size)
-  dist, pos, n = _hfield_collision(_sphere_convex, h, s, rbound, subgrid_size)  # pyrefly: ignore[bad-argument-type]
-
-  n_mean = jp.mean(n, axis=0)
-  mask = dist < jp.minimum(0, dist.min() + 1e-3)
-  idx = _manifold_points(pos, mask, n_mean)
-  dist, pos, n = dist[idx], pos[idx], n[idx]
-
-  # zero out non-unique contacts
-  unique = jp.tril(idx == idx[:, None]).sum(axis=1) == 1
-  dist = jp.where(unique, dist, 1)
-
-  # back to world frame, _hfield_collision returns collision in hfield frame
-  pos = jax.vmap(lambda p: h.mat @ p + h.pos)(pos)
-  n = jax.vmap(lambda n: h.mat @ n)(n)
-
-  return dist, pos, jax.vmap(math.make_frame)(n)
-
-
-@collider(ncon=4)
-def hfield_capsule(
-    h: HFieldInfo, c: GeomInfo, subgrid_size: Tuple[int, int]
-) -> Collision:
-  """Calculates contacts between a hfield and a capsule."""
-  rbound = c.size[0] + c.size[1]
-  dist, pos, n = _hfield_collision(_capsule_convex, h, c, rbound, subgrid_size)  # pyrefly: ignore[bad-argument-type]
-
-  n_mean = jp.mean(n, axis=0)
-  mask = dist < jp.minimum(0, dist.min() + 1e-3)
-  idx = _manifold_points(pos, mask, n_mean)
-  dist, pos, n = dist[idx], pos[idx], n[idx]
-
-  # zero out non-unique contacts
-  unique = jp.tril(idx == idx[:, None]).sum(axis=1) == 1
-  dist = jp.where(unique, dist, 1)
-
-  # back to world frame, _hfield_collision returns collision in hfield frame
-  pos = jax.vmap(lambda p: h.mat @ p + h.pos)(pos)
-  n = jax.vmap(lambda n: h.mat @ n)(n)
-
-  return dist, pos, jax.vmap(math.make_frame)(n)
-
-
-@collider(ncon=4)
-def hfield_convex(
-    h: HFieldInfo, c: ConvexInfo, subgrid_size: Tuple[int, int]
-) -> Collision:
-  """Calculates contacts between a hfield and a capsule."""
-  rbound = jp.max(c.size)
-  dist, pos, n = _hfield_collision(_convex_convex, h, c, rbound, subgrid_size)  # pyrefly: ignore[bad-argument-type]
-
-  n_mean = jp.mean(n, axis=0)
-  mask = dist < jp.minimum(0, dist.min() + 1e-3)
-  idx = _manifold_points(pos, mask, n_mean)
-  dist, pos, n = dist[idx], pos[idx], n[idx]
-
-  # zero out non-unique contacts
-  unique = jp.tril(idx == idx[:, None]).sum(axis=1) == 1
-  dist = jp.where(unique, dist, 1)
-
-  # back to world frame, _hfield_collision returns collision in hfield frame
-  pos = jax.vmap(lambda p: h.mat @ p + h.pos)(pos)
-  n = jax.vmap(lambda n: h.mat @ n)(n)
-
-  return dist, pos, jax.vmap(math.make_frame)(n)
diff --git a/mjx/mujoco/mjx/_src/collision_driver.py b/mjx/mujoco/mjx/_src/collision_driver.py
deleted file mode 100644
index 83bf1fe7..00000000
--- a/mjx/mujoco/mjx/_src/collision_driver.py
+++ /dev/null
@@ -1,460 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Runs collision checking for all geoms in a Model.
-
-To do this, collision_driver builds a collision function table, and then runs
-the collision functions serially on the parameters in the table.
-
-For example, if a Model has three geoms:
-
-geom   |   type
----------------
-1      | sphere
-2      | capsule
-3      | sphere
-
-collision_driver organizes it into these functions and runs them:
-
-function       | geom pair
---------------------------
-sphere_sphere  | (1, 3)
-sphere_capsule | (1, 2), (2, 3)
-
-
-Besides collision function, function tables are keyed on mesh id and condim,
-in order to guarantee static shapes for contacts and jacobians.
-"""
-
-import itertools
-from typing import Dict, Iterator, List, Tuple, Union
-
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco.mjx._src import support
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.collision_convex import box_box
-from mujoco.mjx._src.collision_convex import capsule_convex
-from mujoco.mjx._src.collision_convex import convex_convex
-from mujoco.mjx._src.collision_convex import hfield_capsule
-from mujoco.mjx._src.collision_convex import hfield_convex
-from mujoco.mjx._src.collision_convex import hfield_sphere
-from mujoco.mjx._src.collision_convex import plane_convex
-from mujoco.mjx._src.collision_convex import sphere_convex
-from mujoco.mjx._src.collision_primitive import capsule_capsule
-from mujoco.mjx._src.collision_primitive import plane_capsule
-from mujoco.mjx._src.collision_primitive import plane_cylinder
-from mujoco.mjx._src.collision_primitive import plane_ellipsoid
-from mujoco.mjx._src.collision_primitive import plane_sphere
-from mujoco.mjx._src.collision_primitive import sphere_capsule
-from mujoco.mjx._src.collision_primitive import sphere_sphere
-from mujoco.mjx._src.collision_sdf import capsule_cylinder
-from mujoco.mjx._src.collision_sdf import capsule_ellipsoid
-from mujoco.mjx._src.collision_sdf import cylinder_cylinder
-from mujoco.mjx._src.collision_sdf import ellipsoid_cylinder
-from mujoco.mjx._src.collision_sdf import ellipsoid_ellipsoid
-from mujoco.mjx._src.collision_sdf import sphere_cylinder
-from mujoco.mjx._src.collision_sdf import sphere_ellipsoid
-from mujoco.mjx._src.collision_types import FunctionKey
-from mujoco.mjx._src.types import Contact
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import GeomType
-from mujoco.mjx._src.types import Impl
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-from mujoco.mjx._src.types import OptionJAX
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-# pair-wise collision functions
-_COLLISION_FUNC = {
-    (GeomType.PLANE, GeomType.SPHERE): plane_sphere,
-    (GeomType.PLANE, GeomType.CAPSULE): plane_capsule,
-    (GeomType.PLANE, GeomType.BOX): plane_convex,
-    (GeomType.PLANE, GeomType.ELLIPSOID): plane_ellipsoid,
-    (GeomType.PLANE, GeomType.CYLINDER): plane_cylinder,
-    (GeomType.PLANE, GeomType.MESH): plane_convex,
-    (GeomType.HFIELD, GeomType.SPHERE): hfield_sphere,
-    (GeomType.HFIELD, GeomType.CAPSULE): hfield_capsule,
-    (GeomType.HFIELD, GeomType.BOX): hfield_convex,
-    (GeomType.HFIELD, GeomType.MESH): hfield_convex,
-    (GeomType.SPHERE, GeomType.SPHERE): sphere_sphere,
-    (GeomType.SPHERE, GeomType.CAPSULE): sphere_capsule,
-    (GeomType.SPHERE, GeomType.CYLINDER): sphere_cylinder,
-    (GeomType.SPHERE, GeomType.ELLIPSOID): sphere_ellipsoid,
-    (GeomType.SPHERE, GeomType.BOX): sphere_convex,
-    (GeomType.SPHERE, GeomType.MESH): sphere_convex,
-    (GeomType.CAPSULE, GeomType.CAPSULE): capsule_capsule,
-    (GeomType.CAPSULE, GeomType.BOX): capsule_convex,
-    (GeomType.CAPSULE, GeomType.ELLIPSOID): capsule_ellipsoid,
-    (GeomType.CAPSULE, GeomType.CYLINDER): capsule_cylinder,
-    (GeomType.CAPSULE, GeomType.MESH): capsule_convex,
-    (GeomType.ELLIPSOID, GeomType.ELLIPSOID): ellipsoid_ellipsoid,
-    (GeomType.ELLIPSOID, GeomType.CYLINDER): ellipsoid_cylinder,
-    (GeomType.CYLINDER, GeomType.CYLINDER): cylinder_cylinder,
-    (GeomType.BOX, GeomType.BOX): box_box,
-    (GeomType.BOX, GeomType.MESH): convex_convex,
-    (GeomType.MESH, GeomType.MESH): convex_convex,
-}
-
-# Maximum constraint dimension for collision functions.
-_MAX_NCON = 8
-
-# geoms for which we ignore broadphase
-_GEOM_NO_BROADPHASE = {GeomType.HFIELD, GeomType.PLANE}
-
-
-def has_collision_fn(t1: GeomType, t2: GeomType) -> bool:
-  """Returns True if a collision function exists for a pair of geom types."""
-  return (t1, t2) in _COLLISION_FUNC
-
-
-def geom_pairs(
-    m: Union[Model, mujoco.MjModel],
-) -> Iterator[Tuple[int, int, int]]:
-  """Yields geom pairs to check for collisions.
-
-  Args:
-    m: a MuJoCo or MJX model
-
-  Yields:
-    geom1, geom2, and pair index if defined in <pair> (else -1)
-  """
-  pairs = set()
-
-  for i in range(m.npair):
-    g1, g2 = m.pair_geom1[i], m.pair_geom2[i]
-    # order pairs by geom_type for correct function mapping
-    if m.geom_type[g1] > m.geom_type[g2]:
-      g1, g2 = g2, g1
-    pairs.add((g1, g2))
-    yield g1, g2, i
-
-  exclude_signature = set(m.exclude_signature)
-  geom_con = m.geom_contype | m.geom_conaffinity
-  filterparent = not (m.opt.disableflags & DisableBit.FILTERPARENT)
-  b_start = m.body_geomadr
-  b_end = b_start + m.body_geomnum
-
-  for b1 in range(m.nbody):
-    if not geom_con[b_start[b1] : b_end[b1]].any():
-      continue
-    w1 = m.body_weldid[b1]
-    w1_p = m.body_weldid[m.body_parentid[w1]]
-
-    for b2 in range(b1, m.nbody):
-      if not geom_con[b_start[b2] : b_end[b2]].any():
-        continue
-      signature = (b1 << 16) + (b2)
-      if signature in exclude_signature:
-        continue
-      w2 = m.body_weldid[b2]
-      # ignore self-collisions
-      if w1 == w2:
-        continue
-      w2_p = m.body_weldid[m.body_parentid[w2]]
-      # ignore parent-child collisions
-      if filterparent and w1 != 0 and w2 != 0 and (w1 == w2_p or w2 == w1_p):
-        continue
-      g1_range = [g for g in range(b_start[b1], b_end[b1]) if geom_con[g]]
-      g2_range = [g for g in range(b_start[b2], b_end[b2]) if geom_con[g]]
-
-      for g1, g2 in itertools.product(g1_range, g2_range):
-        t1, t2 = m.geom_type[g1], m.geom_type[g2]
-        # order pairs by geom_type for correct function mapping
-        if t1 > t2:
-          g1, g2, t1, t2 = g2, g1, t2, t1
-        # ignore plane<>plane and plane<>hfield
-        if (t1, t2) == (GeomType.PLANE, GeomType.PLANE):
-          continue
-        if (t1, t2) == (GeomType.PLANE, GeomType.HFIELD):
-          continue
-        # geoms must match contype and conaffinity on some bit
-        mask = m.geom_contype[g1] & m.geom_conaffinity[g2]
-        mask |= m.geom_contype[g2] & m.geom_conaffinity[g1]
-        if not mask:
-          continue
-
-        if (g1, g2) not in pairs:
-          pairs.add((g1, g2))
-          yield g1, g2, -1
-
-
-def _geom_groups(
-    m: Union[Model, mujoco.MjModel],
-) -> Dict[FunctionKey, List[Tuple[int, int, int]]]:
-  """Returns geom pairs to check for collision grouped by collision function.
-
-  The grouping consists of:
-    - The collision function to run, which is determined by geom types
-    - For mesh geoms, convex functions are run for each distinct mesh in the
-      model, because the convex functions expect static mesh size. If a sphere
-      collides with a cube and a tetrahedron, sphere_convex is called twice.
-    - The condim of the collision. This ensures that the size of the resulting
-      constraint jacobian is determined at compile time.
-
-  Args:
-    m: a MuJoCo or MJX model
-
-  Returns:
-    a dict with grouping key and values geom1, geom2, pair index
-  """
-  groups = {}
-
-  for g1, g2, ip in geom_pairs(m):
-    types = m.geom_type[g1], m.geom_type[g2]
-    data_ids = m.geom_dataid[g1], m.geom_dataid[g2]
-    if ip > -1:
-      condim = m.pair_dim[ip]
-    elif m.geom_priority[g1] > m.geom_priority[g2]:
-      condim = m.geom_condim[g1]
-    elif m.geom_priority[g1] < m.geom_priority[g2]:
-      condim = m.geom_condim[g2]
-    else:
-      condim = max(m.geom_condim[g1], m.geom_condim[g2])
-
-    key = FunctionKey(types, data_ids, condim)
-
-    if int(types[0]) == int(mujoco.mjtGeom.mjGEOM_HFIELD):
-      # add static grid bounds to the grouping key for hfield collisions
-      geom_rbound_hfield = (
-          m._impl.geom_rbound_hfield if isinstance(m, Model) else m.geom_rbound  # pytype: disable=attribute-error
-      )
-      nrow, ncol = m.hfield_nrow[data_ids[0]], m.hfield_ncol[data_ids[0]]
-      xsize, ysize = m.hfield_size[data_ids[0]][:2]
-      xtick, ytick = (2 * xsize) / (ncol - 1), (2 * ysize) / (nrow - 1)
-      xbound = int(np.ceil(2 * geom_rbound_hfield[g2] / xtick)) + 1
-      xbound = min(xbound, ncol)
-      ybound = int(np.ceil(2 * geom_rbound_hfield[g2] / ytick)) + 1
-      ybound = min(ybound, nrow)
-      key = FunctionKey(types, data_ids, condim, (xbound, ybound))
-
-    groups.setdefault(key, []).append((g1, g2, ip))
-
-  return groups
-
-
-def _contact_groups(m: Model, d: Data) -> Dict[FunctionKey, Contact]:
-  """Returns contact groups to check for collisions.
-
-  Contacts are grouped the same way as _geom_groups.  Only one contact is
-  emitted per geom pair, even if the collision function emits multiple contacts.
-
-  Args:
-    m: MJX model
-    d: MJX data
-
-  Returns:
-    a dict where the key is the grouping and value is a Contact
-  """
-  groups = {}
-  eps = mujoco.mjMINVAL
-
-  for key, geom_ids in _geom_groups(m).items():
-    geom = np.array(geom_ids)
-    geom1, geom2, ip = geom.T
-    geom1, geom2, ip = geom1[ip == -1], geom2[ip == -1], ip[ip != -1]
-    params = []
-
-    if ip.size > 0:
-      # pair contacts get their params from m.pair_* fields
-      params.append((
-          m.pair_margin[ip],
-          jp.clip(m.pair_friction[ip], min=eps),
-          m.pair_solref[ip],
-          m.pair_solreffriction[ip],
-          m.pair_solimp[ip],
-      ))
-    if geom1.size > 0 and geom2.size > 0:
-      # other contacts get their params from geom fields
-      margin = m.geom_margin[geom1] + m.geom_margin[geom2]
-      solmix1, solmix2 = m.geom_solmix[geom1], m.geom_solmix[geom2]
-      mix = solmix1 / (solmix1 + solmix2)
-      mix = jp.where((solmix1 < eps) & (solmix2 < eps), 0.5, mix)
-      mix = jp.where((solmix1 < eps) & (solmix2 >= eps), 0.0, mix)
-      mix = jp.where((solmix1 >= eps) & (solmix2 < eps), 1.0, mix)
-      mix = mix[:, None]  # for correct broadcasting
-      # friction: max
-      friction = jp.maximum(m.geom_friction[geom1], m.geom_friction[geom2])
-      solref1, solref2 = m.geom_solref[geom1], m.geom_solref[geom2]
-      # reference standard: mix
-      solref_standard = mix * solref1 + (1 - mix) * solref2
-      # reference direct: min
-      solref_direct = jp.minimum(solref1, solref2)
-      is_standard = (solref1[:, [0, 0]] > 0) & (solref2[:, [0, 0]] > 0)
-      solref = jp.where(is_standard, solref_standard, solref_direct)
-      solreffriction = jp.zeros(geom1.shape + (mujoco.mjNREF,))
-      # impedance: mix
-      solimp = mix * m.geom_solimp[geom1] + (1 - mix) * m.geom_solimp[geom2]
-
-      pri = m.geom_priority[geom1] != m.geom_priority[geom2]
-      if pri.any():
-        # use priority geom when specified instead of mixing
-        gp1, gp2 = m.geom_priority[geom1], m.geom_priority[geom2]
-        gp = np.where(gp1 > gp2, geom1, geom2)[pri]
-        friction = friction.at[pri].set(m.geom_friction[gp])
-        solref = solref.at[pri].set(m.geom_solref[gp])
-        solimp = solimp.at[pri].set(m.geom_solimp[gp])
-
-      # unpack 5d friction:
-      friction = friction[:, [0, 0, 1, 2, 2]]
-      params.append((margin, friction, solref, solreffriction, solimp))
-
-    params = map(jp.concatenate, zip(*params))
-    includemargin, friction, solref, solreffriction, solimp = params
-
-    groups[key] = Contact(
-        # dist, pos, frame get filled in by collision functions:
-        dist=None,
-        pos=None,
-        frame=None,
-        includemargin=includemargin,
-        friction=friction,
-        solref=solref,
-        solreffriction=solreffriction,
-        solimp=solimp,
-        dim=d._impl.contact.dim,  # pytype: disable=attribute-error
-        geom1=jp.array(geom[:, 0]),
-        geom2=jp.array(geom[:, 1]),
-        geom=jp.array(geom[:, :2]),
-        efc_address=d._impl.contact.efc_address,  # pytype: disable=attribute-error
-    )
-
-  return groups
-
-
-def _numeric(m: Union[Model, mujoco.MjModel], name: str) -> int:
-  id_ = support.name2id(m, mujoco.mjtObj.mjOBJ_NUMERIC, name)
-  return int(m.numeric_data[id_]) if id_ >= 0 else -1
-
-
-def make_condim(
-    m: Union[Model, mujoco.MjModel], impl: Impl = Impl.JAX
-) -> np.ndarray:
-  """Returns the dims of the contacts for a Model."""
-  if impl != Impl.JAX:
-    raise ValueError('make_condim only supports JAX backend.')
-
-  if isinstance(m, mujoco.MjModel):
-    sdf_initpoints = m.opt.sdf_initpoints
-  elif isinstance(m.opt._impl, OptionJAX):
-    sdf_initpoints = m.opt._impl.sdf_initpoints
-  else:
-    raise ValueError(
-        'make_condim requires mujoco.MjModel or mjx.Model with JAX backend'
-        ' implementation.'
-    )
-
-  if m.opt.disableflags & DisableBit.CONTACT:
-    return np.empty(0, dtype=int)
-
-  group_counts = {k: len(v) for k, v in _geom_groups(m).items()}
-
-  # max_geom_pairs limits the number of pairs we process in a collision function
-  # by first running a primitive broad phase culling on the pairs
-  max_geom_pairs = _numeric(m, 'max_geom_pairs')
-
-  if max_geom_pairs > -1:
-    for k in group_counts:
-      if set(k.types) & _GEOM_NO_BROADPHASE:
-        continue
-      group_counts[k] = min(group_counts[k], max_geom_pairs)
-
-  # max_contact_points limits the number of contacts emitted by selecting the
-  # contacts with the most penetration after calling collision functions
-  max_contact_points = _numeric(m, 'max_contact_points')
-
-  condim_counts = {}
-  for k, v in group_counts.items():
-    if k.types[1] == mujoco.mjtGeom.mjGEOM_SDF:
-      ncon = sdf_initpoints
-    else:
-      func = _COLLISION_FUNC.get(k.types, None)  # pyrefly: ignore[no-matching-overload]
-      if func is not None:
-        ncon = func.ncon  # pytype: disable=attribute-error
-      else:
-        raise ValueError(
-            f'Collision function not found for geom types {k.types[0]},',
-            f'{k.types[1]}'
-        )
-    num_contacts = condim_counts.get(k.condim, 0) + ncon * v
-    if max_contact_points > -1:
-      num_contacts = min(max_contact_points, num_contacts)
-    condim_counts[k.condim] = num_contacts
-
-  dims = sum(([c] * condim_counts[c] for c in sorted(condim_counts)), [])
-
-  return np.array(dims)
-
-
-def collision(m: Model, d: Data) -> Data:
-  """Collides geometries."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('collision requires JAX backend implementation.')
-
-  if d._impl.ncon == 0:  # pytype: disable=attribute-error
-    return d
-
-  max_geom_pairs = _numeric(m, 'max_geom_pairs')
-  max_contact_points = _numeric(m, 'max_contact_points')
-
-  # run collision functions on groups
-  groups = _contact_groups(m, d)
-  for key, contact in groups.items():
-    # determine which contacts we'll use for collision testing by running a
-    # broad phase cull if requested
-    if (
-        max_geom_pairs > -1
-        and contact.geom.shape[0] > max_geom_pairs
-        and not set(key.types) & _GEOM_NO_BROADPHASE
-    ):
-      pos1, pos2 = d.geom_xpos[contact.geom.T]
-      size1, size2 = m.geom_rbound[contact.geom.T]
-      dist = jax.vmap(jp.linalg.norm)(pos2 - pos1) - (size1 + size2)
-      _, idx = jax.lax.top_k(-dist, k=max_geom_pairs)
-      contact = jax.tree_util.tree_map(lambda x, idx=idx: x[idx], contact)
-
-    # run the collision function specified by the grouping key
-    func = _COLLISION_FUNC[key.types]  # pyrefly: ignore[bad-index]
-    ncon = func.ncon  # pytype: disable=attribute-error
-
-    dist, pos, frame = func(m, d, key, contact.geom)
-    if ncon > 1:
-      # repeat contacts to match the number of collisions returned
-      repeat_fn = lambda x, r=ncon: jp.repeat(x, r, axis=0)
-      contact = jax.tree_util.tree_map(repeat_fn, contact)
-    groups[key] = contact.replace(dist=dist, pos=pos, frame=frame)
-
-  # collapse contacts together, ensuring they are grouped by condim
-  condim_groups = {}
-  for key, contact in groups.items():
-    condim_groups.setdefault(key.condim, []).append(contact)
-
-  # limit the number of contacts per condim group if requested
-  if max_contact_points > -1:
-    for key, contacts in condim_groups.items():
-      contact = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *contacts)
-      if contact.geom.shape[0] > max_contact_points:
-        _, idx = jax.lax.top_k(-contact.dist, k=max_contact_points)
-        contact = jax.tree_util.tree_map(lambda x, idx=idx: x[idx], contact)
-      condim_groups[key] = [contact]
-
-  contacts = sum([condim_groups[k] for k in sorted(condim_groups)], [])
-  contact = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *contacts)
-
-  return d.tree_replace({'_impl.contact': contact})  # pyrefly: ignore[bad-return]
diff --git a/mjx/mujoco/mjx/_src/collision_driver_test.py b/mjx/mujoco/mjx/_src/collision_driver_test.py
deleted file mode 100644
index 83d50e98..00000000
--- a/mjx/mujoco/mjx/_src/collision_driver_test.py
+++ /dev/null
@@ -1,1110 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests the collision driver."""
-
-import dataclasses
-from typing import Dict, Optional, Tuple
-import warnings
-
-from absl.testing import absltest
-from absl.testing import parameterized
-from etils import epath
-import jax
-import jax.numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import collision_driver
-from mujoco.mjx._src import test_util
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import Contact
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import Model
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-def _assert_attr_eq(mjx_d, mj_d, attr, name, atol):
-  if attr == 'efc_address':
-    # we do not test efc_address since it gets set in constraint logic
-    return
-  err_msg = f'mismatch: {attr} in run: {name}'
-  mjx_d, mj_d = getattr(mjx_d, attr), getattr(mj_d, attr)
-  if attr == 'frame':
-    mj_d = mj_d.reshape((-1, 3, 3))
-  if mjx_d.shape != mj_d.shape:
-    raise AssertionError(f'{attr} shape mismatch: {mjx_d.shape}, {mj_d.shape}')
-  np.testing.assert_allclose(mjx_d, mj_d, err_msg=err_msg, atol=atol)
-
-
-def _collide(
-    mjcf: str,
-    assets: Optional[Dict[str, str]] = None,
-    keyframe: Optional[int] = None,
-) -> Tuple[mujoco.MjModel, mujoco.MjData, Model, Data]:
-  m = mujoco.MjModel.from_xml_string(mjcf, assets or {})
-  mx = mjx.put_model(m)
-  d = mujoco.MjData(m)
-  if keyframe is not None:
-    mujoco.mj_resetDataKeyframe(m, d, keyframe)
-  dx = mjx.put_data(m, d)
-
-  mujoco.mj_step(m, d)
-  collision_jit_fn = jax.jit(mjx.collision)
-  kinematics_jit_fn = jax.jit(mjx.kinematics)
-  dx = kinematics_jit_fn(mx, dx)
-  dx = collision_jit_fn(mx, dx)
-  return d, dx
-
-
-class SphereCollisionTest(parameterized.TestCase):
-  _SPHERE_PLANE = """
-    <mujoco>
-      <worldbody>
-        <geom size="40 40 40" type="plane"/>
-        <body pos="0 0 0.4">
-          <joint type="free"/>
-          <geom size="0.5" type="sphere"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  _SPHERE_SPHERE = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <joint type="free"/>
-          <geom pos="0 0 0" size="0.2" type="sphere"/>
-        </body>
-        <body >
-          <joint type="free"/>
-          <geom pos="0 0.3 0" size="0.11" type="sphere"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  _SPHERE_CAP = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <joint type="free"/>
-          <geom pos="0 0.3 0" size="0.05" type="sphere"/>
-        </body>
-        <body>
-          <joint axis="1 0 0" type="free"/>
-          <geom fromto="0.0 -0.5 0.14 0.0 0.5 0.14" size="0.1" type="capsule"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  @parameterized.parameters(
-      ('sphere_plane', _SPHERE_PLANE),
-      ('sphere_sphere', _SPHERE_SPHERE),
-      ('sphere_cap', _SPHERE_CAP),
-  )
-  def test_sphere(self, name, mjcf):
-    d, dx = _collide(mjcf)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx._impl.contact, d.contact, field.name, name, 1e-5)
-
-  _SPHERE_CONVEX = """
-    <mujoco>
-      <worldbody>
-        <body pos="0.52 0 0.52">
-          <joint axis="1 0 0" type="free"/>
-          <geom size="0.05" type="sphere"/>
-        </body>
-        <body>
-          <joint axis="1 0 0" type="free"/>
-          <geom size="0.5 0.5 0.5" type="box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_sphere_convex_face(self):
-    # no contact
-    xml = self._SPHERE_CONVEX.replace(
-        '<body pos="0.52 0 0.52">', '<body pos="0.55 0 0.5">'
-    )
-    d, dx = _collide(xml)
-    self.assertEmpty(d.contact.dist)
-    self.assertGreater(dx._impl.contact.dist, 0)
-
-    # face contact
-    xml = self._SPHERE_CONVEX.replace(
-        '<body pos="0.52 0 0.52">', '<body pos="0.51 0 0.25">'
-    )
-    d, dx = _collide(xml)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx._impl.contact, d.contact, field.name, 'face', 1e-4)
-
-    # deep face contact
-    xml = self._SPHERE_CONVEX.replace(
-        '<body pos="0.52 0 0.52">', '<body pos="0.48 0 0.47">'
-    )
-    d, dx = _collide(xml)
-    self.assertTrue((dx._impl.contact.dist < 0).all())
-    self.assertTrue((d.contact.dist < 0).all())
-    np.testing.assert_allclose(dx._impl.contact.dist, [-0.07], atol=1e-5)
-    np.testing.assert_array_almost_equal(dx._impl.contact.pos, d.contact.pos)
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.frame, d.contact.frame.reshape((-1, 3, 3))
-    )
-
-  def test_sphere_convex_edge(self):
-    # edge contact
-    d, dx = _collide(self._SPHERE_CONVEX)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx._impl.contact, d.contact, field.name, 'edge', 1e-4)
-
-    # deep edge penetration
-    xml = self._SPHERE_CONVEX.replace(
-        '<body pos="0.52 0 0.52">', '<body pos="0.49 0 0.49">'
-    )
-    d, dx = _collide(xml)
-    self.assertTrue((dx._impl.contact.dist < 0).all())
-    self.assertTrue((d.contact.dist < 0).all())
-    np.testing.assert_allclose(dx._impl.contact.dist, [-0.06], atol=1e-5)
-    np.testing.assert_array_almost_equal(dx._impl.contact.pos, d.contact.pos)
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.frame, d.contact.frame.reshape((-1, 3, 3))
-    )
-
-    # vertex contact
-    xml = self._SPHERE_CONVEX.replace(
-        '<body pos="0.52 0 0.52">', '<body pos="0.5 0.52 0.51">'
-    )
-    d, dx = _collide(xml)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx._impl.contact, d.contact, field.name, 'vertex', 1e-4)
-
-    # sphere center on vertex
-    xml = self._SPHERE_CONVEX.replace(
-        '<body pos="0.52 0 0.52">', '<body pos="0.5 0 0.5">'
-    )
-    d, dx = _collide(xml)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'vertex_center', 1e-4
-      )
-
-
-class EllipsoidCollisionTest(parameterized.TestCase):
-
-  _ELLIPSOID_PLANE = """
-    <mujoco>
-      <worldbody>
-        <geom name="floor" size="0 0 .05" type="plane"/>
-        <body pos="0 0 0.03" euler="45 0 0">
-          <freejoint/>
-          <geom size=".15 .03 .05" type="ellipsoid"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_plane_ellipsoid(self):
-    """Tests ellipsoid plane contact."""
-    d, dx = _collide(self._ELLIPSOID_PLANE)
-    self.assertLess(dx._impl.contact.dist[0], 0)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'ellipsoid-plane', 1e-5
-      )
-
-  _ELLIPSOID_ELLIPSOID = """
-    <mujoco>
-      <option ccd_iterations="50"/>
-      <worldbody>
-        <body>
-          <geom size=".15 .03 .05" type="ellipsoid"/>
-        </body>
-        <body pos="0 0 0.09">
-          <freejoint/>
-          <geom size=".15 .03 .05" type="ellipsoid"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_ellipsoid_ellipsoid(self):
-    """Tests ellipsoid ellipsoid contact."""
-    d, dx = _collide(self._ELLIPSOID_ELLIPSOID)
-    self.assertLess(dx._impl.contact.dist[0], 0)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'ellipsoid-ellipsoid', 1e-2
-      )
-
-  _ELLIPSOID_SPHERE = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <geom size=".15 .03 .05" type="ellipsoid"/>
-        </body>
-        <body pos="0 0 0.08">
-          <freejoint/>
-          <geom size=".05" type="sphere"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_sphere_ellipsoid(self):
-    """Tests ellipsoid capsule contact."""
-    d, dx = _collide(self._ELLIPSOID_SPHERE)
-    d.contact.pos[0][2] = 0.03  # MJX finds the point on the surface
-    self.assertLess(dx._impl.contact.dist[0], 0)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'ellipsoid-sphere', 1e-4
-      )
-
-  _ELLIPSOID_CAPSULE = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <geom size=".15 .03 .05" type="ellipsoid"/>
-        </body>
-        <body pos="0 0 0.0999">
-          <freejoint/>
-          <geom size=".05" fromto="-.1 0 0 .1 0 0" type="capsule"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_capsule_ellipsoid(self):
-    """Tests ellipsoid capsule contact."""
-    d, dx = _collide(self._ELLIPSOID_CAPSULE)
-    self.assertLess(dx._impl.contact.dist[0], 0)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'ellipsoid-capsule', 1e-5
-      )
-
-  _ELLIPSOID_CYLINDER = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <geom size=".15 .05" type="cylinder"/>
-        </body>
-        <body pos="0 0 0.09">
-          <freejoint/>
-          <geom size=".15 .03 .05" type="ellipsoid"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_ellipsoid_cylinder(self):
-    """Tests ellipsoid cylinder contact."""
-    d, dx = _collide(self._ELLIPSOID_CYLINDER)
-    d.contact.pos[0][2] = 0.04  # MJX finds the deepest point on the surface
-    self.assertLess(dx._impl.contact.dist[0], 0)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'ellipsoid-cylinder', 1e-4
-      )
-
-
-class CapsuleCollisionTest(parameterized.TestCase):
-  _CAP_PLANE = """
-    <mujoco>
-      <worldbody>
-        <geom size="40 40 40" type="plane"/>
-        <body pos="0 0 0.4">
-          <joint type="free"/>
-          <geom fromto="-1 0 0 1 0 0" size="0.5" type="capsule"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  _CAP_CAP = """
-    <mujoco model="two_capsules">
-      <worldbody>
-        <body>
-          <joint type="free"/>
-          <geom fromto="0.62235904  0.58846647 0.651046 1.5330081 0.33564585 0.977849"
-           size="0.05" type="capsule"/>
-        </body>
-        <body>
-          <joint type="free"/>
-          <geom fromto="0.5505271 0.60345304 0.476661 1.3900293 0.30709633 0.932082"
-           size="0.05" type="capsule"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  @parameterized.parameters(
-      ('capsule_plane', _CAP_PLANE),
-      ('capsule_capsule', _CAP_CAP),
-  )
-  def test_capsule(self, name, mjcf):
-    d, dx = _collide(mjcf)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(dx._impl.contact, d.contact, field.name, name, 1e-4)
-
-  _PARALLEL_CAP = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <joint type="free"/>
-          <geom fromto="-0.5 0.1 0.25 0.5 0.1 0.25" size="0.1" type="capsule"/>
-        </body>
-        <body>
-          <joint type="free"/>
-          <geom fromto="-0.5 0.1 0.1 0.5 0.1 0.1" size="0.1" type="capsule"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_parallel_capsules(self):
-    """Tests that two parallel capsules are colliding at the midpoint."""
-    _, dx = _collide(self._PARALLEL_CAP)
-
-    np.testing.assert_allclose(dx._impl.contact.dist, -0.05)
-    np.testing.assert_allclose(
-        dx._impl.contact.pos[0],
-        np.array([0.0, 0.1, (0.15 + 0.2) / 2.0]),
-        atol=1e-5,
-    )
-    np.testing.assert_allclose(
-        dx._impl.contact.frame[0, 0, :], np.array([0, 0.0, -1.0]), atol=1e-5
-    )
-
-  _CAP_BOX = """
-    <mujoco>
-      <worldbody>
-        <body pos="0 0 0.54">
-          <joint axis="1 0 0" type="free"/>
-          <geom fromto="-0.4 0 0 1.0 0 0" size="0.05" type="capsule"/>
-        </body>
-        <body>
-          <joint axis="1 0 0" type="free"/>
-          <geom size="0.5 0.5 0.5" type="box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_capsule_convex_face(self):
-    """Tests face contact."""
-    d, dx = _collide(self._CAP_BOX)
-
-    # sort positions for comparison
-    idx = np.lexsort((dx._impl.contact.pos[:, 0], dx._impl.contact.pos[:, 1]))
-    dx = dx.tree_replace({'_impl.contact.pos': dx._impl.contact.pos[idx]})
-    idx = np.lexsort((d.contact.pos[:, 0], d.contact.pos[:, 1]))
-    d.contact.pos[:] = d.contact.pos[idx]
-    d.contact.frame[:] = d.contact.frame[idx]
-    d.contact.dist[:] = d.contact.dist[idx]
-
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'capsule_convex', 1e-4
-      )
-
-  def test_capsule_convex_face_deep(self):
-    """Tests deep face penetration."""
-    xml = self._CAP_BOX.replace('<body pos="0 0 0.54">', '<body pos="0 0 0.4">')
-
-    _, dx = _collide(xml)
-    self.assertTrue((dx._impl.contact.dist < 0).all())
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.pos, np.array([[0.5, 0, 0.425], [-0.4, 0, 0.425]])
-    )
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.dist, np.array([-0.15, -0.15])
-    )
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.frame[:, 0], np.array([[0, 0, -1]] * 2)
-    )
-
-  _CAP_EDGE_BOX = """
-    <mujoco>
-      <worldbody>
-        <body pos="0.5 0 0.55" euler="0 30 0">
-          <joint axis="1 0 0" type="free"/>
-          <geom fromto="-0.6 0 0 0.6 0 0" size="0.05" type="capsule"/>
-        </body>
-        <body>
-          <joint axis="1 0 0" type="free"/>
-          <geom size="0.5 0.5 0.5" type="box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_capsule_convex_edge(self):
-    """Tests edge contact."""
-    d, dx = _collide(self._CAP_EDGE_BOX)
-
-    c = dx._impl.contact
-    self.assertEqual(c.pos.shape[0], 2)
-    self.assertGreater(c.dist[1], 0)
-    # extract the contact point with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:1], dx._impl.contact)
-    c = c.replace(dim=c.dim[:1], efc_address=c.efc_address[:1])
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(c, d.contact, field.name, 'capsule_convex_edge', 1e-4)
-
-  def test_capsule_convex_edge_deep(self):
-    """Tests deep edge penetration."""
-    xml = self._CAP_EDGE_BOX.replace(
-        '<body pos="0.5 0 0.55"', '<body pos="0.5 0 0.42"'
-    )
-    _, dx = _collide(xml)
-
-    np.testing.assert_array_equal(
-        dx._impl.contact.dist < 0, np.array([True, False])
-    )
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.dist[0], np.array([-0.13])
-    )
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.pos[0], np.array([0.5, 0, 0.435]), decimal=3
-    )
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.frame[0, 0], np.array([0, 0, -1]), decimal=3
-    )
-
-  def test_capsule_convex_edge_shallow_tip(self):
-    """Tests shallow edge penetration on the tip of the capsule."""
-    # the capsule sphere is inside the edge voronoi region, so there is an
-    # edge contact
-    xml = self._CAP_EDGE_BOX.replace(
-        '<geom fromto="-0.6 0 0 0.6 0 0" size="0.05"',
-        '<geom fromto="0.6 0 0.6 -0.05 0 0" size="0.1"',
-    )
-    xml = xml.replace('<body pos="0.5 0 0.55"', '<body pos="0.58 0 0.55"')
-    d, dx = _collide(xml)
-
-    c = dx._impl.contact
-    self.assertEqual(c.pos.shape[0], 2)
-    self.assertGreater(c.dist[1], 0)
-    # extract the contact point with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:1], dx._impl.contact)
-    c = c.replace(dim=c.dim[:1], efc_address=c.efc_address[:1])
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(c, d.contact, field.name, 'edge_shallow_tip1', 1e-4)
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.frame[0][0, :3], np.array([-0.43952, 0.0, -0.898233])
-    )
-
-    # the capsule sphere is outside the edge voronoi region, so there is a
-    # face contact
-    xml = self._CAP_EDGE_BOX.replace(
-        '<geom fromto="-0.6 0 0 0.6 0 0" size="0.05"',
-        '<geom fromto="-0.6 0 0.6 -0.05 0 0" size="0.1"',
-    )
-    xml = xml.replace('<body pos="0.5 0 0.55"', '<body pos="0.5 0 0.52"')
-    d, dx = _collide(xml)
-
-    c = dx._impl.contact
-    self.assertEqual(c.pos.shape[0], 2)
-    self.assertGreater(c.dist[1], 0)
-    # extract the contact point with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:1], dx._impl.contact)
-    c = c.replace(dim=c.dim[:1], efc_address=c.efc_address[:1])
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(c, d.contact, field.name, 'edge_shallow_tip2', 1e-4)
-    np.testing.assert_array_almost_equal(
-        dx._impl.contact.frame[0][0, :3], np.array([0.0, 0.0, -1.0])
-    )
-
-
-class CylinderTest(absltest.TestCase):
-  """Tests the cylinder contact functions."""
-
-  _CYLINDER_PLANE = """
-    <mujoco>
-      <worldbody>
-        <geom size="40 40 40" type="plane"/>
-        <body pos="0 0 0.04">
-          <joint type="free"/>
-          <geom fromto="-0.1 0 0 0.1 0 0" size="0.05" type="cylinder"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_cylinder_plane(self):
-    d, dx = _collide(self._CYLINDER_PLANE)
-
-    # cylinder is lying flat
-    np.testing.assert_array_less(dx._impl.contact.dist[:2], 0)
-    np.testing.assert_array_less(-dx._impl.contact.dist[2:], 0)
-
-    # sort position for comparison
-    idx = np.lexsort((dx._impl.contact.pos[:, 0], dx._impl.contact.pos[:, 1]))
-    dx = dx.tree_replace({'_impl.contact.pos': dx._impl.contact.pos[idx]})
-    idx = np.lexsort((d.contact.pos[:, 0], d.contact.pos[:, 1]))
-    d.contact.pos[:] = d.contact.pos[idx]
-
-    # extract the contact points with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:2], dx._impl.contact)
-    c = c.replace(dim=c.dim[:2], efc_address=c.efc_address[:2])
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(c, d.contact, field.name, 'cylinder_plane', 1e-5)
-
-    # cylinder is vertical
-    xml = self._CYLINDER_PLANE.replace(
-        '<geom fromto="-0.1 0 0 0.1 0 0"', '<geom fromto="0 0 -0.1 0 0 0.1"'
-    )
-    xml = xml.replace('pos="0 0 0.04"', 'pos="0 0 0.095"')
-    d, dx = _collide(xml)
-
-    np.testing.assert_array_less(dx._impl.contact.dist, 0)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'cylinder_plane', 1e-5
-      )
-
-  _SPHERE_CYLINDER = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <geom size=".15 .05" type="cylinder"/>
-        </body>
-        <body pos="0 0 0.12">
-          <freejoint/>
-          <geom size=".15" type="sphere"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_sphere_cylinder(self):
-    """Tests sphere cylinder contact."""
-    d, dx = _collide(self._SPHERE_CYLINDER)
-    d.contact.pos[0][2] = 0.05  # MJX finds the deepest point on the surface
-    self.assertLess(dx._impl.contact.dist[0], 0)
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'sphere-cylinder', 1e-4
-      )
-
-
-class ConvexTest(absltest.TestCase):
-  """Tests the convex contact functions."""
-
-  _BOX_PLANE = """
-    <mujoco>
-      <worldbody>
-        <geom size="40 40 40" type="plane"/>
-        <body pos="0 0 0.7" euler="45 0 0">
-          <freejoint/>
-          <geom size="0.5 0.5 0.5" type="box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_box_plane(self):
-    """Tests box collision with a plane."""
-    d, dx = _collide(self._BOX_PLANE)
-
-    np.testing.assert_array_less(dx._impl.contact.dist[:2], 0)
-    np.testing.assert_array_less(-dx._impl.contact.dist[2:], 0)
-    # extract the contact points with penetration
-    c = jax.tree_util.tree_map(
-        lambda x: jp.take(x, jp.array([0, 1]), axis=0), dx._impl.contact
-    )
-    c = c.replace(dim=c.dim[[0, 1]], efc_address=c.efc_address[[0, 1]])
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(c, d.contact, field.name, 'box_plane', 1e-5)
-
-  _FLAT_BOX_PLANE = """
-    <mujoco>
-      <worldbody>
-        <geom size="40 40 40" type="plane"/>
-        <body pos="0 0 0.45">
-          <freejoint/>
-          <geom size="0.5 0.5 0.5" type="box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_flat_box_plane(self):
-    """Tests box collision with a plane."""
-    d, dx = _collide(self._FLAT_BOX_PLANE)
-
-    np.testing.assert_array_less(dx._impl.contact.dist, 0)
-
-    # sort positions for comparison
-    idx = np.lexsort((dx._impl.contact.pos[:, 0], dx._impl.contact.pos[:, 1]))
-    dx = dx.tree_replace({'_impl.contact.pos': dx._impl.contact.pos[idx]})
-    idx = np.lexsort((d.contact.pos[:, 0], d.contact.pos[:, 1]))
-    d.contact.pos[:] = d.contact.pos[idx]
-
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(
-          dx._impl.contact, d.contact, field.name, 'flat_box_plane', 1e-5
-      )
-
-  _BOX_BOX = """
-    <mujoco>
-      <worldbody>
-          <light name="top" pos="0 0 1"/>
-          <geom type="box" size="0.025 0.025 0.025" pos="0 0 0.025"/>
-          <body name="peg" pos="0 0 0.06">
-            <freejoint/>
-            <geom name="peg" size="0.048 0.01 0.01" type="box"/>
-          </body>
-      </worldbody>
-      <keyframe>
-        <!-- Boxes are penetrating with a slightly off-axis face contact -->
-        <key qpos='-0.00234853 0.0112999 0.0533649 0.474162 0.472141 0.524886 0.526069'/>
-      </keyframe>
-    </mujoco>
-  """
-
-  def test_box_box(self):
-    """Tests a face contact for a box-box collision."""
-    d, dx = _collide(self._BOX_BOX, keyframe=0)
-    c = dx._impl.contact
-
-    self.assertEqual(c.pos.shape[0], 4)
-    np.testing.assert_array_less(c.dist, 0)
-    np.testing.assert_array_almost_equal(c.pos[:, 2], np.array([0.05] * 4), 2)
-    np.testing.assert_array_almost_equal(
-        c.frame[:, 0, :], np.array([[0.0, 0.0, 1.0]] * 4), decimal=2
-    )
-    np.testing.assert_array_almost_equal(
-        c.frame.reshape((-1, 9)), d.contact.frame[:4, :], decimal=2
-    )
-
-  _BOX_BOX_EDGE = """
-    <mujoco>
-      <worldbody>
-        <body pos="-1.0 -1.0 0.2">
-          <joint axis="1 0 0" type="free"/>
-          <geom size="0.2 0.2 0.2" type="box"/>
-        </body>
-        <body pos="-1.0 -1.2 0.55" euler="0 45 30">
-          <joint axis="1 0 0" type="free"/>
-          <geom size="0.1 0.1 0.1" type="box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_box_box_edge(self):
-    """Tests an edge contact for a box-box collision."""
-    d, dx = _collide(self._BOX_BOX_EDGE)
-
-    # Only one contact point.
-    np.testing.assert_array_less(dx._impl.contact.dist[:1], 0)
-    np.testing.assert_array_less(-dx._impl.contact.dist[1:], 0)
-    # extract the contact point with penetration
-    c = jax.tree_util.tree_map(lambda x: x[:1], dx._impl.contact)
-    c = c.replace(dim=c.dim[:1], efc_address=c.efc_address[:1])
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(c, d.contact, field.name, 'box_box_edge', 1e-2)
-
-  _CONVEX_CONVEX = """
-    <mujoco>
-      <asset>
-        <mesh name="dodecahedron" file="meshes/dodecahedron.stl" scale="0.01 0.01 0.01" />
-      </asset>
-      <worldbody>
-        <body pos="0.0 2.0 0.096">
-          <joint axis="1 0 0" type="free"/>
-          <geom size="0.2 0.2 0.2" type="mesh" mesh="dodecahedron"/>
-        </body>
-        <body pos="0.0 2.0 0.281" euler="0.1 -0.1 45">
-          <joint axis="1 0 0" type="free"/>
-          <geom size="0.1 0.1 0.1" type="mesh" mesh="dodecahedron"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_convex_convex(self):
-    """Tests generic convex-convex collision via _sat_gaussmap."""
-    directory = epath.resource_path('mujoco.mjx')
-    assets = {
-        'meshes/dodecahedron.stl': (
-            directory / 'test_data' / 'meshes/dodecahedron.stl'
-        ).read_bytes(),
-    }
-    _, dx = _collide(self._CONVEX_CONVEX, assets=assets)
-    c = dx._impl.contact
-
-    # Only one contact point for an edge contact.
-    self.assertLess(c.dist[0], 0)
-    np.testing.assert_array_less(0, c.dist[1:])
-    np.testing.assert_array_almost_equal(c.frame[0, 0], np.array([0, 0, 1]))
-
-  _CONVEX_CONVEX_THIN = """
-    <mujoco>
-      <asset>
-        <mesh name="poly"
-         vertex="0.3 0 0  0 0.5 0  -0.3 0 0  0 -0.5 0  0 -1 1  0 1 1"
-         face="0 1 5  0 5 4  0 4 3  3 4 2  2 4 5  1 2 5  0 2 1  0 3 2"/>
-      </asset>
-      <worldbody>
-        <body pos="0.0 2.0 0.35" euler="0 0 90">
-          <freejoint/>
-          <geom size="0.2 0.2 0.2" type="mesh" mesh="poly"/>
-        </body>
-        <body pos="0.0 2.0 2.281" euler="180 0 0">
-          <freejoint/>
-          <geom size="0.2 0.2 0.2" type="mesh" mesh="poly"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_convex_convex_edge(self):
-    """Tests convex-convex collisions with edge contact via _sat_gaussmap."""
-    _, dx = _collide(self._CONVEX_CONVEX_THIN)
-    c = dx._impl.contact
-
-    # Only one contact point for an edge contact.
-    self.assertLess(c.dist[0], 0)
-    np.testing.assert_array_less(0, c.dist[1:])
-    np.testing.assert_array_almost_equal(c.frame[0, 0], np.array([0, 0, 1]))
-    np.testing.assert_array_almost_equal(
-        c.pos[0], np.array([0, 2, 1.3155]), decimal=5
-    )
-
-    _, dx = _collide(
-        self._CONVEX_CONVEX_THIN.replace(
-            'pos="0.0 2.0 0.35"', 'pos="0.0 2.0 0"'
-        )
-    )
-    c = dx._impl.contact
-    self.assertTrue((c.dist > 0).all())
-
-  def test_no_overflow_warning_f32(self):
-    """Tests box-box and convex-convex don't overflow finfo.max in float32."""
-    directory = epath.resource_path('mujoco.mjx')
-    assets = {
-        'meshes/dodecahedron.stl': (
-            directory / 'test_data' / 'meshes/dodecahedron.stl'
-        ).read_bytes(),
-    }
-    with warnings.catch_warnings():  # Regression test for #3368
-      warnings.simplefilter('error', RuntimeWarning)
-      jax.clear_caches()  # force a re-trace so the cast (and warning) re-runs
-      _collide(self._BOX_BOX, keyframe=0)
-      _collide(self._CONVEX_CONVEX, assets=assets)
-
-
-class HFieldTest(absltest.TestCase):
-  _HFIELD = """
-    <mujoco>
-      <asset>
-        <hfield name="J" size="0.9 1.1 .2 .1" nrow="8" ncol="10" elevation="
-                0 0 0 0 0 0 1 1 0 0
-                0 0 0 0 0 0 1 1 0 0
-                0 0 0 0 1 1 1 1 0 0
-                0 0 1 1 0 0 1 1 0 0
-                0 0 1 1 1 1 1 1 0 0
-                0 0 1 1 1 1 1 0 0 0
-                0 0 0 0 0 0 0 0 0 0
-                0 0 0 0 0 0 0 0 0 0"/>
-      </asset>
-      <worldbody>
-        <light pos="0 0 0.32"/>
-        <geom type="hfield" hfield="J"/>
-        <body pos="0 0 1">
-          <freejoint/>
-          <geom size="0.1" contype="0"/>
-        </body>
-        <body pos="0 0 0.2">
-          <freejoint/>
-          <geom type="capsule" size="0.01 0.1" contype="0"/>
-        </body>
-        <body pos="0 0 0.55">
-          <freejoint/>
-          <geom type="box" size="0.05 0.05 0.025" contype="0"/>
-        </body>
-      </worldbody>
-      <keyframe>
-        <key name="qpos1" qpos='-0.0127496 0.156995 0.118336 0.336325 -0.810241 0.442853 -0.185139 -0.19614 -0.000912274 0.112334 -0.455846 0.852431 -0.0871208 0.24078 0.124334 0.23346 0.100627 0.293376 -0.27087 0.855587 0.32944'/>
-        <key name="qpos2" qpos='0.0815885 -3.18397 -9.4802 0.57036 0.695092 -0.403995 -0.168298 -0.0156545 0.157173 -0.00734406 0.606091 -0.185052 0.759332 -0.147728 0.100088 -0.234066 0.224884 0.999906 0.000384 -9.62645e-05 -0.013677'/>
-      </keyframe>
-    </mujoco>
-  """
-
-  def test_sphere_hfield(self):
-    m = mujoco.MjModel.from_xml_string(self._HFIELD)
-    mx = mjx.put_model(m)
-
-    d = mujoco.MjData(m)
-    d.qpos[:] = m.keyframe('qpos1').qpos
-    dx = mjx.put_data(m, d)
-
-    collision_jit_fn = jax.jit(mjx.collision)
-    kinematics_jit_fn = jax.jit(mjx.kinematics)
-    dx = kinematics_jit_fn(mx, dx)
-    dx = collision_jit_fn(mx, dx)
-
-    # check that all geoms are colliding with the hfield
-    for geom_id in [1, 2, 3]:
-      mask = (dx._impl.contact.geom == np.array([0, geom_id])).all(axis=1)
-      c = jax.tree_util.tree_map(lambda x, m=mask: x[m], dx._impl.contact)
-      self.assertTrue((c.dist < 0).any())
-      self.assertTrue((c.dist > -1e-3).any())
-      # all contact normals are roughly pointing in the right direction
-      self.assertTrue((c.frame[:, 0].dot(np.array([0, 0, 1])) > 0.7).all())
-
-  def test_hfield_outside(self):
-    """Tests that objects outside of the hfield do not collide."""
-    positions = ['2.0 0', '-2.0 0', '0 -2.0', '0 2.0']
-    for p in positions:
-      xml = self._HFIELD.replace('<body pos="0 0', f'<body pos="{p}')
-      _, dx = _collide(xml)
-      self.assertTrue((dx._impl.contact.dist >= 0).all())
-
-  def test_hfield_deep(self):
-    """Tests that objects with deep penetration do not get stuck."""
-    m = mujoco.MjModel.from_xml_string(self._HFIELD)
-    mx = mjx.put_model(m)
-
-    d = mujoco.MjData(m)
-    d.qpos[:] = m.keyframe('qpos2').qpos
-    dx = mjx.put_data(m, d)
-
-    collision_jit_fn = jax.jit(mjx.collision)
-    kinematics_jit_fn = jax.jit(mjx.kinematics)
-    dx = kinematics_jit_fn(mx, dx)
-    dx = collision_jit_fn(mx, dx)
-
-    # check that all geoms are colliding with the hfield
-    for geom_id in [1, 2, 3]:
-      mask = (dx._impl.contact.geom == np.array([0, geom_id])).all(axis=1)
-      c = jax.tree_util.tree_map(lambda x, m=mask: x[m], dx._impl.contact)
-      # all contact normals are in the top half-face of the hfield
-      self.assertTrue((c.frame[:, 0].dot(np.array([0, 0, 1])) > 0.7).all())
-
-
-class BodyPairFilterTest(absltest.TestCase):
-  """Tests that certain body pairs get filtered."""
-
-  _SELF_COLLISION = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <joint type="free"/>
-          <geom size="0.2"/>
-          <geom size="0.2"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_filter_self_collision(self):
-    """Tests that self collisions get filtered."""
-    d, dx = _collide(self._SELF_COLLISION)
-    self.assertEqual(dx._impl.contact.pos.shape[0], d.contact.pos.shape[0])
-    self.assertEqual(dx._impl.contact.pos.shape[0], 0)
-
-  _PARENT_CHILD = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <joint type="free"/>
-          <geom size="0.2"/>
-          <body pos="0.0 0.0 0.1">
-            <joint type="hinge"/>
-            <geom size="0.2"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_filter_parent_child(self):
-    """Tests that parent-child collisions get filtered."""
-    m = mujoco.MjModel.from_xml_string(self._PARENT_CHILD)
-    mx = mjx.put_model(m)
-    d = mujoco.MjData(m)
-    dx = mjx.put_data(m, d)
-
-    mujoco.mj_step(m, d)
-    collision_jit_fn = jax.jit(mjx.collision)
-    kinematics_jit_fn = jax.jit(mjx.kinematics)
-    dx = kinematics_jit_fn(mx, dx)
-    dx = collision_jit_fn(mx, dx)
-
-    self.assertEqual(dx._impl.contact.pos.shape[0], d.contact.pos.shape[0])
-    self.assertEqual(dx._impl.contact.pos.shape[0], 0)
-
-  def test_disable_filter_parent_child(self):
-    """Tests that filterparent flag disables parent-child filtering."""
-    m = mujoco.MjModel.from_xml_string(self._PARENT_CHILD)
-    m.opt.disableflags |= mujoco.mjtDisableBit.mjDSBL_FILTERPARENT
-    mx = mjx.put_model(m)
-    d = mujoco.MjData(m)
-    dx = mjx.put_data(m, d)
-
-    mujoco.mj_step(m, d)
-    collision_jit_fn = jax.jit(mjx.collision)
-    kinematics_jit_fn = jax.jit(mjx.kinematics)
-    dx = kinematics_jit_fn(mx, dx)
-    dx = collision_jit_fn(mx, dx)
-
-    # one collision between parent-child spheres
-    self.assertEqual(dx._impl.contact.pos.shape[0], d.contact.pos.shape[0])
-    self.assertEqual(dx._impl.contact.pos.shape[0], 1)
-
-
-class DimTest(parameterized.TestCase):
-  """Tests contact dim."""
-
-  def test_ncon(self):
-    m = test_util.load_test_file('constraints.xml')
-    dim = collision_driver.make_condim(m)
-    expected = [1] * 4 + [3] * 28 + [4] * 4 + [6] * 4
-    np.testing.assert_array_equal(dim, np.array(expected))
-
-  def test_disable_contact(self):
-    m = test_util.load_test_file('constraints.xml')
-    m.opt.disableflags |= DisableBit.CONTACT
-    dim = collision_driver.make_condim(m)
-    self.assertEqual(dim.size, 0)
-
-  def test_ncon_meshes(self):
-    m = test_util.load_test_file('shadow_hand/scene_right.xml')
-
-    ncon = collision_driver.make_condim(m).size
-    self.assertEqual(ncon, 15)
-
-    mx = mjx.put_model(m)
-    ncon = collision_driver.make_condim(mx).size
-    self.assertEqual(ncon, 15)
-
-    # get rid of max_contact_points, test only max_geom_pairs
-    for i in range(m.nnumeric):
-      name_ = (
-          m.names[m.name_numericadr[i] :].decode('utf-8').split('\x00', 1)[0]
-      )
-      if name_ == 'max_contact_points':
-        m.numeric_data[m.numeric_adr[i]] = -1
-
-    ncon = collision_driver.make_condim(m).size
-    self.assertEqual(ncon, 98)
-
-    mx = mjx.put_model(m)
-    ncon = collision_driver.make_condim(mx).size
-    self.assertEqual(ncon, 98)
-
-
-class TopKContactTest(absltest.TestCase):
-  """Tests top-k contacts."""
-
-  _CAPSULES = """
-    <mujoco>
-      <custom>
-        <numeric data="2" name="max_contact_points"/>
-      </custom>
-      <worldbody>
-        <body pos="0 0 0.54">
-          <joint axis="1 0 0" type="free"/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule"/>
-        </body>
-        <body pos="0 0 0.54">
-          <joint axis="1 0 0" type="free"/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule"/>
-        </body>
-        <body pos="0 0 0.54">
-          <joint axis="1 0 0" type="free"/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_top_k_contacts(self):
-    m = mujoco.MjModel.from_xml_string(self._CAPSULES)
-    mx_top_k = mjx.put_model(m)
-    mx_all = mx_top_k.replace(
-        nnumeric=0, name_numericadr=np.array([]), numeric_data=np.array([])
-    )
-    d = mujoco.MjData(m)
-    dx = mjx.put_data(m, d)
-
-    collision_jit_fn = jax.jit(mjx.collision)
-    kinematics_jit_fn = jax.jit(mjx.kinematics)
-    dx = kinematics_jit_fn(mx_all, dx)
-
-    dx_all = collision_jit_fn(mx_all, dx)
-    dx_top_k = collision_jit_fn(mx_top_k, dx)
-
-    self.assertEqual(dx_all._impl.contact.dist.shape, (3,))
-    self.assertEqual(dx_top_k._impl.contact.dist.shape, (2,))
-
-  _CAPSULES_MAX_PAIR = """
-    <mujoco>
-      <custom>
-        <numeric data="2" name="max_geom_pairs"/>
-      </custom>
-      <worldbody>
-        <body pos="0 0 0.54">
-          <freejoint/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule"/>
-        </body>
-        <body pos="0 0 0.54">
-          <freejoint/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule"/>
-        </body>
-        <body pos="0 0 0.54">
-          <freejoint/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule"/>
-        </body>
-        <body pos="0 0 1.0">
-          <freejoint/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_max_pair(self):
-    """Tests contact culling before the collision functions were dispatched."""
-    m = mujoco.MjModel.from_xml_string(self._CAPSULES_MAX_PAIR)
-    mx_top_k = mjx.put_model(m)
-    mx_all = mx_top_k.replace(
-        nnumeric=0, name_numericadr=np.array([]), numeric_data=np.array([])
-    )
-    d = mujoco.MjData(m)
-    dx = mjx.put_data(m, d)
-
-    collision_jit_fn = jax.jit(mjx.collision)
-    kinematics_jit_fn = jax.jit(mjx.kinematics)
-    dx = kinematics_jit_fn(mx_all, dx)
-
-    dx_all = collision_jit_fn(mx_all, dx)
-    dx_top_k = collision_jit_fn(mx_top_k, dx)
-
-    self.assertEqual(dx_all._impl.contact.dist.shape, (6,))
-    self.assertEqual(dx_top_k._impl.contact.dist.shape, (2,))
-    self.assertTrue((dx_top_k._impl.contact.dist < 0).all())
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/collision_primitive.py b/mjx/mujoco/mjx/_src/collision_primitive.py
deleted file mode 100644
index 5a04a93a..00000000
--- a/mjx/mujoco/mjx/_src/collision_primitive.py
+++ /dev/null
@@ -1,208 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Collision primitives."""
-
-from typing import Tuple
-
-import jax
-from jax import numpy as jp
-from mujoco.mjx._src import math
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.collision_types import Collision
-from mujoco.mjx._src.collision_types import GeomInfo
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import Model
-# pylint: enable=g-importing-member
-
-
-def collider(ncon: int):
-  """Wraps collision functions for use by collision_driver."""
-
-  def wrapper(func):
-    def collide(m: Model, d: Data, _, geom: jax.Array) -> Collision:
-      g1, g2 = geom.T
-      info1 = GeomInfo(d.geom_xpos[g1], d.geom_xmat[g1], m.geom_size[g1])
-      info2 = GeomInfo(d.geom_xpos[g2], d.geom_xmat[g2], m.geom_size[g2])
-      dist, pos, frame = jax.vmap(func)(info1, info2)
-      if ncon > 1:
-        return jax.tree_util.tree_map(jp.concatenate, (dist, pos, frame))
-      return dist, pos, frame
-
-    collide.ncon = ncon  # pyrefly: ignore[missing-attribute]
-    return collide
-
-  return wrapper
-
-
-def _plane_sphere(
-    plane_normal: jax.Array,
-    plane_pos: jax.Array,
-    sphere_pos: jax.Array,
-    sphere_radius: jax.Array,
-) -> Tuple[jax.Array, jax.Array]:
-  """Returns the distance and contact point between a plane and sphere."""
-  dist = jp.dot(sphere_pos - plane_pos, plane_normal) - sphere_radius
-  pos = sphere_pos - plane_normal * (sphere_radius + 0.5 * dist)
-  return dist, pos
-
-
-@collider(ncon=1)
-def plane_sphere(plane: GeomInfo, sphere: GeomInfo) -> Collision:
-  """Calculates contact between a plane and a sphere."""
-  n = plane.mat[:, 2]
-  dist, pos = _plane_sphere(n, plane.pos, sphere.pos, sphere.size[0])
-  return dist, pos, math.make_frame(n)
-
-
-@collider(ncon=2)
-def plane_capsule(plane: GeomInfo, cap: GeomInfo) -> Collision:
-  """Calculates two contacts between a capsule and a plane."""
-  n, axis = plane.mat[:, 2], cap.mat[:, 2]
-  # align contact frames with capsule axis
-  b, b_norm = math.normalize_with_norm(axis - n * jp.dot(n, axis))
-  y, z = jp.array([0.0, 1.0, 0.0]), jp.array([0.0, 0.0, 1.0])
-  b = jp.where(b_norm < 0.5, jp.where((-0.5 < n[1]) & (n[1] < 0.5), y, z), b)
-  frame = jp.array([[n, b, jp.cross(n, b)]])
-  segment = axis * cap.size[1]
-  collisions = []
-  for offset in [segment, -segment]:
-    dist, pos = _plane_sphere(n, plane.pos, cap.pos + offset, cap.size[0])
-    dist = jp.expand_dims(dist, axis=0)
-    pos = jp.expand_dims(pos, axis=0)
-    collisions.append((dist, pos, frame))
-  return jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *collisions)
-
-
-@collider(ncon=1)
-def plane_ellipsoid(plane: GeomInfo, ellipsoid: GeomInfo) -> Collision:
-  """Calculates one contact between an ellipsoid and a plane."""
-  n = plane.mat[:, 2]
-  size = ellipsoid.size
-  sphere_support = -math.normalize((ellipsoid.mat.T @ n) * size)
-  pos = ellipsoid.pos + ellipsoid.mat @ (sphere_support * size)
-  dist = jp.dot(n, pos - plane.pos)
-  pos = pos - n * dist * 0.5
-  return dist, pos, math.make_frame(n)
-
-
-@collider(ncon=3)
-def plane_cylinder(plane: GeomInfo, cylinder: GeomInfo) -> Collision:
-  """Calculates three contacts between a cylinder and a plane."""
-  n = plane.mat[:, 2]
-  axis = cylinder.mat[:, 2]
-
-  # make sure axis points towards plane
-  prjaxis = jp.dot(n, axis)
-  sign = -math.sign(prjaxis)
-  axis, prjaxis = axis * sign, prjaxis * sign
-
-  # compute normal distance to cylinder center
-  dist0 = jp.dot(cylinder.pos - plane.pos, n)
-
-  # remove component of -normal along axis, compute length
-  vec = axis * prjaxis - n
-  len_ = math.norm(vec)
-
-  vec = jp.where(
-      len_ < 1e-12,
-      # disk parallel to plane: pick x-axis of cylinder, scale by radius
-      cylinder.mat[:, 0] * cylinder.size[0],
-      # general configuration: normalize vector, scale by radius
-      math.safe_div(vec, len_) * cylinder.size[0],
-  )
-
-  # project vector on normal
-  prjvec = jp.dot(vec, n)
-
-  # scale axis by half-length
-  axis *= cylinder.size[1]
-  prjaxis *= cylinder.size[1]
-
-  # compute sideways vector: vec1
-  prjvec1 = -prjvec * 0.5
-  vec1 = math.normalize(jp.cross(vec, axis)) * cylinder.size[0]
-  vec1 *= jp.sqrt(3.0) * 0.5
-
-  # disk parallel to plane
-  d1 = dist0 + prjaxis + prjvec
-  d2 = dist0 + prjaxis + prjvec1
-  dist = jp.array([d1, d2, d2])
-  pos = (
-      cylinder.pos
-      + axis
-      + jp.array([
-          vec - n * d1 * 0.5,
-          vec1 + vec * -0.5 - n * d2 * 0.5,
-          -vec1 + vec * -0.5 - n * d2 * 0.5,
-      ])
-  )
-
-  # cylinder parallel to plane
-  cond = jp.abs(prjaxis) < 1e-3
-  d3 = dist0 - prjaxis + prjvec
-  dist = jp.where(cond, dist.at[1].set(d3), dist)
-  pos = jp.where(
-      cond, pos.at[1].set(cylinder.pos + vec - axis - n * d3 * 0.5), pos
-  )
-
-  frame = jp.stack([math.make_frame(n)] * 3, axis=0)
-  return dist, pos, frame
-
-
-def _sphere_sphere(
-    pos1: jax.Array, radius1: jax.Array, pos2: jax.Array, radius2: jax.Array
-) -> Tuple[jax.Array, jax.Array, jax.Array]:
-  """Returns the penetration, contact point, and normal between two spheres."""
-  n, dist = math.normalize_with_norm(pos2 - pos1)
-  n = jp.where(dist == 0.0, jp.array([1.0, 0.0, 0.0]), n)
-  dist = dist - (radius1 + radius2)
-  pos = pos1 + n * (radius1 + dist * 0.5)
-  return dist, pos, n
-
-
-@collider(ncon=1)
-def sphere_sphere(s1: GeomInfo, s2: GeomInfo) -> Collision:
-  """Calculates contact between two spheres."""
-  dist, pos, n = _sphere_sphere(s1.pos, s1.size[0], s2.pos, s2.size[0])
-  return dist, pos, math.make_frame(n)
-
-
-@collider(ncon=1)
-def sphere_capsule(sphere: GeomInfo, cap: GeomInfo) -> Collision:
-  """Calculates one contact between a sphere and a capsule."""
-  axis, length = cap.mat[:, 2], cap.size[1]
-  segment = axis * length
-  pt = math.closest_segment_point(
-      cap.pos - segment, cap.pos + segment, sphere.pos
-  )
-  dist, pos, n = _sphere_sphere(sphere.pos, sphere.size[0], pt, cap.size[0])
-  return dist, pos, math.make_frame(n)
-
-
-@collider(ncon=1)
-def capsule_capsule(cap1: GeomInfo, cap2: GeomInfo) -> Collision:
-  """Calculates one contact between two capsules."""
-  axis1, length1 = cap1.mat[:, 2], cap1.size[1]
-  axis2, length2 = cap2.mat[:, 2], cap2.size[1]
-  seg1, seg2 = axis1 * length1, axis2 * length2
-  pt1, pt2 = math.closest_segment_to_segment_points(
-      cap1.pos - seg1,
-      cap1.pos + seg1,
-      cap2.pos - seg2,
-      cap2.pos + seg2,
-  )
-  radius1, radius2 = cap1.size[0], cap2.size[0]
-  dist, pos, n = _sphere_sphere(pt1, radius1, pt2, radius2)
-  return dist, pos, math.make_frame(n)
diff --git a/mjx/mujoco/mjx/_src/collision_sdf.py b/mjx/mujoco/mjx/_src/collision_sdf.py
deleted file mode 100644
index d5754381..00000000
--- a/mjx/mujoco/mjx/_src/collision_sdf.py
+++ /dev/null
@@ -1,275 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Collision functions for shapes represented as signed distance functions (SDF).
-
-A signed distance function at a given point in space is the shortest distance to
-a surface. This enables to define a geometry implicitly and exactly.
-
-See https://iquilezles.org/articles/distfunctions/ for a list of analytic SDFs.
-"""
-
-import functools
-from typing import Callable
-from typing import Tuple
-
-import jax
-from jax import numpy as jp
-from mujoco.mjx._src import math
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.collision_types import Collision
-from mujoco.mjx._src.collision_types import GeomInfo
-from mujoco.mjx._src.dataclasses import PyTreeNode
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-# pylint: enable=g-importing-member
-
-# the SDF function takes position in, and returns a distance or objective
-SDFFn = Callable[[jax.Array], jax.Array]
-
-
-def collider(ncon: int):
-  """Wraps collision functions for use by collision_driver."""
-
-  def wrapper(func):
-    def collide(m: Model, d: Data, _, geom: jax.Array) -> Collision:
-      g1, g2 = geom.T
-      info1 = GeomInfo(d.geom_xpos[g1], d.geom_xmat[g1], m.geom_size[g1])
-      info2 = GeomInfo(d.geom_xpos[g2], d.geom_xmat[g2], m.geom_size[g2])
-      dist, pos, frame = jax.vmap(func)(info1, info2)
-      if ncon > 1:
-        return jax.tree_util.tree_map(jp.concatenate, (dist, pos, frame))
-      return dist, pos, frame
-
-    collide.ncon = ncon  # pyrefly: ignore[missing-attribute]
-    return collide
-
-  return wrapper
-
-
-def _plane(pos: jax.Array, size: jax.Array) -> jax.Array:
-  del size
-  return pos[2]
-
-
-def _sphere(pos: jax.Array, size: jax.Array):
-  return math.norm(pos) - size[0]
-
-
-def _capsule(pos: jax.Array, size: jax.Array):
-  pa = -size[1] * jp.array([0, 0, 1])
-  pb = size[1] * jp.array([0, 0, 1])
-  ab = pb - pa
-  ap = pos - pa
-  denom = ab.dot(ab)
-  denom = jp.where(jp.abs(denom) < 1e-12, 1e-12 * math.sign(denom), denom)
-  t = ab.dot(ap) / denom
-  t = jp.clip(t, 0, 1)
-  c = pa + t * ab
-  return math.norm(pos - c) - size[0]
-
-
-def _ellipsoid(pos: jax.Array, size: jax.Array) -> jax.Array:
-  k0 = math.norm(pos / size)
-  k1 = math.norm(pos / (size * size))
-  return k0 * (k0 - 1.0) / (k1 + (k1 == 0.0) * 1e-12)
-
-
-@jax.custom_jvp
-def _cylinder(pos: jax.Array, size: jax.Array) -> jax.Array:
-  a0 = jp.sqrt(pos[0] * pos[0] + pos[1] * pos[1]) - size[0]
-  a1 = jp.abs(pos[2]) - size[1]
-  b0 = jp.maximum(a0, 0)
-  b1 = jp.maximum(a1, 0)
-  return jp.minimum(jp.maximum(a0, a1), 0) + jp.sqrt(b0 * b0 + b1 * b1)
-
-
-def _cylinder_grad(x: jax.Array, size: jax.Array) -> jax.Array:
-  """Gradient of the cylinder SDF wrt query point and singularities removed."""
-  c = jp.sqrt(x[0] * x[0] + x[1] * x[1])
-  e = jp.abs(x[2])
-  a = jp.array([c - size[0], e - size[1]])
-  b = jp.array([jp.maximum(a[0], 0), jp.maximum(a[1], 0)])
-  j = jp.argmax(a)
-  bnorm = jp.sqrt(b[0] * b[0] + b[1] * b[1])
-  bnorm += jp.allclose(bnorm, 0) * 1e-12
-  grada = jp.array([
-      x[0] / (c + jp.allclose(c, 0) * 1e-12),
-      x[1] / (c + jp.allclose(c, 0) * 1e-12),
-      x[2] / (e + jp.allclose(e, 0) * 1e-12),
-  ])
-  gradm = jp.array([[grada[0], grada[1], 0], [0, 0, grada[2]]])
-  gradb = grada * b[jp.array([0, 0, 1])] / bnorm
-  return jp.where(a[j] < 0, gradm[j], gradb)
-
-
-@_cylinder.defjvp
-def cylinder_jvp(primals, tangents):
-  x, y = primals
-  x_dot, _ = tangents
-  primal_out = _cylinder(x, y)
-  tangent_out = jp.dot(_cylinder_grad(x, y), x_dot)
-  return primal_out, tangent_out
-
-
-def _from_to(
-    f: SDFFn,
-    from_pos: jax.Array,
-    from_mat: jax.Array,
-    to_pos: jax.Array,
-    to_mat: jax.Array,
-) -> SDFFn:
-  relmat = math.matmul_unroll(to_mat.T, from_mat)
-  relpos = to_mat.T @ (from_pos - to_pos)
-  return lambda p: f(relmat @ p + relpos)
-
-
-def _intersect(d1: SDFFn, d2: SDFFn) -> SDFFn:
-  return lambda p: jp.maximum(d1(p), d2(p))
-
-
-def _clearance(d1: SDFFn, d2: SDFFn) -> SDFFn:
-  return lambda p: (d1(p) + d2(p) + jp.abs(_intersect(d1, d2)(p))).squeeze()
-
-
-class GradientState(PyTreeNode):
-  dist: jax.Array
-  x: jax.Array
-
-
-def _gradient_step(objective: SDFFn, state: GradientState) -> GradientState:
-  """Performs a step of gradient descent."""
-  # TODO: find better parameters
-  amin = 1e-4  # minimum value for line search factor scaling the gradient
-  amax = 2.0  # maximum value for line search factor scaling the gradient
-  nlinesearch = 10  # line search points
-  grad = jax.grad(objective)(state.x)
-  alpha = jp.geomspace(amin, amax, nlinesearch).reshape(nlinesearch, -1)
-  candidates = state.x - alpha * grad.reshape(-1, 3)
-  values = jax.vmap(objective)(candidates)
-  idx = jp.argmin(values)
-  return state.replace(x=candidates[idx], dist=values[idx])
-
-
-def _gradient_descent(
-    objective: SDFFn,
-    x: jax.Array,
-    niter: int,
-) -> Tuple[jax.Array, jax.Array]:
-  """Performs gradient descent with backtracking line search."""
-  state = GradientState(
-      dist=1e10,
-      x=x,
-  )
-
-  state, _ = jax.lax.scan(
-      lambda s, _: (_gradient_step(objective, s), None), state, (), length=niter
-  )
-  return state.dist, state.x
-
-
-def _optim(
-    d1,
-    d2,
-    info1: GeomInfo,
-    info2: GeomInfo,
-    x0: jax.Array,
-) -> Collision:
-  """Optimizes the clearance function."""
-  d1 = functools.partial(d1, size=info1.size)
-  # evaluate d1 in d2 frame
-  d1 = _from_to(d1, info2.pos, info2.mat, info1.pos, info1.mat)
-  d2 = functools.partial(d2, size=info2.size)
-  x0 = info2.mat.T @ (x0 - info2.pos)
-  fn = _clearance(d1, d2)
-  _, pos = _gradient_descent(fn, x0, 10)
-  dist = d1(pos) + d2(pos)
-  n = jax.grad(d1)(pos) - jax.grad(d2)(pos)
-  pos = info2.mat @ pos + info2.pos  # d2 to global frame
-  n = info2.mat @ n
-  return dist, pos, math.make_frame(n)
-
-
-@collider(ncon=1)
-def sphere_ellipsoid(s: GeomInfo, e: GeomInfo) -> Collision:
-  """Calculates contact between a sphere and an ellipsoid."""
-  x0 = 0.5 * (s.pos + e.pos)
-  return _optim(_sphere, _ellipsoid, s, e, x0)
-
-
-@collider(ncon=1)
-def sphere_cylinder(s: GeomInfo, c: GeomInfo) -> Collision:
-  """Calculates contact between a sphere and a cylinder."""
-  # TODO: implement analytical version.
-  x0 = 0.5 * (s.pos + c.pos)
-  return _optim(_sphere, _cylinder, s, c, x0)
-
-
-@collider(ncon=1)
-def capsule_ellipsoid(c: GeomInfo, e: GeomInfo) -> Collision:
-  """ "Calculates contact between a capsule and an ellipsoid."""
-  x0 = 0.5 * (c.pos + e.pos)
-  return _optim(_capsule, _ellipsoid, c, e, x0)
-
-
-@collider(ncon=2)
-def capsule_cylinder(ca: GeomInfo, cy: GeomInfo) -> Collision:
-  """Calculates contact between a capsule and a cylinder."""
-  # TODO: improve robustness
-  # Near sharp corners, the SDF might give the penetration depth with respect
-  # to a surface that is not in collision. Possible solutions is to find the
-  # contact points analytically or to change the SDF depending on the relative
-  # pose of the bodies.
-  mid = 0.5 * (ca.pos + cy.pos)
-  vec = ca.mat[:, 2] * ca.size[1]
-  x0 = jp.array([mid - vec, mid + vec])
-  optim_ = functools.partial(_optim, _capsule, _cylinder, ca, cy)
-  return jax.vmap(optim_)(x0)
-
-
-@collider(ncon=1)
-def ellipsoid_ellipsoid(e1: GeomInfo, e2: GeomInfo) -> Collision:
-  """Calculates contact between two ellipsoids."""
-  x0 = 0.5 * (e1.pos + e2.pos)
-  return _optim(_ellipsoid, _ellipsoid, e1, e2, x0)
-
-
-@collider(ncon=1)
-def ellipsoid_cylinder(e: GeomInfo, c: GeomInfo) -> Collision:
-  """Calculates contact between and ellipsoid and a cylinder."""
-  x0 = 0.5 * (e.pos + c.pos)
-  return _optim(_ellipsoid, _cylinder, e, c, x0)
-
-
-@collider(ncon=4)
-def cylinder_cylinder(c1: GeomInfo, c2: GeomInfo) -> Collision:
-  """Calculates contact between a cylinder and a cylinder."""
-  # TODO: improve robustness
-  # Near sharp corners, the SDF might give the penetration depth with respect
-  # to a surface that is not in collision. Possible solutions is to find the
-  # contact points analytically or to change the SDF depending on the relative
-  # pose of the bodies.
-  basis = math.make_frame(c2.pos - c1.pos)
-  mid = 0.5 * (c1.pos + c2.pos)
-  r = jp.maximum(c1.size[0], c2.size[0])
-  x0 = jp.array([
-      mid + r * basis[1],
-      mid + r * basis[2],
-      mid - r * basis[1],
-      mid - r * basis[2],
-  ])
-  optim_ = functools.partial(_optim, _cylinder, _cylinder, c1, c2)
-  return jax.vmap(optim_)(x0)
diff --git a/mjx/mujoco/mjx/_src/collision_types.py b/mjx/mujoco/mjx/_src/collision_types.py
deleted file mode 100644
index d105a8d2..00000000
--- a/mjx/mujoco/mjx/_src/collision_types.py
+++ /dev/null
@@ -1,79 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Collision base types."""
-
-import dataclasses
-from typing import Tuple
-import jax
-from mujoco.mjx._src.dataclasses import PyTreeNode  # pylint: disable=g-importing-member
-import numpy as np
-
-# Collision returned by collision functions:
-#  - distance          distance between nearest points; neg: penetration
-#  - position  (3,)    position of contact point: midpoint between geoms
-#  - frame     (3, 3)  normal is in [0, :], points from geom[0] to geom[1]
-Collision = Tuple[jax.Array, jax.Array, jax.Array]
-
-
-class GeomInfo(PyTreeNode):
-  """Geom properties for primitive shapes."""
-
-  pos: jax.Array
-  mat: jax.Array
-  size: jax.Array
-
-
-class ConvexInfo(PyTreeNode):
-  """Geom properties for convex meshes."""
-
-  pos: jax.Array
-  mat: jax.Array
-  size: jax.Array
-  vert: jax.Array
-  face: jax.Array
-  face_normal: jax.Array
-  edge: jax.Array
-  edge_face_normal: jax.Array
-
-
-class HFieldInfo(PyTreeNode):
-  """Geom properties for height fields."""
-
-  pos: jax.Array
-  mat: jax.Array
-  size: np.ndarray
-  nrow: int
-  ncol: int
-  data: jax.Array
-
-
-@dataclasses.dataclass(frozen=True)
-class FunctionKey:
-  """Specifies how geom pairs group into collision_driver's function table.
-
-  Attributes:
-    types: geom type pair, which determines the collision function
-    data_ids: geom data id pair: mesh id for mesh geoms, otherwise -1. Meshes
-      have distinct face/vertex counts, so must occupy distinct entries in the
-      collision function table.
-    condim: grouping by condim of the colliision ensures that the size of the
-      resulting constraint jacobian is determined at compile time.
-    subgrid_size: the size determines the hfield subgrid to collide with
-  """
-
-  types: Tuple[int, int]
-  data_ids: Tuple[int, int]
-  condim: int
-  subgrid_size: Tuple[int, int] = (-1, -1)
diff --git a/mjx/mujoco/mjx/_src/constraint.py b/mjx/mujoco/mjx/_src/constraint.py
deleted file mode 100644
index 4c5bc298..00000000
--- a/mjx/mujoco/mjx/_src/constraint.py
+++ /dev/null
@@ -1,748 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Core non-smooth constraint functions."""
-
-from typing import Optional, Tuple, Union
-
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco.mjx._src import collision_driver
-from mujoco.mjx._src import math
-from mujoco.mjx._src import support
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.dataclasses import PyTreeNode
-from mujoco.mjx._src.types import ConeType
-from mujoco.mjx._src.types import ConstraintType
-from mujoco.mjx._src.types import Contact
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import EqType
-from mujoco.mjx._src.types import JointType
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-from mujoco.mjx._src.types import ObjType
-from mujoco.mjx._src.types import OptionJAX
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-class _Efc(PyTreeNode):
-  """Support data for creating constraint matrices."""
-
-  J: jax.Array
-  pos_aref: jax.Array
-  pos_imp: jax.Array
-  invweight: jax.Array
-  solref: jax.Array
-  solimp: jax.Array
-  margin: jax.Array
-  frictionloss: jax.Array
-
-
-def _kbi(
-    m: Model,
-    solref: jax.Array,
-    solimp: jax.Array,
-    pos: jax.Array,
-) -> Tuple[jax.Array, jax.Array, jax.Array]:
-  """Calculates stiffness, damping, and impedance of a constraint."""
-  timeconst, dampratio = solref
-
-  if not m.opt.disableflags & DisableBit.REFSAFE:
-    timeconst = jp.maximum(timeconst, 2 * m.opt.timestep)
-
-  dmin, dmax, width, mid, power = solimp
-
-  dmin = jp.clip(dmin, mujoco.mjMINIMP, mujoco.mjMAXIMP)
-  dmax = jp.clip(dmax, mujoco.mjMINIMP, mujoco.mjMAXIMP)
-  width = jp.maximum(mujoco.mjMINVAL, width)
-  mid = jp.clip(mid, mujoco.mjMINIMP, mujoco.mjMAXIMP)
-  power = jp.maximum(1, power)
-
-  # See https://mujoco.readthedocs.io/en/latest/modeling.html#solver-parameters
-  k = 1 / (dmax * dmax * timeconst * timeconst * dampratio * dampratio)
-  b = 2 / (dmax * timeconst)
-  # TODO(robotics-simulation): check various solparam settings in model gen test
-  k = jp.where(solref[0] <= 0, -solref[0] / (dmax * dmax), k)
-  b = jp.where(solref[1] <= 0, -solref[1] / dmax, b)
-
-  imp_x = jp.abs(pos) / width
-  imp_a = (1.0 / jp.power(mid, power - 1)) * jp.power(imp_x, power)
-  imp_b = 1 - (1.0 / jp.power(1 - mid, power - 1)) * jp.power(1 - imp_x, power)
-  imp_y = jp.where(imp_x < mid, imp_a, imp_b)
-  imp = dmin + imp_y * (dmax - dmin)
-  imp = jp.clip(imp, dmin, dmax)
-  imp = jp.where(imp_x > 1.0, dmax, imp)
-
-  return k, b, imp  # corresponds to K, B, I of efc_KBIP
-
-
-def _row(j: jax.Array, *args) -> _Efc:
-  """Creates an efc row, ensuring args all have same row count."""
-  if len(j.shape) < 2:
-    return _Efc(j, *args)  # if j isn't batched, ignore
-
-  args = list(args)
-  for i, arg in enumerate(args):
-    if not arg.shape or arg.shape[0] != j.shape[0]:
-      args[i] = jp.tile(arg, (j.shape[0],) + (1,) * (len(arg.shape)))
-  return _Efc(j, *args)
-
-
-def _efc_equality_connect(m: Model, d: Data) -> Optional[_Efc]:
-  """Calculates constraint rows for connect equality constraints."""
-
-  eq_id = np.nonzero(m.eq_type == EqType.CONNECT)[0]
-  if (m.opt.disableflags & DisableBit.EQUALITY) or eq_id.size == 0:
-    return None
-
-  @jax.vmap
-  def rows(
-      is_site, obj1id, obj2id, body1id, body2id, data, solref, solimp, active
-  ):
-    anchor1, anchor2 = data[0:3], data[3:6]
-
-    pos1 = d.xmat[body1id] @ anchor1 + d.xpos[body1id]
-    pos2 = d.xmat[body2id] @ anchor2 + d.xpos[body2id]
-
-    if m.nsite:
-      pos1 = jp.where(is_site, d.site_xpos[obj1id], pos1)
-      pos2 = jp.where(is_site, d.site_xpos[obj2id], pos2)
-
-    # error is difference in global positions
-    pos = pos1 - pos2
-
-    # compute Jacobian difference (opposite of contact: 0 - 1)
-    jacp1, _ = support.jac(m, d, pos1, body1id)
-    jacp2, _ = support.jac(m, d, pos2, body2id)
-    j = (jacp1 - jacp2).T
-    pos_imp = math.norm(pos)
-    invweight = m.body_invweight0[body1id, 0] + m.body_invweight0[body2id, 0]
-    zero = jp.zeros_like(pos)
-
-    efc = _row(j, pos, pos_imp, invweight, solref, solimp, zero, zero)
-    return jax.tree_util.tree_map(lambda x: x * active, efc)
-
-  is_site = m.eq_objtype == ObjType.SITE
-  body1id = np.copy(m.eq_obj1id)
-  body2id = np.copy(m.eq_obj2id)
-
-  if m.nsite:
-    body1id[is_site] = m.site_bodyid[m.eq_obj1id[is_site]]
-    body2id[is_site] = m.site_bodyid[m.eq_obj2id[is_site]]
-
-  args = (
-      is_site,
-      m.eq_obj1id,
-      m.eq_obj2id,
-      body1id,
-      body2id,
-      m.eq_data,
-      m.eq_solref,
-      m.eq_solimp,
-      d.eq_active,
-  )
-  args = jax.tree_util.tree_map(lambda x: x[eq_id], args)
-  # concatenate to drop row grouping
-  return jax.tree_util.tree_map(jp.concatenate, rows(*args))
-
-
-def _efc_equality_weld(m: Model, d: Data) -> Optional[_Efc]:
-  """Calculates constraint rows for weld equality constraints."""
-
-  eq_id = np.nonzero(m.eq_type == EqType.WELD)[0]
-  if (m.opt.disableflags & DisableBit.EQUALITY) or eq_id.size == 0:
-    return None
-
-  @jax.vmap
-  def rows(
-      is_site, obj1id, obj2id, body1id, body2id, data, solref, solimp, active
-  ):
-    anchor1, anchor2 = data[0:3], data[3:6]
-    relpose, torquescale = data[6:10], data[10]
-
-    # error is difference in global position and orientation
-    pos1 = d.xmat[body1id] @ anchor2 + d.xpos[body1id]
-    pos2 = d.xmat[body2id] @ anchor1 + d.xpos[body2id]
-
-    if m.nsite:
-      pos1 = jp.where(is_site, d.site_xpos[obj1id], pos1)
-      pos2 = jp.where(is_site, d.site_xpos[obj2id], pos2)
-
-    cpos = pos1 - pos2
-
-    # compute Jacobian difference (opposite of contact: 0 - 1)
-    jacp1, jacr1 = support.jac(m, d, pos1, body1id)
-    jacp2, jacr2 = support.jac(m, d, pos2, body2id)
-    jacdifp = jacp1 - jacp2
-    jacdifr = (jacr1 - jacr2) * torquescale
-
-    # compute orientation error: neg(q1) * q0 * relpose (axis components only)
-    quat = math.quat_mul(d.xquat[body1id], relpose)
-    quat1 = math.quat_inv(d.xquat[body2id])
-
-    if m.nsite:
-      quat = jp.where(
-          is_site, math.quat_mul(d.xquat[body1id], m.site_quat[obj1id]), quat
-      )
-      quat1 = jp.where(
-          is_site,
-          math.quat_inv(math.quat_mul(d.xquat[body2id], m.site_quat[obj2id])),
-          quat1,
-      )
-
-    crot = math.quat_mul(quat1, quat)[1:]  # copy axis components
-
-    pos = jp.concatenate((cpos, crot * torquescale))
-
-    # correct rotation Jacobian: 0.5 * neg(q1) * (jac0-jac1) * q0 * relpose
-    jac_fn = lambda j: math.quat_mul(math.quat_mul_axis(quat1, j), quat)[1:]
-    jacdifr = 0.5 * jax.vmap(jac_fn)(jacdifr)
-    j = jp.concatenate((jacdifp.T, jacdifr.T))
-    pos_imp = math.norm(pos)
-    invweight = m.body_invweight0[body1id] + m.body_invweight0[body2id]
-    invweight = jp.repeat(invweight, 3, axis=0)
-    zero = jp.zeros_like(pos)
-
-    efc = _row(j, pos, pos_imp, invweight, solref, solimp, zero, zero)
-    return jax.tree_util.tree_map(lambda x: x * active, efc)
-
-  is_site = m.eq_objtype == ObjType.SITE
-  body1id = np.copy(m.eq_obj1id)
-  body2id = np.copy(m.eq_obj2id)
-
-  if m.nsite:
-    body1id[is_site] = m.site_bodyid[m.eq_obj1id[is_site]]
-    body2id[is_site] = m.site_bodyid[m.eq_obj2id[is_site]]
-
-  args = (
-      is_site,
-      m.eq_obj1id,
-      m.eq_obj2id,
-      body1id,
-      body2id,
-      m.eq_data,
-      m.eq_solref,
-      m.eq_solimp,
-      d.eq_active,
-  )
-  args = jax.tree_util.tree_map(lambda x: x[eq_id], args)
-  # concatenate to drop row grouping
-  return jax.tree_util.tree_map(jp.concatenate, rows(*args))
-
-
-def _efc_equality_joint(m: Model, d: Data) -> Optional[_Efc]:
-  """Calculates constraint rows for joint equality constraints."""
-
-  eq_id = np.nonzero(m.eq_type == EqType.JOINT)[0]
-
-  if (m.opt.disableflags & DisableBit.EQUALITY) or eq_id.size == 0:
-    return None
-
-  @jax.vmap
-  def rows(
-      obj2id, data, solref, solimp, active, dofadr1, dofadr2, qposadr1, qposadr2
-  ):
-    pos1, pos2 = d.qpos[qposadr1], d.qpos[qposadr2]
-    ref1, ref2 = m.qpos0[qposadr1], m.qpos0[qposadr2]
-    dif = (pos2 - ref2) * (obj2id > -1)
-    dif_power = jp.power(dif, jp.arange(0, 5))
-    pos = pos1 - ref1 - jp.dot(data[:5], dif_power)
-    deriv = jp.dot(data[1:5], dif_power[:4] * jp.arange(1, 5)) * (obj2id > -1)
-
-    j = jp.zeros((m.nv)).at[dofadr2].set(-deriv).at[dofadr1].set(1.0)
-    invweight = m.dof_invweight0[dofadr1]
-    invweight += m.dof_invweight0[dofadr2] * (obj2id > -1)
-    zero = jp.zeros_like(pos)
-
-    efc = _row(j, pos, pos, invweight, solref, solimp, zero, zero)
-    return jax.tree_util.tree_map(lambda x: x * active, efc)
-
-  args = (m.eq_obj1id, m.eq_obj2id, m.eq_data, m.eq_solref, m.eq_solimp)
-  args += (d.eq_active,)
-  args = jax.tree_util.tree_map(lambda x: x[eq_id], args)
-  dofadr1, dofadr2 = m.jnt_dofadr[args[0]], m.jnt_dofadr[args[1]]
-  qposadr1, qposadr2 = m.jnt_qposadr[args[0]], m.jnt_qposadr[args[1]]
-  args = args[1:] + (dofadr1, dofadr2, qposadr1, qposadr2)
-
-  return rows(*args)
-
-
-def _efc_equality_tendon(m: Model, d: Data) -> Optional[_Efc]:
-  """Calculates constraint rows for tendon equality constraints."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError(
-        '_efc_equality_tendon requires JAX backend implementation.'
-    )
-
-  eq_id = np.nonzero(m.eq_type == EqType.TENDON)[0]
-
-  if (m.opt.disableflags & DisableBit.EQUALITY) or eq_id.size == 0:
-    return None
-
-  obj1id, obj2id, data, solref, solimp, active = jax.tree_util.tree_map(
-      lambda x: x[eq_id],
-      (
-          m.eq_obj1id,
-          m.eq_obj2id,
-          m.eq_data,
-          m.eq_solref,
-          m.eq_solimp,
-          d.eq_active,
-      ),
-  )
-
-  @jax.vmap
-  def rows(
-      obj2id, data, solref, solimp, invweight, jac1, jac2, pos1, pos2, active
-  ):
-    dif = pos2 * (obj2id > -1)
-    dif_power = jp.power(dif, jp.arange(0, 5))
-    pos = pos1 - jp.dot(data[:5], dif_power)
-    deriv = jp.dot(data[1:5], dif_power[:4] * jp.arange(1, 5)) * (obj2id > -1)
-    j = jac1 + jac2 * -deriv
-    zero = jp.zeros_like(pos)
-
-    efc = _row(j, pos, pos, invweight, solref, solimp, zero, zero)
-    return jax.tree_util.tree_map(lambda x: x * active, efc)
-
-  inv1, inv2 = m.tendon_invweight0[obj1id], m.tendon_invweight0[obj2id]
-  jac1, jac2 = d._impl.ten_J[obj1id], d._impl.ten_J[obj2id]
-  pos1 = d.ten_length[obj1id] - m.tendon_length0[obj1id]
-  pos2 = d.ten_length[obj2id] - m.tendon_length0[obj2id]
-  invweight = inv1 + inv2 * (obj2id > -1)
-
-  return rows(
-      obj2id, data, solref, solimp, invweight, jac1, jac2, pos1, pos2, active
-  )
-
-
-def _efc_friction(m: Model, d: Data) -> Optional[_Efc]:
-  """Calculates constraint rows for dof frictionloss."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('_efc_friction requires JAX backend implementation.')
-
-  dof_id = np.nonzero(m._impl.dof_hasfrictionloss)[0]
-  tendon_id = np.nonzero(m._impl.tendon_hasfrictionloss)[0]
-
-  size = dof_id.size + tendon_id.size
-  if (m.opt.disableflags & DisableBit.FRICTIONLOSS) or (size == 0):
-    return None
-
-  args_dof = (jp.eye(m.nv), m.dof_frictionloss, m.dof_invweight0, m.dof_solref)
-  args_dof += (m.dof_solimp,)
-  args_dof = jax.tree_util.tree_map(lambda x: x[dof_id], args_dof)
-
-  args_ten = (d._impl.ten_J, m.tendon_frictionloss, m.tendon_invweight0)
-  args_ten += (m.tendon_solref_fri, m.tendon_solimp_fri)
-  args_ten = jax.tree_util.tree_map(lambda x: x[tendon_id], args_ten)
-
-  args = jax.tree_util.tree_map(
-      lambda *x: jp.concatenate(x), args_dof, args_ten
-  )
-
-  @jax.vmap
-  def rows(j, frictionloss, invweight, solref, solimp):
-    z = jp.zeros_like(frictionloss)
-    return _row(j, z, z, invweight, solref, solimp, z, frictionloss)
-
-  return rows(*args)
-
-
-def _efc_limit_ball(m: Model, d: Data) -> Optional[_Efc]:
-  """Calculates constraint rows for ball joint limits."""
-
-  jnt_id = np.nonzero((m.jnt_type == JointType.BALL) & m.jnt_limited)[0]
-
-  if (m.opt.disableflags & DisableBit.LIMIT) or jnt_id.size == 0:
-    return None
-
-  @jax.vmap
-  def rows(qposadr, dofadr, jnt_range, jnt_margin, solref, solimp):
-    axis, angle = math.quat_to_axis_angle(d.qpos[jp.arange(4) + qposadr])
-    # ball rotation angle is always positive
-    axis, angle = math.normalize_with_norm(axis * angle)
-    pos = jp.amax(jnt_range) - angle - jnt_margin
-    active = pos < 0
-    j = jp.zeros(m.nv).at[jp.arange(3) + dofadr].set(-axis)
-    invweight = m.dof_invweight0[dofadr]
-    z = jp.zeros_like(pos)
-
-    return _row(
-        j * active, pos * active, pos, invweight, solref, solimp, jnt_margin, z
-    )
-
-  args = (m.jnt_qposadr, m.jnt_dofadr, m.jnt_range, m.jnt_margin, m.jnt_solref)
-  args += (m.jnt_solimp,)
-  args = jax.tree_util.tree_map(lambda x: x[jnt_id], args)
-
-  return rows(*args)
-
-
-def _efc_limit_slide_hinge(m: Model, d: Data) -> Optional[_Efc]:
-  """Calculates constraint rows for slide and hinge joint limits."""
-
-  slide_hinge = np.isin(m.jnt_type, (JointType.SLIDE, JointType.HINGE))
-  jnt_id = np.nonzero(slide_hinge & m.jnt_limited)[0]
-
-  if (m.opt.disableflags & DisableBit.LIMIT) or jnt_id.size == 0:
-    return None
-
-  @jax.vmap
-  def rows(qposadr, dofadr, jnt_range, jnt_margin, solref, solimp):
-    qpos = d.qpos[qposadr]
-    dist_min, dist_max = qpos - jnt_range[0], jnt_range[1] - qpos
-    pos = jp.minimum(dist_min, dist_max) - jnt_margin
-    active = pos < 0
-    j = jp.zeros(m.nv).at[dofadr].set((dist_min < dist_max) * 2 - 1)
-    invweight = m.dof_invweight0[dofadr]
-    z = jp.zeros_like(pos)
-
-    return _row(
-        j * active, pos * active, pos, invweight, solref, solimp, jnt_margin, z
-    )
-
-  args = (m.jnt_qposadr, m.jnt_dofadr, m.jnt_range, m.jnt_margin, m.jnt_solref)
-  args += (m.jnt_solimp,)
-  args = jax.tree_util.tree_map(lambda x: x[jnt_id], args)
-
-  return rows(*args)
-
-
-def _efc_limit_tendon(m: Model, d: Data) -> Optional[_Efc]:
-  """Calculates constraint rows for tendon limits."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('_efc_limit_tendon requires JAX backend implementation.')
-
-  tendon_id = np.nonzero(m.tendon_limited)[0]
-
-  if (m.opt.disableflags & DisableBit.LIMIT) or tendon_id.size == 0:
-    return None
-
-  length, j, range_, margin, invweight, solref, solimp = jax.tree_util.tree_map(
-      lambda x: x[tendon_id],
-      (
-          d.ten_length,
-          d._impl.ten_J,
-          m.tendon_range,
-          m.tendon_margin,
-          m.tendon_invweight0,
-          m.tendon_solref_lim,
-          m.tendon_solimp_lim,
-      ),
-  )
-
-  dist_min, dist_max = length - range_[:, 0], range_[:, 1] - length
-  pos = jp.minimum(dist_min, dist_max) - margin
-  active = pos < 0
-  j = jax.vmap(jp.multiply)(j, ((dist_min < dist_max) * 2 - 1) * active)
-  zero = jp.zeros_like(pos)
-
-  return jax.vmap(_row)(
-      j, pos * active, pos, invweight, solref, solimp, margin, zero
-  )
-
-
-def _efc_contact_frictionless(m: Model, d: Data) -> Optional[_Efc]:
-  """Calculates constraint rows for frictionless contacts."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError(
-        '_efc_contact_frictionless requires JAX backend implementation.'
-    )
-
-  con_id = np.nonzero(d._impl.contact.dim == 1)[0]
-
-  if con_id.size == 0:
-    return None
-
-  @jax.vmap
-  def rows(c: Contact):
-    pos = c.dist - c.includemargin
-    active = pos < 0
-    body1, body2 = jp.array(m.geom_bodyid)[c.geom]
-    jac1p, _ = support.jac(m, d, c.pos, body1)
-    jac2p, _ = support.jac(m, d, c.pos, body2)
-    j = (c.frame @ (jac2p - jac1p).T)[0]
-    invweight = m.body_invweight0[body1, 0] + m.body_invweight0[body2, 0]
-
-    return _row(
-        j * active,
-        pos * active,
-        pos,
-        invweight,
-        c.solref,
-        c.solimp,
-        c.includemargin,
-        jp.zeros_like(pos),
-    )
-
-  contact = jax.tree_util.tree_map(lambda x: x[con_id], d._impl.contact)
-
-  return rows(contact)
-
-
-def _efc_contact_pyramidal(m: Model, d: Data, condim: int) -> Optional[_Efc]:
-  """Calculates constraint rows for frictional pyramidal contacts."""
-  if (
-      not isinstance(m._impl, ModelJAX)
-      or not isinstance(d._impl, DataJAX)
-      or not isinstance(m.opt._impl, OptionJAX)
-  ):
-    raise ValueError(
-        '_efc_contact_pyramidal requires JAX backend implementation.'
-    )
-
-  con_id = np.nonzero(d._impl.contact.dim == condim)[0]
-
-  if con_id.size == 0:
-    return None
-
-  @jax.vmap
-  def rows(c: Contact):
-    pos = c.dist - c.includemargin
-    active = pos < 0
-    body1, body2 = jp.array(m.geom_bodyid)[c.geom]
-    jac1p, jac1r = support.jac(m, d, c.pos, body1)
-    jac2p, jac2r = support.jac(m, d, c.pos, body2)
-    diff = c.frame @ (jac2p - jac1p).T
-    if condim > 3:
-      diff = jp.concatenate((diff, (c.frame @ (jac2r - jac1r).T)), axis=0)
-    # a pair of opposing pyramid edges per friction dimension
-    # repeat friction directions with positive and negative sign
-    fri = jp.repeat(c.friction[: condim - 1], 2, axis=0).at[1::2].mul(-1)
-    # repeat condims of jacdiff to match +/- friction directions
-    j = diff[0] + jp.repeat(diff[1:condim], 2, axis=0) * fri[:, None]
-
-    # pyramidal has common invweight across all edges
-    invweight = m.body_invweight0[body1, 0] + m.body_invweight0[body2, 0]
-    invweight = invweight + fri[0] * fri[0] * invweight
-    invweight = invweight * 2 * fri[0] * fri[0] / m.opt.impratio
-
-    return _row(
-        j * active,
-        pos * active,
-        pos,
-        invweight,
-        c.solref,
-        c.solimp,
-        c.includemargin,
-        jp.zeros_like(pos),
-    )
-
-  contact = jax.tree_util.tree_map(lambda x: x[con_id], d._impl.contact)
-  # concatenate to drop row grouping
-  return jax.tree_util.tree_map(jp.concatenate, rows(contact))
-
-
-def _efc_contact_elliptic(m: Model, d: Data, condim: int) -> Optional[_Efc]:
-  """Calculates constraint rows for frictional elliptic contacts."""
-  if (
-      not isinstance(m._impl, ModelJAX)
-      or not isinstance(d._impl, DataJAX)
-      or not isinstance(m.opt._impl, OptionJAX)
-  ):
-    raise ValueError(
-        '_efc_contact_elliptic requires JAX backend implementation.'
-    )
-
-  con_id = np.nonzero(d._impl.contact.dim == condim)[0]
-
-  if con_id.size == 0:
-    return None
-
-  @jax.vmap
-  def rows(c: Contact):
-    pos = c.dist - c.includemargin
-    active = pos < 0
-    obj1id, obj2id = jp.array(m.geom_bodyid)[c.geom]
-    jac1p, jac1r = support.jac(m, d, c.pos, obj1id)
-    jac2p, jac2r = support.jac(m, d, c.pos, obj2id)
-    j = c.frame @ (jac2p - jac1p).T
-    if condim > 3:
-      j = jp.concatenate((j, (c.frame @ (jac2r - jac1r).T)[: condim - 3]))
-    invweight = m.body_invweight0[obj1id, 0] + m.body_invweight0[obj2id, 0]
-
-    # normal row comes from solref, remaining rows from solreffriction
-    solreffriction = c.solreffriction + c.solref * ~c.solreffriction.any()
-    solreffriction = jp.tile(solreffriction, (condim - 1, 1))
-    solref = jp.concatenate((c.solref[None], solreffriction))
-    fri = jp.square(c.friction[0]) / jp.square(c.friction[1 : condim - 1])
-    invweight = jp.array([invweight, invweight / m.opt.impratio])
-    invweight = jp.concatenate((invweight, invweight[1] * fri))
-    pos_aref = jp.zeros(condim).at[0].set(pos)
-
-    return _row(
-        j * active,
-        pos_aref * active,
-        pos,
-        invweight,
-        solref,
-        c.solimp,
-        c.includemargin,
-        jp.zeros_like(pos),
-    )
-
-  contact = jax.tree_util.tree_map(lambda x: x[con_id], d._impl.contact)
-  # concatenate to drop row grouping
-  return jax.tree_util.tree_map(jp.concatenate, rows(contact))
-
-
-def counts(efc_type: np.ndarray) -> Tuple[int, int, int, int]:
-  """Returns equality, friction, limit, and contact constraint counts."""
-  ne = (efc_type == ConstraintType.EQUALITY).sum()
-  nf = (efc_type == ConstraintType.FRICTION_DOF).sum()
-  nf += (efc_type == ConstraintType.FRICTION_TENDON).sum()
-  nl = (efc_type == ConstraintType.LIMIT_JOINT).sum()
-  nl += (efc_type == ConstraintType.LIMIT_TENDON).sum()
-  nc_f = (efc_type == ConstraintType.CONTACT_FRICTIONLESS).sum()
-  nc_p = (efc_type == ConstraintType.CONTACT_PYRAMIDAL).sum()
-  nc_e = (efc_type == ConstraintType.CONTACT_ELLIPTIC).sum()
-  nc = nc_f + nc_p + nc_e
-
-  return ne, nf, nl, nc
-
-
-def make_efc_type(
-    m: Union[Model, mujoco.MjModel], dim: Optional[np.ndarray] = None
-) -> np.ndarray:
-  """Returns efc_type that outlines the type of each constraint row."""
-  if m.opt.disableflags & DisableBit.CONSTRAINT:
-    return np.empty(0, dtype=int)
-
-  dim = collision_driver.make_condim(m) if dim is None else dim
-  efc_types = []
-
-  if not m.opt.disableflags & DisableBit.EQUALITY:
-    num_rows = (m.eq_type == EqType.CONNECT).sum() * 3
-    num_rows += (m.eq_type == EqType.WELD).sum() * 6
-    num_rows += (m.eq_type == EqType.JOINT).sum()
-    num_rows += (m.eq_type == EqType.TENDON).sum()
-    efc_types += [ConstraintType.EQUALITY] * num_rows
-
-  if not m.opt.disableflags & DisableBit.FRICTIONLOSS:
-    nf_dof = (
-        m._impl.dof_hasfrictionloss.sum()
-        if isinstance(m, Model) and isinstance(m._impl, ModelJAX)
-        else (m.dof_frictionloss > 0).sum()
-    )
-    efc_types += [ConstraintType.FRICTION_DOF] * nf_dof
-    nf_tendon = (
-        m._impl.tendon_hasfrictionloss.sum()
-        if isinstance(m, Model) and isinstance(m._impl, ModelJAX)
-        else (m.tendon_frictionloss > 0).sum()
-    )
-    efc_types += [ConstraintType.FRICTION_TENDON] * nf_tendon
-
-  if not m.opt.disableflags & DisableBit.LIMIT:
-    efc_types += [ConstraintType.LIMIT_JOINT] * m.jnt_limited.sum()
-    efc_types += [ConstraintType.LIMIT_TENDON] * m.tendon_limited.sum()
-
-  if not m.opt.disableflags & DisableBit.CONTACT:
-    for condim in (1, 3, 4, 6):
-      n = (dim == condim).sum()
-      if condim == 1:
-        efc_types += [ConstraintType.CONTACT_FRICTIONLESS] * n
-      elif m.opt.cone == ConeType.PYRAMIDAL:
-        efc_types += [ConstraintType.CONTACT_PYRAMIDAL] * (condim - 1) * 2 * n
-      elif m.opt.cone == ConeType.ELLIPTIC:
-        efc_types += [ConstraintType.CONTACT_ELLIPTIC] * condim * n
-      else:
-        raise ValueError(f'Unknown cone: {m.opt.cone}')
-
-  return np.array(efc_types)
-
-
-def make_efc_address(
-    m: Union[Model, mujoco.MjModel], dim: np.ndarray, efc_type: np.ndarray
-) -> np.ndarray:
-  """Returns efc_address that maps contacts to constraint row address."""
-  offsets = np.array([0], dtype=int)
-  for condim in (1, 3, 4, 6):
-    n = (dim == condim).sum()
-    if n == 0:
-      continue
-    if condim == 1:
-      offsets = np.concatenate((offsets, [1] * n))
-    elif m.opt.cone == ConeType.PYRAMIDAL:
-      offsets = np.concatenate((offsets, [(condim - 1) * 2] * n))
-    elif m.opt.cone == ConeType.ELLIPTIC:
-      offsets = np.concatenate((offsets, [condim] * n))
-    else:
-      raise ValueError(f'Unknown cone: {m.opt.cone}')
-
-  _, _, _, nc = counts(efc_type)
-  address = efc_type.size - nc + np.cumsum(offsets)[:-1]
-
-  return address
-
-
-def make_constraint(m: Model, d: Data) -> Data:
-  """Creates constraint jacobians and other supporting data."""
-
-  if m.opt.disableflags & DisableBit.CONSTRAINT:
-    efcs = ()
-  else:
-    efcs = (
-        _efc_equality_connect(m, d),
-        _efc_equality_weld(m, d),
-        _efc_equality_joint(m, d),
-        _efc_equality_tendon(m, d),
-        _efc_friction(m, d),
-        _efc_limit_ball(m, d),
-        _efc_limit_slide_hinge(m, d),
-        _efc_limit_tendon(m, d),
-        _efc_contact_frictionless(m, d),
-    )
-    if m.opt.cone == ConeType.ELLIPTIC:
-      con_fn = _efc_contact_elliptic
-    else:
-      con_fn = _efc_contact_pyramidal
-    efcs += tuple(con_fn(m, d, dim) for dim in (3, 4, 6))
-    efcs = tuple(efc for efc in efcs if efc is not None)
-
-  if not efcs:
-    z = jp.empty(0)
-    d = d.tree_replace({'_impl.efc_J': jp.empty((0, m.nv))})  # pyrefly: ignore[bad-assignment]
-    d = d.tree_replace({  # pyrefly: ignore[bad-assignment]
-        '_impl.efc_D': z,
-        '_impl.efc_aref': z,
-        '_impl.efc_frictionloss': z,
-        '_impl.efc_pos': z,
-        '_impl.efc_margin': z,
-    })
-    return d
-
-  efc = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *efcs)
-
-  @jax.vmap
-  def fn(efc):
-    k, b, imp = _kbi(m, efc.solref, efc.solimp, efc.pos_imp)
-    r = jp.maximum(efc.invweight * (1 - imp) / imp, mujoco.mjMINVAL)
-    aref = -b * (efc.J @ d.qvel) - k * imp * efc.pos_aref
-    return aref, r, efc.pos_aref + efc.margin, efc.margin, efc.frictionloss
-
-  aref, r, pos, margin, frictionloss = fn(efc)
-  d = d.tree_replace({  # pyrefly: ignore[bad-assignment]
-      '_impl.efc_J': efc.J,
-      '_impl.efc_D': 1 / r,
-      '_impl.efc_aref': aref,
-      '_impl.efc_pos': pos,
-      '_impl.efc_margin': margin,
-  })
-  d = d.tree_replace({'_impl.efc_frictionloss': frictionloss})  # pyrefly: ignore[bad-assignment]
-
-  return d
diff --git a/mjx/mujoco/mjx/_src/constraint_test.py b/mjx/mujoco/mjx/_src/constraint_test.py
deleted file mode 100644
index ab17745f..00000000
--- a/mjx/mujoco/mjx/_src/constraint_test.py
+++ /dev/null
@@ -1,178 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for constraint functions."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import constraint
-from mujoco.mjx._src import test_util
-import numpy as np
-
-
-# tolerance for difference between MuJoCo and MJX constraint calculations,
-# mostly due to float precision
-_TOLERANCE = 5e-5
-
-
-def _assert_eq(a, b, name):
-  tol = _TOLERANCE * 10  # avoid test noise
-  err_msg = f'mismatch: {name}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
-
-
-def _assert_attr_eq(a, b, attr):
-  _assert_eq(getattr(a, attr), getattr(b, attr), attr)
-
-
-class ConstraintTest(parameterized.TestCase):
-
-  def setUp(self):
-    super().setUp()
-    np.random.seed(42)
-
-  @parameterized.parameters(
-      {'cone': mujoco.mjtCone.mjCONE_PYRAMIDAL, 'rand_eq_active': False},
-      {'cone': mujoco.mjtCone.mjCONE_ELLIPTIC, 'rand_eq_active': False},
-      {'cone': mujoco.mjtCone.mjCONE_PYRAMIDAL, 'rand_eq_active': True},
-      {'cone': mujoco.mjtCone.mjCONE_ELLIPTIC, 'rand_eq_active': True},
-  )
-  def test_constraints(self, cone, rand_eq_active):
-    """Test constraints."""
-    m = test_util.load_test_file('constraints.xml')
-    m.opt.cone = cone
-    d = mujoco.MjData(m)
-
-    # sample a mix of active/inactive constraints at different timesteps
-    for key in range(3):
-      mujoco.mj_resetDataKeyframe(m, d, key)
-      # scale down velocities to minimize Jdotv effect (not in MJX)
-      # TODO(team): remove this change when mjx supports this feature
-      d.qvel[:] *= 1e-2
-      if rand_eq_active:
-        d.eq_active[:] = np.random.randint(0, 2, size=m.neq)
-      mujoco.mj_forward(m, d)
-      mx = mjx.put_model(m)
-      dx = mjx.put_data(m, d)
-      dx = mjx.make_constraint(mx, dx)
-
-      order = test_util.efc_order(m, d, dx)
-      d_efc_j = d.efc_J.reshape((-1, m.nv))
-      _assert_eq(d_efc_j, dx._impl.efc_J[order][: d.nefc], 'efc_J')
-      _assert_eq(0, dx._impl.efc_J[order][d.nefc :], 'efc_J')
-      _assert_eq(d.efc_aref, dx._impl.efc_aref[order][: d.nefc], 'efc_aref')
-      _assert_eq(0, dx._impl.efc_aref[order][d.nefc :], 'efc_aref')
-      _assert_eq(d.efc_D, dx._impl.efc_D[order][: d.nefc], 'efc_D')
-      _assert_eq(d.efc_pos, dx._impl.efc_pos[order][: d.nefc], 'efc_pos')
-      _assert_eq(dx._impl.efc_pos[order][d.nefc :], 0, 'efc_pos')
-      _assert_eq(
-          d.efc_frictionloss,
-          dx._impl.efc_frictionloss[order][: d.nefc],
-          'efc_frictionloss',
-      )
-
-  def test_disable_refsafe(self):
-    m = test_util.load_test_file('constraints.xml')
-
-    timeconst = m.opt.timestep / 4.0  # timeconst < 2 * timestep
-    solimp = jp.array([timeconst, 1.0])
-    solref = jp.array([0.8, 0.99, 0.001, 0.2, 2])
-    pos = jp.ones(3)
-
-    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.REFSAFE
-    mx = mjx.put_model(m)
-    k, *_ = constraint._kbi(mx, solimp, solref, pos)
-    self.assertEqual(k, 1 / (0.99**2 * timeconst**2))
-
-  def test_disable_constraint(self):
-    m = test_util.load_test_file('constraints.xml')
-    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.CONSTRAINT
-    ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
-    self.assertEqual(ne, 0)
-    self.assertEqual(nf, 0)
-    self.assertEqual(nl, 0)
-    self.assertEqual(nc, 0)
-    dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
-    self.assertEqual(dx._impl.efc_J.shape[0], 0)
-
-  def test_disable_equality(self):
-    m = test_util.load_test_file('constraints.xml')
-    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.EQUALITY
-    ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
-    self.assertEqual(ne, 0)
-    self.assertEqual(nf, 2)
-    self.assertEqual(nl, 5)
-    self.assertEqual(nc, 180)
-    dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
-    self.assertEqual(
-        dx._impl.efc_J.shape[0], 187
-    )  # only joint/tendon limit, contact
-
-  def test_disable_contact(self):
-    m = test_util.load_test_file('constraints.xml')
-    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.CONTACT
-    ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
-    self.assertEqual(ne, 20)
-    self.assertEqual(nf, 2)
-    self.assertEqual(nl, 5)
-    self.assertEqual(nc, 0)
-    dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
-    self.assertEqual(
-        dx._impl.efc_J.shape[0], 27
-    )  # only equality, joint/tendon limit
-
-  def test_disable_frictionloss(self):
-    m = test_util.load_test_file('constraints.xml')
-    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.FRICTIONLOSS
-    ne, nf, nl, nc = constraint.counts(constraint.make_efc_type(m))
-    self.assertEqual(ne, 20)
-    self.assertEqual(nf, 0)
-    self.assertEqual(nl, 5)
-    self.assertEqual(nc, 180)
-    dx = constraint.make_constraint(mjx.put_model(m), mjx.make_data(m))
-    self.assertEqual(dx._impl.efc_J.shape[0], 205)
-
-  def test_margin(self):
-    """Test margin."""
-    m = mujoco.MjModel.from_xml_string("""
-       <mujoco>
-          <worldbody>
-            <geom name="floor" size="0 0 .05" type="plane" condim="3"/>
-            <body pos="0 0 0.1">
-              <freejoint/>
-              <geom size="0.1" margin="0.25"/>
-            </body>
-            <body pos="0 0 1">
-              <joint type="hinge" limited="true" range="-1 1" margin="0.005"/>
-              <geom size="1" margin="0.01"/>
-            </body>
-          </worldbody>
-        </mujoco>
-    """)
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    dx = mjx.make_constraint(mx, dx)
-
-    order = test_util.efc_order(m, d, dx)
-    _assert_eq(d.efc_pos, dx._impl.efc_pos[order][: d.nefc], 'efc_pos')
-    _assert_eq(d.efc_margin, dx._impl.efc_margin[order][: d.nefc], 'efc_margin')
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/dataclasses.py b/mjx/mujoco/mjx/_src/dataclasses.py
deleted file mode 100644
index f8c37403..00000000
--- a/mjx/mujoco/mjx/_src/dataclasses.py
+++ /dev/null
@@ -1,203 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Wrapper that automatically registers dataclass as a Jax PyTree."""
-
-import copy
-import dataclasses
-import hashlib
-import typing
-from typing import Dict, Optional, Sequence, Tuple, TypeVar, Union
-import jax
-import numpy as np
-
-_T = TypeVar('_T')
-
-
-class _NumPyArrayHashWrapper:
-  """A wrapper for NumPy arrays to make them hashable based on content.
-
-  This class is used to allow NumPy arrays to be part of the metadata in a Jax
-  PyTree registration, as metadata must be hashable. The hash is based on the
-  array's content, dtype, and shape.
-  """
-  __slots__ = ('_hash_key', 'array')
-
-  def __init__(self, arr: np.ndarray):
-    if arr.size == 0:
-      h = hashlib.sha256(b'').hexdigest()
-    else:
-      contiguous = np.ascontiguousarray(arr)
-      h = hashlib.sha256(contiguous.data.cast('B')).hexdigest()
-    self._hash_key = (h, arr.dtype, arr.shape)
-    self.array = arr
-
-  def __hash__(self):
-    return hash(self._hash_key)
-
-  def __eq__(self, other):
-    if not isinstance(other, _NumPyArrayHashWrapper):
-      return NotImplemented
-    return self._hash_key == other._hash_key
-
-
-def _jax_in_args(typ) -> bool:
-  if typ is jax.Array:
-    return True
-  if dataclasses.is_dataclass(typ):
-    return any(_jax_in_args(f.type) for f in dataclasses.fields(typ))
-  if typing.get_origin(typ) in (tuple, list, dict, Union, set):
-    return any(_jax_in_args(t) for t in typing.get_args(typ))
-  return False
-
-
-def dataclass(clz: _T, register_as_pytree: bool) -> _T:
-  """Wraps a dataclass with metadata for which fields are pytrees.
-
-  This is based off flax.struct.dataclass, but instead of using field
-  descriptors to specify which fields are pytrees, we follow a simple rule:
-  a leaf field is a pytree node if and only if it's a jax.Array
-
-  Args:
-    clz: the class to register as a dataclass
-
-  Returns:
-    the resulting dataclass, registered with Jax
-  """
-  data_clz = dataclasses.dataclass(frozen=True)(clz)  # pyrefly: ignore[bad-argument-type]
-  data_clz.replace = dataclasses.replace
-
-  if register_as_pytree:
-    meta_fields, data_fields = [], []
-    for field in dataclasses.fields(data_clz):
-      if _jax_in_args(field.type):
-        data_fields.append(field)
-      else:
-        meta_fields.append(field)
-
-    def iterate_clz_with_keys(x):
-      def to_meta(field, obj):
-        val = getattr(obj, field.name)
-        if isinstance(val, np.ndarray):
-          return _NumPyArrayHashWrapper(val)
-        if typing.get_origin(field.type) == tuple:
-          type_args = typing.get_args(field.type)
-          if (
-              len(type_args) == 2
-              and type_args[0] == np.ndarray
-              and type_args[1] == ...
-          ):
-            return tuple(_NumPyArrayHashWrapper(v) for v in val)
-        return val
-
-      def to_data(field, obj):
-        return (jax.tree_util.GetAttrKey(field.name), getattr(obj, field.name))
-
-      data = tuple(to_data(f, x) for f in data_fields)
-      meta = tuple(to_meta(f, x) for f in meta_fields)
-      return data, meta
-
-    def clz_from_iterable(meta, data):
-
-      def from_meta(field, meta):
-        if field.type is np.ndarray:
-          return (field.name, meta.array)
-        if typing.get_origin(field.type) == tuple:
-          type_args = typing.get_args(field.type)
-          if (
-              len(type_args) == 2
-              and type_args[0] == np.ndarray
-              and type_args[1] == ...
-          ):
-            return (
-                field.name,
-                tuple(m.array for m in meta),
-            )
-        return (field.name, meta)
-
-      from_data = lambda field, meta: (field.name, meta)
-
-      meta_args = tuple(from_meta(f, m) for f, m in zip(meta_fields, meta))
-      data_args = tuple(from_data(f, m) for f, m in zip(data_fields, data))
-
-      return data_clz(**dict(meta_args + data_args))
-
-    jax.tree_util.register_pytree_with_keys(
-        data_clz, iterate_clz_with_keys, clz_from_iterable
-    )
-
-  return data_clz  # pyrefly: ignore[bad-return]
-
-
-TNode = TypeVar('TNode', bound='PyTreeNode')
-
-
-class PyTreeNode:
-  """Base class for dataclasses that should act like a JAX pytree node.
-
-  This base class additionally avoids type checking errors when using PyType.
-  """
-
-  def __init_subclass__(cls, register_as_pytree: bool = True, **kwargs):
-    super().__init_subclass__(**kwargs)
-    dataclass(cls, register_as_pytree=register_as_pytree)
-
-  def __init__(self, *args, **kwargs):
-    # stub for pytype
-    raise NotImplementedError
-
-  def replace(self: TNode, **overrides) -> TNode:
-    # stub for pytype
-    raise NotImplementedError
-
-  @classmethod
-  def fields(cls) -> Tuple[dataclasses.Field, ...]:  # pylint: disable=g-bare-generic
-    return dataclasses.fields(cls)  # pyrefly: ignore[bad-argument-type]
-
-  def tree_replace(
-      self, params: Dict[str, Optional[jax.typing.ArrayLike]]
-  ) -> 'PyTreeNode':
-    new = self
-    for k, v in params.items():
-      new = _tree_replace(new, k.split('.'), v)
-    return new
-
-
-def _tree_replace(
-    base: PyTreeNode,
-    attr: Sequence[str],
-    val: Optional[jax.typing.ArrayLike],
-) -> PyTreeNode:
-  """Sets attributes in a struct.dataclass with values."""
-  if not attr:
-    return base
-
-  # special case for List attribute
-  if len(attr) > 1 and isinstance(getattr(base, attr[0]), list):
-    lst = copy.deepcopy(getattr(base, attr[0]))
-
-    for i, g in enumerate(lst):
-      if not hasattr(g, attr[1]):
-        continue
-      v = val if not hasattr(val, '__iter__') else val[i]  # pyrefly: ignore[bad-index, unsupported-operation]
-      lst[i] = _tree_replace(g, attr[1:], v)
-
-    return base.replace(**{attr[0]: lst})
-
-  if len(attr) == 1:
-    return base.replace(**{attr[0]: val})
-
-  return base.replace(
-      **{attr[0]: _tree_replace(getattr(base, attr[0]), attr[1:], val)}
-  )
diff --git a/mjx/mujoco/mjx/_src/dataclasses_test.py b/mjx/mujoco/mjx/_src/dataclasses_test.py
deleted file mode 100644
index a3cd4350..00000000
--- a/mjx/mujoco/mjx/_src/dataclasses_test.py
+++ /dev/null
@@ -1,117 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for custom PyTreeNode object."""
-
-from absl.testing import absltest
-import jax
-from jax import numpy as jp
-from mujoco.mjx._src import dataclasses
-import numpy as np
-
-
-class Obj(dataclasses.PyTreeNode):
-  a: int
-  b: np.ndarray
-  c: tuple[int, ...]
-  d: tuple[np.ndarray, ...]
-  e: jax.Array
-  f: tuple[jax.Array, ...]
-
-
-class LargeArrayNode(dataclasses.PyTreeNode):
-  array_a: np.ndarray
-  array_b: np.ndarray
-  array_c: np.ndarray
-
-
-class DataclassesTest(absltest.TestCase):
-
-  def test_pytree_structure(self):
-    obj = Obj(
-        a=1,
-        b=np.array([1, 2, 3]),
-        c=(4, 5, 6),
-        d=(np.array([7, 8]), np.array([9, 10])),
-        e=jax.numpy.array([11, 12]),
-        f=(jax.numpy.array([13, 14]), jax.numpy.array([15, 16])),
-    )
-
-    data, meta = jax.tree_util.tree_flatten_with_path(obj)
-
-    # data fields
-    self.assertLen(data, 3)
-    self.assertEqual(data[0][0][0].name, 'e')
-    np.testing.assert_array_equal(data[0][1], jp.array([11, 12]))
-    self.assertEqual(data[1][0][0].name, 'f')
-    np.testing.assert_array_equal(data[1][1], jp.array([13, 14]))
-    self.assertEqual(data[2][0][0].name, 'f')
-    np.testing.assert_array_equal(data[2][1], jp.array([15, 16]))
-
-    # meta fields
-    unflattened_meta = meta.unflatten([x[1] for x in data])
-    self.assertEqual(unflattened_meta.a, 1)
-    np.testing.assert_array_equal(unflattened_meta.b, np.array([1, 2, 3]))
-    self.assertEqual(unflattened_meta.c, (4, 5, 6))
-    np.testing.assert_array_equal(unflattened_meta.d[0], np.array([7, 8]))
-    np.testing.assert_array_equal(unflattened_meta.d[1], np.array([9, 10]))
-
-    # ensure hashable meta
-    hash(meta)
-
-  def test_metadata_equality(self):
-    array_size = 1_000
-    data = np.random.rand(array_size, 3).astype(np.float32)
-    tex = np.random.randint(0, 255, (1024, 1024, 3), dtype=np.uint8)
-    obj1 = LargeArrayNode(
-        array_a=data.copy(),
-        array_b=data.copy(),
-        array_c=tex.copy(),
-    )
-    obj2 = LargeArrayNode(
-        array_a=data.copy(),
-        array_b=data.copy(),
-        array_c=tex.copy(),
-    )
-
-    _, meta1 = jax.tree_util.tree_flatten(obj1)
-    _, meta2 = jax.tree_util.tree_flatten(obj2)
-
-    self.assertEqual(
-        meta1,
-        meta2,
-        'Two objects with identical numpy data should produce equal pytree'
-        ' metadata (same trace cache key).',
-    )
-
-  def test_metadata_does_not_copy_arrays(self):
-    obj = LargeArrayNode(
-        array_a=np.random.rand(100, 3).astype(np.float32),
-        array_b=np.random.rand(100, 3).astype(np.float32),
-        array_c=np.random.randint(0, 255, (16, 16, 3), dtype=np.uint8),
-    )
-
-    leaves, meta = jax.tree_util.tree_flatten(obj)
-    reconstructed = meta.unflatten(leaves)
-
-    self.assertIs(
-        reconstructed.array_a,
-        obj.array_a,
-        'Metadata should reference the original array.',
-    )
-    self.assertIs(reconstructed.array_c, obj.array_c)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/derivative.py b/mjx/mujoco/mjx/_src/derivative.py
deleted file mode 100644
index b42f98bd..00000000
--- a/mjx/mujoco/mjx/_src/derivative.py
+++ /dev/null
@@ -1,73 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Derivative functions."""
-
-from typing import Optional
-
-import jax
-from jax import numpy as jp
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import BiasType
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import DynType
-from mujoco.mjx._src.types import GainType
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-from mujoco.mjx._src.types import OptionJAX
-# pylint: enable=g-importing-member
-
-
-def deriv_smooth_vel(m: Model, d: Data) -> Optional[jax.Array]:
-  """Analytical derivative of smooth forces w.r.t. velocities."""
-  if (
-      not isinstance(m._impl, ModelJAX)
-      or not isinstance(d._impl, DataJAX)
-      or not isinstance(m.opt._impl, OptionJAX)
-  ):
-    raise ValueError('deriv_smooth_vel requires JAX MJX implementation.')
-
-  qderiv = None
-
-  # qDeriv += d qfrc_actuator / d qvel
-  if not m.opt.disableflags & DisableBit.ACTUATION:
-    affine_bias = m.actuator_biastype == BiasType.AFFINE
-    bias_vel = m.actuator_biasprm[:, 2] * affine_bias
-    affine_gain = m.actuator_gaintype == GainType.AFFINE
-    gain_vel = m.actuator_gainprm[:, 2] * affine_gain
-    ctrl = d.ctrl.at[m.actuator_dyntype != DynType.NONE].set(d.act)
-    vel = bias_vel + gain_vel * ctrl
-    qderiv = d._impl.actuator_moment.T @ jax.vmap(jp.multiply)(
-        d._impl.actuator_moment, vel
-    )
-
-  # qDeriv += d qfrc_passive / d qvel
-  if not m.opt.disableflags & DisableBit.DAMPER:
-    if qderiv is None:
-      qderiv = -jp.diag(m.dof_damping)
-    else:
-      qderiv -= jp.diag(m.dof_damping)
-    if m.ntendon:
-      qderiv -= d._impl.ten_J.T @ jp.diag(m.tendon_damping) @ d._impl.ten_J
-
-  if not m.opt.disableflags & (DisableBit.DAMPER | DisableBit.SPRING):
-    # TODO(robotics-simulation): fluid drag model
-    if m.opt._impl.has_fluid_params:  # pytype: disable=attribute-error
-      raise NotImplementedError('fluid drag not supported for implicitfast')
-
-  # TODO(team): rne derivative
-
-  return qderiv
diff --git a/mjx/mujoco/mjx/_src/forward.py b/mjx/mujoco/mjx/_src/forward.py
deleted file mode 100644
index 46257215..00000000
--- a/mjx/mujoco/mjx/_src/forward.py
+++ /dev/null
@@ -1,476 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Forward step functions."""
-
-import functools
-from typing import Optional, Sequence
-
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco.mjx._src import collision_driver
-from mujoco.mjx._src import constraint
-from mujoco.mjx._src import derivative
-from mujoco.mjx._src import math
-from mujoco.mjx._src import passive
-from mujoco.mjx._src import scan
-from mujoco.mjx._src import sensor
-from mujoco.mjx._src import smooth
-from mujoco.mjx._src import solver
-from mujoco.mjx._src import support
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import BiasType
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import DynType
-from mujoco.mjx._src.types import GainType
-from mujoco.mjx._src.types import Impl
-from mujoco.mjx._src.types import IntegratorType
-from mujoco.mjx._src.types import JointType
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-from mujoco.mjx._src.types import TrnType
-# pylint: enable=g-importing-member
-import mujoco.mjx.warp as mjxw
-import numpy as np
-
-# RK4 tableau
-_RK4_A = np.array([
-    [0.5, 0.0, 0.0],
-    [0.0, 0.5, 0.0],
-    [0.0, 0.0, 1.0],
-])
-_RK4_B = np.array([1.0 / 6.0, 1.0 / 3.0, 1.0 / 3.0, 1.0 / 6.0])
-
-
-def named_scope(fn, name: str = ''):
-  @functools.wraps(fn)
-  def wrapper(*args, **kwargs):
-    with jax.named_scope(name or getattr(fn, '__name__')):
-      res = fn(*args, **kwargs)
-    return res
-
-  return wrapper
-
-
-@named_scope
-def fwd_position(m: Model, d: Data) -> Data:
-  """Position-dependent computations."""
-  # TODO(robotics-simulation): tendon
-  d = smooth.kinematics(m, d)
-  d = smooth.com_pos(m, d)
-  d = smooth.camlight(m, d)
-  d = smooth.tendon(m, d)
-  d = smooth.crb(m, d)
-  d = smooth.tendon_armature(m, d)
-  d = smooth.factor_m(m, d)
-  d = collision_driver.collision(m, d)
-  d = constraint.make_constraint(m, d)
-  d = smooth.transmission(m, d)
-  return d
-
-
-@named_scope
-def fwd_velocity(m: Model, d: Data) -> Data:
-  """Velocity-dependent computations."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('fwd_velocity requires JAX backend implementation.')
-
-  d = d.tree_replace({  # pyrefly: ignore[bad-assignment]
-      '_impl.actuator_velocity': d._impl.actuator_moment @ d.qvel,
-      '_impl.ten_velocity': d._impl.ten_J @ d.qvel,
-  })
-  d = smooth.com_vel(m, d)
-  d = passive.passive(m, d)
-  d = smooth.rne(m, d)
-  d = smooth.tendon_bias(m, d)
-  return d
-
-
-@named_scope
-def fwd_actuation(m: Model, d: Data) -> Data:
-  """Actuation-dependent computations."""
-  if not isinstance(d._impl, DataJAX):
-    raise ValueError('fwd_actuation requires JAX backend implementation.')
-  if not m.nu or m.opt.disableflags & DisableBit.ACTUATION:
-    return d.replace(
-        act_dot=jp.zeros((m.na,)),
-        qfrc_actuator=jp.zeros((m.nv,)),
-    )
-
-  ctrl = d.ctrl
-  if not m.opt.disableflags & DisableBit.CLAMPCTRL:
-    ctrlrange = jp.where(
-        m.actuator_ctrllimited[:, None],
-        m.actuator_ctrlrange,
-        jp.array([-jp.inf, jp.inf]),
-    )
-    ctrl = jp.clip(ctrl, ctrlrange[:, 0], ctrlrange[:, 1])
-
-  # act_dot for stateful actuators
-  def get_act_dot(dyn_typ, dyn_prm, ctrl, act):
-    if dyn_typ == DynType.NONE:
-      act_dot = jp.array(0.0)
-    elif dyn_typ == DynType.INTEGRATOR:
-      act_dot = ctrl
-    elif dyn_typ in (DynType.FILTER, DynType.FILTEREXACT):
-      act_dot = (ctrl - act) / jp.clip(dyn_prm[0], mujoco.mjMINVAL)
-    elif dyn_typ == DynType.MUSCLE:
-      act_dot = support.muscle_dynamics(ctrl, act, dyn_prm)
-    else:
-      raise NotImplementedError(f'dyntype {dyn_typ.name} not implemented.')
-    return act_dot
-
-  act_dot = jp.zeros((m.na,))
-  if m.na:
-    act_dot = scan.flat(
-        m,
-        get_act_dot,
-        'uuua',
-        'a',
-        m.actuator_dyntype,
-        m.actuator_dynprm,
-        ctrl,
-        d.act,
-        group_by='u',
-    )
-
-  ctrl_act = ctrl
-  if m.na:
-    act_last_dim = d.act[m.actuator_actadr + m.actuator_actnum - 1]
-    ctrl_act = jp.where(m.actuator_actadr == -1, ctrl, act_last_dim)
-
-  def get_force(*args):
-    gain_t, gain_p, bias_t, bias_p, len_, vel, ctrl_act, len_range, acc0 = args
-
-    typ, prm = GainType(gain_t), gain_p
-    if typ == GainType.FIXED:
-      gain = prm[0]
-    elif typ == GainType.AFFINE:
-      gain = prm[0] + prm[1] * len_ + prm[2] * vel
-    elif typ == GainType.MUSCLE:
-      gain = support.muscle_gain(len_, vel, len_range, acc0, prm)
-    else:
-      raise RuntimeError(f'unrecognized gaintype {typ.name}.')
-
-    typ, prm = BiasType(bias_t), bias_p
-    bias = jp.array(0.0)
-    if typ == BiasType.AFFINE:
-      bias = prm[0] + prm[1] * len_ + prm[2] * vel
-    elif typ == BiasType.MUSCLE:
-      bias = support.muscle_bias(len_, len_range, acc0, prm)
-
-    return gain * ctrl_act + bias
-
-  force = scan.flat(
-      m,
-      get_force,
-      'uuuuuuuuu',
-      'u',
-      m.actuator_gaintype,
-      m.actuator_gainprm,
-      m.actuator_biastype,
-      m.actuator_biasprm,
-      d.actuator_length,
-      d._impl.actuator_velocity,
-      ctrl_act,
-      jp.array(m.actuator_lengthrange),
-      jp.array(m.actuator_acc0),
-      group_by='u',
-  )
-
-  # tendon total force clamping
-  if np.any(m.tendon_actfrclimited):
-    (tendon_actfrclimited_id,) = np.nonzero(m.tendon_actfrclimited)
-    actuator_tendon = m.actuator_trntype == TrnType.TENDON
-
-    force_mask = [
-        actuator_tendon & (m.actuator_trnid[:, 0] == tendon_id)
-        for tendon_id in tendon_actfrclimited_id
-    ]
-    force_ids = np.concatenate([np.nonzero(mask)[0] for mask in force_mask])
-    force_mat = np.array(force_mask)[:, force_ids]
-    tendon_total_force = force_mat @ force[force_ids]
-
-    force_scaling = jp.where(
-        tendon_total_force < m.tendon_actfrcrange[tendon_actfrclimited_id, 0],
-        m.tendon_actfrcrange[tendon_actfrclimited_id, 0] / tendon_total_force,
-        1,
-    )
-    force_scaling = jp.where(
-        tendon_total_force > m.tendon_actfrcrange[tendon_actfrclimited_id, 1],
-        m.tendon_actfrcrange[tendon_actfrclimited_id, 1] / tendon_total_force,
-        force_scaling,
-    )
-
-    tendon_forces = force[force_ids] * (force_mat.T @ force_scaling)
-    force = force.at[force_ids].set(tendon_forces)
-
-  forcerange = jp.where(
-      m.actuator_forcelimited[:, None],
-      m.actuator_forcerange,
-      jp.array([-jp.inf, jp.inf]),
-  )
-  force = jp.clip(force, forcerange[:, 0], forcerange[:, 1])
-
-  qfrc_actuator = d._impl.actuator_moment.T @ force
-
-  if m.flg_gravcomp:
-    # actuator-level gravity compensation, skip if added as passive force
-    qfrc_actuator += d.qfrc_gravcomp * m.jnt_actgravcomp[m.dof_jntid]
-
-  # clamp qfrc_actuator
-  actfrcrange = jp.where(
-      m.jnt_actfrclimited[:, None],
-      m.jnt_actfrcrange,
-      jp.array([-jp.inf, jp.inf]),
-  )
-  actfrcrange = actfrcrange[m.dof_jntid]
-  qfrc_actuator = jp.clip(qfrc_actuator, actfrcrange[:, 0], actfrcrange[:, 1])
-
-  d = d.replace(
-      act_dot=act_dot, qfrc_actuator=qfrc_actuator, actuator_force=force
-  )
-  return d
-
-
-@named_scope
-def fwd_acceleration(m: Model, d: Data) -> Data:
-  """Add up all non-constraint forces, compute qacc_smooth."""
-  qfrc_applied = d.qfrc_applied + support.xfrc_accumulate(m, d)
-  qfrc_smooth = d.qfrc_passive - d.qfrc_bias + d.qfrc_actuator + qfrc_applied
-  qacc_smooth = smooth.solve_m(m, d, qfrc_smooth)
-  d = d.replace(qfrc_smooth=qfrc_smooth, qacc_smooth=qacc_smooth)
-  return d
-
-
-@named_scope
-def _integrate_pos(
-    jnt_typs: Sequence[str], qpos: jax.Array, qvel: jax.Array, dt: jax.Array
-) -> jax.Array:
-  """Integrate position given velocity."""
-  qs, qi, vi = [], 0, 0
-
-  for jnt_typ in jnt_typs:
-    if jnt_typ == JointType.FREE:
-      pos = qpos[qi : qi + 3] + dt * qvel[vi : vi + 3]
-      quat = math.quat_integrate(
-          qpos[qi + 3 : qi + 7], qvel[vi + 3 : vi + 6], dt
-      )
-      qs.append(jp.concatenate([pos, quat]))
-      qi, vi = qi + 7, vi + 6
-    elif jnt_typ == JointType.BALL:
-      quat = math.quat_integrate(qpos[qi : qi + 4], qvel[vi : vi + 3], dt)
-      qs.append(quat)
-      qi, vi = qi + 4, vi + 3
-    elif jnt_typ in (JointType.HINGE, JointType.SLIDE):
-      pos = qpos[qi] + dt * qvel[vi]
-      qs.append(pos[None])
-      qi, vi = qi + 1, vi + 1
-    else:
-      raise RuntimeError(f'unrecognized joint type: {jnt_typ}')
-
-  return jp.concatenate(qs) if qs else jp.empty((0,))
-
-
-def _next_activation(m: Model, d: Data, act_dot: jax.Array) -> jax.Array:
-  """Returns the next act given the current act_dot, after clamping."""
-  act = d.act
-
-  if not m.na:
-    return act
-
-  actrange = jp.where(
-      m.actuator_actlimited[:, None],
-      m.actuator_actrange,
-      jp.array([-jp.inf, jp.inf]),
-  )
-
-  def fn(dyntype, dynprm, act, act_dot, actrange):
-    if dyntype == DynType.FILTEREXACT:
-      tau = jp.clip(dynprm[0], min=mujoco.mjMINVAL)
-      act = act + act_dot * tau * (1 - jp.exp(-m.opt.timestep / tau))
-    else:
-      act = act + act_dot * m.opt.timestep
-    act = jp.clip(act, actrange[0], actrange[1])
-    return act
-
-  args = (m.actuator_dyntype, m.actuator_dynprm, act, act_dot, actrange)
-  act = scan.flat(m, fn, 'uuaau', 'a', *args, group_by='u')
-
-  return act.reshape(m.na)
-
-
-@named_scope
-def _advance(
-    m: Model,
-    d: Data,
-    act_dot: jax.Array,
-    qacc: jax.Array,
-    qvel: Optional[jax.Array] = None,
-) -> Data:
-  """Advance state and time given activation derivatives and acceleration."""
-  act = _next_activation(m, d, act_dot)
-
-  # advance velocities
-  d = d.replace(qvel=d.qvel + qacc * m.opt.timestep)
-
-  # advance positions with qvel if given, d.qvel otherwise (semi-implicit)
-  qvel = d.qvel if qvel is None else qvel
-  integrate_fn = lambda *args: _integrate_pos(*args, dt=m.opt.timestep)
-  qpos = scan.flat(m, integrate_fn, 'jqv', 'q', m.jnt_type, d.qpos, qvel)
-
-  # advance time
-  time = d.time + m.opt.timestep
-
-  # save qacc for next step warmstart
-  d = d.replace(qacc_warmstart=d.qacc)
-
-  return d.replace(act=act, qpos=qpos, time=time)
-
-
-@named_scope
-def euler(m: Model, d: Data) -> Data:
-  """Euler integrator, semi-implicit in velocity."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('euler requires JAX backend implementation.')
-
-  # integrate damping implicitly
-  qacc = d.qacc
-  if not m.opt.disableflags & DisableBit.EULERDAMP:
-    if support.is_sparse(m):
-      diag_adr = m.M_rowadr + m.M_rownnz - 1
-      M = d._impl.M.at[diag_adr].add(m.opt.timestep * m.dof_damping)
-    else:
-      M = d._impl.M + jp.diag(m.opt.timestep * m.dof_damping)
-    dh = d.tree_replace({'_impl.M': M})
-    dh = smooth.factor_m(m, dh)  # pyrefly: ignore[bad-argument-type]
-    qfrc = d.qfrc_smooth + d.qfrc_constraint
-    qacc = smooth.solve_m(m, dh, qfrc)
-  return _advance(m, d, d.act_dot, qacc)
-
-
-@named_scope
-def rungekutta4(m: Model, d: Data) -> Data:
-  """Runge-Kutta explicit order 4 integrator."""
-  d0 = d
-  # pylint: disable=invalid-name
-  A, B = _RK4_A, _RK4_B
-  C = jp.tril(A).sum(axis=0)  # C(i) = sum_j A(i,j)
-  T = d.time + C * m.opt.timestep
-  # pylint: enable=invalid-name
-
-  kqvel = d.qvel  # intermediate RK solution
-  # RK solutions sum
-  qvel, qacc, act_dot = jax.tree_util.tree_map(
-      lambda k: B[0] * k, (kqvel, d.qacc, d.act_dot)
-  )
-  integrate_fn = lambda *args: _integrate_pos(*args, dt=m.opt.timestep)
-
-  def f(carry, x):
-    qvel, qacc, act_dot, kqvel, d = carry
-    a, b, t = x  # tableau numbers
-    dqvel, dqacc, dact_dot = jax.tree_util.tree_map(
-        lambda k: a * k, (kqvel, d.qacc, d.act_dot)
-    )
-    # get intermediate RK solutions
-    kqpos = scan.flat(m, integrate_fn, 'jqv', 'q', m.jnt_type, d0.qpos, dqvel)
-    kact = d0.act + dact_dot * m.opt.timestep
-    kqvel = d0.qvel + dqacc * m.opt.timestep
-    d = d.replace(qpos=kqpos, qvel=kqvel, act=kact, time=t)
-    d = forward(m, d)
-
-    qvel += b * kqvel
-    qacc += b * d.qacc
-    act_dot += b * d.act_dot
-
-    return (qvel, qacc, act_dot, kqvel, d), None
-
-  abt = jp.vstack([jp.diag(A), B[1:4], T]).T
-  out, _ = jax.lax.scan(f, (qvel, qacc, act_dot, kqvel, d), abt, unroll=3)
-  qvel, qacc, act_dot, _, d1 = out
-
-  d = d1.replace(qpos=d0.qpos, qvel=d0.qvel, act=d0.act, time=d0.time)
-  d = _advance(m, d, act_dot, qacc, qvel)
-  return d
-
-
-@named_scope
-def implicit(m: Model, d: Data) -> Data:
-  """Integrates fully implicit in velocity."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('implicit requires JAX backend implementation.')
-
-  qderiv = derivative.deriv_smooth_vel(m, d)
-
-  qacc = d.qacc
-  if qderiv is not None:
-    # TODO(robotics-simulation): use smooth.factor_m / solve_m here:
-    qm = support.full_m(m, d) if support.is_sparse(m) else d._impl.M
-    qm -= m.opt.timestep * qderiv
-    qh, _ = jax.scipy.linalg.cho_factor(qm)
-    qfrc = d.qfrc_smooth + d.qfrc_constraint
-    qacc = jax.scipy.linalg.cho_solve((qh, False), qfrc)
-
-  return _advance(m, d, d.act_dot, qacc)
-
-
-@named_scope
-def forward(m: Model, d: Data) -> Data:
-  """Forward dynamics."""
-  if m.impl == Impl.WARP and d.impl == Impl.WARP and mjxw.WARP_INSTALLED:
-    from mujoco.mjx.warp import forward as mjxw_forward  # pylint: disable=g-import-not-at-top  # pytype: disable=import-error
-    return mjxw_forward.forward(m, d)
-
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('forward requires JAX backend implementation.')
-
-  d = fwd_position(m, d)
-  d = sensor.sensor_pos(m, d)
-  d = fwd_velocity(m, d)
-  d = sensor.sensor_vel(m, d)
-  d = fwd_actuation(m, d)
-  d = fwd_acceleration(m, d)
-
-  if d._impl.efc_J.size == 0:
-    d = d.replace(qacc=d.qacc_smooth)
-    return d
-
-  d = named_scope(solver.solve)(m, d)
-  d = sensor.sensor_acc(m, d)
-
-  return d
-
-
-@named_scope
-def step(m: Model, d: Data) -> Data:
-  """Advance simulation."""
-  if m.impl == Impl.WARP and d.impl == Impl.WARP and mjxw.WARP_INSTALLED:
-    from mujoco.mjx.warp import forward as mjxw_forward  # pylint: disable=g-import-not-at-top  # pytype: disable=import-error
-    return mjxw_forward.step(m, d)
-
-  d = forward(m, d)
-
-  if m.opt.integrator == IntegratorType.EULER:
-    d = euler(m, d)
-  elif m.opt.integrator == IntegratorType.RK4:
-    d = rungekutta4(m, d)
-  elif m.opt.integrator == IntegratorType.IMPLICITFAST:
-    d = implicit(m, d)
-  else:
-    raise NotImplementedError(f'integrator {m.opt.integrator} not implemented.')
-
-  return d
diff --git a/mjx/mujoco/mjx/_src/forward_test.py b/mjx/mujoco/mjx/_src/forward_test.py
deleted file mode 100644
index 5a296251..00000000
--- a/mjx/mujoco/mjx/_src/forward_test.py
+++ /dev/null
@@ -1,275 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for forward functions."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import test_util
-import numpy as np
-
-
-# tolerance for difference between MuJoCo and MJX forward calculations - mostly
-# due to float precision
-_TOLERANCE = 1e-5
-
-
-def _assert_eq(a, b, name, tol=_TOLERANCE):
-  tol = tol * 10  # avoid test noise
-  err_msg = f'mismatch: {name}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
-
-
-def _assert_attr_eq(a, b, attr, tol=_TOLERANCE):
-  _assert_eq(getattr(a, attr), getattr(b, attr), attr, tol=tol)
-
-
-class ForwardTest(absltest.TestCase):
-
-  def test_forward(self):
-    m = test_util.load_test_file('constraints.xml')
-    d = mujoco.MjData(m)
-    # apply some control and xfrc input
-    d.ctrl = np.array([-18, 0.59, 0.47])
-    d.xfrc_applied[0, 2] = 0.1  # torque
-    d.xfrc_applied[1, 4] = 0.3  # linear force
-    mujoco.mj_step(m, d, 20)  # get some dynamics going
-    # scale down velocities to minimize Jdotv effect (not in MJX)
-    # TODO(team): remove this change when mjx supports this feature
-    d.qvel[:] *= 1e-2
-    mujoco.mj_forward(m, d)
-
-    mx = mjx.put_model(m)
-
-    # fwd_actuation
-    dx = mjx.put_data(m, d).replace(
-        act_dot=np.zeros_like(d.act_dot),
-        qfrc_actuator=np.zeros_like(d.qfrc_actuator),
-        actuator_force=np.zeros_like(d.actuator_force),
-    )
-    dx = jax.jit(mjx.fwd_actuation)(mx, dx)
-    _assert_attr_eq(d, dx, 'act_dot')
-    _assert_attr_eq(d, dx, 'qfrc_actuator')
-    _assert_attr_eq(d, dx, 'actuator_force')
-
-    # fwd_accleration (fwd_position and fwd_velocity already tested elsewhere)
-    dx = jax.jit(mjx.fwd_acceleration)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'qfrc_smooth')
-    _assert_attr_eq(d, dx, 'qacc_smooth')
-
-    # euler
-    dx = jax.jit(mjx.euler)(mx, mjx.put_data(m, d))
-    mujoco.mj_Euler(m, d)
-    _assert_attr_eq(d, dx, 'act')
-    _assert_attr_eq(d, dx, 'qpos')
-    _assert_attr_eq(d, dx, 'time')
-
-    # implicitfast
-    m.opt.integrator = mujoco.mjtIntegrator.mjINT_IMPLICITFAST
-    # TODO(team): remove this override when the mjx feature matches mujoco
-    m.opt.enableflags |= mujoco.mjtEnableBit.mjENBL_INVDISCRETE
-    dx = jax.jit(mjx.implicit)(mx, mjx.put_data(m, d))
-    mujoco.mj_implicit(m, d)
-    _assert_attr_eq(d, dx, 'qpos')
-
-  def test_step(self):
-    m = test_util.load_test_file('constraints.xml')
-    d = mujoco.MjData(m)
-    # apply some control and xfrc input
-    d.ctrl = np.array([-18, 0.59, 0.47])
-    d.xfrc_applied[0, 2] = 0.1  # torque
-    d.xfrc_applied[1, 4] = 0.3  # linear force
-    mujoco.mj_step(m, d, 20)  # get some dynamics going
-    # scale down velocities to minimize Jdotv effect (not in MJX)
-    # TODO(team): remove this change when mjx supports this feature
-    d.qvel[:] *= 1e-2
-
-    dx = jax.jit(mjx.step)(mjx.put_model(m), mjx.put_data(m, d))
-    mujoco.mj_step(m, d)
-    _assert_attr_eq(d, dx, 'act')
-    _assert_attr_eq(d, dx, 'time')
-    _assert_attr_eq(d, dx, 'qvel', tol=5e-4)
-    _assert_attr_eq(d, dx, 'qpos')
-
-  def test_rk4(self):
-    m = mujoco.MjModel.from_xml_string("""
-        <mujoco>
-          <option integrator="RK4">
-            <flag constraint="disable"/>
-          </option>
-          <worldbody>
-            <geom type="plane" size="1 1 .01" pos="0 0 -1"/>
-            <body pos="0.15 0 0">
-              <joint type="hinge" axis="0 1 0"/>
-              <geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
-              <body pos="0.1 0 0">
-                <joint type="slide" axis="1 0 0" stiffness="200"/>
-                <geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
-              </body>
-            </body>
-          </worldbody>
-        </mujoco>
-        """)
-
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.array([0.2, -0.1])
-    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
-    mujoco.mj_forward(m, d)
-
-    dx = jax.jit(mjx.rungekutta4)(mjx.put_model(m), mjx.put_data(m, d))
-    mujoco.mj_RungeKutta(m, d, 4)
-
-    _assert_attr_eq(d, dx, 'qvel')
-    _assert_attr_eq(d, dx, 'qpos')
-    _assert_attr_eq(d, dx, 'act')
-    _assert_attr_eq(d, dx, 'time')
-    _assert_attr_eq(d, dx, 'xpos')
-
-  def test_eulerdamp(self):
-    m = test_util.load_test_file('pendula.xml')
-    self.assertTrue((m.dof_damping > 0).any())
-
-    d = mujoco.MjData(m)
-    d.qvel[:] = 1.0
-    d.qacc[:] = 1.0
-    mujoco.mj_forward(m, d)
-    dx = jax.jit(mjx.euler)(mjx.put_model(m), mjx.put_data(m, d))
-    mujoco.mj_Euler(m, d)
-
-    _assert_attr_eq(d, dx, 'qpos')
-
-    # also test sparse
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mujoco.MjData(m)
-    d.qvel[:] = 1.0
-    d.qacc[:] = 1.0
-    mujoco.mj_forward(m, d)
-    dx = jax.jit(mjx.euler)(mjx.put_model(m), mjx.put_data(m, d))
-    mujoco.mj_Euler(m, d)
-
-    _assert_attr_eq(d, dx, 'qpos')
-
-  def test_disable_eulerdamp(self):
-    m = test_util.load_test_file('pendula.xml')
-    self.assertTrue((m.dof_damping > 0).any())
-    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.EULERDAMP
-
-    d = mujoco.MjData(m)
-    d.qvel[:] = 1.0
-    d.qacc[:] = 1.0
-    dx = jax.jit(mjx.euler)(mjx.put_model(m), mjx.put_data(m, d))
-
-    np.testing.assert_allclose(dx.qvel, 1 + m.opt.timestep)
-
-  def test_where(self):
-    m = mujoco.MjModel.from_xml_string("""
-        <mujoco>
-          <worldbody>
-            <body>
-              <joint type="slide" axis="1 0 0"/>
-              <geom size="0.1"/>
-            </body>
-          </worldbody>
-        </mujoco>
-        """)
-    d_template = mjx.make_data(m)
-
-    d1 = d_template.replace(qpos=jp.array([1.0]))
-    d2 = d_template.replace(qpos=jp.array([2.0]))
-
-    # Test scalar condition (outside vmap)
-    out_true = d1.where(True, d2)
-    np.testing.assert_allclose(out_true.qpos, d2.qpos)
-
-    out_false = d1.where(False, d2)
-    np.testing.assert_allclose(out_false.qpos, d1.qpos)
-
-    # Test batched condition (inside vmap)
-    @jax.vmap
-    def merge_batched(done, r, s):
-      return s.where(done, r)
-
-    done_batch = jp.array([True, False])
-    r_batch = jax.vmap(lambda x: d_template.replace(qpos=jp.array([x])))(
-        jp.array([2.0, 3.0])
-    )
-    s_batch = jax.vmap(lambda x: d_template.replace(qpos=jp.array([x])))(
-        jp.array([1.0, 1.0])
-    )
-
-    merged = merge_batched(done_batch, r_batch, s_batch)
-
-    # env 0: done=True -> r -> qpos=2.0
-    # env 1: done=False -> s -> qpos=1.0
-    np.testing.assert_allclose(merged.qpos, jp.array([[2.0], [1.0]]))
-
-
-
-
-class ActuatorTest(parameterized.TestCase):
-
-  @parameterized.parameters(
-      'actuator/arm21.xml',
-      'actuator/arm26.xml',
-      'actuator/general_dyntype.xml',
-  )
-  def test_actuator(self, fname):
-    m = test_util.load_test_file(fname)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d)
-    d.ctrl = 1.5 * np.random.random(m.nu)
-    d.act = 0.5 * np.random.random(m.na)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    mujoco.mj_fwdActuation(m, d)
-    dx = jax.jit(mjx.fwd_actuation)(mx, dx)
-
-    _assert_attr_eq(d, dx, 'act_dot')
-    _assert_attr_eq(d, dx, 'qfrc_actuator')
-    _assert_attr_eq(d, dx, 'actuator_force')
-
-    mujoco.mj_Euler(m, d)
-    dx = jax.jit(mjx.euler)(mx, dx)
-    _assert_attr_eq(d, dx, 'act')
-
-  def test_tendon_force_clamp(self):
-    m = test_util.load_test_file('actuator/tendon_force_clamp.xml')
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    dx = dx.replace(ctrl=jp.array([1.0, 1.0, 1.0, -4.0, 1.0, -20.0, 5.0, -5.0]))
-    dx = mjx.forward(mx, dx)
-
-    _assert_eq(
-        dx.actuator_force,
-        jp.array([1.0, 1.0, 1.0, -4.0 / 3.0, 1.0 / 3.0, -10.0, 5.0, -5.0]),
-        'actuator_force',
-    )
-
-    _assert_eq(
-        dx.sensordata,
-        jp.array([3.0, -1.0, -10.0, 0.0]),
-        'sensordata',
-    )
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/inverse.py b/mjx/mujoco/mjx/_src/inverse.py
deleted file mode 100644
index 18055420..00000000
--- a/mjx/mujoco/mjx/_src/inverse.py
+++ /dev/null
@@ -1,112 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Inverse dynamics functions."""
-
-from jax import numpy as jp
-from mujoco.mjx._src import derivative
-from mujoco.mjx._src import forward
-from mujoco.mjx._src import sensor
-from mujoco.mjx._src import smooth
-from mujoco.mjx._src import solver
-from mujoco.mjx._src import support
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import EnableBit
-from mujoco.mjx._src.types import Impl
-from mujoco.mjx._src.types import IntegratorType
-from mujoco.mjx._src.types import Model
-
-
-def discrete_acc(m: Model, d: Data) -> Data:
-  """Convert discrete-time qacc to continuous-time qacc."""
-
-  if m.opt.integrator == IntegratorType.RK4:
-    raise RuntimeError(
-        'discrete inverse dynamics is not supported by RK4 integrator'
-    )
-  elif m.opt.integrator == IntegratorType.EULER:
-    dsbl_eulerdamp = m.opt.disableflags & DisableBit.EULERDAMP
-    no_dof_damping = (m.dof_damping == 0).all()
-    if dsbl_eulerdamp or no_dof_damping:
-      return d
-
-    # set qfrc = (M + h*diag(B)) * qacc
-    qfrc = support.mul_m(m, d, d.qacc)
-    qfrc += m.opt.timestep * m.dof_damping * d.qacc
-  elif m.opt.integrator == IntegratorType.IMPLICITFAST:
-    qm = support.full_m(m, d)
-
-    # compute analytical derivative qDeriv; skip rne derivative
-    qderiv = derivative.deriv_smooth_vel(m, d)
-    if qderiv is not None:
-      # M = M - dt*qDeriv
-      qm -= m.opt.timestep * qderiv
-
-    # set qfrc = (M - dt*qDeriv) * qacc
-    qfrc = qm @ d.qacc
-  else:
-    raise NotImplementedError(f'integrator {m.opt.integrator} not implemented.')
-
-  # solve for qacc: qfrc = M * qacc
-  qacc = smooth.solve_m(m, d, qfrc)
-
-  return d.replace(qacc=qacc)
-
-
-def inv_constraint(m: Model, d: Data) -> Data:
-  """Inverse constraint solver."""
-
-  # no constraints
-  if d._impl.efc_J.size == 0:  # pytype: disable=attribute-error
-    return d.replace(qfrc_constraint=jp.zeros(m.nv))
-
-  # update
-  ctx = solver.Context.create(m, d, grad=False)
-
-  return d.tree_replace({  # pyrefly: ignore[bad-return]
-      'qfrc_constraint': ctx.qfrc_constraint,
-      '_impl.efc_force': ctx.efc_force,
-  })
-
-
-def inverse(m: Model, d: Data) -> Data:
-  """Inverse dynamics."""
-
-  d = forward.fwd_position(m, d)
-  d = sensor.sensor_pos(m, d)
-  d = forward.fwd_velocity(m, d)
-  d = sensor.sensor_vel(m, d)
-
-  qacc = d.qacc
-  if m.opt.enableflags & EnableBit.INVDISCRETE:
-    d = discrete_acc(m, d)
-
-  d = inv_constraint(m, d)
-  d = smooth.rne(m, d)
-  d = smooth.tendon_bias(m, d)
-  d = sensor.sensor_acc(m, d)
-
-  qfrc_inverse = (
-      d.qfrc_bias
-      + support.mul_m(m, d, d.qacc)
-      - d.qfrc_passive
-      - d.qfrc_constraint
-  )
-
-  if m.opt.enableflags & EnableBit.INVDISCRETE:
-    return d.replace(qfrc_inverse=qfrc_inverse, qacc=qacc)
-  else:
-    return d.replace(qfrc_inverse=qfrc_inverse)
diff --git a/mjx/mujoco/mjx/_src/inverse_test.py b/mjx/mujoco/mjx/_src/inverse_test.py
deleted file mode 100644
index 63720a15..00000000
--- a/mjx/mujoco/mjx/_src/inverse_test.py
+++ /dev/null
@@ -1,150 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for inverse dynamics functions."""
-from absl.testing import absltest
-from absl.testing import parameterized
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import support
-from mujoco.mjx._src import test_util
-import numpy as np
-
-# tolerance for difference between MuJoCo and MJX calculations - mostly
-# due to float precision
-_TOLERANCE = 1e-5
-
-
-def _assert_eq(a, b, name, tol=_TOLERANCE):
-  tol = tol * 10  # avoid test noise
-  err_msg = f'mismatch: {name}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
-
-
-class InverseTest(parameterized.TestCase):
-
-  @parameterized.parameters(
-      (mujoco.mjtIntegrator.mjINT_EULER, False, False),
-      (mujoco.mjtIntegrator.mjINT_EULER, False, True),
-      (mujoco.mjtIntegrator.mjINT_EULER, True, False),
-      (mujoco.mjtIntegrator.mjINT_EULER, True, True),
-      (mujoco.mjtIntegrator.mjINT_IMPLICITFAST, False, False),
-      (mujoco.mjtIntegrator.mjINT_IMPLICITFAST, True, False),
-  )
-  def test_forward_inverse_match(self, integrator, invdiscrete, eulerdamp):
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco>
-        <option timestep=".005" gravity="-1 -1 -10"/>
-        <worldbody>
-          <geom type="plane" size="10 10 .001"/>
-          <body pos="0 0 1">
-            <geom type="sphere" size=".1" pos=".1 .2 .3"/>
-            <joint name="jnt1" type="hinge" axis="0 1 0" stiffness=".25" damping=".125"/>
-            <body pos="0 0 1">
-              <geom type="sphere" size=".1" pos=".1 .2 .3"/>
-              <joint name="jnt2" type="hinge" axis="0 1 0" stiffness=".6" damping=".3"/>
-            </body>
-          </body>
-        </worldbody>
-        <actuator>
-          <motor joint="jnt1"/>
-        </actuator>
-        <equality>
-          <joint joint1="jnt1" joint2="jnt2"/>
-        </equality>
-      </mujoco>
-    """)
-    m.opt.integrator = integrator
-    if invdiscrete:
-      m.opt.enableflags |= mujoco.mjtEnableBit.mjENBL_INVDISCRETE
-    if not eulerdamp:
-      m.opt.disableflags |= mujoco.mjtDisableBit.mjDSBL_EULERDAMP
-
-    d = mujoco.MjData(m)
-    d.qvel = np.random.uniform(low=-0.01, high=0.01, size=d.qvel.shape)
-    d.ctrl = np.random.uniform(low=-0.01, high=0.01, size=d.ctrl.shape)
-    d.qfrc_applied = np.random.uniform(
-        low=-0.01, high=0.01, size=d.qfrc_applied.shape
-    )
-    d.xfrc_applied = np.random.uniform(
-        low=-0.01, high=0.01, size=d.xfrc_applied.shape
-    )
-    mujoco.mj_step(m, d, 100)
-
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    dx_next = mjx.step(mx, dx)
-    qacc_fd = (dx_next.qvel - dx.qvel) / mx.opt.timestep
-
-    dx = mjx.forward(mx, dx)
-
-    if invdiscrete:
-      dx = dx.replace(qacc=qacc_fd)
-
-    dxinv = mjx.inverse(mx, dx)
-
-    fwdinv0 = jp.linalg.norm(
-        dxinv.qfrc_constraint - dx.qfrc_constraint, ord=np.inf
-    )
-    fwdinv1 = jp.linalg.norm(
-        dxinv.qfrc_inverse
-        - (
-            dx.qfrc_applied + dx.qfrc_actuator + support.xfrc_accumulate(mx, dx)
-        ),
-        ord=np.inf,
-    )
-
-    self.assertLess(fwdinv0, 1.0e-3)
-    self.assertLess(fwdinv1, 1.0e-3)
-    _assert_eq(dxinv.qacc, dx.qacc, 'qacc')
-
-  def test_inverse_tendon_armature(self):
-    m = test_util.load_test_file('tendon/armature.xml')
-
-    d = mujoco.MjData(m)
-    d.qvel = np.random.uniform(low=-0.01, high=0.01, size=d.qvel.shape)
-    d.ctrl = np.random.uniform(low=-0.01, high=0.01, size=d.ctrl.shape)
-    d.qfrc_applied = np.random.uniform(
-        low=-0.01, high=0.01, size=d.qfrc_applied.shape
-    )
-    d.xfrc_applied = np.random.uniform(
-        low=-0.01, high=0.01, size=d.xfrc_applied.shape
-    )
-    mujoco.mj_step(m, d, 10)
-
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    dx = mjx.forward(mx, dx)
-    dxinv = mjx.inverse(mx, dx)
-
-    fwdinv0 = jp.linalg.norm(
-        dxinv.qfrc_constraint - dx.qfrc_constraint, ord=np.inf
-    )
-    fwdinv1 = jp.linalg.norm(
-        dxinv.qfrc_inverse
-        - (
-            dx.qfrc_applied + dx.qfrc_actuator + support.xfrc_accumulate(mx, dx)
-        ),
-        ord=np.inf,
-    )
-
-    self.assertLess(fwdinv0, 1.0e-3)
-    self.assertLess(fwdinv1, 1.0e-3)
-    _assert_eq(dxinv.qacc, dx.qacc, 'qacc')
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
deleted file mode 100644
index fe3d4704..00000000
--- a/mjx/mujoco/mjx/_src/io.py
+++ /dev/null
@@ -1,1842 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Functions to initialize, load, or save data."""
-
-import copy
-import logging
-import os
-from typing import Any, Dict, List, Optional, Sequence, Tuple, Union
-import warnings
-
-import jax
-import jax.experimental
-from jax import numpy as jp
-from jax.extend import backend
-import mujoco
-from mujoco.mjx._src import collision_driver
-from mujoco.mjx._src import constraint
-from mujoco.mjx._src import mesh
-from mujoco.mjx._src import support
-from mujoco.mjx._src import types
-import mujoco.mjx.warp as mjxw
-# pylint: disable=g-importing-member
-from mujoco.mjx.warp import mjwp_types
-from mujoco.mjx.warp import mujoco_warp as mjwp
-from mujoco.mjx.warp import warp as wp
-# pylint: enable=g-importing-member
-import numpy as np
-import scipy
-
-
-def has_cuda_gpu_device() -> bool:
-  return 'cuda' in backend.backends()
-
-
-def _is_cuda_gpu_device(device: jax.Device) -> bool:
-  if not has_cuda_gpu_device():
-    return False
-  return device in jax.devices('cuda')
-
-
-def _check_warp_installed():
-  if not mjxw.WARP_INSTALLED:
-    raise RuntimeError(
-        'warp-lang is not installed. Cannot use WARP implementation of MJX.'
-    )
-
-
-def _resolve_impl(
-    device: jax.Device,
-) -> types.Impl:
-  """Pick a default implementation based on the device specified."""
-  if _is_cuda_gpu_device(device):
-    # TODO(btaba): Remove flag once Warp is ready for GPU default.
-    mjx_gpu_default_warp = (
-        os.environ.get('MJX_GPU_DEFAULT_WARP', 'f').lower() == 'true'
-    )
-    if mjx_gpu_default_warp and mjxw.WARP_INSTALLED:
-      logging.debug('Picking default implementation: Warp.')
-      return types.Impl.WARP
-
-  if device.platform in ('gpu', 'tpu'):
-    logging.debug('Picking default implementation: JAX.')
-    return types.Impl.JAX
-
-  if device.platform == 'cpu':
-    return types.Impl.JAX
-
-  raise ValueError(f'Unsupported device: {device}')
-
-
-def _resolve_device(
-    impl: types.Impl,
-) -> jax.Device:
-  """Resolves a device based on the implementation."""
-  impl = types.Impl(impl)
-  if impl == types.Impl.JAX:
-    device_0 = jax.devices()[0]
-    logging.debug('Picking default device: %s.', device_0)
-    return device_0
-
-  if impl == types.Impl.CPP:
-    cpu_0 = jax.devices('cpu')[0]
-    logging.debug('Picking default device: %s', cpu_0)
-    return cpu_0
-
-  if impl == types.Impl.WARP:
-    # WARP implementation requires a CUDA GPU or CPU.
-    if has_cuda_gpu_device():
-      cuda_gpus = [d for d in jax.devices('cuda')]
-      if cuda_gpus:
-        logging.debug('Picking default device: %s', cuda_gpus[0])
-        return cuda_gpus[0]
-
-    logging.debug('Picking default device for Warp: CPU')
-    return jax.devices('cpu')[0]
-
-  raise ValueError(f'Unsupported implementation: {impl}')
-
-
-def _check_impl_device_compatibility(
-    impl: Union[str, types.Impl],
-    device: jax.Device,
-) -> None:
-  """Checks that the implementation is compatible with the device."""
-  if impl is None:
-    raise ValueError('No implementation specified.')
-
-  impl = types.Impl(impl)
-
-  if impl == types.Impl.WARP:
-    is_cuda_device = _is_cuda_gpu_device(device)
-    is_cpu_device = device.platform == 'cpu'
-    if not (is_cuda_device or is_cpu_device):
-      raise AssertionError(
-          'Warp implementation requires a CUDA GPU or CPU device, got '
-          f'{device}.'
-      )
-    _check_warp_installed()
-
-  is_cpu_device = device.platform == 'cpu'
-  if impl == types.Impl.CPP:
-    if not is_cpu_device:
-      raise AssertionError(
-          f'C implementation requires a CPU device, got {device}.'
-      )
-
-  # NB: JAX implementation works with any device.
-
-
-def _resolve_impl_and_device(
-    impl: Optional[Union[str, types.Impl]],
-    device: Optional[jax.Device] = None,
-) -> Tuple[types.Impl, jax.Device]:
-  """Resolves a implementation and device."""
-  if impl:
-    impl = types.Impl(impl)
-
-  has_impl, has_device = impl is not None, device is not None
-  if (has_impl, has_device) == (True, True):
-    pass
-  elif (has_impl, has_device) == (True, False):
-    device = _resolve_device(impl)  # pyrefly: ignore[bad-argument-type]
-  elif (has_impl, has_device) == (False, True):
-    impl = _resolve_impl(device)  # pyrefly: ignore[bad-argument-type]
-  else:
-    device = jax.devices()[0]
-    logging.info('Using JAX default device: %s.', device)
-    impl = _resolve_impl(device)
-
-  _check_impl_device_compatibility(impl, device)  # pyrefly: ignore[bad-argument-type]
-  return impl, device  # pytype: disable=bad-return-type
-
-
-def _strip_weak_type(tree):
-  def f(leaf):
-    if isinstance(leaf, jax.Array):
-      return leaf.astype(jax.dtypes.canonicalize_dtype(leaf.dtype))
-    return leaf
-
-  return jax.tree_util.tree_map(f, tree)
-
-
-def _wp_to_np_type(wp_field: Any, name: str = '') -> Any:
-  """Converts a warp type to an MJX compatible numpy type."""
-  # warp scalars
-  wp_dtype = type(wp_field)
-  if wp_dtype in wp._src.types.warp_type_to_np_dtype:
-    return wp.dtype_to_numpy(wp_dtype)(wp_field)
-
-  # warp arrays
-  if isinstance(wp_field, wp.array):
-    return wp_field.numpy()
-
-  # static
-  static_types = (bool, int, float, np.bool, np.int32, np.int64,
-                  np.float32, np.float64)  # fmt: skip
-  is_static = lambda x: isinstance(x, static_types)
-  if is_static(wp_field):
-    return wp_field
-
-  # tuples
-  if isinstance(wp_field, tuple) and len(wp_field) == 0:
-    return ()
-  if isinstance(wp_field, tuple) and isinstance(wp_field[0], wp.array):
-    return tuple(f.numpy() for f in wp_field)
-  if isinstance(wp_field, tuple) and isinstance(
-      wp_field[0], mjwp_types.TileSet
-  ):
-    return tuple(
-        mjxw.types.TileSet(
-            wp_field[i].adr.numpy(),
-            wp_field[i].size,
-            wp_field[i].elemid.numpy()
-            if wp_field[i].elemid is not None
-            else np.zeros(0, dtype=np.int32),
-        )
-        for i in range(len(wp_field))
-    )
-  if isinstance(wp_field, mjwp_types.BlockDim):
-    return mjxw.types.BlockDim(**wp_field.__dict__)
-  if isinstance(wp_field, mjwp_types.Callback):
-    return wp_field
-
-  if isinstance(wp_field, tuple) and is_static(wp_field[0]):
-    return wp_field
-
-  raise NotImplementedError(
-      f'Field {name} has unsupported type {type(wp_field)}.'
-  )
-
-
-def _put_option(
-    o: mujoco.MjOption,
-    impl: types.Impl,
-    impl_fields: Optional[Dict[str, Any]] = None,
-) -> types.Option:
-  """Returns mjx.Option given mujoco.MjOption."""
-  if o.integrator not in set(types.IntegratorType):
-    raise NotImplementedError(f'{mujoco.mjtIntegrator(o.integrator)}')
-
-  if o.cone not in set(types.ConeType):
-    raise NotImplementedError(f'{mujoco.mjtCone(o.cone)}')
-
-  if o.jacobian not in set(types.JacobianType):
-    raise NotImplementedError(f'{mujoco.mjtJacobian(o.jacobian)}')
-
-  if o.solver not in set(types.SolverType):
-    raise NotImplementedError(f'{mujoco.mjtSolver(o.solver)}')
-
-  for i in range(mujoco.mjtEnableBit.mjNENABLE):
-    if o.enableflags & 2**i and 2 ** i not in set(types.EnableBit):
-      raise NotImplementedError(f'{mujoco.mjtEnableBit(2**i)}')
-
-  fields = {
-      f.name: getattr(o, f.name, None)
-      for f in types.Option.fields()
-      if f.name != '_impl'
-  }
-  fields['integrator'] = types.IntegratorType(o.integrator)
-  fields['cone'] = types.ConeType(o.cone)
-  fields['solver'] = types.SolverType(o.solver)
-  fields['disableflags'] = types.DisableBit(o.disableflags)
-  fields['enableflags'] = types.EnableBit(o.enableflags)
-  fields['jacobian'] = types.JacobianType(o.jacobian)
-
-  option_obj = {
-      types.Impl.JAX: types.OptionJAX,
-      types.Impl.WARP: mjxw.types.OptionWarp,
-  }[impl]
-  private_fields = {
-      f.name: getattr(o, f.name, None) for f in option_obj.fields()
-  }
-  impl_fields = impl_fields or {}
-  impl_fields = {**private_fields, **impl_fields}
-
-  if impl == types.Impl.JAX:
-    has_fluid_params = o.density > 0 or o.viscosity > 0 or o.wind.any()
-    implicitfast = o.integrator == mujoco.mjtIntegrator.mjINT_IMPLICITFAST
-    if implicitfast and has_fluid_params:
-      raise NotImplementedError('implicitfast not implemented for fluid drag.')
-    impl_fields['has_fluid_params'] = has_fluid_params
-    return types.Option(**fields, _impl=types.OptionJAX(**impl_fields))
-
-
-  if impl == types.Impl.WARP:
-    impl_fields = {
-        k: (
-            v_np.reshape(v_np.shape[1:])
-            if isinstance(v_np := _wp_to_np_type(v, k), np.ndarray)
-            and mjxw.types._BATCH_DIM['Option'].get(k, False)  # pylint: disable=protected-access
-            else v_np
-        )
-        for k, v in impl_fields.items()
-    }
-    return types.Option(**fields, _impl=mjxw.types.OptionWarp(**impl_fields))
-
-  raise NotImplementedError(f'Unsupported implementation: {impl}')
-
-
-def _put_statistic(
-    s: mujoco.MjStatistic, impl: types.Impl
-) -> Union[types.Statistic, types.StatisticWarp]:
-  """Puts mujoco.MjStatistic onto a device, resulting in mjx.Statistic."""
-  if impl == types.Impl.WARP:
-    fields = {
-        f.name: getattr(s, f.name, None) for f in types.StatisticWarp.fields()
-    }
-    return types.StatisticWarp(**fields)
-  return types.Statistic(
-      meaninertia=s.meaninertia,
-      meanmass=s.meanmass,
-      meansize=s.meansize,
-      extent=s.extent,
-      center=s.center,
-  )
-
-
-def _put_model_jax(
-    m: mujoco.MjModel,
-    device: Optional[jax.Device] = None,
-) -> types.Model:
-  """Puts mujoco.MjModel onto a device, resulting in mjx.Model."""
-  if m.nflex:
-    raise NotImplementedError('Flex not implemented for JAX backend.')
-
-  # contact sensor
-  is_contact_sensor = m.sensor_type == types.SensorType.CONTACT
-  if is_contact_sensor.any():
-    objtype = m.sensor_objtype[is_contact_sensor]
-    reftype = m.sensor_reftype[is_contact_sensor]
-    contact_sensor_type = set(np.concatenate([objtype, reftype]))
-
-    # site filter
-    if types.ObjType.SITE in set(objtype):
-      raise NotImplementedError(
-          'Contact sensor with site matching semantics not implemented for JAX'
-          ' backend.'
-      )
-
-    # body semantics
-    if types.ObjType.BODY in contact_sensor_type:
-      raise NotImplementedError(
-          'Contact sensor with body matching semantics not implemented for JAX'
-          ' backend.'
-      )
-
-    # subtree semantics
-    if types.ObjType.XBODY in contact_sensor_type:
-      raise NotImplementedError(
-          'Contact sensor with subtree matching semantics not implemented for'
-          ' JAX backend.'
-      )
-
-    # net force
-    if (m.sensor_intprm[is_contact_sensor, 1] == 3).any():
-      raise NotImplementedError(
-          'Contact sensor with netforce reduction not implemented for JAX'
-          ' backend.'
-      )
-
-  mesh_geomid = set()
-  for g1, g2, ip in collision_driver.geom_pairs(m):
-    t1, t2 = m.geom_type[[g1, g2]]
-    # check collision function exists for type pair
-    if not collision_driver.has_collision_fn(t1, t2):
-      t1, t2 = mujoco.mjtGeom(t1), mujoco.mjtGeom(t2)
-      raise NotImplementedError(f'({t1}, {t2}) collisions not implemented.')
-    # margin/gap not supported for meshes and height fields
-    no_margin = {int(mujoco.mjtGeom.mjGEOM_MESH), int(mujoco.mjtGeom.mjGEOM_HFIELD)}
-    if no_margin.intersection({int(t1), int(t2)}):
-      if ip != -1:
-        margin = m.pair_margin[ip]
-      else:
-        margin = m.geom_margin[g1] + m.geom_margin[g2]
-      if margin.any():
-        t1, t2 = mujoco.mjtGeom(t1), mujoco.mjtGeom(t2)
-        raise NotImplementedError(f'({t1}, {t2}) margin/gap not implemented.')
-    for t, g in [(t1, g1), (t2, g2)]:
-      if int(t) == int(mujoco.mjtGeom.mjGEOM_MESH):
-        mesh_geomid.add(g)
-
-  for enum_field, enum_type, mj_type in (
-      (m.actuator_biastype, types.BiasType, mujoco.mjtBias),
-      (m.actuator_dyntype, types.DynType, mujoco.mjtDyn),
-      (m.actuator_gaintype, types.GainType, mujoco.mjtGain),
-      (m.actuator_trntype, types.TrnType, mujoco.mjtTrn),
-      (m.eq_type, types.EqType, mujoco.mjtEq),
-      (m.sensor_type, types.SensorType, mujoco.mjtSensor),
-      (m.wrap_type, types.WrapType, mujoco.mjtWrap),
-  ):
-    missing = set(enum_field) - set(enum_type)
-    if missing:
-      raise NotImplementedError(
-          f'{[mj_type(m) for m in missing]} not supported'
-      )
-
-  mj_field_names = {f.name for f in types.Model.fields() if f.name != '_impl'}
-  fields = {f: getattr(m, f) for f in mj_field_names}
-  fields['cam_mat0'] = fields['cam_mat0'].reshape((-1, 3, 3))
-  fields['opt'] = _put_option(m.opt, types.Impl.JAX)
-  fields['stat'] = _put_statistic(m.stat, types.Impl.JAX)
-
-  fields_jax = {}
-  fields_jax['dof_hasfrictionloss'] = fields['dof_frictionloss'] > 0
-  fields_jax['tendon_hasfrictionloss'] = fields['tendon_frictionloss'] > 0
-  fields_jax['geom_rbound_hfield'] = fields['geom_rbound']
-
-  # spatial tendon wrap inside
-  fields_jax['wrap_inside_maxiter'] = 5
-  fields_jax['wrap_inside_tolerance'] = 1.0e-4
-  fields_jax['wrap_inside_z_init'] = 1.0 - 1.0e-5
-  fields_jax['is_wrap_inside'] = np.zeros(0, dtype=bool)
-  if m.nsite:
-    # find sphere or cylinder geoms (if any exist)
-    (wrap_id_geom,) = np.nonzero(
-        (m.wrap_type == mujoco.mjtWrap.mjWRAP_SPHERE)
-        | (m.wrap_type == mujoco.mjtWrap.mjWRAP_CYLINDER)
-    )
-    wrap_objid_geom = m.wrap_objid[wrap_id_geom]
-    geom_pos = m.geom_pos[wrap_objid_geom]
-    geom_size = m.geom_size[wrap_objid_geom, 0]
-
-    # find sidesites (if any exist)
-    side_id = np.round(m.wrap_prm[wrap_id_geom]).astype(int)
-    side = m.site_pos[side_id]
-
-    # wrap inside flag
-    fields_jax['is_wrap_inside'] = np.array(
-        (np.linalg.norm(side - geom_pos, axis=1) < geom_size) & (side_id >= 0)
-    )
-
-  # Pre-compile meshes for MJX collisions.
-  fields_jax['mesh_convex'] = [None] * m.nmesh
-  for i in mesh_geomid:
-    dataid = m.geom_dataid[i]
-    if fields_jax['mesh_convex'][dataid] is None:
-      fields_jax['mesh_convex'][dataid] = mesh.convex(m, dataid)  # pytype: disable=unsupported-operands
-  fields_jax['mesh_convex'] = tuple(fields_jax['mesh_convex'])
-
-  jax_impl = types.ModelJAX(**fields_jax)
-  model = types.Model(
-      **{k: copy.copy(v) for k, v in fields.items()}, _impl=jax_impl
-  )
-
-  model = jax.device_put(model, device=device)
-  return _strip_weak_type(model)
-
-
-def _put_model_warp(
-    m: mujoco.MjModel,
-    graph_mode: mjxw.types.GraphMode,
-    device: Optional[jax.Device] = None,
-    batch_sizes: Optional[Dict[str, int]] = None,
-) -> types.Model:
-  """Puts mujoco.MjModel onto a device, resulting in mjx.Model."""
-  with wp.ScopedDevice('cpu'):  # pylint: disable=undefined-variable
-    mw = mjwp.put_model(m, batch_sizes=batch_sizes)  # pylint: disable=undefined-variable
-
-  batch_sizes = batch_sizes or {}
-  fields = {f.name for f in types.Model.fields() if f.name != '_impl'}
-  fields = {f: getattr(m, f) for f in fields}
-  # Grab MJW private Option fields, and assume that public MjOption fields are
-  # directly compatible with MJXW.
-  option_keys = {f.name for f in mjxw.types.OptionWarp.fields()} - {
-      f.name for f in types.Option.fields()
-  }
-  # graph_mode is MJX-specific, not from mujoco.mjx.third_party.mujoco_warp.
-  option_keys = option_keys - {'graph_mode'}
-  private_options = {k: getattr(mw.opt, k) for k in option_keys}
-  private_options['graph_mode'] = graph_mode
-  fields['opt'] = _put_option(m.opt, types.Impl.WARP, private_options)
-  fields['stat'] = _put_statistic(m.stat, types.Impl.WARP)
-
-  # Use MJW fields directly instead of MjModel, so that shape and dtype are
-  # always compatible with MJXW (e.g. cam_mat0/geom_aabb).
-  for k in fields:
-    if not hasattr(mw, k) or k in ('stat', 'opt'):
-      continue
-    field = _wp_to_np_type(getattr(mw, k), k)
-    if (  # pylint: disable=protected-access
-        k not in batch_sizes and mjxw.types._BATCH_DIM['Model'].get(k, False)
-    ):
-      field = field.reshape(field.shape[1:])
-    if k == 'geom_dataid' and field.ndim > 1:
-      # Batched geom_dataid is not supported in MJX.
-      field = field[0]
-    fields[k] = field
-
-  impl_fields = {}
-  for k in mjxw.types.ModelWarp.__annotations__.keys():
-    field = _wp_to_np_type(getattr(mw, k), k)
-    if (  # pylint: disable=protected-access
-        k not in batch_sizes and mjxw.types._BATCH_DIM['Model'].get(k, False)
-    ):
-      field = field.reshape(field.shape[1:])
-    impl_fields[k] = field
-
-  model = types.Model(
-      **fields,
-      _impl=mjxw.types.ModelWarp(**impl_fields),
-  )
-
-  model = jax.device_put(model, device=device)
-  return _strip_weak_type(model)
-
-
-# TODO(josechenf): Iterate on the keepalive implementation to make it easier to
-# use before OSS.
-def _put_model_cpp(
-    m: mujoco.MjModel,
-    device: Optional[jax.Device] = None,
-    keepalive_refs: Optional[Dict[int, Any]] = None,
-) -> types.Model:
-  """Puts mujoco.MjModel onto a device, resulting in mjx.Model."""
-
-  mj_field_names = {f.name for f in types.Model.fields() if f.name != '_impl'}
-  fields = {f: getattr(m, f) for f in mj_field_names}
-  fields['cam_mat0'] = fields['cam_mat0'].reshape((-1, 3, 3))
-  fields['opt'] = _put_option(m.opt, impl=types.Impl.JAX)
-  fields['stat'] = _put_statistic(m.stat, impl=types.Impl.JAX)
-
-  # get the pointer address
-  # we use a 0-d array
-  addr = m._address  # pytype: disable=attribute-error
-  # To ensure that we retain the full pointer even if jax.config.enable_x64 is
-  # set to True, we store the pointer as two 32-bit values. In the FFI call,
-  # we combine the two values into a single pointer value.
-  pointer_lo = jp.array(addr & 0xFFFFFFFF, dtype=jp.uint32)
-  pointer_hi = jp.array(addr >> 32, dtype=jp.uint32)
-  c_pointers_impl = types.ModelCPP(
-      pointer_lo=pointer_lo,
-      pointer_hi=pointer_hi,
-  )
-
-  if keepalive_refs is not None:
-    keepalive_refs[addr] = m
-
-  model = types.Model(
-      **{k: copy.copy(v) for k, v in fields.items()}, _impl=c_pointers_impl
-  )
-  model = jax.device_put(model, device=device)
-  return _strip_weak_type(model)
-
-
-def put_model(
-    m: mujoco.MjModel,
-    device: Optional[jax.Device] = None,
-    impl: Optional[Union[str, types.Impl]] = None,
-    graph_mode: Optional[mjxw.types.GraphMode] = None,
-    keepalive_refs: Optional[Dict[int, Any]] = None,
-    batch_sizes: Optional[Dict[str, int]] = None,
-) -> types.Model:
-  """Puts mujoco.MjModel onto a device, resulting in mjx.Model.
-
-  Args:
-    m: the model to put onto device
-    device: which device to use - if unspecified picks the default device
-    impl: implementation to use
-    graph_mode: CUDA graph capture mode (for Warp only). Use GraphMode enum from
-      warp._src.jax.ffi.GraphMode.WARP is the default mode.
-    keepalive_refs: optional dict to store references to underlying MuJoCo
-      objects, preventing them from being garbage collected. Required for CPP
-      impl to keep the model alive.
-    batch_sizes: optional per-field leading batch sizes for Warp model fields.
-
-  Returns:
-    an mjx.Model placed on device
-
-  Raises:
-    ValueError: if impl is not supported
-    RuntimeError: if impl is WARP and warp-lang is not installed
-  """
-
-  impl, device = _resolve_impl_and_device(impl, device)
-  if impl == types.Impl.JAX:
-    return _put_model_jax(m, device)
-  elif impl == types.Impl.WARP:
-    _check_warp_installed()
-    if graph_mode is None:
-      if device.platform == 'cpu':
-        graph_mode = getattr(mjxw.types.GraphMode, 'JAX')
-      else:
-        graph_mode = getattr(mjxw.types.GraphMode, 'WARP')
-    return _put_model_warp(m, graph_mode, device, batch_sizes=batch_sizes)
-  elif impl == types.Impl.CPP:
-    return _put_model_cpp(m, device, keepalive_refs=keepalive_refs)
-  else:
-    raise ValueError(f'Unsupported implementation: {impl}')
-
-
-def _make_data_public_fields(m: types.Model) -> Dict[str, Any]:
-  """Create public fields for the Data object."""
-  float_ = jp.zeros(1, float).dtype
-  zero_fields = {
-      'time': (float_,),
-      'qvel': (m.nv, float_),
-      'act': (m.na, float_),
-      'history': (m.nhistory, float_),
-      'plugin_state': (m.npluginstate, float_),
-      'qacc_warmstart': (m.nv, float_),
-      'ctrl': (m.nu, float_),
-      'qfrc_applied': (m.nv, float_),
-      'xfrc_applied': (m.nbody, 6, float_),
-      'mocap_pos': (m.nmocap, 3, float_),
-      'mocap_quat': (m.nmocap, 4, float_),
-      'qacc': (m.nv, float_),
-      'act_dot': (m.na, float_),
-      'userdata': (m.nuserdata, float_),
-      'sensordata': (m.nsensordata, float_),
-      'xpos': (m.nbody, 3, float_),
-      'xquat': (m.nbody, 4, float_),
-      'xmat': (m.nbody, 3, 3, float_),
-      'xipos': (m.nbody, 3, float_),
-      'ximat': (m.nbody, 3, 3, float_),
-      'xanchor': (m.njnt, 3, float_),
-      'xaxis': (m.njnt, 3, float_),
-      'geom_xpos': (m.ngeom, 3, float_),
-      'geom_xmat': (m.ngeom, 3, 3, float_),
-      'site_xpos': (m.nsite, 3, float_),
-      'site_xmat': (m.nsite, 3, 3, float_),
-      'cam_xpos': (m.ncam, 3, float_),
-      'cam_xmat': (m.ncam, 3, 3, float_),
-      'subtree_com': (m.nbody, 3, float_),
-      'actuator_force': (m.nu, float_),
-      'actuator_length': (m.nu, float_),
-      'qfrc_bias': (m.nv, float_),
-      'qfrc_gravcomp': (m.nv, float_),
-      'qfrc_fluid': (m.nv, float_),
-      'qfrc_passive': (m.nv, float_),
-      'qfrc_actuator': (m.nv, float_),
-      'qfrc_smooth': (m.nv, float_),
-      'qacc_smooth': (m.nv, float_),
-      'qfrc_constraint': (m.nv, float_),
-      'qfrc_inverse': (m.nv, float_),
-      'cvel': (m.nbody, 6, float_),
-      'cdof': (m.nv, 6, float_),
-      'cdof_dot': (m.nv, 6, float_),
-      'ten_length': (m.ntendon, float_),
-  }
-  zero_fields = {
-      k: np.zeros(v[:-1], dtype=v[-1]) for k, v in zero_fields.items()
-  }
-  return zero_fields
-
-
-def _make_data_contact_jax(
-    condim: np.ndarray, efc_address: np.ndarray
-) -> types.Contact:
-  """Create contact for the Data object."""
-  ncon = condim.size
-  float_ = jp.zeros(1, float).dtype
-  int_ = jp.zeros(1, int).dtype
-  contact = types.Contact(
-      dist=np.zeros((ncon,), dtype=float_),
-      pos=np.zeros((ncon, 3), dtype=float_),
-      frame=np.zeros((ncon, 3, 3), dtype=float_),
-      includemargin=np.zeros((ncon,), dtype=float_),
-      friction=np.zeros((ncon, 5), dtype=float_),
-      solref=np.zeros((ncon, mujoco.mjNREF), dtype=float_),
-      solreffriction=np.zeros((ncon, mujoco.mjNREF), dtype=float_),
-      solimp=np.zeros((ncon, mujoco.mjNIMP), dtype=float_),
-      dim=condim,
-      # let jax pick contact.geom int precision, for interop with
-      # jax_enable_x64
-      geom1=np.full((ncon,), -1, dtype=int_),
-      geom2=np.full((ncon,), -1, dtype=int_),
-      geom=np.full((ncon, 2), -1, dtype=int_),
-      efc_address=efc_address,
-  )
-  return contact
-
-
-def _make_data_jax(
-    m: Union[types.Model, mujoco.MjModel],
-    device: Optional[jax.Device] = None,
-) -> types.Data:
-  """Allocate and initialize Data for the JAX implementation."""
-  dim = collision_driver.make_condim(m, impl=types.Impl.JAX)
-  efc_type = constraint.make_efc_type(m, dim)
-  ne, nf, nl, nc = constraint.counts(efc_type)
-  ncon, nefc = dim.size, ne + nf + nl + nc
-  efc_address = constraint.make_efc_address(m, dim, efc_type)
-
-  float_ = jp.zeros(1, float).dtype
-  int_ = np.int32
-  contact = _make_data_contact_jax(dim, efc_address)
-
-  if m.opt.cone == types.ConeType.ELLIPTIC and np.any(contact.dim == 1):
-    raise NotImplementedError(
-        'condim=1 with ConeType.ELLIPTIC not implemented.'
-    )
-
-  zero_impl_fields = {
-      'solver_niter': (int_,),
-      'cinert': (m.nbody, 10, float_),
-      'ten_wrapadr': (m.ntendon, np.int32),
-      'ten_wrapnum': (m.ntendon, np.int32),
-      'ten_J': (m.ntendon, m.nv, float_),
-      'wrap_obj': (m.nwrap, 2, np.int32),
-      'wrap_xpos': (m.nwrap, 6, float_),
-      'actuator_moment': (m.nu, m.nv, float_),
-      'crb': (m.nbody, 10, float_),
-      'M': (m.nC, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
-      'qLD': (m.nC, float_) if support.is_sparse(m) else (m.nv, m.nv, float_),
-      'qLDiagInv': (m.nv, float_) if support.is_sparse(m) else (0, float_),
-      'ten_velocity': (m.ntendon, float_),
-      'actuator_velocity': (m.nu, float_),
-      'cacc': (m.nbody, 6, float_),
-      'cfrc_int': (m.nbody, 6, float_),
-      'cfrc_ext': (m.nbody, 6, float_),
-      'subtree_linvel': (m.nbody, 3, float_),
-      'subtree_angmom': (m.nbody, 3, float_),
-      'efc_J': (nefc, m.nv, float_),
-      'efc_pos': (nefc, float_),
-      'efc_margin': (nefc, float_),
-      'efc_frictionloss': (nefc, float_),
-      'efc_D': (nefc, float_),
-      'efc_aref': (nefc, float_),
-      'efc_force': (nefc, float_),
-  }
-  zero_impl_fields = {
-      k: np.zeros(v[:-1], dtype=v[-1]) for k, v in zero_impl_fields.items()
-  }
-  impl = types.DataJAX(
-      ne=ne,
-      nf=nf,
-      nl=nl,
-      nefc=nefc,
-      ncon=ncon,
-      contact=contact,
-      efc_type=efc_type,
-      **zero_impl_fields,
-  )
-
-  d = types.Data(
-      qpos=jp.array(m.qpos0, dtype=float_),
-      eq_active=m.eq_active0,
-      _impl=impl,
-      **_make_data_public_fields(m),  # pyrefly: ignore[bad-argument-type]
-  )
-
-  if m.nmocap:
-    # Set mocap_pos/quat = body_pos/quat for mocap bodies as done in C MuJoCo.
-    body_mask = m.body_mocapid >= 0
-    body_pos = m.body_pos[body_mask]
-    body_quat = m.body_quat[body_mask]
-    d = d.replace(
-        mocap_pos=body_pos[m.body_mocapid[body_mask]],
-        mocap_quat=body_quat[m.body_mocapid[body_mask]],
-    )
-
-  d = jax.device_put(d, device=device)
-  return d
-
-
-def _get_nested_attr(obj: Any, attr_name: str, split: str) -> Any:
-  """Returns the nested attribute from an object."""
-  for part in attr_name.split(split):
-    obj = getattr(obj, part)
-  return obj
-
-
-def _make_data_warp(
-    m: Union[types.Model, mujoco.MjModel],
-    device: Optional[jax.Device] = None,
-    naconmax: Optional[int] = None,
-    naccdmax: Optional[int] = None,
-    njmax: Optional[int] = None,
-    nvmax: Optional[int] = None,
-) -> types.Data:
-  """Allocate and initialize Data for the Warp implementation."""
-  if not isinstance(m, mujoco.MjModel):
-    raise ValueError(
-        'make_data for warp, only supports a mujoco.MjModel input, got'
-        f' {type(m)}.'
-    )
-
-  with wp.ScopedDevice('cpu'):  # pylint: disable=undefined-variable
-    dw = mjwp.make_data(
-        m,
-        nworld=1,
-        naconmax=naconmax,
-        naccdmax=naccdmax,
-        njmax=njmax,
-        nvmax=nvmax,
-    )  # pylint: disable=undefined-variable
-
-  fields = _make_data_public_fields(m)  # pyrefly: ignore[bad-argument-type]
-  for k in fields:
-    if k in {'userdata', 'plugin_state', 'history'}:
-      continue
-    if not hasattr(dw, k):
-      raise ValueError(f'Public data field {k} not found in Warp data.')
-    field = _wp_to_np_type(getattr(dw, k))
-    if mjxw.types._BATCH_DIM['Data'][k]:  # pylint: disable=protected-access
-      field = field.reshape(field.shape[1:])
-    fields[k] = field
-
-  impl_fields = {}
-  for k in mjxw.types.DataWarp.__annotations__.keys():
-    if k == '_jax_token':  # custom token to force sequential calls in JAX
-      continue
-    field = _get_nested_attr(dw, k, split='__')
-    field = _wp_to_np_type(field)
-    if mjxw.types._BATCH_DIM['Data'][k]:  # pylint: disable=protected-access
-      field = field.reshape(field.shape[1:])
-    impl_fields[k] = field
-
-  data = types.Data(
-      qpos=m.qpos0.astype(np.float32),
-      eq_active=m.eq_active0.astype(bool),
-      **fields,
-      _impl=mjxw.types.DataWarp(**impl_fields),
-  )
-
-  data = jax.device_put(data, device=device)
-
-  return data
-
-
-# TODO(josechenf): Iterate on the keepalive implementation to make it easier to
-# use before OSS.
-def _make_data_cpp(
-    m: Union[types.Model, mujoco.MjModel],
-    device: Optional[jax.Device] = None,
-    keepalive_refs: Optional[Dict[int, Any]] = None,
-) -> types.Data:
-  """Allocate and initialize Data for the CPP implementation."""
-  if isinstance(m, mujoco.MjModel):
-    mj_model = m
-  else:
-    # Get the underlying MjModel from the types.Model
-    m_impl = m._impl  # pylint: disable=protected-access
-    if not isinstance(m_impl, types.ModelCPP):
-      raise ValueError(f'Expected ModelCPP impl, got {type(m_impl)}')
-    model_addr = int(m_impl.pointer_lo) | (int(m_impl.pointer_hi) << 32)
-    if keepalive_refs is None or model_addr not in keepalive_refs:
-      raise ValueError(
-          'keepalive_refs must be provided and contain the model when calling'
-          ' _make_data_cpp with a types.Model.'
-      )
-    mj_model = keepalive_refs[model_addr]
-
-  # Create the raw MuJoCo data
-  mj_data = mujoco.MjData(mj_model)
-
-  # Get the pointer address
-  addr = mj_data._address  # pytype: disable=attribute-error
-  pointer_lo = jp.array(addr & 0xFFFFFFFF, dtype=jp.uint32)
-  pointer_hi = jp.array(addr >> 32, dtype=jp.uint32)
-
-  fields = _put_data_public_fields(mj_data)
-
-  c_pointers_impl = types.DataCPP(
-      pointer_lo=pointer_lo,
-      pointer_hi=pointer_hi,
-  )
-
-  if keepalive_refs is not None:
-    keepalive_refs[addr] = [mj_data]
-
-  data = types.Data(
-      _impl=c_pointers_impl,
-      **fields,
-  )
-  data = jax.device_put(data, device=device)
-  return _strip_weak_type(data)
-
-
-def make_data(
-    m: Union[types.Model, mujoco.MjModel],
-    device: Optional[jax.Device] = None,
-    impl: Optional[Union[str, types.Impl]] = None,
-    _full_compat: bool = False,  # pylint: disable=invalid-name
-    naconmax: Optional[int] = None,
-    naccdmax: Optional[int] = None,
-    njmax: Optional[int] = None,
-    nvmax: Optional[int] = None,
-    keepalive_refs: Optional[Dict[int, Any]] = None,
-) -> types.Data:
-  """Allocate and initialize Data.
-
-  Args:
-    m: the model to use
-    device: which device to use - if unspecified picks the default device
-    impl: implementation to use ('jax', 'warp')
-    naconmax: maximum number of contacts to allocate for warp across all worlds
-      Since the number of worlds is **not** pre-defined in JAX, we use the
-      `naconmax` argument to set the upper bound for the number of contacts
-      across all worlds.
-    naccdmax: maximum number of contacts for GJK collision detection across all
-      worlds. Since the number of worlds is **not** pre-defined in JAX, we use the
-      `naccdmax` argument to set the upper bound for the number of contacts
-      across all worlds, rather than the `nccdmax` argument from MuJoCo Warp.
-    njmax: maximum number of constraints to allocate per world
-    nvmax: capacity for compacted active DOFs per world
-    keepalive_refs: optional dict to store references to underlying MuJoCo
-      objects, preventing them from being garbage collected. Required for CPP
-      impl when passing a types.Model.
-
-  Returns:
-    an initialized mjx.Data placed on device
-
-  Raises:
-    ValueError: if the model's impl does not match the make_data impl
-    NotImplementedError: if the impl is not implemented yet
-  """
-
-  impl, device = _resolve_impl_and_device(impl, device)
-
-  if isinstance(m, types.Model) and m.impl != impl:
-    raise ValueError(
-        f'Model impl {m.impl} does not match make_data implementation {impl}.'
-    )
-
-  if impl == types.Impl.JAX:
-    return _make_data_jax(m, device)
-  elif impl == types.Impl.CPP:
-    return _make_data_cpp(m, device, keepalive_refs=keepalive_refs)
-  elif impl == types.Impl.WARP:
-    _check_warp_installed()
-    return _make_data_warp(m, device, naconmax, naccdmax, njmax, nvmax)
-
-  raise NotImplementedError(
-      f'make_data for implementation "{impl}" not implemented yet.'
-  )
-
-
-def _put_contact(
-    c: mujoco._structs._MjContactList,
-    dim: np.ndarray,
-    efc_address: np.ndarray,
-) -> Tuple[types.Contact, np.ndarray]:
-  """Converts mujoco.structs._MjContactList into mjx.Contact."""
-  fields = {f.name: getattr(c, f.name) for f in types.Contact.fields()}
-  fields['frame'] = fields['frame'].reshape((-1, 3, 3))
-  # reorder contacts so that their condims match those specified in dim.
-  # if we have fewer Contacts for a condim range, pad the range with zeros
-
-  # build a map for where to find a dim-matching contact, or -1 if none
-  contact_map = -np.ones_like(dim)
-  for i, di in enumerate(fields['dim']):
-    space = [j for j, dj in enumerate(dim) if di == dj and contact_map[j] == -1]
-    if not space:
-      # this can happen if max_geom_pairs or max_contact_points is too low
-      raise ValueError(f'unable to place Contact[{i}], no space in condim {di}')
-    contact_map[space[0]] = i
-
-  if contact_map.size > 0:
-    # reorganize contact according, with a zero contact at the end for -1
-    zero = jax.tree_util.tree_map(
-        lambda x: np.zeros((1,) + x.shape[1:], dtype=x.dtype), fields
-    )
-    zero['dist'][:] = 1e10
-    fields = jax.tree_util.tree_map(lambda *x: np.concatenate(x), fields, zero)
-    fields = jax.tree_util.tree_map(lambda x: x[contact_map], fields)
-
-  fields['dim'] = dim
-  fields['efc_address'] = efc_address
-
-  return types.Contact(**fields), contact_map
-
-
-def _put_data_public_fields(d: mujoco.MjData) -> Dict[str, Any]:
-  """Returns public fields from mujoco.MjData in a dictionary."""
-  fields = {
-      f.name: getattr(d, f.name)
-      for f in types.Data.fields()
-      if f.name != '_impl'
-  }
-  # MJX uses square matrices for these fields:
-  for fname in ('xmat', 'ximat', 'geom_xmat', 'site_xmat', 'cam_xmat'):
-    fields[fname] = fields[fname].reshape((-1, 3, 3))
-
-  return fields
-
-
-def _put_data_jax(
-    m: mujoco.MjModel, d: mujoco.MjData, device: Optional[jax.Device] = None
-) -> types.Data:
-  """Puts mujoco.MjData onto a device, resulting in mjx.Data."""
-  dim = collision_driver.make_condim(m, impl=types.Impl.JAX)
-  efc_type = constraint.make_efc_type(m, dim)
-  efc_address = constraint.make_efc_address(m, dim, efc_type)
-  ne, nf, nl, nc = constraint.counts(efc_type)
-  ncon, nefc = dim.size, ne + nf + nl + nc
-
-  for d_val, val, name in (
-      (d.ncon, ncon, 'ncon'),
-      (d.ne, ne, 'ne'),
-      (d.nf, nf, 'nf'),
-      (d.nl, nl, 'nl'),
-      (d.nefc, nefc, 'nefc'),
-  ):
-    if d_val > val:
-      raise ValueError(f'd.{name} too high, d.{name} = {d_val}, model = {val}')
-
-  fields = _put_data_public_fields(d)
-
-  # Implementation specific fields.
-  impl_fields = {
-      f.name: getattr(d, f.name)
-      for f in types.DataJAX.fields()
-      if hasattr(d, f.name)
-  }
-  # MJX does not support islanding, so only transfer the first solver_niter
-  impl_fields['solver_niter'] = impl_fields['solver_niter'][0]
-
-  # convert sparse actuator_moment to dense matrix
-  moment = np.zeros((m.nu, m.nv))
-  mujoco.mju_sparse2dense(
-      moment,
-      d.actuator_moment,
-      d.moment_rownnz,
-      d.moment_rowadr,
-      d.moment_colind,
-  )
-  impl_fields['actuator_moment'] = moment
-
-  # convert ten_J to dense matrix
-  if m.ntendon:
-    ten_J = np.zeros((m.ntendon, m.nv))
-    mujoco.mju_sparse2dense(
-        ten_J,
-        d.ten_J,
-        m.ten_J_rownnz,
-        m.ten_J_rowadr,
-        m.ten_J_colind,
-    )
-  else:
-    ten_J = np.zeros((m.ntendon, m.nv))
-  impl_fields['ten_J'] = ten_J
-
-  contact, contact_map = _put_contact(d.contact, dim, efc_address)
-
-  # pad efc fields: MuJoCo efc arrays are sparse for inactive constraints.
-  # efc_J is also optionally column-sparse (typically for large nv).  MJX is
-  # neither: it contains zeros for inactive constraints, and efc_J is always
-  # (nefc, nv).  this may change in the future.
-  if mujoco.mj_isSparse(m):
-    efc_j = np.zeros((d.efc_J_rownnz.shape[0], m.nv))
-    mujoco.mju_sparse2dense(
-        efc_j,
-        impl_fields['efc_J'],
-        d.efc_J_rownnz,
-        d.efc_J_rowadr,
-        d.efc_J_colind,
-    )
-    impl_fields['efc_J'] = efc_j
-  else:
-    impl_fields['efc_J'] = impl_fields['efc_J'].reshape(
-        (-1 if m.nv else 0, m.nv)
-    )
-
-  # move efc rows to their correct offsets
-  for fname in (
-      'efc_J',
-      'efc_pos',
-      'efc_margin',
-      'efc_frictionloss',
-      'efc_D',
-      'efc_aref',
-      'efc_force',
-  ):
-    value = np.zeros((nefc, m.nv)) if fname == 'efc_J' else np.zeros(nefc)
-    for i in range(3):
-      value_beg = sum([ne, nf][:i])
-      d_beg = sum([d.ne, d.nf][:i])
-      size = [d.ne, d.nf, d.nl][i]
-      value[value_beg : value_beg + size] = impl_fields[fname][
-          d_beg : d_beg + size
-      ]
-
-    # for nc, we may reorder contacts so they match MJX order: group by dim
-    for id_to, id_from in enumerate(contact_map):
-      if id_from == -1:
-        continue
-      num_rows = dim[id_to]
-      if num_rows > 1 and m.opt.cone == mujoco.mjtCone.mjCONE_PYRAMIDAL:
-        num_rows = (num_rows - 1) * 2
-      efc_i, efc_o = d.contact.efc_address[id_from], efc_address[id_to]
-      if efc_i == -1:
-        continue
-      value[efc_o : efc_o + num_rows] = impl_fields[fname][
-          efc_i : efc_i + num_rows
-      ]
-
-    impl_fields[fname] = value
-
-  # convert M and qLD if jacobian is dense
-  if not support.is_sparse(m):
-    impl_fields['M'] = np.zeros((m.nv, m.nv))
-    mujoco.mju_sym2dense(
-        impl_fields['M'],
-        d.M,
-        m.M_rownnz,
-        m.M_rowadr,
-        m.M_colind,
-    )
-    # TODO(erikfrey): derive L*L' from L'*D*L instead of recomputing
-    try:
-      impl_fields['qLD'], _ = scipy.linalg.cho_factor(impl_fields['M'])
-    except scipy.linalg.LinAlgError:
-      # this happens when M is empty or unstable simulation
-      impl_fields['qLD'] = np.zeros((m.nv, m.nv))
-    impl_fields['qLDiagInv'] = np.zeros(0)
-
-  impl_fields['contact'] = contact
-  impl_fields.update(
-      ne=ne, nf=nf, nl=nl, nefc=nefc, ncon=ncon, efc_type=efc_type
-  )
-
-  # copy because device_put is async:
-  data_jax = types.DataJAX(**{k: copy.copy(v) for k, v in impl_fields.items()})
-  data = types.Data(
-      **{k: copy.copy(v) for k, v in fields.items()}, _impl=data_jax
-  )
-
-  data = jax.device_put(data, device=device)
-  return _strip_weak_type(data)
-
-
-# TODO(josechenf): Iterate on the keepalive implementation to make it easier to
-# use before OSS.
-def _put_data_cpp(
-    m: mujoco.MjModel,
-    d: mujoco.MjData,
-    device: Optional[jax.Device] = None,
-    dummy_arg_for_batching: Optional[jax.Array] = None,
-    keepalive_refs: Optional[Dict[int, Any]] = None,
-) -> types.Data:
-  """Puts mujoco.MjData onto a device, resulting in mjx.Data."""
-
-  data_list = []
-
-  def _copy_and_get_addr(unused_jax_array):
-    # We use the input to the callback as a dummy dependency to ensure
-    # io_callback runs for each element in the batch.
-    new_d = mujoco.MjData(m)
-    mujoco.mj_copyData(new_d, m, d)
-    data_list.append(new_d)
-    addr = new_d._address
-    if keepalive_refs is not None:
-      keepalive_refs[addr] = new_d
-    # To ensure that we retain the full pointer even if jax.config.enable_x64 is
-    # set to True, we store the pointer as two 32-bit values. In the FFI call,
-    # we combine the two values into a single pointer value.
-    return (
-        np.array(addr & 0xFFFFFFFF, dtype=np.uint32),
-        np.array(addr >> 32, dtype=np.uint32),
-    )
-
-  # Pass a dummy dependency to ensure io_callback runs across the batch.
-  pointer_lo, pointer_hi = jax.experimental.io_callback(
-      _copy_and_get_addr,
-      (
-          jax.ShapeDtypeStruct((), jp.uint32),
-          jax.ShapeDtypeStruct((), jp.uint32),
-      ),
-      dummy_arg_for_batching,
-  )
-
-  new_d = data_list[0]
-  fields = _put_data_public_fields(new_d)
-
-  c_pointers_impl = types.DataCPP(
-      pointer_lo=pointer_lo,
-      pointer_hi=pointer_hi,
-  )
-
-  data = types.Data(
-      _impl=c_pointers_impl,
-      **fields,
-  )
-  data = jax.device_put(data, device=device)
-  return _strip_weak_type(data)
-
-
-def _put_data_warp(
-    m: mujoco.MjModel,
-    d: mujoco.MjData,
-    device: Optional[jax.Device] = None,
-    naconmax: Optional[int] = None,
-    naccdmax: Optional[int] = None,
-    njmax: Optional[int] = None,
-    nvmax: Optional[int] = None,
-) -> types.Data:
-  """Puts mujoco.MjData onto a device, resulting in mjx.Data."""
-
-  with wp.ScopedDevice('cpu'):  # pylint: disable=undefined-variable
-    dw = mjwp.put_data(
-        m,
-        d,
-        nworld=1,
-        naconmax=naconmax,
-        naccdmax=naccdmax,
-        njmax=njmax,
-        nvmax=nvmax,
-    )  # pylint: disable=undefined-variable
-
-  fields = _put_data_public_fields(d)
-  for k in fields:
-    if not hasattr(dw, k):
-      continue
-    field = _wp_to_np_type(getattr(dw, k))
-    if mjxw.types._BATCH_DIM['Data'][k]:  # pylint: disable=protected-access
-      field = field.reshape(field.shape[1:])
-    fields[k] = field
-
-  impl_fields = {}
-  for k in mjxw.types.DataWarp.__annotations__.keys():
-    if k == '_jax_token':  # custom token to force sequential calls in JAX
-      continue
-    field = _get_nested_attr(dw, k, split='__')
-    field = _wp_to_np_type(field)
-    if mjxw.types._BATCH_DIM['Data'][k]:  # pylint: disable=protected-access
-      field = field.reshape(field.shape[1:])
-    impl_fields[k] = field
-
-  data = types.Data(
-      **fields,
-      _impl=mjxw.types.DataWarp(**impl_fields),
-  )
-
-  data = jax.device_put(data, device=device)
-  return data
-
-
-def put_data(
-    m: mujoco.MjModel,
-    d: mujoco.MjData,
-    device: Optional[jax.Device] = None,
-    impl: Optional[Union[str, types.Impl]] = None,
-    naconmax: Optional[int] = None,
-    naccdmax: Optional[int] = None,
-    njmax: Optional[int] = None,
-    nvmax: Optional[int] = None,
-    dummy_arg_for_batching: Optional[jax.Array] = None,
-    keepalive_refs: Optional[Dict[int, Any]] = None,
-) -> types.Data:
-  """Puts mujoco.MjData onto a device, resulting in mjx.Data.
-
-  Args:
-    m: the model to use
-    d: the data to put on device
-    device: which device to use - if unspecified picks the default device
-    impl: implementation to use ('jax', 'warp')
-    naconmax: maximum number of contacts to allocate for warp across all worlds
-      Since the number of worlds is **not** pre-defined in JAX, we use the
-      `naconmax` argument to set the upper bound for the number of contacts
-      across all worlds.
-    naccdmax: maximum number of contacts for GJK collision detection across all
-      worlds. Since the number of worlds is **not** pre-defined in JAX, we use the
-      `naccdmax` argument to set the upper bound for the number of contacts
-      across all worlds, rather than the `nccdmax` argument from MuJoCo Warp.
-    njmax: maximum number of constraints per world
-    nvmax: capacity for compacted active DOFs per world
-    dummy_arg_for_batching: dummy argument to use for batching in cpp
-      implementation
-    keepalive_refs: optional dict to store references to underlying MuJoCo
-      objects, preventing them from being garbage collected.
-
-  Returns:
-    an mjx.Data placed on device
-  """
-
-  impl, device = _resolve_impl_and_device(impl, device)
-  if impl == types.Impl.JAX:
-    return _put_data_jax(m, d, device)
-  elif impl == types.Impl.CPP:
-    return _put_data_cpp(
-        m,
-        d,
-        device,
-        dummy_arg_for_batching=dummy_arg_for_batching,
-        keepalive_refs=keepalive_refs,
-    )
-  elif impl == types.Impl.WARP:
-    _check_warp_installed()
-    return _put_data_warp(
-        m,
-        d,
-        device=device,
-        naconmax=naconmax,
-        naccdmax=naccdmax,
-        njmax=njmax,
-        nvmax=nvmax,
-    )
-
-  raise NotImplementedError(
-      f'put_data for implementation "{impl}" not implemented yet.'
-  )
-
-
-def _get_contact(c: mujoco._structs._MjContactList, cx: types.Contact):
-  """Converts mjx.Contact to mujoco._structs._MjContactList."""
-  con_id = np.nonzero(cx.dist <= 0)[0]
-  for field in types.Contact.fields():
-    value = getattr(cx, field.name)[con_id]
-    if field.name == 'frame':
-      value = value.reshape((-1, 9))
-    getattr(c, field.name)[:] = value
-
-
-def _get_data_into_warp(
-    result: Union[mujoco.MjData, List[mujoco.MjData]],
-    m: mujoco.MjModel,
-    d: types.Data,
-):
-  """Gets mjx.Data from a device into an existing mujoco.MjData or list."""
-  batched = isinstance(result, list)
-  d = jax.device_get(d)
-  batch_size = d.qpos.shape[0] if batched else 1
-
-  for i in range(batch_size):
-    d_i = (
-        jax.tree.map_with_path(
-            lambda path, x, i=i: x[i]
-            if path[-1].name not in mjxw.types.DATA_NON_VMAP
-            else x,
-            d,
-        )
-        if batched
-        else d
-    )
-    result_i = result[i] if batched else result  # pyrefly: ignore[bad-index]
-    ncon = d_i._impl.nacon[0]
-    nefc = int(d_i._impl.nefc)
-    # nj = int(d_i._impl.nj[0])
-    nj = 0  # TODO(btaba): add nj back
-
-    if ncon != result_i.ncon or nefc != result_i.nefc or nj != result_i.nJ:  # pyrefly: ignore[missing-attribute]
-      mujoco._functions._realloc_con_efc(result_i, ncon=ncon, nefc=nefc, nJ=nj)  # pylint: disable=protected-access  # pyrefly: ignore[bad-argument-type]
-
-    all_fields = types.Data.fields() + mjxw.types.DataWarp.fields()
-    for field in all_fields:
-      if field.name not in mujoco.MjData.__dict__.keys():
-        continue
-
-      # TODO(btaba): contact
-      # TODO(btaba): actuator_moment
-
-      if hasattr(d_i._impl, field.name):
-        value = getattr(d_i._impl, field.name)
-      else:
-        value = getattr(d_i, field.name)
-
-      if field.name in ('ne', 'nl', 'nf', 'nisland', 'nidof'):
-        if isinstance(value, np.ndarray) and value.size == 0:
-          value = 0
-        else:
-          value = int(value)
-      elif field.name in ('nefc', 'ncon'):
-        value = {'nefc': nefc, 'ncon': ncon}[field.name]
-      elif field.name.endswith('xmat') or field.name == 'ximat':
-        value = value.reshape((-1, 9))
-      # elif field.name == 'efc_J':  # TODO(btaba): add this back
-      # elif field.name.startswith('efc_'):  # TODO(btaba): add this back
-      # TODO(btaba): qLD, qLDiagInv
-
-      if field.name in (
-          'actuator_moment',
-          'contact',
-          'qLD',
-          'qLU',
-          'qLDiagInv',
-          'ten_J',
-          'flexedge_J',
-          'M',
-          'map_efc2iefc', 'map_iefc2efc'
-      ):
-        continue
-      if field.name.startswith('efc_'):
-        continue
-
-      # Skip island fields; host MjData arena memory cannot be reallocated from Python if not stepped.
-      if field.name.startswith('island_'):
-        continue
-
-      if isinstance(value, np.ndarray) and value.shape:
-        result_field = getattr(result_i, field.name)
-        if result_field.shape != value.shape:
-          raise ValueError(
-              f'Input field {field.name} has shape {value.shape}, but output'
-              f' has shape {result_field.shape}'
-          )
-        result_field[:] = value
-      else:
-        setattr(result_i, field.name, value)
-
-    # TODO(btaba): add M back
-    # mujoco.mj_factorM(m, result_i)
-
-
-def _get_data_into(
-    result: Union[mujoco.MjData, List[mujoco.MjData]],
-    m: mujoco.MjModel,
-    d: types.Data,
-):
-  """Gets mjx.Data from a device into an existing mujoco.MjData or list."""
-  batched = isinstance(result, list)
-  d = jax.device_get(d)
-  batch_size = d.qpos.shape[0] if batched else 1
-
-  for i in range(batch_size):
-    d_i = jax.tree_util.tree_map(lambda x, i=i: x[i], d) if batched else d
-    result_i = result[i] if batched else result  # pyrefly: ignore[bad-index]
-    ncon = (d_i._impl.contact.dist <= 0).sum()
-    efc_active = (d_i._impl.efc_J != 0).any(axis=1)
-    nefc = int(efc_active.sum())
-    nj = (d_i._impl.efc_J != 0).sum() if support.is_sparse(m) else nefc * m.nv
-
-    if ncon != result_i.ncon or nefc != result_i.nefc or nj != result_i.nJ:  # pyrefly: ignore[missing-attribute]
-      mujoco._functions._realloc_con_efc(result_i, ncon=ncon, nefc=nefc, nJ=nj)  # pylint: disable=protected-access  # pyrefly: ignore[bad-argument-type]
-
-    if d.impl == types.Impl.JAX:
-      all_fields = types.Data.fields() + types.DataJAX.fields()
-    else:
-      raise NotImplementedError(
-          f'get_data_into for implementation "{d.impl}" not implemented yet.'
-      )
-
-    for field in all_fields:
-      if field.name not in mujoco.MjData.__dict__.keys():
-        continue
-
-      if field.name == 'contact':
-        _get_contact(result_i.contact, d_i._impl.contact)  # pyrefly: ignore[missing-attribute]
-        # efc_address must be updated because rows were deleted above:
-        efc_map = np.cumsum(efc_active) - 1
-        result_i.contact.efc_address[:] = efc_map[result_i.contact.efc_address]  # pyrefly: ignore[missing-attribute]
-        continue
-
-      # MuJoCo actuator_moment is sparse, MJX uses a dense representation.
-      if field.name == 'actuator_moment':
-        moment_rownnz = np.zeros(m.nu, dtype=np.int32)
-        moment_rowadr = np.zeros(m.nu, dtype=np.int32)
-        moment_colind = np.zeros(m.nJmom, dtype=np.int32)
-        actuator_moment = np.zeros(m.nJmom)
-        if m.nu:
-          if d_i.impl == types.Impl.JAX:
-            mujoco.mju_dense2sparse(
-                actuator_moment,
-                d_i._impl.actuator_moment,
-                moment_rownnz,
-                moment_rowadr,
-                moment_colind,
-            )
-          else:
-            actuator_moment = d_i._impl.actuator_moment
-        result_i.moment_rownnz[:] = moment_rownnz  # pyrefly: ignore[missing-attribute]
-        result_i.moment_rowadr[:] = moment_rowadr  # pyrefly: ignore[missing-attribute]
-        result_i.moment_colind[:] = moment_colind  # pyrefly: ignore[missing-attribute]
-        result_i.actuator_moment[:] = actuator_moment  # pyrefly: ignore[missing-attribute]
-        continue
-
-      # MuJoCo ten_J is sparse, MJX uses a dense representation.
-      if field.name == 'ten_J':
-        ten_j_rownnz = np.zeros(m.ntendon, dtype=np.int32)
-        ten_j_rowadr = np.zeros(m.ntendon, dtype=np.int32)
-        ten_j_colind = np.zeros(m.nJten, dtype=np.int32)
-        ten_j = np.zeros(m.nJten)
-        if m.ntendon:
-          if d_i.impl == types.Impl.JAX:
-            mujoco.mju_dense2sparse(
-                ten_j,
-                d_i._impl.ten_J,
-                ten_j_rownnz,
-                ten_j_rowadr,
-                ten_j_colind,
-            )
-          else:
-            ten_j = d_i._impl.ten_J
-        result_i.ten_J[:] = ten_j  # pyrefly: ignore[missing-attribute]
-        continue
-
-      if hasattr(d_i._impl, field.name):
-        value = getattr(d_i._impl, field.name)
-      else:
-        value = getattr(d_i, field.name)
-
-      if field.name in ('nefc', 'ncon'):
-        value = {'nefc': nefc, 'ncon': ncon}[field.name]
-      elif field.name.endswith('xmat') or field.name == 'ximat':
-        value = value.reshape((-1, 9))
-      elif field.name == 'efc_J':
-        value = value[efc_active]
-        if support.is_sparse(m):
-          efc_J_rownnz = np.zeros(nefc, dtype=np.int32)
-          efc_J_rowadr = np.zeros(nefc, dtype=np.int32)
-          efc_J_colind = np.zeros(nj, dtype=np.int32)
-          efc_J = np.zeros(nj)
-          mujoco.mju_dense2sparse(
-              efc_J,
-              value,
-              efc_J_rownnz,
-              efc_J_rowadr,
-              efc_J_colind,
-          )
-          result_i.efc_J_rownnz[:] = efc_J_rownnz  # pyrefly: ignore[missing-attribute]
-          result_i.efc_J_rowadr[:] = efc_J_rowadr  # pyrefly: ignore[missing-attribute]
-          result_i.efc_J_colind[:] = efc_J_colind  # pyrefly: ignore[missing-attribute]
-          value = efc_J
-        else:
-          value = value.reshape(-1)
-      elif field.name.startswith('efc_'):
-        value = value[efc_active]
-      if d.impl == types.Impl.JAX:
-        if field.name == 'M' and not support.is_sparse(m):
-          M_csr = np.zeros(m.nC)
-          for i in range(m.nv):
-            adr = m.M_rowadr[i]
-            for k in range(m.M_rownnz[i]):
-              col = m.M_colind[adr + k]
-              M_csr[adr + k] = value[i, col]
-          value = M_csr
-        elif field.name == 'qLD':
-          value = np.zeros(m.nC)
-        elif field.name == 'qLDiagInv' and not support.is_sparse(m):
-          value = np.ones(m.nv)
-
-      if isinstance(value, np.ndarray) and value.shape:
-        result_field = getattr(result_i, field.name)
-        if result_field.shape != value.shape:
-          raise ValueError(
-              f'Input field {field.name} has shape {value.shape}, but output'
-              f' has shape {result_field.shape}'
-          )
-        result_field[:] = value
-      else:
-        setattr(result_i, field.name, value)
-
-    # recalculate qLD and qLDiagInv as MJX and MuJoCo have different
-    # representations of the Cholesky decomposition.
-    mujoco.mj_factorM(m, result_i)  # pyrefly: ignore[bad-argument-type]
-
-
-# TODO(josechenf): Iterate on the keepalive implementation to make it easier to
-# use before OSS.
-def _get_data_into_cpp(
-    result: Union[mujoco.MjData, List[mujoco.MjData]],
-    m: mujoco.MjModel,
-    d: types.Data,
-    keepalive_refs: Optional[Dict[int, Any]] = None,
-):
-  """Gets mjx.Data from CPP impl into an existing mujoco.MjData or list.
-
-  For the CPP implementation, the mjx.Data wraps underlying mujoco.MjData
-  objects that are stored in keepalive_refs. This function simply copies the
-  data from those underlying MjData objects to the result using mj_copyData.
-  """
-
-  batched = isinstance(result, list)
-  d = jax.device_get(d)
-  batch_size = d.qpos.shape[0] if batched else 1
-
-  d_impl = d._impl  # pylint: disable=protected-access
-  if not isinstance(d_impl, types.DataCPP):
-    raise ValueError(f'Expected DataCPP impl, got {type(d_impl)}')
-
-  if keepalive_refs is None:
-    raise ValueError('keepalive_refs must be provided for CPP implementation.')
-
-  # Verify that the underlying MjData state matches the mjx.Data state
-  # Ideally we'd use mj_getState and get_state here but that requires an
-  # mjx.Model which we don't have access to in this function.
-  fields_to_check = ['qpos', 'qvel', 'act', 'mocap_pos', 'mocap_quat']
-  for i in range(batch_size):
-    d_i: types.Data = (
-        jax.tree_util.tree_map(lambda x, i=i: x[i], d) if batched else d
-    )
-    result_i = result[i] if batched else result  # pyrefly: ignore[bad-index]
-
-    if batched:
-      addr_i = int(d_impl.pointer_lo[i]) | (int(d_impl.pointer_hi[i]) << 32)
-    else:
-      addr_i = int(d_impl.pointer_lo) | (int(d_impl.pointer_hi) << 32)
-
-    if addr_i not in keepalive_refs:
-      raise ValueError(
-          f'Address {addr_i} not found in keepalive_refs. '
-          'Ensure keepalive_refs from the original compile() is passed.'
-      )
-    src_data = keepalive_refs[addr_i]
-
-    needs_syncing = False
-    for field in fields_to_check:
-      mj_value = getattr(src_data, field)
-      mjx_value = np.asarray(getattr(d_i, field))
-      if not np.allclose(mj_value, mjx_value):
-        needs_syncing = True
-        break
-    if needs_syncing:
-      src_data.qpos[:] = d_i.qpos
-      src_data.qvel[:] = d_i.qvel
-      src_data.act[:] = d_i.act
-      src_data.mocap_pos[:] = d_i.mocap_pos
-      src_data.mocap_quat[:] = d_i.mocap_quat
-      mujoco.mj_kinematics(m, src_data)
-
-    mujoco.mj_copyData(result_i, m, src_data)  # pyrefly: ignore[bad-argument-type]
-
-
-def get_data_into(
-    result: Union[mujoco.MjData, List[mujoco.MjData]],
-    m: mujoco.MjModel,
-    d: types.Data,
-    keepalive_refs: Optional[Dict[int, Any]] = None,
-):
-  """Gets mjx.Data from a device into an existing mujoco.MjData or list."""
-  is_batched = isinstance(result, list)
-  if is_batched and len(d.qpos.shape) < 2:
-    raise ValueError('destination is a list, but d is not batched.')
-  if not is_batched and len(d.qpos.shape) >= 2:
-    raise ValueError('destination is a an MjData, but d is batched.')
-
-  d = jax.device_get(d)
-
-  if d.impl == types.Impl.JAX:
-    # TODO(stunya): Split out _get_data_into once codepaths diverge enough.
-    return _get_data_into(result, m, d)
-
-  if d.impl == types.Impl.CPP:
-    return _get_data_into_cpp(result, m, d, keepalive_refs=keepalive_refs)
-
-  if d.impl == types.Impl.WARP:
-    return _get_data_into_warp(result, m, d)
-
-  raise NotImplementedError(
-      f'get_data_into for implementation "{d.impl}" not implemented yet.'
-  )
-
-
-def get_data(
-    m: mujoco.MjModel,
-    d: types.Data,
-    keepalive_refs: Optional[Dict[int, Any]] = None,
-) -> Union[mujoco.MjData, List[mujoco.MjData]]:
-  """Gets mjx.Data from a device, resulting in mujoco.MjData or List[MjData]."""
-  batched = len(d.qpos.shape) > 1
-  batch_size = d.qpos.shape[0] if batched else 1
-
-  if batched:
-    result = [mujoco.MjData(m) for _ in range(batch_size)]
-  else:
-    result = mujoco.MjData(m)
-
-  get_data_into(result, m, d, keepalive_refs=keepalive_refs)
-
-  return result
-
-
-_STATE_MAP = {
-    mujoco.mjtState.mjSTATE_TIME: 'time',
-    mujoco.mjtState.mjSTATE_QPOS: 'qpos',
-    mujoco.mjtState.mjSTATE_QVEL: 'qvel',
-    mujoco.mjtState.mjSTATE_ACT: 'act',
-    mujoco.mjtState.mjSTATE_HISTORY: 'history',
-    mujoco.mjtState.mjSTATE_WARMSTART: 'qacc_warmstart',
-    mujoco.mjtState.mjSTATE_CTRL: 'ctrl',
-    mujoco.mjtState.mjSTATE_QFRC_APPLIED: 'qfrc_applied',
-    mujoco.mjtState.mjSTATE_XFRC_APPLIED: 'xfrc_applied',
-    mujoco.mjtState.mjSTATE_EQ_ACTIVE: 'eq_active',
-    mujoco.mjtState.mjSTATE_MOCAP_POS: 'mocap_pos',
-    mujoco.mjtState.mjSTATE_MOCAP_QUAT: 'mocap_quat',
-    mujoco.mjtState.mjSTATE_USERDATA: 'userdata',
-    mujoco.mjtState.mjSTATE_PLUGIN: 'plugin_state',
-}
-
-
-def _state_elem_size(m: types.Model, state_enum: mujoco.mjtState) -> int:
-  """Returns the size of a state component."""
-  if state_enum not in _STATE_MAP:
-    raise ValueError(f'Invalid state element {state_enum}')
-  name = _STATE_MAP[state_enum]
-  if name == 'time':
-    return 1
-  if name in (
-      'qpos',
-      'qvel',
-      'act',
-      'history',
-      'qacc_warmstart',
-      'ctrl',
-      'qfrc_applied',
-      'eq_active',
-      'mocap_pos',
-      'mocap_quat',
-      'userdata',
-      'plugin_state',
-  ):
-    val = getattr(
-        m,
-        {
-            'qpos': 'nq',
-            'qvel': 'nv',
-            'act': 'na',
-            'history': 'nhistory',
-            'qacc_warmstart': 'nv',
-            'ctrl': 'nu',
-            'qfrc_applied': 'nv',
-            'eq_active': 'neq',
-            'mocap_pos': 'nmocap',
-            'mocap_quat': 'nmocap',
-            'userdata': 'nuserdata',
-            'plugin_state': 'npluginstate',
-        }[name],
-    )
-    if name == 'mocap_pos':
-      val *= 3
-    if name == 'mocap_quat':
-      val *= 4
-    return val
-  if name == 'xfrc_applied':
-    return 6 * m.nbody
-
-  raise NotImplementedError(f'state component {name} not implemented')
-
-
-def state_size(m: types.Model, spec: Union[int, mujoco.mjtState]) -> int:
-  """Returns the size of a state vector for a given spec.
-
-  Args:
-    m: model describing the simulation
-    spec: int bitmask or mjtState enum specifying which state components to
-      include
-
-  Returns:
-    size of the state vector
-  """
-  size = 0
-  spec_int = int(spec)
-  for i in range(mujoco.mjtState.mjNSTATE.value):
-    element = mujoco.mjtState(1 << i)
-    if element & spec_int:
-      size += _state_elem_size(m, element)
-  return size
-
-
-def get_state(
-    m: types.Model, d: types.Data, spec: Union[int, mujoco.mjtState]
-) -> jax.Array:
-  """Gets state from mjx.Data. This is equivalent to `mujoco.mj_getState`.
-
-  Args:
-    m: model describing the simulation
-    d: data for the simulation
-    spec: int bitmask or mjtState enum specifying which state components to
-      include
-
-  Returns:
-    a flat array of state values
-  """
-  spec_int = int(spec)
-  if spec_int >= (1 << mujoco.mjtState.mjNSTATE.value):
-    raise ValueError(f'Invalid state spec {spec}')
-
-  state = []
-  for i in range(mujoco.mjtState.mjNSTATE.value):
-    element = mujoco.mjtState(1 << i)
-    if element & spec_int:
-      if element not in _STATE_MAP:
-        raise ValueError(f'Invalid state element {element}')
-      name = _STATE_MAP[element]
-      value = getattr(d, name)
-      if element == mujoco.mjtState.mjSTATE_EQ_ACTIVE:
-        value = value.astype(jp.float32)
-      state.append(value.flatten())
-
-  return jp.concatenate(state) if state else jp.array([])
-
-
-def set_state(
-    m: types.Model,
-    d: types.Data,
-    state: jax.Array,
-    spec: Union[int, mujoco.mjtState],
-) -> types.Data:
-  """Sets state in mjx.Data. This is equivalent to `mujoco.mj_setState`.
-
-  Args:
-    m: model describing the simulation
-    d: data for the simulation
-    state: a flat array of state values
-    spec: int bitmask or mjtState enum specifying which state components to
-      include
-
-  Returns:
-    data with state set to provided values
-  """
-  spec_int = int(spec)
-  if spec_int >= (1 << mujoco.mjtState.mjNSTATE.value):
-    raise ValueError(f'Invalid state spec {spec}')
-
-  expected_size = state_size(m, spec)
-  if state.size != expected_size:
-    raise ValueError(
-        f'state has size {state.size} but expected {expected_size}'
-    )
-
-  updates = {}
-  offset = 0
-  for i in range(mujoco.mjtState.mjNSTATE.value):
-    element = mujoco.mjtState(1 << i)
-    if element & spec_int:
-      if element not in _STATE_MAP:
-        raise ValueError(f'Invalid state element {element}')
-      name = _STATE_MAP[element]
-      size = _state_elem_size(m, element)
-      value = state[offset : offset + size]
-      if name == 'time':
-        value = value[0]
-      else:
-        orig_shape = getattr(d, name).shape
-        value = value.reshape(orig_shape)
-      if element == mujoco.mjtState.mjSTATE_EQ_ACTIVE:
-        value = value.astype(bool)
-      updates[name] = value
-      offset += size
-
-  return d.replace(**updates)
-
-
-def create_render_context(
-    mjm: mujoco.MjModel,
-    nworld: int,
-    devices: Optional[Sequence[str]] = None,
-    **kwargs,
-):
-  """Creates a render context.
-
-  Args:
-    mjm: the MuJoCo model
-    nworld: number of worlds to render. We must hardcode the nworld
-      because Warp creates arrays of size nworld that are not exposed
-      to JAX. Thus we cannot use JAX transforms like vmap with the
-      render context.
-    devices: optional list of device names (e.g. ['cuda:0', 'cuda:1']).
-      If provided, rendering workloads are sharded across these devices.
-      By default, devices is None and the default device from wp.get_device(None) is used.
-    **kwargs: forwarded to the render context constructor.
-
-  Returns:
-    Render context object that is JAX compatible.
-  """
-  _check_warp_installed()
-  from mujoco.mjx.warp import io as mjxw_io  # pylint: disable=g-import-not-at-top  # pytype: disable=import-error
-  return mjxw_io.create_render_context(
-      mjm, nworld=nworld, devices=devices, **kwargs  # pyrefly: ignore[bad-argument-type]
-  )
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
deleted file mode 100644
index eabc4fd9..00000000
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ /dev/null
@@ -1,1415 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for io functions."""
-
-import os
-import tempfile
-from unittest import mock
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import io as mjx_io
-from mujoco.mjx._src import test_util
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import ConeType
-from mujoco.mjx._src.types import Impl
-from mujoco.mjx._src.types import JacobianType
-# pylint: enable=g-importing-member
-import mujoco.mjx.warp as mjxw
-from mujoco.mjx.warp import types as mjxw_types
-from mujoco.mjx.warp import warp as wp  # pylint: disable=g-importing-member
-import numpy as np
-
-
-_MULTIPLE_CONVEX_OBJECTS = """
-  <mujoco>
-    <option timestep="0.001" jacobian="dense"/>
-    <default>
-      <geom solref=".006 1"/>
-    </default>
-    <asset>
-      <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1" scale="1 1 .1"/>
-      <mesh name="boxoid" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 .5 -1 -1 2" scale=".3 .2 .1"/>
-      <mesh name="pentaprism" vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0 1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1" scale=".2 .2 .1"/>
-    </asset>
-    <worldbody>
-      <geom type="plane" pos="0 0 -.5" size="3 3 .01"/>
-      <geom type="mesh" mesh="box" pos="0 0 -.15" euler="3 7 30"/>
-      <body pos="-.3 -.3 .3">
-        <freejoint/>
-        <geom type="mesh" mesh="boxoid" rgba=".8 0 0 1" euler="3 5 -130"/>
-      </body>
-      <body pos=".3 .3 0.3">
-        <freejoint/>
-        <geom type="box" euler="3 5 -80" size=".3 .2 .1" rgba="0 .8 0 1"/>
-      </body>
-      <body pos=".3 .3 .6">
-        <freejoint/>
-        <geom type="mesh" mesh="pentaprism" rgba="0 0 .8 1"/>
-      </body>
-      <body pos=".6 -.3 .3">
-        <joint name="joint" axis="1 0 0" type="hinge" range="-45 45"/>
-        <geom type="capsule" size=".2 .05" rgba=".6 0 .6 1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="joint"/>
-    </actuator>
-  </mujoco>
-"""
-
-_MULTIPLE_CONSTRAINTS = """
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="3 3 .01" condim="6"/>
-      <body name="cap1" pos="-.3 -.3 .2">
-        <freejoint/>
-        <geom type="capsule" size=".2 .05"/>
-        <body name="cap2" pos=".6 -.3 .3">
-          <joint name="joint1" axis="0 1 0" type="hinge" range="-45 45"/>
-          <joint name="joint2" axis="1 0 0" type="hinge" range="-0.001 0.001"/>
-          <geom type="capsule" size=".2 .05"/>
-          <site pos="-0.214 -0.078 0" quat="0.664 0.664 -0.242 -0.242"/>
-        </body>
-      </body>
-    </worldbody>
-    <equality>
-      <connect body1="cap2" anchor="0 0 1"/>
-    </equality>
-    <tendon>
-      <fixed name="tendon_1" limited="false" stiffness=".1" damping=".2">
-        <joint joint="joint1" coef=".1"/>
-        <joint joint="joint2" coef="-.2"/>
-      </fixed>
-    </tendon>
-  </mujoco>
-"""
-
-_SIMPLE_BODY = """
-  <mujoco>
-    <worldbody>
-      <!-- nC < nM because this body has an inertia-aligned free joint -->
-      <body name="simplebody">
-        <freejoint/>
-        <geom type="sphere" size="0.01"/>
-      </body>
-    </worldbody>
-  </mujoco>
-"""
-
-_LIGHTS = """
-  <mujoco>
-    <worldbody>
-      <light name="inactive" active="false"/>
-      <light name="active" active="true"/>
-    </worldbody>
-  </mujoco>
-"""
-
-
-def _get_name_from_path(path: jax.tree_util.KeyPath) -> str:
-  """Returns a flattened name from a jax.tree_util.KeyPath."""
-  if any(isinstance(p, jax.tree_util.SequenceKey) for p in path):
-    is_seq_key = [isinstance(p, jax.tree_util.SequenceKey) for p in path]
-    path = path[: is_seq_key.index(True)]
-  assert all(isinstance(p, jax.tree_util.GetAttrKey) for p in path)
-  path = [p for p in path if p.name != '_impl']
-  attr = '__'.join(p.name for p in path)
-  return attr
-
-
-class ModelIOTest(parameterized.TestCase):
-  """IO tests for mjx.Model."""
-
-  def setUp(self):
-    super().setUp()
-    if mjxw.WARP_INSTALLED:
-      self.tempdir = tempfile.TemporaryDirectory()
-      wp.config.kernel_cache_dir = self.tempdir.name
-
-  @parameterized.product(
-      xml=(_MULTIPLE_CONVEX_OBJECTS, _MULTIPLE_CONSTRAINTS),
-      impl=('jax', 'warp', 'cpp'),
-  )
-  @mock.patch.dict(os.environ, {'MJX_GPU_DEFAULT_WARP': 'true'})
-  def test_put_model(self, xml, impl):
-    if impl == 'warp' and not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp not installed.')
-    if impl == 'warp' and not mjx_io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device available.')
-
-    m = mujoco.MjModel.from_xml_string(xml)
-    mx = mjx.put_model(m, impl=impl)
-
-    def assert_not_weak_type(x):
-      if isinstance(x, jax.Array):
-        assert not x.weak_type
-
-    jax.tree_util.tree_map(assert_not_weak_type, mx)
-    self.assertEqual(mx.nq, m.nq)
-    self.assertEqual(mx.nv, m.nv)
-    self.assertEqual(mx.nu, m.nu)
-    self.assertEqual(mx.na, m.na)
-    self.assertEqual(mx.nbody, m.nbody)
-    self.assertEqual(mx.njnt, m.njnt)
-    self.assertEqual(mx.ngeom, m.ngeom)
-    self.assertEqual(mx.nmesh, m.nmesh)
-    self.assertEqual(mx.npair, m.npair)
-    self.assertEqual(mx.nexclude, m.nexclude)
-    self.assertEqual(mx.neq, m.neq)
-    self.assertEqual(mx.nnumeric, m.nnumeric)
-    self.assertEqual(mx.nM, m.nM)
-    self.assertAlmostEqual(mx.opt.timestep, m.opt.timestep)
-
-    if impl == 'jax':
-      # fields restricted to MuJoCo should not be populated
-      self.assertFalse(hasattr(mx, 'bvh_aabb'))
-
-    elif impl == 'warp':
-      # Fields private to Warp backend impl are populated.
-      self.assertTrue(hasattr(mx._impl, 'nxn_geom_pair'))
-    elif impl == 'cpp':
-      self.assertTrue(hasattr(mx._impl, 'pointer_lo'))
-      self.assertTrue(hasattr(mx._impl, 'pointer_hi'))
-
-    np.testing.assert_allclose(mx.body_parentid, m.body_parentid)
-    np.testing.assert_allclose(mx.geom_type, m.geom_type)
-    np.testing.assert_allclose(mx.geom_bodyid, m.geom_bodyid)
-    np.testing.assert_almost_equal(mx.geom_solref, m.geom_solref)
-    np.testing.assert_almost_equal(mx.geom_pos, m.geom_pos)
-
-    np.testing.assert_allclose(mx.jnt_type, m.jnt_type)
-    np.testing.assert_allclose(mx.jnt_dofadr, m.jnt_dofadr)
-    np.testing.assert_allclose(mx.jnt_bodyid, m.jnt_bodyid)
-    np.testing.assert_allclose(mx.jnt_limited, m.jnt_limited)
-    np.testing.assert_almost_equal(mx.jnt_axis, m.jnt_axis)
-
-    np.testing.assert_allclose(mx.actuator_trntype, m.actuator_trntype)
-    np.testing.assert_allclose(mx.actuator_dyntype, m.actuator_dyntype)
-    np.testing.assert_allclose(mx.actuator_gaintype, m.actuator_gaintype)
-    np.testing.assert_allclose(mx.actuator_biastype, m.actuator_biastype)
-    np.testing.assert_allclose(mx.actuator_trnid, m.actuator_trnid)
-
-    np.testing.assert_equal(mx.wrap_type, m.wrap_type)
-    np.testing.assert_equal(mx.wrap_objid, m.wrap_objid)
-    np.testing.assert_almost_equal(mx.wrap_prm, m.wrap_prm)
-
-  @parameterized.parameters('jax', 'warp', 'cpp')
-  def test_put_model_light_active(self, impl):
-    """Tests that light_active is copied to the public Model field."""
-    if impl == 'warp' and not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp not installed.')
-
-    m = mujoco.MjModel.from_xml_string(_LIGHTS)
-    mx = mjx.put_model(m, impl=impl)
-
-    self.assertIn('light_active', [f.name for f in mx.fields()])
-    np.testing.assert_array_equal(
-        np.asarray(mx.light_active),
-        m.light_active.astype(np.asarray(mx.light_active).dtype),
-    )
-
-  def test_fluid_params(self):
-    """Test that has_fluid_params is set when fluid params are present."""
-    m = mjx.put_model(
-        mujoco.MjModel.from_xml_string(
-            '<mujoco><option viscosity="3.0"/><worldbody/></mujoco>'
-        ),
-        impl='jax',
-    )
-    self.assertTrue(m.opt._impl.has_fluid_params)
-
-  def test_implicit_not_implemented(self):
-    """Test that MJX guards against models with unimplemented features."""
-
-    with self.assertRaises(NotImplementedError):
-      mjx.put_model(
-          mujoco.MjModel.from_xml_string(
-              '<mujoco><option integrator="implicit"/><worldbody/></mujoco>'
-          )
-      )
-
-  def test_pgs_not_implemented(self):
-    with self.assertRaises(NotImplementedError):
-      mjx.put_model(
-          mujoco.MjModel.from_xml_string(
-              '<mujoco><option solver="PGS"/><worldbody/></mujoco>'
-          )
-      )
-
-  def test_margin_gap_mesh_not_implemented(self):
-    with self.assertRaises(NotImplementedError):
-      mjx.put_model(
-          mujoco.MjModel.from_xml_string("""
-        <mujoco>
-          <asset>
-            <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1" scale="1 1 1"/>
-          </asset>
-          <worldbody>
-            <body>
-              <freejoint/>
-              <geom type="mesh" mesh="box" margin="0.3"/>
-            </body>
-            <body>
-              <freejoint/>
-              <geom size="0.05"/>
-            </body>
-          </worldbody>
-        </mujoco>"""),
-          impl='jax',
-      )
-
-  def test_implicitfast_fluid_not_implemented(self):
-    with self.assertRaises(NotImplementedError):
-      mjx.put_model(
-          mujoco.MjModel.from_xml_string("""
-        <mujoco>
-          <option viscosity="3.0" integrator="implicitfast"/>
-          <worldbody/>
-        </mujoco>"""),
-          impl='jax',
-      )
-
-  def test_wrap_inside(self):
-    m = test_util.load_test_file('tendon/wrap_sidesite.xml')
-    mx0 = mjx.put_model(m, impl='jax')
-    np.testing.assert_equal(
-        mx0._impl.is_wrap_inside,
-        np.array([1, 0, 1, 0, 1, 1, 0]),
-    )
-    m.site_pos[2] = m.site_pos[1]
-    mx1 = mjx.put_model(m, impl='jax')
-    np.testing.assert_equal(
-        mx1._impl.is_wrap_inside,
-        np.array([0, 0, 1, 0, 1, 0, 0]),
-    )
-
-  @parameterized.parameters(
-      '<contact site="site"/>',
-      '<contact reduce="netforce"/>',
-      '<contact body1="body"/>',
-      '<contact body2="body"/>',
-      '<contact body1="body" body2="body"/>'
-      '<contact subtree1="body"/>',
-      '<contact subtree2="body"/>',
-      '<contact subtree1="body" subtree2="body"/>',
-  )
-  def test_contact_sensor_jax(self, contact_sensor):
-    m = mujoco.MjModel.from_xml_string(f"""
-      <mujoco>
-        <worldbody>
-          <site name="site"/>
-          <geom name="plane" type="plane" size="10 10 .001"/>
-          <body name="body">
-            <geom type="sphere" size=".1"/>
-            <joint type="slide" axis="0 0 1"/>
-          </body>
-        </worldbody>
-        <sensor>
-          {contact_sensor}
-        </sensor>
-      </mujoco>
-    """)
-    with self.assertRaises(NotImplementedError):
-      mjx.put_model(m, impl='jax')
-
-  def test_put_model_warp_has_expected_shapes(self):
-    """Tests that put_model produces expected shapes for MuJoCo Warp."""
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp not installed.')
-    if not mjx_io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device available.')
-
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    mx = mjx.put_model(m, impl='warp')
-
-    def check_ndim(path, x):
-      k = _get_name_from_path(path)
-      if k not in mjxw_types._NDIM['Model']:
-        return
-      is_batched = mjxw_types._BATCH_DIM['Model'][k]
-      expected_ndim = mjxw_types._NDIM['Model'][k] - is_batched
-      if not hasattr(x, 'ndim'):
-        return
-      msg = f'Field {k} has ndim {x.ndim} but expected {expected_ndim}'
-      self.assertEqual(x.ndim, expected_ndim, msg)
-
-    _ = jax.tree.map_with_path(check_ndim, mx)
-
-  def test_put_model_warp_batch_sizes(self):
-    """Tests put_model can add an nworld axis to selected Warp model fields."""
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp not installed.')
-    if not hasattr(mjxw_types.GraphMode, 'WARP'):
-      self.skipTest('Warp JAX FFI graph modes unavailable.')
-
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco>
-        <asset>
-          <texture name="red" type="2d" builtin="flat" width="4" height="4"
-            rgb1="1 0 0" rgb2="1 0 0"/>
-          <material name="mat" texture="red" rgba="0.5 0.6 0.7 1"/>
-        </asset>
-        <worldbody>
-          <geom type="sphere" size="0.1" material="mat"/>
-        </worldbody>
-      </mujoco>
-    """)
-
-    nworld = 3
-    mx = mjx.put_model(m, impl='warp', batch_sizes={'mat_texid': nworld})
-
-    self.assertEqual(mx.mat_texid.shape, (nworld,) + m.mat_texid.shape)
-    self.assertEqual(mx.geom_pos.shape, (m.ngeom, 3))
-    self.assertEqual(mx.geom_size.shape, (m.ngeom, 3))
-    self.assertEqual(mx.mat_rgba.shape, (m.nmat, 4))
-    self.assertEqual(mx.geom_type.shape, (m.ngeom,))
-    self.assertEqual(mx.geom_dataid.shape, (m.ngeom,))
-
-    np.testing.assert_array_equal(
-        np.asarray(mx.mat_texid), np.repeat(m.mat_texid[None], nworld, axis=0)
-    )
-    np.testing.assert_allclose(np.asarray(mx.geom_pos), m.geom_pos)
-    np.testing.assert_allclose(np.asarray(mx.geom_size), m.geom_size)
-    np.testing.assert_allclose(np.asarray(mx.mat_rgba), m.mat_rgba)
-
-  @parameterized.parameters('JAX', 'WARP', None)
-  def test_put_model_warp_graph_mode(self, mode: str | None):
-    """Tests that put_model accepts graph_mode parameter."""
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp not installed.')
-    if not mjx_io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device available.')
-
-    if mode is None:
-      graph_mode = None
-    else:
-      graph_mode = getattr(mjxw_types.GraphMode, mode)
-
-    m = mujoco.MjModel.from_xml_string(_SIMPLE_BODY)
-    mx = mjx.put_model(m, impl='warp', graph_mode=graph_mode)
-
-    expected = graph_mode or mjxw_types.GraphMode.WARP
-    self.assertEqual(mx.opt._impl.graph_mode, expected)
-
-  def test_unsupported_contact_types(self):
-    """Tests that unsupported contact types raise an error."""
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco>
-        <asset>
-          <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1" scale="1 1 .1"/>
-        </asset>
-        <worldbody>
-        <body name="meshbox">
-          <freejoint/>
-          <geom type="mesh" mesh="box" pos="0 0 -.15" euler="3 7 30"/>
-        </body>
-        <body name="cylinder">
-          <freejoint/>
-          <geom type="cylinder" size="1.0 0.1"/>
-        </body>
-        </worldbody>
-      </mujoco>
-    """)
-
-    with self.assertRaises(ValueError):
-      mjx.make_data(m, impl='jax')
-
-
-class DataIOTest(parameterized.TestCase):
-  """IO tests for mjx.Data."""
-
-  def setUp(self):
-    super().setUp()
-    if mjxw.WARP_INSTALLED:
-      self.tempdir = tempfile.TemporaryDirectory()
-      wp.config.kernel_cache_dir = self.tempdir.name
-
-  @parameterized.parameters('jax', 'cpp')
-  def test_make_data(self, impl: str):
-    """Test that make_data returns the correct shapes."""
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
-    d = mjx.make_data(m, impl=impl)
-
-    nq = 22
-    nbody = 5
-    ncon = 46
-    nm = 64
-    nv = 19
-    nefc = 185
-
-    # Check public Data fields that exist for all impls
-    self.assertEqual(d.qpos.shape, (nq,))
-    self.assertEqual(d.qvel.shape, (nv,))
-    self.assertEqual(d.act.shape, (0,))
-    self.assertEqual(d.qacc_warmstart.shape, (nv,))
-    self.assertEqual(d.ctrl.shape, (1,))
-    self.assertEqual(d.qfrc_applied.shape, (nv,))
-    self.assertEqual(d.xfrc_applied.shape, (nbody, 6))
-    self.assertEqual(d.eq_active.shape, (0,))
-    self.assertEqual(d.qacc.shape, (nv,))
-    self.assertEqual(d.act_dot.shape, (0,))
-    self.assertEqual(d.xpos.shape, (nbody, 3))
-    self.assertEqual(d.xquat.shape, (nbody, 4))
-    self.assertEqual(d.xmat.shape, (nbody, 3, 3))
-    self.assertEqual(d.xipos.shape, (nbody, 3))
-    self.assertEqual(d.ximat.shape, (nbody, 3, 3))
-    self.assertEqual(d.xanchor.shape, (4, 3))
-    self.assertEqual(d.xaxis.shape, (4, 3))
-    self.assertEqual(d.geom_xpos.shape, (6, 3))
-    self.assertEqual(d.geom_xmat.shape, (6, 3, 3))
-    self.assertEqual(d.subtree_com.shape, (nbody, 3))
-    self.assertEqual(d.cdof.shape, (nv, 6))
-    self.assertEqual(d.actuator_length.shape, (1,))
-
-    if impl == 'cpp':
-      self.assertTrue(hasattr(d._impl, 'pointer_lo'))
-      self.assertTrue(hasattr(d._impl, 'pointer_hi'))
-      return  # cpp does not populate other _impl fields
-
-    self.assertEqual(d._impl.nefc, nefc)
-    self.assertEqual(d._impl.cinert.shape, (nbody, 10))
-    self.assertEqual(d._impl.crb.shape, (nbody, 10))
-    if impl == 'jax':
-      self.assertEqual(d._impl.actuator_moment.shape, (1, nv))
-
-    self.assertEqual(d._impl.contact.dist.shape, (ncon,))
-    self.assertEqual(d._impl.contact.pos.shape, (ncon, 3))
-    self.assertEqual(d._impl.contact.frame.shape, (ncon, 3, 3))
-    self.assertEqual(d._impl.contact.solref.shape, (ncon, 2))
-    self.assertEqual(d._impl.contact.solimp.shape, (ncon, 5))
-    self.assertEqual(d._impl.contact.geom1.shape, (ncon,))
-    self.assertEqual(d._impl.contact.geom2.shape, (ncon,))
-    self.assertEqual(d._impl.efc_J.shape, (nefc, nv))
-    self.assertEqual(d._impl.efc_frictionloss.shape, (nefc,))
-    self.assertEqual(d._impl.efc_D.shape, (nefc,))
-    self.assertEqual(d._impl.actuator_velocity.shape, (1,))
-    self.assertEqual(d.cvel.shape, (nbody, 6))
-    self.assertEqual(d.cdof_dot.shape, (nv, 6))
-    self.assertEqual(d.qfrc_bias.shape, (nv,))
-    self.assertEqual(d.qfrc_passive.shape, (nv,))
-    self.assertEqual(d._impl.efc_aref.shape, (nefc,))
-    self.assertEqual(d.qfrc_actuator.shape, (nv,))
-    self.assertEqual(d.qfrc_smooth.shape, (nv,))
-    self.assertEqual(d.qacc_smooth.shape, (nv,))
-    self.assertEqual(d.qfrc_constraint.shape, (nv,))
-    self.assertEqual(d.qfrc_inverse.shape, (nv,))
-    self.assertEqual(d._impl.efc_force.shape, (nefc,))
-
-    if impl == 'jax':
-      self.assertEqual(d._impl.M.shape, (nv, nv))
-      self.assertEqual(d._impl.qLD.shape, (nv, nv))
-      self.assertEqual(d._impl.qLDiagInv.shape, (0,))
-
-    # test sparse
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mjx.make_data(m, impl=impl)
-    self.assertEqual(d._impl.M.shape, (m.nC,))
-    self.assertEqual(d._impl.qLD.shape, (m.nC,))
-    self.assertEqual(d._impl.qLDiagInv.shape, (nv,))
-
-
-  @mock.patch.dict(os.environ, {'MJX_GPU_DEFAULT_WARP': 'true'})
-  def test_make_data_warp(self):
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp is not installed.')
-    if not mjx_io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device.')
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
-    d = mjx.make_data(m, impl='warp', naconmax=9, naccdmax=7, njmax=23, nvmax=8)
-    self.assertEqual(d._impl.contact__dist.shape[0], 9)
-    self.assertEqual(d._impl.naccdmax, 7)
-    self.assertEqual(d._impl.efc__pos.shape[0], 23)
-    self.assertEqual(d._impl.nvmax, 8)
-
-  def test_put_data_warp(self):
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp is not installed.')
-    if not mjx_io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device.')
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
-    d = mujoco.MjData(m)
-    dx = mjx.put_data(m, d, impl='warp', naccdmax=7, nvmax=8)
-    self.assertEqual(dx._impl.naccdmax, 7)
-    self.assertEqual(dx._impl.nvmax, 8)
-
-  @parameterized.parameters('jax', 'cpp', 'warp')
-  def test_put_data(self, impl: str):
-    """Test that put_data puts the correct data for dense and sparse."""
-    if impl == 'warp':
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp is not installed.')
-      if not mjx_io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device.')
-
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, impl=impl)
-
-    # check a few fields
-    np.testing.assert_allclose(dx.qpos, d.qpos)
-    np.testing.assert_allclose(dx.xpos, d.xpos)
-    np.testing.assert_allclose(dx.cvel, d.cvel)
-    np.testing.assert_allclose(dx.cdof_dot, d.cdof_dot)
-
-    # check that there are no weak types
-    self.assertFalse(
-        any(
-            jax.tree_util.tree_flatten(
-                jax.tree_util.tree_map(lambda x: x.weak_type, dx)
-            )[0]
-        )
-    )
-
-    # xmat, ximat, geom_xmat are all shape transformed
-    np.testing.assert_allclose(dx.xmat.reshape((-1, 9)), d.xmat)
-    np.testing.assert_allclose(dx.ximat.reshape((-1, 9)), d.ximat)
-    np.testing.assert_allclose(dx.geom_xmat.reshape((-1, 9)), d.geom_xmat)
-    np.testing.assert_allclose(dx.site_xmat.reshape((-1, 9)), d.site_xmat)
-
-    # tendon length is correct
-    np.testing.assert_allclose(dx.ten_length, d.ten_length)
-
-    if impl == 'jax':
-      # check that qM is transformed properly
-      qm = np.zeros((m.nv, m.nv), dtype=np.float64)
-      mujoco.mju_sym2dense(qm, d.M, m.M_rownnz, m.M_rowadr, m.M_colind)
-      np.testing.assert_allclose(qm, mjx.full_m(mjx.put_model(m), dx))
-
-    elif impl == 'cpp':
-      self.assertTrue(hasattr(dx._impl, 'pointer_lo'))
-      self.assertTrue(hasattr(dx._impl, 'pointer_hi'))
-      return  # cpp does not populate other fields in _impl
-    elif impl == 'warp':
-      qm = np.zeros((m.nv, m.nv), dtype=np.float64)
-      mujoco.mju_sym2dense(qm, d.M, m.M_rownnz, m.M_rowadr, m.M_colind)
-      warp_M = np.zeros((m.nv, m.nv))
-      mujoco.mju_sym2dense(
-          warp_M,
-          np.array(dx._impl.M),
-          m.M_rownnz,
-          m.M_rowadr,
-          m.M_colind,
-      )
-      np.testing.assert_allclose(warp_M, qm)
-      # TODO(taylorhowell): test efc__J
-      np.testing.assert_allclose(dx._impl.efc__aref[:3], d.efc_aref[:3])
-
-    # tendon impl data is correct
-    np.testing.assert_equal(dx._impl.ten_wrapadr, np.zeros((1,)))
-    np.testing.assert_equal(dx._impl.ten_wrapnum, np.zeros((1,)))
-    np.testing.assert_equal(dx._impl.wrap_obj, np.zeros((2, 2)))
-    np.testing.assert_equal(dx._impl.wrap_xpos, np.zeros((2, 6)))
-
-    if impl == 'warp':
-      return
-
-    # 4 contacts, 2 for each capsule against the plane
-    self.assertEqual(dx._impl.contact.dist.shape, (4,))
-    self.assertEqual(d.ncon, 1)  # however only 1 contact in this step
-    np.testing.assert_allclose(dx._impl.contact.dist[0], d.contact.dist[0])
-    self.assertTrue((dx._impl.contact.dist[1:] > 0).all())
-    self.assertEqual(dx._impl.contact.frame.shape, (4, 3, 3))
-    np.testing.assert_allclose(
-        dx._impl.contact.frame[0].reshape(9), d.contact.frame[0]
-    )
-    np.testing.assert_allclose(dx._impl.contact.frame[1:], 0)
-
-    # efc_ are also shape transformed and padded
-    self.assertEqual(dx._impl.efc_J.shape, (45, 8))  # nefc, nv
-    d_efc_j = d.efc_J.reshape((-1, 8))
-    np.testing.assert_allclose(dx._impl.efc_J[:3], d_efc_j[:3])  # connect eq
-    np.testing.assert_allclose(
-        dx._impl.efc_J[3], d_efc_j[3]
-    )  # one active limit
-    np.testing.assert_allclose(dx._impl.efc_J[4], 0)  # one inactive limit
-    np.testing.assert_allclose(dx._impl.efc_J[5:15], d_efc_j[4:14])  # contact
-    np.testing.assert_allclose(dx._impl.efc_J[15:], 0)  # no contact
-
-    # check another efc_ too
-    self.assertEqual(dx._impl.efc_aref.shape, (45,))  # nefc
-    np.testing.assert_allclose(dx._impl.efc_aref[:3], d.efc_aref[:3])
-    np.testing.assert_allclose(dx._impl.efc_aref[3], d.efc_aref[3])
-    np.testing.assert_allclose(dx._impl.efc_aref[4], 0)
-    np.testing.assert_allclose(dx._impl.efc_aref[5:15], d.efc_aref[4:14])
-    np.testing.assert_allclose(dx._impl.efc_aref[15:], 0)
-
-    # check sparse transform is correct
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    dx_sparse = mjx.put_data(m, d, impl=impl)
-    np.testing.assert_allclose(
-        dx_sparse._impl.efc_J, dx._impl.efc_J, atol=1e-8
-    )
-
-    # check sparse mass matrices are correct
-    np.testing.assert_allclose(dx_sparse._impl.M, d.M, atol=1e-8)
-    np.testing.assert_allclose(dx_sparse._impl.qLD, d.qLD, atol=1e-8)
-    np.testing.assert_allclose(
-        dx_sparse._impl.qLDiagInv, d.qLDiagInv, atol=1e-8
-    )
-
-    # check dense mass matrices are correct
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_DENSE
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    dx_from_dense = mjx.put_data(m, d, impl=impl)
-    if impl == 'jax':
-      qm = np.zeros((m.nv, m.nv))
-      mujoco.mju_sym2dense(qm, d.M, m.M_rownnz, m.M_rowadr, m.M_colind)
-      np.testing.assert_allclose(dx_from_dense._impl.M, qm, atol=1e-8)
-
-
-  def test_put_data_warp_ndim(self):
-    """Tests that put_data produces expected dimensions for Warp fields."""
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp is not installed.')
-    if not mjx_io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device.')
-
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, impl='warp')
-
-    def check_ndim(path, x):
-      k = _get_name_from_path(path)
-      if k not in mjxw_types._NDIM['Data']:
-        return
-      is_batched = mjxw_types._BATCH_DIM['Data'][k]
-      expected_ndim = mjxw_types._NDIM['Data'][k] - is_batched
-      if not hasattr(x, 'ndim'):
-        return
-      msg = f'Field {k} has ndim {x.ndim} but expected {expected_ndim}'
-      self.assertEqual(x.ndim, expected_ndim, msg)
-
-    _ = jax.tree.map_with_path(check_ndim, dx)
-
-  @parameterized.parameters(
-      ('jax', False), ('jax', True)
-  )
-  def test_get_data(self, impl: str, sparse: bool):
-    """Test that get_data makes correct MjData."""
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    if sparse:
-      m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, impl=impl)
-    d_2: mujoco.MjData = mjx.get_data(m, dx)
-
-    # check a few fields
-    np.testing.assert_allclose(d_2.qpos, d.qpos)
-    np.testing.assert_allclose(d_2.xpos, d.xpos)
-    np.testing.assert_allclose(d_2.cvel, d.cvel)
-    np.testing.assert_allclose(d_2.cdof_dot, d.cdof_dot)
-    np.testing.assert_allclose(d_2.qLD, d.qLD, atol=1e-6)
-    np.testing.assert_allclose(d_2.qLDiagInv, d.qLDiagInv, atol=1e-6)
-
-    # only 1 contact active
-    self.assertEqual(d_2.contact.dist.shape, (1,))
-    self.assertEqual(d_2.ncon, 1)
-    np.testing.assert_allclose(d_2.contact.dist, d.contact.dist)
-    self.assertEqual(d_2.contact.frame.shape, (1, 9))
-    np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
-
-    # xmat, ximat, geom_xmat, site_xmat are all shape transformed
-    self.assertEqual(d_2.xmat.shape, (3, 9))
-    self.assertEqual(d_2.ximat.shape, (3, 9))
-    self.assertEqual(d_2.geom_xmat.shape, (3, 9))
-    self.assertEqual(d_2.site_xmat.shape, (1, 9))
-    np.testing.assert_allclose(d_2.xmat, d.xmat)
-    np.testing.assert_allclose(d_2.ximat, d.ximat)
-    np.testing.assert_allclose(d_2.geom_xmat, d.geom_xmat)
-    np.testing.assert_allclose(d_2.site_xmat, d.site_xmat)
-
-    # efc_* are also shape transformed and filtered
-    self.assertEqual(d_2.nefc, 14)
-    if sparse:
-      efc_j = np.zeros((d.nefc, m.nv))
-      mujoco.mju_sparse2dense(
-          efc_j,
-          d.efc_J,
-          d.efc_J_rownnz,
-          d.efc_J_rowadr,
-          d.efc_J_colind,
-      )
-      efc_j2 = np.zeros((d_2.nefc, m.nv))
-      mujoco.mju_sparse2dense(
-          efc_j2,
-          d_2.efc_J,
-          d_2.efc_J_rownnz,
-          d_2.efc_J_rowadr,
-          d_2.efc_J_colind,
-      )
-      np.testing.assert_allclose(efc_j, efc_j2)
-    else:
-      self.assertEqual(d_2.efc_J.shape, (112,))  # nefc * nv
-      np.testing.assert_allclose(d_2.efc_J, d.efc_J)
-    self.assertEqual(d_2.efc_aref.shape, (14,))  # nefc
-    np.testing.assert_allclose(d_2.efc_aref, d.efc_aref)
-    np.testing.assert_allclose(d_2.contact.efc_address, d.contact.efc_address)
-
-
-  def test_get_data_simplebody(self):
-    """Test that get_data works with simple bodies where nC < nM."""
-    m = mujoco.MjModel.from_xml_string(_SIMPLE_BODY)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d)
-    d_2: mujoco.MjData = mjx.get_data(m, dx)
-    np.testing.assert_allclose(d_2.qLD, d.qLD, atol=1e-6)
-    np.testing.assert_allclose(d_2.qLDiagInv, d.qLDiagInv, atol=1e-6)
-
-  def test_get_data_runs(self):
-    xml = """
-      <mujoco>
-        <compiler autolimits="true"/>
-        <worldbody>
-          <body name="box">
-            <joint name="slide1" type="slide" axis="1 0 0" />
-            <geom type="box" size=".05 .05 .05" mass="1"/>
-          </body>
-        </worldbody>
-        <actuator>
-          <motor joint="slide1"/>
-        </actuator>
-      </mujoco>
-    """
-    m = mujoco.MjModel.from_xml_string(xml)
-    d = mujoco.MjData(m)
-    dx = mjx.put_data(m, d)
-    mjx.get_data(m, dx)
-
-  @parameterized.parameters(('jax',))
-  def test_get_data_batched(self, impl):
-    """Test that get_data makes correct List[MjData] for batched Data."""
-
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, impl=impl)
-    # second data in batch has contact dist > 0, disables contact
-    dx_b = jax.tree_util.tree_map(lambda x: jp.stack((x, x + 0.05)), dx)
-    ds = mjx.get_data(m, dx_b)
-    self.assertLen(ds, 2)
-    np.testing.assert_allclose(ds[0].qpos, d.qpos)
-    np.testing.assert_allclose(ds[1].qpos, d.qpos + 0.05, atol=1e-8)
-    self.assertEqual(ds[0].ncon, 1)
-    self.assertEqual(ds[1].ncon, 0)
-
-  @parameterized.parameters('jax', 'cpp')
-  def test_get_data_into(self, impl):
-    """Test that get_data_into correctly populates an MjData."""
-
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    keepalive = {} if impl == 'cpp' else None
-    dx = mjx.put_data(m, d, impl=impl, keepalive_refs=keepalive)
-    d_2 = mujoco.MjData(m)
-    mjx.get_data_into(d_2, m, dx, keepalive_refs=keepalive)
-
-    # check a few fields
-    np.testing.assert_allclose(d_2.qpos, d.qpos)
-    np.testing.assert_allclose(d_2.xpos, d.xpos)
-
-    # only 1 contact active
-    self.assertEqual(d_2.contact.dist.shape, (1,))
-    self.assertEqual(d_2.ncon, 1)
-    np.testing.assert_allclose(d_2.contact.dist, d.contact.dist)
-    self.assertEqual(d_2.contact.frame.shape, (1, 9))
-    np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
-
-  def test_get_data_into_warp(self):
-    """Test get_data_into for impl='warp'."""
-
-    # TODO(taylorhowell): After put_data supports impl='warp' update test above
-    # and remove this test.
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp is not installed.')
-    if not mjx_io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device.')
-
-    # Use a model with at least one kinematic tree so that island
-    # fields (e.g. dof_island, tree_island) are populated on the host
-    # MjData.
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco>
-        <worldbody>
-          <body>
-            <freejoint/>
-            <geom size="0.1"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """)
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m, impl='warp')
-    dx = mjx.make_data(m, impl='warp')
-    mjx.get_data_into(d, mx, dx)
-
-  @parameterized.parameters(('jax',))
-  def test_get_data_into_wrong_shape(self, impl):
-    """Tests that get_data_into throwsif input and output shapes don't match."""
-
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, impl=impl)
-    m_2 = mujoco.MjModel.from_xml_string(_MULTIPLE_CONVEX_OBJECTS)
-    d_2 = mujoco.MjData(m_2)
-    with self.assertRaisesRegex(ValueError, r'Input field.*has shape.*'):
-      mjx.get_data_into(d_2, m, dx)
-
-  @parameterized.parameters(('jax',))
-  def test_make_matches_put(self, impl):
-    """Test that make_data produces a pytree that matches put_data."""
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d, 2)
-    dx = mjx.put_data(m, d, impl=impl)
-
-    step_fn = lambda d: d.replace(time=d.time + 1)
-    step_fn_jit = jax.jit(step_fn).lower(dx).compile()
-
-    # placing an MjData onto device should yield the same treedef mjx.Data as
-    # calling make_data.  they should be interchangeable for jax functions:
-    step_fn_jit(mjx.make_data(m, impl=impl))
-
-  def test_contact_elliptic_condim1(self):
-    """Test that condim=1 with ConeType.ELLIPTIC is not implemented."""
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco>
-        <worldbody>
-          <geom size="0 0 1e-5" type="plane" condim="1"/>
-          <body>
-            <freejoint/>
-            <geom size="0.1" condim="1"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """)
-    m.opt.cone = ConeType.ELLIPTIC
-    with self.assertRaises(NotImplementedError):
-      mjx.make_data(m)
-
-  @parameterized.parameters(JacobianType.DENSE, JacobianType.SPARSE)
-  def test_m_mapm2m(self, jacobian):
-    """Test that M matches MuJoCo."""
-    m = test_util.load_test_file('humanoid/humanoid.xml')
-    m.opt.jacobian = jacobian
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m, impl='jax')
-    dx = mjx.make_data(m, impl='jax')
-    dx = mjx.forward(mx, dx)
-
-    mjx.get_data_into(d, m, dx)
-
-    res_mj = np.zeros((1, m.nv))
-    mujoco.mj_solveM(m, d, res_mj, np.ones((1, m.nv)))
-
-    res = mjx._src.smooth.solve_m(mx, dx, jp.ones(m.nv))
-
-    np.testing.assert_allclose(res_mj[0], res, rtol=1e-3, atol=1e-3)
-
-  def test_make_data_warp_has_expected_shapes(self):
-    """Tests that make_data produces expected shapes for MuJoCo Warp."""
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp is not installed.')
-    if not mjx_io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device.')
-
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    dx = mjx.make_data(m, impl='warp')
-
-    def check_ndim(path, x):
-      k = _get_name_from_path(path)
-      if k not in mjxw_types._NDIM['Data']:
-        return
-      is_batched = mjxw_types._BATCH_DIM['Data'][k]
-      expected_ndim = mjxw_types._NDIM['Data'][k] - is_batched
-      if not hasattr(x, 'ndim'):
-        return
-      msg = f'Field {k} has ndim {x.ndim} but expected {expected_ndim}'
-      self.assertEqual(x.ndim, expected_ndim, msg)
-
-    _ = jax.tree.map_with_path(check_ndim, dx)
-
-  @parameterized.parameters('jax', 'warp', 'cpp')
-  def test_data_slice(self, impl):
-    """Tests that slice on Data works as expected."""
-    if impl == 'warp' and not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp is not installed.')
-    if impl == 'warp' and not mjx_io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device.')
-
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    dx = jax.vmap(lambda x: mjx.make_data(m, impl=impl))(jp.arange(10))
-
-    self.assertEqual(dx.qpos.shape, (10, m.nq))
-    self.assertEqual(dx[0].qpos.shape, (m.nq,))
-
-    if impl == 'warp':
-      self.assertEqual(dx._impl.contact__dist.shape, (dx._impl.naconmax,))
-      self.assertEqual(dx[0]._impl.contact__dist.shape, (dx._impl.naconmax,))
-
-  def test_put_data_cpp(self):
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco>
-        <worldbody>
-          <body name="body1" pos="0 0 1">
-            <joint type="free"/>
-            <geom type="sphere" size="0.1"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """)
-    d = mujoco.MjData(m)
-    d.qpos[0] = 1.0
-    unused_mjx_data = mjx_io.put_data(m, d, impl='cpp')
-
-    def put_data(dummy_arg_for_batching):
-      dx = mjx_io.put_data(
-          m, d, impl='cpp', dummy_arg_for_batching=dummy_arg_for_batching
-      )
-      return dx
-
-    vmjx_data = jax.vmap(put_data, in_axes=0, out_axes=0)(
-        jp.zeros(2, dtype=jp.uint32)
-    )
-
-    self.assertEqual(vmjx_data.qpos.shape, (2, m.nq))
-    lo = vmjx_data._impl.pointer_lo
-    hi = vmjx_data._impl.pointer_hi
-    addr0 = int(lo[0]) | (int(hi[0]) << 32)
-    addr1 = int(lo[1]) | (int(hi[1]) << 32)
-    self.assertNotEqual(addr0, addr1)
-
-
-# Test cases for `_resolve_impl_and_device` where the device is
-# specified by the user and the device is available.
-_DEVICE_TEST_CASES = [
-    # Arguments use the following format:
-    # (device_type_str, impl_str,
-    #  (expected_device, expected_impl)))
-    # No backend specified.
-    ('cpu', None, ('cpu', Impl.JAX)),
-    ('gpu-notnvidia', None, ('gpu', Impl.JAX)),
-    ('gpu-nvidia', None, ('gpu', Impl.WARP)),
-    ('tpu', None, ('tpu', Impl.JAX)),
-    # JAX backend specified.
-    ('cpu', 'jax', ('cpu', Impl.JAX)),
-    ('gpu-notnvidia', 'jax', ('gpu', Impl.JAX)),
-    ('gpu-nvidia', 'jax', ('gpu', Impl.JAX)),
-    ('tpu', 'jax', ('tpu', Impl.JAX)),
-    # WARP backend specified.
-    ('cpu', 'warp', ('cpu', Impl.WARP)),
-    ('gpu-notnvidia', 'warp', ('gpu', 'error')),
-    ('gpu-nvidia', 'warp', ('gpu', Impl.WARP)),
-    ('tpu', 'warp', ('tpu', 'error')),
-    # CPP backend specified.
-    ('cpu', 'cpp', ('cpu', Impl.CPP)),
-    ('gpu-notnvidia', 'cpp', ('cpu', 'error')),
-    ('gpu-nvidia', 'cpp', ('cpu', 'error')),
-    ('tpu', 'cpp', ('tpu', 'error')),
-]
-
-# Test cases for `_resolve_impl_and_device` where the user does NOT
-# specify a device. We mock the JAX default device.
-_DEFAULT_DEVICE_TEST_CASES = [
-    # Arguments use the following format:
-    # (jax.default_device, impl_str,
-    #  (expected_device, expected_impl))
-    # No backend impl specified.
-    ('cpu', None, ('cpu', Impl.JAX)),
-    ('gpu-notnvidia', None, ('gpu', Impl.JAX)),
-    ('gpu-nvidia', None, ('gpu', Impl.WARP)),
-    ('tpu', None, ('tpu', Impl.JAX)),
-    # JAX backend impl specified.
-    ('cpu', 'jax', ('cpu', Impl.JAX)),
-    ('gpu-notnvidia', 'jax', ('gpu', Impl.JAX)),
-    ('gpu-nvidia', 'jax', ('gpu', Impl.JAX)),
-    ('tpu', 'jax', ('tpu', Impl.JAX)),
-    # WARP backend impl specified.
-    ('cpu', 'warp', ('cpu', Impl.WARP)),
-    ('gpu-notnvidia', 'warp', ('cpu', Impl.WARP)),
-    ('gpu-nvidia', 'warp', ('gpu', Impl.WARP)),
-    ('tpu', 'warp', ('cpu', Impl.WARP)),
-    # CPP backend impl specified, CPU should always be available.
-    ('cpu', 'cpp', ('cpu', Impl.CPP)),
-    ('gpu-notnvidia', 'cpp', ('cpu', Impl.CPP)),
-    ('gpu-nvidia', 'cpp', ('cpu', Impl.CPP)),
-    ('tpu', 'cpp', ('cpu', Impl.CPP)),
-]
-
-
-class ResolveImplAndDeviceTest(parameterized.TestCase):
-  """Tests for the _resolve_impl_and_device function."""
-
-  def setUp(self):
-    super().setUp()
-
-    # Create mock devices
-    self.mock_cpu = mock.Mock(spec=jax.Device)
-    self.mock_cpu.platform = 'cpu'
-    self.mock_cpu.device_kind = 'Mock CPU'
-    self.mock_cpu.id = 0
-
-    self.mock_nvidia_gpu = mock.Mock(spec=jax.Device)
-    self.mock_nvidia_gpu.platform = 'gpu'
-    self.mock_nvidia_gpu.device_kind = 'NVIDIA Mocked GPU'
-    self.mock_nvidia_gpu.id = 0
-
-    self.mock_other_gpu = mock.Mock(spec=jax.Device)
-    self.mock_other_gpu.platform = 'gpu'
-    self.mock_other_gpu.device_kind = 'Other Mocked GPU'
-    self.mock_other_gpu.id = 1
-
-    self.mock_tpu = mock.Mock(spec=jax.Device)
-    self.mock_tpu.platform = 'tpu'
-    self.mock_tpu.device_kind = 'Mock TPU'
-    self.mock_tpu.id = 0
-
-    # Patch jax.devices for the entire test class using enter_context
-    self.mock_jax_devices = self.enter_context(mock.patch('jax.devices'))
-    self.mock_jax_backends = self.enter_context(
-        mock.patch('jax.extend.backend.backends')
-    )
-    self.mock_default_backend = self.enter_context(
-        mock.patch('jax.default_backend')
-    )
-
-  @parameterized.named_parameters(
-      (f'{str(args[0])}_{str(args[1])}', *args) for args in _DEVICE_TEST_CASES
-  )
-  @mock.patch.dict(os.environ, {'MJX_GPU_DEFAULT_WARP': 'true'})
-  def test_resolve_with_device(
-      self,
-      device_type_str,
-      impl_str,
-      expected,
-  ):
-    """Tests various combinations of device and backend impls."""
-    input_device = {
-        'cpu': self.mock_cpu,
-        'gpu-nvidia': self.mock_nvidia_gpu,
-        'gpu-notnvidia': self.mock_other_gpu,
-        'tpu': self.mock_tpu,
-    }[device_type_str]
-
-    def devices_side_effect(backend=None):
-      # assume the user-specified device is always available
-      if backend == 'cpu':
-        return [self.mock_cpu]
-      elif backend == 'gpu':
-        if device_type_str == 'gpu-nvidia':
-          return [self.mock_nvidia_gpu]
-        return [self.mock_other_gpu]
-      elif backend == 'tpu':
-        return [self.mock_tpu]
-      elif backend == 'cuda':
-        return [self.mock_nvidia_gpu]
-
-      raise AssertionError('Should not be called.')
-    self.mock_jax_devices.side_effect = devices_side_effect
-
-    def backends_side_effect():
-      if device_type_str == 'gpu-nvidia':
-        return ['cuda', 'cpu']
-      if 'tpu' in device_type_str:
-        return ['tpu', 'cpu']
-      if 'gpu' in device_type_str:
-        return ['gpu', 'cpu']
-      return ['cpu']
-
-    self.mock_jax_backends.side_effect = backends_side_effect
-
-    expected_device, expected_impl = expected
-    if expected_impl == 'error':
-      with self.assertRaises(AssertionError):
-        mjx_io._resolve_impl_and_device(
-            impl=impl_str, device=input_device
-        )
-      return
-
-    if impl_str == 'warp' and not mjxw.WARP_INSTALLED:
-      with self.assertRaisesRegex(RuntimeError, 'not installed'):
-        mjx_io._resolve_impl_and_device(impl=impl_str, device=input_device)
-      return
-
-    if impl_str is None and not mjxw.WARP_INSTALLED:
-      expected_impl = Impl.JAX
-
-    actual_impl, actual_device = (
-        mjx_io._resolve_impl_and_device(
-            impl=impl_str, device=input_device
-        )
-    )
-
-    self.assertEqual(actual_impl, expected_impl)
-    self.assertIsNotNone(actual_device)
-    self.assertEqual(actual_device.platform, expected_device)
-
-  @parameterized.named_parameters(
-      (f'{str(args[0])}_{str(args[1])}', *args)
-      for args in _DEFAULT_DEVICE_TEST_CASES
-  )
-  @mock.patch.dict(os.environ, {'MJX_GPU_DEFAULT_WARP': 'true'})
-  def test_resolve_without_device(
-      self,
-      default_device_str,
-      impl_str,
-      expected,
-  ):
-    """Tests various combinations of jax.default_device and backend impls."""
-    default_devices = {
-        'cpu': [self.mock_cpu],
-        'gpu-nvidia': [self.mock_nvidia_gpu, self.mock_cpu],
-        'gpu-notnvidia': [self.mock_other_gpu, self.mock_cpu],
-        'tpu': [self.mock_tpu, self.mock_cpu],
-    }[default_device_str]
-
-    def devices_side_effect(backend=None):
-      if backend == 'cpu':
-        return [self.mock_cpu]  # CPU is always available
-      if backend == 'gpu' and default_device_str == 'gpu-notnvidia':
-        return [self.mock_other_gpu]
-      if backend == 'gpu' and default_device_str == 'gpu-nvidia':
-        return [self.mock_nvidia_gpu]
-      if backend == 'cuda' and default_device_str == 'gpu-nvidia':
-        return [self.mock_nvidia_gpu]
-      if backend == 'tpu' and default_device_str == 'tpu':
-        return [self.mock_tpu]
-      if backend is None:
-        return default_devices
-      if backend == 'cuda':
-        raise RuntimeError('cuda backend not supported')
-      raise AssertionError('jax.devices error')
-    self.mock_jax_devices.side_effect = devices_side_effect
-
-    default_device_side_effect_str = {
-        'cpu': 'cpu',
-        'gpu-nvidia': 'gpu',
-        'gpu-notnvidia': 'gpu',
-        'tpu': 'tpu',
-    }[default_device_str]
-    self.mock_default_backend.side_effect = (
-        lambda: default_device_side_effect_str
-    )
-
-    def backends_side_effect():
-      if default_device_str == 'gpu-nvidia':
-        return ['cuda', 'cpu']
-      if 'tpu' in default_device_str:
-        return ['tpu', 'cpu']
-      if 'gpu' in default_device_str:
-        return ['gpu', 'cpu']
-      return ['cpu']
-
-    self.mock_jax_backends.side_effect = backends_side_effect
-
-    expected_device, expected_impl = expected
-    if expected_impl == 'error':
-      with self.assertRaises(AssertionError):
-        mjx_io._resolve_impl_and_device(impl=impl_str, device=None)
-      return
-
-    if impl_str == 'warp' and not mjxw.WARP_INSTALLED:
-      with self.assertRaises(RuntimeError):
-        mjx_io._resolve_impl_and_device(impl=impl_str, device=None)
-      return
-
-    if impl_str is None and not mjxw.WARP_INSTALLED:
-      expected_impl = Impl.JAX
-
-    actual_impl, actual_device = mjx_io._resolve_impl_and_device(
-        impl=impl_str, device=None
-    )
-
-    self.assertEqual(actual_impl, expected_impl)
-    self.assertIsNotNone(actual_device)
-    self.assertEqual(actual_device.platform, expected_device)
-
-  @mock.patch.dict(os.environ, {'MJX_GPU_DEFAULT_WARP': 'false'})
-  def test_resolve_warp_disabled(self):
-    """Tests behavior when MJX_GPU_DEFAULT_WARP is false."""
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp is not installed.')
-
-    self.mock_jax_devices.side_effect = lambda backend=None: (
-        [self.mock_nvidia_gpu, self.mock_cpu]
-        if backend is None
-        else ([self.mock_nvidia_gpu] if backend == 'gpu' else [self.mock_cpu])
-    )
-    self.mock_default_backend.side_effect = lambda: 'gpu'
-
-    # Default to JAX instead of WARP on NVIDIA GPU.
-    impl, device = mjx_io._resolve_impl_and_device(
-        impl=None, device=None
-    )
-    self.assertEqual(impl, Impl.JAX)
-    self.assertEqual(device.platform, 'gpu')
-
-    # Specifying an NVIDIA GPU should still choose JAX.
-    impl, device = mjx_io._resolve_impl_and_device(
-        impl=None, device=self.mock_nvidia_gpu
-    )
-    self.assertEqual(impl, Impl.JAX)
-    self.assertEqual(device.platform, 'gpu')
-
-
-class StateIOTest(parameterized.TestCase):
-
-  @parameterized.parameters(
-      mujoco.mjtState.mjSTATE_TIME,
-      mujoco.mjtState.mjSTATE_QPOS,
-      mujoco.mjtState.mjSTATE_QVEL,
-      mujoco.mjtState.mjSTATE_ACT,
-      mujoco.mjtState.mjSTATE_WARMSTART,
-      mujoco.mjtState.mjSTATE_CTRL,
-      mujoco.mjtState.mjSTATE_QFRC_APPLIED,
-      mujoco.mjtState.mjSTATE_XFRC_APPLIED,
-      mujoco.mjtState.mjSTATE_EQ_ACTIVE,
-      mujoco.mjtState.mjSTATE_INTEGRATION,
-  )
-  def test_state_size(self, spec):
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    mx = mjx.put_model(m)
-    self.assertEqual(mjx.state_size(mx, spec), mujoco.mj_stateSize(m, spec))
-
-  def test_put_data_cpp(self):
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco>
-        <worldbody>
-          <body name="body1" pos="0 0 1">
-            <joint type="free"/>
-            <geom type="sphere" size="0.1"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """)
-    d = mujoco.MjData(m)
-    d.qpos[0] = 1.0
-    unused_mjx_data = mjx_io.put_data(m, d, impl='cpp')
-
-    def put_data(dummy_arg_for_batching):
-      dx = mjx_io.put_data(
-          m, d, impl='cpp', dummy_arg_for_batching=dummy_arg_for_batching
-      )
-      return dx
-
-    vmjx_data = jax.vmap(put_data, in_axes=0, out_axes=0)(
-        jp.zeros(2, dtype=jp.uint32)
-    )
-
-    self.assertEqual(vmjx_data.qpos.shape, (2, m.nq))
-    lo = vmjx_data._impl.pointer_lo
-    hi = vmjx_data._impl.pointer_hi
-    addr0 = int(lo[0]) | (int(hi[0]) << 32)
-    addr1 = int(lo[1]) | (int(hi[1]) << 32)
-    self.assertNotEqual(addr0, addr1)
-
-  def test_get_set_state(self):
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    d = mujoco.MjData(m)
-    # give the model a little kick to get some non-zero state
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_step(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    # test full state
-    spec_full = mujoco.mjtState.mjSTATE_INTEGRATION
-    state = mjx.get_state(mx, dx, spec_full)
-    state_mj = np.empty(state.shape, dtype=np.float64)
-    mujoco.mj_getState(m, d, state_mj, int(spec_full))
-    np.testing.assert_allclose(state, state_mj, atol=1e-6)
-    dx2 = mjx.set_state(mx, mjx.make_data(m), state, spec_full)
-    np.testing.assert_allclose(dx.qpos, dx2.qpos)
-    np.testing.assert_allclose(dx.qvel, dx2.qvel)
-    np.testing.assert_allclose(dx.act, dx2.act)
-    np.testing.assert_allclose(dx.qacc_warmstart, dx2.qacc_warmstart)
-    np.testing.assert_allclose(dx.ctrl, dx2.ctrl)
-    np.testing.assert_allclose(dx.qfrc_applied, dx2.qfrc_applied)
-    np.testing.assert_allclose(dx.xfrc_applied, dx2.xfrc_applied)
-    np.testing.assert_allclose(dx.eq_active, dx2.eq_active)
-
-    # test single state
-    for spec in [
-        mujoco.mjtState.mjSTATE_TIME,
-        mujoco.mjtState.mjSTATE_QPOS,
-        mujoco.mjtState.mjSTATE_QVEL,
-        mujoco.mjtState.mjSTATE_ACT,
-        mujoco.mjtState.mjSTATE_WARMSTART,
-        mujoco.mjtState.mjSTATE_CTRL,
-        mujoco.mjtState.mjSTATE_QFRC_APPLIED,
-        mujoco.mjtState.mjSTATE_XFRC_APPLIED,
-        mujoco.mjtState.mjSTATE_EQ_ACTIVE,
-    ]:
-      state = mjx.get_state(mx, dx, spec)
-      state_mj = np.empty(state.shape, dtype=np.float64)
-      mujoco.mj_getState(m, d, state_mj, int(spec))
-      np.testing.assert_allclose(state, state_mj)
-      dx2 = mjx.set_state(mx, mjx.make_data(m), state, spec)
-      np.testing.assert_allclose(
-          getattr(dx, mjx_io._STATE_MAP[spec]),
-          getattr(dx2, mjx_io._STATE_MAP[spec]),
-      )
-
-    # test partial state
-    spec = (
-        mujoco.mjtState.mjSTATE_QPOS
-        | mujoco.mjtState.mjSTATE_QVEL
-    )
-    state = mjx.get_state(mx, dx, spec)
-    state_mj = np.empty(state.shape, dtype=np.float64)
-    mujoco.mj_getState(m, d, state_mj, int(spec))
-    np.testing.assert_allclose(state, state_mj)
-
-    # check that we only set qpos/qvel and other values are at init
-    dx_init = mjx.make_data(m)
-    dx2 = mjx.set_state(mx, dx_init, state, spec)
-    np.testing.assert_allclose(dx.qpos, dx2.qpos)
-    np.testing.assert_allclose(dx.qvel, dx2.qvel)
-    np.testing.assert_allclose(dx_init.time, dx2.time)
-    np.testing.assert_allclose(dx_init.act, dx2.act)
-
-  def test_jit(self):
-    m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    spec = mujoco.mjtState.mjSTATE_INTEGRATION
-
-    get_state_jit = jax.jit(mjx.get_state, static_argnames='spec')
-    state = get_state_jit(mx, dx, spec)
-    state_nojit = mjx.get_state(mx, dx, spec)
-    np.testing.assert_allclose(state, state_nojit)
-
-    set_state_jit = jax.jit(mjx.set_state, static_argnames='spec')
-    dx2 = set_state_jit(mx, dx, state, spec)
-    dx2_nojit = mjx.set_state(mx, dx, state, spec)
-    np.testing.assert_allclose(dx2.qpos, dx2_nojit.qpos)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/math.py b/mjx/mujoco/mjx/_src/math.py
deleted file mode 100644
index e52d41ab..00000000
--- a/mjx/mujoco/mjx/_src/math.py
+++ /dev/null
@@ -1,394 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Some useful math functions."""
-
-from typing import Optional, Tuple, Union
-
-import jax
-from jax import numpy as jp
-import mujoco
-
-
-def safe_div(
-    num: Union[float, jax.Array], den: Union[float, jax.Array]
-) -> Union[float, jax.Array]:
-  """Safe division for case where denominator is zero."""
-  return num / (den + mujoco.mjMINVAL * (den == 0))
-
-
-def matmul_unroll(a: jax.Array, b: jax.Array) -> jax.Array:
-  """Calculates a @ b via explicit cell value operations.
-
-  This is faster than XLA matmul for small matrices (e.g. 3x3, 4x4).
-
-  Args:
-    a: left hand of matmul operand
-    b: right hand of matmul operand
-
-  Returns:
-    the matrix product of the inputs.
-  """
-  c = []
-  for i in range(a.shape[0]):
-    row = []
-    for j in range(b.shape[1]):
-      s = 0.0
-      for k in range(a.shape[1]):
-        s += a[i, k] * b[k, j]
-      row.append(s)
-    c.append(row)
-
-  return jp.array(c)
-
-
-def norm(
-    x: jax.Array, axis: Optional[Union[Tuple[int, ...], int]] = None
-) -> jax.Array:
-  """Calculates a linalg.norm(x) that's safe for gradients at x=0.
-
-  Avoids a poorly defined gradient for jnp.linal.norm(0) see
-  https://github.com/jax-ml/jax/issues/3058 for details
-  Args:
-    x: A jnp.array
-    axis: The axis along which to compute the norm
-
-  Returns:
-    Norm of the array x.
-  """
-
-  is_zero = jp.allclose(x, 0.0)
-  # temporarily swap x with ones if is_zero, then swap back
-  x = jp.where(is_zero, jp.ones_like(x), x)
-  n = jp.linalg.norm(x, axis=axis)
-  n = jp.where(is_zero, 0.0, n)
-  return n
-
-
-def normalize_with_norm(
-    x: jax.Array, axis: Optional[Union[Tuple[int, ...], int]] = None
-) -> Tuple[jax.Array, jax.Array]:
-  """Normalizes an array.
-
-  Args:
-    x: A jnp.array
-    axis: The axis along which to compute the norm
-
-  Returns:
-    A tuple of (normalized array x, the norm).
-  """
-  n = norm(x, axis=axis)
-  x = x / (n + 1e-6 * (n == 0.0))
-  return x, n
-
-
-def normalize(
-    x: jax.Array, axis: Optional[Union[Tuple[int, ...], int]] = None
-) -> jax.Array:
-  """Normalizes an array.
-
-  Args:
-    x: A jnp.array
-    axis: The axis along which to compute the norm
-
-  Returns:
-    normalized array x
-  """
-  return normalize_with_norm(x, axis=axis)[0]
-
-
-def rotate(vec: jax.Array, quat: jax.Array) -> jax.Array:
-  """Rotates a vector vec by a unit quaternion quat.
-
-  Args:
-    vec: (3,) a vector
-    quat: (4,) a quaternion
-
-  Returns:
-    ndarray(3) containing vec rotated by quat.
-  """
-  if len(vec.shape) != 1:
-    raise ValueError('vec must have no batch dimensions.')
-  s, u = quat[0], quat[1:]
-  r = 2 * (jp.dot(u, vec) * u) + (s * s - jp.dot(u, u)) * vec
-  r = r + 2 * s * jp.cross(u, vec)
-  return r
-
-
-def quat_inv(q: jp.ndarray) -> jp.ndarray:
-  """Calculates the inverse of quaternion q.
-
-  Args:
-    q: (4,) quaternion [w, x, y, z]
-
-  Returns:
-    The inverse of q, where qmult(q, inv_quat(q)) = [1, 0, 0, 0].
-  """
-  return q * jp.array([1, -1, -1, -1])
-
-
-def quat_sub(u: jax.Array, v: jax.Array) -> jax.Array:
-  """Subtracts two quaternions (u - v) as a 3D velocity."""
-  q = quat_mul(quat_inv(v), u)
-  axis, angle = quat_to_axis_angle(q)
-  return axis * angle
-
-
-def quat_mul(u: jax.Array, v: jax.Array) -> jax.Array:
-  """Multiplies two quaternions.
-
-  Args:
-    u: (4,) quaternion (w,x,y,z)
-    v: (4,) quaternion (w,x,y,z)
-
-  Returns:
-    A quaternion u * v.
-  """
-  return jp.array([
-      u[0] * v[0] - u[1] * v[1] - u[2] * v[2] - u[3] * v[3],
-      u[0] * v[1] + u[1] * v[0] + u[2] * v[3] - u[3] * v[2],
-      u[0] * v[2] - u[1] * v[3] + u[2] * v[0] + u[3] * v[1],
-      u[0] * v[3] + u[1] * v[2] - u[2] * v[1] + u[3] * v[0],
-  ])
-
-
-def quat_mul_axis(q: jax.Array, axis: jax.Array) -> jax.Array:
-  """Multiplies a quaternion and an axis.
-
-  Args:
-    q: (4,) quaternion (w,x,y,z)
-    axis: (3,) axis (x,y,z)
-
-  Returns:
-    A quaternion q * axis
-  """
-  return jp.array([
-      -q[1] * axis[0] - q[2] * axis[1] - q[3] * axis[2],
-      q[0] * axis[0] + q[2] * axis[2] - q[3] * axis[1],
-      q[0] * axis[1] + q[3] * axis[0] - q[1] * axis[2],
-      q[0] * axis[2] + q[1] * axis[1] - q[2] * axis[0],
-  ])
-
-
-# TODO(erikfrey): benchmark this against brax's quat_to_3x3
-def quat_to_mat(q: jax.Array) -> jax.Array:
-  """Converts a quaternion into a 9-dimensional rotation matrix."""
-  q = jp.outer(q, q)
-
-  return jp.array([
-      [
-          q[0, 0] + q[1, 1] - q[2, 2] - q[3, 3],
-          2 * (q[1, 2] - q[0, 3]),
-          2 * (q[1, 3] + q[0, 2]),
-      ],
-      [
-          2 * (q[1, 2] + q[0, 3]),
-          q[0, 0] - q[1, 1] + q[2, 2] - q[3, 3],
-          2 * (q[2, 3] - q[0, 1]),
-      ],
-      [
-          2 * (q[1, 3] - q[0, 2]),
-          2 * (q[2, 3] + q[0, 1]),
-          q[0, 0] - q[1, 1] - q[2, 2] + q[3, 3],
-      ],
-  ])
-
-
-def quat_to_axis_angle(q: jax.Array) -> Tuple[jax.Array, jax.Array]:
-  """Converts a quaternion into axis and angle."""
-  axis, sin_a_2 = normalize_with_norm(q[1:])
-  angle = 2 * jp.arctan2(sin_a_2, q[0])
-  angle = jp.where(angle > jp.pi, angle - 2 * jp.pi, angle)
-
-  return axis, angle
-
-
-def axis_angle_to_quat(axis: jax.Array, angle: jax.Array) -> jax.Array:
-  """Provides a quaternion that describes rotating around axis by angle.
-
-  Args:
-    axis: (3,) axis (x,y,z)
-    angle: () float angle to rotate by
-
-  Returns:
-    A quaternion that rotates around axis by angle
-  """
-  s, c = jp.sin(angle * 0.5), jp.cos(angle * 0.5)
-  return jp.insert(axis * s, 0, c)
-
-
-def quat_integrate(q: jax.Array, v: jax.Array, dt: jax.Array) -> jax.Array:
-  """Integrates a quaternion given angular velocity and dt."""
-  v, norm_ = normalize_with_norm(v)
-  angle = dt * norm_
-  q_res = axis_angle_to_quat(v, angle)
-  q_res = quat_mul(q, q_res)
-  return normalize(q_res)
-
-
-def inert_mul(i: jax.Array, v: jax.Array) -> jax.Array:
-  """Multiply inertia by motion, producing force.
-
-  Args:
-    i: (10,) inertia (inertia matrix, position, mass)
-    v: (6,) spatial motion
-
-  Returns:
-    resultant force
-  """
-  tri_id = jp.array([[0, 3, 4], [3, 1, 5], [4, 5, 2]])  # cinert inr order
-  inr, pos, mass = i[tri_id], i[6:9], i[9]
-  ang = jp.dot(inr, v[:3]) + jp.cross(pos, v[3:])
-  vel = mass * v[3:] - jp.cross(pos, v[:3])
-  return jp.concatenate((ang, vel))
-
-
-def sign(x: jax.Array) -> jax.Array:
-  """Returns the sign of x in the set {-1, 1}."""
-  return jp.where(x < 0, -1, 1)
-
-
-def transform_motion(vel: jax.Array, offset: jax.Array, rotmat: jax.Array):
-  """Transform spatial motion.
-
-  Args:
-    vel: (6,) spatial motion (3 angular, 3 linear)
-    offset: (3,) translation
-    rotmat: (3, 3) rotation
-
-  Returns:
-    6d spatial velocity
-  """
-  # TODO(robotics-simulation): are quaternions faster here
-  ang, vel = vel[:3], vel[3:]
-  vel = rotmat.T @ (vel - jp.cross(offset, ang))
-  ang = rotmat.T @ ang
-  return jp.concatenate([ang, vel])
-
-
-def motion_cross(u, v):
-  """Cross product of two motions.
-
-  Args:
-    u: (6,) spatial motion
-    v: (6,) spatial motion
-
-  Returns:
-    resultant spatial motion
-  """
-  ang = jp.cross(u[:3], v[:3])
-  vel = jp.cross(u[3:], v[:3]) + jp.cross(u[:3], v[3:])
-  return jp.concatenate((ang, vel))
-
-
-def motion_cross_force(v, f):
-  """Cross product of a motion and force.
-
-  Args:
-    v: (6,) spatial motion
-    f: (6,) force
-
-  Returns:
-    resultant force
-  """
-  ang = jp.cross(v[:3], f[:3]) + jp.cross(v[3:], f[3:])
-  vel = jp.cross(v[:3], f[3:])
-  return jp.concatenate((ang, vel))
-
-
-def orthogonals(a: jax.Array) -> Tuple[jax.Array, jax.Array]:
-  """Returns orthogonal vectors `b` and `c`, given a vector `a`."""
-  y, z = jp.array([0, 1, 0]), jp.array([0, 0, 1])
-  b = jp.where((-0.5 < a[1]) & (a[1] < 0.5), y, z)
-  b = b - a * a.dot(b)
-  # normalize b. however if a is a zero vector, zero b as well.
-  b = normalize(b) * jp.any(a)
-  return b, jp.cross(a, b)
-
-
-def make_frame(a: jax.Array) -> jax.Array:
-  """Makes a right-handed 3D frame given a direction."""
-  a = normalize(a)
-  b, c = orthogonals(a)
-  return jp.array([a, b, c])
-
-
-# Geometry.
-
-
-def closest_segment_point(
-    a: jax.Array, b: jax.Array, pt: jax.Array
-) -> jax.Array:
-  """Returns the closest point on the a-b line segment to a point pt."""
-  ab = b - a
-  t = jp.dot(pt - a, ab) / (jp.dot(ab, ab) + 1e-6)
-  return a + jp.clip(t, 0.0, 1.0) * ab
-
-
-def closest_segment_point_and_dist(
-    a: jax.Array, b: jax.Array, pt: jax.Array
-) -> Tuple[jax.Array, jax.Array]:
-  """Returns closest point on the line segment and the distance squared."""
-  closest = closest_segment_point(a, b, pt)
-  dist = (pt - closest).dot(pt - closest)
-  return closest, dist
-
-
-def closest_segment_to_segment_points(
-    a0: jax.Array, a1: jax.Array, b0: jax.Array, b1: jax.Array
-) -> Tuple[jax.Array, jax.Array]:
-  """Returns closest points between two line segments."""
-  # Gets the closest segment points by first finding the closest points
-  # between two lines. Points are then clipped to be on the line segments
-  # and edge cases with clipping are handled.
-  dir_a, len_a = normalize_with_norm(a1 - a0)
-  dir_b, len_b = normalize_with_norm(b1 - b0)
-
-  # Segment mid-points.
-  half_len_a = len_a * 0.5
-  half_len_b = len_b * 0.5
-  a_mid = a0 + dir_a * half_len_a
-  b_mid = b0 + dir_b * half_len_b
-
-  # Translation between two segment mid-points.
-  trans = a_mid - b_mid
-
-  # Parametrize points on each line as follows:
-  #  point_on_a = a_mid + t_a * dir_a
-  #  point_on_b = b_mid + t_b * dir_b
-  # and analytically minimize the distance between the two points.
-  dira_dot_dirb = dir_a.dot(dir_b)
-  dira_dot_trans = dir_a.dot(trans)
-  dirb_dot_trans = dir_b.dot(trans)
-  denom = 1 - dira_dot_dirb * dira_dot_dirb
-
-  orig_t_a = (-dira_dot_trans + dira_dot_dirb * dirb_dot_trans) / (denom + 1e-6)
-  orig_t_b = dirb_dot_trans + orig_t_a * dira_dot_dirb
-  t_a = jp.clip(orig_t_a, -half_len_a, half_len_a)
-  t_b = jp.clip(orig_t_b, -half_len_b, half_len_b)
-
-  best_a = a_mid + dir_a * t_a
-  best_b = b_mid + dir_b * t_b
-
-  # Resolve edge cases where both closest points are clipped to the segment
-  # endpoints by recalculating the closest segment points for the current
-  # clipped points, and then picking the pair of points with smallest
-  # distance. An example of this edge case is when lines intersect but line
-  # segments don't.
-  new_a, d1 = closest_segment_point_and_dist(a0, a1, best_b)
-  new_b, d2 = closest_segment_point_and_dist(b0, b1, best_a)
-  best_a = jp.where(d1 < d2, new_a, best_a)
-  best_b = jp.where(d1 < d2, best_b, new_b)
-
-  return best_a, best_b
diff --git a/mjx/mujoco/mjx/_src/math_test.py b/mjx/mujoco/mjx/_src/math_test.py
deleted file mode 100644
index c2678321..00000000
--- a/mjx/mujoco/mjx/_src/math_test.py
+++ /dev/null
@@ -1,202 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for math."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax.numpy as jp
-from mujoco.mjx._src import math
-import numpy as np
-
-
-def _get_rand_point(seed=None):
-  if seed is not None:
-    np.random.seed(seed)
-  verts = np.random.randn(1, 3)
-  return verts[0, :]
-
-
-def _get_rand_line_segment(seed=None):
-  if seed is not None:
-    np.random.seed(seed)
-  verts = np.random.randn(2, 3)
-  return verts[0, :], verts[1, :]
-
-
-def _get_rand_unit(seed: int):
-  np.random.seed(seed)
-  theta = np.random.random(1) * 2 * np.pi
-  a = (np.random.random(1) - 0.5) * 2.0
-  phi = np.arccos(a)
-  x = np.sin(phi) * np.cos(theta)
-  y = np.sin(phi) * np.sin(theta)
-  z = np.cos(phi)
-  return jp.array([x, y, z]).squeeze()
-
-
-class OrthoganalsTest(parameterized.TestCase):
-  """Tests the orthogonals function."""
-
-  @parameterized.parameters(range(30))
-  def test_orthogonals(self, i):
-    a = _get_rand_unit(i)
-    b, c = math.orthogonals(a)
-    np.testing.assert_almost_equal(jp.linalg.norm(a), 1)
-    np.testing.assert_almost_equal(jp.linalg.norm(b), 1)
-    np.testing.assert_almost_equal(jp.linalg.norm(c), 1)
-    self.assertAlmostEqual(np.abs(a.dot(b)), 0, 6)
-    self.assertAlmostEqual(np.abs(b.dot(c)), 0, 6)
-    self.assertAlmostEqual(np.abs(a.dot(c)), 0, 6)
-
-
-def _minimize(fn, sample_fn, lb, ub, tol, max_iter=20, seed=42):
-  """Minimize a function using the cross-entropy method."""
-  assert lb.shape == ub.shape, "bounds need to have the same shape"
-  np.random.seed(seed)
-
-  i, n = 0, 1_000
-  mu = (ub + lb) * 0.5
-  sigma = (ub - lb) * 0.5
-  size = lb.shape[0]
-  val, prev_val = fn(mu), None
-
-  while prev_val is None or np.abs(val - prev_val) > tol:
-    params = sample_fn(mu, sigma, n, size, lb, ub)
-    vals = np.array([fn(p) for p in params])
-    if val < vals.min():  # early exit
-      return mu
-    idx = vals.argsort()
-    best_idx = idx[: int(n * 0.05)]
-    mu = params[best_idx].mean(axis=0)
-    sigma = params[best_idx].std(axis=0) + 1e-10
-
-    prev_val = val
-    val = fn(mu)
-
-    i += 1
-    if i == max_iter:
-      break
-
-  return mu
-
-
-def _closest_segment_to_segment_points(a0, a1, b0, b1):
-  dir_a = a1 - a0
-  len_a = np.sqrt(dir_a.dot(dir_a))
-  half_len_a = len_a / 2
-  dir_a = dir_a / len_a
-
-  dir_b = b1 - b0
-  len_b = np.sqrt(dir_b.dot(dir_b))
-  half_len_b = len_b / 2
-  dir_b = dir_b / len_b
-
-  a_mid = a0 + dir_a * half_len_a
-  b_mid = b0 + dir_b * half_len_b
-
-  # Parametrize both line segments.
-  def fn(t):
-    best_a = a_mid + dir_a * t[0]
-    best_b = b_mid + dir_b * t[1]
-    return (best_a - best_b).dot(best_a - best_b)
-
-  def sample_fn(mu, sigma, n, size, lb, ub):
-    params = np.random.normal(mu, sigma, size=(n, size))
-    params = np.clip(params, lb, ub)
-    return params
-
-  lb = np.array([-half_len_a, -half_len_b])
-  ub = np.array([half_len_a, half_len_b])
-  ta, tb = _minimize(fn, sample_fn, lb, ub, tol=1e-4)
-  best_a = a_mid + dir_a * ta
-  best_b = b_mid + dir_b * tb
-  return best_a, best_b
-
-
-class ClosestSegmentSegmentPointsTest(parameterized.TestCase):
-  """Tests for closest segment-to-segment points."""
-
-  def test_closest_segments_points(self):
-    a0 = jp.array([0.73432405, 0.12372768, 0.20272314])
-    a1 = jp.array([1.10600128, 0.88555209, 0.65209485])
-    b0 = jp.array([0.85599262, 0.61736299, 0.9843583])
-    b1 = jp.array([1.84270939, 0.92891793, 1.36343326])
-    best_a, best_b = math.closest_segment_to_segment_points(a0, a1, b0, b1)
-    self.assertSequenceAlmostEqual(best_a, [1.09063, 0.85404, 0.63351], 5)
-    self.assertSequenceAlmostEqual(best_b, [0.99596, 0.66156, 1.03813], 5)
-
-  def test_intersecting_segments(self):
-    """Tests segments that intersect."""
-    a0, a1 = jp.array([0.0, 0.0, -1.0]), jp.array([0.0, 0.0, 1.0])
-    b0, b1 = jp.array([-1.0, 0.0, 0.0]), jp.array([1.0, 0.0, 0.0])
-    best_a, best_b = math.closest_segment_to_segment_points(a0, a1, b0, b1)
-    self.assertSequenceAlmostEqual(best_a, [0.0, 0.0, 0.0], 5)
-    self.assertSequenceAlmostEqual(best_b, [0.0, 0.0, 0.0], 5)
-
-  def test_intersecting_lines(self):
-    """Tests that intersecting lines get clipped."""
-    a0, a1 = jp.array([0.2, 0.2, 0.0]), jp.array([1.0, 1.0, 0.0])
-    b0, b1 = jp.array([0.2, 0.4, 0.0]), jp.array([1.0, 2.0, 0.0])
-    best_a, best_b = math.closest_segment_to_segment_points(a0, a1, b0, b1)
-    self.assertSequenceAlmostEqual(best_a, [0.3, 0.3, 0.0], 2)
-    self.assertSequenceAlmostEqual(best_b, [0.2, 0.4, 0.0], 2)
-
-  def test_parallel_segments(self):
-    """Tests that parallel segments have closest points at the midpoint."""
-    a0, a1 = jp.array([0.0, 0.0, -1.0]), jp.array([0.0, 0.0, 1.0])
-    b0, b1 = jp.array([1.0, 0.0, -1.0]), jp.array([1.0, 0.0, 1.0])
-    best_a, best_b = math.closest_segment_to_segment_points(a0, a1, b0, b1)
-    self.assertSequenceAlmostEqual(best_a, [0.0, 0.0, 0.0], 5)
-    self.assertSequenceAlmostEqual(best_b, [1.0, 0.0, 0.0], 5)
-
-  def test_parallel_offset_segments(self):
-    """Tests that offset parallel segments are close at segment endpoints."""
-    a0, a1 = jp.array([0.0, 0.0, -1.0]), jp.array([0.0, 0.0, 1.0])
-    b0, b1 = jp.array([1.0, 0.0, 1.0]), jp.array([1.0, 0.0, 3.0])
-    best_a, best_b = math.closest_segment_to_segment_points(a0, a1, b0, b1)
-    self.assertSequenceAlmostEqual(best_a, [0.0, 0.0, 1.0], 5)
-    self.assertSequenceAlmostEqual(best_b, [1.0, 0.0, 1.0], 5)
-
-  def test_zero_length_segments(self):
-    """Test that zero length segments don't return NaNs."""
-    a0, a1 = jp.array([0.0, 0.0, -1.0]), jp.array([0.0, 0.0, -1.0])
-    b0, b1 = jp.array([1.0, 0.0, 0.1]), jp.array([1.0, 0.0, 0.1])
-    best_a, best_b = math.closest_segment_to_segment_points(a0, a1, b0, b1)
-    self.assertSequenceAlmostEqual(best_a, [0.0, 0.0, -1.0], 5)
-    self.assertSequenceAlmostEqual(best_b, [1.0, 0.0, 0.1], 5)
-
-  def test_overlapping_segments(self):
-    """Tests that perfectly overlapping segments intersect at the midpoints."""
-    a0, a1 = jp.array([0.0, 0.0, -1.0]), jp.array([0.0, 0.0, 1.0])
-    b0, b1 = jp.array([0.0, 0.0, -1.0]), jp.array([0.0, 0.0, 1.0])
-    best_a, best_b = math.closest_segment_to_segment_points(a0, a1, b0, b1)
-    self.assertSequenceAlmostEqual(best_a, [0.0, 0.0, 0.0], 5)
-    self.assertSequenceAlmostEqual(best_b, [0.0, 0.0, 0.0], 5)
-
-  params = list(zip(np.repeat(np.arange(10), 10), np.tile(np.arange(10), 10)))
-
-  @parameterized.parameters(*params)
-  def test_closest_segment_to_segment_points(self, i, j):
-    a0, a1 = _get_rand_line_segment(i)
-    b0, b1 = _get_rand_line_segment(j)
-    expected = _closest_segment_to_segment_points(a0, a1, b0, b1)
-    ans = math.closest_segment_to_segment_points(a0, a1, b0, b1)
-    expected_dist = (expected[0] - expected[1]).dot(expected[0] - expected[1])
-    test_dist = (ans[0] - ans[1]).dot(ans[0] - ans[1])
-    self.assertAlmostEqual(expected_dist, test_dist, 4)
-
-
-if __name__ == "__main__":
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/mesh.py b/mjx/mujoco/mjx/_src/mesh.py
deleted file mode 100644
index 282058f6..00000000
--- a/mjx/mujoco/mjx/_src/mesh.py
+++ /dev/null
@@ -1,337 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Mesh processing."""
-
-import collections
-import itertools
-from typing import Tuple, Union
-import warnings
-
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco.mjx._src import math
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.collision_types import ConvexInfo
-from mujoco.mjx._src.collision_types import GeomInfo
-from mujoco.mjx._src.collision_types import HFieldInfo
-from mujoco.mjx._src.types import ConvexMesh
-from mujoco.mjx._src.types import Model
-# pylint: enable=g-importing-member
-import numpy as np
-from scipy import spatial
-import trimesh
-
-
-_MAX_HULL_FACE_VERTICES = 20
-
-
-def _get_face_norm(vert: np.ndarray, face: np.ndarray) -> np.ndarray:
-  """Calculates face normals given vertices and face indexes."""
-  assert len(vert.shape) == 2 and len(face.shape) == 2, (
-      f'vert and face should have dim of 2, got {len(vert.shape)} and '
-      f'{len(face.shape)}'
-  )
-  face_vert = vert[face, :]
-  # use CCW winding order convention
-  edge0 = face_vert[:, 1, :] - face_vert[:, 0, :]
-  edge1 = face_vert[:, -1, :] - face_vert[:, 0, :]
-  face_norm = np.cross(edge0, edge1)
-  face_norm = face_norm / np.linalg.norm(face_norm, axis=1).reshape((-1, 1))
-  return face_norm
-
-
-def _get_edge_normals(
-    face: np.ndarray, face_norm: np.ndarray
-) -> Tuple[np.ndarray, np.ndarray]:
-  """Returns face edges and face edge normals."""
-  # get face edges and scatter the face norms
-  r_face = np.roll(face, 1, axis=1)
-  face_edge = np.array([face, r_face]).transpose((1, 2, 0))
-  face_edge.sort(axis=2)
-  face_edge_flat = np.concatenate(face_edge)
-  edge_face_idx = np.repeat(np.arange(face.shape[0]), face.shape[1])
-  edge_face_norm = face_norm[edge_face_idx]
-
-  # get the edge normals associated with each edge
-  edge_map_list = collections.defaultdict(list)
-  for i in range(face_edge_flat.shape[0]):
-    if face_edge_flat[i][0] == face_edge_flat[i][1]:
-      continue
-    edge_map_list[tuple(face_edge_flat[i])].append(edge_face_norm[i])
-
-  edges, edge_face_normals = [], []
-  for k, v in edge_map_list.items():
-    v = np.array(v)
-    if len(v) > 2:
-      # Meshes can be of poor quality and contain edges adjacent to more than
-      # two faces. We take the first two unique face normals.
-      v = np.unique(v, axis=0)[:2]
-    elif len(v) == 1:
-      # Some edges are either degenerate or _MAX_HULL_FACE_VERTICES was hit
-      # and face vertices were down sampled. In either case, we ignore these
-      # edges.
-      continue
-    edges.append(k)
-    edge_face_normals.append(v)
-
-  return np.array(edges), np.array(edge_face_normals)
-
-
-def _convex_hull_2d(points: np.ndarray, normal: np.ndarray) -> np.ndarray:
-  """Calculates the convex hull for a set of points on a plane."""
-  # project points onto the closest axis plane
-  best_axis = np.abs(np.eye(3).dot(normal)).argmax()
-  axis = np.eye(3)[best_axis]
-  d = points.dot(axis).reshape((-1, 1))
-  axis_points = points - d * axis
-  axis_points = axis_points[:, list({0, 1, 2} - {best_axis})]
-
-  # get the polygon face, and make the points ccw wrt the face normal
-  c = spatial.ConvexHull(axis_points)
-  order_ = np.where(axis.dot(normal) > 0, 1, -1)
-  order_ *= np.where(best_axis == 1, -1, 1)
-  hull_point_idx = c.vertices[::order_]
-  assert (axis_points - c.points).sum() == 0
-
-  return hull_point_idx
-
-
-def _merge_coplanar(
-    m: Union[mujoco.MjModel, Model], tm: trimesh.Trimesh, meshid: int
-) -> np.ndarray:
-  """Merges coplanar facets."""
-  if not tm.facets:
-    return tm.faces.copy()  # no facets
-  if not tm.faces.shape[0]:
-    raise ValueError('Mesh has no faces.')
-
-  # Get faces.
-  face_idx = set(range(tm.faces.shape[0])) - set(np.concatenate(tm.facets))
-  face_idx = np.array(list(face_idx))
-  faces = tm.faces[face_idx] if face_idx.shape[0] > 0 else np.array([])
-
-  # Get facets.
-  facets = []
-  for i, facet in enumerate(tm.facets):
-    point_idx = np.unique(tm.faces[facet])
-    points = tm.vertices[point_idx]
-    normal = tm.facets_normal[i]
-
-    # convert triangulated facet to a polygon
-    hull_point_idx = _convex_hull_2d(points, normal)
-    face = point_idx[hull_point_idx]
-
-    # resize faces that exceed max polygon vertices
-    if face.shape[0] > _MAX_HULL_FACE_VERTICES:
-      name = m.names[m.name_meshadr[meshid] :]
-      name = name[: name.find(b'\x00')].decode('utf-8')
-      warnings.warn(
-          f'Mesh "{name}" has a coplanar face with more than '
-          f'{_MAX_HULL_FACE_VERTICES} vertices. This may lead to performance '
-          'issues and inaccuracies in collision detection. Consider '
-          'decimating the mesh.'
-      )
-    every = face.shape[0] // _MAX_HULL_FACE_VERTICES + 1
-    face = face[::every]
-    facets.append(face)
-
-  # Pad facets so that they can be stacked.
-  max_len = max(f.shape[0] for f in facets) if facets else faces.shape[1]
-  assert max_len <= _MAX_HULL_FACE_VERTICES
-  for i, f in enumerate(facets):
-    if f.shape[0] < max_len:
-      f = np.pad(f, (0, max_len - f.shape[0]), 'edge')
-    facets[i] = f
-
-  if not faces.shape[0]:
-    assert facets
-    return np.array(facets)  # no faces, return facets
-
-  # Merge faces and facets.
-  faces = np.pad(faces, ((0, 0), (0, max_len - faces.shape[1])), 'edge')
-  return np.concatenate([faces, facets])
-
-
-def box(info: GeomInfo) -> ConvexInfo:
-  """Creates a box with rectangular faces."""
-  vert = np.array(
-      list(itertools.product((-1, 1), (-1, 1), (-1, 1))), dtype=float
-  )
-  # pyformat: disable
-  # rectangular box faces using a counter-clockwise winding order convention:
-  face = np.array(
-      [
-          0, 4, 5, 1,  # left
-          0, 2, 6, 4,  # bottom
-          6, 7, 5, 4,  # front
-          2, 3, 7, 6,  # right
-          1, 5, 7, 3,  # top
-          0, 1, 3, 2,  # back
-      ]
-  ).reshape((-1, 4))
-  # pyformat: enable
-  face_normal = _get_face_norm(vert, face)
-  edge, edge_face_normal = _get_edge_normals(face, face_normal)
-  face = vert[face]  # materialize full nface x nvert matrix
-
-  c = ConvexInfo(
-      info.pos,
-      info.mat,
-      info.size,
-      vert,
-      face,
-      face_normal,
-      edge,
-      edge_face_normal,
-  )
-  c = jax.tree_util.tree_map(jp.array, c)
-  vert = jax.vmap(jp.multiply, in_axes=(None, 0))(c.vert, info.size)
-  face = jax.vmap(jp.multiply, in_axes=(None, 0))(c.face, info.size)
-  c = c.replace(vert=vert, face=face)
-
-  return c
-
-
-def convex(m: Union[mujoco.MjModel, Model], data_id: int) -> ConvexMesh:
-  """Processes a mesh for use in convex collision algorithms.
-
-  Args:
-    m: an MJX model
-    data_id: the mesh id to process
-
-  Returns:
-    a convex mesh
-  """
-  vert_beg = m.mesh_vertadr[data_id]
-  vert_end = m.mesh_vertadr[data_id + 1] if data_id < m.nmesh - 1 else None
-  vert = m.mesh_vert[vert_beg:vert_end]
-
-  graphadr = m.mesh_graphadr[data_id]
-  graph = m.mesh_graph[graphadr:]
-  graph_idx = 0
-
-  numvert, numface = graph[0], graph[1]
-  graph_idx += 2
-
-  # skip vert_edgeadr  (numvert,)
-  graph_idx += numvert
-  vert_globalid = graph[graph_idx : graph_idx + numvert]
-  graph_idx += numvert
-
-  # skip edge_localid  (numvert, 3)
-  graph_idx += numvert + 3 * numface
-  face_globalid = graph[graph_idx : graph_idx + 3 * numface].reshape((-1, 3))
-
-  vert = vert[vert_globalid]
-  vertex_map = dict(zip(vert_globalid, np.arange(vert_globalid.shape[0])))
-  face = np.vectorize(vertex_map.get)(face_globalid)
-
-  tm_convex = trimesh.Trimesh(vertices=vert, faces=face)
-  vert = np.array(tm_convex.vertices)
-  face = _merge_coplanar(m, tm_convex, data_id)
-  face_normal = _get_face_norm(vert, face)
-  edge, edge_face_normal = _get_edge_normals(face, face_normal)
-  face = vert[face]  # materialize full nface x nvert matrix
-
-  c = ConvexMesh(
-      vert,
-      face,
-      face_normal,
-      edge,
-      edge_face_normal,
-  )
-
-  return jax.tree_util.tree_map(jp.array, c)
-
-
-def hfield_prism(vert: jax.Array) -> ConvexInfo:
-  """Builds a hfield prism."""
-  # The first 3 vertices define the bottom triangle, and the next 3 vertices
-  # define the top triangle. The remaining triangles define the side of the
-  # prism.
-  face = np.array([
-      [0, 1, 2, 0],  # bottom
-      [3, 4, 5, 3],  # top
-      [0, 3, 5, 1],
-      [0, 2, 4, 3],
-      [2, 1, 5, 4],
-  ])
-  edges = np.array([
-      # bottom
-      [0, 1],
-      [1, 2],
-      [0, 2],
-      # top
-      [3, 4],
-      [3, 5],
-      [4, 5],
-      # sides
-      [0, 3],
-      [1, 5],
-      [2, 4],
-  ])
-  edge_face_norm = np.array([
-      # bottom
-      [0, 2],
-      [0, 4],
-      [0, 3],
-      # top
-      [1, 3],
-      [1, 2],
-      [1, 4],
-      # sides
-      [2, 3],
-      [2, 4],
-      [3, 4],
-  ])
-
-  def get_face_norm(face):
-    # use ccw winding order convention, and avoid using the last vertex
-    edge0 = face[2, :] - face[1, :]
-    edge1 = face[0, :] - face[1, :]
-    return math.normalize(jp.cross(edge0, edge1))
-
-  centroid = jp.mean(vert, axis=0)
-  vert = vert - centroid
-  face = vert[face]
-  face_norm = jax.vmap(get_face_norm)(face)
-
-  c = ConvexInfo(
-      centroid,
-      jp.eye(3, dtype=float),
-      jp.ones(3),
-      vert,
-      face,
-      face_norm,
-      edges,
-      face_norm[edge_face_norm],
-  )
-
-  return jax.tree_util.tree_map(jp.array, c)
-
-
-def hfield(m: Union[mujoco.MjModel, Model], data_id: int) -> HFieldInfo:
-  adr = m.hfield_adr[data_id]
-  nrow, ncol = m.hfield_nrow[data_id], m.hfield_ncol[data_id]
-  h = HFieldInfo(
-      jp.zeros(3, dtype=float),
-      jp.eye(3, dtype=float),
-      m.hfield_size[data_id],
-      nrow,
-      ncol,
-      m.hfield_data[adr : adr + nrow * ncol].reshape((ncol, nrow), order='F'),
-  )
-  return h
diff --git a/mjx/mujoco/mjx/_src/mesh_test.py b/mjx/mujoco/mjx/_src/mesh_test.py
deleted file mode 100644
index 434a4d17..00000000
--- a/mjx/mujoco/mjx/_src/mesh_test.py
+++ /dev/null
@@ -1,138 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for mesh.py."""
-
-from absl.testing import absltest
-from mujoco.mjx._src import mesh
-import numpy as np
-import trimesh
-
-
-class MeshTest(absltest.TestCase):
-
-  def test_pyramid(self):
-    """Tests that a triangulated pyramid converts to merged coplanar faces."""
-    vert = np.array([
-        [-0.025, 0.05, 0.05],
-        [-0.025, -0.05, -0.05],
-        [-0.025, -0.05, 0.05],
-        [-0.025, 0.05, -0.05],
-        [0.075, 0.0, 0.0],
-    ])
-    face = np.array(
-        [[0, 1, 2], [0, 3, 1], [0, 4, 3], [0, 2, 4], [2, 1, 4], [1, 3, 4]]
-    )
-    tm = trimesh.Trimesh(vertices=vert, faces=face)
-    tm_convex = trimesh.convex.convex_hull(tm)
-    convex_vert = np.array(tm_convex.vertices)
-    convex_face = mesh._merge_coplanar(None, tm_convex, 0)
-
-    # get index of vertices in h['geom_convex_vert'] for vertices in vert
-    dist = np.repeat(vert, vert.shape[0], axis=0) - np.tile(
-        convex_vert, (vert.shape[0], 1)
-    )
-    dist = (dist**2).sum(axis=1).reshape((vert.shape[0], -1))
-    vidx = np.argmin(dist, axis=0)
-
-    # check verts
-    np.testing.assert_array_equal(convex_vert, vert[vidx])
-
-    # check face vertices
-    map_ = {v: k for k, v in enumerate(vidx)}
-    h_face = np.vectorize(map_.get)(convex_face)
-    face_verts = sorted([tuple(sorted(set(s))) for s in h_face.tolist()])
-    expected_face_verts = sorted(
-        [(0, 3, 4), (1, 3, 4), (0, 2, 4), (0, 1, 2, 3), (1, 2, 4)]
-    )
-    self.assertSequenceEqual(
-        face_verts,
-        expected_face_verts,
-    )
-
-    # face normals
-    face_normal = mesh._get_face_norm(convex_vert, convex_face)
-    self.assertEqual(face_normal.shape, (5, 3))
-
-    # face edges
-    edges, edge_normal = mesh._get_edge_normals(convex_face, face_normal)
-    edges = np.vectorize(map_.get)(edges)
-    mask = edges[:, 0] != edges[:, 1]
-    edges = edges[mask]
-    sort_col_idx = np.argsort(edges, axis=1)
-    edges = np.take_along_axis(edges, sort_col_idx, axis=1)
-    sort_row_idx = np.lexsort((edges[:, 1], edges[:, 0]))
-    edges = edges[sort_row_idx]
-    np.testing.assert_array_equal(
-        edges,
-        np.array([
-            [0, 2],
-            [0, 3],
-            [0, 4],
-            [1, 2],
-            [1, 3],
-            [1, 4],
-            [2, 4],
-            [3, 4],
-        ]),
-    )
-
-    # face edge normals
-    edge_normal = edge_normal[mask]
-    edge_normal = np.take_along_axis(
-        edge_normal, sort_col_idx[..., None], axis=1
-    )
-    edge_normal = edge_normal[sort_row_idx]
-    edge_normal_02 = np.array([[0.4472136, -0.0, 0.89442719], [-1.0, 0.0, 0.0]])
-    np.testing.assert_array_almost_equal(
-        edge_normal[:1],
-        np.array([edge_normal_02]),
-    )
-
-
-class ConvexHull2DTest(absltest.TestCase):
-
-  def test_convex_hull_2d_axis1(self):
-    """Tests for the correct winding order of a polgyon with +y normal."""
-    pts = np.array([
-        [-0.04634297, -0.06652775, 0.05853534],
-        [-0.01877651, -0.08309858, -0.05236476],
-        [0.02362804, -0.08010745, 0.05499557],
-        [0.04066505, -0.09034877, -0.01354446],
-        [-0.07255043, -0.06837638, -0.00781699],
-    ])
-    normal = np.array([-0.18467607, -0.97768016, 0.10018111])
-    idx = mesh._convex_hull_2d(pts, normal)
-    expected = np.cross(pts[idx][1] - pts[idx][0], pts[idx][2] - pts[idx][0])
-    expected /= np.linalg.norm(expected)
-    np.testing.assert_array_almost_equal(normal, expected)
-
-  def test_convex_hull_2d_axis2(self):
-    """Tests for the correct winding order for a polgyon with +z normal."""
-    pts = np.array([
-        [0.08607829, -0.03881998, -0.03291714],
-        [-0.01877651, -0.08309858, -0.05236476],
-        [0.05470364, 0.00027677, -0.08371042],
-        [-0.01010019, -0.02708892, -0.0957297],
-        [0.04066505, -0.09034877, -0.01354446],
-    ])
-    normal = np.array([0.3839915, -0.60171936, -0.70034587])
-    idx = mesh._convex_hull_2d(pts, normal)
-    expected = np.cross(pts[idx][1] - pts[idx][0], pts[idx][2] - pts[idx][0])
-    expected /= np.linalg.norm(expected)
-    np.testing.assert_array_almost_equal(normal, expected)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/passive.py b/mjx/mujoco/mjx/_src/passive.py
deleted file mode 100644
index 5126d76b..00000000
--- a/mjx/mujoco/mjx/_src/passive.py
+++ /dev/null
@@ -1,206 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Passive forces."""
-
-from typing import Tuple
-
-import jax
-from jax import numpy as jp
-from mujoco.mjx._src import math
-from mujoco.mjx._src import scan
-from mujoco.mjx._src import support
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import JointType
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-from mujoco.mjx._src.types import OptionJAX
-# pylint: enable=g-importing-member
-
-
-def _spring_damper(m: Model, d: Data) -> jax.Array:
-  """Applies joint level spring and damping forces."""
-  if not isinstance(d._impl, DataJAX) and not isinstance(m._impl, ModelJAX):
-    raise ValueError('_spring_damper requires JAX backend implementation.')
-  assert isinstance(d._impl, DataJAX) and isinstance(m._impl, ModelJAX)
-
-  def fn(jnt_typs, stiffness, qpos_spring, qpos):
-    qpos_i = 0
-    qfrcs = []
-    for i in range(len(jnt_typs)):
-      jnt_typ = JointType(jnt_typs[i])
-      q = qpos[qpos_i : qpos_i + jnt_typ.qpos_width()]
-      qs = qpos_spring[qpos_i : qpos_i + jnt_typ.qpos_width()]
-      qfrc = jp.zeros(jnt_typ.dof_width())
-      if jnt_typ == JointType.FREE:
-        qfrc = qfrc.at[:3].set(-stiffness[i] * (q[:3] - qs[:3]))
-        qfrc = qfrc.at[3:6].set(-stiffness[i] * math.quat_sub(q[3:7], qs[3:7]))
-      elif jnt_typ == JointType.BALL:
-        qfrc = -stiffness[i] * math.quat_sub(q, qs)
-      elif jnt_typ in (
-          JointType.SLIDE,
-          JointType.HINGE,
-      ):
-        qfrc = -stiffness[i] * (q - qs)
-      else:
-        raise RuntimeError(f'unrecognized joint type: {jnt_typ}')
-      qfrcs.append(qfrc)
-      qpos_i += jnt_typ.qpos_width()
-    return jp.concatenate(qfrcs)
-
-  # dof-level springs
-  qfrc = jp.zeros(m.nv)
-  if not m.opt.disableflags & DisableBit.SPRING:
-    qfrc = scan.flat(
-        m,
-        fn,
-        'jjqq',
-        'v',
-        m.jnt_type,
-        m.jnt_stiffness,
-        m.qpos_spring,
-        d.qpos,
-    )
-
-  # dof-level dampers
-  if not m.opt.disableflags & DisableBit.DAMPER:
-    qfrc -= m.dof_damping * d.qvel
-
-  # tendon-level springs
-  if not m.opt.disableflags & DisableBit.SPRING:
-    below, above = m.tendon_lengthspring.T - d.ten_length
-    frc_spring = jp.where(below > 0, m.tendon_stiffness * below, 0)
-    frc_spring = jp.where(above < 0, m.tendon_stiffness * above, frc_spring)
-  else:
-    frc_spring = jp.zeros(m.ntendon)
-
-  # tendon-level dampers
-  frc_damper = (
-      -m.tendon_damping * d._impl.ten_velocity
-      if not m.opt.disableflags & DisableBit.DAMPER
-      else jp.zeros(m.ntendon)
-  )
-
-  qfrc += d._impl.ten_J.T @ (frc_spring + frc_damper)
-
-  return qfrc
-
-
-def _gravcomp(m: Model, d: Data) -> jax.Array:
-  """Applies body-level gravity compensation."""
-  force = -m.opt.gravity * (m.body_mass * m.body_gravcomp)[:, None]
-
-  apply_f = lambda f, pos, body_id: support.jac(m, d, pos, body_id)[0] @ f
-  qfrc = jax.vmap(apply_f)(force, d.xipos, jp.arange(m.nbody)).sum(axis=0)
-
-  return qfrc
-
-
-def _fluid(m: Model, d: Data) -> jax.Array:
-  """Applies body-level viscosity, lift and drag."""
-  force, torque = jax.vmap(
-      _inertia_box_fluid_model, in_axes=(None, 0, 0, 0, 0, 0, 0)
-  )(
-      m,
-      m.body_inertia,
-      m.body_mass,
-      d.subtree_com[jp.array(m.body_rootid)],
-      d.xipos,
-      d.ximat,
-      d.cvel,
-  )
-  qfrc = jax.vmap(support.apply_ft, in_axes=(None, None, 0, 0, 0, 0))(
-      m, d, force, torque, d.xipos, jp.arange(m.nbody)
-  )
-
-  return jp.sum(qfrc, axis=0)
-
-
-def passive(m: Model, d: Data) -> Data:
-  """Adds all passive forces."""
-  if (
-      not isinstance(m._impl, ModelJAX)
-      or not isinstance(d._impl, DataJAX)
-      or not isinstance(m.opt._impl, OptionJAX)
-  ):
-    raise ValueError('passive requires JAX backend implementation.')
-
-  if m.opt.disableflags & (DisableBit.SPRING | DisableBit.DAMPER):
-    return d.replace(qfrc_passive=jp.zeros(m.nv), qfrc_gravcomp=jp.zeros(m.nv))
-
-  qfrc_passive = _spring_damper(m, d)
-  qfrc_gravcomp = jp.zeros(m.nv)
-
-  if m.flg_gravcomp and not m.opt.disableflags & DisableBit.GRAVITY:
-    qfrc_gravcomp = _gravcomp(m, d)
-    # add gravcomp unless added via actuators
-    qfrc_passive += qfrc_gravcomp * (1 - m.jnt_actgravcomp[m.dof_jntid])
-
-  if m.opt._impl.has_fluid_params:  # pytype: disable=attribute-error
-    qfrc_passive += _fluid(m, d)
-
-  d = d.replace(qfrc_passive=qfrc_passive, qfrc_gravcomp=qfrc_gravcomp)
-  return d
-
-
-def _inertia_box_fluid_model(
-    m: Model,
-    inertia: jax.Array,
-    mass: jax.Array,
-    root_com: jax.Array,
-    xipos: jax.Array,
-    ximat: jax.Array,
-    cvel: jax.Array,
-) -> Tuple[jax.Array, jax.Array]:
-  """Fluid forces based on inertia-box approximation."""
-  if not isinstance(m.opt._impl, OptionJAX):
-    raise ValueError(
-        '_inertia_box_fluid_model requires JAX backend implementation.'
-    )
-
-  box = jp.repeat(inertia[None, :], 3, axis=0)
-  box *= jp.ones((3, 3)) - 2 * jp.eye(3)
-  box = 6.0 * jp.clip(jp.sum(box, axis=-1), min=1e-12)
-  box = jp.sqrt(box / jp.maximum(mass, 1e-12)) * (mass > 0.0)
-
-  # transform to local coordinate frame
-  offset = xipos - root_com
-  lvel = math.transform_motion(cvel, offset, ximat)
-  lwind = ximat.T @ m.opt.wind
-  lvel = lvel.at[3:].add(-lwind)
-
-  # set viscous force and torque
-  diam = jp.mean(box, axis=-1)
-  lfrc_ang = lvel[:3] * -jp.pi * diam**3 * m.opt.viscosity
-  lfrc_vel = lvel[3:] * -3.0 * jp.pi * diam * m.opt.viscosity
-
-  # add lift and drag force and torque
-  scale_vel = jp.array([box[1] * box[2], box[0] * box[2], box[0] * box[1]])
-  scale_ang = jp.array([
-      box[0] * (box[1] ** 4 + box[2] ** 4),
-      box[1] * (box[0] ** 4 + box[2] ** 4),
-      box[2] * (box[0] ** 4 + box[1] ** 4),
-  ])
-  lfrc_vel -= 0.5 * m.opt.density * scale_vel * jp.abs(lvel[3:]) * lvel[3:]
-  lfrc_ang -= (
-      1.0 * m.opt.density * scale_ang * jp.abs(lvel[:3]) * lvel[:3] / 64.0
-  )
-
-  # rotate to global orientation: lfrc -> bfrc
-  force, torque = ximat @ lfrc_vel, ximat @ lfrc_ang
-
-  return force, torque
diff --git a/mjx/mujoco/mjx/_src/passive_test.py b/mjx/mujoco/mjx/_src/passive_test.py
deleted file mode 100644
index 16e32523..00000000
--- a/mjx/mujoco/mjx/_src/passive_test.py
+++ /dev/null
@@ -1,87 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests passive forces."""
-
-from absl.testing import absltest
-import jax
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import test_util
-import numpy as np
-
-# tolerance for difference between MuJoCo and MJX passive calculations - mostly
-# due to float precision
-_TOLERANCE = 1e-7
-
-
-def _assert_eq(a, b, name):
-  tol = _TOLERANCE * 10  # avoid test noise
-  err_msg = f'mismatch: {name}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
-
-
-def _assert_attr_eq(a, b, attr):
-  _assert_eq(getattr(a, attr), getattr(b, attr), attr)
-
-
-class PassiveTest(absltest.TestCase):
-
-  def test_passive(self):
-    m = test_util.load_test_file('pendula.xml')
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.ctrl = np.array(
-        [0.1, -0.1, 0.2, 0.3, -0.4, 0.5, -0.6, 0.1, -0.2, 0.1, 0.2]
-    )
-    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-
-    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'qfrc_passive')
-    _assert_attr_eq(d, dx, 'qfrc_gravcomp')
-
-    # test with fluid forces
-    m.opt.density = 0.01
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'qfrc_passive')
-    _assert_attr_eq(d, dx, 'qfrc_gravcomp')
-
-    m.opt.viscosity = 0.02
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'qfrc_passive')
-    _assert_attr_eq(d, dx, 'qfrc_gravcomp')
-
-    m.opt.wind = np.array([0.03, 0.04, 0.05])
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'qfrc_passive')
-    _assert_attr_eq(d, dx, 'qfrc_gravcomp')
-
-    # test disable passive
-    mx = mx.tree_replace(
-        {'opt.disableflags': mjx.DisableBit.SPRING | mjx.DisableBit.DAMPER}
-    )
-    dx = jax.jit(mjx.passive)(mx, mjx.put_data(m, d))
-    np.testing.assert_allclose(dx.qfrc_passive, 0)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/ray.py b/mjx/mujoco/mjx/_src/ray.py
deleted file mode 100644
index aaafc5a3..00000000
--- a/mjx/mujoco/mjx/_src/ray.py
+++ /dev/null
@@ -1,317 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Functions for ray interesection testing."""
-
-from typing import Sequence, Tuple
-
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco.mjx._src import math
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import GeomType
-from mujoco.mjx._src.types import Model
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-def _ray_quad(
-    a: jax.Array, b: jax.Array, c: jax.Array
-) -> Tuple[jax.Array, jax.Array]:
-  """Returns two solutions for quadratic: a*x^2 + 2*b*x + c = 0."""
-  det = b * b - a * c
-  det_2 = jp.sqrt(det)
-
-  x0, x1 = math.safe_div(-b - det_2, a), math.safe_div(-b + det_2, a)
-  x0 = jp.where((det < mujoco.mjMINVAL) | (x0 < 0), jp.inf, x0)
-  x1 = jp.where((det < mujoco.mjMINVAL) | (x1 < 0), jp.inf, x1)
-
-  return x0, x1
-
-
-def _ray_plane(
-    size: jax.Array,
-    pnt: jax.Array,
-    vec: jax.Array,
-) -> jax.Array:
-  """Returns the distance at which a ray intersects with a plane."""
-  x = -math.safe_div(pnt[2], vec[2])
-
-  valid = vec[2] <= -mujoco.mjMINVAL  # z-vec pointing towards front face
-  valid &= x >= 0
-  # only within rendered rectangle
-  p = pnt[0:2] + x * vec[0:2]
-  valid &= jp.all((size[0:2] <= 0) | (jp.abs(p) <= size[0:2]))
-
-  return jp.where(valid, x, jp.inf)
-
-
-def _ray_sphere(
-    size: jax.Array,
-    pnt: jax.Array,
-    vec: jax.Array,
-) -> jax.Array:
-  """Returns the distance at which a ray intersects with a sphere."""
-  x0, x1 = _ray_quad(vec @ vec, vec @ pnt, pnt @ pnt - size[0] * size[0])
-  x = jp.where(jp.isinf(x0), x1, x0)
-
-  return x
-
-
-def _ray_capsule(
-    size: jax.Array,
-    pnt: jax.Array,
-    vec: jax.Array,
-) -> jax.Array:
-  """Returns the distance at which a ray intersects with a capsule."""
-
-  # cylinder round side: (x*lvec+lpnt)'*(x*lvec+lpnt) = size[0]*size[0]
-  a = vec[0:2] @ vec[0:2]
-  b = vec[0:2] @ pnt[0:2]
-  c = pnt[0:2] @ pnt[0:2] - size[0] * size[0]
-
-  # solve a*x^2 + 2*b*x + c = 0
-  x0, x1 = _ray_quad(a, b, c)
-  x = jp.where(jp.isinf(x0), x1, x0)
-
-  # make sure round solution is between flat sides
-  x = jp.where(jp.abs(pnt[2] + x * vec[2]) <= size[1], x, jp.inf)
-
-  # top cap
-  dif = pnt - jp.array([0, 0, size[1]])
-  x0, x1 = _ray_quad(vec @ vec, vec @ dif, dif @ dif - size[0] * size[0])
-  # accept only top half of sphere
-  x = jp.where((pnt[2] + x0 * vec[2] >= size[1]) & (x0 < x), x0, x)
-  x = jp.where((pnt[2] + x1 * vec[2] >= size[1]) & (x1 < x), x1, x)
-
-  # bottom cap
-  dif = pnt + jp.array([0, 0, size[1]])
-  x0, x1 = _ray_quad(vec @ vec, vec @ dif, dif @ dif - size[0] * size[0])
-
-  # accept only bottom half of sphere
-  x = jp.where((pnt[2] + x0 * vec[2] <= -size[1]) & (x0 < x), x0, x)
-  x = jp.where((pnt[2] + x1 * vec[2] <= -size[1]) & (x1 < x), x1, x)
-
-  return x
-
-
-def _ray_ellipsoid(
-    size: jax.Array,
-    pnt: jax.Array,
-    vec: jax.Array,
-) -> jax.Array:
-  """Returns the distance at which a ray intersects with an ellipsoid."""
-
-  # invert size^2
-  s = math.safe_div(1, jp.square(size))
-
-  # (x*lvec+lpnt)' * diag(1/size^2) * (x*lvec+lpnt) = 1
-  svec = s * vec
-  a = svec @ vec
-  b = svec @ pnt
-  c = (s * pnt) @ pnt - 1
-
-  # solve a*x^2 + 2*b*x + c = 0
-  x0, x1 = _ray_quad(a, b, c)
-  x = jp.where(jp.isinf(x0), x1, x0)
-
-  return x
-
-
-def _ray_box(
-    size: jax.Array,
-    pnt: jax.Array,
-    vec: jax.Array,
-) -> jax.Array:
-  """Returns the distance at which a ray intersects with a box."""
-
-  iface = jp.array([(1, 2), (0, 2), (0, 1), (1, 2), (0, 2), (0, 1)])
-
-  # side +1, -1
-  # solution of pnt[i] + x * vec[i] = side * size[i]
-  x = jp.concatenate([math.safe_div(size - pnt,  vec), -math.safe_div(size + pnt, vec)])
-
-  # intersection with face
-  p0 = pnt[iface[:, 0]] + x * vec[iface[:, 0]]
-  p1 = pnt[iface[:, 1]] + x * vec[iface[:, 1]]
-  valid = jp.abs(p0) <= size[iface[:, 0]]
-  valid &= jp.abs(p1) <= size[iface[:, 1]]
-  valid &= x >= 0
-
-  return jp.min(jp.where(valid, x, jp.inf))
-
-
-def _ray_triangle(
-    vert: jax.Array,
-    pnt: jax.Array,
-    vec: jax.Array,
-    basis: jax.Array,
-) -> jax.Array:
-  """Returns the distance at which a ray intersects with a triangle."""
-  # project difference vectors in ray normal plane
-  planar = jp.dot(vert - pnt, basis)
-
-  # determine if origin is inside planar projection of triangle
-  # A = (p0-p2, p1-p2), b = -p2, solve A*t = b
-  A = planar[0:2] - planar[2]  # pylint: disable=invalid-name
-  b = -planar[2]
-  det = A[0, 0] * A[1, 1] - A[1, 0] * A[0, 1]
-
-  t0 = math.safe_div(A[1, 1] * b[0] - A[1, 0] * b[1], det)
-  t1 = math.safe_div(-A[0, 1] * b[0] + A[0, 0] * b[1], det)
-  valid = (t0 >= 0) & (t1 >= 0) & (t0 + t1 <= 1)
-
-  # intersect ray with plane of triangle
-  nrm = jp.cross(vert[0] - vert[2], vert[1] - vert[2])
-  dist = math.safe_div(jp.dot(vert[2] - pnt, nrm), jp.dot(vec, nrm))
-  valid &= dist >= 0
-  dist = jp.where(valid, dist, jp.inf)
-
-  return dist
-
-
-def _ray_mesh(
-    m: Model,
-    geom_id: np.ndarray,
-    unused_size: jax.Array,
-    pnt: jax.Array,
-    vec: jax.Array,
-) -> Tuple[jax.Array, jax.Array]:
-  """Returns the best distance and geom_id for ray mesh intersections."""
-  data_id = m.geom_dataid[geom_id]
-
-  ray_basis = lambda x: jp.array(math.orthogonals(math.normalize(x))).T
-  basis = jax.vmap(ray_basis)(vec)
-
-  faceadr = np.append(m.mesh_faceadr, m.nmeshface)
-  vertadr = np.append(m.mesh_vertadr, m.nmeshvert)
-
-  dists, geom_ids = [], []
-  for i, id_ in enumerate(data_id):
-    face = m.mesh_face[faceadr[id_] : faceadr[id_ + 1]]
-    vert = m.mesh_vert[vertadr[id_] : vertadr[id_ + 1]]
-    vert = jp.array(vert[face])
-    dist = jax.vmap(_ray_triangle, in_axes=(0, None, None, None))(
-        vert, pnt[i], vec[i], basis[i]
-    )
-    dists.append(dist)
-    geom_ids.append(np.repeat(geom_id[i], dist.size))
-
-  dists = jp.concatenate(dists)
-  min_id = jp.argmin(dists)
-  # Grab the best distance amongst all meshes, bypassing the argmin in `ray`.
-  # This avoids having to compute the best distance per mesh.
-  dist = dists[min_id, None]
-  id_ = jp.array(np.concatenate(geom_ids))[min_id, None]
-
-  return dist, id_
-
-
-_RAY_FUNC = {
-    GeomType.PLANE: _ray_plane,
-    GeomType.SPHERE: _ray_sphere,
-    GeomType.CAPSULE: _ray_capsule,
-    GeomType.ELLIPSOID: _ray_ellipsoid,
-    GeomType.BOX: _ray_box,
-    GeomType.MESH: _ray_mesh,
-}
-
-
-def ray(
-    m: Model,
-    d: Data,
-    pnt: jax.Array,
-    vec: jax.Array,
-    geomgroup: Sequence[int] = (),
-    flg_static: bool = True,
-    bodyexclude: Sequence[int] | int = -1,
-) -> Tuple[jax.Array, jax.Array]:
-  """Returns the geom id and distance at which a ray intersects with a geom.
-
-  Args:
-    m: MJX model
-    d: MJX data
-    pnt: ray origin point (3,)
-    vec: ray direction    (3,)
-    geomgroup: group inclusion/exclusion mask, or empty to ignore
-    flg_static: if True, allows rays to intersect with static geoms
-    bodyexclude: ignore geoms on specified body id or sequence of body ids
-
-  Returns:
-    Distance from ray origin to geom surface (or -1.0 for no intersection) and
-    id of intersected geom (or -1 for no intersection)
-  """
-
-  dists, ids = [], []
-  if not isinstance(bodyexclude, Sequence):
-    bodyexclude = [bodyexclude]
-  geom_filter = flg_static | (m.body_weldid[m.geom_bodyid] != 0)
-  # Loop through the body IDs to exclude and update the filter
-  for bodyid in bodyexclude:
-    geom_filter &= (m.geom_bodyid != bodyid)
-  if geomgroup:
-    geomgroup = np.array(geomgroup, dtype=bool)  # pyrefly: ignore[bad-assignment]
-    geom_filter &= geomgroup[np.clip(m.geom_group, 0, mujoco.mjNGROUP)]  # pyrefly: ignore[bad-index]
-
-  # map ray to local geom frames
-  geom_pnts = jax.vmap(lambda x, y: x.T @ (pnt - y))(d.geom_xmat, d.geom_xpos)
-  geom_vecs = jax.vmap(lambda x: x.T @ vec)(d.geom_xmat)
-
-  geom_filter_dyn = (m.geom_matid != -1) | (m.geom_rgba[:, 3] != 0)
-  geom_filter_dyn &= (m.geom_matid == -1) | (m.mat_rgba[m.geom_matid, 3] != 0)
-  for geom_type, fn in _RAY_FUNC.items():
-    (id_,) = np.nonzero(geom_filter & (m.geom_type == geom_type))
-
-    if id_.size == 0:
-      continue
-
-    args = m.geom_size[id_], geom_pnts[id_], geom_vecs[id_]
-
-    if geom_type == GeomType.MESH:
-      dist, id_ = fn(m, id_, *args)  # pyrefly: ignore[bad-argument-count, bad-argument-type]
-    else:
-      dist = jax.vmap(fn)(*args)
-
-    dist = jp.where(geom_filter_dyn[id_], dist, jp.inf)
-    dists, ids = dists + [dist], ids + [id_]
-
-  if not ids:
-    return jp.array(-1), jp.array(-1.0)
-
-  dists = jp.concatenate(dists)
-  ids = jp.concatenate(ids)
-  min_id = jp.argmin(dists)
-  dist = jp.where(jp.isinf(dists[min_id]), -1, dists[min_id])
-  id_ = jp.where(jp.isinf(dists[min_id]), -1, ids[min_id])
-
-  return dist, id_
-
-
-def ray_geom(
-    size: jax.Array, pnt: jax.Array, vec: jax.Array, geomtype: GeomType
-) -> jax.Array:
-  """Returns the distance at which a ray intersects with a primitive geom.
-
-  Args:
-    size: geom size (1,), (2,), or (3,)
-    pnt: ray origin point (3,)
-    vec: ray direction    (3,)
-    geomtype: type of geom
-
-  Returns:
-    dist: distance from ray origin to geom surface
-  """
-  return _RAY_FUNC[geomtype](size, pnt, vec)  # pyrefly: ignore[bad-argument-type, bad-return, missing-argument]
diff --git a/mjx/mujoco/mjx/_src/ray_test.py b/mjx/mujoco/mjx/_src/ray_test.py
deleted file mode 100644
index ed0d6f19..00000000
--- a/mjx/mujoco/mjx/_src/ray_test.py
+++ /dev/null
@@ -1,260 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for ray functions."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import test_util
-import numpy as np
-
-# tolerance for difference between MuJoCo and MJX ray calculations - mostly
-# due to float precision
-_TOLERANCE = 5e-5
-
-
-def _assert_eq(a, b, name):
-  tol = _TOLERANCE * 10  # avoid test noise
-  err_msg = f'mismatch: {name}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
-
-
-class RayTest(parameterized.TestCase):
-
-  def test_ray_nothing(self):
-    """Tests that MJX ray returns -1 when nothing is hit."""
-    m = test_util.load_test_file('ray.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-
-    pnt, vec = jp.array([12.146, 1.865, 3.895]), jp.array([0, 0, -1.0])
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, -1, 'geom_id')
-    _assert_eq(dist, -1, 'dist')
-
-  def test_ray_plane(self):
-    """Tests MJX ray<>plane matches MuJoCo."""
-    m = test_util.load_test_file('ray.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-
-    # looking down at a slight angle
-    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, 0, 'geom_id')
-    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
-    _assert_eq(dist, mj_dist, 'dist')
-
-    # looking on wrong side of plane
-    pnt = jp.array([0, 0, -0.5])
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, -1, 'geom_id')
-    _assert_eq(dist, -1, 'dist')
-
-  def test_ray_sphere(self):
-    """Tests MJX ray<>sphere matches MuJoCo."""
-    m = test_util.load_test_file('ray.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-
-    # looking down at sphere at a slight angle
-    pnt, vec = jp.array([0, 0, 1.6]), jp.array([0.1, 0.2, -1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, 1, 'geom_id')
-    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
-    _assert_eq(dist, mj_dist, 'dist')
-
-  def test_ray_capsule(self):
-    """Tests MJX ray<>capsule matches MuJoCo."""
-    m = test_util.load_test_file('ray.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-
-    # looking down at capsule at a slight angle
-    pnt, vec = jp.array([0.5, 1, 1.6]), jp.array([0, 0.05, -1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, 2, 'geom_id')
-    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
-    _assert_eq(dist, mj_dist, 'dist')
-
-    # looking up at capsule from below
-    pnt, vec = jp.array([-0.5, 1, 0.05]), jp.array([0, 0.05, 1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, 2, 'geom_id')
-    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
-    _assert_eq(dist, mj_dist, 'dist')
-
-    # looking at cylinder of capsule from the side
-    pnt, vec = jp.array([0, 1, 0.75]), jp.array([1, 0, 0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, 2, 'geom_id')
-    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
-    _assert_eq(dist, mj_dist, 'dist')
-
-  def test_ray_box(self):
-    """Tests MJX ray<>box matches MuJoCo."""
-    m = test_util.load_test_file('ray.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-
-    # looking down at box at a slight angle
-    pnt, vec = jp.array([1, 0, 1.6]), jp.array([0, 0.05, -1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, 3, 'geom_id')
-    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
-    _assert_eq(dist, mj_dist, 'dist')
-
-    # looking up at box from below
-    pnt, vec = jp.array([1, 0, 0.05]), jp.array([0, 0.05, 1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, 3, 'geom_id')
-    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
-    _assert_eq(dist, mj_dist, 'dist')
-
-  def test_ray_mesh(self):
-    """Tests MJX ray<>mesh matches MuJoCo."""
-    m = test_util.load_test_file('ray.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-
-    # look at the tetrahedron
-    pnt, vec = jp.array([2.0, 2.0, 2.0]), -jp.array([1.0, 1.0, 1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, 4, 'geom_id')
-
-    pnt, vec, geomid = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, geomid)
-    _assert_eq(geomid, 4, 'geom_id')
-    _assert_eq(dist, mj_dist, 'dist-tetrahedron')
-
-    # look away from the dodecahedron
-    pnt, vec = jp.array([4.0, 2.0, 2.0]), jp.array([2.0, 1.0, 1.0])
-    vec /= jp.linalg.norm(vec)
-    _, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, -1, 'geom_id')
-
-    # look at the dodecahedron
-    pnt, vec = jp.array([4.0, 2.0, 2.0]), -jp.array([2.0, 1.0, 1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, 5, 'geom_id')
-
-    pnt, vec, geomid = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, geomid)
-    _assert_eq(geomid, 5, 'geom_id')
-    _assert_eq(dist, mj_dist, 'dist-dodecahedron')
-
-  def test_ray_geomgroup(self):
-    """Tests ray geomgroup filter."""
-    m = test_util.load_test_file('ray.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-    ray_fn = jax.jit(mjx.ray, static_argnums=(4,))
-
-    # hits plane with geom_group[0] = 1
-    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
-    vec /= jp.linalg.norm(vec)
-    geomgroup = (1, 0, 0, 0, 0, 0)
-    dist, geomid = ray_fn(mx, dx, pnt, vec, geomgroup)
-    _assert_eq(geomid, 0, 'geom_id')
-    pnt, vec, unused = np.array(pnt), np.array(vec), np.zeros(1, dtype=np.int32)
-    mj_dist = mujoco.mj_ray(m, d, pnt, vec, None, 1, -1, unused)
-    _assert_eq(dist, mj_dist, 'dist')
-
-    # nothing hit with geom_group[0] = 0
-    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
-    vec /= jp.linalg.norm(vec)
-    geomgroup = (0, 0, 0, 0, 0, 0)
-    dist, geomid = ray_fn(mx, dx, pnt, vec, geomgroup)
-    _assert_eq(geomid, -1, 'geom_id')
-    _assert_eq(dist, -1, 'dist')
-
-  def test_ray_flg_static(self):
-    """Tests ray flg_static filter."""
-    m = test_util.load_test_file('ray.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-    ray_fn = jax.jit(mjx.ray, static_argnames=('flg_static',))
-
-    # nothing hit with flg_static = False
-    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = ray_fn(mx, dx, pnt, vec, flg_static=False)
-    _assert_eq(geomid, -1, 'geom_id')
-    _assert_eq(dist, -1, 'dist')
-
-  @parameterized.named_parameters(
-      ('int', 0),
-      ('sequence', (0,)),
-  )
-  def test_ray_bodyexclude(self, bodyexclude):
-    """Tests ray bodyexclude filter."""
-    m = test_util.load_test_file('ray.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-    ray_fn = jax.jit(mjx.ray, static_argnames=('bodyexclude',))
-
-    # The ray should hit the plane (geom 0, body 0), but body 0 is excluded.
-    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = ray_fn(mx, dx, pnt, vec, bodyexclude=bodyexclude)
-    _assert_eq(geomid, -1, 'geom_id')
-    _assert_eq(dist, -1, 'dist')
-
-  def test_ray_invisible(self):
-    """Tests ray doesn't hit transparent geoms."""
-    m = test_util.load_test_file('ray.xml')
-    # nothing hit with transparent geoms:
-    m.geom_rgba = 0
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx, dx = mjx.put_model(m), mjx.put_data(m, d)
-
-    pnt, vec = jp.array([2, 1, 3.0]), jp.array([0.1, 0.2, -1.0])
-    vec /= jp.linalg.norm(vec)
-    dist, geomid = jax.jit(mjx.ray)(mx, dx, pnt, vec)
-    _assert_eq(geomid, -1, 'geom_id')
-    _assert_eq(dist, -1, 'dist')
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/render.py b/mjx/mujoco/mjx/_src/render.py
deleted file mode 100644
index bc5fc044..00000000
--- a/mjx/mujoco/mjx/_src/render.py
+++ /dev/null
@@ -1,83 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Render helpers for MJX."""
-
-from typing import Any
-
-import jax
-import mujoco.mjx.warp as mjxw
-
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import Impl
-from mujoco.mjx._src.types import Model
-# pylint: enable=g-importing-member
-
-
-def _require_segmentation_enabled(warp_rc) -> None:
-  """Raises if the render context has no segmentation-enabled cameras."""
-  if not (warp_rc.seg_adr.numpy() >= 0).any():
-    raise ValueError(
-        'Render context was not configured with segmentation rendering. '
-        'Pass render_seg=True or enable it for at least one camera in '
-        'create_render_context.'
-    )
-
-
-def _call_render(
-    m: Model,
-    d: Data,
-    ctx: Any,
-    require_seg: bool = False,
-) -> tuple[jax.Array, jax.Array, jax.Array, Data]:
-  if m.impl == Impl.WARP and d.impl == Impl.WARP and mjxw.WARP_INSTALLED:
-    from mujoco.mjx.warp import render as mjxw_render  # pylint: disable=g-import-not-at-top  # pytype: disable=import-error
-    from mujoco.mjx.warp import render_context  # pylint: disable=g-import-not-at-top  # pytype: disable=import-error
-
-    warp_rc = render_context.get(ctx)
-    if require_seg:
-      _require_segmentation_enabled(warp_rc)
-    rgb, depth, seg, token_array = mjxw_render.render(m, d, ctx)
-    token = token_array.reshape(
-        d._impl._jax_token.shape  # pytype: disable=attribute-error
-    )
-    d = d.tree_replace({'_impl._jax_token': token})  # pyrefly: ignore[bad-assignment]
-    return rgb, depth, seg, d
-
-  raise NotImplementedError('render only implemented for MuJoCo Warp.')
-
-
-def render(m: Model, d: Data, ctx: Any) -> tuple[jax.Array, jax.Array, Data]:
-  """Render packed RGB and depth buffers.
-
-  Returns:
-    A tuple ``(rgb, depth, d)`` where ``rgb`` and ``depth`` are packed buffers
-    and ``d`` is the updated ``Data`` carrying the post-render execution token.
-  """
-  rgb, depth, unused_seg, d = _call_render(m, d, ctx)
-  return rgb, depth, d
-
-
-def render_with_segmentation(
-    m: Model, d: Data, ctx: Any
-) -> tuple[jax.Array, jax.Array, jax.Array, Data]:
-  """Render and return RGB, depth, and packed segmentation outputs.
-
-  Returns:
-    A tuple ``(rgb, depth, seg, d)`` where the first three are packed buffers
-    and ``d`` is the updated ``Data`` carrying the post-render execution token.
-  """
-  rgb, depth, seg, d = _call_render(m, d, ctx, require_seg=True)
-  return rgb, depth, seg, d
diff --git a/mjx/mujoco/mjx/_src/render_test.py b/mjx/mujoco/mjx/_src/render_test.py
deleted file mode 100644
index 16fda7bc..00000000
--- a/mjx/mujoco/mjx/_src/render_test.py
+++ /dev/null
@@ -1,132 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Integration tests for render + get_rgb / get_depth / get_segmentation."""
-
-import functools
-import os
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import forward
-from mujoco.mjx._src import io
-import mujoco.mjx.warp as mjxw
-from mujoco.mjx.warp import test_util as tu
-import numpy as np
-
-_FORCE_TEST = os.environ.get('MJX_WARP_FORCE_TEST', '0') == '1'
-
-_WIDTH, _HEIGHT = 32, 32
-
-
-def _setup(batch_size):
-  """Returns (mx, dx_batch, rc) for humanoid with segmentation enabled."""
-  m = tu.load_test_file('humanoid/humanoid.xml')
-  d = mujoco.MjData(m)
-  mujoco.mj_forward(m, d)
-
-  mx = mjx.put_model(m, impl='warp')
-  worldids = jp.arange(batch_size)
-  dx_batch = jax.vmap(functools.partial(tu.make_data, m))(worldids)
-  dx_batch = jax.jit(jax.vmap(forward.forward, in_axes=(None, 0)))(
-      mx, dx_batch
-  )
-
-  rc = mjx.create_render_context(
-      mjm=m,
-      nworld=batch_size,
-      cam_res=(_WIDTH, _HEIGHT),
-      render_rgb=True,
-      render_depth=True,
-      render_seg=True,
-      enabled_geom_groups=[0, 1, 2],
-  )
-  dx_batch = jax.jit(mjx.refit_bvh)(mx, dx_batch, rc.pytree())
-  return mx, dx_batch, rc
-
-
-class RenderIntegrationTest(parameterized.TestCase):
-  """Tests the full render → unpack pipeline."""
-
-  def setUp(self):
-    super().setUp()
-    if mjxw.WARP_INSTALLED:
-      import warp  # pylint: disable=g-import-not-at-top
-      warp.config.kernel_cache_dir = '/tmp/wp_kernel_cache_dir_RenderIntTest'
-    np.random.seed(0)
-
-  def _maybe_skip(self):
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-  @parameterized.parameters(1, 4)
-  def test_render_unpack(self, batch_size):
-    """render_with_segmentation → get_rgb / get_depth / get_segmentation."""
-    self._maybe_skip()
-    mx, dx_batch, rc = _setup(batch_size)
-
-    rgb_packed, depth_packed, seg_packed, dx_batch = jax.jit(
-        mjx.render_with_segmentation
-    )(mx, dx_batch, rc.pytree())
-
-    rc_pytree = rc.pytree()
-    rgb = mjx.get_rgb(rc_pytree, 0, rgb_packed)
-    depth = mjx.get_depth(rc_pytree, 0, depth_packed, 5.0)
-    seg = mjx.get_segmentation(rc_pytree, 0, seg_packed)
-
-    self.assertEqual(rgb.shape, (batch_size, _HEIGHT, _WIDTH, 3))
-    self.assertEqual(depth.shape, (batch_size, _HEIGHT, _WIDTH, 1))
-    self.assertEqual(seg.shape, (batch_size, _HEIGHT, _WIDTH))
-    self.assertGreater(np.count_nonzero(np.asarray(rgb)), 0)
-    self.assertGreater(np.count_nonzero(np.asarray(depth)), 0)
-    self.assertTrue(np.any(np.asarray(seg) != -1))
-
-  @parameterized.parameters((4,),)
-  def test_render_unpack_vmap(self, batch_size):
-    """render_with_segmentation → vmap(get_rgb / get_depth / get_seg)."""
-    self._maybe_skip()
-    mx, dx_batch, rc = _setup(batch_size)
-
-    rgb_packed, depth_packed, seg_packed, dx_batch = jax.jit(
-        mjx.render_with_segmentation
-    )(mx, dx_batch, rc.pytree())
-
-    rc_pytree = rc.pytree()
-    rgb = jax.vmap(mjx.get_rgb, in_axes=(None, None, 0))(
-        rc_pytree, 0, rgb_packed
-    )
-    depth = jax.vmap(mjx.get_depth, in_axes=(None, None, 0, None))(
-        rc_pytree, 0, depth_packed, 5.0
-    )
-    seg = jax.vmap(mjx.get_segmentation, in_axes=(None, None, 0))(
-        rc_pytree, 0, seg_packed
-    )
-
-    self.assertEqual(rgb.shape, (batch_size, _HEIGHT, _WIDTH, 3))
-    self.assertEqual(depth.shape, (batch_size, _HEIGHT, _WIDTH, 1))
-    self.assertEqual(seg.shape, (batch_size, _HEIGHT, _WIDTH))
-    self.assertGreater(np.count_nonzero(np.asarray(rgb)), 0)
-    self.assertGreater(np.count_nonzero(np.asarray(depth)), 0)
-    self.assertTrue(np.any(np.asarray(seg) != -1))
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/render_util.py b/mjx/mujoco/mjx/_src/render_util.py
deleted file mode 100644
index 69c31675..00000000
--- a/mjx/mujoco/mjx/_src/render_util.py
+++ /dev/null
@@ -1,151 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""JAX render utilities for unpacking render output from MuJoCo Warp."""
-
-from typing import TYPE_CHECKING
-
-import jax
-import jax.numpy as jnp
-import mujoco.mjx.warp as mjxw
-
-if TYPE_CHECKING:
-  from mujoco.mjx.warp.render_context import RenderContextPytree
-
-
-def _get_camera_resolution(warp_rc, cam_id: int) -> tuple[int, int]:
-  """Returns (width, height) for a given camera."""
-  width = int(warp_rc.cam_res.numpy()[cam_id][0])
-  height = int(warp_rc.cam_res.numpy()[cam_id][1])
-  return width, height
-
-
-def get_rgb(
-    rc: 'RenderContextPytree',
-    cam_id: int,
-    rgb_data: jax.Array,
-) -> jax.Array:
-  """Unpack uint32 ABGR pixel data into float32 RGB.
-
-  Args:
-    rc: RenderContextPytree.
-    cam_id: Camera index to extract.
-    rgb_data: Packed render output, shape (..., total_pixels) as uint32.
-
-  Returns:
-    Float32 RGB array with shape (..., H, W, 3), values in [0, 1].
-    Any leading batch axes in `rgb_data` are preserved.
-
-  Raises:
-    RuntimeError: If Warp is not installed.
-  """
-  if not mjxw.WARP_INSTALLED:
-    raise RuntimeError('Warp not installed.')
-
-  from mujoco.mjx.warp import render_context  # pylint: disable=g-import-not-at-top
-
-  warp_rc = render_context.get(rc)
-  rgb_adr = int(warp_rc.rgb_adr.numpy()[cam_id])
-  width, height = _get_camera_resolution(warp_rc, cam_id)
-
-  packed = jax.lax.dynamic_slice_in_dim(
-      rgb_data, rgb_adr, width * height, axis=rgb_data.ndim - 1
-  )
-
-  b = (packed & 0xFF).astype(jnp.float32) / 255.0
-  g = ((packed >> 8) & 0xFF).astype(jnp.float32) / 255.0
-  r = ((packed >> 16) & 0xFF).astype(jnp.float32) / 255.0
-  rgb = jnp.stack([r, g, b], axis=-1)
-  return rgb.reshape(packed.shape[:-1] + (height, width, 3))
-
-
-def get_depth(
-    rc: 'RenderContextPytree',
-    cam_id: int,
-    depth_data: jax.Array,
-    depth_scale: float,
-) -> jax.Array:
-  """Extract and normalize depth data for a camera.
-
-  Args:
-    rc: RenderContextPytree.
-    cam_id: Camera index to extract.
-    depth_data: Raw depth output, shape (..., total_pixels) as float32.
-    depth_scale: Scale factor for normalizing depth values.
-
-  Returns:
-    Float32 depth array with shape (..., H, W, 1), clamped to [0, 1].
-    Any leading batch axes in `depth_data` are preserved.
-
-  Raises:
-    RuntimeError: If Warp is not installed.
-  """
-  if not mjxw.WARP_INSTALLED:
-    raise RuntimeError('Warp not installed.')
-
-  from mujoco.mjx.warp import render_context  # pylint: disable=g-import-not-at-top
-
-  warp_rc = render_context.get(rc)
-  depth_adr = int(warp_rc.depth_adr.numpy()[cam_id])
-  width, height = _get_camera_resolution(warp_rc, cam_id)
-
-  raw = jax.lax.dynamic_slice_in_dim(
-      depth_data, depth_adr, width * height, axis=depth_data.ndim - 1
-  )
-
-  depth = jnp.clip(raw / depth_scale, 0.0, 1.0)
-  return depth.reshape(raw.shape[:-1] + (height, width, 1))
-
-
-def get_segmentation(
-    rc: 'RenderContextPytree',
-    cam_id: int,
-    seg_data: jax.Array,
-) -> jax.Array:
-  """Extract segmentation object IDs for a camera.
-
-  Args:
-    rc: RenderContextPytree.
-    cam_id: Camera index to extract.
-    seg_data: Packed segmentation output, shape (..., total_pixels, 2). Each
-      pixel stores a ``(object_id, object_type)`` pair matching the
-      ``mujoco_warp`` convention.
-
-  Returns:
-    Integer segmentation array with shape (..., H, W). Each pixel contains the
-    object ID (geom or mesh index, ``-1`` for background).
-
-  Raises:
-    RuntimeError: If Warp is not installed.
-    ValueError: If segmentation is not enabled for the selected camera.
-  """
-  if not mjxw.WARP_INSTALLED:
-    raise RuntimeError('Warp not installed.')
-
-  from mujoco.mjx.warp import render_context  # pylint: disable=g-import-not-at-top
-
-  warp_rc = render_context.get(rc)
-  seg_adr = int(warp_rc.seg_adr.numpy()[cam_id])
-  if seg_adr < 0:
-    raise ValueError(
-        f'Camera {cam_id} was not configured with segmentation rendering.'
-    )
-
-  width, height = _get_camera_resolution(warp_rc, cam_id)
-  # seg_data shape: (..., total_pixels, 2); slice along pixel axis.
-  packed = jax.lax.dynamic_slice_in_dim(
-      seg_data, seg_adr, width * height, axis=seg_data.ndim - 2
-  )
-  # Extract object_id (index 0), discard object_type (index 1).
-  return packed[..., 0].reshape(packed.shape[:-2] + (height, width))
diff --git a/mjx/mujoco/mjx/_src/render_util_test.py b/mjx/mujoco/mjx/_src/render_util_test.py
deleted file mode 100644
index 963745d9..00000000
--- a/mjx/mujoco/mjx/_src/render_util_test.py
+++ /dev/null
@@ -1,233 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-import os
-from unittest import mock
-
-from absl.testing import absltest
-import jax
-import jax.numpy as jnp
-import numpy as np
-
-from mujoco.mjx._src import io
-from mujoco.mjx._src import render_util
-import mujoco.mjx.warp as mjxw
-from mujoco.mjx.warp.render_context import RenderContextPytree
-
-_FORCE_TEST = os.environ.get('MJX_WARP_FORCE_TEST', '0') == '1'
-
-
-def _fake_render_context(ncam, width, height, render_seg=True):
-  """Fake RenderContext for testing."""
-  rc = mock.MagicMock()
-  rgb_adr = np.arange(ncam, dtype=np.int32) * width * height
-  depth_adr = np.arange(ncam, dtype=np.int32) * width * height
-  if isinstance(render_seg, bool):
-    render_seg = [render_seg] * ncam
-  seg_adr = np.full(ncam, -1, dtype=np.int32)
-  seg_offset = 0
-  for i, enabled in enumerate(render_seg):
-    if enabled:
-      seg_adr[i] = seg_offset
-      seg_offset += width * height
-  cam_res = np.tile([width, height], (ncam, 1)).astype(np.int32)
-  rc.rgb_adr.numpy.return_value = rgb_adr
-  rc.depth_adr.numpy.return_value = depth_adr
-  rc.seg_adr.numpy.return_value = seg_adr
-  rc.cam_res.numpy.return_value = cam_res
-  return rc
-
-
-class RenderUtilTest(absltest.TestCase):
-
-  def setUp(self):
-    super().setUp()
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-  def test_get_rgb(self):
-    width, height = 4, 4
-    warp_rc = _fake_render_context(1, width, height)
-    rc = mock.MagicMock(spec=RenderContextPytree, key=0)
-    rgb_data = jnp.zeros((width * height,), dtype=jnp.uint32)
-
-    with mock.patch.dict(
-        'mujoco.mjx.warp.render_context._MJX_RENDER_CONTEXT_BUFFERS',
-        {(0, None): warp_rc},
-    ):
-      rgb = jax.jit(render_util.get_rgb, static_argnums=(0, 1))(rc, 0, rgb_data)
-
-    self.assertEqual(rgb.shape, (height, width, 3))
-
-  def test_get_rgb_preserves_leading_dims(self):
-    width, height = 4, 4
-    warp_rc = _fake_render_context(1, width, height)
-    rc = mock.MagicMock(spec=RenderContextPytree, key=0)
-
-    with mock.patch.dict(
-        'mujoco.mjx.warp.render_context._MJX_RENDER_CONTEXT_BUFFERS',
-        {(0, None): warp_rc},
-    ):
-      for leading_shape in ((1,), (3,), (2, 3)):
-        with self.subTest(leading_shape=leading_shape):
-          rgb_data = jnp.zeros(
-              leading_shape + (width * height,), dtype=jnp.uint32
-          )
-          rgb = jax.jit(render_util.get_rgb, static_argnums=(0, 1))(
-              rc, 0, rgb_data
-          )
-
-          self.assertEqual(rgb.shape, leading_shape + (height, width, 3))
-
-  def test_get_rgb_vmap(self):
-    nworld, width, height = 3, 4, 4
-    warp_rc = _fake_render_context(1, width, height)
-    rc = mock.MagicMock(spec=RenderContextPytree, key=0)
-    rgb_data = jnp.zeros((nworld, width * height), dtype=jnp.uint32)
-
-    with mock.patch.dict(
-        'mujoco.mjx.warp.render_context._MJX_RENDER_CONTEXT_BUFFERS',
-        {(0, None): warp_rc},
-    ):
-      rgb = jax.jit(
-          jax.vmap(render_util.get_rgb, in_axes=(None, None, 0)),
-          static_argnums=(0, 1),
-      )(rc, 0, rgb_data)
-
-    self.assertEqual(rgb.shape, (nworld, height, width, 3))
-
-  def test_get_depth(self):
-    width, height = 4, 4
-    warp_rc = _fake_render_context(1, width, height)
-    rc = mock.MagicMock(spec=RenderContextPytree, key=0)
-    depth_data = jnp.zeros((width * height,), dtype=jnp.float32)
-
-    with mock.patch.dict(
-        'mujoco.mjx.warp.render_context._MJX_RENDER_CONTEXT_BUFFERS',
-        {(0, None): warp_rc},
-    ):
-      depth = jax.jit(render_util.get_depth, static_argnums=(0, 1, 3))(
-          rc, 0, depth_data, 5.0
-      )
-
-    self.assertEqual(depth.shape, (height, width, 1))
-
-  def test_get_depth_preserves_leading_dims(self):
-    width, height = 4, 4
-    warp_rc = _fake_render_context(1, width, height)
-    rc = mock.MagicMock(spec=RenderContextPytree, key=0)
-
-    with mock.patch.dict(
-        'mujoco.mjx.warp.render_context._MJX_RENDER_CONTEXT_BUFFERS',
-        {(0, None): warp_rc},
-    ):
-      for leading_shape in ((1,), (3,), (2, 3)):
-        with self.subTest(leading_shape=leading_shape):
-          depth_data = jnp.zeros(
-              leading_shape + (width * height,), dtype=jnp.float32
-          )
-          depth = jax.jit(render_util.get_depth, static_argnums=(0, 1, 3))(
-              rc, 0, depth_data, 5.0
-          )
-
-          self.assertEqual(depth.shape, leading_shape + (height, width, 1))
-
-  def test_get_depth_vmap(self):
-    nworld, width, height = 3, 4, 4
-    warp_rc = _fake_render_context(1, width, height)
-    rc = mock.MagicMock(spec=RenderContextPytree, key=0)
-    depth_data = jnp.zeros((nworld, width * height), dtype=jnp.float32)
-
-    with mock.patch.dict(
-        'mujoco.mjx.warp.render_context._MJX_RENDER_CONTEXT_BUFFERS',
-        {(0, None): warp_rc},
-    ):
-      depth = jax.jit(
-          jax.vmap(render_util.get_depth, in_axes=(None, None, 0, None)),
-          static_argnums=(0, 1, 3),
-      )(rc, 0, depth_data, 5.0)
-
-    self.assertEqual(depth.shape, (nworld, height, width, 1))
-
-  def test_get_segmentation(self):
-    width, height = 4, 4
-    warp_rc = _fake_render_context(1, width, height)
-    rc = mock.MagicMock(spec=RenderContextPytree, key=0)
-    objids = jnp.arange(width * height, dtype=jnp.int32)
-    # Shape: (total_pixels, 2) — (object_id, object_type) per pixel.
-    seg_data = jnp.stack([objids, jnp.ones_like(objids)], axis=-1)
-
-    with mock.patch.dict(
-        'mujoco.mjx.warp.render_context._MJX_RENDER_CONTEXT_BUFFERS',
-        {(0, None): warp_rc},
-    ):
-      segmentation = jax.jit(
-          render_util.get_segmentation, static_argnums=(0, 1)
-      )(rc, 0, seg_data)
-
-    self.assertEqual(segmentation.shape, (height, width))
-    np.testing.assert_array_equal(
-        np.asarray(segmentation),
-        np.arange(width * height, dtype=np.int32).reshape(height, width),
-    )
-
-  def test_get_segmentation_preserves_leading_dims(self):
-    width, height = 4, 4
-    warp_rc = _fake_render_context(1, width, height)
-    rc = mock.MagicMock(spec=RenderContextPytree, key=0)
-
-    with mock.patch.dict(
-        'mujoco.mjx.warp.render_context._MJX_RENDER_CONTEXT_BUFFERS',
-        {(0, None): warp_rc},
-    ):
-      for leading_shape in ((1,), (3,), (2, 3)):
-        with self.subTest(leading_shape=leading_shape):
-          n = int(np.prod(leading_shape)) * width * height
-          objids = jnp.arange(n, dtype=jnp.int32)
-          seg_data = jnp.stack(
-              [objids, jnp.ones_like(objids)], axis=-1
-          ).reshape(leading_shape + (width * height, 2))
-          segmentation = jax.jit(
-              render_util.get_segmentation, static_argnums=(0, 1)
-          )(rc, 0, seg_data)
-
-          self.assertEqual(segmentation.shape, leading_shape + (height, width))
-
-  def test_get_segmentation_vmap(self):
-    nworld, width, height = 3, 4, 4
-    warp_rc = _fake_render_context(1, width, height)
-    rc = mock.MagicMock(spec=RenderContextPytree, key=0)
-    n = nworld * width * height
-    objids = jnp.arange(n, dtype=jnp.int32)
-    seg_data = jnp.stack(
-        [objids, jnp.ones_like(objids)], axis=-1
-    ).reshape(nworld, width * height, 2)
-
-    with mock.patch.dict(
-        'mujoco.mjx.warp.render_context._MJX_RENDER_CONTEXT_BUFFERS',
-        {(0, None): warp_rc},
-    ):
-      segmentation = jax.jit(
-          jax.vmap(render_util.get_segmentation, in_axes=(None, None, 0)),
-          static_argnums=(0, 1),
-      )(rc, 0, seg_data)
-
-    self.assertEqual(segmentation.shape, (nworld, height, width))
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/scan.py b/mjx/mujoco/mjx/_src/scan.py
deleted file mode 100644
index 7bfac7d9..00000000
--- a/mjx/mujoco/mjx/_src/scan.py
+++ /dev/null
@@ -1,497 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Scan across data ordered by body joint types and kinematic tree order."""
-
-from typing import Any, Callable, TypeVar
-
-import jax
-from jax import numpy as jp
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import JointType
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import TrnType
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-Y = TypeVar('Y')
-
-
-# TODO(erikfrey): re-check if this really helps perf
-def _take(obj: Y, idx: np.ndarray) -> Y:
-  """Takes idxs on any pytree given to it.
-
-  XLA executes x[jp.array([1, 2, 3])] slower than x[1:4], so we detect when
-  take indices are contiguous, and convert them to slices.
-
-  Args:
-    obj: an input pytree
-    idx: indices to take
-
-  Returns:
-    obj pytree with leaves taken by idxs
-  """
-
-  if isinstance(obj, np.ndarray):
-    return obj[idx]
-
-  def take(x):
-    # TODO(erikfrey): if this helps perf, add support for striding too
-    if not x.shape[0]:
-      return x
-    elif (
-        len(idx.shape) == 1
-        and idx.size > 0
-        and (idx == np.arange(idx[0], idx[0] + idx.size)).all()
-        and (idx > 0).all()
-    ):
-      x = x[idx[0] : idx[-1] + 1]
-    else:
-      x = x.take(jp.array(idx), axis=0, mode='wrap')
-    return x
-
-  return jax.tree_util.tree_map(take, obj)
-
-
-def _q_bodyid(m: Model) -> np.ndarray:
-  """Returns the bodyid for each qpos adress."""
-  q_bodyids = [np.array([], dtype=np.int32)]
-  for jnt_type, jnt_bodyid in zip(m.jnt_type, m.jnt_bodyid):
-    width = {JointType.FREE: 7, JointType.BALL: 4}.get(jnt_type, 1)
-    q_bodyids.append(np.repeat(jnt_bodyid, width))
-  return np.concatenate(q_bodyids)
-
-
-def _q_jointid(m: Model) -> np.ndarray:
-  """Returns the jointid for each qpos adress."""
-  q_jointid = [np.array([], dtype=np.int32)]
-  for i, jnt_type in enumerate(m.jnt_type):
-    width = {JointType.FREE: 7, JointType.BALL: 4}.get(jnt_type, 1)
-    q_jointid.append(np.repeat(i, width))
-  return np.concatenate(q_jointid)
-
-
-def _index(haystack: np.ndarray, needle: np.ndarray) -> np.ndarray:
-  """Returns indexes in haystack for elements in needle."""
-  idx = np.argsort(haystack)
-  sorted_haystack = haystack[idx]
-  sorted_idx = np.searchsorted(sorted_haystack, needle)
-  idx = np.take(idx, sorted_idx, mode='clip')
-  idx[haystack[idx] != needle] = -1
-
-  return idx
-
-
-def _nvmap(f: Callable[..., Y], *args) -> Y:
-  """A vmap that accepts numpy arrays.
-
-  Numpy arrays are statically vmapped, and the elements are passed to f as
-  static arguments.  The implication is that all the elements of numpy array
-  arguments must be the same.
-
-  Args:
-    f: function to be mapped over
-    *args: args to be mapped along, passed to f
-
-  Returns:
-    the result of vmapping f over args
-
-  Raises:
-    RuntimeError: if numpy arg elements do not match
-  """
-  for arg in args:
-    if isinstance(arg, np.ndarray) and not np.all(arg == arg[0]):
-      raise RuntimeError(f'numpy arg elements do not match: {arg}')
-
-  # split out numpy and jax args
-  np_args = [a[0] if isinstance(a, np.ndarray) else None for a in args]
-  args = [a if n is None else None for n, a in zip(np_args, args)]
-
-  # remove empty args that we should not vmap over
-  args = jax.tree_util.tree_map(lambda a: a if a.shape[0] else None, args)
-  in_axes = [None if a is None else 0 for a in args]
-
-  def outer_f(*args, np_args=np_args):
-    args = [a if n is None else n for n, a in zip(args, np_args)]
-    return f(*args)
-
-  return jax.vmap(outer_f, in_axes=in_axes)(*args)
-
-
-def _check_input(m: Model, args: Any, in_types: str) -> None:
-  """Checks that scan input has the right shape."""
-  if m.nv == 0:
-    raise ValueError('Scan across Model with zero DoFs unsupported.')
-  size = {
-      'b': m.nbody,
-      'j': m.njnt,
-      'q': m.nq,
-      'v': m.nv,
-      'u': m.nu,
-      'a': m.na,
-      's': m.nsite,
-      'c': m.ncam,
-  }
-  for idx, (arg, typ) in enumerate(zip(args, in_types)):
-    if len(arg) != size[typ]:
-      raise IndexError((
-          f'f argument "{idx}" with type "{typ}" has length "{len(arg)}"'
-          f' which does not match the in_types[{idx}] expected length of '
-          f'"{size[typ]}".'
-      ))
-
-
-def _check_output(
-    y: jax.Array, take_ids: np.ndarray, typ: str, idx: int
-) -> None:
-  """Checks that scan output has the right shape."""
-  if y.shape[0] != take_ids.shape[0]:
-    raise IndexError((
-        f'f output "{idx}" with type "{typ}" has shape "{y.shape[0]}" '
-        f'which does not match the out_types[{idx}] expected size of'
-        f' "{take_ids.shape[0]}".'
-    ))
-
-
-def flat(
-    m: Model,
-    f: Callable[..., Y],
-    in_types: str,
-    out_types: str,
-    *args,
-    group_by: str = 'j',
-) -> Y:
-  r"""Scan a function across bodies or actuators.
-
-  Scan group data according to type and batch shape then calls vmap(f) on it.\
-
-  Args:
-    m: an mjx model
-    f: a function to be scanned with the following type signature:
-        def f(key, *args) -> y
-      where
-        ``key`` gives grouping key for this function instance
-        ``*args`` are input arguments with types matching ``in_types``
-        ``y`` is an output arguments with types matching ``out_type``
-    in_types: string specifying the type of each input arg:
-      'b': split according to bodies
-      'j': split according to joint types
-      'q': split according to generalized coordinates (len(qpos))
-      'v': split according to degrees of freedom (len(qvel))
-      'u': split according to actuators
-      'a': split according to actuator activations
-      'c': split according to camera
-    out_types: string specifying the types the output dimension matches
-    *args: the input arguments corresponding to ``in_types``
-    group_by: the type to group by, either joints or actuators
-
-  Returns:
-    The stacked outputs of ``f`` matching the model's order.
-
-  Raises:
-      IndexError: if function output shape does not match out_types shape
-  """
-  _check_input(m, args, in_types)
-
-  if group_by not in {'j', 'u', 'c'}:
-    raise NotImplementedError(f'group by type "{group_by}" not implemented.')
-
-  def key_j(type_ids):
-    if any(t in 'jqv' for t in in_types + out_types):
-      return tuple(m.jnt_type[type_ids['j']])
-    return ()
-
-  def type_ids_j(m, i):
-    return {
-        'b': i,
-        'j': np.nonzero(m.jnt_bodyid == i)[0],
-        'v': np.nonzero(m.dof_bodyid == i)[0],
-        'q': np.nonzero(_q_bodyid(m) == i)[0],
-    }
-
-  def key_u(type_ids):
-    ids_u, ids_j = type_ids['u'], type_ids['j']
-    return (
-        m.actuator_biastype[ids_u],
-        m.actuator_gaintype[ids_u],
-        m.actuator_dyntype[ids_u],
-        m.actuator_trntype[ids_u],
-        m.jnt_type[ids_j],
-        m.actuator_trnid[ids_u, 1] == -1,  # key by refsite being present
-    )
-
-  def type_ids_u(m, i):
-    typ_ids = {
-        'u': i,
-        'a': m.actuator_actadr[i],
-        'j': (
-            m.actuator_trnid[i, 0]
-            if m.actuator_trntype[i] in (TrnType.JOINT, TrnType.JOINTINPARENT)
-            else -1
-        ),
-        's': (
-            m.actuator_trnid[i]
-            if m.actuator_trntype[i] == TrnType.SITE
-            else np.array([-1, -1])
-        ),
-    }
-    v, q = np.array([-1]), np.array([-1])
-    if m.actuator_trntype[i] in (TrnType.JOINT, TrnType.JOINTINPARENT):
-      # v/q are associated with the joint transmissions only
-      v = np.nonzero(m.dof_jntid == typ_ids['j'])[0]
-      q = np.nonzero(_q_jointid(m) == typ_ids['j'])[0]
-
-    typ_ids.update({'v': v, 'q': q})
-
-    return typ_ids
-
-  def key_c(type_ids):
-    return m.cam_mode[type_ids['c']], m.cam_targetbodyid[type_ids['c']] >= 0
-
-  def type_ids_c(unused_m, i):
-    return {
-        'c': i,
-    }
-
-  type_ids_fn = {'j': type_ids_j, 'u': type_ids_u, 'c': type_ids_c}[group_by]
-  key_fn = {'j': key_j, 'u': key_u, 'c': key_c}[group_by]
-
-  # build up a grouping of type take-ids in body/actuator order
-  key_typ_ids, order = {}, []
-  all_types = set(in_types + out_types)
-  n_items = {'j': m.nbody, 'u': m.nu, 'c': m.ncam}[group_by]
-  for i in np.arange(n_items, dtype=np.int32):
-    typ_ids = type_ids_fn(m, i)
-
-    # create grouping key
-    key = key_fn(typ_ids)
-    order.append((key, typ_ids))
-
-    # add ids per type to the corresponding group
-    for t in all_types:
-      out = key_typ_ids.setdefault(key, {})
-      val = np.expand_dims(typ_ids[t], axis=0)
-      out[t] = np.concatenate((out[t], val)) if t in out else val
-
-  key_typ_ids = list(sorted(key_typ_ids.items()))
-
-  # use this grouping to take the right data subsets and call vmap(f)
-  ys = []
-  for _, typ_ids in key_typ_ids:
-    # only execute f if we would actually take something from the result
-    if any(typ_ids[v].size > 0 for v in out_types):
-      f_args = [_take(arg, typ_ids[typ]) for arg, typ in zip(args, in_types)]
-      y = _nvmap(f, *f_args)
-      ys.append(y)
-    else:
-      ys.append(None)
-
-  # remove None results from the final output
-  key_typ_ids = [v for y, v in zip(ys, key_typ_ids) if y is not None]
-  ys = [y for y in ys if y is not None]
-  ys_keys = set([k for k, *_ in key_typ_ids])
-  order = [o for k, o in order if k in ys_keys]
-
-  # get the original input order
-  order = [[o[t] for o in order] for t in all_types]
-  order = [
-      np.concatenate(o) if isinstance(o[0], np.ndarray) else np.array(o)
-      for o in order
-  ]
-  order = dict(zip(all_types, order))
-
-  # concatenate back to a single tree and drop the grouping dimension
-  f_ret_is_seq = isinstance(ys[0], (list, tuple))
-  ys = ys if f_ret_is_seq else [[y] for y in ys]
-  flat_ = {'j': 'b', 'u': 'uaj', 'c': 'c'}[group_by]
-  ys = [
-      [v if typ in flat_ else jp.concatenate(v) for v, typ in zip(y, out_types)]
-      for y in ys
-  ]
-  ys = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *ys)
-
-  # put concatenated results back in order
-  reordered_ys = []
-  for i, (y, typ) in enumerate(zip(ys, out_types)):
-    _check_output(y, order[typ], typ, i)
-    ids = np.concatenate([np.hstack(v[typ]) for _, v in key_typ_ids])
-    input_order = order[typ][np.where(order[typ] != -1)]
-    reordered_ys.append(_take(y, _index(ids, input_order)))
-  y = reordered_ys if f_ret_is_seq else reordered_ys[0]
-
-  return y  # pyrefly: ignore[bad-return]
-
-
-def body_tree(
-    m: Model,
-    f: Callable[..., Y],
-    in_types: str,
-    out_types: str,
-    *args,
-    reverse: bool = False,
-) -> Y:
-  r"""Scan ``f`` across bodies in tree order, carrying results up/down the tree.
-
-  This function groups bodies according to level and attached joints, then calls
-  vmap(f) on them.\
-
-  Args:
-    m: an mjx mjmodel
-    f: a function to be scanned with the following type signature:
-        def f(y, *args) -> y
-      where
-        ``y`` is the carry value and return value
-        ``*args`` are input arguments with types matching ``in_types``
-    in_types: string specifying the type of each input arg:
-      'b': split according to bodies
-      'j': split according to joint types
-      'q': split according to generalized coordinates (len(qpos))
-      'v': split according to degrees of freedom (len(qvel))
-    out_types: string specifying the types the output dimension matches
-    *args: the input arguments corresponding to ``in_types``
-    reverse: if True, scans up the body tree from leaves to root, otherwise
-      root to leaves
-
-  Returns:
-    The stacked outputs of ``f`` matching the model's body order.
-
-  Raises:
-      IndexError: if function output shape does not match out_types shape
-  """
-  _check_input(m, args, in_types)
-
-  # group together bodies that will be processed together.  grouping key:
-  #   1) the tree depth: parent bodies are processed first, so that they are
-  #      available as carry input to child bodies (or reverse if reverse=True)
-  #   2) the types of arguments passed to f, both carry and *args:
-  #      * for 'b' arguments, there is no extra grouping
-  #      * for 'j' arguments, we group by joint type
-  #      * for 'q' arguments, we group by q width
-  #      * for 'v' arguments, we group by dof width
-  depths = np.zeros(m.nbody, dtype=np.int32)
-
-  # map key => body id
-  key_body_ids = {}
-  for body_id in range(m.nbody):
-    parent_id = -1
-    if body_id > 0:
-      parent_id = m.body_parentid[body_id]
-      depths[body_id] = 1 + depths[parent_id]
-
-    # create grouping key: depth, carry, args
-    key = (depths[body_id],)
-
-    for i, t in enumerate(out_types + in_types):
-      id_ = parent_id if i < len(out_types) else body_id
-      if t == 'b':
-        continue
-      elif t == 'j':
-        key += tuple(m.jnt_type[np.nonzero(m.jnt_bodyid == id_)[0]])
-      elif t == 'v':
-        key += (len(np.nonzero(m.dof_bodyid == id_)[0]),)
-      elif t == 'q':
-        key += (len(np.nonzero(_q_bodyid(m) == id_)[0]),)
-
-    body_ids = key_body_ids.get(key, np.array([], dtype=np.int32))
-    key_body_ids[key] = np.append(body_ids, body_id)
-
-  # find parent keys of each key.  a key may have multiple parents if the
-  # carry output keys of distinct parents are the same. e.g.:
-  # - depth 0 body 1 (slide joint)
-  # -- depth 1 body 1 (hinge joint)
-  # - depth 0 body 2 (ball joint)
-  # -- depth 1 body 2 (hinge joint)
-  # given a scan with 'j' in the in_types, we would group depth 0 bodies
-  # separately but we may group depth 1 bodies together
-  key_parents = {}
-
-  for key, body_ids in key_body_ids.items():
-    body_ids = body_ids[body_ids != 0]  # ignore worldbody, has no parent
-    if body_ids.size == 0:
-      continue
-    # find any key which has a body id that is a parent of these body_ids
-    pids = m.body_parentid[body_ids]
-    parents = {k for k, v in key_body_ids.items() if np.isin(v, pids).any()}
-    key_parents[key] = list(sorted(parents))
-
-  # key => take indices
-  key_in_take, key_y_take = {}, {}
-  for key, body_ids in key_body_ids.items():
-    for i, typ in enumerate(in_types + out_types):
-      if typ == 'b':
-        ids = body_ids
-      elif typ == 'j':
-        ids = np.stack([np.nonzero(m.jnt_bodyid == b)[0] for b in body_ids])
-      elif typ == 'v':
-        ids = np.stack([np.nonzero(m.dof_bodyid == b)[0] for b in body_ids])
-      elif typ == 'q':
-        ids = np.stack([np.nonzero(_q_bodyid(m) == b)[0] for b in body_ids])
-      else:
-        raise ValueError(f'Unknown in_type: {typ}')
-      if i < len(in_types):
-        key_in_take.setdefault(key, []).append(ids)
-      else:
-        key_y_take.setdefault(key, []).append(np.hstack(ids))  # pyrefly: ignore[no-matching-overload]
-
-  # use this grouping to take the right data subsets and call vmap(f)
-  keys = sorted(key_body_ids, reverse=reverse)
-  key_y = {}
-  for key in keys:
-    carry = None
-
-    if reverse:
-      child_keys = [k for k, v in key_parents.items() if key in v]
-
-      for child_key in child_keys:
-        y = key_y[child_key]
-        body_ids = key_body_ids[key]
-        parent_ids = m.body_parentid[key_body_ids[child_key]]
-        id_map = _index(body_ids, parent_ids)
-
-        def index_sum(x, i=id_map, s=body_ids.size):
-          return jax.ops.segment_sum(x, i, s)
-
-        y = jax.tree_util.tree_map(index_sum, y)
-        carry = y if carry is None else jax.tree_util.tree_map(jp.add, carry, y)
-    elif key in key_parents:
-      ys = [key_y[p] for p in key_parents[key]]
-      y = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *ys)
-      body_ids = np.concatenate([key_body_ids[p] for p in key_parents[key]])
-      parent_ids = m.body_parentid[key_body_ids[key]]
-      take_fn = lambda x, i=_index(body_ids, parent_ids): _take(x, i)
-      carry = jax.tree_util.tree_map(take_fn, y)
-
-    f_args = [_take(arg, ids) for arg, ids in zip(args, key_in_take[key])]
-    key_y[key] = _nvmap(f, carry, *f_args)
-
-  # slice None results from the final output
-  keys = [k for k in keys if key_y[k] is not None]
-
-  # concatenate ys, drop grouping dimensions, put back in order
-  y = []
-  for i, typ in enumerate(out_types):
-    y_typ = [key_y[key] for key in keys]
-    if len(out_types) > 1:
-      y_typ = [y_[i] for y_ in y_typ]
-    if typ != 'b':
-      y_typ = jax.tree_util.tree_map(jp.concatenate, y_typ)
-    y_typ = jax.tree_util.tree_map(lambda *x: jp.concatenate(x), *y_typ)
-    y_take = np.argsort(np.concatenate([key_y_take[key][i] for key in keys]))
-    _check_output(y_typ, y_take, typ, i)
-    y.append(_take(y_typ, y_take))
-
-  y = y[0] if len(out_types) == 1 else y
-
-  return y  # pyrefly: ignore[bad-return]
diff --git a/mjx/mujoco/mjx/_src/scan_test.py b/mjx/mujoco/mjx/_src/scan_test.py
deleted file mode 100644
index 758ebe89..00000000
--- a/mjx/mujoco/mjx/_src/scan_test.py
+++ /dev/null
@@ -1,228 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for scan functions."""
-
-from absl.testing import absltest
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-# pylint: disable=g-importing-member
-from mujoco.mjx._src import scan
-from mujoco.mjx._src.types import JointType
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-class ScanTest(absltest.TestCase):
-
-  _MULTI_DOF_XML = """
-      <mujoco>
-        <compiler inertiafromgeom="true"/>
-        <worldbody>
-          <body>
-            <joint type="free"/>
-            <geom size=".15" mass="1" type="sphere"/>
-            <body>
-              <joint axis="1 0 0" pos="1 0 0" type="ball"/>
-              <geom size=".15" mass="2" type="sphere"/>
-            </body>
-            <body>
-              <joint axis="1 0 0" pos="2 0 0" type="hinge"/>
-              <joint axis="0 1 0" pos="3 0 0" type="slide"/>
-              <geom size=".15" mass="3" type="sphere"/>
-            </body>
-          </body>
-        </worldbody>
-      </mujoco>
-    """
-
-  def test_flat_empty(self):
-    """Test scanning over just world body."""
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco model="world_body">
-        <worldbody/>
-      </mujoco>
-    """)
-    m = mjx.put_model(m)
-
-    def fn(body_id):
-      return body_id + 1
-
-    b_in = jp.array([1])
-    self.assertRaises(ValueError, scan.flat, m, fn, 'b', 'b', b_in)
-
-  def test_flat_joints(self):
-    """Tests scanning over bodies with joints of different types."""
-    m = mujoco.MjModel.from_xml_string(self._MULTI_DOF_XML)
-    m = mjx.put_model(m)
-
-    # we will test two functions:
-    #   1) j_fn receives jnt_types as a jp array
-    #   2) s_fn receives jnt_types as a static np array and can switch on it
-    j_fn = lambda jnt_pos, val: val + jp.sum(jnt_pos)
-    s_fn = lambda jnt_types, val: val + sum(jnt_types)
-
-    b_in = jp.array([[0, 0], [1, 1], [2, 2], [3, 3]])
-    b_expect = jp.array([[0, 0], [1, 1], [3, 3], [8, 8]])
-    b_out = scan.flat(m, j_fn, 'jb', 'b', m.jnt_pos, b_in)
-    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
-
-    b_out = scan.flat(m, s_fn, 'jb', 'b', m.jnt_type, b_in)
-    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
-
-    # None should be omitted from the results
-    def no_free(jnt_types, val):
-      if tuple(jnt_types) == (JointType.FREE,):
-        return None
-      return val + sum(jnt_types)
-
-    b_expect = jp.array([[0, 0], [3, 3], [8, 8]])
-    b_out = scan.flat(m, no_free, 'jb', 'b', m.jnt_type, b_in)
-    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
-
-    # we should not call functions for which we know we will discard the results
-    def no_world(jnt_types, val):
-      if jnt_types.size == 0:
-        self.fail('world has no dofs, should not be called')
-      return val + sum(jnt_types)
-
-    v_in = jp.ones((m.nv, 1))
-    scan.flat(m, no_world, 'jv', 'v', m.jnt_type, v_in)
-
-  def test_body_tree(self):
-    """Tests tree scanning over bodies with different joint counts."""
-    m = mujoco.MjModel.from_xml_string(self._MULTI_DOF_XML)
-    m = mjx.put_model(m)
-
-    # we will test two functions:
-    #   1) j_fn receives jnt_pos which is a jp array
-    #   2) s_fn receives jnt_types which is a static np array
-    def j_fn(carry, jnt_pos, val):
-      carry = jp.zeros_like(val) if carry is None else carry
-      return carry + val + jp.sum(jnt_pos)
-
-    def s_fn(carry, jnt_types, val):
-      carry = jp.zeros_like(val) if carry is None else carry
-      return carry + val + sum(jnt_types)
-
-    b_in = jp.array([[0, 0], [1, 1], [2, 2], [3, 3]])
-    b_expect = jp.array([[0, 0], [1, 1], [4, 4], [9, 9]])
-
-    b_out = scan.body_tree(m, j_fn, 'jb', 'b', m.jnt_pos, b_in)
-    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
-
-    b_out = scan.body_tree(m, s_fn, 'jb', 'b', m.jnt_type, b_in)
-    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
-
-    # and reverse too:
-    b_expect = jp.array([[12, 12], [12, 12], [3, 3], [8, 8]])
-    b_out = scan.body_tree(m, j_fn, 'jb', 'b', m.jnt_pos, b_in, reverse=True)
-    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
-
-    b_out = scan.body_tree(m, s_fn, 'jb', 'b', m.jnt_type, b_in, reverse=True)
-    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
-
-    # None should be omitted from the results
-    def no_free(carry, jnt_types, val):
-      if tuple(jnt_types) == (JointType.FREE,):
-        return None
-      carry = jp.zeros_like(val) if carry is None else carry
-      return carry + val + sum(jnt_types)
-
-    b_expect = jp.array([[0, 0], [3, 3], [8, 8]])
-    b_out = scan.body_tree(m, no_free, 'jb', 'b', m.jnt_type, b_in)
-    np.testing.assert_equal(np.array(b_out), np.array(b_expect))
-
-  _MULTI_ACT_XML = """
-    <mujoco>
-      <option timestep="0.02"/>
-      <compiler autolimits="true"/>
-      <default>
-        <geom contype="0" conaffinity="0"/>
-      </default>
-      <worldbody>
-        <body pos="0 0 -0.5">
-          <joint type="free" name="joint0" range="-37.81 86.15"/>
-          <geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
-          <body pos="0 0 -0.5">
-            <joint axis="1 0 0" type="hinge" name="joint1" range="-32.88 5.15" actuatorfrcrange="-0.48 0.72"/>
-            <geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
-            <body pos="0 0 -0.5">
-              <joint axis="0 1 0" type="slide" name="joint2" range="-83.31 54.77"/>
-              <joint axis="1 0 0" type="slide" name="joint3" range="-87.84 60.58" actuatorfrcrange="-0.62 0.28"/>
-              <joint axis="0 1 0" type="hinge" name="joint4" range="-49.96 83.03" actuatorfrcrange="-0.01 0.64"/>
-              <geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
-              <body pos="0 0 -0.5">
-                <joint axis="1 0 0" type="slide" name="joint5" range="-1.53 87.07" actuatorfrcrange="-0.06 0.26"/>
-                <joint axis="0 1 0" type="slide" name="joint6" range="-63.57 9.95"/>
-                <joint axis="1 0 0" type="hinge" name="joint7" range="-22.50 41.20" actuatorfrcrange="-0.41 0.84"/>
-                <geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
-                <body pos="0 0 -0.5">
-                  <joint axis="0 1 0" type="hinge" name="joint8" range="-34.67 72.56"/>
-                  <joint axis="1 0 0" type="hinge" name="joint9" range="-1.81 16.22" actuatorfrcrange="-0.41 0.14"/>
-                  <joint axis="1 0 0" type="ball" name="joint10" range="0.00 6.02" actuatorfrcrange="-0.74 0.12"/>
-                  <geom pos="0 0.5 0" size=".15" mass="1" type="sphere"/>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </worldbody>
-      <actuator>
-        <position joint="joint6" gear="1"/>
-        <intvelocity joint="joint1" kp="2000" actrange="-0.7 2.3"/>
-        <motor joint="joint3" gear="42"/>
-        <velocity joint="joint2" kv="123"/>
-        <position joint="joint0" ctrlrange="-0.9472 0.9472"/>
-        <intvelocity joint="joint7" kp="2000" actrange="-0.7 2.3"/>
-        <general joint="joint5" ctrlrange="0.1 2.34346" biastype="affine" gainprm="35 0 0" biasprm="0 -35 -0.65"/>
-        <general joint="joint4" ctrlrange="0.1 2.34346" biastype="affine" gainprm="35 0 0" biasprm="0 -35 -0.65"/>
-      </actuator>
-    </mujoco>
-  """
-
-  def test_scan_actuators(self):
-    """Tests scanning over actuators."""
-    m = mujoco.MjModel.from_xml_string(self._MULTI_ACT_XML)
-    m = mjx.put_model(m)
-
-    fn = lambda *args: args
-    args = (
-        m.actuator_gear,
-        m.jnt_type,
-        jp.arange(m.nq),
-        jp.arange(m.nv),
-        jp.array([1.4, 1.1]),
-    )
-    gear, jnt_typ, qadr, vadr, act = scan.flat(
-        m, fn, 'ujqva', 'ujqva', *args, group_by='u'
-    )
-
-    actuator_trnid = m.actuator_trnid[:, 0]
-    np.testing.assert_array_equal(gear, m.actuator_gear)
-    np.testing.assert_array_equal(jnt_typ, m.jnt_type[actuator_trnid])
-    np.testing.assert_array_equal(act, jp.array([1.4, 1.1]))
-    expected_vadr = np.concatenate(
-        [np.nonzero(m.dof_jntid == trnid)[0] for trnid in actuator_trnid]
-    )
-    np.testing.assert_array_equal(vadr, expected_vadr)
-    expected_qadr = np.concatenate(
-        [np.nonzero(scan._q_jointid(m) == i)[0] for i in actuator_trnid]
-    )
-    np.testing.assert_array_equal(qadr, expected_qadr)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/sensor.py b/mjx/mujoco/mjx/_src/sensor.py
deleted file mode 100644
index c1926fe4..00000000
--- a/mjx/mujoco/mjx/_src/sensor.py
+++ /dev/null
@@ -1,788 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Sensor functions."""
-
-import jax
-from jax import numpy as jp
-import mujoco
-# pylint: disable=g-importing-member
-from mujoco.mjx._src import math
-from mujoco.mjx._src import ray
-from mujoco.mjx._src import smooth
-from mujoco.mjx._src import support
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-from mujoco.mjx._src.types import ObjType
-from mujoco.mjx._src.types import SensorType
-from mujoco.mjx._src.types import TrnType
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-def _apply_cutoff(
-    sensor: jax.Array, cutoff: jax.Array, data_type: int
-) -> jax.Array:
-  """Clip sensor to cutoff value."""
-
-  @jax.vmap
-  def fn(sensor, cutoff):
-    if data_type == mujoco.mjtDataType.mjDATATYPE_REAL:
-      return jp.where(cutoff > 0, jp.clip(sensor, -cutoff, cutoff), sensor)
-    elif data_type == mujoco.mjtDataType.mjDATATYPE_POSITIVE:
-      return jp.where(cutoff > 0, jp.minimum(sensor, cutoff), sensor)
-    else:
-      return sensor
-
-  return fn(sensor, cutoff)
-
-
-def sensor_pos(m: Model, d: Data) -> Data:
-  """Compute position-dependent sensors values."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('sensor_pos requires JAX backend implementation.')
-
-  if m.opt.disableflags & DisableBit.SENSOR:
-    return d
-
-  # position and orientation by object type
-  objtype_data = {
-      int(ObjType.UNKNOWN): (
-          np.zeros((1, 3)),
-          np.expand_dims(np.eye(3), axis=0),
-      ),  # world
-      int(ObjType.BODY): (d.xipos, d.ximat),
-      int(ObjType.XBODY): (d.xpos, d.xmat),
-      int(ObjType.GEOM): (d.geom_xpos, d.geom_xmat),
-      int(ObjType.SITE): (d.site_xpos, d.site_xmat),
-      int(ObjType.CAMERA): (d.cam_xpos, d.cam_xmat),
-  }
-
-  # frame axis indexing
-  frame_axis = {
-      int(SensorType.FRAMEXAXIS): 0,
-      int(SensorType.FRAMEYAXIS): 1,
-      int(SensorType.FRAMEZAXIS): 2,
-  }
-
-  stage_pos = m.sensor_needstage == mujoco.mjtStage.mjSTAGE_POS
-  sensors, adrs = [], []
-
-  for sensor_type in set(m.sensor_type[stage_pos]):
-    idx = m.sensor_type == sensor_type
-    objid = m.sensor_objid[idx]
-    objtype = m.sensor_objtype[idx]
-    refid = m.sensor_refid[idx]
-    reftype = m.sensor_reftype[idx]
-    adr = m.sensor_adr[idx]
-    cutoff = m.sensor_cutoff[idx]
-    data_type = m.sensor_datatype[idx]
-
-    if sensor_type == SensorType.MAGNETOMETER:
-      sensor = jax.vmap(lambda xmat: xmat.T @ m.opt.magnetic)(
-          d.site_xmat[objid]
-      )
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    elif sensor_type == SensorType.CAMPROJECTION:
-
-      @jax.vmap
-      def _cam_project(
-          target_xpos, xpos, xmat, res, fovy, intrinsic, sensorsize, focal_flag
-      ):
-        translation = jp.eye(4).at[0:3, 3].set(-xpos)
-        rotation = jp.eye(4).at[:3, :3].set(xmat.T)
-
-        # focal transformation matrix (3 x 4)
-        f = 0.5 / jp.tan(fovy * jp.pi / 360.0) * res[1]
-        fx, fy = jp.where(
-            focal_flag,
-            intrinsic[:2] / (sensorsize[:2] + mujoco.mjMINVAL) * res[:2],
-            f,
-        )  # add mjMINVAL to denominator to prevent divide by zero warning
-
-        focal = jp.array([[-fx, 0, 0, 0], [0, fy, 0, 0], [0, 0, 1.0, 0]])
-
-        # image matrix (3 x 3)
-        image = jp.eye(3).at[:2, 2].set(res[0:2] / 2.0)
-
-        # projection matrix (3 x 4): product of all 4 matrices
-        proj = image @ focal @ rotation @ translation
-
-        # projection matrix multiplies homogenous [x, y, z, 1] vectors
-        pos_hom = jp.append(target_xpos, 1.0)
-
-        # project world coordinates into pixel space, see:
-        # https://en.wikipedia.org/wiki/3D_projection#Mathematical_formula
-        pixel_coord_hom = proj @ pos_hom
-
-        # avoid dividing by tiny numbers
-        denom = pixel_coord_hom[2]
-        denom = jp.where(
-            jp.abs(denom) < mujoco.mjMINVAL,
-            jp.clip(denom, -mujoco.mjMINVAL, mujoco.mjMINVAL),
-            denom,
-        )
-
-        # compute projection
-        sensor = pixel_coord_hom / denom
-
-        return sensor[:2]
-
-      sensorsize = m.cam_sensorsize[refid]
-      intrinsic = m.cam_intrinsic[refid]
-      fovy = m.cam_fovy[refid]
-      res = m.cam_resolution[refid]
-      focal_flag = np.logical_and(sensorsize[:, 0] != 0, sensorsize[:, 1] != 0)
-
-      target_xpos = d.site_xpos[objid]
-      xpos = d.cam_xpos[refid]
-      xmat = d.cam_xmat[refid]
-
-      sensor = _cam_project(
-          target_xpos, xpos, xmat, res, fovy, intrinsic, sensorsize, focal_flag
-      )
-      adr = (adr[:, None] + np.arange(2)[None]).reshape(-1)
-    elif sensor_type == SensorType.RANGEFINDER:
-      site_bodyid = m.site_bodyid[objid]
-      for sid in set(site_bodyid):
-        idxs = sid == site_bodyid
-        objids = objid[idxs]
-        site_xpos = d.site_xpos[objids]
-        site_mat = d.site_xmat[objids].reshape((-1, 9))[:, np.array([2, 5, 8])]
-        cutoffs = cutoff[idxs]
-        sensor, _ = jax.vmap(
-            ray.ray, in_axes=(None, None, 0, 0, None, None, None)
-        )(m, d, site_xpos, site_mat, (), True, sid)
-        sensors.append(_apply_cutoff(sensor, cutoffs, data_type[0]))
-        adrs.append(adr[idxs])
-      continue  # avoid adding to sensors/adrs list a second time
-    elif sensor_type == SensorType.JOINTPOS:
-      sensor = d.qpos[m.jnt_qposadr[objid]]
-    elif sensor_type == SensorType.TENDONPOS:
-      sensor = d.ten_length[objid]
-    elif sensor_type == SensorType.ACTUATORPOS:
-      sensor = d.actuator_length[objid]
-    elif sensor_type == SensorType.BALLQUAT:
-      jnt_qposadr = m.jnt_qposadr[objid, None] + np.arange(4)[None]
-      quat = d.qpos[jnt_qposadr]
-      sensor = jax.vmap(math.normalize)(quat)
-      adr = (adr[:, None] + np.arange(4)[None]).reshape(-1)
-    elif sensor_type == SensorType.FRAMEPOS:
-
-      def _framepos(xpos, xpos_ref, xmat_ref, refid):
-        return jp.where(refid == -1, xpos, xmat_ref.T @ (xpos - xpos_ref))
-
-      # evaluate for valid object and reference object type pairs
-      for ot, rt in set(zip(objtype, reftype)):
-        idxt = (objtype == ot) & (reftype == rt)
-        refidt = refid[idxt]
-        xpos, _ = objtype_data[int(ot)]
-        xpos_ref, xmat_ref = objtype_data[int(rt)]
-        xpos = xpos[objid[idxt]]
-        xpos_ref = xpos_ref[refidt]
-        xmat_ref = xmat_ref[refidt]
-        cutofft = cutoff[idxt]
-        sensor = jax.vmap(_framepos)(xpos, xpos_ref, xmat_ref, refidt)
-        adrt = adr[idxt, None] + np.arange(3)[None]
-        sensors.append(_apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
-        adrs.append(adrt.reshape(-1))
-      continue  # avoid adding to sensors/adrs list a second time
-    elif sensor_type in frame_axis:
-
-      def _frameaxis(xmat, xmat_ref, refid):
-        axis = xmat[:, frame_axis[sensor_type]]
-        return jp.where(refid == -1, axis, xmat_ref.T @ axis)
-
-      # evaluate for valid object and reference object type pairs
-      for ot, rt in set(zip(objtype, reftype)):
-        idxt = (objtype == ot) & (reftype == rt)
-        refidt = refid[idxt]
-        _, xmat = objtype_data[int(ot)]
-        _, xmat_ref = objtype_data[int(rt)]
-        xmat = xmat[objid[idxt]]
-        xmat_ref = xmat_ref[refidt]
-        cutofft = cutoff[idxt]
-        sensor = jax.vmap(_frameaxis)(xmat, xmat_ref, refidt)
-        adrt = adr[idxt, None] + np.arange(3)[None]
-        sensors.append(_apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
-        adrs.append(adrt.reshape(-1))
-      continue  # avoid adding to sensors/adrs list a second time
-    elif sensor_type == SensorType.FRAMEQUAT:
-
-      def _quat(otype, oid):
-        otype = int(otype)
-        if otype == ObjType.XBODY:
-          return d.xquat[oid]
-        elif otype == ObjType.BODY:
-          return jax.vmap(math.quat_mul)(d.xquat[oid], m.body_iquat[oid])
-        elif otype == ObjType.GEOM:
-          return jax.vmap(math.quat_mul)(
-              d.xquat[m.geom_bodyid[oid]], m.geom_quat[oid]
-          )
-        elif otype == ObjType.SITE:
-          return jax.vmap(math.quat_mul)(
-              d.xquat[m.site_bodyid[oid]], m.site_quat[oid]
-          )
-        elif otype == ObjType.CAMERA:
-          return jax.vmap(math.quat_mul)(
-              d.xquat[m.cam_bodyid[oid]], m.cam_quat[oid]
-          )
-        elif otype == ObjType.UNKNOWN:
-          return jp.tile(jp.array([1.0, 0.0, 0.0, 0.0]), (oid.size, 1))
-        else:
-          raise ValueError(f'Unknown object type: {otype}')
-
-      # evaluate for valid object and reference object type pairs
-      for ot, rt in set(zip(objtype, reftype)):
-        idxt = (objtype == ot) & (reftype == rt)
-        objidt = objid[idxt]
-        refidt = refid[idxt]
-        quat = _quat(ot, objidt)
-        refquat = _quat(rt, refidt)
-        cutofft = cutoff[idxt]
-        sensor = jax.vmap(
-            lambda q, r, rid: jp.where(
-                rid == -1, q, math.quat_mul(math.quat_inv(r), q)
-            )
-        )(quat, refquat, refidt)
-        adrt = adr[idxt, None] + np.arange(4)[None]
-        sensors.append(_apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
-        adrs.append(adrt.reshape(-1))
-      continue  # avoid adding to sensors/adrs list a second time
-    elif sensor_type == SensorType.SUBTREECOM:
-      sensor = d.subtree_com[objid]
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    elif sensor_type == SensorType.CLOCK:
-      sensor = jp.repeat(d.time, sum(idx))
-    else:
-      # TODO(taylorhowell): raise error after adding sensor check to io.py
-      continue  # unsupported sensor type
-
-    sensors.append(_apply_cutoff(sensor, cutoff, data_type[0]).reshape(-1))
-    adrs.append(adr)
-
-  if not adrs:
-    return d
-
-  sensordata = d.sensordata.at[np.concatenate(adrs)].set(
-      jp.concatenate(sensors)
-  )
-
-  return d.replace(sensordata=sensordata)
-
-
-def sensor_vel(m: Model, d: Data) -> Data:
-  """Compute velocity-dependent sensors values."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('sensor_vel requires JAX backend implementation.')
-
-  if m.opt.disableflags & DisableBit.SENSOR:
-    return d
-
-  # position and orientation by object type
-  objtype_data = {
-      int(ObjType.UNKNOWN): (
-          np.zeros((1, 3)),
-          np.expand_dims(np.eye(3), axis=0),
-          np.arange(1),
-      ),  # world
-      int(ObjType.BODY): (d.xipos, d.ximat, np.arange(m.nbody)),
-      int(ObjType.XBODY): (d.xpos, d.xmat, np.arange(m.nbody)),
-      int(ObjType.GEOM): (d.geom_xpos, d.geom_xmat, m.geom_bodyid),
-      int(ObjType.SITE): (d.site_xpos, d.site_xmat, m.site_bodyid),
-      int(ObjType.CAMERA): (d.cam_xpos, d.cam_xmat, m.cam_bodyid),
-  }
-
-  stage_vel = m.sensor_needstage == mujoco.mjtStage.mjSTAGE_VEL
-  sensor_types = set(m.sensor_type[stage_vel])
-
-  if sensor_types & {SensorType.SUBTREELINVEL, SensorType.SUBTREEANGMOM}:
-    d = smooth.subtree_vel(m, d)
-
-  sensors, adrs = [], []
-  for sensor_type in sensor_types:
-    idx = m.sensor_type == sensor_type
-    objid = m.sensor_objid[idx]
-    adr = m.sensor_adr[idx]
-    cutoff = m.sensor_cutoff[idx]
-    data_type = m.sensor_datatype[idx]
-
-    if sensor_type == SensorType.VELOCIMETER:
-      bodyid = m.site_bodyid[objid]
-      pos = d.site_xpos[objid]
-      rot = d.site_xmat[objid]
-      cvel = d.cvel[bodyid]
-      subtree_com = d.subtree_com[m.body_rootid[bodyid]]
-      sensor = jax.vmap(
-          lambda vec, dif, rot: rot.T @ (vec[3:] - jp.cross(dif, vec[:3]))
-      )(cvel, pos - subtree_com, rot)
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    elif sensor_type == SensorType.GYRO:
-      bodyid = m.site_bodyid[objid]
-      rot = d.site_xmat[objid]
-      ang = d.cvel[bodyid, :3]
-      sensor = jax.vmap(lambda ang, rot: rot.T @ ang)(ang, rot)
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    elif sensor_type == SensorType.JOINTVEL:
-      sensor = d.qvel[m.jnt_dofadr[objid]]
-    elif sensor_type == SensorType.TENDONVEL:
-      sensor = d._impl.ten_velocity[objid]  # pyrefly: ignore[missing-attribute]
-    elif sensor_type == SensorType.ACTUATORVEL:
-      sensor = d._impl.actuator_velocity[objid]  # pyrefly: ignore[missing-attribute]
-    elif sensor_type == SensorType.BALLANGVEL:
-      jnt_dotadr = m.jnt_dofadr[objid, None] + np.arange(3)[None]
-      sensor = d.qvel[jnt_dotadr]
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    elif sensor_type in {SensorType.FRAMELINVEL, SensorType.FRAMEANGVEL}:
-      objtype = m.sensor_objtype[idx]
-      reftype = m.sensor_reftype[idx]
-      refid = m.sensor_refid[idx]
-
-      # evaluate for valid object and reference object type pairs
-      for ot, rt in set(zip(objtype, reftype)):
-        idxt = (objtype == ot) & (reftype == rt)
-        objidt = objid[idxt]
-        refidt = refid[idxt]
-        cutofft = cutoff[idxt]
-
-        xpos, _, _ = objtype_data[int(ot)]
-        xposref, xmatref, _ = objtype_data[int(rt)]
-        xpos = xpos[objidt]
-        xposref = xposref[refidt]
-        xmatref = xmatref[refidt]
-
-        def _cvel_offset(otype, oid):
-          pos, _, bodyid = objtype_data[int(otype)]
-          pos = pos[oid]
-          bodyid = bodyid[oid]
-          return d.cvel[bodyid], pos - d.subtree_com[m.body_rootid[bodyid]]
-
-        cvel, offset = _cvel_offset(ot, objidt)
-        cvelref, offsetref = _cvel_offset(rt, refidt)
-        cangvel = cvel[:, :3]
-        cangvelref = cvelref[:, :3]
-
-        if sensor_type == SensorType.FRAMELINVEL:
-          clinvel = cvel[:, 3:]
-          clinvelref = cvelref[:, 3:]
-          xlinvel = clinvel - jp.cross(offset, cangvel)
-          xlinvelref = clinvelref - jp.cross(offsetref, cangvelref)
-          rvec = xpos - xposref
-          rel_vel = xlinvel - xlinvelref + jp.cross(rvec, cangvelref)
-          sensor = jp.where(
-              (refidt > -1)[:, None],
-              jax.vmap(lambda mat, vec: mat.T @ vec)(xmatref, rel_vel),
-              xlinvel,
-          )
-        elif sensor_type == SensorType.FRAMEANGVEL:
-          rel_vel = cangvel - cangvelref
-          sensor = jp.where(
-              (refidt > -1)[:, None],
-              jax.vmap(lambda mat, vec: mat.T @ vec)(xmatref, rel_vel),
-              cangvel,
-          )
-        else:
-          raise ValueError(f'Unknown sensor type: {sensor_type}')
-
-        adrt = adr[idxt, None] + np.arange(3)[None]
-
-        sensors.append(_apply_cutoff(sensor, cutofft, data_type[0]).reshape(-1))
-        adrs.append(adrt.reshape(-1))
-      continue  # avoid adding to sensors/adrs list a second time
-    elif sensor_type == SensorType.SUBTREELINVEL:
-      sensor = d._impl.subtree_linvel[objid]  # pyrefly: ignore[missing-attribute]
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    elif sensor_type == SensorType.SUBTREEANGMOM:
-      sensor = d._impl.subtree_angmom[objid]  # pyrefly: ignore[missing-attribute]
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    else:
-      # TODO(taylorhowell): raise error after adding sensor check to io.py
-      continue  # unsupported sensor type
-
-    sensors.append(_apply_cutoff(sensor, cutoff, data_type[0]).reshape(-1))
-    adrs.append(adr)
-
-  if not adrs:
-    return d
-
-  sensordata = d.sensordata.at[np.concatenate(adrs)].set(
-      jp.concatenate(sensors)
-  )
-
-  return d.replace(sensordata=sensordata)
-
-
-def sensor_acc(m: Model, d: Data) -> Data:
-  """Compute acceleration/force-dependent sensors values."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('sensor_acc requires JAX backend implementation.')
-
-  if m.opt.disableflags & DisableBit.SENSOR:
-    return d
-
-  # position and bodyid by object type
-  objtype_data = {
-      int(ObjType.UNKNOWN): (np.zeros((1, 3)), np.arange(1)),
-      int(ObjType.BODY): (d.xipos, np.arange(m.nbody)),
-      int(ObjType.XBODY): (d.xpos, np.arange(m.nbody)),
-      int(ObjType.GEOM): (d.geom_xpos, m.geom_bodyid),
-      int(ObjType.SITE): (d.site_xpos, m.site_bodyid),
-      int(ObjType.CAMERA): (d.cam_xpos, m.cam_bodyid),
-  }
-
-  stage_acc = m.sensor_needstage == mujoco.mjtStage.mjSTAGE_ACC
-  sensor_types = {int(st) for st in set(m.sensor_type[stage_acc])}
-
-  if sensor_types & {
-      int(SensorType.ACCELEROMETER),
-      int(SensorType.FORCE),
-      int(SensorType.TORQUE),
-      int(SensorType.FRAMELINACC),
-      int(SensorType.FRAMEANGACC),
-  }:
-    d = smooth.rne_postconstraint(m, d)
-
-  contact_intprm = m.sensor_intprm[m.sensor_type == SensorType.CONTACT]
-  contact_maxforce = (contact_intprm[:, 1] == 2).any()
-  contact_dataforce = (contact_intprm[:, 0] & (1 << 1)).any()
-  contact_datatorque = (contact_intprm[:, 0] & (1 << 2)).any()
-  if (m.sensor_type[stage_acc] == int(SensorType.TOUCH)).any() | (
-      (m.sensor_type[stage_acc] == int(SensorType.CONTACT)).any()
-      and (contact_maxforce | contact_dataforce | contact_datatorque)
-  ):
-    # compute contact forces
-    contact_force = []
-    condim_ids = []
-    for dim in set(d._impl.contact.dim):  # pyrefly: ignore[missing-attribute]
-      force, condim_id = support.contact_force_dim(m, d, dim)
-      contact_force.append(force)
-      condim_ids.append(condim_id)
-    contact_force = jp.concatenate(contact_force)[
-        np.argsort(np.concatenate(condim_ids))
-    ]
-
-  sensors, adrs = [], []
-
-  for sensor_type in sensor_types:
-    idx = m.sensor_type == sensor_type
-    objid = m.sensor_objid[idx]
-    adr = m.sensor_adr[idx]
-    cutoff = m.sensor_cutoff[idx]
-    data_type = m.sensor_datatype[idx]
-
-    if sensor_type == SensorType.TOUCH:
-      # get bodies of contact geoms
-      conbody = jp.array(m.geom_bodyid)[d._impl.contact.geom]  # pyrefly: ignore[missing-attribute]
-
-      # get site information
-      site_bodyid = m.site_bodyid[objid]
-      site_size = m.site_size[objid]
-      site_xpos = d.site_xpos[objid]
-      site_xmat = d.site_xmat[objid]
-      site_type = m.site_type[objid]
-      conbody0 = site_bodyid[:, None] == conbody[:, 0]
-      conbody1 = site_bodyid[:, None] == conbody[:, 1]
-      contacts = (d._impl.contact.efc_address >= 0)[None] & (  # pyrefly: ignore[missing-attribute]
-          conbody0 | conbody1
-      )
-
-      # compute conray, flip if second body
-      conray = jax.vmap(
-          lambda frame, force: math.normalize(frame[0] * force[0])
-      )(d._impl.contact.frame, contact_force)  # pyrefly: ignore[missing-attribute, unbound-name]
-      conray = jp.where(conbody1[..., None], -conray, conray)
-
-      # compute distance, mapping over sites and contacts
-      def _distance(site_size, site_xpos, site_xmat, site_type, pos, conray):
-        def dist(size, xpos, xmat, conray):
-          pnt = (pos - xpos) @ xmat
-          vec = conray @ xmat
-          ray_geom_ = lambda pnt, vec: ray.ray_geom(size, pnt, vec, site_type)
-          return jax.vmap(ray_geom_)(pnt, vec)
-
-        return jax.vmap(dist)(site_size, site_xpos, site_xmat, conray)
-
-      dist = []
-      dist_id = []
-      for st in set(site_type):
-        (dist_id_site,) = np.nonzero(st == site_type)
-        dist_site = _distance(
-            site_size[dist_id_site],
-            site_xpos[dist_id_site],
-            site_xmat[dist_id_site],
-            st,
-            d._impl.contact.pos,  # pyrefly: ignore[missing-attribute]
-            conray[dist_id_site],
-        )
-        dist.append(jp.where(jp.isinf(dist_site), 0, dist_site))
-        dist_id.append(dist_id_site)
-      dist = jp.vstack(dist)[np.argsort(np.concatenate(dist_id))]
-
-      # accumulate normal forces for each site
-      sensor = jp.dot((dist > 0) & contacts, contact_force[:, 0])
-    elif sensor_type == SensorType.CONTACT:
-      # maximum number of contacts
-      ncon = d._impl.ncon  # pyrefly: ignore[missing-attribute]
-
-      # active contacts
-      dist = d._impl.contact.dist  # pyrefly: ignore[missing-attribute]
-      pos = dist - d._impl.contact.includemargin  # pyrefly: ignore[missing-attribute]
-      is_contact = pos < 0
-
-      # reduction criteria
-      if contact_maxforce:
-        # compute force magnitude for each contact
-        force_mag = jax.vmap(
-            lambda forcetorque: jp.dot(forcetorque[:3], forcetorque[:3])
-        )(contact_force)  # pyrefly: ignore[unbound-name]
-
-      def _reduce(reduction, mask):
-        if reduction == 1:  # mindist
-          return jp.argsort(pos * mask, descending=False)
-        if reduction == 2:  # maxforce
-          return jp.argsort(force_mag * mask, descending=True)
-        return jp.arange(mask.size)
-
-      # number of data elements per slot
-      def nslotdata(dataspec):
-        size = 0
-        # found, force, torque, dist, pos, normal, tangent
-        # TODO(taylorhowell): get sizes from mjCONDATA_SIZE
-        for i, size_i in enumerate([1, 3, 3, 1, 3, 3, 3]):
-          if dataspec & (1 << i):
-            size += size_i
-        return size
-
-      dataspecs, reduces, _ = m.sensor_intprm[idx].T
-      dims = m.sensor_dim[idx]
-      objtypes = m.sensor_objtype[idx]
-      refid = m.sensor_refid[idx]
-      reftypes = m.sensor_reftype[idx]
-
-      for dataspec, reduce, objtype, reftype, dim in set(
-          zip(dataspecs, reduces, objtypes, reftypes, dims)
-      ):
-        idx_ds = (
-            (dataspec == dataspecs)
-            & (reduce == reduces)
-            & (objtype == objtypes)
-            & (reftype == reftypes)
-            & (dim == dims)
-        )
-
-        # TODO(taylorhowell): site filter
-
-        size = nslotdata(dataspec)
-        num = np.minimum(int(dim / size), ncon)
-        nsensor = idx_ds.sum()
-
-        if objtype == ObjType.UNKNOWN and reftype == ObjType.UNKNOWN:
-          # all contacts match
-          match = np.ones(ncon, dtype=np.bool)
-
-          # matched and reduced contact ids
-          sort = _reduce(reduce, match)
-          cid = sort[:num]
-
-          # number of contacts per sensor
-          nfound = sum(is_contact)
-
-          # if duplicate sensor
-          cid = jp.tile(cid, (nsensor,))
-          nfound = jp.tile(nfound, (nsensor,))
-          flip = jp.ones((cid.size, 3))
-        elif objtype == ObjType.GEOM or reftype == ObjType.GEOM:
-          sensorid1 = objid[idx_ds]
-          sensorid2 = refid[idx_ds]
-          geomid0 = d._impl.contact.geom[:, 0]  # pyrefly: ignore[missing-attribute]
-          geomid1 = d._impl.contact.geom[:, 1]  # pyrefly: ignore[missing-attribute]
-
-          # match sensor ids and contact geom ids
-          geom0id1 = geomid0 == sensorid1[:, None]
-          geom0id2 = geomid0 == sensorid2[:, None]
-          geom1id1 = geomid1 == sensorid1[:, None]
-          geom1id2 = geomid1 == sensorid2[:, None]
-
-          if objtype == ObjType.GEOM and reftype == ObjType.UNKNOWN:  # geom1
-            mask12 = geom0id1
-            mask21 = geom1id1
-          elif objtype == ObjType.UNKNOWN and reftype == ObjType.GEOM:  # geom2
-            mask12 = geom0id2
-            mask21 = geom1id2
-          else:  # geom1, geom2
-            mask12 = geom0id1 & geom1id2
-            mask21 = geom0id2 & geom1id1
-
-          match = mask12 | mask21
-
-          # matched and reduced contact ids
-          cid = jax.vmap(lambda x: _reduce(reduce, x))(match)[:, :num]
-          cid = cid.reshape(-1)
-
-          # flip direction for force, torque, normal, tangent
-          if reftype == ObjType.UNKNOWN:  # geom1
-            is_flip = (geomid1[cid] == np.repeat(sensorid1, num))[:, None]
-          elif objtype == ObjType.UNKNOWN:  # geom2
-            is_flip = (geomid0[cid] == np.repeat(sensorid2, num))[:, None]
-          else:  # geom1, geom2
-            is_flip = np.repeat(sensorid1 > sensorid2, num)[:, None]
-
-          flip = jp.where(
-              is_flip,
-              jp.array([[1, 1, -1]]),
-              jp.array([[1, 1, 1]]),
-          )
-
-          # number of contacts per sensor
-          nfound = (match * is_contact[None, :]).sum(axis=1)
-
-        # TODO(taylorhowell): matching criteria: body, subtree
-
-        else:
-          raise NotImplementedError(
-              f'Unsupported contact sensor semantics: {objtype} {reftype}.'
-          )
-
-        slot = []
-
-        if dataspec & (1 << 0):  # found
-          slot.append(jp.repeat(nfound, num)[:, None])
-
-        if dataspec & (1 << 1):  # force
-          slot.append(flip * contact_force[cid, :3])  # pyrefly: ignore[unbound-name]
-
-        if dataspec & (1 << 2):  # torque
-          slot.append(flip * contact_force[cid, 3:])
-
-        if dataspec & (1 << 3):  # dist
-          slot.append(dist[cid, None])
-
-        if dataspec & (1 << 4):  # pos
-          slot.append(d._impl.contact.pos[cid])  # pyrefly: ignore[missing-attribute]
-
-        if dataspec & (1 << 5):  # normal
-          slot.append(flip[:, 2, None] * d._impl.contact.frame[cid, 0])  # pyrefly: ignore[missing-attribute]
-
-        if dataspec & (1 << 6):  # tangent
-          slot.append(flip[:, 2, None] * d._impl.contact.frame[cid, 1])  # pyrefly: ignore[missing-attribute]
-
-        found = jp.tile(jp.arange(num), nsensor) < jp.repeat(nfound, num)
-        sensors.append((found[:, None] * jp.hstack(slot)).reshape(-1))
-        adrs.append(
-            (adr[idx_ds][:, None] + np.arange(num * size)[None]).reshape(-1)
-        )
-      continue  # avoid adding to sensors/adrs list a second time
-
-    elif sensor_type == SensorType.ACCELEROMETER:
-
-      @jax.vmap
-      def _accelerometer(cvel, cacc, diff, rot):
-        ang = rot.T @ cvel[:3]
-        lin = rot.T @ (cvel[3:] - jp.cross(diff, cvel[:3]))
-        acc = rot.T @ (cacc[3:] - jp.cross(diff, cacc[:3]))
-        correction = jp.cross(ang, lin)
-        return acc + correction
-
-      bodyid = m.site_bodyid[objid]
-      rot = d.site_xmat[objid]
-      cvel = d.cvel[bodyid]
-      cacc = d._impl.cacc[bodyid]  # pyrefly: ignore[missing-attribute]
-      dif = d.site_xpos[objid] - d.subtree_com[m.body_rootid[bodyid]]
-
-      sensor = _accelerometer(cvel, cacc, dif, rot)
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    elif sensor_type == SensorType.FORCE:
-      bodyid = m.site_bodyid[objid]
-      cfrc_int = d._impl.cfrc_int[bodyid]  # pyrefly: ignore[missing-attribute]
-      site_xmat = d.site_xmat[objid]
-      sensor = jax.vmap(lambda mat, vec: mat.T @ vec)(
-          site_xmat, cfrc_int[:, 3:]
-      )
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    elif sensor_type == SensorType.TORQUE:
-      bodyid = m.site_bodyid[objid]
-      rootid = m.body_rootid[bodyid]
-      cfrc_int = d._impl.cfrc_int[bodyid]  # pyrefly: ignore[missing-attribute]
-      site_xmat = d.site_xmat[objid]
-      dif = d.site_xpos[objid] - d.subtree_com[rootid]
-      sensor = jax.vmap(
-          lambda vec, dif, rot: rot.T @ (vec[:3] - jp.cross(dif, vec[3:]))
-      )(cfrc_int, dif, site_xmat)
-      adr = (adr[:, None] + np.arange(3)[None]).reshape(-1)
-    elif sensor_type == SensorType.ACTUATORFRC:
-      sensor = d.actuator_force[objid]
-    elif sensor_type == SensorType.JOINTACTFRC:
-      sensor = d.qfrc_actuator[m.jnt_dofadr[objid]]
-    elif sensor_type == SensorType.TENDONACTFRC:
-      force_mask = [
-          (m.actuator_trntype == TrnType.TENDON)
-          & (m.actuator_trnid[:, 0] == tendon_id)
-          for tendon_id in objid
-      ]
-      force_ids = np.concatenate([np.nonzero(mask)[0] for mask in force_mask])
-      force_mat = np.array(force_mask)[:, force_ids]
-      sensor = force_mat @ d.actuator_force[force_ids]
-    elif sensor_type in (SensorType.FRAMELINACC, SensorType.FRAMEANGACC):
-      objtype = m.sensor_objtype[idx]
-
-      for ot in set(objtype):
-        idxt = objtype == ot
-        objidt = objid[idxt]
-        pos, bodyid = objtype_data[int(ot)]
-        pos = pos[objidt]
-        bodyid = bodyid[objidt]
-        cacc = d._impl.cacc[bodyid]  # pyrefly: ignore[missing-attribute]
-
-        if sensor_type == SensorType.FRAMELINACC:
-
-          @jax.vmap
-          def _framelinacc(cvel, cacc, offset):
-            ang = cvel[:3]
-            lin = cvel[3:] - jp.cross(offset, cvel[:3])
-            acc = cacc[3:] - jp.cross(offset, cacc[:3])
-            correction = jp.cross(ang, lin)
-            return acc + correction
-
-          cvel = d.cvel[bodyid]
-          offset = pos - d.subtree_com[m.body_rootid[bodyid]]
-
-          sensor = _framelinacc(cvel, cacc, offset).reshape(-1)
-        elif sensor_type == SensorType.FRAMEANGACC:
-          sensor = cacc[:, :3].reshape(-1)
-        else:
-          raise ValueError(f'Unknown sensor type: {sensor_type}')
-
-        adrt = adr[idxt, None] + np.arange(3)[None]
-
-        sensors.append(sensor.reshape(-1))
-        adrs.append(adrt.reshape(-1))
-      continue  # avoid adding to sensors/adrs list a second time
-    else:
-      # TODO(taylorhowell): raise error after adding sensor check to io.py
-      continue  # unsupported sensor type
-
-    sensors.append(_apply_cutoff(sensor, cutoff, data_type[0]).reshape(-1))  # pyrefly: ignore[bad-argument-type]
-    adrs.append(adr)
-
-  if not adrs:
-    return d
-
-  sensordata = d.sensordata.at[np.concatenate(adrs)].set(
-      jp.concatenate(sensors)
-  )
-
-  return d.replace(sensordata=sensordata)
diff --git a/mjx/mujoco/mjx/_src/sensor_test.py b/mjx/mujoco/mjx/_src/sensor_test.py
deleted file mode 100644
index 8eabac97..00000000
--- a/mjx/mujoco/mjx/_src/sensor_test.py
+++ /dev/null
@@ -1,201 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for sensor functions."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import itertools
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import test_util
-from mujoco.mjx._src.types import ConeType
-import numpy as np
-
-# tolerance for difference between MuJoCo and MJX smooth calculations - mostly
-# due to float precision
-_TOLERANCE = 5e-5
-
-
-def _assert_eq(a, b, name):
-  tol = _TOLERANCE * 10  # avoid test noise
-  err_msg = f'mismatch: {name}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
-
-
-def _assert_attr_eq(a, b, attr):
-  _assert_eq(getattr(a, attr), getattr(b, attr), attr)
-
-
-class SensorTest(parameterized.TestCase):
-
-  def setUp(self):
-    super().setUp()
-    np.random.seed(314)
-
-  @parameterized.product(
-      filename=['sensor/model.xml', 'sensor/sensor.xml'],
-      cone_type=list(ConeType),
-  )
-  def test_sensor(self, filename, cone_type):
-    """Tests MJX sensor functions match MuJoCo sensor functions."""
-    m = test_util.load_test_file(filename)
-    m.opt.cone = cone_type
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = 0.1 * np.random.random(m.nv)
-    # apply external forces
-    d.xfrc_applied = 0.1 * np.random.random(d.xfrc_applied.shape)
-    # apply control for activation dynamics
-    d.ctrl = np.clip(
-        0.1 * np.random.random(m.nu),
-        m.actuator_ctrlrange[:, 0],
-        m.actuator_ctrlrange[:, 1],
-    )
-    mujoco.mj_step(m, d, 100)
-    mujoco.mj_forward(m, d)
-
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d).tree_replace({
-        'sensordata': jp.zeros_like(d.sensordata),
-        '_impl.subtree_linvel': jp.zeros_like(d.subtree_linvel),
-        '_impl.subtree_angmom': jp.zeros_like(d.subtree_angmom),
-        '_impl.cacc': jp.zeros_like(d.cacc),
-        '_impl.cfrc_int': jp.zeros_like(d.cfrc_int),
-        '_impl.cfrc_ext': jp.zeros_like(d.cfrc_ext),
-    })
-    dx = jax.jit(mjx.sensor_pos)(mx, dx)
-    dx = jax.jit(mjx.sensor_vel)(mx, dx)
-    dx = jax.jit(mjx.sensor_acc)(mx, dx)
-
-    _assert_eq(d.sensordata, dx.sensordata, 'sensordata')
-
-  def test_disable_sensor(self):
-    """Tests disabling sensor."""
-    m = test_util.load_test_file('sensor/sensor.xml')
-    # disable sensors
-    m.opt.disableflags = m.opt.disableflags | mjx.DisableBit.SENSOR
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    # random sensor values
-    random_sensor = jp.array(np.random.random(dx.sensordata.shape))
-    dx = dx.replace(sensordata=random_sensor)
-    # call sensor functions
-    dx = jax.jit(mjx.forward)(mx, dx)
-    # sensor values
-    _assert_eq(random_sensor, dx.sensordata, 'sensordata')
-
-  @parameterized.parameters(
-      'type="sphere" size=".1"',
-      'type="sphere" size=".05" margin=".045"',
-      'type="capsule" size=".1 .1" euler="0 89 89"',
-      'type="box" size=".1 .1 .1" euler=".05 .075 .1"',
-  )
-  def test_sensor_contact(self, geom):
-    """Tests contact sensor."""
-
-    field = ['found', 'force', 'torque', 'dist', 'pos', 'normal', 'tangent']
-    datas = itertools.chain.from_iterable(
-        itertools.combinations(field, i) for i in range(len(field) + 1)
-    )
-    datas = list(datas)
-
-    contact_sensors = ''
-    for num in [1, 2, 4, 5]:
-      for data in datas:
-        data = ' '.join(data)
-        for reduce in ['mindist', 'maxforce']:
-          for match in [
-              '',
-              'geom1="plane"',
-              'geom1="geom1"',
-              'geom1="sphere2"',
-              'geom2="plane"',
-              'geom2="geom1"',
-              'geom2="sphere2"',
-              'geom1="plane" geom2="geom1"',
-              'geom1="geom1" geom2="plane"',
-              'geom1="plane" geom2="sphere2"',
-              'geom1="geom1" geom2="sphere2"',
-          ]:
-            contact_sensors += (
-                f'<contact {match} num="{num}" data="{data}"'
-                f' reduce="{reduce}"/>\n'
-            )
-
-    _MJCF = f"""
-      <mujoco>
-        <compiler angle="degree"/>
-        <worldbody>
-          <geom name="plane" type="plane" size="10 10 .001"/>
-          <body>
-            <geom name="geom1" {geom}/>
-            <joint type="slide" axis="0 0 1"/>
-          </body>
-          <body>
-            <geom name="sphere2" type="sphere" size=".1"/>
-            <joint type="slide" axis="0 0 1"/>
-          </body>
-        </worldbody>
-        <sensor>
-          {contact_sensors}
-        </sensor>
-        <keyframe>
-          <key qpos=".09 1"/>
-        </keyframe>
-      </mujoco>
-    """
-    m = mujoco.MjModel.from_xml_string(_MJCF)
-    d = mujoco.MjData(m)
-    mujoco.mj_resetDataKeyframe(m, d, 0)
-
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    mujoco.mj_forward(m, d)
-    dx = mjx.forward(mx, dx)
-
-    _assert_eq(dx.sensordata, d.sensordata, 'sensordata')
-
-  def test_unsupported_sensor(self):
-    """Tests unsupported sensor raises error."""
-    m = mujoco.MjModel.from_xml_string("""
-      <mujoco>
-        <worldbody>
-          <body>
-            <joint type="hinge"/>
-            <geom name="geom0" size="0.1"/>
-            <body>
-              <joint type="hinge"/>
-              <geom name="geom1" size="0.25"/>
-            </body>
-          </body>
-        </worldbody>
-        <sensor>
-          <distance name="distance" geom1="geom0" geom2="geom1"/>
-        </sensor>
-      </mujoco>
-    """)
-    with self.assertRaises(NotImplementedError):
-      mjx.put_model(m)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py
deleted file mode 100644
index 708fd84d..00000000
--- a/mjx/mujoco/mjx/_src/smooth.py
+++ /dev/null
@@ -1,1465 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Core smooth dynamics functions."""
-
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco.mjx._src import math
-from mujoco.mjx._src import scan
-from mujoco.mjx._src import support
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import CamLightType
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import EqType
-from mujoco.mjx._src.types import Impl
-from mujoco.mjx._src.types import JointType
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-from mujoco.mjx._src.types import ObjType
-from mujoco.mjx._src.types import TrnType
-from mujoco.mjx._src.types import WrapType
-# pylint: enable=g-importing-member
-import mujoco.mjx.warp as mjxw
-import numpy as np
-
-
-def kinematics(m: Model, d: Data) -> Data:
-  """Converts position/velocity from generalized coordinates to maximal."""
-  if m.impl == Impl.WARP and d.impl == Impl.WARP and mjxw.WARP_INSTALLED:
-    from mujoco.mjx.warp import smooth as mjxw_smooth  # pylint: disable=g-import-not-at-top  # pytype: disable=import-error
-    return mjxw_smooth.kinematics(m, d)
-
-  def fn(carry, jnt_typs, jnt_pos, jnt_axis, qpos, qpos0, pos, quat):
-    # calculate joint anchors, axes, body pos and quat in global frame
-    # also normalize qpos while we're at it
-
-    if carry is not None:
-      _, _, _, parent_pos, parent_quat, _ = carry
-      pos = parent_pos + math.rotate(pos, parent_quat)
-      quat = math.quat_mul(parent_quat, quat)
-
-    anchors, axes = [], []
-
-    qpos_i = 0
-    for i, jnt_typ in enumerate(jnt_typs):
-      if jnt_typ == JointType.FREE:
-        anchor, axis = qpos[qpos_i : qpos_i + 3], jp.array([0.0, 0.0, 1.0])
-      else:
-        anchor = math.rotate(jnt_pos[i], quat) + pos
-        axis = math.rotate(jnt_axis[i], quat)
-      anchors, axes = anchors + [anchor], axes + [axis]
-
-      if jnt_typ == JointType.FREE:
-        pos = qpos[qpos_i : qpos_i + 3]
-        quat = math.normalize(qpos[qpos_i + 3 : qpos_i + 7])
-        qpos = qpos.at[qpos_i + 3 : qpos_i + 7].set(quat)
-        qpos_i += 7
-      elif jnt_typ == JointType.BALL:
-        qloc = math.normalize(qpos[qpos_i : qpos_i + 4])
-        qpos = qpos.at[qpos_i : qpos_i + 4].set(qloc)
-        quat = math.quat_mul(quat, qloc)
-        pos = anchor - math.rotate(jnt_pos[i], quat)  # off-center rotation
-        qpos_i += 4
-      elif jnt_typ == JointType.HINGE:
-        angle = qpos[qpos_i] - qpos0[qpos_i]
-        qloc = math.axis_angle_to_quat(jnt_axis[i], angle)
-        quat = math.quat_mul(quat, qloc)
-        pos = anchor - math.rotate(jnt_pos[i], quat)  # off-center rotation
-        qpos_i += 1
-      elif jnt_typ == JointType.SLIDE:
-        pos += axis * (qpos[qpos_i] - qpos0[qpos_i])
-        qpos_i += 1
-      else:
-        raise RuntimeError(f'unrecognized joint type: {jnt_typ}')
-
-    anchor = jp.stack(anchors) if anchors else jp.empty((0, 3))
-    axis = jp.stack(axes) if axes else jp.empty((0, 3))
-    mat = math.quat_to_mat(quat)
-
-    return qpos, anchor, axis, pos, quat, mat
-
-  qpos, xanchor, xaxis, xpos, xquat, xmat = scan.body_tree(
-      m,
-      fn,
-      'jjjqqbb',
-      'qjjbbb',
-      m.jnt_type,
-      m.jnt_pos,
-      m.jnt_axis,
-      d.qpos,
-      m.qpos0,
-      m.body_pos,
-      m.body_quat,
-  )
-
-  if m.nmocap:
-    xpos = xpos.at[m.body_mocapid >= 0].set(d.mocap_pos)
-    mocap_quat = jax.vmap(math.normalize)(d.mocap_quat)
-    xquat = xquat.at[m.body_mocapid >= 0].set(mocap_quat)
-    xmat = xmat.at[m.body_mocapid >= 0].set(
-        jax.vmap(math.quat_to_mat)(mocap_quat)
-    )
-
-  v_local_to_global = jax.vmap(support.local_to_global)
-
-  # TODO(erikfrey): confirm that quats are more performant for mjx than mats
-  xipos, ximat = v_local_to_global(xpos, xquat, m.body_ipos, m.body_iquat)
-  d = d.replace(qpos=qpos, xanchor=xanchor, xaxis=xaxis, xpos=xpos)
-  d = d.replace(xquat=xquat, xmat=xmat, xipos=xipos, ximat=ximat)
-
-  if m.ngeom:
-    geom_xpos, geom_xmat = v_local_to_global(
-        xpos[m.geom_bodyid], xquat[m.geom_bodyid], m.geom_pos, m.geom_quat
-    )
-    d = d.replace(geom_xpos=geom_xpos, geom_xmat=geom_xmat)
-
-  if m.nsite:
-    site_xpos, site_xmat = v_local_to_global(
-        xpos[m.site_bodyid], xquat[m.site_bodyid], m.site_pos, m.site_quat
-    )
-    d = d.replace(site_xpos=site_xpos, site_xmat=site_xmat)
-
-  return d
-
-
-def com_pos(m: Model, d: Data) -> Data:
-  """Maps inertias and motion dofs to global frame centered at subtree-CoM."""
-
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('com_pos requires JAX backend implementation.')
-
-  # calculate center of mass of each subtree
-  def subtree_sum(carry, xipos, body_mass):
-    pos, mass = xipos * body_mass, body_mass
-    if carry is not None:
-      subtree_pos, subtree_mass = carry
-      pos, mass = pos + subtree_pos, mass + subtree_mass
-    return pos, mass
-
-  pos, mass = scan.body_tree(
-      m, subtree_sum, 'bb', 'bb', d.xipos, m.body_mass, reverse=True
-  )
-  cond = jp.tile(mass < mujoco.mjMINVAL, (3, 1)).T
-  # take maximum to avoid NaN in gradient of jp.where
-  subtree_com = jax.vmap(jp.divide)(pos, jp.maximum(mass, mujoco.mjMINVAL))
-  subtree_com = jp.where(cond, d.xipos, subtree_com)
-  d = d.replace(subtree_com=subtree_com)
-
-  # map inertias to frame centered at subtree_com
-  @jax.vmap
-  def inert_com(inert, ximat, off, mass):
-    h = jp.cross(off, -jp.eye(3))
-    inert = math.matmul_unroll((ximat * inert), ximat.T)
-    inert += math.matmul_unroll(h, h.T) * mass
-    # cinert is triu(inert), mass * off, mass
-    inert = inert[([0, 1, 2, 0, 0, 1], [0, 1, 2, 1, 2, 2])]
-    return jp.concatenate([inert, off * mass, mass[None]])
-
-  root_com = subtree_com[m.body_rootid]
-  offset = d.xipos - root_com
-  cinert = inert_com(m.body_inertia, d.ximat, offset, m.body_mass)
-  d = d.tree_replace({'_impl.cinert': cinert})  # pyrefly: ignore[bad-assignment]
-
-  # map motion dofs to global frame centered at subtree_com
-  def cdof_fn(jnt_typs, root_com, xmat, xanchor, xaxis):
-    cdofs = []
-
-    dof_com_fn = lambda a, o: jp.concatenate([a, jp.cross(a, o)])
-
-    for i, jnt_typ in enumerate(jnt_typs):
-      offset = root_com - xanchor[i]
-      if jnt_typ == JointType.FREE:
-        cdofs.append(jp.eye(3, 6, 3))  # free translation
-        cdofs.append(jax.vmap(dof_com_fn, in_axes=(0, None))(xmat.T, offset))
-      elif jnt_typ == JointType.BALL:
-        cdofs.append(jax.vmap(dof_com_fn, in_axes=(0, None))(xmat.T, offset))
-      elif jnt_typ == JointType.HINGE:
-        cdof = dof_com_fn(xaxis[i], offset)
-        cdofs.append(jp.expand_dims(cdof, 0))
-      elif jnt_typ == JointType.SLIDE:
-        cdof = jp.concatenate((jp.zeros((3,)), xaxis[i]))
-        cdofs.append(jp.expand_dims(cdof, 0))
-      else:
-        raise RuntimeError(f'unrecognized joint type: {jnt_typ}')
-
-    cdof = jp.concatenate(cdofs) if cdofs else jp.empty((0, 6))
-
-    return cdof
-
-  cdof = scan.flat(
-      m,
-      cdof_fn,
-      'jbbjj',
-      'v',
-      m.jnt_type,
-      root_com,
-      d.xmat,
-      d.xanchor,
-      d.xaxis,
-  )
-  d = d.tree_replace({'cdof': cdof})  # pyrefly: ignore[bad-assignment]
-
-  return d
-
-
-def camlight(m: Model, d: Data) -> Data:
-  """Computes camera and light positions and orientations."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('camlight requires JAX backend implementation.')
-
-  if m.ncam == 0:
-    return d.replace(cam_xpos=jp.zeros((0, 3)), cam_xmat=jp.zeros((0, 3, 3)))
-
-  # use target body only if target body is specified
-  is_target_cam = (m.cam_mode == CamLightType.TARGETBODY) | (
-      m.cam_mode == CamLightType.TARGETBODYCOM
-  )
-  cam_mode = np.where(
-      is_target_cam & (m.cam_targetbodyid < 0), CamLightType.FIXED, m.cam_mode
-  )
-
-  cam_xpos, cam_xmat = jax.vmap(support.local_to_global)(
-      d.xpos[m.cam_bodyid], d.xquat[m.cam_bodyid], m.cam_pos, m.cam_quat
-  )
-
-  def fn(
-      camid,
-      cam_mode,
-      cam_xpos,
-      cam_xmat,
-      body_xpos,
-      subtree_com,
-      target_body_xpos,
-      target_subtree_com,
-  ):
-    if cam_mode == CamLightType.TRACK:
-      cam_xmat = m.cam_mat0[camid]
-      cam_xpos = body_xpos + m.cam_pos0[camid]
-    elif cam_mode == CamLightType.TRACKCOM:
-      cam_xmat = m.cam_mat0[camid]
-      cam_xpos = subtree_com + m.cam_poscom0[camid]
-    elif cam_mode in (CamLightType.TARGETBODY, CamLightType.TARGETBODYCOM):
-      # get position to look at
-      pos = target_body_xpos
-      if cam_mode == CamLightType.TARGETBODYCOM:
-        pos = target_subtree_com
-      # zaxis = -desired camera direction, in global frame
-      mat_3 = math.normalize(cam_xpos - pos)
-      # xaxis: orthogonal to zaxis and to (0,0,1)
-      mat_1 = math.normalize(jp.cross(jp.array([0.0, 0.0, 1.0]), mat_3))
-      mat_2 = math.normalize(jp.cross(mat_3, mat_1))
-      cam_xmat = jp.array([mat_1, mat_2, mat_3]).T
-    return cam_xpos, cam_xmat
-
-  cam_xpos, cam_xmat = scan.flat(
-      m,
-      fn,
-      'c' * 8,
-      'cc',
-      jp.arange(m.ncam),
-      cam_mode,
-      cam_xpos,
-      cam_xmat,
-      d.xpos[m.cam_bodyid],
-      d.subtree_com[m.cam_bodyid],
-      d.xpos[m.cam_targetbodyid],
-      d.subtree_com[m.cam_targetbodyid],
-      group_by='c',
-  )
-
-  d = d.replace(
-      cam_xpos=cam_xpos,
-      cam_xmat=cam_xmat,
-  )
-
-  return d
-
-
-def crb(m: Model, d: Data) -> Data:
-  """Runs composite rigid body inertia algorithm."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('crb requires JAX backend implementation.')
-
-  def crb_fn(crb_child, crb_body):
-    if crb_child is not None:
-      crb_body += crb_child
-    return crb_body
-
-  crb_body = scan.body_tree(m, crb_fn, 'b', 'b', d._impl.cinert, reverse=True)
-  crb_body = crb_body.at[0].set(0.0)
-  d = d.tree_replace({'_impl.crb': crb_body})  # pyrefly: ignore[bad-assignment]
-
-  crb_dof = jp.take(crb_body, jp.array(m.dof_bodyid), axis=0)
-  crb_cdof = jax.vmap(math.inert_mul)(crb_dof, d.cdof)
-  qm = support.make_m(m, crb_cdof, d.cdof, m.dof_armature)
-  d = d.tree_replace({'_impl.M': qm})  # pyrefly: ignore[bad-assignment]
-  return d
-
-
-def factor_m(m: Model, d: Data) -> Data:
-  """Gets factorizaton of inertia-like matrix M, assumed spd."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('factor_m requires JAX backend implementation.')
-
-  if not support.is_sparse(m):
-    qh, _ = jax.scipy.linalg.cho_factor(d._impl.M)
-    d = d.tree_replace({'_impl.qLD': qh})  # pyrefly: ignore[bad-assignment]
-    return d
-
-  depth = []
-  for i in range(m.nv):
-    depth.append(depth[m.dof_parentid[i]] + 1 if m.dof_parentid[i] != -1 else 0)
-  updates = {}
-  diag_ds = []
-  for i in range(m.nv):
-    diag_i = m.M_rowadr[i] + m.M_rownnz[i] - 1
-    start_i = m.M_rowadr[i]
-    for k in range(m.M_rownnz[i]):
-      diag_ds.append(diag_i)
-    for k in range(m.M_rownnz[i] - 1):
-      adr = start_i + k
-      j = m.M_colind[adr]
-      out_beg = m.M_rowadr[j]
-      width = m.M_rownnz[j]
-      out_end = out_beg + width
-      updates.setdefault(depth[j], []).append(
-          (out_beg, out_end, diag_i, adr, start_i)
-      )
-
-  qld = d._impl.M
-
-  for _, updates in sorted(updates.items(), reverse=True):
-    rows = []
-    madr_ijs = []
-    pivots = []
-    out = []
-
-    for b, e, piv_i, madr_ij, start_i in updates:
-      width = e - b
-      rows.append(np.arange(start_i, start_i + width))
-      madr_ijs.append(np.full((width,), madr_ij))
-      pivots.append(np.full((width,), piv_i))
-      out.append(np.arange(b, e))
-    if out:
-      rows = np.concatenate(rows)
-      madr_ijs = np.concatenate(madr_ijs)
-      pivots = np.concatenate(pivots)
-      out = np.concatenate(out)
-
-      qld = qld.at[out].add(-(qld[madr_ijs] / qld[pivots]) * qld[rows])
-
-  diag_adr = m.M_rowadr + m.M_rownnz - 1
-  qld_diag = qld[diag_adr]
-  qld = (qld / qld[np.array(diag_ds)]).at[diag_adr].set(qld_diag)
-
-  d = d.tree_replace({'_impl.qLD': qld, '_impl.qLDiagInv': 1 / qld_diag})  # pyrefly: ignore[bad-assignment]
-  return d
-
-
-def solve_m(m: Model, d: Data, x: jax.Array) -> jax.Array:
-  """Computes sparse backsubstitution:  x = inv(L'*D*L)*y ."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('solve_m requires JAX backend implementation.')
-
-  if not support.is_sparse(m):
-    return jax.scipy.linalg.cho_solve((d._impl.qLD, False), x)
-
-  depth = []
-  for i in range(m.nv):
-    depth.append(depth[m.dof_parentid[i]] + 1 if m.dof_parentid[i] != -1 else 0)
-
-  updates_i, updates_j = {}, {}
-  for i in range(m.nv):
-    start_i = m.M_rowadr[i]
-    for k in range(m.M_rownnz[i] - 1):
-      adr = start_i + k
-      j = m.M_colind[adr]
-      updates_i.setdefault(depth[i], []).append((i, adr, j))
-      updates_j.setdefault(depth[j], []).append((j, adr, i))
-
-  # x <- inv(L') * x
-  for _, vals in sorted(updates_j.items(), reverse=True):
-    j, madr_ij, i = np.array(vals).T
-    x = x.at[j].add(-d._impl.qLD[madr_ij] * x[i])
-
-  # x <- inv(D) * x
-  x = x * d._impl.qLDiagInv
-
-  # x <- inv(L) * x
-  for _, vals in sorted(updates_i.items()):
-    i, madr_ij, j = np.array(vals).T
-    x = x.at[i].add(-d._impl.qLD[madr_ij] * x[j])
-
-  return x
-
-
-def com_vel(m: Model, d: Data) -> Data:
-  """Computes cvel, cdof_dot."""
-
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('com_vel requires JAX backend implementation.')
-
-  # forward scan down tree: accumulate link center of mass velocity
-  def fn(parent, jnt_typs, cdof, qvel):
-    cvel = jp.zeros((6,)) if parent is None else parent[0]
-
-    cross_fn = jax.vmap(math.motion_cross, in_axes=(None, 0))
-    cdof_x_qvel = jax.vmap(jp.multiply)(cdof, qvel)
-
-    dof_beg = 0
-    cdof_dots = []
-    for jnt_typ in jnt_typs:
-      dof_end = dof_beg + JointType(jnt_typ).dof_width()
-      if jnt_typ == JointType.FREE:
-        cvel += jp.sum(cdof_x_qvel[:3], axis=0)
-        cdof_ang_dot = cross_fn(cvel, cdof[3:])
-        cvel += jp.sum(cdof_x_qvel[3:], axis=0)
-        cdof_dots.append(jp.concatenate((jp.zeros((3, 6)), cdof_ang_dot)))
-      else:
-        cdof_dots.append(cross_fn(cvel, cdof[dof_beg:dof_end]))
-        cvel += jp.sum(cdof_x_qvel[dof_beg:dof_end], axis=0)
-      dof_beg = dof_end
-
-    cdof_dot = jp.concatenate(cdof_dots) if cdof_dots else jp.empty((0, 6))
-    return cvel, cdof_dot
-
-  cvel, cdof_dot = scan.body_tree(
-      m,
-      fn,
-      'jvv',
-      'bv',
-      m.jnt_type,
-      d.cdof,
-      d.qvel,
-  )
-
-  d = d.tree_replace({'cvel': cvel, 'cdof_dot': cdof_dot})  # pyrefly: ignore[bad-assignment]
-
-  return d
-
-
-def subtree_vel(m: Model, d: Data) -> Data:
-  """Subtree linear velocity and angular momentum."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('subtree_vel requires JAX backend implementation.')
-
-  # bodywise quantities
-  def _forward(cvel, xipos, ximat, subtree_com_root, mass, inertia):
-    ang, lin = jp.split(cvel, 2)
-
-    # update linear velocity
-    lin = lin - jp.cross(xipos - subtree_com_root, ang)
-
-    subtree_linvel = mass * lin
-    subtree_angmom = inertia * ximat @ ximat.T @ ang
-    body_vel = jp.concatenate([ang, lin])
-
-    return body_vel, subtree_linvel, subtree_angmom
-
-  body_vel, subtree_linvel, subtree_angmom = jax.vmap(_forward)(
-      d.cvel,
-      d.xipos,
-      d.ximat,
-      d.subtree_com[m.body_rootid],
-      m.body_mass,
-      m.body_inertia,
-  )
-
-  # sum body linear momentum recursively up the kinematic tree
-  subtree_linvel = scan.body_tree(
-      m,
-      lambda x, y: y if x is None else x + y,
-      'bb',
-      'b',
-      subtree_linvel,
-      reverse=True,
-  )
-
-  subtree_linvel /= jp.maximum(mujoco.mjMINVAL, m.body_subtreemass)[:, None]
-
-  def _subtree_angmom(
-      carry,
-      angmom,
-      com,
-      com_parent,
-      linvel,
-      linvel_parent,
-      subtreemass,
-      xipos,
-      vel,
-      mass,
-      mask,
-  ):
-
-    def _momentum(x0, x1, v0, v1, m):
-      dx = x0 - x1
-      dv = v0 - v1
-      dp = dv * m
-      return jp.cross(dx, dp)
-
-    # momentum wrt current body
-    mom = mask * _momentum(xipos, com, vel[3:], linvel, mass)
-
-    # momentum wrt parent
-    mom_parent = mask * _momentum(
-        com, com_parent, linvel, linvel_parent, subtreemass
-    )
-
-    if carry is None:
-      return angmom + mom, mom_parent
-    else:
-      angmom_child, mom_parent_child = carry
-      return angmom + mom + angmom_child + mom_parent_child, mom_parent
-
-  subtree_angmom, _ = scan.body_tree(
-      m,
-      _subtree_angmom,
-      'bbbbbbbbbb',
-      'bb',
-      subtree_angmom,
-      d.subtree_com,
-      d.subtree_com[m.body_parentid],
-      subtree_linvel,
-      subtree_linvel[m.body_parentid],
-      m.body_subtreemass,
-      d.xipos,
-      body_vel,
-      m.body_mass,
-      jp.ones(m.nbody).at[0].set(0),
-      reverse=True,
-  )
-
-  return d.tree_replace({  # pyrefly: ignore[bad-return]
-      '_impl.subtree_linvel': subtree_linvel,
-      '_impl.subtree_angmom': subtree_angmom,
-  })
-
-
-def rne(m: Model, d: Data, flg_acc: bool = False) -> Data:
-  """Computes inverse dynamics using the recursive Newton-Euler algorithm.
-
-  flg_acc=False removes inertial term.
-  """
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('rne requires JAX backend implementation.')
-
-  # forward scan over tree: accumulate link center of mass acceleration
-  def cacc_fn(cacc, cdof_dot, qvel, cdof, qacc):
-    if cacc is None:
-      if m.opt.disableflags & DisableBit.GRAVITY:
-        cacc = jp.zeros((6,))
-      else:
-        cacc = jp.concatenate((jp.zeros((3,)), -m.opt.gravity))
-
-    cacc += jp.sum(jax.vmap(jp.multiply)(cdof_dot, qvel), axis=0)
-
-    # cacc += cdof * qacc
-    if flg_acc:
-      cacc += jp.sum(jax.vmap(jp.multiply)(cdof, qacc), axis=0)
-
-    return cacc
-
-  cacc = scan.body_tree(
-      m, cacc_fn, 'vvvv', 'b', d.cdof_dot, d.qvel, d.cdof, d.qacc
-  )
-
-  def frc(cinert, cacc, cvel):
-    frc = math.inert_mul(cinert, cacc)
-    frc += math.motion_cross_force(cvel, math.inert_mul(cinert, cvel))
-
-    return frc
-
-  loc_cfrc = jax.vmap(frc)(d._impl.cinert, cacc, d.cvel)
-
-  # backward scan up tree: accumulate body forces
-  def cfrc_fn(cfrc_child, cfrc):
-    if cfrc_child is not None:
-      cfrc += cfrc_child
-    return cfrc
-
-  cfrc = scan.body_tree(m, cfrc_fn, 'b', 'b', loc_cfrc, reverse=True)
-  qfrc_bias = jax.vmap(jp.dot)(d.cdof, cfrc[jp.array(m.dof_bodyid)])
-
-  d = d.replace(qfrc_bias=qfrc_bias)
-
-  return d
-
-
-def rne_postconstraint(m: Model, d: Data) -> Data:
-  """RNE with complete data: compute cacc, cfrc_ext, cfrc_int."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('rne_postconstraint requires JAX backend implementation.')
-
-  def _transform_force(frc, offset):
-    force, torque = jp.split(frc, 2)
-    torque -= jp.cross(offset, force)
-    # spatial motion vector layout is flipped: (torque, force)
-    return jp.concatenate([torque, force])
-
-  # cfrc_ext = perturb
-  cfrc_ext = jp.vstack([
-      jp.zeros((1, 6)),  # world body
-      jax.vmap(_transform_force)(
-          d.xfrc_applied[1:], d.subtree_com[m.body_rootid][1:] - d.xipos[1:]
-      ),
-  ])
-
-  # cfrc_ext += contacts
-
-  # compute contact forces for each condim
-  forces = []
-  condim_idx = []
-  for dim in set(d._impl.contact.dim):
-    force, idx = support.contact_force_dim(m, d, dim)
-    forces.append(force)
-    condim_idx.append(idx)
-
-  # update cfrc_ext with contact forces
-  if forces:
-
-    @jax.vmap
-    def _contact_force_to_cfrc_ext(force, pos, frame, id1, id2, com1, com2):
-      # force: contact to world frame
-      force = force.reshape((-1, 3)) @ frame
-      force = force.reshape(-1)
-
-      # contact force on bodies
-      cfrc_com1 = _transform_force(force, com1 - pos)
-      cfrc_com2 = _transform_force(force, com2 - pos)
-
-      # mask
-      mask1 = id1 != 0
-      mask2 = id2 != 0
-
-      return jp.vstack([-1 * cfrc_com1 * mask1, cfrc_com2 * mask2]), jp.array(
-          [id1, id2]
-      )
-
-    condim_idx = jp.concatenate(condim_idx)
-    frame = d._impl.contact.frame[condim_idx]
-    pos = d._impl.contact.pos[condim_idx]
-    id1 = jp.array(m.geom_bodyid)[d._impl.contact.geom[condim_idx, 0]]
-    id2 = jp.array(m.geom_bodyid)[d._impl.contact.geom[condim_idx, 1]]
-    com1 = d.subtree_com[jp.array(m.body_rootid)][id1]
-    com2 = d.subtree_com[jp.array(m.body_rootid)][id2]
-
-    cfrc_contact, cfrc_idx = _contact_force_to_cfrc_ext(
-        jp.concatenate(forces), pos, frame, id1, id2, com1, com2
-    )
-
-    cfrc_ext = cfrc_ext.at[cfrc_idx.reshape(-1)].add(
-        cfrc_contact.reshape((-1, 6))
-    )
-
-  # cfrc_ext += connect, weld
-  cfrc_ext_equality = []
-  cfrc_ext_equality_adr = []
-
-  connect_id = m.eq_type == EqType.CONNECT
-  nconnect = connect_id.sum()
-
-  if nconnect:
-    cfrc_connect_force = d._impl.efc_force[: 3 * nconnect].reshape(
-        (nconnect, 3)
-    )
-
-    is_site = m.eq_objtype == ObjType.SITE
-    body1id = np.copy(m.eq_obj1id)
-    body2id = np.copy(m.eq_obj2id)
-    pos1 = m.eq_data[:, :3]
-    pos2 = m.eq_data[:, 3:6]
-
-    if m.nsite:
-      body1id[is_site] = m.site_bodyid[m.eq_obj1id[is_site]]
-      body2id[is_site] = m.site_bodyid[m.eq_obj2id[is_site]]
-      pos1 = jp.where(is_site[:, None], m.site_pos[m.eq_obj1id], pos1)
-      pos2 = jp.where(is_site[:, None], m.site_pos[m.eq_obj2id], pos2)
-
-    # body 1
-    k1_connect = body1id[connect_id]
-    k1_connect_mask = k1_connect != 0
-    offset1_connect = pos1[connect_id]
-
-    pos1_connect = jax.vmap(lambda pnt, mat, vec: mat @ pnt + vec)(
-        offset1_connect, d.xmat[k1_connect], d.xpos[k1_connect]
-    )
-    subtree_com1_connect = d.subtree_com[jp.array(m.body_rootid)[k1_connect]]
-    cfrc_com1_connect = jax.vmap(
-        lambda dif, frc, mask: mask * jp.concatenate([-jp.cross(dif, frc), frc])
-    )(subtree_com1_connect - pos1_connect, cfrc_connect_force, k1_connect_mask)
-
-    # body 2
-    k2_connect = body2id[connect_id]
-    k2_connect_mask = -1 * (k2_connect != 0)
-    offset2_connect = pos2[connect_id]
-
-    pos2_connect = jax.vmap(lambda pnt, mat, vec: mat @ pnt + vec)(
-        offset2_connect, d.xmat[k2_connect], d.xpos[k2_connect]
-    )
-    subtree_com2_connect = d.subtree_com[jp.array(m.body_rootid)[k2_connect]]
-    cfrc_com2_connect = jax.vmap(
-        lambda dif, frc, mask: mask * jp.concatenate([-jp.cross(dif, frc), frc])
-    )(subtree_com2_connect - pos2_connect, cfrc_connect_force, k2_connect_mask)
-
-    cfrc_ext_equality.append(jp.vstack([cfrc_com1_connect, cfrc_com2_connect]))
-    cfrc_ext_equality_adr.append(jp.concatenate([k1_connect, k2_connect]))
-
-  weld_id = m.eq_type == EqType.WELD
-  nweld = weld_id.sum()
-
-  if nweld:
-    cfrc_weld = d._impl.efc_force[
-        3 * nconnect : 3 * nconnect + 6 * nweld
-    ].reshape((nweld, 6))
-    cfrc_weld_force = cfrc_weld[:, :3]
-    cfrc_weld_torque = cfrc_weld[:, 3:]
-
-    is_site = m.eq_objtype == ObjType.SITE
-    body1id = np.copy(m.eq_obj1id)
-    body2id = np.copy(m.eq_obj2id)
-    pos1 = m.eq_data[:, 3:6]
-    pos2 = m.eq_data[:, :3]
-
-    if m.nsite:
-      body1id[is_site] = m.site_bodyid[m.eq_obj1id[is_site]]
-      body2id[is_site] = m.site_bodyid[m.eq_obj2id[is_site]]
-      pos1 = jp.where(is_site[:, None], m.site_pos[m.eq_obj1id], pos1)
-      pos2 = jp.where(is_site[:, None], m.site_pos[m.eq_obj2id], pos2)
-
-    # body 1
-    k1_weld = body1id[weld_id]
-    k1_weld_mask = k1_weld != 0
-    offset1_weld = pos1[weld_id]
-
-    pos1_weld = jax.vmap(lambda pnt, mat, vec: mat @ pnt + vec)(
-        offset1_weld, d.xmat[k1_weld], d.xpos[k1_weld]
-    )
-    subtree_com1_weld = d.subtree_com[jp.array(m.body_rootid)[k1_weld]]
-    cfrc_com1_weld = jax.vmap(
-        lambda dif, frc, trq, mask: mask
-        * jp.concatenate([trq - jp.cross(dif, frc), frc])
-    )(
-        subtree_com1_weld - pos1_weld,
-        cfrc_weld_force,
-        cfrc_weld_torque,
-        k1_weld_mask,
-    )
-
-    # body 2
-    k2_weld = body2id[weld_id]
-    k2_weld_mask = -1 * (k2_weld != 0)
-    offset2_weld = pos2[weld_id]
-
-    pos2_weld = jax.vmap(lambda pnt, mat, vec: mat @ pnt + vec)(
-        offset2_weld, d.xmat[k2_weld], d.xpos[k2_weld]
-    )
-    subtree_com2_weld = d.subtree_com[jp.array(m.body_rootid)[k2_weld]]
-    cfrc_com2_weld = jax.vmap(
-        lambda dif, frc, trq, mask: mask
-        * jp.concatenate([trq - jp.cross(dif, frc), frc])
-    )(
-        subtree_com2_weld - pos2_weld,
-        cfrc_weld_force,
-        cfrc_weld_torque,
-        k2_weld_mask,
-    )
-
-    cfrc_ext_equality.append(jp.vstack([cfrc_com1_weld, cfrc_com2_weld]))
-    cfrc_ext_equality_adr.append(jp.concatenate([k1_weld, k2_weld]))
-
-  if nconnect or nweld:
-    cfrc_ext = cfrc_ext.at[jp.concatenate(cfrc_ext_equality_adr)].add(
-        jp.vstack(cfrc_ext_equality)
-    )
-
-  # forward pass over bodies: compute cacc, cfrc_int
-  def _forward(carry, cfrc_ext, cinert, cvel, body_dofadr, body_dofnum):
-    if carry is None:
-      if m.opt.disableflags & DisableBit.GRAVITY:
-        cacc0 = jp.zeros(6)
-      else:
-        cacc0 = jp.concatenate((jp.zeros(3), -m.opt.gravity))
-      return cacc0, jp.zeros(6)
-    else:
-      cacc_parent, _ = carry
-
-    # create dof mask
-    indices = jp.arange(m.nv)
-    mask = jp.logical_and(
-        indices >= body_dofadr, indices < body_dofadr + body_dofnum
-    )
-
-    # cacc = cacc_parent + cdofdot * qvel + cdof * qacc
-    cacc_vel = d.cdof_dot.T @ (mask * d.qvel)
-    cacc_acc = d.cdof.T @ (mask * d.qacc)
-    cacc = cacc_parent + cacc_vel + cacc_acc
-
-    # cfrc_body = cinert * cacc + cvel x (cinert * cvel)
-    cfrc_body = math.inert_mul(cinert, cacc)
-    cfrc_corr = math.inert_mul(cinert, cvel)
-    cfrc = math.motion_cross_force(cvel, cfrc_corr)
-    cfrc_body = cfrc_body + cfrc
-    cfrc_int = cfrc_body - cfrc_ext
-
-    return cacc, cfrc_int
-
-  cacc, cfrc_int = scan.body_tree(
-      m,
-      _forward,
-      'bbbbb',
-      'bb',
-      cfrc_ext,
-      d._impl.cinert,
-      d.cvel,
-      jp.array(m.body_dofadr),
-      jp.array(m.body_dofnum),
-  )
-
-  # backward pass over bodies: accumulate cfrc_int from children
-  cfrc_int = scan.body_tree(
-      m,
-      lambda c, p: p + c if c is not None else p,  # add child to parent
-      'b',
-      'b',
-      cfrc_int,
-      reverse=True,
-  )
-
-  # update data
-  return d.tree_replace({  # pyrefly: ignore[bad-return]
-      '_impl.cacc': cacc,
-      '_impl.cfrc_int': cfrc_int,
-      '_impl.cfrc_ext': cfrc_ext,
-  })
-
-
-def tendon(m: Model, d: Data) -> Data:
-  """Computes tendon lengths and moments."""
-  if m.impl == Impl.WARP and d.impl == Impl.WARP and mjxw.WARP_INSTALLED:
-    from mujoco.mjx.warp import smooth as mjxw_smooth  # pylint: disable=g-import-not-at-top  # pytype: disable=import-error
-    return mjxw_smooth.tendon(m, d)
-
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('tendon requires JAX backend implementation.')
-
-  if not m.ntendon:
-    return d
-
-  # process joint tendons
-  (wrap_id_jnt,) = np.nonzero(m.wrap_type == WrapType.JOINT)
-  (tendon_id_jnt,) = np.nonzero(np.isin(m.tendon_adr, wrap_id_jnt))
-
-  ntendon_jnt = tendon_id_jnt.size
-  wrap_objid_jnt = m.wrap_objid[wrap_id_jnt]
-  tendon_num_jnt = m.tendon_num[tendon_id_jnt]
-
-  moment_jnt = m.wrap_prm[wrap_id_jnt]
-  length_jnt = jax.ops.segment_sum(
-      moment_jnt * d.qpos[m.jnt_qposadr[wrap_objid_jnt]],
-      np.repeat(np.arange(ntendon_jnt), tendon_num_jnt),
-      ntendon_jnt,
-  )
-
-  adr_moment_jnt = np.repeat(tendon_id_jnt, tendon_num_jnt)
-  dofadr_moment_jnt = m.jnt_dofadr[wrap_objid_jnt]
-
-  # process pulleys
-  (wrap_id_pulley,) = np.nonzero(m.wrap_type == WrapType.PULLEY)
-  nwrap_pulley = wrap_id_pulley.size
-
-  tendon_wrapnum_pulley = np.array([
-      sum((wrap_id_pulley >= adr) & (wrap_id_pulley < adr + num))
-      for adr, num in zip(m.tendon_adr, m.tendon_num)
-  ])
-
-  divisor = np.ones(m.nwrap)
-  for adr, num in zip(m.tendon_adr, m.tendon_num):
-    for id_pulley in wrap_id_pulley:
-      if adr <= id_pulley < adr + num:
-        divisor[id_pulley : adr + num] = np.maximum(
-            mujoco.mjMINVAL, m.wrap_prm[id_pulley]
-        )
-
-  # process spatial tendon sites
-  (wrap_id_site,) = np.nonzero(m.wrap_type == WrapType.SITE)
-  nwrap_site = wrap_id_site.size
-
-  # find consecutive sites, skipping tendon transitions
-  (pair_id,) = np.nonzero(np.diff(wrap_id_site) == 1)
-  wrap_id_site_pair = np.setdiff1d(wrap_id_site[pair_id], m.tendon_adr[1:] - 1)
-  wrap_objid_site0 = m.wrap_objid[wrap_id_site_pair]
-  wrap_objid_site1 = m.wrap_objid[wrap_id_site_pair + 1]
-
-  @jax.vmap
-  def _length_moment(pnt0, pnt1, body0, body1):
-    dif = pnt1 - pnt0
-    length = math.norm(dif)
-    vec = jp.where(
-        length < mujoco.mjMINVAL,
-        jp.array([1.0, 0.0, 0.0]),
-        math.safe_div(dif, length),
-    )
-
-    jacp1, _ = support.jac(m, d, pnt0, body0)
-    jacp2, _ = support.jac(m, d, pnt1, body1)
-    jacdif = jacp2 - jacp1
-    moment = jp.where(body0 != body1, jacdif @ vec, jp.zeros(m.nv))
-
-    return length, moment
-
-  lengths_site, moments_site = _length_moment(
-      d.site_xpos[wrap_objid_site0],
-      d.site_xpos[wrap_objid_site1],
-      m.site_bodyid[wrap_objid_site0],
-      m.site_bodyid[wrap_objid_site1],
-  )
-
-  if wrap_id_site_pair.size:
-    divisor_site_pair = divisor[wrap_id_site_pair]
-    lengths_site /= divisor_site_pair
-    moments_site /= divisor_site_pair[:, None]
-
-  tendon_nsite = np.array([
-      sum((wrap_id_site_pair >= adr) & (wrap_id_site_pair < adr + num))
-      for adr, num in zip(m.tendon_adr, m.tendon_num)
-  ])
-  tendon_wrapnum_site = np.array([
-      sum((wrap_id_site >= adr) & (wrap_id_site < adr + num))
-      for adr, num in zip(m.tendon_adr, m.tendon_num)
-  ])
-  tendon_has_site = tendon_nsite > 0
-  (tendon_id_site,) = np.nonzero(tendon_has_site)
-  tendon_nsite = tendon_nsite[tendon_has_site]
-  tendon_with_site = tendon_nsite.size
-  ten_site_id = np.repeat(np.arange(tendon_with_site), tendon_nsite)
-
-  length_site = jax.ops.segment_sum(lengths_site, ten_site_id, tendon_with_site)
-  moment_site = jax.ops.segment_sum(moments_site, ten_site_id, tendon_with_site)
-
-  # process spatial sphere/cylinder wrap
-  (wrap_id_geom,) = np.nonzero(
-      (m.wrap_type == WrapType.SPHERE) | (m.wrap_type == WrapType.CYLINDER)
-  )
-
-  # get objid for site-geom-site instances
-  wrap_id_sitegeomsite = wrap_id_geom[:, None] + np.array([-1, 0, 1])[None]
-  wrap_objid_site0, wrap_objid_geom, wrap_objid_site1 = m.wrap_objid[
-      wrap_id_sitegeomsite
-  ].T
-
-  # get site positions before and after geom
-  site_pnt0 = d.site_xpos[wrap_objid_site0]
-  site_pnt1 = d.site_xpos[wrap_objid_site1]
-
-  # get geom information
-  geom_xpos = d.geom_xpos[wrap_objid_geom]
-  geom_xmat = d.geom_xmat[wrap_objid_geom]
-  geom_size = m.geom_size[wrap_objid_geom, 0]
-  geom_type = m.wrap_type[wrap_id_geom]
-  is_sphere = geom_type == WrapType.SPHERE
-
-  # get body ids for site-geom-site instances
-  body_id_site0 = m.site_bodyid[wrap_objid_site0]
-  body_id_geom = m.geom_bodyid[wrap_objid_geom]
-  body_id_site1 = m.site_bodyid[wrap_objid_site1]
-
-  # find wrap object sidesites (if any exist)
-  side_id = np.round(m.wrap_prm[wrap_id_geom]).astype(int)
-  side = d.site_xpos[side_id]
-  has_sidesite = np.expand_dims(np.array(side_id >= 0), -1)
-
-  # wrap inside
-  # TODO(taylorhowell): check that is_wrap_inside is consistent with
-  # site and geom relative positions
-  (wrap_inside_id,) = np.nonzero(m._impl.is_wrap_inside)
-  (wrap_outside_id,) = np.nonzero(~m._impl.is_wrap_inside)
-
-  # compute geom wrap length and connect points (if wrap occurs)
-  v_wrap = jax.vmap(
-      support.wrap, in_axes=(0, 0, 0, 0, 0, 0, 0, 0, None, None, None, None)
-  )
-  lengths_inside, pnt0_inside, pnt1_inside = v_wrap(
-      site_pnt0[wrap_inside_id],
-      site_pnt1[wrap_inside_id],
-      geom_xpos[wrap_inside_id],
-      geom_xmat[wrap_inside_id],
-      geom_size[wrap_inside_id],
-      side[wrap_inside_id],
-      has_sidesite[wrap_inside_id],
-      is_sphere[wrap_inside_id],
-      True,
-      m._impl.wrap_inside_maxiter,
-      m._impl.wrap_inside_tolerance,
-      m._impl.wrap_inside_z_init,
-  )
-
-  lengths_outside, pnt0_outside, pnt1_outside = v_wrap(
-      site_pnt0[wrap_outside_id],
-      site_pnt1[wrap_outside_id],
-      geom_xpos[wrap_outside_id],
-      geom_xmat[wrap_outside_id],
-      geom_size[wrap_outside_id],
-      side[wrap_outside_id],
-      has_sidesite[wrap_outside_id],
-      is_sphere[wrap_outside_id],
-      False,
-      m._impl.wrap_inside_maxiter,
-      m._impl.wrap_inside_tolerance,
-      m._impl.wrap_inside_z_init,
-  )
-
-  wrap_id = np.argsort(np.concatenate([wrap_inside_id, wrap_outside_id]))
-  vstack_ = lambda x, y: jp.vstack([x, y])[wrap_id]
-  lengths_geomgeom = vstack_(lengths_inside, lengths_outside)
-  geom_pnt0 = vstack_(pnt0_inside, pnt0_outside)
-  geom_pnt1 = vstack_(pnt1_inside, pnt1_outside)
-
-  lengths_geomgeom = lengths_geomgeom.reshape(-1)
-
-  # identify geoms where wrap does not occur
-  no_geom_wrap = lengths_geomgeom < 0
-  wrap_objid_geom_skip = jp.where(no_geom_wrap, 0, wrap_objid_geom)
-
-  # compute lengths for site-site (no wrap), site-geom, and geom-site segments
-  def _distance(p0, p1):
-    return jax.vmap(lambda x, y: math.norm(x - y))(p0, p1)
-
-  lengths_sitesite = _distance(site_pnt0, site_pnt1)
-  lengths_sitegeom = _distance(site_pnt0, geom_pnt0)
-  lengths_geomsite = _distance(geom_pnt1, site_pnt1)
-
-  # select length segments according to geom wrap
-  lengths_geom = jp.where(
-      no_geom_wrap,
-      lengths_sitesite,
-      lengths_sitegeom + lengths_geomgeom + lengths_geomsite,
-  )
-
-  # compute moments for site-site (no wrap), site-geom, geom-geom, and geom-site
-  # segments
-  _, moments_sitesite = _length_moment(
-      site_pnt0, site_pnt1, body_id_site0, body_id_site1
-  )
-  _, moments_sitegeom = _length_moment(
-      site_pnt0, geom_pnt0, body_id_site0, body_id_geom
-  )
-  _, moments_geomgeom = _length_moment(
-      geom_pnt0, geom_pnt1, body_id_geom, body_id_geom
-  )
-  _, moments_geomsite = _length_moment(
-      geom_pnt1, site_pnt1, body_id_geom, body_id_site1
-  )
-
-  # select moment segments according to geom wrap
-  moments_geom = jp.where(
-      no_geom_wrap[:, None],
-      moments_sitesite,
-      moments_sitegeom + moments_geomgeom + moments_geomsite,
-  )
-
-  if wrap_id_geom.size:
-    divisor_geom = divisor[wrap_id_geom]
-    lengths_geom /= divisor_geom
-    moments_geom /= divisor_geom[:, None]
-
-  # construct number of site-geom-site instances per tendon
-  tendon_ngeom = np.array([
-      sum((wrap_id_geom >= adr) & (wrap_id_geom < adr + num))
-      for adr, num in zip(m.tendon_adr, m.tendon_num)
-  ])
-  tendon_has_geom = tendon_ngeom > 0
-  tendon_ngeom = tendon_ngeom[tendon_has_geom]
-
-  # identify tendons with at least one site-geom-site instance
-  (tendon_id_geom,) = np.nonzero(tendon_has_geom)
-
-  # combine site-geom-site segment lengths and moments for each tendon
-  tendon_with_geom = tendon_ngeom.size
-  ten_geom_id = np.repeat(np.arange(tendon_with_geom), tendon_ngeom)
-
-  length_geom = jax.ops.segment_sum(lengths_geom, ten_geom_id, tendon_with_geom)
-  moment_geom = jax.ops.segment_sum(moments_geom, ten_geom_id, tendon_with_geom)
-
-  # calculate number of wrap objects per tendon, based on geom wrap
-  wrapnums_geom = jp.where(no_geom_wrap, 0, 2)
-  tendon_wrapnum_geom = jax.ops.segment_sum(
-      wrapnums_geom, ten_geom_id, tendon_with_geom
-  )
-
-  # assemble length and moment
-  ten_length = (
-      jp.zeros_like(d.ten_length).at[tendon_id_jnt].set(length_jnt)
-  )
-  ten_length = ten_length.at[tendon_id_site].add(length_site)
-  ten_length = ten_length.at[tendon_id_geom].add(length_geom)
-
-  ten_moment = (
-      jp.zeros_like(d._impl.ten_J)
-      .at[adr_moment_jnt, dofadr_moment_jnt]
-      .set(moment_jnt)
-  )
-  ten_moment = ten_moment.at[tendon_id_site].add(moment_site)
-  ten_moment = ten_moment.at[tendon_id_geom].add(moment_geom)
-
-  # construct wrap addresses
-  wrap_adr_pulley = []
-  wrap_adr_site = []
-  wrap_adr_geom = []
-
-  count = 0
-  for wrap_type in m.wrap_type:
-    if wrap_type == WrapType.PULLEY:
-      wrap_adr_pulley.append(count)
-      count += 1
-    elif wrap_type == WrapType.SITE:
-      wrap_adr_site.append(count)
-      count += 1
-    elif wrap_type in (WrapType.SPHERE, WrapType.CYLINDER):
-      wrap_adr_geom.append(count)
-      wrap_adr_geom.append(count + 1)
-      count += 2
-
-  wrap_adr_pulley = np.array(wrap_adr_pulley).astype(int)
-  wrap_adr_site = np.array(wrap_adr_site).astype(int)
-  wrap_adr_geom = np.array(wrap_adr_geom).astype(int)
-  wrap_adr = np.concatenate([wrap_adr_pulley, wrap_adr_site, wrap_adr_geom])
-
-  ten_wrapnum = jp.array(tendon_wrapnum_pulley + tendon_wrapnum_site)
-  ten_wrapnum = ten_wrapnum.at[tendon_id_geom].add(tendon_wrapnum_geom)
-
-  ten_wrapadr = jp.concatenate([jp.array([0]), jp.cumsum(ten_wrapnum)[:-1]])
-
-  xpos_site = d.site_xpos[m.wrap_objid[wrap_id_site]]
-  xpos_geom = jp.hstack([geom_pnt0, geom_pnt1]).reshape((-1, 3))
-
-  # sort objects, moving no wrap geoms to bottom rows
-  wrap_adr_sort = np.argsort(wrap_adr)
-  skipped = (
-      jp.zeros(count, dtype=bool)
-      .at[wrap_adr_geom]
-      .set(jp.repeat(no_geom_wrap, 2).reshape(-1))
-  )
-  sort = jp.argsort(skipped)
-
-  wrap_xpos = jp.concatenate(
-      [jp.zeros((nwrap_pulley, 3)), xpos_site, xpos_geom]
-  )[wrap_adr_sort]
-  wrap_xpos = jp.concatenate(
-      [wrap_xpos[sort], jp.zeros((2 * m.nwrap - count, 3))]
-  ).reshape((m.nwrap, 6))
-
-  wrap_obj = jp.concatenate([
-      -2 * jp.ones(nwrap_pulley, dtype=int),
-      -1 * jp.ones(nwrap_site, dtype=int),
-      jp.repeat(wrap_objid_geom_skip, 2).reshape(-1),
-  ])[wrap_adr_sort]
-  wrap_obj = jp.concatenate(
-      [wrap_obj[sort], jp.zeros(2 * m.nwrap - count, dtype=int)]
-  ).reshape((m.nwrap, 2))
-
-  return d.tree_replace({  # pyrefly: ignore[bad-return]
-      'ten_length': ten_length,
-      '_impl.ten_J': ten_moment,
-      '_impl.ten_wrapadr': jp.array(ten_wrapadr, dtype=int),
-      '_impl.ten_wrapnum': jp.array(ten_wrapnum, dtype=int),
-      '_impl.wrap_xpos': wrap_xpos,
-      '_impl.wrap_obj': jp.array(wrap_obj, dtype=int),
-  })
-
-
-def _site_dof_mask(m: Model) -> np.ndarray:
-  """Creates a dof mask for site transmissions."""
-  mask = np.ones((m.nu, m.nv))
-  for i in np.nonzero(m.actuator_trnid[:, 1] != -1)[0]:
-    id_, refid = m.actuator_trnid[i]
-    # initialize last dof address for each body
-    b0 = m.body_weldid[m.site_bodyid[id_]]
-    b1 = m.body_weldid[m.site_bodyid[refid]]
-    dofadr0 = m.body_dofadr[b0] + m.body_dofnum[b0] - 1
-    dofadr1 = m.body_dofadr[b1] + m.body_dofnum[b1] - 1
-
-    # find common ancestral dof, if any
-    while dofadr0 != dofadr1:
-      if dofadr0 < dofadr1:
-        dofadr1 = m.dof_parentid[dofadr1]
-      else:
-        dofadr0 = m.dof_parentid[dofadr0]
-      if dofadr0 == -1 or dofadr1 == -1:
-        break
-
-    # if common ancestral dof was found, clear the columns of its parental chain
-    da = dofadr0 if dofadr0 == dofadr1 else -1
-    while da >= 0:
-      mask[i, da] = 0.0
-      da = m.dof_parentid[da]
-
-  return mask
-
-
-def transmission(m: Model, d: Data) -> Data:
-  """Computes actuator/transmission lengths and moments."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('transmission requires JAX backend implementation.')
-
-  if not m.nu:
-    return d
-
-  def fn(
-      trntype,
-      trnid,
-      gear,
-      jnt_typ,
-      m_j,
-      qpos,
-      has_refsite,
-      site_dof_mask,
-      site_xpos,
-      site_xmat,
-      site_quat,
-  ):
-    if trntype in (TrnType.JOINT, TrnType.JOINTINPARENT):
-      if jnt_typ == JointType.FREE:
-        length = jp.zeros(1)
-        moment = gear
-        if trntype == TrnType.JOINTINPARENT:
-          quat_neg = math.quat_inv(qpos[3:])
-          gearaxis = math.rotate(gear[3:], quat_neg)
-          moment = moment.at[3:].set(gearaxis)
-        m_j = m_j + jp.arange(6)
-      elif jnt_typ == JointType.BALL:
-        axis, angle = math.quat_to_axis_angle(qpos)
-        gearaxis = gear[:3]
-        if trntype == TrnType.JOINTINPARENT:
-          quat_neg = math.quat_inv(qpos)
-          gearaxis = math.rotate(gear[:3], quat_neg)
-        length = jp.dot(axis * angle, gearaxis)[None]
-        moment = gearaxis
-        m_j = m_j + jp.arange(3)
-      elif jnt_typ in (JointType.SLIDE, JointType.HINGE):
-        length = qpos * gear[0]
-        moment = gear[:1]
-        m_j = m_j[None]
-      else:
-        raise RuntimeError(f'unrecognized joint type: {JointType(jnt_typ)}')
-
-      moment = jp.zeros((m.nv,)).at[m_j].set(moment)
-    elif trntype == TrnType.SITE:
-      length = jp.zeros(1)
-      id_, refid = jp.array(m.site_bodyid)[trnid]
-      jacp, jacr = support.jac(m, d, site_xpos[0], id_)
-      frame_xmat = site_xmat[0]
-      if has_refsite:
-        vecp = site_xmat[1].T @ (site_xpos[0] - site_xpos[1])
-        vecr = math.quat_sub(site_quat[0], site_quat[1])
-        length += jp.dot(jp.concatenate([vecp, vecr]), gear)
-        jacrefp, jacrefr = support.jac(m, d, site_xpos[1], refid)
-        jacp, jacr = jacp - jacrefp, jacr - jacrefr
-        frame_xmat = site_xmat[1]
-
-      jac = jp.concatenate((jacp, jacr), axis=1) * site_dof_mask[:, None]
-      wrench = jp.concatenate((frame_xmat @ gear[:3], frame_xmat @ gear[3:]))
-      moment = jac @ wrench
-    elif trntype == TrnType.TENDON:
-      length = d.ten_length[trnid[0]] * gear[:1]
-      moment = d._impl.ten_J[trnid[0]] * gear[0]  # pyrefly: ignore[missing-attribute]
-    else:
-      raise RuntimeError(f'unrecognized trntype: {TrnType(trntype)}')
-
-    return length, moment
-
-  # pre-compute values for site transmissions
-  has_refsite = m.actuator_trnid[:, 1] != -1
-  site_dof_mask = _site_dof_mask(m)
-  site_quat = jax.vmap(math.quat_mul)(m.site_quat, d.xquat[m.site_bodyid])
-
-  length, moment = scan.flat(
-      m,
-      fn,
-      'uuujjquusss',
-      'uu',
-      m.actuator_trntype,
-      jp.array(m.actuator_trnid),
-      m.actuator_gear,
-      m.jnt_type,
-      jp.array(m.jnt_dofadr),
-      d.qpos,
-      has_refsite,
-      jp.array(site_dof_mask),
-      d.site_xpos,
-      d.site_xmat,
-      site_quat,
-      group_by='u',
-  )
-  length = length.reshape((m.nu,))
-  moment = moment.reshape((m.nu, m.nv))
-
-  d = d.tree_replace(  # pyrefly: ignore[bad-assignment]
-      {'actuator_length': length, '_impl.actuator_moment': moment}
-  )
-  return d
-
-
-def tendon_armature(m: Model, d: Data) -> Data:
-  """Add tendon armature to M."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('tendon_armature requires JAX backend implementation.')
-
-  if not m.ntendon:
-    return d
-
-  # TODO(taylorhowell): if sparse, compute sparse JTAJ
-  JTAJ = d._impl.ten_J.T @ jax.vmap(jp.multiply)(
-      d._impl.ten_J, m.tendon_armature
-  )
-
-  if support.is_sparse(m):
-    i = np.repeat(np.arange(m.nv), m.M_rownnz)
-    j = m.M_colind
-    JTAJ = JTAJ[(i, j)]
-
-  return d.tree_replace({'_impl.M': d._impl.M + JTAJ})  # pyrefly: ignore[bad-return]
-
-
-def tendon_dot(m: Model, d: Data) -> jax.Array:
-  """Compute time derivative of dense tendon Jacobian for one tendon."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('tendon_dot requires JAX backend implementation.')
-
-  ten_Jdot = jp.zeros((m.ntendon, m.nv))  # pylint: disable=invalid-name
-
-  if not m.ntendon:
-    return ten_Jdot
-
-  # process pulleys
-  (wrap_id_pulley,) = np.nonzero(m.wrap_type == WrapType.PULLEY)
-
-  divisor = np.ones(m.nwrap)
-  for adr, num in zip(m.tendon_adr, m.tendon_num):
-    for id_pulley in wrap_id_pulley:
-      if adr <= id_pulley < adr + num:
-        divisor[id_pulley : adr + num] = np.maximum(
-            mujoco.mjMINVAL, m.wrap_prm[id_pulley]
-        )
-
-  # process spatial tendon sites
-  (wrap_id_site,) = np.nonzero(m.wrap_type == WrapType.SITE)
-
-  # find consecutive sites, skipping tendon transitions
-  (pair_id,) = np.nonzero(np.diff(wrap_id_site) == 1)
-  wrap_id_site_pair = np.setdiff1d(wrap_id_site[pair_id], m.tendon_adr[1:] - 1)
-  wrap_objid_site0 = m.wrap_objid[wrap_id_site_pair]
-  wrap_objid_site1 = m.wrap_objid[wrap_id_site_pair + 1]
-  site_bodyid0 = m.site_bodyid[wrap_objid_site0]
-  site_bodyid1 = m.site_bodyid[wrap_objid_site1]
-  site_xpos0 = d.site_xpos[wrap_objid_site0]
-  site_xpos1 = d.site_xpos[wrap_objid_site1]
-  subtree_com0 = d.subtree_com[m.body_rootid[site_bodyid0]]
-  subtree_com1 = d.subtree_com[m.body_rootid[site_bodyid1]]
-  site_vel0 = jax.vmap(lambda a, b: a[3:] - jp.cross(b, a[:3]))(
-      d.cvel[site_bodyid0], site_xpos0 - subtree_com0
-  )
-  site_vel1 = jax.vmap(lambda a, b: a[3:] - jp.cross(b, a[:3]))(
-      d.cvel[site_bodyid1], site_xpos1 - subtree_com1
-  )
-
-  @jax.vmap
-  def _momentdot(wpnt0, wpnt1, wvel0, wvel1, body0, body1):
-    # dpnt = 3D position difference, normalize
-    dpnt = wpnt1 - wpnt0
-    norm = math.norm(dpnt)
-    dpnt = jp.where(
-        norm < mujoco.mjMINVAL,
-        jp.array([1.0, 0.0, 0.0]),
-        math.safe_div(dpnt, norm),
-    )
-
-    # dvel = d / dt(dpnt)
-    dvel = wvel1 - wvel0
-    dot = jp.dot(dpnt, dvel)
-    dvel += dpnt * -dot
-    dvel = jp.where(norm > mujoco.mjMINVAL, math.safe_div(dvel, norm), 0.0)
-
-    # get endpoint JacobianDots, subtract
-    jacp1, _ = support.jac_dot(m, d, wpnt0, body0)
-    jacp2, _ = support.jac_dot(m, d, wpnt1, body1)
-    jacdif = jacp2 - jacp1
-
-    # chain rule, first term: Jdot += d / dt(jac2 - jac1) * dpnt
-    tmp0 = jacdif @ dpnt
-
-    # get endpoint Jacobians, subtract
-    jacp1, _ = support.jac(m, d, wpnt0, body0)
-    jacp2, _ = support.jac(m, d, wpnt1, body1)
-    jacdif = jacp2 - jacp1
-
-    # chain rule, second term: Jdot += (jac2 - jac1) * d/dt (dpnt)
-    tmp1 = jacdif @ dvel
-
-    return jp.where(body0 != body1, tmp0 + tmp1, jp.zeros(m.nv))
-
-  momentdots = _momentdot(
-      site_xpos0,
-      site_xpos1,
-      site_vel0,
-      site_vel1,
-      site_bodyid0,
-      site_bodyid1,
-  )
-
-  if wrap_id_site_pair.size:
-    divisor_site_pair = divisor[wrap_id_site_pair]
-    momentdots /= divisor_site_pair[:, None]
-
-  tendon_nsite = np.array([
-      sum((wrap_id_site_pair >= adr) & (wrap_id_site_pair < adr + num))
-      for adr, num in zip(m.tendon_adr, m.tendon_num)
-  ])
-  tendon_has_site = tendon_nsite > 0
-  (tendon_id_site,) = np.nonzero(tendon_has_site)
-  tendon_nsite = tendon_nsite[tendon_has_site]
-  tendon_with_site = tendon_nsite.size
-  ten_site_id = np.repeat(np.arange(tendon_with_site), tendon_nsite)
-
-  momentdot = jax.ops.segment_sum(momentdots, ten_site_id, tendon_with_site)
-  ten_Jdot = ten_Jdot.at[tendon_id_site].set(momentdot)  # pylint: disable=invalid-name
-
-  # TODO(taylorhowell): time derivatives for geoms
-
-  return ten_Jdot
-
-
-def tendon_bias(m: Model, d: Data) -> Data:
-  """Add bias force due to tendon armature."""
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('tendon_bias requires JAX backend implementation.')
-
-  if not m.ntendon:
-    return d
-
-  # get dense d/dt(tendon Jacobian) for each tendon
-  ten_Jdot = tendon_dot(m, d)  # pylint: disable=invalid-name
-
-  # add bias term: qfrc += ten_J * armature * ten_Jdot @ qvel
-  coef = m.tendon_armature * jp.dot(ten_Jdot, d.qvel)
-
-  return d.tree_replace({  # pyrefly: ignore[bad-return]
-      'qfrc_bias': (
-          d.qfrc_bias
-          + jp.sum(jax.vmap(jp.multiply)(d._impl.ten_J, coef), axis=0)
-      )
-  })
diff --git a/mjx/mujoco/mjx/_src/smooth_test.py b/mjx/mujoco/mjx/_src/smooth_test.py
deleted file mode 100644
index b6814745..00000000
--- a/mjx/mujoco/mjx/_src/smooth_test.py
+++ /dev/null
@@ -1,449 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for smooth dynamics functions."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import test_util
-from mujoco.mjx._src.types import ConeType  # pylint: disable=g-importing-member
-from mujoco.mjx._src.types import JacobianType  # pylint: disable=g-importing-member
-import numpy as np
-
-# tolerance for difference between MuJoCo and MJX smooth calculations - mostly
-# due to float precision
-_TOLERANCE = 5e-5
-
-
-def _assert_eq(a, b, name):
-  tol = _TOLERANCE * 10  # avoid test noise
-  err_msg = f'mismatch: {name}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
-
-
-def _assert_attr_eq(a, b, attr):
-  _assert_eq(getattr(a, attr), getattr(b, attr), attr)
-
-
-class SmoothTest(absltest.TestCase):
-
-  def setUp(self):
-    super().setUp()
-    # although we already have generous padding of thresholds, it doesn't hurt
-    # to also fix the seed to reduce test flakiness
-    np.random.seed(0)
-
-  def test_smooth(self):
-    """Tests MJX smooth functions match MuJoCo smooth functions."""
-
-    m = test_util.load_test_file('pendula.xml')
-    # tell MJX to use sparse mass matrices:
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
-    # randomize mocap
-    d.mocap_pos = np.random.random(d.mocap_pos.shape)
-    d.mocap_quat = np.random.random(d.mocap_quat.shape)
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-
-    # kinematics
-    dx = jax.jit(mjx.kinematics)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'xanchor')
-    _assert_attr_eq(d, dx, 'xaxis')
-    _assert_attr_eq(d, dx, 'xpos')
-    _assert_attr_eq(d, dx, 'xquat')
-    _assert_eq(d.xmat.reshape((-1, 3, 3)), dx.xmat, 'xmat')
-    _assert_attr_eq(d, dx, 'xipos')
-    _assert_eq(d.ximat.reshape((-1, 3, 3)), dx.ximat, 'ximat')
-    _assert_attr_eq(d, dx, 'geom_xpos')
-    _assert_eq(d.geom_xmat.reshape((-1, 3, 3)), dx.geom_xmat, 'geom_xmat')
-    _assert_attr_eq(d, dx, 'site_xpos')
-    _assert_eq(d.site_xmat.reshape((-1, 3, 3)), dx.site_xmat, 'site_xmat')
-    # com_pos
-    dx = jax.jit(mjx.com_pos)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'subtree_com')
-    _assert_attr_eq(d, dx._impl, 'cinert')
-    _assert_attr_eq(d, dx, 'cdof')
-    # camlight
-    dx = jax.jit(mjx.camlight)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'cam_xpos')
-    _assert_eq(d.cam_xmat.reshape((-1, 3, 3)), dx.cam_xmat, 'cam_xmat')
-    # crb
-    dx = jax.jit(mjx.crb)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx._impl, 'crb')
-    _assert_attr_eq(d, dx._impl, 'M')
-    # factor_m
-    dx = jax.jit(mjx.factor_m)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx._impl, 'qLD')
-    _assert_attr_eq(d, dx._impl, 'qLDiagInv')
-    # com_vel
-    dx = jax.jit(mjx.com_vel)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'cvel')
-    _assert_attr_eq(d, dx, 'cdof_dot')
-    # rne
-    dx = jax.jit(mjx.rne)(mx, mjx.put_data(m, d))
-    _assert_attr_eq(d, dx, 'qfrc_bias')
-    # rne (flg_acc=True)
-    qfrc_bias = np.zeros(m.nv)
-    mujoco.mj_rne(m, d, 1, qfrc_bias)
-    dx = jax.jit(mjx.rne, static_argnums=(2,))(
-        mx, mjx.put_data(m, d), flg_acc=True
-    )
-    _assert_eq(dx.qfrc_bias, qfrc_bias, 'qfrc_bias')
-
-    # set dense jacobian for tendon:
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_DENSE
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
-    mujoco.mj_forward(m, d)
-    # tendon
-    dx = jax.jit(mjx.tendon)(mx, mjx.put_data(m, d))
-    ten_J = np.zeros((m.ntendon, m.nv))
-    mujoco.mju_sparse2dense(
-        ten_J,
-        d.ten_J,
-        m.ten_J_rownnz,
-        m.ten_J_rowadr,
-        m.ten_J_colind,
-    )
-    _assert_eq(ten_J, dx._impl.ten_J, 'ten_J')
-    _assert_attr_eq(d, dx, 'ten_length')
-    # transmission
-    dx = jax.jit(mjx.transmission)(mx, dx)
-    _assert_attr_eq(d, dx, 'actuator_length')
-
-    # convert sparse actuator_moment to dense representation
-    moment = np.zeros((m.nu, m.nv))
-    mujoco.mju_sparse2dense(
-        moment,
-        d.actuator_moment,
-        d.moment_rownnz,
-        d.moment_rowadr,
-        d.moment_colind,
-    )
-    _assert_eq(moment, dx._impl.actuator_moment, 'actuator_moment')
-
-  def test_disable_gravity(self):
-    m = mujoco.MjModel.from_xml_string("""
-        <mujoco>
-          <option>
-            <flag gravity="disable"/>
-          </option>
-          <worldbody>
-            <body>
-              <joint type="free"/>
-              <geom size="0.1"/>
-            </body>
-          </worldbody>
-        </mujoco>
-        """)
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    dx = jax.jit(mjx.rne)(mx, dx)
-    np.testing.assert_allclose(dx.qfrc_bias, 0)
-
-  def test_site_transmission(self):
-    m = mujoco.MjModel.from_xml_string("""
-        <mujoco>
-        <compiler autolimits="true"/>
-        <worldbody>
-          <body>
-            <joint type="free"/>
-            <geom type="box" size=".05 .05 .05" mass="1"/>
-            <site name="site1"/>
-            <body>
-              <joint type="hinge"/>
-              <geom size="0.1" mass="1"/>
-              <site name="site2" pos="0.1 0.2 0.3"/>
-            </body>
-          </body>
-          <body pos="1 0 0">
-            <joint name="slide" type="hinge"/>
-            <geom type="box" size=".05 .05 .05" mass="1"/>
-          </body>
-        </worldbody>
-        <actuator>
-          <position site="site1" kv="0.1" gear="1 2 3 0 0 0"/>
-          <position site="site1" kv="0.2" gear="0 0 0 1 2 3"/>
-          <position site="site2" kv="0.3" gear="0 3 0 0 0 1"/>
-          <position joint="slide" kv="0.05" />
-          <position site="site2" refsite="site1" gear="1 2 3 0.5 0.4 0.6"/>
-        </actuator>
-        </mujoco>
-      """)
-    d = mujoco.MjData(m)
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    mujoco.mj_transmission(m, d)
-    dx = jax.jit(mjx.transmission)(mx, dx)
-    _assert_attr_eq(d, dx, 'actuator_length')
-
-    # convert sparse actuator_moment to dense representation
-    moment = np.zeros((m.nu, m.nv))
-    mujoco.mju_sparse2dense(
-        moment,
-        d.actuator_moment,
-        d.moment_rownnz,
-        d.moment_rowadr,
-        d.moment_colind,
-    )
-    _assert_eq(moment, dx._impl.actuator_moment, 'actuator_moment')
-
-  def test_subtree_vel(self):
-    """Tests MJX subtree_vel function matches MuJoCo mj_subtreeVel."""
-
-    m = test_util.load_test_file('humanoid/humanoid.xml')
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    # subtree velocity
-    mujoco.mj_subtreeVel(m, d)
-    dx = jax.jit(mjx.subtree_vel)(mx, dx)
-
-    _assert_attr_eq(d, dx._impl, 'subtree_linvel')
-    _assert_attr_eq(d, dx._impl, 'subtree_angmom')
-
-
-class RnePostConstraintTest(parameterized.TestCase):
-  _CONNECT_SITE = """
-    <equality>
-      <connect site1="site1" site2="site2"/>
-    </equality>
-    """
-  _CONNECT_BODY = """
-    <equality>
-      <connect body1="body1" body2="body2" anchor="1 2 3"/>
-    </equality>
-    """
-  _WELD_SITE = """
-    <equality>
-      <weld site1="site1" site2="site2"/>
-    </equality>
-    """
-  _WELD_BODY = """
-    <equality>
-      <weld body1="body1" body2="body2"/>
-    </equality>
-    """
-  _CONNECT_SITE_WELD_SITE = """
-    <equality>
-      <connect site1="site1" site2="site2"/>
-      <weld site1="site1" site2="site2"/>
-    </equality>
-    """
-  _WELD_SITE_CONNECT_SITE = """
-    <equality>
-      <weld site1="site1" site2="site2"/>
-      <connect site1="site1" site2="site2"/>
-    </equality>
-    """
-  _WELD_SITE_CONNECT_SITE_WELD_BODY = """
-    <equality>
-      <weld site1="site1" site2="site2"/>
-      <connect site1="site1" site2="site2"/>
-      <weld body1="body1" body2="body2"/>
-    </equality>
-    """
-  _CONNECT_SITE_WELD_SITE_WELD_BODY = """
-    <equality>
-      <connect site1="site1" site2="site2"/>
-      <weld site1="site1" site2="site2"/>
-      <weld body1="body1" body2="body2"/>
-    </equality>
-    """
-  _CONNECT_SITE_CONNECT_BODY_CONNECT_WELD = """
-    <equality>
-      <connect site1="site1" site2="site2"/>
-      <connect body1="body1" body2="body2" anchor="1 2 3"/>
-      <weld body1="body1" body2="body2"/>
-    </equality>
-    """
-
-  @parameterized.parameters(
-      ('', ConeType.PYRAMIDAL, None),
-      ('', ConeType.ELLIPTIC, None),
-      (_CONNECT_SITE, ConeType.PYRAMIDAL, None),
-      (_CONNECT_BODY, ConeType.PYRAMIDAL, None),
-      (_WELD_SITE, ConeType.PYRAMIDAL, None),
-      (_WELD_BODY, ConeType.PYRAMIDAL, None),
-      (_CONNECT_SITE_WELD_SITE, ConeType.PYRAMIDAL, None),
-      (
-          _WELD_SITE_CONNECT_SITE,
-          ConeType.PYRAMIDAL,
-          np.array([6, 7, 8, 0, 1, 2, 3, 4, 5]),
-      ),
-      (
-          _WELD_SITE_CONNECT_SITE_WELD_BODY,
-          ConeType.PYRAMIDAL,
-          np.array([6, 7, 8, 0, 1, 2, 3, 4, 5]),
-      ),
-      (_CONNECT_SITE_WELD_SITE_WELD_BODY, ConeType.PYRAMIDAL, None),
-      (_CONNECT_SITE_CONNECT_BODY_CONNECT_WELD, ConeType.PYRAMIDAL, None),
-  )
-  def test_rnepostconstraint(self, equality, cone_type, efc_map):
-    """Tests MJX rne_postconstraint function to match MuJoCo mj_rnePostConstraint."""
-
-    m = mujoco.MjModel.from_xml_string(f"""
-        <mujoco>
-          <worldbody>
-            <geom name="floor" size="10 10 .05" type="plane"/>
-            <site name="site1"/>
-            <body name="body1">
-            </body>
-            <body pos="0 0 1" name="body2">
-              <joint type="ball" damping="1"/>
-              <geom type="capsule" size="0.1 0.5" fromto="0 0 0 0.5 0 0" condim="1"/>
-              <body pos="0.5 0 0">
-                <joint type="ball" damping="1"/>
-                <geom type="capsule" size="0.1 0.5" fromto="0 0 0 0.5 0 0"  condim="3"/>
-                <site name="site2"/>
-              </body>
-            </body>
-            <body pos="0 1 1">
-              <joint type="ball" damping="1"/>
-              <geom type="capsule" size="0.1 0.5" fromto="0 0 0 0.5 0 0" condim="6"/>
-              <body pos="0.5 0 0">
-                <joint type="ball" damping="1"/>
-                <geom type="capsule" size="0.1 0.5" fromto="0 0 0 0.5 0 0"  condim="3"/>
-              </body>
-            </body>
-          </worldbody>
-          {equality}
-          <keyframe>
-            <key qpos='0.424577 0.450592 0.451703 -0.642391 0.729379 0.545151 0.407756 0.0674697 0.424577 1.450592 0.451703 -0.642391 0.729379 0.545151 0.407756 0.0674697'/>
-          </keyframe>
-        </mujoco>
-    """)
-    # set cone type
-    m.opt.cone = cone_type
-    # create data and set to keyframe
-    d = mujoco.MjData(m)
-    mujoco.mj_resetDataKeyframe(m, d, 0)
-    # apply external forces
-    d.xfrc_applied = 0.001 * np.ones(d.xfrc_applied.shape)
-    mujoco.mj_step(m, d, 2)
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    if efc_map is not None:
-      efc_force = d.efc_force.copy()
-      efc_force[: len(efc_map)] = d.efc_force[efc_map]
-      dx = dx.tree_replace({'_impl.efc_force': jp.array(efc_force)})
-
-    # rne postconstraint
-    mujoco.mj_rnePostConstraint(m, d)
-    dx = jax.jit(mjx.rne_postconstraint)(mx, dx)
-
-    _assert_eq(d.cacc, dx._impl.cacc, 'cacc')
-    _assert_eq(d.cfrc_ext, dx._impl.cfrc_ext, 'cfrc_ext')
-    _assert_eq(d.cfrc_int, dx._impl.cfrc_int, 'cfrc_int')
-
-
-class TendonTest(parameterized.TestCase):
-
-  @parameterized.parameters(
-      'tendon/fixed.xml',
-      'tendon/fixed_site.xml',
-      'tendon/fixed_site_wrap.xml',
-      'tendon/pulley_fixed_site_wrap.xml',
-      'tendon/pulley_site.xml',
-      'tendon/pulley_site_wrap.xml',
-      'tendon/pulley_wrap.xml',
-      'tendon/no_tendon.xml',
-      'tendon/site.xml',
-      'tendon/site_wrap.xml',
-      'tendon/tendon.xml',
-      'tendon/wrap_sidesite.xml',
-  )
-  def test_tendon(self, filename):
-    """Tests MJX tendon function matches MuJoCo mj_tendon."""
-    m = test_util.load_test_file(filename)
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    mujoco.mj_forward(m, d)
-    dx = jax.jit(mjx.forward)(mx, dx)
-
-    _assert_eq(d.ten_length, dx.ten_length, 'ten_length')
-    ten_J = np.zeros((m.ntendon, m.nv))
-    mujoco.mju_sparse2dense(
-        ten_J,
-        d.ten_J,
-        m.ten_J_rownnz,
-        m.ten_J_rowadr,
-        m.ten_J_colind,
-    )
-    _assert_eq(ten_J, dx._impl.ten_J, 'ten_J')
-    _assert_eq(d.ten_wrapnum, dx._impl.ten_wrapnum, 'ten_wrapnum')
-    _assert_eq(d.ten_wrapadr, dx._impl.ten_wrapadr, 'ten_wrapadr')
-    _assert_eq(d.wrap_obj, dx._impl.wrap_obj, 'wrap_obj')
-    _assert_eq(d.wrap_xpos, dx._impl.wrap_xpos, 'wrap_xpos')
-
-  @parameterized.parameters(JacobianType.DENSE, JacobianType.SPARSE)
-  def test_tendon_armature(self, jacobian):
-    """Tests MJX tendon armature matches MuJoCo."""
-    m = test_util.load_test_file('tendon/armature.xml')
-    m.opt.jacobian = jacobian
-    d = mujoco.MjData(m)
-    mujoco.mj_resetDataKeyframe(m, d, 0)
-    mujoco.mj_forward(m, d)
-
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    dx = dx.tree_replace(
-        {'_impl.M': jp.zeros((m.nv, m.nv)), 'qfrc_bias': jp.zeros(m.nv)}
-    )
-
-    dx = mjx.crb(mx, dx)
-    dx = mjx.tendon_armature(mx, dx)
-
-    if jacobian == JacobianType.DENSE:
-      M = np.zeros((m.nv, m.nv))  # pylint: disable=invalid-name
-      mujoco.mju_sym2dense(M, d.M, m.M_rownnz, m.M_rowadr, m.M_colind)
-    else:
-      M = d.M  # pylint: disable=invalid-name
-    _assert_eq(dx._impl.M, M, 'M')
-
-    dx = mjx.rne(mx, dx)
-    dx = mjx.tendon_bias(mx, dx)
-    _assert_eq(dx.qfrc_bias, d.qfrc_bias, 'qfrc_bias')
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/solver.py b/mjx/mujoco/mjx/_src/solver.py
deleted file mode 100644
index 5bbd0220..00000000
--- a/mjx/mujoco/mjx/_src/solver.py
+++ /dev/null
@@ -1,610 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Constraint solvers."""
-
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco.mjx._src import math
-from mujoco.mjx._src import smooth
-from mujoco.mjx._src import support
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.dataclasses import PyTreeNode
-from mujoco.mjx._src.types import ConeType
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import DataJAX
-from mujoco.mjx._src.types import DisableBit
-from mujoco.mjx._src.types import Model
-from mujoco.mjx._src.types import ModelJAX
-from mujoco.mjx._src.types import OptionJAX
-from mujoco.mjx._src.types import SolverType
-# pylint: enable=g-importing-member
-
-
-class Context(PyTreeNode):
-  """Data updated during each solver iteration.
-
-  Attributes:
-    qacc: acceleration (from Data)                    (nv,)
-    qfrc_constraint: constraint force (from Data)     (nv,)
-    Jaref: Jac*qacc - aref                            (nefc,)
-    efc_force: constraint force in constraint space   (nefc,)
-    Ma: M*qacc                                        (nv,)
-    grad: gradient of master cost                     (nv,)
-    Mgrad: M / grad                                   (nv,)
-    search: linesearch vector                         (nv,)
-    gauss: gauss Cost
-    cost: constraint + Gauss cost
-    prev_cost: cost from previous iter
-    solver_niter: number of solver iterations
-    active: active (quadratic) constraints            (nefc,)
-    fri: friction of regularized cone                 (num(con.dim > 1), 6)
-    dm: regularized constraint mass                   (num(con.dim > 1))
-    u: friction cone (normal and tangents)            (num(con.dim > 1), 6)
-    h: cone hessian                                   (num(con.dim > 1), 6, 6)
-  """
-
-  qacc: jax.Array
-  qfrc_constraint: jax.Array
-  Jaref: jax.Array  # pylint: disable=invalid-name
-  efc_force: jax.Array
-  Ma: jax.Array  # pylint: disable=invalid-name
-  grad: jax.Array
-  Mgrad: jax.Array  # pylint: disable=invalid-name
-  search: jax.Array
-  gauss: jax.Array
-  cost: jax.Array
-  prev_cost: jax.Array
-  solver_niter: jax.Array
-  active: jax.Array
-  fri: jax.Array
-  dm: jax.Array
-  u: jax.Array
-  h: jax.Array
-
-  @classmethod
-  def create(cls, m: Model, d: Data, grad: bool = True) -> 'Context':
-    if not isinstance(d._impl, DataJAX) or not isinstance(
-        m.opt._impl, OptionJAX
-    ):
-      raise ValueError(
-          'Constraint context requires JAX backend implementation.'
-      )
-
-    jaref = d._impl.efc_J @ d.qacc - d._impl.efc_aref
-    # TODO(robotics-team): determine nv at which sparse mul is faster
-    ma = support.mul_m(m, d, d.qacc)
-    nv_0 = jp.zeros(m.nv)
-    fri = 0.0
-    if m.opt.cone == ConeType.ELLIPTIC:
-      friction = d._impl.contact.friction[d._impl.contact.dim > 1]
-      dim = d._impl.contact.dim[d._impl.contact.dim > 1]
-      mu = friction[:, 0] / jp.sqrt(m.opt.impratio)
-      fri = jp.concatenate((mu[:, None], friction), axis=1)
-      for condim in (3, 4, 6):
-        fri = fri.at[dim == condim, condim:].set(0)
-
-    ctx = Context(
-        qacc=d.qacc,
-        qfrc_constraint=d.qfrc_constraint,
-        Jaref=jaref,
-        efc_force=d._impl.efc_force,
-        Ma=ma,
-        grad=nv_0,
-        Mgrad=nv_0,
-        search=nv_0,
-        gauss=0.0,
-        cost=jp.inf,
-        prev_cost=0.0,
-        solver_niter=0,
-        active=0.0,
-        fri=fri,
-        dm=0.0,
-        u=0.0,
-        h=0.0,
-    )
-    ctx = _update_constraint(m, d, ctx)
-    if grad:
-      ctx = _update_gradient(m, d, ctx)
-      ctx = ctx.replace(search=-ctx.Mgrad)  # start with preconditioned gradient
-
-    return ctx
-
-
-class _LSPoint(PyTreeNode):
-  """Line search evaluation point.
-
-  Attributes:
-    alpha: step size that reduces f(x + alpha * p) given search direction p
-    cost: line search cost
-    deriv_0: first derivative of quadratic
-    deriv_1: second derivative of quadratic
-  """
-
-  alpha: jax.Array
-  cost: jax.Array
-  deriv_0: jax.Array
-  deriv_1: jax.Array
-
-  @classmethod
-  def create(
-      cls,
-      m: Model,
-      d: Data,
-      ctx: Context,
-      alpha: jax.Array,
-      jv: jax.Array,
-      quad: jax.Array,
-      quad_gauss: jax.Array,
-      uu: jax.Array,
-      v0: jax.Array,
-      uv: jax.Array,
-      vv: jax.Array,
-  ) -> '_LSPoint':
-    """Creates a linesearch point with first and second derivatives."""
-    # roughly corresponds to CGEval in mujoco/src/engine/engine_solver.c
-    if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-      raise ValueError('LSPoint requires JAX backend implementation.')
-
-    cost, deriv_0, deriv_1 = 0.0, 0.0, 0.0
-    quad_total = quad_gauss
-    x = ctx.Jaref + alpha * jv
-    active = (x < 0).at[: d._impl.ne + d._impl.nf].set(True)
-
-    dof_fl, ten_fl = m._impl.dof_hasfrictionloss, m._impl.tendon_hasfrictionloss
-    if (dof_fl.any() or ten_fl.any()) and not (
-        m.opt.disableflags & DisableBit.FRICTIONLOSS
-    ):
-      f = d._impl.efc_frictionloss
-      r = 1.0 / (d._impl.efc_D + (d._impl.efc_D == 0.0) * mujoco.mjMINVAL)
-      rf, z = r * f, jp.zeros_like(f)
-      linear_neg = (x <= -rf)[:, None]
-      linear_pos = (x >= rf)[:, None]
-      qf = linear_neg * jp.array([f * (-0.5 * rf - ctx.Jaref), -f * jv, z]).T
-      qf += linear_pos * jp.array([f * (-0.5 * rf + ctx.Jaref), f * jv, z]).T
-      quad = jp.where((linear_neg | linear_pos) & (f[:, None] > 0), qf, quad)
-
-    if m.opt.cone == ConeType.ELLIPTIC:
-      mu, u0 = ctx.fri[:, 0], ctx.u[:, 0]
-      n = u0 + alpha * v0
-      tsqr = uu + alpha * (2 * uv + alpha * vv)
-      t = jp.sqrt(tsqr)  # tangential force
-
-      bottom_zone = ((tsqr <= 0) & (n < 0)) | ((tsqr > 0) & ((mu * n + t) <= 0))
-      middle_zone = (tsqr > 0) & (n < (mu * t)) & ((mu * n + t) > 0)
-
-      # quadratic cost for equality, friction, limits, frictionless contacts
-      dim1 = d._impl.contact.efc_address[d._impl.contact.dim == 1]
-      nefl = d._impl.ne + d._impl.nf + d._impl.nl
-      active = active.at[nefl:].set(False).at[dim1].set(active[dim1])
-      quad_efld = jax.vmap(jp.multiply)(quad, active)
-      quad_total += jp.sum(quad_efld, axis=0)
-      # elliptic bottom zone: quadratic cost
-      efc_elliptic = d._impl.contact.efc_address[d._impl.contact.dim > 1]
-      quad_c = jax.vmap(jp.multiply)(quad[efc_elliptic], bottom_zone)
-      quad_total += jp.sum(quad_c, axis=0)
-      # elliptic middle zone
-      t += (t == 0) * mujoco.mjMINVAL
-      tsqr += (tsqr == 0) * mujoco.mjMINVAL
-      n1 = v0
-      t1 = (uv + alpha * vv) / t
-      t2 = vv / t - (uv + alpha * vv) * t1 / tsqr
-      dm = ctx.dm * middle_zone
-      nmt = n - mu * t
-      cost = 0.5 * jp.sum(dm * jp.square(nmt))
-      deriv_0 = jp.sum(dm * nmt * (n1 - mu * t1))
-      deriv_1 = jp.sum(dm * (jp.square(n1 - mu * t1) - nmt * mu * t2))
-    elif m.opt.cone == ConeType.PYRAMIDAL:
-      quad = jax.vmap(jp.multiply)(quad, active)  # only active
-      quad_total += jp.sum(quad, axis=0)
-    else:
-      raise NotImplementedError(f'unsupported cone type: {m.opt.cone}')
-
-    alpha_sq = alpha * alpha
-    cost += alpha_sq * quad_total[2] + alpha * quad_total[1] + quad_total[0]
-    deriv_0 += 2 * alpha * quad_total[2] + quad_total[1]
-    deriv_1 += 2 * quad_total[2] + (quad_total[2] == 0) * mujoco.mjMINVAL
-
-    return _LSPoint(alpha=alpha, cost=cost, deriv_0=deriv_0, deriv_1=deriv_1)
-
-
-class _LSContext(PyTreeNode):
-  """Data updated during each line search iteration.
-
-  Attributes:
-    lo: low point bounding the line search interval
-    hi: high point bounding the line search interval
-    swap: True if low or hi was swapped in the line search iteration
-    ls_iter: number of linesearch iterations
-  """
-
-  lo: _LSPoint
-  hi: _LSPoint
-  swap: jax.Array
-  ls_iter: jax.Array
-
-
-def _while_loop_scan(cond_fun, body_fun, init_val, max_iter):
-  """Scan-based implementation (jit ok, reverse-mode autodiff ok)."""
-
-  def _iter(val):
-    next_val = body_fun(val)
-    next_cond = cond_fun(next_val)
-    return next_val, next_cond
-
-  def _fun(tup, it):
-    val, cond = tup
-    # When cond is met, we start doing no-ops.
-    return jax.lax.cond(cond, _iter, lambda x: (x, False), val), it
-
-  init = (init_val, cond_fun(init_val))
-  return jax.lax.scan(_fun, init, None, length=max_iter)[0][0]
-
-
-def _update_constraint(m: Model, d: Data, ctx: Context) -> Context:
-  """Updates constraint force and resulting cost given last solver iteration.
-
-  Corresponds to CGupdateConstraint in mujoco/src/engine/engine_solver.c
-
-  Args:
-    m: model defining constraints
-    d: data which contains latest qacc and smooth terms
-    ctx: current solver context
-
-  Returns:
-    context with new constraint force and costs
-  """
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('_update_constraint requires JAX backend implementation.')
-
-  # ne constraints are always active, nf are conditionally active, others are
-  # non-negative constraints.
-  active = (ctx.Jaref < 0).at[: d._impl.ne + d._impl.nf].set(True)
-
-  floss_force, floss_cost = jp.zeros(d._impl.nefc), 0.0
-  dof_fl, ten_fl = m._impl.dof_hasfrictionloss, m._impl.tendon_hasfrictionloss
-  if (dof_fl.any() or ten_fl.any()) and not (
-      m.opt.disableflags & DisableBit.FRICTIONLOSS
-  ):
-    f = d._impl.efc_frictionloss
-    r = 1.0 / (d._impl.efc_D + (d._impl.efc_D == 0.0) * mujoco.mjMINVAL)
-    linear_neg = (ctx.Jaref <= -r * f) * (f > 0)
-    linear_pos = (ctx.Jaref >= r * f) * (f > 0)
-    active = active & ~linear_neg & ~linear_pos
-    floss_force = linear_neg * f + linear_pos * -f
-    floss_cost = linear_neg * (-0.5 * r * f * f - f * ctx.Jaref)
-    floss_cost += linear_pos * (-0.5 * r * f * f + f * ctx.Jaref)
-    floss_cost = floss_cost.sum()
-
-  if m.opt.cone == ConeType.PYRAMIDAL:
-    efc_force = d._impl.efc_D * -ctx.Jaref * active + floss_force
-    cost = 0.5 * jp.sum(d._impl.efc_D * ctx.Jaref * ctx.Jaref * active)
-    dm, u, h = 0.0, 0.0, 0.0
-  elif m.opt.cone == ConeType.ELLIPTIC:
-    friction = d._impl.contact.friction[d._impl.contact.dim > 1]
-    efc_address = d._impl.contact.efc_address[d._impl.contact.dim > 1]
-    dim = d._impl.contact.dim[d._impl.contact.dim > 1]
-    # to prevent out of range append zeros to ctx.Jaref
-    slice_fn = jax.vmap(
-        lambda x: jax.lax.dynamic_slice(
-            jp.concatenate((ctx.Jaref, jp.zeros((3)))), (x,), (6,)
-        )
-    )
-    u = slice_fn(efc_address) * ctx.fri
-    mu, n, t = ctx.fri[:, 0], u[:, 0], jax.vmap(math.norm)(u[:, 1:])
-
-    # bottom zone: quadratic
-    bottom_zone = ((t <= 0) & (n < 0)) | ((t > 0) & ((mu * n + t) <= 0))
-    adr_i, adr_j = [], []
-    for i, (condim, addr) in enumerate(zip(dim, efc_address)):
-      adr_i.extend(range(addr, addr + condim))
-      adr_j.extend([i] * condim)
-    active = active.at[jp.array(adr_i)].set(bottom_zone[jp.array(adr_j)])
-    efc_force = d._impl.efc_D * -ctx.Jaref * active + floss_force
-    cost = 0.5 * jp.sum(d._impl.efc_D * ctx.Jaref * ctx.Jaref * active)
-
-    # middle zone: cone
-    middle_zone = (t > 0) & (n < (mu * t)) & ((mu * n + t) > 0)
-    dm = d._impl.efc_D[efc_address] / jp.maximum(
-        mu * mu * (1 + mu * mu), mujoco.mjMINVAL
-    )
-    nmt = n - mu * t
-    cost += 0.5 * jp.sum(dm * nmt * nmt * middle_zone)
-    # tangent and friction for middle zone:
-    force = -dm * nmt * mu * middle_zone
-    force_fri = -force / (t + ~middle_zone * mujoco.mjMINVAL)
-    force_fri = force_fri[:, None] * u[:, 1:] * friction
-    efc_force = efc_force.at[efc_address].add(force)
-    efc_adr, adr_i, adr_j = [], [], []
-    for i, (condim, addr) in enumerate(zip(dim, efc_address)):
-      efc_adr.extend(range(addr + 1, addr + condim))
-      adr_i.extend([i] * (condim - 1))
-      adr_j.extend(range(condim - 1))
-    efc_adr, adr_i, adr_j = jp.array(efc_adr), jp.array(adr_i), jp.array(adr_j)
-    efc_force = efc_force.at[efc_adr].add(force_fri[(adr_i, adr_j)])
-
-    # cone hessian
-    h = 0.0
-    if m.opt.solver == SolverType.NEWTON:
-      t = jp.maximum(t, mujoco.mjMINVAL)
-      # h = mu*N/T^3 * U*U'
-      ttt = jp.maximum(t * t * t, mujoco.mjMINVAL)
-      h = jax.vmap(lambda x, y: x * jp.outer(y, y.T))(mu * n / ttt, u)
-      # add to diagonal: (mu^2 - mu*N/T) * I
-      h += jax.vmap(lambda x: x * jp.eye(6, 6))(mu * mu - mu * n / t)
-      # set first row: (1, -mu/T * U)
-      h_0 = jax.vmap(lambda mu, t, u: jp.append(1, -mu / t * u[1:]))(mu, t, u)
-      h = h.at[:, 0].set(h_0).at[:, :, 0].set(h_0)
-      # pre and post multiply by diag(mu, friction), scale by Dm
-      h *= jax.vmap(lambda d, f: d * jp.outer(f, f.T))(dm, ctx.fri)
-      # only cone constraints
-      h = jax.vmap(jp.multiply)(h, middle_zone)
-  else:
-    raise NotImplementedError(f'unsupported cone type: {m.opt.cone}')
-
-  qfrc_constraint = d._impl.efc_J.T @ efc_force
-  gauss = 0.5 * jp.dot(ctx.Ma - d.qfrc_smooth, ctx.qacc - d.qacc_smooth)
-  ctx = ctx.replace(
-      qfrc_constraint=qfrc_constraint,
-      gauss=gauss,
-      cost=cost + gauss + floss_cost,
-      prev_cost=ctx.cost,
-      efc_force=efc_force,
-      active=active,
-      dm=dm,
-      u=u,
-      h=h,
-  )
-
-  return ctx
-
-
-def _update_gradient(m: Model, d: Data, ctx: Context) -> Context:
-  """Updates grad and M / grad given latest solver iteration.
-
-  Corresponds to CGupdateGradient in mujoco/src/engine/engine_solver.c
-
-  Args:
-    m: model defining constraints
-    d: data which contains latest smooth terms
-    ctx: current solver context
-
-  Returns:
-    context with new grad and M / grad
-  Raises:
-    NotImplementedError: for unsupported solver type
-  """
-  if not isinstance(m._impl, ModelJAX) or not isinstance(d._impl, DataJAX):
-    raise ValueError('_update_gradient requires JAX backend implementation.')
-
-  grad = ctx.Ma - d.qfrc_smooth - ctx.qfrc_constraint
-
-  if m.opt.solver == SolverType.CG:
-    mgrad = smooth.solve_m(m, d, grad)
-  elif m.opt.solver == SolverType.NEWTON:
-    if m.opt.cone == ConeType.ELLIPTIC:
-      cm = jp.diag(d._impl.efc_D * ctx.active)
-      efc_address = d._impl.contact.efc_address[d._impl.contact.dim > 1]
-      dim = d._impl.contact.dim[d._impl.contact.dim > 1]
-      # set efc of cone H along diagonal
-      for i, (condim, addr) in enumerate(zip(dim, efc_address)):
-        h_cone = ctx.h[i, :condim, :condim]
-        cm = cm.at[addr : addr + condim, addr : addr + condim].add(h_cone)
-      h = d._impl.efc_J.T @ cm @ d._impl.efc_J
-    else:
-      h = (d._impl.efc_J.T * d._impl.efc_D * ctx.active) @ d._impl.efc_J
-    h = support.full_m(m, d) + h
-    # Symmetrize to reduce the chance of numerical issues in cholesky.
-    h_sym = (h + h.T) * 0.5
-    h_ = jax.scipy.linalg.cho_factor(h_sym)
-    mgrad = jax.scipy.linalg.cho_solve(h_, grad)
-  else:
-    raise NotImplementedError(f'unsupported solver type: {m.opt.solver}')
-
-  ctx = ctx.replace(grad=grad, Mgrad=mgrad)
-
-  return ctx
-
-
-def _rescale(m: Model, value: jax.Array) -> jax.Array:
-  return value / (m.stat.meaninertia * max(1, m.nv))
-
-
-def _linesearch(m: Model, d: Data, ctx: Context) -> Context:
-  """Performs a zoom linesearch to find optimal search step size.
-
-  Args:
-    m: model defining search options and other needed terms
-    d: data with inertia matrix and other needed terms
-    ctx: current solver context
-
-  Returns:
-    updated context with new qacc, Ma, Jaref
-  """
-  if (
-      not isinstance(m._impl, ModelJAX)
-      or not isinstance(d._impl, DataJAX)
-      or not isinstance(m.opt._impl, OptionJAX)
-  ):
-    raise ValueError('_lineasearch requires JAX backend implementation.')
-
-  smag = math.norm(ctx.search) * m.stat.meaninertia * max(1, m.nv)
-  gtol = m.opt.tolerance * m.opt.ls_tolerance * smag
-
-  # compute Mv, Jv
-  mv = support.mul_m(m, d, ctx.search)
-  jv = d._impl.efc_J @ ctx.search
-
-  # prepare quadratics
-  quad_gauss = jp.stack((
-      ctx.gauss,
-      jp.dot(ctx.search, ctx.Ma) - jp.dot(ctx.search, d.qfrc_smooth),
-      0.5 * jp.dot(ctx.search, mv),
-  ))
-  quad = jp.stack((0.5 * ctx.Jaref * ctx.Jaref, jv * ctx.Jaref, 0.5 * jv * jv))
-  quad = (quad * d._impl.efc_D).T
-  uu, v0, uv, vv = 0.0, 0.0, 0.0, 0.0
-  if m.opt.cone == ConeType.ELLIPTIC:
-    mask = d._impl.contact.dim > 1
-    # complete vector quadratic (for bottom zone)
-    efc_con, efc_fri = [], []
-    for condim, addr in zip(
-        d._impl.contact.dim[mask], d._impl.contact.efc_address[mask]
-    ):
-      efc_con.extend([addr] * (condim - 1))
-      efc_fri.extend(range(addr + 1, addr + condim))
-    quad = quad.at[jp.array(efc_con)].add(quad[jp.array(efc_fri)])
-
-    # rescale to make primal cone circular
-    # to prevent out of range append zeros to jv
-    jv_fn = jax.vmap(
-        lambda x: jax.lax.dynamic_slice(
-            jp.concatenate((jv, jp.zeros(3))), (x,), (6,)
-        )
-    )
-    efc_elliptic = d._impl.contact.efc_address[mask]
-    v = jv_fn(efc_elliptic) * ctx.fri
-    uu = jp.sum(ctx.u[:, 1:] * ctx.u[:, 1:], axis=1)
-    v0 = v[:, 0]
-    uv = jp.sum(ctx.u[:, 1:] * v[:, 1:], axis=1)
-    vv = jp.sum(v[:, 1:] * v[:, 1:], axis=1)
-
-  point_fn = lambda a: _LSPoint.create(
-      m, d, ctx, a, jv, quad, quad_gauss, uu, v0, uv, vv  # pyrefly: ignore[bad-argument-type]
-  )
-
-  def cond(ctx: _LSContext) -> jax.Array:
-    done = ctx.ls_iter >= m.opt.ls_iterations
-    done |= ~ctx.swap  # if we did not adjust the interval
-    done |= (ctx.lo.deriv_0 < 0) & (ctx.lo.deriv_0 > -gtol)
-    done |= (ctx.hi.deriv_0 > 0) & (ctx.hi.deriv_0 < gtol)
-
-    return ~done
-
-  def body(ctx: _LSContext) -> _LSContext:
-    # always compute new bracket boundaries and a midpoint
-    lo, hi = ctx.lo, ctx.hi
-    lo_next = point_fn(lo.alpha - lo.deriv_0 / lo.deriv_1)
-    hi_next = point_fn(hi.alpha - hi.deriv_0 / hi.deriv_1)
-    mid = point_fn(0.5 * (lo.alpha + hi.alpha))
-
-    # swap lo/hi if the derivative points to a narrower bracket width
-    in_bracket = lambda x, y: ((x < y) & (y < 0) | (x > y) & (y > 0))
-    swap_lo_next = in_bracket(lo.deriv_0, lo_next.deriv_0)
-    lo = jax.tree_util.tree_map(
-        lambda x, y: jp.where(swap_lo_next, y, x), lo, lo_next
-    )
-    swap_lo_mid = in_bracket(lo.deriv_0, mid.deriv_0)
-    lo = jax.tree_util.tree_map(
-        lambda x, y: jp.where(swap_lo_mid, y, x), lo, mid
-    )
-    swap_lo_hi_next = in_bracket(lo.deriv_0, hi_next.deriv_0)
-    lo = jax.tree_util.tree_map(
-        lambda x, y: jp.where(swap_lo_hi_next, y, x), lo, hi_next
-    )
-    swap_hi_next = in_bracket(hi.deriv_0, hi_next.deriv_0)
-    hi = jax.tree_util.tree_map(
-        lambda x, y: jp.where(swap_hi_next, y, x), hi, hi_next
-    )
-    swap_hi_mid = in_bracket(hi.deriv_0, mid.deriv_0)
-    hi = jax.tree_util.tree_map(
-        lambda x, y: jp.where(swap_hi_mid, y, x), hi, mid
-    )
-    swap_hi_lo_next = in_bracket(hi.deriv_0, lo_next.deriv_0)
-    hi = jax.tree_util.tree_map(
-        lambda x, y: jp.where(swap_hi_lo_next, y, x), hi, lo_next
-    )
-    swap = swap_lo_next | swap_lo_mid | swap_lo_hi_next
-    swap = swap | swap_hi_next | swap_hi_mid | swap_hi_lo_next
-    ctx = ctx.replace(lo=lo, hi=hi, swap=swap, ls_iter=ctx.ls_iter + 1)
-
-    return ctx
-
-  # initialize interval
-  p0 = point_fn(jp.array(0.0))
-  lo = point_fn(p0.alpha - p0.deriv_0 / p0.deriv_1)
-  lesser_fn = lambda x, y: jp.where(lo.deriv_0 < p0.deriv_0, x, y)
-  hi = jax.tree_util.tree_map(lesser_fn, p0, lo)
-  lo = jax.tree_util.tree_map(lesser_fn, lo, p0)
-  ls_ctx = _LSContext(lo=lo, hi=hi, swap=jp.array(True), ls_iter=0)
-  ls_ctx = _while_loop_scan(cond, body, ls_ctx, m.opt.ls_iterations)
-
-  # move to new solution if improved
-  lo, hi = ls_ctx.lo, ls_ctx.hi
-  improved = (lo.cost < p0.cost) | (hi.cost < p0.cost)
-  alpha = jp.where(lo.cost < hi.cost, lo.alpha, hi.alpha)
-  qacc = ctx.qacc + improved * ctx.search * alpha
-  ma = ctx.Ma + improved * mv * alpha
-  jaref = ctx.Jaref + improved * jv * alpha
-
-  ctx = ctx.replace(qacc=qacc, Ma=ma, Jaref=jaref)
-
-  return ctx
-
-
-def solve(m: Model, d: Data) -> Data:
-  """Finds forces that satisfy constraints using conjugate gradient descent."""
-  if not isinstance(m.opt._impl, OptionJAX):
-    raise ValueError('solve requires JAX backend implementation.')
-
-  def cond(ctx: Context) -> jax.Array:
-    improvement = _rescale(m, ctx.prev_cost - ctx.cost)
-    gradient = _rescale(m, math.norm(ctx.grad))
-
-    done = ctx.solver_niter >= m.opt.iterations
-    done |= improvement < m.opt.tolerance
-    done |= gradient < m.opt.tolerance
-
-    return ~done
-
-  def body(ctx: Context) -> Context:
-    ctx = _linesearch(m, d, ctx)
-    prev_grad, prev_Mgrad = ctx.grad, ctx.Mgrad  # pylint: disable=invalid-name
-    ctx = _update_constraint(m, d, ctx)
-    ctx = _update_gradient(m, d, ctx)
-
-    if m.opt.solver == SolverType.NEWTON:
-      search = -ctx.Mgrad
-    else:
-      # polak-ribiere:
-      beta = jp.dot(ctx.grad, ctx.Mgrad - prev_Mgrad)
-      beta = beta / jp.maximum(mujoco.mjMINVAL, jp.dot(prev_grad, prev_Mgrad))
-      beta = jp.maximum(0, beta)
-      search = -ctx.Mgrad + beta * ctx.search
-    ctx = ctx.replace(search=search, solver_niter=ctx.solver_niter + 1)
-
-    return ctx
-
-  # warmstart:
-  qacc = d.qacc_smooth
-  if not m.opt.disableflags & DisableBit.WARMSTART:
-    warm = Context.create(m, d.replace(qacc=d.qacc_warmstart), grad=False)
-    smth = Context.create(m, d.replace(qacc=d.qacc_smooth), grad=False)
-    qacc = jp.where(warm.cost < smth.cost, d.qacc_warmstart, d.qacc_smooth)
-  d = d.replace(qacc=qacc)
-
-  ctx = Context.create(m, d)
-  if m.opt.iterations == 1:
-    ctx = body(ctx)
-  else:
-    ctx = jax.lax.while_loop(cond, body, ctx)
-
-  d = d.tree_replace({  # pyrefly: ignore[bad-assignment]
-      'qfrc_constraint': ctx.qfrc_constraint,
-      'qacc': ctx.qacc,
-      '_impl.efc_force': ctx.efc_force,
-  })
-
-  return d
diff --git a/mjx/mujoco/mjx/_src/solver_test.py b/mjx/mujoco/mjx/_src/solver_test.py
deleted file mode 100644
index e5d5adec..00000000
--- a/mjx/mujoco/mjx/_src/solver_test.py
+++ /dev/null
@@ -1,169 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for constraint functions."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import solver
-from mujoco.mjx._src import test_util
-from mujoco.mjx._src.types import ConeType
-import numpy as np
-
-
-# tolerance for difference between MuJoCo and MJX solver calculations,
-# mostly due to float precision
-_TOLERANCE = 5e-3
-
-
-def _assert_eq(a, b, name, tol=_TOLERANCE):
-  tol = tol * 10  # avoid test noise
-  err_msg = f'mismatch: {name}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
-
-
-def _assert_attr_eq(a, b, attr, tol=_TOLERANCE):
-  _assert_eq(getattr(a, attr), getattr(b, attr), attr, tol=tol)
-
-
-class SolverTest(parameterized.TestCase):
-
-  @parameterized.parameters(
-      # these scene challenges the solver, with CG you need to crank up
-      # the iterations, otherwise it diverges
-      (mujoco.mjtSolver.mjSOL_CG, mujoco.mjtCone.mjCONE_PYRAMIDAL, 100),
-      (mujoco.mjtSolver.mjSOL_CG, mujoco.mjtCone.mjCONE_ELLIPTIC, 100),
-      # Newton converges much more quickly, lower iterations to demonstrate
-      # mgrad is being calculated optimally
-      (mujoco.mjtSolver.mjSOL_NEWTON, mujoco.mjtCone.mjCONE_PYRAMIDAL, 2),
-      (mujoco.mjtSolver.mjSOL_NEWTON, mujoco.mjtCone.mjCONE_ELLIPTIC, 2),
-  )
-  def test_solver(self, solver_, cone, iterations):
-    """Test newton, CG solver with pyramidal, elliptic cones."""
-    m = test_util.load_test_file('constraints.xml')
-    m.opt.solver = solver_
-    m.opt.cone = cone
-    m.opt.iterations = iterations
-
-    # with islanding on, MuJoCo CG converges *much* faster,
-    # too fast for the low-iteration comparison to be meaningful,
-    # so we disable islanding at low iteration count
-    if iterations < 5:
-      m.opt.disableflags |= mujoco.mjtDisableBit.mjDSBL_ISLAND
-
-    d = mujoco.MjData(m)
-
-    def cost(qacc):
-      jaref = np.zeros(d.nefc, dtype=float)
-      cost = np.zeros(1)
-      mujoco.mj_mulJacVec(m, d, jaref, qacc)
-      mujoco.mj_constraintUpdate(m, d, jaref - d.efc_aref, cost, 0)
-      return cost
-
-    # sample a mix of active/inactive constraints at different timesteps
-    for key in range(0, 3):
-      mujoco.mj_resetDataKeyframe(m, d, key)
-      mujoco.mj_step(m, d)  # step to generate warmstart
-
-      # compare costs
-      mj_cost = cost(d.qacc)
-      ctx = solver.Context.create(mjx.put_model(m), mjx.put_data(m, d))
-      mjx_cost = ctx.cost - ctx.gauss
-      _assert_eq(mj_cost, mjx_cost, 'cost')
-
-      mujoco.mj_forward(m, d)
-      dx = jax.jit(mjx.solve)(mjx.put_model(m), mjx.put_data(m, d))
-
-      # MJX finds very similar solutions with the newton solver
-      if solver_ == mujoco.mjtSolver.mjSOL_NEWTON:
-        nnz = dx._impl.efc_J.any(axis=1)
-        _assert_eq(d.efc_force, dx._impl.efc_force[nnz], 'efc_force')
-        _assert_attr_eq(d, dx, 'qfrc_constraint')
-        _assert_attr_eq(d, dx, 'qacc')
-
-      # both CG and Newton find costs that are nearly the same as MuJoCo, often
-      # lower (due to slight differences in the MJX linsearch algorithm)
-      mj_cost = cost(d.qacc)
-      mjx_cost = cost(dx.qacc)
-      self.assertLess(mjx_cost, mj_cost * 1.015)
-
-  def test_no_warmstart(self):
-    """Test no warmstart."""
-    m = test_util.load_test_file('constraints.xml')
-    d = mujoco.MjData(m)
-    # significant constraint forces keyframe 2
-    mujoco.mj_resetDataKeyframe(m, d, 2)
-    m.opt.disableflags |= mujoco.mjtDisableBit.mjDSBL_WARMSTART
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = jax.jit(mjx.solve)(mx, mjx.put_data(m, d))
-    nnz = dx._impl.efc_J.any(axis=1)
-    # even without warmstart, newton converges quickly
-    _assert_eq(d.efc_force, dx._impl.efc_force[nnz], 'efc_force', tol=2e-4)
-
-  def test_sparse(self):
-    """Test solver works with sparse mass matrices."""
-    m = test_util.load_test_file('constraints.xml')
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mujoco.MjData(m)
-    # significant constraint forces keyframe 2
-    mujoco.mj_resetDataKeyframe(m, d, 2)
-
-    mujoco.mj_forward(m, d)
-
-    dx = jax.jit(mjx.solve)(mjx.put_model(m), mjx.put_data(m, d))
-
-    _assert_attr_eq(d, dx, 'qacc')
-    _assert_attr_eq(d, dx, 'qfrc_constraint')
-    nnz = dx._impl.efc_J.any(axis=1)
-    _assert_eq(d.efc_force, dx._impl.efc_force[nnz], 'efc_force')
-
-  def test_quad_frictionloss(self):
-    """Test a case with quadratic frictionloss constraints."""
-    m = test_util.load_test_file('quadratic_frictionloss.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_resetDataKeyframe(m, d, 0)
-    mujoco.mj_forward(m, d)
-
-    dx = jax.jit(mjx.solve)(mjx.put_model(m), mjx.put_data(m, d))
-
-    _assert_attr_eq(d, dx, 'qacc')
-    _assert_attr_eq(d, dx, 'qfrc_constraint')
-    nnz = dx._impl.efc_J.any(axis=1)
-    _assert_eq(d.efc_force, dx._impl.efc_force[nnz], 'efc_force')
-
-  # TODO(taylorhowell): condim=1 with ConeType.ELLIPTIC
-  @parameterized.product(condim=(3, 4, 6), cone=tuple(ConeType))
-  def test_condim(self, condim, cone):
-    """Test contact dimension."""
-    m = mujoco.MjModel.from_xml_string(f"""
-       <mujoco>
-          <worldbody>
-            <geom size="0 0 1e-5" type="plane" condim="1"/>
-            <body pos="0 0 0.09">
-              <freejoint/>
-              <geom size="0.1" condim="{condim}"/>
-            </body>
-          </worldbody>
-        </mujoco>
-    """)
-    m.opt.cone = cone
-    solver.solve(mjx.put_model(m), mjx.put_data(m, mujoco.MjData(m)))
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/support.py b/mjx/mujoco/mjx/_src/support.py
deleted file mode 100644
index 17cabc8d..00000000
--- a/mjx/mujoco/mjx/_src/support.py
+++ /dev/null
@@ -1,1153 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Engine support functions."""
-
-from collections.abc import Iterable, Sequence
-from typing import Optional, Tuple, Union
-
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco.introspect import mjxmacro
-from mujoco.mjx._src import math
-from mujoco.mjx._src import scan
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import ConeType
-from mujoco.mjx._src.types import Data
-from mujoco.mjx._src.types import JacobianType
-from mujoco.mjx._src.types import JointType
-from mujoco.mjx._src.types import Model
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-def is_sparse(m: Union[mujoco.MjModel, Model]) -> bool:
-  """Return True if this model should create sparse mass matrices.
-
-  Args:
-    m: a MuJoCo or MJX model
-
-  Returns:
-    True if provided model should create sparse mass matrices
-
-  Modern TPUs have specialized hardware for rapidly operating over sparse
-  matrices, whereas GPUs tend to be faster with dense matrices as long as they
-  fit onto the device.  As such, the default behavior in MJX (via
-  ``JacobianType.AUTO``) is sparse if ``nv`` is >= 60 or MJX detects a TPU as
-  the default backend, otherwise dense.
-  """
-  # AUTO is a rough heuristic - you may see better performance for your workload
-  # and compute by explicitly setting jacobian to dense or sparse
-  if m.opt.jacobian == JacobianType.AUTO:
-    return m.nv >= 60 or jax.default_backend() == 'tpu'
-  return m.opt.jacobian == JacobianType.SPARSE
-
-
-def make_m(
-    m: Model, a: jax.Array, b: jax.Array, d: Optional[jax.Array] = None
-) -> jax.Array:
-  """Computes M = a @ b.T + diag(d)."""
-
-  i = np.repeat(np.arange(m.nv), m.M_rownnz)
-  j = m.M_colind
-
-  if not is_sparse(m):
-    qm = a @ b.T
-    if d is not None:
-      qm += jp.diag(d)
-    mask = jp.zeros((m.nv, m.nv), dtype=bool).at[(i, j)].set(True)
-    qm = qm * mask
-    qm = qm + jp.tril(qm, -1).T
-    return qm
-
-  a_i = jp.take(a, i, axis=0)
-  b_j = jp.take(b, j, axis=0)
-  qm = jax.vmap(jp.dot)(a_i, b_j)
-
-  if d is not None:
-    diag_adr = m.M_rowadr + m.M_rownnz - 1
-    qm = qm.at[diag_adr].add(d)
-
-  return qm
-
-
-def full_m(m: Model, d: Data) -> jax.Array:
-  """Reconstitute dense mass matrix from M."""
-
-  if not is_sparse(m):
-    return d._impl.M  # pytype: disable=attribute-error
-
-  i = np.repeat(np.arange(m.nv), m.M_rownnz)
-  j = m.M_colind
-
-  mat = jp.zeros((m.nv, m.nv)).at[(i, j)].set(d._impl.M)  # pytype: disable=attribute-error
-
-  # also set upper triangular
-  mat = mat + jp.tril(mat, -1).T
-
-  return mat
-
-
-def mul_m(m: Model, d: Data, vec: jax.Array) -> jax.Array:
-  """Multiply vector by inertia matrix."""
-
-  if not is_sparse(m):
-    return d._impl.M @ vec  # pytype: disable=attribute-error
-
-  diag_adr = m.M_rowadr + m.M_rownnz - 1
-  diag_mul = d._impl.M[diag_adr] * vec  # pytype: disable=attribute-error
-
-  is_, js, madr_ijs = [], [], []
-  for i in range(m.nv):
-    adr = m.M_rowadr[i]
-    for k in range(m.M_rownnz[i] - 1):
-      is_.append(i)
-      js.append(m.M_colind[adr + k])
-      madr_ijs.append(adr + k)
-
-  i, j, madr_ij = (np.array(x, dtype=np.int32) for x in (is_, js, madr_ijs))
-
-  out = diag_mul.at[i].add(d._impl.M[madr_ij] * vec[j])  # pytype: disable=attribute-error
-  out = out.at[j].add(d._impl.M[madr_ij] * vec[i])  # pytype: disable=attribute-error
-
-  return out
-
-
-def jac(
-    m: Model, d: Data, point: jax.Array, body_id: jax.Array
-) -> Tuple[jax.Array, jax.Array]:
-  """Compute pair of (NV, 3) Jacobians of global point attached to body."""
-  # TODO(taylorhowell): statically construct mask
-  fn = lambda carry, b: b if carry is None else b + carry
-  mask = (jp.arange(m.nbody) == body_id) * 1
-  mask = scan.body_tree(m, fn, 'b', 'b', mask, reverse=True)
-  mask = mask[jp.array(m.dof_bodyid)] > 0
-
-  offset = point - d.subtree_com[jp.array(m.body_rootid)[body_id]]
-  jacp = jax.vmap(lambda a, b=offset: a[3:] + jp.cross(a[:3], b))(d.cdof)  # pytype: disable=attribute-error
-  jacp = jax.vmap(jp.multiply)(jacp, mask)
-  jacr = jax.vmap(jp.multiply)(d.cdof[:, :3], mask)  # pytype: disable=attribute-error
-
-  return jacp, jacr
-
-
-def jac_dot(
-    m: Model, d: Data, point: jax.Array, body_id: jax.Array
-) -> Tuple[jax.Array, jax.Array]:
-  """Compute pair of (NV, 3) Jacobian time derivatives of global point attached to body."""
-  # TODO(taylorhowell): statically construct mask
-  fn = lambda carry, b: b if carry is None else b + carry
-  mask = (jp.arange(m.nbody) == body_id) * 1
-  mask = scan.body_tree(m, fn, 'b', 'b', mask, reverse=True)
-  mask = mask[jp.array(m.dof_bodyid)] > 0
-
-  offset = point - d.subtree_com[jp.array(m.body_rootid)[body_id]]
-  pvel_lin = d.cvel[body_id][3:] - jp.cross(offset, d.cvel[body_id][:3])
-
-  cdof = d.cdof
-  cdof_dot = d.cdof_dot
-
-  # check for quaternion
-  jnt_type = m.jnt_type[m.dof_jntid]
-  dof_adr = m.jnt_dofadr[m.dof_jntid]
-  is_quat = (jnt_type == JointType.BALL) | (
-      jnt_type == JointType.FREE & (np.arange(m.nv) >= dof_adr + 3)
-  )
-
-  # compute cdof_dot for quaternion (use current body cvel)
-  cdof_dot_quat = jax.vmap(math.motion_cross)(d.cvel[m.dof_bodyid], cdof)
-  cdof_dot = jp.where(is_quat[:, None], cdof_dot_quat, cdof_dot)
-
-  jacp = jax.vmap(
-      lambda a, b: a[3:] + jp.cross(a[:3], offset) + jp.cross(b[:3], pvel_lin)
-  )(cdof_dot, cdof)
-  jacp = jax.vmap(jp.multiply)(jacp, mask)
-  jacr = jax.vmap(jp.multiply)(cdof_dot[:, :3], mask)  # pytype: disable=attribute-error
-
-  return jacp, jacr
-
-
-def apply_ft(
-    m: Model,
-    d: Data,
-    force: jax.Array,
-    torque: jax.Array,
-    point: jax.Array,
-    body_id: jax.Array,
-) -> jax.Array:
-  """Apply Cartesian force and torque."""
-  jacp, jacr = jac(m, d, point, body_id)
-  return jacp @ force + jacr @ torque
-
-
-def xfrc_accumulate(m: Model, d: Data) -> jax.Array:
-  """Accumulate xfrc_applied into a qfrc."""
-  qfrc = jax.vmap(apply_ft, in_axes=(None, None, 0, 0, 0, 0))(
-      m,
-      d,
-      d.xfrc_applied[:, :3],
-      d.xfrc_applied[:, 3:],
-      d.xipos,
-      jp.arange(m.nbody),
-  )
-  return jp.sum(qfrc, axis=0)
-
-
-def local_to_global(
-    world_pos: jax.Array,
-    world_quat: jax.Array,
-    local_pos: jax.Array,
-    local_quat: jax.Array,
-) -> Tuple[jax.Array, jax.Array]:
-  """Converts local position/orientation to world frame."""
-  pos = world_pos + math.rotate(local_pos, world_quat)
-  mat = math.quat_to_mat(math.quat_mul(world_quat, local_quat))
-  return pos, mat
-
-
-def _getnum(m: Union[Model, mujoco.MjModel], obj: mujoco._enums.mjtObj) -> int:
-  """Gets the number of objects for the given object type."""
-  counts = {
-      mujoco.mjtObj.mjOBJ_BODY: m.nbody,
-      mujoco.mjtObj.mjOBJ_JOINT: m.njnt,
-      mujoco.mjtObj.mjOBJ_GEOM: m.ngeom,
-      mujoco.mjtObj.mjOBJ_SITE: m.nsite,
-      mujoco.mjtObj.mjOBJ_CAMERA: m.ncam,
-      mujoco.mjtObj.mjOBJ_MESH: m.nmesh,
-      mujoco.mjtObj.mjOBJ_HFIELD: m.nhfield,
-      mujoco.mjtObj.mjOBJ_PAIR: m.npair,
-      mujoco.mjtObj.mjOBJ_EQUALITY: m.neq,
-      mujoco.mjtObj.mjOBJ_TENDON: m.ntendon,
-      mujoco.mjtObj.mjOBJ_ACTUATOR: m.nu,
-      mujoco.mjtObj.mjOBJ_SENSOR: m.nsensor,
-      mujoco.mjtObj.mjOBJ_NUMERIC: m.nnumeric,
-      mujoco.mjtObj.mjOBJ_TUPLE: m.ntuple,
-      mujoco.mjtObj.mjOBJ_KEY: m.nkey,
-      mujoco.mjtObj.mjOBJ_FLEX: m.nflex,
-  }
-  return {int(k): v for k, v in counts.items()}.get(int(obj), 0)
-
-
-def _getadr(
-    m: Union[Model, mujoco.MjModel], obj: mujoco._enums.mjtObj
-) -> np.ndarray:
-  """Gets the name addresses for the given object type."""
-  adrs = {
-      mujoco.mjtObj.mjOBJ_BODY: m.name_bodyadr,
-      mujoco.mjtObj.mjOBJ_JOINT: m.name_jntadr,
-      mujoco.mjtObj.mjOBJ_GEOM: m.name_geomadr,
-      mujoco.mjtObj.mjOBJ_SITE: m.name_siteadr,
-      mujoco.mjtObj.mjOBJ_CAMERA: m.name_camadr,
-      mujoco.mjtObj.mjOBJ_MESH: m.name_meshadr,
-      mujoco.mjtObj.mjOBJ_HFIELD: m.name_hfieldadr,
-      mujoco.mjtObj.mjOBJ_PAIR: m.name_pairadr,
-      mujoco.mjtObj.mjOBJ_EQUALITY: m.name_eqadr,
-      mujoco.mjtObj.mjOBJ_TENDON: m.name_tendonadr,
-      mujoco.mjtObj.mjOBJ_ACTUATOR: m.name_actuatoradr,
-      mujoco.mjtObj.mjOBJ_SENSOR: m.name_sensoradr,
-      mujoco.mjtObj.mjOBJ_NUMERIC: m.name_numericadr,
-      mujoco.mjtObj.mjOBJ_TUPLE: m.name_tupleadr,
-      mujoco.mjtObj.mjOBJ_KEY: m.name_keyadr,
-      mujoco.mjtObj.mjOBJ_FLEX: m.name_flexadr,
-  }
-  return {int(k): v for k, v in adrs.items()}[int(obj)]
-
-
-def id2name(
-    m: Union[Model, mujoco.MjModel], typ: mujoco._enums.mjtObj, i: int
-) -> Optional[str]:
-  """Gets the name of an object with the specified mjtObj type and ids.
-
-  See mujoco.id2name for more info.
-
-  Args:
-    m: mujoco.MjModel or mjx.Model
-    typ: mujoco.mjtObj type
-    i: the id
-
-  Returns:
-    the name string, or None if not found
-  """
-  num = _getnum(m, typ)
-  if i < 0 or i >= num:
-    return None
-
-  adr = _getadr(m, typ)
-  name = m.names[adr[i] :].decode('utf-8').split('\x00', 1)[0]
-  return name or None
-
-
-def name2id(
-    m: Union[Model, mujoco.MjModel], typ: mujoco._enums.mjtObj, name: str
-) -> int:
-  """Gets the id of an object with the specified mjtObj type and name.
-
-  See mujoco.mj_name2id for more info.
-
-  Args:
-    m: mujoco.MjModel or mjx.Model
-    typ: mujoco.mjtObj type
-    name: the name of the object
-
-  Returns:
-   the id, or -1 if not found
-  """
-  num = _getnum(m, typ)
-  adr = _getadr(m, typ)
-
-  # TODO: consider using MjModel.names_map instead
-  names_map = {
-      m.names[adr[i] :].decode('utf-8').split('\x00', 1)[0]: i
-      for i in range(num)
-  }
-
-  return names_map.get(name, -1)
-
-
-class BindModel(object):
-  """Class holding the requested MJX Model and spec id for binding a spec to Model."""
-
-  def __init__(self, model: Model, specs: Sequence[mujoco.MjStruct]):
-    self.model = model
-    self.prefix = ''
-    ids = []
-    for spec in specs:
-      if model.signature != spec.signature:
-        raise ValueError(
-            'mjSpec signature does not match mjx.Model signature:'
-            f' {spec.signature} != {model.signature}'
-        )
-      elif spec.id < 0:
-        raise KeyError(f'invalid id: {spec.id}')
-      elif isinstance(spec, mujoco.MjsBody):
-        self.prefix = 'body_'
-      elif isinstance(spec, mujoco.MjsJoint):
-        self.prefix = 'jnt_'
-      elif isinstance(spec, mujoco.MjsGeom):
-        self.prefix = 'geom_'
-      elif isinstance(spec, mujoco.MjsSite):
-        self.prefix = 'site_'
-      elif isinstance(spec, mujoco.MjsLight):
-        self.prefix = 'light_'
-      elif isinstance(spec, mujoco.MjsCamera):
-        self.prefix = 'cam_'
-      elif isinstance(spec, mujoco.MjsMesh):
-        self.prefix = 'mesh_'
-      elif isinstance(spec, mujoco.MjsHField):
-        self.prefix = 'hfield_'
-      elif isinstance(spec, mujoco.MjsPair):
-        self.prefix = 'pair_'
-      elif isinstance(spec, mujoco.MjsTendon):
-        self.prefix = 'tendon_'
-      elif isinstance(spec, mujoco.MjsActuator):
-        self.prefix = 'actuator_'
-      elif isinstance(spec, mujoco.MjsSensor):
-        self.prefix = 'sensor_'
-      elif isinstance(spec, mujoco.MjsNumeric):
-        self.prefix = 'numeric_'
-      elif isinstance(spec, mujoco.MjsText):
-        self.prefix = 'text_'
-      elif isinstance(spec, mujoco.MjsTuple):
-        self.prefix = 'tuple_'
-      elif isinstance(spec, mujoco.MjsKey):
-        self.prefix = 'key_'
-      elif isinstance(spec, mujoco.MjsEquality):
-        self.prefix = 'eq_'
-      elif isinstance(spec, mujoco.MjsExclude):
-        self.prefix = 'exclude_'
-      elif isinstance(spec, mujoco.MjsSkin):
-        self.prefix = 'skin_'
-      elif isinstance(spec, mujoco.MjsMaterial):
-        self.prefix = 'material_'
-      else:
-        raise ValueError('invalid spec type')
-      ids.append(spec.id)
-    if len(ids) == 1:
-      self.id = ids[0]
-    else:
-      self.id = ids
-
-  def _slice(self, name: str, idx: Union[int, slice, Sequence[int]]):
-    _, expected_dim = mjxmacro.MJMODEL[name]
-    var = getattr(self.model, name)
-    if expected_dim == '1':
-      return var[..., idx]
-    elif expected_dim == '9':
-      return var[..., idx, :, :]
-    return var[..., idx, :]
-
-  def __getattr__(self, name: str):
-    return self._slice(self.prefix + name, self.id)
-
-
-def _bind_model(
-    self: Model, obj: mujoco.MjStruct | Iterable[mujoco.MjStruct]
-) -> BindModel:
-  """Bind a Mujoco spec to an MJX Model."""
-  if isinstance(obj, mujoco.MjStruct):
-    obj = (obj,)
-  else:
-    obj = tuple(obj)
-  return BindModel(self, obj)
-
-
-class BindData(object):
-  """Class holding the requested MJX Data and spec id for binding a spec to Data."""
-
-  def __init__(
-      self, data: Data, model: Model, specs: Sequence[mujoco.MjStruct]
-  ):
-    self.data = data
-    self.model = model
-    self.prefix = ''
-    ids = []
-    for spec in specs:
-      if model.signature != spec.signature:
-        raise ValueError(
-            'mjSpec signature does not match mjx.Model signature:'
-            f' {spec.signature} != {model.signature}'
-        )
-      if spec.id < 0:
-        raise KeyError(f'invalid id: {spec.id}')
-      elif isinstance(spec, mujoco.MjsBody):
-        pass
-      elif isinstance(spec, mujoco.MjsJoint):
-        self.prefix = 'jnt_'
-      elif isinstance(spec, mujoco.MjsGeom):
-        self.prefix = 'geom_'
-      elif isinstance(spec, mujoco.MjsSite):
-        self.prefix = 'site_'
-      elif isinstance(spec, mujoco.MjsLight):
-        self.prefix = 'light_'
-      elif isinstance(spec, mujoco.MjsCamera):
-        self.prefix = 'cam_'
-      elif isinstance(spec, mujoco.MjsTendon):
-        self.prefix = 'ten_'
-      elif isinstance(spec, mujoco.MjsActuator):
-        self.prefix = 'actuator_'
-      elif isinstance(spec, mujoco.MjsSensor):
-        self.prefix = 'sensor_'
-      elif isinstance(spec, mujoco.MjsEquality):
-        self.prefix = 'eq_'
-      else:
-        raise ValueError('invalid spec type')
-      ids.append(spec.id)
-    if len(ids) == 1:
-      self.id = ids[0]
-    else:
-      self.id = ids
-
-  def __getname(self, name: str):
-    """Get the name of the attribute and check if the type is correct."""
-    if name == 'sensordata':
-      if self.prefix == 'sensor_':
-        return name
-      else:
-        raise AttributeError('sensordata is not available for this type')
-    if name == 'ctrl':
-      if self.prefix == 'actuator_':
-        return name
-      else:
-        raise AttributeError('ctrl is not available for this type')
-    if (
-        name == 'qpos'
-        or name == 'qvel'
-        or name == 'qacc'
-        or name.startswith('qfrc_')
-    ):
-      if self.prefix == 'jnt_':
-        return name
-      else:
-        raise AttributeError(
-            'qpos, qvel, qacc, qfrc are not available for this type'
-        )
-    else:
-      return self.prefix + name
-
-  def _slice(self, name: str, idx: Union[int, slice, Sequence[int]]):
-    _, expected_dim = mjxmacro.MJDATA[name]
-    var = getattr(self.data, name)
-    if expected_dim == '1':
-      return var[..., idx]
-    elif expected_dim == '9':
-      return var[..., idx, :, :]
-    return var[..., idx, :]
-
-  def __getattr__(self, name: str):
-    if name in ('sensordata', 'qpos', 'qvel', 'qacc') or (
-        name.startswith('qfrc_')
-    ):
-      adr = num = 0
-      if name == 'sensordata':
-        adr = self.model.sensor_adr[self.id]
-        num = self.model.sensor_dim[self.id]
-      elif name == 'qpos':
-        adr = self.model.jnt_qposadr[self.id]
-        typ = self.model.jnt_type[self.id]
-        num = sum((typ == jt) * jt.qpos_width() for jt in JointType)
-      elif name == 'qvel' or name == 'qacc' or name.startswith('qfrc_'):
-        adr = self.model.jnt_dofadr[self.id]
-        typ = self.model.jnt_type[self.id]
-        num = sum((typ == jt) * jt.dof_width() for jt in JointType)
-      if isinstance(self.id, list):
-        idx = []
-        for a, n in zip(adr, num):  # pyrefly: ignore[bad-argument-type]
-          idx.extend(a + j for j in range(n))
-        return self._slice(self.__getname(name), idx)
-      elif num > 1:
-        return self._slice(self.__getname(name), slice(adr, adr + num))
-      else:
-        return self._slice(self.__getname(name), adr)  # pyrefly: ignore[bad-argument-type]
-    elif name in ('mocap_pos', 'mocap_quat'):
-      return self._slice(self.__getname(name), self.model.body_mocapid[self.id])  # pyrefly: ignore[bad-argument-type]
-    return self._slice(self.__getname(name), self.id)
-
-  def set(self, name: str, value: jax.Array) -> Data:
-    """Set the value of an array in an MJX Data."""
-    if name == 'sensordata':
-      raise AttributeError('sensordata is readonly')
-    array = getattr(self.data, self.__getname(name))
-    dim = 1 if len(array.shape) == 1 else array.shape[-1]
-    try:
-      iter(value)
-    except TypeError:
-      value = [value]  # pyrefly: ignore[bad-assignment]
-    if name in ('qpos', 'qvel', 'qacc', 'mocap_pos', 'mocap_quat'):
-      adr = num = 0
-      if name == 'qpos':
-        adr = self.model.jnt_qposadr[self.id]
-        typ = self.model.jnt_type[self.id]
-        num = sum((typ == jt) * jt.qpos_width() for jt in JointType)
-      elif name == 'qvel' or name == 'qacc':
-        adr = self.model.jnt_dofadr[self.id]
-        typ = self.model.jnt_type[self.id]
-        num = sum((typ == jt) * jt.dof_width() for jt in JointType)
-      elif name == 'mocap_pos':
-        adr = self.model.body_mocapid[self.id] * 3
-        num = np.ones_like(self.id, dtype=int) * 3
-      elif name == 'mocap_quat':
-        adr = self.model.body_mocapid[self.id] * 4
-        num = np.ones_like(self.id, dtype=int) * 4
-      if not isinstance(self.id, list):
-        adr = [adr]
-        num = [num]
-    elif isinstance(self.id, list):
-      adr = (np.array(self.id) * dim).tolist()
-      num = [dim for _ in range(len(self.id))]
-    else:
-      adr = [self.id * dim]
-      num = [dim]
-    i = 0
-    value = jax.numpy.array(value).flatten()
-    for a, n in zip(adr, num):  # pyrefly: ignore[bad-argument-type]
-      shape = array.shape
-      array = array.flatten().at[a : a + n].set(value[i : i + n]).reshape(shape)
-      i += n
-    return self.data.replace(**{self.__getname(name): array})
-
-
-def _bind_data(
-    self: Data, model: Model, obj: mujoco.MjStruct | Iterable[mujoco.MjStruct]
-) -> BindData:
-  """Bind a Mujoco spec to an MJX Data."""
-  if isinstance(obj, mujoco.MjStruct):
-    obj = (obj,)
-  else:
-    obj = tuple(obj)
-  return BindData(self, model, obj)
-
-
-Model.bind = _bind_model
-Data.bind = _bind_data
-
-
-def _decode_pyramid(
-    pyramid: jax.Array, mu: jax.Array, condim: int
-) -> jax.Array:
-  """Converts pyramid representation to contact force."""
-  force = jp.zeros(6, dtype=float)
-  if condim == 1:
-    return force.at[0].set(pyramid[0])
-
-  # force_normal = sum(pyramid0_i + pyramid1_i)
-  force = force.at[0].set(pyramid[0 : 2 * (condim - 1)].sum())
-
-  # force_tangent_i = (pyramid0_i - pyramid1_i) * mu_i
-  i = np.arange(0, condim - 1)
-  force = force.at[i + 1].set((pyramid[2 * i] - pyramid[2 * i + 1]) * mu[i])
-
-  return force
-
-
-def contact_force(
-    m: Model, d: Data, contact_id: int, to_world_frame: bool = False
-) -> jax.Array:
-  """Extract 6D force:torque for one contact, in contact frame by default."""
-  efc_address = d._impl.contact.efc_address[contact_id]  # pytype: disable=attribute-error
-  condim = d._impl.contact.dim[contact_id]  # pytype: disable=attribute-error
-  if m.opt.cone == ConeType.PYRAMIDAL:
-    force = _decode_pyramid(
-        d._impl.efc_force[efc_address:], d._impl.contact.friction[contact_id], condim  # pytype: disable=attribute-error
-    )
-  elif m.opt.cone == ConeType.ELLIPTIC:
-    force = d._impl.efc_force[efc_address : efc_address + condim]  # pytype: disable=attribute-error
-    force = jp.concatenate([force, jp.zeros((6 - condim))])
-  else:
-    raise ValueError(f'Unknown cone type: {m.opt.cone}')
-
-  if to_world_frame:
-    force = force.reshape((-1, 3)) @ d._impl.contact.frame[contact_id]  # pytype: disable=attribute-error
-    force = force.reshape(-1)
-
-  return force * (efc_address >= 0)
-
-
-def contact_force_dim(
-    m: Model, d: Data, dim: int
-) -> Tuple[jax.Array, np.ndarray]:
-  """Extract 6D force:torque for contacts with dimension dim."""
-  # valid contact and condim indices
-  idx_dim = (d._impl.contact.efc_address >= 0) & (d._impl.contact.dim == dim)  # pytype: disable=attribute-error
-
-  # contact force from efc
-  if m.opt.cone == ConeType.PYRAMIDAL:
-    efc_address = (
-        d._impl.contact.efc_address[idx_dim, None]  # pytype: disable=attribute-error
-        + np.arange(np.where(dim == 1, 1, 2 * (dim - 1)))[None]  # pyrefly: ignore[no-matching-overload]
-    )
-    efc_force = d._impl.efc_force[efc_address]  # pytype: disable=attribute-error
-    force = jax.vmap(_decode_pyramid, in_axes=(0, 0, None))(
-        efc_force, d._impl.contact.friction[idx_dim], dim  # pytype: disable=attribute-error
-    )
-  elif m.opt.cone == ConeType.ELLIPTIC:
-    efc_address = d._impl.contact.efc_address[idx_dim, None] + np.arange(dim)[None]  # pytype: disable=attribute-error
-    force = d._impl.efc_force[efc_address]  # pytype: disable=attribute-error
-    force = jp.hstack([force, jp.zeros((force.shape[0], 6 - dim))])
-  else:
-    raise ValueError(f'Unknown cone type: {m.opt.cone}.')
-  return force, np.where(idx_dim)[0]
-
-
-def _length_circle(
-    p0: jax.Array, p1: jax.Array, ind: jax.Array, rad: jax.Array
-) -> jax.Array:
-  """Compute length of circle."""
-  # compute angle between 0 and pi
-  p0n = math.normalize(p0).reshape(-1)
-  p1n = math.normalize(p1).reshape(-1)
-
-  # clip input to closed interval for jp.arccos to prevent potential nan
-  # TODO(taylorhowell): add test for case where clip is necessary
-  angle = jp.arccos(jp.clip(jp.dot(p0n, p1n), -1, 1))
-
-  # flip if necessary
-  cross = p0[1] * p1[0] - p0[0] * p1[1]
-  flip = ((cross > 0) & (ind != 0)) | ((cross < 0) & (ind == 0))
-  angle = jp.where(flip, 2 * jp.pi - angle, angle)
-
-  return rad * angle
-
-
-def _is_intersect(
-    p1: jax.Array, p2: jax.Array, p3: jax.Array, p4: jax.Array
-) -> jax.Array:
-  """Check for intersection between two lines defined by their endpoints."""
-  # compute determinant
-  det = (p4[1] - p3[1]) * (p2[0] - p1[0]) - (p4[0] - p3[0]) * (p2[1] - p1[1])
-
-  # compute intersection point on each line
-  a = math.safe_div(
-      (p4[0] - p3[0]) * (p1[1] - p3[1]) - (p4[1] - p3[1]) * (p1[0] - p3[0]), det
-  )
-  b = math.safe_div(
-      (p2[0] - p1[0]) * (p1[1] - p3[1]) - (p2[1] - p1[1]) * (p1[0] - p3[0]), det
-  )
-
-  return jp.where(
-      jp.abs(det) < mujoco.mjMINVAL,
-      0,
-      (a >= 0) & (a <= 1) & (b >= 0) & (b <= 1),
-  )
-
-
-def wrap_circle(
-    d: jax.Array, sd: jax.Array, sidesite: jax.Array, rad: jax.Array
-) -> Tuple[jax.Array, jax.Array]:
-  """Compute circle wrap arc length and end points."""
-  # check cases
-  sqlen0 = d[0] ** 2 + d[1] ** 2
-  sqlen1 = d[2] ** 2 + d[3] ** 2
-  sqrad = rad * rad
-  dif = jp.array([d[2] - d[0], d[3] - d[1]])
-  dd = dif[0] ** 2 + dif[1] ** 2
-  a = jp.clip(
-      -(dif[0] * d[0] + dif[1] * d[1]) / jp.maximum(mujoco.mjMINVAL, dd), 0, 1
-  )
-  seg = jp.array([a * dif[0] + d[0], a * dif[1] + d[1]])
-
-  point_inside0 = sqlen0 < sqrad
-  point_inside1 = sqlen1 < sqrad
-  circle_too_small = rad < mujoco.mjMINVAL
-  points_too_close = dd < mujoco.mjMINVAL
-
-  intersect_and_side = (seg[0] ** 2 + seg[1] ** 2 > sqrad) & (
-      jp.where(sidesite, 0, 1) | (jp.dot(sd, seg) >= 0)
-  )
-
-  # construct the two solutions, compute goodness
-  def _sol(sgn):
-    sqrt0 = jp.sqrt(jp.maximum(mujoco.mjMINVAL, sqlen0 - sqrad))
-    sqrt1 = jp.sqrt(jp.maximum(mujoco.mjMINVAL, sqlen1 - sqrad))
-
-    d00 = (d[0] * sqrad + sgn * rad * d[1] * sqrt0) / jp.maximum(
-        mujoco.mjMINVAL, sqlen0
-    )
-    d01 = (d[1] * sqrad - sgn * rad * d[0] * sqrt0) / jp.maximum(
-        mujoco.mjMINVAL, sqlen0
-    )
-    d10 = (d[2] * sqrad - sgn * rad * d[3] * sqrt1) / jp.maximum(
-        mujoco.mjMINVAL, sqlen1
-    )
-    d11 = (d[3] * sqrad + sgn * rad * d[2] * sqrt1) / jp.maximum(
-        mujoco.mjMINVAL, sqlen1
-    )
-
-    sol = jp.array([[d00, d01], [d10, d11]])
-
-    # goodness: close to sd, or shorter path
-    tmp0 = sol[0] + sol[1]
-    tmp0 = math.normalize(tmp0).reshape(-1)
-    good0 = jp.dot(tmp0, sd)
-
-    tmp1 = (sol[0] - sol[1]).reshape(-1)
-    good1 = -jp.dot(tmp1, tmp1)
-
-    good = jp.where(sidesite, good0, good1)
-
-    # penalize for intersection
-    intersect = _is_intersect(d[:2], sol[0], d[2:], sol[1])
-    good = jp.where(intersect, -10000, good)
-
-    return sol, good
-
-  sol, good = jax.vmap(_sol)(jp.array([1, -1]))
-
-  # select the better solution
-  i = jp.argmax(good)
-  sol = sol[i]
-  pnt = sol.reshape(-1)
-
-  # check for intersection
-  intersect = _is_intersect(d[:2], pnt[:2], d[2:], pnt[2:])
-
-  # compute curve length
-  wlen = _length_circle(sol[0], sol[1], i, rad)
-
-  # check cases
-  invalid = (
-      point_inside0
-      | point_inside1
-      | circle_too_small
-      | points_too_close
-      | intersect_and_side
-      | intersect
-  )
-
-  wlen = jp.where(invalid, -1, wlen)
-  pnt = jp.where(invalid, jp.zeros(4), pnt)
-
-  return wlen, pnt
-
-
-def wrap_inside(
-    end: jax.Array,
-    radius: jax.Array,
-    maxiter: int,
-    tolerance: float,
-    z_init: float,
-) -> Tuple[jax.Array, jax.Array]:
-  """Compute 2D inside wrap point.
-
-  Args:
-    end: 2D points
-    radius: radius of circle
-
-  Returns:
-    status: 0 if wrap, else -1
-    concatentated 2D wrap points: jax.Array
-  """
-  mjMINVAL = mujoco.mjMINVAL  # pylint: disable=invalid-name
-
-  # constants
-  len0 = math.norm(end[:2])
-  len1 = math.norm(end[2:])
-  dif = jp.array([end[2] - end[0], end[3] - end[1]])
-  dd = dif[0] * dif[0] + dif[1] * dif[1]
-
-  # either point inside circle or circle too small: no wrap
-  no_wrap0 = (
-      (len0 <= radius)
-      | (len1 <= radius)
-      | (radius < mjMINVAL)
-      | (len0 < mjMINVAL)
-      | (len1 < mjMINVAL)
-  )
-
-  # find nearest point on line segment to origin: d0 + a*dif
-  a = -1 * (dif[0] * end[0] + dif[1] * end[1]) / jp.maximum(mjMINVAL, dd)
-  tmp = end[:2] + a * dif
-
-  # segment-circle intersection: no wrap
-  no_wrap1 = (dd > mjMINVAL) & (a > 0) & (a < 1) & (math.norm(tmp) <= radius)
-
-  # prepare default in case of numerical failure: average
-  pnt_avg = 0.5 * jp.array([end[0] + end[2], end[1] + end[3]])
-  pnt_avg = radius * math.normalize(pnt_avg)
-
-  # compute function parameters: asin(A*z) + asin(B*z) - 2*asin(z) + G = 0
-  A = radius / jp.maximum(mjMINVAL, len0)  # pylint: disable=invalid-name
-  B = radius / jp.maximum(mjMINVAL, len1)  # pylint: disable=invalid-name
-  cosG = (len0 * len0 + len1 * len1 - dd) / jp.maximum(mjMINVAL, 2 * len0 * len1)  # pylint: disable=invalid-name
-
-  no_wrap2 = cosG < -1 + mjMINVAL
-  early_return0 = cosG > 1 - mjMINVAL
-
-  G = jp.arccos(cosG)  # pylint: disable=invalid-name
-
-  # initialize solver
-  z = jp.array([z_init])
-  f = jp.arcsin(A * z) + jp.arcsin(B * z) - 2 * jp.arcsin(z) + G
-
-  # make sure initialization is not on the other side
-  early_return1 = f > 0
-
-  # iteratively solve with Newton's method
-  def _newton(carry, _):
-    # unpack
-    z, f, status_prev = carry
-
-    # check current solution
-    converged = jp.abs(f) <= tolerance
-
-    # compute derivative
-    df = (
-        A / jp.maximum(mjMINVAL, jp.sqrt(1 - z * z * A * A))
-        + B / jp.maximum(mjMINVAL, jp.sqrt(1 - z * z * B * B))
-        - 2 / jp.maximum(mjMINVAL, jp.sqrt(1 - z * z))
-    )
-
-    # check sign; SHOULD NOT OCCUR
-    status0 = df > -mjMINVAL
-
-    # new point
-    z_next = z - (1 - converged) * math.safe_div(f, df)
-
-    # make sure we are moving to the left; SHOULD NOT OCCUR
-    status1 = z_next > z
-
-    # evaluate solution
-    f_next = (
-        jp.arcsin(A * z_next)
-        + jp.arcsin(B * z_next)
-        - 2 * jp.arcsin(z_next)
-        + G
-    )
-
-    # exit if positive; SHOULD NOT OCCUR
-    status2 = f_next > tolerance
-
-    return (
-        z_next,
-        f_next,
-        status_prev | status0 | status1 | status2,
-    ), None
-
-  # TODO(taylorhowell): compare performance of jax.lax.scan and jax.lax.while_loop
-  z, _, early_return2 = jax.lax.scan(
-      _newton, (z, f, jp.array([False])), None, maxiter
-  )[0]
-
-  # finalize: rotation by ang from vec = a or b, depending on cross(a,b) sign
-  sign = end[0] * end[3] - end[1] * end[2] > 0
-  vec = jp.where(sign, end[:2], end[2:])
-  vec = math.normalize(vec)
-  ang = jp.arcsin(z) - jp.where(sign, jp.arcsin(A * z), jp.arcsin(B * z))
-  pnt_sol = radius * jp.array([
-      jp.cos(ang) * vec[0] - jp.sin(ang) * vec[1],
-      jp.sin(ang) * vec[0] + jp.cos(ang) * vec[1],
-  ]).reshape(-1)
-
-  no_wrap = no_wrap0 | no_wrap1 | no_wrap2
-  early_return = early_return0 | early_return1 | early_return2
-  status = -1 * no_wrap * jp.ones(1)
-
-  pnt = jp.where(early_return, pnt_avg, pnt_sol)
-  pnt = jp.where(no_wrap, jp.zeros(2), pnt)
-
-  return status, jp.concatenate([pnt, pnt])
-
-
-def wrap(
-    x0: jax.Array,
-    x1: jax.Array,
-    xpos: jax.Array,
-    xmat: jax.Array,
-    size: jax.Array,
-    side: jax.Array,
-    sidesite: jax.Array,
-    is_sphere: jax.Array,
-    is_wrap_inside: bool,
-    wrap_inside_maxiter: int,
-    wrap_inside_tolerance: float,
-    wrap_inside_z_init: float,
-) -> Tuple[jax.Array, jax.Array, jax.Array]:
-  """Wrap tendon around sphere or cylinder."""
-  # map sites to wrap object's local frame
-  p0 = xmat.T @ (x0 - xpos)
-  p1 = xmat.T @ (x1 - xpos)
-
-  close_to_origin = (jp.linalg.norm(p0) < mujoco.mjMINVAL) | (
-      jp.linalg.norm(p1) < mujoco.mjMINVAL
-  )
-
-  # compute axes for sphere
-  # 1st axis
-  axis0 = p0
-  axis0 = math.normalize(axis0)
-
-  # compute normal to p0-0-p1 plane = cross(p0, p1)
-  normal = jp.cross(p0, p1)
-  normal, nrm = math.normalize_with_norm(normal)
-
-  # compute alternative normal (if (p0, p1) are parallel)
-  # find max component of axis0
-  axis_alt = jp.ones(3).at[jp.argmax(axis0)].set(0)
-  normal_alt = jp.cross(axis0, axis_alt)
-  normal_alt = math.normalize(normal_alt)
-
-  normal = jp.where(nrm < mujoco.mjMINVAL, normal_alt, normal)
-
-  # 2nd axis
-  axis1 = jp.cross(normal, axis0)
-  axis1 = math.normalize(axis1)
-
-  # set geom dependent axes
-  axis0 = jp.where(is_sphere, axis0, jp.array([1.0, 0.0, 0.0]))
-  axis1 = jp.where(is_sphere, axis1, jp.array([0.0, 1.0, 0.0]))
-
-  # project points in 2D frame: p => d
-  d = jp.array([
-      jp.dot(p0, axis0),
-      jp.dot(p0, axis1),
-      jp.dot(p1, axis0),
-      jp.dot(p1, axis1),
-  ])
-
-  # compute sidesite projection
-  s = xmat.T @ (side - xpos)
-  sd = jp.array([jp.dot(s, axis0), jp.dot(s, axis1)])
-  sd = math.normalize(sd) * size
-
-  if is_wrap_inside:
-    wlen, pnt = wrap_inside(
-        d, size, wrap_inside_maxiter, wrap_inside_tolerance, wrap_inside_z_init
-    )
-  else:
-    wlen, pnt = wrap_circle(d, sd, sidesite, size)
-
-  no_wrap = wlen < 0
-
-  # reconstruct 3D points in local frame: res
-  res0 = axis0 * pnt[0] + axis1 * pnt[1]
-  res1 = axis0 * pnt[2] + axis1 * pnt[3]
-  res = jp.concatenate([res0, res1])
-
-  # perform correction for cylinder case
-  l0 = jp.sqrt(
-      (p0[0] - res[0]) * (p0[0] - res[0]) + (p0[1] - res[1]) * (p0[1] - res[1])
-  )
-  l1 = jp.sqrt(
-      (p1[0] - res[3]) * (p1[0] - res[3]) + (p1[1] - res[4]) * (p1[1] - res[4])
-  )
-  r2 = p0[2] + (p1[2] - p0[2]) * math.safe_div(l0, l0 + wlen + l1)
-  r5 = p0[2] + (p1[2] - p0[2]) * math.safe_div(l0 + wlen, l0 + wlen + l1)
-  height = jp.abs(r5 - r2)
-
-  wlen = jp.where(is_sphere, wlen, jp.sqrt(wlen * wlen + height * height))
-  res = jp.where(
-      is_sphere, res, res.at[jp.array([2, 5])].set(jp.concatenate([r2, r5]))
-  )
-
-  # map wrap points back to global frame
-  wpnt0 = xmat @ res[:3] + xpos
-  wpnt1 = xmat @ res[3:] + xpos
-
-  # check cases for no wrap
-  invalid = close_to_origin | no_wrap
-
-  wlen = jp.where(invalid, -1, wlen)
-  wpnt0 = jp.where(invalid, jp.zeros(3), wpnt0)
-  wpnt1 = jp.where(invalid, jp.zeros(3), wpnt1)
-
-  return wlen, wpnt0, wpnt1
-
-
-def muscle_gain_length(
-    length: jax.Array, lmin: jax.Array, lmax: jax.Array
-) -> jax.Array:
-  """Normalized muscle length-gain curve."""
-  # mid-ranges (maximum is at 1.0)
-  a = 0.5 * (lmin + 1)
-  b = 0.5 * (1 + lmax)
-
-  out0 = 0.5 * jp.square(
-      (length - lmin) / jp.maximum(mujoco.mjMINVAL, a - lmin)
-  )
-  out1 = 1 - 0.5 * jp.square((1 - length) / jp.maximum(mujoco.mjMINVAL, 1 - a))
-  out2 = 1 - 0.5 * jp.square((length - 1) / jp.maximum(mujoco.mjMINVAL, b - 1))
-  out3 = 0.5 * jp.square(
-      (lmax - length) / jp.maximum(mujoco.mjMINVAL, lmax - b)
-  )
-
-  out = jp.where(length <= b, out2, out3)
-  out = jp.where(length <= 1, out1, out)
-  out = jp.where(length <= a, out0, out)
-  out = jp.where((lmin <= length) & (length <= lmax), out, 0.0)
-
-  return out
-
-
-def muscle_gain(
-    length: jax.Array,
-    vel: jax.Array,
-    lengthrange: jax.Array,
-    acc0: jax.Array,
-    prm: jax.Array,
-) -> jax.Array:
-  """Muscle active force."""
-  # unpack parameters
-  lrange = prm[:2]
-  force, scale, lmin, lmax, vmax, _, fvmax = prm[2:9]
-
-  force = jp.where(force < 0, scale / jp.maximum(mujoco.mjMINVAL, acc0), force)
-
-  # optimum length
-  L0 = (lengthrange[1] - lengthrange[0]) / jp.maximum(  # pylint:disable=invalid-name
-      mujoco.mjMINVAL, lrange[1] - lrange[0]
-  )
-
-  # normalized length and velocity
-  L = lrange[0] + (length - lengthrange[0]) / jp.maximum(mujoco.mjMINVAL, L0)  # pylint:disable=invalid-name
-  V = vel / jp.maximum(mujoco.mjMINVAL, L0 * vmax)  # pylint:disable=invalid-name
-
-  # length curve
-  FL = muscle_gain_length(L, lmin, lmax)  # pylint:disable=invalid-name
-
-  # velocity curve
-  y = fvmax - 1
-  FV = jp.where(  # pylint:disable=invalid-name
-      V <= y, fvmax - jp.square(y - V) / jp.maximum(mujoco.mjMINVAL, y), fvmax
-  )
-  FV = jp.where(V <= 0, jp.square(V + 1), FV)  # pylint:disable=invalid-name
-  FV = jp.where(V <= -1, 0, FV)  # pylint:disable=invalid-name
-
-  # compute FVL and scale, make it negative
-  return -force * FL * FV
-
-
-def muscle_bias(
-    length: jax.Array, lengthrange: jax.Array, acc0: jax.Array, prm: jax.Array
-) -> jax.Array:
-  """Muscle passive force."""
-  # unpack parameters
-  lrange = prm[:2]
-  force, scale, _, lmax, _, fpmax = prm[2:8]
-
-  force = jp.where(force < 0, scale / jp.maximum(mujoco.mjMINVAL, acc0), force)
-
-  # optimum length
-  L0 = (lengthrange[1] - lengthrange[0]) / jp.maximum(  # pylint:disable=invalid-name
-      mujoco.mjMINVAL, lrange[1] - lrange[0]
-  )
-
-  # normalized length
-  L = lrange[0] + (length - lengthrange[0]) / jp.maximum(mujoco.mjMINVAL, L0)  # pylint:disable=invalid-name
-
-  # half-quadratic to (L0 + lmax) / 2, linear beyond
-  b = 0.5 * (1 + lmax)
-
-  out1 = (
-      -force
-      * fpmax
-      * 0.5
-      * jp.square((L - 1) / jp.maximum(mujoco.mjMINVAL, b - 1))
-  )
-  out2 = -force * fpmax * (0.5 + (L - b) / jp.maximum(mujoco.mjMINVAL, b - 1))
-
-  out = jp.where(L <= b, out1, out2)
-  out = jp.where(L <= 1, 0.0, out)
-
-  return out
-
-
-def muscle_dynamics_timescale(
-    dctrl: jax.Array,
-    tau_act: jax.Array,
-    tau_deact: jax.Array,
-    smoothing_width: jax.Array,
-) -> jax.Array:
-  """Muscle time constant with optional smoothing."""
-  # hard switching
-  tau_hard = jp.where(dctrl > 0, tau_act, tau_deact)
-
-  def _sigmoid(x):
-    # sigmoid function over 0 <= x <= 1 using quintic polynomial
-    # sigmoid: f(x) = 6 * x^5 - 15 * x^4 + 10 * x^3
-    # solution of f(0) = f'(0) = f''(0) = 0, f(1) = 1, f'(1) = f''(1) = 0
-    sol = x * x * x * (3 * x * (2 * x - 5) + 10)
-    sol = jp.where(x <= 0, 0, sol)
-    sol = jp.where(x >= 1, 1, sol)
-    return sol
-
-  # smooth switching
-  # scale by width, center around 0.5 midpoint, rescale to bounds
-  tau_smooth = tau_deact + (tau_act - tau_deact) * _sigmoid(
-      math.safe_div(dctrl, smoothing_width) + 0.5
-  )
-
-  return jp.where(smoothing_width < mujoco.mjMINVAL, tau_hard, tau_smooth)
-
-
-def muscle_dynamics(
-    ctrl: jax.Array, act: jax.Array, prm: jax.Array
-) -> jax.Array:
-  """Muscle activation dynamics."""
-  # clamp control
-  ctrlclamp = jp.clip(ctrl, 0, 1)
-
-  # clamp activation
-  actclamp = jp.clip(act, 0, 1)
-
-  # compute timescales as in Millard et at. (2013)
-  # https://doi.org/10.1115/1.4023390
-  tau_act = prm[0] * (0.5 + 1.5 * actclamp)  # activation timescale
-  tau_deact = prm[1] / (0.5 + 1.5 * actclamp)  # deactivation timescale
-  smoothing_width = prm[2]  # width of smoothing sigmoid
-  dctrl = ctrlclamp - act  # excess excitation
-
-  tau = muscle_dynamics_timescale(dctrl, tau_act, tau_deact, smoothing_width)
-
-  # filter output
-  return dctrl / jp.maximum(mujoco.mjMINVAL, tau)
diff --git a/mjx/mujoco/mjx/_src/support_test.py b/mjx/mujoco/mjx/_src/support_test.py
deleted file mode 100644
index a01fb004..00000000
--- a/mjx/mujoco/mjx/_src/support_test.py
+++ /dev/null
@@ -1,787 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for support."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import support
-from mujoco.mjx._src import test_util
-import numpy as np
-
-
-class SupportTest(parameterized.TestCase):
-
-  def test_mul_m(self):
-    m = test_util.load_test_file('pendula.xml')
-    # first test sparse
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    vec = np.random.random(m.nv)
-    mjx_vec = jax.jit(mjx.mul_m)(mx, dx, jp.array(vec))
-    mj_vec = np.zeros(m.nv)
-    mujoco.mj_mulM(m, d, mj_vec, vec)
-    np.testing.assert_allclose(mjx_vec, mj_vec, atol=5e-5, rtol=5e-5)
-
-    # also check dense
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_DENSE
-    mujoco.mj_forward(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    mjx_vec = jax.jit(mjx.mul_m)(mx, dx, jp.array(vec))
-    np.testing.assert_allclose(mjx_vec, mj_vec, atol=5e-5, rtol=5e-5)
-
-  def test_full_m(self):
-    m = test_util.load_test_file('pendula.xml')
-    # for the model to be sparse to exercise MJX full_M
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    d = mujoco.MjData(m)
-    # give the system a little kick to ensure we have non-identity rotations
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_step(m, d, 10)  # let dynamics get state significantly non-zero
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    mjx_full_m = jax.jit(support.full_m)(mx, dx)
-    mj_full_m = np.zeros((m.nv, m.nv), dtype=np.float64)
-    mujoco.mju_sym2dense(mj_full_m, d.M, m.M_rownnz, m.M_rowadr, m.M_colind)
-    np.testing.assert_allclose(mjx_full_m, mj_full_m, atol=5e-5, rtol=5e-5)
-
-  @parameterized.parameters('constraints.xml', 'pendula.xml')
-  def test_jac(self, fname):
-    np.random.seed(0)
-
-    m = test_util.load_test_file(fname)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    point = np.random.randn(3)
-    body = np.random.choice(m.nbody)
-    jacp, jacr = jax.jit(support.jac)(mx, dx, point, body)
-
-    jacp_expected, jacr_expected = np.zeros((3, m.nv)), np.zeros((3, m.nv))
-    mujoco.mj_jac(m, d, jacp_expected, jacr_expected, point, body)
-    np.testing.assert_almost_equal(jacp, jacp_expected.T, 6)
-    np.testing.assert_almost_equal(jacr, jacr_expected.T, 6)
-
-  def test_xfrc_accumulate(self):
-    """Tests that xfrc_accumulate ouput matches mj_xfrcAccumulate."""
-    np.random.seed(0)
-
-    m = test_util.load_test_file('pendula.xml')
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    self.assertFalse((dx.xipos == 0.0).all())
-
-    xfrc = np.random.rand(*dx.xfrc_applied.shape)
-
-    d.xfrc_applied[:] = xfrc
-    dx = dx.replace(xfrc_applied=jp.array(xfrc))
-
-    qfrc = jax.jit(support.xfrc_accumulate)(mx, dx)
-    qfrc_expected = np.zeros(m.nv)
-    for i in range(1, m.nbody):
-      mujoco.mj_applyFT(
-          m,
-          d,
-          d.xfrc_applied[i, :3],
-          d.xfrc_applied[i, 3:],
-          d.xipos[i],
-          i,
-          qfrc_expected,
-      )
-
-    np.testing.assert_almost_equal(qfrc, qfrc_expected, 6)
-
-  def test_custom(self):
-    xml = """
-    <mujoco model="right_shadow_hand">
-        <custom>
-          <numeric data="15" name="max_contact_points"/>
-          <numeric data="42" name="max_geom_pairs"/>
-        </custom>
-    </mujoco>
-    """
-    m = mujoco.MjModel.from_xml_string(xml)
-
-    def _get_numeric(m, name):
-      id_ = support.name2id(m, mujoco.mjtObj.mjOBJ_NUMERIC, name)
-      return int(m.numeric_data[id_]) if id_ >= 0 else -1
-
-    self.assertEqual(_get_numeric(m, 'something'), -1)
-    self.assertEqual(_get_numeric(m, 'max_contact_points'), 15)
-    self.assertEqual(_get_numeric(m, 'max_geom_pairs'), 42)
-
-    mx = mjx.put_model(m)
-    self.assertEqual(_get_numeric(mx, 'something'), -1)
-    self.assertEqual(_get_numeric(mx, 'max_contact_points'), 15)
-    self.assertEqual(_get_numeric(mx, 'max_geom_pairs'), 42)
-
-  def test_names_and_ids(self):
-    m = test_util.load_test_file('pendula.xml')
-    mx = mjx.put_model(m)
-
-    nums = {
-        mujoco.mjtObj.mjOBJ_JOINT: m.njnt,
-        mujoco.mjtObj.mjOBJ_GEOM: m.ngeom,
-        mujoco.mjtObj.mjOBJ_BODY: m.nbody,
-    }
-
-    for obj in nums:
-      names = [mujoco.mj_id2name(m, obj.value, i) for i in range(nums[obj])]
-      for i, n in enumerate(names):
-        self.assertEqual(support.id2name(mx, obj, i), n)
-        i = i if n is not None else -1
-        self.assertEqual(support.name2id(mx, obj, n), i)
-
-  def test_bind(self):
-    xml = """
-    <mujoco model="test_bind_model">
-        <worldbody>
-          <body pos="10 20 30" name="body1">
-            <joint axis="1 0 0" type="ball" name="joint1"/>
-            <geom size="1 2 3" type="box" name="geom1" pos="0 1 0"/>
-          </body>
-          <body pos="40 50 60" name="body2">
-            <joint axis="0 1 0" type="slide" name="joint2"/>
-            <geom size="4 5 6" type="box" name="geom2"/>
-          </body>
-          <body pos="70 80 90" name="body3">
-            <joint axis="0 0 1" type="slide" name="joint3"/>
-            <geom size="7 8 9" type="box" name="geom3"/>
-          </body>
-          <body pos="100 110 120" name="body4" mocap="true"/>
-          <body pos="130 140 150" name="body5" mocap="true"/>
-        </worldbody>
-
-        <actuator>
-          <motor joint="joint1"/>
-          <motor joint="joint2"/>
-          <motor joint="joint3"/>
-        </actuator>
-
-        <sensor>
-          <framepos objtype="body" objname="body1"/>
-          <framepos objtype="body" objname="body2"/>
-          <framepos objtype="body" objname="body3"/>
-        </sensor>
-    </mujoco>
-    """
-
-    s = mujoco.MjSpec.from_string(xml)
-    m = s.compile()
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    mujoco.mj_step(m, d)
-    dx = mjx.step(mx, dx)
-
-    # test getting
-    np.testing.assert_array_equal(mx.bind(s.bodies).pos, m.body_pos)
-    np.testing.assert_array_equal(dx.bind(mx, s.bodies).xpos, d.xpos)
-    np.testing.assert_array_equal(m.bind(s.bodies[0]).mass, m.body_mass[0])
-    np.testing.assert_array_equal(m.bind(s.bodies[0:1]).mass, [m.body_mass[0]])
-    np.testing.assert_array_equal(mx.bind(s.bodies[0]).mass, m.body_mass[0])
-    np.testing.assert_array_equal(mx.bind(s.bodies[0:1]).mass, [m.body_mass[0]])
-    for i in range(m.nbody):
-      np.testing.assert_array_equal(m.bind(s.bodies[i]).pos, m.body_pos[i, :])
-      np.testing.assert_array_equal(mx.bind(s.bodies[i]).pos, m.body_pos[i, :])
-      np.testing.assert_array_equal(d.bind(s.bodies[i]).xpos, d.xpos[i, :])
-      np.testing.assert_array_equal(
-          dx.bind(mx, s.bodies[i]).xpos, d.xpos[i, :]
-          )
-      np.testing.assert_array_equal(
-          dx.bind(mx, s.bodies[i]).xfrc_applied, d.xfrc_applied[i, :]
-      )
-
-    np.testing.assert_array_equal(mx.bind(s.geoms).size, m.geom_size)
-    np.testing.assert_array_equal(dx.bind(mx, s.geoms).xpos, d.geom_xpos)
-    for i in range(m.ngeom):
-      np.testing.assert_array_equal(m.bind(s.geoms[i]).size, m.geom_size[i, :])
-      np.testing.assert_array_equal(mx.bind(s.geoms[i]).size, m.geom_size[i, :])
-      np.testing.assert_array_equal(d.bind(s.geoms[i]).xpos, d.geom_xpos[i, :])
-      np.testing.assert_array_equal(
-          dx.bind(mx, s.geoms[i]).xpos, d.geom_xpos[i, :]
-      )
-
-    np.testing.assert_array_equal(mx.bind(s.joints).axis, m.jnt_axis)
-    np.testing.assert_array_equal(mx.bind(s.joints).qposadr, m.jnt_qposadr)
-    np.testing.assert_array_equal(mx.bind(s.joints).dofadr, m.jnt_dofadr)
-    np.testing.assert_array_equal(dx.bind(mx, s.joints[1]).id, 1)
-    np.testing.assert_array_equal(dx.bind(mx, s.joints[1:2]).id, [1])
-    qposnum = [4, 1, 1]  # one ball joint (4) and two slide joints (1)
-    dofnum = [3, 1, 1]  # one ball joint (3) and two slide joints (1)
-    for i in range(m.njnt):
-      np.testing.assert_array_equal(m.bind(s.joints[i]).axis, m.jnt_axis[i, :])
-      np.testing.assert_array_equal(mx.bind(s.joints[i]).axis, m.jnt_axis[i, :])
-      np.testing.assert_array_almost_equal(
-          dx.bind(mx, s.joints[i]).qpos,
-          d.qpos[m.jnt_qposadr[i]:m.jnt_qposadr[i] + qposnum[i]], decimal=6
-      )
-      np.testing.assert_array_almost_equal(
-          dx.bind(mx, s.joints[i]).qvel,
-          d.qvel[m.jnt_dofadr[i]:m.jnt_dofadr[i] + dofnum[i]], decimal=6
-      )
-      np.testing.assert_array_almost_equal(
-          dx.bind(mx, s.joints[i]).qacc,
-          d.qacc[m.jnt_dofadr[i]:m.jnt_dofadr[i] + dofnum[i]], decimal=6
-      )
-      np.testing.assert_array_almost_equal(
-          dx.bind(mx, s.joints[i]).qfrc_actuator,
-          d.qfrc_actuator[m.jnt_dofadr[i] : m.jnt_dofadr[i] + dofnum[i]],
-          decimal=6,
-      )
-
-    np.testing.assert_array_equal(dx.bind(mx, s.actuators).ctrl, d.ctrl)
-    for i in range(m.nu):
-      np.testing.assert_array_equal(d.bind(s.actuators[i]).ctrl, d.ctrl[i])
-      np.testing.assert_array_equal(
-          dx.bind(mx, s.actuators[i]).ctrl, d.ctrl[i]
-      )
-
-    np.testing.assert_array_equal(
-        dx.bind(mx, s.sensors).sensordata, d.sensordata
-    )
-    for i in range(m.nsensor):
-      np.testing.assert_array_equal(
-          dx.bind(mx, s.sensors[i]).sensordata,
-          d.sensordata[m.sensor_adr[i] : m.sensor_adr[i] + m.sensor_dim[i]],
-      )
-
-    # test setting
-    np.testing.assert_array_equal(d.ctrl, [0, 0, 0])
-    np.testing.assert_array_equal(dx.bind(mx, s.actuators).ctrl, d.ctrl)
-    dx2 = dx.bind(mx, s.actuators).set('ctrl', [1, 2, 3])
-    np.testing.assert_array_equal(dx2.bind(mx, s.actuators).ctrl, [1, 2, 3])
-    np.testing.assert_array_equal(dx.bind(mx, s.actuators).ctrl, [0, 0, 0])
-    dx3 = dx.bind(mx, s.actuators[1:]).set('ctrl', [4, 5])
-    np.testing.assert_array_equal(dx3.bind(mx, s.actuators).ctrl, [0, 4, 5])
-    np.testing.assert_array_equal(dx.bind(mx, s.actuators).ctrl, [0, 0, 0])
-    dx4 = dx.bind(mx, s.actuators[1]).set('ctrl', [6])
-    np.testing.assert_array_equal(dx4.bind(mx, s.actuators).ctrl, [0, 6, 0])
-    np.testing.assert_array_equal(dx.bind(mx, s.actuators).ctrl, [0, 0, 0])
-    dx5 = dx.bind(mx, s.actuators[1]).set('ctrl', 7)
-    np.testing.assert_array_equal(dx5.bind(mx, s.actuators).ctrl, [0, 7, 0])
-    np.testing.assert_array_equal(dx.bind(mx, s.actuators).ctrl, [0, 0, 0])
-
-    qpos_1step = [1.00000e00, -3.67875e-06, 0, 0, 0, -3.924e-05]
-    qpos_desired = [1, 0, 0, 0, 0, 8]
-    np.testing.assert_array_almost_equal(d.qpos, qpos_1step)
-    np.testing.assert_array_almost_equal(dx.bind(mx, s.joints).qpos, d.qpos)
-    dx6 = dx.bind(mx, s.joints[::2]).set('qpos', [1, 0, 0, 0, 8])
-    np.testing.assert_array_equal(dx6.bind(mx, s.joints).qpos, qpos_desired)
-    np.testing.assert_array_almost_equal(dx.bind(mx, s.joints).qpos, d.qpos)
-    dx6a = dx.bind(mx, s.joints[0]).set('qpos', qpos_desired[:4])
-    np.testing.assert_array_equal(
-        dx6a.bind(mx, s.joints[0]).qpos, qpos_desired[:4]
-    )
-    dx7 = dx.bind(mx, s.joints[::2]).set('qvel', [2.0, -1.2, 0.5, 0.3])
-    np.testing.assert_array_almost_equal(
-        dx7.bind(mx, s.joints).qvel, [2.0, -1.2, 0.5, 0.0, 0.3], decimal=6
-    )
-    dx8 = dx.bind(mx, s.joints[::2]).set('qacc', [3.0, -2.1, 0.6, 0.4])
-    np.testing.assert_array_almost_equal(
-        dx8.bind(mx, s.joints).qacc, [3.0, -2.1, 0.6, 0.0, 0.4], decimal=6
-    )
-
-    dx9 = dx.bind(mx, s.bodies[1]).set('xfrc_applied', [1, 2, 3, 4, 5, 6])
-    np.testing.assert_array_equal(
-        dx9.bind(mx, s.bodies[1]).xfrc_applied, [1, 2, 3, 4, 5, 6]
-    )
-    for body in s.bodies[:1] + s.bodies[2:]:
-      np.testing.assert_array_equal(
-          dx7.bind(mx, body).xfrc_applied, [0, 0, 0, 0, 0, 0]
-      )
-    dx10 = dx.bind(mx, s.bodies[0:2]).set(
-        'xfrc_applied',
-        np.array([np.array([1, 1, 1, 1, 1, 1]), np.array([2, 2, 2, 2, 2, 2])]),
-    )
-    np.testing.assert_array_equal(
-        dx10.bind(mx, s.bodies[0]).xfrc_applied, [1, 1, 1, 1, 1, 1]
-    )
-    np.testing.assert_array_equal(
-        dx10.bind(mx, s.bodies[1]).xfrc_applied, [2, 2, 2, 2, 2, 2]
-    )
-    dx11 = dx.bind(mx, s.bodies[-1]).set(
-        'mocap_pos',
-        [1, 2, 3],
-    )
-    np.testing.assert_array_equal(
-        dx11.bind(mx, s.bodies[-2]).mocap_pos, [100, 110, 120]
-    )
-    np.testing.assert_array_equal(
-        dx11.bind(mx, s.bodies[-1]).mocap_pos, [1, 2, 3]
-    )
-
-    # test attribute and type mismatches
-    with self.assertRaisesRegex(
-        AttributeError, 'ctrl is not available for this type'
-    ):
-      print(dx.bind(mx, s.geoms).ctrl)
-    with self.assertRaises(KeyError):
-      print(dx.bind(mx, s.actuators).actuator_ctrl)
-    with self.assertRaisesRegex(
-        AttributeError,
-        "'Data' object has no attribute 'actuator_actuator_ctrl'",
-    ):
-      print(dx.bind(mx, s.actuators).set('actuator_ctrl', [1, 2, 3]))
-    with self.assertRaisesRegex(
-        AttributeError, 'qpos, qvel, qacc, qfrc are not available for this type'
-    ):
-      print(dx.bind(mx, s.geoms).qpos)
-
-    # test that modified names do not raise an error
-    s.actuators[0].name = 'modified_actuator_name'
-    np.testing.assert_array_equal(dx.bind(mx, s.actuators).ctrl, d.ctrl)
-    s.geoms[0].name = 'modified_geom_name'
-    np.testing.assert_array_equal(mx.bind(s.geoms[0]).pos, m.geom_pos[0, :])
-
-    # test batched data
-    batch_size = 16
-    ds = [d for _ in range(batch_size)]
-    vdx = jax.vmap(lambda xpos: dx.replace(xpos=xpos))(
-        jp.array([d.xpos for d in ds], device=jax.devices('cpu')[0]))
-    for i in range(m.nbody):
-      np.testing.assert_array_equal(
-          vdx.bind(mx, s.bodies[i]).xpos, [d.xpos[i, :]] * batch_size
-      )
-
-    # test that adding a body requires recompilation
-    s.worldbody.add_body()
-    with self.assertRaises(ValueError) as e:
-      mx.bind(s.bodies)
-    self.assertEqual(
-        str(e.exception),
-        'mjSpec signature does not match mjx.Model signature:'
-        ' 15297169659434471387 != 2785811613804955188',
-    )
-
-    # what happens when we bind to an actuator that was removed?
-    bygone_actuators = []
-    for act in s.actuators:
-      bygone_actuators.append(act)
-      s.delete(act)
-    m = s.compile()
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    dx = mjx.step(mx, dx)
-    with self.assertRaisesRegex(KeyError, 'invalid id: -1'):
-      dx.bind(mx, bygone_actuators)
-
-  _CONTACTS = """
-    <mujoco>
-      <worldbody>
-        <body pos="0 0 0.55" euler="1 0 0">
-          <joint axis="1 0 0" type="free"/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule" condim="6"/>
-        </body>
-        <body pos="0 0 0.5" euler="0 1 0">
-          <joint axis="1 0 0" type="free"/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule" condim="3"/>
-        </body>
-        <body pos="0 0 0.445" euler="0 90 0">
-          <joint axis="1 0 0" type="free"/>
-          <geom fromto="-0.4 0 0 0.4 0 0" size="0.05" type="capsule" condim="1"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_contact_force(self):
-    m = mujoco.MjModel.from_xml_string(self._CONTACTS)
-    d = mujoco.MjData(m)
-    mujoco.mj_step(m, d)
-    assert (
-        np.unique(d.contact.geom).shape[0] == 3
-    ), 'This test assumes all capsule are in contact.'
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-    mujoco.mj_step(m, d)
-    dx = mjx.step(mx, dx)
-
-    # map MJX contacts to MJ ones
-    def _find(g):
-      val = (g == dx._impl.contact.geom).sum(axis=1)
-      return np.where(val == 2)[0][0]
-
-    contact_id_map = {i: _find(d.contact.geom[i]) for i in range(d.ncon)}
-
-    for i in range(d.ncon):
-      result = np.zeros(6, dtype=float)
-      mujoco.mj_contactForce(m, d, i, result)
-
-      j = contact_id_map[i]
-      force = jax.jit(support.contact_force, static_argnums=(2,))(mx, dx, j)
-      np.testing.assert_allclose(result, force, rtol=1e-5, atol=2)
-
-      # check for zeros after first condim elements
-      condim = dx._impl.contact.dim[j]
-      if condim < 6:
-        np.testing.assert_allclose(force[condim:], 0, rtol=1e-5, atol=1e-5)
-
-      # test world conversion
-      force = jax.jit(
-          support.contact_force,
-          static_argnums=(
-              2,
-              3,
-          ),
-      )(mx, dx, j, True)
-      # back to contact frame
-      force = force.at[:3].set(dx._impl.contact.frame[j] @ force[:3])
-      force = force.at[3:].set(dx._impl.contact.frame[j] @ force[3:])
-      np.testing.assert_allclose(result, force, rtol=1e-5, atol=2)
-
-  def test_wrap_inside(self):
-    maxiter = 5
-    tolerance = 1.0e-4
-    z_init = 1.0 - 1.0e-5
-
-    # len0 <= radius
-    np.testing.assert_equal(
-        support.wrap_inside(
-            jp.array([1.0, 0, 0, 0]),
-            jp.array([1.0]),
-            maxiter,
-            tolerance,
-            z_init,
-        )[0],
-        jp.array([-1]),
-    )
-
-    # len1 <= radius
-    np.testing.assert_equal(
-        support.wrap_inside(
-            jp.array([0, 0, 1.0, 0]),
-            jp.array([1.0]),
-            maxiter,
-            tolerance,
-            z_init,
-        )[0],
-        jp.array([-1]),
-    )
-
-    # radius < mjMINVAL
-    np.testing.assert_equal(
-        support.wrap_inside(
-            jp.array([1, 0, 0, 1]), jp.array([0.1 * mujoco.mjMINVAL]), maxiter,
-            tolerance,
-            z_init,
-        )[0],
-        jp.array([-1]),
-    )
-
-    # len0 < mjMINVAL and radius < mjMINVAL
-    np.testing.assert_equal(
-        support.wrap_inside(
-            jp.array([0.1 * mujoco.mjMINVAL, 0, 0, 0]),
-            jp.array([0.1 * mujoco.mjMINVAL]),
-            maxiter,
-            tolerance,
-            z_init,
-        )[0],
-        jp.array([-1]),
-    )
-
-    # len1 < mjMINVAL and radius < mjMINVAL
-    np.testing.assert_equal(
-        support.wrap_inside(
-            jp.array([0, 0, 0.1 * mujoco.mjMINVAL, 0]),
-            jp.array([0.1 * mujoco.mjMINVAL]),
-            maxiter,
-            tolerance,
-            z_init,
-        )[0],
-        jp.array([-1]),
-    )
-
-    # wrap: p0 = [1, 0], p1 = [0, 1]
-    status, pnt = support.wrap_inside(
-        jp.array([1, 0, 0, 1]), jp.array([0.5]), maxiter, tolerance, z_init
-    )
-    np.testing.assert_allclose(
-        pnt,
-        jp.array([0.353553, 0.353553, 0.353553, 0.353553]),
-        atol=1e-3,
-        rtol=1e-3,
-    )
-    np.testing.assert_equal(status, jp.array([0]))
-
-    # no wrap, point on circle: p0 = [1, 0], p1 = [0, 0.5]
-    status, pnt = support.wrap_inside(
-        jp.array([1, 0, 0, 0.5]), jp.array([0.5]), maxiter, tolerance, z_init
-    )
-    np.testing.assert_allclose(
-        pnt,
-        jp.zeros(4),
-        atol=1e-3,
-        rtol=1e-3,
-    )
-    np.testing.assert_equal(status, jp.array([-1]))
-
-    # no wrap, segment-circle intersection: p0 = [0.75, 0], p1 = [0, 0.51]
-    status, pnt = support.wrap_inside(
-        jp.array([0.75, 0, 0, 0.51]),
-        jp.array([0.5]),
-        maxiter,
-        tolerance,
-        z_init,
-    )
-    np.testing.assert_allclose(
-        pnt,
-        jp.zeros(4),
-        atol=1e-3,
-        rtol=1e-3,
-    )
-    np.testing.assert_equal(status, jp.array([-1]))
-
-    # wrap: p0 = [-0.5, 1], p1 = [0.5, 1]
-    status, pnt = support.wrap_inside(
-        jp.array([-0.5, 1, 0.5, 1]),
-        jp.array([0.5]),
-        maxiter,
-        tolerance,
-        z_init,
-    )
-    np.testing.assert_allclose(
-        pnt,
-        jp.array([0, 0.5, 0, 0.5]),
-        atol=1e-3,
-        rtol=1e-3,
-    )
-    np.testing.assert_equal(status, jp.array([0]))
-
-    # TODO(taylorhowell): improve wrap_inside testing with additional test cases
-
-  def test_muscle_gain_length(self):
-    lmin = 0.5
-    lmax = 1.5
-    np.testing.assert_allclose(
-        support.muscle_gain_length(0, lmin, lmax),
-        jp.zeros(1),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-    np.testing.assert_allclose(
-        support.muscle_gain_length(0.5, lmin, lmax),
-        jp.zeros(1),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-    np.testing.assert_allclose(
-        support.muscle_gain_length(0.6, lmin, lmax),
-        jp.array([0.08]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-    np.testing.assert_allclose(
-        support.muscle_gain_length(0.75, lmin, lmax),
-        jp.array([0.5]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-    np.testing.assert_allclose(
-        support.muscle_gain_length(1.0, lmin, lmax),
-        jp.ones(1),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-    np.testing.assert_allclose(
-        support.muscle_gain_length(1.25, lmin, lmax),
-        jp.array([0.5]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-    np.testing.assert_allclose(
-        support.muscle_gain_length(1.5, lmin, lmax),
-        jp.zeros(1),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-    np.testing.assert_allclose(
-        support.muscle_gain_length(2.0, lmin, lmax),
-        jp.zeros(1),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-  def test_muscle_gain(self):
-    length = jp.array([1.0])
-    lengthrange = jp.array([0.0, 1.0])
-    acc0 = jp.array([1.0])
-    prm = jp.array([0.0, 1.0, 1.0, 200.0, 0.5, 3.0, 1.0, 0.0, 2.0, 0.0])
-
-    # V <= -1
-    vel = jp.array([-1.5])
-    np.testing.assert_allclose(
-        support.muscle_gain(length, vel, lengthrange, acc0, prm),
-        jp.array([-0.0]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-    # V <= 0
-    vel = jp.array([-0.5])
-    np.testing.assert_allclose(
-        support.muscle_gain(length, vel, lengthrange, acc0, prm),
-        jp.array([-0.25]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-    # V <= y
-    vel = jp.array([0.5])
-    np.testing.assert_allclose(
-        support.muscle_gain(length, vel, lengthrange, acc0, prm),
-        jp.array([-1.75]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-    # V > y
-    vel = jp.array([1.5])
-    np.testing.assert_allclose(
-        support.muscle_gain(length, vel, lengthrange, acc0, prm),
-        jp.array([-2.0]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-    # force < 0
-    prm = prm.at[2].set(-1.0)
-    np.testing.assert_allclose(
-        support.muscle_gain(length, vel, lengthrange, acc0, prm),
-        jp.array([-400.0]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-  def test_muscle_bias(self):
-    lengthrange = jp.array([0.0, 1.0])
-    acc0 = jp.array([1.0])
-    prm = jp.array([0.0, 1.0, 1.0, 200.0, 0.5, 3.0, 1.5, 1.3, 1.2, 0.0])
-
-    # L <= 1
-    length = jp.array([0.5])
-    np.testing.assert_allclose(
-        support.muscle_bias(length, lengthrange, acc0, prm),
-        jp.array([0.0]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-    # L <= b
-    length = jp.array([1.5])
-    np.testing.assert_allclose(
-        support.muscle_bias(length, lengthrange, acc0, prm),
-        jp.array([-0.1625]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-    # L > b
-    length = jp.array([2.5])
-    np.testing.assert_allclose(
-        support.muscle_bias(length, lengthrange, acc0, prm),
-        jp.array([-1.3]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-    # force < 0
-    prm = prm.at[2].set(-1.0)
-    np.testing.assert_allclose(
-        support.muscle_bias(length, lengthrange, acc0, prm),
-        jp.array([-260.0]),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-  def test_smooth_muscle_dynamics(self):
-    # compute time constant as in Millard et al. (2013)
-    # https://doi.org/10.1115/1.4023390
-    def _muscle_dynamics_millard(ctrl, act, prm):
-      ctrlclamp = jp.clip(ctrl, 0, 1)
-      actclamp = jp.clip(act, 0, 1)
-
-      tau0 = prm[0] * (0.5 + 1.5 * actclamp)
-      tau1 = prm[1] / (0.5 + 1.5 * actclamp)
-      tau = jp.where(ctrlclamp > act, tau0, tau1)
-
-      return (ctrlclamp - act) / jp.maximum(mujoco.mjMINVAL, tau)
-
-    prm = jp.array([0.01, 0.04, 0.0])
-
-    # exact equality if tau_smooth = 0
-    for ctrl in [-0.1, 0.0, 0.4, 0.5, 1.0, 1.0]:
-      for act in [-0.1, 0.0, 0.4, 0.5, 1.0, 1.1]:
-        actdot_old = _muscle_dynamics_millard(ctrl, act, prm)
-        actdot_new = support.muscle_dynamics(ctrl, act, prm)
-        np.testing.assert_allclose(actdot_old, actdot_new, rtol=1e-5, atol=1e-5)
-
-    # positive tau_smooth
-    tau_smooth = 0.2
-    prm = prm.at[2].set(tau_smooth)
-    act = 0.5
-    eps = 1.0e-6
-
-    ctrl = 0.4 - eps  # smaller than act by just over 0.5 * tau_smooth
-    np.testing.assert_allclose(
-        _muscle_dynamics_millard(ctrl, act, prm),
-        support.muscle_dynamics(ctrl, act, prm),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-    ctrl = 0.6 + eps  # larger than act by just over 0.5 * tau_smooth
-    np.testing.assert_allclose(
-        _muscle_dynamics_millard(ctrl, act, prm),
-        support.muscle_dynamics(ctrl, act, prm),
-        rtol=1e-5,
-        atol=1e-5,
-    )
-
-    # right in the middle should give average of time constants
-    tau_act = 0.2
-    tau_deact = 0.3
-    for dctrl in [0.0, 0.1, 0.2, 1.0, 1.1]:
-      lower = support.muscle_dynamics_timescale(
-          -dctrl, tau_act, tau_deact, tau_smooth
-      )
-      upper = support.muscle_dynamics_timescale(
-          dctrl, tau_act, tau_deact, tau_smooth
-      )
-      np.testing.assert_allclose(
-          0.5 * (upper + lower),
-          0.5 * (tau_act + tau_deact),
-          rtol=1e-5,
-          atol=1e-5,
-      )
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/_src/test_util.py b/mjx/mujoco/mjx/_src/test_util.py
deleted file mode 100644
index f3157791..00000000
--- a/mjx/mujoco/mjx/_src/test_util.py
+++ /dev/null
@@ -1,484 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Utilities for testing."""
-
-import os
-import sys
-import time
-from typing import Dict, Optional, Tuple
-from xml.etree import ElementTree as ET
-
-from etils import epath
-import jax
-import mujoco
-# pylint: disable=g-importing-member
-from mujoco.mjx._src import forward
-from mujoco.mjx._src import io
-from mujoco.mjx._src.types import Data
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-def _measure(fn, *args) -> Tuple[float, float]:
-  """Reports jit time and op time for a function."""
-
-  beg = time.perf_counter()
-  compiled_fn = fn.lower(*args).compile()
-  end = time.perf_counter()
-  jit_time = end - beg
-
-  beg = time.perf_counter()
-  result = compiled_fn(*args)
-  jax.block_until_ready(result)
-  end = time.perf_counter()
-  run_time = end - beg
-
-  return jit_time, run_time
-
-
-def benchmark(
-    m: mujoco.MjModel,
-    nstep: int = 1000,
-    batch_size: int = 1024,
-    unroll_steps: int = 1,
-    solver: str = 'newton',
-    iterations: int = 1,
-    ls_iterations: int = 4,
-) -> Tuple[float, float, int]:
-  """Benchmark a model."""
-
-  xla_flags = os.environ.get('XLA_FLAGS', '')
-  xla_flags += ' --xla_gpu_triton_gemm_any=True'
-  os.environ['XLA_FLAGS'] = xla_flags
-
-  m.opt.solver = {  # pyrefly: ignore[bad-assignment]
-      'cg': mujoco.mjtSolver.mjSOL_CG,
-      'newton': mujoco.mjtSolver.mjSOL_NEWTON,
-  }[solver.lower()]
-  m.opt.iterations = iterations
-  m.opt.ls_iterations = ls_iterations
-  m = io.put_model(m)  # pyrefly: ignore[bad-assignment]
-
-  @jax.pmap
-  def init(key):
-    key = jax.random.split(key, batch_size // jax.device_count())
-
-    @jax.vmap
-    def random_init(key):
-      d = io.make_data(m)
-      qvel = 0.01 * jax.random.normal(key, shape=(m.nv,))
-      d = d.replace(qvel=qvel)
-      return d
-
-    return random_init(key)
-
-  key = jax.random.split(jax.random.key(0), jax.device_count())
-  d = init(key)
-  jax.block_until_ready(d)
-
-  @jax.pmap
-  def unroll(d):
-    @jax.vmap
-    def step(d, _):
-      d = forward.step(m, d)
-      return d, None
-
-    d, _ = jax.lax.scan(step, d, None, length=nstep, unroll=unroll_steps)
-
-    return d
-
-  jit_time, run_time = _measure(unroll, d)
-  steps = nstep * batch_size
-
-  return jit_time, run_time, steps
-
-
-def efc_order(m: mujoco.MjModel, d: mujoco.MjData, dx: Data) -> np.ndarray:
-  """Returns a sort order such that dx.efc_*[order][:d._impl.nefc] == d.efc_*."""  # pytype: disable=attribute-error
-  # reorder efc rows to skip inactive constraints and match contact order
-  efl = dx._impl.ne + dx._impl.nf + dx._impl.nl  # pytype: disable=attribute-error
-  order = np.arange(efl)
-  order[(dx._impl.efc_J[:efl] == 0).all(axis=1)] = 2**16  # move empty rows to end  # pytype: disable=attribute-error
-  for i in range(dx._impl.ncon):  # pytype: disable=attribute-error
-    num_rows = dx._impl.contact.dim[i]  # pytype: disable=attribute-error
-    if dx._impl.contact.dim[i] > 1 and m.opt.cone == mujoco.mjtCone.mjCONE_PYRAMIDAL:  # pytype: disable=attribute-error
-      num_rows = (dx._impl.contact.dim[i] - 1) * 2  # pytype: disable=attribute-error
-    if dx._impl.contact.dist[i] > 0:  # move empty contacts to end  # pytype: disable=attribute-error
-      order = np.append(order, np.repeat(2**16, num_rows))
-      continue
-    contact_match = (d.contact.geom == dx._impl.contact.geom[i]).all(axis=-1)  # pytype: disable=attribute-error
-    contact_match &= (d.contact.pos == dx._impl.contact.pos[i]).all(axis=-1)  # pytype: disable=attribute-error
-    assert contact_match.any(), f'contact {i} not found'
-    contact_id = np.nonzero(contact_match)[0][0]
-    order = np.append(order, np.repeat(efl + contact_id, num_rows))
-
-  return np.argsort(order, kind='stable')
-
-
-_ACTUATOR_TYPES = ['motor', 'velocity', 'position', 'general', 'intvelocity']
-_DYN_TYPES = ['none', 'integrator', 'filter', 'filterexact']
-_DYN_PRMS = ['0.189', '2.1']
-_JOINT_TYPES = ['free', 'hinge', 'slide', 'ball']
-_JOINT_AXES = ['1 0 0', '0 1 0', '0 0 1']
-_FRICTIONS = ['1.2 0.003 0.0002', '0.2 0.0001 0.0005']
-_KP_POS = ['1', '2']
-_KP_INTVEL = ['10000', '2000']
-_KV_VEL = ['12', '1', '0', '0.1']
-_PAIR_FRICTIONS = ['1.2 0.9 0.003 0.0002 0.0001']
-_SOLREFS = ['0.04 1.01', '0.05 1.02', '0.03 1.1', '0.015 1.0']
-_SOLIMPS = [
-    '0.75 0.94 0.002 0.2 2',
-    '0.8 0.99 0.001 0.3 6',
-    '0.6 0.9 0.003 0.1 1',
-]
-_DIMS = ['3']
-_MARGINS = ['0.0', '0.01', '0.02']
-_GAPS = ['0.0', '0.005']
-_GEARS = ['2.1 0.0 3.3 0 2.3 0', '5.0 3.1 0 2.3 0.0 1.1']
-
-
-def p(pct: int) -> bool:
-  assert 0 <= pct <= 100
-  return np.random.uniform(low=0, high=100) < pct
-
-
-def _make_joint(joint_type: str, name: str) -> Dict[str, str]:
-  """Returns attributes for a joint."""
-  joint_attr = {'type': joint_type, 'name': name}
-
-  if joint_type not in ('free', 'ball'):
-    joint_attr['axis'] = np.random.choice(_JOINT_AXES)
-    lb, ub = -np.random.uniform() * 90, np.random.uniform() * 90
-    joint_attr['range'] = f'{lb:.2f} {ub:.2f}'
-  elif joint_type == 'ball':
-    joint_attr['axis'] = '1 0 0'
-    ub = np.random.uniform() * 90
-    joint_attr['range'] = f'0.0 {ub:.2f}'
-
-  if p(50) and joint_type != 'free':
-    lb, ub = -np.random.uniform(), np.random.uniform()
-    joint_attr['actuatorfrcrange'] = f'{lb:.2f} {ub:.2f}'
-
-  if joint_type not in ('free',):
-    joint_attr['damping'] = '{:.2f}'.format(np.random.uniform() * 20)
-    joint_attr['stiffness'] = '{:.2f}'.format(np.random.uniform() * 20)
-
-  joint_attr['actuatorgravcomp'] = np.random.choice(['true', 'false'])
-  return joint_attr
-
-
-def _geom_solparams(
-    pair: bool = False, enable_contact: bool = True
-) -> Dict[str, str]:
-  """Returns geom solver parameters."""
-  params = {
-      'contype': np.random.choice(['0', '1']) if enable_contact else '0',
-      'conaffinity': np.random.choice(['0', '1']) if enable_contact else '0',
-      'priority': np.random.choice(['-1', '2']),
-      'solmix': np.random.choice(['0.0', '1.6']),
-      'friction': np.random.choice(_FRICTIONS),
-      'condim': np.random.choice(_DIMS),
-  }
-  pair_params = {
-      'solreffriction': np.random.choice(_SOLREFS),
-      'friction': np.random.choice(_PAIR_FRICTIONS),
-      'condim': np.random.choice(_DIMS),
-  }
-  params = pair_params if pair else params
-  params.update({
-      'solimp': np.random.choice(_SOLIMPS),
-      'solref': np.random.choice(_SOLREFS),
-      'margin': np.random.choice(_MARGINS),
-      'gap': np.random.choice(_GAPS),
-  })
-
-  return params
-
-
-def _make_geom(
-    pos: str, size: float, name: str, enable_contact: bool = True
-) -> Dict[str, str]:
-  """Returns attributes for a sphere geom."""
-  attr = {
-      'pos': pos,
-      'type': 'sphere',
-      'name': name,
-      'size': f'{size:.2f}',
-      'mass': '1',
-  }
-  attr.update(_geom_solparams(pair=False, enable_contact=enable_contact))
-
-  return attr
-
-
-def _make_actuator(
-    actuator_type: str,
-    joint: Optional[str] = None,
-    site: Optional[str] = None,
-    refsite: Optional[str] = None,
-) -> Dict[str, str]:
-  """Returns attributes for an actuator."""
-  if joint:
-    attr = {'joint': joint}
-  elif site:
-    attr = {'site': site}
-  else:
-    raise ValueError('must provide a joint or site name')
-
-  if refsite:
-    attr['refsite'] = refsite
-
-  attr['gear'] = np.random.choice(_GEARS)
-
-  # set actuator type
-  if actuator_type == 'position':
-    attr['kp'] = np.random.choice(_KP_POS)
-    attr['kv'] = np.random.choice(_KV_VEL)
-  elif actuator_type == 'general':
-    attr['biastype'] = 'affine'
-    attr['gainprm'] = '35 0 0'
-    attr['biasprm'] = '0 -35 -0.65'
-  elif actuator_type == 'intvelocity':
-    attr['kp'] = np.random.choice(_KP_INTVEL)
-    lb, ub = -np.random.uniform(), np.random.uniform()
-    attr['actrange'] = f'{lb:.2f} {ub:.2f}'
-  elif actuator_type == 'velocity':
-    attr['kv'] = np.random.choice(_KV_VEL)
-
-  # set dyntype
-  if actuator_type == 'general':
-    attr['dyntype'] = np.random.choice(_DYN_TYPES)
-    if attr['dyntype'] != 'none':
-      attr['dynprm'] = np.random.choice(_DYN_PRMS)
-
-  # ctrlrange
-  if p(50) and actuator_type != 'intvelocity':
-    lb, ub = -np.random.uniform(), np.random.uniform()
-    attr['ctrlrange'] = f'{lb:.2f} {ub:.2f}'
-
-  # forcerange
-  if p(50):
-    lb, ub = -np.random.uniform(), np.random.uniform()
-    attr['forcerange'] = f'{lb*10:.2f} {ub*10:.2f}'
-
-  return attr
-
-
-def create_mjcf(
-    seed: int,
-    min_trees: int = 1,
-    max_trees: int = 1,
-    max_tree_depth: int = 5,
-    body_pos: Tuple[float, float, float] = (0.0, 0.0, -0.5),
-    geom_pos: Tuple[float, float, float] = (0.0, 0.0, 0.0),
-    max_stacked_joints=4,
-    max_geoms_per_body=2,
-    max_contact_excludes=1,
-    max_contact_pairs=4,
-    disable_actuation_pct: int = 0,
-    add_actuators: bool = False,
-    root_always_free: bool = False,
-    enable_contact: bool = True,
-) -> str:
-  """Creates a random MJCF for testing.
-
-  Args:
-    seed: seed for rng
-    min_trees: minimum number of kinematic trees to generate
-    max_trees: maximum number of kinematic trees to generate
-    max_tree_depth: the maximum tree depth
-    body_pos: the default body position relative to the parent
-    geom_pos: the default geom position in the body frame
-    max_stacked_joints: maximum number of joints to stack for each body
-    max_geoms_per_body: maximum number of geoms per body
-    max_contact_excludes: maximum number of bodies to exlude from contact
-    max_contact_pairs: maximum number of explicit geom contact pairs in the xml
-    disable_actuation_pct: the percentage of time to disable actuation via the
-      disable flag
-    add_actuators: whether to add actuators
-    root_always_free: if True, the root body of each kinematic tree has a free
-      joint with the world
-    enable_contact: if False, disables all contacts via contype/conaffinity
-
-  Returns:
-    an XML string for the MuJoCo config
-  Raises:
-    AssertionError when args are not in the correct ranges
-  """
-  np.random.seed(seed)
-
-  assert min_trees <= max_trees
-  assert max_tree_depth >= 1
-  assert 0 <= disable_actuation_pct <= 100
-  assert max_stacked_joints >= 1
-  assert max_geoms_per_body >= 1
-  assert max_contact_excludes >= 1
-  assert max_contact_pairs >= 1
-
-  mjcf = ET.Element('mujoco')
-  opt = ET.SubElement(mjcf, 'option', {'timestep': '0.005', 'solver': 'CG'})
-  world = ET.SubElement(mjcf, 'worldbody')
-  ET.SubElement(mjcf, 'compiler', {'autolimits': 'true'})
-
-  # disable flags
-  if p(disable_actuation_pct):
-    ET.SubElement(opt, 'flag', {'actuation': 'disable'})
-
-  ET.SubElement(
-      world,
-      'geom',
-      {
-          'name': 'plane',
-          'type': 'plane',
-          'contype': '1' if enable_contact else '0',
-          'conaffinity': '1' if enable_contact else '0',
-          'size': '40 40 40',
-      },
-  )
-
-  # kinematic trees
-  tree_depth = np.random.randint(1, max_tree_depth + 1)
-
-  def make_tree(body: ET.Element, depth: int) -> None:
-    if depth >= tree_depth:
-      return
-
-    z_pos = np.random.uniform(low=-1, high=1) * 0.01  # small jitter
-    pos = f'{body_pos[0]:.3f} {body_pos[1]:.3f} {body_pos[2] + z_pos:.3f}'
-    n_bodies = len(list(mjcf.iter('body')))
-    gravcomp = np.random.uniform() * p(50)
-    child = ET.SubElement(
-        body,
-        'body',
-        {
-            'pos': pos,
-            'name': f'body{n_bodies}',
-            'gravcomp': f'{gravcomp:.3f}',
-        },
-    )
-    ET.SubElement(child, 'site', {'name': f'site{n_bodies}'})
-
-    n_joints = len(list(mjcf.iter('joint')))
-    for nj in range(np.random.randint(1, max_stacked_joints + 1)):
-      joint_type = np.random.choice(_JOINT_TYPES)
-      if nj == 0 and depth == 0 and root_always_free:
-        joint_type = 'free'
-
-      # free joint only allowed at top level
-      while joint_type == 'free' and (depth > 0 or nj > 0):
-        joint_type = np.random.choice(_JOINT_TYPES)
-
-      joint_attr = _make_joint(joint_type, name=f'joint{n_joints + nj}')
-      ET.SubElement(child, 'joint', joint_attr)
-
-      prev_joints = child.findall('joint')
-      had_ball_or_free = any(
-          [j.get('type') in ('ball', 'free') for j in prev_joints]
-      )
-      if had_ball_or_free:
-        break  # do not stack more joints
-
-    n_geoms = len(list(mjcf.iter('geom')))
-    for _ in range(np.random.randint(1, max_geoms_per_body + 1)):
-      pos = ('{:.2f} ' * 3).format(*geom_pos).strip()
-      size = 0.2 + np.random.uniform(low=-1, high=1) * 0.02
-      geom_attr = _make_geom(
-          pos, size, name=f'geom{n_geoms}', enable_contact=enable_contact
-      )
-      ET.SubElement(child, 'geom', geom_attr)
-      n_geoms += 1
-
-    make_tree(child, depth + 1)
-
-  num_trees = np.random.randint(min_trees, max_trees + 1)
-  for _ in range(num_trees):
-    make_tree(world, 0)
-
-  bodies = list(mjcf.iter('body'))
-  n_bodies = len(bodies)
-
-  # actuators
-  if add_actuators:
-    actuator = ET.SubElement(mjcf, 'actuator')
-    n_joints = len(list(mjcf.iter('joint')))
-    nu = np.random.randint(1, n_joints + 1)
-    actuators = []
-
-    # joint transmission
-    for i in range(nu):
-      actuator_type = np.random.choice(_ACTUATOR_TYPES)
-      attr = _make_actuator(actuator_type, joint=f'joint{i}')
-      actuators.append((actuator_type, attr))
-
-    # site transmission
-    for i in range(np.random.randint(0, n_bodies)):
-      actuator_type = np.random.choice(_ACTUATOR_TYPES)
-      attr = _make_actuator(actuator_type, site=f'site{i}')
-      actuators.append((actuator_type, attr))
-
-    # site transmission with refsite
-    for i in range(np.random.randint(0, n_bodies)):
-      j = np.random.randint(0, n_bodies)
-      actuator_type = np.random.choice(_ACTUATOR_TYPES)
-      attr = _make_actuator(actuator_type, site=f'site{i}', refsite=f'site{j}')
-      actuators.append((actuator_type, attr))
-
-    np.random.shuffle(actuators)
-    for typ, attr in actuators:
-      ET.SubElement(actuator, typ, attr)
-
-  # contact pairs
-  contact = ET.SubElement(mjcf, 'contact')
-  geoms = list(mjcf.iter('geom'))
-  geom_names = [geom.get('name') for geom in geoms]
-  n_geoms = len(geoms)
-  pairs = set()
-  for _ in range(min(max_contact_pairs, n_geoms * (n_geoms - 1) // 2)):
-    if p(80):
-      continue
-
-    geom1, geom2 = np.random.choice(geom_names, replace=False, size=2)  # pyrefly: ignore[no-matching-overload]
-    if geom1 > geom2:
-      geom1, geom2 = geom2, geom1
-
-    if (geom1, geom2) in pairs:
-      continue
-
-    pairs.add((geom1, geom2))
-    attr = {'geom1': geom1, 'geom2': geom2}
-    attr.update(_geom_solparams(pair=True))
-    ET.SubElement(contact, 'pair', attr)
-
-  # exclude contacts
-  body_names = [b.get('name') for b in bodies]
-  for _ in range(min(max_contact_excludes, (n_bodies * (n_bodies - 1) // 2))):
-    if p(50):
-      continue
-
-    body1, body2 = np.random.choice(body_names, replace=False, size=2)  # pyrefly: ignore[no-matching-overload]
-    ET.SubElement(contact, 'exclude', {'body1': body1, 'body2': body2})
-
-  # ElementTree.indent is not available before Python 3.9
-  if sys.version_info.minor >= 9:
-    ET.indent(mjcf)
-
-  return ET.tostring(mjcf).decode('utf-8')
-
-
-def load_test_file(name: str) -> mujoco.MjModel:
-  """Loads a mujoco.MjModel based on the file name."""
-  path = epath.resource_path('mujoco.mjx') / 'test_data' / name
-  m = mujoco.MjModel.from_xml_path(path.as_posix())
-  return m
diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
deleted file mode 100644
index ad4d25ee..00000000
--- a/mjx/mujoco/mjx/_src/types.py
+++ /dev/null
@@ -1,1218 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Base types used in MJX."""
-
-import dataclasses
-import enum
-from typing import Any, Tuple, Union
-import warnings
-
-import jax
-import mujoco
-from mujoco.mjx._src.dataclasses import PyTreeNode  # pylint: disable=g-importing-member
-from mujoco.mjx.warp import types as mjxw_types
-import numpy as np
-
-
-class Impl(enum.Enum):
-  """Implementation to use."""
-
-  CPP = 'cpp'
-  C = 'cpp'  # alias C -> CPP
-  JAX = 'jax'
-  WARP = 'warp'
-
-  @classmethod
-  def _missing_(cls, value):
-    # This method is called only when lookup by value fails
-    # (e.g., Impl('JAX') fails initially because 'JAX' != 'jax')
-    if not isinstance(value, str):
-      return None
-    for member in cls:
-      if member.value == value.lower():
-        return member
-    return None
-
-
-class DisableBit(enum.IntFlag):
-  """Disable default feature bitflags.
-
-  Attributes:
-    CONSTRAINT:   entire constraint solver
-    EQUALITY:     equality constraints
-    FRICTIONLOSS: joint and tendon frictionloss constraints
-    LIMIT:        joint and tendon limit constraints
-    CONTACT:      contact constraints
-    SPRING:       passive spring forces
-    DAMPER:       passive damper forces
-    GRAVITY:      gravitational forces
-    CLAMPCTRL:    clamp control to specified range
-    WARMSTART:    warmstart constraint solver
-    ACTUATION:    apply actuation forces
-    REFSAFE:      integrator safety: make ref[0]>=2*timestep
-    SENSOR:       sensors
-  """
-
-  CONSTRAINT = mujoco.mjtDisableBit.mjDSBL_CONSTRAINT
-  EQUALITY = mujoco.mjtDisableBit.mjDSBL_EQUALITY
-  FRICTIONLOSS = mujoco.mjtDisableBit.mjDSBL_FRICTIONLOSS
-  LIMIT = mujoco.mjtDisableBit.mjDSBL_LIMIT
-  CONTACT = mujoco.mjtDisableBit.mjDSBL_CONTACT
-  SPRING = mujoco.mjtDisableBit.mjDSBL_SPRING
-  DAMPER = mujoco.mjtDisableBit.mjDSBL_DAMPER
-  GRAVITY = mujoco.mjtDisableBit.mjDSBL_GRAVITY
-  CLAMPCTRL = mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL
-  WARMSTART = mujoco.mjtDisableBit.mjDSBL_WARMSTART
-  ACTUATION = mujoco.mjtDisableBit.mjDSBL_ACTUATION
-  REFSAFE = mujoco.mjtDisableBit.mjDSBL_REFSAFE
-  SENSOR = mujoco.mjtDisableBit.mjDSBL_SENSOR
-  EULERDAMP = mujoco.mjtDisableBit.mjDSBL_EULERDAMP
-  FILTERPARENT = mujoco.mjtDisableBit.mjDSBL_FILTERPARENT
-  # unsupported: MIDPHASE
-
-
-class EnableBit(enum.IntFlag):
-  """Enable optional feature bitflags.
-
-  Attributes:
-    INVDISCRETE: discrete-time inverse dynamics
-  """
-
-  INVDISCRETE = mujoco.mjtEnableBit.mjENBL_INVDISCRETE
-  # unsupported: OVERRIDE, ENERGY, FWDINV, ISLAND
-  SLEEP = mujoco.mjtEnableBit.mjENBL_SLEEP
-
-
-class JointType(enum.IntEnum):
-  """Type of degree of freedom.
-
-  Attributes:
-    FREE:  global position and orientation (quat)       (7,)
-    BALL:  orientation (quat) relative to parent        (4,)
-    SLIDE: sliding distance along body-fixed axis       (1,)
-    HINGE: rotation angle (rad) around body-fixed axis  (1,)
-  """
-
-  FREE = mujoco.mjtJoint.mjJNT_FREE  # pyrefly: ignore[bad-assignment]
-  BALL = mujoco.mjtJoint.mjJNT_BALL  # pyrefly: ignore[bad-assignment]
-  SLIDE = mujoco.mjtJoint.mjJNT_SLIDE  # pyrefly: ignore[bad-assignment]
-  HINGE = mujoco.mjtJoint.mjJNT_HINGE  # pyrefly: ignore[bad-assignment]
-
-  def dof_width(self) -> int:
-    return {0: 6, 1: 3, 2: 1, 3: 1}[self.value]
-
-  def qpos_width(self) -> int:
-    return {0: 7, 1: 4, 2: 1, 3: 1}[self.value]
-
-
-class IntegratorType(enum.IntEnum):
-  """Integrator mode.
-
-  Attributes:
-    EULER: semi-implicit Euler
-    RK4: 4th-order Runge Kutta
-    IMPLICITFAST: implicit in velocity, no rne derivative
-  """
-
-  EULER = mujoco.mjtIntegrator.mjINT_EULER  # pyrefly: ignore[bad-assignment]
-  RK4 = mujoco.mjtIntegrator.mjINT_RK4  # pyrefly: ignore[bad-assignment]
-  IMPLICITFAST = mujoco.mjtIntegrator.mjINT_IMPLICITFAST  # pyrefly: ignore[bad-assignment]
-  # unsupported: IMPLICIT
-
-
-class GeomType(enum.IntEnum):
-  """Type of geometry.
-
-  Attributes:
-    PLANE: plane
-    HFIELD: height field
-    SPHERE: sphere
-    CAPSULE: capsule
-    ELLIPSOID: ellipsoid
-    CYLINDER: cylinder
-    BOX: box
-    MESH: mesh
-    SDF: signed distance field
-  """
-
-  PLANE = mujoco.mjtGeom.mjGEOM_PLANE  # pyrefly: ignore[bad-assignment]
-  HFIELD = mujoco.mjtGeom.mjGEOM_HFIELD  # pyrefly: ignore[bad-assignment]
-  SPHERE = mujoco.mjtGeom.mjGEOM_SPHERE  # pyrefly: ignore[bad-assignment]
-  CAPSULE = mujoco.mjtGeom.mjGEOM_CAPSULE  # pyrefly: ignore[bad-assignment]
-  ELLIPSOID = mujoco.mjtGeom.mjGEOM_ELLIPSOID  # pyrefly: ignore[bad-assignment]
-  CYLINDER = mujoco.mjtGeom.mjGEOM_CYLINDER  # pyrefly: ignore[bad-assignment]
-  BOX = mujoco.mjtGeom.mjGEOM_BOX  # pyrefly: ignore[bad-assignment]
-  MESH = mujoco.mjtGeom.mjGEOM_MESH  # pyrefly: ignore[bad-assignment]
-  # unsupported: NGEOMTYPES, ARROW*, LINE, SKIN, LABEL, NONE
-
-
-class ConvexMesh(PyTreeNode):
-  """Geom properties for convex meshes.
-
-  Attributes:
-    vert: vertices of the convex mesh
-    face: faces of the convex mesh
-    face_normal: normal vectors for the faces
-    edge: edge indexes for all edges in the convex mesh
-    edge_face_normal: indexes for face normals adjacent to edges in `edge`
-  """
-
-  vert: jax.Array
-  face: jax.Array
-  face_normal: jax.Array
-  edge: jax.Array
-  edge_face_normal: jax.Array
-
-
-class ConeType(enum.IntEnum):
-  """Type of friction cone.
-
-  Attributes:
-    PYRAMIDAL: pyramidal
-    ELLIPTIC: elliptic
-  """
-
-  PYRAMIDAL = mujoco.mjtCone.mjCONE_PYRAMIDAL  # pyrefly: ignore[bad-assignment]
-  ELLIPTIC = mujoco.mjtCone.mjCONE_ELLIPTIC  # pyrefly: ignore[bad-assignment]
-
-
-class JacobianType(enum.IntEnum):
-  """Type of constraint Jacobian.
-
-  Attributes:
-    DENSE: dense
-    SPARSE: sparse
-    AUTO: sparse if nv>60 and device is TPU, dense otherwise
-  """
-
-  DENSE = mujoco.mjtJacobian.mjJAC_DENSE  # pyrefly: ignore[bad-assignment]
-  SPARSE = mujoco.mjtJacobian.mjJAC_SPARSE  # pyrefly: ignore[bad-assignment]
-  AUTO = mujoco.mjtJacobian.mjJAC_AUTO  # pyrefly: ignore[bad-assignment]
-
-
-class SolverType(enum.IntEnum):
-  """Constraint solver algorithm.
-
-  Attributes:
-    CG: Conjugate gradient (primal)
-    NEWTON: Newton (primal)
-  """
-
-  # unsupported: PGS
-  CG = mujoco.mjtSolver.mjSOL_CG  # pyrefly: ignore[bad-assignment]
-  NEWTON = mujoco.mjtSolver.mjSOL_NEWTON  # pyrefly: ignore[bad-assignment]
-
-
-class EqType(enum.IntEnum):
-  """Type of equality constraint.
-
-  Attributes:
-    CONNECT: connect two bodies at a point (ball joint)
-    WELD: fix relative position and orientation of two bodies
-    JOINT: couple the values of two scalar joints with cubic
-    TENDON: couple the lengths of two tendons with cubic
-  """
-
-  CONNECT = mujoco.mjtEq.mjEQ_CONNECT  # pyrefly: ignore[bad-assignment]
-  WELD = mujoco.mjtEq.mjEQ_WELD  # pyrefly: ignore[bad-assignment]
-  JOINT = mujoco.mjtEq.mjEQ_JOINT  # pyrefly: ignore[bad-assignment]
-  TENDON = mujoco.mjtEq.mjEQ_TENDON  # pyrefly: ignore[bad-assignment]
-  # unsupported: DISTANCE
-
-
-class WrapType(enum.IntEnum):
-  """Type of tendon wrap object.
-
-  Attributes:
-    JOINT: constant moment arm
-    PULLEY: pulley used to split tendon
-    SITE: pass through site
-    SPHERE: wrap around sphere
-    CYLINDER: wrap around (infinite) cylinder
-  """
-
-  JOINT = mujoco.mjtWrap.mjWRAP_JOINT  # pyrefly: ignore[bad-assignment]
-  PULLEY = mujoco.mjtWrap.mjWRAP_PULLEY  # pyrefly: ignore[bad-assignment]
-  SITE = mujoco.mjtWrap.mjWRAP_SITE  # pyrefly: ignore[bad-assignment]
-  SPHERE = mujoco.mjtWrap.mjWRAP_SPHERE  # pyrefly: ignore[bad-assignment]
-  CYLINDER = mujoco.mjtWrap.mjWRAP_CYLINDER  # pyrefly: ignore[bad-assignment]
-
-
-class TrnType(enum.IntEnum):
-  """Type of actuator transmission.
-
-  Attributes:
-    JOINT: force on joint
-    JOINTINPARENT: force on joint, expressed in parent frame
-    TENDON: force on tendon
-    SITE: force on site
-  """
-
-  JOINT = mujoco.mjtTrn.mjTRN_JOINT  # pyrefly: ignore[bad-assignment]
-  JOINTINPARENT = mujoco.mjtTrn.mjTRN_JOINTINPARENT  # pyrefly: ignore[bad-assignment]
-  SITE = mujoco.mjtTrn.mjTRN_SITE  # pyrefly: ignore[bad-assignment]
-  TENDON = mujoco.mjtTrn.mjTRN_TENDON  # pyrefly: ignore[bad-assignment]
-  # unsupported: SLIDERCRANK, BODY
-
-
-class DynType(enum.IntEnum):
-  """Type of actuator dynamics.
-
-  Attributes:
-    NONE: no internal dynamics; ctrl specifies force
-    INTEGRATOR: integrator: da/dt = u
-    FILTER: linear filter: da/dt = (u-a) / tau
-    FILTEREXACT: linear filter: da/dt = (u-a) / tau, with exact integration
-    MUSCLE: piece-wise linear filter with two time constants
-  """
-
-  NONE = mujoco.mjtDyn.mjDYN_NONE  # pyrefly: ignore[bad-assignment]
-  INTEGRATOR = mujoco.mjtDyn.mjDYN_INTEGRATOR  # pyrefly: ignore[bad-assignment]
-  FILTER = mujoco.mjtDyn.mjDYN_FILTER  # pyrefly: ignore[bad-assignment]
-  FILTEREXACT = mujoco.mjtDyn.mjDYN_FILTEREXACT  # pyrefly: ignore[bad-assignment]
-  MUSCLE = mujoco.mjtDyn.mjDYN_MUSCLE  # pyrefly: ignore[bad-assignment]
-  # unsupported: USER
-
-
-class GainType(enum.IntEnum):
-  """Type of actuator gain.
-
-  Attributes:
-    FIXED: fixed gain
-    AFFINE: const + kp*length + kv*velocity
-    MUSCLE: muscle FLV curve computed by muscle_gain
-  """
-
-  FIXED = mujoco.mjtGain.mjGAIN_FIXED  # pyrefly: ignore[bad-assignment]
-  AFFINE = mujoco.mjtGain.mjGAIN_AFFINE  # pyrefly: ignore[bad-assignment]
-  MUSCLE = mujoco.mjtGain.mjGAIN_MUSCLE  # pyrefly: ignore[bad-assignment]
-  # unsupported: USER
-
-
-class BiasType(enum.IntEnum):
-  """Type of actuator bias.
-
-  Attributes:
-    NONE: no bias
-    AFFINE: const + kp*length + kv*velocity
-    MUSCLE: muscle passive force computed by muscle_bias
-  """
-
-  NONE = mujoco.mjtBias.mjBIAS_NONE  # pyrefly: ignore[bad-assignment]
-  AFFINE = mujoco.mjtBias.mjBIAS_AFFINE  # pyrefly: ignore[bad-assignment]
-  MUSCLE = mujoco.mjtBias.mjBIAS_MUSCLE  # pyrefly: ignore[bad-assignment]
-  # unsupported: USER
-
-
-class ConstraintType(enum.IntEnum):
-  """Type of constraint.
-
-  Attributes:
-    EQUALITY: equality constraint
-    LIMIT_JOINT: joint limit
-    LIMIT_TENDON: tendon limit
-    CONTACT_FRICTIONLESS: frictionless contact
-    CONTACT_PYRAMIDAL: frictional contact, pyramidal friction cone
-  """
-
-  EQUALITY = mujoco.mjtConstraint.mjCNSTR_EQUALITY  # pyrefly: ignore[bad-assignment]
-  FRICTION_DOF = mujoco.mjtConstraint.mjCNSTR_FRICTION_DOF  # pyrefly: ignore[bad-assignment]
-  FRICTION_TENDON = mujoco.mjtConstraint.mjCNSTR_FRICTION_TENDON  # pyrefly: ignore[bad-assignment]
-  LIMIT_JOINT = mujoco.mjtConstraint.mjCNSTR_LIMIT_JOINT  # pyrefly: ignore[bad-assignment]
-  LIMIT_TENDON = mujoco.mjtConstraint.mjCNSTR_LIMIT_TENDON  # pyrefly: ignore[bad-assignment]
-  CONTACT_FRICTIONLESS = mujoco.mjtConstraint.mjCNSTR_CONTACT_FRICTIONLESS  # pyrefly: ignore[bad-assignment]
-  CONTACT_PYRAMIDAL = mujoco.mjtConstraint.mjCNSTR_CONTACT_PYRAMIDAL  # pyrefly: ignore[bad-assignment]
-  CONTACT_ELLIPTIC = mujoco.mjtConstraint.mjCNSTR_CONTACT_ELLIPTIC  # pyrefly: ignore[bad-assignment]
-
-
-class CamLightType(enum.IntEnum):
-  """Type of camera light.
-
-  Attributes:
-    FIXED: pos and rot fixed in body
-    TRACK: pos tracks body, rot fixed in global
-    TRACKCOM: pos tracks subtree com, rot fixed in body
-    TARGETBODY: pos fixed in body, rot tracks target body
-    TARGETBODYCOM: pos fixed in body, rot tracks target subtree com
-  """
-
-  FIXED = mujoco.mjtCamLight.mjCAMLIGHT_FIXED  # pyrefly: ignore[bad-assignment]
-  TRACK = mujoco.mjtCamLight.mjCAMLIGHT_TRACK  # pyrefly: ignore[bad-assignment]
-  TRACKCOM = mujoco.mjtCamLight.mjCAMLIGHT_TRACKCOM  # pyrefly: ignore[bad-assignment]
-  TARGETBODY = mujoco.mjtCamLight.mjCAMLIGHT_TARGETBODY  # pyrefly: ignore[bad-assignment]
-  TARGETBODYCOM = mujoco.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM  # pyrefly: ignore[bad-assignment]
-
-
-class SensorType(enum.IntEnum):
-  """Type of sensor.
-
-  Attributes:
-    MAGNETOMETER: magnetometer
-    CAMPROJECTION: camera projection
-    RANGEFINDER: rangefinder
-    JOINTPOS: joint position
-    TENDONPOS: scalar tendon position
-    ACTUATORPOS: actuator position
-    BALLQUAT: ball joint orientation
-    FRAMEPOS: frame position
-    FRAMEXAXIS: frame x-axis
-    FRAMEYAXIS: frame y-axis
-    FRAMEZAXIS: frame z-axis
-    FRAMEQUAT: frame orientation, represented as quaternion
-    SUBTREECOM: subtree centor of mass
-    CLOCK: simulation time
-    VELOCIMETER: 3D linear velocity, in local frame
-    GYRO: 3D angular velocity, in local frame
-    JOINTVEL: joint velocity
-    TENDONVEL: scalar tendon velocity
-    ACTUATORVEL: actuator velocity
-    BALLANGVEL: ball joint angular velocity
-    FRAMELINVEL: 3D linear velocity
-    FRAMEANGVEL: 3D angular velocity
-    SUBTREELINVEL: subtree linear velocity
-    SUBTREEANGMOM: subtree angular momentum
-    TOUCH: scalar contact normal forces summed over the sensor zone
-    CONTACT: contacts which occurred during the simulation
-    ACCELEROMETER: accelerometer
-    FORCE: force
-    TORQUE: torque
-    ACTUATORFRC: scalar actuator force
-    JOINTACTFRC: scalar actuator force, measured at the joint
-    TENDONACTFRC: scalar actuator force, measured at the tendon
-    FRAMELINACC: 3D linear acceleration
-    FRAMEANGACC: 3D angular acceleration
-  """
-
-  MAGNETOMETER = mujoco.mjtSensor.mjSENS_MAGNETOMETER  # pyrefly: ignore[bad-assignment]
-  CAMPROJECTION = mujoco.mjtSensor.mjSENS_CAMPROJECTION  # pyrefly: ignore[bad-assignment]
-  RANGEFINDER = mujoco.mjtSensor.mjSENS_RANGEFINDER  # pyrefly: ignore[bad-assignment]
-  JOINTPOS = mujoco.mjtSensor.mjSENS_JOINTPOS  # pyrefly: ignore[bad-assignment]
-  TENDONPOS = mujoco.mjtSensor.mjSENS_TENDONPOS  # pyrefly: ignore[bad-assignment]
-  ACTUATORPOS = mujoco.mjtSensor.mjSENS_ACTUATORPOS  # pyrefly: ignore[bad-assignment]
-  BALLQUAT = mujoco.mjtSensor.mjSENS_BALLQUAT  # pyrefly: ignore[bad-assignment]
-  FRAMEPOS = mujoco.mjtSensor.mjSENS_FRAMEPOS  # pyrefly: ignore[bad-assignment]
-  FRAMEXAXIS = mujoco.mjtSensor.mjSENS_FRAMEXAXIS  # pyrefly: ignore[bad-assignment]
-  FRAMEYAXIS = mujoco.mjtSensor.mjSENS_FRAMEYAXIS  # pyrefly: ignore[bad-assignment]
-  FRAMEZAXIS = mujoco.mjtSensor.mjSENS_FRAMEZAXIS  # pyrefly: ignore[bad-assignment]
-  FRAMEQUAT = mujoco.mjtSensor.mjSENS_FRAMEQUAT  # pyrefly: ignore[bad-assignment]
-  SUBTREECOM = mujoco.mjtSensor.mjSENS_SUBTREECOM  # pyrefly: ignore[bad-assignment]
-  CLOCK = mujoco.mjtSensor.mjSENS_CLOCK  # pyrefly: ignore[bad-assignment]
-  VELOCIMETER = mujoco.mjtSensor.mjSENS_VELOCIMETER  # pyrefly: ignore[bad-assignment]
-  GYRO = mujoco.mjtSensor.mjSENS_GYRO  # pyrefly: ignore[bad-assignment]
-  JOINTVEL = mujoco.mjtSensor.mjSENS_JOINTVEL  # pyrefly: ignore[bad-assignment]
-  TENDONVEL = mujoco.mjtSensor.mjSENS_TENDONVEL  # pyrefly: ignore[bad-assignment]
-  ACTUATORVEL = mujoco.mjtSensor.mjSENS_ACTUATORVEL  # pyrefly: ignore[bad-assignment]
-  BALLANGVEL = mujoco.mjtSensor.mjSENS_BALLANGVEL  # pyrefly: ignore[bad-assignment]
-  FRAMELINVEL = mujoco.mjtSensor.mjSENS_FRAMELINVEL  # pyrefly: ignore[bad-assignment]
-  FRAMEANGVEL = mujoco.mjtSensor.mjSENS_FRAMEANGVEL  # pyrefly: ignore[bad-assignment]
-  SUBTREELINVEL = mujoco.mjtSensor.mjSENS_SUBTREELINVEL  # pyrefly: ignore[bad-assignment]
-  SUBTREEANGMOM = mujoco.mjtSensor.mjSENS_SUBTREEANGMOM  # pyrefly: ignore[bad-assignment]
-  TOUCH = mujoco.mjtSensor.mjSENS_TOUCH  # pyrefly: ignore[bad-assignment]
-  CONTACT = mujoco.mjtSensor.mjSENS_CONTACT  # pyrefly: ignore[bad-assignment]
-  ACCELEROMETER = mujoco.mjtSensor.mjSENS_ACCELEROMETER  # pyrefly: ignore[bad-assignment]
-  FORCE = mujoco.mjtSensor.mjSENS_FORCE  # pyrefly: ignore[bad-assignment]
-  TORQUE = mujoco.mjtSensor.mjSENS_TORQUE  # pyrefly: ignore[bad-assignment]
-  ACTUATORFRC = mujoco.mjtSensor.mjSENS_ACTUATORFRC  # pyrefly: ignore[bad-assignment]
-  JOINTACTFRC = mujoco.mjtSensor.mjSENS_JOINTACTFRC  # pyrefly: ignore[bad-assignment]
-  TENDONACTFRC = mujoco.mjtSensor.mjSENS_TENDONACTFRC  # pyrefly: ignore[bad-assignment]
-  FRAMELINACC = mujoco.mjtSensor.mjSENS_FRAMELINACC  # pyrefly: ignore[bad-assignment]
-  FRAMEANGACC = mujoco.mjtSensor.mjSENS_FRAMEANGACC  # pyrefly: ignore[bad-assignment]
-
-
-class ObjType(PyTreeNode):
-  """Type of object.
-
-  Attributes:
-    UNKNOWN: unknown object type
-    BODY: body
-    XBODY: body, used to access regular frame instead of i-frame
-    GEOM: geom
-    SITE: site
-    CAMERA: camera
-  """
-
-  UNKNOWN = mujoco.mjtObj.mjOBJ_UNKNOWN
-  BODY = mujoco.mjtObj.mjOBJ_BODY
-  XBODY = mujoco.mjtObj.mjOBJ_XBODY
-  GEOM = mujoco.mjtObj.mjOBJ_GEOM
-  SITE = mujoco.mjtObj.mjOBJ_SITE
-  CAMERA = mujoco.mjtObj.mjOBJ_CAMERA
-
-
-class Statistic(PyTreeNode):
-  """Model statistics (in qpos0).
-
-  Attributes:
-    meaninertia: mean diagonal inertia
-    meanmass: mean body mass (not used)
-    meansize: mean body size (not used)
-    extent: spatial extent (not used)
-    center: center of model (not used)
-  """
-
-  meaninertia: jax.Array
-  meanmass: jax.Array
-  meansize: jax.Array
-  extent: jax.Array
-  center: jax.Array
-
-
-class StatisticWarp(mjxw_types.StatisticWarp, Statistic):
-  """Warp-specific model statistics."""
-
-  # NB: StatisticWarp type annotations may not match those on Statistic.
-  pass
-
-
-class OptionJAX(PyTreeNode):
-  """JAX-specific option."""
-
-  o_margin: jax.Array
-  o_solref: jax.Array
-  o_solimp: jax.Array
-  o_friction: jax.Array
-  disableactuator: int
-  sdf_initpoints: int
-  has_fluid_params: bool
-
-
-
-
-class Option(PyTreeNode):
-  """Physics options."""
-
-  iterations: int
-  ls_iterations: int
-  tolerance: jax.Array
-  ls_tolerance: jax.Array
-  impratio: jax.Array
-  gravity: jax.Array
-  density: jax.Array
-  viscosity: jax.Array
-  magnetic: jax.Array
-  wind: jax.Array
-  jacobian: JacobianType
-  cone: ConeType
-  disableflags: DisableBit
-  enableflags: int
-  integrator: IntegratorType
-  solver: SolverType
-  timestep: jax.Array
-  _impl: Union[OptionJAX, mjxw_types.OptionWarp]
-
-
-class ModelCPP(PyTreeNode):
-  """Minimal Model implementation holding only the pointer."""
-  # To ensure that we retain the full pointer even if jax.config.enable_x64 is
-  # set to True, we store the pointer as two 32-bit values. In the FFI call,
-  # we combine the two values into a single pointer value.
-  pointer_lo: jax.Array
-  pointer_hi: jax.Array
-
-
-class DataCPP(PyTreeNode):
-  """Minimal Data implementation holding only the pointer."""
-  # To ensure that we retain the full pointer even if jax.config.enable_x64 is
-  # set to True, we store the pointer as two 32-bit values. In the FFI call,
-  # we combine the two values into a single pointer value.
-  pointer_lo: jax.Array
-  pointer_hi: jax.Array
-
-
-class ModelJAX(PyTreeNode):
-  """JAX-specific model data."""
-
-  dof_hasfrictionloss: np.ndarray
-  geom_rbound_hfield: np.ndarray
-  mesh_convex: Tuple[ConvexMesh, ...]
-  tendon_hasfrictionloss: np.ndarray
-  wrap_inside_maxiter: int
-  wrap_inside_tolerance: float
-  wrap_inside_z_init: float
-  is_wrap_inside: np.ndarray
-
-
-class Model(PyTreeNode):
-  """Static model of the scene that remains unchanged with each physics step.
-
-  Attributes:
-    nq: number of generalized coordinates
-    nv: number of degrees of freedom
-    nu: number of actuators/controls
-    na: number of activation states
-    nbody: number of bodies
-    njnt: number of joints
-    ngeom: number of geoms
-    nsite: number of sites
-    ncam: number of cameras
-    nlight: number of lights
-    nmesh: number of meshes
-    nmeshvert: number of vertices for all meshes
-    nmeshnormal: number of normals in all meshes
-    nmeshtexcoord: number of texcoords in all meshes
-    nmeshface: number of faces for all meshes
-    nmeshgraph: number of ints in mesh auxiliary data
-    nmeshpoly: number of polygons in all meshes
-    nmeshpolyvert: number of vertices in all polygons
-    nmeshpolymap: number of polygons in vertex map
-    nhfield: number of heightfields
-    nhfielddata: size of elevation data
-    ntex: number of textures
-    ntexdata: size of texture data
-    nmat: number of materials
-    npair: number of predefined geom pairs
-    nexclude: number of excluded geom pairs
-    neq: number of equality constraints
-    ntendon: number of tendons
-    nwrap: number of wrap objects in all tendon paths
-    nsensor: number of sensors
-    nnumeric: number of numeric custom fields
-    ntuple: number of tuple custom fields
-    nkey: number of keyframes
-    nmocap: number of mocap bodies
-    nM: number of non-zeros in sparse inertia matrix
-    nB: number of non-zeros in B matrix
-    nC: number of non-zeros in C matrix
-    nD: number of non-zeros in D matrix
-    nJmom: number of non-zeros in Jacobian momentum matrix
-    nJten: number of non-zeros in sparse tendon Jacobian
-    ngravcomp: number of bodies with nonzero gravcomp
-    nuserdata: number of elements in userdata
-    nsensordata: number of elements in sensor data vector
-    npluginstate: number of plugin state values
-    nhistory: number of history buffer elements
-    opt: physics options
-    stat: model statistics
-    qpos0: qpos values at default pose
-    qpos_spring: reference pose for springs
-  """
-
-  nq: int
-  nv: int
-  nu: int
-  na: int
-  nbody: int
-  njnt: int
-  ngeom: int
-  nsite: int
-  ncam: int
-  nlight: int
-  nflex: int
-  nmesh: int
-  nmeshvert: int
-  nmeshnormal: int
-  nmeshtexcoord: int
-  nmeshface: int
-  nmeshgraph: int
-  nmeshpoly: int
-  nmeshpolyvert: int
-  nmeshpolymap: int
-  nhfield: int
-  nhfielddata: int
-  ntex: int
-  ntexdata: int
-  nmat: int
-  npair: int
-  nexclude: int
-  neq: int
-  ntendon: int
-  nwrap: int
-  nsensor: int
-  nnumeric: int
-  ntuple: int
-  nkey: int
-  nmocap: int
-  nM: int  # pylint:disable=invalid-name
-  nB: int  # pylint:disable=invalid-name
-  nC: int  # pylint:disable=invalid-name
-  nD: int  # pylint:disable=invalid-name
-  nJmom: int  # pylint:disable=invalid-name
-  nJten: int  # pylint:disable=invalid-name
-  ngravcomp: int
-  flg_gravcomp: bool
-  flg_surfacevel: bool
-  nuserdata: int
-  nsensordata: int
-  npluginstate: int
-  nhistory: int
-  opt: Option
-  stat: Union[Statistic, StatisticWarp]
-  qpos0: jax.Array
-  qpos_spring: jax.Array
-  body_parentid: np.ndarray
-  body_mocapid: np.ndarray
-  body_rootid: np.ndarray
-  body_weldid: np.ndarray
-  body_jntnum: np.ndarray
-  body_jntadr: np.ndarray
-  body_sameframe: np.ndarray
-  body_dofnum: np.ndarray
-  body_dofadr: np.ndarray
-  body_treeid: np.ndarray
-  body_geomnum: np.ndarray
-  body_geomadr: np.ndarray
-  body_simple: np.ndarray
-  body_pos: jax.Array
-  body_quat: jax.Array
-  body_ipos: jax.Array
-  body_iquat: jax.Array
-  body_mass: jax.Array
-  body_subtreemass: jax.Array
-  body_inertia: jax.Array
-  body_gravcomp: jax.Array
-  body_margin: np.ndarray
-  body_contype: np.ndarray
-  body_conaffinity: np.ndarray
-  body_invweight0: jax.Array
-  jnt_type: np.ndarray
-  jnt_qposadr: np.ndarray
-  jnt_dofadr: np.ndarray
-  jnt_bodyid: np.ndarray
-  jnt_limited: np.ndarray
-  jnt_actfrclimited: np.ndarray
-  jnt_actgravcomp: np.ndarray
-  jnt_solref: jax.Array
-  jnt_solimp: jax.Array
-  jnt_pos: jax.Array
-  jnt_axis: jax.Array
-  jnt_stiffness: jax.Array
-  jnt_stiffnesspoly: jax.Array
-  jnt_range: jax.Array
-  jnt_actfrcrange: jax.Array
-  jnt_margin: jax.Array
-  dof_bodyid: np.ndarray
-  dof_jntid: np.ndarray
-  dof_parentid: np.ndarray
-  dof_treeid: np.ndarray
-  dof_Madr: np.ndarray  # pylint:disable=invalid-name
-  dof_simplenum: np.ndarray
-  M_rowadr: np.ndarray  # pylint:disable=invalid-name
-  M_rownnz: np.ndarray  # pylint:disable=invalid-name
-  M_colind: np.ndarray  # pylint:disable=invalid-name
-  dof_solref: jax.Array
-  dof_solimp: jax.Array
-  dof_frictionloss: jax.Array
-  dof_armature: jax.Array
-  dof_damping: jax.Array
-  dof_dampingpoly: jax.Array
-  dof_invweight0: jax.Array
-  dof_M0: jax.Array  # pylint:disable=invalid-name
-  geom_type: np.ndarray
-  geom_contype: np.ndarray
-  geom_conaffinity: np.ndarray
-  geom_condim: np.ndarray
-  geom_bodyid: np.ndarray
-  geom_sameframe: np.ndarray
-  geom_dataid: np.ndarray
-  geom_group: np.ndarray
-  geom_matid: jax.Array
-  geom_priority: np.ndarray
-  geom_solmix: jax.Array
-  geom_solref: jax.Array
-  geom_solimp: jax.Array
-  geom_size: jax.Array
-  geom_aabb: jax.Array
-  geom_rbound: jax.Array
-  geom_pos: jax.Array
-  geom_quat: jax.Array
-  geom_friction: jax.Array
-  geom_margin: jax.Array
-  geom_gap: jax.Array
-  geom_fluid: np.ndarray
-  geom_rgba: jax.Array
-  site_type: np.ndarray
-  site_bodyid: np.ndarray
-  site_sameframe: np.ndarray
-  site_size: np.ndarray
-  site_pos: jax.Array
-  site_quat: jax.Array
-  cam_mode: np.ndarray
-  cam_bodyid: np.ndarray
-  cam_targetbodyid: np.ndarray
-  cam_pos: jax.Array
-  cam_quat: jax.Array
-  cam_poscom0: jax.Array
-  cam_pos0: jax.Array
-  cam_mat0: jax.Array
-  cam_fovy: jax.Array
-  cam_resolution: np.ndarray
-  cam_sensorsize: np.ndarray
-  cam_intrinsic: jax.Array
-  light_mode: np.ndarray
-  light_type: jax.Array
-  light_active: jax.Array
-  light_castshadow: jax.Array
-  light_pos: jax.Array
-  light_dir: jax.Array
-  light_poscom0: jax.Array
-  light_pos0: jax.Array
-  light_dir0: jax.Array
-  light_cutoff: jax.Array
-  light_ambient: jax.Array
-  light_attenuation: jax.Array
-  light_diffuse: jax.Array
-  light_exponent: jax.Array
-  light_specular: jax.Array
-  mesh_vertadr: np.ndarray
-  mesh_vertnum: np.ndarray
-  mesh_faceadr: np.ndarray
-  mesh_bvhadr: np.ndarray
-  mesh_bvhnum: np.ndarray
-  mesh_octadr: np.ndarray
-  mesh_octnum: np.ndarray
-  mesh_normaladr: np.ndarray
-  mesh_normalnum: np.ndarray
-  mesh_graphadr: np.ndarray
-  mesh_vert: np.ndarray
-  mesh_normal: np.ndarray
-  mesh_face: np.ndarray
-  mesh_graph: np.ndarray
-  mesh_pos: np.ndarray
-  mesh_quat: np.ndarray
-  mesh_texcoordadr: np.ndarray
-  mesh_texcoordnum: np.ndarray
-  mesh_texcoord: np.ndarray
-  flex_vertadr: np.ndarray
-  flex_vertnum: np.ndarray
-  flex_interp: np.ndarray
-  flex_vert0: np.ndarray
-  flex_nodeadr: np.ndarray
-  flex_nodenum: np.ndarray
-  flex_nodebodyid: np.ndarray
-  flex_node0: np.ndarray
-  hfield_size: np.ndarray
-  hfield_nrow: np.ndarray
-  hfield_ncol: np.ndarray
-  hfield_adr: np.ndarray
-  hfield_data: jax.Array
-  tex_type: np.ndarray
-  tex_height: np.ndarray
-  tex_width: np.ndarray
-  tex_nchannel: np.ndarray
-  tex_adr: np.ndarray
-  tex_data: np.ndarray
-  mat_rgba: jax.Array
-  mat_texid: jax.Array
-  mat_emission: jax.Array
-  mat_specular: jax.Array
-  mat_shininess: jax.Array
-  pair_dim: np.ndarray
-  pair_geom1: np.ndarray
-  pair_geom2: np.ndarray
-  pair_signature: np.ndarray
-  pair_solref: jax.Array
-  pair_solreffriction: jax.Array
-  pair_solimp: jax.Array
-  pair_margin: jax.Array
-  pair_gap: jax.Array
-  pair_friction: jax.Array
-  exclude_signature: np.ndarray
-  eq_type: np.ndarray
-  eq_obj1id: np.ndarray
-  eq_obj2id: np.ndarray
-  eq_objtype: np.ndarray
-  eq_active0: np.ndarray
-  eq_solref: jax.Array
-  eq_solimp: jax.Array
-  eq_data: jax.Array
-  tendon_adr: np.ndarray
-  tendon_num: np.ndarray
-  tendon_limited: np.ndarray
-  tendon_actfrclimited: np.ndarray
-  tendon_solref_lim: jax.Array
-  tendon_solimp_lim: jax.Array
-  tendon_solref_fri: jax.Array
-  tendon_solimp_fri: jax.Array
-  tendon_range: jax.Array
-  tendon_actfrcrange: jax.Array
-  tendon_margin: jax.Array
-  tendon_stiffness: jax.Array
-  tendon_stiffnesspoly: jax.Array
-  tendon_damping: jax.Array
-  tendon_dampingpoly: jax.Array
-  tendon_armature: jax.Array
-  tendon_frictionloss: jax.Array
-  tendon_lengthspring: jax.Array
-  tendon_length0: jax.Array
-  tendon_invweight0: jax.Array
-  wrap_type: np.ndarray
-  wrap_objid: np.ndarray
-  wrap_prm: np.ndarray
-  actuator_trntype: np.ndarray
-  actuator_dyntype: np.ndarray
-  actuator_gaintype: np.ndarray
-  actuator_biastype: np.ndarray
-  actuator_trnid: np.ndarray
-  actuator_actadr: np.ndarray
-  actuator_actnum: np.ndarray
-  actuator_group: np.ndarray
-  actuator_ctrllimited: np.ndarray
-  actuator_forcelimited: np.ndarray
-  actuator_actlimited: np.ndarray
-  actuator_dynprm: jax.Array
-  actuator_gainprm: jax.Array
-  actuator_biasprm: jax.Array
-  actuator_actearly: np.ndarray
-  actuator_ctrlrange: jax.Array
-  actuator_forcerange: jax.Array
-  actuator_actrange: jax.Array
-  actuator_gear: jax.Array
-  actuator_cranklength: jax.Array
-  actuator_acc0: jax.Array
-  actuator_lengthrange: jax.Array
-  sensor_type: np.ndarray
-  sensor_datatype: np.ndarray
-  sensor_needstage: np.ndarray
-  sensor_objtype: np.ndarray
-  sensor_objid: np.ndarray
-  sensor_reftype: np.ndarray
-  sensor_refid: np.ndarray
-  sensor_intprm: np.ndarray
-  sensor_dim: np.ndarray
-  sensor_adr: np.ndarray
-  sensor_cutoff: np.ndarray
-  numeric_adr: np.ndarray
-  numeric_data: np.ndarray
-  tuple_adr: np.ndarray
-  tuple_size: np.ndarray
-  tuple_objtype: np.ndarray
-  tuple_objid: np.ndarray
-  tuple_objprm: np.ndarray
-  key_time: np.ndarray
-  key_qpos: np.ndarray
-  key_qvel: np.ndarray
-  key_act: np.ndarray
-  key_mpos: np.ndarray
-  key_mquat: np.ndarray
-  key_ctrl: np.ndarray
-  name_bodyadr: np.ndarray
-  name_jntadr: np.ndarray
-  name_geomadr: np.ndarray
-  name_siteadr: np.ndarray
-  name_camadr: np.ndarray
-  name_flexadr: np.ndarray
-  name_meshadr: np.ndarray
-  name_hfieldadr: np.ndarray
-  name_pairadr: np.ndarray
-  name_eqadr: np.ndarray
-  name_tendonadr: np.ndarray
-  name_actuatoradr: np.ndarray
-  name_sensoradr: np.ndarray
-  name_numericadr: np.ndarray
-  name_tupleadr: np.ndarray
-  name_keyadr: np.ndarray
-  names: bytes
-  signature: np.uint64
-  _sizes: jax.Array
-  _impl: Union[ModelJAX, mjxw_types.ModelWarp]
-
-  @property
-  def impl(self) -> Impl:
-    return {
-        ModelCPP: Impl.CPP,
-        ModelJAX: Impl.JAX,
-        mjxw_types.ModelWarp: Impl.WARP,
-    }[type(self._impl)]
-
-  def __getattr__(self, name: str):
-    if name == 'value':
-      # Special case for NNX, the value attribute may not exist on the parent
-      # PyTreeNode, before it exists on the child PyTreeNode. Thanks NNX.
-      return object.__getattribute__(self, 'value')
-
-    try:
-      impl_instance = object.__getattribute__(self, '_impl')
-      val = getattr(impl_instance, name)
-      warnings.warn(
-          f'Accessing `{name}` directly from `Model` is deprecated. '
-          f'Access it via `model._impl.{name}` instead.',
-          DeprecationWarning,
-          stacklevel=2,
-      )
-    except AttributeError:
-      # raise the standard exception
-      raise AttributeError(  # pylint: disable=raise-missing-from
-          f"'{type(self).__name__}' object has no attribute '{name}'"
-      )
-    return val
-
-
-class Contact(PyTreeNode):
-  """Result of collision detection functions.
-
-  Attributes:
-    dist: distance between nearest points; neg: penetration
-    pos: position of contact point: midpoint between geoms            (3,)
-    frame: normal is in [0-2]                                         (9,)
-    includemargin: include if dist<includemargin=margin               (1,)
-    friction: tangent1, 2, spin, roll1, 2                             (5,)
-    solref: constraint solver reference, normal direction             (mjNREF,)
-    solreffriction: constraint solver reference, friction directions  (mjNREF,)
-    solimp: constraint solver impedance                               (mjNIMP,)
-    dim: contact space dimensionality: 1, 3, 4, or 6
-    geom1: id of geom 1; deprecated, use geom[0]
-    geom2: id of geom 2; deprecated, use geom[1]
-    geom: geom ids                                                    (2,)
-    efc_address: address in efc; -1: not included
-  """  # fmt: skip
-  dist: jax.Array
-  pos: jax.Array
-  frame: jax.Array
-  includemargin: jax.Array
-  friction: jax.Array
-  solref: jax.Array
-  solreffriction: jax.Array
-  solimp: jax.Array
-  # unsupported: mu, H (calculated locally in solver.py)
-  dim: np.ndarray
-  geom1: jax.Array
-  geom2: jax.Array
-  geom: jax.Array
-  # unsupported: flex, elem, vert, exclude
-  efc_address: np.ndarray
-
-
-class DataJAX(PyTreeNode):
-  """JAX-specific data."""
-
-  ne: int
-  nf: int
-  nl: int
-  nefc: int
-  ncon: int
-  solver_niter: jax.Array
-  cinert: jax.Array
-  ten_wrapadr: jax.Array
-  ten_wrapnum: jax.Array
-  ten_J: jax.Array  # pylint:disable=invalid-name
-  wrap_obj: jax.Array
-  wrap_xpos: jax.Array
-  actuator_moment: jax.Array
-  crb: jax.Array
-  M: jax.Array  # pylint:disable=invalid-name
-  qLD: jax.Array  # pylint:disable=invalid-name
-  qLDiagInv: jax.Array  # pylint:disable=invalid-name
-  ten_velocity: jax.Array
-  actuator_velocity: jax.Array
-
-  cacc: jax.Array
-  cfrc_int: jax.Array
-  cfrc_ext: jax.Array
-  subtree_linvel: jax.Array
-  subtree_angmom: jax.Array
-  # dynamically sized data which are made static due to JAX limitations
-  contact: Contact
-  efc_type: jax.Array
-  efc_J: jax.Array  # pylint:disable=invalid-name
-  efc_pos: jax.Array
-  efc_margin: jax.Array
-  efc_frictionloss: jax.Array
-  efc_D: jax.Array  # pylint:disable=invalid-name
-  efc_aref: jax.Array
-  efc_force: jax.Array
-
-
-class Data(PyTreeNode):
-  """Dynamic state that updates each step.
-
-  Attributes:
-    time: simulation time
-    qpos: position
-    qvel: velocity
-    act: actuator activation
-    history: actuator history buffer
-    qacc_warmstart: warm start for solver
-    plugin_state: plugin state values
-    ctrl: control input
-    qfrc_applied: applied generalized force
-    xfrc_applied: applied Cartesian force/torque
-    eq_active: enable/disable equality constraints
-    mocap_pos: positions of mocap bodies
-    mocap_quat: orientations of mocap bodies
-    qacc: acceleration
-    act_dot: time-derivative of actuator activation
-    userdata: user data
-    sensordata: sensor data output
-    xpos: Cartesian position of body frame
-    xquat: Cartesian orientation of body frame
-    xmat: rotation matrix of body frame
-    xipos: Cartesian position of body com
-    ximat: rotation matrix of body inertia
-    xanchor: Cartesian position of joint anchor
-    xaxis: Cartesian joint axis
-    ten_length: tendon lengths
-    geom_xpos: Cartesian position of geoms
-    geom_xmat: rotation matrix of geoms
-    site_xpos: Cartesian position of sites
-    site_xmat: rotation matrix of sites
-    cam_xpos: camera positions
-    cam_xmat: camera rotation matrices
-    subtree_com: com of each subtree
-    cvel: center of mass based velocity
-    cdof: center of mass based jacobian
-    cdof_dot: time-derivative of cdof
-    qfrc_bias: C(qpos,qvel)
-    qfrc_gravcomp: gravity compensation term
-    qfrc_fluid: fluid drag and buoyancy forces
-    qfrc_passive: passive force
-    qfrc_actuator: actuator force
-    actuator_force: actuator force in actuation space
-    actuator_length: actuator lengths
-    qfrc_smooth: smooth dynamics force
-    qacc_smooth: acceleration without constraints
-    qfrc_constraint: constraint force
-    qfrc_inverse: net external force for inverse dynamics
-  """
-
-  # global properties:
-  time: jax.Array
-  # state:
-  qpos: jax.Array
-  qvel: jax.Array
-  act: jax.Array
-  history: jax.Array
-  qacc_warmstart: jax.Array
-  plugin_state: jax.Array
-  # control:
-  ctrl: jax.Array
-  qfrc_applied: jax.Array
-  xfrc_applied: jax.Array
-  eq_active: jax.Array
-  # mocap data:
-  mocap_pos: jax.Array
-  mocap_quat: jax.Array
-  # dynamics:
-  qacc: jax.Array
-  act_dot: jax.Array
-  # user data:
-  userdata: jax.Array
-  sensordata: jax.Array
-  # position dependent:
-  xpos: jax.Array
-  xquat: jax.Array
-  xmat: jax.Array
-  xipos: jax.Array
-  ximat: jax.Array
-  xanchor: jax.Array
-  xaxis: jax.Array
-  ten_length: jax.Array
-  geom_xpos: jax.Array
-  geom_xmat: jax.Array
-  site_xpos: jax.Array
-  site_xmat: jax.Array
-  cam_xpos: jax.Array
-  cam_xmat: jax.Array
-  subtree_com: jax.Array
-  cvel: jax.Array
-  cdof: jax.Array
-  cdof_dot: jax.Array
-  qfrc_bias: jax.Array
-  qfrc_gravcomp: jax.Array
-  qfrc_fluid: jax.Array
-  qfrc_passive: jax.Array
-  qfrc_actuator: jax.Array
-  actuator_force: jax.Array
-  actuator_length: jax.Array
-  qfrc_smooth: jax.Array
-  qacc_smooth: jax.Array
-  qfrc_constraint: jax.Array
-  qfrc_inverse: jax.Array
-  _impl: Union[DataCPP, DataJAX, mjxw_types.DataWarp]
-
-  @property
-  def impl(self) -> Impl:
-    return {
-        DataCPP: Impl.CPP,
-        DataJAX: Impl.JAX,
-        mjxw_types.DataWarp: Impl.WARP,
-    }[type(self._impl)]
-
-  def __getattr__(self, name: str):
-    try:
-      impl_instance = object.__getattribute__(self, '_impl')
-      val = getattr(impl_instance, name)
-      warnings.warn(
-          f'Accessing `{name}` directly from `Data` is deprecated. '
-          f'Access it via `data._impl.{name}` instead.',
-          DeprecationWarning,
-          stacklevel=2,
-      )
-    except AttributeError:
-      # raise the standard exception
-      raise AttributeError(  # pylint: disable=raise-missing-from
-          f"'{type(self).__name__}' object has no attribute '{name}'"
-      )
-    return val
-
-  def __getitem__(self, key):
-    if self.impl == Impl.WARP:
-      return jax.tree.map_with_path(
-          lambda path, x, k=key: x[k]
-          if tree_path_to_attr_str(path) not in mjxw_types.DATA_NON_VMAP
-          else x,
-          self,
-      )
-
-    return jax.tree.map(lambda x: x[key], self)
-
-  def where(self, done: jax.Array, other: 'Data') -> 'Data':
-    """Selectively merge self and other based on done.
-
-    Args:
-      done: Boolean array (or scalar inside vmap) indicating reset status.
-      other: Data object to select when done is True.
-
-    Returns:
-      Merged Data object.
-    """
-    if self.impl != Impl.JAX and self.impl != Impl.WARP:
-      raise NotImplementedError(
-          'where is only supported for JAX and WARP implementations.'
-      )
-
-    if self.impl == Impl.JAX:
-      return jax.tree.map(
-          lambda x, y: jax.numpy.where(done, x, y), other, self
-      )
-
-    # Warp impl:
-    def merge_leaf(path, r_val, s_val):
-      field_name = tree_path_to_attr_str(path)
-      is_batched = mjxw_types._BATCH_DIM['Data'].get(field_name, True)
-
-      if is_batched:
-        return jax.numpy.where(done, r_val, s_val)
-      else:
-        return s_val
-
-    return jax.tree_util.tree_map_with_path(merge_leaf, other, self)
-
-
-def tree_path_to_attr_str(path: jax.tree_util.KeyPath) -> str:
-  """Converts a tree path to a dataclass attribute string."""
-  if not isinstance(path, tuple):
-    raise NotImplementedError(
-        f'Parsing for jax tree path {path} not implemented.'
-    )
-
-  if any(isinstance(p, jax.tree_util.SequenceKey) for p in path):
-    # get the path up to the first sequence key, we assume variadic sequences
-    is_seq_key = [isinstance(p, jax.tree_util.SequenceKey) for p in path]
-    path = path[: is_seq_key.index(True)]
-
-  assert all(isinstance(p, jax.tree_util.GetAttrKey) for p in path)
-  path = [p for p in path if p.name != '_impl']  # pyrefly: ignore[bad-assignment]
-  return '__'.join(p.name for p in path)
-
diff --git a/mjx/mujoco/mjx/codegen/README.md b/mjx/mujoco/mjx/codegen/README.md
deleted file mode 100644
index b5bb5414..00000000
--- a/mjx/mujoco/mjx/codegen/README.md
+++ /dev/null
@@ -1,22 +0,0 @@
-# MJX Warp 代码生成（Codegen）
-
-通过读取 `mujoco/mjx/third_party/mujoco_warp/` 中内嵌的 `mujoco_warp` 源码，在 `mujoco/mjx/warp/` 下生成 MJX-Warp 垫片适配层（shim layer）。
-
-## 环境配置
-
-在根目录 `mjx/` 下，安装 [`uv`](https://docs.astral.sh/uv/getting-started/installation/) 之后，安装最新的 MuJoCo 和本地 MJX：
-
-```bash
-uv venv .venv --default-index https://pypi.org/simple
-source .venv/bin/activate
-uv pip install --upgrade --force-reinstall mujoco --default-index https://pypi.org/simple --extra-index-url https://py.mujoco.org/
-uv pip install -e ".[warp,dev]" --default-index https://pypi.org/simple
-```
-
-## 运行代码生成
-
-在根目录 `mjx/` 下执行：
-
-```bash
-bash mujoco/mjx/codegen/update_for_mujoco_warp.sh
-```
diff --git a/mjx/mujoco/mjx/codegen/__init__.py b/mjx/mujoco/mjx/codegen/__init__.py
deleted file mode 100644
index 100b5347..00000000
--- a/mjx/mujoco/mjx/codegen/__init__.py
+++ /dev/null
@@ -1,14 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
diff --git a/mjx/mujoco/mjx/codegen/file.py b/mjx/mujoco/mjx/codegen/file.py
deleted file mode 100644
index 06d6e6d1..00000000
--- a/mjx/mujoco/mjx/codegen/file.py
+++ /dev/null
@@ -1,98 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""File tools."""
-
-import ast
-import os
-import subprocess
-from typing import Dict
-from absl import logging
-from etils import epath
-
-LICENSE_TEXT = """
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""
-
-
-def get_base_path() -> epath.Path:
-  """Resolves the base workspace path."""
-  base_path = os.environ.get('BUILD_WORKSPACE_DIRECTORY')
-  if base_path:
-    return epath.Path(base_path)
-  # Assume this file is at <root>/mujoco/mjx/codegen/file.py.
-  root = epath.Path(os.path.abspath(__file__)).parents[3]
-  if not (root / 'mujoco' / 'mjx' / 'codegen').is_dir():
-    raise RuntimeError(
-        f'Unexpected codegen layout, resolved root: {root}'
-    )
-  return root
-
-
-def format_file(target_fpath: epath.Path):
-  """Formats a Python file."""
-  logging.info('Running pyink on: %s', target_fpath)
-  subprocess.run(
-      ['pyink', str(target_fpath)],
-      check=True,
-      text=True,
-      capture_output=True,
-  )
-  logging.info('Running isort on: %s', target_fpath)
-  subprocess.run(
-      ['isort', str(target_fpath)],
-      check=True,
-      text=True,
-      capture_output=True,
-  )
-
-
-def write_license(target_fpath: epath.Path):
-  """Writes license to the target file."""
-  src = target_fpath.read_text()
-  target_fpath.write_text(LICENSE_TEXT + src)
-
-
-def get_cls_type_annotations(src: str) -> Dict[str, Dict[str, str]]:
-  """Return classes with their field annotation strings from source code."""
-  ret = {}
-  tree = ast.parse(src)
-
-  class Visitor(ast.NodeVisitor):
-
-    def visit_ClassDef(self, node: ast.ClassDef):  # pylint: disable=invalid-name
-      class_name = node.name
-      ret[class_name] = {}
-      for item in node.body:
-        if not isinstance(item, ast.AnnAssign):
-          continue
-        field_name = item.target.id  # pytype: disable=attribute-error
-        annotation_str = ast.unparse(item.annotation).strip()
-        ret[class_name][field_name] = annotation_str
-
-  Visitor().visit(tree)
-  return ret
diff --git a/mjx/mujoco/mjx/codegen/generate_warp_shim.py b/mjx/mujoco/mjx/codegen/generate_warp_shim.py
deleted file mode 100644
index f3158a80..00000000
--- a/mjx/mujoco/mjx/codegen/generate_warp_shim.py
+++ /dev/null
@@ -1,563 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Creates a shim between JAX and Warp for a given function."""
-
-import enum
-import inspect
-import re
-from typing import Dict, List, Sequence
-
-from absl import app
-from absl import flags
-from absl import logging
-from etils import epath
-from mujoco.mjx._src import types as mjx_types
-from mujoco.mjx.codegen import file
-from mujoco.mjx.codegen import trace
-from mujoco.mjx.warp import types as mjxw_types
-import jax
-from mujoco.mjx.third_party import mujoco_warp  # pylint: disable=unused-import
-
-
-_MJWARP_FUNCTION = flags.DEFINE_string(
-    'mjwarp_function',
-    'third_party/py/mujoco_warp/_src/smooth.py:kinematics',
-    'Function to create the shim for.',
-)
-_MJWARP_TYPES = flags.DEFINE_string(
-    'mjwarp_types',
-    'third_party/py/mujoco_warp/_src/types.py',
-    'Path to the mjwarp types file.',
-)
-_MJX_WARP_OUTPUT_PATH = flags.DEFINE_string(
-    'mjx_warp_output_path',
-    'third_party/py/mujoco/mjx/warp',
-    'Path to the output file.',
-)
-_ONLY_PUBLIC_OUTPUT_FIELDS = flags.DEFINE_bool(
-    'only_public_output_fields',
-    False,
-    'Whether to keep only public fields in the output.',
-)
-_APPEND_TO_OUTPUT_FILE = flags.DEFINE_bool(
-    'append_to_output_file',
-    False,
-    'Whether to append to the output file.',
-)
-
-_RENDER_CONTEXT_BUFFER_NAME = '_MJX_RENDER_CONTEXT_BUFFERS'
-
-
-def _clean_type(type_: str):
-  # check for enums
-  if type_ in [
-      name
-      for name, obj in inspect.getmembers(mujoco_warp, inspect.isclass)
-      if issubclass(obj, (enum.IntEnum, enum.IntFlag))
-  ]:
-    return 'int'
-
-  types_to_prefix = (
-      'vec5',
-      'vec8',
-      'vec8i',
-      'vec10',
-      'vec10f',
-      'vec11',
-      'TileSet',
-      'BlockDim',
-      'vec_pluginattr',
-  )
-  # Match and convert custom mujoco_warp array annotations (e.g. within tuple[...]).
-  def _tuple_array(m):
-    args = [a.strip() for a in m.group(1).split(',')]
-    ndim, dtype = len(args) - 1, args[-1]
-    dims = {1: '', 2: '2d', 3: '3d', 4: '4d'}
-    if ndim not in dims:
-      raise ValueError(f'Unsupported array ndim: {ndim} for type: {dtype}')
-    return f'wp.array{dims[ndim]}[{dtype}]'
-
-  type_ = re.sub(r'array\((.*?)\)', _tuple_array, type_)
-
-  for t in types_to_prefix:
-    type_ = re.sub(rf'\b{t}\b', f'mjwp_types.{t}', type_)
-  return type_
-
-
-def _get_stage_fields(
-    field_usage: trace.FieldUsage,
-) -> tuple[list[str], list[str]]:
-  """Returns stage_in and stage_out fields after tracing.
-
-  stage_in:
-    * Model/ModelWarp jax.Array input fields
-    * Data jax.Array input fields
-    * Option/OptionWarp jax.Array input fields
-
-  stage_out:
-    * Data jax.Array output fields
-
-  Args:
-    field_usage: FieldUsage object
-
-  Returns:
-    A tuple of (stage_in, stage_out) field name lists.
-  """
-  stage_in = []
-  stage_out = []
-
-  def is_jax_array(cls, field):
-    if cls is None:
-      return False
-    return cls.__annotations__.get(field) is jax.Array
-
-  ModelWarp = getattr(mjxw_types, 'ModelWarp', None)
-  OptionWarp = getattr(mjxw_types, 'OptionWarp', None)
-  DataWarp = getattr(mjxw_types, 'DataWarp', None)
-
-  # stage_in: Model/ModelWarp jax.Array input fields
-  for field in field_usage.model_fields:
-    if is_jax_array(mjx_types.Model, field) or is_jax_array(ModelWarp, field):
-      stage_in.append(field)
-    # stage_in: Option/OptionWarp jax.Array input fields
-    elif field.startswith('opt__'):
-      sub_field = field.split('opt__')[-1]
-      if is_jax_array(mjx_types.Option, sub_field) or is_jax_array(OptionWarp, sub_field):
-        stage_in.append(field)
-
-  # stage_in: Data/DataWarp jax.Array input fields
-  for field in field_usage.data_fields:
-    if is_jax_array(mjx_types.Data, field) or is_jax_array(DataWarp, field):
-      stage_in.append(field)
-
-  # stage_out: Data/DataWarp jax.Array output fields
-  for field in field_usage.data_out_fields:
-    if is_jax_array(mjx_types.Data, field) or is_jax_array(DataWarp, field):
-      stage_out.append(field)
-
-  return sorted(stage_in), sorted(stage_out)
-
-
-def _top_level_imports(field_usage: trace.FieldUsage):
-  """Returns top-level imports."""
-  imports = '''
-"""DO NOT EDIT. This file is auto-generated."""
-import dataclasses
-import functools
-from mujoco.mjx._src import types
-from mujoco.mjx.warp import ffi
-import mujoco.mjx.third_party.mujoco_warp as mjwarp
-import warp as wp
-import jax
-from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
-'''
-
-  if field_usage.render_context_in_caller:
-    imports += (
-        """
-from mujoco.mjx.warp.render_context import """
-        + _RENDER_CONTEXT_BUFFER_NAME
-        + """
-from mujoco.mjx.warp.render_context import RenderContextPytree
-"""
-    )
-
-  return imports
-
-
-def _global_assignments():
-  """Returns global assignments."""
-  assignments = ''
-  for attr, cls in (
-      ('_m', 'mjwarp.Model'),
-      ('_d', 'mjwarp.Data'),
-      ('_o', 'mjwarp.Option'),
-      ('_s', 'mjwarp.Statistic'),
-      ('_c', 'mjwarp.Contact'),
-      ('_e', 'mjwarp.Constraint'),
-      ('_cb', 'mjwp_types.Callback'),
-  ):
-    assignments += (
-        f'{attr} = {cls}(**{{f.name: None for f in dataclasses.fields({cls}) if'
-        ' f.init})\n'
-    )
-  return assignments
-
-
-def _warp_function(
-    fn_name: str,
-    field_usage: trace.FieldUsage,
-    mjwarp_field_info: Dict[str, trace.FieldInfo],
-    mjx_warp_field_info: Dict[str, trace.FieldInfo],
-):
-  """Returns warp function arguments, assignments, and call."""
-  # create warp function.
-  fn_args_model, fn_assignments = [('nworld: int,', (-1, ''))], []
-  if field_usage.model_fields:
-    for f in field_usage.model_fields:
-      if f not in mjwarp_field_info:
-        raise AssertionError(f'Field {f} not found in mjwarp_field_info.')
-      info = mjwarp_field_info[f]
-      expected_type = _clean_type(info.expected_type)
-      fn_args_model.append((f'{f}: {expected_type},', info.param_order))
-      fn_assignments.append(f"  _m.{f.replace('__', '.')} = {f}")
-    fn_args_model = sorted(fn_args_model, key=lambda x: x[1])
-    fn_args_model = ['# Model'] + [f[0] for f in fn_args_model]
-
-  fn_args_data = []
-  if field_usage.data_fields:
-    for f in field_usage.data_fields:
-      if f not in mjwarp_field_info:
-        raise AssertionError(f'Field {f} not found in mjwarp_field_info.')
-      if f == 'nworld':
-        continue  # this gets set manually below
-      j = trace.FieldInfo(f, 'jax.Array', (0, ''))
-      is_jax_arr = mjx_warp_field_info.get(f, j).expected_type == 'jax.Array'
-      is_out = is_jax_arr
-      info = mjwarp_field_info[f]
-      param_order = info.param_order
-      expected_type = _clean_type(info.expected_type)
-      fn_args_data.append((f'{f}: {expected_type},', (is_out, param_order)))
-      fn_assignments.append(f"  _d.{f.replace('__', '.')} = {f}")
-    fn_args_data = sorted(fn_args_data, key=lambda x: x[1])
-    fn_args_data = ['# Data'] + [f[0] for f in fn_args_data]
-
-  fn_assignments.append('  _d.nworld = nworld')
-
-  render_context_args = []
-  render_context_call_arg = ''
-  if field_usage.render_context_in_caller:
-    render_context_args = ['# Registry', 'rc_id: int,']
-    render_context_call_arg = ', render_context'
-    fn_assignments.append(
-        f'  render_context = {_RENDER_CONTEXT_BUFFER_NAME}[(rc_id, wp.get_device().ordinal)]'
-    )
-
-    if fn_name == 'render':
-      render_context_args.append('rgb: wp.array2d[wp.uint32],')
-      render_context_args.append('depth: wp.array2d[wp.float32],')
-      render_context_args.append('seg: wp.array2d[wp.vec2i],')
-      render_context_args.append('output_token: wp.array[int],')
-      fn_assignments.append('  render_context.rgb_data = rgb')
-      fn_assignments.append('  render_context.depth_data = depth')
-      fn_assignments.append('  render_context.seg_data = seg')
-      fn_assignments.append('  output_token.zero_()')
-    else:
-      fn_assignments.append('  output_token.zero_()')
-
-  token_args = []
-  if field_usage.render_context_in_caller:
-    token_args.append('_jax_token: wp.array[int],')  # pyrefly: ignore[bad-argument-type]
-
-  fn_call = f'mjwarp.{fn_name}(_m, _d{render_context_call_arg})'
-  fn_args_raw = fn_args_model + fn_args_data + token_args + render_context_args
-
-  # create an output token if there are no output fields
-  needs_output_token = not field_usage.data_out_fields
-  if needs_output_token and fn_name != 'render':
-    fn_args_raw.append('# Output token')  # pyrefly: ignore[bad-argument-type]
-    fn_args_raw.append('output_token: wp.array[int],')  # pyrefly: ignore[bad-argument-type]
-
-  return fn_args_raw, fn_assignments, fn_call
-
-
-def _jax_shim_fn(
-    fn_name: str,
-    field_usage: trace.FieldUsage,
-    warp_fn_args: List[str],
-    mjwarp_field_info: Dict[str, trace.FieldInfo],
-):
-  """Generates a JAX shim for the Warp function."""
-  num_outputs = 0
-  output_dims = []
-  jax_args = []
-  tree_replace = []
-  in_out_argnames = []
-  has_side_effect = False
-  stage_in_fields, stage_out_fields = _get_stage_fields(field_usage)
-  stage_in_argnames = [f"'{f}'" for f in stage_in_fields]
-  stage_out_argnames = [f"'{f}'" for f in stage_out_fields]
-
-  for arg in warp_fn_args:
-    if 'nworld' in arg:
-      if field_usage.render_context_in_caller:
-        jax_args.append('render_ctx.nworld')
-      else:
-        jax_args.append('d.qpos.shape[0]')
-      continue
-
-    if arg in ('rc_id', 'output_token', '_jax_token'):
-      continue
-
-    if arg in ('rgb', 'depth', 'seg') and fn_name == 'render':
-      num_outputs += 1
-      continue
-
-    arg_jax = arg
-    if mjwarp_field_info[arg].param_source == 'Data':
-      if arg.split('__')[0] not in mjx_types.Data.__annotations__:
-        arg_jax = f'_impl.{arg}'
-      arg_jax = 'd.' + arg_jax
-    elif mjwarp_field_info[arg].param_source == 'Model':
-      arg_jax = (
-          arg.replace('__', '.')
-          if arg.startswith('opt') or arg.startswith('stat')
-          else arg
-      )
-      public_field = arg.split('__')[0] in mjx_types.Model.__annotations__
-      if not public_field:
-        arg_jax = f'_impl.{arg_jax}'
-      if (
-          arg.startswith('opt')
-          and arg.split('__')[-1] not in mjx_types.Option.__annotations__
-      ):
-        arg_jax = arg_jax.replace('opt', 'opt._impl')
-      arg_jax = 'm.' + arg_jax
-    else:
-      raise ValueError(
-          f'Unknown param source: {mjwarp_field_info[arg].param_source}'
-      )
-
-    # Only treat as output if it is a Warp array (excludes scalars like
-    # naconmax).
-    if (
-        arg in field_usage.data_out_fields
-        and 'array' in mjwarp_field_info[arg].expected_type
-    ):
-      # all out fields are in_out, since JAX already allocated them
-      in_out_argnames.append(f"'{arg}'")
-      num_outputs += 1
-      output_dims.append(f"'{arg}': {arg_jax}.shape")
-
-      if '_impl' not in arg_jax or not _ONLY_PUBLIC_OUTPUT_FIELDS.value:
-        tree_replace.append(f'"{arg_jax[2:]}": out[{num_outputs - 1}]')
-
-    if arg == 'geom_dataid':
-      jax_args.append(f'jax.numpy.expand_dims({arg_jax}, 0)')
-    else:
-      jax_args.append(arg_jax)
-
-  if field_usage.render_context_in_caller:
-    jax_args.append('d._impl._jax_token')
-    jax_args.append('ctx.key')
-
-  # If there are no Warp array outputs, we need an output token for JAX FFI.
-  needs_output_token = not any(
-      'array' in mjwarp_field_info[f].expected_type
-      for f in field_usage.data_out_fields
-  )
-  if needs_output_token and fn_name != 'render':
-    num_outputs = 1
-    output_dims = ["'output_token': (d.qpos.shape[0],)"]
-    if field_usage.render_context_in_caller:
-      tree_replace = ['"_impl._jax_token": out[0]']
-    has_side_effect = True
-
-  if fn_name == 'render':
-    num_outputs = 4
-    output_dims = [
-        "'rgb': render_ctx.rgb_data_shape",
-        "'depth': render_ctx.depth_data_shape",
-        "'seg': render_ctx.seg_data_shape",
-        "'output_token': (d.qpos.shape[0],)",
-    ]
-    tree_replace = []
-    has_side_effect = True
-
-  render_ctx_param = (
-      'ctx: RenderContextPytree' if field_usage.render_context_in_caller else ''
-  )
-  fn_args = ['m: types.Model', 'd: types.Data']
-
-  if render_ctx_param:
-    fn_args.append(render_ctx_param)
-
-  return (
-      fn_args,
-      jax_args,
-      output_dims,
-      num_outputs,
-      tree_replace,
-      in_out_argnames,
-      stage_in_argnames,
-      stage_out_argnames,
-      has_side_effect,
-  )
-
-
-def create_jax_warp_shim(
-    fn_name: str,
-    field_usage: trace.FieldUsage,
-    mjwarp_field_info: Dict[str, trace.FieldInfo],
-    mjx_warp_field_info: Dict[str, trace.FieldInfo],
-    out_fpath: epath.Path,
-):
-  """Creates a JAX-wrapped MJWarp function."""
-  src = ''
-  old_src = (
-      out_fpath.read_text()
-      if out_fpath.exists()
-      else ''
-      if out_fpath.exists()
-      else ''
-  )
-
-  # create top-level imports.
-  if not _APPEND_TO_OUTPUT_FILE.value:
-    src += _top_level_imports(field_usage) + '\n\n'
-
-  # create global assignments.
-  assignments = _global_assignments()
-  already_in_src = re.sub(r'\s+', '', assignments) in re.sub(
-      r'\s+', '', old_src
-  )
-  if not already_in_src or not _APPEND_TO_OUTPUT_FILE.value:
-    src += assignments
-
-  # create warp function.
-  fn_args_raw, fn_assignments, fn_call = _warp_function(
-      fn_name, field_usage, mjwarp_field_info, mjx_warp_field_info
-  )
-  fn_args_raw_str = '\n'.join(['    ' + arg for arg in fn_args_raw])
-  warp_fn_args = [arg.split(':')[0] for arg in fn_args_raw if '#' not in arg]  # pytype: disable=attribute-error
-
-  fn_assignments_str = '\n'.join(fn_assignments)
-  src += f"""
-@ffi.format_args_for_warp
-def _{fn_name}_shim(
-{fn_args_raw_str}
-):
-  _m.stat = _s
-  _m.opt = _o
-  _m.callback = _cb
-  _d.efc = _e
-  _d.contact = _c
-{fn_assignments_str}
-  {fn_call}
-  """
-  src += '\n\n'
-
-  # create private jax function.
-  (
-      fn_args,
-      jax_args,
-      output_dims,
-      num_outputs,
-      tree_replace,
-      in_out_argnames,
-      stage_in_argnames,
-      stage_out_argnames,
-      has_side_effect,
-  ) = _jax_shim_fn(fn_name, field_usage, warp_fn_args, mjwarp_field_info)
-  render_ctx_line = ''
-  return_stmt = 'return d'
-  if field_usage.render_context_in_caller:
-    render_ctx_line = f'  render_ctx = _MJX_RENDER_CONTEXT_BUFFERS[(ctx.key, None)]\n'
-  if fn_name == 'render':
-    return_stmt = 'return out'
-  output_dims_str = '{' + ','.join(output_dims) + '}'
-  data_tree_replace = f"d = d.tree_replace({{ {','.join(tree_replace)} }})"
-  src += f"""
-def _{fn_name}_jax_impl({','.join(fn_args)}):
-{render_ctx_line}  output_dims = {output_dims_str}
-  jf = ffi.jax_callable_variadic_tuple(
-      _{fn_name}_shim, num_outputs={num_outputs},
-      output_dims=output_dims,
-      vmap_method=None,
-      in_out_argnames=set([{','.join(in_out_argnames)}]),
-      stage_in_argnames=set([{','.join(stage_in_argnames)}]),
-      stage_out_argnames=set([{','.join(stage_out_argnames)}]),
-      graph_mode=m.opt._impl.graph_mode,
-      has_side_effect={has_side_effect},
-  )
-  out = jf({','.join(jax_args)})
-  {data_tree_replace}
-  {return_stmt}
-"""
-  src += '\n'
-
-  # create public jax functions.
-  fn_args_no_annotation = [arg.split(':')[0] for arg in fn_args]
-  fn_call_str = ','.join(fn_args_no_annotation)
-
-  marshal_decorator = '@ffi.marshal_jax_warp_callable'
-  marshal_vmap_decorator = '@ffi.marshal_custom_vmap'
-  vmap_return_stmt = f'd = {fn_name}({fn_call_str})\n  return d, is_batched[1]'
-  if fn_name == 'render':
-    marshal_decorator = (
-        '@functools.partial('
-        'ffi.marshal_jax_warp_callable, tree_map_output=True)'
-    )
-    marshal_vmap_decorator = (
-        '@functools.partial(ffi.marshal_custom_vmap, tree_map_output=True)'
-    )
-    vmap_return_stmt = (
-        f'out = {fn_name}({fn_call_str})\n  return out, [True, True, True,'
-        ' is_batched[1]._impl._jax_token]'
-    )
-
-  src += f"""
-@jax.custom_batching.custom_vmap
-{marshal_decorator}
-def {fn_name}({','.join(fn_args)}):
-  return _{fn_name}_jax_impl({','.join(fn_args_no_annotation)})
-@{fn_name}.def_vmap
-{marshal_vmap_decorator}
-def {fn_name}_vmap(unused_axis_size, is_batched, {','.join(fn_args)}):
-  {vmap_return_stmt}
-"""
-  src += '\n'
-
-  if _APPEND_TO_OUTPUT_FILE.value:
-    src = old_src + '\n\n' + src
-
-  out_fpath.write_text(src)
-
-
-def main(argv: Sequence[str]) -> None:
-  del argv
-  logging.set_verbosity(logging.DEBUG)
-
-  # Get mjwarp field annotations.
-  fpath = epath.Path(_MJWARP_TYPES.value)
-  mjwarp_field_info = trace.get_mjwarp_field_info(
-      fpath.read_text(), file.get_cls_type_annotations
-  )
-
-  # Trace function to get field usage.
-  fpath, fn_name = _MJWARP_FUNCTION.value.split(':')
-  field_usage = trace.trace_function(fpath, fn_name, mjwarp_field_info)
-
-  base_path = file.get_base_path()
-  types_fpath = base_path / _MJX_WARP_OUTPUT_PATH.value / 'types.py'
-  mjx_warp_field_info = trace.get_mjx_warp_field_info(
-      types_fpath.read_text(), file.get_cls_type_annotations
-  )
-
-  base_path = file.get_base_path()
-  target_fpath = (
-      base_path / _MJX_WARP_OUTPUT_PATH.value / epath.Path(fpath).name
-  )
-  create_jax_warp_shim(
-      fn_name, field_usage, mjwarp_field_info, mjx_warp_field_info, target_fpath
-  )
-
-  if not _APPEND_TO_OUTPUT_FILE.value:
-    file.write_license(target_fpath)
-  file.format_file(target_fpath)
-
-
-if __name__ == '__main__':
-  app.run(main)
diff --git a/mjx/mujoco/mjx/codegen/generate_warp_types.py b/mjx/mujoco/mjx/codegen/generate_warp_types.py
deleted file mode 100644
index 09eaf088..00000000
--- a/mjx/mujoco/mjx/codegen/generate_warp_types.py
+++ /dev/null
@@ -1,593 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generate types for MJX warp integration."""
-
-import ast
-import dataclasses
-import enum
-import logging
-import typing
-from typing import Any, Dict, List, Optional, Set
-
-from absl import app
-from absl import flags
-from etils import epath
-from mujoco.mjx.codegen import file
-import mujoco.mjx.third_party.mujoco_warp as mjwarp
-import numpy as np
-import warp as wp
-from warp import JaxCallableGraphMode as GraphMode
-from warp._src.jax.ffi import FfiArg
-
-_MJX_WARP_TYPES_OUT_FPATH = flags.DEFINE_string(
-    'mjx_warp_types_out_path',
-    'third_party/py/mujoco/mjx/warp/types.py',
-    'Path to write the mjWarp types into.',
-)
-
-_MJX_TYPES_PATH = flags.DEFINE_string(
-    'mjx_types_path',
-    'third_party/py/mujoco/mjx/_src/types.py',
-    'Path to read the MJX types from.',
-)
-
-_DATA_SHAPE_PROPERTY_FIELD = 'cacc'
-
-_CLS_MAP = {
-    'Model': mjwarp.Model,
-    'Data': mjwarp.Data,
-    'Option': mjwarp.Option,
-    'Statistic': mjwarp.Statistic,
-}
-
-
-def _is_array_spec(typ) -> bool:
-  """Check if a type annotation is a Warp array spec."""
-  return isinstance(typ, wp.array) or type(typ).__name__ == '_ArrayAnnotation'
-
-
-def _is_batched_field(field_type) -> Optional[bool]:
-  """Returns whether a field annotation is batched.
-
-  Mirrors mujoco_warp._src.io._mark_batched: inspects spec_shape[0].
-
-  Returns True if batched, False if array but not batched, None if not array.
-  """
-  if not _is_array_spec(field_type):
-    return None
-  spec_shape = getattr(field_type, 'shape', ())
-  if not spec_shape:
-    return False
-  return spec_shape[0] in ('*', 'nworld')
-
-
-def _to_py_string(value, indent=0):
-  """Converts a dictionary/set/tuple/type to a Python code string."""
-  indent_str = '  ' * indent
-  next_indent_str = '  ' * (indent + 1)
-  if isinstance(value, tuple):
-    items = [_to_py_string(item, indent) for item in value]
-    joined_items = ', '.join(items)
-    return f'({joined_items})'
-
-  if isinstance(value, type):
-    if value.__module__ == 'builtins':
-      return value.__name__
-    return f'{value.__module__}.{value.__name__}'
-
-  if isinstance(value, dict):
-    items = [
-        f'\n{next_indent_str}{repr(k)}: {_to_py_string(v, indent + 1)}'
-        for k, v in sorted(value.items(), key=lambda x: x[0])
-    ]
-    joined_items = ','.join(items)
-    return f'{{{joined_items}\n{indent_str}}}'
-
-  if isinstance(value, set):
-    items = sorted([_to_py_string(item, indent) for item in value])
-    items = [f'\n{next_indent_str}{item}' for item in items]
-    joined_items = ','.join(items)
-    return f'{{{joined_items}\n{indent_str}}}'
-
-  return repr(value)
-
-
-def _ast_parse_type(type_repr: str) -> ast.expr:
-  """Parses a string representation of a type into an AST node."""
-  try:
-    return ast.parse(type_repr, mode='eval').body
-  except SyntaxError as e:
-    raise ValueError(f'Failed to parse type repr "{type_repr}": {e}') from e
-
-
-def _get_target_annotation_node(
-    key: str,
-    target_annotations: Dict[str, Any],
-) -> ast.expr:
-  """Determines the AST node for the target type annotation for MJX."""
-  annotation = target_annotations.get(key)
-  if annotation == np.ndarray:
-    return _ast_parse_type('np.ndarray')
-
-  if _is_array_spec(annotation):
-    return _ast_parse_type('jax.Array')
-
-  if annotation in (int, float, bool):
-    return _ast_parse_type(annotation.__name__)
-
-  if annotation is GraphMode:
-    return _ast_parse_type('GraphMode')
-
-  if isinstance(annotation, type) and issubclass(annotation, enum.Enum):
-    return _ast_parse_type('int')
-
-  if dataclasses.is_dataclass(annotation):
-    return _ast_parse_type(annotation.__name__)  # pyrefly: ignore[missing-attribute]
-
-  is_tuple = typing.get_origin(annotation) == tuple
-  if is_tuple and typing.get_args(annotation)[1] != ...:
-    raise NotImplementedError(
-        'Only variadic tuples are supported. Got annotation type'
-        f' {annotation} for key {key}.'
-    )
-
-  if is_tuple and typing.get_args(annotation)[0] in (int, float, bool):
-    type_ = typing.get_args(annotation)[0].__name__
-    return _ast_parse_type(f'Tuple[{type_}, ...]')
-
-  if is_tuple and _is_array_spec(typing.get_args(annotation)[0]):
-    return _ast_parse_type('Tuple[np.ndarray, ...]')
-
-  if is_tuple and dataclasses.is_dataclass(typing.get_args(annotation)[0]):
-    cls_type = typing.get_args(annotation)[0].__name__
-    return _ast_parse_type(f'Tuple[{cls_type}, ...]')
-
-  raise NotImplementedError(
-      f'Unhandled annotation type {annotation} for key {key}.'
-  )
-
-
-def _get_annotations_recursive(
-    annotations: Dict[str, Any], prefix: str = ''
-) -> Dict[str, Any]:
-  """Recursively flattens type annotations, handling nested classes.
-
-  Args:
-      annotations: A dictionary of type annotations (field_name: type).
-      prefix: The prefix to add to each key, for nested classes.
-
-  Returns:
-      A dictionary of flattened annotations (e.g., 'contact__dist').
-  """
-  flattened = {}
-  for key, annotation in annotations.items():
-    full_key = f'{prefix}{key}'
-    if hasattr(
-        annotation, '__annotations__'
-    ) and 'mujoco_warp' in annotation.__module__:
-      nested = _get_annotations_recursive(
-          dict(annotation.__annotations__), prefix=f'{full_key}__'
-      )
-      flattened.update(nested)
-    else:
-      flattened[full_key] = annotation  # Leaf node.
-
-  return flattened
-
-
-def _build_new_class_body_ast(
-    keys: typing.Iterable[str],
-    cls_name: str,
-    target_annotations: Dict[str, Any],
-    defaults: Optional[Dict[str, Any]] = None,
-    shape_property: Optional[str] = None,
-    add_docstring: bool = True,
-    sort_keys: bool = True,
-) -> List[ast.AST]:
-  """Builds the list of AST nodes for the new class body."""
-  new_body_nodes: List[ast.AST] = []
-
-  if add_docstring:
-    docstring = f'Derived fields from {cls_name}.'
-    new_body_nodes.append(ast.Expr(value=ast.Constant(value=docstring)))
-
-  if sort_keys:
-    non_default_keys = sorted(
-        [k for k in keys if not defaults or k not in defaults]
-    )
-    default_keys = sorted([k for k in keys if defaults and k in defaults])
-    maybe_sorted_keys = non_default_keys + default_keys
-  else:
-    maybe_sorted_keys = list(keys)
-
-  for key in maybe_sorted_keys:
-    annotation_node = _get_target_annotation_node(key, target_annotations)
-
-    value_node = None
-    if defaults and key in defaults:
-      val = defaults[key]
-      value_node = val if isinstance(val, ast.AST) else ast.Constant(value=val)
-
-    if (
-        value_node
-        and isinstance(value_node, ast.Constant)
-        and value_node.value is None
-    ):
-      annotation_node = _ast_parse_type(
-          f'typing.Optional[{ast.unparse(annotation_node)}]'
-      )
-
-    new_body_nodes.append(
-        ast.AnnAssign(  # pyrefly: ignore[no-matching-overload]
-            target=ast.Name(id=key, ctx=ast.Store()),
-            annotation=annotation_node,
-            value=value_node,
-            simple=1,
-        )
-    )
-
-  if shape_property is not None:
-    property_string = (
-        f'shape = property(lambda self: self.{shape_property}.shape)'
-    )
-    shape_property_node = ast.parse(property_string).body[0]
-    new_body_nodes.append(shape_property_node)
-
-  return new_body_nodes
-
-
-def _write_class_in_file(
-    target_fpath: epath.Path,
-    target_cls_name: str,
-    target_base_name: str,
-    new_body_ast: List[ast.AST],
-) -> None:
-  """Reads target file, writes the specified class, and saves."""
-  target_code = target_fpath.read_text()
-  target_tree = ast.parse(target_code)
-
-  if target_cls_name in target_code:
-    raise ValueError(
-        f'Class {target_cls_name} already exists in file: {target_fpath}'
-    )
-
-  new_class_def = ast.ClassDef(
-      name=target_cls_name,
-      bases=[ast.Name(id=target_base_name, ctx=ast.Load())],
-      body=new_body_ast,  # pytype: disable=wrong-arg-types
-      decorator_list=[],
-      keywords=[],
-      type_params=[],
-  )
-  target_tree.body.append(new_class_def)
-
-  ast.fix_missing_locations(target_tree)
-  modified_code = ast.unparse(target_tree)
-
-  logging.info('Writing modified code back to: %s', target_fpath)
-  with target_fpath.open('w') as f:
-    f.write(modified_code)
-
-  logging.info('File successfully rewritten.')
-
-
-def write_header(target_fpath: epath.Path):
-  """Writes imports and pre-defined class definitions to types.py."""
-  header = '''
-"""MJX Warp types.
-DO NOT EDIT. This file is auto-generated.
-"""
-import dataclasses
-import typing
-from typing import Tuple
-import jax
-from jax import tree_util
-from jax.interpreters import batching
-from mujoco.mjx._src import dataclasses as mjx_dataclasses
-import numpy as np
-
-if typing.TYPE_CHECKING:
-  GraphMode = int  # Type alias for pytype.
-  @dataclasses.dataclass
-  class Callback:
-    pass
-else:
-  try:
-    from mujoco.mjx.third_party.warp._src.jax import ffi as warp_ffi
-    GraphMode = warp_ffi.JaxCallableGraphMode
-    from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
-    Callback = mjwp_types.Callback
-  except ImportError:
-    GraphMode = int  # Fallback when warp not installed.
-    Callback = None
-
-PyTreeNode = mjx_dataclasses.PyTreeNode
-'''
-  target_fpath.write_text(header)
-
-
-_FLATTEN_UNFLATTEN = """
-  # flatten/unflatten all fields for custom jax_callable, but prevent the parent
-  # PyTreeNode from putting these fields on device.
-  def tree_flatten(self):
-    children = list(getattr(self, k) for k in self.__dataclass_fields__)
-    return (children, None)
-  @classmethod
-  def tree_unflatten(cls, aux_data, children):
-    del aux_data
-    return cls(*children)
-"""
-
-_NESTED_DATACLASS_MANUAL_METHODS = {
-    'TileSet': """
-  def __eq__(self, other) -> bool:
-    if self.__class__ is not other.__class__:
-      return NotImplemented
-    return self.size == other.size and np.array_equal(
-        np.asarray(self.adr), np.asarray(other.adr)
-    )
-
-  def __hash__(self) -> int:
-    adr = np.asarray(self.adr)
-    return hash((self.size, adr.dtype.str, adr.shape, adr.tobytes()))
-""",
-}
-
-
-def write_nested_dataclass(target_fpath: epath.Path, cls: Any):
-  fields = dataclasses.fields(cls)
-  keys = [f.name for f in fields]
-  defaults = {
-      f.name: f.default
-      for f in fields
-      if f.default is not dataclasses.MISSING
-  }
-
-  new_class_body = _build_new_class_body_ast(
-      keys,
-      cls.__name__,
-      dict(cls.__annotations__),
-      defaults=defaults,
-      add_docstring=False,
-      sort_keys=False,
-  )
-  cls_str = '\n'.join(['  ' + ast.unparse(node) for node in new_class_body])
-  cls_str = cls_str.replace('jax.Array', 'np.ndarray')
-  if cls.__name__ == 'TileSet':
-    cls_str = cls_str.replace(
-        'elemid: np.ndarray',
-        'elemid: np.ndarray = dataclasses.field(default_factory=lambda: np.array([], dtype=np.int32))'
-    )
-  manual_methods = _NESTED_DATACLASS_MANUAL_METHODS.get(cls.__name__, '')
-  with target_fpath.open('a') as f:
-    f.write(f'''
-@dataclasses.dataclass(frozen=True)
-@tree_util.register_pytree_node_class
-class {cls.__name__}:
-  """{cls.__doc__}"""
-{cls_str}
-{manual_methods}{_FLATTEN_UNFLATTEN}
-''')
-
-
-def _get_meta_fields(cls_name: str) -> Set[str]:
-  """Returns the set of fields that should be meta-fields in the pytree.
-
-  Meta-fields are array fields that are not batched.
-  """
-  cls = _CLS_MAP[cls_name]
-  annotations = _get_annotations_recursive(dict(cls.__annotations__))
-
-  # Non-batched array fields (same check as mujoco_warp._src.io._mark_batched).
-  meta_fields = {
-      name
-      for name, type_ in annotations.items()
-      if _is_batched_field(type_) is False
-  }
-
-  # Data meta-fields exclude non-vmap fields (scalars and non-nworld arrays).
-  if cls_name == 'Data':
-    return meta_fields - _get_non_vmap_data_fields()
-
-  return meta_fields
-
-
-def write_core_cls(
-    cls_name: str,
-    target_fpath: epath.Path,
-    mjx_types_fpath: epath.Path,
-    flatten_fields: bool = False,
-    set_diff: bool = True,
-    extra_annotations: dict[str, type] | None = None,
-    defaults: Optional[Dict[str, Any]] = None,
-):
-  """Writes a core API class (e.g. Model/Data/Option/Statistic)."""
-  cls = _CLS_MAP[cls_name]
-
-  annotations = dict(cls.__annotations__)  # pytype: disable=attribute-error
-  if flatten_fields:
-    annotations = _get_annotations_recursive(annotations)
-
-  meta_fields = _get_meta_fields(cls_name)
-  for k, v in annotations.items():
-    if k not in meta_fields:
-      continue
-    if _is_array_spec(v):
-      annotations[k] = np.ndarray
-
-  warp_keys = annotations.keys()
-  mjx_annotations = file.get_cls_type_annotations(mjx_types_fpath.read_text())[
-      cls_name
-  ]
-
-  keys = warp_keys
-  if set_diff:
-    # Take the set difference between warp and mjx annotation keys.
-    keys = warp_keys - mjx_annotations.keys()
-
-  if extra_annotations:
-    annotations.update(extra_annotations)
-    keys = set(keys) | extra_annotations.keys()
-
-  if not keys:
-    raise ValueError('No derived keys found')
-
-  shape_property = None
-  if cls_name == 'Data':
-    shape_property = _DATA_SHAPE_PROPERTY_FIELD
-
-  new_class_body = _build_new_class_body_ast(
-      keys,  # pyrefly: ignore[bad-argument-type]
-      cls_name,
-      annotations,
-      defaults=defaults,
-      shape_property=shape_property,
-  )
-
-  _write_class_in_file(
-      target_fpath=target_fpath,
-      target_cls_name=f'{cls_name}Warp',
-      target_base_name='PyTreeNode',
-      new_body_ast=new_class_body,
-  )
-
-
-def _get_non_vmap_data_fields() -> Set[str]:
-  """Returns Data fields that should not be vmapped."""
-  annotations = _get_annotations_recursive(dict(mjwarp.Data.__annotations__))
-  return {
-      name
-      for name, type_ in annotations.items()
-      if type_ in (int, float, bool) or _is_batched_field(type_) is False
-  }
-
-
-def write_register_vmappable(target_fpath: epath.Path):
-  """Writes register_vmappable to types.py."""
-  data_non_vmap = _get_non_vmap_data_fields()
-  with target_fpath.open('a') as f:
-    f.write('\nDATA_NON_VMAP =' + _to_py_string(data_non_vmap))
-    f.write("""\n
-def _to_elt(cont, _, d, axis):
-  return DataWarp(**{f.name: cont(getattr(d, f.name), axis)
-                     if f.name not in DATA_NON_VMAP
-                     else getattr(d, f.name) for f in DataWarp.fields()})
-def _from_elt(cont, axis_size, d, axis_dest):
-  return DataWarp(**{f.name: cont(axis_size, getattr(d, f.name), axis_dest)
-                     if f.name not in DATA_NON_VMAP
-                     else getattr(d, f.name) for f in DataWarp.fields()})
-batching.register_vmappable(DataWarp, int, int, _to_elt, _from_elt, None)
-""")
-
-
-def _is_ffi_compatible(wp_type: Any) -> bool:
-  """Returns True if the type is an array, scalar, or variadic tuple."""
-  if _is_array_spec(wp_type):
-    return True
-  if wp_type in wp._src.types.value_types:
-    return True
-  if typing.get_origin(wp_type) is tuple:
-    return True
-  return False
-
-
-def _to_jax_ndim(name: str, wp_type: Any) -> int:
-  if typing.get_origin(wp_type) is tuple:
-    if typing.get_args(wp_type)[1] != ...:
-      raise NotImplementedError('Only variadic tuples are supported.')
-    return -1  # signals that dim should be untouched in downstream code.
-  ffi_arg = FfiArg(name, wp_type)
-  return ffi_arg.jax_ndim
-
-
-def write_ndim_annotations(target_fpath: epath.Path):
-  """Writes a dictionary of ndim for every warp field."""
-  ndim_annotations = {}
-  for cls_name, cls in _CLS_MAP.items():
-    ndim_annotations[cls_name] = {}
-    annotations = _get_annotations_recursive(cls.__annotations__)
-    for name, type_ in annotations.items():
-      if not _is_ffi_compatible(type_):
-        continue
-      ndim = _to_jax_ndim(name, type_)
-      ndim_annotations[cls_name][name] = ndim
-
-  # custom token to force sequential calls in JAX
-  ndim_annotations['Data']['_jax_token'] = 1
-
-  with target_fpath.open('a') as f:
-    f.write('\n_NDIM = ' + _to_py_string(ndim_annotations))
-
-
-def write_nworld_leading_dim(target_fpath: epath.Path):
-  """Writes a dictionary of which MJW fields are batched."""
-  batched = {}
-  for cls_name, cls in _CLS_MAP.items():
-    batched[cls_name] = {}
-    all_annotations = _get_annotations_recursive(cls.__annotations__)
-    for name, type_ in all_annotations.items():
-      if not _is_ffi_compatible(type_):
-        continue
-      # Same batch check as mujoco_warp._src.io._mark_batched.
-      batched[cls_name][name] = _is_batched_field(type_) is True
-
-  # custom token to force sequential calls in JAX
-  batched['Data']['_jax_token'] = True
-
-  with target_fpath.open('a') as f:
-    f.write('\n_BATCH_DIM = ' + _to_py_string(batched))
-
-
-def main(argv):
-  del argv
-
-  base_path = file.get_base_path()
-  target_fpath = base_path / _MJX_WARP_TYPES_OUT_FPATH.value
-  mjx_types_fpath = base_path / _MJX_TYPES_PATH.value
-
-  write_header(target_fpath)
-  # TODO(btaba): consider automated grabbing of nested dataclasses from mjwarp.
-  write_nested_dataclass(target_fpath, mjwarp._src.types.TileSet)
-  write_nested_dataclass(target_fpath, mjwarp._src.types.BlockDim)
-
-  write_core_cls('Statistic', target_fpath, mjx_types_fpath, set_diff=False)
-  write_core_cls(
-      'Option', target_fpath, mjx_types_fpath,
-      extra_annotations={'graph_mode': GraphMode},
-  )
-  write_core_cls('Model', target_fpath, mjx_types_fpath)
-  token_default = ast.parse(
-      'dataclasses.field(default_factory=lambda: jax.numpy.zeros((),'
-      ' dtype=jax.numpy.int32))',
-      mode='eval',
-  ).body
-  write_core_cls(
-      'Data',
-      target_fpath,
-      mjx_types_fpath,
-      flatten_fields=True,
-      extra_annotations={'_jax_token': wp.array(dtype=int)},
-      defaults={'_jax_token': token_default},
-  )
-  write_register_vmappable(target_fpath)
-  write_ndim_annotations(target_fpath)
-  write_nworld_leading_dim(target_fpath)
-
-  file.write_license(target_fpath)
-  file.format_file(target_fpath)
-
-
-if __name__ == '__main__':
-  app.run(main)
diff --git a/mjx/mujoco/mjx/codegen/trace.py b/mjx/mujoco/mjx/codegen/trace.py
deleted file mode 100644
index 7fad9621..00000000
--- a/mjx/mujoco/mjx/codegen/trace.py
+++ /dev/null
@@ -1,344 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Static AST tracing to find MuJoCo Model and Data field usages."""
-
-import ast
-import builtins
-import dataclasses
-import importlib
-import importlib.util
-import os
-from typing import Dict, Optional, Sequence, Set, Tuple
-
-from absl import logging
-from etils import epath
-from mujoco.mjx.codegen import file
-
-_BUILTIN_NAMES = set(dir(builtins))
-
-
-def _get_imported_module_names(fpath: epath.Path) -> Sequence[Tuple[str, str]]:
-  """Returns set of (fully qualified module_name, alias) tuples."""
-  module_names = set()
-  tree = ast.parse(fpath.read_text(), filename=fpath)
-
-  for node in ast.walk(tree):
-    if isinstance(node, ast.Import):
-      for alias in node.names:
-        module_names.add((alias.name, alias.name))
-    elif isinstance(node, ast.ImportFrom):
-      if node.module:
-        for name in node.names:
-          name_ = name.name if not name.asname else name.asname
-          module_names.add((f'{node.module}.{name.name}', f'{name_}'))
-  return list(module_names)
-
-
-def _resolve_module_name_to_fpath(fully_qualified_name: str) -> Optional[str]:
-  """Resolves a fully qualified name to its file path using importlib."""
-  name_parts = fully_qualified_name.split('.')
-  for i in range(len(name_parts), 0, -1):
-    module_name_to_try = '.'.join(name_parts[:i])
-    try:
-      spec = importlib.util.find_spec(module_name_to_try)
-      if spec and spec.origin and spec.origin != 'built-in':
-        return os.path.abspath(spec.origin)
-    except (ModuleNotFoundError, ImportError):
-      continue
-
-
-def _get_imported_module_fpaths(fpath: epath.Path) -> Dict[str, str]:
-  """Returns the file paths of all imported modules."""
-  all_imported_names = _get_imported_module_names(fpath)
-
-  all_resolved_fpaths = {}
-  for fully_qualified_name, alias in all_imported_names:
-    # only trace mujoco and mujoco warp
-    if not (fully_qualified_name.startswith('mujoco_warp') or
-            fully_qualified_name.startswith('mujoco')):
-      continue
-    fpath = _resolve_module_name_to_fpath(fully_qualified_name)  # pyrefly: ignore[bad-assignment]
-    if fpath:
-      all_resolved_fpaths[alias] = fpath
-  return all_resolved_fpaths
-
-
-@dataclasses.dataclass
-class FieldInfo:
-  param_source: str
-  expected_type: str
-  param_order: tuple[int, str]
-
-
-class _FunctionFieldUsageVisitor(ast.NodeVisitor):
-  """AST visitor to find Model and Data field usages."""
-
-  def __init__(
-      self,
-      current_fpath: epath.Path,
-      visited_fns: Set[Tuple[str, str]],
-      mjwarp_field_info: Dict[str, FieldInfo],
-  ):
-    self.model_fields = set()
-    self.data_fields = set()
-    self.data_out_fields = set()
-    self._current_fpath = current_fpath.as_posix()
-    self._visited_fns = visited_fns
-    self._mjwarp_field_info = mjwarp_field_info
-    self._module_fpaths = _get_imported_module_fpaths(current_fpath)
-    self._in_outputs_context = False
-
-  def visit_FunctionDef(self, node: ast.FunctionDef):
-    """Visits nested function definitions."""
-    self.generic_visit(node)
-
-  def add_field_usage(self, node: ast.Attribute, is_output: bool):
-    """Adds field to the appropriate set based on mjwarp_field_info."""
-    attr_parts = []
-    curr_node = node
-    while isinstance(curr_node, ast.Attribute):
-      attr_parts.append(curr_node.attr)
-      curr_node = curr_node.value
-
-    if not isinstance(curr_node, ast.Name):
-      return
-    attr_parts.reverse()
-    full_attribute_str = '__'.join(attr_parts)
-    field_info = self._mjwarp_field_info.get(full_attribute_str)
-    if field_info is None:
-      return
-    # Classify by field_info.param_source; field names are guaranteed unique
-    # across Model and Data hierarchies by get_mjwarp_field_info.
-    if field_info.param_source == 'Model':
-      self.model_fields.add(full_attribute_str)
-    elif field_info.param_source == 'Data':
-      self.data_fields.add(full_attribute_str)
-      if is_output:
-        self.data_out_fields.add(full_attribute_str)
-
-  def visit_Attribute(self, node: ast.Attribute):
-    self.add_field_usage(node, self._in_outputs_context)
-    self.generic_visit(node)
-
-  def visit_keyword(self, node: ast.keyword):
-    """Visit a keyword argument node (e.g., outputs=[...])."""
-    previous_in_outputs_context = self._in_outputs_context
-    if node.arg == 'outputs':
-      self._in_outputs_context = True
-    try:
-      self.generic_visit(node)
-    finally:
-      self._in_outputs_context = previous_in_outputs_context
-
-  def recurse_trace(self, next_fpath: str, called_fn_name: str):
-    """Recursively trace into a function."""
-    try:
-      field_usage = trace_function(
-          next_fpath,
-          called_fn_name,
-          self._mjwarp_field_info,
-          self._visited_fns,
-      )
-      self.model_fields.update(field_usage.model_fields)
-      self.data_fields.update(field_usage.data_fields)
-      self.data_out_fields.update(field_usage.data_out_fields)
-    except ValueError as e:
-      logging.warning(
-          'Could not trace function %s in %s: %s',
-          called_fn_name,
-          next_fpath,
-          e,
-      )
-
-  def visit_Call(self, node: ast.Call):
-    """Visit a function call node and recursively find all attribute usages."""
-    if isinstance(node.func, ast.Name):
-      called_fn_name = node.func.id
-      if called_fn_name not in _BUILTIN_NAMES:
-        key = (self._current_fpath, called_fn_name)
-        if key not in self._visited_fns:
-          self._visited_fns.add(key)
-          next_fpath = self._module_fpaths.get(
-              called_fn_name, self._current_fpath
-          )
-          self.recurse_trace(next_fpath, called_fn_name)
-    elif isinstance(node.func, ast.Attribute):
-      parts = []
-      current = node.func
-      while isinstance(current, ast.Attribute):
-        parts.append(current.attr)
-        current = current.value
-      if isinstance(current, ast.Name):
-        parts.append(current.id)
-      parts = parts[::-1]
-
-      if len(parts) == 2 and parts[0] == 'wp' and parts[1] == 'copy':
-        if len(node.args) != 2:
-          raise ValueError(f'wp.copy() must have 2 arguments, got {node.args}.')
-        out_node, in_node = node.args
-        self.add_field_usage(out_node, True)  # pyrefly: ignore[bad-argument-type]
-        self.add_field_usage(in_node, False)  # pyrefly: ignore[bad-argument-type]
-        return
-
-      # do not trace array creation
-      is_input_only_wp_fn = (
-          len(parts) == 2
-          and parts[0] == 'wp'
-          and parts[1] in ('empty', 'zeros', 'array', 'clone')
-      )
-
-      if not is_input_only_wp_fn:
-        for arg in node.args:
-          if isinstance(arg, ast.Attribute):
-            self.add_field_usage(arg, is_output=True)
-
-      called_fn_name = '.'.join(parts[1:])
-      key = (self._current_fpath, called_fn_name)
-      next_fpath = self._module_fpaths.get(parts[0])
-      if next_fpath and key not in self._visited_fns:
-        self._visited_fns.add(key)
-        self.recurse_trace(next_fpath, called_fn_name)
-
-    self.generic_visit(node)
-
-
-@dataclasses.dataclass
-class FieldUsage:
-  model_fields: Sequence[str] = dataclasses.field(default_factory=list)
-  data_fields: Sequence[str] = dataclasses.field(default_factory=list)
-  data_out_fields: Sequence[str] = dataclasses.field(default_factory=list)
-  render_context_in_caller: bool = False
-
-
-def trace_function(
-    fpath: str,
-    fn: str,
-    mjwarp_field_info: Dict[str, FieldInfo],
-    visited_fns: Set[Tuple[str, str]] | None = None,
-) -> FieldUsage:
-  """Traces the function statically to find usages of model and data fields."""
-  base_path = file.get_base_path()
-  fpath = base_path / fpath  # pyrefly: ignore[bad-assignment]
-  logging.info('Tracing function: "%s" in "%s"', fn, fpath)
-
-  src = fpath.read_text()  # pyrefly: ignore[missing-attribute]
-  parsed_ast = ast.parse(src, filename=str(fpath))
-
-  target_fn_nodes = (
-      node
-      for node in parsed_ast.body
-      if isinstance(node, ast.FunctionDef) and node.name == fn
-  )
-  target_fn_node = next(target_fn_nodes, None)
-  if not target_fn_node:
-    raise ValueError(f'Function "{fn}" not found in "{fpath}".')
-
-  if visited_fns is None:
-    visited_fns = set()
-
-  visitor = _FunctionFieldUsageVisitor(fpath, visited_fns, mjwarp_field_info)  # pyrefly: ignore[bad-argument-type]
-  for body in target_fn_node.body:
-    visitor.visit(body)
-
-  # Warn if tracing found no Model/Data field accesses.
-  if not visitor.model_fields and not visitor.data_fields:
-    logging.warning(
-        'Function "%s" in "%s" does not access any Model or Data fields.',
-        fn,
-        fpath,
-    )
-
-  # Detect RenderContext parameter independent of argument position.
-  render_context_in_caller = False
-  for param in target_fn_node.args.args:
-    if param.annotation:
-      annotation_str = ast.unparse(param.annotation)
-      if 'RenderContext' in annotation_str:
-        render_context_in_caller = True
-        break
-
-  logging.info(
-      'End trace function "%s". Output fields: %s, RenderContext: %s',
-      fn, visitor.data_out_fields, render_context_in_caller
-  )
-  return FieldUsage(
-      model_fields=sorted(list(visitor.model_fields)),
-      data_fields=sorted(list(visitor.data_fields)),
-      data_out_fields=sorted(list(visitor.data_out_fields)),
-      render_context_in_caller=render_context_in_caller,
-  )
-
-
-def get_mjwarp_field_info(
-    src: str, get_cls_type_annotations
-) -> Dict[str, FieldInfo]:
-  """Return field info for mujoco_warp/_src/types.py."""
-  dataclass_map = {
-      'opt': 'Option',
-      'stat': 'Statistic',
-      'efc': 'Constraint',
-      'contact': 'Contact',
-  }
-  type_classes = get_cls_type_annotations(src)
-
-  def get_fields(cls_name, base_order, sub_order):
-    fields = {}
-    for field, typ in type_classes[cls_name].items():
-      if field == 'callback':
-        continue
-      if field in dataclass_map:
-        for sfield, styp in type_classes[dataclass_map[field]].items():
-          name = f'{field}__{sfield}'
-          fields[name] = FieldInfo(cls_name, styp, (sub_order, name))
-      else:
-        fields[field] = FieldInfo(cls_name, typ, (base_order, field))
-    return fields
-
-  model_fields = get_fields('Model', 0, 1)
-  data_fields = get_fields('Data', 2, 3)
-
-  # Field names must be uniquely named across Model and Data hierarchies because
-  # _FunctionFieldUsageVisitor.add_field_usage attributes AST attribute accesses
-  # to Model or Data based solely on the field name lookup in mjwarp_field_info
-  # (via field_info.param_source) rather than inspecting base variable names.
-  #
-  # Nested sub-dataclasses (Option, Statistic in Model; Constraint, Contact in
-  # Data) are flattened with container prefixes (e.g. 'opt__timestep',
-  # 'contact__pos'). This prefixing prevents collisions between sub-dataclasses
-  # that share generic field names (such as 'pos' or 'type' in Contact and
-  # Constraint). The collision check below guarantees that no direct or
-  # flattened sub-dataclass field name is shared between Model and Data.
-  #
-  # These classified fields (model_fields, data_fields, data_out_fields) are
-  # then used in generate_warp_shim to build the FFI shim argument signatures.
-  if collisions := model_fields.keys() & data_fields.keys():
-    raise ValueError(
-        f'Field name collisions in MuJoCo Warp types: {collisions}'
-    )
-
-  return {**model_fields, **data_fields}
-
-
-def get_mjx_warp_field_info(
-    src: str, get_cls_type_annotations
-) -> Dict[str, FieldInfo]:
-  """Return field info for mjx/warp/types.py."""
-  field_info = {}
-  type_classes = get_cls_type_annotations(src)
-  for field, typ in type_classes['DataWarp'].items():
-    field_info[field] = FieldInfo('Data', typ, (0, field))
-  for field, typ in type_classes['ModelWarp'].items():
-    field_info[field] = FieldInfo('Model', typ, (1, field))
-  return field_info
diff --git a/mjx/mujoco/mjx/codegen/update_for_mujoco_warp.sh b/mjx/mujoco/mjx/codegen/update_for_mujoco_warp.sh
deleted file mode 100755
index 5186c6f5..00000000
--- a/mjx/mujoco/mjx/codegen/update_for_mujoco_warp.sh
+++ /dev/null
@@ -1,119 +0,0 @@
-#!/bin/bash
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-set -euo pipefail
-
-# --- Logging helpers ---------------------------------------------------------
-log_stage() { echo -e "\n\033[1;34m==== $1 ====\033[0m"; }
-log_ok()    { echo -e "\033[1;32m  ✓ $1\033[0m"; }
-log_fail()  { echo -e "\033[1;31m  ✗ $1\033[0m"; }
-
-run_shim() {
-  local label="$1"; shift
-  log_stage "Generating shim: ${label}"
-  echo "  → $*"
-  local output
-  if output=$("$@" --logtostderr 2>&1); then
-    # Show only Python-level log lines (filters noisy C++ infra logs).
-    echo "$output" | grep -E '\.py' || true
-    log_ok "${label}"
-  else
-    echo "$output"
-    log_fail "${label}"
-    exit 1
-  fi
-}
-
-# --- Path setup --------------------------------------------------------------
-mjwarp_base="mujoco/mjx/third_party/mujoco_warp/_src"
-mjx_base="mujoco/mjx"
-
-# Derived paths (shared).
-mjwarp="${mjwarp_base}"
-mjx_warp_out="${mjx_base}/warp"
-mjx_types="${mjx_base}/_src/types.py"
-mjx_warp_types="${mjx_base}/warp/types.py"
-
-log_stage "Path configuration"
-echo "  mjwarp_base  = ${mjwarp_base}"
-echo "  mjx_base     = ${mjx_base}"
-echo "  mjx_types    = ${mjx_types}"
-echo "  output dir   = ${mjx_warp_out}"
-
-# --- Stage 1: Generate warp types -------------------------------------------
-log_stage "Stage 1/3: Generating warp types"
-python mujoco/mjx/codegen/generate_warp_types.py \
-  --mjx_warp_types_out_path=${mjx_warp_types} \
-  --mjx_types_path=${mjx_types}
-log_ok "Warp types written to ${mjx_warp_types}"
-
-# --- Stage 2: Build shim generator ------------------------------------------
-log_stage "Stage 2/3: Building shim generator"
-generate_warp_shim="python mujoco/mjx/codegen/generate_warp_shim.py"
-log_ok "Shim generator ready"
-
-# --- Stage 3: Generate shim code for each function --------------------------
-log_stage "Stage 3/3: Generating shim code"
-
-# Smooth.
-run_shim "smooth:kinematics" ${generate_warp_shim} \
- --mjwarp_function=${mjwarp}/smooth.py:kinematics \
- --mjx_warp_output_path=${mjx_warp_out}/ \
- --mjwarp_types=${mjwarp}/types.py
-
-run_shim "smooth:tendon" ${generate_warp_shim} \
- --mjwarp_function=${mjwarp}/smooth.py:tendon \
- --mjx_warp_output_path=${mjx_warp_out}/ \
- --mjwarp_types=${mjwarp}/types.py \
- --append_to_output_file=True
-
-run_shim "smooth:com_pos" ${generate_warp_shim} \
- --mjwarp_function=${mjwarp}/smooth.py:com_pos \
- --mjx_warp_output_path=${mjx_warp_out}/ \
- --mjwarp_types=${mjwarp}/types.py \
- --append_to_output_file=True
-
-# Collision.
-run_shim "collision_driver:collision" ${generate_warp_shim} \
- --mjwarp_function=${mjwarp}/collision_driver.py:collision \
- --mjx_warp_output_path=${mjx_warp_out}/ \
- --mjwarp_types=${mjwarp}/types.py
-
-# Forward.
-run_shim "forward:forward" ${generate_warp_shim} \
- --mjwarp_function=${mjwarp}/forward.py:forward \
- --mjx_warp_output_path=${mjx_warp_out}/ \
- --mjwarp_types=${mjwarp}/types.py
-
-run_shim "forward:step" ${generate_warp_shim} \
- --mjwarp_function=${mjwarp}/forward.py:step \
- --mjx_warp_output_path=${mjx_warp_out}/ \
- --mjwarp_types=${mjwarp}/types.py \
- --append_to_output_file=True
-
-# Render and bvh.
-run_shim "bvh:refit_bvh" ${generate_warp_shim} \
- --mjwarp_function=${mjwarp}/bvh.py:refit_bvh \
- --mjx_warp_output_path=${mjx_warp_out}/ \
- --mjwarp_types=${mjwarp}/types.py
-
-run_shim "render:render" ${generate_warp_shim} \
- --mjwarp_function=${mjwarp}/render.py:render \
- --mjx_warp_output_path=${mjx_warp_out}/ \
- --mjwarp_types=${mjwarp}/types.py
-
-log_stage "Done"
-log_ok "All shims generated successfully"
diff --git a/mjx/mujoco/mjx/integration_test/collision_driver_test.py b/mjx/mujoco/mjx/integration_test/collision_driver_test.py
deleted file mode 100644
index 3951b80c..00000000
--- a/mjx/mujoco/mjx/integration_test/collision_driver_test.py
+++ /dev/null
@@ -1,96 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests the collision driver."""
-
-import dataclasses
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import test_util
-# pylint: disable=g-importing-member
-from mujoco.mjx._src.types import Contact
-# pylint: enable=g-importing-member
-import numpy as np
-
-
-def _assert_attr_eq(mjx_d, mj_d, attr, name, atol):
-  if attr == 'efc_address':
-    # contact order not guaranteed to match
-    np.testing.assert_array_equal(
-        np.sort(mjx_d.efc_address), np.sort(mj_d.efc_address)
-    )
-    return
-  err_msg = f'mismatch: {attr} in run: {name}'
-  mjx_d, mj_d = getattr(mjx_d, attr), getattr(mj_d, attr)
-  if attr == 'frame':
-    mj_d = mj_d.reshape((-1, 3, 3))
-  if mjx_d.shape != mj_d.shape:
-    raise AssertionError(f'{attr} shape mismatch: {mjx_d.shape}, {mj_d.shape}')
-  np.testing.assert_allclose(mjx_d, mj_d, err_msg=err_msg, atol=atol)
-
-
-class CollisionDriverIntegrationTest(parameterized.TestCase):
-
-  @parameterized.parameters(list(range(256)))
-  def test_collision_driver(self, seed):
-    enable_contact = False if seed == 0 else True
-    mjcf = test_util.create_mjcf(
-        seed,
-        body_pos=(0.0, 0.0, 0.14),
-        disable_actuation_pct=100,
-        root_always_free=True,
-        min_trees=1,
-        max_trees=5,
-        max_tree_depth=1,
-        enable_contact=enable_contact,
-    )
-
-    m = mujoco.MjModel.from_xml_string(mjcf)
-    mx = mjx.put_model(m)
-    d = mujoco.MjData(m)
-    dx = mjx.put_data(m, d)
-
-    mujoco.mj_step(m, d)
-    collision_jit_fn = jax.jit(mjx.collision)
-    kinematics_jit_fn = jax.jit(mjx.kinematics)
-    dx = kinematics_jit_fn(mx, dx)
-    dx = collision_jit_fn(mx, dx)
-
-    if not d.contact.geom1.shape[0]:
-      self.assertTrue((dx.contact.dist > 0).all())
-      return  # no contacts to test
-
-    # re-order MJX contacts to match MJ order
-    idx_mj = list(zip(d.contact.geom1, d.contact.geom2))
-    idx_mjx = list(zip(dx.contact.geom1, dx.contact.geom2))
-    idx_mjx = [tuple(np.array(i)) for i in idx_mjx]
-    self.assertSequenceEqual(set(idx_mjx), set(idx_mj))
-    idx = sorted(range(len(idx_mj)), key=lambda x: idx_mj.index(idx_mjx[x]))
-
-    mjx_contact = jax.tree_util.tree_map(
-        lambda x: x.take(np.array(idx), axis=0), dx.contact
-    )
-    mjx_contact = mjx_contact.replace(
-        dim=mjx_contact.dim[idx], efc_address=mjx_contact.efc_address[idx]
-    )
-    for field in dataclasses.fields(Contact):
-      _assert_attr_eq(mjx_contact, d.contact, field.name, seed, 1e-7)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/integration_test/forward_test.py b/mjx/mujoco/mjx/integration_test/forward_test.py
deleted file mode 100644
index 67f20371..00000000
--- a/mjx/mujoco/mjx/integration_test/forward_test.py
+++ /dev/null
@@ -1,70 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for forward functions."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import test_util
-import numpy as np
-
-
-def _assert_attr_eq(a, b, attr, step, fname, atol=1e-3, rtol=1e-3):
-  err_msg = f'mismatch: {attr} at step {step} in {fname}'
-  a, b = getattr(a, attr), getattr(b, attr)
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
-
-
-class ActuationIntegrationTest(parameterized.TestCase):
-
-  @parameterized.parameters(list(range(30)))
-  def test_actuation(self, seed):
-    mjcf = test_util.create_mjcf(
-        seed,
-        max_trees=1,
-        max_tree_depth=5,
-        body_pos=(0.0, 0.0, -0.5),
-        geom_pos=(0.0, 0.5, 0.0),
-        disable_actuation_pct=10,
-        add_actuators=True,
-        max_contact_excludes=2,
-        enable_contact=False,
-    )
-    m = mujoco.MjModel.from_xml_string(mjcf)
-    actuation_jit_fn = jax.jit(mjx.fwd_actuation)
-
-    # init
-    d = mujoco.MjData(m)
-    d.ctrl = np.random.normal(scale=10, size=m.nu)
-    d.act = np.random.normal(scale=10, size=m.na)
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_fwdPosition(m, d)
-    mujoco.mj_fwdVelocity(m, d)
-
-    # put on device
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    mujoco.mj_fwdActuation(m, d)
-    dx = actuation_jit_fn(mx, dx)
-
-    _assert_attr_eq(d, dx, 'qfrc_actuator', seed, f'actuator{seed}')
-    _assert_attr_eq(d, dx, 'act_dot', seed, f'actuator{seed}')
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/integration_test/smooth_test.py b/mjx/mujoco/mjx/integration_test/smooth_test.py
deleted file mode 100644
index 5ec8426a..00000000
--- a/mjx/mujoco/mjx/integration_test/smooth_test.py
+++ /dev/null
@@ -1,95 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for smooth dynamics functions."""
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import test_util
-import numpy as np
-
-
-def _assert_eq(a, b, name, step, fname, atol=1e-5, rtol=1e-5):
-  err_msg = f'mismatch: {name} at step {step} in {fname}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
-
-
-def _assert_attr_eq(a, b, attr, step, fname, atol=1e-5, rtol=1e-5):
-  err_msg = f'mismatch: {attr} at step {step} in {fname}'
-  a, b = getattr(a, attr), getattr(b, attr)
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
-
-
-class TransmissionIntegrationTest(parameterized.TestCase):
-
-  @parameterized.parameters(list(range(30)))
-  def test_transmission(self, seed):
-    """Tests mjx.transmission matches mj_transmission."""
-    mjcf = test_util.create_mjcf(
-        seed,
-        max_trees=1,
-        max_tree_depth=5,
-        body_pos=(0.0, 0.0, -0.5),
-        geom_pos=(0.0, 0.5, 0.0),
-        disable_actuation_pct=10,
-        add_actuators=True,
-        max_contact_excludes=2,
-        enable_contact=False,
-    )
-    m = mujoco.MjModel.from_xml_string(mjcf)
-    transmission_jit_fn = jax.jit(mjx.transmission)
-
-    # init
-    d = mujoco.MjData(m)
-    d.ctrl = np.random.normal(scale=10, size=m.nu)
-    d.act = np.random.normal(scale=10, size=m.na)
-    d.qpos = np.random.normal(m.nq)
-    d.qvel = np.random.random(m.nv)
-    mujoco.mj_forward(m, d)
-
-    # put on device
-    mx = mjx.put_model(m)
-    dx = mjx.put_data(m, d)
-
-    mujoco.mj_transmission(m, d)
-    dx = transmission_jit_fn(mx, dx)
-
-    _assert_attr_eq(
-        d, dx, 'actuator_length', seed, f'transmission{seed}', atol=1e-4
-    )
-
-    # convert sparse actuator_moment to dense representation
-    moment = np.zeros((m.nu, m.nv))
-    mujoco.mju_sparse2dense(
-        moment,
-        d.actuator_moment,
-        d.moment_rownnz,
-        d.moment_rowadr,
-        d.moment_colind,
-    )
-    _assert_eq(
-        moment,
-        dx.actuator_moment,
-        'actuator_moment',
-        seed,
-        f'transmission{seed}',
-        atol=1e-4,
-    )
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/test_data/actuator/arm21.xml b/mjx/mujoco/mjx/test_data/actuator/arm21.xml
deleted file mode 100644
index 57ac7990..00000000
--- a/mjx/mujoco/mjx/test_data/actuator/arm21.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="2-link 1-muscle arm">
-  <worldbody>
-    <body>
-      <geom type="capsule" size="0.01" fromto="0 0 0 1 0 0"/>
-      <site name="s0" pos="0 0 0.01"/>
-      <joint type="slide" axis="1 0 0"/>
-      <body pos="1 0 0">
-        <geom type="capsule" size="0.01" fromto="0 0 0 1 0 0"/>
-        <site name="s1" pos="1 0 0.01"/>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial name="tendon" width="0.01">
-      <site site="s0"/>
-      <site site="s1"/>
-    </spatial>
-  </tendon>
-  <actuator>
-    <muscle tendon="tendon" lengthrange="0 2" force="1" ctrllimited="true" ctrlrange="0 1"/>
-  </actuator>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/actuator/arm26.xml b/mjx/mujoco/mjx/test_data/actuator/arm26.xml
deleted file mode 100644
index 0875358a..00000000
--- a/mjx/mujoco/mjx/test_data/actuator/arm26.xml
+++ /dev/null
@@ -1,118 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="2-link 6-muscle arm">
-  <option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
-
-  <visual>
-    <rgba haze=".3 .3 .3 1"/>
-  </visual>
-
-  <default>
-    <joint type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 120" damping="0.1"/>
-    <muscle ctrllimited="true" ctrlrange="0 1"/>
-  </default>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
-
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
-
-    <light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
-
-    <site name="s0" pos="-0.15 0 0" size="0.02"/>
-    <site name="x0" pos="0 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
-
-    <body pos="0 0 0">
-      <geom name="upper arm" type="capsule" size="0.045" fromto="0 0 0  0.5 0 0" rgba=".5 .1 .1 1"/>
-      <joint name="shoulder"/>
-      <geom name="shoulder" type="cylinder" pos="0 0 0" size=".1 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
-
-      <site name="s1" pos="0.15 0.06 0" size="0.02"/>
-      <site name="s2" pos="0.15 -0.06 0" size="0.02"/>
-      <site name="s3" pos="0.4 0.06 0" size="0.02"/>
-      <site name="s4" pos="0.4 -0.06 0" size="0.02"/>
-      <site name="s5" pos="0.25 0.1 0" size="0.02"/>
-      <site name="s6" pos="0.25 -0.1 0" size="0.02"/>
-      <site name="x1" pos="0.5 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
-
-      <body pos="0.5 0 0">
-        <geom name="forearm" type="capsule" size="0.035" fromto="0 0 0  0.5 0 0" rgba=".5 .1 .1 1"/>
-        <joint name="elbow"/>
-        <geom name="elbow" type="cylinder" pos="0 0 0" size=".08 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
-
-        <site name="s7" pos="0.11 0.05 0" size="0.02"/>
-        <site name="s8" pos="0.11 -0.05 0" size="0.02"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial name="SF" width="0.01">
-      <site site="s0"/>
-      <geom geom="shoulder"/>
-      <site site="s1"/>
-    </spatial>
-
-    <spatial name="SE" width="0.01">
-      <site site="s0"/>
-      <geom geom="shoulder" sidesite="x0"/>
-      <site site="s2"/>
-    </spatial>
-
-    <spatial name="EF" width="0.01">
-      <site site="s3"/>
-      <geom geom="elbow"/>
-      <site site="s7"/>
-    </spatial>
-
-    <spatial name="EE" width="0.01">
-      <site site="s4"/>
-      <geom geom="elbow" sidesite="x1"/>
-      <site site="s8"/>
-    </spatial>
-
-    <spatial name="BF" width="0.009" rgba=".4 .6 .4 1">
-      <site site="s0"/>
-      <geom geom="shoulder"/>
-      <site site="s5"/>
-      <geom geom="elbow"/>
-      <site site="s7"/>
-    </spatial>
-
-    <spatial name="BE" width="0.009" rgba=".4 .6 .4 1">
-      <site site="s0"/>
-      <geom geom="shoulder" sidesite="x0"/>
-      <site site="s6"/>
-      <geom geom="elbow" sidesite="x1"/>
-      <site site="s8"/>
-    </spatial>
-  </tendon>
-
-  <actuator>
-    <muscle name="SF" tendon="SF"/>
-    <muscle name="SE" tendon="SE"/>
-    <muscle name="EF" tendon="EF"/>
-    <muscle name="EE" tendon="EE"/>
-    <muscle name="BF" tendon="BF"/>
-    <muscle name="BE" tendon="BE"/>
-  </actuator>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/actuator/general_dyntype.xml b/mjx/mujoco/mjx/test_data/actuator/general_dyntype.xml
deleted file mode 100644
index 01d0a503..00000000
--- a/mjx/mujoco/mjx/test_data/actuator/general_dyntype.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<mujoco>
-  <compiler autolimits="true"/>
-  <worldbody>
-    <body name="box">
-      <joint name="slide1" type="slide" axis="1 0 0" />
-      <joint name="slide2" type="slide" axis="0 1 0" />
-      <joint name="slide3" type="slide" axis="0 0 1" />
-      <joint name="slide4" type="slide" axis="1 1 0" />
-      <geom type="box" size=".05 .05 .05" mass="1"/>
-    </body>
-  </worldbody>
-  <actuator>
-    <general joint="slide1" dynprm="0.1" gainprm="1.1" />
-    <general joint="slide2" dyntype="integrator" dynprm="0.1" gainprm="1.1" />
-    <general joint="slide3" dyntype="filter" dynprm="0.1" gainprm="1.1" />
-    <general joint="slide4" dyntype="filterexact" dynprm="0.1" gainprm="1.1" />
-  </actuator>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml b/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml
deleted file mode 100644
index 51952b3a..00000000
--- a/mjx/mujoco/mjx/test_data/actuator/tendon_force_clamp.xml
+++ /dev/null
@@ -1,55 +0,0 @@
-<mujoco model="fixed_site">
-  <worldbody>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial name="spatial0" width="0.0125">
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-    </spatial>
-    <spatial name="spatial1" width="0.0125" actuatorfrclimited="true" actuatorfrcrange="-1 1">
-      <site site="site1"/>
-      <site site="site2"/>
-    </spatial>
-    <fixed name="fixed0" actuatorfrclimited="true" actuatorfrcrange="-10 10">
-      <joint joint="joint0" coef=".1"/>
-      <joint joint="joint1" coef=".2"/>
-      <joint joint="joint2" coef=".3"/>
-    </fixed>
-    <fixed name="fixed1" actuatorfrclimited="true" actuatorfrcrange="0 1">
-      <joint joint="joint0" coef=".1"/>
-      <joint joint="joint2" coef=".3"/>
-    </fixed>
-  </tendon>
-  <actuator>
-    <motor tendon="spatial0"/>
-    <motor tendon="spatial0"/>
-    <motor tendon="spatial0"/>
-    <motor tendon="spatial1"/>
-    <motor tendon="spatial1"/>
-    <motor tendon="fixed0"/>
-    <motor tendon="fixed1"/>
-    <motor tendon="fixed1"/>
-  </actuator>
-  <sensor>
-    <tendonactuatorfrc tendon="spatial0"/>
-    <tendonactuatorfrc tendon="spatial1"/>
-    <tendonactuatorfrc tendon="fixed0"/>
-    <tendonactuatorfrc tendon="fixed1"/>
-  </sensor>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/README.md b/mjx/mujoco/mjx/test_data/barkour_v0/README.md
deleted file mode 100644
index fb10ccf9..00000000
--- a/mjx/mujoco/mjx/test_data/barkour_v0/README.md
+++ /dev/null
@@ -1,25 +0,0 @@
-# Google Barkour v0
-
-## MJCF 说明
-
-`assets/barkour_v0_mjx.xml` 中的 MuJoCo 配置复制自 https://github.com/deepmind/mujoco_menagerie/google_barkour_v0 。为了适配 Brax，对该 MJCF 进行了以下专门修改：
-
-* `meshdir` 从 `assets` 修改为 `.`。
-* 移除 `frictionloss`，将 `damping` 修改为 0.5239。
-* 添加了自定义 `init_qpos`。
-* 为所有足部添加了球体几何体 `lowerLegFoot`。关闭了所有其他碰撞接触。
-* 编译器选项修改为 `<option timestep="0.002" iterations="4" solver="CG"/>`。
-* 移除了躯干上的非可视化几何体，以加快渲染速度。
-
-## 发表文献
-
-如果您在学术研究中使用了本项工作，请按如下格式引用：
-
-    @misc{caluwaerts2023barkour,
-          title={Barkour: Benchmarking Animal-level Agility with Quadruped Robots},
-          author={Ken Caluwaerts and Atil Iscen and J. Chase Kew and Wenhao Yu and Tingnan Zhang and Daniel Freeman and Kuang-Huei Lee and Lisa Lee and Stefano Saliceti and Vincent Zhuang and Nathan Batchelor and Steven Bohez and Federico Casarini and Jose Enrique Chen and Omar Cortes and Erwin Coumans and Adil Dostmohamed and Gabriel Dulac-Arnold and Alejandro Escontrela and Erik Frey and Roland Hafner and Deepali Jain and Bauyrjan Jyenis and Yuheng Kuang and Edward Lee and Linda Luu and Ofir Nachum and Ken Oslund and Jason Powell and Diego Reyes and Francesco Romano and Feresteh Sadeghi and Ron Sloat and Baruch Tabanpour and Daniel Zheng and Michael Neunert and Raia Hadsell and Nicolas Heess and Francesco Nori and Jeff Seto and Carolina Parada and Vikas Sindhwani and Vincent Vanhoucke and Jie Tan},
-          year={2023},
-          eprint={2305.14654},
-          archivePrefix={arXiv},
-          primaryClass={cs.RO}
-    }
diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/abduction.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/abduction.stl
deleted file mode 100644
index 53cd0c71..00000000
Binary files a/mjx/mujoco/mjx/test_data/barkour_v0/assets/abduction.stl and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/barkour_v0_mjx.xml b/mjx/mujoco/mjx/test_data/barkour_v0/assets/barkour_v0_mjx.xml
deleted file mode 100644
index 82dd41df..00000000
--- a/mjx/mujoco/mjx/test_data/barkour_v0/assets/barkour_v0_mjx.xml
+++ /dev/null
@@ -1,245 +0,0 @@
-<mujoco model="barkour v0 brax">
-
-  <compiler angle="radian" meshdir="." texturedir="assets" autolimits="true"/>
-
-  <option timestep="0.002" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <statistic meansize="0.183574"/>
-
-  <visual>
-    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global azimuth="120" elevation="-20"/>
-  </visual>
-
-  <default>
-    <geom contype="0" conaffinity="0" type="mesh"/>
-    <joint range="-1.5708 1.5708" armature="0.01090125" damping="0.5239"/>
-    <default class="abductor">
-      <joint range="-1.0472 1.0472"/>
-    </default>
-    <default class="hip_front">
-      <joint range="-1.22173 3.24631"/>
-    </default>
-    <default class="hip_hind">
-      <joint range="-1.98968 2.46091"/>
-    </default>
-    <default class="knee">
-      <joint range="0 2.5132" axis="0 -0.0775009 0.996992"/>
-    </default>
-    <default class="multi_mode_controlled_actuator">
-      <general biastype="affine" gainprm="35 0 0 0 0 0 0 0 0 0" biasprm="0 -35 -0.65 0 0 0 0 0 0 0" forcerange="-18.0 18.0" ctrlrange="-2 2"/>
-    </default>
-    <default class="visual">
-      <geom contype="0" conaffinity="0" density="0" group="1"/>
-      <default class="visual_upper_right1">
-        <geom rgba="0.768627 0.886275 0.952941 1"/>
-      </default>
-      <default class="visual_upper_right2">
-        <geom rgba="0.972549 0.529412 0.00392157 1"/>
-      </default>
-      <default class="visual_abduction">
-        <geom rgba="0.537255 0.854902 0.827451 1"/>
-      </default>
-      <default class="visual_foot">
-        <geom rgba="0.301961 0.301961 0.301961 1"/>
-      </default>
-    </default>
-    <default class="collision">
-      <geom group="2"/>
-      <default class="upper_right1">
-        <geom rgba="0.768627 0.886275 0.952941 1"/>
-      </default>
-      <default class="upper_right2">
-        <geom rgba="0.972549 0.529412 0.00392157 1"/>
-      </default>
-      <default class="abduction">
-        <geom rgba="0.537255 0.854902 0.827451 1"/>
-      </default>
-      <default class="foot">
-        <geom rgba="0.301961 0.301961 0.301961 1"/>
-      </default>
-    </default>
-    <default class="lowerLegFootLeft">
-      <geom type="sphere" pos="-0.191284 -0.0191638 -0.013" size="0.014" contype="1"
-       conaffinity="0" rgba="1 0 0 1"/>
-    </default>
-    <default class="lowerLegFootRight">
-      <geom type="sphere" pos="-0.191284 -0.0191638 0.013" size="0.014" contype="1"
-       conaffinity="0" rgba="1 0 0 1"/>
-    </default>
-  </default>
-
-  <custom>
-    <numeric data="0.0 0.0 0.21 1.0 0.0 0.0 0.0 0.0 0.5 1.0 0.0 0.5 1.0 0.0 0.5 1.0 0.0 0.5 1.0" name="init_qpos"/>
-  </custom>
-
-  <asset>
-    <hfield name="rand_uniform" file="hfield_240_280.png" size="20.1 20.0 .05 .1"/>
-    <mesh file="head.stl"/>
-    <mesh file="powercable.stl"/>
-    <mesh file="handle.stl"/>
-    <mesh file="head_mount.stl"/>
-    <mesh file="body.stl"/>
-    <mesh file="abduction.stl"/>
-    <mesh file="upper_right_2.stl"/>
-    <mesh file="upper_right_3.stl"/>
-    <mesh file="upper_right_1.stl"/>
-    <mesh file="lower_leg_1to1.stl"/>
-    <mesh file="foot.stl"/>
-    <mesh file="upper_left_2.stl"/>
-    <mesh file="upper_left_1.stl"/>
-    <mesh file="upper_left_3.stl"/>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
-      markrgb="0.8 0.8 0.8" width="300" height="300"/>
-    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-  </asset>
-
-  <worldbody>
-    <site name="origin"/>
-    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
-    <camera name="default" pos="0.846 -1.465 0.916" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940"/>
-    <geom name="hfield_floor" type="hfield" hfield="rand_uniform" conaffinity="1"/>
-    <!-- <geom name="floor" pos="0 0 -0.05" size="0 0 0.05" type="plane" conaffinity="1" material="groundplane"/> -->
-    <body name="chassis">
-      <camera name="track" pos="0.846 -1.465 0.916" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940" mode="trackcom"/>
-      <freejoint/>
-      <inertial pos="0.0196226 -0.00015133 0.0611588" quat="0.000990813 0.68703 0.000216603 0.726628" mass="4.48878" diaginertia="0.071033 0.0619567 0.0192519"/>
-      <geom class="visual" pos="-0.00448404 -0.000225838 0.0576402" rgba="0.647059 0.647059 0.647059 1" mesh="head"/>
-      <geom class="visual" pos="-0.00448404 -0.000225838 0.0576402" rgba="0.768627 0.886275 0.952941 1" mesh="powercable"/>
-      <geom class="visual" pos="-0.00448404 -0.000225838 0.0576402" rgba="0.917647 0.917647 0.917647 1" mesh="handle"/>
-      <geom class="visual" pos="-0.00448404 -0.000225838 0.0576402" rgba="0.231373 0.380392 0.705882 1" mesh="head_mount"/>
-      <geom class="visual" pos="-0.00448404 -0.000225838 0.0576402" rgba="0.984314 0.517647 0.862745 1" mesh="body"/>
-      <body name="abduction_1" pos="0.130533 -0.056 0.0508" quat="1.30945e-06 0.161152 -2.13816e-07 0.98693">
-        <inertial pos="-0.0521152 0.00350917 0.0171912" quat="0.387877 0.592262 0.592492 0.384358" mass="0.639437" diaginertia="0.000866008 0.000565866 0.000479767"/>
-        <joint class="abductor" name="abduction_front_right" axis="-0.94806 0 0.318092"/>
-        <geom class="visual_abduction" pos="-0.0540394 0.0217 0.0181312" mesh="abduction"/>
-        <body name="upper_right_asm_1" pos="-0.0540394 0.0217 0.0181312" quat="0.284632 0.284629 -0.647292 0.647289">
-          <inertial pos="-0.0253655 -0.0179374 -0.0465027" quat="-0.245689 0.639007 0.153351 0.712594" mass="0.942155" diaginertia="0.00539403 0.00519403 0.000795298"/>
-          <joint class="hip_front" name="hip_front_right" axis="0 0 -1"/>
-          <geom class="visual_upper_right2" mesh="upper_right_2"/>
-          <geom class="visual_upper_right2" mesh="upper_right_3"/>
-          <geom class="visual_upper_right1" mesh="upper_right_1"/>
-          <body name="lower_leg_1to1_front_right" pos="-0.193523 -0.104637 -0.0792" quat="0.312742 -0.0121371 0.0368314 -0.949046">
-            <inertial pos="-0.0577509 -0.0097034 0.0114624" quat="-0.047103 0.705359 -0.0102465 0.70721" mass="0.169623" diaginertia="0.000828741 0.000813964 3.49901e-05"/>
-            <joint class="knee" name="knee_front_right"/>
-            <geom class="visual" pos="0.00320019 0.0240604 -0.0141615" rgba="0.32549 0.529412 0.980392 1" mesh="lower_leg_1to1"/>
-            <geom class="visual_foot" pos="0.00320019 0.0240604 -0.0141615" mesh="foot"/>
-            <geom class="lowerLegFootRight"/>
-          </body>
-        </body>
-      </body>
-      <body name="abduction_2" pos="0.130533 0.056 0.0508" quat="0.161152 1.09564e-06 0.98693 1.09564e-06">
-        <inertial pos="-0.0521152 0.00350917 0.0171912" quat="0.387877 0.592262 0.592492 0.384358" mass="0.639437" diaginertia="0.000866008 0.000565866 0.000479767"/>
-        <joint class="abductor" name="abduction_front_left" axis="0.94806 0 -0.318092"/>
-        <geom class="visual_abduction" pos="-0.0540394 0.0217 0.0181312" mesh="abduction"/>
-        <body name="upper_left_asm_1" pos="-0.0540394 0.0217 0.0181312" quat="0.671818 0.671821 0.220587 -0.220588">
-          <inertial pos="0.0306562 0.00629189 -0.0466005" quat="-0.113342 0.751294 0.0555641 0.647784" mass="0.938791" diaginertia="0.00538157 0.00518445 0.000790347"/>
-          <joint class="hip_front" name="hip_front_left" axis="0 0 1"/>
-          <geom class="visual" rgba="0.980392 0.713725 0.00392157 1" mesh="upper_left_2"/>
-          <geom class="visual" rgba="0.498039 0.498039 0.498039 1" mesh="upper_left_1"/>
-          <geom class="visual" rgba="1 0.756863 0.054902 1" mesh="upper_left_3"/>
-          <body name="lower_leg_1to1_front_left" pos="0.208835 0.0691954 -0.0792" quat="0.0386264 0.995249 0.0893024 0.0034659">
-            <inertial pos="-0.0577509 -0.00780463 -0.0129639" quat="-0.047103 0.705359 -0.0102465 0.70721" mass="0.169623" diaginertia="0.000828741 0.000813964 3.49901e-05"/>
-            <joint class="knee" name="knee_front_left"/>
-            <geom class="visual" pos="0.00320019 0.0259591 -0.0385878" rgba="0.32549 0.529412 0.980392 1" mesh="lower_leg_1to1"/>
-            <geom class="visual_foot" pos="0.00320019 0.0259591 -0.0385878" mesh="foot"/>
-            <geom class="lowerLegFootLeft"/>
-          </body>
-        </body>
-      </body>
-      <body name="abduction_3" pos="-0.134667 -0.056 0.0508" quat="1.30945e-06 0.98693 2.13816e-07 -0.161152">
-        <inertial pos="-0.0521152 0.00350917 0.0171912" quat="0.387877 0.592262 0.592492 0.384358" mass="0.639437" diaginertia="0.000866008 0.000565866 0.000479767"/>
-        <joint class="abductor" name="abduction_hind_right" axis="0.94806 0 -0.318092"/>
-        <geom class="visual_abduction" pos="-0.0540394 0.0217 0.0181312" mesh="abduction"/>
-        <body name="upper_right_asm_2" pos="-0.0540394 0.0217 0.0181312" quat="0.64729 0.647292 0.28463 -0.284631">
-          <inertial pos="-0.0253655 -0.0179374 -0.0465027" quat="-0.245689 0.639007 0.153351 0.712594" mass="0.942155" diaginertia="0.00539403 0.00519403 0.000795298"/>
-          <joint class="hip_hind" name="hip_hind_right" axis="0 0 -1"/>
-          <geom class="visual_upper_right2" mesh="upper_right_2"/>
-          <geom class="visual_upper_right2" mesh="upper_right_3"/>
-          <geom class="visual_upper_right1" mesh="upper_right_1"/>
-          <body name="lower_leg_1to1_hind_right" pos="-0.193523 -0.104637 -0.0792" quat="0.312742 -0.0121371 0.0368314 -0.949046">
-            <inertial pos="-0.0577509 -0.0097034 0.0114624" quat="-0.047103 0.705359 -0.0102465 0.70721" mass="0.169623" diaginertia="0.000828741 0.000813964 3.49901e-05"/>
-            <joint class="knee" name="knee_hind_right"/>
-            <geom class="visual" pos="0.00320019 0.0240604 -0.0141615" rgba="0.32549 0.529412 0.980392 1" mesh="lower_leg_1to1"/>
-            <geom class="visual_foot" pos="0.00320019 0.0240604 -0.0141615" mesh="foot"/>
-            <geom class="lowerLegFootRight"/>
-          </body>
-        </body>
-      </body>
-      <body name="abduction_4" pos="-0.134667 0.056 0.0508" quat="0.98693 0 -0.161152 0">
-        <inertial pos="-0.0521152 0.00350917 0.0171912" quat="0.387877 0.592262 0.592492 0.384358" mass="0.639437" diaginertia="0.000866008 0.000565866 0.000479767"/>
-        <joint class="abductor" name="abduction_hind_left" axis="-0.94806 0 0.318092"/>
-        <geom class="visual_abduction" pos="-0.0540394 0.0217 0.0181312" mesh="abduction"/>
-        <body name="upper_left_asm_2" pos="-0.0540394 0.0217 0.0181312" quat="-0.220587 -0.220588 0.67182 -0.671818">
-          <inertial pos="0.0306562 0.00629189 -0.0466005" quat="-0.113342 0.751294 0.0555641 0.647784" mass="0.938791" diaginertia="0.00538157 0.00518445 0.000790347"/>
-          <joint class="hip_hind" name="hip_hind_left" axis="0 0 1"/>
-          <geom class="visual" rgba="0.498039 0.498039 0.498039 1" mesh="upper_left_1"/>
-          <geom class="visual" rgba="1 0.756863 0.054902 1" mesh="upper_left_3"/>
-          <geom class="visual" rgba="0.980392 0.713725 0.00392157 1" mesh="upper_left_2"/>
-          <body name="lower_leg_1to1_hind_left" pos="0.208835 0.0691954 -0.0792" quat="0.0386264 0.995249 0.0893024 0.0034659">
-            <inertial pos="-0.0577509 -0.00780463 -0.0129639" quat="-0.047103 0.705359 -0.0102465 0.70721" mass="0.169623" diaginertia="0.000828741 0.000813964 3.49901e-05"/>
-            <joint class="knee" name="knee_hind_left"/>
-            <geom class="visual" pos="0.00320019 0.0259591 -0.0385878" rgba="0.32549 0.529412 0.980392 1" mesh="lower_leg_1to1"/>
-            <geom class="visual_foot" pos="0.00320019 0.0259591 -0.0385878" mesh="foot"/>
-            <geom class="lowerLegFootLeft"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="abduction_front_left" class="multi_mode_controlled_actuator" joint="abduction_front_left"/>
-    <general name="hip_front_left" class="multi_mode_controlled_actuator" joint="hip_front_left"/>
-    <general name="knee_front_left" class="multi_mode_controlled_actuator" joint="knee_front_left"/>
-    <general name="abduction_hind_left" class="multi_mode_controlled_actuator" joint="abduction_hind_left"/>
-    <general name="hip_hind_left" class="multi_mode_controlled_actuator" joint="hip_hind_left"/>
-    <general name="knee_hind_left" class="multi_mode_controlled_actuator" joint="knee_hind_left"/>
-    <general name="abduction_front_right" class="multi_mode_controlled_actuator" joint="abduction_front_right"/>
-    <general name="hip_front_right" class="multi_mode_controlled_actuator" joint="hip_front_right"/>
-    <general name="knee_front_right" class="multi_mode_controlled_actuator" joint="knee_front_right"/>
-    <general name="abduction_hind_right" class="multi_mode_controlled_actuator" joint="abduction_hind_right"/>
-    <general name="hip_hind_right" class="multi_mode_controlled_actuator" joint="hip_hind_right"/>
-    <general name="knee_hind_right" class="multi_mode_controlled_actuator" joint="knee_hind_right"/>
-  </actuator>
-
-  <sensor>
-    <jointpos joint="abduction_front_left" name="abduction_front_left_pos"/>
-    <jointpos joint="hip_front_left" name="hip_front_left_pos"/>
-    <jointpos joint="knee_front_left" name="knee_front_left_pos"/>
-    <jointpos joint="abduction_hind_left" name="abduction_hind_left_pos"/>
-    <jointpos joint="hip_hind_left" name="hip_hind_left_pos"/>
-    <jointpos joint="knee_hind_left" name="knee_hind_left_pos"/>
-    <jointpos joint="abduction_front_right" name="abduction_front_right_pos"/>
-    <jointpos joint="hip_front_right" name="hip_front_right_pos"/>
-    <jointpos joint="knee_front_right" name="knee_front_right_pos"/>
-    <jointpos joint="abduction_hind_right" name="abduction_hind_right_pos"/>
-    <jointpos joint="hip_hind_right" name="hip_hind_right_pos"/>
-    <jointpos joint="knee_hind_right" name="knee_hind_right_pos"/>
-    <jointvel joint="abduction_front_left" name="abduction_front_left_vel"/>
-    <jointvel joint="hip_front_left" name="hip_front_left_vel"/>
-    <jointvel joint="knee_front_left" name="knee_front_left_vel"/>
-    <jointvel joint="abduction_hind_left" name="abduction_hind_left_vel"/>
-    <jointvel joint="hip_hind_left" name="hip_hind_left_vel"/>
-    <jointvel joint="knee_hind_left" name="knee_hind_left_vel"/>
-    <jointvel joint="abduction_front_right" name="abduction_front_right_vel"/>
-    <jointvel joint="hip_front_right" name="hip_front_right_vel"/>
-    <jointvel joint="knee_front_right" name="knee_front_right_vel"/>
-    <jointvel joint="abduction_hind_right" name="abduction_hind_right_vel"/>
-    <jointvel joint="hip_hind_right" name="hip_hind_right_vel"/>
-    <jointvel joint="knee_hind_right" name="knee_hind_right_vel"/>
-    <gyro site="origin" name="gyro"/>
-    <accelerometer site="origin" name="accelerometer"/>
-    <framequat objtype="site" objname="origin" name="orientation"/>
-  </sensor>
-
-  <keyframe>
-    <key name="standing" qpos="0 0 0.21 1 0 0 0 0 0.5 1.0 0 0.5 1.0 0 0.5 1.0 0 0.5 1.0"
-      ctrl="0 0.5 1.0 0 0.5 1.0 0 0.5 1.0 0 0.5 1.0"/>
-  </keyframe>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/body.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/body.stl
deleted file mode 100644
index f1a7e963..00000000
Binary files a/mjx/mujoco/mjx/test_data/barkour_v0/assets/body.stl and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/foot.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/foot.stl
deleted file mode 100644
index ab648855..00000000
Binary files a/mjx/mujoco/mjx/test_data/barkour_v0/assets/foot.stl and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/handle.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/handle.stl
deleted file mode 100644
index a9d1ee18..00000000
Binary files a/mjx/mujoco/mjx/test_data/barkour_v0/assets/handle.stl and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/head.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/head.stl
deleted file mode 100644
index 05fd831c..00000000
Binary files a/mjx/mujoco/mjx/test_data/barkour_v0/assets/head.stl and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/head_mount.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/head_mount.stl
deleted file mode 100644
index d0ca5602..00000000
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diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/hfield_240_280.png b/mjx/mujoco/mjx/test_data/barkour_v0/assets/hfield_240_280.png
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diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/lower_leg_1to1.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/lower_leg_1to1.stl
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diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/powercable.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/powercable.stl
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index 99b477bc..00000000
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diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_left_1.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_left_1.stl
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diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_left_2.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_left_2.stl
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diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_left_3.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_left_3.stl
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diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_right_1.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_right_1.stl
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diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_right_2.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_right_2.stl
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diff --git a/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_right_3.stl b/mjx/mujoco/mjx/test_data/barkour_v0/assets/upper_right_3.stl
deleted file mode 100644
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diff --git a/mjx/mujoco/mjx/test_data/constraints.xml b/mjx/mujoco/mjx/test_data/constraints.xml
deleted file mode 100644
index 029cd9fe..00000000
--- a/mjx/mujoco/mjx/test_data/constraints.xml
+++ /dev/null
@@ -1,115 +0,0 @@
-<!-- For validating constraint dynamics:
-
-* connect, weld, joint constraints
-* collision and joint limits for ball and 1d joints
-* solref, solimp
--->
-<mujoco>
-  <option timestep="0.015" impratio="1.5"/>
-
-  <default>
-    <default class="box">
-      <geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3"  contype="0"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom pos="0 0 -1" type="plane" size="20 20 .01" condim="1"/>
-
-    <site name="site0" pos="0 0 1"/>
-    <body pos="0 0 1">
-      <freejoint/>
-      <geom class="box"/>
-      <site name="site1"/>
-    </body>
-
-    <site name="site2" pos="0 -1 1"/>
-    <body pos="0 -1 1">
-      <freejoint/>
-      <geom class="box"/>
-      <site name="site3"/>
-    </body>
-
-    <body name="anchor1" pos="-3 0 0"/>
-    <body name="beam1" pos="-3 0 0">
-      <joint name="joint1" type="ball" range="0 45" solreflimit="0.03 0.9" solimplimit="0.89 0.9 0.01 2.1"/>
-      <geom class="box"/>
-    </body>
-
-    <body name="anchor2" pos="-1 0 0"/>
-    <body name="beam2" pos="-1 0 0">
-      <freejoint align="false"/>
-      <geom class="box"/>
-    </body>
-
-    <body name="beam3" pos="1 0 0">
-      <joint name="joint3" axis="1 0 0" type="hinge" range="-20 20" frictionloss="0.1"/>
-      <geom class="box"/>
-    </body>
-
-    <body name="beam4" pos="3 0 0">
-      <joint name="joint4" axis="1 0 0" type="hinge" damping="1.0"/> <!-- tests no joint range -->
-      <geom class="box"/>
-    </body>
-
-    <body name="beam5" pos="-2 0 0" euler="45 45 0">
-      <joint name="joint5" type="ball" range="0 45" solreflimit="-100 -1"/> <!-- test negative solref -->
-      <geom class="box" contype="0" conaffinity="0"/>
-    </body>
-
-    <body name="box_condim1" pos="4 0 0">
-      <freejoint align="false"/>
-      <geom class="box" condim="1"/>
-    </body>
-
-    <body name="box_condim3" pos="5 0 0">
-      <freejoint align="false"/>
-      <geom class="box" condim="3"/>
-    </body>
-
-    <body name="box_condim4" pos="6 0 0">
-      <freejoint align="false"/>
-      <geom class="box" condim="4"/>
-    </body>
-
-    <body name="box_condim6" pos="7 0 0">
-      <freejoint align="false"/>
-      <geom class="box" condim="6"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <fixed name="tendon_1" limited="true" range="-0.3 0.1" stiffness=".1" damping=".2" frictionloss="0.1">
-      <joint joint="joint3" coef=".1"/>
-      <joint joint="joint4" coef="-.2"/>
-    </fixed>
-    <fixed name="tendon_2" limited="true" range="-0.3 2" solreflimit="0.03 0.9" solimplimit="0.89 0.9 0.01 2.1">
-      <joint joint="joint4" coef=".3"/>
-      <joint joint="joint5" coef="-.4"/>
-    </fixed>
-  </tendon>
-
-  <equality>
-    <connect name="c_site"   site1="site0"      site2="site1"/>
-    <connect name="connect"  body1="anchor1"    body2="beam1"   anchor="1 0 -1" />
-    <weld    name="w_site"   site1="site2"      site2="site3"   torquescale="0.1"/>
-    <weld    name="weld"     body1="anchor2"    body2="beam2"   relpose="0 0 0 1 -.3 0 0" torquescale="0.002" anchor="0 -2 0"/>
-    <joint   name="joint"    joint1="joint3"    joint2="joint4" polycoef="0.5 -1 0.1 0.15 0.2" />
-    <tendon  name="tendon"   tendon1="tendon_1" tendon2="tendon_2" polycoef="0.5 -1 0.1 0.15 0.2"/>
-  </equality>
-
-  <actuator>
-    <position ctrlrange="-20 20" gear="500" joint="joint1" kv="0.5" name="act1"/>
-    <motor gear="50000" joint="joint3" name="act2"/>
-    <motor gear="75000" joint="joint4" name="act3"/>
-  </actuator>
-
-  <keyframe>
-    <!-- keyframe 0: default position with some motion, zero contacts -->
-    <key qpos='-1 -1 1 1 0 0 0 -2 -2 1 1 0 0 0 1 0 0 0 -1 0 0 1 0 0 0 0 0 1 0 0 0 4 0 0 1 0 0 0 5 0 0 1 0 0 0 6 0 0 1 0 0 0 7 0 0 1 0 0 0' qvel='1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1'/>
-    <!-- keyframe 1: some contacts but constraints are quadratic -->
-    <key qpos='-1 -1 1 1 0 0 0 -2 -2 1 1 0 0 0 1 0.0011 -8.2e-07 -0.0011 -0.82 1.9 -0.58 0.97 -0.14 0.17 -0.069 0.22 0.29 0.93 0.2 0.15 0.28 4.3 0.23 -0.26 0.97 0.12 0.11 0.18 5.4 0.25 -0.26 0.97 0.11 0.16 0.17 6.4 0.25 -0.26 0.97 0.11 0.16 0.17 7.4 0.25 -0.26 0.97 0.11 0.16 0.17' qvel='1 1 1 1 1 1 1 1 1 1 1 1 -0.14 3.3e-05 0.14 -0.14 -0.93 -3.6 -1.8 1 -0.57 -0.16 0.21 1.1 1 2.2 0.65 1.3 -4.2 -2.6 -5.6 0.54 1.6 2.8 -3.7 -2.3 0.7 -1.8 1.6 2.8 -3.7 -2.3 0.62 -1.8 1.6 2.8 -3.7 -2.3 0.61 -1.8'/>
-    <!-- keyframe 2: some contacts and some constraints are in cone state (for elliptic) -->
-    <key qpos='-1 -1 1 1 0 0 0 -2 -2 1 1 0 0 0 1 0.0087 2.4e-07 -0.0086 -0.89 1.8 -0.77 0.98 -0.2 -0.0022 -0.026 0.19 0.33 0.86 0.32 0.064 0.38 4.4 0.36 -0.81 0.97 -0.0013 -0.0011 0.25 5.6 0.52 -0.75 0.98 -0.018 0.17 0.094 6.6 0.52 -0.75 0.98 -0.017 0.16 0.094 7.6 0.52 -0.76 0.98 -0.017 0.16 0.094' qvel='1 1 1 1 1 1 1 1 1 1 1 1 0.2 -1.8e-05 -0.2 -0.72 0.072 0.025 0.015 -4.9 0.35 -0.22 0.26 0.99 -4.6 1.7 1.1 0.52 -0.73 0.16 7.9 1 0.043 -0.042 1.3 1.6 -1.6 0.98 0.027 -0.024 1.3 1.6 -1.8 0.96 0.025 -0.022 1.3 1.6 -1.8 0.96'/>
-  </keyframe>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/convex.xml b/mjx/mujoco/mjx/test_data/convex.xml
deleted file mode 100644
index 3717f426..00000000
--- a/mjx/mujoco/mjx/test_data/convex.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-<mujoco model="convex_convex">
-  <default>
-    <geom friction="0.5 0.0 0.0"/>
-  </default>
-  <option solver="Newton" iterations="10" ls_iterations="6"/>
-  <asset>
-      <mesh name="tetrahedron" file="meshes/tetrahedron.stl" scale="0.4 0.4 0.4" />
-      <mesh name="dodecahedron" file="meshes/dodecahedron.stl" scale="0.04 0.04 0.04" />
-      <mesh name="pyramid" file="meshes/pyramid.stl" scale="0.4 0.4 0.4" />
-      <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
-      <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
-      <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-      <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-      <material name="geom" texture="texgeom" texuniform="true"/>
-  </asset>
-  <worldbody>
-    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" size="40 40 40" type="plane"/>
-    <camera pos="-0.323 -4.170 2.949" xyaxes="1.000 -0.024 -0.000 0.010 0.427 0.904"/>
-
-    <body name="tetrahedron" pos="0.0 2.0 0.8">
-      <joint axis="1 0 0" name="free1" pos="0 0 0" type="free"/>
-      <geom name="tetrahedron" pos="0 0 0" type="mesh" mesh="tetrahedron" rgba="1 0 0 1"/>
-    </body>
-
-    <body name="dodecahedron" pos="0.0 2.0 1.8" euler="0.1 -0.1 45">
-      <joint axis="1 0 0" name="free2" pos="0 0 0" type="free"/>
-      <geom name="dodecahedron" pos="0 0 0" type="mesh" mesh="dodecahedron" rgba="0 1 0 1"/>
-    </body>
-
-    <body name="box" pos="0.0 2.0 2.5" euler="0.1 -0.1 45">
-      <joint axis="1 0 0" name="free3" pos="0 0 0" type="free"/>
-      <geom name="box1" pos="0 0 0" size="0.2 0.2 0.2" type="box" rgba="0 0 1 1"/>
-    </body>
-
-    <body name="pyramid" pos="0.0 2.0 3.0" euler="0.1 -0.1 45">
-      <joint axis="1 0 0" name="free4" pos="0 0 0" type="free"/>
-      <geom name="pyramid" pos="0 0 0" type="mesh" mesh="pyramid" rgba="1 0 1 1"/>
-    </body>
-
-  </worldbody>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/01_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/01_humanoids.xml
deleted file mode 100644
index a8aa807f..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/01_humanoids.xml
+++ /dev/null
@@ -1,150 +0,0 @@
-<mujoco model="01 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="4" name="max_contact_points"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="0"/>
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="big_joint">
-        <joint damping="5" stiffness="10"/>
-        <default class="big_stiff_joint">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
-    <light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
-    <light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
-
-    <body name="1a_torso" pos="-1 0 1.5" childclass="body">
-      <camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="1a_root"/>
-      <geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="1a_head" pos="0 0 .19">
-        <geom name="1a_head" type="sphere" size=".09"/>
-        <camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="1a_lower_waist" pos="-.01 0 -.26">
-        <geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="1a_pelvis" pos="0 0 -.165">
-          <joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="1a_right_thigh" pos="0 -.1 -.04">
-            <joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="1a_right_shin" pos="0 .01 -.403">
-              <joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_right_foot" pos="0 0 -.39">
-                <joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="1a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="1a_left_thigh" pos="0 .1 -.04">
-            <joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="1a_left_shin" pos="0 -.01 -.403">
-              <joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_left_foot" pos="0 0 -.39">
-                <joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="1a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="1a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="1a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="1a_right_hand" pos=".18 .18 .18">
-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="1a_left_hand" pos=".18 -.18 .18">
-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/02_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/02_humanoids.xml
deleted file mode 100644
index f41ecabf..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/02_humanoids.xml
+++ /dev/null
@@ -1,255 +0,0 @@
-<mujoco model="02 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="8" name="max_contact_points"/>
-    <numeric data="8" name="max_geom_pairs"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-    <default class="big_joint">
-      <joint damping="5" stiffness="10"/>
-      <default class="big_stiff_joint">
-        <joint stiffness="20"/>
-      </default>
-    </default>
-    <default class="body1">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="5"/>
-    </default>
-    <default class="body2">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="3"/>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
-    <light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
-    <light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
-
-    <body name="1a_torso" pos="-1 0 1.5" childclass="body1">
-      <camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="1a_root"/>
-      <geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="1a_head" pos="0 0 .19">
-        <geom name="1a_head" type="sphere" size=".09"/>
-        <camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="1a_lower_waist" pos="-.01 0 -.26">
-        <geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="1a_pelvis" pos="0 0 -.165">
-          <joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="1a_right_thigh" pos="0 -.1 -.04">
-            <joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="1a_right_shin" pos="0 .01 -.403">
-              <joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_right_foot" pos="0 0 -.39">
-                <joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="1a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="1a_left_thigh" pos="0 .1 -.04">
-            <joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="1a_left_shin" pos="0 -.01 -.403">
-              <joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_left_foot" pos="0 0 -.39">
-                <joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="1a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="1a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="1a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="1a_right_hand" pos=".18 .18 .18">
-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="1a_left_hand" pos=".18 -.18 .18">
-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="2a_torso" pos="-1 1 1.5" childclass="body2">
-      <camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="2a_root"/>
-      <geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="2a_head" pos="0 0 .19">
-        <geom name="2a_head" type="sphere" size=".09"/>
-        <camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="2a_lower_waist" pos="-.01 0 -.26">
-        <geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="2a_pelvis" pos="0 0 -.165">
-          <joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="2a_right_thigh" pos="0 -.1 -.04">
-            <joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="2a_right_shin" pos="0 .01 -.403">
-              <joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_right_foot" pos="0 0 -.39">
-                <joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="2a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="2a_left_thigh" pos="0 .1 -.04">
-            <joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="2a_left_shin" pos="0 -.01 -.403">
-              <joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_left_foot" pos="0 0 -.39">
-                <joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="2a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="2a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="2a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="2a_right_hand" pos=".18 .18 .18">
-            <geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="2a_left_upper_arm" pos="0 .17 .06">
-        <joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="2a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="2a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="2a_left_hand" pos=".18 -.18 .18">
-            <geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="2a_abdomen_y"/>
-    <motor gear="40"  joint="2a_abdomen_z"/>
-    <motor gear="40"  joint="2a_abdomen_x"/>
-    <motor gear="40"  joint="2a_right_hip_x"/>
-    <motor gear="40"  joint="2a_right_hip_z"/>
-    <motor gear="120" joint="2a_right_hip_y"/>
-    <motor gear="80"  joint="2a_right_knee"/>
-    <motor gear="20"  joint="2a_right_ankle_x"/>
-    <motor gear="20"  joint="2a_right_ankle_y"/>
-    <motor gear="40"  joint="2a_left_hip_x"/>
-    <motor gear="40"  joint="2a_left_hip_z"/>
-    <motor gear="120" joint="2a_left_hip_y"/>
-    <motor gear="80"  joint="2a_left_knee"/>
-    <motor gear="20"  joint="2a_left_ankle_x"/>
-    <motor gear="20"  joint="2a_left_ankle_y"/>
-    <motor gear="20"  joint="2a_right_shoulder1"/>
-    <motor gear="20"  joint="2a_right_shoulder2"/>
-    <motor gear="40"  joint="2a_right_elbow"/>
-    <motor gear="20"  joint="2a_left_shoulder1"/>
-    <motor gear="20"  joint="2a_left_shoulder2"/>
-    <motor gear="40"  joint="2a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/03_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/03_humanoids.xml
deleted file mode 100644
index f855f790..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/03_humanoids.xml
+++ /dev/null
@@ -1,359 +0,0 @@
-<mujoco model="03 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="12" name="max_contact_points"/>
-    <numeric data="12" name="max_geom_pairs"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-    <default class="big_joint">
-      <joint damping="5" stiffness="10"/>
-      <default class="big_stiff_joint">
-        <joint stiffness="20"/>
-      </default>
-    </default>
-    <default class="body1">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="13"/>
-    </default>
-    <default class="body2">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="11"/>
-    </default>
-    <default class="body3">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="7"/>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
-    <light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
-    <light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
-
-    <body name="1a_torso" pos="-1 0 1.5" childclass="body1">
-      <camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="1a_root"/>
-      <geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="1a_head" pos="0 0 .19">
-        <geom name="1a_head" type="sphere" size=".09"/>
-        <camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="1a_lower_waist" pos="-.01 0 -.26">
-        <geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="1a_pelvis" pos="0 0 -.165">
-          <joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="1a_right_thigh" pos="0 -.1 -.04">
-            <joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="1a_right_shin" pos="0 .01 -.403">
-              <joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_right_foot" pos="0 0 -.39">
-                <joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="1a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="1a_left_thigh" pos="0 .1 -.04">
-            <joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="1a_left_shin" pos="0 -.01 -.403">
-              <joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_left_foot" pos="0 0 -.39">
-                <joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="1a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="1a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="1a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="1a_right_hand" pos=".18 .18 .18">
-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="1a_left_hand" pos=".18 -.18 .18">
-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="2a_torso" pos="-1 1 1.5" childclass="body2">
-      <camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="2a_root"/>
-      <geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="2a_head" pos="0 0 .19">
-        <geom name="2a_head" type="sphere" size=".09"/>
-        <camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="2a_lower_waist" pos="-.01 0 -.26">
-        <geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="2a_pelvis" pos="0 0 -.165">
-          <joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="2a_right_thigh" pos="0 -.1 -.04">
-            <joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="2a_right_shin" pos="0 .01 -.403">
-              <joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_right_foot" pos="0 0 -.39">
-                <joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="2a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="2a_left_thigh" pos="0 .1 -.04">
-            <joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="2a_left_shin" pos="0 -.01 -.403">
-              <joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_left_foot" pos="0 0 -.39">
-                <joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="2a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="2a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="2a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="2a_right_hand" pos=".18 .18 .18">
-            <geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="2a_left_upper_arm" pos="0 .17 .06">
-        <joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="2a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="2a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="2a_left_hand" pos=".18 -.18 .18">
-            <geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
-      <camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="3a_root"/>
-      <geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="3a_head" pos="0 0 .19">
-        <geom name="3a_head" type="sphere" size=".09"/>
-        <camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="3a_lower_waist" pos="-.01 0 -.26">
-        <geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="3a_pelvis" pos="0 0 -.165">
-          <joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="3a_right_thigh" pos="0 -.1 -.04">
-            <joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="3a_right_shin" pos="0 .01 -.403">
-              <joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_right_foot" pos="0 0 -.39">
-                <joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="3a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="3a_left_thigh" pos="0 .1 -.04">
-            <joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="3a_left_shin" pos="0 -.01 -.403">
-              <joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_left_foot" pos="0 0 -.39">
-                <joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="3a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="3a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="3a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="3a_right_hand" pos=".18 .18 .18">
-            <geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="3a_left_upper_arm" pos="0 .17 .06">
-        <joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="3a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="3a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="3a_left_hand" pos=".18 -.18 .18">
-            <geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="2a_abdomen_y"/>
-    <motor gear="40"  joint="2a_abdomen_z"/>
-    <motor gear="40"  joint="2a_abdomen_x"/>
-    <motor gear="40"  joint="2a_right_hip_x"/>
-    <motor gear="40"  joint="2a_right_hip_z"/>
-    <motor gear="120" joint="2a_right_hip_y"/>
-    <motor gear="80"  joint="2a_right_knee"/>
-    <motor gear="20"  joint="2a_right_ankle_x"/>
-    <motor gear="20"  joint="2a_right_ankle_y"/>
-    <motor gear="40"  joint="2a_left_hip_x"/>
-    <motor gear="40"  joint="2a_left_hip_z"/>
-    <motor gear="120" joint="2a_left_hip_y"/>
-    <motor gear="80"  joint="2a_left_knee"/>
-    <motor gear="20"  joint="2a_left_ankle_x"/>
-    <motor gear="20"  joint="2a_left_ankle_y"/>
-    <motor gear="20"  joint="2a_right_shoulder1"/>
-    <motor gear="20"  joint="2a_right_shoulder2"/>
-    <motor gear="40"  joint="2a_right_elbow"/>
-    <motor gear="20"  joint="2a_left_shoulder1"/>
-    <motor gear="20"  joint="2a_left_shoulder2"/>
-    <motor gear="40"  joint="2a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="3a_abdomen_y"/>
-    <motor gear="40"  joint="3a_abdomen_z"/>
-    <motor gear="40"  joint="3a_abdomen_x"/>
-    <motor gear="40"  joint="3a_right_hip_x"/>
-    <motor gear="40"  joint="3a_right_hip_z"/>
-    <motor gear="120" joint="3a_right_hip_y"/>
-    <motor gear="80"  joint="3a_right_knee"/>
-    <motor gear="20"  joint="3a_right_ankle_x"/>
-    <motor gear="20"  joint="3a_right_ankle_y"/>
-    <motor gear="40"  joint="3a_left_hip_x"/>
-    <motor gear="40"  joint="3a_left_hip_z"/>
-    <motor gear="120" joint="3a_left_hip_y"/>
-    <motor gear="80"  joint="3a_left_knee"/>
-    <motor gear="20"  joint="3a_left_ankle_x"/>
-    <motor gear="20"  joint="3a_left_ankle_y"/>
-    <motor gear="20"  joint="3a_right_shoulder1"/>
-    <motor gear="20"  joint="3a_right_shoulder2"/>
-    <motor gear="40"  joint="3a_right_elbow"/>
-    <motor gear="20"  joint="3a_left_shoulder1"/>
-    <motor gear="20"  joint="3a_left_shoulder2"/>
-    <motor gear="40"  joint="3a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/04_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/04_humanoids.xml
deleted file mode 100644
index ff6cb712..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/04_humanoids.xml
+++ /dev/null
@@ -1,463 +0,0 @@
-<mujoco model="04 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="16" name="max_contact_points"/>
-    <numeric data="16" name="max_geom_pairs"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-    <default class="big_joint">
-      <joint damping="5" stiffness="10"/>
-      <default class="big_stiff_joint">
-        <joint stiffness="20"/>
-      </default>
-    </default>
-    <default class="body1">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="29"/>
-    </default>
-    <default class="body2">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="27"/>
-    </default>
-    <default class="body3">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="23"/>
-    </default>
-    <default class="body4">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="15"/>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
-    <light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
-    <light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
-
-    <body name="1a_torso" pos="-1 0 1.5" childclass="body1">
-      <camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="1a_root"/>
-      <geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="1a_head" pos="0 0 .19">
-        <geom name="1a_head" type="sphere" size=".09"/>
-        <camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="1a_lower_waist" pos="-.01 0 -.26">
-        <geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="1a_pelvis" pos="0 0 -.165">
-          <joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="1a_right_thigh" pos="0 -.1 -.04">
-            <joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="1a_right_shin" pos="0 .01 -.403">
-              <joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_right_foot" pos="0 0 -.39">
-                <joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="1a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="1a_left_thigh" pos="0 .1 -.04">
-            <joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="1a_left_shin" pos="0 -.01 -.403">
-              <joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_left_foot" pos="0 0 -.39">
-                <joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="1a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="1a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="1a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="1a_right_hand" pos=".18 .18 .18">
-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="1a_left_hand" pos=".18 -.18 .18">
-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="2a_torso" pos="-1 1 1.5" childclass="body2">
-      <camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="2a_root"/>
-      <geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="2a_head" pos="0 0 .19">
-        <geom name="2a_head" type="sphere" size=".09"/>
-        <camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="2a_lower_waist" pos="-.01 0 -.26">
-        <geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="2a_pelvis" pos="0 0 -.165">
-          <joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="2a_right_thigh" pos="0 -.1 -.04">
-            <joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="2a_right_shin" pos="0 .01 -.403">
-              <joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_right_foot" pos="0 0 -.39">
-                <joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="2a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="2a_left_thigh" pos="0 .1 -.04">
-            <joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="2a_left_shin" pos="0 -.01 -.403">
-              <joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_left_foot" pos="0 0 -.39">
-                <joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="2a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="2a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="2a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="2a_right_hand" pos=".18 .18 .18">
-            <geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="2a_left_upper_arm" pos="0 .17 .06">
-        <joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="2a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="2a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="2a_left_hand" pos=".18 -.18 .18">
-            <geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
-      <camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="3a_root"/>
-      <geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="3a_head" pos="0 0 .19">
-        <geom name="3a_head" type="sphere" size=".09"/>
-        <camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="3a_lower_waist" pos="-.01 0 -.26">
-        <geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="3a_pelvis" pos="0 0 -.165">
-          <joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="3a_right_thigh" pos="0 -.1 -.04">
-            <joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="3a_right_shin" pos="0 .01 -.403">
-              <joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_right_foot" pos="0 0 -.39">
-                <joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="3a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="3a_left_thigh" pos="0 .1 -.04">
-            <joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="3a_left_shin" pos="0 -.01 -.403">
-              <joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_left_foot" pos="0 0 -.39">
-                <joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="3a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="3a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="3a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="3a_right_hand" pos=".18 .18 .18">
-            <geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="3a_left_upper_arm" pos="0 .17 .06">
-        <joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="3a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="3a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="3a_left_hand" pos=".18 -.18 .18">
-            <geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="4a_torso" pos="-1 2 1.5" childclass="body4">
-      <camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="4a_root"/>
-      <geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="4a_head" pos="0 0 .19">
-        <geom name="4a_head" type="sphere" size=".09"/>
-        <camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="4a_lower_waist" pos="-.01 0 -.26">
-        <geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="4a_pelvis" pos="0 0 -.165">
-          <joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="4a_right_thigh" pos="0 -.1 -.04">
-            <joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="4a_right_shin" pos="0 .01 -.403">
-              <joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="4a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_right_foot" pos="0 0 -.39">
-                <joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="4a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="4a_left_thigh" pos="0 .1 -.04">
-            <joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="4a_left_shin" pos="0 -.01 -.403">
-              <joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="4a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_left_foot" pos="0 0 -.39">
-                <joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="4a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="4a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="4a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="4a_right_hand" pos=".18 .18 .18">
-            <geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="4a_left_upper_arm" pos="0 .17 .06">
-        <joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="4a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="4a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="4a_left_hand" pos=".18 -.18 .18">
-            <geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="2a_abdomen_y"/>
-    <motor gear="40"  joint="2a_abdomen_z"/>
-    <motor gear="40"  joint="2a_abdomen_x"/>
-    <motor gear="40"  joint="2a_right_hip_x"/>
-    <motor gear="40"  joint="2a_right_hip_z"/>
-    <motor gear="120" joint="2a_right_hip_y"/>
-    <motor gear="80"  joint="2a_right_knee"/>
-    <motor gear="20"  joint="2a_right_ankle_x"/>
-    <motor gear="20"  joint="2a_right_ankle_y"/>
-    <motor gear="40"  joint="2a_left_hip_x"/>
-    <motor gear="40"  joint="2a_left_hip_z"/>
-    <motor gear="120" joint="2a_left_hip_y"/>
-    <motor gear="80"  joint="2a_left_knee"/>
-    <motor gear="20"  joint="2a_left_ankle_x"/>
-    <motor gear="20"  joint="2a_left_ankle_y"/>
-    <motor gear="20"  joint="2a_right_shoulder1"/>
-    <motor gear="20"  joint="2a_right_shoulder2"/>
-    <motor gear="40"  joint="2a_right_elbow"/>
-    <motor gear="20"  joint="2a_left_shoulder1"/>
-    <motor gear="20"  joint="2a_left_shoulder2"/>
-    <motor gear="40"  joint="2a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="3a_abdomen_y"/>
-    <motor gear="40"  joint="3a_abdomen_z"/>
-    <motor gear="40"  joint="3a_abdomen_x"/>
-    <motor gear="40"  joint="3a_right_hip_x"/>
-    <motor gear="40"  joint="3a_right_hip_z"/>
-    <motor gear="120" joint="3a_right_hip_y"/>
-    <motor gear="80"  joint="3a_right_knee"/>
-    <motor gear="20"  joint="3a_right_ankle_x"/>
-    <motor gear="20"  joint="3a_right_ankle_y"/>
-    <motor gear="40"  joint="3a_left_hip_x"/>
-    <motor gear="40"  joint="3a_left_hip_z"/>
-    <motor gear="120" joint="3a_left_hip_y"/>
-    <motor gear="80"  joint="3a_left_knee"/>
-    <motor gear="20"  joint="3a_left_ankle_x"/>
-    <motor gear="20"  joint="3a_left_ankle_y"/>
-    <motor gear="20"  joint="3a_right_shoulder1"/>
-    <motor gear="20"  joint="3a_right_shoulder2"/>
-    <motor gear="40"  joint="3a_right_elbow"/>
-    <motor gear="20"  joint="3a_left_shoulder1"/>
-    <motor gear="20"  joint="3a_left_shoulder2"/>
-    <motor gear="40"  joint="3a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="4a_abdomen_y"/>
-    <motor gear="40"  joint="4a_abdomen_z"/>
-    <motor gear="40"  joint="4a_abdomen_x"/>
-    <motor gear="40"  joint="4a_right_hip_x"/>
-    <motor gear="40"  joint="4a_right_hip_z"/>
-    <motor gear="120" joint="4a_right_hip_y"/>
-    <motor gear="80"  joint="4a_right_knee"/>
-    <motor gear="20"  joint="4a_right_ankle_x"/>
-    <motor gear="20"  joint="4a_right_ankle_y"/>
-    <motor gear="40"  joint="4a_left_hip_x"/>
-    <motor gear="40"  joint="4a_left_hip_z"/>
-    <motor gear="120" joint="4a_left_hip_y"/>
-    <motor gear="80"  joint="4a_left_knee"/>
-    <motor gear="20"  joint="4a_left_ankle_x"/>
-    <motor gear="20"  joint="4a_left_ankle_y"/>
-    <motor gear="20"  joint="4a_right_shoulder1"/>
-    <motor gear="20"  joint="4a_right_shoulder2"/>
-    <motor gear="40"  joint="4a_right_elbow"/>
-    <motor gear="20"  joint="4a_left_shoulder1"/>
-    <motor gear="20"  joint="4a_left_shoulder2"/>
-    <motor gear="40"  joint="4a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/05_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/05_humanoids.xml
deleted file mode 100644
index d6483316..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/05_humanoids.xml
+++ /dev/null
@@ -1,567 +0,0 @@
-<mujoco model="05 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="20" name="max_contact_points"/>
-    <numeric data="20" name="max_geom_pairs"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-    <default class="big_joint">
-      <joint damping="5" stiffness="10"/>
-      <default class="big_stiff_joint">
-        <joint stiffness="20"/>
-      </default>
-    </default>
-    <default class="body1">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="61"/>
-    </default>
-    <default class="body2">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="59"/>
-    </default>
-    <default class="body3">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="55"/>
-    </default>
-    <default class="body4">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="47"/>
-    </default>
-    <default class="body5">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="31"/>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
-    <light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
-    <light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
-
-    <body name="1a_torso" pos="-1 0 1.5" childclass="body1">
-      <camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="1a_root"/>
-      <geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="1a_head" pos="0 0 .19">
-        <geom name="1a_head" type="sphere" size=".09"/>
-        <camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="1a_lower_waist" pos="-.01 0 -.26">
-        <geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="1a_pelvis" pos="0 0 -.165">
-          <joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="1a_right_thigh" pos="0 -.1 -.04">
-            <joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="1a_right_shin" pos="0 .01 -.403">
-              <joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_right_foot" pos="0 0 -.39">
-                <joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="1a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="1a_left_thigh" pos="0 .1 -.04">
-            <joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="1a_left_shin" pos="0 -.01 -.403">
-              <joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_left_foot" pos="0 0 -.39">
-                <joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="1a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="1a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="1a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="1a_right_hand" pos=".18 .18 .18">
-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="1a_left_hand" pos=".18 -.18 .18">
-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="2a_torso" pos="-1 1 1.5" childclass="body2">
-      <camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="2a_root"/>
-      <geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="2a_head" pos="0 0 .19">
-        <geom name="2a_head" type="sphere" size=".09"/>
-        <camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="2a_lower_waist" pos="-.01 0 -.26">
-        <geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="2a_pelvis" pos="0 0 -.165">
-          <joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="2a_right_thigh" pos="0 -.1 -.04">
-            <joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="2a_right_shin" pos="0 .01 -.403">
-              <joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_right_foot" pos="0 0 -.39">
-                <joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="2a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="2a_left_thigh" pos="0 .1 -.04">
-            <joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="2a_left_shin" pos="0 -.01 -.403">
-              <joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_left_foot" pos="0 0 -.39">
-                <joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="2a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="2a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="2a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="2a_right_hand" pos=".18 .18 .18">
-            <geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="2a_left_upper_arm" pos="0 .17 .06">
-        <joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="2a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="2a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="2a_left_hand" pos=".18 -.18 .18">
-            <geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
-      <camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="3a_root"/>
-      <geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="3a_head" pos="0 0 .19">
-        <geom name="3a_head" type="sphere" size=".09"/>
-        <camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="3a_lower_waist" pos="-.01 0 -.26">
-        <geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="3a_pelvis" pos="0 0 -.165">
-          <joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="3a_right_thigh" pos="0 -.1 -.04">
-            <joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="3a_right_shin" pos="0 .01 -.403">
-              <joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_right_foot" pos="0 0 -.39">
-                <joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="3a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="3a_left_thigh" pos="0 .1 -.04">
-            <joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="3a_left_shin" pos="0 -.01 -.403">
-              <joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_left_foot" pos="0 0 -.39">
-                <joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="3a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="3a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="3a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="3a_right_hand" pos=".18 .18 .18">
-            <geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="3a_left_upper_arm" pos="0 .17 .06">
-        <joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="3a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="3a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="3a_left_hand" pos=".18 -.18 .18">
-            <geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="4a_torso" pos="-1 2 1.5" childclass="body4">
-      <camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="4a_root"/>
-      <geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="4a_head" pos="0 0 .19">
-        <geom name="4a_head" type="sphere" size=".09"/>
-        <camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="4a_lower_waist" pos="-.01 0 -.26">
-        <geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="4a_pelvis" pos="0 0 -.165">
-          <joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="4a_right_thigh" pos="0 -.1 -.04">
-            <joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="4a_right_shin" pos="0 .01 -.403">
-              <joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="4a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_right_foot" pos="0 0 -.39">
-                <joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="4a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="4a_left_thigh" pos="0 .1 -.04">
-            <joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="4a_left_shin" pos="0 -.01 -.403">
-              <joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="4a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_left_foot" pos="0 0 -.39">
-                <joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="4a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="4a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="4a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="4a_right_hand" pos=".18 .18 .18">
-            <geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="4a_left_upper_arm" pos="0 .17 .06">
-        <joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="4a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="4a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="4a_left_hand" pos=".18 -.18 .18">
-            <geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
-      <camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="5a_root"/>
-      <geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="5a_head" pos="0 0 .19">
-        <geom name="5a_head" type="sphere" size=".09"/>
-        <camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="5a_lower_waist" pos="-.01 0 -.26">
-        <geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="5a_pelvis" pos="0 0 -.165">
-          <joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="5a_right_thigh" pos="0 -.1 -.04">
-            <joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="5a_right_shin" pos="0 .01 -.403">
-              <joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="5a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_right_foot" pos="0 0 -.39">
-                <joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="5a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="5a_left_thigh" pos="0 .1 -.04">
-            <joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="5a_left_shin" pos="0 -.01 -.403">
-              <joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="5a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_left_foot" pos="0 0 -.39">
-                <joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="5a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="5a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="5a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="5a_right_hand" pos=".18 .18 .18">
-            <geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="5a_left_upper_arm" pos="0 .17 .06">
-        <joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="5a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="5a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="5a_left_hand" pos=".18 -.18 .18">
-            <geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="2a_abdomen_y"/>
-    <motor gear="40"  joint="2a_abdomen_z"/>
-    <motor gear="40"  joint="2a_abdomen_x"/>
-    <motor gear="40"  joint="2a_right_hip_x"/>
-    <motor gear="40"  joint="2a_right_hip_z"/>
-    <motor gear="120" joint="2a_right_hip_y"/>
-    <motor gear="80"  joint="2a_right_knee"/>
-    <motor gear="20"  joint="2a_right_ankle_x"/>
-    <motor gear="20"  joint="2a_right_ankle_y"/>
-    <motor gear="40"  joint="2a_left_hip_x"/>
-    <motor gear="40"  joint="2a_left_hip_z"/>
-    <motor gear="120" joint="2a_left_hip_y"/>
-    <motor gear="80"  joint="2a_left_knee"/>
-    <motor gear="20"  joint="2a_left_ankle_x"/>
-    <motor gear="20"  joint="2a_left_ankle_y"/>
-    <motor gear="20"  joint="2a_right_shoulder1"/>
-    <motor gear="20"  joint="2a_right_shoulder2"/>
-    <motor gear="40"  joint="2a_right_elbow"/>
-    <motor gear="20"  joint="2a_left_shoulder1"/>
-    <motor gear="20"  joint="2a_left_shoulder2"/>
-    <motor gear="40"  joint="2a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="3a_abdomen_y"/>
-    <motor gear="40"  joint="3a_abdomen_z"/>
-    <motor gear="40"  joint="3a_abdomen_x"/>
-    <motor gear="40"  joint="3a_right_hip_x"/>
-    <motor gear="40"  joint="3a_right_hip_z"/>
-    <motor gear="120" joint="3a_right_hip_y"/>
-    <motor gear="80"  joint="3a_right_knee"/>
-    <motor gear="20"  joint="3a_right_ankle_x"/>
-    <motor gear="20"  joint="3a_right_ankle_y"/>
-    <motor gear="40"  joint="3a_left_hip_x"/>
-    <motor gear="40"  joint="3a_left_hip_z"/>
-    <motor gear="120" joint="3a_left_hip_y"/>
-    <motor gear="80"  joint="3a_left_knee"/>
-    <motor gear="20"  joint="3a_left_ankle_x"/>
-    <motor gear="20"  joint="3a_left_ankle_y"/>
-    <motor gear="20"  joint="3a_right_shoulder1"/>
-    <motor gear="20"  joint="3a_right_shoulder2"/>
-    <motor gear="40"  joint="3a_right_elbow"/>
-    <motor gear="20"  joint="3a_left_shoulder1"/>
-    <motor gear="20"  joint="3a_left_shoulder2"/>
-    <motor gear="40"  joint="3a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="4a_abdomen_y"/>
-    <motor gear="40"  joint="4a_abdomen_z"/>
-    <motor gear="40"  joint="4a_abdomen_x"/>
-    <motor gear="40"  joint="4a_right_hip_x"/>
-    <motor gear="40"  joint="4a_right_hip_z"/>
-    <motor gear="120" joint="4a_right_hip_y"/>
-    <motor gear="80"  joint="4a_right_knee"/>
-    <motor gear="20"  joint="4a_right_ankle_x"/>
-    <motor gear="20"  joint="4a_right_ankle_y"/>
-    <motor gear="40"  joint="4a_left_hip_x"/>
-    <motor gear="40"  joint="4a_left_hip_z"/>
-    <motor gear="120" joint="4a_left_hip_y"/>
-    <motor gear="80"  joint="4a_left_knee"/>
-    <motor gear="20"  joint="4a_left_ankle_x"/>
-    <motor gear="20"  joint="4a_left_ankle_y"/>
-    <motor gear="20"  joint="4a_right_shoulder1"/>
-    <motor gear="20"  joint="4a_right_shoulder2"/>
-    <motor gear="40"  joint="4a_right_elbow"/>
-    <motor gear="20"  joint="4a_left_shoulder1"/>
-    <motor gear="20"  joint="4a_left_shoulder2"/>
-    <motor gear="40"  joint="4a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="5a_abdomen_y"/>
-    <motor gear="40"  joint="5a_abdomen_z"/>
-    <motor gear="40"  joint="5a_abdomen_x"/>
-    <motor gear="40"  joint="5a_right_hip_x"/>
-    <motor gear="40"  joint="5a_right_hip_z"/>
-    <motor gear="120" joint="5a_right_hip_y"/>
-    <motor gear="80"  joint="5a_right_knee"/>
-    <motor gear="20"  joint="5a_right_ankle_x"/>
-    <motor gear="20"  joint="5a_right_ankle_y"/>
-    <motor gear="40"  joint="5a_left_hip_x"/>
-    <motor gear="40"  joint="5a_left_hip_z"/>
-    <motor gear="120" joint="5a_left_hip_y"/>
-    <motor gear="80"  joint="5a_left_knee"/>
-    <motor gear="20"  joint="5a_left_ankle_x"/>
-    <motor gear="20"  joint="5a_left_ankle_y"/>
-    <motor gear="20"  joint="5a_right_shoulder1"/>
-    <motor gear="20"  joint="5a_right_shoulder2"/>
-    <motor gear="40"  joint="5a_right_elbow"/>
-    <motor gear="20"  joint="5a_left_shoulder1"/>
-    <motor gear="20"  joint="5a_left_shoulder2"/>
-    <motor gear="40"  joint="5a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/06_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/06_humanoids.xml
deleted file mode 100644
index aa3cc960..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/06_humanoids.xml
+++ /dev/null
@@ -1,671 +0,0 @@
-<mujoco model="06 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="24" name="max_contact_points"/>
-    <numeric data="24" name="max_geom_pairs"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-    <default class="big_joint">
-      <joint damping="5" stiffness="10"/>
-      <default class="big_stiff_joint">
-        <joint stiffness="20"/>
-      </default>
-    </default>
-    <default class="body1">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="125"/>
-    </default>
-    <default class="body2">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="123"/>
-    </default>
-    <default class="body3">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="119"/>
-    </default>
-    <default class="body4">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="111"/>
-    </default>
-    <default class="body5">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="95"/>
-    </default>
-    <default class="body6">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="63"/>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
-    <light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
-    <light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
-
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-      <freejoint name="1a_root"/>
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-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
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-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-      <camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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-      <freejoint name="2a_root"/>
-      <geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-        <geom name="2a_head" type="sphere" size=".09"/>
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-        <geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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-        <geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
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-          <geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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-      <geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-        <geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
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-        <geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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-          <geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
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-        <joint name="4a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
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-          <geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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-    <body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
-      <camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="5a_root"/>
-      <geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="5a_head" pos="0 0 .19">
-        <geom name="5a_head" type="sphere" size=".09"/>
-        <camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="5a_lower_waist" pos="-.01 0 -.26">
-        <geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="5a_pelvis" pos="0 0 -.165">
-          <joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="5a_right_thigh" pos="0 -.1 -.04">
-            <joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="5a_right_shin" pos="0 .01 -.403">
-              <joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="5a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_right_foot" pos="0 0 -.39">
-                <joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="5a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="5a_left_thigh" pos="0 .1 -.04">
-            <joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="5a_left_shin" pos="0 -.01 -.403">
-              <joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="5a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_left_foot" pos="0 0 -.39">
-                <joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="5a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="5a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="5a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="5a_right_hand" pos=".18 .18 .18">
-            <geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="5a_left_upper_arm" pos="0 .17 .06">
-        <joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="5a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="5a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="5a_left_hand" pos=".18 -.18 .18">
-            <geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="6a_torso" pos="-1 3 1.5" childclass="body6">
-      <camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="6a_root"/>
-      <geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="6a_head" pos="0 0 .19">
-        <geom name="6a_head" type="sphere" size=".09"/>
-        <camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="6a_lower_waist" pos="-.01 0 -.26">
-        <geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="6a_pelvis" pos="0 0 -.165">
-          <joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="6a_right_thigh" pos="0 -.1 -.04">
-            <joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="6a_right_shin" pos="0 .01 -.403">
-              <joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="6a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_right_foot" pos="0 0 -.39">
-                <joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="6a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="6a_left_thigh" pos="0 .1 -.04">
-            <joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="6a_left_shin" pos="0 -.01 -.403">
-              <joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="6a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_left_foot" pos="0 0 -.39">
-                <joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="6a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="6a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="6a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="6a_right_hand" pos=".18 .18 .18">
-            <geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="6a_left_upper_arm" pos="0 .17 .06">
-        <joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="6a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="6a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="6a_left_hand" pos=".18 -.18 .18">
-            <geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="2a_abdomen_y"/>
-    <motor gear="40"  joint="2a_abdomen_z"/>
-    <motor gear="40"  joint="2a_abdomen_x"/>
-    <motor gear="40"  joint="2a_right_hip_x"/>
-    <motor gear="40"  joint="2a_right_hip_z"/>
-    <motor gear="120" joint="2a_right_hip_y"/>
-    <motor gear="80"  joint="2a_right_knee"/>
-    <motor gear="20"  joint="2a_right_ankle_x"/>
-    <motor gear="20"  joint="2a_right_ankle_y"/>
-    <motor gear="40"  joint="2a_left_hip_x"/>
-    <motor gear="40"  joint="2a_left_hip_z"/>
-    <motor gear="120" joint="2a_left_hip_y"/>
-    <motor gear="80"  joint="2a_left_knee"/>
-    <motor gear="20"  joint="2a_left_ankle_x"/>
-    <motor gear="20"  joint="2a_left_ankle_y"/>
-    <motor gear="20"  joint="2a_right_shoulder1"/>
-    <motor gear="20"  joint="2a_right_shoulder2"/>
-    <motor gear="40"  joint="2a_right_elbow"/>
-    <motor gear="20"  joint="2a_left_shoulder1"/>
-    <motor gear="20"  joint="2a_left_shoulder2"/>
-    <motor gear="40"  joint="2a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="3a_abdomen_y"/>
-    <motor gear="40"  joint="3a_abdomen_z"/>
-    <motor gear="40"  joint="3a_abdomen_x"/>
-    <motor gear="40"  joint="3a_right_hip_x"/>
-    <motor gear="40"  joint="3a_right_hip_z"/>
-    <motor gear="120" joint="3a_right_hip_y"/>
-    <motor gear="80"  joint="3a_right_knee"/>
-    <motor gear="20"  joint="3a_right_ankle_x"/>
-    <motor gear="20"  joint="3a_right_ankle_y"/>
-    <motor gear="40"  joint="3a_left_hip_x"/>
-    <motor gear="40"  joint="3a_left_hip_z"/>
-    <motor gear="120" joint="3a_left_hip_y"/>
-    <motor gear="80"  joint="3a_left_knee"/>
-    <motor gear="20"  joint="3a_left_ankle_x"/>
-    <motor gear="20"  joint="3a_left_ankle_y"/>
-    <motor gear="20"  joint="3a_right_shoulder1"/>
-    <motor gear="20"  joint="3a_right_shoulder2"/>
-    <motor gear="40"  joint="3a_right_elbow"/>
-    <motor gear="20"  joint="3a_left_shoulder1"/>
-    <motor gear="20"  joint="3a_left_shoulder2"/>
-    <motor gear="40"  joint="3a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="4a_abdomen_y"/>
-    <motor gear="40"  joint="4a_abdomen_z"/>
-    <motor gear="40"  joint="4a_abdomen_x"/>
-    <motor gear="40"  joint="4a_right_hip_x"/>
-    <motor gear="40"  joint="4a_right_hip_z"/>
-    <motor gear="120" joint="4a_right_hip_y"/>
-    <motor gear="80"  joint="4a_right_knee"/>
-    <motor gear="20"  joint="4a_right_ankle_x"/>
-    <motor gear="20"  joint="4a_right_ankle_y"/>
-    <motor gear="40"  joint="4a_left_hip_x"/>
-    <motor gear="40"  joint="4a_left_hip_z"/>
-    <motor gear="120" joint="4a_left_hip_y"/>
-    <motor gear="80"  joint="4a_left_knee"/>
-    <motor gear="20"  joint="4a_left_ankle_x"/>
-    <motor gear="20"  joint="4a_left_ankle_y"/>
-    <motor gear="20"  joint="4a_right_shoulder1"/>
-    <motor gear="20"  joint="4a_right_shoulder2"/>
-    <motor gear="40"  joint="4a_right_elbow"/>
-    <motor gear="20"  joint="4a_left_shoulder1"/>
-    <motor gear="20"  joint="4a_left_shoulder2"/>
-    <motor gear="40"  joint="4a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="5a_abdomen_y"/>
-    <motor gear="40"  joint="5a_abdomen_z"/>
-    <motor gear="40"  joint="5a_abdomen_x"/>
-    <motor gear="40"  joint="5a_right_hip_x"/>
-    <motor gear="40"  joint="5a_right_hip_z"/>
-    <motor gear="120" joint="5a_right_hip_y"/>
-    <motor gear="80"  joint="5a_right_knee"/>
-    <motor gear="20"  joint="5a_right_ankle_x"/>
-    <motor gear="20"  joint="5a_right_ankle_y"/>
-    <motor gear="40"  joint="5a_left_hip_x"/>
-    <motor gear="40"  joint="5a_left_hip_z"/>
-    <motor gear="120" joint="5a_left_hip_y"/>
-    <motor gear="80"  joint="5a_left_knee"/>
-    <motor gear="20"  joint="5a_left_ankle_x"/>
-    <motor gear="20"  joint="5a_left_ankle_y"/>
-    <motor gear="20"  joint="5a_right_shoulder1"/>
-    <motor gear="20"  joint="5a_right_shoulder2"/>
-    <motor gear="40"  joint="5a_right_elbow"/>
-    <motor gear="20"  joint="5a_left_shoulder1"/>
-    <motor gear="20"  joint="5a_left_shoulder2"/>
-    <motor gear="40"  joint="5a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="6a_abdomen_y"/>
-    <motor gear="40"  joint="6a_abdomen_z"/>
-    <motor gear="40"  joint="6a_abdomen_x"/>
-    <motor gear="40"  joint="6a_right_hip_x"/>
-    <motor gear="40"  joint="6a_right_hip_z"/>
-    <motor gear="120" joint="6a_right_hip_y"/>
-    <motor gear="80"  joint="6a_right_knee"/>
-    <motor gear="20"  joint="6a_right_ankle_x"/>
-    <motor gear="20"  joint="6a_right_ankle_y"/>
-    <motor gear="40"  joint="6a_left_hip_x"/>
-    <motor gear="40"  joint="6a_left_hip_z"/>
-    <motor gear="120" joint="6a_left_hip_y"/>
-    <motor gear="80"  joint="6a_left_knee"/>
-    <motor gear="20"  joint="6a_left_ankle_x"/>
-    <motor gear="20"  joint="6a_left_ankle_y"/>
-    <motor gear="20"  joint="6a_right_shoulder1"/>
-    <motor gear="20"  joint="6a_right_shoulder2"/>
-    <motor gear="40"  joint="6a_right_elbow"/>
-    <motor gear="20"  joint="6a_left_shoulder1"/>
-    <motor gear="20"  joint="6a_left_shoulder2"/>
-    <motor gear="40"  joint="6a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/07_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/07_humanoids.xml
deleted file mode 100644
index a6f68187..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/07_humanoids.xml
+++ /dev/null
@@ -1,775 +0,0 @@
-<mujoco model="07 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="28" name="max_contact_points"/>
-    <numeric data="28" name="max_geom_pairs"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-    <default class="big_joint">
-      <joint damping="5" stiffness="10"/>
-      <default class="big_stiff_joint">
-        <joint stiffness="20"/>
-      </default>
-    </default>
-    <default class="body1">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="253"/>
-    </default>
-    <default class="body2">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="251"/>
-    </default>
-    <default class="body3">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="247"/>
-    </default>
-    <default class="body4">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="239"/>
-    </default>
-    <default class="body5">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="223"/>
-    </default>
-    <default class="body6">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="191"/>
-    </default>
-    <default class="body7">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="127"/>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
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-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
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-        </body>
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-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
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-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-      <camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="2a_root"/>
-      <geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
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-        <geom name="2a_head" type="sphere" size=".09"/>
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-              <body name="2a_right_foot" pos="0 0 -.39">
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-              <geom name="2a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_left_foot" pos="0 0 -.39">
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-                <geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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-        <joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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-            <geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
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-      <body name="2a_left_upper_arm" pos="0 .17 .06">
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-        <joint name="2a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
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-          <geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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-            <geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-    <body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
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-      <freejoint name="3a_root"/>
-      <geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-        <joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-              <geom name="3a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_right_foot" pos="0 0 -.39">
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-                <geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="3a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
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-                <geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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-        <joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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-      <body name="3a_left_upper_arm" pos="0 .17 .06">
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-        <joint name="3a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="3a_left_lower_arm" pos=".18 .18 -.18">
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-          <geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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-      <freejoint name="4a_root"/>
-      <geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-        <joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-              <geom name="4a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_right_foot" pos="0 0 -.39">
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-                <geom name="4a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
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-              <geom name="4a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_left_foot" pos="0 0 -.39">
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-                <geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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-        <geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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-          <geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
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-      <body name="4a_left_upper_arm" pos="0 .17 .06">
-        <joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="4a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="4a_left_lower_arm" pos=".18 .18 -.18">
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-          <geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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-            <geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-
-    <body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
-      <camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="5a_root"/>
-      <geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="5a_head" pos="0 0 .19">
-        <geom name="5a_head" type="sphere" size=".09"/>
-        <camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="5a_lower_waist" pos="-.01 0 -.26">
-        <geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="5a_pelvis" pos="0 0 -.165">
-          <joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="5a_right_thigh" pos="0 -.1 -.04">
-            <joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="5a_right_shin" pos="0 .01 -.403">
-              <joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="5a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_right_foot" pos="0 0 -.39">
-                <joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="5a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="5a_left_thigh" pos="0 .1 -.04">
-            <joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="5a_left_shin" pos="0 -.01 -.403">
-              <joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="5a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_left_foot" pos="0 0 -.39">
-                <joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="5a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="5a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="5a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="5a_right_hand" pos=".18 .18 .18">
-            <geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="5a_left_upper_arm" pos="0 .17 .06">
-        <joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="5a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="5a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="5a_left_hand" pos=".18 -.18 .18">
-            <geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="6a_torso" pos="-1 3 1.5" childclass="body6">
-      <camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="6a_root"/>
-      <geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="6a_head" pos="0 0 .19">
-        <geom name="6a_head" type="sphere" size=".09"/>
-        <camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="6a_lower_waist" pos="-.01 0 -.26">
-        <geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="6a_pelvis" pos="0 0 -.165">
-          <joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="6a_right_thigh" pos="0 -.1 -.04">
-            <joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="6a_right_shin" pos="0 .01 -.403">
-              <joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="6a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_right_foot" pos="0 0 -.39">
-                <joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="6a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="6a_left_thigh" pos="0 .1 -.04">
-            <joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="6a_left_shin" pos="0 -.01 -.403">
-              <joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="6a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_left_foot" pos="0 0 -.39">
-                <joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="6a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="6a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="6a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="6a_right_hand" pos=".18 .18 .18">
-            <geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="6a_left_upper_arm" pos="0 .17 .06">
-        <joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="6a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="6a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="6a_left_hand" pos=".18 -.18 .18">
-            <geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
-      <camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="7a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="7a_root"/>
-      <geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="7a_head" pos="0 0 .19">
-        <geom name="7a_head" type="sphere" size=".09"/>
-        <camera name="7a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="7a_lower_waist" pos="-.01 0 -.26">
-        <geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="7a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="7a_pelvis" pos="0 0 -.165">
-          <joint name="7a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="7a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="7a_right_thigh" pos="0 -.1 -.04">
-            <joint name="7a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="7a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="7a_right_shin" pos="0 .01 -.403">
-              <joint name="7a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="7a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="7a_right_foot" pos="0 0 -.39">
-                <joint name="7a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="7a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="7a_left_thigh" pos="0 .1 -.04">
-            <joint name="7a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="7a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="7a_left_shin" pos="0 -.01 -.403">
-              <joint name="7a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="7a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="7a_left_foot" pos="0 0 -.39">
-                <joint name="7a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="7a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="7a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="7a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="7a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="7a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="7a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="7a_right_hand" pos=".18 .18 .18">
-            <geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="7a_left_upper_arm" pos="0 .17 .06">
-        <joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="7a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="7a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="7a_left_hand" pos=".18 -.18 .18">
-            <geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="2a_abdomen_y"/>
-    <motor gear="40"  joint="2a_abdomen_z"/>
-    <motor gear="40"  joint="2a_abdomen_x"/>
-    <motor gear="40"  joint="2a_right_hip_x"/>
-    <motor gear="40"  joint="2a_right_hip_z"/>
-    <motor gear="120" joint="2a_right_hip_y"/>
-    <motor gear="80"  joint="2a_right_knee"/>
-    <motor gear="20"  joint="2a_right_ankle_x"/>
-    <motor gear="20"  joint="2a_right_ankle_y"/>
-    <motor gear="40"  joint="2a_left_hip_x"/>
-    <motor gear="40"  joint="2a_left_hip_z"/>
-    <motor gear="120" joint="2a_left_hip_y"/>
-    <motor gear="80"  joint="2a_left_knee"/>
-    <motor gear="20"  joint="2a_left_ankle_x"/>
-    <motor gear="20"  joint="2a_left_ankle_y"/>
-    <motor gear="20"  joint="2a_right_shoulder1"/>
-    <motor gear="20"  joint="2a_right_shoulder2"/>
-    <motor gear="40"  joint="2a_right_elbow"/>
-    <motor gear="20"  joint="2a_left_shoulder1"/>
-    <motor gear="20"  joint="2a_left_shoulder2"/>
-    <motor gear="40"  joint="2a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="3a_abdomen_y"/>
-    <motor gear="40"  joint="3a_abdomen_z"/>
-    <motor gear="40"  joint="3a_abdomen_x"/>
-    <motor gear="40"  joint="3a_right_hip_x"/>
-    <motor gear="40"  joint="3a_right_hip_z"/>
-    <motor gear="120" joint="3a_right_hip_y"/>
-    <motor gear="80"  joint="3a_right_knee"/>
-    <motor gear="20"  joint="3a_right_ankle_x"/>
-    <motor gear="20"  joint="3a_right_ankle_y"/>
-    <motor gear="40"  joint="3a_left_hip_x"/>
-    <motor gear="40"  joint="3a_left_hip_z"/>
-    <motor gear="120" joint="3a_left_hip_y"/>
-    <motor gear="80"  joint="3a_left_knee"/>
-    <motor gear="20"  joint="3a_left_ankle_x"/>
-    <motor gear="20"  joint="3a_left_ankle_y"/>
-    <motor gear="20"  joint="3a_right_shoulder1"/>
-    <motor gear="20"  joint="3a_right_shoulder2"/>
-    <motor gear="40"  joint="3a_right_elbow"/>
-    <motor gear="20"  joint="3a_left_shoulder1"/>
-    <motor gear="20"  joint="3a_left_shoulder2"/>
-    <motor gear="40"  joint="3a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="4a_abdomen_y"/>
-    <motor gear="40"  joint="4a_abdomen_z"/>
-    <motor gear="40"  joint="4a_abdomen_x"/>
-    <motor gear="40"  joint="4a_right_hip_x"/>
-    <motor gear="40"  joint="4a_right_hip_z"/>
-    <motor gear="120" joint="4a_right_hip_y"/>
-    <motor gear="80"  joint="4a_right_knee"/>
-    <motor gear="20"  joint="4a_right_ankle_x"/>
-    <motor gear="20"  joint="4a_right_ankle_y"/>
-    <motor gear="40"  joint="4a_left_hip_x"/>
-    <motor gear="40"  joint="4a_left_hip_z"/>
-    <motor gear="120" joint="4a_left_hip_y"/>
-    <motor gear="80"  joint="4a_left_knee"/>
-    <motor gear="20"  joint="4a_left_ankle_x"/>
-    <motor gear="20"  joint="4a_left_ankle_y"/>
-    <motor gear="20"  joint="4a_right_shoulder1"/>
-    <motor gear="20"  joint="4a_right_shoulder2"/>
-    <motor gear="40"  joint="4a_right_elbow"/>
-    <motor gear="20"  joint="4a_left_shoulder1"/>
-    <motor gear="20"  joint="4a_left_shoulder2"/>
-    <motor gear="40"  joint="4a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="5a_abdomen_y"/>
-    <motor gear="40"  joint="5a_abdomen_z"/>
-    <motor gear="40"  joint="5a_abdomen_x"/>
-    <motor gear="40"  joint="5a_right_hip_x"/>
-    <motor gear="40"  joint="5a_right_hip_z"/>
-    <motor gear="120" joint="5a_right_hip_y"/>
-    <motor gear="80"  joint="5a_right_knee"/>
-    <motor gear="20"  joint="5a_right_ankle_x"/>
-    <motor gear="20"  joint="5a_right_ankle_y"/>
-    <motor gear="40"  joint="5a_left_hip_x"/>
-    <motor gear="40"  joint="5a_left_hip_z"/>
-    <motor gear="120" joint="5a_left_hip_y"/>
-    <motor gear="80"  joint="5a_left_knee"/>
-    <motor gear="20"  joint="5a_left_ankle_x"/>
-    <motor gear="20"  joint="5a_left_ankle_y"/>
-    <motor gear="20"  joint="5a_right_shoulder1"/>
-    <motor gear="20"  joint="5a_right_shoulder2"/>
-    <motor gear="40"  joint="5a_right_elbow"/>
-    <motor gear="20"  joint="5a_left_shoulder1"/>
-    <motor gear="20"  joint="5a_left_shoulder2"/>
-    <motor gear="40"  joint="5a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="6a_abdomen_y"/>
-    <motor gear="40"  joint="6a_abdomen_z"/>
-    <motor gear="40"  joint="6a_abdomen_x"/>
-    <motor gear="40"  joint="6a_right_hip_x"/>
-    <motor gear="40"  joint="6a_right_hip_z"/>
-    <motor gear="120" joint="6a_right_hip_y"/>
-    <motor gear="80"  joint="6a_right_knee"/>
-    <motor gear="20"  joint="6a_right_ankle_x"/>
-    <motor gear="20"  joint="6a_right_ankle_y"/>
-    <motor gear="40"  joint="6a_left_hip_x"/>
-    <motor gear="40"  joint="6a_left_hip_z"/>
-    <motor gear="120" joint="6a_left_hip_y"/>
-    <motor gear="80"  joint="6a_left_knee"/>
-    <motor gear="20"  joint="6a_left_ankle_x"/>
-    <motor gear="20"  joint="6a_left_ankle_y"/>
-    <motor gear="20"  joint="6a_right_shoulder1"/>
-    <motor gear="20"  joint="6a_right_shoulder2"/>
-    <motor gear="40"  joint="6a_right_elbow"/>
-    <motor gear="20"  joint="6a_left_shoulder1"/>
-    <motor gear="20"  joint="6a_left_shoulder2"/>
-    <motor gear="40"  joint="6a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="7a_abdomen_y"/>
-    <motor gear="40"  joint="7a_abdomen_z"/>
-    <motor gear="40"  joint="7a_abdomen_x"/>
-    <motor gear="40"  joint="7a_right_hip_x"/>
-    <motor gear="40"  joint="7a_right_hip_z"/>
-    <motor gear="120" joint="7a_right_hip_y"/>
-    <motor gear="80"  joint="7a_right_knee"/>
-    <motor gear="20"  joint="7a_right_ankle_x"/>
-    <motor gear="20"  joint="7a_right_ankle_y"/>
-    <motor gear="40"  joint="7a_left_hip_x"/>
-    <motor gear="40"  joint="7a_left_hip_z"/>
-    <motor gear="120" joint="7a_left_hip_y"/>
-    <motor gear="80"  joint="7a_left_knee"/>
-    <motor gear="20"  joint="7a_left_ankle_x"/>
-    <motor gear="20"  joint="7a_left_ankle_y"/>
-    <motor gear="20"  joint="7a_right_shoulder1"/>
-    <motor gear="20"  joint="7a_right_shoulder2"/>
-    <motor gear="40"  joint="7a_right_elbow"/>
-    <motor gear="20"  joint="7a_left_shoulder1"/>
-    <motor gear="20"  joint="7a_left_shoulder2"/>
-    <motor gear="40"  joint="7a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/08_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/08_humanoids.xml
deleted file mode 100644
index b1d605d6..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/08_humanoids.xml
+++ /dev/null
@@ -1,879 +0,0 @@
-<mujoco model="08 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="32" name="max_contact_points"/>
-    <numeric data="32" name="max_geom_pairs"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-    <default class="big_joint">
-      <joint damping="5" stiffness="10"/>
-      <default class="big_stiff_joint">
-        <joint stiffness="20"/>
-      </default>
-    </default>
-    <default class="body1">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="509"/>
-    </default>
-    <default class="body2">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="507"/>
-    </default>
-    <default class="body3">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="503"/>
-    </default>
-    <default class="body4">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="495"/>
-    </default>
-    <default class="body5">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="479"/>
-    </default>
-    <default class="body6">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="447"/>
-    </default>
-    <default class="body7">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="383"/>
-    </default>
-    <default class="body8">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="256" conaffinity="255"/>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
-    <light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
-    <light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
-
-    <body name="1a_torso" pos="-1 0 1.5" childclass="body1">
-      <camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="1a_root"/>
-      <geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="1a_head" pos="0 0 .19">
-        <geom name="1a_head" type="sphere" size=".09"/>
-        <camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="1a_lower_waist" pos="-.01 0 -.26">
-        <geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="1a_pelvis" pos="0 0 -.165">
-          <joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="1a_right_thigh" pos="0 -.1 -.04">
-            <joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="1a_right_shin" pos="0 .01 -.403">
-              <joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_right_foot" pos="0 0 -.39">
-                <joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="1a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="1a_left_thigh" pos="0 .1 -.04">
-            <joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="1a_left_shin" pos="0 -.01 -.403">
-              <joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_left_foot" pos="0 0 -.39">
-                <joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="1a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="1a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="1a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="1a_right_hand" pos=".18 .18 .18">
-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="1a_left_hand" pos=".18 -.18 .18">
-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="2a_torso" pos="-1 1 1.5" childclass="body2">
-      <camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="2a_root"/>
-      <geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="2a_head" pos="0 0 .19">
-        <geom name="2a_head" type="sphere" size=".09"/>
-        <camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="2a_lower_waist" pos="-.01 0 -.26">
-        <geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="2a_pelvis" pos="0 0 -.165">
-          <joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="2a_right_thigh" pos="0 -.1 -.04">
-            <joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="2a_right_shin" pos="0 .01 -.403">
-              <joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_right_foot" pos="0 0 -.39">
-                <joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="2a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="2a_left_thigh" pos="0 .1 -.04">
-            <joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="2a_left_shin" pos="0 -.01 -.403">
-              <joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_left_foot" pos="0 0 -.39">
-                <joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="2a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="2a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="2a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="2a_right_hand" pos=".18 .18 .18">
-            <geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="2a_left_upper_arm" pos="0 .17 .06">
-        <joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="2a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="2a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="2a_left_hand" pos=".18 -.18 .18">
-            <geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
-      <camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="3a_root"/>
-      <geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="3a_head" pos="0 0 .19">
-        <geom name="3a_head" type="sphere" size=".09"/>
-        <camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="3a_lower_waist" pos="-.01 0 -.26">
-        <geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="3a_pelvis" pos="0 0 -.165">
-          <joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="3a_right_thigh" pos="0 -.1 -.04">
-            <joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="3a_right_shin" pos="0 .01 -.403">
-              <joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_right_foot" pos="0 0 -.39">
-                <joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="3a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="3a_left_thigh" pos="0 .1 -.04">
-            <joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="3a_left_shin" pos="0 -.01 -.403">
-              <joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_left_foot" pos="0 0 -.39">
-                <joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="3a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="3a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="3a_right_lower_arm" pos=".18 -.18 -.18">
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-          <geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="3a_right_hand" pos=".18 .18 .18">
-            <geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="3a_left_upper_arm" pos="0 .17 .06">
-        <joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="3a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="3a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="3a_left_hand" pos=".18 -.18 .18">
-            <geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
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-      <camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="4a_root"/>
-      <geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="4a_head" pos="0 0 .19">
-        <geom name="4a_head" type="sphere" size=".09"/>
-        <camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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-      <body name="4a_lower_waist" pos="-.01 0 -.26">
-        <geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="4a_pelvis" pos="0 0 -.165">
-          <joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="4a_right_thigh" pos="0 -.1 -.04">
-            <joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
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-            <joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <geom name="4a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_right_foot" pos="0 0 -.39">
-                <joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="4a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
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-            <joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="4a_left_shin" pos="0 -.01 -.403">
-              <joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="4a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_left_foot" pos="0 0 -.39">
-                <joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="4a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="4a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="4a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="4a_right_hand" pos=".18 .18 .18">
-            <geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="4a_left_upper_arm" pos="0 .17 .06">
-        <joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="4a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="4a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="4a_left_hand" pos=".18 -.18 .18">
-            <geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
-      <camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="5a_root"/>
-      <geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="5a_head" pos="0 0 .19">
-        <geom name="5a_head" type="sphere" size=".09"/>
-        <camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="5a_lower_waist" pos="-.01 0 -.26">
-        <geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-          <joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="5a_right_thigh" pos="0 -.1 -.04">
-            <joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="5a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_right_foot" pos="0 0 -.39">
-                <joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="5a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
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-            <joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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-              <joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="5a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_left_foot" pos="0 0 -.39">
-                <joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="5a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="5a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="5a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="5a_right_hand" pos=".18 .18 .18">
-            <geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="5a_left_upper_arm" pos="0 .17 .06">
-        <joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="5a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="5a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="5a_left_hand" pos=".18 -.18 .18">
-            <geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="6a_torso" pos="-1 3 1.5" childclass="body6">
-      <camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="6a_root"/>
-      <geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="6a_head" pos="0 0 .19">
-        <geom name="6a_head" type="sphere" size=".09"/>
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-      <body name="6a_lower_waist" pos="-.01 0 -.26">
-        <geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-          <body name="6a_right_thigh" pos="0 -.1 -.04">
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-            <joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <geom name="6a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_right_foot" pos="0 0 -.39">
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-                <joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="6a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
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-          <body name="6a_left_thigh" pos="0 .1 -.04">
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-            <joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="6a_left_shin" pos="0 -.01 -.403">
-              <joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="6a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_left_foot" pos="0 0 -.39">
-                <joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
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-      </body>
-      <body name="6a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="6a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="6a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="6a_right_hand" pos=".18 .18 .18">
-            <geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="6a_left_upper_arm" pos="0 .17 .06">
-        <joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="6a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="6a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="6a_left_hand" pos=".18 -.18 .18">
-            <geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
-      <camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="7a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="7a_root"/>
-      <geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="7a_head" pos="0 0 .19">
-        <geom name="7a_head" type="sphere" size=".09"/>
-        <camera name="7a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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-      <body name="7a_lower_waist" pos="-.01 0 -.26">
-        <geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="7a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-          <joint name="7a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
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-          <body name="7a_right_thigh" pos="0 -.1 -.04">
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-            <joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="7a_right_shin" pos="0 .01 -.403">
-              <joint name="7a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="7a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="7a_right_foot" pos="0 0 -.39">
-                <joint name="7a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="7a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="7a_left_thigh" pos="0 .1 -.04">
-            <joint name="7a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="7a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="7a_left_shin" pos="0 -.01 -.403">
-              <joint name="7a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="7a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="7a_left_foot" pos="0 0 -.39">
-                <joint name="7a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="7a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="7a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="7a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="7a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="7a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="7a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="7a_right_hand" pos=".18 .18 .18">
-            <geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="7a_left_upper_arm" pos="0 .17 .06">
-        <joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="7a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="7a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="7a_left_hand" pos=".18 -.18 .18">
-            <geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="8a_torso" pos="-1 4 1.5" childclass="body8">
-      <camera name="8a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="8a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="8a_root"/>
-      <geom name="8a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="8a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="8a_head" pos="0 0 .19">
-        <geom name="8a_head" type="sphere" size=".09"/>
-        <camera name="8a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="8a_lower_waist" pos="-.01 0 -.26">
-        <geom name="8a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="8a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="8a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="8a_pelvis" pos="0 0 -.165">
-          <joint name="8a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="8a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="8a_right_thigh" pos="0 -.1 -.04">
-            <joint name="8a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="8a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="8a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="8a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="8a_right_shin" pos="0 .01 -.403">
-              <joint name="8a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="8a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="8a_right_foot" pos="0 0 -.39">
-                <joint name="8a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="8a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="8a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="8a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="8a_left_thigh" pos="0 .1 -.04">
-            <joint name="8a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="8a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="8a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="8a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="8a_left_shin" pos="0 -.01 -.403">
-              <joint name="8a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="8a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="8a_left_foot" pos="0 0 -.39">
-                <joint name="8a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="8a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="8a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="8a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="8a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="8a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="8a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="8a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="8a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="8a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="8a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="8a_right_hand" pos=".18 .18 .18">
-            <geom name="8a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="8a_left_upper_arm" pos="0 .17 .06">
-        <joint name="8a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="8a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="8a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="8a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="8a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="8a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="8a_left_hand" pos=".18 -.18 .18">
-            <geom name="8a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="2a_abdomen_y"/>
-    <motor gear="40"  joint="2a_abdomen_z"/>
-    <motor gear="40"  joint="2a_abdomen_x"/>
-    <motor gear="40"  joint="2a_right_hip_x"/>
-    <motor gear="40"  joint="2a_right_hip_z"/>
-    <motor gear="120" joint="2a_right_hip_y"/>
-    <motor gear="80"  joint="2a_right_knee"/>
-    <motor gear="20"  joint="2a_right_ankle_x"/>
-    <motor gear="20"  joint="2a_right_ankle_y"/>
-    <motor gear="40"  joint="2a_left_hip_x"/>
-    <motor gear="40"  joint="2a_left_hip_z"/>
-    <motor gear="120" joint="2a_left_hip_y"/>
-    <motor gear="80"  joint="2a_left_knee"/>
-    <motor gear="20"  joint="2a_left_ankle_x"/>
-    <motor gear="20"  joint="2a_left_ankle_y"/>
-    <motor gear="20"  joint="2a_right_shoulder1"/>
-    <motor gear="20"  joint="2a_right_shoulder2"/>
-    <motor gear="40"  joint="2a_right_elbow"/>
-    <motor gear="20"  joint="2a_left_shoulder1"/>
-    <motor gear="20"  joint="2a_left_shoulder2"/>
-    <motor gear="40"  joint="2a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="3a_abdomen_y"/>
-    <motor gear="40"  joint="3a_abdomen_z"/>
-    <motor gear="40"  joint="3a_abdomen_x"/>
-    <motor gear="40"  joint="3a_right_hip_x"/>
-    <motor gear="40"  joint="3a_right_hip_z"/>
-    <motor gear="120" joint="3a_right_hip_y"/>
-    <motor gear="80"  joint="3a_right_knee"/>
-    <motor gear="20"  joint="3a_right_ankle_x"/>
-    <motor gear="20"  joint="3a_right_ankle_y"/>
-    <motor gear="40"  joint="3a_left_hip_x"/>
-    <motor gear="40"  joint="3a_left_hip_z"/>
-    <motor gear="120" joint="3a_left_hip_y"/>
-    <motor gear="80"  joint="3a_left_knee"/>
-    <motor gear="20"  joint="3a_left_ankle_x"/>
-    <motor gear="20"  joint="3a_left_ankle_y"/>
-    <motor gear="20"  joint="3a_right_shoulder1"/>
-    <motor gear="20"  joint="3a_right_shoulder2"/>
-    <motor gear="40"  joint="3a_right_elbow"/>
-    <motor gear="20"  joint="3a_left_shoulder1"/>
-    <motor gear="20"  joint="3a_left_shoulder2"/>
-    <motor gear="40"  joint="3a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="4a_abdomen_y"/>
-    <motor gear="40"  joint="4a_abdomen_z"/>
-    <motor gear="40"  joint="4a_abdomen_x"/>
-    <motor gear="40"  joint="4a_right_hip_x"/>
-    <motor gear="40"  joint="4a_right_hip_z"/>
-    <motor gear="120" joint="4a_right_hip_y"/>
-    <motor gear="80"  joint="4a_right_knee"/>
-    <motor gear="20"  joint="4a_right_ankle_x"/>
-    <motor gear="20"  joint="4a_right_ankle_y"/>
-    <motor gear="40"  joint="4a_left_hip_x"/>
-    <motor gear="40"  joint="4a_left_hip_z"/>
-    <motor gear="120" joint="4a_left_hip_y"/>
-    <motor gear="80"  joint="4a_left_knee"/>
-    <motor gear="20"  joint="4a_left_ankle_x"/>
-    <motor gear="20"  joint="4a_left_ankle_y"/>
-    <motor gear="20"  joint="4a_right_shoulder1"/>
-    <motor gear="20"  joint="4a_right_shoulder2"/>
-    <motor gear="40"  joint="4a_right_elbow"/>
-    <motor gear="20"  joint="4a_left_shoulder1"/>
-    <motor gear="20"  joint="4a_left_shoulder2"/>
-    <motor gear="40"  joint="4a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="5a_abdomen_y"/>
-    <motor gear="40"  joint="5a_abdomen_z"/>
-    <motor gear="40"  joint="5a_abdomen_x"/>
-    <motor gear="40"  joint="5a_right_hip_x"/>
-    <motor gear="40"  joint="5a_right_hip_z"/>
-    <motor gear="120" joint="5a_right_hip_y"/>
-    <motor gear="80"  joint="5a_right_knee"/>
-    <motor gear="20"  joint="5a_right_ankle_x"/>
-    <motor gear="20"  joint="5a_right_ankle_y"/>
-    <motor gear="40"  joint="5a_left_hip_x"/>
-    <motor gear="40"  joint="5a_left_hip_z"/>
-    <motor gear="120" joint="5a_left_hip_y"/>
-    <motor gear="80"  joint="5a_left_knee"/>
-    <motor gear="20"  joint="5a_left_ankle_x"/>
-    <motor gear="20"  joint="5a_left_ankle_y"/>
-    <motor gear="20"  joint="5a_right_shoulder1"/>
-    <motor gear="20"  joint="5a_right_shoulder2"/>
-    <motor gear="40"  joint="5a_right_elbow"/>
-    <motor gear="20"  joint="5a_left_shoulder1"/>
-    <motor gear="20"  joint="5a_left_shoulder2"/>
-    <motor gear="40"  joint="5a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="6a_abdomen_y"/>
-    <motor gear="40"  joint="6a_abdomen_z"/>
-    <motor gear="40"  joint="6a_abdomen_x"/>
-    <motor gear="40"  joint="6a_right_hip_x"/>
-    <motor gear="40"  joint="6a_right_hip_z"/>
-    <motor gear="120" joint="6a_right_hip_y"/>
-    <motor gear="80"  joint="6a_right_knee"/>
-    <motor gear="20"  joint="6a_right_ankle_x"/>
-    <motor gear="20"  joint="6a_right_ankle_y"/>
-    <motor gear="40"  joint="6a_left_hip_x"/>
-    <motor gear="40"  joint="6a_left_hip_z"/>
-    <motor gear="120" joint="6a_left_hip_y"/>
-    <motor gear="80"  joint="6a_left_knee"/>
-    <motor gear="20"  joint="6a_left_ankle_x"/>
-    <motor gear="20"  joint="6a_left_ankle_y"/>
-    <motor gear="20"  joint="6a_right_shoulder1"/>
-    <motor gear="20"  joint="6a_right_shoulder2"/>
-    <motor gear="40"  joint="6a_right_elbow"/>
-    <motor gear="20"  joint="6a_left_shoulder1"/>
-    <motor gear="20"  joint="6a_left_shoulder2"/>
-    <motor gear="40"  joint="6a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="7a_abdomen_y"/>
-    <motor gear="40"  joint="7a_abdomen_z"/>
-    <motor gear="40"  joint="7a_abdomen_x"/>
-    <motor gear="40"  joint="7a_right_hip_x"/>
-    <motor gear="40"  joint="7a_right_hip_z"/>
-    <motor gear="120" joint="7a_right_hip_y"/>
-    <motor gear="80"  joint="7a_right_knee"/>
-    <motor gear="20"  joint="7a_right_ankle_x"/>
-    <motor gear="20"  joint="7a_right_ankle_y"/>
-    <motor gear="40"  joint="7a_left_hip_x"/>
-    <motor gear="40"  joint="7a_left_hip_z"/>
-    <motor gear="120" joint="7a_left_hip_y"/>
-    <motor gear="80"  joint="7a_left_knee"/>
-    <motor gear="20"  joint="7a_left_ankle_x"/>
-    <motor gear="20"  joint="7a_left_ankle_y"/>
-    <motor gear="20"  joint="7a_right_shoulder1"/>
-    <motor gear="20"  joint="7a_right_shoulder2"/>
-    <motor gear="40"  joint="7a_right_elbow"/>
-    <motor gear="20"  joint="7a_left_shoulder1"/>
-    <motor gear="20"  joint="7a_left_shoulder2"/>
-    <motor gear="40"  joint="7a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="8a_abdomen_y"/>
-    <motor gear="40"  joint="8a_abdomen_z"/>
-    <motor gear="40"  joint="8a_abdomen_x"/>
-    <motor gear="40"  joint="8a_right_hip_x"/>
-    <motor gear="40"  joint="8a_right_hip_z"/>
-    <motor gear="120" joint="8a_right_hip_y"/>
-    <motor gear="80"  joint="8a_right_knee"/>
-    <motor gear="20"  joint="8a_right_ankle_x"/>
-    <motor gear="20"  joint="8a_right_ankle_y"/>
-    <motor gear="40"  joint="8a_left_hip_x"/>
-    <motor gear="40"  joint="8a_left_hip_z"/>
-    <motor gear="120" joint="8a_left_hip_y"/>
-    <motor gear="80"  joint="8a_left_knee"/>
-    <motor gear="20"  joint="8a_left_ankle_x"/>
-    <motor gear="20"  joint="8a_left_ankle_y"/>
-    <motor gear="20"  joint="8a_right_shoulder1"/>
-    <motor gear="20"  joint="8a_right_shoulder2"/>
-    <motor gear="40"  joint="8a_right_elbow"/>
-    <motor gear="20"  joint="8a_left_shoulder1"/>
-    <motor gear="20"  joint="8a_left_shoulder2"/>
-    <motor gear="40"  joint="8a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/09_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/09_humanoids.xml
deleted file mode 100644
index bbec2355..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/09_humanoids.xml
+++ /dev/null
@@ -1,983 +0,0 @@
-<mujoco model="09 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="36" name="max_contact_points"/>
-    <numeric data="36" name="max_geom_pairs"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-    <default class="big_joint">
-      <joint damping="5" stiffness="10"/>
-      <default class="big_stiff_joint">
-        <joint stiffness="20"/>
-      </default>
-    </default>
-    <default class="body1">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="1021"/>
-    </default>
-    <default class="body2">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="1019"/>
-    </default>
-    <default class="body3">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="1015"/>
-    </default>
-    <default class="body4">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="1007"/>
-    </default>
-    <default class="body5">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="991"/>
-    </default>
-    <default class="body6">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="959"/>
-    </default>
-    <default class="body7">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="895"/>
-    </default>
-    <default class="body8">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="256" conaffinity="767"/>
-    </default>
-    <default class="body9">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="512" conaffinity="511"/>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
-    <light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
-    <light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
-
-    <body name="1a_torso" pos="-1 0 1.5" childclass="body1">
-      <camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="1a_root"/>
-      <geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="1a_head" pos="0 0 .19">
-        <geom name="1a_head" type="sphere" size=".09"/>
-        <camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="1a_lower_waist" pos="-.01 0 -.26">
-        <geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="1a_pelvis" pos="0 0 -.165">
-          <joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="1a_right_thigh" pos="0 -.1 -.04">
-            <joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="1a_right_shin" pos="0 .01 -.403">
-              <joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_right_foot" pos="0 0 -.39">
-                <joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="1a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="1a_left_thigh" pos="0 .1 -.04">
-            <joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="1a_left_shin" pos="0 -.01 -.403">
-              <joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_left_foot" pos="0 0 -.39">
-                <joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="1a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="1a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="1a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="1a_right_hand" pos=".18 .18 .18">
-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="1a_left_hand" pos=".18 -.18 .18">
-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="2a_torso" pos="-1 1 1.5" childclass="body2">
-      <camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="2a_root"/>
-      <geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="2a_head" pos="0 0 .19">
-        <geom name="2a_head" type="sphere" size=".09"/>
-        <camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="2a_lower_waist" pos="-.01 0 -.26">
-        <geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="2a_pelvis" pos="0 0 -.165">
-          <joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="2a_right_thigh" pos="0 -.1 -.04">
-            <joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_right_foot" pos="0 0 -.39">
-                <joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="2a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="2a_left_thigh" pos="0 .1 -.04">
-            <joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="2a_left_shin" pos="0 -.01 -.403">
-              <joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_left_foot" pos="0 0 -.39">
-                <joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="2a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="2a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="2a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="2a_right_hand" pos=".18 .18 .18">
-            <geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="2a_left_upper_arm" pos="0 .17 .06">
-        <joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="2a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="2a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="2a_left_hand" pos=".18 -.18 .18">
-            <geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
-      <camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="3a_root"/>
-      <geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="3a_head" pos="0 0 .19">
-        <geom name="3a_head" type="sphere" size=".09"/>
-        <camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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-      <body name="3a_lower_waist" pos="-.01 0 -.26">
-        <geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="3a_pelvis" pos="0 0 -.165">
-          <joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="3a_right_thigh" pos="0 -.1 -.04">
-            <joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="3a_right_shin" pos="0 .01 -.403">
-              <joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_right_foot" pos="0 0 -.39">
-                <joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="3a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="3a_left_thigh" pos="0 .1 -.04">
-            <joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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-              <joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_left_foot" pos="0 0 -.39">
-                <joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="3a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="3a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="3a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="3a_right_hand" pos=".18 .18 .18">
-            <geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
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-      <body name="3a_left_upper_arm" pos="0 .17 .06">
-        <joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="3a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="3a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="3a_left_hand" pos=".18 -.18 .18">
-            <geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="4a_torso" pos="-1 2 1.5" childclass="body4">
-      <camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="4a_root"/>
-      <geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-        <geom name="4a_head" type="sphere" size=".09"/>
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-      <body name="4a_lower_waist" pos="-.01 0 -.26">
-        <geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-          <joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="4a_right_thigh" pos="0 -.1 -.04">
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-            <joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <geom name="4a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_right_foot" pos="0 0 -.39">
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-                <joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="4a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
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-          <body name="4a_left_thigh" pos="0 .1 -.04">
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-            <joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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-              <joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="4a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_left_foot" pos="0 0 -.39">
-                <joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
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-          </body>
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-      <body name="4a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="4a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="4a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="4a_right_hand" pos=".18 .18 .18">
-            <geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="4a_left_upper_arm" pos="0 .17 .06">
-        <joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="4a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="4a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="4a_left_hand" pos=".18 -.18 .18">
-            <geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-        </body>
-      </body>
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-
-    <body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
-      <camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="5a_root"/>
-      <geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="5a_head" pos="0 0 .19">
-        <geom name="5a_head" type="sphere" size=".09"/>
-        <camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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-      <body name="5a_lower_waist" pos="-.01 0 -.26">
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-        <joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-            <joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <geom name="5a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_right_foot" pos="0 0 -.39">
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-                <joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="5a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
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-          </body>
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-            <joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="5a_left_shin" pos="0 -.01 -.403">
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-              <geom name="5a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_left_foot" pos="0 0 -.39">
-                <joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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-                <geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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-            </body>
-          </body>
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-        <joint name="5a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="5a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="5a_right_hand" pos=".18 .18 .18">
-            <geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
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-      <body name="5a_left_upper_arm" pos="0 .17 .06">
-        <joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="5a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="5a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="5a_left_hand" pos=".18 -.18 .18">
-            <geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="6a_torso" pos="-1 3 1.5" childclass="body6">
-      <camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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-      <freejoint name="6a_root"/>
-      <geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-        <geom name="6a_head" type="sphere" size=".09"/>
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-        <geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-          <body name="6a_right_thigh" pos="0 -.1 -.04">
-            <joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
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-            <joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <geom name="6a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_right_foot" pos="0 0 -.39">
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-                <geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="6a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
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-            <joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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-              <geom name="6a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_left_foot" pos="0 0 -.39">
-                <joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="6a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="6a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="6a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="6a_right_hand" pos=".18 .18 .18">
-            <geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="6a_left_upper_arm" pos="0 .17 .06">
-        <joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="6a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="6a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="6a_left_hand" pos=".18 -.18 .18">
-            <geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
-      <camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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-      <freejoint name="7a_root"/>
-      <geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-        <geom name="7a_head" type="sphere" size=".09"/>
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-        <geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
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-        <joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-          <body name="7a_right_thigh" pos="0 -.1 -.04">
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-            <joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <geom name="7a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="7a_right_foot" pos="0 0 -.39">
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-                <joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="7a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
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-            <joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
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-            <geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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-              <geom name="7a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="7a_left_foot" pos="0 0 -.39">
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-                <geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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-      <body name="7a_right_upper_arm" pos="0 -.17 .06">
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-        <joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="7a_right_lower_arm" pos=".18 -.18 -.18">
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-          <geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="7a_right_hand" pos=".18 .18 .18">
-            <geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
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-      <body name="7a_left_upper_arm" pos="0 .17 .06">
-        <joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="7a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="7a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="7a_left_hand" pos=".18 -.18 .18">
-            <geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-
-    <body name="8a_torso" pos="-1 4 1.5" childclass="body8">
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-      <freejoint name="8a_root"/>
-      <geom name="8a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="8a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-              <geom name="8a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="8a_right_foot" pos="0 0 -.39">
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-                <geom name="8a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="8a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
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-              <geom name="8a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="8a_left_foot" pos="0 0 -.39">
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-                <geom name="8a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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-      <body name="8a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="8a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="8a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="8a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="8a_right_lower_arm" pos=".18 -.18 -.18">
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-          <geom name="8a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="8a_right_hand" pos=".18 .18 .18">
-            <geom name="8a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
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-      <body name="8a_left_upper_arm" pos="0 .17 .06">
-        <joint name="8a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="8a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="8a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="8a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="8a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="8a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="8a_left_hand" pos=".18 -.18 .18">
-            <geom name="8a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-    <body name="9a_torso" pos="-1 -4 1.5" childclass="body9">
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-      <freejoint name="9a_root"/>
-      <geom name="9a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="9a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-        <geom name="9a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
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-        <joint name="9a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="9a_pelvis" pos="0 0 -.165">
-          <joint name="9a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="9a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="9a_right_thigh" pos="0 -.1 -.04">
-            <joint name="9a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="9a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="9a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="9a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="9a_right_shin" pos="0 .01 -.403">
-              <joint name="9a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="9a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="9a_right_foot" pos="0 0 -.39">
-                <joint name="9a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="9a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="9a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="9a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="9a_left_thigh" pos="0 .1 -.04">
-            <joint name="9a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="9a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="9a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="9a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="9a_left_shin" pos="0 -.01 -.403">
-              <joint name="9a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="9a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="9a_left_foot" pos="0 0 -.39">
-                <joint name="9a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="9a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="9a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="9a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="9a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="9a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="9a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="9a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="9a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="9a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="9a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="9a_right_hand" pos=".18 .18 .18">
-            <geom name="9a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="9a_left_upper_arm" pos="0 .17 .06">
-        <joint name="9a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="9a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="9a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="9a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="9a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="9a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="9a_left_hand" pos=".18 -.18 .18">
-            <geom name="9a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="2a_abdomen_y"/>
-    <motor gear="40"  joint="2a_abdomen_z"/>
-    <motor gear="40"  joint="2a_abdomen_x"/>
-    <motor gear="40"  joint="2a_right_hip_x"/>
-    <motor gear="40"  joint="2a_right_hip_z"/>
-    <motor gear="120" joint="2a_right_hip_y"/>
-    <motor gear="80"  joint="2a_right_knee"/>
-    <motor gear="20"  joint="2a_right_ankle_x"/>
-    <motor gear="20"  joint="2a_right_ankle_y"/>
-    <motor gear="40"  joint="2a_left_hip_x"/>
-    <motor gear="40"  joint="2a_left_hip_z"/>
-    <motor gear="120" joint="2a_left_hip_y"/>
-    <motor gear="80"  joint="2a_left_knee"/>
-    <motor gear="20"  joint="2a_left_ankle_x"/>
-    <motor gear="20"  joint="2a_left_ankle_y"/>
-    <motor gear="20"  joint="2a_right_shoulder1"/>
-    <motor gear="20"  joint="2a_right_shoulder2"/>
-    <motor gear="40"  joint="2a_right_elbow"/>
-    <motor gear="20"  joint="2a_left_shoulder1"/>
-    <motor gear="20"  joint="2a_left_shoulder2"/>
-    <motor gear="40"  joint="2a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="3a_abdomen_y"/>
-    <motor gear="40"  joint="3a_abdomen_z"/>
-    <motor gear="40"  joint="3a_abdomen_x"/>
-    <motor gear="40"  joint="3a_right_hip_x"/>
-    <motor gear="40"  joint="3a_right_hip_z"/>
-    <motor gear="120" joint="3a_right_hip_y"/>
-    <motor gear="80"  joint="3a_right_knee"/>
-    <motor gear="20"  joint="3a_right_ankle_x"/>
-    <motor gear="20"  joint="3a_right_ankle_y"/>
-    <motor gear="40"  joint="3a_left_hip_x"/>
-    <motor gear="40"  joint="3a_left_hip_z"/>
-    <motor gear="120" joint="3a_left_hip_y"/>
-    <motor gear="80"  joint="3a_left_knee"/>
-    <motor gear="20"  joint="3a_left_ankle_x"/>
-    <motor gear="20"  joint="3a_left_ankle_y"/>
-    <motor gear="20"  joint="3a_right_shoulder1"/>
-    <motor gear="20"  joint="3a_right_shoulder2"/>
-    <motor gear="40"  joint="3a_right_elbow"/>
-    <motor gear="20"  joint="3a_left_shoulder1"/>
-    <motor gear="20"  joint="3a_left_shoulder2"/>
-    <motor gear="40"  joint="3a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="4a_abdomen_y"/>
-    <motor gear="40"  joint="4a_abdomen_z"/>
-    <motor gear="40"  joint="4a_abdomen_x"/>
-    <motor gear="40"  joint="4a_right_hip_x"/>
-    <motor gear="40"  joint="4a_right_hip_z"/>
-    <motor gear="120" joint="4a_right_hip_y"/>
-    <motor gear="80"  joint="4a_right_knee"/>
-    <motor gear="20"  joint="4a_right_ankle_x"/>
-    <motor gear="20"  joint="4a_right_ankle_y"/>
-    <motor gear="40"  joint="4a_left_hip_x"/>
-    <motor gear="40"  joint="4a_left_hip_z"/>
-    <motor gear="120" joint="4a_left_hip_y"/>
-    <motor gear="80"  joint="4a_left_knee"/>
-    <motor gear="20"  joint="4a_left_ankle_x"/>
-    <motor gear="20"  joint="4a_left_ankle_y"/>
-    <motor gear="20"  joint="4a_right_shoulder1"/>
-    <motor gear="20"  joint="4a_right_shoulder2"/>
-    <motor gear="40"  joint="4a_right_elbow"/>
-    <motor gear="20"  joint="4a_left_shoulder1"/>
-    <motor gear="20"  joint="4a_left_shoulder2"/>
-    <motor gear="40"  joint="4a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="5a_abdomen_y"/>
-    <motor gear="40"  joint="5a_abdomen_z"/>
-    <motor gear="40"  joint="5a_abdomen_x"/>
-    <motor gear="40"  joint="5a_right_hip_x"/>
-    <motor gear="40"  joint="5a_right_hip_z"/>
-    <motor gear="120" joint="5a_right_hip_y"/>
-    <motor gear="80"  joint="5a_right_knee"/>
-    <motor gear="20"  joint="5a_right_ankle_x"/>
-    <motor gear="20"  joint="5a_right_ankle_y"/>
-    <motor gear="40"  joint="5a_left_hip_x"/>
-    <motor gear="40"  joint="5a_left_hip_z"/>
-    <motor gear="120" joint="5a_left_hip_y"/>
-    <motor gear="80"  joint="5a_left_knee"/>
-    <motor gear="20"  joint="5a_left_ankle_x"/>
-    <motor gear="20"  joint="5a_left_ankle_y"/>
-    <motor gear="20"  joint="5a_right_shoulder1"/>
-    <motor gear="20"  joint="5a_right_shoulder2"/>
-    <motor gear="40"  joint="5a_right_elbow"/>
-    <motor gear="20"  joint="5a_left_shoulder1"/>
-    <motor gear="20"  joint="5a_left_shoulder2"/>
-    <motor gear="40"  joint="5a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="6a_abdomen_y"/>
-    <motor gear="40"  joint="6a_abdomen_z"/>
-    <motor gear="40"  joint="6a_abdomen_x"/>
-    <motor gear="40"  joint="6a_right_hip_x"/>
-    <motor gear="40"  joint="6a_right_hip_z"/>
-    <motor gear="120" joint="6a_right_hip_y"/>
-    <motor gear="80"  joint="6a_right_knee"/>
-    <motor gear="20"  joint="6a_right_ankle_x"/>
-    <motor gear="20"  joint="6a_right_ankle_y"/>
-    <motor gear="40"  joint="6a_left_hip_x"/>
-    <motor gear="40"  joint="6a_left_hip_z"/>
-    <motor gear="120" joint="6a_left_hip_y"/>
-    <motor gear="80"  joint="6a_left_knee"/>
-    <motor gear="20"  joint="6a_left_ankle_x"/>
-    <motor gear="20"  joint="6a_left_ankle_y"/>
-    <motor gear="20"  joint="6a_right_shoulder1"/>
-    <motor gear="20"  joint="6a_right_shoulder2"/>
-    <motor gear="40"  joint="6a_right_elbow"/>
-    <motor gear="20"  joint="6a_left_shoulder1"/>
-    <motor gear="20"  joint="6a_left_shoulder2"/>
-    <motor gear="40"  joint="6a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="7a_abdomen_y"/>
-    <motor gear="40"  joint="7a_abdomen_z"/>
-    <motor gear="40"  joint="7a_abdomen_x"/>
-    <motor gear="40"  joint="7a_right_hip_x"/>
-    <motor gear="40"  joint="7a_right_hip_z"/>
-    <motor gear="120" joint="7a_right_hip_y"/>
-    <motor gear="80"  joint="7a_right_knee"/>
-    <motor gear="20"  joint="7a_right_ankle_x"/>
-    <motor gear="20"  joint="7a_right_ankle_y"/>
-    <motor gear="40"  joint="7a_left_hip_x"/>
-    <motor gear="40"  joint="7a_left_hip_z"/>
-    <motor gear="120" joint="7a_left_hip_y"/>
-    <motor gear="80"  joint="7a_left_knee"/>
-    <motor gear="20"  joint="7a_left_ankle_x"/>
-    <motor gear="20"  joint="7a_left_ankle_y"/>
-    <motor gear="20"  joint="7a_right_shoulder1"/>
-    <motor gear="20"  joint="7a_right_shoulder2"/>
-    <motor gear="40"  joint="7a_right_elbow"/>
-    <motor gear="20"  joint="7a_left_shoulder1"/>
-    <motor gear="20"  joint="7a_left_shoulder2"/>
-    <motor gear="40"  joint="7a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="8a_abdomen_y"/>
-    <motor gear="40"  joint="8a_abdomen_z"/>
-    <motor gear="40"  joint="8a_abdomen_x"/>
-    <motor gear="40"  joint="8a_right_hip_x"/>
-    <motor gear="40"  joint="8a_right_hip_z"/>
-    <motor gear="120" joint="8a_right_hip_y"/>
-    <motor gear="80"  joint="8a_right_knee"/>
-    <motor gear="20"  joint="8a_right_ankle_x"/>
-    <motor gear="20"  joint="8a_right_ankle_y"/>
-    <motor gear="40"  joint="8a_left_hip_x"/>
-    <motor gear="40"  joint="8a_left_hip_z"/>
-    <motor gear="120" joint="8a_left_hip_y"/>
-    <motor gear="80"  joint="8a_left_knee"/>
-    <motor gear="20"  joint="8a_left_ankle_x"/>
-    <motor gear="20"  joint="8a_left_ankle_y"/>
-    <motor gear="20"  joint="8a_right_shoulder1"/>
-    <motor gear="20"  joint="8a_right_shoulder2"/>
-    <motor gear="40"  joint="8a_right_elbow"/>
-    <motor gear="20"  joint="8a_left_shoulder1"/>
-    <motor gear="20"  joint="8a_left_shoulder2"/>
-    <motor gear="40"  joint="8a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="9a_abdomen_y"/>
-    <motor gear="40"  joint="9a_abdomen_z"/>
-    <motor gear="40"  joint="9a_abdomen_x"/>
-    <motor gear="40"  joint="9a_right_hip_x"/>
-    <motor gear="40"  joint="9a_right_hip_z"/>
-    <motor gear="120" joint="9a_right_hip_y"/>
-    <motor gear="80"  joint="9a_right_knee"/>
-    <motor gear="20"  joint="9a_right_ankle_x"/>
-    <motor gear="20"  joint="9a_right_ankle_y"/>
-    <motor gear="40"  joint="9a_left_hip_x"/>
-    <motor gear="40"  joint="9a_left_hip_z"/>
-    <motor gear="120" joint="9a_left_hip_y"/>
-    <motor gear="80"  joint="9a_left_knee"/>
-    <motor gear="20"  joint="9a_left_ankle_x"/>
-    <motor gear="20"  joint="9a_left_ankle_y"/>
-    <motor gear="20"  joint="9a_right_shoulder1"/>
-    <motor gear="20"  joint="9a_right_shoulder2"/>
-    <motor gear="40"  joint="9a_right_elbow"/>
-    <motor gear="20"  joint="9a_left_shoulder1"/>
-    <motor gear="20"  joint="9a_left_shoulder2"/>
-    <motor gear="40"  joint="9a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/10_humanoids.xml b/mjx/mujoco/mjx/test_data/humanoid/10_humanoids.xml
deleted file mode 100644
index 6bcae8ec..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/10_humanoids.xml
+++ /dev/null
@@ -1,1087 +0,0 @@
-<mujoco model="10 Humanoids">
-  <option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="40" name="max_contact_points"/>
-    <numeric data="40" name="max_geom_pairs"/>
-  </custom>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-    <default class="big_joint">
-      <joint damping="5" stiffness="10"/>
-      <default class="big_stiff_joint">
-        <joint stiffness="20"/>
-      </default>
-    </default>
-    <default class="body1">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="2045"/>
-    </default>
-    <default class="body2">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="2043"/>
-    </default>
-    <default class="body3">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="2039"/>
-    </default>
-    <default class="body4">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="2031"/>
-    </default>
-    <default class="body5">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="2015"/>
-    </default>
-    <default class="body6">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="1983"/>
-    </default>
-    <default class="body7">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="1919"/>
-    </default>
-    <default class="body8">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="256" conaffinity="1791"/>
-    </default>
-    <default class="body9">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="512" conaffinity="1535"/>
-    </default>
-    <default class="body10">
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="1024" conaffinity="1023"/>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom size="10 10 .05" type="plane" material="grid" condim="3"/>
-    <light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
-    <light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
-
-    <body name="1a_torso" pos="-1 0 1.5" childclass="body1">
-      <camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="1a_root"/>
-      <geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="1a_head" pos="0 0 .19">
-        <geom name="1a_head" type="sphere" size=".09"/>
-        <camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="1a_lower_waist" pos="-.01 0 -.26">
-        <geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="1a_pelvis" pos="0 0 -.165">
-          <joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="1a_right_thigh" pos="0 -.1 -.04">
-            <joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="1a_right_shin" pos="0 .01 -.403">
-              <joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_right_foot" pos="0 0 -.39">
-                <joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="1a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="1a_left_thigh" pos="0 .1 -.04">
-            <joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="1a_left_shin" pos="0 -.01 -.403">
-              <joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="1a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="1a_left_foot" pos="0 0 -.39">
-                <joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="1a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="1a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="1a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="1a_right_hand" pos=".18 .18 .18">
-            <geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="1a_left_upper_arm" pos="0 .17 .06">
-        <joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="1a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="1a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="1a_left_hand" pos=".18 -.18 .18">
-            <geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="2a_torso" pos="-1 1 1.5" childclass="body2">
-      <camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="2a_root"/>
-      <geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="2a_head" pos="0 0 .19">
-        <geom name="2a_head" type="sphere" size=".09"/>
-        <camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="2a_lower_waist" pos="-.01 0 -.26">
-        <geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="2a_pelvis" pos="0 0 -.165">
-          <joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="2a_right_thigh" pos="0 -.1 -.04">
-            <joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="2a_right_shin" pos="0 .01 -.403">
-              <joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_right_foot" pos="0 0 -.39">
-                <joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="2a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="2a_left_thigh" pos="0 .1 -.04">
-            <joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="2a_left_shin" pos="0 -.01 -.403">
-              <joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="2a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="2a_left_foot" pos="0 0 -.39">
-                <joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="2a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="2a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="2a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="2a_right_hand" pos=".18 .18 .18">
-            <geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="2a_left_upper_arm" pos="0 .17 .06">
-        <joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="2a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="2a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="2a_left_hand" pos=".18 -.18 .18">
-            <geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
-      <camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="3a_root"/>
-      <geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="3a_head" pos="0 0 .19">
-        <geom name="3a_head" type="sphere" size=".09"/>
-        <camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="3a_lower_waist" pos="-.01 0 -.26">
-        <geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="3a_pelvis" pos="0 0 -.165">
-          <joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="3a_right_thigh" pos="0 -.1 -.04">
-            <joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="3a_right_shin" pos="0 .01 -.403">
-              <joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_right_foot" pos="0 0 -.39">
-                <joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="3a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="3a_left_thigh" pos="0 .1 -.04">
-            <joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="3a_left_shin" pos="0 -.01 -.403">
-              <joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="3a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="3a_left_foot" pos="0 0 -.39">
-                <joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="3a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="3a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="3a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="3a_right_hand" pos=".18 .18 .18">
-            <geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="3a_left_upper_arm" pos="0 .17 .06">
-        <joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="3a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="3a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="3a_left_hand" pos=".18 -.18 .18">
-            <geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="4a_torso" pos="-1 2 1.5" childclass="body4">
-      <camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="4a_root"/>
-      <geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="4a_head" pos="0 0 .19">
-        <geom name="4a_head" type="sphere" size=".09"/>
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-      <body name="4a_lower_waist" pos="-.01 0 -.26">
-        <geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-          <joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
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-          <body name="4a_right_thigh" pos="0 -.1 -.04">
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-            <joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="4a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_right_foot" pos="0 0 -.39">
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-                <joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="4a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
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-          <body name="4a_left_thigh" pos="0 .1 -.04">
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-            <joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="4a_left_shin" pos="0 -.01 -.403">
-              <joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="4a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="4a_left_foot" pos="0 0 -.39">
-                <joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
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-      <body name="4a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="4a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="4a_right_lower_arm" pos=".18 -.18 -.18">
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-          <geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="4a_right_hand" pos=".18 .18 .18">
-            <geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
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-      <body name="4a_left_upper_arm" pos="0 .17 .06">
-        <joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="4a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="4a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="4a_left_hand" pos=".18 -.18 .18">
-            <geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-        </body>
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-
-    <body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
-      <camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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-      <freejoint name="5a_root"/>
-      <geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="5a_head" pos="0 0 .19">
-        <geom name="5a_head" type="sphere" size=".09"/>
-        <camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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-      <body name="5a_lower_waist" pos="-.01 0 -.26">
-        <geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="5a_pelvis" pos="0 0 -.165">
-          <joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="5a_right_thigh" pos="0 -.1 -.04">
-            <joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
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-            <joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="5a_right_shin" pos="0 .01 -.403">
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-              <geom name="5a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_right_foot" pos="0 0 -.39">
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-                <joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="5a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
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-            <joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="5a_left_shin" pos="0 -.01 -.403">
-              <joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="5a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="5a_left_foot" pos="0 0 -.39">
-                <joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="5a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="5a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="5a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="5a_right_hand" pos=".18 .18 .18">
-            <geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="5a_left_upper_arm" pos="0 .17 .06">
-        <joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="5a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="5a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="5a_left_hand" pos=".18 -.18 .18">
-            <geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="6a_torso" pos="-1 3 1.5" childclass="body6">
-      <camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="6a_root"/>
-      <geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="6a_head" pos="0 0 .19">
-        <geom name="6a_head" type="sphere" size=".09"/>
-        <camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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-      <body name="6a_lower_waist" pos="-.01 0 -.26">
-        <geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-          <joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
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-          <body name="6a_right_thigh" pos="0 -.1 -.04">
-            <joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
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-            <joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="6a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_right_foot" pos="0 0 -.39">
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-                <joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="6a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
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-            <joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="6a_left_shin" pos="0 -.01 -.403">
-              <joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="6a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="6a_left_foot" pos="0 0 -.39">
-                <joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="6a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="6a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="6a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="6a_right_hand" pos=".18 .18 .18">
-            <geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="6a_left_upper_arm" pos="0 .17 .06">
-        <joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="6a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="6a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="6a_left_hand" pos=".18 -.18 .18">
-            <geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
-      <camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="7a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="7a_root"/>
-      <geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="7a_head" pos="0 0 .19">
-        <geom name="7a_head" type="sphere" size=".09"/>
-        <camera name="7a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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-        <geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
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-        <joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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-          <body name="7a_right_thigh" pos="0 -.1 -.04">
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-            <joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <geom name="7a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="7a_right_foot" pos="0 0 -.39">
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-                <joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="7a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
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-            <joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="7a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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-              <geom name="7a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="7a_left_foot" pos="0 0 -.39">
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-                <joint name="7a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="7a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="7a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="7a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="7a_right_lower_arm" pos=".18 -.18 -.18">
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-          <geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="7a_right_hand" pos=".18 .18 .18">
-            <geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
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-      <body name="7a_left_upper_arm" pos="0 .17 .06">
-        <joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="7a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="7a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="7a_left_hand" pos=".18 -.18 .18">
-            <geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-        </body>
-      </body>
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-
-    <body name="8a_torso" pos="-1 4 1.5" childclass="body8">
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-      <freejoint name="8a_root"/>
-      <geom name="8a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="8a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-              <geom name="8a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="8a_right_foot" pos="0 0 -.39">
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-                <geom name="8a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="8a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
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-            <geom name="8a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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-              <geom name="8a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="8a_left_foot" pos="0 0 -.39">
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-                <geom name="8a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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-      <body name="8a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="8a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="8a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="8a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="8a_right_lower_arm" pos=".18 -.18 -.18">
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-          <geom name="8a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="8a_right_hand" pos=".18 .18 .18">
-            <geom name="8a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
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-      <body name="8a_left_upper_arm" pos="0 .17 .06">
-        <joint name="8a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="8a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="8a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="8a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="8a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="8a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="8a_left_hand" pos=".18 -.18 .18">
-            <geom name="8a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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-
-    <body name="9a_torso" pos="-1 -4 1.5" childclass="body9">
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-      <freejoint name="9a_root"/>
-      <geom name="9a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="9a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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-          <body name="9a_right_thigh" pos="0 -.1 -.04">
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-            <joint name="9a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="9a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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-              <joint name="9a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="9a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="9a_right_foot" pos="0 0 -.39">
-                <joint name="9a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="9a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="9a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="9a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="9a_left_thigh" pos="0 .1 -.04">
-            <joint name="9a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="9a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="9a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="9a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="9a_left_shin" pos="0 -.01 -.403">
-              <joint name="9a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="9a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="9a_left_foot" pos="0 0 -.39">
-                <joint name="9a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="9a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="9a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="9a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="9a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="9a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="9a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="9a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="9a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="9a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="9a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="9a_right_hand" pos=".18 .18 .18">
-            <geom name="9a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="9a_left_upper_arm" pos="0 .17 .06">
-        <joint name="9a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="9a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="9a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="9a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="9a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="9a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="9a_left_hand" pos=".18 -.18 .18">
-            <geom name="9a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="10a_torso" pos="-1 5 1.5" childclass="body10">
-      <camera name="10a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="10a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="10a_root"/>
-      <geom name="10a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="10a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="10a_head" pos="0 0 .19">
-        <geom name="10a_head" type="sphere" size=".09"/>
-        <camera name="10a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="10a_lower_waist" pos="-.01 0 -.26">
-        <geom name="10a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="10a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="10a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="10a_pelvis" pos="0 0 -.165">
-          <joint name="10a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="10a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="10a_right_thigh" pos="0 -.1 -.04">
-            <joint name="10a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="10a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="10a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="10a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="10a_right_shin" pos="0 .01 -.403">
-              <joint name="10a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="10a_right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="10a_right_foot" pos="0 0 -.39">
-                <joint name="10a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="10a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="10a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="10a_left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="10a_left_thigh" pos="0 .1 -.04">
-            <joint name="10a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="10a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="10a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="10a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="10a_left_shin" pos="0 -.01 -.403">
-              <joint name="10a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="10a_left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="10a_left_foot" pos="0 0 -.39">
-                <joint name="10a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="10a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="10a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="10a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="10a_right_upper_arm" pos="0 -.17 .06">
-        <joint name="10a_right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="10a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="10a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="10a_right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="10a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="10a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="10a_right_hand" pos=".18 .18 .18">
-            <geom name="10a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="10a_left_upper_arm" pos="0 .17 .06">
-        <joint name="10a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="10a_left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="10a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="10a_left_lower_arm" pos=".18 .18 -.18">
-          <joint name="10a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="10a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="10a_left_hand" pos=".18 -.18 .18">
-            <geom name="10a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor gear="40"  joint="1a_abdomen_y"/>
-    <motor gear="40"  joint="1a_abdomen_z"/>
-    <motor gear="40"  joint="1a_abdomen_x"/>
-    <motor gear="40"  joint="1a_right_hip_x"/>
-    <motor gear="40"  joint="1a_right_hip_z"/>
-    <motor gear="120" joint="1a_right_hip_y"/>
-    <motor gear="80"  joint="1a_right_knee"/>
-    <motor gear="20"  joint="1a_right_ankle_x"/>
-    <motor gear="20"  joint="1a_right_ankle_y"/>
-    <motor gear="40"  joint="1a_left_hip_x"/>
-    <motor gear="40"  joint="1a_left_hip_z"/>
-    <motor gear="120" joint="1a_left_hip_y"/>
-    <motor gear="80"  joint="1a_left_knee"/>
-    <motor gear="20"  joint="1a_left_ankle_x"/>
-    <motor gear="20"  joint="1a_left_ankle_y"/>
-    <motor gear="20"  joint="1a_right_shoulder1"/>
-    <motor gear="20"  joint="1a_right_shoulder2"/>
-    <motor gear="40"  joint="1a_right_elbow"/>
-    <motor gear="20"  joint="1a_left_shoulder1"/>
-    <motor gear="20"  joint="1a_left_shoulder2"/>
-    <motor gear="40"  joint="1a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="2a_abdomen_y"/>
-    <motor gear="40"  joint="2a_abdomen_z"/>
-    <motor gear="40"  joint="2a_abdomen_x"/>
-    <motor gear="40"  joint="2a_right_hip_x"/>
-    <motor gear="40"  joint="2a_right_hip_z"/>
-    <motor gear="120" joint="2a_right_hip_y"/>
-    <motor gear="80"  joint="2a_right_knee"/>
-    <motor gear="20"  joint="2a_right_ankle_x"/>
-    <motor gear="20"  joint="2a_right_ankle_y"/>
-    <motor gear="40"  joint="2a_left_hip_x"/>
-    <motor gear="40"  joint="2a_left_hip_z"/>
-    <motor gear="120" joint="2a_left_hip_y"/>
-    <motor gear="80"  joint="2a_left_knee"/>
-    <motor gear="20"  joint="2a_left_ankle_x"/>
-    <motor gear="20"  joint="2a_left_ankle_y"/>
-    <motor gear="20"  joint="2a_right_shoulder1"/>
-    <motor gear="20"  joint="2a_right_shoulder2"/>
-    <motor gear="40"  joint="2a_right_elbow"/>
-    <motor gear="20"  joint="2a_left_shoulder1"/>
-    <motor gear="20"  joint="2a_left_shoulder2"/>
-    <motor gear="40"  joint="2a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="3a_abdomen_y"/>
-    <motor gear="40"  joint="3a_abdomen_z"/>
-    <motor gear="40"  joint="3a_abdomen_x"/>
-    <motor gear="40"  joint="3a_right_hip_x"/>
-    <motor gear="40"  joint="3a_right_hip_z"/>
-    <motor gear="120" joint="3a_right_hip_y"/>
-    <motor gear="80"  joint="3a_right_knee"/>
-    <motor gear="20"  joint="3a_right_ankle_x"/>
-    <motor gear="20"  joint="3a_right_ankle_y"/>
-    <motor gear="40"  joint="3a_left_hip_x"/>
-    <motor gear="40"  joint="3a_left_hip_z"/>
-    <motor gear="120" joint="3a_left_hip_y"/>
-    <motor gear="80"  joint="3a_left_knee"/>
-    <motor gear="20"  joint="3a_left_ankle_x"/>
-    <motor gear="20"  joint="3a_left_ankle_y"/>
-    <motor gear="20"  joint="3a_right_shoulder1"/>
-    <motor gear="20"  joint="3a_right_shoulder2"/>
-    <motor gear="40"  joint="3a_right_elbow"/>
-    <motor gear="20"  joint="3a_left_shoulder1"/>
-    <motor gear="20"  joint="3a_left_shoulder2"/>
-    <motor gear="40"  joint="3a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="4a_abdomen_y"/>
-    <motor gear="40"  joint="4a_abdomen_z"/>
-    <motor gear="40"  joint="4a_abdomen_x"/>
-    <motor gear="40"  joint="4a_right_hip_x"/>
-    <motor gear="40"  joint="4a_right_hip_z"/>
-    <motor gear="120" joint="4a_right_hip_y"/>
-    <motor gear="80"  joint="4a_right_knee"/>
-    <motor gear="20"  joint="4a_right_ankle_x"/>
-    <motor gear="20"  joint="4a_right_ankle_y"/>
-    <motor gear="40"  joint="4a_left_hip_x"/>
-    <motor gear="40"  joint="4a_left_hip_z"/>
-    <motor gear="120" joint="4a_left_hip_y"/>
-    <motor gear="80"  joint="4a_left_knee"/>
-    <motor gear="20"  joint="4a_left_ankle_x"/>
-    <motor gear="20"  joint="4a_left_ankle_y"/>
-    <motor gear="20"  joint="4a_right_shoulder1"/>
-    <motor gear="20"  joint="4a_right_shoulder2"/>
-    <motor gear="40"  joint="4a_right_elbow"/>
-    <motor gear="20"  joint="4a_left_shoulder1"/>
-    <motor gear="20"  joint="4a_left_shoulder2"/>
-    <motor gear="40"  joint="4a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="5a_abdomen_y"/>
-    <motor gear="40"  joint="5a_abdomen_z"/>
-    <motor gear="40"  joint="5a_abdomen_x"/>
-    <motor gear="40"  joint="5a_right_hip_x"/>
-    <motor gear="40"  joint="5a_right_hip_z"/>
-    <motor gear="120" joint="5a_right_hip_y"/>
-    <motor gear="80"  joint="5a_right_knee"/>
-    <motor gear="20"  joint="5a_right_ankle_x"/>
-    <motor gear="20"  joint="5a_right_ankle_y"/>
-    <motor gear="40"  joint="5a_left_hip_x"/>
-    <motor gear="40"  joint="5a_left_hip_z"/>
-    <motor gear="120" joint="5a_left_hip_y"/>
-    <motor gear="80"  joint="5a_left_knee"/>
-    <motor gear="20"  joint="5a_left_ankle_x"/>
-    <motor gear="20"  joint="5a_left_ankle_y"/>
-    <motor gear="20"  joint="5a_right_shoulder1"/>
-    <motor gear="20"  joint="5a_right_shoulder2"/>
-    <motor gear="40"  joint="5a_right_elbow"/>
-    <motor gear="20"  joint="5a_left_shoulder1"/>
-    <motor gear="20"  joint="5a_left_shoulder2"/>
-    <motor gear="40"  joint="5a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="6a_abdomen_y"/>
-    <motor gear="40"  joint="6a_abdomen_z"/>
-    <motor gear="40"  joint="6a_abdomen_x"/>
-    <motor gear="40"  joint="6a_right_hip_x"/>
-    <motor gear="40"  joint="6a_right_hip_z"/>
-    <motor gear="120" joint="6a_right_hip_y"/>
-    <motor gear="80"  joint="6a_right_knee"/>
-    <motor gear="20"  joint="6a_right_ankle_x"/>
-    <motor gear="20"  joint="6a_right_ankle_y"/>
-    <motor gear="40"  joint="6a_left_hip_x"/>
-    <motor gear="40"  joint="6a_left_hip_z"/>
-    <motor gear="120" joint="6a_left_hip_y"/>
-    <motor gear="80"  joint="6a_left_knee"/>
-    <motor gear="20"  joint="6a_left_ankle_x"/>
-    <motor gear="20"  joint="6a_left_ankle_y"/>
-    <motor gear="20"  joint="6a_right_shoulder1"/>
-    <motor gear="20"  joint="6a_right_shoulder2"/>
-    <motor gear="40"  joint="6a_right_elbow"/>
-    <motor gear="20"  joint="6a_left_shoulder1"/>
-    <motor gear="20"  joint="6a_left_shoulder2"/>
-    <motor gear="40"  joint="6a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="7a_abdomen_y"/>
-    <motor gear="40"  joint="7a_abdomen_z"/>
-    <motor gear="40"  joint="7a_abdomen_x"/>
-    <motor gear="40"  joint="7a_right_hip_x"/>
-    <motor gear="40"  joint="7a_right_hip_z"/>
-    <motor gear="120" joint="7a_right_hip_y"/>
-    <motor gear="80"  joint="7a_right_knee"/>
-    <motor gear="20"  joint="7a_right_ankle_x"/>
-    <motor gear="20"  joint="7a_right_ankle_y"/>
-    <motor gear="40"  joint="7a_left_hip_x"/>
-    <motor gear="40"  joint="7a_left_hip_z"/>
-    <motor gear="120" joint="7a_left_hip_y"/>
-    <motor gear="80"  joint="7a_left_knee"/>
-    <motor gear="20"  joint="7a_left_ankle_x"/>
-    <motor gear="20"  joint="7a_left_ankle_y"/>
-    <motor gear="20"  joint="7a_right_shoulder1"/>
-    <motor gear="20"  joint="7a_right_shoulder2"/>
-    <motor gear="40"  joint="7a_right_elbow"/>
-    <motor gear="20"  joint="7a_left_shoulder1"/>
-    <motor gear="20"  joint="7a_left_shoulder2"/>
-    <motor gear="40"  joint="7a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="8a_abdomen_y"/>
-    <motor gear="40"  joint="8a_abdomen_z"/>
-    <motor gear="40"  joint="8a_abdomen_x"/>
-    <motor gear="40"  joint="8a_right_hip_x"/>
-    <motor gear="40"  joint="8a_right_hip_z"/>
-    <motor gear="120" joint="8a_right_hip_y"/>
-    <motor gear="80"  joint="8a_right_knee"/>
-    <motor gear="20"  joint="8a_right_ankle_x"/>
-    <motor gear="20"  joint="8a_right_ankle_y"/>
-    <motor gear="40"  joint="8a_left_hip_x"/>
-    <motor gear="40"  joint="8a_left_hip_z"/>
-    <motor gear="120" joint="8a_left_hip_y"/>
-    <motor gear="80"  joint="8a_left_knee"/>
-    <motor gear="20"  joint="8a_left_ankle_x"/>
-    <motor gear="20"  joint="8a_left_ankle_y"/>
-    <motor gear="20"  joint="8a_right_shoulder1"/>
-    <motor gear="20"  joint="8a_right_shoulder2"/>
-    <motor gear="40"  joint="8a_right_elbow"/>
-    <motor gear="20"  joint="8a_left_shoulder1"/>
-    <motor gear="20"  joint="8a_left_shoulder2"/>
-    <motor gear="40"  joint="8a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="9a_abdomen_y"/>
-    <motor gear="40"  joint="9a_abdomen_z"/>
-    <motor gear="40"  joint="9a_abdomen_x"/>
-    <motor gear="40"  joint="9a_right_hip_x"/>
-    <motor gear="40"  joint="9a_right_hip_z"/>
-    <motor gear="120" joint="9a_right_hip_y"/>
-    <motor gear="80"  joint="9a_right_knee"/>
-    <motor gear="20"  joint="9a_right_ankle_x"/>
-    <motor gear="20"  joint="9a_right_ankle_y"/>
-    <motor gear="40"  joint="9a_left_hip_x"/>
-    <motor gear="40"  joint="9a_left_hip_z"/>
-    <motor gear="120" joint="9a_left_hip_y"/>
-    <motor gear="80"  joint="9a_left_knee"/>
-    <motor gear="20"  joint="9a_left_ankle_x"/>
-    <motor gear="20"  joint="9a_left_ankle_y"/>
-    <motor gear="20"  joint="9a_right_shoulder1"/>
-    <motor gear="20"  joint="9a_right_shoulder2"/>
-    <motor gear="40"  joint="9a_right_elbow"/>
-    <motor gear="20"  joint="9a_left_shoulder1"/>
-    <motor gear="20"  joint="9a_left_shoulder2"/>
-    <motor gear="40"  joint="9a_left_elbow"/>
-  </actuator>
-
-  <actuator>
-    <motor gear="40"  joint="10a_abdomen_y"/>
-    <motor gear="40"  joint="10a_abdomen_z"/>
-    <motor gear="40"  joint="10a_abdomen_x"/>
-    <motor gear="40"  joint="10a_right_hip_x"/>
-    <motor gear="40"  joint="10a_right_hip_z"/>
-    <motor gear="120" joint="10a_right_hip_y"/>
-    <motor gear="80"  joint="10a_right_knee"/>
-    <motor gear="20"  joint="10a_right_ankle_x"/>
-    <motor gear="20"  joint="10a_right_ankle_y"/>
-    <motor gear="40"  joint="10a_left_hip_x"/>
-    <motor gear="40"  joint="10a_left_hip_z"/>
-    <motor gear="120" joint="10a_left_hip_y"/>
-    <motor gear="80"  joint="10a_left_knee"/>
-    <motor gear="20"  joint="10a_left_ankle_x"/>
-    <motor gear="20"  joint="10a_left_ankle_y"/>
-    <motor gear="20"  joint="10a_right_shoulder1"/>
-    <motor gear="20"  joint="10a_right_shoulder2"/>
-    <motor gear="40"  joint="10a_right_elbow"/>
-    <motor gear="20"  joint="10a_left_shoulder1"/>
-    <motor gear="20"  joint="10a_left_shoulder2"/>
-    <motor gear="40"  joint="10a_left_elbow"/>
-  </actuator>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/humanoid/README.md b/mjx/mujoco/mjx/test_data/humanoid/README.md
deleted file mode 100644
index 38dac7b2..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/README.md
+++ /dev/null
@@ -1,17 +0,0 @@
-# 人形机器人（Humanoid）
-
-* 自由度（Degrees of Freedom）：27
-* 执行器（Actuators）：21
-
-这是 [MuJoCo Humanoid](https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid.xml) 的克隆版本，包含以下修改：
-
-* 求解器切换为带有 8 次迭代的 CG（共轭梯度法）
-* 足部和地面的显式接触对（兼容 [OpenAI Gym Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/) 环境）
-
-本简化人形机器人模型最初在文献 [1] 中提出，专为双足运动控制行为设计。尽管社区中存在多种变体，但此版本基于 DeepMind Control Suite [2] 中的模型构建，具备较为逼真的执行器增益。
-
-[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization](https://doi.org/10.1109/IROS.2012.6386025).
-
-[2] [DeepMind Control Suite](https://arxiv.org/abs/1801.00690).
-
-![humanoid](humanoid.png)
diff --git a/mjx/mujoco/mjx/test_data/humanoid/humanoid.png b/mjx/mujoco/mjx/test_data/humanoid/humanoid.png
deleted file mode 100644
index 99df309a..00000000
Binary files a/mjx/mujoco/mjx/test_data/humanoid/humanoid.png and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/humanoid/humanoid.xml b/mjx/mujoco/mjx/test_data/humanoid/humanoid.xml
deleted file mode 100644
index 168310bc..00000000
--- a/mjx/mujoco/mjx/test_data/humanoid/humanoid.xml
+++ /dev/null
@@ -1,262 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Humanoid">
-  <option timestep="0.005" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <!-- TODO(robotics-simulation): support condim=1 for humanoid capsules. -->
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="0" conaffinity="0"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <body name="torso" pos="0 0 1.282" childclass="body">
-      <light name="top" pos="0 0 2" mode="trackcom"/>
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-    <pair geom1="foot1_left" geom2="floor"/>
-    <pair geom1="foot1_right" geom2="floor"/>
-    <pair geom1="foot2_left" geom2="floor"/>
-    <pair geom1="foot2_right" geom2="floor"/>
-  </contact>
-
-  <!-- <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon> -->
-
-  <actuator>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <!--
-    The values below are split into rows for readibility:
-      torso position
-      torso orientation
-      spinal
-      right leg
-      left leg
-      arms
-    -->
-    <key name="squat" qpos="0 0 0.596
-                            0.988015 0 0.154359 0
-                            0 0.4 0
-                            -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-                            -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-                            0 0 0 0 0 0"/>
-    <key name="stand_on_left_leg" qpos="0 0 1.21948
-                                        0.971588 -0.179973 0.135318 -0.0729076
-                                        -0.0516 -0.202 0.23
-                                        -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-                                        -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
-                                        0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
-    <key name="no_efc" qpos="0 0 2
-                             1 0 0 0
-                             0 0 0
-                             0 0 0 0 0 0
-                             0 0 0 0 0 0
-                             0 0 0 0 0 0"/>
-  </keyframe>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/meshes/dodecahedron.stl b/mjx/mujoco/mjx/test_data/meshes/dodecahedron.stl
deleted file mode 100644
index 1a3f9f69..00000000
Binary files a/mjx/mujoco/mjx/test_data/meshes/dodecahedron.stl and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/meshes/pyramid.stl b/mjx/mujoco/mjx/test_data/meshes/pyramid.stl
deleted file mode 100644
index 94de845b..00000000
Binary files a/mjx/mujoco/mjx/test_data/meshes/pyramid.stl and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/meshes/tetrahedron.stl b/mjx/mujoco/mjx/test_data/meshes/tetrahedron.stl
deleted file mode 100644
index 68fed6b8..00000000
Binary files a/mjx/mujoco/mjx/test_data/meshes/tetrahedron.stl and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/pendula.xml b/mjx/mujoco/mjx/test_data/pendula.xml
deleted file mode 100644
index 6902b2f9..00000000
--- a/mjx/mujoco/mjx/test_data/pendula.xml
+++ /dev/null
@@ -1,160 +0,0 @@
-<!-- For validating dynamics of joints:
-
-* free, ball, slide, hinge joints
-* stacked joints (e.g. hinge + slide, ball + slide, etc)
-* n-link kinematic chains
-* limits, armature, damping
--->
-<mujoco model="pendula">
-  <compiler autolimits="true"/>
-
-  <option timestep="0.02">
-    <flag contact="disable" />
-  </option>
-
-  <default>
-    <geom type="box" pos=".1 .2 .3" size=".1 .2 .3"/>
-    <joint damping="0.25" stiffness="0.1"/>
-  </default>
-
-  <worldbody>
-    <site name="origin"/>
-    <camera pos="0 1.5 0.8" xyaxes="-1 0 0 0 -0.2 .8"/>
-    <camera mode="targetbodycom" pos="1 -1 2"/>
-    <camera mode="targetbodycom" target="body" pos="0 -1 2"/>
-    <camera mode="targetbody" target="body" pos="0 -1 -2"/>
-
-    <!-- a single free body -->
-    <body pos="0 0 0">
-      <camera mode="fixed" pos="0 0.1 0.1" euler="2.7 0 0"/>
-      <camera pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="track"/>
-      <freejoint/>
-      <geom/>
-    </body>
-
-    <!-- a single ball joint with a limit -->
-    <body name="body" pos="0.5 0 0">
-      <joint name="joint1" type="ball" range="0 35"/>
-      <site name="s1" pos="1.3 0 0"/>
-      <geom/>
-    </body>
-
-    <!-- a single slide joint with a limit -->
-    <body pos="1.0 0 0">
-      <joint name="joint2" type="slide" axis="0.1 0.2 0.3" range="-1 1"/>
-      <site name="s2"/>
-      <geom/>
-    </body>
-
-    <!-- a single hinge joint with a limit -->
-    <body pos="1.5 0 0">
-      <joint name="joint3" type="hinge" axis="0.1 0.2 0.3" range="-35 50"/>
-      <site name="s3" quat="1 0 1 0"/>
-      <geom/>
-    </body>
-
-    <!-- stacked joint: hinge + slide -->
-    <body pos="2.0 0 0">
-      <joint name="joint4" type="hinge" axis="0.1 0.2 0.3"/>
-      <joint name="joint5" type="slide" axis="0.4 0.5 0.6" range="0 1"/>
-      <geom/>
-    </body>
-
-    <!-- stacked joint: slide + ball -->
-    <body pos="2.5 0 0">
-      <joint name="joint6" type="slide" axis="0.4 0.5 0.6" range="0 1"/>
-      <joint type="ball"/>
-      <geom/>
-    </body>
-
-    <!-- triple pendulum of hinges -->
-    <body pos="3.0 0 0">
-      <joint name="joint7" axis="0.1 0.2 0.3" type="hinge"/>
-      <geom/>
-      <body pos="0 0 -0.8">
-        <joint name="joint8" axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
-        <geom/>
-        <body pos="0 -0.7 0">
-          <joint name="joint9" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
-          <site name="s4" pos="0 1.5 0" quat="1 0 1 0"/>
-          <geom/>
-        </body>
-      </body>
-    </body>
-
-    <!-- cherry pendulum: two bodies attached to same parent body -->
-    <body pos="3.5 0 0">
-      <joint name="joint10" type="ball" damping="0.5" />
-      <geom/>
-      <body pos="0 0 -0.8">
-        <joint name="joint11" axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
-        <geom/>
-      </body>
-      <body pos="0 -0.7 0">
-        <joint name="joint12" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
-        <geom/>
-      </body>
-    </body>
-
-    <!-- falling pendulum -->
-    <body pos="4.0 0 0">
-      <freejoint name="freejoint"/>
-      <geom/>
-      <body pos="0 0 -0.8">
-        <joint name="joint13" axis="0.4 0.5 0.6" type="slide" armature="0.02" range="-0.4 0.6"/>
-        <geom/>
-        <body pos="0 -0.7 0">
-          <joint name="joint14" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
-          <geom/>
-        </body>
-      </body>
-    </body>
-
-    <!-- triple pendulum of hinges with gravcomp -->
-    <body pos="3.0 0 0" gravcomp="1">
-      <joint name="joint15" axis="0.1 0.2 0.3" type="hinge"/>
-      <geom/>
-      <body pos="0 0 -0.8" gravcomp="2">
-        <joint name="joint16" axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
-        <geom/>
-        <body pos="0 -0.7 0" gravcomp="3">
-          <joint name="joint17" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30" actuatorgravcomp="true"/>
-          <geom/>
-        </body>
-      </body>
-    </body>
-
-    <body mocap="true">
-      <geom type="sphere" size="0.05"/>
-    </body>
-    <body mocap="true" pos="1.0 2.0 0.5" quat="1 0 1 0">
-      <geom type="sphere" size="0.05"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <fixed name="tendon_1" limited="true" range="-0.3 0.1" stiffness=".1" damping=".2">
-      <joint joint="joint2" coef=".1"/>
-      <joint joint="joint3" coef="-.2"/>
-    </fixed>
-    <fixed name="tendon_2" limited="true" range="-0.3 2" springlength="0 0.05" stiffness=".3" damping=".4">
-      <joint joint="joint4" coef=".3"/>
-      <joint joint="joint5" coef="-.4"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor gear="250 0 0" joint="joint1" name="act1"/>
-    <motor gear="0 275 0" joint="joint1" name="act2"/>
-    <motor gear="0 0 300" joint="joint1" name="act3"/>
-    <motor gear="275" joint="joint2" name="act4"/>
-    <motor gear="275" joint="joint3" name="act5"/>
-    <motor gear="150" joint="joint15" name="act6"/>
-    <motor gear="150" joint="joint16" name="act7"/>
-    <motor gear="150" joint="joint17" name="act8"/>
-    <position tendon="tendon_2" kp="100"/>
-    <motor gear="2 3 4" jointinparent="joint1"/>
-    <motor gear="5 6 7 8 9 10" jointinparent="freejoint"/>
-  </actuator>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/quadratic_frictionloss.xml b/mjx/mujoco/mjx/test_data/quadratic_frictionloss.xml
deleted file mode 100644
index e62f81ae..00000000
--- a/mjx/mujoco/mjx/test_data/quadratic_frictionloss.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<!-- tests a box on a plane with quadratic frictionloss constraints -->
-<mujoco>
-  <option iterations="10" ls_iterations="6"/>
-  <asset>
-      <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
-      <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-      <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="200 200" texture="texplane"/>
-  </asset>
-  <worldbody>
-    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" size="40 40 40" type="plane"/>
-    <camera pos="-0.323 -4.170 2.949" xyaxes="1.000 -0.024 -0.000 0.010 0.427 0.904"/>
-    <body name="peg" pos="0.0 0.0 0.02" euler="30 0 0">
-      <joint type="free" stiffness="0" damping="0" frictionloss="0.005" armature="0"/>
-      <geom mass="0.044" condim="6" friction="1 0.05 0.001" pos="0 0 0" size="0.048 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1"/>
-    </body>
-  </worldbody>
-  <keyframe>
-    <key name="home" qpos='0.00382621 -0.000816274 0.011149 0.992081 0.0959616 0.00580468 0.08083'/>
-  </keyframe>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/ray.xml b/mjx/mujoco/mjx/test_data/ray.xml
deleted file mode 100644
index bbf42b1e..00000000
--- a/mjx/mujoco/mjx/test_data/ray.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<mujoco model="ray">
-  <asset>
-      <mesh name="tetrahedron" file="meshes/tetrahedron.stl" scale="0.4 0.4 0.4" />
-      <mesh name="dodecahedron" file="meshes/dodecahedron.stl" scale="0.04 0.04 0.04" />
-      <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-      <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-  </asset>
-  <worldbody>
-    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-
-    <geom name="plane" pos="0 0 0" quat="1 0 0 0" size="4 4 4" type="plane" rgba="0.1 0.1 0.1 1"/>
-    <geom name="sphere" pos="0 0 1" quat="1 0 0 0" size="0.5" type="sphere" rgba="1 0 0 1"/>
-    <geom name="capsule" pos="0 1 1" quat="0 0.3826834 0 0.9238795 " size="0.25 0.5" type="capsule" rgba="0 1 0 1"/>
-    <geom name="box" pos="1 0 1" quat="0 0.3826834 0 0.9238795" size="0.5 0.25 0.3" type="box" rgba="0 0 1 1"/>
-    <geom name="mesh" pos="1 1 1" quat="0 0 0.3826834 0.9238795" type="mesh" mesh="tetrahedron" rgba="1 1 0 1"/>
-    <geom name="mesh2" pos="2 1 1" type="mesh" mesh="dodecahedron" rgba="1 0 1 1"/>
-  </worldbody>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/sensor/model.xml b/mjx/mujoco/mjx/test_data/sensor/model.xml
deleted file mode 100644
index f152f99b..00000000
--- a/mjx/mujoco/mjx/test_data/sensor/model.xml
+++ /dev/null
@@ -1,74 +0,0 @@
-<mujoco model="model">
-  <asset>
-    <material name="material"/>
-  </asset>
-  <worldbody>
-    <!-- tree 0 -->
-    <body name="body0" pos="1 2 3">
-      <joint name="hinge0" type="hinge" axis="1 0 0"/>
-      <geom size="0.1" material="material"/>
-      <site name="site_rangefinder0" pos="-1e-3 0 0.2"/>
-      <site name="site_rangefinder1" pos="-1e-3 0 0.175"/>
-      <site name="site0" pos=".1 .2 .3"/>
-      <body name="body1" pos="0.1 0.2 0.3">
-        <joint name="hinge1" type="hinge" axis="0 1 0"/>
-        <geom size="0.25"/>
-        <site name="site1" pos=".2 .4 .6"/>
-      </body>
-    </body>
-
-    <!-- body 2 -->
-    <body name="body2" pos=".1 .1 .1">
-      <joint name="ballquat2" type="ball" pos="0.1 0.1 0.1"/>
-      <geom name="geom2" size="1"/>
-    </body>
-
-    <!-- body 3 -->
-    <body name="body3" pos="-.1 -.1 -.1">
-      <joint name="ballquat3" type="ball" pos="0.1 0.2 0.3"/>
-      <geom size="1"/>
-      <site name="site3"/>
-    </body>
-
-    <!-- bodies for camera projection -->
-    <body pos="11.1 0 1">
-      <geom type="box" size=".1 .6 .375"/>
-      <site name="frontorigin" pos="-.1  .6  .375"/>
-      <site name="frontcenter" pos="-.1 0 0"/>
-    </body>
-    <body pos="10 0 0">
-      <joint axis="0 0 1" range="-180 180" limited="false"/>
-      <geom type="sphere" size=".2" pos="0 0 0.9"/>
-      <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
-              resolution="1920 1200" name="fixedcamera"/>
-    </body>
-
-    <!-- body for rangefinder -->
-    <body name="body_rangefinder" pos="1 2 4">
-      <geom size="0.01" material="material"/>
-    </body>
-
-    <!-- bodies for force + torque sensors -->
-    <body>
-      <joint type="hinge" axis="1 0 0"/>
-      <joint type="hinge" axis="0 1 0"/>
-      <joint type="hinge" axis="0 0 1"/>
-      <site name="site_force"/>
-      <geom size="0.1"/>
-    </body>
-    <body>
-      <joint type="slide" axis="1 0 0"/>
-      <joint type="slide" axis="0 1 0"/>
-      <joint type="slide" axis="0 0 1"/>
-      <site name="site_torque"/>
-      <geom size="0.1"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="motor0" joint="hinge0" ctrlrange="-1 1" gear="10"
-      ctrllimited="true"/>
-    <motor name="motor1" joint="hinge1" ctrlrange="-1 1" gear="10"
-      ctrllimited="true"/>
-  </actuator>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/sensor/sensor.xml b/mjx/mujoco/mjx/test_data/sensor/sensor.xml
deleted file mode 100644
index efd855e1..00000000
--- a/mjx/mujoco/mjx/test_data/sensor/sensor.xml
+++ /dev/null
@@ -1,224 +0,0 @@
-<!-- For validating sensors:
-
-* position-dependent sensors:
--magnetometer
--camprojection
--rangefinder
--jointpos
--tendonpos
--actuatorpos
--ballquat
--framepos
--framexaxis
--frameyaxis
--framezaxis
--framequat
--subtreecom
--clock
-* velocity-dependent sensors:
--velocimeter
--gyro
--jointvel
--tendonvel
--actuatorvel
--ballangvel
--framelinvel
--frameangvel
--subtreelinvel
--subtreeangmom
-* acceleration/force-dependent sensors:
--touch
--accelerometer
--force
--torque
--actuatorfrc
--jointactfrc
--framelinacc
--frameangacc
--->
-<mujoco model="sensor">
-  <asset>
-    <material name="material"/>
-  </asset>
-  <worldbody>
-    <!-- tree 0 -->
-    <body name="body0" pos="1 2 3">
-      <joint name="hinge0" type="hinge" axis="1 0 0"/>
-      <geom size="0.1" material="material"/>
-      <site name="site_rangefinder0" pos="-1e-3 0 0.2"/>
-      <site name="site_rangefinder1" pos="-1e-3 0 0.175"/>
-      <site name="site0" pos=".1 .2 .3"/>
-      <body name="body1" pos="0.1 0.2 0.3">
-        <joint name="hinge1" type="hinge" axis="0 1 0"/>
-        <geom size="0.25"/>
-        <site name="site1" pos=".2 .4 .6"/>
-      </body>
-    </body>
-
-    <!-- body 2 -->
-    <body name="body2" pos=".1 .1 .1">
-      <joint name="ballquat2" type="ball" pos="0.1 0.1 0.1"/>
-      <geom name="geom2" size="1"/>
-    </body>
-
-    <!-- body 3 -->
-    <body name="body3" pos="-.1 -.1 -.1">
-      <joint name="ballquat3" type="ball" pos="0.1 0.2 0.3"/>
-      <geom size="1"/>
-      <site name="site3"/>
-    </body>
-
-    <!-- bodies for camera projection -->
-    <body pos="11.1 0 1">
-      <geom type="box" size=".1 .6 .375"/>
-      <site name="frontorigin" pos="-.1  .6  .375"/>
-      <site name="frontcenter" pos="-.1 0 0"/>
-    </body>
-    <body pos="10 0 0">
-      <joint axis="0 0 1" range="-180 180" limited="false"/>
-      <geom type="sphere" size=".2" pos="0 0 0.9"/>
-      <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
-              resolution="1920 1200" name="fixedcamera"/>
-    </body>
-
-    <!-- body for rangefinder -->
-    <body name="body_rangefinder" pos="1 2 4">
-      <geom size="0.01" material="material"/>
-    </body>
-
-    <!-- bodies for force + torque sensors -->
-    <body pos="-1 -1 -1">
-      <joint type="hinge" axis="1 0 0"/>
-      <joint type="hinge" axis="0 1 0"/>
-      <joint type="hinge" axis="0 0 1"/>
-      <site name="site_force"/>
-      <geom size="0.1"/>
-    </body>
-    <body pos="-2 -2 -2">
-      <joint type="slide" axis="1 0 0"/>
-      <joint type="slide" axis="0 1 0"/>
-      <joint type="slide" axis="0 0 1"/>
-      <site name="site_torque"/>
-      <geom size="0.1"/>
-    </body>
-
-    <!-- plane and bodies for touch sensors -->
-    <geom type="plane" size="2 2 .1" pos="-20 -20 -20"/>
-    <body pos="-20 -20 -20">
-      <freejoint/>
-      <geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125" condim="1"/>
-      <site name="touch_sphere" type="sphere" pos="-0.5 0 0" size="0.025"/>
-    </body>
-    <body pos="-20 -20.25 -20">
-      <freejoint/>
-      <geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125" condim="3"/>
-      <site name="touch_capsule" type="capsule" fromto="0.4 0 0.0 0.5 0 0.0" size="0.025"/>
-    </body>
-    <body pos="-20 -20.5 -20">
-      <freejoint/>
-      <geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125" condim="6"/>
-      <site name="touch_box" pos="-0.5 0 0" type="box" size="0.025 0.025 0.025"/>
-    </body>
-    <body pos="-20 -20.75 -20">
-      <freejoint/>
-      <geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125" condim="3"/>
-      <site name="touch_ellipsoid" type="ellipsoid" pos="0.5 0 0.0" size="0.05 0.01 0.02"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="motor0" joint="hinge0" ctrlrange="-1 1" gear="10"
-      ctrllimited="true"/>
-    <motor name="motor1" joint="hinge1" ctrlrange="-1 1" gear="10"
-      ctrllimited="true"/>
-  </actuator>
-
-  <tendon>
-    <fixed name="fixed">
-      <joint joint="hinge0" coef=".1"/>
-      <joint joint="hinge1" coef=".2"/>
-    </fixed>
-    <spatial name="spatial">
-      <site site="site0"/>
-      <site site="site1"/>
-    </spatial>
-  </tendon>
-
-  <sensor>
-    <touch name="touch_sphere" site="touch_sphere"/>
-    <torque site="site_torque"/>
-    <tendonpos tendon="fixed"/>
-    <tendonvel tendon="fixed"/>
-    <magnetometer name="magnetometer0" site="site0"/>
-    <velocimeter name="velocimeter0" site="site0"/>
-    <velocimeter name="velocimeter0cutoff" site="site0" cutoff="3e-4"/>
-    <gyro name="gyro0" site="site0"/>
-    <touch name="touch_box1" site="touch_box"/>
-    <touch name="touch_box2" site="touch_box"/>
-    <gyro name="gyro0cutoff" site="site0" cutoff="2e-3"/>
-    <rangefinder name="rangefinder0" site="site_rangefinder0"/>
-    <accelerometer name="accelerometer1" site="site1"/>
-    <force site="site_force"/>
-    <tendonpos tendon="spatial"/>
-    <tendonvel tendon="spatial"/>
-    <jointpos name="jointpos0" joint="hinge0"/>
-    <jointpos name="jointpos0cutoff" joint="hinge0" cutoff="1e-4"/>
-    <jointvel name="jointvel0" joint="hinge0"/>
-    <jointvel name="jointvel0cutoff" joint="hinge0" cutoff="1e-3"/>
-    <touch name="touch_capsule1" site="touch_capsule"/>
-    <touch name="touch_capsule2" site="touch_capsule"/>
-    <actuatorfrc name="actuatorfrc0" actuator="motor0"/>
-    <framelinvel name="framelinvel3" objtype="site" objname="site3"/>
-    <framelinvel name="framelinvel3ref" objtype="site" objname="site3" reftype="body" refname="body2"/>
-    <subtreelinvel name="subtreelinvel0" body="body0"/>
-    <actuatorpos name="actuatorpos0" actuator="motor0"/>
-    <actuatorvel name="actuatorvel0" actuator="motor0"/>
-    <ballquat name="ballquat2" joint="ballquat2"/>
-    <ballangvel name="ballangvel2" joint="ballquat2"/>
-    <framexaxis name="framexaxis0" objtype="site" objname="site0"/>
-    <jointactuatorfrc name="jointactfrc1" joint="hinge1"/>
-    <framezaxis name="framezaxis0" objtype="site" objname="site0"/>
-    <framequat name="framequat3" objtype="site" objname="site3"/>
-    <frameyaxis name="frameyaxis0" objtype="site" objname="site0"/>
-    <framepos name="framepos0" objtype="site" objname="site0"/>
-    <velocimeter name="velocimeter1" site="site1"/>
-    <gyro name="gyro1" site="site1"/>
-    <touch name="touch_ellipsoid" site="touch_ellipsoid"/>
-    <frameangvel name="frameangvel3" objtype="site" objname="site3"/>
-    <frameangvel name="frameangvel3ref" objtype="site" objname="site3" reftype="body" refname="body2"/>
-    <frameangvel name="frameangvel3cutoff" objtype="site" objname="site3" cutoff="1e-3"/>
-    <actuatorfrc name="actuatorfrc1" actuator="motor1"/>
-    <subtreeangmom name="subtreeangmom0" body="body0"/>
-    <subtreecom name="subtreecom0" body="body0"/>
-    <camprojection site="frontorigin" camera="fixedcamera"/>
-    <magnetometer name="magnetometer1" site="site1"/>
-    <jointpos name="jointpos1" joint="hinge1"/>
-    <framelinacc name="framelinacc0" objtype="site" objname="site0"/>
-    <frameangacc name="frameangacc0" objtype="site" objname="site0"/>
-    <jointvel name="jointvel1" joint="hinge1"/>
-    <actuatorpos name="actuatorpos1" actuator="motor1"/>
-    <subtreelinvel name="subtreelinvel1" body="body1"/>
-    <actuatorvel name="actuatorvel1" actuator="motor1"/>
-    <framepos name="framepos1" objtype="site" objname="site1"/>
-    <jointactuatorfrc name="jointactfrc0" joint="hinge0"/>
-    <subtreeangmom name="subtreeangmom1" body="body1"/>
-    <framezaxis name="framezaxis1" objtype="site" objname="site1"/>
-    <framexaxis name="framexaxis1" objtype="site" objname="site1"/>
-    <ballquat name="ballquat3" joint="ballquat3"/>
-    <camprojection site="frontcenter" camera="fixedcamera"/>
-    <ballangvel name="ballangvel3" joint="ballquat3"/>
-    <frameangvel name="frameangvel0" objtype="site" objname="site0"/>
-    <frameangvel name="frameangvel0ref" objtype="site" objname="site0" reftype="site" refname="site3"/>
-    <frameyaxis name="frameyaxis1" objtype="site" objname="site1"/>
-    <framequat name="framequat0" objtype="site" objname="site0"/>
-    <framelinacc name="framelinacc1" objtype="site" objname="site1"/>
-    <rangefinder name="rangefinder1" site="site_rangefinder1"/>
-    <subtreecom name="subtreecom1" body="body1"/>
-    <accelerometer name="accelerometer0" site="site0"/>
-    <frameangacc name="frameangacc1" objtype="site" objname="site1"/>
-    <framelinvel name="framelinvel0" objtype="site" objname="site0"/>
-    <framelinvel name="framelinvel0ref" objtype="site" objname="site0" reftype="geom" refname="geom2"/>
-    <framelinvel name="framelinvel0cutoff" objtype="site" objname="site0" cutoff="3e-4"/>
-    <clock/>
-  </sensor>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/README.md b/mjx/mujoco/mjx/test_data/shadow_hand/README.md
deleted file mode 100644
index d3e5153d..00000000
--- a/mjx/mujoco/mjx/test_data/shadow_hand/README.md
+++ /dev/null
@@ -1,24 +0,0 @@
-# Shadow Hand E3M5 模型描述（MJCF）
-
-需要 MuJoCo 3.0.0 或更高版本。
-
-## 概述
-
-本软件包包含 Shadow Hand 机器人“E3M5”版本的资产，包括右手和左手版本。
-原始 URDF 和资产由 [Shadow Robot Company](https://www.shadowrobot.com/) 在 [Apache 2.0 许可证](LICENSE) 下直接提供。
-
-来自 [Menagerie 的原始 Shadow Hand](https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand) 针对 MJX 仿真进行了如下修改：
-
-* 求解器切换为带有 8 次迭代的 CG（共轭梯度法）
-* Condim 切换为 3（MJX 暂不支持 condim != 3）
-* 物体从椭球体转换为球体（MJX 暂不支持椭球体）
-* 为手指和物体设置显式接触对（contact pairs）
-* 移除了机械臂基座中一些未使用的几何体
-
-<p float="left">
-  <img src="shadow_hand.png" width="400">
-</p>
-
-## 开源许可证
-
-这些模型基于 [Apache-2.0 许可证](LICENSE) 发布。
diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_distal_pst.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_distal_pst.obj
deleted file mode 100644
index ab556802..00000000
--- a/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_distal_pst.obj
+++ /dev/null
@@ -1,10772 +0,0 @@
-####
-#
-# OBJ File Generated by Meshlab
-#
-####
-# Object f_distal_pst.obj
-#
-# Vertices: 2691
-# Faces: 5374
-#
-####
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-f 1917//1917 1943//1943 1944//1944
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-f 1949//1949 1978//1978 1980//1980
-f 1949//1949 1980//1980 1950//1950
-f 1981//1981 1982//1982 1983//1983
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-f 1983//1983 1984//1984 1985//1985
-f 1985//1985 1984//1984 1986//1986
-f 1985//1985 1986//1986 1987//1987
-f 1987//1987 1986//1986 1988//1988
-f 1987//1987 1988//1988 1989//1989
-f 1299//1299 1298//1298 1930//1930
-f 1930//1930 1298//1298 1294//1294
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-f 1259//1259 1929//1929 1260//1260
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-f 1997//1997 1995//1995 1998//1998
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-f 2009//2009 2025//2025 2008//2008
-f 2008//2008 2025//2025 1951//1951
-f 2008//2008 1951//1951 2007//2007
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-f 2007//2007 1267//1267 1276//1276
-f 2026//2026 2027//2027 2028//2028
-f 2028//2028 2027//2027 2029//2029
-f 2028//2028 2029//2029 2030//2030
-f 2030//2030 2029//2029 2031//2031
-f 2030//2030 2031//2031 2032//2032
-f 2032//2032 2031//2031 2033//2033
-f 2032//2032 2033//2033 2034//2034
-f 2034//2034 2033//2033 2035//2035
-f 2034//2034 2035//2035 2036//2036
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-f 2036//2036 2037//2037 1953//1953
-f 1953//1953 2037//2037 1285//1285
-f 1953//1953 1285//1285 1284//1284
-f 2027//2027 1981//1981 2029//2029
-f 2029//2029 1981//1981 1983//1983
-f 2029//2029 1983//1983 2031//2031
-f 2031//2031 1983//1983 1985//1985
-f 2031//2031 1985//1985 2033//2033
-f 2033//2033 1985//1985 1987//1987
-f 2033//2033 1987//1987 2035//2035
-f 2035//2035 1987//1987 1989//1989
-f 2035//2035 1989//1989 2037//2037
-f 2020//2020 2026//2026 2021//2021
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-f 2023//2023 2030//2030 2032//2032
-f 2023//2023 2032//2032 2024//2024
-f 2024//2024 2032//2032 2034//2034
-f 2024//2024 2034//2034 2025//2025
-f 2025//2025 2034//2034 2036//2036
-f 2025//2025 2036//2036 1951//1951
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-f 1939//1939 2039//2039 2040//2040
-f 1939//1939 2040//2040 1938//1938
-f 1938//1938 2040//2040 2041//2041
-f 1938//1938 2041//2041 1937//1937
-f 1937//1937 2041//2041 2042//2042
-f 1937//1937 2042//2042 1936//1936
-f 2038//2038 2043//2043 2039//2039
-f 2039//2039 2043//2043 2044//2044
-f 2039//2039 2044//2044 2040//2040
-f 2040//2040 2044//2044 2045//2045
-f 2040//2040 2045//2045 2041//2041
-f 2041//2041 2045//2045 2046//2046
-f 2041//2041 2046//2046 2042//2042
-f 2047//2047 1962//1962 2048//2048
-f 2048//2048 1962//1962 1960//1960
-f 2048//2048 1960//1960 2049//2049
-f 2049//2049 1960//1960 1959//1959
-f 2049//2049 1959//1959 1997//1997
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-f 1995//1995 1959//1959 1956//1956
-f 1995//1995 1956//1956 1996//1996
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-f 1925//1925 2050//2050 1926//1926
-f 1926//1926 2050//2050 2051//2051
-f 1926//1926 2051//2051 1927//1927
-f 1927//1927 2051//2051 2052//2052
-f 1927//1927 2052//2052 1990//1990
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-f 1991//1991 1994//1994 1993//1993
-f 1991//1991 1993//1993 2002//2002
-f 2002//2002 1993//1993 1992//1992
-f 2002//2002 1992//1992 2004//2004
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-f 2004//2004 1931//1931 2006//2006
-f 2043//2043 1963//1963 2044//2044
-f 2044//2044 1963//1963 1962//1962
-f 2044//2044 1962//1962 2045//2045
-f 2045//2045 1962//1962 2047//2047
-f 2045//2045 2047//2047 2046//2046
-f 2046//2046 2047//2047 2053//2053
-f 2046//2046 2053//2053 2042//2042
-f 2042//2042 2053//2053 2054//2054
-f 2042//2042 2054//2054 1936//1936
-f 1936//1936 2054//2054 2055//2055
-f 1936//1936 2055//2055 1920//1920
-f 1920//1920 2055//2055 1919//1919
-f 2018//2018 1924//1924 2019//2019
-f 2019//2019 1924//1924 1253//1253
-f 2019//2019 1253//1253 2020//2020
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-f 2026//2026 1252//1252 1251//1251
-f 2026//2026 1251//1251 2027//2027
-f 2027//2027 1251//1251 1250//1250
-f 2027//2027 1250//1250 1981//1981
-f 1981//1981 1250//1250 1249//1249
-f 1981//1981 1249//1249 1982//1982
-f 1982//1982 1249//1249 1248//1248
-f 1982//1982 1248//1248 1984//1984
-f 1984//1984 1248//1248 1261//1261
-f 1984//1984 1261//1261 1986//1986
-f 1986//1986 1261//1261 1260//1260
-f 1986//1986 1260//1260 1988//1988
-f 1988//1988 1260//1260 1929//1929
-f 1988//1988 1929//1929 1989//1989
-f 1989//1989 1929//1929 1928//1928
-f 1989//1989 1928//1928 2037//2037
-f 2037//2037 1928//1928 1286//1286
-f 2037//2037 1286//1286 1285//1285
-f 1255//1255 1254//1254 2005//2005
-f 2005//2005 1254//1254 1924//1924
-f 2005//2005 1924//1924 2003//2003
-f 2003//2003 1924//1924 2018//2018
-f 2003//2003 2018//2018 2001//2001
-f 2001//2001 2018//2018 2016//2016
-f 2001//2001 2016//2016 2000//2000
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-f 1998//1998 2012//2012 2010//2010
-f 1998//1998 2010//2010 1997//1997
-f 1997//1997 2010//2010 1979//1979
-f 1997//1997 1979//1979 2049//2049
-f 2049//2049 1979//1979 1977//1977
-f 2049//2049 1977//1977 2048//2048
-f 2048//2048 1977//1977 1976//1976
-f 2048//2048 1976//1976 2047//2047
-f 2047//2047 1976//1976 1975//1975
-f 2047//2047 1975//1975 2053//2053
-f 2053//2053 1975//1975 1974//1974
-f 2053//2053 1974//1974 2054//2054
-f 2054//2054 1974//1974 1970//1970
-f 2054//2054 1970//1970 2055//2055
-f 2055//2055 1970//1970 1969//1969
-f 2055//2055 1969//1969 1919//1919
-f 1919//1919 1969//1969 1918//1918
-f 2056//2056 2057//2057 2058//2058
-f 1931//1931 1933//1933 2057//2057
-f 2057//2057 2056//2056 1931//1931
-f 1931//1931 2056//2056 2059//2059
-f 1931//1931 2059//2059 2006//2006
-f 2060//2060 1242//1242 1245//1245
-f 1243//1243 1242//1242 2061//2061
-f 2061//2061 1242//1242 2060//2060
-f 2061//2061 2060//2060 2062//2062
-f 2062//2062 2060//2060 2063//2063
-f 2062//2062 2063//2063 2064//2064
-f 2064//2064 2063//2063 2065//2065
-f 2066//2066 2065//2065 2058//2058
-f 2058//2058 2065//2065 2063//2063
-f 2058//2058 2063//2063 2056//2056
-f 2056//2056 2063//2063 2060//2060
-f 2056//2056 2060//2060 2059//2059
-f 2059//2059 2060//2060 1245//1245
-f 2059//2059 1245//1245 2006//2006
-f 2006//2006 1245//1245 1255//1255
-f 750//750 1244//1244 1243//1243
-f 1302//1302 750//750 2067//2067
-f 2067//2067 750//750 1243//1243
-f 2067//2067 1243//1243 2068//2068
-f 2068//2068 1243//1243 2069//2069
-f 1304//1304 1303//1303 2067//2067
-f 2067//2067 1303//1303 749//749
-f 2067//2067 749//749 1302//1302
-f 2070//2070 1316//1316 2071//2071
-f 2071//2071 1316//1316 1318//1318
-f 2071//2071 1318//1318 2072//2072
-f 2072//2072 1318//1318 1327//1327
-f 2072//2072 1327//1327 2073//2073
-f 2073//2073 1327//1327 1329//1329
-f 2073//2073 1329//1329 2069//2069
-f 2069//2069 1329//1329 1322//1322
-f 2069//2069 1322//1322 2068//2068
-f 2068//2068 1322//1322 2067//2067
-f 2067//2067 1322//1322 1321//1321
-f 2067//2067 1321//1321 1304//1304
-f 1456//1456 1317//1317 2074//2074
-f 2074//2074 1317//1317 1316//1316
-f 2074//2074 1316//1316 2075//2075
-f 2075//2075 1316//1316 2070//2070
-f 2076//2076 2077//2077 2078//2078
-f 2079//2079 2080//2080 2081//2081
-f 1340//1340 1341//1341 1377//1377
-f 1339//1339 1340//1340 2082//2082
-f 1334//1334 2083//2083 2084//2084
-f 2084//2084 2083//2083 2085//2085
-f 2084//2084 2085//2085 2086//2086
-f 2086//2086 2085//2085 2087//2087
-f 2086//2086 2087//2087 2088//2088
-f 2088//2088 2087//2087 2089//2089
-f 2088//2088 2089//2089 2090//2090
-f 2090//2090 2089//2089 2091//2091
-f 2090//2090 2091//2091 2092//2092
-f 1340//1340 1377//1377 2082//2082
-f 2082//2082 1377//1377 1376//1376
-f 2082//2082 1376//1376 2093//2093
-f 2093//2093 1376//1376 1375//1375
-f 2093//2093 1375//1375 2094//2094
-f 2094//2094 1375//1375 1373//1373
-f 2094//2094 1373//1373 2095//2095
-f 2095//2095 1373//1373 1372//1372
-f 2095//2095 1372//1372 2096//2096
-f 2096//2096 1372//1372 1374//1374
-f 2096//2096 1374//1374 2097//2097
-f 2097//2097 1374//1374 1371//1371
-f 2097//2097 1371//1371 2098//2098
-f 2098//2098 1371//1371 1370//1370
-f 2098//2098 1370//1370 2099//2099
-f 2099//2099 1370//1370 1369//1369
-f 2099//2099 1369//1369 2100//2100
-f 2100//2100 1369//1369 1368//1368
-f 2100//2100 1368//1368 2101//2101
-f 2101//2101 1368//1368 1367//1367
-f 2101//2101 1367//1367 2102//2102
-f 2102//2102 1367//1367 1366//1366
-f 2102//2102 1366//1366 2103//2103
-f 2103//2103 2079//2079 2102//2102
-f 2102//2102 2079//2079 2081//2081
-f 2102//2102 2081//2081 2101//2101
-f 2101//2101 2081//2081 2104//2104
-f 2101//2101 2104//2104 2100//2100
-f 2100//2100 2104//2104 2105//2105
-f 2100//2100 2105//2105 2099//2099
-f 2099//2099 2105//2105 2106//2106
-f 2099//2099 2106//2106 2098//2098
-f 2098//2098 2106//2106 2107//2107
-f 2098//2098 2107//2107 2097//2097
-f 2097//2097 2107//2107 2108//2108
-f 2097//2097 2108//2108 2096//2096
-f 2096//2096 2108//2108 2109//2109
-f 2096//2096 2109//2109 2095//2095
-f 2095//2095 2109//2109 2110//2110
-f 2095//2095 2110//2110 2094//2094
-f 2094//2094 2110//2110 2111//2111
-f 2094//2094 2111//2111 2093//2093
-f 2093//2093 2111//2111 2112//2112
-f 2093//2093 2112//2112 2082//2082
-f 2082//2082 2112//2112 2113//2113
-f 2082//2082 2113//2113 1339//1339
-f 1339//1339 2113//2113 1337//1337
-f 2080//2080 2076//2076 2081//2081
-f 2081//2081 2076//2076 2078//2078
-f 2081//2081 2078//2078 2104//2104
-f 2104//2104 2078//2078 2114//2114
-f 2104//2104 2114//2114 2105//2105
-f 2105//2105 2114//2114 2115//2115
-f 2105//2105 2115//2115 2106//2106
-f 2106//2106 2115//2115 2116//2116
-f 2106//2106 2116//2116 2107//2107
-f 2107//2107 2116//2116 2117//2117
-f 2107//2107 2117//2117 2108//2108
-f 2108//2108 2117//2117 2118//2118
-f 2108//2108 2118//2118 2109//2109
-f 2109//2109 2118//2118 2091//2091
-f 2109//2109 2091//2091 2110//2110
-f 2110//2110 2091//2091 2089//2089
-f 2110//2110 2089//2089 2111//2111
-f 2111//2111 2089//2089 2087//2087
-f 2111//2111 2087//2087 2112//2112
-f 2112//2112 2087//2087 2085//2085
-f 2112//2112 2085//2085 2113//2113
-f 2113//2113 2085//2085 2083//2083
-f 2113//2113 2083//2083 1337//1337
-f 1337//1337 2083//2083 1334//1334
-f 2092//2092 2091//2091 2119//2119
-f 2119//2119 2091//2091 2118//2118
-f 2119//2119 2118//2118 2120//2120
-f 2120//2120 2118//2118 2117//2117
-f 2120//2120 2117//2117 2121//2121
-f 2121//2121 2117//2117 2116//2116
-f 2121//2121 2116//2116 2122//2122
-f 2122//2122 2116//2116 2115//2115
-f 2122//2122 2115//2115 2123//2123
-f 2123//2123 2115//2115 2114//2114
-f 2123//2123 2114//2114 2124//2124
-f 2124//2124 2114//2114 2078//2078
-f 2124//2124 2078//2078 2125//2125
-f 2125//2125 2078//2078 2077//2077
-f 2125//2125 2077//2077 2126//2126
-f 1334//1334 2127//2127 1335//1335
-f 1335//1335 2127//2127 2128//2128
-f 1335//1335 2128//2128 942//942
-f 942//942 2128//2128 1479//1479
-f 2129//2129 2126//2126 2077//2077
-f 2129//2129 2077//2077 2130//2130
-f 2130//2130 2131//2131 2132//2132
-f 2132//2132 2133//2133 2130//2130
-f 2130//2130 2133//2133 2134//2134
-f 2130//2130 2134//2134 2129//2129
-f 2129//2129 2134//2134 2135//2135
-f 2129//2129 2135//2135 2136//2136
-f 2079//2079 2131//2131 2080//2080
-f 2080//2080 2131//2131 2130//2130
-f 2080//2080 2130//2130 2076//2076
-f 2076//2076 2130//2130 2077//2077
-f 2103//2103 1366//1366 1365//1365
-f 1362//1362 2137//2137 1363//1363
-f 1363//1363 2137//2137 2132//2132
-f 1363//1363 2132//2132 1364//1364
-f 1364//1364 2132//2132 2131//2131
-f 1364//1364 2131//2131 1365//1365
-f 1365//1365 2131//2131 2079//2079
-f 1365//1365 2079//2079 2103//2103
-f 2132//2132 2137//2137 2138//2138
-f 2134//2134 2133//2133 2139//2139
-f 1390//1390 1391//1391 2140//2140
-f 1389//1389 1390//1390 2141//2141
-f 1390//1390 2140//2140 2141//2141
-f 2141//2141 2140//2140 2142//2142
-f 2141//2141 2142//2142 2143//2143
-f 2143//2143 2142//2142 2144//2144
-f 2143//2143 2144//2144 2145//2145
-f 2145//2145 2144//2144 2146//2146
-f 2144//2144 2147//2147 2146//2146
-f 2146//2146 2147//2147 2148//2148
-f 2146//2146 2148//2148 2149//2149
-f 2149//2149 2148//2148 2150//2150
-f 2149//2149 2150//2150 2151//2151
-f 2150//2150 2152//2152 2151//2151
-f 2151//2151 2152//2152 2153//2153
-f 2151//2151 2153//2153 2154//2154
-f 2154//2154 2153//2153 2155//2155
-f 2154//2154 2155//2155 2156//2156
-f 2156//2156 2155//2155 2157//2157
-f 2156//2156 2157//2157 2158//2158
-f 2158//2158 2157//2157 2159//2159
-f 2158//2158 2159//2159 2160//2160
-f 2160//2160 2159//2159 2161//2161
-f 2160//2160 2161//2161 2162//2162
-f 2162//2162 2161//2161 2136//2136
-f 2162//2162 2136//2136 2135//2135
-f 2135//2135 2134//2134 2162//2162
-f 2162//2162 2134//2134 2139//2139
-f 2162//2162 2139//2139 2160//2160
-f 2160//2160 2139//2139 2163//2163
-f 2160//2160 2163//2163 2158//2158
-f 2158//2158 2163//2163 2164//2164
-f 2158//2158 2164//2164 2156//2156
-f 2156//2156 2164//2164 2165//2165
-f 2156//2156 2165//2165 2154//2154
-f 2154//2154 2165//2165 2166//2166
-f 2154//2154 2166//2166 2151//2151
-f 2151//2151 2166//2166 2167//2167
-f 2151//2151 2167//2167 2149//2149
-f 2149//2149 2167//2167 2168//2168
-f 2149//2149 2168//2168 2146//2146
-f 2146//2146 2168//2168 2169//2169
-f 2146//2146 2169//2169 2145//2145
-f 2145//2145 2169//2169 2170//2170
-f 2145//2145 2170//2170 2143//2143
-f 2143//2143 2170//2170 2171//2171
-f 2143//2143 2171//2171 2141//2141
-f 2141//2141 2171//2171 2172//2172
-f 2141//2141 2172//2172 1389//1389
-f 1389//1389 2172//2172 1387//1387
-f 2133//2133 2132//2132 2139//2139
-f 2139//2139 2132//2132 2138//2138
-f 2139//2139 2138//2138 2163//2163
-f 2163//2163 2138//2138 2173//2173
-f 2163//2163 2173//2173 2164//2164
-f 2164//2164 2173//2173 2174//2174
-f 2164//2164 2174//2174 2165//2165
-f 2165//2165 2174//2174 2175//2175
-f 2165//2165 2175//2175 2166//2166
-f 2166//2166 2175//2175 2176//2176
-f 2166//2166 2176//2176 2167//2167
-f 2167//2167 2176//2176 2177//2177
-f 2167//2167 2177//2177 2168//2168
-f 2168//2168 2177//2177 2178//2178
-f 2168//2168 2178//2178 2169//2169
-f 2169//2169 2178//2178 2179//2179
-f 2169//2169 2179//2179 2170//2170
-f 2170//2170 2179//2179 2180//2180
-f 2170//2170 2180//2180 2171//2171
-f 2171//2171 2180//2180 2181//2181
-f 2171//2171 2181//2181 2172//2172
-f 2172//2172 2181//2181 2182//2182
-f 2172//2172 2182//2182 1387//1387
-f 1387//1387 2182//2182 1354//1354
-f 1354//1354 2182//2182 1355//1355
-f 1355//1355 2182//2182 2181//2181
-f 1355//1355 2181//2181 1348//1348
-f 1348//1348 2181//2181 2180//2180
-f 1348//1348 2180//2180 1349//1349
-f 1349//1349 2180//2180 2179//2179
-f 1349//1349 2179//2179 1350//1350
-f 1350//1350 2179//2179 2178//2178
-f 1350//1350 2178//2178 1351//1351
-f 1351//1351 2178//2178 2177//2177
-f 1351//1351 2177//2177 1352//1352
-f 1352//1352 2177//2177 2176//2176
-f 1352//1352 2176//2176 1346//1346
-f 1346//1346 2176//2176 2175//2175
-f 1346//1346 2175//2175 1344//1344
-f 1344//1344 2175//2175 2174//2174
-f 1344//1344 2174//2174 1343//1343
-f 1343//1343 2174//2174 2173//2173
-f 1343//1343 2173//2173 1342//1342
-f 1342//1342 2173//2173 2138//2138
-f 1342//1342 2138//2138 1361//1361
-f 1361//1361 2138//2138 2137//2137
-f 1361//1361 2137//2137 1362//1362
-f 847//847 1421//1421 1384//1384
-f 1384//1384 1421//1421 2183//2183
-f 1384//1384 2183//2183 1391//1391
-f 1391//1391 2183//2183 2184//2184
-f 2185//2185 1394//1394 1393//1393
-f 1400//1400 1404//1404 1402//1402
-f 1402//1402 1404//1404 1403//1403
-f 1402//1402 1403//1403 827//827
-f 1411//1411 1410//1410 2186//2186
-f 2186//2186 1410//1410 1404//1404
-f 2186//2186 1404//1404 2185//2185
-f 2185//2185 1404//1404 1400//1400
-f 2185//2185 1400//1400 1394//1394
-f 1431//1431 1426//1426 2187//2187
-f 2187//2187 1426//1426 2188//2188
-f 2187//2187 2188//2188 2189//2189
-f 2189//2189 2188//2188 2190//2190
-f 2190//2190 2188//2188 2191//2191
-f 2190//2190 2191//2191 2192//2192
-f 1426//1426 1411//1411 2188//2188
-f 2188//2188 1411//1411 2186//2186
-f 2188//2188 2186//2186 2191//2191
-f 2191//2191 2186//2186 2193//2193
-f 1393//1393 1763//1763 2185//2185
-f 2185//2185 1763//1763 1767//1767
-f 2185//2185 1767//1767 2186//2186
-f 2186//2186 1767//1767 1766//1766
-f 2186//2186 1766//1766 2193//2193
-f 2193//2193 1766//1766 1765//1765
-f 2193//2193 1765//1765 1764//1764
-f 1419//1419 849//849 1427//1427
-f 1419//1419 1427//1427 840//840
-f 1420//1420 840//840 2194//2194
-f 2194//2194 840//840 1427//1427
-f 2194//2194 1427//1427 2195//2195
-f 2195//2195 1427//1427 1428//1428
-f 2195//2195 1428//1428 2196//2196
-f 2196//2196 1428//1428 1429//1429
-f 2196//2196 1429//1429 2197//2197
-f 2197//2197 1429//1429 1430//1430
-f 2197//2197 1430//1430 2198//2198
-f 2198//2198 1430//1430 1431//1431
-f 1421//1421 1420//1420 2199//2199
-f 2199//2199 1420//1420 2194//2194
-f 2199//2199 2194//2194 2200//2200
-f 2200//2200 2194//2194 2195//2195
-f 2200//2200 2195//2195 2201//2201
-f 2201//2201 2195//2195 2196//2196
-f 2201//2201 2196//2196 2202//2202
-f 2202//2202 2196//2196 2197//2197
-f 2202//2202 2197//2197 2203//2203
-f 2203//2203 2197//2197 2198//2198
-f 2202//2202 2204//2204 2201//2201
-f 2201//2201 2204//2204 2205//2205
-f 2201//2201 2205//2205 2200//2200
-f 2183//2183 1421//1421 2206//2206
-f 2206//2206 1421//1421 2199//2199
-f 2206//2206 2199//2199 2207//2207
-f 2208//2208 2204//2204 2209//2209
-f 2209//2209 2204//2204 2202//2202
-f 2209//2209 2202//2202 2203//2203
-f 2210//2210 2205//2205 2211//2211
-f 2211//2211 2205//2205 2204//2204
-f 2211//2211 2204//2204 2212//2212
-f 2212//2212 2204//2204 2208//2208
-f 2210//2210 2213//2213 2205//2205
-f 2205//2205 2213//2213 2207//2207
-f 2205//2205 2207//2207 2200//2200
-f 2200//2200 2207//2207 2199//2199
-f 2184//2184 2183//2183 2214//2214
-f 2214//2214 2183//2183 2206//2206
-f 2214//2214 2206//2206 2215//2215
-f 2215//2215 2206//2206 2207//2207
-f 2215//2215 2207//2207 2216//2216
-f 2216//2216 2207//2207 2213//2213
-f 2217//2217 2218//2218 1433//1433
-f 2219//2219 1434//1434 2220//2220
-f 2220//2220 1434//1434 1441//1441
-f 1433//1433 1434//1434 2217//2217
-f 2217//2217 1434//1434 2219//2219
-f 2217//2217 2219//2219 2221//2221
-f 2221//2221 2219//2219 2222//2222
-f 2221//2221 2222//2222 2223//2223
-f 2224//2224 2225//2225 2222//2222
-f 2222//2222 2225//2225 2226//2226
-f 2222//2222 2226//2226 2223//2223
-f 1433//1433 2218//2218 1432//1432
-f 1432//1432 2218//2218 2227//2227
-f 872//872 1432//1432 2227//2227
-f 872//872 2227//2227 1435//1435
-f 2228//2228 1773//1773 2227//2227
-f 2227//2227 1773//1773 1772//1772
-f 2227//2227 1772//1772 1435//1435
-f 1435//1435 1772//1772 1776//1776
-f 1435//1435 1776//1776 1438//1438
-f 1438//1438 1776//1776 1775//1775
-f 1438//1438 1775//1775 1439//1439
-f 1439//1439 1775//1775 1235//1235
-f 1439//1439 1235//1235 1440//1440
-f 2229//2229 30//30 5//5
-f 58//58 61//61 37//37
-f 37//37 61//61 2230//2230
-f 37//37 2230//2230 32//32
-f 32//32 2230//2230 2231//2231
-f 32//32 2231//2231 33//33
-f 33//33 2231//2231 2232//2232
-f 33//33 2232//2232 35//35
-f 35//35 2232//2232 43//43
-f 43//43 2232//2232 2233//2233
-f 43//43 2233//2233 4//4
-f 2233//2233 2234//2234 4//4
-f 4//4 2234//2234 2235//2235
-f 4//4 2235//2235 5//5
-f 5//5 2235//2235 2236//2236
-f 5//5 2236//2236 2229//2229
-f 2219//2219 2220//2220 2237//2237
-f 2224//2224 2222//2222 2238//2238
-f 2238//2238 2222//2222 2239//2239
-f 2238//2238 2239//2239 2240//2240
-f 2241//2241 2242//2242 2243//2243
-f 2243//2243 2242//2242 2244//2244
-f 2244//2244 2242//2242 2245//2245
-f 2245//2245 2242//2242 2246//2246
-f 2245//2245 2246//2246 2247//2247
-f 2248//2248 2249//2249 2250//2250
-f 2251//2251 2233//2233 2252//2252
-f 2252//2252 2233//2233 2232//2232
-f 2252//2252 2232//2232 2231//2231
-f 2220//2220 1441//1441 2237//2237
-f 2237//2237 1441//1441 1442//1442
-f 2237//2237 1442//1442 28//28
-f 30//30 2229//2229 28//28
-f 28//28 2229//2229 2236//2236
-f 28//28 2236//2236 2237//2237
-f 2237//2237 2236//2236 2235//2235
-f 2237//2237 2235//2235 2251//2251
-f 2251//2251 2235//2235 2234//2234
-f 2251//2251 2234//2234 2233//2233
-f 2250//2250 2247//2247 2248//2248
-f 2248//2248 2247//2247 2246//2246
-f 2248//2248 2246//2246 2253//2253
-f 2253//2253 2246//2246 2254//2254
-f 2255//2255 2256//2256 2257//2257
-f 2256//2256 2254//2254 2257//2257
-f 2257//2257 2254//2254 2246//2246
-f 2257//2257 2246//2246 2258//2258
-f 2258//2258 2246//2246 2242//2242
-f 2258//2258 2242//2242 2239//2239
-f 2239//2239 2242//2242 2241//2241
-f 2239//2239 2241//2241 2240//2240
-f 2240//2240 2241//2241 2243//2243
-f 2222//2222 2219//2219 2239//2239
-f 2239//2239 2219//2219 2237//2237
-f 2239//2239 2237//2237 2258//2258
-f 2258//2258 2237//2237 2251//2251
-f 2258//2258 2251//2251 2257//2257
-f 2257//2257 2251//2251 2252//2252
-f 2257//2257 2252//2252 2255//2255
-f 2255//2255 2252//2252 2231//2231
-f 2255//2255 2231//2231 2230//2230
-f 2259//2259 2260//2260 2261//2261
-f 2262//2262 2263//2263 2264//2264
-f 2203//2203 2198//2198 2265//2265
-f 2227//2227 2218//2218 2228//2228
-f 2228//2228 2218//2218 2217//2217
-f 2217//2217 2221//2221 2228//2228
-f 2228//2228 2221//2221 2223//2223
-f 2228//2228 2223//2223 2266//2266
-f 2267//2267 2268//2268 2269//2269
-f 2265//2265 2198//2198 2270//2270
-f 2192//2192 2268//2268 2190//2190
-f 2190//2190 2268//2268 2267//2267
-f 2190//2190 2267//2267 2189//2189
-f 2189//2189 2267//2267 2270//2270
-f 2189//2189 2270//2270 2187//2187
-f 2187//2187 2270//2270 2198//2198
-f 2187//2187 2198//2198 1431//1431
-f 2263//2263 2271//2271 2264//2264
-f 2264//2264 2271//2271 2208//2208
-f 2264//2264 2208//2208 2265//2265
-f 2265//2265 2208//2208 2209//2209
-f 2265//2265 2209//2209 2203//2203
-f 2261//2261 2260//2260 2272//2272
-f 2272//2272 2260//2260 2273//2273
-f 2272//2272 2273//2273 2262//2262
-f 2274//2274 69//69 68//68
-f 68//68 2275//2275 2274//2274
-f 2274//2274 2275//2275 2276//2276
-f 2274//2274 2276//2276 2261//2261
-f 2261//2261 2276//2276 2277//2277
-f 2261//2261 2277//2277 2259//2259
-f 69//69 2278//2278 71//71
-f 71//71 2278//2278 2279//2279
-f 71//71 2279//2279 73//73
-f 2249//2249 2280//2280 2281//2281
-f 2281//2281 2280//2280 2282//2282
-f 2281//2281 2282//2282 2278//2278
-f 2278//2278 2282//2282 2283//2283
-f 2278//2278 2283//2283 2279//2279
-f 2244//2244 2245//2245 2284//2284
-f 2284//2284 2245//2245 2247//2247
-f 2284//2284 2247//2247 2281//2281
-f 2281//2281 2247//2247 2250//2250
-f 2281//2281 2250//2250 2249//2249
-f 2244//2244 2284//2284 2243//2243
-f 2243//2243 2284//2284 2285//2285
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_distal_pst_214.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_distal_pst_214.obj
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_knuckle.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_knuckle.obj
deleted file mode 100644
index 70d01bd8..00000000
--- a/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_knuckle.obj
+++ /dev/null
@@ -1,1200 +0,0 @@
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_middle.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/f_middle.obj
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/forearm_0.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/forearm_0.obj
deleted file mode 100644
index c60d78e6..00000000
--- a/mjx/mujoco/mjx/test_data/shadow_hand/assets/forearm_0.obj
+++ /dev/null
@@ -1,2220 +0,0 @@
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/forearm_1.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/forearm_1.obj
deleted file mode 100644
index 37912709..00000000
--- a/mjx/mujoco/mjx/test_data/shadow_hand/assets/forearm_1.obj
+++ /dev/null
@@ -1,37554 +0,0 @@
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/forearm_collision.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/forearm_collision.obj
deleted file mode 100644
index 7281bdbd..00000000
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/lf_metacarpal.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/lf_metacarpal.obj
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index 6cb2644f..00000000
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/palm.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/palm.obj
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index 1237d1c4..00000000
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-f 1806//1806 1615//1615 1807//1807
-f 1807//1807 1808//1808 1806//1806
-f 1612//1612 1806//1806 1808//1808
-f 1808//1808 1626//1626 1612//1612
-f 1809//1809 1810//1810 1811//1811
-f 1812//1812 1807//1807 1615//1615
-f 1812//1812 1615//1615 1813//1813
-f 1812//1812 1813//1813 1810//1810
-f 1810//1810 1809//1809 1814//1814
-f 1812//1812 1810//1810 1814//1814
-f 1808//1808 1807//1807 1812//1812
-f 1814//1814 1815//1815 1812//1812
-f 1623//1623 1626//1626 1808//1808
-f 1812//1812 1623//1623 1808//1808
-f 1623//1623 1812//1812 1815//1815
-f 1815//1815 1816//1816 1623//1623
-f 1624//1624 1623//1623 1816//1816
-f 1816//1816 1805//1805 1624//1624
-f 1817//1817 1818//1818 1819//1819
-f 1819//1819 1816//1816 1820//1820
-f 1819//1819 1818//1818 1805//1805
-f 1819//1819 1805//1805 1816//1816
-f 1820//1820 1816//1816 1815//1815
-f 1820//1820 1815//1815 1821//1821
-f 1821//1821 1815//1815 1814//1814
-f 1822//1822 1814//1814 1809//1809
-f 1601//1601 1805//1805 1818//1818
-f 1591//1591 1818//1818 1817//1817
-f 1589//1589 1601//1601 1818//1818
-f 1823//1823 1824//1824 1617//1617
-f 1823//1823 1617//1617 1614//1614
-f 1622//1622 1823//1823 1614//1614
-f 1825//1825 1824//1824 1823//1823
-f 1826//1826 1823//1823 1622//1622
-f 1823//1823 1826//1826 1825//1825
-f 1622//1622 1620//1620 1826//1826
-f 1827//1827 1825//1825 1826//1826
-f 1826//1826 1828//1828 1827//1827
-f 1828//1828 1826//1826 1620//1620
-f 1620//1620 1829//1829 1828//1828
-f 1829//1829 1620//1620 1619//1619
-f 1830//1830 1827//1827 1828//1828
-f 1619//1619 1831//1831 1829//1829
-f 1831//1831 1619//1619 1630//1630
-f 1832//1832 1830//1830 1828//1828
-f 1832//1832 1828//1828 1829//1829
-f 1630//1630 1628//1628 1831//1831
-f 1800//1800 1832//1832 1829//1829
-f 1829//1829 1801//1801 1800//1800
-f 1801//1801 1829//1829 1831//1831
-f 1799//1799 1831//1831 1628//1628
-f 1831//1831 1799//1799 1801//1801
-f 1665//1665 1830//1830 1832//1832
-f 1665//1665 1832//1832 1800//1800
-f 1830//1830 1607//1607 1827//1827
-f 1825//1825 1827//1827 1607//1607
-f 1824//1824 1825//1825 1607//1607
-f 1607//1607 1833//1833 1824//1824
-f 1824//1824 1833//1833 1834//1834
-f 1617//1617 1824//1824 1834//1834
-f 1835//1835 1617//1617 1834//1834
-f 1836//1836 1835//1835 1834//1834
-f 1834//1834 1837//1837 1836//1836
-f 1836//1836 1837//1837 1838//1838
-f 1835//1835 1836//1836 1839//1839
-f 1839//1839 1615//1615 1835//1835
-f 1617//1617 1835//1835 1615//1615
-f 1615//1615 1806//1806 1616//1616
-f 1840//1840 1614//1614 1617//1617
-f 1840//1840 1617//1617 1616//1616
-f 1840//1840 1616//1616 1806//1806
-f 1840//1840 1610//1610 1614//1614
-f 1840//1840 1806//1806 1612//1612
-f 1610//1610 1840//1840 1612//1612
-f 1841//1841 1842//1842 1822//1822
-f 1843//1843 1822//1822 1809//1809
-f 1822//1822 1843//1843 1841//1841
-f 1809//1809 1811//1811 1843//1843
-f 1844//1844 1843//1843 1811//1811
-f 1844//1844 1845//1845 1841//1841
-f 1843//1843 1844//1844 1841//1841
-f 1811//1811 1810//1810 1844//1844
-f 1846//1846 1844//1844 1810//1810
-f 1844//1844 1846//1846 1845//1845
-f 1810//1810 1813//1813 1846//1846
-f 1839//1839 1838//1838 1845//1845
-f 1846//1846 1839//1839 1845//1845
-f 1846//1846 1813//1813 1615//1615
-f 1846//1846 1615//1615 1839//1839
-f 1838//1838 1839//1839 1836//1836
-f 1847//1847 1848//1848 1849//1849
-f 1847//1847 1842//1842 1841//1841
-f 1848//1848 1847//1847 1841//1841
-f 1849//1849 1608//1608 1468//1468
-f 1608//1608 1849//1849 1848//1848
-f 1466//1466 1468//1468 1608//1608
-f 1848//1848 1850//1850 1608//1608
-f 1472//1472 1608//1608 1850//1850
-f 1850//1850 1607//1607 1472//1472
-f 1833//1833 1607//1607 1850//1850
-f 1834//1834 1833//1833 1850//1850
-f 1850//1850 1837//1837 1834//1834
-f 1850//1850 1845//1845 1838//1838
-f 1850//1850 1838//1838 1837//1837
-f 1841//1841 1850//1850 1848//1848
-f 1841//1841 1845//1845 1850//1850
-f 1665//1665 1607//1607 1830//1830
-f 1665//1665 1442//1442 1607//1607
-f 1851//1851 1852//1852 1853//1853
-f 1854//1854 1852//1852 1851//1851
-f 1851//1851 1855//1855 1854//1854
-f 1855//1855 1856//1856 1854//1854
-f 1857//1857 1856//1856 1855//1855
-f 1858//1858 1857//1857 1855//1855
-f 1855//1855 1859//1859 1858//1858
-f 1860//1860 1858//1858 1859//1859
-f 1861//1861 1860//1860 1859//1859
-f 1862//1862 1863//1863 1861//1861
-f 1864//1864 1863//1863 1862//1862
-f 1471//1471 1468//1468 1469//1469
-f 1865//1865 1471//1471 1470//1470
-f 1470//1470 1521//1521 1865//1865
-f 1866//1866 1865//1865 1521//1521
-f 1521//1521 1522//1522 1866//1866
-f 1867//1867 1866//1866 1522//1522
-f 1522//1522 1868//1868 1867//1867
-f 1869//1869 1867//1867 1868//1868
-f 1868//1868 1870//1870 1869//1869
-f 1871//1871 1869//1869 1872//1872
-f 1853//1853 1873//1873 1851//1851
-f 1874//1874 1875//1875 1853//1853
-f 1875//1875 1874//1874 1876//1876
-f 1877//1877 1878//1878 1879//1879
-f 1877//1877 1880//1880 1878//1878
-f 1877//1877 1876//1876 1880//1880
-f 1879//1879 1881//1881 1882//1882
-f 1883//1883 1882//1882 1884//1884
-f 1884//1884 1885//1885 1883//1883
-f 1882//1882 1886//1886 1884//1884
-f 1882//1882 1881//1881 1886//1886
-f 1887//1887 1888//1888 1885//1885
-f 1888//1888 1883//1883 1885//1885
-f 1889//1889 1883//1883 1888//1888
-f 1888//1888 1890//1890 1889//1889
-f 1890//1890 1891//1891 1892//1892
-f 1891//1891 1893//1893 1894//1894
-f 1894//1894 1893//1893 1871//1871
-f 1468//1468 1471//1471 1849//1849
-f 1895//1895 1842//1842 1847//1847
-f 1896//1896 1849//1849 1865//1865
-f 1849//1849 1471//1471 1865//1865
-f 1849//1849 1896//1896 1847//1847
-f 1897//1897 1847//1847 1896//1896
-f 1847//1847 1897//1897 1895//1895
-f 1897//1897 1898//1898 1895//1895
-f 1865//1865 1866//1866 1896//1896
-f 1899//1899 1898//1898 1897//1897
-f 1900//1900 1896//1896 1867//1867
-f 1896//1896 1866//1866 1867//1867
-f 1896//1896 1900//1900 1897//1897
-f 1901//1901 1897//1897 1900//1900
-f 1897//1897 1901//1901 1899//1899
-f 1901//1901 1902//1902 1899//1899
-f 1867//1867 1869//1869 1900//1900
-f 1903//1903 1902//1902 1901//1901
-f 1900//1900 1891//1891 1901//1901
-f 1900//1900 1893//1893 1891//1891
-f 1900//1900 1871//1871 1893//1893
-f 1900//1900 1869//1869 1871//1871
-f 1887//1887 1901//1901 1888//1888
-f 1901//1901 1890//1890 1888//1888
-f 1901//1901 1891//1891 1890//1890
-f 1901//1901 1887//1887 1903//1903
-f 1904//1904 1905//1905 1906//1906
-f 1904//1904 1907//1907 1905//1905
-f 1904//1904 1908//1908 1907//1907
-f 1907//1907 1909//1909 1905//1905
-f 1909//1909 1906//1906 1905//1905
-f 1909//1909 1910//1910 1906//1906
-f 1911//1911 1912//1912 1910//1910
-f 1911//1911 1910//1910 1909//1909
-f 1909//1909 1913//1913 1911//1911
-f 1914//1914 1911//1911 1913//1913
-f 1911//1911 1914//1914 1915//1915
-f 1913//1913 1916//1916 1914//1914
-f 1914//1914 1917//1917 1918//1918
-f 1914//1914 1919//1919 1917//1917
-f 1914//1914 1920//1920 1919//1919
-f 1914//1914 1916//1916 1920//1920
-f 1921//1921 1922//1922 1822//1822
-f 1921//1921 1822//1822 1842//1842
-f 1842//1842 1895//1895 1921//1921
-f 1923//1923 1922//1922 1921//1921
-f 1924//1924 1921//1921 1895//1895
-f 1921//1921 1924//1924 1923//1923
-f 1895//1895 1898//1898 1924//1924
-f 1925//1925 1923//1923 1924//1924
-f 1926//1926 1924//1924 1898//1898
-f 1924//1924 1926//1926 1925//1925
-f 1898//1898 1899//1899 1926//1926
-f 1927//1927 1925//1925 1926//1926
-f 1928//1928 1926//1926 1899//1899
-f 1926//1926 1928//1928 1927//1927
-f 1929//1929 1927//1927 1928//1928
-f 1899//1899 1902//1902 1928//1928
-f 1928//1928 1930//1930 1929//1929
-f 1930//1930 1928//1928 1902//1902
-f 1931//1931 1929//1929 1930//1930
-f 1902//1902 1903//1903 1930//1930
-f 1932//1932 1930//1930 1903//1903
-f 1930//1930 1932//1932 1931//1931
-f 1920//1920 1931//1931 1932//1932
-f 1903//1903 1887//1887 1932//1932
-f 1932//1932 1933//1933 1920//1920
-f 1933//1933 1932//1932 1885//1885
-f 1932//1932 1887//1887 1885//1885
-f 1919//1919 1920//1920 1933//1933
-f 1885//1885 1884//1884 1933//1933
-f 1933//1933 1934//1934 1919//1919
-f 1934//1934 1917//1917 1919//1919
-f 1934//1934 1933//1933 1884//1884
-f 1884//1884 1886//1886 1934//1934
-f 1934//1934 1881//1881 1917//1917
-f 1881//1881 1935//1935 1917//1917
-f 1934//1934 1886//1886 1881//1881
-f 1881//1881 1879//1879 1935//1935
-f 1879//1879 1878//1878 1935//1935
-f 1878//1878 1880//1880 1935//1935
-f 1591//1591 1584//1584 1589//1589
-f 1583//1583 1936//1936 1585//1585
-f 1936//1936 1583//1583 1591//1591
-f 1937//1937 1585//1585 1936//1936
-f 1585//1585 1937//1937 1587//1587
-f 1938//1938 1587//1587 1937//1937
-f 1587//1587 1938//1938 1939//1939
-f 1938//1938 1940//1940 1939//1939
-f 1589//1589 1818//1818 1591//1591
-f 1591//1591 1941//1941 1936//1936
-f 1941//1941 1591//1591 1942//1942
-f 1591//1591 1817//1817 1942//1942
-f 1943//1943 1936//1936 1944//1944
-f 1936//1936 1941//1941 1944//1944
-f 1936//1936 1943//1943 1937//1937
-f 1937//1937 1945//1945 1938//1938
-f 1937//1937 1946//1946 1945//1945
-f 1937//1937 1943//1943 1946//1946
-f 1908//1908 1940//1940 1938//1938
-f 1947//1947 1938//1938 1948//1948
-f 1938//1938 1949//1949 1948//1948
-f 1938//1938 1945//1945 1949//1949
-f 1938//1938 1947//1947 1908//1908
-f 1907//1907 1908//1908 1950//1950
-f 1908//1908 1947//1947 1950//1950
-f 1821//1821 1814//1814 1822//1822
-f 1822//1822 1922//1922 1821//1821
-f 1821//1821 1951//1951 1820//1820
-f 1951//1951 1821//1821 1923//1923
-f 1821//1821 1922//1922 1923//1923
-f 1952//1952 1820//1820 1951//1951
-f 1820//1820 1952//1952 1819//1819
-f 1953//1953 1819//1819 1952//1952
-f 1819//1819 1953//1953 1817//1817
-f 1953//1953 1942//1942 1817//1817
-f 1941//1941 1942//1942 1953//1953
-f 1923//1923 1925//1925 1951//1951
-f 1951//1951 1954//1954 1952//1952
-f 1954//1954 1951//1951 1925//1925
-f 1955//1955 1952//1952 1954//1954
-f 1952//1952 1955//1955 1953//1953
-f 1953//1953 1956//1956 1941//1941
-f 1956//1956 1944//1944 1941//1941
-f 1956//1956 1953//1953 1955//1955
-f 1943//1943 1944//1944 1956//1956
-f 1925//1925 1927//1927 1954//1954
-f 1954//1954 1957//1957 1955//1955
-f 1957//1957 1954//1954 1927//1927
-f 1955//1955 1958//1958 1956//1956
-f 1958//1958 1955//1955 1957//1957
-f 1959//1959 1956//1956 1958//1958
-f 1956//1956 1959//1959 1943//1943
-f 1959//1959 1946//1946 1943//1943
-f 1959//1959 1945//1945 1946//1946
-f 1927//1927 1929//1929 1957//1957
-f 1949//1949 1945//1945 1959//1959
-f 1960//1960 1957//1957 1929//1929
-f 1957//1957 1960//1960 1958//1958
-f 1958//1958 1961//1961 1959//1959
-f 1961//1961 1958//1958 1960//1960
-f 1959//1959 1962//1962 1949//1949
-f 1962//1962 1948//1948 1949//1949
-f 1962//1962 1959//1959 1961//1961
-f 1929//1929 1931//1931 1960//1960
-f 1947//1947 1948//1948 1962//1962
-f 1960//1960 1916//1916 1961//1961
-f 1960//1960 1920//1920 1916//1916
-f 1960//1960 1931//1931 1920//1920
-f 1961//1961 1916//1916 1913//1913
-f 1961//1961 1913//1913 1962//1962
-f 1962//1962 1909//1909 1947//1947
-f 1909//1909 1950//1950 1947//1947
-f 1962//1962 1913//1913 1909//1909
-f 1907//1907 1950//1950 1909//1909
-f 1963//1963 1854//1854 1856//1856
-f 1963//1963 1852//1852 1854//1854
-f 1963//1963 1853//1853 1852//1852
-f 1963//1963 1874//1874 1853//1853
-f 1963//1963 1876//1876 1874//1874
-f 1935//1935 1880//1880 1876//1876
-f 1964//1964 1965//1965 1966//1966
-f 1964//1964 1966//1966 1967//1967
-f 1968//1968 1964//1964 1967//1967
-f 1939//1939 1969//1969 1587//1587
-f 1586//1586 1587//1587 1969//1969
-f 1969//1969 1970//1970 1586//1586
-f 1586//1586 1971//1971 1581//1581
-f 1971//1971 1586//1586 1970//1970
-f 1970//1970 1972//1972 1971//1971
-f 1973//1973 1557//1557 1558//1558
-f 1974//1974 1973//1973 1558//1558
-f 1975//1975 1974//1974 1558//1558
-f 1975//1975 1558//1558 1976//1976
-f 1977//1977 1975//1975 1976//1976
-f 1978//1978 1977//1977 1976//1976
-f 1979//1979 1978//1978 1976//1976
-f 1980//1980 1979//1979 1976//1976
-f 1981//1981 1979//1979 1980//1980
-f 1911//1911 1982//1982 1912//1912
-f 1983//1983 1910//1910 1912//1912
-f 1983//1983 1912//1912 1982//1982
-f 1983//1983 1982//1982 1984//1984
-f 1910//1910 1904//1904 1906//1906
-f 1904//1904 1910//1910 1983//1983
-f 1940//1940 1908//1908 1904//1904
-f 1984//1984 1985//1985 1983//1983
-f 1983//1983 1986//1986 1904//1904
-f 1986//1986 1983//1983 1985//1985
-f 1987//1987 1904//1904 1986//1986
-f 1904//1904 1987//1987 1940//1940
-f 1939//1939 1940//1940 1987//1987
-f 1985//1985 1988//1988 1986//1986
-f 1989//1989 1986//1986 1988//1988
-f 1986//1986 1989//1989 1987//1987
-f 1988//1988 1990//1990 1989//1989
-f 1991//1991 1969//1969 1939//1939
-f 1987//1987 1991//1991 1939//1939
-f 1991//1991 1987//1987 1989//1989
-f 1970//1970 1969//1969 1991//1991
-f 1989//1989 1992//1992 1991//1991
-f 1989//1989 1990//1990 1993//1993
-f 1992//1992 1989//1989 1993//1993
-f 1993//1993 1994//1994 1992//1992
-f 1995//1995 1991//1991 1992//1992
-f 1991//1991 1995//1995 1970//1970
-f 1972//1972 1970//1970 1995//1995
-f 1996//1996 1992//1992 1994//1994
-f 1992//1992 1996//1996 1995//1995
-f 1994//1994 1997//1997 1996//1996
-f 1995//1995 1998//1998 1972//1972
-f 1998//1998 1995//1995 1996//1996
-f 1996//1996 1997//1997 1999//1999
-f 2000//2000 1994//1994 2001//2001
-f 1994//1994 2000//2000 1968//1968
-f 1994//1994 1968//1968 1967//1967
-f 1994//1994 1967//1967 2002//2002
-f 1997//1997 1994//1994 2002//2002
-f 2003//2003 1965//1965 2004//2004
-f 2005//2005 2004//2004 1965//1965
-f 2003//2003 2006//2006 1965//1965
-f 1966//1966 1965//1965 2006//2006
-f 2006//2006 2002//2002 1966//1966
-f 1967//1967 1966//1966 2002//2002
-f 2007//2007 2008//2008 2009//2009
-f 2010//2010 2009//2009 2008//2008
-f 2008//2008 2011//2011 2010//2010
-f 2012//2012 2010//2010 2011//2011
-f 2011//2011 2013//2013 2012//2012
-f 2014//2014 2012//2012 2013//2013
-f 2013//2013 2015//2015 2014//2014
-f 2016//2016 2014//2014 2015//2015
-f 2015//2015 2017//2017 2016//2016
-f 2018//2018 2016//2016 2017//2017
-f 2017//2017 2019//2019 2018//2018
-f 2020//2020 2018//2018 2019//2019
-f 2019//2019 1981//1981 2020//2020
-f 1980//1980 2020//2020 1981//1981
-f 1981//1981 2019//2019 1979//1979
-f 2021//2021 1979//1979 2019//2019
-f 2021//2021 2022//2022 1977//1977
-f 2021//2021 1977//1977 1978//1978
-f 1979//1979 2021//2021 1978//1978
-f 2023//2023 2022//2022 2021//2021
-f 2019//2019 2017//2017 2021//2021
-f 2021//2021 2017//2017 2015//2015
-f 2024//2024 2021//2021 2015//2015
-f 2024//2024 2025//2025 2023//2023
-f 2021//2021 2024//2024 2023//2023
-f 2026//2026 2025//2025 2024//2024
-f 2015//2015 2013//2013 2024//2024
-f 2024//2024 2013//2013 2011//2011
-f 2027//2027 2024//2024 2011//2011
-f 2027//2027 2028//2028 2026//2026
-f 2024//2024 2027//2027 2026//2026
-f 2029//2029 2028//2028 2027//2027
-f 2011//2011 2008//2008 2027//2027
-f 2027//2027 2030//2030 2029//2029
-f 2027//2027 2008//2008 2007//2007
-f 2027//2027 2007//2007 2031//2031
-f 2027//2027 2031//2031 2032//2032
-f 2030//2030 2027//2027 2032//2032
-f 2029//2029 2030//2030 2033//2033
-f 2034//2034 2029//2029 2033//2033
-f 1872//1872 2035//2035 2034//2034
-f 2029//2029 2034//2034 2035//2035
-f 2035//2035 2036//2036 2029//2029
-f 2028//2028 2029//2029 2036//2036
-f 2036//2036 2037//2037 2028//2028
-f 2026//2026 2028//2028 2037//2037
-f 2037//2037 2038//2038 2026//2026
-f 2025//2025 2026//2026 2038//2038
-f 2038//2038 2039//2039 2025//2025
-f 2023//2023 2025//2025 2039//2039
-f 2039//2039 2040//2040 2023//2023
-f 2022//2022 2023//2023 2040//2040
-f 2040//2040 1975//1975 2022//2022
-f 1977//1977 2022//2022 1975//1975
-f 1870//1870 2036//2036 2035//2035
-f 1872//1872 1870//1870 2035//2035
-f 2041//2041 2039//2039 2038//2038
-f 2041//2041 2038//2038 2037//2037
-f 2036//2036 2041//2041 2037//2037
-f 2041//2041 2036//2036 1870//1870
-f 2042//2042 1974//1974 1975//1975
-f 2042//2042 1975//1975 2040//2040
-f 2042//2042 2040//2040 2039//2039
-f 2042//2042 2039//2039 2041//2041
-f 1870//1870 1868//1868 2041//2041
-f 1973//1973 1974//1974 2042//2042
-f 2041//2041 1868//1868 1522//1522
-f 1520//1520 2041//2041 1522//1522
-f 2041//2041 1520//1520 2042//2042
-f 1518//1518 1557//1557 1973//1973
-f 2042//2042 1518//1518 1973//1973
-f 1518//1518 2042//2042 1520//1520
-f 1519//1519 1557//1557 1518//1518
-f 2043//2043 1894//1894 1871//1871
-f 1894//1894 1892//1892 1891//1891
-f 1892//1892 1889//1889 1890//1890
-f 1882//1882 1877//1877 1879//1879
-f 2007//2007 2044//2044 2045//2045
-f 2009//2009 2044//2044 2007//2007
-f 2034//2034 2033//2033 2043//2043
-f 2046//2046 2043//2043 2033//2033
-f 2033//2033 2030//2030 2046//2046
-f 2047//2047 2046//2046 2030//2030
-f 2030//2030 2032//2032 2047//2047
-f 2048//2048 2047//2047 2032//2032
-f 2032//2032 2031//2031 2048//2048
-f 2049//2049 2048//2048 2031//2031
-f 2031//2031 2007//2007 2049//2049
-f 2045//2045 2049//2049 2007//2007
-f 2043//2043 1871//1871 2034//2034
-f 1872//1872 2034//2034 1871//1871
-f 1869//1869 1870//1870 1872//1872
-f 2050//2050 2051//2051 2052//2052
-f 1990//1990 2053//2053 2054//2054
-f 1993//1993 1990//1990 2054//2054
-f 2055//2055 2050//2050 2052//2052
-f 2055//2055 2052//2052 2056//2056
-f 2053//2053 2055//2055 2056//2056
-f 2055//2055 2053//2053 1990//1990
-f 2057//2057 2050//2050 2055//2055
-f 2057//2057 2058//2058 2050//2050
-f 1990//1990 1988//1988 2055//2055
-f 2055//2055 2059//2059 2057//2057
-f 2059//2059 2055//2055 1988//1988
-f 2060//2060 2058//2058 2057//2057
-f 2057//2057 2061//2061 2060//2060
-f 2061//2061 2057//2057 2059//2059
-f 1988//1988 1985//1985 2059//2059
-f 2062//2062 2060//2060 2061//2061
-f 2059//2059 2063//2063 2061//2061
-f 2063//2063 2059//2059 1985//1985
-f 1985//1985 1984//1984 2063//2063
-f 2064//2064 2061//2061 2063//2063
-f 2065//2065 2066//2066 2051//2051
-f 2052//2052 2051//2051 2066//2066
-f 2066//2066 2067//2067 2052//2052
-f 2056//2056 2052//2052 2067//2067
-f 2067//2067 2068//2068 2056//2056
-f 2053//2053 2056//2056 2068//2068
-f 2068//2068 2069//2069 2053//2053
-f 2054//2054 2053//2053 2069//2069
-f 2070//2070 1993//1993 2054//2054
-f 2069//2069 2070//2070 2054//2054
-f 1994//1994 1993//1993 2070//2070
-f 2070//2070 2071//2071 1994//1994
-f 2071//2071 2072//2072 1994//1994
-f 1994//1994 2072//2072 2001//2001
-f 1802//1802 1976//1976 1558//1558
-f 1802//1802 1558//1558 2073//2073
-f 2074//2074 2075//2075 2076//2076
-f 2076//2076 2075//2075 2077//2077
-f 2077//2077 2075//2075 2078//2078
-f 2079//2079 2077//2077 2078//2078
-f 2080//2080 2079//2079 2078//2078
-f 2080//2080 2078//2078 2081//2081
-f 2082//2082 2080//2080 2081//2081
-f 2082//2082 2081//2081 2083//2083
-f 2084//2084 2082//2082 2083//2083
-f 2084//2084 2083//2083 2085//2085
-f 2086//2086 2084//2084 2085//2085
-f 2086//2086 2085//2085 2087//2087
-f 2088//2088 2086//2086 2087//2087
-f 2088//2088 2087//2087 2089//2089
-f 2088//2088 2089//2089 2090//2090
-f 2091//2091 2090//2090 2089//2089
-f 2092//2092 2093//2093 2094//2094
-f 2095//2095 2096//2096 2097//2097
-f 2098//2098 2097//2097 2096//2096
-f 2075//2075 2099//2099 2078//2078
-f 2100//2100 2101//2101 2099//2099
-f 2099//2099 2075//2075 2100//2100
-f 2075//2075 2102//2102 2100//2100
-f 2075//2075 2074//2074 2102//2102
-f 2101//2101 2092//2092 2094//2094
-f 2094//2094 2099//2099 2101//2101
-f 2094//2094 2103//2103 2104//2104
-f 2094//2094 2093//2093 2103//2103
-f 2105//2105 2094//2094 2104//2104
-f 2094//2094 2105//2105 2099//2099
-f 2105//2105 2106//2106 2099//2099
-f 2107//2107 2108//2108 2109//2109
-f 2109//2109 2104//2104 2107//2107
-f 2104//2104 2103//2103 2107//2107
-f 2104//2104 2109//2109 2105//2105
-f 2109//2109 2106//2106 2105//2105
-f 2109//2109 2099//2099 2106//2106
-f 2078//2078 2099//2099 2109//2109
-f 2109//2109 2110//2110 2078//2078
-f 2081//2081 2078//2078 2110//2110
-f 2110//2110 2111//2111 2081//2081
-f 2083//2083 2081//2081 2111//2111
-f 2085//2085 2083//2083 2112//2112
-f 2113//2113 2087//2087 2085//2085
-f 2089//2089 2087//2087 2113//2113
-f 2079//2079 2114//2114 1571//1571
-f 1571//1571 2115//2115 2079//2079
-f 2115//2115 2077//2077 2079//2079
-f 2077//2077 2115//2115 2116//2116
-f 2076//2076 2117//2117 2118//2118
-f 2077//2077 2117//2117 2076//2076
-f 2119//2119 2120//2120 2121//2121
-f 2120//2120 2122//2122 2121//2121
-f 2123//2123 2122//2122 2120//2120
-f 2120//2120 2124//2124 2123//2123
-f 2125//2125 2123//2123 2124//2124
-f 2124//2124 2126//2126 2125//2125
-f 2127//2127 2125//2125 2126//2126
-f 2126//2126 2128//2128 2127//2127
-f 2129//2129 2127//2127 2128//2128
-f 2128//2128 2130//2130 2102//2102
-f 2102//2102 2129//2129 2128//2128
-f 2130//2130 2100//2100 2102//2102
-f 2130//2130 2101//2101 2100//2100
-f 2129//2129 2074//2074 2076//2076
-f 2129//2129 2102//2102 2074//2074
-f 2130//2130 2131//2131 2101//2101
-f 2092//2092 2101//2101 2131//2131
-f 2131//2131 2132//2132 2092//2092
-f 2132//2132 2093//2093 2092//2092
-f 2103//2103 2093//2093 2107//2107
-f 2093//2093 2132//2132 2107//2107
-f 2133//2133 2107//2107 2132//2132
-f 2097//2097 2098//2098 2134//2134
-f 2135//2135 2134//2134 2098//2098
-f 2136//2136 2137//2137 2138//2138
-f 2139//2139 2138//2138 2137//2137
-f 2137//2137 2134//2134 2139//2139
-f 2135//2135 2139//2139 2134//2134
-f 2140//2140 2097//2097 2003//2003
-f 2002//2002 2137//2137 2136//2136
-f 2002//2002 2134//2134 2137//2137
-f 2002//2002 2097//2097 2134//2134
-f 2002//2002 2006//2006 2097//2097
-f 2006//2006 2003//2003 2097//2097
-f 2141//2141 2133//2133 2131//2131
-f 2133//2133 2132//2132 2131//2131
-f 2131//2131 2130//2130 2141//2141
-f 2130//2130 2128//2128 2141//2141
-f 2142//2142 2141//2141 2128//2128
-f 2128//2128 2126//2126 2142//2142
-f 2142//2142 2126//2126 2124//2124
-f 2124//2124 2120//2120 2142//2142
-f 2142//2142 2119//2119 2143//2143
-f 2142//2142 2120//2120 2119//2119
-f 2119//2119 1999//1999 2136//2136
-f 2136//2136 2143//2143 2119//2119
-f 2136//2136 2144//2144 2143//2143
-f 2136//2136 2145//2145 2144//2144
-f 2138//2138 2145//2145 2136//2136
-f 2002//2002 2136//2136 1997//1997
-f 2136//2136 1999//1999 1997//1997
-f 2123//2123 2146//2146 2122//2122
-f 2147//2147 2122//2122 2146//2146
-f 2122//2122 2147//2147 2121//2121
-f 2121//2121 2148//2148 2119//2119
-f 2148//2148 2121//2121 2147//2147
-f 1999//1999 2119//2119 2148//2148
-f 2146//2146 1972//1972 2147//2147
-f 1972//1972 1998//1998 2147//2147
-f 2147//2147 1998//1998 2148//2148
-f 1996//1996 2148//2148 1998//1998
-f 2148//2148 1996//1996 1999//1999
-f 1554//1554 2149//2149 1559//1559
-f 1554//1554 2150//2150 2149//2149
-f 1554//1554 1571//1571 2150//2150
-f 2151//2151 1559//1559 2149//2149
-f 2151//2151 2149//2149 2152//2152
-f 2149//2149 2150//2150 2152//2152
-f 2080//2080 2114//2114 2079//2079
-f 2152//2152 2150//2150 2114//2114
-f 2153//2153 2114//2114 2082//2082
-f 2114//2114 2080//2080 2082//2082
-f 2114//2114 2153//2153 2152//2152
-f 2082//2082 2084//2084 2153//2153
-f 2153//2153 2154//2154 2152//2152
-f 2154//2154 2155//2155 2152//2152
-f 2154//2154 2153//2153 2084//2084
-f 2156//2156 2154//2154 2084//2084
-f 2084//2084 2086//2086 2156//2156
-f 2157//2157 2156//2156 2086//2086
-f 2086//2086 2088//2088 2157//2157
-f 2158//2158 2157//2157 2088//2088
-f 2091//2091 2158//2158 2090//2090
-f 2158//2158 2088//2088 2090//2090
-f 2114//2114 2150//2150 1571//1571
-f 1571//1571 2116//2116 2115//2115
-f 2123//2123 2125//2125 2159//2159
-f 2160//2160 2159//2159 2125//2125
-f 2160//2160 1562//1562 2159//2159
-f 2125//2125 2127//2127 2160//2160
-f 1560//1560 1562//1562 2160//2160
-f 2161//2161 2160//2160 2129//2129
-f 2160//2160 2127//2127 2129//2129
-f 2160//2160 2161//2161 1560//1560
-f 1565//1565 1560//1560 2161//2161
-f 2129//2129 2076//2076 2161//2161
-f 2161//2161 2118//2118 1565//1565
-f 2161//2161 2076//2076 2118//2118
-f 1567//1567 1565//1565 2077//2077
-f 1565//1565 2117//2117 2077//2077
-f 1565//1565 2118//2118 2117//2117
-f 1569//1569 1567//1567 2116//2116
-f 1567//1567 2077//2077 2116//2116
-f 1569//1569 2116//2116 1571//1571
-f 1562//1562 1572//1572 2159//2159
-f 2162//2162 2159//2159 1572//1572
-f 2163//2163 2159//2159 2162//2162
-f 2163//2163 2123//2123 2159//2159
-f 2146//2146 2123//2123 2163//2163
-f 1572//1572 1575//1575 2162//2162
-f 1579//1579 2162//2162 1575//1575
-f 2162//2162 1579//1579 2163//2163
-f 2163//2163 1971//1971 2146//2146
-f 1971//1971 1972//1972 2146//2146
-f 1971//1971 2163//2163 1579//1579
-f 1579//1579 1581//1581 1971//1971
-f 2096//2096 2145//2145 2098//2098
-f 2145//2145 2135//2135 2098//2098
-f 2145//2145 2139//2139 2135//2135
-f 2145//2145 2138//2138 2139//2139
-f 2164//2164 2145//2145 2096//2096
-f 2165//2165 2091//2091 2113//2113
-f 2166//2166 2167//2167 2168//2168
-f 2169//2169 2167//2167 2166//2166
-f 2166//2166 2170//2170 2169//2169
-f 2166//2166 2171//2171 2170//2170
-f 2172//2172 2168//2168 2167//2167
-f 2173//2173 2172//2172 2174//2174
-f 2174//2174 2172//2172 2167//2167
-f 2175//2175 2174//2174 2167//2167
-f 2169//2169 2175//2175 2167//2167
-f 2175//2175 2169//2169 2176//2176
-f 2176//2176 2169//2169 2177//2177
-f 2178//2178 2179//2179 2180//2180
-f 2181//2181 2180//2180 2179//2179
-f 2179//2179 2182//2182 2181//2181
-f 2183//2183 2181//2181 2182//2182
-f 2184//2184 2181//2181 2183//2183
-f 2185//2185 2184//2184 2183//2183
-f 2171//2171 2186//2186 2187//2187
-f 2187//2187 2186//2186 2178//2178
-f 2187//2187 2177//2177 2188//2188
-f 2187//2187 2189//2189 2177//2177
-f 2189//2189 2176//2176 2177//2177
-f 2189//2189 2187//2187 2178//2178
-f 2178//2178 2190//2190 2189//2189
-f 2190//2190 2184//2184 2185//2185
-f 2190//2190 2181//2181 2184//2184
-f 2190//2190 2178//2178 2180//2180
-f 2180//2180 2181//2181 2190//2190
-f 2170//2170 2171//2171 2188//2188
-f 2171//2171 2187//2187 2188//2188
-f 2188//2188 2177//2177 2170//2170
-f 2177//2177 2169//2169 2170//2170
-f 2191//2191 2192//2192 2193//2193
-f 2193//2193 2194//2194 2191//2191
-f 2193//2193 2195//2195 2194//2194
-f 2195//2195 2165//2165 2194//2194
-f 2151//2151 2196//2196 1559//1559
-f 2152//2152 2155//2155 2151//2151
-f 2197//2197 2196//2196 2151//2151
-f 2198//2198 2151//2151 2155//2155
-f 2151//2151 2198//2198 2197//2197
-f 2198//2198 2192//2192 2197//2197
-f 2198//2198 2193//2193 2192//2192
-f 2155//2155 2199//2199 2198//2198
-f 2195//2195 2198//2198 2199//2199
-f 2198//2198 2195//2195 2193//2193
-f 2199//2199 2200//2200 2195//2195
-f 2165//2165 2195//2195 2200//2200
-f 2156//2156 2155//2155 2154//2154
-f 2156//2156 2157//2157 2199//2199
-f 2201//2201 2199//2199 2157//2157
-f 2157//2157 2158//2158 2201//2201
-f 2158//2158 2200//2200 2201//2201
-f 2158//2158 2091//2091 2200//2200
-f 2165//2165 2200//2200 2091//2091
-f 2155//2155 2156//2156 2199//2199
-f 2200//2200 2199//2199 2201//2201
-f 2202//2202 2203//2203 2204//2204
-f 2168//2168 2172//2172 2205//2205
-f 2206//2206 2205//2205 2172//2172
-f 2206//2206 2207//2207 2205//2205
-f 2206//2206 2172//2172 2208//2208
-f 2172//2172 2173//2173 2208//2208
-f 2208//2208 2209//2209 2206//2206
-f 2210//2210 2207//2207 2206//2206
-f 2211//2211 2206//2206 2212//2212
-f 2206//2206 2209//2209 2212//2212
-f 2206//2206 2211//2211 2210//2210
-f 2211//2211 2213//2213 2210//2210
-f 2212//2212 2214//2214 2211//2211
-f 2215//2215 2213//2213 2211//2211
-f 2211//2211 2216//2216 1555//1555
-f 2211//2211 2214//2214 2216//2216
-f 2211//2211 1555//1555 2215//2215
-f 2185//2185 2183//2183 2217//2217
-f 2218//2218 2183//2183 2219//2219
-f 2220//2220 2221//2221 2202//2202
-f 1559//1559 2196//2196 1555//1555
-f 2196//2196 2222//2222 1555//1555
-f 2196//2196 2215//2215 2222//2222
-f 2196//2196 2213//2213 2215//2215
-f 2210//2210 2213//2213 2196//2196
-f 2196//2196 2197//2197 2210//2210
-f 2197//2197 2207//2207 2210//2210
-f 2197//2197 2205//2205 2207//2207
-f 2168//2168 2205//2205 2197//2197
-f 2197//2197 2192//2192 2168//2168
-f 2166//2166 2168//2168 2192//2192
-f 2192//2192 2191//2191 2166//2166
-f 2191//2191 2223//2223 2166//2166
-f 2191//2191 2224//2224 2223//2223
-f 1657//1657 2185//2185 2217//2217
-f 2073//2073 1666//1666 1665//1665
-f 1666//1666 2073//2073 2225//2225
-f 2009//2009 1855//1855 1851//1851
-f 2009//2009 1851//1851 1873//1873
-f 1859//1859 1855//1855 2009//2009
-f 1859//1859 1980//1980 2226//2226
-f 1980//1980 2227//2227 2226//2226
-f 2228//2228 2226//2226 2227//2227
-f 1802//1802 1804//1804 2228//2228
-f 2227//2227 1802//1802 2228//2228
-f 1802//1802 2073//2073 1665//1665
-f 2185//2185 1657//1657 2229//2229
-f 2190//2190 2185//2185 2229//2229
-f 2230//2230 1602//1602 1552//1552
-f 2231//2231 1445//1445 2230//2230
-f 1552//1552 2231//2231 2230//2230
-f 1445//1445 2231//2231 2232//2232
-f 1445//1445 2232//2232 2233//2233
-f 1445//1445 2233//2233 2234//2234
-f 1445//1445 2234//2234 2235//2235
-f 1445//1445 2235//2235 2236//2236
-f 1656//1656 1445//1445 2236//2236
-f 2236//2236 2237//2237 1656//1656
-f 1656//1656 2237//2237 2238//2238
-f 1656//1656 2238//2238 2239//2239
-f 1656//1656 2239//2239 2229//2229
-f 1657//1657 1656//1656 2229//2229
-f 2216//2216 1552//1552 1555//1555
-f 2231//2231 1552//1552 2216//2216
-f 2216//2216 2214//2214 2231//2231
-f 2231//2231 2214//2214 2212//2212
-f 2232//2232 2231//2231 2212//2212
-f 2212//2212 2209//2209 2232//2232
-f 2233//2233 2232//2232 2209//2209
-f 2209//2209 2208//2208 2233//2233
-f 2234//2234 2233//2233 2208//2208
-f 2173//2173 2234//2234 2208//2208
-f 2235//2235 2234//2234 2173//2173
-f 2235//2235 2173//2173 2174//2174
-f 2236//2236 2235//2235 2174//2174
-f 2174//2174 2175//2175 2236//2236
-f 2237//2237 2236//2236 2175//2175
-f 2237//2237 2175//2175 2176//2176
-f 2237//2237 2176//2176 2238//2238
-f 2189//2189 2238//2238 2176//2176
-f 2239//2239 2238//2238 2189//2189
-f 2239//2239 2189//2189 2190//2190
-f 2229//2229 2239//2239 2190//2190
-f 1448//1448 1445//1445 1656//1656
-f 1555//1555 1552//1552 1553//1553
-f 1859//1859 1862//1862 1861//1861
-f 1445//1445 1602//1602 2230//2230
-f 2044//2044 2009//2009 1873//1873
-f 1859//1859 2009//2009 2010//2010
-f 1859//1859 2010//2010 2012//2012
-f 1859//1859 2012//2012 2014//2014
-f 1859//1859 2014//2014 2016//2016
-f 1859//1859 2016//2016 2018//2018
-f 1859//1859 2018//2018 2020//2020
-f 1859//1859 2020//2020 1980//1980
-f 2072//2072 2071//2071 2000//2000
-f 2000//2000 2071//2071 2070//2070
-f 2000//2000 2070//2070 2069//2069
-f 2000//2000 2069//2069 2068//2068
-f 2000//2000 2068//2068 2067//2067
-f 2000//2000 2067//2067 2066//2066
-f 2000//2000 2066//2066 2065//2065
-f 2000//2000 2065//2065 2240//2240
-f 2000//2000 2240//2240 2241//2241
-f 2000//2000 2241//2241 2242//2242
-f 2000//2000 2242//2242 2243//2243
-f 2244//2244 2245//2245 2246//2246
-f 2244//2244 2217//2217 2218//2218
-f 2245//2245 2244//2244 2218//2218
-f 2244//2244 1657//1657 2217//2217
-f 2247//2247 2248//2248 2143//2143
-f 2249//2249 2248//2248 2247//2247
-f 2250//2250 2251//2251 2249//2249
-f 2220//2220 2202//2202 2204//2204
-f 2220//2220 2252//2252 2221//2221
-f 2252//2252 2253//2253 2254//2254
-f 2253//2253 2218//2218 2219//2219
-f 2218//2218 2217//2217 2183//2183
-f 2144//2144 2145//2145 2164//2164
-f 2143//2143 2144//2144 2255//2255
-f 2000//2000 2256//2256 1968//1968
-f 2257//2257 2258//2258 2251//2251
-f 2245//2245 2259//2259 2260//2260
-f 2258//2258 2260//2260 2259//2259
-f 2251//2251 2261//2261 2249//2249
-f 2262//2262 2249//2249 2261//2261
-f 2261//2261 2220//2220 2262//2262
-f 2204//2204 2262//2262 2220//2220
-f 2263//2263 2220//2220 2261//2261
-f 2261//2261 2251//2251 2258//2258
-f 2263//2263 2261//2261 2258//2258
-f 2252//2252 2220//2220 2263//2263
-f 2258//2258 2259//2259 2263//2263
-f 2263//2263 2259//2259 2252//2252
-f 2253//2253 2252//2252 2259//2259
-f 2259//2259 2245//2245 2253//2253
-f 2218//2218 2253//2253 2245//2245
-f 2072//2072 2000//2000 2001//2001
-f 2248//2248 2142//2142 2143//2143
-f 2113//2113 2264//2264 2265//2265
-f 2264//2264 2266//2266 2265//2265
-f 2266//2266 2267//2267 2265//2265
-f 2248//2248 2265//2265 2142//2142
-f 2141//2141 2108//2108 2107//2107
-f 2142//2142 2267//2267 2141//2141
-f 2142//2142 2265//2265 2267//2267
-f 2141//2141 2107//2107 2133//2133
-f 2227//2227 1980//1980 1976//1976
-f 2112//2112 2113//2113 2085//2085
-f 2111//2111 2112//2112 2083//2083
-f 2110//2110 2109//2109 2108//2108
-f 2108//2108 2268//2268 2110//2110
-f 2111//2111 2110//2110 2268//2268
-f 2266//2266 2112//2112 2111//2111
-f 2268//2268 2266//2266 2111//2111
-f 2112//2112 2266//2266 2264//2264
-f 2113//2113 2112//2112 2264//2264
-f 2266//2266 2268//2268 2267//2267
-f 2091//2091 2089//2089 2113//2113
-f 2141//2141 2267//2267 2268//2268
-f 2141//2141 2268//2268 2108//2108
-f 2227//2227 1976//1976 1802//1802
-f 2166//2166 2269//2269 2171//2171
-f 2269//2269 2270//2270 2171//2171
-f 2203//2203 2270//2270 2269//2269
-f 2202//2202 2270//2270 2203//2203
-f 2178//2178 2271//2271 2179//2179
-f 2186//2186 2271//2271 2178//2178
-f 2271//2271 2182//2182 2179//2179
-f 2272//2272 2182//2182 2271//2271
-f 2273//2273 2272//2272 2271//2271
-f 2221//2221 2254//2254 2271//2271
-f 2254//2254 2273//2273 2271//2271
-f 2226//2226 2228//2228 2274//2274
-f 2228//2228 2275//2275 2274//2274
-f 2228//2228 1804//1804 2275//2275
-f 2226//2226 2276//2276 2277//2277
-f 2226//2226 2278//2278 2276//2276
-f 2226//2226 2279//2279 2278//2278
-f 2226//2226 2280//2280 2279//2279
-f 2226//2226 2281//2281 2280//2280
-f 2226//2226 2282//2282 2281//2281
-f 2226//2226 2283//2283 2282//2282
-f 2226//2226 2284//2284 2283//2283
-f 2226//2226 2274//2274 2284//2284
-f 2182//2182 2272//2272 2183//2183
-f 2272//2272 2273//2273 2183//2183
-f 2219//2219 2183//2183 2273//2273
-f 2271//2271 2202//2202 2221//2221
-f 2271//2271 2270//2270 2202//2202
-f 2271//2271 2186//2186 2270//2270
-f 2171//2171 2270//2270 2186//2186
-f 2285//2285 2286//2286 1798//1798
-f 2287//2287 1798//1798 2286//2286
-f 2286//2286 2288//2288 2287//2287
-f 2289//2289 2287//2287 2288//2288
-f 2288//2288 2290//2290 2289//2289
-f 2291//2291 2289//2289 2290//2290
-f 2290//2290 2292//2292 2291//2291
-f 1803//1803 1668//1668 2293//2293
-f 1668//1668 2294//2294 2293//2293
-f 2295//2295 2294//2294 1654//1654
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-f 2504//2504 2502//2502 2505//2505
-f 2506//2506 2504//2504 2505//2505
-f 2502//2502 2507//2507 2508//2508
-f 2499//2499 2507//2507 2502//2502
-f 2509//2509 2510//2510 2511//2511
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-f 2517//2517 2518//2518 2519//2519
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-f 3126//3126 3147//3147 3132//3132
-f 3148//3148 3132//3132 3147//3147
-f 3147//3147 3149//3149 3148//3148
-f 3150//3150 3148//3148 3149//3149
-f 3149//3149 3151//3151 3150//3150
-f 3152//3152 3150//3150 3151//3151
-f 3151//3151 3153//3153 3152//3152
-f 3154//3154 3152//3152 3153//3153
-f 3153//3153 3155//3155 3154//3154
-f 3156//3156 3154//3154 3155//3155
-f 3157//3157 3158//3158 3159//3159
-f 3160//3160 3159//3159 3158//3158
-f 3158//3158 3161//3161 3160//3160
-f 3162//3162 3160//3160 3161//3161
-f 3161//3161 3163//3163 3162//3162
-f 3162//3162 3163//3163 3164//3164
-f 3165//3165 3162//3162 3164//3164
-f 3164//3164 3166//3166 3165//3165
-f 3167//3167 3165//3165 3166//3166
-f 3138//3138 3168//3168 3139//3139
-f 3169//3169 3139//3139 3168//3168
-f 3168//3168 3170//3170 3169//3169
-f 3171//3171 3169//3169 3170//3170
-f 3170//3170 3172//3172 3171//3171
-f 3173//3173 3171//3171 3172//3172
-f 3172//3172 3174//3174 3173//3173
-f 3175//3175 3173//3173 3174//3174
-f 3174//3174 3176//3176 3175//3175
-f 3177//3177 3175//3175 3176//3176
-f 3176//3176 3178//3178 3177//3177
-f 3179//3179 3177//3177 3178//3178
-f 3178//3178 3180//3180 3179//3179
-f 3181//3181 3179//3179 3180//3180
-f 3180//3180 3182//3182 3181//3181
-f 3183//3183 3181//3181 3182//3182
-f 3116//3116 3184//3184 3118//3118
-f 3185//3185 3118//3118 3184//3184
-f 3184//3184 3186//3186 3185//3185
-f 3187//3187 3185//3185 3186//3186
-f 3186//3186 3188//3188 3187//3187
-f 3189//3189 3187//3187 3188//3188
-f 3188//3188 3190//3190 3189//3189
-f 3191//3191 3189//3189 3190//3190
-f 3190//3190 3192//3192 3191//3191
-f 3193//3193 3191//3191 3192//3192
-f 3192//3192 3194//3194 3193//3193
-f 3195//3195 3193//3193 3194//3194
-f 3194//3194 3196//3196 3195//3195
-f 3197//3197 3195//3195 3196//3196
-f 3196//3196 3198//3198 3197//3197
-f 3199//3199 3197//3197 3198//3198
-f 3185//3185 3119//3119 3118//3118
-f 3187//3187 3122//3122 3120//3120
-f 3187//3187 3120//3120 3119//3119
-f 3185//3185 3187//3187 3119//3119
-f 3187//3187 3189//3189 3122//3122
-f 3200//3200 3126//3126 3125//3125
-f 3200//3200 3125//3125 3122//3122
-f 3122//3122 3189//3189 3191//3191
-f 3200//3200 3122//3122 3191//3191
-f 3147//3147 3126//3126 3200//3200
-f 3191//3191 3193//3193 3200//3200
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-f 3201//3201 3200//3200 3195//3195
-f 3201//3201 3149//3149 3147//3147
-f 3200//3200 3201//3201 3147//3147
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-f 3195//3195 3197//3197 3201//3201
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-f 3153//3153 3202//3202 3204//3204
-f 3155//3155 3153//3153 3204//3204
-f 3138//3138 3136//3136 3168//3168
-f 3170//3170 3168//3168 3136//3136
-f 3136//3136 3134//3134 3170//3170
-f 3170//3170 3134//3134 3205//3205
-f 3172//3172 3170//3170 3205//3205
-f 3206//3206 3174//3174 3172//3172
-f 3205//3205 3206//3206 3172//3172
-f 3133//3133 3132//3132 3206//3206
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-f 3132//3132 3148//3148 3206//3206
-f 3176//3176 3174//3174 3206//3206
-f 3206//3206 3148//3148 3150//3150
-f 3207//3207 3206//3206 3150//3150
-f 3207//3207 3178//3178 3176//3176
-f 3206//3206 3207//3207 3176//3176
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-f 3180//3180 3178//3178 3207//3207
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-f 3154//3154 3156//3156 3207//3207
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-f 3209//3209 3207//3207 3208//3208
-f 3207//3207 3209//3209 3180//3180
-f 3180//3180 3209//3209 3210//3210
-f 3182//3182 3180//3180 3210//3210
-f 3116//3116 3211//3211 3184//3184
-f 3186//3186 3184//3184 3211//3211
-f 3211//3211 3212//3212 3186//3186
-f 3188//3188 3186//3186 3212//3212
-f 3212//3212 3213//3213 3188//3188
-f 3190//3190 3188//3188 3213//3213
-f 3214//3214 3192//3192 3190//3190
-f 3213//3213 3214//3214 3190//3190
-f 3215//3215 3159//3159 3214//3214
-f 3216//3216 3215//3215 3214//3214
-f 3217//3217 3216//3216 3214//3214
-f 3214//3214 3213//3213 3217//3217
-f 3159//3159 3160//3160 3214//3214
-f 3194//3194 3192//3192 3214//3214
-f 3214//3214 3160//3160 3162//3162
-f 3214//3214 3162//3162 3165//3165
-f 3214//3214 3165//3165 3167//3167
-f 3214//3214 3167//3167 3218//3218
-f 3219//3219 3214//3214 3218//3218
-f 3219//3219 3196//3196 3194//3194
-f 3214//3214 3219//3219 3194//3194
-f 3196//3196 3219//3219 3220//3220
-f 3198//3198 3196//3196 3220//3220
-f 3055//3055 3099//3099 3108//3108
-f 3221//3221 3108//3108 3099//3099
-f 3099//3099 3098//3098 3221//3221
-f 3222//3222 3221//3221 3098//3098
-f 3098//3098 3097//3097 3222//3222
-f 3223//3223 3222//3222 3097//3097
-f 3097//3097 3096//3096 3223//3223
-f 3224//3224 3223//3223 3096//3096
-f 3096//3096 1161//1161 3224//3224
-f 1144//1144 3224//3224 1161//1161
-f 3146//3146 3225//3225 3080//3080
-f 3103//3103 3080//3080 3225//3225
-f 3225//3225 3226//3226 3103//3103
-f 3100//3100 3103//3103 3226//3226
-f 3226//3226 3227//3227 3100//3100
-f 3101//3101 3100//3100 3227//3227
-f 3227//3227 3228//3228 3101//3101
-f 3102//3102 3101//3101 3228//3228
-f 3228//3228 1133//1133 3102//3102
-f 1153//1153 3102//3102 1133//1133
-f 3137//3137 3229//3229 3142//3142
-f 3225//3225 3146//3146 3145//3145
-f 3230//3230 3143//3143 3142//3142
-f 3143//3143 3230//3230 3145//3145
-f 3145//3145 3231//3231 3225//3225
-f 3231//3231 3145//3145 3230//3230
-f 3142//3142 3232//3232 3230//3230
-f 3232//3232 3142//3142 3229//3229
-f 3233//3233 3230//3230 3232//3232
-f 3230//3230 3233//3233 3231//3231
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-f 3229//3229 3235//3235 3232//3232
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-f 3237//3237 3234//3234 3236//3236
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-f 3232//3232 3238//3238 3236//3236
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-f 1123//1123 1124//1124 3238//3238
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-f 3237//3237 1129//1129 1133//1133
-f 1134//1134 1146//1146 3239//3239
-f 3240//3240 3115//3115 3114//3114
-f 3240//3240 3114//3114 3241//3241
-f 3239//3239 3240//3240 3241//3241
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-f 3242//3242 3243//3243 3244//3244
-f 3244//3244 3124//3124 3240//3240
-f 3245//3245 3242//3242 1403//1403
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-f 3247//3247 3246//3246 1401//1401
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-f 3247//3247 1123//1123 3235//3235
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-f 3239//3239 3241//3241 3249//3249
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-f 3253//3253 3250//3250 3251//3251
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-f 3222//3222 3223//3223 3254//3254
-f 1134//1134 3239//3239 3252//3252
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-f 1137//1137 1134//1134 3255//3255
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-f 3144//3144 3077//3077 3076//3076
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-f 3144//3144 3074//3074 3072//3072
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-f 3070//3070 3107//3107 3084//3084
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-f 3144//3144 3083//3083 3063//3063
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-f 3215//3215 3216//3216 3244//3244
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-f 3124//3124 3217//3217 3213//3213
-f 3124//3124 3213//3213 3212//3212
-f 3123//3123 3124//3124 3212//3212
-f 3123//3123 3212//3212 3211//3211
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-f 3139//3139 3263//3263 3264//3264
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-f 3277//3277 3279//3279 3278//3278
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-f 3278//3278 3166//3166 3164//3164
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-f 3269//3269 3278//3278 3271//3271
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-f 3272//3272 3278//3278 3275//3275
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-f 3079//3079 3144//3144 3143//3143
-f 3078//3078 3144//3144 3079//3079
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-f 3306//3306 3302//3302 3305//3305
-f 3307//3307 3306//3306 3305//3305
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-f 3312//3312 3289//3289 3204//3204
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-f 3314//3314 3313//3313 3311//3311
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-f 3318//3318 3319//3319 3277//3277
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-f 3325//3325 3324//3324 3313//3313
-f 3313//3313 3314//3314 3325//3325
-f 3315//3315 3326//3326 3316//3316
-f 3317//3317 3316//3316 3326//3326
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-f 3317//3317 3327//3327 3309//3309
-f 3328//3328 3293//3293 3289//3289
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-f 3325//3325 3314//3314 3328//3328
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-f 3314//3314 3329//3329 3328//3328
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-f 3330//3330 3303//3303 3298//3298
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-f 3329//3329 3331//3331 3330//3330
-f 3307//3307 3303//3303 3330//3330
-f 3330//3330 3331//3331 3332//3332
-f 3333//3333 3330//3330 3332//3332
-f 3330//3330 3333//3333 3307//3307
-f 3306//3306 3307//3307 3333//3333
-f 3332//3332 3334//3334 3333//3333
-f 3335//3335 3333//3333 3334//3334
-f 3333//3333 3335//3335 3306//3306
-f 3302//3302 3306//3306 3335//3335
-f 3334//3334 3336//3336 3335//3335
-f 3337//3337 3297//3297 3302//3302
-f 3335//3335 3337//3337 3302//3302
-f 3337//3337 3335//3335 3336//3336
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-f 3326//3326 3290//3290 3294//3294
-f 3337//3337 3326//3326 3294//3294
-f 3337//3337 3309//3309 3327//3327
-f 3337//3337 3327//3327 3326//3326
-f 3315//3315 3290//3290 3326//3326
-f 3290//3290 3315//3315 3284//3284
-f 3167//3167 3320//3320 3321//3321
-f 3321//3321 3338//3338 3339//3339
-f 3320//3320 3338//3338 3321//3321
-f 3314//3314 3311//3311 3310//3310
-f 3309//3309 3336//3336 3340//3340
-f 3340//3340 3308//3308 3309//3309
-f 3331//3331 3329//3329 3341//3341
-f 3341//3341 3342//3342 3331//3331
-f 3332//3332 3331//3331 3342//3342
-f 3342//3342 3343//3343 3332//3332
-f 3343//3343 3344//3344 3334//3334
-f 3334//3334 3332//3332 3343//3343
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-f 4238//4238 4219//4219 4220//4220
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-f 4249//4249 4230//4230 4231//4231
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-f 4251//4251 4232//4232 4233//4233
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-f 4253//4253 4234//4234 4235//4235
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-f 4254//4254 4235//4235 4236//4236
-f 4254//4254 4236//4236 4255//4255
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-f 4255//4255 4237//4237 4256//4256
-f 4256//4256 4237//4237 4238//4238
-f 4256//4256 4238//4238 4257//4257
-f 4257//4257 4238//4238 4239//4239
-f 4257//4257 4239//4239 4258//4258
-f 4258//4258 4239//4239 4240//4240
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-f 4259//4259 4240//4240 4241//4241
-f 4259//4259 4241//4241 4260//4260
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-f 1095//1095 1861//1861 1860//1860
-f 1095//1095 1860//1860 1105//1105
-f 1105//1105 1860//1860 1866//1866
-f 1105//1105 1866//1866 1104//1104
-f 1124//1124 1832//1832 1125//1125
-f 2066//2066 2067//2067 2068//2068
-f 2068//2068 2067//2067 2069//2069
-f 2070//2070 1059//1059 1125//1125
-f 1832//1832 1836//1836 1125//1125
-f 1125//1125 1836//1836 1835//1835
-f 1125//1125 1835//1835 2070//2070
-f 2070//2070 1835//1835 1834//1834
-f 2070//2070 1834//1834 2066//2066
-f 2066//2066 1834//1834 1833//1833
-f 2066//2066 1833//1833 2067//2067
-f 2071//2071 2035//2035 2072//2072
-f 2072//2072 2035//2035 2045//2045
-f 2072//2072 2045//2045 2073//2073
-f 2073//2073 2045//2045 2074//2074
-f 2073//2073 2074//2074 2075//2075
-f 2075//2075 2074//2074 2076//2076
-f 2077//2077 2068//2068 2069//2069
-f 2069//2069 2076//2076 2077//2077
-f 2077//2077 2076//2076 2074//2074
-f 2077//2077 2074//2074 2008//2008
-f 2008//2008 2074//2074 2045//2045
-f 2077//2077 2008//2008 2009//2009
-f 1060//1060 1059//1059 2078//2078
-f 2078//2078 1059//1059 2070//2070
-f 2078//2078 2070//2070 2066//2066
-f 1111//1111 1060//1060 2009//2009
-f 2009//2009 1060//1060 2078//2078
-f 2009//2009 2078//2078 2077//2077
-f 2077//2077 2078//2078 2066//2066
-f 2077//2077 2066//2066 2068//2068
-f 2065//2065 2061//2061 2079//2079
-f 1056//1056 2012//2012 2079//2079
-f 1056//1056 2079//2079 1057//1057
-f 1057//1057 2079//2079 2061//2061
-f 1057//1057 2061//2061 1093//1093
-f 2012//2012 2011//2011 2079//2079
-f 2079//2079 2011//2011 2080//2080
-f 2079//2079 2080//2080 2065//2065
-f 2065//2065 2080//2080 2064//2064
-f 2080//2080 2011//2011 2059//2059
-f 2063//2063 2064//2064 2080//2080
-f 2081//2081 2082//2082 2083//2083
-f 2083//2083 2082//2082 2084//2084
-f 2083//2083 2084//2084 2085//2085
-f 2059//2059 2053//2053 2086//2086
-f 2086//2086 2081//2081 2059//2059
-f 2059//2059 2081//2081 2083//2083
-f 2059//2059 2083//2083 2080//2080
-f 2080//2080 2083//2083 2085//2085
-f 2080//2080 2085//2085 2063//2063
-f 2052//2052 2086//2086 2053//2053
-f 2055//2055 2087//2087 2052//2052
-f 2055//2055 1640//1640 1639//1639
-f 2087//2087 2055//2055 2088//2088
-f 2086//2086 2052//2052 2081//2081
-f 2055//2055 1639//1639 2088//2088
-f 2088//2088 1639//1639 1691//1691
-f 2088//2088 1691//1691 2089//2089
-f 2089//2089 1691//1691 1664//1664
-f 2089//2089 1664//1664 2090//2090
-f 2090//2090 1664//1664 1663//1663
-f 2090//2090 1663//1663 2091//2091
-f 2052//2052 2087//2087 2081//2081
-f 2081//2081 2087//2087 2088//2088
-f 2081//2081 2088//2088 2082//2082
-f 2082//2082 2088//2088 2089//2089
-f 2082//2082 2089//2089 2084//2084
-f 2084//2084 2089//2089 2090//2090
-f 2084//2084 2090//2090 2085//2085
-f 2085//2085 2090//2090 2091//2091
-f 2085//2085 2091//2091 2063//2063
-f 2092//2092 1662//1662 1645//1645
-f 1645//1645 2093//2093 2092//2092
-f 2092//2092 2093//2093 2094//2094
-f 2092//2092 2094//2094 2062//2062
-f 2062//2062 2094//2094 2095//2095
-f 2062//2062 2095//2095 1864//1864
-f 1663//1663 1662//1662 2091//2091
-f 2091//2091 1662//1662 2092//2092
-f 2091//2091 2092//2092 2063//2063
-f 2063//2063 2092//2092 2062//2062
-f 1655//1655 1653//1653 2096//2096
-f 1825//1825 1824//1824 2097//2097
-f 1825//1825 2097//2097 1859//1859
-f 2098//2098 2099//2099 2100//2100
-f 2101//2101 2096//2096 1653//1653
-f 2101//2101 1653//1653 1651//1651
-f 2101//2101 2099//2099 2096//2096
-f 2096//2096 2099//2099 2098//2098
-f 2096//2096 2098//2098 2102//2102
-f 2102//2102 1648//1648 1642//1642
-f 2102//2102 1642//1642 2096//2096
-f 2096//2096 1642//1642 1641//1641
-f 2096//2096 1641//1641 1655//1655
-f 1865//1865 1862//1862 2103//2103
-f 2103//2103 1862//1862 2104//2104
-f 2103//2103 2104//2104 2105//2105
-f 1824//1824 1865//1865 2097//2097
-f 2097//2097 1865//1865 2103//2103
-f 2097//2097 2103//2103 2106//2106
-f 2106//2106 2103//2103 2105//2105
-f 2106//2106 2105//2105 2107//2107
-f 1644//1644 1648//1648 2107//2107
-f 2107//2107 1648//1648 2102//2102
-f 2107//2107 2102//2102 2106//2106
-f 2106//2106 2102//2102 2098//2098
-f 2106//2106 2098//2098 2097//2097
-f 2097//2097 2098//2098 2100//2100
-f 2097//2097 2100//2100 1859//1859
-f 1645//1645 1644//1644 2093//2093
-f 2093//2093 1644//1644 2107//2107
-f 2093//2093 2107//2107 2094//2094
-f 2094//2094 2107//2107 2105//2105
-f 2094//2094 2105//2105 2095//2095
-f 2095//2095 2105//2105 2104//2104
-f 2095//2095 2104//2104 1864//1864
-f 1864//1864 2104//2104 1862//1862
-f 2108//2108 2109//2109 2110//2110
-f 2111//2111 2112//2112 2113//2113
-f 2114//2114 2115//2115 2116//2116
-f 2117//2117 1840//1840 1839//1839
-f 2117//2117 1839//1839 2115//2115
-f 2111//2111 2113//2113 2118//2118
-f 2115//2115 1839//1839 2116//2116
-f 2116//2116 1839//1839 1838//1838
-f 2116//2116 1838//1838 2119//2119
-f 2119//2119 1838//1838 1837//1837
-f 2119//2119 1837//1837 2120//2120
-f 2120//2120 1837//1837 1845//1845
-f 2120//2120 1845//1845 2121//2121
-f 2121//2121 1845//1845 1844//1844
-f 2121//2121 1844//1844 1843//1843
-f 1842//1842 2122//2122 1843//1843
-f 1843//1843 2122//2122 2123//2123
-f 1843//1843 2123//2123 2121//2121
-f 1842//1842 1849//1849 2122//2122
-f 2122//2122 1849//1849 1848//1848
-f 2122//2122 1848//1848 2124//2124
-f 2124//2124 1848//1848 1847//1847
-f 2124//2124 1847//1847 2125//2125
-f 2125//2125 1847//1847 1846//1846
-f 2125//2125 1846//1846 2126//2126
-f 1846//1846 1851//1851 2126//2126
-f 2126//2126 1851//1851 1850//1850
-f 2126//2126 1850//1850 2127//2127
-f 2127//2127 1850//1850 1855//1855
-f 2127//2127 1855//1855 2128//2128
-f 2128//2128 1855//1855 1854//1854
-f 2128//2128 1854//1854 2129//2129
-f 2129//2129 1854//1854 1853//1853
-f 1852//1852 2130//2130 1853//1853
-f 1853//1853 2130//2130 2131//2131
-f 1853//1853 2131//2131 2129//2129
-f 1852//1852 1858//1858 2130//2130
-f 2130//2130 1858//1858 1857//1857
-f 2130//2130 1857//1857 2132//2132
-f 2112//2112 2114//2114 2113//2113
-f 2113//2113 2114//2114 2116//2116
-f 2113//2113 2116//2116 2133//2133
-f 2133//2133 2116//2116 2119//2119
-f 2133//2133 2119//2119 2134//2134
-f 2134//2134 2119//2119 2120//2120
-f 2134//2134 2120//2120 2135//2135
-f 2135//2135 2120//2120 2121//2121
-f 2135//2135 2121//2121 2136//2136
-f 2136//2136 2121//2121 2123//2123
-f 2136//2136 2123//2123 2137//2137
-f 2137//2137 2123//2123 2122//2122
-f 2137//2137 2122//2122 2138//2138
-f 2138//2138 2122//2122 2124//2124
-f 2138//2138 2124//2124 2139//2139
-f 2139//2139 2124//2124 2125//2125
-f 2139//2139 2125//2125 2140//2140
-f 2140//2140 2125//2125 2126//2126
-f 2140//2140 2126//2126 2141//2141
-f 2141//2141 2126//2126 2127//2127
-f 2141//2141 2127//2127 2142//2142
-f 2142//2142 2127//2127 2128//2128
-f 2142//2142 2128//2128 2143//2143
-f 2143//2143 2128//2128 2129//2129
-f 2143//2143 2129//2129 2144//2144
-f 2144//2144 2129//2129 2131//2131
-f 2144//2144 2131//2131 2145//2145
-f 2145//2145 2131//2131 2130//2130
-f 2145//2145 2130//2130 2146//2146
-f 2146//2146 2130//2130 2132//2132
-f 2146//2146 2132//2132 2147//2147
-f 1826//1826 2109//2109 1827//1827
-f 1827//1827 2109//2109 2108//2108
-f 1827//1827 2108//2108 1856//1856
-f 2148//2148 2118//2118 2149//2149
-f 2149//2149 2118//2118 2113//2113
-f 2149//2149 2113//2113 2150//2150
-f 2150//2150 2113//2113 2133//2133
-f 2150//2150 2133//2133 2151//2151
-f 2151//2151 2133//2133 2134//2134
-f 2151//2151 2134//2134 2152//2152
-f 2152//2152 2134//2134 2135//2135
-f 2152//2152 2135//2135 2153//2153
-f 2153//2153 2135//2135 2136//2136
-f 2153//2153 2136//2136 2154//2154
-f 2154//2154 2136//2136 2137//2137
-f 2154//2154 2137//2137 2155//2155
-f 2155//2155 2137//2137 2138//2138
-f 2155//2155 2138//2138 2156//2156
-f 2156//2156 2138//2138 2139//2139
-f 2156//2156 2139//2139 2157//2157
-f 2157//2157 2139//2139 2140//2140
-f 2157//2157 2140//2140 2158//2158
-f 2158//2158 2140//2140 2141//2141
-f 2158//2158 2141//2141 2159//2159
-f 2159//2159 2141//2141 2142//2142
-f 2159//2159 2142//2142 2160//2160
-f 2160//2160 2142//2142 2143//2143
-f 2160//2160 2143//2143 2161//2161
-f 2161//2161 2143//2143 2144//2144
-f 2161//2161 2144//2144 2162//2162
-f 2162//2162 2144//2144 2145//2145
-f 2162//2162 2145//2145 2163//2163
-f 2163//2163 2145//2145 2146//2146
-f 2163//2163 2146//2146 2164//2164
-f 2164//2164 2146//2146 2147//2147
-f 2164//2164 2147//2147 2165//2165
-f 1692//1692 2148//2148 1693//1693
-f 1693//1693 2148//2148 2149//2149
-f 1693//1693 2149//2149 1753//1753
-f 1753//1753 2149//2149 2150//2150
-f 1753//1753 2150//2150 1752//1752
-f 1752//1752 2150//2150 2151//2151
-f 1752//1752 2151//2151 1775//1775
-f 1775//1775 2151//2151 2152//2152
-f 1775//1775 2152//2152 1774//1774
-f 1774//1774 2152//2152 2153//2153
-f 1774//1774 2153//2153 1773//1773
-f 1773//1773 2153//2153 2154//2154
-f 1773//1773 2154//2154 1772//1772
-f 1772//1772 2154//2154 2155//2155
-f 1772//1772 2155//2155 1770//1770
-f 1770//1770 2155//2155 2156//2156
-f 1770//1770 2156//2156 1768//1768
-f 1768//1768 2156//2156 2157//2157
-f 1768//1768 2157//2157 1766//1766
-f 1766//1766 2157//2157 2158//2158
-f 1766//1766 2158//2158 1764//1764
-f 1764//1764 2158//2158 2159//2159
-f 1764//1764 2159//2159 1762//1762
-f 1762//1762 2159//2159 2160//2160
-f 1762//1762 2160//2160 1760//1760
-f 1760//1760 2160//2160 2161//2161
-f 1760//1760 2161//2161 1758//1758
-f 1758//1758 2161//2161 2162//2162
-f 1758//1758 2162//2162 1757//1757
-f 1757//1757 2162//2162 2163//2163
-f 1757//1757 2163//2163 1756//1756
-f 1756//1756 2163//2163 2164//2164
-f 1756//1756 2164//2164 1755//1755
-f 1755//1755 2164//2164 2165//2165
-f 1755//1755 2165//2165 1754//1754
-f 1754//1754 2165//2165 2101//2101
-f 1754//1754 2101//2101 1651//1651
-f 1826//1826 1859//1859 2109//2109
-f 2109//2109 1859//1859 2100//2100
-f 2109//2109 2100//2100 2110//2110
-f 2110//2110 2100//2100 2099//2099
-f 1857//1857 1856//1856 2132//2132
-f 2132//2132 1856//1856 2108//2108
-f 2132//2132 2108//2108 2147//2147
-f 2147//2147 2108//2108 2110//2110
-f 2147//2147 2110//2110 2165//2165
-f 2165//2165 2110//2110 2099//2099
-f 2165//2165 2099//2099 2101//2101
-f 2166//2166 2167//2167 2168//2168
-f 2148//2148 1692//1692 1701//1701
-f 2112//2112 2111//2111 2169//2169
-f 2169//2169 2111//2111 2118//2118
-f 2169//2169 2118//2118 2148//2148
-f 2115//2115 2114//2114 2170//2170
-f 1841//1841 1840//1840 2117//2117
-f 2148//2148 1701//1701 2169//2169
-f 2169//2169 1701//1701 1700//1700
-f 2169//2169 1700//1700 2171//2171
-f 2171//2171 1700//1700 1698//1698
-f 2171//2171 1698//1698 2172//2172
-f 2172//2172 1698//1698 1697//1697
-f 2172//2172 1697//1697 2173//2173
-f 1697//1697 1703//1703 2173//2173
-f 2173//2173 1703//1703 1705//1705
-f 2173//2173 1705//1705 2174//2174
-f 2174//2174 1705//1705 1704//1704
-f 1704//1704 2175//2175 2174//2174
-f 2174//2174 2175//2175 2176//2176
-f 2174//2174 2176//2176 2173//2173
-f 2173//2173 2176//2176 2177//2177
-f 2173//2173 2177//2177 2172//2172
-f 2172//2172 2177//2177 2178//2178
-f 2172//2172 2178//2178 2171//2171
-f 2171//2171 2178//2178 2179//2179
-f 2171//2171 2179//2179 2169//2169
-f 2169//2169 2179//2179 2170//2170
-f 2169//2169 2170//2170 2112//2112
-f 2112//2112 2170//2170 2114//2114
-f 2175//2175 2166//2166 2176//2176
-f 2176//2176 2166//2166 2168//2168
-f 2176//2176 2168//2168 2177//2177
-f 2177//2177 2168//2168 2180//2180
-f 2177//2177 2180//2180 2178//2178
-f 2178//2178 2180//2180 2181//2181
-f 2178//2178 2181//2181 2179//2179
-f 2179//2179 2181//2181 2182//2182
-f 2179//2179 2182//2182 2170//2170
-f 2170//2170 2182//2182 2183//2183
-f 2170//2170 2183//2183 2115//2115
-f 2115//2115 2183//2183 2117//2117
-f 2117//2117 2183//2183 1841//1841
-f 1841//1841 2183//2183 2182//2182
-f 1841//1841 2182//2182 1828//1828
-f 1828//1828 2182//2182 2181//2181
-f 1828//1828 2181//2181 1829//1829
-f 1829//1829 2181//2181 2180//2180
-f 1829//1829 2180//2180 1830//1830
-f 1830//1830 2180//2180 2168//2168
-f 1830//1830 2168//2168 1831//1831
-f 1831//1831 2168//2168 2167//2167
-f 1831//1831 2167//2167 1833//1833
-f 2184//2184 1709//1709 1713//1713
-f 2185//2185 2069//2069 2067//2067
-f 1833//1833 2167//2167 2067//2067
-f 2067//2067 2167//2167 2184//2184
-f 2067//2067 2184//2184 2185//2185
-f 2185//2185 2184//2184 1713//1713
-f 1704//1704 1709//1709 2175//2175
-f 2175//2175 1709//1709 2184//2184
-f 2175//2175 2184//2184 2166//2166
-f 2166//2166 2184//2184 2167//2167
-f 2040//2040 2186//2186 2041//2041
-f 2035//2035 2071//2071 2036//2036
-f 2036//2036 2071//2071 2038//2038
-f 2038//2038 2071//2071 2040//2040
-f 2040//2040 2071//2071 2072//2072
-f 2040//2040 2072//2072 2186//2186
-f 2186//2186 2072//2072 2073//2073
-f 2186//2186 2073//2073 2187//2187
-f 2187//2187 2073//2073 2075//2075
-f 2187//2187 2075//2075 2188//2188
-f 2188//2188 2075//2075 2076//2076
-f 2188//2188 2076//2076 2189//2189
-f 2189//2189 2076//2076 2069//2069
-f 2189//2189 2069//2069 2185//2185
-f 2041//2041 2186//2186 1715//1715
-f 1715//1715 2186//2186 2187//2187
-f 1715//1715 2187//2187 1714//1714
-f 1714//1714 2187//2187 2188//2188
-f 1714//1714 2188//2188 1710//1710
-f 1710//1710 2188//2188 2189//2189
-f 1710//1710 2189//2189 1711//1711
-f 1711//1711 2189//2189 2185//2185
-f 1711//1711 2185//2185 1713//1713
-f 1515//1515 1994//1994 2190//2190
-f 2190//2190 1994//1994 1999//1999
-f 2190//2190 1999//1999 2191//2191
-f 1867//1867 2192//2192 1868//1868
-f 1868//1868 2192//2192 1873//1873
-f 2191//2191 1999//1999 2193//2193
-f 2193//2193 1999//1999 2000//2000
-f 2193//2193 2000//2000 2194//2194
-f 2000//2000 2003//2003 2194//2194
-f 2194//2194 2003//2003 2002//2002
-f 2194//2194 2002//2002 2195//2195
-f 2195//2195 2002//2002 1872//1872
-f 1872//1872 1871//1871 2195//2195
-f 2195//2195 1871//1871 1870//1870
-f 2195//2195 1870//1870 2194//2194
-f 2194//2194 1870//1870 1873//1873
-f 2194//2194 1873//1873 2193//2193
-f 2193//2193 1873//1873 2192//2192
-f 2193//2193 2192//2192 2191//2191
-f 1875//1875 1881//1881 2196//2196
-f 1509//1509 1508//1508 2197//2197
-f 1500//1500 1499//1499 2198//2198
-f 2198//2198 1499//1499 2199//2199
-f 1509//1509 2197//2197 1503//1503
-f 1499//1499 1503//1503 2199//2199
-f 2199//2199 1503//1503 2197//2197
-f 2199//2199 2197//2197 2200//2200
-f 2200//2200 2197//2197 2201//2201
-f 2200//2200 2201//2201 2202//2202
-f 2202//2202 2201//2201 2203//2203
-f 2203//2203 2201//2201 2204//2204
-f 2203//2203 2204//2204 2205//2205
-f 1880//1880 1878//1878 2204//2204
-f 2204//2204 1878//1878 2206//2206
-f 2204//2204 2206//2206 2205//2205
-f 1507//1507 1511//1511 2207//2207
-f 2207//2207 1511//1511 1510//1510
-f 2207//2207 1510//1510 1516//1516
-f 1881//1881 1880//1880 2196//2196
-f 2196//2196 1880//1880 2204//2204
-f 2196//2196 2204//2204 2208//2208
-f 2208//2208 2204//2204 2201//2201
-f 2208//2208 2201//2201 2207//2207
-f 2207//2207 2201//2201 2197//2197
-f 2207//2207 2197//2197 1507//1507
-f 1507//1507 2197//2197 1508//1508
-f 1876//1876 1875//1875 2209//2209
-f 2209//2209 1875//1875 2196//2196
-f 2209//2209 2196//2196 2210//2210
-f 2210//2210 2196//2196 2208//2208
-f 2210//2210 2208//2208 2211//2211
-f 2211//2211 2208//2208 2207//2207
-f 2211//2211 2207//2207 1513//1513
-f 1513//1513 2207//2207 1516//1516
-f 1867//1867 1876//1876 2192//2192
-f 2192//2192 1876//1876 2209//2209
-f 2192//2192 2209//2209 2191//2191
-f 2191//2191 2209//2209 2210//2210
-f 2191//2191 2210//2210 2190//2190
-f 2190//2190 2210//2210 2211//2211
-f 2190//2190 2211//2211 1515//1515
-f 1515//1515 2211//2211 1513//1513
-f 2212//2212 2213//2213 2214//2214
-f 2214//2214 2213//2213 2215//2215
-f 2214//2214 2215//2215 2216//2216
-f 1877//1877 1491//1491 2217//2217
-f 2217//2217 1491//1491 2218//2218
-f 2217//2217 2218//2218 2219//2219
-f 1500//1500 2213//2213 1526//1526
-f 1526//1526 2213//2213 2212//2212
-f 1526//1526 2212//2212 1527//1527
-f 2200//2200 2215//2215 2199//2199
-f 2199//2199 2215//2215 2213//2213
-f 2199//2199 2213//2213 2198//2198
-f 2198//2198 2213//2213 1500//1500
-f 2200//2200 2202//2202 2215//2215
-f 2215//2215 2202//2202 2219//2219
-f 2215//2215 2219//2219 2216//2216
-f 2216//2216 2219//2219 2218//2218
-f 1878//1878 1877//1877 2206//2206
-f 2206//2206 1877//1877 2217//2217
-f 2206//2206 2217//2217 2205//2205
-f 2205//2205 2217//2217 2219//2219
-f 2205//2205 2219//2219 2203//2203
-f 2203//2203 2219//2219 2202//2202
-f 1492//1492 1326//1326 2220//2220
-f 2220//2220 1326//1326 2221//2221
-f 2220//2220 2221//2221 2222//2222
-f 2222//2222 2221//2221 2223//2223
-f 2222//2222 2223//2223 2224//2224
-f 2224//2224 2223//2223 2225//2225
-f 2224//2224 2225//2225 2226//2226
-f 2226//2226 2225//2225 2227//2227
-f 2226//2226 2227//2227 1529//1529
-f 1529//1529 2227//2227 1530//1530
-f 1491//1491 1492//1492 2218//2218
-f 2218//2218 1492//1492 2220//2220
-f 2218//2218 2220//2220 2216//2216
-f 2216//2216 2220//2220 2222//2222
-f 2216//2216 2222//2222 2214//2214
-f 2214//2214 2222//2222 2224//2224
-f 2214//2214 2224//2224 2212//2212
-f 2212//2212 2224//2224 2226//2226
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-f 1527//1527 2226//2226 1529//1529
-f 1350//1350 1352//1352 2228//2228
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-f 2231//2231 2230//2230 2232//2232
-f 2231//2231 2232//2232 1540//1540
-f 1540//1540 2232//2232 2//2
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-f 2259//2259 2258//2258 2260//2260
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-f 2249//2249 2253//2253 2250//2250
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-f 2251//2251 2255//2255 2257//2257
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-f 2252//2252 2257//2257 2259//2259
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-f 1341//1341 2259//2259 2260//2260
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-f 2264//2264 1337//1337 1339//1339
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-f 2264//2264 2271//2271 1333//1333
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-f 1333//1333 2272//2272 1322//1322
-f 1322//1322 2272//2272 1323//1323
-f 1552//1552 1551//1551 2266//2266
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-f 2266//2266 2273//2273 2268//2268
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-f 2268//2268 2274//2274 2270//2270
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-f 2270//2270 2275//2275 2272//2272
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-f 2278//2278 2275//2275 2279//2279
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-f 2279//2279 2274//2274 2280//2280
-f 2280//2280 2274//2274 2273//2273
-f 2280//2280 2273//2273 1531//1531
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-f 2227//2227 2279//2279 2280//2280
-f 2227//2227 2280//2280 1530//1530
-f 1530//1530 2280//2280 1531//1531
-f 3//3 2//2 2281//2281
-f 2281//2281 2//2 2232//2232
-f 2281//2281 2232//2232 2282//2282
-f 2282//2282 2232//2232 2230//2230
-f 2282//2282 2230//2230 2283//2283
-f 2230//2230 2237//2237 2283//2283
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-f 2236//2236 2234//2234 2285//2285
-f 2285//2285 2234//2234 1356//1356
-f 2285//2285 1356//1356 1357//1357
-f 4//4 3//3 2286//2286
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-f 2286//2286 2281//2281 2287//2287
-f 2287//2287 2281//2281 2282//2282
-f 2287//2287 2282//2282 2288//2288
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-f 2288//2288 2283//2283 2289//2289
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-f 2290//2290 2284//2284 2285//2285
-f 2290//2290 2285//2285 1284//1284
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-f 2289//2289 2290//2290 2295//2295
-f 2295//2295 2290//2290 1284//1284
-f 2295//2295 1284//1284 1286//1286
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-f 2302//2302 1319//1319 1317//1317
-f 2302//2302 1317//1317 1315//1315
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-f 2309//2309 1305//1305 2304//2304
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-f 2304//2304 1307//1307 1309//1309
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-f 2305//2305 2317//2317 2304//2304
-f 2304//2304 2317//2317 2319//2319
-f 2304//2304 2319//2319 2309//2309
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-f 2309//2309 2321//2321 2308//2308
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-f 2308//2308 2323//2323 2307//2307
-f 2307//2307 2323//2323 2325//2325
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-f 2330//2330 2327//2327 2331//2331
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-f 2330//2330 1295//1295 1297//1297
-f 2330//2330 1297//1297 2307//2307
-f 2307//2307 1297//1297 1299//1299
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-f 2345//2345 2324//2324 2344//2344
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-f 2344//2344 2322//2322 2343//2343
-f 2343//2343 2322//2322 2320//2320
-f 2343//2343 2320//2320 2342//2342
-f 2342//2342 2320//2320 2318//2318
-f 2342//2342 2318//2318 2341//2341
-f 2341//2341 2318//2318 2316//2316
-f 2341//2341 2316//2316 2340//2340
-f 2340//2340 2316//2316 2314//2314
-f 2340//2340 2314//2314 2339//2339
-f 2339//2339 2314//2314 2312//2312
-f 2339//2339 2312//2312 2338//2338
-f 2338//2338 2312//2312 2310//2310
-f 2338//2338 2310//2310 2337//2337
-f 2337//2337 2310//2310 2299//2299
-f 2337//2337 2299//2299 2336//2336
-f 2336//2336 2299//2299 2298//2298
-f 2336//2336 2298//2298 2296//2296
-f 1286//1286 1288//1288 2295//2295
-f 2295//2295 1288//1288 2335//2335
-f 2295//2295 2335//2335 2294//2294
-f 2294//2294 2335//2335 2334//2334
-f 2294//2294 2334//2334 2293//2293
-f 2293//2293 2334//2334 2333//2333
-f 2293//2293 2333//2333 2292//2292
-f 2292//2292 2333//2333 2291//2291
-f 1450//1450 1451//1451 2348//2348
-f 2348//2348 1451//1451 2349//2349
-f 2348//2348 2349//2349 2350//2350
-f 2350//2350 2349//2349 2351//2351
-f 2350//2350 2351//2351 2352//2352
-f 2352//2352 2351//2351 2353//2353
-f 2352//2352 2353//2353 2354//2354
-f 2354//2354 2353//2353 2355//2355
-f 2354//2354 2355//2355 1472//1472
-f 1472//1472 2355//2355 1473//1473
-f 1313//1313 1450//1450 2300//2300
-f 2300//2300 1450//1450 2348//2348
-f 2300//2300 2348//2348 2297//2297
-f 2297//2297 2348//2348 2350//2350
-f 2297//2297 2350//2350 2298//2298
-f 2298//2298 2350//2350 2352//2352
-f 2298//2298 2352//2352 2296//2296
-f 2296//2296 2352//2352 2354//2354
-f 2296//2296 2354//2354 1471//1471
-f 1471//1471 2354//2354 1472//1472
-f 2356//2356 1990//1990 1983//1983
-f 1431//1431 1468//1468 2357//2357
-f 2357//2357 1468//1468 2358//2358
-f 2357//2357 2358//2358 2359//2359
-f 2359//2359 2358//2358 2360//2360
-f 2359//2359 2360//2360 2361//2361
-f 2361//2361 2360//2360 2362//2362
-f 2361//2361 2362//2362 2363//2363
-f 2363//2363 2362//2362 2356//2356
-f 2363//2363 2356//2356 2364//2364
-f 2364//2364 2356//2356 1983//1983
-f 1451//1451 1990//1990 2349//2349
-f 2349//2349 1990//1990 2356//2356
-f 2349//2349 2356//2356 2351//2351
-f 2351//2351 2356//2356 2362//2362
-f 2351//2351 2362//2362 2353//2353
-f 2353//2353 2362//2362 2360//2360
-f 2353//2353 2360//2360 2355//2355
-f 2355//2355 2360//2360 2358//2358
-f 2355//2355 2358//2358 1473//1473
-f 1473//1473 2358//2358 1468//1468
-f 2365//2365 2366//2366 2367//2367
-f 2368//2368 2365//2365 2369//2369
-f 1985//1985 2368//2368 2370//2370
-f 1985//1985 2370//2370 1986//1986
-f 1986//1986 2370//2370 2371//2371
-f 1986//1986 2371//2371 1991//1991
-f 2365//2365 2367//2367 2369//2369
-f 2369//2369 2367//2367 2372//2372
-f 2369//2369 2372//2372 2373//2373
-f 2373//2373 2372//2372 2374//2374
-f 2373//2373 2374//2374 2375//2375
-f 2375//2375 2374//2374 2376//2376
-f 2375//2375 2376//2376 2377//2377
-f 2368//2368 2369//2369 2370//2370
-f 2370//2370 2369//2369 2373//2373
-f 2370//2370 2373//2373 2371//2371
-f 2371//2371 2373//2373 2375//2375
-f 2371//2371 2375//2375 2378//2378
-f 2378//2378 2375//2375 2377//2377
-f 2378//2378 2377//2377 2379//2379
-f 1431//1431 2376//2376 1432//1432
-f 1432//1432 2376//2376 2374//2374
-f 1432//1432 2374//2374 1433//1433
-f 1433//1433 2374//2374 2372//2372
-f 1433//1433 2372//2372 1435//1435
-f 1435//1435 2372//2372 2367//2367
-f 1435//1435 2367//2367 1438//1438
-f 1438//1438 2367//2367 2366//2366
-f 1438//1438 2366//2366 1436//1436
-f 1431//1431 2357//2357 2376//2376
-f 2376//2376 2357//2357 2359//2359
-f 2376//2376 2359//2359 2377//2377
-f 2377//2377 2359//2359 2361//2361
-f 2377//2377 2361//2361 2379//2379
-f 2379//2379 2361//2361 2363//2363
-f 2379//2379 2363//2363 2364//2364
-f 1991//1991 2371//2371 1992//1992
-f 1992//1992 2371//2371 2378//2378
-f 1992//1992 2378//2378 1993//1993
-f 1993//1993 2378//2378 2379//2379
-f 1993//1993 2379//2379 1980//1980
-f 1980//1980 2379//2379 2364//2364
-f 1980//1980 2364//2364 1983//1983
-f 1988//1988 2368//2368 1989//1989
-f 1989//1989 2368//2368 1985//1985
-f 2366//2366 2022//2022 2024//2024
-f 2024//2024 2026//2026 2366//2366
-f 2366//2366 2026//2026 2028//2028
-f 2366//2366 2028//2028 1436//1436
-f 1987//1987 2380//2380 1988//1988
-f 1988//1988 2380//2380 2365//2365
-f 1988//1988 2365//2365 2368//2368
-f 2366//2366 2365//2365 2022//2022
-f 2022//2022 2365//2365 2380//2380
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/th_proximal.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/th_proximal.obj
deleted file mode 100644
index 9002b246..00000000
--- a/mjx/mujoco/mjx/test_data/shadow_hand/assets/th_proximal.obj
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diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/assets/wrist.obj b/mjx/mujoco/mjx/test_data/shadow_hand/assets/wrist.obj
deleted file mode 100644
index 5d510cdf..00000000
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+++ /dev/null
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-# 1842 faces, 0 coords texture
-
-# End of File
diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/right_hand.xml b/mjx/mujoco/mjx/test_data/shadow_hand/right_hand.xml
deleted file mode 100644
index ba1a2f34..00000000
--- a/mjx/mujoco/mjx/test_data/shadow_hand/right_hand.xml
+++ /dev/null
@@ -1,330 +0,0 @@
-<mujoco model="right_shadow_hand">
-  <compiler angle="radian" meshdir="assets" autolimits="true"/>
-
-  <option impratio="10" iterations="1" ls_iterations="4" timestep="0.001">
-    <flag eulerdamp="disable"/>
-  </option>
-
-  <custom>
-    <numeric data="15" name="max_contact_points"/>
-    <numeric data="15" name="max_geom_pairs"/>
-  </custom>
-
-  <default>
-    <default class="right_hand">
-      <mesh scale="0.001 0.001 0.001"/>
-      <joint axis="1 0 0" damping="0.05" armature="0.0002"/>
-      <position forcerange="-1 1"/>
-
-      <default class="wrist">
-        <joint damping="0.5"/>
-        <default class="wrist_y">
-          <joint axis="0 1 0" range="-0.523599 0.174533"/>
-          <position kp="10" ctrlrange="-0.523599 0.174533" forcerange="-10 10"/>
-        </default>
-        <default class="wrist_x">
-          <joint range="-0.698132 0.488692"/>
-          <position kp="8" ctrlrange="-0.698132 0.488692" forcerange="-5 5"/>
-        </default>
-      </default>
-
-      <default class="thumb">
-        <default class="thbase">
-          <joint axis="0 0 -1" range="-1.0472 1.0472"/>
-          <position kp="0.4" ctrlrange="-1.0472 1.0472" forcerange="-3 3"/>
-        </default>
-        <default class="thproximal">
-          <joint range="0 1.22173"/>
-          <position ctrlrange="0 1.22173" forcerange="-2 2"/>
-        </default>
-        <default class="thhub">
-          <joint range="-0.20944 0.20944"/>
-          <position kp="0.5" ctrlrange="-0.20944 0.20944"/>
-        </default>
-        <default class="thmiddle">
-          <joint axis="0 -1 0" range="-0.698132 0.698132"/>
-          <position kp="1.5" ctrlrange="-0.698132 0.698132"/>
-        </default>
-        <default class="thdistal">
-          <joint range="-0.261799 1.5708"/>
-          <position ctrlrange="-0.261799 1.5708"/>
-        </default>
-      </default>
-
-      <default class="metacarpal">
-        <joint axis="0.573576 0 0.819152" range="0 0.785398"/>
-        <position ctrlrange="0 0.785398"/>
-      </default>
-      <default class="knuckle">
-        <joint axis="0 -1 0" range="-0.349066 0.349066"/>
-        <position ctrlrange="-0.349066 0.349066"/>
-      </default>
-      <default class="proximal">
-        <joint range="-0.261799 1.5708"/>
-        <position ctrlrange="-0.261799 1.5708"/>
-      </default>
-      <default class="middle_distal">
-        <joint range="0 1.5708"/>
-        <position kp="0.5" ctrlrange="0 3.1415"/>
-      </default>
-
-      <default class="plastic">
-        <geom solimp="0.5 0.99 0.0001" solref="0.005 1"/>
-        <default class="plastic_visual">
-          <geom type="mesh" material="black" contype="0" conaffinity="0" group="2"/>
-        </default>
-        <default class="plastic_collision">
-          <geom group="3" contype="1" conaffinity="1"/>
-        </default>
-      </default>
-    </default>
-  </default>
-
-  <asset>
-    <material name="black" specular="0.5" shininess="0.25" rgba="0.16355 0.16355 0.16355 1"/>
-    <material name="gray" specular="0.0" shininess="0.25" rgba="0.80848 0.80848 0.80848 1"/>
-    <material name="metallic" specular="0" shininess="0.25" rgba="0.9 0.9 0.9 1"/>
-
-    <mesh class="right_hand" file="forearm_0.obj"/>
-    <mesh class="right_hand" file="forearm_1.obj"/>
-    <mesh class="right_hand" file="forearm_collision.obj"/>
-    <mesh class="right_hand" file="wrist.obj"/>
-    <mesh class="right_hand" file="palm.obj"/>
-    <mesh class="right_hand" file="f_knuckle.obj"/>
-    <mesh class="right_hand" file="f_proximal.obj"/>
-    <mesh class="right_hand" file="f_middle.obj"/>
-    <mesh class="right_hand" file="f_distal_pst.obj"/>
-    <mesh class="right_hand" file="f_distal_pst_214.obj"/>
-    <mesh class="right_hand" file="lf_metacarpal.obj"/>
-    <mesh class="right_hand" file="th_proximal.obj"/>
-    <mesh class="right_hand" file="th_middle.obj"/>
-    <mesh class="right_hand" file="th_distal_pst.obj"/>
-    <mesh class="right_hand" file="th_distal_pst_190.obj"/>
-  </asset>
-
-  <worldbody>
-    <body name="rh_forearm" childclass="right_hand" quat="1 -1 1 -1">
-      <inertial mass="3" pos="0 0 0.09" diaginertia="0.0138 0.0138 0.00744"/>
-      <geom class="plastic_visual" mesh="forearm_0" material="gray"/>
-      <geom class="plastic_visual" mesh="forearm_1"/>
-      <geom class="plastic_collision" type="mesh" mesh="forearm_collision" conaffinity="0" contype="0"/>
-      <geom class="plastic_collision" size="0.035 0.035 0.035" pos="0 -0.01 0.181" quat="0.924909 0 0.380188 0"
-        type="box" conaffinity="0"/>
-      <body name="rh_wrist" pos="0 -0.01 0.21301">
-        <inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/>
-        <joint class="wrist_y" name="rh_WRJ2"/>
-        <geom class="plastic_visual" mesh="wrist" material="metallic"/>
-        <geom size="0.0135 0.015" quat="0.499998 0.5 0.5 -0.500002" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
-        <geom size="0.011 0.005" pos="-0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
-        <geom size="0.011 0.005" pos="0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
-        <geom size="0.0135 0.009 0.005" pos="-0.021 0 0.011" quat="0.923879 0 0.382684 0" type="box"
-          class="plastic_collision" conaffinity="0"/>
-        <geom size="0.0135 0.009 0.005" pos="0.026 0 0.01" quat="0.923879 0 -0.382684 0" type="box"
-          class="plastic_collision" conaffinity="0"/>
-        <body name="rh_palm" pos="0 0 0.034">
-          <inertial mass="0.3" pos="0 0 0.035" quat="1 0 0 1" diaginertia="0.0005287 0.0003581 0.000191"/>
-          <joint class="wrist_x" name="rh_WRJ1"/>
-          <site name="grasp_site" pos="0 -.035 0.09" group="4"/>
-          <geom class="plastic_visual" mesh="palm"/>
-          <geom size="0.031 0.0035 0.049" pos="0.011 0.0085 0.038" type="box" class="plastic_collision" conaffinity="2"/>
-          <geom size="0.018 0.0085 0.049" pos="-0.002 -0.0035 0.038" type="box" class="plastic_collision" conaffinity="2"/>
-          <geom size="0.013 0.0085 0.005" pos="0.029 -0.0035 0.082" type="box" class="plastic_collision" conaffinity="2"/>
-          <geom size="0.013 0.007 0.009" pos="0.0265 -0.001 0.07" quat="0.987241 0.0990545 0.0124467 0.124052"
-            type="box" class="plastic_collision" conaffinity="2"/>
-          <geom size="0.0105 0.0135 0.012" pos="0.0315 -0.0085 0.001" type="box" class="plastic_collision" conaffinity="2"/>
-          <geom size="0.011 0.0025 0.015" pos="0.0125 -0.015 0.004" quat="0.971338 0 0 -0.237703" type="box"
-            class="plastic_collision" conaffinity="2"/>
-          <geom size="0.009 0.012 0.002" pos="0.011 0 0.089" type="box" class="plastic_collision" conaffinity="2"/>
-          <geom size="0.01 0.012 0.02" pos="-0.03 0 0.009" type="box" class="plastic_collision" conaffinity="2"/>
-          <body name="rh_ffknuckle" pos="0.033 0 0.095">
-            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
-            <joint name="rh_FFJ4" class="knuckle"/>
-            <geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
-            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
-            <body name="rh_ffproximal">
-              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
-              <joint name="rh_FFJ3" class="proximal"/>
-              <geom class="plastic_visual" mesh="f_proximal"/>
-              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
-              <body name="rh_ffmiddle" pos="0 0 0.045">
-                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
-                <joint name="rh_FFJ2" class="middle_distal"/>
-                <geom class="plastic_visual" mesh="f_middle"/>
-                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
-                <body name="rh_ffdistal" pos="0 0 0.025">
-                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
-                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
-                  <joint name="rh_FFJ1" class="middle_distal"/>
-                  <geom class="plastic_visual" mesh="f_distal_pst"/>
-                  <geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
-                </body>
-              </body>
-            </body>
-          </body>
-          <body name="rh_mfknuckle" pos="0.011 0 0.099">
-            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
-            <joint name="rh_MFJ4" class="knuckle"/>
-            <geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
-            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
-            <body name="rh_mfproximal">
-              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
-              <joint name="rh_MFJ3" class="proximal"/>
-              <geom class="plastic_visual" mesh="f_proximal"/>
-              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
-              <body name="rh_mfmiddle" pos="0 0 0.045">
-                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
-                <joint name="rh_MFJ2" class="middle_distal"/>
-                <geom class="plastic_visual" mesh="f_middle"/>
-                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
-                <body name="rh_mfdistal" pos="0 0 0.025">
-                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
-                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
-                  <joint name="rh_MFJ1" class="middle_distal"/>
-                  <geom class="plastic_visual" mesh="f_distal_pst"/>
-                  <geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
-                </body>
-              </body>
-            </body>
-          </body>
-          <body name="rh_rfknuckle" pos="-0.011 0 0.095">
-            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
-            <joint name="rh_RFJ4" class="knuckle" axis="0 1 0"/>
-            <geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
-            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
-            <body name="rh_rfproximal">
-              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
-              <joint name="rh_RFJ3" class="proximal"/>
-              <geom class="plastic_visual" mesh="f_proximal"/>
-              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
-              <body name="rh_rfmiddle" pos="0 0 0.045">
-                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
-                <joint name="rh_RFJ2" class="middle_distal"/>
-                <geom class="plastic_visual" mesh="f_middle"/>
-                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
-                <body name="rh_rfdistal" pos="0 0 0.025">
-                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
-                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
-                  <joint name="rh_RFJ1" class="middle_distal"/>
-                  <geom class="plastic_visual" mesh="f_distal_pst"/>
-                  <geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
-                </body>
-              </body>
-            </body>
-          </body>
-          <body name="rh_lfmetacarpal" pos="-0.033 0 0.02071">
-            <inertial mass="0.03" pos="0 0 0.04" quat="1 0 0 1" diaginertia="1.638e-05 1.45e-05 4.272e-06"/>
-            <joint name="rh_LFJ5" class="metacarpal"/>
-            <geom class="plastic_visual" mesh="lf_metacarpal"/>
-            <geom size="0.011 0.012 0.025" pos="0.002 0 0.033" type="box" class="plastic_collision"/>
-            <body name="rh_lfknuckle" pos="0 0 0.06579">
-              <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
-              <joint name="rh_LFJ4" class="knuckle" axis="0 1 0"/>
-              <geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
-              <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision" conaffinity="0" contype="0"/>
-              <body name="rh_lfproximal">
-                <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
-                <joint name="rh_LFJ3" class="proximal"/>
-                <geom class="plastic_visual" mesh="f_proximal"/>
-                <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
-                <body name="rh_lfmiddle" pos="0 0 0.045">
-                  <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
-                  <joint name="rh_LFJ2" class="middle_distal"/>
-                  <geom class="plastic_visual" mesh="f_middle"/>
-                  <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
-                  <body name="rh_lfdistal" pos="0 0 0.025">
-                    <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
-                      diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
-                    <joint name="rh_LFJ1" class="middle_distal"/>
-                    <geom class="plastic_visual" mesh="f_distal_pst"/>
-                    <geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-          <body name="rh_thbase" pos="0.034 -0.00858 0.029" quat="0.92388 0 0.382683 0">
-            <inertial mass="0.01" pos="0 0 0" diaginertia="1.6e-07 1.6e-07 1.6e-07"/>
-            <joint name="rh_THJ5" class="thbase"/>
-            <geom class="plastic_collision" size="0.013"/>
-            <body name="rh_thproximal">
-              <inertial mass="0.04" pos="0 0 0.019" diaginertia="1.36e-05 1.36e-05 3.13e-06"/>
-              <joint name="rh_THJ4" class="thproximal"/>
-              <geom class="plastic_visual" mesh="th_proximal"/>
-              <geom class="plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/>
-              <body name="rh_thhub" pos="0 0 0.038">
-                <inertial mass="0.005" pos="0 0 0" diaginertia="1e-06 1e-06 3e-07"/>
-                <joint name="rh_THJ3" class="thhub"/>
-                <geom size="0.011" class="plastic_collision"/>
-                <body name="rh_thmiddle">
-                  <inertial mass="0.02" pos="0 0 0.016" diaginertia="5.1e-06 5.1e-06 1.21e-06"/>
-                  <joint name="rh_THJ2" class="thmiddle"/>
-                  <geom class="plastic_visual" mesh="th_middle"/>
-                  <geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="plastic_collision"/>
-                  <geom size="0.01" pos="0 0 0.03" class="plastic_collision"/>
-                  <body name="rh_thdistal" pos="0 0 0.032" quat="1 0 0 -1">
-                    <inertial mass="0.017" pos="0 0 0.0145588" quat="1 0 0 1"
-                      diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
-                    <joint name="rh_THJ1" class="thdistal"/>
-                    <geom class="plastic_visual" mesh="th_distal_pst"/>
-                    <geom class="plastic_collision" type="mesh" mesh="th_distal_pst_190" contype="0" conaffinity="2"/>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="rh_wrist" body2="rh_forearm"/>
-    <exclude body1="rh_thproximal" body2="rh_thmiddle"/>
-  </contact>
-
-  <!-- <tendon>
-    <fixed name="rh_FFJ0">
-      <joint joint="rh_FFJ2" coef="1"/>
-      <joint joint="rh_FFJ1" coef="1"/>
-    </fixed>
-    <fixed name="rh_MFJ0">
-      <joint joint="rh_MFJ2" coef="1"/>
-      <joint joint="rh_MFJ1" coef="1"/>
-    </fixed>
-    <fixed name="rh_RFJ0">
-      <joint joint="rh_RFJ2" coef="1"/>
-      <joint joint="rh_RFJ1" coef="1"/>
-    </fixed>
-    <fixed name="rh_LFJ0">
-      <joint joint="rh_LFJ2" coef="1"/>
-      <joint joint="rh_LFJ1" coef="1"/>
-    </fixed>
-  </tendon> -->
-
-  <actuator>
-    <position name="rh_A_WRJ2" joint="rh_WRJ2" class="wrist_y"/>
-    <position name="rh_A_WRJ1" joint="rh_WRJ1" class="wrist_x"/>
-    <position name="rh_A_THJ5" joint="rh_THJ5" class="thbase"/>
-    <position name="rh_A_THJ4" joint="rh_THJ4" class="thproximal"/>
-    <position name="rh_A_THJ3" joint="rh_THJ3" class="thhub"/>
-    <position name="rh_A_THJ2" joint="rh_THJ2" class="thmiddle"/>
-    <position name="rh_A_THJ1" joint="rh_THJ1" class="thdistal"/>
-    <position name="rh_A_FFJ4" joint="rh_FFJ4" class="knuckle"/>
-    <position name="rh_A_FFJ3" joint="rh_FFJ3" class="proximal"/>
-    <position name="rh_A_FFJ2" joint="rh_FFJ2" class="middle_distal"/>
-    <position name="rh_A_FFJ1" joint="rh_FFJ1" class="middle_distal"/>
-    <position name="rh_A_MFJ4" joint="rh_MFJ4" class="knuckle"/>
-    <position name="rh_A_MFJ3" joint="rh_MFJ3" class="proximal"/>
-    <position name="rh_A_MFJ2" joint="rh_MFJ2" class="middle_distal"/>
-    <position name="rh_A_MFJ1" joint="rh_MFJ1" class="middle_distal"/>
-    <position name="rh_A_RFJ4" joint="rh_RFJ4" class="knuckle"/>
-    <position name="rh_A_RFJ3" joint="rh_RFJ3" class="proximal"/>
-    <position name="rh_A_RFJ2" joint="rh_RFJ2" class="middle_distal"/>
-    <position name="rh_A_RFJ1" joint="rh_RFJ1" class="middle_distal"/>
-    <position name="rh_A_LFJ5" joint="rh_LFJ5" class="metacarpal"/>
-    <position name="rh_A_LFJ4" joint="rh_LFJ4" class="knuckle"/>
-    <position name="rh_A_LFJ3" joint="rh_LFJ3" class="proximal"/>
-    <position name="rh_A_LFJ2" joint="rh_LFJ2" class="middle_distal"/>
-    <position name="rh_A_LFJ1" joint="rh_LFJ1" class="middle_distal"/>
-  </actuator>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/scene_right.xml b/mjx/mujoco/mjx/test_data/shadow_hand/scene_right.xml
deleted file mode 100644
index cd1d9249..00000000
--- a/mjx/mujoco/mjx/test_data/shadow_hand/scene_right.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<mujoco model="right_shadow_hand scene">
-
-  <include file="right_hand.xml"/>
-
-  <statistic extent="0.3" center="0.3 0 0"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="8192"/>
-    <global azimuth="220" elevation="-30"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
-      markrgb="0.8 0.8 0.8" width="300" height="300"/>
-    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <light pos="0.3 0 1.5" dir="0 0 -1" directional="true"/>
-    <geom name="floor" pos="0 0 -0.1" size="0 0 0.05" type="plane" material="groundplane" contype="0" conaffinity="4"/>
-    <body name="object" pos="0.3 0 0.1">
-      <freejoint/>
-      <geom type="sphere" size="0.03" rgba="0.5 0.7 0.5 1" condim="3" priority="1"
-        friction="0.5 0.01 0.003" contype="7"/>
-    </body>
-  </worldbody>
-
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/shadow_hand/shadow_hand.png b/mjx/mujoco/mjx/test_data/shadow_hand/shadow_hand.png
deleted file mode 100644
index 3fafce6e..00000000
Binary files a/mjx/mujoco/mjx/test_data/shadow_hand/shadow_hand.png and /dev/null differ
diff --git a/mjx/mujoco/mjx/test_data/tendon/armature.xml b/mjx/mujoco/mjx/test_data/tendon/armature.xml
deleted file mode 100644
index 0b416feb..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/armature.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<mujoco>
-  <worldbody>
-    <site name="site0" pos="1 0 1"/>
-    <body>
-      <joint type="slide" axis="0 0 1"/>
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="box" size="0.1 0.1 0.1" mass="1" pos="1 0 0"/>
-      <site name="site1"/>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial armature="123">
-      <site site="site0"/>
-      <site site="site1"/>
-    </spatial>
-    <spatial armature="456">
-      <site site="site0"/>
-      <site site="site1"/>
-    </spatial>
-  </tendon>
-  <keyframe>
-    <key qpos="1.2345 1.2345" qvel="1.2345 1.2345"/>
-  </keyframe>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/fixed.xml b/mjx/mujoco/mjx/test_data/tendon/fixed.xml
deleted file mode 100644
index 8e3b3e3f..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/fixed.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<mujoco model="fixed">
-  <worldbody>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <fixed>
-      <joint joint="joint0" coef=".1"/>
-      <joint joint="joint1" coef=".2"/>
-      <joint joint="joint2" coef=".3"/>
-    </fixed>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/fixed_site.xml b/mjx/mujoco/mjx/test_data/tendon/fixed_site.xml
deleted file mode 100644
index d8842b49..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/fixed_site.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<mujoco model="fixed_site">
-  <worldbody>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-    </spatial>
-    <fixed>
-      <joint joint="joint0" coef=".1"/>
-      <joint joint="joint1" coef=".2"/>
-      <joint joint="joint2" coef=".3"/>
-    </fixed>
-    <fixed>
-      <joint joint="joint0" coef=".1"/>
-      <joint joint="joint2" coef=".3"/>
-    </fixed>
-    <spatial width="0.0125">
-      <site site="site1"/>
-      <site site="site2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/fixed_site_wrap.xml b/mjx/mujoco/mjx/test_data/tendon/fixed_site_wrap.xml
deleted file mode 100644
index 978e7fa3..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/fixed_site_wrap.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<mujoco model="fixed_site_wrap">
-  <option>
-    <flag contact="disable" gravity="disable"/>
-  </option>
-  <worldbody>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <geom name="sphere0" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <geom name="sphere1" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-          <geom name="cylinder2" type="cylinder" contype="0" conaffinity="0" pos="0.5 0 0.25" euler="90 0 0" size="0.085 0.1"/>
-          <body pos="0.5 0 0">
-            <joint name="joint3" type="hinge" axis="0 1 0"/>
-            <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-            <site name="site3" pos="0.25 0 0.1" size="0.025"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial width="0.0125">
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <fixed>
-      <joint joint="joint0" coef=".1"/>
-      <joint joint="joint1" coef=".2"/>
-      <joint joint="joint2" coef=".3"/>
-    </fixed>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial name="tendon2" width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/no_tendon.xml b/mjx/mujoco/mjx/test_data/tendon/no_tendon.xml
deleted file mode 100644
index 7eaf3ddf..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/no_tendon.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<mujoco model="no_tendon">
-  <worldbody>
-    <body>
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <body pos="0.5 0 0">
-        <joint type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <body pos="0.5 0 0">
-          <joint type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/pulley_fixed_site_wrap.xml b/mjx/mujoco/mjx/test_data/tendon/pulley_fixed_site_wrap.xml
deleted file mode 100644
index a3e553cd..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/pulley_fixed_site_wrap.xml
+++ /dev/null
@@ -1,103 +0,0 @@
-<mujoco model="pulley_fixed_site_wrap">
-  <option>
-    <flag contact="disable" gravity="disable"/>
-  </option>
-  <worldbody>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <geom name="sphere0" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <geom name="sphere1" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-          <geom name="cylinder2" type="cylinder" contype="0" conaffinity="0" pos="0.5 0 0.25" euler="90 0 0" size="0.085 0.1"/>
-          <geom name="sphere2" type="sphere" contype="0" conaffinity="0" pos="0.5 0 0.25" size="0.085"/>
-          <body pos="0.5 0 0">
-            <joint name="joint3" type="hinge" axis="0 1 0"/>
-            <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-            <site name="site3" pos="0.25 0 0.1" size="0.025"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial width="0.0125">
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="0.2"/>
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <fixed>
-      <joint joint="joint0" coef=".1"/>
-      <joint joint="joint1" coef=".2"/>
-      <joint joint="joint2" coef=".3"/>
-    </fixed>
-    <spatial width="0.0125">
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-      <pulley divisor="2"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <pulley divisor="7"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-      <pulley divisor="2"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="4"/>
-      <site site="site0"/>
-      <site site="site2"/>
-      <site site="site3"/>
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/pulley_site.xml b/mjx/mujoco/mjx/test_data/tendon/pulley_site.xml
deleted file mode 100644
index 6ae3e137..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/pulley_site.xml
+++ /dev/null
@@ -1,84 +0,0 @@
-<mujoco model="pulley_site">
-  <option>
-    <flag contact="disable" gravity="disable"/>
-  </option>
-  <worldbody>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <geom name="sphere0" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <geom name="sphere1" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-          <geom name="cylinder2" type="cylinder" contype="0" conaffinity="0" pos="0.5 0 0.25" euler="90 0 0" size="0.085 0.1"/>
-          <geom name="sphere2" type="sphere" contype="0" conaffinity="0" pos="0.5 0 0.25" size="0.085"/>
-          <body pos="0.5 0 0">
-            <joint name="joint3" type="hinge" axis="0 1 0"/>
-            <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-            <site name="site3" pos="0.25 0 0.1" size="0.025"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial width="0.0125">
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="0.2"/>
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-      <site site="site3"/>
-      <pulley divisor="2"/>
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-      <pulley divisor="7"/>
-      <site site="site2"/>
-      <site site="site3"/>
-      <pulley divisor="2"/>
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="4"/>
-      <site site="site0"/>
-      <site site="site2"/>
-      <site site="site3"/>
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/pulley_site_wrap.xml b/mjx/mujoco/mjx/test_data/tendon/pulley_site_wrap.xml
deleted file mode 100644
index 6621b6fa..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/pulley_site_wrap.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco model="pulley_site_wrap">
-  <option>
-    <flag contact="disable" gravity="disable"/>
-  </option>
-  <worldbody>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <geom name="sphere0" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <geom name="sphere1" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-          <geom name="cylinder2" type="cylinder" contype="0" conaffinity="0" pos="0.5 0 0.25" euler="90 0 0" size="0.085 0.1"/>
-          <geom name="sphere2" type="sphere" contype="0" conaffinity="0" pos="0.5 0 0.25" size="0.085"/>
-          <body pos="0.5 0 0">
-            <joint name="joint3" type="hinge" axis="0 1 0"/>
-            <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-            <site name="site3" pos="0.25 0 0.1" size="0.025"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial width="0.0125">
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="0.2"/>
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-      <pulley divisor="2"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <pulley divisor="7"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-      <pulley divisor="2"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="4"/>
-      <site site="site0"/>
-      <site site="site2"/>
-      <site site="site3"/>
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/pulley_wrap.xml b/mjx/mujoco/mjx/test_data/tendon/pulley_wrap.xml
deleted file mode 100644
index c9929d6e..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/pulley_wrap.xml
+++ /dev/null
@@ -1,78 +0,0 @@
-<mujoco model="pulley_wrap">
-  <option>
-    <flag contact="disable" gravity="disable"/>
-  </option>
-  <worldbody>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <geom name="sphere0" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <geom name="sphere1" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-          <geom name="cylinder2" type="cylinder" contype="0" conaffinity="0" pos="0.5 0 0.25" euler="90 0 0" size="0.085 0.1"/>
-          <geom name="sphere2" type="sphere" contype="0" conaffinity="0" pos="0.5 0 0.25" size="0.085"/>
-          <body pos="0.5 0 0">
-            <joint name="joint3" type="hinge" axis="0 1 0"/>
-            <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-            <site name="site3" pos="0.25 0 0.1" size="0.025"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial width="0.0125">
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-      <pulley divisor="2"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <pulley divisor="3"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <pulley divisor="7"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-      <pulley divisor="2"/>
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/site.xml b/mjx/mujoco/mjx/test_data/tendon/site.xml
deleted file mode 100644
index c2fcb50d..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/site.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco model="site">
-  <worldbody>
-    <body>
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <body pos="0.5 0 0">
-        <joint type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <body pos="0.5 0 0">
-          <joint type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/site_wrap.xml b/mjx/mujoco/mjx/test_data/tendon/site_wrap.xml
deleted file mode 100644
index 1e0358b8..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/site_wrap.xml
+++ /dev/null
@@ -1,54 +0,0 @@
-<mujoco model="site_wrap">
-  <option>
-    <flag contact="disable" gravity="disable"/>
-  </option>
-  <worldbody>
-    <light pos="0 0 10"/>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <geom name="sphere0" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <geom name="sphere1" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-          <geom name="cylinder2" type="cylinder" contype="0" conaffinity="0" pos="0.5 0 0.25" euler="90 0 0" size="0.085 0.1"/>
-          <body pos="0.5 0 0">
-            <joint name="joint3" type="hinge" axis="0 1 0"/>
-            <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-            <site name="site3" pos="0.25 0 0.1" size="0.025"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <site site="site2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0"/>
-      <site site="site2"/>
-      <geom geom="cylinder2"/>
-      <site site="site3"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/tendon.xml b/mjx/mujoco/mjx/test_data/tendon/tendon.xml
deleted file mode 100644
index ab1c4227..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/tendon.xml
+++ /dev/null
@@ -1,66 +0,0 @@
-<mujoco model="tendon">
-  <default>
-    <joint axis="0 1 0" range="0 60" limited="true"/>
-    <geom type="capsule" size=".01" rgba=".9 .7 .1 1"/>
-    <site rgba=".9 .9 .9 1"/>
-    <default class="visual_cylinder">
-      <geom type="cylinder" fromto="0 .015 0  0 -.015 0" size=".02" rgba=".3 .9 .3 .4"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <body name="weight" pos="-.03 0 .175">
-      <joint axis="0 0 1" pos="0 0 .025" type="slide"/>
-      <geom type="cylinder" size=".03 .025" density="5000" rgba=".2 .2 .5 1"/>
-      <site name="s1" pos="0 0 .025"/>
-    </body>
-
-    <site name="s2" pos="-.03 0 .33"/>
-
-    <body pos="0 0 .3">
-      <joint/>
-      <geom name="g1" class="visual_cylinder"/>
-      <geom fromto="0 0 0  .1 0 0"/>
-      <site name="s3" pos=".02 0 .03"/>
-
-      <body pos=".1 0 0">
-        <joint/>
-        <geom name="g2" class="visual_cylinder"/>
-        <geom fromto="0 0 0  .1 0 0"/>
-        <site name="s4" pos=".03 0 .01"/>
-        <site name="s5" pos=".05 0 .02"/>
-        <site name="side2" pos="0 0 .03"/>
-
-        <body pos=".1 0 0">
-          <joint/>
-          <geom name="g3" class="visual_cylinder"/>
-          <geom fromto="0 0 0  .1 0 0"/>
-          <site name="s6" pos=".03 0 .01"/>
-          <site name="side3" pos="0 0 .03"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial range="0 .33" limited="true" width=".002" rgba=".95 .3 .3 1">
-      <site site="s1"/>
-      <site site="s2"/>
-      <geom geom="g1"/>
-      <site site="s3"/>
-
-      <pulley divisor="2"/>
-      <site site="s3"/>
-      <geom geom="g2" sidesite="side2"/>
-      <site site="s4"/>
-
-      <pulley divisor="2"/>
-      <site site="s3"/>
-      <geom geom="g2" sidesite="side2"/>
-      <site site="s5"/>
-      <geom geom="g3" sidesite="side3"/>
-      <site site="s6"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/test_data/tendon/wrap_sidesite.xml b/mjx/mujoco/mjx/test_data/tendon/wrap_sidesite.xml
deleted file mode 100644
index 36bb758b..00000000
--- a/mjx/mujoco/mjx/test_data/tendon/wrap_sidesite.xml
+++ /dev/null
@@ -1,61 +0,0 @@
-<mujoco model="wrap_sidesite">
-  <option>
-    <flag contact="disable" gravity="disable"/>
-  </option>
-  <worldbody>
-    <light pos="0 0 10"/>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <geom name="sphere0" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-      <site name="sidesite0" pos="0.5 0 0.25"/>
-      <site name="inside_sidesite0" pos="0.5 0 0.125"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <geom name="sphere1" type="sphere" pos="0.5 0 0.125" size="0.085"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-          <geom name="cylinder2" type="cylinder" contype="0" conaffinity="0" pos="0.5 0 0.25" euler="90 0 0" size="0.085 0.1"/>
-          <site name="sidesite2" pos="0.5 0 0.5"/>
-          <site name="inside_sidesite2" pos="0.5 0 0.25"/>
-          <body pos="0.5 0 0">
-            <joint name="joint3" type="hinge" axis="0 1 0"/>
-            <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-            <site name="site3" pos="0.25 0 0.1" size="0.025"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0" sidesite="inside_sidesite0"/>
-      <site site="site1"/>
-      <geom geom="sphere1"/>
-      <site site="site2"/>
-      <geom geom="cylinder2" sidesite="inside_sidesite2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0" sidesite="sidesite0"/>
-      <site site="site2"/>
-      <geom geom="cylinder2" sidesite="inside_sidesite2"/>
-      <site site="site3"/>
-    </spatial>
-    <spatial width="0.0125">
-      <site site="site0"/>
-      <geom geom="sphere0" sidesite="inside_sidesite0"/>
-      <site site="site2"/>
-      <geom geom="cylinder2" sidesite="sidesite2"/>
-      <site site="site3"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/mjx/mujoco/mjx/testspeed.py b/mjx/mujoco/mjx/testspeed.py
deleted file mode 100644
index 4d59ad33..00000000
--- a/mjx/mujoco/mjx/testspeed.py
+++ /dev/null
@@ -1,91 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Run benchmarks on various devices."""
-
-from typing import Sequence
-
-from absl import app
-from absl import flags
-from etils import epath
-import mujoco
-from mujoco import mjx
-
-_MJCF = flags.DEFINE_string(
-    'mjcf', None, 'path to model `.xml` or `.mjb`', required=True
-)
-_BASE_PATH = flags.DEFINE_string(
-    'base_path', None, 'base path, defaults to mujoco.mjx resource path'
-)
-_NSTEP = flags.DEFINE_integer('nstep', 1000, 'number of steps per rollout')
-_BATCH_SIZE = flags.DEFINE_integer(
-    'batch_size', 1024, 'number of parallel rollouts'
-)
-_UNROLL = flags.DEFINE_integer('unroll', 1, 'loop unroll length')
-_SOLVER = flags.DEFINE_enum(
-    'solver', 'cg', ['cg', 'newton'], 'constraint solver'
-)
-_ITERATIONS = flags.DEFINE_integer(
-    'iterations', 1, 'number of solver iterations'
-)
-_LS_ITERATIONS = flags.DEFINE_integer(
-    'ls_iterations', 4, 'number of linesearch iterations'
-)
-_OUTPUT = flags.DEFINE_enum(
-    'output', 'text', ['text', 'tsv'], 'format to print results'
-)
-
-
-def _main(argv: Sequence[str]):
-  """Runs testpeed function."""
-  path = epath.resource_path('mujoco.mjx') / 'test_data'
-  path = _BASE_PATH.value or path
-  f = epath.Path(path) / _MJCF.value
-  if f.suffix == '.mjb':
-    m = mujoco.MjModel.from_binary_path(f.as_posix())
-  else:
-    m = mujoco.MjModel.from_xml_path(f.as_posix())
-
-  print(f'Rolling out {_NSTEP.value} steps at dt = {m.opt.timestep:.3f}...')
-  jit_time, run_time, steps = mjx.benchmark(
-      m,
-      _NSTEP.value,
-      _BATCH_SIZE.value,
-      _UNROLL.value,
-      _SOLVER.value,
-      _ITERATIONS.value,
-      _LS_ITERATIONS.value,
-  )
-
-  name = argv[0]
-  if _OUTPUT.value == 'text':
-    print(f"""
-Summary for {_BATCH_SIZE.value} parallel rollouts
-
- Total JIT time: {jit_time:.2f} s
- Total simulation time: {run_time:.2f} s
- Total steps per second: { steps / run_time:.0f}
- Total realtime factor: { steps * m.opt.timestep / run_time:.2f} x
- Total time per step: { 1e6 * run_time / steps:.2f} µs""")
-  elif _OUTPUT.value == 'tsv':
-    name = name.split('/')[-1].replace('testspeed_', '')
-    print(f'{name}\tjit: {jit_time:.2f}s\tsteps/second: {steps / run_time:.0f}')
-
-
-def main():
-  app.run(_main)
-
-
-if __name__ == '__main__':
-  main()
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/__init__.py b/mjx/mujoco/mjx/third_party/mujoco_warp/__init__.py
deleted file mode 100644
index 2d55eeae..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/__init__.py
+++ /dev/null
@@ -1,120 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Public API for MJWarp."""
-
-from importlib import metadata
-
-try:
-  __version__ = metadata.version("mujoco_warp")
-except metadata.PackageNotFoundError:
-  __version__ = "unknown"
-
-# isort: off
-from mujoco.mjx.third_party.mujoco_warp._src.forward import step as step
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model as Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data as Data
-# isort: on
-
-
-from mujoco.mjx.third_party.mujoco_warp._src.bvh import refit_bvh as refit_bvh
-from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import collision as collision
-from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import nxn_broadphase as nxn_broadphase
-from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import sap_broadphase as sap_broadphase
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import primitive_narrowphase as primitive_narrowphase
-from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import sdf_narrowphase as sdf_narrowphase
-from mujoco.mjx.third_party.mujoco_warp._src.constraint import make_constraint as make_constraint
-from mujoco.mjx.third_party.mujoco_warp._src.derivative import deriv_smooth_vel as deriv_smooth_vel
-from mujoco.mjx.third_party.mujoco_warp._src.forward import euler as euler
-from mujoco.mjx.third_party.mujoco_warp._src.forward import forward as forward
-from mujoco.mjx.third_party.mujoco_warp._src.forward import fwd_acceleration as fwd_acceleration
-from mujoco.mjx.third_party.mujoco_warp._src.forward import fwd_actuation as fwd_actuation
-from mujoco.mjx.third_party.mujoco_warp._src.forward import fwd_kinematics as fwd_kinematics
-from mujoco.mjx.third_party.mujoco_warp._src.forward import fwd_position as fwd_position
-from mujoco.mjx.third_party.mujoco_warp._src.forward import fwd_velocity as fwd_velocity
-from mujoco.mjx.third_party.mujoco_warp._src.forward import implicit as implicit
-from mujoco.mjx.third_party.mujoco_warp._src.forward import rungekutta4 as rungekutta4
-from mujoco.mjx.third_party.mujoco_warp._src.forward import step1 as step1
-from mujoco.mjx.third_party.mujoco_warp._src.forward import step2 as step2
-from mujoco.mjx.third_party.mujoco_warp._src.history import init_ctrl_history as init_ctrl_history
-from mujoco.mjx.third_party.mujoco_warp._src.history import init_sensor_history as init_sensor_history
-from mujoco.mjx.third_party.mujoco_warp._src.history import read_ctrl as read_ctrl
-from mujoco.mjx.third_party.mujoco_warp._src.history import read_sensor as read_sensor
-from mujoco.mjx.third_party.mujoco_warp._src.inverse import inverse as inverse
-from mujoco.mjx.third_party.mujoco_warp._src.io import create_render_context as create_render_context
-from mujoco.mjx.third_party.mujoco_warp._src.io import get_data_into as get_data_into
-from mujoco.mjx.third_party.mujoco_warp._src.io import make_data as make_data
-from mujoco.mjx.third_party.mujoco_warp._src.io import put_data as put_data
-from mujoco.mjx.third_party.mujoco_warp._src.io import put_model as put_model
-from mujoco.mjx.third_party.mujoco_warp._src.io import reset_data as reset_data
-from mujoco.mjx.third_party.mujoco_warp._src.io import set_const as set_const
-from mujoco.mjx.third_party.mujoco_warp._src.io import set_const_0 as set_const_0
-from mujoco.mjx.third_party.mujoco_warp._src.io import set_const_fixed as set_const_fixed
-from mujoco.mjx.third_party.mujoco_warp._src.io import set_const_spring as set_const_spring
-from mujoco.mjx.third_party.mujoco_warp._src.io import set_length_range as set_length_range
-from mujoco.mjx.third_party.mujoco_warp._src.island import island as island
-from mujoco.mjx.third_party.mujoco_warp._src.passive import passive as passive
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray as ray
-from mujoco.mjx.third_party.mujoco_warp._src.ray import rays as rays
-from mujoco.mjx.third_party.mujoco_warp._src.render import render as render
-from mujoco.mjx.third_party.mujoco_warp._src.render_util import get_depth as get_depth
-from mujoco.mjx.third_party.mujoco_warp._src.render_util import get_rgb as get_rgb
-from mujoco.mjx.third_party.mujoco_warp._src.render_util import get_segmentation as get_segmentation
-from mujoco.mjx.third_party.mujoco_warp._src.sensor import energy_pos as energy_pos
-from mujoco.mjx.third_party.mujoco_warp._src.sensor import energy_vel as energy_vel
-from mujoco.mjx.third_party.mujoco_warp._src.sensor import sensor_acc as sensor_acc
-from mujoco.mjx.third_party.mujoco_warp._src.sensor import sensor_pos as sensor_pos
-from mujoco.mjx.third_party.mujoco_warp._src.sensor import sensor_vel as sensor_vel
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import camlight as camlight
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import com_pos as com_pos
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import com_vel as com_vel
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import crb as crb
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import factor_m as factor_m
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import flex as flex
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import kinematics as kinematics
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import rne as rne
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import rne_postconstraint as rne_postconstraint
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import solve_m as solve_m
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import subtree_vel as subtree_vel
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import tendon as tendon
-from mujoco.mjx.third_party.mujoco_warp._src.smooth import transmission as transmission
-from mujoco.mjx.third_party.mujoco_warp._src.solver import solve as solve
-from mujoco.mjx.third_party.mujoco_warp._src.support import contact_force as contact_force
-from mujoco.mjx.third_party.mujoco_warp._src.support import get_state as get_state
-from mujoco.mjx.third_party.mujoco_warp._src.support import jac as jac
-from mujoco.mjx.third_party.mujoco_warp._src.support import mul_m as mul_m
-from mujoco.mjx.third_party.mujoco_warp._src.support import set_state as set_state
-from mujoco.mjx.third_party.mujoco_warp._src.support import xfrc_accumulate as xfrc_accumulate
-from mujoco.mjx.third_party.mujoco_warp._src.types import BiasType as BiasType
-from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseFilter as BroadphaseFilter
-from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseType as BroadphaseType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Callback as Callback
-from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType as ConeType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Constraint as Constraint
-from mujoco.mjx.third_party.mujoco_warp._src.types import Contact as Contact
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit as DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import DynType as DynType
-from mujoco.mjx.third_party.mujoco_warp._src.types import EnableBit as EnableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import GainType as GainType
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType as GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import IntegratorType as IntegratorType
-from mujoco.mjx.third_party.mujoco_warp._src.types import JointType as JointType
-from mujoco.mjx.third_party.mujoco_warp._src.types import ObjType as ObjType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Option as Option
-from mujoco.mjx.third_party.mujoco_warp._src.types import RenderContext as RenderContext
-from mujoco.mjx.third_party.mujoco_warp._src.types import SolverType as SolverType
-from mujoco.mjx.third_party.mujoco_warp._src.types import State as State
-from mujoco.mjx.third_party.mujoco_warp._src.types import Statistic as Statistic
-from mujoco.mjx.third_party.mujoco_warp._src.types import TrnType as TrnType
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/__init__.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/__init__.py
deleted file mode 100644
index 2b276beb..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/__init__.py
+++ /dev/null
@@ -1,14 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/block_cholesky.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/block_cholesky.py
deleted file mode 100644
index 190a147a..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/block_cholesky.py
+++ /dev/null
@@ -1,295 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from functools import lru_cache
-
-import warp as wp
-
-
-@wp.func
-def solve_search_sums(grad: float, solution: float):
-  return wp.vec2(solution * solution, grad * solution)
-
-
-@lru_cache(maxsize=None)
-def _create_newton_decrement_func(matrix_size_static: int, vector_size_static: int):
-  @wp.func
-  def newton_decrement_func(
-    # In:
-    solution_tile: wp.tile[float, matrix_size_static, 1],
-    b: wp.array2d[float],
-    # Out:
-    search_out: wp.array2d[float],
-  ):
-    grad_tile = wp.tile_load(b, shape=(vector_size_static, 1), offset=(0, 0), bounds_check=False)
-    active_solution = wp.tile_view(solution_tile, shape=(vector_size_static, 1), offset=(0, 0))
-    wp.tile_store(search_out, wp.tile_map(wp.mul, active_solution, -1.0), bounds_check=False)
-    return wp.tile_reduce(wp.add, wp.tile_map(solve_search_sums, grad_tile, active_solution))[0]
-
-  return newton_decrement_func
-
-
-@lru_cache(maxsize=None)
-def create_blocked_cholesky_factorize_solve_func(block_size: int, matrix_size_static: int):
-  @wp.func
-  def blocked_cholesky_factorize_solve_func(
-    # In:
-    A: wp.array2d[float],
-    b: wp.array2d[float],
-    matrix_size: int,
-    # Out:
-    U: wp.array2d[float],
-    x: wp.array2d[float],
-  ):
-    """Block Cholesky factorization and solve while keeping the forward RHS live."""
-    rhs_tile = wp.tile_load(b, shape=(matrix_size_static, 1), offset=(0, 0), storage="shared", bounds_check=False)
-
-    for k in range(0, matrix_size, block_size):
-      end = k + block_size
-      rhs_view = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(k, 0))
-
-      A_kk_tile = wp.tile_load(
-        A, shape=(block_size, block_size), offset=(k, k), storage="shared", bounds_check=False, aligned=True
-      )
-
-      for j in range(0, k, block_size):
-        U_block = wp.tile_load(
-          U, shape=(block_size, block_size), offset=(j, k), storage="shared", bounds_check=False, aligned=True
-        )
-        wp.tile_matmul(wp.tile_transpose(U_block), U_block, A_kk_tile, alpha=-1.0)
-
-        y_block = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(j, 0))
-        wp.tile_matmul(wp.tile_transpose(U_block), y_block, rhs_view, alpha=-1.0)
-
-      wp.tile_cholesky_inplace(A_kk_tile, fill_mode="upper")
-      wp.tile_store(U, A_kk_tile, offset=(k, k), bounds_check=False, aligned=True)
-
-      wp.tile_lower_solve_inplace(wp.tile_transpose(A_kk_tile), rhs_view)
-
-      for i in range(end, matrix_size, block_size):
-        A_ki_tile = wp.tile_load(
-          A, shape=(block_size, block_size), offset=(k, i), storage="shared", bounds_check=False, aligned=True
-        )
-
-        for j in range(0, k, block_size):
-          U_jk_tile = wp.tile_load(
-            U, shape=(block_size, block_size), offset=(j, k), storage="shared", bounds_check=False, aligned=True
-          )
-          U_ji_tile = wp.tile_load(
-            U, shape=(block_size, block_size), offset=(j, i), storage="shared", bounds_check=False, aligned=True
-          )
-          wp.tile_matmul(wp.tile_transpose(U_jk_tile), U_ji_tile, A_ki_tile, alpha=-1.0)
-
-        wp.tile_lower_solve_inplace(wp.tile_transpose(A_kk_tile), A_ki_tile)
-        wp.tile_store(U, A_ki_tile, offset=(k, i), bounds_check=False, aligned=True)
-
-    for i in range(matrix_size - block_size, -1, -block_size):
-      i_end = i + block_size
-      tmp_tile = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(i, 0))
-      for j in range(i_end, matrix_size, block_size):
-        U_tile = wp.tile_load(
-          U, shape=(block_size, block_size), offset=(i, j), storage="shared", bounds_check=False, aligned=True
-        )
-        x_tile = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(j, 0))
-        wp.tile_matmul(U_tile, x_tile, tmp_tile, alpha=-1.0)
-
-      U_tile = wp.tile_load(
-        U, shape=(block_size, block_size), offset=(i, i), storage="shared", bounds_check=False, aligned=True
-      )
-      wp.tile_upper_solve_inplace(U_tile, tmp_tile)
-
-    wp.tile_store(x, rhs_tile, offset=(0, 0), bounds_check=False)
-
-  return blocked_cholesky_factorize_solve_func
-
-
-@lru_cache(maxsize=None)
-def _create_blocked_cholesky_augmented_factorize_solve_func(
-  block_size: int,
-  matrix_size_static: int,
-  with_newton_decrement: bool,
-  vector_size_static: int,
-):
-  WITH_NEWTON_DECREMENT = with_newton_decrement
-  border_size = block_size - 1
-
-  @wp.func
-  def blocked_cholesky_augmented_factorize_solve_func(
-    # In:
-    A: wp.array2d[float],
-    b: wp.array2d[float],
-    matrix_size: int,
-    # Out:
-    U_out: wp.array2d[float],
-    result_out: wp.array2d[float],
-  ):
-    """Factor A with b as an augmented border and reuse it as the forward solution."""
-    rhs_tile = wp.tile_zeros(shape=(matrix_size_static, 1), dtype=float, storage="shared")
-
-    for k in range(0, matrix_size, block_size):
-      end = k + block_size
-      input_rhs = wp.tile_load(b, shape=(block_size, 1), offset=(k, 0), storage="shared", bounds_check=False)
-      A_kk_tile = wp.tile_load(
-        A, shape=(block_size, block_size), offset=(k, k), storage="shared", bounds_check=False, aligned=True
-      )
-      input_diagonal_rhs = wp.tile_view(input_rhs, shape=(border_size, 1), offset=(0, 0))
-      if end == matrix_size:
-        wp.tile_assign(A_kk_tile, input_diagonal_rhs, offset=(0, border_size))
-        # Keep the augmented rank-one correction below float32 precision.
-        A_kk_tile[border_size, border_size] = 1.0e30
-
-      for j in range(0, k, block_size):
-        U_block = wp.tile_load(
-          U_out, shape=(block_size, block_size), offset=(j, k), storage="shared", bounds_check=False, aligned=True
-        )
-        wp.tile_matmul(wp.tile_transpose(U_block), U_block, A_kk_tile, alpha=-1.0)
-
-      wp.tile_cholesky_inplace(A_kk_tile, fill_mode="upper")
-      diagonal_border = wp.tile_view(A_kk_tile, shape=(border_size, 1), offset=(0, border_size))
-      if end == matrix_size:
-        wp.tile_assign(rhs_tile, diagonal_border, offset=(k, 0))
-      wp.tile_store(U_out, A_kk_tile, offset=(k, k), bounds_check=False, aligned=True)
-
-      for i in range(end, matrix_size, block_size):
-        A_ki_tile = wp.tile_load(
-          A, shape=(block_size, block_size), offset=(k, i), storage="shared", bounds_check=False, aligned=True
-        )
-        if i + block_size == matrix_size:
-          wp.tile_assign(A_ki_tile, input_rhs, offset=(0, border_size))
-
-        for j in range(0, k, block_size):
-          U_jk_tile = wp.tile_load(
-            U_out, shape=(block_size, block_size), offset=(j, k), storage="shared", bounds_check=False, aligned=True
-          )
-          U_ji_tile = wp.tile_load(
-            U_out, shape=(block_size, block_size), offset=(j, i), storage="shared", bounds_check=False, aligned=True
-          )
-          wp.tile_matmul(wp.tile_transpose(U_jk_tile), U_ji_tile, A_ki_tile, alpha=-1.0)
-
-        wp.tile_lower_solve_inplace(wp.tile_transpose(A_kk_tile), A_ki_tile)
-        panel_border = wp.tile_view(A_ki_tile, shape=(block_size, 1), offset=(0, border_size))
-        if i + block_size == matrix_size:
-          wp.tile_assign(rhs_tile, panel_border, offset=(k, 0))
-        wp.tile_store(U_out, A_ki_tile, offset=(k, i), bounds_check=False, aligned=True)
-
-    for i in range(matrix_size - block_size, -1, -block_size):
-      i_end = i + block_size
-      tmp_tile = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(i, 0))
-      for j in range(i_end, matrix_size, block_size):
-        U_tile = wp.tile_load(
-          U_out, shape=(block_size, block_size), offset=(i, j), storage="shared", bounds_check=False, aligned=True
-        )
-        x_tile = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(j, 0))
-        wp.tile_matmul(U_tile, x_tile, tmp_tile, alpha=-1.0)
-
-      U_tile = wp.tile_load(
-        U_out, shape=(block_size, block_size), offset=(i, i), storage="shared", bounds_check=False, aligned=True
-      )
-      wp.tile_upper_solve_inplace(U_tile, tmp_tile)
-
-    sums = wp.vec2(0.0)
-    if wp.static(WITH_NEWTON_DECREMENT):
-      sums = wp.static(_create_newton_decrement_func(matrix_size_static, vector_size_static))(rhs_tile, b, result_out)
-    else:
-      wp.tile_store(result_out, rhs_tile, offset=(0, 0), bounds_check=False)
-
-    return sums
-
-  return blocked_cholesky_augmented_factorize_solve_func
-
-
-@lru_cache(maxsize=None)
-def _create_blocked_cholesky_solve_func(
-  block_size: int,
-  matrix_size_static: int,
-  with_newton_decrement: bool,
-  vector_size_static: int,
-):
-  WITH_NEWTON_DECREMENT = with_newton_decrement
-
-  @wp.func
-  def blocked_cholesky_solve_func(
-    # In:
-    U: wp.array2d[float],
-    b: wp.array2d[float],
-    matrix_size: int,
-    # Out:
-    result_out: wp.array2d[float],
-  ):
-    """Block Cholesky solve.
-
-    Solves A x = b given the Cholesky factor U (A = U^T U) using blocked forward and backward
-    substitution.
-    """
-    rhs_tile = wp.tile_load(b, shape=(matrix_size_static, 1), offset=(0, 0), storage="shared", bounds_check=False)
-
-    # Forward substitution: solve U^T y = b
-    for i in range(0, matrix_size, block_size):
-      rhs_view = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(i, 0))
-      for j in range(0, i, block_size):
-        U_block = wp.tile_load(
-          U, shape=(block_size, block_size), offset=(j, i), storage="shared", bounds_check=False, aligned=True
-        )
-        y_block = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(j, 0))
-        wp.tile_matmul(wp.tile_transpose(U_block), y_block, rhs_view, alpha=-1.0)
-
-      U_tile = wp.tile_load(
-        U, shape=(block_size, block_size), offset=(i, i), storage="shared", bounds_check=False, aligned=True
-      )
-      wp.tile_lower_solve_inplace(wp.tile_transpose(U_tile), rhs_view)
-
-    # Backward substitution: solve U x = y
-    for i in range(matrix_size - block_size, -1, -block_size):
-      i_end = i + block_size
-      tmp_tile = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(i, 0))
-      for j in range(i_end, matrix_size, block_size):
-        U_tile = wp.tile_load(
-          U, shape=(block_size, block_size), offset=(i, j), storage="shared", bounds_check=False, aligned=True
-        )
-        x_tile = wp.tile_view(rhs_tile, shape=(block_size, 1), offset=(j, 0))
-        wp.tile_matmul(U_tile, x_tile, tmp_tile, alpha=-1.0)
-      U_tile = wp.tile_load(
-        U, shape=(block_size, block_size), offset=(i, i), storage="shared", bounds_check=False, aligned=True
-      )
-
-      wp.tile_upper_solve_inplace(U_tile, tmp_tile)
-
-    sums = wp.vec2(0.0)
-    if wp.static(WITH_NEWTON_DECREMENT):
-      sums = wp.static(_create_newton_decrement_func(matrix_size_static, vector_size_static))(rhs_tile, b, result_out)
-    else:
-      wp.tile_store(result_out, rhs_tile, offset=(0, 0), bounds_check=False)
-
-    return sums
-
-  return blocked_cholesky_solve_func
-
-
-def create_blocked_cholesky_augmented_factorize_solve_func(block_size: int, matrix_size_static: int):
-  return _create_blocked_cholesky_augmented_factorize_solve_func(block_size, matrix_size_static, False, 0)
-
-
-def create_blocked_cholesky_augmented_factorize_solve_newton_func(
-  block_size: int, matrix_size_static: int, vector_size_static: int
-):
-  return _create_blocked_cholesky_augmented_factorize_solve_func(block_size, matrix_size_static, True, vector_size_static)
-
-
-def create_blocked_cholesky_solve_func(block_size: int, matrix_size_static: int):
-  return _create_blocked_cholesky_solve_func(block_size, matrix_size_static, False, 0)
-
-
-def create_blocked_cholesky_solve_newton_func(block_size: int, matrix_size_static: int, vector_size_static: int):
-  return _create_blocked_cholesky_solve_func(block_size, matrix_size_static, True, vector_size_static)
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/bvh.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/bvh.py
deleted file mode 100644
index 244cbc66..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/bvh.py
+++ /dev/null
@@ -1,1175 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from __future__ import annotations
-
-from typing import Tuple
-
-import mujoco
-import numpy as np
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import RenderContext
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@event_scope
-def refit_bvh(m: Model, d: Data, rc: RenderContext):
-  """Refit the dynamic BVH structures in the render context."""
-  refit_scene_bvh(m, d, rc)
-  if m.nflex:
-    refit_flex_bvh(m, d, rc)
-
-
-@wp.func
-def _compute_box_bounds(
-  # In:
-  pos: wp.vec3,
-  rot: wp.mat33,
-  size: wp.vec3,
-) -> Tuple[wp.vec3, wp.vec3]:
-  min_bound = wp.vec3(MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL)
-  max_bound = wp.vec3(-MJ_MAXVAL, -MJ_MAXVAL, -MJ_MAXVAL)
-
-  for i in range(2):
-    for j in range(2):
-      for k in range(2):
-        local_corner = wp.vec3(
-          size[0] * (2.0 * float(i) - 1.0),
-          size[1] * (2.0 * float(j) - 1.0),
-          size[2] * (2.0 * float(k) - 1.0),
-        )
-        world_corner = pos + rot @ local_corner
-        min_bound = wp.min(min_bound, world_corner)
-        max_bound = wp.max(max_bound, world_corner)
-
-  return min_bound, max_bound
-
-
-@wp.func
-def _compute_sphere_bounds(
-  # In:
-  pos: wp.vec3,
-  rot: wp.mat33,
-  size: wp.vec3,
-) -> Tuple[wp.vec3, wp.vec3]:
-  radius = size[0]
-  return pos - wp.vec3(radius, radius, radius), pos + wp.vec3(radius, radius, radius)
-
-
-@wp.func
-def _compute_capsule_bounds(
-  # In:
-  pos: wp.vec3,
-  rot: wp.mat33,
-  size: wp.vec3,
-) -> Tuple[wp.vec3, wp.vec3]:
-  radius = size[0]
-  half_length = size[1]
-  z = wp.vec3(rot[0, 2], rot[1, 2], rot[2, 2])
-  world_end1 = pos - z * half_length
-  world_end2 = pos + z * half_length
-
-  seg_min = wp.min(world_end1, world_end2)
-  seg_max = wp.max(world_end1, world_end2)
-
-  inflate = wp.vec3(radius, radius, radius)
-  return seg_min - inflate, seg_max + inflate
-
-
-@wp.func
-def _compute_plane_bounds(
-  # In:
-  pos: wp.vec3,
-  rot: wp.mat33,
-  size: wp.vec3,
-) -> Tuple[wp.vec3, wp.vec3]:
-  # If plane size is non-positive, treat as infinite plane and use a large default extent
-  size_scale = wp.max(size[0], size[1]) * 2.0
-  if size[0] <= 0.0 or size[1] <= 0.0:
-    size_scale = 1000.0
-  min_bound = wp.vec3(MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL)
-  max_bound = wp.vec3(-MJ_MAXVAL, -MJ_MAXVAL, -MJ_MAXVAL)
-
-  for i in range(2):
-    for j in range(2):
-      local_corner = wp.vec3(
-        size_scale * (2.0 * float(i) - 1.0),
-        size_scale * (2.0 * float(j) - 1.0),
-        0.0,
-      )
-      world_corner = pos + rot @ local_corner
-      min_bound = wp.min(min_bound, world_corner)
-      max_bound = wp.max(max_bound, world_corner)
-
-  min_bound = min_bound - wp.vec3(0.01, 0.01, 0.01)
-  max_bound = max_bound + wp.vec3(0.01, 0.01, 0.01)
-
-  return min_bound, max_bound
-
-
-@wp.func
-def _compute_ellipsoid_bounds(
-  # In:
-  pos: wp.vec3,
-  rot: wp.mat33,
-  size: wp.vec3,
-) -> Tuple[wp.vec3, wp.vec3]:
-  # Half-extent along each world axis equals the norm of the corresponding row of rot*diag(size)
-  row0 = wp.vec3(rot[0, 0] * size[0], rot[0, 1] * size[1], rot[0, 2] * size[2])
-  row1 = wp.vec3(rot[1, 0] * size[0], rot[1, 1] * size[1], rot[1, 2] * size[2])
-  row2 = wp.vec3(rot[2, 0] * size[0], rot[2, 1] * size[1], rot[2, 2] * size[2])
-  extent = wp.vec3(wp.length(row0), wp.length(row1), wp.length(row2))
-  return pos - extent, pos + extent
-
-
-@wp.func
-def _compute_cylinder_bounds(
-  # In:
-  pos: wp.vec3,
-  rot: wp.mat33,
-  size: wp.vec3,
-) -> Tuple[wp.vec3, wp.vec3]:
-  radius = size[0]
-  half_height = size[1]
-
-  axis = wp.vec3(rot[0, 2], rot[1, 2], rot[2, 2])
-  axis_abs = wp.vec3(wp.abs(axis[0]), wp.abs(axis[1]), wp.abs(axis[2]))
-
-  basis_x = wp.vec3(rot[0, 0], rot[1, 0], rot[2, 0])
-  basis_y = wp.vec3(rot[0, 1], rot[1, 1], rot[2, 1])
-
-  radial_x = radius * wp.sqrt(basis_x[0] * basis_x[0] + basis_y[0] * basis_y[0])
-  radial_y = radius * wp.sqrt(basis_x[1] * basis_x[1] + basis_y[1] * basis_y[1])
-  radial_z = radius * wp.sqrt(basis_x[2] * basis_x[2] + basis_y[2] * basis_y[2])
-
-  extent = wp.vec3(
-    radial_x + half_height * axis_abs[0],
-    radial_y + half_height * axis_abs[1],
-    radial_z + half_height * axis_abs[2],
-  )
-
-  return pos - extent, pos + extent
-
-
-@wp.kernel
-def _compute_bvh_bounds(
-  # Model:
-  geom_type: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_size: wp.array2d[wp.vec3],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  bvh_ngeom: int,
-  enabled_geom_ids: wp.array[int],
-  mesh_bounds_size: wp.array[wp.vec3],
-  hfield_bounds_size: wp.array[wp.vec3],
-  # Out:
-  lower_out: wp.array[wp.vec3],
-  upper_out: wp.array[wp.vec3],
-  group_out: wp.array[int],
-):
-  worldid, geom_local_id = wp.tid()
-  geom_id = enabled_geom_ids[geom_local_id]
-
-  pos = geom_xpos_in[worldid, geom_id]
-  rot = geom_xmat_in[worldid, geom_id]
-  size = geom_size[worldid % geom_size.shape[0], geom_id]
-  type = geom_type[geom_id]
-
-  # TODO: Investigate branch elimination with static loop unrolling
-  if type == GeomType.SPHERE:
-    lower_bound, upper_bound = _compute_sphere_bounds(pos, rot, size)
-  elif type == GeomType.CAPSULE:
-    lower_bound, upper_bound = _compute_capsule_bounds(pos, rot, size)
-  elif type == GeomType.PLANE:
-    lower_bound, upper_bound = _compute_plane_bounds(pos, rot, size)
-  elif type == GeomType.MESH:
-    did = geom_dataid[worldid % geom_dataid.shape[0], geom_id]
-    if did >= 0:
-      size = mesh_bounds_size[did]
-      lower_bound, upper_bound = _compute_box_bounds(pos, rot, size)
-    else:
-      lower_bound = pos
-      upper_bound = pos
-  elif type == GeomType.ELLIPSOID:
-    lower_bound, upper_bound = _compute_ellipsoid_bounds(pos, rot, size)
-  elif type == GeomType.CYLINDER:
-    lower_bound, upper_bound = _compute_cylinder_bounds(pos, rot, size)
-  elif type == GeomType.BOX:
-    lower_bound, upper_bound = _compute_box_bounds(pos, rot, size)
-  elif type == GeomType.HFIELD:
-    did = geom_dataid[worldid % geom_dataid.shape[0], geom_id]
-    if did >= 0:
-      size = hfield_bounds_size[did]
-      hfield_center = pos + rot[:, 2] * size[2]
-      lower_bound, upper_bound = _compute_box_bounds(hfield_center, rot, size)
-    else:
-      lower_bound = pos
-      upper_bound = pos
-
-  lower_out[worldid * bvh_ngeom + geom_local_id] = lower_bound
-  upper_out[worldid * bvh_ngeom + geom_local_id] = upper_bound
-  group_out[worldid * bvh_ngeom + geom_local_id] = worldid
-
-
-@wp.kernel
-def compute_bvh_group_roots(
-  # In:
-  bvh_id: wp.uint64,
-  # Out:
-  group_root_out: wp.array[int],
-):
-  tid = wp.tid()
-  root = wp.bvh_get_group_root(bvh_id, tid)
-  group_root_out[tid] = root
-
-
-# Warp exposes mesh group-root lookup as a kernel builtin in this version.
-@wp.kernel
-def compute_mesh_group_roots(
-  # In:
-  mesh_id: wp.uint64,
-  # Out:
-  group_root_out: wp.array[int],
-):
-  tid = wp.tid()
-  root = wp.mesh_get_group_root(mesh_id, tid)
-  group_root_out[tid] = root
-
-
-@wp.kernel
-def _compute_flex_bvh_bounds(
-  # Model:
-  flex_vertadr: wp.array[int],
-  flex_vertnum: wp.array[int],
-  flex_edge: wp.array[wp.vec2i],
-  flex_radius: wp.array[float],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  flex_geom_flexid: wp.array[int],
-  flex_geom_edgeid: wp.array[int],
-  bvh_ngeom: int,
-  total_bvh_size: int,
-  # Out:
-  lower_out: wp.array[wp.vec3],
-  upper_out: wp.array[wp.vec3],
-  group_out: wp.array[int],
-):
-  worldid, flexlocalid = wp.tid()
-
-  flex_id = flex_geom_flexid[flexlocalid]
-  edge_id = flex_geom_edgeid[flexlocalid]
-  out_idx = worldid * total_bvh_size + bvh_ngeom + flexlocalid
-  radius = flex_radius[flex_id]
-  inflate = wp.vec3(radius, radius, radius)
-
-  if edge_id >= 0:  # capsule (1D edge)
-    edge = flex_edge[edge_id]
-    vert_adr = flex_vertadr[flex_id]
-    v0 = flexvert_xpos_in[worldid, vert_adr + edge[0]]
-    v1 = flexvert_xpos_in[worldid, vert_adr + edge[1]]
-    lower_out[out_idx] = wp.min(v0, v1) - inflate
-    upper_out[out_idx] = wp.max(v0, v1) + inflate
-  else:  # mesh (2D/3D)
-    vert_adr = flex_vertadr[flex_id]
-    nvert = flex_vertnum[flex_id]
-    min_bound = wp.vec3(MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL)
-    max_bound = wp.vec3(-MJ_MAXVAL, -MJ_MAXVAL, -MJ_MAXVAL)
-    for i in range(nvert):
-      v = flexvert_xpos_in[worldid, vert_adr + i]
-      min_bound = wp.min(min_bound, v)
-      max_bound = wp.max(max_bound, v)
-    lower_out[out_idx] = min_bound - inflate
-    upper_out[out_idx] = max_bound + inflate
-
-  group_out[out_idx] = worldid
-
-
-def build_scene_bvh(mjm: mujoco.MjModel, mjd: mujoco.MjData, rc: RenderContext, nworld: int):
-  """Build a global BVH for all geometries in all worlds."""
-  total_bvh_size = rc.bvh_ngeom + rc.bvh_nflexgeom
-
-  geom_type = wp.array(mjm.geom_type, dtype=int)
-  geom_dataid = wp.array(np.tile(mjm.geom_dataid, (nworld, 1)), dtype=int)
-  geom_size = wp.array(np.tile(mjm.geom_size[np.newaxis, :, :], (nworld, 1, 1)), dtype=wp.vec3)
-  geom_xpos = wp.array(np.tile(mjd.geom_xpos[np.newaxis, :, :], (nworld, 1, 1)), dtype=wp.vec3)
-  geom_xmat = wp.array(np.tile(mjd.geom_xmat.reshape(mjm.ngeom, 3, 3)[np.newaxis, :, :, :], (nworld, 1, 1, 1)), dtype=wp.mat33)
-
-  flex_vertadr = wp.array(mjm.flex_vertadr, dtype=int)
-  flex_vertnum = wp.array(mjm.flex_vertnum, dtype=int)
-  flex_edge = wp.array(mjm.flex_edge, dtype=wp.vec2i)
-  flex_radius = wp.array(mjm.flex_radius, dtype=float)
-
-  wp.launch(
-    kernel=_compute_bvh_bounds,
-    dim=(nworld, rc.bvh_ngeom),
-    inputs=[
-      geom_type,
-      geom_dataid,
-      geom_size,
-      geom_xpos,
-      geom_xmat,
-      total_bvh_size,
-      rc.enabled_geom_ids,
-      rc.mesh_bounds_size,
-      rc.hfield_bounds_size,
-      rc.lower,
-      rc.upper,
-      rc.group,
-    ],
-  )
-
-  flexvert_xpos = wp.array(np.tile(mjd.flexvert_xpos[np.newaxis, :, :], (nworld, 1, 1)), dtype=wp.vec3)
-  wp.launch(
-    kernel=_compute_flex_bvh_bounds,
-    dim=(nworld, rc.bvh_nflexgeom),
-    inputs=[
-      flex_vertadr,
-      flex_vertnum,
-      flex_edge,
-      flex_radius,
-      flexvert_xpos,
-      rc.flex_geom_flexid,
-      rc.flex_geom_edgeid,
-      rc.bvh_ngeom,
-      total_bvh_size,
-      rc.lower,
-      rc.upper,
-      rc.group,
-    ],
-  )
-
-  bvh = wp.Bvh(rc.lower, rc.upper, groups=rc.group, constructor="sah")
-
-  # BVH handle must be stored to avoid garbage collection
-  rc.bvh = bvh
-  rc.bvh_id = bvh.id
-
-  wp.launch(
-    kernel=compute_bvh_group_roots,
-    dim=nworld,
-    inputs=[bvh.id],
-    outputs=[rc.group_root],
-  )
-
-
-def refit_scene_bvh(m: Model, d: Data, rc: RenderContext):
-  total_bvh_size = rc.bvh_ngeom + rc.bvh_nflexgeom
-
-  wp.launch(
-    kernel=_compute_bvh_bounds,
-    dim=(d.nworld, rc.bvh_ngeom),
-    inputs=[
-      m.geom_type,
-      m.geom_dataid,
-      m.geom_size,
-      d.geom_xpos,
-      d.geom_xmat,
-      total_bvh_size,
-      rc.enabled_geom_ids,
-      rc.mesh_bounds_size,
-      rc.hfield_bounds_size,
-      rc.lower,
-      rc.upper,
-      rc.group,
-    ],
-  )
-
-  if rc.bvh_nflexgeom > 0:
-    wp.launch(
-      kernel=_compute_flex_bvh_bounds,
-      dim=(d.nworld, rc.bvh_nflexgeom),
-      inputs=[
-        m.flex_vertadr,
-        m.flex_vertnum,
-        m.flex_edge,
-        m.flex_radius,
-        d.flexvert_xpos,
-        rc.flex_geom_flexid,
-        rc.flex_geom_edgeid,
-        rc.bvh_ngeom,
-        total_bvh_size,
-        rc.lower,
-        rc.upper,
-        rc.group,
-      ],
-    )
-
-  rc.bvh.refit()
-
-
-def build_mesh_bvh(
-  mjm: mujoco.MjModel,
-  meshid: int,
-  constructor: str = "sah",
-  leaf_size: int = 2,
-) -> tuple[wp.Mesh, wp.vec3]:
-  """Create a Warp mesh BVH from mesh data."""
-  v_start = mjm.mesh_vertadr[meshid]
-  v_end = v_start + mjm.mesh_vertnum[meshid]
-  points = mjm.mesh_vert[v_start:v_end]
-
-  f_start = mjm.mesh_faceadr[meshid]
-  f_end = mjm.mesh_face.shape[0] if (meshid + 1) >= mjm.mesh_faceadr.shape[0] else mjm.mesh_faceadr[meshid + 1]
-  indices = mjm.mesh_face[f_start:f_end]
-  indices = indices.flatten()
-  pmin = np.min(points, axis=0)
-  pmax = np.max(points, axis=0)
-  half = 0.5 * (pmax - pmin)
-
-  points = wp.array(points, dtype=wp.vec3)
-  indices = wp.array(indices, dtype=wp.int32)
-  mesh = wp.Mesh(points=points, indices=indices, bvh_constructor=constructor, bvh_leaf_size=leaf_size)
-
-  return mesh, half
-
-
-def _optimize_hfield_mesh(
-  data: np.ndarray,
-  nr: int,
-  nc: int,
-  sx: float,
-  sy: float,
-  sz_scale: float,
-  width: float,
-  height: float,
-) -> tuple[np.ndarray, np.ndarray]:
-  """Greedy meshing for heightfield optimization.
-
-  Merges coplanar adjacent cells into larger rectangles to
-  reduce triangle and vertex count.
-  """
-  points_map = {}
-  points_list = []
-  indices_list = []
-
-  def get_point_index(r, c):
-    if (r, c) in points_map:
-      return points_map[(r, c)]
-
-    # Compute vertex position
-    x = sx * (float(c) / width - 1.0)
-    y = sy * (float(r) / height - 1.0)
-    z = float(data[r, c]) * sz_scale
-
-    idx = len(points_list)
-    points_list.append([x, y, z])
-    points_map[(r, c)] = idx
-    return idx
-
-  visited = np.zeros((nr - 1, nc - 1), dtype=bool)
-
-  for r in range(nr - 1):
-    for c in range(nc - 1):
-      if visited[r, c]:
-        continue
-
-      # Check if current cell is planar
-      z00 = data[r, c]
-      z01 = data[r, c + 1]
-      z10 = data[r + 1, c]
-      z11 = data[r + 1, c + 1]
-
-      # Approx check for planarity: z00 + z11 == z01 + z10
-      is_planar = abs((z00 + z11) - (z01 + z10)) < 1e-5
-
-      if not is_planar:
-        # Must emit single cell (2 triangles)
-        idx00 = get_point_index(r, c)
-        idx01 = get_point_index(r, c + 1)
-        idx10 = get_point_index(r + 1, c)
-        idx11 = get_point_index(r + 1, c + 1)
-
-        # Tri 1: TL, TR, BR
-        indices_list.extend([idx00, idx01, idx11])
-        # Tri 2: TL, BR, BL
-        indices_list.extend([idx00, idx11, idx10])
-        visited[r, c] = True
-        continue
-
-      # If planar, try to expand
-      slope_x = z01 - z00
-      slope_y = z10 - z00
-      w = 1
-      h = 1
-
-      def fits_plane(rr, cc):
-        if rr >= nr - 1 or cc >= nc - 1:
-          return False
-        # Check planarity of the cell itself
-        cz00 = data[rr, cc]
-        cz01 = data[rr, cc + 1]
-        cz10 = data[rr + 1, cc]
-        cz11 = data[rr + 1, cc + 1]
-        if abs((cz00 + cz11) - (cz01 + cz10)) >= 1e-5:
-          return False
-
-        # Check if it lies on the SAME plane as start cell
-        # Expected z at (rr, cc)
-        z_pred = z00 + (rr - r) * slope_y + (cc - c) * slope_x
-        if abs(cz00 - z_pred) >= 1e-5:
-          return False
-
-        # Since cell is planar and one corner matches, slopes must match if connected
-        cslope_x = cz01 - cz00
-        cslope_y = cz10 - cz00
-        if abs(cslope_x - slope_x) >= 1e-5 or abs(cslope_y - slope_y) >= 1e-5:
-          return False
-
-        return True
-
-      # Expand width
-      while c + w < nc - 1 and not visited[r, c + w] and fits_plane(r, c + w):
-        w += 1
-
-      # Expand height
-      while r + h < nr - 1:
-        # Check entire row
-        row_ok = True
-        for k in range(w):
-          if visited[r + h, c + k] or not fits_plane(r + h, c + k):
-            row_ok = False
-            break
-        if row_ok:
-          h += 1
-        else:
-          break
-
-      # Mark visited
-      visited[r : r + h, c : c + w] = True
-
-      # Emit large quad
-      idx_tl = get_point_index(r, c)
-      idx_tr = get_point_index(r, c + w)
-      idx_bl = get_point_index(r + h, c)
-      idx_br = get_point_index(r + h, c + w)
-
-      # Tri 1: TL, TR, BR
-      indices_list.extend([idx_tl, idx_tr, idx_br])
-      # Tri 2: TL, BR, BL
-      indices_list.extend([idx_tl, idx_br, idx_bl])
-
-  return np.array(points_list, dtype=np.float32), np.array(indices_list, dtype=np.int32)
-
-
-def build_hfield_bvh(
-  mjm: mujoco.MjModel,
-  hfieldid: int,
-  constructor: str = "sah",
-  leaf_size: int = 2,
-) -> tuple[wp.Mesh, wp.vec3]:
-  """Create a Warp mesh BVH from heightfield data."""
-  nr = mjm.hfield_nrow[hfieldid]
-  nc = mjm.hfield_ncol[hfieldid]
-  sz = np.asarray(mjm.hfield_size[hfieldid], dtype=np.float32)
-
-  adr = mjm.hfield_adr[hfieldid]
-  data = mjm.hfield_data[adr : adr + nr * nc].reshape((nr, nc))
-
-  width = 0.5 * max(nc - 1, 1)
-  height = 0.5 * max(nr - 1, 1)
-
-  points, indices = _optimize_hfield_mesh(
-    data,
-    nr,
-    nc,
-    sz[0],
-    sz[1],
-    sz[2],
-    width,
-    height,
-  )
-  pmin = np.min(points, axis=0)
-  pmax = np.max(points, axis=0)
-  half = 0.5 * (pmax - pmin)
-
-  points = wp.array(points, dtype=wp.vec3)
-  indices = wp.array(indices, dtype=wp.int32)
-
-  mesh = wp.Mesh(
-    points=points,
-    indices=indices,
-    bvh_constructor=constructor,
-    bvh_leaf_size=leaf_size,
-  )
-
-  return mesh, half
-
-
-@wp.kernel
-def accumulate_flex_vertex_normals(
-  # Model:
-  nflex: int,
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_elemadr: wp.array[int],
-  flex_elemnum: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_elem: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # Out:
-  flexvert_norm_out: wp.array2d[wp.vec3],
-):
-  """Accumulate per-vertex normals by summing adjacent face normals."""
-  worldid, elemid = wp.tid()
-
-  for i in range(nflex):
-    locid = elemid - flex_elemadr[i]
-    if locid >= 0 and locid < flex_elemnum[i]:
-      f = i
-      break
-
-  if flex_dim[f] == 1 or flex_dim[f] == 3:
-    return
-
-  local_elemid = elemid - flex_elemadr[f]
-  elem_adr = flex_elemdataadr[f]
-  vert_adr = flex_vertadr[f]
-  elem_base = elem_adr + local_elemid * 3
-  i0 = vert_adr + flex_elem[elem_base + 0]
-  i1 = vert_adr + flex_elem[elem_base + 1]
-  i2 = vert_adr + flex_elem[elem_base + 2]
-
-  v0 = flexvert_xpos_in[worldid, i0]
-  v1 = flexvert_xpos_in[worldid, i1]
-  v2 = flexvert_xpos_in[worldid, i2]
-
-  face_nrm = wp.cross(v1 - v0, v2 - v0)
-  face_nrm = wp.normalize(face_nrm)
-  flexvert_norm_out[worldid, i0] += face_nrm
-  flexvert_norm_out[worldid, i1] += face_nrm
-  flexvert_norm_out[worldid, i2] += face_nrm
-
-
-@wp.kernel
-def normalize_vertex_normals(
-  # Out:
-  flexvert_norm_out: wp.array2d[wp.vec3],
-):
-  """Normalize accumulated vertex normals."""
-  worldid, vertid = wp.tid()
-  flexvert_norm_out[worldid, vertid] = wp.normalize(flexvert_norm_out[worldid, vertid])
-
-
-@wp.kernel
-def _build_flex_2d_elements(
-  # Model:
-  flex_elem: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  flexvert_norm_in: wp.array2d[wp.vec3],
-  elem_adr: int,
-  vert_adr: int,
-  face_offset: int,
-  radius: float,
-  nfaces: int,
-  # Out:
-  face_point_out: wp.array[wp.vec3],
-  face_index_out: wp.array[int],
-  group_out: wp.array[int],
-):
-  """Create faces from 2D flex elements (triangles).
-
-  Two faces (top/bottom) per element, separated by the radius of the flex element.
-  """
-  worldid, elemid = wp.tid()
-
-  base = elem_adr + elemid * 3
-  i0 = vert_adr + flex_elem[base + 0]
-  i1 = vert_adr + flex_elem[base + 1]
-  i2 = vert_adr + flex_elem[base + 2]
-
-  v0 = flexvert_xpos_in[worldid, i0]
-  v1 = flexvert_xpos_in[worldid, i1]
-  v2 = flexvert_xpos_in[worldid, i2]
-
-  n0 = flexvert_norm_in[worldid, i0]
-  n1 = flexvert_norm_in[worldid, i1]
-  n2 = flexvert_norm_in[worldid, i2]
-
-  p0_pos = v0 + radius * n0
-  p1_pos = v1 + radius * n1
-  p2_pos = v2 + radius * n2
-
-  p0_neg = v0 - radius * n0
-  p1_neg = v1 - radius * n1
-  p2_neg = v2 - radius * n2
-
-  world_face_offset = worldid * nfaces
-
-  # First face (top): i0, i1, i2
-  face_id0 = world_face_offset + face_offset + 2 * elemid
-  base0 = face_id0 * 3
-  face_point_out[base0 + 0] = p0_pos
-  face_point_out[base0 + 1] = p1_pos
-  face_point_out[base0 + 2] = p2_pos
-
-  face_index_out[base0 + 0] = base0 + 0
-  face_index_out[base0 + 1] = base0 + 1
-  face_index_out[base0 + 2] = base0 + 2
-
-  group_out[face_id0] = worldid
-
-  # Second face (bottom): i0, i2, i1 (opposite winding)
-  face_id1 = world_face_offset + face_offset + 2 * elemid + 1
-  base1 = face_id1 * 3
-  face_point_out[base1 + 0] = p0_neg
-  face_point_out[base1 + 1] = p1_neg
-  face_point_out[base1 + 2] = p2_neg
-
-  face_index_out[base1 + 0] = base1 + 0
-  face_index_out[base1 + 1] = base1 + 2
-  face_index_out[base1 + 2] = base1 + 1
-
-  group_out[face_id1] = worldid
-
-
-@wp.kernel
-def _build_flex_2d_sides(
-  # Model:
-  flex_shell: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  flexvert_norm_in: wp.array2d[wp.vec3],
-  shell_adr: int,
-  vert_adr: int,
-  face_offset: int,
-  radius: float,
-  nface: int,
-  # Out:
-  face_point_out: wp.array[wp.vec3],
-  face_index_out: wp.array[int],
-  group_out: wp.array[int],
-):
-  """Create side faces from 2D flex shell fragments.
-
-  For each shell fragment (edge i0 -> i1), we emit two triangles:
-    - one using +radius
-    - one using -radius (i0/i1 swapped)
-  """
-  worldid, shellid = wp.tid()
-
-  base = shell_adr + 2 * shellid
-  i0 = vert_adr + flex_shell[base + 0]
-  i1 = vert_adr + flex_shell[base + 1]
-
-  v0 = flexvert_xpos_in[worldid, i0]
-  v1 = flexvert_xpos_in[worldid, i1]
-
-  n0 = flexvert_norm_in[worldid, i0]
-  n1 = flexvert_norm_in[worldid, i1]
-
-  neg_radius = -radius
-
-  # First side i0, i1 with +radius
-  face_id0 = worldid * nface + face_offset + 2 * shellid
-  base0 = face_id0 * 3
-  face_point_out[base0 + 0] = v0 + n0 * radius
-  face_point_out[base0 + 1] = v1 + n1 * neg_radius
-  face_point_out[base0 + 2] = v1 + n1 * radius
-  face_index_out[base0 + 0] = base0 + 0
-  face_index_out[base0 + 1] = base0 + 1
-  face_index_out[base0 + 2] = base0 + 2
-
-  # Second side i1, i0 with -radius
-  face_id1 = worldid * nface + face_offset + 2 * shellid + 1
-  base1 = face_id1 * 3
-  face_point_out[base1 + 0] = v1 + n1 * neg_radius
-  face_point_out[base1 + 1] = v0 + n0 * neg_radius
-  face_point_out[base1 + 2] = v0 + n0 * radius
-  face_index_out[base1 + 0] = base1 + 0
-  face_index_out[base1 + 1] = base1 + 1
-  face_index_out[base1 + 2] = base1 + 2
-
-  group_out[face_id0] = worldid
-  group_out[face_id1] = worldid
-
-
-@wp.kernel
-def _build_flex_3d_shells(
-  # Model:
-  flex_shell: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  shell_adr: int,
-  vert_adr: int,
-  face_offset: int,
-  nface: int,
-  # Out:
-  face_point_out: wp.array[wp.vec3],
-  face_index_out: wp.array[int],
-  group_out: wp.array[int],
-):
-  """Create faces from 3D flex shell fragments (triangles).
-
-  Each shell fragment contributes a single triangle whose vertices are taken
-  directly from the flex vertex positions (one-sided surface).
-  """
-  worldid, shellid = wp.tid()
-
-  base = shell_adr + shellid * 3
-  i0 = vert_adr + flex_shell[base + 0]
-  i1 = vert_adr + flex_shell[base + 1]
-  i2 = vert_adr + flex_shell[base + 2]
-
-  face_id = worldid * nface + face_offset + shellid
-  base = face_id * 3
-
-  v0 = flexvert_xpos_in[worldid, i0]
-  v1 = flexvert_xpos_in[worldid, i1]
-  v2 = flexvert_xpos_in[worldid, i2]
-
-  face_point_out[base + 0] = v0
-  face_point_out[base + 1] = v1
-  face_point_out[base + 2] = v2
-
-  face_index_out[base + 0] = base + 0
-  face_index_out[base + 1] = base + 1
-  face_index_out[base + 2] = base + 2
-
-  group_out[face_id] = worldid
-
-
-@wp.kernel
-def _update_flex_2d_face_points(
-  # Model:
-  flex_vertadr: wp.array[int],
-  flex_elemnum: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_shelldataadr: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_shell: wp.array[int],
-  flex_radius: wp.array[float],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  flexvert_norm_in: wp.array2d[wp.vec3],
-  flex_id: int,
-  nface: int,
-  smooth: bool,
-  # Out:
-  face_point_out: wp.array[wp.vec3],
-):
-  worldid, workid = wp.tid()
-
-  elem_adr = flex_elemdataadr[flex_id]
-  vert_adr = flex_vertadr[flex_id]
-  radius = flex_radius[flex_id]
-  nelem = flex_elemnum[flex_id]
-  world_face_offset = worldid * nface
-
-  if workid < nelem:
-    # 2D element faces
-    elemid = workid
-    ebase = elem_adr + elemid * 3
-    i0 = vert_adr + flex_elem[ebase + 0]
-    i1 = vert_adr + flex_elem[ebase + 1]
-    i2 = vert_adr + flex_elem[ebase + 2]
-
-    v0 = flexvert_xpos_in[worldid, i0]
-    v1 = flexvert_xpos_in[worldid, i1]
-    v2 = flexvert_xpos_in[worldid, i2]
-
-    # TODO: Use static conditional
-    if smooth:
-      n0 = flexvert_norm_in[worldid, i0]
-      n1 = flexvert_norm_in[worldid, i1]
-      n2 = flexvert_norm_in[worldid, i2]
-    else:
-      face_nrm = wp.cross(v1 - v0, v2 - v0)
-      face_nrm = wp.normalize(face_nrm)
-      n0 = face_nrm
-      n1 = face_nrm
-      n2 = face_nrm
-
-    p0_pos = v0 + radius * n0
-    p1_pos = v1 + radius * n1
-    p2_pos = v2 + radius * n2
-
-    p0_neg = v0 - radius * n0
-    p1_neg = v1 - radius * n1
-    p2_neg = v2 - radius * n2
-
-    face_id0 = world_face_offset + (2 * elemid)
-    base0 = face_id0 * 3
-    face_point_out[base0 + 0] = p0_pos
-    face_point_out[base0 + 1] = p1_pos
-    face_point_out[base0 + 2] = p2_pos
-
-    face_id1 = world_face_offset + (2 * elemid + 1)
-    base1 = face_id1 * 3
-    face_point_out[base1 + 0] = p0_neg
-    face_point_out[base1 + 1] = p1_neg
-    face_point_out[base1 + 2] = p2_neg
-  else:
-    # 2D shell faces
-    shell_adr = flex_shelldataadr[flex_id]
-    shellid = workid - nelem
-    sbase = shell_adr + 2 * shellid
-    i0 = vert_adr + flex_shell[sbase + 0]
-    i1 = vert_adr + flex_shell[sbase + 1]
-
-    v0 = flexvert_xpos_in[worldid, i0]
-    v1 = flexvert_xpos_in[worldid, i1]
-
-    n0 = flexvert_norm_in[worldid, i0]
-    n1 = flexvert_norm_in[worldid, i1]
-
-    shell_face_offset = 2 * nelem
-    face_id0 = world_face_offset + shell_face_offset + (2 * shellid)
-    base0 = face_id0 * 3
-    face_point_out[base0 + 0] = v0 + radius * n0
-    face_point_out[base0 + 1] = v1 - radius * n1
-    face_point_out[base0 + 2] = v1 + radius * n1
-
-    face_id1 = world_face_offset + shell_face_offset + (2 * shellid + 1)
-    base1 = face_id1 * 3
-    face_point_out[base1 + 0] = v1 - radius * n1
-    face_point_out[base1 + 1] = v0 + radius * n0
-    face_point_out[base1 + 2] = v0 - radius * n0
-
-
-@wp.kernel
-def _update_flex_3d_face_points(
-  # Model:
-  flex_vertadr: wp.array[int],
-  flex_shelldataadr: wp.array[int],
-  flex_shell: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  flex_id: int,
-  nface: int,
-  # Out:
-  face_point_out: wp.array[wp.vec3],
-):
-  worldid, shellid = wp.tid()
-
-  shell_adr = flex_shelldataadr[flex_id]
-  vert_adr = flex_vertadr[flex_id]
-
-  face_id = worldid * nface + shellid
-  fbase = face_id * 3
-
-  sbase = shell_adr + shellid * 3
-  i0 = vert_adr + flex_shell[sbase + 0]
-  i1 = vert_adr + flex_shell[sbase + 1]
-  i2 = vert_adr + flex_shell[sbase + 2]
-
-  face_point_out[fbase + 0] = flexvert_xpos_in[worldid, i0]
-  face_point_out[fbase + 1] = flexvert_xpos_in[worldid, i1]
-  face_point_out[fbase + 2] = flexvert_xpos_in[worldid, i2]
-
-
-def build_flex_bvh(
-  mjm: mujoco.MjModel,
-  mjd: mujoco.MjData,
-  nworld: int,
-  flex_id: int,
-  constructor: str = "sah",
-  leaf_size: int = 2,
-) -> tuple[wp.Mesh, wp.array, wp.array, wp.array, int]:
-  """Create a Warp mesh BVH for a single 2D or 3D flex."""
-  nflexvert = mjm.nflexvert
-
-  flex_dim = wp.array(mjm.flex_dim, dtype=int)
-  flex_elemadr = wp.array(mjm.flex_elemadr, dtype=int)
-  flex_elemnum = wp.array(mjm.flex_elemnum, dtype=int)
-  flex_elem = wp.array(mjm.flex_elem, dtype=int)
-  flex_elemdataadr = wp.array(mjm.flex_elemdataadr, dtype=int)
-  flex_vertadr = wp.array(mjm.flex_vertadr, dtype=int)
-  flexvert_xpos = wp.array(np.tile(mjd.flexvert_xpos[np.newaxis, :, :], (nworld, 1, 1)), dtype=wp.vec3)
-
-  dim = int(mjm.flex_dim[flex_id])
-  nelem = int(mjm.flex_elemnum[flex_id])
-  nshell = int(mjm.flex_shellnum[flex_id])
-
-  if dim == 2:
-    nface = 2 * nelem + 2 * nshell
-  else:
-    nface = nshell
-
-  face_point = wp.empty(nface * 3 * nworld, dtype=wp.vec3)
-  face_index = wp.empty(nface * 3 * nworld, dtype=wp.int32)
-  group = wp.empty(nface * nworld, dtype=int)
-
-  flexvert_norm = wp.zeros((nworld, nflexvert), dtype=wp.vec3)
-  flex_shell = wp.array(mjm.flex_shell, dtype=int)
-
-  wp.launch(
-    kernel=accumulate_flex_vertex_normals,
-    dim=(nworld, mjm.nflexelem),
-    inputs=[mjm.nflex, flex_dim, flex_vertadr, flex_elemadr, flex_elemnum, flex_elemdataadr, flex_elem, flexvert_xpos],
-    outputs=[flexvert_norm],
-  )
-
-  wp.launch(
-    kernel=normalize_vertex_normals,
-    dim=(nworld, nflexvert),
-    inputs=[flexvert_norm],
-  )
-
-  elem_adr = mjm.flex_elemdataadr[flex_id]
-  shell_adr = mjm.flex_shelldataadr[flex_id]
-  vert_adr = mjm.flex_vertadr[flex_id]
-
-  if dim == 2:
-    wp.launch(
-      kernel=_build_flex_2d_elements,
-      dim=(nworld, nelem),
-      inputs=[
-        flex_elem,
-        flexvert_xpos,
-        flexvert_norm,
-        elem_adr,
-        vert_adr,
-        0,  # face_offset
-        mjm.flex_radius[flex_id],
-        nface,
-      ],
-      outputs=[face_point, face_index, group],
-    )
-
-    wp.launch(
-      kernel=_build_flex_2d_sides,
-      dim=(nworld, nshell),
-      inputs=[
-        flex_shell,
-        flexvert_xpos,
-        flexvert_norm,
-        shell_adr,
-        vert_adr,
-        2 * nelem,  # face_offset
-        mjm.flex_radius[flex_id],
-        nface,
-      ],
-      outputs=[face_point, face_index, group],
-    )
-  elif dim == 3:
-    wp.launch(
-      kernel=_build_flex_3d_shells,
-      dim=(nworld, nshell),
-      inputs=[
-        flex_shell,
-        flexvert_xpos,
-        shell_adr,
-        vert_adr,
-        0,  # face_offset
-        nface,
-      ],
-      outputs=[face_point, face_index, group],
-    )
-
-  flex_mesh = wp.Mesh(
-    points=face_point,
-    indices=face_index,
-    groups=group,
-    bvh_constructor=constructor,
-    bvh_leaf_size=leaf_size,
-  )
-
-  group_root = wp.empty(nworld, dtype=int)
-  wp.launch(
-    kernel=compute_mesh_group_roots,
-    dim=nworld,
-    inputs=[flex_mesh.id],
-    outputs=[group_root],
-  )
-
-  return flex_mesh, group_root
-
-
-def refit_flex_bvh(m: Model, d: Data, rc: RenderContext):
-  """Refit per-flex BVHs."""
-  flexvert_norm = wp.zeros(d.flexvert_xpos.shape, dtype=wp.vec3)
-
-  wp.launch(
-    kernel=accumulate_flex_vertex_normals,
-    dim=(d.nworld, m.nflexelem),
-    inputs=[
-      m.nflex,
-      m.flex_dim,
-      m.flex_vertadr,
-      m.flex_elemadr,
-      m.flex_elemnum,
-      m.flex_elemdataadr,
-      m.flex_elem,
-      d.flexvert_xpos,
-    ],
-    outputs=[flexvert_norm],
-  )
-
-  wp.launch(
-    kernel=normalize_vertex_normals,
-    dim=(d.nworld, d.flexvert_xpos.shape[1]),
-    inputs=[flexvert_norm],
-  )
-
-  for i in range(m.nflex):
-    if rc.flex_dim_np[i] == 1:
-      continue
-    mesh = rc.flex_mesh_registry[i]
-    nface = mesh.points.shape[0] // (3 * d.nworld)
-
-    if rc.flex_dim_np[i] == 2:
-      wp.launch(
-        kernel=_update_flex_2d_face_points,
-        dim=(d.nworld, nface // 2),
-        inputs=[
-          m.flex_vertadr,
-          m.flex_elemnum,
-          m.flex_elemdataadr,
-          m.flex_shelldataadr,
-          m.flex_elem,
-          m.flex_shell,
-          m.flex_radius,
-          d.flexvert_xpos,
-          flexvert_norm,
-          i,
-          nface,
-          rc.flex_render_smooth,
-        ],
-        outputs=[mesh.points],
-      )
-    else:
-      wp.launch(
-        kernel=_update_flex_3d_face_points,
-        dim=(d.nworld, nface),
-        inputs=[
-          m.flex_vertadr,
-          m.flex_shelldataadr,
-          m.flex_shell,
-          d.flexvert_xpos,
-          i,
-          nface,
-        ],
-        outputs=[mesh.points],
-      )
-
-    mesh.refit()
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/cli.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/cli.py
deleted file mode 100644
index b3fe92d7..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/cli.py
+++ /dev/null
@@ -1,247 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Shared utilities and flags for MJWarp CLI tools."""
-
-import time
-from typing import Callable, Tuple, get_type_hints
-
-import mujoco
-import numpy as np
-import warp as wp
-from absl import flags
-from etils import epath
-
-import mujoco.mjx.third_party.mujoco_warp as mjw
-from mujoco.mjx.third_party.mujoco_warp._src import warp_util
-from mujoco.mjx.third_party.mujoco_warp._src.io import load_trajectory
-from mujoco.mjx.third_party.mujoco_warp._src.io import override_model
-from mujoco.mjx.third_party.mujoco_warp._src.util_misc import halton
-
-# shared flags for cli tool
-NWORLD = flags.DEFINE_integer("nworld", 8192, "number of parallel rollouts")
-NSTEP = flags.DEFINE_integer("nstep", 1000, "number of steps per rollout")
-NCONMAX = flags.DEFINE_integer("nconmax", None, "override maximum number of contacts per world")
-NJMAX = flags.DEFINE_integer("njmax", None, "override maximum number of constraints per world")
-NJMAX_NNZ = flags.DEFINE_integer("njmax_nnz", None, "override maximum number of non-zeros in constraint Jacobian")
-NCCDMAX = flags.DEFINE_integer("nccdmax", None, "override maximum number of CCD contacts per world")
-OVERRIDE = flags.DEFINE_multi_string("override", [], "Model overrides (notation: foo.bar = baz)", short_name="o")
-KEYFRAME = flags.DEFINE_integer("keyframe", 0, "keyframe to initialize simulation.")
-EVENT_TRACE = flags.DEFINE_bool("event_trace", False, "print an event trace report")
-NOISE_STD = flags.DEFINE_float("noise_std", 0.01, "add noise to ctrl signal (standard deviation)")
-NOISE_RATE = flags.DEFINE_float("noise_rate", 0.1, "add noise to ctrl signal (noise rate)")
-NVMAX = flags.DEFINE_integer("nvmax", None, "maximum active DOFs per world")
-
-
-INIT_ASLEEP = flags.DEFINE_bool(
-  "init_asleep", False, "initialize all trees as asleep before simulation (requires sleep enabled)"
-)
-
-DEVICE = flags.DEFINE_string("device", None, "override the default Warp device")
-REPLAY = flags.DEFINE_string("replay", None, "NPZ file with ctrl sequence to replay")
-
-RENDER_WIDTH = flags.DEFINE_integer("render_width", 64, "render width (pixels)")
-RENDER_HEIGHT = flags.DEFINE_integer("render_height", 64, "render height (pixels)")
-RENDER_RGB = flags.DEFINE_bool("render_rgb", True, "render RGB image")
-RENDER_DEPTH = flags.DEFINE_bool("render_depth", True, "render depth image")
-RENDER_TEXTURES = flags.DEFINE_bool("render_textures", True, "use textures")
-RENDER_SHADOWS = flags.DEFINE_bool("render_shadows", False, "use shadows")
-RENDER_BACKFACE_CULLING = flags.DEFINE_bool(
-  "render_backface_culling",
-  True,
-  "enable renderer backface culling (RenderContext.enable_backface_culling)",
-)
-RENDER_SKYBOX = flags.DEFINE_bool("render_skybox", True, "render skybox texture if available")
-
-
-def load_model(path: epath.Path) -> mujoco.MjModel:
-  """Load a MuJoCo model from a path, handling resources and plugins."""
-  if not path.exists():
-    resource_path = epath.resource_path("mjx") / "third_party/mujoco_warp" / path
-    if not resource_path.exists():
-      raise FileNotFoundError(f"file not found: {path}\nalso tried: {resource_path}")
-    path = resource_path
-
-  if path.suffix == ".mjb":
-    return mujoco.MjModel.from_binary_path(path.as_posix())
-
-  spec = mujoco.MjSpec.from_file(path.as_posix())
-  if any(p.plugin_name.startswith("mujoco.sdf") for p in spec.plugins):
-    from mujoco.mjx.third_party.mujoco_warp.test_data.collision_sdf.utils import register_sdf_plugins as register_sdf_plugins
-
-    register_sdf_plugins(mjw)
-
-  mjm = spec.compile()
-
-  if OVERRIDE.value:
-    override_model(mjm, OVERRIDE.value)
-
-  return mjm
-
-
-@wp.kernel
-def _ctrl_noise(
-  # Model:
-  opt_timestep: wp.array[float],
-  actuator_ctrllimited: wp.array[bool],
-  actuator_ctrlrange: wp.array2d[wp.vec2],
-  # Data in:
-  ctrl_in: wp.array2d[float],
-  # In:
-  ctrl_center: wp.array[float],
-  step: int,
-  ctrlnoisestd: float,
-  ctrlnoiserate: float,
-  # Data out:
-  ctrl_out: wp.array2d[float],
-):
-  worldid, actid = wp.tid()
-
-  # convert rate and scale to discrete time (Ornstein-Uhlenbeck)
-  rate = wp.exp(-opt_timestep[worldid % opt_timestep.shape[0]] / ctrlnoiserate)
-  scale = ctrlnoisestd * wp.sqrt(1.0 - rate * rate)
-
-  midpoint = 0.0
-  halfrange = 1.0
-  ctrlrange = actuator_ctrlrange[worldid % actuator_ctrlrange.shape[0], actid]
-  is_limited = actuator_ctrllimited[actid]
-  if is_limited:
-    midpoint = 0.5 * (ctrlrange[1] + ctrlrange[0])
-    halfrange = 0.5 * (ctrlrange[1] - ctrlrange[0])
-  if ctrl_center.shape[0] > 0:
-    midpoint = ctrl_center[actid]
-
-  # exponential convergence to midpoint at ctrlnoiserate
-  ctrl = rate * ctrl_in[worldid, actid] + (1.0 - rate) * midpoint
-
-  # add noise
-  ctrl += scale * halfrange * (2.0 * halton((step + 1) * (worldid + 1), actid + 2) - 1.0)
-
-  # clip to range if limited
-  if is_limited:
-    ctrl = wp.clamp(ctrl, ctrlrange[0], ctrlrange[1])
-
-  ctrl_out[worldid, actid] = ctrl
-
-
-def init_structs(
-  fn: Callable[..., None], mjm: mujoco.MjModel
-) -> Tuple[mjw.Model, mjw.Data, mjw.RenderContext | None, list[np.ndarray] | None]:
-  """Initialize device structs."""
-  mjd = mujoco.MjData(mjm)
-  ctrls = None
-  if REPLAY.value:
-    ctrls = load_trajectory(REPLAY.value, mjm, mjd)
-    # default nstep to trajectory length when not explicitly set
-    if flags.FLAGS["nstep"].using_default_value:
-      flags.FLAGS.nstep = len(ctrls)
-  elif mjm.nkey > 0 and KEYFRAME.value > -1:
-    mujoco.mj_resetDataKeyframe(mjm, mjd, KEYFRAME.value)
-    ctrls = [mjd.ctrl.copy() for _ in range(NSTEP.value)]
-
-  with wp.ScopedDevice(wp.get_device(DEVICE.value)):
-    m = mjw.put_model(mjm)
-    if OVERRIDE.value:
-      override_model(m, OVERRIDE.value)
-    if INIT_ASLEEP.value:
-      mjd.tree_asleep[:] = np.arange(mjm.ntree, dtype=np.int32)
-
-    d = mjw.put_data(
-      mjm,
-      mjd,
-      nworld=NWORLD.value,
-      nconmax=NCONMAX.value,
-      njmax=NJMAX.value,
-      njmax_nnz=NJMAX_NNZ.value,
-      nccdmax=NCCDMAX.value,
-      nvmax=NVMAX.value,
-    )
-
-    if mjw.RenderContext not in get_type_hints(fn).values():
-      return m, d, None, ctrls
-
-    rc = mjw.create_render_context(
-      mjm,
-      nworld=NWORLD.value,
-      cam_res=(RENDER_WIDTH.value, RENDER_HEIGHT.value),
-      render_rgb=RENDER_RGB.value,
-      render_depth=RENDER_DEPTH.value,
-      use_textures=RENDER_TEXTURES.value,
-      use_shadows=RENDER_SHADOWS.value,
-      enable_backface_culling=RENDER_BACKFACE_CULLING.value,
-      render_skybox=RENDER_SKYBOX.value,
-    )
-
-    return m, d, rc, ctrls
-
-
-def unroll(
-  fn: Callable[..., None],
-  m: mjw.Model,
-  d: mjw.Data,
-  rc: mjw.RenderContext | None,
-  callback: Callable[[int, dict, float], None] | None = None,
-  ctrls: list[np.ndarray] | None = None,
-) -> dict:
-  """Unroll a function on batched Data and return some statistics.
-
-  Args:
-    fn: Function to unroll (e.g. mjw.step).
-    m: Model.
-    d: Data.
-    rc: Render context (optional).
-    callback: Optional callback called after each step with (step count, trace, latency).
-    ctrls: Optional control trajectory.
-
-  Returns:
-    jit_duration: Time to JIT capture the function.
-  """
-  with wp.ScopedDevice(wp.get_device(DEVICE.value)):
-    with warp_util.EventTracer(enabled=EVENT_TRACE.value) as tracer:
-      jit_beg = time.perf_counter()
-      with wp.ScopedCapture() as capture:
-        fn(*(m, d) if rc is None else (m, d, rc))
-      jit_end = time.perf_counter()
-
-      for i in range(NSTEP.value):
-        with wp.ScopedStream(wp.get_stream()):
-          if ctrls is not None:
-            center = wp.array(ctrls[i], dtype=wp.float32)
-            wp.launch(
-              _ctrl_noise,
-              dim=(d.nworld, m.nu),
-              inputs=[
-                m.opt.timestep,
-                m.actuator_ctrllimited,
-                m.actuator_ctrlrange,
-                d.ctrl,
-                center,
-                i,
-                NOISE_STD.value,
-                NOISE_RATE.value,
-              ],
-              outputs=[d.ctrl],
-            )
-            wp.synchronize()
-
-          run_beg = time.perf_counter()
-          wp.capture_launch(capture.graph)
-          wp.synchronize()
-          run_end = time.perf_counter()
-
-        if callback:
-          callback(i, tracer.trace(), run_end - run_beg)
-
-  return jit_end - jit_beg
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_convex.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_convex.py
deleted file mode 100644
index 8a9885b5..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_convex.py
+++ /dev/null
@@ -1,1418 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import CollisionContext
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import Geom
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import contact_margin_gap
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import contact_material_params
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import contact_params
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import geom_collision_pair
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import geom_collision_pair_from_types
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import write_contact
-from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk import ccd
-from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk import epa_phase
-from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk import gjk_phase
-from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk import multicontact
-from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk import support
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import Geom
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import contact_params
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import geom_collision_pair
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import write_contact
-from mujoco.mjx.third_party.mujoco_warp._src.math import make_frame
-from mujoco.mjx.third_party.mujoco_warp._src.math import upper_trid_index
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAX_EPAFACES
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAX_EPAHORIZON
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXCONPAIR
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import OverflowType
-from mujoco.mjx.third_party.mujoco_warp._src.types import mat43
-from mujoco.mjx.third_party.mujoco_warp._src.types import mat63
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-# TODO(team): improve compile time to enable backward pass
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-vec_maxconpair = wp.types.vector(length=MJ_MAXCONPAIR, dtype=float)
-mat_maxconpair = wp.types.matrix(shape=(MJ_MAXCONPAIR, 3), dtype=float)
-
-
-@wp.func
-def _hfield_filter(
-  # Model:
-  geom_type: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_rbound: wp.array2d[float],
-  geom_margin: wp.array2d[float],
-  mesh_vertadr: wp.array[int],
-  mesh_vertnum: wp.array[int],
-  mesh_graphadr: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_graph: wp.array[int],
-  hfield_size: wp.array[wp.vec4],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  worldid: int,
-  g1: int,
-  g2: int,
-) -> Tuple[bool, float, float, float, float, float, float]:
-  """Filter for height field collisions.
-
-  See MuJoCo mjc_ConvexHField.
-  """
-  # height field info
-  dataid_setid = worldid % geom_dataid.shape[0]
-  hfdataid = geom_dataid[dataid_setid, g1]
-  size1 = hfield_size[hfdataid]
-
-  # geom info
-  rbound_id = worldid % geom_rbound.shape[0]
-  margin_id = worldid % geom_margin.shape[0]
-  size_id = worldid % geom_size.shape[0]
-
-  pos1 = geom_xpos_in[worldid, g1]
-  mat1 = geom_xmat_in[worldid, g1]
-  mat1T = wp.transpose(mat1)
-  pos2 = geom_xpos_in[worldid, g2]
-  pos = mat1T @ (pos2 - pos1)
-  r2 = geom_rbound[rbound_id, g2]
-
-  # TODO(team): margin?
-  margin = geom_margin[margin_id, g1] + geom_margin[margin_id, g2]
-
-  # box-sphere test: horizontal plane
-  for i in range(2):
-    if (size1[i] < pos[i] - r2 - margin) or (-size1[i] > pos[i] + r2 + margin):
-      return True, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL
-
-  # box-sphere test: vertical direction
-  if size1[2] < pos[2] - r2 - margin:  # up
-    return True, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL
-
-  if -size1[3] > pos[2] + r2 + margin:  # down
-    return True, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL
-
-  mat2 = geom_xmat_in[worldid, g2]
-  mat = mat1T @ mat2
-
-  # create geom in height field frame for support function queries
-  geom2 = Geom()
-  geom2.pos = pos
-  geom2.rot = mat
-  geom2.size = geom_size[size_id, g2]
-  geom2.margin = 0.0  # margin handled separately
-  geom2.index = -1
-
-  geomtype2 = geom_type[g2]
-
-  # load mesh vertex data for support function queries
-  if geomtype2 == GeomType.MESH:
-    dataid = geom_dataid[dataid_setid, g2]
-    geom2.vertadr = wp.where(dataid >= 0, mesh_vertadr[dataid], -1)
-    geom2.vertnum = wp.where(dataid >= 0, mesh_vertnum[dataid], -1)
-    geom2.graphadr = wp.where(dataid >= 0, mesh_graphadr[dataid], -1)
-    geom2.vert = mesh_vert
-    geom2.graph = mesh_graph
-
-  # use support functions for tight AABB bounds
-  xmax = support(geom2, geomtype2, wp.vec3(1.0, 0.0, 0.0)).point[0]
-  xmin = support(geom2, geomtype2, wp.vec3(-1.0, 0.0, 0.0)).point[0]
-  ymax = support(geom2, geomtype2, wp.vec3(0.0, 1.0, 0.0)).point[1]
-  ymin = support(geom2, geomtype2, wp.vec3(0.0, -1.0, 0.0)).point[1]
-  zmax = support(geom2, geomtype2, wp.vec3(0.0, 0.0, 1.0)).point[2]
-  zmin = support(geom2, geomtype2, wp.vec3(0.0, 0.0, -1.0)).point[2]
-
-  # box-box test
-  if (
-    (xmin - margin > size1[0])
-    or (xmax + margin < -size1[0])
-    or (ymin - margin > size1[1])
-    or (ymax + margin < -size1[1])
-    or (zmin - margin > size1[2])
-    or (zmax + margin < -size1[3])
-  ):
-    return True, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL
-  else:
-    return False, xmin, xmax, ymin, ymax, zmin, zmax
-
-
-@cache_kernel
-def ccd_hfield_kernel_builder(
-  geomtype1: int,
-  geomtype2: int,
-  gjk_iterations: int,
-  epa_iterations: int,
-  geomgeomid: int,
-  warn_overflow: bool,
-):
-  """Kernel builder for heightfield CCD collisions (no multiccd args)."""
-
-  # runs convex collision on a set of geom pairs to recover contact info
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def ccd_hfield_kernel(
-    # Model:
-    opt_ccd_tolerance: wp.array[float],
-    geom_type: wp.array[int],
-    geom_condim: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_priority: wp.array[int],
-    geom_solmix: wp.array2d[float],
-    geom_solref: wp.array2d[wp.vec2],
-    geom_solimp: wp.array2d[vec5],
-    geom_size: wp.array2d[wp.vec3],
-    geom_rbound: wp.array2d[float],
-    geom_friction: wp.array2d[wp.vec3],
-    geom_margin: wp.array2d[float],
-    geom_gap: wp.array2d[float],
-    mesh_vertadr: wp.array[int],
-    mesh_vertnum: wp.array[int],
-    mesh_graphadr: wp.array[int],
-    mesh_vert: wp.array[wp.vec3],
-    mesh_graph: wp.array[int],
-    mesh_polynum: wp.array[int],
-    mesh_polyadr: wp.array[int],
-    mesh_polynormal: wp.array[wp.vec3],
-    mesh_polyvertadr: wp.array[int],
-    mesh_polyvertnum: wp.array[int],
-    mesh_polyvert: wp.array[int],
-    mesh_polymapadr: wp.array[int],
-    mesh_polymapnum: wp.array[int],
-    mesh_polymap: wp.array[int],
-    hfield_size: wp.array[wp.vec4],
-    hfield_nrow: wp.array[int],
-    hfield_ncol: wp.array[int],
-    hfield_adr: wp.array[int],
-    hfield_data: wp.array[float],
-    pair_dim: wp.array[int],
-    pair_solref: wp.array2d[wp.vec2],
-    pair_solreffriction: wp.array2d[wp.vec2],
-    pair_solimp: wp.array2d[vec5],
-    pair_margin: wp.array2d[float],
-    pair_gap: wp.array2d[float],
-    pair_friction: wp.array2d[vec5],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    geom_xmat_in: wp.array2d[wp.mat33],
-    naconmax_in: int,
-    naccdmax_in: int,
-    ncollision_in: wp.array[int],
-    # In:
-    collision_pair_in: wp.array[wp.vec2i],
-    collision_pairid_in: wp.array[wp.vec2i],
-    collision_worldid_in: wp.array[int],
-    epa_vert_in: wp.array2d[wp.vec3],
-    epa_vert_index_in: wp.array2d[int],
-    epa_face_in: wp.array2d[int],
-    epa_pr_in: wp.array2d[wp.vec3],
-    epa_norm2_in: wp.array2d[float],
-    epa_horizon_in: wp.array2d[int],
-    nccd_in: wp.array[int],
-    # Data out:
-    contact_dist_out: wp.array[float],
-    contact_pos_out: wp.array[wp.vec3],
-    contact_frame_out: wp.array[wp.mat33],
-    contact_includemargin_out: wp.array[float],
-    contact_friction_out: wp.array[vec5],
-    contact_solref_out: wp.array[wp.vec2],
-    contact_solreffriction_out: wp.array[wp.vec2],
-    contact_solimp_out: wp.array[vec5],
-    contact_dim_out: wp.array[int],
-    contact_geom_out: wp.array[wp.vec2i],
-    contact_efc_address_out: wp.array2d[int],
-    contact_worldid_out: wp.array[int],
-    contact_type_out: wp.array[int],
-    contact_geomcollisionid_out: wp.array[int],
-    nacon_out: wp.array[int],
-    # Data out:
-    overflow_out: wp.array[int],
-  ):
-    collisionid = wp.tid()
-    if collisionid >= ncollision_in[0]:
-      return
-
-    geoms = collision_pair_in[collisionid]
-    g1 = geoms[0]
-    g2 = geoms[1]
-
-    if geom_type[g1] != geomtype1 or geom_type[g2] != geomtype2:
-      return
-
-    worldid = collision_worldid_in[collisionid]
-
-    # height field filter
-    no_hf_collision, xmin, xmax, ymin, ymax, zmin, zmax = _hfield_filter(
-      geom_type,
-      geom_dataid,
-      geom_size,
-      geom_rbound,
-      geom_margin,
-      mesh_vertadr,
-      mesh_vertnum,
-      mesh_graphadr,
-      mesh_vert,
-      mesh_graph,
-      hfield_size,
-      geom_xpos_in,
-      geom_xmat_in,
-      worldid,
-      g1,
-      g2,
-    )
-    if no_hf_collision:
-      return
-
-    ccdid = wp.atomic_add(nccd_in, wp.static(geomgeomid), 1)
-    if ccdid >= naccdmax_in:
-      if wp.static(warn_overflow):
-        wp.printf("CCD overflow - please increase naccdmax to %u\n", ccdid)
-      wp.atomic_or(overflow_out, worldid, wp.static(OverflowType.CCD))
-      return
-
-    _, margin, gap, condim, friction, solref, solreffriction, solimp = contact_params(
-      geom_condim,
-      geom_priority,
-      geom_solmix,
-      geom_solref,
-      geom_solimp,
-      geom_friction,
-      geom_margin,
-      geom_gap,
-      pair_dim,
-      pair_solref,
-      pair_solreffriction,
-      pair_solimp,
-      pair_margin,
-      pair_gap,
-      pair_friction,
-      collision_pair_in,
-      collision_pairid_in,
-      collisionid,
-      worldid,
-    )
-
-    geom1, geom2 = geom_collision_pair(
-      geom_type,
-      geom_dataid,
-      geom_size,
-      mesh_vertadr,
-      mesh_vertnum,
-      mesh_graphadr,
-      mesh_vert,
-      mesh_graph,
-      mesh_polynum,
-      mesh_polyadr,
-      mesh_polynormal,
-      mesh_polyvertadr,
-      mesh_polyvertnum,
-      mesh_polyvert,
-      mesh_polymapadr,
-      mesh_polymapnum,
-      mesh_polymap,
-      geom_xpos_in,
-      geom_xmat_in,
-      geoms,
-      worldid,
-    )
-
-    # transform geom2 into heightfield frame
-    hf_pos = geom_xpos_in[worldid, g1]
-    hf_mat = geom_xmat_in[worldid, g1]
-    hf_matT = wp.transpose(hf_mat)
-
-    geom2.pos = hf_matT @ (geom2.pos - hf_pos)
-    geom2.rot = hf_matT @ geom2.rot
-
-    # geom1 has identity pose
-    geom1.pos = wp.vec3(0.0, 0.0, 0.0)
-    geom1.rot = wp.identity(n=3, dtype=float)
-
-    # see MuJoCo mjc_ConvexHField
-    geom1_dataid = geom_dataid[worldid % geom_dataid.shape[0], g1]
-
-    # height field subgrid
-    nrow = hfield_nrow[geom1_dataid]
-    ncol = hfield_ncol[geom1_dataid]
-    size = hfield_size[geom1_dataid]
-
-    # subgrid
-    x_scale = 0.5 * float(ncol - 1) / size[0]
-    y_scale = 0.5 * float(nrow - 1) / size[1]
-    cmin = wp.max(0, int(wp.floor((xmin + size[0]) * x_scale)))
-    cmax = wp.min(ncol - 1, int(wp.ceil((xmax + size[0]) * x_scale)))
-    rmin = wp.max(0, int(wp.floor((ymin + size[1]) * y_scale)))
-    rmax = wp.min(nrow - 1, int(wp.ceil((ymax + size[1]) * y_scale)))
-
-    dx = (2.0 * size[0]) / float(ncol - 1)
-    dy = (2.0 * size[1]) / float(nrow - 1)
-    dr = wp.vec2i(1, 0)
-
-    prism = mat63()
-
-    # set zbottom value using base size
-    prism[0, 2] = -size[3]
-    prism[1, 2] = -size[3]
-    prism[2, 2] = -size[3]
-
-    adr = hfield_adr[geom1_dataid]
-
-    hfield_contact_dist = vec_maxconpair()
-    hfield_contact_pos = mat_maxconpair()
-    hfield_contact_normal = mat_maxconpair()
-    min_dist = float(MJ_MAXVAL)
-    min_normal = wp.vec3(MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL)
-    min_pos = wp.vec3(MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL)
-    min_id = int(-1)
-
-    # geom1 margin added to z-axis of hfield prism top points below
-    geom2.margin = margin
-
-    # EPA memory
-    epa_vert = epa_vert_in[ccdid]
-    epa_vert_index = epa_vert_index_in[ccdid]
-    epa_face = epa_face_in[ccdid]
-    epa_pr = epa_pr_in[ccdid]
-    epa_norm2 = epa_norm2_in[ccdid]
-    epa_horizon = epa_horizon_in[ccdid]
-
-    collision_pairid = collision_pairid_in[collisionid]
-
-    # process all prisms in subgrid
-    count = int(0)
-    for r in range(rmin, rmax):
-      # pre-initialize first 2 vertices
-      for init_i in range(2):
-        x = dx * float(cmin) - size[0]
-        y = dy * float(r + dr[init_i]) - size[1]
-        z = hfield_data[adr + (r + dr[init_i]) * ncol + cmin] * size[2] + margin
-
-        prism[0] = prism[1]
-        prism[1] = prism[2]
-        prism[3] = prism[4]
-        prism[4] = prism[5]
-
-        prism[2, 0] = x
-        prism[5, 0] = x
-        prism[2, 1] = y
-        prism[5, 1] = y
-        prism[5, 2] = z
-
-      for c in range(cmin + 1, cmax + 1):
-        # add both triangles from this cell
-        for i in range(2):
-          if count >= MJ_MAXCONPAIR:
-            if wp.static(warn_overflow):
-              wp.printf(
-                "height field collision overflow, number of collisions >= %u - please adjust resolution: \n decrease the number of hfield rows/cols or modify size of colliding geom\n",
-                MJ_MAXCONPAIR,
-              )
-            wp.atomic_or(overflow_out, worldid, OverflowType.HFIELD)
-            continue
-
-          # add vert
-          x = dx * float(c) - size[0]
-          y = dy * float(r + dr[i]) - size[1]
-          z = hfield_data[adr + (r + dr[i]) * ncol + c] * size[2] + margin
-
-          prism[0] = prism[1]
-          prism[1] = prism[2]
-          prism[3] = prism[4]
-          prism[4] = prism[5]
-
-          prism[2, 0] = x
-          prism[5, 0] = x
-          prism[2, 1] = y
-          prism[5, 1] = y
-          prism[5, 2] = z
-
-          # prism height test
-          if prism[3, 2] < zmin and prism[4, 2] < zmin and prism[5, 2] < zmin:
-            continue
-
-          geom1.hfprism = prism
-
-          # prism center
-          x1 = geom1.pos + geom1.rot @ (prism[0] + prism[1] + prism[2] + prism[3] + prism[4] + prism[5]) * wp.static(1.0 / 6.0)
-
-          dist, ncontact, w1, w2, idx = ccd(
-            opt_ccd_tolerance[worldid % opt_ccd_tolerance.shape[0]],
-            0.0,
-            gjk_iterations,
-            epa_iterations,
-            geom1,
-            geom2,
-            geomtype1,
-            geomtype2,
-            x1,
-            geom2.pos,
-            epa_vert,
-            epa_vert_index,
-            epa_face,
-            epa_pr,
-            epa_norm2,
-            epa_horizon,
-            wp.static(warn_overflow),
-            worldid,
-            overflow_out,
-          )
-
-          if ncontact == 0:
-            continue
-
-          # cache contact information
-          hfield_contact_dist[count] = dist
-
-          # transform contact to global frame
-          pos_local = 0.5 * (w1 + w2)
-          pos = hf_mat @ pos_local + hf_pos
-          hfield_contact_pos[count, 0] = pos[0]
-          hfield_contact_pos[count, 1] = pos[1]
-          hfield_contact_pos[count, 2] = pos[2]
-
-          frame_local = make_frame(w1 - w2)
-          normal_local = wp.vec3(frame_local[0, 0], frame_local[0, 1], frame_local[0, 2])
-          normal = hf_mat @ normal_local
-          hfield_contact_normal[count, 0] = normal[0]
-          hfield_contact_normal[count, 1] = normal[1]
-          hfield_contact_normal[count, 2] = normal[2]
-
-          # contact with minimum distance
-          if dist < min_dist:
-            min_dist = dist
-            min_normal = normal
-            min_pos = pos
-            min_id = count
-
-          count += 1
-
-    # contact 0: minimum distance
-    write_contact(
-      naconmax_in,
-      0,
-      min_dist,
-      min_pos,
-      make_frame(min_normal),
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      collision_pairid,
-      worldid,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_efc_address_out,
-      contact_worldid_out,
-      contact_type_out,
-      contact_geomcollisionid_out,
-      nacon_out,
-    )
-
-    # TODO(team): routine for select subset of contacts
-    if wp.static(True):
-      MIN_DIST_TO_NEXT_CONTACT = 1.0e-3
-
-      # contact 1: furthest from minimum distance contact
-      id1 = int(-1)
-      dist1 = float(-MJ_MAXVAL)
-      for i in range(count):
-        if i == min_id:
-          continue
-
-        hf_pos = wp.vec3(hfield_contact_pos[i, 0], hfield_contact_pos[i, 1], hfield_contact_pos[i, 2])
-        dist = wp.norm_l2(hf_pos - min_pos)
-
-        if dist > dist1:
-          id1 = i
-          dist1 = dist
-
-      if id1 == -1 or (0.0 < dist1 and dist1 < MIN_DIST_TO_NEXT_CONTACT):
-        return
-
-      pos1 = wp.vec3(hfield_contact_pos[id1, 0], hfield_contact_pos[id1, 1], hfield_contact_pos[id1, 2])
-      normal1 = wp.vec3(hfield_contact_normal[id1, 0], hfield_contact_normal[id1, 1], hfield_contact_normal[id1, 2])
-
-      write_contact(
-        naconmax_in,
-        1,
-        hfield_contact_dist[id1],
-        pos1,
-        make_frame(normal1),
-        margin,
-        gap,
-        condim,
-        friction,
-        solref,
-        solreffriction,
-        solimp,
-        geoms,
-        collision_pairid,
-        worldid,
-        contact_dist_out,
-        contact_pos_out,
-        contact_frame_out,
-        contact_includemargin_out,
-        contact_friction_out,
-        contact_solref_out,
-        contact_solreffriction_out,
-        contact_solimp_out,
-        contact_dim_out,
-        contact_geom_out,
-        contact_efc_address_out,
-        contact_worldid_out,
-        contact_type_out,
-        contact_geomcollisionid_out,
-        nacon_out,
-      )
-
-      # contact 2: point furthest from min_pos - pos1 line
-      dist_min1 = wp.cross(min_normal, min_pos - pos1)
-
-      id2 = int(-1)
-      dist_12 = float(-MJ_MAXVAL)
-      for i in range(count):
-        if i == min_id or i == id1:
-          continue
-
-        hf_pos = wp.vec3(hfield_contact_pos[i, 0], hfield_contact_pos[i, 1], hfield_contact_pos[i, 2])
-        dist = wp.abs(wp.dot(hf_pos - min_pos, dist_min1))
-
-        if dist > dist_12:
-          id2 = i
-          dist_12 = dist
-
-      if id2 == -1 or (0.0 < dist_12 and dist_12 < MIN_DIST_TO_NEXT_CONTACT):
-        return
-
-      pos2 = wp.vec3(hfield_contact_pos[id2, 0], hfield_contact_pos[id2, 1], hfield_contact_pos[id2, 2])
-      normal2 = wp.vec3(hfield_contact_normal[id2, 0], hfield_contact_normal[id2, 1], hfield_contact_normal[id2, 2])
-
-      write_contact(
-        naconmax_in,
-        2,
-        hfield_contact_dist[id2],
-        pos2,
-        make_frame(normal2),
-        margin,
-        gap,
-        condim,
-        friction,
-        solref,
-        solreffriction,
-        solimp,
-        geoms,
-        collision_pairid,
-        worldid,
-        contact_dist_out,
-        contact_pos_out,
-        contact_frame_out,
-        contact_includemargin_out,
-        contact_friction_out,
-        contact_solref_out,
-        contact_solreffriction_out,
-        contact_solimp_out,
-        contact_dim_out,
-        contact_geom_out,
-        contact_efc_address_out,
-        contact_worldid_out,
-        contact_type_out,
-        contact_geomcollisionid_out,
-        nacon_out,
-      )
-
-      # contact 3: point furthest from other triangle edge
-      vec_min2 = wp.cross(min_normal, min_pos - pos2)
-      vec_12 = wp.cross(min_normal, pos1 - pos2)
-
-      id3 = int(-1)
-      dist3 = float(-MJ_MAXVAL)
-      for i in range(count):
-        if i == min_id or i == id1 or i == id2:
-          continue
-
-        hf_pos = wp.vec3(hfield_contact_pos[i, 0], hfield_contact_pos[i, 1], hfield_contact_pos[i, 2])
-        dist = wp.abs(wp.dot(hf_pos - min_pos, vec_min2)) + wp.abs(wp.dot(pos1 - hf_pos, vec_12))
-
-        if dist > dist3:
-          id3 = i
-          dist3 = dist
-
-      if id3 == -1 or (0.0 < dist3 and dist3 < MIN_DIST_TO_NEXT_CONTACT):
-        return
-
-      pos3 = wp.vec3(hfield_contact_pos[id3, 0], hfield_contact_pos[id3, 1], hfield_contact_pos[id3, 2])
-      normal3 = wp.vec3(hfield_contact_normal[id3, 0], hfield_contact_normal[id3, 1], hfield_contact_normal[id3, 2])
-
-      write_contact(
-        naconmax_in,
-        3,
-        hfield_contact_dist[id3],
-        pos3,
-        make_frame(normal3),
-        margin,
-        gap,
-        condim,
-        friction,
-        solref,
-        solreffriction,
-        solimp,
-        geoms,
-        collision_pairid,
-        worldid,
-        contact_dist_out,
-        contact_pos_out,
-        contact_frame_out,
-        contact_includemargin_out,
-        contact_friction_out,
-        contact_solref_out,
-        contact_solreffriction_out,
-        contact_solimp_out,
-        contact_dim_out,
-        contact_geom_out,
-        contact_efc_address_out,
-        contact_worldid_out,
-        contact_type_out,
-        contact_geomcollisionid_out,
-        nacon_out,
-      )
-
-  return ccd_hfield_kernel
-
-
-_CCD_OVERSUBSCRIBE_WAVES = 2
-_CCD_MIN_BLOCKS = 8
-
-
-@cache_kernel
-def ccd_kernel_builder(
-  geomtype1: int,
-  geomtype2: int,
-  gjk_iterations: int,
-  epa_iterations: int,
-  use_multiccd: bool,
-  geomgeomid: int,
-  block_dim: int,
-  warn_overflow: bool,
-):
-  """Kernel builder for non-heightfield CCD collisions (no hfield args)."""
-
-  @wp.func
-  def eval_ccd_write_contact(
-    # Model:
-    opt_ccd_tolerance: wp.array[float],
-    geom_condim: wp.array[int],
-    geom_priority: wp.array[int],
-    geom_solmix: wp.array2d[float],
-    geom_solref: wp.array2d[wp.vec2],
-    geom_solimp: wp.array2d[vec5],
-    geom_friction: wp.array2d[wp.vec3],
-    pair_dim: wp.array[int],
-    pair_solref: wp.array2d[wp.vec2],
-    pair_solreffriction: wp.array2d[wp.vec2],
-    pair_solimp: wp.array2d[vec5],
-    pair_friction: wp.array2d[vec5],
-    # Data in:
-    naconmax_in: int,
-    naccdmax_in: int,
-    # In:
-    epa_vert_in: wp.array2d[wp.vec3],
-    epa_vert_index_in: wp.array2d[int],
-    epa_face_in: wp.array2d[int],
-    epa_pr_in: wp.array2d[wp.vec3],
-    epa_norm2_in: wp.array2d[float],
-    epa_horizon_in: wp.array2d[int],
-    multiccd_polygon_in: wp.array2d[wp.vec3],
-    multiccd_clipped_in: wp.array2d[wp.vec3],
-    multiccd_pnormal_in: wp.array2d[wp.vec3],
-    multiccd_pdist_in: wp.array2d[float],
-    multiccd_idx1_in: wp.array2d[int],
-    multiccd_idx2_in: wp.array2d[int],
-    multiccd_n1_in: wp.array2d[wp.vec3],
-    multiccd_n2_in: wp.array2d[wp.vec3],
-    multiccd_endvert_in: wp.array2d[wp.vec3],
-    multiccd_face1_in: wp.array2d[wp.vec3],
-    multiccd_face2_in: wp.array2d[wp.vec3],
-    geom1: Geom,
-    geom2: Geom,
-    geoms: wp.vec2i,
-    worldid: int,
-    nccd_in: wp.array[int],
-    margin: float,
-    gap: float,
-    pairid: wp.vec2i,
-    # Data out:
-    contact_dist_out: wp.array[float],
-    contact_pos_out: wp.array[wp.vec3],
-    contact_frame_out: wp.array[wp.mat33],
-    contact_includemargin_out: wp.array[float],
-    contact_friction_out: wp.array[vec5],
-    contact_solref_out: wp.array[wp.vec2],
-    contact_solreffriction_out: wp.array[wp.vec2],
-    contact_solimp_out: wp.array[vec5],
-    contact_dim_out: wp.array[int],
-    contact_geom_out: wp.array[wp.vec2i],
-    contact_efc_address_out: wp.array2d[int],
-    contact_worldid_out: wp.array[int],
-    contact_type_out: wp.array[int],
-    contact_geomcollisionid_out: wp.array[int],
-    nacon_out: wp.array[int],
-    overflow_out: wp.array[int],
-  ):
-    geom1.margin = margin
-    geom2.margin = margin
-    tolerance = opt_ccd_tolerance[worldid % opt_ccd_tolerance.shape[0]]
-    is_collision_sensor = pairid[1] >= 0
-    if is_collision_sensor:
-      cutoff = 1.0e32
-    else:
-      cutoff = gap
-    needs_epa, dist, ncollision, w1, w2, gjk_result, geom1, geom2 = gjk_phase(
-      tolerance,
-      cutoff,
-      gjk_iterations,
-      geom1,
-      geom2,
-      geomtype1,
-      geomtype2,
-      geom1.pos,
-      geom2.pos,
-    )
-
-    ccdid = int(-1)
-    multiccd_idx = int(-1)
-
-    if needs_epa:
-      ccdid = wp.atomic_add(nccd_in, geomgeomid, 1)
-      if ccdid >= naccdmax_in:
-        if wp.static(warn_overflow):
-          wp.printf("CCD overflow - please increase naccdmax to %u\n", ccdid)
-        wp.atomic_or(overflow_out, worldid, OverflowType.CCD)
-        return
-      dist, ncollision, w1, w2, multiccd_idx = epa_phase(
-        tolerance,
-        epa_iterations,
-        gjk_result,
-        geom1,
-        geom2,
-        geomtype1,
-        geomtype2,
-        epa_vert_in[ccdid],
-        epa_vert_index_in[ccdid],
-        epa_face_in[ccdid],
-        epa_pr_in[ccdid],
-        epa_norm2_in[ccdid],
-        epa_horizon_in[ccdid],
-        wp.static(warn_overflow),
-        worldid,
-        overflow_out,
-      )
-
-    if dist >= gap and not is_collision_sensor:
-      return
-
-    # CCD operates on margin-inflated shapes (support() inflates each geom by
-    # 0.5 * margin).  The returned dist is therefore relative to the inflated
-    # geometry.  Correct back to the true surface-to-surface distance so that
-    # the constraint pipeline (pos = dist - includemargin) works consistently
-    # with the primitive narrowphase, which reports un-inflated distances.
-    dist += margin
-
-    witness1 = mat43()
-    witness2 = mat43()
-    witness1[0] = w1
-    witness2[0] = w2
-
-    if wp.static(
-      (use_multiccd or (geomtype1 == GeomType.BOX and geomtype2 == GeomType.BOX))
-      and (geomtype1 == GeomType.BOX or geomtype1 == GeomType.MESH)
-      and (geomtype2 == GeomType.BOX or geomtype2 == GeomType.MESH)
-    ):
-      if wp.static(geomtype1 == GeomType.MESH):
-        # verify that geom1 mesh data is present for multicontact
-        if geom1.mesh_polyadr < 0:
-          multiccd_idx = -1
-
-      if wp.static(geomtype2 == GeomType.MESH):
-        # verify that geom2 mesh data is present for multicontact
-        if geom2.mesh_polyadr < 0:
-          multiccd_idx = -1
-
-      if multiccd_idx > -1:
-        ncollision, witness1, witness2 = multicontact(
-          multiccd_polygon_in[ccdid],
-          multiccd_clipped_in[ccdid],
-          multiccd_pnormal_in[ccdid],
-          multiccd_pdist_in[ccdid],
-          multiccd_idx1_in[ccdid],
-          multiccd_idx2_in[ccdid],
-          multiccd_n1_in[ccdid],
-          multiccd_n2_in[ccdid],
-          multiccd_endvert_in[ccdid],
-          multiccd_face1_in[ccdid],
-          multiccd_face2_in[ccdid],
-          epa_vert_in[ccdid],
-          epa_vert_index_in[ccdid],
-          epa_face_in[ccdid, multiccd_idx],
-          w1,
-          w2,
-          geom1,
-          geom2,
-          geomtype1,
-          geomtype2,
-        )
-
-    condim, friction, solref, solreffriction, solimp = contact_material_params(
-      geom_condim,
-      geom_priority,
-      geom_solmix,
-      geom_solref,
-      geom_solimp,
-      geom_friction,
-      pair_dim,
-      pair_solref,
-      pair_solreffriction,
-      pair_solimp,
-      pair_friction,
-      geoms,
-      pairid[0],
-      worldid,
-    )
-
-    frame = make_frame(witness1[0] - witness2[0])
-    if is_collision_sensor:
-      frame *= -1.0
-      geoms = wp.vec2i(geoms[1], geoms[0])
-
-    for i in range(ncollision):
-      write_contact(
-        naconmax_in,
-        i,
-        dist,
-        0.5 * (witness1[i] + witness2[i]),
-        frame,
-        margin,
-        gap,
-        condim,
-        friction,
-        solref,
-        solreffriction,
-        solimp,
-        geoms,
-        pairid,
-        worldid,
-        contact_dist_out,
-        contact_pos_out,
-        contact_frame_out,
-        contact_includemargin_out,
-        contact_friction_out,
-        contact_solref_out,
-        contact_solreffriction_out,
-        contact_solimp_out,
-        contact_dim_out,
-        contact_geom_out,
-        contact_efc_address_out,
-        contact_worldid_out,
-        contact_type_out,
-        contact_geomcollisionid_out,
-        nacon_out,
-      )
-
-  # runs convex collision on a set of geom pairs to recover contact info (non-heightfield)
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False, launch_bounds=(block_dim, _CCD_MIN_BLOCKS))
-  def ccd_kernel(
-    # Model:
-    opt_ccd_tolerance: wp.array[float],
-    geom_type: wp.array[int],
-    geom_condim: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_priority: wp.array[int],
-    geom_solmix: wp.array2d[float],
-    geom_solref: wp.array2d[wp.vec2],
-    geom_solimp: wp.array2d[vec5],
-    geom_size: wp.array2d[wp.vec3],
-    geom_friction: wp.array2d[wp.vec3],
-    geom_margin: wp.array2d[float],
-    geom_gap: wp.array2d[float],
-    mesh_vertadr: wp.array[int],
-    mesh_vertnum: wp.array[int],
-    mesh_graphadr: wp.array[int],
-    mesh_vert: wp.array[wp.vec3],
-    mesh_graph: wp.array[int],
-    mesh_polynum: wp.array[int],
-    mesh_polyadr: wp.array[int],
-    mesh_polynormal: wp.array[wp.vec3],
-    mesh_polyvertadr: wp.array[int],
-    mesh_polyvertnum: wp.array[int],
-    mesh_polyvert: wp.array[int],
-    mesh_polymapadr: wp.array[int],
-    mesh_polymapnum: wp.array[int],
-    mesh_polymap: wp.array[int],
-    pair_dim: wp.array[int],
-    pair_solref: wp.array2d[wp.vec2],
-    pair_solreffriction: wp.array2d[wp.vec2],
-    pair_solimp: wp.array2d[vec5],
-    pair_margin: wp.array2d[float],
-    pair_gap: wp.array2d[float],
-    pair_friction: wp.array2d[vec5],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    geom_xmat_in: wp.array2d[wp.mat33],
-    naconmax_in: int,
-    naccdmax_in: int,
-    ncollision_in: wp.array[int],
-    # In:
-    grid_stride_in: int,
-    collision_pair_in: wp.array[wp.vec2i],
-    collision_pairid_in: wp.array[wp.vec2i],
-    collision_worldid_in: wp.array[int],
-    epa_vert_in: wp.array2d[wp.vec3],
-    epa_vert_index_in: wp.array2d[int],
-    epa_face_in: wp.array2d[int],
-    epa_pr_in: wp.array2d[wp.vec3],
-    epa_norm2_in: wp.array2d[float],
-    epa_horizon_in: wp.array2d[int],
-    multiccd_polygon_in: wp.array2d[wp.vec3],
-    multiccd_clipped_in: wp.array2d[wp.vec3],
-    multiccd_pnormal_in: wp.array2d[wp.vec3],
-    multiccd_pdist_in: wp.array2d[float],
-    multiccd_idx1_in: wp.array2d[int],
-    multiccd_idx2_in: wp.array2d[int],
-    multiccd_n1_in: wp.array2d[wp.vec3],
-    multiccd_n2_in: wp.array2d[wp.vec3],
-    multiccd_endvert_in: wp.array2d[wp.vec3],
-    multiccd_face1_in: wp.array2d[wp.vec3],
-    multiccd_face2_in: wp.array2d[wp.vec3],
-    nccd_in: wp.array[int],
-    # Data out:
-    contact_dist_out: wp.array[float],
-    contact_pos_out: wp.array[wp.vec3],
-    contact_frame_out: wp.array[wp.mat33],
-    contact_includemargin_out: wp.array[float],
-    contact_friction_out: wp.array[vec5],
-    contact_solref_out: wp.array[wp.vec2],
-    contact_solreffriction_out: wp.array[wp.vec2],
-    contact_solimp_out: wp.array[vec5],
-    contact_dim_out: wp.array[int],
-    contact_geom_out: wp.array[wp.vec2i],
-    contact_efc_address_out: wp.array2d[int],
-    contact_worldid_out: wp.array[int],
-    contact_type_out: wp.array[int],
-    contact_geomcollisionid_out: wp.array[int],
-    nacon_out: wp.array[int],
-    # Data out:
-    overflow_out: wp.array[int],
-  ):
-    tid = wp.tid()
-    for collisionid in range(tid, ncollision_in[0], grid_stride_in):
-      geoms = collision_pair_in[collisionid]
-      g1 = geoms[0]
-      g2 = geoms[1]
-
-      if geom_type[g1] != geomtype1 or geom_type[g2] != geomtype2:
-        continue
-
-      worldid = collision_worldid_in[collisionid]
-      pairid = collision_pairid_in[collisionid]
-      margin, gap = contact_margin_gap(
-        geom_margin,
-        geom_gap,
-        pair_margin,
-        pair_gap,
-        geoms,
-        pairid[0],
-        worldid,
-      )
-
-      geom1, geom2 = geom_collision_pair_from_types(
-        geom_dataid,
-        geom_size,
-        mesh_vertadr,
-        mesh_vertnum,
-        mesh_graphadr,
-        mesh_vert,
-        mesh_graph,
-        mesh_polynum,
-        mesh_polyadr,
-        mesh_polynormal,
-        mesh_polyvertadr,
-        mesh_polyvertnum,
-        mesh_polyvert,
-        mesh_polymapadr,
-        mesh_polymapnum,
-        mesh_polymap,
-        geom_xpos_in,
-        geom_xmat_in,
-        geomtype1,
-        geomtype2,
-        geoms,
-        worldid,
-      )
-
-      eval_ccd_write_contact(
-        opt_ccd_tolerance,
-        geom_condim,
-        geom_priority,
-        geom_solmix,
-        geom_solref,
-        geom_solimp,
-        geom_friction,
-        pair_dim,
-        pair_solref,
-        pair_solreffriction,
-        pair_solimp,
-        pair_friction,
-        naconmax_in,
-        naccdmax_in,
-        epa_vert_in,
-        epa_vert_index_in,
-        epa_face_in,
-        epa_pr_in,
-        epa_norm2_in,
-        epa_horizon_in,
-        multiccd_polygon_in,
-        multiccd_clipped_in,
-        multiccd_pnormal_in,
-        multiccd_pdist_in,
-        multiccd_idx1_in,
-        multiccd_idx2_in,
-        multiccd_n1_in,
-        multiccd_n2_in,
-        multiccd_endvert_in,
-        multiccd_face1_in,
-        multiccd_face2_in,
-        geom1,
-        geom2,
-        geoms,
-        worldid,
-        nccd_in,
-        margin,
-        gap,
-        pairid,
-        contact_dist_out,
-        contact_pos_out,
-        contact_frame_out,
-        contact_includemargin_out,
-        contact_friction_out,
-        contact_solref_out,
-        contact_solreffriction_out,
-        contact_solimp_out,
-        contact_dim_out,
-        contact_geom_out,
-        contact_efc_address_out,
-        contact_worldid_out,
-        contact_type_out,
-        contact_geomcollisionid_out,
-        nacon_out,
-        overflow_out,
-      )
-
-  return ccd_kernel
-
-
-def _ccd_grid_size(kernel, naconmax: int, device) -> int:
-  # Grid-stride launch width for the CCD kernel: a few device waves, capped at the contact
-  # capacity. The kernel strides over the actual candidate count, so we avoid launching one
-  # (mostly idle) thread per naconmax slot.
-  if device.is_cpu:
-    # Warp forces CPU block_dim to 1 and has no CUDA occupancy information.
-    return naconmax
-
-  block_size, min_grid_size = wp.get_suggested_block_size(kernel, device)
-  return max(1, min(naconmax, _CCD_OVERSUBSCRIBE_WAVES * block_size * min_grid_size))
-
-
-@event_scope
-def convex_narrowphase(m: Model, d: Data, ctx: CollisionContext, collision_table: list[tuple[GeomType, GeomType]]):
-  """Runs narrowphase collision detection for convex geom pairs.
-
-  This function handles collision detection for pairs of convex geometries that were
-  identified during the broadphase. It uses the Gilbert-Johnson-Keerthi (GJK) algorithm to
-  determine the distance between shapes and the Expanding Polytope Algorithm (EPA) to find
-  the penetration depth and contact normal for colliding pairs.
-
-  The convex geom types handled by this function are `SPHERE`, `CAPSULE`, `ELLIPSOID`, `CYLINDER`,
-  `BOX`, `MESH`, `HFIELD`.
-
-  To optimize performance, this function dynamically builds and launches a specialized
-  kernel for each type of convex collision pair present in the model, avoiding unnecessary
-  computations for non-existent pair types.
-  """
-
-  def _pair_count(p1: int, p2: int) -> Tuple[int, int]:
-    idx = upper_trid_index(len(GeomType), p1, p2)
-    return m.geom_pair_type_count[idx], idx
-
-  ncollision = sum(_pair_count(g[0].value, g[1].value)[0] for g in collision_table)
-  # no convex collisions, early return
-
-  if ncollision == 0:
-    return
-
-  # compute nmaxpolygon and nmaxmeshdeg given the geom pairs for the model
-  nboxbox, _ = _pair_count(GeomType.BOX.value, GeomType.BOX.value)
-  if (GeomType.BOX, GeomType.BOX) not in collision_table:
-    nboxbox = 0
-  nboxmesh, _ = _pair_count(GeomType.BOX.value, GeomType.MESH.value)
-  nmeshmesh, _ = _pair_count(GeomType.MESH.value, GeomType.MESH.value)
-
-  epa_iterations = 16 if nboxbox == ncollision else m.opt.ccd_iterations
-
-  # set to true to enable multiccd
-  use_multiccd = m.opt.disableflags & DisableBit.MULTICCD == 0
-
-  # need at least 4 (square sides) if there's a box collision needing multiccd
-  nmaxpolygon = 4 if nboxbox > 0 else 0
-  nmaxmeshdeg = 3 if nboxbox > 0 else 0
-
-  # need to allocate more memory if there's meshes
-  if use_multiccd and nmeshmesh + nboxmesh > 0:
-    minval = 4 if nboxmesh else nmaxpolygon
-    nmaxpolygon = max(m.nmaxpolygon, minval)
-    nmaxmeshdeg = max(m.nmaxmeshdeg, 3)
-
-  # ccd collider count
-  nccd = wp.zeros(len(GeomType) * (len(GeomType) + 1) // 2, dtype=int)
-
-  # epa_vert: vertices in EPA polytope
-  epa_vert = wp.empty(shape=(d.naccdmax, 10 + 2 * epa_iterations), dtype=wp.vec3)
-  # epa_vert_index: vertex indices in EPA polytope
-  epa_vert_index = wp.empty(shape=(d.naccdmax, 10 + 2 * epa_iterations), dtype=int)
-  # epa_face: faces of polytope represented by three indices
-  epa_face = wp.empty(shape=(d.naccdmax, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=int)
-  # epa_pr: projection of origin on polytope faces
-  epa_pr = wp.empty(shape=(d.naccdmax, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=wp.vec3)
-  # epa_norm2: epa_pr * epa_pr
-  epa_norm2 = wp.empty(shape=(d.naccdmax, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=float)
-  # epa_horizon: index pair (i j) of edges on horizon
-  epa_horizon = wp.empty(shape=(d.naccdmax, MJ_MAX_EPAHORIZON), dtype=int)
-
-  # Contact outputs
-  contact_outputs = [
-    d.contact.dist,
-    d.contact.pos,
-    d.contact.frame,
-    d.contact.includemargin,
-    d.contact.friction,
-    d.contact.solref,
-    d.contact.solreffriction,
-    d.contact.solimp,
-    d.contact.dim,
-    d.contact.geom,
-    d.contact.efc_address,
-    d.contact.worldid,
-    d.contact.type,
-    d.contact.geomcollisionid,
-    d.nacon,
-  ]
-
-  # Launch heightfield collision kernels (no multiccd args, 72 args total)
-  for geom_pair in collision_table:
-    g1 = geom_pair[0].value
-    g2 = geom_pair[1].value
-    count, geomgeomid = _pair_count(g1, g2)
-    if (g1 == GeomType.HFIELD or g2 == GeomType.HFIELD) and count:
-      wp.launch(
-        ccd_hfield_kernel_builder(g1, g2, m.opt.ccd_iterations, epa_iterations, geomgeomid, bool(m.opt.warn_overflow)),
-        dim=d.naconmax,
-        inputs=[
-          m.opt.ccd_tolerance,
-          m.geom_type,
-          m.geom_condim,
-          m.geom_dataid,
-          m.geom_priority,
-          m.geom_solmix,
-          m.geom_solref,
-          m.geom_solimp,
-          m.geom_size,
-          m.geom_rbound,
-          m.geom_friction,
-          m.geom_margin,
-          m.geom_gap,
-          m.mesh_vertadr,
-          m.mesh_vertnum,
-          m.mesh_graphadr,
-          m.mesh_vert,
-          m.mesh_graph,
-          m.mesh_polynum,
-          m.mesh_polyadr,
-          m.mesh_polynormal,
-          m.mesh_polyvertadr,
-          m.mesh_polyvertnum,
-          m.mesh_polyvert,
-          m.mesh_polymapadr,
-          m.mesh_polymapnum,
-          m.mesh_polymap,
-          m.hfield_size,
-          m.hfield_nrow,
-          m.hfield_ncol,
-          m.hfield_adr,
-          m.hfield_data,
-          m.pair_dim,
-          m.pair_solref,
-          m.pair_solreffriction,
-          m.pair_solimp,
-          m.pair_margin,
-          m.pair_gap,
-          m.pair_friction,
-          d.geom_xpos,
-          d.geom_xmat,
-          d.naconmax,
-          d.naccdmax,
-          d.ncollision,
-          ctx.collision_pair,
-          ctx.collision_pairid,
-          ctx.collision_worldid,
-          epa_vert,
-          epa_vert_index,
-          epa_face,
-          epa_pr,
-          epa_norm2,
-          epa_horizon,
-          nccd,
-        ],
-        outputs=contact_outputs + [d.overflow],
-      )
-
-  # Allocate multiccd arrays only for non-heightfield collisions
-  # multiccd_polygon: clipped contact surface
-  multiccd_polygon = wp.empty(shape=(d.naccdmax, 2 * nmaxpolygon), dtype=wp.vec3)
-  # multiccd_clipped: clipped contact surface (intermediate)
-  multiccd_clipped = wp.empty(shape=(d.naccdmax, 2 * nmaxpolygon), dtype=wp.vec3)
-  # multiccd_pnormal: plane normal of clipping polygon
-  multiccd_pnormal = wp.empty(shape=(d.naccdmax, nmaxpolygon), dtype=wp.vec3)
-  # multiccd_pdist: plane distance of clipping polygon
-  multiccd_pdist = wp.empty(shape=(d.naccdmax, nmaxpolygon), dtype=float)
-  # multiccd_idx1: list of normal index candidates for Geom 1
-  multiccd_idx1 = wp.empty(shape=(d.naccdmax, nmaxmeshdeg), dtype=int)
-  # multiccd_idx2: list of normal index candidates for Geom 2
-  multiccd_idx2 = wp.empty(shape=(d.naccdmax, nmaxmeshdeg), dtype=int)
-  # multiccd_n1: list of normal candidates for Geom 1
-  multiccd_n1 = wp.empty(shape=(d.naccdmax, nmaxmeshdeg), dtype=wp.vec3)
-  # multiccd_n2: list of normal candidates for Geom 1
-  multiccd_n2 = wp.empty(shape=(d.naccdmax, nmaxmeshdeg), dtype=wp.vec3)
-  # multiccd_endvert: list of edge vertices candidates
-  multiccd_endvert = wp.empty(shape=(d.naccdmax, nmaxmeshdeg), dtype=wp.vec3)
-  # multiccd_face1: contact face
-  multiccd_face1 = wp.empty(shape=(d.naccdmax, nmaxpolygon), dtype=wp.vec3)
-  # multiccd_face2: contact face
-  multiccd_face2 = wp.empty(shape=(d.naccdmax, nmaxpolygon), dtype=wp.vec3)
-
-  # Launch non-heightfield collision kernels (no hfield args, 78 args total)
-  for geom_pair in collision_table:
-    g1 = geom_pair[0].value
-    g2 = geom_pair[1].value
-    count, geomgeomid = _pair_count(g1, g2)
-    if g1 != GeomType.HFIELD and g2 != GeomType.HFIELD and count:
-      ccd_k = ccd_kernel_builder(
-        g1,
-        g2,
-        m.opt.ccd_iterations,
-        epa_iterations,
-        use_multiccd,
-        geomgeomid,
-        m.block_dim.convex_ccd,
-        bool(m.opt.warn_overflow),
-      )
-      ccd_grid = _ccd_grid_size(ccd_k, d.naconmax, d.ncollision.device)
-      wp.launch(
-        ccd_k,
-        dim=ccd_grid,
-        block_dim=m.block_dim.convex_ccd,
-        inputs=[
-          m.opt.ccd_tolerance,
-          m.geom_type,
-          m.geom_condim,
-          m.geom_dataid,
-          m.geom_priority,
-          m.geom_solmix,
-          m.geom_solref,
-          m.geom_solimp,
-          m.geom_size,
-          m.geom_friction,
-          m.geom_margin,
-          m.geom_gap,
-          m.mesh_vertadr,
-          m.mesh_vertnum,
-          m.mesh_graphadr,
-          m.mesh_vert,
-          m.mesh_graph,
-          m.mesh_polynum,
-          m.mesh_polyadr,
-          m.mesh_polynormal,
-          m.mesh_polyvertadr,
-          m.mesh_polyvertnum,
-          m.mesh_polyvert,
-          m.mesh_polymapadr,
-          m.mesh_polymapnum,
-          m.mesh_polymap,
-          m.pair_dim,
-          m.pair_solref,
-          m.pair_solreffriction,
-          m.pair_solimp,
-          m.pair_margin,
-          m.pair_gap,
-          m.pair_friction,
-          d.geom_xpos,
-          d.geom_xmat,
-          d.naconmax,
-          d.naccdmax,
-          d.ncollision,
-          ccd_grid,
-          ctx.collision_pair,
-          ctx.collision_pairid,
-          ctx.collision_worldid,
-          epa_vert,
-          epa_vert_index,
-          epa_face,
-          epa_pr,
-          epa_norm2,
-          epa_horizon,
-          multiccd_polygon,
-          multiccd_clipped,
-          multiccd_pnormal,
-          multiccd_pdist,
-          multiccd_idx1,
-          multiccd_idx2,
-          multiccd_n1,
-          multiccd_n2,
-          multiccd_endvert,
-          multiccd_face1,
-          multiccd_face2,
-          nccd,
-        ],
-        outputs=contact_outputs + [d.overflow],
-      )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_core.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_core.py
deleted file mode 100644
index 12798e8d..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_core.py
+++ /dev/null
@@ -1,584 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Core collision types and utilities shared across collision modules."""
-
-import dataclasses
-from typing import Any, Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.math import safe_div
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINMU
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import ContactType
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import mat63
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.struct
-class Geom:
-  """Geom properties for pairwise collision detection.
-
-  Bundles a geometry's pose, size, surface normal, and mesh topology data into
-  a single struct that can be passed to Warp collision kernels.
-  """
-
-  pos: wp.vec3
-  rot: wp.mat33
-  normal: wp.vec3
-  size: wp.vec3
-  margin: float
-  hfprism: mat63
-  vertadr: int
-  vertnum: int
-  vert: wp.array[wp.vec3]
-  graphadr: int
-  graph: wp.array[int]
-  mesh_polynum: int
-  mesh_polyadr: int
-  mesh_polynormal: wp.array[wp.vec3]
-  mesh_polyvertadr: wp.array[int]
-  mesh_polyvertnum: wp.array[int]
-  mesh_polyvert: wp.array[int]
-  mesh_polymapadr: wp.array[int]
-  mesh_polymapnum: wp.array[int]
-  mesh_polymap: wp.array[int]
-  index: int
-
-
-@wp.func
-def geom_collision_pair_from_types(
-  # Model:
-  geom_dataid: wp.array2d[int],
-  geom_size: wp.array2d[wp.vec3],
-  mesh_vertadr: wp.array[int],
-  mesh_vertnum: wp.array[int],
-  mesh_graphadr: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_graph: wp.array[int],
-  mesh_polynum: wp.array[int],
-  mesh_polyadr: wp.array[int],
-  mesh_polynormal: wp.array[wp.vec3],
-  mesh_polyvertadr: wp.array[int],
-  mesh_polyvertnum: wp.array[int],
-  mesh_polyvert: wp.array[int],
-  mesh_polymapadr: wp.array[int],
-  mesh_polymapnum: wp.array[int],
-  mesh_polymap: wp.array[int],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  geom_type1: int,
-  geom_type2: int,
-  geoms: wp.vec2i,
-  worldid: int,
-) -> Tuple[Geom, Geom]:
-  geom1 = Geom()
-  geom2 = Geom()
-
-  g1 = geoms[0]
-  g2 = geoms[1]
-
-  geom1.pos = geom_xpos_in[worldid, g1]
-  geom1.rot = geom_xmat_in[worldid, g1]
-  geom1.size = geom_size[worldid % geom_size.shape[0], g1]
-  # z-axis of the rotation matrix, used as the surface normal for plane collisions
-  geom1.normal = wp.vec3(geom1.rot[0, 2], geom1.rot[1, 2], geom1.rot[2, 2])
-
-  geom2.pos = geom_xpos_in[worldid, g2]
-  geom2.rot = geom_xmat_in[worldid, g2]
-  geom2.size = geom_size[worldid % geom_size.shape[0], g2]
-  # z-axis of the rotation matrix, used as the surface normal for plane collisions
-  geom2.normal = wp.vec3(geom2.rot[0, 2], geom2.rot[1, 2], geom2.rot[2, 2])
-
-  dataid_setid = worldid % geom_dataid.shape[0]
-
-  if geom_type1 == GeomType.MESH:
-    dataid = geom_dataid[dataid_setid, g1]
-    geom1.vertadr = wp.where(dataid >= 0, mesh_vertadr[dataid], -1)
-    geom1.vertnum = wp.where(dataid >= 0, mesh_vertnum[dataid], -1)
-    geom1.graphadr = wp.where(dataid >= 0, mesh_graphadr[dataid], -1)
-    geom1.mesh_polynum = wp.where(dataid >= 0, mesh_polynum[dataid], -1)
-    geom1.mesh_polyadr = wp.where(dataid >= 0, mesh_polyadr[dataid], -1)
-
-    geom1.vert = mesh_vert
-    geom1.graph = mesh_graph
-    geom1.mesh_polynormal = mesh_polynormal
-    geom1.mesh_polyvertadr = mesh_polyvertadr
-    geom1.mesh_polyvertnum = mesh_polyvertnum
-    geom1.mesh_polyvert = mesh_polyvert
-    geom1.mesh_polymapadr = mesh_polymapadr
-    geom1.mesh_polymapnum = mesh_polymapnum
-    geom1.mesh_polymap = mesh_polymap
-
-  if geom_type2 == GeomType.MESH:
-    dataid = geom_dataid[dataid_setid, g2]
-    geom2.vertadr = wp.where(dataid >= 0, mesh_vertadr[dataid], -1)
-    geom2.vertnum = wp.where(dataid >= 0, mesh_vertnum[dataid], -1)
-    geom2.graphadr = wp.where(dataid >= 0, mesh_graphadr[dataid], -1)
-    geom2.mesh_polynum = wp.where(dataid >= 0, mesh_polynum[dataid], -1)
-    geom2.mesh_polyadr = wp.where(dataid >= 0, mesh_polyadr[dataid], -1)
-
-    geom2.vert = mesh_vert
-    geom2.graph = mesh_graph
-    geom2.mesh_polynormal = mesh_polynormal
-    geom2.mesh_polyvertadr = mesh_polyvertadr
-    geom2.mesh_polyvertnum = mesh_polyvertnum
-    geom2.mesh_polyvert = mesh_polyvert
-    geom2.mesh_polymapadr = mesh_polymapadr
-    geom2.mesh_polymapnum = mesh_polymapnum
-    geom2.mesh_polymap = mesh_polymap
-
-  geom1.index = -1
-  geom1.margin = 0.0
-
-  geom2.index = -1
-  geom2.margin = 0.0
-
-  return geom1, geom2
-
-
-@wp.func
-def geom_collision_pair(
-  # Model:
-  geom_type: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_size: wp.array2d[wp.vec3],
-  mesh_vertadr: wp.array[int],
-  mesh_vertnum: wp.array[int],
-  mesh_graphadr: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_graph: wp.array[int],
-  mesh_polynum: wp.array[int],
-  mesh_polyadr: wp.array[int],
-  mesh_polynormal: wp.array[wp.vec3],
-  mesh_polyvertadr: wp.array[int],
-  mesh_polyvertnum: wp.array[int],
-  mesh_polyvert: wp.array[int],
-  mesh_polymapadr: wp.array[int],
-  mesh_polymapnum: wp.array[int],
-  mesh_polymap: wp.array[int],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  geoms: wp.vec2i,
-  worldid: int,
-) -> Tuple[Geom, Geom]:
-  geom_type1 = geom_type[geoms[0]]
-  geom_type2 = geom_type[geoms[1]]
-  return geom_collision_pair_from_types(
-    geom_dataid,
-    geom_size,
-    mesh_vertadr,
-    mesh_vertnum,
-    mesh_graphadr,
-    mesh_vert,
-    mesh_graph,
-    mesh_polynum,
-    mesh_polyadr,
-    mesh_polynormal,
-    mesh_polyvertadr,
-    mesh_polyvertnum,
-    mesh_polyvert,
-    mesh_polymapadr,
-    mesh_polymapnum,
-    mesh_polymap,
-    geom_xpos_in,
-    geom_xmat_in,
-    geom_type1,
-    geom_type2,
-    geoms,
-    worldid,
-  )
-
-
-@wp.func
-def write_contact(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  id_: int,
-  dist_in: float,
-  pos_in: wp.vec3,
-  frame_in: wp.mat33,
-  margin_in: float,
-  gap_in: float,
-  condim_in: int,
-  friction_in: vec5,
-  solref_in: wp.vec2,
-  solreffriction_in: wp.vec2,
-  solimp_in: vec5,
-  geoms_in: wp.vec2i,
-  pairid_in: wp.vec2i,
-  worldid_in: int,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-) -> int:
-  """Atomically write a detected contact into the contact output arrays.
-
-  Returns 1 if the contact is active (dist < margin), 0 otherwise.
-  """
-  active = dist_in < margin_in
-  detected = dist_in < margin_in + gap_in
-
-  # skip contact and no collision sensor
-  if (pairid_in[0] == -2 or not detected) and pairid_in[1] == -1:
-    return 0
-
-  contact_type = 0
-
-  if pairid_in[0] >= -1 and detected:
-    contact_type |= ContactType.CONSTRAINT
-
-  if pairid_in[1] >= 0:
-    contact_type |= ContactType.SENSOR
-
-  cid = wp.atomic_add(nacon_out, 0, 1)
-  if cid < naconmax_in:
-    contact_dist_out[cid] = dist_in
-    contact_pos_out[cid] = pos_in
-    contact_frame_out[cid] = frame_in
-    contact_geom_out[cid] = geoms_in
-    contact_worldid_out[cid] = worldid_in
-    includemargin = margin_in
-    contact_includemargin_out[cid] = includemargin
-    contact_dim_out[cid] = condim_in
-    contact_friction_out[cid] = friction_in
-    contact_solref_out[cid] = solref_in
-    contact_solreffriction_out[cid] = solreffriction_in
-    contact_solimp_out[cid] = solimp_in
-    contact_type_out[cid] = contact_type
-    contact_geomcollisionid_out[cid] = id_
-    for i in range(contact_efc_address_out.shape[1]):
-      contact_efc_address_out[cid, i] = -1
-    return int(active)
-  return 0
-
-
-@wp.func
-def contact_margin_gap(
-  # Model:
-  geom_margin: wp.array2d[float],
-  geom_gap: wp.array2d[float],
-  pair_margin: wp.array2d[float],
-  pair_gap: wp.array2d[float],
-  # In:
-  geoms: wp.vec2i,
-  pairid: int,
-  worldid: int,
-) -> Tuple[float, float]:
-  if pairid > -1:
-    margin = pair_margin[worldid % pair_margin.shape[0], pairid]
-    gap = pair_gap[worldid % pair_gap.shape[0], pairid]
-  else:
-    g1 = geoms[0]
-    g2 = geoms[1]
-    margin_id = worldid % geom_margin.shape[0]
-    gap_id = worldid % geom_gap.shape[0]
-    margin = geom_margin[margin_id, g1] + geom_margin[margin_id, g2]
-    gap = geom_gap[gap_id, g1] + geom_gap[gap_id, g2]
-
-  return margin, gap
-
-
-@wp.func
-def contact_material_params(
-  # Model:
-  geom_condim: wp.array[int],
-  geom_priority: wp.array[int],
-  geom_solmix: wp.array2d[float],
-  geom_solref: wp.array2d[wp.vec2],
-  geom_solimp: wp.array2d[vec5],
-  geom_friction: wp.array2d[wp.vec3],
-  pair_dim: wp.array[int],
-  pair_solref: wp.array2d[wp.vec2],
-  pair_solreffriction: wp.array2d[wp.vec2],
-  pair_solimp: wp.array2d[vec5],
-  pair_friction: wp.array2d[vec5],
-  # In:
-  geoms: wp.vec2i,
-  pairid: int,
-  worldid: int,
-):
-  if pairid > -1:
-    condim = pair_dim[pairid]
-    friction = pair_friction[worldid % pair_friction.shape[0], pairid]
-    solref = pair_solref[worldid % pair_solref.shape[0], pairid]
-    solreffriction = pair_solreffriction[worldid % pair_solreffriction.shape[0], pairid]
-    solimp = pair_solimp[worldid % pair_solimp.shape[0], pairid]
-  else:
-    g1 = geoms[0]
-    g2 = geoms[1]
-    solmix_id = worldid % geom_solmix.shape[0]
-    friction_id = worldid % geom_friction.shape[0]
-    solref_id = worldid % geom_solref.shape[0]
-    solimp_id = worldid % geom_solimp.shape[0]
-
-    solmix1 = geom_solmix[solmix_id, g1]
-    solmix2 = geom_solmix[solmix_id, g2]
-
-    condim1 = geom_condim[g1]
-    condim2 = geom_condim[g2]
-
-    # priority
-    p1 = geom_priority[g1]
-    p2 = geom_priority[g2]
-
-    if p1 > p2:
-      mix = 1.0
-      condim = condim1
-      max_geom_friction = geom_friction[friction_id, g1]
-    elif p2 > p1:
-      mix = 0.0
-      condim = condim2
-      max_geom_friction = geom_friction[friction_id, g2]
-    else:
-      mix = safe_div(solmix1, solmix1 + solmix2)
-      mix = wp.where((solmix1 < MJ_MINVAL) and (solmix2 < MJ_MINVAL), 0.5, mix)
-      mix = wp.where((solmix1 < MJ_MINVAL) and (solmix2 >= MJ_MINVAL), 0.0, mix)
-      mix = wp.where((solmix1 >= MJ_MINVAL) and (solmix2 < MJ_MINVAL), 1.0, mix)
-      condim = wp.max(condim1, condim2)
-      max_geom_friction = wp.max(geom_friction[friction_id, g1], geom_friction[friction_id, g2])
-
-    friction = vec5(
-      max_geom_friction[0],
-      max_geom_friction[0],
-      max_geom_friction[1],
-      max_geom_friction[2],
-      max_geom_friction[2],
-    )
-
-    if geom_solref[solref_id, g1][0] > 0.0 and geom_solref[solref_id, g2][0] > 0.0:
-      solref = mix * geom_solref[solref_id, g1] + (1.0 - mix) * geom_solref[solref_id, g2]
-    else:
-      solref = wp.min(geom_solref[solref_id, g1], geom_solref[solref_id, g2])
-
-    solreffriction = wp.vec2(0.0, 0.0)
-    solimp = mix * geom_solimp[solimp_id, g1] + (1.0 - mix) * geom_solimp[solimp_id, g2]
-
-  friction = vec5(
-    wp.max(MJ_MINMU, friction[0]),
-    wp.max(MJ_MINMU, friction[1]),
-    wp.max(MJ_MINMU, friction[2]),
-    wp.max(MJ_MINMU, friction[3]),
-    wp.max(MJ_MINMU, friction[4]),
-  )
-
-  return condim, friction, solref, solreffriction, solimp
-
-
-@wp.func
-def contact_params(
-  # Model:
-  geom_condim: wp.array[int],
-  geom_priority: wp.array[int],
-  geom_solmix: wp.array2d[float],
-  geom_solref: wp.array2d[wp.vec2],
-  geom_solimp: wp.array2d[vec5],
-  geom_friction: wp.array2d[wp.vec3],
-  geom_margin: wp.array2d[float],
-  geom_gap: wp.array2d[float],
-  pair_dim: wp.array[int],
-  pair_solref: wp.array2d[wp.vec2],
-  pair_solreffriction: wp.array2d[wp.vec2],
-  pair_solimp: wp.array2d[vec5],
-  pair_margin: wp.array2d[float],
-  pair_gap: wp.array2d[float],
-  pair_friction: wp.array2d[vec5],
-  # In:
-  collision_pair_in: wp.array[wp.vec2i],
-  collision_pairid_in: wp.array[wp.vec2i],
-  cid: int,
-  worldid: int,
-):
-  """Resolve contact parameters for a collision pair.
-
-  Uses explicit pair overrides when available, otherwise mixes geom-level
-  properties by priority and solmix weights.
-  """
-  geoms = collision_pair_in[cid]
-  pairid = collision_pairid_in[cid][0]
-
-  # TODO(team): early return if collision sensor but no contact
-  # (ie, pairid[0] < -1 and pairid[1] < 0)
-
-  margin, gap = contact_margin_gap(geom_margin, geom_gap, pair_margin, pair_gap, geoms, pairid, worldid)
-  condim, friction, solref, solreffriction, solimp = contact_material_params(
-    geom_condim,
-    geom_priority,
-    geom_solmix,
-    geom_solref,
-    geom_solimp,
-    geom_friction,
-    pair_dim,
-    pair_solref,
-    pair_solreffriction,
-    pair_solimp,
-    pair_friction,
-    geoms,
-    pairid,
-    worldid,
-  )
-
-  return geoms, margin, gap, condim, friction, solref, solreffriction, solimp
-
-
-@dataclasses.dataclass
-class CollisionContext:
-  """Collision driver intermediate arrays.
-
-  Attributes:
-    collision_pair: collision pairs from broadphase             (naconmax, 2)
-    collision_pairid: ids from broadphase                       (naconmax, 2)
-    collision_worldid: collision world ids from broadphase      (naconmax,)
-  """
-
-  collision_pair: wp.array
-  collision_pairid: wp.array
-  collision_worldid: wp.array
-
-
-@wp.func
-def sap_binary_search(values: wp.array[Any], value: Any, lower: int, upper: int) -> int:
-  """Binary search for the first element > value in sorted array."""
-  while lower < upper:
-    mid = (lower + upper) >> 1
-    if values[mid] > value:
-      upper = mid
-    else:
-      lower = mid + 1
-  return upper
-
-
-@wp.kernel
-def sap_range(
-  # In:
-  n: int,
-  lower_in: wp.array2d[float],
-  upper_in: wp.array2d[float],
-  sort_index_in: wp.array2d[int],
-  # Out:
-  range_out: wp.array2d[int],
-):
-  """Compute the sweep range for each sorted element."""
-  worldid, sortedid = wp.tid()
-
-  idx = sort_index_in[worldid, sortedid]
-  upper = upper_in[worldid, idx]
-
-  limit = sap_binary_search(lower_in[worldid], upper, sortedid + 1, n)
-  limit = wp.min(n - 1, limit)
-
-  range_out[worldid, sortedid] = limit - sortedid
-
-
-@wp.kernel
-def sap_sweep(
-  # In:
-  n: int,
-  sort_index_in: wp.array2d[int],
-  cumulative_sum_in: wp.array[int],
-  nsweep_in: int,
-  aabb_lower_in: wp.array2d[wp.vec3],
-  aabb_upper_in: wp.array2d[wp.vec3],
-  max_pairs: int,
-  # Out:
-  npairs_out: wp.array[int],
-  pair_id1_out: wp.array[int],
-  pair_id2_out: wp.array[int],
-  pair_worldid_out: wp.array[int],
-):
-  """Generic SAP sweep: output AABB-overlapping pairs.
-
-  This is the GPU equivalent of MuJoCo's mj_SAP function. It takes
-  axis-aligned bounding boxes and outputs pairs whose AABBs overlap
-  on all 3 axes. Domain-specific filtering is done by the caller.
-  """
-  worldelemid = wp.tid()
-
-  nworldelem = cumulative_sum_in.shape[0]
-  nworkpackages = cumulative_sum_in[nworldelem - 1]
-
-  while worldelemid < nworkpackages:
-    # Binary search to find sortedid (i) and partner sortedid (j)
-    i = sap_binary_search(cumulative_sum_in, worldelemid, 0, nworldelem)
-    j = i + worldelemid + 1
-    if i > 0:
-      j -= cumulative_sum_in[i - 1]
-
-    worldid = i // n
-    i = i % n
-    j = j % n
-
-    # Get actual element indices from sorted order
-    elem1 = sort_index_in[worldid, i]
-    elem2 = sort_index_in[worldid, j]
-
-    # Ensure elem1 < elem2 for consistent ordering
-    if elem1 > elem2:
-      tmp = elem1
-      elem1 = elem2
-      elem2 = tmp
-
-    worldelemid += nsweep_in
-
-    # AABB overlap test on all 3 axes
-    lower1 = aabb_lower_in[worldid, elem1]
-    upper1 = aabb_upper_in[worldid, elem1]
-    lower2 = aabb_lower_in[worldid, elem2]
-    upper2 = aabb_upper_in[worldid, elem2]
-
-    if lower1[0] > upper2[0] or lower2[0] > upper1[0]:
-      continue
-    if lower1[1] > upper2[1] or lower2[1] > upper1[1]:
-      continue
-    if lower1[2] > upper2[2] or lower2[2] > upper1[2]:
-      continue
-
-    # Output this pair
-    idx = wp.atomic_add(npairs_out, 0, 1)
-    if idx < max_pairs:
-      pair_id1_out[idx] = elem1
-      pair_id2_out[idx] = elem2
-      pair_worldid_out[idx] = worldid
-
-
-def create_collision_context(naconmax: int) -> CollisionContext:
-  """Create a CollisionContext with allocated arrays."""
-  return CollisionContext(
-    collision_pair=wp.empty(naconmax, dtype=wp.vec2i),
-    collision_pairid=wp.empty(naconmax, dtype=wp.vec2i),
-    collision_worldid=wp.empty(naconmax, dtype=int),
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver.py
deleted file mode 100644
index a5880ed5..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver.py
+++ /dev/null
@@ -1,942 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Optional
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.collision_convex import convex_narrowphase
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import CollisionContext
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import create_collision_context
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import sap_binary_search
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import sap_range
-from mujoco.mjx.third_party.mujoco_warp._src.collision_flex import flex_collision
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import primitive_narrowphase
-from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import sdf_narrowphase
-from mujoco.mjx.third_party.mujoco_warp._src.math import upper_tri_index
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseFilter
-from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseType
-from mujoco.mjx.third_party.mujoco_warp._src.types import CollisionType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import EnableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import SleepState
-from mujoco.mjx.third_party.mujoco_warp._src.types import mat23
-from mujoco.mjx.third_party.mujoco_warp._src.types import mat63
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-# Corresponding table to MuJoCo's mjCOLLISIONFUNC table in engine_collision_driver.c
-MJ_COLLISION_TABLE = {
-  (GeomType.PLANE, GeomType.SPHERE): CollisionType.PRIMITIVE,
-  (GeomType.PLANE, GeomType.CAPSULE): CollisionType.PRIMITIVE,
-  (GeomType.PLANE, GeomType.ELLIPSOID): CollisionType.PRIMITIVE,
-  (GeomType.PLANE, GeomType.CYLINDER): CollisionType.PRIMITIVE,
-  (GeomType.PLANE, GeomType.BOX): CollisionType.PRIMITIVE,
-  (GeomType.PLANE, GeomType.MESH): CollisionType.PRIMITIVE,
-  (GeomType.HFIELD, GeomType.SPHERE): CollisionType.CONVEX,
-  (GeomType.HFIELD, GeomType.CAPSULE): CollisionType.CONVEX,
-  (GeomType.HFIELD, GeomType.ELLIPSOID): CollisionType.CONVEX,
-  (GeomType.HFIELD, GeomType.CYLINDER): CollisionType.CONVEX,
-  (GeomType.HFIELD, GeomType.BOX): CollisionType.CONVEX,
-  (GeomType.HFIELD, GeomType.MESH): CollisionType.CONVEX,
-  (GeomType.SPHERE, GeomType.SPHERE): CollisionType.PRIMITIVE,
-  (GeomType.SPHERE, GeomType.CAPSULE): CollisionType.PRIMITIVE,
-  (GeomType.SPHERE, GeomType.ELLIPSOID): CollisionType.CONVEX,
-  (GeomType.SPHERE, GeomType.CYLINDER): CollisionType.PRIMITIVE,
-  (GeomType.SPHERE, GeomType.BOX): CollisionType.PRIMITIVE,
-  (GeomType.SPHERE, GeomType.MESH): CollisionType.CONVEX,
-  (GeomType.CAPSULE, GeomType.CAPSULE): CollisionType.PRIMITIVE,
-  (GeomType.CAPSULE, GeomType.ELLIPSOID): CollisionType.CONVEX,
-  (GeomType.CAPSULE, GeomType.CYLINDER): CollisionType.CONVEX,
-  (GeomType.CAPSULE, GeomType.BOX): CollisionType.PRIMITIVE,
-  (GeomType.CAPSULE, GeomType.MESH): CollisionType.CONVEX,
-  (GeomType.ELLIPSOID, GeomType.ELLIPSOID): CollisionType.CONVEX,
-  (GeomType.ELLIPSOID, GeomType.CYLINDER): CollisionType.CONVEX,
-  (GeomType.ELLIPSOID, GeomType.BOX): CollisionType.CONVEX,
-  (GeomType.ELLIPSOID, GeomType.MESH): CollisionType.CONVEX,
-  (GeomType.CYLINDER, GeomType.CYLINDER): CollisionType.CONVEX,
-  (GeomType.CYLINDER, GeomType.BOX): CollisionType.CONVEX,
-  (GeomType.CYLINDER, GeomType.MESH): CollisionType.CONVEX,
-  (GeomType.BOX, GeomType.BOX): CollisionType.CONVEX,  # overwritten by NATIVECCD disable flag
-  (GeomType.BOX, GeomType.MESH): CollisionType.CONVEX,
-  (GeomType.MESH, GeomType.MESH): CollisionType.CONVEX,
-}
-
-
-# TODO(team): Implement narrowphase flex collision support for:
-#             - HFIELD
-#             - SDF
-MJ_FLEX_COLLISION_TABLE = {
-  (GeomType.PLANE, GeomType.FLEX): CollisionType.PRIMITIVE,
-  (GeomType.SPHERE, GeomType.FLEX): CollisionType.PRIMITIVE,
-  (GeomType.CAPSULE, GeomType.FLEX): CollisionType.PRIMITIVE,
-  (GeomType.BOX, GeomType.FLEX): CollisionType.PRIMITIVE,
-  (GeomType.CYLINDER, GeomType.FLEX): CollisionType.PRIMITIVE,
-  (GeomType.MESH, GeomType.FLEX): CollisionType.CONVEX,
-  (GeomType.ELLIPSOID, GeomType.FLEX): CollisionType.CONVEX,
-}
-
-
-@wp.func
-def _plane_filter(
-  size1: float, size2: float, margin1: float, margin2: float, xpos1: wp.vec3, xpos2: wp.vec3, xmat1: wp.mat33, xmat2: wp.mat33
-) -> bool:
-  if size1 == 0.0:
-    # geom1 is a plane
-    dist = wp.dot(xpos2 - xpos1, wp.vec3(xmat1[0, 2], xmat1[1, 2], xmat1[2, 2]))
-    return dist <= size2 + margin1 + margin2
-  elif size2 == 0.0:
-    # geom2 is a plane
-    dist = wp.dot(xpos1 - xpos2, wp.vec3(xmat2[0, 2], xmat2[1, 2], xmat2[2, 2]))
-    return dist <= size1 + margin1 + margin2
-
-  return True
-
-
-@wp.func
-def _sphere_filter(size1: float, size2: float, margin1: float, margin2: float, xpos1: wp.vec3, xpos2: wp.vec3) -> bool:
-  bound = size1 + size2 + margin1 + margin2
-  dif = xpos2 - xpos1
-  dist_sq = wp.dot(dif, dif)
-  return dist_sq <= bound * bound
-
-
-# TODO(team): improve performance by precomputing bounding box
-@wp.func
-def _aabb_filter(
-  # In:
-  center1: wp.vec3,
-  center2: wp.vec3,
-  size1: wp.vec3,
-  size2: wp.vec3,
-  margin1: float,
-  margin2: float,
-  xpos1: wp.vec3,
-  xpos2: wp.vec3,
-  xmat1: wp.mat33,
-  xmat2: wp.mat33,
-) -> bool:
-  """Axis aligned boxes collision.
-
-  references: see Ericson, Real-time Collision Detection section 4.2.
-              filterBox: filter contact based on global AABBs.
-  """
-  center1 = xmat1 @ center1 + xpos1
-  center2 = xmat2 @ center2 + xpos2
-
-  margin = margin1 + margin2
-
-  max_x1 = -MJ_MAXVAL
-  max_y1 = -MJ_MAXVAL
-  max_z1 = -MJ_MAXVAL
-  min_x1 = MJ_MAXVAL
-  min_y1 = MJ_MAXVAL
-  min_z1 = MJ_MAXVAL
-
-  max_x2 = -MJ_MAXVAL
-  max_y2 = -MJ_MAXVAL
-  max_z2 = -MJ_MAXVAL
-  min_x2 = MJ_MAXVAL
-  min_y2 = MJ_MAXVAL
-  min_z2 = MJ_MAXVAL
-
-  sign = wp.vec2(-1.0, 1.0)
-
-  for i in range(2):
-    for j in range(2):
-      for k in range(2):
-        corner1 = wp.vec3(sign[i] * size1[0], sign[j] * size1[1], sign[k] * size1[2])
-        pos1 = xmat1 @ corner1
-
-        corner2 = wp.vec3(sign[i] * size2[0], sign[j] * size2[1], sign[k] * size2[2])
-        pos2 = xmat2 @ corner2
-
-        if pos1[0] > max_x1:
-          max_x1 = pos1[0]
-
-        if pos1[1] > max_y1:
-          max_y1 = pos1[1]
-
-        if pos1[2] > max_z1:
-          max_z1 = pos1[2]
-
-        if pos1[0] < min_x1:
-          min_x1 = pos1[0]
-
-        if pos1[1] < min_y1:
-          min_y1 = pos1[1]
-
-        if pos1[2] < min_z1:
-          min_z1 = pos1[2]
-
-        if pos2[0] > max_x2:
-          max_x2 = pos2[0]
-
-        if pos2[1] > max_y2:
-          max_y2 = pos2[1]
-
-        if pos2[2] > max_z2:
-          max_z2 = pos2[2]
-
-        if pos2[0] < min_x2:
-          min_x2 = pos2[0]
-
-        if pos2[1] < min_y2:
-          min_y2 = pos2[1]
-
-        if pos2[2] < min_z2:
-          min_z2 = pos2[2]
-
-  if center1[0] + max_x1 + margin < center2[0] + min_x2:
-    return False
-  if center1[1] + max_y1 + margin < center2[1] + min_y2:
-    return False
-  if center1[2] + max_z1 + margin < center2[2] + min_z2:
-    return False
-  if center2[0] + max_x2 + margin < center1[0] + min_x1:
-    return False
-  if center2[1] + max_y2 + margin < center1[1] + min_y1:
-    return False
-  if center2[2] + max_z2 + margin < center1[2] + min_z1:
-    return False
-
-  return True
-
-
-# TODO(team): improve performance by precomputing bounding box
-@wp.func
-def _obb_filter(
-  # In:
-  center1: wp.vec3,
-  center2: wp.vec3,
-  size1: wp.vec3,
-  size2: wp.vec3,
-  margin1: float,
-  margin2: float,
-  xpos1: wp.vec3,
-  xpos2: wp.vec3,
-  xmat1: wp.mat33,
-  xmat2: wp.mat33,
-) -> bool:
-  """Oriented bounding boxes collision (see Gottschalk et al.), see mj_collideOBB."""
-  margin = margin1 + margin2
-
-  xcenter = mat23()
-  normal = mat63()
-  proj = wp.vec2()
-  radius = wp.vec2()
-
-  # compute centers in local coordinates
-  xcenter[0] = xmat1 @ center1 + xpos1
-  xcenter[1] = xmat2 @ center2 + xpos2
-
-  # compute normals in global coordinates
-  normal[0] = wp.vec3(xmat1[0, 0], xmat1[1, 0], xmat1[2, 0])
-  normal[1] = wp.vec3(xmat1[0, 1], xmat1[1, 1], xmat1[2, 1])
-  normal[2] = wp.vec3(xmat1[0, 2], xmat1[1, 2], xmat1[2, 2])
-  normal[3] = wp.vec3(xmat2[0, 0], xmat2[1, 0], xmat2[2, 0])
-  normal[4] = wp.vec3(xmat2[0, 1], xmat2[1, 1], xmat2[2, 1])
-  normal[5] = wp.vec3(xmat2[0, 2], xmat2[1, 2], xmat2[2, 2])
-
-  # check intersections
-  for j in range(2):
-    for k in range(3):
-      for i in range(2):
-        proj[i] = wp.dot(xcenter[i], normal[3 * j + k])
-        if i == 0:
-          size = size1
-        else:
-          size = size2
-
-        # fmt: off
-        radius[i] = (
-            wp.abs(size[0] * wp.dot(normal[3 * i + 0], normal[3 * j + k]))
-          + wp.abs(size[1] * wp.dot(normal[3 * i + 1], normal[3 * j + k]))
-          + wp.abs(size[2] * wp.dot(normal[3 * i + 2], normal[3 * j + k]))
-        )
-        # fmt: on
-      if radius[0] + radius[1] + margin < wp.abs(proj[1] - proj[0]):
-        return False
-
-  return True
-
-
-def _broadphase_filter(opt_broadphase_filter: int, ngeom_aabb: int, ngeom_rbound: int, ngeom_margin: int, ngeom_gap: int):
-  @wp.func
-  def func(
-    # Model:
-    geom_aabb: wp.array3d[wp.vec3],
-    geom_rbound: wp.array2d[float],
-    geom_margin: wp.array2d[float],
-    geom_gap: wp.array2d[float],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    geom_xmat_in: wp.array2d[wp.mat33],
-    # In:
-    geom1: int,
-    geom2: int,
-    worldid: int,
-  ) -> bool:
-    # 1: plane
-    # 2: sphere
-    # 4: aabb
-    # 8: obb
-
-    aabb_id = worldid % ngeom_aabb if wp.static(ngeom_aabb > 1) else 0
-    center1, center2 = geom_aabb[aabb_id, geom1, 0], geom_aabb[aabb_id, geom2, 0]  # kernel_analyzer: ignore
-    size1, size2 = geom_aabb[aabb_id, geom1, 1], geom_aabb[aabb_id, geom2, 1]  # kernel_analyzer: ignore
-
-    rbound_id = worldid % ngeom_rbound if wp.static(ngeom_rbound > 1) else 0
-    rbound1, rbound2 = geom_rbound[rbound_id, geom1], geom_rbound[rbound_id, geom2]  # kernel_analyzer: ignore
-    margin_id = worldid % ngeom_margin if wp.static(ngeom_margin > 1) else 0
-    margin1, margin2 = geom_margin[margin_id, geom1], geom_margin[margin_id, geom2]  # kernel_analyzer: ignore
-    gap_id = worldid % ngeom_gap if wp.static(ngeom_gap > 1) else 0
-    gap1, gap2 = geom_gap[gap_id, geom1], geom_gap[gap_id, geom2]  # kernel_analyzer: ignore
-    effective_margin1 = margin1 + gap1
-    effective_margin2 = margin2 + gap2
-    xpos1, xpos2 = geom_xpos_in[worldid, geom1], geom_xpos_in[worldid, geom2]
-    xmat1, xmat2 = geom_xmat_in[worldid, geom1], geom_xmat_in[worldid, geom2]
-
-    if rbound1 == 0.0 or rbound2 == 0.0:
-      if wp.static(opt_broadphase_filter & BroadphaseFilter.PLANE):
-        return _plane_filter(rbound1, rbound2, effective_margin1, effective_margin2, xpos1, xpos2, xmat1, xmat2)
-    else:
-      if wp.static(opt_broadphase_filter & BroadphaseFilter.SPHERE):
-        if not _sphere_filter(rbound1, rbound2, effective_margin1, effective_margin2, xpos1, xpos2):
-          return False
-      if wp.static(opt_broadphase_filter & BroadphaseFilter.AABB):
-        if not _aabb_filter(center1, center2, size1, size2, effective_margin1, effective_margin2, xpos1, xpos2, xmat1, xmat2):
-          return False
-      if wp.static(opt_broadphase_filter & BroadphaseFilter.OBB):
-        if not _obb_filter(center1, center2, size1, size2, effective_margin1, effective_margin2, xpos1, xpos2, xmat1, xmat2):
-          return False
-
-    return True
-
-  return func
-
-
-@wp.func
-def _add_geom_pair(
-  # Model:
-  geom_type: wp.array[int],
-  nxn_pairid: wp.array[wp.vec2i],
-  # Data in:
-  naconmax_in: int,
-  # In:
-  geom1: int,
-  geom2: int,
-  worldid: int,
-  nxnid: int,
-  # Data out:
-  ncollision_out: wp.array[int],
-  # Out:
-  collision_pair_out: wp.array[wp.vec2i],
-  collision_pairid_out: wp.array[wp.vec2i],
-  collision_worldid_out: wp.array[int],
-):
-  pairid = wp.atomic_add(ncollision_out, 0, 1)
-
-  if pairid >= naconmax_in:
-    return
-
-  type1 = geom_type[geom1]
-  type2 = geom_type[geom2]
-
-  if type1 > type2:
-    pair = wp.vec2i(geom2, geom1)
-  else:
-    pair = wp.vec2i(geom1, geom2)
-
-  collision_pair_out[pairid] = pair
-  collision_pairid_out[pairid] = nxn_pairid[nxnid]
-  collision_worldid_out[pairid] = worldid
-
-
-@cache_kernel
-def _sap_project(opt_broadphase: int):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def sap_project(
-    # Model:
-    ngeom: int,
-    geom_rbound: wp.array2d[float],
-    geom_margin: wp.array2d[float],
-    geom_gap: wp.array2d[float],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    nworld_in: int,
-    # In:
-    direction_in: wp.vec3,
-    # Out:
-    projection_lower_out: wp.array2d[float],
-    projection_upper_out: wp.array2d[float],
-    sort_index_out: wp.array2d[int],
-    segmented_index_out: wp.array[int],
-  ):
-    worldid, geomid = wp.tid()
-
-    xpos = geom_xpos_in[worldid, geomid]
-    rbound = geom_rbound[worldid % geom_rbound.shape[0], geomid]
-
-    if rbound == 0.0:
-      # geom is a plane
-      rbound = MJ_MAXVAL
-
-    radius = rbound + geom_margin[worldid % geom_margin.shape[0], geomid] + geom_gap[worldid % geom_gap.shape[0], geomid]
-    center = wp.dot(direction_in, xpos)
-
-    sort_index_out[worldid, geomid] = geomid
-    if not wp.isnan(center):
-      projection_lower_out[worldid, geomid] = center - radius
-      projection_upper_out[worldid, geomid] = center + radius
-    else:
-      projection_lower_out[worldid, geomid] = MJ_MAXVAL
-      projection_upper_out[worldid, geomid] = MJ_MAXVAL
-
-    if wp.static(opt_broadphase == BroadphaseType.SAP_SEGMENTED):
-      if geomid == 0:
-        segmented_index_out[worldid] = worldid * ngeom
-        if worldid == nworld_in - 1:
-          segmented_index_out[nworld_in] = nworld_in * ngeom
-
-  return sap_project
-
-
-@cache_kernel
-def _sap_broadphase(
-  opt_broadphase_filter: int,
-  ngeom_aabb: int,
-  ngeom_rbound: int,
-  ngeom_margin: int,
-  ngeom_gap: int,
-  enable_sleep: bool = False,
-  incremental: bool = False,
-):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    ngeom: int,
-    geom_type: wp.array[int],
-    geom_bodyid: wp.array[int],
-    geom_aabb: wp.array3d[wp.vec3],
-    geom_rbound: wp.array2d[float],
-    geom_margin: wp.array2d[float],
-    geom_gap: wp.array2d[float],
-    nxn_pairid: wp.array[wp.vec2i],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    geom_xmat_in: wp.array2d[wp.mat33],
-    body_awake_in: wp.array2d[int],
-    nworld_in: int,
-    naconmax_in: int,
-    # In:
-    sort_index_in: wp.array2d[int],
-    cumulative_sum_in: wp.array[int],
-    nsweep_in: int,
-    body_awake_prev_in: wp.array2d[int],
-    # Data out:
-    ncollision_out: wp.array[int],
-    # Out:
-    collision_pair_out: wp.array[wp.vec2i],
-    collision_pairid_out: wp.array[wp.vec2i],
-    collision_worldid_out: wp.array[int],
-  ):
-    worldgeomid = wp.tid()
-
-    nworldgeom = nworld_in * ngeom
-    nworkpackages = cumulative_sum_in[nworldgeom - 1]
-
-    while worldgeomid < nworkpackages:
-      # binary search to find current and next geom pair indices
-      i = sap_binary_search(cumulative_sum_in, worldgeomid, 0, nworldgeom)
-      j = i + worldgeomid + 1
-
-      if i > 0:
-        j -= cumulative_sum_in[i - 1]
-
-      worldid = i // ngeom
-      i = i % ngeom
-      j = j % ngeom
-
-      # get geom indices and swap if necessary
-      geom1 = sort_index_in[worldid, i]
-      geom2 = sort_index_in[worldid, j]
-
-      # find linear index of (geom1, geom2) in upper triangular nxn_pairid
-      if geom2 < geom1:
-        idx = upper_tri_index(ngeom, geom2, geom1)
-      else:
-        idx = upper_tri_index(ngeom, geom1, geom2)
-
-      worldgeomid += nsweep_in
-      pairid = nxn_pairid[idx]
-      if pairid[0] < -1 and pairid[1] < 0:
-        continue
-
-      if wp.static(enable_sleep):
-        b1 = geom_bodyid[geom1]
-        b2 = geom_bodyid[geom2]
-        s1 = body_awake_in[worldid, b1]
-        s2 = body_awake_in[worldid, b2]
-        if s1 == SleepState.ASLEEP and s2 == SleepState.ASLEEP:
-          continue
-        if (s1 == SleepState.ASLEEP and s2 == SleepState.STATIC) or (s2 == SleepState.ASLEEP and s1 == SleepState.STATIC):
-          continue
-
-        if wp.static(incremental):
-          # only re-emit pairs that pass 1 skipped (see _nxn_broadphase for rationale)
-          p1 = body_awake_prev_in[worldid, b1]
-          p2 = body_awake_prev_in[worldid, b2]
-          skipped_pass1 = (
-            (p1 == SleepState.ASLEEP and p2 == SleepState.ASLEEP)
-            or (p1 == SleepState.ASLEEP and p2 == SleepState.STATIC)
-            or (p2 == SleepState.ASLEEP and p1 == SleepState.STATIC)
-          )
-          if not skipped_pass1:
-            continue
-
-      if (
-        wp.static(_broadphase_filter(opt_broadphase_filter, ngeom_aabb, ngeom_rbound, ngeom_margin, ngeom_gap))(
-          geom_aabb, geom_rbound, geom_margin, geom_gap, geom_xpos_in, geom_xmat_in, geom1, geom2, worldid
-        )
-        or pairid[1] >= 0
-      ):
-        _add_geom_pair(
-          geom_type,
-          nxn_pairid,
-          naconmax_in,
-          geom1,
-          geom2,
-          worldid,
-          idx,
-          ncollision_out,
-          collision_pair_out,
-          collision_pairid_out,
-          collision_worldid_out,
-        )
-
-  return kernel
-
-
-@cache_kernel
-def _segmented_sort(tile_size: int):
-  @wp.kernel(module="unique", grid_stride=False)
-  def segmented_sort(
-    # In:
-    projection_lower_in: wp.array2d[float],
-    sort_index_in: wp.array2d[int],
-    # Out:
-    projection_lower_out: wp.array2d[float],
-    sort_index_out: wp.array2d[int],
-  ):
-    worldid = wp.tid()
-
-    # Load input into shared memory
-    keys = wp.tile_load(projection_lower_in[worldid], shape=tile_size, storage="shared")
-    values = wp.tile_load(sort_index_in[worldid], shape=tile_size, storage="shared")
-
-    # Perform in-place sorting
-    wp.tile_sort(keys, values)
-
-    # Store sorted shared memory into output arrays
-    wp.tile_store(projection_lower_out[worldid], keys)
-    wp.tile_store(sort_index_out[worldid], values)
-
-  return segmented_sort
-
-
-@event_scope
-def sap_broadphase(
-  m: Model,
-  d: Data,
-  ctx: CollisionContext,
-  awake_prev: Optional[wp.array] = None,
-):
-  """Runs broadphase collision detection using a sweep-and-prune (SAP) algorithm.
-
-  This method is more efficient than the N-squared approach for large numbers of
-  objects. It works by projecting the bounding spheres of all geoms onto a
-  single axis and sorting them. It then sweeps along the axis, only checking
-  for overlaps between geoms whose projections are close to each other.
-
-  For each potentially colliding pair identified by the sweep, a more precise
-  bounding sphere check is performed. If this check passes, the pair is added
-  to the collision arrays in `d` for the narrowphase stage.
-
-  Two sorting strategies are supported, controlled by `m.opt.broadphase`
-
-  - `SAP_TILE`: Uses a tile-based sort.
-  - `SAP_SEGMENTED`: Uses a segmented sort.
-
-  Unlike `nxn_broadphase`, SAP cannot be wrapped in a CUDA graph conditional to skip the
-  incremental sleeping pass: its sort/scan utilities allocate scratch internally, which is
-  not allowed inside a conditional body. The incremental filter in the sweep kernel still
-  restricts the emitted pairs to those involving newly-awakened bodies.
-  """
-  nworldgeom = d.nworld * m.ngeom
-  incremental = awake_prev is not None
-  awake_prev_in = awake_prev if awake_prev is not None else d.body_awake
-  enable_sleep = bool(m.opt.enableflags & EnableBit.SLEEP)
-
-  # TODO(team): direction
-
-  # random fixed direction
-  direction = wp.vec3(0.5935, 0.7790, 0.1235)
-  direction = wp.normalize(direction)
-
-  projection_lower = wp.empty((d.nworld, m.ngeom, 2), dtype=float)
-  projection_upper = wp.empty((d.nworld, m.ngeom), dtype=float)
-  sort_index = wp.empty((d.nworld, m.ngeom, 2), dtype=int)
-  range_ = wp.empty((d.nworld, m.ngeom), dtype=int)
-  cumulative_sum = wp.empty((d.nworld, m.ngeom), dtype=int)
-  segmented_index = wp.empty(d.nworld + 1 if m.opt.broadphase == BroadphaseType.SAP_SEGMENTED else 0, dtype=int)
-
-  wp.launch(
-    kernel=_sap_project(m.opt.broadphase),
-    dim=(d.nworld, m.ngeom),
-    inputs=[m.ngeom, m.geom_rbound, m.geom_margin, m.geom_gap, d.geom_xpos, d.nworld, direction],
-    outputs=[
-      projection_lower.reshape((-1, m.ngeom)),
-      projection_upper,
-      sort_index.reshape((-1, m.ngeom)),
-      segmented_index,
-    ],
-  )
-
-  if m.opt.broadphase == BroadphaseType.SAP_TILE:
-    wp.launch_tiled(
-      kernel=_segmented_sort(m.ngeom),
-      dim=d.nworld,
-      inputs=[projection_lower.reshape((-1, m.ngeom)), sort_index.reshape((-1, m.ngeom))],
-      outputs=[projection_lower.reshape((-1, m.ngeom)), sort_index.reshape((-1, m.ngeom))],
-      block_dim=m.block_dim.segmented_sort,
-    )
-  else:
-    wp.utils.segmented_sort_pairs(
-      projection_lower.reshape((-1, m.ngeom)), sort_index.reshape((-1, m.ngeom)), nworldgeom, segmented_index
-    )
-
-  wp.launch(
-    kernel=sap_range,
-    dim=(d.nworld, m.ngeom),
-    inputs=[m.ngeom, projection_lower.reshape((-1, m.ngeom)), projection_upper, sort_index.reshape((-1, m.ngeom))],
-    outputs=[range_],
-  )
-
-  # scan is used for load balancing among the threads
-  wp.utils.array_scan(range_.reshape(-1), cumulative_sum.reshape(-1), True)
-
-  # estimate number of overlap checks
-  # assumes each geom has 5 other geoms (batched over all worlds)
-  nsweep = 5 * nworldgeom
-  wp.launch(
-    kernel=_sap_broadphase(
-      m.opt.broadphase_filter,
-      m.geom_aabb.shape[0],
-      m.geom_rbound.shape[0],
-      m.geom_margin.shape[0],
-      m.geom_gap.shape[0],
-      enable_sleep,
-      incremental,
-    ),
-    dim=nsweep,
-    inputs=[
-      m.ngeom,
-      m.geom_type,
-      m.geom_bodyid,
-      m.geom_aabb,
-      m.geom_rbound,
-      m.geom_margin,
-      m.geom_gap,
-      m.nxn_pairid,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.body_awake,
-      d.nworld,
-      d.naconmax,
-      sort_index.reshape((-1, m.ngeom)),
-      cumulative_sum.reshape(-1),
-      nsweep,
-      awake_prev_in,
-    ],
-    outputs=[d.ncollision, ctx.collision_pair, ctx.collision_pairid, ctx.collision_worldid],
-  )
-
-
-@cache_kernel
-def _nxn_broadphase(
-  opt_broadphase_filter: int,
-  ngeom_aabb: int,
-  ngeom_rbound: int,
-  ngeom_margin: int,
-  ngeom_gap: int,
-  enable_sleep: bool = False,
-  incremental: bool = False,
-):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    geom_type: wp.array[int],
-    geom_bodyid: wp.array[int],
-    geom_aabb: wp.array3d[wp.vec3],
-    geom_rbound: wp.array2d[float],
-    geom_margin: wp.array2d[float],
-    geom_gap: wp.array2d[float],
-    nxn_geom_pair: wp.array[wp.vec2i],
-    nxn_pairid: wp.array[wp.vec2i],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    geom_xmat_in: wp.array2d[wp.mat33],
-    body_awake_in: wp.array2d[int],
-    naconmax_in: int,
-    # In:
-    body_awake_prev_in: wp.array2d[int],
-    # Data out:
-    ncollision_out: wp.array[int],
-    # Out:
-    collision_pair_out: wp.array[wp.vec2i],
-    collision_pairid_out: wp.array[wp.vec2i],
-    collision_worldid_out: wp.array[int],
-  ):
-    worldid, elementid = wp.tid()
-
-    geom = nxn_geom_pair[elementid]
-    geom1 = geom[0]
-    geom2 = geom[1]
-
-    if wp.static(enable_sleep):
-      b1 = geom_bodyid[geom1]
-      b2 = geom_bodyid[geom2]
-      s1 = body_awake_in[worldid, b1]
-      s2 = body_awake_in[worldid, b2]
-      if s1 == SleepState.ASLEEP and s2 == SleepState.ASLEEP:
-        return
-      if (s1 == SleepState.ASLEEP and s2 == SleepState.STATIC) or (s2 == SleepState.ASLEEP and s1 == SleepState.STATIC):
-        return
-
-      if wp.static(incremental):
-        # On the incremental pass we only want pairs that were *not* already emitted in pass 1.
-        # Pass 1 skipped a pair iff both bodies were asleep, or one asleep and one static. Such a
-        # pair becomes relevant now only because one of its bodies was newly awakened, so re-emit
-        # it. Every other pair was handled in pass 1 and its contact geometry is unchanged.
-        p1 = body_awake_prev_in[worldid, b1]
-        p2 = body_awake_prev_in[worldid, b2]
-        skipped_pass1 = (
-          (p1 == SleepState.ASLEEP and p2 == SleepState.ASLEEP)
-          or (p1 == SleepState.ASLEEP and p2 == SleepState.STATIC)
-          or (p2 == SleepState.ASLEEP and p1 == SleepState.STATIC)
-        )
-        if not skipped_pass1:
-          return
-
-    if (
-      wp.static(_broadphase_filter(opt_broadphase_filter, ngeom_aabb, ngeom_rbound, ngeom_margin, ngeom_gap))(
-        geom_aabb, geom_rbound, geom_margin, geom_gap, geom_xpos_in, geom_xmat_in, geom1, geom2, worldid
-      )
-      or nxn_pairid[elementid][1] >= 0
-    ):
-      _add_geom_pair(
-        geom_type,
-        nxn_pairid,
-        naconmax_in,
-        geom1,
-        geom2,
-        worldid,
-        elementid,
-        ncollision_out,
-        collision_pair_out,
-        collision_pairid_out,
-        collision_worldid_out,
-      )
-
-  return kernel
-
-
-@wp.kernel
-def _any_awake_changed(
-  # Data in:
-  body_awake_in: wp.array2d[int],
-  # In:
-  awake_prev_in: wp.array2d[int],
-  # Out:
-  changed_out: wp.array[int],
-):
-  worldid, bodyid = wp.tid()
-  # benign race: every thread that fires writes the same value
-  if awake_prev_in[worldid, bodyid] != body_awake_in[worldid, bodyid]:
-    changed_out[0] = 1
-
-
-@event_scope
-def nxn_broadphase(
-  m: Model,
-  d: Data,
-  ctx: CollisionContext,
-  awake_prev: Optional[wp.array] = None,
-):
-  """Runs broadphase collision detection using a brute-force N-squared approach.
-
-  This function iterates through a pre-filtered list of all possible geometry pairs and
-  performs a quick bounding sphere check to identify potential collisions.
-
-  For each pair that passes the sphere check, it populates the collision arrays in `d`
-  (`d.collision_pair`, `d.collision_pairid`, etc.), which are then consumed by the
-  narrowphase.
-
-  The initial list of pairs is filtered at model creation time to exclude pairs based on
-  `contype`/`conaffinity`, parent-child relationships, and explicit `<exclude>` tags.
-
-  Passing ``awake_prev`` runs the incremental sleeping pass: only pairs involving a newly-awakened
-  body are emitted. When graph conditionals are available the launch is wrapped in one gated on
-  whether any body woke since pass 1 (``awake_prev != body_awake``), so the broadphase is skipped
-  wholesale on steps where nothing woke; otherwise it runs unconditionally and the per-pair filter
-  restricts the emitted pairs.
-  """
-  enable_sleep = bool(m.opt.enableflags & EnableBit.SLEEP)
-  incremental = awake_prev is not None
-  awake_prev_in = awake_prev if awake_prev is not None else d.body_awake
-
-  # On the incremental pass, skip the broadphase wholesale via a graph conditional when nothing woke
-  # since pass 1. A wake is exactly a body whose state changed between awake_prev and body_awake
-  # (nothing sleeps between the passes), so the condition is derived here rather than threaded in.
-  cond = None
-  if incremental and m.opt.graph_conditional:
-    cond = wp.zeros(1, dtype=int)
-    wp.launch(_any_awake_changed, dim=(d.nworld, m.nbody), inputs=[d.body_awake, awake_prev], outputs=[cond])
-
-  def _launch():
-    wp.launch(
-      _nxn_broadphase(
-        m.opt.broadphase_filter,
-        m.geom_aabb.shape[0],
-        m.geom_rbound.shape[0],
-        m.geom_margin.shape[0],
-        m.geom_gap.shape[0],
-        enable_sleep,
-        incremental,
-      ),
-      dim=(d.nworld, m.nxn_geom_pair_filtered.shape[0]),
-      inputs=[
-        m.geom_type,
-        m.geom_bodyid,
-        m.geom_aabb,
-        m.geom_rbound,
-        m.geom_margin,
-        m.geom_gap,
-        m.nxn_geom_pair_filtered,
-        m.nxn_pairid_filtered,
-        d.geom_xpos,
-        d.geom_xmat,
-        d.body_awake,
-        d.naconmax,
-        awake_prev_in,
-      ],
-      outputs=[
-        d.ncollision,
-        ctx.collision_pair,
-        ctx.collision_pairid,
-        ctx.collision_worldid,
-      ],
-    )
-
-  if cond is not None:
-    wp.capture_if(cond, on_true=_launch)
-  else:
-    _launch()
-
-
-def _narrowphase(m: Model, d: Data, ctx: CollisionContext):
-  collision_table = MJ_COLLISION_TABLE
-  if m.opt.disableflags & DisableBit.NATIVECCD:
-    collision_table = collision_table.copy()
-    collision_table[(GeomType.BOX, GeomType.BOX)] = CollisionType.PRIMITIVE
-
-  convex_pairs = [key for key, value in collision_table.items() if value == CollisionType.CONVEX]
-  primitive_pairs = [key for key, value in collision_table.items() if value == CollisionType.PRIMITIVE]
-
-  # TODO(team): we should reject far-away contacts in the narrowphase instead of constraint
-  #             partitioning because we can move some pressure of the atomics
-  convex_narrowphase(m, d, ctx, convex_pairs)
-  primitive_narrowphase(m, d, ctx, primitive_pairs)
-
-  if m.has_sdf_geom:
-    sdf_narrowphase(m, d, ctx)
-
-
-@event_scope
-def collision(
-  m: Model,
-  d: Data,
-  awake_prev: Optional[wp.array] = None,
-):
-  """Runs the full collision detection pipeline.
-
-  This function orchestrates the broadphase and narrowphase collision detection stages. It
-  first identifies potential collision pairs using a broadphase algorithm (either N-squared
-  or Sweep-and-Prune, based on `m.opt.broadphase`). Then, for each potential pair, it
-  performs narrowphase collision detection to compute detailed contact information like
-  distance, position, and frame.
-
-  The results are used to populate the `d.contact` array, and the total number of contacts
-  is stored in `d.nacon`.  If `d.nacon` is larger than `d.naconmax` then an overflow has
-  occurred and the remaining contacts will be skipped.  If this happens, raise the `nconmax`
-  parameter in `io.make_data` or `io.put_data`.
-
-  This function will do nothing except zero out arrays if collision detection is disabled
-  via `m.opt.disableflags` or if `d.nacon` is 0.
-
-  Passing `awake_prev` (the awake state snapshotted before the post-collision wake) runs the
-  incremental sleeping pass: contacts are appended to the existing buffer and only pairs involving
-  a newly-awakened body are emitted.
-  """
-  if d.naconmax == 0 or m.opt.disableflags & (DisableBit.CONSTRAINT | DisableBit.CONTACT):
-    d.nacon.zero_()
-    return
-
-  # TODO(team): create context outside collision?
-  ctx = create_collision_context(d.naconmax)
-
-  incremental = awake_prev is not None
-
-  # The incremental sleeping pass appends newly-awakened contacts to the pass-1 buffer, so nacon is
-  # preserved and only ncollision (the broadphase pair counter) is reset. nxn_broadphase also skips
-  # its launch wholesale via a graph conditional when nothing woke; pre-zeroing ncollision here
-  # keeps the narrowphase below a no-op in that case. SAP cannot use a conditional (its sort/scan
-  # allocate internally), so it relies on the per-pair incremental filter instead.
-  d.ncollision.zero_()
-  if not incremental:
-    d.nacon.zero_()
-
-  if m.opt.broadphase == BroadphaseType.NXN:
-    nxn_broadphase(m, d, ctx, awake_prev)
-  else:
-    sap_broadphase(m, d, ctx, awake_prev)
-
-  _narrowphase(m, d, ctx)
-
-  # Flex collision is not sleeping-aware: pass 1 emits every flex contact regardless of awake state,
-  # so the incremental pass has nothing to add (and re-running it would duplicate those contacts).
-  # It therefore only runs on the full pass.
-  if m.nflex > 0 and not incremental:
-    flex_collision(m, d, ctx)
-
-  if m.callback.contactfilter:
-    m.callback.contactfilter(m, d)
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_flex.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_flex.py
deleted file mode 100644
index 20b375d5..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_flex.py
+++ /dev/null
@@ -1,3874 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Flex collision detection (geom vs flex triangles)."""
-
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import collision_primitive_core
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import Geom
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import sap_range
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import sap_sweep  # TODO(team): consolidate _flex_sap_project with geom _sap_project
-from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk import ccd
-from mujoco.mjx.third_party.mujoco_warp._src.math import make_frame
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAX_EPAFACES
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAX_EPAHORIZON
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINMU
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import ContactType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import OverflowType
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.func
-def _flex_element_aabb_filter(
-  # In:
-  box1_min: wp.vec3,
-  box1_max: wp.vec3,
-  box2_min: wp.vec3,
-  box2_max: wp.vec3,
-):
-  """Return True if the two AABBs do NOT intersect (discard pair)."""
-  if box1_max[0] < box2_min[0] or box1_min[0] > box2_max[0]:
-    return True
-  if box1_max[1] < box2_min[1] or box1_min[1] > box2_max[1]:
-    return True
-  if box1_max[2] < box2_min[2] or box1_min[2] > box2_max[2]:
-    return True
-  return False
-
-
-@wp.kernel
-def _flex_broadphase_bounds(
-  # Model:
-  flex_margin: wp.array[float],
-  flex_gap: wp.array[float],
-  flex_vertadr: wp.array[int],
-  flex_vertnum: wp.array[int],
-  flex_radius: wp.array[float],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # Data out:
-  flex_aabb_min_out: wp.array2d[wp.vec3],
-  flex_aabb_max_out: wp.array2d[wp.vec3],
-):
-  worldid, flexid = wp.tid()
-
-  start = flex_vertadr[flexid]
-  num = flex_vertnum[flexid]
-  if num == 0:
-    return
-
-  min_bound = wp.vec3(MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL)
-  max_bound = wp.vec3(-MJ_MAXVAL, -MJ_MAXVAL, -MJ_MAXVAL)
-
-  for i in range(num):
-    pos = flexvert_xpos_in[worldid, start + i]
-    min_bound = wp.min(min_bound, pos)
-    max_bound = wp.max(max_bound, pos)
-
-  margin = flex_margin[flexid] + flex_gap[flexid]
-  bound = flex_radius[flexid] + margin
-  inflate = wp.vec3(bound, bound, bound)
-
-  flex_aabb_min_out[worldid, flexid] = min_bound - inflate
-  flex_aabb_max_out[worldid, flexid] = max_bound + inflate
-
-
-@wp.func
-def _flex_triangle_geom_broadphase(
-  # Model:
-  ngeom: int,
-  opt_warn_overflow: bool,
-  geom_type: wp.array[int],
-  geom_aabb: wp.array3d[wp.vec3],
-  geom_margin: wp.array2d[float],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  naconmax_in: int,
-  # In:
-  worldid: int,
-  element_or_shell_id: int,
-  flexid: int,
-  geomid: int,
-  t1: wp.vec3,
-  t2: wp.vec3,
-  t3: wp.vec3,
-  tri_radius: float,
-  tri_margin: float,
-  flex_aabb_min_val: wp.vec3,
-  flex_aabb_max_val: wp.vec3,
-  # Data out:
-  ncollision_out: wp.array[int],
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  collision_pair_out: wp.array[wp.vec2i],
-  collision_worldid_out: wp.array[int],
-):
-  gtype = geom_type[geomid]
-  if (
-    gtype != int(GeomType.SPHERE)
-    and gtype != int(GeomType.CAPSULE)
-    and gtype != int(GeomType.BOX)
-    and gtype != int(GeomType.CYLINDER)
-    and gtype != int(GeomType.MESH)
-    and gtype != int(GeomType.ELLIPSOID)
-  ):
-    return
-
-  geom_margin_val = geom_margin[worldid % geom_margin.shape[0], geomid]
-  margin = geom_margin_val + tri_margin
-
-  aabb_id = worldid % geom_aabb.shape[0]
-  geom_center_local = geom_aabb[aabb_id, geomid, 0]
-  geom_half_size_local = geom_aabb[aabb_id, geomid, 1]
-
-  geom_pos = geom_xpos_in[worldid, geomid]
-  geom_rot = geom_xmat_in[worldid, geomid]
-
-  # Stage 1 Filter: Coarse flex AABB vs Geom world AABB check
-  # Transform center to global frame
-  geom_center_global = geom_rot @ geom_center_local + geom_pos
-
-  # Project local half-size onto world axes using absolute rotation matrix entries
-  geom_half_size_global = wp.vec3(
-    wp.abs(geom_rot[0, 0]) * geom_half_size_local[0]
-    + wp.abs(geom_rot[0, 1]) * geom_half_size_local[1]
-    + wp.abs(geom_rot[0, 2]) * geom_half_size_local[2],
-    wp.abs(geom_rot[1, 0]) * geom_half_size_local[0]
-    + wp.abs(geom_rot[1, 1]) * geom_half_size_local[1]
-    + wp.abs(geom_rot[1, 2]) * geom_half_size_local[2],
-    wp.abs(geom_rot[2, 0]) * geom_half_size_local[0]
-    + wp.abs(geom_rot[2, 1]) * geom_half_size_local[1]
-    + wp.abs(geom_rot[2, 2]) * geom_half_size_local[2],
-  )
-
-  inflate = wp.vec3(margin, margin, margin)
-  geom_box_min = geom_center_global - geom_half_size_global - inflate
-  geom_box_max = geom_center_global + geom_half_size_global + inflate
-
-  if _flex_element_aabb_filter(geom_box_min, geom_box_max, flex_aabb_min_val, flex_aabb_max_val):
-    return
-
-  # Stage 2 Filter: Element AABB vs Geom world AABB check
-  tri_min = wp.min(t1, wp.min(t2, t3)) - wp.vec3(tri_radius, tri_radius, tri_radius)
-  tri_max = wp.max(t1, wp.max(t2, t3)) + wp.vec3(tri_radius, tri_radius, tri_radius)
-
-  if _flex_element_aabb_filter(geom_box_min, geom_box_max, tri_min, tri_max):
-    return
-
-  # Stage 3 Filter: Project Geom onto triangle plane normal
-  normal = wp.normalize(wp.cross(t2 - t1, t3 - t1))
-  signed_dist = wp.dot(geom_pos - t1, normal)
-
-  r_extent = float(0.0)
-  if gtype == int(GeomType.SPHERE):
-    r_extent = geom_half_size_local[0]
-  elif gtype == int(GeomType.CAPSULE):
-    r_extent = geom_half_size_local[0] + geom_half_size_local[1]
-  elif gtype == int(GeomType.CYLINDER):
-    r_extent = wp.sqrt(geom_half_size_local[0] * geom_half_size_local[0] + geom_half_size_local[1] * geom_half_size_local[1])
-  elif gtype == int(GeomType.BOX):
-    r_extent = wp.length(geom_half_size_local)
-  elif gtype == int(GeomType.MESH):
-    r_extent = wp.length(geom_half_size_local)
-  elif gtype == int(GeomType.ELLIPSOID):
-    r_extent = wp.length(geom_half_size_local)
-
-  if wp.abs(signed_dist) > r_extent + margin + tri_radius:
-    return
-
-  # Overlap found! Save candidate.
-  idx = wp.atomic_add(ncollision_out, 0, 1)
-  if idx >= naconmax_in:
-    if opt_warn_overflow:
-      wp.printf("Collision buffer overflow in flex broadphase - please increase naconmax to %u\n", idx + 1)
-    wp.atomic_or(overflow_out, worldid, wp.static(OverflowType.BROADPHASE))
-    return
-  collision_pair_out[idx] = wp.vec2i(element_or_shell_id, geomid)
-  collision_worldid_out[idx] = worldid
-
-
-@wp.kernel
-def _flex_broadphase_unified(
-  # Model:
-  ngeom: int,
-  nflex: int,
-  opt_warn_overflow: bool,
-  geom_type: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_aabb: wp.array3d[wp.vec3],
-  geom_rbound: wp.array2d[float],
-  geom_margin: wp.array2d[float],
-  flex_margin: wp.array[float],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_radius: wp.array[float],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  naconmax_in: int,
-  flex_aabb_min_in: wp.array2d[wp.vec3],
-  flex_aabb_max_in: wp.array2d[wp.vec3],
-  # In:
-  triadr: wp.array[int],
-  tridataadr: wp.array[int],
-  tri: wp.array[int],
-  pairs_filtered: wp.array[wp.vec2i],
-  triflexid: wp.array[int],
-  # Data out:
-  ncollision_out: wp.array[int],
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  collision_pair_out: wp.array[wp.vec2i],
-  collision_worldid_out: wp.array[int],
-):
-  worldid, pairid = wp.tid()
-
-  pair = pairs_filtered[pairid]
-  tri_id = pair[0]
-  geomid = pair[1]
-
-  flexid = triflexid[tri_id]
-
-  vert_adr = flex_vertadr[flexid]
-  tri_radius = flex_radius[flexid]
-  tri_margin = flex_margin[flexid]
-
-  tri_data_idx = tridataadr[flexid] + (tri_id - triadr[flexid]) * 3
-  v0_local = tri[tri_data_idx]
-  v1_local = tri[tri_data_idx + 1]
-  v2_local = tri[tri_data_idx + 2]
-
-  t1 = flexvert_xpos_in[worldid, vert_adr + v0_local]
-  t2 = flexvert_xpos_in[worldid, vert_adr + v1_local]
-  t3 = flexvert_xpos_in[worldid, vert_adr + v2_local]
-
-  _flex_triangle_geom_broadphase(
-    ngeom,
-    opt_warn_overflow,
-    geom_type,
-    geom_aabb,
-    geom_margin,
-    geom_xpos_in,
-    geom_xmat_in,
-    naconmax_in,
-    worldid,
-    tri_id,
-    flexid,
-    geomid,
-    t1,
-    t2,
-    t3,
-    tri_radius,
-    tri_margin,
-    flex_aabb_min_in[worldid, flexid],
-    flex_aabb_max_in[worldid, flexid],
-    # Data out:
-    ncollision_out,
-    overflow_out,
-    collision_pair_out,
-    collision_worldid_out,
-  )
-
-
-@wp.kernel
-def _flex_broadphase_plane(
-  # Model:
-  ngeom: int,
-  opt_warn_overflow: bool,
-  geom_type: wp.array[int],
-  geom_margin: wp.array2d[float],
-  flex_margin: wp.array[float],
-  flex_vertadr: wp.array[int],
-  flex_radius: wp.array[float],
-  flexvert_geom_pair_filtered: wp.array[wp.vec2i],
-  flex_vertflexid: wp.array[int],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  naconmax_in: int,
-  flex_aabb_min_in: wp.array2d[wp.vec3],
-  flex_aabb_max_in: wp.array2d[wp.vec3],
-  # Data out:
-  ncollision_out: wp.array[int],
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  collision_pair_out: wp.array[wp.vec2i],
-  collision_worldid_out: wp.array[int],
-):
-  worldid, pairid = wp.tid()
-
-  pair = flexvert_geom_pair_filtered[pairid]
-  vertid = pair[0]
-  geomid = pair[1]
-
-  flexid = flex_vertflexid[vertid]
-  radius = flex_radius[flexid]
-  flex_margin_val = flex_margin[flexid]
-
-  vert = flexvert_xpos_in[worldid, vertid]
-
-  flex_aabb_min = flex_aabb_min_in[worldid, flexid]
-  flex_aabb_max = flex_aabb_max_in[worldid, flexid]
-
-  gtype = geom_type[geomid]
-  if gtype != int(GeomType.PLANE):
-    return
-
-  margin = geom_margin[worldid % geom_margin.shape[0], geomid] + flex_margin_val
-  geom_pos = geom_xpos_in[worldid, geomid]
-  geom_rot = geom_xmat_in[worldid, geomid]
-  plane_normal = wp.vec3(geom_rot[0, 2], geom_rot[1, 2], geom_rot[2, 2])
-
-  # Stage 1 filter: Bounding box of flex vs plane
-  flex_center = 0.5 * (flex_aabb_min + flex_aabb_max)
-  flex_half_size = 0.5 * (flex_aabb_max - flex_aabb_min)
-
-  proj_half = (
-    wp.abs(flex_half_size[0] * plane_normal[0])
-    + wp.abs(flex_half_size[1] * plane_normal[1])
-    + wp.abs(flex_half_size[2] * plane_normal[2])
-  )
-
-  diff_center = flex_center - geom_pos
-  dist_center = wp.dot(diff_center, plane_normal)
-
-  if dist_center - proj_half > margin:
-    return
-
-  diff = vert - geom_pos
-  signed_dist = wp.dot(diff, plane_normal)
-  dist = signed_dist - radius
-
-  if dist < margin:
-    # Append Candidate to Context
-    idx = wp.atomic_add(ncollision_out, 0, 1)
-    if idx >= naconmax_in:
-      if opt_warn_overflow:
-        wp.printf("Collision buffer overflow in flex plane broadphase - please increase naconmax to %u\n", idx + 1)
-      wp.atomic_or(overflow_out, worldid, wp.static(OverflowType.BROADPHASE))
-      return
-    collision_pair_out[idx] = wp.vec2i(vertid, geomid)
-    collision_worldid_out[idx] = worldid
-
-
-@wp.func
-def _write_flex_contact(
-  # Model:
-  geom_condim: wp.array[int],
-  geom_priority: wp.array[int],
-  geom_solmix: wp.array2d[float],
-  geom_solref: wp.array2d[wp.vec2],
-  geom_solimp: wp.array2d[vec5],
-  geom_friction: wp.array2d[wp.vec3],
-  geom_gap: wp.array2d[float],
-  flex_condim: wp.array[int],
-  flex_priority: wp.array[int],
-  flex_solmix: wp.array[float],
-  flex_solref: wp.array[wp.vec2],
-  flex_solimp: wp.array[vec5],
-  flex_friction: wp.array[wp.vec3],
-  flex_margin: wp.array[float],
-  flex_gap: wp.array[float],
-  # Data in:
-  naconmax_in: int,
-  # In:
-  collisionid: int,
-  dist: float,
-  pos: wp.vec3,
-  normal: wp.vec3,
-  margin: float,
-  geomid: int,
-  flexid: int,
-  elemid: int,
-  vertid: int,
-  worldid: int,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_flex_out: wp.array[wp.vec2i],
-  contact_elem_out: wp.array[wp.vec2i],
-  contact_vert_out: wp.array[wp.vec2i],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  condim, gap, solref, solimp, friction = _mix_flex_contact_params(
-    geom_condim[geomid],
-    geom_priority[geomid],
-    geom_solmix[worldid % geom_solmix.shape[0], geomid],
-    geom_solref[worldid % geom_solref.shape[0], geomid],
-    geom_solimp[worldid % geom_solimp.shape[0], geomid],
-    geom_friction[worldid % geom_friction.shape[0], geomid],
-    geom_gap[worldid % geom_gap.shape[0], geomid],
-    flex_condim[flexid],
-    flex_priority[flexid],
-    flex_solmix[flexid],
-    flex_solref[flexid],
-    flex_solimp[flexid],
-    flex_friction[flexid],
-    flex_gap[flexid],
-  )
-
-  c_idx = wp.atomic_add(nacon_out, 0, 1)
-  if c_idx < naconmax_in:
-    frame = make_frame(normal)
-
-    contact_dist_out[c_idx] = dist
-    contact_pos_out[c_idx] = pos
-    contact_frame_out[c_idx] = frame
-    contact_includemargin_out[c_idx] = margin
-    contact_friction_out[c_idx] = friction
-    contact_solref_out[c_idx] = solref
-    contact_solreffriction_out[c_idx] = solref  # Same for flex contacts
-    contact_solimp_out[c_idx] = solimp
-    contact_dim_out[c_idx] = condim
-    contact_geom_out[c_idx] = wp.vec2i(geomid, -1)
-    contact_flex_out[c_idx] = wp.vec2i(-1, flexid)
-    contact_elem_out[c_idx] = wp.vec2i(-1, elemid)
-    contact_vert_out[c_idx] = wp.vec2i(-1, vertid)
-    contact_worldid_out[c_idx] = worldid
-    contact_type_out[c_idx] = ContactType.CONSTRAINT
-    contact_geomcollisionid_out[c_idx] = collisionid
-
-
-# TODO(team): generalize into a shared contact parameter mixing function
-#   (mj_contactParam) that works for both geom-geom and geom-flex contacts.
-@wp.func
-def _mix_flex_contact_params(
-  # In:
-  a_condim: int,
-  a_priority: int,
-  a_solmix: float,
-  a_solref: wp.vec2,
-  a_solimp: vec5,
-  a_friction: wp.vec3,
-  a_gap: float,
-  b_condim: int,
-  b_priority: int,
-  b_solmix: float,
-  b_solref: wp.vec2,
-  b_solimp: vec5,
-  b_friction: wp.vec3,
-  b_gap: float,
-):
-  """Mix contact parameters between geom and flex, matching mj_contactParam."""
-  gap = a_gap + b_gap
-
-  if a_priority > b_priority:
-    condim = a_condim
-    solref = a_solref
-    solimp = a_solimp
-    fri = a_friction
-  elif a_priority < b_priority:
-    condim = b_condim
-    solref = b_solref
-    solimp = b_solimp
-    fri = b_friction
-  else:
-    # same priority
-    condim = wp.max(a_condim, b_condim)
-
-    # compute solver mix factor
-    if a_solmix >= MJ_MINVAL and b_solmix >= MJ_MINVAL:
-      mix = a_solmix / (a_solmix + b_solmix)
-    elif a_solmix < MJ_MINVAL and b_solmix < MJ_MINVAL:
-      mix = 0.5
-    elif a_solmix < MJ_MINVAL:
-      mix = 0.0
-    else:
-      mix = 1.0
-
-    # solref: mix if both standard, min if either direct
-    if a_solref[0] > 0.0 and b_solref[0] > 0.0:
-      solref = wp.vec2(
-        mix * a_solref[0] + (1.0 - mix) * b_solref[0],
-        mix * a_solref[1] + (1.0 - mix) * b_solref[1],
-      )
-    else:
-      solref = wp.vec2(
-        wp.min(a_solref[0], b_solref[0]),
-        wp.min(a_solref[1], b_solref[1]),
-      )
-
-    # solimp: mix
-    solimp = vec5(
-      mix * a_solimp[0] + (1.0 - mix) * b_solimp[0],
-      mix * a_solimp[1] + (1.0 - mix) * b_solimp[1],
-      mix * a_solimp[2] + (1.0 - mix) * b_solimp[2],
-      mix * a_solimp[3] + (1.0 - mix) * b_solimp[3],
-      mix * a_solimp[4] + (1.0 - mix) * b_solimp[4],
-    )
-
-    # friction: max
-    fri = wp.vec3(
-      wp.max(a_friction[0], b_friction[0]),
-      wp.max(a_friction[1], b_friction[1]),
-      wp.max(a_friction[2], b_friction[2]),
-    )
-
-  # unpack 5D friction with MJ_MINMU floor
-  friction = vec5(
-    wp.max(MJ_MINMU, fri[0]),
-    wp.max(MJ_MINMU, fri[0]),
-    wp.max(MJ_MINMU, fri[1]),
-    wp.max(MJ_MINMU, fri[2]),
-    wp.max(MJ_MINMU, fri[2]),
-  )
-
-  return condim, gap, solref, solimp, friction
-
-
-@wp.func
-def _write_candidate_contact(
-  # In:
-  max_candidates: int,
-  dist: float,
-  pos: wp.vec3,
-  nrm: wp.vec3,
-  geom: int,
-  flexid: int,
-  elemid: int,
-  vertid: int,
-  worldid: int,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  if dist >= MJ_MAXVAL:
-    return
-
-  candid = wp.atomic_add(ncand_out, 0, 1)
-  if candid >= max_candidates:
-    wp.printf(
-      "flex candidate overflow - please increase naconmax to %u\n",
-      candid + 1,
-    )
-    wp.atomic_or(overflow_out, worldid, wp.static(OverflowType.BROADPHASE))
-    return
-
-  cand_dist_out[candid] = dist
-  cand_pos_out[candid] = pos
-  cand_nrm_out[candid] = nrm
-  if geom >= 0:
-    cand_geom_out[candid] = wp.vec2i(geom, -1)
-    cand_flex_out[candid] = wp.vec2i(-1, flexid)
-    cand_elem_out[candid] = wp.vec2i(-1, elemid)
-    cand_vert_out[candid] = wp.vec2i(-1, vertid)
-  elif geom == -2:
-    cand_geom_out[candid] = wp.vec2i(-1, -1)
-    cand_flex_out[candid] = wp.vec2i(flexid, flexid)
-    cand_elem_out[candid] = wp.vec2i(elemid, vertid)
-    cand_vert_out[candid] = wp.vec2i(-1, -1)
-  else:
-    cand_geom_out[candid] = wp.vec2i(-1, -1)
-    cand_flex_out[candid] = wp.vec2i(flexid, flexid)
-    cand_elem_out[candid] = wp.vec2i(-1, elemid)
-    cand_vert_out[candid] = wp.vec2i(vertid, -1)
-  cand_worldid_out[candid] = worldid
-  cand_type_out[candid] = 1
-  cand_geomcollisionid_out[candid] = 0
-
-
-@wp.func
-def _collide_geom_triangle_detect(
-  # In:
-  max_candidates: int,
-  gtype: int,
-  pos: wp.vec3,
-  rot: wp.mat33,
-  size_val: wp.vec3,
-  t1: wp.vec3,
-  t2: wp.vec3,
-  t3: wp.vec3,
-  tri_radius: float,
-  margin: float,
-  geomid: int,
-  flexid: int,
-  elemid: int,
-  vertex_id: int,
-  worldid: int,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  if gtype == int(GeomType.SPHERE):
-    sphere_radius = size_val[0]
-    dist, contact_pos, nrm = collision_primitive_core.sphere_triangle(pos, sphere_radius, t1, t2, t3, tri_radius)
-    if dist < margin:
-      _write_candidate_contact(
-        max_candidates,
-        dist,
-        contact_pos,
-        nrm,
-        geomid,
-        flexid,
-        elemid,
-        vertex_id,
-        worldid,
-        overflow_out,
-        cand_dist_out,
-        cand_pos_out,
-        cand_nrm_out,
-        cand_geom_out,
-        cand_flex_out,
-        cand_elem_out,
-        cand_vert_out,
-        cand_worldid_out,
-        cand_type_out,
-        cand_geomcollisionid_out,
-        ncand_out,
-      )
-    return
-
-  # Capsule, box, cylinder all return up to 2 contacts - compute then share writing code
-  dists = wp.vec2(collision_primitive_core.MJ_MAXVAL, collision_primitive_core.MJ_MAXVAL)
-  poss = collision_primitive_core.mat23f(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-  nrms = collision_primitive_core.mat23f(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-
-  if gtype == int(GeomType.CAPSULE):
-    cap_radius = size_val[0]
-    cap_half_len = size_val[1]
-    cap_axis = wp.vec3(rot[0, 2], rot[1, 2], rot[2, 2])
-    dists, poss, nrms = collision_primitive_core.capsule_triangle(
-      pos, cap_axis, cap_radius, cap_half_len, t1, t2, t3, tri_radius
-    )
-  elif gtype == int(GeomType.BOX):
-    dists, poss, nrms = collision_primitive_core.box_triangle(pos, rot, size_val, t1, t2, t3, tri_radius)
-  elif gtype == int(GeomType.CYLINDER):
-    cyl_radius = size_val[0]
-    cyl_half_height = size_val[1]
-    cyl_axis = wp.vec3(rot[0, 2], rot[1, 2], rot[2, 2])
-    dists, poss, nrms = collision_primitive_core.cylinder_triangle(
-      pos, cyl_axis, cyl_radius, cyl_half_height, t1, t2, t3, tri_radius
-    )
-
-  # Write up to 2 contacts (shared code for capsule/box/cylinder)
-  if dists[0] < margin:
-    p1 = wp.vec3(poss[0, 0], poss[0, 1], poss[0, 2])
-    n1 = wp.vec3(nrms[0, 0], nrms[0, 1], nrms[0, 2])
-    _write_candidate_contact(
-      max_candidates,
-      dists[0],
-      p1,
-      n1,
-      geomid,
-      flexid,
-      elemid,
-      vertex_id,
-      worldid,
-      overflow_out,
-      cand_dist_out,
-      cand_pos_out,
-      cand_nrm_out,
-      cand_geom_out,
-      cand_flex_out,
-      cand_elem_out,
-      cand_vert_out,
-      cand_worldid_out,
-      cand_type_out,
-      cand_geomcollisionid_out,
-      ncand_out,
-    )
-  if dists[1] < margin:
-    p2 = wp.vec3(poss[1, 0], poss[1, 1], poss[1, 2])
-    n2 = wp.vec3(nrms[1, 0], nrms[1, 1], nrms[1, 2])
-    _write_candidate_contact(
-      max_candidates,
-      dists[1],
-      p2,
-      n2,
-      geomid,
-      flexid,
-      elemid,
-      vertex_id,
-      worldid,
-      overflow_out,
-      cand_dist_out,
-      cand_pos_out,
-      cand_nrm_out,
-      cand_geom_out,
-      cand_flex_out,
-      cand_elem_out,
-      cand_vert_out,
-      cand_worldid_out,
-      cand_type_out,
-      cand_geomcollisionid_out,
-      ncand_out,
-    )
-
-
-@wp.func
-def _collide_mesh_triangle(
-  # Model:
-  mesh_vertadr: wp.array[int],
-  mesh_vertnum: wp.array[int],
-  mesh_graphadr: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_graph: wp.array[int],
-  mesh_pos: wp.array[wp.vec3],
-  mesh_polynormal: wp.array[wp.vec3],
-  mesh_polyvertadr: wp.array[int],
-  mesh_polyvert: wp.array[int],
-  mesh_polymapadr: wp.array[int],
-  mesh_polymapnum: wp.array[int],
-  mesh_polymap: wp.array[int],
-  # In:
-  max_candidates: int,
-  mesh_geom_pos: wp.vec3,
-  geom_rot: wp.mat33,
-  geom_size_val: wp.vec3,
-  t1: wp.vec3,
-  t2: wp.vec3,
-  t3: wp.vec3,
-  tri_radius: float,
-  margin: float,
-  geomid: int,
-  flexid: int,
-  elemid: int,
-  v0_local: int,
-  v1_local: int,
-  v2_local: int,
-  worldid: int,
-  did: int,
-  epa_vert: wp.array[wp.vec3],
-  epa_vert_index: wp.array[int],
-  epa_face: wp.array[int],
-  epa_pr: wp.array[wp.vec3],
-  epa_norm2: wp.array[float],
-  epa_horizon: wp.array[int],
-  tolerance: float,
-  ccd_iterations: int,
-  warn_overflow: bool,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  # Construct Mesh Geom (geom1)
-  geom1 = Geom()
-  geom1.pos = mesh_geom_pos
-  geom1.rot = geom_rot
-  geom1.size = geom_size_val
-  geom1.margin = 0.0
-  geom1.index = -1
-
-  geom1.vertadr = wp.where(did >= 0, mesh_vertadr[did], -1)
-  geom1.vertnum = wp.where(did >= 0, mesh_vertnum[did], -1)
-  geom1.graphadr = wp.where(did >= 0, mesh_graphadr[did], -1)
-  geom1.vert = mesh_vert
-  geom1.graph = mesh_graph
-
-  # Construct Triangle Geom (geom2)
-  geom2 = Geom()
-  geom2.pos = wp.vec3(0.0, 0.0, 0.0)
-  geom2.rot = wp.mat33(t1[0], t1[1], t1[2], t2[0], t2[1], t2[2], t3[0], t3[1], t3[2])
-  geom2.margin = 0.0
-  geom2.index = -1
-
-  centroid = (t1 + t2 + t3) * wp.static(1.0 / 3.0)
-  r_geom = wp.length(geom_size_val)
-  d1 = wp.length(t1 - centroid)
-  d2 = wp.length(t2 - centroid)
-  d3 = wp.length(t3 - centroid)
-  r_tri = wp.max(d1, wp.max(d2, d3))
-
-  geom_center = mesh_geom_pos
-  if did >= 0:
-    geom_center = mesh_geom_pos + geom_rot @ mesh_pos[did]
-
-  if wp.length(centroid - geom_center) <= r_geom + r_tri + margin + tri_radius + 0.04:
-    dist, ncontact, w1, w2, idx = ccd(
-      tolerance,
-      margin + tri_radius,
-      ccd_iterations,
-      ccd_iterations,
-      geom1,
-      geom2,
-      int(GeomType.MESH),
-      int(GeomType.TRIANGLE),
-      mesh_geom_pos,
-      centroid,
-      epa_vert,
-      epa_vert_index,
-      epa_face,
-      epa_pr,
-      epa_norm2,
-      epa_horizon,
-      warn_overflow,
-      worldid,
-      overflow_out,
-    )
-
-    if ncontact > 0 and dist < margin + tri_radius:
-      if not _inside_triangle(w2, t1, t2, t3, 0.2):
-        return
-
-      if dist < 0.0:
-        gjk_normal = wp.normalize(w1 - w2)
-      else:
-        gjk_normal = wp.normalize(w2 - w1)
-
-      # TODO(thowell): remove after resolving contact normal issue
-      best_normal = gjk_normal
-      if idx >= 0:
-        # Extract GJK/EPA support vertex on the mesh
-        f_verts = wp.vec3i(epa_face[idx] & 0x3FF, (epa_face[idx] >> 10) & 0x3FF, (epa_face[idx] >> 20) & 0x3FF)
-        sv0 = epa_vert_index[2 * f_verts[0]]
-
-        # Transform w1 to mesh local frame
-        w1_local = wp.transpose(geom_rot) @ (w1 - mesh_geom_pos)
-
-        min_plane_dist = float(1e10)
-        best_normal_local = wp.transpose(geom_rot) @ gjk_normal
-        best_poly_idx = int(-1)
-
-        v_offset = mesh_vertadr[did]
-        v_global_idx = v_offset + sv0
-        polymap_start = mesh_polymapadr[v_global_idx]
-        npolygons = mesh_polymapnum[v_global_idx]
-
-        for k in range(npolygons):
-          poly_idx = mesh_polymap[polymap_start + k]
-          normal_local = mesh_polynormal[poly_idx]
-
-          v0_local_idx = mesh_polyvert[mesh_polyvertadr[poly_idx]]
-          v0_mesh_local = mesh_vert[v_offset + v0_local_idx]
-
-          dist_to_plane = wp.abs(wp.dot(w1_local - v0_mesh_local, normal_local))
-          if dist_to_plane < min_plane_dist:
-            min_plane_dist = dist_to_plane
-            best_normal_local = normal_local
-            best_poly_idx = poly_idx
-
-        if best_poly_idx >= 0:
-          vert_start = mesh_polyvertadr[best_poly_idx]
-          v0_idx = mesh_polyvert[vert_start]
-          v1_idx = mesh_polyvert[vert_start + 1]
-          v2_idx = mesh_polyvert[vert_start + 2]
-
-          v0_mesh_local = mesh_vert[v_offset + v0_idx]
-          v1_mesh_local = mesh_vert[v_offset + v1_idx]
-          v2_mesh_local = mesh_vert[v_offset + v2_idx]
-
-          # Filter out contacts that are too far from the plane or fall outside the face
-          if min_plane_dist > 0.005 or not _inside_triangle(w1_local, v0_mesh_local, v1_mesh_local, v2_mesh_local, 0.05):
-            return
-
-        best_normal = wp.normalize(geom_rot @ best_normal_local)
-
-      normal = wp.where(wp.dot(best_normal, gjk_normal) >= 0.0, best_normal, -best_normal)
-      contact_pos = 0.5 * (w1 + w2)
-
-      dist_v0 = wp.dot(t1 - w1, normal) - tri_radius
-      dist_v1 = wp.dot(t2 - w1, normal) - tri_radius
-      dist_v2 = wp.dot(t3 - w1, normal) - tri_radius
-
-      min_dist = wp.min(dist_v0, wp.min(dist_v1, dist_v2))
-      if min_dist < margin:
-        deepest_vert = v0_local
-        pos = t1 - normal * (tri_radius + 0.5 * dist_v0)
-        if dist_v1 < dist_v0 and dist_v1 < dist_v2:
-          deepest_vert = v1_local
-          pos = t2 - normal * (tri_radius + 0.5 * dist_v1)
-        elif dist_v2 < dist_v0 and dist_v2 < dist_v1:
-          deepest_vert = v2_local
-          pos = t3 - normal * (tri_radius + 0.5 * dist_v2)
-
-        _write_candidate_contact(
-          max_candidates,
-          min_dist,
-          pos,
-          normal,
-          geomid,
-          flexid,
-          elemid,
-          -1,
-          worldid,
-          overflow_out,
-          cand_dist_out,
-          cand_pos_out,
-          cand_nrm_out,
-          cand_geom_out,
-          cand_flex_out,
-          cand_elem_out,
-          cand_vert_out,
-          cand_worldid_out,
-          cand_type_out,
-          cand_geomcollisionid_out,
-          ncand_out,
-        )
-
-  return
-
-
-@wp.kernel
-def _flex_plane_narrowphase(
-  # Model:
-  ngeom: int,
-  nflexvert: int,
-  geom_type: wp.array[int],
-  geom_condim: wp.array[int],
-  geom_priority: wp.array[int],
-  geom_solmix: wp.array2d[float],
-  geom_solref: wp.array2d[wp.vec2],
-  geom_solimp: wp.array2d[vec5],
-  geom_friction: wp.array2d[wp.vec3],
-  geom_margin: wp.array2d[float],
-  geom_gap: wp.array2d[float],
-  flex_condim: wp.array[int],
-  flex_priority: wp.array[int],
-  flex_solmix: wp.array[float],
-  flex_solref: wp.array[wp.vec2],
-  flex_solimp: wp.array[vec5],
-  flex_friction: wp.array[wp.vec3],
-  flex_margin: wp.array[float],
-  flex_gap: wp.array[float],
-  flex_vertadr: wp.array[int],
-  flex_radius: wp.array[float],
-  flex_vertflexid: wp.array[int],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  nworld_in: int,
-  naconmax_in: int,
-  ncollision_in: wp.array[int],
-  # In:
-  collision_pair_in: wp.array[wp.vec2i],
-  collision_worldid_in: wp.array[int],
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_flex_out: wp.array[wp.vec2i],
-  contact_elem_out: wp.array[wp.vec2i],
-  contact_vert_out: wp.array[wp.vec2i],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  collisionid = wp.tid()
-  if collisionid >= ncollision_in[0] or collisionid >= collision_pair_in.shape[0]:
-    return
-
-  pair = collision_pair_in[collisionid]
-  geomid = pair[1]
-
-  gtype = geom_type[geomid]
-  if gtype != int(GeomType.PLANE):
-    return
-
-  vertid = pair[0]
-  worldid = collision_worldid_in[collisionid]
-
-  flexid = flex_vertflexid[vertid]
-  radius = flex_radius[flexid]
-  flex_margin_val = flex_margin[flexid]
-  # Convert global vertid to local vertex index within this flex
-  local_vertid = vertid - flex_vertadr[flexid]
-
-  vert = flexvert_xpos_in[worldid, vertid]
-
-  plane_pos = geom_xpos_in[worldid, geomid]
-  plane_rot = geom_xmat_in[worldid, geomid]
-  plane_normal = wp.vec3(plane_rot[0, 2], plane_rot[1, 2], plane_rot[2, 2])
-
-  margin = geom_margin[worldid % geom_margin.shape[0], geomid] + flex_margin_val
-
-  diff = vert - plane_pos
-  signed_dist = wp.dot(diff, plane_normal)
-  dist = signed_dist - radius
-
-  if dist < margin:
-    contact_pos = vert - plane_normal * (dist * 0.5 + radius)
-    _write_flex_contact(
-      geom_condim,
-      geom_priority,
-      geom_solmix,
-      geom_solref,
-      geom_solimp,
-      geom_friction,
-      geom_gap,
-      flex_condim,
-      flex_priority,
-      flex_solmix,
-      flex_solref,
-      flex_solimp,
-      flex_friction,
-      flex_margin,
-      flex_gap,
-      naconmax_in,
-      collisionid,
-      dist,
-      contact_pos,
-      plane_normal,
-      margin,
-      geomid,
-      flexid,
-      -1,
-      local_vertid,
-      worldid,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_flex_out,
-      contact_elem_out,
-      contact_vert_out,
-      contact_worldid_out,
-      contact_type_out,
-      contact_geomcollisionid_out,
-      nacon_out,
-    )
-
-
-@wp.kernel
-def _flex_geom_vertex_narrowphase_detect(
-  # Model:
-  ngeom: int,
-  nflexvert: int,
-  geom_type: wp.array[int],
-  geom_contype: wp.array[int],
-  geom_conaffinity: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_margin: wp.array2d[float],
-  flex_contype: wp.array[int],
-  flex_conaffinity: wp.array[int],
-  flex_margin: wp.array[float],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_radius: wp.array[float],
-  flex_vertflexid: wp.array[int],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  nworld_in: int,
-  # In:
-  max_candidates: int,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  worldid, vertid = wp.tid()
-
-  flexid = flex_vertflexid[vertid]
-  if flex_dim[flexid] >= 2:
-    return
-
-  radius = flex_radius[flexid]
-  flex_margin_val = flex_margin[flexid]
-  local_vertid = vertid - flex_vertadr[flexid]
-
-  v_pos = flexvert_xpos_in[worldid, vertid]
-
-  for geomid in range(ngeom):
-    gtype = geom_type[geomid]
-    if (
-      gtype != int(GeomType.SPHERE)
-      and gtype != int(GeomType.CAPSULE)
-      and gtype != int(GeomType.BOX)
-      and gtype != int(GeomType.CYLINDER)
-    ):
-      continue
-
-    g_contype = geom_contype[geomid]
-    g_conaffinity = geom_conaffinity[geomid]
-    f_contype = flex_contype[flexid]
-    f_conaffinity = flex_conaffinity[flexid]
-    if not ((g_contype & f_conaffinity) or (f_contype & g_conaffinity)):
-      continue
-
-    geom_margin_val = geom_margin[worldid % geom_margin.shape[0], geomid]
-    margin = geom_margin_val + flex_margin_val
-
-    geom_pos = geom_xpos_in[worldid, geomid]
-    geom_rot = geom_xmat_in[worldid, geomid]
-    geom_size_val = geom_size[worldid % geom_size.shape[0], geomid]
-
-    dist = collision_primitive_core.MJ_MAXVAL
-    contact_pos = wp.vec3(0.0)
-    nrm = wp.vec3(0.0)
-
-    if gtype == int(GeomType.SPHERE):
-      sphere_radius = geom_size_val[0]
-      dist, contact_pos, nrm = collision_primitive_core.sphere_sphere(v_pos, radius, geom_pos, sphere_radius)
-    elif gtype == int(GeomType.CAPSULE):
-      cap_radius = geom_size_val[0]
-      cap_half_len = geom_size_val[1]
-      cap_axis = wp.vec3(geom_rot[0, 2], geom_rot[1, 2], geom_rot[2, 2])
-      dist, contact_pos, nrm = collision_primitive_core.sphere_capsule(
-        v_pos, radius, geom_pos, cap_axis, cap_radius, cap_half_len
-      )
-    elif gtype == int(GeomType.BOX):
-      dist, contact_pos, nrm = collision_primitive_core.sphere_box(v_pos, radius, geom_pos, geom_rot, geom_size_val)
-    elif gtype == int(GeomType.CYLINDER):
-      cyl_radius = geom_size_val[0]
-      cyl_half_height = geom_size_val[1]
-      cyl_axis = wp.vec3(geom_rot[0, 2], geom_rot[1, 2], geom_rot[2, 2])
-      dist, contact_pos, nrm = collision_primitive_core.sphere_cylinder(
-        v_pos, radius, geom_pos, cyl_axis, cyl_radius, cyl_half_height
-      )
-
-    if dist < margin:
-      _write_candidate_contact(
-        max_candidates,
-        dist,
-        contact_pos,
-        nrm,
-        geomid,
-        flexid,
-        -1,
-        local_vertid,
-        worldid,
-        overflow_out,
-        cand_dist_out,
-        cand_pos_out,
-        cand_nrm_out,
-        cand_geom_out,
-        cand_flex_out,
-        cand_elem_out,
-        cand_vert_out,
-        cand_worldid_out,
-        cand_type_out,
-        cand_geomcollisionid_out,
-        ncand_out,
-      )
-
-
-@wp.func
-def _sphere_tetrahedron(
-  # In:
-  sphere_pos: wp.vec3,
-  sphere_radius: float,
-  t0: wp.vec3,
-  t1: wp.vec3,
-  t2: wp.vec3,
-  t3: wp.vec3,
-  tri_radius: float,
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  d0, p0, n0 = collision_primitive_core.sphere_triangle(sphere_pos, sphere_radius, t0, t1, t2, tri_radius)
-  d1, p1, n1 = collision_primitive_core.sphere_triangle(sphere_pos, sphere_radius, t0, t2, t3, tri_radius)
-  d2, p2, n2 = collision_primitive_core.sphere_triangle(sphere_pos, sphere_radius, t0, t3, t1, tri_radius)
-  d3, p3, n3 = collision_primitive_core.sphere_triangle(sphere_pos, sphere_radius, t1, t3, t2, tri_radius)
-
-  min_d = d0
-  min_p = p0
-  min_n = n0
-
-  if d1 < min_d:
-    min_d = d1
-    min_p = p1
-    min_n = n1
-  if d2 < min_d:
-    min_d = d2
-    min_p = p2
-    min_n = n2
-  if d3 < min_d:
-    min_d = d3
-    min_p = p3
-    min_n = n3
-
-  return min_d, min_p, min_n
-
-
-@wp.func
-def _plane_vertex(
-  # In:
-  pos_v: wp.vec3,
-  rad: float,
-  t0: wp.vec3,
-  t1: wp.vec3,
-  t2: wp.vec3,
-) -> Tuple[bool, float, wp.vec3, wp.vec3]:
-  e1 = t1 - t0
-  e2 = t2 - t0
-  ev = pos_v - t0
-
-  nrm = wp.normalize(wp.cross(e1, e2))
-  dst = wp.dot(ev, nrm)
-  if dst >= 0.0 or dst <= -2.0 * rad:
-    return False, 0.0, wp.vec3(0.0), wp.vec3(0.0)
-
-  dist = -dst - 2.0 * rad
-  nrm_out = -nrm
-  contact_pos = pos_v - nrm * (0.5 * dst)
-  return True, dist, contact_pos, nrm_out
-
-
-@wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-def _flex_internal_collisions_detect(
-  # Model:
-  nflex: int,
-  flex_margin: wp.array[float],
-  flex_internal: wp.array[int],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_evpairadr: wp.array[int],
-  flex_evpairnum: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_evpair: wp.array[wp.vec2i],
-  flex_radius: wp.array[float],
-  flex_evpairflexid: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  max_candidates: int,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  worldid, pair_idx = wp.tid()
-
-  flexid = flex_evpairflexid[pair_idx]
-  if flex_internal[flexid] == 0:
-    return
-
-  ev = flex_evpair[pair_idx]
-  e = ev[0]
-  v = ev[1]
-
-  dim = flex_dim[flexid]
-  radius = flex_radius[flexid]
-  margin = flex_margin[flexid]
-  vert_adr = flex_vertadr[flexid]
-
-  sphere_pos = flexvert_xpos_in[worldid, vert_adr + v]
-
-  elem_data_idx = flex_elemdataadr[flexid] + e * (dim + 1)
-  v0_local = flex_elem[elem_data_idx]
-  p0 = flexvert_xpos_in[worldid, vert_adr + v0_local]
-
-  dist = float(MJ_MAXVAL)
-  contact_pos = wp.vec3(0.0)
-  nrm = wp.vec3(0.0)
-
-  if dim == 1:
-    v1_local = flex_elem[elem_data_idx + 1]
-    p1 = flexvert_xpos_in[worldid, vert_adr + v1_local]
-    capsule_pos = 0.5 * (p0 + p1)
-    capsule_axis = wp.normalize(p1 - p0)
-    capsule_half_len = 0.5 * wp.length(p1 - p0)
-    dist, contact_pos, nrm = collision_primitive_core.sphere_capsule(
-      sphere_pos, radius, capsule_pos, capsule_axis, radius, capsule_half_len
-    )
-  elif dim == 2:
-    v1_local = flex_elem[elem_data_idx + 1]
-    v2_local = flex_elem[elem_data_idx + 2]
-    p1 = flexvert_xpos_in[worldid, vert_adr + v1_local]
-    p2 = flexvert_xpos_in[worldid, vert_adr + v2_local]
-    dist, contact_pos, nrm = collision_primitive_core.sphere_triangle(sphere_pos, radius, p0, p1, p2, radius)
-  elif dim == 3:
-    v1_local = flex_elem[elem_data_idx + 1]
-    v2_local = flex_elem[elem_data_idx + 2]
-    v3_local = flex_elem[elem_data_idx + 3]
-    p1 = flexvert_xpos_in[worldid, vert_adr + v1_local]
-    p2 = flexvert_xpos_in[worldid, vert_adr + v2_local]
-    p3 = flexvert_xpos_in[worldid, vert_adr + v3_local]
-    dist, contact_pos, nrm = _sphere_tetrahedron(sphere_pos, radius, p0, p1, p2, p3, radius)
-
-  if dist < margin:
-    _write_candidate_contact(
-      max_candidates,
-      dist,
-      contact_pos,
-      nrm,
-      -1,
-      flexid,
-      e,
-      v,
-      worldid,
-      overflow_out,
-      cand_dist_out,
-      cand_pos_out,
-      cand_nrm_out,
-      cand_geom_out,
-      cand_flex_out,
-      cand_elem_out,
-      cand_vert_out,
-      cand_worldid_out,
-      cand_type_out,
-      cand_geomcollisionid_out,
-      ncand_out,
-    )
-
-
-@wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-def _flex_tet_internal_collisions_detect(
-  # Model:
-  nflex: int,
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_elemadr: wp.array[int],
-  flex_elemnum: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_radius: wp.array[float],
-  flex_elemflexid: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  max_candidates: int,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  worldid, elemid = wp.tid()
-
-  flexid = flex_elemflexid[elemid]
-  if flex_dim[flexid] != 3:
-    return
-
-  radius = flex_radius[flexid]
-  vert_adr = flex_vertadr[flexid]
-
-  local_elemid = elemid - flex_elemadr[flexid]
-  elem_data_idx = flex_elemdataadr[flexid] + local_elemid * 4
-
-  v0 = flex_elem[elem_data_idx]
-  v1 = flex_elem[elem_data_idx + 1]
-  v2 = flex_elem[elem_data_idx + 2]
-  v3 = flex_elem[elem_data_idx + 3]
-
-  p0 = flexvert_xpos_in[worldid, vert_adr + v0]
-  p1 = flexvert_xpos_in[worldid, vert_adr + v1]
-  p2 = flexvert_xpos_in[worldid, vert_adr + v2]
-  p3 = flexvert_xpos_in[worldid, vert_adr + v3]
-
-  # Test face (0,1,2) vs Vertex 3
-  ok0, dist0, pos0, nrm0 = _plane_vertex(p3, radius, p0, p1, p2)
-  if ok0:
-    _write_candidate_contact(
-      max_candidates,
-      dist0,
-      pos0,
-      nrm0,
-      -1,
-      flexid,
-      local_elemid,
-      v3,
-      worldid,
-      overflow_out,
-      cand_dist_out,
-      cand_pos_out,
-      cand_nrm_out,
-      cand_geom_out,
-      cand_flex_out,
-      cand_elem_out,
-      cand_vert_out,
-      cand_worldid_out,
-      cand_type_out,
-      cand_geomcollisionid_out,
-      ncand_out,
-    )
-
-  # Test face (0,2,3) vs Vertex 1
-  ok1, dist1, pos1, nrm1 = _plane_vertex(p1, radius, p0, p2, p3)
-  if ok1:
-    _write_candidate_contact(
-      max_candidates,
-      dist1,
-      pos1,
-      nrm1,
-      -1,
-      flexid,
-      local_elemid,
-      v1,
-      worldid,
-      overflow_out,
-      cand_dist_out,
-      cand_pos_out,
-      cand_nrm_out,
-      cand_geom_out,
-      cand_flex_out,
-      cand_elem_out,
-      cand_vert_out,
-      cand_worldid_out,
-      cand_type_out,
-      cand_geomcollisionid_out,
-      ncand_out,
-    )
-
-  # Test face (0,3,1) vs Vertex 2
-  ok2, dist2, pos2, nrm2 = _plane_vertex(p2, radius, p0, p3, p1)
-  if ok2:
-    _write_candidate_contact(
-      max_candidates,
-      dist2,
-      pos2,
-      nrm2,
-      -1,
-      flexid,
-      local_elemid,
-      v2,
-      worldid,
-      overflow_out,
-      cand_dist_out,
-      cand_pos_out,
-      cand_nrm_out,
-      cand_geom_out,
-      cand_flex_out,
-      cand_elem_out,
-      cand_vert_out,
-      cand_worldid_out,
-      cand_type_out,
-      cand_geomcollisionid_out,
-      ncand_out,
-    )
-
-  # Test face (1,3,2) vs Vertex 0
-  ok3, dist3, pos3, nrm3 = _plane_vertex(p0, radius, p1, p3, p2)
-  if ok3:
-    _write_candidate_contact(
-      max_candidates,
-      dist3,
-      pos3,
-      nrm3,
-      -1,
-      flexid,
-      local_elemid,
-      v0,
-      worldid,
-      overflow_out,
-      cand_dist_out,
-      cand_pos_out,
-      cand_nrm_out,
-      cand_geom_out,
-      cand_flex_out,
-      cand_elem_out,
-      cand_vert_out,
-      cand_worldid_out,
-      cand_type_out,
-      cand_geomcollisionid_out,
-      ncand_out,
-    )
-
-
-@wp.func
-def _inside_triangle(
-  # In:
-  P: wp.vec3,
-  A: wp.vec3,
-  B: wp.vec3,
-  C: wp.vec3,
-  tol: float,
-) -> bool:
-  v0 = B - A
-  v1 = C - A
-  v2 = P - A
-  d00 = wp.dot(v0, v0)
-  d01 = wp.dot(v0, v1)
-  d11 = wp.dot(v1, v1)
-  d20 = wp.dot(v2, v0)
-  d21 = wp.dot(v2, v1)
-  denom = d00 * d11 - d01 * d01
-  if wp.abs(denom) < 1e-12:
-    return False
-  v = (d11 * d20 - d01 * d21) / denom
-  w = (d00 * d21 - d01 * d20) / denom
-  u = 1.0 - v - w
-  return u >= -tol and v >= -tol and w >= -tol and u <= 1.0 + tol and v <= 1.0 + tol and w <= 1.0 + tol
-
-
-@wp.func
-def _exclude_self_collision(
-  # Model:
-  flex_vertbodyid: wp.array[int],
-  # In:
-  v1: wp.vec4i,
-  n1: int,
-  v2: wp.vec4i,
-  n2: int,
-  vert_adr: int,
-) -> bool:
-  for i in range(n1):
-    idx1 = v1[i]
-    if idx1 >= 0:
-      b1 = flex_vertbodyid[vert_adr + idx1]
-      for j in range(n2):
-        idx2 = v2[j]
-        if idx1 == idx2:
-          return True
-        if idx2 >= 0 and b1 >= 0:
-          b2 = flex_vertbodyid[vert_adr + idx2]
-          if b1 == b2:
-            return True
-  return False
-
-
-@wp.func
-def _get_element_vertices(
-  # Model:
-  flex_elem: wp.array[int],
-  # In:
-  dim: int,
-  elem_data_idx: int,
-) -> wp.vec4i:
-  v0 = flex_elem[elem_data_idx]
-  v1 = flex_elem[elem_data_idx + 1]
-  v2 = int(-1)
-  v3 = int(-1)
-  if dim >= 2:
-    v2 = flex_elem[elem_data_idx + 2]
-  if dim >= 3:
-    v3 = flex_elem[elem_data_idx + 3]
-  return wp.vec4i(v0, v1, v2, v3)
-
-
-@wp.func
-def _elements_overlap(
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  dim: int,
-  radius: float,
-  v1_indices: wp.vec4i,
-  v2_indices: wp.vec4i,
-  vert_adr: int,
-  worldid: int,
-) -> bool:
-  p1_0 = flexvert_xpos_in[worldid, vert_adr + v1_indices[0]]
-  p1_1 = flexvert_xpos_in[worldid, vert_adr + v1_indices[1]]
-
-  min1 = wp.min(p1_0, p1_1)
-  max1 = wp.max(p1_0, p1_1)
-
-  if dim >= 2:
-    p1_2 = flexvert_xpos_in[worldid, vert_adr + v1_indices[2]]
-    min1 = wp.min(min1, p1_2)
-    max1 = wp.max(max1, p1_2)
-  if dim >= 3:
-    p1_3 = flexvert_xpos_in[worldid, vert_adr + v1_indices[3]]
-    min1 = wp.min(min1, p1_3)
-    max1 = wp.max(max1, p1_3)
-
-  p2_0 = flexvert_xpos_in[worldid, vert_adr + v2_indices[0]]
-  p2_1 = flexvert_xpos_in[worldid, vert_adr + v2_indices[1]]
-
-  min2 = wp.min(p2_0, p2_1)
-  max2 = wp.max(p2_0, p2_1)
-
-  if dim >= 2:
-    p2_2 = flexvert_xpos_in[worldid, vert_adr + v2_indices[2]]
-    min2 = wp.min(min2, p2_2)
-    max2 = wp.max(max2, p2_2)
-  if dim >= 3:
-    p2_3 = flexvert_xpos_in[worldid, vert_adr + v2_indices[3]]
-    min2 = wp.min(min2, p2_3)
-    max2 = wp.max(max2, p2_3)
-
-  rbound = 2.0 * radius
-
-  if min1[0] - rbound > max2[0] or max1[0] + rbound < min2[0]:
-    return False
-  if min1[1] - rbound > max2[1] or max1[1] + rbound < min2[1]:
-    return False
-  if min1[2] - rbound > max2[2] or max1[2] + rbound < min2[2]:
-    return False
-
-  return True
-
-
-@wp.kernel
-def _flex_sap_project(
-  # Model:
-  nflex: int,
-  flex_selfcollide: wp.array[int],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_elemadr: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_radius: wp.array[float],
-  flex_elemflexid: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  nworld_in: int,
-  # In:
-  nelem: int,
-  direction: wp.vec3,
-  # Out:
-  projection_lower_out: wp.array2d[float],
-  projection_upper_out: wp.array2d[float],
-  sort_index_out: wp.array2d[int],
-  elem_aabb_lower_out: wp.array2d[wp.vec3],
-  elem_aabb_upper_out: wp.array2d[wp.vec3],
-  segmented_index_out: wp.array[int],
-):
-  worldid, elemid = wp.tid()
-
-  flexid = flex_elemflexid[elemid]
-
-  # Initialize sort index
-  sort_index_out[worldid, elemid] = elemid
-
-  # Compute AABB from vertex positions
-  dim = flex_dim[flexid]
-  vert_adr = flex_vertadr[flexid]
-  elem_adr = flex_elemadr[flexid]
-  e = elemid - elem_adr
-  elem_data_idx = flex_elemdataadr[flexid] + e * (dim + 1)
-
-  v = _get_element_vertices(flex_elem, dim, elem_data_idx)
-
-  p0 = flexvert_xpos_in[worldid, vert_adr + v[0]]
-  p1 = flexvert_xpos_in[worldid, vert_adr + v[1]]
-
-  aabb_min = wp.min(p0, p1)
-  aabb_max = wp.max(p0, p1)
-
-  if dim >= 2:
-    p2 = flexvert_xpos_in[worldid, vert_adr + v[2]]
-    aabb_min = wp.min(aabb_min, p2)
-    aabb_max = wp.max(aabb_max, p2)
-  if dim >= 3:
-    p3 = flexvert_xpos_in[worldid, vert_adr + v[3]]
-    aabb_min = wp.min(aabb_min, p3)
-    aabb_max = wp.max(aabb_max, p3)
-
-  radius = flex_radius[flexid]
-  rbound = 2.0 * radius
-  inflate = wp.vec3(rbound, rbound, rbound)
-  aabb_min = aabb_min - inflate
-  aabb_max = aabb_max + inflate
-
-  elem_aabb_lower_out[worldid, elemid] = aabb_min
-  elem_aabb_upper_out[worldid, elemid] = aabb_max
-
-  # Project AABB onto direction to get 1D interval
-  center = 0.5 * (aabb_min + aabb_max)
-  halfsize = 0.5 * (aabb_max - aabb_min)
-  proj_center = wp.dot(direction, center)
-  proj_radius = wp.abs(direction[0]) * halfsize[0] + wp.abs(direction[1]) * halfsize[1] + wp.abs(direction[2]) * halfsize[2]
-
-  # If self-collision is disabled for this flex, push to infinity
-  if flex_selfcollide[flexid] == 0:
-    projection_lower_out[worldid, elemid] = MJ_MAXVAL
-    projection_upper_out[worldid, elemid] = MJ_MAXVAL
-  else:
-    projection_lower_out[worldid, elemid] = proj_center - proj_radius
-    projection_upper_out[worldid, elemid] = proj_center + proj_radius
-
-  # Segmented sort boundaries
-  if elemid == 0:
-    segmented_index_out[worldid] = worldid * nelem
-    if worldid == nworld_in - 1:
-      segmented_index_out[nworld_in] = nworld_in * nelem
-
-
-@wp.kernel
-def _flex_sap_filter(
-  # Model:
-  flex_selfcollide: wp.array[int],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_elemadr: wp.array[int],
-  flex_elemnum: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_vertbodyid: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_elemflexid: wp.array[int],
-  # In:
-  raw_npairs_in: wp.array[int],
-  raw_pair_elem1_in: wp.array[int],
-  raw_pair_elem2_in: wp.array[int],
-  raw_pair_worldid_in: wp.array[int],
-  # Out:
-  npairs_out: wp.array[int],
-  pair_elem1_out: wp.array[int],
-  pair_elem2_out: wp.array[int],
-  pair_worldid_out: wp.array[int],
-):
-  """Filter raw SAP pairs for flex self-collision."""
-  tid = wp.tid()
-
-  # Skip if beyond actual pair count
-  n_raw = raw_npairs_in[0]
-  if tid >= n_raw:
-    return
-
-  elem1_global = raw_pair_elem1_in[tid]
-  elem2_global = raw_pair_elem2_in[tid]
-
-  # Both elements must belong to the same flex
-  flexid1 = flex_elemflexid[elem1_global]
-  flexid2 = flex_elemflexid[elem2_global]
-  if flexid1 != flexid2:
-    return
-
-  flexid = flexid1
-  if flex_selfcollide[flexid] == 0:
-    return
-
-  # Exclude elements sharing vertices/bodies
-  dim = flex_dim[flexid]
-  vert_adr = flex_vertadr[flexid]
-  elem_adr = flex_elemadr[flexid]
-
-  e1 = elem1_global - elem_adr
-  e2 = elem2_global - elem_adr
-  elem_data_idx1 = flex_elemdataadr[flexid] + e1 * (dim + 1)
-  elem_data_idx2 = flex_elemdataadr[flexid] + e2 * (dim + 1)
-  v1_indices = _get_element_vertices(flex_elem, dim, elem_data_idx1)
-  v2_indices = _get_element_vertices(flex_elem, dim, elem_data_idx2)
-
-  if _exclude_self_collision(flex_vertbodyid, v1_indices, dim + 1, v2_indices, dim + 1, vert_adr):
-    return
-
-  # Output this pair
-  idx = wp.atomic_add(npairs_out, 0, 1)
-  if idx < pair_elem1_out.shape[0]:
-    pair_elem1_out[idx] = elem1_global
-    pair_elem2_out[idx] = elem2_global
-    pair_worldid_out[idx] = raw_pair_worldid_in[tid]
-
-
-@wp.kernel
-def _flex_selfcollision_narrowphase(
-  # Model:
-  nflex: int,
-  opt_ccd_tolerance: wp.array[float],
-  opt_warn_overflow: bool,
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_elemadr: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_radius: wp.array[float],
-  flex_elemflexid: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  max_candidates: int,
-  gjk_iterations: int,
-  epa_iterations: int,
-  npairs_in: wp.array[int],
-  pair_elem1_in: wp.array[int],
-  pair_elem2_in: wp.array[int],
-  pair_worldid_in: wp.array[int],
-  max_pairs: int,
-  n_total_elems: int,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  workspace_verts_out: wp.array[wp.vec3],
-  epa_vert_out: wp.array2d[wp.vec3],
-  epa_vert_index_out: wp.array2d[int],
-  epa_face_out: wp.array2d[int],
-  epa_pr_out: wp.array2d[wp.vec3],
-  epa_norm2_out: wp.array2d[float],
-  epa_horizon_out: wp.array2d[int],
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  """Process SAP-identified pairs through narrowphase (GJK/EPA)."""
-  pairid = wp.tid()
-
-  # Check bounds
-  actual_npairs = npairs_in[0]
-  if pairid >= actual_npairs or pairid >= max_pairs:
-    return
-
-  elem1_global = pair_elem1_in[pairid]
-  elem2_global = pair_elem2_in[pairid]
-  worldid = pair_worldid_in[pairid]
-
-  flexid = flex_elemflexid[elem1_global]
-  radius = flex_radius[flexid]
-  dim = flex_dim[flexid]
-  vert_adr = flex_vertadr[flexid]
-  elem_adr = flex_elemadr[flexid]
-
-  e1 = elem1_global - elem_adr
-  e2 = elem2_global - elem_adr
-  elem_data_idx1 = flex_elemdataadr[flexid] + e1 * (dim + 1)
-  elem_data_idx2 = flex_elemdataadr[flexid] + e2 * (dim + 1)
-
-  v1_indices = _get_element_vertices(flex_elem, dim, elem_data_idx1)
-  v2_indices = _get_element_vertices(flex_elem, dim, elem_data_idx2)
-
-  # Workspace for this pair
-  offset1 = pairid * 8
-  for idx in range(dim + 1):
-    workspace_verts_out[offset1 + idx] = flexvert_xpos_in[worldid, vert_adr + v1_indices[idx]]
-
-  if dim == 1:
-    # Capsule-capsule collision
-    p0 = workspace_verts_out[offset1]
-    p1 = workspace_verts_out[offset1 + 1]
-    cap1_pos = 0.5 * (p0 + p1)
-    cap1_axis = wp.normalize(p1 - p0)
-    cap1_half_len = 0.5 * wp.length(p1 - p0)
-
-    p2_0 = flexvert_xpos_in[worldid, vert_adr + v2_indices[0]]
-    p2_1 = flexvert_xpos_in[worldid, vert_adr + v2_indices[1]]
-    cap2_pos = 0.5 * (p2_0 + p2_1)
-    cap2_axis = wp.normalize(p2_1 - p2_0)
-    cap2_half_len = 0.5 * wp.length(p2_1 - p2_0)
-
-    margin = 0.0
-
-    contact_dist, contact_pos, contact_normal = collision_primitive_core.capsule_capsule(
-      cap1_pos, cap1_axis, radius, cap1_half_len, cap2_pos, cap2_axis, radius, cap2_half_len, margin
-    )
-
-    for c in range(2):
-      d_val = contact_dist[c]
-      if d_val < 0.0:
-        _write_candidate_contact(
-          max_candidates,
-          d_val,
-          contact_pos[c],
-          contact_normal[c],
-          -2,
-          flexid,
-          e1,
-          e2,
-          worldid,
-          overflow_out,
-          cand_dist_out,
-          cand_pos_out,
-          cand_nrm_out,
-          cand_geom_out,
-          cand_flex_out,
-          cand_elem_out,
-          cand_vert_out,
-          cand_worldid_out,
-          cand_type_out,
-          cand_geomcollisionid_out,
-          ncand_out,
-        )
-  else:
-    # GJK/EPA for dim >= 2
-    offset2 = pairid * 8 + 4
-    for idx in range(dim + 1):
-      workspace_verts_out[offset2 + idx] = flexvert_xpos_in[worldid, vert_adr + v2_indices[idx]]
-
-    geom1 = Geom()
-    geom1.pos = wp.vec3(0.0)
-    geom1.rot = wp.identity(n=3, dtype=float)
-    geom1.size = wp.vec3(0.0)
-    geom1.margin = 2.0 * radius
-    geom1.vert = workspace_verts_out
-    geom1.vertadr = offset1
-    geom1.vertnum = dim + 1
-    geom1.graphadr = -1
-    geom1.index = -1
-
-    geom2 = Geom()
-    geom2.pos = wp.vec3(0.0)
-    geom2.rot = wp.identity(n=3, dtype=float)
-    geom2.size = wp.vec3(0.0)
-    geom2.margin = 2.0 * radius
-    geom2.vert = workspace_verts_out
-    geom2.vertadr = offset2
-    geom2.vertnum = dim + 1
-    geom2.graphadr = -1
-    geom2.index = -1
-
-    center1 = wp.vec3(0.0)
-    for idx in range(dim + 1):
-      center1 += workspace_verts_out[offset1 + idx]
-    center1 = center1 / float(dim + 1)
-
-    center2 = wp.vec3(0.0)
-    for idx in range(dim + 1):
-      center2 += workspace_verts_out[offset2 + idx]
-    center2 = center2 / float(dim + 1)
-
-    tol = opt_ccd_tolerance[0 % opt_ccd_tolerance.shape[0]]
-
-    dist, ncontact, w1, w2, _ = ccd(
-      tol,
-      2.0 * radius,
-      gjk_iterations,
-      epa_iterations,
-      geom1,
-      geom2,
-      int(GeomType.MESH),
-      int(GeomType.MESH),
-      center1,
-      center2,
-      epa_vert_out[pairid],
-      epa_vert_index_out[pairid],
-      epa_face_out[pairid],
-      epa_pr_out[pairid],
-      epa_norm2_out[pairid],
-      epa_horizon_out[pairid],
-      opt_warn_overflow,
-      worldid,
-      overflow_out,
-    )
-
-    phys_dist = dist
-    if ncontact > 0 and phys_dist < 0.0:
-      p1_0 = workspace_verts_out[offset1]
-      p1_1 = workspace_verts_out[offset1 + 1]
-      p1_2 = workspace_verts_out[offset1 + 2]
-      p2_0 = workspace_verts_out[offset2]
-      p2_1 = workspace_verts_out[offset2 + 1]
-      p2_2 = workspace_verts_out[offset2 + 2]
-      if not (_inside_triangle(w1, p1_0, p1_1, p1_2, 0.2) and _inside_triangle(w2, p2_0, p2_1, p2_2, 0.2)):
-        return
-
-      pos = 0.5 * (w1 + w2)
-      nrm = wp.normalize(w1 - w2)
-      _write_candidate_contact(
-        max_candidates,
-        phys_dist,
-        pos,
-        nrm,
-        -2,
-        flexid,
-        e1,
-        e2,
-        worldid,
-        overflow_out,
-        cand_dist_out,
-        cand_pos_out,
-        cand_nrm_out,
-        cand_geom_out,
-        cand_flex_out,
-        cand_elem_out,
-        cand_vert_out,
-        cand_worldid_out,
-        cand_type_out,
-        cand_geomcollisionid_out,
-        ncand_out,
-      )
-
-
-@wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-def _flex_active_element_collisions_detect(
-  # Model:
-  nflex: int,
-  opt_ccd_tolerance: wp.array[float],
-  opt_warn_overflow: bool,
-  flex_selfcollide: wp.array[int],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_elemadr: wp.array[int],
-  flex_elemnum: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_vertbodyid: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_radius: wp.array[float],
-  flex_elemflexid: wp.array[int],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  max_candidates: int,
-  gjk_iterations: int,
-  epa_iterations: int,
-  n_total_elems: int,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  workspace_verts_out: wp.array[wp.vec3],
-  epa_vert_out: wp.array2d[wp.vec3],
-  epa_vert_index_out: wp.array2d[int],
-  epa_face_out: wp.array2d[int],
-  epa_pr_out: wp.array2d[wp.vec3],
-  epa_norm2_out: wp.array2d[float],
-  epa_horizon_out: wp.array2d[int],
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  worldid, elem1_global = wp.tid()
-
-  flexid = flex_elemflexid[elem1_global]
-  if flex_selfcollide[flexid] == 0:
-    return
-
-  radius = flex_radius[flexid]
-  dim = flex_dim[flexid]
-  vert_adr = flex_vertadr[flexid]
-  elem_adr = flex_elemadr[flexid]
-  elem_num = flex_elemnum[flexid]
-
-  e1 = elem1_global - elem_adr
-  elem_data_idx1 = flex_elemdataadr[flexid] + e1 * (dim + 1)
-
-  v1_indices = _get_element_vertices(flex_elem, dim, elem_data_idx1)
-
-  unique_thread_id = worldid * n_total_elems + elem1_global
-
-  offset1 = unique_thread_id * 8
-  for idx in range(dim + 1):
-    workspace_verts_out[offset1 + idx] = flexvert_xpos_in[worldid, vert_adr + v1_indices[idx]]
-
-  for e2 in range(e1 + 1, elem_num):
-    elem_data_idx2 = flex_elemdataadr[flexid] + e2 * (dim + 1)
-    v2_indices = _get_element_vertices(flex_elem, dim, elem_data_idx2)
-
-    if _exclude_self_collision(flex_vertbodyid, v1_indices, dim + 1, v2_indices, dim + 1, vert_adr):
-      continue
-
-    overlap = _elements_overlap(flexvert_xpos_in, dim, radius, v1_indices, v2_indices, vert_adr, worldid)
-    if not overlap:
-      continue
-
-    if dim == 1:
-      p0 = workspace_verts_out[offset1]
-      p1 = workspace_verts_out[offset1 + 1]
-      cap1_pos = 0.5 * (p0 + p1)
-      cap1_axis = wp.normalize(p1 - p0)
-      cap1_half_len = 0.5 * wp.length(p1 - p0)
-
-      p2_0 = flexvert_xpos_in[worldid, vert_adr + v2_indices[0]]
-      p2_1 = flexvert_xpos_in[worldid, vert_adr + v2_indices[1]]
-      cap2_pos = 0.5 * (p2_0 + p2_1)
-      cap2_axis = wp.normalize(p2_1 - p2_0)
-      cap2_half_len = 0.5 * wp.length(p2_1 - p2_0)
-
-      margin = 0.0
-
-      contact_dist, contact_pos, contact_normal = collision_primitive_core.capsule_capsule(
-        cap1_pos, cap1_axis, radius, cap1_half_len, cap2_pos, cap2_axis, radius, cap2_half_len, margin
-      )
-
-      for c in range(2):
-        d_val = contact_dist[c]
-        if d_val < 0.0:
-          _write_candidate_contact(
-            max_candidates,
-            d_val,
-            contact_pos[c],
-            contact_normal[c],
-            -2,
-            flexid,
-            e1,
-            e2,
-            worldid,
-            overflow_out,
-            cand_dist_out,
-            cand_pos_out,
-            cand_nrm_out,
-            cand_geom_out,
-            cand_flex_out,
-            cand_elem_out,
-            cand_vert_out,
-            cand_worldid_out,
-            cand_type_out,
-            cand_geomcollisionid_out,
-            ncand_out,
-          )
-    else:
-      offset2 = unique_thread_id * 8 + 4
-      for idx in range(dim + 1):
-        workspace_verts_out[offset2 + idx] = flexvert_xpos_in[worldid, vert_adr + v2_indices[idx]]
-
-      geom1 = Geom()
-      geom1.pos = wp.vec3(0.0)
-      geom1.rot = wp.identity(n=3, dtype=float)
-      geom1.size = wp.vec3(0.0)
-      geom1.margin = 2.0 * radius
-      geom1.vert = workspace_verts_out
-      geom1.vertadr = offset1
-      geom1.vertnum = dim + 1
-      geom1.graphadr = -1
-      geom1.index = -1
-
-      geom2 = Geom()
-      geom2.pos = wp.vec3(0.0)
-      geom2.rot = wp.identity(n=3, dtype=float)
-      geom2.size = wp.vec3(0.0)
-      geom2.margin = 2.0 * radius
-      geom2.vert = workspace_verts_out
-      geom2.vertadr = offset2
-      geom2.vertnum = dim + 1
-      geom2.graphadr = -1
-      geom2.index = -1
-
-      center1 = wp.vec3(0.0)
-      for idx in range(dim + 1):
-        center1 += workspace_verts_out[offset1 + idx]
-      center1 = center1 / float(dim + 1)
-
-      center2 = wp.vec3(0.0)
-      for idx in range(dim + 1):
-        center2 += workspace_verts_out[offset2 + idx]
-      center2 = center2 / float(dim + 1)
-
-      tol = opt_ccd_tolerance[worldid % opt_ccd_tolerance.shape[0]]
-
-      dist, ncontact, w1, w2, _ = ccd(
-        tol,
-        2.0 * radius,
-        gjk_iterations,
-        epa_iterations,
-        geom1,
-        geom2,
-        int(GeomType.MESH),
-        int(GeomType.MESH),
-        center1,
-        center2,
-        epa_vert_out[unique_thread_id],
-        epa_vert_index_out[unique_thread_id],
-        epa_face_out[unique_thread_id],
-        epa_pr_out[unique_thread_id],
-        epa_norm2_out[unique_thread_id],
-        epa_horizon_out[unique_thread_id],
-        opt_warn_overflow,
-        worldid,
-        overflow_out,
-      )
-
-      phys_dist = dist
-      if ncontact > 0 and phys_dist < 0.0:
-        p1_0 = workspace_verts_out[offset1]
-        p1_1 = workspace_verts_out[offset1 + 1]
-        p1_2 = workspace_verts_out[offset1 + 2]
-        p2_0 = workspace_verts_out[offset2]
-        p2_1 = workspace_verts_out[offset2 + 1]
-        p2_2 = workspace_verts_out[offset2 + 2]
-        if not (_inside_triangle(w1, p1_0, p1_1, p1_2, 0.2) and _inside_triangle(w2, p2_0, p2_1, p2_2, 0.2)):
-          continue
-
-        pos = 0.5 * (w1 + w2)
-        nrm = wp.normalize(w1 - w2)
-        _write_candidate_contact(
-          max_candidates,
-          phys_dist,
-          pos,
-          nrm,
-          -2,
-          flexid,
-          e1,
-          e2,
-          worldid,
-          overflow_out,
-          cand_dist_out,
-          cand_pos_out,
-          cand_nrm_out,
-          cand_geom_out,
-          cand_flex_out,
-          cand_elem_out,
-          cand_vert_out,
-          cand_worldid_out,
-          cand_type_out,
-          cand_geomcollisionid_out,
-          ncand_out,
-        )
-
-
-@wp.kernel
-def _flex_narrowphase_unified(
-  # Model:
-  ngeom: int,
-  nflex: int,
-  opt_ccd_tolerance: wp.array[float],
-  opt_warn_overflow: bool,
-  geom_type: wp.array[int],
-  geom_condim: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_priority: wp.array[int],
-  geom_solmix: wp.array2d[float],
-  geom_solref: wp.array2d[wp.vec2],
-  geom_solimp: wp.array2d[vec5],
-  geom_size: wp.array2d[wp.vec3],
-  geom_friction: wp.array2d[wp.vec3],
-  geom_margin: wp.array2d[float],
-  geom_gap: wp.array2d[float],
-  flex_condim: wp.array[int],
-  flex_priority: wp.array[int],
-  flex_solmix: wp.array[float],
-  flex_solref: wp.array[wp.vec2],
-  flex_solimp: wp.array[vec5],
-  flex_friction: wp.array[wp.vec3],
-  flex_margin: wp.array[float],
-  flex_gap: wp.array[float],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_radius: wp.array[float],
-  mesh_vertadr: wp.array[int],
-  mesh_vertnum: wp.array[int],
-  mesh_graphadr: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_graph: wp.array[int],
-  mesh_pos: wp.array[wp.vec3],
-  mesh_polynormal: wp.array[wp.vec3],
-  mesh_polyvertadr: wp.array[int],
-  mesh_polyvert: wp.array[int],
-  mesh_polymapadr: wp.array[int],
-  mesh_polymapnum: wp.array[int],
-  mesh_polymap: wp.array[int],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  nworld_in: int,
-  naconmax_in: int,
-  naccdmax_in: int,
-  ncollision_in: wp.array[int],
-  # In:
-  triadr: wp.array[int],
-  flex_tridataadr: wp.array[int],
-  flex_tri: wp.array[int],
-  flex_triflexid: wp.array[int],
-  collision_pair_in: wp.array[wp.vec2i],
-  collision_worldid_in: wp.array[int],
-  epa_vert: wp.array2d[wp.vec3],
-  epa_vert_index: wp.array2d[int],
-  epa_face: wp.array2d[int],
-  epa_pr: wp.array2d[wp.vec3],
-  epa_norm2: wp.array2d[float],
-  epa_horizon: wp.array2d[int],
-  nccd: wp.array[int],
-  ccd_iterations: int,
-  max_candidates: int,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  collisionid = wp.tid()
-  if collisionid >= ncollision_in[0] or collisionid >= collision_pair_in.shape[0]:
-    return
-
-  pair = collision_pair_in[collisionid]
-  tri_id = pair[0]
-  geomid = pair[1]
-
-  gtype = geom_type[geomid]
-  if (
-    gtype != int(GeomType.SPHERE)
-    and gtype != int(GeomType.CAPSULE)
-    and gtype != int(GeomType.BOX)
-    and gtype != int(GeomType.CYLINDER)
-    and gtype != int(GeomType.MESH)
-    and gtype != int(GeomType.ELLIPSOID)
-  ):
-    return
-
-  worldid = collision_worldid_in[collisionid]
-
-  flexid = flex_triflexid[tri_id]
-
-  vert_adr = flex_vertadr[flexid]
-  tri_radius = flex_radius[flexid]
-  tri_margin = flex_margin[flexid]
-
-  local_tri_id = tri_id - triadr[flexid]
-  tri_data_idx = flex_tridataadr[flexid] + local_tri_id * 3
-  v0_local = flex_tri[tri_data_idx]
-  v1_local = flex_tri[tri_data_idx + 1]
-  v2_local = flex_tri[tri_data_idx + 2]
-
-  t1 = flexvert_xpos_in[worldid, vert_adr + v0_local]
-  t2 = flexvert_xpos_in[worldid, vert_adr + v1_local]
-  t3 = flexvert_xpos_in[worldid, vert_adr + v2_local]
-
-  geom_margin_val = geom_margin[worldid % geom_margin.shape[0], geomid]
-  margin = geom_margin_val + tri_margin
-
-  geom_pos = geom_xpos_in[worldid, geomid]
-  geom_rot = geom_xmat_in[worldid, geomid]
-  geom_size_val = geom_size[worldid % geom_size.shape[0], geomid]
-
-  if gtype == int(GeomType.MESH):
-    ccdid = wp.atomic_add(nccd, 0, 1)
-    if ccdid >= naccdmax_in:
-      if opt_warn_overflow:
-        wp.printf("CCD overflow in flex narrowphase - please increase naccdmax to %u\n", ccdid)
-      wp.atomic_or(overflow_out, worldid, wp.static(OverflowType.CCD))
-    else:
-      did = geom_dataid[worldid % geom_dataid.shape[0], geomid]
-      tolerance = opt_ccd_tolerance[worldid % opt_ccd_tolerance.shape[0]]
-      _collide_mesh_triangle(
-        mesh_vertadr,
-        mesh_vertnum,
-        mesh_graphadr,
-        mesh_vert,
-        mesh_graph,
-        mesh_pos,
-        mesh_polynormal,
-        mesh_polyvertadr,
-        mesh_polyvert,
-        mesh_polymapadr,
-        mesh_polymapnum,
-        mesh_polymap,
-        max_candidates,
-        geom_pos,
-        geom_rot,
-        geom_size_val,
-        t1,
-        t2,
-        t3,
-        tri_radius,
-        margin,
-        geomid,
-        flexid,
-        local_tri_id,
-        v0_local,
-        v1_local,
-        v2_local,
-        worldid,
-        did,
-        epa_vert[ccdid],
-        epa_vert_index[ccdid],
-        epa_face[ccdid],
-        epa_pr[ccdid],
-        epa_norm2[ccdid],
-        epa_horizon[ccdid],
-        tolerance,
-        ccd_iterations,
-        opt_warn_overflow,
-        overflow_out,
-        cand_dist_out,
-        cand_pos_out,
-        cand_nrm_out,
-        cand_geom_out,
-        cand_flex_out,
-        cand_elem_out,
-        cand_vert_out,
-        cand_worldid_out,
-        cand_type_out,
-        cand_geomcollisionid_out,
-        ncand_out,
-      )
-  elif gtype == int(GeomType.ELLIPSOID):
-    ccdid = wp.atomic_add(nccd, 0, 1)
-    if ccdid >= naccdmax_in:
-      if opt_warn_overflow:
-        wp.printf("CCD overflow in flex narrowphase - please increase naccdmax to %u\n", ccdid)
-      wp.atomic_or(overflow_out, worldid, wp.static(OverflowType.CCD))
-    else:
-      tolerance = opt_ccd_tolerance[worldid % opt_ccd_tolerance.shape[0]]
-
-      # Construct Ellipsoid Geom (geom1)
-      geom1 = Geom()
-      geom1.pos = geom_pos
-      geom1.rot = geom_rot
-      geom1.size = geom_size_val
-      geom1.margin = 0.0
-      geom1.index = -1
-
-      # Construct Triangle Geom (geom2)
-      geom2 = Geom()
-      geom2.pos = wp.vec3(0.0, 0.0, 0.0)
-      geom2.rot = wp.mat33(t1[0], t1[1], t1[2], t2[0], t2[1], t2[2], t3[0], t3[1], t3[2])
-      geom2.margin = 0.0
-      geom2.index = -1
-
-      centroid = (t1 + t2 + t3) * wp.static(1.0 / 3.0)
-      r_geom = wp.length(geom_size_val)
-      d1 = wp.length(t1 - centroid)
-      d2 = wp.length(t2 - centroid)
-      d3 = wp.length(t3 - centroid)
-      r_tri = wp.max(d1, wp.max(d2, d3))
-
-      if wp.length(centroid - geom_pos) <= r_geom + r_tri + margin + tri_radius + 0.04:
-        dist, ncontact, w1, w2, idx = ccd(
-          tolerance,
-          margin + tri_radius,
-          ccd_iterations,
-          ccd_iterations,
-          geom1,
-          geom2,
-          int(GeomType.ELLIPSOID),
-          int(GeomType.TRIANGLE),
-          geom_pos,
-          centroid,
-          epa_vert[ccdid],
-          epa_vert_index[ccdid],
-          epa_face[ccdid],
-          epa_pr[ccdid],
-          epa_norm2[ccdid],
-          epa_horizon[ccdid],
-          opt_warn_overflow,
-          worldid,
-          overflow_out,
-        )
-
-        if ncontact > 0 and dist < margin + tri_radius:
-          if _inside_triangle(w2, t1, t2, t3, 0.2):
-            if dist < 0.0:
-              normal = wp.normalize(w1 - w2)
-            else:
-              normal = wp.normalize(w2 - w1)
-
-            # Project triangle vertices onto normal to find deepest penetration
-            dist_v0 = wp.dot(t1 - w1, normal) - tri_radius
-            dist_v1 = wp.dot(t2 - w1, normal) - tri_radius
-            dist_v2 = wp.dot(t3 - w1, normal) - tri_radius
-
-            min_dist = wp.min(dist_v0, wp.min(dist_v1, dist_v2))
-            if min_dist < margin:
-              deepest_vert = v0_local
-              pos = t1 - normal * (tri_radius + 0.5 * dist_v0)
-              if dist_v1 < dist_v0 and dist_v1 < dist_v2:
-                deepest_vert = v1_local
-                pos = t2 - normal * (tri_radius + 0.5 * dist_v1)
-              elif dist_v2 < dist_v0 and dist_v2 < dist_v1:
-                deepest_vert = v2_local
-                pos = t3 - normal * (tri_radius + 0.5 * dist_v2)
-
-              _write_candidate_contact(
-                max_candidates,
-                min_dist,
-                pos,
-                normal,
-                geomid,
-                flexid,
-                local_tri_id,
-                -1,
-                worldid,
-                overflow_out,
-                cand_dist_out,
-                cand_pos_out,
-                cand_nrm_out,
-                cand_geom_out,
-                cand_flex_out,
-                cand_elem_out,
-                cand_vert_out,
-                cand_worldid_out,
-                cand_type_out,
-                cand_geomcollisionid_out,
-                ncand_out,
-              )
-  else:
-    _collide_geom_triangle_detect(
-      max_candidates,
-      gtype,
-      geom_pos,
-      geom_rot,
-      geom_size_val,
-      t1,
-      t2,
-      t3,
-      tri_radius,
-      margin,
-      geomid,
-      flexid,
-      local_tri_id,
-      -1,
-      worldid,
-      overflow_out,
-      cand_dist_out,
-      cand_pos_out,
-      cand_nrm_out,
-      cand_geom_out,
-      cand_flex_out,
-      cand_elem_out,
-      cand_vert_out,
-      cand_worldid_out,
-      cand_type_out,
-      cand_geomcollisionid_out,
-      ncand_out,
-    )
-
-
-@wp.kernel
-def _flex_narrowphase_tet_detect(
-  # Model:
-  ngeom: int,
-  nflex: int,
-  geom_type: wp.array[int],
-  geom_contype: wp.array[int],
-  geom_conaffinity: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_margin: wp.array2d[float],
-  flex_contype: wp.array[int],
-  flex_conaffinity: wp.array[int],
-  flex_margin: wp.array[float],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_elemadr: wp.array[int],
-  flex_elemnum: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_radius: wp.array[float],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  nworld_in: int,
-  # In:
-  max_candidates: int,
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  cand_dist_out: wp.array[float],
-  cand_pos_out: wp.array[wp.vec3],
-  cand_nrm_out: wp.array[wp.vec3],
-  cand_geom_out: wp.array[wp.vec2i],
-  cand_flex_out: wp.array[wp.vec2i],
-  cand_elem_out: wp.array[wp.vec2i],
-  cand_vert_out: wp.array[wp.vec2i],
-  cand_worldid_out: wp.array[int],
-  cand_type_out: wp.array[int],
-  cand_geomcollisionid_out: wp.array[int],
-  ncand_out: wp.array[int],
-):
-  worldid, elemid = wp.tid()
-
-  # Find which flex owns this element
-  flexid = int(-1)
-  for i in range(nflex):
-    if flex_dim[i] != 3:
-      continue
-    elem_adr = flex_elemadr[i]
-    elem_num = flex_elemnum[i]
-    if elemid >= elem_adr and elemid < elem_adr + elem_num:
-      flexid = i
-      break
-
-  if flexid < 0:
-    return
-
-  vert_adr = flex_vertadr[flexid]
-  tri_radius = flex_radius[flexid]
-  tri_margin = flex_margin[flexid]
-
-  # Extract 4 tet vertex indices (dim+1 = 4 for dim=3)
-  local_elemid = elemid - flex_elemadr[flexid]
-  edata_idx = flex_elemdataadr[flexid] + local_elemid * 4
-  v0 = flex_elem[edata_idx]
-  v1 = flex_elem[edata_idx + 1]
-  v2 = flex_elem[edata_idx + 2]
-  v3 = flex_elem[edata_idx + 3]
-
-  # Fetch world-space vertex positions
-  p0 = flexvert_xpos_in[worldid, vert_adr + v0]
-  p1 = flexvert_xpos_in[worldid, vert_adr + v1]
-  p2 = flexvert_xpos_in[worldid, vert_adr + v2]
-  p3 = flexvert_xpos_in[worldid, vert_adr + v3]
-
-  # TODO: Add a broadphase
-  for geomid in range(ngeom):
-    gtype = geom_type[geomid]
-    if (
-      gtype != int(GeomType.SPHERE)
-      and gtype != int(GeomType.CAPSULE)
-      and gtype != int(GeomType.BOX)
-      and gtype != int(GeomType.CYLINDER)
-    ):
-      continue
-
-    g_contype = geom_contype[geomid]
-    g_conaffinity = geom_conaffinity[geomid]
-    f_contype = flex_contype[flexid]
-    f_conaffinity = flex_conaffinity[flexid]
-    if not ((g_contype & f_conaffinity) or (f_contype & g_conaffinity)):
-      continue
-
-    geom_margin_val = geom_margin[worldid % geom_margin.shape[0], geomid]
-    margin = geom_margin_val + tri_margin
-
-    geom_pos = geom_xpos_in[worldid, geomid]
-    geom_rot = geom_xmat_in[worldid, geomid]
-    geom_size_val = geom_size[worldid % geom_size.shape[0], geomid]
-
-    # Test all 4 triangular faces of the tet against the geom.
-    # Face k is the triangle opposite vertex k:
-    #   Face 0: (v1, v2, v3)
-    #   Face 1: (v0, v2, v3)
-    #   Face 2: (v0, v1, v3)
-    #   Face 3: (v0, v1, v2)
-    for face in range(4):
-      if face == 0:
-        t1 = p1
-        t2 = p2
-        t3 = p3
-      elif face == 1:
-        t1 = p0
-        t2 = p2
-        t3 = p3
-      elif face == 2:
-        t1 = p0
-        t2 = p1
-        t3 = p3
-      else:
-        t1 = p0
-        t2 = p1
-        t3 = p2
-
-      _collide_geom_triangle_detect(
-        max_candidates,
-        gtype,
-        geom_pos,
-        geom_rot,
-        geom_size_val,
-        t1,
-        t2,
-        t3,
-        tri_radius,
-        margin,
-        geomid,
-        flexid,
-        elemid,
-        -1,
-        worldid,
-        overflow_out,
-        cand_dist_out,
-        cand_pos_out,
-        cand_nrm_out,
-        cand_geom_out,
-        cand_flex_out,
-        cand_elem_out,
-        cand_vert_out,
-        cand_worldid_out,
-        cand_type_out,
-        cand_geomcollisionid_out,
-        ncand_out,
-      )
-
-
-@wp.kernel
-def _compute_filter_key(
-  # Model:
-  ngeom: int,
-  nflex: int,
-  # In:
-  ncand: wp.array[int],
-  cand_geom: wp.array[wp.vec2i],
-  cand_flex: wp.array[wp.vec2i],
-  cand_worldid: wp.array[int],
-  # Out:
-  key_out: wp.array[int],
-  val_out: wp.array[int],
-):
-  """Compute sort key for candidate grouping.
-
-  Groups candidates by (worldid, flex_id, geom_id) so that duplicates
-  are contiguous after sorting. Self-collision contacts (geom_id < 0)
-  are mapped to a sentinel value (ngeom).
-  """
-  i = wp.tid()
-  if i >= ncand[0]:
-    key_out[i] = 2147483647  # INT_MAX: sort unused entries to end
-    val_out[i] = i
-    return
-
-  worldid = cand_worldid[i]
-  flex_id = cand_flex[i][1]
-  geom_id = cand_geom[i][0]
-
-  # Map self-collision (geom_id < 0) to sentinel
-  g = geom_id
-  if g < 0:
-    g = ngeom
-
-  key_out[i] = worldid * (nflex + 1) * (ngeom + 2) + flex_id * (ngeom + 2) + g
-  val_out[i] = i
-
-
-@wp.kernel
-def _filter_flex_candidates_sorted(
-  # In:
-  ncand: wp.array[int],
-  epsilon: float,
-  sort_key: wp.array[int],
-  sort_val: wp.array[int],
-  cand_dist: wp.array[float],
-  cand_pos: wp.array[wp.vec3],
-  # Out:
-  cand_active_out: wp.array[int],
-):
-  """Filter duplicate candidates using sorted order.
-
-  After sorting by group key, candidates in the same group are contiguous.
-  Each candidate only compares with neighbors sharing the same key, reducing
-  complexity from O(n^2) to O(n * k) where k is the average group size.
-  """
-  si = wp.tid()
-  if si >= ncand[0]:
-    return
-
-  i = sort_val[si]
-  my_key = sort_key[si]
-  pos_i = cand_pos[i]
-  dist_i = cand_dist[i]
-  eps2 = epsilon * epsilon
-
-  keep = int(1)
-
-  # Compare with same-key neighbors (backward)
-  j = si - 1
-  while j >= 0:
-    if sort_key[j] != my_key:
-      break
-    oj = sort_val[j]
-    diff = pos_i - cand_pos[oj]
-    if wp.dot(diff, diff) < eps2:
-      dist_j = cand_dist[oj]
-      if dist_j < dist_i:
-        keep = 0
-      elif dist_j == dist_i and oj < i:
-        keep = 0
-    j -= 1
-
-  # Compare with same-key neighbors (forward)
-  j = si + 1
-  while j < ncand[0]:
-    if sort_key[j] != my_key:
-      break
-    oj = sort_val[j]
-    diff = pos_i - cand_pos[oj]
-    if wp.dot(diff, diff) < eps2:
-      dist_j = cand_dist[oj]
-      if dist_j < dist_i:
-        keep = 0
-      elif dist_j == dist_i and oj < i:
-        keep = 0
-    j += 1
-
-  cand_active_out[i] = keep
-
-
-@wp.kernel
-def _filter_flex_candidates(
-  # In:
-  max_candidates: int,
-  ncand: wp.array[int],
-  epsilon: float,
-  cand_dist: wp.array[float],
-  cand_pos: wp.array[wp.vec3],
-  cand_geom: wp.array[wp.vec2i],
-  cand_flex: wp.array[wp.vec2i],
-  cand_worldid: wp.array[int],
-  # Out:
-  cand_active_out: wp.array[int],
-):
-  i = wp.tid()
-  limit = ncand[0]
-  if i >= limit:
-    return
-
-  geom_i = cand_geom[i][0]
-  flex_i = cand_flex[i][1]
-  world_i = cand_worldid[i]
-  pos_i = cand_pos[i]
-  dist_i = cand_dist[i]
-
-  keep = int(1)
-  for j in range(max_candidates):
-    if j >= limit:
-      break
-    if j == i:
-      continue
-    geom_j = cand_geom[j][0]
-    if (geom_i >= 0 and geom_j >= 0 and geom_j == geom_i) or (geom_i < 0 and geom_j < 0):
-      flex_j = cand_flex[j][1]
-      if flex_j == flex_i:
-        world_j = cand_worldid[j]
-        if world_j == world_i:
-          pos_j = cand_pos[j]
-          dist_j = cand_dist[j]
-
-          diff = pos_i - pos_j
-          if wp.dot(diff, diff) < epsilon * epsilon:
-            if dist_j < dist_i:
-              keep = 0
-            elif dist_j == dist_i and j < i:
-              keep = 0
-
-  cand_active_out[i] = keep
-
-
-@wp.kernel
-def _write_filtered_contacts(
-  # Model:
-  opt_warn_overflow: bool,
-  geom_type: wp.array[int],
-  geom_condim: wp.array[int],
-  geom_priority: wp.array[int],
-  geom_solmix: wp.array2d[float],
-  geom_solref: wp.array2d[wp.vec2],
-  geom_solimp: wp.array2d[vec5],
-  geom_friction: wp.array2d[wp.vec3],
-  geom_margin: wp.array2d[float],
-  geom_gap: wp.array2d[float],
-  flex_condim: wp.array[int],
-  flex_priority: wp.array[int],
-  flex_solmix: wp.array[float],
-  flex_solref: wp.array[wp.vec2],
-  flex_solimp: wp.array[vec5],
-  flex_friction: wp.array[wp.vec3],
-  flex_margin: wp.array[float],
-  flex_gap: wp.array[float],
-  flex_dim: wp.array[int],
-  # Data in:
-  naconmax_in: int,
-  # In:
-  ncand: wp.array[int],
-  cand_dist: wp.array[float],
-  cand_pos: wp.array[wp.vec3],
-  cand_nrm: wp.array[wp.vec3],
-  cand_geom: wp.array[wp.vec2i],
-  cand_flex: wp.array[wp.vec2i],
-  cand_elem: wp.array[wp.vec2i],
-  cand_vert: wp.array[wp.vec2i],
-  cand_worldid: wp.array[int],
-  cand_type: wp.array[int],
-  cand_geomcollisionid: wp.array[int],
-  cand_active: wp.array[int],
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_flex_out: wp.array[wp.vec2i],
-  contact_elem_out: wp.array[wp.vec2i],
-  contact_vert_out: wp.array[wp.vec2i],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-  # Data out:
-  overflow_out: wp.array[int],
-):
-  i = wp.tid()
-  if i >= ncand[0]:
-    return
-
-  if cand_active[i] == 0:
-    return
-
-  geomid = cand_geom[i][0]
-  worldid = cand_worldid[i]
-
-  condim = int(0)
-  margin = float(0.0)
-  gap = float(0.0)
-  solref = wp.vec2(0.0, 0.0)
-  solimp = vec5(0.0, 0.0, 0.0, 0.0, 0.0)
-  friction = vec5(0.0, 0.0, 0.0, 0.0, 0.0)
-
-  if geomid >= 0:
-    flexid = cand_flex[i][1]
-    geom_margin_val = geom_margin[worldid % geom_margin.shape[0], geomid]
-    tri_margin = flex_margin[flexid]
-    margin = geom_margin_val + tri_margin
-
-    condim, gap, solref, solimp, friction = _mix_flex_contact_params(
-      geom_condim[geomid],
-      geom_priority[geomid],
-      geom_solmix[worldid % geom_solmix.shape[0], geomid],
-      geom_solref[worldid % geom_solref.shape[0], geomid],
-      geom_solimp[worldid % geom_solimp.shape[0], geomid],
-      geom_friction[worldid % geom_friction.shape[0], geomid],
-      geom_gap[worldid % geom_gap.shape[0], geomid],
-      flex_condim[flexid],
-      flex_priority[flexid],
-      flex_solmix[flexid],
-      flex_solref[flexid],
-      flex_solimp[flexid],
-      flex_friction[flexid],
-      flex_gap[flexid],
-    )
-  else:
-    flex1 = cand_flex[i][0]
-    flex2 = cand_flex[i][1]
-    margin = 0.0
-    gap = 0.0
-
-    mixed_condim, _, solref, solimp, friction = _mix_flex_contact_params(
-      flex_condim[flex1],
-      flex_priority[flex1],
-      flex_solmix[flex1],
-      flex_solref[flex1],
-      flex_solimp[flex1],
-      flex_friction[flex1],
-      0.0,
-      flex_condim[flex2],
-      flex_priority[flex2],
-      flex_solmix[flex2],
-      flex_solref[flex2],
-      flex_solimp[flex2],
-      flex_friction[flex2],
-      0.0,
-    )
-
-    if cand_vert[i][0] >= 0 and flex_dim[flex1] == 3:
-      condim = 1
-    else:
-      condim = mixed_condim
-
-  if cand_dist[i] >= margin:
-    return
-
-  id_ = wp.atomic_add(nacon_out, 0, 1)
-  if id_ >= naconmax_in:
-    if opt_warn_overflow:
-      wp.printf(
-        "flex contact overflow - please increase naconmax to %u\n",
-        id_ + 1,
-      )
-    wp.atomic_or(overflow_out, worldid, wp.static(OverflowType.NARROWPHASE))
-    return
-
-  contact_dist_out[id_] = cand_dist[i]
-  contact_pos_out[id_] = cand_pos[i]
-  contact_frame_out[id_] = make_frame(cand_nrm[i])
-  if geomid >= 0 and geom_type[geomid] == int(GeomType.PLANE):
-    contact_includemargin_out[id_] = margin - gap
-  else:
-    contact_includemargin_out[id_] = margin
-  contact_friction_out[id_] = friction
-  contact_solref_out[id_] = solref
-  contact_solreffriction_out[id_] = solref
-  contact_solimp_out[id_] = solimp
-  contact_dim_out[id_] = condim
-  contact_geom_out[id_] = cand_geom[i]
-  contact_flex_out[id_] = cand_flex[i]
-  contact_elem_out[id_] = cand_elem[i]
-  contact_vert_out[id_] = cand_vert[i]
-  contact_worldid_out[id_] = cand_worldid[i]
-  contact_type_out[id_] = cand_type[i]
-  contact_geomcollisionid_out[id_] = cand_geomcollisionid[i]
-
-
-def flex_broadphase(m: Model, d: Data):
-  """Precompute dynamic flex object bounding boxes."""
-  wp.launch(
-    _flex_broadphase_bounds,
-    dim=(d.nworld, m.nflex),
-    inputs=[
-      m.flex_margin,
-      m.flex_gap,
-      m.flex_vertadr,
-      m.flex_vertnum,
-      m.flex_radius,
-      d.flexvert_xpos,
-    ],
-    outputs=[
-      d.flex_aabb_min,
-      d.flex_aabb_max,
-    ],
-  )
-
-
-@event_scope
-def flex_collision(m: Model, d: Data, ctx):
-  """Runs collision detection between geoms and flex elements."""
-  if m.nflex == 0:
-    return
-
-  # Deduplicated candidate buffers (allocated on GPU)
-  cand_dist = wp.empty(d.naconmax, dtype=float)
-  cand_pos = wp.empty(d.naconmax, dtype=wp.vec3)
-  cand_nrm = wp.empty(d.naconmax, dtype=wp.vec3)
-  cand_geom = wp.empty(d.naconmax, dtype=wp.vec2i)
-  cand_flex = wp.empty(d.naconmax, dtype=wp.vec2i)
-  cand_elem = wp.empty(d.naconmax, dtype=wp.vec2i)
-  cand_vert = wp.empty(d.naconmax, dtype=wp.vec2i)
-  cand_worldid = wp.empty(d.naconmax, dtype=int)
-  cand_type = wp.empty(d.naconmax, dtype=int)
-  cand_geomcollisionid = wp.empty(d.naconmax, dtype=int)
-
-  ncand = wp.zeros(1, dtype=int)
-
-  # EPA workspaces if mesh or self collisions are possible
-  epa_iterations = m.opt.ccd_iterations
-  if m.nmesh > 0 or m.has_ellipsoid_geom:
-    mesh_epa_vert = wp.empty(shape=(d.naccdmax, 10 + 2 * epa_iterations), dtype=wp.vec3)
-    mesh_epa_vert_index = wp.empty(shape=(d.naccdmax, 10 + 2 * epa_iterations), dtype=int)
-    mesh_epa_face = wp.empty(shape=(d.naccdmax, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=int)
-    mesh_epa_pr = wp.empty(shape=(d.naccdmax, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=wp.vec3)
-    mesh_epa_norm2 = wp.empty(shape=(d.naccdmax, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=float)
-    mesh_epa_horizon = wp.empty(shape=(d.naccdmax, MJ_MAX_EPAHORIZON), dtype=int)
-    mesh_nccd = wp.zeros(1, dtype=int)
-  else:
-    mesh_epa_vert = wp.empty(shape=(1, 1), dtype=wp.vec3)
-    mesh_epa_vert_index = wp.empty(shape=(1, 1), dtype=int)
-    mesh_epa_face = wp.empty(shape=(1, 1), dtype=int)
-    mesh_epa_pr = wp.empty(shape=(1, 1), dtype=wp.vec3)
-    mesh_epa_norm2 = wp.empty(shape=(1, 1), dtype=float)
-    mesh_epa_horizon = wp.empty(shape=(1, 1), dtype=int)
-    mesh_nccd = wp.zeros(1, dtype=int)
-
-  ncollision_dim2 = wp.zeros(1, dtype=int)
-  ncollision_dim3 = wp.zeros(1, dtype=int)
-  ncollision_plane = wp.zeros(1, dtype=int)
-
-  if m.has_3d_flex:
-    wp.launch(
-      _flex_narrowphase_tet_detect,
-      dim=(d.nworld, m.nflexelem),
-      inputs=[
-        m.ngeom,
-        m.nflex,
-        m.geom_type,
-        m.geom_contype,
-        m.geom_conaffinity,
-        m.geom_size,
-        m.geom_margin,
-        m.flex_contype,
-        m.flex_conaffinity,
-        m.flex_margin,
-        m.flex_dim,
-        m.flex_vertadr,
-        m.flex_elemadr,
-        m.flex_elemnum,
-        m.flex_elemdataadr,
-        m.flex_elem,
-        m.flex_radius,
-        d.geom_xpos,
-        d.geom_xmat,
-        d.flexvert_xpos,
-        d.nworld,
-        d.naconmax,
-      ],
-      outputs=[
-        d.overflow,
-        cand_dist,
-        cand_pos,
-        cand_nrm,
-        cand_geom,
-        cand_flex,
-        cand_elem,
-        cand_vert,
-        cand_worldid,
-        cand_type,
-        cand_geomcollisionid,
-        ncand,
-      ],
-    )
-
-  # Update dynamic flex object bounding boxes
-  flex_broadphase(m, d)
-
-  # 2D Flex Element Collisions
-  if m.flexelem_geom_pair_filtered.shape[0] > 0:
-    wp.launch(
-      _flex_broadphase_unified,
-      dim=(d.nworld, m.flexelem_geom_pair_filtered.shape[0]),
-      inputs=[
-        m.ngeom,
-        m.nflex,
-        m.opt.warn_overflow,
-        m.geom_type,
-        m.geom_size,
-        m.geom_aabb,
-        m.geom_rbound,
-        m.geom_margin,
-        m.flex_margin,
-        m.flex_dim,
-        m.flex_vertadr,
-        m.flex_radius,
-        d.geom_xpos,
-        d.geom_xmat,
-        d.flexvert_xpos,
-        d.naconmax,
-        d.flex_aabb_min,
-        d.flex_aabb_max,
-        m.flex_elemadr,
-        m.flex_elemdataadr,
-        m.flex_elem,
-        m.flexelem_geom_pair_filtered,
-        m.flex_elemflexid,
-      ],
-      outputs=[
-        ncollision_dim2,
-        d.overflow,
-        ctx.collision_pair,
-        ctx.collision_worldid,
-      ],
-    )
-
-    wp.launch(
-      _flex_narrowphase_unified,
-      dim=d.naconmax,
-      inputs=[
-        m.ngeom,
-        m.nflex,
-        m.opt.ccd_tolerance,
-        m.opt.warn_overflow,
-        m.geom_type,
-        m.geom_condim,
-        m.geom_dataid,
-        m.geom_priority,
-        m.geom_solmix,
-        m.geom_solref,
-        m.geom_solimp,
-        m.geom_size,
-        m.geom_friction,
-        m.geom_margin,
-        m.geom_gap,
-        m.flex_condim,
-        m.flex_priority,
-        m.flex_solmix,
-        m.flex_solref,
-        m.flex_solimp,
-        m.flex_friction,
-        m.flex_margin,
-        m.flex_gap,
-        m.flex_dim,
-        m.flex_vertadr,
-        m.flex_radius,
-        m.mesh_vertadr,
-        m.mesh_vertnum,
-        m.mesh_graphadr,
-        m.mesh_vert,
-        m.mesh_graph,
-        m.mesh_pos,
-        m.mesh_polynormal,
-        m.mesh_polyvertadr,
-        m.mesh_polyvert,
-        m.mesh_polymapadr,
-        m.mesh_polymapnum,
-        m.mesh_polymap,
-        d.geom_xpos,
-        d.geom_xmat,
-        d.flexvert_xpos,
-        d.nworld,
-        d.naconmax,
-        d.naccdmax,
-        ncollision_dim2,
-        m.flex_elemadr,
-        m.flex_elemdataadr,
-        m.flex_elem,
-        m.flex_elemflexid,
-        ctx.collision_pair,
-        ctx.collision_worldid,
-        mesh_epa_vert,
-        mesh_epa_vert_index,
-        mesh_epa_face,
-        mesh_epa_pr,
-        mesh_epa_norm2,
-        mesh_epa_horizon,
-        mesh_nccd,
-        epa_iterations,
-        d.naconmax,
-      ],
-      outputs=[
-        d.overflow,
-        cand_dist,
-        cand_pos,
-        cand_nrm,
-        cand_geom,
-        cand_flex,
-        cand_elem,
-        cand_vert,
-        cand_worldid,
-        cand_type,
-        cand_geomcollisionid,
-        ncand,
-      ],
-    )
-
-  # Plane Vertex Collisions
-  if m.flexvert_geom_pair_filtered.shape[0] > 0:
-    wp.launch(
-      _flex_broadphase_plane,
-      dim=(d.nworld, m.flexvert_geom_pair_filtered.shape[0]),
-      inputs=[
-        m.ngeom,
-        m.opt.warn_overflow,
-        m.geom_type,
-        m.geom_margin,
-        m.flex_margin,
-        m.flex_vertadr,
-        m.flex_radius,
-        m.flexvert_geom_pair_filtered,
-        m.flex_vertflexid,
-        d.geom_xpos,
-        d.geom_xmat,
-        d.flexvert_xpos,
-        d.naconmax,
-        d.flex_aabb_min,
-        d.flex_aabb_max,
-      ],
-      outputs=[
-        ncollision_plane,
-        d.overflow,
-        ctx.collision_pair,
-        ctx.collision_worldid,
-      ],
-    )
-
-    wp.launch(
-      _flex_plane_narrowphase,
-      dim=d.naconmax,
-      inputs=[
-        m.ngeom,
-        m.nflexvert,
-        m.geom_type,
-        m.geom_condim,
-        m.geom_priority,
-        m.geom_solmix,
-        m.geom_solref,
-        m.geom_solimp,
-        m.geom_friction,
-        m.geom_margin,
-        m.geom_gap,
-        m.flex_condim,
-        m.flex_priority,
-        m.flex_solmix,
-        m.flex_solref,
-        m.flex_solimp,
-        m.flex_friction,
-        m.flex_margin,
-        m.flex_gap,
-        m.flex_vertadr,
-        m.flex_radius,
-        m.flex_vertflexid,
-        d.geom_xpos,
-        d.geom_xmat,
-        d.flexvert_xpos,
-        d.nworld,
-        d.naconmax,
-        ncollision_plane,
-        ctx.collision_pair,
-        ctx.collision_worldid,
-      ],
-      outputs=[
-        d.contact.dist,
-        d.contact.pos,
-        d.contact.frame,
-        d.contact.includemargin,
-        d.contact.friction,
-        d.contact.solref,
-        d.contact.solreffriction,
-        d.contact.solimp,
-        d.contact.dim,
-        d.contact.geom,
-        d.contact.flex,
-        d.contact.elem,
-        d.contact.vert,
-        d.contact.worldid,
-        d.contact.type,
-        d.contact.geomcollisionid,
-        d.nacon,
-      ],
-    )
-
-  # Geom Vertex Collisions (Candidate-based deduplicated narrowphase)
-  if m.nflexvert > 0:
-    wp.launch(
-      _flex_geom_vertex_narrowphase_detect,
-      dim=(d.nworld, m.nflexvert),
-      inputs=[
-        m.ngeom,
-        m.nflexvert,
-        m.geom_type,
-        m.geom_contype,
-        m.geom_conaffinity,
-        m.geom_size,
-        m.geom_margin,
-        m.flex_contype,
-        m.flex_conaffinity,
-        m.flex_margin,
-        m.flex_dim,
-        m.flex_vertadr,
-        m.flex_radius,
-        m.flex_vertflexid,
-        d.geom_xpos,
-        d.geom_xmat,
-        d.flexvert_xpos,
-        d.nworld,
-        d.naconmax,
-      ],
-      outputs=[
-        d.overflow,
-        cand_dist,
-        cand_pos,
-        cand_nrm,
-        cand_geom,
-        cand_flex,
-        cand_elem,
-        cand_vert,
-        cand_worldid,
-        cand_type,
-        cand_geomcollisionid,
-        ncand,
-      ],
-    )
-
-  if m.nflexevpair > 0:
-    wp.launch(
-      _flex_internal_collisions_detect,
-      dim=(d.nworld, m.nflexevpair),
-      inputs=[
-        m.nflex,
-        m.flex_margin,
-        m.flex_internal,
-        m.flex_dim,
-        m.flex_vertadr,
-        m.flex_elemdataadr,
-        m.flex_evpairadr,
-        m.flex_evpairnum,
-        m.flex_elem,
-        m.flex_evpair,
-        m.flex_radius,
-        m.flex_evpairflexid,
-        d.flexvert_xpos,
-        d.naconmax,
-      ],
-      outputs=[
-        d.overflow,
-        cand_dist,
-        cand_pos,
-        cand_nrm,
-        cand_geom,
-        cand_flex,
-        cand_elem,
-        cand_vert,
-        cand_worldid,
-        cand_type,
-        cand_geomcollisionid,
-        ncand,
-      ],
-    )
-
-  if m.nflexelem > 0:
-    wp.launch(
-      _flex_tet_internal_collisions_detect,
-      dim=(d.nworld, m.nflexelem),
-      inputs=[
-        m.nflex,
-        m.flex_dim,
-        m.flex_vertadr,
-        m.flex_elemadr,
-        m.flex_elemnum,
-        m.flex_elemdataadr,
-        m.flex_elem,
-        m.flex_radius,
-        m.flex_elemflexid,
-        d.flexvert_xpos,
-        d.naconmax,
-      ],
-      outputs=[
-        d.overflow,
-        cand_dist,
-        cand_pos,
-        cand_nrm,
-        cand_geom,
-        cand_flex,
-        cand_elem,
-        cand_vert,
-        cand_worldid,
-        cand_type,
-        cand_geomcollisionid,
-        ncand,
-      ],
-    )
-
-  selfcollide_enabled = m.has_flex_selfcollide
-
-  if selfcollide_enabled and m.nflexelem > 0:
-    epa_iterations = m.opt.ccd_iterations
-
-    # TODO(team): investigate optimal nflexelem threshold for SAP vs brute-force
-    if m.nflexelem > 32:
-      # --- SAP broadphase path ---
-      nelem = m.nflexelem
-      nworldelem = d.nworld * nelem
-
-      # Fixed projection direction (same as sap_broadphase in collision_driver.py)
-      # TODO(team): compute optimal SAP direction
-      direction = wp.vec3(0.5935, 0.7790, 0.1235)
-      direction = wp.normalize(direction)
-
-      # Allocate SAP arrays
-      sap_lower = wp.empty((d.nworld, nelem, 2), dtype=float)
-      sap_upper = wp.empty((d.nworld, nelem), dtype=float)
-      sap_sort_index = wp.empty((d.nworld, nelem, 2), dtype=int)
-      sap_range_arr = wp.empty((d.nworld, nelem), dtype=int)
-      sap_cumsum = wp.empty((d.nworld, nelem), dtype=int)
-      sap_seg_index = wp.empty(d.nworld + 1, dtype=int)
-      elem_aabb_lower = wp.empty((d.nworld, nelem), dtype=wp.vec3)
-      elem_aabb_upper = wp.empty((d.nworld, nelem), dtype=wp.vec3)
-
-      # Step 1: Project element AABBs onto direction
-      wp.launch(
-        _flex_sap_project,
-        dim=(d.nworld, nelem),
-        inputs=[
-          m.nflex,
-          m.flex_selfcollide,
-          m.flex_dim,
-          m.flex_vertadr,
-          m.flex_elemadr,
-          m.flex_elemdataadr,
-          m.flex_elem,
-          m.flex_radius,
-          m.flex_elemflexid,
-          d.flexvert_xpos,
-          d.nworld,
-          nelem,
-          direction,
-        ],
-        outputs=[
-          sap_lower.reshape((-1, nelem)),
-          sap_upper,
-          sap_sort_index.reshape((-1, nelem)),
-          elem_aabb_lower,
-          elem_aabb_upper,
-          sap_seg_index,
-        ],
-      )
-
-      # Step 2: Sort
-      wp.utils.segmented_sort_pairs(
-        sap_lower.reshape((-1, nelem)),
-        sap_sort_index.reshape((-1, nelem)),
-        nworldelem,
-        sap_seg_index,
-      )
-
-      # Step 3: Range
-      wp.launch(
-        sap_range,
-        dim=(d.nworld, nelem),
-        inputs=[
-          nelem,
-          sap_lower.reshape((-1, nelem)),
-          sap_upper,
-          sap_sort_index.reshape((-1, nelem)),
-        ],
-        outputs=[
-          sap_range_arr,
-        ],
-      )
-
-      # Step 4: Prefix sum for load balancing
-      wp.utils.array_scan(
-        sap_range_arr.reshape(-1),
-        sap_cumsum.reshape(-1),
-        True,
-      )
-
-      # Step 5: SAP sweep - output pairs only (no narrowphase)
-      nsweep = 5 * nworldelem
-
-      npairs = wp.zeros(1, dtype=int)
-      pair_elem1 = wp.empty(d.naconmax, dtype=int)
-      pair_elem2 = wp.empty(d.naconmax, dtype=int)
-      pair_worldid = wp.empty(d.naconmax, dtype=int)
-
-      # Step 5a: Generic SAP sweep (shared with geom broadphase)
-      raw_npairs = wp.zeros(1, dtype=int)
-      raw_pair_elem1 = wp.empty(d.naconmax, dtype=int)
-      raw_pair_elem2 = wp.empty(d.naconmax, dtype=int)
-      raw_pair_worldid = wp.empty(d.naconmax, dtype=int)
-
-      wp.launch(
-        sap_sweep,
-        dim=nsweep,
-        inputs=[
-          nelem,
-          sap_sort_index.reshape((-1, nelem)),
-          sap_cumsum.reshape(-1),
-          nsweep,
-          elem_aabb_lower,
-          elem_aabb_upper,
-          d.naconmax,
-        ],
-        outputs=[
-          raw_npairs,
-          raw_pair_elem1,
-          raw_pair_elem2,
-          raw_pair_worldid,
-        ],
-      )
-
-      # Step 5b: Filter pairs (flex-specific: selfcollide, shared vertices)
-      wp.launch(
-        _flex_sap_filter,
-        dim=d.naconmax,
-        inputs=[
-          m.flex_selfcollide,
-          m.flex_dim,
-          m.flex_vertadr,
-          m.flex_elemadr,
-          m.flex_elemnum,
-          m.flex_elemdataadr,
-          m.flex_vertbodyid,
-          m.flex_elem,
-          m.flex_elemflexid,
-          raw_npairs,
-          raw_pair_elem1,
-          raw_pair_elem2,
-          raw_pair_worldid,
-        ],
-        outputs=[
-          npairs,
-          pair_elem1,
-          pair_elem2,
-          pair_worldid,
-        ],
-      )
-
-      # Step 6: Narrowphase on actual pairs only
-      workspace_verts = wp.empty(d.naconmax * 8, dtype=wp.vec3)
-
-      if m.max_flex_dim > 1:
-        epa_vert = wp.empty(shape=(d.naconmax, 10 + 2 * epa_iterations), dtype=wp.vec3)
-        epa_vert_index = wp.empty(shape=(d.naconmax, 10 + 2 * epa_iterations), dtype=int)
-        epa_face = wp.empty(shape=(d.naconmax, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=int)
-        epa_pr = wp.empty(shape=(d.naconmax, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=wp.vec3)
-        epa_norm2 = wp.empty(shape=(d.naconmax, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=float)
-        epa_horizon = wp.empty(shape=(d.naconmax, MJ_MAX_EPAHORIZON), dtype=int)
-      else:
-        epa_vert = wp.empty(shape=(1, 1), dtype=wp.vec3)
-        epa_vert_index = wp.empty(shape=(1, 1), dtype=int)
-        epa_face = wp.empty(shape=(1, 1), dtype=int)
-        epa_pr = wp.empty(shape=(1, 1), dtype=wp.vec3)
-        epa_norm2 = wp.empty(shape=(1, 1), dtype=float)
-        epa_horizon = wp.empty(shape=(1, 1), dtype=int)
-
-      wp.launch(
-        _flex_selfcollision_narrowphase,
-        dim=d.naconmax,
-        inputs=[
-          m.nflex,
-          m.opt.ccd_tolerance,
-          m.opt.warn_overflow,
-          m.flex_dim,
-          m.flex_vertadr,
-          m.flex_elemadr,
-          m.flex_elemdataadr,
-          m.flex_elem,
-          m.flex_radius,
-          m.flex_elemflexid,
-          d.flexvert_xpos,
-          d.naconmax,
-          m.opt.ccd_iterations,
-          epa_iterations,
-          npairs,
-          pair_elem1,
-          pair_elem2,
-          pair_worldid,
-          d.naconmax,
-          m.nflexelem,
-        ],
-        outputs=[
-          d.overflow,
-          workspace_verts,
-          epa_vert,
-          epa_vert_index,
-          epa_face,
-          epa_pr,
-          epa_norm2,
-          epa_horizon,
-          cand_dist,
-          cand_pos,
-          cand_nrm,
-          cand_geom,
-          cand_flex,
-          cand_elem,
-          cand_vert,
-          cand_worldid,
-          cand_type,
-          cand_geomcollisionid,
-          ncand,
-        ],
-      )
-
-    else:
-      # --- Brute-force fallback for small element counts ---
-      workspace_verts = wp.empty(d.nworld * m.nflexelem * 8, dtype=wp.vec3)
-
-      if m.max_flex_dim > 1:
-        epa_vert = wp.empty(shape=(d.nworld * m.nflexelem, 10 + 2 * epa_iterations), dtype=wp.vec3)
-        epa_vert_index = wp.empty(shape=(d.nworld * m.nflexelem, 10 + 2 * epa_iterations), dtype=int)
-        epa_face = wp.empty(shape=(d.nworld * m.nflexelem, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=int)
-        epa_pr = wp.empty(shape=(d.nworld * m.nflexelem, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=wp.vec3)
-        epa_norm2 = wp.empty(shape=(d.nworld * m.nflexelem, 6 + MJ_MAX_EPAFACES * epa_iterations), dtype=float)
-        epa_horizon = wp.empty(shape=(d.nworld * m.nflexelem, MJ_MAX_EPAHORIZON), dtype=int)
-      else:
-        epa_vert = wp.empty(shape=(1, 1), dtype=wp.vec3)
-        epa_vert_index = wp.empty(shape=(1, 1), dtype=int)
-        epa_face = wp.empty(shape=(1, 1), dtype=int)
-        epa_pr = wp.empty(shape=(1, 1), dtype=wp.vec3)
-        epa_norm2 = wp.empty(shape=(1, 1), dtype=float)
-        epa_horizon = wp.empty(shape=(1, 1), dtype=int)
-
-      wp.launch(
-        _flex_active_element_collisions_detect,
-        dim=(d.nworld, m.nflexelem),
-        inputs=[
-          m.nflex,
-          m.opt.ccd_tolerance,
-          m.opt.warn_overflow,
-          m.flex_selfcollide,
-          m.flex_dim,
-          m.flex_vertadr,
-          m.flex_elemadr,
-          m.flex_elemnum,
-          m.flex_elemdataadr,
-          m.flex_vertbodyid,
-          m.flex_elem,
-          m.flex_radius,
-          m.flex_elemflexid,
-          d.flexvert_xpos,
-          d.naconmax,
-          m.opt.ccd_iterations,
-          epa_iterations,
-          m.nflexelem,
-        ],
-        outputs=[
-          d.overflow,
-          workspace_verts,
-          epa_vert,
-          epa_vert_index,
-          epa_face,
-          epa_pr,
-          epa_norm2,
-          epa_horizon,
-          cand_dist,
-          cand_pos,
-          cand_nrm,
-          cand_geom,
-          cand_flex,
-          cand_elem,
-          cand_vert,
-          cand_worldid,
-          cand_type,
-          cand_geomcollisionid,
-          ncand,
-        ],
-      )
-
-  # Filter duplicate contacts using sort-based deduplication.
-  # Sort candidates by (worldid, flex_id, geom_id) so duplicates are contiguous,
-  # then compare only within each group. This is O(n log n) vs the naive O(n^2).
-  filter_key = wp.empty(d.naconmax * 2, dtype=int)
-  filter_val = wp.empty(d.naconmax * 2, dtype=int)
-  wp.launch(
-    _compute_filter_key,
-    dim=d.naconmax,
-    inputs=[
-      m.ngeom,
-      m.nflex,
-      ncand,
-      cand_geom,
-      cand_flex,
-      cand_worldid,
-    ],
-    outputs=[
-      filter_key,
-      filter_val,
-    ],
-  )
-  wp.utils.radix_sort_pairs(filter_key, filter_val, d.naconmax)
-
-  cand_active = wp.empty(d.naconmax, dtype=int)
-  wp.launch(
-    _filter_flex_candidates_sorted,
-    dim=d.naconmax,
-    inputs=[
-      ncand,
-      1e-3,  # epsilon
-      filter_key,
-      filter_val,
-      cand_dist,
-      cand_pos,
-    ],
-    outputs=[
-      cand_active,
-    ],
-  )
-
-  # Copy filtered contacts to the main d.contact array, computing contact parameters on-the-fly
-  wp.launch(
-    _write_filtered_contacts,
-    dim=d.naconmax,
-    inputs=[
-      m.opt.warn_overflow,
-      m.geom_type,
-      m.geom_condim,
-      m.geom_priority,
-      m.geom_solmix,
-      m.geom_solref,
-      m.geom_solimp,
-      m.geom_friction,
-      m.geom_margin,
-      m.geom_gap,
-      m.flex_condim,
-      m.flex_priority,
-      m.flex_solmix,
-      m.flex_solref,
-      m.flex_solimp,
-      m.flex_friction,
-      m.flex_margin,
-      m.flex_gap,
-      m.flex_dim,
-      d.naconmax,
-      ncand,
-      cand_dist,
-      cand_pos,
-      cand_nrm,
-      cand_geom,
-      cand_flex,
-      cand_elem,
-      cand_vert,
-      cand_worldid,
-      cand_type,
-      cand_geomcollisionid,
-      cand_active,
-    ],
-    outputs=[
-      d.contact.dist,
-      d.contact.pos,
-      d.contact.frame,
-      d.contact.includemargin,
-      d.contact.friction,
-      d.contact.solref,
-      d.contact.solreffriction,
-      d.contact.solimp,
-      d.contact.dim,
-      d.contact.geom,
-      d.contact.flex,
-      d.contact.elem,
-      d.contact.vert,
-      d.contact.worldid,
-      d.contact.type,
-      d.contact.geomcollisionid,
-      d.nacon,
-      d.overflow,
-    ],
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk.py
deleted file mode 100644
index 0af054d4..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk.py
+++ /dev/null
@@ -1,2560 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import math
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import Geom
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import OverflowType
-from mujoco.mjx.third_party.mujoco_warp._src.types import mat43
-from mujoco.mjx.third_party.mujoco_warp._src.types import mat63
-
-# TODO(team): improve compile time to enable backward pass
-wp.set_module_options({"enable_backward": False})
-
-FLOAT_MIN = -1e30
-FLOAT_MAX = 1e30
-
-MINVAL = 1e-15
-MINVAL2 = 1e-30
-MAXVAL = 1e15
-MAXVAL2 = 1e30
-
-# polytope minimal interior distance to origin
-MIN_DIST2 = 1e-10
-MIN_DIST3 = 1e-10
-MIN_DIST4 = 1e-17
-
-# minimal tolerance for EPA
-MIN_EPATOL = 1e-7
-
-FACE_TOL = wp.static(math.cos(0.0016))
-EDGE_TOL = wp.static(math.sin(0.0016))
-
-# tolarance used by multicontact for intersecting a plane and a line segment
-INTERSECT_TOL = 0.0000003
-
-# Bit flags for face status in EPA polytope.
-# Defined at module scope to avoid Warp's intermediate type issues with literals.
-# See: https://github.com/NVIDIA/warp/issues/485
-_FACE_DELETED_BIT = wp.constant(wp.uint32(0x80000000))
-_FACE_INVALID_BIT = wp.constant(wp.uint32(0x40000000))
-_FACE_INVALID_OR_DELETED_MASK = wp.constant(wp.uint32(0xC0000000))
-
-
-@wp.struct
-class GJKResult:
-  dist: float
-  x1: wp.vec3
-  x2: wp.vec3
-  dim: int
-  simplex: mat43
-  simplex1: mat43
-  simplex2: mat43
-  simplex_index1: wp.vec4i
-  simplex_index2: wp.vec4i
-  index1: int
-  index2: int
-
-
-@wp.struct
-class Polytope:
-  status: int
-
-  # vertices in polytope (packed geom1 followed by geom2)
-  vert: wp.array[wp.vec3]
-  vert_index: wp.array[int]
-  nvert: int
-
-  # center point of polytope
-  center: wp.vec3
-
-  # faces in polytope
-  # 10 bits per each vertex index, while the last significant bits are for
-  # invalid and deleted face
-  face: wp.array[int]
-  face_pr: wp.array[wp.vec3]
-  face_norm2: wp.array[float]
-  nface: int
-
-  # edges that make up the horizon when adding new vertices to polytope
-  horizon: wp.array[int]
-  nhorizon: int
-
-
-@wp.struct
-class SupportPoint:
-  point: wp.vec3
-  cached_index: int
-  vertex_index: int
-
-
-@wp.func
-def _discrete_geoms(g1: int, g2: int) -> bool:
-  return (g1 == GeomType.MESH or g1 == GeomType.BOX or g1 == GeomType.HFIELD) and (
-    g2 == GeomType.MESH or g2 == GeomType.BOX or g2 == GeomType.HFIELD
-  )
-
-
-@wp.func
-def support(geom: Geom, geomtype: int, dir: wp.vec3) -> SupportPoint:
-  sp = SupportPoint()
-  sp.cached_index = -1
-  sp.vertex_index = -1
-  if geomtype == GeomType.SPHERE:
-    sp.point = geom.pos + (geom.size[0] + 0.5 * geom.margin) * dir
-    return sp
-
-  local_dir = wp.transpose(geom.rot) @ dir
-  if geomtype == GeomType.BOX:
-    tmp = wp.sign(local_dir)
-    res = wp.cw_mul(tmp, geom.size)
-    sp.point = geom.rot @ res + geom.pos
-    sp.vertex_index = wp.where(tmp[0] > 0.0, 1, 0)
-    sp.vertex_index += wp.where(tmp[1] > 0.0, 2, 0)
-    sp.vertex_index += wp.where(tmp[2] > 0.0, 4, 0)
-  elif geomtype == GeomType.CAPSULE:
-    res = local_dir * geom.size[0]
-    # add cylinder contribution
-    res[2] += wp.sign(local_dir[2]) * geom.size[1]
-    sp.point = geom.rot @ res + geom.pos
-  elif geomtype == GeomType.ELLIPSOID:
-    res = wp.cw_mul(local_dir, geom.size)
-    res = wp.normalize(res)
-    # transform to ellipsoid
-    res = wp.cw_mul(res, geom.size)
-    sp.point = geom.rot @ res + geom.pos
-  elif geomtype == GeomType.CYLINDER:
-    res = wp.vec3(0.0, 0.0, 0.0)
-    # set result in XY plane: support on circle
-    d = wp.sqrt(local_dir[0] * local_dir[0] + local_dir[1] * local_dir[1])
-    if d > MINVAL:
-      scl = geom.size[0] / d
-      res[0] = local_dir[0] * scl
-      res[1] = local_dir[1] * scl
-    # set result in Z direction
-    res[2] = wp.sign(local_dir[2]) * geom.size[1]
-    sp.point = geom.rot @ res + geom.pos
-  elif geomtype == GeomType.MESH:
-    max_dist = float(FLOAT_MIN)
-    if geom.graphadr == -1 or geom.vertnum < 10:
-      if geom.index > -1:
-        sp.cached_index = geom.index
-        max_dist = wp.dot(geom.vert[geom.index], local_dir)
-        sp.point = geom.vert[geom.index]
-      # exhaustive search over all vertices
-      for i in range(geom.vertnum):
-        vert = geom.vert[geom.vertadr + i]
-        dist = wp.dot(vert, local_dir)
-        if dist > max_dist:
-          max_dist = dist
-          sp.point = vert
-          sp.cached_index = geom.vertadr + i
-      sp.vertex_index = sp.cached_index - geom.vertadr
-    else:
-      numvert = geom.graph[geom.graphadr]
-      vert_edgeadr = geom.graphadr + 2
-      vert_globalid = geom.graphadr + 2 + numvert
-      edge_localid = geom.graphadr + 2 + 2 * numvert
-      prev = int(-1)
-      imax = wp.where(geom.index > -1, geom.index, 0)
-      max_dist = wp.dot(local_dir, geom.vert[geom.vertadr + geom.graph[vert_globalid + imax]])
-
-      # hillclimb until no change
-      while imax != prev:
-        prev = imax
-        i = geom.graph[vert_edgeadr + imax]
-        subidx = geom.graph[edge_localid + i]
-        while subidx >= 0:
-          idx = geom.graph[vert_globalid + subidx]
-          dist = wp.dot(local_dir, geom.vert[geom.vertadr + idx])
-          imax = wp.where(dist > max_dist, subidx, imax)
-          max_dist = wp.where(dist > max_dist, dist, max_dist)
-          i += 1
-          subidx = geom.graph[edge_localid + i]
-
-      sp.cached_index = imax
-      sp.vertex_index = geom.graph[vert_globalid + imax]
-      sp.point = geom.vert[geom.vertadr + sp.vertex_index]
-
-    sp.point = geom.rot @ sp.point + geom.pos
-  elif geomtype == GeomType.HFIELD:
-    max_dist = float(FLOAT_MIN)
-    # TODO(kbayes): Support edge prisms
-    sp.vertex_index = wp.where(dir[2] < 0.0, -2, -3)
-    for i in range(6):
-      vert = geom.hfprism[i]
-      dist = wp.dot(vert, dir)
-      if dist > max_dist:
-        max_dist = dist
-        sp.point = vert
-  elif geomtype == GeomType.TRIANGLE:
-    t1 = geom.rot[0, :]
-    t2 = geom.rot[1, :]
-    t3 = geom.rot[2, :]
-    d1 = wp.dot(t1, dir)
-    d2 = wp.dot(t2, dir)
-    d3 = wp.dot(t3, dir)
-    if d1 > d2 and d1 > d3:
-      sp.point = t1
-    elif d2 > d3:
-      sp.point = t2
-    else:
-      sp.point = t3
-
-  if geom.margin > 0.0:
-    sp.point += dir * (0.5 * geom.margin)
-  return sp
-
-
-@wp.func
-def _attach_face(pt: Polytope, idx: int, v1: int, v2: int, v3: int) -> float:
-  # out of memory, returning 0 will force EPA to return early without contact
-  if pt.nface == pt.face.shape[0]:
-    return 0.0
-
-  # compute witness point v
-  p1 = pt.vert[2 * v1] - pt.vert[2 * v1 + 1]
-  p2 = pt.vert[2 * v2] - pt.vert[2 * v2 + 1]
-  p3 = pt.vert[2 * v3] - pt.vert[2 * v3 + 1]
-  r, ret = _project_origin_plane(p3, p2, p1)
-  if ret:
-    return 0.0
-
-  # ensure projection points outward from the polytope
-  if wp.dot(r, p1 - pt.center) < 0.0:
-    r = -r
-
-  face = v1 + (v2 << 10) + (v3 << 20)
-  pt.face[idx] = face
-  pt.face_pr[idx] = r
-
-  pt.face_norm2[idx] = wp.dot(r, r)
-  return pt.face_norm2[idx]
-
-
-@wp.func
-def _epa_support(
-  pt: Polytope, idx: int, geom1: Geom, geom2: Geom, geom1_type: int, geom2_type: int, dir: wp.vec3
-) -> Tuple[int, int]:
-  sp = support(geom1, geom1_type, dir)
-  pt.vert[2 * idx] = sp.point
-  pt.vert_index[2 * idx] = sp.vertex_index
-  index1 = sp.cached_index
-
-  sp = support(geom2, geom2_type, -dir)
-  pt.vert[2 * idx + 1] = sp.point
-  pt.vert_index[2 * idx + 1] = sp.vertex_index
-  index2 = sp.cached_index
-
-  return index1, index2
-
-
-@wp.func
-def _linear_combine(n: int, scl: wp.vec4, mat: mat43) -> wp.vec3:
-  if n == 1:
-    return scl[0] * mat[0]
-  if n == 2:
-    return scl[0] * mat[0] + scl[1] * mat[1]
-  if n == 3:
-    return scl[0] * mat[0] + scl[1] * mat[1] + scl[2] * mat[2]
-  return scl[0] * mat[0] + scl[1] * mat[1] + scl[2] * mat[2] + scl[3] * mat[3]
-
-
-@wp.func
-def _subdistance(n: int, simplex: mat43) -> wp.vec4:
-  if n == 4:
-    return _S3D(simplex[0], simplex[1], simplex[2], simplex[3])
-  if n == 3:
-    lmbda3 = _S2D(simplex[0], simplex[1], simplex[2])
-    return wp.vec4(lmbda3[0], lmbda3[1], lmbda3[2], 0.0)
-  if n == 2:
-    lmbda2 = _S1D(simplex[0], simplex[1])
-    return wp.vec4(lmbda2[0], lmbda2[1], 0.0, 0.0)
-  return wp.vec4(1.0, 0.0, 0.0, 0.0)
-
-
-@wp.func
-def _det3(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3) -> float:
-  return wp.dot(v1, wp.cross(v2, v3))
-
-
-@wp.func
-def _same_sign(a: float, b: float) -> int:
-  if a > 0.0 and b > 0.0:
-    return 1
-  if a < 0.0 and b < 0.0:
-    return -1
-  return 0
-
-
-@wp.func
-def _project_origin_line(v1: wp.vec3, v2: wp.vec3) -> wp.vec3:
-  diff = v2 - v1
-  scl = -(wp.dot(v2, diff) / wp.dot(diff, diff))
-  return v2 + scl * diff
-
-
-@wp.func
-def _project_origin_plane(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3) -> Tuple[wp.vec3, int]:
-  z = wp.vec3(0.0)
-  diff21 = v2 - v1
-  diff31 = v3 - v1
-  diff32 = v3 - v2
-
-  # n = (v1 - v2) x (v3 - v2)
-  n = wp.cross(diff32, diff21)
-  nv = wp.dot(n, v2)
-  nn = wp.dot(n, n)
-  if nn == 0.0:
-    return z, 1
-  if nv != 0.0 and nn > MINVAL:
-    return (nv / nn) * n, 0
-
-  # n = (v2 - v1) x (v3 - v1)
-  n = wp.cross(diff21, diff31)
-  nv = wp.dot(n, v1)
-  nn = wp.dot(n, n)
-  if nn == 0.0:
-    return z, 1
-  if nv != 0.0 and nn > MINVAL:
-    return (nv / nn) * n, 0
-
-  # n = (v1 - v3) x (v2 - v3)
-  n = wp.cross(diff31, diff32)
-  nv = wp.dot(n, v3)
-  nn = wp.dot(n, n)
-  return (nv / nn) * n, 0
-
-
-@wp.func
-def _S3D(s1: wp.vec3, s2: wp.vec3, s3: wp.vec3, s4: wp.vec3) -> wp.vec4:
-  #  [[ s1_x, s2_x, s3_x, s4_x ],
-  #   [ s1_y, s2_y, s3_y, s4_y ],
-  #   [ s1_z, s2_z, s3_z, s4_z ],
-  #   [ 1,    1,    1,    1    ]]
-  # we want to solve M*lambda = P, where P = [p_x, p_y, p_z, 1] with [p_x, p_y, p_z] is the
-  # origin projected onto the simplex
-
-  # compute cofactors to find det(M)
-  C41 = -_det3(s2, s3, s4)
-  C42 = _det3(s1, s3, s4)
-  C43 = -_det3(s1, s2, s4)
-  C44 = _det3(s1, s2, s3)
-
-  # NOTE: m_det = 6*SignVol(simplex) with C4i corresponding to the volume of the 3-simplex
-  # with vertices {s1, s2, s3, 0} - si
-  m_det = C41 + C42 + C43 + C44
-
-  comp1 = _same_sign(m_det, C41)
-  comp2 = _same_sign(m_det, C42)
-  comp3 = _same_sign(m_det, C43)
-  comp4 = _same_sign(m_det, C44)
-
-  # if all signs are the same then the origin is inside the simplex
-  if comp1 and comp2 and comp3 and comp4:
-    return wp.vec4(C41 / m_det, C42 / m_det, C43 / m_det, C44 / m_det)
-
-  # find the smallest distance, and use the corresponding barycentric coordinates
-  lmbda = wp.vec4(0.0, 0.0, 0.0, 0.0)
-  dmin = FLOAT_MAX
-
-  if not comp1:
-    sublmbda = _S2D(s2, s3, s4)
-    x = sublmbda[0] * s2 + sublmbda[1] * s3 + sublmbda[2] * s4
-    d = wp.dot(x, x)
-    lmbda[0] = 0.0
-    lmbda[1] = sublmbda[0]
-    lmbda[2] = sublmbda[1]
-    lmbda[3] = sublmbda[2]
-    dmin = d
-
-  if not comp2:
-    sublmbda = _S2D(s1, s3, s4)
-    x = sublmbda[0] * s1 + sublmbda[1] * s3 + sublmbda[2] * s4
-    d = wp.dot(x, x)
-    if d < dmin:
-      lmbda[0] = sublmbda[0]
-      lmbda[1] = 0.0
-      lmbda[2] = sublmbda[1]
-      lmbda[3] = sublmbda[2]
-      dmin = d
-
-  if not comp3:
-    sublmbda = _S2D(s1, s2, s4)
-    x = sublmbda[0] * s1 + sublmbda[1] * s2 + sublmbda[2] * s4
-    d = wp.dot(x, x)
-    if d < dmin:
-      lmbda[0] = sublmbda[0]
-      lmbda[1] = sublmbda[1]
-      lmbda[2] = 0.0
-      lmbda[3] = sublmbda[2]
-      dmin = d
-
-  if not comp4:
-    sublmbda = _S2D(s1, s2, s3)
-    x = sublmbda[0] * s1 + sublmbda[1] * s2 + sublmbda[2] * s3
-    d = wp.dot(x, x)
-    if d < dmin:
-      lmbda[0] = sublmbda[0]
-      lmbda[1] = sublmbda[1]
-      lmbda[2] = sublmbda[2]
-      lmbda[3] = 0.0
-  return lmbda
-
-
-@wp.func
-def _S2D(s1: wp.vec3, s2: wp.vec3, s3: wp.vec3) -> wp.vec3:
-  # project origin onto affine hull of the simplex
-  p_o, ret = _project_origin_plane(s1, s2, s3)
-  if ret:
-    v = _S1D(s1, s2)
-    return wp.vec3(v[0], v[1], 0.0)
-
-  # Below are the minors M_i4 of the matrix M given by
-  # [[ s1_x, s2_x, s3_x, s4_x ],
-  #  [ s1_y, s2_y, s3_y, s4_y ],
-  #  [ s1_z, s2_z, s3_z, s4_z ],
-  #  [ 1,    1,    1,    1    ]]
-  M_14 = s2[1] * s3[2] - s2[2] * s3[1] - s1[1] * s3[2] + s1[2] * s3[1] + s1[1] * s2[2] - s1[2] * s2[1]
-  M_24 = s2[0] * s3[2] - s2[2] * s3[0] - s1[0] * s3[2] + s1[2] * s3[0] + s1[0] * s2[2] - s1[2] * s2[0]
-  M_34 = s2[0] * s3[1] - s2[1] * s3[0] - s1[0] * s3[1] + s1[1] * s3[0] + s1[0] * s2[1] - s1[1] * s2[0]
-
-  # exclude the axis with the largest projection of the simplex using the computed minors
-  M_max = 0.0
-  s1_2D = wp.vec2(0.0)
-  s2_2D = wp.vec2(0.0)
-  s3_2D = wp.vec2(0.0)
-  p_o_2D = wp.vec2(0.0)
-
-  mu1 = wp.abs(M_14)
-  mu2 = wp.abs(M_24)
-  mu3 = wp.abs(M_34)
-
-  if mu1 >= mu2 and mu1 >= mu3:
-    M_max = M_14
-    s1_2D[0] = s1[1]
-    s1_2D[1] = s1[2]
-
-    s2_2D[0] = s2[1]
-    s2_2D[1] = s2[2]
-
-    s3_2D[0] = s3[1]
-    s3_2D[1] = s3[2]
-
-    p_o_2D[0] = p_o[1]
-    p_o_2D[1] = p_o[2]
-  elif mu2 >= mu3:
-    M_max = M_24
-    s1_2D[0] = s1[0]
-    s1_2D[1] = s1[2]
-
-    s2_2D[0] = s2[0]
-    s2_2D[1] = s2[2]
-
-    s3_2D[0] = s3[0]
-    s3_2D[1] = s3[2]
-
-    p_o_2D[0] = p_o[0]
-    p_o_2D[1] = p_o[2]
-  else:
-    M_max = M_34
-    s1_2D[0] = s1[0]
-    s1_2D[1] = s1[1]
-
-    s2_2D[0] = s2[0]
-    s2_2D[1] = s2[1]
-
-    s3_2D[0] = s3[0]
-    s3_2D[1] = s3[1]
-
-    p_o_2D[0] = p_o[0]
-    p_o_2D[1] = p_o[1]
-
-  # compute the cofactors C3i of the following matrix:
-  # [[ s1_2D[0] - p_o_2D[0], s2_2D[0] - p_o_2D[0], s3_2D[0] - p_o_2D[0] ],
-  #  [ s1_2D[1] - p_o_2D[1], s2_2D[1] - p_o_2D[1], s3_2D[1] - p_o_2D[1] ],
-  #  [ 1,                    1,                    1                    ]]
-
-  # C31 corresponds to the signed area of 2-simplex: (p_o_2D, s2_2D, s3_2D)
-  C31 = (
-    p_o_2D[0] * s2_2D[1]
-    + p_o_2D[1] * s3_2D[0]
-    + s2_2D[0] * s3_2D[1]
-    - p_o_2D[0] * s3_2D[1]
-    - p_o_2D[1] * s2_2D[0]
-    - s3_2D[0] * s2_2D[1]
-  )
-
-  # C32 corresponds to the signed area of 2-simplex: (_po_2D, s1_2D, s3_2D)
-  C32 = (
-    p_o_2D[0] * s3_2D[1]
-    + p_o_2D[1] * s1_2D[0]
-    + s3_2D[0] * s1_2D[1]
-    - p_o_2D[0] * s1_2D[1]
-    - p_o_2D[1] * s3_2D[0]
-    - s1_2D[0] * s3_2D[1]
-  )
-
-  # C33 corresponds to the signed area of 2-simplex: (p_o_2D, s1_2D, s2_2D)
-  C33 = (
-    p_o_2D[0] * s1_2D[1]
-    + p_o_2D[1] * s2_2D[0]
-    + s1_2D[0] * s2_2D[1]
-    - p_o_2D[0] * s2_2D[1]
-    - p_o_2D[1] * s1_2D[0]
-    - s2_2D[0] * s1_2D[1]
-  )
-
-  comp1 = _same_sign(M_max, C31)
-  comp2 = _same_sign(M_max, C32)
-  comp3 = _same_sign(M_max, C33)
-
-  # all the same sign, p_o is inside the 2-simplex
-  if comp1 and comp2 and comp3:
-    return wp.vec3(C31 / M_max, C32 / M_max, C33 / M_max)
-
-  # find the smallest distance, and use the corresponding barycentric coordinates
-  dmin = FLOAT_MAX
-  lmbda = wp.vec3(0.0, 0.0, 0.0)
-
-  if not comp1:
-    sublmbda = _S1D(s2, s3)
-    x = sublmbda[0] * s2 + sublmbda[1] * s3
-    d = wp.dot(x, x)
-    lmbda[0] = 0.0
-    lmbda[1] = sublmbda[0]
-    lmbda[2] = sublmbda[1]
-    dmin = d
-
-  if not comp2:
-    sublmbda = _S1D(s1, s3)
-    x = sublmbda[0] * s1 + sublmbda[1] * s3
-    d = wp.dot(x, x)
-    if d < dmin:
-      lmbda[0] = sublmbda[0]
-      lmbda[1] = 0.0
-      lmbda[2] = sublmbda[1]
-      dmin = d
-
-  if not comp3:
-    sublmbda = _S1D(s1, s2)
-    x = sublmbda[0] * s1 + sublmbda[1] * s2
-    d = wp.dot(x, x)
-    if d < dmin:
-      lmbda[0] = sublmbda[0]
-      lmbda[1] = sublmbda[1]
-      lmbda[2] = 0.0
-  return lmbda
-
-
-@wp.func
-def _S1D(s1: wp.vec3, s2: wp.vec3) -> wp.vec2:
-  # find projection of origin onto the 1-simplex:
-  p_o = _project_origin_line(s1, s2)
-
-  # find the axis with the largest projection "shadow" of the simplex
-  mu_max = s1[0] - s2[0]
-  index = 0
-
-  mu = s1[1] - s2[1]
-  if wp.abs(mu) >= wp.abs(mu_max):
-    mu_max = mu
-    index = 1
-
-  mu = s1[2] - s2[2]
-  if wp.abs(mu) >= wp.abs(mu_max):
-    mu_max = mu
-    index = 2
-
-  C1 = p_o[index] - s2[index]
-  C2 = s1[index] - p_o[index]
-
-  # inside the simplex
-  if _same_sign(mu_max, C1) and _same_sign(mu_max, C2):
-    return wp.vec2(C1 / mu_max, C2 / mu_max)
-  return wp.vec2(0.0, 1.0)
-
-
-@wp.func
-def _gjk_support(
-  # In:
-  geom1: Geom,
-  geom2: Geom,
-  geomtype1: int,
-  geomtype2: int,
-  x_k: wp.vec3,
-  x_norm: float,
-  simplex: mat43,
-  n: int,
-  is_discrete: bool,
-) -> Tuple[SupportPoint, SupportPoint]:
-  dir_neg = x_k / x_norm
-
-  # tuning for discrete geoms when direction is noisy
-  if is_discrete and x_norm < 1e-4:
-    if n == 2:
-      edge = simplex[1] - simplex[0]
-      edge_norm2 = wp.dot(edge, edge)
-      if edge_norm2 > MINVAL2:
-        proj = wp.dot(dir_neg, edge) / edge_norm2
-        dir_neg = dir_neg - proj * edge
-        dir_norm = wp.length(dir_neg)
-        if dir_norm > MINVAL:
-          dir_neg = dir_neg / dir_norm
-    elif n == 3:
-      e1 = simplex[1] - simplex[0]
-      e2 = simplex[2] - simplex[0]
-      normal = wp.cross(e1, e2)
-      normal_norm = wp.length(normal)
-      if normal_norm > MINVAL:
-        dir_neg = wp.sign(wp.dot(dir_neg, normal)) * normal / normal_norm
-
-  sp1 = support(geom1, geomtype1, -dir_neg)
-  sp2 = support(geom2, geomtype2, dir_neg)
-  return sp1, sp2
-
-
-@wp.func
-def gjk(
-  # In:
-  tolerance: float,
-  gjk_iterations: int,
-  geom1: Geom,
-  geom2: Geom,
-  x1_0: wp.vec3,
-  x2_0: wp.vec3,
-  geomtype1: int,
-  geomtype2: int,
-  cutoff: float,
-  is_discrete: bool,
-) -> GJKResult:
-  """Find distance within a tolerance between two geoms."""
-  cutoff2 = cutoff * cutoff
-  simplex = mat43()
-  simplex1 = mat43()
-  simplex2 = mat43()
-  simplex_index1 = wp.vec4i()
-  simplex_index2 = wp.vec4i()
-  n = int(0)
-  lmbda = wp.vec4(1.0, 0.0, 0.0, 0.0)  # barycentric coordinates
-
-  # for discrete geoms GJK is guaranteed to converge in a finite number of iterations
-  # so we can ignore tolerance
-  # TODO(kbayes): look into relative tolerances based off of xnorm
-  epsilon = wp.where(is_discrete, 0.0, 0.5 * tolerance * tolerance)
-  min_norm = wp.where(is_discrete, MINVAL, tolerance)
-  min_tol = wp.where(is_discrete, MINVAL, tolerance)
-
-  # set initial guess
-  x_k = x1_0 - x2_0
-  xnorm2 = wp.dot(x_k, x_k)
-  xnorm = wp.sqrt(xnorm2)
-  xnorm_prev = float(0.0)
-
-  for _ in range(gjk_iterations):
-    if xnorm < min_norm or wp.abs(xnorm_prev - xnorm) < min_tol:
-      break
-
-    # compute the support point with direction tuning
-    sp1, sp2 = _gjk_support(geom1, geom2, geomtype1, geomtype2, x_k, xnorm, simplex, n, is_discrete)
-    simplex1[n] = sp1.point
-    geom1.index = sp1.cached_index
-    simplex_index1[n] = sp1.vertex_index
-
-    simplex2[n] = sp2.point
-    geom2.index = sp2.cached_index
-    simplex_index2[n] = sp2.vertex_index
-
-    # compute the kth support point
-    simplex[n] = simplex1[n] - simplex2[n]
-
-    # stopping criteria using the Frank-Wolfe duality gap given by
-    #  |f(x_k) - f(x_min)|^2 <= < grad f(x_k), (x_k - simplex[n]) >
-    if wp.dot(x_k, x_k - simplex[n]) < epsilon:
-      break
-
-    if cutoff == 0.0:
-      if wp.dot(x_k, simplex[n]) > 0.0:
-        result = GJKResult()
-        result.dim = 0
-        result.dist = FLOAT_MAX
-        result.index1 = geom1.index
-        result.index2 = geom2.index
-        return result
-    elif cutoff < FLOAT_MAX:
-      vs = wp.dot(x_k, simplex[n])
-      if wp.dot(x_k, simplex[n]) > 0.0 and (vs * vs / xnorm2) >= cutoff2:
-        result = GJKResult()
-        result.dim = 0
-        result.dist = FLOAT_MAX
-        result.index1 = geom1.index
-        result.index2 = geom2.index
-        return result
-
-    # run the distance subalgorithm to compute the barycentric coordinates
-    # of the closest point to the origin in the simplex
-    lmbda = _subdistance(n + 1, simplex)
-
-    # remove vertices from the simplex no longer needed
-    n = int(0)
-    for i in range(4):
-      if lmbda[i] == 0.0:
-        continue
-
-      simplex[n] = simplex[i]
-      simplex1[n] = simplex1[i]
-      simplex2[n] = simplex2[i]
-      simplex_index1[n] = simplex_index1[i]
-      simplex_index2[n] = simplex_index2[i]
-      lmbda[n] = lmbda[i]
-      n += int(1)
-
-    # SHOULD NOT OCCUR
-    if n < 1:
-      break
-
-    # we have a tetrahedron containing the origin so return early
-    if n == 4:
-      xnorm = 0.0
-      break
-
-    # get the next iteration of x_k
-    x_k = _linear_combine(n, lmbda, simplex)
-    xnorm_prev = xnorm
-    xnorm2 = wp.dot(x_k, x_k)
-    xnorm = wp.sqrt(xnorm2)
-
-  result = GJKResult()
-
-  # compute the approximate witness points
-  # if n is zero, then there was an immediate return meaning the initial points
-  # are the witness points
-  result.x1 = wp.where(n == 0, x1_0, _linear_combine(n, lmbda, simplex1))
-  result.x2 = wp.where(n == 0, x2_0, _linear_combine(n, lmbda, simplex2))
-  result.dist = xnorm
-
-  result.dim = n
-  result.simplex1 = simplex1
-  result.simplex2 = simplex2
-  result.simplex_index1 = simplex_index1
-  result.simplex_index2 = simplex_index2
-  result.simplex = simplex
-  result.index1 = geom1.index
-  result.index2 = geom2.index
-  return result
-
-
-@wp.func
-def _same_side(p0: wp.vec3, p1: wp.vec3, p2: wp.vec3, p3: wp.vec3) -> bool:
-  n = wp.cross(p1 - p0, p2 - p0)
-  dot1 = wp.dot(n, p3 - p0)
-  dot2 = wp.dot(n, -p0)
-  return (dot1 > 0.0 and dot2 > 0.0) or (dot1 < 0.0 and dot2 < 0.0)
-
-
-@wp.func
-def _test_tetra(p0: wp.vec3, p1: wp.vec3, p2: wp.vec3, p3: wp.vec3) -> bool:
-  return _same_side(p0, p1, p2, p3) and _same_side(p1, p2, p3, p0) and _same_side(p2, p3, p0, p1) and _same_side(p3, p0, p1, p2)
-
-
-@wp.func
-def _tri_affine_coord(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, p: wp.vec3) -> wp.vec3:
-  # compute minors as in S2D
-  M_14 = v2[1] * v3[2] - v2[2] * v3[1] - v1[1] * v3[2] + v1[2] * v3[1] + v1[1] * v2[2] - v1[2] * v2[1]
-  M_24 = v2[0] * v3[2] - v2[2] * v3[0] - v1[0] * v3[2] + v1[2] * v3[0] + v1[0] * v2[2] - v1[2] * v2[0]
-  M_34 = v2[0] * v3[1] - v2[1] * v3[0] - v1[0] * v3[1] + v1[1] * v3[0] + v1[0] * v2[1] - v1[1] * v2[0]
-
-  # exclude one of the axes with the largest projection
-  # of the simplex using the computed minors
-  M_max = 0.0
-  x = 0
-  y = 0
-
-  mu1 = wp.abs(M_14)
-  mu2 = wp.abs(M_24)
-  mu3 = wp.abs(M_34)
-
-  if mu1 >= mu2 and mu1 >= mu3:
-    M_max = M_14
-    x = 1
-    y = 2
-  elif mu2 >= mu3:
-    M_max = M_24
-    x = 0
-    y = 2
-  else:
-    M_max = M_34
-    x = 0
-    y = 1
-
-  # C31 corresponds to the signed area of 2-simplex: (v, s2, s3)
-  C31 = p[x] * v2[y] + p[y] * v3[x] + v2[x] * v3[y] - p[x] * v3[y] - p[y] * v2[x] - v3[x] * v2[y]
-
-  # C32 corresponds to the signed area of 2-simplex: (v, s1, s3)
-  C32 = p[x] * v3[y] + p[y] * v1[x] + v3[x] * v1[y] - p[x] * v1[y] - p[y] * v3[x] - v1[x] * v3[y]
-
-  # C33 corresponds to the signed area of 2-simplex: (v, s1, s2)
-  C33 = p[x] * v1[y] + p[y] * v2[x] + v1[x] * v2[y] - p[x] * v2[y] - p[y] * v1[x] - v2[x] * v1[y]
-
-  # compute affine coordinates
-  return wp.vec3(C31 / M_max, C32 / M_max, C33 / M_max)
-
-
-@wp.func
-def _tri_point_intersect(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, p: wp.vec3) -> bool:
-  coordinates = _tri_affine_coord(v1, v2, v3, p)
-  l1 = coordinates[0]
-  l2 = coordinates[1]
-  l3 = coordinates[2]
-
-  if l1 < 0.0 or l2 < 0.0 or l3 < 0.0:
-    return False
-
-  pr = wp.vec3()
-  pr[0] = v1[0] * l1 + v2[0] * l2 + v3[0] * l3
-  pr[1] = v1[1] * l1 + v2[1] * l2 + v3[1] * l3
-  pr[2] = v1[2] * l1 + v2[2] * l2 + v3[2] * l3
-  return wp.norm_l2(pr - p) < MINVAL
-
-
-@wp.func
-def _replace_simplex3(pt: Polytope, v1: int, v2: int, v3: int) -> GJKResult:
-  result = GJKResult()
-
-  # reset GJK simplex
-  simplex1 = mat43()
-  simplex1[0] = pt.vert[2 * v1]
-  simplex1[1] = pt.vert[2 * v2]
-  simplex1[2] = pt.vert[2 * v3]
-
-  simplex2 = mat43()
-  simplex2[0] = pt.vert[2 * v1 + 1]
-  simplex2[1] = pt.vert[2 * v2 + 1]
-  simplex2[2] = pt.vert[2 * v3 + 1]
-
-  simplex = mat43()
-  simplex[0] = simplex1[0] - simplex2[0]
-  simplex[1] = simplex1[1] - simplex2[1]
-  simplex[2] = simplex1[2] - simplex2[2]
-
-  simplex_index1 = wp.vec4i()
-  simplex_index1[0] = pt.vert_index[2 * v1]
-  simplex_index1[1] = pt.vert_index[2 * v2]
-  simplex_index1[2] = pt.vert_index[2 * v3]
-
-  simplex_index2 = wp.vec4i()
-  simplex_index2[0] = pt.vert_index[2 * v1 + 1]
-  simplex_index2[1] = pt.vert_index[2 * v2 + 1]
-  simplex_index2[2] = pt.vert_index[2 * v3 + 1]
-
-  result.simplex = simplex
-  result.simplex1 = simplex1
-  result.simplex2 = simplex2
-  result.simplex_index1 = simplex_index1
-  result.simplex_index2 = simplex_index2
-
-  return result
-
-
-@wp.func
-def _rotmat(axis: wp.vec3) -> wp.mat33:
-  n = wp.norm_l2(axis)
-  u1 = axis[0] / n
-  u2 = axis[1] / n
-  u3 = axis[2] / n
-
-  sin = 0.86602540378  # sin(120 deg)
-  cos = -0.5  # cos(120 deg)
-  R = wp.mat33()
-  R[0, 0] = cos + u1 * u1 * (1.0 - cos)
-  R[0, 1] = u1 * u2 * (1.0 - cos) - u3 * sin
-  R[0, 2] = u1 * u3 * (1.0 - cos) + u2 * sin
-  R[1, 0] = u2 * u1 * (1.0 - cos) + u3 * sin
-  R[1, 1] = cos + u2 * u2 * (1.0 - cos)
-  R[1, 2] = u2 * u3 * (1.0 - cos) - u1 * sin
-  R[2, 0] = u1 * u3 * (1.0 - cos) - u2 * sin
-  R[2, 1] = u2 * u3 * (1.0 - cos) + u1 * sin
-  R[2, 2] = cos + u3 * u3 * (1.0 - cos)
-  return R
-
-
-@wp.func
-def _ray_triangle(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, v4: wp.vec3, v5: wp.vec3) -> int:
-  vol1 = _det3(v3 - v1, v4 - v1, v2 - v1)
-  vol2 = _det3(v4 - v1, v5 - v1, v2 - v1)
-  vol3 = _det3(v5 - v1, v3 - v1, v2 - v1)
-
-  if vol1 >= 0.0 and vol2 >= 0.0 and vol3 >= 0.0:
-    return 1
-  if vol1 <= 0.0 and vol2 <= 0.0 and vol3 <= 0.0:
-    return -1
-  return 0
-
-
-@wp.func
-def _get_edge(edge: int) -> wp.vec2i:
-  return wp.vec2i(edge & 0x3FF, (edge >> 10) & 0x3FF)
-
-
-@wp.func
-def _add_edge(pt: Polytope, e1: int, e2: int) -> int:
-  n = pt.nhorizon
-
-  if n < 0:
-    return -1
-
-  edge = (wp.min(e1, e2) << 10) | wp.max(e1, e2)
-
-  for i in range(n):
-    if edge == pt.horizon[i]:
-      pt.horizon[i] = pt.horizon[n - 1]
-      return n - 1
-
-  # out of memory, force EPA to return early without contact
-  if n == pt.horizon.shape[0]:
-    return -1
-
-  pt.horizon[n] = edge
-  return n + 1
-
-
-@wp.func
-def _epa_witness(
-  pt: Polytope, geom1: Geom, geom2: Geom, geomtype1: int, geomtype2: int, face_idx: int
-) -> Tuple[wp.vec3, wp.vec3, float]:
-  face = _get_face_verts(pt.face[face_idx])
-  # compute affine coordinates for witness points on plane defined by face
-  v1 = pt.vert[2 * face[0]] - pt.vert[2 * face[0] + 1]
-  v2 = pt.vert[2 * face[1]] - pt.vert[2 * face[1] + 1]
-  v3 = pt.vert[2 * face[2]] - pt.vert[2 * face[2] + 1]
-
-  coordinates = _tri_affine_coord(v1, v2, v3, pt.face_pr[face_idx])
-  l1 = coordinates[0]
-  l2 = coordinates[1]
-  l3 = coordinates[2]
-
-  # face on geom 2
-  v1 = pt.vert[2 * face[0] + 1]
-  v2 = pt.vert[2 * face[1] + 1]
-  v3 = pt.vert[2 * face[2] + 1]
-  x2 = wp.vec3()
-  x2[0] = v1[0] * l1 + v2[0] * l2 + v3[0] * l3
-  x2[1] = v1[1] * l1 + v2[1] * l2 + v3[1] * l3
-  x2[2] = v1[2] * l1 + v2[2] * l2 + v3[2] * l3
-
-  # correct witness points for hfield geoms
-  i1 = pt.vert_index[2 * face[0]]
-  i2 = pt.vert_index[2 * face[1]]
-  i3 = pt.vert_index[2 * face[2]]
-  if geomtype1 == GeomType.HFIELD and (i1 != i2 or i1 != i3):
-    # TODO(kbayes): Fix case where geom2 is near bottom of height field or "extreme" prism heights
-    n = wp.vec3(0.0, 0.0, 1.0)
-
-    # height field prism vertices
-    a = geom1.hfprism[3]
-    b = geom1.hfprism[4]
-    c = geom1.hfprism[5]
-
-    # TODO(kbayes): Support cases where geom2 is larger than the height field
-    if geomtype2 == GeomType.CAPSULE or geomtype2 == GeomType.SPHERE:
-      radius = geom2.size[0]
-      margin = geom2.margin
-      geom2.margin = 0.0
-      geom2.size = wp.vec3(0.0, geom2.size[1], geom2.size[2])
-      sp = support(geom2, geomtype2, x2)
-      x2 = sp.point - (0.5 * margin + radius) * n
-      geom2.size[0] = radius
-      geom2.margin = margin
-    else:
-      x2 = wp.normalize(x2)
-      sp = support(geom2, geomtype2, x2)
-      x2 = sp.point
-
-    coordinates2 = _tri_affine_coord(a, b, c, x2)
-    if coordinates2[0] > 0.0 and coordinates2[1] > 0.0 and coordinates2[2] > 0.0:
-      x1 = coordinates2[0] * a + coordinates2[1] * b + coordinates2[2] * c
-    else:
-      p = c
-      p = wp.where(coordinates2[1] > 0, b, p)
-      p = wp.where(coordinates2[0] > 0, a, p)
-      x1 = x2 - wp.dot(x2 - p, n) * n
-    return x1, x2, -wp.norm_l2(x1 - x2)
-
-  # face on geom 1
-  v1 = pt.vert[2 * face[0]]
-  v2 = pt.vert[2 * face[1]]
-  v3 = pt.vert[2 * face[2]]
-  x1 = wp.vec3()
-  x1[0] = v1[0] * l1 + v2[0] * l2 + v3[0] * l3
-  x1[1] = v1[1] * l1 + v2[1] * l2 + v3[1] * l3
-  x1[2] = v1[2] * l1 + v2[2] * l2 + v3[2] * l3
-
-  return x1, x2, -wp.sqrt(pt.face_norm2[face_idx])
-
-
-@wp.func
-def _polytope2(
-  # In:
-  pt: Polytope,
-  simplex: mat43,
-  simplex1: mat43,
-  simplex2: mat43,
-  simplex_index1: wp.vec4i,
-  simplex_index2: wp.vec4i,
-  geom1: Geom,
-  geom2: Geom,
-  geomtype1: int,
-  geomtype2: int,
-) -> Tuple[Polytope, GJKResult]:
-  """Create polytope for EPA given a 1-simplex from GJK."""
-  diff = simplex[1] - simplex[0]
-
-  # set the polytope center
-  pt.center = 0.5 * (simplex[0] + simplex[1])
-
-  # find component with smallest magnitude (so cross product is largest)
-  value = FLOAT_MAX
-  index = 0
-  for i in range(3):
-    if wp.abs(diff[i]) < value:
-      value = wp.abs(diff[i])
-      index = i
-
-  # cross product with best coordinate axis
-  e = wp.vec3(0.0, 0.0, 0.0)
-  e[index] = 1.0
-  d1 = wp.cross(e, diff)
-
-  # rotate around the line segment to get three more points spaced 120 degrees apart
-  R = _rotmat(diff)
-  d2 = R @ d1
-  d3 = R @ d2
-
-  # save vertices and get indices for each one
-  pt.vert[0] = simplex1[0]
-  pt.vert[1] = simplex2[0]
-  pt.vert[2] = simplex1[1]
-  pt.vert[3] = simplex2[1]
-
-  pt.vert_index[0] = simplex_index1[0]
-  pt.vert_index[1] = simplex_index2[0]
-  pt.vert_index[2] = simplex_index1[1]
-  pt.vert_index[3] = simplex_index2[1]
-
-  _epa_support(pt, 2, geom1, geom2, geomtype1, geomtype2, d1 / wp.norm_l2(d1))
-  _epa_support(pt, 3, geom1, geom2, geomtype1, geomtype2, d2 / wp.norm_l2(d2))
-  _epa_support(pt, 4, geom1, geom2, geomtype1, geomtype2, d3 / wp.norm_l2(d3))
-
-  # build hexahedron
-  if _attach_face(pt, 0, 0, 2, 3) < MIN_DIST2:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 0, 2, 3)
-
-  if _attach_face(pt, 1, 0, 4, 2) < MIN_DIST2:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 0, 4, 2)
-
-  if _attach_face(pt, 2, 0, 3, 4) < MIN_DIST2:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 0, 3, 4)
-
-  if _attach_face(pt, 3, 1, 3, 2) < MIN_DIST2:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 1, 3, 2)
-
-  if _attach_face(pt, 4, 1, 2, 4) < MIN_DIST2:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 1, 2, 4)
-
-  if _attach_face(pt, 5, 1, 4, 3) < MIN_DIST2:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 1, 4, 3)
-
-  # check hexahedron is convex
-  v2 = pt.vert[4] - pt.vert[5]
-  v3 = pt.vert[6] - pt.vert[7]
-  v4 = pt.vert[8] - pt.vert[9]
-  if not _ray_triangle(simplex[0], simplex[1], v2, v3, v4):
-    pt.status = 1
-    return pt, GJKResult()
-
-  # set polytope counts
-  pt.nvert = 5
-  pt.nface = 6
-  pt.status = 0
-  return pt, GJKResult()
-
-
-@wp.func
-def _polytope3(
-  # In:
-  pt: Polytope,
-  dist: float,
-  simplex: mat43,
-  simplex1: mat43,
-  simplex2: mat43,
-  simplex_index1: wp.vec4i,
-  simplex_index2: wp.vec4i,
-  geom1: Geom,
-  geom2: Geom,
-  geomtype1: int,
-  geomtype2: int,
-) -> Polytope:
-  """Create polytope for EPA given a 2-simplex from GJK."""
-  # set the polytope center
-  pt.center = (simplex[0] + simplex[1] + simplex[2]) * wp.static(1.0 / 3.0)
-
-  # get normals in both directions
-  n = wp.cross(simplex[1] - simplex[0], simplex[2] - simplex[0])
-  if wp.norm_l2(n) < MINVAL:
-    pt.status = 2
-    return pt
-
-  pt.vert[0] = simplex1[0]
-  pt.vert[1] = simplex2[0]
-  pt.vert[2] = simplex1[1]
-  pt.vert[3] = simplex2[1]
-  pt.vert[4] = simplex1[2]
-  pt.vert[5] = simplex2[2]
-
-  pt.vert_index[0] = simplex_index1[0]
-  pt.vert_index[1] = simplex_index2[0]
-  pt.vert_index[2] = simplex_index1[1]
-  pt.vert_index[3] = simplex_index2[1]
-  pt.vert_index[4] = simplex_index1[2]
-  pt.vert_index[5] = simplex_index2[2]
-
-  _epa_support(pt, 3, geom1, geom2, geomtype1, geomtype2, -n)
-  _epa_support(pt, 4, geom1, geom2, geomtype1, geomtype2, n)
-
-  v1 = simplex[0]
-  v2 = simplex[1]
-  v3 = simplex[2]
-  v4 = pt.vert[6] - pt.vert[7]
-  v5 = pt.vert[8] - pt.vert[9]
-
-  # check that v4 is not contained in the 2-simplex
-  if _tri_point_intersect(v1, v2, v3, v4):
-    pt.status = 3
-    return pt
-
-  # check that v5 is not contained in the 2-simplex
-  if _tri_point_intersect(v1, v2, v3, v5):
-    pt.status = 4
-    return pt
-
-  # if origin does not lie on simplex then we need to check that the hexahedron contains the
-  # origin
-  if dist > 1e-5 and not _test_tetra(v1, v2, v3, v4) and not _test_tetra(v1, v2, v3, v5):
-    pt.status = 5
-    return pt
-
-  # create hexahedron for EPA
-  if _attach_face(pt, 0, 4, 0, 1) < MIN_DIST3:
-    pt.status = 6
-    return pt
-  if _attach_face(pt, 1, 4, 2, 0) < MIN_DIST3:
-    pt.status = 7
-    return pt
-  if _attach_face(pt, 2, 4, 1, 2) < MIN_DIST3:
-    pt.status = 8
-    return pt
-  if _attach_face(pt, 3, 3, 1, 0) < MIN_DIST3:
-    pt.status = 9
-    return pt
-  if _attach_face(pt, 4, 3, 0, 2) < MIN_DIST3:
-    pt.status = 10
-    return pt
-  if _attach_face(pt, 5, 3, 2, 1) < MIN_DIST3:
-    pt.status = 11
-    return pt
-
-  # set polytope counts
-  pt.nvert = 5
-  pt.nface = 6
-  pt.status = 0
-  return pt
-
-
-@wp.func
-def _polytope4(
-  # In:
-  pt: Polytope,
-  simplex: mat43,
-  simplex1: mat43,
-  simplex2: mat43,
-  simplex_index1: wp.vec4i,
-  simplex_index2: wp.vec4i,
-) -> Tuple[Polytope, GJKResult]:
-  """Create polytope for EPA given a 3-simplex from GJK."""
-  # set the polytope center
-  pt.center = 0.25 * (simplex[0] + simplex[1] + simplex[2] + simplex[3])
-
-  pt.vert[0] = simplex1[0]
-  pt.vert[1] = simplex2[0]
-  pt.vert[2] = simplex1[1]
-  pt.vert[3] = simplex2[1]
-  pt.vert[4] = simplex1[2]
-  pt.vert[5] = simplex2[2]
-  pt.vert[6] = simplex1[3]
-  pt.vert[7] = simplex2[3]
-
-  pt.vert_index[0] = simplex_index1[0]
-  pt.vert_index[1] = simplex_index2[0]
-  pt.vert_index[2] = simplex_index1[1]
-  pt.vert_index[3] = simplex_index2[1]
-  pt.vert_index[4] = simplex_index1[2]
-  pt.vert_index[5] = simplex_index2[2]
-  pt.vert_index[6] = simplex_index1[3]
-  pt.vert_index[7] = simplex_index2[3]
-
-  dist = wp.vec4()
-  idx = int(0)
-
-  # if the origin is on a face, replace the 3-simplex with a 2-simplex
-  dist[0] = _attach_face(pt, 0, 0, 1, 2)
-  if dist[0] < MIN_DIST4:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 0, 1, 2)
-
-  dist[1] = _attach_face(pt, 1, 0, 3, 1)
-  if dist[1] < MIN_DIST4:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 0, 3, 1)
-  idx = wp.where(dist[0] < dist[1], 0, 1)
-
-  dist[2] = _attach_face(pt, 2, 0, 2, 3)
-  if dist[2] < MIN_DIST4:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 0, 2, 3)
-  idx = wp.where(dist[2] < dist[idx], 2, idx)
-
-  dist[3] = _attach_face(pt, 3, 3, 2, 1)
-  if dist[3] < MIN_DIST4:
-    pt.status = -1
-    return pt, _replace_simplex3(pt, 3, 2, 1)
-  idx = wp.where(dist[3] < dist[idx], 3, idx)
-
-  if not _test_tetra(simplex[0], simplex[1], simplex[2], simplex[3]):
-    if dist[idx] > MINVAL:
-      pt.status = 12
-      return pt, GJKResult()
-
-    # fallback to closest face
-    pt.status = -1
-    if idx == 0:
-      return pt, _replace_simplex3(pt, 0, 1, 2)
-    elif idx == 1:
-      return pt, _replace_simplex3(pt, 0, 3, 1)
-    elif idx == 2:
-      return pt, _replace_simplex3(pt, 0, 2, 3)
-    else:
-      return pt, _replace_simplex3(pt, 3, 2, 1)
-
-  # set polytope counts
-  pt.nvert = 4
-  pt.nface = 4
-  pt.status = 0
-  return pt, GJKResult()
-
-
-@wp.func
-def _get_face_verts(face: int) -> wp.vec3i:
-  """Return the three vertices of the face given by indices into the polytope vertex array."""
-  return wp.vec3i(face & 0x3FF, face >> 10 & 0x3FF, face >> 20 & 0x3FF)
-
-
-@wp.func
-def _delete_face(face: int) -> int:
-  """Return the face with the deleted bit enabled."""
-  return int(wp.uint32(face) | _FACE_DELETED_BIT)
-
-
-@wp.func
-def _is_face_deleted(face: int) -> bool:
-  """Return true if face is deleted."""
-  return bool(wp.uint32(face) & _FACE_DELETED_BIT)
-
-
-@wp.func
-def _invalidate_face(face: int) -> int:
-  """Return the face with the invalid bit enabled."""
-  return int(wp.uint32(face) | _FACE_INVALID_BIT)
-
-
-@wp.func
-def _is_invalid_face(face: int) -> bool:
-  """Return true if face is invalid or deleted."""
-  return bool(wp.uint32(face) & _FACE_INVALID_OR_DELETED_MASK)
-
-
-@wp.func
-def _epa(
-  # In:
-  tolerance: float,
-  epa_iterations: int,
-  pt: Polytope,
-  geom1: Geom,
-  geom2: Geom,
-  geomtype1: int,
-  geomtype2: int,
-  is_discrete: bool,
-  warn_overflow: bool,
-  worldid: int,
-  # Data out:
-  overflow_out: wp.array[int],
-) -> Tuple[float, wp.vec3, wp.vec3, int]:
-  """Recover penetration data from two geoms in contact given an initial polytope."""
-  upper = FLOAT_MAX
-  upper2 = FLOAT_MAX
-  idx = int(-1)
-  pidx = int(-1)
-  epsilon = wp.where(is_discrete, MIN_EPATOL, tolerance)
-  nvalid = pt.nface  # number of potential faces for expanding the polytope
-
-  # the face vertices are encoded in 10-bits that index the vertex array,
-  # so iterations must be cap to limit the number of generated vertices
-  # (one new vertex per iteration)
-  epa_iterations = wp.min(epa_iterations, 1000)
-  for _ in range(epa_iterations):
-    pidx = idx
-    idx = int(-1)
-    lower2 = float(FLOAT_MAX)
-
-    # find the face closest to the origin (lower bound for penetration depth)
-    for i in range(pt.nface):
-      if not _is_invalid_face(pt.face[i]) and pt.face_norm2[i] < lower2:
-        idx = i
-        lower2 = pt.face_norm2[i]
-
-    # face not valid, return previous face
-    if lower2 > upper2 or idx < 0:
-      idx = pidx
-      break
-
-    # check if lower bound is 0
-    if lower2 <= 0.0:
-      break
-
-    # compute support point w from the closest face's normal
-    lower = wp.sqrt(lower2)
-    wi = pt.nvert
-    face_pr = pt.face_pr[idx]
-    i1, i2 = _epa_support(pt, wi, geom1, geom2, geomtype1, geomtype2, face_pr / lower)
-    w = pt.vert[2 * wi] - pt.vert[2 * wi + 1]
-    geom1.index = i1
-    geom2.index = i2
-    pt.nvert += 1
-
-    # upper bound for kth iteration (dot product before normalizing for better precision)
-    upper_k = wp.dot(face_pr, w) / lower
-    if upper_k < upper:
-      upper = upper_k
-      upper2 = upper * upper
-
-    if upper - lower < epsilon:
-      break
-
-    # check if vertex wi is a repeated support point
-    if is_discrete:
-      found_repeated = bool(False)
-      for i in range(pt.nvert - 1):
-        if pt.vert_index[2 * i] == pt.vert_index[2 * wi] and pt.vert_index[2 * i + 1] == pt.vert_index[2 * wi + 1]:
-          found_repeated = True
-          break
-      if found_repeated:
-        break
-
-    nvalid -= 1
-    pt.face[idx] = _delete_face(pt.face[idx])
-    face = _get_face_verts(pt.face[idx])
-    pt.nhorizon = _add_edge(pt, face[0], face[1])
-    pt.nhorizon = _add_edge(pt, face[1], face[2])
-    pt.nhorizon = _add_edge(pt, face[2], face[0])
-    if pt.nhorizon == -1:
-      if warn_overflow:
-        wp.printf("Warning: EPA horizon = %d isn't large enough.\n", pt.horizon.shape[0])
-      wp.atomic_or(overflow_out, worldid, OverflowType.EPA_HORIZON)
-      idx = -1
-      break
-
-    # compute horizon for w
-    for i in range(pt.nface):
-      if _is_face_deleted(pt.face[i]):
-        continue
-
-      if wp.dot(pt.face_pr[i], w) - pt.face_norm2[i] > 1e-10:
-        nvalid = wp.where(_is_invalid_face(pt.face[i]), nvalid, nvalid - 1)
-        pt.face[i] = _delete_face(pt.face[i])
-        face = _get_face_verts(pt.face[i])
-        pt.nhorizon = _add_edge(pt, face[0], face[1])
-        pt.nhorizon = _add_edge(pt, face[1], face[2])
-        pt.nhorizon = _add_edge(pt, face[2], face[0])
-        if pt.nhorizon == -1:
-          if warn_overflow:
-            wp.printf("Warning: EPA horizon = %d isn't large enough.\n", pt.horizon.shape[0])
-          wp.atomic_or(overflow_out, worldid, OverflowType.EPA_HORIZON)
-          idx = -1
-          break
-
-    # insert w as new vertex and attach faces along the horizon
-    for i in range(pt.nhorizon):
-      edge = _get_edge(pt.horizon[i])
-      dist2 = _attach_face(pt, pt.nface, wi, edge[0], edge[1])
-      if dist2 == 0.0:
-        idx = -1
-        break
-
-      pt.nface += 1
-
-      if dist2 >= lower2 and dist2 <= upper2:
-        nvalid += 1
-      else:
-        pt.face[pt.nface - 1] = _invalidate_face(pt.face[pt.nface - 1])
-
-    # no face candidates left
-    if nvalid == 0 or idx == -1:
-      break
-
-    # clear horizon
-    pt.nhorizon = 0
-
-  # return from valid face
-  if idx > -1:
-    x1, x2, dist = _epa_witness(pt, geom1, geom2, geomtype1, geomtype2, idx)
-    return dist, x1, x2, idx
-  return 0.0, wp.vec3(), wp.vec3(), -1
-
-
-@wp.func
-def _area4(a: wp.vec3, b: wp.vec3, c: wp.vec3, d: wp.vec3) -> float:
-  """Computes area of a quadrilateral embedded in 3D space."""
-  return 0.5 * wp.norm_l2(wp.cross(a - d, d - b) + wp.cross(b - c, c - a))
-
-
-@wp.func
-def _polygon_quad(polygon: wp.array[wp.vec3], npolygon: int) -> wp.vec4i:
-  """Returns the indices of a quadrilateral of maximum area in a convex polygon (npolygon > 4)."""
-  b = int(1)
-  c = int(2)
-  d = int(3)
-  res = wp.vec4i(0, b, c, d)
-  m = _area4(polygon[0], polygon[b], polygon[c], polygon[d])
-  for a in range(npolygon):
-    while True:
-      m_next = _area4(polygon[a], polygon[b], polygon[c], polygon[(d + 1) % npolygon])
-      if m_next <= m:
-        break
-      m = m_next
-      d = (d + 1) % npolygon
-      res = wp.vec4i(a, b, c, d)
-      while True:
-        m_next = _area4(polygon[a], polygon[b], polygon[(c + 1) % npolygon], polygon[d])
-        if m_next <= m:
-          break
-        m = m_next
-        c = (c + 1) % npolygon
-        res = wp.vec4i(a, b, c, d)
-      while True:
-        m_next = _area4(polygon[a], polygon[(b + 1) % npolygon], polygon[c], polygon[d])
-        if m_next <= m:
-          break
-        m = m_next
-        b = (b + 1) % npolygon
-        res = wp.vec4i(a, b, c, d)
-    if b == a:
-      b = (b + 1) % npolygon
-      if c == b:
-        c = (c + 1) % npolygon
-        if d == c:
-          d = (d + 1) % npolygon
-  return res
-
-
-# return number (1, 2 or 3) of dimensions of a simplex; reorder vertices if necessary
-@wp.func
-def _feature_dim(
-  face: wp.vec3i, vert_index: wp.array[int], vert: wp.array[wp.vec3], offset: int
-) -> Tuple[int, wp.vec3i, wp.mat33]:
-  v1i = vert_index[2 * face[0] + offset]
-  v2i = vert_index[2 * face[1] + offset]
-  v3i = vert_index[2 * face[2] + offset]
-
-  feature_index = wp.vec3i(v1i, v2i, v3i)
-  feature_vert = wp.mat33()
-  feature_vert[0] = vert[2 * face[0] + offset]
-  feature_vert[1] = vert[2 * face[1] + offset]
-  feature_vert[2] = vert[2 * face[2] + offset]
-
-  if v1i != v2i:
-    dim = wp.where(v3i == v1i or v3i == v2i, 2, 3)
-    return dim, feature_index, feature_vert
-
-  feature_index[1] = v3i
-  feature_vert[1] = vert[2 * face[2] + offset]
-
-  dim = wp.where(v1i != v3i, 2, 1)
-  return dim, feature_index, feature_vert
-
-
-# find two normals that are facing each other within a tolerance, return 1 if found
-@wp.func
-def _aligned_faces(vert1: wp.array[wp.vec3], len1: int, vert2: wp.array[wp.vec3], len2: int) -> Tuple[int, wp.vec2i]:
-  res = wp.vec2i()
-  for i in range(len1):
-    for j in range(len2):
-      if wp.dot(vert1[i], vert2[j]) < -FACE_TOL:
-        res[0] = i
-        res[1] = j
-        return 1, res
-  return 0, res
-
-
-# find two normals that are perpendicular to each other within a tolerance
-# return 1 if found
-@wp.func
-def _aligned_face_edge(edge: wp.array[wp.vec3], nedge: int, face: wp.array[wp.vec3], nface: int) -> Tuple[int, wp.vec2i]:
-  res = wp.vec2i()
-  for i in range(nface):
-    for j in range(nedge):
-      if wp.abs(wp.dot(edge[j], face[i])) < EDGE_TOL:
-        res[0] = j
-        res[1] = i
-        return 1, res
-  return 0, res
-
-
-# find up to n <= 2 common integers of two arrays, return n
-@wp.func
-def _intersect1(a1: wp.array[int], a2: wp.array[int], start1: int, start2: int, len1: int, len2: int) -> Tuple[int, wp.vec2i]:
-  count = int(0)
-  res = wp.vec2i()
-  for i in range(start1, start1 + len1):
-    for j in range(start2, start2 + len2):
-      if a1[i] == a2[j]:
-        res[count] = a1[i]
-        count += 1
-        if count == 2:
-          return 2, res
-  return count, res
-
-
-@wp.func
-def _intersect2(a1: wp.vec2i, a2: wp.array[int], start2: int, len1: int, len2: int) -> Tuple[int, wp.vec2i]:
-  count = int(0)
-  res = wp.vec2i()
-  for i in range(len1):
-    for j in range(start2, start2 + len2):
-      if a1[i] == a2[j]:
-        res[count] = a1[i]
-        count += 1
-        if count == 2:
-          return 2, res
-  return count, res
-
-
-# compute possible polygon normals of a mesh given up to 3 vertices
-@wp.func
-def _mesh_normals(
-  # In:
-  feature_dim: int,
-  feature_index: wp.vec3i,
-  mat: wp.mat33,
-  vertadr: int,
-  polyadr: int,
-  polynormal: wp.array[wp.vec3],
-  polymapadr: wp.array[int],
-  polymapnum: wp.array[int],
-  polymap: wp.array[int],
-  # Out:
-  normals_out: wp.array[wp.vec3],
-  indices_out: wp.array[int],
-) -> int:
-  v1 = feature_index[0]
-  v2 = feature_index[1]
-  v3 = feature_index[2]
-  if feature_dim == 3:
-    v1_adr = polymapadr[vertadr + v1]
-    v1_num = polymapnum[vertadr + v1]
-
-    v2_adr = polymapadr[vertadr + v2]
-    v2_num = polymapnum[vertadr + v2]
-
-    v3_adr = polymapadr[vertadr + v3]
-    v3_num = polymapnum[vertadr + v3]
-
-    faceset = wp.vec2i()
-    n, edgeset = _intersect1(polymap, polymap, v1_adr, v2_adr, v1_num, v2_num)
-    if n == 0:
-      return 0
-    n, faceset = _intersect2(edgeset, polymap, v3_adr, n, v3_num)
-    if n == 0:
-      return 0
-
-    # three vertices on mesh define a unique face
-    normals_out[0] = mat @ polynormal[polyadr + faceset[0]]
-    indices_out[0] = faceset[0]
-    return 1
-
-  if feature_dim == 2:
-    v1_adr = polymapadr[vertadr + v1]
-    v1_num = polymapnum[vertadr + v1]
-
-    v2_adr = polymapadr[vertadr + v2]
-    v2_num = polymapnum[vertadr + v2]
-
-    # up to two faces as two vertices define an edge
-    n, edgeset = _intersect1(polymap, polymap, v1_adr, v2_adr, v1_num, v2_num)
-    if n == 0:
-      return 0
-    for i in range(n):
-      normals_out[i] = mat @ polynormal[polyadr + edgeset[i]]
-      indices_out[i] = edgeset[i]
-    return n
-
-  if feature_dim == 1:
-    v1_adr = polymapadr[vertadr + v1]
-    v1_num = polymapnum[vertadr + v1]
-    for i in range(v1_num):
-      index = polymap[v1_adr + i]
-      normals_out[i] = mat @ polynormal[polyadr + index]
-      indices_out[i] = index
-    return v1_num
-  return 0
-
-
-# compute normal directional vectors along possible edges given by up to two vertices
-@wp.func
-def _mesh_edge_normals(
-  # In:
-  dim: int,
-  mat: wp.mat33,
-  pos: wp.vec3,
-  vertadr: int,
-  polyadr: int,
-  vert: wp.array[wp.vec3],
-  polyvertadr: wp.array[int],
-  polyvertnum: wp.array[int],
-  polyvert: wp.array[int],
-  polymapadr: wp.array[int],
-  polymapnum: wp.array[int],
-  polymap: wp.array[int],
-  v1: wp.vec3,
-  v2: wp.vec3,
-  v1i: int,
-  # Out:
-  normals_out: wp.array[wp.vec3],
-  endverts_out: wp.array[wp.vec3],
-) -> int:
-  # only one edge
-  if dim == 2:
-    endverts_out[0] = v2
-    normals_out[0] = wp.normalize(v2 - v1)
-    return 1
-
-  if dim == 1:
-    v1_adr = polymapadr[vertadr + v1i]
-    v1_num = polymapnum[vertadr + v1i]
-
-    # loop through all faces with vertex v1
-    for i in range(v1_num):
-      idx = polymap[v1_adr + i]
-      adr = polyvertadr[polyadr + idx]
-      nvert = polyvertnum[polyadr + idx]
-      # find previous vertex in polygon to form edge
-      for j in range(nvert):
-        if polyvert[adr + j] == v1i:
-          k = wp.where(j == 0, nvert - 1, j - 1)
-          endverts_out[i] = mat @ vert[vertadr + polyvert[adr + k]] + pos
-          normals_out[i] = wp.normalize(endverts_out[i] - v1)
-    return v1_num
-  return 0
-
-
-# try recovering box normal from collision normal
-@wp.func
-def _box_normals2(
-  # In:
-  mat: wp.mat33,
-  n: wp.vec3,
-  # Out:
-  normal_out: wp.array[wp.vec3],
-  index_out: wp.array[int],
-) -> int:
-  # list of box face normals
-  face_normals = mat63(1.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, -1.0)
-
-  # get local coordinates of the normal
-
-  local_n = wp.normalize(
-    wp.vec3(
-      mat[0][0] * n[0] + mat[1][0] * n[1] + mat[2][0] * n[2],
-      mat[0][1] * n[0] + mat[1][1] * n[1] + mat[2][1] * n[2],
-      mat[0][2] * n[0] + mat[1][2] * n[1] + mat[2][2] * n[2],
-    )
-  )
-
-  # determine if there is a side close to the normal
-  for i in range(6):
-    if wp.dot(local_n, face_normals[i]) > FACE_TOL:
-      normal_out[0] = mat @ face_normals[i]
-      index_out[0] = i
-      return 1
-
-  return 0
-
-
-# compute possible face normals of a box given up to 3 vertices
-@wp.func
-def _box_normals(
-  # In:
-  feature_dim: int,
-  feature_index: wp.vec3i,
-  mat: wp.mat33,
-  dir: wp.vec3,
-  # Out:
-  normal_out: wp.array[wp.vec3],
-  index_out: wp.array[int],
-) -> int:
-  v1 = feature_index[0]
-  v2 = feature_index[1]
-  v3 = feature_index[2]
-
-  if feature_dim == 3:
-    c = 0
-    x = float((v1 & 1) and (v2 & 1) and (v3 & 1)) - float(not (v1 & 1) and not (v2 & 1) and not (v3 & 1))
-    y = float((v1 & 2) and (v2 & 2) and (v3 & 2)) - float(not (v1 & 2) and not (v2 & 2) and not (v3 & 2))
-    z = float((v1 & 4) and (v2 & 4) and (v3 & 4)) - float(not (v1 & 4) and not (v2 & 4) and not (v3 & 4))
-    normal_out[0] = mat @ wp.vec3(x, y, z)
-    sgn = x + y + z
-    if x != 0.0:
-      index_out[c] = 0
-      c += 1
-    if y != 0.0:
-      index_out[c] = 2
-      c += 1
-    if z != 0.0:
-      index_out[c] = 4
-      c += 1
-    if sgn == -1.0:
-      index_out[0] = index_out[0] + 1
-    if c == 1:
-      return 1
-    return _box_normals2(mat, dir, normal_out, index_out)
-  if feature_dim == 2:
-    c = 0
-    x = float((v1 & 1) and (v2 & 1)) - float(not (v1 & 1) and not (v2 & 1))
-    y = float((v1 & 2) and (v2 & 2)) - float(not (v1 & 2) and not (v2 & 2))
-    z = float((v1 & 4) and (v2 & 4)) - float(not (v1 & 4) and not (v2 & 4))
-    if x != 0.0:
-      normal_out[c] = mat @ wp.vec3(x, 0.0, 0.0)
-      index_out[c] = wp.where(x > 0.0, 0, 1)
-      c += 1
-    if y != 0.0:
-      normal_out[c] = mat @ wp.vec3(0.0, y, 0.0)
-      index_out[c] = wp.where(y > 0.0, 2, 3)
-      c += 1
-    if z != 0.0:
-      normal_out[c] = mat @ wp.vec3(0.0, 0.0, z)
-      index_out[c] = wp.where(z > 0.0, 4, 5)
-      c += 1
-    # c is 1 if edge is diagonal of a box face
-    # c is 2 if edge is an external edge of box
-    if c == 1 or c == 2:
-      return c
-    return _box_normals2(mat, dir, normal_out, index_out)
-
-  if feature_dim == 1:
-    x = wp.where(v1 & 1, 1.0, -1.0)
-    y = wp.where(v1 & 2, 1.0, -1.0)
-    z = wp.where(v1 & 4, 1.0, -1.0)
-    normal_out[0] = mat @ wp.vec3(x, 0.0, 0.0)
-    normal_out[1] = mat @ wp.vec3(0.0, y, 0.0)
-    normal_out[2] = mat @ wp.vec3(0.0, 0.0, z)
-    index_out[0] = wp.where(x > 0.0, 0, 1)
-    index_out[1] = wp.where(y > 0.0, 2, 3)
-    index_out[2] = wp.where(z > 0.0, 4, 5)
-    return 3
-  return 0
-
-
-# compute possible edge normals for box for edge collisions
-@wp.func
-def _box_edge_normals(
-  # In:
-  dim: int,
-  mat: wp.mat33,
-  pos: wp.vec3,
-  size: wp.vec3,
-  v1: wp.vec3,
-  v2: wp.vec3,
-  v1i: int,
-  # Out:
-  normal_out: wp.array[wp.vec3],
-  endvert_out: wp.array[wp.vec3],
-) -> int:
-  if dim == 2:
-    endvert_out[0] = v2
-    normal_out[0] = wp.normalize(v2 - v1)
-    return 1
-
-  # return 3 adjacent vertices
-  if dim == 1:
-    x = wp.where(v1i & 1, size[0], -size[0])
-    y = wp.where(v1i & 2, size[1], -size[1])
-    z = wp.where(v1i & 4, size[2], -size[2])
-
-    endvert_out[0] = mat @ wp.vec3(-x, y, z) + pos
-    normal_out[0] = wp.normalize(endvert_out[0] - v1)
-
-    endvert_out[1] = mat @ wp.vec3(x, -y, z) + pos
-    normal_out[1] = wp.normalize(endvert_out[1] - v1)
-
-    endvert_out[2] = mat @ wp.vec3(x, y, -z) + pos
-    normal_out[2] = wp.normalize(endvert_out[2] - v1)
-    return 3
-  return 0
-
-
-# recover face of a box from its index
-@wp.func
-def _box_face(mat: wp.mat33, pos: wp.vec3, size: wp.vec3, idx: int, face_out: wp.array[wp.vec3]) -> int:
-  # compute global coordinates of the box face and face normal
-  if idx == 0:  # right
-    face_out[0] = mat @ wp.vec3(size[0], size[1], size[2]) + pos
-    face_out[1] = mat @ wp.vec3(size[0], size[1], -size[2]) + pos
-    face_out[2] = mat @ wp.vec3(size[0], -size[1], -size[2]) + pos
-    face_out[3] = mat @ wp.vec3(size[0], -size[1], size[2]) + pos
-    return 4
-  if idx == 1:  # left
-    face_out[0] = mat @ wp.vec3(-size[0], size[1], -size[2]) + pos
-    face_out[1] = mat @ wp.vec3(-size[0], size[1], size[2]) + pos
-    face_out[2] = mat @ wp.vec3(-size[0], -size[1], size[2]) + pos
-    face_out[3] = mat @ wp.vec3(-size[0], -size[1], -size[2]) + pos
-    return 4
-  if idx == 2:  # top
-    face_out[0] = mat @ wp.vec3(-size[0], size[1], -size[2]) + pos
-    face_out[1] = mat @ wp.vec3(size[0], size[1], -size[2]) + pos
-    face_out[2] = mat @ wp.vec3(size[0], size[1], size[2]) + pos
-    face_out[3] = mat @ wp.vec3(-size[0], size[1], size[2]) + pos
-    return 4
-  if idx == 3:  # bottom
-    face_out[0] = mat @ wp.vec3(-size[0], -size[1], size[2]) + pos
-    face_out[1] = mat @ wp.vec3(size[0], -size[1], size[2]) + pos
-    face_out[2] = mat @ wp.vec3(size[0], -size[1], -size[2]) + pos
-    face_out[3] = mat @ wp.vec3(-size[0], -size[1], -size[2]) + pos
-    return 4
-  if idx == 4:  # front
-    face_out[0] = mat @ wp.vec3(-size[0], size[1], size[2]) + pos
-    face_out[1] = mat @ wp.vec3(size[0], size[1], size[2]) + pos
-    face_out[2] = mat @ wp.vec3(size[0], -size[1], size[2]) + pos
-    face_out[3] = mat @ wp.vec3(-size[0], -size[1], size[2]) + pos
-    return 4
-  if idx == 5:  # back
-    face_out[0] = mat @ wp.vec3(size[0], size[1], -size[2]) + pos
-    face_out[1] = mat @ wp.vec3(-size[0], size[1], -size[2]) + pos
-    face_out[2] = mat @ wp.vec3(-size[0], -size[1], -size[2]) + pos
-    face_out[3] = mat @ wp.vec3(size[0], -size[1], -size[2]) + pos
-    return 4
-  return 0
-
-
-# recover mesh polygon from its index, return number of edges
-@wp.func
-def _mesh_face(
-  # In:
-  mat: wp.mat33,
-  pos: wp.vec3,
-  vertadr: int,
-  polyadr: int,
-  vert: wp.array[wp.vec3],
-  polyvertadr: wp.array[int],
-  polyvertnum: wp.array[int],
-  polyvert: wp.array[int],
-  idx: int,
-  # Out:
-  face_out: wp.array[wp.vec3],
-) -> int:
-  adr = polyvertadr[polyadr + idx]
-  j = int(0)
-  nvert = polyvertnum[polyadr + idx]
-  for i in range(nvert - 1, -1, -1):
-    v = vert[vertadr + polyvert[adr + i]]
-    face_out[j] = mat @ v + pos
-    j += 1
-  return nvert
-
-
-@wp.func
-def _plane_normal(v1: wp.vec3, v2: wp.vec3, n: wp.vec3) -> Tuple[float, wp.vec3]:
-  v3 = v1 + n
-  res = wp.cross(v2 - v1, v3 - v1)
-  return wp.dot(res, v1), res
-
-
-@wp.func
-def _halfspace(a: wp.vec3, n: wp.vec3, p: wp.vec3) -> bool:
-  return wp.dot(p - a, n) > -1e-10
-
-
-@wp.func
-def _plane_intersect(pn: wp.vec3, pd: float, a: wp.vec3, b: wp.vec3) -> float:
-  """Returns the parameter t where the line a + t(b - a) intersects the given plane."""
-  dot = wp.dot(pn, b - a)
-
-  # parallel; no intersection
-  if wp.abs(dot) < 1e-10:
-    return FLOAT_MAX
-
-  return (pd - wp.dot(pn, a)) / dot
-
-
-# clip a polygon against another polygon
-@wp.func
-def _polygon_clip(
-  # In:
-  plane_normal: wp.array[wp.vec3],
-  plane_dist: wp.array[float],
-  face1: wp.array[wp.vec3],
-  nface1: int,
-  face2: wp.array[wp.vec3],
-  nface2: int,
-  n: wp.vec3,
-  dir: wp.vec3,
-  # Out:
-  polygon_out: wp.array[wp.vec3],
-  clipped_out: wp.array[wp.vec3],
-) -> Tuple[int, mat43, mat43]:
-  witness1 = mat43()
-  witness2 = mat43()
-
-  # clipping face needs to be at least a triangle
-  if nface1 < 3:
-    return 0, witness1, witness2
-
-  # compute plane normal and distance to plane for each vertex
-  pn = plane_normal
-  pd = plane_dist
-  for i in range(nface1 - 1):
-    pdi, pni = _plane_normal(face1[i], face1[i + 1], n)
-    pd[i] = pdi
-    pn[i] = pni
-  pdi, pni = _plane_normal(face1[nface1 - 1], face1[0], n)
-  pd[nface1 - 1] = pdi
-  pn[nface1 - 1] = pni
-
-  # reserve 2 * max_sides as max sides for a clipped polygon
-  npolygon = nface2
-  nclipped = int(0)
-
-  for i in range(nface2):
-    polygon_out[i] = face2[i]
-
-  # clip the polygon by one edge e at a time
-  for e in range(nface1):
-    for i in range(npolygon):
-      # get edge PQ of the polygon
-      P = polygon_out[i]
-      Q = polygon_out[(i + 1) % npolygon]
-
-      # determine if P and Q are in the halfspace of the clipping edge
-      inside1 = _halfspace(face1[e], pn[e], P)
-      inside2 = _halfspace(face1[e], pn[e], Q)
-
-      # PQ entirely outside the clipping edge, skip
-      if not inside1 and not inside2:
-        continue
-
-      # edge PQ is inside the clipping edge, add Q
-      if inside1 and inside2:
-        clipped_out[nclipped] = Q
-        nclipped += 1
-        continue
-
-      # add new vertex to clipped polygon where PQ intersects the clipping edge
-      t = _plane_intersect(pn[e], pd[e], P, Q)
-      if t > -INTERSECT_TOL and t < 1.0 + INTERSECT_TOL:
-        t = wp.clamp(t, 0.0, 1.0)
-        clipped_out[nclipped] = P + t * (Q - P)
-        nclipped += 1
-
-      # add Q as PQ is now back inside the clipping edge
-      if inside2:
-        clipped_out[nclipped] = Q
-        nclipped += 1
-
-    # swap clipped and polygon
-    tmp = polygon_out
-    polygon_out = clipped_out
-    clipped_out = tmp
-    npolygon = nclipped
-    nclipped = 0
-
-  if npolygon < 1:
-    return 0, witness1, witness2
-
-  # if the face is an edge, remove potential duplicates
-  if nface2 == 2 and npolygon > 2:
-    best1 = int(0)
-    best2 = int(1)
-    max_d = float(0.0)
-    for i in range(npolygon):
-      polygon_out_i = polygon_out[i]
-      for j in range(i + 1, npolygon):
-        diff = polygon_out[j] - polygon_out_i
-        d2 = wp.dot(diff, diff)
-        if d2 > max_d:
-          max_d = d2
-          best1 = i
-          best2 = j
-
-    witness2[0] = polygon_out[best1]
-    witness1[0] = witness2[0] - dir
-    witness2[1] = polygon_out[best2]
-    witness1[1] = witness2[1] - dir
-    return 2, witness1, witness2
-
-  if npolygon > 4:
-    quad = _polygon_quad(polygon_out, npolygon)
-    for i in range(4):
-      witness2[i] = polygon_out[quad[i]]
-      witness1[i] = witness2[i] - dir
-    return 4, witness1, witness2
-
-  # no pruning needed
-  for i in range(npolygon):
-    witness2[i] = polygon_out[i]
-    witness1[i] = witness2[i] - dir
-  return npolygon, witness1, witness2
-
-
-@wp.func
-def _set_edge(
-  # In:
-  vert1: wp.array[wp.vec3],
-  vert2: wp.array[wp.vec3],
-  start: int,
-  end: int,
-  offset: int,
-  # Out:
-  face_out: wp.array[wp.vec3],
-) -> int:
-  face_out[0] = vert1[2 * start + offset]
-  face_out[1] = vert2[end]
-  return 2
-
-
-# recover multiple contacts from EPA polytope
-@wp.func
-def multicontact(
-  # In:
-  polygon: wp.array[wp.vec3],
-  clipped: wp.array[wp.vec3],
-  plane_normal: wp.array[wp.vec3],
-  plane_dist: wp.array[float],
-  idx1: wp.array[int],
-  idx2: wp.array[int],
-  n1: wp.array[wp.vec3],
-  n2: wp.array[wp.vec3],
-  endvert: wp.array[wp.vec3],
-  face1: wp.array[wp.vec3],
-  face2: wp.array[wp.vec3],
-  epa_vert: wp.array[wp.vec3],
-  epa_vert_index: wp.array[int],
-  epa_face: int,
-  x1: wp.vec3,
-  x2: wp.vec3,
-  geom1: Geom,
-  geom2: Geom,
-  geomtype1: int,
-  geomtype2: int,
-) -> Tuple[int, mat43, mat43]:
-  witness1 = mat43()
-  witness2 = mat43()
-  witness1[0] = x1
-  witness2[0] = x2
-
-  if geomtype1 == GeomType.MESH:
-    vert = geom1.vert
-    polynormal = geom1.mesh_polynormal
-    polyvertadr = geom1.mesh_polyvertadr
-    polyvertnum = geom1.mesh_polyvertnum
-    polyvert = geom1.mesh_polyvert
-    polymapadr = geom1.mesh_polymapadr
-    polymapnum = geom1.mesh_polymapnum
-    polymap = geom1.mesh_polymap
-  elif geomtype2 == GeomType.MESH:
-    vert = geom2.vert
-    polynormal = geom2.mesh_polynormal
-    polyvertadr = geom2.mesh_polyvertadr
-    polyvertnum = geom2.mesh_polyvertnum
-    polyvert = geom2.mesh_polyvert
-    polymapadr = geom2.mesh_polymapadr
-    polymapnum = geom2.mesh_polymapnum
-    polymap = geom2.mesh_polymap
-
-  face = _get_face_verts(epa_face)
-
-  # get dimensions of features of geoms 1 and 2
-  nface1, feature_index1, feature_vertex1 = _feature_dim(face, epa_vert_index, epa_vert, 0)
-  nface2, feature_index2, feature_vertex2 = _feature_dim(face, epa_vert_index, epa_vert, 1)
-
-  dir = x2 - x1
-  dir_neg = -dir
-
-  # get all possible face normals for each geom
-  if geomtype1 == GeomType.BOX:
-    nnorms1 = _box_normals(nface1, feature_index1, geom1.rot, dir_neg, n1, idx1)
-  elif geomtype1 == GeomType.MESH:
-    nnorms1 = _mesh_normals(
-      nface1,
-      feature_index1,
-      geom1.rot,
-      geom1.vertadr,
-      geom1.mesh_polyadr,
-      polynormal,
-      polymapadr,
-      polymapnum,
-      polymap,
-      n1,
-      idx1,
-    )
-  if geomtype2 == GeomType.BOX:
-    nnorms2 = _box_normals(nface2, feature_index2, geom2.rot, dir, n2, idx2)
-  elif geomtype2 == GeomType.MESH:
-    nnorms2 = _mesh_normals(
-      nface2,
-      feature_index2,
-      geom2.rot,
-      geom2.vertadr,
-      geom2.mesh_polyadr,
-      polynormal,
-      polymapadr,
-      polymapnum,
-      polymap,
-      n2,
-      idx2,
-    )
-
-  # determine if any two face normals match
-  is_edge_contact_geom1 = 0
-  is_edge_contact_geom2 = 0
-  nres, res = _aligned_faces(n1, nnorms1, n2, nnorms2)
-  if not nres:
-    # check if edge-face collision
-    if nface1 < 3 and nface1 <= nface2:
-      nnorms1 = 0
-      if geomtype1 == GeomType.BOX:
-        nnorms1 = _box_edge_normals(
-          nface1, geom1.rot, geom1.pos, geom1.size, feature_vertex1[0], feature_vertex1[1], feature_index1[0], n1, endvert
-        )
-      elif geomtype1 == GeomType.MESH:
-        nnorms1 = _mesh_edge_normals(
-          nface1,
-          geom1.rot,
-          geom1.pos,
-          geom1.vertadr,
-          geom1.mesh_polyadr,
-          geom1.vert,
-          polyvertadr,
-          polyvertnum,
-          polyvert,
-          polymapadr,
-          polymapnum,
-          polymap,
-          feature_vertex1[0],
-          feature_vertex1[1],
-          feature_index1[0],
-          n1,
-          endvert,
-        )
-      nres, res = _aligned_face_edge(n1, nnorms1, n2, nnorms2)
-      if not nres:
-        return 1, witness1, witness2
-      is_edge_contact_geom1 = 1
-
-    # check if face-edge collision
-    elif nface2 < 3:
-      nnorms2 = 0
-      if geomtype2 == GeomType.BOX:
-        nnorms2 = _box_edge_normals(
-          nface2, geom2.rot, geom2.pos, geom2.size, feature_vertex2[0], feature_vertex2[1], feature_index2[0], n2, endvert
-        )
-      elif geomtype2 == GeomType.MESH:
-        nnorms2 = _mesh_edge_normals(
-          nface2,
-          geom2.rot,
-          geom2.pos,
-          geom2.vertadr,
-          geom2.mesh_polyadr,
-          geom2.vert,
-          polyvertadr,
-          polyvertnum,
-          polyvert,
-          polymapadr,
-          polymapnum,
-          polymap,
-          feature_vertex2[0],
-          feature_vertex2[1],
-          feature_index2[0],
-          n2,
-          endvert,
-        )
-      nres, res = _aligned_face_edge(n2, nnorms2, n1, nnorms1)
-      if not nres:
-        return 1, witness1, witness2
-      is_edge_contact_geom2 = 1
-    else:
-      # no multi-contact
-      return 1, witness1, witness2
-
-  i = res[0]
-  j = res[1]
-
-  # recover geom1 matching edge or face
-  if is_edge_contact_geom1:
-    nface1 = _set_edge(epa_vert, endvert, face[0], i, 0, face1)
-  else:
-    ind = wp.where(is_edge_contact_geom2, idx1[j], idx1[i])
-    if geomtype1 == GeomType.BOX:
-      nface1 = _box_face(geom1.rot, geom1.pos, geom1.size, ind, face1)
-    elif geomtype1 == GeomType.MESH:
-      nface1 = _mesh_face(
-        geom1.rot,
-        geom1.pos,
-        geom1.vertadr,
-        geom1.mesh_polyadr,
-        vert,
-        polyvertadr,
-        polyvertnum,
-        polyvert,
-        ind,
-        face1,
-      )
-
-  # recover geom2 matching edge or face
-  if is_edge_contact_geom2:
-    nface2 = _set_edge(epa_vert, endvert, face[0], i, 1, face2)
-  else:
-    if geomtype2 == GeomType.BOX:
-      nface2 = _box_face(geom2.rot, geom2.pos, geom2.size, idx2[j], face2)
-    elif geomtype2 == GeomType.MESH:
-      nface2 = _mesh_face(
-        geom2.rot,
-        geom2.pos,
-        geom2.vertadr,
-        geom2.mesh_polyadr,
-        vert,
-        polyvertadr,
-        polyvertnum,
-        polyvert,
-        idx2[j],
-        face2,
-      )
-
-  # face1 is an edge; clip face1 against face2
-  if is_edge_contact_geom1:
-    approx_dir = -wp.norm_l2(dir) * n2[j]
-    nclipped, clipped1, clipped2 = _polygon_clip(
-      plane_normal, plane_dist, face2, nface2, face1, nface1, n2[j], approx_dir, polygon, clipped
-    )
-    # the faces were flipped in calling _polygon_clip so we need to flip them back
-    return nclipped, clipped2, clipped1
-
-  # face2 is an edge; clip face2 against face1
-  if is_edge_contact_geom2:
-    approx_dir = -wp.norm_l2(dir) * n1[j]
-    return _polygon_clip(plane_normal, plane_dist, face1, nface1, face2, nface2, n1[j], approx_dir, polygon, clipped)
-
-  # face-face collision
-  approx_dir = wp.norm_l2(dir) * n2[j]
-
-  return _polygon_clip(plane_normal, plane_dist, face1, nface1, face2, nface2, n1[i], approx_dir, polygon, clipped)
-
-
-@wp.func
-def _inflate(
-  result: GJKResult, geom1: Geom, geom2: Geom, geomtype1: int, geomtype2: int, margin1: float, margin2: float
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  dist = result.dist
-  x1 = result.x1
-  x2 = result.x2
-
-  if geomtype1 == GeomType.HFIELD:
-    v = result.simplex_index1[0]
-    is_side = bool(False)
-    for i in range(result.dim):
-      if result.simplex_index1[i] != v:
-        is_side = True
-        break
-
-    if is_side:
-      n = wp.vec3(0.0, 0.0, 1.0)
-      sp = support(geom2, geomtype2, x2)
-      x2 = sp.point - margin2 * n
-
-      # height field prism vertices
-      a = geom1.hfprism[3]
-      b = geom1.hfprism[4]
-      c = geom1.hfprism[5]
-
-      coordinates = _tri_affine_coord(a, b, c, x2)
-      if coordinates[0] > 0.0 and coordinates[1] > 0.0 and coordinates[2] > 0.0:
-        x1 = coordinates[0] * a + coordinates[1] * b + coordinates[2] * c
-      else:
-        p = c
-        p = wp.where(coordinates[1] > 0.0, b, p)
-        p = wp.where(coordinates[0] > 0.0, a, p)
-        x1 = x2 - wp.dot(x2 - p, n) * n
-      dist = -wp.norm_l2(x1 - x2)
-      return dist, x1, x2
-
-  n = wp.normalize(x2 - x1)
-  if margin1 > 0.0:
-    x1 += margin1 * n
-
-  if margin2 > 0.0:
-    x2 -= margin2 * n
-  dist -= margin1 + margin2
-  return dist, x1, x2
-
-
-@wp.func
-def gjk_phase(
-  # In:
-  tolerance: float,
-  cutoff: float,
-  gjk_iterations: int,
-  geom1: Geom,
-  geom2: Geom,
-  geomtype1: int,
-  geomtype2: int,
-  x_1: wp.vec3,
-  x_2: wp.vec3,
-) -> Tuple[bool, float, int, wp.vec3, wp.vec3, GJKResult, Geom, Geom]:
-  """Run GJK phase of CCD."""
-  full_margin1 = 0.0
-  full_margin2 = 0.0
-  size1 = 0.0
-  size2 = 0.0
-  empty = GJKResult()
-
-  # determine if the geoms being tested are discrete
-  is_discrete = _discrete_geoms(geomtype1, geomtype2) and (geom1.margin == 0.0 and geom2.margin == 0.0)
-
-  # special handling for sphere and capsule (shrink to point and line respectively)
-  if geomtype1 == GeomType.SPHERE or geomtype1 == GeomType.CAPSULE:
-    size1 = geom1.size[0]
-    full_margin1 = size1 + 0.5 * geom1.margin
-    geom1.margin = 0.0
-    geom1.size = wp.vec3(0.0, geom1.size[1], geom1.size[2])
-
-  if geomtype2 == GeomType.SPHERE or geomtype2 == GeomType.CAPSULE:
-    size2 = geom2.size[0]
-    full_margin2 = size2 + 0.5 * geom2.margin
-    geom2.margin = 0.0
-    geom2.size = wp.vec3(0.0, geom2.size[1], geom2.size[2])
-
-  if size1 + size2 > 0.0:
-    cutoff += full_margin1 + full_margin2
-    result = gjk(tolerance, gjk_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, is_discrete)
-    geom1.index = result.index1
-    geom2.index = result.index2
-
-    # shallow penetration, inflate contact
-    if result.dist > tolerance:
-      if result.dist == FLOAT_MAX:
-        return False, result.dist, 1, result.x1, result.x2, empty, geom1, geom2
-      dist, x1, x2 = _inflate(result, geom1, geom2, geomtype1, geomtype2, full_margin1, full_margin2)
-      return False, dist, 1, x1, x2, empty, geom1, geom2
-
-    # deep penetration: reset initial conditions and rerun GJK + EPA
-    geom1.margin = full_margin1 - size1
-    geom1.size = wp.vec3(size1, geom1.size[1], geom1.size[2])
-    geom2.margin = full_margin2 - size2
-    geom2.size = wp.vec3(size2, geom2.size[1], geom2.size[2])
-    cutoff -= full_margin1 + full_margin2
-
-  result = gjk(tolerance, gjk_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, is_discrete)
-  geom1.index = result.index1
-  geom2.index = result.index2
-
-  # no penetration depth to recover
-  if result.dist > tolerance or result.dim < 2:
-    return False, result.dist, 1, result.x1, result.x2, empty, geom1, geom2
-
-  return True, result.dist, 1, result.x1, result.x2, result, geom1, geom2
-
-
-@wp.func
-def epa_phase(
-  # In:
-  tolerance: float,
-  epa_iterations: int,
-  result: GJKResult,
-  geom1: Geom,
-  geom2: Geom,
-  geomtype1: int,
-  geomtype2: int,
-  vert: wp.array[wp.vec3],
-  vert_index: wp.array[int],
-  face: wp.array[int],
-  face_pr: wp.array[wp.vec3],
-  face_norm2: wp.array[float],
-  horizon: wp.array[int],
-  warn_overflow: bool,
-  worldid: int,
-  # Data out:
-  overflow_out: wp.array[int],
-) -> Tuple[float, int, wp.vec3, wp.vec3, int]:
-  """Run EPA given GJK result. Returns (dist, ncontact, x1, x2, multiccd_idx)."""
-  pt = Polytope()
-  pt.nface = 0
-  pt.nvert = 0
-  pt.nhorizon = 0
-  pt.vert = vert
-  pt.vert_index = vert_index
-  pt.face = face
-  pt.face_pr = face_pr
-  pt.face_norm2 = face_norm2
-  pt.horizon = horizon
-
-  if result.dim == 2:
-    pt, new_result = _polytope2(
-      pt,
-      result.simplex,
-      result.simplex1,
-      result.simplex2,
-      result.simplex_index1,
-      result.simplex_index2,
-      geom1,
-      geom2,
-      geomtype1,
-      geomtype2,
-    )
-    if pt.status == -1:
-      result.simplex = new_result.simplex
-      result.simplex1 = new_result.simplex1
-      result.simplex2 = new_result.simplex2
-      result.simplex_index1 = new_result.simplex_index1
-      result.simplex_index2 = new_result.simplex_index2
-      result.dim = 3
-  elif result.dim == 4:
-    pt, new_result = _polytope4(
-      pt,
-      result.simplex,
-      result.simplex1,
-      result.simplex2,
-      result.simplex_index1,
-      result.simplex_index2,
-    )
-    if pt.status == -1:
-      result.simplex = new_result.simplex
-      result.simplex1 = new_result.simplex1
-      result.simplex2 = new_result.simplex2
-      result.simplex_index1 = new_result.simplex_index1
-      result.simplex_index2 = new_result.simplex_index2
-      result.dim = 3
-
-  # polytope2 and polytope4 may need to fallback here
-  if result.dim == 3:
-    pt = _polytope3(
-      pt,
-      result.dist,
-      result.simplex,
-      result.simplex1,
-      result.simplex2,
-      result.simplex_index1,
-      result.simplex_index2,
-      geom1,
-      geom2,
-      geomtype1,
-      geomtype2,
-    )
-
-  # origin on boundary (objects are not considered penetrating)
-  if pt.status:
-    return result.dist, 1, result.x1, result.x2, -1
-
-  is_discrete = _discrete_geoms(geomtype1, geomtype2) and (geom1.margin == 0.0 and geom2.margin == 0.0)
-  dist, x1, x2, idx = _epa(
-    tolerance, epa_iterations, pt, geom1, geom2, geomtype1, geomtype2, is_discrete, warn_overflow, worldid, overflow_out
-  )
-  if idx == -1:
-    return FLOAT_MAX, 0, wp.vec3(), wp.vec3(), -1
-
-  # multicontact not supported for margin
-  if geom1.margin != 0.0 or geom2.margin != 0.0:
-    idx = -1
-
-  # multicontact only supported for boxes and meshes
-  if (geomtype1 != GeomType.BOX and geomtype1 != GeomType.MESH) or (geomtype2 != GeomType.BOX and geomtype2 != GeomType.MESH):
-    idx = -1
-
-  return dist, 1, x1, x2, idx
-
-
-@wp.func
-def ccd(
-  # In:
-  tolerance: float,
-  cutoff: float,
-  gjk_iterations: int,
-  epa_iterations: int,
-  geom1: Geom,
-  geom2: Geom,
-  geomtype1: int,
-  geomtype2: int,
-  x_1: wp.vec3,
-  x_2: wp.vec3,
-  vert: wp.array[wp.vec3],
-  vert_index: wp.array[int],
-  face: wp.array[int],
-  face_pr: wp.array[wp.vec3],
-  face_norm2: wp.array[float],
-  horizon: wp.array[int],
-  warn_overflow: bool,
-  worldid: int,
-  # Data out:
-  overflow_out: wp.array[int],
-) -> Tuple[float, int, wp.vec3, wp.vec3, int]:
-  """General convex collision detection via GJK/EPA."""
-  needs_epa, dist, ncontact, x1, x2, result, geom1, geom2 = gjk_phase(
-    tolerance, cutoff, gjk_iterations, geom1, geom2, geomtype1, geomtype2, x_1, x_2
-  )
-  if not needs_epa:
-    return dist, ncontact, x1, x2, -1
-  return epa_phase(
-    tolerance,
-    epa_iterations,
-    result,
-    geom1,
-    geom2,
-    geomtype1,
-    geomtype2,
-    vert,
-    vert_index,
-    face,
-    face_pr,
-    face_norm2,
-    horizon,
-    warn_overflow,
-    worldid,
-    overflow_out,
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive.py
deleted file mode 100644
index 1002c727..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive.py
+++ /dev/null
@@ -1,1549 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import CollisionContext
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import Geom
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import contact_params
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import geom_collision_pair
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import write_contact
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import box_box
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import capsule_box
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import capsule_capsule
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_box
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_capsule
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_cylinder
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_ellipsoid
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_sphere
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import sphere_box
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import sphere_capsule
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import sphere_cylinder
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import sphere_sphere
-from mujoco.mjx.third_party.mujoco_warp._src.math import make_frame
-from mujoco.mjx.third_party.mujoco_warp._src.math import upper_trid_index
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import mat43
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False})
-
-
-@wp.func
-def plane_convex(plane_normal: wp.vec3, plane_pos: wp.vec3, convex: Geom) -> Tuple[wp.vec4, mat43, wp.vec3]:
-  """Core contact geometry calculation for plane-convex collision.
-
-  Args:
-    plane_normal: Normal vector of the plane.
-    plane_pos: Position point on the plane.
-    convex: Convex geometry object containing position, rotation, and mesh data.
-
-  Returns:
-    - Vector of contact distances (MJ_MAXVAL for unpopulated contacts).
-    - Matrix of contact positions (one per row).
-    - Matrix of contact normal vectors (one per row).
-  """
-  _HUGE_VAL = 1e6
-
-  contact_dist = wp.vec4(MJ_MAXVAL)
-  contact_pos = mat43()
-  contact_count = int(0)
-
-  # get points in the convex frame
-  plane_pos_local = wp.transpose(convex.rot) @ (plane_pos - convex.pos)
-  n = wp.transpose(convex.rot) @ plane_normal
-
-  # Store indices in vec4
-  indices = wp.vec4i(-1, -1, -1, -1)
-
-  # exhaustive search over all vertices
-  if convex.graphadr == -1 or convex.vertnum < 10:
-    # find first support point (a)
-    max_support = wp.float32(-_HUGE_VAL)
-    a = wp.vec3()
-    for i in range(convex.vertnum):
-      vert = convex.vert[convex.vertadr + i]
-      support = wp.dot(plane_pos_local - vert, n)
-      if support > max_support:
-        max_support = support
-        indices[0] = i
-        a = vert
-
-    if max_support < 0:
-      return contact_dist, contact_pos, plane_normal
-
-    threshold = max_support - 1e-3
-
-    # find point (b) furthest from a
-    b_dist = wp.float32(-_HUGE_VAL)
-    b = wp.vec3()
-    for i in range(convex.vertnum):
-      vert = convex.vert[convex.vertadr + i]
-      support = wp.dot(plane_pos_local - vert, n)
-      dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
-      dist = wp.length_sq(a - vert) + dist_mask
-      if dist > b_dist:
-        indices[1] = i
-        b_dist = dist
-        b = vert
-
-    # find point (c) furthest along axis orthogonal to a-b
-    ab = wp.cross(n, a - b)
-    c_dist = wp.float32(-_HUGE_VAL)
-    c = wp.vec3()
-    for i in range(convex.vertnum):
-      vert = convex.vert[convex.vertadr + i]
-      support = wp.dot(plane_pos_local - vert, n)
-      dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
-      ap = a - vert
-      dist = wp.abs(wp.dot(ap, ab)) + dist_mask
-      if dist > c_dist:
-        indices[2] = i
-        c_dist = dist
-        c = vert
-
-    # find point (d) furthest from other triangle edges
-    ac = wp.cross(n, a - c)
-    bc = wp.cross(n, b - c)
-    d_dist = wp.float32(-_HUGE_VAL)
-    for i in range(convex.vertnum):
-      vert = convex.vert[convex.vertadr + i]
-      support = wp.dot(plane_pos_local - vert, n)
-      dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
-      ap = a - vert
-      bp = b - vert
-      dist_ap = wp.abs(wp.dot(ap, ac)) + dist_mask
-      dist_bp = wp.abs(wp.dot(bp, bc)) + dist_mask
-      if dist_ap + dist_bp > d_dist:
-        indices[3] = i
-        d_dist = dist_ap + dist_bp
-
-  else:
-    numvert = convex.graph[convex.graphadr]
-    vert_edgeadr = convex.graphadr + 2
-    vert_globalid = convex.graphadr + 2 + numvert
-    edge_localid = convex.graphadr + 2 + 2 * numvert
-
-    # Find support points
-    max_support = wp.float32(-_HUGE_VAL)
-
-    # hillclimb until no change
-    prev = int(-1)
-    imax = int(0)
-
-    while True:
-      prev = int(imax)
-      i = int(convex.graph[vert_edgeadr + imax])
-      while convex.graph[edge_localid + i] >= 0:
-        subidx = convex.graph[edge_localid + i]
-        idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
-        if support > max_support:
-          max_support = support
-          imax = int(subidx)
-        i += int(1)
-      if imax == prev:
-        break
-
-    threshold = wp.max(0.0, max_support - 1e-3)
-
-    a_dist = wp.float32(-_HUGE_VAL)
-    while True:
-      prev = int(imax)
-      i = int(convex.graph[vert_edgeadr + imax])
-      while convex.graph[edge_localid + i] >= 0:
-        subidx = convex.graph[edge_localid + i]
-        idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
-        dist = wp.where(support > threshold, support, -_HUGE_VAL)
-        if dist > a_dist:
-          a_dist = dist
-          imax = int(subidx)
-        i += int(1)
-      if imax == prev:
-        break
-    imax_global = convex.graph[vert_globalid + imax]
-    a = convex.vert[convex.vertadr + imax_global]
-    indices[0] = imax_global
-
-    # Find point b (furthest from a)
-    b_dist = wp.float32(-_HUGE_VAL)
-    while True:
-      prev = int(imax)
-      i = int(convex.graph[vert_edgeadr + imax])
-      while convex.graph[edge_localid + i] >= 0:
-        subidx = convex.graph[edge_localid + i]
-        idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
-        dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
-        dist = wp.length_sq(a - convex.vert[convex.vertadr + idx]) + dist_mask
-        if dist > b_dist:
-          b_dist = dist
-          imax = int(subidx)
-        i += int(1)
-      if imax == prev:
-        break
-    imax_global = convex.graph[vert_globalid + imax]
-    b = convex.vert[convex.vertadr + imax_global]
-    indices[1] = imax_global
-
-    # Find point c (furthest along axis orthogonal to a-b)
-    ab = wp.cross(n, a - b)
-    c_dist = wp.float32(-_HUGE_VAL)
-    while True:
-      prev = int(imax)
-      i = int(convex.graph[vert_edgeadr + imax])
-      while convex.graph[edge_localid + i] >= 0:
-        subidx = convex.graph[edge_localid + i]
-        idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
-        dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
-        ap = a - convex.vert[convex.vertadr + idx]
-        dist = wp.abs(wp.dot(ap, ab)) + dist_mask
-        if dist > c_dist:
-          c_dist = dist
-          imax = int(subidx)
-        i += int(1)
-      if imax == prev:
-        break
-    imax_global = convex.graph[vert_globalid + imax]
-    c = convex.vert[convex.vertadr + imax_global]
-    indices[2] = imax_global
-
-    # Find point d (furthest from other triangle edges)
-    ac = wp.cross(n, a - c)
-    bc = wp.cross(n, b - c)
-    d_dist = wp.float32(-_HUGE_VAL)
-    while True:
-      prev = int(imax)
-      i = int(convex.graph[vert_edgeadr + imax])
-      while convex.graph[edge_localid + i] >= 0:
-        subidx = convex.graph[edge_localid + i]
-        idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
-        dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
-        ap = a - convex.vert[convex.vertadr + idx]
-        bp = b - convex.vert[convex.vertadr + idx]
-        dist_ap = wp.abs(wp.dot(ap, ac)) + dist_mask
-        dist_bp = wp.abs(wp.dot(bp, bc)) + dist_mask
-        if dist_ap + dist_bp > d_dist:
-          d_dist = dist_ap + dist_bp
-          imax = int(subidx)
-        i += int(1)
-      if imax == prev:
-        break
-    imax_global = convex.graph[vert_globalid + imax]
-    indices[3] = imax_global
-
-  # Collect contacts from unique indices
-  for i in range(3, -1, -1):
-    idx = indices[i]
-    count = int(0)
-    for j in range(i + 1):
-      if indices[j] == idx:
-        count = count + 1
-
-    # Check if the index is unique (appears exactly once)
-    if count == 1:
-      pos = convex.vert[convex.vertadr + idx]
-      pos = convex.pos + convex.rot @ pos
-      support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
-      dist = -support
-      pos = pos - 0.5 * dist * plane_normal
-
-      contact_dist[contact_count] = dist
-      contact_pos[contact_count] = pos
-      contact_count = contact_count + 1
-
-  return contact_dist, contact_pos, plane_normal
-
-
-@wp.func
-def plane_sphere_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  plane: Geom,
-  sphere: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contact between a sphere and a plane."""
-  normal = plane.normal
-  dist, pos = plane_sphere(normal, plane.pos, sphere.pos, sphere.size[0])
-
-  write_contact(
-    naconmax_in,
-    0,
-    dist,
-    pos,
-    make_frame(normal),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    pairid,
-    worldid,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_efc_address_out,
-    contact_worldid_out,
-    contact_type_out,
-    contact_geomcollisionid_out,
-    nacon_out,
-  )
-
-
-@wp.func
-def sphere_sphere_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  sphere1: Geom,
-  sphere2: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contact between two spheres."""
-  dist, pos, normal = sphere_sphere(sphere1.pos, sphere1.size[0], sphere2.pos, sphere2.size[0])
-
-  write_contact(
-    naconmax_in,
-    0,
-    dist,
-    pos,
-    make_frame(normal),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    pairid,
-    worldid,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_efc_address_out,
-    contact_worldid_out,
-    contact_type_out,
-    contact_geomcollisionid_out,
-    nacon_out,
-  )
-
-
-@wp.func
-def sphere_capsule_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  sphere: Geom,
-  cap: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates one contact between a sphere and a capsule."""
-  # capsule axis
-  axis = wp.vec3(cap.rot[0, 2], cap.rot[1, 2], cap.rot[2, 2])
-
-  dist, pos, normal = sphere_capsule(sphere.pos, sphere.size[0], cap.pos, axis, cap.size[0], cap.size[1])
-
-  write_contact(
-    naconmax_in,
-    0,
-    dist,
-    pos,
-    make_frame(normal),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    pairid,
-    worldid,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_efc_address_out,
-    contact_worldid_out,
-    contact_type_out,
-    contact_geomcollisionid_out,
-    nacon_out,
-  )
-
-
-@wp.func
-def capsule_capsule_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  cap1: Geom,
-  cap2: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contacts between two capsules."""
-  # capsule axes
-  cap1_axis = wp.vec3(cap1.rot[0, 2], cap1.rot[1, 2], cap1.rot[2, 2])
-  cap2_axis = wp.vec3(cap2.rot[0, 2], cap2.rot[1, 2], cap2.rot[2, 2])
-
-  dist, pos, normal = capsule_capsule(
-    cap1.pos,
-    cap1_axis,
-    cap1.size[0],  # radius1
-    cap1.size[1],  # half_length1
-    cap2.pos,
-    cap2_axis,
-    cap2.size[0],  # radius2
-    cap2.size[1],  # half_length2
-    margin,
-  )
-
-  for i in range(2):
-    write_contact(
-      naconmax_in,
-      i,
-      dist[i],
-      wp.vec3(pos[i, 0], pos[i, 1], pos[i, 2]),
-      make_frame(wp.vec3(normal[i, 0], normal[i, 1], normal[i, 2])),
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      pairid,
-      worldid,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_efc_address_out,
-      contact_worldid_out,
-      contact_type_out,
-      contact_geomcollisionid_out,
-      nacon_out,
-    )
-
-
-@wp.func
-def plane_capsule_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  plane: Geom,
-  cap: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contacts between a capsule and a plane."""
-  # capsule axis
-  capsule_axis = wp.vec3(cap.rot[0, 2], cap.rot[1, 2], cap.rot[2, 2])
-
-  dist, pos, frame = plane_capsule(
-    plane.normal,
-    plane.pos,
-    cap.pos,
-    capsule_axis,
-    cap.size[0],  # radius
-    cap.size[1],  # half_length
-  )
-
-  for i in range(2):
-    write_contact(
-      naconmax_in,
-      i,
-      dist[i],
-      pos[i],
-      frame,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      pairid,
-      worldid,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_efc_address_out,
-      contact_worldid_out,
-      contact_type_out,
-      contact_geomcollisionid_out,
-      nacon_out,
-    )
-
-
-@wp.func
-def plane_ellipsoid_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  plane: Geom,
-  ellipsoid: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contacts between an ellipsoid and a plane."""
-  dist, pos, normal = plane_ellipsoid(plane.normal, plane.pos, ellipsoid.pos, ellipsoid.rot, ellipsoid.size)
-
-  write_contact(
-    naconmax_in,
-    0,
-    dist,
-    pos,
-    make_frame(normal),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    pairid,
-    worldid,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_efc_address_out,
-    contact_worldid_out,
-    contact_type_out,
-    contact_geomcollisionid_out,
-    nacon_out,
-  )
-
-
-@wp.func
-def plane_box_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  plane: Geom,
-  box: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contacts between a box and a plane."""
-  dist, pos, normal = plane_box(plane.normal, plane.pos, box.pos, box.rot, box.size)
-  frame = make_frame(normal)
-
-  for i in range(8):
-    write_contact(
-      naconmax_in,
-      i,
-      dist[i],
-      pos[i],
-      frame,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      pairid,
-      worldid,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_efc_address_out,
-      contact_worldid_out,
-      contact_type_out,
-      contact_geomcollisionid_out,
-      nacon_out,
-    )
-
-
-@wp.func
-def plane_convex_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  plane: Geom,
-  convex: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contacts between a plane and a convex object."""
-  dist, pos, normal = plane_convex(plane.normal, plane.pos, convex)
-
-  frame = make_frame(normal)
-  for i in range(4):
-    write_contact(
-      naconmax_in,
-      i,
-      dist[i],
-      pos[i],
-      frame,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      pairid,
-      worldid,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_efc_address_out,
-      contact_worldid_out,
-      contact_type_out,
-      contact_geomcollisionid_out,
-      nacon_out,
-    )
-
-
-@wp.func
-def sphere_cylinder_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  sphere: Geom,
-  cylinder: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contacts between a sphere and a cylinder."""
-  # cylinder axis
-  cylinder_axis = wp.vec3(cylinder.rot[0, 2], cylinder.rot[1, 2], cylinder.rot[2, 2])
-
-  dist, pos, normal = sphere_cylinder(
-    sphere.pos,
-    sphere.size[0],  # sphere radius
-    cylinder.pos,
-    cylinder_axis,
-    cylinder.size[0],  # cylinder radius
-    cylinder.size[1],  # cylinder half_height
-  )
-
-  write_contact(
-    naconmax_in,
-    0,
-    dist,
-    pos,
-    make_frame(normal),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    pairid,
-    worldid,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_efc_address_out,
-    contact_worldid_out,
-    contact_type_out,
-    contact_geomcollisionid_out,
-    nacon_out,
-  )
-
-
-@wp.func
-def plane_cylinder_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  plane: Geom,
-  cylinder: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contacts between a cylinder and a plane."""
-  # cylinder axis
-  cylinder_axis = wp.vec3(cylinder.rot[0, 2], cylinder.rot[1, 2], cylinder.rot[2, 2])
-
-  dist, pos, normal = plane_cylinder(
-    plane.normal,
-    plane.pos,
-    cylinder.pos,
-    cylinder_axis,
-    cylinder.size[0],  # radius
-    cylinder.size[1],  # half_height
-  )
-
-  frame = make_frame(normal)
-  for i in range(4):
-    write_contact(
-      naconmax_in,
-      i,
-      dist[i],
-      pos[i],
-      frame,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      pairid,
-      worldid,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_efc_address_out,
-      contact_worldid_out,
-      contact_type_out,
-      contact_geomcollisionid_out,
-      nacon_out,
-    )
-
-
-@wp.func
-def sphere_box_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  sphere: Geom,
-  box: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  dist, pos, normal = sphere_box(sphere.pos, sphere.size[0], box.pos, box.rot, box.size)
-
-  write_contact(
-    naconmax_in,
-    0,
-    dist,
-    pos,
-    make_frame(normal),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    pairid,
-    worldid,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_efc_address_out,
-    contact_worldid_out,
-    contact_type_out,
-    contact_geomcollisionid_out,
-    nacon_out,
-  )
-
-
-@wp.func
-def capsule_box_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  cap: Geom,
-  box: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contacts between a capsule and a box."""
-  # Extract capsule axis
-  axis = wp.vec3(cap.rot[0, 2], cap.rot[1, 2], cap.rot[2, 2])
-
-  # Call the core function to get contact geometry
-  dist, pos, normal = capsule_box(
-    cap.pos,
-    axis,
-    cap.size[0],  # capsule radius
-    cap.size[1],  # capsule half length
-    box.pos,
-    box.rot,
-    box.size,
-  )
-
-  # Loop over the contacts and write them
-  for i in range(2):
-    write_contact(
-      naconmax_in,
-      i,
-      dist[i],
-      pos[i],
-      make_frame(normal[i]),
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      pairid,
-      worldid,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_efc_address_out,
-      contact_worldid_out,
-      contact_type_out,
-      contact_geomcollisionid_out,
-      nacon_out,
-    )
-
-
-@wp.func
-def box_box_wrapper(
-  # Data in:
-  naconmax_in: int,
-  # In:
-  box1: Geom,
-  box2: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2,
-  solreffriction: wp.vec2,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  pairid: wp.vec2i,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  """Calculates contacts between two boxes."""
-  # Call the core function to get contact geometry
-  dist, pos, normal = box_box(
-    box1.pos,
-    box1.rot,
-    box1.size,
-    box2.pos,
-    box2.rot,
-    box2.size,
-    margin,
-  )
-
-  for i in range(8):
-    write_contact(
-      naconmax_in,
-      i,
-      dist[i],
-      pos[i],
-      make_frame(normal[i]),
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      pairid,
-      worldid,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_efc_address_out,
-      contact_worldid_out,
-      contact_type_out,
-      contact_geomcollisionid_out,
-      nacon_out,
-    )
-
-
-# Map of supported primitive collision functions
-_PRIMITIVE_COLLISIONS = {
-  (GeomType.PLANE, GeomType.SPHERE): plane_sphere_wrapper,
-  (GeomType.PLANE, GeomType.CAPSULE): plane_capsule_wrapper,
-  (GeomType.PLANE, GeomType.ELLIPSOID): plane_ellipsoid_wrapper,
-  (GeomType.PLANE, GeomType.CYLINDER): plane_cylinder_wrapper,
-  (GeomType.PLANE, GeomType.BOX): plane_box_wrapper,
-  (GeomType.PLANE, GeomType.MESH): plane_convex_wrapper,
-  (GeomType.SPHERE, GeomType.SPHERE): sphere_sphere_wrapper,
-  (GeomType.SPHERE, GeomType.CAPSULE): sphere_capsule_wrapper,
-  (GeomType.SPHERE, GeomType.CYLINDER): sphere_cylinder_wrapper,
-  (GeomType.SPHERE, GeomType.BOX): sphere_box_wrapper,
-  (GeomType.CAPSULE, GeomType.CAPSULE): capsule_capsule_wrapper,
-  (GeomType.CAPSULE, GeomType.BOX): capsule_box_wrapper,
-  (GeomType.BOX, GeomType.BOX): box_box_wrapper,
-}
-
-
-@cache_kernel
-def _primitive_narrowphase(primitive_collisions_types, primitive_collisions_func):
-  @wp.kernel(module="unique", enable_backward=False)
-  def primitive_narrowphase(
-    # Model:
-    geom_type: wp.array[int],
-    geom_condim: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_priority: wp.array[int],
-    geom_solmix: wp.array2d[float],
-    geom_solref: wp.array2d[wp.vec2],
-    geom_solimp: wp.array2d[vec5],
-    geom_size: wp.array2d[wp.vec3],
-    geom_friction: wp.array2d[wp.vec3],
-    geom_margin: wp.array2d[float],
-    geom_gap: wp.array2d[float],
-    mesh_vertadr: wp.array[int],
-    mesh_vertnum: wp.array[int],
-    mesh_graphadr: wp.array[int],
-    mesh_vert: wp.array[wp.vec3],
-    mesh_graph: wp.array[int],
-    mesh_polynum: wp.array[int],
-    mesh_polyadr: wp.array[int],
-    mesh_polynormal: wp.array[wp.vec3],
-    mesh_polyvertadr: wp.array[int],
-    mesh_polyvertnum: wp.array[int],
-    mesh_polyvert: wp.array[int],
-    mesh_polymapadr: wp.array[int],
-    mesh_polymapnum: wp.array[int],
-    mesh_polymap: wp.array[int],
-    pair_dim: wp.array[int],
-    pair_solref: wp.array2d[wp.vec2],
-    pair_solreffriction: wp.array2d[wp.vec2],
-    pair_solimp: wp.array2d[vec5],
-    pair_margin: wp.array2d[float],
-    pair_gap: wp.array2d[float],
-    pair_friction: wp.array2d[vec5],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    geom_xmat_in: wp.array2d[wp.mat33],
-    naconmax_in: int,
-    ncollision_in: wp.array[int],
-    # In:
-    collision_pair_in: wp.array[wp.vec2i],
-    collision_pairid_in: wp.array[wp.vec2i],
-    collision_worldid_in: wp.array[int],
-    # Data out:
-    contact_dist_out: wp.array[float],
-    contact_pos_out: wp.array[wp.vec3],
-    contact_frame_out: wp.array[wp.mat33],
-    contact_includemargin_out: wp.array[float],
-    contact_friction_out: wp.array[vec5],
-    contact_solref_out: wp.array[wp.vec2],
-    contact_solreffriction_out: wp.array[wp.vec2],
-    contact_solimp_out: wp.array[vec5],
-    contact_dim_out: wp.array[int],
-    contact_geom_out: wp.array[wp.vec2i],
-    contact_efc_address_out: wp.array2d[int],
-    contact_worldid_out: wp.array[int],
-    contact_type_out: wp.array[int],
-    contact_geomcollisionid_out: wp.array[int],
-    nacon_out: wp.array[int],
-  ):
-    tid = wp.tid()
-
-    if tid >= ncollision_in[0]:
-      return
-
-    geoms = collision_pair_in[tid]
-    worldid = collision_worldid_in[tid]
-
-    _, margin, gap, condim, friction, solref, solreffriction, solimp = contact_params(
-      geom_condim,
-      geom_priority,
-      geom_solmix,
-      geom_solref,
-      geom_solimp,
-      geom_friction,
-      geom_margin,
-      geom_gap,
-      pair_dim,
-      pair_solref,
-      pair_solreffriction,
-      pair_solimp,
-      pair_margin,
-      pair_gap,
-      pair_friction,
-      collision_pair_in,
-      collision_pairid_in,
-      tid,
-      worldid,
-    )
-
-    geom1, geom2 = geom_collision_pair(
-      geom_type,
-      geom_dataid,
-      geom_size,
-      mesh_vertadr,
-      mesh_vertnum,
-      mesh_graphadr,
-      mesh_vert,
-      mesh_graph,
-      mesh_polynum,
-      mesh_polyadr,
-      mesh_polynormal,
-      mesh_polyvertadr,
-      mesh_polyvertnum,
-      mesh_polyvert,
-      mesh_polymapadr,
-      mesh_polymapnum,
-      mesh_polymap,
-      geom_xpos_in,
-      geom_xmat_in,
-      geoms,
-      worldid,
-    )
-
-    for i in range(wp.static(len(primitive_collisions_func))):
-      collision_type1 = wp.static(primitive_collisions_types[i][0])
-      collision_type2 = wp.static(primitive_collisions_types[i][1])
-      type1 = geom_type[geoms[0]]
-      type2 = geom_type[geoms[1]]
-      if collision_type1 == type1 and collision_type2 == type2:
-        wp.static(primitive_collisions_func[i])(
-          naconmax_in,
-          geom1,
-          geom2,
-          worldid,
-          margin,
-          gap,
-          condim,
-          friction,
-          solref,
-          solreffriction,
-          solimp,
-          geoms,
-          collision_pairid_in[tid],
-          contact_dist_out,
-          contact_pos_out,
-          contact_frame_out,
-          contact_includemargin_out,
-          contact_friction_out,
-          contact_solref_out,
-          contact_solreffriction_out,
-          contact_solimp_out,
-          contact_dim_out,
-          contact_geom_out,
-          contact_efc_address_out,
-          contact_worldid_out,
-          contact_type_out,
-          contact_geomcollisionid_out,
-          nacon_out,
-        )
-
-  return primitive_narrowphase
-
-
-_PRIMITIVE_COLLISION_TYPES = []
-_PRIMITIVE_COLLISION_FUNC = []
-
-
-@event_scope
-def primitive_narrowphase(m: Model, d: Data, ctx: CollisionContext, collision_table: list[tuple[GeomType, GeomType]]):
-  """Runs collision detection on primitive geom pairs discovered during broadphase.
-
-  This function processes collision pairs involving primitive shapes that were
-  identified during the broadphase stage. It computes detailed contact information
-  such as distance, position, and frame, and populates the `d.contact` array.
-
-  The primitive geom types: `PLANE`, `SPHERE`, `CAPSULE`, `CYLINDER`, and `BOX`.
-
-  Additionally, collisions between planes and convex hulls.
-
-  To improve performance, it dynamically builds and launches a kernel tailored to
-  the specific primitive collision types present in the model, avoiding
-  unnecessary checks for non-existent collision pairs.
-  """
-  # TODO(team): keep the overhead of this small - not launching anything
-  # for pair types without collisions, as well as updating the launch dimensions.
-
-  for types, func in _PRIMITIVE_COLLISIONS.items():
-    if types not in collision_table:
-      continue
-    idx = upper_trid_index(len(GeomType), types[0].value, types[1].value)
-    if m.geom_pair_type_count[idx] and types not in _PRIMITIVE_COLLISION_TYPES:
-      _PRIMITIVE_COLLISION_TYPES.append(types)
-      _PRIMITIVE_COLLISION_FUNC.append(func)
-
-  wp.launch(
-    _primitive_narrowphase(_PRIMITIVE_COLLISION_TYPES, _PRIMITIVE_COLLISION_FUNC),
-    dim=d.naconmax,
-    inputs=[
-      m.geom_type,
-      m.geom_condim,
-      m.geom_dataid,
-      m.geom_priority,
-      m.geom_solmix,
-      m.geom_solref,
-      m.geom_solimp,
-      m.geom_size,
-      m.geom_friction,
-      m.geom_margin,
-      m.geom_gap,
-      m.mesh_vertadr,
-      m.mesh_vertnum,
-      m.mesh_graphadr,
-      m.mesh_vert,
-      m.mesh_graph,
-      m.mesh_polynum,
-      m.mesh_polyadr,
-      m.mesh_polynormal,
-      m.mesh_polyvertadr,
-      m.mesh_polyvertnum,
-      m.mesh_polyvert,
-      m.mesh_polymapadr,
-      m.mesh_polymapnum,
-      m.mesh_polymap,
-      m.pair_dim,
-      m.pair_solref,
-      m.pair_solreffriction,
-      m.pair_solimp,
-      m.pair_margin,
-      m.pair_gap,
-      m.pair_friction,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.naconmax,
-      d.ncollision,
-      ctx.collision_pair,
-      ctx.collision_pairid,
-      ctx.collision_worldid,
-    ],
-    outputs=[
-      d.contact.dist,
-      d.contact.pos,
-      d.contact.frame,
-      d.contact.includemargin,
-      d.contact.friction,
-      d.contact.solref,
-      d.contact.solreffriction,
-      d.contact.solimp,
-      d.contact.dim,
-      d.contact.geom,
-      d.contact.efc_address,
-      d.contact.worldid,
-      d.contact.type,
-      d.contact.geomcollisionid,
-      d.nacon,
-    ],
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive_core.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive_core.py
deleted file mode 100644
index a4ec8f4e..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive_core.py
+++ /dev/null
@@ -1,1963 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.math import closest_segment_point
-from mujoco.mjx.third_party.mujoco_warp._src.math import closest_segment_to_segment_points
-from mujoco.mjx.third_party.mujoco_warp._src.math import normalize_with_norm
-from mujoco.mjx.third_party.mujoco_warp._src.math import safe_div
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-
-wp.set_module_options({"enable_backward": False})
-
-
-class vec8f(wp.types.vector(length=8, dtype=wp.float32)):
-  pass
-
-
-class mat23f(wp.types.matrix(shape=(2, 3), dtype=wp.float32)):
-  pass
-
-
-class mat43f(wp.types.matrix(shape=(4, 3), dtype=wp.float32)):
-  pass
-
-
-class mat83f(wp.types.matrix(shape=(8, 3), dtype=wp.float32)):
-  pass
-
-
-# core
-@wp.func
-def plane_sphere(plane_normal: wp.vec3, plane_pos: wp.vec3, sphere_pos: wp.vec3, sphere_radius: float) -> Tuple[float, wp.vec3]:
-  # TODO(team): docstring
-  dist = wp.dot(sphere_pos - plane_pos, plane_normal) - sphere_radius
-  pos = sphere_pos - plane_normal * (sphere_radius + 0.5 * dist)
-  return dist, pos
-
-
-@wp.func
-def sphere_sphere(
-  # In:
-  pos1: wp.vec3,
-  radius1: float,
-  pos2: wp.vec3,
-  radius2: float,
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  """Sphere-sphere collision calculation.
-
-  Args:
-    pos1: Center position of the first sphere.
-    radius1: Radius of the first sphere.
-    pos2: Center position of the second sphere.
-    radius2: Radius of the second sphere.
-
-  Returns:
-    - Distance between sphere surfaces (negative if overlapping).
-    - Contact position.
-    - Contact normal vector.
-  """
-  dir = pos2 - pos1
-  dist = wp.length(dir)
-  if dist == 0.0:
-    n = wp.vec3(1.0, 0.0, 0.0)
-  else:
-    n = dir / dist
-  dist = dist - (radius1 + radius2)
-  pos = pos1 + n * (radius1 + 0.5 * dist)
-  return dist, pos, n
-
-
-@wp.func
-def sphere_capsule(
-  # In:
-  sphere_pos: wp.vec3,
-  sphere_radius: float,
-  capsule_pos: wp.vec3,
-  capsule_axis: wp.vec3,
-  capsule_radius: float,
-  capsule_half_length: float,
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  """Core contact geometry calculation for sphere-capsule collision.
-
-  Args:
-    sphere_pos: Center position of the sphere.
-    sphere_radius: Radius of the sphere.
-    capsule_pos: Center position of the capsule.
-    capsule_axis: Axis direction of the capsule.
-    capsule_radius: Radius of the capsule.
-    capsule_half_length: Half length of the capsule.
-
-  Returns:
-    - Vector of contact distances.
-    - Matrix of contact positions (one per row).
-    - Matrix of contact normal vectors (one per row).
-  """
-  # Calculate capsule segment
-  segment = capsule_axis * capsule_half_length
-
-  # Find closest point on capsule centerline to sphere center
-  pt = closest_segment_point(capsule_pos - segment, capsule_pos + segment, sphere_pos)
-
-  # Use sphere-sphere collision between sphere and closest point
-  return sphere_sphere(sphere_pos, sphere_radius, pt, capsule_radius)
-
-
-@wp.func
-def capsule_capsule(
-  # In:
-  cap1_pos: wp.vec3,
-  cap1_axis: wp.vec3,
-  cap1_radius: float,
-  cap1_half_length: float,
-  cap2_pos: wp.vec3,
-  cap2_axis: wp.vec3,
-  cap2_radius: float,
-  cap2_half_length: float,
-  margin: float,
-) -> Tuple[wp.vec2, mat23f, mat23f]:
-  """Core contact geometry calculation for capsule-capsule collision.
-
-  Args:
-    cap1_pos: Center position of the first capsule.
-    cap1_axis: Axis direction of the first capsule.
-    cap1_radius: Radius of the first capsule.
-    cap1_half_length: Half length of the first capsule.
-    cap2_pos: Center position of the second capsule.
-    cap2_axis: Axis direction of the second capsule.
-    cap2_radius: Radius of the second capsule.
-    cap2_half_length: Half length of the second capsule.
-    margin: Collision margin for filtering contacts.
-
-  Returns:
-    - Vector of contact distances (wp.inf for invalid contacts).
-    - Matrix of contact positions (one per row).
-    - Matrix of contact normal vectors (one per row).
-  """
-  contact_dist = wp.vec2(wp.inf, wp.inf)
-  contact_pos = mat23f()
-  contact_normal = mat23f()
-
-  # calculate scaled axes and center difference
-  axis1 = cap1_axis * cap1_half_length
-  axis2 = cap2_axis * cap2_half_length
-  dif = cap1_pos - cap2_pos
-
-  # compute matrix coefficients and determinant
-  ma = wp.dot(axis1, axis1)
-  mb = -wp.dot(axis1, axis2)
-  mc = wp.dot(axis2, axis2)
-  u = -wp.dot(axis1, dif)
-  v = wp.dot(axis2, dif)
-  det = ma * mc - mb * mb
-
-  # non-parallel axes: 1 contact
-  if wp.abs(det) >= MJ_MINVAL:
-    inv_det = 1.0 / det
-    x1 = (mc * u - mb * v) * inv_det
-    x2 = (ma * v - mb * u) * inv_det
-
-    if x1 > 1.0:
-      x1 = 1.0
-      x2 = (v - mb) / mc
-    elif x1 < -1.0:
-      x1 = -1.0
-      x2 = (v + mb) / mc
-
-    if x2 > 1.0:
-      x2 = 1.0
-      x1 = wp.clamp((u - mb) / ma, -1.0, 1.0)
-    elif x2 < -1.0:
-      x2 = -1.0
-      x1 = wp.clamp((u + mb) / ma, -1.0, 1.0)
-
-    # find nearest points
-    vec1 = cap1_pos + axis1 * x1
-    vec2 = cap2_pos + axis2 * x2
-
-    dist, pos, normal = sphere_sphere(vec1, cap1_radius, vec2, cap2_radius)
-    if dist <= margin:
-      contact_dist[0] = dist
-      contact_pos[0] = pos
-      contact_normal[0] = normal
-
-  # parallel axes: test all 4 endpoint pairs, keep first 2 that pass margin check
-  else:
-    contact_count = 0
-
-    # x1 = 1: test positive end of capsule 1
-    vec1 = cap1_pos + axis1
-    x2 = wp.clamp((v - mb) / mc, -1.0, 1.0)
-    vec2 = cap2_pos + axis2 * x2
-    dist, pos, normal = sphere_sphere(vec1, cap1_radius, vec2, cap2_radius)
-    if dist <= margin:
-      contact_dist[contact_count] = dist
-      contact_pos[contact_count] = pos
-      contact_normal[contact_count] = normal
-      contact_count += 1
-
-    # x1 = -1: test negative end of capsule 1
-    vec1 = cap1_pos - axis1
-    x2 = wp.clamp((v + mb) / mc, -1.0, 1.0)
-    vec2 = cap2_pos + axis2 * x2
-    dist, pos, normal = sphere_sphere(vec1, cap1_radius, vec2, cap2_radius)
-    if dist <= margin:
-      contact_dist[contact_count] = dist
-      contact_pos[contact_count] = pos
-      contact_normal[contact_count] = normal
-      contact_count += 1
-
-    # x2 = 1: test positive end of capsule 2
-    if contact_count < 2:
-      vec2 = cap2_pos + axis2
-      x1 = wp.clamp((u - mb) / ma, -1.0, 1.0)
-      vec1 = cap1_pos + axis1 * x1
-      dist, pos, normal = sphere_sphere(vec1, cap1_radius, vec2, cap2_radius)
-      if dist <= margin:
-        contact_dist[contact_count] = dist
-        contact_pos[contact_count] = pos
-        contact_normal[contact_count] = normal
-        contact_count += 1
-
-    # x2 = -1: test negative end of capsule 2
-    if contact_count < 2:
-      vec2 = cap2_pos - axis2
-      x1 = wp.clamp((u + mb) / ma, -1.0, 1.0)
-      vec1 = cap1_pos + axis1 * x1
-      dist, pos, normal = sphere_sphere(vec1, cap1_radius, vec2, cap2_radius)
-      if dist <= margin:
-        contact_dist[contact_count] = dist
-        contact_pos[contact_count] = pos
-        contact_normal[contact_count] = normal
-
-  return contact_dist, contact_pos, contact_normal
-
-
-@wp.func
-def plane_capsule(
-  # In:
-  plane_normal: wp.vec3,
-  plane_pos: wp.vec3,
-  capsule_pos: wp.vec3,
-  capsule_axis: wp.vec3,
-  capsule_radius: float,
-  capsule_half_length: float,
-) -> Tuple[wp.vec2, mat23f, wp.mat33]:
-  """Core contact geometry calculation for plane-capsule collision.
-
-  Args:
-    plane_normal: Normal vector of the plane.
-    plane_pos: Position point on the plane.
-    capsule_pos: Center position of the capsule.
-    capsule_axis: Axis direction of the capsule.
-    capsule_radius: Radius of the capsule.
-    capsule_half_length: Half length of the capsule.
-
-  Returns:
-    - Vector of contact distances.
-    - Matrix of contact positions (one per row).
-    - Contact frame for both contacts.
-  """
-  n = plane_normal
-  axis = capsule_axis
-
-  # align contact frames with capsule axis
-  b, b_norm = normalize_with_norm(axis - n * wp.dot(n, axis))
-
-  if b_norm < 0.5:
-    if -0.5 < n[1] and n[1] < 0.5:
-      b = wp.vec3(0.0, 1.0, 0.0)
-    else:
-      b = wp.vec3(0.0, 0.0, 1.0)
-
-  c = wp.cross(n, b)
-  frame = wp.mat33(n[0], n[1], n[2], b[0], b[1], b[2], c[0], c[1], c[2])
-  segment = axis * capsule_half_length
-
-  # First contact (positive end of capsule)
-  dist1, pos1 = plane_sphere(n, plane_pos, capsule_pos + segment, capsule_radius)
-
-  # Second contact (negative end of capsule)
-  dist2, pos2 = plane_sphere(n, plane_pos, capsule_pos - segment, capsule_radius)
-
-  dist = wp.vec2(dist1, dist2)
-  pos = mat23f(pos1[0], pos1[1], pos1[2], pos2[0], pos2[1], pos2[2])
-
-  return dist, pos, frame
-
-
-@wp.func
-def plane_ellipsoid(
-  # In:
-  plane_normal: wp.vec3,
-  plane_pos: wp.vec3,
-  ellipsoid_pos: wp.vec3,
-  ellipsoid_rot: wp.mat33,
-  ellipsoid_size: wp.vec3,
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  """Core contact geometry calculation for plane-ellipsoid collision.
-
-  Args:
-    plane_normal: Normal vector of the plane.
-    plane_pos: Position point on the plane.
-    ellipsoid_pos: Center position of the ellipsoid.
-    ellipsoid_rot: Rotation matrix of the ellipsoid.
-    ellipsoid_size: Size (radii) of the ellipsoid along each axis.
-
-  Returns:
-    - Vector of contact distances.
-    - Matrix of contact positions (one per row).
-    - Matrix of contact normal vectors (one per row).
-  """
-  sphere_support = -wp.normalize(wp.cw_mul(wp.transpose(ellipsoid_rot) @ plane_normal, ellipsoid_size))
-  pos = ellipsoid_pos + ellipsoid_rot @ wp.cw_mul(sphere_support, ellipsoid_size)
-  dist = wp.dot(plane_normal, pos - plane_pos)
-  pos = pos - plane_normal * dist * 0.5
-
-  return dist, pos, plane_normal
-
-
-@wp.func
-def plane_box(
-  # In:
-  plane_normal: wp.vec3,
-  plane_pos: wp.vec3,
-  box_pos: wp.vec3,
-  box_rot: wp.mat33,
-  box_size: wp.vec3,
-) -> Tuple[vec8f, mat83f, wp.vec3]:
-  """Core contact geometry calculation for plane-box collision.
-
-  Args:
-    plane_normal: Normal vector of the plane.
-    plane_pos: Position point on the plane.
-    box_pos: Center position of the box.
-    box_rot: Rotation matrix of the box.
-    box_size: Half-extents of the box along each axis.
-    margin: Collision tolerance.
-
-  Returns:
-    - Vector of contact distances (MJ_MAXVAL for unpopulated contacts).
-    - Matrix of contact positions (one per row).
-    - Contact normal vector.
-  """
-  center_dist = wp.dot(box_pos - plane_pos, plane_normal)
-
-  dist = vec8f(MJ_MAXVAL)
-  pos = mat83f()
-
-  # test all corners, pick bottom 4
-  for i in range(8):
-    # get corner in local coordinates
-    corner = wp.vec3(
-      wp.where(i & 1, box_size[0], -box_size[0]),
-      wp.where(i & 2, box_size[1], -box_size[1]),
-      wp.where(i & 4, box_size[2], -box_size[2]),
-    )
-
-    # get corner in global coordinates relative to box center
-    corner = box_rot * corner
-
-    # compute distance to plane
-    ldist = wp.dot(plane_normal, corner)
-    cdist = center_dist + ldist
-
-    dist[i] = cdist
-    pos[i] = corner + box_pos - 0.5 * plane_normal * cdist
-
-  return dist, pos, plane_normal
-
-
-@wp.func
-def sphere_cylinder(
-  # In:
-  sphere_pos: wp.vec3,
-  sphere_radius: float,
-  cylinder_pos: wp.vec3,
-  cylinder_axis: wp.vec3,
-  cylinder_radius: float,
-  cylinder_half_height: float,
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  """Core contact geometry calculation for sphere-cylinder collision.
-
-  Args:
-    sphere_pos: Center position of the sphere.
-    sphere_radius: Radius of the sphere.
-    cylinder_pos: Center position of the cylinder.
-    cylinder_axis: Axis direction of the cylinder.
-    cylinder_radius: Radius of the cylinder.
-    cylinder_half_height: Half height of the cylinder.
-
-  Returns:
-    - Vector of contact distances.
-    - Matrix of contact positions (one per row).
-    - Matrix of contact normal vectors (one per row).
-  """
-  vec = sphere_pos - cylinder_pos
-  x = wp.dot(vec, cylinder_axis)
-
-  a_proj = cylinder_axis * x
-  p_proj = vec - a_proj
-  p_proj_sqr = wp.dot(p_proj, p_proj)
-
-  collide_side = wp.abs(x) < cylinder_half_height
-  collide_cap = p_proj_sqr < (cylinder_radius * cylinder_radius)
-
-  if collide_side and collide_cap:
-    dist_cap = cylinder_half_height - wp.abs(x)
-    dist_radius = cylinder_radius - wp.sqrt(p_proj_sqr)
-
-    if dist_cap < dist_radius:
-      collide_side = False
-    else:
-      collide_cap = False
-
-  # side collision
-  if collide_side:
-    pos_target = cylinder_pos + a_proj
-    return sphere_sphere(sphere_pos, sphere_radius, pos_target, cylinder_radius)
-  # cap collision
-  elif collide_cap:
-    if x > 0.0:
-      # top cap
-      pos_cap = cylinder_pos + cylinder_axis * cylinder_half_height
-      plane_normal = cylinder_axis
-    else:
-      # bottom cap
-      pos_cap = cylinder_pos - cylinder_axis * cylinder_half_height
-      plane_normal = -cylinder_axis
-
-    dist, pos = plane_sphere(plane_normal, pos_cap, sphere_pos, sphere_radius)
-    return dist, pos, -plane_normal  # flip normal after position calculation
-  # corner collision
-  else:
-    inv_len = safe_div(1.0, wp.sqrt(p_proj_sqr))
-    p_proj = p_proj * (cylinder_radius * inv_len)
-
-    cap_offset = cylinder_axis * (wp.sign(x) * cylinder_half_height)
-    pos_corner = cylinder_pos + cap_offset + p_proj
-
-    return sphere_sphere(sphere_pos, sphere_radius, pos_corner, 0.0)
-
-
-@wp.func
-def plane_cylinder(
-  # In:
-  plane_normal: wp.vec3,
-  plane_pos: wp.vec3,
-  cylinder_center: wp.vec3,
-  cylinder_axis: wp.vec3,
-  cylinder_radius: float,
-  cylinder_half_height: float,
-) -> Tuple[wp.vec4, mat43f, wp.vec3]:
-  """Core contact geometry calculation for plane-cylinder collision.
-
-  Args:
-    plane_normal: Normal vector of the plane.
-    plane_pos: Position point on the plane.
-    cylinder_center: Center position of the cylinder.
-    cylinder_axis: Axis direction of the cylinder.
-    cylinder_radius: Radius of the cylinder.
-    cylinder_half_height: Half height of the cylinder.
-
-  Returns:
-    - Vector of contact distances.
-    - Matrix of contact positions (one per row).
-    - Matrix of contact normal vectors (one per row).
-  """
-  # Initialize output matrices
-  contact_dist = wp.vec4(MJ_MAXVAL)
-  contact_pos = mat43f()
-  contact_count = 0
-
-  n = plane_normal
-  axis = cylinder_axis
-
-  # Project, make sure axis points toward plane
-  prjaxis = wp.dot(n, axis)
-  if prjaxis > 0:
-    axis = -axis
-    prjaxis = -prjaxis
-
-  # Compute normal distance from plane to cylinder center
-  dist0 = wp.dot(cylinder_center - plane_pos, n)
-
-  # Remove component of -normal along cylinder axis
-  vec = axis * prjaxis - n
-  len_sqr = wp.dot(vec, vec)
-
-  # If vector is nondegenerate, normalize and scale by radius
-  # Otherwise use cylinder's x-axis scaled by radius
-  vec = wp.where(
-    len_sqr >= 1e-12,
-    vec * safe_div(cylinder_radius, wp.sqrt(len_sqr)),
-    wp.vec3(1.0, 0.0, 0.0) * cylinder_radius,  # Default x-axis when degenerate
-  )
-
-  # Project scaled vector on normal
-  prjvec = wp.dot(vec, n)
-
-  # Scale cylinder axis by half-length
-  axis = axis * cylinder_half_height
-  prjaxis = prjaxis * cylinder_half_height
-
-  # First contact point (end cap closer to plane)
-  dist1 = dist0 + prjaxis + prjvec
-  pos1 = cylinder_center + vec + axis - n * (dist1 * 0.5)
-  contact_dist[contact_count] = dist1
-  contact_pos[contact_count] = pos1
-  contact_count = contact_count + 1
-
-  # Second contact point (end cap farther from plane)
-  dist2 = dist0 - prjaxis + prjvec
-  pos2 = cylinder_center + vec - axis - n * (dist2 * 0.5)
-  contact_dist[contact_count] = dist2
-  contact_pos[contact_count] = pos2
-  contact_count = contact_count + 1
-
-  # Try triangle contact points on side closer to plane
-  prjvec1 = -prjvec * 0.5
-  dist3 = dist0 + prjaxis + prjvec1
-  # Compute sideways vector scaled by radius*sqrt(3)/2
-  vec1 = wp.cross(vec, axis)
-  vec1 = wp.normalize(vec1) * (cylinder_radius * wp.sqrt(3.0) * 0.5)
-
-  # Add contact point A - adjust to closest side
-  pos3 = cylinder_center + vec1 + axis - vec * 0.5 - n * (dist3 * 0.5)
-  contact_dist[contact_count] = dist3
-  contact_pos[contact_count] = pos3
-  contact_count = contact_count + 1
-
-  # Add contact point B - adjust to closest side
-  pos4 = cylinder_center - vec1 + axis - vec * 0.5 - n * (dist3 * 0.5)
-  contact_dist[contact_count] = dist3
-  contact_pos[contact_count] = pos4
-  contact_count = contact_count + 1
-
-  return contact_dist, contact_pos, n
-
-
-@wp.func
-def _compute_rotmore(face_idx: int) -> wp.mat33:
-  rotmore = wp.mat33(0.0)
-
-  if face_idx == 0:
-    rotmore[0, 2] = -1.0
-    rotmore[1, 1] = +1.0
-    rotmore[2, 0] = +1.0
-  elif face_idx == 1:
-    rotmore[0, 0] = +1.0
-    rotmore[1, 2] = -1.0
-    rotmore[2, 1] = +1.0
-  elif face_idx == 2:
-    rotmore[0, 0] = +1.0
-    rotmore[1, 1] = +1.0
-    rotmore[2, 2] = +1.0
-  elif face_idx == 3:
-    rotmore[0, 2] = +1.0
-    rotmore[1, 1] = +1.0
-    rotmore[2, 0] = -1.0
-  elif face_idx == 4:
-    rotmore[0, 0] = +1.0
-    rotmore[1, 2] = +1.0
-    rotmore[2, 1] = -1.0
-  elif face_idx == 5:
-    rotmore[0, 0] = -1.0
-    rotmore[1, 1] = +1.0
-    rotmore[2, 2] = -1.0
-
-  return rotmore
-
-
-@wp.func
-def box_box(
-  # In:
-  box1_pos: wp.vec3,
-  box1_rot: wp.mat33,
-  box1_size: wp.vec3,
-  box2_pos: wp.vec3,
-  box2_rot: wp.mat33,
-  box2_size: wp.vec3,
-  margin: float = 0.0,  # kernel_analyzer: off
-) -> Tuple[vec8f, mat83f, mat83f]:
-  """Core contact geometry calculation for box-box collision.
-
-  Args:
-    box1_pos: Center position of the first box.
-    box1_rot: Rotation matrix of the first box.
-    box1_size: Half-extents of the first box along each axis.
-    box2_pos: Center position of the second box.
-    box2_rot: Rotation matrix of the second box.
-    box2_size: Half-extents of the second box along each axis.
-    margin: Collision tolerance.
-
-  Returns:
-    - Vector of contact distances (MJ_MAXVAL for unpopulated contacts).
-    - Matrix of contact positions (one per row).
-    - Matrix of contact normal vectors (one per row).
-  """
-  # Initialize output matrices
-  contact_dist = vec8f()
-  for i in range(8):
-    contact_dist[i] = MJ_MAXVAL
-  contact_pos = mat83f()
-  contact_normals = mat83f()
-  contact_count = 0
-
-  # Compute transforms between box's frames
-  pos21 = wp.transpose(box1_rot) @ (box2_pos - box1_pos)
-  pos12 = wp.transpose(box2_rot) @ (box1_pos - box2_pos)
-
-  rot21 = wp.transpose(box1_rot) @ box2_rot
-  rot12 = wp.transpose(rot21)
-
-  rot21abs = wp.matrix_from_rows(wp.abs(rot21[0]), wp.abs(rot21[1]), wp.abs(rot21[2]))
-  rot12abs = wp.transpose(rot21abs)
-
-  plen2 = rot21abs @ box2_size
-  plen1 = rot12abs @ box1_size
-
-  # Compute axis of maximum separation
-  s_sum_3 = 3.0 * (box1_size + box2_size)
-  separation = wp.float32(margin + s_sum_3[0] + s_sum_3[1] + s_sum_3[2])
-  axis_code = wp.int32(-1)
-
-  # First test: consider boxes' face normals
-  for i in range(3):
-    c1 = -wp.abs(pos21[i]) + box1_size[i] + plen2[i]
-
-    c2 = -wp.abs(pos12[i]) + box2_size[i] + plen1[i]
-
-    if c1 < -margin or c2 < -margin:
-      return contact_dist, contact_pos, contact_normals
-
-    if c1 < separation:
-      separation = c1
-      axis_code = i + 3 * wp.int32(pos21[i] < 0) + 0  # Face of box1
-    if c2 < separation:
-      separation = c2
-      axis_code = i + 3 * wp.int32(pos12[i] < 0) + 6  # Face of box2
-
-  clnorm = wp.vec3(0.0)
-  inv = wp.bool(False)
-  cle1 = wp.int32(0)
-  cle2 = wp.int32(0)
-
-  # Second test: consider cross products of boxes' edges
-  for i in range(3):
-    for j in range(3):
-      # Compute cross product of box edges (potential separating axis)
-      if i == 0:
-        cross_axis = wp.vec3(0.0, -rot12[j, 2], rot12[j, 1])
-      elif i == 1:
-        cross_axis = wp.vec3(rot12[j, 2], 0.0, -rot12[j, 0])
-      else:
-        cross_axis = wp.vec3(-rot12[j, 1], rot12[j, 0], 0.0)
-
-      cross_length = wp.length(cross_axis)
-      if cross_length < MJ_MINVAL:
-        continue
-
-      cross_axis /= cross_length
-
-      box_dist = wp.dot(pos21, cross_axis)
-      c3 = wp.float32(0.0)
-
-      # Project box half-sizes onto the potential separating axis
-      for k in range(3):
-        if k != i:
-          c3 += box1_size[k] * wp.abs(cross_axis[k])
-        if k != j:
-          c3 += box2_size[k] * rot21abs[i, 3 - k - j] / cross_length
-
-      c3 -= wp.abs(box_dist)
-
-      # Early exit: no collision if separated along this axis
-      if c3 < -margin:
-        return contact_dist, contact_pos, contact_normals
-
-      # Track minimum separation and which edge-edge pair it occurs on
-      if c3 < separation * (1.0 - 1e-12):
-        separation = c3
-        # Determine which corners/edges are closest
-        cle1 = 0
-        cle2 = 0
-
-        for k in range(3):
-          if k != i and (int(cross_axis[k] > 0) ^ int(box_dist < 0)):
-            cle1 += 1 << k
-          if k != j:
-            if int(rot21[i, 3 - k - j] > 0) ^ int(box_dist < 0) ^ int((k - j + 3) % 3 == 1):
-              cle2 += 1 << k
-
-        axis_code = 12 + i * 3 + j
-        clnorm = cross_axis
-        inv = box_dist < 0
-
-  # No axis with separation < margin found
-  if axis_code == -1:
-    return contact_dist, contact_pos, contact_normals
-
-  points = mat83f()
-  depth = vec8f()
-  max_con_pair = 8
-  # 8 contacts should suffice for most configurations
-
-  if axis_code < 12:
-    # Handle face-vertex collision
-    face_idx = axis_code % 6
-    box_idx = axis_code // 6
-    rotmore = _compute_rotmore(face_idx)
-
-    r = rotmore @ wp.where(box_idx, rot12, rot21)
-    p = rotmore @ wp.where(box_idx, pos12, pos21)
-    ss = wp.abs(rotmore @ wp.where(box_idx, box2_size, box1_size))
-    s = wp.where(box_idx, box1_size, box2_size)
-    rt = wp.transpose(r)
-
-    lx, ly, hz = ss[0], ss[1], ss[2]
-    p[2] -= hz
-
-    clcorner = wp.int32(0)  # corner of non-face box with least axis separation
-
-    for i in range(3):
-      if r[2, i] < 0:
-        clcorner += 1 << i
-
-    lp = p
-    for i in range(wp.static(3)):
-      lp += rt[i] * s[i] * wp.where(clcorner & 1 << i, 1.0, -1.0)
-
-    m = wp.int32(1)
-    dirs = wp.int32(0)
-
-    cn1 = wp.vec3(0.0)
-    cn2 = wp.vec3(0.0)
-
-    for i in range(3):
-      if wp.abs(r[2, i]) < 0.5:
-        if not dirs:
-          cn1 = rt[i] * s[i] * wp.where(clcorner & (1 << i), -2.0, 2.0)
-        else:
-          cn2 = rt[i] * s[i] * wp.where(clcorner & (1 << i), -2.0, 2.0)
-
-        dirs += 1
-
-    k = dirs * dirs
-
-    # Find potential contact points
-
-    n = wp.int32(0)
-
-    for i in range(k):
-      for q in range(2):
-        # lines_a and lines_b (lines between corners) computed on the fly
-        lav = lp + wp.where(i < 2, wp.vec3(0.0), wp.where(i == 2, cn1, cn2))
-        lbv = wp.where(i == 0 or i == 3, cn1, cn2)
-
-        if wp.abs(lbv[q]) > MJ_MINVAL:
-          br = 1.0 / lbv[q]
-          for j in range(-1, 2, 2):
-            l = ss[q] * wp.float32(j)
-            c1 = (l - lav[q]) * br
-            if c1 < 0 or c1 > 1:
-              continue
-            c2 = lav[1 - q] + lbv[1 - q] * c1
-            if wp.abs(c2) > ss[1 - q]:
-              continue
-
-            points[n] = lav + c1 * lbv
-            n += 1
-
-    if dirs == 2:
-      ax = cn1[0]
-      bx = cn2[0]
-      ay = cn1[1]
-      by = cn2[1]
-      C = safe_div(1.0, ax * by - bx * ay)
-
-      for i in range(4):
-        llx = wp.where(i // 2, lx, -lx)
-        lly = wp.where(i % 2, ly, -ly)
-
-        x = llx - lp[0]
-        y = lly - lp[1]
-
-        u = (x * by - y * bx) * C
-        v = (y * ax - x * ay) * C
-
-        if u > 0 and v > 0 and u < 1 and v < 1:
-          points[n] = wp.vec3(llx, lly, lp[2] + u * cn1[2] + v * cn2[2])
-          n += 1
-
-    for i in range(1 << dirs):
-      tmpv = lp + wp.float32(i & 1) * cn1 + wp.float32((i & 2) != 0) * cn2
-      if tmpv[0] > -lx and tmpv[0] < lx and tmpv[1] > -ly and tmpv[1] < ly:
-        points[n] = tmpv
-        n += 1
-
-    m = n
-    n = wp.int32(0)
-
-    for i in range(m):
-      if points[i][2] > margin:
-        continue
-      if i != n:
-        points[n] = points[i]
-
-      depth[n] = points[n, 2]
-      points[n, 2] *= 0.5
-      n += 1
-
-    # Set up contact frame
-    rw = wp.where(box_idx, box2_rot, box1_rot) @ wp.transpose(rotmore)
-    pw = wp.where(box_idx, box2_pos, box1_pos)
-    normal = wp.where(box_idx, -1.0, 1.0) * wp.transpose(rw)[2]
-
-  else:
-    # Handle edge-edge collision
-    edge1 = (axis_code - 12) // 3
-    edge2 = (axis_code - 12) % 3
-
-    # Set up non-contacting edges ax1, ax2 for box2 and pax1, pax2 for box 1
-    ax1 = wp.int(1 - (edge2 & 1))
-    ax2 = wp.int(2 - (edge2 & 2))
-
-    pax1 = wp.int(1 - (edge1 & 1))
-    pax2 = wp.int(2 - (edge1 & 2))
-
-    if rot21abs[edge1, ax1] < rot21abs[edge1, ax2]:
-      ax1, ax2 = ax2, ax1
-
-    if rot12abs[edge2, pax1] < rot12abs[edge2, pax2]:
-      pax1, pax2 = pax2, pax1
-
-    rotmore = _compute_rotmore(wp.where(cle1 & (1 << pax2), pax2, pax2 + 3))
-
-    # Transform coordinates for edge-edge contact calculation
-    p = rotmore @ pos21
-    rnorm = rotmore @ clnorm
-    r = rotmore @ rot21
-    rt = wp.transpose(r)
-    s = wp.abs(wp.transpose(rotmore) @ box1_size)
-
-    lx, ly, hz = s[0], s[1], s[2]
-    p[2] -= hz
-
-    # Calculate closest box2 face
-
-    points[0] = (
-      p
-      + rt[ax1] * box2_size[ax1] * wp.where(cle2 & (1 << ax1), 1.0, -1.0)
-      + rt[ax2] * box2_size[ax2] * wp.where(cle2 & (1 << ax2), 1.0, -1.0)
-    )
-    points[1] = points[0] - rt[edge2] * box2_size[edge2]
-    points[0] += rt[edge2] * box2_size[edge2]
-
-    points[2] = (
-      p
-      + rt[ax1] * box2_size[ax1] * wp.where(cle2 & (1 << ax1), -1.0, 1.0)
-      + rt[ax2] * box2_size[ax2] * wp.where(cle2 & (1 << ax2), 1.0, -1.0)
-    )
-
-    points[3] = points[2] - rt[edge2] * box2_size[edge2]
-    points[2] += rt[edge2] * box2_size[edge2]
-
-    n = 4
-
-    # Set up coordinate axes for contact face of box2
-    axi_lp = points[0]
-    axi_cn1 = points[1] - points[0]
-    axi_cn2 = points[2] - points[0]
-
-    # Check if contact normal is valid
-    if wp.abs(rnorm[2]) < MJ_MINVAL:
-      return contact_dist, contact_pos, contact_normals  # Shouldn't happen
-
-    # Calculate inverse normal for projection
-    innorm = wp.where(inv, -1.0, 1.0) / rnorm[2]
-
-    pu = mat43f()
-
-    # Project points onto contact plane
-    for i in range(4):
-      pu[i] = points[i]
-      c_scl = points[i, 2] * wp.where(inv, -1.0, 1.0) * innorm
-      points[i] -= rnorm * c_scl
-
-    pts_lp = points[0]
-    pts_cn1 = points[1] - points[0]
-    pts_cn2 = points[2] - points[0]
-
-    n = wp.int32(0)
-
-    for i in range(4):
-      for q in range(2):
-        la = pts_lp[q] + wp.where(i < 2, 0.0, wp.where(i == 2, pts_cn1[q], pts_cn2[q]))
-        lb = wp.where(i == 0 or i == 3, pts_cn1[q], pts_cn2[q])
-        lc = pts_lp[1 - q] + wp.where(i < 2, 0.0, wp.where(i == 2, pts_cn1[1 - q], pts_cn2[1 - q]))
-        ld = wp.where(i == 0 or i == 3, pts_cn1[1 - q], pts_cn2[1 - q])
-
-        # linesu_a and linesu_b (lines between corners) computed on the fly
-        lua = axi_lp + wp.where(i < 2, wp.vec3(0.0), wp.where(i == 2, axi_cn1, axi_cn2))
-        lub = wp.where(i == 0 or i == 3, axi_cn1, axi_cn2)
-
-        if wp.abs(lb) > MJ_MINVAL:
-          br = 1.0 / lb
-          for j in range(-1, 2, 2):
-            if n == max_con_pair:
-              break
-            l = s[q] * wp.float32(j)
-            c1 = (l - la) * br
-            if c1 < 0 or c1 > 1:
-              continue
-            c2 = lc + ld * c1
-            if wp.abs(c2) > s[1 - q]:
-              continue
-            if (lua[2] + lub[2] * c1) * innorm > margin:
-              continue
-
-            points[n] = lua * 0.5 + c1 * lub * 0.5
-            points[n, q] += 0.5 * l
-            points[n, 1 - q] += 0.5 * c2
-            depth[n] = points[n, 2] * innorm * 2.0
-            n += 1
-
-    nl = n
-
-    ax = pts_cn1[0]
-    bx = pts_cn2[0]
-    ay = pts_cn1[1]
-    by = pts_cn2[1]
-    C = safe_div(1.0, ax * by - bx * ay)
-
-    for i in range(4):
-      if n == max_con_pair:
-        break
-      llx = wp.where(i // 2, lx, -lx)
-      lly = wp.where(i % 2, ly, -ly)
-
-      x = llx - pts_lp[0]
-      y = lly - pts_lp[1]
-
-      u = (x * by - y * bx) * C
-      v = (y * ax - x * ay) * C
-
-      if nl == 0:
-        if (u < 0 or u > 1) and (v < 0 or v > 1):
-          continue
-      elif u < 0 or v < 0 or u > 1 or v > 1:
-        continue
-
-      u = wp.clamp(u, 0.0, 1.0)
-      v = wp.clamp(v, 0.0, 1.0)
-      w = 1.0 - u - v
-      vtmp = pu[0] * w + pu[1] * u + pu[2] * v
-
-      points[n] = wp.vec3(llx, lly, 0.0)
-
-      vtmp2 = points[n] - vtmp
-      tc1 = wp.length_sq(vtmp2)
-      if vtmp[2] > 0 and tc1 > margin * margin:
-        continue
-
-      points[n] = 0.5 * (points[n] + vtmp)
-
-      depth[n] = wp.sqrt(tc1) * wp.where(vtmp[2] < 0, -1.0, 1.0)
-      n += 1
-
-    nf = n
-
-    for i in range(4):
-      if n >= max_con_pair:
-        break
-      x = pu[i, 0]
-      y = pu[i, 1]
-      if nl == 0 and nf != 0:
-        if (x < -lx or x > lx) and (y < -ly or y > ly):
-          continue
-      elif x < -lx or x > lx or y < -ly or y > ly:
-        continue
-
-      c1 = wp.float32(0)
-
-      for j in range(2):
-        if pu[i, j] < -s[j]:
-          c1 += (pu[i, j] + s[j]) * (pu[i, j] + s[j])
-        elif pu[i, j] > s[j]:
-          c1 += (pu[i, j] - s[j]) * (pu[i, j] - s[j])
-
-      c1 += pu[i, 2] * innorm * pu[i, 2] * innorm
-
-      if pu[i, 2] > 0 and c1 > margin * margin:
-        continue
-
-      tmp_p = wp.vec3(pu[i, 0], pu[i, 1], 0.0)
-
-      for j in range(2):
-        if pu[i, j] < -s[j]:
-          tmp_p[j] = -s[j] * 0.5
-        elif pu[i, j] > s[j]:
-          tmp_p[j] = +s[j] * 0.5
-
-      tmp_p += pu[i]
-      points[n] = tmp_p * 0.5
-
-      depth[n] = wp.sqrt(c1) * wp.where(pu[i, 2] < 0, -1.0, 1.0)
-      n += 1
-
-    # Set up contact data for all points
-    rw = box1_rot @ wp.transpose(rotmore)
-    pw = box1_pos
-    normal = wp.where(inv, -1.0, 1.0) * rw @ rnorm
-
-  contact_count = n
-
-  # Copy contact data to output matrices
-  for i in range(contact_count):
-    points[i, 2] += hz
-    pos = rw @ points[i] + pw
-    contact_dist[i] = depth[i]
-    contact_pos[i] = pos
-    contact_normals[i] = normal
-
-  return contact_dist, contact_pos, contact_normals
-
-
-@wp.func
-def sphere_box(
-  # In:
-  sphere_pos: wp.vec3,
-  sphere_radius: float,
-  box_pos: wp.vec3,
-  box_rot: wp.mat33,
-  box_size: wp.vec3,
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  """Core contact geometry calculation for sphere-box collision.
-
-  Args:
-    sphere_pos: Center position of the sphere.
-    sphere_radius: Radius of the sphere.
-    box_pos: Center position of the box.
-    box_rot: Rotation matrix of the box.
-    box_size: Half-extents of the box along each axis.
-
-  Returns:
-    - Vector of contact distances.
-    - Contact positions.
-    - Contact normal vectors.
-  """
-  center = wp.transpose(box_rot) @ (sphere_pos - box_pos)
-
-  clamped = wp.max(-box_size, wp.min(box_size, center))
-  clamped_dir, dist = normalize_with_norm(clamped - center)
-
-  # sphere center inside box
-  if dist <= MJ_MINVAL:
-    closest = 2.0 * (box_size[0] + box_size[1] + box_size[2])
-    k = wp.int32(0)
-    for i in range(6):
-      face_dist = wp.abs(wp.where(i % 2, 1.0, -1.0) * box_size[i // 2] - center[i // 2])
-      if closest > face_dist:
-        closest = face_dist
-        k = i
-
-    nearest = wp.vec3(0.0)
-    nearest[k // 2] = wp.where(k % 2, -1.0, 1.0)
-    pos = center + nearest * (sphere_radius - closest) / 2.0
-    contact_normal = box_rot @ nearest
-    contact_distance = -closest - sphere_radius
-
-  else:
-    deepest = center + clamped_dir * sphere_radius
-    pos = 0.5 * (clamped + deepest)
-    contact_normal = box_rot @ clamped_dir
-    contact_distance = dist - sphere_radius
-
-  contact_position = box_pos + box_rot @ pos
-
-  return contact_distance, contact_position, contact_normal
-
-
-@wp.func
-def capsule_box(
-  # In:
-  capsule_pos: wp.vec3,
-  capsule_axis: wp.vec3,
-  capsule_radius: float,
-  capsule_half_length: float,
-  box_pos: wp.vec3,
-  box_rot: wp.mat33,
-  box_size: wp.vec3,
-) -> Tuple[wp.vec2, mat23f, mat23f]:
-  """Core contact geometry calculation for capsule-box collision.
-
-  Args:
-    capsule_pos: Center position of the capsule.
-    capsule_axis: Axis direction of the capsule.
-    capsule_radius: Radius of the capsule.
-    capsule_half_length: Half length of the capsule.
-    box_pos: Center position of the box.
-    box_rot: Rotation matrix of the box.
-    box_size: Half-extents of the box along each axis.
-
-  Returns:
-    - Vector of contact distances (MJ_MAXVAL for unpopulated contacts).
-    - Matrix of contact positions (one per row).
-    - Matrix of contact normal vectors (one per row).
-  """
-  # Based on the mjc implementation
-  boxmatT = wp.transpose(box_rot)
-  pos = boxmatT @ (capsule_pos - box_pos)
-  axis = boxmatT @ capsule_axis
-  halfaxis = axis * capsule_half_length  # halfaxis is the capsule direction
-  axisdir = wp.int32(halfaxis[0] > 0.0) + 2 * wp.int32(halfaxis[1] > 0.0) + 4 * wp.int32(halfaxis[2] > 0.0)
-
-  # keep track of closest point
-  bestdist = wp.float32(1.0e32)
-  bestsegmentpos = wp.float32(-12)
-
-  # cltype: encoded collision configuration
-  # cltype / 3 == 0 : lower corner is closest to the capsule
-  #            == 2 : upper corner is closest to the capsule
-  #            == 1 : middle of the edge is closest to the capsule
-  # cltype % 3 == 0 : lower corner is closest to the box
-  #            == 2 : upper corner is closest to the box
-  #            == 1 : middle of the capsule is closest to the box
-  cltype = wp.int32(-4)
-
-  # clface: index of the closest face of the box to the capsule
-  # -1: no face is closest (edge or corner is closest)
-  # 0, 1, 2: index of the axis perpendicular to the closest face
-  clface = wp.int32(-12)
-
-  # first: consider cases where a face of the box is closest
-  for i in range(-1, 2, 2):
-    axisTip = pos + wp.float32(i) * halfaxis
-    boxPoint = wp.vec3(axisTip)
-
-    n_out = wp.int32(0)
-    ax_out = wp.int32(-1)
-
-    for j in range(3):
-      if boxPoint[j] < -box_size[j]:
-        n_out += 1
-        ax_out = j
-        boxPoint[j] = -box_size[j]
-      elif boxPoint[j] > box_size[j]:
-        n_out += 1
-        ax_out = j
-        boxPoint[j] = box_size[j]
-
-    if n_out > 1:
-      continue
-
-    dist = wp.length_sq(boxPoint - axisTip)
-
-    if dist < bestdist:
-      bestdist = dist
-      bestsegmentpos = wp.float32(i)
-      cltype = -2 + i
-      clface = ax_out
-
-  # second: consider cases where an edge of the box is closest
-  clcorner = wp.int32(-123)  # which corner is the closest
-  cledge = wp.int32(-123)  # which axis
-  bestboxpos = wp.float32(0.0)
-
-  for i in range(8):
-    for j in range(3):
-      if i & (1 << j) != 0:
-        continue
-
-      c2 = wp.int32(-123)
-
-      # box_pt is the starting point (corner) on the box
-      box_pt = wp.cw_mul(
-        wp.vec3(
-          wp.where(i & 1, 1.0, -1.0),
-          wp.where(i & 2, 1.0, -1.0),
-          wp.where(i & 4, 1.0, -1.0),
-        ),
-        box_size,
-      )
-      box_pt[j] = 0.0
-
-      # find closest point between capsule and the edge
-      dif = box_pt - pos
-
-      u = -box_size[j] * dif[j]
-      v = wp.dot(halfaxis, dif)
-      ma = box_size[j] * box_size[j]
-      mb = -box_size[j] * halfaxis[j]
-      mc = capsule_half_length * capsule_half_length
-      det = ma * mc - mb * mb
-      if wp.abs(det) < MJ_MINVAL:
-        continue
-
-      idet = 1.0 / det
-      # sX : X=1 means middle of segment. X=0 or 2 one or the other end
-
-      x1 = wp.float32((mc * u - mb * v) * idet)
-      x2 = wp.float32((ma * v - mb * u) * idet)
-
-      s1 = wp.int32(1)
-      s2 = wp.int32(1)
-
-      if x1 > 1:
-        x1 = 1.0
-        s1 = 2
-        x2 = safe_div(v - mb, mc)
-      elif x1 < -1:
-        x1 = -1.0
-        s1 = 0
-        x2 = safe_div(v + mb, mc)
-
-      x2_over = x2 > 1.0
-      if x2_over or x2 < -1.0:
-        if x2_over:
-          x2 = 1.0
-          s2 = 2
-          x1 = safe_div(u - mb, ma)
-        else:
-          x2 = -1.0
-          s2 = 0
-          x1 = safe_div(u + mb, ma)
-
-        if x1 > 1:
-          x1 = 1.0
-          s1 = 2
-        elif x1 < -1:
-          x1 = -1.0
-          s1 = 0
-
-      dif -= halfaxis * x2
-      dif[j] += box_size[j] * x1
-
-      # encode relative positions of the closest points
-      ct = s1 * 3 + s2
-
-      dif_sq = wp.length_sq(dif)
-      if dif_sq < bestdist - MJ_MINVAL:
-        bestdist = dif_sq
-        bestsegmentpos = x2
-        bestboxpos = x1
-        # ct<6 means closest point on box is at lower end or middle of edge
-        c2 = ct // 6
-
-        clcorner = i + (1 << j) * c2  # index of closest box corner
-        cledge = j  # axis index of closest box edge
-        cltype = ct  # encoded collision configuration
-
-  best = wp.float32(0.0)
-
-  p = wp.vec2(pos.x, pos.y)
-  dd = wp.vec2(halfaxis.x, halfaxis.y)
-  s = wp.vec2(box_size[0], box_size[1])
-  secondpos = wp.float32(-4.0)
-
-  uu = dd.x * s.y
-  vv = dd.y * s.x
-  w_neg = dd.x * p.y - dd.y * p.x < 0
-
-  best = wp.float32(-1.0)
-
-  ee1 = uu - vv
-  ee2 = uu + vv
-
-  if wp.abs(ee1) > best:
-    best = wp.abs(ee1)
-    c1 = wp.where((ee1 < 0) == w_neg, 0, 3)
-
-  if wp.abs(ee2) > best:
-    best = wp.abs(ee2)
-    c1 = wp.where((ee2 > 0) == w_neg, 1, 2)
-
-  if cltype == -4:  # invalid type
-    return wp.vec2(MJ_MAXVAL), mat23f(), mat23f()
-
-  if cltype >= 0 and cltype // 3 != 1:  # closest to a corner of the box
-    c1 = axisdir ^ clcorner
-    # Calculate relative orientation between capsule and corner
-    # There are two possible configurations:
-    # 1. Capsule axis points toward/away from corner
-    # 2. Capsule axis aligns with a face or edge
-    if c1 != 0 and c1 != 7:  # create second contact point
-      if c1 == 1 or c1 == 2 or c1 == 4:
-        mul = 1
-      else:
-        mul = -1
-        c1 = 7 - c1
-
-      # "de" and "dp" distance from first closest point on the capsule to both ends of it
-      # mul is a direction along the capsule's axis
-
-      if c1 == 1:
-        ax = 0
-        ax1 = 1
-        ax2 = 2
-      elif c1 == 2:
-        ax = 1
-        ax1 = 2
-        ax2 = 0
-      elif c1 == 4:
-        ax = 2
-        ax1 = 0
-        ax2 = 1
-
-      if axis[ax] * axis[ax] > 0.5:  # second point along the edge of the box
-        m = 2.0 * safe_div(box_size[ax], wp.abs(halfaxis[ax]))
-        secondpos = min(1.0 - wp.float32(mul) * bestsegmentpos, m)
-      else:  # second point along a face of the box
-        # check for overshoot again
-        m = 2.0 * min(
-          safe_div(box_size[ax1], wp.abs(halfaxis[ax1])),
-          safe_div(box_size[ax2], wp.abs(halfaxis[ax2])),
-        )
-        secondpos = -min(1.0 + wp.float32(mul) * bestsegmentpos, m)
-      secondpos *= wp.float32(mul)
-
-  elif cltype >= 0 and cltype // 3 == 1:  # we are on box's edge
-    # Calculate relative orientation between capsule and edge
-    # Two possible configurations:
-    # - T configuration: c1 = 2^n (no additional contacts)
-    # - X configuration: c1 != 2^n (potential additional contacts)
-    c1 = axisdir ^ clcorner
-    c1 &= 7 - (1 << cledge)  # mask out edge axis to determine configuration
-
-    if c1 == 1 or c1 == 2 or c1 == 4:  # create second contact point
-      if cledge == 0:
-        ax1 = 1
-        ax2 = 2
-      if cledge == 1:
-        ax1 = 2
-        ax2 = 0
-      if cledge == 2:
-        ax1 = 0
-        ax2 = 1
-      ax = cledge
-
-      # find which face the capsule has a lower angle, and switch the axis
-      if wp.abs(axis[ax1]) > wp.abs(axis[ax2]):
-        ax1 = ax2
-      ax2 = 3 - ax - ax1
-
-      # mul determines direction along capsule axis for second contact point
-      if c1 & (1 << ax2):
-        mul = 1
-        secondpos = 1.0 - bestsegmentpos
-      else:
-        mul = -1
-        secondpos = 1.0 + bestsegmentpos
-
-      # now find out whether we point towards the opposite side or towards one of the sides
-      # and also find the farthest point along the capsule that is above the box
-
-      e1 = 2.0 * safe_div(box_size[ax2], wp.abs(halfaxis[ax2]))
-      secondpos = min(e1, secondpos)
-
-      if ((axisdir & (1 << ax)) != 0) == ((c1 & (1 << ax2)) != 0):
-        e2 = 1.0 - bestboxpos
-      else:
-        e2 = 1.0 + bestboxpos
-
-      e1 = box_size[ax] * safe_div(e2, wp.abs(halfaxis[ax]))
-
-      secondpos = min(e1, secondpos)
-      secondpos *= wp.float32(mul)
-
-  elif cltype < 0:
-    # similarly we handle the case when one capsule's end is closest to a face of the box
-    # and find where is the other end pointing to and clamping to the farthest point
-    # of the capsule that's above the box
-    # if the closest point is inside the box there's no need for a second point
-
-    if clface != -1:  # create second contact point
-      mul = wp.where(cltype == -3, 1, -1)
-      secondpos = 2.0
-
-      tmp1 = pos - halfaxis * wp.float32(mul)
-
-      for i in range(3):
-        if i != clface:
-          ha_r = safe_div(wp.float32(mul), halfaxis[i])
-          e1 = (box_size[i] - tmp1[i]) * ha_r
-          if 0 < e1 and e1 < secondpos:
-            secondpos = e1
-
-          e1 = (-box_size[i] - tmp1[i]) * ha_r
-          if 0 < e1 and e1 < secondpos:
-            secondpos = e1
-
-      secondpos *= wp.float32(mul)
-
-  # create sphere in original orientation at first contact point
-  s1_pos_l = pos + halfaxis * bestsegmentpos
-  s1_pos_g = box_rot @ s1_pos_l + box_pos
-
-  # collide with sphere using core function
-  dist1, pos1, normal1 = sphere_box(s1_pos_g, capsule_radius, box_pos, box_rot, box_size)
-
-  if secondpos > -3:  # secondpos was modified
-    s2_pos_l = pos + halfaxis * (secondpos + bestsegmentpos)
-    s2_pos_g = box_rot @ s2_pos_l + box_pos
-
-    # collide with sphere using core function
-    dist2, pos2, normal2 = sphere_box(s2_pos_g, capsule_radius, box_pos, box_rot, box_size)
-  else:
-    dist2 = MJ_MAXVAL
-    pos2 = wp.vec3()
-    normal2 = wp.vec3()
-
-  return (
-    wp.vec2(dist1, dist2),
-    mat23f(pos1[0], pos1[1], pos1[2], pos2[0], pos2[1], pos2[2]),
-    mat23f(normal1[0], normal1[1], normal1[2], normal2[0], normal2[1], normal2[2]),
-  )
-
-
-@wp.func
-def _tri_area_sign(p1: wp.vec2, p2: wp.vec2, p3: wp.vec2) -> float:
-  """Sign of (signed) area of planar triangle."""
-  return wp.sign((p1[0] - p3[0]) * (p2[1] - p3[1]) - (p2[0] - p3[0]) * (p1[1] - p3[1]))
-
-
-@wp.func
-def _tri_point_segment(p: wp.vec2, u: wp.vec2, v: wp.vec2) -> wp.vec2:
-  """Find nearest point to p within line segment (u, v)."""
-  uv = v - u
-  up = p - u
-
-  denom = wp.max(MJ_MINVAL, wp.dot(uv, uv))
-  a = wp.dot(uv, up) / denom
-
-  if a <= 0.0:
-    return u
-  elif a >= 1.0:
-    return v
-  else:
-    return u + a * uv
-
-
-@wp.func
-def sphere_triangle(
-  sphere_pos: wp.vec3,
-  sphere_radius: float,
-  t1: wp.vec3,
-  t2: wp.vec3,
-  t3: wp.vec3,
-  tri_radius: float,
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  """Core contact geometry calculation for sphere-triangle collision.
-
-  Port of mjraw_SphereTriangle from engine_collision_primitive.c
-
-  Args:
-    sphere_pos: Center position of the sphere.
-    sphere_radius: Radius of the sphere.
-    t1: Triangle vertex positions.
-    t2: Triangle vertex positions.
-    t3: Triangle vertex positions.
-    tri_radius: Triangle (flex element) radius.
-
-  Returns:
-    - Contact distance (MJ_MAXVAL if no collision).
-    - Contact position.
-    - Contact normal vector.
-  """
-  S = sphere_pos - t1
-  A = t2 - t1
-  B = t3 - t1
-
-  N = wp.normalize(wp.cross(A, B))
-
-  dstS = wp.dot(N, S)
-
-  P = S - dstS * N
-
-  V1 = wp.normalize(A)
-  lenA = wp.length(A)
-  V2 = wp.normalize(wp.cross(N, A))
-
-  o = wp.vec2(0.0, 0.0)
-  a = wp.vec2(lenA, 0.0)
-  b = wp.vec2(wp.dot(V1, B), wp.dot(V2, B))
-  p = wp.vec2(wp.dot(V1, P), wp.dot(V2, P))
-
-  sign1 = _tri_area_sign(p, o, a)
-  sign2 = _tri_area_sign(p, a, b)
-  sign3 = _tri_area_sign(p, b, o)
-
-  X = wp.vec3(0.0)
-  if sign1 == sign2 and sign2 == sign3:
-    X = P
-  else:
-    x0 = _tri_point_segment(p, o, a)
-    x1 = _tri_point_segment(p, a, b)
-    x2 = _tri_point_segment(p, b, o)
-
-    d0 = wp.length(p - x0)
-    d1 = wp.length(p - x1)
-    d2 = wp.length(p - x2)
-
-    if d0 < d1 and d0 < d2:
-      X = x0[0] * V1 + x0[1] * V2
-    elif d1 < d2:
-      X = x1[0] * V1 + x1[1] * V2
-    else:
-      X = x2[0] * V1 + x2[1] * V2
-
-  nrm = X - S
-  dst = wp.length(nrm)
-
-  if dst > MJ_MINVAL:
-    nrm = nrm / dst
-  else:
-    nrm = N
-
-  dist = dst - sphere_radius - tri_radius
-  pos = sphere_pos + nrm * (sphere_radius + 0.5 * dist)
-
-  return dist, pos, nrm
-
-
-@wp.func
-def box_triangle(
-  box_pos: wp.vec3,
-  box_rot: wp.mat33,
-  box_size: wp.vec3,
-  t1: wp.vec3,
-  t2: wp.vec3,
-  t3: wp.vec3,
-  tri_radius: float,
-) -> Tuple[wp.vec2, mat23f, mat23f]:
-  """Core contact geometry calculation for box-triangle collision.
-
-  Port of mjraw_BoxTriangle from engine_collision_primitive.c
-
-  Args:
-    box_pos: Center position of the box.
-    box_rot: Orientation matrix of the box.
-    box_size: Half-sizes of the box.
-    t1: Triangle vertex positions.
-    t2: Triangle vertex positions.
-    t3: Triangle vertex positions.
-    tri_radius: Triangle (flex element) radius.
-
-  Returns:
-    - wp.vec2 of distances for up to 2 contacts (MJ_MAXVAL if no collision).
-    - mat23f of contact positions (2 x vec3).
-    - mat23f of contact normals (2 x vec3).
-  """
-  dist1 = MJ_MAXVAL
-  dist2 = MJ_MAXVAL
-  pos1 = wp.vec3(0.0)
-  pos2 = wp.vec3(0.0)
-  nrm1 = wp.vec3(0.0)
-  nrm2 = wp.vec3(0.0)
-  cnt = 0
-
-  box_rotT = wp.transpose(box_rot)
-
-  for vi in range(3):
-    vert = wp.vec3(0.0)
-    if vi == 0:
-      vert = t1
-    elif vi == 1:
-      vert = t2
-    else:
-      vert = t3
-
-    diff = vert - box_pos
-    local = box_rotT @ diff
-
-    maxaxis = 0
-    maxval = wp.abs(local[0]) - box_size[0]
-    for j in range(1, 3):
-      val = wp.abs(local[j]) - box_size[j]
-      if val > maxval:
-        maxval = val
-        maxaxis = j
-
-    inside = True
-    for j in range(3):
-      if wp.abs(local[j]) > box_size[j] + tri_radius:
-        inside = False
-
-    if inside and cnt < 2:
-      nrm_local = wp.vec3(0.0)
-      if maxaxis == 0:
-        nrm_local = wp.vec3(wp.sign(local[0]), 0.0, 0.0)
-      elif maxaxis == 1:
-        nrm_local = wp.vec3(0.0, wp.sign(local[1]), 0.0)
-      else:
-        nrm_local = wp.vec3(0.0, 0.0, wp.sign(local[2]))
-
-      nrm_global = box_rot @ nrm_local
-      d = maxval - tri_radius
-      offset = tri_radius + d * 0.5
-      p = vert - nrm_global * offset
-
-      if cnt == 0:
-        dist1 = d
-        pos1 = p
-        nrm1 = nrm_global
-      else:
-        dist2 = d
-        pos2 = p
-        nrm2 = nrm_global
-      cnt += 1
-
-  for i in range(8):
-    if cnt >= 2:
-      break
-
-    vec = wp.vec3(
-      wp.where(i & 1, box_size[0], -box_size[0]),
-      wp.where(i & 2, box_size[1], -box_size[1]),
-      wp.where(i & 4, box_size[2], -box_size[2]),
-    )
-    corner = box_rot @ vec + box_pos
-
-    d, p, n = sphere_triangle(corner, 0.0, t1, t2, t3, tri_radius)
-    if d < MJ_MAXVAL:
-      if cnt == 0:
-        dist1 = d
-        pos1 = p
-        nrm1 = n
-      elif cnt == 1:
-        dist2 = d
-        pos2 = p
-        nrm2 = n
-      cnt += 1
-
-  return (
-    wp.vec2(dist1, dist2),
-    mat23f(pos1[0], pos1[1], pos1[2], pos2[0], pos2[1], pos2[2]),
-    mat23f(nrm1[0], nrm1[1], nrm1[2], nrm2[0], nrm2[1], nrm2[2]),
-  )
-
-
-@wp.func
-def capsule_triangle(
-  capsule_pos: wp.vec3,
-  capsule_axis: wp.vec3,
-  capsule_radius: float,
-  capsule_half_length: float,
-  t1: wp.vec3,
-  t2: wp.vec3,
-  t3: wp.vec3,
-  tri_radius: float,
-) -> Tuple[wp.vec2, mat23f, mat23f]:
-  """Core contact geometry calculation for capsule-triangle collision.
-
-  Port of mjraw_CapsuleTriangle from engine_collision_primitive.c
-
-  Args:
-    capsule_pos: Center position of the capsule.
-    capsule_axis: Unit axis direction of the capsule.
-    capsule_radius: Radius of the capsule.
-    capsule_half_length: Half-length of the capsule cylinder.
-    t1: Triangle vertex positions.
-    t2: Triangle vertex positions.
-    t3: Triangle vertex positions.
-    tri_radius: Triangle (flex element) radius.
-
-  Returns:
-    - wp.vec2 of distances for up to 2 contacts (MJ_MAXVAL if no collision).
-    - mat23f of contact positions (2 x vec3).
-    - mat23f of contact normals (2 x vec3).
-  """
-  dist1 = MJ_MAXVAL
-  dist2 = MJ_MAXVAL
-  pos1 = wp.vec3(0.0)
-  pos2 = wp.vec3(0.0)
-  nrm1 = wp.vec3(0.0)
-  nrm2 = wp.vec3(0.0)
-  cnt = 0
-
-  p1 = capsule_pos - capsule_axis * capsule_half_length
-  p2 = capsule_pos + capsule_axis * capsule_half_length
-
-  d, p, n = sphere_triangle(p1, capsule_radius, t1, t2, t3, tri_radius)
-  if d < MJ_MAXVAL:
-    dist1 = d
-    pos1 = p
-    nrm1 = n
-    cnt = 1
-
-  d, p, n = sphere_triangle(p2, capsule_radius, t1, t2, t3, tri_radius)
-  if d < MJ_MAXVAL and cnt < 2:
-    if cnt == 0:
-      dist1 = d
-      pos1 = p
-      nrm1 = n
-    else:
-      dist2 = d
-      pos2 = p
-      nrm2 = n
-    cnt += 1
-
-  ab = p2 - p1
-  ab_len_sq = 4.0 * capsule_half_length * capsule_half_length
-
-  for vi in range(3):
-    if cnt >= 2:
-      break
-
-    vert = wp.vec3(0.0)
-    if vi == 0:
-      vert = t1
-    elif vi == 1:
-      vert = t2
-    else:
-      vert = t3
-
-    vec = vert - p1
-    t_param = wp.dot(vec, ab) / wp.max(MJ_MINVAL, ab_len_sq)
-
-    if t_param > MJ_MINVAL and t_param < 1.0 - MJ_MINVAL:
-      closest = p1 + ab * t_param
-      diff = vert - closest
-      dist_raw = wp.length(diff)
-
-      if dist_raw > MJ_MINVAL:
-        nrm = diff / dist_raw
-        d = dist_raw - capsule_radius - tri_radius
-        p = (closest + vert + nrm * (capsule_radius - tri_radius)) * 0.5
-
-        if cnt == 0:
-          dist1 = d
-          pos1 = p
-          nrm1 = nrm
-        else:
-          dist2 = d
-          pos2 = p
-          nrm2 = nrm
-        cnt += 1
-
-  return (
-    wp.vec2(dist1, dist2),
-    mat23f(pos1[0], pos1[1], pos1[2], pos2[0], pos2[1], pos2[2]),
-    mat23f(nrm1[0], nrm1[1], nrm1[2], nrm2[0], nrm2[1], nrm2[2]),
-  )
-
-
-@wp.func
-def cylinder_triangle(
-  cylinder_pos: wp.vec3,
-  cylinder_axis: wp.vec3,
-  cylinder_radius: float,
-  cylinder_half_height: float,
-  t1: wp.vec3,
-  t2: wp.vec3,
-  t3: wp.vec3,
-  tri_radius: float,
-) -> Tuple[wp.vec2, mat23f, mat23f]:
-  """Core contact geometry calculation for cylinder-triangle collision.
-
-  Args:
-    cylinder_pos: Center position of the cylinder.
-    cylinder_axis: Unit axis direction of the cylinder.
-    cylinder_radius: Radius of the cylinder.
-    cylinder_half_height: Half-height of the cylinder.
-    t1: Triangle vertex positions.
-    t2: Triangle vertex positions.
-    t3: Triangle vertex positions.
-    tri_radius: Triangle (flex element) radius.
-
-  Returns:
-    - wp.vec2 of distances for up to 2 contacts (MJ_MAXVAL if no collision).
-    - mat23f of contact positions (2 x vec3).
-    - mat23f of contact normals (2 x vec3).
-  """
-  dist1 = MJ_MAXVAL
-  dist2 = MJ_MAXVAL
-  pos1 = wp.vec3(0.0)
-  pos2 = wp.vec3(0.0)
-  nrm1 = wp.vec3(0.0)
-  nrm2 = wp.vec3(0.0)
-  cnt = int(0)
-
-  p1 = cylinder_pos - cylinder_axis * cylinder_half_height
-  p2 = cylinder_pos + cylinder_axis * cylinder_half_height
-
-  ab = p2 - p1
-  ab_len_sq = 4.0 * cylinder_half_height * cylinder_half_height
-
-  for vi in range(3):
-    if cnt >= 2:
-      break
-
-    vert = wp.vec3(0.0)
-    if vi == 0:
-      vert = t1
-    elif vi == 1:
-      vert = t2
-    else:
-      vert = t3
-
-    vec = vert - p1
-    t_param = wp.dot(vec, ab) / wp.max(MJ_MINVAL, ab_len_sq)
-
-    if t_param > MJ_MINVAL and t_param < 1.0 - MJ_MINVAL:
-      closest = p1 + ab * t_param
-      diff = vert - closest
-      dist_raw = wp.length(diff)
-
-      if dist_raw < cylinder_radius + tri_radius:
-        if dist_raw > MJ_MINVAL:
-          nrm = diff / dist_raw
-          d = dist_raw - cylinder_radius - tri_radius
-          p = (closest + vert + nrm * (cylinder_radius - tri_radius)) * 0.5
-        else:
-          dist_to_side = cylinder_radius
-          dist_to_p2 = (1.0 - t_param) * wp.sqrt(ab_len_sq)
-          dist_to_p1 = t_param * wp.sqrt(ab_len_sq)
-
-          if dist_to_p2 < dist_to_side and dist_to_p2 < dist_to_p1:
-            nrm = cylinder_axis
-            d = -dist_to_p2 - tri_radius
-            p = vert
-          elif dist_to_p1 < dist_to_side:
-            nrm = -cylinder_axis
-            d = -dist_to_p1 - tri_radius
-            p = vert
-          else:
-            tri_normal = wp.normalize(wp.cross(t2 - t1, t3 - t1))
-            nrm = tri_normal
-            d = -cylinder_radius - tri_radius
-            p = closest
-
-        if cnt == 0:
-          dist1 = d
-          pos1 = p
-          nrm1 = nrm
-        else:
-          dist2 = d
-          pos2 = p
-          nrm2 = nrm
-        cnt += 1
-    elif t_param <= MJ_MINVAL:
-      diff = vert - p1
-      signed_dist = wp.dot(diff, cylinder_axis)
-      perp = diff - cylinder_axis * signed_dist
-      perp_len = wp.length(perp)
-
-      if perp_len < cylinder_radius:
-        d = -signed_dist - tri_radius
-        nrm = -cylinder_axis
-        p = vert - nrm * (tri_radius + d * 0.5)
-        if cnt == 0:
-          dist1 = d
-          pos1 = p
-          nrm1 = nrm
-        else:
-          dist2 = d
-          pos2 = p
-          nrm2 = nrm
-        cnt += 1
-      elif perp_len < cylinder_radius + tri_radius:
-        edge_dir = perp / perp_len
-        edge_point = p1 + edge_dir * cylinder_radius
-        diff_to_edge = vert - edge_point
-        dist_raw = wp.length(diff_to_edge)
-        if dist_raw > MJ_MINVAL:
-          nrm = diff_to_edge / dist_raw
-          d = dist_raw - tri_radius
-          p = vert - nrm * (tri_radius + d * 0.5)
-          if cnt == 0:
-            dist1 = d
-            pos1 = p
-            nrm1 = nrm
-          else:
-            dist2 = d
-            pos2 = p
-            nrm2 = nrm
-          cnt += 1
-    else:
-      diff = vert - p2
-      signed_dist = wp.dot(diff, cylinder_axis)
-      perp = diff - cylinder_axis * signed_dist
-      perp_len = wp.length(perp)
-
-      if perp_len < cylinder_radius:
-        d = signed_dist - tri_radius
-        nrm = cylinder_axis
-        p = vert - nrm * (tri_radius + d * 0.5)
-        if cnt == 0:
-          dist1 = d
-          pos1 = p
-          nrm1 = nrm
-        else:
-          dist2 = d
-          pos2 = p
-          nrm2 = nrm
-        cnt += 1
-      elif perp_len < cylinder_radius + tri_radius:
-        edge_dir = perp / perp_len
-        edge_point = p2 + edge_dir * cylinder_radius
-        diff_to_edge = vert - edge_point
-        dist_raw = wp.length(diff_to_edge)
-        if dist_raw > MJ_MINVAL:
-          nrm = diff_to_edge / dist_raw
-          d = dist_raw - tri_radius
-          p = vert - nrm * (tri_radius + d * 0.5)
-          if cnt == 0:
-            dist1 = d
-            pos1 = p
-            nrm1 = nrm
-          else:
-            dist2 = d
-            pos2 = p
-            nrm2 = nrm
-          cnt += 1
-
-  # edge-vs-segment checks
-  for edge_idx in range(3):
-    if cnt >= 2:
-      break
-    u = t1 if edge_idx == 0 else (t2 if edge_idx == 1 else t3)
-    v = t2 if edge_idx == 0 else (t3 if edge_idx == 1 else t1)
-
-    closest_axis, closest_edge = closest_segment_to_segment_points(p1, p2, u, v)
-    diff = closest_edge - closest_axis
-    dist_raw = wp.length(diff)
-
-    if dist_raw < cylinder_radius + tri_radius:
-      if dist_raw > MJ_MINVAL:
-        nrm = diff / dist_raw
-        d = dist_raw - cylinder_radius - tri_radius
-        p = (closest_axis + closest_edge + nrm * (cylinder_radius - tri_radius)) * 0.5
-
-        if cnt == 0:
-          dist1 = d
-          pos1 = p
-          nrm1 = nrm
-        else:
-          dist2 = d
-          pos2 = p
-          nrm2 = nrm
-        cnt += 1
-
-  return (
-    wp.vec2(dist1, dist2),
-    mat23f(pos1[0], pos1[1], pos1[2], pos2[0], pos2[1], pos2[2]),
-    mat23f(nrm1[0], nrm1[1], nrm1[2], nrm2[0], nrm2[1], nrm2[2]),
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_sdf.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_sdf.py
deleted file mode 100644
index 4feb854c..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_sdf.py
+++ /dev/null
@@ -1,1082 +0,0 @@
-# Copyright 2025 The Physics-Next Project Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import CollisionContext
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import contact_params
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import geom_collision_pair
-from mujoco.mjx.third_party.mujoco_warp._src.collision_core import write_contact
-from mujoco.mjx.third_party.mujoco_warp._src.math import make_frame
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_mesh
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec8
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec8i
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec_pluginattr
-from mujoco.mjx.third_party.mujoco_warp._src.util_misc import halton
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.struct
-class OptimizationParams:
-  rel_mat: wp.mat33
-  rel_pos: wp.vec3
-  attr1: vec_pluginattr
-  attr2: vec_pluginattr
-
-
-@wp.struct
-class AABB:
-  min: wp.vec3
-  max: wp.vec3
-
-
-@wp.struct
-class VolumeData:
-  center: wp.vec3
-  half_size: wp.vec3
-  oct_aabb: wp.array2d[wp.vec3]
-  oct_child: wp.array[vec8i]
-  oct_coeff: wp.array[vec8]
-  root: int = 0
-  valid: bool = False
-
-
-@wp.struct
-class MeshData:
-  nmeshface: int
-  mesh_vertadr: wp.array[int]
-  mesh_vert: wp.array[wp.vec3]
-  mesh_faceadr: wp.array[int]
-  mesh_face: wp.array[wp.vec3i]
-  data_id: int
-  pos: wp.vec3
-  mat: wp.mat33
-  size: wp.vec3
-  pnt: wp.vec3
-  vec: wp.vec3
-  valid: bool = False
-
-
-@wp.func
-def get_sdf_params(
-  # Model:
-  oct_child: wp.array[vec8i],
-  oct_aabb: wp.array2d[wp.vec3],
-  oct_coeff: wp.array[vec8],
-  mesh_octadr: wp.array[int],
-  plugin: wp.array[int],
-  plugin_attr: wp.array[vec_pluginattr],
-  # In:
-  g_type: int,
-  g_size: wp.vec3,
-  plugin_id: int,
-  mesh_id: int,
-) -> Tuple[vec_pluginattr, int, VolumeData, MeshData]:
-  # default attributes from geom size, first 3 values copied
-  attributes = vec_pluginattr()
-  attributes[0] = g_size[0]
-  attributes[1] = g_size[1]
-  attributes[2] = g_size[2]
-  plugin_index = -1
-  volume_data = VolumeData()
-
-  if g_type == GeomType.SDF and plugin_id != -1:
-    attributes = plugin_attr[plugin_id]
-    plugin_index = plugin[plugin_id]
-
-  elif g_type == GeomType.SDF and mesh_id != -1:
-    octadr = mesh_octadr[mesh_id]
-    volume_data.center = oct_aabb[octadr, 0]
-    volume_data.half_size = oct_aabb[octadr, 1]
-    volume_data.root = octadr
-    volume_data.oct_aabb = oct_aabb
-    volume_data.oct_child = oct_child
-    volume_data.oct_coeff = oct_coeff
-    volume_data.valid = True
-
-  elif g_type == GeomType.MESH and mesh_id != -1 and mesh_octadr[mesh_id] != -1:
-    octadr = mesh_octadr[mesh_id]
-    volume_data.center = oct_aabb[octadr, 0]
-    volume_data.half_size = oct_aabb[octadr, 1]
-    volume_data.root = octadr
-    volume_data.oct_aabb = oct_aabb
-    volume_data.oct_child = oct_child
-    volume_data.oct_coeff = oct_coeff
-    volume_data.valid = True
-
-  return attributes, plugin_index, volume_data, MeshData()
-
-
-@wp.func
-def transform_aabb(aabb_pos: wp.vec3, aabb_size: wp.vec3, pos: wp.vec3, ori: wp.mat33) -> AABB:
-  aabb = AABB()
-  aabb.max = wp.vec3(-1000000000.0, -1000000000.0, -1000000000.0)
-  aabb.min = wp.vec3(1000000000.0, 1000000000.0, 1000000000.0)
-  for i in range(8):
-    vec = wp.vec3(
-      aabb_size.x * (1.0 if (i & 1) else -1.0),
-      aabb_size.y * (1.0 if (i & 2) else -1.0),
-      aabb_size.z * (1.0 if (i & 4) else -1.0),
-    )
-    frame_vec = ori * (vec + aabb_pos) + pos
-    aabb.min = wp.min(aabb.min, frame_vec)
-    aabb.max = wp.max(aabb.max, frame_vec)
-  return aabb
-
-
-@wp.func
-def radial_field(a: wp.vec3, x: wp.vec3, size: wp.vec3) -> wp.vec3:
-  field = wp.cw_div(-size, a)
-  field = wp.normalize(field)
-  field[0] *= wp.sign(x[0])
-  field[1] *= wp.sign(x[1])
-  field[2] *= wp.sign(x[2])
-  return field
-
-
-@wp.func
-def sphere(p: wp.vec3, size: wp.vec3) -> float:
-  return wp.length(p) - size[0]
-
-
-@wp.func
-def box(p: wp.vec3, size: wp.vec3) -> float:
-  a = wp.abs(p) - size
-  if a[0] >= 0 or a[1] >= 0 or a[2] >= 0:
-    z = wp.vec3(0.0, 0.0, 0.0)
-    b = wp.max(a, z)
-    return wp.norm_l2(b) + wp.min(wp.max(a), 0.0)
-  b = radial_field(a, p, size)
-  t = -wp.cw_div(a, wp.abs(b))
-  return -wp.min(t) * wp.norm_l2(b)
-
-
-@wp.func
-def ellipsoid(p: wp.vec3, size: wp.vec3) -> float:
-  scaled_p = wp.vec3(p[0] / size[0], p[1] / size[1], p[2] / size[2])
-  k0 = wp.length(scaled_p)
-  k1 = wp.length(wp.vec3(p[0] / (size[0] ** 2.0), p[1] / (size[1] ** 2.0), p[2] / (size[2] ** 2.0)))
-  if k1 != 0.0:
-    denom = k1
-  else:
-    denom = 1e-12
-  return k0 * (k0 - 1.0) / denom
-
-
-@wp.func
-def capsule(p: wp.vec3, size: wp.vec3) -> float:
-  r = size[0]
-  h = size[1]
-  pz_clamped = wp.clamp(p[2], -h, h)
-  diff = wp.vec3(p[0], p[1], p[2] - pz_clamped)
-  return wp.length(diff) - r
-
-
-@wp.func
-def cylinder(p: wp.vec3, size: wp.vec3) -> float:
-  r = size[0]
-  h = size[1]
-  dx = wp.length(wp.vec2(p[0], p[1])) - r
-  dy = wp.abs(p[2]) - h
-  return wp.min(wp.max(dx, dy), 0.0) + wp.length(wp.vec2(wp.max(dx, 0.0), wp.max(dy, 0.0)))
-
-
-@wp.func
-def grad_sphere(p: wp.vec3) -> wp.vec3:
-  c = wp.length(p)
-  if c > 1e-9:
-    return p / c
-  else:
-    return wp.vec3(0.0)
-
-
-@wp.func
-def grad_box(p: wp.vec3, size: wp.vec3) -> wp.vec3:
-  a = wp.abs(p) - size
-  if wp.max(a) < 0:
-    return radial_field(a, p, size)
-  z = wp.vec3(0.0, 0.0, 0.0)
-  b = wp.max(a, z)
-  c = wp.norm_l2(b)
-  g = wp.cw_mul(wp.div(b, c), wp.cw_div(p, wp.abs(p)))
-  if a[0] <= 0:
-    g[0] = 0.0
-  if a[1] <= 0:
-    g[1] = 0.0
-  if a[2] <= 0:
-    g[2] = 0.0
-  return g
-
-
-@wp.func
-def grad_ellipsoid(p: wp.vec3, size: wp.vec3) -> wp.vec3:
-  a = wp.vec3(p[0] / size[0], p[1] / size[1], p[2] / size[2])
-  b = wp.vec3(a[0] / size[0], a[1] / size[1], a[2] / size[2])
-  k0 = wp.length(a)
-  k1 = wp.length(b)
-  invK0 = 1.0 / k0
-  invK1 = 1.0 / k1
-  gk0 = b * invK0
-  gk1 = wp.vec3(
-    b[0] * invK1 / (size[0] * size[0]),
-    b[1] * invK1 / (size[1] * size[1]),
-    b[2] * invK1 / (size[2] * size[2]),
-  )
-  df_dk0 = (2.0 * k0 - 1.0) * invK1
-  df_dk1 = k0 * (k0 - 1.0) * invK1 * invK1
-  raw_grad = gk0 * df_dk0 - gk1 * df_dk1
-  return raw_grad / wp.length(raw_grad)
-
-
-@wp.func
-def grad_capsule(p: wp.vec3, size: wp.vec3) -> wp.vec3:
-  h = size[1]
-  pz_clamped = wp.clamp(p[2], -h, h)
-  diff = wp.vec3(p[0], p[1], p[2] - pz_clamped)
-  c = wp.length(diff)
-  if c > MJ_MINVAL:
-    return diff / c
-  else:
-    return wp.vec3(0.0)
-
-
-@wp.func
-def grad_cylinder(p: wp.vec3, size: wp.vec3) -> wp.vec3:
-  r = size[0]
-  h = size[1]
-
-  radial_dist = wp.length(wp.vec2(p[0], p[1]))
-  if radial_dist > MJ_MINVAL:
-    u = wp.vec3(p[0] / radial_dist, p[1] / radial_dist, 0.0)
-  else:
-    u = wp.vec3(0.0)
-
-  w = wp.vec3(0.0, 0.0, wp.sign(p[2]))
-
-  dx = radial_dist - r
-  dy = wp.abs(p[2]) - h
-
-  if dx > 0.0 and dy > 0.0:
-    v = wp.vec2(dx, dy)
-    len_v = wp.length(v)
-    if len_v > MJ_MINVAL:
-      return u * (dx / len_v) + w * (dy / len_v)
-    else:
-      return wp.vec3(0.0)
-  elif dx > 0.0:
-    return u
-  elif dy > 0.0:
-    return w
-  else:
-    if dx > dy:
-      return u
-    else:
-      return w
-
-
-@wp.func
-def user_sdf(p: wp.vec3, attr: vec_pluginattr, sdf_type: int) -> float:
-  """User-defined SDF function.
-
-  Access attributes via attr[i] where i is the attribute index (0 to _NPLUGINATTR-1).
-  """
-  wp.printf("ERROR: user_sdf function must be implemented by user code\n")
-  return 0.0
-
-
-@wp.func
-def user_sdf_grad(p: wp.vec3, attr: vec_pluginattr, sdf_type: int) -> wp.vec3:
-  """User-defined SDF gradient function.
-
-  Access attributes via attr[i] where i is the attribute index (0 to _NPLUGINATTR-1).
-  """
-  wp.printf("ERROR: user_sdf_grad function must be implemented by user code\n")
-  return wp.vec3(0.0)
-
-
-@wp.func
-def find_oct(
-  oct_child: wp.array[vec8i], oct_aabb: wp.array2d[wp.vec3], p: wp.vec3, grad: bool, root: int
-) -> Tuple[int, Tuple[vec8, vec8, vec8]]:
-  stack = root
-  niter = int(100)
-  rx = vec8(0.0)
-  ry = vec8(0.0)
-  rz = vec8(0.0)
-  eps = 1e-6
-
-  while niter > 0:
-    niter -= 1
-    node = stack
-
-    if node == -1:
-      wp.printf("ERROR: Invalid node number\n")
-      return -1, (rx, ry, rz)
-
-    vmin = oct_aabb[node, 0] - oct_aabb[node, 1]
-    vmax = oct_aabb[node, 0] + oct_aabb[node, 1]
-
-    if (
-      p[0] + eps < vmin[0]
-      or p[0] - eps > vmax[0]
-      or p[1] + eps < vmin[1]
-      or p[1] - eps > vmax[1]
-      or p[2] + eps < vmin[2]
-      or p[2] - eps > vmax[2]
-    ):
-      continue
-
-    coord = wp.cw_div(p - vmin, vmax - vmin)
-
-    # check if the node is a leaf
-    # child indices are relative to root (mesh_octadr offset)
-    child0 = oct_child[node][0]
-    # Evaluate this hot leaf predicate eagerly to avoid branch-heavy codegen.
-    if (
-      int(child0 == -1)
-      & int(oct_child[node][1] == -1)
-      & int(oct_child[node][2] == -1)
-      & int(oct_child[node][3] == -1)
-      & int(oct_child[node][4] == -1)
-      & int(oct_child[node][5] == -1)
-      & int(oct_child[node][6] == -1)
-      & int(oct_child[node][7] == -1)
-    ) != 0:
-      for j in range(8):
-        if not grad:
-          rx[j] = (
-            (coord[0] if j & 1 else 1.0 - coord[0])
-            * (coord[1] if j & 2 else 1.0 - coord[1])
-            * (coord[2] if j & 4 else 1.0 - coord[2])
-          )
-        else:
-          rx[j] = (1.0 if j & 1 else -1.0) * (coord[1] if j & 2 else 1.0 - coord[1]) * (coord[2] if j & 4 else 1.0 - coord[2])
-          ry[j] = (coord[0] if j & 1 else 1.0 - coord[0]) * (1.0 if j & 2 else -1.0) * (coord[2] if j & 4 else 1.0 - coord[2])
-          rz[j] = (coord[0] if j & 1 else 1.0 - coord[0]) * (coord[1] if j & 2 else 1.0 - coord[1]) * (1.0 if j & 4 else -1.0)
-      return node, (rx, ry, rz)
-
-    # compute which of 8 children to visit next
-    # child indices are stored relative to mesh_octadr, add root offset
-    x = 0 if coord[0] < 0.5 else 1
-    y = 0 if coord[1] < 0.5 else 1
-    z = 0 if coord[2] < 0.5 else 1
-    child = oct_child[node][4 * z + 2 * y + x]
-    stack = child + root if child != -1 else -1
-
-  wp.print("ERROR: Node not found\n")
-  return -1, (rx, ry, rz)
-
-
-@wp.func
-def box_project(center: wp.vec3, half_size: wp.vec3, xyz: wp.vec3) -> Tuple[float, wp.vec3]:
-  r = xyz - center
-  q = wp.vec3(wp.abs(r[0]) - half_size[0], wp.abs(r[1]) - half_size[1], wp.abs(r[2]) - half_size[2])
-
-  if q[0] <= 0.0 and q[1] <= 0.0 and q[2] <= 0.0:
-    return 0.0, xyz
-
-  else:
-    dist_sqr = 0.0
-    eps = 1e-4
-    point = wp.vec3(xyz[0], xyz[1], xyz[2])
-
-    if q[0] >= 0.0:
-      dist_sqr += q[0] * q[0]
-      if r[0] > 0.0:
-        point = wp.vec3(point[0] - (q[0] + eps), point[1], point[2])
-      else:
-        point = wp.vec3(point[0] + (q[0] + eps), point[1], point[2])
-
-    if q[1] >= 0.0:
-      dist_sqr += q[1] * q[1]
-      if r[1] > 0.0:
-        point = wp.vec3(point[0], point[1] - (q[1] + eps), point[2])
-      else:
-        point = wp.vec3(point[0], point[1] + (q[1] + eps), point[2])
-
-    if q[2] >= 0.0:
-      dist_sqr += q[2] * q[2]
-      if r[2] > 0.0:
-        point = wp.vec3(point[0], point[1], point[2] - (q[2] + eps))
-      else:
-        point = wp.vec3(point[0], point[1], point[2] + (q[2] + eps))
-
-    return wp.sqrt(dist_sqr), point
-
-
-@wp.func
-def sample_volume_sdf(xyz: wp.vec3, volume_data: VolumeData) -> float:
-  dist0, point = box_project(volume_data.center, volume_data.half_size, xyz)
-  node, weights = find_oct(volume_data.oct_child, volume_data.oct_aabb, point, grad=False, root=volume_data.root)
-  return dist0 + wp.dot(weights[0], volume_data.oct_coeff[node])
-
-
-@wp.func
-def sample_volume_grad(xyz: wp.vec3, volume_data: VolumeData) -> wp.vec3:
-  dist0, point = box_project(volume_data.center, volume_data.half_size, xyz)
-  if dist0 > 0:
-    h = 1e-4
-    dx = wp.vec3(h, 0.0, 0.0)
-    dy = wp.vec3(0.0, h, 0.0)
-    dz = wp.vec3(0.0, 0.0, h)
-    f = sample_volume_sdf(xyz, volume_data)
-    grad_x = (sample_volume_sdf(xyz + dx, volume_data) - f) / h
-    grad_y = (sample_volume_sdf(xyz + dy, volume_data) - f) / h
-    grad_z = (sample_volume_sdf(xyz + dz, volume_data) - f) / h
-    return wp.vec3(grad_x, grad_y, grad_z)
-  node, weights = find_oct(volume_data.oct_child, volume_data.oct_aabb, point, grad=True, root=volume_data.root)
-  grad_x = wp.dot(weights[0], volume_data.oct_coeff[node])
-  grad_y = wp.dot(weights[1], volume_data.oct_coeff[node])
-  grad_z = wp.dot(weights[2], volume_data.oct_coeff[node])
-  return wp.vec3(grad_x, grad_y, grad_z)
-
-
-@wp.func
-def sdf(type: int, p: wp.vec3, attr: vec_pluginattr, sdf_type: int, volume_data: VolumeData, mesh_data: MeshData) -> float:
-  # extract first 3 elements as vec3 for primitive sdf functions
-  attr_vec3 = wp.vec3(attr[0], attr[1], attr[2])
-  if type == GeomType.PLANE:
-    return p[2]
-  elif type == GeomType.SPHERE:
-    return sphere(p, attr_vec3)
-  elif type == GeomType.CAPSULE:
-    return capsule(p, attr_vec3)
-  elif type == GeomType.CYLINDER:
-    return cylinder(p, attr_vec3)
-  elif type == GeomType.BOX:
-    return box(p, attr_vec3)
-  elif type == GeomType.ELLIPSOID:
-    return ellipsoid(p, attr_vec3)
-  elif type == GeomType.MESH and mesh_data.valid:
-    mesh_data.pnt = p
-    mesh_data.vec = -wp.normalize(p)
-    dist, normal = ray_mesh(
-      mesh_data.nmeshface,
-      mesh_data.mesh_vertadr,
-      mesh_data.mesh_faceadr,
-      mesh_data.mesh_vert,
-      mesh_data.mesh_face,
-      mesh_data.data_id,
-      mesh_data.pos,
-      mesh_data.mat,
-      mesh_data.size,
-      mesh_data.pnt,
-      mesh_data.vec,
-    )
-    if dist > wp.norm_l2(p):
-      dist, normal = ray_mesh(
-        mesh_data.nmeshface,
-        mesh_data.mesh_vertadr,
-        mesh_data.mesh_faceadr,
-        mesh_data.mesh_vert,
-        mesh_data.mesh_face,
-        mesh_data.data_id,
-        mesh_data.pos,
-        mesh_data.mat,
-        mesh_data.size,
-        mesh_data.pnt,
-        -mesh_data.vec,
-      )
-      return -dist
-    return dist
-  elif type == GeomType.SDF:
-    if sdf_type == -1:
-      return sample_volume_sdf(p, volume_data)
-    else:
-      return user_sdf(p, attr, sdf_type)
-  elif type == GeomType.MESH and volume_data.valid:
-    return sample_volume_sdf(p, volume_data)
-  wp.printf("ERROR: SDF type not implemented\n")
-  return 0.0
-
-
-@wp.func
-def sdf_grad(
-  type: int, p: wp.vec3, attr: vec_pluginattr, sdf_type: int, volume_data: VolumeData, mesh_data: MeshData
-) -> wp.vec3:
-  # extract first 3 elements as vec3 for primitive sdf functions
-  attr_vec3 = wp.vec3(attr[0], attr[1], attr[2])
-  if type == GeomType.PLANE:
-    grad = wp.vec3(0.0, 0.0, 1.0)
-    return grad
-  elif type == GeomType.SPHERE:
-    return grad_sphere(p)
-  elif type == GeomType.CAPSULE:
-    return grad_capsule(p, attr_vec3)
-  elif type == GeomType.CYLINDER:
-    return grad_cylinder(p, attr_vec3)
-  elif type == GeomType.BOX:
-    return grad_box(p, attr_vec3)
-  elif type == GeomType.ELLIPSOID:
-    return grad_ellipsoid(p, attr_vec3)
-  elif type == GeomType.MESH and mesh_data.valid:
-    mesh_data.pnt = p
-    mesh_data.vec = -wp.normalize(p)
-    dist, normal = ray_mesh(
-      mesh_data.nmeshface,
-      mesh_data.mesh_vertadr,
-      mesh_data.mesh_faceadr,
-      mesh_data.mesh_vert,
-      mesh_data.mesh_face,
-      mesh_data.data_id,
-      mesh_data.pos,
-      mesh_data.mat,
-      mesh_data.size,
-      mesh_data.pnt,
-      mesh_data.vec,
-    )
-    if dist > wp.norm_l2(p):
-      return wp.vec3(1.0)
-    else:
-      return wp.vec3(-1.0)
-
-  elif type == GeomType.SDF:
-    if sdf_type == -1:
-      return sample_volume_grad(p, volume_data)
-    else:
-      return user_sdf_grad(p, attr, sdf_type)
-  elif type == GeomType.MESH and volume_data.valid:
-    return sample_volume_grad(p, volume_data)
-  wp.printf("ERROR: SDF grad type not implemented\n")
-  return wp.vec3(0.0)
-
-
-@wp.func
-def clearance(
-  # In:
-  type1: int,
-  p1: wp.vec3,
-  p2: wp.vec3,
-  s1: vec_pluginattr,
-  s2: vec_pluginattr,
-  sdf_type1: int,
-  sdf_type2: int,
-  sfd_intersection: bool,
-  volume_data1: VolumeData,
-  volume_data2: VolumeData,
-  mesh_data1: MeshData,
-  mesh_data2: MeshData,
-) -> float:
-  sdf1 = sdf(type1, p1, s1, sdf_type1, volume_data1, mesh_data1)
-  sdf2 = sdf(GeomType.SDF, p2, s2, sdf_type2, volume_data2, mesh_data2)
-  if sfd_intersection:
-    return wp.max(sdf1, sdf2)
-  else:
-    return sdf1 + sdf2 + wp.abs(wp.max(sdf1, sdf2))
-
-
-@wp.func
-def compute_grad(
-  # In:
-  type1: int,
-  p1: wp.vec3,
-  p2: wp.vec3,
-  params: OptimizationParams,
-  sdf_type1: int,
-  sdf_type2: int,
-  sfd_intersection: bool,
-  volume_data1: VolumeData,
-  volume_data2: VolumeData,
-  mesh_data1: MeshData,
-  mesh_data2: MeshData,
-) -> wp.vec3:
-  A = sdf(type1, p1, params.attr1, sdf_type1, volume_data1, mesh_data1)
-  B = sdf(GeomType.SDF, p2, params.attr2, sdf_type2, volume_data2, mesh_data2)
-  grad1 = sdf_grad(type1, p1, params.attr1, sdf_type1, volume_data1, mesh_data1)
-  grad2 = sdf_grad(GeomType.SDF, p2, params.attr2, sdf_type2, volume_data2, mesh_data2)
-  grad1_transformed = wp.transpose(params.rel_mat) * grad1
-  if sfd_intersection:
-    if A > B:
-      return grad1_transformed
-    else:
-      return grad2
-  else:
-    gradient = grad2 + grad1_transformed
-    max_val = wp.max(A, B)
-    if A > B:
-      max_grad = grad1_transformed
-    else:
-      max_grad = grad2
-    sign = wp.sign(max_val)
-    gradient += max_grad * sign
-    return gradient
-
-
-@wp.func
-def gradient_step(
-  # In:
-  type1: int,
-  x: wp.vec3,
-  params: OptimizationParams,
-  sdf_type1: int,
-  sdf_type2: int,
-  niter: int,
-  sfd_intersection: bool,
-  volume_data1: VolumeData,
-  volume_data2: VolumeData,
-  mesh_data1: MeshData,
-  mesh_data2: MeshData,
-) -> Tuple[float, wp.vec3]:
-  amin = 1e-4
-  rho = 0.5
-  c = 0.1
-  dist = float(1e10)
-  for i in range(niter):
-    alpha = float(2.0)
-    x2 = wp.vec3(x[0], x[1], x[2])
-    x1 = params.rel_mat * x2 + params.rel_pos
-    grad = compute_grad(
-      type1, x1, x2, params, sdf_type1, sdf_type2, sfd_intersection, volume_data1, volume_data2, mesh_data1, mesh_data2
-    )
-    dist0 = clearance(
-      type1,
-      x1,
-      x,
-      params.attr1,
-      params.attr2,
-      sdf_type1,
-      sdf_type2,
-      sfd_intersection,
-      volume_data1,
-      volume_data2,
-      mesh_data1,
-      mesh_data2,
-    )
-    grad_dot = wp.dot(grad, grad)
-    if grad_dot < 1e-12:
-      return dist0, x
-    wolfe = -c * alpha * grad_dot
-    while True:
-      alpha *= rho
-      wolfe *= rho
-      x = x2 - grad * alpha
-      x1 = params.rel_mat * x + params.rel_pos
-      dist = clearance(
-        type1,
-        x1,
-        x,
-        params.attr1,
-        params.attr2,
-        sdf_type1,
-        sdf_type2,
-        sfd_intersection,
-        volume_data1,
-        volume_data2,
-        mesh_data1,
-        mesh_data2,
-      )
-      if alpha <= amin or (dist - dist0) <= wolfe:
-        break
-    if dist > dist0:
-      return dist, x
-  return dist, x
-
-
-@wp.func
-def gradient_descent(
-  # In:
-  type1: int,
-  x0_initial: wp.vec3,
-  attr1: vec_pluginattr,
-  attr2: vec_pluginattr,
-  pos1: wp.vec3,
-  rot1: wp.mat33,
-  pos2: wp.vec3,
-  rot2: wp.mat33,
-  sdf_type1: int,
-  sdf_type2: int,
-  sdf_iterations: int,
-  volume_data1: VolumeData,
-  volume_data2: VolumeData,
-  mesh_data1: MeshData,
-  mesh_data2: MeshData,
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  params = OptimizationParams()
-  params.rel_mat = wp.transpose(rot1) * rot2
-  params.rel_pos = wp.transpose(rot1) * (pos2 - pos1)
-  params.attr1 = attr1
-  params.attr2 = attr2
-  dist, x = gradient_step(
-    type1, x0_initial, params, sdf_type1, sdf_type2, sdf_iterations, False, volume_data1, volume_data2, mesh_data1, mesh_data2
-  )
-  dist, x = gradient_step(type1, x, params, sdf_type1, sdf_type2, 1, True, volume_data1, volume_data2, mesh_data1, mesh_data2)
-  x_1 = params.rel_mat * x + params.rel_pos
-  grad1 = sdf_grad(type1, x_1, params.attr1, sdf_type1, volume_data1, mesh_data1)
-  grad1 = wp.transpose(params.rel_mat) * grad1
-  grad1 = wp.normalize(grad1)
-  grad2 = sdf_grad(GeomType.SDF, x, params.attr2, sdf_type2, volume_data2, mesh_data2)
-  grad2 = wp.normalize(grad2)
-  n = grad1 - grad2
-  n = wp.normalize(n)
-  pos = rot2 * x + pos2
-  n = rot2 * n
-  pos3 = pos - n * dist / 2.0
-  return dist, pos3, n
-
-
-@wp.kernel
-def _sdf_narrowphase(
-  # Model:
-  nmeshface: int,
-  oct_child: wp.array[vec8i],
-  oct_aabb: wp.array2d[wp.vec3],
-  oct_coeff: wp.array[vec8],
-  geom_type: wp.array[int],
-  geom_condim: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_priority: wp.array[int],
-  geom_solmix: wp.array2d[float],
-  geom_solref: wp.array2d[wp.vec2],
-  geom_solimp: wp.array2d[vec5],
-  geom_size: wp.array2d[wp.vec3],
-  geom_aabb: wp.array3d[wp.vec3],
-  geom_friction: wp.array2d[wp.vec3],
-  geom_margin: wp.array2d[float],
-  geom_gap: wp.array2d[float],
-  mesh_vertadr: wp.array[int],
-  mesh_vertnum: wp.array[int],
-  mesh_faceadr: wp.array[int],
-  mesh_octadr: wp.array[int],
-  mesh_graphadr: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_face: wp.array[wp.vec3i],
-  mesh_graph: wp.array[int],
-  mesh_polynum: wp.array[int],
-  mesh_polyadr: wp.array[int],
-  mesh_polynormal: wp.array[wp.vec3],
-  mesh_polyvertadr: wp.array[int],
-  mesh_polyvertnum: wp.array[int],
-  mesh_polyvert: wp.array[int],
-  mesh_polymapadr: wp.array[int],
-  mesh_polymapnum: wp.array[int],
-  mesh_polymap: wp.array[int],
-  pair_dim: wp.array[int],
-  pair_solref: wp.array2d[wp.vec2],
-  pair_solreffriction: wp.array2d[wp.vec2],
-  pair_solimp: wp.array2d[vec5],
-  pair_margin: wp.array2d[float],
-  pair_gap: wp.array2d[float],
-  pair_friction: wp.array2d[vec5],
-  plugin: wp.array[int],
-  plugin_attr: wp.array[vec_pluginattr],
-  geom_plugin_index: wp.array[int],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  naconmax_in: int,
-  ncollision_in: wp.array[int],
-  # In:
-  collision_pair_in: wp.array[wp.vec2i],
-  collision_pairid_in: wp.array[wp.vec2i],
-  collision_worldid_in: wp.array[int],
-  sdf_initpoints: int,
-  sdf_iterations: int,
-  # Data out:
-  contact_dist_out: wp.array[float],
-  contact_pos_out: wp.array[wp.vec3],
-  contact_frame_out: wp.array[wp.mat33],
-  contact_includemargin_out: wp.array[float],
-  contact_friction_out: wp.array[vec5],
-  contact_solref_out: wp.array[wp.vec2],
-  contact_solreffriction_out: wp.array[wp.vec2],
-  contact_solimp_out: wp.array[vec5],
-  contact_dim_out: wp.array[int],
-  contact_geom_out: wp.array[wp.vec2i],
-  contact_efc_address_out: wp.array2d[int],
-  contact_worldid_out: wp.array[int],
-  contact_type_out: wp.array[int],
-  contact_geomcollisionid_out: wp.array[int],
-  nacon_out: wp.array[int],
-):
-  i, contact_tid = wp.tid()
-  if i >= sdf_initpoints:
-    return
-  if contact_tid >= ncollision_in[0]:
-    return
-  geoms = collision_pair_in[contact_tid]
-  g2 = geoms[1]
-  type2 = geom_type[g2]
-  if type2 != GeomType.SDF:
-    return
-  worldid = collision_worldid_in[contact_tid]
-  _, margin, gap, condim, friction, solref, solreffriction, solimp = contact_params(
-    geom_condim,
-    geom_priority,
-    geom_solmix,
-    geom_solref,
-    geom_solimp,
-    geom_friction,
-    geom_margin,
-    geom_gap,
-    pair_dim,
-    pair_solref,
-    pair_solreffriction,
-    pair_solimp,
-    pair_margin,
-    pair_gap,
-    pair_friction,
-    collision_pair_in,
-    collision_pairid_in,
-    contact_tid,
-    worldid,
-  )
-
-  geom1, geom2 = geom_collision_pair(
-    geom_type,
-    geom_dataid,
-    geom_size,
-    mesh_vertadr,
-    mesh_vertnum,
-    mesh_graphadr,
-    mesh_vert,
-    mesh_graph,
-    mesh_polynum,
-    mesh_polyadr,
-    mesh_polynormal,
-    mesh_polyvertadr,
-    mesh_polyvertnum,
-    mesh_polyvert,
-    mesh_polymapadr,
-    mesh_polymapnum,
-    mesh_polymap,
-    geom_xpos_in,
-    geom_xmat_in,
-    geoms,
-    worldid,
-  )
-
-  aabb_id = worldid % geom_aabb.shape[0]
-  g1 = geoms[0]
-  type1 = geom_type[g1]
-
-  g1_plugin = geom_plugin_index[g1]
-  g2_plugin = geom_plugin_index[g2]
-
-  g1_to_g2_rot = wp.transpose(geom1.rot) * geom2.rot
-  g1_to_g2_pos = wp.transpose(geom1.rot) * (geom2.pos - geom1.pos)
-  aabb_pos = geom_aabb[aabb_id, g1, 0]
-  aabb_size = geom_aabb[aabb_id, g1, 1]
-  identity = wp.identity(3, dtype=float)
-  aabb1 = transform_aabb(aabb_pos, aabb_size, wp.vec3(0.0), identity)
-  aabb_pos = geom_aabb[aabb_id, g2, 0]
-  aabb_size = geom_aabb[aabb_id, g2, 1]
-  aabb2 = transform_aabb(aabb_pos, aabb_size, g1_to_g2_pos, g1_to_g2_rot)
-  aabb_intersection = AABB()
-  aabb_intersection.min = wp.max(aabb1.min, aabb2.min)
-  aabb_intersection.max = wp.min(aabb1.max, aabb2.max)
-
-  pos2 = geom2.pos
-  rot2 = geom2.rot
-  pos1 = geom1.pos
-  rot1 = geom1.rot
-
-  dataid_setid = worldid % geom_dataid.shape[0]
-
-  attr1, g1_plugin_id, volume_data1, mesh_data1 = get_sdf_params(
-    oct_child,
-    oct_aabb,
-    oct_coeff,
-    mesh_octadr,
-    plugin,
-    plugin_attr,
-    type1,
-    geom1.size,
-    g1_plugin,
-    geom_dataid[dataid_setid, g1],
-  )
-
-  attr2, g2_plugin_id, volume_data2, mesh_data2 = get_sdf_params(
-    oct_child,
-    oct_aabb,
-    oct_coeff,
-    mesh_octadr,
-    plugin,
-    plugin_attr,
-    type2,
-    geom2.size,
-    g2_plugin,
-    geom_dataid[dataid_setid, g2],
-  )
-
-  mesh_data1.nmeshface = nmeshface
-  mesh_data1.mesh_vertadr = mesh_vertadr
-  mesh_data1.mesh_vert = mesh_vert
-  mesh_data1.mesh_faceadr = mesh_faceadr
-  mesh_data1.mesh_face = mesh_face
-  mesh_data1.data_id = geom_dataid[dataid_setid, g1]
-  mesh_data1.pos = geom1.pos
-  mesh_data1.mat = geom1.rot
-  mesh_data1.size = geom1.size
-  mesh_data1.pnt = wp.vec3(-1.0)
-  mesh_data1.vec = wp.vec3(0.0)
-  mesh_data1.valid = True
-
-  mesh_data2.nmeshface = nmeshface
-  mesh_data2.mesh_vertadr = mesh_vertadr
-  mesh_data2.mesh_vert = mesh_vert
-  mesh_data2.mesh_faceadr = mesh_faceadr
-  mesh_data2.mesh_face = mesh_face
-  mesh_data2.data_id = geom_dataid[dataid_setid, g2]
-  mesh_data2.pos = geom2.pos
-  mesh_data2.mat = geom2.rot
-  mesh_data2.size = geom2.size
-  mesh_data2.pnt = wp.vec3(-1.0)
-  mesh_data2.vec = wp.vec3(0.0)
-  mesh_data2.valid = True
-
-  x_g2 = wp.vec3(
-    aabb_intersection.min[0] + (aabb_intersection.max[0] - aabb_intersection.min[0]) * halton(i, 2),
-    aabb_intersection.min[1] + (aabb_intersection.max[1] - aabb_intersection.min[1]) * halton(i, 3),
-    aabb_intersection.min[2] + (aabb_intersection.max[2] - aabb_intersection.min[2]) * halton(i, 5),
-  )
-  x = geom1.rot * x_g2 + geom1.pos
-  x0_initial = wp.transpose(rot2) * (x - pos2)
-  dist, pos, n = gradient_descent(
-    type1,
-    x0_initial,
-    attr1,
-    attr2,
-    pos1,
-    rot1,
-    pos2,
-    rot2,
-    g1_plugin_id,
-    g2_plugin_id,
-    sdf_iterations,
-    volume_data1,
-    volume_data2,
-    mesh_data1,
-    mesh_data2,
-  )
-  write_contact(
-    naconmax_in,
-    0,
-    dist,
-    pos,
-    make_frame(n),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    collision_pairid_in[contact_tid],
-    worldid,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_efc_address_out,
-    contact_worldid_out,
-    contact_type_out,
-    contact_geomcollisionid_out,
-    nacon_out,
-  )
-
-
-@event_scope
-def sdf_narrowphase(m: Model, d: Data, ctx: CollisionContext):
-  wp.launch(
-    _sdf_narrowphase,
-    dim=(m.opt.sdf_initpoints, d.naconmax),
-    inputs=[
-      m.nmeshface,
-      m.oct_child,
-      m.oct_aabb,
-      m.oct_coeff,
-      m.geom_type,
-      m.geom_condim,
-      m.geom_dataid,
-      m.geom_priority,
-      m.geom_solmix,
-      m.geom_solref,
-      m.geom_solimp,
-      m.geom_size,
-      m.geom_aabb,
-      m.geom_friction,
-      m.geom_margin,
-      m.geom_gap,
-      m.mesh_vertadr,
-      m.mesh_vertnum,
-      m.mesh_faceadr,
-      m.mesh_octadr,
-      m.mesh_graphadr,
-      m.mesh_vert,
-      m.mesh_face,
-      m.mesh_graph,
-      m.mesh_polynum,
-      m.mesh_polyadr,
-      m.mesh_polynormal,
-      m.mesh_polyvertadr,
-      m.mesh_polyvertnum,
-      m.mesh_polyvert,
-      m.mesh_polymapadr,
-      m.mesh_polymapnum,
-      m.mesh_polymap,
-      m.pair_dim,
-      m.pair_solref,
-      m.pair_solreffriction,
-      m.pair_solimp,
-      m.pair_margin,
-      m.pair_gap,
-      m.pair_friction,
-      m.plugin,
-      m.plugin_attr,
-      m.geom_plugin_index,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.naconmax,
-      d.ncollision,
-      ctx.collision_pair,
-      ctx.collision_pairid,
-      ctx.collision_worldid,
-      m.opt.sdf_initpoints,
-      m.opt.sdf_iterations,
-    ],
-    outputs=[
-      d.contact.dist,
-      d.contact.pos,
-      d.contact.frame,
-      d.contact.includemargin,
-      d.contact.friction,
-      d.contact.solref,
-      d.contact.solreffriction,
-      d.contact.solimp,
-      d.contact.dim,
-      d.contact.geom,
-      d.contact.efc_address,
-      d.contact.worldid,
-      d.contact.type,
-      d.contact.geomcollisionid,
-      d.nacon,
-    ],
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/constraint.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/constraint.py
deleted file mode 100644
index cc94c27e..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/constraint.py
+++ /dev/null
@@ -1,5661 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src import support
-from mujoco.mjx.third_party.mujoco_warp._src import types
-from mujoco.mjx.third_party.mujoco_warp._src.types import ConstraintType
-from mujoco.mjx.third_party.mujoco_warp._src.types import ContactType
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec11
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.func
-def _add_weight(
-  # In:
-  nb: int,
-  body: types.vec16i,
-  weight: types.vec16,
-  b: int,
-  w: float,
-  check_weld: bool,
-) -> tuple[int, types.vec16i, types.vec16]:
-  """Appends weight to body weld-id, merging duplicates by summing weights."""
-  if wp.abs(w) < 1.0e-10:
-    return nb, body, weight
-  for i in range(16):
-    if i >= nb:
-      break
-    if body[i] == b:
-      weight[i] += w
-      return nb, body, weight
-  if nb < 16:
-    body[nb] = b
-    weight[nb] = w
-    return nb + 1, body, weight
-  return nb, body, weight
-
-
-@wp.kernel
-def _zero_constraint_counts(
-  # Data out:
-  ne_out: wp.array[int],
-  nf_out: wp.array[int],
-  nl_out: wp.array[int],
-  nefc_out: wp.array[int],
-  efc_jtdaj_nblock_out: wp.array[int],
-  # Out:
-  efc_nnz_out: wp.array[int],
-):
-  worldid = wp.tid()
-
-  # Zero all constraint counters
-  ne_out[worldid] = 0
-  nf_out[worldid] = 0
-  nl_out[worldid] = 0
-  nefc_out[worldid] = 0
-  efc_jtdaj_nblock_out[worldid] = 0
-  efc_nnz_out[worldid] = 0
-
-
-@wp.func
-def _efc_row(
-  # Model:
-  opt_disableflags: int,
-  # In:
-  worldid: int,
-  timestep: float,
-  efcid: int,
-  pos_aref: float,
-  pos_imp: float,
-  invweight: float,
-  solref: wp.vec2,
-  solimp: vec5,
-  margin: float,
-  vel: float,
-  frictionloss: float,
-  type: int,
-  id: int,
-  # Out:
-  type_out: wp.array2d[int],
-  id_out: wp.array2d[int],
-  pos_out: wp.array2d[float],
-  margin_out: wp.array2d[float],
-  D_out: wp.array2d[float],
-  vel_out: wp.array2d[float],
-  aref_out: wp.array2d[float],
-  frictionloss_out: wp.array2d[float],
-):
-  # calculate kbi
-  timeconst = solref[0]
-  dampratio = solref[1]
-  dmin = solimp[0]
-  dmax = solimp[1]
-  width = solimp[2]
-  mid = solimp[3]
-  power = solimp[4]
-
-  if not (opt_disableflags & DisableBit.REFSAFE):
-    timeconst = wp.max(timeconst, 2.0 * timestep)
-
-  dmin = wp.clamp(dmin, types.MJ_MINIMP, types.MJ_MAXIMP)
-  dmax = wp.clamp(dmax, types.MJ_MINIMP, types.MJ_MAXIMP)
-  width = wp.max(types.MJ_MINVAL, width)
-  mid = wp.clamp(mid, types.MJ_MINIMP, types.MJ_MAXIMP)
-  power = wp.max(1.0, power)
-
-  # see https://mujoco.readthedocs.io/en/latest/modeling.html#solver-parameters
-  dmax_sq = dmax * dmax
-  k = 1.0 / (dmax_sq * timeconst * timeconst * dampratio * dampratio)
-  b = 2.0 / (dmax * timeconst)
-  k = wp.where(solref[0] <= 0, -solref[0] / dmax_sq, k)
-  b = wp.where(solref[1] <= 0, -solref[1] / dmax, b)
-
-  imp_x = wp.abs(pos_imp) / width
-  imp_a = (1.0 / wp.pow(mid, power - 1.0)) * wp.pow(imp_x, power)
-  imp_b = 1.0 - (1.0 / wp.pow(1.0 - mid, power - 1.0)) * wp.pow(1.0 - imp_x, power)
-  imp_y = wp.where(imp_x < mid, imp_a, imp_b)
-  imp = dmin + imp_y * (dmax - dmin)
-  imp = wp.clamp(imp, dmin, dmax)
-  imp = wp.where(imp_x > 1.0, dmax, imp)
-
-  # set outputs
-  D_out[worldid, efcid] = 1.0 / wp.max(invweight * (1.0 - imp) / imp, types.MJ_MINVAL)
-  vel_out[worldid, efcid] = vel
-  aref_out[worldid, efcid] = -k * imp * pos_aref - b * vel
-  pos_out[worldid, efcid] = pos_aref + margin
-  margin_out[worldid, efcid] = margin
-  frictionloss_out[worldid, efcid] = frictionloss
-  type_out[worldid, efcid] = type
-  id_out[worldid, efcid] = id
-
-
-@cache_kernel
-def _equality_connect(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    nsite: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    body_parentid: wp.array[int],
-    body_rootid: wp.array[int],
-    body_weldid: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_dofadr: wp.array[int],
-    body_invweight0: wp.array2d[wp.vec2],
-    jnt_type: wp.array[int],
-    jnt_dofadr: wp.array[int],
-    dof_bodyid: wp.array[int],
-    dof_jntid: wp.array[int],
-    dof_parentid: wp.array[int],
-    site_bodyid: wp.array[int],
-    eq_obj1id: wp.array[int],
-    eq_obj2id: wp.array[int],
-    eq_objtype: wp.array[int],
-    eq_solref: wp.array2d[wp.vec2],
-    eq_solimp: wp.array2d[vec5],
-    eq_data: wp.array2d[vec11],
-    body_isdofancestor: wp.array2d[int],
-    eq_connect_adr: wp.array[int],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    eq_active_in: wp.array2d[bool],
-    xpos_in: wp.array2d[wp.vec3],
-    xmat_in: wp.array2d[wp.mat33],
-    site_xpos_in: wp.array2d[wp.vec3],
-    subtree_com_in: wp.array2d[wp.vec3],
-    cdof_in: wp.array2d[wp.spatial_vector],
-    cvel_in: wp.array2d[wp.spatial_vector],
-    cdof_dot_in: wp.array2d[wp.spatial_vector],
-    subtree_linvel_in: wp.array2d[wp.vec3],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    ne_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    """Calculates constraint rows for connect equality constraints."""
-    worldid, eqconnectid = wp.tid()
-    eqid = eq_connect_adr[eqconnectid]
-
-    if not eq_active_in[worldid, eqid]:
-      return
-
-    wp.atomic_add(ne_out, worldid, 3)
-    efcid = wp.atomic_add(nefc_out, worldid, 3)
-
-    if efcid >= njmax_in - 3:
-      return
-
-    if wp.static(is_sparse and newton):
-      jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-      efc_jtdaj_adr_out[worldid, jgid] = efcid
-      efc_jtdaj_nrow_out[worldid, jgid] = 3
-
-    efcid0 = efcid + 0
-    efcid1 = efcid + 1
-    efcid2 = efcid + 2
-
-    data = eq_data[worldid % eq_data.shape[0], eqid]
-    anchor1 = wp.vec3f(data[0], data[1], data[2])
-    anchor2 = wp.vec3f(data[3], data[4], data[5])
-
-    obj1id = eq_obj1id[eqid]
-    obj2id = eq_obj2id[eqid]
-
-    if nsite > 0 and eq_objtype[eqid] == types.ObjType.SITE:
-      body1 = site_bodyid[obj1id]
-      body2 = site_bodyid[obj2id]
-      pos1 = site_xpos_in[worldid, obj1id]
-      pos2 = site_xpos_in[worldid, obj2id]
-    else:
-      body1 = obj1id
-      body2 = obj2id
-      pos1 = xpos_in[worldid, body1] + xmat_in[worldid, body1] @ anchor1
-      pos2 = xpos_in[worldid, body2] + xmat_in[worldid, body2] @ anchor2
-
-    # error is difference in global positions
-    pos = pos1 - pos2
-
-    # compute Jacobian difference (opposite of contact: 0 - 1)
-    Jqvel = wp.vec3f(0.0, 0.0, 0.0)
-    Jdotv = wp.vec3f(0.0, 0.0, 0.0)
-
-    if wp.static(is_sparse):
-      # TODO(team): pre-compute number of non-zeros
-      body1 = body_weldid[body1]
-      body2 = body_weldid[body2]
-
-      da1 = int(body_dofadr[body1] + body_dofnum[body1] - 1)
-      da2 = int(body_dofadr[body2] + body_dofnum[body2] - 1)
-
-      # count non-zeros
-      pda1 = da1
-      pda2 = da2
-      rownnz = int(0)
-      while pda1 >= 0 or pda2 >= 0:
-        da = wp.max(pda1, pda2)
-        if pda1 == da:
-          pda1 = dof_parentid[pda1]
-        if pda2 == da:
-          pda2 = dof_parentid[pda2]
-        rownnz += 1
-
-      # get rowadr
-      rowadr = wp.atomic_add(efc_nnz_out, worldid, 3 * rownnz)
-      if rowadr + 3 * rownnz > njmax_nnz_in:
-        return
-      efc_J_rowadr_out[worldid, efcid0] = rowadr
-      efc_J_rowadr_out[worldid, efcid1] = rowadr + rownnz
-      efc_J_rowadr_out[worldid, efcid2] = rowadr + 2 * rownnz
-
-      efc_J_rownnz_out[worldid, efcid0] = rownnz
-      efc_J_rownnz_out[worldid, efcid1] = rownnz
-      efc_J_rownnz_out[worldid, efcid2] = rownnz
-
-      # compute J and colind
-      nnz = int(0)
-      while da1 >= 0 or da2 >= 0:
-        da = wp.max(da1, da2)
-        if da1 == da:
-          da1 = dof_parentid[da1]
-        if da2 == da:
-          da2 = dof_parentid[da2]
-
-        jacp1, _ = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          pos1,
-          body1,
-          da,
-          worldid,
-        )
-        jacp2, _ = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          pos2,
-          body2,
-          da,
-          worldid,
-        )
-        j1mj2 = jacp1 - jacp2
-
-        jacp1_dot, _ = support.jac_dot_dof(
-          body_parentid,
-          body_rootid,
-          jnt_type,
-          jnt_dofadr,
-          dof_bodyid,
-          dof_jntid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          cvel_in,
-          cdof_dot_in,
-          pos1,
-          body1,
-          da,
-          worldid,
-        )
-        jacp2_dot, _ = support.jac_dot_dof(
-          body_parentid,
-          body_rootid,
-          jnt_type,
-          jnt_dofadr,
-          dof_bodyid,
-          dof_jntid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          cvel_in,
-          cdof_dot_in,
-          pos2,
-          body2,
-          da,
-          worldid,
-        )
-        j1mj2_dot = jacp1_dot - jacp2_dot
-
-        sparseid0 = rowadr + nnz
-        sparseid1 = rowadr + rownnz + nnz
-        sparseid2 = rowadr + 2 * rownnz + nnz
-
-        efc_J_colind_out[worldid, 0, sparseid0] = da
-        efc_J_colind_out[worldid, 0, sparseid1] = da
-        efc_J_colind_out[worldid, 0, sparseid2] = da
-
-        efc_J_out[worldid, 0, sparseid0] = j1mj2[0]
-        efc_J_out[worldid, 0, sparseid1] = j1mj2[1]
-        efc_J_out[worldid, 0, sparseid2] = j1mj2[2]
-
-        qvel = qvel_in[worldid, da]
-        Jqvel += j1mj2 * qvel
-        Jdotv += j1mj2_dot * qvel
-
-        nnz += 1
-    else:
-      # TODO(team): dof tree traversal
-      for dofid in range(nv):
-        jacp1, _ = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          pos1,
-          body1,
-          dofid,
-          worldid,
-        )
-        jacp2, _ = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          pos2,
-          body2,
-          dofid,
-          worldid,
-        )
-        j1mj2 = jacp1 - jacp2
-
-        jacp1_dot, _ = support.jac_dot_dof(
-          body_parentid,
-          body_rootid,
-          jnt_type,
-          jnt_dofadr,
-          dof_bodyid,
-          dof_jntid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          cvel_in,
-          cdof_dot_in,
-          pos1,
-          body1,
-          dofid,
-          worldid,
-        )
-        jacp2_dot, _ = support.jac_dot_dof(
-          body_parentid,
-          body_rootid,
-          jnt_type,
-          jnt_dofadr,
-          dof_bodyid,
-          dof_jntid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          cvel_in,
-          cdof_dot_in,
-          pos2,
-          body2,
-          dofid,
-          worldid,
-        )
-        j1mj2_dot = jacp1_dot - jacp2_dot
-
-        efc_J_out[worldid, efcid0, dofid] = j1mj2[0]
-        efc_J_out[worldid, efcid1, dofid] = j1mj2[1]
-        efc_J_out[worldid, efcid2, dofid] = j1mj2[2]
-
-        qvel = qvel_in[worldid, dofid]
-        Jqvel += j1mj2 * qvel
-        Jdotv += j1mj2_dot * qvel
-
-    body_invweight0_id = worldid % body_invweight0.shape[0]
-    invweight = body_invweight0[body_invweight0_id, body1][0] + body_invweight0[body_invweight0_id, body2][0]
-    pos_imp = wp.length(pos)
-
-    solref = eq_solref[worldid % eq_solref.shape[0], eqid]
-    solimp = eq_solimp[worldid % eq_solimp.shape[0], eqid]
-    timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-
-    for i in range(3):
-      efcidi = efcid + i
-
-      _efc_row(
-        opt_disableflags,
-        worldid,
-        timestep,
-        efcidi,
-        pos[i],
-        pos_imp,
-        invweight,
-        solref,
-        solimp,
-        0.0,
-        Jqvel[i],
-        0.0,
-        ConstraintType.EQUALITY,
-        eqid,
-        efc_type_out,
-        efc_id_out,
-        efc_pos_out,
-        efc_margin_out,
-        efc_D_out,
-        efc_vel_out,
-        efc_aref_out,
-        efc_frictionloss_out,
-      )
-
-      efc_aref_out[worldid, efcidi] -= Jdotv[i]
-
-  return kernel
-
-
-@cache_kernel
-def _equality_joint(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    qpos0: wp.array2d[float],
-    jnt_qposadr: wp.array[int],
-    jnt_dofadr: wp.array[int],
-    dof_invweight0: wp.array2d[float],
-    eq_obj1id: wp.array[int],
-    eq_obj2id: wp.array[int],
-    eq_solref: wp.array2d[wp.vec2],
-    eq_solimp: wp.array2d[vec5],
-    eq_data: wp.array2d[vec11],
-    eq_jnt_adr: wp.array[int],
-    # Data in:
-    qpos_in: wp.array2d[float],
-    qvel_in: wp.array2d[float],
-    eq_active_in: wp.array2d[bool],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    ne_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, eqjntid = wp.tid()
-    eqid = eq_jnt_adr[eqjntid]
-
-    if not eq_active_in[worldid, eqid]:
-      return
-
-    wp.atomic_add(ne_out, worldid, 1)
-    efcid = wp.atomic_add(nefc_out, worldid, 1)
-
-    if efcid >= njmax_in:
-      return
-
-    if wp.static(is_sparse and newton):
-      jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-      efc_jtdaj_adr_out[worldid, jgid] = efcid
-      efc_jtdaj_nrow_out[worldid, jgid] = 1
-
-    jntid_1 = eq_obj1id[eqid]
-    jntid_2 = eq_obj2id[eqid]
-    data = eq_data[worldid % eq_data.shape[0], eqid]
-    dofadr1 = jnt_dofadr[jntid_1]
-    qposadr1 = jnt_qposadr[jntid_1]
-    qpos0_id = worldid % qpos0.shape[0]
-    dof_invweight0_id = worldid % dof_invweight0.shape[0]
-
-    if wp.static(is_sparse):
-      if jntid_2 > -1:
-        rownnz = 2
-      else:
-        rownnz = 1
-      efc_J_rownnz_out[worldid, efcid] = rownnz
-      rowadr = wp.atomic_add(efc_nnz_out, worldid, rownnz)
-      if rowadr + rownnz > njmax_nnz_in:
-        return
-      efc_J_rowadr_out[worldid, efcid] = rowadr
-      efc_J_colind_out[worldid, 0, rowadr] = dofadr1
-      efc_J_out[worldid, 0, rowadr] = 1.0
-    else:
-      for i in range(nv):
-        efc_J_out[worldid, efcid, i] = 0.0
-      efc_J_out[worldid, efcid, dofadr1] = 1.0
-
-    if jntid_2 > -1:
-      # Two joint constraint
-      qposadr2 = jnt_qposadr[jntid_2]
-      dofadr2 = jnt_dofadr[jntid_2]
-      dif = qpos_in[worldid, qposadr2] - qpos0[qpos0_id, qposadr2]
-
-      # Horner's method for polynomials
-      rhs = data[0] + dif * (data[1] + dif * (data[2] + dif * (data[3] + dif * data[4])))
-      deriv_2 = data[1] + dif * (2.0 * data[2] + dif * (3.0 * data[3] + dif * 4.0 * data[4]))
-
-      pos = qpos_in[worldid, qposadr1] - qpos0[qpos0_id, qposadr1] - rhs
-      Jqvel = qvel_in[worldid, dofadr1] - qvel_in[worldid, dofadr2] * deriv_2
-      invweight = dof_invweight0[dof_invweight0_id, dofadr1] + dof_invweight0[dof_invweight0_id, dofadr2]
-
-      if wp.static(is_sparse):
-        sparseid = rowadr + 1
-        efc_J_colind_out[worldid, 0, sparseid] = dofadr2
-        efc_J_out[worldid, 0, sparseid] = -deriv_2
-      else:
-        efc_J_out[worldid, efcid, dofadr2] = -deriv_2
-    else:
-      # Single joint constraint
-      pos = qpos_in[worldid, qposadr1] - qpos0[qpos0_id, qposadr1] - data[0]
-      Jqvel = qvel_in[worldid, dofadr1]
-      invweight = dof_invweight0[dof_invweight0_id, dofadr1]
-
-    # Update constraint parameters
-    _efc_row(
-      opt_disableflags,
-      worldid,
-      opt_timestep[worldid % opt_timestep.shape[0]],
-      efcid,
-      pos,
-      pos,
-      invweight,
-      eq_solref[worldid % eq_solref.shape[0], eqid],
-      eq_solimp[worldid % eq_solimp.shape[0], eqid],
-      0.0,
-      Jqvel,
-      0.0,
-      ConstraintType.EQUALITY,
-      eqid,
-      efc_type_out,
-      efc_id_out,
-      efc_pos_out,
-      efc_margin_out,
-      efc_D_out,
-      efc_vel_out,
-      efc_aref_out,
-      efc_frictionloss_out,
-    )
-
-  return kernel
-
-
-@cache_kernel
-def _equality_tendon(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    eq_obj1id: wp.array[int],
-    eq_obj2id: wp.array[int],
-    eq_solref: wp.array2d[wp.vec2],
-    eq_solimp: wp.array2d[vec5],
-    eq_data: wp.array2d[vec11],
-    ten_J_rownnz: wp.array[int],
-    ten_J_rowadr: wp.array[int],
-    ten_J_colind: wp.array[int],
-    tendon_length0: wp.array2d[float],
-    tendon_invweight0: wp.array2d[float],
-    eq_ten_adr: wp.array[int],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    eq_active_in: wp.array2d[bool],
-    ten_J_in: wp.array2d[float],
-    ten_length_in: wp.array2d[float],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    ne_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, eqtenid = wp.tid()
-    eqid = eq_ten_adr[eqtenid]
-
-    if not eq_active_in[worldid, eqid]:
-      return
-
-    wp.atomic_add(ne_out, worldid, 1)
-    efcid = wp.atomic_add(nefc_out, worldid, 1)
-
-    if efcid >= njmax_in:
-      return
-
-    if wp.static(is_sparse and newton):
-      jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-      efc_jtdaj_adr_out[worldid, jgid] = efcid
-      efc_jtdaj_nrow_out[worldid, jgid] = 1
-
-    obj1id = eq_obj1id[eqid]
-    obj2id = eq_obj2id[eqid]
-
-    data = eq_data[worldid % eq_data.shape[0], eqid]
-    solref = eq_solref[worldid % eq_solref.shape[0], eqid]
-    solimp = eq_solimp[worldid % eq_solimp.shape[0], eqid]
-    tendon_length0_id = worldid % tendon_length0.shape[0]
-    tendon_invweight0_id = worldid % tendon_invweight0.shape[0]
-    pos1 = ten_length_in[worldid, obj1id] - tendon_length0[tendon_length0_id, obj1id]
-
-    if obj2id > -1:
-      invweight = tendon_invweight0[tendon_invweight0_id, obj1id] + tendon_invweight0[tendon_invweight0_id, obj2id]
-
-      pos2 = ten_length_in[worldid, obj2id] - tendon_length0[tendon_length0_id, obj2id]
-
-      dif = pos2
-      dif2 = dif * dif
-      dif3 = dif2 * dif
-      dif4 = dif3 * dif
-
-      pos = pos1 - (data[0] + data[1] * dif + data[2] * dif2 + data[3] * dif3 + data[4] * dif4)
-      deriv = data[1] + 2.0 * data[2] * dif + 3.0 * data[3] * dif2 + 4.0 * data[4] * dif3
-    else:
-      invweight = tendon_invweight0[tendon_invweight0_id, obj1id]
-      pos = pos1 - data[0]
-      deriv = 0.0
-
-    rownnz1 = ten_J_rownnz[obj1id]
-    rowadr1 = ten_J_rowadr[obj1id]
-    rownnz2 = 0
-    rowadr2 = 0
-
-    if deriv != 0.0:
-      rownnz2 = ten_J_rownnz[obj2id]
-      rowadr2 = ten_J_rowadr[obj2id]
-
-    if wp.static(is_sparse):
-      # TODO(team): pre-compute rownnz
-      # count unique dofs
-      p1, p2 = int(0), int(0)
-      rownnz = int(0)
-      while p1 < rownnz1 or p2 < rownnz2:
-        col1 = nv
-        col2 = nv
-        if p1 < rownnz1:
-          col1 = ten_J_colind[rowadr1 + p1]
-        if p2 < rownnz2:
-          col2 = ten_J_colind[rowadr2 + p2]
-        if col1 <= col2:
-          p1 += 1
-        if col2 <= col1:
-          p2 += 1
-        rownnz += 1
-
-      rowadr = wp.atomic_add(efc_nnz_out, worldid, rownnz)
-      if rowadr + rownnz > njmax_nnz_in:
-        return
-      efc_J_rowadr_out[worldid, efcid] = rowadr
-
-    ptr1 = int(0)
-    ptr2 = int(0)
-
-    Jqvel = float(0.0)
-
-    nnz = int(0)
-    for i in range(nv):
-      J1 = float(0.0)
-      if ptr1 < rownnz1:
-        sparseid1 = rowadr1 + ptr1
-        if ten_J_colind[sparseid1] == i:
-          J1 = ten_J_in[worldid, sparseid1]
-          ptr1 += 1
-
-      J = J1
-      if deriv != 0.0:
-        J2 = float(0.0)
-        if ptr2 < rownnz2:
-          sparseid2 = rowadr2 + ptr2
-          if ten_J_colind[sparseid2] == i:
-            J2 = ten_J_in[worldid, sparseid2]
-            ptr2 += 1
-        J += J2 * -deriv
-
-      if wp.static(is_sparse):
-        if J != 0.0:
-          sparseid = rowadr + nnz
-          efc_J_colind_out[worldid, 0, sparseid] = i
-          efc_J_out[worldid, 0, sparseid] = J
-          nnz += 1
-      else:
-        efc_J_out[worldid, efcid, i] = J
-
-      Jqvel += J * qvel_in[worldid, i]
-
-    if wp.static(is_sparse):
-      efc_J_rownnz_out[worldid, efcid] = nnz
-
-    _efc_row(
-      opt_disableflags,
-      worldid,
-      opt_timestep[worldid % opt_timestep.shape[0]],
-      efcid,
-      pos,
-      pos,
-      invweight,
-      solref,
-      solimp,
-      0.0,
-      Jqvel,
-      0.0,
-      ConstraintType.EQUALITY,
-      eqid,
-      efc_type_out,
-      efc_id_out,
-      efc_pos_out,
-      efc_margin_out,
-      efc_D_out,
-      efc_vel_out,
-      efc_aref_out,
-      efc_frictionloss_out,
-    )
-
-  return kernel
-
-
-@cache_kernel
-def _equality_flex(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    flex_interp: wp.array[int],
-    flex_edgeadr: wp.array[int],
-    flex_edgenum: wp.array[int],
-    flexedge_length0: wp.array[float],
-    flexedge_invweight0: wp.array[float],
-    flexedge_J_rownnz: wp.array[int],
-    flexedge_J_rowadr: wp.array[int],
-    flexedge_J_colind: wp.array[int],
-    eq_obj1id: wp.array[int],
-    eq_solref: wp.array2d[wp.vec2],
-    eq_solimp: wp.array2d[vec5],
-    eq_flex_adr: wp.array[int],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    eq_active_in: wp.array2d[bool],
-    flexedge_J_in: wp.array2d[float],
-    flexedge_length_in: wp.array2d[float],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    ne_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, eqflexid, edgeid = wp.tid()
-    eqid = eq_flex_adr[eqflexid]
-
-    if not eq_active_in[worldid, eqid]:
-      return
-
-    flexid = eq_obj1id[eqid]
-
-    # skip edge-based equality for interpolated (trilinear/quadratic) flex
-    if flex_interp[flexid] != 0:
-      return
-
-    if edgeid < flex_edgeadr[flexid] or edgeid >= flex_edgeadr[flexid] + flex_edgenum[flexid]:
-      return
-
-    wp.atomic_add(ne_out, worldid, 1)
-    efcid = wp.atomic_add(nefc_out, worldid, 1)
-
-    if efcid >= njmax_in:
-      return
-
-    if wp.static(is_sparse and newton):
-      jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-      efc_jtdaj_adr_out[worldid, jgid] = efcid
-      efc_jtdaj_nrow_out[worldid, jgid] = 1
-
-    pos = flexedge_length_in[worldid, edgeid] - flexedge_length0[edgeid]
-    solref = eq_solref[worldid % eq_solref.shape[0], eqid]
-    solimp = eq_solimp[worldid % eq_solimp.shape[0], eqid]
-
-    Jqvel = float(0.0)
-
-    rownnz = flexedge_J_rownnz[edgeid]
-    flex_rowadr = flexedge_J_rowadr[edgeid]
-
-    if wp.static(is_sparse):
-      efc_J_rownnz_out[worldid, efcid] = rownnz
-      efc_rowadr = wp.atomic_add(efc_nnz_out, worldid, rownnz)
-      if efc_rowadr + rownnz > njmax_nnz_in:
-        return
-      efc_J_rowadr_out[worldid, efcid] = efc_rowadr
-      for i in range(rownnz):
-        flex_sparseid = flex_rowadr + i
-        efc_sparseid = efc_rowadr + i
-        colind = flexedge_J_colind[flex_sparseid]
-        J = flexedge_J_in[worldid, flex_sparseid]
-        efc_J_colind_out[worldid, 0, efc_sparseid] = colind
-        efc_J_out[worldid, 0, efc_sparseid] = J
-        Jqvel += J * qvel_in[worldid, colind]
-    else:
-      for i in range(nv):
-        efc_J_out[worldid, efcid, i] = 0.0
-      for i in range(rownnz):
-        flex_sparseid = flex_rowadr + i
-        colind = flexedge_J_colind[flex_sparseid]
-        J = flexedge_J_in[worldid, flex_sparseid]
-        efc_J_out[worldid, efcid, colind] = J
-        Jqvel += J * qvel_in[worldid, colind]
-
-    _efc_row(
-      opt_disableflags,
-      worldid,
-      opt_timestep[worldid % opt_timestep.shape[0]],
-      efcid,
-      pos,
-      pos,
-      flexedge_invweight0[edgeid],
-      solref,
-      solimp,
-      0.0,
-      Jqvel,
-      0.0,
-      ConstraintType.EQUALITY,
-      eqid,
-      efc_type_out,
-      efc_id_out,
-      efc_pos_out,
-      efc_margin_out,
-      efc_D_out,
-      efc_vel_out,
-      efc_aref_out,
-      efc_frictionloss_out,
-    )
-
-  return kernel
-
-
-@cache_kernel
-def _equality_weld(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    nsite: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    body_parentid: wp.array[int],
-    body_rootid: wp.array[int],
-    body_weldid: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_dofadr: wp.array[int],
-    body_invweight0: wp.array2d[wp.vec2],
-    jnt_type: wp.array[int],
-    jnt_dofadr: wp.array[int],
-    dof_bodyid: wp.array[int],
-    dof_jntid: wp.array[int],
-    dof_parentid: wp.array[int],
-    site_bodyid: wp.array[int],
-    site_quat: wp.array2d[wp.quat],
-    eq_obj1id: wp.array[int],
-    eq_obj2id: wp.array[int],
-    eq_objtype: wp.array[int],
-    eq_solref: wp.array2d[wp.vec2],
-    eq_solimp: wp.array2d[vec5],
-    eq_data: wp.array2d[vec11],
-    body_isdofancestor: wp.array2d[int],
-    eq_wld_adr: wp.array[int],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    eq_active_in: wp.array2d[bool],
-    xpos_in: wp.array2d[wp.vec3],
-    xquat_in: wp.array2d[wp.quat],
-    xmat_in: wp.array2d[wp.mat33],
-    site_xpos_in: wp.array2d[wp.vec3],
-    subtree_com_in: wp.array2d[wp.vec3],
-    cdof_in: wp.array2d[wp.spatial_vector],
-    cvel_in: wp.array2d[wp.spatial_vector],
-    cdof_dot_in: wp.array2d[wp.spatial_vector],
-    subtree_linvel_in: wp.array2d[wp.vec3],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    ne_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, eqweldid = wp.tid()
-    eqid = eq_wld_adr[eqweldid]
-
-    if not eq_active_in[worldid, eqid]:
-      return
-
-    wp.atomic_add(ne_out, worldid, 6)
-    efcid = wp.atomic_add(nefc_out, worldid, 6)
-
-    if efcid >= njmax_in - 6:
-      return
-
-    if wp.static(is_sparse and newton):
-      jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-      efc_jtdaj_adr_out[worldid, jgid] = efcid
-      efc_jtdaj_nrow_out[worldid, jgid] = 6
-
-    efcid0 = efcid + 0
-    efcid1 = efcid + 1
-    efcid2 = efcid + 2
-    efcid3 = efcid + 3
-    efcid4 = efcid + 4
-    efcid5 = efcid + 5
-
-    is_site = eq_objtype[eqid] == types.ObjType.SITE and nsite > 0
-
-    obj1id = eq_obj1id[eqid]
-    obj2id = eq_obj2id[eqid]
-
-    data = eq_data[worldid % eq_data.shape[0], eqid]
-    anchor1 = wp.vec3(data[0], data[1], data[2])
-    anchor2 = wp.vec3(data[3], data[4], data[5])
-    relpose = wp.quat(data[6], data[7], data[8], data[9])
-    torquescale = data[10]
-
-    if is_site:
-      body1 = site_bodyid[obj1id]
-      body2 = site_bodyid[obj2id]
-      pos1 = site_xpos_in[worldid, obj1id]
-      pos2 = site_xpos_in[worldid, obj2id]
-
-      site_quat_id = worldid % site_quat.shape[0]
-      quat = math.mul_quat(xquat_in[worldid, body1], site_quat[site_quat_id, obj1id])
-      quat1 = math.quat_inv(math.mul_quat(xquat_in[worldid, body2], site_quat[site_quat_id, obj2id]))
-
-    else:
-      body1 = obj1id
-      body2 = obj2id
-      pos1 = xpos_in[worldid, body1] + xmat_in[worldid, body1] @ anchor2
-      pos2 = xpos_in[worldid, body2] + xmat_in[worldid, body2] @ anchor1
-
-      quat = math.mul_quat(xquat_in[worldid, body1], relpose)
-      quat1 = math.quat_inv(xquat_in[worldid, body2])
-
-      # quat1 = quat_inv(xquat_in[worldid, body2])
-      q2 = xquat_in[worldid, body2]
-      quat1 = wp.quat(q2[0], -q2[1], -q2[2], -q2[3])
-
-    # compute rotational Jdotv helper quaternions
-    omega1 = wp.spatial_top(cvel_in[worldid, body1])
-    omega2 = wp.spatial_top(cvel_in[worldid, body2])
-    domega = omega1 - omega2
-
-    omega1_q = wp.quat(0.0, omega1[0], omega1[1], omega1[2])
-    omega2_q = wp.quat(0.0, omega2[0], omega2[1], omega2[2])
-    domega_q = wp.quat(0.0, domega[0], domega[1], domega[2])
-
-    if is_site:
-      qdot0r = math.mul_quat(omega1_q, quat) * 0.5
-      qfull1 = math.mul_quat(xquat_in[worldid, body2], site_quat[site_quat_id, obj2id])
-      qdot1 = math.mul_quat(omega2_q, qfull1) * 0.5
-
-      negqdot1 = math.quat_inv(qdot1)
-      negq1 = wp.quat(qfull1[0], -qfull1[1], -qfull1[2], -qfull1[3])
-
-    else:
-      # qdot0 = mul_quat(xquat_in[worldid, body1], omega1_q) * 0.5
-      u7 = xquat_in[worldid, body1]
-      qdot0 = math.mul_quat(omega1_q, xquat_in[worldid, body1]) * 0.5
-      qdot0r = math.mul_quat(qdot0, relpose)
-      q1_non_site = xquat_in[worldid, body2]
-      qdot1 = math.mul_quat(omega2_q, q1_non_site) * 0.5
-
-      negqdot1 = math.quat_inv(qdot1)
-      negq1 = wp.quat(q1_non_site[0], -q1_non_site[1], -q1_non_site[2], -q1_non_site[3])
-
-    # compute Jacobian difference (opposite of contact: 0 - 1)
-    Jqvelp = wp.vec3f(0.0, 0.0, 0.0)
-    Jqvelr = wp.vec3f(0.0, 0.0, 0.0)
-    Jdotv_p = wp.vec3f(0.0, 0.0, 0.0)
-    Jdotv_r0 = wp.vec3f(0.0, 0.0, 0.0)
-
-    if wp.static(is_sparse):
-      # TODO(team): pre-compute number of non-zeros
-      body1 = body_weldid[body1]
-      body2 = body_weldid[body2]
-
-      da1 = int(body_dofadr[body1] + body_dofnum[body1] - 1)
-      da2 = int(body_dofadr[body2] + body_dofnum[body2] - 1)
-
-      # count non-zeros
-      pda1 = da1
-      pda2 = da2
-      rownnz = int(0)
-      while pda1 >= 0 or pda2 >= 0:
-        da = wp.max(pda1, pda2)
-        if pda1 == da:
-          pda1 = dof_parentid[da]
-        if pda2 == da:
-          pda2 = dof_parentid[da]
-        rownnz += 1
-
-      # get rowadr
-      rowadr = wp.atomic_add(efc_nnz_out, worldid, 6 * rownnz)
-      if rowadr + 6 * rownnz > njmax_nnz_in:
-        return
-      efc_J_rowadr_out[worldid, efcid0] = rowadr
-      efc_J_rowadr_out[worldid, efcid1] = rowadr + rownnz
-      efc_J_rowadr_out[worldid, efcid2] = rowadr + 2 * rownnz
-      efc_J_rowadr_out[worldid, efcid3] = rowadr + 3 * rownnz
-      efc_J_rowadr_out[worldid, efcid4] = rowadr + 4 * rownnz
-      efc_J_rowadr_out[worldid, efcid5] = rowadr + 5 * rownnz
-
-      efc_J_rownnz_out[worldid, efcid0] = rownnz
-      efc_J_rownnz_out[worldid, efcid1] = rownnz
-      efc_J_rownnz_out[worldid, efcid2] = rownnz
-      efc_J_rownnz_out[worldid, efcid3] = rownnz
-      efc_J_rownnz_out[worldid, efcid4] = rownnz
-      efc_J_rownnz_out[worldid, efcid5] = rownnz
-
-      # compute J and colind
-      nnz = int(0)
-      while da1 >= 0 or da2 >= 0:
-        da = wp.max(da1, da2)
-        if da1 == da:
-          da1 = dof_parentid[da]
-        if da2 == da:
-          da2 = dof_parentid[da]
-
-        jacp1, jacr1 = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          pos1,
-          body1,
-          da,
-          worldid,
-        )
-        jacp2, jacr2 = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          pos2,
-          body2,
-          da,
-          worldid,
-        )
-
-        jacdifp = jacp1 - jacp2
-
-        jacdifr = (jacr1 - jacr2) * torquescale
-        jacdifrq = math.mul_quat(math.quat_mul_axis(quat1, jacdifr), quat)
-        jacdifr = 0.5 * wp.vec3(jacdifrq[1], jacdifrq[2], jacdifrq[3])
-
-        jacp1_dot, jacr1_dot = support.jac_dot_dof(
-          body_parentid,
-          body_rootid,
-          jnt_type,
-          jnt_dofadr,
-          dof_bodyid,
-          dof_jntid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          cvel_in,
-          cdof_dot_in,
-          pos1,
-          body1,
-          da,
-          worldid,
-        )
-        jacp2_dot, jacr2_dot = support.jac_dot_dof(
-          body_parentid,
-          body_rootid,
-          jnt_type,
-          jnt_dofadr,
-          dof_bodyid,
-          dof_jntid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          cvel_in,
-          cdof_dot_in,
-          pos2,
-          body2,
-          da,
-          worldid,
-        )
-
-        jacdifp_dot = jacp1_dot - jacp2_dot
-        jacdifr_dot = jacr1_dot - jacr2_dot
-
-        sparseid0 = rowadr + nnz
-        sparseid1 = rowadr + rownnz + nnz
-        sparseid2 = rowadr + 2 * rownnz + nnz
-        sparseid3 = rowadr + 3 * rownnz + nnz
-        sparseid4 = rowadr + 4 * rownnz + nnz
-        sparseid5 = rowadr + 5 * rownnz + nnz
-
-        efc_J_colind_out[worldid, 0, sparseid0] = da
-        efc_J_colind_out[worldid, 0, sparseid1] = da
-        efc_J_colind_out[worldid, 0, sparseid2] = da
-        efc_J_colind_out[worldid, 0, sparseid3] = da
-        efc_J_colind_out[worldid, 0, sparseid4] = da
-        efc_J_colind_out[worldid, 0, sparseid5] = da
-
-        efc_J_out[worldid, 0, sparseid0] = jacdifp[0]
-        efc_J_out[worldid, 0, sparseid1] = jacdifp[1]
-        efc_J_out[worldid, 0, sparseid2] = jacdifp[2]
-        efc_J_out[worldid, 0, sparseid3] = jacdifr[0]
-        efc_J_out[worldid, 0, sparseid4] = jacdifr[1]
-        efc_J_out[worldid, 0, sparseid5] = jacdifr[2]
-
-        Jqvelp += jacdifp * qvel_in[worldid, da]
-        Jqvelr += jacdifr * qvel_in[worldid, da]
-        Jdotv_p += jacdifp_dot * qvel_in[worldid, da]
-        Jdotv_r0 += jacdifr_dot * qvel_in[worldid, da]
-
-        nnz += 1
-    else:
-      for dofid in range(nv):
-        jacp1, jacr1 = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          pos1,
-          body1,
-          dofid,
-          worldid,
-        )
-        jacp2, jacr2 = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          pos2,
-          body2,
-          dofid,
-          worldid,
-        )
-
-        jacdifp = jacp1 - jacp2
-
-        efc_J_out[worldid, efcid0, dofid] = jacdifp[0]
-        efc_J_out[worldid, efcid1, dofid] = jacdifp[1]
-        efc_J_out[worldid, efcid2, dofid] = jacdifp[2]
-
-        jacdifr = (jacr1 - jacr2) * torquescale
-        jacdifrq = math.mul_quat(math.quat_mul_axis(quat1, jacdifr), quat)
-        jacdifr = 0.5 * wp.vec3(jacdifrq[1], jacdifrq[2], jacdifrq[3])
-
-        jacp1_dot, jacr1_dot = support.jac_dot_dof(
-          body_parentid,
-          body_rootid,
-          jnt_type,
-          jnt_dofadr,
-          dof_bodyid,
-          dof_jntid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          cvel_in,
-          cdof_dot_in,
-          pos1,
-          body1,
-          dofid,
-          worldid,
-        )
-        jacp2_dot, jacr2_dot = support.jac_dot_dof(
-          body_parentid,
-          body_rootid,
-          jnt_type,
-          jnt_dofadr,
-          dof_bodyid,
-          dof_jntid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          cvel_in,
-          cdof_dot_in,
-          pos2,
-          body2,
-          dofid,
-          worldid,
-        )
-
-        jacdifp_dot = jacp1_dot - jacp2_dot
-        jacdifr_dot = jacr1_dot - jacr2_dot
-
-        efc_J_out[worldid, efcid3, dofid] = jacdifr[0]
-        efc_J_out[worldid, efcid4, dofid] = jacdifr[1]
-        efc_J_out[worldid, efcid5, dofid] = jacdifr[2]
-
-        Jqvelp += jacdifp * qvel_in[worldid, dofid]
-        Jqvelr += jacdifr * qvel_in[worldid, dofid]
-        Jdotv_p += jacdifp_dot * qvel_in[worldid, dofid]
-        Jdotv_r0 += jacdifr_dot * qvel_in[worldid, dofid]
-
-    # error is difference in global position and orientation
-    cpos = pos1 - pos2
-
-    crotq = math.mul_quat(quat1, quat)  # copy axis components
-    crot = wp.vec3(crotq[1], crotq[2], crotq[3]) * torquescale
-
-    body_invweight0_id = worldid % body_invweight0.shape[0]
-    invweight_t = body_invweight0[body_invweight0_id, body1][0] + body_invweight0[body_invweight0_id, body2][0]
-
-    pos_imp = wp.sqrt(wp.length_sq(cpos) + wp.length_sq(crot))
-
-    solref = eq_solref[worldid % eq_solref.shape[0], eqid]
-    solimp = eq_solimp[worldid % eq_solimp.shape[0], eqid]
-
-    timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-
-    djrdv_q = wp.quat(0.0, Jdotv_r0[0], Jdotv_r0[1], Jdotv_r0[2])
-
-    # Term 1: negqdot1 * domega * q0r
-    t1a = math.mul_quat(negqdot1, domega_q)
-    t1 = math.mul_quat(t1a, quat)
-
-    # Term 2: negq1 * djrdv * q0r
-    t2a = math.mul_quat(negq1, djrdv_q)
-    t2 = math.mul_quat(t2a, quat)
-
-    # Term 3: negq1 * domega * qdot0r
-    t3a = math.mul_quat(negq1, domega_q)
-    t3 = math.mul_quat(t3a, qdot0r)
-
-    Jdotv_r = wp.vec3(t1[1] + t2[1] + t3[1], t1[2] + t2[2] + t3[2], t1[3] + t2[3] + t3[3]) * 0.5 * torquescale
-
-    for i in range(3):
-      _efc_row(
-        opt_disableflags,
-        worldid,
-        timestep,
-        efcid + i,
-        cpos[i],
-        pos_imp,
-        invweight_t,
-        solref,
-        solimp,
-        0.0,
-        Jqvelp[i],
-        0.0,
-        ConstraintType.EQUALITY,
-        eqid,
-        efc_type_out,
-        efc_id_out,
-        efc_pos_out,
-        efc_margin_out,
-        efc_D_out,
-        efc_vel_out,
-        efc_aref_out,
-        efc_frictionloss_out,
-      )
-
-      efc_aref_out[worldid, efcid + i] -= Jdotv_p[i]
-
-    invweight_r = body_invweight0[body_invweight0_id, body1][1] + body_invweight0[body_invweight0_id, body2][1]
-
-    for i in range(3):
-      _efc_row(
-        opt_disableflags,
-        worldid,
-        timestep,
-        efcid + 3 + i,
-        crot[i],
-        pos_imp,
-        invweight_r,
-        solref,
-        solimp,
-        0.0,
-        Jqvelr[i],
-        0.0,
-        ConstraintType.EQUALITY,
-        eqid,
-        efc_type_out,
-        efc_id_out,
-        efc_pos_out,
-        efc_margin_out,
-        efc_D_out,
-        efc_vel_out,
-        efc_aref_out,
-        efc_frictionloss_out,
-      )
-
-      efc_aref_out[worldid, efcid + 3 + i] -= Jdotv_r[i]
-
-  return kernel
-
-
-@cache_kernel
-def _equality_flexstrain(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    body_parentid: wp.array[int],
-    body_rootid: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_dofadr: wp.array[int],
-    body_invweight0: wp.array2d[wp.vec2],
-    dof_bodyid: wp.array[int],
-    flex_interp: wp.array[int],
-    flex_cellnum: wp.array[wp.vec3i],
-    flex_nodeadr: wp.array[int],
-    flex_nodenum: wp.array[int],
-    flex_stiffnessadr: wp.array[int],
-    flex_nodebodyid: wp.array[int],
-    flex_node: wp.array[wp.vec3],
-    flex_node0: wp.array[wp.vec3],
-    flex_stiffness: wp.array[float],
-    flex_centered: wp.array[bool],
-    eq_obj1id: wp.array[int],
-    eq_solref: wp.array2d[wp.vec2],
-    eq_solimp: wp.array2d[vec5],
-    eq_data: wp.array2d[vec11],
-    body_isdofancestor: wp.array2d[int],
-    eq_flexstrain_adr: wp.array[int],
-    flexstrain_J_rownnz: wp.array[int],
-    flexstrain_J_rowadr: wp.array[int],
-    flexstrain_J_colind: wp.array[int],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    eq_active_in: wp.array2d[bool],
-    xpos_in: wp.array2d[wp.vec3],
-    xmat_in: wp.array2d[wp.mat33],
-    subtree_com_in: wp.array2d[wp.vec3],
-    cdof_in: wp.array2d[wp.spatial_vector],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    flexnode_xpos_in: wp.array2d[wp.vec3],
-    face_quat_in: wp.array2d[wp.quat],
-    # Data out:
-    ne_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, eqstrainid = wp.tid()
-    eqid = eq_flexstrain_adr[eqstrainid]
-
-    if not eq_active_in[worldid, eqid]:
-      return
-
-    f = eq_obj1id[eqid]
-    order = flex_interp[f]
-    if order == 0:
-      return
-
-    # nodes per cell
-    npc = wp.where(order < 0, 4, 8)
-
-    # cell indices from eq_data
-    data = eq_data[worldid % eq_data.shape[0], eqid]
-    ci = int(data[0])
-    cj = int(data[1])
-    ck = int(data[2])
-
-    cellnum = flex_cellnum[f]
-    cx = cellnum[0]
-    cy = cellnum[1]
-    cz = cellnum[2]
-    nstart = flex_nodeadr[f]
-    ny_g = cy + 1
-    nz_g = cz + 1
-
-    ndof_cell = 3 * npc
-
-    # read eigenmode data from flex_stiffness
-    cell_idx = wp.where(order < 0, ci, ci * cy * cz + cj * cz + ck)
-    normal_axis = 0
-    g_fixed = 0
-    q0 = 0
-    q1 = 0
-    ny_g_face = 0
-    nz_g_face = 0
-    if order < 0:
-      normal_axis, g_fixed, q0, q1, ny_g_face, nz_g_face = support.get_face_metadata(cx, cy, cz, cell_idx, 1)
-    k_base = flex_stiffnessadr[f] + cell_idx * ndof_cell * ndof_cell
-    neig = int(flex_stiffness[k_base])
-
-    if neig == 0:
-      return
-
-    solref = eq_solref[worldid % eq_solref.shape[0], eqid]
-    solimp = eq_solimp[worldid % eq_solimp.shape[0], eqid]
-
-    # gather cell node positions and reference positions (order==1: npc=8)
-    # We compute the corotational quaternion from the deformation gradient
-    # at the cell center (0.5, 0.5, 0.5)
-
-    cell_quat = wp.quat(0.0, 0.0, 0.0, 1.0)
-    if order < 0:
-      cell_quat = face_quat_in[worldid, cell_idx]
-    else:
-      cell_quat = support.compute_interp_cell_quat(
-        flexnode_xpos_in,
-        1,
-        ci,
-        cj,
-        ck,
-        cy,
-        cz,
-        ny_g,
-        nz_g,
-        nstart,
-        worldid,
-      )
-    cell_quat_inv = wp.quat(-cell_quat[0], -cell_quat[1], -cell_quat[2], cell_quat[3])
-
-    # Compute average invweight across cell nodes (translation component)
-    avg_invweight = float(0.0)
-    idx_iw = int(0)
-    for li_iw in range(2):
-      for lj_iw in range(2):
-        for lk_iw in range(2):
-          if idx_iw < npc:
-            gidx_iw = wp.where(
-              order < 0,
-              support.gather_face_node_index_fast(
-                normal_axis,
-                g_fixed,
-                q0,
-                q1,
-                ny_g_face,
-                nz_g_face,
-                idx_iw,
-                1,
-              ),
-              (ci + li_iw) * ny_g * nz_g + (cj + lj_iw) * nz_g + (ck + lk_iw),
-            )
-            bodyid_iw = flex_nodebodyid[nstart + gidx_iw]
-            avg_invweight += body_invweight0[worldid % body_invweight0.shape[0], bodyid_iw][0]
-            idx_iw += 1
-    avg_invweight /= float(npc)
-
-    # Loop over eigenmodes
-    for eig in range(neig):
-      wp.atomic_add(ne_out, worldid, 1)
-      efcid = wp.atomic_add(nefc_out, worldid, 1)
-
-      if efcid >= njmax_in:
-        return
-
-      if wp.static(is_sparse and newton):
-        jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-        efc_jtdaj_adr_out[worldid, jgid] = efcid
-        efc_jtdaj_nrow_out[worldid, jgid] = 6
-
-      # Read eigenvector from stiffness data
-      eigvec_base = k_base + 1 + eig * ndof_cell
-
-      # Compute constraint residual: dot(eigvec, displacement_in_corot_frame)
-      residual = float(0.0)
-      idx2 = int(0)
-      for li2 in range(2):
-        for lj2 in range(2):
-          for lk2 in range(2):
-            if idx2 < npc:
-              gidx2 = wp.where(
-                order < 0,
-                support.gather_face_node_index_fast(
-                  normal_axis,
-                  g_fixed,
-                  q0,
-                  q1,
-                  ny_g_face,
-                  nz_g_face,
-                  idx2,
-                  1,
-                ),
-                (ci + li2) * ny_g * nz_g + (cj + lj2) * nz_g + (ck + lk2),
-              )
-
-              xpos_n = flexnode_xpos_in[worldid, nstart + gidx2]
-              refpos_n = flex_node0[nstart + gidx2]
-
-              # Rotate xpos to corotational frame
-              xrot = wp.quat_rotate(cell_quat_inv, xpos_n)
-              displ = wp.vec3(xrot[0] - refpos_n[0], xrot[1] - refpos_n[1], xrot[2] - refpos_n[2])
-
-              for c in range(3):
-                residual += flex_stiffness[eigvec_base + 3 * idx2 + c] * displ[c]
-
-              idx2 += 1
-
-      efc_pos_out[worldid, efcid] = residual
-
-      # Compute Jacobian: J_q = dSdx_world * dxpos/dq
-      # dSdx_world = R_inv * eigvec (rotate eigenvector to world frame)
-      # Then contract with per-node body Jacobians
-
-      Jqvel = float(0.0)
-      invweight = float(0.0)
-
-      rownnz = flexstrain_J_rownnz[eqstrainid]
-      fs_rowadr = flexstrain_J_rowadr[eqstrainid]
-
-      efc_rowadr = int(0)
-      if wp.static(is_sparse):
-        efc_J_rownnz_out[worldid, efcid] = rownnz
-        efc_rowadr = wp.atomic_add(efc_nnz_out, worldid, rownnz)
-        if efc_rowadr + rownnz > njmax_nnz_in:
-          return
-        efc_J_rowadr_out[worldid, efcid] = efc_rowadr
-      else:
-        for q in range(nv):
-          efc_J_out[worldid, efcid, q] = 0.0
-
-      for sparseid in range(rownnz):
-        q = flexstrain_J_colind[fs_rowadr + sparseid]
-        J_val = float(0.0)
-        idx3 = int(0)
-        for li3 in range(2):
-          for lj3 in range(2):
-            for lk3 in range(2):
-              if idx3 < npc:
-                gidx3 = wp.where(
-                  order < 0,
-                  support.gather_face_node_index_fast(
-                    normal_axis,
-                    g_fixed,
-                    q0,
-                    q1,
-                    ny_g_face,
-                    nz_g_face,
-                    idx3,
-                    1,
-                  ),
-                  (ci + li3) * ny_g * nz_g + (cj + lj3) * nz_g + (ck + lk3),
-                )
-
-                bodyid3 = flex_nodebodyid[nstart + gidx3]
-                xpos_n3 = flexnode_xpos_in[worldid, nstart + gidx3]
-
-                if body_isdofancestor[bodyid3, q] != 0:
-                  # Rotate eigenvector component to world frame
-                  eig_local = wp.vec3(
-                    flex_stiffness[eigvec_base + 3 * idx3 + 0],
-                    flex_stiffness[eigvec_base + 3 * idx3 + 1],
-                    flex_stiffness[eigvec_base + 3 * idx3 + 2],
-                  )
-                  eig_world = wp.quat_rotate(cell_quat, eig_local)
-
-                  jacp, jacr = support.jac_dof(
-                    body_parentid,
-                    body_rootid,
-                    dof_bodyid,
-                    body_isdofancestor,
-                    subtree_com_in,
-                    cdof_in,
-                    xpos_n3,
-                    bodyid3,
-                    q,
-                    worldid,
-                  )
-                  J_val += wp.dot(eig_world, jacp)
-                idx3 += 1
-
-        if wp.static(is_sparse):
-          efc_J_colind_out[worldid, 0, efc_rowadr + sparseid] = q
-          efc_J_out[worldid, 0, efc_rowadr + sparseid] = J_val
-        else:
-          efc_J_out[worldid, efcid, q] = J_val
-        Jqvel += J_val * qvel_in[worldid, q]
-
-      invweight = avg_invweight
-
-      _efc_row(
-        opt_disableflags,
-        worldid,
-        opt_timestep[worldid % opt_timestep.shape[0]],
-        efcid,
-        residual,
-        residual,
-        invweight,
-        solref,
-        solimp,
-        0.0,
-        Jqvel,
-        0.0,
-        ConstraintType.EQUALITY,
-        eqid,
-        efc_type_out,
-        efc_id_out,
-        efc_pos_out,
-        efc_margin_out,
-        efc_D_out,
-        efc_vel_out,
-        efc_aref_out,
-        efc_frictionloss_out,
-      )
-
-  return kernel
-
-
-@cache_kernel
-def _friction_dof(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    dof_solref: wp.array2d[wp.vec2],
-    dof_solimp: wp.array2d[vec5],
-    dof_frictionloss: wp.array2d[float],
-    dof_invweight0: wp.array2d[float],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    nf_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, dofid = wp.tid()
-
-    dof_frictionloss_id = worldid % dof_frictionloss.shape[0]
-
-    if dof_frictionloss[dof_frictionloss_id, dofid] <= 0.0:
-      return
-
-    wp.atomic_add(nf_out, worldid, 1)
-    efcid = wp.atomic_add(nefc_out, worldid, 1)
-
-    if efcid >= njmax_in:
-      return
-
-    if wp.static(is_sparse and newton):
-      jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-      efc_jtdaj_adr_out[worldid, jgid] = efcid
-      efc_jtdaj_nrow_out[worldid, jgid] = 1
-
-    if wp.static(is_sparse):
-      efc_J_rownnz_out[worldid, efcid] = 1
-      rowadr = wp.atomic_add(efc_nnz_out, worldid, 1)
-      if rowadr + 1 > njmax_nnz_in:
-        return
-      efc_J_rowadr_out[worldid, efcid] = rowadr
-      efc_J_colind_out[worldid, 0, rowadr] = dofid
-      efc_J_out[worldid, 0, rowadr] = 1.0
-    else:
-      for i in range(nv):
-        efc_J_out[worldid, efcid, i] = 0.0
-      efc_J_out[worldid, efcid, dofid] = 1.0
-
-    Jqvel = qvel_in[worldid, dofid]
-
-    dof_invweight0_id = worldid % dof_invweight0.shape[0]
-    dof_solref_id = worldid % dof_solref.shape[0]
-    dof_solimp_id = worldid % dof_solimp.shape[0]
-    _efc_row(
-      opt_disableflags,
-      worldid,
-      opt_timestep[worldid % opt_timestep.shape[0]],
-      efcid,
-      0.0,
-      0.0,
-      dof_invweight0[dof_invweight0_id, dofid],
-      dof_solref[dof_solref_id, dofid],
-      dof_solimp[dof_solimp_id, dofid],
-      0.0,
-      Jqvel,
-      dof_frictionloss[dof_frictionloss_id, dofid],
-      ConstraintType.FRICTION_DOF,
-      dofid,
-      efc_type_out,
-      efc_id_out,
-      efc_pos_out,
-      efc_margin_out,
-      efc_D_out,
-      efc_vel_out,
-      efc_aref_out,
-      efc_frictionloss_out,
-    )
-
-  return kernel
-
-
-@cache_kernel
-def _friction_tendon(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    ten_J_rownnz: wp.array[int],
-    ten_J_rowadr: wp.array[int],
-    ten_J_colind: wp.array[int],
-    tendon_solref_fri: wp.array2d[wp.vec2],
-    tendon_solimp_fri: wp.array2d[vec5],
-    tendon_frictionloss: wp.array2d[float],
-    tendon_invweight0: wp.array2d[float],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    ten_J_in: wp.array2d[float],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    nf_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, tenid = wp.tid()
-
-    tendon_frictionloss_id = worldid % tendon_frictionloss.shape[0]
-
-    frictionloss = tendon_frictionloss[tendon_frictionloss_id, tenid]
-    if frictionloss <= 0.0:
-      return
-
-    wp.atomic_add(nf_out, worldid, 1)
-    efcid = wp.atomic_add(nefc_out, worldid, 1)
-
-    if efcid >= njmax_in:
-      return
-
-    if wp.static(is_sparse and newton):
-      jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-      efc_jtdaj_adr_out[worldid, jgid] = efcid
-      efc_jtdaj_nrow_out[worldid, jgid] = 1
-
-    Jqvel = float(0.0)
-
-    rownnz_tenJ = ten_J_rownnz[tenid]
-    rowadr_tenJ = ten_J_rowadr[tenid]
-    if wp.static(is_sparse):
-      efc_J_rownnz_out[worldid, efcid] = rownnz_tenJ
-      rowadr_efc = wp.atomic_add(efc_nnz_out, worldid, rownnz_tenJ)
-      if rowadr_efc + rownnz_tenJ > njmax_nnz_in:
-        return
-      efc_J_rowadr_out[worldid, efcid] = rowadr_efc
-
-      for i in range(rownnz_tenJ):
-        sparseid_ten = rowadr_tenJ + i
-        sparseid_efc = rowadr_efc + i
-        colind = ten_J_colind[sparseid_ten]
-        J = ten_J_in[worldid, sparseid_ten]
-        efc_J_colind_out[worldid, 0, sparseid_efc] = colind
-        efc_J_out[worldid, 0, sparseid_efc] = J
-        Jqvel += J * qvel_in[worldid, colind]
-    else:
-      nnz = int(0)
-      colind = ten_J_colind[rowadr_tenJ]
-      for i in range(nv):
-        if nnz < rownnz_tenJ and i == colind:
-          J = ten_J_in[worldid, rowadr_tenJ + nnz]
-          efc_J_out[worldid, efcid, i] = J
-          Jqvel += J * qvel_in[worldid, i]
-          nnz += 1
-          if nnz < rownnz_tenJ:
-            colind = ten_J_colind[rowadr_tenJ + nnz]
-        else:
-          efc_J_out[worldid, efcid, i] = 0.0
-
-    tendon_invweight0_id = worldid % tendon_invweight0.shape[0]
-    tendon_solref_fri_id = worldid % tendon_solref_fri.shape[0]
-    tendon_solimp_fri_id = worldid % tendon_solimp_fri.shape[0]
-    _efc_row(
-      opt_disableflags,
-      worldid,
-      opt_timestep[worldid % opt_timestep.shape[0]],
-      efcid,
-      0.0,
-      0.0,
-      tendon_invweight0[tendon_invweight0_id, tenid],
-      tendon_solref_fri[tendon_solref_fri_id, tenid],
-      tendon_solimp_fri[tendon_solimp_fri_id, tenid],
-      0.0,
-      Jqvel,
-      frictionloss,
-      ConstraintType.FRICTION_TENDON,
-      tenid,
-      efc_type_out,
-      efc_id_out,
-      efc_pos_out,
-      efc_margin_out,
-      efc_D_out,
-      efc_vel_out,
-      efc_aref_out,
-      efc_frictionloss_out,
-    )
-
-  return kernel
-
-
-@cache_kernel
-def _limit_slide_hinge(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    jnt_qposadr: wp.array[int],
-    jnt_dofadr: wp.array[int],
-    jnt_solref: wp.array2d[wp.vec2],
-    jnt_solimp: wp.array2d[vec5],
-    jnt_range: wp.array2d[wp.vec2],
-    jnt_margin: wp.array2d[float],
-    dof_invweight0: wp.array2d[float],
-    jnt_limited_slide_hinge_adr: wp.array[int],
-    # Data in:
-    qpos_in: wp.array2d[float],
-    qvel_in: wp.array2d[float],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    nl_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, jntlimitedid = wp.tid()
-    jntid = jnt_limited_slide_hinge_adr[jntlimitedid]
-    jnt_range_id = worldid % jnt_range.shape[0]
-    jntrange = jnt_range[jnt_range_id, jntid]
-
-    qpos = qpos_in[worldid, jnt_qposadr[jntid]]
-    jnt_margin_id = worldid % jnt_margin.shape[0]
-    jntmargin = jnt_margin[jnt_margin_id, jntid]
-    dist_min, dist_max = qpos - jntrange[0], jntrange[1] - qpos
-    pos = wp.min(dist_min, dist_max) - jntmargin
-    active = pos < 0
-
-    if active:
-      wp.atomic_add(nl_out, worldid, 1)
-      efcid = wp.atomic_add(nefc_out, worldid, 1)
-
-      if efcid >= njmax_in:
-        return
-
-      if wp.static(is_sparse and newton):
-        jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-        efc_jtdaj_adr_out[worldid, jgid] = efcid
-        efc_jtdaj_nrow_out[worldid, jgid] = 1
-
-      dofadr = jnt_dofadr[jntid]
-
-      J = float(dist_min < dist_max) * 2.0 - 1.0
-
-      if wp.static(is_sparse):
-        efc_J_rownnz_out[worldid, efcid] = 1
-        rowadr = wp.atomic_add(efc_nnz_out, worldid, 1)
-        if rowadr + 1 > njmax_nnz_in:
-          return
-        efc_J_rowadr_out[worldid, efcid] = rowadr
-        efc_J_colind_out[worldid, 0, rowadr] = dofadr
-        efc_J_out[worldid, 0, rowadr] = J
-      else:
-        for i in range(nv):
-          efc_J_out[worldid, efcid, i] = 0.0
-        efc_J_out[worldid, efcid, dofadr] = J
-
-      Jqvel = J * qvel_in[worldid, dofadr]
-
-      dof_invweight0_id = worldid % dof_invweight0.shape[0]
-      jnt_solref_id = worldid % jnt_solref.shape[0]
-      jnt_solimp_id = worldid % jnt_solimp.shape[0]
-      _efc_row(
-        opt_disableflags,
-        worldid,
-        opt_timestep[worldid % opt_timestep.shape[0]],
-        efcid,
-        pos,
-        pos,
-        dof_invweight0[dof_invweight0_id, dofadr],
-        jnt_solref[jnt_solref_id, jntid],
-        jnt_solimp[jnt_solimp_id, jntid],
-        jntmargin,
-        Jqvel,
-        0.0,
-        ConstraintType.LIMIT_JOINT,
-        jntid,
-        efc_type_out,
-        efc_id_out,
-        efc_pos_out,
-        efc_margin_out,
-        efc_D_out,
-        efc_vel_out,
-        efc_aref_out,
-        efc_frictionloss_out,
-      )
-
-  return kernel
-
-
-@cache_kernel
-def _limit_ball(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    jnt_qposadr: wp.array[int],
-    jnt_dofadr: wp.array[int],
-    jnt_solref: wp.array2d[wp.vec2],
-    jnt_solimp: wp.array2d[vec5],
-    jnt_range: wp.array2d[wp.vec2],
-    jnt_margin: wp.array2d[float],
-    dof_invweight0: wp.array2d[float],
-    jnt_limited_ball_adr: wp.array[int],
-    # Data in:
-    qpos_in: wp.array2d[float],
-    qvel_in: wp.array2d[float],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    nl_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, jntlimitedid = wp.tid()
-    jntid = jnt_limited_ball_adr[jntlimitedid]
-    qposadr = jnt_qposadr[jntid]
-
-    qpos = qpos_in[worldid]
-    jnt_quat = wp.quat(qpos[qposadr + 0], qpos[qposadr + 1], qpos[qposadr + 2], qpos[qposadr + 3])
-    jnt_quat = wp.normalize(jnt_quat)
-    axis_angle = math.quat_to_vel(jnt_quat)
-    jnt_range_id = worldid % jnt_range.shape[0]
-    jntrange = jnt_range[jnt_range_id, jntid]
-    axis, angle = math.normalize_with_norm(axis_angle)
-    jnt_margin_id = worldid % jnt_margin.shape[0]
-    jntmargin = jnt_margin[jnt_margin_id, jntid]
-
-    pos = wp.max(jntrange[0], jntrange[1]) - angle - jntmargin
-    active = pos < 0
-
-    if active:
-      wp.atomic_add(nl_out, worldid, 1)
-      efcid = wp.atomic_add(nefc_out, worldid, 1)
-
-      if efcid >= njmax_in:
-        return
-
-      if wp.static(is_sparse and newton):
-        jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-        efc_jtdaj_adr_out[worldid, jgid] = efcid
-        efc_jtdaj_nrow_out[worldid, jgid] = 1
-
-      dofadr = jnt_dofadr[jntid]
-      dof0 = dofadr + 0
-      dof1 = dofadr + 1
-      dof2 = dofadr + 2
-
-      if wp.static(is_sparse):
-        efc_J_rownnz_out[worldid, efcid] = 3
-        rowadr = wp.atomic_add(efc_nnz_out, worldid, 3)
-        if rowadr + 3 > njmax_nnz_in:
-          return
-        efc_J_rowadr_out[worldid, efcid] = rowadr
-
-        sparseid0 = rowadr + 0
-        sparseid1 = rowadr + 1
-        sparseid2 = rowadr + 2
-
-        efc_J_colind_out[worldid, 0, sparseid0] = dof0
-        efc_J_colind_out[worldid, 0, sparseid1] = dof1
-        efc_J_colind_out[worldid, 0, sparseid2] = dof2
-
-        efc_J_out[worldid, 0, sparseid0] = -axis[0]
-        efc_J_out[worldid, 0, sparseid1] = -axis[1]
-        efc_J_out[worldid, 0, sparseid2] = -axis[2]
-      else:
-        for i in range(nv):
-          efc_J_out[worldid, efcid, i] = 0.0
-        efc_J_out[worldid, efcid, dof0] = -axis[0]
-        efc_J_out[worldid, efcid, dof1] = -axis[1]
-        efc_J_out[worldid, efcid, dof2] = -axis[2]
-
-      Jqvel = -axis[0] * qvel_in[worldid, dof0]
-      Jqvel -= axis[1] * qvel_in[worldid, dof1]
-      Jqvel -= axis[2] * qvel_in[worldid, dof2]
-
-      dof_invweight0_id = worldid % dof_invweight0.shape[0]
-      jnt_solref_id = worldid % jnt_solref.shape[0]
-      jnt_solimp_id = worldid % jnt_solimp.shape[0]
-      _efc_row(
-        opt_disableflags,
-        worldid,
-        opt_timestep[worldid % opt_timestep.shape[0]],
-        efcid,
-        pos,
-        pos,
-        dof_invweight0[dof_invweight0_id, dofadr],
-        jnt_solref[jnt_solref_id, jntid],
-        jnt_solimp[jnt_solimp_id, jntid],
-        jntmargin,
-        Jqvel,
-        0.0,
-        ConstraintType.LIMIT_JOINT,
-        jntid,
-        efc_type_out,
-        efc_id_out,
-        efc_pos_out,
-        efc_margin_out,
-        efc_D_out,
-        efc_vel_out,
-        efc_aref_out,
-        efc_frictionloss_out,
-      )
-
-  return kernel
-
-
-@cache_kernel
-def _limit_tendon(is_sparse: bool, newton: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    ten_J_rownnz: wp.array[int],
-    ten_J_rowadr: wp.array[int],
-    ten_J_colind: wp.array[int],
-    tendon_solref_lim: wp.array2d[wp.vec2],
-    tendon_solimp_lim: wp.array2d[vec5],
-    tendon_range: wp.array2d[wp.vec2],
-    tendon_margin: wp.array2d[float],
-    tendon_invweight0: wp.array2d[float],
-    tendon_limited_adr: wp.array[int],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    ten_J_in: wp.array2d[float],
-    ten_length_in: wp.array2d[float],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    # Data out:
-    nl_out: wp.array[int],
-    nefc_out: wp.array[int],
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    worldid, tenlimitedid = wp.tid()
-    tenid = tendon_limited_adr[tenlimitedid]
-
-    tendon_range_id = worldid % tendon_range.shape[0]
-    tenrange = tendon_range[tendon_range_id, tenid]
-    length = ten_length_in[worldid, tenid]
-    dist_min, dist_max = length - tenrange[0], tenrange[1] - length
-    tendon_margin_id = worldid % tendon_margin.shape[0]
-    tenmargin = tendon_margin[tendon_margin_id, tenid]
-    pos = wp.min(dist_min, dist_max) - tenmargin
-    active = pos < 0
-
-    if active:
-      wp.atomic_add(nl_out, worldid, 1)
-      efcid = wp.atomic_add(nefc_out, worldid, 1)
-
-      if efcid >= njmax_in:
-        return
-
-      if wp.static(is_sparse and newton):
-        jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-        efc_jtdaj_adr_out[worldid, jgid] = efcid
-        efc_jtdaj_nrow_out[worldid, jgid] = 1
-
-      Jqvel = float(0.0)
-      scl = float(dist_min < dist_max) * 2.0 - 1.0
-
-      rownnz_tenJ = ten_J_rownnz[tenid]
-      rowadr_tenJ = ten_J_rowadr[tenid]
-      if wp.static(is_sparse):
-        efc_J_rownnz_out[worldid, efcid] = rownnz_tenJ
-        rowadr_efc = wp.atomic_add(efc_nnz_out, worldid, rownnz_tenJ)
-        if rowadr_efc + rownnz_tenJ > njmax_nnz_in:
-          return
-        efc_J_rowadr_out[worldid, efcid] = rowadr_efc
-
-        for i in range(rownnz_tenJ):
-          sparseid_ten = rowadr_tenJ + i
-          sparseid_efc = rowadr_efc + i
-          colind = ten_J_colind[sparseid_ten]
-          J = scl * ten_J_in[worldid, sparseid_ten]
-          efc_J_colind_out[worldid, 0, sparseid_efc] = colind
-          efc_J_out[worldid, 0, sparseid_efc] = J
-          Jqvel += J * qvel_in[worldid, colind]
-      else:
-        nnz = int(0)
-        colind = ten_J_colind[rowadr_tenJ]
-        for i in range(nv):
-          if nnz < rownnz_tenJ and i == colind:
-            J = scl * ten_J_in[worldid, rowadr_tenJ + nnz]
-            efc_J_out[worldid, efcid, i] = J
-            Jqvel += J * qvel_in[worldid, i]
-            nnz += 1
-            if nnz < rownnz_tenJ:
-              colind = ten_J_colind[rowadr_tenJ + nnz]
-          else:
-            efc_J_out[worldid, efcid, i] = 0.0
-
-      tendon_invweight0_id = worldid % tendon_invweight0.shape[0]
-      tendon_solref_lim_id = worldid % tendon_solref_lim.shape[0]
-      tendon_solimp_lim_id = worldid % tendon_solimp_lim.shape[0]
-      _efc_row(
-        opt_disableflags,
-        worldid,
-        opt_timestep[worldid % opt_timestep.shape[0]],
-        efcid,
-        pos,
-        pos,
-        tendon_invweight0[tendon_invweight0_id, tenid],
-        tendon_solref_lim[tendon_solref_lim_id, tenid],
-        tendon_solimp_lim[tendon_solimp_lim_id, tenid],
-        tenmargin,
-        Jqvel,
-        0.0,
-        ConstraintType.LIMIT_TENDON,
-        tenid,
-        efc_type_out,
-        efc_id_out,
-        efc_pos_out,
-        efc_margin_out,
-        efc_D_out,
-        efc_vel_out,
-        efc_aref_out,
-        efc_frictionloss_out,
-      )
-
-  return kernel
-
-
-@wp.func
-def _get_contact_bodies_and_weights(
-  # Model:
-  geom_bodyid: wp.array[int],
-  flex_dim: wp.array[int],
-  flex_cellnum: wp.array[wp.vec3i],
-  flex_nodeadr: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_shelldataadr: wp.array[int],
-  flex_nodebodyid: wp.array[int],
-  flex_vertbodyid: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_shell: wp.array[int],
-  flex_vert0: wp.array[wp.vec3],
-  # Data in:
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  conid: int,
-  side: int,
-  geom: wp.vec2i,
-  flex: wp.vec2i,
-  elem: wp.vec2i,
-  vert: wp.vec2i,
-  con_pos: wp.vec3,
-  worldid: int,
-) -> Tuple[wp.vec4i, wp.vec4]:
-  geom_id = geom[side]
-  flex_id = flex[side]
-  elem_id = elem[side]
-  vert_id = vert[side]
-
-  # Rigid Geom Side
-  if geom_id >= 0:
-    return wp.vec4i(geom_bodyid[geom_id], -1, -1, -1), wp.vec4(1.0, 0.0, 0.0, 0.0)
-
-  # Plane-Vertex or Vertex-only flex contact
-  flex_vert_start = flex_vertadr[flex_id]
-  if vert_id >= 0:
-    body = flex_vertbodyid[flex_vert_start + vert_id]
-    if body >= 0:
-      return wp.vec4i(body, -1, -1, -1), wp.vec4(1.0, 0.0, 0.0, 0.0)
-
-    # Interpolated flex vertex contact: interpolate to the 8 corner nodes
-    v_adr = flex_vert_start + vert_id
-    coord = flex_vert0[v_adr]
-    cn = flex_cellnum[flex_id]
-    cx = cn[0]
-    cy = cn[1]
-    cz = cn[2]
-
-    ci = wp.min(int(coord[0] * float(cx)), cx - 1)
-    ci = wp.max(ci, 0)
-    cj = wp.min(int(coord[1] * float(cy)), cy - 1)
-    cj = wp.max(cj, 0)
-    ck = wp.min(int(coord[2] * float(cz)), cz - 1)
-    ck = wp.max(ck, 0)
-
-    local_x = wp.clamp(coord[0] * float(cx) - float(ci), 0.0, 1.0)
-    local_y = wp.clamp(coord[1] * float(cy) - float(cj), 0.0, 1.0)
-    local_z = wp.clamp(coord[2] * float(cz) - float(ck), 0.0, 1.0)
-    local = wp.vec3(local_x, local_y, local_z)
-
-    ny_g = cy + 1
-    nz_g = cz + 1
-    nstart = flex_nodeadr[flex_id]
-
-    body_ids = wp.vec4i(-1, -1, -1, -1)
-    weights = wp.vec4(0.0, 0.0, 0.0, 0.0)
-    n_collected = int(0)
-
-    for li in range(2):
-      for lj in range(2):
-        for lk in range(2):
-          w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-          if w > 1.0e-5 and n_collected < 4:
-            gi = ci + li
-            gj = cj + lj
-            gk = ck + lk
-            node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-            b = flex_nodebodyid[nstart + node_idx]
-
-            # Put into body_ids and weights
-            if n_collected == 0:
-              body_ids = wp.vec4i(b, -1, -1, -1)
-              weights = wp.vec4(w, 0.0, 0.0, 0.0)
-            elif n_collected == 1:
-              body_ids = wp.vec4i(body_ids[0], b, -1, -1)
-              weights = wp.vec4(weights[0], w, 0.0, 0.0)
-            elif n_collected == 2:
-              body_ids = wp.vec4i(body_ids[0], body_ids[1], b, -1)
-              weights = wp.vec4(weights[0], weights[1], w, 0.0)
-            else:
-              body_ids = wp.vec4i(body_ids[0], body_ids[1], body_ids[2], b)
-              weights = wp.vec4(weights[0], weights[1], weights[2], w)
-
-            n_collected += 1
-
-    # Normalize weights so they sum to 1.0
-    w_sum = weights[0] + weights[1] + weights[2] + weights[3]
-    if w_sum > 1.0e-5:
-      weights = wp.vec4(weights[0] / w_sum, weights[1] / w_sum, weights[2] / w_sum, weights[3] / w_sum)
-
-    return body_ids, weights
-
-  # Element contact: Retrieve local vertices
-  dim = flex_dim[flex_id]
-
-  if dim == 2:
-    elem_data_start = flex_elemdataadr[flex_id] + elem_id * 3
-    v0 = flex_elem[elem_data_start + 0]
-    v1 = flex_elem[elem_data_start + 1]
-    v2 = flex_elem[elem_data_start + 2]
-
-    x0 = flexvert_xpos_in[worldid, flex_vert_start + v0]
-    x1 = flexvert_xpos_in[worldid, flex_vert_start + v1]
-    x2 = flexvert_xpos_in[worldid, flex_vert_start + v2]
-
-    d0 = wp.length(con_pos - x0)
-    d1 = wp.length(con_pos - x1)
-    d2 = wp.length(con_pos - x2)
-
-    w0 = 1.0 / wp.max(types.MJ_MINVAL, d0)
-    w1 = 1.0 / wp.max(types.MJ_MINVAL, d1)
-    w2 = 1.0 / wp.max(types.MJ_MINVAL, d2)
-
-    w_sum = w0 + w1 + w2
-    w0 = w0 / w_sum
-    w1 = w1 / w_sum
-    w2 = w2 / w_sum
-
-    b0 = flex_vertbodyid[flex_vert_start + v0]
-    b1 = flex_vertbodyid[flex_vert_start + v1]
-    b2 = flex_vertbodyid[flex_vert_start + v2]
-
-    return wp.vec4i(b0, b1, b2, -1), wp.vec4(w0, w1, w2, 0.0)
-
-  elif dim == 3:
-    elem_data_start = flex_elemdataadr[flex_id] + elem_id * 4
-    v0 = flex_elem[elem_data_start + 0]
-    v1 = flex_elem[elem_data_start + 1]
-    v2 = flex_elem[elem_data_start + 2]
-    v3 = flex_elem[elem_data_start + 3]
-
-    x0 = flexvert_xpos_in[worldid, flex_vert_start + v0]
-    x1 = flexvert_xpos_in[worldid, flex_vert_start + v1]
-    x2 = flexvert_xpos_in[worldid, flex_vert_start + v2]
-    x3 = flexvert_xpos_in[worldid, flex_vert_start + v3]
-
-    d0 = wp.length(con_pos - x0)
-    d1 = wp.length(con_pos - x1)
-    d2 = wp.length(con_pos - x2)
-    d3 = wp.length(con_pos - x3)
-
-    w0 = 1.0 / wp.max(types.MJ_MINVAL, d0)
-    w1 = 1.0 / wp.max(types.MJ_MINVAL, d1)
-    w2 = 1.0 / wp.max(types.MJ_MINVAL, d2)
-    w3 = 1.0 / wp.max(types.MJ_MINVAL, d3)
-
-    w_sum = w0 + w1 + w2 + w3
-    w0 = w0 / w_sum
-    w1 = w1 / w_sum
-    w2 = w2 / w_sum
-    w3 = w3 / w_sum
-
-    b0 = flex_vertbodyid[flex_vert_start + v0]
-    if b0 >= 0:
-      b1 = flex_vertbodyid[flex_vert_start + v1]
-      b2 = flex_vertbodyid[flex_vert_start + v2]
-      b3 = flex_vertbodyid[flex_vert_start + v3]
-      return wp.vec4i(b0, b1, b2, b3), wp.vec4(w0, w1, w2, w3)
-    else:
-      # Interpolated 3D flex element contact: accumulate node weights and select top 4
-      coord0 = flex_vert0[flex_vert_start + v0]
-      cn = flex_cellnum[flex_id]
-      cx = cn[0]
-      cy = cn[1]
-      cz = cn[2]
-
-      ci = wp.min(int(coord0[0] * float(cx)), cx - 1)
-      ci = wp.max(ci, 0)
-      cj = wp.min(int(coord0[1] * float(cy)), cy - 1)
-      cj = wp.max(cj, 0)
-      ck = wp.min(int(coord0[2] * float(cz)), cz - 1)
-      ck = wp.max(ck, 0)
-
-      ny_g = cy + 1
-      nz_g = cz + 1
-      nstart = flex_nodeadr[flex_id]
-
-      # 8 accumulated weights for the voxel corners
-      W0 = float(0.0)
-      W1 = float(0.0)
-      W2 = float(0.0)
-      W3 = float(0.0)
-      W4 = float(0.0)
-      W5 = float(0.0)
-      W6 = float(0.0)
-      W7 = float(0.0)
-
-      # Loop over the 4 vertices of the tetrahedron
-      for k in range(4):
-        v_idx = v0
-        w_k = w0
-        if k == 1:
-          v_idx = v1
-          w_k = w1
-        elif k == 2:
-          v_idx = v2
-          w_k = w2
-        elif k == 3:
-          v_idx = v3
-          w_k = w3
-
-        coord = flex_vert0[flex_vert_start + v_idx]
-        local_x = wp.clamp(coord[0] * float(cx) - float(ci), 0.0, 1.0)
-        local_y = wp.clamp(coord[1] * float(cy) - float(cj), 0.0, 1.0)
-        local_z = wp.clamp(coord[2] * float(cz) - float(ck), 0.0, 1.0)
-        local = wp.vec3(local_x, local_y, local_z)
-
-        # Accumulate trilinear weights
-        W0 += w_k * support.eval_basis_trilinear(local, 0)
-        W1 += w_k * support.eval_basis_trilinear(local, 1)
-        W2 += w_k * support.eval_basis_trilinear(local, 2)
-        W3 += w_k * support.eval_basis_trilinear(local, 3)
-        W4 += w_k * support.eval_basis_trilinear(local, 4)
-        W5 += w_k * support.eval_basis_trilinear(local, 5)
-        W6 += w_k * support.eval_basis_trilinear(local, 6)
-        W7 += w_k * support.eval_basis_trilinear(local, 7)
-
-      # 8 node body IDs corresponding to the 8 voxel corners
-      b0_node = flex_nodebodyid[nstart + (ci + 0) * ny_g * nz_g + (cj + 0) * nz_g + (ck + 0)]
-      b1_node = flex_nodebodyid[nstart + (ci + 0) * ny_g * nz_g + (cj + 0) * nz_g + (ck + 1)]
-      b2_node = flex_nodebodyid[nstart + (ci + 0) * ny_g * nz_g + (cj + 1) * nz_g + (ck + 0)]
-      b3_node = flex_nodebodyid[nstart + (ci + 0) * ny_g * nz_g + (cj + 1) * nz_g + (ck + 1)]
-      b4_node = flex_nodebodyid[nstart + (ci + 1) * ny_g * nz_g + (cj + 0) * nz_g + (ck + 0)]
-      b5_node = flex_nodebodyid[nstart + (ci + 1) * ny_g * nz_g + (cj + 0) * nz_g + (ck + 1)]
-      b6_node = flex_nodebodyid[nstart + (ci + 1) * ny_g * nz_g + (cj + 1) * nz_g + (ck + 0)]
-      b7_node = flex_nodebodyid[nstart + (ci + 1) * ny_g * nz_g + (cj + 1) * nz_g + (ck + 1)]
-
-      W_mat = wp.mat33(W0, W1, W2, W3, W4, W5, W6, W7, -1.0)
-      b_mat = wp.mat33(
-        float(b0_node),
-        float(b1_node),
-        float(b2_node),
-        float(b3_node),
-        float(b4_node),
-        float(b5_node),
-        float(b6_node),
-        float(b7_node),
-        -1.0,
-      )
-      return support.select_top4_weights(W_mat, b_mat)
-
-  else:
-    return wp.vec4i(-1, -1, -1, -1), wp.vec4(0.0, 0.0, 0.0, 0.0)
-
-
-# TODO(flex): Add interpolated flex self-collision support. Currently, interpolated
-# flex contacts only handle flex-vs-geom contacts (e.g., flex on ground plane).
-# Self-collision requires distributing both sides of the contact across cell nodes.
-
-# TODO(flex): Replace inverse-distance contact weights with barycentric weights
-# (mj_elemBodyWeight-style) for element contacts on interpolated flex.
-
-
-@cache_kernel
-def _efc_contact_init(cone_type: types.ConeType, is_sparse: bool, newton: bool):
-  IS_ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-  IS_SPARSE = is_sparse
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=True)
-  def kernel(
-    # Model:
-    body_weldid: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_dofadr: wp.array[int],
-    dof_parentid: wp.array[int],
-    geom_bodyid: wp.array[int],
-    # Data in:
-    njmax_in: int,
-    njmax_nnz_in: int,
-    nacon_in: wp.array[int],
-    # In:
-    dist_in: wp.array[float],
-    condim_in: wp.array[int],
-    includemargin_in: wp.array[float],
-    worldid_in: wp.array[int],
-    geom_in: wp.array[wp.vec2i],
-    type_in: wp.array[int],
-    # Data out:
-    nefc_out: wp.array[int],
-    contact_efc_address_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    conid = wp.tid()
-
-    if conid >= nacon_in[0]:
-      return
-
-    if not type_in[conid] & ContactType.CONSTRAINT:
-      return
-
-    condim = condim_in[conid]
-
-    includemargin = includemargin_in[conid]
-    pos = dist_in[conid] - includemargin
-    active = pos < 0
-
-    if not active:
-      return
-
-    if wp.static(IS_ELLIPTIC):
-      ndim = condim
-    else:
-      if condim == 1:
-        ndim = 1
-      else:
-        ndim = 2 * (condim - 1)
-
-    worldid = worldid_in[conid]
-
-    # Allocate contiguous block of efcids for all dimids
-    base_efcid = wp.atomic_add(nefc_out, worldid, ndim)
-    for dim in range(ndim):
-      efcid = base_efcid + dim
-      if efcid >= njmax_in:
-        contact_efc_address_out[conid, dim] = -1
-      else:
-        contact_efc_address_out[conid, dim] = efcid
-        # This is redundant with the _efc_row call later but needed for the jac calculation
-        efc_id_out[worldid, efcid] = conid
-
-    if wp.static(is_sparse and newton):
-      if base_efcid < njmax_in:
-        jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-        efc_jtdaj_adr_out[worldid, jgid] = base_efcid
-        efc_jtdaj_nrow_out[worldid, jgid] = wp.min(ndim, njmax_in - base_efcid)
-
-    if wp.static(IS_SPARSE):
-      geom = geom_in[conid]
-      body1 = body_weldid[geom_bodyid[geom[0]]]
-      body2 = body_weldid[geom_bodyid[geom[1]]]
-
-      da1 = int(body_dofadr[body1] + body_dofnum[body1] - 1)
-      da2 = int(body_dofadr[body2] + body_dofnum[body2] - 1)
-
-      # count non-zeros
-      rownnz = int(0)
-      while da1 >= 0 or da2 >= 0:
-        da = wp.max(da1, da2)
-        # skip common dofs
-        if da1 == da and da2 == da:
-          break
-        if da1 == da:
-          da1 = dof_parentid[da1]
-        if da2 == da:
-          da2 = dof_parentid[da2]
-        rownnz += 1
-
-      rowadr = wp.atomic_add(efc_nnz_out, worldid, rownnz * ndim)
-      if rowadr + rownnz * ndim > njmax_nnz_in:
-        return
-      for dim in range(ndim):
-        efcid = base_efcid + dim
-        if efcid < njmax_in:
-          efc_J_rowadr_out[worldid, efcid] = rowadr + dim * rownnz
-          efc_J_rownnz_out[worldid, efcid] = rownnz
-
-  return kernel
-
-
-@cache_kernel
-def _efc_contact_init_flex(cone_type: types.ConeType, is_sparse: bool, newton: bool):
-  IS_ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-  IS_SPARSE = is_sparse
-  HAS_FLEX = True
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    body_parentid: wp.array[int],
-    body_weldid: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_dofadr: wp.array[int],
-    dof_parentid: wp.array[int],
-    geom_bodyid: wp.array[int],
-    flex_dim: wp.array[int],
-    flex_interp: wp.array[int],
-    flex_cellnum: wp.array[wp.vec3i],
-    flex_nodeadr: wp.array[int],
-    flex_vertadr: wp.array[int],
-    flex_elemdataadr: wp.array[int],
-    flex_shelldataadr: wp.array[int],
-    flex_nodebodyid: wp.array[int],
-    flex_vertbodyid: wp.array[int],
-    flex_elem: wp.array[int],
-    flex_shell: wp.array[int],
-    flex_vert0: wp.array[wp.vec3],
-    # Data in:
-    flexvert_xpos_in: wp.array2d[wp.vec3],
-    njmax_in: int,
-    njmax_nnz_in: int,
-    nacon_in: wp.array[int],
-    # In:
-    dist_in: wp.array[float],
-    condim_in: wp.array[int],
-    includemargin_in: wp.array[float],
-    worldid_in: wp.array[int],
-    geom_in: wp.array[wp.vec2i],
-    flex_in: wp.array[wp.vec2i],
-    elem_in: wp.array[wp.vec2i],
-    vert_in: wp.array[wp.vec2i],
-    pos_in: wp.array[wp.vec3],
-    type_in: wp.array[int],
-    # Data out:
-    nefc_out: wp.array[int],
-    contact_efc_address_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_jtdaj_adr_out: wp.array2d[int],
-    efc_jtdaj_nrow_out: wp.array2d[int],
-    efc_jtdaj_nblock_out: wp.array[int],
-    efc_J_rownnz_out: wp.array2d[int],
-    efc_J_rowadr_out: wp.array2d[int],
-    # Out:
-    efc_nnz_out: wp.array[int],
-  ):
-    conid = wp.tid()
-
-    if conid >= nacon_in[0]:
-      return
-
-    if not type_in[conid] & ContactType.CONSTRAINT:
-      return
-
-    condim = condim_in[conid]
-
-    includemargin = includemargin_in[conid]
-    pos = dist_in[conid] - includemargin
-    active = pos < 0
-
-    if not active:
-      return
-
-    if wp.static(IS_ELLIPTIC):
-      ndim = condim
-    else:
-      if condim == 1:
-        ndim = 1
-      else:
-        ndim = 2 * (condim - 1)
-
-    worldid = worldid_in[conid]
-
-    # Allocate contiguous block of efcids for all dimids
-    base_efcid = wp.atomic_add(nefc_out, worldid, ndim)
-    for dim in range(ndim):
-      efcid = base_efcid + dim
-      if efcid >= njmax_in:
-        contact_efc_address_out[conid, dim] = -1
-      else:
-        contact_efc_address_out[conid, dim] = efcid
-        # This is redundant with the _efc_row call later but needed for the jac calculation
-        efc_id_out[worldid, efcid] = conid
-
-    if wp.static(is_sparse and newton):
-      if base_efcid < njmax_in:
-        jgid = wp.atomic_add(efc_jtdaj_nblock_out, worldid, 1)
-        efc_jtdaj_adr_out[worldid, jgid] = base_efcid
-        efc_jtdaj_nrow_out[worldid, jgid] = wp.min(ndim, njmax_in - base_efcid)
-
-    if wp.static(IS_SPARSE):
-      geom = geom_in[conid]
-      flex = flex_in[conid]
-      elem = elem_in[conid]
-      vert = vert_in[conid]
-      con_pos = pos_in[conid]
-
-      body_ids1, weights1 = _get_contact_bodies_and_weights(
-        geom_bodyid,
-        flex_dim,
-        flex_cellnum,
-        flex_nodeadr,
-        flex_vertadr,
-        flex_elemdataadr,
-        flex_shelldataadr,
-        flex_nodebodyid,
-        flex_vertbodyid,
-        flex_elem,
-        flex_shell,
-        flex_vert0,
-        flexvert_xpos_in,
-        conid,
-        0,
-        geom,
-        flex,
-        elem,
-        vert,
-        con_pos,
-        worldid,
-      )
-      body_ids2, weights2 = _get_contact_bodies_and_weights(
-        geom_bodyid,
-        flex_dim,
-        flex_cellnum,
-        flex_nodeadr,
-        flex_vertadr,
-        flex_elemdataadr,
-        flex_shelldataadr,
-        flex_nodebodyid,
-        flex_vertbodyid,
-        flex_elem,
-        flex_shell,
-        flex_vert0,
-        flexvert_xpos_in,
-        conid,
-        1,
-        geom,
-        flex,
-        elem,
-        vert,
-        con_pos,
-        worldid,
-      )
-
-      is_interp = False
-      if wp.static(HAS_FLEX):
-        if geom[0] < 0 and flex[0] >= 0 and (vert[0] >= 0 or elem[0] >= 0):
-          if flex_interp[flex[0]] != 0:
-            is_interp = True
-        if geom[1] < 0 and flex[1] >= 0 and (vert[1] >= 0 or elem[1] >= 0):
-          if flex_interp[flex[1]] != 0:
-            is_interp = True
-
-      if is_interp:
-        # Interpolated flex: sum of all contributing body dofnums after de-duplication
-        local_bodies = types.vec16i(-1)
-        local_weights = types.vec16(0.0)
-        local_nb = int(0)
-
-        for side in range(2):
-          if geom[side] >= 0:
-            b = body_weldid[geom_bodyid[geom[side]]]
-            local_nb, local_bodies, local_weights = _add_weight(local_nb, local_bodies, local_weights, b, 1.0, True)
-          elif flex[side] >= 0:
-            f = flex[side]
-            if flex_interp[f] != 0:
-              # Interpolated flex path (trilinear)
-              if vert[side] >= 0:
-                v_adr = flex_vertadr[f] + vert[side]
-                coord = flex_vert0[v_adr]
-                cn = flex_cellnum[f]
-                cx = cn[0]
-                cy = cn[1]
-                cz = cn[2]
-                ci = wp.min(int(coord[0] * float(cx)), cx - 1)
-                ci = wp.max(ci, 0)
-                cj = wp.min(int(coord[1] * float(cy)), cy - 1)
-                cj = wp.max(cj, 0)
-                ck = wp.min(int(coord[2] * float(cz)), cz - 1)
-                ck = wp.max(ck, 0)
-                local_x = wp.clamp(coord[0] * float(cx) - float(ci), 0.0, 1.0)
-                local_y = wp.clamp(coord[1] * float(cy) - float(cj), 0.0, 1.0)
-                local_z = wp.clamp(coord[2] * float(cz) - float(ck), 0.0, 1.0)
-                local = wp.vec3(local_x, local_y, local_z)
-                ny_g = cy + 1
-                nz_g = cz + 1
-                nstart = flex_nodeadr[f]
-                for li in range(2):
-                  for lj in range(2):
-                    for lk in range(2):
-                      w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-                      if w > 1.0e-5:
-                        gi = ci + li
-                        gj = cj + lj
-                        gk = ck + lk
-                        node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-                        b = body_weldid[flex_nodebodyid[nstart + node_idx]]
-                        local_nb, local_bodies, local_weights = _add_weight(local_nb, local_bodies, local_weights, b, w, True)
-              elif elem[side] >= 0:
-                e = elem[side]
-                dim_f = flex_dim[f]
-                edata_adr = flex_elemdataadr[f] + e * (dim_f + 1)
-                vert_adr_f = flex_vertadr[f]
-                contact_pos = pos_in[conid]
-                total_inv_dist = float(0.0)
-                blended_coord = wp.vec3(0.0, 0.0, 0.0)
-                for vi in range(4):
-                  if vi <= dim_f:
-                    v_idx = flex_elem[edata_adr + vi]
-                    vpos = flexvert_xpos_in[worldid, vert_adr_f + v_idx]
-                    dist_v = wp.length(contact_pos - vpos)
-                    w_inv = 1.0 / wp.max(1.0e-10, dist_v)
-                    total_inv_dist += w_inv
-                    blended_coord += flex_vert0[vert_adr_f + v_idx] * w_inv
-                if total_inv_dist > 1.0e-10:
-                  blended_coord = blended_coord / total_inv_dist
-                cn = flex_cellnum[f]
-                cx = cn[0]
-                cy = cn[1]
-                cz = cn[2]
-                ci = wp.min(int(blended_coord[0] * float(cx)), cx - 1)
-                ci = wp.max(ci, 0)
-                cj = wp.min(int(blended_coord[1] * float(cy)), cy - 1)
-                cj = wp.max(cj, 0)
-                ck = wp.min(int(blended_coord[2] * float(cz)), cz - 1)
-                ck = wp.max(ck, 0)
-                local_x = wp.clamp(blended_coord[0] * float(cx) - float(ci), 0.0, 1.0)
-                local_y = wp.clamp(blended_coord[1] * float(cy) - float(cj), 0.0, 1.0)
-                local_z = wp.clamp(blended_coord[2] * float(cz) - float(ck), 0.0, 1.0)
-                local = wp.vec3(local_x, local_y, local_z)
-                ny_g = cy + 1
-                nz_g = cz + 1
-                nstart = flex_nodeadr[f]
-                for li in range(2):
-                  for lj in range(2):
-                    for lk in range(2):
-                      w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-                      if w > 1.0e-5:
-                        gi = ci + li
-                        gj = cj + lj
-                        gk = ck + lk
-                        node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-                        b = body_weldid[flex_nodebodyid[nstart + node_idx]]
-                        local_nb, local_bodies, local_weights = _add_weight(local_nb, local_bodies, local_weights, b, w, True)
-            else:
-              # Non-interpolated flex path: use pre-computed body_ids and weights
-              if side == 0:
-                for vi in range(4):
-                  if body_ids1[vi] >= 0:
-                    b = body_weldid[body_ids1[vi]]
-                    local_nb, local_bodies, local_weights = _add_weight(
-                      local_nb, local_bodies, local_weights, b, weights1[vi], True
-                    )
-              else:
-                for vi in range(4):
-                  if body_ids2[vi] >= 0:
-                    b = body_weldid[body_ids2[vi]]
-                    local_nb, local_bodies, local_weights = _add_weight(
-                      local_nb, local_bodies, local_weights, b, weights2[vi], True
-                    )
-
-        # sum dofnums for unique bodies
-        rownnz = int(0)
-        for i in range(16):
-          if i < local_nb:
-            rownnz += body_dofnum[local_bodies[i]]
-      else:
-        # Standard path (including elements up to 4 bodies)
-        b1_0 = body_weldid[body_ids1[0]]
-        b1_1 = body_weldid[body_ids1[1]] if body_ids1[1] >= 0 else -1
-        b1_2 = body_weldid[body_ids1[2]] if body_ids1[2] >= 0 else -1
-        b1_3 = body_weldid[body_ids1[3]] if body_ids1[3] >= 0 else -1
-
-        b2_0 = body_weldid[body_ids2[0]]
-        b2_1 = body_weldid[body_ids2[1]] if body_ids2[1] >= 0 else -1
-        b2_2 = body_weldid[body_ids2[2]] if body_ids2[2] >= 0 else -1
-        b2_3 = body_weldid[body_ids2[3]] if body_ids2[3] >= 0 else -1
-
-        dof1_0 = int(body_dofadr[b1_0] + body_dofnum[b1_0] - 1) if b1_0 >= 0 else -1
-        dof1_1 = int(body_dofadr[b1_1] + body_dofnum[b1_1] - 1) if b1_1 >= 0 else -1
-        dof1_2 = int(body_dofadr[b1_2] + body_dofnum[b1_2] - 1) if b1_2 >= 0 else -1
-        dof1_3 = int(body_dofadr[b1_3] + body_dofnum[b1_3] - 1) if b1_3 >= 0 else -1
-
-        dof2_0 = int(body_dofadr[b2_0] + body_dofnum[b2_0] - 1) if b2_0 >= 0 else -1
-        dof2_1 = int(body_dofadr[b2_1] + body_dofnum[b2_1] - 1) if b2_1 >= 0 else -1
-        dof2_2 = int(body_dofadr[b2_2] + body_dofnum[b2_2] - 1) if b2_2 >= 0 else -1
-        dof2_3 = int(body_dofadr[b2_3] + body_dofnum[b2_3] - 1) if b2_3 >= 0 else -1
-
-        # count non-zeros
-        rownnz = int(0)
-        while (
-          dof1_0 >= 0 or dof1_1 >= 0 or dof1_2 >= 0 or dof1_3 >= 0 or dof2_0 >= 0 or dof2_1 >= 0 or dof2_2 >= 0 or dof2_3 >= 0
-        ):
-          da1_max = wp.max(dof1_0, wp.max(dof1_1, wp.max(dof1_2, dof1_3)))
-          da2_max = wp.max(dof2_0, wp.max(dof2_1, wp.max(dof2_2, dof2_3)))
-          da = wp.max(da1_max, da2_max)
-
-          if dof1_0 == da:
-            dof1_0 = dof_parentid[dof1_0]
-          if dof1_1 == da:
-            dof1_1 = dof_parentid[dof1_1]
-          if dof1_2 == da:
-            dof1_2 = dof_parentid[dof1_2]
-          if dof1_3 == da:
-            dof1_3 = dof_parentid[dof1_3]
-
-          if dof2_0 == da:
-            dof2_0 = dof_parentid[dof2_0]
-          if dof2_1 == da:
-            dof2_1 = dof_parentid[dof2_1]
-          if dof2_2 == da:
-            dof2_2 = dof_parentid[dof2_2]
-          if dof2_3 == da:
-            dof2_3 = dof_parentid[dof2_3]
-
-          rownnz += 1
-
-      rowadr = wp.atomic_add(efc_nnz_out, worldid, rownnz * ndim)
-      if rowadr + rownnz * ndim > njmax_nnz_in:
-        return
-      for dim in range(ndim):
-        efcid = base_efcid + dim
-        if efcid < njmax_in:
-          efc_J_rowadr_out[worldid, efcid] = rowadr + dim * rownnz
-          efc_J_rownnz_out[worldid, efcid] = rownnz
-
-  return kernel
-
-
-@cache_kernel
-def _efc_contact_jac_sparse(cone_type: types.ConeType):
-  IS_ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    body_parentid: wp.array[int],
-    body_rootid: wp.array[int],
-    body_weldid: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_dofadr: wp.array[int],
-    dof_bodyid: wp.array[int],
-    dof_parentid: wp.array[int],
-    geom_bodyid: wp.array[int],
-    body_isdofancestor: wp.array2d[int],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    subtree_com_in: wp.array2d[wp.vec3],
-    cdof_in: wp.array2d[wp.spatial_vector],
-    contact_efc_address_in: wp.array2d[int],
-    efc_J_rownnz_in: wp.array2d[int],
-    efc_J_rowadr_in: wp.array2d[int],
-    nacon_in: wp.array[int],
-    # In:
-    condim_in: wp.array[int],
-    geom_in: wp.array[wp.vec2i],
-    pos_in: wp.array[wp.vec3],
-    frame_in: wp.array2d[wp.vec3],
-    friction_in: wp.array2d[float],
-    worldid_in: wp.array[int],
-    # Data out:
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_Jqvel_out: wp.array2d[float],
-  ):
-    conid, dimid = wp.tid()
-
-    if conid >= nacon_in[0]:
-      return
-
-    efcid = contact_efc_address_in[conid, dimid]
-    if efcid < 0:
-      return
-
-    worldid = worldid_in[conid]
-    condim = condim_in[conid]
-
-    geom = geom_in[conid]
-    body1 = body_weldid[geom_bodyid[geom[0]]]
-    body2 = body_weldid[geom_bodyid[geom[1]]]
-
-    con_pos = pos_in[conid]
-
-    if not wp.static(IS_ELLIPTIC):
-      frame_0 = frame_in[conid, 0]
-      if condim > 1:
-        dimid2 = dimid / 2 + 1
-        frii = friction_in[conid, dimid2 - 1]
-
-    da1 = int(body_dofadr[body1] + body_dofnum[body1] - 1)
-    da2 = int(body_dofadr[body2] + body_dofnum[body2] - 1)
-    da = wp.max(da1, da2)
-
-    rowadr = efc_J_rowadr_in[worldid, efcid]
-    rownnz = efc_J_rownnz_in[worldid, efcid]
-
-    Jqvel = float(0.0)
-    nnz = int(0)
-    dofid = int(da)
-
-    while True:
-      if nnz >= rownnz:
-        break
-
-      if dofid == da:
-        jac1p, jac1r = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          con_pos,
-          body1,
-          dofid,
-          worldid,
-        )
-        jac2p, jac2r = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          con_pos,
-          body2,
-          dofid,
-          worldid,
-        )
-
-        jacp_dif = jac2p - jac1p
-        jacr_dif = jac2r - jac1r
-
-        if wp.static(IS_ELLIPTIC):
-          J = float(0.0)
-          if dimid < 3:
-            frame_row = frame_in[conid, dimid]
-            for xyz in range(3):
-              J += frame_row[xyz] * jacp_dif[xyz]
-          else:
-            frame_row = frame_in[conid, dimid - 3]
-            for xyz in range(3):
-              J += frame_row[xyz] * jacr_dif[xyz]
-        else:
-          J = float(0.0)
-          Ji = float(0.0)
-
-          for xyz in range(3):
-            J += frame_0[xyz] * jacp_dif[xyz]
-
-            if condim > 1:
-              if dimid2 < 3:
-                Ji += frame_in[conid, dimid2][xyz] * jacp_dif[xyz]
-              else:
-                Ji += frame_in[conid, dimid2 - 3][xyz] * jacr_dif[xyz]
-
-          if condim > 1:
-            if dimid % 2 == 0:
-              J += Ji * frii
-            else:
-              J -= Ji * frii
-
-        sparseid = rowadr + nnz
-        efc_J_colind_out[worldid, 0, sparseid] = dofid
-        efc_J_out[worldid, 0, sparseid] = J
-        nnz += 1
-        Jqvel += J * qvel_in[worldid, dofid]
-
-        # Advance tree pointers and recompute da for next iteration
-        if da1 == da:
-          da1 = dof_parentid[da1]
-        if da2 == da:
-          da2 = dof_parentid[da2]
-        da = wp.max(da1, da2)
-        dofid = da
-
-    efc_Jqvel_out[worldid, efcid] = Jqvel
-
-  return kernel
-
-
-@cache_kernel
-def _efc_contact_jac_sparse_flex(cone_type: types.ConeType):
-  IS_ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-  HAS_FLEX = True
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    body_parentid: wp.array[int],
-    body_rootid: wp.array[int],
-    body_weldid: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_dofadr: wp.array[int],
-    dof_bodyid: wp.array[int],
-    dof_parentid: wp.array[int],
-    geom_bodyid: wp.array[int],
-    flex_dim: wp.array[int],
-    flex_interp: wp.array[int],
-    flex_cellnum: wp.array[wp.vec3i],
-    flex_nodeadr: wp.array[int],
-    flex_vertadr: wp.array[int],
-    flex_elemdataadr: wp.array[int],
-    flex_shelldataadr: wp.array[int],
-    flex_nodebodyid: wp.array[int],
-    flex_vertbodyid: wp.array[int],
-    flex_elem: wp.array[int],
-    flex_shell: wp.array[int],
-    flex_vert0: wp.array[wp.vec3],
-    body_isdofancestor: wp.array2d[int],
-    # Data in:
-    qvel_in: wp.array2d[float],
-    subtree_com_in: wp.array2d[wp.vec3],
-    cdof_in: wp.array2d[wp.spatial_vector],
-    flexvert_xpos_in: wp.array2d[wp.vec3],
-    contact_efc_address_in: wp.array2d[int],
-    efc_J_rownnz_in: wp.array2d[int],
-    efc_J_rowadr_in: wp.array2d[int],
-    nacon_in: wp.array[int],
-    # In:
-    condim_in: wp.array[int],
-    geom_in: wp.array[wp.vec2i],
-    flex_in: wp.array[wp.vec2i],
-    elem_in: wp.array[wp.vec2i],
-    vert_in: wp.array[wp.vec2i],
-    pos_in: wp.array[wp.vec3],
-    frame_in: wp.array2d[wp.vec3],
-    friction_in: wp.array2d[float],
-    worldid_in: wp.array[int],
-    # Data out:
-    efc_J_colind_out: wp.array3d[int],
-    efc_J_out: wp.array3d[float],
-    efc_Jqvel_out: wp.array2d[float],
-  ):
-    conid, dimid = wp.tid()
-
-    if conid >= nacon_in[0]:
-      return
-
-    efcid = contact_efc_address_in[conid, dimid]
-    if efcid < 0:
-      return
-
-    worldid = worldid_in[conid]
-    condim = condim_in[conid]
-
-    geom = geom_in[conid]
-    flex = flex_in[conid]
-    elem = elem_in[conid]
-    vert = vert_in[conid]
-    con_pos = pos_in[conid]
-
-    is_interp = False
-    if wp.static(HAS_FLEX):
-      if geom[0] < 0 and flex[0] >= 0 and (vert[0] >= 0 or elem[0] >= 0):
-        if flex_interp[flex[0]] != 0:
-          is_interp = True
-      if geom[1] < 0 and flex[1] >= 0 and (vert[1] >= 0 or elem[1] >= 0):
-        if flex_interp[flex[1]] != 0:
-          is_interp = True
-
-    if not wp.static(IS_ELLIPTIC):
-      frame_0 = frame_in[conid, 0]
-      if condim > 1:
-        dimid2 = dimid / 2 + 1
-        frii = friction_in[conid, dimid2 - 1]
-
-    rowadr = efc_J_rowadr_in[worldid, efcid]
-    rownnz = efc_J_rownnz_in[worldid, efcid]
-
-    if is_interp:
-      # Interpolated flex path: accumulate unique bodies and signed weights
-      local_bodies = types.vec16i(-1)
-      local_weights = types.vec16(0.0)
-      local_nb = int(0)
-
-      for side in range(2):
-        sign = float(-1.0) if side == 0 else float(1.0)
-
-        if geom[side] >= 0:
-          b = body_weldid[geom_bodyid[geom[side]]]
-          local_nb, local_bodies, local_weights = _add_weight(local_nb, local_bodies, local_weights, b, sign, True)
-        elif flex[side] >= 0:
-          f = flex[side]
-          if flex_interp[f] != 0:
-            # Interpolated flex path (trilinear)
-            if vert[side] >= 0:
-              v_adr = flex_vertadr[f] + vert[side]
-              coord = flex_vert0[v_adr]
-              cn = flex_cellnum[f]
-              cx = cn[0]
-              cy = cn[1]
-              cz = cn[2]
-              ci = wp.min(int(coord[0] * float(cx)), cx - 1)
-              ci = wp.max(ci, 0)
-              cj = wp.min(int(coord[1] * float(cy)), cy - 1)
-              cj = wp.max(cj, 0)
-              ck = wp.min(int(coord[2] * float(cz)), cz - 1)
-              ck = wp.max(ck, 0)
-              local_x = wp.clamp(coord[0] * float(cx) - float(ci), 0.0, 1.0)
-              local_y = wp.clamp(coord[1] * float(cy) - float(cj), 0.0, 1.0)
-              local_z = wp.clamp(coord[2] * float(cz) - float(ck), 0.0, 1.0)
-              local = wp.vec3(local_x, local_y, local_z)
-              ny_g = cy + 1
-              nz_g = cz + 1
-              nstart = flex_nodeadr[f]
-              for li in range(2):
-                for lj in range(2):
-                  for lk in range(2):
-                    w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-                    if w > 1.0e-5:
-                      gi = ci + li
-                      gj = cj + lj
-                      gk = ck + lk
-                      node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-                      b = body_weldid[flex_nodebodyid[nstart + node_idx]]
-                      local_nb, local_bodies, local_weights = _add_weight(
-                        local_nb, local_bodies, local_weights, b, w * sign, True
-                      )
-            elif elem[side] >= 0:
-              e = elem[side]
-              dim_f = flex_dim[f]
-              edata_adr = flex_elemdataadr[f] + e * (dim_f + 1)
-              vert_adr_f = flex_vertadr[f]
-              total_inv_dist = float(0.0)
-              blended_coord = wp.vec3(0.0, 0.0, 0.0)
-              for vi in range(4):
-                if vi <= dim_f:
-                  v_idx = flex_elem[edata_adr + vi]
-                  vpos = flexvert_xpos_in[worldid, vert_adr_f + v_idx]
-                  dist_v = wp.length(con_pos - vpos)
-                  w_inv = 1.0 / wp.max(1.0e-10, dist_v)
-                  total_inv_dist += w_inv
-                  blended_coord += flex_vert0[vert_adr_f + v_idx] * w_inv
-              if total_inv_dist > 1.0e-10:
-                blended_coord = blended_coord / total_inv_dist
-              cn = flex_cellnum[f]
-              cx = cn[0]
-              cy = cn[1]
-              cz = cn[2]
-              ci = wp.min(int(blended_coord[0] * float(cx)), cx - 1)
-              ci = wp.max(ci, 0)
-              cj = wp.min(int(blended_coord[1] * float(cy)), cy - 1)
-              cj = wp.max(cj, 0)
-              ck = wp.min(int(blended_coord[2] * float(cz)), cz - 1)
-              ck = wp.max(ck, 0)
-              local_x = wp.clamp(blended_coord[0] * float(cx) - float(ci), 0.0, 1.0)
-              local_y = wp.clamp(blended_coord[1] * float(cy) - float(cj), 0.0, 1.0)
-              local_z = wp.clamp(blended_coord[2] * float(cz) - float(ck), 0.0, 1.0)
-              local = wp.vec3(local_x, local_y, local_z)
-              ny_g = cy + 1
-              nz_g = cz + 1
-              nstart = flex_nodeadr[f]
-              for li in range(2):
-                for lj in range(2):
-                  for lk in range(2):
-                    w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-                    if w > 1.0e-5:
-                      gi = ci + li
-                      gj = cj + lj
-                      gk = ck + lk
-                      node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-                      b = body_weldid[flex_nodebodyid[nstart + node_idx]]
-                      local_nb, local_bodies, local_weights = _add_weight(
-                        local_nb, local_bodies, local_weights, b, w * sign, True
-                      )
-          else:
-            # Non-interpolated flex path: use pre-computed bodies/weights
-            if side == 0:
-              body_ids, weights = _get_contact_bodies_and_weights(
-                geom_bodyid,
-                flex_dim,
-                flex_cellnum,
-                flex_nodeadr,
-                flex_vertadr,
-                flex_elemdataadr,
-                flex_shelldataadr,
-                flex_nodebodyid,
-                flex_vertbodyid,
-                flex_elem,
-                flex_shell,
-                flex_vert0,
-                flexvert_xpos_in,
-                conid,
-                0,
-                geom,
-                flex,
-                elem,
-                vert,
-                con_pos,
-                worldid,
-              )
-            else:
-              body_ids, weights = _get_contact_bodies_and_weights(
-                geom_bodyid,
-                flex_dim,
-                flex_cellnum,
-                flex_nodeadr,
-                flex_vertadr,
-                flex_elemdataadr,
-                flex_shelldataadr,
-                flex_nodebodyid,
-                flex_vertbodyid,
-                flex_elem,
-                flex_shell,
-                flex_vert0,
-                flexvert_xpos_in,
-                conid,
-                1,
-                geom,
-                flex,
-                elem,
-                vert,
-                con_pos,
-                worldid,
-              )
-            for vi in range(4):
-              if body_ids[vi] >= 0:
-                b = body_weldid[body_ids[vi]]
-                local_nb, local_bodies, local_weights = _add_weight(
-                  local_nb, local_bodies, local_weights, b, weights[vi] * sign, True
-                )
-
-      # Evaluate Jacobians for unique bodies and write to sparse J
-      nnz = int(0)
-      Jqvel = float(0.0)
-
-      for i in range(16):
-        if i >= local_nb:
-          break
-        b = local_bodies[i]
-        w_sign = local_weights[i]
-
-        dof_start = body_dofadr[b]
-        ndof = body_dofnum[b]
-        for di in range(ndof):
-          dofid = dof_start + di
-          jacp, jacr = support.jac_dof(
-            body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, con_pos, b, dofid, worldid
-          )
-
-          if wp.static(IS_ELLIPTIC):
-            J = float(0.0)
-            if dimid < 3:
-              frame_row = frame_in[conid, dimid]
-              for xyz in range(3):
-                J += frame_row[xyz] * jacp[xyz] * w_sign
-            else:
-              frame_row = frame_in[conid, dimid - 3]
-              for xyz in range(3):
-                J += frame_row[xyz] * jacr[xyz] * w_sign
-          else:
-            J = float(0.0)
-            Ji = float(0.0)
-            for xyz in range(3):
-              J += frame_0[xyz] * jacp[xyz] * w_sign
-              if condim > 1:
-                if dimid2 < 3:
-                  Ji += frame_in[conid, dimid2][xyz] * jacp[xyz] * w_sign
-                else:
-                  Ji += frame_in[conid, dimid2 - 3][xyz] * jacr[xyz] * w_sign
-            if condim > 1:
-              if dimid % 2 == 0:
-                J += Ji * frii
-              else:
-                J -= Ji * frii
-
-          if nnz < rownnz:
-            sparseid = rowadr + nnz
-            efc_J_colind_out[worldid, 0, sparseid] = dofid
-            efc_J_out[worldid, 0, sparseid] = J
-            Jqvel += J * qvel_in[worldid, dofid]
-            nnz += 1
-
-      efc_Jqvel_out[worldid, efcid] = Jqvel
-
-    else:
-      # Non-interpolated flex path: use HEAD's 4-body lockstep tree-walk
-      body_ids1, weights1 = _get_contact_bodies_and_weights(
-        geom_bodyid,
-        flex_dim,
-        flex_cellnum,
-        flex_nodeadr,
-        flex_vertadr,
-        flex_elemdataadr,
-        flex_shelldataadr,
-        flex_nodebodyid,
-        flex_vertbodyid,
-        flex_elem,
-        flex_shell,
-        flex_vert0,
-        flexvert_xpos_in,
-        conid,
-        0,
-        geom,
-        flex,
-        elem,
-        vert,
-        con_pos,
-        worldid,
-      )
-      body_ids2, weights2 = _get_contact_bodies_and_weights(
-        geom_bodyid,
-        flex_dim,
-        flex_cellnum,
-        flex_nodeadr,
-        flex_vertadr,
-        flex_elemdataadr,
-        flex_shelldataadr,
-        flex_nodebodyid,
-        flex_vertbodyid,
-        flex_elem,
-        flex_shell,
-        flex_vert0,
-        flexvert_xpos_in,
-        conid,
-        1,
-        geom,
-        flex,
-        elem,
-        vert,
-        con_pos,
-        worldid,
-      )
-
-      # skip fixed bodies
-      b1_0 = body_weldid[body_ids1[0]]
-      b1_1 = body_weldid[body_ids1[1]] if body_ids1[1] >= 0 else -1
-      b1_2 = body_weldid[body_ids1[2]] if body_ids1[2] >= 0 else -1
-      b1_3 = body_weldid[body_ids1[3]] if body_ids1[3] >= 0 else -1
-
-      b2_0 = body_weldid[body_ids2[0]]
-      b2_1 = body_weldid[body_ids2[1]] if body_ids2[1] >= 0 else -1
-      b2_2 = body_weldid[body_ids2[2]] if body_ids2[2] >= 0 else -1
-      b2_3 = body_weldid[body_ids2[3]] if body_ids2[3] >= 0 else -1
-
-      dof1_0 = int(body_dofadr[b1_0] + body_dofnum[b1_0] - 1) if b1_0 >= 0 else -1
-      dof1_1 = int(body_dofadr[b1_1] + body_dofnum[b1_1] - 1) if b1_1 >= 0 else -1
-      dof1_2 = int(body_dofadr[b1_2] + body_dofnum[b1_2] - 1) if b1_2 >= 0 else -1
-      dof1_3 = int(body_dofadr[b1_3] + body_dofnum[b1_3] - 1) if b1_3 >= 0 else -1
-      da1 = wp.max(dof1_0, wp.max(dof1_1, wp.max(dof1_2, dof1_3)))
-
-      dof2_0 = int(body_dofadr[b2_0] + body_dofnum[b2_0] - 1) if b2_0 >= 0 else -1
-      dof2_1 = int(body_dofadr[b2_1] + body_dofnum[b2_1] - 1) if b2_1 >= 0 else -1
-      dof2_2 = int(body_dofadr[b2_2] + body_dofnum[b2_2] - 1) if b2_2 >= 0 else -1
-      dof2_3 = int(body_dofadr[b2_3] + body_dofnum[b2_3] - 1) if b2_3 >= 0 else -1
-      da2 = wp.max(dof2_0, wp.max(dof2_1, wp.max(dof2_2, dof2_3)))
-
-      da = wp.max(da1, da2)
-
-      Jqvel = float(0.0)
-      nnz = int(0)
-      dofid = int(da)
-
-      while True:
-        if nnz >= rownnz:
-          break
-
-        if dofid == da:
-          jac1p = wp.vec3(0.0)
-          jac1r = wp.vec3(0.0)
-          if dof1_0 == da:
-            jp, jr = support.jac_dof(
-              body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, con_pos, b1_0, dofid, worldid
-            )
-            jac1p += jp * weights1[0]
-            jac1r += jr * weights1[0]
-          if dof1_1 == da:
-            jp, jr = support.jac_dof(
-              body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, con_pos, b1_1, dofid, worldid
-            )
-            jac1p += jp * weights1[1]
-            jac1r += jr * weights1[1]
-          if dof1_2 == da:
-            jp, jr = support.jac_dof(
-              body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, con_pos, b1_2, dofid, worldid
-            )
-            jac1p += jp * weights1[2]
-            jac1r += jr * weights1[2]
-          if dof1_3 == da:
-            jp, jr = support.jac_dof(
-              body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, con_pos, b1_3, dofid, worldid
-            )
-            jac1p += jp * weights1[3]
-            jac1r += jr * weights1[3]
-
-          jac2p = wp.vec3(0.0)
-          jac2r = wp.vec3(0.0)
-          if dof2_0 == da:
-            jp, jr = support.jac_dof(
-              body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, con_pos, b2_0, dofid, worldid
-            )
-            jac2p += jp * weights2[0]
-            jac2r += jr * weights2[0]
-          if dof2_1 == da:
-            jp, jr = support.jac_dof(
-              body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, con_pos, b2_1, dofid, worldid
-            )
-            jac2p += jp * weights2[1]
-            jac2r += jr * weights2[1]
-          if dof2_2 == da:
-            jp, jr = support.jac_dof(
-              body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, con_pos, b2_2, dofid, worldid
-            )
-            jac2p += jp * weights2[2]
-            jac2r += jr * weights2[2]
-          if dof2_3 == da:
-            jp, jr = support.jac_dof(
-              body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, con_pos, b2_3, dofid, worldid
-            )
-            jac2p += jp * weights2[3]
-            jac2r += jr * weights2[3]
-
-          jacp_dif = jac2p - jac1p
-          jacr_dif = jac2r - jac1r
-
-          if wp.static(IS_ELLIPTIC):
-            J = float(0.0)
-            if dimid < 3:
-              frame_row = frame_in[conid, dimid]
-              for xyz in range(3):
-                J += frame_row[xyz] * jacp_dif[xyz]
-            else:
-              frame_row = frame_in[conid, dimid - 3]
-              for xyz in range(3):
-                J += frame_row[xyz] * jacr_dif[xyz]
-          else:
-            J = float(0.0)
-            Ji = float(0.0)
-
-            for xyz in range(3):
-              J += frame_0[xyz] * jacp_dif[xyz]
-
-              if condim > 1:
-                if dimid2 < 3:
-                  Ji += frame_in[conid, dimid2][xyz] * jacp_dif[xyz]
-                else:
-                  Ji += frame_in[conid, dimid2 - 3][xyz] * jacr_dif[xyz]
-
-            if condim > 1:
-              if dimid % 2 == 0:
-                J += Ji * frii
-              else:
-                J -= Ji * frii
-
-          sparseid = rowadr + nnz
-          efc_J_colind_out[worldid, 0, sparseid] = dofid
-          efc_J_out[worldid, 0, sparseid] = J
-          nnz += 1
-          Jqvel += J * qvel_in[worldid, dofid]
-
-          # Advance tree pointers
-          if dof1_0 == da:
-            dof1_0 = dof_parentid[dof1_0]
-          if dof1_1 == da:
-            dof1_1 = dof_parentid[dof1_1]
-          if dof1_2 == da:
-            dof1_2 = dof_parentid[dof1_2]
-          if dof1_3 == da:
-            dof1_3 = dof_parentid[dof1_3]
-          da1 = wp.max(dof1_0, wp.max(dof1_1, wp.max(dof1_2, dof1_3)))
-
-          if dof2_0 == da:
-            dof2_0 = dof_parentid[dof2_0]
-          if dof2_1 == da:
-            dof2_1 = dof_parentid[dof2_1]
-          if dof2_2 == da:
-            dof2_2 = dof_parentid[dof2_2]
-          if dof2_3 == da:
-            dof2_3 = dof_parentid[dof2_3]
-          da2 = wp.max(dof2_0, wp.max(dof2_1, wp.max(dof2_2, dof2_3)))
-
-          da = wp.max(da1, da2)
-          dofid = da
-
-      efc_Jqvel_out[worldid, efcid] = Jqvel
-
-  return kernel
-
-
-@cache_kernel
-def _efc_contact_jac_dense(tile_size: int, cone_type: types.ConeType):
-  TILE_SIZE = tile_size
-  IS_ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    body_rootid: wp.array[int],
-    geom_bodyid: wp.array[int],
-    body_isdofancestor: wp.array2d[int],
-    # Data in:
-    ne_in: wp.array[int],
-    nf_in: wp.array[int],
-    nl_in: wp.array[int],
-    nefc_in: wp.array[int],
-    qvel_in: wp.array2d[float],
-    subtree_com_in: wp.array2d[wp.vec3],
-    cdof_in: wp.array2d[wp.spatial_vector],
-    contact_efc_address_in: wp.array2d[int],
-    efc_id_in: wp.array2d[int],
-    njmax_in: int,
-    # In:
-    nv_padded: int,
-    condim_in: wp.array[int],
-    geom_in: wp.array[wp.vec2i],
-    pos_in: wp.array[wp.vec3],
-    frame_in: wp.array2d[wp.vec3],
-    friction_in: wp.array2d[float],
-    # Data out:
-    efc_J_out: wp.array3d[float],
-    efc_Jqvel_out: wp.array2d[float],
-  ):
-    worldid, dof_block_id, tid = wp.tid()
-
-    dof_start = dof_block_id * wp.static(TILE_SIZE)
-    if dof_start >= nv_padded:
-      return
-
-    cdof_tile = wp.tile_load(cdof_in[worldid], shape=TILE_SIZE, offset=dof_start, bounds_check=True)
-    qvel_tile = wp.tile_load(qvel_in[worldid], shape=TILE_SIZE, offset=dof_start, bounds_check=True)
-
-    efcid_start = ne_in[worldid] + nf_in[worldid] + nl_in[worldid]
-    efcid_end = wp.min(nefc_in[worldid], njmax_in)
-
-    prev_conid = int(-1)
-    condim = int(0)
-
-    for efcid in range(efcid_start, efcid_end):
-      conid = efc_id_in[worldid, efcid]
-
-      # Recompute per-contact data only when contact changes
-      if conid != prev_conid:
-        prev_conid = conid
-        condim = condim_in[conid]
-
-        geom = geom_in[conid]
-        body1 = geom_bodyid[geom[0]]
-        body2 = geom_bodyid[geom[1]]
-
-        con_pos = pos_in[conid]
-        offset1 = con_pos - subtree_com_in[worldid, body_rootid[body1]]
-        affects1_tile = wp.tile_load(body_isdofancestor[body1], shape=TILE_SIZE, offset=dof_start, bounds_check=True)
-        jacp1_tile = wp.tile_map(support._compute_jacp, cdof_tile, offset1, affects1_tile)
-        jacr1_tile = wp.tile_map(support._compute_jacr, cdof_tile, affects1_tile)
-
-        offset2 = con_pos - subtree_com_in[worldid, body_rootid[body2]]
-        affects2_tile = wp.tile_load(body_isdofancestor[body2], shape=TILE_SIZE, offset=dof_start, bounds_check=True)
-        jacp2_tile = wp.tile_map(support._compute_jacp, cdof_tile, offset2, affects2_tile)
-        jacr2_tile = wp.tile_map(support._compute_jacr, cdof_tile, affects2_tile)
-
-        jacp_dif_tile = wp.tile_map(wp.sub, jacp2_tile, jacp1_tile)
-        jacr_dif_tile = wp.tile_map(wp.sub, jacr2_tile, jacr1_tile)
-
-        if not wp.static(IS_ELLIPTIC):
-          frame_0 = frame_in[conid, 0]
-          Ji_0p_tile = wp.tile_map(wp.dot, jacp_dif_tile, frame_0)
-
-          if condim > 1:
-            Ji_0r_tile = wp.tile_map(wp.dot, jacr_dif_tile, frame_0)
-            frame_1 = frame_in[conid, 1]
-            Ji_1p_tile = wp.tile_map(wp.dot, jacp_dif_tile, frame_1)
-            Ji_1r_tile = wp.tile_map(wp.dot, jacr_dif_tile, frame_1)
-            frame_2 = frame_in[conid, 2]
-            Ji_2p_tile = wp.tile_map(wp.dot, jacp_dif_tile, frame_2)
-            Ji_2r_tile = wp.tile_map(wp.dot, jacr_dif_tile, frame_2)
-
-      if wp.static(IS_ELLIPTIC):
-        dimid = efcid - contact_efc_address_in[conid, 0]
-        if dimid < 3:
-          frame_idx = dimid
-        else:
-          frame_idx = dimid - 3
-
-        frame_row = frame_in[conid, frame_idx]
-
-        if dimid < 3:
-          J_tile = wp.tile_map(wp.dot, jacp_dif_tile, frame_row)
-        else:
-          J_tile = wp.tile_map(wp.dot, jacr_dif_tile, frame_row)
-      else:
-        J_tile = Ji_0p_tile
-        if condim > 1:
-          dimid = efcid - contact_efc_address_in[conid, 0]
-          dimid2 = dimid / 2 + 1
-          frii = friction_in[conid, dimid2 - 1]
-          frii_sign = frii * (1.0 - 2.0 * float(dimid & 1))
-
-          if dimid2 == 1:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_1p_tile, frii_sign))
-          elif dimid2 == 2:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_2p_tile, frii_sign))
-          elif dimid2 == 3:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_0r_tile, frii_sign))
-          elif dimid2 == 4:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_1r_tile, frii_sign))
-          else:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_2r_tile, frii_sign))
-
-      wp.tile_store(efc_J_out[worldid, efcid], J_tile, offset=dof_start, bounds_check=True)
-
-      Jqvel_tile = wp.tile_map(wp.mul, J_tile, qvel_tile)
-      Jqvel_sum = wp.tile_reduce(wp.add, Jqvel_tile)
-      if tid == 0:
-        wp.atomic_add(efc_Jqvel_out[worldid], efcid, wp.tile_extract(Jqvel_sum, 0))
-
-  return kernel
-
-
-@cache_kernel
-def _efc_contact_jac_dense_flex(tile_size: int, cone_type: types.ConeType):
-  TILE_SIZE = tile_size
-  IS_ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    body_rootid: wp.array[int],
-    geom_bodyid: wp.array[int],
-    flex_dim: wp.array[int],
-    flex_cellnum: wp.array[wp.vec3i],
-    flex_nodeadr: wp.array[int],
-    flex_vertadr: wp.array[int],
-    flex_elemdataadr: wp.array[int],
-    flex_shelldataadr: wp.array[int],
-    flex_nodebodyid: wp.array[int],
-    flex_vertbodyid: wp.array[int],
-    flex_elem: wp.array[int],
-    flex_shell: wp.array[int],
-    flex_vert0: wp.array[wp.vec3],
-    body_isdofancestor: wp.array2d[int],
-    # Data in:
-    ne_in: wp.array[int],
-    nf_in: wp.array[int],
-    nl_in: wp.array[int],
-    nefc_in: wp.array[int],
-    qvel_in: wp.array2d[float],
-    subtree_com_in: wp.array2d[wp.vec3],
-    cdof_in: wp.array2d[wp.spatial_vector],
-    flexvert_xpos_in: wp.array2d[wp.vec3],
-    contact_efc_address_in: wp.array2d[int],
-    efc_id_in: wp.array2d[int],
-    njmax_in: int,
-    # In:
-    nv_padded: int,
-    condim_in: wp.array[int],
-    geom_in: wp.array[wp.vec2i],
-    flex_in: wp.array[wp.vec2i],
-    elem_in: wp.array[wp.vec2i],
-    vert_in: wp.array[wp.vec2i],
-    pos_in: wp.array[wp.vec3],
-    frame_in: wp.array2d[wp.vec3],
-    friction_in: wp.array2d[float],
-    # Data out:
-    efc_J_out: wp.array3d[float],
-    efc_Jqvel_out: wp.array2d[float],
-  ):
-    worldid, dof_block_id, tid = wp.tid()
-
-    dof_start = dof_block_id * wp.static(TILE_SIZE)
-    if dof_start >= nv_padded:
-      return
-
-    cdof_tile = wp.tile_load(cdof_in[worldid], shape=TILE_SIZE, offset=dof_start, bounds_check=True)
-    qvel_tile = wp.tile_load(qvel_in[worldid], shape=TILE_SIZE, offset=dof_start, bounds_check=True)
-
-    efcid_start = ne_in[worldid] + nf_in[worldid] + nl_in[worldid]
-    efcid_end = wp.min(nefc_in[worldid], njmax_in)
-
-    prev_conid = int(-1)
-    condim = int(0)
-
-    for efcid in range(efcid_start, efcid_end):
-      conid = efc_id_in[worldid, efcid]
-
-      # Recompute per-contact data only when contact changes
-      if conid != prev_conid:
-        prev_conid = conid
-        condim = condim_in[conid]
-
-        geom = geom_in[conid]
-        flex = flex_in[conid]
-        elem = elem_in[conid]
-        vert = vert_in[conid]
-        con_pos = pos_in[conid]
-
-        body_ids1, weights1 = _get_contact_bodies_and_weights(
-          geom_bodyid,
-          flex_dim,
-          flex_cellnum,
-          flex_nodeadr,
-          flex_vertadr,
-          flex_elemdataadr,
-          flex_shelldataadr,
-          flex_nodebodyid,
-          flex_vertbodyid,
-          flex_elem,
-          flex_shell,
-          flex_vert0,
-          flexvert_xpos_in,
-          conid,
-          0,
-          geom,
-          flex,
-          elem,
-          vert,
-          con_pos,
-          worldid,
-        )
-        body_ids2, weights2 = _get_contact_bodies_and_weights(
-          geom_bodyid,
-          flex_dim,
-          flex_cellnum,
-          flex_nodeadr,
-          flex_vertadr,
-          flex_elemdataadr,
-          flex_shelldataadr,
-          flex_nodebodyid,
-          flex_vertbodyid,
-          flex_elem,
-          flex_shell,
-          flex_vert0,
-          flexvert_xpos_in,
-          conid,
-          1,
-          geom,
-          flex,
-          elem,
-          vert,
-          con_pos,
-          worldid,
-        )
-
-        b1_0 = body_ids1[0]
-        b1_1 = body_ids1[1]
-        b1_2 = body_ids1[2]
-        b1_3 = body_ids1[3]
-
-        b2_0 = body_ids2[0]
-        b2_1 = body_ids2[1]
-        b2_2 = body_ids2[2]
-        b2_3 = body_ids2[3]
-
-        # Weighted jacp for side 1
-        jacp1_tile = wp.tile_map(
-          support._compute_jacp,
-          cdof_tile,
-          con_pos - subtree_com_in[worldid, body_rootid[b1_0]],
-          wp.tile_load(body_isdofancestor[b1_0], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-        )
-        jacp1_tile = wp.tile_map(wp.mul, jacp1_tile, weights1[0])
-        if b1_1 >= 0:
-          t_jacp = wp.tile_map(
-            support._compute_jacp,
-            cdof_tile,
-            con_pos - subtree_com_in[worldid, body_rootid[b1_1]],
-            wp.tile_load(body_isdofancestor[b1_1], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacp1_tile = wp.tile_map(wp.add, jacp1_tile, wp.tile_map(wp.mul, t_jacp, weights1[1]))
-        if b1_2 >= 0:
-          t_jacp = wp.tile_map(
-            support._compute_jacp,
-            cdof_tile,
-            con_pos - subtree_com_in[worldid, body_rootid[b1_2]],
-            wp.tile_load(body_isdofancestor[b1_2], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacp1_tile = wp.tile_map(wp.add, jacp1_tile, wp.tile_map(wp.mul, t_jacp, weights1[2]))
-        if b1_3 >= 0:
-          t_jacp = wp.tile_map(
-            support._compute_jacp,
-            cdof_tile,
-            con_pos - subtree_com_in[worldid, body_rootid[b1_3]],
-            wp.tile_load(body_isdofancestor[b1_3], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacp1_tile = wp.tile_map(wp.add, jacp1_tile, wp.tile_map(wp.mul, t_jacp, weights1[3]))
-
-        # Weighted jacp for side 2
-        jacp2_tile = wp.tile_map(
-          support._compute_jacp,
-          cdof_tile,
-          con_pos - subtree_com_in[worldid, body_rootid[b2_0]],
-          wp.tile_load(body_isdofancestor[b2_0], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-        )
-        jacp2_tile = wp.tile_map(wp.mul, jacp2_tile, weights2[0])
-        if b2_1 >= 0:
-          t_jacp = wp.tile_map(
-            support._compute_jacp,
-            cdof_tile,
-            con_pos - subtree_com_in[worldid, body_rootid[b2_1]],
-            wp.tile_load(body_isdofancestor[b2_1], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacp2_tile = wp.tile_map(wp.add, jacp2_tile, wp.tile_map(wp.mul, t_jacp, weights2[1]))
-        if b2_2 >= 0:
-          t_jacp = wp.tile_map(
-            support._compute_jacp,
-            cdof_tile,
-            con_pos - subtree_com_in[worldid, body_rootid[b2_2]],
-            wp.tile_load(body_isdofancestor[b2_2], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacp2_tile = wp.tile_map(wp.add, jacp2_tile, wp.tile_map(wp.mul, t_jacp, weights2[2]))
-        if b2_3 >= 0:
-          t_jacp = wp.tile_map(
-            support._compute_jacp,
-            cdof_tile,
-            con_pos - subtree_com_in[worldid, body_rootid[b2_3]],
-            wp.tile_load(body_isdofancestor[b2_3], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacp2_tile = wp.tile_map(wp.add, jacp2_tile, wp.tile_map(wp.mul, t_jacp, weights2[3]))
-
-        jacp_dif_tile = wp.tile_map(wp.sub, jacp2_tile, jacp1_tile)
-
-        # Weighted jacr for side 1
-        jacr1_tile = wp.tile_map(
-          support._compute_jacr,
-          cdof_tile,
-          wp.tile_load(body_isdofancestor[b1_0], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-        )
-        jacr1_tile = wp.tile_map(wp.mul, jacr1_tile, weights1[0])
-        if b1_1 >= 0:
-          t_jacr = wp.tile_map(
-            support._compute_jacr,
-            cdof_tile,
-            wp.tile_load(body_isdofancestor[b1_1], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacr1_tile = wp.tile_map(wp.add, jacr1_tile, wp.tile_map(wp.mul, t_jacr, weights1[1]))
-        if b1_2 >= 0:
-          t_jacr = wp.tile_map(
-            support._compute_jacr,
-            cdof_tile,
-            wp.tile_load(body_isdofancestor[b1_2], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacr1_tile = wp.tile_map(wp.add, jacr1_tile, wp.tile_map(wp.mul, t_jacr, weights1[2]))
-        if b1_3 >= 0:
-          t_jacr = wp.tile_map(
-            support._compute_jacr,
-            cdof_tile,
-            wp.tile_load(body_isdofancestor[b1_3], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacr1_tile = wp.tile_map(wp.add, jacr1_tile, wp.tile_map(wp.mul, t_jacr, weights1[3]))
-
-        # Weighted jacr for side 2
-        jacr2_tile = wp.tile_map(
-          support._compute_jacr,
-          cdof_tile,
-          wp.tile_load(body_isdofancestor[b2_0], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-        )
-        jacr2_tile = wp.tile_map(wp.mul, jacr2_tile, weights2[0])
-        if b2_1 >= 0:
-          t_jacr = wp.tile_map(
-            support._compute_jacr,
-            cdof_tile,
-            wp.tile_load(body_isdofancestor[b2_1], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacr2_tile = wp.tile_map(wp.add, jacr2_tile, wp.tile_map(wp.mul, t_jacr, weights2[1]))
-        if b2_2 >= 0:
-          t_jacr = wp.tile_map(
-            support._compute_jacr,
-            cdof_tile,
-            wp.tile_load(body_isdofancestor[b2_2], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacr2_tile = wp.tile_map(wp.add, jacr2_tile, wp.tile_map(wp.mul, t_jacr, weights2[2]))
-        if b2_3 >= 0:
-          t_jacr = wp.tile_map(
-            support._compute_jacr,
-            cdof_tile,
-            wp.tile_load(body_isdofancestor[b2_3], shape=TILE_SIZE, offset=dof_start, bounds_check=True),
-          )
-          jacr2_tile = wp.tile_map(wp.add, jacr2_tile, wp.tile_map(wp.mul, t_jacr, weights2[3]))
-
-        jacr_dif_tile = wp.tile_map(wp.sub, jacr2_tile, jacr1_tile)
-
-        if not wp.static(IS_ELLIPTIC):
-          frame_0 = frame_in[conid, 0]
-          Ji_0p_tile = wp.tile_map(wp.dot, jacp_dif_tile, frame_0)
-
-          if condim > 1:
-            Ji_0r_tile = wp.tile_map(wp.dot, jacr_dif_tile, frame_0)
-            frame_1 = frame_in[conid, 1]
-            Ji_1p_tile = wp.tile_map(wp.dot, jacp_dif_tile, frame_1)
-            Ji_1r_tile = wp.tile_map(wp.dot, jacr_dif_tile, frame_1)
-            frame_2 = frame_in[conid, 2]
-            Ji_2p_tile = wp.tile_map(wp.dot, jacp_dif_tile, frame_2)
-            Ji_2r_tile = wp.tile_map(wp.dot, jacr_dif_tile, frame_2)
-
-      if wp.static(IS_ELLIPTIC):
-        dimid = efcid - contact_efc_address_in[conid, 0]
-        if dimid < 3:
-          frame_idx = dimid
-        else:
-          frame_idx = dimid - 3
-
-        frame_row = frame_in[conid, frame_idx]
-
-        if dimid < 3:
-          J_tile = wp.tile_map(wp.dot, jacp_dif_tile, frame_row)
-        else:
-          J_tile = wp.tile_map(wp.dot, jacr_dif_tile, frame_row)
-      else:
-        J_tile = Ji_0p_tile
-        if condim > 1:
-          dimid = efcid - contact_efc_address_in[conid, 0]
-          dimid2 = dimid / 2 + 1
-          frii = friction_in[conid, dimid2 - 1]
-          frii_sign = frii * (1.0 - 2.0 * float(dimid & 1))
-
-          if dimid2 == 1:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_1p_tile, frii_sign))
-          elif dimid2 == 2:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_2p_tile, frii_sign))
-          elif dimid2 == 3:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_0r_tile, frii_sign))
-          elif dimid2 == 4:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_1r_tile, frii_sign))
-          else:
-            J_tile = wp.tile_map(wp.add, J_tile, wp.tile_map(wp.mul, Ji_2r_tile, frii_sign))
-
-      wp.tile_store(efc_J_out[worldid, efcid], J_tile, offset=dof_start, bounds_check=True)
-
-      Jqvel_tile = wp.tile_map(wp.mul, J_tile, qvel_tile)
-      Jqvel_sum = wp.tile_reduce(wp.add, Jqvel_tile)
-      if tid == 0:
-        wp.atomic_add(efc_Jqvel_out[worldid], efcid, wp.tile_extract(Jqvel_sum, 0))
-
-  return kernel
-
-
-@cache_kernel
-def _efc_contact_update(cone_type: types.ConeType):
-  IS_ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=True)
-  def kernel(
-    # Model:
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    opt_impratio_invsqrt: wp.array[float],
-    body_invweight0: wp.array2d[wp.vec2],
-    geom_bodyid: wp.array[int],
-    # Data in:
-    contact_efc_address_in: wp.array2d[int],
-    efc_Jqvel_in: wp.array2d[float],
-    nacon_in: wp.array[int],
-    # In:
-    dist_in: wp.array[float],
-    condim_in: wp.array[int],
-    includemargin_in: wp.array[float],
-    worldid_in: wp.array[int],
-    geom_in: wp.array[wp.vec2i],
-    friction_in: wp.array[vec5],
-    solref_in: wp.array[wp.vec2],
-    solreffriction_in: wp.array[wp.vec2],
-    solimp_in: wp.array[vec5],
-    type_in: wp.array[int],
-    # Data out:
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-  ):
-    conid, dimid = wp.tid()
-
-    if conid >= nacon_in[0]:
-      return
-
-    if not type_in[conid] & ContactType.CONSTRAINT:
-      return
-
-    condim = condim_in[conid]
-
-    if wp.static(IS_ELLIPTIC):
-      if dimid > condim - 1:
-        return
-    else:
-      if condim == 1 and dimid > 0:
-        return
-      elif condim > 1 and dimid >= 2 * (condim - 1):
-        return
-
-    efcid = contact_efc_address_in[conid, dimid]
-    if efcid < 0:
-      return
-
-    worldid = worldid_in[conid]
-    timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-    impratio_invsqrt = opt_impratio_invsqrt[worldid % opt_impratio_invsqrt.shape[0]]
-
-    includemargin = includemargin_in[conid]
-    pos = dist_in[conid] - includemargin
-
-    geom = geom_in[conid]
-    Jqvel = efc_Jqvel_in[worldid, efcid]
-
-    body1 = geom_bodyid[geom[0]]
-    body2 = geom_bodyid[geom[1]]
-
-    body_invweight0_id = worldid % body_invweight0.shape[0]
-    invweight = body_invweight0[body_invweight0_id, body1][0] + body_invweight0[body_invweight0_id, body2][0]
-
-    ref = solref_in[conid]
-    pos_aref = pos
-
-    if wp.static(IS_ELLIPTIC):
-      if dimid > 0:
-        solreffriction = solreffriction_in[conid]
-
-        # non-normal directions use solreffriction (if non-zero)
-        if solreffriction[0] or solreffriction[1]:
-          ref = solreffriction
-
-        invweight = invweight * impratio_invsqrt * impratio_invsqrt
-        friction = friction_in[conid]
-
-        if dimid > 1:
-          fri0 = friction[0]
-          frii = friction[dimid - 1]
-          fri = fri0 * fri0 / (frii * frii)
-          invweight *= fri
-
-        pos_aref = 0.0
-    else:
-      if condim > 1:
-        friction = friction_in[conid]
-        fri0 = friction[0]
-        invweight = invweight + fri0 * fri0 * invweight
-        invweight = invweight * 2.0 * fri0 * fri0 * impratio_invsqrt * impratio_invsqrt
-
-    if condim == 1:
-      efc_type = ConstraintType.CONTACT_FRICTIONLESS
-    elif wp.static(IS_ELLIPTIC):
-      efc_type = ConstraintType.CONTACT_ELLIPTIC
-    else:
-      efc_type = ConstraintType.CONTACT_PYRAMIDAL
-
-    _efc_row(
-      opt_disableflags,
-      worldid,
-      timestep,
-      efcid,
-      pos_aref,
-      pos,
-      invweight,
-      ref,
-      solimp_in[conid],
-      includemargin,
-      Jqvel,
-      0.0,
-      efc_type,
-      conid,
-      efc_type_out,
-      efc_id_out,
-      efc_pos_out,
-      efc_margin_out,
-      efc_D_out,
-      efc_vel_out,
-      efc_aref_out,
-      efc_frictionloss_out,
-    )
-
-  return kernel
-
-
-@cache_kernel
-def _efc_contact_update_flex(cone_type: types.ConeType):
-  IS_ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    opt_timestep: wp.array[float],
-    opt_disableflags: int,
-    opt_impratio_invsqrt: wp.array[float],
-    body_invweight0: wp.array2d[wp.vec2],
-    geom_bodyid: wp.array[int],
-    flex_dim: wp.array[int],
-    flex_interp: wp.array[int],
-    flex_cellnum: wp.array[wp.vec3i],
-    flex_nodeadr: wp.array[int],
-    flex_vertadr: wp.array[int],
-    flex_elemdataadr: wp.array[int],
-    flex_shelldataadr: wp.array[int],
-    flex_nodebodyid: wp.array[int],
-    flex_vertbodyid: wp.array[int],
-    flex_elem: wp.array[int],
-    flex_shell: wp.array[int],
-    flex_vert0: wp.array[wp.vec3],
-    # Data in:
-    flexvert_xpos_in: wp.array2d[wp.vec3],
-    contact_efc_address_in: wp.array2d[int],
-    efc_Jqvel_in: wp.array2d[float],
-    nacon_in: wp.array[int],
-    # In:
-    dist_in: wp.array[float],
-    pos_in: wp.array[wp.vec3],
-    condim_in: wp.array[int],
-    includemargin_in: wp.array[float],
-    worldid_in: wp.array[int],
-    geom_in: wp.array[wp.vec2i],
-    flex_in: wp.array[wp.vec2i],
-    elem_in: wp.array[wp.vec2i],
-    vert_in: wp.array[wp.vec2i],
-    friction_in: wp.array[vec5],
-    solref_in: wp.array[wp.vec2],
-    solreffriction_in: wp.array[wp.vec2],
-    solimp_in: wp.array[vec5],
-    type_in: wp.array[int],
-    # Data out:
-    efc_type_out: wp.array2d[int],
-    efc_id_out: wp.array2d[int],
-    efc_pos_out: wp.array2d[float],
-    efc_margin_out: wp.array2d[float],
-    efc_D_out: wp.array2d[float],
-    efc_vel_out: wp.array2d[float],
-    efc_aref_out: wp.array2d[float],
-    efc_frictionloss_out: wp.array2d[float],
-  ):
-    conid, dimid = wp.tid()
-
-    if conid >= nacon_in[0]:
-      return
-
-    if not type_in[conid] & ContactType.CONSTRAINT:
-      return
-
-    condim = condim_in[conid]
-
-    if wp.static(IS_ELLIPTIC):
-      if dimid > condim - 1:
-        return
-    else:
-      if condim == 1 and dimid > 0:
-        return
-      elif condim > 1 and dimid >= 2 * (condim - 1):
-        return
-
-    efcid = contact_efc_address_in[conid, dimid]
-    if efcid < 0:
-      return
-
-    worldid = worldid_in[conid]
-    timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-    impratio_invsqrt = opt_impratio_invsqrt[worldid % opt_impratio_invsqrt.shape[0]]
-
-    includemargin = includemargin_in[conid]
-    pos = dist_in[conid] - includemargin
-
-    geom = geom_in[conid]
-    flex = flex_in[conid]
-    elem = elem_in[conid]
-    vert = vert_in[conid]
-    con_pos = pos_in[conid]
-    Jqvel = efc_Jqvel_in[worldid, efcid]
-
-    body_invweight0_id = worldid % body_invweight0.shape[0]
-    invweight1 = float(0.0)
-
-    if geom[0] >= 0:
-      b1 = geom_bodyid[geom[0]]
-      invweight1 = body_invweight0[body_invweight0_id, b1][0]
-    elif flex[0] >= 0:
-      f1 = flex[0]
-      if flex_interp[f1] != 0:
-        # Interpolated path: de-duplicate nodes in the cell
-        local_bodies = types.vec16i(-1)
-        local_weights = types.vec16(0.0)
-        local_nb = int(0)
-
-        if vert[0] >= 0:
-          v_adr = flex_vertadr[f1] + vert[0]
-          coord = flex_vert0[v_adr]
-          cn = flex_cellnum[f1]
-          cx = cn[0]
-          cy = cn[1]
-          cz = cn[2]
-          ci = wp.min(int(coord[0] * float(cx)), cx - 1)
-          ci = wp.max(ci, 0)
-          cj = wp.min(int(coord[1] * float(cy)), cy - 1)
-          cj = wp.max(cj, 0)
-          ck = wp.min(int(coord[2] * float(cz)), cz - 1)
-          ck = wp.max(ck, 0)
-          local_x = wp.clamp(coord[0] * float(cx) - float(ci), 0.0, 1.0)
-          local_y = wp.clamp(coord[1] * float(cy) - float(cj), 0.0, 1.0)
-          local_z = wp.clamp(coord[2] * float(cz) - float(ck), 0.0, 1.0)
-          local = wp.vec3(local_x, local_y, local_z)
-          ny_g = cy + 1
-          nz_g = cz + 1
-          nstart = flex_nodeadr[f1]
-          for li in range(2):
-            for lj in range(2):
-              for lk in range(2):
-                w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-                if w > 1.0e-5:
-                  gi = ci + li
-                  gj = cj + lj
-                  gk = ck + lk
-                  node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-                  b = flex_nodebodyid[nstart + node_idx]
-                  local_nb, local_bodies, local_weights = _add_weight(local_nb, local_bodies, local_weights, b, w, False)
-        elif elem[0] >= 0:
-          e = elem[0]
-          dim_f = flex_dim[f1]
-          edata_adr = flex_elemdataadr[f1] + e * (dim_f + 1)
-          vert_adr_f = flex_vertadr[f1]
-          total_inv_dist = float(0.0)
-          blended_coord = wp.vec3(0.0, 0.0, 0.0)
-          for vi in range(4):
-            if vi <= dim_f:
-              v_idx = flex_elem[edata_adr + vi]
-              vpos = flexvert_xpos_in[worldid, vert_adr_f + v_idx]
-              dist_v = wp.length(con_pos - vpos)
-              w_inv = 1.0 / wp.max(1.0e-10, dist_v)
-              total_inv_dist += w_inv
-              blended_coord += flex_vert0[vert_adr_f + v_idx] * w_inv
-          if total_inv_dist > 1.0e-10:
-            blended_coord = blended_coord / total_inv_dist
-          cn = flex_cellnum[f1]
-          cx = cn[0]
-          cy = cn[1]
-          cz = cn[2]
-          ci = wp.min(int(blended_coord[0] * float(cx)), cx - 1)
-          ci = wp.max(ci, 0)
-          cj = wp.min(int(blended_coord[1] * float(cy)), cy - 1)
-          cj = wp.max(cj, 0)
-          ck = wp.min(int(blended_coord[2] * float(cz)), cz - 1)
-          ck = wp.max(ck, 0)
-          local_x = wp.clamp(blended_coord[0] * float(cx) - float(ci), 0.0, 1.0)
-          local_y = wp.clamp(blended_coord[1] * float(cy) - float(cj), 0.0, 1.0)
-          local_z = wp.clamp(blended_coord[2] * float(cz) - float(ck), 0.0, 1.0)
-          local = wp.vec3(local_x, local_y, local_z)
-          ny_g = cy + 1
-          nz_g = cz + 1
-          nstart = flex_nodeadr[f1]
-          for li in range(2):
-            for lj in range(2):
-              for lk in range(2):
-                w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-                if w > 1.0e-5:
-                  gi = ci + li
-                  gj = cj + lj
-                  gk = ck + lk
-                  node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-                  b = flex_nodebodyid[nstart + node_idx]
-                  local_nb, local_bodies, local_weights = _add_weight(local_nb, local_bodies, local_weights, b, w, False)
-
-        # Accumulate linear weights for unique bodies
-        for i in range(16):
-          if i < local_nb:
-            b = local_bodies[i]
-            w = local_weights[i]
-            invweight1 += body_invweight0[body_invweight0_id, b][0] * w
-      else:
-        body_ids, weights = _get_contact_bodies_and_weights(
-          geom_bodyid,
-          flex_dim,
-          flex_cellnum,
-          flex_nodeadr,
-          flex_vertadr,
-          flex_elemdataadr,
-          flex_shelldataadr,
-          flex_nodebodyid,
-          flex_vertbodyid,
-          flex_elem,
-          flex_shell,
-          flex_vert0,
-          flexvert_xpos_in,
-          conid,
-          0,
-          geom,
-          flex,
-          elem,
-          vert,
-          con_pos,
-          worldid,
-        )
-        b0 = body_ids[0]
-        b1 = body_ids[1]
-        b2 = body_ids[2]
-        b3 = body_ids[3]
-        invweight1 = weights[0] * body_invweight0[body_invweight0_id, b0][0]
-        if b1 >= 0:
-          invweight1 += weights[1] * body_invweight0[body_invweight0_id, b1][0]
-        if b2 >= 0:
-          invweight1 += weights[2] * body_invweight0[body_invweight0_id, b2][0]
-        if b3 >= 0:
-          invweight1 += weights[3] * body_invweight0[body_invweight0_id, b3][0]
-
-    invweight2 = float(0.0)
-
-    if geom[1] >= 0:
-      b2 = geom_bodyid[geom[1]]
-      invweight2 = body_invweight0[body_invweight0_id, b2][0]
-    elif flex[1] >= 0:
-      f2 = flex[1]
-      if flex_interp[f2] != 0:
-        # Interpolated path: de-duplicate nodes in the cell
-        local_bodies = types.vec16i(-1)
-        local_weights = types.vec16(0.0)
-        local_nb = int(0)
-
-        if vert[1] >= 0:
-          v_adr = flex_vertadr[f2] + vert[1]
-          coord = flex_vert0[v_adr]
-          cn = flex_cellnum[f2]
-          cx = cn[0]
-          cy = cn[1]
-          cz = cn[2]
-          ci = wp.min(int(coord[0] * float(cx)), cx - 1)
-          ci = wp.max(ci, 0)
-          cj = wp.min(int(coord[1] * float(cy)), cy - 1)
-          cj = wp.max(cj, 0)
-          ck = wp.min(int(coord[2] * float(cz)), cz - 1)
-          ck = wp.max(ck, 0)
-          local_x = wp.clamp(coord[0] * float(cx) - float(ci), 0.0, 1.0)
-          local_y = wp.clamp(coord[1] * float(cy) - float(cj), 0.0, 1.0)
-          local_z = wp.clamp(coord[2] * float(cz) - float(ck), 0.0, 1.0)
-          local = wp.vec3(local_x, local_y, local_z)
-          ny_g = cy + 1
-          nz_g = cz + 1
-          nstart = flex_nodeadr[f2]
-          for li in range(2):
-            for lj in range(2):
-              for lk in range(2):
-                w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-                if w > 1.0e-5:
-                  gi = ci + li
-                  gj = cj + lj
-                  gk = ck + lk
-                  node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-                  b = flex_nodebodyid[nstart + node_idx]
-                  local_nb, local_bodies, local_weights = _add_weight(local_nb, local_bodies, local_weights, b, w, False)
-        elif elem[1] >= 0:
-          e = elem[1]
-          dim_f = flex_dim[f2]
-          edata_adr = flex_elemdataadr[f2] + e * (dim_f + 1)
-          vert_adr_f = flex_vertadr[f2]
-          total_inv_dist = float(0.0)
-          blended_coord = wp.vec3(0.0, 0.0, 0.0)
-          for vi in range(4):
-            if vi <= dim_f:
-              v_idx = flex_elem[edata_adr + vi]
-              vpos = flexvert_xpos_in[worldid, vert_adr_f + v_idx]
-              dist_v = wp.length(con_pos - vpos)
-              w_inv = 1.0 / wp.max(1.0e-10, dist_v)
-              total_inv_dist += w_inv
-              blended_coord += flex_vert0[vert_adr_f + v_idx] * w_inv
-          if total_inv_dist > 1.0e-10:
-            blended_coord = blended_coord / total_inv_dist
-          cn = flex_cellnum[f2]
-          cx = cn[0]
-          cy = cn[1]
-          cz = cn[2]
-          ci = wp.min(int(blended_coord[0] * float(cx)), cx - 1)
-          ci = wp.max(ci, 0)
-          cj = wp.min(int(blended_coord[1] * float(cy)), cy - 1)
-          cj = wp.max(cj, 0)
-          ck = wp.min(int(blended_coord[2] * float(cz)), cz - 1)
-          ck = wp.max(ck, 0)
-          local_x = wp.clamp(blended_coord[0] * float(cx) - float(ci), 0.0, 1.0)
-          local_y = wp.clamp(blended_coord[1] * float(cy) - float(cj), 0.0, 1.0)
-          local_z = wp.clamp(blended_coord[2] * float(cz) - float(ck), 0.0, 1.0)
-          local = wp.vec3(local_x, local_y, local_z)
-          ny_g = cy + 1
-          nz_g = cz + 1
-          nstart = flex_nodeadr[f2]
-          for li in range(2):
-            for lj in range(2):
-              for lk in range(2):
-                w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-                if w > 1.0e-5:
-                  gi = ci + li
-                  gj = cj + lj
-                  gk = ck + lk
-                  node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-                  b = flex_nodebodyid[nstart + node_idx]
-                  local_nb, local_bodies, local_weights = _add_weight(local_nb, local_bodies, local_weights, b, w, False)
-
-        # Accumulate linear weights for unique bodies
-        for i in range(16):
-          if i < local_nb:
-            b = local_bodies[i]
-            w = local_weights[i]
-            invweight2 += body_invweight0[body_invweight0_id, b][0] * w
-      else:
-        body_ids, weights = _get_contact_bodies_and_weights(
-          geom_bodyid,
-          flex_dim,
-          flex_cellnum,
-          flex_nodeadr,
-          flex_vertadr,
-          flex_elemdataadr,
-          flex_shelldataadr,
-          flex_nodebodyid,
-          flex_vertbodyid,
-          flex_elem,
-          flex_shell,
-          flex_vert0,
-          flexvert_xpos_in,
-          conid,
-          1,
-          geom,
-          flex,
-          elem,
-          vert,
-          con_pos,
-          worldid,
-        )
-        b0 = body_ids[0]
-        b1 = body_ids[1]
-        b2 = body_ids[2]
-        b3 = body_ids[3]
-        invweight2 = weights[0] * body_invweight0[body_invweight0_id, b0][0]
-        if b1 >= 0:
-          invweight2 += weights[1] * body_invweight0[body_invweight0_id, b1][0]
-        if b2 >= 0:
-          invweight2 += weights[2] * body_invweight0[body_invweight0_id, b2][0]
-        if b3 >= 0:
-          invweight2 += weights[3] * body_invweight0[body_invweight0_id, b3][0]
-
-    invweight = invweight1 + invweight2
-
-    ref = solref_in[conid]
-    pos_aref = pos
-
-    if wp.static(IS_ELLIPTIC):
-      if dimid > 0:
-        solreffriction = solreffriction_in[conid]
-
-        # non-normal directions use solreffriction (if non-zero)
-        if solreffriction[0] or solreffriction[1]:
-          ref = solreffriction
-
-        invweight = invweight * impratio_invsqrt * impratio_invsqrt
-        friction = friction_in[conid]
-
-        if dimid > 1:
-          fri0 = friction[0]
-          frii = friction[dimid - 1]
-          fri = fri0 * fri0 / (frii * frii)
-          invweight *= fri
-
-        pos_aref = 0.0
-    else:
-      if condim > 1:
-        friction = friction_in[conid]
-        fri0 = friction[0]
-        invweight = invweight + fri0 * fri0 * invweight
-        invweight = invweight * 2.0 * fri0 * fri0 * impratio_invsqrt * impratio_invsqrt
-
-    if condim == 1:
-      efc_type = ConstraintType.CONTACT_FRICTIONLESS
-    elif wp.static(IS_ELLIPTIC):
-      efc_type = ConstraintType.CONTACT_ELLIPTIC
-    else:
-      efc_type = ConstraintType.CONTACT_PYRAMIDAL
-
-    _efc_row(
-      opt_disableflags,
-      worldid,
-      timestep,
-      efcid,
-      pos_aref,
-      pos,
-      invweight,
-      ref,
-      solimp_in[conid],
-      includemargin,
-      Jqvel,
-      0.0,
-      efc_type,
-      conid,
-      efc_type_out,
-      efc_id_out,
-      efc_pos_out,
-      efc_margin_out,
-      efc_D_out,
-      efc_vel_out,
-      efc_aref_out,
-      efc_frictionloss_out,
-    )
-
-  return kernel
-
-
-@event_scope
-def make_constraint(m: types.Model, d: types.Data):
-  """Creates constraint jacobians and other supporting data."""
-  newton = m.opt.solver == types.SolverType.NEWTON
-  efc_nnz = wp.empty((d.nworld,), dtype=int)
-
-  wp.launch(
-    _zero_constraint_counts,
-    dim=d.nworld,
-    inputs=[d.ne, d.nf, d.nl, d.nefc, d.efc.jtdaj_nblock, efc_nnz],
-  )
-
-  if not (m.opt.disableflags & types.DisableBit.CONSTRAINT):
-    if not (m.opt.disableflags & types.DisableBit.EQUALITY):
-      wp.launch(
-        _equality_connect(m.is_sparse, newton),
-        dim=(d.nworld, m.eq_connect_adr.size),
-        inputs=[
-          m.nv,
-          m.nsite,
-          m.opt.timestep,
-          m.opt.disableflags,
-          m.body_parentid,
-          m.body_rootid,
-          m.body_weldid,
-          m.body_dofnum,
-          m.body_dofadr,
-          m.body_invweight0,
-          m.jnt_type,
-          m.jnt_dofadr,
-          m.dof_bodyid,
-          m.dof_jntid,
-          m.dof_parentid,
-          m.site_bodyid,
-          m.eq_obj1id,
-          m.eq_obj2id,
-          m.eq_objtype,
-          m.eq_solref,
-          m.eq_solimp,
-          m.eq_data,
-          m.body_isdofancestor,
-          m.eq_connect_adr,
-          d.qvel,
-          d.eq_active,
-          d.xpos,
-          d.xmat,
-          d.site_xpos,
-          d.subtree_com,
-          d.cdof,
-          d.cvel,
-          d.cdof_dot,
-          d.subtree_linvel,
-          d.njmax,
-          d.njmax_nnz,
-        ],
-        outputs=[
-          d.ne,
-          d.nefc,
-          d.efc.type,
-          d.efc.id,
-          d.efc.jtdaj_adr,
-          d.efc.jtdaj_nrow,
-          d.efc.jtdaj_nblock,
-          d.efc.J_rownnz,
-          d.efc.J_rowadr,
-          d.efc.J_colind,
-          d.efc.J,
-          d.efc.pos,
-          d.efc.margin,
-          d.efc.D,
-          d.efc.vel,
-          d.efc.aref,
-          d.efc.frictionloss,
-          efc_nnz,
-        ],
-      )
-      wp.launch(
-        _equality_weld(m.is_sparse, newton),
-        dim=(d.nworld, m.eq_wld_adr.size),
-        inputs=[
-          m.nv,
-          m.nsite,
-          m.opt.timestep,
-          m.opt.disableflags,
-          m.body_parentid,
-          m.body_rootid,
-          m.body_weldid,
-          m.body_dofnum,
-          m.body_dofadr,
-          m.body_invweight0,
-          m.jnt_type,
-          m.jnt_dofadr,
-          m.dof_bodyid,
-          m.dof_jntid,
-          m.dof_parentid,
-          m.site_bodyid,
-          m.site_quat,
-          m.eq_obj1id,
-          m.eq_obj2id,
-          m.eq_objtype,
-          m.eq_solref,
-          m.eq_solimp,
-          m.eq_data,
-          m.body_isdofancestor,
-          m.eq_wld_adr,
-          d.qvel,
-          d.eq_active,
-          d.xpos,
-          d.xquat,
-          d.xmat,
-          d.site_xpos,
-          d.subtree_com,
-          d.cdof,
-          d.cvel,
-          d.cdof_dot,
-          d.subtree_linvel,
-          d.njmax,
-          d.njmax_nnz,
-        ],
-        outputs=[
-          d.ne,
-          d.nefc,
-          d.efc.type,
-          d.efc.id,
-          d.efc.jtdaj_adr,
-          d.efc.jtdaj_nrow,
-          d.efc.jtdaj_nblock,
-          d.efc.J_rownnz,
-          d.efc.J_rowadr,
-          d.efc.J_colind,
-          d.efc.J,
-          d.efc.pos,
-          d.efc.margin,
-          d.efc.D,
-          d.efc.vel,
-          d.efc.aref,
-          d.efc.frictionloss,
-          efc_nnz,
-        ],
-      )
-      wp.launch(
-        _equality_joint(m.is_sparse, newton),
-        dim=(d.nworld, m.eq_jnt_adr.size),
-        inputs=[
-          m.nv,
-          m.opt.timestep,
-          m.opt.disableflags,
-          m.qpos0,
-          m.jnt_qposadr,
-          m.jnt_dofadr,
-          m.dof_invweight0,
-          m.eq_obj1id,
-          m.eq_obj2id,
-          m.eq_solref,
-          m.eq_solimp,
-          m.eq_data,
-          m.eq_jnt_adr,
-          d.qpos,
-          d.qvel,
-          d.eq_active,
-          d.njmax,
-          d.njmax_nnz,
-        ],
-        outputs=[
-          d.ne,
-          d.nefc,
-          d.efc.type,
-          d.efc.id,
-          d.efc.jtdaj_adr,
-          d.efc.jtdaj_nrow,
-          d.efc.jtdaj_nblock,
-          d.efc.J_rownnz,
-          d.efc.J_rowadr,
-          d.efc.J_colind,
-          d.efc.J,
-          d.efc.pos,
-          d.efc.margin,
-          d.efc.D,
-          d.efc.vel,
-          d.efc.aref,
-          d.efc.frictionloss,
-          efc_nnz,
-        ],
-      )
-      wp.launch(
-        _equality_tendon(m.is_sparse, newton),
-        dim=(d.nworld, m.eq_ten_adr.size),
-        inputs=[
-          m.nv,
-          m.opt.timestep,
-          m.opt.disableflags,
-          m.eq_obj1id,
-          m.eq_obj2id,
-          m.eq_solref,
-          m.eq_solimp,
-          m.eq_data,
-          m.ten_J_rownnz,
-          m.ten_J_rowadr,
-          m.ten_J_colind,
-          m.tendon_length0,
-          m.tendon_invweight0,
-          m.eq_ten_adr,
-          d.qvel,
-          d.eq_active,
-          d.ten_J,
-          d.ten_length,
-          d.njmax,
-          d.njmax_nnz,
-        ],
-        outputs=[
-          d.ne,
-          d.nefc,
-          d.efc.type,
-          d.efc.id,
-          d.efc.jtdaj_adr,
-          d.efc.jtdaj_nrow,
-          d.efc.jtdaj_nblock,
-          d.efc.J_rownnz,
-          d.efc.J_rowadr,
-          d.efc.J_colind,
-          d.efc.J,
-          d.efc.pos,
-          d.efc.margin,
-          d.efc.D,
-          d.efc.vel,
-          d.efc.aref,
-          d.efc.frictionloss,
-          efc_nnz,
-        ],
-      )
-
-      if m.nflex > 0:
-        wp.launch(
-          _equality_flex(m.is_sparse, newton),
-          dim=(d.nworld, m.eq_flex_adr.size, m.nflexedge),
-          inputs=[
-            m.nv,
-            m.opt.timestep,
-            m.opt.disableflags,
-            m.flex_interp,
-            m.flex_edgeadr,
-            m.flex_edgenum,
-            m.flexedge_length0,
-            m.flexedge_invweight0,
-            m.flexedge_J_rownnz,
-            m.flexedge_J_rowadr,
-            m.flexedge_J_colind,
-            m.eq_obj1id,
-            m.eq_solref,
-            m.eq_solimp,
-            m.eq_flex_adr,
-            d.qvel,
-            d.eq_active,
-            d.flexedge_J,
-            d.flexedge_length,
-            d.njmax,
-            d.njmax_nnz,
-          ],
-          outputs=[
-            d.ne,
-            d.nefc,
-            d.efc.type,
-            d.efc.id,
-            d.efc.jtdaj_adr,
-            d.efc.jtdaj_nrow,
-            d.efc.jtdaj_nblock,
-            d.efc.J_rownnz,
-            d.efc.J_rowadr,
-            d.efc.J_colind,
-            d.efc.J,
-            d.efc.pos,
-            d.efc.margin,
-            d.efc.D,
-            d.efc.vel,
-            d.efc.aref,
-            d.efc.frictionloss,
-            efc_nnz,
-          ],
-        )
-
-        if m.eq_flexstrain_adr.size:
-          wp.launch(
-            _equality_flexstrain(m.is_sparse, newton),
-            dim=(d.nworld, m.eq_flexstrain_adr.size),
-            inputs=[
-              m.nv,
-              m.opt.timestep,
-              m.opt.disableflags,
-              m.body_parentid,
-              m.body_rootid,
-              m.body_dofnum,
-              m.body_dofadr,
-              m.body_invweight0,
-              m.dof_bodyid,
-              m.flex_interp,
-              m.flex_cellnum,
-              m.flex_nodeadr,
-              m.flex_nodenum,
-              m.flex_stiffnessadr,
-              m.flex_nodebodyid,
-              m.flex_node,
-              m.flex_node0,
-              m.flex_stiffness,
-              m.flex_centered,
-              m.eq_obj1id,
-              m.eq_solref,
-              m.eq_solimp,
-              m.eq_data,
-              m.body_isdofancestor,
-              m.eq_flexstrain_adr,
-              m.flexstrain_J_rownnz,
-              m.flexstrain_J_rowadr,
-              m.flexstrain_J_colind,
-              d.qvel,
-              d.eq_active,
-              d.xpos,
-              d.xmat,
-              d.subtree_com,
-              d.cdof,
-              d.njmax,
-              d.njmax_nnz,
-              d.flexnode_xpos,
-              d.face_quat,
-            ],
-            outputs=[
-              d.ne,
-              d.nefc,
-              d.efc.type,
-              d.efc.id,
-              d.efc.jtdaj_adr,
-              d.efc.jtdaj_nrow,
-              d.efc.jtdaj_nblock,
-              d.efc.J_rownnz,
-              d.efc.J_rowadr,
-              d.efc.J_colind,
-              d.efc.J,
-              d.efc.pos,
-              d.efc.margin,
-              d.efc.D,
-              d.efc.vel,
-              d.efc.aref,
-              d.efc.frictionloss,
-              efc_nnz,
-            ],
-          )
-
-    if not (m.opt.disableflags & types.DisableBit.FRICTIONLOSS):
-      wp.launch(
-        _friction_dof(m.is_sparse, newton),
-        dim=(d.nworld, m.nv),
-        inputs=[
-          m.nv,
-          m.opt.timestep,
-          m.opt.disableflags,
-          m.dof_solref,
-          m.dof_solimp,
-          m.dof_frictionloss,
-          m.dof_invweight0,
-          d.qvel,
-          d.njmax,
-          d.njmax_nnz,
-        ],
-        outputs=[
-          d.nf,
-          d.nefc,
-          d.efc.type,
-          d.efc.id,
-          d.efc.jtdaj_adr,
-          d.efc.jtdaj_nrow,
-          d.efc.jtdaj_nblock,
-          d.efc.J_rownnz,
-          d.efc.J_rowadr,
-          d.efc.J_colind,
-          d.efc.J,
-          d.efc.pos,
-          d.efc.margin,
-          d.efc.D,
-          d.efc.vel,
-          d.efc.aref,
-          d.efc.frictionloss,
-          efc_nnz,
-        ],
-      )
-
-      wp.launch(
-        _friction_tendon(m.is_sparse, newton),
-        dim=(d.nworld, m.ntendon),
-        inputs=[
-          m.nv,
-          m.opt.timestep,
-          m.opt.disableflags,
-          m.ten_J_rownnz,
-          m.ten_J_rowadr,
-          m.ten_J_colind,
-          m.tendon_solref_fri,
-          m.tendon_solimp_fri,
-          m.tendon_frictionloss,
-          m.tendon_invweight0,
-          d.qvel,
-          d.ten_J,
-          d.njmax,
-          d.njmax_nnz,
-        ],
-        outputs=[
-          d.nf,
-          d.nefc,
-          d.efc.type,
-          d.efc.id,
-          d.efc.jtdaj_adr,
-          d.efc.jtdaj_nrow,
-          d.efc.jtdaj_nblock,
-          d.efc.J_rownnz,
-          d.efc.J_rowadr,
-          d.efc.J_colind,
-          d.efc.J,
-          d.efc.pos,
-          d.efc.margin,
-          d.efc.D,
-          d.efc.vel,
-          d.efc.aref,
-          d.efc.frictionloss,
-          efc_nnz,
-        ],
-      )
-
-    # limit
-    if not (m.opt.disableflags & types.DisableBit.LIMIT):
-      wp.launch(
-        _limit_ball(m.is_sparse, newton),
-        dim=(d.nworld, m.jnt_limited_ball_adr.size),
-        inputs=[
-          m.nv,
-          m.opt.timestep,
-          m.opt.disableflags,
-          m.jnt_qposadr,
-          m.jnt_dofadr,
-          m.jnt_solref,
-          m.jnt_solimp,
-          m.jnt_range,
-          m.jnt_margin,
-          m.dof_invweight0,
-          m.jnt_limited_ball_adr,
-          d.qpos,
-          d.qvel,
-          d.njmax,
-          d.njmax_nnz,
-        ],
-        outputs=[
-          d.nl,
-          d.nefc,
-          d.efc.type,
-          d.efc.id,
-          d.efc.jtdaj_adr,
-          d.efc.jtdaj_nrow,
-          d.efc.jtdaj_nblock,
-          d.efc.J_rownnz,
-          d.efc.J_rowadr,
-          d.efc.J_colind,
-          d.efc.J,
-          d.efc.pos,
-          d.efc.margin,
-          d.efc.D,
-          d.efc.vel,
-          d.efc.aref,
-          d.efc.frictionloss,
-          efc_nnz,
-        ],
-      )
-
-      wp.launch(
-        _limit_slide_hinge(m.is_sparse, newton),
-        dim=(d.nworld, m.jnt_limited_slide_hinge_adr.size),
-        inputs=[
-          m.nv,
-          m.opt.timestep,
-          m.opt.disableflags,
-          m.jnt_qposadr,
-          m.jnt_dofadr,
-          m.jnt_solref,
-          m.jnt_solimp,
-          m.jnt_range,
-          m.jnt_margin,
-          m.dof_invweight0,
-          m.jnt_limited_slide_hinge_adr,
-          d.qpos,
-          d.qvel,
-          d.njmax,
-          d.njmax_nnz,
-        ],
-        outputs=[
-          d.nl,
-          d.nefc,
-          d.efc.type,
-          d.efc.id,
-          d.efc.jtdaj_adr,
-          d.efc.jtdaj_nrow,
-          d.efc.jtdaj_nblock,
-          d.efc.J_rownnz,
-          d.efc.J_rowadr,
-          d.efc.J_colind,
-          d.efc.J,
-          d.efc.pos,
-          d.efc.margin,
-          d.efc.D,
-          d.efc.vel,
-          d.efc.aref,
-          d.efc.frictionloss,
-          efc_nnz,
-        ],
-      )
-
-      wp.launch(
-        _limit_tendon(m.is_sparse, newton),
-        dim=(d.nworld, m.tendon_limited_adr.size),
-        inputs=[
-          m.nv,
-          m.opt.timestep,
-          m.opt.disableflags,
-          m.ten_J_rownnz,
-          m.ten_J_rowadr,
-          m.ten_J_colind,
-          m.tendon_solref_lim,
-          m.tendon_solimp_lim,
-          m.tendon_range,
-          m.tendon_margin,
-          m.tendon_invweight0,
-          m.tendon_limited_adr,
-          d.qvel,
-          d.ten_J,
-          d.ten_length,
-          d.njmax,
-          d.njmax_nnz,
-        ],
-        outputs=[
-          d.nl,
-          d.nefc,
-          d.efc.type,
-          d.efc.id,
-          d.efc.jtdaj_adr,
-          d.efc.jtdaj_nrow,
-          d.efc.jtdaj_nblock,
-          d.efc.J_rownnz,
-          d.efc.J_rowadr,
-          d.efc.J_colind,
-          d.efc.J,
-          d.efc.pos,
-          d.efc.margin,
-          d.efc.D,
-          d.efc.vel,
-          d.efc.aref,
-          d.efc.frictionloss,
-          efc_nnz,
-        ],
-      )
-
-    # contact
-    if not (m.opt.disableflags & types.DisableBit.CONTACT):
-      nmaxdim = int(m.nmaxpyramid) if m.opt.cone == types.ConeType.PYRAMIDAL else int(m.nmaxcondim)
-
-      # Reinterpret to avoid unnecessary loads
-      contact_frame_2d = wp.array(
-        ptr=d.contact.frame.ptr,
-        dtype=wp.vec3,
-        shape=(d.naconmax, 3),
-        device=d.contact.frame.device,
-        copy=False,
-      )
-      contact_friction_2d = wp.array(
-        ptr=d.contact.friction.ptr,
-        dtype=float,
-        shape=(d.naconmax, 5),
-        device=d.contact.friction.device,
-        copy=False,
-      )
-
-      has_flex = m.nflex > 0
-      if has_flex:
-        wp.launch(
-          _efc_contact_init_flex(m.opt.cone, m.is_sparse, newton),
-          dim=d.naconmax,
-          inputs=[
-            m.body_parentid,
-            m.body_weldid,
-            m.body_dofnum,
-            m.body_dofadr,
-            m.dof_parentid,
-            m.geom_bodyid,
-            m.flex_dim,
-            m.flex_interp,
-            m.flex_cellnum,
-            m.flex_nodeadr,
-            m.flex_vertadr,
-            m.flex_elemdataadr,
-            m.flex_shelldataadr,
-            m.flex_nodebodyid,
-            m.flex_vertbodyid,
-            m.flex_elem,
-            m.flex_shell,
-            m.flex_vert0,
-            d.flexvert_xpos,
-            d.njmax,
-            d.njmax_nnz,
-            d.nacon,
-            d.contact.dist,
-            d.contact.dim,
-            d.contact.includemargin,
-            d.contact.worldid,
-            d.contact.geom,
-            d.contact.flex,
-            d.contact.elem,
-            d.contact.vert,
-            d.contact.pos,
-            d.contact.type,
-          ],
-          outputs=[
-            d.nefc,
-            d.contact.efc_address,
-            d.efc.id,
-            d.efc.jtdaj_adr,
-            d.efc.jtdaj_nrow,
-            d.efc.jtdaj_nblock,
-            d.efc.J_rownnz,
-            d.efc.J_rowadr,
-            efc_nnz,
-          ],
-        )
-      else:
-        wp.launch(
-          _efc_contact_init(m.opt.cone, m.is_sparse, newton),
-          dim=d.naconmax,
-          inputs=[
-            m.body_weldid,
-            m.body_dofnum,
-            m.body_dofadr,
-            m.dof_parentid,
-            m.geom_bodyid,
-            d.njmax,
-            d.njmax_nnz,
-            d.nacon,
-            d.contact.dist,
-            d.contact.dim,
-            d.contact.includemargin,
-            d.contact.worldid,
-            d.contact.geom,
-            d.contact.type,
-          ],
-          outputs=[
-            d.nefc,
-            d.contact.efc_address,
-            d.efc.id,
-            d.efc.jtdaj_adr,
-            d.efc.jtdaj_nrow,
-            d.efc.jtdaj_nblock,
-            d.efc.J_rownnz,
-            d.efc.J_rowadr,
-            efc_nnz,
-          ],
-        )
-
-      if m.is_sparse:
-        if has_flex:
-          wp.launch(
-            _efc_contact_jac_sparse_flex(m.opt.cone),
-            dim=(d.naconmax, nmaxdim),
-            inputs=[
-              m.body_parentid,
-              m.body_rootid,
-              m.body_weldid,
-              m.body_dofnum,
-              m.body_dofadr,
-              m.dof_bodyid,
-              m.dof_parentid,
-              m.geom_bodyid,
-              m.flex_dim,
-              m.flex_interp,
-              m.flex_cellnum,
-              m.flex_nodeadr,
-              m.flex_vertadr,
-              m.flex_elemdataadr,
-              m.flex_shelldataadr,
-              m.flex_nodebodyid,
-              m.flex_vertbodyid,
-              m.flex_elem,
-              m.flex_shell,
-              m.flex_vert0,
-              m.body_isdofancestor,
-              d.qvel,
-              d.subtree_com,
-              d.cdof,
-              d.flexvert_xpos,
-              d.contact.efc_address,
-              d.efc.J_rownnz,
-              d.efc.J_rowadr,
-              d.nacon,
-              d.contact.dim,
-              d.contact.geom,
-              d.contact.flex,
-              d.contact.elem,
-              d.contact.vert,
-              d.contact.pos,
-              contact_frame_2d,
-              contact_friction_2d,
-              d.contact.worldid,
-            ],
-            outputs=[
-              d.efc.J_colind,
-              d.efc.J,
-              d.efc.Jqvel,
-            ],
-          )
-        else:
-          wp.launch(
-            _efc_contact_jac_sparse(m.opt.cone),
-            dim=(d.naconmax, nmaxdim),
-            inputs=[
-              m.body_parentid,
-              m.body_rootid,
-              m.body_weldid,
-              m.body_dofnum,
-              m.body_dofadr,
-              m.dof_bodyid,
-              m.dof_parentid,
-              m.geom_bodyid,
-              m.body_isdofancestor,
-              d.qvel,
-              d.subtree_com,
-              d.cdof,
-              d.contact.efc_address,
-              d.efc.J_rownnz,
-              d.efc.J_rowadr,
-              d.nacon,
-              d.contact.dim,
-              d.contact.geom,
-              d.contact.pos,
-              contact_frame_2d,
-              contact_friction_2d,
-              d.contact.worldid,
-            ],
-            outputs=[
-              d.efc.J_colind,
-              d.efc.J,
-              d.efc.Jqvel,
-            ],
-          )
-      else:
-        d.efc.Jqvel.zero_()
-        tile_size = m.block_dim.contact_jac_tiled
-        n_dof_blocks = (m.nv_pad + tile_size - 1) // tile_size
-
-        if has_flex:
-          wp.launch_tiled(
-            _efc_contact_jac_dense_flex(tile_size, m.opt.cone),
-            dim=(d.nworld, n_dof_blocks),
-            inputs=[
-              m.body_rootid,
-              m.geom_bodyid,
-              m.flex_dim,
-              m.flex_cellnum,
-              m.flex_nodeadr,
-              m.flex_vertadr,
-              m.flex_elemdataadr,
-              m.flex_shelldataadr,
-              m.flex_nodebodyid,
-              m.flex_vertbodyid,
-              m.flex_elem,
-              m.flex_shell,
-              m.flex_vert0,
-              m.body_isdofancestor,
-              d.ne,
-              d.nf,
-              d.nl,
-              d.nefc,
-              d.qvel,
-              d.subtree_com,
-              d.cdof,
-              d.flexvert_xpos,
-              d.contact.efc_address,
-              d.efc.id,
-              d.njmax,
-              m.nv_pad,
-              d.contact.dim,
-              d.contact.geom,
-              d.contact.flex,
-              d.contact.elem,
-              d.contact.vert,
-              d.contact.pos,
-              contact_frame_2d,
-              contact_friction_2d,
-            ],
-            outputs=[
-              d.efc.J,
-              d.efc.Jqvel,
-            ],
-            block_dim=tile_size,
-          )
-        else:
-          wp.launch_tiled(
-            _efc_contact_jac_dense(tile_size, m.opt.cone),
-            dim=(d.nworld, n_dof_blocks),
-            inputs=[
-              m.body_rootid,
-              m.geom_bodyid,
-              m.body_isdofancestor,
-              d.ne,
-              d.nf,
-              d.nl,
-              d.nefc,
-              d.qvel,
-              d.subtree_com,
-              d.cdof,
-              d.contact.efc_address,
-              d.efc.id,
-              d.njmax,
-              m.nv_pad,
-              d.contact.dim,
-              d.contact.geom,
-              d.contact.pos,
-              contact_frame_2d,
-              contact_friction_2d,
-            ],
-            outputs=[
-              d.efc.J,
-              d.efc.Jqvel,
-            ],
-            block_dim=tile_size,
-          )
-
-      if has_flex:
-        wp.launch(
-          _efc_contact_update_flex(m.opt.cone),
-          dim=(d.naconmax, nmaxdim),
-          inputs=[
-            m.opt.timestep,
-            m.opt.disableflags,
-            m.opt.impratio_invsqrt,
-            m.body_invweight0,
-            m.geom_bodyid,
-            m.flex_dim,
-            m.flex_interp,
-            m.flex_cellnum,
-            m.flex_nodeadr,
-            m.flex_vertadr,
-            m.flex_elemdataadr,
-            m.flex_shelldataadr,
-            m.flex_nodebodyid,
-            m.flex_vertbodyid,
-            m.flex_elem,
-            m.flex_shell,
-            m.flex_vert0,
-            d.flexvert_xpos,
-            d.contact.efc_address,
-            d.efc.Jqvel,
-            d.nacon,
-            d.contact.dist,
-            d.contact.pos,
-            d.contact.dim,
-            d.contact.includemargin,
-            d.contact.worldid,
-            d.contact.geom,
-            d.contact.flex,
-            d.contact.elem,
-            d.contact.vert,
-            d.contact.friction,
-            d.contact.solref,
-            d.contact.solreffriction,
-            d.contact.solimp,
-            d.contact.type,
-          ],
-          outputs=[
-            d.efc.type,
-            d.efc.id,
-            d.efc.pos,
-            d.efc.margin,
-            d.efc.D,
-            d.efc.vel,
-            d.efc.aref,
-            d.efc.frictionloss,
-          ],
-        )
-      else:
-        wp.launch(
-          _efc_contact_update(m.opt.cone),
-          dim=(d.naconmax, nmaxdim),
-          inputs=[
-            m.opt.timestep,
-            m.opt.disableflags,
-            m.opt.impratio_invsqrt,
-            m.body_invweight0,
-            m.geom_bodyid,
-            d.contact.efc_address,
-            d.efc.Jqvel,
-            d.nacon,
-            d.contact.dist,
-            d.contact.dim,
-            d.contact.includemargin,
-            d.contact.worldid,
-            d.contact.geom,
-            d.contact.friction,
-            d.contact.solref,
-            d.contact.solreffriction,
-            d.contact.solimp,
-            d.contact.type,
-          ],
-          outputs=[
-            d.efc.type,
-            d.efc.id,
-            d.efc.pos,
-            d.efc.margin,
-            d.efc.D,
-            d.efc.vel,
-            d.efc.aref,
-            d.efc.frictionloss,
-          ],
-        )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py
deleted file mode 100644
index 681ce7a6..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py
+++ /dev/null
@@ -1,1273 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src import util_misc
-from mujoco.mjx.third_party.mujoco_warp._src.passive import ellipsoid_max_moment
-from mujoco.mjx.third_party.mujoco_warp._src.passive import geom_semiaxes
-from mujoco.mjx.third_party.mujoco_warp._src.support import next_act
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import BiasType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import DynType
-from mujoco.mjx.third_party.mujoco_warp._src.types import GainType
-from mujoco.mjx.third_party.mujoco_warp._src.types import IntegratorType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec10
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.kernel
-def _qderiv_actuator_passive_vel(
-  # Model:
-  opt_timestep: wp.array[float],
-  actuator_dyntype: wp.array[int],
-  actuator_gaintype: wp.array[int],
-  actuator_biastype: wp.array[int],
-  actuator_actadr: wp.array[int],
-  actuator_actnum: wp.array[int],
-  actuator_dynprm: wp.array2d[vec10],
-  actuator_gainprm: wp.array2d[vec10],
-  actuator_biasprm: wp.array2d[vec10],
-  actuator_actlimited: wp.array[bool],
-  actuator_actrange: wp.array2d[wp.vec2],
-  actuator_actearly: wp.array[bool],
-  actuator_forcelimited: wp.array[bool],
-  actuator_forcerange: wp.array2d[wp.vec2],
-  # Data in:
-  act_in: wp.array2d[float],
-  ctrl_in: wp.array2d[float],
-  act_dot_in: wp.array2d[float],
-  actuator_force_in: wp.array2d[float],
-  # Out:
-  vel_out: wp.array2d[float],
-):
-  worldid, actid = wp.tid()
-
-  actuator_gainprm_id = worldid % actuator_gainprm.shape[0]
-  actuator_biasprm_id = worldid % actuator_biasprm.shape[0]
-
-  bias = float(0.0)
-
-  if actuator_gaintype[actid] == GainType.AFFINE:
-    gain = actuator_gainprm[actuator_gainprm_id, actid][2]
-  elif actuator_gaintype[actid] == GainType.DCMOTOR:
-    gain = 0.0
-    dynprm = actuator_dynprm[worldid % actuator_dynprm.shape[0], actid]
-    gainprm = actuator_gainprm[actuator_gainprm_id, actid]
-    te = dynprm[0]
-
-    # controller velocity derivative: dV/dω
-    input_mode = int(gainprm[8])
-    dVdw = 0.0
-    if input_mode == 1:
-      dVdw = -gainprm[6]  # position: -kd
-    elif input_mode == 2:
-      dVdw = -gainprm[4]  # velocity: -kp
-
-    if te > 0.0:
-      # stateful current with actearly: d(K*next_act)/dω
-      # includes both back-EMF (-K) and controller (dVdw) through act_dot
-      R = wp.max(MJ_MINVAL, gainprm[0])
-      K = gainprm[1]
-      s = 1.0 - wp.exp(-opt_timestep[worldid % opt_timestep.shape[0]] / te)
-      bias += K * (dVdw - K) * s / R
-    elif dVdw != 0.0:
-      # stateless: controller terms only (back-EMF handled in bias block)
-      R = wp.max(MJ_MINVAL, gainprm[0])
-      K = gainprm[1]
-      bias += K * dVdw / R
-
-    # LuGre: force includes -sigma1*z_dot, z_dot = a*z + v
-    # d(sigma1*z_dot)/dv = sigma1*(da/dv*z + 1), ignoring higher-order da/dv*z
-    sigma1 = dynprm[6]
-    if sigma1 > 0.0:
-      bias -= sigma1
-  else:
-    gain = 0.0
-
-  if actuator_biastype[actid] == BiasType.AFFINE:
-    bias += actuator_biasprm[actuator_biasprm_id, actid][2]
-  elif actuator_biastype[actid] == BiasType.DCMOTOR:
-    dynprm = actuator_dynprm[worldid % actuator_dynprm.shape[0], actid]
-    te = dynprm[0]
-    if te <= 0.0:
-      gainprm = actuator_gainprm[actuator_gainprm_id, actid]
-      R = gainprm[0]
-      K = gainprm[1]
-
-      slots = util_misc.dcmotor_slots(dynprm, gainprm)
-      slot_Ta = slots[2]
-
-      if slot_Ta >= 0:
-        adr = actuator_actadr[actid] + slot_Ta
-        T = act_in[worldid, adr]
-        alpha = gainprm[2]
-        T0 = gainprm[3]
-        Ta = dynprm[4]
-        R *= 1.0 + alpha * (T + Ta - T0)
-
-      bias += -K * K / wp.max(MJ_MINVAL, R)
-
-  if bias == 0.0 and gain == 0.0:
-    vel_out[worldid, actid] = 0.0
-    return
-
-  # skip if force is clamped by forcerange
-  if actuator_forcelimited[actid]:
-    force = actuator_force_in[worldid, actid]
-    forcerange = actuator_forcerange[worldid % actuator_forcerange.shape[0], actid]
-    if force <= forcerange[0] or force >= forcerange[1]:
-      vel_out[worldid, actid] = 0.0
-      return
-
-  vel = float(bias)
-  if actuator_dyntype[actid] != DynType.NONE:
-    if gain != 0.0:
-      act_adr = actuator_actadr[actid] + actuator_actnum[actid] - 1
-
-      # use next activation if actearly is set (matching forward pass)
-      if actuator_actearly[actid]:
-        act = next_act(
-          opt_timestep[worldid % opt_timestep.shape[0]],
-          actuator_dyntype[actid],
-          actuator_dynprm[worldid % actuator_dynprm.shape[0], actid],
-          actuator_actrange[worldid % actuator_actrange.shape[0], actid],
-          act_in[worldid, act_adr],
-          act_dot_in[worldid, act_adr],
-          1.0,
-          actuator_actlimited[actid],
-        )
-      else:
-        act = act_in[worldid, act_adr]
-
-      vel += gain * act
-  else:
-    if gain != 0.0:
-      vel += gain * ctrl_in[worldid, actid]
-
-  vel_out[worldid, actid] = vel
-
-
-@wp.func
-def _nonzero_mask(x: float) -> float:
-  """Returns 1.0 for non-zero input, 0.0 otherwise."""
-  if x != 0.0:
-    return 1.0
-  return 0.0
-
-
-@wp.kernel
-def _qderiv_actuator_passive_actuation_sparse(
-  # Model:
-  M_elemid: wp.array2d[int],
-  # Data in:
-  moment_rownnz_in: wp.array2d[int],
-  moment_rowadr_in: wp.array2d[int],
-  moment_colind_in: wp.array2d[int],
-  actuator_moment_in: wp.array2d[float],
-  # In:
-  vel_in: wp.array2d[float],
-  # Out:
-  qDeriv_out: wp.array2d[float],
-):
-  worldid, actid = wp.tid()
-
-  vel = vel_in[worldid, actid]
-  if vel == 0.0:
-    return
-
-  rownnz = moment_rownnz_in[worldid, actid]
-  rowadr = moment_rowadr_in[worldid, actid]
-
-  for i in range(rownnz):
-    rowadri = rowadr + i
-    moment_i = actuator_moment_in[worldid, rowadri]
-    if moment_i == 0.0:
-      continue
-    dofi = moment_colind_in[worldid, rowadri]
-
-    for j in range(i + 1):
-      rowadrj = rowadr + j
-      moment_j = actuator_moment_in[worldid, rowadrj]
-      if moment_j == 0.0:
-        continue
-      dofj = moment_colind_in[worldid, rowadrj]
-
-      elemid = M_elemid[dofi, dofj]
-      if elemid >= 0:
-        contrib = moment_i * moment_j * vel
-        wp.atomic_add(qDeriv_out[worldid], elemid, contrib)
-
-
-@wp.kernel
-def _qderiv_actuator_passive(
-  # Model:
-  opt_timestep: wp.array[float],
-  opt_disableflags: int,
-  dof_damping: wp.array2d[float],
-  dof_dampingpoly: wp.array2d[wp.vec2],
-  M_elemid: wp.array2d[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  M_in: wp.array2d[float],
-  # In:
-  Mi: wp.array[int],
-  Mj: wp.array[int],
-  qDeriv_in: wp.array2d[float],
-  # Out:
-  qDeriv_out: wp.array2d[float],
-):
-  worldid, elemid = wp.tid()
-
-  dofiid = Mi[elemid]
-  dofjid = Mj[elemid]
-
-  # Off-pattern (dofiid, dofjid) pairs have no CSR entry (madr < 0).
-  madr = M_elemid[dofiid, dofjid]
-  if madr < 0:
-    return
-
-  qderiv = qDeriv_in[worldid, madr]
-
-  if not (opt_disableflags & DisableBit.DAMPER) and dofiid == dofjid:
-    damping = dof_damping[worldid % dof_damping.shape[0], dofiid]
-    dpoly = dof_dampingpoly[worldid % dof_dampingpoly.shape[0], dofiid]
-    v = qvel_in[worldid, dofiid]
-    qderiv -= util_misc._poly_force_deriv(damping, dpoly, v, 1)
-
-  qderiv *= opt_timestep[worldid % opt_timestep.shape[0]]
-
-  qDeriv_out[worldid, madr] = M_in[worldid, madr] - qderiv
-
-
-# TODO(team): improve performance with tile operations?
-@wp.kernel
-def _qderiv_tendon_damping(
-  # Model:
-  ntendon: int,
-  opt_timestep: wp.array[float],
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  tendon_damping: wp.array2d[float],
-  tendon_dampingpoly: wp.array2d[wp.vec2],
-  M_elemid: wp.array2d[int],
-  # Data in:
-  ten_J_in: wp.array2d[float],
-  ten_velocity_in: wp.array2d[float],
-  # In:
-  Mi: wp.array[int],
-  Mj: wp.array[int],
-  # Out:
-  qDeriv_out: wp.array2d[float],
-):
-  worldid, elemid = wp.tid()
-  dofiid = Mi[elemid]
-  dofjid = Mj[elemid]
-
-  # Off-pattern (dofiid, dofjid) pairs have no CSR entry (madr < 0).
-  madr = M_elemid[dofiid, dofjid]
-  if madr < 0:
-    return
-
-  qderiv = float(0.0)
-  tendon_damping_id = worldid % tendon_damping.shape[0]
-  for tenid in range(ntendon):
-    damping = tendon_damping[tendon_damping_id, tenid]
-    dpoly = tendon_dampingpoly[worldid % tendon_dampingpoly.shape[0], tenid]
-    if damping == 0.0 and dpoly[0] == 0.0 and dpoly[1] == 0.0:
-      continue
-
-    rownnz = ten_J_rownnz[tenid]
-    rowadr = ten_J_rowadr[tenid]
-    Ji = float(0.0)
-    Jj = float(0.0)
-    for k in range(rownnz):
-      if Ji != 0.0 and Jj != 0.0:
-        break
-      sparseid = rowadr + k
-      colind = ten_J_colind[sparseid]
-      if colind == dofiid:
-        Ji = ten_J_in[worldid, sparseid]
-      if colind == dofjid:
-        Jj = ten_J_in[worldid, sparseid]
-
-    v = ten_velocity_in[worldid, tenid]
-    qderiv -= Ji * Jj * util_misc._poly_force_deriv(damping, dpoly, v, 1)
-
-  qderiv *= opt_timestep[worldid % opt_timestep.shape[0]]
-
-  qDeriv_out[worldid, madr] -= qderiv
-
-
-@wp.kernel
-def deriv_rne_cvel_cdof_dot(
-  # Model:
-  body_parentid: wp.array[int],
-  body_jntnum: wp.array[int],
-  body_jntadr: wp.array[int],
-  body_dofadr: wp.array[int],
-  jnt_type: wp.array[int],
-  # Data in:
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # In:
-  body_tree_: wp.array[int],
-  # Out:
-  Dcvel_out: wp.array3d[wp.spatial_vector],
-  Dcdof_dot_out: wp.array3d[wp.spatial_vector],
-):
-  """Forward pass: compute d(cvel)/d(qvel_k) and d(cdof_dot)/d(qvel_k).
-
-  Mirrors the accumulation order of comvel for each joint type.
-
-  Dcdof_dot for rotation DOFs of free joints (dofid+0..2) is zero because the
-  forward pass sets cdof_dot[dofid+0..2] = 0.  The Dcdof_dot array is
-  zero-initialized so no explicit write is needed.
-  """
-  worldid, nodeid, dofid = wp.tid()
-  bodyid = body_tree_[nodeid]
-  dofadr = body_dofadr[bodyid]
-  jntid = body_jntadr[bodyid]
-  jntnum = body_jntnum[bodyid]
-  pid = body_parentid[bodyid]
-
-  cdof = cdof_in[worldid]
-
-  # Initialize from parent
-  cvel_k = Dcvel_out[worldid, pid, dofid]
-
-  if jntnum == 0:
-    Dcvel_out[worldid, bodyid, dofid] = cvel_k
-    return
-
-  dof_i = dofadr
-
-  for j in range(jntid, jntid + jntnum):
-    jnttype = jnt_type[j]
-
-    if jnttype == 0:  # FREE
-      # rotation DOFs (dof_i+0..2) contribute to cvel
-      if dofid >= dof_i and dofid < dof_i + 3:
-        cvel_k += cdof[dofid]
-
-      # cdof_dot for rotation DOFs is zero (set in forward kinematics),
-      # so Dcdof_dot for rotation DOFs is zero (from wp.zeros init)
-
-      # derivative of cdof_dot for translation DOFs 3,4,5
-      Dcdof_dot_out[worldid, dof_i + 3, dofid] = math.motion_cross(cvel_k, cdof[dof_i + 3])
-      Dcdof_dot_out[worldid, dof_i + 4, dofid] = math.motion_cross(cvel_k, cdof[dof_i + 4])
-      Dcdof_dot_out[worldid, dof_i + 5, dofid] = math.motion_cross(cvel_k, cdof[dof_i + 5])
-
-      # translation DOFs (dof_i+3..5) contribute to cvel
-      if dofid >= dof_i + 3 and dofid < dof_i + 6:
-        cvel_k += cdof[dofid]
-
-      dof_i += 6
-
-    elif jnttype == 1:  # BALL
-      Dcdof_dot_out[worldid, dof_i + 0, dofid] = math.motion_cross(cvel_k, cdof[dof_i + 0])
-      Dcdof_dot_out[worldid, dof_i + 1, dofid] = math.motion_cross(cvel_k, cdof[dof_i + 1])
-      Dcdof_dot_out[worldid, dof_i + 2, dofid] = math.motion_cross(cvel_k, cdof[dof_i + 2])
-
-      if dofid >= dof_i and dofid < dof_i + 3:
-        cvel_k += cdof[dofid]
-
-      dof_i += 3
-    else:  # HINGE or SLIDE
-      Dcdof_dot_out[worldid, dof_i, dofid] = math.motion_cross(cvel_k, cdof[dof_i])
-
-      if dofid == dof_i:
-        cvel_k += cdof[dof_i]
-
-      dof_i += 1
-
-  Dcvel_out[worldid, bodyid, dofid] = cvel_k
-
-
-@wp.kernel
-def deriv_rne_cacc_cfrcbody_forward(
-  # Model:
-  body_parentid: wp.array[int],
-  body_dofnum: wp.array[int],
-  body_dofadr: wp.array[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  cinert_in: wp.array2d[vec10],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  cdof_dot_in: wp.array2d[wp.spatial_vector],
-  # In:
-  body_tree_: wp.array[int],
-  Dcvel_in: wp.array3d[wp.spatial_vector],
-  Dcdof_dot_in: wp.array3d[wp.spatial_vector],
-  # Out:
-  Dcacc_out: wp.array3d[wp.spatial_vector],
-  Dcfrcbody_out: wp.array3d[wp.spatial_vector],
-):
-  """Forward pass: compute d(cacc)/d(qvel_k) and d(cfrc_body)/d(qvel_k)."""
-  worldid, nodeid, dofid = wp.tid()
-  bodyid = body_tree_[nodeid]
-  dofadr = body_dofadr[bodyid]
-  dofnum = body_dofnum[bodyid]
-  pid = body_parentid[bodyid]
-
-  qvel = qvel_in[worldid]
-
-  dcacc = Dcacc_out[worldid, pid, dofid]
-
-  for j in range(dofadr, dofadr + dofnum):
-    # Term 1: d(cdof_dot * qvel)/d(qvel_k) when j == dofid
-    if j == dofid:
-      dcacc += cdof_dot_in[worldid, j]
-
-    # Term 2: cdof_dot depends on cvel which depends on qvel_k
-    dcdofdot = Dcdof_dot_in[worldid, j, dofid]
-    dcacc += dcdofdot * qvel[j]
-
-  Dcacc_out[worldid, bodyid, dofid] = dcacc
-
-  # d(cfrc_body)/d(qvel_k)
-  cinert = cinert_in[worldid, bodyid]
-  cvel = cvel_in[worldid, bodyid]
-  dcvel = Dcvel_in[worldid, bodyid, dofid]
-
-  # term1 = cinert * d(cacc)/d(qvel_k)
-  term1 = math.inert_vec(cinert, dcacc)
-
-  # term2 = d(cvel x* (cinert * cvel))/d(qvel_k)
-  cinert_cvel = math.inert_vec(cinert, cvel)
-  cinert_dcvel = math.inert_vec(cinert, dcvel)
-  term2 = math.motion_cross_force(dcvel, cinert_cvel) + math.motion_cross_force(cvel, cinert_dcvel)
-
-  Dcfrcbody_out[worldid, bodyid, dofid] = term1 + term2
-
-
-@wp.kernel
-def deriv_rne_cfrcbody_backward(
-  # Model:
-  body_parentid: wp.array[int],
-  # In:
-  body_tree_: wp.array[int],
-  # Out:
-  Dcfrcbody_out: wp.array3d[wp.spatial_vector],
-):
-  """Backward pass: accumulate d(cfrc_body) from children to parents."""
-  worldid, nodeid, dofid = wp.tid()
-  bodyid = body_tree_[nodeid]
-  pid = body_parentid[bodyid]
-
-  # body_tree never contains bodyid=0 (worldbody), so pid >= 0 is always valid.
-  # Siblings at the same level may share a parent; atomic_add handles this.
-  val = Dcfrcbody_out[worldid, bodyid, dofid]
-  wp.atomic_add(Dcfrcbody_out[worldid, pid], dofid, val)
-
-
-@wp.kernel
-def deriv_rne_body2jnt_sparse(
-  # Model:
-  dof_bodyid: wp.array[int],
-  # Data in:
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # In:
-  timestep: wp.array[float],
-  Di: wp.array[int],
-  Dj: wp.array[int],
-  Dcfrcbody_in: wp.array3d[wp.spatial_vector],
-  flg_subtract: bool,
-  # Out:
-  qDeriv_out: wp.array2d[float],
-):
-  """Project body-space RNE derivatives into joint-space qDeriv (sparse)."""
-  worldid, elemid = wp.tid()
-  dt = timestep[worldid % timestep.shape[0]]
-
-  i = Di[elemid]
-  j = Dj[elemid]
-
-  body_i = dof_bodyid[i]
-  dcfrc = Dcfrcbody_in[worldid, body_i, j]
-  term = wp.dot(cdof_in[worldid, i], dcfrc)
-
-  if flg_subtract:
-    wp.atomic_sub(qDeriv_out[worldid], elemid, dt * term)
-  else:
-    wp.atomic_add(qDeriv_out[worldid], elemid, dt * term)
-
-
-def deriv_rne_vel(m: Model, d: Data, out: wp.array2d[float], flg_subtract: bool = False):
-  """Compute RNE velocity derivatives and add/subtract from the output.
-
-  Implements the analytical derivative of inverse-dynamics Coriolis/centrifugal
-  forces with respect to joint velocities.
-
-  Args:
-    m: The model (device).
-    d: The data (device).
-    out: D-structure output array (nworld, nD) to accumulate RNE terms into.
-    flg_subtract: If True, subtract the RNE derivatives from output instead of adding them.
-  """
-  # TODO(team): consider caching these allocations
-  Dcvel = wp.zeros((d.nworld, m.nbody, m.nv), dtype=wp.spatial_vector)
-  Dcdof_dot = wp.zeros((d.nworld, m.nv, m.nv), dtype=wp.spatial_vector)
-  Dcacc = wp.zeros((d.nworld, m.nbody, m.nv), dtype=wp.spatial_vector)
-  Dcfrcbody = wp.zeros((d.nworld, m.nbody, m.nv), dtype=wp.spatial_vector)
-
-  # Forward pass 1: compute Dcvel and Dcdof_dot
-  for body_tree in m.body_tree:
-    wp.launch(
-      deriv_rne_cvel_cdof_dot,
-      dim=(d.nworld, body_tree.size, m.nv),
-      inputs=[
-        m.body_parentid,
-        m.body_jntnum,
-        m.body_jntadr,
-        m.body_dofadr,
-        m.jnt_type,
-        d.cdof,
-        body_tree,
-      ],
-      outputs=[Dcvel, Dcdof_dot],
-    )
-
-  # Forward pass 2: compute Dcacc and Dcfrcbody
-  for body_tree in m.body_tree:
-    wp.launch(
-      deriv_rne_cacc_cfrcbody_forward,
-      dim=(d.nworld, body_tree.size, m.nv),
-      inputs=[
-        m.body_parentid,
-        m.body_dofnum,
-        m.body_dofadr,
-        d.qvel,
-        d.cinert,
-        d.cvel,
-        d.cdof_dot,
-        body_tree,
-        Dcvel,
-        Dcdof_dot,
-      ],
-      outputs=[Dcacc, Dcfrcbody],
-    )
-
-  # Backward pass: accumulate Dcfrcbody from children to parents
-  for body_tree in reversed(m.body_tree):
-    wp.launch(
-      deriv_rne_cfrcbody_backward,
-      dim=(d.nworld, body_tree.size, m.nv),
-      inputs=[m.body_parentid, body_tree],
-      outputs=[Dcfrcbody],
-    )
-
-  # Project body-space derivatives into joint-space qDeriv (always sparse D-structure)
-  wp.launch(
-    deriv_rne_body2jnt_sparse,
-    dim=(d.nworld, m.qD_fullm_i.size),
-    inputs=[m.dof_bodyid, d.cdof, m.opt.timestep, m.qD_fullm_i, m.qD_fullm_j, Dcfrcbody, flg_subtract],
-    outputs=[out],
-  )
-
-
-@wp.func
-def _deriv_ellipsoid_fluid(
-  # Model:
-  opt_integrator: int,
-  geom_type: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_fluid: wp.array2d[float],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  bodyid: int,
-  rootid: int,
-  geomadr: int,
-  geomnum: int,
-  cdof_i: wp.spatial_vector,
-  cdof_j: wp.spatial_vector,
-  wind: wp.vec3,
-  density: float,
-  viscosity: float,
-) -> float:
-  """Compute one body's ellipsoid fluid derivative contribution for a DOF pair.
-
-  Returns the scalar J_i^T @ B @ J_j contribution accumulated across geoms.
-  """
-  is_implicitfast = opt_integrator == IntegratorType.IMPLICITFAST
-
-  # Body kinematics
-  xipos = xipos_in[worldid, bodyid]
-  cvel = cvel_in[worldid, bodyid]
-  ang_global = wp.spatial_top(cvel)
-  lin_global = wp.spatial_bottom(cvel)
-  subtree_root = subtree_com_in[worldid, rootid]
-  lin_com = lin_global - wp.cross(xipos - subtree_root, ang_global)
-
-  qderiv_contrib = float(0.0)
-
-  cdof_ang_i = wp.vec3(cdof_i[0], cdof_i[1], cdof_i[2])
-  cdof_lin_i = wp.vec3(cdof_i[3], cdof_i[4], cdof_i[5])
-  cdof_ang_j = wp.vec3(cdof_j[0], cdof_j[1], cdof_j[2])
-  cdof_lin_j = wp.vec3(cdof_j[3], cdof_j[4], cdof_j[5])
-
-  for g in range(geomnum):
-    geomid = geomadr + g
-    coef = geom_fluid[geomid, 0]
-    if coef <= 0.0:
-      continue
-
-    size = geom_size[worldid % geom_size.shape[0], geomid]
-    semiaxes = geom_semiaxes(size, geom_type[geomid])
-    geom_rot = geom_xmat_in[worldid, geomid]
-    geom_rotT = wp.transpose(geom_rot)
-    geom_pos = geom_xpos_in[worldid, geomid]
-
-    # compute local velocity
-    lin_point = lin_com + wp.cross(ang_global, geom_pos - xipos)
-    l_ang = geom_rotT @ ang_global
-    l_lin = geom_rotT @ lin_point
-
-    if wind[0] != 0.0 or wind[1] != 0.0 or wind[2] != 0.0:
-      l_lin -= geom_rotT @ wind
-
-    ang_vel = l_ang
-    lin_vel = l_lin
-
-    # read fluid coefficients
-    blunt_drag_coef = geom_fluid[geomid, 1]
-    slender_drag_coef = geom_fluid[geomid, 2]
-    ang_drag_coef = geom_fluid[geomid, 3]
-    kutta_lift_coef = geom_fluid[geomid, 4]
-    magnus_lift_coef = geom_fluid[geomid, 5]
-    virtual_mass = wp.vec3(geom_fluid[geomid, 6], geom_fluid[geomid, 7], geom_fluid[geomid, 8])
-    virtual_inertia = wp.vec3(geom_fluid[geomid, 9], geom_fluid[geomid, 10], geom_fluid[geomid, 11])
-
-    # ===== Build 6x6 B matrix as four 3x3 quadrants =====
-    # B = [[B00, B01], [B10, B11]] where rows are [ang; lin], cols are [ang; lin]
-    B00 = wp.mat33(0.0)  # torque wrt ang_vel
-    B01 = wp.mat33(0.0)  # torque wrt lin_vel
-    B10 = wp.mat33(0.0)  # force wrt ang_vel
-    B11 = wp.mat33(0.0)  # force wrt lin_vel
-
-    if density > 0.0:
-      # --- added mass forces ---
-      density_vm = density * virtual_mass
-      density_vi = density * virtual_inertia
-      virtual_lin_mom = wp.cw_mul(density_vm, lin_vel)
-      virtual_ang_mom = wp.cw_mul(density_vi, ang_vel)
-
-      # torque += cross(virtual_ang_mom, ang_vel) -> B00
-      B00 += wp.skew(virtual_ang_mom) - wp.skew(ang_vel) @ wp.diag(density_vi)
-
-      # torque += cross(virtual_lin_mom, lin_vel) -> B01
-      B01 += wp.skew(virtual_lin_mom) - wp.skew(lin_vel) @ wp.diag(density_vm)
-
-      # force += cross(virtual_lin_mom, ang_vel) -> B10
-      B10 += wp.skew(virtual_lin_mom)
-      # Da = d/d(vlm via lin) = _skew_neg(ang), scaled by density*vm -> B11
-      B11 += -wp.skew(ang_vel) @ wp.diag(density_vm)
-
-    # --- Magnus force: force += magnus_coef * cross(ang_vel, lin_vel) ---
-    volume = wp.static(4.0 / 3.0 * wp.pi) * semiaxes[0] * semiaxes[1] * semiaxes[2]
-    magnus_coef = magnus_lift_coef * density * volume
-    B10 -= wp.skew(lin_vel) * magnus_coef
-    B11 += wp.skew(ang_vel) * magnus_coef
-
-    # --- Kutta lift (3x3 -> B11) ---
-    a = (semiaxes[1] * semiaxes[2]) * (semiaxes[1] * semiaxes[2])
-    b = (semiaxes[2] * semiaxes[0]) * (semiaxes[2] * semiaxes[0])
-    c = (semiaxes[0] * semiaxes[1]) * (semiaxes[0] * semiaxes[1])
-    aa = a * a
-    bb = b * b
-    cc = c * c
-
-    x = lin_vel[0]
-    y = lin_vel[1]
-    z = lin_vel[2]
-    xx = x * x
-    yy = y * y
-    zz = z * z
-    xy = x * y
-    yz = y * z
-    xz = x * z
-
-    proj_denom = aa * xx + bb * yy + cc * zz
-    proj_num = a * xx + b * yy + c * zz
-    norm2 = xx + yy + zz
-    df_denom = wp.pi * kutta_lift_coef * density / wp.max(MJ_MINVAL, wp.sqrt(proj_denom * proj_num * norm2))
-
-    dfx_coef = yy * (a - b) + zz * (a - c)
-    dfy_coef = xx * (b - a) + zz * (b - c)
-    dfz_coef = xx * (c - a) + yy * (c - b)
-    proj_term = proj_num / wp.max(MJ_MINVAL, proj_denom)
-    cos_term = proj_num / wp.max(MJ_MINVAL, norm2)
-
-    D = wp.skew(wp.vec3(b - c, c - a, a - b)) * (2.0 * proj_num)
-
-    df_coef = wp.vec3(dfx_coef, dfy_coef, dfz_coef)
-    inner_term = wp.vec3(
-      aa * proj_term - a + cos_term,
-      bb * proj_term - b + cos_term,
-      cc * proj_term - c + cos_term,
-    )
-
-    D += wp.outer(df_coef, inner_term)
-
-    V = wp.diag(lin_vel)
-    D = V @ D @ V - wp.diag(df_coef * proj_num)
-
-    D *= df_denom
-    B11 += D
-
-    # --- viscous drag (3x3 -> B11) ---
-    d_max = wp.max(wp.max(semiaxes[0], semiaxes[1]), semiaxes[2])
-    d_min = wp.min(wp.min(semiaxes[0], semiaxes[1]), semiaxes[2])
-    d_mid = semiaxes[0] + semiaxes[1] + semiaxes[2] - d_max - d_min
-    eq_sphere_D = wp.static(2.0 / 3.0) * (semiaxes[0] + semiaxes[1] + semiaxes[2])
-    A_max = wp.pi * d_max * d_mid
-
-    A_proj = wp.pi * wp.sqrt(proj_denom / wp.max(MJ_MINVAL, proj_num))
-
-    norm = wp.sqrt(xx + yy + zz)
-    inv_norm = 1.0 / wp.max(MJ_MINVAL, norm)
-
-    lin_coef = viscosity * wp.static(3.0 * wp.pi) * eq_sphere_D
-    quad_coef = density * (A_proj * blunt_drag_coef + slender_drag_coef * (A_max - A_proj))
-    Aproj_coef = density * norm * (blunt_drag_coef - slender_drag_coef)
-    dA_coef = wp.pi / wp.max(MJ_MINVAL, wp.sqrt(proj_num * proj_num * proj_num * proj_denom))
-
-    dAproj_dv = wp.vec3(
-      Aproj_coef * dA_coef * a * x * (b * yy * (a - b) + c * zz * (a - c)),
-      Aproj_coef * dA_coef * b * y * (a * xx * (b - a) + c * zz * (b - c)),
-      Aproj_coef * dA_coef * c * z * (a * xx * (c - a) + b * yy * (c - b)),
-    )
-
-    inner = wp.length_sq(lin_vel)
-    D = (wp.outer(lin_vel, lin_vel) + wp.diag(wp.vec3(inner))) * (-quad_coef * inv_norm)
-    D -= wp.outer(lin_vel, dAproj_dv)
-    D -= wp.diag(wp.vec3(lin_coef))
-
-    B11 += D
-
-    # --- viscous torque (3x3 -> B00) ---
-    lin_visc_torq_coef = wp.pi * eq_sphere_D * eq_sphere_D * eq_sphere_D
-    I_max = wp.static(8.0 / 15.0 * wp.pi) * d_mid * d_max * d_max * d_max * d_max
-    II = wp.vec3(
-      ellipsoid_max_moment(semiaxes, 0),
-      ellipsoid_max_moment(semiaxes, 1),
-      ellipsoid_max_moment(semiaxes, 2),
-    )
-
-    mom_coef = wp.vec3(
-      ang_drag_coef * II[0] + slender_drag_coef * (I_max - II[0]),
-      ang_drag_coef * II[1] + slender_drag_coef * (I_max - II[1]),
-      ang_drag_coef * II[2] + slender_drag_coef * (I_max - II[2]),
-    )
-
-    mom_visc = wp.cw_mul(ang_vel, mom_coef)
-    norm_mom = wp.length(mom_visc)
-    density_scaled = density / wp.max(MJ_MINVAL, norm_mom)
-
-    mom_sq = -density_scaled * wp.cw_mul(wp.cw_mul(ang_vel, mom_coef), mom_coef)
-
-    torq_lin_coef = viscosity * lin_visc_torq_coef
-    diag_val = wp.dot(ang_vel, mom_sq) - torq_lin_coef
-
-    D = wp.outer(ang_vel, mom_sq) + wp.diag(wp.vec3(diag_val))
-    B00 += D
-
-    # symmetrize for implicitfast
-    if is_implicitfast:
-      B00 = 0.5 * (B00 + wp.transpose(B00))
-      B11 = 0.5 * (B11 + wp.transpose(B11))
-      B01_sym = 0.5 * (B01 + wp.transpose(B10))
-      B01 = B01_sym
-      B10 = wp.transpose(B01_sym)
-
-    # --- Jacobian transformation: J_i^T @ B @ J_j ---
-    offset = geom_pos - subtree_root
-
-    jac_p_i = cdof_lin_i + wp.cross(cdof_ang_i, offset)
-    la_i = geom_rotT @ cdof_ang_i
-    ll_i = geom_rotT @ jac_p_i
-
-    jac_p_j = cdof_lin_j + wp.cross(cdof_ang_j, offset)
-    la_j = geom_rotT @ cdof_ang_j
-    ll_j = geom_rotT @ jac_p_j
-
-    # B @ J_j = [B00 @ la_j + B01 @ ll_j; B10 @ la_j + B11 @ ll_j]
-    Bj_ang = B00 @ la_j + B01 @ ll_j
-    Bj_lin = B10 @ la_j + B11 @ ll_j
-
-    # J_i^T @ (B @ J_j) = la_i . Bj_ang + ll_i . Bj_lin
-    qderiv_contrib += wp.dot(la_i, Bj_ang) + wp.dot(ll_i, Bj_lin)
-
-  return qderiv_contrib
-
-
-@wp.kernel
-def _qderiv_ellipsoid_fluid(
-  # Model:
-  opt_timestep: wp.array[float],
-  opt_wind: wp.array[wp.vec3],
-  opt_density: wp.array[float],
-  opt_viscosity: wp.array[float],
-  opt_integrator: int,
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  body_geomnum: wp.array[int],
-  body_geomadr: wp.array[int],
-  dof_bodyid: wp.array[int],
-  geom_type: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_fluid: wp.array2d[float],
-  body_fluid_ellipsoid_adr: wp.array[int],
-  body_isdofancestor: wp.array2d[int],
-  M_elemid: wp.array2d[int],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  Mi: wp.array[int],
-  Mj: wp.array[int],
-  # Out:
-  qDeriv_out: wp.array2d[float],
-):
-  """Compute ellipsoid fluid force derivative contribution to qDeriv.
-
-  Parallelized over (world, fluid_body, elem). For each fluid body and DOF
-  pair, computes the 6x6 derivative matrix B in local geom frame via
-  _deriv_ellipsoid_fluid and accumulates J_i^T @ B @ J_j into qDeriv.
-  """
-  worldid, fluid_idx, elemid = wp.tid()
-
-  bodyid = body_fluid_ellipsoid_adr[fluid_idx]
-
-  dofiid = Mi[elemid]
-  dofjid = Mj[elemid]
-
-  madr = M_elemid[dofiid, dofjid]
-  if madr < 0:
-    return
-
-  # dofiid is the "deeper" DOF (Mi >= Mj in tree ordering).
-  # Any body that has dofiid in its chain also has dofjid.
-  bodyid_i = dof_bodyid[dofiid]
-
-  if bodyid_i == 0:
-    return
-
-  if body_isdofancestor[bodyid, dofiid] == 0:
-    return
-
-  wind = opt_wind[worldid % opt_wind.shape[0]]
-  density = opt_density[worldid % opt_density.shape[0]]
-  viscosity = opt_viscosity[worldid % opt_viscosity.shape[0]]
-  timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-
-  if density <= 0.0 and viscosity <= 0.0:
-    return
-
-  cdof_i = cdof_in[worldid, dofiid]
-  cdof_j = cdof_in[worldid, dofjid]
-
-  contrib = _deriv_ellipsoid_fluid(
-    opt_integrator,
-    geom_type,
-    geom_size,
-    geom_fluid,
-    xipos_in,
-    geom_xpos_in,
-    geom_xmat_in,
-    subtree_com_in,
-    cvel_in,
-    worldid,
-    bodyid,
-    body_rootid[bodyid],
-    body_geomadr[bodyid],
-    body_geomnum[bodyid],
-    cdof_i,
-    cdof_j,
-    wind,
-    density,
-    viscosity,
-  )
-
-  contrib *= timestep
-
-  if contrib != 0.0:
-    wp.atomic_add(qDeriv_out[worldid], madr, -contrib)
-
-
-@wp.func
-def _deriv_box_fluid(
-  # Model:
-  opt_integrator: int,
-  body_mass: wp.array2d[float],
-  body_inertia: wp.array2d[wp.vec3],
-  # In:
-  worldid: int,
-  bodyid: int,
-  lvel: wp.spatial_vector,
-  density: float,
-  viscosity: float,
-) -> wp.spatial_matrix:
-  B = wp.spatial_matrix(0.0)
-
-  mass = body_mass[worldid % body_mass.shape[0], bodyid]
-  inertia = body_inertia[worldid % body_inertia.shape[0], bodyid]
-  scl = 6.0 / mass
-
-  # Equivalent inertia box
-  box = wp.vec3(
-    wp.sqrt(wp.max(MJ_MINVAL, inertia[1] + inertia[2] - inertia[0]) * scl),
-    wp.sqrt(wp.max(MJ_MINVAL, inertia[0] + inertia[2] - inertia[1]) * scl),
-    wp.sqrt(wp.max(MJ_MINVAL, inertia[0] + inertia[1] - inertia[2]) * scl),
-  )
-
-  # Viscous force and torque
-  if viscosity > 0.0:
-    diam = (box[0] + box[1] + box[2]) * wp.static(1.0 / 3.0)
-
-    # Rotational viscosity
-    visc_rot = -wp.pi * diam * diam * diam * viscosity
-    B[0, 0] += visc_rot
-    B[1, 1] += visc_rot
-    B[2, 2] += visc_rot
-
-    # Translational viscosity
-    visc_lin = wp.static(-3.0 * wp.pi) * diam * viscosity
-    B[3, 3] += visc_lin
-    B[4, 4] += visc_lin
-    B[5, 5] += visc_lin
-
-  # Lift and drag force and torque
-  if density > 0.0:
-    term0 = box[1] * box[1] * box[1] * box[1] + box[2] * box[2] * box[2] * box[2]
-    term1 = box[0] * box[0] * box[0] * box[0] + box[2] * box[2] * box[2] * box[2]
-    term2 = box[0] * box[0] * box[0] * box[0] + box[1] * box[1] * box[1] * box[1]
-
-    inv_32 = wp.static(1.0 / 32.0)
-    B[0, 0] -= density * box[0] * term0 * wp.abs(lvel[0]) * inv_32
-    B[1, 1] -= density * box[1] * term1 * wp.abs(lvel[1]) * inv_32
-    B[2, 2] -= density * box[2] * term2 * wp.abs(lvel[2]) * inv_32
-
-    B[3, 3] -= density * box[1] * box[2] * wp.abs(lvel[3])
-    B[4, 4] -= density * box[0] * box[2] * wp.abs(lvel[4])
-    B[5, 5] -= density * box[0] * box[1] * wp.abs(lvel[5])
-
-  if opt_integrator == IntegratorType.IMPLICITFAST:
-    B = 0.5 * (B + wp.transpose(B))
-
-  return B
-
-
-@wp.func
-def _get_jac_column_local(
-  # Model:
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  dof_bodyid: wp.array[int],
-  # Data in:
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # In:
-  point_global: wp.vec3,
-  bodyid: int,
-  dofid: int,
-  worldid: int,
-  b_imat: wp.mat33,
-) -> wp.spatial_vector:
-  offset = point_global - subtree_com_in[worldid, body_rootid[bodyid]]
-  cdof_val = cdof_in[worldid, dofid]
-  cdof_ang = wp.spatial_top(cdof_val)
-  cdof_lin = wp.spatial_bottom(cdof_val)
-
-  jacp = cdof_lin + wp.cross(cdof_ang, offset)
-  jacr = cdof_ang
-
-  b_imat_T = wp.transpose(b_imat)
-  jacp_loc = b_imat_T @ jacp
-  jacr_loc = b_imat_T @ jacr
-  return wp.spatial_vector(jacr_loc, jacp_loc)
-
-
-@wp.kernel
-def _qderiv_box_fluid(
-  # Model:
-  opt_timestep: wp.array[float],
-  opt_wind: wp.array[wp.vec3],
-  opt_density: wp.array[float],
-  opt_viscosity: wp.array[float],
-  opt_integrator: int,
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  body_mass: wp.array2d[float],
-  body_inertia: wp.array2d[wp.vec3],
-  dof_bodyid: wp.array[int],
-  body_fluid_box_adr: wp.array[int],
-  body_isdofancestor: wp.array2d[int],
-  M_elemid: wp.array2d[int],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  ximat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  Mi: wp.array[int],
-  Mj: wp.array[int],
-  # Out:
-  qDeriv_out: wp.array2d[float],
-):
-  worldid, fluid_idx, elemid = wp.tid()
-
-  bodyid = body_fluid_box_adr[fluid_idx]
-
-  dofiid = Mi[elemid]
-  dofjid = Mj[elemid]
-
-  madr = M_elemid[dofiid, dofjid]
-  if madr < 0:
-    return
-
-  bodyid_i = dof_bodyid[dofiid]
-
-  if bodyid_i == 0:
-    return
-
-  if body_isdofancestor[bodyid, dofiid] == 0:
-    return
-
-  wind = opt_wind[worldid % opt_wind.shape[0]]
-  density = opt_density[worldid % opt_density.shape[0]]
-  viscosity = opt_viscosity[worldid % opt_viscosity.shape[0]]
-  timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-
-  if density <= 0.0 and viscosity <= 0.0:
-    return
-
-  # Body velocity and kinematics
-  b_ipos = xipos_in[worldid, bodyid]
-  b_imat = ximat_in[worldid, bodyid]
-  subtree_root = subtree_com_in[worldid, body_rootid[bodyid]]
-
-  vel_subtree = cvel_in[worldid, bodyid]
-  v_subtree_ang = wp.vec3(vel_subtree[0], vel_subtree[1], vel_subtree[2])
-  v_subtree_lin = wp.vec3(vel_subtree[3], vel_subtree[4], vel_subtree[5])
-
-  lin_com = v_subtree_lin - wp.cross(b_ipos - subtree_root, v_subtree_ang)
-  b_imat_T = wp.transpose(b_imat)
-  v_local_ang = b_imat_T @ v_subtree_ang
-  v_local_lin = b_imat_T @ lin_com
-  wind_local = b_imat_T @ wind
-
-  lvel = wp.spatial_vector(v_local_ang, v_local_lin - wind_local)
-
-  B = _deriv_box_fluid(
-    opt_integrator,
-    body_mass,
-    body_inertia,
-    worldid,
-    bodyid,
-    lvel,
-    density,
-    viscosity,
-  )
-
-  # Jacobian transformation: J_i^T @ B @ J_j
-  J_i = _get_jac_column_local(
-    body_parentid, body_rootid, dof_bodyid, subtree_com_in, cdof_in, b_ipos, bodyid, dofiid, worldid, b_imat
-  )
-  J_j = _get_jac_column_local(
-    body_parentid, body_rootid, dof_bodyid, subtree_com_in, cdof_in, b_ipos, bodyid, dofjid, worldid, b_imat
-  )
-
-  contrib = wp.dot(J_i, B @ J_j) * timestep
-
-  if contrib != 0.0:
-    wp.atomic_add(qDeriv_out[worldid], madr, -contrib)
-
-
-@event_scope
-def deriv_smooth_vel(m: Model, d: Data, out: wp.array2d[float]):
-  """Analytical derivative of smooth forces w.r.t. velocities.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-    out: M - dt * qDeriv (derivatives of smooth forces w.r.t velocities).
-  """
-  Mi = m.M_fullm_i
-  Mj = m.M_fullm_j
-
-  if ~(m.opt.disableflags & (DisableBit.ACTUATION | DisableBit.DAMPER)):
-    # TODO(team): only clear elements not set by _qderiv_actuator_passive
-    out.zero_()
-    if m.nu > 0 and not (m.opt.disableflags & DisableBit.ACTUATION):
-      vel = wp.empty((d.nworld, m.nu), dtype=float)
-      wp.launch(
-        _qderiv_actuator_passive_vel,
-        dim=(d.nworld, m.nu),
-        inputs=[
-          m.opt.timestep,
-          m.actuator_dyntype,
-          m.actuator_gaintype,
-          m.actuator_biastype,
-          m.actuator_actadr,
-          m.actuator_actnum,
-          m.actuator_dynprm,
-          m.actuator_gainprm,
-          m.actuator_biasprm,
-          m.actuator_actlimited,
-          m.actuator_actrange,
-          m.actuator_actearly,
-          m.actuator_forcelimited,
-          m.actuator_forcerange,
-          d.act,
-          d.ctrl,
-          d.act_dot,
-          d.actuator_force,
-        ],
-        outputs=[vel],
-      )
-      # out (qDeriv) is in M-structure.
-      wp.launch(
-        _qderiv_actuator_passive_actuation_sparse,
-        dim=(d.nworld, m.nu),
-        inputs=[
-          m.M_elemid,
-          d.moment_rownnz,
-          d.moment_rowadr,
-          d.moment_colind,
-          d.actuator_moment,
-          vel,
-        ],
-        outputs=[out],
-      )
-    wp.launch(
-      _qderiv_actuator_passive,
-      dim=(d.nworld, Mi.size),
-      inputs=[
-        m.opt.timestep,
-        m.opt.disableflags,
-        m.dof_damping,
-        m.dof_dampingpoly,
-        m.M_elemid,
-        d.qvel,
-        d.M,
-        Mi,
-        Mj,
-        out,
-      ],
-      outputs=[out],
-    )
-  else:
-    # TODO(team): directly utilize M for these settings
-    wp.copy(out, d.M)
-
-  if not (m.opt.disableflags & DisableBit.DAMPER):
-    wp.launch(
-      _qderiv_tendon_damping,
-      dim=(d.nworld, Mi.size),
-      inputs=[
-        m.ntendon,
-        m.opt.timestep,
-        m.ten_J_rownnz,
-        m.ten_J_rowadr,
-        m.ten_J_colind,
-        m.tendon_damping,
-        m.tendon_dampingpoly,
-        m.M_elemid,
-        d.ten_J,
-        d.ten_velocity,
-        Mi,
-        Mj,
-      ],
-      outputs=[out],
-    )
-  if m.has_fluid:
-    if m.body_fluid_ellipsoid_adr.size > 0:
-      wp.launch(
-        _qderiv_ellipsoid_fluid,
-        dim=(d.nworld, m.body_fluid_ellipsoid_adr.size, Mi.size),
-        inputs=[
-          m.opt.timestep,
-          m.opt.wind,
-          m.opt.density,
-          m.opt.viscosity,
-          m.opt.integrator,
-          m.body_parentid,
-          m.body_rootid,
-          m.body_geomnum,
-          m.body_geomadr,
-          m.dof_bodyid,
-          m.geom_type,
-          m.geom_size,
-          m.geom_fluid,
-          m.body_fluid_ellipsoid_adr,
-          m.body_isdofancestor,
-          m.M_elemid,
-          d.xipos,
-          d.geom_xpos,
-          d.geom_xmat,
-          d.subtree_com,
-          d.cdof,
-          d.cvel,
-          Mi,
-          Mj,
-        ],
-        outputs=[out],
-      )
-    if m.body_fluid_box_adr.size > 0:
-      wp.launch(
-        _qderiv_box_fluid,
-        dim=(d.nworld, m.body_fluid_box_adr.size, Mi.size),
-        inputs=[
-          m.opt.timestep,
-          m.opt.wind,
-          m.opt.density,
-          m.opt.viscosity,
-          m.opt.integrator,
-          m.body_parentid,
-          m.body_rootid,
-          m.body_mass,
-          m.body_inertia,
-          m.dof_bodyid,
-          m.body_fluid_box_adr,
-          m.body_isdofancestor,
-          m.M_elemid,
-          d.xipos,
-          d.ximat,
-          d.subtree_com,
-          d.cdof,
-          d.cvel,
-          Mi,
-          Mj,
-        ],
-        outputs=[out],
-      )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/forward.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/forward.py
deleted file mode 100644
index 7d531176..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/forward.py
+++ /dev/null
@@ -1,1415 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Optional
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import collision_driver
-from mujoco.mjx.third_party.mujoco_warp._src import constraint
-from mujoco.mjx.third_party.mujoco_warp._src import derivative
-from mujoco.mjx.third_party.mujoco_warp._src import history
-from mujoco.mjx.third_party.mujoco_warp._src import island
-from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src import passive
-from mujoco.mjx.third_party.mujoco_warp._src import sensor
-from mujoco.mjx.third_party.mujoco_warp._src import sleep
-from mujoco.mjx.third_party.mujoco_warp._src import smooth
-from mujoco.mjx.third_party.mujoco_warp._src import solver
-from mujoco.mjx.third_party.mujoco_warp._src import util_misc
-from mujoco.mjx.third_party.mujoco_warp._src.support import next_act
-from mujoco.mjx.third_party.mujoco_warp._src.support import xfrc_accumulate
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import BiasType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import DynType
-from mujoco.mjx.third_party.mujoco_warp._src.types import EnableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import GainType
-from mujoco.mjx.third_party.mujoco_warp._src.types import IntegratorType
-from mujoco.mjx.third_party.mujoco_warp._src.types import JointType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import OverflowType
-from mujoco.mjx.third_party.mujoco_warp._src.types import TrnType
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec10
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False})
-
-
-@wp.kernel
-def _next_position(
-  # Model:
-  opt_timestep: wp.array[float],
-  jnt_type: wp.array[int],
-  jnt_qposadr: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  # Data in:
-  qpos_in: wp.array2d[float],
-  qvel_in: wp.array2d[float],
-  # In:
-  qvel_scale_in: float,
-  # Data out:
-  qpos_out: wp.array2d[float],
-):
-  worldid, jntid = wp.tid()
-  timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-
-  jnttype = jnt_type[jntid]
-  qpos_adr = jnt_qposadr[jntid]
-  dof_adr = jnt_dofadr[jntid]
-  qpos = qpos_in[worldid]
-  qpos_next = qpos_out[worldid]
-  qvel = qvel_in[worldid]
-
-  if jnttype == JointType.FREE:
-    qpos_pos = wp.vec3(qpos[qpos_adr], qpos[qpos_adr + 1], qpos[qpos_adr + 2])
-    qvel_lin = wp.vec3(qvel[dof_adr], qvel[dof_adr + 1], qvel[dof_adr + 2]) * qvel_scale_in
-
-    qpos_new = qpos_pos + timestep * qvel_lin
-
-    qpos_quat = wp.quat(
-      qpos[qpos_adr + 3],
-      qpos[qpos_adr + 4],
-      qpos[qpos_adr + 5],
-      qpos[qpos_adr + 6],
-    )
-    qvel_ang = wp.vec3(qvel[dof_adr + 3], qvel[dof_adr + 4], qvel[dof_adr + 5]) * qvel_scale_in
-
-    qpos_quat_new = math.quat_integrate(qpos_quat, qvel_ang, timestep)
-
-    qpos_next[qpos_adr + 0] = qpos_new[0]
-    qpos_next[qpos_adr + 1] = qpos_new[1]
-    qpos_next[qpos_adr + 2] = qpos_new[2]
-    qpos_next[qpos_adr + 3] = qpos_quat_new[0]
-    qpos_next[qpos_adr + 4] = qpos_quat_new[1]
-    qpos_next[qpos_adr + 5] = qpos_quat_new[2]
-    qpos_next[qpos_adr + 6] = qpos_quat_new[3]
-
-  elif jnttype == JointType.BALL:
-    qpos_quat = wp.quat(qpos[qpos_adr + 0], qpos[qpos_adr + 1], qpos[qpos_adr + 2], qpos[qpos_adr + 3])
-    qvel_ang = wp.vec3(qvel[dof_adr], qvel[dof_adr + 1], qvel[dof_adr + 2]) * qvel_scale_in
-
-    qpos_quat_new = math.quat_integrate(qpos_quat, qvel_ang, timestep)
-
-    qpos_next[qpos_adr + 0] = qpos_quat_new[0]
-    qpos_next[qpos_adr + 1] = qpos_quat_new[1]
-    qpos_next[qpos_adr + 2] = qpos_quat_new[2]
-    qpos_next[qpos_adr + 3] = qpos_quat_new[3]
-
-  else:  # if jnt_type in (JointType.HINGE, JointType.SLIDE):
-    qpos_next[qpos_adr] = qpos[qpos_adr] + timestep * qvel[dof_adr] * qvel_scale_in
-
-
-@wp.kernel
-def _next_velocity(
-  # Model:
-  opt_timestep: wp.array[float],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  qacc_in: wp.array2d[float],
-  # In:
-  qacc_scale_in: float,
-  # Data out:
-  qvel_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-  qvel_out[worldid, dofid] = qvel_in[worldid, dofid] + qacc_scale_in * qacc_in[worldid, dofid] * timestep
-
-
-@wp.kernel
-def _next_activation(
-  # Model:
-  opt_timestep: wp.array[float],
-  actuator_dyntype: wp.array[int],
-  actuator_actadr: wp.array[int],
-  actuator_actnum: wp.array[int],
-  actuator_dynprm: wp.array2d[vec10],
-  actuator_gainprm: wp.array2d[vec10],
-  actuator_biasprm: wp.array2d[vec10],
-  actuator_actlimited: wp.array[bool],
-  actuator_actrange: wp.array2d[wp.vec2],
-  # Data in:
-  act_in: wp.array2d[float],
-  act_dot_in: wp.array2d[float],
-  actuator_velocity_in: wp.array2d[float],
-  # In:
-  act_dot_scale: float,
-  limit: bool,
-  # Data out:
-  act_out: wp.array2d[float],
-):
-  worldid, uid = wp.tid()
-  opt_timestep_id = worldid % opt_timestep.shape[0]
-  actuator_dynprm_id = worldid % actuator_dynprm.shape[0]
-  actuator_actrange_id = worldid % actuator_actrange.shape[0]
-  actuator_gainprm_id = worldid % actuator_gainprm.shape[0]
-  actuator_biasprm_id = worldid % actuator_biasprm.shape[0]
-
-  actadr = actuator_actadr[uid]
-  actnum = actuator_actnum[uid]
-  dyntype = actuator_dyntype[uid]
-
-  if dyntype == DynType.DCMOTOR:
-    dynprm = actuator_dynprm[actuator_dynprm_id, uid]
-    gainprm = actuator_gainprm[actuator_gainprm_id, uid]
-    biasprm = actuator_biasprm[actuator_biasprm_id, uid]
-    slots = util_misc.dcmotor_slots(dynprm, gainprm)
-
-    for j in range(actadr, actadr + actnum):
-      offset = j - actadr
-      act = act_in[worldid, j]
-      act_dot = act_dot_in[worldid, j]
-
-      if offset == slots[4]:  # current
-        R = gainprm[0]
-        te = wp.max(MJ_MINVAL, dynprm[0])
-        act = act + act_dot * te * (1.0 - wp.exp(-opt_timestep[opt_timestep_id] / te))
-      elif offset == slots[3]:  # bristle
-        F_C = biasprm[3]
-        F_S = biasprm[4]
-        v_S = biasprm[5]
-        sigma0 = dynprm[5]
-        velocity = actuator_velocity_in[worldid, uid]
-        g = util_misc.lugre_stribeck(velocity, F_C, F_S, v_S)
-
-        a = -sigma0 * wp.abs(velocity) / wp.max(MJ_MINVAL, g)
-        h = opt_timestep[opt_timestep_id]
-        exp_ah = wp.exp(a * h)
-        int_h = h
-        if wp.abs(a) > MJ_MINVAL:
-          int_h = (exp_ah - 1.0) / a
-        act = exp_ah * act + int_h * velocity
-      elif offset == slots[1]:  # integral
-        act = act + act_dot * opt_timestep[opt_timestep_id]
-        Imax = dynprm[8]
-        if Imax > 0.0:
-          act = wp.clamp(act, -Imax, Imax)
-      else:  # temperature and slew
-        act = act + act_dot * opt_timestep[opt_timestep_id]
-
-      act_out[worldid, j] = act
-  else:
-    for j in range(actadr, actadr + actnum):
-      act = next_act(
-        opt_timestep[opt_timestep_id],
-        dyntype,
-        actuator_dynprm[actuator_dynprm_id, uid],
-        actuator_actrange[actuator_actrange_id, uid],
-        act_in[worldid, j],
-        act_dot_in[worldid, j],
-        act_dot_scale,
-        limit and actuator_actlimited[uid],
-      )
-      act_out[worldid, j] = act
-
-
-@cache_kernel
-def _next_time_builder(warn_overflow: bool):
-  @wp.kernel(module="unique", enable_backward=False)
-  def _next_time(
-    # Model:
-    opt_timestep: wp.array[float],
-    is_sparse: bool,
-    # Data in:
-    nefc_in: wp.array[int],
-    time_in: wp.array[float],
-    efc_J_rownnz_in: wp.array2d[int],
-    efc_J_rowadr_in: wp.array2d[int],
-    nworld_in: int,
-    naconmax_in: int,
-    njmax_in: int,
-    njmax_nnz_in: int,
-    nacon_in: wp.array[int],
-    ncollision_in: wp.array[int],
-    # Data out:
-    time_out: wp.array[float],
-    overflow_out: wp.array[int],
-  ):
-    worldid = wp.tid()
-    time_out[worldid] = time_in[worldid] + opt_timestep[worldid % opt_timestep.shape[0]]
-    nefc = nefc_in[worldid]
-
-    if nefc > njmax_in:
-      if wp.static(warn_overflow):
-        wp.printf("nefc overflow - please increase njmax to %u\n", nefc)
-      overflow_out[worldid] = overflow_out[worldid] | OverflowType.NEFC
-    elif nefc > 0 and is_sparse:
-      efcid = wp.min(nefc, njmax_in) - 1
-      efc_nnz = efc_J_rowadr_in[worldid, efcid] + efc_J_rownnz_in[worldid, efcid]
-      if efc_nnz > njmax_nnz_in:
-        if wp.static(warn_overflow):
-          wp.printf("njmax_nnz overflow - please increase njmax_nnz to %u\n", efc_nnz)
-        overflow_out[worldid] = overflow_out[worldid] | OverflowType.NJMAX_NNZ
-
-    ncollision = ncollision_in[0]
-    if ncollision > naconmax_in:
-      if worldid == 0 and wp.static(warn_overflow):
-        nconmax = int(wp.ceil(float(ncollision) / float(nworld_in)))
-        wp.printf("broadphase overflow - please increase nconmax to %u or naconmax to %u\n", nconmax, ncollision)
-      overflow_out[worldid] = overflow_out[worldid] | OverflowType.BROADPHASE
-
-    nacon = nacon_in[0]
-    if nacon > naconmax_in:
-      if worldid == 0 and wp.static(warn_overflow):
-        nconmax = int(wp.ceil(float(nacon) / float(nworld_in)))
-        wp.printf("narrowphase overflow - please increase nconmax to %u or naconmax to %u\n", nconmax, nacon)
-      overflow_out[worldid] = overflow_out[worldid] | OverflowType.NARROWPHASE
-
-  return _next_time
-
-
-def _advance(m: Model, d: Data, qacc: wp.array, qvel: Optional[wp.array] = None):
-  """Advance state and time given activation derivatives and acceleration."""
-  # TODO(team): can we assume static timesteps?
-
-  # advance activations
-  wp.launch(
-    _next_activation,
-    dim=(d.nworld, m.nu),
-    inputs=[
-      m.opt.timestep,
-      m.actuator_dyntype,
-      m.actuator_actadr,
-      m.actuator_actnum,
-      m.actuator_dynprm,
-      m.actuator_gainprm,
-      m.actuator_biasprm,
-      m.actuator_actlimited,
-      m.actuator_actrange,
-      d.act,
-      d.act_dot,
-      d.actuator_velocity,
-      1.0,
-      True,
-    ],
-    outputs=[d.act],
-  )
-
-  wp.launch(
-    _next_velocity,
-    dim=(d.nworld, m.nv),
-    inputs=[m.opt.timestep, d.qvel, qacc, 1.0],
-    outputs=[d.qvel],
-  )
-
-  # advance positions with qvel if given, d.qvel otherwise (semi-implicit)
-  qvel_in = qvel or d.qvel
-
-  wp.launch(
-    _next_position,
-    dim=(d.nworld, m.njnt),
-    inputs=[m.opt.timestep, m.jnt_type, m.jnt_qposadr, m.jnt_dofadr, d.qpos, qvel_in, 1.0],
-    outputs=[d.qpos],
-  )
-
-  # advance history buffers before time advance
-  history.insert_ctrl_history(m, d)
-
-  wp.launch(
-    _next_time_builder(bool(m.opt.warn_overflow)),
-    dim=d.nworld,
-    inputs=[
-      m.opt.timestep,
-      m.is_sparse,
-      d.nefc,
-      d.time,
-      d.efc.J_rownnz,
-      d.efc.J_rowadr,
-      d.nworld,
-      d.naconmax,
-      d.njmax,
-      d.njmax_nnz,
-      d.nacon,
-      d.ncollision,
-    ],
-    outputs=[d.time, d.overflow],
-  )
-
-  wp.copy(d.qacc_warmstart, d.qacc)
-
-  sleep_enabled = bool(m.opt.enableflags & EnableBit.SLEEP) and not bool(m.opt.disableflags & DisableBit.ISLAND)
-  if sleep_enabled:
-    sleep.sleep(m, d)
-    fwd_velocity(m, d)
-    sleep.update_sleep(m, d)
-
-
-@wp.kernel
-def _compute_damping_deriv(
-  # Model:
-  dof_damping: wp.array2d[float],
-  dof_dampingpoly: wp.array2d[wp.vec2],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  # Out:
-  deriv_out: wp.array2d[float],
-):
-  worldid, tid = wp.tid()
-  damping = dof_damping[worldid % dof_damping.shape[0], tid]
-  dpoly = dof_dampingpoly[worldid % dof_dampingpoly.shape[0], tid]
-  v = qvel_in[worldid, tid]
-  deriv_out[worldid, tid] = util_misc._poly_force_deriv(damping, dpoly, v, 1)
-
-
-@wp.kernel
-def _euler_damp_qfrc(
-  # Model:
-  opt_timestep: wp.array[float],
-  M_rownnz: wp.array[int],
-  M_rowadr: wp.array[int],
-  # In:
-  damp_deriv: wp.array2d[float],
-  # Out:
-  M_integration_out: wp.array2d[float],
-):
-  worldid, tid = wp.tid()
-  timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-
-  adr = M_rowadr[tid] + M_rownnz[tid] - 1
-  M_integration_out[worldid, adr] += timestep * damp_deriv[worldid, tid]
-
-
-@event_scope
-def euler(m: Model, d: Data):
-  """Euler integrator, semi-implicit in velocity."""
-  # integrate damping implicitly
-  if not (m.opt.disableflags & (DisableBit.EULERDAMP | DisableBit.DAMPER)):
-    qacc = wp.empty((d.nworld, m.nv), dtype=float)
-
-    # Compute damping derivative
-    damp_deriv = wp.empty((d.nworld, m.nv), dtype=float)
-    wp.launch(
-      _compute_damping_deriv,
-      dim=(d.nworld, m.nv),
-      inputs=[m.dof_damping, m.dof_dampingpoly, d.qvel],
-      outputs=[damp_deriv],
-    )
-
-    # Clone M, add the damping to the diagonal, and factor-solve. factor_solve_i factors each block
-    # per-block (packed dense and/or sparse LDL); the scratch qLD matches d.qLD.
-    M = wp.clone(d.M)
-    qLD = wp.empty_like(d.qLD)
-    qLDiagInv = wp.empty((d.nworld, m.nv), dtype=float)
-    wp.launch(
-      _euler_damp_qfrc,
-      dim=(d.nworld, m.nv),
-      inputs=[m.opt.timestep, m.M_rownnz, m.M_rowadr, damp_deriv],
-      outputs=[M],
-    )
-    smooth.factor_solve_i(m, d, M, qLD, qLDiagInv, qacc, d.efc.Ma)
-    _advance(m, d, qacc)
-  else:
-    _advance(m, d, d.qacc)
-
-
-def _rk_perturb_state(
-  m: Model,
-  d: Data,
-  scale: float,
-  qpos_t0: wp.array2d[float],
-  qvel_t0: wp.array2d[float],
-  act_t0: Optional[wp.array] = None,
-):
-  # position
-  wp.launch(
-    _next_position,
-    dim=(d.nworld, m.njnt),
-    inputs=[m.opt.timestep, m.jnt_type, m.jnt_qposadr, m.jnt_dofadr, qpos_t0, d.qvel, scale],
-    outputs=[d.qpos],
-  )
-
-  # velocity
-  wp.launch(
-    _next_velocity,
-    dim=(d.nworld, m.nv),
-    inputs=[m.opt.timestep, qvel_t0, d.qacc, scale],
-    outputs=[d.qvel],
-  )
-
-  # activation
-  if m.na and act_t0 is not None:
-    wp.launch(
-      _next_activation,
-      dim=(d.nworld, m.nu),
-      inputs=[
-        m.opt.timestep,
-        m.actuator_dyntype,
-        m.actuator_actadr,
-        m.actuator_actnum,
-        m.actuator_dynprm,
-        m.actuator_gainprm,
-        m.actuator_biasprm,
-        m.actuator_actlimited,
-        m.actuator_actrange,
-        act_t0,
-        d.act_dot,
-        d.actuator_velocity,
-        scale,
-        False,
-      ],
-      outputs=[d.act],
-    )
-
-
-@wp.kernel
-def _rk_accumulate_velocity_acceleration(
-  # Data in:
-  qvel_in: wp.array2d[float],
-  qacc_in: wp.array2d[float],
-  # In:
-  scale: float,
-  # Data out:
-  qvel_out: wp.array2d[float],
-  qacc_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  qvel_out[worldid, dofid] += scale * qvel_in[worldid, dofid]
-  qacc_out[worldid, dofid] += scale * qacc_in[worldid, dofid]
-
-
-@wp.kernel
-def _rk_accumulate_activation_velocity(
-  # Data in:
-  act_dot_in: wp.array2d[float],
-  # In:
-  scale: float,
-  # Data out:
-  act_dot_out: wp.array2d[float],
-):
-  worldid, actid = wp.tid()
-  act_dot_out[worldid, actid] += scale * act_dot_in[worldid, actid]
-
-
-def _rk_accumulate(
-  m: Model,
-  d: Data,
-  scale: float,
-  qvel_rk: wp.array2d[float],
-  qacc_rk: wp.array2d[float],
-  act_dot_rk: Optional[wp.array] = None,
-):
-  """Computes one term of 1/6 k_1 + 1/3 k_2 + 1/3 k_3 + 1/6 k_4."""
-  wp.launch(
-    _rk_accumulate_velocity_acceleration,
-    dim=(d.nworld, m.nv),
-    inputs=[d.qvel, d.qacc, scale],
-    outputs=[qvel_rk, qacc_rk],
-  )
-
-  if m.na and act_dot_rk is not None:
-    wp.launch(
-      _rk_accumulate_activation_velocity,
-      dim=(d.nworld, m.na),
-      inputs=[d.act_dot, scale],
-      outputs=[act_dot_rk],
-    )
-
-
-@event_scope
-def rungekutta4(m: Model, d: Data):
-  """Runge-Kutta explicit order 4 integrator."""
-  # RK4 tableau
-  A = [0.5, 0.5, 1.0]  # diagonal only
-  B = [1.0 / 6.0, 1.0 / 3.0, 1.0 / 3.0, 1.0 / 6.0]
-
-  qpos_t0 = wp.clone(d.qpos)
-  qvel_t0 = wp.clone(d.qvel)
-  qvel_rk = wp.zeros((d.nworld, m.nv), dtype=float)
-  qacc_rk = wp.zeros((d.nworld, m.nv), dtype=float)
-
-  if m.na:
-    act_t0 = wp.clone(d.act)
-    act_dot_rk = wp.zeros((d.nworld, m.na), dtype=float)
-  else:
-    act_t0 = None
-    act_dot_rk = None
-
-  _rk_accumulate(m, d, B[0], qvel_rk, qacc_rk, act_dot_rk)
-
-  for i in range(3):
-    a, b = float(A[i]), B[i + 1]
-    _rk_perturb_state(m, d, a, qpos_t0, qvel_t0, act_t0)
-    forward(m, d)
-    _rk_accumulate(m, d, b, qvel_rk, qacc_rk, act_dot_rk)
-
-  wp.copy(d.qpos, qpos_t0)
-  wp.copy(d.qvel, qvel_t0)
-
-  if m.na:
-    wp.copy(d.act, act_t0)
-    wp.copy(d.act_dot, act_dot_rk)
-
-  _advance(m, d, qacc_rk, qvel_rk)
-
-
-@wp.kernel
-def _map_m2d(
-  # Model:
-  mapM2D: wp.array[int],
-  # In:
-  qH_M: wp.array2d[float],
-  # Data out:
-  qLU_out: wp.array2d[float],
-):
-  # Scatter qH_M (M-structure) into the D-structure qLU via mapM2D.
-  worldid, elemid = wp.tid()
-  m_idx = mapM2D[elemid]
-  if m_idx >= 0:
-    qLU_out[worldid, elemid] = qH_M[worldid, m_idx]
-  else:
-    qLU_out[worldid, elemid] = 0.0
-
-
-@event_scope
-def implicit(m: Model, d: Data):
-  """Integrates fully implicit in velocity."""
-  if m.opt.integrator == IntegratorType.IMPLICIT:
-    qH_M = wp.empty(d.M.shape, dtype=float)
-
-    # 1. Compute M - dt * qDeriv_smooth in M-structure
-    derivative.deriv_smooth_vel(m, d, qH_M)
-
-    # 2. Map M-structure to D-structure
-    wp.launch(
-      _map_m2d,
-      dim=(d.nworld, m.nD),
-      inputs=[m.mapM2D, qH_M],
-      outputs=[d.qLU],
-    )
-
-    # 3. Compute RNE derivatives, scale by timestep, and subtract in-place from qLU
-    derivative.deriv_rne_vel(m, d, d.qLU, flg_subtract=True)
-
-    # 4. Factorize and solve: qacc = qLU \ Ma
-    qacc = wp.empty((d.nworld, m.nv), dtype=float)
-    smooth.factor_solve_lu(m, d, d.qLU, qacc, d.efc.Ma)
-    _advance(m, d, qacc)
-  elif ~(m.opt.disableflags | ~(DisableBit.ACTUATION | DisableBit.SPRING | DisableBit.DAMPER)):
-    # qDeriv is in M-structure; the scratch qLD matches d.qLD (per-block).
-    qDeriv = wp.empty((d.nworld, m.nC), dtype=float)
-    qLD = wp.empty_like(d.qLD)
-    qLDiagInv = wp.empty((d.nworld, m.nv), dtype=float)
-    derivative.deriv_smooth_vel(m, d, qDeriv)
-    qacc = wp.empty((d.nworld, m.nv), dtype=float)
-    smooth.factor_solve_i(m, d, qDeriv, qLD, qLDiagInv, qacc, d.efc.Ma)
-    _advance(m, d, qacc)
-  else:
-    _advance(m, d, d.qacc)
-
-
-@event_scope
-def fwd_kinematics(m: Model, d: Data):
-  """Kinematics-dependent computations.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-  """
-  smooth.kinematics(m, d)
-  smooth.com_pos(m, d)
-  smooth.camlight(m, d)
-  smooth.flex(m, d)
-  smooth.tendon(m, d)
-
-  sleep_enabled = bool(m.opt.enableflags & EnableBit.SLEEP) and not bool(m.opt.disableflags & DisableBit.ISLAND)
-  if sleep_enabled and m.ntendon > 0:
-    sleep.wake_tendon(m, d)
-    sleep.update_sleep_trees(m, d)
-
-
-@event_scope
-def fwd_position(m: Model, d: Data, factorize: bool = True):
-  """Position-dependent computations.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-    factorize: Flag to factorize inertia matrix.
-  """
-  fwd_kinematics(m, d)
-
-  sleep_enabled = bool(m.opt.enableflags & EnableBit.SLEEP) and not bool(m.opt.disableflags & DisableBit.ISLAND)
-
-  smooth.crb(m, d)
-  smooth.tendon_armature(m, d)
-  if factorize:
-    smooth.factor_m(m, d)
-  if m.opt.run_collision_detection:
-    if sleep_enabled:
-      # pass 1
-      collision_driver.collision(m, d)
-      # wake any sleeping tree touched by an awake one
-      sleep.wake_collision(m, d)
-      # snapshot the awake state pass 1 used, before update_sleep overwrites it. a body is "newly
-      # awakened" if it was asleep here but awake after update_sleep below.
-      awake_prev = wp.clone(d.body_awake)
-      sleep.update_sleep(m, d)
-      # pass 2: passing awake_prev runs the incremental pass, emitting only pairs involving a
-      # newly-awakened body and appending them to the pass-1 buffer.
-      collision_driver.collision(m, d, awake_prev=awake_prev)
-    else:
-      collision_driver.collision(m, d)
-
-  constraint.make_constraint(m, d)
-
-  if sleep_enabled:
-    if m.neq > 0:
-      sleep.wake_equality(m, d)
-    sleep.update_sleep(m, d)
-
-  if sleep_enabled:
-    island.island(m, d)
-  smooth.transmission(m, d)
-
-
-@wp.kernel
-def _actuator_velocity(
-  # Data in:
-  qvel_in: wp.array2d[float],
-  moment_rownnz_in: wp.array2d[int],
-  moment_rowadr_in: wp.array2d[int],
-  moment_colind_in: wp.array2d[int],
-  actuator_moment_in: wp.array2d[float],
-  # Data out:
-  actuator_velocity_out: wp.array2d[float],
-):
-  worldid, actid = wp.tid()
-
-  rownnz = moment_rownnz_in[worldid, actid]
-  rowadr = moment_rowadr_in[worldid, actid]
-
-  vel = float(0.0)
-  for i in range(rownnz):
-    sparseid = rowadr + i
-    colind = moment_colind_in[worldid, sparseid]
-    vel += actuator_moment_in[worldid, sparseid] * qvel_in[worldid, colind]
-
-  actuator_velocity_out[worldid, actid] = vel
-
-
-@wp.kernel
-def _tendon_velocity(
-  # Model:
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  ten_J_in: wp.array2d[float],
-  # Data out:
-  ten_velocity_out: wp.array2d[float],
-):
-  worldid, tenid = wp.tid()
-
-  velocity = float(0.0)
-  rownnz = ten_J_rownnz[tenid]
-  rowadr = ten_J_rowadr[tenid]
-  for i in range(rownnz):
-    sparseid = rowadr + i
-    J = ten_J_in[worldid, sparseid]
-    if J != 0.0:
-      colind = ten_J_colind[sparseid]
-      velocity += J * qvel_in[worldid, colind]
-
-  ten_velocity_out[worldid, tenid] = velocity
-
-
-@event_scope
-def fwd_velocity(m: Model, d: Data):
-  """Velocity-dependent computations."""
-  wp.launch(
-    _actuator_velocity,
-    dim=(d.nworld, m.nu),
-    inputs=[d.qvel, d.moment_rownnz, d.moment_rowadr, d.moment_colind, d.actuator_moment],
-    outputs=[d.actuator_velocity],
-    block_dim=m.block_dim.actuator_velocity,
-  )
-
-  wp.launch(
-    _tendon_velocity,
-    dim=(d.nworld, m.ntendon),
-    inputs=[m.ten_J_rownnz, m.ten_J_rowadr, m.ten_J_colind, d.qvel, d.ten_J],
-    outputs=[d.ten_velocity],
-  )
-
-  smooth.com_vel(m, d)
-  passive.passive(m, d)
-  smooth.rne(m, d)
-  smooth.tendon_bias(m, d, d.qfrc_bias)
-
-
-@wp.kernel
-def _actuator_force(
-  # Model:
-  na: int,
-  opt_timestep: wp.array[float],
-  actuator_dyntype: wp.array[int],
-  actuator_gaintype: wp.array[int],
-  actuator_biastype: wp.array[int],
-  actuator_actadr: wp.array[int],
-  actuator_actnum: wp.array[int],
-  actuator_dynprm: wp.array2d[vec10],
-  actuator_gainprm: wp.array2d[vec10],
-  actuator_biasprm: wp.array2d[vec10],
-  actuator_actlimited: wp.array[bool],
-  actuator_actrange: wp.array2d[wp.vec2],
-  actuator_actearly: wp.array[bool],
-  actuator_forcelimited: wp.array[bool],
-  actuator_forcerange: wp.array2d[wp.vec2],
-  actuator_ctrllimited: wp.array[bool],
-  actuator_ctrlrange: wp.array2d[wp.vec2],
-  actuator_acc0: wp.array2d[float],
-  actuator_lengthrange: wp.array2d[wp.vec2],
-  # Data in:
-  act_in: wp.array2d[float],
-  ctrl_in: wp.array2d[float],
-  actuator_length_in: wp.array2d[float],
-  actuator_velocity_in: wp.array2d[float],
-  # In:
-  dsbl_clampctrl: int,
-  # Data out:
-  act_dot_out: wp.array2d[float],
-  actuator_force_out: wp.array2d[float],
-):
-  worldid, uid = wp.tid()
-
-  actuator_ctrlrange_id = worldid % actuator_ctrlrange.shape[0]
-
-  ctrl = ctrl_in[worldid, uid]
-
-  if actuator_ctrllimited[uid] and not dsbl_clampctrl:
-    ctrlrange = actuator_ctrlrange[actuator_ctrlrange_id, uid]
-    ctrl = wp.clamp(ctrl, ctrlrange[0], ctrlrange[1])
-  ctrl_act = ctrl
-
-  act_first = actuator_actadr[uid]
-  if na and act_first >= 0:
-    act_last = act_first + actuator_actnum[uid] - 1
-    dyntype = actuator_dyntype[uid]
-    dynprm = actuator_dynprm[worldid % actuator_dynprm.shape[0], uid]
-
-    if dyntype == DynType.INTEGRATOR:
-      act_dot = ctrl
-    elif dyntype == DynType.FILTER or dyntype == DynType.FILTEREXACT:
-      act = act_in[worldid, act_last]
-      act_dot = (ctrl - act) / wp.max(dynprm[0], MJ_MINVAL)
-    elif dyntype == DynType.MUSCLE:
-      dynprm = actuator_dynprm[worldid % actuator_dynprm.shape[0], uid]
-      act = act_in[worldid, act_last]
-      act_dot = util_misc.muscle_dynamics(ctrl, act, dynprm)
-    elif dyntype == DynType.DCMOTOR:
-      gainprm = actuator_gainprm[worldid % actuator_gainprm.shape[0], uid]
-      slots = util_misc.dcmotor_slots(dynprm, gainprm)
-      adr = act_first
-
-      act_dot = 0.0
-
-      # slew rate
-      if slots[0] >= 0:
-        u_prev = act_in[worldid, adr]
-        slew_s = dynprm[7]
-        slew = slew_s * opt_timestep[worldid % opt_timestep.shape[0]]
-        u_eff = wp.clamp(ctrl, u_prev - slew, u_prev + slew)
-        act_dot = (u_eff - u_prev) / opt_timestep[worldid % opt_timestep.shape[0]]
-        act_dot_out[worldid, adr] = act_dot
-        ctrl = u_eff
-        adr += 1
-
-      # integral
-      x_I = 0.0
-      if slots[1] >= 0:
-        x_I = act_in[worldid, adr]
-        input_mode = int(gainprm[8])
-        Imax = dynprm[8]
-        act_dot = ctrl
-        if input_mode == 1:
-          act_dot = ctrl - actuator_length_in[worldid, uid]
-
-        if Imax > 0.0:
-          if x_I >= Imax:
-            act_dot = wp.min(act_dot, 0.0)
-          elif x_I <= -Imax:
-            act_dot = wp.max(act_dot, 0.0)
-
-        act_dot_out[worldid, adr] = act_dot
-        adr += 1
-
-      # voltage
-      V = util_misc.dcmotor_voltage(
-        ctrl,
-        actuator_length_in[worldid, uid],
-        actuator_velocity_in[worldid, uid],
-        x_I,
-        gainprm,
-      )
-
-      # temperature
-      R = gainprm[0]
-      K = gainprm[1]
-      te = wp.max(MJ_MINVAL, dynprm[0])
-
-      if slots[2] >= 0:
-        RT = dynprm[2]
-        C = dynprm[3]
-        Ta = dynprm[4]
-        alpha = gainprm[2]
-        T0 = gainprm[3]
-        T = act_in[worldid, adr]
-        R_eff = R * (1.0 + alpha * (T + Ta - T0))
-
-        current = (V - K * actuator_velocity_in[worldid, uid]) / R_eff
-        if slots[4] >= 0:
-          current = act_in[worldid, act_last]
-
-        act_dot = (R_eff * current * current - T / RT) / C
-        act_dot_out[worldid, adr] = act_dot
-        adr += 1
-        R = R_eff
-
-      # bristle
-      if slots[3] >= 0:
-        sigma0 = dynprm[5]
-        biasprm = actuator_biasprm[worldid % actuator_biasprm.shape[0], uid]
-        F_C = biasprm[3]
-        F_S = biasprm[4]
-        v_S = biasprm[5]
-        z = act_in[worldid, adr]
-        g = util_misc.lugre_stribeck(actuator_velocity_in[worldid, uid], F_C, F_S, v_S)
-        a = -sigma0 * wp.abs(actuator_velocity_in[worldid, uid]) / wp.max(MJ_MINVAL, g)
-        act_dot = a * z + actuator_velocity_in[worldid, uid]
-        act_dot_out[worldid, adr] = act_dot
-        adr += 1
-
-      # current
-      if slots[4] >= 0:
-        dimax = dynprm[1]
-        act_dot = (V / R - K / R * actuator_velocity_in[worldid, uid] - act_in[worldid, act_last]) / te
-        if dimax > 0.0:
-          act_dot = wp.clamp(act_dot, -dimax, dimax)
-        act_dot_out[worldid, act_last] = act_dot
-
-    elif dyntype == DynType.USER:
-      act_dot = 0.0  # set by act_dyn_callback
-    else:  # DynType.NONE
-      act_dot = 0.0
-
-    act_dot_out[worldid, act_last] = act_dot
-
-    if actuator_actearly[uid]:
-      if dyntype == DynType.INTEGRATOR or dyntype == DynType.NONE or dyntype == DynType.DCMOTOR:
-        act = act_in[worldid, act_last]
-
-      if dyntype == DynType.DCMOTOR:
-        gainprm = actuator_gainprm[worldid % actuator_gainprm.shape[0], uid]
-        slots = util_misc.dcmotor_slots(dynprm, gainprm)
-        offset = actuator_actnum[uid] - 1
-
-        if offset == slots[4]:  # current
-          te = wp.max(MJ_MINVAL, dynprm[0])
-          ctrl_act = act + act_dot * te * (1.0 - wp.exp(-opt_timestep[worldid % opt_timestep.shape[0]] / te))
-        elif offset == slots[3]:  # bristle
-          sigma0 = dynprm[5]
-          biasprm = actuator_biasprm[worldid % actuator_biasprm.shape[0], uid]
-          F_C = biasprm[3]
-          F_S = biasprm[4]
-          v_S = biasprm[5]
-          velocity = actuator_velocity_in[worldid, uid]
-          g = util_misc.lugre_stribeck(velocity, F_C, F_S, v_S)
-          a = -sigma0 * wp.abs(velocity) / wp.max(MJ_MINVAL, g)
-          h = opt_timestep[worldid % opt_timestep.shape[0]]
-          exp_ah = wp.exp(a * h)
-          int_h = h
-          if wp.abs(a) > MJ_MINVAL:
-            int_h = (exp_ah - 1.0) / a
-          ctrl_act = exp_ah * act + int_h * velocity
-        elif offset == slots[1]:  # integral
-          ctrl_act = act + act_dot * opt_timestep[worldid % opt_timestep.shape[0]]
-          Imax = dynprm[8]
-          if Imax > 0.0:
-            ctrl_act = wp.clamp(ctrl_act, -Imax, Imax)
-        else:  # temperature or slew or default
-          ctrl_act = act + act_dot * opt_timestep[worldid % opt_timestep.shape[0]]
-
-        if actuator_actlimited[uid]:
-          actrange = actuator_actrange[worldid % actuator_actrange.shape[0], uid]
-          ctrl_act = wp.clamp(ctrl_act, actrange[0], actrange[1])
-      else:
-        ctrl_act = next_act(
-          opt_timestep[worldid % opt_timestep.shape[0]],
-          dyntype,
-          dynprm,
-          actuator_actrange[worldid % actuator_actrange.shape[0], uid],
-          act,
-          act_dot,
-          1.0,
-          actuator_actlimited[uid],
-        )
-    else:
-      ctrl_act = act_in[worldid, act_last]
-
-  length = actuator_length_in[worldid, uid]
-  velocity = actuator_velocity_in[worldid, uid]
-
-  # gain
-  gaintype = actuator_gaintype[uid]
-  gainprm = actuator_gainprm[worldid % actuator_gainprm.shape[0], uid]
-
-  gain = 0.0
-  if gaintype == GainType.FIXED:
-    gain = gainprm[0]
-  elif gaintype == GainType.AFFINE:
-    gain = gainprm[0] + gainprm[1] * length + gainprm[2] * velocity
-  elif gaintype == GainType.MUSCLE:
-    acc0 = actuator_acc0[worldid % actuator_acc0.shape[0], uid]
-    lengthrange = actuator_lengthrange[worldid % actuator_lengthrange.shape[0], uid]
-    gain = util_misc.muscle_gain(length, velocity, lengthrange, acc0, gainprm)
-  elif gaintype == GainType.DCMOTOR:
-    R = gainprm[0]
-    K = gainprm[1]
-    te = dynprm[0]
-
-    slots = util_misc.dcmotor_slots(dynprm, gainprm)
-    adr = act_first
-
-    if slots[2] >= 0:
-      T = act_in[worldid, adr + slots[2]]
-      alpha = gainprm[2]
-      T0 = gainprm[3]
-      Ta = dynprm[4]
-      R *= 1.0 + alpha * (T + Ta - T0)
-
-    gain = K if te > 0.0 else K / wp.max(MJ_MINVAL, R)
-
-    if te <= 0.0:
-      input_mode = int(gainprm[8])
-      if input_mode > 0:
-        x_I = 0.0
-        if slots[1] >= 0:
-          x_I = act_in[worldid, adr + slots[1]]
-        ctrl_act = util_misc.dcmotor_voltage(ctrl, length, velocity, x_I, gainprm)
-      else:
-        ctrl_act = ctrl
-  # GainType.USER: gain stays 0, modified by act_gain_callback
-
-  # bias
-  biastype = actuator_biastype[uid]
-  biasprm = actuator_biasprm[worldid % actuator_biasprm.shape[0], uid]
-
-  bias = 0.0  # BiasType.NONE or BiasType.USER (modified by act_bias_callback)
-  if biastype == BiasType.AFFINE:
-    bias = biasprm[0] + biasprm[1] * length + biasprm[2] * velocity
-  elif biastype == BiasType.MUSCLE:
-    acc0 = actuator_acc0[worldid % actuator_acc0.shape[0], uid]
-    lengthrange = actuator_lengthrange[worldid % actuator_lengthrange.shape[0], uid]
-    bias = util_misc.muscle_bias(length, lengthrange, acc0, biasprm)
-  elif biastype == BiasType.DCMOTOR:
-    if dynprm[0] <= 0.0:
-      K = gainprm[1]
-      bias -= gain * K * velocity
-
-  force = gain * ctrl_act + bias
-
-  if actuator_forcelimited[uid]:
-    forcerange = actuator_forcerange[worldid % actuator_forcerange.shape[0], uid]
-    force = wp.clamp(force, forcerange[0], forcerange[1])
-
-  # add DC motor mechanical forces (not subject to current limits)
-  if biastype == BiasType.DCMOTOR:
-    # cogging torque
-    A = biasprm[0]
-    if A != 0.0:
-      Np = biasprm[1]
-      phi = biasprm[2]
-      force += A * wp.sin(Np * length + phi)
-
-    # LuGre friction
-    sigma0 = dynprm[5]
-    if sigma0 > 0.0:
-      sigma1 = dynprm[6]
-      slots = util_misc.dcmotor_slots(dynprm, gainprm)
-      adr = act_first + slots[3]  # slots[3] is bristle
-      z = act_in[worldid, adr]
-      z_dot = act_dot_out[worldid, adr]
-      force -= sigma0 * z + sigma1 * z_dot
-
-  actuator_force_out[worldid, uid] = force
-
-
-@wp.kernel
-def _tendon_actuator_force(
-  # Model:
-  actuator_trntype: wp.array[int],
-  actuator_trnid: wp.array[wp.vec2i],
-  # Data in:
-  actuator_force_in: wp.array2d[float],
-  # Out:
-  ten_actfrc_out: wp.array2d[float],
-):
-  worldid, actid = wp.tid()
-
-  if actuator_trntype[actid] == TrnType.TENDON:
-    tenid = actuator_trnid[actid][0]
-    # TODO(team): only compute for tendons with force limits?
-    wp.atomic_add(ten_actfrc_out[worldid], tenid, actuator_force_in[worldid, actid])
-
-
-@wp.kernel
-def _tendon_actuator_force_clamp(
-  # Model:
-  tendon_actfrclimited: wp.array[bool],
-  tendon_actfrcrange: wp.array2d[wp.vec2],
-  actuator_trntype: wp.array[int],
-  actuator_trnid: wp.array[wp.vec2i],
-  # In:
-  ten_actfrc_in: wp.array2d[float],
-  # Data out:
-  actuator_force_out: wp.array2d[float],
-):
-  worldid, actid = wp.tid()
-
-  if actuator_trntype[actid] == TrnType.TENDON:
-    tenid = actuator_trnid[actid][0]
-    if tendon_actfrclimited[tenid]:
-      ten_actfrc = ten_actfrc_in[worldid, tenid]
-      actfrcrange = tendon_actfrcrange[worldid % tendon_actfrcrange.shape[0], tenid]
-
-      if ten_actfrc < actfrcrange[0]:
-        actuator_force_out[worldid, actid] *= actfrcrange[0] / ten_actfrc
-      elif ten_actfrc > actfrcrange[1]:
-        actuator_force_out[worldid, actid] *= actfrcrange[1] / ten_actfrc
-
-
-@wp.kernel
-def _qfrc_actuator(
-  # Data in:
-  moment_rownnz_in: wp.array2d[int],
-  moment_rowadr_in: wp.array2d[int],
-  moment_colind_in: wp.array2d[int],
-  actuator_moment_in: wp.array2d[float],
-  actuator_force_in: wp.array2d[float],
-  # Data out:
-  qfrc_actuator_out: wp.array2d[float],
-):
-  worldid, actid = wp.tid()
-
-  rownnz = moment_rownnz_in[worldid, actid]
-  rowadr = moment_rowadr_in[worldid, actid]
-
-  for i in range(rownnz):
-    sparseid = rowadr + i
-    colind = moment_colind_in[worldid, sparseid]
-    qfrc = actuator_moment_in[worldid, sparseid] * actuator_force_in[worldid, actid]
-    wp.atomic_add(qfrc_actuator_out[worldid], colind, qfrc)
-
-
-@wp.kernel
-def _qfrc_actuator_gravcomp_limits(
-  # Model:
-  jnt_actfrclimited: wp.array[bool],
-  jnt_actgravcomp: wp.array[int],
-  jnt_actfrcrange: wp.array2d[wp.vec2],
-  dof_jntid: wp.array[int],
-  # Data in:
-  qfrc_gravcomp_in: wp.array2d[float],
-  qfrc_actuator_in: wp.array2d[float],
-  # In:
-  gravity_enabled: bool,
-  # Data out:
-  qfrc_actuator_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  jntid = dof_jntid[dofid]
-
-  qfrc = qfrc_actuator_in[worldid, dofid]
-
-  # actuator-level gravity compensation, skip if added as passive force
-  if gravity_enabled and jnt_actgravcomp[jntid]:
-    qfrc += qfrc_gravcomp_in[worldid, dofid]
-
-  # limits
-  if jnt_actfrclimited[jntid]:
-    frcrange = jnt_actfrcrange[worldid % jnt_actfrcrange.shape[0], jntid]
-    qfrc = wp.clamp(qfrc, frcrange[0], frcrange[1])
-
-  qfrc_actuator_out[worldid, dofid] = qfrc
-
-
-@event_scope
-def fwd_actuation(m: Model, d: Data):
-  """Actuation-dependent computations."""
-  if not m.nu or (m.opt.disableflags & DisableBit.ACTUATION):
-    d.act_dot.zero_()
-    d.qfrc_actuator.zero_()
-    d.actuator_force.zero_()
-    return
-
-  # read delayed ctrl (or direct copy if no delay)
-  if m.nhistory > 0:
-    ctrl = wp.empty((d.nworld, m.nu), dtype=float)
-    history.read_ctrl_delayed(m, d, ctrl)
-  else:
-    ctrl = d.ctrl
-
-  wp.launch(
-    _actuator_force,
-    dim=(d.nworld, m.nu),
-    inputs=[
-      m.na,
-      m.opt.timestep,
-      m.actuator_dyntype,
-      m.actuator_gaintype,
-      m.actuator_biastype,
-      m.actuator_actadr,
-      m.actuator_actnum,
-      m.actuator_dynprm,
-      m.actuator_gainprm,
-      m.actuator_biasprm,
-      m.actuator_actlimited,
-      m.actuator_actrange,
-      m.actuator_actearly,
-      m.actuator_forcelimited,
-      m.actuator_forcerange,
-      m.actuator_ctrllimited,
-      m.actuator_ctrlrange,
-      m.actuator_acc0,
-      m.actuator_lengthrange,
-      d.act,
-      ctrl,
-      d.actuator_length,
-      d.actuator_velocity,
-      m.opt.disableflags & DisableBit.CLAMPCTRL,
-    ],
-    outputs=[d.act_dot, d.actuator_force],
-  )
-
-  if m.callback.act_dyn:
-    m.callback.act_dyn(m, d)
-  if m.callback.act_gain:
-    m.callback.act_gain(m, d)
-  if m.callback.act_bias:
-    m.callback.act_bias(m, d)
-
-  if m.ntendon:
-    # total actuator force at tendon
-    ten_actfrc = wp.zeros((d.nworld, m.ntendon), dtype=float)
-    wp.launch(
-      _tendon_actuator_force,
-      dim=(d.nworld, m.nu),
-      inputs=[m.actuator_trntype, m.actuator_trnid, d.actuator_force],
-      outputs=[ten_actfrc],
-    )
-
-    wp.launch(
-      _tendon_actuator_force_clamp,
-      dim=(d.nworld, m.nu),
-      inputs=[m.tendon_actfrclimited, m.tendon_actfrcrange, m.actuator_trntype, m.actuator_trnid, ten_actfrc],
-      outputs=[d.actuator_force],
-    )
-
-  # TODO(team): optimize performance
-  d.qfrc_actuator.zero_()
-  wp.launch(
-    _qfrc_actuator,
-    dim=(d.nworld, m.nu),
-    inputs=[
-      d.moment_rownnz,
-      d.moment_rowadr,
-      d.moment_colind,
-      d.actuator_moment,
-      d.actuator_force,
-    ],
-    outputs=[d.qfrc_actuator],
-  )
-  gravity_enabled = not (m.opt.disableflags & DisableBit.GRAVITY)
-  wp.launch(
-    _qfrc_actuator_gravcomp_limits,
-    dim=(d.nworld, m.nv),
-    inputs=[
-      m.jnt_actfrclimited,
-      m.jnt_actgravcomp,
-      m.jnt_actfrcrange,
-      m.dof_jntid,
-      d.qfrc_gravcomp,
-      d.qfrc_actuator,
-      gravity_enabled,
-    ],
-    outputs=[d.qfrc_actuator],
-  )
-
-
-@cache_kernel
-def _qfrc_smooth(enable_sleep: bool):
-  @wp.kernel(module="unique", enable_backward=False)
-  def kernel(
-    # Model:
-    body_treeid: wp.array[int],
-    dof_bodyid: wp.array[int],
-    # Data in:
-    qfrc_applied_in: wp.array2d[float],
-    tree_awake_in: wp.array2d[int],
-    qfrc_bias_in: wp.array2d[float],
-    qfrc_passive_in: wp.array2d[float],
-    qfrc_actuator_in: wp.array2d[float],
-    # Data out:
-    qfrc_smooth_out: wp.array2d[float],
-  ):
-    worldid, dofid = wp.tid()
-
-    if wp.static(enable_sleep):
-      bodyid = dof_bodyid[dofid]
-      tree = body_treeid[bodyid]
-      if tree >= 0 and tree_awake_in[worldid, tree] == 0:
-        qfrc_smooth_out[worldid, dofid] = 0.0
-        return
-
-    qfrc_smooth_out[worldid, dofid] = (
-      qfrc_passive_in[worldid, dofid]
-      - qfrc_bias_in[worldid, dofid]
-      + qfrc_actuator_in[worldid, dofid]
-      + qfrc_applied_in[worldid, dofid]
-    )
-
-  return kernel
-
-
-@event_scope
-def fwd_acceleration(m: Model, d: Data, factorize: bool = False):
-  """Add up all non-constraint forces, compute qacc_smooth.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-    factorize: Flag to factorize inertia matrix.
-  """
-  enable_sleep = bool(m.opt.enableflags & EnableBit.SLEEP) and not bool(m.opt.disableflags & DisableBit.ISLAND)
-  wp.launch(
-    _qfrc_smooth(enable_sleep),
-    dim=(d.nworld, m.nv),
-    inputs=[
-      m.body_treeid,
-      m.dof_bodyid,
-      d.qfrc_applied,
-      d.tree_awake,
-      d.qfrc_bias,
-      d.qfrc_passive,
-      d.qfrc_actuator,
-    ],
-    outputs=[d.qfrc_smooth],
-  )
-  xfrc_accumulate(m, d, d.qfrc_smooth)
-
-  if enable_sleep:
-    # update the active-DOF set (needs contacts from fwd_position) and solve
-    # the smooth acceleration in compacted dense space.
-    island.update_active_dofs(m, d)
-    solver.smooth_solve_compact(m, d)
-  elif factorize:
-    smooth.factor_solve_i(m, d, d.M, d.qLD, d.qLDiagInv, d.qacc_smooth, d.qfrc_smooth)
-  else:
-    smooth.solve_m(m, d, d.qacc_smooth, d.qfrc_smooth)
-
-
-def _energy_pos(m: Model, d: Data):
-  if m.opt.enableflags & EnableBit.ENERGY:
-    if m.sensor_e_potential == 0:  # not computed by sensor
-      sensor.energy_pos(m, d)
-  else:
-    d.energy.zero_()
-
-
-def _energy_vel(m: Model, d: Data):
-  if m.opt.enableflags & EnableBit.ENERGY:
-    if m.sensor_e_kinetic == 0:  # not computed by sensor
-      sensor.energy_vel(m, d)
-
-
-@event_scope
-def forward(m: Model, d: Data):
-  """Forward dynamics."""
-  sleep_enabled = bool(m.opt.enableflags & EnableBit.SLEEP) and not bool(m.opt.disableflags & DisableBit.ISLAND)
-  if sleep_enabled:
-    sleep.wake(m, d)
-    sleep.update_sleep(m, d)
-
-  fwd_position(m, d, factorize=False)
-  d.sensordata.zero_()
-  sensor.sensor_pos(m, d)
-  _energy_pos(m, d)
-
-  fwd_velocity(m, d)
-  sensor.sensor_vel(m, d)
-  _energy_vel(m, d)
-
-  if not (m.opt.disableflags & DisableBit.ACTUATION):
-    if m.callback.control:
-      m.callback.control(m, d)
-  fwd_actuation(m, d)
-  fwd_acceleration(m, d, factorize=True)
-
-  solver.solve(m, d)
-  sensor.sensor_acc(m, d)
-
-
-@event_scope
-def step(m: Model, d: Data):
-  """Advance simulation."""
-  forward(m, d)
-
-  if m.opt.integrator == IntegratorType.EULER:
-    euler(m, d)
-  elif m.opt.integrator == IntegratorType.RK4:
-    rungekutta4(m, d)
-  elif m.opt.integrator in (IntegratorType.IMPLICITFAST, IntegratorType.IMPLICIT):
-    implicit(m, d)
-  else:
-    raise NotImplementedError(f"integrator {m.opt.integrator} not implemented.")
-
-
-@event_scope
-def step1(m: Model, d: Data):
-  """Advance simulation in two phases: before input is set by user."""
-  fwd_position(m, d)
-  d.sensordata.zero_()
-  sensor.sensor_pos(m, d)
-
-  _energy_pos(m, d)
-
-  fwd_velocity(m, d)
-  sensor.sensor_vel(m, d)
-
-  _energy_vel(m, d)
-
-  if not (m.opt.disableflags & DisableBit.ACTUATION):
-    if m.callback.control:
-      m.callback.control(m, d)
-
-
-@event_scope
-def step2(m: Model, d: Data):
-  """Advance simulation in two phases: after input is set by user."""
-  fwd_actuation(m, d)
-  fwd_acceleration(m, d)
-  solver.solve(m, d)
-  sensor.sensor_acc(m, d)
-
-  # integrate with Euler or implicitfast
-  if m.opt.integrator in (IntegratorType.IMPLICITFAST, IntegratorType.IMPLICIT):
-    implicit(m, d)
-  else:
-    # note: RK4 defaults to Euler
-    euler(m, d)
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/history.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/history.py
deleted file mode 100644
index 5bc3d2d7..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/history.py
+++ /dev/null
@@ -1,925 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.func
-def _history_physical_index(cursor: int, n: int, logical: int) -> int:
-  """Convert logical index (0=oldest, n-1=newest) to physical index."""
-  return (cursor + 1 + logical) % n
-
-
-@wp.func
-def _history_find_index(
-  # In:
-  buf: wp.array2d[float],
-  worldid: int,
-  buf_offset: int,
-  n: int,
-  cursor: int,
-  t: float,
-) -> int:
-  """Find logical index i such that times[i-1] < t <= times[i].
-
-  Returns 0 if t <= times[oldest], n if t > times[newest].
-  Uses circular binary search matching MuJoCo C historyFindIndex.
-  """
-  times_offset = buf_offset + 2
-
-  oldest_phys = _history_physical_index(cursor, n, 0)
-  newest_phys = _history_physical_index(cursor, n, n - 1)
-  t_oldest = buf[worldid, times_offset + oldest_phys]
-  t_newest = buf[worldid, times_offset + newest_phys]
-
-  # before or at first element
-  if t <= t_oldest:
-    return 0
-
-  # after last element
-  if t > t_newest:
-    return n
-
-  # circular binary search: find smallest logical i such that times[phys(i)] >= t
-  lo = int(0)
-  hi = int(n - 1)
-  while hi - lo > 1:
-    mid = int((lo + hi) >> 1)
-    mid_phys = _history_physical_index(cursor, n, mid)
-    if buf[worldid, times_offset + mid_phys] < t:
-      lo = mid
-    else:
-      hi = mid
-
-  return hi
-
-
-@wp.func
-def _history_read_scalar(
-  # In:
-  buf: wp.array2d[float],
-  worldid: int,
-  buf_offset: int,
-  n: int,
-  t: float,
-  interp: int,
-) -> float:
-  """Read a scalar value from history buffer at time t.
-
-  interp: 0=zero-order-hold, 1=linear, 2=cubic (Catmull-Rom spline)
-  """
-  cursor = int(buf[worldid, buf_offset + 1])
-  times_offset = buf_offset + 2
-  values_offset = buf_offset + 2 + n
-
-  oldest_phys = _history_physical_index(cursor, n, 0)
-  newest_phys = _history_physical_index(cursor, n, n - 1)
-  t_oldest = buf[worldid, times_offset + oldest_phys]
-  t_newest = buf[worldid, times_offset + newest_phys]
-
-  # extrapolate before oldest
-  if t <= t_oldest + 1e-6:
-    return buf[worldid, values_offset + oldest_phys]
-
-  # extrapolate after newest
-  if t >= t_newest - 1e-6:
-    return buf[worldid, values_offset + newest_phys]
-
-  # find bracketing index
-  i = _history_find_index(buf, worldid, buf_offset, n, cursor, t)
-  phys_i = _history_physical_index(cursor, n, i)
-
-  # exact match
-  if wp.abs(t - buf[worldid, times_offset + phys_i]) < 1e-6:
-    return buf[worldid, values_offset + phys_i]
-
-  phys_lo = _history_physical_index(cursor, n, i - 1)
-  phys_hi = phys_i
-
-  # zero-order hold
-  if interp == 0:
-    return buf[worldid, values_offset + phys_lo]
-
-  dt = buf[worldid, times_offset + phys_hi] - buf[worldid, times_offset + phys_lo]
-  alpha = (t - buf[worldid, times_offset + phys_lo]) / dt
-  v_lo = buf[worldid, values_offset + phys_lo]
-  v_hi = buf[worldid, values_offset + phys_hi]
-
-  # linear interpolation
-  if interp == 1:
-    return v_lo + alpha * (v_hi - v_lo)
-
-  # cubic spline interpolation (Catmull-Rom)
-  alpha2 = alpha * alpha
-  alpha3 = alpha2 * alpha
-  h00 = 2.0 * alpha3 - 3.0 * alpha2 + 1.0
-  h10 = alpha3 - 2.0 * alpha2 + alpha
-  h01 = -2.0 * alpha3 + 3.0 * alpha2
-  h11 = alpha3 - alpha2
-
-  # finite-differenced Catmull-Rom slopes, 0 at endpoints
-  m_lo = 0.0
-  if i > 1:
-    phys_lo_prev = _history_physical_index(cursor, n, i - 2)
-    dt_lo = buf[worldid, times_offset + phys_hi] - buf[worldid, times_offset + phys_lo_prev]
-    m_lo = (v_hi - buf[worldid, values_offset + phys_lo_prev]) / dt_lo
-
-  m_hi = 0.0
-  if i < n - 1:
-    phys_hi_next = _history_physical_index(cursor, n, i + 1)
-    dt_hi = buf[worldid, times_offset + phys_hi_next] - buf[worldid, times_offset + phys_lo]
-    m_hi = (buf[worldid, values_offset + phys_hi_next] - v_lo) / dt_hi
-
-  return h00 * v_lo + h10 * dt * m_lo + h01 * v_hi + h11 * dt * m_hi
-
-
-@wp.func
-def _history_read_vector(
-  # In:
-  adr: int,
-  buf: wp.array2d[float],
-  worldid: int,
-  buf_offset: int,
-  n: int,
-  dim: int,
-  t: float,
-  interp: int,
-  # Data out:
-  sensordata_out: wp.array2d[float],
-) -> int:
-  """Read a vector value from history buffer at time t into sensordata.
-
-  Returns 1 on success (value written to sensordata).
-  interp: 0=zero-order-hold, 1=linear, 2=cubic (Catmull-Rom spline)
-  """
-  cursor = int(buf[worldid, buf_offset + 1])
-  times_offset = buf_offset + 2
-  values_offset = buf_offset + 2 + n
-
-  oldest_phys = _history_physical_index(cursor, n, 0)
-  newest_phys = _history_physical_index(cursor, n, n - 1)
-  t_oldest = buf[worldid, times_offset + oldest_phys]
-  t_newest = buf[worldid, times_offset + newest_phys]
-
-  # extrapolate before oldest: copy oldest
-  if t <= t_oldest + 1e-6:
-    for d in range(dim):
-      sensordata_out[worldid, adr + d] = buf[worldid, values_offset + oldest_phys * dim + d]
-    return 1
-
-  # extrapolate after newest: copy newest
-  if t >= t_newest - 1e-6:
-    for d in range(dim):
-      sensordata_out[worldid, adr + d] = buf[worldid, values_offset + newest_phys * dim + d]
-    return 1
-
-  # find bracketing index
-  i = _history_find_index(buf, worldid, buf_offset, n, cursor, t)
-  phys_i = _history_physical_index(cursor, n, i)
-
-  # exact match
-  if wp.abs(t - buf[worldid, times_offset + phys_i]) < 1e-6:
-    for d in range(dim):
-      sensordata_out[worldid, adr + d] = buf[worldid, values_offset + phys_i * dim + d]
-    return 1
-
-  phys_lo = _history_physical_index(cursor, n, i - 1)
-  phys_hi = phys_i
-
-  # zero-order hold
-  if interp == 0:
-    for d in range(dim):
-      sensordata_out[worldid, adr + d] = buf[worldid, values_offset + phys_lo * dim + d]
-    return 1
-
-  dt = buf[worldid, times_offset + phys_hi] - buf[worldid, times_offset + phys_lo]
-  alpha = (t - buf[worldid, times_offset + phys_lo]) / dt
-
-  # linear interpolation
-  if interp == 1:
-    for d in range(dim):
-      v_lo = buf[worldid, values_offset + phys_lo * dim + d]
-      v_hi = buf[worldid, values_offset + phys_hi * dim + d]
-      sensordata_out[worldid, adr + d] = v_lo + alpha * (v_hi - v_lo)
-    return 1
-
-  # cubic spline interpolation (Catmull-Rom)
-  alpha2 = alpha * alpha
-  alpha3 = alpha2 * alpha
-  h00 = 2.0 * alpha3 - 3.0 * alpha2 + 1.0
-  h10 = alpha3 - 2.0 * alpha2 + alpha
-  h01 = -2.0 * alpha3 + 3.0 * alpha2
-  h11 = alpha3 - alpha2
-
-  for d in range(dim):
-    v_lo = buf[worldid, values_offset + phys_lo * dim + d]
-    v_hi = buf[worldid, values_offset + phys_hi * dim + d]
-
-    # finite-differenced Catmull-Rom slopes, 0 at endpoints
-    m_lo = 0.0
-    if i > 1:
-      phys_lo_prev = _history_physical_index(cursor, n, i - 2)
-      dt_lo = buf[worldid, times_offset + phys_hi] - buf[worldid, times_offset + phys_lo_prev]
-      m_lo = (v_hi - buf[worldid, values_offset + phys_lo_prev * dim + d]) / dt_lo
-
-    m_hi = 0.0
-    if i < n - 1:
-      phys_hi_next = _history_physical_index(cursor, n, i + 1)
-      dt_hi = buf[worldid, times_offset + phys_hi_next] - buf[worldid, times_offset + phys_lo]
-      m_hi = (buf[worldid, values_offset + phys_hi_next * dim + d] - v_lo) / dt_hi
-
-    sensordata_out[worldid, adr + d] = h00 * v_lo + h10 * dt * m_lo + h01 * v_hi + h11 * dt * m_hi
-  return 1
-
-
-@wp.func
-def _history_insert_scalar(
-  # In:
-  worldid: int,
-  buf_offset: int,
-  n: int,
-  t: float,
-  value: float,
-  # Out:
-  buf_out: wp.array2d[float],
-):
-  """Insert a scalar value into history buffer at time t."""
-  cursor = int(buf_out[worldid, buf_offset + 1])
-  times_offset = buf_offset + 2
-  values_offset = buf_offset + 2 + n
-
-  i = _history_find_index(buf_out, worldid, buf_offset, n, cursor, t)
-
-  # exact match
-  if i < n:
-    phys_i = _history_physical_index(cursor, n, i)
-    if wp.abs(t - buf_out[worldid, times_offset + phys_i]) < 1e-6:
-      buf_out[worldid, values_offset + phys_i] = value
-      return
-
-  # older than oldest: replace oldest
-  if i == 0:
-    oldest_phys = _history_physical_index(cursor, n, 0)
-    buf_out[worldid, times_offset + oldest_phys] = t
-    buf_out[worldid, values_offset + oldest_phys] = value
-    return
-
-  # newer than newest: advance cursor
-  if i == n:
-    cursor = (cursor + 1) % n
-    buf_out[worldid, buf_offset + 1] = float(cursor)
-    buf_out[worldid, times_offset + cursor] = t
-    buf_out[worldid, values_offset + cursor] = value
-    return
-
-  # out-of-order: shift [1, i-1] left, insert at i-1
-  for j in range(i - 1):
-    src_phys = _history_physical_index(cursor, n, j + 1)
-    dst_phys = _history_physical_index(cursor, n, j)
-    buf_out[worldid, times_offset + dst_phys] = buf_out[worldid, times_offset + src_phys]
-    buf_out[worldid, values_offset + dst_phys] = buf_out[worldid, values_offset + src_phys]
-  insert_phys = _history_physical_index(cursor, n, i - 1)
-  buf_out[worldid, times_offset + insert_phys] = t
-  buf_out[worldid, values_offset + insert_phys] = value
-
-
-@wp.func
-def _history_insert_vector(
-  # In:
-  worldid: int,
-  buf_offset: int,
-  n: int,
-  dim: int,
-  t: float,
-  src: wp.array2d[float],
-  src_adr: int,
-  # Out:
-  buf_out: wp.array2d[float],
-):
-  """Insert a vector value from src[worldid, src_adr:src_adr+dim] into history buffer at time t."""
-  cursor = int(buf_out[worldid, buf_offset + 1])
-  times_offset = buf_offset + 2
-  values_offset = buf_offset + 2 + n
-
-  i = _history_find_index(buf_out, worldid, buf_offset, n, cursor, t)
-
-  slot_phys = -1
-
-  # exact match
-  if i < n:
-    phys_i = _history_physical_index(cursor, n, i)
-    if wp.abs(t - buf_out[worldid, times_offset + phys_i]) < 1e-6:
-      slot_phys = phys_i
-
-  if slot_phys < 0:
-    if i == 0:
-      # older than oldest: replace oldest
-      slot_phys = _history_physical_index(cursor, n, 0)
-      buf_out[worldid, times_offset + slot_phys] = t
-    elif i == n:
-      # newer than newest: advance cursor
-      cursor = (cursor + 1) % n
-      buf_out[worldid, buf_offset + 1] = float(cursor)
-      slot_phys = cursor
-      buf_out[worldid, times_offset + slot_phys] = t
-    else:
-      # out-of-order: shift [1, i-1] left, insert at i-1
-      for j in range(i - 1):
-        src_phys = _history_physical_index(cursor, n, j + 1)
-        dst_phys = _history_physical_index(cursor, n, j)
-        buf_out[worldid, times_offset + dst_phys] = buf_out[worldid, times_offset + src_phys]
-        for d in range(dim):
-          buf_out[worldid, values_offset + dst_phys * dim + d] = buf_out[worldid, values_offset + src_phys * dim + d]
-      slot_phys = _history_physical_index(cursor, n, i - 1)
-      buf_out[worldid, times_offset + slot_phys] = t
-
-  # copy values
-  for d in range(dim):
-    buf_out[worldid, values_offset + slot_phys * dim + d] = src[worldid, src_adr + d]
-
-
-@wp.kernel
-def _read_ctrl_delayed_kernel(
-  # Model:
-  actuator_history: wp.array[wp.vec2i],
-  actuator_historyadr: wp.array[int],
-  actuator_delay: wp.array[float],
-  # Data in:
-  time_in: wp.array[float],
-  history_in: wp.array2d[float],
-  ctrl_in: wp.array2d[float],
-  # Data out:
-  ctrl_out: wp.array2d[float],
-):
-  """Read delayed ctrl for each actuator."""
-  worldid, uid = wp.tid()
-
-  hist = actuator_history[uid]
-  nsample = hist[0]
-  delay = actuator_delay[uid]
-
-  if nsample == 0 or delay == 0.0:
-    # no delay: direct copy
-    ctrl_out[worldid, uid] = ctrl_in[worldid, uid]
-  else:
-    interp = hist[1]
-    buf_offset = actuator_historyadr[uid]
-    t = time_in[worldid] - delay
-    ctrl_out[worldid, uid] = _history_read_scalar(history_in, worldid, buf_offset, nsample, t, interp)
-
-
-@wp.kernel
-def _insert_ctrl_history_kernel(
-  # Model:
-  actuator_history: wp.array[wp.vec2i],
-  actuator_historyadr: wp.array[int],
-  # Data in:
-  time_in: wp.array[float],
-  ctrl_in: wp.array2d[float],
-  # Data out:
-  history_out: wp.array2d[float],
-):
-  """Insert current ctrl into history buffers."""
-  worldid, uid = wp.tid()
-
-  hist = actuator_history[uid]
-  nsample = hist[0]
-  if nsample == 0:
-    return
-
-  buf_offset = actuator_historyadr[uid]
-  t = time_in[worldid]
-  value = ctrl_in[worldid, uid]
-  _history_insert_scalar(worldid, buf_offset, nsample, t, value, history_out)
-
-
-@wp.kernel
-def _insert_sensor_history_stage(
-  # Model:
-  sensor_dim: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_history: wp.array[wp.vec2i],
-  sensor_historyadr: wp.array[int],
-  sensor_delay: wp.array[float],
-  sensor_interval: wp.array[wp.vec2],
-  # Data in:
-  time_in: wp.array[float],
-  sensordata_in: wp.array2d[float],
-  # In:
-  sensor_ids: wp.array[int],
-  # Data out:
-  history_out: wp.array2d[float],
-):
-  """Insert current sensor values into history buffers for specific sensor IDs."""
-  worldid, idx = wp.tid()
-  sid = sensor_ids[idx]
-
-  hist = sensor_history[sid]
-  nsample = hist[0]
-  if nsample == 0:
-    return
-
-  buf_offset = sensor_historyadr[sid]
-  dim = sensor_dim[sid]
-  interval_val = sensor_interval[sid]
-  period = interval_val[0]
-  t = time_in[worldid]
-
-  if period > 0.0:
-    # interval mode: check if condition is satisfied
-    time_prev = history_out[worldid, buf_offset]  # user slot stores time_prev
-    if time_prev + period <= t:
-      # advance time_prev by exact period
-      history_out[worldid, buf_offset] = time_prev + period
-      # insert sensor value
-      _history_insert_vector(worldid, buf_offset, nsample, dim, t, sensordata_in, sensor_adr[sid], history_out)
-  else:
-    _history_insert_vector(worldid, buf_offset, nsample, dim, t, sensordata_in, sensor_adr[sid], history_out)
-
-
-@wp.kernel
-def _apply_sensor_delay_kernel(
-  # Model:
-  sensor_dim: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_history: wp.array[wp.vec2i],
-  sensor_historyadr: wp.array[int],
-  sensor_delay: wp.array[float],
-  sensor_interval: wp.array[wp.vec2],
-  # Data in:
-  time_in: wp.array[float],
-  history_in: wp.array2d[float],
-  # In:
-  sensor_ids: wp.array[int],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  """Apply delay/interval logic for sensors after computation.
-
-  TODO(team): Revisit always-compute decision for computationally expensive sensors
-  with interval/period (e.g., raytracers)
-  """
-  worldid, idx = wp.tid()
-  sid = sensor_ids[idx]
-
-  hist = sensor_history[sid]
-  nsample = hist[0]
-  if nsample <= 0:
-    return
-
-  delay = sensor_delay[sid]
-  dim = sensor_dim[sid]
-  interp = hist[1]
-  buf_offset = sensor_historyadr[sid]
-  t = time_in[worldid]
-
-  if delay > 0.0:
-    # delay > 0: read delayed value from buffer
-    _history_read_vector(sensor_adr[sid], history_in, worldid, buf_offset, nsample, dim, t - delay, interp, sensordata_out)
-  else:
-    # interval-only (delay == 0, interval > 0): check interval condition
-    interval_val = sensor_interval[sid]
-    period = interval_val[0]
-    if period > 0.0:
-      time_prev = history_in[worldid, buf_offset]  # user slot
-      if time_prev + period > t:
-        # interval condition not satisfied: read from buffer
-        _history_read_vector(sensor_adr[sid], history_in, worldid, buf_offset, nsample, dim, t, interp, sensordata_out)
-      # else: interval condition satisfied, keep computed value
-
-
-def read_ctrl_delayed(m: Model, d: Data, ctrl: wp.array2d[float]):
-  """Read delayed ctrl values for all actuators."""
-  if m.nhistory == 0:
-    wp.copy(ctrl, d.ctrl)
-    return
-
-  wp.launch(
-    _read_ctrl_delayed_kernel,
-    dim=(d.nworld, m.nu),
-    inputs=[
-      m.actuator_history,
-      m.actuator_historyadr,
-      m.actuator_delay,
-      d.time,
-      d.history,
-      d.ctrl,
-    ],
-    outputs=[ctrl],
-  )
-
-
-def insert_ctrl_history(m: Model, d: Data):
-  """Insert current ctrl values into history buffers."""
-  if m.nhistory == 0 or m.nu == 0:
-    return
-
-  wp.launch(
-    _insert_ctrl_history_kernel,
-    dim=(d.nworld, m.nu),
-    inputs=[
-      m.actuator_history,
-      m.actuator_historyadr,
-      d.time,
-      d.ctrl,
-    ],
-    outputs=[d.history],
-  )
-
-
-def apply_sensor_delay(m: Model, d: Data, sensorid: wp.array[int]):
-  """Apply delay/interval logic for given sensors after computation.
-
-  Matches MuJoCo C architecture where the delayed read (mj_sensorPos) occurs
-  before the fresh value insert (mj_advance). We save fresh sensordata,
-  overwrite with delayed values, then insert the saved fresh values.
-  """
-  if m.nhistory == 0 or sensorid.shape[0] == 0:
-    return
-
-  # Save fresh sensordata before delay overwrite
-  fresh_sensordata = wp.empty_like(d.sensordata)
-  wp.copy(fresh_sensordata, d.sensordata)
-
-  # Read delayed values from buffer → overwrite sensordata
-  wp.launch(
-    _apply_sensor_delay_kernel,
-    dim=(d.nworld, sensorid.shape[0]),
-    inputs=[
-      m.sensor_dim,
-      m.sensor_adr,
-      m.sensor_history,
-      m.sensor_historyadr,
-      m.sensor_delay,
-      m.sensor_interval,
-      d.time,
-      d.history,
-      sensorid,
-    ],
-    outputs=[d.sensordata],
-  )
-
-  # Insert saved fresh sensor values into history buffers
-  wp.launch(
-    _insert_sensor_history_stage,
-    dim=(d.nworld, sensorid.shape[0]),
-    inputs=[
-      m.sensor_dim,
-      m.sensor_adr,
-      m.sensor_history,
-      m.sensor_historyadr,
-      m.sensor_delay,
-      m.sensor_interval,
-      d.time,
-      fresh_sensordata,
-      sensorid,
-    ],
-    outputs=[d.history],
-  )
-
-
-@wp.kernel
-def _read_ctrl_kernel(
-  # Model:
-  actuator_history: wp.array[wp.vec2i],
-  actuator_historyadr: wp.array[int],
-  actuator_delay: wp.array[float],
-  # Data in:
-  time_in: wp.array[float],
-  history_in: wp.array2d[float],
-  ctrl_in: wp.array2d[float],
-  # In:
-  uid: int,
-  interp: int,
-  # Out:
-  result_out: wp.array[float],
-):
-  """Read delayed ctrl for 1 actuator across all worlds."""
-  worldid = wp.tid()
-
-  hist = actuator_history[uid]
-  nsample = hist[0]
-
-  if nsample == 0:
-    result_out[worldid] = ctrl_in[worldid, uid]
-  else:
-    interp_val = interp
-    if interp_val < 0:
-      interp_val = hist[1]
-    delay = actuator_delay[uid]
-    buf_offset = actuator_historyadr[uid]
-    t = time_in[worldid] - delay
-    result_out[worldid] = _history_read_scalar(history_in, worldid, buf_offset, nsample, t, interp_val)
-
-
-def read_ctrl(
-  m: Model,
-  d: Data,
-  ctrlid: int,
-  time: wp.array[float],
-  interp: int,
-  result: wp.array2d[float],
-):
-  """Read delayed ctrl for 1 actuator across all worlds.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-    ctrlid: actuator index.
-    time: query time per world (nworld,).
-    interp: interpolation mode (-1=model default, 0=ZOH, 1=linear, 2=cubic).
-    result: output buffer (nworld,).
-  """
-  wp.launch(
-    _read_ctrl_kernel,
-    dim=(d.nworld,),
-    inputs=[
-      m.actuator_history,
-      m.actuator_historyadr,
-      m.actuator_delay,
-      time,
-      d.history,
-      d.ctrl,
-      ctrlid,
-      interp,
-    ],
-    outputs=[result],
-  )
-
-
-@wp.kernel
-def _read_sensor_kernel(
-  # Model:
-  sensor_dim: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_history: wp.array[wp.vec2i],
-  sensor_historyadr: wp.array[int],
-  sensor_delay: wp.array[float],
-  # Data in:
-  time_in: wp.array[float],
-  history_in: wp.array2d[float],
-  sensordata_in: wp.array2d[float],
-  # In:
-  sid: int,
-  interp: int,
-  # Out:
-  result_out: wp.array2d[float],
-):
-  """Read delayed sensor for 1 sensor across all worlds."""
-  worldid = wp.tid()
-
-  hist = sensor_history[sid]
-  nsample = hist[0]
-  dim = sensor_dim[sid]
-  adr = sensor_adr[sid]
-
-  if nsample == 0:
-    for i in range(dim):
-      result_out[worldid, i] = sensordata_in[worldid, adr + i]
-  else:
-    interp_val = interp
-    if interp_val < 0:
-      interp_val = hist[1]
-    delay = sensor_delay[sid]
-    buf_offset = sensor_historyadr[sid]
-    t = time_in[worldid] - delay
-    _history_read_vector(
-      0,  # write to result_out starting at index 0 (not global sensor adr)
-      history_in,
-      worldid,
-      buf_offset,
-      nsample,
-      dim,
-      t,
-      interp_val,
-      result_out,
-    )
-
-
-def read_sensor(
-  m: Model,
-  d: Data,
-  sensorid: int,
-  time: wp.array[float],
-  interp: int,
-  result: wp.array2d[float],
-):
-  """Read delayed sensor for 1 sensor across all worlds.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-    sensorid: sensor index.
-    time: query time per world (nworld,).
-    interp: interpolation mode (-1=model default, 0=ZOH, 1=linear, 2=cubic).
-    result: output buffer (nworld, dim).
-  """
-  wp.launch(
-    _read_sensor_kernel,
-    dim=(d.nworld,),
-    inputs=[
-      m.sensor_dim,
-      m.sensor_adr,
-      m.sensor_history,
-      m.sensor_historyadr,
-      m.sensor_delay,
-      time,
-      d.history,
-      d.sensordata,
-      sensorid,
-      interp,
-    ],
-    outputs=[result],
-  )
-
-
-@wp.kernel
-def _init_ctrl_history_kernel(
-  # kernel_analyzer: off
-  # Model:
-  actuator_history: wp.array[wp.vec2i],
-  actuator_historyadr: wp.array[int],
-  # In:
-  ctrlid: int,
-  times: wp.array[float],
-  values: wp.array2d[float],
-  has_times: int,
-  # Data out:
-  history_out: wp.array2d[float],
-  # kernel_analyzer: on
-):
-  """Initialize history buffer for 1 actuator across all worlds."""
-  worldid = wp.tid()
-
-  nsample = actuator_history[ctrlid][0]
-  buf_offset = actuator_historyadr[ctrlid]
-
-  # preserve user slot
-  user = history_out[worldid, buf_offset]
-
-  # cursor = 0 (samples in order, newest at index nsample-1)
-  history_out[worldid, buf_offset + 1] = float(nsample - 1)
-
-  times_offset = buf_offset + 2
-  values_offset = buf_offset + 2 + nsample
-
-  for i in range(nsample):
-    if has_times != 0:
-      history_out[worldid, times_offset + i] = times[i]
-    else:
-      history_out[worldid, times_offset + i] = -MJ_MAXVAL
-    history_out[worldid, values_offset + i] = values[worldid, i]
-
-  # restore user slot
-  history_out[worldid, buf_offset] = user
-
-
-def init_ctrl_history(
-  m: Model,
-  d: Data,
-  ctrlid: int,
-  times: wp.array[float],
-  values: wp.array2d[float],
-):
-  """Initialize history buffer for 1 actuator across all worlds.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-    ctrlid: actuator index.
-    times: timestamps or None (nsample,).
-    values: ctrl values (nworld, nsample).
-
-  Raises:
-    ValueError: If times are not strictly increasing.
-  """
-  has_times = 0 if times is None else 1
-  if times is not None:
-    t_np = times.numpy()
-    for i in range(len(t_np) - 1):
-      if t_np[i + 1] - t_np[i] < MJ_MINVAL:
-        raise ValueError(f"times must be strictly increasing, got times[{i}]={t_np[i]} >= times[{i + 1}]={t_np[i + 1]}")
-  if times is None:
-    times = wp.empty(0, dtype=float)
-
-  wp.launch(
-    _init_ctrl_history_kernel,
-    dim=(d.nworld,),
-    inputs=[
-      m.actuator_history,
-      m.actuator_historyadr,
-      ctrlid,
-      times,
-      values,
-      has_times,
-    ],
-    outputs=[d.history],
-  )
-
-
-# kernel_analyzer: off
-@wp.kernel
-def _init_sensor_history_kernel(
-  # Model:
-  sensor_history: wp.array[wp.vec2i],
-  sensor_historyadr: wp.array[int],
-  sensor_dim_arr: wp.array[int],
-  # In:
-  sensorid: int,
-  times: wp.array[float],
-  values: wp.array2d[float],
-  phase: wp.array[float],
-  has_times: int,
-  # Data out:
-  history_out: wp.array2d[float],
-):
-  # kernel_analyzer: on
-  """Initialize history buffer for 1 sensor across all worlds."""
-  worldid = wp.tid()
-
-  nsample = sensor_history[sensorid][0]
-  dim = sensor_dim_arr[sensorid]
-  buf_offset = sensor_historyadr[sensorid]
-
-  # set user slot (phase = last computation time for interval sensors)
-  history_out[worldid, buf_offset] = phase[worldid]
-
-  # cursor = 0 (samples in order, newest at index nsample-1)
-  history_out[worldid, buf_offset + 1] = float(nsample - 1)
-
-  times_offset = buf_offset + 2
-  values_offset = buf_offset + 2 + nsample
-
-  for i in range(nsample):
-    if has_times != 0:
-      history_out[worldid, times_offset + i] = times[i]
-    else:
-      history_out[worldid, times_offset + i] = -MJ_MAXVAL
-    for j in range(dim):
-      history_out[worldid, values_offset + i * dim + j] = values[worldid, i * dim + j]
-
-
-def init_sensor_history(
-  m: Model,
-  d: Data,
-  sensorid: int,
-  times: wp.array[float],
-  values: wp.array2d[float],
-  phase: wp.array[float],
-):
-  """Initialize history buffer for 1 sensor across all worlds.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-    sensorid: sensor index.
-    times: timestamps or None (nsample,).
-    values: sensor values (nworld, nsample * dim).
-    phase: user slot value per world (nworld,).
-
-  Raises:
-    ValueError: If times are not strictly increasing.
-  """
-  has_times = 0 if times is None else 1
-  if times is not None:
-    t_np = times.numpy()
-    for i in range(len(t_np) - 1):
-      if t_np[i + 1] - t_np[i] < MJ_MINVAL:
-        raise ValueError(f"times must be strictly increasing, got times[{i}]={t_np[i]} >= times[{i + 1}]={t_np[i + 1]}")
-  if times is None:
-    times = wp.empty(0, dtype=float)
-
-  wp.launch(
-    _init_sensor_history_kernel,
-    dim=(d.nworld,),
-    inputs=[
-      m.sensor_history,
-      m.sensor_historyadr,
-      m.sensor_dim,
-      sensorid,
-      times,
-      values,
-      phase,
-      has_times,
-    ],
-    outputs=[d.history],
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/inverse.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/inverse.py
deleted file mode 100644
index 46f0194c..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/inverse.py
+++ /dev/null
@@ -1,182 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import derivative
-from mujoco.mjx.third_party.mujoco_warp._src import forward
-from mujoco.mjx.third_party.mujoco_warp._src import sensor
-from mujoco.mjx.third_party.mujoco_warp._src import smooth
-from mujoco.mjx.third_party.mujoco_warp._src import solver
-from mujoco.mjx.third_party.mujoco_warp._src import support
-from mujoco.mjx.third_party.mujoco_warp._src import util_misc
-from mujoco.mjx.third_party.mujoco_warp._src.support import mul_m
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import EnableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import IntegratorType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.kernel
-def _qfrc_eulerdamp(
-  # Model:
-  opt_timestep: wp.array[float],
-  dof_damping: wp.array2d[float],
-  dof_dampingpoly: wp.array2d[wp.vec2],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  qacc_in: wp.array2d[float],
-  # Out:
-  qfrc_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-
-  damping = dof_damping[worldid % dof_damping.shape[0], dofid]
-  dpoly = dof_dampingpoly[worldid % dof_dampingpoly.shape[0], dofid]
-  v = qvel_in[worldid, dofid]
-
-  damp_deriv = util_misc._poly_force_deriv(damping, dpoly, v, 1)
-  qfrc_out[worldid, dofid] += timestep * damp_deriv * qacc_in[worldid, dofid]
-
-
-@wp.kernel
-def _qfrc_inverse(
-  # Data in:
-  qfrc_bias_in: wp.array2d[float],
-  qfrc_passive_in: wp.array2d[float],
-  qfrc_constraint_in: wp.array2d[float],
-  # In:
-  Ma: wp.array2d[float],
-  # Data out:
-  qfrc_inverse_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-
-  qfrc_inverse = qfrc_bias_in[worldid, dofid]
-  qfrc_inverse += Ma[worldid, dofid]
-  qfrc_inverse -= qfrc_passive_in[worldid, dofid]
-  qfrc_inverse -= qfrc_constraint_in[worldid, dofid]
-
-  qfrc_inverse_out[worldid, dofid] = qfrc_inverse
-
-
-def discrete_acc(m: Model, d: Data, qacc: wp.array2d[float]):
-  """Convert discrete-time qacc to continuous-time qacc.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-    qacc: Acceleration.
-  """
-  qfrc = wp.empty((d.nworld, m.nv), dtype=float)
-
-  if m.opt.integrator == IntegratorType.RK4:
-    raise NotImplementedError("discrete inverse dynamics is not supported by RK4 integrator")
-  elif m.opt.integrator == IntegratorType.EULER:
-    if m.opt.disableflags & DisableBit.EULERDAMP:
-      wp.copy(qacc, d.qacc)
-      return
-
-    # TODO(team): qacc = d.qacc if (m.dof_damping == 0.0).all()
-
-    # set qfrc = (d.M + m.opt.timestep * diag(m.dof_damping)) * d.qacc
-
-    # d.M @ d.qacc
-    support.mul_m(m, d, qfrc, d.qacc)
-
-    # qfrc += m.opt.timestep * damp_deriv * d.qacc
-    wp.launch(
-      _qfrc_eulerdamp,
-      dim=(d.nworld, m.nv),
-      inputs=[m.opt.timestep, m.dof_damping, m.dof_dampingpoly, d.qvel, d.qacc],
-      outputs=[qfrc],
-    )
-  elif m.opt.integrator == IntegratorType.IMPLICITFAST:
-    qDeriv = wp.empty((d.nworld, m.nC), dtype=float)
-    derivative.deriv_smooth_vel(m, d, qDeriv)
-    mul_m(m, d, qfrc, d.qacc, M=qDeriv)
-    smooth.factor_solve_i(m, d, d.M, d.qLD, d.qLDiagInv, qacc, qfrc)
-  else:
-    raise NotImplementedError(f"integrator {m.opt.integrator} not implemented.")
-
-  # solve for qacc: qfrc = d.M @ d.qacc
-  smooth.solve_m(m, d, qacc, qfrc)
-
-
-@wp.kernel
-def _zero_qfrc_constraint_nefc(nefc_in: wp.array[int], qfrc_constraint_out: wp.array2d[float]):
-  worldid, dofid = wp.tid()
-  if nefc_in[worldid] == 0:
-    qfrc_constraint_out[worldid, dofid] = 0.0
-
-
-def inv_constraint(m: Model, d: Data):
-  """Inverse constraint solver."""
-  # no constraints
-  if d.njmax == 0:
-    d.qfrc_constraint.zero_()
-    return
-
-  if m.is_sparse:
-    wp.launch(
-      _zero_qfrc_constraint_nefc,
-      dim=(d.nworld, m.nv),
-      inputs=[d.nefc],
-      outputs=[d.qfrc_constraint],
-    )
-
-  ctx = solver.create_inverse_context(m, d)
-  solver.init_context(m, d, ctx, grad=False)
-
-
-def inverse(m: Model, d: Data):
-  """Inverse dynamics."""
-  forward.fwd_position(m, d)
-  sensor.sensor_pos(m, d)
-  forward.fwd_velocity(m, d)
-  sensor.sensor_vel(m, d)
-
-  invdiscrete = m.opt.enableflags & EnableBit.INVDISCRETE
-  if invdiscrete:
-    # save discrete-time qacc and compute continuous-time qacc
-    qacc_discrete = wp.clone(d.qacc)
-    discrete_acc(m, d, d.qacc)
-
-  inv_constraint(m, d)
-  smooth.rne(m, d)
-  smooth.tendon_bias(m, d, d.qfrc_bias)
-  sensor.sensor_acc(m, d)
-
-  support.mul_m(m, d, d.qfrc_inverse, d.qacc)
-
-  wp.launch(
-    _qfrc_inverse,
-    dim=(d.nworld, m.nv),
-    inputs=[
-      d.qfrc_bias,
-      d.qfrc_passive,
-      d.qfrc_constraint,
-      d.qfrc_inverse,
-    ],
-    outputs=[d.qfrc_inverse],
-  )
-
-  if invdiscrete:
-    # restore discrete-time qacc
-    wp.copy(d.qacc, qacc_discrete)
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py
deleted file mode 100644
index 580d8c6a..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py
+++ /dev/null
@@ -1,4236 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import dataclasses
-import warnings
-from typing import Any, Optional, Sequence
-
-import mujoco
-import numpy as np
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import bvh
-from mujoco.mjx.third_party.mujoco_warp._src import math as mjmath
-from mujoco.mjx.third_party.mujoco_warp._src import render_util
-from mujoco.mjx.third_party.mujoco_warp._src import sleep
-from mujoco.mjx.third_party.mujoco_warp._src import smooth
-from mujoco.mjx.third_party.mujoco_warp._src import support
-from mujoco.mjx.third_party.mujoco_warp._src import types
-from mujoco.mjx.third_party.mujoco_warp._src import warp_util
-from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import MJ_COLLISION_TABLE
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import BiasType
-from mujoco.mjx.third_party.mujoco_warp._src.types import TrnType
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec10
-
-wp.set_module_options({"default_grid_stride": False})
-
-
-def _is_array_spec(typ) -> bool:
-  """Check if a type annotation is an array spec (wp.array instance or bracket annotation)."""
-  return isinstance(typ, wp.array) or type(typ).__name__ == "_ArrayAnnotation"
-
-
-def _mark_batched(obj):
-  """Recursively set _is_batched = True on all batched warp arrays within obj."""
-  if not dataclasses.is_dataclass(obj):
-    return
-  for f in dataclasses.fields(obj):
-    val = getattr(obj, f.name, None)
-    if val is None:
-      continue
-    if dataclasses.is_dataclass(val):
-      _mark_batched(val)
-      continue
-    if not isinstance(val, wp.array):
-      continue
-    if not _is_array_spec(f.type):
-      continue
-    spec_shape = getattr(f.type, "shape", ())
-    if spec_shape and spec_shape[0] in ("*", "nworld"):
-      val._is_batched = True
-
-
-def _create_array(data: Any, spec, sizes: dict[str, int], batch_size: int = 1) -> wp.array | None:
-  """Creates a warp array and populates it with data.
-
-  The array shape is determined by a field spec referencing MjModel / MjData array sizes.
-  """
-  spec_shape = getattr(spec, "shape", (0,))
-  if spec_shape == (0,):
-    if data is None:
-      return None
-    return wp.array(np.array(data), dtype=spec.dtype)
-
-  shape = tuple(
-    batch_size
-    if dim == "*"
-    else (int(dim) if isinstance(dim, str) and dim.isdigit() else (sizes[dim] if isinstance(dim, str) else dim))
-    for dim in spec_shape
-  )
-
-  is_batched = spec_shape[0] in ("*", "nworld")
-
-  if data is None:
-    array = wp.zeros(shape, dtype=spec.dtype)
-  else:
-    data = np.array(data)
-    if is_batched and shape[0] != 1:
-      target_shape = shape + getattr(spec.dtype, "_shape_", ())
-      if data.shape != target_shape:
-        tail_shape = target_shape[1:]
-        if data.size == np.prod(tail_shape):
-          data = data.reshape(tail_shape)
-        data = np.broadcast_to(data, target_shape).copy()
-    array = wp.array(data, dtype=spec.dtype, shape=shape)
-
-  return array
-
-
-def _create_constraint(
-  mjm,
-  nworld: int,
-  njmax: int,
-  sizes: dict,
-  mjd=None,
-) -> types.Constraint:
-  """Construct a types.Constraint with standard and island local fields allocated properly."""
-  efc_kwargs = {"J_rownnz": None, "J_rowadr": None, "J_colind": None, "J": None}
-  sparse = is_sparse(mjm)
-  # The JTDAJ block list is only consumed by the sparse Newton Hessian assembly (_JTDACJ_sparse).
-  jtdaj_active = sparse and mjm.opt.solver == mujoco.mjtSolver.mjSOL_NEWTON
-
-  for f in dataclasses.fields(types.Constraint):
-    if f.name in ("jtdaj_adr", "jtdaj_nrow"):
-      efc_kwargs[f.name] = wp.empty((nworld, njmax if jtdaj_active else 0), dtype=int)
-    elif f.name == "jtdaj_nblock":
-      efc_kwargs[f.name] = wp.empty((nworld,), dtype=int)
-    else:
-      if f.name in efc_kwargs:
-        continue
-
-    if mjd is not None:
-      shape = tuple(sizes[dim] if isinstance(dim, str) else dim for dim in f.type.shape)
-      val = np.zeros(shape, dtype=f.type.dtype)
-      if f.name in ("type", "id", "pos", "margin", "D", "vel", "aref", "frictionloss", "force"):
-        val[:, : mjd.nefc] = np.tile(getattr(mjd, "efc_" + f.name), (nworld, 1))
-      efc_kwargs[f.name] = wp.array(val, dtype=f.type.dtype)
-    else:
-      efc_kwargs[f.name] = _create_array(None, f.type, sizes)
-
-  return types.Constraint(**efc_kwargs)
-
-
-def _jtdaj_groups(mjd: mujoco.MjData) -> tuple[np.ndarray, np.ndarray]:
-  """Group loaded efc rows into JTDAJ blocks: maximal runs sharing (efc_type, efc_id).
-
-  MuJoCo lays each constraint's rows out contiguously, so this reproduces the block list
-  make_constraint builds in-kernel. Returns block start rows (adr) and lengths (nrow).
-  """
-  nefc = mjd.nefc
-  if nefc == 0:
-    return np.zeros(0, dtype=int), np.zeros(0, dtype=int)
-  etype = mjd.efc_type[:nefc]
-  eid = mjd.efc_id[:nefc]
-  boundary = np.ones(nefc, dtype=bool)
-  boundary[1:] = (etype[1:] != etype[:-1]) | (eid[1:] != eid[:-1])
-  adr = np.flatnonzero(boundary)
-  nrow = np.diff(np.append(adr, nefc))
-  return adr, nrow
-
-
-def _get_nflexintcell(mjm: mujoco.MjModel) -> int:
-  nflexintcell = 0
-  if mjm.nflex > 0:
-    for fi in range(mjm.nflex):
-      order = abs(int(mjm.flex_interp[fi]))
-      if order == 0:
-        continue
-      if mjm.flex_edgeequality[fi] == 3:
-        continue
-      cx, cy, cz = mjm.flex_cellnum[fi]
-      nflexintcell += int(cx) * int(cy) * int(cz)
-  return nflexintcell
-
-
-def _get_nflexface(mjm: mujoco.MjModel) -> int:
-  nflexface = 0
-  if mjm.nflex > 0:
-    for fi in range(mjm.nflex):
-      order = mjm.flex_interp[fi]
-      if order >= 0:
-        continue
-      cx, cy, cz = mjm.flex_cellnum[fi]
-      nfaces = 2 * (cy * cz + cx * cz + cx * cy)
-      nflexface += int(nfaces)
-  return nflexface
-
-
-def is_sparse(mjm: mujoco.MjModel) -> bool:
-  if mjm.opt.jacobian == mujoco.mjtJacobian.mjJAC_AUTO:
-    if mjm.nv > 32:
-      return True
-    else:
-      return False
-  else:
-    return bool(mujoco.mj_isSparse(mjm))
-
-
-def _m_blocks(mjm: mujoco.MjModel):
-  """The (start, size) diagonal blocks of M: the kinematic trees, each a contiguous dof range.
-
-  M couples a dof only with its tree ancestors, so its diagonal blocks are exactly the trees.
-  (dof_simplenum is not used to classify blocks: it is a contiguous-suffix run-length, so it
-  misses interspersed decoupled dofs; the M_rownnz coupling check in m_block_layout catches those.)
-  """
-  return [(int(adr), int(num)) for adr, num in zip(mjm.tree_dofadr, mjm.tree_dofnum) if num > 0]
-
-
-def m_block_layout(mjm: mujoco.MjModel) -> dict:
-  """Per-block dense/sparse layout for M's diagonal blocks.
-
-  Blocks use scalar Cholesky through six DOFs, tile Cholesky through M_BLOCK_DENSE_MAX, and sparse
-  LDL beyond that. Compact diagonal blocks also use the scalar path without allocating a factor.
-  """
-  nv = mjm.nv
-  blocks = _m_blocks(mjm)
-  dof_adr = np.full(nv, types.Q_LD_BLOCK_SPARSE, dtype=np.int32)
-  scalar_tiles = {}
-  gather_tiles = {}
-  off = 0
-  for start, size in blocks:
-    last = start + size - 1
-    madr = int(mjm.M_rowadr[start])
-    nnz = int(mjm.M_rowadr[last] + mjm.M_rownnz[last] - madr)
-    compact = nnz == size
-    triangular = nnz == size * (size + 1) // 2
-
-    if size <= types.M_BLOCK_SCALAR_MAX and (compact or triangular):
-      scalar_tiles.setdefault(size, []).append(start)
-      if compact:
-        dof_adr[start : start + size] = types.Q_LD_BLOCK_COMPACT
-      else:
-        dof_adr[start : start + size] = off
-        off += size * size
-    elif size <= types.M_BLOCK_DENSE_MAX:
-      gather_tiles.setdefault(size, []).append(start)
-      dof_adr[start : start + size] = off
-      off += size * size
-  for starts in scalar_tiles.values():
-    starts.sort(key=lambda start: dof_adr[start] >= 0)
-  return {
-    "total": off,
-    "dof_adr": dof_adr,
-    "scalar_tiles": scalar_tiles,
-    "gather_tiles": gather_tiles,
-    "has_sparse": bool(np.any(dof_adr == types.Q_LD_BLOCK_SPARSE)),
-  }
-
-
-def _filter_tri_geoms(
-  mjm: mujoco.MjModel,
-  v0: int,
-  v1: int,
-  v2: int,
-  geomids: np.ndarray,
-  filterparent: bool,
-) -> np.ndarray:
-  """Vectorized check for a single triangle vs multiple geoms."""
-  b0 = mjm.flex_vertbodyid[v0]
-  b1 = mjm.flex_vertbodyid[v1]
-  b2 = mjm.flex_vertbodyid[v2]
-
-  w0 = mjm.body_weldid[b0]
-  w1 = mjm.body_weldid[b1]
-  w2 = mjm.body_weldid[b2]
-
-  bg = mjm.geom_bodyid[geomids]
-  wg = mjm.body_weldid[bg]
-
-  is_self = (wg == w0) | (wg == w1) | (wg == w2)
-
-  is_parent = np.zeros_like(is_self, dtype=bool)
-  if filterparent:
-    wp0 = mjm.body_weldid[mjm.body_parentid[w0]]
-    wp1 = mjm.body_weldid[mjm.body_parentid[w1]]
-    wp2 = mjm.body_weldid[mjm.body_parentid[w2]]
-    wpg = mjm.body_weldid[mjm.body_parentid[wg]]
-
-    cond0 = (wg != 0) & (w0 != 0) & ((wg == wp0) | (w0 == wpg))
-    cond1 = (wg != 0) & (w1 != 0) & ((wg == wp1) | (w1 == wpg))
-    cond2 = (wg != 0) & (w2 != 0) & ((wg == wp2) | (w2 == wpg))
-    is_parent = cond0 | cond1 | cond2
-
-  sig0 = (b0 << 16) + geomids
-  sig1 = (b1 << 16) + geomids
-  sig2 = (b2 << 16) + geomids
-
-  is_excluded = (
-    np.isin(sig0, mjm.exclude_signature) | np.isin(sig1, mjm.exclude_signature) | np.isin(sig2, mjm.exclude_signature)
-  )
-
-  return is_self | is_parent | is_excluded
-
-
-def put_model(mjm: mujoco.MjModel, batch_sizes: dict[str, int] | None = None) -> types.Model:
-  """Creates a model on device.
-
-  Args:
-    mjm: The model containing kinematic and dynamic information (host).
-    batch_sizes: Optional per-field leading batch sizes for `Model` fields whose
-      array spec starts with `*`. Fields not listed here keep the default shared
-      leading dimension of 1.
-
-  Returns:
-    The model containing kinematic and dynamic information (device).
-  """
-  # check for compatible cuda toolkit and driver versions
-  warp_util.check_toolkit_driver()
-
-  batch_sizes = batch_sizes or {}
-  model_fields = {f.name: f.type for f in dataclasses.fields(types.Model) if _is_array_spec(f.type)}
-  for name, size in batch_sizes.items():
-    field_type = model_fields.get(name)
-    spec_shape = getattr(field_type, "shape", ())
-    if not spec_shape or spec_shape[0] != "*":
-      raise ValueError(f"Model field {name!r} is not a batched array field.")
-    if size < 1:
-      raise ValueError(f"batch_sizes[{name!r}] must be positive, got {size}.")
-
-  # model: check supported features in array types
-  for field, field_type, mj_type in (
-    (mjm.actuator_trntype, types.TrnType, mujoco.mjtTrn),
-    (mjm.actuator_dyntype, types.DynType, mujoco.mjtDyn),
-    (mjm.actuator_gaintype, types.GainType, mujoco.mjtGain),
-    (mjm.actuator_biastype, types.BiasType, mujoco.mjtBias),
-    (mjm.eq_type, types.EqType, mujoco.mjtEq),
-    (mjm.geom_type, types.GeomType, mujoco.mjtGeom),
-    (mjm.sensor_type, types.SensorType, mujoco.mjtSensor),
-    (mjm.wrap_type, types.WrapType, mujoco.mjtWrap),
-    (mjm.tree_sleep_policy, types.SleepPolicy, mujoco.mjtSleepPolicy),
-  ):
-    missing = ~np.isin(field, field_type)
-    if missing.any():
-      names = [mj_type(v).name for v in field[missing]]
-      raise NotImplementedError(f"{names} not supported.")
-
-  # opt: check supported features in scalar types
-  for field, field_type, mj_type in (
-    (mjm.opt.integrator, types.IntegratorType, mujoco.mjtIntegrator),
-    (mjm.opt.cone, types.ConeType, mujoco.mjtCone),
-    (mjm.opt.solver, types.SolverType, mujoco.mjtSolver),
-  ):
-    if field not in set(field_type):
-      raise NotImplementedError(f"{mj_type(field).name} is unsupported.")
-
-  # opt: check supported features in scalar flag types
-  for field, field_type, mj_type in (
-    (mjm.opt.disableflags, types.DisableBit, mujoco.mjtDisableBit),
-    (mjm.opt.enableflags, types.EnableBit, mujoco.mjtEnableBit),
-  ):
-    unsupported = field & ~np.bitwise_or.reduce(field_type)
-    if unsupported:
-      raise NotImplementedError(f"{mj_type(unsupported).name} is unsupported.")
-
-  if (mjm.opt.enableflags & mujoco.mjtEnableBit.mjENBL_SLEEP) and (mjm.eq_type == mujoco.mjtEq.mjEQ_FLEX).any():
-    raise NotImplementedError("Flex equality constraints are not supported with sleeping enabled.")
-
-  if mjm.opt.noslip_iterations > 0:
-    raise NotImplementedError(f"noslip solver not implemented.")
-
-  if (mjm.body_plugin != -1).any():
-    raise NotImplementedError("Body plugins not supported.")
-
-  if (mjm.actuator_plugin != -1).any():
-    raise NotImplementedError("Actuator plugins not supported.")
-
-  if (mjm.sensor_plugin != -1).any():
-    raise NotImplementedError("Sensor plugins not supported.")
-
-  if mjm.nflex > 0:
-    for fi in range(mjm.nflex):
-      if abs(mjm.flex_interp[fi]) == 2:
-        raise NotImplementedError("Quadratic flex interpolation (dof=quadratic) is not supported.")
-      if mjm.flex_interp[fi] >= 0:
-        continue
-      bendingadr = mjm.flex_bendingadr[fi]
-      if bendingadr < 0:
-        continue
-      nedge = int(mjm.flex_bending[bendingadr])
-      if nedge > 0 and mjm.flex_damping[fi] > 0.0:
-        warnings.warn("Bending damping is not yet supported for interpolated flex shells.")
-
-  # array sizes may change in the future
-  if mujoco.mjNPOLY != 2:
-    warnings.warn(f"mujoco.mjNPOLY is {mujoco.mjNPOLY}, expected 2. Higher order polynomials may not be supported correctly.")
-
-  # TODO(team): remove after _update_gradient for Newton uses tile operations for islands
-  nv_max = 60
-  if mjm.nv > nv_max and mjm.opt.jacobian == mujoco.mjtJacobian.mjJAC_DENSE:
-    raise ValueError(f"Dense is unsupported for nv > {nv_max} (nv = {mjm.nv}).")
-
-  # sleeping is supported via a dof-compaction approach.  awake dofs are compacted into dense
-  # nvmax-sized arrays.  nvmax is chosen to fit the worst-case active dof set. sleeping is only
-  # supported for Newton solver and requires nv <= nvmax.
-  if (mjm.opt.enableflags & mujoco.mjtEnableBit.mjENBL_SLEEP) and mjm.opt.solver != mujoco.mjtSolver.mjSOL_NEWTON:
-    raise ValueError(f"sleeping requires the Newton solver (got solver={types.SolverType(mjm.opt.solver).name})")
-
-  collision_sensors = (mujoco.mjtSensor.mjSENS_GEOMDIST, mujoco.mjtSensor.mjSENS_GEOMNORMAL, mujoco.mjtSensor.mjSENS_GEOMFROMTO)
-  is_collision_sensor = np.isin(mjm.sensor_type, collision_sensors)
-
-  def not_implemented(objtype, objid, geomtype):
-    if objtype == mujoco.mjtObj.mjOBJ_BODY:
-      geomnum = mjm.body_geomnum[objid]
-      geomadr = mjm.body_geomadr[objid]
-      for geomid in range(geomadr, geomadr + geomnum):
-        if mjm.geom_type[geomid] == geomtype:
-          return True
-    elif objtype == mujoco.mjtObj.mjOBJ_GEOM:
-      if mjm.geom_type[objid] == geomtype:
-        return True
-    return False
-
-  def _check_friction(name: str, id_: int, condim: int, friction, checks):
-    for min_condim, indices in checks:
-      if condim >= min_condim:
-        for idx in indices:
-          if friction[idx] < types.MJ_MINMU:
-            warnings.warn(
-              f"{name} {id_}: friction[{idx}] ({friction[idx]}) < MJ_MINMU ({types.MJ_MINMU}) with condim={condim} may cause NaN"
-            )
-
-  for geomid in range(mjm.ngeom):
-    _check_friction("geom", geomid, mjm.geom_condim[geomid], mjm.geom_friction[geomid], [(3, [0]), (4, [1]), (6, [2])])
-
-  for pairid in range(mjm.npair):
-    _check_friction("pair", pairid, mjm.pair_dim[pairid], mjm.pair_friction[pairid], [(3, [0]), (4, [1, 2]), (6, [3, 4])])
-
-  # create opt
-  opt_kwargs = {f.name: getattr(mjm.opt, f.name, None) for f in dataclasses.fields(types.Option)}
-  if hasattr(mjm.opt, "impratio"):
-    opt_kwargs["impratio_invsqrt"] = 1.0 / np.sqrt(np.maximum(mjm.opt.impratio, mujoco.mjMINVAL))
-  opt = types.Option(**opt_kwargs)
-
-  # C MuJoCo tolerance was chosen for float64 architecture, but we default to float32 on GPU
-  # adjust the tolerance for lower precision, to avoid the solver spending iterations needlessly
-  # bouncing around the optimal solution
-  opt.tolerance = max(opt.tolerance, 1e-6)
-
-  # warp only fields
-  opt.broadphase = types.BroadphaseType.NXN
-  opt.broadphase_filter = types.BroadphaseFilter.PLANE | types.BroadphaseFilter.SPHERE | types.BroadphaseFilter.OBB
-  opt.graph_conditional = True
-  opt.run_collision_detection = True
-  opt.warn_overflow = True
-  contact_sensor_maxmatch_id = mujoco.mj_name2id(mjm, mujoco.mjtObj.mjOBJ_NUMERIC, "contact_sensor_maxmatch")
-  if contact_sensor_maxmatch_id > -1:
-    opt.contact_sensor_maxmatch = mjm.numeric_data[mjm.numeric_adr[contact_sensor_maxmatch_id]]
-  else:
-    opt.contact_sensor_maxmatch = 64
-
-  # place opt on device
-  for f in dataclasses.fields(types.Option):
-    if _is_array_spec(f.type):
-      setattr(opt, f.name, _create_array(getattr(opt, f.name), f.type, {"*": 1}))
-    else:
-      setattr(opt, f.name, f.type(getattr(opt, f.name)))
-
-  # create stat
-  stat = types.Statistic(meaninertia=_create_array([mjm.stat.meaninertia], types.array("*", float), {"*": 1}))
-
-  # create model
-  m = types.Model(**{f.name: getattr(mjm, f.name, None) for f in dataclasses.fields(types.Model)})
-
-  m.opt = opt
-  m.stat = stat
-  m.callback = types.Callback()
-
-  m.nv_pad = _get_padded_sizes(
-    mjm.nv,
-    0,
-    is_sparse(mjm),
-    types.TILE_SIZE_JTDAJ_SPARSE if is_sparse(mjm) else types.TILE_SIZE_JTDAJ_DENSE,
-    augment_cholesky=mjm.opt.solver == mujoco.mjtSolver.mjSOL_NEWTON and mjm.nv > 32,
-  )[1]
-  m.nacttrnbody = (mjm.actuator_trntype == mujoco.mjtTrn.mjTRN_BODY).sum()
-  m.nsensortaxel = mjm.mesh_vertnum[mjm.sensor_objid[mjm.sensor_type == mujoco.mjtSensor.mjSENS_TACTILE]].sum()
-  m.nsensorcontact = (mjm.sensor_type == mujoco.mjtSensor.mjSENS_CONTACT).sum()
-  m.nrangefinder = (mjm.sensor_type == mujoco.mjtSensor.mjSENS_RANGEFINDER).sum()
-  condim_arrays = [np.array([0]), mjm.geom_condim, mjm.pair_dim]
-  if mjm.nflex > 0:
-    condim_arrays.append(mjm.flex_condim)
-    if (mjm.geom_type == mujoco.mjtGeom.mjGEOM_SDF).any():
-      raise NotImplementedError("Flex-SDF collision is not implemented.")
-    if (mjm.geom_type == mujoco.mjtGeom.mjGEOM_HFIELD).any():
-      raise NotImplementedError("Flex-HField collision is not implemented.")
-  m.nmaxcondim = np.concatenate(condim_arrays).max()
-  m.nmaxpyramid = np.maximum(1, 2 * (m.nmaxcondim - 1))
-  m.has_sdf_geom = (mjm.geom_type == mujoco.mjtGeom.mjGEOM_SDF).any()
-  m.has_ellipsoid_geom = (mjm.geom_type == mujoco.mjtGeom.mjGEOM_ELLIPSOID).any()
-  m.has_flex_selfcollide = bool(mjm.nflex > 0 and np.any(mjm.flex_selfcollide != 0))
-  m.has_3d_flex = bool(mjm.nflex > 0 and np.any(mjm.flex_dim == 3))
-  m.max_flex_dim = int(np.max(mjm.flex_dim)) if mjm.nflex > 0 else 0
-  m.block_dim = types.BlockDim()
-  # Derive CG solver block_dim from nv: clamp(round_up_to_32(nv), 32, 256)
-  _nv_block = max(32, min(256, ((mjm.nv + 31) // 32) * 32))
-  m.block_dim.update_gradient_grad = _nv_block
-  m.block_dim.solve_beta_accumulate = _nv_block
-  m.block_dim.solve_search_update_cg = _nv_block
-  m.block_dim.solve_init_search_cg = _nv_block
-  if mjm.nv > 500:
-    m.block_dim.linesearch_iterative = 256
-  m.is_sparse = is_sparse(mjm)
-  m.has_fluid = mjm.opt.wind.any() or mjm.opt.density > 0 or mjm.opt.viscosity > 0
-
-  m.nflexintcell = _get_nflexintcell(mjm)
-
-  # Precompute flex_cell_map
-  flex_cell_map = []
-  if mjm.nflex > 0:
-    for fi in range(mjm.nflex):
-      order = abs(int(mjm.flex_interp[fi]))
-      if order == 0:
-        continue
-      if mjm.flex_edgeequality[fi] == 3:
-        continue
-      cx, cy, cz = mjm.flex_cellnum[fi]
-      for ci in range(cx):
-        for cj in range(cy):
-          for ck in range(cz):
-            flex_cell_map.append((fi, ci, cj, ck))
-  if not flex_cell_map:
-    m.flex_cell_map = np.zeros((0, 4), dtype=np.int32)
-  else:
-    m.flex_cell_map = np.array(flex_cell_map, dtype=np.int32)
-
-  m.max_ten_J_rownnz = int(mjm.ten_J_rownnz.max()) if mjm.ntendon else 0
-
-  # body ids grouped by tree level (depth-based traversal)
-  bodies, body_depth = {}, np.zeros(mjm.nbody, dtype=int) - 1
-  for i in range(mjm.nbody):
-    body_depth[i] = body_depth[mjm.body_parentid[i]] + 1
-    bodies.setdefault(body_depth[i], []).append(i)
-  m.body_tree = tuple(wp.array(bodies[i], dtype=int) for i in sorted(bodies))
-
-  # branch-based traversal data
-  children_count = np.bincount(mjm.body_parentid[1:], minlength=mjm.nbody)
-  ancestor_chain = lambda b: ancestor_chain(mjm.body_parentid[b]) + [b] if b else []
-  branches = [ancestor_chain(l) for l in np.where(children_count[1:] == 0)[0] + 1]
-  m.nbranch = len(branches)
-
-  body_branches = []
-  body_branch_start = []
-  offset = 0
-
-  for branch in branches:
-    body_branches.extend(branch)
-    body_branch_start.append(offset)
-    offset += len(branch)
-  body_branch_start.append(offset)
-
-  m.body_branches = np.array(body_branches, dtype=int)
-  m.body_branch_start = np.array(body_branch_start, dtype=int)
-
-  m.mocap_bodyid = np.arange(mjm.nbody)[mjm.body_mocapid >= 0]
-  m.mocap_bodyid = m.mocap_bodyid[mjm.body_mocapid[mjm.body_mocapid >= 0].argsort()]
-  m.body_fluid_ellipsoid = np.zeros(mjm.nbody, dtype=bool)
-  m.body_fluid_ellipsoid[mjm.geom_bodyid[mjm.geom_fluid.reshape(mjm.ngeom, mujoco.mjNFLUID)[:, 0] > 0]] = True
-  m.body_fluid_ellipsoid_adr = np.nonzero(m.body_fluid_ellipsoid)[0]
-  body_fluid_box = np.zeros(mjm.nbody, dtype=bool)
-  for b in range(1, mjm.nbody):
-    if not m.body_fluid_ellipsoid[b] and mjm.body_mass[b] > 0.0:
-      body_fluid_box[b] = True
-  m.body_fluid_box_adr = np.nonzero(body_fluid_box)[0]
-  jnt_limited_slide_hinge = mjm.jnt_limited & np.isin(mjm.jnt_type, (mujoco.mjtJoint.mjJNT_SLIDE, mujoco.mjtJoint.mjJNT_HINGE))
-  m.jnt_limited_slide_hinge_adr = np.nonzero(jnt_limited_slide_hinge)[0]
-  m.jnt_limited_ball_adr = np.nonzero(mjm.jnt_limited & (mjm.jnt_type == mujoco.mjtJoint.mjJNT_BALL))[0]
-  m.dof_tri_row, m.dof_tri_col = np.triu_indices(mjm.nv)
-
-  # precompute body_isdofancestor: which DOFs affect each body
-  # TODO: Investigate alternative approach such as bitmap
-  body_isdofancestor = np.zeros((mjm.nbody, m.nv_pad), dtype=np.int32)
-  for bodyid in range(mjm.nbody):
-    b = bodyid
-    while b > 0 and mjm.body_dofnum[b] == 0:
-      b = mjm.body_parentid[b]
-    if mjm.body_dofnum[b] == 0:
-      continue
-    dofid = mjm.body_dofadr[b] + mjm.body_dofnum[b] - 1
-    while dofid >= 0:
-      body_isdofancestor[bodyid, dofid] = 1
-      dofid = mjm.dof_parentid[dofid]
-  m.body_isdofancestor = body_isdofancestor
-
-  # precalculated geom pairs
-  filterparent = not (mjm.opt.disableflags & types.DisableBit.FILTERPARENT)
-
-  geom1, geom2 = np.triu_indices(mjm.ngeom, k=1)
-  m.nxn_geom_pair = np.stack((geom1, geom2), axis=1)
-
-  bodyid1 = mjm.geom_bodyid[geom1]
-  bodyid2 = mjm.geom_bodyid[geom2]
-  contype1 = mjm.geom_contype[geom1]
-  contype2 = mjm.geom_contype[geom2]
-  conaffinity1 = mjm.geom_conaffinity[geom1]
-  conaffinity2 = mjm.geom_conaffinity[geom2]
-  weldid1 = mjm.body_weldid[bodyid1]
-  weldid2 = mjm.body_weldid[bodyid2]
-  weld_parentid1 = mjm.body_weldid[mjm.body_parentid[weldid1]]
-  weld_parentid2 = mjm.body_weldid[mjm.body_parentid[weldid2]]
-
-  self_collision = weldid1 == weldid2
-  parent_child_collision = (
-    filterparent & (weldid1 != 0) & (weldid2 != 0) & ((weldid1 == weld_parentid2) | (weldid2 == weld_parentid1))
-  )
-  mask = np.array((contype1 & conaffinity2) | (contype2 & conaffinity1), dtype=bool)
-  exclude = np.isin((bodyid1 << 16) + bodyid2, mjm.exclude_signature)
-
-  nxn_pairid_contact = -1 * np.ones(len(geom1), dtype=int)
-  nxn_pairid_contact[~(mask & ~self_collision & ~parent_child_collision & ~exclude)] = -2
-
-  # contact pairs
-  def upper_tri_index(n, i, j):
-    i, j = (j, i) if j < i else (i, j)
-    return (i * (2 * n - i - 3)) // 2 + j - 1
-
-  for i in range(mjm.npair):
-    nxn_pairid_contact[upper_tri_index(mjm.ngeom, mjm.pair_geom1[i], mjm.pair_geom2[i])] = i
-
-  sensor_collision_adr = np.nonzero(is_collision_sensor)[0]
-  collision_sensor_adr = np.full(mjm.nsensor, -1)
-  collision_sensor_adr[sensor_collision_adr] = np.arange(len(sensor_collision_adr))
-
-  nxn_pairid_collision = -1 * np.ones(len(geom1), dtype=int)
-  pairids = []
-  sensor_collision_start_adr = []
-  for i in range(sensor_collision_adr.size):
-    sensorid = sensor_collision_adr[i]
-    objtype = mjm.sensor_objtype[sensorid]
-    objid = mjm.sensor_objid[sensorid]
-    reftype = mjm.sensor_reftype[sensorid]
-    refid = mjm.sensor_refid[sensorid]
-
-    # get lists of geoms to collide
-    if objtype == types.ObjType.BODY:
-      n1 = mjm.body_geomnum[objid]
-      id1 = mjm.body_geomadr[objid]
-    else:
-      n1 = 1
-      id1 = objid
-    if reftype == types.ObjType.BODY:
-      n2 = mjm.body_geomnum[refid]
-      id2 = mjm.body_geomadr[refid]
-    else:
-      n2 = 1
-      id2 = refid
-
-    # collide all pairs
-    for geom1id in range(id1, id1 + n1):
-      for geom2id in range(id2, id2 + n2):
-        pairid = upper_tri_index(mjm.ngeom, geom1id, geom2id)
-
-        if pairid in pairids:
-          sensor_collision_start_adr.append(nxn_pairid_collision[pairid])
-        else:
-          npairids = len(pairids)
-          nxn_pairid_collision[pairid] = npairids
-          sensor_collision_start_adr.append(npairids)
-          pairids.append(pairid)
-
-  m.nsensorcollision = (nxn_pairid_collision >= 0).sum()
-  m.sensor_collision_start_adr = np.array(sensor_collision_start_adr)
-  nxn_include = (nxn_pairid_contact > -2) | (nxn_pairid_collision >= 0)
-
-  if nxn_include.sum() < 250_000:
-    opt.broadphase = types.BroadphaseType.NXN
-  elif mjm.ngeom < 1000:
-    opt.broadphase = types.BroadphaseType.SAP_TILE
-  else:
-    opt.broadphase = types.BroadphaseType.SAP_SEGMENTED
-
-  m.nxn_geom_pair_filtered = m.nxn_geom_pair[nxn_include]
-  m.nxn_pairid = np.hstack([nxn_pairid_contact.reshape((-1, 1)), nxn_pairid_collision.reshape((-1, 1))])
-  m.nxn_pairid_filtered = m.nxn_pairid[nxn_include]
-
-  # count contact pair types
-  def geom_trid_index(i, j):
-    i, j = (j, i) if j < i else (i, j)
-    return (i * (2 * len(types.GeomType) - i - 1)) // 2 + j
-
-  m.geom_pair_type_count = tuple(
-    np.bincount(
-      [geom_trid_index(mjm.geom_type[geom1[i]], mjm.geom_type[geom2[i]]) for i in np.arange(len(geom1)) if nxn_include[i]],
-      minlength=len(types.GeomType) * (len(types.GeomType) + 1) // 2,
-    )
-  )
-
-  # check for unsupported margin + multicontact / box-box CCD combinations
-  use_multiccd = (mjm.opt.disableflags & types.DisableBit.MULTICCD) == 0
-  nativeccd_disabled = mjm.opt.disableflags & types.DisableBit.NATIVECCD
-  BOX = int(mujoco.mjtGeom.mjGEOM_BOX)
-  MESH = int(mujoco.mjtGeom.mjGEOM_MESH)
-
-  # TODO(team): remove after implementing multicontact support for CCD pairs.
-  if use_multiccd:
-    unsupported_multiccd_pairs = []
-    for (g1, g2), col_type in MJ_COLLISION_TABLE.items():
-      if g1 == types.GeomType.BOX and g2 == types.GeomType.BOX and nativeccd_disabled:
-        continue
-      if col_type == types.CollisionType.CONVEX:
-        if g1 in (types.GeomType.SPHERE, types.GeomType.ELLIPSOID) or g2 in (
-          types.GeomType.SPHERE,
-          types.GeomType.ELLIPSOID,
-        ):
-          continue
-        if (g1, g2) not in (
-          (types.GeomType.BOX, types.GeomType.BOX),
-          (types.GeomType.BOX, types.GeomType.MESH),
-          (types.GeomType.MESH, types.GeomType.MESH),
-        ):
-          if m.geom_pair_type_count[geom_trid_index(int(g1), int(g2))] > 0:
-            unsupported_multiccd_pairs.append((g1.name, g2.name))
-    if unsupported_multiccd_pairs:
-      warnings.warn(
-        "MULTICCD is enabled, but the scene contains CCD pairs without multicontact support:"
-        f" {unsupported_multiccd_pairs}. At most 1 contact will be generated for these pairs."
-      )
-
-  has_boxbox = m.geom_pair_type_count[geom_trid_index(BOX, BOX)] > 0
-  has_multiccd_pairs = has_boxbox or (
-    use_multiccd
-    and (m.geom_pair_type_count[geom_trid_index(BOX, MESH)] > 0 or m.geom_pair_type_count[geom_trid_index(MESH, MESH)] > 0)
-  )
-
-  if has_multiccd_pairs:
-
-    def _check_margin(name, t1, t2, margin):
-      if use_multiccd:
-        raise NotImplementedError(
-          f"{name} has non-zero margin ({margin}) with MULTICCD enabled. Set margin to 0 or disable MULTICCD."
-        )
-      if t1 == BOX and t2 == BOX and not nativeccd_disabled:
-        raise NotImplementedError(
-          f"{name} has non-zero margin ({margin}) with NATIVECCD enabled. Set margin to 0 or disable NATIVECCD."
-        )
-
-    geom_name = lambda g: mujoco.mj_id2name(mjm, mujoco.mjtObj.mjOBJ_GEOM, g) or str(g)
-
-    for idx in np.nonzero(nxn_include & (nxn_pairid_contact == -1))[0]:
-      g1, g2 = int(geom1[idx]), int(geom2[idx])
-      t1, t2 = int(mjm.geom_type[g1]), int(mjm.geom_type[g2])
-      m1, m2 = float(mjm.geom_margin[g1]), float(mjm.geom_margin[g2])
-      if (m1 or m2) and t1 in (BOX, MESH) and t2 in (BOX, MESH):
-        _check_margin(f"geom pair ({geom_name(g1)}, {geom_name(g2)})", t1, t2, (m1, m2))
-
-    for pid in range(mjm.npair):
-      g1, g2 = int(mjm.pair_geom1[pid]), int(mjm.pair_geom2[pid])
-      t1, t2 = int(mjm.geom_type[g1]), int(mjm.geom_type[g2])
-      pm = float(mjm.pair_margin[pid])
-      if pm and t1 in (BOX, MESH) and t2 in (BOX, MESH):
-        _check_margin(f"pair {pid} ({geom_name(g1)}, {geom_name(g2)})", t1, t2, pm)
-
-  m.nmaxpolygon = np.append(mjm.mesh_polyvertnum, 0).max()
-  m.nmaxmeshdeg = np.append(mjm.mesh_polymapnum, 0).max()
-
-  # filter plugins for only geom plugins, drop the rest
-  m.plugin, m.plugin_attr = [], []
-  m.geom_plugin_index = np.full_like(mjm.geom_type, -1)
-
-  for i in range(len(mjm.geom_plugin)):
-    if mjm.geom_plugin[i] == -1:
-      continue
-    p = mjm.geom_plugin[i]
-    m.geom_plugin_index[i] = len(m.plugin)
-    m.plugin.append(mjm.plugin[p])
-    start = mjm.plugin_attradr[p]
-    end = mjm.plugin_attradr[p + 1] if p + 1 < mjm.nplugin else len(mjm.plugin_attr)
-    values = mjm.plugin_attr[start:end]
-    attr_values = []
-    current = []
-    for v in values:
-      if v == 0:
-        if current:
-          s = "".join(chr(int(x)) for x in current)
-          attr_values.append(float(s))
-          current = []
-      else:
-        current.append(v)
-    if len(attr_values) > types._NPLUGINATTR:
-      raise ValueError(f"Plugin has {len(attr_values)} attributes, which exceeds the maximum of {types._NPLUGINATTR}. ")
-    # pad with zeros to _NPLUGINATTR
-    attr_values += [0.0] * (types._NPLUGINATTR - len(attr_values))
-    m.plugin_attr.append(attr_values[: types._NPLUGINATTR])
-
-  # equality constraint addresses
-  m.eq_connect_adr = np.nonzero(mjm.eq_type == types.EqType.CONNECT)[0]
-  m.eq_wld_adr = np.nonzero(mjm.eq_type == types.EqType.WELD)[0]
-  m.eq_jnt_adr = np.nonzero(mjm.eq_type == types.EqType.JOINT)[0]
-  m.eq_ten_adr = np.nonzero(mjm.eq_type == types.EqType.TENDON)[0]
-  m.eq_flex_adr = np.nonzero(mjm.eq_type == types.EqType.FLEX)[0]
-  m.eq_flexstrain_adr = np.nonzero(mjm.eq_type == types.EqType.FLEXSTRAIN)[0]
-  m.neq_flexstrain = m.eq_flexstrain_adr.size
-  # Precompute flex strain Jacobian sparsity pattern
-  flexstrain_J_rownnz = []
-  flexstrain_J_colind = []
-
-  if m.neq_flexstrain > 0:
-    for eqstrainid, eqid in enumerate(m.eq_flexstrain_adr):
-      f = int(mjm.eq_obj1id[eqid])
-      order = int(mjm.flex_interp[f])
-      order_abs = abs(order)
-      ci = int(mjm.eq_data[eqid, 0])
-      cj = int(mjm.eq_data[eqid, 1])
-      ck = int(mjm.eq_data[eqid, 2])
-
-      cellnum = mjm.flex_cellnum[f]
-      cy = cellnum[1]
-      cz = cellnum[2]
-      nstart = mjm.flex_nodeadr[f]
-      ny_g = cy * order_abs + 1
-      nz_g = cz * order_abs + 1
-
-      if order < 0:
-        # Shell mode: 2D bilinear quad
-        npc = (order_abs + 1) * (order_abs + 1)
-        node_bodies = []
-        for idx in range(npc):
-          gidx = support.gather_face_node_index(int(cellnum[0]), int(cy), int(cz), ci, idx, order_abs)
-          node_bodies.append(mjm.flex_nodebodyid[nstart + gidx])
-      else:
-        # Solid mode: 3D trilinear voxel
-        node_bodies = [
-          mjm.flex_nodebodyid[
-            nstart + (ci * order_abs + li) * ny_g * nz_g + (cj * order_abs + lj) * nz_g + (ck * order_abs + lk)
-          ]
-          for li in range(order_abs + 1)
-          for lj in range(order_abs + 1)
-          for lk in range(order_abs + 1)
-        ]
-
-      active_dof_mask = np.any(body_isdofancestor[node_bodies, :] != 0, axis=0)
-      sorted_dofs = np.nonzero(active_dof_mask)[0].tolist()
-      flexstrain_J_rownnz.append(len(sorted_dofs))
-      flexstrain_J_colind.extend(sorted_dofs)
-
-    m.flexstrain_J_rownnz = np.array(flexstrain_J_rownnz, dtype=np.int32)
-    m.flexstrain_J_colind = np.array(flexstrain_J_colind, dtype=np.int32)
-    m.flexstrain_J_rowadr = np.cumsum([0] + flexstrain_J_rownnz[:-1], dtype=np.int32)
-  else:
-    m.flexstrain_J_rownnz = np.zeros((0,), dtype=np.int32)
-    m.flexstrain_J_rowadr = np.zeros((0,), dtype=np.int32)
-    m.flexstrain_J_colind = np.zeros((0,), dtype=np.int32)
-
-  m.nJfs = m.flexstrain_J_colind.size
-
-  # fixed tendon
-  m.tendon_jnt_adr, m.wrap_jnt_adr = [], []
-  for i in range(mjm.ntendon):
-    adr = mjm.tendon_adr[i]
-    if mjm.wrap_type[adr] == mujoco.mjtWrap.mjWRAP_JOINT:
-      tendon_num = mjm.tendon_num[i]
-      for j in range(tendon_num):
-        m.tendon_jnt_adr.append(i)
-        m.wrap_jnt_adr.append(adr + j)
-
-  # spatial tendon
-  m.tendon_site_pair_adr, m.tendon_geom_adr = [], []
-  m.ten_wrapadr_site, m.ten_wrapnum_site = [0], []
-  for i, tendon_num in enumerate(mjm.tendon_num):
-    adr = mjm.tendon_adr[i]
-    # sites
-    if (mjm.wrap_type[adr : adr + tendon_num] == mujoco.mjtWrap.mjWRAP_SITE).all():
-      if i < mjm.ntendon:
-        m.ten_wrapadr_site.append(m.ten_wrapadr_site[-1] + tendon_num)
-      m.ten_wrapnum_site.append(tendon_num)
-    else:
-      if i < mjm.ntendon:
-        m.ten_wrapadr_site.append(m.ten_wrapadr_site[-1])
-      m.ten_wrapnum_site.append(0)
-
-    # geoms
-    for j in range(tendon_num):
-      wrap_type = mjm.wrap_type[adr + j]
-      if j < tendon_num - 1:
-        next_wrap_type = mjm.wrap_type[adr + j + 1]
-        if wrap_type == mujoco.mjtWrap.mjWRAP_SITE and next_wrap_type == mujoco.mjtWrap.mjWRAP_SITE:
-          m.tendon_site_pair_adr.append(i)
-      if wrap_type == mujoco.mjtWrap.mjWRAP_SPHERE or wrap_type == mujoco.mjtWrap.mjWRAP_CYLINDER:
-        m.tendon_geom_adr.append(i)
-
-  m.tendon_limited_adr = np.nonzero(mjm.tendon_limited)[0]
-  m.wrap_site_adr = np.nonzero(mjm.wrap_type == mujoco.mjtWrap.mjWRAP_SITE)[0]
-  m.wrap_site_pair_adr = np.setdiff1d(m.wrap_site_adr[np.nonzero(np.diff(m.wrap_site_adr) == 1)[0]], mjm.tendon_adr[1:] - 1)
-  m.wrap_geom_adr = np.nonzero(np.isin(mjm.wrap_type, [mujoco.mjtWrap.mjWRAP_SPHERE, mujoco.mjtWrap.mjWRAP_CYLINDER]))[0]
-
-  # pulley scaling
-  m.wrap_pulley_scale = np.ones(mjm.nwrap, dtype=float)
-  pulley_adr = np.nonzero(mjm.wrap_type == mujoco.mjtWrap.mjWRAP_PULLEY)[0]
-  for tadr, tnum in zip(mjm.tendon_adr, mjm.tendon_num):
-    for padr in pulley_adr:
-      if tadr <= padr < tadr + tnum:
-        m.wrap_pulley_scale[padr : tadr + tnum] = 1.0 / mjm.wrap_prm[padr]
-
-  m.actuator_trntype_body_adr = np.nonzero(mjm.actuator_trntype == mujoco.mjtTrn.mjTRN_BODY)[0]
-
-  # sensor addresses
-  m.sensor_pos_adr = np.nonzero(
-    (mjm.sensor_needstage == mujoco.mjtStage.mjSTAGE_POS)
-    & (mjm.sensor_type != mujoco.mjtSensor.mjSENS_JOINTLIMITPOS)
-    & (mjm.sensor_type != mujoco.mjtSensor.mjSENS_TENDONLIMITPOS)
-  )[0]
-  m.sensor_limitpos_adr = np.nonzero(
-    (mjm.sensor_type == mujoco.mjtSensor.mjSENS_JOINTLIMITPOS) | (mjm.sensor_type == mujoco.mjtSensor.mjSENS_TENDONLIMITPOS)
-  )[0]
-  m.sensor_vel_adr = np.nonzero(
-    (mjm.sensor_needstage == mujoco.mjtStage.mjSTAGE_VEL)
-    & (mjm.sensor_type != mujoco.mjtSensor.mjSENS_JOINTLIMITVEL)
-    & (mjm.sensor_type != mujoco.mjtSensor.mjSENS_TENDONLIMITVEL)
-  )[0]
-  m.sensor_limitvel_adr = np.nonzero(
-    (mjm.sensor_type == mujoco.mjtSensor.mjSENS_JOINTLIMITVEL) | (mjm.sensor_type == mujoco.mjtSensor.mjSENS_TENDONLIMITVEL)
-  )[0]
-  m.sensor_acc_adr = np.nonzero(
-    (mjm.sensor_needstage == mujoco.mjtStage.mjSTAGE_ACC)
-    & (
-      (mjm.sensor_type != mujoco.mjtSensor.mjSENS_TOUCH)
-      | (mjm.sensor_type != mujoco.mjtSensor.mjSENS_JOINTLIMITFRC)
-      | (mjm.sensor_type != mujoco.mjtSensor.mjSENS_TENDONLIMITFRC)
-      | (mjm.sensor_type != mujoco.mjtSensor.mjSENS_TENDONACTFRC)
-    )
-  )[0]
-  m.sensor_rangefinder_adr = np.nonzero(mjm.sensor_type == mujoco.mjtSensor.mjSENS_RANGEFINDER)[0]
-  m.rangefinder_sensor_adr = np.full(mjm.nsensor, -1)
-  m.rangefinder_sensor_adr[m.sensor_rangefinder_adr] = np.arange(len(m.sensor_rangefinder_adr))
-  m.collision_sensor_adr = np.full(mjm.nsensor, -1)
-  m.collision_sensor_adr[sensor_collision_adr] = np.arange(len(sensor_collision_adr))
-  m.sensor_touch_adr = np.nonzero(mjm.sensor_type == mujoco.mjtSensor.mjSENS_TOUCH)[0]
-  limitfrc_sensors = (mujoco.mjtSensor.mjSENS_JOINTLIMITFRC, mujoco.mjtSensor.mjSENS_TENDONLIMITFRC)
-  m.sensor_limitfrc_adr = np.nonzero(np.isin(mjm.sensor_type, limitfrc_sensors))[0]
-  m.sensor_e_potential = (mjm.sensor_type == mujoco.mjtSensor.mjSENS_E_POTENTIAL).any()
-  m.sensor_e_kinetic = (mjm.sensor_type == mujoco.mjtSensor.mjSENS_E_KINETIC).any()
-  m.sensor_tendonactfrc_adr = np.nonzero(mjm.sensor_type == mujoco.mjtSensor.mjSENS_TENDONACTFRC)[0]
-  subtreevel_sensors = (mujoco.mjtSensor.mjSENS_SUBTREELINVEL, mujoco.mjtSensor.mjSENS_SUBTREEANGMOM)
-  m.sensor_subtree_vel = np.isin(mjm.sensor_type, subtreevel_sensors).any()
-  m.sensor_contact_adr = np.nonzero(mjm.sensor_type == mujoco.mjtSensor.mjSENS_CONTACT)[0]
-  m.sensor_adr_to_contact_adr = np.clip(np.cumsum(mjm.sensor_type == mujoco.mjtSensor.mjSENS_CONTACT) - 1, a_min=0, a_max=None)
-  m.sensor_rne_postconstraint = np.isin(
-    mjm.sensor_type,
-    [
-      mujoco.mjtSensor.mjSENS_ACCELEROMETER,
-      mujoco.mjtSensor.mjSENS_FORCE,
-      mujoco.mjtSensor.mjSENS_TORQUE,
-      mujoco.mjtSensor.mjSENS_FRAMELINACC,
-      mujoco.mjtSensor.mjSENS_FRAMEANGACC,
-    ],
-  ).any()
-  m.sensor_rangefinder_bodyid = mjm.site_bodyid[mjm.sensor_objid[mjm.sensor_type == mujoco.mjtSensor.mjSENS_RANGEFINDER]]
-  m.taxel_vertadr = [
-    j + mjm.mesh_vertadr[mjm.sensor_objid[i]]
-    for i in range(mjm.nsensor)
-    if mjm.sensor_type[i] == mujoco.mjtSensor.mjSENS_TACTILE
-    for j in range(mjm.mesh_vertnum[mjm.sensor_objid[i]])
-  ]
-  m.taxel_sensorid = [
-    i
-    for i in range(mjm.nsensor)
-    if mjm.sensor_type[i] == mujoco.mjtSensor.mjSENS_TACTILE
-    for j in range(mjm.mesh_vertnum[mjm.sensor_objid[i]])
-  ]
-
-  # Per-block scalar/tile/sparse layout (see m_block_layout).
-  _lay = m_block_layout(mjm)
-  m.qLD_block_total = _lay["total"]  # packed dense region length / offset of the LDL region
-  m.qLD_block_adr = _lay["dof_adr"]
-
-  scalar_tiles = [
-    types.TileSet(
-      adr=wp.array(_lay["scalar_tiles"][size], dtype=int),
-      size=size,
-    )
-    for size in sorted(_lay["scalar_tiles"])
-  ]
-  gather_tiles = [
-    types.TileSet(adr=wp.array(_lay["gather_tiles"][size], dtype=int), size=size) for size in sorted(_lay["gather_tiles"])
-  ]
-  m.M_tiles = tuple(scalar_tiles + gather_tiles)
-
-  # Group sparse LDL updates by tree depth. Block-path DOFs never touch the LDL region.
-  sparse_updates, dof_depth = {}, np.zeros(mjm.nv, dtype=int) - 1
-
-  for k in range(mjm.nv):
-    # skip diagonal rows
-    if mjm.M_rownnz[k] == 1:
-      continue
-    dof_depth[k] = dof_depth[mjm.dof_parentid[k]] + 1
-    if _lay["dof_adr"][k] != types.Q_LD_BLOCK_SPARSE:
-      continue
-    i = mjm.dof_parentid[k]
-    diag_k = mjm.M_rowadr[k] + mjm.M_rownnz[k] - 1
-    Madr_ki = diag_k - 1
-    while i > -1:
-      sparse_updates.setdefault(dof_depth[i], []).append((i, k, Madr_ki))
-      i = mjm.dof_parentid[i]
-      Madr_ki -= 1
-  m.qLD_updates = tuple(wp.array(sparse_updates[i], dtype=wp.vec3i) for i in sorted(sparse_updates))
-
-  # Build concatenated updates for fused kernel
-  all_updates_flat = []
-  level_offsets = [0]
-  for level in sorted(sparse_updates):
-    all_updates_flat.extend(sparse_updates[level])
-    level_offsets.append(len(all_updates_flat))
-  m.qLD_all_updates = all_updates_flat if all_updates_flat else [(0, 0, 0)]
-  m.qLD_level_offsets = level_offsets
-
-  # Indices for sparse M_fullm (used in solver). M_fullm_i/j are built by
-  # walking dof_parentid for each dof, so for joint types whose internal block
-  # MuJoCo stores diagonal-only in the compact (M_rownnz, M_rowadr) layout
-  # (e.g. free joints), the chain-aware layout here has more entries per row
-  # than the compact layout.
-  m.M_fullm_i, m.M_fullm_j = [], []
-  for i in range(mjm.nv):
-    j = i
-    while j > -1:
-      m.M_fullm_i.append(i)
-      m.M_fullm_j.append(j)
-      j = mjm.dof_parentid[j]
-  # M_elemid maps (row, col) -> madr index in the native CSR M layout
-  M_elemid = np.full((mjm.nv, mjm.nv), -1, dtype=np.int32)
-  # M_hinit_i: row index of each CSR entry (its madr is the flat index). The dense Newton H-init
-  # uses (M_hinit_i, M_colind) to scatter M's upper triangle into the dense H tile from CSR.
-  M_hinit_i = np.zeros(mjm.nC, dtype=np.int32)
-  for i in range(mjm.nv):
-    rowadr = mjm.M_rowadr[i]
-    rownnz = mjm.M_rownnz[i]
-    for k in range(rownnz):
-      madr = rowadr + k
-      col = int(mjm.M_colind[madr])
-      M_elemid[i, col] = madr
-      M_hinit_i[madr] = i
-  m.M_elemid = M_elemid
-  m.M_hinit_i = M_hinit_i
-
-  # Precompute per-block gather indices for the dense-block densify (tile_load_indexed). For each
-  # dense block and flat slot (row, col), store the CSR address of M[max(i,j), min(i,j)], or nC
-  # (out of bounds -> read as 0) for structurally absent pairs. Laid out [block, slot] so the kernel
-  # reads slice (block_size^2,) at offset blk * block_size^2.
-  for tile in gather_tiles:
-    sz = tile.size
-    starts = np.array(_lay["gather_tiles"][sz], dtype=np.int32)
-    dofs = starts[:, None] + np.arange(sz)[None, :]  # (nblock, sz) global dof per block row
-    gi = dofs[:, :, None]  # (nblock, sz, 1)
-    gj = dofs[:, None, :]  # (nblock, 1, sz)
-    elemid = M_elemid[np.maximum(gi, gj), np.minimum(gi, gj)]  # (nblock, sz, sz), -1 if absent
-    elemid = np.where(elemid >= 0, elemid, mjm.nC)
-    tile.elemid = wp.array(elemid.reshape(-1).astype(np.int32), dtype=int)
-
-  upper_j, upper_i = np.triu_indices(mjm.nv)
-  upper_elemid = M_elemid[upper_i, upper_j]
-  valid_mask = upper_elemid != -1
-  m.M_fullm_upper_i = upper_j[valid_mask].tolist()
-  m.M_fullm_upper_j = upper_i[valid_mask].tolist()
-  m.M_fullm_upper_elemid = upper_elemid[valid_mask].tolist()
-
-  # indices for sparse qD_fullm (used in RNE derivatives)
-  # D-structure is the full square sparsity pattern (both upper and lower triangle)
-  m.qD_fullm_i, m.qD_fullm_j = [], []
-  for i in range(mjm.nv):
-    rowadr = mjm.D_rowadr[i]
-    rownnz = mjm.D_rownnz[i]
-    for k in range(rownnz):
-      m.qD_fullm_i.append(i)
-      m.qD_fullm_j.append(int(mjm.D_colind[rowadr + k]))
-  m.nD = mjm.nD
-
-  # Gather-based sparse mul_m: for each row, all (col, madr) including diagonal
-  row_elements = [[] for _ in range(mjm.nv)]
-
-  for i in range(mjm.nv):
-    rowadr = mjm.M_rowadr[i]
-    rownnz = mjm.M_rownnz[i]
-    for k in range(rownnz):
-      madr = rowadr + k
-      col = int(mjm.M_colind[madr])
-      row_elements[i].append((col, madr))  # row i gathers M[i,col] * vec[col]
-      if i != col:
-        row_elements[col].append((i, madr))  # row col gathers M[i,col] * vec[i]
-
-  # Flatten into CSR-like arrays
-  m.M_mulm_rowadr = [0]
-  m.M_mulm_col = []
-  m.M_mulm_madr = []
-  for i in range(mjm.nv):
-    for col, madr in row_elements[i]:
-      m.M_mulm_col.append(col)
-      m.M_mulm_madr.append(madr)
-    m.M_mulm_rowadr.append(len(m.M_mulm_col))
-
-  m.flexedge_J_rownnz = mjm.flexedge_J_rownnz
-  m.flexedge_J_rowadr = mjm.flexedge_J_rowadr
-  m.flexedge_J_colind = mjm.flexedge_J_colind.reshape(-1)
-
-  # Populate lookup maps and candidate pairs
-  flexelem_geom_pairs = []
-  flexvert_geom_pairs = []
-
-  flex_elemflexid = np.zeros(mjm.nflexelem, dtype=np.int32)
-  flex_shellflexid = np.zeros(mjm.nflexshelldata, dtype=np.int32)
-  flex_evpairflexid = np.zeros(mjm.nflexevpair, dtype=np.int32)
-  flex_vertflexid = np.zeros(mjm.nflexvert, dtype=np.int32)
-  flex_shelladr = np.zeros(mjm.nflex, dtype=np.int32)
-
-  if mjm.nflex > 0:
-    shell_offset = 0
-    for fi in range(mjm.nflex):
-      fct = mjm.flex_contype[fi]
-      fca = mjm.flex_conaffinity[fi]
-      fdim = mjm.flex_dim[fi]
-
-      # Mappings loop
-      elem_start = mjm.flex_elemadr[fi]
-      elem_num = mjm.flex_elemnum[fi]
-      flex_elemflexid[elem_start : elem_start + elem_num] = fi
-
-      ev_start = mjm.flex_evpairadr[fi]
-      ev_num = mjm.flex_evpairnum[fi]
-      flex_evpairflexid[ev_start : ev_start + ev_num] = fi
-
-      flex_shelladr[fi] = shell_offset
-      shell_num = mjm.flex_shellnum[fi]
-      flex_shellflexid[shell_offset : shell_offset + shell_num] = fi
-      shell_offset += shell_num
-
-      vert_start = mjm.flex_vertadr[fi]
-      vert_num = mjm.flex_vertnum[fi]
-      flex_vertflexid[vert_start : vert_start + vert_num] = fi
-
-      # Candidate pairs loop
-      match = ((mjm.geom_contype & fca) != 0) | ((fct & mjm.geom_conaffinity) != 0)
-      is_prim = np.isin(
-        mjm.geom_type,
-        [
-          mujoco.mjtGeom.mjGEOM_SPHERE,
-          mujoco.mjtGeom.mjGEOM_CAPSULE,
-          mujoco.mjtGeom.mjGEOM_BOX,
-          mujoco.mjtGeom.mjGEOM_CYLINDER,
-          mujoco.mjtGeom.mjGEOM_MESH,
-          mujoco.mjtGeom.mjGEOM_ELLIPSOID,
-        ],
-      )
-      is_pl = mjm.geom_type == mujoco.mjtGeom.mjGEOM_PLANE
-
-      matching_primitive_geoms = np.where(match & is_prim)[0]
-      matching_plane_geoms = np.where(match & is_pl)[0]
-
-      vert_start = mjm.flex_vertadr[fi]
-
-      if fdim == 2:
-        elemdata_start = mjm.flex_elemdataadr[fi]
-        for e in range(elem_num):
-          elemid = elem_start + e
-          v0 = vert_start + mjm.flex_elem[elemdata_start + e * 3]
-          v1 = vert_start + mjm.flex_elem[elemdata_start + e * 3 + 1]
-          v2 = vert_start + mjm.flex_elem[elemdata_start + e * 3 + 2]
-
-          if len(matching_primitive_geoms) > 0:
-            filtered = _filter_tri_geoms(mjm, v0, v1, v2, matching_primitive_geoms, filterparent)
-            for g in matching_primitive_geoms[~filtered]:
-              flexelem_geom_pairs.append((elemid, g))
-
-      # Planes vs Vertices
-      if len(matching_plane_geoms) > 0:
-        vert_count = mjm.flex_vertnum[fi]
-        for v in range(vert_count):
-          vertid = vert_start + v
-          bv = mjm.flex_vertbodyid[vertid]
-          wv = mjm.body_weldid[bv]
-
-          bg = mjm.geom_bodyid[matching_plane_geoms]
-          wg = mjm.body_weldid[bg]
-
-          mask = wg != wv
-
-          if filterparent:
-            wpv = mjm.body_weldid[mjm.body_parentid[wv]]
-            wpg = mjm.body_weldid[mjm.body_parentid[wg]]
-            mask &= ~((wg != 0) & (wv != 0) & ((wg == wpv) | (wv == wpg)))
-
-          sig = (bv << 16) + matching_plane_geoms
-          mask &= ~np.isin(sig, mjm.exclude_signature)
-
-          for g in matching_plane_geoms[mask]:
-            flexvert_geom_pairs.append((vertid, g))
-
-  if not flexelem_geom_pairs:
-    flexelem_geom_pairs = np.zeros((0, 2), dtype=np.int32)
-  if not flexvert_geom_pairs:
-    flexvert_geom_pairs = np.zeros((0, 2), dtype=np.int32)
-
-  m.flexelem_geom_pair_filtered = np.array(flexelem_geom_pairs, dtype=np.int32)
-  m.flexvert_geom_pair_filtered = np.array(flexvert_geom_pairs, dtype=np.int32)
-
-  m.flex_elemflexid = flex_elemflexid
-  m.flex_shellflexid = flex_shellflexid
-  m.flex_evpairflexid = flex_evpairflexid
-  m.flex_vertflexid = flex_vertflexid
-  m.flex_shelladr = flex_shelladr
-
-  flex_bend_interp_map = []
-  flex_face_map = []
-  flex_faceadr = np.zeros(mjm.nflex, dtype=np.int32)
-  if mjm.nflex > 0:
-    face_offset = 0
-    for fi in range(mjm.nflex):
-      flex_faceadr[fi] = face_offset
-      order = mjm.flex_interp[fi]
-      if order >= 0:
-        continue
-
-      bendingadr = mjm.flex_bendingadr[fi]
-      if bendingadr >= 0:
-        nedge = int(mjm.flex_bending[bendingadr])
-        for e in range(nedge):
-          flex_bend_interp_map.append((fi, e))
-
-      cx, cy, cz = mjm.flex_cellnum[fi]
-      nfaces = 2 * (cy * cz + cx * cz + cx * cy)
-      for face_idx in range(nfaces):
-        flex_face_map.append((fi, face_idx))
-      face_offset += nfaces
-
-  if not flex_bend_interp_map:
-    m.nflexbend_interp = 0
-    m.flex_bend_interp_map = np.zeros((0, 2), dtype=np.int32)
-  else:
-    m.nflexbend_interp = len(flex_bend_interp_map)
-    m.flex_bend_interp_map = np.array(flex_bend_interp_map, dtype=np.int32)
-
-  if not flex_face_map:
-    m.nflexface = 0
-    m.flex_face_map = np.zeros((0, 2), dtype=np.int32)
-  else:
-    m.nflexface = len(flex_face_map)
-    m.flex_face_map = np.array(flex_face_map, dtype=np.int32)
-  m.flex_faceadr = flex_faceadr
-
-  if m.nflexface > 0:
-    flex_face = np.zeros((m.nflexface, 9), dtype=np.int32)
-    for face_id, (fi, face_elem_idx) in enumerate(flex_face_map):
-      order = mjm.flex_interp[fi]
-      order_abs = -order
-      cx, cy, cz = mjm.flex_cellnum[fi]
-      nstart = mjm.flex_nodeadr[fi]
-      npc = (order_abs + 1) * (order_abs + 1)
-
-      for local_idx in range(9):
-        if local_idx < npc:
-          gidx = support.gather_face_node_index(int(cx), int(cy), int(cz), int(face_elem_idx), int(local_idx), int(order_abs))
-          flex_face[face_id, local_idx] = nstart + gidx
-        else:
-          flex_face[face_id, local_idx] = -1
-    m.flex_face = flex_face
-  else:
-    m.flex_face = np.zeros((0, 9), dtype=np.int32)
-
-  sizes = {f.name: getattr(m, f.name) for f in dataclasses.fields(types.Model) if f.type is int}
-  sizes.update(
-    {
-      "nbody_branches": len(m.body_branches),
-      "nbranch_start": len(m.body_branch_start),
-      "nbody_fluid_ellipsoid": len(m.body_fluid_ellipsoid_adr),
-      "nbody_fluid_box": len(m.body_fluid_box_adr),
-      "njnt_limited_slide_hinge": len(m.jnt_limited_slide_hinge_adr),
-      "njnt_limited_ball": len(m.jnt_limited_ball_adr),
-      "ndof_tri": len(m.dof_tri_row),
-      "nnxn_geom_pair": len(m.nxn_geom_pair),
-      "nnxn_geom_pair_filtered": len(m.nxn_geom_pair_filtered),
-      "neq_connect": len(m.eq_connect_adr),
-      "neq_wld": len(m.eq_wld_adr),
-      "neq_jnt": len(m.eq_jnt_adr),
-      "neq_ten": len(m.eq_ten_adr),
-      "neq_flex": len(m.eq_flex_adr),
-      "ntendon_jnt": len(m.tendon_jnt_adr),
-      "ntendon_site_pair": len(m.tendon_site_pair_adr),
-      "ntendon_geom": len(m.tendon_geom_adr),
-      "ntendon_limited": len(m.tendon_limited_adr),
-      "nten_wrapadr_site": len(m.ten_wrapadr_site),
-      "nwrap_jnt": len(m.wrap_jnt_adr),
-      "nwrap_site": len(m.wrap_site_adr),
-      "nwrap_site_pair": len(m.wrap_site_pair_adr),
-      "nwrap_geom": len(m.wrap_geom_adr),
-      "nsensor_pos": len(m.sensor_pos_adr),
-      "nsensor_limitpos": len(m.sensor_limitpos_adr),
-      "nsensor_vel": len(m.sensor_vel_adr),
-      "nsensor_limitvel": len(m.sensor_limitvel_adr),
-      "nsensor_acc": len(m.sensor_acc_adr),
-      "nsensor_touch": len(m.sensor_touch_adr),
-      "nsensor_limitfrc": len(m.sensor_limitfrc_adr),
-      "nsensor_tendonactfrc": len(m.sensor_tendonactfrc_adr),
-      "nsensor_collision_start_adr": len(m.sensor_collision_start_adr),
-      "nqLD_all_updates": len(m.qLD_all_updates),
-      "nqLD_level_offsets": len(m.qLD_level_offsets),
-      "nM_fullm": len(m.M_fullm_i),
-      "nM_fullm_upper": len(m.M_fullm_upper_i),
-      "nqD_fullm": len(m.qD_fullm_i),
-      "nv_plus_1": len(m.M_mulm_rowadr),
-      "nM_mulm": len(m.M_mulm_col),
-      "nflexelem_geom_pair_filtered": len(m.flexelem_geom_pair_filtered),
-      "nflexvert_geom_pair_filtered": len(m.flexvert_geom_pair_filtered),
-    }
-  )
-  for f in dataclasses.fields(types.Model):
-    if _is_array_spec(f.type):
-      batch_size = batch_sizes.get(f.name, 1)
-      setattr(m, f.name, _create_array(getattr(m, f.name), f.type, sizes, batch_size))
-
-  _mark_batched(m)
-  return m
-
-
-def _get_padded_sizes(nv: int, njmax: int, is_sparse: bool, tile_size: int, augment_cholesky: bool = False):
-  def round_up(x, multiple):
-    return ((x + multiple - 1) // multiple) * multiple
-
-  njmax_padded = round_up(njmax, tile_size)
-  nv_padded = round_up(nv + int(augment_cholesky), tile_size) if (is_sparse or nv > 32) else round_up(nv, 4)
-
-  return njmax_padded, nv_padded
-
-
-def _nvmax_pad(nvmax: int) -> int:
-  """Reserve an augmented column and round nvmax up to the dense tile size."""
-  t = types.TILE_SIZE_JTDAJ_DENSE
-  return ((max(nvmax, 1) + t) // t) * t
-
-
-def _default_nconmax(mjm: mujoco.MjModel, mjd: Optional[mujoco.MjData] = None) -> int:
-  """Returns a default guess for an ideal nconmax given a Model and optional Data.
-
-  This guess is based off a very simple heuristic, and may need to be manually raised if MJWarp
-  reports ncon overflow, or lowered in order to get the very best performance.
-  """
-  valid_sizes = (2 + (np.arange(19) % 2)) * (2 ** (np.arange(19) // 2 + 3))  # 16, 24, 32, 48, ... 8192
-  has_sdf = (mjm.geom_type == mujoco.mjtGeom.mjGEOM_SDF).any()
-  has_flex = mjm.nflex > 0
-  nconmax = max(mjm.nv * 0.35 * (mjm.nhfield > 0) * 10 + 45, 256 * has_flex, 64 * has_sdf, mjd.ncon if mjd else 0)
-  return int(valid_sizes[np.searchsorted(valid_sizes, nconmax)])
-
-
-def _default_njmax(mjm: mujoco.MjModel, mjd: Optional[mujoco.MjData] = None) -> int:
-  """Returns a default guess for an ideal njmax given a Model and optional Data.
-
-  This guess is based off a very simple heuristic, and may need to be manually raised if MJWarp
-  reports ncon overflow, or lowered in order to get the very best performance.
-  """
-  valid_sizes = (2 + (np.arange(19) % 2)) * (2 ** (np.arange(19) // 2 + 3))  # 16, 24, 32, 48, ... 8192
-  has_sdf = (mjm.geom_type == mujoco.mjtGeom.mjGEOM_SDF).any()
-  has_flex = mjm.nflex > 0
-  njmax = max(mjm.nv * 2.26 * (mjm.nhfield > 0) * 18 + 53, 512 * has_flex, 256 * has_sdf, mjd.nefc if mjd else 0)
-  return int(valid_sizes[np.searchsorted(valid_sizes, njmax)])
-
-
-def _body_pair_nnz(mjm: mujoco.MjModel, body1: int, body2: int) -> int:
-  """Returns the number of unique DOFs in the kinematic tree union of two bodies."""
-  body1 = mjm.body_weldid[body1]
-  body2 = mjm.body_weldid[body2]
-  da1 = mjm.body_dofadr[body1] + mjm.body_dofnum[body1] - 1
-  da2 = mjm.body_dofadr[body2] + mjm.body_dofnum[body2] - 1
-  nnz = 0
-  while da1 >= 0 or da2 >= 0:
-    da = max(da1, da2)
-    if da1 == da:
-      da1 = mjm.dof_parentid[da1]
-    if da2 == da:
-      da2 = mjm.dof_parentid[da2]
-    nnz += 1
-  return nnz
-
-
-def _body_set_nnz(mjm: mujoco.MjModel, bodies) -> int:
-  """Returns the number of unique DOFs in the kinematic tree union of a set of bodies."""
-  active_dofs = set()
-  for b in bodies:
-    b = mjm.body_weldid[b]
-    da = mjm.body_dofadr[b] + mjm.body_dofnum[b] - 1
-    while da >= 0:
-      active_dofs.add(da)
-      da = mjm.dof_parentid[da]
-  return len(active_dofs)
-
-
-def _default_njmax_nnz(mjm: mujoco.MjModel, nconmax: int, njmax: int) -> int:
-  """Returns a heuristic estimate for the number of non-zeros in the sparse constraint Jacobian.
-
-  Assumes all equality, friction, and limit constraints are active and computes
-  their non-zeros. For contacts, assumes njmax contact rows at the maximum
-  body-pair non-zeros from all enabled collision pairs.
-
-  Args:
-    mjm: The model containing kinematic and dynamic information (host).
-    nconmax: Maximum number of contacts per world.
-    njmax: Maximum number of constraint rows per world.
-
-  Returns:
-    Estimated number of non-zeros in the constraint Jacobian.
-  """
-  total_nnz = 0
-
-  def _eq_bodies(i):
-    """Returns body pair for equality constraint i."""
-    obj1id, obj2id = mjm.eq_obj1id[i], mjm.eq_obj2id[i]
-    if mjm.eq_objtype[i] == mujoco.mjtObj.mjOBJ_SITE:
-      return mjm.site_bodyid[obj1id], mjm.site_bodyid[obj2id]
-    return obj1id, obj2id
-
-  # equality constraints (assume all active)
-  for i in range(mjm.neq):
-    eq_type = mjm.eq_type[i]
-
-    if eq_type == mujoco.mjtEq.mjEQ_CONNECT:
-      total_nnz += 3 * _body_pair_nnz(mjm, *_eq_bodies(i))
-
-    elif eq_type == mujoco.mjtEq.mjEQ_WELD:
-      total_nnz += 6 * _body_pair_nnz(mjm, *_eq_bodies(i))
-
-    elif eq_type == mujoco.mjtEq.mjEQ_JOINT:
-      total_nnz += 2 if mjm.eq_obj2id[i] >= 0 else 1
-
-    elif eq_type == mujoco.mjtEq.mjEQ_TENDON:
-      obj1id = mjm.eq_obj1id[i]
-      obj2id = mjm.eq_obj2id[i]
-      rownnz1 = mjm.ten_J_rownnz[obj1id] if obj1id < mjm.ntendon else 0
-      if obj2id >= 0 and obj2id < mjm.ntendon:
-        rowadr1 = mjm.ten_J_rowadr[obj1id]
-        rowadr2 = mjm.ten_J_rowadr[obj2id]
-        rownnz2 = mjm.ten_J_rownnz[obj2id]
-        cols = set()
-        for j in range(rownnz1):
-          cols.add(mjm.ten_J_colind[rowadr1 + j])
-        for j in range(rownnz2):
-          cols.add(mjm.ten_J_colind[rowadr2 + j])
-        total_nnz += len(cols)
-      else:
-        total_nnz += rownnz1
-
-    elif eq_type == mujoco.mjtEq.mjEQ_FLEX:
-      obj1id = mjm.eq_obj1id[i]
-      if obj1id < mjm.nflex:
-        edge_start = mjm.flex_edgeadr[obj1id]
-        edge_count = mjm.flex_edgenum[obj1id]
-        for e in range(edge_count):
-          total_nnz += mjm.flexedge_J_rownnz[edge_start + e]
-
-    elif eq_type == mujoco.mjtEq.mjEQ_FLEXSTRAIN:
-      # strain constraints: each cell produces neig rows, each dense (nv)
-      obj1id = mjm.eq_obj1id[i]
-      if obj1id < mjm.nflex:
-        # estimate neig from stiffness data
-        adr = mjm.flex_stiffnessadr[obj1id]
-        neig = int(mjm.flex_stiffness[adr])
-        total_nnz += neig * mjm.nv
-
-  # friction constraints
-  total_nnz += (mjm.dof_frictionloss > 0).sum()
-  for i in range(mjm.ntendon):
-    if mjm.tendon_frictionloss[i] > 0:
-      total_nnz += mjm.ten_J_rownnz[i]
-
-  # limit constraints (assume all active)
-  for i in range(mjm.njnt):
-    if mjm.jnt_limited[i]:
-      jnt_type = mjm.jnt_type[i]
-      if jnt_type == mujoco.mjtJoint.mjJNT_BALL:
-        total_nnz += 3
-      elif jnt_type in (mujoco.mjtJoint.mjJNT_SLIDE, mujoco.mjtJoint.mjJNT_HINGE):
-        total_nnz += 1
-  for i in range(mjm.ntendon):
-    if mjm.tendon_limited[i]:
-      total_nnz += mjm.ten_J_rownnz[i]
-
-  # contact constraints: njmax rows at max body-pair non-zeros
-  max_contact_nnz = 0
-
-  # contact pairs
-  for i in range(mjm.npair):
-    g1, g2 = mjm.pair_geom1[i], mjm.pair_geom2[i]
-    b1, b2 = mjm.geom_bodyid[g1], mjm.geom_bodyid[g2]
-    max_contact_nnz = max(max_contact_nnz, _body_pair_nnz(mjm, b1, b2))
-
-  # filter geom-geom pairs (unique body pairs, filtered)
-  body_pair_seen = set()
-  for i in range(mjm.ngeom):
-    bi = mjm.geom_bodyid[i]
-    cti, cai = mjm.geom_contype[i], mjm.geom_conaffinity[i]
-    for j in range(i + 1, mjm.ngeom):
-      bj = mjm.geom_bodyid[j]
-      if bi == bj:
-        continue
-      if mjm.body_weldid[bi] == 0 and mjm.body_weldid[bj] == 0:
-        continue
-      bp = (min(bi, bj), max(bi, bj))
-      if bp in body_pair_seen:
-        continue
-      ctj, caj = mjm.geom_contype[j], mjm.geom_conaffinity[j]
-      if not ((cti & caj) or (ctj & cai)):
-        continue
-      body_pair_seen.add(bp)
-      max_contact_nnz = max(max_contact_nnz, _body_pair_nnz(mjm, bi, bj))
-
-  # flex vertex contacts
-  for fi in range(mjm.nflex):
-    fct = mjm.flex_contype[fi]
-    fca = mjm.flex_conaffinity[fi]
-
-    vert_start = mjm.flex_vertadr[fi]
-    vert_count = mjm.flex_vertnum[fi]
-    flex_bodies = {mjm.flex_vertbodyid[vert_start + v] for v in range(vert_count)}
-
-    geom_bodies = set()
-    for g in range(mjm.ngeom):
-      ct, ca = mjm.geom_contype[g], mjm.geom_conaffinity[g]
-      if (fct & ca) or (ct & fca):
-        geom_bodies.add(mjm.geom_bodyid[g])
-
-    if mjm.flex_interp[fi] == 0:
-      for fb in flex_bodies:
-        for gb in geom_bodies:
-          if fb != gb:
-            max_contact_nnz = max(max_contact_nnz, _body_pair_nnz(mjm, fb, gb))
-    else:
-      order = abs(mjm.flex_interp[fi])
-      is_shell = mjm.flex_interp[fi] < 0
-      cx, cy, cz = mjm.flex_cellnum[fi]
-      nstart = mjm.flex_nodeadr[fi]
-      dim = mjm.flex_dim[fi]
-      nx = cx * order + 1
-      ny = cy * order + 1 if dim > 1 else 1
-      nz = cz * order + 1 if dim > 2 else 1
-
-      ci, cj, ck = cx // 2, cy // 2, cz // 2
-      cell_bodies = set()
-
-      for li in range(order + 1):
-        for lj in range(order + 1 if dim > 1 else 1):
-          for lk in range(order + 1 if dim > 2 else 1):
-            gi = ci + li
-            gj = cj + lj
-            gk = ck + lk
-
-            is_interior = False
-            if is_shell:
-              is_interior = (
-                (gi > 0 and gi < cx * order)
-                and (gj > 0 and gj < cy * order if dim > 1 else True)
-                and (gk > 0 and gk < cz * order if dim > 2 else True)
-              )
-
-            if is_interior:
-              for bi in (0, gi, nx - 1):
-                for bj in (0, gj, ny - 1 if dim > 1 else 0):
-                  for bk in (0, gk, nz - 1 if dim > 2 else 0):
-                    if (
-                      bi == 0
-                      or bi == nx - 1
-                      or (dim > 1 and (bj == 0 or bj == ny - 1))
-                      or (dim > 2 and (bk == 0 or bk == nz - 1))
-                    ):
-                      node_idx = bi * ny * nz + bj * nz + bk
-                      cell_bodies.add(mjm.flex_nodebodyid[nstart + node_idx])
-            else:
-              node_idx = gi * ny * nz + gj * nz + gk
-              cell_bodies.add(mjm.flex_nodebodyid[nstart + node_idx])
-
-      for gb in geom_bodies:
-        max_contact_nnz = max(max_contact_nnz, _body_set_nnz(mjm, cell_bodies | {gb}))
-
-    # flex self-collision
-    if mjm.flex_selfcollide[fi]:
-      flex_body_list = sorted(flex_bodies)
-      for idx1 in range(len(flex_body_list)):
-        for idx2 in range(idx1 + 1, len(flex_body_list)):
-          max_contact_nnz = max(
-            max_contact_nnz,
-            _body_pair_nnz(mjm, flex_body_list[idx1], flex_body_list[idx2]),
-          )
-
-  total_nnz += njmax * max_contact_nnz
-
-  return int(min(max(total_nnz, 1), njmax * mjm.nv))
-
-
-def _resolve_batch_size(na: int | None, n: int | None, nworld: int, default: int) -> int:
-  if na is not None:
-    return na
-  if n is not None:
-    return n * nworld
-  return default
-
-
-def _allocate_island_arrays(
-  mjm: mujoco.MjModel,
-  d: types.Data,
-  nworld: int,
-  njmax: int,
-  enabled: bool,
-  mjd: mujoco.MjData,
-):
-  ntree_size = mjm.ntree if enabled else 0
-  nv_size = mjm.nv if enabled else 0
-  njmax_size = njmax if enabled else 0
-
-  d.nisland = wp.array(np.full(nworld, mjd.nisland), dtype=int)
-  d.tree_island = wp.array(np.tile(mjd.tree_island, (nworld, 1 if enabled else 0)), dtype=int)
-  d.dof_island = wp.array(np.tile(mjd.dof_island, (nworld, 1 if enabled else 0)), dtype=int)
-
-  d.island_dofadr = wp.empty((nworld, ntree_size), dtype=int)
-  d.island_idofadr = wp.empty((nworld, ntree_size), dtype=int)
-  d.island_nv = wp.empty((nworld, ntree_size), dtype=int)
-  d.island_nefc = wp.empty((nworld, ntree_size), dtype=int)
-  d.island_ne = wp.empty((nworld, ntree_size), dtype=int)
-  d.island_nf = wp.empty((nworld, ntree_size), dtype=int)
-  d.island_iefcadr = wp.empty((nworld, ntree_size), dtype=int)
-  d.nidof = wp.empty((nworld if enabled else 0,), dtype=int)
-  d.map_dof2idof = wp.empty((nworld, nv_size), dtype=int)
-  d.map_idof2dof = wp.empty((nworld, nv_size), dtype=int)
-  d.map_efc2iefc = wp.empty((nworld, njmax_size), dtype=int)
-  d.map_iefc2efc = wp.empty((nworld, njmax_size), dtype=int)
-
-  d.dof_islandid = wp.empty((nworld, nv_size), dtype=int)
-  d.efc_islandid = wp.empty((nworld, njmax_size), dtype=int)
-
-
-def _allocate_compact_arrays(
-  mjm: mujoco.MjModel,
-  d: types.Data,
-  nworld: int,
-  nvmax_pad: int,
-  njmax_pad: int,
-  compact: bool,
-):
-  """Allocate workspace for the compacted dense factor/solve (when nvmax is requested).
-
-  Mirrors the island-local ``i*`` Data fields with a ``c*`` (compact) prefix. The
-  constant model-shadows (tolerances, dof-pair indices) are derived on the host since
-  they depend only on nvmax_pad; the workspace shadows are sized by nvmax_pad so the
-  blocked Cholesky never reads out of bounds on its partial tile. When the user does not
-  request compaction (nvmax is None) everything is allocated empty.
-
-  TODO(team): once the compact path replaces the island solver, the whole forward
-  pipeline can run in compacted space and ``d.M`` / ``d.qacc`` etc. become nvmax-sized
-  directly, collapsing these ``c*`` shadows into the primary Data fields.
-  """
-  nw = nworld if compact else 0
-  nvp = nvmax_pad if compact else 0
-  njp = njmax_pad if compact else 0
-
-  if compact:
-    # match the float32 tolerance clamp applied in put_model; rescale by nv/nvmax_pad so
-    # the solver's nv-normalized convergence test matches the full-model baseline.
-    scale = float(mjm.nv) / float(nvmax_pad)
-    tol = max(float(mjm.opt.tolerance), 1e-6)
-    ls_tol = float(mjm.opt.ls_tolerance)
-    d.ctol = wp.array([tol * scale], dtype=float)
-    d.cls_tol = wp.array([ls_tol * scale], dtype=float)
-    # all (i, j) DOF pairs of the nvmax_pad-wide compacted Hessian (the global dof_tri,
-    # triu over full nv, would index out of bounds).
-    idx = np.arange(nvmax_pad, dtype=np.int32)
-    d.cdof_tri_row = wp.array(np.repeat(idx, nvmax_pad), dtype=int)
-    d.cdof_tri_col = wp.array(np.tile(idx, nvmax_pad), dtype=int)
-  else:
-    d.ctol = wp.empty(0, dtype=float)
-    d.cls_tol = wp.empty(0, dtype=float)
-    d.cdof_tri_row = wp.empty(0, dtype=int)
-    d.cdof_tri_col = wp.empty(0, dtype=int)
-
-  alloc_cJ = compact and not is_sparse(mjm)
-
-  d.cM = wp.empty((nw, nvp, nvp), dtype=float)
-  d.cqLD = wp.empty((nw, nvp, nvp), dtype=float)
-  d.crhs = wp.empty((nw, nvp, 1), dtype=float)
-  d.cx = wp.empty((nw, nvp, 1), dtype=float)
-  d.cJ = wp.empty((nw, njp, nvp), dtype=float) if alloc_cJ else wp.empty((0, 0, 0), dtype=float)
-  d.cMa = wp.empty((nw, nvp), dtype=float)
-  d.cqfrc_smooth = wp.empty((nw, nvp), dtype=float)
-  d.cqacc_smooth = wp.empty((nw, nvp), dtype=float)
-  d.cqacc_warmstart = wp.empty((nw, nvp), dtype=float)
-  d.cqacc = wp.empty((nw, nvp), dtype=float)
-  d.cqfrc_constraint = wp.empty((nw, nvp), dtype=float)
-
-
-def _initial_body_awake(mjm: mujoco.MjModel, nworld: int, init_asleep: bool) -> np.ndarray:
-  """Returns the initial body awake array."""
-  body_awake_np = np.zeros((nworld, mjm.nbody), dtype=np.int32)
-  for b in range(mjm.nbody):
-    tree = mjm.body_treeid[b]
-    if tree < 0:
-      root = mjm.body_rootid[b]
-      mocap = mjm.body_mocapid[root]
-      if mocap >= 0:
-        body_awake_np[:, b] = int(types.SleepState.AWAKE)
-      else:
-        body_awake_np[:, b] = int(types.SleepState.STATIC)
-    else:
-      body_awake_np[:, b] = int(types.SleepState.ASLEEP) if init_asleep else int(types.SleepState.AWAKE)
-  return body_awake_np
-
-
-def make_data(
-  mjm: mujoco.MjModel,
-  nworld: int = 1,
-  nconmax: Optional[int] = None,
-  nccdmax: Optional[int] = None,
-  njmax: Optional[int] = None,
-  njmax_nnz: Optional[int] = None,
-  naconmax: Optional[int] = None,
-  naccdmax: Optional[int] = None,
-  nvmax: Optional[int] = None,
-) -> types.Data:
-  """Creates a data object on device.
-
-  Args:
-    mjm: The model containing kinematic and dynamic information (host).
-    nworld: Number of worlds.
-    nconmax: Number of contacts to allocate per world. Contacts exist in large
-             heterogeneous arrays: one world may have more than nconmax contacts.
-    nccdmax: Number of CCD contacts to allocate per world. Same semantics as nconmax.
-    njmax: Number of constraints to allocate per world. Constraint arrays are
-           batched by world: no world may have more than njmax constraints.
-    njmax_nnz: Number of non-zeros in constraint Jacobian (sparse). Defaults to njmax * nv.
-    naconmax: Number of contacts to allocate for all worlds. Overrides nconmax.
-    naccdmax: Maximum number of CCD contacts. Defaults to naconmax.
-    nvmax: Capacity for compacted active DOFs per world. Defaults to nv.
-
-  Returns:
-    The data object containing the current state and output arrays (device).
-  """
-  # TODO(team): move nconmax, njmax to Model?
-  if nconmax is None:
-    nconmax = _default_nconmax(mjm)
-
-  if njmax is None:
-    njmax = _default_njmax(mjm)
-
-  island_alloc = True
-  sleep_enabled = bool(mjm.opt.enableflags & mujoco.mjtEnableBit.mjENBL_SLEEP) and not bool(
-    mjm.opt.disableflags & mujoco.mjtDisableBit.mjDSBL_ISLAND
-  )
-  compact_alloc = sleep_enabled or (nvmax is not None)
-
-  if nvmax is None:
-    nvmax = mjm.nv
-
-  if nconmax < 0:
-    raise ValueError("nconmax must be >= 0")
-
-  if njmax < 0:
-    raise ValueError("njmax must be >= 0")
-
-  if nvmax < 0 or nvmax > mjm.nv:
-    raise ValueError(f"nvmax ({nvmax}) must be in [0, nv ({mjm.nv})]")
-
-  if nworld < 1:
-    raise ValueError(f"nworld must be >= 1")
-
-  naconmax = _resolve_batch_size(naconmax, nconmax, nworld, 0)
-  if naconmax < 0:
-    raise ValueError("naconmax must be >= 0")
-
-  naccdmax = _resolve_batch_size(naccdmax, nccdmax, nworld, naconmax)
-  if naccdmax < 0:
-    raise ValueError("naccdmax must be >= 0")
-  elif naccdmax > naconmax:
-    raise ValueError(f"naccdmax ({naccdmax}) must be <= naconmax ({naconmax})")
-
-  if nccdmax is None:
-    nccdmax = nconmax
-  else:
-    if nccdmax < 0:
-      raise ValueError("nccdmax must be >= 0")
-    elif nccdmax > nconmax:
-      raise ValueError(f"nccdmax ({nccdmax}) must be <= nconmax ({nconmax})")
-
-  nv_compact = nvmax < mjm.nv
-
-  sizes = dict({"*": 1}, **{f.name: getattr(mjm, f.name, None) for f in dataclasses.fields(types.Model) if f.type is int})
-  condim_arrays = [np.array([0]), mjm.geom_condim, mjm.pair_dim]
-  if mjm.nflex > 0:
-    condim_arrays.append(mjm.flex_condim)
-  sizes["nmaxcondim"] = np.concatenate(condim_arrays).max()
-  sizes["nmaxpyramid"] = np.maximum(1, 2 * (sizes["nmaxcondim"] - 1))
-  tile_size = types.TILE_SIZE_JTDAJ_SPARSE if is_sparse(mjm) else types.TILE_SIZE_JTDAJ_DENSE
-  sizes["njmax_pad"], sizes["nv_pad"] = _get_padded_sizes(
-    mjm.nv,
-    njmax,
-    is_sparse(mjm),
-    tile_size,
-    augment_cholesky=mjm.opt.solver == mujoco.mjtSolver.mjSOL_NEWTON and mjm.nv > 32,
-  )
-  sizes["nworld"] = nworld
-  sizes["naconmax"] = naconmax
-  sizes["njmax"] = njmax
-  sizes["nvmax"] = nvmax
-  sizes["nvmax_pad"] = _nvmax_pad(nvmax)
-  sizes["nvmax_pad_sq"] = sizes["nvmax_pad"] * sizes["nvmax_pad"]
-  sizes["nflexintcell"] = _get_nflexintcell(mjm)
-  sizes["nflexface"] = _get_nflexface(mjm)
-
-  # qLD holds the factor: a packed dense region for dense blocks followed
-  # by an nC-length LDL region for sparse blocks (present only when some block is sparse). Either
-  # region may be empty (pure dense / pure sparse).
-  _lay = m_block_layout(mjm)
-  qld_total = _lay["total"] + (mjm.nC if _lay["has_sparse"] else 0)
-  sizes["qld_total"] = qld_total
-
-  if njmax_nnz is None:
-    if is_sparse(mjm):
-      njmax_nnz = _default_njmax_nnz(mjm, nconmax, njmax)
-    else:
-      njmax_nnz = njmax * mjm.nv
-
-  contact_kwargs = {}
-  for f in dataclasses.fields(types.Contact):
-    if f.name in ["flex", "elem", "vert"] and mjm.nflex == 0:
-      contact_kwargs[f.name] = wp.empty(0, dtype=wp.vec2i)
-    else:
-      contact_kwargs[f.name] = _create_array(None, f.type, sizes)
-  contact = types.Contact(**contact_kwargs)
-  contact.efc_address = wp.array(np.full((naconmax, sizes["nmaxpyramid"]), -1, dtype=int), dtype=int)
-
-  efc = _create_constraint(mjm, nworld, njmax, sizes)
-
-  if is_sparse(mjm):
-    efc.J_rownnz = wp.zeros((nworld, njmax), dtype=int)
-    efc.J_rowadr = wp.zeros((nworld, njmax), dtype=int)
-    efc.J_colind = wp.zeros((nworld, 1, njmax_nnz), dtype=int)
-    efc.J = wp.zeros((nworld, 1, njmax_nnz), dtype=float)
-  else:
-    efc.J_rownnz = wp.zeros((nworld, 0), dtype=int)
-    efc.J_rowadr = wp.zeros((nworld, 0), dtype=int)
-    efc.J_colind = wp.zeros((nworld, 0, 0), dtype=int)
-    efc.J = wp.zeros((nworld, sizes["njmax_pad"], sizes["nv_pad"]), dtype=float)
-
-  # Compute initial kinematic state. Static geom positions (geom_xpos, geom_xmat) are set here
-  # and never updated by the physics loop (see smooth.py geom_kinematics), so this call is the
-  # only place they are initialized. Also seeds body poses (xquat, xmat, ximat) at qpos0.
-  mjd = mujoco.MjData(mjm)
-  mujoco.mj_kinematics(mjm, mjd)
-
-  # mocap
-  mocap_body = np.nonzero(mjm.body_mocapid >= 0)[0]
-  mocap_id = mjm.body_mocapid[mocap_body]
-
-  d_kwargs = {
-    "qpos": wp.array(np.tile(mjm.qpos0, nworld), shape=(nworld, mjm.nq), dtype=float),
-    "contact": contact,
-    "efc": efc,
-    "nworld": nworld,
-    "naconmax": naconmax,
-    "naccdmax": naccdmax,
-    "njmax": njmax,
-    "nvmax": nvmax,
-    "nvmax_pad": sizes["nvmax_pad"],
-    "njmax_pad": sizes["njmax_pad"],
-    "njmax_nnz": njmax_nnz,
-    # world body
-    "xquat": wp.array(np.tile(mjd.xquat, (nworld, 1)), shape=(nworld, mjm.nbody), dtype=wp.quat),
-    "xmat": wp.array(np.tile(mjd.xmat, (nworld, 1)), shape=(nworld, mjm.nbody), dtype=wp.mat33),
-    "ximat": wp.array(np.tile(mjd.ximat, (nworld, 1)), shape=(nworld, mjm.nbody), dtype=wp.mat33),
-    # static geoms
-    "geom_xpos": wp.array(np.tile(mjd.geom_xpos, (nworld, 1)), shape=(nworld, mjm.ngeom), dtype=wp.vec3),
-    "geom_xmat": wp.array(np.tile(mjd.geom_xmat, (nworld, 1)), shape=(nworld, mjm.ngeom), dtype=wp.mat33),
-    # mocap
-    "mocap_pos": wp.array(np.tile(mjm.body_pos[mocap_body[mocap_id]], (nworld, 1)), shape=(nworld, mjm.nmocap), dtype=wp.vec3),
-    "mocap_quat": wp.array(
-      np.tile(mjm.body_quat[mocap_body[mocap_id]], (nworld, 1)), shape=(nworld, mjm.nmocap), dtype=wp.quat
-    ),
-    # equality constraints
-    "eq_active": wp.array(np.tile(mjm.eq_active0.astype(bool), (nworld, 1)), shape=(nworld, mjm.neq), dtype=bool),
-    # island arrays
-    "nisland": None,
-    "tree_island": None,
-    "dof_island": None,
-    "island_dofadr": None,
-    "island_idofadr": None,
-    "island_nv": None,
-    "island_nefc": None,
-    "island_ne": None,
-    "island_nf": None,
-    "island_iefcadr": None,
-    "nidof": None,
-    "map_dof2idof": None,
-    "map_idof2dof": None,
-    "map_efc2iefc": None,
-    "map_iefc2efc": None,
-    "dof_islandid": None,
-    "efc_islandid": None,
-    "tree_asleep": wp.array(np.full((nworld, mjm.ntree), -(1 + types.MJ_MINAWAKE), dtype=np.int32), dtype=int),
-    "tree_awake": wp.array(np.ones((nworld, mjm.ntree), dtype=np.int32), dtype=int),
-    "body_awake": wp.array(_initial_body_awake(mjm, nworld, False), dtype=int),
-  }
-  for f in dataclasses.fields(types.Data):
-    if f.name in d_kwargs:
-      continue
-    d_kwargs[f.name] = _create_array(None, f.type, sizes)
-
-  d = types.Data(**d_kwargs)
-
-  _allocate_island_arrays(mjm, d, nworld, njmax, island_alloc, mjd)
-  _allocate_compact_arrays(mjm, d, nworld, sizes["nvmax_pad"], sizes["njmax_pad"], compact_alloc)
-  d.ncdof.zero_()
-  d.dof_cdof.fill_(-1)
-  d.cdof_dof.fill_(-1)
-
-  _mark_batched(d)
-  return d
-
-
-def put_data(
-  mjm: mujoco.MjModel,
-  mjd: mujoco.MjData,
-  nworld: int = 1,
-  nconmax: Optional[int] = None,
-  nccdmax: Optional[int] = None,
-  njmax: Optional[int] = None,
-  njmax_nnz: Optional[int] = None,
-  naconmax: Optional[int] = None,
-  naccdmax: Optional[int] = None,
-  nvmax: Optional[int] = None,
-) -> types.Data:
-  """Moves data from host to a device.
-
-  Args:
-    mjm: The model containing kinematic and dynamic information (host).
-    mjd: The data object containing current state and output arrays (host).
-    nworld: The number of worlds.
-    nconmax: Number of contacts to allocate per world.  Contacts exist in large
-             heterogenous arrays: one world may have more than nconmax contacts.
-    nccdmax: Number of CCD contacts to allocate per world. Same semantics as nconmax.
-    njmax: Number of constraints to allocate per world.  Constraint arrays are
-           batched by world: no world may have more than njmax constraints.
-    njmax_nnz: Number of non-zeros in constraint Jacobian (sparse). Defaults to njmax * nv.
-    naconmax: Number of contacts to allocate for all worlds. Overrides nconmax.
-    naccdmax: Maximum number of CCD contacts. Defaults to naconmax.
-    nvmax: Capacity for compacted active DOFs per world. Defaults to nv.
-
-  Returns:
-    The data object containing the current state and output arrays (device).
-  """
-  # TODO(team): move nconmax and njmax to Model?
-  # TODO(team): decide what to do about uninitialized warp-only fields created by put_data
-  #             we need to ensure these are only workspace fields and don't carry state
-
-  if nconmax is None:
-    nconmax = _default_nconmax(mjm, mjd)
-
-  if njmax is None:
-    njmax = _default_njmax(mjm, mjd)
-
-  island_alloc = True
-  sleep_enabled = bool(mjm.opt.enableflags & mujoco.mjtEnableBit.mjENBL_SLEEP) and not bool(
-    mjm.opt.disableflags & mujoco.mjtDisableBit.mjDSBL_ISLAND
-  )
-  compact_alloc = sleep_enabled or (nvmax is not None)
-
-  if nvmax is None:
-    nvmax = mjm.nv
-
-  if nconmax < 0:
-    raise ValueError("nconmax must be >= 0")
-
-  if njmax < 0:
-    raise ValueError("njmax must be >= 0")
-
-  if nvmax < 0 or nvmax > mjm.nv:
-    raise ValueError(f"nvmax ({nvmax}) must be in [0, nv ({mjm.nv})]")
-
-  if nworld < 1:
-    raise ValueError(f"nworld must be >= 1")
-
-  naconmax_is_input = naconmax is not None
-  naconmax = _resolve_batch_size(naconmax, nconmax, nworld, 0)
-  if naconmax < 0:
-    raise ValueError("naconmax must be >= 0")
-
-  if not naconmax_is_input and mjd.ncon > nconmax:
-    raise ValueError(f"nconmax overflow (nconmax must be >= {mjd.ncon})")
-  elif naconmax < mjd.ncon * nworld:
-    raise ValueError(f"naconmax overflow (naconmax must be >= {mjd.ncon * nworld})")
-
-  naccdmax = _resolve_batch_size(naccdmax, nccdmax, nworld, naconmax)
-
-  if naccdmax < 0:
-    raise ValueError("naccdmax must be >= 0")
-  elif naccdmax > naconmax:
-    raise ValueError(f"naccdmax ({naccdmax}) must be <= naconmax ({naconmax})")
-
-  if nccdmax is None:
-    nccdmax = nconmax
-  else:
-    if nccdmax < 0:
-      raise ValueError("nccdmax must be >= 0")
-    elif nccdmax > nconmax:
-      raise ValueError(f"nccdmax ({nccdmax}) must be <= nconmax ({nconmax})")
-
-  if mjd.nefc > njmax:
-    raise ValueError(f"njmax overflow (njmax must be >= {mjd.nefc})")
-
-  nv_compact = nvmax < mjm.nv
-
-  sizes = dict({"*": 1}, **{f.name: getattr(mjm, f.name, None) for f in dataclasses.fields(types.Model) if f.type is int})
-  condim_arrays = [np.array([0]), mjm.geom_condim, mjm.pair_dim]
-  if mjm.nflex > 0:
-    condim_arrays.append(mjm.flex_condim)
-  sizes["nmaxcondim"] = np.concatenate(condim_arrays).max()
-  sizes["nmaxpyramid"] = np.maximum(1, 2 * (sizes["nmaxcondim"] - 1))
-  tile_size = types.TILE_SIZE_JTDAJ_SPARSE if is_sparse(mjm) else types.TILE_SIZE_JTDAJ_DENSE
-  sizes["njmax_pad"], sizes["nv_pad"] = _get_padded_sizes(
-    mjm.nv,
-    njmax,
-    is_sparse(mjm),
-    tile_size,
-    augment_cholesky=mjm.opt.solver == mujoco.mjtSolver.mjSOL_NEWTON and mjm.nv > 32,
-  )
-  sizes["nworld"] = nworld
-  sizes["naconmax"] = naconmax
-  sizes["njmax"] = njmax
-  sizes["nvmax"] = nvmax
-  sizes["nvmax_pad"] = _nvmax_pad(nvmax)
-  sizes["nvmax_pad_sq"] = sizes["nvmax_pad"] * sizes["nvmax_pad"]
-  sizes["nflexface"] = _get_nflexface(mjm)
-
-  if njmax_nnz is None:
-    if is_sparse(mjm):
-      njmax_nnz = _default_njmax_nnz(mjm, nconmax, njmax)
-    else:
-      njmax_nnz = njmax * mjm.nv
-
-  # Capture sleep state before mj_kinematics, which resets tree_asleep as a side effect.
-  tree_asleep_init = mjd.tree_asleep.copy()
-  body_awake_init = mjd.body_awake.copy()
-
-  # Ensure kinematic state is populated. mujoco.MjData() does not call mj_kinematics, so a freshly
-  # created mjd has zero geom positions. Static geoms are never updated by the physics loop
-  # (see smooth.py geom_kinematics), so without this call they would remain at (0,0,0).
-  mujoco.mj_kinematics(mjm, mjd)
-
-  # create contact
-  contact_kwargs = {"efc_address": None, "worldid": None, "type": None, "geomcollisionid": None}
-  for f in dataclasses.fields(types.Contact):
-    if f.name in contact_kwargs:
-      continue
-    if f.name in ["flex", "elem", "vert"] and mjm.nflex == 0:
-      contact_kwargs[f.name] = wp.empty(0, dtype=wp.vec2i)
-      continue
-    val = getattr(mjd.contact, f.name)
-    val = np.tile(val, (nworld,) + (1,) * (val.ndim - 1))
-    width = ((0, naconmax - val.shape[0]),) + ((0, 0),) * (val.ndim - 1)
-    val = np.pad(val, width)
-    contact_kwargs[f.name] = _create_array(val, f.type, sizes)
-
-  contact = types.Contact(**contact_kwargs)
-
-  contact.efc_address = np.full((naconmax, sizes["nmaxpyramid"]), -1, dtype=int)
-  for i in range(mjd.ncon):
-    efc_address = mjd.contact.efc_address[i]
-    if efc_address == -1:
-      continue
-    condim = mjd.contact.dim[i]
-    ndim = max(1, 2 * (condim - 1)) if mjm.opt.cone == mujoco.mjtCone.mjCONE_PYRAMIDAL else condim
-    for j in range(nworld):
-      contact.efc_address[j * mjd.ncon + i, :ndim] = efc_address + np.arange(ndim)
-
-  contact.efc_address = wp.array(contact.efc_address, dtype=int)
-  contact.worldid = np.pad(np.repeat(np.arange(nworld), mjd.ncon), (0, naconmax - nworld * mjd.ncon))
-  contact.worldid = wp.array(contact.worldid, dtype=int)
-  contact.type = wp.ones((naconmax,), dtype=int)  # TODO(team): set values
-  contact.geomcollisionid = wp.empty((naconmax,), dtype=int)  # TODO(team): set values
-
-  # create efc
-  efc = _create_constraint(mjm, nworld, njmax, sizes, mjd)
-
-  # make_constraint builds the block list in-kernel; put_data does not run it, so build it here
-  # -- otherwise solving a put_data state would assemble an empty J^T D J.
-  if is_sparse(mjm) and mjm.opt.solver == mujoco.mjtSolver.mjSOL_NEWTON:
-    jtdaj_adr, jtdaj_nrow = _jtdaj_groups(mjd)
-    nblock = jtdaj_adr.shape[0]
-    adr_row = np.zeros(njmax, dtype=int)
-    nrow_row = np.zeros(njmax, dtype=int)
-    adr_row[:nblock] = jtdaj_adr
-    nrow_row[:nblock] = jtdaj_nrow
-    efc.jtdaj_adr = wp.array(np.tile(adr_row, (nworld, 1)), dtype=int)
-    efc.jtdaj_nrow = wp.array(np.tile(nrow_row, (nworld, 1)), dtype=int)
-    efc.jtdaj_nblock = wp.array(np.full(nworld, nblock, dtype=int), dtype=int)
-
-  if is_sparse(mjm):
-    J_rownnz = np.zeros(njmax, dtype=np.int32)
-    J_rowadr = np.zeros(njmax, dtype=np.int32)
-    J_colind = np.zeros(njmax_nnz, dtype=np.int32)
-    J = np.zeros(njmax_nnz, dtype=np.float64)
-    if mjd.nefc:
-      if mujoco.mj_isSparse(mjm):
-        J_rownnz[: mjd.nefc] = mjd.efc_J_rownnz[: mjd.nefc]
-        J_rowadr[: mjd.nefc] = mjd.efc_J_rowadr[: mjd.nefc]
-        nnz = int(mjd.efc_J_rownnz[: mjd.nefc].sum())
-        J_colind[:nnz] = mjd.efc_J_colind[:nnz]
-        J[:nnz] = mjd.efc_J[:nnz]
-      else:
-        dense_J = mjd.efc_J.reshape((-1, mjm.nv))[: mjd.nefc]
-        mujoco.mju_dense2sparse(
-          J[: mjd.nefc * mjm.nv], dense_J, J_rownnz[: mjd.nefc], J_rowadr[: mjd.nefc], J_colind[: mjd.nefc * mjm.nv]
-        )
-
-    efc.J_rownnz = wp.array(np.tile(J_rownnz, (nworld, 1)), dtype=int)
-    efc.J_rowadr = wp.array(np.tile(J_rowadr, (nworld, 1)), dtype=int)
-    efc.J_colind = wp.array(np.tile(J_colind, (nworld, 1)).reshape((nworld, 1, -1)), dtype=int)
-    efc.J = wp.array(np.tile(J, (nworld, 1)).reshape((nworld, 1, -1)), dtype=float)
-  else:
-    efc.J_rownnz = wp.zeros((nworld, 0), dtype=int)
-    efc.J_rowadr = wp.zeros((nworld, 0), dtype=int)
-    efc.J_colind = wp.zeros((nworld, 0, 0), dtype=int)
-
-    mj_efc_J = np.zeros((mjd.nefc, mjm.nv))
-    if mjd.nefc:
-      if mujoco.mj_isSparse(mjm):
-        mujoco.mju_sparse2dense(mj_efc_J, mjd.efc_J, mjd.efc_J_rownnz, mjd.efc_J_rowadr, mjd.efc_J_colind)
-      else:
-        mj_efc_J = mjd.efc_J.reshape((-1, mjm.nv))[: mjd.nefc]
-    efc_J = np.zeros((nworld, sizes["njmax_pad"], sizes["nv_pad"]), dtype=float)
-    efc_J[:, : mjd.nefc, : mjm.nv] = np.tile(mj_efc_J, (nworld, 1, 1))
-    efc.J = wp.array(efc_J, dtype=float)
-
-  # create data
-  d_kwargs = {
-    "contact": contact,
-    "efc": efc,
-    "nworld": nworld,
-    "naconmax": naconmax,
-    "naccdmax": naccdmax,
-    "njmax": njmax,
-    "nvmax": nvmax,
-    "nvmax_pad": sizes["nvmax_pad"],
-    "njmax_pad": sizes["njmax_pad"],
-    "njmax_nnz": njmax_nnz,
-    # fields set after initialization:
-    "solver_niter": None,
-    "qLD": None,
-    "nacon": None,
-    # island arrays
-    "nisland": None,
-    "tree_island": None,
-    "dof_island": None,
-    "island_dofadr": None,
-    "island_idofadr": None,
-    "island_nv": None,
-    "island_nefc": None,
-    "island_ne": None,
-    "island_nf": None,
-    "island_iefcadr": None,
-    "nidof": None,
-    "map_dof2idof": None,
-    "map_idof2dof": None,
-    "map_efc2iefc": None,
-    "map_iefc2efc": None,
-    "dof_islandid": None,
-    "efc_islandid": None,
-    "tree_asleep": wp.array(np.tile(tree_asleep_init, (nworld, 1)), dtype=int),
-    "tree_awake": wp.array(np.tile((tree_asleep_init < 0).astype(np.int32), (nworld, 1)), dtype=int),
-    "body_awake": wp.array(np.tile(body_awake_init.astype(np.int32), (nworld, 1)), dtype=int),
-  }
-  for f in dataclasses.fields(types.Data):
-    if f.name in d_kwargs:
-      continue
-    val = getattr(mjd, f.name, None)
-    d_kwargs[f.name] = _create_array(val, f.type, sizes)
-
-  d = types.Data(**d_kwargs)
-  d.solver_niter = wp.full((nworld,), mjd.solver_niter[0], dtype=int)
-
-  # qLD = [packed block Cholesky | nC LDL region]. Block factors store their upper Cholesky
-  # packed; the LDL region (present iff some block is sparse) holds MuJoCo's full L'DL factor (only
-  # its sparse-block entries are read by the solve).
-  lay = m_block_layout(mjm)
-  qld_total = lay["total"] + (mjm.nC if lay["has_sparse"] else 0)
-  qLD = np.zeros(qld_total, dtype=np.float32)
-  if lay["total"]:
-    Mfull = np.zeros((mjm.nv, mjm.nv))
-    mujoco.mju_sym2dense(Mfull, mjd.M, mjm.M_rownnz, mjm.M_rowadr, mjm.M_colind)
-    for size, starts in list(lay["scalar_tiles"].items()) + list(lay["gather_tiles"].items()):
-      for start in starts:
-        off = lay["dof_adr"][start]
-        if off < 0:
-          continue
-        blk = Mfull[start : start + size, start : start + size]
-        if blk.any():
-          qLD[off : off + size * size] = np.linalg.cholesky(blk).T.reshape(-1)
-  if lay["has_sparse"]:
-    qLD[lay["total"] :] = mjd.qLD
-  d.qLD = wp.array(np.full((nworld, qld_total), qLD), dtype=float)
-
-  _allocate_island_arrays(mjm, d, nworld, njmax, island_alloc, mjd)
-  _allocate_compact_arrays(mjm, d, nworld, sizes["nvmax_pad"], sizes["njmax_pad"], compact_alloc)
-  d.ncdof.zero_()
-  d.dof_cdof.fill_(-1)
-  d.cdof_dof.fill_(-1)
-
-  d.nacon = wp.array([mjd.ncon * nworld], dtype=int)
-
-  _mark_batched(d)
-  return d
-
-
-def get_data_into(
-  result: mujoco.MjData,
-  mjm: mujoco.MjModel,
-  d: types.Data,
-  world_id: int = 0,
-):
-  """Gets data from a device into an existing mujoco.MjData.
-
-  Args:
-    result: The data object containing the current state and output arrays (host).
-    mjm: The model containing kinematic and dynamic information (host).
-    d: The data object containing the current state and output arrays (device).
-    world_id: The id of the world to get the data from.
-  """
-  # nacon and nefc can overflow.  in that case, only pull up to the max contacts and constraints
-  nacon = min(d.nacon.numpy()[0], d.naconmax)
-  nefc = min(d.nefc.numpy()[world_id], d.njmax)
-
-  ncon_filter = np.zeros_like(d.contact.worldid.numpy(), dtype=bool)
-  ncon_filter[:nacon] = d.contact.worldid.numpy()[:nacon] == world_id
-  ncon = ncon_filter.sum()
-
-  if ncon != result.ncon or nefc != result.nefc:
-    # TODO(team): if sparse, set nJ based on sparse efc_J
-    mujoco._functions._realloc_con_efc(result, ncon=ncon, nefc=nefc, nJ=nefc * mjm.nv)
-
-  ne = d.ne.numpy()[world_id]
-  nf = d.nf.numpy()[world_id]
-  nl = d.nl.numpy()[world_id]
-
-  # efc indexing
-  # mujoco expects contiguous efc ordering for contacts
-  # this ordering is not guaranteed with mujoco warp, we enforce order here
-  if ncon > 0:
-    efc_idx_efl = np.arange(ne + nf + nl)
-
-    contact_dim = d.contact.dim.numpy()[ncon_filter]
-    contact_efc_address = d.contact.efc_address.numpy()[ncon_filter]
-
-    efc_idx_c = []
-    contact_efc_address_ordered = [ne + nf + nl]
-    for i in range(ncon):
-      dim = contact_dim[i]
-      if mjm.opt.cone == mujoco.mjtCone.mjCONE_PYRAMIDAL:
-        ndim = np.maximum(1, 2 * (dim - 1))
-      else:
-        ndim = dim
-      efc_idx_c.append(contact_efc_address[i, :ndim])
-      if i < ncon - 1:
-        contact_efc_address_ordered.append(contact_efc_address_ordered[-1] + ndim)
-    efc_idx = np.concatenate((efc_idx_efl, *efc_idx_c))
-    contact_efc_address_ordered = np.array(contact_efc_address_ordered)
-  else:
-    efc_idx = np.array(np.arange(nefc))
-    contact_efc_address_ordered = np.empty(0)
-
-  efc_idx = efc_idx[:nefc]  # dont emit indices for overflow constraints
-
-  result.solver_niter[0] = d.solver_niter.numpy()[world_id]
-  result.ncon = ncon
-  result.ne = ne
-  result.nf = nf
-  result.nl = nl
-  result.time = d.time.numpy()[world_id]
-  result.energy[:] = d.energy.numpy()[world_id]
-  result.qpos[:] = d.qpos.numpy()[world_id]
-  result.qvel[:] = d.qvel.numpy()[world_id]
-  result.act[:] = d.act.numpy()[world_id]
-  result.qacc_warmstart[:] = d.qacc_warmstart.numpy()[world_id]
-  result.ctrl[:] = d.ctrl.numpy()[world_id]
-  result.qfrc_applied[:] = d.qfrc_applied.numpy()[world_id]
-  result.xfrc_applied[:] = d.xfrc_applied.numpy()[world_id]
-  result.eq_active[:] = d.eq_active.numpy()[world_id]
-  result.mocap_pos[:] = d.mocap_pos.numpy()[world_id]
-  result.mocap_quat[:] = d.mocap_quat.numpy()[world_id]
-  result.qacc[:] = d.qacc.numpy()[world_id]
-  result.act_dot[:] = d.act_dot.numpy()[world_id]
-  result.xpos[:] = d.xpos.numpy()[world_id]
-  result.xquat[:] = d.xquat.numpy()[world_id]
-  result.xmat[:] = d.xmat.numpy()[world_id].reshape((-1, 9))
-  result.xipos[:] = d.xipos.numpy()[world_id]
-  result.ximat[:] = d.ximat.numpy()[world_id].reshape((-1, 9))
-  result.xanchor[:] = d.xanchor.numpy()[world_id]
-  result.xaxis[:] = d.xaxis.numpy()[world_id]
-  result.geom_xpos[:] = d.geom_xpos.numpy()[world_id]
-  result.geom_xmat[:] = d.geom_xmat.numpy()[world_id].reshape((-1, 9))
-  result.site_xpos[:] = d.site_xpos.numpy()[world_id]
-  result.site_xmat[:] = d.site_xmat.numpy()[world_id].reshape((-1, 9))
-  result.cam_xpos[:] = d.cam_xpos.numpy()[world_id]
-  result.cam_xmat[:] = d.cam_xmat.numpy()[world_id].reshape((-1, 9))
-  result.light_xpos[:] = d.light_xpos.numpy()[world_id]
-  result.light_xdir[:] = d.light_xdir.numpy()[world_id]
-  result.subtree_com[:] = d.subtree_com.numpy()[world_id]
-  result.cdof[:] = d.cdof.numpy()[world_id]
-  result.cinert[:] = d.cinert.numpy()[world_id]
-  result.flexvert_xpos[:] = d.flexvert_xpos.numpy()[world_id]
-  if mjm.nflexedge > 0:
-    result.flexedge_J[:] = d.flexedge_J.numpy()[world_id].reshape(-1)
-  result.flexedge_length[:] = d.flexedge_length.numpy()[world_id]
-  result.flexedge_velocity[:] = d.flexedge_velocity.numpy()[world_id]
-  result.actuator_length[:] = d.actuator_length.numpy()[world_id]
-  result.moment_rownnz[:] = d.moment_rownnz.numpy()[world_id]
-  result.moment_rowadr[:] = d.moment_rowadr.numpy()[world_id]
-  if mjm.nu:
-    result.moment_colind[:] = d.moment_colind.numpy()[world_id]
-    result.actuator_moment[:] = d.actuator_moment.numpy()[world_id]
-  result.crb[:] = d.crb.numpy()[world_id]
-  result.qLDiagInv[:] = d.qLDiagInv.numpy()[world_id]
-  result.ten_velocity[:] = d.ten_velocity.numpy()[world_id]
-  result.actuator_velocity[:] = d.actuator_velocity.numpy()[world_id]
-  result.cvel[:] = d.cvel.numpy()[world_id]
-  result.cdof_dot[:] = d.cdof_dot.numpy()[world_id]
-  result.qfrc_bias[:] = d.qfrc_bias.numpy()[world_id]
-  result.qfrc_spring[:] = d.qfrc_spring.numpy()[world_id]
-  result.qfrc_damper[:] = d.qfrc_damper.numpy()[world_id]
-  result.qfrc_gravcomp[:] = d.qfrc_gravcomp.numpy()[world_id]
-  result.qfrc_fluid[:] = d.qfrc_fluid.numpy()[world_id]
-  result.qfrc_passive[:] = d.qfrc_passive.numpy()[world_id]
-  result.subtree_linvel[:] = d.subtree_linvel.numpy()[world_id]
-  result.subtree_angmom[:] = d.subtree_angmom.numpy()[world_id]
-  result.actuator_force[:] = d.actuator_force.numpy()[world_id]
-  result.qfrc_actuator[:] = d.qfrc_actuator.numpy()[world_id]
-  result.qfrc_smooth[:] = d.qfrc_smooth.numpy()[world_id]
-  result.qacc_smooth[:] = d.qacc_smooth.numpy()[world_id]
-  result.qfrc_constraint[:] = d.qfrc_constraint.numpy()[world_id]
-  result.qfrc_inverse[:] = d.qfrc_inverse.numpy()[world_id]
-
-  if mjm.nhistory > 0:
-    result.history[:] = d.history.numpy()[world_id]
-
-  if mjm.nuserdata > 0:
-    result.userdata[:] = d.userdata.numpy()[world_id]
-
-  # contact
-  result.contact.dist[:ncon] = d.contact.dist.numpy()[ncon_filter]
-  result.contact.pos[:ncon] = d.contact.pos.numpy()[ncon_filter]
-  result.contact.frame[:ncon] = d.contact.frame.numpy()[ncon_filter].reshape((-1, 9))
-  result.contact.includemargin[:ncon] = d.contact.includemargin.numpy()[ncon_filter]
-  result.contact.friction[:ncon] = d.contact.friction.numpy()[ncon_filter]
-  result.contact.solref[:ncon] = d.contact.solref.numpy()[ncon_filter]
-  result.contact.solreffriction[:ncon] = d.contact.solreffriction.numpy()[ncon_filter]
-  result.contact.solimp[:ncon] = d.contact.solimp.numpy()[ncon_filter]
-  result.contact.dim[:ncon] = d.contact.dim.numpy()[ncon_filter]
-  result.contact.geom[:ncon] = d.contact.geom.numpy()[ncon_filter]
-  if mjm.nflex > 0:
-    result.contact.flex[:ncon] = d.contact.flex.numpy()[ncon_filter]
-    result.contact.elem[:ncon] = d.contact.elem.numpy()[ncon_filter]
-    result.contact.vert[:ncon] = d.contact.vert.numpy()[ncon_filter]
-  result.contact.efc_address[:ncon] = contact_efc_address_ordered[:ncon]
-
-  result.M[:] = d.M.numpy()[world_id]
-  _lay = m_block_layout(mjm)
-  if _lay["scalar_tiles"] or _lay["gather_tiles"]:
-    # Block factors do not use MuJoCo's LDL representation.
-    mujoco.mj_factorM(mjm, result)
-  else:
-    # Pure sparse: qLD is exactly MuJoCo's nC LDL factor.
-    result.qLD[:] = d.qLD.numpy()[world_id]
-
-  if nefc > 0:
-    if is_sparse(mjm):
-      efc_J = np.zeros((nefc, mjm.nv))
-      mujoco.mju_sparse2dense(
-        efc_J,
-        d.efc.J.numpy()[world_id, 0],
-        d.efc.J_rownnz.numpy()[world_id, :nefc],
-        d.efc.J_rowadr.numpy()[world_id, :nefc],
-        d.efc.J_colind.numpy()[world_id, 0],
-      )
-    else:
-      efc_J = d.efc.J.numpy()[world_id, :nefc, : mjm.nv]
-
-    # write to mujoco result (format depends on mj_isSparse)
-    if mujoco.mj_isSparse(mjm):
-      mujoco.mju_dense2sparse(
-        result.efc_J,
-        efc_J[efc_idx],
-        result.efc_J_rownnz,
-        result.efc_J_rowadr,
-        result.efc_J_colind,
-      )
-    else:
-      result.efc_J[: nefc * mjm.nv] = efc_J[efc_idx].flatten()
-
-  # efc
-  result.efc_type[:] = d.efc.type.numpy()[world_id, efc_idx]
-  result.efc_id[:] = d.efc.id.numpy()[world_id, efc_idx]
-  result.efc_pos[:] = d.efc.pos.numpy()[world_id, efc_idx]
-  result.efc_margin[:] = d.efc.margin.numpy()[world_id, efc_idx]
-  result.efc_D[:] = d.efc.D.numpy()[world_id, efc_idx]
-  result.efc_vel[:] = d.efc.vel.numpy()[world_id, efc_idx]
-  result.efc_aref[:] = d.efc.aref.numpy()[world_id, efc_idx]
-  result.efc_frictionloss[:] = d.efc.frictionloss.numpy()[world_id, efc_idx]
-  result.efc_state[:] = d.efc.state.numpy()[world_id, efc_idx]
-  result.efc_force[:] = d.efc.force.numpy()[world_id, efc_idx]
-  result.efc_island[:] = d.efc.island.numpy()[world_id, efc_idx]
-
-  # rne_postconstraint
-  result.cacc[:] = d.cacc.numpy()[world_id]
-  result.cfrc_int[:] = d.cfrc_int.numpy()[world_id]
-  result.cfrc_ext[:] = d.cfrc_ext.numpy()[world_id]
-
-  # tendon
-  result.ten_length[:] = d.ten_length.numpy()[world_id]
-  if mjm.ntendon > 0:
-    result.ten_J[:] = d.ten_J.numpy()[world_id]
-  result.ten_wrapadr[:] = d.ten_wrapadr.numpy()[world_id]
-  result.ten_wrapnum[:] = d.ten_wrapnum.numpy()[world_id]
-  result.wrap_obj[:] = d.wrap_obj.numpy()[world_id]
-  result.wrap_xpos[:] = d.wrap_xpos.numpy()[world_id]
-
-  # sensors
-  result.sensordata[:] = d.sensordata.numpy()[world_id]
-
-  # sleep
-  result.tree_asleep[:] = d.tree_asleep.numpy()[world_id]
-  result.tree_awake[:] = d.tree_awake.numpy()[world_id]
-  result.body_awake[:] = d.body_awake.numpy()[world_id]
-
-  # islands
-  nisland = d.nisland.numpy()[world_id]
-  result.nisland = nisland
-  if d.tree_island.shape[1] > 0 and nisland:
-    result.tree_island[:] = d.tree_island.numpy()[world_id]
-    result.dof_island[:] = d.dof_island.numpy()[world_id]
-    result.island_idofadr[:nisland] = d.island_idofadr.numpy()[world_id, :nisland]
-    result.island_dofadr[:nisland] = d.island_dofadr.numpy()[world_id, :nisland]
-    result.island_nv[:nisland] = d.island_nv.numpy()[world_id, :nisland]
-    result.island_nefc[:nisland] = d.island_nefc.numpy()[world_id, :nisland]
-    result.island_ne[:nisland] = d.island_ne.numpy()[world_id, :nisland]
-    result.island_nf[:nisland] = d.island_nf.numpy()[world_id, :nisland]
-    result.island_iefcadr[:nisland] = d.island_iefcadr.numpy()[world_id, :nisland]
-    nv = mjm.nv
-    result.map_dof2idof[:nv] = d.map_dof2idof.numpy()[world_id, :nv]
-    result.map_idof2dof[:nv] = d.map_idof2dof.numpy()[world_id, :nv]
-    result.map_efc2iefc[:nefc] = d.map_efc2iefc.numpy()[world_id, :nefc]
-    result.map_iefc2efc[:nefc] = d.map_iefc2efc.numpy()[world_id, :nefc]
-
-
-def reset_data(m: types.Model, d: types.Data, reset: Optional[wp.array] = None):
-  """Clear data, set defaults; optionally by world.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-    reset: Per-world bitmask. Reset if True.
-  """
-  sleep_enabled = bool(m.opt.enableflags & types.EnableBit.SLEEP)
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def reset_xfrc_applied(reset_in: wp.array[bool], xfrc_applied_out: wp.array2d[wp.spatial_vector]):
-    worldid, bodyid, elemid = wp.tid()
-
-    if wp.static(reset is not None):
-      if not reset_in[worldid]:
-        return
-
-    xfrc_applied_out[worldid, bodyid][elemid] = 0.0
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def reset_M(reset_in: wp.array[bool], M_out: wp.array2d[float]):
-    worldid, elemid = wp.tid()
-
-    if wp.static(reset is not None):
-      if not reset_in[worldid]:
-        return
-
-    M_out[worldid, elemid] = 0.0
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def reset_nworld(
-    # Model:
-    nq: int,
-    nv: int,
-    nu: int,
-    na: int,
-    nbody: int,
-    ntree: int,
-    neq: int,
-    nuserdata: int,
-    nsensordata: int,
-    qpos0: wp.array2d[float],
-    eq_active0: wp.array[bool],
-    # Data in:
-    nworld_in: int,
-    # In:
-    reset_in: wp.array[bool],
-    # Data out:
-    solver_niter_out: wp.array[int],
-    ne_out: wp.array[int],
-    nf_out: wp.array[int],
-    nl_out: wp.array[int],
-    nefc_out: wp.array[int],
-    ntree_awake_out: wp.array[int],
-    nbody_awake_out: wp.array[int],
-    nv_awake_out: wp.array[int],
-    time_out: wp.array[float],
-    energy_out: wp.array[wp.vec2],
-    qpos_out: wp.array2d[float],
-    qvel_out: wp.array2d[float],
-    act_out: wp.array2d[float],
-    qacc_warmstart_out: wp.array2d[float],
-    ctrl_out: wp.array2d[float],
-    qfrc_applied_out: wp.array2d[float],
-    eq_active_out: wp.array2d[bool],
-    qacc_out: wp.array2d[float],
-    act_dot_out: wp.array2d[float],
-    userdata_out: wp.array2d[float],
-    sensordata_out: wp.array2d[float],
-    nacon_out: wp.array[int],
-    overflow_out: wp.array[int],
-  ):
-    worldid = wp.tid()
-
-    if wp.static(reset is not None):
-      if not reset_in[worldid]:
-        return
-
-    solver_niter_out[worldid] = 0
-    if worldid == 0:
-      nacon_out[0] = 0
-    ne_out[worldid] = 0
-    nf_out[worldid] = 0
-    nl_out[worldid] = 0
-    nefc_out[worldid] = 0
-    time_out[worldid] = 0.0
-    energy_out[worldid] = wp.vec2(0.0, 0.0)
-    ntree_awake_out[worldid] = ntree
-    nbody_awake_out[worldid] = nbody
-    nv_awake_out[worldid] = nv
-    qpos0_id = worldid % qpos0.shape[0]
-    for i in range(nq):
-      qpos_out[worldid, i] = qpos0[qpos0_id, i]
-      if i < nv:
-        qvel_out[worldid, i] = 0.0
-        qacc_warmstart_out[worldid, i] = 0.0
-        qfrc_applied_out[worldid, i] = 0.0
-        qacc_out[worldid, i] = 0.0
-    for i in range(nu):
-      ctrl_out[worldid, i] = 0.0
-      if i < na:
-        act_out[worldid, i] = 0.0
-        act_dot_out[worldid, i] = 0.0
-    for i in range(neq):
-      eq_active_out[worldid, i] = eq_active0[i]
-    for i in range(nsensordata):
-      sensordata_out[worldid, i] = 0.0
-    for i in range(nuserdata):
-      userdata_out[worldid, i] = 0.0
-    overflow_out[worldid] = 0
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def reset_mocap(
-    # Model:
-    body_mocapid: wp.array[int],
-    body_pos: wp.array2d[wp.vec3],
-    body_quat: wp.array2d[wp.quat],
-    # In:
-    reset_in: wp.array[bool],
-    # Data out:
-    mocap_pos_out: wp.array2d[wp.vec3],
-    mocap_quat_out: wp.array2d[wp.quat],
-  ):
-    worldid, bodyid = wp.tid()
-
-    if wp.static(reset is not None):
-      if not reset_in[worldid]:
-        return
-
-    mocapid = body_mocapid[bodyid]
-
-    if mocapid >= 0:
-      mocap_pos_out[worldid, mocapid] = body_pos[worldid % body_pos.shape[0], bodyid]
-      mocap_quat_out[worldid, mocapid] = body_quat[worldid % body_quat.shape[0], bodyid]
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def reset_contact(
-    # Data in:
-    nacon_in: wp.array[int],
-    # In:
-    reset_in: wp.array[bool],
-    nefcaddress: int,
-    # Data out:
-    contact_dist_out: wp.array[float],
-    contact_pos_out: wp.array[wp.vec3],
-    contact_frame_out: wp.array[wp.mat33],
-    contact_includemargin_out: wp.array[float],
-    contact_friction_out: wp.array[types.vec5],
-    contact_solref_out: wp.array[wp.vec2],
-    contact_solreffriction_out: wp.array[wp.vec2],
-    contact_solimp_out: wp.array[types.vec5],
-    contact_dim_out: wp.array[int],
-    contact_geom_out: wp.array[wp.vec2i],
-    contact_flex_out: wp.array[wp.vec2i],
-    contact_elem_out: wp.array[wp.vec2i],
-    contact_vert_out: wp.array[wp.vec2i],
-    contact_efc_address_out: wp.array2d[int],
-    contact_worldid_out: wp.array[int],
-    contact_type_out: wp.array[int],
-    contact_geomcollisionid_out: wp.array[int],
-  ):
-    conid = wp.tid()
-
-    if conid >= nacon_in[0]:
-      return
-
-    worldid = contact_worldid_out[conid]
-    if wp.static(reset is not None):
-      if worldid >= 0:
-        if not reset_in[worldid]:
-          return
-
-    contact_dist_out[conid] = 0.0
-    contact_pos_out[conid] = wp.vec3(0.0)
-    contact_frame_out[conid] = wp.mat33(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-    contact_includemargin_out[conid] = 0.0
-    contact_friction_out[conid] = types.vec5(0.0, 0.0, 0.0, 0.0, 0.0)
-    contact_solref_out[conid] = wp.vec2(0.0, 0.0)
-    contact_solreffriction_out[conid] = wp.vec2(0.0, 0.0)
-    contact_solimp_out[conid] = types.vec5(0.0, 0.0, 0.0, 0.0, 0.0)
-    contact_dim_out[conid] = 0
-    contact_geom_out[conid] = wp.vec2i(0, 0)
-    if contact_flex_out.shape[0] > 0:
-      contact_flex_out[conid] = wp.vec2i(0, 0)
-    if contact_elem_out.shape[0] > 0:
-      contact_elem_out[conid] = wp.vec2i(0, 0)
-    if contact_vert_out.shape[0] > 0:
-      contact_vert_out[conid] = wp.vec2i(0, 0)
-    for i in range(nefcaddress):
-      contact_efc_address_out[conid, i] = -1
-    contact_worldid_out[conid] = 0
-    contact_type_out[conid] = 0
-    contact_geomcollisionid_out[conid] = 0
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def reset_sleep(
-    # Model:
-    nv: int,
-    nbody: int,
-    ntree: int,
-    body_mocapid: wp.array[int],
-    body_treeid: wp.array[int],
-    # In:
-    mj_minawake: int,
-    reset_in: wp.array[bool],
-    # Data out:
-    tree_asleep_out: wp.array2d[int],
-    tree_awake_out: wp.array2d[int],
-    body_awake_out: wp.array2d[int],
-    body_awake_ind_out: wp.array2d[int],
-    dof_awake_ind_out: wp.array2d[int],
-  ):
-    worldid, elemid = wp.tid()
-
-    if wp.static(reset is not None):
-      if not reset_in[worldid]:
-        return
-
-    if elemid < ntree:
-      tree_asleep_out[worldid, elemid] = -(1 + mj_minawake)
-      tree_awake_out[worldid, elemid] = 1
-
-    if elemid < nbody:
-      if body_treeid[elemid] < 0:
-        if body_mocapid[elemid] >= 0:
-          body_awake_out[worldid, elemid] = int(types.SleepState.AWAKE)
-        else:
-          body_awake_out[worldid, elemid] = int(types.SleepState.STATIC)
-      else:
-        body_awake_out[worldid, elemid] = int(types.SleepState.AWAKE)
-      body_awake_ind_out[worldid, elemid] = elemid
-
-    if elemid < nv:
-      dof_awake_ind_out[worldid, elemid] = elemid
-
-  reset_input = reset or wp.ones(d.nworld, dtype=bool)
-
-  wp.launch(reset_xfrc_applied, dim=(d.nworld, m.nbody, 6), inputs=[reset_input], outputs=[d.xfrc_applied])
-  wp.launch(
-    reset_M,
-    dim=(d.nworld, d.M.shape[1]),
-    inputs=[reset_input],
-    outputs=[d.M],
-  )
-
-  # set mocap_pos/quat = body_pos/quat for mocap bodies
-  wp.launch(
-    reset_mocap,
-    dim=(d.nworld, m.nbody),
-    inputs=[m.body_mocapid, m.body_pos, m.body_quat, reset_input],
-    outputs=[d.mocap_pos, d.mocap_quat],
-  )
-
-  # clear contacts
-  wp.launch(
-    reset_contact,
-    dim=d.naconmax,
-    inputs=[d.nacon, reset_input, d.contact.efc_address.shape[1]],
-    outputs=[
-      d.contact.dist,
-      d.contact.pos,
-      d.contact.frame,
-      d.contact.includemargin,
-      d.contact.friction,
-      d.contact.solref,
-      d.contact.solreffriction,
-      d.contact.solimp,
-      d.contact.dim,
-      d.contact.geom,
-      d.contact.flex,
-      d.contact.elem,
-      d.contact.vert,
-      d.contact.efc_address,
-      d.contact.worldid,
-      d.contact.type,
-      d.contact.geomcollisionid,
-    ],
-  )
-
-  wp.launch(
-    reset_sleep,
-    dim=(d.nworld, max(m.ntree, m.nbody, m.nv)),
-    inputs=[m.nv, m.nbody, m.ntree, m.body_mocapid, m.body_treeid, types.MJ_MINAWAKE, reset_input],
-    outputs=[
-      d.tree_asleep,
-      d.tree_awake,
-      d.body_awake,
-      d.body_awake_ind,
-      d.dof_awake_ind,
-    ],
-  )
-
-  wp.launch(
-    reset_nworld,
-    dim=d.nworld,
-    inputs=[
-      m.nq,
-      m.nv,
-      m.nu,
-      m.na,
-      m.nbody,
-      m.ntree,
-      m.neq,
-      m.nuserdata,
-      m.nsensordata,
-      m.qpos0,
-      m.eq_active0,
-      d.nworld,
-      reset_input,
-    ],
-    outputs=[
-      d.solver_niter,
-      d.ne,
-      d.nf,
-      d.nl,
-      d.nefc,
-      d.ntree_awake,
-      d.nbody_awake,
-      d.nv_awake,
-      d.time,
-      d.energy,
-      d.qpos,
-      d.qvel,
-      d.act,
-      d.qacc_warmstart,
-      d.ctrl,
-      d.qfrc_applied,
-      d.eq_active,
-      d.qacc,
-      d.act_dot,
-      d.userdata,
-      d.sensordata,
-      d.nacon,
-      d.overflow,
-    ],
-  )
-
-  if sleep_enabled:
-    sleep.update_sleep(m, d)
-
-
-# kernel_analyzer: off
-@wp.kernel
-def _init_subtreemass(
-  body_mass_in: wp.array2d[float],
-  body_subtreemass_out: wp.array2d[float],
-):
-  worldid, bodyid = wp.tid()
-  body_mass_id = worldid % body_mass_in.shape[0]
-  body_subtreemass_id = worldid % body_subtreemass_out.shape[0]
-  body_subtreemass_out[body_subtreemass_id, bodyid] = body_mass_in[body_mass_id, bodyid]
-
-
-@wp.kernel
-def _accumulate_subtreemass(
-  body_parentid: wp.array[int],
-  body_subtreemass_io: wp.array2d[float],
-  body_tree_: wp.array[int],
-):
-  worldid, nodeid = wp.tid()
-  body_subtreemass_id = worldid % body_subtreemass_io.shape[0]
-  bodyid = body_tree_[nodeid]
-  parentid = body_parentid[bodyid]
-  if bodyid != 0:
-    wp.atomic_add(body_subtreemass_io, body_subtreemass_id, parentid, body_subtreemass_io[body_subtreemass_id, bodyid])
-
-
-@wp.kernel
-def _copy_qpos0_to_qpos(
-  qpos0: wp.array2d[float],
-  qpos_out: wp.array2d[float],
-):
-  worldid, i = wp.tid()
-  qpos0_id = worldid % qpos0.shape[0]
-  qpos_out[worldid, i] = qpos0[qpos0_id, i]
-
-
-@wp.kernel
-def _copy_tendon_length0(
-  ten_length_in: wp.array2d[float],
-  tendon_length0_out: wp.array2d[float],
-):
-  worldid, tenid = wp.tid()
-  tendon_length0_id = worldid % tendon_length0_out.shape[0]
-  tendon_length0_out[tendon_length0_id, tenid] = ten_length_in[worldid, tenid]
-
-
-@wp.kernel
-def _compute_eq_data0(
-  # Model:
-  eq_type: wp.array[int],
-  eq_obj1id: wp.array[int],
-  eq_obj2id: wp.array[int],
-  eq_objtype: wp.array[int],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xquat_in: wp.array2d[wp.quat],
-  xmat_in: wp.array2d[wp.mat33],
-  # Out:
-  eq_data_out: wp.array2d[types.vec11],
-):
-  """Compute eq_data for connect/weld constraints.
-
-  Kinematics must have been evaluated at qpos0 so the constraint is satisfied at qpos0.
-  """
-  worldid, eqid = wp.tid()
-  eq_data_id = worldid % eq_data_out.shape[0]
-
-  eqtype = eq_type[eqid]
-  objtype = eq_objtype[eqid]
-  data = eq_data_out[eq_data_id, eqid]
-
-  if eqtype == int(types.EqType.CONNECT.value):
-    if objtype == int(types.ObjType.BODY.value):
-      obj1id = eq_obj1id[eqid]
-      obj2id = eq_obj2id[eqid]
-
-      # data[0:3] = anchor in body1 local frame; map to global frame
-      anchor1 = wp.vec3(data[0], data[1], data[2])
-      pos = xpos_in[worldid, obj1id] + xmat_in[worldid, obj1id] @ anchor1
-
-      # data[3:6] = anchor position in body2 local frame
-      anchor2 = wp.transpose(xmat_in[worldid, obj2id]) @ (pos - xpos_in[worldid, obj2id])
-      data[3] = anchor2[0]
-      data[4] = anchor2[1]
-      data[5] = anchor2[2]
-      eq_data_out[eq_data_id, eqid] = data
-    elif objtype == int(types.ObjType.SITE.value):
-      # site-based connect, eq_data is unused
-      eq_data_out[eq_data_id, eqid] = types.vec11(0.0)
-  elif eqtype == int(types.EqType.WELD.value):
-    if objtype == int(types.ObjType.BODY.value):
-      quat = wp.quat(data[6], data[7], data[8], data[9])
-      if wp.length_sq(quat) > 0.0:
-        # user has set quaternion data: normalize it and keep the remaining data
-        quat = wp.normalize(quat)
-        data[6] = quat[0]
-        data[7] = quat[1]
-        data[8] = quat[2]
-        data[9] = quat[3]
-        eq_data_out[eq_data_id, eqid] = data
-      else:
-        obj1id = eq_obj1id[eqid]
-        obj2id = eq_obj2id[eqid]
-
-        # data[0:3] = anchor in body2 local frame; map to global frame
-        anchor2 = wp.vec3(data[0], data[1], data[2])
-        pos = xpos_in[worldid, obj2id] + xmat_in[worldid, obj2id] @ anchor2
-
-        # data[3:6] = anchor position in body1 local frame
-        anchor1 = wp.transpose(xmat_in[worldid, obj1id]) @ (pos - xpos_in[worldid, obj1id])
-        data[3] = anchor1[0]
-        data[4] = anchor1[1]
-        data[5] = anchor1[2]
-
-        # data[6:10] = neg(xquat1) * xquat2 = "xquat2 - xquat1" in body1 local frame
-        relquat = mjmath.mul_quat(mjmath.quat_inv(xquat_in[worldid, obj1id]), xquat_in[worldid, obj2id])
-        data[6] = relquat[0]
-        data[7] = relquat[1]
-        data[8] = relquat[2]
-        data[9] = relquat[3]
-        eq_data_out[eq_data_id, eqid] = data
-
-
-@wp.kernel
-def _resolve_tendon_lengthspring(
-  ten_length_in: wp.array2d[float],
-  tendon_lengthspring_out: wp.array2d[wp.vec2],
-):
-  worldid, tenid = wp.tid()
-  tendon_lengthspring_id = worldid % tendon_lengthspring_out.shape[0]
-  val = tendon_lengthspring_out[tendon_lengthspring_id, tenid]
-  if val[0] == -1.0 and val[1] == -1.0:
-    l = ten_length_in[worldid, tenid]
-    tendon_lengthspring_out[tendon_lengthspring_id, tenid] = wp.vec2(l, l)
-
-
-@wp.kernel
-def _compute_meaninertia(
-  nv: int,
-  M_rownnz_in: wp.array[int],
-  M_rowadr_in: wp.array[int],
-  M_in: wp.array2d[float],
-  meaninertia_out: wp.array[float],
-):
-  """Compute mean diagonal inertia from M at qpos0."""
-  worldid = wp.tid()
-
-  if nv == 0:
-    meaninertia_out[worldid % meaninertia_out.shape[0]] = 1.0  # Default from MuJoCo
-    return
-
-  total = float(0.0)
-  for i in range(nv):
-    # CSR row diagonal is the last entry: M_rowadr_in[i] + M_rownnz_in[i] - 1
-    madr = M_rowadr_in[i] + M_rownnz_in[i] - 1
-    total += M_in[worldid, madr]
-
-  meaninertia_out[worldid % meaninertia_out.shape[0]] = total / float(nv)
-
-
-@wp.kernel
-def _set_unit_vector(
-  dofid_target: int,
-  unit_vec_out: wp.array2d[float],
-):
-  worldid = wp.tid()
-  nv = unit_vec_out.shape[1]
-  for i in range(nv):
-    if i == dofid_target:
-      unit_vec_out[worldid, i] = 1.0
-    else:
-      unit_vec_out[worldid, i] = 0.0
-
-
-@wp.kernel
-def _extract_dof_A_diag(
-  dofid: int,
-  result_vec_in: wp.array2d[float],
-  dof_A_diag_out: wp.array2d[float],
-):
-  worldid = wp.tid()
-  dof_A_diag_id = worldid % dof_A_diag_out.shape[0]
-  dof_A_diag_out[dof_A_diag_id, dofid] = result_vec_in[worldid, dofid]
-
-
-@wp.kernel
-def _finalize_dof_invweight0(
-  dof_jntid: wp.array[int],
-  jnt_type: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  dof_A_diag_in: wp.array2d[float],
-  dof_invweight0_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  dof_invweight0_id = worldid % dof_invweight0_out.shape[0]
-  dof_A_diag_id = worldid % dof_A_diag_in.shape[0]
-
-  jntid = dof_jntid[dofid]
-  jtype = jnt_type[jntid]
-  dofadr = jnt_dofadr[jntid]
-
-  if jtype == int(types.JointType.FREE.value):
-    # FREE joint: 6 DOFs, average first 3 (trans) and last 3 (rot) separately
-    if dofid < dofadr + 3:
-      avg = wp.static(1.0 / 3.0) * (
-        dof_A_diag_in[dof_A_diag_id, dofadr + 0]
-        + dof_A_diag_in[dof_A_diag_id, dofadr + 1]
-        + dof_A_diag_in[dof_A_diag_id, dofadr + 2]
-      )
-    else:
-      avg = wp.static(1.0 / 3.0) * (
-        dof_A_diag_in[dof_A_diag_id, dofadr + 3]
-        + dof_A_diag_in[dof_A_diag_id, dofadr + 4]
-        + dof_A_diag_in[dof_A_diag_id, dofadr + 5]
-      )
-    dof_invweight0_out[dof_invweight0_id, dofid] = avg
-  elif jtype == int(types.JointType.BALL.value):
-    # BALL joint: 3 DOFs, average all
-    avg = wp.static(1.0 / 3.0) * (
-      dof_A_diag_in[dof_A_diag_id, dofadr + 0]
-      + dof_A_diag_in[dof_A_diag_id, dofadr + 1]
-      + dof_A_diag_in[dof_A_diag_id, dofadr + 2]
-    )
-    dof_invweight0_out[dof_invweight0_id, dofid] = avg
-  else:
-    # HINGE/SLIDE: 1 DOF, no averaging
-    dof_invweight0_out[dof_invweight0_id, dofid] = dof_A_diag_in[dof_A_diag_id, dofid]
-
-
-@wp.kernel
-def _compute_body_jac_row(
-  nv: int,
-  bodyid_target: int,
-  row_idx: int,
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  body_dofadr: wp.array[int],
-  body_dofnum: wp.array[int],
-  dof_parentid: wp.array[int],
-  subtree_com_in: wp.array2d[wp.vec3],
-  xipos_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  body_jac_row_out: wp.array2d[float],
-):
-  worldid = wp.tid()
-
-  for i in range(nv):
-    body_jac_row_out[worldid, i] = 0.0
-
-  bodyid = bodyid_target
-  while bodyid > 0 and body_dofnum[bodyid] == 0:
-    bodyid = body_parentid[bodyid]
-
-  if bodyid == 0:
-    return
-
-  # Compute offset from point (xipos) to subtree_com of root body
-  point = xipos_in[worldid, bodyid_target]
-  offset = point - subtree_com_in[worldid, body_rootid[bodyid_target]]
-
-  # Get last dof that affects this body
-  dofid = body_dofadr[bodyid] + body_dofnum[bodyid] - 1
-
-  # Backward pass over dof ancestor chain
-  while dofid >= 0:
-    cdof = cdof_in[worldid, dofid]
-    cdof_ang = wp.spatial_top(cdof)
-    cdof_lin = wp.spatial_bottom(cdof)
-
-    if row_idx < 3:
-      tmp = wp.cross(cdof_ang, offset)
-      if row_idx == 0:
-        body_jac_row_out[worldid, dofid] = cdof_lin[0] + tmp[0]
-      elif row_idx == 1:
-        body_jac_row_out[worldid, dofid] = cdof_lin[1] + tmp[1]
-      else:
-        body_jac_row_out[worldid, dofid] = cdof_lin[2] + tmp[2]
-    else:
-      if row_idx == 3:
-        body_jac_row_out[worldid, dofid] = cdof_ang[0]
-      elif row_idx == 4:
-        body_jac_row_out[worldid, dofid] = cdof_ang[1]
-      else:
-        body_jac_row_out[worldid, dofid] = cdof_ang[2]
-
-    dofid = dof_parentid[dofid]
-
-
-@wp.kernel
-def _compute_body_A_diag_entry(
-  nv: int,
-  bodyid_target: int,
-  row_idx: int,
-  body_jac_row_in: wp.array2d[float],
-  result_vec_in: wp.array2d[float],
-  body_A_diag_out: wp.array3d[float],
-):
-  worldid = wp.tid()
-  body_A_diag_id = worldid % body_A_diag_out.shape[0]
-  # A[row,row] = J[row] · inv(M) · J[row]' = J[row] · result_vec
-  dot_prod = float(0.0)
-  for i in range(nv):
-    dot_prod += body_jac_row_in[worldid, i] * result_vec_in[worldid, i]
-  body_A_diag_out[body_A_diag_id, bodyid_target, row_idx] = dot_prod
-
-
-@wp.kernel
-def _finalize_body_invweight0(
-  body_weldid: wp.array[int],
-  body_A_diag_in: wp.array3d[float],
-  body_invweight0_out: wp.array2d[wp.vec2],
-):
-  worldid, bodyid = wp.tid()
-  body_invweight0_id = worldid % body_invweight0_out.shape[0]
-  body_A_diag_id = worldid % body_A_diag_in.shape[0]
-
-  # World body and static bodies have zero invweight
-  if bodyid == 0 or body_weldid[bodyid] == 0:
-    body_invweight0_out[body_invweight0_id, bodyid] = wp.vec2(0.0, 0.0)
-    return
-
-  # Average diagonal: trans = (A[0,0]+A[1,1]+A[2,2])/3, rot = (A[3,3]+A[4,4]+A[5,5])/3
-  inv_trans = wp.static(1.0 / 3.0) * (
-    body_A_diag_in[body_A_diag_id, bodyid, 0]
-    + body_A_diag_in[body_A_diag_id, bodyid, 1]
-    + body_A_diag_in[body_A_diag_id, bodyid, 2]
-  )
-  inv_rot = wp.static(1.0 / 3.0) * (
-    body_A_diag_in[body_A_diag_id, bodyid, 3]
-    + body_A_diag_in[body_A_diag_id, bodyid, 4]
-    + body_A_diag_in[body_A_diag_id, bodyid, 5]
-  )
-
-  # Prevent degenerate constraints: if one component is near zero, use the other as fallback
-  if inv_trans < mujoco.mjMINVAL and inv_rot > mujoco.mjMINVAL:
-    inv_trans = inv_rot  # use rotation as fallback for translation
-  elif inv_rot < mujoco.mjMINVAL and inv_trans > mujoco.mjMINVAL:
-    inv_rot = inv_trans  # use translation as fallback for rotation
-
-  body_invweight0_out[body_invweight0_id, bodyid] = wp.vec2(inv_trans, inv_rot)
-
-
-@wp.kernel
-def _copy_tendon_jacobian(
-  tenid_target: int,
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  ten_J_in: wp.array2d[float],
-  ten_J_vec_out: wp.array2d[float],
-):
-  worldid = wp.tid()
-  nv = ten_J_in.shape[2]
-  rownnz = ten_J_rownnz[tenid_target]
-  rowadr = ten_J_rowadr[tenid_target]
-  for i in range(rownnz):
-    colind = ten_J_colind[rowadr + i]
-    ten_J_vec_out[worldid, colind] = ten_J_in[worldid, rowadr + i]
-
-
-@wp.kernel
-def _compute_tendon_dot_product(
-  # Model:
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  # In:
-  tenid_target: int,
-  ten_J_in: wp.array2d[float],
-  result_vec_in: wp.array2d[float],
-  # Out:
-  tendon_invweight0_out: wp.array2d[float],
-):
-  worldid = wp.tid()
-  tendon_invweight0_id = worldid % tendon_invweight0_out.shape[0]
-  dot_prod = float(0.0)
-
-  rownnz = ten_J_rownnz[tenid_target]
-  rowadr = ten_J_rowadr[tenid_target]
-  for i in range(rownnz):
-    sparseid = rowadr + i
-    colind = ten_J_colind[sparseid]
-    dot_prod += ten_J_in[worldid, sparseid] * result_vec_in[worldid, colind]
-
-  tendon_invweight0_out[tendon_invweight0_id, tenid_target] = dot_prod
-
-
-@wp.kernel
-def _compute_cam_pos0(
-  cam_bodyid: wp.array[int],
-  cam_targetbodyid: wp.array[int],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  cam_xmat_in: wp.array2d[wp.mat33],
-  xpos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cam_pos0_out: wp.array2d[wp.vec3],
-  cam_poscom0_out: wp.array2d[wp.vec3],
-  cam_mat0_out: wp.array2d[wp.mat33],
-):
-  worldid, camid = wp.tid()
-  cam_pos0_id = worldid % cam_pos0_out.shape[0]
-  bodyid = cam_bodyid[camid]
-  targetid = cam_targetbodyid[camid]
-  cam_xpos = cam_xpos_in[worldid, camid]
-
-  cam_pos0_out[cam_pos0_id, camid] = cam_xpos - xpos_in[worldid, bodyid]
-  if targetid >= 0:
-    cam_poscom0_out[cam_pos0_id, camid] = cam_xpos - subtree_com_in[worldid, targetid]
-  else:
-    cam_poscom0_out[cam_pos0_id, camid] = cam_xpos - subtree_com_in[worldid, bodyid]
-  cam_mat0_out[cam_pos0_id, camid] = cam_xmat_in[worldid, camid]
-
-
-@wp.kernel
-def _compute_light_pos0(
-  light_bodyid: wp.array[int],
-  light_targetbodyid: wp.array[int],
-  light_xpos_in: wp.array2d[wp.vec3],
-  light_xdir_in: wp.array2d[wp.vec3],
-  xpos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  light_pos0_out: wp.array2d[wp.vec3],
-  light_poscom0_out: wp.array2d[wp.vec3],
-  light_dir0_out: wp.array2d[wp.vec3],
-):
-  worldid, lightid = wp.tid()
-  light_pos0_id = worldid % light_pos0_out.shape[0]
-  bodyid = light_bodyid[lightid]
-  targetid = light_targetbodyid[lightid]
-  light_xpos = light_xpos_in[worldid, lightid]
-
-  light_pos0_out[light_pos0_id, lightid] = light_xpos - xpos_in[worldid, bodyid]
-  if targetid >= 0:
-    light_poscom0_out[light_pos0_id, lightid] = light_xpos - subtree_com_in[worldid, targetid]
-  else:
-    light_poscom0_out[light_pos0_id, lightid] = light_xpos - subtree_com_in[worldid, bodyid]
-  light_dir0_out[light_pos0_id, lightid] = light_xdir_in[worldid, lightid]
-
-
-@wp.kernel
-def _copy_actuator_moment(
-  actid_target: int,
-  moment_rownnz_in: wp.array2d[int],
-  moment_rowadr_in: wp.array2d[int],
-  moment_colind_in: wp.array2d[int],
-  actuator_moment_in: wp.array2d[float],
-  act_moment_vec_out: wp.array2d[float],
-):
-  worldid = wp.tid()
-  nv = act_moment_vec_out.shape[1]
-  for i in range(nv):
-    act_moment_vec_out[worldid, i] = 0.0
-  rownnz = moment_rownnz_in[worldid, actid_target]
-  rowadr = moment_rowadr_in[worldid, actid_target]
-  for i in range(rownnz):
-    sparseid = rowadr + i
-    col = moment_colind_in[worldid, sparseid]
-    act_moment_vec_out[worldid, col] = actuator_moment_in[worldid, sparseid]
-
-
-@wp.kernel
-def _compute_actuator_acc0(
-  actid_target: int,
-  nv: int,
-  result_vec_in: wp.array2d[float],
-  actuator_acc0_out: wp.array2d[float],
-):
-  worldid = wp.tid()
-  norm_sq = float(0.0)
-  for i in range(nv):
-    norm_sq += result_vec_in[worldid, i] * result_vec_in[worldid, i]
-  actuator_acc0_out[worldid, actid_target] = wp.sqrt(norm_sq)
-
-
-@wp.kernel
-def _compute_dof_M0(
-  dof_bodyid: wp.array[int],
-  dof_armature: wp.array2d[float],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  crb_in: wp.array2d[vec10],
-  dof_M0_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  bodyid = dof_bodyid[dofid]
-  armature = dof_armature[worldid % dof_armature.shape[0], dofid]
-  buf = mjmath.inert_vec(crb_in[worldid, bodyid], cdof_in[worldid, dofid])
-  dof_M0_out[worldid, dofid] = armature + wp.dot(cdof_in[worldid, dofid], buf)
-
-
-@wp.kernel
-def _resolve_dampratio(
-  actuator_biastype: wp.array[int],
-  actuator_gainprm: wp.array2d[types.vec10],
-  moment_rownnz_in: wp.array2d[int],
-  moment_rowadr_in: wp.array2d[int],
-  moment_colind_in: wp.array2d[int],
-  actuator_moment_in: wp.array2d[float],
-  dof_M0_in: wp.array2d[float],
-  nv: int,
-  actuator_biasprm: wp.array2d[types.vec10],
-):
-  worldid, actid = wp.tid()
-  biastype = actuator_biastype[actid]
-
-  # only affine bias (position actuators)
-  if biastype != BiasType.AFFINE:
-    return
-
-  gainprm_id = worldid % actuator_gainprm.shape[0]
-  biasprm_id = worldid % actuator_biasprm.shape[0]
-  kp = actuator_gainprm[gainprm_id, actid][0]
-
-  biasprm = actuator_biasprm[biasprm_id, actid]
-  # dampratio condition: gainprm[0] == -biasprm[1] and biasprm[2] > 0
-  if wp.abs(kp + biasprm[1]) > MJ_MINVAL:
-    return
-  if biasprm[2] <= 0.0:
-    return
-
-  dampratio = biasprm[2]
-
-  # compute reflected mass: sum(dof_M0[j] / moment[i,j]^2) for active DOFs
-  mass = float(0.0)
-  rownnz = moment_rownnz_in[worldid, actid]
-  rowadr = moment_rowadr_in[worldid, actid]
-  for k in range(rownnz):
-    sparseid = rowadr + k
-    j = moment_colind_in[worldid, sparseid]
-    moment = actuator_moment_in[worldid, sparseid]
-    if wp.abs(moment) > MJ_MINVAL:
-      mass += dof_M0_in[worldid, j] / (moment * moment)
-
-  damping = dampratio * 2.0 * wp.sqrt(kp * mass)
-
-  # write -damping to biasprm[2]
-  new_biasprm = biasprm
-  new_biasprm[2] = -damping
-  actuator_biasprm[biasprm_id, actid] = new_biasprm
-
-
-@wp.kernel
-def _set_length_range(
-  actuator_trntype: wp.array[int],
-  actuator_trnid: wp.array[wp.vec2i],
-  actuator_gear: wp.array2d[wp.spatial_vector],
-  jnt_limited: wp.array[int],
-  jnt_range: wp.array2d[wp.vec2],
-  tendon_limited: wp.array[int],
-  tendon_range: wp.array2d[wp.vec2],
-  ntendon: int,
-  actuator_lengthrange_out: wp.array2d[wp.vec2],
-):
-  worldid, actid = wp.tid()
-  trntype = actuator_trntype[actid]
-  id0 = actuator_trnid[actid][0]
-  gear0 = actuator_gear[worldid % actuator_gear.shape[0], actid][0]
-
-  lr = wp.vec2(0.0, 0.0)
-
-  if trntype == TrnType.JOINT or trntype == TrnType.JOINTINPARENT:
-    if jnt_limited[id0]:
-      rng = jnt_range[worldid % jnt_range.shape[0], id0]
-      if gear0 > 0.0:
-        lr = wp.vec2(rng[0] * gear0, rng[1] * gear0)
-      else:
-        lr = wp.vec2(rng[1] * gear0, rng[0] * gear0)
-  elif trntype == TrnType.TENDON:
-    if ntendon > 0 and tendon_limited[id0]:
-      rng = tendon_range[worldid % tendon_range.shape[0], id0]
-      if gear0 > 0.0:
-        lr = wp.vec2(rng[0] * gear0, rng[1] * gear0)
-      else:
-        lr = wp.vec2(rng[1] * gear0, rng[0] * gear0)
-
-  actuator_lengthrange_out[worldid, actid] = lr
-
-
-# kernel_analyzer: on
-
-
-def set_const_fixed(m: types.Model, d: types.Data):
-  """Compute fixed quantities (independent of qpos0).
-
-  Computes:
-    - body_subtreemass: mass of body and all descendants (depends on body_mass)
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-  """
-  nworld_subtreemass = m.body_subtreemass.shape[0]
-  wp.launch(_init_subtreemass, dim=(nworld_subtreemass, m.nbody), inputs=[m.body_mass], outputs=[m.body_subtreemass])
-  for i in reversed(range(len(m.body_tree))):
-    body_tree = m.body_tree[i]
-    wp.launch(
-      _accumulate_subtreemass,
-      dim=(nworld_subtreemass, body_tree.size),
-      inputs=[m.body_parentid, m.body_subtreemass, body_tree],
-    )
-
-
-def set_const_0(m: types.Model, d: types.Data, restore: bool = True):
-  """Compute quantities that depend on qpos0.
-
-  Computes:
-    - tendon_length0: tendon resting lengths
-    - eq_data: connect/weld anchor data, recomputed so the constraint is
-      satisfied at qpos0
-    - dof_invweight0: inverse inertia for DOFs
-    - body_invweight0: inverse spatial inertia for bodies
-    - tendon_invweight0: inverse weight for tendons
-    - cam_pos0, cam_poscom0, cam_mat0: camera references
-    - light_pos0, light_poscom0, light_dir0: light references
-    - actuator_acc0: acceleration from unit actuator force
-    - actuator_biasprm[2] (dampratio resolution): for position actuators where
-      gainprm[0] == -biasprm[1] and biasprm[2] > 0, converts dampratio to
-      damping via biasprm[2] = -dampratio * 2 * sqrt(kp * reflected_mass)
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-    restore: Whether to restore state fields to correspond to d.qpos.
-  """
-  qpos_saved = wp.clone(d.qpos)
-
-  wp.launch(_copy_qpos0_to_qpos, dim=(d.nworld, m.nq), inputs=[m.qpos0], outputs=[d.qpos])
-
-  smooth.kinematics(m, d)
-  smooth.com_pos(m, d)
-  smooth.camlight(m, d)
-  smooth.flex(m, d)
-  smooth.tendon(m, d)
-  smooth.crb(m, d)
-  smooth.tendon_armature(m, d)
-  smooth.factor_m(m, d)
-  smooth.transmission(m, d)
-
-  # Compute meaninertia from M diagonal at qpos0
-  wp.launch(
-    _compute_meaninertia,
-    dim=m.stat.meaninertia.shape[0],
-    inputs=[m.nv, m.M_rownnz, m.M_rowadr, d.M],
-    outputs=[m.stat.meaninertia],
-  )
-
-  wp.launch(_copy_tendon_length0, dim=(m.tendon_length0.shape[0], m.ntendon), inputs=[d.ten_length], outputs=[m.tendon_length0])
-
-  wp.launch(
-    _compute_eq_data0,
-    dim=(m.eq_data.shape[0], m.neq),
-    inputs=[m.eq_type, m.eq_obj1id, m.eq_obj2id, m.eq_objtype, d.xpos, d.xquat, d.xmat],
-    outputs=[m.eq_data],
-  )
-
-  # dof_invweight0: computed per joint with averaging for multi-DOF joints
-  # FREE: 6 DOFs, trans gets mean(A[0:3]), rot gets mean(A[3:6])
-  # BALL: 3 DOFs, all get mean(A[0:3])
-  # HINGE/SLIDE: 1 DOF, gets A[0,0]
-  if m.nv > 0:
-    unit_vec = wp.zeros((d.nworld, m.nv), dtype=float)
-    result_vec = wp.zeros((d.nworld, m.nv), dtype=float)
-    dof_A_diag = wp.zeros((d.nworld, m.nv), dtype=float)
-
-    # TODO(team): more efficient approach instead of looping over nv?
-    for dofid in range(m.nv):
-      wp.launch(_set_unit_vector, dim=d.nworld, inputs=[dofid], outputs=[unit_vec])
-      smooth.solve_m(m, d, result_vec, unit_vec)
-      wp.launch(_extract_dof_A_diag, dim=d.nworld, inputs=[dofid, result_vec], outputs=[dof_A_diag])
-
-    wp.launch(
-      _finalize_dof_invweight0,
-      dim=(m.dof_invweight0.shape[0], m.nv),
-      inputs=[m.dof_jntid, m.jnt_type, m.jnt_dofadr, dof_A_diag],
-      outputs=[m.dof_invweight0],
-    )
-
-  # body_invweight0: computed as mean diagonal of J * inv(M) * J'
-  # where J is the 6xnv body Jacobian (3 rows translation, 3 rows rotation)
-  if m.nv > 0:
-    body_jac_row = wp.zeros((d.nworld, m.nv), dtype=float)
-    body_result_vec = wp.zeros((d.nworld, m.nv), dtype=float)
-    body_A_diag = wp.zeros((d.nworld, m.nbody, 6), dtype=float)
-
-    # TODO(team): more efficient approach instead of nested iterations?
-    for bodyid in range(1, m.nbody):
-      for row_idx in range(6):
-        wp.launch(
-          _compute_body_jac_row,
-          dim=d.nworld,
-          inputs=[
-            m.nv,
-            bodyid,
-            row_idx,
-            m.body_parentid,
-            m.body_rootid,
-            m.body_dofadr,
-            m.body_dofnum,
-            m.dof_parentid,
-            d.subtree_com,
-            d.xipos,
-            d.cdof,
-          ],
-          outputs=[body_jac_row],
-        )
-        smooth.solve_m(m, d, body_result_vec, body_jac_row)
-        wp.launch(
-          _compute_body_A_diag_entry,
-          dim=d.nworld,
-          inputs=[m.nv, bodyid, row_idx, body_jac_row, body_result_vec],
-          outputs=[body_A_diag],
-        )
-
-    wp.launch(
-      _finalize_body_invweight0,
-      dim=(m.body_invweight0.shape[0], m.nbody),
-      inputs=[m.body_weldid, body_A_diag],
-      outputs=[m.body_invweight0],
-    )
-  else:
-    m.body_invweight0.zero_()
-
-  # tendon_invweight0[t] = J_t * inv(M) * J_t'
-  if m.ntendon > 0:
-    ten_J_vec = wp.empty((d.nworld, m.nv), dtype=float)
-    ten_result_vec = wp.empty((d.nworld, m.nv), dtype=float)
-
-    for tenid in range(m.ntendon):
-      ten_J_vec.zero_()
-      wp.launch(
-        _copy_tendon_jacobian,
-        dim=d.nworld,
-        inputs=[tenid, m.ten_J_rownnz, m.ten_J_rowadr, m.ten_J_colind, d.ten_J],
-        outputs=[ten_J_vec],
-      )
-      smooth.solve_m(m, d, ten_result_vec, ten_J_vec)
-      wp.launch(
-        _compute_tendon_dot_product,
-        dim=m.tendon_invweight0.shape[0],
-        inputs=[m.ten_J_rownnz, m.ten_J_rowadr, m.ten_J_colind, tenid, d.ten_J, ten_result_vec],
-        outputs=[m.tendon_invweight0],
-      )
-
-  nworld_cam = np.max([m.cam_pos0.shape[0], m.cam_poscom0.shape[0], m.cam_mat0.shape[0]])
-  wp.launch(
-    _compute_cam_pos0,
-    dim=(nworld_cam, m.ncam),
-    inputs=[m.cam_bodyid, m.cam_targetbodyid, d.cam_xpos, d.cam_xmat, d.xpos, d.subtree_com],
-    outputs=[m.cam_pos0, m.cam_poscom0, m.cam_mat0],
-  )
-
-  nworld_light = np.max([m.light_pos0.shape[0], m.light_poscom0.shape[0], m.light_dir0.shape[0]])
-  wp.launch(
-    _compute_light_pos0,
-    dim=(nworld_light, m.nlight),
-    inputs=[m.light_bodyid, m.light_targetbodyid, d.light_xpos, d.light_xdir, d.xpos, d.subtree_com],
-    outputs=[m.light_pos0, m.light_poscom0, m.light_dir0],
-  )
-
-  # actuator_acc0[i] = ||inv(M) * actuator_moment[i]|| - acceleration from unit actuator force
-  if m.nu > 0 and m.nv > 0:
-    act_moment_vec = wp.zeros((d.nworld, m.nv), dtype=float)
-    act_result_vec = wp.zeros((d.nworld, m.nv), dtype=float)
-
-    for actid in range(m.nu):
-      wp.launch(
-        _copy_actuator_moment,
-        dim=d.nworld,
-        inputs=[actid, d.moment_rownnz, d.moment_rowadr, d.moment_colind, d.actuator_moment],
-        outputs=[act_moment_vec],
-      )
-      smooth.solve_m(m, d, act_result_vec, act_moment_vec)
-      wp.launch(
-        _compute_actuator_acc0, dim=m.actuator_acc0.shape[0], inputs=[actid, m.nv, act_result_vec], outputs=[m.actuator_acc0]
-      )
-
-  # resolve dampratio: compute dof_M0, then convert dampratio to damping
-  if m.nu > 0 and m.nv > 0:
-    dof_M0 = wp.zeros((d.nworld, m.nv), dtype=float)
-    wp.launch(
-      _compute_dof_M0,
-      dim=(d.nworld, m.nv),
-      inputs=[m.dof_bodyid, m.dof_armature, d.cdof, d.crb],
-      outputs=[dof_M0],
-    )
-    wp.launch(
-      _resolve_dampratio,
-      dim=(m.actuator_biasprm.shape[0], m.nu),
-      inputs=[
-        m.actuator_biastype,
-        m.actuator_gainprm,
-        d.moment_rownnz,
-        d.moment_rowadr,
-        d.moment_colind,
-        d.actuator_moment,
-        dof_M0,
-        m.nv,
-      ],
-      outputs=[m.actuator_biasprm],
-    )
-
-  wp.copy(d.qpos, qpos_saved)
-
-  if restore:
-    smooth.kinematics(m, d)
-    smooth.com_pos(m, d)
-    smooth.camlight(m, d)
-    smooth.flex(m, d)
-    smooth.tendon(m, d)
-    smooth.crb(m, d)
-    smooth.tendon_armature(m, d)
-    smooth.factor_m(m, d)
-    smooth.transmission(m, d)
-
-
-def set_const_spring(m: types.Model, d: types.Data, restore: bool = True):
-  """Compute quantities that depend on qpos_spring.
-
-  Computes:
-    - tendon_lengthspring: spring resting length range
-  """
-  if m.ntendon == 0:
-    return
-
-  qpos_saved = wp.clone(d.qpos)
-
-  wp.launch(_copy_qpos0_to_qpos, dim=(d.nworld, m.nq), inputs=[m.qpos_spring], outputs=[d.qpos])
-
-  smooth.kinematics(m, d)
-  smooth.com_pos(m, d)
-  smooth.tendon(m, d)
-  smooth.transmission(m, d)
-
-  wp.launch(
-    _resolve_tendon_lengthspring,
-    dim=(m.tendon_lengthspring.shape[0], m.ntendon),
-    inputs=[d.ten_length],
-    outputs=[m.tendon_lengthspring],
-  )
-
-  wp.copy(d.qpos, qpos_saved)
-
-  if restore:
-    smooth.kinematics(m, d)
-    smooth.com_pos(m, d)
-    smooth.tendon(m, d)
-    smooth.transmission(m, d)
-
-
-def set_const(m: types.Model, d: types.Data, restore: bool = True):
-  """Recomputes qpos0-dependent constant model fields.
-
-  This function propagates changes from some model fields to derived fields,
-  allowing modifications that would otherwise be unsafe. It should be called
-  after modifying model parameters at runtime.
-
-  Model fields that can be modified safely with set_const:
-
-  ==================================  ==============================================
-  Field                               Notes
-  ==================================  ==============================================
-  qpos0, qpos_spring
-  body_mass, body_inertia,            Mass and inertia are usually scaled together
-  body_ipos, body_iquat               since inertia is sum(m * r^2).
-  body_pos, body_quat                 Unsafe for static bodies (invalidates BVH).
-  body_gravcomp                       If changing from 0 to >0 bodies, required.
-  dof_armature
-  eq_data                             For connect/weld, offsets computed if not set.
-  hfield_size
-  tendon_stiffness, tendon_damping    Only if changing from/to zero.
-  actuator_gainprm, actuator_biasprm  For position actuators with dampratio.
-  ==================================  ==============================================
-
-  For selective updates, use the sub-functions directly based on what changed:
-
-  ==============  ===============
-  Modified Field  Call
-  ==============  ===============
-  body_mass       set_const
-  body_gravcomp   set_const_fixed
-  body_inertia    set_const_0
-  qpos0           set_const_0
-  ==============  ===============
-
-  Computes:
-    - Fixed quantities (via set_const_fixed):
-      - body_subtreemass: mass of body and all descendants
-    - qpos0-dependent quantities (via set_const_0):
-      - tendon_length0: tendon resting lengths
-      - dof_invweight0: inverse inertia for DOFs
-      - body_invweight0: inverse spatial inertia for bodies
-      - tendon_invweight0: inverse weight for tendons
-      - cam_pos0, cam_poscom0, cam_mat0: camera references
-      - light_pos0, light_poscom0, light_dir0: light references
-      - actuator_acc0: acceleration from unit actuator force
-      - actuator_biasprm[2] (dampratio resolution)
-
-  Skips: actuator_length0 (not in mjwarp).
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-    restore: Whether to restore state fields to correspond to d.qpos.
-  """
-  set_const_fixed(m, d)
-  set_const_0(m, d, restore=False)
-  set_const_spring(m, d, restore=False)
-
-  if restore:
-    smooth.kinematics(m, d)
-    smooth.com_pos(m, d)
-    smooth.camlight(m, d)
-    smooth.flex(m, d)
-    smooth.tendon(m, d)
-    smooth.crb(m, d)
-    smooth.tendon_armature(m, d)
-    smooth.factor_m(m, d)
-    smooth.transmission(m, d)
-
-
-def set_length_range(m: types.Model, d: types.Data, index: int = -1):
-  """Compute feasible actuator length ranges from joint/tendon limits.
-
-  For joint and tendon transmissions with limits, copies the range directly
-  from jnt_range or tendon_range scaled by gear. Actuators without limits
-  keep (0, 0). This covers the common robotics use case; simulation-based
-  computation for general transmissions is not yet implemented.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object (unused, kept for API compatibility with MuJoCo C).
-    index: Actuator index to compute for, or -1 for all actuators.
-  """
-  if m.nu == 0:
-    return
-
-  wp.launch(
-    _set_length_range,
-    dim=(d.nworld, m.nu),
-    inputs=[
-      m.actuator_trntype,
-      m.actuator_trnid,
-      m.actuator_gear,
-      m.jnt_limited,
-      m.jnt_range,
-      m.tendon_limited,
-      m.tendon_range,
-      m.ntendon,
-    ],
-    outputs=[m.actuator_lengthrange],
-  )
-
-
-def override_model(model: types.Model | mujoco.MjModel, overrides: dict[str, Any] | Sequence[str]):
-  """Overrides model parameters.
-
-  Overrides are of the format:
-    opt.iterations = 1
-    opt.cone = pyramidal
-    opt.disableflags = contact | spring
-  """
-  enum_fields = {
-    "opt.broadphase": types.BroadphaseType,
-    "opt.broadphase_filter": types.BroadphaseFilter,
-    "opt.cone": types.ConeType,
-    "opt.disableflags": types.DisableBit,
-    "opt.enableflags": types.EnableBit,
-    "opt.integrator": types.IntegratorType,
-    "opt.solver": types.SolverType,
-  }
-  # MuJoCo pybind11 enums don't support iteration, so we provide explicit mappings
-  mj_enum_fields = {
-    "opt.jacobian": {
-      "DENSE": mujoco.mjtJacobian.mjJAC_DENSE,
-      "SPARSE": mujoco.mjtJacobian.mjJAC_SPARSE,
-      "AUTO": mujoco.mjtJacobian.mjJAC_AUTO,
-    },
-  }
-  mjw_only_fields = {
-    "opt.broadphase",
-    "opt.broadphase_filter",
-    "opt.graph_conditional",
-    "opt.contact_sensor_maxmatch",
-  }
-  mj_only_fields = {"opt.jacobian", "vis.quality.offsamples"}
-
-  if not isinstance(overrides, dict):
-    overrides_dict = {}
-    for override in overrides:
-      if "=" not in override:
-        raise ValueError(f"Invalid override format: {override}")
-      k, v = override.split("=", 1)
-      overrides_dict[k.strip()] = v.strip()
-    overrides = overrides_dict
-
-  for key, val in overrides.items():
-    if key == "opt.ls_parallel":
-      raise ValueError("ls_parallel was removed in MuJoCo Warp 3.9.1.")
-    if key == "opt.ls_parallel_min_step":
-      raise ValueError("ls_parallel_min_step was removed in MuJoCo Warp 3.9.1.")
-
-    # skip overrides on MjModel for properties that are only on mjw.Model
-    if key in mjw_only_fields and isinstance(model, mujoco.MjModel):
-      continue
-    if key in mj_only_fields and isinstance(model, types.Model):
-      continue
-
-    obj, attrs = model, key.split(".")
-    for i, attr in enumerate(attrs):
-      if not hasattr(obj, attr):
-        raise ValueError(f"Unrecognized model field: {key}")
-      if i < len(attrs) - 1:
-        obj = getattr(obj, attr)
-        continue
-
-      typ = type(getattr(obj, attr))
-
-      if key in mj_enum_fields and isinstance(val, str):
-        enum_member = val.strip().upper()
-        if enum_member not in mj_enum_fields[key]:
-          raise ValueError(f"Unrecognized enum value for {key}: {enum_member}")
-        val = mj_enum_fields[key][enum_member]
-      elif key in enum_fields and isinstance(val, str):
-        # special case: enum value
-        enum_members = val.split("|")
-        val = 0
-        for enum_member in enum_members:
-          enum_member = enum_member.strip().upper()
-          if enum_member not in enum_fields[key].__members__:
-            raise ValueError(f"Unrecognized enum value for {enum_fields[key].__name__}: {enum_member}")
-          val |= int(enum_fields[key][enum_member])
-      elif typ is bool and isinstance(val, str):
-        # special case: "true", "TRUE", "false", "FALSE" etc.
-        if val.upper() not in ("TRUE", "FALSE"):
-          raise ValueError(f"Unrecognized value for field: {key}")
-        val = val.upper() == "TRUE"
-      elif typ is wp.array and isinstance(val, str):
-        arr = getattr(obj, attr)
-        floats = [float(p) for p in val.strip("[]").split()]
-        val = wp.array([arr.dtype(*floats)], dtype=arr.dtype)
-      elif typ is np.ndarray and isinstance(val, str):
-        arr = getattr(obj, attr)
-        val = np.array([float(p) for p in val.strip("[]").split()], dtype=arr.dtype)
-      else:
-        val = typ(val)
-
-      setattr(obj, attr, val)
-
-
-def find_keys(model: mujoco.MjModel, keyname_prefix: str) -> list[int]:
-  """Finds keyframes that start with keyname_prefix."""
-  keys = []
-
-  for keyid in range(model.nkey):
-    name = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_KEY, keyid)
-    if name.startswith(keyname_prefix):
-      keys.append(keyid)
-
-  return keys
-
-
-def make_trajectory(model: mujoco.MjModel, keys: list[int]) -> np.ndarray:
-  """Make a ctrl trajectory with linear interpolation."""
-  ctrls = []
-  prev_ctrl_key = np.zeros(model.nu, dtype=np.float64)
-  prev_time, time = 0.0, 0.0
-
-  for key in keys:
-    ctrl_key, ctrl_time = model.key_ctrl[key], model.key_time[key]
-    if not ctrls and ctrl_time != 0.0:
-      raise ValueError("first keyframe must have time 0.0")
-    elif ctrls and ctrl_time <= prev_time:
-      raise ValueError("keyframes must be in time order")
-
-    while time < ctrl_time:
-      frac = (time - prev_time) / (ctrl_time - prev_time)
-      ctrls.append(prev_ctrl_key * (1 - frac) + ctrl_key * frac)
-      time += model.opt.timestep
-
-    ctrls.append(ctrl_key)
-    time += model.opt.timestep
-    prev_ctrl_key = ctrl_key
-    prev_time = time
-
-  return np.array(ctrls)
-
-
-def load_trajectory(npz_path: str, mjm: mujoco.MjModel, mjd: mujoco.MjData) -> np.ndarray:
-  """Load ctrl sequence from NPZ and interpolate to model timestep.
-
-  If the trajectory dt differs from mjm.opt.timestep, each ctrl value is held
-  constant (zero-order hold) for the appropriate number of physics steps.
-
-  The NPZ file should contain:
-    - 'ctrl': array of shape (nstep, nu) with ctrl values
-    - 'times': array of shape (nstep,) with timestamps
-    - 'qpos' (optional): array of shape (1, nq) - initial state
-    - 'qvel' (optional): array of shape (1, nv) - initial state
-  """
-  data = np.load(npz_path)
-  ctrl = data["ctrl"]
-  times = data["times"]
-
-  if ctrl.shape[1] != mjm.nu:
-    raise ValueError(f"ctrl shape {ctrl.shape} does not match model nu={mjm.nu}")
-
-  # set initial state from first frame if available
-  if "qpos" in data and data["qpos"].shape[1] == mjm.nq:
-    mjd.qpos[:] = data["qpos"][0]
-  if "qvel" in data and data["qvel"].shape[1] == mjm.nv:
-    mjd.qvel[:] = data["qvel"][0]
-
-  # determine decimation from timing
-  ctrl_dt = (times[1] - times[0]) if len(times) > 1 else mjm.opt.timestep
-  decimation = max(1, round(ctrl_dt / mjm.opt.timestep))
-
-  # expand: each ctrl held constant for decimation physics steps
-  return np.repeat(ctrl, decimation, axis=0)
-
-
-@wp.kernel
-def _build_rays(
-  # In:
-  offset: int,
-  img_w: int,
-  img_h: int,
-  projection: int,
-  fovy: float,
-  sensorsize: wp.vec2,
-  intrinsic: wp.vec4,
-  znear: float,
-  # Out:
-  ray_out: wp.array[wp.vec3],
-):
-  xid, yid = wp.tid()
-  ray_out[offset + xid + yid * img_w] = render_util.compute_ray(
-    projection, fovy, sensorsize, intrinsic, img_w, img_h, xid, yid, znear
-  )
-
-
-def create_render_context(
-  mjm: mujoco.MjModel,
-  nworld: int = 1,
-  cam_res: list[tuple[int, int]] | tuple[int, int] | None = None,
-  render_rgb: list[bool] | bool | None = None,
-  render_depth: list[bool] | bool | None = None,
-  render_seg: list[bool] | bool | None = None,
-  use_textures: bool = True,
-  use_fast_math: bool = True,
-  use_shadows: bool = False,
-  use_ambient_lighting: bool = True,
-  enabled_geom_groups: list[int] = [0, 1, 2],
-  cam_active: list[bool] | None = None,
-  background_color: tuple[float, float, float, float] = (0.1, 0.1, 0.2, 1.0),
-  flex_render_smooth: bool = True,
-  use_precomputed_rays: bool = True,
-  render_skybox: bool = False,
-  enable_backface_culling: bool = True,
-  enable_specular: bool = True,
-  enable_emission: bool = True,
-  enable_per_light_ambient: bool = True,
-) -> types.RenderContext:
-  """Creates a render context on device.
-
-  Args:
-    mjm: The model containing kinematic and dynamic information on host.
-    nworld: The number of worlds.
-    cam_res: The width and height to render each camera image. If None, uses the
-             MuJoCo model values.
-    render_rgb: Whether to render RGB images. If None, uses the MuJoCo model values.
-    render_depth: Whether to render depth images. If None, uses the MuJoCo model values.
-    render_seg: Whether to render segmentation (per-pixel object ID/type pairs).
-      If None, uses the MuJoCo model values.
-    use_textures: Whether to use textures.
-    use_fast_math: Whether to enable fast math for the render kernel.
-    use_shadows: Whether to use shadows.
-    use_ambient_lighting: Top-level ambient switch. When False, skips all
-                          ambient contributions, including headlight ambient,
-                          the no-light fallback, and per-light ambient.
-    enabled_geom_groups: The geom groups to render.
-    cam_active: List of booleans indicating which cameras to include in rendering.
-                If None, all cameras are included.
-    flex_render_smooth: Whether to render flex meshes smoothly.
-    use_precomputed_rays: Use precomputed rays instead of computing during rendering.
-                          When using domain randomization for camera intrinsics, set to False.
-    render_skybox: Whether to shade missed rays with the MuJoCo skybox texture.
-                   Requires the model to contain a texture with type `mjTEXTURE_SKYBOX`.
-    enable_backface_culling: Drop primitive-ray hits whose normal faces away from
-                             the ray (ray origin inside the geom). Matches MuJoCo's
-                             mesh-ray rule. Default True. Disable for a small
-                             performance gain when no camera is ever inside a geom.
-    background_color: The color to use for background pixels when no skybox is rendered.
-    enable_specular: Evaluate specular highlights per light. When False the
-                     half-vector normalize and shininess `pow` are dropped at
-                     compile time. Disable for performance when no specular is present.
-    enable_emission: Add `mat_emission * base_color` per shaded pixel. When
-                     False the term is dropped at compile time. Disable for performance
-                     when no emission is present.
-    enable_per_light_ambient: When ambient lighting is enabled, sum each
-                              light's `ambient` color into shaded pixels
-                              even outside its cone or in shadow. When False
-                              the per-light ambient pass is removed at compile
-                              time. Disable for performance when model lights
-                              do not use ambient colors.
-
-  Returns:
-    The render context containing rendering fields and output arrays on device.
-  """
-  mjd = mujoco.MjData(mjm)
-  mujoco.mj_forward(mjm, mjd)
-
-  constructor = "cubql"
-
-  # Mesh BVHs – build for all meshes so per-world variants are available
-  nmesh = mjm.nmesh
-  geom_enabled_mask = np.isin(mjm.geom_group, list(enabled_geom_groups))
-  geom_enabled_idx = np.nonzero(geom_enabled_mask)[0]
-
-  mesh_registry = {}
-  mesh_bvh_id = [wp.uint64(0) for _ in range(nmesh)]
-  mesh_bounds_size = [wp.vec3(0.0, 0.0, 0.0) for _ in range(nmesh)]
-
-  for mid in range(nmesh):
-    mesh, half = bvh.build_mesh_bvh(mjm, mid, constructor=constructor)
-    mesh_registry[mesh.id] = mesh
-    mesh_bvh_id[mid] = mesh.id
-    mesh_bounds_size[mid] = half
-
-  mesh_bvh_id_arr = wp.array(mesh_bvh_id, dtype=wp.uint64)
-  mesh_bounds_size_arr = wp.array(mesh_bounds_size, dtype=wp.vec3)
-
-  # HField BVHs
-  nhfield = mjm.nhfield
-  hfield_geom_mask = geom_enabled_mask & (mjm.geom_type == types.GeomType.HFIELD) & (mjm.geom_dataid >= 0)
-  used_hfield_id = set(mjm.geom_dataid[hfield_geom_mask].astype(int))
-  hfield_registry = {}
-  hfield_bvh_id = [wp.uint64(0) for _ in range(nhfield)]
-  hfield_bounds_size = [wp.vec3(0.0, 0.0, 0.0) for _ in range(nhfield)]
-
-  for hid in used_hfield_id:
-    hmesh, hhalf = bvh.build_hfield_bvh(mjm, hid, constructor=constructor)
-    hfield_registry[hmesh.id] = hmesh
-    hfield_bvh_id[hid] = hmesh.id
-    hfield_bounds_size[hid] = hhalf
-
-  hfield_bvh_id_arr = wp.array(hfield_bvh_id, dtype=wp.uint64)
-  hfield_bounds_size_arr = wp.array(hfield_bounds_size, dtype=wp.vec3)
-
-  # Flex BVHs
-  nflex = mjm.nflex
-  flex_registry = {}
-
-  # Scene BVH flex primitives: 1D → one capsule per edge, 2D/3D → one box per flex
-  flex_geom_flexid = []
-  flex_geom_edgeid = []
-  flex_bvh_id = np.full(nflex, 0, dtype=wp.uint64)
-  # Indexed later as [worldid, flexid].
-  flex_group_root = np.full((nworld, nflex), -1, dtype=int)
-
-  for f in range(nflex):
-    if mjm.flex_dim[f] == 1:
-      edge_adr = mjm.flex_edgeadr[f]
-      flex_geom_flexid.extend([f] * mjm.flex_edgenum[f])
-      flex_geom_edgeid.extend([edge_adr + e for e in range(mjm.flex_edgenum[f])])
-    else:
-      flex_geom_flexid.append(f)
-      flex_geom_edgeid.append(-1)
-      fmesh, group_root = bvh.build_flex_bvh(mjm, mjd, nworld, f)
-      flex_registry[f] = fmesh
-      flex_bvh_id[f] = fmesh.id
-      flex_group_root[:, f] = group_root.numpy()
-
-  textures_registry = []
-  for i in range(mjm.ntex):
-    textures_registry.append(render_util.create_warp_texture(mjm, i))
-  textures = wp.array(textures_registry, dtype=wp.Texture2D)
-
-  # Locate skybox texture
-  skybox_tex_ids = np.nonzero(mjm.tex_type == mujoco.mjtTexture.mjTEXTURE_SKYBOX)[0] if mjm.ntex else np.array([], dtype=int)
-  if render_skybox and skybox_tex_ids.size > 0:
-    skybox_tex_id_np = np.array([skybox_tex_ids[0]], dtype=int)
-    skybox_face_width_np = np.array([mjm.tex_width[skybox_tex_ids[0]]], dtype=int)
-  else:
-    render_skybox = False
-    skybox_tex_id_np = np.array([-1], dtype=int)
-    skybox_face_width_np = np.array([1], dtype=int)
-
-  # Filter active cameras
-  if cam_active is not None:
-    assert len(cam_active) == mjm.ncam, f"cam_active must have length {mjm.ncam} (got {len(cam_active)})"
-    active_cam_indices = np.nonzero(cam_active)[0]
-  else:
-    active_cam_indices = list(range(mjm.ncam))
-
-  ncam = len(active_cam_indices)
-
-  if cam_res is not None:
-    if isinstance(cam_res, tuple):
-      cam_res = [cam_res] * ncam
-    assert len(cam_res) == ncam, (
-      f"Camera resolutions must be provided for all active cameras (got {len(cam_res)}, expected {ncam})"
-    )
-    active_cam_res = cam_res
-  else:
-    active_cam_res = mjm.cam_resolution[active_cam_indices]
-
-  cam_res_arr = wp.array(active_cam_res, dtype=wp.vec2i)
-
-  if render_rgb is None:
-    render_rgb = [mjm.cam_output[i] & mujoco.mjtCamOutBit.mjCAMOUT_RGB for i in active_cam_indices]
-  elif isinstance(render_rgb, bool):
-    render_rgb = [render_rgb] * ncam
-
-  if render_depth is None:
-    render_depth = [mjm.cam_output[i] & mujoco.mjtCamOutBit.mjCAMOUT_DEPTH for i in active_cam_indices]
-  if isinstance(render_depth, bool):
-    render_depth = [render_depth] * ncam
-
-  if render_seg is None:
-    render_seg = [mjm.cam_output[i] & mujoco.mjtCamOutBit.mjCAMOUT_SEG for i in active_cam_indices]
-  elif isinstance(render_seg, bool):
-    render_seg = [render_seg] * ncam
-
-  assert len(render_rgb) == ncam and len(render_depth) == ncam and len(render_seg) == ncam, (
-    f"render_rgb, render_depth, and render_seg must be a bool or a list of bools with length {ncam}"
-  )
-
-  rgb_adr = -1 * np.ones(ncam, dtype=int)
-  depth_adr = -1 * np.ones(ncam, dtype=int)
-  seg_adr = -1 * np.ones(ncam, dtype=int)
-  cam_res_np = cam_res_arr.numpy()
-  ri = 0
-  di = 0
-  si = 0
-  total = 0
-
-  for idx in range(ncam):
-    if render_rgb[idx]:
-      rgb_adr[idx] = ri
-      ri += cam_res_np[idx][0] * cam_res_np[idx][1]
-    if render_depth[idx]:
-      depth_adr[idx] = di
-      di += cam_res_np[idx][0] * cam_res_np[idx][1]
-    if render_seg[idx]:
-      seg_adr[idx] = si
-      si += cam_res_np[idx][0] * cam_res_np[idx][1]
-
-    total += cam_res_np[idx][0] * cam_res_np[idx][1]
-
-  znear = mjm.vis.map.znear * mjm.stat.extent
-
-  ray = wp.zeros(int(total), dtype=wp.vec3)
-
-  cam_projection = mjm.cam_projection
-
-  offset = 0
-  for idx, cam_id in enumerate(active_cam_indices):
-    img_w = cam_res_np[idx][0]
-    img_h = cam_res_np[idx][1]
-    wp.launch(
-      kernel=_build_rays,
-      dim=(img_w, img_h),
-      inputs=[
-        offset,
-        img_w,
-        img_h,
-        int(cam_projection[cam_id]),
-        float(mjm.cam_fovy[cam_id]),
-        wp.vec2(mjm.cam_sensorsize[cam_id]),
-        wp.vec4(mjm.cam_intrinsic[cam_id]),
-        znear,
-      ],
-      outputs=[ray],
-    )
-    offset += img_w * img_h
-
-  bvh_ngeom = len(geom_enabled_idx)
-
-  # Geom types present among enabled geoms, plus FLEX when flex primitives exist.
-  # Used to statically eliminate unused intersection branches in the ray-cast kernels.
-  geom_ray_types = set(int(t) for t in mjm.geom_type[geom_enabled_idx])
-  if len(flex_geom_flexid) > 0:
-    geom_ray_types.add(int(types.GeomType.FLEX))
-  geom_ray_types = tuple(sorted(geom_ray_types))
-  if mjm.nlight == 0:
-    light_attenuation_is_default = True
-    has_spot_lights = False
-  else:
-    atten = np.asarray(mjm.light_attenuation, dtype=np.float32).reshape(-1, 3)
-    light_attenuation_is_default = bool(np.allclose(atten, np.array([1.0, 0.0, 0.0], dtype=np.float32)))
-    has_spot_lights = bool((np.asarray(mjm.light_type) == int(mujoco.mjtLightType.mjLIGHT_SPOT)).any())
-
-  rc = types.RenderContext(
-    nrender=ncam,
-    cam_res=cam_res_arr,
-    cam_id_map=wp.array(active_cam_indices, dtype=int),
-    use_textures=use_textures,
-    use_fast_math=use_fast_math,
-    use_shadows=use_shadows,
-    use_ambient_lighting=use_ambient_lighting,
-    background_color=render_util.pack_rgba_to_uint32(
-      background_color[0] * 255.0, background_color[1] * 255.0, background_color[2] * 255.0, background_color[3] * 255.0
-    ),
-    use_precomputed_rays=use_precomputed_rays,
-    render_skybox=render_skybox,
-    skybox_tex_id=wp.array(skybox_tex_id_np, dtype=int),
-    skybox_face_width=wp.array(skybox_face_width_np, dtype=int),
-    headlight_active=bool(mjm.vis.headlight.active),
-    headlight_ambient=wp.vec3(mjm.vis.headlight.ambient),
-    headlight_diffuse=wp.vec3(mjm.vis.headlight.diffuse),
-    headlight_specular=wp.vec3(mjm.vis.headlight.specular),
-    bvh_ngeom=bvh_ngeom,
-    enabled_geom_ids=wp.array(geom_enabled_idx, dtype=int),
-    mesh_registry=mesh_registry,
-    mesh_bvh_id=mesh_bvh_id_arr,
-    mesh_bounds_size=mesh_bounds_size_arr,
-    mesh_texcoord=wp.array(mjm.mesh_texcoord, dtype=wp.vec2),
-    mesh_texcoord_offsets=wp.array(mjm.mesh_texcoordadr, dtype=int),
-    mesh_facetexcoord=wp.array(mjm.mesh_facetexcoord, dtype=wp.vec3i),
-    textures=textures,
-    textures_registry=textures_registry,
-    hfield_registry=hfield_registry,
-    hfield_bvh_id=hfield_bvh_id_arr,
-    hfield_bounds_size=hfield_bounds_size_arr,
-    flex_mesh_registry=flex_registry,
-    flex_rgba=wp.array(mjm.flex_rgba, dtype=wp.vec4),
-    flex_bvh_id=wp.array(flex_bvh_id, dtype=wp.uint64),
-    flex_group_root=wp.array(flex_group_root, dtype=int),
-    flex_render_smooth=flex_render_smooth,
-    bvh_nflexgeom=len(flex_geom_flexid),
-    flex_dim_np=mjm.flex_dim,
-    flex_geom_flexid=wp.array(flex_geom_flexid, dtype=int),
-    flex_geom_edgeid=wp.array(flex_geom_edgeid, dtype=int),
-    bvh=None,
-    bvh_id=None,
-    lower=wp.zeros(nworld * (bvh_ngeom + len(flex_geom_flexid)), dtype=wp.vec3),
-    upper=wp.zeros(nworld * (bvh_ngeom + len(flex_geom_flexid)), dtype=wp.vec3),
-    group=wp.zeros(nworld * (bvh_ngeom + len(flex_geom_flexid)), dtype=int),
-    group_root=wp.zeros(nworld, dtype=int),
-    ray=ray,
-    rgb_data=wp.zeros((nworld, ri), dtype=wp.uint32),
-    rgb_adr=wp.array(rgb_adr, dtype=int),
-    depth_data=wp.zeros((nworld, di), dtype=wp.float32),
-    depth_adr=wp.array(depth_adr, dtype=int),
-    render_rgb=wp.array(render_rgb, dtype=bool),
-    render_depth=wp.array(render_depth, dtype=bool),
-    seg_data=wp.zeros((nworld, max(si, 1)), dtype=wp.vec2i),
-    seg_adr=wp.array(seg_adr, dtype=int),
-    render_seg=wp.array(render_seg, dtype=bool),
-    znear=znear,
-    total_rays=int(total),
-    enable_backface_culling=enable_backface_culling,
-    geom_ray_types=geom_ray_types,
-    enable_specular=enable_specular,
-    enable_emission=enable_emission,
-    enable_per_light_ambient=enable_per_light_ambient,
-    light_attenuation_is_default=light_attenuation_is_default,
-    has_spot_lights=has_spot_lights,
-  )
-
-  bvh.build_scene_bvh(mjm, mjd, rc, nworld)
-
-  _mark_batched(rc)
-  return rc
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py
deleted file mode 100644
index 4d88b2f5..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py
+++ /dev/null
@@ -1,1023 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import types
-from mujoco.mjx.third_party.mujoco_warp._src.types import ConstraintType
-from mujoco.mjx.third_party.mujoco_warp._src.types import EqType
-from mujoco.mjx.third_party.mujoco_warp._src.types import ObjType
-from mujoco.mjx.third_party.mujoco_warp._src.types import OverflowType
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"default_grid_stride": False})
-
-
-@wp.kernel
-def _tree_edges(
-  # Model:
-  nv: int,
-  body_treeid: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  dof_treeid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  eq_type: wp.array[int],
-  eq_obj1id: wp.array[int],
-  eq_obj2id: wp.array[int],
-  eq_objtype: wp.array[int],
-  is_sparse: bool,
-  # Data in:
-  nefc_in: wp.array[int],
-  contact_geom_in: wp.array[wp.vec2i],
-  efc_type_in: wp.array2d[int],
-  efc_id_in: wp.array2d[int],
-  efc_J_rownnz_in: wp.array2d[int],
-  efc_J_rowadr_in: wp.array2d[int],
-  efc_J_colind_in: wp.array3d[int],
-  efc_J_in: wp.array3d[float],
-  njmax_in: int,
-  # Out:
-  tree_tree: wp.array3d[int],  # kernel_analyzer: off
-):
-  """Find tree edges."""
-  worldid, efcid = wp.tid()
-
-  # skip if beyond active constraints
-  if efcid >= wp.min(njmax_in, nefc_in[worldid]):
-    return
-
-  efc_type = efc_type_in[worldid, efcid]
-  efc_id = efc_id_in[worldid, efcid]
-
-  tree0 = int(-1)
-  tree1 = int(-1)
-  use_generic = int(0)
-
-  # equality (connect/weld)
-  if efc_type == ConstraintType.EQUALITY:
-    eq_t = eq_type[efc_id]
-
-    if eq_t == EqType.CONNECT or eq_t == EqType.WELD:
-      b1 = eq_obj1id[efc_id]
-      b2 = eq_obj2id[efc_id]
-
-      # site semantics
-      if eq_objtype[efc_id] == ObjType.SITE:
-        b1 = site_bodyid[b1]
-        b2 = site_bodyid[b2]
-
-      tree0 = body_treeid[b1]
-      tree1 = body_treeid[b2]
-    else:
-      # JOINT, TENDON, FLEX
-      use_generic = 1
-
-  # joint friction
-  elif efc_type == ConstraintType.FRICTION_DOF:
-    tree0 = dof_treeid[efc_id]
-
-  # joint limit
-  elif efc_type == ConstraintType.LIMIT_JOINT:
-    tree0 = dof_treeid[jnt_dofadr[efc_id]]
-
-  # contact
-  elif (
-    efc_type == ConstraintType.CONTACT_FRICTIONLESS
-    or efc_type == ConstraintType.CONTACT_PYRAMIDAL
-    or efc_type == ConstraintType.CONTACT_ELLIPTIC
-  ):
-    geom_pair = contact_geom_in[efc_id]
-    g1 = geom_pair[0]
-    g2 = geom_pair[1]
-
-    # flex contacts have negative geom ids
-    if g1 >= 0 and g2 >= 0:
-      tree0 = body_treeid[geom_bodyid[g1]]
-      tree1 = body_treeid[geom_bodyid[g2]]
-    else:
-      use_generic = 1
-
-  # generic
-  else:
-    use_generic = 1
-
-  # handle static bodies
-  if use_generic == 0:
-    # swap so tree0 is non-negative if possible
-    if tree0 < 0 and tree1 >= 0:
-      tree0 = tree1
-      tree1 = -1
-
-    # mark the edge
-    if tree0 >= 0:
-      if tree1 < 0 or tree0 == tree1:
-        # self-edge
-        wp.atomic_max(tree_tree, worldid, tree0, tree0, 1)
-      else:
-        # cross-tree edge
-        t1 = wp.min(tree0, tree1)
-        t2 = wp.max(tree0, tree1)
-        wp.atomic_max(tree_tree, worldid, t1, t2, 1)
-        wp.atomic_max(tree_tree, worldid, t2, t1, 1)
-    return
-
-  # generic: scan Jacobian row
-  first_tree = int(-1)
-  has_cross_edge = int(0)
-
-  count = nv
-  rowadr = 0
-  if is_sparse:
-    count = efc_J_rownnz_in[worldid, efcid]
-    rowadr = efc_J_rowadr_in[worldid, efcid]
-
-  for i in range(count):
-    dof = i
-    if is_sparse:
-      sparseid = rowadr + i
-      dof = efc_J_colind_in[worldid, 0, sparseid]
-    else:
-      J_val = efc_J_in[worldid, efcid, dof]
-      if J_val == 0.0:
-        continue
-
-    tree = dof_treeid[dof]
-    if tree < 0:
-      continue
-    if first_tree == -1:
-      first_tree = tree
-    elif tree != first_tree:
-      t1 = wp.min(first_tree, tree)
-      t2 = wp.max(first_tree, tree)
-      wp.atomic_max(tree_tree, worldid, t1, t2, 1)
-      wp.atomic_max(tree_tree, worldid, t2, t1, 1)
-      has_cross_edge = 1
-
-  if first_tree >= 0 and has_cross_edge == 0:
-    wp.atomic_max(tree_tree, worldid, first_tree, first_tree, 1)
-
-
-@event_scope
-def tree_edges(m: types.Model, d: types.Data, tree_tree: wp.array3d[int]):
-  """Compute tree-tree adjacency matrix."""
-  tree_tree.zero_()
-  wp.launch(
-    kernel=_tree_edges,
-    dim=(d.nworld, d.njmax),
-    inputs=[
-      m.nv,
-      m.body_treeid,
-      m.jnt_dofadr,
-      m.dof_treeid,
-      m.geom_bodyid,
-      m.site_bodyid,
-      m.eq_type,
-      m.eq_obj1id,
-      m.eq_obj2id,
-      m.eq_objtype,
-      m.is_sparse,
-      d.nefc,
-      d.contact.geom,
-      d.efc.type,
-      d.efc.id,
-      d.efc.J_rownnz,
-      d.efc.J_rowadr,
-      d.efc.J_colind,
-      d.efc.J,
-      d.njmax,
-    ],
-    outputs=[tree_tree],
-  )
-
-
-@wp.kernel
-def _flood_fill(
-  # Model:
-  ntree: int,
-  # In:
-  tree_tree_in: wp.array3d[int],
-  labels_in: wp.array2d[int],
-  stack_in: wp.array2d[int],
-  # Data out:
-  nisland_out: wp.array[int],
-  tree_island_out: wp.array2d[int],
-  # Out:
-  stack_out: wp.array2d[int],
-):
-  """DFS flood fill to discover islands using tree_tree matrix."""
-  worldid = wp.tid()
-  nisland = int(0)
-
-  # iterate over trees
-  for i in range(ntree):
-    # already assigned
-    if labels_in[worldid, i] != -1:
-      continue
-
-    # check if tree has any edges
-    has_edge = int(0)
-    for j in range(ntree):
-      if tree_tree_in[worldid, i, j] != 0:
-        has_edge = 1
-        break
-    if has_edge == 0:
-      continue
-
-    # DFS: push i onto stack
-    nstack = int(0)
-    stack_out[worldid, nstack] = i
-    nstack = nstack + 1
-
-    while nstack > 0:
-      # pop v from stack
-      nstack = nstack - 1
-      v = stack_in[worldid, nstack]
-
-      # already assigned
-      if labels_in[worldid, v] != -1:
-        continue
-
-      # assign to current island
-      tree_island_out[worldid, v] = nisland
-
-      # push neighbors
-      for neighbor in range(ntree):
-        if tree_tree_in[worldid, v, neighbor] != 0:
-          if labels_in[worldid, neighbor] == -1:
-            stack_out[worldid, nstack] = neighbor
-            nstack = nstack + 1
-
-    # island filled
-    nisland = nisland + 1
-
-  nisland_out[worldid] = nisland
-
-
-@event_scope
-def flood_fill(m: types.Model, d: types.Data, tree_tree: wp.array3d[int]):
-  d.tree_island.fill_(-1)
-  stack_scratch = wp.empty((d.nworld, m.ntree * m.ntree), dtype=int)
-
-  wp.launch(
-    _flood_fill,
-    dim=d.nworld,
-    inputs=[m.ntree, tree_tree, d.tree_island, stack_scratch],
-    outputs=[d.nisland, d.tree_island, stack_scratch],
-  )
-
-
-@event_scope
-def island(m: types.Model, d: types.Data):
-  """Discover constraint islands."""
-  if m.ntree == 0:
-    d.nisland.zero_()
-    return
-
-  # Step 1: Find tree edges
-  tree_tree = wp.zeros((d.nworld, m.ntree, m.ntree), dtype=int)
-  tree_edges(m, d, tree_tree)
-
-  # Step 2: DFS flood fill
-  flood_fill(m, d, tree_tree)
-
-
-@wp.kernel
-def _island_count_dofs(
-  dof_treeid: wp.array[int],
-  tree_island_in: wp.array2d[int],
-  dof_island_out: wp.array2d[int],
-  island_nv_out: wp.array2d[int],
-):
-  worldid, dofid = wp.tid()
-
-  island_id = tree_island_in[worldid, dof_treeid[dofid]]
-  dof_island_out[worldid, dofid] = island_id
-  if island_id >= 0:
-    wp.atomic_add(island_nv_out, worldid, island_id, 1)
-
-
-@wp.kernel
-def _island_scan_sizes(
-  nisland_in: wp.array[int],
-  island_idofadr_out: wp.array2d[int],
-  island_nv_inout: wp.array2d[int],
-  island_nefc_inout: wp.array2d[int],
-  island_iefcadr_out: wp.array2d[int],
-  nidof_out: wp.array[int],
-):
-  worldid = wp.tid()
-
-  nisland = nisland_in[worldid]
-  if nisland == 0:
-    nidof_out[worldid] = 0
-    return
-
-  # Scan DOFs and Constraints
-  island_idofadr_out[worldid, 0] = 0
-  island_iefcadr_out[worldid, 0] = 0
-  for i in range(1, nisland):
-    island_idofadr_out[worldid, i] = island_idofadr_out[worldid, i - 1] + island_nv_inout[worldid, i - 1]
-    island_iefcadr_out[worldid, i] = island_iefcadr_out[worldid, i - 1] + island_nefc_inout[worldid, i - 1]
-
-  nidof = island_idofadr_out[worldid, nisland - 1] + island_nv_inout[worldid, nisland - 1]
-  nidof_out[worldid] = nidof
-
-  # Reset for recount
-  for i in range(nisland):
-    island_nv_inout[worldid, i] = 0
-    island_nefc_inout[worldid, i] = 0
-
-
-@wp.kernel
-def _island_map_dofs(
-  nv: int,
-  dof_island_in: wp.array2d[int],
-  island_idofadr_in: wp.array2d[int],
-  nidof_in: wp.array[int],
-  island_nv_inout: wp.array2d[int],
-  island_dofadr_out: wp.array2d[int],
-  map_dof2idof_out: wp.array2d[int],
-  map_idof2dof_out: wp.array2d[int],
-  idof_islandid_out: wp.array2d[int],
-  unconstrained_cnt_inout: wp.array2d[int],
-):
-  worldid, dofid = wp.tid()
-
-  nidof = nidof_in[worldid]
-  island_id = dof_island_in[worldid, dofid]
-
-  if island_id >= 0:
-    local_idx = wp.atomic_add(island_nv_inout, worldid, island_id, 1)
-    idof = island_idofadr_in[worldid, island_id] + local_idx
-    idof_islandid_out[worldid, idof] = island_id
-    wp.atomic_min(island_dofadr_out, worldid, island_id, dofid)
-  else:
-    cnt = wp.atomic_add(unconstrained_cnt_inout, worldid, 0, 1)
-    idof = nidof + cnt
-
-  map_dof2idof_out[worldid, dofid] = idof
-  map_idof2dof_out[worldid, idof] = dofid
-
-
-@wp.kernel
-def _island_count_constraints(
-  nefc_in: wp.array[int],
-  njmax_in: int,
-  efc_tree_in: wp.array2d[int],
-  tree_island_in: wp.array2d[int],
-  efc_type_in: wp.array2d[int],
-  efc_island_out: wp.array2d[int],
-  island_nefc_out: wp.array2d[int],
-  island_ne_out: wp.array2d[int],
-  island_nf_out: wp.array2d[int],
-):
-  worldid, efcid = wp.tid()
-  if efcid >= wp.min(njmax_in, nefc_in[worldid]):
-    return
-
-  efc_tree = efc_tree_in[worldid, efcid]
-  if efc_tree < 0:
-    efc_island_out[worldid, efcid] = -1
-    return
-  island_id = tree_island_in[worldid, efc_tree]
-  efc_island_out[worldid, efcid] = island_id
-
-  if island_id >= 0:
-    wp.atomic_add(island_nefc_out, worldid, island_id, 1)
-
-    efc_type = efc_type_in[worldid, efcid]
-    if efc_type == ConstraintType.EQUALITY:
-      wp.atomic_add(island_ne_out, worldid, island_id, 1)
-    elif efc_type == ConstraintType.FRICTION_DOF or efc_type == ConstraintType.FRICTION_TENDON:
-      wp.atomic_add(island_nf_out, worldid, island_id, 1)
-
-
-@wp.kernel
-def _island_map_constraints(
-  nefc_in: wp.array[int],
-  njmax_in: int,
-  efc_island_in: wp.array2d[int],
-  island_iefcadr_in: wp.array2d[int],
-  island_ne_in: wp.array2d[int],
-  island_nf_in: wp.array2d[int],
-  efc_type_in: wp.array2d[int],
-  # Counters (inout):
-  island_ne_mapped_inout: wp.array2d[int],
-  island_nf_mapped_inout: wp.array2d[int],
-  island_nother_mapped_inout: wp.array2d[int],
-  island_nefc_inout: wp.array2d[int],
-  # Out:
-  map_efc2iefc_out: wp.array2d[int],
-  map_iefc2efc_out: wp.array2d[int],
-  iefc_islandid_out: wp.array2d[int],
-):
-  worldid, efcid = wp.tid()
-  if efcid >= wp.min(njmax_in, nefc_in[worldid]):
-    return
-
-  island_id = efc_island_in[worldid, efcid]
-  if island_id >= 0:
-    efc_type = efc_type_in[worldid, efcid]
-
-    # 1. Determine local index and absolute index ic based on category
-    if efc_type == ConstraintType.EQUALITY:
-      local_idx = wp.atomic_add(island_ne_mapped_inout, worldid, island_id, 1)
-      ic = island_iefcadr_in[worldid, island_id] + local_idx
-    elif efc_type == ConstraintType.FRICTION_DOF or efc_type == ConstraintType.FRICTION_TENDON:
-      local_idx = wp.atomic_add(island_nf_mapped_inout, worldid, island_id, 1)
-      ic = island_iefcadr_in[worldid, island_id] + island_ne_in[worldid, island_id] + local_idx
-    else:
-      local_idx = wp.atomic_add(island_nother_mapped_inout, worldid, island_id, 1)
-      ic = (
-        island_iefcadr_in[worldid, island_id] + island_ne_in[worldid, island_id] + island_nf_in[worldid, island_id] + local_idx
-      )
-
-    # 2. Increment overall island_nefc counter to reconstruct d.island_nefc
-    wp.atomic_add(island_nefc_inout, worldid, island_id, 1)
-
-    # 3. Store mappings
-    map_efc2iefc_out[worldid, efcid] = ic
-    map_iefc2efc_out[worldid, ic] = efcid
-    iefc_islandid_out[worldid, ic] = island_id
-
-
-@wp.kernel
-def _island_scan_sparse_rows(
-  nisland_in: wp.array[int],
-  efc_J_rownnz_in: wp.array2d[int],
-  island_nefc_in: wp.array2d[int],
-  island_iefcadr_in: wp.array2d[int],
-  map_iefc2efc_in: wp.array2d[int],
-  iefc_J_rownnz_out: wp.array2d[int],
-  iefc_J_rowadr_out: wp.array2d[int],
-):
-  worldid = wp.tid()
-
-  nisland = nisland_in[worldid]
-  if nisland == 0:
-    return
-
-  total_gathered_efc = island_iefcadr_in[worldid, nisland - 1] + island_nefc_in[worldid, nisland - 1]
-
-  running_rowadr = int(0)
-  for ic in range(total_gathered_efc):
-    c = map_iefc2efc_in[worldid, ic]
-    rownnz = efc_J_rownnz_in[worldid, c]
-    iefc_J_rowadr_out[worldid, ic] = running_rowadr
-    iefc_J_rownnz_out[worldid, ic] = rownnz
-    running_rowadr += rownnz
-
-
-@wp.kernel
-def _compute_efc_tree(
-  # Model:
-  nv: int,
-  body_treeid: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  dof_treeid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  eq_type: wp.array[int],
-  eq_obj1id: wp.array[int],
-  eq_obj2id: wp.array[int],
-  eq_objtype: wp.array[int],
-  is_sparse: bool,
-  # Data in:
-  nefc_in: wp.array[int],
-  contact_geom_in: wp.array[wp.vec2i],
-  efc_type_in: wp.array2d[int],
-  efc_id_in: wp.array2d[int],
-  efc_J_in: wp.array3d[float],
-  efc_J_rownnz_in: wp.array2d[int],
-  efc_J_rowadr_in: wp.array2d[int],
-  efc_J_colind_in: wp.array3d[int],
-  njmax_in: int,
-  # Out:
-  efc_tree_out: wp.array2d[int],
-):
-  """Compute the first non-negative tree for each constraint."""
-  worldid, efcid = wp.tid()
-
-  if efcid >= wp.min(njmax_in, nefc_in[worldid]):
-    return
-
-  efc_type = efc_type_in[worldid, efcid]
-  efc_id = efc_id_in[worldid, efcid]
-
-  tree = int(-1)
-  use_generic = int(0)
-
-  # equality (connect/weld)
-  if efc_type == ConstraintType.EQUALITY:
-    eq_t = eq_type[efc_id]
-
-    if eq_t == EqType.CONNECT or eq_t == EqType.WELD:
-      b1 = eq_obj1id[efc_id]
-      b2 = eq_obj2id[efc_id]
-
-      if eq_objtype[efc_id] == ObjType.SITE:
-        b1 = site_bodyid[b1]
-        b2 = site_bodyid[b2]
-
-      t1 = body_treeid[b1]
-      t2 = body_treeid[b2]
-      if t1 >= 0:
-        tree = t1
-      else:
-        tree = t2
-    else:
-      # JOINT, TENDON, FLEX: generic scan
-      use_generic = 1
-
-  # joint friction
-  elif efc_type == ConstraintType.FRICTION_DOF:
-    tree = dof_treeid[efc_id]
-
-  # joint limit
-  elif efc_type == ConstraintType.LIMIT_JOINT:
-    tree = dof_treeid[jnt_dofadr[efc_id]]
-
-  # contact
-  elif (
-    efc_type == ConstraintType.CONTACT_FRICTIONLESS
-    or efc_type == ConstraintType.CONTACT_PYRAMIDAL
-    or efc_type == ConstraintType.CONTACT_ELLIPTIC
-  ):
-    geom_pair = contact_geom_in[efc_id]
-    g1 = geom_pair[0]
-    g2 = geom_pair[1]
-
-    if g1 >= 0 and g2 >= 0:
-      t1 = body_treeid[geom_bodyid[g1]]
-      t2 = body_treeid[geom_bodyid[g2]]
-      if t1 >= 0:
-        tree = t1
-      else:
-        tree = t2
-    else:
-      # flex contacts: generic scan
-      use_generic = 1
-
-  else:
-    # generic: scan Jacobian row
-    use_generic = 1
-
-  if use_generic:
-    count = nv
-    rowadr = 0
-    if is_sparse:
-      count = efc_J_rownnz_in[worldid, efcid]
-      rowadr = efc_J_rowadr_in[worldid, efcid]
-
-    for i in range(count):
-      dof = i
-      if is_sparse:
-        sparseid = rowadr + i
-        dof = efc_J_colind_in[worldid, 0, sparseid]
-      else:
-        J_val = efc_J_in[worldid, efcid, dof]
-        if J_val == 0.0:
-          continue
-
-      t = dof_treeid[dof]
-      if t >= 0:
-        tree = t
-        break
-
-  efc_tree_out[worldid, efcid] = tree
-
-
-@wp.kernel
-def _gather_efc_and_jacobian(
-  # Model:
-  is_sparse: bool,
-  # Data in:
-  nefc_in: wp.array[int],
-  efc_D_in: wp.array2d[float],
-  efc_type_in: wp.array2d[int],
-  efc_id_in: wp.array2d[int],
-  efc_frictionloss_in: wp.array2d[float],
-  efc_aref_in: wp.array2d[float],
-  efc_J_in: wp.array3d[float],
-  # Sparse Jacobian arrays:
-  efc_J_rownnz_in: wp.array2d[int],
-  efc_J_rowadr_in: wp.array2d[int],
-  efc_J_colind_in: wp.array3d[int],
-  iefc_J_rowadr_in: wp.array2d[int],
-  # In:
-  njmax_in: int,
-  map_iefc2efc_in: wp.array2d[int],
-  map_idof2dof_in: wp.array2d[int],
-  map_dof2idof_in: wp.array2d[int],
-  nidof_in: wp.array[int],
-  # Out:
-  iefc_D_out: wp.array2d[float],
-  iefc_type_out: wp.array2d[int],
-  iefc_id_out: wp.array2d[int],
-  iefc_frictionloss_out: wp.array2d[float],
-  iefc_aref_out: wp.array2d[float],
-  iefc_J_out: wp.array3d[float],
-  iefc_J_colind_out: wp.array3d[int],
-):
-  """Gather constraint arrays and Jacobian into island-local dense order."""
-  worldid, iefcid = wp.tid()
-
-  if iefcid >= wp.min(njmax_in, nefc_in[worldid]):
-    return
-
-  c = map_iefc2efc_in[worldid, iefcid]
-
-  # Scalar constraint fields
-  iefc_D_out[worldid, iefcid] = efc_D_in[worldid, c]
-  iefc_type_out[worldid, iefcid] = efc_type_in[worldid, c]
-  iefc_id_out[worldid, iefcid] = efc_id_in[worldid, c]
-  iefc_frictionloss_out[worldid, iefcid] = efc_frictionloss_in[worldid, c]
-  iefc_aref_out[worldid, iefcid] = efc_aref_in[worldid, c]
-
-  # Jacobian: convert to island-local dense format
-  nid = nidof_in[worldid]
-
-  if is_sparse:
-    rownnz = efc_J_rownnz_in[worldid, c]
-    rowadr_in = efc_J_rowadr_in[worldid, c]
-    rowadr_out = iefc_J_rowadr_in[worldid, iefcid]
-    for i in range(rownnz):
-      sparseid_in = rowadr_in + i
-      sparseid_out = rowadr_out + i
-      dof = efc_J_colind_in[worldid, 0, sparseid_in]
-      idof = map_dof2idof_in[worldid, dof]
-      # Store in sparse iefc_J_out and iefc_J_colind_out
-      iefc_J_out[worldid, 0, sparseid_out] = efc_J_in[worldid, 0, sparseid_in]
-      iefc_J_colind_out[worldid, 0, sparseid_out] = idof
-  else:
-    # Dense path: reorder rows by iefc, columns by idof
-    for idof in range(nid):
-      dof = map_idof2dof_in[worldid, idof]
-      iefc_J_out[worldid, iefcid, idof] = efc_J_in[worldid, c, dof]
-
-
-@wp.kernel
-def _gather_dof_arrays(
-  # Data in:
-  qacc_in: wp.array2d[float],
-  qacc_smooth_in: wp.array2d[float],
-  qfrc_smooth_in: wp.array2d[float],
-  # In:
-  nidof_in: wp.array[int],
-  map_idof2dof_in: wp.array2d[int],
-  # Out:
-  iacc_out: wp.array2d[float],
-  iacc_smooth_out: wp.array2d[float],
-  ifrc_smooth_out: wp.array2d[float],
-):
-  """Gather DOF arrays into island-local order."""
-  worldid, idofid = wp.tid()
-
-  if idofid >= nidof_in[worldid]:
-    return
-
-  dof = map_idof2dof_in[worldid, idofid]
-  iacc_out[worldid, idofid] = qacc_in[worldid, dof]
-  iacc_smooth_out[worldid, idofid] = qacc_smooth_in[worldid, dof]
-  ifrc_smooth_out[worldid, idofid] = qfrc_smooth_in[worldid, dof]
-
-
-@wp.kernel
-def _scatter_dof_arrays(
-  # In:
-  qacc_smooth_in: wp.array2d[float],
-  qfrc_smooth_in: wp.array2d[float],
-  dof_island_in: wp.array2d[int],
-  iacc_in: wp.array2d[float],
-  ifrc_constraint_in: wp.array2d[float],
-  iMa_in: wp.array2d[float],
-  map_dof2idof_in: wp.array2d[int],
-  scatter_Ma: bool,
-  # Out:
-  qacc_out: wp.array2d[float],
-  qfrc_constraint_out: wp.array2d[float],
-  Ma_out: wp.array2d[float],
-):
-  """Scatter island results to global arrays, copy qacc_smooth for non-island DOFs."""
-  worldid, dofid = wp.tid()
-
-  if dof_island_in[worldid, dofid] < 0:
-    qacc_out[worldid, dofid] = qacc_smooth_in[worldid, dofid]
-    qfrc_constraint_out[worldid, dofid] = 0.0
-    if scatter_Ma:
-      Ma_out[worldid, dofid] = qfrc_smooth_in[worldid, dofid]
-  else:
-    idof = map_dof2idof_in[worldid, dofid]
-    qacc_out[worldid, dofid] = iacc_in[worldid, idof]
-    qfrc_constraint_out[worldid, dofid] = ifrc_constraint_in[worldid, idof]
-    if scatter_Ma:
-      Ma_out[worldid, dofid] = iMa_in[worldid, idof]
-
-
-@wp.kernel
-def _scatter_efc_arrays(
-  # In:
-  nefc_in: wp.array[int],
-  njmax_in: int,
-  map_iefc2efc_in: wp.array2d[int],
-  iefc_force_in: wp.array2d[float],
-  iefc_state_in: wp.array2d[int],
-  # Out:
-  efc_force_out: wp.array2d[float],
-  efc_state_out: wp.array2d[int],
-):
-  """Scatter island-local constraint results back to global order."""
-  worldid, iefcid = wp.tid()
-
-  if iefcid >= wp.min(njmax_in, nefc_in[worldid]):
-    return
-
-  c = map_iefc2efc_in[worldid, iefcid]
-  efc_force_out[worldid, c] = iefc_force_in[worldid, iefcid]
-  efc_state_out[worldid, c] = iefc_state_in[worldid, iefcid]
-
-
-@wp.kernel
-def _init_island_arrays(
-  island_idofadr_out: wp.array2d[int],
-  island_nv_out: wp.array2d[int],
-  island_nefc_out: wp.array2d[int],
-  island_ne_out: wp.array2d[int],
-  island_nf_out: wp.array2d[int],
-  island_iefcadr_out: wp.array2d[int],
-  nidof_out: wp.array[int],
-):
-  worldid, islandid = wp.tid()
-  island_nv_out[worldid, islandid] = 0
-  island_nefc_out[worldid, islandid] = 0
-  island_ne_out[worldid, islandid] = 0
-  island_nf_out[worldid, islandid] = 0
-  island_idofadr_out[worldid, islandid] = 0
-  island_iefcadr_out[worldid, islandid] = 0
-  if islandid == 0:
-    nidof_out[worldid] = 0
-
-
-@wp.kernel
-def _init_dof_arrays(
-  dof_island_out: wp.array2d[int],
-  map_dof2idof_out: wp.array2d[int],
-  map_idof2dof_out: wp.array2d[int],
-  idof_islandid_out: wp.array2d[int],
-):
-  worldid, dofid = wp.tid()
-  dof_island_out[worldid, dofid] = -1
-  map_dof2idof_out[worldid, dofid] = 0
-  map_idof2dof_out[worldid, dofid] = 0
-  idof_islandid_out[worldid, dofid] = -1
-
-
-@wp.kernel
-def _init_efc_arrays(
-  efc_island_out: wp.array2d[int],
-  map_efc2iefc_out: wp.array2d[int],
-  map_iefc2efc_out: wp.array2d[int],
-  iefc_islandid_out: wp.array2d[int],
-  efc_tree_out: wp.array2d[int],
-):
-  worldid, efcid = wp.tid()
-  efc_island_out[worldid, efcid] = -1
-  map_efc2iefc_out[worldid, efcid] = 0
-  map_iefc2efc_out[worldid, efcid] = 0
-  iefc_islandid_out[worldid, efcid] = -1
-  efc_tree_out[worldid, efcid] = -1
-
-
-@event_scope
-def compute_island_mapping(m: types.Model, d: types.Data):
-  """Compute DOF/constraint island mappings after island discovery.
-
-  Populates d.dof_island, d.efc.island, d.island_idofadr, d.island_dofadr,
-  d.island_nv, d.island_nefc, d.island_ne, d.island_nf, d.island_iefcadr,
-  d.nidof, d.map_dof2idof, d.map_idof2dof, d.dof_islandid, d.map_efc2iefc,
-  d.map_iefc2efc, d.efc_islandid.
-
-  Args:
-    m: Model.
-    d: Data.
-  """
-  # Ensure dof_islandid / efc_islandid are allocated at the right shape
-  if d.dof_islandid.shape[1] != m.nv:
-    d.dof_islandid = wp.empty((d.nworld, m.nv), dtype=int)
-  if d.efc_islandid.shape[1] != d.njmax:
-    d.efc_islandid = wp.empty((d.nworld, d.njmax), dtype=int)
-  if d.island_idofadr.shape[1] != m.ntree:
-    d.island_idofadr = wp.empty((d.nworld, m.ntree), dtype=int)
-
-  wp.launch(
-    _init_island_arrays,
-    dim=(d.nworld, m.ntree),
-    inputs=[],
-    outputs=[
-      d.island_idofadr,
-      d.island_nv,
-      d.island_nefc,
-      d.island_ne,
-      d.island_nf,
-      d.island_iefcadr,
-      d.nidof,
-    ],
-  )
-  wp.launch(
-    _init_dof_arrays,
-    dim=(d.nworld, m.nv),
-    inputs=[],
-    outputs=[d.dof_island, d.map_dof2idof, d.map_idof2dof, d.dof_islandid],
-  )
-  efc_tree = wp.empty((d.nworld, d.njmax), dtype=int)
-  wp.launch(
-    _init_efc_arrays,
-    dim=(d.nworld, d.njmax),
-    inputs=[],
-    outputs=[d.efc.island, d.map_efc2iefc, d.map_iefc2efc, d.efc_islandid, efc_tree],
-  )
-
-  wp.launch(
-    _compute_efc_tree,
-    dim=(d.nworld, d.njmax),
-    inputs=[
-      m.nv,
-      m.body_treeid,
-      m.jnt_dofadr,
-      m.dof_treeid,
-      m.geom_bodyid,
-      m.site_bodyid,
-      m.eq_type,
-      m.eq_obj1id,
-      m.eq_obj2id,
-      m.eq_objtype,
-      m.is_sparse,
-      d.nefc,
-      d.contact.geom,
-      d.efc.type,
-      d.efc.id,
-      d.efc.J,
-      d.efc.J_rownnz,
-      d.efc.J_rowadr,
-      d.efc.J_colind,
-      d.njmax,
-    ],
-    outputs=[efc_tree],
-  )
-
-  # 1. Count DOFs per island
-  wp.launch(
-    _island_count_dofs,
-    dim=(d.nworld, m.nv),
-    inputs=[m.dof_treeid, d.tree_island],
-    outputs=[d.dof_island, d.island_nv],
-  )
-
-  # 2. Count Constraints per island
-  wp.launch(
-    _island_count_constraints,
-    dim=(d.nworld, d.njmax),
-    inputs=[d.nefc, d.njmax, efc_tree, d.tree_island, d.efc.type],
-    outputs=[d.efc.island, d.island_nefc, d.island_ne, d.island_nf],
-  )
-
-  # 3. Scan sizes and reset counters for mapping
-  wp.launch(
-    _island_scan_sizes,
-    dim=d.nworld,
-    inputs=[d.nisland],
-    outputs=[d.island_idofadr, d.island_nv, d.island_nefc, d.island_iefcadr, d.nidof],
-  )
-
-  # 4. Map DOFs
-  unconstrained_cnt = wp.zeros((d.nworld, 1), dtype=int)
-  d.island_dofadr.fill_(m.nv)
-  wp.launch(
-    _island_map_dofs,
-    dim=(d.nworld, m.nv),
-    inputs=[m.nv, d.dof_island, d.island_idofadr, d.nidof],
-    outputs=[d.island_nv, d.island_dofadr, d.map_dof2idof, d.map_idof2dof, d.dof_islandid, unconstrained_cnt],
-  )
-
-  # 5. Map Constraints
-  ne_mapped = wp.zeros((d.nworld, m.ntree), dtype=int)
-  nf_mapped = wp.zeros((d.nworld, m.ntree), dtype=int)
-  nother_mapped = wp.zeros((d.nworld, m.ntree), dtype=int)
-
-  wp.launch(
-    _island_map_constraints,
-    dim=(d.nworld, d.njmax),
-    inputs=[
-      d.nefc,
-      d.njmax,
-      d.efc.island,
-      d.island_iefcadr,
-      d.island_ne,
-      d.island_nf,
-      d.efc.type,
-      ne_mapped,
-      nf_mapped,
-      nother_mapped,
-    ],
-    outputs=[d.island_nefc, d.map_efc2iefc, d.map_iefc2efc, d.efc_islandid],
-  )
-
-
-# Active-DOF compaction (nvmax < nv).
-#
-# The active set is tracked per kinematic tree (the unit of coupling in the mass matrix)
-# via the same tree_awake bookkeeping used by the sleep solver. Each step the active trees'
-# DOFs are packed into a contiguous [0, ncdof) range so the dense factor/solve can run at
-# size nvmax instead of nv. This is the active-set analog of compute_island_mapping.
-
-
-@wp.kernel
-def _reset_compact_maps(
-  # Model:
-  nv: int,
-  # Data in:
-  nvmax_pad_in: int,
-  # Data out:
-  dof_cdof_out: wp.array2d[int],
-  cdof_dof_out: wp.array2d[int],
-):
-  worldid, idx = wp.tid()
-  if idx < nv:
-    dof_cdof_out[worldid, idx] = -1
-  # cdof_dof is nvmax_pad-wide: clear the whole row so the padded tail [ncdof, nvmax_pad)
-  # reads as -1 (the gather/solve run over nvmax_pad, not just the active ncdof).
-  if idx < nvmax_pad_in:
-    cdof_dof_out[worldid, idx] = -1
-
-
-@wp.kernel
-def _compact_dofs(
-  # Model:
-  ntree: int,
-  tree_dofadr: wp.array[int],
-  tree_dofnum: wp.array[int],
-  # Data in:
-  tree_awake_in: wp.array2d[int],
-  nvmax_in: int,
-  warn_overflow: bool,
-  # Data out:
-  ncdof_out: wp.array[int],
-  dof_cdof_out: wp.array2d[int],
-  cdof_dof_out: wp.array2d[int],
-  overflow_out: wp.array[int],
-):
-  worldid = wp.tid()
-  count = int(0)
-  for t in range(ntree):
-    if tree_awake_in[worldid, t] == 1:
-      adr = tree_dofadr[t]
-      num = tree_dofnum[t]
-      for j in range(num):
-        dof = adr + j
-        if count < nvmax_in:
-          dof_cdof_out[worldid, dof] = count
-          cdof_dof_out[worldid, count] = dof
-        count += 1
-
-  if count > nvmax_in:
-    if warn_overflow:
-      wp.printf(
-        "nvmax overflow: world %d needs %d active DOFs but nvmax = %d (behavior undefined)\n",
-        worldid,
-        count,
-        nvmax_in,
-      )
-    overflow_out[worldid] = overflow_out[worldid] | OverflowType.NVMAX
-    ncdof_out[worldid] = nvmax_in
-  else:
-    ncdof_out[worldid] = count
-
-
-@event_scope
-def update_active_dofs(m: types.Model, d: types.Data):
-  """Rebuild the compaction maps (dof_cdof / cdof_dof) from tree_awake."""
-  wp.launch(
-    _reset_compact_maps,
-    dim=(d.nworld, max(m.nv, d.nvmax_pad)),
-    inputs=[m.nv, d.nvmax_pad],
-    outputs=[d.dof_cdof, d.cdof_dof],
-  )
-  wp.launch(
-    _compact_dofs,
-    dim=(d.nworld,),
-    inputs=[m.ntree, m.tree_dofadr, m.tree_dofnum, d.tree_awake, d.nvmax, m.opt.warn_overflow],
-    outputs=[d.ncdof, d.dof_cdof, d.cdof_dof, d.overflow],
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/math.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/math.py
deleted file mode 100644
index 3ce2d1c5..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/math.py
+++ /dev/null
@@ -1,333 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Any, Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import types
-
-
-@wp.func
-def mul_quat(u: wp.quat, v: wp.quat) -> wp.quat:
-  return wp.quat(
-    u[0] * v[0] - u[1] * v[1] - u[2] * v[2] - u[3] * v[3],
-    u[0] * v[1] + u[1] * v[0] + u[2] * v[3] - u[3] * v[2],
-    u[0] * v[2] - u[1] * v[3] + u[2] * v[0] + u[3] * v[1],
-    u[0] * v[3] + u[1] * v[2] - u[2] * v[1] + u[3] * v[0],
-  )
-
-
-@wp.func
-def quat_mul_axis(q: wp.quat, axis: wp.vec3f) -> wp.quat:
-  """Multiplies a quaternion and an axis."""
-  return wp.quat(
-    -q[1] * axis[0] - q[2] * axis[1] - q[3] * axis[2],
-    q[0] * axis[0] + q[2] * axis[2] - q[3] * axis[1],
-    q[0] * axis[1] + q[3] * axis[0] - q[1] * axis[2],
-    q[0] * axis[2] + q[1] * axis[1] - q[2] * axis[0],
-  )
-
-
-@wp.func
-def rot_vec_quat(vec: wp.vec3, quat: wp.quat) -> wp.vec3:
-  s, u = quat[0], wp.vec3(quat[1], quat[2], quat[3])
-  r = 2.0 * (wp.dot(u, vec) * u) + (s * s - wp.dot(u, u)) * vec
-  r = r + 2.0 * s * wp.cross(u, vec)
-  return r
-
-
-@wp.func
-def axis_angle_to_quat(axis: wp.vec3, angle: float) -> wp.quat:
-  s, c = wp.sin(angle * 0.5), wp.cos(angle * 0.5)
-  axis = axis * s
-  return wp.quat(c, axis[0], axis[1], axis[2])
-
-
-@wp.func
-def quat_to_mat(quat: wp.quat) -> wp.mat33:
-  """Converts a quaternion into 3x3 rotation matrix."""
-  q00 = quat[0] * quat[0]
-  q01 = quat[0] * quat[1]
-  q02 = quat[0] * quat[2]
-  q03 = quat[0] * quat[3]
-  q11 = quat[1] * quat[1]
-  q12 = quat[1] * quat[2]
-  q13 = quat[1] * quat[3]
-  q22 = quat[2] * quat[2]
-  q23 = quat[2] * quat[3]
-  q33 = quat[3] * quat[3]
-
-  return wp.mat33(
-    q00 + q11 - q22 - q33,
-    2.0 * (q12 - q03),
-    2.0 * (q13 + q02),
-    2.0 * (q12 + q03),
-    q00 - q11 + q22 - q33,
-    2.0 * (q23 - q01),
-    2.0 * (q13 - q02),
-    2.0 * (q23 + q01),
-    q00 - q11 - q22 + q33,
-  )
-
-
-@wp.func
-def quat_z2vec(vec: wp.vec3) -> wp.quat:
-  """Compute quaternion performing rotation from z-axis to given vector."""
-  quat = wp.quat(0.0, 0.0, 0.0, 1.0)
-
-  # normalize vector; if too small, no rotation
-  norm = wp.length(vec)
-  if norm < types.MJ_MINVAL:
-    return quat
-  vec = vec / norm
-
-  axis = wp.vec3(-vec[1], vec[0], 0.0)
-  a = wp.length(axis)
-
-  # almost parallel
-  if a < types.MJ_MINVAL:
-    # opposite: 180 deg rotation around x axis
-    if vec[2] < 0.0:
-      quat = wp.quat(1.0, 0.0, 0.0, 0.0)
-    return quat
-
-  # make quaternion from angle and axis
-  axis = axis / a
-  angle = wp.atan2(a, vec[2])
-  quat = axis_angle_to_quat(axis, angle)
-
-  return quat
-
-
-@wp.func
-def quat_inv(quat: wp.quat) -> wp.quat:
-  return wp.quat(quat[0], -quat[1], -quat[2], -quat[3])
-
-
-@wp.func
-def inert_vec(i: types.vec10, v: wp.spatial_vector) -> wp.spatial_vector:
-  """mju_mulInertVec: multiply 6D vector (rotation, translation) by 6D inertia matrix."""
-  return wp.spatial_vector(
-    i[0] * v[0] + i[3] * v[1] + i[4] * v[2] - i[8] * v[4] + i[7] * v[5],
-    i[3] * v[0] + i[1] * v[1] + i[5] * v[2] + i[8] * v[3] - i[6] * v[5],
-    i[4] * v[0] + i[5] * v[1] + i[2] * v[2] - i[7] * v[3] + i[6] * v[4],
-    i[8] * v[1] - i[7] * v[2] + i[9] * v[3],
-    i[6] * v[2] - i[8] * v[0] + i[9] * v[4],
-    i[7] * v[0] - i[6] * v[1] + i[9] * v[5],
-  )
-
-
-@wp.func
-def motion_cross(u: wp.spatial_vector, v: wp.spatial_vector) -> wp.spatial_vector:
-  """Cross product of two motions."""
-  u0 = wp.vec3(u[0], u[1], u[2])
-  u1 = wp.vec3(u[3], u[4], u[5])
-  v0 = wp.vec3(v[0], v[1], v[2])
-  v1 = wp.vec3(v[3], v[4], v[5])
-
-  ang = wp.cross(u0, v0)
-  vel = wp.cross(u1, v0) + wp.cross(u0, v1)
-
-  return wp.spatial_vector(ang, vel)
-
-
-@wp.func
-def motion_cross_force(v: wp.spatial_vector, f: wp.spatial_vector) -> wp.spatial_vector:
-  """Cross product of a motion and a force."""
-  v0 = wp.vec3(v[0], v[1], v[2])
-  v1 = wp.vec3(v[3], v[4], v[5])
-  f0 = wp.vec3(f[0], f[1], f[2])
-  f1 = wp.vec3(f[3], f[4], f[5])
-
-  ang = wp.cross(v0, f0) + wp.cross(v1, f1)
-  vel = wp.cross(v0, f1)
-
-  return wp.spatial_vector(ang, vel)
-
-
-@wp.func
-def quat_to_vel(quat: wp.quat) -> wp.vec3:
-  axis = wp.vec3(quat[1], quat[2], quat[3])
-  sin_a_2 = wp.norm_l2(axis)
-
-  if sin_a_2 == 0.0:
-    return wp.vec3(0.0)
-
-  speed = 2.0 * wp.atan2(sin_a_2, quat[0])
-  # when axis-angle is larger than pi, rotation is in the opposite direction
-  if speed > wp.pi:
-    speed -= 2.0 * wp.pi
-
-  return axis * speed / sin_a_2
-
-
-@wp.func
-def quat_sub(qa: wp.quat, qb: wp.quat) -> wp.vec3:
-  """Subtract quaternions, express as 3D velocity: qb*quat(res) = qa."""
-  # qdif = neg(qb)*qa
-  qneg = wp.quat(qb[0], -qb[1], -qb[2], -qb[3])
-  qdif = mul_quat(qneg, qa)
-
-  # convert to 3D velocity
-  return quat_to_vel(qdif)
-
-
-@wp.func
-def quat_integrate(q: wp.quat, v: wp.vec3, dt: float) -> wp.quat:
-  """Integrates a quaternion given angular velocity and dt."""
-  norm_ = wp.length(v)
-  v = wp.normalize(v)  # does that need proper zero gradient handling?
-  angle = dt * norm_
-
-  q_res = axis_angle_to_quat(v, angle)
-  q = wp.normalize(q)
-  q_res = mul_quat(q, q_res)
-
-  return wp.normalize(q_res)
-
-
-@wp.func
-def orthogonals(a: wp.vec3):
-  y = wp.vec3(0.0, 1.0, 0.0)
-  z = wp.vec3(0.0, 0.0, 1.0)
-  b = wp.where((-0.5 < a[1]) and (a[1] < 0.5), y, z)
-  b = b - a * wp.dot(a, b)
-  b = wp.normalize(b)
-  if wp.length(a) == 0.0:
-    b = wp.vec3(0.0, 0.0, 0.0)
-  c = wp.cross(a, b)
-
-  return b, c
-
-
-@wp.func
-def orthonormal(normal: wp.vec3) -> wp.vec3:
-  if wp.abs(normal[0]) < wp.abs(normal[1]) and wp.abs(normal[0]) < wp.abs(normal[2]):
-    dir = wp.vec3(1.0 - normal[0] * normal[0], -normal[0] * normal[1], -normal[0] * normal[2])
-  elif wp.abs(normal[1]) < wp.abs(normal[2]):
-    dir = wp.vec3(-normal[1] * normal[0], 1.0 - normal[1] * normal[1], -normal[1] * normal[2])
-  else:
-    dir = wp.vec3(-normal[2] * normal[0], -normal[2] * normal[1], 1.0 - normal[2] * normal[2])
-  dir, _ = gjk_normalize(dir)
-  return dir
-
-
-@wp.func
-def orthonormal_to_z(normal: wp.vec3) -> wp.vec3:
-  if wp.abs(normal[0]) < wp.abs(normal[1]):
-    dir = wp.vec3(1.0 - normal[0] * normal[0], -normal[0] * normal[1], -normal[0] * normal[2])
-  else:
-    dir = wp.vec3(-normal[1] * normal[0], 1.0 - normal[1] * normal[1], -normal[1] * normal[2])
-  dir, _ = gjk_normalize(dir)
-  return dir
-
-
-@wp.func
-def gjk_normalize(a: wp.vec3):
-  norm = wp.length(a)
-  if norm > 1e-8 and norm < 1e12:
-    return a / norm, True
-  return a, False
-
-
-@wp.func
-def make_frame(a: wp.vec3):
-  a = wp.normalize(a)
-  b, c = orthogonals(a)
-
-  # fmt: off
-  return wp.mat33(
-    a.x, a.y, a.z,
-    b.x, b.y, b.z,
-    c.x, c.y, c.z
-  )
-  # fmt: on
-
-
-@wp.func
-def normalize_with_norm(x: Any):
-  norm = wp.length(x)
-  if norm == 0.0:
-    return x, 0.0
-  return x / norm, norm
-
-
-@wp.func
-def closest_segment_point(a: wp.vec3, b: wp.vec3, pt: wp.vec3) -> wp.vec3:
-  """Returns the closest point on the a-b line segment to a point pt."""
-  ab = b - a
-  t = wp.dot(pt - a, ab) / (wp.dot(ab, ab) + 1e-6)
-  return a + wp.clamp(t, 0.0, 1.0) * ab
-
-
-@wp.func
-def closest_segment_point_and_dist(a: wp.vec3, b: wp.vec3, pt: wp.vec3) -> Tuple[wp.vec3, float]:
-  """Returns closest point on the line segment and the distance squared."""
-  closest = closest_segment_point(a, b, pt)
-  dist = wp.dot((pt - closest), (pt - closest))
-  return closest, dist
-
-
-@wp.func
-def closest_segment_to_segment_points(a0: wp.vec3, a1: wp.vec3, b0: wp.vec3, b1: wp.vec3) -> Tuple[wp.vec3, wp.vec3]:
-  """Returns closest points between two line segments."""
-  dir_a, len_a = normalize_with_norm(a1 - a0)
-  dir_b, len_b = normalize_with_norm(b1 - b0)
-
-  half_len_a = len_a * 0.5
-  half_len_b = len_b * 0.5
-  a_mid = a0 + dir_a * half_len_a
-  b_mid = b0 + dir_b * half_len_b
-
-  trans = a_mid - b_mid
-
-  dira_dot_dirb = wp.dot(dir_a, dir_b)
-  dira_dot_trans = wp.dot(dir_a, trans)
-  dirb_dot_trans = wp.dot(dir_b, trans)
-  denom = 1.0 - dira_dot_dirb * dira_dot_dirb
-
-  orig_t_a = (-dira_dot_trans + dira_dot_dirb * dirb_dot_trans) / (denom + 1e-6)
-  orig_t_b = dirb_dot_trans + orig_t_a * dira_dot_dirb
-  t_a = wp.clamp(orig_t_a, -half_len_a, half_len_a)
-  t_b = wp.clamp(orig_t_b, -half_len_b, half_len_b)
-
-  best_a = a_mid + dir_a * t_a
-  best_b = b_mid + dir_b * t_b
-
-  new_a, d1 = closest_segment_point_and_dist(a0, a1, best_b)
-  new_b, d2 = closest_segment_point_and_dist(b0, b1, best_a)
-  if d1 < d2:
-    return new_a, best_b
-  return best_a, new_b
-
-
-@wp.func
-def safe_div(x: Any, y: Any) -> Any:
-  return x / wp.where(y != 0.0, y, types.MJ_MINVAL)
-
-
-@wp.func
-def upper_tri_index(n: int, i: int, j: int) -> int:
-  """Returns index of a_ij = a_ji in upper triangular matrix (excluding diagonal)."""
-  return (i * (2 * n - i - 3)) // 2 + j - 1
-
-
-@wp.func
-def upper_trid_index(n: int, i: int, j: int) -> int:
-  """Returns index of a_ij = a_ji in upper triangular matrix (including diagonal)."""
-  if j < i:
-    i, j = j, i
-  return (i * (2 * n - i - 1)) // 2 + j
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/passive.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/passive.py
deleted file mode 100644
index 194a56db..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/passive.py
+++ /dev/null
@@ -1,1414 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src import support
-from mujoco.mjx.third_party.mujoco_warp._src import util_misc
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import JointType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import mat43
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False})
-
-
-@wp.func
-def _pow2(val: float) -> float:
-  return val * val
-
-
-@wp.func
-def _pow4(val: float) -> float:
-  sq = val * val
-  return sq * sq
-
-
-@wp.func
-def geom_semiaxes(size: wp.vec3, geom_type: int) -> wp.vec3:  # kernel_analyzer: ignore
-  if geom_type == GeomType.SPHERE:
-    r = size[0]
-    return wp.vec3(r, r, r)
-
-  if geom_type == GeomType.CAPSULE:
-    radius = size[0]
-    half_length = size[1]
-    return wp.vec3(radius, radius, half_length + radius)
-
-  if geom_type == GeomType.CYLINDER:
-    radius = size[0]
-    half_length = size[1]
-    return wp.vec3(radius, radius, half_length)
-
-  # ellipsoid, box, mesh, sdf -> use size directly
-  return size
-
-
-@wp.func
-def ellipsoid_max_moment(size: wp.vec3, dir: int) -> float:
-  d0 = size[dir]
-  d1 = size[(dir + 1) % 3]
-  d2 = size[(dir + 2) % 3]
-  return wp.static(8.0 / 15.0 * wp.pi) * d0 * _pow4(wp.max(d1, d2))
-
-
-@wp.kernel
-def _spring_damper_dof_passive(
-  # Model:
-  opt_disableflags: int,
-  qpos_spring: wp.array2d[float],
-  jnt_type: wp.array[int],
-  jnt_qposadr: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  jnt_stiffness: wp.array2d[float],
-  jnt_stiffnesspoly: wp.array2d[wp.vec2],
-  dof_damping: wp.array2d[float],
-  dof_dampingpoly: wp.array2d[wp.vec2],
-  # Data in:
-  qpos_in: wp.array2d[float],
-  qvel_in: wp.array2d[float],
-  # Data out:
-  qfrc_spring_out: wp.array2d[float],
-  qfrc_damper_out: wp.array2d[float],
-):
-  worldid, jntid = wp.tid()
-  dofid = jnt_dofadr[jntid]
-  jnttype = jnt_type[jntid]
-  stiffness = jnt_stiffness[worldid % jnt_stiffness.shape[0], jntid]
-  spoly = jnt_stiffnesspoly[worldid % jnt_stiffnesspoly.shape[0], jntid]
-  damping = dof_damping[worldid % dof_damping.shape[0], dofid]
-  dpoly = dof_dampingpoly[worldid % dof_dampingpoly.shape[0], dofid]
-
-  has_stiffness = (stiffness != 0.0 or spoly[0] != 0.0 or spoly[1] != 0.0) and not (opt_disableflags & DisableBit.SPRING)
-  has_damping = (damping != 0.0 or dpoly[0] != 0.0 or dpoly[1] != 0.0) and not (opt_disableflags & DisableBit.DAMPER)
-
-  if not has_stiffness:
-    if jnttype == JointType.FREE:
-      for i in range(6):
-        qfrc_spring_out[worldid, dofid + i] = 0.0
-    elif jnttype == JointType.BALL:
-      for i in range(3):
-        qfrc_spring_out[worldid, dofid + i] = 0.0
-    else:
-      qfrc_spring_out[worldid, dofid] = 0.0
-
-  if not has_damping:
-    if jnttype == JointType.FREE:
-      for i in range(6):
-        qfrc_damper_out[worldid, dofid + i] = 0.0
-    elif jnttype == JointType.BALL:
-      for i in range(3):
-        qfrc_damper_out[worldid, dofid + i] = 0.0
-    else:
-      qfrc_damper_out[worldid, dofid] = 0.0
-
-  if not (has_stiffness or has_damping):
-    return
-  qposid = jnt_qposadr[jntid]
-  qpos_spring_id = worldid % qpos_spring.shape[0]
-
-  if jnttype == JointType.FREE:
-    # spring
-    if has_stiffness:
-      dif = wp.vec3(
-        qpos_in[worldid, qposid + 0] - qpos_spring[qpos_spring_id, qposid + 0],
-        qpos_in[worldid, qposid + 1] - qpos_spring[qpos_spring_id, qposid + 1],
-        qpos_in[worldid, qposid + 2] - qpos_spring[qpos_spring_id, qposid + 2],
-      )
-      r = wp.length(dif)
-      k = util_misc._poly_force(stiffness, spoly, r, 0)
-      qfrc_spring_out[worldid, dofid + 0] = -k * dif[0]
-      qfrc_spring_out[worldid, dofid + 1] = -k * dif[1]
-      qfrc_spring_out[worldid, dofid + 2] = -k * dif[2]
-
-      rot = wp.quat(
-        qpos_in[worldid, qposid + 3],
-        qpos_in[worldid, qposid + 4],
-        qpos_in[worldid, qposid + 5],
-        qpos_in[worldid, qposid + 6],
-      )
-      rot = wp.normalize(rot)
-      ref = wp.quat(
-        qpos_spring[qpos_spring_id, qposid + 3],
-        qpos_spring[qpos_spring_id, qposid + 4],
-        qpos_spring[qpos_spring_id, qposid + 5],
-        qpos_spring[qpos_spring_id, qposid + 6],
-      )
-      dif = math.quat_sub(rot, ref)
-      r_rot = wp.length(dif)
-      k_rot = util_misc._poly_force(stiffness, spoly, r_rot, 0)
-      qfrc_spring_out[worldid, dofid + 3] = -k_rot * dif[0]
-      qfrc_spring_out[worldid, dofid + 4] = -k_rot * dif[1]
-      qfrc_spring_out[worldid, dofid + 5] = -k_rot * dif[2]
-
-    # damper
-    if has_damping:
-      for i in range(6):
-        v = qvel_in[worldid, dofid + i]
-        qfrc_damper_out[worldid, dofid + i] = -v * util_misc._poly_force(damping, dpoly, v, 1)
-
-  elif jnttype == JointType.BALL:
-    # spring
-    if has_stiffness:
-      rot = wp.quat(
-        qpos_in[worldid, qposid + 0],
-        qpos_in[worldid, qposid + 1],
-        qpos_in[worldid, qposid + 2],
-        qpos_in[worldid, qposid + 3],
-      )
-      rot = wp.normalize(rot)
-      ref = wp.quat(
-        qpos_spring[qpos_spring_id, qposid + 0],
-        qpos_spring[qpos_spring_id, qposid + 1],
-        qpos_spring[qpos_spring_id, qposid + 2],
-        qpos_spring[qpos_spring_id, qposid + 3],
-      )
-      dif = math.quat_sub(rot, ref)
-      r = wp.length(dif)
-      k = util_misc._poly_force(stiffness, spoly, r, 0)
-      qfrc_spring_out[worldid, dofid + 0] = -k * dif[0]
-      qfrc_spring_out[worldid, dofid + 1] = -k * dif[1]
-      qfrc_spring_out[worldid, dofid + 2] = -k * dif[2]
-
-    # damper
-    if has_damping:
-      for i in range(3):
-        v = qvel_in[worldid, dofid + i]
-        qfrc_damper_out[worldid, dofid + i] = -v * util_misc._poly_force(damping, dpoly, v, 1)
-
-  else:  # mjJNT_SLIDE, mjJNT_HINGE
-    # spring
-    if has_stiffness:
-      fdif = qpos_in[worldid, qposid] - qpos_spring[qpos_spring_id, qposid]
-      qfrc_spring_out[worldid, dofid] = -fdif * util_misc._poly_force(stiffness, spoly, fdif, 0)
-
-    # damper
-    if has_damping:
-      v = qvel_in[worldid, dofid]
-      qfrc_damper_out[worldid, dofid] = -v * util_misc._poly_force(damping, dpoly, v, 1)
-
-
-@wp.kernel
-def _spring_damper_tendon_passive(
-  # Model:
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  tendon_stiffness: wp.array2d[float],
-  tendon_stiffnesspoly: wp.array2d[wp.vec2],
-  tendon_damping: wp.array2d[float],
-  tendon_dampingpoly: wp.array2d[wp.vec2],
-  tendon_lengthspring: wp.array2d[wp.vec2],
-  # Data in:
-  ten_J_in: wp.array2d[float],
-  ten_length_in: wp.array2d[float],
-  ten_velocity_in: wp.array2d[float],
-  # In:
-  dsbl_spring: bool,
-  dsbl_damper: bool,
-  # Data out:
-  qfrc_spring_out: wp.array2d[float],
-  qfrc_damper_out: wp.array2d[float],
-):
-  worldid, tenid, dofid_sparse = wp.tid()
-
-  stiffness = tendon_stiffness[worldid % tendon_stiffness.shape[0], tenid]
-  spoly = tendon_stiffnesspoly[worldid % tendon_stiffnesspoly.shape[0], tenid]
-  damping = tendon_damping[worldid % tendon_damping.shape[0], tenid]
-  dpoly = tendon_dampingpoly[worldid % tendon_dampingpoly.shape[0], tenid]
-
-  has_stiffness = (stiffness != 0.0 or spoly[0] != 0.0 or spoly[1] != 0.0) and not dsbl_spring
-  has_damping = (damping != 0.0 or dpoly[0] != 0.0 or dpoly[1] != 0.0) and not dsbl_damper
-
-  if not has_stiffness and not has_damping:
-    return
-
-  rownnz = ten_J_rownnz[tenid]
-  if dofid_sparse >= rownnz:
-    return
-  rowadr = ten_J_rowadr[tenid]
-  sparseid = rowadr + dofid_sparse
-  J = ten_J_in[worldid, sparseid]
-  dofid = ten_J_colind[sparseid]
-
-  if has_stiffness:
-    # compute spring force along tendon
-    length = ten_length_in[worldid, tenid]
-    lengthspring = tendon_lengthspring[worldid % tendon_lengthspring.shape[0], tenid]
-    lower = lengthspring[0]
-    upper = lengthspring[1]
-
-    x = wp.where(length > upper, length - upper, wp.where(length < lower, length - lower, 0.0))
-    frc_spring = -x * util_misc._poly_force(stiffness, spoly, x, 0)
-
-    # transform to joint torque
-    wp.atomic_add(qfrc_spring_out[worldid], dofid, J * frc_spring)
-
-  if has_damping:
-    # compute damper force along tendon
-    v = ten_velocity_in[worldid, tenid]
-    frc_damper = -v * util_misc._poly_force(damping, dpoly, v, 1)
-
-    # transform to joint torque
-    wp.atomic_add(qfrc_damper_out[worldid], dofid, J * frc_damper)
-
-
-@wp.kernel
-def _gravity_force(
-  # Model:
-  opt_gravity: wp.array[wp.vec3],
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  body_mass: wp.array2d[float],
-  body_gravcomp: wp.array2d[float],
-  dof_bodyid: wp.array[int],
-  body_isdofancestor: wp.array2d[int],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # Data out:
-  qfrc_gravcomp_out: wp.array2d[float],
-):
-  worldid, bodyid, dofid = wp.tid()
-  bodyid += 1  # skip world body
-  gravcomp = body_gravcomp[worldid % body_gravcomp.shape[0], bodyid]
-  gravity = opt_gravity[worldid % opt_gravity.shape[0]]
-
-  if gravcomp:
-    force = -gravity * body_mass[worldid % body_mass.shape[0], bodyid] * gravcomp
-    pos = xipos_in[worldid, bodyid]
-    jac, _ = support.jac_dof(
-      body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, pos, bodyid, dofid, worldid
-    )
-
-    wp.atomic_add(qfrc_gravcomp_out[worldid], dofid, wp.dot(jac, force))
-
-
-@wp.kernel
-def _fluid_force(
-  # Model:
-  opt_wind: wp.array[wp.vec3],
-  opt_density: wp.array[float],
-  opt_viscosity: wp.array[float],
-  body_rootid: wp.array[int],
-  body_geomnum: wp.array[int],
-  body_geomadr: wp.array[int],
-  body_mass: wp.array2d[float],
-  body_inertia: wp.array2d[wp.vec3],
-  geom_type: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_fluid: wp.array2d[float],
-  body_fluid_ellipsoid: wp.array[bool],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  ximat_in: wp.array2d[wp.mat33],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # Out:
-  fluid_applied_out: wp.array2d[wp.spatial_vector],
-):
-  """Computes body-space fluid forces for both inertia-box and ellipsoid models."""
-  worldid, bodyid = wp.tid()
-  zero_force = wp.spatial_vector(wp.vec3(0.0), wp.vec3(0.0))
-
-  if bodyid == 0:
-    fluid_applied_out[worldid, bodyid] = zero_force
-    return
-
-  # skip bodies with negligible mass
-  mass = body_mass[worldid % body_mass.shape[0], bodyid]
-  if mass < MJ_MINVAL:
-    fluid_applied_out[worldid, bodyid] = zero_force
-    return
-
-  wind = opt_wind[worldid % opt_wind.shape[0]]
-  density = opt_density[worldid % opt_density.shape[0]]
-  viscosity = opt_viscosity[worldid % opt_viscosity.shape[0]]
-
-  # Body kinematics
-  xipos = xipos_in[worldid, bodyid]
-  rot = ximat_in[worldid, bodyid]
-  rotT = wp.transpose(rot)
-  cvel = cvel_in[worldid, bodyid]
-  ang_global = wp.spatial_top(cvel)
-  lin_global = wp.spatial_bottom(cvel)
-  subtree_root = subtree_com_in[worldid, body_rootid[bodyid]]
-  lin_com = lin_global - wp.cross(xipos - subtree_root, ang_global)
-
-  if body_fluid_ellipsoid[bodyid]:
-    force_global = wp.vec3(0.0)
-    torque_global = wp.vec3(0.0)
-
-    start = body_geomadr[bodyid]
-    count = body_geomnum[bodyid]
-
-    for i in range(count):
-      geomid = start + i
-      coef = geom_fluid[geomid, 0]
-      if coef <= 0.0:
-        continue
-
-      size = geom_size[worldid % geom_size.shape[0], geomid]
-      semiaxes = geom_semiaxes(size, geom_type[geomid])
-      geom_rot = geom_xmat_in[worldid, geomid]
-      geom_rotT = wp.transpose(geom_rot)
-      geom_pos = geom_xpos_in[worldid, geomid]
-
-      lin_point = lin_com + wp.cross(ang_global, geom_pos - xipos)
-
-      l_ang = geom_rotT @ ang_global
-      l_lin = geom_rotT @ lin_point
-
-      if wind[0] or wind[1] or wind[2]:
-        l_lin -= geom_rotT @ wind
-
-      lfrc_torque = wp.vec3(0.0)
-      lfrc_force = wp.vec3(0.0)
-
-      if density > 0.0:
-        # added-mass forces and torques
-        virtual_mass = wp.vec3(geom_fluid[geomid, 6], geom_fluid[geomid, 7], geom_fluid[geomid, 8])
-        virtual_inertia = wp.vec3(geom_fluid[geomid, 9], geom_fluid[geomid, 10], geom_fluid[geomid, 11])
-
-        virtual_lin_mom = wp.vec3(
-          density * virtual_mass[0] * l_lin[0],
-          density * virtual_mass[1] * l_lin[1],
-          density * virtual_mass[2] * l_lin[2],
-        )
-        virtual_ang_mom = wp.vec3(
-          density * virtual_inertia[0] * l_ang[0],
-          density * virtual_inertia[1] * l_ang[1],
-          density * virtual_inertia[2] * l_ang[2],
-        )
-
-        added_mass_force = wp.cross(virtual_lin_mom, l_ang)
-        added_mass_torque = wp.cross(virtual_lin_mom, l_lin) + wp.cross(virtual_ang_mom, l_ang)
-
-        lfrc_force += added_mass_force
-        lfrc_torque += added_mass_torque
-
-      # lift force orthogonal to velocity from Kutta-Joukowski theorem
-      magnus_coef = geom_fluid[geomid, 5]
-      kutta_coef = geom_fluid[geomid, 4]
-      blunt_drag_coef = geom_fluid[geomid, 1]
-      slender_drag_coef = geom_fluid[geomid, 2]
-      ang_drag_coef = geom_fluid[geomid, 3]
-
-      volume = wp.static(4.0 / 3.0 * wp.pi) * semiaxes[0] * semiaxes[1] * semiaxes[2]
-      d_max = wp.max(wp.max(semiaxes[0], semiaxes[1]), semiaxes[2])
-      d_min = wp.min(wp.min(semiaxes[0], semiaxes[1]), semiaxes[2])
-      d_mid = semiaxes[0] + semiaxes[1] + semiaxes[2] - d_max - d_min
-      A_max = wp.pi * d_max * d_mid
-
-      lin_speed = wp.length(l_lin)
-
-      magnus_force = wp.cross(l_ang, l_lin) * (magnus_coef * density * volume)
-
-      s12 = semiaxes[1] * semiaxes[2]
-      s20 = semiaxes[2] * semiaxes[0]
-      s01 = semiaxes[0] * semiaxes[1]
-
-      proj_denom = _pow4(s12) * _pow2(l_lin[0]) + _pow4(s20) * _pow2(l_lin[1]) + _pow4(s01) * _pow2(l_lin[2])
-      proj_num = _pow2(s12 * l_lin[0]) + _pow2(s20 * l_lin[1]) + _pow2(s01 * l_lin[2])
-
-      A_proj = wp.pi * wp.sqrt(proj_denom / wp.max(MJ_MINVAL, proj_num))
-      cos_alpha = proj_num / wp.max(MJ_MINVAL, lin_speed * proj_denom)
-
-      norm = wp.vec3(
-        _pow2(s12) * l_lin[0],
-        _pow2(s20) * l_lin[1],
-        _pow2(s01) * l_lin[2],
-      )
-
-      kutta_force = wp.vec3(0.0)
-      if density > 0.0 and kutta_coef != 0.0 and lin_speed > MJ_MINVAL:
-        kutta_circ = wp.cross(norm, l_lin) * (kutta_coef * density * cos_alpha * A_proj)
-        kutta_force = wp.cross(kutta_circ, l_lin)
-
-      eq_sphere_D = wp.static(2.0 / 3.0) * (semiaxes[0] + semiaxes[1] + semiaxes[2])
-      lin_visc_force_coef = wp.static(3.0 * wp.pi) * eq_sphere_D
-      lin_visc_torq_coef = wp.pi * eq_sphere_D * eq_sphere_D * eq_sphere_D
-
-      I_max = wp.static(8.0 / 15.0 * wp.pi) * d_mid * _pow4(d_max)
-      II0 = ellipsoid_max_moment(semiaxes, 0)
-      II1 = ellipsoid_max_moment(semiaxes, 1)
-      II2 = ellipsoid_max_moment(semiaxes, 2)
-
-      mom_visc = wp.vec3(
-        l_ang[0] * (ang_drag_coef * II0 + slender_drag_coef * (I_max - II0)),
-        l_ang[1] * (ang_drag_coef * II1 + slender_drag_coef * (I_max - II1)),
-        l_ang[2] * (ang_drag_coef * II2 + slender_drag_coef * (I_max - II2)),
-      )
-
-      drag_lin_coef = viscosity * lin_visc_force_coef + density * lin_speed * (
-        A_proj * blunt_drag_coef + slender_drag_coef * (A_max - A_proj)
-      )
-      drag_ang_coef = viscosity * lin_visc_torq_coef + density * wp.length(mom_visc)
-
-      lfrc_torque -= drag_ang_coef * l_ang
-      lfrc_force += magnus_force + kutta_force - drag_lin_coef * l_lin
-
-      lfrc_torque *= coef
-      lfrc_force *= coef
-
-      # map force/torque from local to world frame: lfrc -> bfrc
-      torque_global += geom_rot @ lfrc_torque
-      force_global += geom_rot @ lfrc_force
-
-    fluid_applied_out[worldid, bodyid] = wp.spatial_vector(force_global, torque_global)
-    return
-
-  l_ang = rotT @ ang_global
-  l_lin = rotT @ lin_com
-
-  if wind[0] or wind[1] or wind[2]:
-    l_lin -= rotT @ wind
-
-  lfrc_torque = wp.vec3(0.0)
-  lfrc_force = wp.vec3(0.0)
-
-  has_viscosity = viscosity > 0.0
-  has_density = density > 0.0
-
-  if has_viscosity or has_density:
-    inertia = body_inertia[worldid % body_inertia.shape[0], bodyid]
-    mass = body_mass[worldid % body_mass.shape[0], bodyid]
-    scl = 6.0 / mass
-    box0 = wp.sqrt(wp.max(MJ_MINVAL, inertia[1] + inertia[2] - inertia[0]) * scl)
-    box1 = wp.sqrt(wp.max(MJ_MINVAL, inertia[0] + inertia[2] - inertia[1]) * scl)
-    box2 = wp.sqrt(wp.max(MJ_MINVAL, inertia[0] + inertia[1] - inertia[2]) * scl)
-
-  if has_viscosity:
-    diam = (box0 + box1 + box2) / 3.0
-    lfrc_torque = -l_ang * wp.pow(diam, 3.0) * wp.pi * viscosity
-    lfrc_force = -3.0 * l_lin * diam * wp.pi * viscosity
-
-  if has_density:
-    lfrc_force -= wp.vec3(
-      0.5 * density * box1 * box2 * wp.abs(l_lin[0]) * l_lin[0],
-      0.5 * density * box0 * box2 * wp.abs(l_lin[1]) * l_lin[1],
-      0.5 * density * box0 * box1 * wp.abs(l_lin[2]) * l_lin[2],
-    )
-
-    scl = density / 64.0
-    box0_pow4 = wp.pow(box0, 4.0)
-    box1_pow4 = wp.pow(box1, 4.0)
-    box2_pow4 = wp.pow(box2, 4.0)
-    lfrc_torque -= wp.vec3(
-      box0 * (box1_pow4 + box2_pow4) * wp.abs(l_ang[0]) * l_ang[0] * scl,
-      box1 * (box0_pow4 + box2_pow4) * wp.abs(l_ang[1]) * l_ang[1] * scl,
-      box2 * (box0_pow4 + box1_pow4) * wp.abs(l_ang[2]) * l_ang[2] * scl,
-    )
-
-  torque_global = rot @ lfrc_torque
-  force_global = rot @ lfrc_force
-
-  fluid_applied_out[worldid, bodyid] = wp.spatial_vector(force_global, torque_global)
-
-
-def _fluid(m: Model, d: Data):
-  fluid_applied = wp.empty((d.nworld, m.nbody), dtype=wp.spatial_vector)
-
-  wp.launch(
-    _fluid_force,
-    dim=(d.nworld, m.nbody),
-    inputs=[
-      m.opt.wind,
-      m.opt.density,
-      m.opt.viscosity,
-      m.body_rootid,
-      m.body_geomnum,
-      m.body_geomadr,
-      m.body_mass,
-      m.body_inertia,
-      m.geom_type,
-      m.geom_size,
-      m.geom_fluid,
-      m.body_fluid_ellipsoid,
-      d.xipos,
-      d.ximat,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.subtree_com,
-      d.cvel,
-    ],
-    outputs=[fluid_applied],
-  )
-
-  support.apply_ft(m, d, fluid_applied, d.qfrc_fluid, False)
-
-
-@wp.kernel
-def _qfrc_passive(
-  # Model:
-  jnt_actgravcomp: wp.array[int],
-  dof_jntid: wp.array[int],
-  has_fluid: bool,
-  # Data in:
-  qfrc_spring_in: wp.array2d[float],
-  qfrc_damper_in: wp.array2d[float],
-  qfrc_gravcomp_in: wp.array2d[float],
-  qfrc_fluid_in: wp.array2d[float],
-  # In:
-  gravity_enabled: bool,
-  # Data out:
-  qfrc_passive_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  qfrc_passive = qfrc_spring_in[worldid, dofid]
-  qfrc_passive += qfrc_damper_in[worldid, dofid]
-
-  # add gravcomp unless added by actuators
-  if gravity_enabled and not jnt_actgravcomp[dof_jntid[dofid]]:
-    qfrc_passive += qfrc_gravcomp_in[worldid, dofid]
-
-  # add fluid force
-  if has_fluid:
-    qfrc_passive += qfrc_fluid_in[worldid, dofid]
-
-  qfrc_passive_out[worldid, dofid] = qfrc_passive
-
-
-@wp.kernel
-def _flex_elasticity(
-  # Model:
-  nflex: int,
-  opt_timestep: wp.array[float],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_edgeadr: wp.array[int],
-  flex_elemadr: wp.array[int],
-  flex_elemnum: wp.array[int],
-  flex_elemdataadr: wp.array[int],
-  flex_stiffnessadr: wp.array[int],
-  flex_elemedgeadr: wp.array[int],
-  flex_vertbodyid: wp.array[int],
-  flex_elem: wp.array[int],
-  flex_elemedge: wp.array[int],
-  flexedge_length0: wp.array[float],
-  flex_stiffness: wp.array[float],
-  flex_damping: wp.array[float],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  flexedge_length_in: wp.array2d[float],
-  flexedge_velocity_in: wp.array2d[float],
-  # In:
-  dsbl_damper: bool,
-  # Out:
-  flex_spring_body_force_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, elemid = wp.tid()
-  timestep = opt_timestep[worldid % opt_timestep.shape[0]]
-
-  for i in range(nflex):
-    locid = elemid - flex_elemadr[i]
-    if locid >= 0 and locid < flex_elemnum[i]:
-      f = i
-      break
-
-  stiffness_adr_base = flex_stiffnessadr[f]
-  if stiffness_adr_base < 0:
-    return
-  if flex_stiffness[stiffness_adr_base] == 0.0:
-    return
-
-  local_elemid = elemid - flex_elemadr[f]
-  dim = flex_dim[f]
-  nvert = dim + 1
-  nedge = nvert * (nvert - 1) / 2
-  edges = wp.where(
-    dim == 1,
-    wp.matrix(0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, shape=(6, 2), dtype=int),
-    wp.where(
-      dim == 3,
-      wp.matrix(0, 1, 1, 2, 2, 0, 2, 3, 0, 3, 1, 3, shape=(6, 2), dtype=int),
-      wp.matrix(1, 2, 2, 0, 0, 1, 0, 0, 0, 0, 0, 0, shape=(6, 2), dtype=int),
-    ),
-  )
-  if timestep > 0.0 and not dsbl_damper:
-    kD = flex_damping[f] / timestep
-  else:
-    kD = 0.0
-
-  elem_data_adr = flex_elemdataadr[f] + local_elemid * (dim + 1)
-  vbase = flex_vertadr[f]
-
-  # skip trilinear/interp elements (vertbodyid == -1, no simplex stiffness)
-  vert0_check = flex_elem[elem_data_adr]
-  if flex_vertbodyid[vbase + vert0_check] < 0:
-    return
-  gradient = wp.matrix(0.0, shape=(6, 6))
-  for e in range(nedge):
-    vert0 = flex_elem[elem_data_adr + edges[e, 0]]
-    vert1 = flex_elem[elem_data_adr + edges[e, 1]]
-    xpos0 = flexvert_xpos_in[worldid, vbase + vert0]
-    xpos1 = flexvert_xpos_in[worldid, vbase + vert1]
-    for i in range(3):
-      gradient[e, 0 + i] = xpos0[i] - xpos1[i]
-      gradient[e, 3 + i] = xpos1[i] - xpos0[i]
-
-  elongation = wp.spatial_vectorf(0.0)
-  for e in range(nedge):
-    idx = flex_elemedge[flex_elemedgeadr[f] + local_elemid * nedge + e]
-    vel = flexedge_velocity_in[worldid, flex_edgeadr[f] + idx]
-    deformed = flexedge_length_in[worldid, flex_edgeadr[f] + idx]
-    reference = flexedge_length0[flex_edgeadr[f] + idx]
-    previous = deformed - vel * timestep
-    elongation[e] = deformed * deformed - reference * reference + (deformed * deformed - previous * previous) * kD
-
-  metric = wp.matrix(0.0, shape=(6, 6))
-  stiffness_size = 21
-  stiffness_adr = stiffness_adr_base + local_elemid * stiffness_size
-  id = int(0)
-  for ed1 in range(nedge):
-    for ed2 in range(ed1, nedge):
-      metric[ed1, ed2] = flex_stiffness[stiffness_adr + id]
-      metric[ed2, ed1] = flex_stiffness[stiffness_adr + id]
-      id += 1
-
-  force = wp.matrix(0.0, shape=(6, 3))
-  for ed1 in range(nedge):
-    for ed2 in range(nedge):
-      for i in range(2):
-        for x in range(3):
-          force[edges[ed2, i], x] -= elongation[ed1] * gradient[ed2, 3 * i + x] * metric[ed1, ed2]
-
-  for v in range(nvert):
-    vert = flex_elem[elem_data_adr + v]
-    bodyid = flex_vertbodyid[flex_vertadr[f] + vert]
-
-    frc = force[v]
-
-    node_pos = flexvert_xpos_in[worldid, flex_vertadr[f] + vert]
-    body_xipos = xipos_in[worldid, bodyid]
-    offset = body_xipos - node_pos
-    spatial_frc = wp.spatial_vector(frc, -wp.cross(offset, frc))
-    wp.atomic_add(flex_spring_body_force_out, worldid, bodyid, spatial_frc)
-
-
-@wp.kernel
-def _flex_bending(
-  # Model:
-  nflex: int,
-  body_rootid: wp.array[int],
-  flex_dim: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_edgeadr: wp.array[int],
-  flex_edgenum: wp.array[int],
-  flex_bendingadr: wp.array[int],
-  flex_vertbodyid: wp.array[int],
-  flex_edge: wp.array[wp.vec2i],
-  flex_edgeflap: wp.array[wp.vec2i],
-  flex_bending: wp.array[float],
-  flex_damping: wp.array[float],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  dsbl_damper: bool,
-  # Out:
-  flex_spring_body_force_out: wp.array2d[wp.spatial_vector],
-  flex_damper_body_force_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, edgeid = wp.tid()
-
-  for i in range(nflex):
-    eid = edgeid - flex_edgeadr[i]
-    if eid >= 0 and eid < flex_edgenum[i]:
-      f = i
-      break
-
-  bendingadr = flex_bendingadr[f]
-  if bendingadr < 0:
-    return
-
-  if flex_dim[f] != 2:
-    return
-
-  if flex_edgeflap[edgeid][1] == -1:
-    return
-
-  v = wp.vec4i(
-    flex_vertadr[f] + flex_edge[edgeid][0],
-    flex_vertadr[f] + flex_edge[edgeid][1],
-    flex_vertadr[f] + flex_edgeflap[edgeid][0],
-    flex_vertadr[f] + flex_edgeflap[edgeid][1],
-  )
-
-  frc = mat43()
-  if flex_bending[bendingadr + 17 * eid + 16]:
-    v0 = flexvert_xpos_in[worldid, v[0]]
-    v1 = flexvert_xpos_in[worldid, v[1]]
-    v2 = flexvert_xpos_in[worldid, v[2]]
-    v3 = flexvert_xpos_in[worldid, v[3]]
-
-    ed0 = v1 - v0
-    ed1 = v2 - v0
-    ed2 = v3 - v0
-
-    frc[1] = wp.cross(ed1, ed2)
-    frc[2] = wp.cross(ed2, ed0)
-    frc[3] = wp.cross(ed0, ed1)
-    frc[0] = -(frc[1] + frc[2] + frc[3])
-
-  # Gather velocities if damping is enabled
-  vel = mat43()
-  if not dsbl_damper and flex_damping[f] > 0.0:
-    for j in range(4):
-      bodyid_j = flex_vertbodyid[v[j]]
-      cvel_j = cvel_in[worldid, bodyid_j]
-      omega_j = wp.spatial_top(cvel_j)
-      vcom_j = wp.spatial_bottom(cvel_j)
-      com_j = subtree_com_in[worldid, body_rootid[bodyid_j]]
-      r_j = flexvert_xpos_in[worldid, v[j]] - com_j
-      vel[j] = vcom_j + wp.cross(omega_j, r_j)
-
-  force_spring = mat43()
-  force_damper = mat43()
-  for i in range(4):
-    for x in range(3):
-      acc_spring = float(0.0)
-      acc_damper = float(0.0)
-      for j in range(4):
-        coeff = flex_bending[bendingadr + 17 * eid + 4 * i + j]
-        acc_spring += coeff * flexvert_xpos_in[worldid, v[j]][x]
-        if not dsbl_damper and flex_damping[f] > 0.0:
-          acc_damper += coeff * vel[j, x]
-
-      force_spring[i, x] = -(acc_spring + flex_bending[bendingadr + 17 * eid + 16] * frc[i, x])
-      if not dsbl_damper and flex_damping[f] > 0.0:
-        force_damper[i, x] = -acc_damper
-
-  for i in range(4):
-    bodyid = flex_vertbodyid[v[i]]
-    frc_s = force_spring[i]
-    node_pos = flexvert_xpos_in[worldid, v[i]]
-    body_xipos = xipos_in[worldid, bodyid]
-    offset = body_xipos - node_pos
-
-    spatial_frc_s = wp.spatial_vector(frc_s, -wp.cross(offset, frc_s))
-    wp.atomic_add(flex_spring_body_force_out, worldid, bodyid, spatial_frc_s)
-
-    if not dsbl_damper and flex_damping[f] > 0.0:
-      frc_d = force_damper[i] * flex_damping[f]
-      spatial_frc_d = wp.spatial_vector(frc_d, -wp.cross(offset, frc_d))
-      wp.atomic_add(flex_damper_body_force_out, worldid, bodyid, spatial_frc_d)
-
-
-@wp.kernel
-def _flex_passive_interp(
-  # Model:
-  nflex: int,
-  body_rootid: wp.array[int],
-  flex_interp: wp.array[int],
-  flex_cellnum: wp.array[wp.vec3i],
-  flex_nodeadr: wp.array[int],
-  flex_stiffnessadr: wp.array[int],
-  flex_nodebodyid: wp.array[int],
-  flex_node: wp.array[wp.vec3],
-  flex_node0: wp.array[wp.vec3],
-  flex_stiffness: wp.array[float],
-  flex_damping: wp.array[float],
-  flex_edgeequality: wp.array[int],
-  flex_centered: wp.array[bool],
-  flex_cell_map: wp.array[wp.vec4i],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  flexnode_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  dsbl_spring: bool,
-  dsbl_damper: bool,
-  # Out:
-  flex_spring_body_force_out: wp.array2d[wp.spatial_vector],
-  flex_damper_body_force_out: wp.array2d[wp.spatial_vector],
-  displ_scratch_out: wp.array3d[wp.vec3],
-  vel_corot_scratch_out: wp.array3d[wp.vec3],
-):
-  """Corotational passive forces for interpolated flex (trilinear/quadratic)."""
-  worldid, cellid = wp.tid()
-
-  mapping = flex_cell_map[cellid]
-  f = mapping[0]
-  ci = mapping[1]
-  cj = mapping[2]
-  ck = mapping[3]
-
-  order = flex_interp[f]
-  if order <= 0:
-    return
-
-  npc = (order + 1) * (order + 1) * (order + 1)
-  ndof_cell = 3 * npc
-
-  cellnum = flex_cellnum[f]
-  cy = cellnum[1]
-  cz = cellnum[2]
-  nstart = flex_nodeadr[f]
-  ny_g = cy * order + 1
-  nz_g = cz * order + 1
-
-  # Cell stiffness matrix address
-  stiffness_adr_base = flex_stiffnessadr[f]
-  if stiffness_adr_base < 0:
-    return
-
-  cell_idx = ci * cy * cz + cj * cz + ck
-  k_base = stiffness_adr_base + cell_idx * ndof_cell * ndof_cell
-
-  # Skip empty cells (zero stiffness)
-  if flex_stiffness[k_base] == 0.0:
-    return
-
-  cell_quat = support.compute_interp_cell_quat(flexnode_xpos_in, order, ci, cj, ck, cy, cz, ny_g, nz_g, nstart, worldid)
-
-  # mju_negQuat: conjugate (R⁻¹) — negate xyz, keep w
-  cell_quat_inv = wp.quat(-cell_quat[0], -cell_quat[1], -cell_quat[2], cell_quat[3])
-
-  # Pre-compute displacements and velocities in corotational frame
-  # (matches C: rotate all positions/velocities once, then K*u)
-  idx_j = int(0)
-  for li_j in range(order + 1):
-    for lj_j in range(order + 1):
-      for lk_j in range(order + 1):
-        if idx_j < npc:
-          gi_j = ci * order + li_j
-          gj_j = cj * order + lj_j
-          gk_j = ck * order + lk_j
-          gidx_j = gi_j * ny_g * nz_g + gj_j * nz_g + gk_j
-
-          xpos_j = flexnode_xpos_in[worldid, nstart + gidx_j]
-
-          if not dsbl_spring:
-            refpos_j = flex_node0[nstart + gidx_j]
-            xrot_j = wp.quat_rotate(cell_quat_inv, xpos_j)
-            displ_scratch_out[worldid, cellid, idx_j] = xrot_j - refpos_j
-
-          if not dsbl_damper:
-            bodyid_j = flex_nodebodyid[nstart + gidx_j]
-            cvel_j = cvel_in[worldid, bodyid_j]
-            omega_j = wp.spatial_top(cvel_j)
-            vcom_j = wp.spatial_bottom(cvel_j)
-            com_j = subtree_com_in[worldid, body_rootid[bodyid_j]]
-            r_j = xpos_j - com_j
-            vel_world_j = vcom_j + wp.cross(omega_j, r_j)
-            vel_corot_scratch_out[worldid, cellid, idx_j] = wp.quat_rotate(cell_quat_inv, vel_world_j)
-
-          idx_j += 1
-
-  # Compute K*displacement and K*velocity per output node, then scatter forces
-  idx_i = int(0)
-  for li_i in range(order + 1):
-    for lj_i in range(order + 1):
-      for lk_i in range(order + 1):
-        if idx_i < npc:
-          gi_i = ci * order + li_i
-          gj_i = cj * order + lj_i
-          gk_i = ck * order + lk_i
-          gidx_i = gi_i * ny_g * nz_g + gj_i * nz_g + gk_i
-          bodyid_i = flex_nodebodyid[nstart + gidx_i]
-
-          frc_spring = wp.vec3(0.0)
-          frc_damper = wp.vec3(0.0)
-
-          for comp_i in range(3):
-            row = idx_i * 3 + comp_i
-            val_spring = float(0.0)
-            val_damper = float(0.0)
-
-            for idx_j in range(npc):
-              for comp_j in range(3):
-                col = idx_j * 3 + comp_j
-                K_ij = flex_stiffness[k_base + row * ndof_cell + col]
-
-                if not dsbl_spring:
-                  val_spring += K_ij * displ_scratch_out[worldid, cellid, idx_j][comp_j]
-
-                if not dsbl_damper:
-                  val_damper += K_ij * vel_corot_scratch_out[worldid, cellid, idx_j][comp_j]
-
-            frc_spring[comp_i] = val_spring
-            frc_damper[comp_i] = val_damper
-
-          # Rotate forces back to world frame (R)
-          frc_spring_world = wp.quat_rotate(cell_quat, frc_spring)
-          frc_damper_world = wp.quat_rotate(cell_quat, frc_damper)
-
-          # Scale damper force by damping coefficient
-          frc_damper_world = frc_damper_world * flex_damping[f]
-
-          # Apply forces to body
-          node_pos = flexnode_xpos_in[worldid, nstart + gidx_i]
-          body_xipos = xipos_in[worldid, bodyid_i]
-
-          offset = body_xipos - node_pos
-          if not dsbl_spring:
-            spatial_frc_s = wp.spatial_vector(frc_spring_world, -wp.cross(offset, frc_spring_world))
-            wp.atomic_add(flex_spring_body_force_out, worldid, bodyid_i, spatial_frc_s)
-
-          if not dsbl_damper:
-            spatial_frc_d = wp.spatial_vector(frc_damper_world, -wp.cross(offset, frc_damper_world))
-            wp.atomic_add(flex_damper_body_force_out, worldid, bodyid_i, spatial_frc_d)
-
-          idx_i += 1
-
-
-@wp.func
-def _apply_face_forces(
-  # Model:
-  flex_nodebodyid: wp.array[int],
-  flex_face: wp.array2d[int],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  flexnode_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  face_id: int,
-  local_coords: wp.vec2,
-  wt1: wp.vec3,
-  wt2: wp.vec3,
-  stiffness_scale: float,
-  order_abs: int,
-  worldid: int,
-  # Out:
-  body_force_out: wp.array2d[wp.spatial_vector],
-):
-  idx = int(0)
-  for l0 in range(3):
-    if l0 > order_abs:
-      continue
-    for l1 in range(3):
-      if l1 > order_abs:
-        continue
-      g0 = support.dphi2D(local_coords[0], l0, local_coords[1], l1, order_abs, 0)
-      g1 = support.dphi2D(local_coords[0], l0, local_coords[1], l1, order_abs, 1)
-
-      gidx = flex_face[face_id, idx]
-
-      frc = (wt2 * g0 - wt1 * g1) * stiffness_scale
-
-      bid = flex_nodebodyid[gidx]
-      node_pos = flexnode_xpos_in[worldid, gidx]
-
-      body_xipos = xipos_in[worldid, bid]
-      offset = body_xipos - node_pos
-      spatial_frc = wp.spatial_vector(frc, -wp.cross(offset, frc))
-      wp.atomic_add(body_force_out, worldid, bid, spatial_frc)
-      idx += 1
-
-
-@wp.kernel
-def _flex_passive_bend_interp(
-  # Model:
-  nflex: int,
-  flex_interp: wp.array[int],
-  flex_cellnum: wp.array[wp.vec3i],
-  flex_nodeadr: wp.array[int],
-  flex_nodenum: wp.array[int],
-  flex_bendingadr: wp.array[int],
-  flex_nodebodyid: wp.array[int],
-  flex_node: wp.array[wp.vec3],
-  flex_bending: wp.array[float],
-  flex_centered: wp.array[bool],
-  flex_faceadr: wp.array[int],
-  flex_bend_interp_map: wp.array[wp.vec2i],
-  flex_face: wp.array2d[int],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  flexnode_xpos_in: wp.array2d[wp.vec3],
-  face_xpos_in: wp.array3d[wp.vec3],
-  face_quat_in: wp.array2d[wp.quat],
-  # Out:
-  flex_spring_body_force_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, bend_edge_id = wp.tid()
-
-  mapping = flex_bend_interp_map[bend_edge_id]
-  f = mapping[0]
-  e = mapping[1]
-
-  order = flex_interp[f]
-  order_abs = -order
-  bendingadr = flex_bendingadr[f]
-
-  cellnum = flex_cellnum[f]
-  cx = cellnum[0]
-  cy = cellnum[1]
-  cz = cellnum[2]
-  nstart = flex_nodeadr[f]
-
-  edata_base = bendingadr + 1 + e * 10
-  fe_A = int(flex_bending[edata_base + 0])
-  fe_B = int(flex_bending[edata_base + 1])
-  local_A = wp.vec2(flex_bending[edata_base + 2], flex_bending[edata_base + 3])
-  local_B = wp.vec2(flex_bending[edata_base + 4], flex_bending[edata_base + 5])
-  stiffness = flex_bending[edata_base + 6]
-  dn0 = wp.vec3(flex_bending[edata_base + 7], flex_bending[edata_base + 8], flex_bending[edata_base + 9])
-
-  if stiffness <= 0.0:
-    return
-
-  # Look up cached face data instead of recomputing
-  face_id_A = flex_faceadr[f] + fe_A
-  face_id_B = flex_faceadr[f] + fe_B
-
-  quat_A = face_quat_in[worldid, face_id_A]
-  quat_B = face_quat_in[worldid, face_id_B]
-
-  # 1. Compute deformed normals at edge midpoint
-  t1_A = wp.vec3(0.0)
-  t2_A = wp.vec3(0.0)
-  t1_B = wp.vec3(0.0)
-  t2_B = wp.vec3(0.0)
-
-  idx = int(0)
-  for l0 in range(3):
-    if l0 > order_abs:
-      continue
-    for l1 in range(3):
-      if l1 > order_abs:
-        continue
-      pos_A = face_xpos_in[worldid, face_id_A, idx]
-      pos_B = face_xpos_in[worldid, face_id_B, idx]
-
-      grad0_A = support.flex_dphi(local_A[0], l0, order_abs) * support.flex_phi(local_A[1], l1, order_abs)
-      grad1_A = support.flex_phi(local_A[0], l0, order_abs) * support.flex_dphi(local_A[1], l1, order_abs)
-
-      grad0_B = support.flex_dphi(local_B[0], l0, order_abs) * support.flex_phi(local_B[1], l1, order_abs)
-      grad1_B = support.flex_phi(local_B[0], l0, order_abs) * support.flex_dphi(local_B[1], l1, order_abs)
-
-      t1_A += pos_A * grad0_A
-      t2_A += pos_A * grad1_A
-
-      t1_B += pos_B * grad0_B
-      t2_B += pos_B * grad1_B
-      idx += 1
-
-  n_A = wp.cross(t1_A, t2_A)
-  n_B = wp.cross(t1_B, t2_B)
-
-  len_A = wp.length(n_A)
-  len_B = wp.length(n_B)
-
-  if len_A < MJ_MINVAL or len_B < MJ_MINVAL:
-    return
-
-  inv_A = 1.0 / len_A
-  inv_B = 1.0 / len_B
-  n_A_norm = n_A * inv_A
-  n_B_norm = n_B * inv_B
-
-  # 2. Average face quaternions
-  if wp.dot(quat_A, quat_B) < 0.0:
-    quat_B = -quat_B
-  quat_avg = quat_A + quat_B
-  quat_avg = wp.normalize(quat_avg)
-
-  # rotate dn0 using average quat
-  dn0_rot = wp.quat_rotate(quat_avg, dn0)
-
-  # residual: r = (n_A - n_B) - dn0_rot
-  r = n_A_norm - n_B_norm - dn0_rot
-
-  # 3. Compute projection and cross products
-  dot_A = wp.dot(n_A_norm, r)
-  w_A = (r - n_A_norm * dot_A) * inv_A
-
-  dot_B = wp.dot(n_B_norm, r)
-  w_B = (r - n_B_norm * dot_B) * inv_B
-
-  wAt2 = wp.cross(w_A, t2_A)
-  wAt1 = wp.cross(w_A, t1_A)
-  wBt2 = wp.cross(w_B, t2_B)
-  wBt1 = wp.cross(w_B, t1_B)
-
-  # 4. Apply forces for Face A
-  _apply_face_forces(
-    flex_nodebodyid,
-    flex_face,
-    xipos_in,
-    flexnode_xpos_in,
-    face_id_A,
-    local_A,
-    wAt1,
-    wAt2,
-    stiffness,
-    order_abs,
-    worldid,
-    flex_spring_body_force_out,
-  )
-
-  # 5. Apply forces for Face B (negative stiffness)
-  _apply_face_forces(
-    flex_nodebodyid,
-    flex_face,
-    xipos_in,
-    flexnode_xpos_in,
-    face_id_B,
-    local_B,
-    wBt1,
-    wBt2,
-    -stiffness,
-    order_abs,
-    worldid,
-    flex_spring_body_force_out,
-  )
-
-
-@event_scope
-def passive(m: Model, d: Data):
-  """Adds all passive forces."""
-  dsbl_spring = m.opt.disableflags & DisableBit.SPRING
-  dsbl_damper = m.opt.disableflags & DisableBit.DAMPER
-
-  if dsbl_spring and dsbl_damper:
-    d.qfrc_spring.zero_()
-    d.qfrc_damper.zero_()
-    d.qfrc_gravcomp.zero_()
-    d.qfrc_fluid.zero_()
-    d.qfrc_passive.zero_()
-    return
-
-  wp.launch(
-    _spring_damper_dof_passive,
-    dim=(d.nworld, m.njnt),
-    inputs=[
-      m.opt.disableflags,
-      m.qpos_spring,
-      m.jnt_type,
-      m.jnt_qposadr,
-      m.jnt_dofadr,
-      m.jnt_stiffness,
-      m.jnt_stiffnesspoly,
-      m.dof_damping,
-      m.dof_dampingpoly,
-      d.qpos,
-      d.qvel,
-    ],
-    outputs=[d.qfrc_spring, d.qfrc_damper],
-  )
-
-  if m.ntendon:
-    wp.launch(
-      _spring_damper_tendon_passive,
-      dim=(d.nworld, m.ntendon, m.max_ten_J_rownnz),
-      inputs=[
-        m.ten_J_rownnz,
-        m.ten_J_rowadr,
-        m.ten_J_colind,
-        m.tendon_stiffness,
-        m.tendon_stiffnesspoly,
-        m.tendon_damping,
-        m.tendon_dampingpoly,
-        m.tendon_lengthspring,
-        d.ten_J,
-        d.ten_length,
-        d.ten_velocity,
-        dsbl_spring,
-        dsbl_damper,
-      ],
-      outputs=[
-        d.qfrc_spring,
-        d.qfrc_damper,
-      ],
-    )
-
-  flex_spring_body_force = None
-  flex_damper_body_force = None
-  if m.nflex > 0:
-    flex_spring_body_force = wp.zeros((d.nworld, m.nbody), dtype=wp.spatial_vector, device=d.qfrc_spring.device)
-    flex_damper_body_force = wp.zeros((d.nworld, m.nbody), dtype=wp.spatial_vector, device=d.qfrc_spring.device)
-
-  if not dsbl_spring:
-    wp.launch(
-      _flex_elasticity,
-      dim=(d.nworld, m.nflexelem),
-      inputs=[
-        m.nflex,
-        m.opt.timestep,
-        m.flex_dim,
-        m.flex_vertadr,
-        m.flex_edgeadr,
-        m.flex_elemadr,
-        m.flex_elemnum,
-        m.flex_elemdataadr,
-        m.flex_stiffnessadr,
-        m.flex_elemedgeadr,
-        m.flex_vertbodyid,
-        m.flex_elem,
-        m.flex_elemedge,
-        m.flexedge_length0,
-        m.flex_stiffness,
-        m.flex_damping,
-        d.xipos,
-        d.flexvert_xpos,
-        d.flexedge_length,
-        d.flexedge_velocity,
-        dsbl_damper,
-      ],
-      outputs=[flex_spring_body_force],
-    )
-
-  if not dsbl_spring or not dsbl_damper:
-    wp.launch(
-      _flex_bending,
-      dim=(d.nworld, m.nflexedge),
-      inputs=[
-        m.nflex,
-        m.body_rootid,
-        m.flex_dim,
-        m.flex_vertadr,
-        m.flex_edgeadr,
-        m.flex_edgenum,
-        m.flex_bendingadr,
-        m.flex_vertbodyid,
-        m.flex_edge,
-        m.flex_edgeflap,
-        m.flex_bending,
-        m.flex_damping,
-        d.xipos,
-        d.subtree_com,
-        d.flexvert_xpos,
-        d.cvel,
-        dsbl_damper,
-      ],
-      outputs=[
-        flex_spring_body_force,
-        flex_damper_body_force,
-      ],
-    )
-    wp.launch(
-      _flex_passive_bend_interp,
-      dim=(d.nworld, m.nflexbend_interp),
-      inputs=[
-        m.nflex,
-        m.flex_interp,
-        m.flex_cellnum,
-        m.flex_nodeadr,
-        m.flex_nodenum,
-        m.flex_bendingadr,
-        m.flex_nodebodyid,
-        m.flex_node,
-        m.flex_bending,
-        m.flex_centered,
-        m.flex_faceadr,
-        m.flex_bend_interp_map,
-        m.flex_face,
-        d.xipos,
-        d.flexnode_xpos,
-        d.face_xpos,
-        d.face_quat,
-      ],
-      outputs=[flex_spring_body_force],
-    )
-
-  gravity_enabled = not (m.opt.disableflags & DisableBit.GRAVITY)
-  d.qfrc_gravcomp.zero_()
-  if gravity_enabled:
-    wp.launch(
-      _gravity_force,
-      dim=(d.nworld, m.nbody - 1, m.nv),
-      inputs=[
-        m.opt.gravity,
-        m.body_parentid,
-        m.body_rootid,
-        m.body_mass,
-        m.body_gravcomp,
-        m.dof_bodyid,
-        m.body_isdofancestor,
-        d.xipos,
-        d.subtree_com,
-        d.cdof,
-      ],
-      outputs=[d.qfrc_gravcomp],
-    )
-
-  # Launch passive interp kernel for interpolated flex (trilinear/quadratic)
-  if m.nflex and m.nflexintcell > 0:
-    displ_scratch = wp.empty((d.nworld, m.nflexintcell, 27), dtype=wp.vec3)
-    vel_corot_scratch = wp.empty((d.nworld, m.nflexintcell, 27), dtype=wp.vec3)
-    wp.launch(
-      _flex_passive_interp,
-      dim=(d.nworld, m.nflexintcell),
-      inputs=[
-        m.nflex,
-        m.body_rootid,
-        m.flex_interp,
-        m.flex_cellnum,
-        m.flex_nodeadr,
-        m.flex_stiffnessadr,
-        m.flex_nodebodyid,
-        m.flex_node,
-        m.flex_node0,
-        m.flex_stiffness,
-        m.flex_damping,
-        m.flex_edgeequality,
-        m.flex_centered,
-        m.flex_cell_map,
-        d.xipos,
-        d.subtree_com,
-        d.cvel,
-        d.flexnode_xpos,
-        dsbl_spring,
-        dsbl_damper,
-      ],
-      outputs=[
-        flex_spring_body_force,
-        flex_damper_body_force,
-        displ_scratch,
-        vel_corot_scratch,
-      ],
-    )
-
-  if m.nflex > 0:
-    if not dsbl_spring:
-      support.apply_ft(m, d, flex_spring_body_force, d.qfrc_spring, True)
-    if not dsbl_damper:
-      support.apply_ft(m, d, flex_damper_body_force, d.qfrc_damper, True)
-
-  if m.has_fluid:
-    _fluid(m, d)
-
-  wp.launch(
-    _qfrc_passive,
-    dim=(d.nworld, m.nv),
-    inputs=[
-      m.jnt_actgravcomp,
-      m.dof_jntid,
-      m.has_fluid,
-      d.qfrc_spring,
-      d.qfrc_damper,
-      d.qfrc_gravcomp,
-      d.qfrc_fluid,
-      gravity_enabled,
-    ],
-    outputs=[
-      d.qfrc_passive,
-    ],
-  )
-
-  if m.callback.passive:
-    m.callback.passive(m, d)
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/ray.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/ray.py
deleted file mode 100644
index c1e697aa..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/ray.py
+++ /dev/null
@@ -1,1324 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.math import safe_div
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import RenderContext
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec6
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.func
-def _ray_map(pos: wp.vec3, mat: wp.mat33, pnt: wp.vec3, vec: wp.vec3) -> Tuple[wp.vec3, wp.vec3]:
-  """Maps ray to local geom frame coordinates.
-
-  Args:
-      pos: position of geom frame
-      mat: orientation of geom frame
-      pnt: starting point of ray in world coordinates
-      vec: direction of ray in world coordinates
-
-  Returns:
-      3D point and 3D direction in local geom frame
-  """
-  matT = wp.transpose(mat)
-  lpnt = matT @ (pnt - pos)
-  lvec = matT @ vec
-
-  return lpnt, lvec
-
-
-@wp.func
-def _ray_eliminate(
-  # Model:
-  body_weldid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  geom_matid: wp.array[int],  # kernel_analyzer: ignore
-  geom_group: wp.array[int],
-  geom_rgba: wp.array[wp.vec4],  # kernel_analyzer: ignore
-  mat_rgba: wp.array[wp.vec4],  # kernel_analyzer: ignore
-  # In:
-  geomid: int,
-  geomgroup: vec6,
-  flg_static: bool,
-  bodyexclude: int,
-) -> bool:
-  """Eliminate ray."""
-  bodyid = geom_bodyid[geomid]
-  matid = geom_matid[geomid]  # kernel_analyzer: ignore
-
-  # body exclusion
-  if bodyid == bodyexclude:
-    return True
-
-  # invisible geom exclusion
-  if matid < 0 and geom_rgba[geomid][3] == 0.0:  # kernel_analyzer: ignore
-    return True
-
-  # invisible material exclusion
-  if matid >= 0:
-    if mat_rgba[matid][3] == 0.0:  # kernel_analyzer: ignore
-      return True
-
-  # static exclusion
-  if not flg_static and body_weldid[bodyid] == 0:
-    return True
-
-  # no geomgroup inclusion
-  if (
-    geomgroup[0] == -1
-    and geomgroup[1] == -1
-    and geomgroup[2] == -1
-    and geomgroup[3] == -1
-    and geomgroup[4] == -1
-    and geomgroup[5] == -1
-  ):
-    return False
-
-  # group inclusion/exclusion
-  groupid = wp.min(5, wp.max(0, geom_group[geomid]))
-
-  return geomgroup[groupid] == 0
-
-
-@wp.func
-def _ray_quad(a: float, b: float, c: float) -> Tuple[float, wp.vec2]:
-  """Compute solutions from quadratic: a*x^2 + 2*b*x + c = 0."""
-  det = b * b - a * c
-  if det < MJ_MINVAL:
-    return -1.0, wp.vec2(-1.0, -1.0)
-  det = wp.sqrt(det)
-
-  # compute the two solutions
-  den = safe_div(1.0, a)
-  x0 = (-b - det) * den
-  x1 = (-b + det) * den
-  x = wp.vec2(x0, x1)
-
-  # finalize result
-  if x0 >= 0.0:
-    return x0, x
-  elif x1 >= 0.0:
-    return x1, x
-  else:
-    return -1.0, x
-
-
-@wp.func
-def _ray_triangle(
-  v0: wp.vec3, v1: wp.vec3, v2: wp.vec3, pnt: wp.vec3, vec: wp.vec3, b0: wp.vec3, b1: wp.vec3
-) -> Tuple[float, wp.vec3]:
-  """Returns the distance and normal at which a ray intersects with a triangle."""
-  dif0 = v0 - pnt
-  dif1 = v1 - pnt
-  dif2 = v2 - pnt
-
-  # project difference vectors in normal plane
-  planar_00 = wp.dot(dif0, b0)
-  planar_01 = wp.dot(dif0, b1)
-  planar_10 = wp.dot(dif1, b0)
-  planar_11 = wp.dot(dif1, b1)
-  planar_20 = wp.dot(dif2, b0)
-  planar_21 = wp.dot(dif2, b1)
-
-  # reject if on the same side of any coordinate axis
-  if (
-    (planar_00 > 0.0 and planar_10 > 0.0 and planar_20 > 0.0)
-    or (planar_00 < 0.0 and planar_10 < 0.0 and planar_20 < 0.0)
-    or (planar_01 > 0.0 and planar_11 > 0.0 and planar_21 > 0.0)
-    or (planar_01 < 0.0 and planar_11 < 0.0 and planar_21 < 0.0)
-  ):
-    return -1.0, wp.vec3()
-
-  # determine if origin is inside planar projection of triangle
-  # A = (p0-p2, p1-p2), b = -p2, solve A*t = b
-  A00 = planar_00 - planar_20
-  A10 = planar_10 - planar_20
-  A01 = planar_01 - planar_21
-  A11 = planar_11 - planar_21
-
-  b = wp.vec2(-planar_20, -planar_21)
-
-  det = A00 * A11 - A10 * A01
-  if wp.abs(det) < MJ_MINVAL:
-    return -1.0, wp.vec3()
-
-  t0 = (A11 * b[0] - A10 * b[1]) / det
-  t1 = (-A01 * b[0] + A00 * b[1]) / det
-
-  # check if outside
-  if t0 < 0.0 or t1 < 0.0 or t0 + t1 > 1.0:
-    return -1.0, wp.vec3()
-
-  # intersect ray with plane of triangle
-  dif0 = v0 - v2
-  dif1 = v1 - v2
-  dif2 = pnt - v2
-  nrm = wp.cross(dif0, dif1)  # normal to triangle plane
-  denom = wp.dot(vec, nrm)
-  if wp.abs(denom) < MJ_MINVAL:
-    return -1.0, wp.vec3()
-
-  dist = -wp.dot(dif2, nrm) / denom
-  return wp.where(dist >= 0.0, dist, -1.0), wp.normalize(nrm)
-
-
-@wp.func
-def ray_plane(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, pnt: wp.vec3, vec: wp.vec3) -> Tuple[float, wp.vec3]:
-  """Returns the distance and normal at which a ray intersects with a plane."""
-  # map to local frame
-  lpnt, lvec = _ray_map(pos, mat, pnt, vec)
-
-  # z-vec not pointing towards front face: reject
-  if lvec[2] > -MJ_MINVAL:
-    return -1.0, wp.vec3()
-
-  # intersection with plane
-  x = -lpnt[2] / lvec[2]
-  if x < 0.0:
-    return -1.0, wp.vec3()
-
-  p = wp.vec2(lpnt[0] + x * lvec[0], lpnt[1] + x * lvec[1])
-
-  # accept only within rendered rectangle
-  if (size[0] <= 0.0 or wp.abs(p[0]) <= size[0]) and (size[1] <= 0.0 or wp.abs(p[1]) <= size[1]):
-    return x, wp.vec3(mat[0, 2], mat[1, 2], mat[2, 2])
-  else:
-    return -1.0, wp.vec3()
-
-
-@wp.func
-def ray_sphere(pos: wp.vec3, dist_sqr: float, pnt: wp.vec3, vec: wp.vec3) -> Tuple[float, wp.vec3]:
-  """Returns the distance and normal at which a ray intersects with a sphere."""
-  dif = pnt - pos
-
-  a = wp.dot(vec, vec)
-  b = wp.dot(vec, dif)
-  c = wp.dot(dif, dif) - dist_sqr
-
-  sol, _ = _ray_quad(a, b, c)
-  normal = wp.vec3()
-  if sol >= 0:
-    s = pnt + vec * sol
-    normal = wp.normalize(s - pos)
-  return sol, normal
-
-
-@wp.func
-def ray_capsule(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, pnt: wp.vec3, vec: wp.vec3) -> Tuple[float, wp.vec3]:
-  """Returns the distance and normal at which a ray intersects with a capsule."""
-  # bounding sphere test
-  ssz = size[0] + size[1]
-  dist_sphere, normal_sphere = ray_sphere(pos, ssz * ssz, pnt, vec)
-  if dist_sphere < 0:
-    return -1.0, wp.vec3()
-
-  # map to local frame
-  lpnt, lvec = _ray_map(pos, mat, pnt, vec)
-
-  # init solution
-  x = -1.0
-
-  # cylinder round side: (x * lvec + lpnt)' * (x * lvec + lpnt) = size[0] * size[0]
-  sq_size0 = size[0] * size[0]
-  a = lvec[0] * lvec[0] + lvec[1] * lvec[1]
-  b = lvec[0] * lpnt[0] + lvec[1] * lpnt[1]
-  c = lpnt[0] * lpnt[0] + lpnt[1] * lpnt[1] - sq_size0
-
-  # solve a * x^2 + 2 * b * x + c = 0
-  sol, xx = _ray_quad(a, b, c)
-  part = 0  # -1: bottom, 0: cylinder, 1: top
-
-  # make sure round solution is between flat sides (must use local z component)
-  # TODO: We should add a test to catch this case.
-  if sol >= 0.0 and wp.abs(lpnt[2] + sol * lvec[2]) <= size[1]:
-    if x < 0.0 or sol < x:
-      x = sol
-
-  # top cap
-  ldif = wp.vec3(lpnt[0], lpnt[1], lpnt[2] - size[1])
-  a += lvec[2] * lvec[2]
-  b = wp.dot(lvec, ldif)
-  c = wp.dot(ldif, ldif) - sq_size0
-  _, xx = _ray_quad(a, b, c)
-
-  # accept only top half of sphere (use local z component)
-  for i in range(2):
-    if xx[i] >= 0.0 and lpnt[2] + xx[i] * lvec[2] >= size[1]:
-      if x < 0.0 or xx[i] < x:
-        x = xx[i]
-        part = 1
-
-  # bottom cap
-  ldif = wp.vec3(ldif[0], ldif[1], lpnt[2] + size[1])
-  b = wp.dot(lvec, ldif)
-  c = wp.dot(ldif, ldif) - sq_size0
-  _, xx = _ray_quad(a, b, c)
-
-  # accept only bottom half of sphere (use local z component)
-  for i in range(2):
-    if xx[i] >= 0.0 and lpnt[2] + xx[i] * lvec[2] <= -size[1]:
-      if x < 0.0 or xx[i] < x:
-        x = xx[i]
-        part = -1
-
-  normal = wp.vec3()
-  if x >= 0:
-    normal[0] = lpnt[0] + lvec[0] * x
-    normal[1] = lpnt[1] + lvec[1] * x
-    if part == 0:
-      normal[2] = 0.0
-    else:
-      normal[2] = lpnt[2] + lvec[2] * x - size[1] * float(part)
-
-    # normalize, rotate into global frame
-    normal = wp.normalize(normal)
-    normal = mat @ normal
-
-  return x, normal
-
-
-@wp.func
-def ray_ellipsoid(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, pnt: wp.vec3, vec: wp.vec3) -> Tuple[float, wp.vec3]:
-  """Returns the distance and normal at which a ray intersects with an ellipsoid."""
-  # map to local frame
-  lpnt, lvec = _ray_map(pos, mat, pnt, vec)
-
-  # invert size^2
-  s = wp.vec3(safe_div(1.0, size[0] * size[0]), safe_div(1.0, size[1] * size[1]), safe_div(1.0, size[2] * size[2]))
-
-  # (x * lvec + lpnt)' * diag(1 / size^2) * (x * lvec + lpnt) = 1
-  slvec = wp.cw_mul(s, lvec)
-  a = wp.dot(slvec, lvec)
-  b = wp.dot(slvec, lpnt)
-  c = wp.dot(wp.cw_mul(s, lpnt), lpnt) - 1.0
-
-  # solve a * x^2 + 2 * b * x + c = 0
-  sol, _ = _ray_quad(a, b, c)
-
-  normal = wp.vec3()
-  if sol >= 0:
-    # surface intersection (local frame)
-    l = lpnt + lvec * sol
-
-    # gradient of ellipsoid function
-    normal = wp.cw_mul(s, l)
-    normal = wp.normalize(normal)
-    normal = mat @ normal
-
-  return sol, normal
-
-
-@wp.func
-def ray_cylinder(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, pnt: wp.vec3, vec: wp.vec3) -> Tuple[float, wp.vec3]:
-  """Returns the distance and normal at which a ray intersects with a cylinder."""
-  # bounding sphere test
-  ssz = size[0] * size[0] + size[1] * size[1]
-  dist_sphere, normal_sphere = ray_sphere(pos, ssz, pnt, vec)
-  if dist_sphere < 0:
-    return -1.0, wp.vec3()
-
-  # map to local frame
-  lpnt, lvec = _ray_map(pos, mat, pnt, vec)
-
-  # init solution
-  x = -1.0
-  part = 0  # -1: bottom, 0: cylinder, 1: top
-
-  # flat sides
-  if wp.abs(lvec[2]) > MJ_MINVAL:
-    for side in range(-1, 2, 2):
-      # solution of: lpnt[2] + x * lvec[2] = side * height_size
-      sol = (float(side) * size[1] - lpnt[2]) / lvec[2]
-
-      # process if non-negative
-      if sol >= 0.0:
-        # intersection with horizontal face
-        p = wp.vec2(lpnt[0] + sol * lvec[0], lpnt[1] + sol * lvec[1])
-
-        # accept within radius
-        if wp.dot(p, p) <= size[0] * size[0]:
-          if x < 0.0 or sol < x:
-            x = sol
-            part = side
-
-  # (x * lvec + lpnt)' * (x * lvec + lpnt) = size[0] * size[0]
-  a = lvec[0] * lvec[0] + lvec[1] * lvec[1]
-  b = lvec[0] * lpnt[0] + lvec[1] * lpnt[1]
-  c = lpnt[0] * lpnt[0] + lpnt[1] * lpnt[1] - size[0] * size[0]
-
-  # solve a * x^2 + 2 * b * x + c = 0
-  sol, _ = _ray_quad(a, b, c)
-
-  # make sure round solution is between flat sides
-  if sol >= 0.0 and wp.abs(lpnt[2] + sol * lvec[2]) <= size[1]:
-    if x < 0.0 or sol < x:
-      x = sol
-      part = 0
-
-  normal = wp.vec3()
-  if x >= 0:
-    if part == 0:
-      normal = lpnt + lvec * x
-      normal[2] = 0.0
-      normal = wp.normalize(normal)
-    else:
-      normal = wp.vec3(0.0, 0.0, float(part))
-
-    normal = mat @ normal
-
-  return x, normal
-
-
-_IFACE = wp.types.matrix((3, 2), dtype=int)(1, 2, 0, 2, 0, 1)
-
-
-@wp.func
-def ray_box(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, pnt: wp.vec3, vec: wp.vec3) -> Tuple[float, vec6, wp.vec3]:
-  """Returns distance, per side information, and normal at which a ray intersects with a box."""
-  all = vec6(-1.0, -1.0, -1.0, -1.0, -1.0, -1.0)
-
-  # bounding sphere test
-  ssz = wp.dot(size, size)
-  dist_sphere, _ = ray_sphere(pos, ssz, pnt, vec)
-  if dist_sphere < 0:
-    return -1.0, all, wp.vec3()
-
-  # map to local frame
-  lpnt, lvec = _ray_map(pos, mat, pnt, vec)
-
-  # init solution
-  x = float(-1.0)
-  face_side = -1
-  face_axis = -1
-
-  # loop over axes with non-zero vec
-  for i in range(3):
-    if wp.abs(lvec[i]) > MJ_MINVAL:
-      for side in range(-1, 2, 2):
-        # solution of: lpnt[i] + x * lvec[i] = side * size[i]
-        sol = (float(side) * size[i] - lpnt[i]) / lvec[i]
-
-        # process if non-negative
-        if sol >= 0.0:
-          id0 = _IFACE[i][0]
-          id1 = _IFACE[i][1]
-
-          # intersection with face
-          p0 = lpnt[id0] + sol * lvec[id0]
-          p1 = lpnt[id1] + sol * lvec[id1]
-
-          # accept within rectangle
-          if (wp.abs(p0) <= size[id0]) and (wp.abs(p1) <= size[id1]):
-            # update
-            if x < 0.0 or sol < x:
-              x = sol
-              face_axis = i
-              face_side = side
-
-            # save in all
-            all[2 * i + (side + 1) // 2] = sol
-
-  normal = wp.vec3()
-  if x >= 0:
-    normal[face_axis] = float(face_side)
-    normal = mat @ normal
-
-  return x, all, normal
-
-
-@wp.func
-def ray_hfield(
-  # Model:
-  geom_type: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  hfield_size: wp.array[wp.vec4],
-  hfield_nrow: wp.array[int],
-  hfield_ncol: wp.array[int],
-  hfield_adr: wp.array[int],
-  hfield_data: wp.array[float],
-  # In:
-  pos: wp.vec3,
-  mat: wp.mat33,
-  pnt: wp.vec3,
-  vec: wp.vec3,
-  id: int,
-  worldid: int,
-) -> Tuple[float, wp.vec3]:
-  # check geom type
-  if geom_type[id] != GeomType.HFIELD:
-    return -1.0, wp.vec3()
-
-  # hfield id and dimensions
-  hid = geom_dataid[worldid % geom_dataid.shape[0], id]
-  nrow = hfield_nrow[hid]
-  ncol = hfield_ncol[hid]
-
-  size = hfield_size[hid]
-  adr = hfield_adr[hid]
-
-  mat_col = wp.vec3(mat[0, 2], mat[1, 2], mat[2, 2])
-
-  # compute size and pos of base box
-  base_scale = size[3] * 0.5
-  base_size = wp.vec3(size[0], size[1], base_scale)
-  base_pos = pos - mat_col * base_scale
-
-  # compute size and pos of top box
-  top_scale = size[2] * 0.5
-  top_size = wp.vec3(size[0], size[1], top_scale)
-  top_pos = pos + mat_col * top_scale
-
-  # init: intersection with base box
-  x, _, normal_base = ray_box(base_pos, mat, base_size, pnt, vec)
-
-  # check top box: done if no intersection
-  top_intersect, all, normal_top = ray_box(top_pos, mat, top_size, pnt, vec)
-
-  if top_intersect < 0.0:
-    return x, normal_base
-
-  # map to local frame
-  lpnt, lvec = _ray_map(pos, mat, pnt, vec)
-
-  # construct basis vectors of normal plane
-  b0 = wp.vec3(1.0, 1.0, 1.0)
-
-  if wp.abs(lvec[0]) >= wp.abs(lvec[1]) and wp.abs(lvec[0]) >= wp.abs(lvec[2]):
-    b0[0] = 0.0
-  elif wp.abs(lvec[1]) >= wp.abs(lvec[2]):
-    b0[1] = 0.0
-  else:
-    b0[2] = 0.0
-  b1 = b0 + lvec * -safe_div(wp.dot(lvec, b0), wp.dot(lvec, lvec))
-  b1 = wp.normalize(b1)
-
-  b0 = wp.cross(b1, lvec)
-  b0 = wp.normalize(b0)
-
-  # find ray segment intersecting top box
-  seg = wp.vec2(0.0, top_intersect)
-  for i in range(6):
-    if all[i] > seg[1]:
-      seg[0] = top_intersect
-      seg[1] = all[i]
-
-  # project segment endpoints in horizontal plane, discretize
-  dx = safe_div(2.0 * size[0], float(ncol - 1))
-  dy = safe_div(2.0 * size[1], float(nrow - 1))
-  SX = wp.vec2(
-    safe_div(lpnt[0] + seg[0] * lvec[0] + size[0], dx),
-    safe_div(lpnt[0] + seg[1] * lvec[0] + size[0], dx),
-  )
-  SY = wp.vec2(
-    safe_div(lpnt[1] + seg[0] * lvec[1] + size[1], dy),
-    safe_div(lpnt[1] + seg[1] * lvec[1] + size[1], dy),
-  )
-
-  # compute ranges, with +1 padding
-  cmin = wp.max(0, int(wp.floor(wp.min(SX[0], SX[1])) - 1.0))
-  cmax = wp.min(ncol - 1, int(wp.ceil(wp.max(SX[0], SX[1])) + 1.0))
-  rmin = wp.max(0, int(wp.floor(wp.min(SY[0], SY[1])) - 1.0))
-  rmax = wp.min(nrow - 1, int(wp.ceil(wp.max(SY[0], SY[1])) + 1.0))
-
-  normal_local = wp.vec3()
-  if x >= 0:
-    normal_local = wp.transpose(mat) @ normal_base
-
-  # check triangles within bounds
-  for r in range(rmin, rmax):
-    for c in range(cmin, cmax):
-      # first triangle
-      v0 = wp.vec3(
-        dx * float(c) - size[0],
-        dy * float(r) - size[1],
-        hfield_data[adr + r * ncol + c] * size[2],
-      )
-      v1 = wp.vec3(
-        dx * float(c + 1) - size[0],
-        dy * float(r) - size[1],
-        hfield_data[adr + r * ncol + (c + 1)] * size[2],
-      )
-      v2 = wp.vec3(
-        dx * float(c + 1) - size[0],
-        dy * float(r + 1) - size[1],
-        hfield_data[adr + (r + 1) * ncol + (c + 1)] * size[2],
-      )
-      sol, normal_tri = _ray_triangle(v0, v1, v2, lpnt, lvec, b0, b1)
-      if sol >= 0.0 and (x < 0.0 or sol < x):
-        x = sol
-        normal_local = normal_tri
-
-      # second triangle
-      v0 = wp.vec3(dx * float(c) - size[0], dy * float(r) - size[1], hfield_data[adr + r * ncol + c] * size[2])
-      v1 = wp.vec3(
-        dx * float(c + 1) - size[0], dy * float(r + 1) - size[1], hfield_data[adr + (r + 1) * ncol + (c + 1)] * size[2]
-      )
-      v2 = wp.vec3(dx * float(c) - size[0], dy * float(r + 1) - size[1], hfield_data[adr + (r + 1) * ncol + c] * size[2])
-      sol, normal_tri = _ray_triangle(v0, v1, v2, lpnt, lvec, b0, b1)
-      if sol >= 0.0 and (x < 0.0 or sol < x):
-        x = sol
-        normal_local = normal_tri
-
-  # check viable sides of top box
-  for i in range(4):
-    if all[i] >= 0.0 and (all[i] < x or x < 0.0):
-      # normalized height of intersection point
-      z = safe_div(lpnt[2] + all[i] * lvec[2], size[2])
-
-      # rectangle points: y, y0, z0, z1
-      # side normal to x-axis
-      if i < 2:
-        y = safe_div(lpnt[1] + all[i] * lvec[1] + size[1], dy)
-        y0 = wp.max(0.0, wp.min(float(nrow - 2), wp.floor(y)))
-        if i == 1:
-          z0 = hfield_data[adr + int(wp.round(y0 + 0.0)) * ncol + ncol - 1]
-          z1 = hfield_data[adr + int(wp.round(y0 + 1.0)) * ncol + ncol - 1]
-        else:
-          z0 = hfield_data[adr + int(wp.round(y0 + 0.0)) * ncol]
-          z1 = hfield_data[adr + int(wp.round(y0 + 1.0)) * ncol]
-      # side normal to y-axis
-      else:
-        y = safe_div(lpnt[0] + all[i] * lvec[0] + size[0], dx)
-        y0 = wp.max(0.0, wp.min(float(ncol - 2), wp.floor(y)))
-        if i == 3:
-          z0 = hfield_data[adr + int(wp.round(y0 + 0.0)) + (nrow - 1) * ncol]
-          z1 = hfield_data[adr + int(wp.round(y0 + 1.0)) + (nrow - 1) * ncol]
-        else:
-          z0 = hfield_data[adr + int(wp.round(y0 + 0.0))]
-          z1 = hfield_data[adr + int(wp.round(y0 + 1.0))]
-
-      # check if point is below line segments
-      if z < z0 * (y0 + 1.0 - y) + z1 * (y - y0):
-        x = all[i]
-        normal_local = wp.vec3(float(i == 1) - float(i == 0), float(i == 3) - float(i == 2), 0.0)
-
-  if x >= 0:
-    normal_local = mat @ normal_local
-  return x, normal_local
-
-
-@wp.func
-def ray_mesh(
-  # Model:
-  nmeshface: int,
-  mesh_vertadr: wp.array[int],
-  mesh_faceadr: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_face: wp.array[wp.vec3i],
-  # In:
-  data_id: int,
-  pos: wp.vec3,
-  mat: wp.mat33,
-  size: wp.vec3,
-  pnt: wp.vec3,
-  vec: wp.vec3,
-) -> Tuple[float, wp.vec3]:
-  """Returns the distance and normal for ray mesh intersections."""
-  # bounding box test
-  dist_box, _all, _normal = ray_box(pos, mat, size, pnt, vec)
-  if dist_box < 0.0:
-    return -1.0, wp.vec3()
-
-  pnt, vec = _ray_map(pos, mat, pnt, vec)
-
-  # compute orthogonal basis vectors
-  if wp.abs(vec[0]) < wp.abs(vec[1]):
-    if wp.abs(vec[0]) < wp.abs(vec[2]):
-      b0 = wp.vec3(0.0, vec[2], -vec[1])
-    else:
-      b0 = wp.vec3(vec[1], -vec[0], 0.0)
-  else:
-    if wp.abs(vec[1]) < wp.abs(vec[2]):
-      b0 = wp.vec3(-vec[2], 0.0, vec[0])
-    else:
-      b0 = wp.vec3(vec[1], -vec[0], 0.0)
-
-  # normalize first vector
-  b0 = wp.normalize(b0)
-
-  # compute second vector as cross product
-  b1 = wp.cross(vec, b0)
-  b1 = wp.normalize(b1)
-
-  x = float(-1.0)
-  normal = wp.vec3()
-
-  # get mesh vertex data range
-  vert_start = mesh_vertadr[data_id]
-
-  # get mesh face and vertex data
-  face_start = mesh_faceadr[data_id]
-
-  if data_id + 1 < mesh_faceadr.shape[0]:
-    face_end = mesh_faceadr[data_id + 1]
-  else:
-    face_end = nmeshface
-
-  # iterate through all faces
-  for i in range(face_start, face_end):
-    # get vertices for this face
-    v_idx = mesh_face[i]
-
-    # create triangle struct
-    v0 = mesh_vert[vert_start + v_idx.x]
-    v1 = mesh_vert[vert_start + v_idx.y]
-    v2 = mesh_vert[vert_start + v_idx.z]
-
-    # calculate intersection
-    dist, normal_tri = _ray_triangle(v0, v1, v2, pnt, vec, b0, b1)
-    if dist >= 0 and (x < 0 or dist < x):
-      x = dist
-      normal = normal_tri
-
-  normal = mat @ normal
-
-  return x, normal
-
-
-@wp.func
-def ray_mesh_with_bvh(
-  # In:
-  mesh_bvh_id: wp.array[wp.uint64],
-  mesh_geom_id: int,
-  pos: wp.vec3,
-  mat: wp.mat33,
-  pnt: wp.vec3,
-  vec: wp.vec3,
-  max_t: float,
-  cull_backfaces: bool,
-) -> Tuple[float, wp.vec3, float, float, int, int]:
-  """Returns intersection information for ray mesh intersections.
-
-  Requires wp.Mesh be constructed and their ids to be passed.
-
-  When ``cull_backfaces`` is True, the function rejects exit-face hits in the
-  local-space frame. This matches MuJoCo OpenGL rendering's backface culling rule.
-  """
-  t = float(-1.0)
-  u = float(0.0)
-  v = float(0.0)
-  sign = float(0.0)
-  n = wp.vec3(0.0, 0.0, 0.0)
-  f = int(-1)
-
-  lpnt, lvec = _ray_map(pos, mat, pnt, vec)
-  hit = wp.mesh_query_ray(mesh_bvh_id[mesh_geom_id], lpnt, lvec, max_t, t, u, v, sign, n, f)
-
-  if not hit:
-    return -1.0, wp.vec3(0.0, 0.0, 0.0), 0.0, 0.0, -1, -1
-
-  # Front-face hit, or back-face hit when cull is disabled: rotate the
-  # local-space normal into world space and return the hit.
-  if (not cull_backfaces) or wp.dot(lvec, n) < 0.0:
-    normal = mat @ n
-    normal = wp.normalize(normal)
-    return t, normal, u, v, f, mesh_geom_id
-
-  return -1.0, wp.vec3(0.0, 0.0, 0.0), 0.0, 0.0, -1, -1
-
-
-@wp.func
-def ray_mesh_with_bvh_anyhit(
-  # In:
-  mesh_bvh_id: wp.array[wp.uint64],
-  mesh_geom_id: int,
-  pos: wp.vec3,
-  mat: wp.mat33,
-  pnt: wp.vec3,
-  vec: wp.vec3,
-  max_t: float,
-) -> bool:
-  """Returns True if there is any hit for ray mesh intersections.
-
-  Requires wp.Mesh be constructed and their ids to be passed. This variant is useful
-  for shadow ray casts where the only goal is if there is any ray hit.
-  """
-  lpnt, lvec = _ray_map(pos, mat, pnt, vec)
-  return wp.mesh_query_ray_anyhit(mesh_bvh_id[mesh_geom_id], lpnt, lvec, max_t)
-
-
-@wp.func
-def ray_flex_with_bvh(
-  # In:
-  flex_bvh_id: wp.array[wp.uint64],
-  flexid: int,
-  group_root: int,
-  pnt: wp.vec3,
-  vec: wp.vec3,
-  max_t: float,
-) -> Tuple[float, wp.vec3, float, float, int]:
-  """Returns intersection information for flex intersections.
-
-  Requires wp.Mesh be constructed and their ids to be passed. Flex are already in world space.
-  """
-  t = float(-1.0)
-  u = float(0.0)
-  v = float(0.0)
-  sign = float(0.0)
-  n = wp.vec3(0.0, 0.0, 0.0)
-  f = int(-1)
-
-  hit = wp.mesh_query_ray(flex_bvh_id[flexid], pnt, vec, max_t, t, u, v, sign, n, f, group_root)
-
-  if hit:
-    return t, n, u, v, f
-
-  return -1.0, wp.vec3(0.0, 0.0, 0.0), 0.0, 0.0, -1
-
-
-@wp.func
-def ray_flex_with_bvh_anyhit(
-  # In:
-  flex_bvh_id: wp.array[wp.uint64],
-  flexid: int,
-  group_root: int,
-  pnt: wp.vec3,
-  vec: wp.vec3,
-  max_t: float,
-) -> bool:
-  """Returns True if there is any hit for ray flex intersections.
-
-  Requires wp.Mesh be constructed and their ids to be passed. Flex are already in world space.
-  """
-  return wp.mesh_query_ray_anyhit(flex_bvh_id[flexid], pnt, vec, max_t, group_root)
-
-
-@wp.func
-def ray_geom(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, pnt: wp.vec3, vec: wp.vec3, geomtype: int) -> Tuple[float, wp.vec3]:
-  """Returns distance along ray to intersection with geom and normal at intersection point.
-
-  If no intersection is found, returns -1 and zero vector.
-  """
-  # TODO(team): static loop unrolling to remove unnecessary branching
-  if geomtype == GeomType.PLANE:
-    return ray_plane(pos, mat, size, pnt, vec)
-  elif geomtype == GeomType.SPHERE:
-    return ray_sphere(pos, size[0] * size[0], pnt, vec)
-  elif geomtype == GeomType.CAPSULE:
-    return ray_capsule(pos, mat, size, pnt, vec)
-  elif geomtype == GeomType.ELLIPSOID:
-    return ray_ellipsoid(pos, mat, size, pnt, vec)
-  elif geomtype == GeomType.CYLINDER:
-    return ray_cylinder(pos, mat, size, pnt, vec)
-  elif geomtype == GeomType.BOX:
-    dist, _, normal = ray_box(pos, mat, size, pnt, vec)
-    return dist, normal
-  else:
-    return -1.0, wp.vec3()
-
-
-@wp.func
-def _ray_geom_mesh(
-  # Model:
-  nmeshface: int,
-  body_weldid: wp.array[int],
-  geom_type: wp.array[int],
-  geom_bodyid: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_matid: wp.array2d[int],
-  geom_group: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_rgba: wp.array2d[wp.vec4],
-  mesh_vertadr: wp.array[int],
-  mesh_faceadr: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_face: wp.array[wp.vec3i],
-  hfield_size: wp.array[wp.vec4],
-  hfield_nrow: wp.array[int],
-  hfield_ncol: wp.array[int],
-  hfield_adr: wp.array[int],
-  hfield_data: wp.array[float],
-  mat_rgba: wp.array2d[wp.vec4],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  worldid: int,
-  pnt: wp.vec3,
-  vec: wp.vec3,
-  geomgroup: vec6,
-  flg_static: bool,
-  bodyexclude: int,
-  geomid: int,
-) -> Tuple[float, wp.vec3]:
-  if not _ray_eliminate(
-    body_weldid,
-    geom_bodyid,
-    geom_matid[worldid % geom_matid.shape[0]],
-    geom_group,
-    geom_rgba[worldid % geom_rgba.shape[0]],
-    mat_rgba[worldid % mat_rgba.shape[0]],
-    geomid,
-    geomgroup,
-    flg_static,
-    bodyexclude,
-  ):
-    pos = geom_xpos_in[worldid, geomid]
-    mat = geom_xmat_in[worldid, geomid]
-    type = geom_type[geomid]
-
-    if type == GeomType.MESH:
-      return ray_mesh(
-        nmeshface,
-        mesh_vertadr,
-        mesh_faceadr,
-        mesh_vert,
-        mesh_face,
-        geom_dataid[worldid % geom_dataid.shape[0], geomid],
-        pos,
-        mat,
-        geom_size[worldid % geom_size.shape[0], geomid],
-        pnt,
-        vec,
-      )
-    elif type == GeomType.HFIELD:
-      return ray_hfield(
-        geom_type,
-        geom_dataid,
-        hfield_size,
-        hfield_nrow,
-        hfield_ncol,
-        hfield_adr,
-        hfield_data,
-        pos,
-        mat,
-        pnt,
-        vec,
-        geomid,
-        worldid,
-      )
-    else:
-      return ray_geom(pos, mat, geom_size[worldid % geom_size.shape[0], geomid], pnt, vec, type)
-  else:
-    return -1.0, wp.vec3()
-
-
-@wp.kernel
-def _ray(
-  # Model:
-  ngeom: int,
-  nmeshface: int,
-  body_weldid: wp.array[int],
-  geom_type: wp.array[int],
-  geom_bodyid: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_matid: wp.array2d[int],
-  geom_group: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_rgba: wp.array2d[wp.vec4],
-  mesh_vertadr: wp.array[int],
-  mesh_faceadr: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_face: wp.array[wp.vec3i],
-  hfield_size: wp.array[wp.vec4],
-  hfield_nrow: wp.array[int],
-  hfield_ncol: wp.array[int],
-  hfield_adr: wp.array[int],
-  hfield_data: wp.array[float],
-  mat_rgba: wp.array2d[wp.vec4],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  pnt: wp.array2d[wp.vec3],
-  vec: wp.array2d[wp.vec3],
-  geomgroup: vec6,
-  flg_static: bool,
-  bodyexclude: wp.array[int],
-  # Out:
-  dist_out: wp.array2d[float],
-  geomid_out: wp.array2d[int],
-  normal_out: wp.array2d[wp.vec3],
-):
-  worldid, rayid, tid = wp.tid()
-
-  num_threads = wp.block_dim()
-
-  min_dist = float(MJ_MAXVAL)
-  min_geomid = int(-1)
-  min_normal = wp.vec3()
-
-  upper = ((ngeom + num_threads - 1) // num_threads) * num_threads
-  for geomid in range(tid, upper, num_threads):
-    if geomid < ngeom:
-      dist, normal = _ray_geom_mesh(
-        nmeshface,
-        body_weldid,
-        geom_type,
-        geom_bodyid,
-        geom_dataid,
-        geom_matid,
-        geom_group,
-        geom_size,
-        geom_rgba,
-        mesh_vertadr,
-        mesh_faceadr,
-        mesh_vert,
-        mesh_face,
-        hfield_size,
-        hfield_nrow,
-        hfield_ncol,
-        hfield_adr,
-        hfield_data,
-        mat_rgba,
-        geom_xpos_in,
-        geom_xmat_in,
-        worldid,
-        pnt[worldid, rayid],
-        vec[worldid, rayid],
-        geomgroup,
-        flg_static,
-        bodyexclude[rayid],
-        geomid,
-      )
-      if dist < 0:
-        dist = MJ_MAXVAL
-    else:
-      dist = MJ_MAXVAL
-      normal = wp.vec3()
-
-    tile_dist = wp.tile(dist)
-    local_min_geomid = wp.tile_argmin(tile_dist)
-    local_min_dist = tile_dist[local_min_geomid[0]]
-
-    tile_geomid = wp.tile(geomid)
-    tile_normal = wp.tile(normal, preserve_type=True)
-
-    if local_min_dist < min_dist:
-      min_dist = local_min_dist
-      min_geomid = tile_geomid[local_min_geomid[0]]
-      min_normal = tile_normal[local_min_geomid[0]]
-
-  if min_dist >= MJ_MAXVAL:
-    dist_out[worldid, rayid] = -1.0
-  else:
-    dist_out[worldid, rayid] = min_dist
-  geomid_out[worldid, rayid] = min_geomid
-  normal_out[worldid, rayid] = min_normal
-
-
-@wp.func
-def _ray_geom_mesh_bvh(
-  # Model:
-  body_weldid: wp.array[int],
-  geom_type: wp.array[int],
-  geom_bodyid: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_matid: wp.array2d[int],
-  geom_group: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_rgba: wp.array2d[wp.vec4],
-  mat_rgba: wp.array2d[wp.vec4],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  worldid: int,
-  pnt: wp.vec3,
-  vec: wp.vec3,
-  geomgroup: vec6,
-  flg_static: bool,
-  bodyexclude: int,
-  geomid: int,
-  mesh_bvh_id: wp.array[wp.uint64],
-  hfield_bvh_id: wp.array[wp.uint64],
-  min_dist: float,
-) -> Tuple[float, wp.vec3]:
-  if not _ray_eliminate(
-    body_weldid,
-    geom_bodyid,
-    geom_matid[worldid % geom_matid.shape[0]],
-    geom_group,
-    geom_rgba[worldid % geom_rgba.shape[0]],
-    mat_rgba[worldid % mat_rgba.shape[0]],
-    geomid,
-    geomgroup,
-    flg_static,
-    bodyexclude,
-  ):
-    pos = geom_xpos_in[worldid, geomid]
-    mat = geom_xmat_in[worldid, geomid]
-    gtype = geom_type[geomid]
-
-    if gtype == GeomType.MESH or gtype == GeomType.HFIELD:
-      bvh_ids = mesh_bvh_id if gtype == GeomType.MESH else hfield_bvh_id
-      # Public ray API (mjw.ray / mjw.rays) preserves MuJoCo's mj_ray cull rule:
-      # rangefinder sensors and user-facing ray casts always cull back-faces.
-      t, n, u, v, f, geom_mesh_id = ray_mesh_with_bvh(
-        bvh_ids,
-        geom_dataid[worldid % geom_dataid.shape[0], geomid],
-        pos,
-        mat,
-        pnt,
-        vec,
-        min_dist,
-        True,
-      )
-      if t >= 0.0 and t < min_dist:
-        return t, n
-    else:
-      return ray_geom(
-        pos,
-        mat,
-        geom_size[worldid % geom_size.shape[0], geomid],
-        pnt,
-        vec,
-        gtype,
-      )
-
-  return -1.0, wp.vec3()
-
-
-@wp.kernel
-def _ray_bvh(
-  # Model:
-  ngeom: int,
-  body_weldid: wp.array[int],
-  geom_type: wp.array[int],
-  geom_bodyid: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_matid: wp.array2d[int],
-  geom_group: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  geom_rgba: wp.array2d[wp.vec4],
-  mat_rgba: wp.array2d[wp.vec4],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  pnt: wp.array2d[wp.vec3],
-  vec: wp.array2d[wp.vec3],
-  geomgroup: vec6,
-  flg_static: bool,
-  bodyexclude: wp.array[int],
-  bvh_id: wp.uint64,
-  group_root: wp.array[int],
-  enabled_geom_ids: wp.array[int],
-  mesh_bvh_id: wp.array[wp.uint64],
-  hfield_bvh_id: wp.array[wp.uint64],
-  # Out:
-  dist_out: wp.array2d[float],
-  geomid_out: wp.array2d[int],
-  normal_out: wp.array2d[wp.vec3],
-):
-  worldid, rayid = wp.tid()
-
-  ray_origin = pnt[worldid, rayid]
-  ray_dir = vec[worldid, rayid]
-  body_exclude = bodyexclude[rayid]
-
-  min_dist = float(MJ_MAXVAL)
-  min_geomid = int(-1)
-  min_normal = wp.vec3()
-
-  query = wp.bvh_query_ray(bvh_id, ray_origin, ray_dir, group_root[worldid])
-  bounds_nr = int(0)
-
-  while wp.bvh_query_next(query, bounds_nr, min_dist):
-    bvh_local = bounds_nr - (worldid * ngeom)
-    geomid = enabled_geom_ids[bvh_local]
-
-    dist, normal = _ray_geom_mesh_bvh(
-      body_weldid,
-      geom_type,
-      geom_bodyid,
-      geom_dataid,
-      geom_matid,
-      geom_group,
-      geom_size,
-      geom_rgba,
-      mat_rgba,
-      geom_xpos_in,
-      geom_xmat_in,
-      worldid,
-      pnt[worldid, rayid],
-      vec[worldid, rayid],
-      geomgroup,
-      flg_static,
-      body_exclude,
-      geomid,
-      mesh_bvh_id,
-      hfield_bvh_id,
-      min_dist,
-    )
-
-    if dist >= 0.0 and dist < min_dist:
-      min_dist = dist
-      min_geomid = geomid
-      min_normal = normal
-
-  if min_dist >= MJ_MAXVAL:
-    dist_out[worldid, rayid] = -1.0
-  else:
-    dist_out[worldid, rayid] = min_dist
-  geomid_out[worldid, rayid] = min_geomid
-  normal_out[worldid, rayid] = min_normal
-
-
-def ray(
-  m: Model,
-  d: Data,
-  pnt: wp.array2d[wp.vec3],
-  vec: wp.array2d[wp.vec3],
-  geomgroup: vec6 | None = None,
-  flg_static: bool = True,
-  bodyexclude: int = -1,
-  rc: RenderContext | None = None,
-) -> Tuple[wp.array, wp.array, wp.array]:
-  """Returns the distance at which rays intersect with primitive geoms.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-    pnt: Ray origin points.
-    vec: Ray directions.
-    geomgroup: Group inclusion/exclusion mask.
-    flg_static: If True, allows rays to intersect with static geoms.
-    bodyexclude: Ignore geoms on specified body id (-1 to disable).
-    rc: Optional Render context containing BVH information for BVH accelerated ray
-      intersections.
-
-  Returns:
-    Distances from ray origins to geom surfaces, IDs of intersected geoms (-1 if none),
-    and normals at intersection points.
-  """
-  assert pnt.shape[0] == 1
-  assert pnt.shape[0] == vec.shape[0]
-
-  if geomgroup is None:
-    geomgroup = vec6(-1, -1, -1, -1, -1, -1)
-
-  ray_bodyexclude = wp.empty(1, dtype=int)
-  ray_bodyexclude.fill_(bodyexclude)
-  ray_dist = wp.empty((d.nworld, 1), dtype=float)
-  ray_geomid = wp.empty((d.nworld, 1), dtype=int)
-  ray_normal = wp.empty((d.nworld, 1), dtype=wp.vec3)
-
-  rays(m, d, pnt, vec, geomgroup, flg_static, ray_bodyexclude, ray_dist, ray_geomid, ray_normal, rc)
-
-  return ray_dist, ray_geomid, ray_normal
-
-
-def rays(
-  m: Model,
-  d: Data,
-  pnt: wp.array2d[wp.vec3],
-  vec: wp.array2d[wp.vec3],
-  geomgroup: vec6,
-  flg_static: bool,
-  bodyexclude: wp.array[int],
-  dist: wp.array2d[float],
-  geomid: wp.array2d[int],
-  normal: wp.array2d[wp.vec3],
-  rc: RenderContext | None = None,
-):
-  """Ray intersection for multiple worlds and multiple rays.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-    pnt: Ray origin points, shape (nworld, nray).
-    vec: Ray directions, shape (nworld, nray).
-    geomgroup: Group inclusion/exclusion mask. Set all elements to -1 to ignore.
-    flg_static: If True, allows rays to intersect with static geoms.
-    bodyexclude: Per-ray body exclusion array of shape (nray,). Geoms on the
-      specified body ids are ignored (-1 to disable for that ray).
-    dist: Output array for distances from ray origins to geom surfaces, shape
-      (nworld, nray). -1 indicates no intersection.
-    geomid: Output array for IDs of intersected geoms, shape (nworld, nray). -1
-      indicates no intersection.
-    normal: Output array for normals at intersection points, shape (nworld, nray).
-    rc: Optional Render context containing BVH information for BVH accelerated ray
-      intersections.
-  """
-  # TODO: Investigate building rc if none and removing the non-accelerated path
-  if rc is None:
-    wp.launch_tiled(
-      _ray,
-      dim=(d.nworld, pnt.shape[1]),
-      inputs=[
-        m.ngeom,
-        m.nmeshface,
-        m.body_weldid,
-        m.geom_type,
-        m.geom_bodyid,
-        m.geom_dataid,
-        m.geom_matid,
-        m.geom_group,
-        m.geom_size,
-        m.geom_rgba,
-        m.mesh_vertadr,
-        m.mesh_faceadr,
-        m.mesh_vert,
-        m.mesh_face,
-        m.hfield_size,
-        m.hfield_nrow,
-        m.hfield_ncol,
-        m.hfield_adr,
-        m.hfield_data,
-        m.mat_rgba,
-        d.geom_xpos,
-        d.geom_xmat,
-        pnt,
-        vec,
-        geomgroup,
-        flg_static,
-        bodyexclude,
-        dist,
-        geomid,
-        normal,
-      ],
-      block_dim=m.block_dim.ray,
-    )
-  else:
-    wp.launch(
-      _ray_bvh,
-      dim=(d.nworld, pnt.shape[1]),
-      inputs=[
-        rc.bvh_ngeom,
-        m.body_weldid,
-        m.geom_type,
-        m.geom_bodyid,
-        m.geom_dataid,
-        m.geom_matid,
-        m.geom_group,
-        m.geom_size,
-        m.geom_rgba,
-        m.mat_rgba,
-        d.geom_xpos,
-        d.geom_xmat,
-        pnt,
-        vec,
-        geomgroup,
-        flg_static,
-        bodyexclude,
-        rc.bvh_id,
-        rc.group_root,
-        rc.enabled_geom_ids,
-        rc.mesh_bvh_id,
-        rc.hfield_bvh_id,
-      ],
-      outputs=[dist, geomid, normal],
-    )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/render.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/render.py
deleted file mode 100644
index 5535ca92..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/render.py
+++ /dev/null
@@ -1,1010 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import dataclasses
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_box
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_capsule
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_cylinder
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_ellipsoid
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_flex_with_bvh
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_flex_with_bvh_anyhit
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_mesh_with_bvh
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_mesh_with_bvh_anyhit
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_plane
-from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_sphere
-from mujoco.mjx.third_party.mujoco_warp._src.render_util import compute_ray
-from mujoco.mjx.third_party.mujoco_warp._src.render_util import pack_rgba_to_uint32
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import ObjType
-from mujoco.mjx.third_party.mujoco_warp._src.types import RenderContext
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-# Default value for mat_shininess in MuJoCo is 0.5
-# With an 8 bit image format, the maximum value is 255.0
-# So max shininess value for the Phong lighting model is 128.0
-MAX_SHININESS = 128.0
-# The exponent value for mat_shininess is 0.5 times the max shininess value
-DEFAULT_MAT_SHININESS_EXPONENT = 0.5 * MAX_SHININESS
-
-# Default value for mat_specular in MuJoCo is 0.5
-DEFAULT_MAT_SPECULAR = 0.5
-
-# Default value for mat_emission in MuJoCo is 0.0
-DEFAULT_MAT_EMISSION = 0.0
-
-NO_LIGHT_AMBIENT_FALLBACK = 0.3
-
-
-@wp.func
-def sample_texture(
-  # Model:
-  geom_type: wp.array[int],
-  mesh_faceadr: wp.array[int],
-  # In:
-  geom_id: int,
-  tex_repeat: wp.vec2,
-  tex: wp.Texture2D,
-  pos: wp.vec3,
-  rot: wp.mat33,
-  mesh_facetexcoord: wp.array[wp.vec3i],
-  mesh_texcoord: wp.array[wp.vec2],
-  mesh_texcoord_offsets: wp.array[int],
-  hit_point: wp.vec3,
-  bary_u: float,
-  bary_v: float,
-  f: int,
-  mesh_id: int,
-) -> wp.vec3:
-  uv = wp.vec2(0.0, 0.0)
-  offset = wp.vec2(0.0, 0.0)
-
-  if geom_type[geom_id] == GeomType.PLANE:
-    local = wp.transpose(rot) @ (hit_point - pos)
-    # Replicate MuJoCo's OBJECT_PLANE texgen for planes (render_gl3.c settexture):
-    # s = 0.5 * texrepeat_x * x - 0.5, t = -0.5 * texrepeat_y * y - 0.5, with (x, y)
-    # the plane-local hit coordinates. The -0.5 is the texgen w-term, independent of
-    # texrepeat, so it is applied as an offset after the tex_repeat scale below.
-    uv = wp.vec2(0.5 * local[0], -0.5 * local[1])
-    offset = wp.vec2(-0.5, -0.5)
-
-  if geom_type[geom_id] == GeomType.MESH:
-    if f < 0 or mesh_id < 0:
-      return wp.vec3(0.0, 0.0, 0.0)
-
-    face_adr = mesh_faceadr[mesh_id] + f
-    uv0 = mesh_texcoord[mesh_texcoord_offsets[mesh_id] + mesh_facetexcoord[face_adr][0]]
-    uv1 = mesh_texcoord[mesh_texcoord_offsets[mesh_id] + mesh_facetexcoord[face_adr][1]]
-    uv2 = mesh_texcoord[mesh_texcoord_offsets[mesh_id] + mesh_facetexcoord[face_adr][2]]
-    uv = uv0 * bary_u + uv1 * bary_v + uv2 * (1.0 - bary_u - bary_v)
-
-  u = uv[0] * tex_repeat[0] + offset[0]
-  v = uv[1] * tex_repeat[1] + offset[1]
-  u = u - wp.floor(u)
-  v = v - wp.floor(v)
-  tex_color = wp.texture_sample(tex, wp.vec2(u, v), dtype=wp.vec4)
-  return wp.vec3(tex_color[0], tex_color[1], tex_color[2])
-
-
-@wp.func
-def sample_skybox(
-  # In:
-  skybox_tex: wp.Texture2D,
-  face_width_inv: float,
-  ray_dir_world: wp.vec3,
-) -> wp.vec3:
-  # MuJoCo maps a world-space direction to cube-map space by rotating 90° about X
-  # (see render_gl3.c: S=x, T=z, R=-y). Faces in tex_data are stacked vertically
-  # in OpenGL cube-face order: +X, -X, +Y, -Y, +Z, -Z.
-  rx = ray_dir_world[0]
-  ry = ray_dir_world[2]
-  rz = -ray_dir_world[1]
-
-  arx = wp.abs(rx)
-  ary = wp.abs(ry)
-  arz = wp.abs(rz)
-
-  face = int(0)
-  sc = float(0.0)
-  tc = float(0.0)
-  ma = float(1.0)
-
-  if arx >= ary and arx >= arz:
-    ma = arx
-    if rx > 0.0:
-      face = 0
-      sc = -rz
-      tc = -ry
-    else:
-      face = 1
-      sc = rz
-      tc = -ry
-  elif ary >= arz:
-    ma = ary
-    if ry > 0.0:
-      face = 2
-      sc = rx
-      tc = rz
-    else:
-      face = 3
-      sc = rx
-      tc = -rz
-  else:
-    ma = arz
-    if rz > 0.0:
-      face = 4
-      sc = rx
-      tc = -ry
-    else:
-      face = 5
-      sc = -rx
-      tc = -ry
-
-  s = (math.safe_div(sc, ma) + 1.0) * 0.5
-  t = (math.safe_div(tc, ma) + 1.0) * 0.5
-
-  # Keep the linear filter from bleeding between adjacent faces in the vertical strip.
-  t_min = 0.5 * face_width_inv
-  t = wp.clamp(t, t_min, 1.0 - t_min)
-
-  v = (float(face) + t) * wp.static(1.0 / 6.0)
-  color = wp.texture_sample(skybox_tex, wp.vec2(s, v), dtype=wp.vec4)
-  return wp.vec3(color[0], color[1], color[2])
-
-
-def _make_cast_ray(geom_ray_types: Tuple[int], first_hit: bool = False) -> wp.Function:
-  """Build a ray-cast func specialized to the geom types present in the scene.
-
-  geom_ray_types is the set of GeomType int values that actually occur, so the
-  per-type intersection branches for absent types are eliminated at compile time
-  via wp.static, avoiding the register pressure of unreachable code paths.
-
-  first_hit selects the variant (also resolved at compile time via wp.static):
-    - False: full closest-hit cast. Returns the closest hit's full surface data.
-    - True: any-hit cast (shadow rays). Uses the cheaper any-hit mesh/flex
-      intersections and returns on the first hit within max_dist. The result is
-      still the full tuple; callers test geom_id != -1 to detect a hit.
-  """
-
-  @wp.func
-  def cast_ray(
-    # Model:
-    geom_type: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_size: wp.array2d[wp.vec3],
-    flex_vertadr: wp.array[int],
-    flex_edge: wp.array[wp.vec2i],
-    flex_radius: wp.array[float],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    geom_xmat_in: wp.array2d[wp.mat33],
-    flexvert_xpos_in: wp.array2d[wp.vec3],
-    # In:
-    bvh_id: wp.uint64,
-    group_root: int,
-    worldid: int,
-    bvh_ngeom: int,
-    flex_bvh_ngeom: int,
-    enabled_geom_ids: wp.array[int],
-    mesh_bvh_id: wp.array[wp.uint64],
-    hfield_bvh_id: wp.array[wp.uint64],
-    flex_geom_flexid: wp.array[int],
-    flex_geom_edgeid: wp.array[int],
-    flex_bvh_id: wp.array[wp.uint64],
-    flex_group_root: wp.array2d[int],
-    ray_origin_world: wp.vec3,
-    ray_dir_world: wp.vec3,
-    max_dist: float,
-    cull_backfaces: bool,
-  ) -> Tuple[int, float, wp.vec3, float, float, int, int]:
-    dist = max_dist
-    normal = wp.vec3(0.0, 0.0, 0.0)
-    geom_id = int(-1)
-    bary_u = float(0.0)
-    bary_v = float(0.0)
-    face_idx = int(-1)
-    geom_mesh_id = int(-1)
-
-    query = wp.bvh_query_ray(bvh_id, ray_origin_world, ray_dir_world, group_root)
-    bounds_nr = int(0)
-    ngeom = bvh_ngeom + flex_bvh_ngeom
-
-    while wp.bvh_query_next(query, bounds_nr, dist):
-      gi_global = bounds_nr
-      local_id = gi_global - (worldid * ngeom)
-
-      d = float(-1.0)
-      hit_mesh_id = int(-1)
-      u = float(0.0)
-      v = float(0.0)
-      f = int(-1)
-      n = wp.vec3(0.0, 0.0, 0.0)
-      hit_geom_id = int(-1)
-
-      if local_id < bvh_ngeom:
-        gi = enabled_geom_ids[local_id]
-        gtype = geom_type[gi]
-      else:
-        gi = local_id - bvh_ngeom
-        gtype = GeomType.FLEX
-
-      hit_geom_id = gi
-
-      if wp.static(int(GeomType.PLANE) in geom_ray_types):
-        if gtype == GeomType.PLANE:
-          d, n = ray_plane(
-            geom_xpos_in[worldid, gi],
-            geom_xmat_in[worldid, gi],
-            geom_size[worldid % geom_size.shape[0], gi],
-            ray_origin_world,
-            ray_dir_world,
-          )
-      if wp.static(int(GeomType.HFIELD) in geom_ray_types):
-        if gtype == GeomType.HFIELD:
-          d, n, u, v, f, geom_hfield_id = ray_mesh_with_bvh(
-            hfield_bvh_id,
-            geom_dataid[worldid % geom_dataid.shape[0], gi],
-            geom_xpos_in[worldid, gi],
-            geom_xmat_in[worldid, gi],
-            ray_origin_world,
-            ray_dir_world,
-            dist,
-            cull_backfaces,
-          )
-      if wp.static(int(GeomType.SPHERE) in geom_ray_types):
-        if gtype == GeomType.SPHERE:
-          d, n = ray_sphere(
-            geom_xpos_in[worldid, gi],
-            geom_size[worldid % geom_size.shape[0], gi][0] * geom_size[worldid % geom_size.shape[0], gi][0],
-            ray_origin_world,
-            ray_dir_world,
-          )
-      if wp.static(int(GeomType.ELLIPSOID) in geom_ray_types):
-        if gtype == GeomType.ELLIPSOID:
-          d, n = ray_ellipsoid(
-            geom_xpos_in[worldid, gi],
-            geom_xmat_in[worldid, gi],
-            geom_size[worldid % geom_size.shape[0], gi],
-            ray_origin_world,
-            ray_dir_world,
-          )
-      if wp.static(int(GeomType.CAPSULE) in geom_ray_types):
-        if gtype == GeomType.CAPSULE:
-          d, n = ray_capsule(
-            geom_xpos_in[worldid, gi],
-            geom_xmat_in[worldid, gi],
-            geom_size[worldid % geom_size.shape[0], gi],
-            ray_origin_world,
-            ray_dir_world,
-          )
-      if wp.static(int(GeomType.CYLINDER) in geom_ray_types):
-        if gtype == GeomType.CYLINDER:
-          d, n = ray_cylinder(
-            geom_xpos_in[worldid, gi],
-            geom_xmat_in[worldid, gi],
-            geom_size[worldid % geom_size.shape[0], gi],
-            ray_origin_world,
-            ray_dir_world,
-          )
-      if wp.static(int(GeomType.BOX) in geom_ray_types):
-        if gtype == GeomType.BOX:
-          d, all, n = ray_box(
-            geom_xpos_in[worldid, gi],
-            geom_xmat_in[worldid, gi],
-            geom_size[worldid % geom_size.shape[0], gi],
-            ray_origin_world,
-            ray_dir_world,
-          )
-      if wp.static(int(GeomType.MESH) in geom_ray_types):
-        if gtype == GeomType.MESH:
-          if wp.static(first_hit):
-            hit = ray_mesh_with_bvh_anyhit(
-              mesh_bvh_id,
-              geom_dataid[worldid % geom_dataid.shape[0], gi],
-              geom_xpos_in[worldid, gi],
-              geom_xmat_in[worldid, gi],
-              ray_origin_world,
-              ray_dir_world,
-              dist,
-            )
-            d = 0.0 if hit else -1.0
-          else:
-            d, n, u, v, f, hit_mesh_id = ray_mesh_with_bvh(
-              mesh_bvh_id,
-              geom_dataid[worldid % geom_dataid.shape[0], gi],
-              geom_xpos_in[worldid, gi],
-              geom_xmat_in[worldid, gi],
-              ray_origin_world,
-              ray_dir_world,
-              dist,
-              cull_backfaces,
-            )
-      if wp.static(int(GeomType.FLEX) in geom_ray_types):
-        if gtype == GeomType.FLEX:
-          hit_geom_id = -2
-          flexid = flex_geom_flexid[gi]
-          edge_id = flex_geom_edgeid[gi]
-
-          if edge_id >= 0:
-            edge = flex_edge[edge_id]
-            vert_adr = flex_vertadr[flexid]
-            v0 = flexvert_xpos_in[worldid, vert_adr + edge[0]]
-            v1 = flexvert_xpos_in[worldid, vert_adr + edge[1]]
-            pos = 0.5 * (v0 + v1)
-            vec = v1 - v0
-
-            length = wp.length(vec)
-            edgeq = math.quat_z2vec(vec)
-            mat = math.quat_to_mat(edgeq)
-            size = wp.vec3(flex_radius[flexid], 0.5 * length, 0.0)
-
-            d, n = ray_capsule(pos, mat, size, ray_origin_world, ray_dir_world)
-            hit_mesh_id = flexid
-          else:
-            if wp.static(first_hit):
-              hit = ray_flex_with_bvh_anyhit(
-                flex_bvh_id,
-                flexid,
-                flex_group_root[worldid, flexid],
-                ray_origin_world,
-                ray_dir_world,
-                dist,
-              )
-              d = 0.0 if hit else -1.0
-            else:
-              flex_gr = flex_group_root[worldid, flexid]
-              d, n, u, v, f = ray_flex_with_bvh(flex_bvh_id, flexid, flex_gr, ray_origin_world, ray_dir_world, dist)
-              if d >= 0.0:
-                hit_mesh_id = flexid
-
-      # Backface cull: drop exit-face hits when the ray origin is inside the geom,
-      # matching ray_mesh_with_bvh's `dot(lvec, n) < 0` rule. Strict `> 0` keeps
-      # tangent hits and skips branches with a zero-vector normal (any-hit).
-      if cull_backfaces and d >= 0.0 and wp.dot(ray_dir_world, n) > 0.0:
-        d = -1.0
-
-      if wp.static(first_hit):
-        # Any-hit: return as soon as anything is in range; surface data is unused.
-        if d >= 0.0 and d < dist:
-          return hit_geom_id, d, n, u, v, f, hit_mesh_id
-      else:
-        if d >= 0.0 and d < dist:
-          dist = d
-          normal = n
-          geom_id = hit_geom_id
-          bary_u = u
-          bary_v = v
-          face_idx = f
-          geom_mesh_id = hit_mesh_id
-
-    return geom_id, dist, normal, bary_u, bary_v, face_idx, geom_mesh_id
-
-  return cast_ray
-
-
-def _make_compute_lighting(cast_ray_first_hit: wp.Function) -> wp.Function:
-  """Build specialized compute_lighting."""
-
-  @wp.func
-  def compute_lighting(
-    # Model:
-    geom_type: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_size: wp.array2d[wp.vec3],
-    flex_vertadr: wp.array[int],
-    flex_edge: wp.array[wp.vec2i],
-    flex_radius: wp.array[float],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    geom_xmat_in: wp.array2d[wp.mat33],
-    flexvert_xpos_in: wp.array2d[wp.vec3],
-    # In:
-    use_shadows: bool,
-    bvh_id: wp.uint64,
-    group_root: int,
-    bvh_ngeom: int,
-    bvh_nflexgeom: int,
-    enabled_geom_ids: wp.array[int],
-    worldid: int,
-    mesh_bvh_id: wp.array[wp.uint64],
-    hfield_bvh_id: wp.array[wp.uint64],
-    flex_geom_flexid: wp.array[int],
-    flex_geom_edgeid: wp.array[int],
-    flex_bvh_id: wp.array[wp.uint64],
-    flex_group_root: wp.array2d[int],
-    lightactive: bool,
-    lighttype: int,
-    lightcastshadow: bool,
-    lightpos: wp.vec3,
-    lightdir: wp.vec3,
-    lightattenuation: wp.vec3,
-    lightcutoff_rad: float,
-    lightexp: float,
-    lightdiff: wp.vec3,
-    lightspec: wp.vec3,
-    normal: wp.vec3,
-    hitpoint: wp.vec3,
-    view_dir: wp.vec3,
-    mat_spec: float,
-    mat_shin_exp: float,
-    cull_backfaces: bool,
-    enable_specular: bool,
-    default_attenuation: bool,
-    has_spot: bool,
-  ) -> Tuple[wp.vec3, wp.vec3]:
-    diff_rgb = wp.vec3(0.0)
-    spec_rgb = wp.vec3(0.0)
-
-    # TODO: We should probably only be looping over active lights
-    # in the first place with a static loop of enabled light idx?
-    if not lightactive:
-      return diff_rgb, spec_rgb
-
-    L = wp.vec3(0.0)
-    dist_to_light = float(MJ_MAXVAL)
-    attenuation = 1.0
-
-    if lighttype == 1:  # directional light
-      # MuJoCo guarantees `lightdir` is unit length.
-      L = -lightdir
-    else:
-      L, dist_to_light = math.normalize_with_norm(lightpos - hitpoint)
-      if not default_attenuation:
-        light_attenuation_factor = wp.vec3(1.0, dist_to_light, dist_to_light * dist_to_light)
-        attenuation = math.safe_div(1.0, wp.dot(light_attenuation_factor, lightattenuation))
-      if has_spot:
-        if lighttype == 0:  # spot light
-          cos_theta = wp.dot(-L, lightdir)
-          cos_cutoff = wp.cos(lightcutoff_rad)
-          if cos_theta < cos_cutoff:
-            return diff_rgb, spec_rgb
-          attenuation = attenuation * wp.pow(wp.max(cos_theta, 0.0), lightexp)
-
-    ndotl = wp.max(0.0, wp.dot(normal, L))
-    if ndotl == 0.0:
-      return diff_rgb, spec_rgb
-
-    visible = 1.0
-
-    if use_shadows and lightcastshadow:
-      # Nudge the origin slightly along the surface normal to avoid
-      # self-intersection when casting shadow rays
-      shadow_origin = hitpoint + normal * 1.0e-4
-      # Distance-limited shadows: cap by dist_to_light (for non-directional)
-      max_t = dist_to_light - 1.0e-3
-      if lighttype == 1:  # directional light
-        max_t = 1.0e8
-
-      shadow_geom_id, shadow_d, shadow_n, shadow_u, shadow_v, shadow_f, shadow_mesh_id = cast_ray_first_hit(
-        geom_type,
-        geom_dataid,
-        geom_size,
-        flex_vertadr,
-        flex_edge,
-        flex_radius,
-        geom_xpos_in,
-        geom_xmat_in,
-        flexvert_xpos_in,
-        bvh_id,
-        group_root,
-        worldid,
-        bvh_ngeom,
-        bvh_nflexgeom,
-        enabled_geom_ids,
-        mesh_bvh_id,
-        hfield_bvh_id,
-        flex_geom_flexid,
-        flex_geom_edgeid,
-        flex_bvh_id,
-        flex_group_root,
-        shadow_origin,
-        L,
-        max_t,
-        cull_backfaces,
-      )
-
-      if shadow_geom_id != -1:
-        visible = NO_LIGHT_AMBIENT_FALLBACK
-
-    weight = attenuation * visible
-    diff_rgb = lightdiff * (ndotl * weight)
-    if enable_specular:
-      if mat_spec > 0.0 and mat_shin_exp > 0.0:
-        H = wp.normalize(L + view_dir)
-        ndoth = wp.max(0.0, wp.dot(normal, H))
-        spec_rgb = lightspec * (mat_spec * wp.pow(ndoth, mat_shin_exp) * weight)
-
-    return diff_rgb, spec_rgb
-
-  return compute_lighting
-
-
-@event_scope
-def render(m: Model, d: Data, rc: RenderContext):
-  """Render the current frame.
-
-  Outputs are stored in buffers within the render context.
-
-  Args:
-    m: The model on device.
-    d: The data on device.
-    rc: The render context on device.
-  """
-  rc.seg_data.fill_(wp.vec2i(-1, -1))
-
-  # Specialize the ray-cast helpers to the geom types present in the scene so the
-  # compiler eliminates intersection branches for absent types.
-  geom_ray_types = rc.geom_ray_types
-  cast_ray = _make_cast_ray(geom_ray_types, first_hit=False)
-  cast_ray_first_hit = _make_cast_ray(geom_ray_types, first_hit=True)
-  compute_lighting = _make_compute_lighting(cast_ray_first_hit)
-
-  # Static parameters extracted for JAX FFI closure.
-  rc_static = {f.name: getattr(rc, f.name) for f in dataclasses.fields(rc) if f.type in (int, wp.uint32, bool, float, wp.vec3)}
-  rc_static["enable_specular_or_emission"] = rc.enable_specular or rc.enable_emission
-  M_NLIGHT = m.nlight
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False, module_options={"fast_math": rc.use_fast_math})
-  def _render_megakernel(
-    # Model:
-    geom_type: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_matid: wp.array2d[int],
-    geom_size: wp.array2d[wp.vec3],
-    geom_rgba: wp.array2d[wp.vec4],
-    cam_projection: wp.array[int],
-    cam_fovy: wp.array2d[float],
-    cam_sensorsize: wp.array[wp.vec2],
-    cam_intrinsic: wp.array2d[wp.vec4],
-    light_type: wp.array2d[int],
-    light_castshadow: wp.array2d[bool],
-    light_active: wp.array2d[bool],
-    light_attenuation: wp.array2d[wp.vec3],
-    light_cutoff: wp.array2d[float],
-    light_exponent: wp.array2d[float],
-    light_ambient: wp.array2d[wp.vec3],
-    light_diffuse: wp.array2d[wp.vec3],
-    light_specular: wp.array2d[wp.vec3],
-    flex_vertadr: wp.array[int],
-    flex_edge: wp.array[wp.vec2i],
-    flex_radius: wp.array[float],
-    mesh_faceadr: wp.array[int],
-    mat_texid: wp.array3d[int],
-    mat_texrepeat: wp.array2d[wp.vec2],
-    mat_emission: wp.array2d[float],
-    mat_specular: wp.array2d[float],
-    mat_shininess: wp.array2d[float],
-    mat_rgba: wp.array2d[wp.vec4],
-    # Data in:
-    geom_xpos_in: wp.array2d[wp.vec3],
-    geom_xmat_in: wp.array2d[wp.mat33],
-    cam_xpos_in: wp.array2d[wp.vec3],
-    cam_xmat_in: wp.array2d[wp.mat33],
-    light_xpos_in: wp.array2d[wp.vec3],
-    light_xdir_in: wp.array2d[wp.vec3],
-    flexvert_xpos_in: wp.array2d[wp.vec3],
-    # In:
-    nrender: int,
-    use_shadows: bool,
-    bvh_ngeom: int,
-    bvh_nflexgeom: int,
-    cam_res: wp.array[wp.vec2i],
-    cam_id_map: wp.array[int],
-    ray: wp.array[wp.vec3],
-    rgb_adr: wp.array[int],
-    depth_adr: wp.array[int],
-    seg_adr: wp.array[int],
-    render_rgb: wp.array[bool],
-    render_depth: wp.array[bool],
-    render_seg: wp.array[bool],
-    bvh_id: wp.uint64,
-    group_root: wp.array[int],
-    flex_bvh_id: wp.array[wp.uint64],
-    flex_group_root: wp.array2d[int],
-    enabled_geom_ids: wp.array[int],
-    mesh_bvh_id: wp.array[wp.uint64],
-    mesh_facetexcoord: wp.array[wp.vec3i],
-    mesh_texcoord: wp.array[wp.vec2],
-    mesh_texcoord_offsets: wp.array[int],
-    hfield_bvh_id: wp.array[wp.uint64],
-    flex_rgba: wp.array[wp.vec4],
-    flex_geom_flexid: wp.array[int],
-    flex_geom_edgeid: wp.array[int],
-    skybox_tex_id: wp.array[int],
-    skybox_face_width: wp.array[int],
-    textures: wp.array[wp.Texture2D],
-    # Out:
-    rgb_out: wp.array2d[wp.uint32],
-    depth_out: wp.array2d[float],
-    seg_out: wp.array2d[wp.vec2i],
-  ):
-    worldid, rayid = wp.tid()
-
-    # Map global rayid -> (camid, rayid_local) using cumulative sizes
-    camid = int(-1)
-    rayid_local = int(-1)
-    accum = int(0)
-    for i in range(nrender):
-      num_i = cam_res[i][0] * cam_res[i][1]
-      if rayid < accum + num_i:
-        camid = i
-        rayid_local = rayid - accum
-        break
-      accum += num_i
-    if camid == -1 or rayid_local < 0:
-      return
-
-    if not render_rgb[camid] and not render_depth[camid] and not render_seg[camid]:
-      return
-
-    # Map active camera index to MuJoCo camera ID
-    mujoco_cam_id = cam_id_map[camid]
-
-    if wp.static(rc_static["use_precomputed_rays"]):
-      ray_dir_local_cam = ray[rayid]
-    else:
-      img_w = cam_res[camid][0]
-      img_h = cam_res[camid][1]
-      px = rayid_local % img_w
-      py = rayid_local // img_w
-      ray_dir_local_cam = compute_ray(
-        cam_projection[mujoco_cam_id],
-        cam_fovy[worldid % cam_fovy.shape[0], mujoco_cam_id],
-        cam_sensorsize[mujoco_cam_id],
-        cam_intrinsic[worldid % cam_intrinsic.shape[0], mujoco_cam_id],
-        img_w,
-        img_h,
-        px,
-        py,
-        wp.static(rc_static["znear"]),
-      )
-
-    ray_origin_world = cam_xpos_in[worldid, mujoco_cam_id]
-    cam_mat_world = cam_xmat_in[worldid, mujoco_cam_id]
-    ray_dir_world = cam_mat_world @ ray_dir_local_cam
-
-    geom_id, dist, normal, u, v, f, mesh_id = cast_ray(
-      geom_type,
-      geom_dataid,
-      geom_size,
-      flex_vertadr,
-      flex_edge,
-      flex_radius,
-      geom_xpos_in,
-      geom_xmat_in,
-      flexvert_xpos_in,
-      bvh_id,
-      group_root[worldid],
-      worldid,
-      bvh_ngeom,
-      bvh_nflexgeom,
-      enabled_geom_ids,
-      mesh_bvh_id,
-      hfield_bvh_id,
-      flex_geom_flexid,
-      flex_geom_edgeid,
-      flex_bvh_id,
-      flex_group_root,
-      ray_origin_world,
-      ray_dir_world,
-      float(MJ_MAXVAL),
-      wp.static(rc_static["enable_backface_culling"]),
-    )
-
-    if render_seg[camid] and geom_id != -1:
-      if geom_id == -2:
-        seg_out[worldid, seg_adr[camid] + rayid_local] = wp.vec2i(mesh_id, int(ObjType.FLEX))
-      else:
-        seg_out[worldid, seg_adr[camid] + rayid_local] = wp.vec2i(geom_id, int(ObjType.GEOM))
-
-    # Early Out
-    if geom_id == -1:
-      if render_depth[camid]:
-        depth_out[worldid, depth_adr[camid] + rayid_local] = 0.0
-      if wp.static(rc_static["render_skybox"]) and render_rgb[camid]:
-        skybox_id = skybox_tex_id[worldid % skybox_tex_id.shape[0]]
-        skybox_color = sample_skybox(
-          textures[skybox_id],
-          1.0 / float(skybox_face_width[worldid % skybox_face_width.shape[0]]),
-          ray_dir_world,
-        )
-        rgb_out[worldid, rgb_adr[camid] + rayid_local] = pack_rgba_to_uint32(
-          skybox_color[0] * 255.0,
-          skybox_color[1] * 255.0,
-          skybox_color[2] * 255.0,
-          255.0,
-        )
-      elif render_rgb[camid]:
-        rgb_out[worldid, rgb_adr[camid] + rayid_local] = wp.static(rc_static["background_color"])
-      return
-
-    if render_depth[camid]:
-      # Planar depth: project Euclidean distance onto the camera's optical axis.
-      # In camera-local coordinates, the optical axis is -Z. The Z-component of the
-      # normalized ray direction is negative, so -ray_dir_local_cam[2] gives cos(θ)
-      # between the ray and the optical axis.
-      depth_out[worldid, depth_adr[camid] + rayid_local] = dist * (-ray_dir_local_cam[2])
-
-    if not render_rgb[camid]:
-      return
-
-    # Shade the pixel
-    hit_point = ray_origin_world + ray_dir_world * dist
-
-    if geom_id == -2:
-      # We encode flex_id in mesh_id for flex ray hits during cast_ray
-      color = flex_rgba[mesh_id]
-    elif geom_matid[worldid % geom_matid.shape[0], geom_id] == -1:
-      color = geom_rgba[worldid % geom_rgba.shape[0], geom_id]
-    else:
-      color = mat_rgba[worldid % mat_rgba.shape[0], geom_matid[worldid % geom_matid.shape[0], geom_id]]
-
-    base_color = wp.vec3(color[0], color[1], color[2])
-
-    if wp.static(rc_static["use_textures"]):
-      if geom_id != -2:
-        mat_id = geom_matid[worldid % geom_matid.shape[0], geom_id]
-        if mat_id >= 0:
-          tex_id = mat_texid[worldid % mat_texid.shape[0], mat_id, 1]
-          if tex_id >= 0:
-            tex_color = sample_texture(
-              geom_type,
-              mesh_faceadr,
-              geom_id,
-              mat_texrepeat[worldid % mat_texrepeat.shape[0], mat_id],
-              textures[tex_id],
-              geom_xpos_in[worldid, geom_id],
-              geom_xmat_in[worldid, geom_id],
-              mesh_facetexcoord,
-              mesh_texcoord,
-              mesh_texcoord_offsets,
-              hit_point,
-              u,
-              v,
-              f,
-              mesh_id,
-            )
-            base_color = wp.cw_mul(base_color, tex_color)
-
-    mat_spec = DEFAULT_MAT_SPECULAR
-    mat_shin_exp = DEFAULT_MAT_SHININESS_EXPONENT
-    mat_emis = DEFAULT_MAT_EMISSION
-    if wp.static(rc_static["enable_specular_or_emission"]):
-      if geom_id != -2:
-        mat_id_for_spec = geom_matid[worldid % geom_matid.shape[0], geom_id]
-        if mat_id_for_spec >= 0:
-          if wp.static(rc_static["enable_specular"]):
-            mat_spec = mat_specular[worldid % mat_specular.shape[0], mat_id_for_spec]
-            mat_shin_exp = mat_shininess[worldid % mat_shininess.shape[0], mat_id_for_spec] * MAX_SHININESS
-          if wp.static(rc_static["enable_emission"]):
-            mat_emis = mat_emission[worldid % mat_emission.shape[0], mat_id_for_spec]
-
-    result = wp.vec3(0.0)
-    if wp.static(rc_static["enable_emission"]):
-      result = base_color * mat_emis
-
-    if wp.static(rc_static["use_ambient_lighting"]):
-      if wp.static(rc_static["headlight_active"]):
-        result = result + wp.cw_mul(base_color, wp.static(rc_static["headlight_ambient"]))
-      elif wp.static(M_NLIGHT == 0):
-        result = result + base_color * NO_LIGHT_AMBIENT_FALLBACK
-      if wp.static(rc_static["enable_per_light_ambient"]):
-        for light_index in range(wp.static(M_NLIGHT)):
-          if light_active[worldid % light_active.shape[0], light_index]:
-            result = result + wp.cw_mul(base_color, light_ambient[worldid % light_ambient.shape[0], light_index])
-
-    view_dir = -ray_dir_world
-
-    light_cutoff_worldid = light_cutoff[worldid % light_cutoff.shape[0]]
-    light_active_worldid = light_active[worldid % light_active.shape[0]]
-    light_type_worldid = light_type[worldid % light_type.shape[0]]
-    light_castshadow_worldid = light_castshadow[worldid % light_castshadow.shape[0]]
-    light_xpos_in_worldid = light_xpos_in[worldid]
-    light_xdir_in_worldid = light_xdir_in[worldid]
-    light_attenuation_worldid = light_attenuation[worldid % light_attenuation.shape[0]]
-    light_exponent_worldid = light_exponent[worldid % light_exponent.shape[0]]
-    light_diffuse_worldid = light_diffuse[worldid % light_diffuse.shape[0]]
-    light_specular_worldid = light_specular[worldid % light_specular.shape[0]]
-    # Apply Lighting for each light
-    for light_index in range(wp.static(M_NLIGHT)):
-      diff_rgb, spec_rgb = compute_lighting(
-        geom_type,
-        geom_dataid,
-        geom_size,
-        flex_vertadr,
-        flex_edge,
-        flex_radius,
-        geom_xpos_in,
-        geom_xmat_in,
-        flexvert_xpos_in,
-        use_shadows,
-        bvh_id,
-        group_root[worldid],
-        bvh_ngeom,
-        bvh_nflexgeom,
-        enabled_geom_ids,
-        worldid,
-        mesh_bvh_id,
-        hfield_bvh_id,
-        flex_geom_flexid,
-        flex_geom_edgeid,
-        flex_bvh_id,
-        flex_group_root,
-        light_active_worldid[light_index],
-        light_type_worldid[light_index],
-        light_castshadow_worldid[light_index],
-        light_xpos_in_worldid[light_index],
-        light_xdir_in_worldid[light_index],
-        light_attenuation_worldid[light_index],
-        light_cutoff_worldid[light_index] * wp.static(wp.pi / 180.0),
-        light_exponent_worldid[light_index],
-        light_diffuse_worldid[light_index],
-        light_specular_worldid[light_index],
-        normal,
-        hit_point,
-        view_dir,
-        mat_spec,
-        mat_shin_exp,
-        wp.static(rc_static["enable_backface_culling"]),
-        wp.static(rc_static["enable_specular"]),
-        wp.static(rc_static["light_attenuation_is_default"]),
-        wp.static(rc_static["has_spot_lights"]),
-      )
-      result = result + wp.cw_mul(base_color, diff_rgb) + spec_rgb
-
-    # Apply Headlight
-    if wp.static(rc_static["headlight_active"]):
-      cam_pos = ray_origin_world
-      cam_fwd = -cam_mat_world[:, 2]
-      hl_diff, hl_spec = compute_lighting(
-        geom_type,
-        geom_dataid,
-        geom_size,
-        flex_vertadr,
-        flex_edge,
-        flex_radius,
-        geom_xpos_in,
-        geom_xmat_in,
-        flexvert_xpos_in,
-        use_shadows,
-        bvh_id,
-        group_root[worldid],
-        bvh_ngeom,
-        bvh_nflexgeom,
-        enabled_geom_ids,
-        worldid,
-        mesh_bvh_id,
-        hfield_bvh_id,
-        flex_geom_flexid,
-        flex_geom_edgeid,
-        flex_bvh_id,
-        flex_group_root,
-        True,
-        1,
-        False,
-        cam_pos,
-        cam_fwd,
-        wp.vec3(1.0, 0.0, 0.0),
-        0.0,
-        0.0,
-        wp.static(rc_static["headlight_diffuse"]),
-        wp.static(rc_static["headlight_specular"]),
-        normal,
-        hit_point,
-        view_dir,
-        mat_spec,
-        mat_shin_exp,
-        wp.static(rc_static["enable_backface_culling"]),
-        wp.static(rc_static["enable_specular"]),
-        True,
-        False,
-      )
-      result = result + wp.cw_mul(base_color, hl_diff) + hl_spec
-
-    hit_color = wp.min(result, wp.vec3(1.0, 1.0, 1.0))
-    hit_color = wp.max(hit_color, wp.vec3(0.0, 0.0, 0.0))
-
-    rgb_out[worldid, rgb_adr[camid] + rayid_local] = pack_rgba_to_uint32(
-      hit_color[0] * 255.0,
-      hit_color[1] * 255.0,
-      hit_color[2] * 255.0,
-      255.0,
-    )
-
-  wp.launch(
-    kernel=_render_megakernel,
-    dim=(d.nworld, rc.total_rays),
-    inputs=[
-      m.geom_type,
-      m.geom_dataid,
-      m.geom_matid,
-      m.geom_size,
-      m.geom_rgba,
-      m.cam_projection,
-      m.cam_fovy,
-      m.cam_sensorsize,
-      m.cam_intrinsic,
-      m.light_type,
-      m.light_castshadow,
-      m.light_active,
-      m.light_attenuation,
-      m.light_cutoff,
-      m.light_exponent,
-      m.light_ambient,
-      m.light_diffuse,
-      m.light_specular,
-      m.flex_vertadr,
-      m.flex_edge,
-      m.flex_radius,
-      m.mesh_faceadr,
-      m.mat_texid,
-      m.mat_texrepeat,
-      m.mat_emission,
-      m.mat_specular,
-      m.mat_shininess,
-      m.mat_rgba,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.cam_xpos,
-      d.cam_xmat,
-      d.light_xpos,
-      d.light_xdir,
-      d.flexvert_xpos,
-      rc.nrender,
-      rc.use_shadows,
-      rc.bvh_ngeom,
-      rc.bvh_nflexgeom,
-      rc.cam_res,
-      rc.cam_id_map,
-      rc.ray,
-      rc.rgb_adr,
-      rc.depth_adr,
-      rc.seg_adr,
-      rc.render_rgb,
-      rc.render_depth,
-      rc.render_seg,
-      rc.bvh_id,
-      rc.group_root,
-      rc.flex_bvh_id,
-      rc.flex_group_root,
-      rc.enabled_geom_ids,
-      rc.mesh_bvh_id,
-      rc.mesh_facetexcoord,
-      rc.mesh_texcoord,
-      rc.mesh_texcoord_offsets,
-      rc.hfield_bvh_id,
-      rc.flex_rgba,
-      rc.flex_geom_flexid,
-      rc.flex_geom_edgeid,
-      rc.skybox_tex_id,
-      rc.skybox_face_width,
-      rc.textures,
-    ],
-    outputs=[
-      rc.rgb_data,
-      rc.depth_data,
-      rc.seg_data,
-    ],
-    block_dim=m.block_dim.render,
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/render_util.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/render_util.py
deleted file mode 100644
index 9fc0969c..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/render_util.py
+++ /dev/null
@@ -1,247 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import mujoco
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.types import ProjectionType
-from mujoco.mjx.third_party.mujoco_warp._src.types import RenderContext
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.kernel
-def _convert_texture_data(
-  # In:
-  width: int,
-  adr: int,
-  nc: int,
-  tex_data_in: wp.array[wp.uint8],
-  # Out:
-  tex_data_out: wp.array3d[float],
-):
-  """Convert uint8 texture data to vec4 format for efficient sampling."""
-  x, y = wp.tid()
-  offset = adr + (y * width + x) * nc
-  r = tex_data_in[offset + 0] if nc > 0 else wp.uint8(0)
-  g = tex_data_in[offset + 1] if nc > 1 else wp.uint8(0)
-  b = tex_data_in[offset + 2] if nc > 2 else wp.uint8(0)
-  a = wp.uint8(255)
-
-  tex_data_out[y, x, 0] = float(r) * wp.static(1.0 / 255.0)
-  tex_data_out[y, x, 1] = float(g) * wp.static(1.0 / 255.0)
-  tex_data_out[y, x, 2] = float(b) * wp.static(1.0 / 255.0)
-  tex_data_out[y, x, 3] = float(a) * wp.static(1.0 / 255.0)
-
-
-def create_warp_texture(mjm: mujoco.MjModel, tex_id: int) -> wp.array:
-  """Create a Warp texture from a MuJoCo model texture data."""
-  tex_adr = mjm.tex_adr[tex_id]
-  tex_width = mjm.tex_width[tex_id]
-  tex_height = mjm.tex_height[tex_id]
-  nchannel = mjm.tex_nchannel[tex_id]
-  tex_data = wp.zeros((tex_height, tex_width, 4), dtype=float)
-
-  wp.launch(
-    _convert_texture_data,
-    dim=(tex_width, tex_height),
-    inputs=[tex_width, tex_adr, nchannel, wp.array(mjm.tex_data, dtype=wp.uint8)],
-    outputs=[tex_data],
-  )
-  return wp.Texture2D(tex_data, filter_mode=wp.TextureFilterMode.LINEAR)
-
-
-@wp.func
-def compute_ray(
-  # In:
-  projection: int,
-  fovy: float,
-  sensorsize: wp.vec2,
-  intrinsic: wp.vec4,
-  img_w: int,
-  img_h: int,
-  px: int,
-  py: int,
-  znear: float,
-) -> wp.vec3:
-  """Compute ray direction for a pixel with per-world camera parameters.
-
-  This combines _camera_frustum_bounds and build_primary_rays logic for use
-  inside a kernel when camera parameters are batched/randomized across worlds.
-  """
-  if projection == ProjectionType.ORTHOGRAPHIC:
-    return wp.vec3(0.0, 0.0, -1.0)
-
-  aspect = float(img_w) / float(img_h)
-  sensor_h = sensorsize[1]
-
-  # Check if we have intrinsics (sensorsize[1] != 0)
-  if sensor_h != 0.0:
-    fx = intrinsic[0]
-    fy = intrinsic[1]
-    cx = intrinsic[2]
-    cy = intrinsic[3]
-    sensor_w = sensorsize[0]
-
-    target_aspect = float(img_w) / float(img_h)
-    sensor_aspect = sensor_w / sensor_h
-    if target_aspect > sensor_aspect:
-      sensor_h = sensor_w / target_aspect
-    elif target_aspect < sensor_aspect:
-      sensor_w = sensor_h * target_aspect
-
-    inv_fx_znear = znear / fx
-    inv_fy_znear = znear / fy
-    left = -inv_fx_znear * (sensor_w * 0.5 - cx)
-    right = inv_fx_znear * (sensor_w * 0.5 + cx)
-    top = inv_fy_znear * (sensor_h * 0.5 - cy)
-    bottom = -inv_fy_znear * (sensor_h * 0.5 + cy)
-  else:
-    fovy_rad = fovy * wp.static(wp.pi / 180.0)
-    half_height = znear * wp.tan(0.5 * fovy_rad)
-    half_width = half_height * aspect
-    left = -half_width
-    right = half_width
-    top = half_height
-    bottom = -half_height
-
-  u = (float(px) + 0.5) / float(img_w)
-  v = (float(py) + 0.5) / float(img_h)
-  x = left + (right - left) * u
-  y = top + (bottom - top) * v
-
-  return wp.normalize(wp.vec3(x, y, -znear))
-
-
-@wp.func
-def pack_rgba_to_uint32(r: float, g: float, b: float, a: float) -> wp.uint32:
-  """Pack RGBA values into a single uint32 for efficient memory access."""
-  return wp.uint32((int(a) << int(24)) | (int(r) << int(16)) | (int(g) << int(8)) | int(b))
-
-
-@wp.kernel
-def unpack_rgb_kernel(
-  # In:
-  packed: wp.array2d[wp.uint32],
-  rgb_adr: wp.array[int],
-  camera_index: int,
-  # Out:
-  rgb_out: wp.array3d[wp.vec3],
-):
-  """Unpack ABGR uint32 packed pixel data into separate R, G, and B channels."""
-  worldid, pixelid = wp.tid()
-
-  xid = pixelid % rgb_out.shape[2]
-  yid = pixelid // rgb_out.shape[2]
-
-  rgb_adr_offset = rgb_adr[camera_index]
-  val = packed[worldid, rgb_adr_offset + pixelid]
-  b = wp.float32(val & wp.uint32(0xFF)) * wp.static(1.0 / 255.0)
-  g = wp.float32((val >> wp.uint32(8)) & wp.uint32(0xFF)) * wp.static(1.0 / 255.0)
-  r = wp.float32((val >> wp.uint32(16)) & wp.uint32(0xFF)) * wp.static(1.0 / 255.0)
-  rgb_out[worldid, yid, xid] = wp.vec3(r, g, b)
-
-
-@wp.kernel
-def extract_depth_kernel(
-  # In:
-  depth_data: wp.array2d[float],
-  depth_adr: wp.array[int],
-  camera_index: int,
-  depth_scale: float,
-  # Out:
-  depth_out: wp.array3d[float],
-):
-  """Extract the depth data from the render context buffers for a given camera index."""
-  worldid, pixelid = wp.tid()
-  xid = pixelid % depth_out.shape[2]
-  yid = pixelid // depth_out.shape[2]
-
-  depth_adr_offset = depth_adr[camera_index]
-  val = depth_data[worldid, depth_adr_offset + pixelid]
-  depth_out[worldid, yid, xid] = wp.clamp(val / depth_scale, 0.0, 1.0)
-
-
-def get_rgb(rc: RenderContext, camera_index: int, rgb_out: wp.array3d[wp.vec3]):
-  """Get the RGB data output from the render context buffers for a given camera index.
-
-  Args:
-    rc: The render context on device.
-    camera_index: The index of the camera to get the RGB data for.
-    rgb_out: The output array to store the RGB data in, with shape (nworld, height, width).
-  """
-  wp.launch(
-    unpack_rgb_kernel,
-    dim=(rgb_out.shape[0], rgb_out.shape[1] * rgb_out.shape[2]),
-    inputs=[rc.rgb_data, rc.rgb_adr, camera_index],
-    outputs=[rgb_out],
-  )
-
-
-def get_depth(rc: RenderContext, camera_index: int, depth_scale: float, depth_out: wp.array3d[float]):
-  """Get the depth data output from the render context buffers for a given camera index.
-
-  Args:
-    rc: The render context on device.
-    camera_index: The index of the camera to get the depth data for.
-    depth_scale: The scale factor to apply to the depth data.
-    depth_out: The output array to store the scaled and clamped depth data in
-      with shape (nworld, height, width).
-  """
-  wp.launch(
-    extract_depth_kernel,
-    dim=(depth_out.shape[0], depth_out.shape[1] * depth_out.shape[2]),
-    inputs=[rc.depth_data, rc.depth_adr, camera_index, depth_scale],
-    outputs=[depth_out],
-  )
-
-
-@wp.kernel
-def _extract_seg_kernel(
-  # In:
-  seg_data: wp.array2d[wp.vec2i],
-  seg_adr: wp.array[int],
-  camera_index: int,
-  # Out:
-  seg_out: wp.array3d[wp.vec2i],
-):
-  """Extract per-pixel `(object_id, object_type)` pairs for a camera."""
-  worldid, pixelid = wp.tid()
-  xid = pixelid % seg_out.shape[2]
-  yid = pixelid // seg_out.shape[2]
-
-  seg_adr_offset = seg_adr[camera_index]
-  seg_out[worldid, yid, xid] = seg_data[worldid, seg_adr_offset + pixelid]
-
-
-def get_segmentation(rc: RenderContext, camera_index: int, seg_out: wp.array3d[wp.vec2i]):
-  """Get the segmentation data from the render context buffers for a given camera index.
-
-  Each pixel stores MuJoCo-style `(object_id, object_type)` data. Background
-  pixels are `(-1, -1)`. Regular geometry hits are `(geom_id, mjOBJ_GEOM)`.
-  Flex hits are `(flex_id, mjOBJ_FLEX)`.
-
-  Args:
-    rc: The render context on device.
-    camera_index: The index of the camera to get the segmentation data for.
-    seg_out: The output array to store segmentation data in, with shape
-      `(nworld, height, width)` and dtype `wp.vec2i`.
-  """
-  wp.launch(
-    _extract_seg_kernel,
-    dim=(seg_out.shape[0], seg_out.shape[1] * seg_out.shape[2]),
-    inputs=[rc.seg_data, rc.seg_adr, camera_index],
-    outputs=[seg_out],
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor.py
deleted file mode 100644
index f451317b..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor.py
+++ /dev/null
@@ -1,3011 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Any, Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import history
-from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src import ray
-from mujoco.mjx.third_party.mujoco_warp._src import smooth
-from mujoco.mjx.third_party.mujoco_warp._src import support
-from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import get_sdf_params
-from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import sdf
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXCONPAIR
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
-from mujoco.mjx.third_party.mujoco_warp._src.types import ConstraintType
-from mujoco.mjx.third_party.mujoco_warp._src.types import ContactType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import DataType
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import JointType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import ObjType
-from mujoco.mjx.third_party.mujoco_warp._src.types import OverflowType
-from mujoco.mjx.third_party.mujoco_warp._src.types import SensorType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Stage
-from mujoco.mjx.third_party.mujoco_warp._src.types import TrnType
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec6
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec8
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec8i
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec_pluginattr
-from mujoco.mjx.third_party.mujoco_warp._src.util_misc import inside_geom
-from mujoco.mjx.third_party.mujoco_warp._src.util_misc import poly_potential
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-@wp.func
-def _write_scalar(
-  # Model:
-  sensor_type: wp.array[int],
-  sensor_datatype: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_cutoff: wp.array[float],
-  # In:
-  sensorid: int,
-  sensor: Any,
-  # Out:
-  out: wp.array[float],
-):
-  adr = sensor_adr[sensorid]
-  cutoff = sensor_cutoff[sensorid]
-
-  if cutoff > 0.0 and not (sensor_type[sensorid] == int(SensorType.GEOMFROMTO.value)):
-    datatype = sensor_datatype[sensorid]
-    if datatype == DataType.REAL:
-      out[adr] = wp.clamp(sensor, -cutoff, cutoff)
-      return
-    elif datatype == DataType.POSITIVE:
-      out[adr] = wp.min(sensor, cutoff)
-      return
-
-  out[adr] = sensor
-
-
-@wp.func
-def _write_vector(
-  # Model:
-  sensor_type: wp.array[int],
-  sensor_datatype: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_cutoff: wp.array[float],
-  # In:
-  sensorid: int,
-  sensordim: int,
-  sensor: Any,
-  # Out:
-  out: wp.array[float],
-):
-  adr = sensor_adr[sensorid]
-  cutoff = sensor_cutoff[sensorid]
-
-  if cutoff > 0.0 and not (sensor_type[sensorid] == int(SensorType.GEOMFROMTO.value)):
-    datatype = sensor_datatype[sensorid]
-    if datatype == DataType.REAL:
-      for i in range(sensordim):
-        out[adr + i] = wp.clamp(sensor[i], -cutoff, cutoff)
-      return
-    elif datatype == DataType.POSITIVE:
-      for i in range(sensordim):
-        out[adr + i] = wp.min(sensor[i], cutoff)
-      return
-
-  for i in range(sensordim):
-    out[adr + i] = sensor[i]
-
-
-@wp.func
-def _magnetometer(
-  # Model:
-  opt_magnetic: wp.array[wp.vec3],
-  # Data in:
-  site_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  worldid: int,
-  objid: int,
-) -> wp.vec3:
-  magnetic = opt_magnetic[worldid % opt_magnetic.shape[0]]
-  return wp.transpose(site_xmat_in[worldid, objid]) @ magnetic
-
-
-@wp.func
-def _cam_projection(
-  # Model:
-  cam_fovy: wp.array2d[float],
-  cam_resolution: wp.array[wp.vec2i],
-  cam_sensorsize: wp.array[wp.vec2],
-  cam_intrinsic: wp.array2d[wp.vec4],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  cam_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  worldid: int,
-  objid: int,
-  refid: int,
-) -> wp.vec2:
-  sensorsize = cam_sensorsize[refid]
-  intrinsic = cam_intrinsic[worldid % cam_intrinsic.shape[0], refid]
-  fovy = cam_fovy[worldid % cam_fovy.shape[0], refid]
-  res = cam_resolution[refid]
-
-  target_xpos = site_xpos_in[worldid, objid]
-  xpos = cam_xpos_in[worldid, refid]
-  xmat = cam_xmat_in[worldid, refid]
-
-  # Transform target position into camera-local frame: v = xmat^T @ (target - cam_pos)
-  v = wp.transpose(xmat) @ (target_xpos - xpos)
-
-  # Compute focal lengths
-  if sensorsize[0] != 0.0 and sensorsize[1] != 0.0:
-    fx = intrinsic[0] / (sensorsize[0] + MJ_MINVAL) * float(res[0])
-    fy = intrinsic[1] / (sensorsize[1] + MJ_MINVAL) * float(res[1])
-  else:
-    f = 0.5 / wp.tan(fovy * wp.static(wp.pi / 360.0)) * float(res[1])
-    fx = f
-    fy = f
-
-  # Compute homogeneous coordinates
-  pixel_x = -fx * v[0]
-  pixel_y = fy * v[1]
-
-  denom = v[2]
-  if wp.abs(denom) < MJ_MINVAL:
-    denom = wp.clamp(denom, -MJ_MINVAL, MJ_MINVAL)
-
-  return wp.vec2(pixel_x, pixel_y) / denom + 0.5 * wp.vec2(float(res[0]), float(res[1]))
-
-
-@wp.kernel
-def _sensor_rangefinder_init(
-  # Model:
-  sensor_objid: wp.array[int],
-  sensor_rangefinder_adr: wp.array[int],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  # Out:
-  pnt_out: wp.array2d[wp.vec3],
-  vec_out: wp.array2d[wp.vec3],
-):
-  worldid, rfid = wp.tid()
-  sensorid = sensor_rangefinder_adr[rfid]
-  objid = sensor_objid[sensorid]
-  site_xpos = site_xpos_in[worldid, objid]
-  site_xmat = site_xmat_in[worldid, objid]
-
-  pnt_out[worldid, rfid] = site_xpos
-  vec_out[worldid, rfid] = wp.vec3(site_xmat[0, 2], site_xmat[1, 2], site_xmat[2, 2])
-
-
-@wp.func
-def _joint_pos(jnt_qposadr: wp.array[int], qpos_in: wp.array2d[float], worldid: int, objid: int) -> float:
-  return qpos_in[worldid, jnt_qposadr[objid]]
-
-
-@wp.func
-def _tendon_pos(ten_length_in: wp.array2d[float], worldid: int, objid: int) -> float:
-  return ten_length_in[worldid, objid]
-
-
-@wp.func
-def _actuator_pos(actuator_length_in: wp.array2d[float], worldid: int, objid: int) -> float:
-  return actuator_length_in[worldid, objid]
-
-
-@wp.func
-def _ball_quat(jnt_qposadr: wp.array[int], qpos_in: wp.array2d[float], worldid: int, objid: int) -> wp.quat:
-  adr = jnt_qposadr[objid]
-  quat = wp.quat(
-    qpos_in[worldid, adr + 0],
-    qpos_in[worldid, adr + 1],
-    qpos_in[worldid, adr + 2],
-    qpos_in[worldid, adr + 3],
-  )
-  return wp.normalize(quat)
-
-
-@wp.kernel
-def _limit_pos(
-  # Model:
-  sensor_type: wp.array[int],
-  sensor_datatype: wp.array[int],
-  sensor_objid: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_cutoff: wp.array[float],
-  sensor_limitpos_adr: wp.array[int],
-  # Data in:
-  ne_in: wp.array[int],
-  nf_in: wp.array[int],
-  nl_in: wp.array[int],
-  efc_type_in: wp.array2d[int],
-  efc_id_in: wp.array2d[int],
-  efc_pos_in: wp.array2d[float],
-  efc_margin_in: wp.array2d[float],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  worldid, efcid, limitposid = wp.tid()
-
-  ne = ne_in[worldid]
-  nf = nf_in[worldid]
-  nl = nl_in[worldid]
-
-  # skip if not limit
-  if efcid < ne + nf or efcid >= ne + nf + nl:
-    return
-
-  sensorid = sensor_limitpos_adr[limitposid]
-  if efc_id_in[worldid, efcid] == sensor_objid[sensorid]:
-    efc_type = efc_type_in[worldid, efcid]
-    if efc_type == ConstraintType.LIMIT_JOINT or efc_type == ConstraintType.LIMIT_TENDON:
-      val = efc_pos_in[worldid, efcid] - efc_margin_in[worldid, efcid]
-      _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, sensordata_out[worldid])
-
-
-@wp.func
-def _get_pos(
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xipos_in: wp.array2d[wp.vec3],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  site_xpos_in: wp.array2d[wp.vec3],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  worldid: int,
-  objtype: int,
-  objid: int,
-) -> wp.vec3:
-  if objtype == ObjType.BODY:
-    return xipos_in[worldid, objid]
-  elif objtype == ObjType.XBODY:
-    return xpos_in[worldid, objid]
-  elif objtype == ObjType.GEOM:
-    return geom_xpos_in[worldid, objid]
-  elif objtype == ObjType.SITE:
-    return site_xpos_in[worldid, objid]
-  elif objtype == ObjType.CAMERA:
-    return cam_xpos_in[worldid, objid]
-  else:
-    return wp.vec3(0.0)
-
-
-@wp.func
-def _get_mat(
-  # Data in:
-  xmat_in: wp.array2d[wp.mat33],
-  ximat_in: wp.array2d[wp.mat33],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  site_xmat_in: wp.array2d[wp.mat33],
-  cam_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  worldid: int,
-  objtype: int,
-  objid: int,
-) -> wp.mat33:
-  if objtype == ObjType.BODY:
-    return ximat_in[worldid, objid]
-  elif objtype == ObjType.XBODY:
-    return xmat_in[worldid, objid]
-  elif objtype == ObjType.GEOM:
-    return geom_xmat_in[worldid, objid]
-  elif objtype == ObjType.SITE:
-    return site_xmat_in[worldid, objid]
-  elif objtype == ObjType.CAMERA:
-    return cam_xmat_in[worldid, objid]
-  else:
-    return wp.identity(3, dtype=wp.float32)
-
-
-@wp.func
-def _get_body_id(
-  # Model:
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  cam_bodyid: wp.array[int],
-  # In:
-  objtype: int,
-  objid: int,
-) -> int:
-  if objtype == ObjType.BODY or objtype == ObjType.XBODY:
-    return objid
-  elif objtype == ObjType.GEOM:
-    return geom_bodyid[objid]
-  elif objtype == ObjType.SITE:
-    return site_bodyid[objid]
-  elif objtype == ObjType.CAMERA:
-    return cam_bodyid[objid]
-  else:
-    return 0
-
-
-@wp.func
-def _get_quat(
-  # Model:
-  body_iquat: wp.array2d[wp.quat],
-  geom_bodyid: wp.array[int],
-  geom_quat: wp.array2d[wp.quat],
-  site_bodyid: wp.array[int],
-  site_quat: wp.array2d[wp.quat],
-  cam_bodyid: wp.array[int],
-  cam_quat: wp.array2d[wp.quat],
-  # Data in:
-  xquat_in: wp.array2d[wp.quat],
-  # In:
-  worldid: int,
-  objtype: int,
-  objid: int,
-) -> wp.quat:
-  if objtype == ObjType.BODY:
-    body_iquat_id = worldid % body_iquat.shape[0]
-    return math.mul_quat(xquat_in[worldid, objid], body_iquat[body_iquat_id, objid])
-  elif objtype == ObjType.XBODY:
-    return xquat_in[worldid, objid]
-  elif objtype == ObjType.GEOM:
-    geom_quat_id = worldid % geom_quat.shape[0]
-    return math.mul_quat(xquat_in[worldid, geom_bodyid[objid]], geom_quat[geom_quat_id, objid])
-  elif objtype == ObjType.SITE:
-    site_quat_id = worldid % site_quat.shape[0]
-    return math.mul_quat(xquat_in[worldid, site_bodyid[objid]], site_quat[site_quat_id, objid])
-  elif objtype == ObjType.CAMERA:
-    cam_quat_id = worldid % cam_quat.shape[0]
-    return math.mul_quat(xquat_in[worldid, cam_bodyid[objid]], cam_quat[cam_quat_id, objid])
-  else:
-    return wp.quat(1.0, 0.0, 0.0, 0.0)
-
-
-@wp.func
-def _frame_pos(
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xmat_in: wp.array2d[wp.mat33],
-  xipos_in: wp.array2d[wp.vec3],
-  ximat_in: wp.array2d[wp.mat33],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  cam_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  worldid: int,
-  objid: int,
-  objtype: int,
-  refid: int,
-  reftype: int,
-) -> wp.vec3:
-  xpos = _get_pos(xpos_in, xipos_in, geom_xpos_in, site_xpos_in, cam_xpos_in, worldid, objtype, objid)
-  if refid == -1:
-    return xpos
-
-  xpos_ref = _get_pos(xpos_in, xipos_in, geom_xpos_in, site_xpos_in, cam_xpos_in, worldid, reftype, refid)
-  xmat_ref = _get_mat(xmat_in, ximat_in, geom_xmat_in, site_xmat_in, cam_xmat_in, worldid, reftype, refid)
-  return wp.transpose(xmat_ref) @ (xpos - xpos_ref)
-
-
-@wp.func
-def _frame_axis(
-  # Data in:
-  xmat_in: wp.array2d[wp.mat33],
-  ximat_in: wp.array2d[wp.mat33],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  site_xmat_in: wp.array2d[wp.mat33],
-  cam_xmat_in: wp.array2d[wp.mat33],
-  # In:
-  worldid: int,
-  objid: int,
-  objtype: int,
-  refid: int,
-  reftype: int,
-  frame_axis: int,
-) -> wp.vec3:
-  xmat = _get_mat(xmat_in, ximat_in, geom_xmat_in, site_xmat_in, cam_xmat_in, worldid, objtype, objid)
-  axis = wp.vec3(xmat[0, frame_axis], xmat[1, frame_axis], xmat[2, frame_axis])
-
-  if refid == -1:
-    return axis
-
-  xmat_ref = _get_mat(xmat_in, ximat_in, geom_xmat_in, site_xmat_in, cam_xmat_in, worldid, reftype, refid)
-  return wp.transpose(xmat_ref) @ axis
-
-
-@wp.func
-def _frame_quat(
-  # Model:
-  body_iquat: wp.array2d[wp.quat],
-  geom_bodyid: wp.array[int],
-  geom_quat: wp.array2d[wp.quat],
-  site_bodyid: wp.array[int],
-  site_quat: wp.array2d[wp.quat],
-  cam_bodyid: wp.array[int],
-  cam_quat: wp.array2d[wp.quat],
-  # Data in:
-  xquat_in: wp.array2d[wp.quat],
-  # In:
-  worldid: int,
-  objid: int,
-  objtype: int,
-  refid: int,
-  reftype: int,
-) -> wp.quat:
-  quat = _get_quat(
-    body_iquat,
-    geom_bodyid,
-    geom_quat,
-    site_bodyid,
-    site_quat,
-    cam_bodyid,
-    cam_quat,
-    xquat_in,
-    worldid,
-    objtype,
-    objid,
-  )
-
-  if refid == -1:
-    return quat
-
-  refquat = _get_quat(
-    body_iquat,
-    geom_bodyid,
-    geom_quat,
-    site_bodyid,
-    site_quat,
-    cam_bodyid,
-    cam_quat,
-    xquat_in,
-    worldid,
-    reftype,
-    refid,
-  )
-
-  return math.mul_quat(math.quat_inv(refquat), quat)
-
-
-@wp.func
-def _subtree_com(subtree_com_in: wp.array2d[wp.vec3], worldid: int, objid: int) -> wp.vec3:
-  return subtree_com_in[worldid, objid]
-
-
-@wp.func
-def _clock(time_in: wp.array[float], worldid: int) -> float:
-  return time_in[worldid]
-
-
-@wp.kernel
-def _sensor_pos(
-  # Model:
-  ngeom: int,
-  opt_magnetic: wp.array[wp.vec3],
-  body_geomnum: wp.array[int],
-  body_geomadr: wp.array[int],
-  body_iquat: wp.array2d[wp.quat],
-  body_mass: wp.array2d[float],
-  body_subtreemass: wp.array2d[float],
-  jnt_qposadr: wp.array[int],
-  geom_type: wp.array[int],
-  geom_bodyid: wp.array[int],
-  geom_quat: wp.array2d[wp.quat],
-  site_type: wp.array[int],
-  site_bodyid: wp.array[int],
-  site_size: wp.array[wp.vec3],
-  site_quat: wp.array2d[wp.quat],
-  cam_bodyid: wp.array[int],
-  cam_quat: wp.array2d[wp.quat],
-  cam_fovy: wp.array2d[float],
-  cam_resolution: wp.array[wp.vec2i],
-  cam_sensorsize: wp.array[wp.vec2],
-  cam_intrinsic: wp.array2d[wp.vec4],
-  sensor_type: wp.array[int],
-  sensor_datatype: wp.array[int],
-  sensor_objtype: wp.array[int],
-  sensor_objid: wp.array[int],
-  sensor_reftype: wp.array[int],
-  sensor_refid: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_cutoff: wp.array[float],
-  nxn_pairid: wp.array[wp.vec2i],
-  sensor_pos_adr: wp.array[int],
-  rangefinder_sensor_adr: wp.array[int],
-  # Data in:
-  time_in: wp.array[float],
-  energy_in: wp.array[wp.vec2],
-  qpos_in: wp.array2d[float],
-  xpos_in: wp.array2d[wp.vec3],
-  xquat_in: wp.array2d[wp.quat],
-  xmat_in: wp.array2d[wp.mat33],
-  xipos_in: wp.array2d[wp.vec3],
-  ximat_in: wp.array2d[wp.mat33],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  cam_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  ten_length_in: wp.array2d[float],
-  actuator_length_in: wp.array2d[float],
-  # In:
-  rangefinder_dist_in: wp.array2d[float],
-  sensor_collision_in: wp.array4d[float],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  worldid, posid = wp.tid()
-  sensorid = sensor_pos_adr[posid]
-  sensortype = sensor_type[sensorid]
-  objid = sensor_objid[sensorid]
-  out = sensordata_out[worldid]
-
-  if sensortype == SensorType.MAGNETOMETER:
-    vec3 = _magnetometer(opt_magnetic, site_xmat_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.CAMPROJECTION:
-    refid = sensor_refid[sensorid]
-    vec2 = _cam_projection(
-      cam_fovy, cam_resolution, cam_sensorsize, cam_intrinsic, site_xpos_in, cam_xpos_in, cam_xmat_in, worldid, objid, refid
-    )
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 2, vec2, out)
-  elif sensortype == SensorType.RANGEFINDER:
-    val = rangefinder_dist_in[worldid, rangefinder_sensor_adr[sensorid]]
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.JOINTPOS:
-    val = _joint_pos(jnt_qposadr, qpos_in, worldid, objid)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.TENDONPOS:
-    val = _tendon_pos(ten_length_in, worldid, objid)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.ACTUATORPOS:
-    val = _actuator_pos(actuator_length_in, worldid, objid)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.BALLQUAT:
-    quat = _ball_quat(jnt_qposadr, qpos_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 4, quat, out)
-  elif sensortype == SensorType.FRAMEPOS:
-    objtype = sensor_objtype[sensorid]
-    refid = sensor_refid[sensorid]
-    reftype = sensor_reftype[sensorid]
-    vec3 = _frame_pos(
-      xpos_in,
-      xmat_in,
-      xipos_in,
-      ximat_in,
-      geom_xpos_in,
-      geom_xmat_in,
-      site_xpos_in,
-      site_xmat_in,
-      cam_xpos_in,
-      cam_xmat_in,
-      worldid,
-      objid,
-      objtype,
-      refid,
-      reftype,
-    )
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.FRAMEXAXIS or sensortype == SensorType.FRAMEYAXIS or sensortype == SensorType.FRAMEZAXIS:
-    objtype = sensor_objtype[sensorid]
-    refid = sensor_refid[sensorid]
-    reftype = sensor_reftype[sensorid]
-    if sensortype == SensorType.FRAMEXAXIS:
-      axis = 0
-    elif sensortype == SensorType.FRAMEYAXIS:
-      axis = 1
-    elif sensortype == SensorType.FRAMEZAXIS:
-      axis = 2
-    vec3 = _frame_axis(
-      xmat_in, ximat_in, geom_xmat_in, site_xmat_in, cam_xmat_in, worldid, objid, objtype, refid, reftype, axis
-    )
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.FRAMEQUAT:
-    objtype = sensor_objtype[sensorid]
-    refid = sensor_refid[sensorid]
-    reftype = sensor_reftype[sensorid]
-    quat = _frame_quat(
-      body_iquat,
-      geom_bodyid,
-      geom_quat,
-      site_bodyid,
-      site_quat,
-      cam_bodyid,
-      cam_quat,
-      xquat_in,
-      worldid,
-      objid,
-      objtype,
-      refid,
-      reftype,
-    )
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 4, quat, out)
-  elif sensortype == SensorType.SUBTREECOM:
-    vec3 = _subtree_com(subtree_com_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.GEOMDIST or sensortype == SensorType.GEOMNORMAL or sensortype == SensorType.GEOMFROMTO:
-    objtype = sensor_objtype[sensorid]
-    objid = sensor_objid[sensorid]
-    reftype = sensor_reftype[sensorid]
-    refid = sensor_refid[sensorid]
-
-    # initialize
-    dist = float(sensor_cutoff[sensorid])
-    pnts = vec6(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-    flip = bool(False)
-
-    # check for flip direction
-    if objtype == int(ObjType.BODY.value):
-      n1 = body_geomnum[objid]
-      id1 = body_geomadr[objid]
-    else:
-      n1 = 1
-      id1 = objid
-    if reftype == int(ObjType.BODY.value):
-      n2 = body_geomnum[refid]
-      id2 = body_geomadr[refid]
-    else:
-      n2 = 1
-      id2 = refid
-
-    for geom1 in range(n1):
-      geomid1 = id1 + geom1
-      for geom2 in range(n2):
-        geomid2 = id2 + geom2
-
-        if geomid1 <= geomid2:
-          pairid = math.upper_tri_index(ngeom, geomid1, geomid2)
-        else:
-          pairid = math.upper_tri_index(ngeom, geomid2, geomid1)
-        collisionid = nxn_pairid[pairid][1]
-
-        for i in range(8):
-          dist_new = sensor_collision_in[worldid, collisionid, i, 0]
-
-          if dist_new < dist:
-            dist = dist_new
-
-            if sensortype == SensorType.GEOMNORMAL or sensortype == SensorType.GEOMFROMTO:
-              pnts = vec6(
-                sensor_collision_in[worldid, collisionid, i, 1],
-                sensor_collision_in[worldid, collisionid, i, 2],
-                sensor_collision_in[worldid, collisionid, i, 3],
-                sensor_collision_in[worldid, collisionid, i, 4],
-                sensor_collision_in[worldid, collisionid, i, 5],
-                sensor_collision_in[worldid, collisionid, i, 6],
-              )
-
-            if geom_type[geomid1] > geom_type[geomid2]:
-              flip = True
-            elif geom_type[geomid1] == geom_type[geomid2]:
-              flip = geomid1 > geomid2
-            else:
-              flip = False
-    if sensortype == int(SensorType.GEOMDIST.value):
-      _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, dist, out)
-    elif sensortype == int(SensorType.GEOMNORMAL.value):
-      if dist <= sensor_cutoff[sensorid]:
-        normal = wp.normalize(wp.vec3(pnts[3] - pnts[0], pnts[4] - pnts[1], pnts[5] - pnts[2]))
-        if flip:
-          normal *= -1.0
-      else:
-        normal = wp.vec3(0.0, 0.0, 0.0)
-      _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, normal, out)
-    elif sensortype == int(SensorType.GEOMFROMTO.value):
-      if dist <= sensor_cutoff[sensorid]:
-        if flip:
-          fromto = vec6(pnts[3], pnts[4], pnts[5], pnts[0], pnts[1], pnts[2])
-        else:
-          fromto = pnts
-      else:
-        fromto = vec6(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-      _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 6, fromto, out)
-  elif sensortype == SensorType.INSIDESITE:
-    objtype = sensor_objtype[sensorid]
-    if objtype == ObjType.XBODY:
-      xpos = xpos_in[worldid, objid]
-    elif objtype == ObjType.BODY:
-      # for massless bodies with positive subtree mass (e.g., flex parents),
-      # xipos is the static body frame origin; use subtree_com instead
-      if objid > 0:
-        if (
-          body_mass[worldid % body_mass.shape[0], objid] < MJ_MINVAL
-          and body_subtreemass[worldid % body_subtreemass.shape[0], objid] >= MJ_MINVAL
-        ):
-          xpos = subtree_com_in[worldid, objid]
-        else:
-          xpos = xipos_in[worldid, objid]
-      else:
-        xpos = xipos_in[worldid, objid]
-    elif objtype == ObjType.GEOM:
-      xpos = geom_xpos_in[worldid, objid]
-    elif objtype == ObjType.SITE:
-      xpos = site_xpos_in[worldid, objid]
-    elif objtype == ObjType.CAMERA:
-      xpos = cam_xpos_in[worldid, objid]
-    else:
-      return  # should not occur
-    refid = sensor_refid[sensorid]
-    val_bool = inside_geom(site_xpos_in[worldid, refid], site_xmat_in[worldid, refid], site_size[refid], site_type[refid], xpos)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, float(val_bool), out)
-  elif sensortype == SensorType.E_POTENTIAL:
-    val = energy_in[worldid][0]
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.E_KINETIC:
-    val = energy_in[worldid][1]
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.CLOCK:
-    val = _clock(time_in, worldid)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-
-
-@wp.kernel
-def _sensor_collision(
-  # Model:
-  ngeom: int,
-  nxn_pairid: wp.array[wp.vec2i],
-  # Data in:
-  contact_dist_in: wp.array[float],
-  contact_pos_in: wp.array[wp.vec3],
-  contact_frame_in: wp.array[wp.mat33],
-  contact_geom_in: wp.array[wp.vec2i],
-  contact_worldid_in: wp.array[int],
-  contact_type_in: wp.array[int],
-  contact_geomcollisionid_in: wp.array[int],
-  nacon_in: wp.array[int],
-  # Out:
-  sensor_collision_out: wp.array4d[float],
-):
-  conid = wp.tid()
-
-  if conid >= nacon_in[0]:
-    return
-
-  if not contact_type_in[conid] & ContactType.SENSOR:
-    return
-
-  geom = contact_geom_in[conid]
-  if geom[0] <= geom[1]:
-    pairid = math.upper_tri_index(ngeom, geom[0], geom[1])
-  else:
-    pairid = math.upper_tri_index(ngeom, geom[1], geom[0])
-
-  worldid = contact_worldid_in[conid]
-  collisionid = nxn_pairid[pairid][1]
-  geomcollisionid = contact_geomcollisionid_in[conid]
-
-  dist = contact_dist_in[conid]
-  pos = contact_pos_in[conid]
-  frame = contact_frame_in[conid]
-  normal = wp.vec3(frame[0, 0], frame[0, 1], frame[0, 2])
-  pnt1 = pos - 0.5 * dist * normal
-  pnt2 = pos + 0.5 * dist * normal
-
-  sensor_collision_out[worldid, collisionid, geomcollisionid, 0] = dist
-  sensor_collision_out[worldid, collisionid, geomcollisionid, 1] = pnt1[0]
-  sensor_collision_out[worldid, collisionid, geomcollisionid, 2] = pnt1[1]
-  sensor_collision_out[worldid, collisionid, geomcollisionid, 3] = pnt1[2]
-  sensor_collision_out[worldid, collisionid, geomcollisionid, 4] = pnt2[0]
-  sensor_collision_out[worldid, collisionid, geomcollisionid, 5] = pnt2[1]
-  sensor_collision_out[worldid, collisionid, geomcollisionid, 6] = pnt2[2]
-
-
-@event_scope
-def sensor_pos(m: Model, d: Data):
-  """Compute position-dependent sensor values."""
-  if m.opt.disableflags & DisableBit.SENSOR:
-    return
-
-  # rangefinder
-  rangefinder_dist = wp.empty((d.nworld, m.nrangefinder), dtype=float)
-  if m.sensor_rangefinder_adr.size > 0:
-    rangefinder_pnt = wp.empty((d.nworld, m.nrangefinder), dtype=wp.vec3)
-    rangefinder_vec = wp.empty((d.nworld, m.nrangefinder), dtype=wp.vec3)
-    rangefinder_geomid = wp.empty((d.nworld, m.nrangefinder), dtype=int)
-    rangefinder_normal = wp.empty((d.nworld, m.nrangefinder), dtype=wp.vec3)
-
-    # get position and direction
-    wp.launch(
-      _sensor_rangefinder_init,
-      dim=(d.nworld, m.sensor_rangefinder_adr.size),
-      inputs=[m.sensor_objid, m.sensor_rangefinder_adr, d.site_xpos, d.site_xmat],
-      outputs=[rangefinder_pnt, rangefinder_vec],
-    )
-
-    # get distances
-    ray.rays(
-      m,
-      d,
-      rangefinder_pnt,
-      rangefinder_vec,
-      vec6(MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL, MJ_MAXVAL),
-      True,
-      m.sensor_rangefinder_bodyid,
-      rangefinder_dist,
-      rangefinder_geomid,
-      rangefinder_normal,
-    )
-
-  if m.sensor_e_potential:
-    energy_pos(m, d)
-
-  if m.sensor_e_kinetic:
-    energy_vel(m, d)
-
-  # collision sensors (distance, normal, fromto)
-  sensor_collision = wp.full((d.nworld, m.nsensorcollision, 8, 7), 1.0e32, dtype=float)
-  if m.nsensorcollision:
-    wp.launch(
-      _sensor_collision,
-      dim=d.naconmax,
-      inputs=[
-        m.ngeom,
-        m.nxn_pairid,
-        d.contact.dist,
-        d.contact.pos,
-        d.contact.frame,
-        d.contact.geom,
-        d.contact.worldid,
-        d.contact.type,
-        d.contact.geomcollisionid,
-        d.nacon,
-      ],
-      outputs=[sensor_collision],
-    )
-
-  wp.launch(
-    _sensor_pos,
-    dim=(d.nworld, m.sensor_pos_adr.size),
-    inputs=[
-      m.ngeom,
-      m.opt.magnetic,
-      m.body_geomnum,
-      m.body_geomadr,
-      m.body_iquat,
-      m.body_mass,
-      m.body_subtreemass,
-      m.jnt_qposadr,
-      m.geom_type,
-      m.geom_bodyid,
-      m.geom_quat,
-      m.site_type,
-      m.site_bodyid,
-      m.site_size,
-      m.site_quat,
-      m.cam_bodyid,
-      m.cam_quat,
-      m.cam_fovy,
-      m.cam_resolution,
-      m.cam_sensorsize,
-      m.cam_intrinsic,
-      m.sensor_type,
-      m.sensor_datatype,
-      m.sensor_objtype,
-      m.sensor_objid,
-      m.sensor_reftype,
-      m.sensor_refid,
-      m.sensor_adr,
-      m.sensor_cutoff,
-      m.nxn_pairid,
-      m.sensor_pos_adr,
-      m.rangefinder_sensor_adr,
-      d.time,
-      d.energy,
-      d.qpos,
-      d.xpos,
-      d.xquat,
-      d.xmat,
-      d.xipos,
-      d.ximat,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.site_xpos,
-      d.site_xmat,
-      d.cam_xpos,
-      d.cam_xmat,
-      d.subtree_com,
-      d.ten_length,
-      d.actuator_length,
-      rangefinder_dist,
-      sensor_collision,
-    ],
-    outputs=[d.sensordata],
-  )
-
-  # jointlimitpos and tendonlimitpos
-  wp.launch(
-    _limit_pos,
-    dim=(d.nworld, d.njmax, m.sensor_limitpos_adr.size),
-    inputs=[
-      m.sensor_type,
-      m.sensor_datatype,
-      m.sensor_objid,
-      m.sensor_adr,
-      m.sensor_cutoff,
-      m.sensor_limitpos_adr,
-      d.ne,
-      d.nf,
-      d.nl,
-      d.efc.type,
-      d.efc.id,
-      d.efc.pos,
-      d.efc.margin,
-    ],
-    outputs=[
-      d.sensordata,
-    ],
-  )
-
-  # apply sensor delay/interval for position sensors
-  history.apply_sensor_delay(m, d, m.sensor_pos_adr)
-  history.apply_sensor_delay(m, d, m.sensor_limitpos_adr)
-
-  if m.callback.sensor:
-    m.callback.sensor(m, d, Stage.POS)
-
-
-@wp.func
-def _velocimeter(
-  # Model:
-  body_rootid: wp.array[int],
-  site_bodyid: wp.array[int],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objid: int,
-) -> wp.vec3:
-  bodyid = site_bodyid[objid]
-  pos = site_xpos_in[worldid, objid]
-  rot = site_xmat_in[worldid, objid]
-  cvel = cvel_in[worldid, bodyid]
-  ang = wp.spatial_top(cvel)
-  lin = wp.spatial_bottom(cvel)
-  subtree_com = subtree_com_in[worldid, body_rootid[bodyid]]
-  dif = pos - subtree_com
-  return wp.transpose(rot) @ (lin - wp.cross(dif, ang))
-
-
-@wp.func
-def _gyro(
-  # Model:
-  site_bodyid: wp.array[int],
-  # Data in:
-  site_xmat_in: wp.array2d[wp.mat33],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objid: int,
-) -> wp.vec3:
-  bodyid = site_bodyid[objid]
-  rot = site_xmat_in[worldid, objid]
-  cvel = cvel_in[worldid, bodyid]
-  ang = wp.spatial_top(cvel)
-  return wp.transpose(rot) @ ang
-
-
-@wp.func
-def _joint_vel(jnt_dofadr: wp.array[int], qvel_in: wp.array2d[float], worldid: int, objid: int) -> float:
-  return qvel_in[worldid, jnt_dofadr[objid]]
-
-
-@wp.func
-def _tendon_vel(ten_velocity_in: wp.array2d[float], worldid: int, objid: int) -> float:
-  return ten_velocity_in[worldid, objid]
-
-
-@wp.func
-def _actuator_vel(actuator_velocity_in: wp.array2d[float], worldid: int, objid: int) -> float:
-  return actuator_velocity_in[worldid, objid]
-
-
-@wp.func
-def _ball_ang_vel(jnt_dofadr: wp.array[int], qvel_in: wp.array2d[float], worldid: int, objid: int) -> wp.vec3:
-  adr = jnt_dofadr[objid]
-  return wp.vec3(qvel_in[worldid, adr + 0], qvel_in[worldid, adr + 1], qvel_in[worldid, adr + 2])
-
-
-@wp.kernel
-def _limit_vel(
-  # Model:
-  sensor_type: wp.array[int],
-  sensor_datatype: wp.array[int],
-  sensor_objid: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_cutoff: wp.array[float],
-  sensor_limitvel_adr: wp.array[int],
-  # Data in:
-  ne_in: wp.array[int],
-  nf_in: wp.array[int],
-  nl_in: wp.array[int],
-  efc_type_in: wp.array2d[int],
-  efc_id_in: wp.array2d[int],
-  efc_vel_in: wp.array2d[float],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  worldid, efcid, limitvelid = wp.tid()
-
-  ne = ne_in[worldid]
-  nf = nf_in[worldid]
-  nl = nl_in[worldid]
-
-  # skip if not limit
-  if efcid < ne + nf or efcid >= ne + nf + nl:
-    return
-
-  sensorid = sensor_limitvel_adr[limitvelid]
-  if efc_id_in[worldid, efcid] == sensor_objid[sensorid]:
-    efc_type = efc_type_in[worldid, efcid]
-    if efc_type == ConstraintType.LIMIT_JOINT or efc_type == ConstraintType.LIMIT_TENDON:
-      _write_scalar(
-        sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, efc_vel_in[worldid, efcid], sensordata_out[worldid]
-      )
-
-
-@wp.func
-def _cvel_offset(
-  # Model:
-  body_rootid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  cam_bodyid: wp.array[int],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xipos_in: wp.array2d[wp.vec3],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  site_xpos_in: wp.array2d[wp.vec3],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objtype: int,
-  objid: int,
-) -> Tuple[wp.spatial_vector, wp.vec3]:
-  if objtype == ObjType.BODY:
-    pos = xipos_in[worldid, objid]
-    bodyid = objid
-  elif objtype == ObjType.XBODY:
-    pos = xpos_in[worldid, objid]
-    bodyid = objid
-  elif objtype == ObjType.GEOM:
-    pos = geom_xpos_in[worldid, objid]
-    bodyid = geom_bodyid[objid]
-  elif objtype == ObjType.SITE:
-    pos = site_xpos_in[worldid, objid]
-    bodyid = site_bodyid[objid]
-  elif objtype == ObjType.CAMERA:
-    pos = cam_xpos_in[worldid, objid]
-    bodyid = cam_bodyid[objid]
-  else:  # UNKNOWN
-    pos = wp.vec3(0.0)
-    bodyid = 0
-
-  return cvel_in[worldid, bodyid], pos - subtree_com_in[worldid, body_rootid[bodyid]]
-
-
-@wp.func
-def _frame_linvel(
-  # Model:
-  body_rootid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  cam_bodyid: wp.array[int],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xmat_in: wp.array2d[wp.mat33],
-  xipos_in: wp.array2d[wp.vec3],
-  ximat_in: wp.array2d[wp.mat33],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  cam_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objid: int,
-  objtype: int,
-  refid: int,
-  reftype: int,
-) -> wp.vec3:
-  if objtype == ObjType.BODY:
-    xpos = xipos_in[worldid, objid]
-  elif objtype == ObjType.XBODY:
-    xpos = xpos_in[worldid, objid]
-  elif objtype == ObjType.GEOM:
-    xpos = geom_xpos_in[worldid, objid]
-  elif objtype == ObjType.SITE:
-    xpos = site_xpos_in[worldid, objid]
-  elif objtype == ObjType.CAMERA:
-    xpos = cam_xpos_in[worldid, objid]
-  else:  # UNKNOWN
-    xpos = wp.vec3(0.0)
-
-  if reftype == ObjType.BODY:
-    xposref = xipos_in[worldid, refid]
-    xmatref = ximat_in[worldid, refid]
-  elif reftype == ObjType.XBODY:
-    xposref = xpos_in[worldid, refid]
-    xmatref = xmat_in[worldid, refid]
-  elif reftype == ObjType.GEOM:
-    xposref = geom_xpos_in[worldid, refid]
-    xmatref = geom_xmat_in[worldid, refid]
-  elif reftype == ObjType.SITE:
-    xposref = site_xpos_in[worldid, refid]
-    xmatref = site_xmat_in[worldid, refid]
-  elif reftype == ObjType.CAMERA:
-    xposref = cam_xpos_in[worldid, refid]
-    xmatref = cam_xmat_in[worldid, refid]
-  else:  # UNKNOWN
-    xposref = wp.vec3(0.0)
-    xmatref = wp.identity(3, dtype=float)
-
-  cvel, offset = _cvel_offset(
-    body_rootid,
-    geom_bodyid,
-    site_bodyid,
-    cam_bodyid,
-    xpos_in,
-    xipos_in,
-    geom_xpos_in,
-    site_xpos_in,
-    cam_xpos_in,
-    subtree_com_in,
-    cvel_in,
-    worldid,
-    objtype,
-    objid,
-  )
-  cvelref, offsetref = _cvel_offset(
-    body_rootid,
-    geom_bodyid,
-    site_bodyid,
-    cam_bodyid,
-    xpos_in,
-    xipos_in,
-    geom_xpos_in,
-    site_xpos_in,
-    cam_xpos_in,
-    subtree_com_in,
-    cvel_in,
-    worldid,
-    reftype,
-    refid,
-  )
-  clinvel = wp.spatial_bottom(cvel)
-  cangvel = wp.spatial_top(cvel)
-  cangvelref = wp.spatial_top(cvelref)
-  xlinvel = clinvel - wp.cross(offset, cangvel)
-
-  if refid > -1:
-    clinvelref = wp.spatial_bottom(cvelref)
-    xlinvelref = clinvelref - wp.cross(offsetref, cangvelref)
-    rvec = xpos - xposref
-    rel_vel = xlinvel - xlinvelref + wp.cross(rvec, cangvelref)
-    return wp.transpose(xmatref) @ rel_vel
-  else:
-    return xlinvel
-
-
-@wp.func
-def _frame_angvel(
-  # Model:
-  body_rootid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  cam_bodyid: wp.array[int],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xmat_in: wp.array2d[wp.mat33],
-  xipos_in: wp.array2d[wp.vec3],
-  ximat_in: wp.array2d[wp.mat33],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  cam_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objid: int,
-  objtype: int,
-  refid: int,
-  reftype: int,
-) -> wp.vec3:
-  cvel, _ = _cvel_offset(
-    body_rootid,
-    geom_bodyid,
-    site_bodyid,
-    cam_bodyid,
-    xpos_in,
-    xipos_in,
-    geom_xpos_in,
-    site_xpos_in,
-    cam_xpos_in,
-    subtree_com_in,
-    cvel_in,
-    worldid,
-    objtype,
-    objid,
-  )
-  cangvel = wp.spatial_top(cvel)
-
-  if refid > -1:
-    if reftype == ObjType.BODY:
-      xmatref = ximat_in[worldid, refid]
-    elif reftype == ObjType.XBODY:
-      xmatref = xmat_in[worldid, refid]
-    elif reftype == ObjType.GEOM:
-      xmatref = geom_xmat_in[worldid, refid]
-    elif reftype == ObjType.SITE:
-      xmatref = site_xmat_in[worldid, refid]
-    elif reftype == ObjType.CAMERA:
-      xmatref = cam_xmat_in[worldid, refid]
-    else:  # UNKNOWN
-      xmatref = wp.identity(3, dtype=float)
-
-    cvelref, _ = _cvel_offset(
-      body_rootid,
-      geom_bodyid,
-      site_bodyid,
-      cam_bodyid,
-      xpos_in,
-      xipos_in,
-      geom_xpos_in,
-      site_xpos_in,
-      cam_xpos_in,
-      subtree_com_in,
-      cvel_in,
-      worldid,
-      reftype,
-      refid,
-    )
-    cangvelref = wp.spatial_top(cvelref)
-
-    return wp.transpose(xmatref) @ (cangvel - cangvelref)
-  else:
-    return cangvel
-
-
-@wp.func
-def _subtree_linvel(subtree_linvel_in: wp.array2d[wp.vec3], worldid: int, objid: int) -> wp.vec3:
-  return subtree_linvel_in[worldid, objid]
-
-
-@wp.func
-def _subtree_angmom(subtree_angmom_in: wp.array2d[wp.vec3], worldid: int, objid: int) -> wp.vec3:
-  return subtree_angmom_in[worldid, objid]
-
-
-@wp.kernel
-def _sensor_vel(
-  # Model:
-  body_rootid: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  cam_bodyid: wp.array[int],
-  sensor_type: wp.array[int],
-  sensor_datatype: wp.array[int],
-  sensor_objtype: wp.array[int],
-  sensor_objid: wp.array[int],
-  sensor_reftype: wp.array[int],
-  sensor_refid: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_cutoff: wp.array[float],
-  sensor_vel_adr: wp.array[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  xpos_in: wp.array2d[wp.vec3],
-  xmat_in: wp.array2d[wp.mat33],
-  xipos_in: wp.array2d[wp.vec3],
-  ximat_in: wp.array2d[wp.mat33],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  cam_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  ten_velocity_in: wp.array2d[float],
-  actuator_velocity_in: wp.array2d[float],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  subtree_linvel_in: wp.array2d[wp.vec3],
-  subtree_angmom_in: wp.array2d[wp.vec3],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  worldid, velid = wp.tid()
-  sensorid = sensor_vel_adr[velid]
-  sensortype = sensor_type[sensorid]
-  objid = sensor_objid[sensorid]
-  out = sensordata_out[worldid]
-
-  if sensortype == SensorType.VELOCIMETER:
-    vec3 = _velocimeter(body_rootid, site_bodyid, site_xpos_in, site_xmat_in, subtree_com_in, cvel_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.GYRO:
-    vec3 = _gyro(site_bodyid, site_xmat_in, cvel_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.JOINTVEL:
-    val = _joint_vel(jnt_dofadr, qvel_in, worldid, objid)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.TENDONVEL:
-    val = _tendon_vel(ten_velocity_in, worldid, objid)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.ACTUATORVEL:
-    val = _actuator_vel(actuator_velocity_in, worldid, objid)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.BALLANGVEL:
-    vec3 = _ball_ang_vel(jnt_dofadr, qvel_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.FRAMELINVEL:
-    objtype = sensor_objtype[sensorid]
-    refid = sensor_refid[sensorid]
-    reftype = sensor_reftype[sensorid]
-    frame_linvel = _frame_linvel(
-      body_rootid,
-      geom_bodyid,
-      site_bodyid,
-      cam_bodyid,
-      xpos_in,
-      xmat_in,
-      xipos_in,
-      ximat_in,
-      geom_xpos_in,
-      geom_xmat_in,
-      site_xpos_in,
-      site_xmat_in,
-      cam_xpos_in,
-      cam_xmat_in,
-      subtree_com_in,
-      cvel_in,
-      worldid,
-      objid,
-      objtype,
-      refid,
-      reftype,
-    )
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, frame_linvel, out)
-  elif sensortype == SensorType.FRAMEANGVEL:
-    objtype = sensor_objtype[sensorid]
-    refid = sensor_refid[sensorid]
-    reftype = sensor_reftype[sensorid]
-    frame_angvel = _frame_angvel(
-      body_rootid,
-      geom_bodyid,
-      site_bodyid,
-      cam_bodyid,
-      xpos_in,
-      xmat_in,
-      xipos_in,
-      ximat_in,
-      geom_xpos_in,
-      geom_xmat_in,
-      site_xpos_in,
-      site_xmat_in,
-      cam_xpos_in,
-      cam_xmat_in,
-      subtree_com_in,
-      cvel_in,
-      worldid,
-      objid,
-      objtype,
-      refid,
-      reftype,
-    )
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, frame_angvel, out)
-  elif sensortype == SensorType.SUBTREELINVEL:
-    vec3 = _subtree_linvel(subtree_linvel_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.SUBTREEANGMOM:
-    vec3 = _subtree_angmom(subtree_angmom_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-
-
-@event_scope
-def sensor_vel(m: Model, d: Data):
-  """Compute velocity-dependent sensor values."""
-  if m.opt.disableflags & DisableBit.SENSOR:
-    return
-
-  if m.sensor_subtree_vel:
-    smooth.subtree_vel(m, d)
-
-  wp.launch(
-    _sensor_vel,
-    dim=(d.nworld, m.sensor_vel_adr.size),
-    inputs=[
-      m.body_rootid,
-      m.jnt_dofadr,
-      m.geom_bodyid,
-      m.site_bodyid,
-      m.cam_bodyid,
-      m.sensor_type,
-      m.sensor_datatype,
-      m.sensor_objtype,
-      m.sensor_objid,
-      m.sensor_reftype,
-      m.sensor_refid,
-      m.sensor_adr,
-      m.sensor_cutoff,
-      m.sensor_vel_adr,
-      d.qvel,
-      d.xpos,
-      d.xmat,
-      d.xipos,
-      d.ximat,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.site_xpos,
-      d.site_xmat,
-      d.cam_xpos,
-      d.cam_xmat,
-      d.subtree_com,
-      d.ten_velocity,
-      d.actuator_velocity,
-      d.cvel,
-      d.subtree_linvel,
-      d.subtree_angmom,
-    ],
-    outputs=[d.sensordata],
-  )
-
-  wp.launch(
-    _limit_vel,
-    dim=(d.nworld, d.njmax, m.sensor_limitvel_adr.size),
-    inputs=[
-      m.sensor_type,
-      m.sensor_datatype,
-      m.sensor_objid,
-      m.sensor_adr,
-      m.sensor_cutoff,
-      m.sensor_limitvel_adr,
-      d.ne,
-      d.nf,
-      d.nl,
-      d.efc.type,
-      d.efc.id,
-      d.efc.vel,
-    ],
-    outputs=[
-      d.sensordata,
-    ],
-  )
-
-  # apply sensor delay/interval for velocity sensors
-  history.apply_sensor_delay(m, d, m.sensor_vel_adr)
-  history.apply_sensor_delay(m, d, m.sensor_limitvel_adr)
-
-  if m.callback.sensor:
-    m.callback.sensor(m, d, Stage.VEL)
-
-
-@wp.func
-def _accelerometer(
-  # Model:
-  body_rootid: wp.array[int],
-  site_bodyid: wp.array[int],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  cacc_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objid: int,
-) -> wp.vec3:
-  bodyid = site_bodyid[objid]
-  rot = site_xmat_in[worldid, objid]
-  rotT = wp.transpose(rot)
-  cvel = cvel_in[worldid, bodyid]
-  cvel_top = wp.spatial_top(cvel)
-  cvel_bottom = wp.spatial_bottom(cvel)
-  cacc = cacc_in[worldid, bodyid]
-  cacc_top = wp.spatial_top(cacc)
-  cacc_bottom = wp.spatial_bottom(cacc)
-  dif = site_xpos_in[worldid, objid] - subtree_com_in[worldid, body_rootid[bodyid]]
-  ang = rotT @ cvel_top
-  lin = rotT @ (cvel_bottom - wp.cross(dif, cvel_top))
-  acc = rotT @ (cacc_bottom - wp.cross(dif, cacc_top))
-  correction = wp.cross(ang, lin)
-  return acc + correction
-
-
-@wp.func
-def _force(
-  # Model:
-  site_bodyid: wp.array[int],
-  # Data in:
-  site_xmat_in: wp.array2d[wp.mat33],
-  cfrc_int_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objid: int,
-) -> wp.vec3:
-  bodyid = site_bodyid[objid]
-  cfrc_int = cfrc_int_in[worldid, bodyid]
-  site_xmat = site_xmat_in[worldid, objid]
-  return wp.transpose(site_xmat) @ wp.spatial_bottom(cfrc_int)
-
-
-@wp.func
-def _torque(
-  # Model:
-  body_rootid: wp.array[int],
-  site_bodyid: wp.array[int],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cfrc_int_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objid: int,
-) -> wp.vec3:
-  bodyid = site_bodyid[objid]
-  cfrc_int = cfrc_int_in[worldid, bodyid]
-  site_xmat = site_xmat_in[worldid, objid]
-  dif = site_xpos_in[worldid, objid] - subtree_com_in[worldid, body_rootid[bodyid]]
-  return wp.transpose(site_xmat) @ (wp.spatial_top(cfrc_int) - wp.cross(dif, wp.spatial_bottom(cfrc_int)))
-
-
-@wp.func
-def _actuator_force(actuator_force_in: wp.array2d[float], worldid: int, objid: int) -> float:
-  return actuator_force_in[worldid, objid]
-
-
-@wp.func
-def _joint_actuator_force(
-  # Model:
-  jnt_dofadr: wp.array[int],
-  # Data in:
-  qfrc_actuator_in: wp.array2d[float],
-  # In:
-  worldid: int,
-  objid: int,
-) -> float:
-  return qfrc_actuator_in[worldid, jnt_dofadr[objid]]
-
-
-@wp.kernel
-def _tendon_actuator_force(
-  # Model:
-  actuator_trntype: wp.array[int],
-  actuator_trnid: wp.array[wp.vec2i],
-  sensor_objid: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_tendonactfrc_adr: wp.array[int],
-  # Data in:
-  actuator_force_in: wp.array2d[float],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  worldid, tenactfrcid, actid = wp.tid()
-  sensorid = sensor_tendonactfrc_adr[tenactfrcid]
-
-  if actuator_trntype[actid] == TrnType.TENDON and actuator_trnid[actid][0] == sensor_objid[sensorid]:
-    adr = sensor_adr[sensorid]
-    sensordata_out[worldid, adr] += actuator_force_in[worldid, actid]
-
-
-@wp.kernel
-def _tendon_actuator_force_cutoff(
-  # Model:
-  sensor_type: wp.array[int],
-  sensor_datatype: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_cutoff: wp.array[float],
-  sensor_tendonactfrc_adr: wp.array[int],
-  # Data in:
-  sensordata_in: wp.array2d[float],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  worldid, tenactfrcid = wp.tid()
-  sensorid = sensor_tendonactfrc_adr[tenactfrcid]
-  adr = sensor_adr[sensorid]
-  val = sensordata_in[worldid, adr]
-
-  _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, sensordata_out[worldid])
-
-
-@wp.kernel
-def _limit_frc(
-  # Model:
-  sensor_type: wp.array[int],
-  sensor_datatype: wp.array[int],
-  sensor_objid: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_cutoff: wp.array[float],
-  sensor_limitfrc_adr: wp.array[int],
-  # Data in:
-  ne_in: wp.array[int],
-  nf_in: wp.array[int],
-  nl_in: wp.array[int],
-  efc_type_in: wp.array2d[int],
-  efc_id_in: wp.array2d[int],
-  efc_force_in: wp.array2d[float],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  worldid, efcid, limitfrcid = wp.tid()
-
-  ne = ne_in[worldid]
-  nf = nf_in[worldid]
-  nl = nl_in[worldid]
-
-  # skip if not limit
-  if efcid < ne + nf or efcid >= ne + nf + nl:
-    return
-
-  sensorid = sensor_limitfrc_adr[limitfrcid]
-  if efc_id_in[worldid, efcid] == sensor_objid[sensorid]:
-    efc_type = efc_type_in[worldid, efcid]
-    if efc_type == ConstraintType.LIMIT_JOINT or efc_type == ConstraintType.LIMIT_TENDON:
-      _write_scalar(
-        sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, efc_force_in[worldid, efcid], sensordata_out[worldid]
-      )
-
-
-@wp.func
-def _framelinacc(
-  # Model:
-  body_rootid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  cam_bodyid: wp.array[int],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xipos_in: wp.array2d[wp.vec3],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  site_xpos_in: wp.array2d[wp.vec3],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  cacc_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objid: int,
-  objtype: int,
-) -> wp.vec3:
-  if objtype == ObjType.BODY:
-    bodyid = objid
-    pos = xipos_in[worldid, objid]
-  elif objtype == ObjType.XBODY:
-    bodyid = objid
-    pos = xpos_in[worldid, objid]
-  elif objtype == ObjType.GEOM:
-    bodyid = geom_bodyid[objid]
-    pos = geom_xpos_in[worldid, objid]
-  elif objtype == ObjType.SITE:
-    bodyid = site_bodyid[objid]
-    pos = site_xpos_in[worldid, objid]
-  elif objtype == ObjType.CAMERA:
-    bodyid = cam_bodyid[objid]
-    pos = cam_xpos_in[worldid, objid]
-  else:  # UNKNOWN
-    bodyid = 0
-    pos = wp.vec3(0.0)
-
-  cacc = cacc_in[worldid, bodyid]
-  cvel = cvel_in[worldid, bodyid]
-  offset = pos - subtree_com_in[worldid, body_rootid[bodyid]]
-  ang = wp.spatial_top(cvel)
-  lin = wp.spatial_bottom(cvel) - wp.cross(offset, ang)
-  acc = wp.spatial_bottom(cacc) - wp.cross(offset, wp.spatial_top(cacc))
-  correction = wp.cross(ang, lin)
-
-  return acc + correction
-
-
-@wp.func
-def _frameangacc(
-  # Model:
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  cam_bodyid: wp.array[int],
-  # Data in:
-  cacc_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  objid: int,
-  objtype: int,
-) -> wp.vec3:
-  if objtype == ObjType.BODY or objtype == ObjType.XBODY:
-    bodyid = objid
-  elif objtype == ObjType.GEOM:
-    bodyid = geom_bodyid[objid]
-  elif objtype == ObjType.SITE:
-    bodyid = site_bodyid[objid]
-  elif objtype == ObjType.CAMERA:
-    bodyid = cam_bodyid[objid]
-  else:  # UNKNOWN
-    bodyid = 0
-
-  return wp.spatial_top(cacc_in[worldid, bodyid])
-
-
-@wp.kernel
-def _sensor_acc(
-  # Model:
-  opt_cone: int,
-  body_rootid: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  cam_bodyid: wp.array[int],
-  sensor_type: wp.array[int],
-  sensor_datatype: wp.array[int],
-  sensor_objtype: wp.array[int],
-  sensor_objid: wp.array[int],
-  sensor_intprm: wp.array2d[int],
-  sensor_dim: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_cutoff: wp.array[float],
-  sensor_acc_adr: wp.array[int],
-  sensor_adr_to_contact_adr: wp.array[int],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xipos_in: wp.array2d[wp.vec3],
-  geom_xpos_in: wp.array2d[wp.vec3],
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  cam_xpos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  actuator_force_in: wp.array2d[float],
-  qfrc_actuator_in: wp.array2d[float],
-  cacc_in: wp.array2d[wp.spatial_vector],
-  cfrc_int_in: wp.array2d[wp.spatial_vector],
-  contact_dist_in: wp.array[float],
-  contact_pos_in: wp.array[wp.vec3],
-  contact_frame_in: wp.array[wp.mat33],
-  contact_friction_in: wp.array[vec5],
-  contact_dim_in: wp.array[int],
-  contact_efc_address_in: wp.array2d[int],
-  efc_force_in: wp.array2d[float],
-  njmax_in: int,
-  nacon_in: wp.array[int],
-  # In:
-  sensor_contact_nmatch_in: wp.array2d[int],
-  sensor_contact_matchid_in: wp.array3d[int],
-  sensor_contact_direction_in: wp.array3d[float],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  worldid, accid = wp.tid()
-  sensorid = sensor_acc_adr[accid]
-  sensortype = sensor_type[sensorid]
-  objid = sensor_objid[sensorid]
-  out = sensordata_out[worldid]
-
-  if sensortype == SensorType.CONTACT:
-    dataspec = sensor_intprm[sensorid, 0]
-    dim = sensor_dim[sensorid]
-    objtype = sensor_objtype[sensorid]
-    reduce = sensor_intprm[sensorid, 1]
-
-    # found, force, torque, dist, pos, normal, tangent
-    # TODO(thowell): precompute slot size
-    found = False
-    force = False
-    torque = False
-    dist = False
-    pos = False
-    normal = False
-    tangent = False
-
-    size = int(0)
-    for i in range(7):
-      if dataspec & (1 << i):
-        if i == 0:
-          found = True
-          size += 1
-        elif i == 1:
-          force = True
-          size += 3
-        elif i == 2:
-          torque = True
-          size += 3
-        elif i == 3:
-          dist = True
-          size += 1
-        elif i == 4:
-          pos = True
-          size += 3
-        elif i == 5:
-          normal = True
-          size += 3
-        elif i == 6:
-          tangent = True
-          size += 3
-
-    num = dim // size  # number of slots
-
-    adr = sensor_adr[sensorid]
-    contactsensorid = sensor_adr_to_contact_adr[sensorid]
-    nmatch = sensor_contact_nmatch_in[worldid, contactsensorid]
-
-    if reduce == 3:  # netforce
-      # Single-pass computation: first compute centroid, then wrench about centroid
-      # Pass 1: compute force-weighted centroid of contact positions
-      net_pos = wp.vec3(0.0)
-      net_force = wp.vec3(0.0)
-      net_torque = wp.vec3(0.0)
-      total_force_magnitude = float(0.0)
-
-      for i in range(nmatch):
-        cid = sensor_contact_matchid_in[worldid, contactsensorid, i]
-        dir = sensor_contact_direction_in[worldid, contactsensorid, i]
-
-        contact_forcetorque = support.contact_force_fn(
-          opt_cone,
-          contact_frame_in,
-          contact_friction_in,
-          contact_dim_in,
-          contact_efc_address_in,
-          efc_force_in,
-          njmax_in,
-          nacon_in,
-          worldid,
-          cid,
-          False,
-        )
-
-        # Accumulate for centroid computation (unsigned force magnitude)
-        weight = wp.norm_l2(wp.spatial_top(contact_forcetorque))
-        contact_pos = contact_pos_in[cid]
-        net_pos += weight * contact_pos
-        total_force_magnitude += weight
-
-        # Apply direction and transform to global frame
-        contact_forcetorque *= dir
-        force_local = wp.spatial_top(contact_forcetorque)
-        torque_local = wp.spatial_bottom(contact_forcetorque)
-
-        frame = contact_frame_in[cid]
-        frameT = wp.transpose(frame)
-
-        force_global = frameT @ force_local
-        torque_global = frameT @ torque_local
-
-        # Accumulate force and torque (about origin for now)
-        net_force += force_global
-        net_torque += torque_global
-        # Accumulate moment contribution: will adjust after centroid is computed
-        net_torque += wp.cross(contact_pos, force_global)
-
-      # Finalize centroid
-      net_pos /= wp.max(total_force_magnitude, MJ_MINVAL)
-
-      # Adjust torque: subtract moment from centroid (since we accumulated about origin)
-      # torque_about_centroid = torque_about_origin - centroid x total_force
-      net_torque -= wp.cross(net_pos, net_force)
-
-      adr_slot = adr
-
-      if found:
-        out[adr_slot] = float(nmatch)
-        adr_slot += 1
-      if force:
-        out[adr_slot + 0] = net_force[0]
-        out[adr_slot + 1] = net_force[1]
-        out[adr_slot + 2] = net_force[2]
-        adr_slot += 3
-      if torque:
-        out[adr_slot + 0] = net_torque[0]
-        out[adr_slot + 1] = net_torque[1]
-        out[adr_slot + 2] = net_torque[2]
-        adr_slot += 3
-      if dist:
-        out[adr_slot] = 0.0
-        adr_slot += 1
-      if pos:
-        out[adr_slot + 0] = net_pos[0]
-        out[adr_slot + 1] = net_pos[1]
-        out[adr_slot + 2] = net_pos[2]
-        adr_slot += 3
-      if normal:
-        out[adr_slot + 0] = 1.0
-        out[adr_slot + 1] = 0.0
-        out[adr_slot + 2] = 0.0
-        adr_slot += 3
-      if tangent:
-        out[adr_slot + 0] = 0.0
-        out[adr_slot + 1] = 1.0
-        out[adr_slot + 2] = 0.0
-    else:
-      nslots = wp.min(nmatch, num)
-      for i in range(nslots):
-        # sorted contact id
-        cid = sensor_contact_matchid_in[worldid, contactsensorid, i]
-
-        # contact direction
-        dir = sensor_contact_direction_in[worldid, contactsensorid, i]
-
-        adr_slot = adr + i * size
-
-        if found:
-          out[adr_slot] = float(nmatch)
-          adr_slot += 1
-        if force or torque:
-          contact_forcetorque = support.contact_force_fn(
-            opt_cone,
-            contact_frame_in,
-            contact_friction_in,
-            contact_dim_in,
-            contact_efc_address_in,
-            efc_force_in,
-            njmax_in,
-            nacon_in,
-            worldid,
-            cid,
-            False,
-          )
-        if force:
-          out[adr_slot + 0] = contact_forcetorque[0]
-          out[adr_slot + 1] = contact_forcetorque[1]
-          out[adr_slot + 2] = dir * contact_forcetorque[2]
-          adr_slot += 3
-        if torque:
-          out[adr_slot + 0] = contact_forcetorque[3]
-          out[adr_slot + 1] = contact_forcetorque[4]
-          out[adr_slot + 2] = dir * contact_forcetorque[5]
-          adr_slot += 3
-        if dist:
-          out[adr_slot] = contact_dist_in[cid]
-          adr_slot += 1
-        if pos:
-          contact_pos = contact_pos_in[cid]
-          out[adr_slot + 0] = contact_pos[0]
-          out[adr_slot + 1] = contact_pos[1]
-          out[adr_slot + 2] = contact_pos[2]
-          adr_slot += 3
-        if normal:
-          contact_normal = contact_frame_in[cid][0]
-          out[adr_slot + 0] = dir * contact_normal[0]
-          out[adr_slot + 1] = dir * contact_normal[1]
-          out[adr_slot + 2] = dir * contact_normal[2]
-          adr_slot += 3
-        if tangent:
-          contact_tangent = contact_frame_in[cid][1]
-          out[adr_slot + 0] = dir * contact_tangent[0]
-          out[adr_slot + 1] = dir * contact_tangent[1]
-          out[adr_slot + 2] = dir * contact_tangent[2]
-
-      # zero remaining slots
-      for i in range(nmatch, num):
-        for j in range(size):
-          out[adr + i * size + j] = 0.0
-
-  elif sensortype == SensorType.ACCELEROMETER:
-    vec3 = _accelerometer(
-      body_rootid, site_bodyid, site_xpos_in, site_xmat_in, subtree_com_in, cvel_in, cacc_in, worldid, objid
-    )
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.FORCE:
-    vec3 = _force(site_bodyid, site_xmat_in, cfrc_int_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.TORQUE:
-    vec3 = _torque(body_rootid, site_bodyid, site_xpos_in, site_xmat_in, subtree_com_in, cfrc_int_in, worldid, objid)
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.ACTUATORFRC:
-    val = _actuator_force(actuator_force_in, worldid, objid)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.JOINTACTFRC:
-    val = _joint_actuator_force(jnt_dofadr, qfrc_actuator_in, worldid, objid)
-    _write_scalar(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, val, out)
-  elif sensortype == SensorType.FRAMELINACC:
-    objtype = sensor_objtype[sensorid]
-    vec3 = _framelinacc(
-      body_rootid,
-      geom_bodyid,
-      site_bodyid,
-      cam_bodyid,
-      xpos_in,
-      xipos_in,
-      geom_xpos_in,
-      site_xpos_in,
-      cam_xpos_in,
-      subtree_com_in,
-      cvel_in,
-      cacc_in,
-      worldid,
-      objid,
-      objtype,
-    )
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-  elif sensortype == SensorType.FRAMEANGACC:
-    objtype = sensor_objtype[sensorid]
-    vec3 = _frameangacc(
-      geom_bodyid,
-      site_bodyid,
-      cam_bodyid,
-      cacc_in,
-      worldid,
-      objid,
-      objtype,
-    )
-    _write_vector(sensor_type, sensor_datatype, sensor_adr, sensor_cutoff, sensorid, 3, vec3, out)
-
-
-@wp.kernel
-def _sensor_touch(
-  # Model:
-  opt_cone: int,
-  geom_bodyid: wp.array[int],
-  site_type: wp.array[int],
-  site_bodyid: wp.array[int],
-  site_size: wp.array[wp.vec3],
-  sensor_objid: wp.array[int],
-  sensor_adr: wp.array[int],
-  sensor_touch_adr: wp.array[int],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  contact_pos_in: wp.array[wp.vec3],
-  contact_frame_in: wp.array[wp.mat33],
-  contact_dim_in: wp.array[int],
-  contact_geom_in: wp.array[wp.vec2i],
-  contact_efc_address_in: wp.array2d[int],
-  contact_worldid_in: wp.array[int],
-  efc_force_in: wp.array2d[float],
-  nacon_in: wp.array[int],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  conid, sensortouchadrid = wp.tid()
-
-  if conid >= nacon_in[0]:
-    return
-
-  sensorid = sensor_touch_adr[sensortouchadrid]
-
-  objid = sensor_objid[sensorid]
-  bodyid = site_bodyid[objid]
-
-  # find contact in sensor zone, add normal force
-
-  # contacting bodies
-  geom = contact_geom_in[conid]
-  conbody = wp.vec2i(geom_bodyid[geom[0]], geom_bodyid[geom[1]])
-
-  # select contacts involving sensorized body
-  worldid = contact_worldid_in[conid]
-  efc_address0 = contact_efc_address_in[conid, 0]
-  if efc_address0 >= 0 and (bodyid == conbody[0] or bodyid == conbody[1]):
-    # get contact normal force
-    normalforce = efc_force_in[worldid, efc_address0]
-
-    if opt_cone == ConeType.PYRAMIDAL:
-      dim = contact_dim_in[conid]
-      for i in range(1, 2 * (dim - 1)):
-        normalforce += efc_force_in[worldid, contact_efc_address_in[conid, i]]
-
-    if normalforce <= 0.0:
-      return
-
-    # convert contact normal force to global frame, normalize
-    frame = contact_frame_in[conid]
-    conray = wp.vec3(frame[0, 0], frame[0, 1], frame[0, 2]) * normalforce
-    conray, _ = math.normalize_with_norm(conray)
-
-    # flip ray direction if sensor is on body2
-    if bodyid == conbody[1]:
-      conray = -conray
-
-    # add if ray-zone intersection (always true when contact.pos inside zone)
-    dist, normal = ray.ray_geom(
-      site_xpos_in[worldid, objid],
-      site_xmat_in[worldid, objid],
-      site_size[objid],
-      contact_pos_in[conid],
-      conray,
-      site_type[objid],
-    )
-    if dist >= 0.0:
-      adr = sensor_adr[sensorid]
-      wp.atomic_add(sensordata_out[worldid], adr, normalforce)
-
-
-@wp.func
-def _transform_spatial(vec: wp.spatial_vector, dif: wp.vec3) -> wp.vec3:
-  return wp.spatial_bottom(vec) - wp.cross(dif, wp.spatial_top(vec))
-
-
-@wp.kernel(grid_stride=True)
-def _preprocess_tactile_contacts(
-  # Model:
-  body_weldid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  # Data in:
-  contact_geom_in: wp.array[wp.vec2i],
-  contact_worldid_in: wp.array[int],
-  nacon_in: wp.array[int],
-  # Out:
-  weld_geom_count_out: wp.array2d[int],
-  weld_geom_list_out: wp.array3d[int],
-):
-  conid = wp.tid()
-  ncon = nacon_in[0]
-  if conid >= ncon:
-    return
-  worldid = contact_worldid_in[conid]
-  contact_geom = contact_geom_in[conid]
-  weld1 = body_weldid[geom_bodyid[contact_geom[0]]]
-  weld2 = body_weldid[geom_bodyid[contact_geom[1]]]
-  geom1 = contact_geom[0]
-  geom2 = contact_geom[1]
-
-  for side in range(2):
-    if side == 0:
-      weld = weld1
-      geom = geom2
-    else:
-      weld = weld2
-      geom = geom1
-
-    idx = wp.atomic_add(weld_geom_count_out[worldid], weld, 1)
-    if idx < MJ_MAXCONPAIR:
-      weld_geom_list_out[worldid, weld, idx] = geom
-
-
-@wp.kernel
-def _sensor_tactile(
-  # Model:
-  body_rootid: wp.array[int],
-  body_weldid: wp.array[int],
-  oct_child: wp.array[vec8i],
-  oct_aabb: wp.array2d[wp.vec3],
-  oct_coeff: wp.array[vec8],
-  geom_type: wp.array[int],
-  geom_bodyid: wp.array[int],
-  geom_dataid: wp.array2d[int],
-  geom_size: wp.array2d[wp.vec3],
-  mesh_vertadr: wp.array[int],
-  mesh_vertnum: wp.array[int],
-  mesh_octadr: wp.array[int],
-  mesh_normaladr: wp.array[int],
-  mesh_normalnum: wp.array[int],
-  mesh_vert: wp.array[wp.vec3],
-  mesh_normal: wp.array[wp.vec3],
-  mesh_quat: wp.array[wp.quat],
-  sensor_objid: wp.array[int],
-  sensor_refid: wp.array[int],
-  sensor_dim: wp.array[int],
-  sensor_adr: wp.array[int],
-  plugin: wp.array[int],
-  plugin_attr: wp.array[vec_pluginattr],
-  geom_plugin_index: wp.array[int],
-  taxel_vertadr: wp.array[int],
-  taxel_sensorid: wp.array[int],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # In:
-  weld_geom_count_in: wp.array2d[int],
-  weld_geom_list_in: wp.array3d[int],
-  # Data out:
-  sensordata_out: wp.array2d[float],
-):
-  worldid, taxelid = wp.tid()
-
-  sensor_id = taxel_sensorid[taxelid]
-  mesh_id = sensor_objid[sensor_id]
-  geom_id = sensor_refid[sensor_id]
-  parent_body = geom_bodyid[geom_id]
-  parent_weld = body_weldid[parent_body]
-
-  geom_count = weld_geom_count_in[worldid, parent_weld]
-  if geom_count == 0:
-    return
-
-  # vertex local position
-  vertid = taxel_vertadr[taxelid] - mesh_vertadr[mesh_id]
-  pos = mesh_vert[vertid + mesh_vertadr[mesh_id]]
-
-  # position in global frame
-  xpos = geom_xmat_in[worldid, geom_id] @ pos
-  xpos += geom_xpos_in[worldid, geom_id]
-
-  has_frame = mesh_normalnum[mesh_id] == 3 * mesh_vertnum[mesh_id]
-  normal_stride = 3 if has_frame else 1
-  offset = mesh_normaladr[mesh_id] + normal_stride * vertid
-  quat = mesh_quat[mesh_id]
-  normal = math.rot_vec_quat(mesh_normal[offset], quat)
-  tang1 = wp.vec3(0.0, 0.0, 0.0)
-  tang2 = wp.vec3(0.0, 0.0, 0.0)
-  if has_frame:
-    tang1 = math.rot_vec_quat(mesh_normal[offset + 1], quat)
-    tang2 = math.rot_vec_quat(mesh_normal[offset + 2], quat)
-
-  for g in range(MJ_MAXCONPAIR):
-    if g >= geom_count:
-      break
-
-    geom = weld_geom_list_in[worldid, parent_weld, g]
-    if geom < 0:
-      continue
-
-    is_dup = int(0)
-    for j in range(g):
-      if weld_geom_list_in[worldid, parent_weld, j] == geom:
-        is_dup = int(1)
-        break
-    if is_dup == int(1):
-      continue
-
-    body = geom_bodyid[geom]
-
-    tmp = xpos - geom_xpos_in[worldid, geom]
-    lpos = wp.transpose(geom_xmat_in[worldid, geom]) @ tmp
-
-    plugin_id = geom_plugin_index[geom]
-    contact_type = geom_type[geom]
-
-    plugin_attributes, plugin_index, volume_data, mesh_data = get_sdf_params(
-      oct_child,
-      oct_aabb,
-      oct_coeff,
-      mesh_octadr,
-      plugin,
-      plugin_attr,
-      contact_type,
-      geom_size[worldid % geom_size.shape[0], geom],
-      plugin_id,
-      geom_dataid[worldid % geom_dataid.shape[0], geom],
-    )
-
-    depth = wp.min(sdf(contact_type, lpos, plugin_attributes, plugin_index, volume_data, mesh_data), 0.0)
-    if depth >= 0.0:
-      continue
-
-    vel_sensor = _transform_spatial(cvel_in[worldid, parent_weld], xpos - subtree_com_in[worldid, body_rootid[parent_weld]])
-    vel_other = _transform_spatial(
-      cvel_in[worldid, body], geom_xpos_in[worldid, geom] - subtree_com_in[worldid, body_rootid[body]]
-    )
-    vel_rel = vel_sensor - vel_other
-
-    forceT = wp.vec3(0.0, 0.0, 0.0)
-    forceT[0] = -depth
-
-    if has_frame:
-      forceT[1] = wp.abs(wp.dot(vel_rel, tang1))
-      forceT[2] = wp.abs(wp.dot(vel_rel, tang2))
-
-    dim = sensor_dim[sensor_id] // 3
-    wp.atomic_max(sensordata_out, worldid, sensor_adr[sensor_id] + 0 * dim + vertid, forceT[0])
-    wp.atomic_add(sensordata_out, worldid, sensor_adr[sensor_id] + 1 * dim + vertid, forceT[1])
-    wp.atomic_add(sensordata_out, worldid, sensor_adr[sensor_id] + 2 * dim + vertid, forceT[2])
-
-
-@wp.func
-def _check_match(body_parentid: wp.array[int], body: int, geom: int, objtype: int, objid: int) -> bool:
-  """Check if a contact body/geom matches a sensor spec (objtype, objid)."""
-  if objtype == ObjType.UNKNOWN:
-    return True
-  if objtype == ObjType.SITE:
-    return True  # already passed site filter test
-  if objtype == ObjType.GEOM:
-    return objid == geom
-  if objtype == ObjType.BODY:
-    return objid == body
-  if objtype == ObjType.XBODY:
-    # traverse up the tree from body, return true if we land on id
-    while body > objid:
-      body = body_parentid[body]
-    return body == objid
-  return False
-
-
-@wp.kernel
-def _contact_match(
-  # Model:
-  opt_cone: int,
-  opt_contact_sensor_maxmatch: int,
-  opt_warn_overflow: bool,
-  body_parentid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_type: wp.array[int],
-  site_size: wp.array[wp.vec3],
-  sensor_objtype: wp.array[int],
-  sensor_objid: wp.array[int],
-  sensor_reftype: wp.array[int],
-  sensor_refid: wp.array[int],
-  sensor_intprm: wp.array2d[int],
-  sensor_contact_adr: wp.array[int],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  contact_dist_in: wp.array[float],
-  contact_pos_in: wp.array[wp.vec3],
-  contact_frame_in: wp.array[wp.mat33],
-  contact_friction_in: wp.array[vec5],
-  contact_dim_in: wp.array[int],
-  contact_geom_in: wp.array[wp.vec2i],
-  contact_efc_address_in: wp.array2d[int],
-  contact_worldid_in: wp.array[int],
-  contact_type_in: wp.array[int],
-  efc_force_in: wp.array2d[float],
-  njmax_in: int,
-  nacon_in: wp.array[int],
-  # Data out:
-  overflow_out: wp.array[int],
-  # Out:
-  sensor_contact_nmatch_out: wp.array2d[int],
-  sensor_contact_matchid_out: wp.array3d[int],
-  sensor_contact_criteria_out: wp.array3d[float],
-  sensor_contact_direction_out: wp.array3d[float],
-):
-  contactsensorid, contactid = wp.tid()
-  sensorid = sensor_contact_adr[contactsensorid]
-
-  if contactid >= nacon_in[0]:
-    return
-
-  if not contact_type_in[contactid] & ContactType.CONSTRAINT:
-    return
-
-  # sensor information
-  objtype = sensor_objtype[sensorid]
-  objid = sensor_objid[sensorid]
-  reftype = sensor_reftype[sensorid]
-  refid = sensor_refid[sensorid]
-  reduce = sensor_intprm[sensorid, 1]
-
-  worldid = contact_worldid_in[contactid]
-
-  # site filter
-  if objtype == ObjType.SITE:
-    if not inside_geom(
-      site_xpos_in[worldid, objid], site_xmat_in[worldid, objid], site_size[objid], site_type[objid], contact_pos_in[contactid]
-    ):
-      return
-
-  # unknown-unknown match
-  if objtype == ObjType.UNKNOWN and reftype == ObjType.UNKNOWN:
-    dir = 1.0
-  else:
-    # contact information
-    geom = contact_geom_in[contactid]
-    geom1 = geom[0]
-    geom2 = geom[1]
-    body1 = geom_bodyid[geom1]
-    body2 = geom_bodyid[geom2]
-
-    # check match of sensor objects with contact objects
-    match11 = _check_match(body_parentid, body1, geom1, objtype, objid)
-    match12 = _check_match(body_parentid, body2, geom2, objtype, objid)
-    match21 = _check_match(body_parentid, body1, geom1, reftype, refid)
-    match22 = _check_match(body_parentid, body2, geom2, reftype, refid)
-
-    # if a sensor object is specified, it must be involved in the contact
-    if not match11 and not match12:
-      return
-    if not match21 and not match22:
-      return
-
-    # determine direction
-    dir = 1.0
-    if objtype != ObjType.UNKNOWN and reftype != ObjType.UNKNOWN:
-      # both obj1 and obj2 specified: direction depends on order
-      order_regular = match11 and match22
-      order_reverse = match12 and match21
-      if not order_regular and not order_reverse:
-        return
-      if order_reverse and not order_regular:
-        dir = -1.0
-    elif objtype != ObjType.UNKNOWN:
-      if not match11:
-        dir = -1.0
-    elif reftype != ObjType.UNKNOWN:
-      if not match22:
-        dir = -1.0
-
-  contactmatchid = wp.atomic_add(sensor_contact_nmatch_out[worldid], contactsensorid, 1)
-
-  if contactmatchid >= opt_contact_sensor_maxmatch:
-    if opt_warn_overflow:
-      wp.printf("contact match overflow: please increase Option.contact_sensor_maxmatch to %u\n", contactmatchid)
-    wp.atomic_or(overflow_out, worldid, OverflowType.CONTACT_MATCH)
-    return
-
-  sensor_contact_matchid_out[worldid, contactsensorid, contactmatchid] = contactid
-
-  if reduce == 1:  # mindist
-    sensor_contact_criteria_out[worldid, contactsensorid, contactmatchid] = contact_dist_in[contactid]
-  elif reduce == 2:  # maxforce
-    contact_force = support.contact_force_fn(
-      opt_cone,
-      contact_frame_in,
-      contact_friction_in,
-      contact_dim_in,
-      contact_efc_address_in,
-      efc_force_in,
-      njmax_in,
-      nacon_in,
-      worldid,
-      contactid,
-      False,
-    )
-    force_magnitude = (
-      contact_force[0] * contact_force[0] + contact_force[1] * contact_force[1] + contact_force[2] * contact_force[2]
-    )
-    sensor_contact_criteria_out[worldid, contactsensorid, contactmatchid] = -force_magnitude
-
-  # contact direction
-  sensor_contact_direction_out[worldid, contactsensorid, contactmatchid] = dir
-
-
-@cache_kernel
-def _contact_sort(maxmatch: int):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def contact_sort(
-    # Model:
-    sensor_intprm: wp.array2d[int],
-    sensor_contact_adr: wp.array[int],
-    # In:
-    sensor_contact_nmatch_in: wp.array2d[int],
-    sensor_contact_matchid_in: wp.array3d[int],
-    sensor_contact_criteria_in: wp.array3d[float],
-    # Out:
-    sensor_contact_matchid_out: wp.array3d[int],
-  ):
-    worldid, contactsensorid = wp.tid()
-
-    worldid, contactsensorid = wp.tid()
-    sensorid = sensor_contact_adr[contactsensorid]
-
-    reduce = sensor_intprm[sensorid, 1]
-    if reduce == 0 or reduce == 3:  # none or netforce
-      return
-
-    nmatch = sensor_contact_nmatch_in[worldid, contactsensorid]
-
-    # skip sort
-    if nmatch <= 1:
-      return
-
-    criteria_tile = wp.tile_load(sensor_contact_criteria_in[worldid, contactsensorid], shape=maxmatch)
-    matchid_tile = wp.tile_load(sensor_contact_matchid_in[worldid, contactsensorid], shape=maxmatch)
-    wp.tile_sort(criteria_tile, matchid_tile)
-    wp.tile_store(sensor_contact_matchid_out[worldid, contactsensorid], matchid_tile)
-
-  return contact_sort
-
-
-@event_scope
-def sensor_acc(m: Model, d: Data):
-  """Compute acceleration-dependent sensor values."""
-  if m.opt.disableflags & DisableBit.SENSOR:
-    return
-
-  wp.launch(
-    _sensor_touch,
-    dim=(d.naconmax, m.sensor_touch_adr.size),
-    inputs=[
-      m.opt.cone,
-      m.geom_bodyid,
-      m.site_type,
-      m.site_bodyid,
-      m.site_size,
-      m.sensor_objid,
-      m.sensor_adr,
-      m.sensor_touch_adr,
-      d.site_xpos,
-      d.site_xmat,
-      d.contact.pos,
-      d.contact.frame,
-      d.contact.dim,
-      d.contact.geom,
-      d.contact.efc_address,
-      d.contact.worldid,
-      d.efc.force,
-      d.nacon,
-    ],
-    outputs=[
-      d.sensordata,
-    ],
-  )
-
-  weld_geom_count = wp.zeros((d.nworld, m.nbody), dtype=int)
-  weld_geom_list = wp.full((d.nworld, m.nbody, MJ_MAXCONPAIR), -1, dtype=int)
-  wp.launch(
-    _preprocess_tactile_contacts,
-    dim=d.naconmax,
-    inputs=[
-      m.body_weldid,
-      m.geom_bodyid,
-      d.contact.geom,
-      d.contact.worldid,
-      d.nacon,
-    ],
-    outputs=[
-      weld_geom_count,
-      weld_geom_list,
-    ],
-  )
-
-  wp.launch(
-    _sensor_tactile,
-    dim=(d.nworld, m.nsensortaxel),
-    inputs=[
-      m.body_rootid,
-      m.body_weldid,
-      m.oct_child,
-      m.oct_aabb,
-      m.oct_coeff,
-      m.geom_type,
-      m.geom_bodyid,
-      m.geom_dataid,
-      m.geom_size,
-      m.mesh_vertadr,
-      m.mesh_vertnum,
-      m.mesh_octadr,
-      m.mesh_normaladr,
-      m.mesh_normalnum,
-      m.mesh_vert,
-      m.mesh_normal,
-      m.mesh_quat,
-      m.sensor_objid,
-      m.sensor_refid,
-      m.sensor_dim,
-      m.sensor_adr,
-      m.plugin,
-      m.plugin_attr,
-      m.geom_plugin_index,
-      m.taxel_vertadr,
-      m.taxel_sensorid,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.subtree_com,
-      d.cvel,
-      weld_geom_count,
-      weld_geom_list,
-    ],
-    outputs=[
-      d.sensordata,
-    ],
-  )
-
-  sensor_contact_nmatch = wp.empty((d.nworld, m.nsensorcontact), dtype=int)
-  sensor_contact_matchid = wp.empty((d.nworld, m.nsensorcontact, m.opt.contact_sensor_maxmatch), dtype=int)
-  sensor_contact_direction = wp.empty((d.nworld, m.nsensorcontact, m.opt.contact_sensor_maxmatch), dtype=float)
-  if m.nsensorcontact:
-    sensor_contact_criteria = wp.empty((d.nworld, m.nsensorcontact, m.opt.contact_sensor_maxmatch), dtype=float)
-    # TODO(team): fill_ operations in one kernel?
-    sensor_contact_nmatch.fill_(0)
-    sensor_contact_matchid.fill_(-1)
-    sensor_contact_criteria.fill_(1.0e32)
-
-    wp.launch(
-      _contact_match,
-      dim=(m.sensor_contact_adr.size, d.naconmax),
-      inputs=[
-        m.opt.cone,
-        m.opt.contact_sensor_maxmatch,
-        m.opt.warn_overflow,
-        m.body_parentid,
-        m.geom_bodyid,
-        m.site_type,
-        m.site_size,
-        m.sensor_objtype,
-        m.sensor_objid,
-        m.sensor_reftype,
-        m.sensor_refid,
-        m.sensor_intprm,
-        m.sensor_contact_adr,
-        d.site_xpos,
-        d.site_xmat,
-        d.contact.dist,
-        d.contact.pos,
-        d.contact.frame,
-        d.contact.friction,
-        d.contact.dim,
-        d.contact.geom,
-        d.contact.efc_address,
-        d.contact.worldid,
-        d.contact.type,
-        d.efc.force,
-        d.njmax,
-        d.nacon,
-      ],
-      outputs=[d.overflow, sensor_contact_nmatch, sensor_contact_matchid, sensor_contact_criteria, sensor_contact_direction],
-    )
-
-    # sorting
-    wp.launch_tiled(
-      _contact_sort(m.opt.contact_sensor_maxmatch),
-      dim=(d.nworld, m.sensor_contact_adr.size),
-      inputs=[m.sensor_intprm, m.sensor_contact_adr, sensor_contact_nmatch, sensor_contact_matchid, sensor_contact_criteria],
-      outputs=[sensor_contact_matchid],
-      block_dim=m.block_dim.contact_sort,
-    )
-
-  if m.sensor_rne_postconstraint:
-    smooth.rne_postconstraint(m, d)
-
-  wp.launch(
-    _sensor_acc,
-    dim=(d.nworld, m.sensor_acc_adr.size),
-    inputs=[
-      m.opt.cone,
-      m.body_rootid,
-      m.jnt_dofadr,
-      m.geom_bodyid,
-      m.site_bodyid,
-      m.cam_bodyid,
-      m.sensor_type,
-      m.sensor_datatype,
-      m.sensor_objtype,
-      m.sensor_objid,
-      m.sensor_intprm,
-      m.sensor_dim,
-      m.sensor_adr,
-      m.sensor_cutoff,
-      m.sensor_acc_adr,
-      m.sensor_adr_to_contact_adr,
-      d.xpos,
-      d.xipos,
-      d.geom_xpos,
-      d.site_xpos,
-      d.site_xmat,
-      d.cam_xpos,
-      d.subtree_com,
-      d.cvel,
-      d.actuator_force,
-      d.qfrc_actuator,
-      d.cacc,
-      d.cfrc_int,
-      d.contact.dist,
-      d.contact.pos,
-      d.contact.frame,
-      d.contact.friction,
-      d.contact.dim,
-      d.contact.efc_address,
-      d.efc.force,
-      d.njmax,
-      d.nacon,
-      sensor_contact_nmatch,
-      sensor_contact_matchid,
-      sensor_contact_direction,
-    ],
-    outputs=[d.sensordata],
-  )
-
-  wp.launch(
-    _tendon_actuator_force,
-    dim=(d.nworld, m.sensor_tendonactfrc_adr.size, m.nu),
-    inputs=[
-      m.actuator_trntype,
-      m.actuator_trnid,
-      m.sensor_objid,
-      m.sensor_adr,
-      m.sensor_tendonactfrc_adr,
-      d.actuator_force,
-    ],
-    outputs=[
-      d.sensordata,
-    ],
-  )
-
-  wp.launch(
-    _tendon_actuator_force_cutoff,
-    dim=(d.nworld, m.sensor_tendonactfrc_adr.size),
-    inputs=[
-      m.sensor_type,
-      m.sensor_datatype,
-      m.sensor_adr,
-      m.sensor_cutoff,
-      m.sensor_tendonactfrc_adr,
-      d.sensordata,
-    ],
-    outputs=[d.sensordata],
-  )
-
-  wp.launch(
-    _limit_frc,
-    dim=(d.nworld, d.njmax, m.sensor_limitfrc_adr.size),
-    inputs=[
-      m.sensor_type,
-      m.sensor_datatype,
-      m.sensor_objid,
-      m.sensor_adr,
-      m.sensor_cutoff,
-      m.sensor_limitfrc_adr,
-      d.ne,
-      d.nf,
-      d.nl,
-      d.efc.type,
-      d.efc.id,
-      d.efc.force,
-    ],
-    outputs=[
-      d.sensordata,
-    ],
-  )
-
-  # apply sensor delay/interval for acceleration sensors
-  history.apply_sensor_delay(m, d, m.sensor_acc_adr)
-  history.apply_sensor_delay(m, d, m.sensor_limitfrc_adr)
-
-  if m.callback.sensor:
-    m.callback.sensor(m, d, Stage.ACC)
-
-
-@wp.kernel
-def _energy_pos_zero(
-  # Data out:
-  energy_out: wp.array[wp.vec2],
-):
-  worldid = wp.tid()
-  energy_out[worldid][0] = 0.0
-
-
-@wp.kernel
-def _energy_pos_gravity(
-  # Model:
-  opt_gravity: wp.array[wp.vec3],
-  body_mass: wp.array2d[float],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  # Data out:
-  energy_out: wp.array[wp.vec2],
-):
-  worldid, bodyid = wp.tid()
-  gravity = opt_gravity[worldid % opt_gravity.shape[0]]
-  bodyid += 1  # skip world body
-
-  energy = wp.vec2(
-    body_mass[worldid % body_mass.shape[0], bodyid] * wp.dot(gravity, xipos_in[worldid, bodyid]),
-    0.0,
-  )
-
-  wp.atomic_sub(energy_out, worldid, energy)
-
-
-@wp.kernel
-def _energy_pos_passive_joint(
-  # Model:
-  qpos_spring: wp.array2d[float],
-  jnt_type: wp.array[int],
-  jnt_qposadr: wp.array[int],
-  jnt_stiffness: wp.array2d[float],
-  jnt_stiffnesspoly: wp.array2d[wp.vec2],
-  # Data in:
-  qpos_in: wp.array2d[float],
-  # Data out:
-  energy_out: wp.array[wp.vec2],
-):
-  worldid, jntid = wp.tid()
-  jnt_stiffness_id = worldid % jnt_stiffness.shape[0]
-  stiffness = jnt_stiffness[jnt_stiffness_id, jntid]
-  spoly = jnt_stiffnesspoly[worldid % jnt_stiffnesspoly.shape[0], jntid]
-
-  if stiffness == 0.0 and spoly[0] == 0.0 and spoly[1] == 0.0:
-    return
-
-  padr = jnt_qposadr[jntid]
-  jnttype = jnt_type[jntid]
-  qpos_spring_id = worldid % qpos_spring.shape[0]
-
-  if jnttype == JointType.FREE:
-    dif0 = wp.vec3(
-      qpos_in[worldid, padr + 0] - qpos_spring[qpos_spring_id, padr + 0],
-      qpos_in[worldid, padr + 1] - qpos_spring[qpos_spring_id, padr + 1],
-      qpos_in[worldid, padr + 2] - qpos_spring[qpos_spring_id, padr + 2],
-    )
-
-    # convert quaternion difference into angular "velocity"
-    quat1 = wp.quat(
-      qpos_in[worldid, padr + 3],
-      qpos_in[worldid, padr + 4],
-      qpos_in[worldid, padr + 5],
-      qpos_in[worldid, padr + 6],
-    )
-    quat1 = wp.normalize(quat1)
-
-    quat_spring = wp.quat(
-      qpos_spring[qpos_spring_id, padr + 3],
-      qpos_spring[qpos_spring_id, padr + 4],
-      qpos_spring[qpos_spring_id, padr + 5],
-      qpos_spring[qpos_spring_id, padr + 6],
-    )
-
-    dif1 = math.quat_sub(quat1, quat_spring)
-
-    r0 = wp.length(dif0)
-    r1 = wp.length(dif1)
-
-    energy = wp.vec2(
-      poly_potential(stiffness, spoly, r0, 0) + poly_potential(stiffness, spoly, r1, 0),
-      0.0,
-    )
-
-    wp.atomic_add(energy_out, worldid, energy)
-
-  elif jnttype == JointType.BALL:
-    quat = wp.quat(
-      qpos_in[worldid, padr + 0],
-      qpos_in[worldid, padr + 1],
-      qpos_in[worldid, padr + 2],
-      qpos_in[worldid, padr + 3],
-    )
-    quat = wp.normalize(quat)
-
-    quat_spring = wp.quat(
-      qpos_spring[qpos_spring_id, padr + 0],
-      qpos_spring[qpos_spring_id, padr + 1],
-      qpos_spring[qpos_spring_id, padr + 2],
-      qpos_spring[qpos_spring_id, padr + 3],
-    )
-
-    dif = math.quat_sub(quat, quat_spring)
-    r = wp.length(dif)
-    energy = wp.vec2(
-      poly_potential(stiffness, spoly, r, 0),
-      0.0,
-    )
-    wp.atomic_add(energy_out, worldid, energy)
-  elif jnttype == JointType.SLIDE or jnttype == JointType.HINGE:
-    dif_ = qpos_in[worldid, padr] - qpos_spring[qpos_spring_id, padr]
-    energy = wp.vec2(
-      poly_potential(stiffness, spoly, dif_, 0),
-      0.0,
-    )
-    wp.atomic_add(energy_out, worldid, energy)
-
-
-@wp.kernel
-def _energy_pos_passive_tendon(
-  # Model:
-  tendon_stiffness: wp.array2d[float],
-  tendon_stiffnesspoly: wp.array2d[wp.vec2],
-  tendon_lengthspring: wp.array2d[wp.vec2],
-  # Data in:
-  ten_length_in: wp.array2d[float],
-  # Data out:
-  energy_out: wp.array[wp.vec2],
-):
-  worldid, tenid = wp.tid()
-
-  tendon_stiffness_id = worldid % tendon_stiffness.shape[0]
-  stiffness = tendon_stiffness[tendon_stiffness_id, tenid]
-  spoly = tendon_stiffnesspoly[worldid % tendon_stiffnesspoly.shape[0], tenid]
-
-  if stiffness == 0.0 and spoly[0] == 0.0 and spoly[1] == 0.0:
-    return
-
-  length = ten_length_in[worldid, tenid]
-
-  # compute spring displacement
-  tendon_lengthspring_id = worldid % tendon_lengthspring.shape[0]
-  lengthspring = tendon_lengthspring[tendon_lengthspring_id, tenid]
-  lower = lengthspring[0]
-  upper = lengthspring[1]
-
-  if length > upper:
-    x = length - upper
-  elif length < lower:
-    x = length - lower
-  else:
-    x = 0.0
-
-  energy = wp.vec2(poly_potential(stiffness, spoly, x, 0), 0.0)
-  wp.atomic_add(energy_out, worldid, energy)
-
-
-def energy_pos(m: Model, d: Data):
-  """Position-dependent energy (potential)."""
-  wp.launch(_energy_pos_zero, dim=d.nworld, outputs=[d.energy])
-
-  # init potential energy: -sum_i(body_i.mass * dot(gravity, body_i.pos))
-  if not (m.opt.disableflags & DisableBit.GRAVITY):
-    wp.launch(
-      _energy_pos_gravity, dim=(d.nworld, m.nbody - 1), inputs=[m.opt.gravity, m.body_mass, d.xipos], outputs=[d.energy]
-    )
-
-  if not (m.opt.disableflags & DisableBit.SPRING):
-    # add joint-level springs
-    wp.launch(
-      _energy_pos_passive_joint,
-      dim=(d.nworld, m.njnt),
-      inputs=[
-        m.qpos_spring,
-        m.jnt_type,
-        m.jnt_qposadr,
-        m.jnt_stiffness,
-        m.jnt_stiffnesspoly,
-        d.qpos,
-      ],
-      outputs=[d.energy],
-    )
-
-    # add tendon-level springs
-    if m.ntendon:
-      wp.launch(
-        _energy_pos_passive_tendon,
-        dim=(d.nworld, m.ntendon),
-        inputs=[
-          m.tendon_stiffness,
-          m.tendon_stiffnesspoly,
-          m.tendon_lengthspring,
-          d.ten_length,
-        ],
-        outputs=[d.energy],
-      )
-
-    # TODO(team): flex
-
-
-@cache_kernel
-def _energy_vel_kinetic(nv: int):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def energy_vel_kinetic(
-    # Data in:
-    qvel_in: wp.array2d[float],
-    # In:
-    Mqvel: wp.array2d[float],
-    # Data out:
-    energy_out: wp.array[wp.vec2],
-  ):
-    worldid = wp.tid()
-
-    qvel_tile = wp.tile_load(qvel_in[worldid], shape=wp.static(nv))
-    Mqvel_tile = wp.tile_load(Mqvel[worldid], shape=wp.static(nv))
-
-    # qvel * (M @ qvel)
-    qvelMqvel_tile = wp.tile_map(wp.mul, qvel_tile, Mqvel_tile)
-
-    # sum(qvel * (M @ qvel))
-    quadratic_tile = wp.tile_reduce(wp.add, qvelMqvel_tile)
-
-    energy_out[worldid][1] = 0.5 * quadratic_tile[0]
-
-  return energy_vel_kinetic
-
-
-def energy_vel(m: Model, d: Data):
-  """Velocity-dependent energy (kinetic)."""
-  # kinetic energy: 0.5 * qvel.T @ M @ qvel
-
-  # M @ qvel
-  mv = wp.zeros((d.nworld, m.nv), dtype=float)
-  support.mul_m(m, d, mv, d.qvel)
-
-  wp.launch_tiled(
-    _energy_vel_kinetic(m.nv),
-    dim=d.nworld,
-    inputs=[d.qvel, mv],
-    outputs=[d.energy],
-    block_dim=m.block_dim.energy_vel_kinetic,
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sleep.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sleep.py
deleted file mode 100644
index b4660590..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sleep.py
+++ /dev/null
@@ -1,999 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import types
-from mujoco.mjx.third_party.mujoco_warp._src.types import EqType
-from mujoco.mjx.third_party.mujoco_warp._src.types import ObjType
-from mujoco.mjx.third_party.mujoco_warp._src.types import SleepPolicy
-from mujoco.mjx.third_party.mujoco_warp._src.types import SleepState
-from mujoco.mjx.third_party.mujoco_warp._src.types import WrapType
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-# tree_asleep value for fully awake tree
-K_AWAKE_VAL = -(1 + types.MJ_MINAWAKE)
-
-
-@wp.func
-def _sleep_cycle(tree_asleep: wp.array2d[int], ntree: int, worldid: int, treeid: int) -> int:  # kernel_analyzer: ignore
-  if treeid < 0 or treeid >= ntree:
-    return -1
-
-  smallest = int(treeid)
-  current = int(treeid)
-  count = int(0)
-
-  for step in range(ntree + 1):  # safe upper bound
-    next_tree = tree_asleep[worldid, current]
-    if next_tree < 0 or next_tree >= ntree:
-      return -1
-
-    if next_tree < smallest:
-      smallest = next_tree
-
-    current = next_tree
-    count += 1
-    if current == treeid:
-      break
-
-  return smallest
-
-
-@wp.func
-def _tendon_limit_active(
-  tendon_limited: wp.array[int],  # kernel_analyzer: ignore
-  tendon_range: wp.array2d[wp.vec2],  # kernel_analyzer: ignore
-  tendon_margin: wp.array2d[float],  # kernel_analyzer: ignore
-  ten_length: wp.array2d[float],  # kernel_analyzer: ignore
-  worldid: int,  # kernel_analyzer: ignore
-  tenid: int,
-) -> bool:
-  if tendon_limited[tenid] == 0:
-    return False
-
-  length = ten_length[worldid, tenid]
-  margin = tendon_margin[worldid % tendon_margin.shape[0], tenid]
-  r = tendon_range[worldid % tendon_range.shape[0], tenid]
-
-  # low limit
-  dist_low = length - r[0]
-  if dist_low < margin:
-    return True
-
-  # high limit
-  dist_high = r[1] - length
-  if dist_high < margin:
-    return True
-
-  return False
-
-
-@wp.kernel
-def _zero_sleep_counters(
-  # Data out:
-  ntree_awake_out: wp.array[int],
-  nbody_awake_out: wp.array[int],
-  nv_awake_out: wp.array[int],
-):
-  worldid = wp.tid()
-  ntree_awake_out[worldid] = 0
-  nbody_awake_out[worldid] = 0
-  nv_awake_out[worldid] = 0
-
-
-@wp.kernel
-def _update_sleep_trees(
-  # Data in:
-  tree_asleep_in: wp.array2d[int],
-  # Data out:
-  ntree_awake_out: wp.array[int],
-  tree_awake_out: wp.array2d[int],
-):
-  worldid, treeid = wp.tid()
-  is_awake = int(tree_asleep_in[worldid, treeid] < 0)
-  tree_awake_out[worldid, treeid] = is_awake
-  if is_awake == 1:
-    wp.atomic_add(ntree_awake_out, worldid, 1)
-
-
-@wp.kernel
-def _update_sleep_bodies(
-  # Model:
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  body_mocapid: wp.array[int],
-  body_treeid: wp.array[int],
-  # Data in:
-  tree_awake_in: wp.array2d[int],
-  # In:
-  flg_staticawake: int,
-  # Data out:
-  nbody_awake_out: wp.array[int],
-  body_awake_out: wp.array2d[int],
-  body_awake_ind_out: wp.array2d[int],
-):
-  worldid, bodyid = wp.tid()
-
-  tree = body_treeid[bodyid]
-
-  # check static
-  if tree < 0:
-    root = body_rootid[bodyid]
-    mocap = body_mocapid[root]
-    if mocap >= 0:
-      state = SleepState.AWAKE
-    else:
-      state = SleepState.AWAKE if flg_staticawake != 0 else SleepState.STATIC
-  else:
-    state = SleepState.AWAKE if tree_awake_in[worldid, tree] == 1 else SleepState.ASLEEP
-
-  body_awake_out[worldid, bodyid] = state
-
-  if state != SleepState.ASLEEP:
-    idx = wp.atomic_add(nbody_awake_out, worldid, 1)
-    body_awake_ind_out[worldid, idx] = bodyid
-
-
-@wp.kernel
-def _update_sleep_dofs(
-  # Model:
-  body_treeid: wp.array[int],
-  dof_bodyid: wp.array[int],
-  # Data in:
-  body_awake_in: wp.array2d[int],
-  # Data out:
-  nv_awake_out: wp.array[int],
-  dof_awake_ind_out: wp.array2d[int],
-):
-  worldid, dofid = wp.tid()
-  bodyid = dof_bodyid[dofid]
-  if body_treeid[bodyid] >= 0 and body_awake_in[worldid, bodyid] == SleepState.AWAKE:
-    idx = wp.atomic_add(nv_awake_out, worldid, 1)
-    dof_awake_ind_out[worldid, idx] = dofid
-
-
-@event_scope
-def update_sleep(m: types.Model, d: types.Data, flg_staticawake: int = 0):
-  """Computes sleeping arrays from tree_asleep."""
-  wp.launch(
-    _zero_sleep_counters,
-    dim=d.nworld,
-    inputs=[],
-    outputs=[d.ntree_awake, d.nbody_awake, d.nv_awake],
-  )
-
-  wp.launch(
-    _update_sleep_trees,
-    dim=(d.nworld, m.ntree),
-    inputs=[d.tree_asleep],
-    outputs=[d.ntree_awake, d.tree_awake],
-  )
-
-  wp.launch(
-    _update_sleep_bodies,
-    dim=(d.nworld, m.nbody),
-    inputs=[
-      m.body_parentid,
-      m.body_rootid,
-      m.body_mocapid,
-      m.body_treeid,
-      d.tree_awake,
-      flg_staticawake,
-    ],
-    outputs=[
-      d.nbody_awake,
-      d.body_awake,
-      d.body_awake_ind,
-    ],
-  )
-
-  wp.launch(
-    _update_sleep_dofs,
-    dim=(d.nworld, m.nv),
-    inputs=[
-      m.body_treeid,
-      m.dof_bodyid,
-      d.body_awake,
-    ],
-    outputs=[d.nv_awake, d.dof_awake_ind],
-  )
-
-
-@event_scope
-def update_sleep_trees(m: types.Model, d: types.Data):
-  """Lightweight update of tree_awake array only, avoiding body/dof kernel launches."""
-  wp.launch(
-    _zero_sleep_counters,
-    dim=d.nworld,
-    inputs=[],
-    outputs=[d.ntree_awake, d.nbody_awake, d.nv_awake],
-  )
-
-  wp.launch(
-    _update_sleep_trees,
-    dim=(d.nworld, m.ntree),
-    inputs=[d.tree_asleep],
-    outputs=[d.ntree_awake, d.tree_awake],
-  )
-
-
-@wp.func
-def _wake_tree(
-  # Model:
-  ntree: int,
-  # In:
-  worldid: int,
-  treeid: int,
-  wakeval: int,
-  # Data out:
-  tree_asleep_out: wp.array2d[int],
-) -> int:
-  """Wakes tree treeid and its associated cycle, returning number of woke trees."""
-  if treeid < 0 or treeid >= ntree:
-    return 0
-
-  asleep_val = tree_asleep_out[worldid, treeid]
-  if asleep_val < 0:
-    if wakeval < asleep_val:
-      tree_asleep_out[worldid, treeid] = wakeval
-    return 0
-
-  nwoke = int(0)
-  current = int(treeid)
-  for step in range(ntree + 1):  # safe upper bound
-    next_tree = tree_asleep_out[worldid, current]
-    if next_tree < 0 or next_tree >= ntree:
-      break
-
-    tree_asleep_out[worldid, current] = wakeval
-    nwoke += 1
-    current = next_tree
-    if current == treeid:
-      break
-
-  return nwoke
-
-
-@wp.func
-def _tree_can_sleep(
-  # Model:
-  nbody: int,
-  body_treeid: wp.array[int],
-  dof_length: wp.array[float],
-  tree_dofadr: wp.array[int],
-  tree_dofnum: wp.array[int],
-  tree_sleep_policy: wp.array[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  qfrc_applied_in: wp.array2d[float],
-  xfrc_applied_in: wp.array2d[wp.spatial_vector],
-  # In:
-  worldid: int,
-  treeid: int,
-  sleep_tolerance: float,
-) -> bool:
-  policy = tree_sleep_policy[treeid]
-  if policy == SleepPolicy.AUTO_NEVER:
-    return False
-
-  # check xfrc_applied
-  for b in range(nbody):
-    if body_treeid[b] == treeid:
-      xfrc = xfrc_applied_in[worldid, b]
-      for i in range(6):
-        if xfrc[i] != 0.0:
-          return False
-
-  # check qfrc_applied
-  dofadr = tree_dofadr[treeid]
-  dofnum = tree_dofnum[treeid]
-  for d in range(dofnum):
-    if qfrc_applied_in[worldid, dofadr + d] != 0.0:
-      return False
-
-  # check qvel
-  for d in range(dofnum):
-    dof_idx = dofadr + d
-    v = qvel_in[worldid, dof_idx]
-    weight = dof_length[dof_idx]
-    if sleep_tolerance > 0.0:
-      if wp.abs(weight * v) >= sleep_tolerance:
-        return False
-    else:
-      if v != 0.0:
-        return False
-
-  return True
-
-
-@wp.kernel
-def _wake_kernel(
-  # Model:
-  nbody: int,
-  ntree: int,
-  body_treeid: wp.array[int],
-  dof_length: wp.array[float],
-  tree_dofadr: wp.array[int],
-  tree_dofnum: wp.array[int],
-  tree_sleep_policy: wp.array[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  qfrc_applied_in: wp.array2d[float],
-  xfrc_applied_in: wp.array2d[wp.spatial_vector],
-  tree_awake_in: wp.array2d[int],
-  # Out:
-  tree_asleep_out: wp.array2d[int],  # kernel_analyzer: ignore
-):
-  worldid, treeid = wp.tid()
-
-  asleep = int(tree_asleep_out[worldid, treeid] >= 0)
-  if asleep == 0:
-    return
-
-  # if tree_awake mismatch or cannot sleep: wake up
-  if tree_awake_in[worldid, treeid] == 1 or not _tree_can_sleep(
-    nbody,
-    body_treeid,
-    dof_length,
-    tree_dofadr,
-    tree_dofnum,
-    tree_sleep_policy,
-    qvel_in,
-    qfrc_applied_in,
-    xfrc_applied_in,
-    worldid,
-    treeid,
-    0.0,  # zero tolerance
-  ):
-    _wake_tree(ntree, worldid, treeid, K_AWAKE_VAL, tree_asleep_out)
-
-
-@wp.kernel
-def _wake_collision_kernel(
-  # Model:
-  ntree: int,
-  body_treeid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  # Data in:
-  tree_awake_in: wp.array2d[int],
-  contact_geom_in: wp.array[wp.vec2i],
-  contact_worldid_in: wp.array[int],
-  nacon_in: wp.array[int],
-  # Out:
-  tree_asleep_out: wp.array2d[int],  # kernel_analyzer: ignore
-):
-  conid = wp.tid()
-  if conid >= nacon_in[0]:
-    return
-
-  geom_pair = contact_geom_in[conid]
-  g1 = geom_pair[0]
-  g2 = geom_pair[1]
-
-  if g1 < 0 or g2 < 0:
-    return
-
-  b1 = geom_bodyid[g1]
-  b2 = geom_bodyid[g2]
-  tree1 = body_treeid[b1]
-  tree2 = body_treeid[b2]
-
-  if tree1 < 0 or tree2 < 0:
-    return
-
-  worldid = contact_worldid_in[conid]
-  awake1 = tree_awake_in[worldid, tree1]
-  awake2 = tree_awake_in[worldid, tree2]
-
-  if awake1 == 1 and awake2 == 1:
-    return
-
-  if awake1 == 0 and awake2 == 0:
-    return
-
-  # wake sleeping tree
-  sleeping_tree = tree2 if awake1 == 1 else tree1
-  wakeval = tree_asleep_out[worldid, tree1] if awake1 == 1 else tree_asleep_out[worldid, tree2]
-
-  _wake_tree(ntree, worldid, sleeping_tree, wakeval, tree_asleep_out)
-
-
-@wp.kernel
-def _wake_tendon_kernel(
-  # Model:
-  ntree: int,
-  ntendon: int,
-  body_treeid: wp.array[int],
-  jnt_bodyid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  tendon_adr: wp.array[int],
-  tendon_num: wp.array[int],
-  tendon_limited: wp.array[int],
-  tendon_range: wp.array2d[wp.vec2],
-  tendon_margin: wp.array2d[float],
-  wrap_type: wp.array[int],
-  wrap_objid: wp.array[int],
-  # Data in:
-  ten_length_in: wp.array2d[float],
-  tree_awake_in: wp.array2d[int],
-  # Data out:
-  tree_asleep_out: wp.array2d[int],
-):
-  worldid, tenid = wp.tid()
-
-  adr = tendon_adr[tenid]
-  num = tendon_num[tenid]
-
-  # Pass 1: Check if any tree involved in the tendon is awake
-  any_awake = int(0)
-  wakeval = int(K_AWAKE_VAL)
-
-  for i in range(num):
-    idx = adr + i
-    t_type = wrap_type[idx]
-    t_objid = wrap_objid[idx]
-    t = int(-1)
-    if t_type == WrapType.JOINT:
-      t = body_treeid[jnt_bodyid[t_objid]]
-    elif t_type == WrapType.SITE:
-      t = body_treeid[site_bodyid[t_objid]]
-    elif t_type == WrapType.SPHERE or t_type == WrapType.CYLINDER:
-      t = body_treeid[geom_bodyid[t_objid]]
-
-    if t >= 0:
-      if tree_awake_in[worldid, t] == 1:
-        any_awake = 1
-        val = tree_asleep_out[worldid, t]
-        if val < wakeval:
-          wakeval = val
-
-  # Pass 2: If at least one tree is awake and the limit is active, wake up all sleeping trees
-  if any_awake == 1:
-    if _tendon_limit_active(tendon_limited, tendon_range, tendon_margin, ten_length_in, worldid, tenid):
-      for i in range(num):
-        idx = adr + i
-        t_type = wrap_type[idx]
-        t_objid = wrap_objid[idx]
-        t = int(-1)
-        if t_type == WrapType.JOINT:
-          t = body_treeid[jnt_bodyid[t_objid]]
-        elif t_type == WrapType.SITE:
-          t = body_treeid[site_bodyid[t_objid]]
-        elif t_type == WrapType.SPHERE or t_type == WrapType.CYLINDER:
-          t = body_treeid[geom_bodyid[t_objid]]
-
-        if t >= 0:
-          if tree_awake_in[worldid, t] == 0:
-            _wake_tree(ntree, worldid, t, wakeval, tree_asleep_out)
-
-
-@wp.func
-def _tendon_wake_val(
-  # Model:
-  body_treeid: wp.array[int],
-  jnt_bodyid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  tendon_adr: wp.array[int],
-  tendon_num: wp.array[int],
-  wrap_type: wp.array[int],
-  wrap_objid: wp.array[int],
-  # Data in:
-  tree_awake_in: wp.array2d[int],
-  # In:
-  worldid: int,
-  tenid: int,
-  # Data out:
-  tree_asleep_out: wp.array2d[int],
-) -> int:
-  """Returns the minimum (most-awake) tree_asleep value if any tree in tendon is awake, else 0."""
-  if tenid < 0:
-    return 0
-
-  adr = tendon_adr[tenid]
-  num = tendon_num[tenid]
-  wakeval = int(0)
-
-  for i in range(num):
-    idx = adr + i
-    t_type = wrap_type[idx]
-    t_objid = wrap_objid[idx]
-    t = int(-1)
-    if t_type == WrapType.JOINT:
-      t = body_treeid[jnt_bodyid[t_objid]]
-    elif t_type == WrapType.SITE:
-      t = body_treeid[site_bodyid[t_objid]]
-    elif t_type == WrapType.SPHERE or t_type == WrapType.CYLINDER:
-      t = body_treeid[geom_bodyid[t_objid]]
-
-    if t >= 0:
-      if tree_awake_in[worldid, t] == 1:
-        val = tree_asleep_out[worldid, t]
-        if wakeval == 0 or val < wakeval:
-          wakeval = val
-
-  return wakeval
-
-
-@wp.func
-def _wake_tendon_trees(
-  # Model:
-  ntree: int,
-  body_treeid: wp.array[int],
-  jnt_bodyid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  tendon_adr: wp.array[int],
-  tendon_num: wp.array[int],
-  wrap_type: wp.array[int],
-  wrap_objid: wp.array[int],
-  # Data in:
-  tree_awake_in: wp.array2d[int],
-  # In:
-  worldid: int,
-  tenid: int,
-  wakeval: int,
-  # Data out:
-  tree_asleep_out: wp.array2d[int],
-):
-  """Wakes up all sleeping trees associated with a tendon."""
-  if tenid < 0:
-    return
-
-  adr = tendon_adr[tenid]
-  num = tendon_num[tenid]
-  for i in range(num):
-    idx = adr + i
-    t_type = wrap_type[idx]
-    t_objid = wrap_objid[idx]
-    t = int(-1)
-    if t_type == WrapType.JOINT:
-      t = body_treeid[jnt_bodyid[t_objid]]
-    elif t_type == WrapType.SITE:
-      t = body_treeid[site_bodyid[t_objid]]
-    elif t_type == WrapType.SPHERE or t_type == WrapType.CYLINDER:
-      t = body_treeid[geom_bodyid[t_objid]]
-
-    if t >= 0:
-      if tree_awake_in[worldid, t] == 0:
-        _wake_tree(ntree, worldid, t, wakeval, tree_asleep_out)
-
-
-@wp.kernel
-def _wake_equality_kernel(
-  # Model:
-  ntree: int,
-  neq: int,
-  body_treeid: wp.array[int],
-  jnt_bodyid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  site_bodyid: wp.array[int],
-  eq_type: wp.array[int],
-  eq_obj1id: wp.array[int],
-  eq_obj2id: wp.array[int],
-  eq_objtype: wp.array[int],
-  tendon_adr: wp.array[int],
-  tendon_num: wp.array[int],
-  wrap_type: wp.array[int],
-  wrap_objid: wp.array[int],
-  # Data in:
-  eq_active_in: wp.array2d[bool],  # kernel_analyzer: ignore
-  tree_awake_in: wp.array2d[int],
-  # Data out:
-  tree_asleep_out: wp.array2d[int],  # kernel_analyzer: ignore
-):
-  worldid, eqid = wp.tid()
-
-  if not eq_active_in[worldid, eqid]:
-    return
-
-  eqtype = eq_type[eqid]
-  id1 = eq_obj1id[eqid]
-  id2 = eq_obj2id[eqid]
-
-  if eqtype == EqType.CONNECT or eqtype == EqType.WELD or eqtype == EqType.JOINT:
-    tree1 = int(-1)
-    tree2 = int(-1)
-
-    if eqtype == EqType.CONNECT or eqtype == EqType.WELD:
-      if eq_objtype[eqid] == ObjType.BODY:
-        tree1 = body_treeid[id1]
-        tree2 = body_treeid[id2]
-      else:
-        tree1 = body_treeid[site_bodyid[id1]]
-        tree2 = body_treeid[site_bodyid[id2]]
-    elif eqtype == EqType.JOINT:
-      tree1 = body_treeid[jnt_bodyid[id1]] if id1 >= 0 else -1
-      tree2 = body_treeid[jnt_bodyid[id2]] if id2 >= 0 else -1
-
-    s1 = tree_awake_in[worldid, tree1] if tree1 >= 0 else SleepState.STATIC
-    s2 = tree_awake_in[worldid, tree2] if tree2 >= 0 else SleepState.STATIC
-
-    if s1 != SleepState.ASLEEP and s2 != SleepState.ASLEEP:
-      return
-    if s1 == SleepState.STATIC or s2 == SleepState.STATIC:
-      return
-    if tree1 == tree2:
-      return
-
-    if s1 == SleepState.ASLEEP and s2 == SleepState.ASLEEP:
-      cycle1 = _sleep_cycle(tree_asleep_out, ntree, worldid, tree1)
-      cycle2 = _sleep_cycle(tree_asleep_out, ntree, worldid, tree2)
-      if cycle1 != cycle2:
-        _wake_tree(ntree, worldid, tree1, K_AWAKE_VAL, tree_asleep_out)
-        _wake_tree(ntree, worldid, tree2, K_AWAKE_VAL, tree_asleep_out)
-    else:
-      sleeping_tree = tree1 if s1 == SleepState.ASLEEP else tree2
-      _wake_tree(ntree, worldid, sleeping_tree, K_AWAKE_VAL, tree_asleep_out)
-
-  elif eqtype == EqType.TENDON:
-    ten1 = id1
-    ten2 = id2
-    w1 = _tendon_wake_val(
-      body_treeid,
-      jnt_bodyid,
-      geom_bodyid,
-      site_bodyid,
-      tendon_adr,
-      tendon_num,
-      wrap_type,
-      wrap_objid,
-      tree_awake_in,
-      worldid,
-      ten1,
-      tree_asleep_out,
-    )
-    w2 = _tendon_wake_val(
-      body_treeid,
-      jnt_bodyid,
-      geom_bodyid,
-      site_bodyid,
-      tendon_adr,
-      tendon_num,
-      wrap_type,
-      wrap_objid,
-      tree_awake_in,
-      worldid,
-      ten2,
-      tree_asleep_out,
-    )
-
-    if w1 < 0 or w2 < 0:
-      wakeval = int(K_AWAKE_VAL)
-      if w1 < 0 and w1 < wakeval:
-        wakeval = w1
-      if w2 < 0 and w2 < wakeval:
-        wakeval = w2
-
-      _wake_tendon_trees(
-        ntree,
-        body_treeid,
-        jnt_bodyid,
-        geom_bodyid,
-        site_bodyid,
-        tendon_adr,
-        tendon_num,
-        wrap_type,
-        wrap_objid,
-        tree_awake_in,
-        worldid,
-        ten1,
-        wakeval,
-        tree_asleep_out,
-      )
-      _wake_tendon_trees(
-        ntree,
-        body_treeid,
-        jnt_bodyid,
-        geom_bodyid,
-        site_bodyid,
-        tendon_adr,
-        tendon_num,
-        wrap_type,
-        wrap_objid,
-        tree_awake_in,
-        worldid,
-        ten2,
-        wakeval,
-        tree_asleep_out,
-      )
-
-  # TODO(team): Implement waking for EqType.FLEX constraints.
-
-
-@event_scope
-def wake(m: types.Model, d: types.Data):
-  """Wakes sleeping trees due to user changes/perturbations."""
-  wp.launch(
-    _wake_kernel,
-    dim=(d.nworld, m.ntree),
-    inputs=[
-      m.nbody,
-      m.ntree,
-      m.body_treeid,
-      m.dof_length,
-      m.tree_dofadr,
-      m.tree_dofnum,
-      m.tree_sleep_policy,
-      d.qvel,
-      d.qfrc_applied,
-      d.xfrc_applied,
-      d.tree_awake,
-    ],
-    outputs=[d.tree_asleep],
-  )
-
-
-@event_scope
-def wake_collision(m: types.Model, d: types.Data):
-  """Wakes sleeping trees that touch awake trees."""
-  wp.launch(
-    _wake_collision_kernel,
-    dim=d.naconmax,
-    inputs=[
-      m.ntree,
-      m.body_treeid,
-      m.geom_bodyid,
-      d.tree_awake,
-      d.contact.geom,
-      d.contact.worldid,
-      d.nacon,
-    ],
-    outputs=[d.tree_asleep],
-  )
-
-
-@event_scope
-def wake_tendon(m: types.Model, d: types.Data):
-  """Wakes sleeping trees with constrained tendons."""
-  if m.ntendon == 0:
-    return
-
-  wp.launch(
-    _wake_tendon_kernel,
-    dim=(d.nworld, m.ntendon),
-    inputs=[
-      m.ntree,
-      m.ntendon,
-      m.body_treeid,
-      m.jnt_bodyid,
-      m.geom_bodyid,
-      m.site_bodyid,
-      m.tendon_adr,
-      m.tendon_num,
-      m.tendon_limited,
-      m.tendon_range,
-      m.tendon_margin,
-      m.wrap_type,
-      m.wrap_objid,
-      d.ten_length,
-      d.tree_awake,
-    ],
-    outputs=[d.tree_asleep],
-  )
-
-
-@event_scope
-def wake_equality(m: types.Model, d: types.Data):
-  """Wakes sleeping trees connected by equality constraints."""
-  if m.neq == 0:
-    return
-
-  wp.launch(
-    _wake_equality_kernel,
-    dim=(d.nworld, m.neq),
-    inputs=[
-      m.ntree,
-      m.neq,
-      m.body_treeid,
-      m.jnt_bodyid,
-      m.geom_bodyid,
-      m.site_bodyid,
-      m.eq_type,
-      m.eq_obj1id,
-      m.eq_obj2id,
-      m.eq_objtype,
-      m.tendon_adr,
-      m.tendon_num,
-      m.wrap_type,
-      m.wrap_objid,
-      d.eq_active,
-      d.tree_awake,
-    ],
-    outputs=[d.tree_asleep],
-  )
-
-
-@wp.kernel
-def _sweep_awake_trees(  # kernel_analyzer: ignore
-  # Model:
-  nbody: int,
-  body_treeid: wp.array[int],
-  dof_length: wp.array[float],
-  tree_dofadr: wp.array[int],
-  tree_dofnum: wp.array[int],
-  tree_sleep_policy: wp.array[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  qfrc_applied_in: wp.array2d[float],
-  xfrc_applied_in: wp.array2d[wp.spatial_vector],
-  # In:
-  opt_sleep_tolerance: wp.array[float],
-  # Out:
-  tree_asleep_out: wp.array2d[int],  # kernel_analyzer: ignore
-):
-  worldid, treeid = wp.tid()
-  sleep_tolerance = opt_sleep_tolerance[worldid % opt_sleep_tolerance.shape[0]]
-  as_val = tree_asleep_out[worldid, treeid]
-  if as_val >= 0:
-    return
-
-  if _tree_can_sleep(
-    nbody,
-    body_treeid,
-    dof_length,
-    tree_dofadr,
-    tree_dofnum,
-    tree_sleep_policy,
-    qvel_in,
-    qfrc_applied_in,
-    xfrc_applied_in,
-    worldid,
-    treeid,
-    sleep_tolerance,
-  ):
-    if as_val < -1:
-      tree_asleep_out[worldid, treeid] = as_val + 1
-  else:
-    tree_asleep_out[worldid, treeid] = K_AWAKE_VAL
-
-
-@wp.kernel
-def _check_island_can_sleep(
-  # Model:
-  ntree: int,
-  # Data in:
-  nisland_in: wp.array[int],
-  tree_asleep_in: wp.array2d[int],
-  tree_island_in: wp.array2d[int],
-  # Out:
-  island_can_sleep_out: wp.array2d[int],
-):
-  worldid, treeid = wp.tid()
-  nisland = nisland_in[worldid]
-  island_id = tree_island_in[worldid, treeid]
-  if island_id >= 0 and island_id < nisland:
-    as_val = tree_asleep_in[worldid, treeid]
-    if as_val < -1:
-      # Not ready to sleep yet
-      wp.atomic_min(island_can_sleep_out, worldid, island_id, 0)
-
-
-@wp.kernel
-def _build_cycles(  # kernel_analyzer: ignore
-  # Model:
-  ntree: int,
-  tree_dofadr: wp.array[int],
-  tree_dofnum: wp.array[int],
-  # Data in:
-  nisland_in: wp.array[int],
-  tree_island_in: wp.array2d[int],
-  # In:
-  island_can_sleep_in: wp.array2d[int],
-  # Out:
-  tree_asleep_out: wp.array2d[int],  # kernel_analyzer: ignore
-  qvel_out: wp.array2d[float],  # kernel_analyzer: ignore
-  qacc_out: wp.array2d[float],  # kernel_analyzer: ignore
-):
-  worldid = wp.tid()
-
-  num_islands = nisland_in[worldid]
-  for island_id in range(num_islands):
-    if island_can_sleep_in[worldid, island_id] == 1:
-      first_tree = int(-1)
-      prev_tree = int(-1)
-      for t in range(ntree):
-        if tree_island_in[worldid, t] == island_id:
-          if first_tree == -1:
-            first_tree = t
-          if prev_tree != -1:
-            tree_asleep_out[worldid, prev_tree] = t
-          prev_tree = t
-
-          # Zero velocities and accelerations
-          dofadr = tree_dofadr[t]
-          dofnum = tree_dofnum[t]
-          for d in range(dofnum):
-            qvel_out[worldid, dofadr + d] = 0.0
-            qacc_out[worldid, dofadr + d] = 0.0
-
-      if first_tree != -1:
-        tree_asleep_out[worldid, prev_tree] = first_tree
-
-  # Sleep unconstrained trees
-  for t in range(ntree):
-    island_id = tree_island_in[worldid, t]
-    if island_id < 0 or island_id >= num_islands:
-      if tree_asleep_out[worldid, t] == -1:
-        tree_asleep_out[worldid, t] = t  # self-cycle
-
-      # Ensure sleeping tree dof velocity and acceleration remain exactly zero
-      if tree_asleep_out[worldid, t] >= 0:
-        dofadr = tree_dofadr[t]
-        dofnum = tree_dofnum[t]
-        for d in range(dofnum):
-          # TODO(team): shouldn't be necessary to zero if island is already asleep
-          qvel_out[worldid, dofadr + d] = 0.0
-          qacc_out[worldid, dofadr + d] = 0.0
-
-
-@event_scope
-def sleep(m: types.Model, d: types.Data):
-  """Puts trees to sleep according to velocity tolerance."""
-  # 1. Sweep over awake trees and increment counter if they can sleep
-  wp.launch(
-    _sweep_awake_trees,
-    dim=(d.nworld, m.ntree),
-    inputs=[
-      m.nbody,
-      m.body_treeid,
-      m.dof_length,
-      m.tree_dofadr,
-      m.tree_dofnum,
-      m.tree_sleep_policy,
-      d.qvel,
-      d.qfrc_applied,
-      d.xfrc_applied,
-      m.opt.sleep_tolerance,
-    ],
-    outputs=[d.tree_asleep],
-  )
-
-  # 2. Check which constraint islands can sleep (all trees in island must be asleep)
-  island_can_sleep = wp.ones((d.nworld, m.ntree), dtype=int)
-  wp.launch(
-    _check_island_can_sleep,
-    dim=(d.nworld, m.ntree),
-    inputs=[
-      m.ntree,
-      d.nisland,
-      d.tree_asleep,
-      d.tree_island,
-    ],
-    outputs=[island_can_sleep],
-  )
-
-  # 3. Build sleep cycles for sleeping islands and sleep unconstrained trees
-  wp.launch(
-    _build_cycles,
-    dim=d.nworld,
-    inputs=[
-      m.ntree,
-      m.tree_dofadr,
-      m.tree_dofnum,
-      d.nisland,
-      d.tree_island,
-      island_can_sleep,
-    ],
-    outputs=[
-      d.tree_asleep,
-      d.qvel,
-      d.qacc,
-    ],
-  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/smooth.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/smooth.py
deleted file mode 100644
index 1b60b95d..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/smooth.py
+++ /dev/null
@@ -1,4295 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src import support
-from mujoco.mjx.third_party.mujoco_warp._src import util_misc
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Q_LD_BLOCK_COMPACT
-from mujoco.mjx.third_party.mujoco_warp._src.types import Q_LD_BLOCK_SPARSE
-from mujoco.mjx.third_party.mujoco_warp._src.types import CamLightType
-from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
-from mujoco.mjx.third_party.mujoco_warp._src.types import EqType
-from mujoco.mjx.third_party.mujoco_warp._src.types import JointType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import ObjType
-from mujoco.mjx.third_party.mujoco_warp._src.types import TileSet
-from mujoco.mjx.third_party.mujoco_warp._src.types import TrnType
-from mujoco.mjx.third_party.mujoco_warp._src.types import WrapType
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec10
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec11
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False})
-
-
-@wp.kernel
-def _kinematics_branch(
-  # Model:
-  qpos0: wp.array2d[float],
-  body_parentid: wp.array[int],
-  body_mocapid: wp.array[int],
-  body_jntnum: wp.array[int],
-  body_jntadr: wp.array[int],
-  body_pos: wp.array2d[wp.vec3],
-  body_quat: wp.array2d[wp.quat],
-  jnt_type: wp.array[int],
-  jnt_qposadr: wp.array[int],
-  jnt_pos: wp.array2d[wp.vec3],
-  jnt_axis: wp.array2d[wp.vec3],
-  body_branches: wp.array[int],
-  body_branch_start: wp.array[int],
-  # Data in:
-  qpos_in: wp.array2d[float],
-  mocap_pos_in: wp.array2d[wp.vec3],
-  mocap_quat_in: wp.array2d[wp.quat],
-  # Data out:
-  xpos_out: wp.array2d[wp.vec3],
-  xquat_out: wp.array2d[wp.quat],
-  xanchor_out: wp.array2d[wp.vec3],
-  xaxis_out: wp.array2d[wp.vec3],
-):
-  worldid, branchid = wp.tid()
-
-  start = body_branch_start[branchid]
-  end = body_branch_start[branchid + 1]
-
-  qpos = qpos_in[worldid]
-
-  for i in range(start, end):
-    bodyid = body_branches[i]
-    pid = body_parentid[bodyid]
-    jntadr = body_jntadr[bodyid]
-    jntnum = body_jntnum[bodyid]
-
-    if jntnum == 1:
-      jnt_type_ = jnt_type[jntadr]
-      if jnt_type_ == JointType.FREE:
-        qadr = jnt_qposadr[jntadr]
-        xpos = wp.vec3(qpos[qadr], qpos[qadr + 1], qpos[qadr + 2])
-        xquat = wp.quat(qpos[qadr + 3], qpos[qadr + 4], qpos[qadr + 5], qpos[qadr + 6])
-        xquat = wp.normalize(xquat)
-
-        xpos_out[worldid, bodyid] = xpos
-        xquat_out[worldid, bodyid] = xquat
-        xanchor_out[worldid, jntadr] = xpos
-        xaxis_out[worldid, jntadr] = jnt_axis[worldid % jnt_axis.shape[0], jntadr]
-        continue
-
-    # regular or no joints
-    # apply fixed translation and rotation relative to parent
-    jnt_pos_id = worldid % jnt_pos.shape[0]
-    pid = body_parentid[bodyid]
-
-    # mocap bodies have world body as parent
-    mocapid = body_mocapid[bodyid]
-    if mocapid >= 0:
-      xpos = mocap_pos_in[worldid, mocapid]
-      xquat = mocap_quat_in[worldid, mocapid]
-    else:
-      xpos = body_pos[worldid % body_pos.shape[0], bodyid]
-      xquat = body_quat[worldid % body_quat.shape[0], bodyid]
-
-    if pid >= 0:
-      xpos = math.rot_vec_quat(xpos, xquat_out[worldid, pid]) + xpos_out[worldid, pid]
-      xquat = math.mul_quat(xquat_out[worldid, pid], xquat)
-
-    for _ in range(jntnum):
-      qadr = jnt_qposadr[jntadr]
-      jnt_type_ = jnt_type[jntadr]
-      jnt_axis_ = jnt_axis[worldid % jnt_axis.shape[0], jntadr]
-      xanchor = math.rot_vec_quat(jnt_pos[jnt_pos_id, jntadr], xquat) + xpos
-      xaxis = math.rot_vec_quat(jnt_axis_, xquat)
-
-      if jnt_type_ == JointType.BALL:
-        qloc = wp.quat(qpos[qadr + 0], qpos[qadr + 1], qpos[qadr + 2], qpos[qadr + 3])
-        qloc = wp.normalize(qloc)
-        xquat = math.mul_quat(xquat, qloc)
-        # correct for off-center rotation
-        xpos = xanchor - math.rot_vec_quat(jnt_pos[jnt_pos_id, jntadr], xquat)
-      elif jnt_type_ == JointType.SLIDE:
-        xpos += xaxis * (qpos[qadr] - qpos0[worldid % qpos0.shape[0], qadr])
-      elif jnt_type_ == JointType.HINGE:
-        qpos0_ = qpos0[worldid % qpos0.shape[0], qadr]
-        qloc_ = math.axis_angle_to_quat(jnt_axis_, qpos[qadr] - qpos0_)
-        xquat = math.mul_quat(xquat, qloc_)
-        # correct for off-center rotation
-        xpos = xanchor - math.rot_vec_quat(jnt_pos[jnt_pos_id, jntadr], xquat)
-
-      xanchor_out[worldid, jntadr] = xanchor
-      xaxis_out[worldid, jntadr] = xaxis
-      jntadr += 1
-
-    xquat = wp.normalize(xquat)
-    xpos_out[worldid, bodyid] = xpos
-    xquat_out[worldid, bodyid] = xquat
-
-
-@wp.kernel
-def _compute_body_inertial_frames(
-  # Model:
-  body_ipos: wp.array2d[wp.vec3],
-  body_iquat: wp.array2d[wp.quat],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xquat_in: wp.array2d[wp.quat],
-  # Data out:
-  xipos_out: wp.array2d[wp.vec3],
-  ximat_out: wp.array2d[wp.mat33],
-):
-  worldid, bodyid = wp.tid()
-  xpos = xpos_in[worldid, bodyid]
-  xquat = xquat_in[worldid, bodyid]
-  xipos_out[worldid, bodyid] = xpos + math.rot_vec_quat(body_ipos[worldid % body_ipos.shape[0], bodyid], xquat)
-  ximat_out[worldid, bodyid] = math.quat_to_mat(math.mul_quat(xquat, body_iquat[worldid % body_iquat.shape[0], bodyid]))
-
-
-@wp.kernel
-def _compute_body_matrices(
-  # Data in:
-  xquat_in: wp.array2d[wp.quat],
-  # Data out:
-  xmat_out: wp.array2d[wp.mat33],
-):
-  worldid, bodyid = wp.tid()
-  xmat_out[worldid, bodyid] = math.quat_to_mat(xquat_in[worldid, bodyid])
-
-
-@wp.kernel
-def _geom_local_to_global(
-  # Model:
-  body_rootid: wp.array[int],
-  body_weldid: wp.array[int],
-  body_mocapid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  geom_pos: wp.array2d[wp.vec3],
-  geom_quat: wp.array2d[wp.quat],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xquat_in: wp.array2d[wp.quat],
-  # Data out:
-  geom_xpos_out: wp.array2d[wp.vec3],
-  geom_xmat_out: wp.array2d[wp.mat33],
-):
-  worldid, geomid = wp.tid()
-  bodyid = geom_bodyid[geomid]
-
-  if body_weldid[bodyid] == 0 and body_mocapid[body_rootid[bodyid]] == -1:
-    # geoms attached to the world are static (unless they are descended from mcocap bodies)
-    # for such static geoms, geom_xpos and geom_xquat are computed only once during make_data
-    return
-
-  xpos = xpos_in[worldid, bodyid]
-  xquat = xquat_in[worldid, bodyid]
-  geom_xpos_out[worldid, geomid] = xpos + math.rot_vec_quat(geom_pos[worldid % geom_pos.shape[0], geomid], xquat)
-  geom_xmat_out[worldid, geomid] = math.quat_to_mat(math.mul_quat(xquat, geom_quat[worldid % geom_quat.shape[0], geomid]))
-
-
-@wp.kernel
-def _site_local_to_global(
-  # Model:
-  site_bodyid: wp.array[int],
-  site_pos: wp.array2d[wp.vec3],
-  site_quat: wp.array2d[wp.quat],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xquat_in: wp.array2d[wp.quat],
-  # Data out:
-  site_xpos_out: wp.array2d[wp.vec3],
-  site_xmat_out: wp.array2d[wp.mat33],
-):
-  worldid, siteid = wp.tid()
-  bodyid = site_bodyid[siteid]
-  xpos = xpos_in[worldid, bodyid]
-  xquat = xquat_in[worldid, bodyid]
-  site_xpos_out[worldid, siteid] = xpos + math.rot_vec_quat(site_pos[worldid % site_pos.shape[0], siteid], xquat)
-  site_xmat_out[worldid, siteid] = math.quat_to_mat(math.mul_quat(xquat, site_quat[worldid % site_quat.shape[0], siteid]))
-
-
-@wp.kernel
-def _flex_vertices(
-  # Model:
-  nflex: int,
-  flex_interp: wp.array[int],
-  flex_cellnum: wp.array[wp.vec3i],
-  flex_nodeadr: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_vertnum: wp.array[int],
-  flex_vertbodyid: wp.array[int],
-  flex_vert: wp.array[wp.vec3],
-  flex_vert0: wp.array[wp.vec3],
-  flex_centered: wp.array[bool],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xmat_in: wp.array2d[wp.mat33],
-  flexnode_xpos_in: wp.array2d[wp.vec3],
-  # Data out:
-  flexvert_xpos_out: wp.array2d[wp.vec3],
-):
-  worldid, vertid = wp.tid()
-
-  for f in range(nflex):
-    locid = vertid - flex_vertadr[f]
-    if locid >= 0 and locid < flex_vertnum[f]:
-      break
-
-  if flex_interp[f] != 0:
-    # Interpolated flex: vertex position = weighted sum of node positions
-    coord = flex_vert0[vertid]
-    cn = flex_cellnum[f]
-    cx = cn[0]
-    cy = cn[1]
-    cz = cn[2]
-
-    # Cell lookup: find containing cell
-    ci = wp.min(int(coord[0] * float(cx)), cx - 1)
-    ci = wp.max(ci, 0)
-    cj = wp.min(int(coord[1] * float(cy)), cy - 1)
-    cj = wp.max(cj, 0)
-    ck = wp.min(int(coord[2] * float(cz)), cz - 1)
-    ck = wp.max(ck, 0)
-
-    # Local parametric coordinates within cell
-    local_x = wp.clamp(coord[0] * float(cx) - float(ci), 0.0, 1.0)
-    local_y = wp.clamp(coord[1] * float(cy) - float(cj), 0.0, 1.0)
-    local_z = wp.clamp(coord[2] * float(cz) - float(ck), 0.0, 1.0)
-    local = wp.vec3(local_x, local_y, local_z)
-
-    # Node grid dimensions
-    ny_g = cy + 1
-    nz_g = cz + 1
-    nstart = flex_nodeadr[f]
-
-    # Accumulate weighted node positions
-    result = wp.vec3(0.0, 0.0, 0.0)
-    for li in range(2):
-      for lj in range(2):
-        for lk in range(2):
-          w = support.eval_basis_trilinear(local, li * 4 + lj * 2 + lk)
-          gi = ci + li
-          gj = cj + lj
-          gk = ck + lk
-          node_idx = gi * ny_g * nz_g + gj * nz_g + gk
-          result += w * flexnode_xpos_in[worldid, nstart + node_idx]
-
-    flexvert_xpos_out[worldid, vertid] = result
-  else:
-    # Non-interpolated flex: vertex position from single body
-    bodyid = flex_vertbodyid[vertid]
-    xpos = xpos_in[worldid, bodyid]
-
-    if flex_centered[f]:
-      flexvert_xpos_out[worldid, vertid] = xpos
-    else:
-      xmat = xmat_in[worldid, bodyid]
-      local_pos = flex_vert[vertid]
-      flexvert_xpos_out[worldid, vertid] = xmat @ local_pos + xpos
-
-
-@wp.kernel
-def _flex_nodes(
-  # Model:
-  nflex: int,
-  flex_nodeadr: wp.array[int],
-  flex_nodenum: wp.array[int],
-  flex_nodebodyid: wp.array[int],
-  flex_node: wp.array[wp.vec3],
-  flex_centered: wp.array[bool],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xmat_in: wp.array2d[wp.mat33],
-  # Data out:
-  flexnode_xpos_out: wp.array2d[wp.vec3],
-):
-  worldid, nodeid = wp.tid()
-
-  for f in range(nflex):
-    locid = nodeid - flex_nodeadr[f]
-    if locid >= 0 and locid < flex_nodenum[f]:
-      break
-
-  bodyid = flex_nodebodyid[nodeid]
-  xpos = xpos_in[worldid, bodyid]
-
-  if flex_centered[f]:
-    flexnode_xpos_out[worldid, nodeid] = xpos
-  else:
-    local_pos = flex_node[nodeid]
-    if local_pos[0] == 0.0 and local_pos[1] == 0.0 and local_pos[2] == 0.0:
-      flexnode_xpos_out[worldid, nodeid] = xpos
-    else:
-      xmat = xmat_in[worldid, bodyid]
-      flexnode_xpos_out[worldid, nodeid] = xmat @ local_pos + xpos
-
-
-@wp.kernel
-def _flex_edges(
-  # Model:
-  nflex: int,
-  body_rootid: wp.array[int],
-  body_dofnum: wp.array[int],
-  body_dofadr: wp.array[int],
-  flex_vertadr: wp.array[int],
-  flex_edgeadr: wp.array[int],
-  flex_edgenum: wp.array[int],
-  flex_vertbodyid: wp.array[int],
-  flex_edge: wp.array[wp.vec2i],
-  flexedge_J_rowadr: wp.array[int],
-  flexedge_J_colind: wp.array[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  flexvert_xpos_in: wp.array2d[wp.vec3],
-  # Data out:
-  flexedge_J_out: wp.array2d[float],
-  flexedge_length_out: wp.array2d[float],
-  flexedge_velocity_out: wp.array2d[float],
-):
-  worldid, edgeid = wp.tid()
-  for i in range(nflex):
-    locid = edgeid - flex_edgeadr[i]
-    if locid >= 0 and locid < flex_edgenum[i]:
-      f = i
-      break
-
-  vbase = flex_vertadr[f]
-  v = flex_edge[edgeid]
-  vbase0 = vbase + v[0]
-  vbase1 = vbase + v[1]
-
-  pos1 = flexvert_xpos_in[worldid, vbase0]
-  pos2 = flexvert_xpos_in[worldid, vbase1]
-  vec = pos2 - pos1
-  edge, edge_length = math.normalize_with_norm(vec)
-  flexedge_length_out[worldid, edgeid] = edge_length
-  # TODO(quaglino): use Jacobian
-  b1 = flex_vertbodyid[vbase0]
-  b2 = flex_vertbodyid[vbase1]
-
-  # skip Jacobian/velocity for trilinear flex (vertbodyid == -1)
-  if b1 < 0 or b2 < 0:
-    flexedge_velocity_out[worldid, edgeid] = 0.0
-    return
-
-  dofnum1 = body_dofnum[b1]
-  dofnum2 = body_dofnum[b2]
-
-  # velocity via Jacobian: sum_k J_k * qvel_k for each body
-  vel = float(0.0)
-  if dofnum1 > 0:
-    dofi = body_dofadr[b1]
-    offset1 = pos1 - wp.vec3(subtree_com_in[worldid, body_rootid[b1]])
-    for k in range(dofnum1):
-      cdof = cdof_in[worldid, dofi + k]
-      cdof_ang = wp.spatial_top(cdof)
-      cdof_lin = wp.spatial_bottom(cdof)
-      jacp1 = cdof_lin + wp.cross(cdof_ang, offset1)
-      vel -= wp.dot(jacp1, edge) * qvel_in[worldid, dofi + k]
-  if dofnum2 > 0:
-    dofj = body_dofadr[b2]
-    offset2 = pos2 - wp.vec3(subtree_com_in[worldid, body_rootid[b2]])
-    for k in range(dofnum2):
-      cdof = cdof_in[worldid, dofj + k]
-      cdof_ang = wp.spatial_top(cdof)
-      cdof_lin = wp.spatial_bottom(cdof)
-      jacp2 = cdof_lin + wp.cross(cdof_ang, offset2)
-      vel += wp.dot(jacp2, edge) * qvel_in[worldid, dofj + k]
-  flexedge_velocity_out[worldid, edgeid] = vel
-
-  rowadr = flexedge_J_rowadr[edgeid]
-  nnz_offset = 0
-
-  # body1 DOFs: b1 is in subtree, b2 is not -> jacdif = 0 - jacp1 = -jacp1
-  if dofnum1 > 0:
-    dofi = body_dofadr[b1]
-    offset1 = pos1 - wp.vec3(subtree_com_in[worldid, body_rootid[b1]])
-    for k in range(dofnum1):
-      cdof = cdof_in[worldid, dofi + k]
-      cdof_ang = wp.spatial_top(cdof)
-      cdof_lin = wp.spatial_bottom(cdof)
-      jacp1 = cdof_lin + wp.cross(cdof_ang, offset1)
-      flexedge_J_out[worldid, rowadr + nnz_offset + k] = wp.dot(-jacp1, edge)
-    nnz_offset += dofnum1
-
-  # body2 DOFs: b2 is in subtree, b1 is not -> jacdif = jacp2 - 0 = jacp2
-  if dofnum2 > 0:
-    dofj = body_dofadr[b2]
-    offset2 = pos2 - wp.vec3(subtree_com_in[worldid, body_rootid[b2]])
-    for k in range(dofnum2):
-      cdof = cdof_in[worldid, dofj + k]
-      cdof_ang = wp.spatial_top(cdof)
-      cdof_lin = wp.spatial_bottom(cdof)
-      jacp2 = cdof_lin + wp.cross(cdof_ang, offset2)
-      flexedge_J_out[worldid, rowadr + nnz_offset + k] = wp.dot(jacp2, edge)
-
-
-@event_scope
-def kinematics(m: Model, d: Data):
-  """Computes forward kinematics for all bodies, sites, geoms, and flexible elements.
-
-  This function updates the global positions and orientations of all bodies, as well as the
-  derived positions and orientations of geoms, sites, and flexible elements, based on the
-  current joint positions and any attached mocap bodies.
-  """
-  wp.launch(
-    _kinematics_branch,
-    dim=(d.nworld, m.nbranch),
-    inputs=[
-      m.qpos0,
-      m.body_parentid,
-      m.body_mocapid,
-      m.body_jntnum,
-      m.body_jntadr,
-      m.body_pos,
-      m.body_quat,
-      m.jnt_type,
-      m.jnt_qposadr,
-      m.jnt_pos,
-      m.jnt_axis,
-      m.body_branches,
-      m.body_branch_start,
-      d.qpos,
-      d.mocap_pos,
-      d.mocap_quat,
-    ],
-    outputs=[d.xpos, d.xquat, d.xanchor, d.xaxis],
-  )
-
-  wp.launch(
-    _compute_body_matrices,
-    dim=(d.nworld, m.nbody),
-    inputs=[d.xquat],
-    outputs=[d.xmat],
-  )
-
-  wp.launch(
-    _compute_body_inertial_frames,
-    dim=(d.nworld, m.nbody),
-    inputs=[m.body_ipos, m.body_iquat, d.xpos, d.xquat],
-    outputs=[d.xipos, d.ximat],
-  )
-
-  wp.launch(
-    _geom_local_to_global,
-    dim=(d.nworld, m.ngeom),
-    inputs=[m.body_rootid, m.body_weldid, m.body_mocapid, m.geom_bodyid, m.geom_pos, m.geom_quat, d.xpos, d.xquat],
-    outputs=[d.geom_xpos, d.geom_xmat],
-  )
-
-  wp.launch(
-    _site_local_to_global,
-    dim=(d.nworld, m.nsite),
-    inputs=[m.site_bodyid, m.site_pos, m.site_quat, d.xpos, d.xquat],
-    outputs=[d.site_xpos, d.site_xmat],
-  )
-
-
-@wp.kernel
-def _flex_face_kinematics(
-  # Model:
-  flex_interp: wp.array[int],
-  flex_cellnum: wp.array[wp.vec3i],
-  flex_face_map: wp.array[wp.vec2i],
-  flex_face: wp.array2d[int],
-  # Data in:
-  flexnode_xpos_in: wp.array2d[wp.vec3],
-  # Data out:
-  face_xpos_out: wp.array3d[wp.vec3],
-  face_quat_out: wp.array2d[wp.quat],
-):
-  worldid, face_id = wp.tid()
-
-  mapping = flex_face_map[face_id]
-  f = mapping[0]
-  face_elem_idx = mapping[1]
-
-  order = flex_interp[f]
-  order_abs = -order
-  cellnum = flex_cellnum[f]
-  cx = cellnum[0]
-  cy = cellnum[1]
-  cz = cellnum[2]
-  t1 = wp.vec3(0.0)
-  t2 = wp.vec3(0.0)
-  for local_idx in range(9):
-    gidx = flex_face[face_id, local_idx]
-    if gidx != -1:
-      node_pos = flexnode_xpos_in[worldid, gidx]
-
-      face_xpos_out[worldid, face_id, local_idx] = node_pos
-
-      l0 = local_idx // (order_abs + 1)
-      l1 = local_idx % (order_abs + 1)
-
-      dphi0 = float(l0 - 1) if order_abs == 2 else (-1.0 + 2.0 * float(l0))
-      dphi1 = float(l1 - 1) if order_abs == 2 else (-1.0 + 2.0 * float(l1))
-      phi0 = wp.where(l0 == 1, 1.0, 0.0) if order_abs == 2 else 0.5
-      phi1 = wp.where(l1 == 1, 1.0, 0.0) if order_abs == 2 else 0.5
-
-      grad0 = dphi0 * phi1
-      grad1 = phi0 * dphi1
-
-      t1 += node_pos * grad0
-      t2 += node_pos * grad1
-    else:
-      face_xpos_out[worldid, face_id, local_idx] = wp.vec3(0.0)
-
-  normal = wp.cross(t1, t2)
-
-  normal_axis, _, _, _, _, _ = support.get_face_metadata(cx, cy, cz, face_elem_idx, order_abs)
-
-  F = wp.mat33(0.0)
-  if normal_axis == 0:
-    F = wp.mat33(
-      normal[0],
-      t1[0],
-      t2[0],
-      normal[1],
-      t1[1],
-      t2[1],
-      normal[2],
-      t1[2],
-      t2[2],
-    )
-  elif normal_axis == 1:
-    F = wp.mat33(
-      t2[0],
-      normal[0],
-      t1[0],
-      t2[1],
-      normal[1],
-      t1[1],
-      t2[2],
-      normal[2],
-      t1[2],
-    )
-  else:
-    F = wp.mat33(
-      t1[0],
-      t2[0],
-      normal[0],
-      t1[1],
-      t2[1],
-      normal[1],
-      t1[2],
-      t2[2],
-      normal[2],
-    )
-
-  face_quat_out[worldid, face_id] = support.mat33_to_quat_polar(F)
-
-
-@event_scope
-def flex(m: Model, d: Data):
-  # Compute node positions first (needed for interpolated vertex positions)
-  wp.launch(
-    _flex_nodes,
-    dim=(d.nworld, m.nflexnode),
-    inputs=[
-      m.nflex,
-      m.flex_nodeadr,
-      m.flex_nodenum,
-      m.flex_nodebodyid,
-      m.flex_node,
-      m.flex_centered,
-      d.xpos,
-      d.xmat,
-    ],
-    outputs=[d.flexnode_xpos],
-  )
-
-  wp.launch(
-    _flex_vertices,
-    dim=(d.nworld, m.nflexvert),
-    inputs=[
-      m.nflex,
-      m.flex_interp,
-      m.flex_cellnum,
-      m.flex_nodeadr,
-      m.flex_vertadr,
-      m.flex_vertnum,
-      m.flex_vertbodyid,
-      m.flex_vert,
-      m.flex_vert0,
-      m.flex_centered,
-      d.xpos,
-      d.xmat,
-      d.flexnode_xpos,
-    ],
-    outputs=[d.flexvert_xpos],
-  )
-  wp.launch(
-    _flex_edges,
-    dim=(d.nworld, m.nflexedge),
-    inputs=[
-      m.nflex,
-      m.body_rootid,
-      m.body_dofnum,
-      m.body_dofadr,
-      m.flex_vertadr,
-      m.flex_edgeadr,
-      m.flex_edgenum,
-      m.flex_vertbodyid,
-      m.flex_edge,
-      m.flexedge_J_rowadr,
-      m.flexedge_J_colind,
-      d.qvel,
-      d.subtree_com,
-      d.cdof,
-      d.flexvert_xpos,
-    ],
-    outputs=[
-      d.flexedge_J,
-      d.flexedge_length,
-      d.flexedge_velocity,
-    ],
-  )
-
-  wp.launch(
-    _flex_face_kinematics,
-    dim=(d.nworld, m.nflexface),
-    inputs=[
-      m.flex_interp,
-      m.flex_cellnum,
-      m.flex_face_map,
-      m.flex_face,
-      d.flexnode_xpos,
-    ],
-    outputs=[
-      d.face_xpos,
-      d.face_quat,
-    ],
-  )
-
-
-@wp.kernel
-def _subtree_com_init(
-  # Model:
-  body_mass: wp.array2d[float],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  # Data out:
-  subtree_com_out: wp.array2d[wp.vec3],
-):
-  worldid, bodyid = wp.tid()
-  subtree_com_out[worldid, bodyid] = xipos_in[worldid, bodyid] * body_mass[worldid % body_mass.shape[0], bodyid]
-
-
-@wp.kernel
-def _subtree_com_acc(
-  # Model:
-  body_parentid: wp.array[int],
-  # Data in:
-  subtree_com_in: wp.array2d[wp.vec3],
-  # In:
-  body_tree_: wp.array[int],
-  # Data out:
-  subtree_com_out: wp.array2d[wp.vec3],
-):
-  worldid, nodeid = wp.tid()
-  bodyid = body_tree_[nodeid]
-  pid = body_parentid[bodyid]
-  if bodyid != 0:
-    wp.atomic_add(subtree_com_out, worldid, pid, subtree_com_in[worldid, bodyid])
-
-
-@wp.kernel
-def _subtree_div(
-  # Model:
-  body_subtreemass: wp.array2d[float],
-  # Data in:
-  subtree_com_in: wp.array2d[wp.vec3],
-  # Data out:
-  subtree_com_out: wp.array2d[wp.vec3],
-):
-  worldid, bodyid = wp.tid()
-  com = subtree_com_in[worldid, bodyid]
-  mass = body_subtreemass[worldid % body_subtreemass.shape[0], bodyid]
-  if mass != 0.0:
-    subtree_com_out[worldid, bodyid] = com / mass
-
-
-@wp.kernel
-def _cinert(
-  # Model:
-  body_rootid: wp.array[int],
-  body_mass: wp.array2d[float],
-  body_inertia: wp.array2d[wp.vec3],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  ximat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  # Data out:
-  cinert_out: wp.array2d[vec10],
-):
-  worldid, bodyid = wp.tid()
-  mat = ximat_in[worldid, bodyid]
-  inert = body_inertia[worldid % body_inertia.shape[0], bodyid]
-  mass = body_mass[worldid % body_mass.shape[0], bodyid]
-  dif = xipos_in[worldid, bodyid] - subtree_com_in[worldid, body_rootid[bodyid]]
-  # express inertia in com-based frame (mju_inertCom)
-
-  res = vec10()
-  # res_rot = mat * diag(inert) * mat'
-  tmp = mat @ wp.diag(inert) @ wp.transpose(mat)
-  res[0] = tmp[0, 0]
-  res[1] = tmp[1, 1]
-  res[2] = tmp[2, 2]
-  res[3] = tmp[0, 1]
-  res[4] = tmp[0, 2]
-  res[5] = tmp[1, 2]
-  # res_rot -= mass * dif_cross * dif_cross
-  res[0] += mass * (dif[1] * dif[1] + dif[2] * dif[2])
-  res[1] += mass * (dif[0] * dif[0] + dif[2] * dif[2])
-  res[2] += mass * (dif[0] * dif[0] + dif[1] * dif[1])
-  res[3] -= mass * dif[0] * dif[1]
-  res[4] -= mass * dif[0] * dif[2]
-  res[5] -= mass * dif[1] * dif[2]
-  # res_tran = mass * dif
-  res[6] = mass * dif[0]
-  res[7] = mass * dif[1]
-  res[8] = mass * dif[2]
-  # res_mass = mass
-  res[9] = mass
-
-  cinert_out[worldid, bodyid] = res
-
-
-@wp.kernel
-def _cdof(
-  # Model:
-  body_rootid: wp.array[int],
-  jnt_type: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  jnt_bodyid: wp.array[int],
-  # Data in:
-  xmat_in: wp.array2d[wp.mat33],
-  xanchor_in: wp.array2d[wp.vec3],
-  xaxis_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  # Data out:
-  cdof_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, jntid = wp.tid()
-  bodyid = jnt_bodyid[jntid]
-  dofid = jnt_dofadr[jntid]
-  jnt_type_ = jnt_type[jntid]
-  xaxis = xaxis_in[worldid, jntid]
-  xmat = wp.transpose(xmat_in[worldid, bodyid])
-
-  # compute com-anchor vector
-  offset = subtree_com_in[worldid, body_rootid[bodyid]] - xanchor_in[worldid, jntid]
-
-  res = cdof_out[worldid]
-  if jnt_type_ == JointType.FREE:
-    res[dofid + 0] = wp.spatial_vector(0.0, 0.0, 0.0, 1.0, 0.0, 0.0)
-    res[dofid + 1] = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 1.0, 0.0)
-    res[dofid + 2] = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 1.0)
-    # I_3 rotation in child frame (assume no subsequent rotations)
-    res[dofid + 3] = wp.spatial_vector(xmat[0], wp.cross(xmat[0], offset))
-    res[dofid + 4] = wp.spatial_vector(xmat[1], wp.cross(xmat[1], offset))
-    res[dofid + 5] = wp.spatial_vector(xmat[2], wp.cross(xmat[2], offset))
-  elif jnt_type_ == JointType.BALL:  # ball
-    # I_3 rotation in child frame (assume no subsequent rotations)
-    res[dofid + 0] = wp.spatial_vector(xmat[0], wp.cross(xmat[0], offset))
-    res[dofid + 1] = wp.spatial_vector(xmat[1], wp.cross(xmat[1], offset))
-    res[dofid + 2] = wp.spatial_vector(xmat[2], wp.cross(xmat[2], offset))
-  elif jnt_type_ == JointType.SLIDE:
-    res[dofid] = wp.spatial_vector(wp.vec3(0.0), xaxis)
-  elif jnt_type_ == JointType.HINGE:  # hinge
-    res[dofid] = wp.spatial_vector(xaxis, wp.cross(xaxis, offset))
-
-
-@event_scope
-def com_pos(m: Model, d: Data):
-  """Computes subtree center of mass positions.
-
-  Transforms inertia and motion to global frame centered at subtree CoM. Accumulates the
-  mass-weighted positions up the kinematic tree, divides by total mass, and computes composite
-  inertias and motion degrees of freedom in the subtree CoM frame.
-  """
-  wp.launch(_subtree_com_init, dim=(d.nworld, m.nbody), inputs=[m.body_mass, d.xipos], outputs=[d.subtree_com])
-
-  for i in reversed(range(len(m.body_tree))):
-    body_tree = m.body_tree[i]
-    wp.launch(
-      _subtree_com_acc,
-      dim=(d.nworld, body_tree.size),
-      inputs=[m.body_parentid, d.subtree_com, body_tree],
-      outputs=[d.subtree_com],
-    )
-
-  wp.launch(_subtree_div, dim=(d.nworld, m.nbody), inputs=[m.body_subtreemass, d.subtree_com], outputs=[d.subtree_com])
-  wp.launch(
-    _cinert,
-    dim=(d.nworld, m.nbody),
-    inputs=[m.body_rootid, m.body_mass, m.body_inertia, d.xipos, d.ximat, d.subtree_com],
-    outputs=[d.cinert],
-  )
-  wp.launch(
-    _cdof,
-    dim=(d.nworld, m.njnt),
-    inputs=[m.body_rootid, m.jnt_type, m.jnt_dofadr, m.jnt_bodyid, d.xmat, d.xanchor, d.xaxis, d.subtree_com],
-    outputs=[d.cdof],
-  )
-
-
-@wp.kernel
-def _cam_local_to_global(
-  # Model:
-  cam_mode: wp.array[int],
-  cam_bodyid: wp.array[int],
-  cam_targetbodyid: wp.array[int],
-  cam_pos: wp.array2d[wp.vec3],
-  cam_quat: wp.array2d[wp.quat],
-  cam_poscom0: wp.array2d[wp.vec3],
-  cam_pos0: wp.array2d[wp.vec3],
-  cam_mat0: wp.array2d[wp.mat33],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xquat_in: wp.array2d[wp.quat],
-  subtree_com_in: wp.array2d[wp.vec3],
-  # Data out:
-  cam_xpos_out: wp.array2d[wp.vec3],
-  cam_xmat_out: wp.array2d[wp.mat33],
-):
-  worldid, camid = wp.tid()
-  cam_pos_id = worldid % cam_pos.shape[0]
-  cam_quat_id = worldid % cam_quat.shape[0]
-  is_target_cam = (cam_mode[camid] == CamLightType.TARGETBODY) or (cam_mode[camid] == CamLightType.TARGETBODYCOM)
-  invalid_target = is_target_cam and (cam_targetbodyid[camid] < 0)
-  if invalid_target:
-    bodyid = cam_bodyid[camid]
-    xpos = xpos_in[worldid, bodyid]
-    xquat = xquat_in[worldid, bodyid]
-    cam_xpos_out[worldid, camid] = xpos + math.rot_vec_quat(cam_pos[cam_pos_id, camid], xquat)
-    cam_xmat_out[worldid, camid] = math.quat_to_mat(math.mul_quat(xquat, cam_quat[cam_quat_id, camid]))
-  elif cam_mode[camid] == CamLightType.TRACK:
-    cam_xmat_out[worldid, camid] = cam_mat0[worldid % cam_mat0.shape[0], camid]
-    body_xpos = xpos_in[worldid, cam_bodyid[camid]]
-    cam_xpos_out[worldid, camid] = body_xpos + cam_pos0[worldid % cam_pos0.shape[0], camid]
-  elif cam_mode[camid] == CamLightType.TRACKCOM:
-    cam_xmat_out[worldid, camid] = cam_mat0[worldid % cam_mat0.shape[0], camid]
-    cam_xpos_out[worldid, camid] = (
-      subtree_com_in[worldid, cam_bodyid[camid]] + cam_poscom0[worldid % cam_poscom0.shape[0], camid]
-    )
-  elif cam_mode[camid] == CamLightType.TARGETBODY or cam_mode[camid] == CamLightType.TARGETBODYCOM:
-    bodyid = cam_bodyid[camid]
-    xpos = xpos_in[worldid, bodyid]
-    xquat = xquat_in[worldid, bodyid]
-    cam_xpos_out[worldid, camid] = xpos + math.rot_vec_quat(cam_pos[cam_pos_id, camid], xquat)
-    pos = xpos_in[worldid, cam_targetbodyid[camid]]
-    if cam_mode[camid] == CamLightType.TARGETBODYCOM:
-      pos = subtree_com_in[worldid, cam_targetbodyid[camid]]
-    # zaxis = -desired camera direction, in global frame
-    mat_3 = wp.normalize(cam_xpos_out[worldid, camid] - pos)
-    # xaxis: orthogonal to zaxis and to (0,0,1)
-    mat_1 = wp.normalize(wp.cross(wp.vec3(0.0, 0.0, 1.0), mat_3))
-    mat_2 = wp.normalize(wp.cross(mat_3, mat_1))
-    # fmt: off
-    cam_xmat_out[worldid, camid] = wp.mat33(
-      mat_1[0], mat_2[0], mat_3[0],
-      mat_1[1], mat_2[1], mat_3[1],
-      mat_1[2], mat_2[2], mat_3[2]
-    )
-    # fmt: on
-  else:
-    bodyid = cam_bodyid[camid]
-    xpos = xpos_in[worldid, bodyid]
-    xquat = xquat_in[worldid, bodyid]
-    cam_xpos_out[worldid, camid] = xpos + math.rot_vec_quat(cam_pos[cam_pos_id, camid], xquat)
-    cam_xmat_out[worldid, camid] = math.quat_to_mat(math.mul_quat(xquat, cam_quat[cam_quat_id, camid]))
-
-
-@wp.kernel
-def _light_local_to_global(
-  # Model:
-  light_mode: wp.array[int],
-  light_bodyid: wp.array[int],
-  light_targetbodyid: wp.array[int],
-  light_pos: wp.array2d[wp.vec3],
-  light_dir: wp.array2d[wp.vec3],
-  light_poscom0: wp.array2d[wp.vec3],
-  light_pos0: wp.array2d[wp.vec3],
-  light_dir0: wp.array2d[wp.vec3],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xquat_in: wp.array2d[wp.quat],
-  subtree_com_in: wp.array2d[wp.vec3],
-  # Data out:
-  light_xpos_out: wp.array2d[wp.vec3],
-  light_xdir_out: wp.array2d[wp.vec3],
-):
-  worldid, lightid = wp.tid()
-  light_pos_id = worldid % light_pos.shape[0]
-  light_dir_id = worldid % light_dir.shape[0]
-  is_target_light = (light_mode[lightid] == CamLightType.TARGETBODY) or (light_mode[lightid] == CamLightType.TARGETBODYCOM)
-  invalid_target = is_target_light and (light_targetbodyid[lightid] < 0)
-  if invalid_target:
-    bodyid = light_bodyid[lightid]
-    xpos = xpos_in[worldid, bodyid]
-    xquat = xquat_in[worldid, bodyid]
-    light_xpos_out[worldid, lightid] = xpos + math.rot_vec_quat(light_pos[light_pos_id, lightid], xquat)
-    light_xdir_out[worldid, lightid] = math.rot_vec_quat(light_dir[light_dir_id, lightid], xquat)
-    return
-  elif light_mode[lightid] == CamLightType.TRACK:
-    light_xdir_out[worldid, lightid] = light_dir0[worldid % light_dir0.shape[0], lightid]
-    body_xpos = xpos_in[worldid, light_bodyid[lightid]]
-    light_xpos_out[worldid, lightid] = body_xpos + light_pos0[worldid % light_pos0.shape[0], lightid]
-  elif light_mode[lightid] == CamLightType.TRACKCOM:
-    light_xdir_out[worldid, lightid] = light_dir0[worldid % light_dir0.shape[0], lightid]
-    light_xpos_out[worldid, lightid] = (
-      subtree_com_in[worldid, light_bodyid[lightid]] + light_poscom0[worldid % light_poscom0.shape[0], lightid]
-    )
-  elif light_mode[lightid] == CamLightType.TARGETBODY or light_mode[lightid] == CamLightType.TARGETBODYCOM:
-    bodyid = light_bodyid[lightid]
-    xpos = xpos_in[worldid, bodyid]
-    xquat = xquat_in[worldid, bodyid]
-    light_xpos_out[worldid, lightid] = xpos + math.rot_vec_quat(light_pos[light_pos_id, lightid], xquat)
-    pos = xpos_in[worldid, light_targetbodyid[lightid]]
-    if light_mode[lightid] == CamLightType.TARGETBODYCOM:
-      pos = subtree_com_in[worldid, light_targetbodyid[lightid]]
-    light_xdir_out[worldid, lightid] = pos - light_xpos_out[worldid, lightid]
-  else:
-    bodyid = light_bodyid[lightid]
-    xpos = xpos_in[worldid, bodyid]
-    xquat = xquat_in[worldid, bodyid]
-    light_xpos_out[worldid, lightid] = xpos + math.rot_vec_quat(light_pos[light_pos_id, lightid], xquat)
-    light_xdir_out[worldid, lightid] = math.rot_vec_quat(light_dir[light_dir_id, lightid], xquat)
-
-  light_xdir_out[worldid, lightid] = wp.normalize(light_xdir_out[worldid, lightid])
-
-
-@event_scope
-def camlight(m: Model, d: Data):
-  """Computes camera and light positions and orientations.
-
-  Updates the global positions and orientations for all cameras and lights in the model,
-  including special handling for tracking and target modes.
-  """
-  wp.launch(
-    _cam_local_to_global,
-    dim=(d.nworld, m.ncam),
-    inputs=[
-      m.cam_mode,
-      m.cam_bodyid,
-      m.cam_targetbodyid,
-      m.cam_pos,
-      m.cam_quat,
-      m.cam_poscom0,
-      m.cam_pos0,
-      m.cam_mat0,
-      d.xpos,
-      d.xquat,
-      d.subtree_com,
-    ],
-    outputs=[d.cam_xpos, d.cam_xmat],
-  )
-  wp.launch(
-    _light_local_to_global,
-    dim=(d.nworld, m.nlight),
-    inputs=[
-      m.light_mode,
-      m.light_bodyid,
-      m.light_targetbodyid,
-      m.light_pos,
-      m.light_dir,
-      m.light_poscom0,
-      m.light_pos0,
-      m.light_dir0,
-      d.xpos,
-      d.xquat,
-      d.subtree_com,
-    ],
-    outputs=[d.light_xpos, d.light_xdir],
-  )
-
-
-@wp.kernel
-def _crb_accumulate(
-  # Model:
-  body_parentid: wp.array[int],
-  # Data in:
-  crb_in: wp.array2d[vec10],
-  # In:
-  body_tree_: wp.array[int],
-  # Data out:
-  crb_out: wp.array2d[vec10],
-):
-  worldid, nodeid = wp.tid()
-  bodyid = body_tree_[nodeid]
-  pid = body_parentid[bodyid]
-  if pid == 0:
-    return
-  wp.atomic_add(crb_out, worldid, pid, crb_in[worldid, bodyid])
-
-
-@wp.kernel
-def _M(
-  # Model:
-  dof_bodyid: wp.array[int],
-  dof_parentid: wp.array[int],
-  dof_armature: wp.array2d[float],
-  M_rownnz: wp.array[int],
-  M_rowadr: wp.array[int],
-  # Data in:
-  cdof_in: wp.array2d[wp.spatial_vector],
-  crb_in: wp.array2d[vec10],
-  # Data out:
-  M_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  bodyid = dof_bodyid[dofid]
-  madr_ij = M_rowadr[dofid] + M_rownnz[dofid] - 1
-
-  # init M(i,i) with armature inertia
-  M_out[worldid, madr_ij] = dof_armature[worldid % dof_armature.shape[0], dofid]
-
-  # precompute buf = crb_body_i * cdof_i
-  buf = math.inert_vec(crb_in[worldid, bodyid], cdof_in[worldid, dofid])
-
-  # sparse backward pass over ancestors
-  while dofid >= 0:
-    M_out[worldid, madr_ij] += wp.dot(cdof_in[worldid, dofid], buf)
-    madr_ij -= 1
-    dofid = dof_parentid[dofid]
-
-
-@event_scope
-def crb(m: Model, d: Data):
-  """Computes composite rigid body inertias for each body and the joint-space inertia matrix.
-
-  Accumulates composite rigid body inertias up the kinematic tree and computes the
-  joint-space inertia matrix in either sparse or dense format, depending on model options.
-  """
-  wp.copy(d.crb, d.cinert)
-
-  for i in reversed(range(len(m.body_tree))):
-    body_tree = m.body_tree[i]
-    wp.launch(_crb_accumulate, dim=(d.nworld, body_tree.size), inputs=[m.body_parentid, d.crb, body_tree], outputs=[d.crb])
-
-  d.M.zero_()
-  wp.launch(
-    _M,
-    dim=(d.nworld, m.nv),
-    inputs=[m.dof_bodyid, m.dof_parentid, m.dof_armature, m.M_rownnz, m.M_rowadr, d.cdof, d.crb],
-    outputs=[d.M],
-  )
-
-
-@wp.kernel
-def _tendon_armature(
-  # Model:
-  dof_parentid: wp.array[int],
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  tendon_armature: wp.array2d[float],
-  M_rownnz: wp.array[int],
-  M_rowadr: wp.array[int],
-  # Data in:
-  ten_J_in: wp.array2d[float],
-  # Data out:
-  M_out: wp.array2d[float],
-):
-  worldid, tenid, dofid = wp.tid()
-
-  armature = tendon_armature[worldid % tendon_armature.shape[0], tenid]
-
-  if armature == 0.0:
-    return
-
-  rownnz = ten_J_rownnz[tenid]
-  if dofid >= rownnz:
-    return
-  rowadr = ten_J_rowadr[tenid]
-  dofid_sparse = dofid
-  sparseid = rowadr + dofid_sparse
-  dofid = ten_J_colind[sparseid]
-  ten_Ji = ten_J_in[worldid, sparseid]
-
-  if ten_Ji == 0.0:
-    return
-
-  # Walk the row's entries from the diagonal backward over ancestors.
-  madr_ij = M_rowadr[dofid] + M_rownnz[dofid] - 1
-
-  # sparse backward pass over ancestors
-  dofidi = dofid
-  ptr = dofid_sparse
-  while dofid >= 0:
-    if dofid == dofidi:
-      ten_Jj = ten_Ji
-    else:
-      # scan pointer backward to find matching colind entry
-      while ptr >= 0:
-        sparseid = rowadr + ptr
-        if ten_J_colind[sparseid] <= dofid:
-          break
-        ptr -= 1
-      if ptr >= 0 and ten_J_colind[sparseid] == dofid:
-        ten_Jj = ten_J_in[worldid, sparseid]
-      else:
-        ten_Jj = float(0.0)
-
-    Mij = armature * ten_Jj * ten_Ji
-
-    wp.atomic_add(M_out[worldid], madr_ij, Mij)
-    madr_ij -= 1
-
-    dofid = dof_parentid[dofid]
-
-
-@event_scope
-def tendon_armature(m: Model, d: Data):
-  """Add tendon armature to M."""
-  wp.launch(
-    _tendon_armature,
-    dim=(d.nworld, m.ntendon, m.max_ten_J_rownnz),
-    inputs=[
-      m.dof_parentid,
-      m.ten_J_rownnz,
-      m.ten_J_rowadr,
-      m.ten_J_colind,
-      m.tendon_armature,
-      m.M_rownnz,
-      m.M_rowadr,
-      d.ten_J,
-    ],
-    outputs=[d.M],
-  )
-
-
-@wp.kernel
-def _qLD_acc(
-  # Model:
-  M_rownnz: wp.array[int],
-  M_rowadr: wp.array[int],
-  # In:
-  qLD_updates_: wp.array[wp.vec3i],
-  L_in: wp.array2d[float],
-  # Out:
-  L_out: wp.array2d[float],
-):
-  worldid, nodeid = wp.tid()
-  update = qLD_updates_[nodeid]
-  i, k, Madr_ki = update[0], update[1], update[2]
-  Madr_i = M_rowadr[i]  # Address of row being updated
-  diag_k = M_rowadr[k] + M_rownnz[k] - 1  # Address of diagonal element of k
-  # tmp = M(k,i) / M(k,k)
-  tmp = L_out[worldid, Madr_ki] / L_out[worldid, diag_k]
-  for j in range(M_rownnz[i]):
-    # M(i,j) -= M(k,j) * tmp
-    wp.atomic_sub(L_out[worldid], Madr_i + j, L_in[worldid, M_rowadr[k] + j] * tmp)
-  # M(k,i) = tmp
-  L_out[worldid, Madr_ki] = tmp
-
-
-@wp.kernel
-def _qLDiag_div(
-  # Model:
-  M_rownnz: wp.array[int],
-  M_rowadr: wp.array[int],
-  # In:
-  L_in: wp.array2d[float],
-  # Out:
-  D_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  diag_i = M_rowadr[dofid] + M_rownnz[dofid] - 1  # Address of diagonal element of i
-  D_out[worldid, dofid] = 1.0 / L_in[worldid, diag_i]
-
-
-def _factor_i_sparse(m: Model, d: Data, M: wp.array2d[float], L: wp.array2d[float], D: wp.array2d[float]):
-  """Sparse L'*D*L factorization of inertia-like matrix M, assumed spd."""
-  wp.copy(L, M)
-
-  for i in reversed(range(len(m.qLD_updates))):
-    qLD_updates = m.qLD_updates[i]
-    wp.launch(_qLD_acc, dim=(d.nworld, qLD_updates.size), inputs=[m.M_rownnz, m.M_rowadr, qLD_updates, L], outputs=[L])
-
-  wp.launch(_qLDiag_div, dim=(d.nworld, m.nv), inputs=[m.M_rownnz, m.M_rowadr, L], outputs=[D])
-
-
-@cache_kernel
-def _small_cholesky_factorize_block(block_size: int):
-  @wp.kernel(module="unique", enable_backward=False)
-  def kernel(
-    # Model:
-    M_rowadr: wp.array[int],
-    qLD_block_adr: wp.array[int],
-    # Data in:
-    M_in: wp.array2d[float],
-    # In:
-    block_dof: wp.array[int],
-    # Out:
-    D_out: wp.array2d[float],
-    L_out: wp.array2d[float],
-  ):
-    worldid, blk = wp.tid()
-    start = block_dof[blk]
-    size = wp.static(block_size)
-    matrix_adr = M_rowadr[start]
-
-    factor_adr = qLD_block_adr[start]
-    if factor_adr == Q_LD_BLOCK_COMPACT:
-      for i in range(wp.static(block_size)):
-        D_out[worldid, start + i] = 1.0 / M_in[worldid, matrix_adr + i]
-    else:
-      for i in range(wp.static(block_size)):
-        value = M_in[worldid, matrix_adr + i * (i + 1) // 2 + i]
-        for k in range(i):
-          factor = L_out[worldid, factor_adr + k * size + i]
-          value -= factor * factor
-
-        diagonal_value = wp.sqrt(value)
-        L_out[worldid, factor_adr + i * size + i] = diagonal_value
-        diagonal_inv = 1.0 / diagonal_value
-
-        for j in range(i + 1, size):
-          value = M_in[worldid, matrix_adr + j * (j + 1) // 2 + i]
-          for k in range(i):
-            value -= L_out[worldid, factor_adr + k * size + i] * L_out[worldid, factor_adr + k * size + j]
-          L_out[worldid, factor_adr + i * size + j] = value * diagonal_inv
-
-  return kernel
-
-
-@cache_kernel
-def _tile_cholesky_factorize_block(tile: TileSet):
-  # One diagonal block of `block_size` dofs per (world, block) tile group. tile_load_indexed gathers
-  # the block's dense slots from CSR via a precomputed per-slot index tile (block_elemid, laid out
-  # [block, slot]); structurally absent pairs carry an out-of-bounds index that reads as 0.
-  # Tile shapes must be compile-time constants, so the densify is inlined per kernel (sharing via a
-  # wp.func is not possible) -- keep it in sync with _tile_cholesky_factorize_solve_block.
-  block_size = tile.size
-  block_area = block_size * block_size
-
-  @wp.kernel(module="unique", enable_backward=False)
-  def kernel(
-    # Model:
-    qLD_block_adr: wp.array[int],
-    # Data in:
-    M_in: wp.array2d[float],
-    # In:
-    block_elemid: wp.array[int],
-    block_dof: wp.array[int],
-    # Out:
-    L_out: wp.array2d[float],
-  ):
-    worldid, blk = wp.tid()
-    start = block_dof[blk]
-
-    idx = wp.tile_load(block_elemid, shape=(block_area,), offset=(blk * block_area,), storage="shared")
-    block = wp.tile_load_indexed(M_in[worldid], idx, shape=(block_area,), storage="shared")
-
-    L = wp.tile_reshape(block, (block_size, block_size))
-    wp.tile_cholesky_inplace(L, fill_mode="upper")
-    wp.tile_store(L_out[worldid], wp.tile_reshape(L, (block_area,)), offset=(qLD_block_adr[start],))
-
-  return kernel
-
-
-def _factor_blocks(
-  m: Model,
-  d: Data,
-  M: wp.array2d[float],
-  L: wp.array2d[float],
-  D: wp.array2d[float],
-):
-  for tile in m.M_tiles:
-    if tile.elemid.size == 0:
-      wp.launch(
-        _small_cholesky_factorize_block(tile.size),
-        dim=(d.nworld, tile.adr.size),
-        inputs=[m.M_rowadr, m.qLD_block_adr, M, tile.adr],
-        outputs=[D, L],
-        block_dim=m.block_dim.small_cholesky,
-      )
-    else:
-      wp.launch_tiled(
-        _tile_cholesky_factorize_block(tile),
-        dim=(d.nworld, tile.adr.size),
-        inputs=[m.qLD_block_adr, M, tile.elemid, tile.adr],
-        outputs=[L],
-        block_dim=m.block_dim.cholesky_factorize,
-      )
-
-
-@event_scope
-def factor_m(m: Model, d: Data):
-  """Factorization of inertia-like matrix M, assumed spd.
-
-  Compact blocks use reciprocal diagonals, full small blocks use scalar Cholesky, larger dense
-  blocks use tile Cholesky, and oversized blocks use sparse LDL.
-  """
-  if m.M_tiles:
-    _factor_blocks(m, d, d.M, d.qLD, d.qLDiagInv)
-  if d.qLD.shape[1] > m.qLD_block_total:
-    _factor_i_sparse(m, d, d.M, d.qLD[:, m.qLD_block_total :], d.qLDiagInv)
-
-
-@wp.kernel
-def _cacc_world(
-  # In:
-  gravity: wp.array[wp.vec3],
-  # Data out:
-  cacc_out: wp.array2d[wp.spatial_vector],
-):
-  worldid = wp.tid()
-  cacc_out[worldid, 0] = wp.spatial_vector(wp.vec3(0.0), -gravity[worldid % gravity.shape[0]])
-
-
-def _rne_cacc_world(m: Model, d: Data):
-  if m.opt.disableflags & DisableBit.GRAVITY:
-    d.cacc.zero_()
-  else:
-    wp.launch(_cacc_world, dim=[d.nworld], inputs=[m.opt.gravity], outputs=[d.cacc])
-
-
-@wp.kernel
-def _cacc_branch(
-  # Model:
-  body_parentid: wp.array[int],
-  body_dofnum: wp.array[int],
-  body_dofadr: wp.array[int],
-  body_branches: wp.array[int],
-  body_branch_start: wp.array[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  qacc_in: wp.array2d[float],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  cdof_dot_in: wp.array2d[wp.spatial_vector],
-  # In:
-  flg_acc: bool,
-  # Data out:
-  cacc_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, branchid = wp.tid()
-
-  start = body_branch_start[branchid]
-  end = body_branch_start[branchid + 1]
-
-  bodyid = body_branches[start]
-  pid = body_parentid[bodyid]
-  local_cacc = cacc_out[worldid, pid]
-  for i in range(start, end):
-    bodyid = body_branches[i]
-    dofnum = body_dofnum[bodyid]
-    dofadr = body_dofadr[bodyid]
-    for j in range(dofnum):
-      local_cacc += cdof_dot_in[worldid, dofadr + j] * qvel_in[worldid, dofadr + j]
-      if flg_acc:
-        local_cacc += cdof_in[worldid, dofadr + j] * qacc_in[worldid, dofadr + j]
-    cacc_out[worldid, bodyid] = local_cacc
-
-
-def _rne_cacc_forward(m: Model, d: Data, flg_acc: bool = False):
-  wp.launch(
-    _cacc_branch,
-    dim=(d.nworld, m.nbranch),
-    inputs=[
-      m.body_parentid,
-      m.body_dofnum,
-      m.body_dofadr,
-      m.body_branches,
-      m.body_branch_start,
-      d.qvel,
-      d.qacc,
-      d.cdof,
-      d.cdof_dot,
-      flg_acc,
-    ],
-    outputs=[d.cacc],
-  )
-
-
-@wp.kernel
-def _cfrc(
-  # Data in:
-  cinert_in: wp.array2d[vec10],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  cacc_in: wp.array2d[wp.spatial_vector],
-  cfrc_ext_in: wp.array2d[wp.spatial_vector],
-  # In:
-  flg_cfrc_ext: bool,
-  # Data out:
-  cfrc_int_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, bodyid = wp.tid()
-  if bodyid == 0:
-    cfrc_int_out[worldid, 0] = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-    return
-  cacc = cacc_in[worldid, bodyid]
-  cinert = cinert_in[worldid, bodyid]
-  cvel = cvel_in[worldid, bodyid]
-  frc = math.inert_vec(cinert, cacc)
-  frc += math.motion_cross_force(cvel, math.inert_vec(cinert, cvel))
-  if flg_cfrc_ext:
-    frc -= cfrc_ext_in[worldid, bodyid]
-
-  cfrc_int_out[worldid, bodyid] = frc
-
-
-def _rne_cfrc(m: Model, d: Data, flg_cfrc_ext: bool = False):
-  wp.launch(_cfrc, dim=[d.nworld, m.nbody], inputs=[d.cinert, d.cvel, d.cacc, d.cfrc_ext, flg_cfrc_ext], outputs=[d.cfrc_int])
-
-
-@wp.kernel
-def _cfrc_backward(
-  # Model:
-  body_parentid: wp.array[int],
-  # Data in:
-  cfrc_int_in: wp.array2d[wp.spatial_vector],
-  # In:
-  body_tree_: wp.array[int],
-  # Data out:
-  cfrc_int_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, nodeid = wp.tid()
-  bodyid = body_tree_[nodeid]
-  pid = body_parentid[bodyid]
-  if bodyid != 0:
-    wp.atomic_add(cfrc_int_out[worldid], pid, cfrc_int_in[worldid, bodyid])
-
-
-def _rne_cfrc_backward(m: Model, d: Data):
-  for body_tree in reversed(m.body_tree):
-    wp.launch(
-      _cfrc_backward, dim=[d.nworld, body_tree.size], inputs=[m.body_parentid, d.cfrc_int, body_tree], outputs=[d.cfrc_int]
-    )
-
-
-@wp.kernel
-def _qfrc_bias(
-  # Model:
-  dof_bodyid: wp.array[int],
-  # Data in:
-  cdof_in: wp.array2d[wp.spatial_vector],
-  cfrc_int_in: wp.array2d[wp.spatial_vector],
-  # Data out:
-  qfrc_bias_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  bodyid = dof_bodyid[dofid]
-  qfrc_bias_out[worldid, dofid] = wp.dot(cdof_in[worldid, dofid], cfrc_int_in[worldid, bodyid])
-
-
-@event_scope
-def rne(m: Model, d: Data, flg_acc: bool = False):
-  """Computes inverse dynamics using the recursive Newton-Euler algorithm.
-
-  Computes the bias forces (`qfrc_bias`) and internal forces (`cfrc_int`) for the current state,
-  including the effects of gravity and optionally joint accelerations.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-    flg_acc: If True, includes joint accelerations in the computation.
-  """
-  _rne_cacc_world(m, d)
-  _rne_cacc_forward(m, d, flg_acc=flg_acc)
-  _rne_cfrc(m, d)
-  _rne_cfrc_backward(m, d)
-  wp.launch(_qfrc_bias, dim=[d.nworld, m.nv], inputs=[m.dof_bodyid, d.cdof, d.cfrc_int], outputs=[d.qfrc_bias])
-
-
-@wp.kernel
-def _cfrc_ext(
-  # Model:
-  body_rootid: wp.array[int],
-  # Data in:
-  xfrc_applied_in: wp.array2d[wp.spatial_vector],
-  xipos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  # Data out:
-  cfrc_ext_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, bodyid = wp.tid()
-  if bodyid == 0:
-    cfrc_ext_out[worldid, 0] = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-  else:
-    xfrc_applied = xfrc_applied_in[worldid, bodyid]
-    subtree_com = subtree_com_in[worldid, body_rootid[bodyid]]
-    xipos = xipos_in[worldid, bodyid]
-    cfrc_ext_out[worldid, bodyid] = support.transform_force(xfrc_applied, subtree_com - xipos)
-
-
-@wp.kernel
-def _count_equality_constraints(
-  # Model:
-  eq_type: wp.array[int],
-  # Data in:
-  ne_in: wp.array[int],
-  efc_type_in: wp.array2d[int],
-  efc_id_in: wp.array2d[int],
-  # Out:
-  ne_connect_out: wp.array[int],
-  ne_weld_out: wp.array[int],
-):
-  """Counts connect and weld equality constraints from efc data."""
-  worldid, efcid = wp.tid()
-
-  # Only process rows within the equality constraint range
-  if efcid >= ne_in[worldid]:
-    return
-
-  # Get the equality constraint ID and its type
-  eq_id = efc_id_in[worldid, efcid]
-  eq_constraint_type = eq_type[eq_id]
-
-  # Count by type (each connect has 3 rows, each weld has 6 rows)
-  if eq_constraint_type == EqType.CONNECT:
-    wp.atomic_add(ne_connect_out, worldid, 1)
-  elif eq_constraint_type == EqType.WELD:
-    wp.atomic_add(ne_weld_out, worldid, 1)
-
-
-@wp.kernel
-def _cfrc_ext_equality(
-  # Model:
-  body_rootid: wp.array[int],
-  site_bodyid: wp.array[int],
-  site_pos: wp.array2d[wp.vec3],
-  eq_obj1id: wp.array[int],
-  eq_obj2id: wp.array[int],
-  eq_objtype: wp.array[int],
-  eq_data: wp.array2d[vec11],
-  # Data in:
-  xpos_in: wp.array2d[wp.vec3],
-  xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  efc_id_in: wp.array2d[int],
-  efc_force_in: wp.array2d[float],
-  # In:
-  ne_connect_in: wp.array[int],
-  ne_weld_in: wp.array[int],
-  # Data out:
-  cfrc_ext_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, eqid = wp.tid()
-
-  ne_connect = ne_connect_in[worldid]
-  ne_weld = ne_weld_in[worldid]
-  num_connect = ne_connect // 3
-
-  if eqid >= num_connect + ne_weld // 6:
-    return
-
-  is_connect = eqid < num_connect
-  if is_connect:
-    efcid = 3 * eqid
-    cfrc_torque = wp.vec3(0.0, 0.0, 0.0)  # no torque from connect
-  else:
-    efcid = 6 * eqid - ne_connect
-    cfrc_torque = wp.vec3(efc_force_in[worldid, efcid + 3], efc_force_in[worldid, efcid + 4], efc_force_in[worldid, efcid + 5])
-
-  cfrc_force = wp.vec3(
-    efc_force_in[worldid, efcid + 0],
-    efc_force_in[worldid, efcid + 1],
-    efc_force_in[worldid, efcid + 2],
-  )
-
-  id = efc_id_in[worldid, efcid]
-  eq_data_ = eq_data[worldid % eq_data.shape[0], id]
-  body_semantic = eq_objtype[id] == ObjType.BODY
-
-  obj1 = eq_obj1id[id]
-  obj2 = eq_obj2id[id]
-
-  if body_semantic:
-    bodyid1 = obj1
-    bodyid2 = obj2
-  else:
-    bodyid1 = site_bodyid[obj1]
-    bodyid2 = site_bodyid[obj2]
-
-  # body 1
-  if bodyid1:
-    if body_semantic:
-      if is_connect:
-        offset = wp.vec3(eq_data_[0], eq_data_[1], eq_data_[2])
-      else:
-        offset = wp.vec3(eq_data_[3], eq_data_[4], eq_data_[5])
-    else:
-      offset = site_pos[worldid % site_pos.shape[0], obj1]
-
-    # transform point on body1: local -> global
-    pos = xmat_in[worldid, bodyid1] @ offset + xpos_in[worldid, bodyid1]
-
-    # subtree CoM-based torque_force vector
-    newpos = subtree_com_in[worldid, body_rootid[bodyid1]]
-
-    dif = newpos - pos
-    cfrc_com = wp.spatial_vector(cfrc_torque - wp.cross(dif, cfrc_force), cfrc_force)
-
-    # apply (opposite for body 1)
-    wp.atomic_add(cfrc_ext_out[worldid], bodyid1, cfrc_com)
-
-  # body 2
-  if bodyid2:
-    if body_semantic:
-      if is_connect:
-        offset = wp.vec3(eq_data_[3], eq_data_[4], eq_data_[5])
-      else:
-        offset = wp.vec3(eq_data_[0], eq_data_[1], eq_data_[2])
-    else:
-      offset = site_pos[worldid % site_pos.shape[0], obj2]
-
-    # transform point on body2: local -> global
-    pos = xmat_in[worldid, bodyid2] @ offset + xpos_in[worldid, bodyid2]
-
-    # subtree CoM-based torque_force vector
-    newpos = subtree_com_in[worldid, body_rootid[bodyid2]]
-
-    dif = newpos - pos
-    cfrc_com = wp.spatial_vector(cfrc_torque - wp.cross(dif, cfrc_force), cfrc_force)
-
-    # apply
-    wp.atomic_sub(cfrc_ext_out[worldid], bodyid2, cfrc_com)
-
-
-@wp.func
-def transform_force(force: wp.vec3, torque: wp.vec3, offset: wp.vec3) -> wp.spatial_vector:
-  torque -= wp.cross(offset, force)
-  return wp.spatial_vector(torque, force)
-
-
-@wp.kernel
-def _cfrc_ext_contact(
-  # Model:
-  opt_cone: int,
-  body_rootid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  # Data in:
-  subtree_com_in: wp.array2d[wp.vec3],
-  contact_pos_in: wp.array[wp.vec3],
-  contact_frame_in: wp.array[wp.mat33],
-  contact_friction_in: wp.array[vec5],
-  contact_dim_in: wp.array[int],
-  contact_geom_in: wp.array[wp.vec2i],
-  contact_efc_address_in: wp.array2d[int],
-  contact_worldid_in: wp.array[int],
-  efc_force_in: wp.array2d[float],
-  njmax_in: int,
-  nacon_in: wp.array[int],
-  # Data out:
-  cfrc_ext_out: wp.array2d[wp.spatial_vector],
-):
-  contactid = wp.tid()
-
-  if contactid >= nacon_in[0]:
-    return
-
-  geom = contact_geom_in[contactid]
-  id1 = geom_bodyid[geom[0]]
-  id2 = geom_bodyid[geom[1]]
-
-  if id1 == 0 and id2 == 0:
-    return
-
-  worldid = contact_worldid_in[contactid]
-
-  # contact force in world frame
-  force = support.contact_force_fn(
-    opt_cone,
-    contact_frame_in,
-    contact_friction_in,
-    contact_dim_in,
-    contact_efc_address_in,
-    efc_force_in,
-    njmax_in,
-    nacon_in,
-    worldid,
-    contactid,
-    to_world_frame=True,
-  )
-
-  pos = contact_pos_in[contactid]
-
-  # contact force on bodies
-  if id1:
-    com1 = subtree_com_in[worldid, body_rootid[id1]]
-    wp.atomic_sub(cfrc_ext_out[worldid], id1, support.transform_force(force, com1 - pos))
-
-  if id2:
-    com2 = subtree_com_in[worldid, body_rootid[id2]]
-    wp.atomic_add(cfrc_ext_out[worldid], id2, support.transform_force(force, com2 - pos))
-
-
-@event_scope
-def rne_postconstraint(m: Model, d: Data):
-  """Computes the recursive Newton-Euler algorithm after constraints are applied.
-
-  Computes `cacc`, `cfrc_ext`, and `cfrc_int`, including the effects of applied forces, equality
-  constraints, and contacts.
-  """
-  # cfrc_ext = perturb
-  wp.launch(
-    _cfrc_ext,
-    dim=(d.nworld, m.nbody),
-    inputs=[m.body_rootid, d.xfrc_applied, d.xipos, d.subtree_com],
-    outputs=[d.cfrc_ext],
-  )
-
-  # Equality constraint forces - only if model has equality constraints
-  if m.neq > 0:
-    # Allocate inline counters and count from efc data
-    ne_connect = wp.zeros((d.nworld,), dtype=int)
-    ne_weld = wp.zeros((d.nworld,), dtype=int)
-
-    wp.launch(
-      _count_equality_constraints,
-      dim=(d.nworld, d.njmax),  # TODO(team): launch over max equality constraints
-      inputs=[m.eq_type, d.ne, d.efc.type, d.efc.id],
-      outputs=[ne_connect, ne_weld],
-    )
-
-    wp.launch(
-      _cfrc_ext_equality,
-      dim=(d.nworld, m.neq),
-      inputs=[
-        m.body_rootid,
-        m.site_bodyid,
-        m.site_pos,
-        m.eq_obj1id,
-        m.eq_obj2id,
-        m.eq_objtype,
-        m.eq_data,
-        d.xpos,
-        d.xmat,
-        d.subtree_com,
-        d.efc.id,
-        d.efc.force,
-        ne_connect,
-        ne_weld,
-      ],
-      outputs=[d.cfrc_ext],
-    )
-
-  # cfrc_ext += contacts
-  wp.launch(
-    _cfrc_ext_contact,
-    dim=(d.naconmax,),
-    inputs=[
-      m.opt.cone,
-      m.body_rootid,
-      m.geom_bodyid,
-      d.subtree_com,
-      d.contact.pos,
-      d.contact.frame,
-      d.contact.friction,
-      d.contact.dim,
-      d.contact.geom,
-      d.contact.efc_address,
-      d.contact.worldid,
-      d.efc.force,
-      d.njmax,
-      d.nacon,
-    ],
-    outputs=[d.cfrc_ext],
-  )
-
-  # forward pass over bodies: compute cacc, cfrc_int
-  _rne_cacc_world(m, d)
-  _rne_cacc_forward(m, d, flg_acc=True)
-
-  # cfrc_body = cinert * cacc + cvel x (cinert * cvel)
-  _rne_cfrc(m, d, flg_cfrc_ext=True)
-
-  # backward pass over bodies: accumulate cfrc_int from children
-  _rne_cfrc_backward(m, d)
-
-
-@wp.func
-def _accumulate_jac_dot_chain(
-  # Model:
-  body_parentid: wp.array[int],
-  body_dofnum: wp.array[int],
-  body_dofadr: wp.array[int],
-  jnt_type: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  dof_jntid: wp.array[int],
-  ten_J_colind: wp.array[int],
-  # Data in:
-  cdof_in: wp.array2d[wp.spatial_vector],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  cdof_dot_in: wp.array2d[wp.spatial_vector],
-  # In:
-  offset: wp.vec3,
-  pvel_lin: wp.vec3,
-  dpnt: wp.vec3,
-  dvel: wp.vec3,
-  bodyid: int,
-  rowadr: int,
-  rownnz: int,
-  scale: float,
-  worldid: int,
-  # Out:
-  ten_Jdot_out: wp.array2d[float],
-):
-  """Walk body chain from bodyid to root, accumulate Jdot contributions."""
-  ptr = rownnz - 1
-  bid = bodyid
-  while bid > 0:
-    bdofadr = body_dofadr[bid]
-    bdofnum = body_dofnum[bid]
-    # iterate DOFs in this body in descending order
-    for k_rev in range(bdofnum):
-      dof = bdofadr + bdofnum - 1 - k_rev
-      # scan pointer backward to find matching colind entry
-      while ptr >= 0:
-        sparseid = rowadr + ptr
-        if ten_J_colind[sparseid] <= dof:
-          break
-        ptr -= 1
-      if ptr >= 0 and ten_J_colind[sparseid] == dof:
-        cdof = cdof_in[worldid, dof]
-        cdof_ang = wp.spatial_top(cdof)
-        cdof_lin = wp.spatial_bottom(cdof)
-        cdof_dot = cdof_dot_in[worldid, dof]
-
-        # quaternion override: use cvel of DOF's body (which is bid)
-        dofjntid = dof_jntid[dof]
-        jnttype = jnt_type[dofjntid]
-        jntdofadr = jnt_dofadr[dofjntid]
-        if (jnttype == JointType.BALL) or ((jnttype == JointType.FREE) and dof >= jntdofadr + 3):
-          cdof_dot = math.motion_cross(cvel_in[worldid, bid], cdof)
-
-        cdof_dot_ang = wp.spatial_top(cdof_dot)
-        cdof_dot_lin = wp.spatial_bottom(cdof_dot)
-
-        # jacp_dot (from jac_dot_dof)
-        jacp_dot = cdof_dot_lin + wp.cross(cdof_dot_ang, offset) + wp.cross(cdof_ang, pvel_lin)
-
-        # jacp (from jac_dof)
-        jacp = cdof_lin + wp.cross(cdof_ang, offset)
-
-        # combined: dot(jacdot, dpnt) + dot(jac, dvel)
-        Jdot = (wp.dot(jacp_dot, dpnt) + wp.dot(jacp, dvel)) * scale
-        if Jdot != 0.0:
-          wp.atomic_add(ten_Jdot_out[worldid], sparseid, Jdot)
-    bid = body_parentid[bid]
-
-
-@wp.kernel
-def _tendon_dot(
-  # Model:
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  body_dofnum: wp.array[int],
-  body_dofadr: wp.array[int],
-  jnt_type: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  dof_jntid: wp.array[int],
-  site_bodyid: wp.array[int],
-  tendon_adr: wp.array[int],
-  tendon_num: wp.array[int],
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  tendon_armature: wp.array2d[float],
-  wrap_type: wp.array[int],
-  wrap_objid: wp.array[int],
-  wrap_prm: wp.array[float],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  cdof_dot_in: wp.array2d[wp.spatial_vector],
-  # Out:
-  ten_Jdot_out: wp.array2d[float],
-):
-  worldid, tenid = wp.tid()
-
-  armature = tendon_armature[worldid % tendon_armature.shape[0], tenid]
-  if armature == 0.0:
-    return
-
-  # fixed tendon has zero Jdot
-  adr = tendon_adr[tenid]
-  if wrap_type[adr] == WrapType.JOINT:
-    return
-
-  # process spatial tendon
-  divisor = float(1.0)
-  num = tendon_num[tenid]
-  j = int(0)
-  while j < num - 1:
-    # get 1st and 2nd object
-    type0 = wrap_type[adr + j + 0]
-    type1 = wrap_type[adr + j + 1]
-    id0 = wrap_objid[adr + j + 0]
-    id1 = wrap_objid[adr + j + 1]
-
-    # pulley
-    pulley = WrapType.PULLEY
-    if (type0 == pulley) or (type1 == pulley):
-      # get divisor
-      if type0 == pulley:
-        divisor = wrap_prm[adr + j]
-
-      j += 1
-      continue
-
-    # init sequence; assume it start with site
-    wpnt0 = site_xpos_in[worldid, id0]
-
-    wbody0 = site_bodyid[id0]
-    cvel0 = cvel_in[worldid, wbody0]
-    subtree_com0 = subtree_com_in[worldid, body_rootid[wbody0]]
-    offset0 = wpnt0 - subtree_com0
-    pvel_lin0 = wp.spatial_bottom(cvel0) - wp.cross(offset0, wp.spatial_top(cvel0))
-
-    # second object is geom: process site-geom-site
-    if (type1 == WrapType.SPHERE) or (type1 == WrapType.CYLINDER):
-      # TODO(team): derivatives of util_misc.wrap
-      return
-
-    # complete sequence
-    wbody1 = site_bodyid[id1]
-    wpnt1 = site_xpos_in[worldid, id1]
-
-    cvel1 = cvel_in[worldid, wbody1]
-    subtree_com1 = subtree_com_in[worldid, body_rootid[wbody1]]
-    offset1 = wpnt1 - subtree_com1
-    pvel_lin1 = wp.spatial_bottom(cvel1) - wp.cross(offset1, wp.spatial_top(cvel1))
-
-    # accumulate moments if consecutive points are in different bodies
-    if wbody0 != wbody1:
-      # dpnt = 3D position difference, normalize
-      dpnt, norm = math.normalize_with_norm(wpnt1 - wpnt0)
-
-      # dvel = d / dt (dpnt)
-      wvel0 = wp.spatial_bottom(cvel0) - wp.cross(wpnt0 - subtree_com0, wp.spatial_top(cvel0))
-      wvel1 = wp.spatial_bottom(cvel1) - wp.cross(wpnt1 - subtree_com1, wp.spatial_top(cvel1))
-      dvel = wvel1 - wvel0
-      dot = wp.dot(dpnt, dvel)
-      dvel += dpnt * (-dot)
-      if norm > MJ_MINVAL:
-        dvel /= norm
-      else:
-        dvel = wp.vec3(0.0)
-
-      rownnz = ten_J_rownnz[tenid]
-      rowadr = ten_J_rowadr[tenid]
-      inv_divisor = math.safe_div(float(1.0), divisor)
-
-      # body0 contributes with negative sign, body1 with positive
-      _accumulate_jac_dot_chain(
-        body_parentid,
-        body_dofnum,
-        body_dofadr,
-        jnt_type,
-        jnt_dofadr,
-        dof_jntid,
-        ten_J_colind,
-        cdof_in,
-        cvel_in,
-        cdof_dot_in,
-        offset0,
-        pvel_lin0,
-        dpnt,
-        dvel,
-        wbody0,
-        rowadr,
-        rownnz,
-        -inv_divisor,
-        worldid,
-        ten_Jdot_out,
-      )
-      _accumulate_jac_dot_chain(
-        body_parentid,
-        body_dofnum,
-        body_dofadr,
-        jnt_type,
-        jnt_dofadr,
-        dof_jntid,
-        ten_J_colind,
-        cdof_in,
-        cvel_in,
-        cdof_dot_in,
-        offset1,
-        pvel_lin1,
-        dpnt,
-        dvel,
-        wbody1,
-        rowadr,
-        rownnz,
-        inv_divisor,
-        worldid,
-        ten_Jdot_out,
-      )
-
-    # TODO(team): j += 2 if geom wrapping
-    j += 1
-
-
-@wp.kernel
-def _tendon_bias_coef(
-  # Model:
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  tendon_armature: wp.array2d[float],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  # In:
-  ten_Jdot_in: wp.array2d[float],
-  # Out:
-  ten_bias_coef_out: wp.array2d[float],
-):
-  worldid, tenid, dofid_sparse = wp.tid()
-
-  armature = tendon_armature[worldid % tendon_armature.shape[0], tenid]
-  if armature == 0.0:
-    return
-
-  rownnz = ten_J_rownnz[tenid]
-  if dofid_sparse >= rownnz:
-    return
-  rowadr = ten_J_rowadr[tenid]
-  sparseid = rowadr + dofid_sparse
-  ten_Jdot = ten_Jdot_in[worldid, sparseid]
-  if ten_Jdot == 0.0:
-    return
-
-  dofid = ten_J_colind[sparseid]
-  wp.atomic_add(ten_bias_coef_out[worldid], tenid, ten_Jdot * qvel_in[worldid, dofid])
-
-
-@wp.kernel
-def _tendon_bias_qfrc(
-  # Model:
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  tendon_armature: wp.array2d[float],
-  # Data in:
-  ten_J_in: wp.array2d[float],
-  # In:
-  ten_bias_coef_in: wp.array2d[float],
-  # Out:
-  qfrc_out: wp.array2d[float],
-):
-  worldid, tenid, dofid = wp.tid()
-
-  armature = tendon_armature[worldid % tendon_armature.shape[0], tenid]
-  if armature == 0.0:
-    return
-
-  rownnz = ten_J_rownnz[tenid]
-  if dofid >= rownnz:
-    return
-  rowadr = ten_J_rowadr[tenid]
-  sparseid = rowadr + dofid
-  ten_J = ten_J_in[worldid, sparseid]
-
-  if ten_J == 0.0:
-    return
-
-  dofid = ten_J_colind[sparseid]
-
-  wp.atomic_add(qfrc_out[worldid], dofid, ten_J * armature * ten_bias_coef_in[worldid, tenid])
-
-
-@event_scope
-def tendon_bias(m: Model, d: Data, qfrc: wp.array2d[float]):
-  """Add bias force due to tendon armature.
-
-  Args:
-    m: The model containing kinematic and dynamic information.
-    d: The data object containing the current state and output arrays.
-    qfrc: Force.
-  """
-  # time derivative of tendon Jacobian
-  ten_Jdot = wp.zeros((d.nworld, m.nJten), dtype=float)
-  wp.launch(
-    _tendon_dot,
-    dim=(d.nworld, m.ntendon),
-    inputs=[
-      m.body_parentid,
-      m.body_rootid,
-      m.body_dofnum,
-      m.body_dofadr,
-      m.jnt_type,
-      m.jnt_dofadr,
-      m.dof_jntid,
-      m.site_bodyid,
-      m.tendon_adr,
-      m.tendon_num,
-      m.ten_J_rownnz,
-      m.ten_J_rowadr,
-      m.ten_J_colind,
-      m.tendon_armature,
-      m.wrap_type,
-      m.wrap_objid,
-      m.wrap_prm,
-      d.site_xpos,
-      d.subtree_com,
-      d.cdof,
-      d.cvel,
-      d.cdof_dot,
-    ],
-    outputs=[ten_Jdot],
-  )
-
-  # tendon bias force coefficients
-  ten_bias_coef = wp.zeros((d.nworld, m.ntendon), dtype=float)
-  wp.launch(
-    _tendon_bias_coef,
-    dim=(d.nworld, m.ntendon, m.max_ten_J_rownnz),
-    inputs=[m.ten_J_rownnz, m.ten_J_rowadr, m.ten_J_colind, m.tendon_armature, d.qvel, ten_Jdot],
-    outputs=[ten_bias_coef],
-  )
-
-  wp.launch(
-    _tendon_bias_qfrc,
-    dim=(d.nworld, m.ntendon, m.max_ten_J_rownnz),
-    inputs=[m.ten_J_rownnz, m.ten_J_rowadr, m.ten_J_colind, m.tendon_armature, d.ten_J, ten_bias_coef],
-    outputs=[qfrc],
-  )
-
-
-@wp.kernel
-def _comvel_root(cvel_out: wp.array2d[wp.spatial_vector]):
-  worldid, elementid = wp.tid()
-  cvel_out[worldid, 0][elementid] = 0.0
-
-
-@wp.kernel
-def _comvel_branch(
-  # Model:
-  body_parentid: wp.array[int],
-  body_jntnum: wp.array[int],
-  body_jntadr: wp.array[int],
-  body_dofadr: wp.array[int],
-  jnt_type: wp.array[int],
-  body_branches: wp.array[int],
-  body_branch_start: wp.array[int],
-  # Data in:
-  qvel_in: wp.array2d[float],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # Data out:
-  cvel_out: wp.array2d[wp.spatial_vector],
-  cdof_dot_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, branchid = wp.tid()
-
-  start = body_branch_start[branchid]
-  end = body_branch_start[branchid + 1]
-
-  qvel = qvel_in[worldid]
-  cdof = cdof_in[worldid]
-
-  for i in range(start, end):
-    bodyid = body_branches[i]
-    pid = body_parentid[bodyid]
-    cvel = cvel_out[worldid, pid]
-    dofid = body_dofadr[bodyid]
-    jntid = body_jntadr[bodyid]
-    jntnum = body_jntnum[bodyid]
-
-    if jntnum == 0:
-      cvel_out[worldid, bodyid] = cvel
-      continue
-
-    for j in range(jntid, jntid + jntnum):
-      jnttype = jnt_type[j]
-
-      if jnttype == JointType.FREE:
-        cvel += cdof[dofid + 0] * qvel[dofid + 0]
-        cvel += cdof[dofid + 1] * qvel[dofid + 1]
-        cvel += cdof[dofid + 2] * qvel[dofid + 2]
-
-        cdof_dot_out[worldid, dofid + 0] = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-        cdof_dot_out[worldid, dofid + 1] = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-        cdof_dot_out[worldid, dofid + 2] = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-        cdof_dot_out[worldid, dofid + 3] = math.motion_cross(cvel, cdof[dofid + 3])
-        cdof_dot_out[worldid, dofid + 4] = math.motion_cross(cvel, cdof[dofid + 4])
-        cdof_dot_out[worldid, dofid + 5] = math.motion_cross(cvel, cdof[dofid + 5])
-
-        cvel += cdof[dofid + 3] * qvel[dofid + 3]
-        cvel += cdof[dofid + 4] * qvel[dofid + 4]
-        cvel += cdof[dofid + 5] * qvel[dofid + 5]
-
-        dofid += 6
-      elif jnttype == JointType.BALL:
-        cdof_dot_out[worldid, dofid + 0] = math.motion_cross(cvel, cdof[dofid + 0])
-        cdof_dot_out[worldid, dofid + 1] = math.motion_cross(cvel, cdof[dofid + 1])
-        cdof_dot_out[worldid, dofid + 2] = math.motion_cross(cvel, cdof[dofid + 2])
-
-        cvel += cdof[dofid + 0] * qvel[dofid + 0]
-        cvel += cdof[dofid + 1] * qvel[dofid + 1]
-        cvel += cdof[dofid + 2] * qvel[dofid + 2]
-
-        dofid += 3
-      else:
-        cdof_dot_out[worldid, dofid] = math.motion_cross(cvel, cdof[dofid])
-        cvel += cdof[dofid] * qvel[dofid]
-
-        dofid += 1
-
-    cvel_out[worldid, bodyid] = cvel
-
-
-@event_scope
-def com_vel(m: Model, d: Data):
-  """Computes the spatial velocities (cvel) and the derivative `cdof_dot` for all bodies.
-
-  Propagates velocities down the kinematic tree, updating the spatial velocity and
-  derivative for each body.
-  """
-  wp.launch(_comvel_root, dim=(d.nworld, 6), inputs=[], outputs=[d.cvel])
-
-  wp.launch(
-    _comvel_branch,
-    dim=(d.nworld, m.nbranch),
-    inputs=[
-      m.body_parentid,
-      m.body_jntnum,
-      m.body_jntadr,
-      m.body_dofadr,
-      m.jnt_type,
-      m.body_branches,
-      m.body_branch_start,
-      d.qvel,
-      d.cdof,
-    ],
-    outputs=[d.cvel, d.cdof_dot],
-  )
-
-
-@wp.kernel
-def _transmission(
-  # Model:
-  nv: int,
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  body_weldid: wp.array[int],
-  body_dofnum: wp.array[int],
-  body_dofadr: wp.array[int],
-  jnt_type: wp.array[int],
-  jnt_qposadr: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  dof_bodyid: wp.array[int],
-  dof_parentid: wp.array[int],
-  site_bodyid: wp.array[int],
-  site_quat: wp.array2d[wp.quat],
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  actuator_trntype: wp.array[int],
-  actuator_trnid: wp.array[wp.vec2i],
-  actuator_cranklength: wp.array2d[float],
-  actuator_gear: wp.array2d[wp.spatial_vector],
-  body_isdofancestor: wp.array2d[int],
-  # Data in:
-  qpos_in: wp.array2d[float],
-  xquat_in: wp.array2d[wp.quat],
-  site_xpos_in: wp.array2d[wp.vec3],
-  site_xmat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  ten_J_in: wp.array2d[float],
-  ten_length_in: wp.array2d[float],
-  # In:
-  moment_nnz: wp.array[int],
-  # Data out:
-  actuator_length_out: wp.array2d[float],
-  moment_rownnz_out: wp.array2d[int],
-  moment_rowadr_out: wp.array2d[int],
-  moment_colind_out: wp.array2d[int],
-  actuator_moment_out: wp.array2d[float],
-):
-  worldid, actid = wp.tid()
-  trntype = actuator_trntype[actid]
-  actuator_gear_id = worldid % actuator_gear.shape[0]
-  gear = actuator_gear[actuator_gear_id, actid]
-  if trntype == TrnType.JOINT or trntype == TrnType.JOINTINPARENT:
-    qpos = qpos_in[worldid]
-    jntid = actuator_trnid[actid][0]
-    jnt_typ = jnt_type[jntid]
-    qadr = jnt_qposadr[jntid]
-    vadr = jnt_dofadr[jntid]
-    if jnt_typ == JointType.FREE:
-      moment_rownnz_out[worldid, actid] = 6
-      rowadr = wp.atomic_add(moment_nnz, worldid, 6)
-      moment_rowadr_out[worldid, actid] = rowadr
-      moment_colind_out[worldid, rowadr + 0] = vadr + 0
-      moment_colind_out[worldid, rowadr + 1] = vadr + 1
-      moment_colind_out[worldid, rowadr + 2] = vadr + 2
-      moment_colind_out[worldid, rowadr + 3] = vadr + 3
-      moment_colind_out[worldid, rowadr + 4] = vadr + 4
-      moment_colind_out[worldid, rowadr + 5] = vadr + 5
-      actuator_length_out[worldid, actid] = 0.0
-      if trntype == TrnType.JOINTINPARENT:
-        quat = wp.normalize(wp.quat(qpos[qadr + 3], qpos[qadr + 4], qpos[qadr + 5], qpos[qadr + 6]))
-        quat_neg = math.quat_inv(quat)
-        gearaxis = math.rot_vec_quat(wp.spatial_bottom(gear), quat_neg)
-        actuator_moment_out[worldid, rowadr + 0] = gear[0]
-        actuator_moment_out[worldid, rowadr + 1] = gear[1]
-        actuator_moment_out[worldid, rowadr + 2] = gear[2]
-        actuator_moment_out[worldid, rowadr + 3] = gearaxis[0]
-        actuator_moment_out[worldid, rowadr + 4] = gearaxis[1]
-        actuator_moment_out[worldid, rowadr + 5] = gearaxis[2]
-      else:
-        actuator_moment_out[worldid, rowadr + 0] = gear[0]
-        actuator_moment_out[worldid, rowadr + 1] = gear[1]
-        actuator_moment_out[worldid, rowadr + 2] = gear[2]
-        actuator_moment_out[worldid, rowadr + 3] = gear[3]
-        actuator_moment_out[worldid, rowadr + 4] = gear[4]
-        actuator_moment_out[worldid, rowadr + 5] = gear[5]
-    elif jnt_typ == JointType.BALL:
-      q = wp.quat(qpos[qadr + 0], qpos[qadr + 1], qpos[qadr + 2], qpos[qadr + 3])
-      q = wp.normalize(q)
-      axis_angle = math.quat_to_vel(q)
-      gearaxis = wp.spatial_top(gear)  # [:3]
-      if trntype == TrnType.JOINTINPARENT:
-        quat_neg = math.quat_inv(q)
-        gearaxis = math.rot_vec_quat(gearaxis, quat_neg)
-      actuator_length_out[worldid, actid] = wp.dot(axis_angle, gearaxis)
-
-      nnz = 3
-      moment_rownnz_out[worldid, actid] = nnz
-      rowadr = wp.atomic_add(moment_nnz, worldid, nnz)
-      moment_rowadr_out[worldid, actid] = rowadr
-
-      for i in range(3):
-        sparseid = rowadr + i
-        moment_colind_out[worldid, sparseid] = vadr + i
-        actuator_moment_out[worldid, sparseid] = gearaxis[i]
-    elif jnt_typ == JointType.SLIDE or jnt_typ == JointType.HINGE:
-      actuator_length_out[worldid, actid] = qpos[qadr] * gear[0]
-
-      nnz = 1
-      moment_rownnz_out[worldid, actid] = nnz
-      rowadr = wp.atomic_add(moment_nnz, worldid, nnz)
-      moment_rowadr_out[worldid, actid] = rowadr
-      moment_colind_out[worldid, rowadr] = vadr
-      actuator_moment_out[worldid, rowadr] = gear[0]
-    else:
-      wp.printf("unrecognized joint type")
-  elif trntype == TrnType.SLIDERCRANK:
-    # get data
-    trnid = actuator_trnid[actid]
-    id = trnid[0]
-    idslider = trnid[1]
-    gear0 = gear[0]
-    rod = actuator_cranklength[worldid % actuator_cranklength.shape[0], actid]
-    site_xmat = site_xmat_in[worldid, idslider]
-    axis = wp.vec3(site_xmat[0, 2], site_xmat[1, 2], site_xmat[2, 2])
-    site_xpos_id = site_xpos_in[worldid, id]
-    site_xpos_idslider = site_xpos_in[worldid, idslider]
-    vec = site_xpos_id - site_xpos_idslider
-
-    # compute length and determinant
-    #  length = a' * v - sqrt(det);  det = (a' * v)^2 + r^2 - v' * v
-    av = wp.dot(vec, axis)
-    det = av * av + rod * rod - wp.dot(vec, vec)
-    ok = 1
-    if det <= 0.0:
-      ok = 0
-      sdet = 0.0
-      length = av
-    else:
-      sdet = wp.sqrt(det)
-      length = av - sdet
-
-    actuator_length_out[worldid, actid] = length * gear0
-
-    # compute derivatives of length w.r.t. vec and axis
-    if ok == 1:
-      scale = 1.0 - math.safe_div(av, sdet)
-      dldv = axis * scale + math.safe_div(vec, sdet)
-      dlda = vec * scale
-    else:
-      dldv = axis
-      dlda = vec
-
-    # count dofs
-    b1 = body_weldid[site_bodyid[id]]
-    b2 = body_weldid[site_bodyid[idslider]]
-    da1_init = int(-1)
-    da2_init = int(-1)
-    if b1 > 0:
-      da1_init = body_dofadr[b1] + body_dofnum[b1] - 1
-    if b2 > 0:
-      da2_init = body_dofadr[b2] + body_dofnum[b2] - 1
-
-    da1 = da1_init
-    da2 = da2_init
-    ndof = int(0)
-    while da1 >= 0 or da2 >= 0:
-      da = wp.max(da1, da2)
-      ndof += 1
-      if da1 == da:
-        da1 = dof_parentid[da1]
-      if da2 == da:
-        da2 = dof_parentid[da2]
-
-    moment_rownnz_out[worldid, actid] = ndof
-    rowadr = wp.atomic_add(moment_nnz, worldid, ndof)
-    moment_rowadr_out[worldid, actid] = rowadr
-
-    # traverse dofs
-    da1 = da1_init
-    da2 = da2_init
-
-    ptr = ndof - 1
-    while da1 >= 0 or da2 >= 0:
-      da = wp.max(da1, da2)
-
-      # get Jacobians of axis(jacA) and vec(jac)
-      jacp, jacr = support.jac_dof(
-        body_parentid,
-        body_rootid,
-        dof_bodyid,
-        body_isdofancestor,
-        subtree_com_in,
-        cdof_in,
-        site_xpos_idslider,
-        site_bodyid[idslider],
-        da,
-        worldid,
-      )
-      jacS = jacp
-      jacA = wp.cross(jacr, axis)
-      jac, _ = support.jac_dof(
-        body_parentid,
-        body_rootid,
-        dof_bodyid,
-        body_isdofancestor,
-        subtree_com_in,
-        cdof_in,
-        site_xpos_id,
-        site_bodyid[id],
-        da,
-        worldid,
-      )
-      jac -= jacS
-
-      # apply the chain rule
-      moment = wp.dot(dlda, jacA) + wp.dot(dldv, jac)
-      sparseid = rowadr + ptr
-      moment_colind_out[worldid, sparseid] = da
-      actuator_moment_out[worldid, sparseid] = moment * gear0
-      ptr -= 1
-
-      if da1 == da:
-        da1 = dof_parentid[da1]
-      if da2 == da:
-        da2 = dof_parentid[da2]
-  elif trntype == TrnType.TENDON:
-    tenid = actuator_trnid[actid][0]
-
-    gear0 = gear[0]
-    actuator_length_out[worldid, actid] = ten_length_in[worldid, tenid] * gear0
-
-    rownnz_ten = ten_J_rownnz[tenid]
-    rowadr_ten = ten_J_rowadr[tenid]
-
-    rowadr_mom = wp.atomic_add(moment_nnz, worldid, rownnz_ten)
-    moment_rownnz_out[worldid, actid] = rownnz_ten
-    moment_rowadr_out[worldid, actid] = rowadr_mom
-
-    for k in range(rownnz_ten):
-      sparseid_ten = rowadr_ten + k
-      sparseid_mom = rowadr_mom + k
-      moment_colind_out[worldid, sparseid_mom] = ten_J_colind[sparseid_ten]
-      actuator_moment_out[worldid, sparseid_mom] = ten_J_in[worldid, sparseid_ten] * gear0
-  elif trntype == TrnType.BODY:
-    # cannot compute meaningful length, set to zero
-    actuator_length_out[worldid, actid] = 0.0
-
-    # initialize moment
-    rowadr = wp.atomic_add(moment_nnz, worldid, nv)
-    moment_rownnz_out[worldid, actid] = nv
-    moment_rowadr_out[worldid, actid] = rowadr
-    for i in range(nv):
-      sparseid = rowadr + i
-      moment_colind_out[worldid, sparseid] = i
-      actuator_moment_out[worldid, sparseid] = 0.0
-
-    # moment computed by _transmission_body_moment and _transmission_body_moment_scale
-  elif trntype == TrnType.SITE:
-    trnid = actuator_trnid[actid]
-    siteid = trnid[0]
-    refid = trnid[1]
-
-    gear = actuator_gear[actuator_gear_id, actid]
-    site_quat_id = worldid % site_quat.shape[0]
-    gear_translation = wp.spatial_top(gear)
-    gear_rotational = wp.spatial_bottom(gear)
-
-    # reference site undefined
-    if refid == -1:
-      # wrench: gear expressed in global frame
-      site_xmat = site_xmat_in[worldid, siteid]
-      wrench_translation = site_xmat @ gear_translation
-      wrench_rotation = site_xmat @ gear_rotational
-
-      # count dofs
-      b1 = body_weldid[site_bodyid[siteid]]
-      da_init = int(-1)
-      if b1 > 0:
-        da_init = body_dofadr[b1] + body_dofnum[b1] - 1
-
-      da = da_init
-      ndof = int(0)
-      while da >= 0:
-        ndof += 1
-        da = dof_parentid[da]
-
-      moment_rownnz_out[worldid, actid] = ndof
-      rowadr = wp.atomic_add(moment_nnz, worldid, ndof)
-      moment_rowadr_out[worldid, actid] = rowadr
-      actuator_length_out[worldid, actid] = 0.0
-
-      # traverse dofs
-      da = da_init
-      ptr = ndof - 1
-      while da >= 0:
-        jacp, jacr = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          site_xpos_in[worldid, siteid],
-          site_bodyid[siteid],
-          da,
-          worldid,
-        )
-        moment = wp.dot(jacp, wrench_translation) + wp.dot(jacr, wrench_rotation)
-        sparseid = rowadr + ptr
-        moment_colind_out[worldid, sparseid] = da
-        actuator_moment_out[worldid, sparseid] = moment
-        ptr -= 1
-        da = dof_parentid[da]
-    # reference site defined
-    else:
-      # initialize last dof address for each body
-      bodyid = site_bodyid[siteid]
-      bodyrefid = site_bodyid[refid]
-      b0 = body_weldid[bodyid]
-      b1 = body_weldid[bodyrefid]
-      dofadr0 = body_dofadr[b0] + body_dofnum[b0] - 1
-      dofadr1 = body_dofadr[b1] + body_dofnum[b1] - 1
-
-      # find common ancestral dof, if any
-      dofadr_common = -1
-      if dofadr0 >= 0 and dofadr1 >= 0:
-        # traverse up the tree until common ancestral dof is found
-        while dofadr0 != dofadr1:
-          if dofadr0 < dofadr1:
-            dofadr1 = dof_parentid[dofadr1]
-          else:
-            dofadr0 = dof_parentid[dofadr0]
-
-          if dofadr0 == -1 or dofadr1 == -1:
-            # reached tree root, no common ancestral dof
-            break
-
-        # found common ancestral dof
-        if dofadr0 == dofadr1:
-          dofadr_common = dofadr0
-
-      translational_transmission = not (gear[0] == 0.0 and gear[1] == 0.0 and gear[2] == 0.0)
-      rotational_transmission = not (gear[3] == 0.0 and gear[4] == 0.0 and gear[5] == 0.0)
-
-      site_xpos = site_xpos_in[worldid, siteid]
-      ref_xpos = site_xpos_in[worldid, refid]
-      ref_xmat = site_xmat_in[worldid, refid]
-
-      length = float(0.0)
-
-      if translational_transmission:
-        # vec: site position in reference site frame
-        vec = wp.transpose(ref_xmat) @ (site_xpos - ref_xpos)
-        length += wp.dot(vec, gear_translation)
-
-        wrench_translation = ref_xmat @ gear_translation
-
-      if rotational_transmission:
-        # get site and refsite quats from parent bodies (avoid converting matrix to quat)
-        quat = math.mul_quat(site_quat[site_quat_id, siteid], xquat_in[worldid, bodyid])
-        refquat = math.mul_quat(site_quat[site_quat_id, refid], xquat_in[worldid, bodyrefid])
-
-        # convert difference to expmap (axis-angle)
-        vec = math.quat_sub(quat, refquat)
-        length += wp.dot(vec, gear_rotational)
-
-        wrench_rotation = ref_xmat @ gear_rotational
-
-      actuator_length_out[worldid, actid] = length
-
-      # count dofs
-      da1_init = int(-1)
-      da2_init = int(-1)
-      if b0 > 0:
-        da1_init = body_dofadr[b0] + body_dofnum[b0] - 1
-      if b1 > 0:
-        da2_init = body_dofadr[b1] + body_dofnum[b1] - 1
-
-      da1 = da1_init
-      da2 = da2_init
-      ndof = int(0)
-      while da1 >= 0 or da2 >= 0:
-        da = wp.max(da1, da2)
-        if da1 == da and da2 == da:
-          break
-        ndof += 1
-        if da1 == da:
-          da1 = dof_parentid[da1]
-        if da2 == da:
-          da2 = dof_parentid[da2]
-
-      moment_rownnz_out[worldid, actid] = ndof
-      rowadr = wp.atomic_add(moment_nnz, worldid, ndof)
-      moment_rowadr_out[worldid, actid] = rowadr
-
-      # traverse dofs
-      da1 = da1_init
-      da2 = da2_init
-
-      ptr = ndof - 1
-      while da1 >= 0 or da2 >= 0:
-        da = wp.max(da1, da2)
-        if da1 == da and da2 == da:
-          break
-
-        jacp, jacr = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          site_xpos,
-          site_bodyid[siteid],
-          da,
-          worldid,
-        )
-        jacpref, jacrref = support.jac_dof(
-          body_parentid,
-          body_rootid,
-          dof_bodyid,
-          body_isdofancestor,
-          subtree_com_in,
-          cdof_in,
-          ref_xpos,
-          site_bodyid[refid],
-          da,
-          worldid,
-        )
-
-        moment = float(0.0)
-        if translational_transmission:
-          moment += wp.dot(jacp - jacpref, wrench_translation)
-        if rotational_transmission:
-          moment += wp.dot(jacr - jacrref, wrench_rotation)
-
-        sparseid = rowadr + ptr
-        moment_colind_out[worldid, sparseid] = da
-        actuator_moment_out[worldid, sparseid] = moment
-        ptr -= 1
-
-        if da1 == da:
-          da1 = dof_parentid[da1]
-        if da2 == da:
-          da2 = dof_parentid[da2]
-  else:
-    wp.printf("unhandled transmission type %d\n", trntype)
-
-
-@wp.kernel
-def _transmission_body_moment(
-  # Model:
-  opt_cone: int,
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  dof_bodyid: wp.array[int],
-  geom_bodyid: wp.array[int],
-  actuator_trnid: wp.array[wp.vec2i],
-  body_isdofancestor: wp.array2d[int],
-  actuator_trntype_body_adr: wp.array[int],
-  # Data in:
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  moment_rowadr_in: wp.array2d[int],
-  contact_dist_in: wp.array[float],
-  contact_pos_in: wp.array[wp.vec3],
-  contact_frame_in: wp.array[wp.mat33],
-  contact_includemargin_in: wp.array[float],
-  contact_dim_in: wp.array[int],
-  contact_geom_in: wp.array[wp.vec2i],
-  contact_efc_address_in: wp.array2d[int],
-  contact_worldid_in: wp.array[int],
-  efc_J_rownnz_in: wp.array2d[int],
-  efc_J_rowadr_in: wp.array2d[int],
-  efc_J_colind_in: wp.array3d[int],
-  efc_J_in: wp.array3d[float],
-  nacon_in: wp.array[int],
-  # In:
-  efc_is_sparse: bool,
-  # Data out:
-  actuator_moment_out: wp.array2d[float],
-  # Out:
-  actuator_trntype_body_ncon_out: wp.array2d[int],
-):
-  trnbodyid, conid, dofid = wp.tid()
-  actid = actuator_trntype_body_adr[trnbodyid]
-  bodyid = actuator_trnid[actid][0]
-
-  if conid >= nacon_in[0]:
-    return
-
-  worldid = contact_worldid_in[conid]
-
-  # get geom ids
-  geom = contact_geom_in[conid]
-  g1 = geom[0]
-  g2 = geom[1]
-
-  # contact involving flex, continue
-  if g1 < 0 or g2 < 0:
-    return
-
-  # get body ids
-  b1 = geom_bodyid[g1]
-  b2 = geom_bodyid[g2]
-
-  # irrelevant contact, continue
-  if b1 != bodyid and b2 != bodyid:
-    return
-
-  contact_exclude = int(contact_dist_in[conid] >= contact_includemargin_in[conid])
-
-  if dofid == 0:
-    wp.atomic_add(actuator_trntype_body_ncon_out[worldid], trnbodyid, 1)
-
-  rowadr = moment_rowadr_in[worldid, actid]
-
-  # mark contact normals in efc_force
-  if contact_exclude == 0:
-    contact_dim = contact_dim_in[conid]
-    contact_efc_address = contact_efc_address_in[conid]
-
-    if contact_dim == 1 or opt_cone == ConeType.ELLIPTIC:
-      efcid0 = contact_efc_address[0]
-      if efc_is_sparse:
-        rownnz = efc_J_rownnz_in[worldid, efcid0]
-        if dofid < rownnz:
-          efc_rowadr = efc_J_rowadr_in[worldid, efcid0]
-          efc_sparseid = efc_rowadr + dofid
-          colind = efc_J_colind_in[worldid, 0, efc_sparseid]
-          wp.atomic_add(actuator_moment_out[worldid], rowadr + colind, efc_J_in[worldid, 0, efc_sparseid])
-        else:
-          return
-      else:
-        colind = dofid
-        wp.atomic_add(actuator_moment_out[worldid], rowadr + colind, efc_J_in[worldid, efcid0, dofid])
-    else:
-      npyramid = contact_dim - 1  # number of frictional directions
-      efc_force = 0.5 / float(npyramid)
-
-      for j in range(2 * npyramid):
-        efcid = contact_efc_address[j]
-        if efc_is_sparse:
-          rownnz = efc_J_rownnz_in[worldid, efcid]
-          if dofid < rownnz:
-            efc_rowadr = efc_J_rowadr_in[worldid, efcid]
-            efc_sparseid = efc_rowadr + dofid
-            colind = efc_J_colind_in[worldid, 0, efc_sparseid]
-            wp.atomic_add(actuator_moment_out[worldid], rowadr + colind, efc_J_in[worldid, 0, efc_sparseid] * efc_force)
-          else:
-            return
-        else:
-          colind = dofid
-          wp.atomic_add(actuator_moment_out[worldid], rowadr + colind, efc_J_in[worldid, efcid, dofid] * efc_force)
-
-  # excluded contact in gap: get Jacobian, accumulate
-  elif contact_exclude == 1:
-    contact_pos = contact_pos_in[conid]
-    contact_frame = contact_frame_in[conid]
-    normal = wp.vec3(contact_frame[0, 0], contact_frame[0, 1], contact_frame[0, 2])
-
-    # get Jacobian difference
-    efcid0 = contact_efc_address_in[conid][0]
-    if efc_is_sparse and efcid0 >= 0:
-      # contact has valid efc row: use sparse pattern
-      if dofid >= efc_J_rownnz_in[worldid, efcid0]:
-        return
-      sparseid = efc_J_rowadr_in[worldid, efcid0] + dofid
-      colind = efc_J_colind_in[worldid, 0, sparseid]
-    else:
-      # excluded contact with no efc row or dense: use dofid directly
-      colind = dofid
-
-    jacp1, _ = support.jac_dof(
-      body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, contact_pos, b1, colind, worldid
-    )
-    jacp2, _ = support.jac_dof(
-      body_parentid, body_rootid, dof_bodyid, body_isdofancestor, subtree_com_in, cdof_in, contact_pos, b2, colind, worldid
-    )
-
-    jacdif = jacp2 - jacp1
-
-    # project Jacobian along the normal of the contact frame
-    wp.atomic_add(actuator_moment_out[worldid], rowadr + colind, wp.dot(normal, jacdif))
-
-
-@wp.kernel
-def _transmission_body_moment_scale(
-  # Model:
-  actuator_trntype_body_adr: wp.array[int],
-  # Data in:
-  moment_rowadr_in: wp.array2d[int],
-  # In:
-  actuator_trntype_body_ncon_in: wp.array2d[int],
-  # Data out:
-  actuator_moment_out: wp.array2d[float],
-):
-  worldid, trnbodyid, dofid = wp.tid()
-
-  ncon = actuator_trntype_body_ncon_in[worldid, trnbodyid]
-
-  if ncon > 0:
-    actid = actuator_trntype_body_adr[trnbodyid]
-    rowadr = moment_rowadr_in[worldid, actid]
-    actuator_moment_out[worldid, rowadr + dofid] /= -float(ncon)
-
-
-@event_scope
-def transmission(m: Model, d: Data):
-  """Computes actuator/transmission lengths and moments.
-
-  Updates the actuator length and moments for all actuators in the model, including joint
-  and tendon transmissions.
-  """
-  # TODO(team): investigate pre-computing moment_rownnz, moment_rowadr, moment_colind
-  moment_nnz = wp.zeros((d.nworld,), dtype=int)
-
-  wp.launch(
-    _transmission,
-    dim=(d.nworld, m.nu),
-    inputs=[
-      m.nv,
-      m.body_parentid,
-      m.body_rootid,
-      m.body_weldid,
-      m.body_dofnum,
-      m.body_dofadr,
-      m.jnt_type,
-      m.jnt_qposadr,
-      m.jnt_dofadr,
-      m.dof_bodyid,
-      m.dof_parentid,
-      m.site_bodyid,
-      m.site_quat,
-      m.ten_J_rownnz,
-      m.ten_J_rowadr,
-      m.ten_J_colind,
-      m.actuator_trntype,
-      m.actuator_trnid,
-      m.actuator_cranklength,
-      m.actuator_gear,
-      m.body_isdofancestor,
-      d.qpos,
-      d.xquat,
-      d.site_xpos,
-      d.site_xmat,
-      d.subtree_com,
-      d.cdof,
-      d.ten_J,
-      d.ten_length,
-      moment_nnz,
-    ],
-    outputs=[d.actuator_length, d.moment_rownnz, d.moment_rowadr, d.moment_colind, d.actuator_moment],
-  )
-
-  if m.nacttrnbody:
-    # compute moments
-    ncon = wp.zeros((d.nworld, m.nacttrnbody), dtype=int)
-
-    wp.launch(
-      _transmission_body_moment,
-      dim=(m.nacttrnbody, d.naconmax, m.nv),
-      inputs=[
-        m.opt.cone,
-        m.body_parentid,
-        m.body_rootid,
-        m.dof_bodyid,
-        m.geom_bodyid,
-        m.actuator_trnid,
-        m.body_isdofancestor,
-        m.actuator_trntype_body_adr,
-        d.subtree_com,
-        d.cdof,
-        d.moment_rowadr,
-        d.contact.dist,
-        d.contact.pos,
-        d.contact.frame,
-        d.contact.includemargin,
-        d.contact.dim,
-        d.contact.geom,
-        d.contact.efc_address,
-        d.contact.worldid,
-        d.efc.J_rownnz,
-        d.efc.J_rowadr,
-        d.efc.J_colind,
-        d.efc.J,
-        d.nacon,
-        m.is_sparse,
-      ],
-      outputs=[d.actuator_moment, ncon],
-    )
-
-    # scale moments
-    wp.launch(
-      _transmission_body_moment_scale,
-      dim=(d.nworld, m.nacttrnbody, m.nv),
-      inputs=[m.actuator_trntype_body_adr, d.moment_rowadr, ncon],
-      outputs=[d.actuator_moment],
-    )
-
-
-@cache_kernel
-def _solve_LD_sparse_fused(nv: int, nlevels: int):
-  """Fused sparse backsubstitution: UP + diag + DOWN in one kernel."""
-
-  @wp.func_native(snippet="WP_TILE_SYNC();")
-  def _syncthreads():
-    pass
-
-  @wp.kernel(module="unique", enable_backward=False)
-  def kernel(
-    # Model:
-    qLD_block_adr: wp.array[int],
-    # In:
-    L: wp.array2d[float],
-    D: wp.array2d[float],
-    all_updates: wp.array[wp.vec3i],
-    level_offsets: wp.array[int],
-    y: wp.array2d[float],
-    # Out:
-    x_out: wp.array2d[float],
-  ):
-    worldid, tid = wp.tid()
-    NV = wp.static(nv)
-    NLEVELS = wp.static(nlevels)
-    BLOCK_DIM = wp.block_dim()
-
-    # Copy y to x_out for sparse-block dofs only.
-    for dofid in range(tid, NV, BLOCK_DIM):
-      if qLD_block_adr[dofid] == Q_LD_BLOCK_SPARSE:
-        x_out[worldid, dofid] = y[worldid, dofid]
-    _syncthreads()
-
-    # Forward substitution (all_updates only references sparse-block dofs)
-    for level in range(NLEVELS):
-      level_idx = NLEVELS - 1 - level
-      level_offset = level_offsets[level_idx]
-      level_size = level_offsets[level_idx + 1] - level_offset
-
-      for u in range(tid, level_size, BLOCK_DIM):
-        update = all_updates[level_offset + u]
-        i, k, Madr_ki = update[0], update[1], update[2]
-        wp.atomic_sub(x_out[worldid], i, L[worldid, Madr_ki] * x_out[worldid, k])
-      _syncthreads()
-
-    # Diagonal multiply (sparse-block dofs only)
-    for dofid in range(tid, NV, BLOCK_DIM):
-      if qLD_block_adr[dofid] == Q_LD_BLOCK_SPARSE:
-        x_out[worldid, dofid] *= D[worldid, dofid]
-    _syncthreads()
-
-    # Backward substitution
-    for level in range(NLEVELS):
-      level_idx = level
-      level_offset = level_offsets[level_idx]
-      level_size = level_offsets[level_idx + 1] - level_offset
-
-      for u in range(tid, level_size, BLOCK_DIM):
-        update = all_updates[level_offset + u]
-        i, k, Madr_ki = update[0], update[1], update[2]
-        wp.atomic_sub(x_out[worldid], k, L[worldid, Madr_ki] * x_out[worldid, i])
-      _syncthreads()
-
-  return kernel
-
-
-def _solve_LD_sparse(
-  m: Model,
-  d: Data,
-  L: wp.array2d[float],
-  D: wp.array2d[float],
-  x: wp.array2d[float],
-  y: wp.array2d[float],
-):
-  """Computes sparse backsubstitution: x = inv(L'*D*L)*y."""
-  nlevels = len(m.qLD_updates)
-  if wp.get_device().is_cuda:
-    dim_block = m.block_dim.solve_LD_sparse_fused
-  else:
-    # Fallback for CPU
-    dim_block = 1
-
-  wp.launch(
-    _solve_LD_sparse_fused(m.nv, nlevels),
-    dim=(d.nworld, dim_block),
-    inputs=[m.qLD_block_adr, L, D, m.qLD_all_updates, m.qLD_level_offsets, y],
-    outputs=[x],
-    block_dim=dim_block,
-  )
-
-
-@wp.func
-def _small_cholesky_solve(
-  # In:
-  block_size: int,
-  worldid: int,
-  factor_adr: int,
-  start: int,
-  L_in: wp.array2d[float],
-  y_in: wp.array2d[float],
-  # Out:
-  x_out: wp.array2d[float],
-):
-  for i in range(block_size):
-    value = y_in[worldid, start + i]
-    for k in range(i):
-      value -= L_in[worldid, factor_adr + k * block_size + i] * x_out[worldid, start + k]
-    x_out[worldid, start + i] = value / L_in[worldid, factor_adr + i * block_size + i]
-
-  for reverse_i in range(block_size):
-    i = block_size - 1 - reverse_i
-    value = x_out[worldid, start + i]
-    for k in range(i + 1, block_size):
-      value -= L_in[worldid, factor_adr + i * block_size + k] * x_out[worldid, start + k]
-    x_out[worldid, start + i] = value / L_in[worldid, factor_adr + i * block_size + i]
-
-
-@cache_kernel
-def _small_cholesky_solve_block(block_size: int):
-  @wp.kernel(module="unique", enable_backward=False)
-  def kernel(
-    # Model:
-    qLD_block_adr: wp.array[int],
-    # In:
-    block_dof: wp.array[int],
-    D_in: wp.array2d[float],
-    L_in: wp.array2d[float],
-    y_in: wp.array2d[float],
-    # Out:
-    x_out: wp.array2d[float],
-  ):
-    worldid, blk = wp.tid()
-    start = block_dof[blk]
-    size = wp.static(block_size)
-    factor_adr = qLD_block_adr[start]
-    if factor_adr == Q_LD_BLOCK_COMPACT:
-      for i in range(wp.static(block_size)):
-        x_out[worldid, start + i] = D_in[worldid, start + i] * y_in[worldid, start + i]
-    else:
-      _small_cholesky_solve(size, worldid, factor_adr, start, L_in, y_in, x_out)
-
-  return kernel
-
-
-@cache_kernel
-def _tile_cholesky_solve_block(tile: TileSet):
-  # One diagonal block per (world, block) thread group; no densify, so a 2D grid suffices.
-  block_size = tile.size
-  block_area = block_size * block_size
-
-  @wp.kernel(module="unique", enable_backward=False)
-  def kernel(
-    # Model:
-    qLD_block_adr: wp.array[int],
-    # In:
-    block_dof: wp.array[int],
-    L_in: wp.array2d[float],
-    y: wp.array2d[float],
-    # Out:
-    x: wp.array2d[float],
-  ):
-    worldid, blk = wp.tid()
-    start = block_dof[blk]
-
-    L = wp.tile_reshape(
-      wp.tile_load(L_in[worldid], shape=(block_area,), offset=(qLD_block_adr[start],)), (block_size, block_size)
-    )
-    rhs = wp.tile_load(y[worldid], shape=(block_size,), offset=(start,))
-    sol = wp.tile_cholesky_solve(L, rhs, fill_mode="upper")
-    wp.tile_store(x[worldid], sol, offset=(start,))
-
-  return kernel
-
-
-def _solve_blocks(
-  m: Model,
-  d: Data,
-  L: wp.array2d[float],
-  D: wp.array2d[float],
-  x: wp.array2d[float],
-  y: wp.array2d[float],
-):
-  for tile in m.M_tiles:
-    if tile.elemid.size == 0:
-      wp.launch(
-        _small_cholesky_solve_block(tile.size),
-        dim=(d.nworld, tile.adr.size),
-        inputs=[m.qLD_block_adr, tile.adr, D, L, y],
-        outputs=[x],
-        block_dim=m.block_dim.small_cholesky,
-      )
-    else:
-      # The triangular back-substitution is largely sequential, so large blocks prefer fewer threads
-      # for better occupancy while moderate blocks still want a couple warps (16/27->64, 60->32).
-      block_dim = m.block_dim.cholesky_solve if tile.size <= 40 else 32
-      wp.launch_tiled(
-        _tile_cholesky_solve_block(tile),
-        dim=(d.nworld, tile.adr.size),
-        inputs=[m.qLD_block_adr, tile.adr, L, y],
-        outputs=[x],
-        block_dim=block_dim,
-      )
-
-
-def solve_LD(
-  m: Model,
-  d: Data,
-  L: wp.array2d[float],
-  D: wp.array2d[float],
-  x: wp.array2d[float],
-  y: wp.array2d[float],
-):
-  """Computes backsubstitution for the inertia factorization.
-
-  Compact blocks use reciprocal diagonals, full small blocks use scalar Cholesky, dense blocks use
-  tile Cholesky, and sparse blocks use the LDL region.
-
-  Args:
-    m: The model containing factorization and sparsity information.
-    d: The data object containing workspace and factorization results.
-    L: The factor: packed dense region followed by the nC LDL region.
-    D: Reciprocal diagonal for compact and sparse blocks.
-    x: Output array for the solution.
-    y: Input right-hand side array.
-  """
-  if m.M_tiles:
-    _solve_blocks(m, d, L, D, x, y)
-  if L.shape[1] > m.qLD_block_total:
-    _solve_LD_sparse(m, d, L[:, m.qLD_block_total :], D, x, y)
-
-
-@event_scope
-def solve_m(m: Model, d: Data, x: wp.array2d[float], y: wp.array2d[float]):
-  """Computes backsubstitution: x = qLD * y.
-
-  Args:
-    m: The model containing inertia and factorization information.
-    d: The data object containing factorization results.
-    x: Output array for the solution.
-    y: Input right-hand side array.
-  """
-  solve_LD(m, d, d.qLD, d.qLDiagInv, x, y)
-
-
-@cache_kernel
-def _tile_cholesky_factorize_solve_block(tile: TileSet):
-  # Fused factor+solve: densify the block, factor it, and back-substitute in one launch (avoids
-  # re-loading the factor). Grid/densify structure matches _tile_cholesky_factorize_block.
-  block_size = tile.size
-  block_area = block_size * block_size
-
-  @wp.kernel(module="unique", enable_backward=False)
-  def kernel(
-    # Model:
-    qLD_block_adr: wp.array[int],
-    # Data in:
-    M_in: wp.array2d[float],
-    # In:
-    block_elemid: wp.array[int],
-    block_dof: wp.array[int],
-    y: wp.array2d[float],
-    x: wp.array2d[float],
-    # Out:
-    L_out: wp.array2d[float],
-  ):
-    worldid, blk = wp.tid()
-    start = block_dof[blk]
-
-    # Densify the block (see _tile_cholesky_factorize_block for the gather rationale).
-    idx = wp.tile_load(block_elemid, shape=(block_area,), offset=(blk * block_area,), storage="shared")
-    block = wp.tile_load_indexed(M_in[worldid], idx, shape=(block_area,), storage="shared")
-
-    L = wp.tile_reshape(block, (block_size, block_size))
-    wp.tile_cholesky_inplace(L, fill_mode="upper")
-    wp.tile_store(L_out[worldid], wp.tile_reshape(L, (block_area,)), offset=(qLD_block_adr[start],))
-
-    rhs = wp.tile_load(y[worldid], shape=(block_size,), offset=(start,))
-    sol = wp.tile_cholesky_solve(L, rhs, fill_mode="upper")
-    wp.tile_store(x[worldid], sol, offset=(start,))
-
-  return kernel
-
-
-@cache_kernel
-def _small_cholesky_factorize_solve_block(block_size: int):
-  @wp.kernel(module="unique", enable_backward=False)
-  def kernel(
-    # Model:
-    M_rowadr: wp.array[int],
-    qLD_block_adr: wp.array[int],
-    # Data in:
-    M_in: wp.array2d[float],
-    # In:
-    block_dof: wp.array[int],
-    y: wp.array2d[float],
-    # Out:
-    D_out: wp.array2d[float],
-    x_out: wp.array2d[float],
-    L_out: wp.array2d[float],
-  ):
-    worldid, blk = wp.tid()
-    start = block_dof[blk]
-    size = wp.static(block_size)
-    matrix_adr = M_rowadr[start]
-
-    factor_adr = qLD_block_adr[start]
-    if factor_adr == Q_LD_BLOCK_COMPACT:
-      for i in range(wp.static(block_size)):
-        inverse = 1.0 / M_in[worldid, matrix_adr + i]
-        D_out[worldid, start + i] = inverse
-        x_out[worldid, start + i] = inverse * y[worldid, start + i]
-    else:
-      for i in range(wp.static(block_size)):
-        diagonal_value = M_in[worldid, matrix_adr + i * (i + 1) // 2 + i]
-        rhs_value = y[worldid, start + i]
-        for k in range(i):
-          factor = L_out[worldid, factor_adr + k * size + i]
-          diagonal_value -= factor * factor
-          rhs_value -= factor * x_out[worldid, start + k]
-
-        diagonal_factor = wp.sqrt(diagonal_value)
-        L_out[worldid, factor_adr + i * size + i] = diagonal_factor
-        diagonal_inv = 1.0 / diagonal_factor
-        x_out[worldid, start + i] = rhs_value * diagonal_inv
-
-        for j in range(i + 1, size):
-          value = M_in[worldid, matrix_adr + j * (j + 1) // 2 + i]
-          for k in range(i):
-            value -= L_out[worldid, factor_adr + k * size + i] * L_out[worldid, factor_adr + k * size + j]
-          L_out[worldid, factor_adr + i * size + j] = value * diagonal_inv
-
-      for reverse_i in range(wp.static(block_size)):
-        i = size - 1 - reverse_i
-        value = x_out[worldid, start + i]
-        for k in range(i + 1, size):
-          value -= L_out[worldid, factor_adr + i * size + k] * x_out[worldid, start + k]
-        x_out[worldid, start + i] = value / L_out[worldid, factor_adr + i * size + i]
-
-  return kernel
-
-
-def _factor_solve_blocks(
-  m: Model,
-  d: Data,
-  M: wp.array2d[float],
-  L: wp.array2d[float],
-  D: wp.array2d[float],
-  x: wp.array2d[float],
-  y: wp.array2d[float],
-):
-  for tile in m.M_tiles:
-    if tile.elemid.size == 0:
-      wp.launch(
-        _small_cholesky_factorize_solve_block(tile.size),
-        dim=(d.nworld, tile.adr.size),
-        inputs=[m.M_rowadr, m.qLD_block_adr, M, tile.adr, y],
-        outputs=[D, x, L],
-        block_dim=m.block_dim.small_cholesky,
-      )
-    else:
-      wp.launch_tiled(
-        _tile_cholesky_factorize_solve_block(tile),
-        dim=(d.nworld, tile.adr.size),
-        inputs=[m.qLD_block_adr, M, tile.elemid, tile.adr, y],
-        outputs=[x, L],
-        block_dim=m.block_dim.cholesky_factorize_solve,
-      )
-
-
-def factor_solve_i(m, d, M, L, D, x, y):
-  """Factorizes and solves the inertia-like linear system.
-
-  Compact blocks use reciprocal diagonals, full small blocks use scalar Cholesky, dense blocks use
-  tile Cholesky, and sparse blocks use LDL. Factorizes M and solves for x.
-
-  Args:
-    m: The model containing factorization and sparsity information.
-    d: The data object containing workspace and factorization results.
-    M: The inertia-like matrix to factorize (CSR, length nC).
-    L: Output factor: packed dense region followed by the nC LDL region (sized like d.qLD).
-    D: Output reciprocal diagonal for compact and sparse blocks.
-    x: Output array for the solution.
-    y: Input right-hand side array.
-  """
-  if m.M_tiles:
-    _factor_solve_blocks(m, d, M, L, D, x, y)
-  if L.shape[1] > m.qLD_block_total:
-    L_ldl = L[:, m.qLD_block_total :]
-    _factor_i_sparse(m, d, M, L_ldl, D)
-    _solve_LD_sparse(m, d, L_ldl, D, x, y)
-
-
-@cache_kernel
-def _factor_solve_lu_sparse_fused(nv: int):
-  """Fused sparse LU factorization and solve in a single kernel."""
-
-  @wp.kernel(module="unique", enable_backward=False)
-  def kernel(
-    # Model:
-    D_rownnz: wp.array[int],
-    D_rowadr: wp.array[int],
-    D_diag: wp.array[int],
-    D_colind: wp.array[int],
-    # In:
-    qfrc: wp.array2d[float],
-    # Data out:
-    qacc_out: wp.array2d[float],
-    qLU_out: wp.array2d[float],
-  ):
-    worldid = wp.tid()
-    NV = wp.static(nv)
-
-    # Phase 1: LU factorization (in-place on qLU_out)
-    for i in range(NV):
-      qacc_out[worldid, i] = float(D_rownnz[i])
-
-    # process diagonal elements from n-1 down to 0
-    for r_rev in range(NV):
-      i = NV - 1 - r_rev
-
-      rem_i = int(qacc_out[worldid, i])
-      rowadr_i = D_rowadr[i]
-      ii = rowadr_i + rem_i - 1
-      qacc_out[worldid, i] = float(rem_i - 1)
-
-      # cache diagonal element for row i
-      LUii = qLU_out[worldid, ii]
-
-      # rows j above i (j < i), processed from i-1 down to 0
-      for c in range(i):
-        j = i - 1 - c
-
-        # get address of last remaining element of row j
-        rem_j = int(qacc_out[worldid, j])
-        rowadr_j = D_rowadr[j]
-        ji = rowadr_j + rem_j - 1
-
-        # process row j if (j,i) is non-zero
-        if D_colind[ji] == i:
-          # adjust remaining counter
-          rem_j = rem_j - 1
-          qacc_out[worldid, j] = float(rem_j)
-
-          # (j,i) = (j,i) / (i,i)
-          LUji = qLU_out[worldid, ji] / LUii
-          qLU_out[worldid, ji] = LUji
-
-          # (j,k) = (j,k) - (i,k) * (j,i) for k < i
-          icnt = rowadr_i
-          jcnt = rowadr_j
-          jend = rowadr_j + rem_j
-          while jcnt < jend:
-            col_i = D_colind[icnt]
-            col_j = D_colind[jcnt]
-            if col_i == col_j:
-              qLU_out[worldid, jcnt] = qLU_out[worldid, jcnt] - qLU_out[worldid, icnt] * LUji
-              icnt = icnt + 1
-              jcnt = jcnt + 1
-            elif col_i > col_j:
-              jcnt = jcnt + 1
-            else:
-              icnt = icnt + 1
-
-    # Phase 2: LU solve (backward + forward substitution)
-
-    # Backward substitution: solve (U+I)*qacc = qfrc
-    for k_rev in range(NV):
-      i = NV - 1 - k_rev
-
-      diag_i = D_diag[i]
-      rowadr_i = D_rowadr[i]
-      d1 = diag_i + 1
-      nnz_upper = D_rownnz[i] - d1
-
-      acc = qfrc[worldid, i]
-      for j in range(nnz_upper):
-        adr_j = rowadr_i + d1 + j
-        col = D_colind[adr_j]
-        acc = acc - qLU_out[worldid, adr_j] * qacc_out[worldid, col]
-      qacc_out[worldid, i] = acc
-
-    # Forward substitution: solve L*qacc = qacc
-    for i in range(NV):
-      diag_i = D_diag[i]
-      rowadr_i = D_rowadr[i]
-
-      acc = qacc_out[worldid, i]
-      for j in range(diag_i):
-        adr_j = rowadr_i + j
-        col = D_colind[adr_j]
-        acc = acc - qLU_out[worldid, adr_j] * qacc_out[worldid, col]
-
-      qacc_out[worldid, i] = acc / qLU_out[worldid, rowadr_i + diag_i]
-
-  return kernel
-
-
-@event_scope
-def factor_solve_lu(m: Model, d: Data, qLU: wp.array2d[float], qacc: wp.array2d[float], qfrc: wp.array2d[float]):
-  r"""Factorize and solve non-symmetric implicit system: qacc = A \\ qfrc.
-
-  qLU is overwritten in-place with the LU factors, then used to solve for qacc.
-
-  Args:
-    m: The model containing D-structure sparsity information.
-    d: The data object.
-    qLU: array containing the system matrix, overwritten with LU factors.
-    qacc: output array for the solution.
-    qfrc: input right-hand side.
-  """
-  wp.launch(
-    _factor_solve_lu_sparse_fused(m.nv),
-    dim=(d.nworld,),
-    inputs=[m.D_rownnz, m.D_rowadr, m.D_diag, m.D_colind, qfrc],
-    outputs=[qacc, qLU],
-  )
-
-
-@wp.kernel
-def _subtree_vel_forward(
-  # Model:
-  body_rootid: wp.array[int],
-  body_mass: wp.array2d[float],
-  body_inertia: wp.array2d[wp.vec3],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  ximat_in: wp.array2d[wp.mat33],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  # Data out:
-  subtree_linvel_out: wp.array2d[wp.vec3],
-  subtree_angmom_out: wp.array2d[wp.vec3],
-  # Out:
-  subtree_bodyvel_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, bodyid = wp.tid()
-  body_mass_id = worldid % body_mass.shape[0]
-  body_inertia_id = worldid % body_inertia.shape[0]
-
-  cvel = cvel_in[worldid, bodyid]
-  ang = wp.spatial_top(cvel)
-  lin = wp.spatial_bottom(cvel)
-  xipos = xipos_in[worldid, bodyid]
-  ximat = ximat_in[worldid, bodyid]
-  subtree_com_root = subtree_com_in[worldid, body_rootid[bodyid]]
-
-  # update linear velocity
-  lin -= wp.cross(xipos - subtree_com_root, ang)
-
-  subtree_linvel_out[worldid, bodyid] = body_mass[body_mass_id, bodyid] * lin
-  dv = wp.transpose(ximat) @ ang
-  dv[0] *= body_inertia[body_inertia_id, bodyid][0]
-  dv[1] *= body_inertia[body_inertia_id, bodyid][1]
-  dv[2] *= body_inertia[body_inertia_id, bodyid][2]
-  subtree_angmom_out[worldid, bodyid] = ximat @ dv
-  subtree_bodyvel_out[worldid, bodyid] = wp.spatial_vector(ang, lin)
-
-
-@wp.kernel
-def _linear_momentum(
-  # Model:
-  body_parentid: wp.array[int],
-  body_subtreemass: wp.array2d[float],
-  # Data in:
-  subtree_linvel_in: wp.array2d[wp.vec3],
-  # In:
-  body_tree_: wp.array[int],
-  # Data out:
-  subtree_linvel_out: wp.array2d[wp.vec3],
-):
-  worldid, nodeid = wp.tid()
-  bodyid = body_tree_[nodeid]
-  if bodyid:
-    pid = body_parentid[bodyid]
-    wp.atomic_add(subtree_linvel_out[worldid], pid, subtree_linvel_in[worldid, bodyid])
-  subtree_linvel_out[worldid, bodyid] /= wp.max(MJ_MINVAL, body_subtreemass[worldid % body_subtreemass.shape[0], bodyid])
-
-
-@wp.kernel
-def _angular_momentum(
-  # Model:
-  body_parentid: wp.array[int],
-  body_mass: wp.array2d[float],
-  body_subtreemass: wp.array2d[float],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  subtree_linvel_in: wp.array2d[wp.vec3],
-  # In:
-  subtree_bodyvel_in: wp.array2d[wp.spatial_vector],
-  body_tree_: wp.array[int],
-  # Data out:
-  subtree_angmom_out: wp.array2d[wp.vec3],
-):
-  worldid, nodeid = wp.tid()
-  bodyid = body_tree_[nodeid]
-
-  if bodyid == 0:
-    return
-
-  pid = body_parentid[bodyid]
-
-  xipos = xipos_in[worldid, bodyid]
-  com = subtree_com_in[worldid, bodyid]
-  com_parent = subtree_com_in[worldid, pid]
-  vel = subtree_bodyvel_in[worldid, bodyid]
-  linvel = subtree_linvel_in[worldid, bodyid]
-  linvel_parent = subtree_linvel_in[worldid, pid]  # Data field
-  mass = body_mass[worldid % body_mass.shape[0], bodyid]
-  subtreemass = body_subtreemass[worldid % body_subtreemass.shape[0], bodyid]
-
-  # momentum wrt body i
-  dx = xipos - com
-  dv = wp.spatial_bottom(vel) - linvel
-  dp = dv * mass
-  dL = wp.cross(dx, dp)
-
-  # add to subtree i
-  subtree_angmom_out[worldid, bodyid] += dL
-
-  # add to parent
-  wp.atomic_add(subtree_angmom_out[worldid], pid, subtree_angmom_out[worldid, bodyid])
-
-  # momentum wrt parent
-  dx = com - com_parent
-  dv = linvel - linvel_parent
-  dv *= subtreemass
-  dL = wp.cross(dx, dv)
-  wp.atomic_add(subtree_angmom_out[worldid], pid, dL)
-
-
-def subtree_vel(m: Model, d: Data):
-  """Computes subtree linear velocity and angular momentum.
-
-  Computes the linear momentum and angular momentum for each subtree, accumulating
-  contributions up the kinematic tree.
-  """
-  subtree_bodyvel = wp.empty((d.nworld, m.nbody), dtype=wp.spatial_vector)
-
-  # bodywise quantities
-  wp.launch(
-    _subtree_vel_forward,
-    dim=(d.nworld, m.nbody),
-    inputs=[m.body_rootid, m.body_mass, m.body_inertia, d.xipos, d.ximat, d.subtree_com, d.cvel],
-    outputs=[d.subtree_linvel, d.subtree_angmom, subtree_bodyvel],
-  )
-
-  # sum body linear momentum recursively up the kinematic tree
-  for body_tree in reversed(m.body_tree):
-    wp.launch(
-      _linear_momentum,
-      dim=[d.nworld, body_tree.size],
-      inputs=[m.body_parentid, m.body_subtreemass, d.subtree_linvel, body_tree],
-      outputs=[d.subtree_linvel],
-    )
-
-  for body_tree in reversed(m.body_tree):
-    wp.launch(
-      _angular_momentum,
-      dim=[d.nworld, body_tree.size],
-      inputs=[
-        m.body_parentid,
-        m.body_mass,
-        m.body_subtreemass,
-        d.xipos,
-        d.subtree_com,
-        d.subtree_linvel,
-        subtree_bodyvel,
-        body_tree,
-      ],
-      outputs=[d.subtree_angmom],
-    )
-
-
-@wp.kernel
-def _joint_tendon(
-  # Model:
-  jnt_qposadr: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  wrap_objid: wp.array[int],
-  wrap_prm: wp.array[float],
-  tendon_jnt_adr: wp.array[int],
-  wrap_jnt_adr: wp.array[int],
-  # Data in:
-  qpos_in: wp.array2d[float],
-  # Data out:
-  ten_J_out: wp.array2d[float],
-  ten_length_out: wp.array2d[float],
-):
-  worldid, wrapid = wp.tid()
-
-  tenid = tendon_jnt_adr[wrapid]
-  wrapjntid = wrap_jnt_adr[wrapid]
-  wrapobjid = wrap_objid[wrapjntid]
-  prm = wrap_prm[wrapjntid]
-
-  # add to length
-  L = prm * qpos_in[worldid, jnt_qposadr[wrapobjid]]
-  wp.atomic_add(ten_length_out[worldid], tenid, L)
-
-  # add to moment
-  dofadr = jnt_dofadr[wrapobjid]
-  rowadr = ten_J_rowadr[tenid]
-  rownnz = ten_J_rownnz[tenid]
-  for k in range(rownnz):
-    if ten_J_colind[rowadr + k] == dofadr:
-      ten_J_out[worldid, rowadr + k] = prm
-      break
-
-
-@wp.func
-def _accumulate_jac_chain(
-  # Model:
-  body_parentid: wp.array[int],
-  body_dofnum: wp.array[int],
-  body_dofadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  # Data in:
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # In:
-  offset: wp.vec3,
-  vec: wp.vec3,
-  bodyid: int,
-  rowadr: int,
-  rownnz: int,
-  scale: float,
-  worldid: int,
-  # Data out:
-  ten_J_out: wp.array2d[float],
-):
-  """Walk body chain from bodyid to root, accumulate Jacobian contributions."""
-  ptr = rownnz - 1
-  bid = bodyid
-  while bid > 0:
-    bdofadr = body_dofadr[bid]
-    bdofnum = body_dofnum[bid]
-    # iterate DOFs in this body in descending order
-    for k_rev in range(bdofnum):
-      dof = bdofadr + bdofnum - 1 - k_rev
-      # scan pointer backward to find matching colind entry
-      while ptr >= 0:
-        sparseid = rowadr + ptr
-        if ten_J_colind[sparseid] <= dof:
-          break
-        ptr -= 1
-      if ptr >= 0 and ten_J_colind[sparseid] == dof:
-        cdof = cdof_in[worldid, dof]
-        cdof_ang = wp.spatial_top(cdof)
-        cdof_lin = wp.spatial_bottom(cdof)
-        jacp = cdof_lin + wp.cross(cdof_ang, offset)
-        J = wp.dot(jacp, vec) * scale
-        if J != 0.0:
-          wp.atomic_add(ten_J_out[worldid], sparseid, J)
-    bid = body_parentid[bid]
-
-
-@wp.kernel
-def _spatial_site_tendon(
-  # Model:
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  body_dofnum: wp.array[int],
-  body_dofadr: wp.array[int],
-  site_bodyid: wp.array[int],
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  wrap_objid: wp.array[int],
-  tendon_site_pair_adr: wp.array[int],
-  wrap_site_pair_adr: wp.array[int],
-  wrap_pulley_scale: wp.array[float],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # Data out:
-  ten_J_out: wp.array2d[float],
-  ten_length_out: wp.array2d[float],
-):
-  worldid, elementid = wp.tid()
-
-  # site pairs
-  site_pair_adr = wrap_site_pair_adr[elementid]
-  tenid = tendon_site_pair_adr[elementid]
-
-  # pulley scaling
-  pulley_scale = wrap_pulley_scale[site_pair_adr]
-
-  id0 = wrap_objid[site_pair_adr + 0]
-  id1 = wrap_objid[site_pair_adr + 1]
-
-  pnt0 = site_xpos_in[worldid, id0]
-  pnt1 = site_xpos_in[worldid, id1]
-  dif = pnt1 - pnt0
-  vec, length = math.normalize_with_norm(dif)
-  wp.atomic_add(ten_length_out[worldid], tenid, length * pulley_scale)
-
-  if length < MJ_MINVAL:
-    vec = wp.vec3(1.0, 0.0, 0.0)
-
-  body0 = site_bodyid[id0]
-  body1 = site_bodyid[id1]
-  if body0 != body1:
-    rownnz = ten_J_rownnz[tenid]
-    rowadr = ten_J_rowadr[tenid]
-    offset0 = pnt0 - subtree_com_in[worldid, body_rootid[body0]]
-    offset1 = pnt1 - subtree_com_in[worldid, body_rootid[body1]]
-    _accumulate_jac_chain(
-      body_parentid,
-      body_dofnum,
-      body_dofadr,
-      ten_J_colind,
-      cdof_in,
-      offset0,
-      vec,
-      body0,
-      rowadr,
-      rownnz,
-      -pulley_scale,
-      worldid,
-      ten_J_out,
-    )
-    _accumulate_jac_chain(
-      body_parentid,
-      body_dofnum,
-      body_dofadr,
-      ten_J_colind,
-      cdof_in,
-      offset1,
-      vec,
-      body1,
-      rowadr,
-      rownnz,
-      pulley_scale,
-      worldid,
-      ten_J_out,
-    )
-
-
-@wp.kernel
-def _spatial_geom_tendon(
-  # Model:
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  body_dofnum: wp.array[int],
-  body_dofadr: wp.array[int],
-  geom_bodyid: wp.array[int],
-  geom_size: wp.array2d[wp.vec3],
-  site_bodyid: wp.array[int],
-  ten_J_rownnz: wp.array[int],
-  ten_J_rowadr: wp.array[int],
-  ten_J_colind: wp.array[int],
-  wrap_type: wp.array[int],
-  wrap_objid: wp.array[int],
-  wrap_prm: wp.array[float],
-  tendon_geom_adr: wp.array[int],
-  wrap_geom_adr: wp.array[int],
-  wrap_pulley_scale: wp.array[float],
-  # Data in:
-  geom_xpos_in: wp.array2d[wp.vec3],
-  geom_xmat_in: wp.array2d[wp.mat33],
-  site_xpos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # Data out:
-  ten_J_out: wp.array2d[float],
-  ten_length_out: wp.array2d[float],
-  # Out:
-  wrap_geom_xpos_out: wp.array2d[wp.spatial_vector],
-):
-  worldid, elementid = wp.tid()
-  wrap_adr = wrap_geom_adr[elementid]
-  tenid = tendon_geom_adr[elementid]
-
-  # pulley scaling
-  pulley_scale = wrap_pulley_scale[wrap_adr]
-
-  # site-geom-site
-  wrap_objid_site0 = wrap_objid[wrap_adr - 1]
-  wrap_objid_geom = wrap_objid[wrap_adr + 0]
-  wrap_objid_site1 = wrap_objid[wrap_adr + 1]
-
-  # get site positions before and after geom
-  site_pnt0 = site_xpos_in[worldid, wrap_objid_site0]
-  site_pnt1 = site_xpos_in[worldid, wrap_objid_site1]
-
-  # get geom information
-  geom_xpos = geom_xpos_in[worldid, wrap_objid_geom]
-  geom_xmat = geom_xmat_in[worldid, wrap_objid_geom]
-  geomsize = geom_size[worldid % geom_size.shape[0], wrap_objid_geom][0]
-  geom_type = wrap_type[wrap_adr]
-
-  # get body ids for site-geom-site instances
-  bodyid_site0 = site_bodyid[wrap_objid_site0]
-  bodyid_geom = geom_bodyid[wrap_objid_geom]
-  bodyid_site1 = site_bodyid[wrap_objid_site1]
-
-  # find wrap object sidesite (if it exists)
-  sideid = int(wp.round(wrap_prm[wrap_adr]))
-  if sideid >= 0:
-    side = site_xpos_in[worldid, sideid]
-  else:
-    side = wp.vec3(MJ_MAXVAL)
-
-  # compute geom wrap length and connect points (if wrap occurs)
-  length_geomgeom, geom_pnt0, geom_pnt1 = util_misc.wrap(site_pnt0, site_pnt1, geom_xpos, geom_xmat, geomsize, geom_type, side)
-
-  # store geom points
-  wrap_geom_xpos_out[worldid, elementid] = wp.spatial_vector(geom_pnt0, geom_pnt1)
-
-  rownnz = ten_J_rownnz[tenid]
-  rowadr = ten_J_rowadr[tenid]
-
-  if length_geomgeom >= 0.0:
-    dif_sitegeom = geom_pnt0 - site_pnt0
-    dif_geomsite = site_pnt1 - geom_pnt1
-    vec_sitegeom, length_sitegeom = math.normalize_with_norm(dif_sitegeom)
-    vec_geomsite, length_geomsite = math.normalize_with_norm(dif_geomsite)
-
-    # length
-    length_sitegeomsite = length_sitegeom + length_geomgeom + length_geomsite
-
-    if length_sitegeomsite:
-      wp.atomic_add(ten_length_out[worldid], tenid, length_sitegeomsite * pulley_scale)
-
-    # moment
-    if length_sitegeom < MJ_MINVAL:
-      vec_sitegeom = wp.vec3(1.0, 0.0, 0.0)
-
-    if length_geomsite < MJ_MINVAL:
-      vec_geomsite = wp.vec3(1.0, 0.0, 0.0)
-
-    dif_body_sitegeom = bodyid_site0 != bodyid_geom
-    dif_body_geomsite = bodyid_geom != bodyid_site1
-
-    # site-geom segment
-    if dif_body_sitegeom:
-      offset_site0 = site_pnt0 - subtree_com_in[worldid, body_rootid[bodyid_site0]]
-      offset_geom0 = geom_pnt0 - subtree_com_in[worldid, body_rootid[bodyid_geom]]
-      _accumulate_jac_chain(
-        body_parentid,
-        body_dofnum,
-        body_dofadr,
-        ten_J_colind,
-        cdof_in,
-        offset_site0,
-        vec_sitegeom,
-        bodyid_site0,
-        rowadr,
-        rownnz,
-        -pulley_scale,
-        worldid,
-        ten_J_out,
-      )
-      _accumulate_jac_chain(
-        body_parentid,
-        body_dofnum,
-        body_dofadr,
-        ten_J_colind,
-        cdof_in,
-        offset_geom0,
-        vec_sitegeom,
-        bodyid_geom,
-        rowadr,
-        rownnz,
-        pulley_scale,
-        worldid,
-        ten_J_out,
-      )
-
-    # geom-site segment
-    if dif_body_geomsite:
-      offset_geom1 = geom_pnt1 - subtree_com_in[worldid, body_rootid[bodyid_geom]]
-      offset_site1 = site_pnt1 - subtree_com_in[worldid, body_rootid[bodyid_site1]]
-      _accumulate_jac_chain(
-        body_parentid,
-        body_dofnum,
-        body_dofadr,
-        ten_J_colind,
-        cdof_in,
-        offset_geom1,
-        vec_geomsite,
-        bodyid_geom,
-        rowadr,
-        rownnz,
-        -pulley_scale,
-        worldid,
-        ten_J_out,
-      )
-      _accumulate_jac_chain(
-        body_parentid,
-        body_dofnum,
-        body_dofadr,
-        ten_J_colind,
-        cdof_in,
-        offset_site1,
-        vec_geomsite,
-        bodyid_site1,
-        rowadr,
-        rownnz,
-        pulley_scale,
-        worldid,
-        ten_J_out,
-      )
-  else:
-    dif_sitesite = site_pnt1 - site_pnt0
-    vec_sitesite, length_sitesite = math.normalize_with_norm(dif_sitesite)
-
-    # length
-    if length_sitesite:
-      wp.atomic_add(ten_length_out[worldid], tenid, length_sitesite * pulley_scale)
-
-    # moment
-    if length_sitesite < MJ_MINVAL:
-      vec_sitesite = wp.vec3(1.0, 0.0, 0.0)
-
-    if bodyid_site0 != bodyid_site1:
-      offset_site0 = site_pnt0 - subtree_com_in[worldid, body_rootid[bodyid_site0]]
-      offset_site1 = site_pnt1 - subtree_com_in[worldid, body_rootid[bodyid_site1]]
-      _accumulate_jac_chain(
-        body_parentid,
-        body_dofnum,
-        body_dofadr,
-        ten_J_colind,
-        cdof_in,
-        offset_site0,
-        vec_sitesite,
-        bodyid_site0,
-        rowadr,
-        rownnz,
-        -pulley_scale,
-        worldid,
-        ten_J_out,
-      )
-      _accumulate_jac_chain(
-        body_parentid,
-        body_dofnum,
-        body_dofadr,
-        ten_J_colind,
-        cdof_in,
-        offset_site1,
-        vec_sitesite,
-        bodyid_site1,
-        rowadr,
-        rownnz,
-        pulley_scale,
-        worldid,
-        ten_J_out,
-      )
-
-
-@wp.kernel
-def _spatial_tendon_wrap(
-  # Model:
-  ntendon: int,
-  tendon_adr: wp.array[int],
-  tendon_num: wp.array[int],
-  wrap_type: wp.array[int],
-  wrap_objid: wp.array[int],
-  # Data in:
-  site_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  wrap_geom_xpos_in: wp.array2d[wp.spatial_vector],
-  # Data out:
-  ten_wrapadr_out: wp.array2d[int],
-  ten_wrapnum_out: wp.array2d[int],
-  wrap_obj_out: wp.array2d[wp.vec2i],
-  wrap_xpos_out: wp.array2d[wp.spatial_vector],
-):
-  worldid = wp.tid()
-
-  wrapcount = int(0)
-  wrapgeomid = int(0)
-  for i in range(ntendon):
-    adr = tendon_adr[i]
-    ten_wrapadr_out[worldid, i] = wrapcount
-    wrapnum = int(0)
-    tendonnum = tendon_num[i]
-
-    # process fixed tendon
-    if wrap_type[adr] == WrapType.JOINT:
-      continue
-
-    # process spatial tendon
-    j = int(0)
-    while j < tendonnum - 1:
-      # get 1st and 2nd object
-      type0 = wrap_type[adr + j + 0]
-      type1 = wrap_type[adr + j + 1]
-      id0 = wrap_objid[adr + j + 0]
-      id1 = wrap_objid[adr + j + 1]
-
-      # pulley
-      pulley0 = type0 == WrapType.PULLEY
-      if pulley0 or type1 == WrapType.PULLEY:
-        if pulley0:
-          row = wrapcount // 2
-          col = wrapcount % 2
-          wrap_xpos_out[worldid, row][3 * col + 0] = 0.0
-          wrap_xpos_out[worldid, row][3 * col + 1] = 0.0
-          wrap_xpos_out[worldid, row][3 * col + 2] = 0.0
-
-          wrap_obj_out[worldid, row][col] = -2
-
-          wrapnum += 1
-          wrapcount += 1
-
-        # move to next
-        j += 1
-        continue
-
-      # init sequence; assume it starts with site
-      wpnt_site0 = site_xpos_in[worldid, id0]
-
-      # second object is geom: process site-geom-site
-      if type1 == WrapType.SPHERE or type1 == WrapType.CYLINDER:
-        wrap_geom_xpos = wrap_geom_xpos_in[worldid, wrapgeomid]
-        wpnt_geom0 = wp.spatial_top(wrap_geom_xpos)
-        wrapgeomid += 1
-
-        wrapid = id1
-        id1 = wrap_objid[adr + j + 2]
-        if wp.norm_l2(wpnt_geom0) < MJ_MAXVAL:
-          wpnt_geom1 = wp.spatial_bottom(wrap_geom_xpos)
-          wpnt_site1 = site_xpos_in[worldid, id1]
-
-          # assign to wrap
-          row0 = (wrapcount + 0) // 2
-          col0 = (wrapcount + 0) % 2
-          row1 = (wrapcount + 1) // 2
-          col1 = (wrapcount + 1) % 2
-          row2 = (wrapcount + 2) // 2
-          col2 = (wrapcount + 2) % 2
-          row3 = (wrapcount + 3) // 2
-          col3 = (wrapcount + 3) % 2
-
-          wrap_xpos_out[worldid, row0][3 * col0 + 0] = wpnt_site0[0]
-          wrap_xpos_out[worldid, row0][3 * col0 + 1] = wpnt_site0[1]
-          wrap_xpos_out[worldid, row0][3 * col0 + 2] = wpnt_site0[2]
-
-          wrap_xpos_out[worldid, row1][3 * col1 + 0] = wpnt_geom0[0]
-          wrap_xpos_out[worldid, row1][3 * col1 + 1] = wpnt_geom0[1]
-          wrap_xpos_out[worldid, row1][3 * col1 + 2] = wpnt_geom0[2]
-
-          wrap_xpos_out[worldid, row2][3 * col2 + 0] = wpnt_geom1[0]
-          wrap_xpos_out[worldid, row2][3 * col2 + 1] = wpnt_geom1[1]
-          wrap_xpos_out[worldid, row2][3 * col2 + 2] = wpnt_geom1[2]
-
-          wrap_xpos_out[worldid, row3][3 * col3 + 0] = wpnt_site1[0]
-          wrap_xpos_out[worldid, row3][3 * col3 + 1] = wpnt_site1[1]
-          wrap_xpos_out[worldid, row3][3 * col3 + 2] = wpnt_site1[2]
-
-          wrap_obj_out[worldid, row0][col0] = -1
-          wrap_obj_out[worldid, row1][col1] = wrapid
-          wrap_obj_out[worldid, row2][col2] = wrapid
-
-          wrapnum += 3
-          wrapcount += 3
-          j += 2
-
-        else:
-          row0 = (wrapcount + 0) // 2
-          col0 = (wrapcount + 0) % 2
-
-          wrap_xpos_out[worldid, row0][3 * col0 + 0] = wpnt_site0[0]
-          wrap_xpos_out[worldid, row0][3 * col0 + 1] = wpnt_site0[1]
-          wrap_xpos_out[worldid, row0][3 * col0 + 2] = wpnt_site0[2]
-
-          wrap_obj_out[worldid, row0][col0] = -1
-
-          wrapnum += 1
-          wrapcount += 1
-          j += 2
-
-      else:
-        row0 = (wrapcount + 0) // 2
-        col0 = (wrapcount + 0) % 2
-
-        wrap_xpos_out[worldid, row0][3 * col0 + 0] = wpnt_site0[0]
-        wrap_xpos_out[worldid, row0][3 * col0 + 1] = wpnt_site0[1]
-        wrap_xpos_out[worldid, row0][3 * col0 + 2] = wpnt_site0[2]
-
-        wrap_obj_out[worldid, row0][col0] = -1
-
-        wrapnum += 1
-        wrapcount += 1
-        j += 1
-
-      # assign last site before pulley or tendon end
-      if adr + j + 1 < wrap_type.shape[0]:
-        last_before_pulley = wrap_type[adr + j + 1] == WrapType.PULLEY
-      else:
-        last_before_pulley = False
-
-      if j == tendonnum - 1 or last_before_pulley:
-        row0 = (wrapcount + 0) // 2
-        col0 = (wrapcount + 0) % 2
-
-        wpnt_site1 = site_xpos_in[worldid, id1]
-        wrap_xpos_out[worldid, row0][3 * col0 + 0] = wpnt_site1[0]
-        wrap_xpos_out[worldid, row0][3 * col0 + 1] = wpnt_site1[1]
-        wrap_xpos_out[worldid, row0][3 * col0 + 2] = wpnt_site1[2]
-
-        wrap_obj_out[worldid, row0][col0] = -1
-        wrapnum += 1
-        wrapcount += 1
-
-    ten_wrapnum_out[worldid, i] = wrapnum
-
-
-@event_scope
-def tendon(m: Model, d: Data):
-  """Computes tendon lengths and moments.
-
-  Updates the tendon length and moment arrays for all tendons in the model, including joint,
-  site, and geom tendons.
-  """
-  if not m.ntendon:
-    return
-
-  d.ten_length.zero_()
-  d.ten_J.zero_()
-
-  # Cartesian 3D points fro geom wrap points
-  wrap_geom_xpos = wp.empty((d.nworld, m.nwrap), dtype=wp.spatial_vector)
-
-  # process joint tendons
-  wp.launch(
-    _joint_tendon,
-    dim=(d.nworld, m.wrap_jnt_adr.size),
-    inputs=[
-      m.jnt_qposadr,
-      m.jnt_dofadr,
-      m.ten_J_rownnz,
-      m.ten_J_rowadr,
-      m.ten_J_colind,
-      m.wrap_objid,
-      m.wrap_prm,
-      m.tendon_jnt_adr,
-      m.wrap_jnt_adr,
-      d.qpos,
-    ],
-    outputs=[d.ten_J, d.ten_length],
-  )
-
-  spatial_site = m.wrap_site_pair_adr.size > 0
-  spatial_geom = m.wrap_geom_adr.size > 0
-
-  if spatial_site or spatial_geom:
-    d.wrap_xpos.zero_()
-    d.wrap_obj.zero_()
-
-  # process spatial site tendons
-  wp.launch(
-    _spatial_site_tendon,
-    dim=(d.nworld, m.wrap_site_pair_adr.size),
-    inputs=[
-      m.body_parentid,
-      m.body_rootid,
-      m.body_dofnum,
-      m.body_dofadr,
-      m.site_bodyid,
-      m.ten_J_rownnz,
-      m.ten_J_rowadr,
-      m.ten_J_colind,
-      m.wrap_objid,
-      m.tendon_site_pair_adr,
-      m.wrap_site_pair_adr,
-      m.wrap_pulley_scale,
-      d.site_xpos,
-      d.subtree_com,
-      d.cdof,
-    ],
-    outputs=[d.ten_J, d.ten_length],
-  )
-
-  # process spatial geom tendons
-  wp.launch(
-    _spatial_geom_tendon,
-    dim=(d.nworld, m.wrap_geom_adr.size),
-    inputs=[
-      m.body_parentid,
-      m.body_rootid,
-      m.body_dofnum,
-      m.body_dofadr,
-      m.geom_bodyid,
-      m.geom_size,
-      m.site_bodyid,
-      m.ten_J_rownnz,
-      m.ten_J_rowadr,
-      m.ten_J_colind,
-      m.wrap_type,
-      m.wrap_objid,
-      m.wrap_prm,
-      m.tendon_geom_adr,
-      m.wrap_geom_adr,
-      m.wrap_pulley_scale,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.site_xpos,
-      d.subtree_com,
-      d.cdof,
-    ],
-    outputs=[d.ten_J, d.ten_length, wrap_geom_xpos],
-  )
-
-  if spatial_site or spatial_geom:
-    wp.launch(
-      _spatial_tendon_wrap,
-      dim=d.nworld,
-      inputs=[m.ntendon, m.tendon_adr, m.tendon_num, m.wrap_type, m.wrap_objid, d.site_xpos, wrap_geom_xpos],
-      outputs=[d.ten_wrapadr, d.ten_wrapnum, d.wrap_obj, d.wrap_xpos],
-    )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/solver.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/solver.py
deleted file mode 100644
index d2dc9cfb..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/solver.py
+++ /dev/null
@@ -1,4164 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import dataclasses
-from math import ceil
-from typing import Any
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import island
-from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src import smooth
-from mujoco.mjx.third_party.mujoco_warp._src import support
-from mujoco.mjx.third_party.mujoco_warp._src import types
-from mujoco.mjx.third_party.mujoco_warp._src.block_cholesky import create_blocked_cholesky_augmented_factorize_solve_newton_func
-from mujoco.mjx.third_party.mujoco_warp._src.block_cholesky import create_blocked_cholesky_factorize_solve_func
-from mujoco.mjx.third_party.mujoco_warp._src.block_cholesky import create_blocked_cholesky_solve_newton_func
-from mujoco.mjx.third_party.mujoco_warp._src.block_cholesky import solve_search_sums
-from mujoco.mjx.third_party.mujoco_warp._src.types import InverseContext
-from mujoco.mjx.third_party.mujoco_warp._src.types import SolverContext
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-_BLOCK_CHOLESKY_DIM = 32
-
-
-def create_inverse_context(m: types.Model, d: types.Data) -> InverseContext:
-  """Create an InverseContext with allocated workspace arrays.
-
-  Args:
-    m: Model.
-    d: Data.
-
-  Returns:
-    InverseContext with allocated arrays.
-  """
-  nworld = d.nworld
-  njmax = d.njmax
-
-  return InverseContext(
-    Jaref=wp.empty((nworld, njmax), dtype=float),
-    search_dot=wp.empty((nworld,), dtype=float),
-    done=wp.empty((nworld,), dtype=bool),
-    quad_changed_ids=wp.empty((nworld, 0), dtype=int),
-    quad_changed_count=wp.empty((0,), dtype=int),
-    state_changed_count=wp.empty((0,), dtype=int),
-    ls_exhausted=wp.empty((0,), dtype=bool),
-  )
-
-
-def _create_solver_context(m: types.Model, d: types.Data) -> SolverContext:
-  """Create a SolverContext with allocated workspace arrays.
-
-  Args:
-    m: Model.
-    d: Data.
-
-  Returns:
-    SolverContext with allocated arrays.
-  """
-  nworld = d.nworld
-  nv = m.nv
-  nv_pad = m.nv_pad
-  njmax = d.njmax
-
-  alloc_h = m.opt.solver == types.SolverType.NEWTON
-  alloc_hfactor = alloc_h and nv > _BLOCK_CHOLESKY_DIM
-  alloc_mgrad = m.opt.solver == types.SolverType.CG
-  alloc_incremental = _use_incremental(m)
-
-  return SolverContext(
-    Jaref=wp.empty((nworld, njmax), dtype=float),
-    search_dot=wp.empty((nworld,), dtype=float),
-    done=wp.empty((nworld,), dtype=bool),
-    grad=wp.zeros((nworld, nv_pad), dtype=float),
-    grad_dot=wp.empty((nworld,), dtype=float),
-    newton_decrement=wp.empty((nworld,), dtype=float),
-    Mgrad=wp.empty((nworld, nv_pad), dtype=float) if alloc_mgrad else wp.empty((nworld, 0), dtype=float),
-    search=wp.empty((nworld, nv), dtype=float),
-    mv=wp.empty((nworld, nv), dtype=float),
-    jv=wp.empty((nworld, njmax), dtype=float),
-    quad=wp.empty((nworld, njmax), dtype=wp.vec3),
-    alpha=wp.empty((nworld,), dtype=float),
-    grad_scale=wp.empty((nworld,), dtype=float),
-    improvement=wp.empty((nworld,), dtype=float),
-    ls_exhausted=wp.zeros((nworld,), dtype=bool),
-    search_unchanged=wp.empty((nworld,), dtype=bool),
-    prev_grad=wp.empty((nworld, nv), dtype=float) if alloc_mgrad else wp.empty((nworld, 0), dtype=float),
-    prev_Mgrad=wp.empty((nworld, nv), dtype=float) if alloc_mgrad else wp.empty((nworld, 0), dtype=float),
-    beta=wp.empty((nworld,), dtype=float) if alloc_mgrad else wp.empty((0,), dtype=float),
-    beta_den=wp.empty((nworld,), dtype=float) if alloc_mgrad else wp.empty((0,), dtype=float),
-    h=wp.empty((nworld, nv_pad, nv_pad), dtype=float) if alloc_h else wp.empty((nworld, 0, 0), dtype=float),
-    hfactor=wp.empty((nworld, nv_pad, nv_pad), dtype=float) if alloc_hfactor else wp.empty((nworld, 0, 0), dtype=float),
-    quad_changed_ids=wp.empty((nworld, njmax), dtype=int) if alloc_incremental else wp.empty((nworld, 0), dtype=int),
-    quad_changed_count=wp.empty((nworld,), dtype=int) if alloc_incremental else wp.empty((0,), dtype=int),
-    state_changed_count=wp.empty((nworld,), dtype=int) if alloc_incremental else wp.empty((0,), dtype=int),
-  )
-
-
-@wp.func
-def _rescale(nv: int, meaninertia: float, value: float) -> float:
-  return value / (meaninertia * float(nv))
-
-
-@wp.func
-def _in_bracket(x: wp.vec3, y: wp.vec3) -> bool:
-  return (x[1] < y[1] and y[1] < 0.0) or (x[1] > y[1] and y[1] > 0.0)
-
-
-@wp.func
-def _eval_pt_direct_alpha_zero(jaref: float, jv: float, d: float) -> wp.vec3:
-  """Eval quadratic constraint at alpha=0."""
-  jvD = jv * d
-  return wp.vec3(0.5 * d * jaref * jaref, jvD * jaref, jv * jvD)
-
-
-@wp.func
-def _eval_pt_direct(jaref: float, jv: float, d: float, alpha: float) -> wp.vec3:
-  """Eval quadratic constraint."""
-  x = jaref + alpha * jv
-  jvD = jv * d
-  return wp.vec3(0.5 * d * x * x, jvD * x, jv * jvD)
-
-
-@wp.func
-def _eval_pt_direct_cost_alpha_zero(jaref: float, d: float) -> float:
-  return 0.5 * d * jaref * jaref
-
-
-@wp.func
-def _eval_pt_direct_shifted(jaref: float, jv: float, d: float, alpha: float, offset: float) -> wp.vec3:
-  """Eval quadratic constraint shifted by alpha=0, plus a constant cost offset."""
-  jvD = jv * d
-  hessian = jv * jvD
-  alpha_h = alpha * hessian
-  return wp.vec3(alpha * (jvD * jaref + 0.5 * alpha_h) + offset, jvD * jaref + alpha_h, hessian)
-
-
-@wp.func
-def _eval_pt_direct_3alphas(
-  jaref: float, jv: float, d: float, lo_alpha: float, hi_alpha: float, mid_alpha: float
-) -> tuple[wp.vec3, wp.vec3, wp.vec3]:
-  """Eval quadratic constraint for 3 alphas."""
-  x_lo = jaref + lo_alpha * jv
-  x_hi = jaref + hi_alpha * jv
-  x_mid = jaref + mid_alpha * jv
-  jvD = jv * d
-  hessian = jv * jvD
-  half_d = 0.5 * d
-  return (
-    wp.vec3(half_d * x_lo * x_lo, jvD * x_lo, hessian),
-    wp.vec3(half_d * x_hi * x_hi, jvD * x_hi, hessian),
-    wp.vec3(half_d * x_mid * x_mid, jvD * x_mid, hessian),
-  )
-
-
-@wp.func
-def _eval_pt_direct_shifted_3alphas(
-  jaref: float, jv: float, d: float, lo_alpha: float, hi_alpha: float, mid_alpha: float, offset: float
-) -> tuple[wp.vec3, wp.vec3, wp.vec3]:
-  """Eval shifted quadratic constraint for 3 alphas, plus a constant cost offset."""
-  jvD = jv * d
-  grad0 = jvD * jaref
-  hessian = jv * jvD
-  lo_ah = lo_alpha * hessian
-  hi_ah = hi_alpha * hessian
-  mid_ah = mid_alpha * hessian
-  return (
-    wp.vec3(lo_alpha * (grad0 + 0.5 * lo_ah) + offset, grad0 + lo_ah, hessian),
-    wp.vec3(hi_alpha * (grad0 + 0.5 * hi_ah) + offset, grad0 + hi_ah, hessian),
-    wp.vec3(mid_alpha * (grad0 + 0.5 * mid_ah) + offset, grad0 + mid_ah, hessian),
-  )
-
-
-@wp.func
-def _eval_cost(quad: wp.vec3, alpha: float) -> float:
-  return alpha * alpha * quad[2] + alpha * quad[1] + quad[0]
-
-
-@wp.func
-def _eval_pt(quad: wp.vec3, alpha: float) -> wp.vec3:
-  """Eval quad polynomial at alpha, return (cost, grad, hessian)."""
-  aq2 = alpha * quad[2]
-  return wp.vec3(
-    alpha * aq2 + alpha * quad[1] + quad[0],
-    2.0 * aq2 + quad[1],
-    2.0 * quad[2],
-  )
-
-
-@wp.func
-def _eval_pt_3alphas(quad: wp.vec3, lo_alpha: float, hi_alpha: float, mid_alpha: float) -> tuple[wp.vec3, wp.vec3, wp.vec3]:
-  """Eval quad polynomial for 3 alphas."""
-  q0, q1, q2 = quad[0], quad[1], quad[2]
-  hessian = 2.0 * q2
-  lo_aq2 = lo_alpha * q2
-  hi_aq2 = hi_alpha * q2
-  mid_aq2 = mid_alpha * q2
-  return (
-    wp.vec3(lo_alpha * lo_aq2 + lo_alpha * q1 + q0, 2.0 * lo_aq2 + q1, hessian),
-    wp.vec3(hi_alpha * hi_aq2 + hi_alpha * q1 + q0, 2.0 * hi_aq2 + q1, hessian),
-    wp.vec3(mid_alpha * mid_aq2 + mid_alpha * q1 + q0, 2.0 * mid_aq2 + q1, hessian),
-  )
-
-
-@wp.func
-def _shift_cost(pt: wp.vec3, cost0: float) -> wp.vec3:
-  return wp.vec3(pt[0] - cost0, pt[1], pt[2])
-
-
-@wp.func
-def _eval_frictionloss_pt(x: float, f: float, rf: float, jv: float, d: float) -> wp.vec3:
-  """Eval frictionloss and return (cost, grad, hessian). x = Jaref + alpha * jv."""
-  if (-rf < x) and (x < rf):
-    jvD = jv * d
-    return wp.vec3(0.5 * d * x * x, jvD * x, jv * jvD)
-  elif x <= -rf:
-    return wp.vec3(f * (-0.5 * rf - x), -f * jv, 0.0)
-  else:
-    return wp.vec3(f * (-0.5 * rf + x), f * jv, 0.0)
-
-
-@wp.func
-def _eval_frictionloss_cost(x: float, f: float, rf: float, d: float) -> float:
-  if (-rf < x) and (x < rf):
-    return 0.5 * d * x * x
-  elif x <= -rf:
-    return f * (-0.5 * rf - x)
-  return f * (-0.5 * rf + x)
-
-
-@wp.func
-def _eval_frictionloss_pt_one(x: float, f: float, rf: float, half_d: float, jvD: float, hessian: float, f_jv: float) -> wp.vec3:
-  """Eval frictionloss with precomputed shared values."""
-  if (-rf < x) and (x < rf):
-    return wp.vec3(half_d * x * x, jvD * x, hessian)
-  elif x <= -rf:
-    return wp.vec3(f * (-0.5 * rf - x), -f_jv, 0.0)
-  else:
-    return wp.vec3(f * (-0.5 * rf + x), f_jv, 0.0)
-
-
-@wp.func
-def _eval_frictionloss_pt_3alphas(
-  x_lo: float, x_hi: float, x_mid: float, f: float, rf: float, jv: float, d: float
-) -> tuple[wp.vec3, wp.vec3, wp.vec3]:
-  """Eval frictionloss for 3 x values with shared precomputation."""
-  jvD = jv * d
-  half_d = 0.5 * d
-  hessian = jv * jvD
-  f_jv = f * jv
-  return (
-    _eval_frictionloss_pt_one(x_lo, f, rf, half_d, jvD, hessian, f_jv),
-    _eval_frictionloss_pt_one(x_hi, f, rf, half_d, jvD, hessian, f_jv),
-    _eval_frictionloss_pt_one(x_mid, f, rf, half_d, jvD, hessian, f_jv),
-  )
-
-
-@wp.func
-def _eval_elliptic_reference(
-  # In:
-  mu: float,
-  quad: wp.vec3,
-  quad1: wp.vec3,
-  quad2: wp.vec3,
-) -> tuple[float, float, float, int]:
-  u0 = quad1[0]
-  uu = quad1[2]
-  dm = quad2[2]
-
-  if uu <= 0.0:
-    if u0 < 0.0:
-      return quad[0], 0.0, 0.0, int(types.ConstraintState.QUADRATIC)
-    return 0.0, 0.0, 0.0, int(types.ConstraintState.SATISFIED)
-
-  T0 = wp.sqrt(uu)
-  if u0 >= mu * T0:
-    return 0.0, T0, 0.0, int(types.ConstraintState.SATISFIED)
-  if mu * u0 + T0 <= 0.0:
-    return quad[0], T0, 0.0, int(types.ConstraintState.QUADRATIC)
-
-  r0 = u0 - mu * T0
-  return 0.5 * dm * r0 * r0, T0, r0, int(types.ConstraintState.CONE)
-
-
-@wp.func
-def _eval_elliptic_alpha_zero(mu: float, quad: wp.vec3, quad1: wp.vec3, quad2: wp.vec3) -> wp.vec3:
-  cost0, T0, r0, state0 = _eval_elliptic_reference(mu, quad, quad1, quad2)
-  if state0 == int(types.ConstraintState.QUADRATIC):
-    return _eval_pt(quad, 0.0)
-  if state0 == int(types.ConstraintState.CONE):
-    T0_inv = 1.0 / T0
-    T1 = quad2[0] * T0_inv
-    T2 = (quad2[1] - T1 * T1) * T0_inv
-    r1 = quad1[1] - mu * T1
-    dm = quad2[2]
-    return wp.vec3(cost0, dm * r0 * r1, dm * (r1 * r1 - mu * r0 * T2))
-  return wp.vec3(0.0)
-
-
-@wp.func
-def _eval_elliptic_quadratic_cone_gap(mu: float, N: float, T: float, dm: float) -> float:
-  """Return quadratic cost minus cone cost at the same point."""
-  boundary = mu * N + T
-  return 0.5 * dm * boundary * boundary
-
-
-@wp.func
-def _eval_elliptic_quadratic_shifted(
-  # In:
-  mu: float,
-  quad: wp.vec3,
-  alpha: float,
-  N: float,
-  Tsqr: float,
-  u0: float,
-  T0: float,
-  dm: float,
-  state0: int,
-) -> wp.vec3:
-  aq2 = alpha * quad[2]
-  cost = alpha * (aq2 + quad[1])
-  if state0 == int(types.ConstraintState.CONE):
-    cost += _eval_elliptic_quadratic_cone_gap(mu, u0, T0, dm)
-  elif state0 == int(types.ConstraintState.SATISFIED):
-    cost = 0.5 * dm * (1.0 + mu * mu) * (N * N + wp.max(Tsqr, 0.0))
-  return wp.vec3(cost, 2.0 * aq2 + quad[1], 2.0 * quad[2])
-
-
-@wp.func
-def _eval_elliptic_shifted(
-  # In:
-  mu: float,
-  quad: wp.vec3,
-  quad1: wp.vec3,
-  quad2: wp.vec3,
-  alpha: float,
-  cost0: float,
-  T0: float,
-  r0: float,
-  state0: int,
-) -> wp.vec3:
-  u0 = quad1[0]
-  v0 = quad1[1]
-  uu = quad1[2]
-  uv = quad2[0]
-  vv = quad2[1]
-  dm = quad2[2]
-
-  N = u0 + alpha * v0
-  Tsqr_delta = alpha * (2.0 * uv + alpha * vv)
-  Tsqr = uu + Tsqr_delta
-
-  if Tsqr <= 0.0:
-    if N < 0.0:
-      return _eval_elliptic_quadratic_shifted(mu, quad, alpha, N, Tsqr, u0, T0, dm, state0)
-  else:
-    T = wp.sqrt(Tsqr)
-    if N >= mu * T:
-      pass
-    elif mu * N + T <= 0.0:
-      return _eval_elliptic_quadratic_shifted(mu, quad, alpha, N, Tsqr, u0, T0, dm, state0)
-    else:
-      T_inv = 1.0 / T
-      T1 = (uv + alpha * vv) * T_inv
-      T2 = (vv - T1 * T1) * T_inv
-      r = N - mu * T
-      r1 = v0 - mu * T1
-
-      if state0 == int(types.ConstraintState.CONE):
-        # Rationalize T - T0 before forming the small cone residual change.
-        T_delta = Tsqr_delta / (T + T0)
-        r_delta = alpha * v0 - mu * T_delta
-        cost = 0.5 * dm * r_delta * (2.0 * r0 + r_delta)
-      elif state0 == int(types.ConstraintState.QUADRATIC):
-        aq2 = alpha * quad[2]
-        cost = alpha * (aq2 + quad[1]) - _eval_elliptic_quadratic_cone_gap(mu, N, T, dm)
-      else:
-        cost = 0.5 * dm * r * r
-
-      return wp.vec3(
-        cost,
-        dm * r * r1,
-        dm * (r1 * r1 + r * (-mu * T2)),
-      )
-
-  return wp.vec3(-cost0, 0.0, 0.0)
-
-
-@wp.func
-def _eval_constraint(
-  # In:
-  is_equality: bool,
-  is_friction: bool,
-  is_elliptic: bool,
-  jaref: float,
-  D: float,
-  frictionloss: float,
-  efcid: int,
-  efcid0: int,
-  jaref0: float,
-  D0: float,
-  mu: float,
-  ufrictionj: float,
-  TT: float,
-) -> wp.vec3:
-  if is_equality:
-    force = -D * jaref
-    cost = 0.5 * D * jaref * jaref
-    return wp.vec3(force, float(types.ConstraintState.QUADRATIC.value), cost)
-
-  if is_friction:
-    rf = math.safe_div(frictionloss, D)
-    if jaref <= -rf:
-      return wp.vec3(frictionloss, float(types.ConstraintState.LINEARNEG.value), -frictionloss * (0.5 * rf + jaref))
-    elif jaref >= rf:
-      return wp.vec3(-frictionloss, float(types.ConstraintState.LINEARPOS.value), -frictionloss * (0.5 * rf - jaref))
-    else:
-      return wp.vec3(-D * jaref, float(types.ConstraintState.QUADRATIC.value), 0.5 * D * jaref * jaref)
-
-  if is_elliptic:
-    N = jaref0 * mu
-    if TT <= 0.0:
-      T = 0.0
-    else:
-      T = wp.sqrt(TT)
-
-    # Top zone
-    if (N >= mu * T) or ((T <= 0.0) and (N >= 0.0)):
-      return wp.vec3(0.0, float(types.ConstraintState.SATISFIED.value), 0.0)
-    # Bottom zone
-    elif (mu * N + T <= 0.0) or ((T <= 0.0) and (N < 0.0)):
-      return wp.vec3(-D * jaref, float(types.ConstraintState.QUADRATIC.value), 0.5 * D * jaref * jaref)
-    # Middle zone
-    else:
-      dm = math.safe_div(D0, mu * mu * (1.0 + mu * mu))
-      nmt = N - mu * T
-      force_normal = -dm * nmt * mu
-
-      if efcid == efcid0:
-        return wp.vec3(force_normal, float(types.ConstraintState.CONE.value), 0.5 * dm * nmt * nmt)
-      else:
-        force_tangent = -math.safe_div(force_normal, T) * ufrictionj
-
-      return wp.vec3(force_tangent, float(types.ConstraintState.CONE.value), 0.0)
-
-  if jaref >= 0.0:
-    return wp.vec3(0.0, float(types.ConstraintState.SATISFIED.value), 0.0)
-  else:
-    return wp.vec3(-D * jaref, float(types.ConstraintState.QUADRATIC.value), 0.5 * D * jaref * jaref)
-
-
-# kernel_analyzer: off
-@wp.func
-def _compute_efc_eval_pt_pyramidal(
-  efcid: int,
-  alpha: float,
-  ne: int,
-  nf: int,
-  # Per-row data:
-  efc_D: float,
-  efc_frictionloss: wp.array[float],
-  ctx_Jaref: float,
-  ctx_jv: float,
-) -> wp.vec3:
-  """Compute shifted cost, gradient, and hessian for pyramidal cones.
-
-  Returns (cost(alpha) - cost(0), grad(alpha), hessian(alpha)) summed across the row.
-  """
-  # Limit/other constraint
-  if efcid >= ne + nf:
-    x = ctx_Jaref + alpha * ctx_jv
-    quad0 = _eval_pt_direct_cost_alpha_zero(ctx_Jaref, efc_D)
-    cost0 = wp.where(ctx_Jaref < 0.0, quad0, 0.0)
-    # _eval_pt_direct_shifted returns quad(alpha) - quad(0); add back quad(0) when the
-    # constraint was inactive at alpha=0 (i.e. cost(0) = 0) so we get quad(alpha) - 0.
-    offset = quad0 - cost0
-    if x < 0.0:
-      return _eval_pt_direct_shifted(ctx_Jaref, ctx_jv, efc_D, alpha, offset)
-    return wp.vec3(-cost0, 0.0, 0.0)
-
-  # Friction constraint - needs quad for frictionloss computation
-  if efcid >= ne:
-    f = efc_frictionloss[efcid]
-    x = ctx_Jaref + alpha * ctx_jv
-    rf = math.safe_div(f, efc_D)
-    return _shift_cost(_eval_frictionloss_pt(x, f, rf, ctx_jv, efc_D), _eval_frictionloss_cost(ctx_Jaref, f, rf, efc_D))
-
-  # Equality constraint
-  return _eval_pt_direct_shifted(ctx_Jaref, ctx_jv, efc_D, alpha, 0.0)
-
-
-@wp.func
-def _compute_efc_eval_pt_elliptic(
-  efcid: int,
-  alpha: float,
-  ne: int,
-  nf: int,
-  impratio_invsqrt: float,
-  # Per-row data (arrays for deferred load):
-  efc_type: int,
-  efc_D_in: wp.array[float],
-  efc_frictionloss: wp.array[float],
-  ctx_Jaref: float,
-  ctx_jv: float,
-  ctx_quad: wp.vec3,
-  # Contact data (for elliptic):
-  contact_friction: types.vec5,
-  efc_address0: int,
-  quad1: wp.vec3,
-  quad2: wp.vec3,
-) -> wp.vec3:
-  """Compute shifted cost, gradient, and hessian for elliptic cones.
-
-  Returns (cost(alpha) - cost(0), grad(alpha), hessian(alpha)) summed across the row.
-  """
-  # Contact/limit/other constraints
-  if efcid >= ne + nf:
-    if efc_type == types.ConstraintType.CONTACT_ELLIPTIC:
-      if efcid != efc_address0:  # Not primary row
-        return wp.vec3(0.0)
-      mu = contact_friction[0] * impratio_invsqrt
-      cost0, T0, r0, state0 = _eval_elliptic_reference(mu, ctx_quad, quad1, quad2)
-      return _eval_elliptic_shifted(mu, ctx_quad, quad1, quad2, alpha, cost0, T0, r0, state0)
-
-    # Limit/other constraint — direct eval (no quad read)
-    x = ctx_Jaref + alpha * ctx_jv
-    efc_D = efc_D_in[efcid]
-    quad0 = _eval_pt_direct_cost_alpha_zero(ctx_Jaref, efc_D)
-    cost0 = wp.where(ctx_Jaref < 0.0, quad0, 0.0)
-    # See _compute_efc_eval_pt_pyramidal for the offset rationale.
-    offset = quad0 - cost0
-    if x < 0.0:
-      return _eval_pt_direct_shifted(ctx_Jaref, ctx_jv, efc_D, alpha, offset)
-    return wp.vec3(-cost0, 0.0, 0.0)
-
-  # Friction constraint - load D and frictionloss only here
-  if efcid >= ne:
-    efc_D = efc_D_in[efcid]
-    f = efc_frictionloss[efcid]
-    x = ctx_Jaref + alpha * ctx_jv
-    rf = math.safe_div(f, efc_D)
-    return _shift_cost(_eval_frictionloss_pt(x, f, rf, ctx_jv, efc_D), _eval_frictionloss_cost(ctx_Jaref, f, rf, efc_D))
-
-  # Equality constraint — direct eval (no quad read)
-  efc_D = efc_D_in[efcid]
-  return _eval_pt_direct_shifted(ctx_Jaref, ctx_jv, efc_D, alpha, 0.0)
-
-
-@wp.func
-def _compute_efc_eval_pt_alpha_zero_pyramidal(
-  efcid: int,
-  ne: int,
-  nf: int,
-  # Per-row data:
-  efc_D: float,
-  efc_frictionloss: wp.array[float],
-  ctx_Jaref: float,
-  ctx_jv: float,
-) -> wp.vec3:
-  """Optimized version for alpha=0.0, pyramidal cones."""
-  # Limit/other constraint
-  if efcid >= ne + nf:
-    if ctx_Jaref < 0.0:
-      return _eval_pt_direct_alpha_zero(ctx_Jaref, ctx_jv, efc_D)
-    return wp.vec3(0.0)
-
-  # Friction constraint - needs quad for frictionloss computation
-  if efcid >= ne:
-    f = efc_frictionloss[efcid]
-    rf = math.safe_div(f, efc_D)
-    return _eval_frictionloss_pt(ctx_Jaref, f, rf, ctx_jv, efc_D)
-
-  # Equality constraint
-  return _eval_pt_direct_alpha_zero(ctx_Jaref, ctx_jv, efc_D)
-
-
-@wp.func
-def _compute_efc_eval_pt_alpha_zero_elliptic(
-  efcid: int,
-  ne: int,
-  nf: int,
-  impratio_invsqrt: float,
-  # Per-row data (arrays for deferred load):
-  efc_type: int,
-  efc_D_in: wp.array[float],
-  efc_frictionloss: wp.array[float],
-  ctx_Jaref: float,
-  ctx_jv: float,
-  ctx_quad: wp.vec3,
-  # Contact data (for elliptic):
-  contact_friction: types.vec5,
-  efc_address0: int,
-  quad1: wp.vec3,
-  quad2: wp.vec3,
-) -> wp.vec3:
-  """Optimized version for alpha=0.0, elliptic cones."""
-  # Contact/limit/other constraints
-  if efcid >= ne + nf:
-    if efc_type == types.ConstraintType.CONTACT_ELLIPTIC:
-      if efcid != efc_address0:  # Not primary row
-        return wp.vec3(0.0)
-      mu = contact_friction[0] * impratio_invsqrt
-      return _eval_elliptic_alpha_zero(mu, ctx_quad, quad1, quad2)
-
-    # Limit/other constraint — direct eval (no quad read)
-    if ctx_Jaref < 0.0:
-      return _eval_pt_direct_alpha_zero(ctx_Jaref, ctx_jv, efc_D_in[efcid])
-    return wp.vec3(0.0)
-
-  # Friction constraint - load D and frictionloss only here
-  if efcid >= ne:
-    efc_D = efc_D_in[efcid]
-    f = efc_frictionloss[efcid]
-    rf = math.safe_div(f, efc_D)
-    return _eval_frictionloss_pt(ctx_Jaref, f, rf, ctx_jv, efc_D)
-
-  # Equality constraint — direct eval (no quad read)
-  return _eval_pt_direct_alpha_zero(ctx_Jaref, ctx_jv, efc_D_in[efcid])
-
-
-@wp.func
-def _compute_efc_eval_pt_3alphas_pyramidal(
-  efcid: int,
-  lo_alpha: float,
-  hi_alpha: float,
-  mid_alpha: float,
-  ne: int,
-  nf: int,
-  # Per-row data:
-  efc_D: float,
-  efc_frictionloss: wp.array[float],
-  ctx_Jaref: float,
-  ctx_jv: float,
-) -> tuple[wp.vec3, wp.vec3, wp.vec3]:
-  """Compute shifted cost, gradient, and hessian for 3 alphas, pyramidal cones.
-
-  Returns a tuple of 3 vec3s for (lo_alpha, hi_alpha, mid_alpha).
-  Constraint types checked in order: limit/other -> friction -> equality.
-  """
-  # Limit/other constraints: active only when x < 0
-  if efcid >= ne + nf:
-    x_lo = ctx_Jaref + lo_alpha * ctx_jv
-    x_hi = ctx_Jaref + hi_alpha * ctx_jv
-    x_mid = ctx_Jaref + mid_alpha * ctx_jv
-    quad0 = _eval_pt_direct_cost_alpha_zero(ctx_Jaref, efc_D)
-    cost0 = wp.where(ctx_Jaref < 0.0, quad0, 0.0)
-    # See _compute_efc_eval_pt_pyramidal for the offset rationale.
-    offset = quad0 - cost0
-    pt_lo, pt_hi, pt_mid = _eval_pt_direct_shifted_3alphas(ctx_Jaref, ctx_jv, efc_D, lo_alpha, hi_alpha, mid_alpha, offset)
-    inactive = wp.vec3(-cost0, 0.0, 0.0)
-    return (
-      wp.where(x_lo < 0.0, pt_lo, inactive),
-      wp.where(x_hi < 0.0, pt_hi, inactive),
-      wp.where(x_mid < 0.0, pt_mid, inactive),
-    )
-
-  # Friction constraint - needs quad for frictionloss computation
-  if efcid >= ne:
-    x_lo = ctx_Jaref + lo_alpha * ctx_jv
-    x_hi = ctx_Jaref + hi_alpha * ctx_jv
-    x_mid = ctx_Jaref + mid_alpha * ctx_jv
-    f = efc_frictionloss[efcid]
-    rf = math.safe_div(f, efc_D)
-    cost0 = _eval_frictionloss_cost(ctx_Jaref, f, rf, efc_D)
-    lo, hi, mid = _eval_frictionloss_pt_3alphas(x_lo, x_hi, x_mid, f, rf, ctx_jv, efc_D)
-    return (_shift_cost(lo, cost0), _shift_cost(hi, cost0), _shift_cost(mid, cost0))
-
-  # Equality constraint: always active
-  return _eval_pt_direct_shifted_3alphas(ctx_Jaref, ctx_jv, efc_D, lo_alpha, hi_alpha, mid_alpha, 0.0)
-
-
-@wp.func
-def _compute_efc_eval_pt_3alphas_elliptic(
-  efcid: int,
-  lo_alpha: float,
-  hi_alpha: float,
-  mid_alpha: float,
-  ne: int,
-  nf: int,
-  impratio_invsqrt: float,
-  # Per-row data (arrays for deferred load):
-  efc_type: int,
-  efc_D_in: wp.array[float],
-  efc_frictionloss: wp.array[float],
-  ctx_Jaref: float,
-  ctx_jv: float,
-  ctx_quad: wp.vec3,
-  # Contact data (for elliptic):
-  contact_friction: types.vec5,
-  efc_address0: int,
-  quad1: wp.vec3,
-  quad2: wp.vec3,
-) -> tuple[wp.vec3, wp.vec3, wp.vec3]:
-  """Compute shifted cost, gradient, and hessian for 3 alphas, elliptic cones.
-
-  Returns a tuple of 3 vec3s for (lo_alpha, hi_alpha, mid_alpha).
-  Constraint types checked in order: contact elliptic/limit/other -> friction -> equality.
-  """
-  # Contact/limit/other constraints
-  if efcid >= ne + nf:
-    # Contact elliptic: uses special elliptic cone evaluation
-    if efc_type == types.ConstraintType.CONTACT_ELLIPTIC:
-      if efcid != efc_address0:  # secondary rows contribute nothing
-        return (wp.vec3(0.0), wp.vec3(0.0), wp.vec3(0.0))
-      mu = contact_friction[0] * impratio_invsqrt
-      cost0, T0, r0, state0 = _eval_elliptic_reference(mu, ctx_quad, quad1, quad2)
-      return (
-        _eval_elliptic_shifted(mu, ctx_quad, quad1, quad2, lo_alpha, cost0, T0, r0, state0),
-        _eval_elliptic_shifted(mu, ctx_quad, quad1, quad2, hi_alpha, cost0, T0, r0, state0),
-        _eval_elliptic_shifted(mu, ctx_quad, quad1, quad2, mid_alpha, cost0, T0, r0, state0),
-      )
-
-    # Limit/other constraints — direct eval (no quad read)
-    x_lo = ctx_Jaref + lo_alpha * ctx_jv
-    x_hi = ctx_Jaref + hi_alpha * ctx_jv
-    x_mid = ctx_Jaref + mid_alpha * ctx_jv
-    efc_D = efc_D_in[efcid]
-    quad0 = _eval_pt_direct_cost_alpha_zero(ctx_Jaref, efc_D)
-    cost0 = wp.where(ctx_Jaref < 0.0, quad0, 0.0)
-    # See _compute_efc_eval_pt_pyramidal for the offset rationale.
-    offset = quad0 - cost0
-    pt_lo, pt_hi, pt_mid = _eval_pt_direct_shifted_3alphas(ctx_Jaref, ctx_jv, efc_D, lo_alpha, hi_alpha, mid_alpha, offset)
-    inactive = wp.vec3(-cost0, 0.0, 0.0)
-    return (
-      wp.where(x_lo < 0.0, pt_lo, inactive),
-      wp.where(x_hi < 0.0, pt_hi, inactive),
-      wp.where(x_mid < 0.0, pt_mid, inactive),
-    )
-
-  # Friction constraint - load D and frictionloss only here
-  if efcid >= ne:
-    x_lo = ctx_Jaref + lo_alpha * ctx_jv
-    x_hi = ctx_Jaref + hi_alpha * ctx_jv
-    x_mid = ctx_Jaref + mid_alpha * ctx_jv
-    efc_D = efc_D_in[efcid]
-    f = efc_frictionloss[efcid]
-    rf = math.safe_div(f, efc_D)
-    cost0 = _eval_frictionloss_cost(ctx_Jaref, f, rf, efc_D)
-    lo, hi, mid = _eval_frictionloss_pt_3alphas(x_lo, x_hi, x_mid, f, rf, ctx_jv, efc_D)
-    return (_shift_cost(lo, cost0), _shift_cost(hi, cost0), _shift_cost(mid, cost0))
-
-  # Equality constraint — direct eval (no quad read)
-  efc_D = efc_D_in[efcid]
-  return _eval_pt_direct_shifted_3alphas(ctx_Jaref, ctx_jv, efc_D, lo_alpha, hi_alpha, mid_alpha, 0.0)
-
-
-# kernel_analyzer: on
-
-# =============================================================================
-# Iterative Linesearch
-# =============================================================================
-#
-# Iterative linesearch implementation using Warp's tiled execution model with
-# parallel reductions over constraint (EFC) rows.
-#
-# Key optimizations:
-#
-# 1. KERNEL FUSION - Reduces kernel launch overhead by combining:
-#    - linesearch_jv_fused: jv = J @ search (for small nv <= 50)
-#    - linesearch_prepare_quad: quad coefficients (pyramidal: computed directly,
-#      elliptic: computed in a prepare phase with __syncthreads barrier)
-#    - linesearch_prepare_gauss: quad_gauss via tile reduction over DOFs
-#    - linesearch_qacc_ma: qacc and Ma updates at kernel end
-#    - linesearch_jaref: Jaref update at kernel end
-#
-# 2. PARALLEL REDUCTIONS - Uses wp.tile_reduce for summing cost/gradient/hessian
-#    contributions across EFC rows within each world. The main iteration loop
-#    packs 3 vec3 reductions into a single mat33 reduction for efficiency.
-#
-# 3. COMPILE-TIME SPECIALIZATION via factory parameters:
-#    - cone_type: Eliminates elliptic cone branches for pyramidal-only models
-#    - ls_iterations: Enables loop unrolling for the main bracket search
-#    - fuse_jv: Conditionally includes jv computation based on nv size
-#
-# 4. DIRECT EVALUATION (pyramidal only) - For equality and limit constraints,
-#    computes cost/gradient/hessian directly from (Jaref, jv, efc_D, alpha)
-#    without intermediate quad coefficients, using _eval_pt_direct functions.
-#
-# 5. BATCHED 3-ALPHA EVALUATION - The main iteration loop evaluates 3 alpha
-#    values per iteration (lo_next, hi_next, mid). Instead of calling
-#    _compute_efc_eval_pt 3 times per constraint row (which would repeat
-#    constraint type checks and data loads), we use _compute_efc_eval_pt_3alphas
-#    which:
-#    - Performs constraint type branching once per row
-#    - Loads efc_D, efc_frictionloss, contact data once
-#    - Computes x = Jaref + alpha * jv for all 3 alphas
-#    - For pyramidal direct evaluation: shares jvD = jv * efc_D, hessian = jv * jvD
-#    - For quad-based evaluation: uses _eval_pt_3alphas which computes the
-#      constant hessian (2.0 * quad[2]) once and reuses for all 3 alphas
-#
-# 6. DEFERRED DATA LOADING - efc_D and efc_frictionloss are only loaded
-#    inside the constraint branches where they're needed, reducing register
-#    pressure for other constraint types.
-#
-# Trade-offs:
-# - Requires block synchronization (__syncthreads) for elliptic quad preparation
-# - Separate kernel compilation for each (block_dim, ls_iterations, cone_type,
-#   fuse_jv) combination (cached by Warp)
-#
-# Optimizations attempted but not beneficial:
-# - Caching EFC data (Jaref, jv, quad, etc.) in shared memory tiles for reuse
-#   across the p0, lo_in, and main iteration loops.
-#
-# =============================================================================
-
-
-@cache_kernel
-def _linesearch_iterative_kernel(
-  ls_iterations: int, cone_type: types.ConeType, fuse_jv: bool, is_sparse: bool, incremental: bool
-):
-  """Factory for iterative linesearch kernel.
-
-  Args:
-    ls_iterations: Max linesearch iterations (compile-time constant for loop optimization).
-    cone_type: Friction cone type (PYRAMIDAL or ELLIPTIC) for compile-time optimization.
-    fuse_jv: Whether to compute jv = J @ search in-kernel (efficient for small nv).
-    is_sparse: Use sparse matrix representation for constraint Jacobian.
-    incremental: State changes are tracked: flag exhausted rays, reuse jv on unchanged search.
-  """
-  LS_ITERATIONS = ls_iterations
-  IS_ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-  FUSE_JV = fuse_jv
-  INCREMENTAL = incremental
-  IS_SPARSE = is_sparse
-
-  # Native snippet for CUDA __syncthreads()
-  @wp.func_native(snippet="WP_TILE_SYNC();")
-  def _syncthreads():
-    pass
-
-  # Select specialized helper functions based on cone type
-  if IS_ELLIPTIC:
-    _compute_efc_eval_pt = _compute_efc_eval_pt_elliptic
-    _compute_efc_eval_pt_alpha_zero = _compute_efc_eval_pt_alpha_zero_elliptic
-    _compute_efc_eval_pt_3alphas = _compute_efc_eval_pt_3alphas_elliptic
-  else:
-    _compute_efc_eval_pt = _compute_efc_eval_pt_pyramidal
-    _compute_efc_eval_pt_alpha_zero = _compute_efc_eval_pt_alpha_zero_pyramidal
-    _compute_efc_eval_pt_3alphas = _compute_efc_eval_pt_3alphas_pyramidal
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=True)
-  def kernel(
-    # Model:
-    nv: int,
-    opt_tolerance: wp.array[float],
-    opt_ls_tolerance: wp.array[float],
-    opt_impratio_invsqrt: wp.array[float],
-    stat_meaninertia: wp.array[float],
-    # Data in:
-    ne_in: wp.array[int],
-    nf_in: wp.array[int],
-    nefc_in: wp.array[int],
-    qfrc_smooth_in: wp.array2d[float],
-    contact_friction_in: wp.array[types.vec5],
-    contact_dim_in: wp.array[int],
-    contact_efc_address_in: wp.array2d[int],
-    efc_type_in: wp.array2d[int],
-    efc_id_in: wp.array2d[int],
-    efc_J_rownnz_in: wp.array2d[int],
-    efc_J_rowadr_in: wp.array2d[int],
-    efc_J_colind_in: wp.array3d[int],
-    efc_J_in: wp.array3d[float],
-    efc_D_in: wp.array2d[float],
-    efc_frictionloss_in: wp.array2d[float],
-    njmax_in: int,
-    nacon_in: wp.array[int],
-    # In:
-    ctx_search_unchanged_in: wp.array[bool],
-    ctx_Jaref_in: wp.array2d[float],
-    ctx_search_in: wp.array2d[float],
-    ctx_search_dot_in: wp.array[float],
-    ctx_mv_in: wp.array2d[float],
-    ctx_jv_in: wp.array2d[float],
-    ctx_quad_in: wp.array2d[wp.vec3],
-    ctx_done_in: wp.array[bool],
-    # Data out:
-    qacc_out: wp.array2d[float],
-    efc_Ma_out: wp.array2d[float],
-    # Out:
-    ctx_Jaref_out: wp.array2d[float],
-    ctx_jv_out: wp.array2d[float],
-    ctx_quad_out: wp.array2d[wp.vec3],
-    ctx_improvement_out: wp.array[float],
-    ctx_alpha_out: wp.array[float],
-    ctx_ls_exhausted_out: wp.array[bool],
-  ):
-    worldid, tid = wp.tid()
-
-    if ctx_done_in[worldid]:
-      return
-
-    ne = ne_in[worldid]
-    nf = nf_in[worldid]
-    nefc = wp.min(njmax_in, nefc_in[worldid])
-
-    # jv = J @ search (fused for small nv); on unchanged search the buffer
-    # already holds jv (see _linesearch).
-    if wp.static(FUSE_JV):
-      recompute_jv = True
-      if wp.static(INCREMENTAL):
-        recompute_jv = not ctx_search_unchanged_in[worldid]
-      if recompute_jv:
-        for efcid in range(tid, nefc, wp.block_dim()):
-          jv = float(0.0)
-          if wp.static(IS_SPARSE):
-            rownnz = efc_J_rownnz_in[worldid, efcid]
-            rowadr = efc_J_rowadr_in[worldid, efcid]
-            for k in range(rownnz):
-              sparseid = rowadr + k
-              colind = efc_J_colind_in[worldid, 0, sparseid]
-              jv += efc_J_in[worldid, 0, sparseid] * ctx_search_in[worldid, colind]
-          else:
-            for i in range(nv):
-              jv += efc_J_in[worldid, efcid, i] * ctx_search_in[worldid, i]
-          ctx_jv_out[worldid, efcid] = jv
-
-      _syncthreads()  # ensure all jv values are written before reading
-
-    # quad coefficients (elliptic contacts only, requires barrier sync)
-    # Non-elliptic constraints (equality, friction, limit) now use direct
-    # evaluation from (Jaref, jv, efc_D), avoiding quad reads entirely.
-    if wp.static(IS_ELLIPTIC):
-      # elliptic-only config values
-      impratio_invsqrt = opt_impratio_invsqrt[worldid % opt_impratio_invsqrt.shape[0]]
-      nacon = nacon_in[0]
-
-      for efcid in range(tid, nefc, wp.block_dim()):
-        # Only compute and store quad for CONTACT_ELLIPTIC (needs inter-row data)
-        if efc_type_in[worldid, efcid] == types.ConstraintType.CONTACT_ELLIPTIC:
-          conid = efc_id_in[worldid, efcid]
-          if conid < nacon:
-            efcid0 = contact_efc_address_in[conid, 0]
-            if efcid == efcid0:
-              Jaref = ctx_Jaref_in[worldid, efcid]
-              jv = ctx_jv_in[worldid, efcid]
-              efc_D = efc_D_in[worldid, efcid]
-
-              jvD = jv * efc_D
-              quad = wp.vec3(0.5 * Jaref * Jaref * efc_D, jvD * Jaref, 0.5 * jv * jvD)
-
-              # primary row: accumulate secondary rows and write quad, quad1, quad2
-              dim = contact_dim_in[conid]
-              friction = contact_friction_in[conid]
-              mu = friction[0] * impratio_invsqrt
-
-              u0 = Jaref * mu
-              v0 = jv * mu
-
-              uu = float(0.0)
-              uv = float(0.0)
-              vv = float(0.0)
-              for j in range(1, dim):
-                efcidj = contact_efc_address_in[conid, j]
-                if efcidj >= 0:
-                  jvj = ctx_jv_in[worldid, efcidj]
-                  jarefj = ctx_Jaref_in[worldid, efcidj]
-                  dj = efc_D_in[worldid, efcidj]
-                  DJj = dj * jarefj
-
-                  quad += wp.vec3(0.5 * jarefj * DJj, jvj * DJj, 0.5 * jvj * dj * jvj)
-
-                  # rescale to make primal cone circular
-                  frictionj = friction[j - 1]
-                  uj = jarefj * frictionj
-                  vj = jvj * frictionj
-
-                  uu += uj * uj
-                  uv += uj * vj
-                  vv += vj * vj
-
-              ctx_quad_out[worldid, efcid] = quad
-
-              efcid1 = contact_efc_address_in[conid, 1]
-              ctx_quad_out[worldid, efcid1] = wp.vec3(u0, v0, uu)
-
-              mu2 = mu * mu
-              efcid2 = contact_efc_address_in[conid, 2]
-              ctx_quad_out[worldid, efcid2] = wp.vec3(uv, vv, efc_D / (mu2 * (1.0 + mu2)))
-
-      _syncthreads()  # ensure all quads are written before reading
-
-    # gtol (tolerance values loaded here, deferred from kernel start)
-    tolerance = opt_tolerance[worldid % opt_tolerance.shape[0]]
-    ls_tolerance = opt_ls_tolerance[worldid % opt_ls_tolerance.shape[0]]
-    snorm = wp.sqrt(ctx_search_dot_in[worldid])
-    meaninertia = stat_meaninertia[worldid % stat_meaninertia.shape[0]]
-    scale = meaninertia * wp.float(nv)
-    gtol = wp.max(tolerance * ls_tolerance * snorm * scale, 1e-6)
-
-    # p0 via parallel reduction
-    local_p0 = wp.vec3(0.0)
-    for efcid in range(tid, nefc, wp.block_dim()):
-      if wp.static(IS_ELLIPTIC):
-        efc_type = efc_type_in[worldid, efcid]
-        efc_id = 0
-        contact_friction = types.vec5(0.0)
-        efc_addr0 = int(0)
-        ctx_quad = wp.vec3(0.0)
-        quad1 = wp.vec3(0.0)
-        quad2 = wp.vec3(0.0)
-
-        if efc_type == types.ConstraintType.CONTACT_ELLIPTIC:
-          efc_id = efc_id_in[worldid, efcid]
-          contact_friction = contact_friction_in[efc_id]
-          efc_addr0 = contact_efc_address_in[efc_id, 0]
-          efc_addr1 = contact_efc_address_in[efc_id, 1]
-          efc_addr2 = contact_efc_address_in[efc_id, 2]
-          ctx_quad = ctx_quad_in[worldid, efcid]
-          quad1 = ctx_quad_in[worldid, efc_addr1]
-          quad2 = ctx_quad_in[worldid, efc_addr2]
-
-        local_p0 += _compute_efc_eval_pt_alpha_zero(
-          efcid,
-          ne,
-          nf,
-          impratio_invsqrt,
-          efc_type,
-          efc_D_in[worldid],
-          efc_frictionloss_in[worldid],
-          ctx_Jaref_in[worldid, efcid],
-          ctx_jv_in[worldid, efcid],
-          ctx_quad,
-          contact_friction,
-          efc_addr0,
-          quad1,
-          quad2,
-        )
-      else:
-        # direct evaluation for pyramidal cones (no intermediate quad)
-        local_p0 += _compute_efc_eval_pt_alpha_zero(
-          efcid,
-          ne,
-          nf,
-          efc_D_in[worldid, efcid],
-          efc_frictionloss_in[worldid],
-          ctx_Jaref_in[worldid, efcid],
-          ctx_jv_in[worldid, efcid],
-        )
-
-    # at this point, every thread has computed some contributions to p0 in local_p0
-    # we now create a tile of all local_p0 contributions and reduce them to a single value
-    # this is done in parallel using a tile reduction
-    p0_tile = wp.tile(local_p0, preserve_type=True)
-    p0_sum = wp.tile_reduce(wp.add, p0_tile)
-
-    # quad_gauss = [0, search.T @ Ma - search.T @ qfrc_smooth, 0.5 * search.T @ mv]
-    local_gauss = wp.vec2(0.0)
-    for dofid in range(tid, nv, wp.block_dim()):
-      search = ctx_search_in[worldid, dofid]
-      local_gauss += wp.vec2(
-        search * (efc_Ma_out[worldid, dofid] - qfrc_smooth_in[worldid, dofid]),
-        0.5 * search * ctx_mv_in[worldid, dofid],
-      )
-
-    gauss_tile = wp.tile(local_gauss, preserve_type=True)
-    gauss_sum = wp.tile_reduce(wp.add, gauss_tile)
-    gauss_reduced = gauss_sum[0]
-    ctx_quad_gauss = wp.vec3(0.0, gauss_reduced[0], gauss_reduced[1])
-
-    # add quad_gauss contribution to p0
-    p0 = wp.vec3(ctx_quad_gauss[0], ctx_quad_gauss[1], 2.0 * ctx_quad_gauss[2]) + p0_sum[0]
-    p0_delta = wp.vec3(0.0, p0[1], p0[2])
-
-    # The bracketing search reads derivative sums whose rounding noise is ~eps
-    # times their gross magnitude, so roots below eps * |q1| / p0[2] (and never
-    # below 8 ulps of the unit ray anchor) are noise, not descent: an accepted
-    # step under this floor means the stale ray is exhausted and the fast path
-    # must rebuild the world. Per quadratic row |q1| = sqrt(2 * cost * hessian),
-    # so Cauchy-Schwarz bounds the row total by sums already reduced for p0; the
-    # smooth term is added exactly. Friction linear rows fall outside the bound,
-    # which only lowers the floor toward the fixed 8-ulp base.
-    noise_floor = float(0.0)
-    if wp.static(INCREMENTAL):
-      rows = p0_sum[0]
-      q1_abs = wp.sqrt(2.0 * wp.max(rows[0], 0.0) * wp.max(rows[2], 0.0)) + wp.abs(ctx_quad_gauss[1])
-      noise_floor = _ALPHA_NOISE_EPS * wp.max(1.0, math.safe_div(q1_abs, p0[2]))
-
-    # lo_in at lo_alpha_in = -p0[1] / p0[2]
-    lo_alpha_in = -math.safe_div(p0[1], p0[2])
-
-    local_lo_in = wp.vec3(0.0)
-    for efcid in range(tid, nefc, wp.block_dim()):
-      if wp.static(IS_ELLIPTIC):
-        efc_type = efc_type_in[worldid, efcid]
-        efc_id = 0
-        contact_friction = types.vec5(0.0)
-        efc_addr0 = int(0)
-        ctx_quad = wp.vec3(0.0)
-        quad1 = wp.vec3(0.0)
-        quad2 = wp.vec3(0.0)
-
-        if efc_type == types.ConstraintType.CONTACT_ELLIPTIC:
-          efc_id = efc_id_in[worldid, efcid]
-          contact_friction = contact_friction_in[efc_id]
-          efc_addr0 = contact_efc_address_in[efc_id, 0]
-          efc_addr1 = contact_efc_address_in[efc_id, 1]
-          efc_addr2 = contact_efc_address_in[efc_id, 2]
-          ctx_quad = ctx_quad_in[worldid, efcid]
-          quad1 = ctx_quad_in[worldid, efc_addr1]
-          quad2 = ctx_quad_in[worldid, efc_addr2]
-
-        local_lo_in += _compute_efc_eval_pt(
-          efcid,
-          lo_alpha_in,
-          ne,
-          nf,
-          impratio_invsqrt,
-          efc_type,
-          efc_D_in[worldid],
-          efc_frictionloss_in[worldid],
-          ctx_Jaref_in[worldid, efcid],
-          ctx_jv_in[worldid, efcid],
-          ctx_quad,
-          contact_friction,
-          efc_addr0,
-          quad1,
-          quad2,
-        )
-      else:
-        # direct evaluation for pyramidal cones (no intermediate quad)
-        local_lo_in += _compute_efc_eval_pt(
-          efcid,
-          lo_alpha_in,
-          ne,
-          nf,
-          efc_D_in[worldid, efcid],
-          efc_frictionloss_in[worldid],
-          ctx_Jaref_in[worldid, efcid],
-          ctx_jv_in[worldid, efcid],
-        )
-
-    lo_in_tile = wp.tile(local_lo_in, preserve_type=True)
-    lo_in_sum = wp.tile_reduce(wp.add, lo_in_tile)
-    lo_in = _eval_pt(ctx_quad_gauss, lo_alpha_in) + lo_in_sum[0]
-
-    # accept Newton step if derivative is small and cost improved
-    initial_converged = wp.abs(lo_in[1]) < gtol and lo_in[0] < 0.0
-
-    # main iterative loop - skip if already converged
-    if not initial_converged:
-      alpha = float(0.0)
-      improvement = float(0.0)
-
-      # initialize bounds
-      lo_less = lo_in[1] < p0[1]
-      lo = wp.where(lo_less, lo_in, p0_delta)
-      lo_alpha = wp.where(lo_less, lo_alpha_in, 0.0)
-      hi = wp.where(lo_less, p0_delta, lo_in)
-      hi_alpha = wp.where(lo_less, 0.0, lo_alpha_in)
-
-      for _ in range(LS_ITERATIONS):
-        lo_next_alpha = lo_alpha - math.safe_div(lo[1], lo[2])
-        hi_next_alpha = hi_alpha - math.safe_div(hi[1], hi[2])
-        mid_alpha = 0.5 * (lo_alpha + hi_alpha)
-
-        local_lo = wp.vec3(0.0)
-        local_hi = wp.vec3(0.0)
-        local_mid = wp.vec3(0.0)
-
-        for efcid in range(tid, nefc, wp.block_dim()):
-          if wp.static(IS_ELLIPTIC):
-            efc_type = efc_type_in[worldid, efcid]
-            efc_id = 0
-            contact_friction = types.vec5(0.0)
-            efc_addr0 = int(0)
-            ctx_quad = wp.vec3(0.0)
-            quad1 = wp.vec3(0.0)
-            quad2 = wp.vec3(0.0)
-
-            if efc_type == types.ConstraintType.CONTACT_ELLIPTIC:
-              efc_id = efc_id_in[worldid, efcid]
-              contact_friction = contact_friction_in[efc_id]
-              efc_addr0 = contact_efc_address_in[efc_id, 0]
-              efc_addr1 = contact_efc_address_in[efc_id, 1]
-              efc_addr2 = contact_efc_address_in[efc_id, 2]
-              ctx_quad = ctx_quad_in[worldid, efcid]
-              quad1 = ctx_quad_in[worldid, efc_addr1]
-              quad2 = ctx_quad_in[worldid, efc_addr2]
-
-            r_lo, r_hi, r_mid = _compute_efc_eval_pt_3alphas(
-              efcid,
-              lo_next_alpha,
-              hi_next_alpha,
-              mid_alpha,
-              ne,
-              nf,
-              impratio_invsqrt,
-              efc_type,
-              efc_D_in[worldid],
-              efc_frictionloss_in[worldid],
-              ctx_Jaref_in[worldid, efcid],
-              ctx_jv_in[worldid, efcid],
-              ctx_quad,
-              contact_friction,
-              efc_addr0,
-              quad1,
-              quad2,
-            )
-          else:
-            # direct evaluation for pyramidal cones (no intermediate quad)
-            r_lo, r_hi, r_mid = _compute_efc_eval_pt_3alphas(
-              efcid,
-              lo_next_alpha,
-              hi_next_alpha,
-              mid_alpha,
-              ne,
-              nf,
-              efc_D_in[worldid, efcid],
-              efc_frictionloss_in[worldid],
-              ctx_Jaref_in[worldid, efcid],
-              ctx_jv_in[worldid, efcid],
-            )
-          local_lo += r_lo
-          local_hi += r_hi
-          local_mid += r_mid
-
-        # reduce with packed mat33 (3 vec3s into columns: col0=lo, col1=hi, col2=mid)
-        local_combined = wp.mat33(
-          local_lo[0],
-          local_hi[0],
-          local_mid[0],
-          local_lo[1],
-          local_hi[1],
-          local_mid[1],
-          local_lo[2],
-          local_hi[2],
-          local_mid[2],
-        )
-
-        # reduce with packed mat33 (3 vec3s into columns: col0=lo, col1=hi, col2=mid)
-        # this is faster than 3 vec3 reductions because it avoids synchronization barriers
-        combined_tile = wp.tile(local_combined, preserve_type=True)
-        combined_sum = wp.tile_reduce(wp.add, combined_tile)
-        result = combined_sum[0]
-
-        # extract columns back to vec3s and add quad_gauss contributions
-        gauss_lo, gauss_hi, gauss_mid = _eval_pt_3alphas(ctx_quad_gauss, lo_next_alpha, hi_next_alpha, mid_alpha)
-        lo_next = gauss_lo + wp.vec3(result[0, 0], result[1, 0], result[2, 0])
-        hi_next = gauss_hi + wp.vec3(result[0, 1], result[1, 1], result[2, 1])
-        mid = gauss_mid + wp.vec3(result[0, 2], result[1, 2], result[2, 2])
-
-        # bracket swapping
-        # swap lo:
-        swap_lo_lo_next = _in_bracket(lo, lo_next)
-        lo = wp.where(swap_lo_lo_next, lo_next, lo)
-        lo_alpha = wp.where(swap_lo_lo_next, lo_next_alpha, lo_alpha)
-        swap_lo_mid = _in_bracket(lo, mid)
-        lo = wp.where(swap_lo_mid, mid, lo)
-        lo_alpha = wp.where(swap_lo_mid, mid_alpha, lo_alpha)
-        swap_lo_hi_next = _in_bracket(lo, hi_next)
-        lo = wp.where(swap_lo_hi_next, hi_next, lo)
-        lo_alpha = wp.where(swap_lo_hi_next, hi_next_alpha, lo_alpha)
-        swap_lo = swap_lo_lo_next or swap_lo_mid or swap_lo_hi_next
-
-        # swap hi:
-        swap_hi_hi_next = _in_bracket(hi, hi_next)
-        hi = wp.where(swap_hi_hi_next, hi_next, hi)
-        hi_alpha = wp.where(swap_hi_hi_next, hi_next_alpha, hi_alpha)
-        swap_hi_mid = _in_bracket(hi, mid)
-        hi = wp.where(swap_hi_mid, mid, hi)
-        hi_alpha = wp.where(swap_hi_mid, mid_alpha, hi_alpha)
-        swap_hi_lo_next = _in_bracket(hi, lo_next)
-        hi = wp.where(swap_hi_lo_next, lo_next, hi)
-        hi_alpha = wp.where(swap_hi_lo_next, lo_next_alpha, hi_alpha)
-        swap_hi = swap_hi_hi_next or swap_hi_mid or swap_hi_lo_next
-
-        # check for convergence
-        ls_done = (
-          (not swap_lo and not swap_hi)
-          or (lo[0] < 0.0 and lo[1] < 0.0 and lo[1] > -gtol)
-          or (hi[0] < 0.0 and hi[1] > 0.0 and hi[1] < gtol)
-        )
-
-        # update alpha if improved
-        improved = lo[0] < 0.0 or hi[0] < 0.0
-        lo_better = lo[0] < hi[0]
-        best_alpha = wp.where(lo_better, lo_alpha, hi_alpha)
-        best_delta = wp.where(lo_better, lo[0], hi[0])
-        alpha = wp.where(improved, best_alpha, alpha)
-        improvement = wp.where(improved, -best_delta, improvement)
-
-        if ls_done:
-          break
-    else:
-      alpha = lo_alpha_in
-      improvement = -lo_in[0]
-
-    # qacc and Ma update
-    for dofid in range(tid, nv, wp.block_dim()):
-      qacc_out[worldid, dofid] += alpha * ctx_search_in[worldid, dofid]
-      efc_Ma_out[worldid, dofid] += alpha * ctx_mv_in[worldid, dofid]
-
-    # Jaref update
-    for efcid in range(tid, nefc, wp.block_dim()):
-      ctx_Jaref_out[worldid, efcid] += alpha * ctx_jv_in[worldid, efcid]
-
-    if tid == 0:
-      ctx_improvement_out[worldid] = improvement
-      ctx_alpha_out[worldid] = alpha
-      if wp.static(INCREMENTAL):
-        ctx_ls_exhausted_out[worldid] = wp.abs(alpha) < noise_floor
-
-  return kernel
-
-
-def _linesearch_iterative(m: types.Model, d: types.Data, ctx: SolverContext, fuse_jv: bool):
-  """Iterative linesearch with parallel reductions over efc rows and dofs.
-
-  Args:
-    m: Model.
-    d: Data.
-    ctx: SolverContext.
-    fuse_jv: Whether jv is computed in-kernel (True) or pre-computed (False).
-  """
-  wp.launch_tiled(
-    _linesearch_iterative_kernel(m.opt.ls_iterations, m.opt.cone, fuse_jv, m.is_sparse, _use_incremental(m)),
-    dim=d.nworld,
-    inputs=[
-      m.nv,
-      m.opt.tolerance,
-      m.opt.ls_tolerance,
-      m.opt.impratio_invsqrt,
-      m.stat.meaninertia,
-      d.ne,
-      d.nf,
-      d.nefc,
-      d.qfrc_smooth,
-      d.contact.friction,
-      d.contact.dim,
-      d.contact.efc_address,
-      d.efc.type,
-      d.efc.id,
-      d.efc.J_rownnz,
-      d.efc.J_rowadr,
-      d.efc.J_colind,
-      d.efc.J,
-      d.efc.D,
-      d.efc.frictionloss,
-      d.njmax,
-      d.nacon,
-      ctx.search_unchanged,
-      ctx.Jaref,
-      ctx.search,
-      ctx.search_dot,
-      ctx.mv,
-      ctx.jv,
-      ctx.quad,
-      ctx.done,
-    ],
-    outputs=[d.qacc, d.efc.Ma, ctx.Jaref, ctx.jv, ctx.quad, ctx.improvement, ctx.alpha, ctx.ls_exhausted],
-    block_dim=m.block_dim.linesearch_iterative,
-  )
-
-
-@wp.kernel
-def _linesearch_zero_jv(
-  # Data in:
-  nefc_in: wp.array[int],
-  # In:
-  skip_in: wp.array[bool],
-  # Out:
-  ctx_jv_out: wp.array2d[float],
-):
-  worldid, efcid = wp.tid()
-
-  if efcid >= nefc_in[worldid]:
-    return
-
-  if skip_in[worldid]:
-    return
-
-  ctx_jv_out[worldid, efcid] = 0.0
-
-
-@cache_kernel
-def _linesearch_jv_fused_kernel(is_sparse: bool, nv: int, dofs_per_thread: int, compact: bool):
-  COMPACT = compact
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Data in:
-    nefc_in: wp.array[int],
-    efc_J_rownnz_in: wp.array2d[int],
-    efc_J_rowadr_in: wp.array2d[int],
-    efc_J_colind_in: wp.array3d[int],
-    efc_J_in: wp.array3d[float],
-    dof_cdof_in: wp.array2d[int],
-    # In:
-    ctx_search_in: wp.array2d[float],
-    skip_in: wp.array[bool],
-    # Out:
-    ctx_jv_out: wp.array2d[float],
-  ):
-    worldid, efcid, dofstart = wp.tid()
-
-    if efcid >= nefc_in[worldid]:
-      return
-
-    if skip_in[worldid]:
-      return
-
-    jv_out = float(0.0)
-
-    if wp.static(dofs_per_thread >= nv):
-      if wp.static(is_sparse):
-        # Sparse: iterate over non-zero entries in the row
-        rownnz = efc_J_rownnz_in[worldid, efcid]
-        rowadr = efc_J_rowadr_in[worldid, efcid]
-        for k in range(rownnz):
-          sparseid = rowadr + k
-          colind = efc_J_colind_in[worldid, 0, sparseid]
-          if wp.static(COMPACT):
-            colind = dof_cdof_in[worldid, colind]
-            if colind < 0:
-              continue
-          jv_out += efc_J_in[worldid, 0, sparseid] * ctx_search_in[worldid, colind]
-      else:
-        for i in range(wp.static(min(dofs_per_thread, nv))):
-          jv_out += efc_J_in[worldid, efcid, i] * ctx_search_in[worldid, i]
-      ctx_jv_out[worldid, efcid] = jv_out
-
-    else:
-      if wp.static(is_sparse):
-        # Sparse: thread 0 handles entire row (sparse entries << nv typically)
-        if dofstart == 0:
-          rownnz = efc_J_rownnz_in[worldid, efcid]
-          rowadr = efc_J_rowadr_in[worldid, efcid]
-          for k in range(rownnz):
-            sparseid = rowadr + k
-            colind = efc_J_colind_in[worldid, 0, sparseid]
-            if wp.static(COMPACT):
-              colind = dof_cdof_in[worldid, colind]
-              if colind < 0:
-                continue
-            jv_out += efc_J_in[worldid, 0, sparseid] * ctx_search_in[worldid, colind]
-          ctx_jv_out[worldid, efcid] = jv_out
-      else:
-        for i in range(wp.static(dofs_per_thread)):
-          ii = dofstart * wp.static(dofs_per_thread) + i
-          if ii < nv:
-            jv_out += efc_J_in[worldid, efcid, ii] * ctx_search_in[worldid, ii]
-        wp.atomic_add(ctx_jv_out, worldid, efcid, jv_out)
-
-  return kernel
-
-
-@event_scope
-def _linesearch(m: types.Model, d: types.Data, ctx: SolverContext):
-  """Linesearch for constraint solver.
-
-  When state changes are tracked, worlds with ctx.search_unchanged reuse last
-  iteration's mv/jv, so a fresh search requires clearing the flag (see the
-  invalidation in _solve and the writer in _update_gradient_zero_grad_dot).
-
-  Args:
-    m: Model
-    d: Data
-    ctx: SolverContext
-  """
-  # mv and jv are pure functions of the search direction, and M and J are
-  # constant within a solve, so worlds whose search was kept reuse last
-  # iteration's values.
-  skip = ctx.search_unchanged if _use_incremental(m) else ctx.done
-
-  # mv = M @ search (common to both parallel and iterative)
-  _mul_m_compact_aware(m, d, ctx, ctx.mv, ctx.search, skip)
-
-  # Fuse jv computation in-kernel for small nv (iterative only, dense only)
-  # Sparse mode requires pre-computed jv since in-kernel uses dense indexing
-  # the sparse-compact J path reads the full model's sparse J structures;
-  # dense full models keep the gathered dense cJ path
-  sc = _sparse_compact(ctx)
-  fuse_jv = m.nv <= 50 and not m.is_sparse and not sc
-
-  # jv = J @ search (when not fused into iterative kernel)
-  if not fuse_jv:
-    dj = ctx.compact_d_full if sc else d
-    if sc or m.is_sparse:
-      # Sparse J has few nonzeros per row, one thread handles them all.
-      dofs_per_thread = m.nv
-      threads_per_efc = 1
-    else:
-      dofs_per_thread = 20 if m.nv > 50 else 50
-      threads_per_efc = ceil(m.nv / dofs_per_thread)
-
-    if threads_per_efc > 1:
-      wp.launch(
-        _linesearch_zero_jv,
-        dim=(d.nworld, d.njmax),
-        inputs=[d.nefc, skip],
-        outputs=[ctx.jv],
-      )
-
-    wp.launch(
-      _linesearch_jv_fused_kernel(sc or m.is_sparse, m.nv, dofs_per_thread, sc),
-      dim=(d.nworld, d.njmax, threads_per_efc),
-      inputs=[d.nefc, dj.efc.J_rownnz, dj.efc.J_rowadr, dj.efc.J_colind, dj.efc.J, dj.dof_cdof, ctx.search, skip],
-      outputs=[ctx.jv],
-    )
-
-  _linesearch_iterative(m, d, ctx, fuse_jv)
-
-
-@cache_kernel
-def _solve_init_dof(warmstart: bool, sparse: bool):
-  WARMSTART = warmstart
-  SPARSE = sparse
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Data in:
-    nefc_in: wp.array[int],
-    qacc_warmstart_in: wp.array2d[float],
-    qacc_smooth_in: wp.array2d[float],
-    # Data out:
-    qacc_out: wp.array2d[float],
-    qfrc_constraint_out: wp.array2d[float],
-  ):
-    worldid, dofid = wp.tid()
-
-    if wp.static(WARMSTART):
-      qacc_out[worldid, dofid] = qacc_warmstart_in[worldid, dofid]
-    else:
-      qacc_out[worldid, dofid] = qacc_smooth_in[worldid, dofid]
-
-    if wp.static(SPARSE):
-      if nefc_in[worldid] == 0:
-        qfrc_constraint_out[worldid, dofid] = 0.0
-
-  return kernel
-
-
-@wp.kernel(grid_stride=True)
-def _solve_init_efc(
-  # Data out:
-  solver_niter_out: wp.array[int],
-  # Out:
-  ctx_search_dot_out: wp.array[float],
-  ctx_done_out: wp.array[bool],
-):
-  worldid = wp.tid()
-  solver_niter_out[worldid] = 0
-  ctx_done_out[worldid] = False
-  ctx_search_dot_out[worldid] = 0.0
-
-
-@cache_kernel
-def _solve_init_jaref_kernel(is_sparse: bool, nv: int, dofs_per_thread: int, compact: bool):
-  COMPACT = compact
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=True)
-  def kernel(
-    # Data in:
-    nefc_in: wp.array[int],
-    qacc_in: wp.array2d[float],
-    efc_J_rownnz_in: wp.array2d[int],
-    efc_J_rowadr_in: wp.array2d[int],
-    efc_J_colind_in: wp.array3d[int],
-    efc_J_in: wp.array3d[float],
-    efc_aref_in: wp.array2d[float],
-    dof_cdof_in: wp.array2d[int],
-    # Out:
-    ctx_Jaref_out: wp.array2d[float],
-  ):
-    worldid, efcid, dofstart = wp.tid()
-
-    if efcid >= nefc_in[worldid]:
-      return
-
-    jaref = float(0.0)
-    if wp.static(is_sparse):
-      rownnz = efc_J_rownnz_in[worldid, efcid]
-      rowadr = efc_J_rowadr_in[worldid, efcid]
-      for i in range(rownnz):
-        sparseid = rowadr + i
-        colind = efc_J_colind_in[worldid, 0, sparseid]
-        if wp.static(COMPACT):
-          colind = dof_cdof_in[worldid, colind]
-          if colind < 0:
-            continue
-        jaref += efc_J_in[worldid, 0, sparseid] * qacc_in[worldid, colind]
-      ctx_Jaref_out[worldid, efcid] = jaref - efc_aref_in[worldid, efcid]
-    else:
-      if wp.static(dofs_per_thread >= nv):
-        for i in range(wp.static(min(dofs_per_thread, nv))):
-          jaref += efc_J_in[worldid, efcid, i] * qacc_in[worldid, i]
-        ctx_Jaref_out[worldid, efcid] = jaref - efc_aref_in[worldid, efcid]
-
-      else:
-        for i in range(wp.static(dofs_per_thread)):
-          ii = dofstart * wp.static(dofs_per_thread) + i
-          if ii < nv:
-            jaref += efc_J_in[worldid, efcid, ii] * qacc_in[worldid, ii]
-
-        if dofstart == 0:
-          wp.atomic_add(ctx_Jaref_out, worldid, efcid, jaref - efc_aref_in[worldid, efcid])
-        else:
-          wp.atomic_add(ctx_Jaref_out, worldid, efcid, jaref)
-
-  return kernel
-
-
-@wp.kernel
-def _solve_init_search_cg_tiled(
-  # Model:
-  nv: int,
-  # In:
-  ctx_grad_in: wp.array2d[float],
-  ctx_Mgrad_in: wp.array2d[float],
-  # Out:
-  ctx_search_out: wp.array2d[float],
-  ctx_search_dot_out: wp.array[float],
-  ctx_prev_grad_out: wp.array2d[float],
-  ctx_prev_Mgrad_out: wp.array2d[float],
-):
-  worldid, tid = wp.tid()
-
-  local_search_dot = float(0.0)
-  BLOCK_DIM = wp.block_dim()
-
-  for dofid in range(tid, nv, BLOCK_DIM):
-    mgrad = ctx_Mgrad_in[worldid, dofid]
-    search = -1.0 * mgrad
-    ctx_search_out[worldid, dofid] = search
-    local_search_dot += search * search
-
-    ctx_prev_grad_out[worldid, dofid] = ctx_grad_in[worldid, dofid]
-    ctx_prev_Mgrad_out[worldid, dofid] = mgrad
-
-  search_dot_tile = wp.tile(local_search_dot, preserve_type=True)
-  search_dot_sum = wp.tile_reduce(wp.add, search_dot_tile)
-
-  if tid == 0:
-    ctx_search_dot_out[worldid] = search_dot_sum[0]
-
-
-@cache_kernel
-def _update_constraint_efc(track_changes: bool):
-  TRACK_CHANGES = track_changes
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Model:
-    opt_impratio_invsqrt: wp.array[float],
-    # Data in:
-    ne_in: wp.array[int],
-    nf_in: wp.array[int],
-    nefc_in: wp.array[int],
-    contact_friction_in: wp.array[types.vec5],
-    contact_dim_in: wp.array[int],
-    contact_efc_address_in: wp.array2d[int],
-    efc_type_in: wp.array2d[int],
-    efc_id_in: wp.array2d[int],
-    efc_D_in: wp.array2d[float],
-    efc_frictionloss_in: wp.array2d[float],
-    nacon_in: wp.array[int],
-    # In:
-    ctx_Jaref_in: wp.array2d[float],
-    ctx_ls_exhausted_in: wp.array[bool],
-    ctx_done_in: wp.array[bool],
-    # Data out:
-    efc_force_out: wp.array2d[float],
-    efc_state_out: wp.array2d[int],
-    # Out:
-    quad_changed_ids_out: wp.array2d[int],
-    quad_changed_count_out: wp.array[int],
-    state_changed_count_out: wp.array[int],
-  ):
-    worldid, efcid = wp.tid()
-
-    if ctx_done_in[worldid]:
-      return
-
-    # The linesearch flags worlds whose accepted step was rounding noise (stale
-    # ray exhausted); count it as a state change so the fast path rebuilds them.
-    if wp.static(TRACK_CHANGES):
-      if efcid == 0 and ctx_ls_exhausted_in[worldid]:
-        wp.atomic_add(state_changed_count_out, worldid, 1)
-
-    if efcid >= nefc_in[worldid]:
-      return
-
-    # Read old state before overwriting
-    if wp.static(TRACK_CHANGES):
-      old_state = efc_state_out[worldid, efcid]
-
-    efc_D = efc_D_in[worldid, efcid]
-    Jaref = ctx_Jaref_in[worldid, efcid]
-
-    ne = ne_in[worldid]
-    nf = nf_in[worldid]
-
-    is_equality = efcid < ne
-    is_friction = (not is_equality) and (efcid < ne + nf)
-    is_elliptic = efc_type_in[worldid, efcid] == types.ConstraintType.CONTACT_ELLIPTIC
-
-    frictionloss = efc_frictionloss_in[worldid, efcid] if is_friction else 0.0
-
-    efcid0 = -1
-    jaref0 = float(0.0)
-    D0 = float(0.0)
-    mu = float(0.0)
-    ufrictionj = float(0.0)
-    TT = float(0.0)
-
-    if is_elliptic:
-      conid = efc_id_in[worldid, efcid]
-      if conid >= nacon_in[0]:
-        return
-      efcid0 = contact_efc_address_in[conid, 0]
-      if efcid0 < 0:
-        return
-
-      dim = contact_dim_in[conid]
-      friction = contact_friction_in[conid]
-      mu = friction[0] * opt_impratio_invsqrt[worldid % opt_impratio_invsqrt.shape[0]]
-      jaref0 = ctx_Jaref_in[worldid, efcid0]
-      D0 = efc_D_in[worldid, efcid0]
-
-      for j in range(1, dim):
-        efcidj = contact_efc_address_in[conid, j]
-        if efcidj < 0:
-          return
-        frictionj = friction[j - 1]
-        uj = ctx_Jaref_in[worldid, efcidj] * frictionj
-        TT += uj * uj
-        if efcid == efcidj:
-          ufrictionj = uj * frictionj
-
-    res = _eval_constraint(
-      is_equality,
-      is_friction,
-      is_elliptic,
-      Jaref,
-      efc_D,
-      frictionloss,
-      efcid,
-      efcid0,
-      jaref0,
-      D0,
-      mu,
-      ufrictionj,
-      TT,
-    )
-
-    new_state = int(res[1])
-    efc_force_out[worldid, efcid] = res[0]
-    efc_state_out[worldid, efcid] = new_state
-
-    if wp.static(TRACK_CHANGES):
-      old_quad = old_state == types.ConstraintState.QUADRATIC.value
-      new_quad = new_state == types.ConstraintState.QUADRATIC.value
-      if old_quad != new_quad:
-        idx = wp.atomic_add(quad_changed_count_out, worldid, 1)
-        quad_changed_ids_out[worldid, idx] = efcid
-      # LINEARNEG <-> LINEARPOS friction transitions change the force without
-      # changing the quadratic flag (or H); the fast path must still see them.
-      if old_state != new_state:
-        wp.atomic_add(state_changed_count_out, worldid, 1)
-
-  return kernel
-
-
-@wp.kernel
-def _zero_qfrc_constraint_sparse(
-  # In:
-  state_changed_count_in: wp.array[int],
-  ctx_done_in: wp.array[bool],
-  # Data out:
-  qfrc_constraint_out: wp.array2d[float],
-):
-  # Only zero worlds the rebuild will repopulate; done worlds keep their value.
-  worldid, dofid = wp.tid()
-
-  if ctx_done_in[worldid]:
-    return
-
-  if state_changed_count_in[worldid] == 0:
-    return
-
-  qfrc_constraint_out[worldid, dofid] = 0.0
-
-
-@cache_kernel
-def _update_constraint_init_qfrc_constraint_sparse(compact: bool):
-  COMPACT = compact
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=True)
-  def kernel(
-    # Data in:
-    nefc_in: wp.array[int],
-    efc_J_rownnz_in: wp.array2d[int],
-    efc_J_rowadr_in: wp.array2d[int],
-    efc_J_colind_in: wp.array3d[int],
-    efc_J_in: wp.array3d[float],
-    efc_force_in: wp.array2d[float],
-    dof_cdof_in: wp.array2d[int],
-    # In:
-    state_changed_count_in: wp.array[int],
-    ctx_done_in: wp.array[bool],
-    # Data out:
-    qfrc_constraint_out: wp.array2d[float],
-  ):
-    worldid, efcid = wp.tid()
-
-    if ctx_done_in[worldid]:
-      return
-
-    if state_changed_count_in[worldid] == 0:
-      return
-
-    if efcid >= nefc_in[worldid]:
-      return
-
-    force = efc_force_in[worldid, efcid]
-    if force == 0.0:
-      return
-
-    rownnz = efc_J_rownnz_in[worldid, efcid]
-    rowadr = efc_J_rowadr_in[worldid, efcid]
-    for i in range(rownnz):
-      sparseid = rowadr + i
-      colind = efc_J_colind_in[worldid, 0, sparseid]
-      if wp.static(COMPACT):
-        colind = dof_cdof_in[worldid, colind]
-        if colind < 0:
-          continue
-      efc_J = efc_J_in[worldid, 0, sparseid]
-      wp.atomic_add(qfrc_constraint_out[worldid], colind, efc_J * force)
-
-  return kernel
-
-
-@wp.kernel
-def _qfrc_constraint_from_grad(
-  # Data in:
-  qfrc_smooth_in: wp.array2d[float],
-  efc_Ma_in: wp.array2d[float],
-  # In:
-  ctx_grad_in: wp.array2d[float],
-  ctx_grad_scale_in: wp.array[float],
-  # Data out:
-  qfrc_constraint_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-
-  grad = ctx_grad_scale_in[worldid] * ctx_grad_in[worldid, dofid]
-  qfrc_constraint_out[worldid, dofid] = efc_Ma_in[worldid, dofid] - qfrc_smooth_in[worldid, dofid] - grad
-
-
-@cache_kernel
-def _update_constraint_init_qfrc_constraint_dense(stable_fast: bool):
-  STABLE_FAST = stable_fast
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Data in:
-    nefc_in: wp.array[int],
-    efc_J_in: wp.array3d[float],
-    efc_force_in: wp.array2d[float],
-    njmax_in: int,
-    # In:
-    state_changed_count_in: wp.array[int],
-    ctx_done_in: wp.array[bool],
-    # Data out:
-    qfrc_constraint_out: wp.array2d[float],
-  ):
-    worldid, dofid = wp.tid()
-
-    if ctx_done_in[worldid]:
-      return
-
-    # Fast path: stale qfrc_constraint is never read; recovered after the solve.
-    if wp.static(STABLE_FAST):
-      if state_changed_count_in[worldid] == 0:
-        return
-
-    sum_qfrc = float(0.0)
-    for efcid in range(min(njmax_in, nefc_in[worldid])):
-      efc_J = efc_J_in[worldid, efcid, dofid]
-      force = efc_force_in[worldid, efcid]
-      sum_qfrc += efc_J * force
-
-    qfrc_constraint_out[worldid, dofid] = sum_qfrc
-
-  return kernel
-
-
-@wp.kernel
-def _update_gradient_h_incremental(
-  # Data in:
-  efc_J_in: wp.array3d[float],
-  efc_D_in: wp.array2d[float],
-  efc_state_in: wp.array2d[int],
-  # In:
-  quad_changed_ids_in: wp.array2d[int],
-  quad_changed_count_in: wp.array[int],
-  # Out:
-  ctx_h_out: wp.array3d[float],
-):
-  """Incrementally update upper triangle of H for changed constraints.
-
-  Each thread handles one unique (i, j) element and writes it to the upper triangle.
-  For each changed constraint, adds or subtracts D * J[i] * J[j].
-  """
-  worldid, elementid = wp.tid()
-
-  n_changes = quad_changed_count_in[worldid]
-  if n_changes == 0:
-    return
-
-  # Upper-triangle enumeration: elementid -> (row, col) where row <= col.
-  col = (int(wp.sqrt(float(1 + 8 * elementid))) - 1) // 2
-  row = elementid - (col * (col + 1)) // 2
-
-  delta = float(0.0)
-  for change_idx in range(n_changes):
-    efcid = quad_changed_ids_in[worldid, change_idx]
-    Jrow = efc_J_in[worldid, efcid, row]
-    if Jrow == 0.0:
-      continue
-    Jcol = efc_J_in[worldid, efcid, col]
-    if Jcol == 0.0:
-      continue
-
-    D = efc_D_in[worldid, efcid]
-    if efc_state_in[worldid, efcid] == types.ConstraintState.QUADRATIC.value:
-      delta += D * Jrow * Jcol
-    else:
-      delta -= D * Jrow * Jcol
-
-  if delta != 0.0:
-    ctx_h_out[worldid, row, col] += delta
-
-
-@cache_kernel
-def _update_gradient_h_incremental_sparse(compact: bool):
-  COMPACT = compact
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Data in:
-    efc_J_rownnz_in: wp.array2d[int],
-    efc_J_rowadr_in: wp.array2d[int],
-    efc_J_colind_in: wp.array3d[int],
-    efc_J_in: wp.array3d[float],
-    efc_D_in: wp.array2d[float],
-    efc_state_in: wp.array2d[int],
-    dof_cdof_in: wp.array2d[int],
-    # In:
-    quad_changed_ids_in: wp.array2d[int],
-    quad_changed_count_in: wp.array[int],
-    slots_per_world: int,
-    # Out:
-    ctx_h_out: wp.array3d[float],
-  ):
-    """Incrementally update upper triangle of H for changed constraints (sparse J).
-
-    One warp per changed constraint row: the lanes split the row's upper-triangular
-    entries (same sqrt triangular-number decode as _JTDACJ_sparse), replacing the
-    serial nnz^2 loop that dominated this kernel.
-    """
-    worldid, slot, lane = wp.tid()
-
-    n_changes = quad_changed_count_in[worldid]
-    for change_idx in range(slot, n_changes, slots_per_world):
-      efcid = quad_changed_ids_in[worldid, change_idx]
-      D = efc_D_in[worldid, efcid]
-      sign = float(0.0)
-      if efc_state_in[worldid, efcid] == types.ConstraintState.QUADRATIC.value:
-        sign = D
-      else:
-        sign = -D
-
-      rownnz = efc_J_rownnz_in[worldid, efcid]
-      rowadr = efc_J_rowadr_in[worldid, efcid]
-      n_entries = rownnz * (rownnz + 1) // 2
-
-      for entry in range(lane, n_entries, wp.static(_JTDAJ_THREADS_PER_GROUP)):
-        ii = int((wp.sqrt(float(8 * entry + 1)) - 1.0) * 0.5)
-        jj = entry - ii * (ii + 1) // 2
-        Ji = efc_J_in[worldid, 0, rowadr + ii]
-        Jj = efc_J_in[worldid, 0, rowadr + jj]
-        h = sign * Ji * Jj
-        if h != 0.0:
-          colindi = efc_J_colind_in[worldid, 0, rowadr + ii]
-          colindj = efc_J_colind_in[worldid, 0, rowadr + jj]
-          if wp.static(COMPACT):
-            colindi = dof_cdof_in[worldid, colindi]
-            colindj = dof_cdof_in[worldid, colindj]
-            if colindi < 0 or colindj < 0:
-              continue
-          wp.atomic_add(ctx_h_out[worldid, wp.min(colindi, colindj)], wp.max(colindi, colindj), h)
-
-  return kernel
-
-
-def _update_constraint(
-  m: types.Model,
-  d: types.Data,
-  ctx: SolverContext | InverseContext,
-  track_changes: bool = False,
-  stable_fast: bool = False,
-):
-  """Update constraint arrays after each solve iteration."""
-  efc_inputs = [
-    m.opt.impratio_invsqrt,
-    d.ne,
-    d.nf,
-    d.nefc,
-    d.contact.friction,
-    d.contact.dim,
-    d.contact.efc_address,
-    d.efc.type,
-    d.efc.id,
-    d.efc.D,
-    d.efc.frictionloss,
-    d.nacon,
-    ctx.Jaref,
-    ctx.ls_exhausted,
-    ctx.done,
-  ]
-
-  wp.launch(
-    _update_constraint_efc(track_changes),
-    dim=(d.nworld, d.njmax),
-    inputs=efc_inputs,
-    outputs=[d.efc.force, d.efc.state, ctx.quad_changed_ids, ctx.quad_changed_count, ctx.state_changed_count],
-  )
-
-  # qfrc_constraint = efc_J.T @ efc_force. Fast-path worlds with no state flips
-  # skip the rebuild; the public value is recovered after the solve.
-  changed = ctx.state_changed_count if stable_fast else d.nefc
-  sc = _sparse_compact(ctx)
-  if m.is_sparse or sc:
-    dj = ctx.compact_d_full if sc else d
-    wp.launch(
-      _zero_qfrc_constraint_sparse,
-      dim=(d.nworld, m.nv),
-      inputs=[changed, ctx.done],
-      outputs=[d.qfrc_constraint],
-    )
-    wp.launch(
-      _update_constraint_init_qfrc_constraint_sparse(sc),
-      dim=(d.nworld, d.njmax),
-      inputs=[d.nefc, dj.efc.J_rownnz, dj.efc.J_rowadr, dj.efc.J_colind, dj.efc.J, d.efc.force, dj.dof_cdof, changed, ctx.done],
-      outputs=[d.qfrc_constraint],
-    )
-  else:
-    wp.launch(
-      _update_constraint_init_qfrc_constraint_dense(stable_fast),
-      dim=(d.nworld, m.nv),
-      inputs=[d.nefc, d.efc.J, d.efc.force, d.njmax, changed, ctx.done],
-      outputs=[d.qfrc_constraint],
-    )
-
-
-@cache_kernel
-def _update_gradient_zero_grad_dot(stable_fast: bool):
-  STABLE_FAST = stable_fast
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # In:
-    state_changed_count_in: wp.array[int],
-    ctx_alpha_in: wp.array[float],
-    ctx_done_in: wp.array[bool],
-    # Out:
-    ctx_grad_dot_out: wp.array[float],
-    ctx_newton_decrement_out: wp.array[float],
-    ctx_grad_scale_out: wp.array[float],
-    ctx_search_unchanged_out: wp.array[bool],
-  ):
-    worldid = wp.tid()
-
-    if wp.static(STABLE_FAST):
-      ctx_search_unchanged_out[worldid] = ctx_done_in[worldid] or state_changed_count_in[worldid] == 0
-    else:
-      ctx_search_unchanged_out[worldid] = False
-
-    if ctx_done_in[worldid]:
-      return
-
-    # Fast path: grad stays stale at its last rebuilt value g. The true
-    # gradient is grad_scale * g, and a linesearch step t along the (equally
-    # stale) search direction changes it to (grad_scale - t) * g.
-    if wp.static(STABLE_FAST):
-      if state_changed_count_in[worldid] == 0:
-        sigma = ctx_grad_scale_out[worldid]
-        new_sigma = sigma - ctx_alpha_in[worldid]
-        ratio = float(0.0)
-        if sigma != 0.0:
-          ratio = new_sigma / sigma
-        ratio_sq = ratio * ratio
-        ctx_grad_dot_out[worldid] *= ratio_sq
-        ctx_newton_decrement_out[worldid] *= ratio_sq
-        ctx_grad_scale_out[worldid] = new_sigma
-        return
-
-    ctx_grad_dot_out[worldid] = 0.0
-    ctx_newton_decrement_out[worldid] = 0.0
-    ctx_grad_scale_out[worldid] = 1.0
-
-  return kernel
-
-
-@cache_kernel
-def _update_gradient_grad(stable_fast: bool):
-  STABLE_FAST = stable_fast
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # Data in:
-    qfrc_smooth_in: wp.array2d[float],
-    qfrc_constraint_in: wp.array2d[float],
-    efc_Ma_in: wp.array2d[float],
-    # In:
-    state_changed_count_in: wp.array[int],
-    ctx_done_in: wp.array[bool],
-    # Out:
-    ctx_grad_out: wp.array2d[float],
-    ctx_grad_dot_out: wp.array[float],
-  ):
-    worldid, dofid = wp.tid()
-
-    if ctx_done_in[worldid]:
-      return
-
-    # Fast path: grad stays stale (see _update_gradient_zero_grad_dot).
-    if wp.static(STABLE_FAST):
-      if state_changed_count_in[worldid] == 0:
-        return
-
-    grad = efc_Ma_in[worldid, dofid] - qfrc_smooth_in[worldid, dofid] - qfrc_constraint_in[worldid, dofid]
-    ctx_grad_out[worldid, dofid] = grad
-    wp.atomic_add(ctx_grad_dot_out, worldid, grad * grad)
-
-  return kernel
-
-
-@wp.kernel
-def _update_gradient_grad_tiled(
-  # Model:
-  nv: int,
-  # Data in:
-  qfrc_smooth_in: wp.array2d[float],
-  qfrc_constraint_in: wp.array2d[float],
-  efc_Ma_in: wp.array2d[float],
-  # In:
-  ctx_done_in: wp.array[bool],
-  # Out:
-  ctx_grad_out: wp.array2d[float],
-  ctx_grad_dot_out: wp.array[float],
-):
-  worldid, tid = wp.tid()
-
-  if ctx_done_in[worldid]:
-    return
-
-  local_grad_dot = float(0.0)
-  BLOCK_DIM = wp.block_dim()
-
-  for dofid in range(tid, nv, BLOCK_DIM):
-    grad = efc_Ma_in[worldid, dofid] - qfrc_smooth_in[worldid, dofid] - qfrc_constraint_in[worldid, dofid]
-    ctx_grad_out[worldid, dofid] = grad
-    local_grad_dot += grad * grad
-
-  grad_dot_tile = wp.tile(local_grad_dot, preserve_type=True)
-  grad_dot_sum = wp.tile_reduce(wp.add, grad_dot_tile)
-
-  if tid == 0:
-    ctx_grad_dot_out[worldid] = grad_dot_sum[0]
-
-
-@cache_kernel
-def _update_gradient_init_h_sparse(compact: bool):
-  COMPACT = compact
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=True)
-  def kernel(
-    # Model:
-    nv: int,
-    M_elemid: wp.array2d[int],
-    # Data in:
-    M_in: wp.array2d[float],
-    cdof_dof_in: wp.array2d[int],
-    # In:
-    ctx_done_in: wp.array[bool],
-    # Out:
-    ctx_h_out: wp.array3d[float],
-  ):
-    worldid, i, j = wp.tid()
-
-    if ctx_done_in[worldid]:
-      return
-
-    # only write the upper triangle; Cholesky reads the upper triangle only
-    if j < i:
-      return
-
-    if wp.static(COMPACT):
-      dof_i = cdof_dof_in[worldid, i]
-      dof_j = cdof_dof_in[worldid, j]
-      if dof_i < 0 or dof_j < 0:
-        # per-world padded block: identity keeps the factorization well conditioned
-        ctx_h_out[worldid, i, j] = wp.where(i == j, 1.0, 0.0)
-        return
-    else:
-      dof_i = i
-      dof_j = j
-      if i >= nv or j >= nv:
-        ctx_h_out[worldid, i, j] = 0.0
-        return
-
-    # sparse M is stored in the lower triangle, so look up (larger, smaller)
-    elemid = M_elemid[wp.max(dof_i, dof_j), wp.min(dof_i, dof_j)]
-    if elemid >= 0:
-      ctx_h_out[worldid, i, j] = M_in[worldid, elemid]
-    else:
-      ctx_h_out[worldid, i, j] = 0.0
-
-  return kernel
-
-
-@wp.func
-def _state_check(D: float, state: int) -> float:
-  if state == types.ConstraintState.QUADRATIC.value:
-    return D
-  else:
-    return 0.0
-
-
-@wp.func
-def _active_check(tid: int, threshold: int) -> float:
-  if tid >= threshold:
-    return 0.0
-  else:
-    return 1.0
-
-
-@cache_kernel
-def _update_gradient_JTDAJ_dense_tiled_compact(nv_pad: int, tile_size: int, njmax: int):
-  """Compact-path variant of _update_gradient_JTDAJ_dense_tiled.
-
-  Takes M_in as a dense 3D array (nworld, nv_pad, nv_pad) -- the compacted active-DOF
-  inertia block cM -- instead of a 2D CSR array.  Cholesky reads fill_mode="upper";
-  cM is full-symmetric so the tile_load covers both triangles and the upper triangle
-  of the result is correct.
-  """
-  if njmax < tile_size:
-    tile_size = njmax
-
-  TILE_SIZE_K = tile_size
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False, module_options={"enable_mathdx_gemm": False})
-  def kernel(
-    # Data in:
-    nefc_in: wp.array[int],
-    M_in: wp.array3d[float],  # kernel_analyzer: ignore; compact dense inertia (nworld, nv_pad, nv_pad)
-    efc_J_in: wp.array3d[float],
-    efc_D_in: wp.array2d[float],
-    efc_state_in: wp.array2d[int],
-    # In:
-    ctx_done_in: wp.array[bool],
-    # Out:
-    ctx_h_out: wp.array3d[float],
-  ):
-    worldid, rank = wp.tid()
-
-    if ctx_done_in[worldid]:
-      return
-
-    nefc = nefc_in[worldid]
-
-    # Load full symmetric compact inertia tile (Cholesky only reads upper triangle).
-    sum_val = wp.tile_load(M_in[worldid], shape=(wp.static(nv_pad), wp.static(nv_pad)), bounds_check=True)
-
-    for k in range(0, njmax, TILE_SIZE_K):
-      if k >= nefc:
-        break
-
-      J_kj = wp.tile_load(efc_J_in[worldid], shape=(TILE_SIZE_K, nv_pad), offset=(k, 0), bounds_check=False)
-
-      D_k = wp.tile_load(efc_D_in[worldid], shape=TILE_SIZE_K, offset=k, bounds_check=False)
-      state = wp.tile_load(efc_state_in[worldid], shape=TILE_SIZE_K, offset=k, bounds_check=False)
-
-      D_k = wp.tile_map(_state_check, D_k, state)
-
-      tid_tile = wp.tile_arange(TILE_SIZE_K, dtype=int)
-      threshold_tile = wp.tile_ones(shape=TILE_SIZE_K, dtype=int) * (nefc - k)
-
-      active_tile = wp.tile_map(_active_check, tid_tile, threshold_tile)
-      D_k = wp.tile_map(wp.mul, active_tile, D_k)
-
-      J_ki = wp.tile_map(wp.mul, wp.tile_transpose(J_kj), wp.tile_broadcast(D_k, shape=(nv_pad, TILE_SIZE_K)))
-
-      sum_val += wp.tile_matmul(J_ki, J_kj)
-
-    wp.tile_store(ctx_h_out[worldid], sum_val, bounds_check=False)
-
-  return kernel
-
-
-@cache_kernel
-def _update_gradient_JTDAJ_dense_tiled(nv_pad: int, tile_size: int, njmax: int, nC: int):
-  if njmax < tile_size:
-    tile_size = njmax
-
-  TILE_SIZE_K = tile_size
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False, module_options={"enable_mathdx_gemm": False})
-  def kernel(
-    # Model:
-    M_colind: wp.array[int],  # column index of each CSR entry
-    M_hinit_i: wp.array[int],  # row index of each CSR entry
-    # Data in:
-    nefc_in: wp.array[int],
-    M_in: wp.array2d[float],  # CSR M (nworld, nC)
-    efc_J_in: wp.array3d[float],
-    efc_D_in: wp.array2d[float],
-    efc_state_in: wp.array2d[int],
-    # In:
-    ctx_done_in: wp.array[bool],
-    # Out:
-    ctx_h_out: wp.array3d[float],
-  ):
-    worldid, rank = wp.tid()
-
-    if ctx_done_in[worldid]:
-      return
-
-    nefc = nefc_in[worldid]
-
-    # Densify M's upper triangle from CSR into the shared H tile (Cholesky reads fill_mode="upper").
-    # Entry (i, col<=i) of M goes to the upper position (col, i); the lower triangle stays zero.
-    m_tile = wp.tile_zeros(shape=(wp.static(nv_pad * nv_pad),), dtype=float, storage="shared")
-    # Uniform trip count from the RUNTIME lane count: every lane iterates iters times (so the
-    # collective tile_scatter_add is always called by all lanes -- a divergent range(rank, nC, bd)
-    # deadlocks). wp.block_dim() is 1 on the CPU backend, so lane 0 then covers every entry.
-    lanes = wp.block_dim()
-    iters = (nC + lanes - 1) // lanes
-    for it in range(iters):
-      e = it * lanes + rank
-      enable = e < nC
-      ec = wp.where(enable, e, 0)
-      pos = M_colind[ec] * nv_pad + M_hinit_i[ec]
-      wp.tile_scatter_add(m_tile, pos, wp.where(enable, M_in[worldid, ec], 0.0), enable)
-    sum_val = wp.tile_reshape(m_tile, (nv_pad, nv_pad))
-
-    # Each tile processes one output tile by looping over all constraints
-    for k in range(0, njmax, TILE_SIZE_K):
-      if k >= nefc:
-        break
-
-      # AD: leaving bounds-check disabled here because I'm not entirely sure that
-      # everything always hits the fast path. The padding takes care of any
-      #  potential OOB accesses.
-      J_kj = wp.tile_load(efc_J_in[worldid], shape=(TILE_SIZE_K, nv_pad), offset=(k, 0), bounds_check=False)
-
-      # state check
-      D_k = wp.tile_load(efc_D_in[worldid], shape=TILE_SIZE_K, offset=k, bounds_check=False)
-      state = wp.tile_load(efc_state_in[worldid], shape=TILE_SIZE_K, offset=k, bounds_check=False)
-
-      D_k = wp.tile_map(_state_check, D_k, state)
-
-      # force unused elements to be zero
-      tid_tile = wp.tile_arange(TILE_SIZE_K, dtype=int)
-      threshold_tile = wp.tile_ones(shape=TILE_SIZE_K, dtype=int) * (nefc - k)
-
-      active_tile = wp.tile_map(_active_check, tid_tile, threshold_tile)
-      D_k = wp.tile_map(wp.mul, active_tile, D_k)
-
-      J_ki = wp.tile_map(wp.mul, wp.tile_transpose(J_kj), wp.tile_broadcast(D_k, shape=(nv_pad, TILE_SIZE_K)))
-
-      sum_val += wp.tile_matmul(J_ki, J_kj)
-
-    wp.tile_store(ctx_h_out[worldid], sum_val, bounds_check=False)
-
-  return kernel
-
-
-@wp.func
-def _elliptic_hessian_entry_from_projections(
-  # In:
-  dm: float,
-  mu_over_t: float,
-  mu_n_over_ttt: float,
-  tangent_diag: float,
-  z01: float,
-  z02: float,
-  projection1: float,
-  projection2: float,
-  tangent_dot: float,
-) -> float:
-  # Contract the diagonal-plus-rank-one curvature without materializing the cone Hessian.
-  return dm * (
-    z01 * z02
-    - mu_over_t * (z01 * projection2 + z02 * projection1)
-    + mu_n_over_ttt * projection1 * projection2
-    + tangent_diag * tangent_dot
-  )
-
-
-@wp.kernel
-def _update_gradient_JTCJ_dense(
-  # Model:
-  opt_impratio_invsqrt: wp.array[float],
-  dof_tri_row: wp.array[int],
-  dof_tri_col: wp.array[int],
-  # Data in:
-  contact_dist_in: wp.array[float],
-  contact_includemargin_in: wp.array[float],
-  contact_friction_in: wp.array[types.vec5],
-  contact_dim_in: wp.array[int],
-  contact_efc_address_in: wp.array2d[int],
-  contact_worldid_in: wp.array[int],
-  efc_J_in: wp.array3d[float],
-  efc_D_in: wp.array2d[float],
-  efc_state_in: wp.array2d[int],
-  naconmax_in: int,
-  nacon_in: wp.array[int],
-  # In:
-  ctx_Jaref_in: wp.array2d[float],
-  ctx_done_in: wp.array[bool],
-  nblocks_perblock: int,
-  dim_block: int,
-  # Out:
-  ctx_h_out: wp.array3d[float],
-):
-  conid_start, elementid = wp.tid()
-
-  dof1id = dof_tri_row[elementid]
-  dof2id = dof_tri_col[elementid]
-
-  for i in range(nblocks_perblock):
-    conid = conid_start + i * dim_block
-
-    if conid >= min(nacon_in[0], naconmax_in):
-      return
-
-    worldid = contact_worldid_in[conid]
-    if ctx_done_in[worldid]:
-      continue
-
-    condim = contact_dim_in[conid]
-
-    if condim == 1:
-      continue
-
-    # check contact status
-    if contact_dist_in[conid] - contact_includemargin_in[conid] >= 0.0:
-      continue
-
-    efcid0 = contact_efc_address_in[conid, 0]
-    if efcid0 < 0:
-      continue
-    if efc_state_in[worldid, efcid0] != types.ConstraintState.CONE:
-      continue
-
-    fri = contact_friction_in[conid]
-    mu = fri[0] * opt_impratio_invsqrt[worldid % opt_impratio_invsqrt.shape[0]]
-
-    mu2 = mu * mu
-    dm = math.safe_div(efc_D_in[worldid, efcid0], mu2 * (1.0 + mu2))
-
-    if dm == 0.0:
-      continue
-
-    n = ctx_Jaref_in[worldid, efcid0] * mu
-    z01 = mu * efc_J_in[worldid, efcid0, dof1id]
-    z02 = mu * efc_J_in[worldid, efcid0, dof2id]
-    tt = float(0.0)
-    projection1 = float(0.0)
-    projection2 = float(0.0)
-    tangent_dot = float(0.0)
-    for dim in range(1, condim):
-      efcid = contact_efc_address_in[conid, dim]
-      if efcid >= 0:
-        scale = fri[dim - 1]
-        u = ctx_Jaref_in[worldid, efcid] * scale
-        z1 = scale * efc_J_in[worldid, efcid, dof1id]
-        z2 = scale * efc_J_in[worldid, efcid, dof2id]
-        tt += u * u
-        projection1 += u * z1
-        projection2 += u * z2
-        tangent_dot += z1 * z2
-
-    t = wp.max(wp.sqrt(tt), types.MJ_MINVAL)
-    ttt = wp.max(t * t * t, types.MJ_MINVAL)
-    mu_tinv = math.safe_div(mu, t)
-    h = _elliptic_hessian_entry_from_projections(
-      dm,
-      mu_tinv,
-      mu * math.safe_div(n, ttt),
-      mu2 - n * mu_tinv,
-      z01,
-      z02,
-      projection1,
-      projection2,
-      tangent_dot,
-    )
-
-    ctx_h_out[worldid, dof1id, dof2id] += h
-
-
-@cache_kernel
-def _update_gradient_cholesky(tile_size: int, skip_noflip: bool = False):
-  SKIP_NOFLIP = skip_noflip
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def kernel(
-    # In:
-    ctx_grad_in: wp.array2d[float],
-    h_in: wp.array3d[float],
-    state_changed_count_in: wp.array[int],
-    ctx_done_in: wp.array[bool],
-    # Out:
-    ctx_search_out: wp.array2d[float],
-    ctx_search_dot_out: wp.array[float],
-    ctx_newton_decrement_out: wp.array[float],
-  ):
-    worldid = wp.tid()
-    TILE_SIZE = wp.static(tile_size)
-
-    if ctx_done_in[worldid]:
-      return
-
-    # Fast path: skip the solve (see the blocked skip_unchanged variant).
-    if wp.static(SKIP_NOFLIP):
-      if state_changed_count_in[worldid] == 0:
-        return
-
-    mat_tile = wp.tile_load(h_in[worldid], shape=(TILE_SIZE, TILE_SIZE))
-    wp.tile_cholesky_inplace(mat_tile, fill_mode="upper")
-    input_tile = wp.tile_load(ctx_grad_in[worldid], shape=TILE_SIZE)
-    output_tile = wp.tile_cholesky_solve(mat_tile, input_tile, fill_mode="upper")
-    sums = wp.tile_reduce(wp.add, wp.tile_map(solve_search_sums, input_tile, output_tile))[0]
-    ctx_search_dot_out[worldid] = sums[0]
-    ctx_newton_decrement_out[worldid] = sums[1]
-    wp.tile_store(ctx_search_out[worldid], wp.tile_map(wp.mul, output_tile, -1.0))
-
-  return kernel
-
-
-@cache_kernel
-def _update_gradient_cholesky_blocked(tile_size: int, matrix_size: int, vector_size: int):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False, module_options={"enable_mathdx_gemm": False})
-  def kernel(
-    # In:
-    ctx_done_in: wp.array[bool],
-    ctx_grad_in: wp.array3d[float],
-    ctx_h_in: wp.array3d[float],
-    ctx_hfactor: wp.array3d[float],
-    # Out:
-    ctx_search_out: wp.array3d[float],
-    ctx_search_dot_out: wp.array[float],
-    ctx_newton_decrement_out: wp.array[float],
-  ):
-    worldid = wp.tid()
-    TILE_SIZE = wp.static(tile_size)
-
-    if ctx_done_in[worldid]:
-      return
-
-    # We need matrix size both as a runtime input as well as a static input:
-    # static input is needed to specify the tile sizes for the compiler
-    # runtime input is needed for the loop bounds, otherwise warp will unroll
-    # unconditionally leading to shared memory capacity issues.
-
-    sums = wp.static(create_blocked_cholesky_augmented_factorize_solve_newton_func(TILE_SIZE, matrix_size, vector_size))(
-      ctx_h_in[worldid],
-      ctx_grad_in[worldid],
-      matrix_size,
-      ctx_hfactor[worldid],
-      ctx_search_out[worldid],
-    )
-    ctx_search_dot_out[worldid] = sums[0]
-    ctx_newton_decrement_out[worldid] = sums[1]
-
-  return kernel
-
-
-@cache_kernel
-def _cholesky_factorize_solve_blocked(tile_size: int, matrix_size: int):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False, module_options={"enable_mathdx_gemm": False})
-  def kernel(
-    # In:
-    A_in: wp.array3d[float],
-    b_in: wp.array3d[float],
-    # Out:
-    U_out: wp.array3d[float],
-    x_out: wp.array3d[float],
-  ):
-    worldid = wp.tid()
-    TILE_SIZE = wp.static(tile_size)
-
-    wp.static(create_blocked_cholesky_factorize_solve_func(TILE_SIZE, matrix_size))(
-      A_in[worldid],
-      b_in[worldid],
-      matrix_size,
-      U_out[worldid],
-      x_out[worldid],
-    )
-
-  return kernel
-
-
-@cache_kernel
-def _update_gradient_cholesky_blocked_skip_unchanged(
-  tile_size: int, matrix_size: int, vector_size: int, skip_noflip: bool = False
-):
-  """Blocked Cholesky that skips factorization when no constraints changed."""
-  SKIP_NOFLIP = skip_noflip
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False, module_options={"enable_mathdx_gemm": False})
-  def kernel(
-    # In:
-    ctx_done_in: wp.array[bool],
-    ctx_grad_in: wp.array3d[float],
-    ctx_h_in: wp.array3d[float],
-    quad_changed_count_in: wp.array[int],
-    state_changed_count_in: wp.array[int],
-    ctx_hfactor: wp.array3d[float],
-    # Out:
-    ctx_search_out: wp.array3d[float],
-    ctx_search_dot_out: wp.array[float],
-    ctx_newton_decrement_out: wp.array[float],
-  ):
-    worldid = wp.tid()
-    TILE_SIZE = wp.static(tile_size)
-
-    if ctx_done_in[worldid]:
-      return
-
-    # The linesearch is invariant to direction scale, so an unchanged ray can
-    # keep its previous search direction.
-    if wp.static(SKIP_NOFLIP):
-      if state_changed_count_in[worldid] == 0:
-        return
-
-    if quad_changed_count_in[worldid] > 0:
-      sums = wp.static(create_blocked_cholesky_augmented_factorize_solve_newton_func(TILE_SIZE, matrix_size, vector_size))(
-        ctx_h_in[worldid],
-        ctx_grad_in[worldid],
-        matrix_size,
-        ctx_hfactor[worldid],
-        ctx_search_out[worldid],
-      )
-    else:
-      sums = wp.static(create_blocked_cholesky_solve_newton_func(TILE_SIZE, matrix_size, vector_size))(
-        ctx_hfactor[worldid],
-        ctx_grad_in[worldid],
-        matrix_size,
-        ctx_search_out[worldid],
-      )
-
-    ctx_search_dot_out[worldid] = sums[0]
-    ctx_newton_decrement_out[worldid] = sums[1]
-
-  return kernel
-
-
-@wp.kernel(grid_stride=True)
-def _padding_h(nv: int, ctx_done_in: wp.array[bool], ctx_h_out: wp.array3d[float]):
-  worldid, elementid = wp.tid()
-
-  if ctx_done_in[worldid]:
-    return
-
-  dofid = nv + elementid
-  ctx_h_out[worldid, dofid, dofid] = 1.0
-
-
-def _cholesky_factorize_solve(
-  m: types.Model, d: types.Data, ctx: SolverContext, skip_unchanged: bool = False, skip_noflip: bool = False
-):
-  """Cholesky factorize ctx.h and form the Newton search direction.
-
-  If skip_unchanged is True (blocked path only), worlds where no constraints
-  changed reuse the cached factorization in hfactor instead of refactorizing.
-  """
-  if m.nv <= _BLOCK_CHOLESKY_DIM:
-    wp.launch_tiled(
-      _update_gradient_cholesky(m.nv, skip_noflip),
-      dim=d.nworld,
-      inputs=[ctx.grad, ctx.h, ctx.state_changed_count if skip_noflip else d.nefc, ctx.done],
-      outputs=[ctx.search, ctx.search_dot, ctx.newton_decrement],
-      block_dim=m.block_dim.update_gradient_cholesky,
-    )
-  else:
-    wp.launch(
-      _padding_h,
-      dim=(d.nworld, m.nv_pad - m.nv),
-      inputs=[m.nv, ctx.done],
-      outputs=[ctx.h],
-    )
-
-    if skip_unchanged:
-      wp.launch_tiled(
-        _update_gradient_cholesky_blocked_skip_unchanged(types.TILE_SIZE_JTDAJ_DENSE, m.nv_pad, m.nv, skip_noflip),
-        dim=d.nworld,
-        inputs=[
-          ctx.done,
-          ctx.grad.reshape(shape=(d.nworld, ctx.grad.shape[1], 1)),
-          ctx.h,
-          ctx.quad_changed_count,
-          ctx.state_changed_count if skip_noflip else ctx.quad_changed_count,
-          ctx.hfactor,
-        ],
-        outputs=[
-          ctx.search.reshape(shape=(d.nworld, m.nv, 1)),
-          ctx.search_dot,
-          ctx.newton_decrement,
-        ],
-        block_dim=m.block_dim.update_gradient_cholesky_blocked,
-      )
-    else:
-      wp.launch_tiled(
-        _update_gradient_cholesky_blocked(types.TILE_SIZE_JTDAJ_DENSE, m.nv_pad, m.nv),
-        dim=d.nworld,
-        inputs=[ctx.done, ctx.grad.reshape(shape=(d.nworld, ctx.grad.shape[1], 1)), ctx.h, ctx.hfactor],
-        outputs=[
-          ctx.search.reshape(shape=(d.nworld, m.nv, 1)),
-          ctx.search_dot,
-          ctx.newton_decrement,
-        ],
-        block_dim=m.block_dim.update_gradient_cholesky_blocked,
-      )
-
-
-# ---------------------------------------------------------------------------
-# Constraint groups contain consecutive rows with identical sparse support. Each thread group
-# accumulates their upper-triangular Hessian block, including elliptic cone curvature.
-# ---------------------------------------------------------------------------
-_JTDAJ_THREADS_PER_GROUP = 32
-_JTDAJ_OVERSUBSCRIBE_WAVES = 6
-
-
-@cache_kernel
-def _JTDACJ_sparse(compact: bool, cone_type: types.ConeType, max_condim: int):
-  COMPACT = compact
-  ELLIPTIC = cone_type == types.ConeType.ELLIPTIC
-  MAX_CONDIM = max_condim
-
-  def make_curvature_terms(condim: int):
-    @wp.func
-    def func(
-      # Model:
-      opt_impratio_invsqrt: wp.array[float],
-      # Data in:
-      efc_D_in: wp.array2d[float],
-      # In:
-      fri: types.vec5,
-      ctx_Jaref_in: wp.array2d[float],
-      worldid: int,
-      efcid0: int,
-      block_rows: int,
-    ) -> types.vec16:
-      mu = fri[0] * opt_impratio_invsqrt[worldid % opt_impratio_invsqrt.shape[0]]
-      mu2 = mu * mu
-      dm = math.safe_div(efc_D_in[worldid, efcid0], mu2 * (1.0 + mu2))
-      if dm == 0.0:
-        return types.vec16()
-
-      n = ctx_Jaref_in[worldid, efcid0] * mu
-      terms = types.vec16()
-      terms[6] = mu
-      tt = float(0.0)
-      for dim in range(1, wp.static(condim)):
-        if dim < block_rows:
-          efcid = efcid0 + dim
-          scale = fri[dim - 1]
-          u = ctx_Jaref_in[worldid, efcid] * scale
-          terms[dim] = u
-          terms[6 + dim] = scale
-          tt += u * u
-
-      t = wp.max(wp.sqrt(tt), types.MJ_MINVAL)
-      ttt = wp.max(t * t * t, types.MJ_MINVAL)
-      mu_over_t = math.safe_div(mu, t)
-      mu_n_over_ttt = mu * math.safe_div(n, ttt)
-      tangent_diag = mu2 - n * mu_over_t
-
-      # Layout: tangent u[1:6], scales[6:12], dm, mu/t, mu*n/t^3, tangent diagonal.
-      terms[12] = dm
-      terms[13] = mu_over_t
-      terms[14] = mu_n_over_ttt
-      terms[15] = tangent_diag
-      return terms
-
-    return func
-
-  def make_hessian_entry(condim: int):
-    @wp.func
-    def func(
-      # Data in:
-      efc_J_in: wp.array3d[float],
-      # In:
-      terms: Any,
-      rowadr: types.vec6i,
-      worldid: int,
-      pos1: int,
-      pos2: int,
-    ) -> float:
-      z01 = terms[6] * efc_J_in[worldid, 0, rowadr[0] + pos1]
-      z02 = terms[6] * efc_J_in[worldid, 0, rowadr[0] + pos2]
-      projection1 = float(0.0)
-      projection2 = float(0.0)
-      tangent_dot = float(0.0)
-      for dim in range(1, wp.static(condim)):
-        z1 = terms[6 + dim] * efc_J_in[worldid, 0, rowadr[dim] + pos1]
-        z2 = terms[6 + dim] * efc_J_in[worldid, 0, rowadr[dim] + pos2]
-        projection1 += terms[dim] * z1
-        projection2 += terms[dim] * z2
-        tangent_dot += z1 * z2
-
-      return _elliptic_hessian_entry_from_projections(
-        terms[12],
-        terms[13],
-        terms[14],
-        terms[15],
-        z01,
-        z02,
-        projection1,
-        projection2,
-        tangent_dot,
-      )
-
-    return func
-
-  curvature_terms3 = make_curvature_terms(3)
-  curvature_terms4 = make_curvature_terms(4)
-  curvature_terms6 = make_curvature_terms(6)
-  hessian_entry3 = make_hessian_entry(3)
-  hessian_entry4 = make_hessian_entry(4)
-  hessian_entry6 = make_hessian_entry(6)
-
-  @wp.func
-  def curvature_terms(
-    # Model:
-    opt_impratio_invsqrt: wp.array[float],
-    # Data in:
-    efc_D_in: wp.array2d[float],
-    # In:
-    fri: types.vec5,
-    ctx_Jaref_in: wp.array2d[float],
-    worldid: int,
-    efcid0: int,
-    condim: int,
-    block_rows: int,
-  ) -> types.vec16:
-    if wp.static(MAX_CONDIM == 3):
-      return curvature_terms3(opt_impratio_invsqrt, efc_D_in, fri, ctx_Jaref_in, worldid, efcid0, block_rows)
-
-    if condim == 3:
-      return curvature_terms3(opt_impratio_invsqrt, efc_D_in, fri, ctx_Jaref_in, worldid, efcid0, block_rows)
-    if wp.static(MAX_CONDIM == 4):
-      return curvature_terms4(opt_impratio_invsqrt, efc_D_in, fri, ctx_Jaref_in, worldid, efcid0, block_rows)
-    if condim == 4:
-      return curvature_terms4(opt_impratio_invsqrt, efc_D_in, fri, ctx_Jaref_in, worldid, efcid0, block_rows)
-    return curvature_terms6(opt_impratio_invsqrt, efc_D_in, fri, ctx_Jaref_in, worldid, efcid0, block_rows)
-
-  @wp.func
-  def hessian_entry(
-    # Data in:
-    efc_J_in: wp.array3d[float],
-    # In:
-    terms: Any,
-    rowadr: types.vec6i,
-    worldid: int,
-    pos1: int,
-    pos2: int,
-    condim: int,
-  ) -> float:
-    if wp.static(MAX_CONDIM == 3):
-      return hessian_entry3(efc_J_in, terms, rowadr, worldid, pos1, pos2)
-
-    if condim == 3:
-      return hessian_entry3(efc_J_in, terms, rowadr, worldid, pos1, pos2)
-    if wp.static(MAX_CONDIM == 4):
-      return hessian_entry4(efc_J_in, terms, rowadr, worldid, pos1, pos2)
-    if condim == 4:
-      return hessian_entry4(efc_J_in, terms, rowadr, worldid, pos1, pos2)
-    return hessian_entry6(efc_J_in, terms, rowadr, worldid, pos1, pos2)
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=True)
-  def kernel(
-    # Model:
-    opt_impratio_invsqrt: wp.array[float],
-    # Data in:
-    contact_friction_in: wp.array[types.vec5],
-    contact_dim_in: wp.array[int],
-    efc_id_in: wp.array2d[int],
-    efc_jtdaj_adr_in: wp.array2d[int],
-    efc_jtdaj_nrow_in: wp.array2d[int],
-    efc_jtdaj_nblock_in: wp.array[int],
-    efc_J_rownnz_in: wp.array2d[int],
-    efc_J_rowadr_in: wp.array2d[int],
-    efc_J_colind_in: wp.array3d[int],
-    efc_J_in: wp.array3d[float],
-    efc_D_in: wp.array2d[float],
-    efc_state_in: wp.array2d[int],
-    dof_cdof_in: wp.array2d[int],
-    # In:
-    ctx_Jaref_in: wp.array2d[float],
-    ctx_done_in: wp.array[bool],
-    groups_per_world: int,
-    # Out:
-    h_out: wp.array3d[float],
-  ):
-    worldid, slot, lane = wp.tid()
-    if wp.static(ELLIPTIC):
-      lanes = wp.block_dim()
-    else:
-      lanes = wp.static(_JTDAJ_THREADS_PER_GROUP)
-    if ctx_done_in[worldid]:
-      return
-    count = efc_jtdaj_nblock_in[worldid]
-    for groupid in range(slot, count, groups_per_world):
-      head_row = efc_jtdaj_adr_in[worldid, groupid]
-      block_rows = efc_jtdaj_nrow_in[worldid, groupid]
-      head_adr = efc_J_rowadr_in[worldid, head_row]
-      support = efc_J_rownnz_in[worldid, head_row]
-      n_entries = support * (support + 1) // 2
-
-      is_cone = False
-      if wp.static(ELLIPTIC):
-        is_cone = efc_state_in[worldid, head_row] == types.ConstraintState.CONE
-        condim = int(0)
-        # Clipped cone rows retain the safe head address and a zero scale.
-        cone_rowadr = types.vec6i(head_adr, head_adr, head_adr, head_adr, head_adr, head_adr)
-        if is_cone:
-          conid = efc_id_in[worldid, head_row]
-          if wp.static(MAX_CONDIM == 3):
-            condim = int(3)
-          else:
-            condim = contact_dim_in[conid]
-          for dim in range(1, wp.static(MAX_CONDIM)):
-            if dim < block_rows:
-              cone_rowadr[dim] = head_adr + dim * support
-          local_terms = types.vec16()
-          if lane == 0:
-            local_terms = curvature_terms(
-              opt_impratio_invsqrt,
-              efc_D_in,
-              contact_friction_in[conid],
-              ctx_Jaref_in,
-              worldid,
-              head_row,
-              condim,
-              block_rows,
-            )
-          cone_terms = wp.tile_zeros(shape=(16,), dtype=float, storage="shared")
-          for term_id in range(1, 16):
-            wp.tile_scatter_masked(cone_terms, term_id, local_terms[term_id], lane == 0)
-
-      for entry in range(lane, n_entries, lanes):
-        block_col = int((wp.sqrt(float(8 * entry + 1)) - 1.0) * 0.5)
-        block_row = entry - block_col * (block_col + 1) // 2
-        dof_row = efc_J_colind_in[worldid, 0, head_adr + block_row]
-        dof_col = efc_J_colind_in[worldid, 0, head_adr + block_col]
-        hval = float(0.0)
-        if wp.static(ELLIPTIC):
-          if is_cone:
-            hval = hessian_entry(
-              efc_J_in,
-              cone_terms,
-              cone_rowadr,
-              worldid,
-              block_row,
-              block_col,
-              condim,
-            )
-        if not is_cone:
-          for member in range(block_rows):
-            member_row = head_row + member
-            if efc_state_in[worldid, member_row] == types.ConstraintState.QUADRATIC.value:
-              member_adr = efc_J_rowadr_in[worldid, member_row]
-              j_row = efc_J_in[worldid, 0, member_adr + block_row]
-              j_col = efc_J_in[worldid, 0, member_adr + block_col]
-              hval += j_row * efc_D_in[worldid, member_row] * j_col
-        if hval != 0.0:
-          if wp.static(COMPACT):
-            dof_row = dof_cdof_in[worldid, dof_row]
-            dof_col = dof_cdof_in[worldid, dof_col]
-            if dof_row < 0 or dof_col < 0:
-              continue
-          wp.atomic_add(h_out[worldid, wp.min(dof_row, dof_col)], wp.max(dof_row, dof_col), hval)
-
-  return kernel
-
-
-def _jtdaj_groups_per_world(nworld: int, njmax: int) -> int:
-  # njmax is capacity and often mostly empty, so cap slots at a few resident waves.
-  block_size, min_grid_size = wp.get_suggested_block_size(_JTDACJ_sparse(False, types.ConeType.PYRAMIDAL, 3))
-  device_warps = max(1, block_size * min_grid_size // _JTDAJ_THREADS_PER_GROUP)
-  return max(1, min(njmax, _JTDAJ_OVERSUBSCRIBE_WAVES * device_warps // nworld))
-
-
-@wp.kernel
-def _diag_precond_build(
-  # Model:
-  body_simple: wp.array[int],
-  dof_bodyid: wp.array[int],
-  M_rownnz: wp.array[int],
-  M_rowadr: wp.array[int],
-  # Data in:
-  M_in: wp.array2d[float],
-  # In:
-  ctx_done_in: wp.array[bool],
-  # Out:
-  diag_out: wp.array2d[float],
-):
-  """Initialize diagonal with M_ii + regularization for flex DOFs only."""
-  worldid, dofid = wp.tid()
-  if ctx_done_in[worldid]:
-    return
-  if body_simple[dof_bodyid[dofid]] != 2:
-    return
-  madr_ii = M_rowadr[dofid] + M_rownnz[dofid] - 1
-  diag_out[worldid, dofid] = M_in[worldid, madr_ii] + float(1.0e-12)
-
-
-@wp.kernel
-def _diag_precond_add_JTDJ(
-  # Model:
-  body_simple: wp.array[int],
-  dof_bodyid: wp.array[int],
-  # Data in:
-  nefc_in: wp.array[int],
-  efc_J_rownnz_in: wp.array2d[int],
-  efc_J_rowadr_in: wp.array2d[int],
-  efc_J_colind_in: wp.array3d[int],
-  efc_J_in: wp.array3d[float],
-  efc_D_in: wp.array2d[float],
-  # In:
-  ctx_done_in: wp.array[bool],
-  # Out:
-  diag_out: wp.array2d[float],
-):
-  """Add diagonal of J^T D J for flex DOFs only."""
-  worldid, efcid = wp.tid()
-  if ctx_done_in[worldid]:
-    return
-  if efcid >= nefc_in[worldid]:
-    return
-  D = efc_D_in[worldid, efcid]
-  if D == 0.0:
-    return
-  rownnz = efc_J_rownnz_in[worldid, efcid]
-  rowadr = efc_J_rowadr_in[worldid, efcid]
-  for i in range(rownnz):
-    col = efc_J_colind_in[worldid, 0, rowadr + i]
-    if body_simple[dof_bodyid[col]] != 2:
-      continue
-    Jval = efc_J_in[worldid, 0, rowadr + i]
-    if Jval != 0.0:
-      wp.atomic_add(diag_out, worldid, col, D * Jval * Jval)
-
-
-@wp.kernel
-def _diag_precond_apply(
-  # Model:
-  body_simple: wp.array[int],
-  dof_bodyid: wp.array[int],
-  # Data in:
-  qLDiagInv_in: wp.array2d[float],
-  # In:
-  diag_in: wp.array2d[float],
-  grad_in: wp.array2d[float],
-  ctx_done_in: wp.array[bool],
-  # Out:
-  Mgrad_out: wp.array2d[float],
-):
-  """Apply preconditioner: flex DOFs use diag(M+JTDJ), others use M diagonal."""
-  worldid, dofid = wp.tid()
-  if ctx_done_in[worldid]:
-    return
-  if body_simple[dof_bodyid[dofid]] == 2:
-    Mgrad_out[worldid, dofid] = grad_in[worldid, dofid] / diag_in[worldid, dofid]
-  else:
-    Mgrad_out[worldid, dofid] = qLDiagInv_in[worldid, dofid] * grad_in[worldid, dofid]
-
-
-def _update_gradient(m: types.Model, d: types.Data, ctx: SolverContext, compact: bool = False):
-  # grad = Ma - qfrc_smooth - qfrc_constraint
-  if m.opt.solver == types.SolverType.CG:
-    wp.launch_tiled(
-      _update_gradient_grad_tiled,
-      dim=d.nworld,
-      inputs=[m.nv, d.qfrc_smooth, d.qfrc_constraint, d.efc.Ma, ctx.done],
-      outputs=[ctx.grad, ctx.grad_dot],
-      block_dim=m.block_dim.update_gradient_grad,
-    )
-  else:
-    wp.launch(
-      _update_gradient_zero_grad_dot(False),
-      dim=d.nworld,
-      inputs=[d.nefc, ctx.alpha, ctx.done],
-      outputs=[ctx.grad_dot, ctx.newton_decrement, ctx.grad_scale, ctx.search_unchanged],
-    )
-    wp.launch(
-      _update_gradient_grad(False),
-      dim=(d.nworld, m.nv),
-      inputs=[d.qfrc_smooth, d.qfrc_constraint, d.efc.Ma, d.nefc, ctx.done],
-      outputs=[ctx.grad, ctx.grad_dot],
-    )
-
-  if m.opt.solver == types.SolverType.CG:
-    if m.is_sparse and m.nflex > 0:
-      wp.launch(
-        _diag_precond_apply,
-        dim=(d.nworld, m.nv),
-        inputs=[m.body_simple, m.dof_bodyid, d.qLDiagInv, ctx.diag_precond, ctx.grad, ctx.done],
-        outputs=[ctx.Mgrad],
-      )
-    else:
-      smooth.solve_m(m, d, ctx.Mgrad, ctx.grad)
-  elif m.opt.solver == types.SolverType.NEWTON:
-    # h = M + (efc_J.T * efc_D * active) @ efc_J
-    sc = _sparse_compact(ctx)
-    if m.is_sparse or sc:
-      mj = ctx.compact_m_full if sc else m
-      dj = ctx.compact_d_full if sc else d
-      wp.launch(
-        _update_gradient_init_h_sparse(sc),
-        dim=(d.nworld, m.nv_pad, m.nv_pad),
-        inputs=[mj.nv, mj.M_elemid, dj.M, dj.cdof_dof, ctx.done],
-        outputs=[ctx.h],
-      )
-
-      groups_per_world = _jtdaj_groups_per_world(d.nworld, d.njmax)
-      max_condim = 3
-      if m.opt.cone == types.ConeType.ELLIPTIC and m.nmaxcondim > 3:
-        max_condim = int(m.nmaxcondim)
-      jtdaj_kernel = _JTDACJ_sparse(sc, m.opt.cone, max_condim)
-      jtdaj_inputs = [
-        m.opt.impratio_invsqrt,
-        d.contact.friction,
-        d.contact.dim,
-        d.efc.id,
-        dj.efc.jtdaj_adr,
-        dj.efc.jtdaj_nrow,
-        dj.efc.jtdaj_nblock,
-        dj.efc.J_rownnz,
-        dj.efc.J_rowadr,
-        dj.efc.J_colind,
-        dj.efc.J,
-        d.efc.D,
-        d.efc.state,
-        dj.dof_cdof,
-        ctx.Jaref,
-        ctx.done,
-        groups_per_world,
-      ]
-      elliptic = m.opt.cone == types.ConeType.ELLIPTIC
-      threads_per_group = 1 if elliptic and wp.get_device().is_cpu else _JTDAJ_THREADS_PER_GROUP
-      block_dim = threads_per_group if elliptic else mj.block_dim.update_gradient_JTDAJ_sparse
-      wp.launch(
-        jtdaj_kernel,
-        dim=(d.nworld, groups_per_world, threads_per_group),
-        inputs=jtdaj_inputs,
-        outputs=[ctx.h],
-        block_dim=block_dim,
-      )
-    else:
-      if compact:
-        # compact path: d.M is the dense 3D compact inertia block (nworld, nv_pad, nv_pad)
-        wp.launch_tiled(
-          _update_gradient_JTDAJ_dense_tiled_compact(m.nv_pad, types.TILE_SIZE_JTDAJ_DENSE, d.njmax),
-          dim=d.nworld,
-          inputs=[
-            d.nefc,
-            d.M,
-            d.efc.J,
-            d.efc.D,
-            d.efc.state,
-            ctx.done,
-          ],
-          outputs=[ctx.h],
-          block_dim=m.block_dim.update_gradient_JTDAJ_dense,
-        )
-      else:
-        wp.launch_tiled(
-          _update_gradient_JTDAJ_dense_tiled(m.nv_pad, types.TILE_SIZE_JTDAJ_DENSE, d.njmax, m.M_colind.shape[0]),
-          dim=d.nworld,
-          inputs=[
-            m.M_colind,
-            m.M_hinit_i,
-            d.nefc,
-            d.M,
-            d.efc.J,
-            d.efc.D,
-            d.efc.state,
-            ctx.done,
-          ],
-          outputs=[ctx.h],
-          block_dim=m.block_dim.update_gradient_JTDAJ_dense,
-        )
-
-    if m.opt.cone == types.ConeType.ELLIPTIC and not (m.is_sparse or sc):
-      # Optimization: launching update_gradient_JTCJ with limited number of blocks on a GPU.
-      # Profiling suggests that only a fraction of blocks out of the original
-      # d.njmax blocks do the actual work. It aims to minimize #CTAs with no
-      # effective work. It launches with #blocks that's proportional to the number
-      # of SMs on the GPU. We can now query the SM count:
-      # https://github.com/NVIDIA/warp/commit/f3814e7e5459e5fd13032cf0fddb3daddd510f30
-
-      if wp.get_device().is_cuda:
-        sm_count = wp.get_device().sm_count
-
-        # Here we assume one block has 256 threads. We use a factor of 6, which
-        # can be changed in the future to fine-tune the perf. The optimal factor will
-        # depend on the kernel's occupancy, which determines how many blocks can
-        # simultaneously run on the SM. TODO: This factor can be tuned further.
-        dim_block = ceil((sm_count * 6 * 256) / m.dof_tri_row.size)
-      else:
-        # fall back for CPU
-        dim_block = d.naconmax
-
-      nblocks_perblock = int((d.naconmax + dim_block - 1) / dim_block)
-
-      wp.launch(
-        _update_gradient_JTCJ_dense,
-        dim=(dim_block, m.dof_tri_row.size),
-        inputs=[
-          m.opt.impratio_invsqrt,
-          m.dof_tri_row,
-          m.dof_tri_col,
-          d.contact.dist,
-          d.contact.includemargin,
-          d.contact.friction,
-          d.contact.dim,
-          d.contact.efc_address,
-          d.contact.worldid,
-          d.efc.J,
-          d.efc.D,
-          d.efc.state,
-          d.naconmax,
-          d.nacon,
-          ctx.Jaref,
-          ctx.done,
-          nblocks_perblock,
-          dim_block,
-        ],
-        outputs=[ctx.h],
-      )
-
-    _cholesky_factorize_solve(m, d, ctx)
-  else:
-    raise ValueError(f"Unknown solver type: {m.opt.solver}")
-
-
-def _update_gradient_incremental(m: types.Model, d: types.Data, ctx: SolverContext, stable_fast: bool = False):
-  """Incremental gradient update: update H for changed constraints + re-factorize.
-
-  Skips the full J^T*D*J rebuild by applying only the delta from constraints
-  that changed QUADRATIC state, then re-factorizes and solves.
-  """
-  changed = ctx.state_changed_count if stable_fast else d.nefc
-  wp.launch(
-    _update_gradient_zero_grad_dot(stable_fast),
-    dim=d.nworld,
-    inputs=[changed, ctx.alpha, ctx.done],
-    outputs=[ctx.grad_dot, ctx.newton_decrement, ctx.grad_scale, ctx.search_unchanged],
-  )
-
-  wp.launch(
-    _update_gradient_grad(stable_fast),
-    dim=(d.nworld, m.nv),
-    inputs=[d.qfrc_smooth, d.qfrc_constraint, d.efc.Ma, changed, ctx.done],
-    outputs=[ctx.grad, ctx.grad_dot],
-  )
-
-  # Update upper triangle of H with delta from changed constraints.
-  sc = _sparse_compact(ctx)
-  if m.is_sparse or sc:
-    dj = ctx.compact_d_full if sc else d
-    slots = _jtdaj_groups_per_world(d.nworld, ctx.quad_changed_ids.shape[1])
-    wp.launch(
-      _update_gradient_h_incremental_sparse(sc),
-      dim=(d.nworld, slots, _JTDAJ_THREADS_PER_GROUP),
-      inputs=[
-        dj.efc.J_rownnz,
-        dj.efc.J_rowadr,
-        dj.efc.J_colind,
-        dj.efc.J,
-        d.efc.D,
-        d.efc.state,
-        dj.dof_cdof,
-        ctx.quad_changed_ids,
-        ctx.quad_changed_count,
-        slots,
-      ],
-      outputs=[ctx.h],
-    )
-  else:
-    tri_dim = m.nv * (m.nv + 1) // 2
-    wp.launch(
-      _update_gradient_h_incremental,
-      dim=(d.nworld, tri_dim),
-      inputs=[
-        d.efc.J,
-        d.efc.D,
-        d.efc.state,
-        ctx.quad_changed_ids,
-        ctx.quad_changed_count,
-      ],
-      outputs=[ctx.h],
-    )
-
-  _cholesky_factorize_solve(m, d, ctx, skip_unchanged=True, skip_noflip=stable_fast)
-
-
-@wp.kernel
-def _solve_beta_zero(
-  # Out:
-  ctx_beta_num_out: wp.array[float],
-  ctx_beta_den_out: wp.array[float],
-):
-  worldid = wp.tid()
-  ctx_beta_num_out[worldid] = 0.0
-  ctx_beta_den_out[worldid] = 0.0
-
-
-@wp.kernel
-def _solve_beta_accumulate_tiled(
-  # Model:
-  nv: int,
-  # In:
-  ctx_grad_in: wp.array2d[float],
-  ctx_Mgrad_in: wp.array2d[float],
-  ctx_prev_grad_in: wp.array2d[float],
-  ctx_prev_Mgrad_in: wp.array2d[float],
-  ctx_done_in: wp.array[bool],
-  # Out:
-  ctx_beta_num_out: wp.array[float],
-  ctx_beta_den_out: wp.array[float],
-):
-  worldid, tid = wp.tid()
-
-  if ctx_done_in[worldid]:
-    return
-
-  local_num = float(0.0)
-  local_den = float(0.0)
-  BLOCK_DIM = wp.block_dim()
-
-  for dofid in range(tid, nv, BLOCK_DIM):
-    prev_Mgrad = ctx_prev_Mgrad_in[worldid, dofid]
-    num = ctx_grad_in[worldid, dofid] * (ctx_Mgrad_in[worldid, dofid] - prev_Mgrad)
-    den = ctx_prev_grad_in[worldid, dofid] * prev_Mgrad
-    local_num += num
-    local_den += den
-
-  num_tile = wp.tile(local_num, preserve_type=True)
-  num_sum = wp.tile_reduce(wp.add, num_tile)
-
-  den_tile = wp.tile(local_den, preserve_type=True)
-  den_sum = wp.tile_reduce(wp.add, den_tile)
-
-  if tid == 0:
-    ctx_beta_num_out[worldid] = num_sum[0]
-    ctx_beta_den_out[worldid] = den_sum[0]
-
-
-@wp.kernel
-def _solve_beta_accumulate(
-  # In:
-  ctx_grad_in: wp.array2d[float],
-  ctx_Mgrad_in: wp.array2d[float],
-  ctx_prev_grad_in: wp.array2d[float],
-  ctx_prev_Mgrad_in: wp.array2d[float],
-  ctx_done_in: wp.array[bool],
-  # Out:
-  ctx_beta_num_out: wp.array[float],
-  ctx_beta_den_out: wp.array[float],
-):
-  worldid, dofid = wp.tid()
-
-  if ctx_done_in[worldid]:
-    return
-
-  prev_Mgrad = ctx_prev_Mgrad_in[worldid, dofid]
-  num = ctx_grad_in[worldid, dofid] * (ctx_Mgrad_in[worldid, dofid] - prev_Mgrad)
-  den = ctx_prev_grad_in[worldid, dofid] * prev_Mgrad
-  wp.atomic_add(ctx_beta_num_out, worldid, num)
-  wp.atomic_add(ctx_beta_den_out, worldid, den)
-
-
-@wp.kernel
-def _solve_search_update_cg_tiled(
-  # Model:
-  nv: int,
-  # In:
-  ctx_grad_in: wp.array2d[float],
-  ctx_Mgrad_in: wp.array2d[float],
-  ctx_search_in: wp.array2d[float],
-  ctx_beta_in: wp.array[float],
-  ctx_done_in: wp.array[bool],
-  # Out:
-  ctx_search_out: wp.array2d[float],
-  ctx_search_dot_out: wp.array[float],
-  ctx_prev_grad_out: wp.array2d[float],
-  ctx_prev_Mgrad_out: wp.array2d[float],
-):
-  worldid, tid = wp.tid()
-
-  if ctx_done_in[worldid]:
-    return
-
-  local_search_dot = float(0.0)
-  BLOCK_DIM = wp.block_dim()
-  beta = ctx_beta_in[worldid]
-
-  for dofid in range(tid, nv, BLOCK_DIM):
-    mgrad = ctx_Mgrad_in[worldid, dofid]
-    search = -1.0 * mgrad + beta * ctx_search_in[worldid, dofid]
-
-    ctx_search_out[worldid, dofid] = search
-    local_search_dot += search * search
-
-    ctx_prev_grad_out[worldid, dofid] = ctx_grad_in[worldid, dofid]
-    ctx_prev_Mgrad_out[worldid, dofid] = mgrad
-
-  search_dot_tile = wp.tile(local_search_dot, preserve_type=True)
-  search_dot_sum = wp.tile_reduce(wp.add, search_dot_tile)
-
-  if tid == 0:
-    ctx_search_dot_out[worldid] = search_dot_sum[0]
-
-
-@wp.kernel
-def _solve_cg_finalize(
-  # Model:
-  nv: int,
-  opt_tolerance: wp.array[float],
-  opt_iterations: int,
-  stat_meaninertia: wp.array[float],
-  # In:
-  ctx_beta_num_in: wp.array[float],
-  ctx_beta_den_in: wp.array[float],
-  ctx_improvement_in: wp.array[float],
-  ctx_done_in: wp.array[bool],
-  ctx_grad_dot_in: wp.array[float],
-  # Data out:
-  solver_niter_out: wp.array[int],
-  # Out:
-  ctx_beta_out: wp.array[float],
-  nsolving_out: wp.array[int],
-  ctx_done_out: wp.array[bool],
-):
-  worldid = wp.tid()
-
-  if ctx_done_in[worldid]:
-    return
-
-  # 1. solve_beta_finalize
-  ctx_beta_out[worldid] = wp.max(0.0, ctx_beta_num_in[worldid] / wp.max(types.MJ_MINVAL, ctx_beta_den_in[worldid]))
-
-  # 2. solve_done
-  solver_niter_out[worldid] += 1
-  tolerance = opt_tolerance[worldid % opt_tolerance.shape[0]]
-  meaninertia = stat_meaninertia[worldid % stat_meaninertia.shape[0]]
-
-  grad_dot = ctx_grad_dot_in[worldid]
-
-  improvement = _rescale(nv, meaninertia, ctx_improvement_in[worldid])
-  gradient = _rescale(nv, meaninertia, wp.sqrt(grad_dot))
-  done = (improvement < tolerance) or (gradient < tolerance)
-  if done or solver_niter_out[worldid] == opt_iterations:
-    ctx_done_out[worldid] = True
-    wp.atomic_add(nsolving_out, 0, -1)
-
-
-@wp.kernel
-def _solve_done(
-  # Model:
-  nv: int,
-  opt_tolerance: wp.array[float],
-  opt_iterations: int,
-  stat_meaninertia: wp.array[float],
-  # In:
-  ctx_grad_dot_in: wp.array[float],
-  ctx_newton_decrement_in: wp.array[float],
-  ctx_improvement_in: wp.array[float],
-  ctx_done_in: wp.array[bool],
-  # Data out:
-  solver_niter_out: wp.array[int],
-  # Out:
-  nsolving_out: wp.array[int],
-  ctx_done_out: wp.array[bool],
-):
-  worldid = wp.tid()
-
-  if ctx_done_in[worldid]:
-    return
-
-  solver_niter_out[worldid] += 1
-  tolerance = opt_tolerance[worldid % opt_tolerance.shape[0]]
-  meaninertia = stat_meaninertia[worldid % stat_meaninertia.shape[0]]
-
-  improvement = _rescale(nv, meaninertia, ctx_improvement_in[worldid])
-  gradient = _rescale(nv, meaninertia, wp.sqrt(ctx_grad_dot_in[worldid]))
-  model_improvement = _rescale(nv, meaninertia, 0.5 * ctx_newton_decrement_in[worldid])
-  done = (improvement < tolerance) or (gradient < tolerance) or (model_improvement < tolerance)
-  if done or solver_niter_out[worldid] == opt_iterations:
-    # if the solver has converged or the maximum number of iterations has been reached then
-    # mark this world as done and remove it from the number of unconverged worlds
-    ctx_done_out[worldid] = True
-    wp.atomic_add(nsolving_out, 0, -1)
-
-
-# The linesearch runs in ray units anchored at the last gradient rebuild, and
-# its bracketing arithmetic cannot resolve steps below ~eps times the gross
-# derivative-term magnitude over the curvature (see _linesearch_iterative_kernel).
-# A world whose tolerance sits below that floor could never terminate on the
-# stale ray; rebuilding re-anchors the arithmetic at the current (much smaller)
-# gradient scale. The 8 is an allowance for the reduction depth of the sums.
-_ALPHA_NOISE_EPS = 8.0 * 1.1920929e-07  # 8 * float32 eps
-
-
-def _use_incremental(m: types.Model) -> bool:
-  """Whether constraint state changes are tracked for incremental H updates."""
-  return m.opt.solver == types.SolverType.NEWTON and m.opt.cone != types.ConeType.ELLIPTIC
-
-
-@wp.kernel(grid_stride=True)
-def _zero_change_counters(
-  # Out:
-  quad_changed_count_out: wp.array[int],
-  state_changed_count_out: wp.array[int],
-):
-  worldid = wp.tid()
-  quad_changed_count_out[worldid] = 0
-  state_changed_count_out[worldid] = 0
-
-
-@event_scope
-def _solver_iteration(
-  m: types.Model,
-  d: types.Data,
-  ctx: SolverContext,
-  nsolving: wp.array[int],
-  compact: bool = False,
-):
-  _linesearch(m, d, ctx)
-
-  # Incremental H is only valid for non-elliptic cones. The elliptic cone
-  # path in _update_constraint_efc has early returns that skip state change
-  # tracking, and the additional JTCJ Hessian term depends on Jaref which
-  # changes every iteration.
-  incremental = _use_incremental(m)
-
-  if incremental:
-    # Must complete before _update_constraint_efc which atomically increments.
-    wp.launch(
-      _zero_change_counters,
-      dim=d.nworld,
-      outputs=[ctx.quad_changed_count, ctx.state_changed_count],
-    )
-
-  # The tracking also enables the stable-state fast path: worlds with no state
-  # flips this iteration were exactly quadratic over the step, so grad/search
-  # only changed by a scalar along the same ray. Skip their qfrc/grad/
-  # solve/search updates and track the scalar in ctx.grad_scale.
-  _update_constraint(m, d, ctx, track_changes=incremental, stable_fast=incremental)
-
-  if incremental:
-    _update_gradient_incremental(m, d, ctx, stable_fast=incremental)
-  else:
-    _update_gradient(m, d, ctx, compact=compact)
-
-  # polak-ribiere
-  if m.opt.solver == types.SolverType.CG:
-    wp.launch(
-      _solve_beta_zero,
-      dim=d.nworld,
-      outputs=[ctx.beta, ctx.beta_den],
-    )
-    wp.launch_tiled(
-      _solve_beta_accumulate_tiled,
-      dim=d.nworld,
-      inputs=[m.nv, ctx.grad, ctx.Mgrad, ctx.prev_grad, ctx.prev_Mgrad, ctx.done],
-      outputs=[ctx.beta, ctx.beta_den],
-      block_dim=m.block_dim.solve_beta_accumulate,
-    )
-    wp.launch(
-      _solve_cg_finalize,
-      dim=d.nworld,
-      inputs=[
-        m.nv,
-        m.opt.tolerance,
-        m.opt.iterations,
-        m.stat.meaninertia,
-        ctx.beta,
-        ctx.beta_den,
-        ctx.improvement,
-        ctx.done,
-        ctx.grad_dot,
-      ],
-      outputs=[
-        d.solver_niter,
-        ctx.beta,
-        nsolving,
-        ctx.done,
-      ],
-    )
-    wp.launch_tiled(
-      _solve_search_update_cg_tiled,
-      dim=d.nworld,
-      inputs=[m.nv, ctx.grad, ctx.Mgrad, ctx.search, ctx.beta, ctx.done],
-      outputs=[ctx.search, ctx.search_dot, ctx.prev_grad, ctx.prev_Mgrad],
-      block_dim=m.block_dim.solve_search_update_cg,
-    )
-
-  else:
-    wp.launch(
-      _solve_done,
-      dim=d.nworld,
-      inputs=[
-        m.nv,
-        m.opt.tolerance,
-        m.opt.iterations,
-        m.stat.meaninertia,
-        ctx.grad_dot,
-        ctx.newton_decrement,
-        ctx.improvement,
-        ctx.done,
-      ],
-      outputs=[d.solver_niter, nsolving, ctx.done],
-    )
-
-
-def init_context(m: types.Model, d: types.Data, ctx: SolverContext | InverseContext, grad: bool = True, compact: bool = False):
-  # initialize some efc arrays
-  wp.launch(
-    _solve_init_efc,
-    dim=d.nworld,
-    outputs=[d.solver_niter, ctx.search_dot, ctx.done],
-  )
-
-  # jaref = d.efc_J @ d.qacc - d.efc_aref
-
-  # if we are only using 1 thread, it makes sense to do more dofs as we can also skip the
-  # init kernel. For more than 1 thread, dofs_per_thread is lower for better load balancing.
-
-  if m.is_sparse:
-    # Sparse J has few nonzeros per row, one thread handles them all.
-    dofs_per_thread = m.nv
-    threads_per_efc = 1
-  elif m.nv > 50:
-    dofs_per_thread = 20
-    threads_per_efc = ceil(m.nv / dofs_per_thread)
-  else:
-    dofs_per_thread = 50
-    threads_per_efc = ceil(m.nv / dofs_per_thread)
-  # we need to clear the jaref array if we're doing atomic adds.
-  if threads_per_efc > 1:
-    ctx.Jaref.zero_()
-
-  sc = _sparse_compact(ctx)
-  dj = ctx.compact_d_full if sc else d
-  if sc:
-    dofs_per_thread = m.nv
-    threads_per_efc = 1
-  wp.launch(
-    _solve_init_jaref_kernel(sc or m.is_sparse, m.nv, dofs_per_thread, sc),
-    dim=(d.nworld, d.njmax, threads_per_efc),
-    inputs=[d.nefc, d.qacc, dj.efc.J_rownnz, dj.efc.J_rowadr, dj.efc.J_colind, dj.efc.J, d.efc.aref, dj.dof_cdof],
-    outputs=[ctx.Jaref],
-  )
-
-  # Ma = M @ qacc
-  _mul_m_compact_aware(m, d, ctx, d.efc.Ma, d.qacc, ctx.done)
-
-  _update_constraint(m, d, ctx)
-
-  # Build diagonal preconditioner (once per step).
-  if m.is_sparse and m.nflex > 0:
-    ctx.diag_precond = wp.empty(shape=(d.nworld, m.nv), dtype=float)
-    wp.launch(
-      _diag_precond_build,
-      dim=(d.nworld, m.nv),
-      inputs=[m.body_simple, m.dof_bodyid, m.M_rownnz, m.M_rowadr, d.M, ctx.done],
-      outputs=[ctx.diag_precond],
-    )
-    wp.launch(
-      _diag_precond_add_JTDJ,
-      dim=(d.nworld, d.njmax),
-      inputs=[m.body_simple, m.dof_bodyid, d.nefc, d.efc.J_rownnz, d.efc.J_rowadr, d.efc.J_colind, d.efc.J, d.efc.D, ctx.done],
-      outputs=[ctx.diag_precond],
-    )
-
-  if grad:
-    _update_gradient(m, d, ctx, compact=compact)
-
-
-@event_scope
-def solve(m: types.Model, d: types.Data):
-  if m.opt.enableflags & types.EnableBit.SLEEP:
-    # Self-contained like the island branch below: rebuild the active-DOF mapping from
-    # tree_awake so solve() works when called directly (not only via fwd_acceleration).
-    island.update_active_dofs(m, d)
-    solve_compact(m, d)
-    if m.ntree > 1:
-      island.compute_island_mapping(m, d)
-    return
-
-  if d.njmax == 0 or m.nv == 0:
-    wp.copy(d.qacc, d.qacc_smooth)
-    d.solver_niter.fill_(0)
-  else:
-    ctx = _create_solver_context(m, d)
-    _solve(m, d, ctx)
-
-
-def _solve(m: types.Model, d: types.Data, ctx: SolverContext, compact: bool = False):
-  """Finds forces that satisfy constraints."""
-  warmstart = not (m.opt.disableflags & types.DisableBit.WARMSTART)
-  wp.launch(
-    _solve_init_dof(warmstart, m.is_sparse),
-    dim=(d.nworld, m.nv),
-    inputs=[d.nefc, d.qacc_warmstart, d.qacc_smooth],
-    outputs=[d.qacc, d.qfrc_constraint],
-  )
-
-  #  context
-  init_context(m, d, ctx, grad=True, compact=compact)
-
-  if _use_incremental(m):
-    # A new solve computes a new search direction: invalidate the mv/jv reuse
-    # left over from the previous solve.
-    ctx.search_unchanged.zero_()
-
-  # CG search = -Mgrad
-  if m.opt.solver == types.SolverType.CG:
-    wp.launch_tiled(
-      _solve_init_search_cg_tiled,
-      dim=d.nworld,
-      inputs=[m.nv, ctx.grad, ctx.Mgrad],
-      outputs=[ctx.search, ctx.search_dot, ctx.prev_grad, ctx.prev_Mgrad],
-      block_dim=m.block_dim.solve_init_search_cg,
-    )
-
-  nsolving = wp.full(shape=(1,), value=d.nworld, dtype=int)
-  if m.opt.iterations != 0 and m.opt.graph_conditional:
-    # Note: the iteration kernel (indicated by while_body) is repeatedly launched
-    # as long as condition_iteration is not zero.
-    # condition_iteration is a warp array of size 1 and type int, it counts the number
-    # of worlds that are not converged, it becomes 0 when all worlds are converged.
-    # When the number of iterations reaches m.opt.iterations, solver_niter
-    # becomes zero and all worlds are marked as converged to avoid an infinite loop.
-    # note: we only launch the iteration kernel if everything is not done
-    wp.capture_while(nsolving, while_body=_solver_iteration, m=m, d=d, ctx=ctx, nsolving=nsolving, compact=compact)
-  else:
-    # This branch is mostly for when JAX is used as it is currently not compatible
-    # with CUDA graph conditional.
-    # It should be removed when JAX becomes compatible.
-    for _ in range(m.opt.iterations):
-      _solver_iteration(m, d, ctx, nsolving, compact=compact)
-
-  # Recover qfrc_constraint (the compacted buffer when run under solve_compact):
-  # the fast path leaves it stale, and the per-iteration zeroing wiped it for
-  # worlds that converged early.
-  if _use_incremental(m):
-    wp.launch(
-      _qfrc_constraint_from_grad,
-      dim=(d.nworld, m.nv),
-      inputs=[d.qfrc_smooth, d.efc.Ma, ctx.grad, ctx.grad_scale],
-      outputs=[d.qfrc_constraint],
-    )
-
-
-# Active-DOF compaction solve (nvmax < nv).
-#
-# When fewer than nv DOFs are active, the active set is packed into a contiguous
-# [0, ncdof) range (see island.update_active_dofs) and the dense factor/solve runs at
-# size nvmax_pad instead of nv. The compacted workspace lives on Data as c* fields
-# (mirroring the island-local i* fields). The constrained solve gathers into compacted
-# arrays, shallow-replaces (m, d) so the stock dense Newton solver runs at nvmax_pad,
-# then scatters qacc/qfrc_constraint back, freezing inactive DOFs to 0.
-
-
-@wp.kernel
-def _init_compact_inertia(
-  # Data in:
-  ncdof_in: wp.array[int],
-  # Out:
-  M_c_out: wp.array3d[float],
-):
-  worldid, i, j = wp.tid()
-  val = 0.0
-  if i == j and i >= ncdof_in[worldid]:
-    val = 1.0
-  M_c_out[worldid, i, j] = val
-
-
-@wp.kernel
-def _mul_m_sparse_compact(
-  # Model:
-  M_mulm_rowadr: wp.array[int],
-  M_mulm_col: wp.array[int],
-  M_mulm_madr: wp.array[int],
-  # Data in:
-  M_in: wp.array2d[float],
-  dof_cdof_in: wp.array2d[int],
-  cdof_dof_in: wp.array2d[int],
-  # In:
-  vec: wp.array2d[float],
-  skip: wp.array[bool],
-  # Out:
-  res: wp.array2d[float],
-):
-  """Compacted res = M @ vec via the full-coordinate sparse M (no gathered cM)."""
-  worldid, ci = wp.tid()
-
-  if skip[worldid]:
-    return
-
-  dof = cdof_dof_in[worldid, ci]
-  if dof < 0:
-    res[worldid, ci] = 0.0
-    return
-
-  acc = float(0.0)
-  start = M_mulm_rowadr[dof]
-  end = M_mulm_rowadr[dof + 1]
-  for k in range(start, end):
-    # tree-internal columns are awake with the row; guard like _gather_M_sparse
-    # in case M ever carries cross-tree entries (their gathered value is zero)
-    cj = dof_cdof_in[worldid, M_mulm_col[k]]
-    if cj >= 0:
-      acc += M_in[worldid, M_mulm_madr[k]] * vec[worldid, cj]
-  res[worldid, ci] = acc
-
-
-def _sparse_compact(ctx: SolverContext | InverseContext) -> bool:
-  """Whether this solve is compact over a sparse full model (full J structures exist)."""
-  return ctx.compact_d_full is not None and ctx.compact_m_full.is_sparse
-
-
-def _mul_m_compact_aware(m: types.Model, d: types.Data, ctx: SolverContext | InverseContext, res, vec, skip):
-  """M @ vec: full-coordinate sparse walk under compact, support.mul_m natively."""
-  dfull = ctx.compact_d_full
-  if dfull is not None:
-    mfull = ctx.compact_m_full
-    wp.launch(
-      _mul_m_sparse_compact,
-      dim=(d.nworld, m.nv),
-      inputs=[
-        mfull.M_mulm_rowadr,
-        mfull.M_mulm_col,
-        mfull.M_mulm_madr,
-        dfull.M,
-        dfull.dof_cdof,
-        dfull.cdof_dof,
-        vec,
-        skip,
-      ],
-      outputs=[res],
-    )
-  else:
-    support.mul_m(m, d, res, vec, skip=skip)
-
-
-@wp.kernel
-def _gather_M_sparse(
-  # Model:
-  M_rownnz: wp.array[int],
-  M_rowadr: wp.array[int],
-  M_colind: wp.array[int],
-  # Data in:
-  M_in: wp.array2d[float],
-  dof_cdof_in: wp.array2d[int],
-  # Out:
-  M_c_out: wp.array3d[float],
-):
-  worldid, i = wp.tid()
-  ci = dof_cdof_in[worldid, i]
-  if ci < 0:
-    return
-  rowadr = M_rowadr[i]
-  for k in range(M_rownnz[i]):
-    adr = rowadr + k
-    cj = dof_cdof_in[worldid, M_colind[adr]]
-    if cj >= 0:
-      val = M_in[worldid, adr]
-      M_c_out[worldid, ci, cj] = val
-      M_c_out[worldid, cj, ci] = val
-
-
-@wp.kernel
-def _gather_rhs_compact(
-  # Data in:
-  cdof_dof_in: wp.array2d[int],
-  # In:
-  vec_in: wp.array2d[float],
-  # Out:
-  rhs_out: wp.array3d[float],
-):
-  worldid, ci = wp.tid()
-  dof = cdof_dof_in[worldid, ci]
-  if dof >= 0:
-    rhs_out[worldid, ci, 0] = vec_in[worldid, dof]
-  else:
-    rhs_out[worldid, ci, 0] = 0.0
-
-
-@wp.kernel
-def _scatter_solution(
-  # Data in:
-  dof_cdof_in: wp.array2d[int],
-  # In:
-  x_in: wp.array3d[float],
-  # Out:
-  vec_out: wp.array2d[float],
-):
-  worldid, i = wp.tid()
-  ci = dof_cdof_in[worldid, i]
-  if ci >= 0:
-    vec_out[worldid, i] = x_in[worldid, ci, 0]
-  else:
-    vec_out[worldid, i] = 0.0  # frozen inactive DOF
-
-
-@event_scope
-def smooth_solve_compact(m: types.Model, d: types.Data):
-  """Compacted equivalent of solve_m: qacc_smooth[active] = cM^-1 qfrc_smooth[active].
-
-  Inactive DOFs are frozen (qacc_smooth set to 0). Reads the sparse Model inertia.
-  """
-  wp.launch(
-    _init_compact_inertia,
-    dim=(d.nworld, d.nvmax_pad, d.nvmax_pad),
-    inputs=[d.ncdof],
-    outputs=[d.cM],
-  )
-  wp.launch(
-    _gather_M_sparse,
-    dim=(d.nworld, m.nv),
-    inputs=[m.M_rownnz, m.M_rowadr, m.M_colind, d.M, d.dof_cdof],
-    outputs=[d.cM],
-  )
-  wp.launch(
-    _gather_rhs_compact,
-    dim=(d.nworld, d.nvmax_pad),
-    inputs=[d.cdof_dof, d.qfrc_smooth],
-    outputs=[d.crhs],
-  )
-  wp.launch_tiled(
-    _cholesky_factorize_solve_blocked(types.TILE_SIZE_JTDAJ_DENSE, d.nvmax_pad),
-    dim=d.nworld,
-    inputs=[d.cM, d.crhs],
-    outputs=[d.cqLD, d.cx],
-    block_dim=m.block_dim.update_gradient_cholesky_blocked,
-  )
-  wp.launch(_scatter_solution, dim=(d.nworld, m.nv), inputs=[d.dof_cdof, d.cx], outputs=[d.qacc_smooth])
-
-
-@wp.kernel
-def _gather_dof_vecs_compact(
-  # Data in:
-  qacc_warmstart_in: wp.array2d[float],
-  qfrc_smooth_in: wp.array2d[float],
-  qacc_smooth_in: wp.array2d[float],
-  cdof_dof_in: wp.array2d[int],
-  # Out:
-  qfrc_smooth_c_out: wp.array2d[float],
-  qacc_smooth_c_out: wp.array2d[float],
-  qacc_warmstart_c_out: wp.array2d[float],
-):
-  worldid, ci = wp.tid()
-  dof = cdof_dof_in[worldid, ci]
-  if dof >= 0:
-    qfrc_smooth_c_out[worldid, ci] = qfrc_smooth_in[worldid, dof]
-    qacc_smooth_c_out[worldid, ci] = qacc_smooth_in[worldid, dof]
-    qacc_warmstart_c_out[worldid, ci] = qacc_warmstart_in[worldid, dof]
-  else:
-    qfrc_smooth_c_out[worldid, ci] = 0.0
-    qacc_smooth_c_out[worldid, ci] = 0.0
-    qacc_warmstart_c_out[worldid, ci] = 0.0
-
-
-@wp.kernel
-def _scatter_dof_vecs(
-  # Data in:
-  dof_cdof_in: wp.array2d[int],
-  # In:
-  qacc_c_in: wp.array2d[float],
-  qfrc_constraint_c_in: wp.array2d[float],
-  # Data out:
-  qacc_out: wp.array2d[float],
-  qfrc_constraint_out: wp.array2d[float],
-):
-  worldid, i = wp.tid()
-  ci = dof_cdof_in[worldid, i]
-  if ci >= 0:
-    qacc_out[worldid, i] = qacc_c_in[worldid, ci]
-    qfrc_constraint_out[worldid, i] = qfrc_constraint_c_in[worldid, ci]
-  else:
-    qacc_out[worldid, i] = 0.0
-    qfrc_constraint_out[worldid, i] = 0.0
-
-
-@wp.kernel
-def _gather_J_sparse(
-  # Data in:
-  nefc_in: wp.array[int],
-  dof_cdof_in: wp.array2d[int],
-  # In:
-  J_rownnz_in: wp.array2d[int],
-  J_rowadr_in: wp.array2d[int],
-  J_colind_in: wp.array3d[int],
-  J_in: wp.array3d[float],
-  # Out:
-  J_c_out: wp.array3d[float],
-):
-  worldid, efcid = wp.tid()
-  if efcid >= nefc_in[worldid]:
-    return
-  rowadr = J_rowadr_in[worldid, efcid]
-  for k in range(J_rownnz_in[worldid, efcid]):
-    adr = rowadr + k
-    cj = dof_cdof_in[worldid, J_colind_in[worldid, 0, adr]]
-    if cj >= 0:
-      J_c_out[worldid, efcid, cj] = J_in[worldid, 0, adr]
-
-
-@wp.kernel
-def _gather_J_dense(
-  # Data in:
-  nefc_in: wp.array[int],
-  dof_cdof_in: wp.array2d[int],
-  # In:
-  J_in: wp.array3d[float],
-  # Out:
-  J_c_out: wp.array3d[float],
-):
-  worldid, efcid = wp.tid()
-  if efcid >= nefc_in[worldid]:
-    return
-  nv = dof_cdof_in.shape[1]
-  for j in range(nv):
-    cj = dof_cdof_in[worldid, j]
-    if cj >= 0:
-      J_c_out[worldid, efcid, cj] = J_in[worldid, efcid, j]
-
-
-@event_scope
-def solve_compact(m: types.Model, d: types.Data):
-  """Run the dense Newton constraint solver in compacted DOF space.
-
-  Gathers the active-DOF inertia, constraint Jacobian, and smooth/warmstart vectors
-  into nvmax_pad-sized dense workspaces, runs the stock dense Newton solver on a
-  shallow-replaced (m, d) at nvmax_pad, then scatters qacc/qfrc_constraint back.
-  Inactive DOFs are frozen to 0. On the incremental Newton path the solver
-  kernels read the sparse M and J directly through the compaction maps.
-  """
-  _compact_gather(m, d)
-
-  # shallow-replace (m, d) so the stock dense Newton solver runs at nvmax_pad.
-  # Keep graph-conditional early-exit on CUDA (matches baseline: stops at convergence
-  # instead of running all iterations); fall back to the plain loop on CPU.
-  nvp = d.nvmax_pad
-  gc = m.opt.graph_conditional and wp.get_device().is_cuda
-  opt2 = dataclasses.replace(m.opt, graph_conditional=gc, tolerance=d.ctol, ls_tolerance=d.cls_tol)
-  m2 = dataclasses.replace(
-    m, opt=opt2, nv=nvp, nv_pad=nvp, is_sparse=False, dof_tri_row=d.cdof_tri_row, dof_tri_col=d.cdof_tri_col
-  )
-  efc2 = dataclasses.replace(d.efc, J=d.cJ, Ma=d.cMa)
-  d2 = dataclasses.replace(
-    d,
-    M=d.cM,
-    qfrc_smooth=d.cqfrc_smooth,
-    qacc_smooth=d.cqacc_smooth,
-    qacc_warmstart=d.cqacc_warmstart,
-    qacc=d.cqacc,
-    qfrc_constraint=d.cqfrc_constraint,
-    efc=efc2,
-  )
-
-  sctx = _create_solver_context(m2, d2)
-  # compact kernels read the full-coordinate sparse structures (M, J) through
-  # the compaction maps instead of dense products on gathered blocks
-  sctx.compact_m_full = m
-  sctx.compact_d_full = d
-  _solve(m2, d2, sctx, compact=True)
-
-  _compact_scatter(m, d)
-
-
-@event_scope
-def _compact_gather(m: types.Model, d: types.Data):
-  nvp = d.nvmax_pad
-  # gather compacted dense inertia and Jacobian only for dense models;
-  # sparse models read sparse M and J directly through compaction maps
-  if not m.is_sparse:
-    wp.launch(
-      _init_compact_inertia,
-      dim=(d.nworld, nvp, nvp),
-      inputs=[d.ncdof],
-      outputs=[d.cM],
-    )
-    wp.launch(
-      _gather_M_sparse,
-      dim=(d.nworld, m.nv),
-      inputs=[m.M_rownnz, m.M_rowadr, m.M_colind, d.M, d.dof_cdof],
-      outputs=[d.cM],
-    )
-    d.cJ.zero_()
-    wp.launch(
-      _gather_J_dense,
-      dim=(d.nworld, d.njmax),
-      inputs=[d.nefc, d.dof_cdof, d.efc.J],
-      outputs=[d.cJ],
-    )
-  # gather compacted DOF-space vectors in a single launch
-  wp.launch(
-    _gather_dof_vecs_compact,
-    dim=(d.nworld, nvp),
-    inputs=[
-      d.qacc_warmstart,
-      d.qfrc_smooth,
-      d.qacc_smooth,
-      d.cdof_dof,
-    ],
-    outputs=[
-      d.cqfrc_smooth,
-      d.cqacc_smooth,
-      d.cqacc_warmstart,
-    ],
-  )
-
-
-@event_scope
-def _compact_scatter(m: types.Model, d: types.Data):
-  # scatter results back to full DOF space (inactive frozen to 0) in one launch
-  wp.launch(
-    _scatter_dof_vecs,
-    dim=(d.nworld, m.nv),
-    inputs=[d.dof_cdof, d.cqacc, d.cqfrc_constraint],
-    outputs=[d.qacc, d.qfrc_constraint],
-  )
-
-  # Refresh full d.efc.Ma = M @ qacc. The integrators (Euler/implicit damping) use Ma as
-  # the RHS; the compact solve only populated the compacted Ma, so recompute it in full
-  # space. Inactive DOFs have qacc=0 so their Ma is 0 and they stay frozen.
-  support.mul_m(m, d, d.efc.Ma, d.qacc)
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/support.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/support.py
deleted file mode 100644
index 5177906f..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/support.py
+++ /dev/null
@@ -1,1280 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-from typing import Optional, Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src.math import motion_cross
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import DynType
-from mujoco.mjx.third_party.mujoco_warp._src.types import JointType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
-from mujoco.mjx.third_party.mujoco_warp._src.types import State
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec10
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-
-wp.set_module_options({"enable_backward": False, "default_grid_stride": False})
-
-
-# TODO(team): kernel analyzer array slice?
-@wp.func
-def next_act(
-  # Model:
-  opt_timestep: float,  # kernel_analyzer: ignore
-  actuator_dyntype: int,  # kernel_analyzer: ignore
-  actuator_dynprm: vec10,  # kernel_analyzer: ignore
-  actuator_actrange: wp.vec2,  # kernel_analyzer: ignore
-  # Data In:
-  act_in: float,  # kernel_analyzer: ignore
-  act_dot_in: float,  # kernel_analyzer: ignore
-  # In:
-  act_dot_scale: float,
-  clamp: bool,
-) -> float:
-  # advance actuation
-  if actuator_dyntype == DynType.FILTEREXACT:
-    tau = wp.max(MJ_MINVAL, actuator_dynprm[0])
-    act = act_in + act_dot_scale * act_dot_in * tau * (1.0 - wp.exp(-opt_timestep / tau))
-  elif actuator_dyntype == DynType.USER:
-    return act_in
-  else:
-    act = act_in + act_dot_scale * act_dot_in * opt_timestep
-
-  # clamp to actrange
-  if clamp:
-    act = wp.clamp(act, actuator_actrange[0], actuator_actrange[1])
-
-  return act
-
-
-@wp.func
-def mat33_to_quat_polar(F: wp.mat33) -> wp.quat:
-  cell_quat = wp.quat(0.0, 0.0, 0.0, 1.0)
-  for _iter in range(50):
-    rot = wp.quat_to_matrix(cell_quat)
-    rot_t = wp.transpose(rot)
-    col1_rot = rot_t[0]
-    col2_rot = rot_t[1]
-    col3_rot = rot_t[2]
-    F_t = wp.transpose(F)
-    col1_mat = F_t[0]
-    col2_mat = F_t[1]
-    col3_mat = F_t[2]
-
-    omega = wp.cross(col1_rot, col1_mat) + wp.cross(col2_rot, col2_mat) + wp.cross(col3_rot, col3_mat)
-    denom = wp.abs(wp.dot(col1_rot, col1_mat) + wp.dot(col2_rot, col2_mat) + wp.dot(col3_rot, col3_mat)) + 1.0e-10
-    omega = omega / denom
-
-    w = wp.length(omega)
-    if w < 1.0e-6:
-      break
-
-    axis = omega / w
-    half_w = 0.5 * w
-    qrot = wp.quat(
-      axis[0] * wp.sin(half_w),
-      axis[1] * wp.sin(half_w),
-      axis[2] * wp.sin(half_w),
-      wp.cos(half_w),
-    )
-    cell_quat = wp.normalize(qrot * cell_quat)
-  return cell_quat
-
-
-@wp.func
-def compute_interp_cell_quat(
-  # Data in:
-  flexnode_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  order: int,
-  ci: int,
-  cj: int,
-  ck: int,
-  cy: int,
-  cz: int,
-  ny_g: int,
-  nz_g: int,
-  nstart: int,
-  worldid: int,
-) -> wp.quat:
-  """Computes corotational cell quaternion from deformation gradient at cell center."""
-  npc = (order + 1) * (order + 1) * (order + 1)
-  F = wp.mat33(0.0)
-  idx = int(0)
-  for li in range(order + 1):
-    for lj in range(order + 1):
-      for lk in range(order + 1):
-        if idx < npc:
-          gi = ci * order + li
-          gj = cj * order + lj
-          gk = ck * order + lk
-          gidx = gi * ny_g * nz_g + gj * nz_g + gk
-
-          node_pos = flexnode_xpos_in[worldid, nstart + gidx]
-
-          dphi_x = float(-1) if li == 0 else float(1)
-          dphi_y = float(-1) if lj == 0 else float(1)
-          dphi_z = float(-1) if lk == 0 else float(1)
-          phi_x = float(0.5)
-          phi_y = float(0.5)
-          phi_z = float(0.5)
-
-          grad_x = dphi_x * phi_y * phi_z
-          grad_y = phi_x * dphi_y * phi_z
-          grad_z = phi_x * phi_y * dphi_z
-
-          for r in range(3):
-            F[r, 0] += node_pos[r] * grad_x
-            F[r, 1] += node_pos[r] * grad_y
-            F[r, 2] += node_pos[r] * grad_z
-
-          idx += 1
-
-  return mat33_to_quat_polar(F)
-
-
-@cache_kernel
-def mul_m_kernel(check_skip: bool):
-  @wp.kernel(module="unique", grid_stride=False)
-  def _mul_m(
-    # Model:
-    M_mulm_rowadr: wp.array[int],
-    M_mulm_col: wp.array[int],
-    M_mulm_madr: wp.array[int],
-    # Data in:
-    M_in: wp.array2d[float],
-    # In:
-    vec: wp.array2d[float],
-    skip: wp.array[bool],
-    # Out:
-    res: wp.array2d[float],
-  ):
-    """Sparse matmul: one thread per DOF, gather-based (no atomics)."""
-    worldid, dofid = wp.tid()
-
-    if wp.static(check_skip):
-      if skip[worldid]:
-        return
-
-    # Gather all contributions (diagonal + off-diagonal).
-    acc = float(0.0)
-    start = M_mulm_rowadr[dofid]
-    end = M_mulm_rowadr[dofid + 1]
-    for k in range(start, end):
-      col = M_mulm_col[k]
-      madr = M_mulm_madr[k]
-      acc += M_in[worldid, madr] * vec[worldid, col]
-
-    res[worldid, dofid] = acc
-
-  return _mul_m
-
-
-@cache_kernel
-def mul_m_dense(nv: int, check_skip: bool):
-  @wp.kernel(module="unique", grid_stride=False)
-  def _mul_m_dense(
-    # Data in:
-    M_in: wp.array3d[float],  # kernel_analyzer: ignore
-    # In:
-    vec: wp.array2d[float],
-    skip: wp.array[bool],
-    # Out:
-    res: wp.array2d[float],
-  ):
-    """Dense matmul for the compact active-DOF inertia block (nworld, nv, nv)."""
-    worldid, i = wp.tid()
-
-    if wp.static(check_skip):
-      if skip[worldid]:
-        return
-
-    acc = float(0.0)
-    for j in range(wp.static(nv)):
-      acc += M_in[worldid, i, j] * vec[worldid, j]
-    res[worldid, i] = acc
-
-  return _mul_m_dense
-
-
-@event_scope
-def mul_m(
-  m: Model,
-  d: Data,
-  res: wp.array2d[float],
-  vec: wp.array2d[float],
-  skip: Optional[wp.array] = None,
-  M: Optional[wp.array] = None,
-):
-  """Multiply vectors by inertia matrix; optionally skip per world.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-    res: Result: M @ vec.
-    vec: Input vector to multiply by M.
-    skip: Per-world bitmask to skip computing output.
-    M: Input matrix: M @ vec.
-  """
-  check_skip = skip is not None
-  skip = skip or wp.empty(0, dtype=bool)
-
-  if M is None:
-    M = d.M
-
-  if M.ndim == 3:
-    # Dense compact active-DOF block (nworld, nv, nv) used by the compact solver.
-    wp.launch(
-      mul_m_dense(m.nv, check_skip),
-      dim=(d.nworld, m.nv),
-      inputs=[M, vec, skip],
-      outputs=[res],
-    )
-  else:
-    wp.launch(
-      mul_m_kernel(check_skip),
-      dim=(d.nworld, m.nv),
-      inputs=[m.M_mulm_rowadr, m.M_mulm_col, m.M_mulm_madr, M, vec, skip],
-      outputs=[res],
-    )
-
-
-@wp.kernel
-def _apply_ft(
-  # Model:
-  nbody: int,
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  dof_bodyid: wp.array[int],
-  # Data in:
-  xipos_in: wp.array2d[wp.vec3],
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # In:
-  ft_in: wp.array2d[wp.spatial_vector],
-  flg_add: bool,
-  # Out:
-  qfrc_out: wp.array2d[float],
-):
-  worldid, dofid = wp.tid()
-  cdof = cdof_in[worldid, dofid]
-  rotational_cdof = wp.vec3(cdof[0], cdof[1], cdof[2])
-  jac = wp.spatial_vector(cdof[3], cdof[4], cdof[5], cdof[0], cdof[1], cdof[2])
-
-  dofbodyid = dof_bodyid[dofid]
-  accumul = float(0.0)
-
-  for bodyid in range(dofbodyid, nbody):
-    ft_body = ft_in[worldid, bodyid]
-    if ft_body == wp.spatial_vector():
-      continue
-    # any body that is in the subtree of dofbodyid is part of the jacobian
-    parentid = bodyid
-    while parentid != 0 and parentid != dofbodyid:
-      parentid = body_parentid[parentid]
-    if parentid == 0:
-      continue  # body is not part of the subtree
-    offset = xipos_in[worldid, bodyid] - subtree_com_in[worldid, body_rootid[bodyid]]
-    cross_term = wp.cross(rotational_cdof, offset)
-    accumul += wp.dot(jac, ft_body) + wp.dot(cross_term, wp.spatial_top(ft_body))
-
-  if flg_add:
-    qfrc_out[worldid, dofid] += accumul
-  else:
-    qfrc_out[worldid, dofid] = accumul
-
-
-def apply_ft(m: Model, d: Data, ft: wp.array2d[wp.spatial_vector], qfrc: wp.array2d[float], flg_add: bool):
-  wp.launch(
-    kernel=_apply_ft,
-    dim=(d.nworld, m.nv),
-    inputs=[m.nbody, m.body_parentid, m.body_rootid, m.dof_bodyid, d.xipos, d.subtree_com, d.cdof, ft, flg_add],
-    outputs=[qfrc],
-  )
-
-
-@event_scope
-def xfrc_accumulate(m: Model, d: Data, qfrc: wp.array2d[float]):
-  """Map applied forces at each body via Jacobians to dof space and accumulate.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-    qfrc: Total applied force mapped to dof space.
-  """
-  apply_ft(m, d, d.xfrc_applied, qfrc, True)
-
-
-@wp.func
-def _decode_pyramid(njmax_in: int, pyramid: wp.array[float], efc_address: int, mu: vec5, condim: int) -> wp.spatial_vector:
-  """Converts pyramid representation to contact force."""
-  force = wp.spatial_vector()
-
-  if condim == 1:
-    force[0] = pyramid[efc_address]
-    return force
-
-  force[0] = float(0.0)
-  for i in range(condim - 1):
-    adr = 2 * i + efc_address
-    if adr < njmax_in:
-      dir1 = pyramid[adr]
-    else:
-      dir1 = 0.0
-    if adr + 1 < njmax_in:
-      dir2 = pyramid[adr + 1]
-    else:
-      dir2 = 0.0
-    force[0] += dir1 + dir2
-    force[i + 1] = (dir1 - dir2) * mu[i]
-
-  return force
-
-
-@wp.func
-def contact_force_fn(
-  # Model:
-  opt_cone: int,
-  # Data in:
-  contact_frame_in: wp.array[wp.mat33],
-  contact_friction_in: wp.array[vec5],
-  contact_dim_in: wp.array[int],
-  contact_efc_address_in: wp.array2d[int],
-  efc_force_in: wp.array2d[float],
-  njmax_in: int,
-  nacon_in: wp.array[int],
-  # In:
-  worldid: int,
-  contact_id: int,
-  to_world_frame: bool,
-) -> wp.spatial_vector:
-  """Extract 6D force:torque for one contact, in contact frame by default."""
-  force = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-  condim = contact_dim_in[contact_id]
-  efc_address = contact_efc_address_in[contact_id, 0]
-
-  if contact_id >= 0 and contact_id <= nacon_in[0] and efc_address >= 0:
-    if opt_cone == ConeType.PYRAMIDAL:
-      force = _decode_pyramid(
-        njmax_in,
-        efc_force_in[worldid],
-        efc_address,
-        contact_friction_in[contact_id],
-        condim,
-      )
-    else:
-      for i in range(condim):
-        if contact_efc_address_in[contact_id, i] < njmax_in:
-          force[i] = efc_force_in[worldid, contact_efc_address_in[contact_id, i]]
-
-  if to_world_frame:
-    # Transform both top and bottom parts of spatial vector by the full contact frame matrix
-    t = wp.spatial_top(force) @ contact_frame_in[contact_id]
-    b = wp.spatial_bottom(force) @ contact_frame_in[contact_id]
-    force = wp.spatial_vector(t, b)
-
-  return force
-
-
-@wp.kernel
-def contact_force_kernel(
-  # Model:
-  opt_cone: int,
-  # Data in:
-  contact_frame_in: wp.array[wp.mat33],
-  contact_friction_in: wp.array[vec5],
-  contact_dim_in: wp.array[int],
-  contact_efc_address_in: wp.array2d[int],
-  contact_worldid_in: wp.array[int],
-  efc_force_in: wp.array2d[float],
-  njmax_in: int,
-  nacon_in: wp.array[int],
-  # In:
-  contact_ids: wp.array[int],
-  to_world_frame: bool,
-  # Out:
-  out: wp.array[wp.spatial_vector],
-):
-  tid = wp.tid()
-
-  contactid = contact_ids[tid]
-
-  if contactid >= nacon_in[0]:
-    return
-
-  worldid = contact_worldid_in[contactid]
-
-  out[tid] = contact_force_fn(
-    opt_cone,
-    contact_frame_in,
-    contact_friction_in,
-    contact_dim_in,
-    contact_efc_address_in,
-    efc_force_in,
-    njmax_in,
-    nacon_in,
-    worldid,
-    contactid,
-    to_world_frame,
-  )
-
-
-def contact_force(m: Model, d: Data, contact_ids: wp.array[int], to_world_frame: bool, force: wp.array[wp.spatial_vector]):
-  """Compute forces for contacts in Data.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output arrays (device).
-    contact_ids: IDs for each contact.
-    to_world_frame: If True, map force from contact to world frame.
-    force: Contact forces.
-  """
-  wp.launch(
-    contact_force_kernel,
-    dim=contact_ids.size,
-    inputs=[
-      m.opt.cone,
-      d.contact.frame,
-      d.contact.friction,
-      d.contact.dim,
-      d.contact.efc_address,
-      d.contact.worldid,
-      d.efc.force,
-      d.njmax,
-      d.nacon,
-      contact_ids,
-      to_world_frame,
-    ],
-    outputs=[force],
-  )
-
-
-@wp.func
-def transform_force(force: wp.vec3, torque: wp.vec3, offset: wp.vec3) -> wp.spatial_vector:
-  return wp.spatial_vector(torque - wp.cross(offset, force), force)
-
-
-@wp.func
-def transform_force(frc: wp.spatial_vector, offset: wp.vec3) -> wp.spatial_vector:
-  force = wp.spatial_top(frc)
-  torque = wp.spatial_bottom(frc)
-  return transform_force(force, torque, offset)
-
-
-@wp.func
-def _compute_jacp(cdof_clip: wp.spatial_vector, offset: wp.vec3, affect: int) -> wp.vec3:
-  if affect == 0:
-    return wp.vec3(0.0)
-  cdof_lin = wp.spatial_bottom(cdof_clip)
-  cdof_ang = wp.spatial_top(cdof_clip)
-  return cdof_lin + wp.cross(cdof_ang, offset)
-
-
-@wp.func
-def _compute_jacr(cdof_clip: wp.spatial_vector, affect: int) -> wp.vec3:
-  if affect == 0:
-    return wp.vec3(0.0)
-  return wp.spatial_top(cdof_clip)
-
-
-@wp.func
-def jac_dof(
-  # Model:
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  dof_bodyid: wp.array[int],
-  body_isdofancestor: wp.array2d[int],
-  # Data in:
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  # In:
-  point: wp.vec3,
-  bodyid: int,
-  dofid: int,
-  worldid: int,
-) -> Tuple[wp.vec3, wp.vec3]:
-  if body_isdofancestor[bodyid, dofid] == 0:
-    return wp.vec3(0.0), wp.vec3(0.0)
-
-  offset = point - wp.vec3(subtree_com_in[worldid, body_rootid[bodyid]])
-
-  cdof = cdof_in[worldid, dofid]
-  cdof_ang = wp.spatial_top(cdof)
-  cdof_lin = wp.spatial_bottom(cdof)
-
-  jacp = cdof_lin + wp.cross(cdof_ang, offset)
-  jacr = cdof_ang
-
-  return jacp, jacr
-
-
-@cache_kernel
-def _make_jac_kernel(has_jacp: bool, has_jacr: bool):
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def _jac(
-    # Model:
-    body_parentid: wp.array[int],
-    body_rootid: wp.array[int],
-    dof_bodyid: wp.array[int],
-    body_isdofancestor: wp.array2d[int],
-    # Data in:
-    subtree_com_in: wp.array2d[wp.vec3],
-    cdof_in: wp.array2d[wp.spatial_vector],
-    # In:
-    point_in: wp.array[wp.vec3],
-    bodyid_in: wp.array[int],
-    # Out:
-    jacp_out: wp.array3d[float],
-    jacr_out: wp.array3d[float],
-  ):
-    worldid, dofid = wp.tid()
-
-    jacp_val, jacr_val = jac_dof(
-      body_parentid,
-      body_rootid,
-      dof_bodyid,
-      body_isdofancestor,
-      subtree_com_in,
-      cdof_in,
-      point_in[worldid],
-      bodyid_in[worldid],
-      dofid,
-      worldid,
-    )
-
-    if wp.static(has_jacp):
-      jacp_out[worldid, 0, dofid] = jacp_val[0]
-      jacp_out[worldid, 1, dofid] = jacp_val[1]
-      jacp_out[worldid, 2, dofid] = jacp_val[2]
-
-    if wp.static(has_jacr):
-      jacr_out[worldid, 0, dofid] = jacr_val[0]
-      jacr_out[worldid, 1, dofid] = jacr_val[1]
-      jacr_out[worldid, 2, dofid] = jacr_val[2]
-
-  return _jac
-
-
-@event_scope
-def jac(
-  m: Model,
-  d: Data,
-  jacp: wp.array | None,  # wp.array3d[float]
-  jacr: wp.array | None,  # wp.array3d[float]
-  point: wp.array[wp.vec3],
-  body: wp.array[int],
-):
-  """Compute translational and rotational Jacobian for point on body.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state (device).
-    jacp: Output translational Jacobian (optional).
-    jacr: Output rotational Jacobian (optional).
-    point: 3D point in global coordinates.
-    body: Body ID for each world.
-  """
-  kernel = _make_jac_kernel(jacp is not None, jacr is not None)
-
-  jacp_arr = jacp or wp.empty((0, 0, 0), dtype=float)
-  jacr_arr = jacr or wp.empty((0, 0, 0), dtype=float)
-
-  wp.launch(
-    kernel,
-    dim=(d.nworld, m.nv),
-    inputs=[m.body_parentid, m.body_rootid, m.dof_bodyid, m.body_isdofancestor, d.subtree_com, d.cdof, point, body],
-    outputs=[jacp_arr, jacr_arr],
-  )
-
-
-@wp.func
-def jac_dot_dof(
-  # Model:
-  body_parentid: wp.array[int],
-  body_rootid: wp.array[int],
-  jnt_type: wp.array[int],
-  jnt_dofadr: wp.array[int],
-  dof_bodyid: wp.array[int],
-  dof_jntid: wp.array[int],
-  body_isdofancestor: wp.array2d[int],
-  # Data in:
-  subtree_com_in: wp.array2d[wp.vec3],
-  cdof_in: wp.array2d[wp.spatial_vector],
-  cvel_in: wp.array2d[wp.spatial_vector],
-  cdof_dot_in: wp.array2d[wp.spatial_vector],
-  # In:
-  point: wp.vec3,
-  bodyid: int,
-  dofid: int,
-  worldid: int,
-) -> Tuple[wp.vec3, wp.vec3]:
-  if body_isdofancestor[bodyid, dofid] == 0:
-    return wp.vec3(0.0), wp.vec3(0.0)
-
-  com = subtree_com_in[worldid, body_rootid[bodyid]]
-  offset = point - com
-
-  # transform spatial
-  cvel = cvel_in[worldid, bodyid]
-  pvel_lin = wp.spatial_bottom(cvel) - wp.cross(offset, wp.spatial_top(cvel))
-
-  cdof = cdof_in[worldid, dofid]
-  cdof_dot = cdof_dot_in[worldid, dofid]
-
-  # check for quaternion
-  dofjntid = dof_jntid[dofid]
-  jnttype = jnt_type[dofjntid]
-  jntdofadr = jnt_dofadr[dofjntid]
-
-  if (jnttype == JointType.BALL) or ((jnttype == JointType.FREE) and dofid >= jntdofadr + 3):
-    # compute cdof_dot for quaternion (use current body cvel)
-    cvel = cvel_in[worldid, dof_bodyid[dofid]]
-    cdof_dot = motion_cross(cvel, cdof)
-
-  cdof_dot_ang = wp.spatial_top(cdof_dot)
-  cdof_dot_lin = wp.spatial_bottom(cdof_dot)
-
-  # construct translational Jacobian (correct for rotation)
-  # first correction term, account for varying cdof
-  correction1 = wp.cross(cdof_dot_ang, offset)
-
-  # second correction term, account for point translational velocity
-  correction2 = wp.cross(wp.spatial_top(cdof), pvel_lin)
-
-  jacp = cdof_dot_lin + correction1 + correction2
-  jacr = cdof_dot_ang
-
-  return jacp, jacr
-
-
-def get_state(m: Model, d: Data, state: wp.array2d[float], sig: int, active: Optional[wp.array] = None):
-  """Copy concatenated state components specified by sig from Data into state.
-
-  The bits of the integer sig correspond to element fields of State.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output information (device).
-    state: Concatenation of state components.
-    sig: Bitflag specifying state components.
-    active: Per-world bitmask for getting state.
-  """
-  if sig >= (1 << State.NSTATE):
-    raise ValueError(f"invalid state signature {sig} >= 2^mjNSTATE")
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def _get_state(
-    # Model:
-    nq: int,
-    nv: int,
-    nu: int,
-    na: int,
-    nbody: int,
-    neq: int,
-    nmocap: int,
-    nuserdata: int,
-    nhistory: int,
-    # Data in:
-    time_in: wp.array[float],
-    qpos_in: wp.array2d[float],
-    qvel_in: wp.array2d[float],
-    act_in: wp.array2d[float],
-    history_in: wp.array2d[float],
-    qacc_warmstart_in: wp.array2d[float],
-    ctrl_in: wp.array2d[float],
-    qfrc_applied_in: wp.array2d[float],
-    xfrc_applied_in: wp.array2d[wp.spatial_vector],
-    eq_active_in: wp.array2d[bool],
-    mocap_pos_in: wp.array2d[wp.vec3],
-    mocap_quat_in: wp.array2d[wp.quat],
-    userdata_in: wp.array2d[float],
-    # In:
-    sig_in: int,
-    active_in: wp.array[bool],
-    # Out:
-    state_out: wp.array2d[float],
-  ):
-    worldid = wp.tid()
-
-    if wp.static(active is not None):
-      if not active_in[worldid]:
-        return
-
-    adr = int(0)
-    for i in range(State.NSTATE.value):
-      element = 1 << i
-      if element & sig_in:
-        if element == State.TIME:
-          state_out[worldid, adr] = time_in[worldid]
-          adr += 1
-        elif element == State.QPOS:
-          for j in range(nq):
-            state_out[worldid, adr + j] = qpos_in[worldid, j]
-          adr += nq
-        elif element == State.QVEL:
-          for j in range(nv):
-            state_out[worldid, adr + j] = qvel_in[worldid, j]
-          adr += nv
-        elif element == State.ACT:
-          for j in range(na):
-            state_out[worldid, adr + j] = act_in[worldid, j]
-          adr += na
-        elif element == State.HISTORY:
-          for j in range(nhistory):
-            state_out[worldid, adr + j] = history_in[worldid, j]
-          adr += nhistory
-        elif element == State.WARMSTART:
-          for j in range(nv):
-            state_out[worldid, adr + j] = qacc_warmstart_in[worldid, j]
-          adr += nv
-        elif element == State.CTRL:
-          for j in range(nu):
-            state_out[worldid, adr + j] = ctrl_in[worldid, j]
-          adr += nu
-        elif element == State.QFRC_APPLIED:
-          for j in range(nv):
-            state_out[worldid, adr + j] = qfrc_applied_in[worldid, j]
-          adr += nv
-        elif element == State.XFRC_APPLIED:
-          for j in range(nbody):
-            xfrc = xfrc_applied_in[worldid, j]
-            state_out[worldid, adr + 0] = xfrc[0]
-            state_out[worldid, adr + 1] = xfrc[1]
-            state_out[worldid, adr + 2] = xfrc[2]
-            state_out[worldid, adr + 3] = xfrc[3]
-            state_out[worldid, adr + 4] = xfrc[4]
-            state_out[worldid, adr + 5] = xfrc[5]
-            adr += 6
-        elif element == State.EQ_ACTIVE:
-          for j in range(neq):
-            state_out[worldid, adr + j] = float(eq_active_in[worldid, j])
-          adr += neq
-        elif element == State.MOCAP_POS:
-          for j in range(nmocap):
-            pos = mocap_pos_in[worldid, j]
-            state_out[worldid, adr + 0] = pos[0]
-            state_out[worldid, adr + 1] = pos[1]
-            state_out[worldid, adr + 2] = pos[2]
-            adr += 3
-        elif element == State.MOCAP_QUAT:
-          for j in range(nmocap):
-            quat = mocap_quat_in[worldid, j]
-            state_out[worldid, adr + 0] = quat[0]
-            state_out[worldid, adr + 1] = quat[1]
-            state_out[worldid, adr + 2] = quat[2]
-            state_out[worldid, adr + 3] = quat[3]
-            adr += 4
-        elif element == State.USERDATA:
-          for j in range(nuserdata):
-            state_out[worldid, adr + j] = userdata_in[worldid, j]
-          adr += nuserdata
-
-  wp.launch(
-    _get_state,
-    dim=d.nworld,
-    inputs=[
-      m.nq,
-      m.nv,
-      m.nu,
-      m.na,
-      m.nbody,
-      m.neq,
-      m.nmocap,
-      m.nuserdata,
-      m.nhistory,
-      d.time,
-      d.qpos,
-      d.qvel,
-      d.act,
-      d.history,
-      d.qacc_warmstart,
-      d.ctrl,
-      d.qfrc_applied,
-      d.xfrc_applied,
-      d.eq_active,
-      d.mocap_pos,
-      d.mocap_quat,
-      d.userdata,
-      int(sig),
-      active or wp.ones(d.nworld, dtype=bool),
-    ],
-    outputs=[state],
-  )
-
-
-def set_state(m: Model, d: Data, state: wp.array2d[float], sig: int, active: Optional[wp.array] = None):
-  """Copy concatenated state components specified by sig from state into Data.
-
-  The bits of the integer sig correspond to element fields of State.
-
-  Args:
-    m: The model containing kinematic and dynamic information (device).
-    d: The data object containing the current state and output information (device).
-    state: Concatenation of state components.
-    sig: Bitflag specifying state components.
-    active: Per-world bitmask for setting state.
-  """
-  if sig >= (1 << State.NSTATE):
-    raise ValueError(f"invalid state signature {sig} >= 2^mjNSTATE")
-
-  @wp.kernel(module="unique", enable_backward=False, grid_stride=False)
-  def _set_state(
-    # Model:
-    nq: int,
-    nv: int,
-    nu: int,
-    na: int,
-    nbody: int,
-    neq: int,
-    nmocap: int,
-    nuserdata: int,
-    nhistory: int,
-    # In:
-    sig_in: int,
-    active_in: wp.array[bool],
-    state_in: wp.array2d[float],
-    # Data out:
-    time_out: wp.array[float],
-    qpos_out: wp.array2d[float],
-    qvel_out: wp.array2d[float],
-    act_out: wp.array2d[float],
-    history_out: wp.array2d[float],
-    qacc_warmstart_out: wp.array2d[float],
-    ctrl_out: wp.array2d[float],
-    qfrc_applied_out: wp.array2d[float],
-    xfrc_applied_out: wp.array2d[wp.spatial_vector],
-    eq_active_out: wp.array2d[bool],
-    mocap_pos_out: wp.array2d[wp.vec3],
-    mocap_quat_out: wp.array2d[wp.quat],
-    userdata_out: wp.array2d[float],
-  ):
-    worldid = wp.tid()
-
-    if wp.static(active is not None):
-      if not active_in[worldid]:
-        return
-
-    adr = int(0)
-    for i in range(State.NSTATE.value):
-      element = 1 << i
-      if element & sig_in:
-        if element == State.TIME:
-          time_out[worldid] = state_in[worldid, adr]
-          adr += 1
-        elif element == State.QPOS:
-          for j in range(nq):
-            qpos_out[worldid, j] = state_in[worldid, adr + j]
-          adr += nq
-        elif element == State.QVEL:
-          for j in range(nv):
-            qvel_out[worldid, j] = state_in[worldid, adr + j]
-          adr += nv
-        elif element == State.ACT:
-          for j in range(na):
-            act_out[worldid, j] = state_in[worldid, adr + j]
-          adr += na
-        elif element == State.HISTORY:
-          for j in range(nhistory):
-            history_out[worldid, j] = state_in[worldid, adr + j]
-          adr += nhistory
-        elif element == State.WARMSTART:
-          for j in range(nv):
-            qacc_warmstart_out[worldid, j] = state_in[worldid, adr + j]
-          adr += nv
-        elif element == State.CTRL:
-          for j in range(nu):
-            ctrl_out[worldid, j] = state_in[worldid, adr + j]
-          adr += nu
-        elif element == State.QFRC_APPLIED:
-          for j in range(nv):
-            qfrc_applied_out[worldid, j] = state_in[worldid, adr + j]
-          adr += nv
-        elif element == State.XFRC_APPLIED:
-          for j in range(nbody):
-            xfrc = wp.spatial_vector(
-              state_in[worldid, adr + 0],
-              state_in[worldid, adr + 1],
-              state_in[worldid, adr + 2],
-              state_in[worldid, adr + 3],
-              state_in[worldid, adr + 4],
-              state_in[worldid, adr + 5],
-            )
-            xfrc_applied_out[worldid, j] = xfrc
-            adr += 6
-        elif element == State.EQ_ACTIVE:
-          for j in range(neq):
-            eq_active_out[worldid, j] = bool(state_in[worldid, adr + j])
-          adr += neq
-        elif element == State.MOCAP_POS:
-          for j in range(nmocap):
-            pos = wp.vec3(
-              state_in[worldid, adr + 0],
-              state_in[worldid, adr + 1],
-              state_in[worldid, adr + 2],
-            )
-            mocap_pos_out[worldid, j] = pos
-            adr += 3
-        elif element == State.MOCAP_QUAT:
-          for j in range(nmocap):
-            quat = wp.quat(
-              state_in[worldid, adr + 0],
-              state_in[worldid, adr + 1],
-              state_in[worldid, adr + 2],
-              state_in[worldid, adr + 3],
-            )
-            mocap_quat_out[worldid, j] = quat
-            adr += 4
-        elif element == State.USERDATA:
-          for j in range(nuserdata):
-            userdata_out[worldid, j] = state_in[worldid, adr + j]
-          adr += nuserdata
-
-  wp.launch(
-    _set_state,
-    dim=d.nworld,
-    inputs=[
-      m.nq,
-      m.nv,
-      m.nu,
-      m.na,
-      m.nbody,
-      m.neq,
-      m.nmocap,
-      m.nuserdata,
-      m.nhistory,
-      int(sig),
-      active or wp.ones(d.nworld, dtype=bool),
-      state,
-    ],
-    outputs=[
-      d.time,
-      d.qpos,
-      d.qvel,
-      d.act,
-      d.history,
-      d.qacc_warmstart,
-      d.ctrl,
-      d.qfrc_applied,
-      d.xfrc_applied,
-      d.eq_active,
-      d.mocap_pos,
-      d.mocap_quat,
-      d.userdata,
-    ],
-  )
-
-
-@wp.func
-def _phi(s: float, i: int) -> float:
-  """1D trilinear basis function (order=1 only).
-
-  phi(s, 0) = 1 - s
-  phi(s, 1) = s
-  """
-  if i == 0:
-    return 1.0 - s
-  return s
-
-
-@wp.func
-def eval_basis_trilinear(local: wp.vec3, node_idx: int) -> float:
-  """Evaluate trilinear basis function for node_idx at local coords [0,1]^3.
-
-  For order=1 (trilinear), node_idx encodes (i,j,k) via bits:
-    k = node_idx & 1, j = (node_idx >> 1) & 1, i = (node_idx >> 2) & 1
-  """
-  k = node_idx & 1
-  j = (node_idx >> 1) & 1
-  i = (node_idx >> 2) & 1
-  return _phi(local[0], i) * _phi(local[1], j) * _phi(local[2], k)
-
-
-@wp.func
-def select_top4_weights(
-  # In:
-  W_mat: wp.mat33,
-  b_mat: wp.mat33,
-) -> tuple[wp.vec4i, wp.vec4]:
-  """Selects top 4 weights and their corresponding body IDs from 8 voxel corners."""
-  selected_b = wp.vec4i(-1, -1, -1, -1)
-  selected_W = wp.vec4(0.0, 0.0, 0.0, 0.0)
-
-  local_W = W_mat
-  for p in range(4):
-    max_w = -1.0
-    max_b = -1
-    max_r = -1
-    max_c = -1
-    for r in range(3):
-      for c in range(3):
-        idx = 3 * r + c
-        if idx < 8:
-          w = local_W[r, c]
-          if w > max_w:
-            max_w = w
-            max_b = int(b_mat[r, c])
-            max_r = r
-            max_c = c
-    # Record top choice for this pass and mark it as visited
-    if max_r >= 0:
-      local_W[max_r, max_c] = -1.0
-
-      if p == 0:
-        selected_b = wp.vec4i(max_b, -1, -1, -1)
-        selected_W = wp.vec4(max_w, 0.0, 0.0, 0.0)
-      elif p == 1:
-        selected_b = wp.vec4i(selected_b[0], max_b, -1, -1)
-        selected_W = wp.vec4(selected_W[0], max_w, 0.0, 0.0)
-      elif p == 2:
-        selected_b = wp.vec4i(selected_b[0], selected_b[1], max_b, -1)
-        selected_W = wp.vec4(selected_W[0], selected_W[1], max_w, 0.0)
-      else:
-        selected_b = wp.vec4i(selected_b[0], selected_b[1], selected_b[2], max_b)
-        selected_W = wp.vec4(selected_W[0], selected_W[1], selected_W[2], max_w)
-
-  # Normalize selected weights
-  sum_W = selected_W[0] + selected_W[1] + selected_W[2] + selected_W[3]
-  if sum_W > 1.0e-5:
-    selected_W = wp.vec4(
-      selected_W[0] / sum_W,
-      selected_W[1] / sum_W,
-      selected_W[2] / sum_W,
-      selected_W[3] / sum_W,
-    )
-
-  return selected_b, selected_W
-
-
-@wp.func
-def get_face_metadata(
-  # In:
-  cellnum_x: int,
-  cellnum_y: int,
-  cellnum_z: int,
-  face_elem_idx: int,
-  order_abs: int,
-) -> Tuple[int, int, int, int, int, int]:
-  size01 = cellnum_y * cellnum_z
-  size23 = cellnum_x * cellnum_z
-  size45 = cellnum_x * cellnum_y
-
-  face_id = 0
-  within_face = 0
-
-  if face_elem_idx < size01:
-    face_id = 0
-    within_face = face_elem_idx
-  elif face_elem_idx < 2 * size01:
-    face_id = 1
-    within_face = face_elem_idx - size01
-  elif face_elem_idx < 2 * size01 + size23:
-    face_id = 2
-    within_face = face_elem_idx - 2 * size01
-  elif face_elem_idx < 2 * size01 + 2 * size23:
-    face_id = 3
-    within_face = face_elem_idx - 2 * size01 - size23
-  elif face_elem_idx < 2 * size01 + 2 * size23 + size45:
-    face_id = 4
-    within_face = face_elem_idx - 2 * size01 - 2 * size23
-  else:
-    face_id = 5
-    within_face = face_elem_idx - 2 * size01 - 2 * size23 - size45
-
-  normal_axis = face_id // 2
-
-  c1 = 0
-  if face_id == 0 or face_id == 1:
-    c1 = cellnum_z
-  elif face_id == 2 or face_id == 3:
-    c1 = cellnum_x
-  else:
-    c1 = cellnum_y
-
-  fixed_dim = 0
-  if normal_axis == 0:
-    fixed_dim = cellnum_x
-  elif normal_axis == 1:
-    fixed_dim = cellnum_y
-  else:
-    fixed_dim = cellnum_z
-  g_fixed = (face_id % 2) * fixed_dim * order_abs
-
-  q0 = within_face // c1
-  q1 = within_face % c1
-
-  ny_g = cellnum_y * order_abs + 1
-  nz_g = cellnum_z * order_abs + 1
-
-  return normal_axis, g_fixed, q0, q1, ny_g, nz_g
-
-
-@wp.func
-def gather_face_node_index_fast(
-  # In:
-  normal_axis: int,
-  g_fixed: int,
-  q0: int,
-  q1: int,
-  ny_g: int,
-  nz_g: int,
-  local_idx: int,
-  order_abs: int,
-) -> int:
-  l0 = local_idx // (order_abs + 1)
-  l1 = local_idx % (order_abs + 1)
-
-  g = wp.vec3i(0, 0, 0)
-  if normal_axis == 0:
-    g = wp.vec3i(g_fixed, q0 * order_abs + l0, q1 * order_abs + l1)
-  elif normal_axis == 1:
-    g = wp.vec3i(q1 * order_abs + l1, g_fixed, q0 * order_abs + l0)
-  else:
-    g = wp.vec3i(q0 * order_abs + l0, q1 * order_abs + l1, g_fixed)
-
-  return g[0] * ny_g * nz_g + g[1] * nz_g + g[2]
-
-
-@wp.func
-def gather_face_node_index(
-  # In:
-  cellnum_x: int,
-  cellnum_y: int,
-  cellnum_z: int,
-  face_elem_idx: int,
-  local_idx: int,
-  order_abs: int,
-) -> int:
-  normal_axis, g_fixed, q0, q1, ny_g, nz_g = get_face_metadata(cellnum_x, cellnum_y, cellnum_z, face_elem_idx, order_abs)
-  return gather_face_node_index_fast(normal_axis, g_fixed, q0, q1, ny_g, nz_g, local_idx, order_abs)
-
-
-@wp.func
-def compute_interp_face_quat(
-  # Data in:
-  flexnode_xpos_in: wp.array2d[wp.vec3],
-  # In:
-  cellnum_x: int,
-  cellnum_y: int,
-  cellnum_z: int,
-  face_elem_idx: int,
-  nstart: int,
-  order_abs: int,
-  worldid: int,
-) -> wp.quat:
-  normal_axis, g_fixed, q0, q1, ny_g, nz_g = get_face_metadata(
-    cellnum_x,
-    cellnum_y,
-    cellnum_z,
-    face_elem_idx,
-    order_abs,
-  )
-
-  t1 = wp.vec3(0.0)
-  t2 = wp.vec3(0.0)
-
-  npc = (order_abs + 1) * (order_abs + 1)
-
-  for local_idx in range(9):
-    if local_idx < npc:
-      gidx = gather_face_node_index_fast(
-        normal_axis,
-        g_fixed,
-        q0,
-        q1,
-        ny_g,
-        nz_g,
-        local_idx,
-        order_abs,
-      )
-      node_pos = flexnode_xpos_in[worldid, nstart + gidx]
-
-      l0 = local_idx // (order_abs + 1)
-      l1 = local_idx % (order_abs + 1)
-
-      dphi0 = -1.0 + 2.0 * float(l0)
-      dphi1 = -1.0 + 2.0 * float(l1)
-      phi0 = 0.5
-      phi1 = 0.5
-
-      grad0 = dphi0 * phi1
-      grad1 = phi0 * dphi1
-
-      t1 += node_pos * grad0
-      t2 += node_pos * grad1
-
-  normal = wp.cross(t1, t2)
-
-  F = wp.mat33(0.0)
-  if normal_axis == 0:
-    F = wp.mat33(
-      normal[0],
-      t1[0],
-      t2[0],
-      normal[1],
-      t1[1],
-      t2[1],
-      normal[2],
-      t1[2],
-      t2[2],
-    )
-  elif normal_axis == 1:
-    F = wp.mat33(
-      t2[0],
-      normal[0],
-      t1[0],
-      t2[1],
-      normal[1],
-      t1[1],
-      t2[2],
-      normal[2],
-      t1[2],
-    )
-  else:
-    F = wp.mat33(
-      t1[0],
-      t2[0],
-      normal[0],
-      t1[1],
-      t2[1],
-      normal[1],
-      t1[2],
-      t2[2],
-      normal[2],
-    )
-
-  return mat33_to_quat_polar(F)
-
-
-@wp.func
-def flex_phi(s: float, i: int, order: int) -> float:
-  return 1.0 - s if i == 0 else s
-
-
-@wp.func
-def flex_dphi(s: float, i: int, order: int) -> float:
-  return -1.0 if i == 0 else 1.0
-
-
-@wp.func
-def dphi2D(s0: float, l0: int, s1: float, l1: int, order: int, direction: int) -> float:
-  if direction == 0:
-    return flex_dphi(s0, l0, order) * flex_phi(s1, l1, order)
-  else:
-    return flex_phi(s0, l0, order) * flex_dphi(s1, l1, order)
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
deleted file mode 100644
index 91b43a8c..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
+++ /dev/null
@@ -1,2558 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-import dataclasses
-import enum
-from typing import Callable, Optional
-
-import mujoco
-import numpy as np
-import warp as wp
-
-MJ_MINVAL = mujoco.mjMINVAL
-MJ_MAXVAL = mujoco.mjMAXVAL
-MJ_MINIMP = mujoco.mjMINIMP  # minimum constraint impedance
-MJ_MAXIMP = mujoco.mjMAXIMP  # maximum constraint impedance
-MJ_MAXCONPAIR = mujoco.mjMAXCONPAIR
-MJ_MINMU = mujoco.mjMINMU  # minimum friction
-MJ_MINAWAKE = mujoco.mjMINAWAKE  # minimum number of timesteps before sleeping
-# maximum size (by number of edges) of an horizon in EPA algorithm
-MJ_MAX_EPAHORIZON = 24
-# maximum average number of trianglarfaces EPA can insert at each iteration
-MJ_MAX_EPAFACES = 5
-
-TILE_SIZE_JTDAJ_SPARSE = 16
-TILE_SIZE_JTDAJ_DENSE = 16
-
-# max M block size where dense tile-Cholesky beats sparse LDL (wins to ~64, degrades past ~80)
-M_BLOCK_DENSE_MAX = 64
-
-# max M block size where scalar Cholesky beats dense tile-Cholesky
-M_BLOCK_SCALAR_MAX = 6
-
-# qLD_block_adr sentinels for factorless block layouts
-Q_LD_BLOCK_COMPACT = -2
-Q_LD_BLOCK_SPARSE = -1
-
-# maximum number of plugin attributes
-_NPLUGINATTR = 128
-
-
-# TODO(team): add check that all wp.launch_tiled 'block_dim' settings are configurable
-@dataclasses.dataclass
-class BlockDim:
-  """Block dimension 'block_dim' settings for wp.launch_tiled.
-
-  TODO(team): experimental and may be removed
-
-  Attributes:
-    segmented_sort: segmented sort block dimension (collision_driver)
-    convex_ccd: convex CCD kernel block dimension (collision_convex)
-    actuator_velocity: actuator velocity block dimension (forward)
-    ray: ray block dimension (ray)
-    contact_sort: contact sort block dimension (sensor)
-    energy_vel_kinetic: energy velocity kinetic block dimension (sensor)
-    cholesky_factorize: block-dense Cholesky factorize block dimension (smooth)
-    cholesky_factorize_solve: block-dense Cholesky factorize+solve block dimension (smooth)
-    cholesky_solve: Cholesky solve block dimension (smooth)
-    small_cholesky: scalar small-block Cholesky block dimension (smooth)
-    solve_LD_sparse_fused: solve LD sparse fused block dimension (smooth)
-    update_gradient_cholesky: update gradient Cholesky block dimension (solver)
-    update_gradient_cholesky_blocked: update gradient Cholesky blocked block dimension (solver)
-    update_gradient_JTDAJ_sparse: update gradient JTDAJ sparse block dimension (solver)
-    update_gradient_JTDAJ_dense: update gradient JTDAJ dense block dimension (solver)
-    linesearch_iterative: linesearch iterative block dimension (solver)
-    update_gradient_grad: update gradient grad block dimension (solver)
-    solve_beta_accumulate: solve beta accumulate block dimension (solver)
-    solve_search_update_cg: solve search update CG block dimension (solver)
-    solve_init_search_cg: solve init search CG block dimension (solver)
-    contact_jac_tiled: contact Jacobian tiled block dimension (solver)
-    qderiv_actuator_dense: qderiv actuator dense block dimension (derivative)
-    render: render block dimension (render)
-  """
-
-  # collision_driver
-  segmented_sort: int = 128
-  # collision_convex
-  convex_ccd: int = 64
-  # forward
-  actuator_velocity: int = 32
-  # ray
-  ray: int = 64
-  # sensor
-  contact_sort: int = 64
-  energy_vel_kinetic: int = 32
-  # smooth -- block tile-Cholesky widths
-  cholesky_factorize: int = 32
-  cholesky_factorize_solve: int = 32
-  cholesky_solve: int = 64
-  small_cholesky: int = 64
-  solve_LD_sparse_fused: int = 128
-  # solver
-  update_gradient_cholesky: int = 64
-  update_gradient_cholesky_blocked: int = 32
-  update_gradient_JTDAJ_sparse: int = 128
-  update_gradient_JTDAJ_dense: int = 128
-  linesearch_iterative: int = 32
-  update_gradient_grad: int = 256
-  solve_beta_accumulate: int = 256
-  solve_search_update_cg: int = 256
-  solve_init_search_cg: int = 256
-  contact_jac_tiled: int = 32
-  # derivative
-  qderiv_actuator_dense: int = 32
-  # render
-  render: int = 64
-
-
-class BroadphaseType(enum.IntEnum):
-  """Type of broadphase algorithm.
-
-  Attributes:
-     NXN: Broad phase checking all pairs
-     SAP_TILE: Sweep and prune broad phase using tile sort
-     SAP_SEGMENTED: Sweep and prune broad phase using segment sort
-  """
-
-  NXN = 0
-  SAP_TILE = 1
-  SAP_SEGMENTED = 2
-
-
-class BroadphaseFilter(enum.IntFlag):
-  """Bitmask specifying which collision functions to run during broadphase.
-
-  Attributes:
-    PLANE: collision between bounding sphere and plane
-    SPHERE: collision between bounding spheres
-    AABB: collision between axis-aligned bounding boxes
-    OBB: collision between oriented bounding boxes
-  """
-
-  PLANE = 1 << 0
-  SPHERE = 1 << 1
-  AABB = 1 << 2
-  OBB = 1 << 3
-
-
-class OverflowType(enum.IntFlag):
-  """Bitmask for physics and collision overflows.
-
-  Attributes:
-    NEFC: nefc > njmax
-    NJMAX_NNZ: njmax_nnz overflow
-    BROADPHASE: broadphase overflow / flex broadphase overflow
-    NARROWPHASE: narrowphase overflow / flex narrowphase / contact overflow
-    CCD: CCD overflow / flex CCD overflow
-    HFIELD: height field collision overflow
-    CONTACT_MATCH: contact match sensor overflow
-    NVMAX: nvmax overflow (islands)
-    EPA_HORIZON: EPA horizon buffer overflow
-  """
-
-  NEFC = 1 << 0
-  NJMAX_NNZ = 1 << 1
-  BROADPHASE = 1 << 2
-  NARROWPHASE = 1 << 3
-  CCD = 1 << 4
-  HFIELD = 1 << 5
-  CONTACT_MATCH = 1 << 6
-  NVMAX = 1 << 7
-  EPA_HORIZON = 1 << 8
-
-
-class CamLightType(enum.IntEnum):
-  """Type of camera light.
-
-  Attributes:
-    FIXED: pos and rot fixed in body
-    TRACK: pos tracks body, rot fixed in global
-    TRACKCOM: pos tracks subtree com, rot fixed in body
-    TARGETBODY: pos fixed in body, rot tracks target body
-    TARGETBODYCOM: pos fixed in body, rot tracks target subtree com
-  """
-
-  FIXED = mujoco.mjtCamLight.mjCAMLIGHT_FIXED
-  TRACK = mujoco.mjtCamLight.mjCAMLIGHT_TRACK
-  TRACKCOM = mujoco.mjtCamLight.mjCAMLIGHT_TRACKCOM
-  TARGETBODY = mujoco.mjtCamLight.mjCAMLIGHT_TARGETBODY
-  TARGETBODYCOM = mujoco.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM
-
-
-class ProjectionType(enum.IntEnum):
-  """Type of camera projection.
-
-  Attributes:
-    PERSPECTIVE: perspective projection
-    ORTHOGRAPHIC: orthographic projection
-  """
-
-  PERSPECTIVE = mujoco.mjtProjection.mjPROJ_PERSPECTIVE
-  ORTHOGRAPHIC = mujoco.mjtProjection.mjPROJ_ORTHOGRAPHIC
-
-
-class Stage(enum.IntEnum):
-  """Computation stage.
-
-  Attributes:
-    POS: position-dependent
-    VEL: velocity-dependent
-    ACC: acceleration/force-dependent
-  """
-
-  POS = mujoco.mjtStage.mjSTAGE_POS
-  VEL = mujoco.mjtStage.mjSTAGE_VEL
-  ACC = mujoco.mjtStage.mjSTAGE_ACC
-
-
-class DataType(enum.IntFlag):
-  """Sensor data types.
-
-  Attributes:
-    REAL: real values, no constraints
-    POSITIVE: positive values, 0 or negative: inactive
-  """
-
-  REAL = mujoco.mjtDataType.mjDATATYPE_REAL
-  POSITIVE = mujoco.mjtDataType.mjDATATYPE_POSITIVE
-  # unsupported: AXIS, QUATERNION
-
-
-class DisableBit(enum.IntFlag):
-  """Disable default feature bitflags.
-
-  Attributes:
-    CONSTRAINT:   entire constraint solver
-    EQUALITY:     equality constraints
-    FRICTIONLOSS: joint and tendon frictionloss constraints
-    LIMIT:        joint and tendon limit constraints
-    CONTACT:      contact constraints
-    SPRING:       passive spring forces
-    DAMPER:       passive damper forces
-    GRAVITY:      gravitational forces
-    CLAMPCTRL:    clamp control to specified range
-    WARMSTART:    warmstart constraint solver
-    FILTERPARENT: disable collisions between parent and child bodies
-    ACTUATION:    apply actuation forces
-    REFSAFE:      integrator safety: make ref[0]>=2*timestep
-    SENSOR:       sensors
-    EULERDAMP:    implicit damping for Euler integration
-    NATIVECCD:    native convex collision detection (ignored in MJWarp)
-    ISLAND:       constraint islands
-    MULTICCD:     disable multiple contacts with CCD
-  """
-
-  CONSTRAINT = mujoco.mjtDisableBit.mjDSBL_CONSTRAINT
-  EQUALITY = mujoco.mjtDisableBit.mjDSBL_EQUALITY
-  FRICTIONLOSS = mujoco.mjtDisableBit.mjDSBL_FRICTIONLOSS
-  LIMIT = mujoco.mjtDisableBit.mjDSBL_LIMIT
-  CONTACT = mujoco.mjtDisableBit.mjDSBL_CONTACT
-  SPRING = mujoco.mjtDisableBit.mjDSBL_SPRING
-  DAMPER = mujoco.mjtDisableBit.mjDSBL_DAMPER
-  GRAVITY = mujoco.mjtDisableBit.mjDSBL_GRAVITY
-  CLAMPCTRL = mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL
-  WARMSTART = mujoco.mjtDisableBit.mjDSBL_WARMSTART
-  FILTERPARENT = mujoco.mjtDisableBit.mjDSBL_FILTERPARENT
-  ACTUATION = mujoco.mjtDisableBit.mjDSBL_ACTUATION
-  REFSAFE = mujoco.mjtDisableBit.mjDSBL_REFSAFE
-  SENSOR = mujoco.mjtDisableBit.mjDSBL_SENSOR
-  EULERDAMP = mujoco.mjtDisableBit.mjDSBL_EULERDAMP
-  NATIVECCD = mujoco.mjtDisableBit.mjDSBL_NATIVECCD
-  ISLAND = mujoco.mjtDisableBit.mjDSBL_ISLAND
-  MULTICCD = mujoco.mjtDisableBit.mjDSBL_MULTICCD
-  # unsupported: MIDPHASE, AUTORESET
-
-
-class EnableBit(enum.IntFlag):
-  """Enable optional feature bitflags.
-
-  Attributes:
-    ENERGY: energy computation
-    INVDISCRETE: discrete-time inverse dynamics
-    SLEEP: sleeping
-  """
-
-  ENERGY = mujoco.mjtEnableBit.mjENBL_ENERGY
-  INVDISCRETE = mujoco.mjtEnableBit.mjENBL_INVDISCRETE
-  SLEEP = mujoco.mjtEnableBit.mjENBL_SLEEP
-  # unsupported: OVERRIDE, FWDINV, ISLAND
-
-
-class SleepPolicy(enum.IntEnum):
-  """Per-tree sleep policy.
-
-  Attributes:
-    AUTO: compiler chooses sleep policy
-    AUTO_NEVER: compiler sleep policy: never
-    AUTO_ALLOWED: compiler sleep policy: allowed
-  """
-
-  AUTO = mujoco.mjtSleepPolicy.mjSLEEP_AUTO
-  AUTO_NEVER = mujoco.mjtSleepPolicy.mjSLEEP_AUTO_NEVER
-  AUTO_ALLOWED = mujoco.mjtSleepPolicy.mjSLEEP_AUTO_ALLOWED
-  # unsupported: NEVER, ALLOWED, INIT
-
-
-class SleepState(enum.IntEnum):
-  """Sleep state for bodies.
-
-  Attributes:
-    STATIC: body is static (world body or mocap)
-    ASLEEP: body is asleep
-    AWAKE: body is awake
-  """
-
-  STATIC = mujoco.mjtSleepState.mjS_STATIC
-  ASLEEP = mujoco.mjtSleepState.mjS_ASLEEP
-  AWAKE = mujoco.mjtSleepState.mjS_AWAKE
-
-
-class TrnType(enum.IntEnum):
-  """Type of actuator transmission.
-
-  Attributes:
-    JOINT: force on joint
-    JOINTINPARENT: force on joint, expressed in parent frame
-    SLIDERCRANK: force via slider-crank linkage
-    TENDON: force on tendon
-    BODY: adhesion force on body's geoms
-    SITE: force on site
-  """
-
-  JOINT = mujoco.mjtTrn.mjTRN_JOINT
-  JOINTINPARENT = mujoco.mjtTrn.mjTRN_JOINTINPARENT
-  SLIDERCRANK = mujoco.mjtTrn.mjTRN_SLIDERCRANK
-  TENDON = mujoco.mjtTrn.mjTRN_TENDON
-  BODY = mujoco.mjtTrn.mjTRN_BODY
-  SITE = mujoco.mjtTrn.mjTRN_SITE
-
-
-class DynType(enum.IntEnum):
-  """Type of actuator dynamics.
-
-  Attributes:
-    NONE: no internal dynamics; ctrl specifies force
-    INTEGRATOR: integrator: da/dt = u
-    FILTER: linear filter: da/dt = (u-a) / tau
-    FILTEREXACT: linear filter: da/dt = (u-a) / tau, with exact integration
-    MUSCLE: piece-wise linear filter with two time constants
-    USER: user-defined dynamics via act_dyn_callback
-    DCMOTOR: DC motor dynamics
-  """
-
-  NONE = mujoco.mjtDyn.mjDYN_NONE
-  INTEGRATOR = mujoco.mjtDyn.mjDYN_INTEGRATOR
-  FILTER = mujoco.mjtDyn.mjDYN_FILTER
-  FILTEREXACT = mujoco.mjtDyn.mjDYN_FILTEREXACT
-  MUSCLE = mujoco.mjtDyn.mjDYN_MUSCLE
-  USER = mujoco.mjtDyn.mjDYN_USER
-  DCMOTOR = mujoco.mjtDyn.mjDYN_DCMOTOR
-
-
-class GainType(enum.IntEnum):
-  """Type of actuator gain.
-
-  Attributes:
-    FIXED: fixed gain
-    AFFINE: const + kp*length + kv*velocity
-    MUSCLE: muscle FLV curve computed by muscle_gain
-    USER: user-defined gain via act_gain_callback
-    DCMOTOR: DC motor gain
-  """
-
-  FIXED = mujoco.mjtGain.mjGAIN_FIXED
-  AFFINE = mujoco.mjtGain.mjGAIN_AFFINE
-  MUSCLE = mujoco.mjtGain.mjGAIN_MUSCLE
-  USER = mujoco.mjtGain.mjGAIN_USER
-  DCMOTOR = mujoco.mjtGain.mjGAIN_DCMOTOR
-
-
-class BiasType(enum.IntEnum):
-  """Type of actuator bias.
-
-  Attributes:
-    NONE: no bias
-    AFFINE: const + kp*length + kv*velocity
-    MUSCLE: muscle passive force computed by muscle_bias
-    USER: user-defined bias via act_bias_callback
-    DCMOTOR: DC motor back-EMF bias
-  """
-
-  NONE = mujoco.mjtBias.mjBIAS_NONE
-  AFFINE = mujoco.mjtBias.mjBIAS_AFFINE
-  MUSCLE = mujoco.mjtBias.mjBIAS_MUSCLE
-  USER = mujoco.mjtBias.mjBIAS_USER
-  DCMOTOR = mujoco.mjtBias.mjBIAS_DCMOTOR
-
-
-class JointType(enum.IntEnum):
-  """Type of degree of freedom.
-
-  Attributes:
-    FREE:  global position and orientation (quat)       (7,)
-    BALL:  orientation (quat) relative to parent        (4,)
-    SLIDE: sliding distance along body-fixed axis       (1,)
-    HINGE: rotation angle (rad) around body-fixed axis  (1,)
-  """
-
-  FREE = mujoco.mjtJoint.mjJNT_FREE
-  BALL = mujoco.mjtJoint.mjJNT_BALL
-  SLIDE = mujoco.mjtJoint.mjJNT_SLIDE
-  HINGE = mujoco.mjtJoint.mjJNT_HINGE
-
-
-class ConeType(enum.IntEnum):
-  """Type of friction cone.
-
-  Attributes:
-    PYRAMIDAL: pyramidal
-    ELLIPTIC: elliptic
-  """
-
-  PYRAMIDAL = mujoco.mjtCone.mjCONE_PYRAMIDAL
-  ELLIPTIC = mujoco.mjtCone.mjCONE_ELLIPTIC
-
-
-class IntegratorType(enum.IntEnum):
-  """Integrator mode.
-
-  Attributes:
-    EULER: semi-implicit Euler
-    RK4: 4th-order Runge Kutta
-    IMPLICITFAST: implicit in velocity, no rne derivative
-    IMPLICIT: implicit in velocity, with rne derivative
-  """
-
-  EULER = mujoco.mjtIntegrator.mjINT_EULER
-  RK4 = mujoco.mjtIntegrator.mjINT_RK4
-  IMPLICITFAST = mujoco.mjtIntegrator.mjINT_IMPLICITFAST
-  IMPLICIT = mujoco.mjtIntegrator.mjINT_IMPLICIT
-
-
-class GeomType(enum.IntEnum):
-  """Type of geometry.
-
-  Attributes:
-    PLANE: plane
-    HFIELD: heightfield
-    SPHERE: sphere
-    CAPSULE: capsule
-    ELLIPSOID: ellipsoid
-    CYLINDER: cylinder
-    BOX: box
-    MESH: mesh
-    SDF: sdf
-    FLEX: flex
-  """
-
-  PLANE = mujoco.mjtGeom.mjGEOM_PLANE
-  HFIELD = mujoco.mjtGeom.mjGEOM_HFIELD
-  SPHERE = mujoco.mjtGeom.mjGEOM_SPHERE
-  CAPSULE = mujoco.mjtGeom.mjGEOM_CAPSULE
-  ELLIPSOID = mujoco.mjtGeom.mjGEOM_ELLIPSOID
-  CYLINDER = mujoco.mjtGeom.mjGEOM_CYLINDER
-  BOX = mujoco.mjtGeom.mjGEOM_BOX
-  MESH = mujoco.mjtGeom.mjGEOM_MESH
-  SDF = mujoco.mjtGeom.mjGEOM_SDF
-  FLEX = mujoco.mjtGeom.mjGEOM_FLEX
-  # warp only
-  TRIANGLE = 999
-  # unsupported: NGEOMTYPES, ARROW*, LINE, SKIN, LABEL, NONE
-
-
-class CollisionType(enum.IntEnum):
-  """Type of narrowphase collision.
-
-  Attributes:
-    PRIMITIVE: primitive collision
-    CONVEX: convex collision (CCD)
-    SDF: sdf collision
-  """
-
-  PRIMITIVE = 0
-  CONVEX = 1
-  SDF = 2
-
-
-class SolverType(enum.IntEnum):
-  """Constraint solver algorithm.
-
-  Attributes:
-    CG: Conjugate gradient (primal)
-    NEWTON: Newton (primal)
-  """
-
-  CG = mujoco.mjtSolver.mjSOL_CG
-  NEWTON = mujoco.mjtSolver.mjSOL_NEWTON
-  # unsupported: PGS
-
-
-class ConstraintState(enum.IntEnum):
-  """State of constraint.
-
-  Attributes:
-    SATISFIED: constraint satisfied, zero cost (limit, contact)
-    QUADRATIC: quadratic cost (equality, friction, limit, contact)
-    LINEARNEG: linear cost, negative side (friction)
-    LINEARPOS: linear cost, positive side (friction)
-    CONE: square distance to cone cost (elliptic contact)
-  """
-
-  SATISFIED = mujoco.mjtConstraintState.mjCNSTRSTATE_SATISFIED
-  QUADRATIC = mujoco.mjtConstraintState.mjCNSTRSTATE_QUADRATIC
-  LINEARNEG = mujoco.mjtConstraintState.mjCNSTRSTATE_LINEARNEG
-  LINEARPOS = mujoco.mjtConstraintState.mjCNSTRSTATE_LINEARPOS
-  CONE = mujoco.mjtConstraintState.mjCNSTRSTATE_CONE
-
-
-class ConstraintType(enum.IntEnum):
-  """Type of constraint.
-
-  Attributes:
-    EQUALITY: equality constraint
-    FRICTION_DOF: dof friction
-    FRICTION_TENDON: tendon friction
-    LIMIT_JOINT: joint limit
-    LIMIT_TENDON: tendon limit
-    CONTACT_FRICTIONLESS: frictionless contact
-    CONTACT_PYRAMIDAL: frictional contact, pyramidal friction cone
-    CONTACT_ELLIPTIC: frictional contact, elliptic friction cone
-  """
-
-  EQUALITY = mujoco.mjtConstraint.mjCNSTR_EQUALITY
-  FRICTION_DOF = mujoco.mjtConstraint.mjCNSTR_FRICTION_DOF
-  FRICTION_TENDON = mujoco.mjtConstraint.mjCNSTR_FRICTION_TENDON
-  LIMIT_JOINT = mujoco.mjtConstraint.mjCNSTR_LIMIT_JOINT
-  LIMIT_TENDON = mujoco.mjtConstraint.mjCNSTR_LIMIT_TENDON
-  CONTACT_FRICTIONLESS = mujoco.mjtConstraint.mjCNSTR_CONTACT_FRICTIONLESS
-  CONTACT_PYRAMIDAL = mujoco.mjtConstraint.mjCNSTR_CONTACT_PYRAMIDAL
-  CONTACT_ELLIPTIC = mujoco.mjtConstraint.mjCNSTR_CONTACT_ELLIPTIC
-
-
-class SensorType(enum.IntEnum):
-  """Type of sensor.
-
-  Attributes:
-    MAGNETOMETER: magnetometer
-    CAMPROJECTION: camera projection
-    RANGEFINDER: scalar distance to nearest geom or site along z-axis
-    JOINTPOS: joint position
-    TENDONPOS: scalar tendon position
-    ACTUATORPOS: actuator position
-    BALLQUAT: ball joint orientation
-    JOINTLIMITPOS: joint limit distance-margin
-    TENDONLIMITPOS: tendon limit distance-margin
-    FRAMEPOS: frame position
-    FRAMEXAXIS: frame x-axis
-    FRAMEYAXIS: frame y-axis
-    FRAMEZAXIS: frame z-axis
-    FRAMEQUAT: frame orientation, represented as quaternion
-    SUBTREECOM: subtree center of mass
-    GEOMDIST: signed distance between two geoms
-    GEOMNORMAL: normal direction between two geoms
-    GEOMFROMTO: segment between two geoms
-    INSIDESITE: 1 if object is inside site, 0 otherwise
-    E_POTENTIAL: potential energy
-    E_KINETIC: kinetic energy
-    CLOCK: simulation time
-    VELOCIMETER: 3D linear velocity, in local frame
-    GYRO: 3D angular velocity, in local frame
-    JOINTVEL: joint velocity
-    TENDONVEL: scalar tendon velocity
-    ACTUATORVEL: actuator velocity
-    BALLANGVEL: ball joint angular velocity
-    JOINTLIMITVEL: joint limit velocity
-    TENDONLIMITVEL: tendon limit velocity
-    FRAMELINVEL: 3D linear velocity
-    FRAMEANGVEL: 3D angular velocity
-    SUBTREELINVEL: subtree linear velocity
-    SUBTREEANGMOM: subtree angular momentum
-    TOUCH: scalar contact normal forces summed over sensor zone
-    CONTACT: contacts which occurred during the simulation
-    ACCELEROMETER: accelerometer
-    FORCE: force
-    TORQUE: torque
-    ACTUATORFRC: scalar actuator force, measured at the joint
-    TENDONACTFRC: scalar actuator force, measured at the tendon
-    JOINTACTFRC: scalar actuator force, measured at the joint
-    JOINTLIMITFRC: joint limit force
-    TENDONLIMITFRC: tendon limit force
-    FRAMELINACC: 3D linear acceleration
-    FRAMEANGACC: 3D angular acceleration
-    TACTILE: tactile sensor
-    USER: user-defined sensor via sensor_callback
-  """
-
-  MAGNETOMETER = mujoco.mjtSensor.mjSENS_MAGNETOMETER
-  CAMPROJECTION = mujoco.mjtSensor.mjSENS_CAMPROJECTION
-  RANGEFINDER = mujoco.mjtSensor.mjSENS_RANGEFINDER
-  JOINTPOS = mujoco.mjtSensor.mjSENS_JOINTPOS
-  TENDONPOS = mujoco.mjtSensor.mjSENS_TENDONPOS
-  ACTUATORPOS = mujoco.mjtSensor.mjSENS_ACTUATORPOS
-  BALLQUAT = mujoco.mjtSensor.mjSENS_BALLQUAT
-  JOINTLIMITPOS = mujoco.mjtSensor.mjSENS_JOINTLIMITPOS
-  TENDONLIMITPOS = mujoco.mjtSensor.mjSENS_TENDONLIMITPOS
-  FRAMEPOS = mujoco.mjtSensor.mjSENS_FRAMEPOS
-  FRAMEXAXIS = mujoco.mjtSensor.mjSENS_FRAMEXAXIS
-  FRAMEYAXIS = mujoco.mjtSensor.mjSENS_FRAMEYAXIS
-  FRAMEZAXIS = mujoco.mjtSensor.mjSENS_FRAMEZAXIS
-  FRAMEQUAT = mujoco.mjtSensor.mjSENS_FRAMEQUAT
-  SUBTREECOM = mujoco.mjtSensor.mjSENS_SUBTREECOM
-  GEOMDIST = mujoco.mjtSensor.mjSENS_GEOMDIST
-  GEOMNORMAL = mujoco.mjtSensor.mjSENS_GEOMNORMAL
-  GEOMFROMTO = mujoco.mjtSensor.mjSENS_GEOMFROMTO
-  INSIDESITE = mujoco.mjtSensor.mjSENS_INSIDESITE
-  E_POTENTIAL = mujoco.mjtSensor.mjSENS_E_POTENTIAL
-  E_KINETIC = mujoco.mjtSensor.mjSENS_E_KINETIC
-  CLOCK = mujoco.mjtSensor.mjSENS_CLOCK
-  VELOCIMETER = mujoco.mjtSensor.mjSENS_VELOCIMETER
-  GYRO = mujoco.mjtSensor.mjSENS_GYRO
-  JOINTVEL = mujoco.mjtSensor.mjSENS_JOINTVEL
-  TENDONVEL = mujoco.mjtSensor.mjSENS_TENDONVEL
-  ACTUATORVEL = mujoco.mjtSensor.mjSENS_ACTUATORVEL
-  BALLANGVEL = mujoco.mjtSensor.mjSENS_BALLANGVEL
-  JOINTLIMITVEL = mujoco.mjtSensor.mjSENS_JOINTLIMITVEL
-  TENDONLIMITVEL = mujoco.mjtSensor.mjSENS_TENDONLIMITVEL
-  FRAMELINVEL = mujoco.mjtSensor.mjSENS_FRAMELINVEL
-  FRAMEANGVEL = mujoco.mjtSensor.mjSENS_FRAMEANGVEL
-  SUBTREELINVEL = mujoco.mjtSensor.mjSENS_SUBTREELINVEL
-  SUBTREEANGMOM = mujoco.mjtSensor.mjSENS_SUBTREEANGMOM
-  TOUCH = mujoco.mjtSensor.mjSENS_TOUCH
-  CONTACT = mujoco.mjtSensor.mjSENS_CONTACT
-  ACCELEROMETER = mujoco.mjtSensor.mjSENS_ACCELEROMETER
-  FORCE = mujoco.mjtSensor.mjSENS_FORCE
-  TORQUE = mujoco.mjtSensor.mjSENS_TORQUE
-  ACTUATORFRC = mujoco.mjtSensor.mjSENS_ACTUATORFRC
-  TENDONACTFRC = mujoco.mjtSensor.mjSENS_TENDONACTFRC
-  JOINTACTFRC = mujoco.mjtSensor.mjSENS_JOINTACTFRC
-  JOINTLIMITFRC = mujoco.mjtSensor.mjSENS_JOINTLIMITFRC
-  TENDONLIMITFRC = mujoco.mjtSensor.mjSENS_TENDONLIMITFRC
-  FRAMELINACC = mujoco.mjtSensor.mjSENS_FRAMELINACC
-  FRAMEANGACC = mujoco.mjtSensor.mjSENS_FRAMEANGACC
-  TACTILE = mujoco.mjtSensor.mjSENS_TACTILE
-  USER = mujoco.mjtSensor.mjSENS_USER
-
-
-class ObjType(enum.IntEnum):
-  """Type of object.
-
-  Attributes:
-    UNKNOWN: unknown object type
-    BODY: body
-    XBODY: body, used to access regular frame instead of i-frame
-    GEOM: geom
-    FLEX: flex
-    SITE: site
-    CAMERA: camera
-  """
-
-  UNKNOWN = mujoco.mjtObj.mjOBJ_UNKNOWN
-  BODY = mujoco.mjtObj.mjOBJ_BODY
-  XBODY = mujoco.mjtObj.mjOBJ_XBODY
-  GEOM = mujoco.mjtObj.mjOBJ_GEOM
-  FLEX = mujoco.mjtObj.mjOBJ_FLEX
-  SITE = mujoco.mjtObj.mjOBJ_SITE
-  CAMERA = mujoco.mjtObj.mjOBJ_CAMERA
-
-
-class EqType(enum.IntEnum):
-  """Type of equality constraint.
-
-  Attributes:
-    CONNECT: connect two bodies at a point (ball joint)
-    JOINT: couple the values of two scalar joints with cubic
-    WELD: fix relative position and orientation of two bodies
-    TENDON: couple the lengths of two tendons with cubic
-    FLEX: couple the edge lengths of a flex
-    FLEXSTRAIN: strain constraint for interpolated flex
-  """
-
-  CONNECT = mujoco.mjtEq.mjEQ_CONNECT
-  WELD = mujoco.mjtEq.mjEQ_WELD
-  JOINT = mujoco.mjtEq.mjEQ_JOINT
-  TENDON = mujoco.mjtEq.mjEQ_TENDON
-  FLEX = mujoco.mjtEq.mjEQ_FLEX
-  FLEXSTRAIN = mujoco.mjtEq.mjEQ_FLEXSTRAIN
-  # unsupported: DISTANCE
-
-
-class WrapType(enum.IntEnum):
-  """Type of tendon wrapping object.
-
-  Attributes:
-    JOINT: constant moment arm
-    PULLEY: pulley used to split tendon
-    SITE: pass through site
-    SPHERE: wrap around sphere
-    CYLINDER: wrap around (infinite) cylinder
-  """
-
-  JOINT = mujoco.mjtWrap.mjWRAP_JOINT
-  PULLEY = mujoco.mjtWrap.mjWRAP_PULLEY
-  SITE = mujoco.mjtWrap.mjWRAP_SITE
-  SPHERE = mujoco.mjtWrap.mjWRAP_SPHERE
-  CYLINDER = mujoco.mjtWrap.mjWRAP_CYLINDER
-
-
-class State(enum.IntEnum):
-  """State component elements as integer bitflags.
-
-  Includes several convenient combinations of these flags.
-
-  Attributes:
-    TIME: time
-    QPOS: position
-    QVEL: velocity
-    ACT: actuator activation
-    HISTORY: delay/interval history buffers
-    WARMSTART: acceleration used for warmstart
-    CTRL: control
-    QFRC_APPLIED: applied generalized force
-    XFRC_APPLIED: applied Cartesian force/torque
-    EQ_ACTIVE: enable/disable constraints
-    MOCAP_POS: positions of mocap bodies
-    MOCAP_QUAT: orientations of mocap bodies
-    NSTATE: number of state elements
-    PHYSICS: TIME | QPOS | QVEL | ACT | HISTORY
-    FULLPHYSICS: TIME | PHYSICS | PLUGIN
-    USER: CTRL | QFRC_APPLIED | XFRC_APPLIED | EQ_ACTIVE | MOCAP_POS | MOCAP_QUAT | USERDATA
-    INTEGRATION: FULLPHYSICS | USER | WARMSTART
-  """
-
-  TIME = mujoco.mjtState.mjSTATE_TIME
-  QPOS = mujoco.mjtState.mjSTATE_QPOS
-  QVEL = mujoco.mjtState.mjSTATE_QVEL
-  ACT = mujoco.mjtState.mjSTATE_ACT
-  HISTORY = mujoco.mjtState.mjSTATE_HISTORY
-  WARMSTART = mujoco.mjtState.mjSTATE_WARMSTART
-  CTRL = mujoco.mjtState.mjSTATE_CTRL
-  QFRC_APPLIED = mujoco.mjtState.mjSTATE_QFRC_APPLIED
-  XFRC_APPLIED = mujoco.mjtState.mjSTATE_XFRC_APPLIED
-  EQ_ACTIVE = mujoco.mjtState.mjSTATE_EQ_ACTIVE
-  MOCAP_POS = mujoco.mjtState.mjSTATE_MOCAP_POS
-  MOCAP_QUAT = mujoco.mjtState.mjSTATE_MOCAP_QUAT
-  NSTATE = mujoco.mjtState.mjNSTATE
-  PHYSICS = mujoco.mjtState.mjSTATE_PHYSICS  # includes HISTORY
-  FULLPHYSICS = mujoco.mjtState.mjSTATE_FULLPHYSICS
-  USER = mujoco.mjtState.mjSTATE_USER
-  INTEGRATION = mujoco.mjtState.mjSTATE_INTEGRATION
-  USERDATA = mujoco.mjtState.mjSTATE_USERDATA
-  # unsupported: PLUGIN
-
-
-class vec5f(wp.types.vector(length=5, dtype=float)):
-  pass
-
-
-class vec6f(wp.types.vector(length=6, dtype=float)):
-  pass
-
-
-class vec6i(wp.types.vector(length=6, dtype=int)):
-  pass
-
-
-class vec8f(wp.types.vector(length=8, dtype=float)):
-  pass
-
-
-class vec8i(wp.types.vector(length=8, dtype=int)):
-  pass
-
-
-class vec16f(wp.types.vector(length=16, dtype=float)):
-  pass
-
-
-class vec16i(wp.types.vector(length=16, dtype=int)):
-  pass
-
-
-class vec10f(wp.types.vector(length=10, dtype=float)):
-  pass
-
-
-class vec11f(wp.types.vector(length=11, dtype=float)):
-  pass
-
-
-class vec_pluginattr(wp.types.vector(length=_NPLUGINATTR, dtype=float)):
-  pass
-
-
-class mat23f(wp.types.matrix(shape=(2, 3), dtype=float)):
-  pass
-
-
-class mat43f(wp.types.matrix(shape=(4, 3), dtype=float)):
-  pass
-
-
-class mat63f(wp.types.matrix(shape=(6, 3), dtype=float)):
-  pass
-
-
-vec5 = vec5f
-vec6 = vec6f
-vec8 = vec8f
-vec10 = vec10f
-vec11 = vec11f
-vec16 = vec16f
-vec128 = vec_pluginattr
-mat23 = mat23f
-mat43 = mat43f
-mat63 = mat63f
-
-
-def array(*args) -> wp.array:
-  """A wrapper around wp.array that adds extra metadata to ease type introspection.
-
-  Format is array(dim_1, dim_2, ..., dtype).  dim may be a constant int, or reference a size from
-  Model or Data (e.g. "nq" or "nworld").  dim may also be "*", which means any nonzero size.
-  """
-  shape, dtype = args[:-1], args[-1]
-
-  arr = wp.array(ndim=len(shape), dtype=dtype)
-  arr.shape = shape
-
-  return arr
-
-
-@dataclasses.dataclass
-class Option:
-  """Physics options.
-
-  Attributes:
-    timestep: simulation timestep
-    tolerance: main solver tolerance
-    ls_tolerance: CG/Newton linesearch tolerance
-    ccd_tolerance: convex collision detection tolerance
-    sleep_tolerance: sleep velocity tolerance
-    gravity: gravitational acceleration
-    wind: wind (for lift, drag, and viscosity)
-    magnetic: global magnetic flux
-    density: density of medium
-    viscosity: viscosity of medium
-    integrator: integration mode (IntegratorType)
-    cone: type of friction cone (ConeType)
-    solver: solver algorithm (SolverType)
-    iterations: number of main solver iterations
-    ls_iterations: maximum number of CG/Newton linesearch iterations
-    ccd_iterations: number of iterations in convex collision detection
-    disableflags: bit flags for disabling standard features
-    enableflags: bit flags for enabling optional features
-    sdf_initpoints: number of starting points for gradient descent
-    sdf_iterations: max number of iterations for gradient descent
-
-  warp only fields:
-    impratio_invsqrt: ratio of friction-to-normal contact impedance (stored as inverse square root)
-    broadphase: broadphase type (BroadphaseType)
-    broadphase_filter: broadphase filter bitflag (BroadphaseFilter)
-    graph_conditional: flag to use cuda graph conditional
-    run_collision_detection: if False, skips collision detection and allows user-populated
-      contacts during the physics step (as opposed to DisableBit.CONTACT which explicitly
-      zeros out the contacts at each step)
-    contact_sensor_maxmatch: max number of contacts considered by contact sensor matching criteria
-                             contacts matched after this value is exceded will be ignored
-    warn_overflow: warn if overflow is encountered
-  """
-
-  timestep: array("*", float)
-  tolerance: array("*", float)
-  ls_tolerance: array("*", float)
-  ccd_tolerance: array("*", float)
-  sleep_tolerance: array("*", float)
-  gravity: array("*", wp.vec3)
-  wind: array("*", wp.vec3)
-  magnetic: array("*", wp.vec3)
-  density: array("*", float)
-  viscosity: array("*", float)
-  integrator: int
-  cone: int
-  solver: int
-  iterations: int
-  ls_iterations: int
-  ccd_iterations: int
-  disableflags: int
-  enableflags: int
-  sdf_initpoints: int
-  sdf_iterations: int
-  # warp only fields:
-  impratio_invsqrt: array("*", float)
-  broadphase: BroadphaseType
-  broadphase_filter: BroadphaseFilter
-  graph_conditional: bool
-  run_collision_detection: bool
-  contact_sensor_maxmatch: int
-  warn_overflow: bool
-
-  # TODO(team): remove in future version
-  @property
-  def ls_parallel(self) -> bool:
-    raise AttributeError("ls_parallel was removed in MuJoCo Warp 3.9.1.")
-
-  @ls_parallel.setter
-  def ls_parallel(self, value: bool):
-    raise AttributeError("ls_parallel was removed in MuJoCo Warp 3.9.1.")
-
-  @property
-  def ls_parallel_min_step(self) -> float:
-    raise AttributeError("ls_parallel_min_step was removed in MuJoCo Warp 3.9.1.")
-
-  @ls_parallel_min_step.setter
-  def ls_parallel_min_step(self, value: float):
-    raise AttributeError("ls_parallel_min_step was removed in MuJoCo Warp 3.9.1.")
-
-
-@dataclasses.dataclass
-class Statistic:
-  """Model statistics (in qpos0).
-
-  Attributes:
-    meaninertia: mean diagonal inertia (per-world)
-  """
-
-  meaninertia: array("*", float)
-
-
-@dataclasses.dataclass
-class TileSet:
-  """Tiling configuration for decomposable block diagonal matrix.
-
-  For non-square, non-block-diagonal tiles, use two tilesets.
-
-  Attributes:
-    adr: address of each tile in the set
-    size: size of all the tiles in this set
-    elemid: flat CSR gather indices for tiled blocks; empty selects the native-layout scalar path
-  """
-
-  adr: wp.array[int]
-  size: int
-  elemid: wp.array[int] = dataclasses.field(default_factory=lambda: wp.array([], dtype=int))
-
-  def __eq__(self, other) -> bool:
-    if self.__class__ is not other.__class__:
-      return NotImplemented
-    return self.size == other.size and np.array_equal(np.asarray(self.adr.numpy()), np.asarray(other.adr.numpy()))
-
-  def __hash__(self) -> int:
-    adr = np.asarray(self.adr.numpy())
-    return hash((self.size, adr.dtype.str, adr.shape, adr.tobytes()))
-
-
-@dataclasses.dataclass
-class Callback:
-  """Callbacks for custom physics behavior.
-
-  Attributes:
-    passive: custom passive forces, writes to ``Data.qfrc_passive``
-    control: custom control laws, writes to ``Data.ctrl``
-    act_dyn: custom actuator dynamics, writes to ``Data.act_dot``
-    act_gain: custom actuator gains, writes to ``Data.actuator_force``
-    act_bias: custom actuator biases, writes to ``Data.actuator_force``
-    sensor: custom sensors, writes to ``Data.sensordata``
-    contactfilter: custom contact filtering, writes to ``Data.contact``
-  """
-
-  passive: Callable | None = None
-  control: Callable | None = None
-  act_dyn: Callable | None = None
-  act_gain: Callable | None = None
-  act_bias: Callable | None = None
-  sensor: Callable | None = None
-  contactfilter: Callable | None = None
-
-
-@dataclasses.dataclass
-class Model:
-  """Model definition and parameters.
-
-  Attributes:
-    nq: number of generalized coordinates
-    nv: number of degrees of freedom
-    nu: number of actuators/controls
-    na: number of activation states
-    nbody: number of bodies
-    noct: number of total octree cells in all meshes
-    njnt: number of joints
-    ntree: number of kinematic trees
-    nM: number of non-zeros in sparse inertia matrix
-    nC: number of non-zeros in sparse body-dof matrix
-    nD: number of non-zeros in sparse derivative matrix
-    ngeom: number of geoms
-    nsite: number of sites
-    ncam: number of cameras
-    nlight: number of lights
-    nflex: number of flexes
-    nflexnode: number of nodes in all flexes
-    nflexvert: number of vertices in all flexes
-    nflexedge: number of edges in all flexes
-    nflexelem: number of elements in all flexes
-    nflexelemdata: number of element vertex ids in all flexes
-    nflexstiffness: number of stiffness parameters in all flexes
-    nflexbending: number of bending parameters in all flexes
-    nflexelemedge: number of element edge ids in all flexes
-    nflexshelldata: number of shell fragment vertex ids in all flexes
-    nflexevpair: number of element-vertex pairs in all flexes
-    nJfe: number of non-zeros in sparse flexedge Jacobian
-    nmesh: number of meshes
-    nmeshvert: number of vertices for all meshes
-    nmeshnormal: number of normals in all meshes
-    nmeshface: number of faces for all meshes
-    nmeshgraph: number of ints in mesh auxiliary data
-    nmeshpoly: number of polygons in all meshes
-    nmeshpolyvert: number of vertices in all polygons
-    nmeshpolymap: number of polygons in vertex map
-    nhfield: number of heightfields
-    nhfielddata: size of elevation data
-    nmat: number of materials
-    npair: number of predefined geom pairs
-    nexclude: number of excluded geom pairs
-    neq: number of equality constraints
-    ntendon: number of tendons
-    nJten: number of non-zeros in sparse tendon Jacobian
-    nwrap: number of wrap objects in all tendon paths
-    nsensor: number of sensors
-    nmocap: number of mocap bodies
-    nplugin: number of plugin instances
-    nJmom: number of non-zeros in actuator_moment
-    nuserdata: number of custom user parameters
-    nsensordata: number of elements in sensor data vector
-    nhistory: number of history buffer entries
-    opt: physics options
-    stat: model statistics
-    qpos0: qpos values at default pose                       (*, nq)
-    qpos_spring: reference pose for springs                  (*, nq)
-    body_parentid: id of body's parent                       (nbody,)
-    body_rootid: id of root above body                       (nbody,)
-    body_weldid: id of body that this body is welded to      (nbody,)
-    body_mocapid: id of mocap data; -1: none                 (nbody,)
-    body_jntnum: number of joints for this body              (nbody,)
-    body_jntadr: start addr of joints; -1: no joints         (nbody,)
-    body_dofnum: number of motion degrees of freedom         (nbody,)
-    body_dofadr: start addr of dofs; -1: no dofs             (nbody,)
-    body_treeid: id of body's tree; -1: static               (nbody,)
-    body_geomnum: number of geoms                            (nbody,)
-    body_geomadr: start addr of geoms; -1: no geoms          (nbody,)
-    body_simple: body simple type                            (nbody,)
-    body_pos: position offset rel. to parent body            (*, nbody, 3)
-    body_quat: orientation offset rel. to parent body        (*, nbody, 4)
-    body_ipos: local position of center of mass              (*, nbody, 3)
-    body_iquat: local orientation of inertia ellipsoid       (*, nbody, 4)
-    body_mass: mass                                          (*, nbody,)
-    body_subtreemass: mass of subtree starting at this body  (*, nbody,)
-    body_inertia: diagonal inertia in ipos/iquat frame       (*, nbody, 3)
-    body_invweight0: mean inv inert in qpos0 (trn, rot)      (*, nbody, 2)
-    body_gravcomp: antigravity force, units of body weight   (*, nbody)
-    body_contype: OR over all geom contypes                  (nbody,)
-    body_conaffinity: OR over all geom conaffinities         (nbody,)
-
-    oct_child: octree children                               (noct, 8)
-    oct_aabb: octree axis-aligned bounding boxes             (noct, 2, 3)
-    oct_coeff: octree interpolation coefficients             (noct, 8)
-    jnt_type: type of joint (JointType)                      (njnt,)
-    jnt_qposadr: start addr in 'qpos' for joint's data       (njnt,)
-    jnt_dofadr: start addr in 'qvel' for joint's data        (njnt,)
-    jnt_bodyid: id of joint's body                           (njnt,)
-    jnt_limited: does joint have limits                      (njnt,)
-    jnt_actfrclimited: does joint have actuator force limits (njnt,)
-    jnt_actgravcomp: is gravcomp force applied via actuators (njnt,)
-    jnt_solref: constraint solver reference: limit           (*, njnt, mjNREF)
-    jnt_solimp: constraint solver impedance: limit           (*, njnt, mjNIMP)
-    jnt_pos: local anchor position                           (*, njnt, 3)
-    jnt_axis: local joint axis                               (*, njnt, 3)
-    jnt_stiffness: stiffness coefficient                     (*, njnt)
-    jnt_stiffnesspoly: high-order stiffness coefficients     (*, njnt, 2)
-    jnt_range: joint limits                                  (*, njnt, 2)
-    jnt_actfrcrange: range of total actuator force           (*, njnt, 2)
-    jnt_margin: min distance for limit detection             (*, njnt)
-    dof_bodyid: id of dof's body                             (nv,)
-    dof_jntid: id of dof's joint                             (nv,)
-    dof_parentid: id of dof's parent; -1: none               (nv,)
-    dof_treeid: id of dof's tree                             (nv,)
-    dof_Madr: dof address in M-diagonal                      (nv,)
-    dof_solref: constraint solver reference: frictionloss    (*, nv, NREF)
-    dof_solimp: constraint solver impedance: frictionloss    (*, nv, NIMP)
-    dof_frictionloss: dof friction loss                      (*, nv)
-    dof_armature: dof armature inertia/mass                  (*, nv)
-    dof_damping: damping coefficient                         (*, nv)
-    dof_dampingpoly: high-order damping coefficients         (*, nv, 2)
-    dof_invweight0: diag. inverse inertia in qpos0           (*, nv)
-    dof_length: dof length for weighting velocity norm       (nv,)
-    tree_bodynum: number of bodies in tree (incl. root)      (ntree,)
-    tree_dofadr: start address of tree's dofs                (ntree,)
-    tree_dofnum: number of dofs in tree                      (ntree,)
-    tree_sleep_policy: tree sleep policy (SleepPolicy)       (ntree,)
-    geom_type: geometric type (GeomType)                     (ngeom,)
-    geom_contype: geom contact type                          (ngeom,)
-    geom_conaffinity: geom contact affinity                  (ngeom,)
-    geom_condim: contact dimensionality (1, 3, 4, 6)         (ngeom,)
-    geom_bodyid: id of geom's body                           (ngeom,)
-    geom_dataid: id of geom's mesh/hfield; -1: none          (*, ngeom)
-    geom_matid: material id for rendering                    (*, ngeom,)
-    geom_group: geom group inclusion/exclusion mask          (ngeom,)
-    geom_priority: geom contact priority                     (ngeom,)
-    geom_solmix: mixing coef for solref/imp in geom pair     (*, ngeom,)
-    geom_solref: constraint solver reference: contact        (*, ngeom, mjNREF)
-    geom_solimp: constraint solver impedance: contact        (*, ngeom, mjNIMP)
-    geom_size: geom-specific size parameters                 (*, ngeom, 3)
-    geom_aabb: bounding box, (center, size)                  (*, ngeom, 2, 3)
-    geom_rbound: radius of bounding sphere                   (*, ngeom,)
-    geom_pos: local position offset rel. to body             (*, ngeom, 3)
-    geom_quat: local orientation offset rel. to body         (*, ngeom, 4)
-    geom_friction: friction for (slide, spin, roll)          (*, ngeom, 3)
-    geom_margin: detect contact if dist<margin               (*, ngeom,)
-    geom_gap: additional contact detection buffer            (*, ngeom,)
-    geom_fluid: fluid interaction parameters                 (ngeom, mjNFLUID)
-    geom_rgba: rgba when material is omitted                 (*, ngeom, 4)
-    site_type: geom type for rendering (GeomType)            (nsite,)
-    site_bodyid: id of site's body                           (nsite,)
-    site_size: geom size for rendering                       (nsite, 3)
-    site_pos: local position offset rel. to body             (*, nsite, 3)
-    site_quat: local orientation offset rel. to body         (*, nsite, 4)
-    cam_mode: camera tracking mode (CamLightType)            (ncam,)
-    cam_bodyid: id of camera's body                          (ncam,)
-    cam_targetbodyid: id of targeted body; -1: none          (ncam,)
-    cam_pos: position rel. to body frame                     (*, ncam, 3)
-    cam_quat: orientation rel. to body frame                 (*, ncam, 4)
-    cam_poscom0: global position rel. to sub-com in qpos0    (*, ncam, 3)
-    cam_pos0: global position rel. to body in qpos0          (*, ncam, 3)
-    cam_mat0: global orientation in qpos0                    (*, ncam, 3, 3)
-    cam_projection: projection type (ProjectionType)         (ncam,)
-    cam_fovy: y field-of-view (ortho ? len : deg)            (*, ncam)
-    cam_resolution: resolution: pixels [width, height]       (ncam, 2)
-    cam_sensorsize: sensor size: length [width, height]      (ncam, 2)
-    cam_intrinsic: [focal length; principal point]           (*, ncam, 4)
-    light_mode: light tracking mode (CamLightType)           (nlight,)
-    light_bodyid: id of light's body                         (nlight,)
-    light_targetbodyid: id of targeted body; -1: none        (nlight,)
-    light_type: spot, directional, etc. (mjtLightType)       (*, nlight)
-    light_castshadow: does light cast shadows                (*, nlight)
-    light_active: is light active                            (*, nlight)
-    light_pos: position rel. to body frame                   (*, nlight, 3)
-    light_dir: direction rel. to body frame                  (*, nlight, 3)
-    light_poscom0: global position rel. to sub-com in qpos0  (*, nlight, 3)
-    light_pos0: global position rel. to body in qpos0        (*, nlight, 3)
-    light_dir0: global direction in qpos0                    (*, nlight, 3)
-    light_attenuation: OpenGL constant/linear/quadratic      (*, nlight, 3)
-    light_cutoff: spotlight half-cone angle in degrees       (*, nlight)
-    light_exponent: spotlight angular falloff exponent       (*, nlight)
-    light_ambient: ambient RGB                               (*, nlight, 3)
-    light_diffuse: diffuse RGB                               (*, nlight, 3)
-    light_specular: specular RGB                             (*, nlight, 3)
-    flex_contype: flex contact type                          (nflex,)
-    flex_conaffinity: flex contact affinity                  (nflex,)
-    flex_condim: contact dimensionality (1, 3, 4, 6)         (nflex,)
-    flex_priority: geom contact priority                     (nflex,)
-    flex_solmix: mixing coef for solref/imp in geom pair     (nflex,)
-    flex_solref: constraint solver reference: contact        (nflex, mjNREF)
-    flex_solimp: constraint solver impedance: contact        (nflex, mjNIMP)
-    flex_friction: friction for (slide, spin, roll)          (nflex, 3)
-    flex_margin: detect contact if dist<margin               (nflex,)
-    flex_gap: include in solver if dist<margin-gap           (nflex,)
-    flex_internal: internal collision enabled                (nflex,)
-    flex_selfcollide: self-collision mode                    (nflex,)
-    flex_dim: 1: lines, 2: triangles, 3: tetrahedra          (nflex,)
-    flex_interp: interpolation order (0: vertex, 1+: nodes)  (nflex,)
-    flex_cellnum: cell count per dimension                   (nflex, 3)
-    flex_nodeadr: first node address                         (nflex,)
-    flex_nodenum: number of nodes                            (nflex,)
-    flex_vertadr: first vertex address                       (nflex,)
-    flex_vertnum: number of vertices                         (nflex,)
-    flex_edgeadr: first edge address                         (nflex,)
-    flex_edgenum: number of edges                            (nflex,)
-    flex_elemadr: first element address                      (nflex,)
-    flex_elemnum: number of elements                         (nflex,)
-    flex_elemdataadr: first element vertex id address        (nflex,)
-    flex_stiffnessadr: stiffness matrix address              (nflex,)
-    flex_elemedgeadr: first element edge id address          (nflex,)
-    flex_bendingadr: first bending data address              (nflex,)
-    flex_shellnum: number of shells                          (nflex,)
-    flex_shelldataadr: first shell data address              (nflex,)
-    flex_evpairadr: first element-vertex pair address        (nflex,)
-    flex_evpairnum: number of element-vertex pairs           (nflex,)
-    flex_nodebodyid: node body ids                           (nflexnode,)
-    flex_vertbodyid: vertex body ids                         (nflexvert,)
-    flex_edge: edge vertex ids (2 per edge)                  (nflexedge, 2)
-    flex_edgeflap: adjacent vertex ids (dim=2 only)          (nflexedge, 2)
-    flex_elem: element vertex ids (dim+1 per elem)           (nflexelemdata,)
-    flex_elemedge: element edge ids                          (nflexelemedge,)
-    flex_shell: shell fragment vertex ids (dim per frag)     (nflexshelldata,)
-    flex_evpair: element-vertex pair indices                 (nflexevpair, 2)
-    flex_vert: vertex local positions                        (nflexvert, 3)
-    flex_vert0: reference vertex positions in qpos0          (nflexvert, 3)
-    flex_node: node local positions                          (nflexnode, 3)
-    flex_node0: reference node positions in qpos0            (nflexnode, 3)
-    flexedge_length0: edge lengths in qpos0                  (nflexedge,)
-    flexedge_invweight0: inv. inertia for the edge           (nflexedge,)
-    flex_radius: radius around primitive element             (nflex,)
-    flex_stiffness: finite element stiffness matrix          (nflexstiffness,)
-    flex_bending: bending stiffness                          (nflexbending,)
-    flex_damping: Rayleigh's damping coefficient             (nflex,)
-    flex_edgeequality: edge equality type (0:none,1:edge,2:vert,3:strain) (nflex,)
-    flex_centered: flex vertices are centered at body origin (nflex,)
-    flexedge_J_rownnz: number of nonzeros in Jacobian row    (nflexedge,)
-    flexedge_J_rowadr: row start address in colind array     (nflexedge,)
-    flexedge_J_colind: column indices in sparse Jacobian     (nJfe,)
-    mesh_vertadr: first vertex address                       (nmesh,)
-    mesh_vertnum: number of vertices                         (nmesh,)
-    mesh_faceadr: first face address                         (nmesh,)
-    mesh_octadr: octree address for each mesh                (nmesh,)
-    mesh_normaladr: first normal address                     (nmesh,)
-    mesh_normalnum: number of normals                        (nmesh,)
-    mesh_graphadr: graph data address; -1: no graph          (nmesh,)
-    mesh_vert: vertex positions for all meshes               (nmeshvert, 3)
-    mesh_normal: normals for all meshes                      (nmeshnormal, 3)
-    mesh_face: face indices for all meshes                   (nface, 3)
-    mesh_graph: convex graph data                            (nmeshgraph,)
-    mesh_pos: translation applied to asset vertices          (nmesh, 3)
-    mesh_quat: rotation applied to asset vertices            (nmesh, 4)
-    mesh_polynum: number of polygons per mesh                (nmesh,)
-    mesh_polyadr: first polygon address per mesh             (nmesh,)
-    mesh_polynormal: all polygon normals                     (nmeshpoly, 3)
-    mesh_polyvertadr: polygon vertex start address           (nmeshpoly,)
-    mesh_polyvertnum: number of vertices per polygon         (nmeshpoly,)
-    mesh_polyvert: all polygon vertices                      (nmeshpolyvert,)
-    mesh_polymapadr: first polygon address per vertex        (nmeshvert,)
-    mesh_polymapnum: number of polygons per vertex           (nmeshvert,)
-    mesh_polymap: vertex to polygon map                      (nmeshpolymap,)
-    hfield_size: (x, y, z_top, z_bottom)                     (nhfield, 4)
-    hfield_nrow: number of rows in grid                      (nhfield,)
-    hfield_ncol: number of columns in grid                   (nhfield,)
-    hfield_adr: start address in hfield_data                 (nhfield,)
-    hfield_data: elevation data                              (nhfielddata,)
-    mat_texid: texture id for rendering                      (*, nmat, mjNTEXROLE)
-    mat_texrepeat: texture repeat for rendering              (*, nmat, 2)
-    mat_emission: emission scalar (self-illumination)        (*, nmat)
-    mat_specular: specular reflection scalar                 (*, nmat)
-    mat_shininess: shininess in [0, 1], mapped to GL [0, 128](*, nmat)
-    mat_rgba: rgba                                           (*, nmat, 4)
-    pair_dim: contact dimensionality                         (npair,)
-    pair_geom1: id of geom1                                  (npair,)
-    pair_geom2: id of geom2                                  (npair,)
-    pair_solref: solver reference: contact normal            (*, npair, mjNREF)
-    pair_solreffriction: solver reference: contact friction  (*, npair, mjNREF)
-    pair_solimp: solver impedance: contact                   (*, npair, mjNIMP)
-    pair_margin: detect contact if dist<margin               (*, npair,)
-    pair_gap: additional contact detection buffer            (*, npair,)
-    pair_friction: tangent1, 2, spin, roll1, 2               (*, npair, 5)
-    exclude_signature: body1 << 16 + body2                   (nexclude,)
-    eq_type: constraint type (EqType)                        (neq,)
-    eq_obj1id: id of object 1                                (neq,)
-    eq_obj2id: id of object 2                                (neq,)
-    eq_objtype: type of both objects (ObjType)               (neq,)
-    eq_active0: initial enable/disable constraint state      (neq,)
-    eq_solref: constraint solver reference                   (*, neq, mjNREF)
-    eq_solimp: constraint solver impedance                   (*, neq, mjNIMP)
-    eq_data: numeric data for constraint                     (*, neq, mjNEQDATA)
-    tendon_adr: address of first object in tendon's path     (ntendon,)
-    tendon_num: number of objects in tendon's path           (ntendon,)
-    ten_J_rownnz: number of non-zeros in each tendon row     (ntendon,)
-    ten_J_rowadr: row start address for sparse ten_J         (ntendon,)
-    ten_J_colind: column indices in sparse ten_J             (nJten,)
-    tendon_limited: does tendon have length limits           (ntendon,)
-    tendon_actfrclimited: does ten have actuator force limit (ntendon,)
-    tendon_solref_lim: constraint solver reference: limit    (*, ntendon, mjNREF)
-    tendon_solimp_lim: constraint solver impedance: limit    (*, ntendon, mjNIMP)
-    tendon_solref_fri: constraint solver reference: friction (*, ntendon, mjNREF)
-    tendon_solimp_fri: constraint solver impedance: friction (*, ntendon, mjNIMP)
-    tendon_range: tendon length limits                       (*, ntendon, 2)
-    tendon_actfrcrange: range of total actuator force        (*, ntendon, 2)
-    tendon_margin: min distance for limit detection          (*, ntendon)
-    tendon_stiffness: stiffness coefficient                  (*, ntendon)
-    tendon_stiffnesspoly: high-order stiffness coefficients  (*, ntendon, 2)
-    tendon_damping: damping coefficient                      (*, ntendon)
-    tendon_dampingpoly: high-order damping coefficients      (*, ntendon, 2)
-    tendon_armature: inertia associated with tendon velocity (*, ntendon)
-    tendon_frictionloss: loss due to friction                (*, ntendon)
-    tendon_lengthspring: spring resting length range         (*, ntendon, 2)
-    tendon_length0: tendon length in qpos0                   (*, ntendon)
-    tendon_invweight0: inv. weight in qpos0                  (*, ntendon)
-    wrap_type: wrap object type (WrapType)                   (nwrap,)
-    wrap_objid: object id: geom, site, joint                 (nwrap,)
-    wrap_prm: divisor, joint coef, or site id                (nwrap,)
-    actuator_trntype: transmission type (TrnType)            (nu,)
-    actuator_dyntype: dynamics type (DynType)                (nu,)
-    actuator_gaintype: gain type (GainType)                  (nu,)
-    actuator_biastype: bias type (BiasType)                  (nu,)
-    actuator_actadr: first activation address; -1: stateless (nu,)
-    actuator_actnum: number of activation variables          (nu,)
-    actuator_trnid: transmission id: joint, tendon, site     (nu, 2)
-    actuator_cranklength: crank length for slider-crank      (*, nu)
-    actuator_dynprm: dynamics parameters                     (*, nu, mjNDYN)
-    actuator_gainprm: gain parameters                        (*, nu, mjNGAIN)
-    actuator_biasprm: bias parameters                        (*, nu, mjNBIAS)
-    actuator_actlimited: is activation limited               (nu,)
-    actuator_actrange: range of activations                  (*, nu, 2)
-    actuator_actearly: step activation before force          (nu,)
-    actuator_history: history buffer sizes                   (nu, 2)
-    actuator_historyadr: history buffer address              (nu,)
-    actuator_delay: delay in seconds                         (nu,)
-    actuator_forcelimited: is force limited                  (nu,)
-    actuator_forcerange: range of forces                     (*, nu, 2)
-    actuator_ctrllimited: is control limited                 (nu,)
-    actuator_ctrlrange: range of controls                    (*, nu, 2)
-    actuator_gear: scale length and transmitted force        (*, nu, 6)
-    actuator_acc0: acceleration from unit force in qpos0     (*, nu)
-    actuator_lengthrange: feasible actuator length range     (*, nu, 2)
-    sensor_type: sensor type (SensorType)                    (nsensor,)
-    sensor_datatype: numeric data type (DataType)            (nsensor,)
-    sensor_objtype: type of sensorized object (ObjType)      (nsensor,)
-    sensor_objid: id of sensorized object                    (nsensor,)
-    sensor_reftype: type of reference frame (ObjType)        (nsensor,)
-    sensor_refid: id of reference frame; -1: global frame    (nsensor,)
-    sensor_intprm: sensor parameters                         (nsensor, mjNSENS)
-    sensor_dim: number of scalar outputs                     (nsensor,)
-    sensor_adr: address in sensor array                      (nsensor,)
-    sensor_cutoff: cutoff for real and positive; 0: ignore   (nsensor,)
-    sensor_history: history buffer sizes                     (nsensor, 2)
-    sensor_historyadr: history buffer address                (nsensor,)
-    sensor_delay: delay in seconds                           (nsensor,)
-    sensor_interval: sensor interval and phase               (nsensor, 2)
-    plugin: globally registered plugin slot number           (nplugin,)
-    plugin_attr: config attributes of geom plugin            (nplugin, _NPLUGINATTR)
-    M_rownnz: number of non-zeros in each row of M           (nv,)
-    M_rowadr: index of each row in M                         (nv,)
-    M_colind: column indices of non-zeros in M               (nC,)
-    mapM2M: index mapping from M (legacy) to M (CSR)         (nC)
-    D_rownnz: non-zeros per row in D-structure               (nv,)
-    D_rowadr: row start addresses in D-structure             (nv,)
-    D_diag: diagonal element index within each row           (nv,)
-    D_colind: column indices in D-structure                  (nD,)
-    mapM2D: index mapping from M to D                        (nD,)
-    mapD2M: index mapping from D to M                        (nC,)
-
-  warp only fields:
-    callback: custom physics callbacks
-    nbranch: number of branches (leaf-to-root paths)
-    nv_pad: number of degrees of freedom + padding
-    nacttrnbody: number of actuators with body transmission
-    nsensorcollision: number of unique collisions for
-                      geom distance sensors
-    nsensortaxel: number of taxels in all tactile sensors
-    nsensorcontact: number of contact sensors
-    nrangefinder: number of rangefinder sensors
-    nmaxcondim: maximum condim across geoms, pairs, and flexes
-    nmaxpyramid: maximum number of pyramid directions
-    nflexintcell: total interp cells (non-strain) for passive forces
-    nmaxpolygon: maximum number of verts per polygon
-    nmaxmeshdeg: maximum number of polygons per vert
-    is_sparse: constraint Jacobian/Hessian layout (sparse vs dense). Does not affect M, whose
-      factorization is a per-block decision -- see M_tiles and m_block_layout
-    qLD_block_total: packed length of the dense region per world (also the offset of the LDL region)
-    qLD_block_adr: packed factor offset; Q_LD_BLOCK_* sentinel otherwise (nv,)
-    has_fluid: True if wind, density, or viscosity are non-zero at put_model time
-    has_sdf_geom: whether the model contains SDF geoms
-    has_flex_selfcollide: whether any flex has self-collision enabled
-    has_ellipsoid_geom: whether the model contains ellipsoid geoms
-    has_3d_flex: whether the model contains 3D flexes
-    max_flex_dim: maximum flex dimension in the model
-    block_dim: block dim options
-    body_tree: list of body ids by tree level
-    body_branches: flattened body ids for all branches
-    body_branch_start: start index in body_branches for each branch   (nbranch + 1,)
-    mocap_bodyid: id of body for mocap                       (nmocap,)
-    body_fluid_ellipsoid: does body use ellipsoid fluid      (nbody,)
-    body_fluid_ellipsoid_adr: body ids with ellipsoid fluid  (nbody_fluid_ellipsoid,)
-    body_fluid_box_adr: body ids with box fluid              (nbody_fluid_box,)
-    jnt_limited_slide_hinge_adr: limited/slide/hinge jntadr
-    jnt_limited_ball_adr: limited/ball jntadr
-    body_isdofancestor: precomputed mask of which DOFs affect each body
-    dof_tri_row: dof upper triangle row (used in solver)
-    dof_tri_col: dof upper triangle col (used in solver)
-    nxn_geom_pair: collision pair geom ids [-2, ngeom-1]
-    nxn_geom_pair_filtered: valid collision pair geom ids
-                            [-1, ngeom - 1]
-    nxn_pairid: contact pair id, -1 if not predefined,
-                  -2 if skipped
-                collision id, else -1
-    nxn_pairid_filtered: active subset of nxn_pairid
-    geom_pair_type_count: count of max number of each
-                          potential collision
-    geom_plugin_index: geom index in plugin array            (ngeom,)
-    eq_connect_adr: eq_* addresses of type `CONNECT`
-    eq_wld_adr: eq_* addresses of type `WELD`
-    eq_jnt_adr: eq_* addresses of type `JOINT`
-    eq_ten_adr: eq_* addresses of type `TENDON`
-    eq_flex_adr: eq * addresses of type `FLEX
-    eq_flexstrain_adr: eq_* addresses of type `FLEXSTRAIN`
-    tendon_jnt_adr: joint tendon address
-    tendon_site_pair_adr: site pair tendon address
-    tendon_geom_adr: geom tendon address
-    tendon_limited_adr: addresses for limited tendons
-    max_ten_J_rownnz: maximum number of non-zeros in a tendon row
-    ten_wrapadr_site: wrap object starting address for sites
-    ten_wrapnum_site: number of site wrap objects per tendon
-    wrap_jnt_adr: addresses for joint tendon wrap object
-    wrap_site_adr: addresses for site tendon wrap object
-    wrap_site_pair_adr: first address for site wrap pair
-    wrap_geom_adr: addresses for geom tendon wrap object
-    wrap_pulley_scale: pulley scaling                        (nwrap,)
-    actuator_trntype_body_adr: addresses for actuators
-                               with body transmission
-    sensor_pos_adr: addresses for position sensors
-    sensor_limitpos_adr: address for limit position sensors
-    sensor_vel_adr: addresses for velocity sensors
-                    (excluding limit velocity sensors)
-    sensor_limitvel_adr: address for limit velocity sensors
-    sensor_acc_adr: addresses for acceleration sensors
-    sensor_rangefinder_adr: addresses for rangefinder sensors
-    rangefinder_sensor_adr: map sensor id to rangefinder id
-                    (excluding touch sensors)
-                    (excluding limit force sensors)
-    sensor_collision_start_adr: address for sensor's first
-                                item in collision
-    collision_sensor_adr: map sensor id to collision id      (nsensor,)
-    sensor_touch_adr: addresses for touch sensors
-    sensor_limitfrc_adr: address for limit force sensors
-    sensor_e_potential: evaluate energy_pos
-    sensor_e_kinetic: evaluate energy_vel
-    sensor_tendonactfrc_adr: address for tendonactfrc sensor
-    sensor_subtree_vel: evaluate subtree_vel
-    sensor_contact_adr: addresses for contact sensors        (nsensorcontact,)
-    sensor_adr_to_contact_adr: map sensor adr to contact adr (nsensor,)
-    sensor_rne_postconstraint: evaluate rne_postconstraint
-    sensor_rangefinder_bodyid: bodyid for rangefinder        (nrangefinder,)
-    taxel_vertadr: tactile sensor vertex address             (nsensortaxel,)
-    taxel_sensorid: address for tactile sensors
-    M_tiles: scalar and tiled block-factorization groups
-    qLD_updates: sparse factor updates grouped by tree level
-    qLD_all_updates: tuple of all levels concatenated
-    qLD_level_offsets: tuple of start offsets for each level
-    M_fullm_i: sparse mass matrix addressing
-    M_fullm_j: sparse mass matrix addressing
-    M_elemid: (row, col) -> CSR madr addresses; -1 if not a chain ancestor
-    M_hinit_i: row index of each CSR M entry; for densifying M into the dense Newton H (nC,)
-    M_fullm_upper_i: upper-triangle row indices for solver h seeding
-    M_fullm_upper_j: upper-triangle column indices for solver h seeding
-    M_fullm_upper_elemid: source elemid into M_fullm_i/M_fullm_j
-    qD_fullm_i: D-structure row indices for RNE derivatives
-    qD_fullm_j: D-structure column indices for RNE derivatives
-    M_mulm_rowadr: sparse matmul row pointers
-    M_mulm_col: sparse matmul column indices
-    M_mulm_madr: sparse matmul matrix addresses
-    flexelem_geom_pair_filtered: conaffinity-filtered element vs geom pairs (*, 2)
-    flexvert_geom_pair_filtered: conaffinity-filtered vertex vs geom pairs  (*, 2)
-    flex_elemflexid: maps each element index directly to its flexid         (nflexelem,)
-    flex_shellflexid: maps each shell index directly to its flexid          (nflexshelldata,)
-    flex_evpairflexid: maps each element-vertex pair directly to its flexid (nflexevpair,)
-    flex_vertflexid: maps each vertex index directly to its flexid          (nflexvert,)
-    flex_shelladr: maps each flex to its start shell index                  (nflex,)
-    flex_faceadr: maps each flex to its start face index                    (nflex,)
-    flex_cell_map: precomputed flex cell mapping (nflexintcell,)
-    flexstrain_J_rownnz: number of nonzeros in flex strain Jacobian row     (neq_flexstrain,)
-    flexstrain_J_rowadr: row start address in colind array (neq_flexstrain,)
-    flexstrain_J_colind: column indices in sparse flex strain Jacobian      (nJfs,)
-    neq_flexstrain: number of flex strain equality constraints
-    nJfs: number of non-zeros in sparse flex strain Jacobian
-    nflexbend_interp: number of interpolated bending edges
-    flex_bend_interp_map: mapping of interpolated bending edges to flex and (nflexbend_interp, 2)
-                          local edge indices
-    nflexface: number of interpolated flex shell faces
-    flex_face_map: mapping of face index to flex and local element face indices
-    flex_face: global node indices of each face                              (nflexface, 9)
-  """
-
-  nq: int
-  nv: int
-  nu: int
-  na: int
-  nbody: int
-  noct: int
-  njnt: int
-  ntree: int
-  nM: int
-  nC: int
-  nD: int
-  ngeom: int
-  nsite: int
-  ncam: int
-  nlight: int
-  nflex: int
-  nflexnode: int
-  nflexvert: int
-  nflexedge: int
-  nflexelem: int
-  nflexelemdata: int
-  nflexstiffness: int
-  nflexbending: int
-  nflexelemedge: int
-  nflexshelldata: int
-  nflexevpair: int
-  nJfe: int
-  nmesh: int
-  nmeshvert: int
-  nmeshnormal: int
-  nmeshface: int
-  nmeshgraph: int
-  nmeshpoly: int
-  nmeshpolyvert: int
-  nmeshpolymap: int
-  nhfield: int
-  nhfielddata: int
-  nmat: int
-  npair: int
-  nexclude: int
-  neq: int
-  ntendon: int
-  nJten: int
-  nwrap: int
-  nsensor: int
-  nmocap: int
-  nplugin: int
-  nJmom: int
-  nuserdata: int
-  nsensordata: int
-  nhistory: int
-  opt: Option
-  stat: Statistic
-  qpos0: array("*", "nq", float)
-  qpos_spring: array("*", "nq", float)
-  body_parentid: array("nbody", int)
-  body_rootid: array("nbody", int)
-  body_weldid: array("nbody", int)
-  body_mocapid: array("nbody", int)
-  body_jntnum: array("nbody", int)
-  body_jntadr: array("nbody", int)
-  body_dofnum: array("nbody", int)
-  body_dofadr: array("nbody", int)
-  body_treeid: array("nbody", int)
-  body_geomnum: array("nbody", int)
-  body_geomadr: array("nbody", int)
-  body_simple: array("nbody", int)
-  body_pos: array("*", "nbody", wp.vec3)
-  body_quat: array("*", "nbody", wp.quat)
-  body_ipos: array("*", "nbody", wp.vec3)
-  body_iquat: array("*", "nbody", wp.quat)
-  body_mass: array("*", "nbody", float)
-  body_subtreemass: array("*", "nbody", float)
-  body_inertia: array("*", "nbody", wp.vec3)
-  body_invweight0: array("*", "nbody", wp.vec2)
-  body_gravcomp: array("*", "nbody", float)
-  body_contype: array("nbody", int)
-  body_conaffinity: array("nbody", int)
-  oct_child: array("noct", vec8i)
-  oct_aabb: array("noct", 2, wp.vec3)
-  oct_coeff: array("noct", vec8)
-  jnt_type: array("njnt", int)
-  jnt_qposadr: array("njnt", int)
-  jnt_dofadr: array("njnt", int)
-  jnt_bodyid: array("njnt", int)
-  jnt_limited: array("njnt", int)
-  jnt_actfrclimited: array("njnt", bool)
-  jnt_actgravcomp: array("njnt", int)
-  jnt_solref: array("*", "njnt", wp.vec2)
-  jnt_solimp: array("*", "njnt", vec5)
-  jnt_pos: array("*", "njnt", wp.vec3)
-  jnt_axis: array("*", "njnt", wp.vec3)
-  jnt_stiffness: array("*", "njnt", float)
-  jnt_stiffnesspoly: array("*", "njnt", wp.vec2)
-  jnt_range: array("*", "njnt", wp.vec2)
-  jnt_actfrcrange: array("*", "njnt", wp.vec2)
-  jnt_margin: array("*", "njnt", float)
-  dof_bodyid: array("nv", int)
-  dof_jntid: array("nv", int)
-  dof_parentid: array("nv", int)
-  dof_treeid: array("nv", int)
-  dof_Madr: array("nv", int)
-  dof_solref: array("*", "nv", wp.vec2)
-  dof_solimp: array("*", "nv", vec5)
-  dof_frictionloss: array("*", "nv", float)
-  dof_armature: array("*", "nv", float)
-  dof_damping: array("*", "nv", float)
-  dof_dampingpoly: array("*", "nv", wp.vec2)
-  dof_invweight0: array("*", "nv", float)
-  dof_length: array("nv", float)
-  tree_bodynum: array("ntree", int)
-  tree_dofadr: array("ntree", int)
-  tree_dofnum: array("ntree", int)
-  tree_sleep_policy: array("ntree", int)
-  geom_type: array("ngeom", int)
-  geom_contype: array("ngeom", int)
-  geom_conaffinity: array("ngeom", int)
-  geom_condim: array("ngeom", int)
-  geom_bodyid: array("ngeom", int)
-  geom_dataid: array("*", "ngeom", int)
-  geom_matid: array("*", "ngeom", int)
-  geom_group: array("ngeom", int)
-  geom_priority: array("ngeom", int)
-  geom_solmix: array("*", "ngeom", float)
-  geom_solref: array("*", "ngeom", wp.vec2)
-  geom_solimp: array("*", "ngeom", vec5)
-  geom_size: array("*", "ngeom", wp.vec3)
-  geom_aabb: array("*", "ngeom", 2, wp.vec3)
-  geom_rbound: array("*", "ngeom", float)
-  geom_pos: array("*", "ngeom", wp.vec3)
-  geom_quat: array("*", "ngeom", wp.quat)
-  geom_friction: array("*", "ngeom", wp.vec3)
-  geom_margin: array("*", "ngeom", float)
-  geom_gap: array("*", "ngeom", float)
-  geom_fluid: array("ngeom", 12, float)
-  geom_rgba: array("*", "ngeom", wp.vec4)
-  site_type: array("nsite", int)
-  site_bodyid: array("nsite", int)
-  site_size: array("nsite", wp.vec3)
-  site_pos: array("*", "nsite", wp.vec3)
-  site_quat: array("*", "nsite", wp.quat)
-  cam_mode: array("ncam", int)
-  cam_bodyid: array("ncam", int)
-  cam_targetbodyid: array("ncam", int)
-  cam_pos: array("*", "ncam", wp.vec3)
-  cam_quat: array("*", "ncam", wp.quat)
-  cam_poscom0: array("*", "ncam", wp.vec3)
-  cam_pos0: array("*", "ncam", wp.vec3)
-  cam_mat0: array("*", "ncam", wp.mat33)
-  cam_projection: array("ncam", int)
-  cam_fovy: array("*", "ncam", float)
-  cam_resolution: array("ncam", wp.vec2i)
-  cam_sensorsize: array("ncam", wp.vec2)
-  cam_intrinsic: array("*", "ncam", wp.vec4)
-  light_mode: array("nlight", int)
-  light_bodyid: array("nlight", int)
-  light_targetbodyid: array("nlight", int)
-  light_type: array("*", "nlight", int)
-  light_castshadow: array("*", "nlight", bool)
-  light_active: array("*", "nlight", bool)
-  light_pos: array("*", "nlight", wp.vec3)
-  light_dir: array("*", "nlight", wp.vec3)
-  light_poscom0: array("*", "nlight", wp.vec3)
-  light_pos0: array("*", "nlight", wp.vec3)
-  light_dir0: array("*", "nlight", wp.vec3)
-  light_attenuation: array("*", "nlight", wp.vec3)
-  light_cutoff: array("*", "nlight", float)
-  light_exponent: array("*", "nlight", float)
-  light_ambient: array("*", "nlight", wp.vec3)
-  light_diffuse: array("*", "nlight", wp.vec3)
-  light_specular: array("*", "nlight", wp.vec3)
-  flex_contype: array("nflex", int)
-  flex_conaffinity: array("nflex", int)
-  flex_condim: array("nflex", int)
-  flex_priority: array("nflex", int)
-  flex_solmix: array("nflex", float)
-  flex_solref: array("nflex", wp.vec2)
-  flex_solimp: array("nflex", vec5)
-  flex_friction: array("nflex", wp.vec3)
-  flex_margin: array("nflex", float)
-  flex_gap: array("nflex", float)
-  flex_internal: array("nflex", int)
-  flex_selfcollide: array("nflex", int)
-  flex_dim: array("nflex", int)
-  flex_interp: array("nflex", int)
-  flex_cellnum: array("nflex", wp.vec3i)
-  flex_nodeadr: array("nflex", int)
-  flex_nodenum: array("nflex", int)
-  flex_vertadr: array("nflex", int)
-  flex_vertnum: array("nflex", int)
-  flex_edgeadr: array("nflex", int)
-  flex_edgenum: array("nflex", int)
-  flex_elemadr: array("nflex", int)
-  flex_elemnum: array("nflex", int)
-  flex_elemdataadr: array("nflex", int)
-  flex_stiffnessadr: array("nflex", int)
-  flex_elemedgeadr: array("nflex", int)
-  flex_bendingadr: array("nflex", int)
-  flex_shellnum: array("nflex", int)
-  flex_shelldataadr: array("nflex", int)
-  flex_evpairadr: array("nflex", int)
-  flex_evpairnum: array("nflex", int)
-  flex_nodebodyid: array("nflexnode", int)
-  flex_vertbodyid: array("nflexvert", int)
-  flex_edge: array("nflexedge", wp.vec2i)
-  flex_edgeflap: array("nflexedge", wp.vec2i)
-  flex_elem: array("nflexelemdata", int)
-  flex_elemedge: array("nflexelemedge", int)
-  flex_shell: array("nflexshelldata", int)
-  flex_evpair: array("nflexevpair", wp.vec2i)
-  flex_vert: array("nflexvert", wp.vec3)
-  flex_vert0: array("nflexvert", wp.vec3)
-  flex_node: array("nflexnode", wp.vec3)
-  flex_node0: array("nflexnode", wp.vec3)
-  flexedge_length0: array("nflexedge", float)
-  flexedge_invweight0: array("nflexedge", float)
-  flex_radius: array("nflex", float)
-  flex_stiffness: array("nflexstiffness", float)
-  flex_bending: array("nflexbending", float)
-  flex_damping: array("nflex", float)
-  flex_edgeequality: array("nflex", int)
-  flex_centered: array("nflex", bool)
-  flexedge_J_rownnz: array("nflexedge", int)
-  flexedge_J_rowadr: array("nflexedge", int)
-  flexedge_J_colind: array("nJfe", int)
-  mesh_vertadr: array("nmesh", int)
-  mesh_vertnum: array("nmesh", int)
-  mesh_faceadr: array("nmesh", int)
-  mesh_octadr: array("nmesh", int)
-  mesh_normaladr: array("nmesh", int)
-  mesh_normalnum: array("nmesh", int)
-  mesh_graphadr: array("nmesh", int)
-  mesh_vert: array("nmeshvert", wp.vec3)
-  mesh_normal: array("nmeshnormal", wp.vec3)
-  mesh_face: array("nmeshface", wp.vec3i)
-  mesh_graph: array("nmeshgraph", int)
-  mesh_pos: array("nmesh", wp.vec3)
-  mesh_quat: array("nmesh", wp.quat)
-  mesh_polynum: array("nmesh", int)
-  mesh_polyadr: array("nmesh", int)
-  mesh_polynormal: array("nmeshpoly", wp.vec3)
-  mesh_polyvertadr: array("nmeshpoly", int)
-  mesh_polyvertnum: array("nmeshpoly", int)
-  mesh_polyvert: array("nmeshpolyvert", int)
-  mesh_polymapadr: array("nmeshvert", int)
-  mesh_polymapnum: array("nmeshvert", int)
-  mesh_polymap: array("nmeshpolymap", int)
-  hfield_size: array("nhfield", wp.vec4)
-  hfield_nrow: array("nhfield", int)
-  hfield_ncol: array("nhfield", int)
-  hfield_adr: array("nhfield", int)
-  hfield_data: array("nhfielddata", float)
-  mat_texid: array("*", "nmat", 10, int)
-  mat_texrepeat: array("*", "nmat", wp.vec2)
-  mat_emission: array("*", "nmat", float)
-  mat_specular: array("*", "nmat", float)
-  mat_shininess: array("*", "nmat", float)
-  mat_rgba: array("*", "nmat", wp.vec4)
-  pair_dim: array("npair", int)
-  pair_geom1: array("npair", int)
-  pair_geom2: array("npair", int)
-  pair_solref: array("*", "npair", wp.vec2)
-  pair_solreffriction: array("*", "npair", wp.vec2)
-  pair_solimp: array("*", "npair", vec5)
-  pair_margin: array("*", "npair", float)
-  pair_gap: array("*", "npair", float)
-  pair_friction: array("*", "npair", vec5)
-  exclude_signature: array("nexclude", int)
-  eq_type: array("neq", int)
-  eq_obj1id: array("neq", int)
-  eq_obj2id: array("neq", int)
-  eq_objtype: array("neq", int)
-  eq_active0: array("neq", bool)
-  eq_solref: array("*", "neq", wp.vec2)
-  eq_solimp: array("*", "neq", vec5)
-  eq_data: array("*", "neq", vec11)
-  tendon_adr: array("ntendon", int)
-  tendon_num: array("ntendon", int)
-  ten_J_rownnz: array("ntendon", int)
-  ten_J_rowadr: array("ntendon", int)
-  ten_J_colind: array("nJten", int)
-  tendon_limited: array("ntendon", int)
-  tendon_actfrclimited: array("ntendon", bool)
-  tendon_solref_lim: array("*", "ntendon", wp.vec2)
-  tendon_solimp_lim: array("*", "ntendon", vec5)
-  tendon_solref_fri: array("*", "ntendon", wp.vec2)
-  tendon_solimp_fri: array("*", "ntendon", vec5)
-  tendon_range: array("*", "ntendon", wp.vec2)
-  tendon_actfrcrange: array("*", "ntendon", wp.vec2)
-  tendon_margin: array("*", "ntendon", float)
-  tendon_stiffness: array("*", "ntendon", float)
-  tendon_stiffnesspoly: array("*", "ntendon", wp.vec2)
-  tendon_damping: array("*", "ntendon", float)
-  tendon_dampingpoly: array("*", "ntendon", wp.vec2)
-  tendon_armature: array("*", "ntendon", float)
-  tendon_frictionloss: array("*", "ntendon", float)
-  tendon_lengthspring: array("*", "ntendon", wp.vec2)
-  tendon_length0: array("*", "ntendon", float)
-  tendon_invweight0: array("*", "ntendon", float)
-  wrap_type: array("nwrap", int)
-  wrap_objid: array("nwrap", int)
-  wrap_prm: array("nwrap", float)
-  actuator_trntype: array("nu", int)
-  actuator_dyntype: array("nu", int)
-  actuator_gaintype: array("nu", int)
-  actuator_biastype: array("nu", int)
-  actuator_actadr: array("nu", int)
-  actuator_actnum: array("nu", int)
-  actuator_trnid: array("nu", wp.vec2i)
-  actuator_cranklength: array("*", "nu", float)
-  actuator_dynprm: array("*", "nu", vec10)
-  actuator_gainprm: array("*", "nu", vec10)
-  actuator_biasprm: array("*", "nu", vec10)
-  actuator_actlimited: array("nu", bool)
-  actuator_actrange: array("*", "nu", wp.vec2)
-  actuator_actearly: array("nu", bool)
-  actuator_history: array("nu", wp.vec2i)
-  actuator_historyadr: array("nu", int)
-  actuator_delay: array("nu", float)
-  actuator_forcelimited: array("nu", bool)
-  actuator_forcerange: array("*", "nu", wp.vec2)
-  actuator_ctrllimited: array("nu", bool)
-  actuator_ctrlrange: array("*", "nu", wp.vec2)
-  actuator_gear: array("*", "nu", wp.spatial_vector)
-  actuator_acc0: array("*", "nu", float)
-  actuator_lengthrange: array("*", "nu", wp.vec2)
-  sensor_type: array("nsensor", int)
-  sensor_datatype: array("nsensor", int)
-  sensor_objtype: array("nsensor", int)
-  sensor_objid: array("nsensor", int)
-  sensor_reftype: array("nsensor", int)
-  sensor_refid: array("nsensor", int)
-  sensor_intprm: array("nsensor", 3, int)
-  sensor_dim: array("nsensor", int)
-  sensor_adr: array("nsensor", int)
-  sensor_cutoff: array("nsensor", float)
-  sensor_history: array("nsensor", wp.vec2i)
-  sensor_historyadr: array("nsensor", int)
-  sensor_delay: array("nsensor", float)
-  sensor_interval: array("nsensor", wp.vec2)
-  plugin: array("nplugin", int)
-  plugin_attr: array("nplugin", vec_pluginattr)
-  M_rownnz: array("nv", int)
-  M_rowadr: array("nv", int)
-  M_colind: array("nC", int)
-  mapM2M: array("nC", int)
-  D_rownnz: array("nv", int)
-  D_rowadr: array("nv", int)
-  D_diag: array("nv", int)
-  D_colind: array("nD", int)
-  mapM2D: array("nD", int)
-  mapD2M: array("nC", int)
-  # warp only fields:
-  callback: Callback
-  nbranch: int
-  nv_pad: int
-  nacttrnbody: int
-  nsensorcollision: int
-  nsensortaxel: int
-  nsensorcontact: int
-  nrangefinder: int
-  nmaxcondim: int
-  nmaxpyramid: int
-  nflexintcell: int
-  nmaxpolygon: int
-  nmaxmeshdeg: int
-  is_sparse: bool
-  qLD_block_total: int
-  qLD_block_adr: array("nv", int)
-  has_fluid: bool
-  has_sdf_geom: bool
-  has_flex_selfcollide: bool
-  has_ellipsoid_geom: bool
-  has_3d_flex: bool
-  max_flex_dim: int
-  block_dim: BlockDim
-  body_tree: tuple[array("nbody", int), ...]
-  body_branches: array("nbody_branches", int)
-  body_branch_start: array("nbranch_start", int)
-  mocap_bodyid: array("nmocap", int)
-  body_fluid_ellipsoid: array("nbody", bool)
-  body_fluid_ellipsoid_adr: array("nbody_fluid_ellipsoid", int)
-  body_fluid_box_adr: array("nbody_fluid_box", int)
-  jnt_limited_slide_hinge_adr: array("njnt_limited_slide_hinge", int)
-  jnt_limited_ball_adr: array("njnt_limited_ball", int)
-  body_isdofancestor: array("nbody", "nv_pad", int)
-  dof_tri_row: array("ndof_tri", int)
-  dof_tri_col: array("ndof_tri", int)
-  nxn_geom_pair: array("nnxn_geom_pair", wp.vec2i)
-  nxn_geom_pair_filtered: array("nnxn_geom_pair_filtered", wp.vec2i)
-  nxn_pairid: array("nnxn_geom_pair", wp.vec2i)
-  nxn_pairid_filtered: array("nnxn_geom_pair_filtered", wp.vec2i)
-  geom_pair_type_count: tuple[int, ...]
-  geom_plugin_index: array("ngeom", int)
-  eq_connect_adr: array("neq_connect", int)
-  eq_wld_adr: array("neq_wld", int)
-  eq_jnt_adr: array("neq_jnt", int)
-  eq_ten_adr: array("neq_ten", int)
-  eq_flex_adr: array("neq_flex", int)
-  eq_flexstrain_adr: array("neq_flexstrain", int)
-  tendon_jnt_adr: array("ntendon_jnt", int)
-  tendon_site_pair_adr: array("ntendon_site_pair", int)
-  tendon_geom_adr: array("ntendon_geom", int)
-  tendon_limited_adr: array("ntendon_limited", int)
-  max_ten_J_rownnz: int
-  ten_wrapadr_site: array("nten_wrapadr_site", int)
-  ten_wrapnum_site: array("ntendon", int)
-  wrap_jnt_adr: array("nwrap_jnt", int)
-  wrap_site_adr: array("nwrap_site", int)
-  wrap_site_pair_adr: array("nwrap_site_pair", int)
-  wrap_geom_adr: array("nwrap_geom", int)
-  wrap_pulley_scale: array("nwrap", float)
-  actuator_trntype_body_adr: array("nacttrnbody", int)
-  sensor_pos_adr: array("nsensor_pos", int)
-  sensor_limitpos_adr: array("nsensor_limitpos", int)
-  sensor_vel_adr: array("nsensor_vel", int)
-  sensor_limitvel_adr: array("nsensor_limitvel", int)
-  sensor_acc_adr: array("nsensor_acc", int)
-  sensor_rangefinder_adr: array("nrangefinder", int)
-  rangefinder_sensor_adr: array("nsensor", int)
-  sensor_collision_start_adr: array("nsensor_collision_start_adr", int)
-  collision_sensor_adr: array("nsensor", int)
-  sensor_touch_adr: array("nsensor_touch", int)
-  sensor_limitfrc_adr: array("nsensor_limitfrc", int)
-  sensor_e_potential: bool
-  sensor_e_kinetic: bool
-  sensor_tendonactfrc_adr: array("nsensor_tendonactfrc", int)
-  sensor_subtree_vel: bool
-  sensor_contact_adr: array("nsensorcontact", int)
-  sensor_adr_to_contact_adr: array("nsensor", int)
-  sensor_rne_postconstraint: bool
-  sensor_rangefinder_bodyid: array("nrangefinder", int)
-  taxel_vertadr: array("nsensortaxel", int)
-  taxel_sensorid: array("nsensortaxel", int)
-  M_tiles: tuple[TileSet, ...]
-  qLD_updates: tuple[array("nqLD_all_updates", wp.vec3i), ...]
-  qLD_all_updates: array("nqLD_all_updates", wp.vec3i)
-  qLD_level_offsets: array("nqLD_level_offsets", int)
-  # TODO(team): Remove M_fullm_i/j and M_elemid by iterating the M CSR layout
-  # directly in the solver/derivative kernels
-  M_fullm_i: array("nM_fullm", int)
-  M_fullm_j: array("nM_fullm", int)
-  M_elemid: array("nv", "nv", int)  # (row, col) -> CSR madr address; -1 if col is not a chain ancestor of row
-  M_hinit_i: array("nC", int)  # row index of each CSR M entry (for densifying M into the dense Newton H)
-  M_fullm_upper_i: array("nM_fullm_upper", int)
-  M_fullm_upper_j: array("nM_fullm_upper", int)
-  M_fullm_upper_elemid: array("nM_fullm_upper", int)
-  qD_fullm_i: array("nqD_fullm", int)  # D-structure (full square) row indices for RNE derivatives
-  qD_fullm_j: array("nqD_fullm", int)  # D-structure (full square) column indices for RNE derivatives
-  # Gather-based sparse mul_m indices (thread per DOF, no atomics)
-  M_mulm_rowadr: array("nv_plus_1", int)  # start address for each row [nv+1]
-  M_mulm_col: array("nM_mulm", int)  # column index to gather from
-  M_mulm_madr: array("nM_mulm", int)  # matrix address to read
-  flexelem_geom_pair_filtered: array("nflexelem_geom_pair_filtered", wp.vec2i)
-  flexvert_geom_pair_filtered: array("nflexvert_geom_pair_filtered", wp.vec2i)
-  flex_elemflexid: array("nflexelem", int)
-  flex_shellflexid: array("nflexshelldata", int)
-  flex_evpairflexid: array("nflexevpair", int)
-  flex_vertflexid: array("nflexvert", int)
-  flex_shelladr: array("nflex", int)
-  flex_faceadr: array("nflex", int)
-  flex_cell_map: array("nflexintcell", wp.vec4i)
-  flexstrain_J_rownnz: array("neq_flexstrain", int)
-  flexstrain_J_rowadr: array("neq_flexstrain", int)
-  flexstrain_J_colind: array("nJfs", int)
-  neq_flexstrain: int
-  nJfs: int
-  nflexbend_interp: int
-  flex_bend_interp_map: array("nflexbend_interp", wp.vec2i)
-  nflexface: int
-  flex_face_map: array("nflexface", wp.vec2i)
-  flex_face: array("nflexface", 9, int)
-
-
-class ContactType(enum.IntFlag):
-  """Type of contact.
-
-  Attributes:
-    CONSTRAINT: contact for constraint solver
-    SENSOR: contact for collision sensor (GEOMDIST, GEOMNORMAL, GEOMFROMTO)
-  """
-
-  CONSTRAINT = 1 << 0
-  SENSOR = 1 << 1
-
-
-@dataclasses.dataclass
-class Contact:
-  """Contact data.
-
-  Attributes:
-    dist: distance between nearest points; neg: penetration          (naconmax,)
-    pos: position of contact point: midpoint between geoms           (naconmax, 3)
-    frame: normal is in [0-2], points from geom[0] to geom[1]        (naconmax, 3, 3)
-    includemargin: include if dist<includemargin=margin              (naconmax,)
-    friction: tangent1, 2, spin, roll1, 2                            (naconmax, 5)
-    solref: constraint solver reference, normal direction            (naconmax, 2)
-    solreffriction: constraint solver reference, friction directions (naconmax, 2)
-    solimp: constraint solver impedance                              (naconmax, 5)
-    dim: contact space dimensionality: 1, 3, 4 or 6                  (naconmax,)
-    geom: geom ids; -1 for flex                                      (naconmax, 2)
-    flex: flex ids; -1 for geom                                      (naconmax, 2)
-    elem: element ids; -1 for geom or flex vertex                    (naconmax, 2)
-    vert: vertex ids for flex/mesh contact                           (naconmax, 2)
-    efc_address: address in efc; -1: not included                    (naconmax, nmaxpyramid)
-    worldid: world id                                                (naconmax,)
-    type: ContactType                                                (naconmax,)
-    geomcollisionid: i-th contact generated for geom                 (naconmax,)
-                     helps uniquely identity contact when multiple
-                     contacts are generated for geom pair
-  """
-
-  dist: array("naconmax", float)
-  pos: array("naconmax", wp.vec3)
-  frame: array("naconmax", wp.mat33)
-  includemargin: array("naconmax", float)
-  friction: array("naconmax", vec5)
-  solref: array("naconmax", wp.vec2)
-  solreffriction: array("naconmax", wp.vec2)
-  solimp: array("naconmax", vec5)
-  dim: array("naconmax", int)
-  geom: array("naconmax", wp.vec2i)
-  flex: array("naconmax", wp.vec2i)
-  elem: array("naconmax", wp.vec2i)
-  vert: array("naconmax", wp.vec2i)
-  efc_address: array("naconmax", "nmaxpyramid", int)
-  worldid: array("naconmax", int)
-  type: array("naconmax", int)
-  geomcollisionid: array("naconmax", int)
-
-
-@dataclasses.dataclass
-class Constraint:
-  """Constraint data.
-
-  Attributes:
-    type: constraint type (ConstraintType)            (nworld, njmax)
-    id: id of object of specific type                 (nworld, njmax)
-    jtdaj_adr: first efc row of each JTDAJ block      (nworld, njmax)
-    jtdaj_nrow: efc rows per JTDAJ block              (nworld, njmax)
-    jtdaj_nblock: number of JTDAJ blocks              (nworld,)
-    J_rownnz: number of non-zeros in J row            (nworld, 0) dense
-                                                      (nworld, njmax) sparse
-    J_rowadr: row start address in colind array       (nworld, 0) dense
-                                                      (nworld, njmax) sparse
-    J_colind: column indices in J                     (nworld, 0, 0) dense
-                                                      (nworld, 1, njmax_nnz) sparse
-    J: constraint Jacobian                            (nworld, njmax_pad, nv_pad) dense
-                                                      (nworld, 1, njmax_nnz) sparse
-    pos: constraint position (equality, contact)      (nworld, njmax)
-    margin: inclusion margin (contact)                (nworld, njmax)
-    D: constraint mass                                (nworld, njmax_pad)
-    vel: velocity in constraint space: J*qvel         (nworld, njmax)
-    aref: reference pseudo-acceleration               (nworld, njmax)
-    frictionloss: frictionloss (friction)             (nworld, njmax)
-    force: constraint force in constraint space       (nworld, njmax)
-    state: constraint state                           (nworld, njmax_pad)
-    island: island ID per constraint                  (nworld, njmax)
-  warp only fields:
-    Ma: M*qacc                                        (nworld, nv)
-    Jqvel: J*qvel                                     (nworld, njmax)
-  """
-
-  type: array("nworld", "njmax", int)
-  id: array("nworld", "njmax", int)
-  jtdaj_adr: array("nworld", "njmax", int)
-  jtdaj_nrow: array("nworld", "njmax", int)
-  jtdaj_nblock: array("nworld", int)
-  J_rownnz: array("nworld", "njmax", int)
-  J_rowadr: array("nworld", "njmax", int)
-  J_colind: array("nworld", 1, "njmax_nnz", int)
-  J: array("nworld", 1, "njmax_nnz", float)
-  pos: array("nworld", "njmax", float)
-  margin: array("nworld", "njmax", float)
-  D: array("nworld", "njmax_pad", float)
-  vel: array("nworld", "njmax", float)
-  aref: array("nworld", "njmax", float)
-  frictionloss: array("nworld", "njmax", float)
-  force: array("nworld", "njmax", float)
-  state: array("nworld", "njmax_pad", int)
-  island: array("nworld", "njmax", int)
-  Ma: array("nworld", "nv", float)
-  Jqvel: array("nworld", "njmax", float)
-
-
-@dataclasses.dataclass
-class Data:
-  """Dynamic state that updates each step.
-
-  Attributes:
-    solver_niter: number of solver iterations                   (nworld,)
-    ne: number of equality constraints                          (nworld,)
-    nf: number of friction constraints                          (nworld,)
-    nl: number of limit constraints                             (nworld,)
-    nefc: number of constraints                                 (nworld,)
-    nisland: number of constraint islands                       (nworld,)
-    nidof: total DOFs in islands                                (nworld,)
-    ntree_awake: number of awake trees                          (nworld,)
-    nbody_awake: number of awake bodies                         (nworld,)
-    nv_awake: number of awake dofs                              (nworld,)
-    time: simulation time                                       (nworld,)
-    energy: potential, kinetic energy                           (nworld, 2)
-    qpos: position                                              (nworld, nq)
-    qvel: velocity                                              (nworld, nv)
-    act: actuator activation                                    (nworld, na)
-    history: history buffer for delays                          (nworld, nhistory)
-    qacc_warmstart: acceleration used for warmstart             (nworld, nv)
-    ctrl: control                                               (nworld, nu)
-    qfrc_applied: applied generalized force                     (nworld, nv)
-    xfrc_applied: applied Cartesian force/torque                (nworld, nbody, 6)
-    eq_active: enable/disable constraints                       (nworld, neq)
-    mocap_pos: position of mocap bodies                         (nworld, nmocap, 3)
-    mocap_quat: orientation of mocap bodies                     (nworld, nmocap, 4)
-    qacc: acceleration                                          (nworld, nv)
-    act_dot: time-derivative of actuator activation             (nworld, na)
-    userdata: custom user data                                  (nworld, nuserdata)
-    sensordata: sensor data array                               (nworld, nsensordata,)
-    tree_asleep: tree asleep counter; >=0: asleep cycle         (nworld, ntree)
-    xpos: Cartesian position of body frame                      (nworld, nbody, 3)
-    xquat: Cartesian orientation of body frame                  (nworld, nbody, 4)
-    xmat: Cartesian orientation of body frame                   (nworld, nbody, 3, 3)
-    xipos: Cartesian position of body com                       (nworld, nbody, 3)
-    ximat: Cartesian orientation of body inertia                (nworld, nbody, 3, 3)
-    xanchor: Cartesian position of joint anchor                 (nworld, njnt, 3)
-    xaxis: Cartesian joint axis                                 (nworld, njnt, 3)
-    geom_xpos: Cartesian geom position                          (nworld, ngeom, 3)
-    geom_xmat: Cartesian geom orientation                       (nworld, ngeom, 3, 3)
-    site_xpos: Cartesian site position                          (nworld, nsite, 3)
-    site_xmat: Cartesian site orientation                       (nworld, nsite, 3, 3)
-    cam_xpos: Cartesian camera position                         (nworld, ncam, 3)
-    cam_xmat: Cartesian camera orientation                      (nworld, ncam, 3, 3)
-    light_xpos: Cartesian light position                        (nworld, nlight, 3)
-    light_xdir: Cartesian light direction                       (nworld, nlight, 3)
-    subtree_com: center of mass of each subtree                 (nworld, nbody, 3)
-    cdof: com-based motion axis of each dof (rot:lin)           (nworld, nv, 6)
-    cinert: com-based body inertia and mass                     (nworld, nbody, 10)
-    flexvert_xpos: cartesian flex vertex positions              (nworld, nflexvert, 3)
-    flexedge_J: edge length Jacobian                            (nworld, nJfe)
-    flexedge_length: flex edge lengths                          (nworld, nflexedge)
-    ten_wrapadr: start address of tendon's path                 (nworld, ntendon)
-    ten_wrapnum: number of wrap points in path                  (nworld, ntendon)
-    ten_J: tendon Jacobian                                      (nworld, nJten)
-    ten_length: tendon lengths                                  (nworld, ntendon)
-    wrap_obj: geomid; -1: site; -2: pulley                      (nworld, nwrap, 2)
-    wrap_xpos: Cartesian 3D points in all paths                 (nworld, nwrap, 6)
-    actuator_length: actuator lengths                           (nworld, nu)
-    moment_rownnz: number of non-zeros in actuator_moment row   (nworld, nu)
-    moment_rowadr: row start address in actuator_moment         (nworld, nu)
-    moment_colind: column indices in sparse actuator_moment     (nworld, nJmom)
-    actuator_moment: actuator moments                           (nworld, nJmom)
-    crb: com-based composite inertia and mass                   (nworld, nbody, 10)
-    M: total inertia, CSR                                       (nworld, nC)
-    qLD: per-block factor: packed dense region, then the nC     (nworld, qLD_block_total + nC)
-         L'*D*L region at offset qLD_block_total (nC=0 if no sparse block)
-    qLDiagInv: reciprocal diagonal for compact and sparse blocks (nworld, nv)
-    tree_awake: is tree awake; 0: asleep; 1: awake              (nworld, ntree)
-    body_awake: body sleep state (SleepState)                   (nworld, nbody)
-    body_awake_ind: indices of awake/static bodies              (nworld, nbody)
-    dof_awake_ind: indices of awake dofs                        (nworld, nv)
-    flexedge_velocity: flex edge velocities                     (nworld, nflexedge)
-    ten_velocity: tendon velocities                             (nworld, ntendon)
-    actuator_velocity: actuator velocities                      (nworld, nu)
-    cvel: com-based velocity (rot:lin)                          (nworld, nbody, 6)
-    cdof_dot: time-derivative of cdof (rot:lin)                 (nworld, nv, 6)
-    qfrc_bias: C(qpos,qvel)                                     (nworld, nv)
-    qfrc_spring: passive spring force                           (nworld, nv)
-    qfrc_damper: passive damper force                           (nworld, nv)
-    qfrc_gravcomp: passive gravity compensation force           (nworld, nv)
-    qfrc_fluid: passive fluid force                             (nworld, nv)
-    qfrc_passive: total passive force                           (nworld, nv)
-    subtree_linvel: linear velocity of subtree com              (nworld, nbody, 3)
-    subtree_angmom: angular momentum about subtree com          (nworld, nbody, 3)
-    qLU: sparse LU factorization of (M - dt*qDeriv)             (nworld, nD)
-    actuator_force: actuator force in actuation space           (nworld, nu)
-    qfrc_actuator: actuator force                               (nworld, nv)
-    qfrc_smooth: net unconstrained force                        (nworld, nv)
-    qacc_smooth: unconstrained acceleration                     (nworld, nv)
-    qfrc_constraint: constraint force                           (nworld, nv)
-    qfrc_inverse: net external force; should equal:             (nworld, nv)
-                  qfrc_applied + J.T @ xfrc_applied
-                  + qfrc_actuator
-    cacc: com-based acceleration                                (nworld, nbody, 6)
-    cfrc_int: com-based interaction force with parent           (nworld, nbody, 6)
-    cfrc_ext: com-based external force on body                  (nworld, nbody, 6)
-    contact: contact data
-    efc: constraint data
-    tree_island: island ID per tree (-1 if unconstrained)       (nworld, ntree)
-    dof_island: island ID per DOF (-1 if unconstrained)         (nworld, nv)
-    island_dofadr: island start address in dof vector           (nworld, ntree)
-    island_idofadr: island start address in idof vector         (nworld, ntree)
-    island_nv: DOFs per island                                  (nworld, ntree)
-    island_nefc: constraints per island                         (nworld, ntree)
-    island_ne: equality constraints per island                  (nworld, ntree)
-    island_nf: friction constraints per island                  (nworld, ntree)
-    island_iefcadr: island start address in efc vector          (nworld, ntree)
-    map_dof2idof: global DOF -> island-local DOF                (nworld, nv)
-    map_idof2dof: island-local DOF -> global DOF                (nworld, nv)
-    map_efc2iefc: global EFC -> island-local EFC                (nworld, njmax)
-    map_iefc2efc: island-local EFC -> global EFC                (nworld, njmax)
-    dof_islandid: island ID per island-DOF                      (nworld, nv)
-    efc_islandid: island ID per island-EFC                      (nworld, njmax)
-    ncdof: number of active (compacted) DOFs per world          (nworld,)
-    dof_cdof: global DOF -> compacted DOF; -1 if inactive       (nworld, nv)
-    cdof_dof: compacted DOF -> global DOF; -1 if unused         (nworld, nvmax_pad)
-    ctol: compacted-solve main tolerance (nv/nvmax_pad scaled)  (1,)
-    cls_tol: compacted-solve linesearch tolerance               (1,)
-    cdof_tri_row: row index of compacted Hessian dof-pairs      (nvmax_pad_sq,)
-    cdof_tri_col: col index of compacted Hessian dof-pairs      (nvmax_pad_sq,)
-    cM: compacted dense inertia                                 (nworld, nvmax_pad, nvmax_pad)
-    cqLD: compacted upper Cholesky factor                       (nworld, nvmax_pad, nvmax_pad)
-    crhs: compacted smooth-solve right-hand side                (nworld, nvmax_pad, 1)
-    cx: compacted smooth-solve solution                         (nworld, nvmax_pad, 1)
-    cJ: compacted dense constraint Jacobian                     (nworld, njmax_pad, nvmax_pad)
-    cMa: compacted M @ qacc workspace                           (nworld, nvmax_pad)
-    cqfrc_smooth: compacted net unconstrained force             (nworld, nvmax_pad)
-    cqacc_smooth: compacted unconstrained acceleration          (nworld, nvmax_pad)
-    cqacc_warmstart: compacted warmstart acceleration           (nworld, nvmax_pad)
-    cqacc: compacted acceleration (solve output)                (nworld, nvmax_pad)
-    cqfrc_constraint: compacted constraint force                (nworld, nvmax_pad)
-
-  warp only fields:
-    nworld: number of worlds
-    naconmax: maximum number of contacts (shared across all worlds)
-    naccdmax: maximum number of contacts for CCD (all worlds)
-    njmax: maximum number of constraints per world
-    nvmax: capacity for compacted active DOFs per world
-    nvmax_pad: nvmax rounded up to the nearest multiple of TILE_SIZE_JTDAJ_DENSE
-    njmax_pad: njmax rounded up to the nearest multiple of TILE_SIZE_JTDAJ
-    njmax_nnz: number of non-zeros in constraint Jacobian
-    nacon: number of detected contacts (across all worlds)      (1,)
-    ncollision: collision count from broadphase                 (1,)
-    flex_aabb_min: dynamic flex object bounding box min         (nworld, nflex, 3)
-    flex_aabb_max: dynamic flex object bounding box max         (nworld, nflex, 3)
-    flexnode_xpos: cartesian flex node positions                (nworld, nflexnode, 3)
-    overflow: overflow bitmask (OverflowType)                   (nworld,)
-    face_xpos: cartesian flex face positions                    (nworld, nflexface, 9, 3)
-    face_quat: cartesian flex face orientations                 (nworld, nflexface, 4)
-  """
-
-  solver_niter: array("nworld", int)
-  ne: array("nworld", int)
-  nf: array("nworld", int)
-  nl: array("nworld", int)
-  nefc: array("nworld", int)
-  nisland: array("nworld", int)
-  nidof: array("nworld", int)
-  ntree_awake: array("nworld", int)
-  nbody_awake: array("nworld", int)
-  nv_awake: array("nworld", int)
-  time: array("nworld", float)
-  energy: array("nworld", wp.vec2)
-  qpos: array("nworld", "nq", float)
-  qvel: array("nworld", "nv", float)
-  act: array("nworld", "na", float)
-  history: array("nworld", "nhistory", float)
-  qacc_warmstart: array("nworld", "nv", float)
-  ctrl: array("nworld", "nu", float)
-  qfrc_applied: array("nworld", "nv", float)
-  xfrc_applied: array("nworld", "nbody", wp.spatial_vector)
-  eq_active: array("nworld", "neq", bool)
-  mocap_pos: array("nworld", "nmocap", wp.vec3)
-  mocap_quat: array("nworld", "nmocap", wp.quat)
-  qacc: array("nworld", "nv", float)
-  act_dot: array("nworld", "na", float)
-  userdata: array("nworld", "nuserdata", float)
-  sensordata: array("nworld", "nsensordata", float)
-  tree_asleep: array("nworld", "ntree", int)
-  xpos: array("nworld", "nbody", wp.vec3)
-  xquat: array("nworld", "nbody", wp.quat)
-  xmat: array("nworld", "nbody", wp.mat33)
-  xipos: array("nworld", "nbody", wp.vec3)
-  ximat: array("nworld", "nbody", wp.mat33)
-  xanchor: array("nworld", "njnt", wp.vec3)
-  xaxis: array("nworld", "njnt", wp.vec3)
-  geom_xpos: array("nworld", "ngeom", wp.vec3)
-  geom_xmat: array("nworld", "ngeom", wp.mat33)
-  site_xpos: array("nworld", "nsite", wp.vec3)
-  site_xmat: array("nworld", "nsite", wp.mat33)
-  cam_xpos: array("nworld", "ncam", wp.vec3)
-  cam_xmat: array("nworld", "ncam", wp.mat33)
-  light_xpos: array("nworld", "nlight", wp.vec3)
-  light_xdir: array("nworld", "nlight", wp.vec3)
-  subtree_com: array("nworld", "nbody", wp.vec3)
-  cdof: array("nworld", "nv", wp.spatial_vector)
-  cinert: array("nworld", "nbody", vec10)
-  flexvert_xpos: array("nworld", "nflexvert", wp.vec3)
-  flexedge_J: array("nworld", "nJfe", float)
-  flexedge_length: array("nworld", "nflexedge", float)
-  ten_wrapadr: array("nworld", "ntendon", int)
-  ten_wrapnum: array("nworld", "ntendon", int)
-  ten_J: array("nworld", "nJten", float)
-  ten_length: array("nworld", "ntendon", float)
-  wrap_obj: array("nworld", "nwrap", wp.vec2i)
-  wrap_xpos: array("nworld", "nwrap", wp.spatial_vector)
-  actuator_length: array("nworld", "nu", float)
-  moment_rownnz: array("nworld", "nu", int)
-  moment_rowadr: array("nworld", "nu", int)
-  moment_colind: array("nworld", "nJmom", int)
-  actuator_moment: array("nworld", "nJmom", float)
-  crb: array("nworld", "nbody", vec10)
-  M: array("nworld", "nC", float)
-  qLD: array("nworld", "qld_total", float)
-  qLDiagInv: array("nworld", "nv", float)
-  tree_awake: array("nworld", "ntree", int)
-  body_awake: array("nworld", "nbody", int)
-  body_awake_ind: array("nworld", "nbody", int)
-  dof_awake_ind: array("nworld", "nv", int)
-  flexedge_velocity: array("nworld", "nflexedge", float)
-  ten_velocity: array("nworld", "ntendon", float)
-  actuator_velocity: array("nworld", "nu", float)
-  cvel: array("nworld", "nbody", wp.spatial_vector)
-  cdof_dot: array("nworld", "nv", wp.spatial_vector)
-  qfrc_bias: array("nworld", "nv", float)
-  qfrc_spring: array("nworld", "nv", float)
-  qfrc_damper: array("nworld", "nv", float)
-  qfrc_gravcomp: array("nworld", "nv", float)
-  qfrc_fluid: array("nworld", "nv", float)
-  qfrc_passive: array("nworld", "nv", float)
-  subtree_linvel: array("nworld", "nbody", wp.vec3)
-  subtree_angmom: array("nworld", "nbody", wp.vec3)
-  qLU: array("nworld", "nD", float)
-  actuator_force: array("nworld", "nu", float)
-  qfrc_actuator: array("nworld", "nv", float)
-  qfrc_smooth: array("nworld", "nv", float)
-  qacc_smooth: array("nworld", "nv", float)
-  qfrc_constraint: array("nworld", "nv", float)
-  qfrc_inverse: array("nworld", "nv", float)
-  cacc: array("nworld", "nbody", wp.spatial_vector)
-  cfrc_int: array("nworld", "nbody", wp.spatial_vector)
-  cfrc_ext: array("nworld", "nbody", wp.spatial_vector)
-  contact: Contact
-  efc: Constraint
-  tree_island: array("nworld", "ntree", int)
-  dof_island: array("nworld", "nv", int)
-  island_dofadr: array("nworld", "ntree", int)
-  island_idofadr: array("nworld", "ntree", int)
-  island_nv: array("nworld", "ntree", int)
-  island_nefc: array("nworld", "ntree", int)
-  island_ne: array("nworld", "ntree", int)
-  island_nf: array("nworld", "ntree", int)
-  island_iefcadr: array("nworld", "ntree", int)
-  map_dof2idof: array("nworld", "nv", int)
-  map_idof2dof: array("nworld", "nv", int)
-  map_efc2iefc: array("nworld", "njmax", int)
-  map_iefc2efc: array("nworld", "njmax", int)
-  dof_islandid: array("nworld", "nv", int)
-  efc_islandid: array("nworld", "njmax", int)
-  ncdof: array("nworld", int)
-  dof_cdof: array("nworld", "nv", int)
-  cdof_dof: array("nworld", "nvmax_pad", int)
-  ctol: array(1, float)
-  cls_tol: array(1, float)
-  cdof_tri_row: array("nvmax_pad_sq", int)
-  cdof_tri_col: array("nvmax_pad_sq", int)
-  cM: array("nworld", "nvmax_pad", "nvmax_pad", float)
-  cqLD: array("nworld", "nvmax_pad", "nvmax_pad", float)
-  crhs: array("nworld", "nvmax_pad", 1, float)
-  cx: array("nworld", "nvmax_pad", 1, float)
-  cJ: array("nworld", "njmax_pad", "nvmax_pad", float)
-  cMa: array("nworld", "nvmax_pad", float)
-  cqfrc_smooth: array("nworld", "nvmax_pad", float)
-  cqacc_smooth: array("nworld", "nvmax_pad", float)
-  cqacc_warmstart: array("nworld", "nvmax_pad", float)
-  cqacc: array("nworld", "nvmax_pad", float)
-  cqfrc_constraint: array("nworld", "nvmax_pad", float)
-
-  # warp only fields:
-  nworld: int
-  naconmax: int
-  naccdmax: int
-  njmax: int
-  nvmax: int
-  nvmax_pad: int
-  njmax_pad: int
-  njmax_nnz: int
-  nacon: array(1, int)
-  ncollision: array(1, int)
-  flex_aabb_min: array("nworld", "nflex", wp.vec3)
-  flex_aabb_max: array("nworld", "nflex", wp.vec3)
-  flexnode_xpos: array("nworld", "nflexnode", wp.vec3)
-  overflow: array("nworld", int)
-  face_xpos: array("nworld", "nflexface", 9, wp.vec3)
-  face_quat: array("nworld", "nflexface", wp.quat)
-
-
-@dataclasses.dataclass
-class InverseContext:
-  """Workspace arrays for inverse dynamics."""
-
-  Jaref: wp.array2d[float]
-  search_dot: wp.array[float]
-  done: wp.array[bool]
-  quad_changed_ids: wp.array2d[int]
-  quad_changed_count: wp.array[int]
-  state_changed_count: wp.array[int]
-  ls_exhausted: wp.array[bool]
-  # the full-coordinate Data, set by solve_compact (None natively)
-  compact_m_full: Optional["Model"] = None
-  compact_d_full: Optional["Data"] = None
-
-
-@dataclasses.dataclass
-class SolverContext:
-  """Workspace arrays for constraint solver."""
-
-  Jaref: wp.array2d[float]
-  search_dot: wp.array[float]
-  done: wp.array[bool]
-  grad: wp.array2d[float]
-  grad_dot: wp.array[float]
-  newton_decrement: wp.array[float]
-  Mgrad: wp.array2d[float]
-  search: wp.array2d[float]
-  mv: wp.array2d[float]
-  jv: wp.array2d[float]
-  quad: wp.array2d[wp.vec3]
-  alpha: wp.array[float]
-  grad_scale: wp.array[float]
-  state_changed_count: wp.array[int]
-  improvement: wp.array[float]
-  ls_exhausted: wp.array[bool]
-  search_unchanged: wp.array[bool]
-  prev_grad: wp.array2d[float]
-  prev_Mgrad: wp.array2d[float]
-  beta: wp.array[float]
-  beta_den: wp.array[float]
-  h: wp.array3d[float]
-  hfactor: wp.array3d[float]
-  quad_changed_ids: wp.array2d[int]
-  quad_changed_count: wp.array[int]
-  # the full-coordinate Data, set by solve_compact (None natively)
-  compact_m_full: Optional["Model"] = None
-  compact_d_full: Optional["Data"] = None
-
-
-@dataclasses.dataclass
-class RenderContext:
-  """Context for rendering.
-
-  Attributes:
-    nrender: number of actively rendering cameras
-    cam_res: camera resolution for actively rendering cameras
-    cam_id_map: camera id map
-    use_textures: whether to use textures
-    use_fast_math: whether to enable fast math for the render kernel
-    use_shadows: whether to use shadows
-    use_ambient_lighting: top-level switch for ambient contributions
-    background_color: color used for missed rays when no skybox is rendered
-    use_precomputed_rays: whether to use precomputed rays
-    bvh_ngeom: number of geometries in the BVH
-    enabled_geom_ids: enabled geometry ids
-    mesh_registry: mesh BVH id to warp mesh mapping
-    mesh_bvh_id: mesh BVH ids
-    mesh_bounds_size: mesh bounds size
-    mesh_texcoord: mesh texture coordinates
-    mesh_texcoord_offsets: mesh texture coordinate offsets
-    mesh_facetexcoord: mesh face texture coordinates
-    textures: textures
-    textures_registry: texture registry
-    hfield_registry: hfield BVH id to warp mesh mapping
-    hfield_bvh_id: hfield BVH ids
-    hfield_bounds_size: hfield bounds half-extents
-    flex_mesh_registry: per-flex mesh BVH registry (prevents garbage collection)
-    flex_rgba: flex rgba
-    flex_bvh_id: per-flex BVH ids
-    flex_group_root: per-flex group roots (nworld x n_flex_bvh)
-    flex_render_smooth: whether to render flex meshes smoothly
-    bvh_nflexgeom: number of flex geometries in the BVH
-    flex_dim_np: flex dimension per flex (1D/2D/3D)
-    flex_geom_flexid: map from flex geom ID to flex ID
-    flex_geom_edgeid: map from flex geom ID to flex edge ID
-    bvh: scene BVH
-    bvh_id: scene BVH id
-    lower: lower bounds
-    upper: upper bounds
-    group: groups
-    group_root: group roots
-    ray: rays
-    rgb_data: RGB data
-    rgb_adr: RGB addresses
-    depth_data: depth data
-    depth_adr: depth addresses
-    render_rgb: per-camera RGB render flags
-    render_depth: per-camera depth render flags
-    seg_data: segmentation data (per-pixel object ID/type pairs)
-    seg_adr: segmentation addresses
-    render_seg: per-camera segmentation render flags
-    znear: near plane distance
-    total_rays: total number of rays
-    render_skybox: whether to shade missed rays with a MuJoCo skybox texture
-    skybox_tex_id: per-world indices into textures of the skybox
-    skybox_face_width: per-world pixel widths of the skybox cube face
-    headlight_active: whether to inject MuJoCo's vis.headlight as a synthetic
-      directional light at the active camera. Read from `mjm.vis.headlight.active`
-      at context creation; users disable the headlight by configuring it on the
-      MuJoCo model (e.g. `<visual><headlight active="0"/></visual>` in XML).
-    headlight_ambient: RGB ambient color of the headlight (from vis.headlight).
-    headlight_diffuse: RGB diffuse color of the headlight.
-    headlight_specular: RGB specular color of the headlight.
-    enable_backface_culling: drop primitive ray hits whose normal faces away
-      from the ray (i.e. the ray origin is inside the geom). Matches MuJoCo's
-      mesh-ray rule. When False, the renderer reports inner-surface hits, which
-      is faster but causes a camera placed inside a geom to render that geom's
-      back wall.
-    light_attenuation_is_default: True iff every light in the model has the
-      MuJoCo default `attenuation = (1, 0, 0)`. Computed once at context
-      creation; when True the kernel skips the per-light polynomial
-      attenuation evaluation (a divide + 3 multiplies + an add per
-      non-directional light per pixel) via `wp.static`.
-    has_spot_lights: True iff any light in the model has `type == SPOT`.
-      When False, the kernel skips the spot-cone branch (cos cutoff +
-      pow exponent) per non-directional light per pixel via `wp.static`.
-    enable_specular: when True, evaluate the Phong specular highlight per
-      light per pixel (uses `mat_specular` / `mat_shininess`). When False,
-      the entire specular branch is removed at compile time. Useful for
-      depth/segmentation-only workflows or when materials are matte.
-    enable_emission: when True, add `mat_emission * base_color` to each
-      shaded pixel. When False the term is dropped at compile time.
-    enable_per_light_ambient: when True and `use_ambient_lighting` is also
-      True, sum the per-light `light_ambient` colors into each shaded pixel
-      even when the surface normal is perpendicular to the light direction
-      or the pixel is shadowed. When False the second per-light loop for
-      ambient is removed at compile time. Headlight ambient and the no-light
-      fallback are controlled by `use_ambient_lighting`.
-    geom_ray_types: tuple of GeomType int values present in the scene, used to
-      statically eliminate unused intersection branches in the ray-cast kernels.
-  """
-
-  nrender: int
-  cam_res: array("ncam", wp.vec2i)
-  cam_id_map: array("ncam", int)
-  use_textures: bool
-  use_fast_math: bool
-  use_shadows: bool
-  use_ambient_lighting: bool
-  background_color: wp.uint32
-  use_precomputed_rays: bool
-  render_skybox: bool
-  skybox_tex_id: array("*", int)
-  skybox_face_width: array("*", int)
-  headlight_active: bool
-  headlight_ambient: wp.vec3
-  headlight_diffuse: wp.vec3
-  headlight_specular: wp.vec3
-  bvh_ngeom: int
-  enabled_geom_ids: array("*", int)
-  mesh_registry: dict
-  mesh_bvh_id: array("nmesh", wp.uint64)
-  mesh_bounds_size: array("nmesh", wp.vec3)
-  mesh_texcoord: array("*", wp.vec2)
-  mesh_texcoord_offsets: array("nmesh", int)
-  mesh_facetexcoord: array("nmeshface", wp.vec3i)
-  textures: array("*", wp.Texture2D)
-  textures_registry: list[wp.Texture2D]
-  hfield_registry: dict
-  hfield_bvh_id: array("nhfield", wp.uint64)
-  hfield_bounds_size: array("nhfield", wp.vec3)
-  flex_mesh_registry: dict
-  flex_rgba: array("nflex", wp.vec4)
-  flex_bvh_id: array("*", wp.uint64)
-  flex_group_root: array("nworld", "*", int)
-  flex_render_smooth: bool
-  bvh_nflexgeom: int
-  flex_dim_np: array("nflex", int)
-  flex_geom_flexid: array("*", int)
-  flex_geom_edgeid: array("*", int)
-  bvh: wp.Bvh
-  bvh_id: wp.uint64
-  lower: array("*", wp.vec3)
-  upper: array("*", wp.vec3)
-  group: array("*", int)
-  group_root: array("*", int)
-  ray: array("*", wp.vec3)
-  rgb_data: array("*", wp.uint32)
-  rgb_adr: array("ncam", int)
-  depth_data: array("*", wp.float32)
-  depth_adr: array("ncam", int)
-  render_rgb: array("ncam", bool)
-  render_depth: array("ncam", bool)
-  seg_data: array("*", wp.vec2i)
-  seg_adr: array("ncam", int)
-  render_seg: array("ncam", bool)
-  znear: float
-  total_rays: int
-  enable_backface_culling: bool
-  enable_specular: bool
-  enable_emission: bool
-  enable_per_light_ambient: bool
-  light_attenuation_is_default: bool
-  has_spot_lights: bool
-  geom_ray_types: tuple = ()
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_misc.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_misc.py
deleted file mode 100644
index b5ec8d50..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_misc.py
+++ /dev/null
@@ -1,736 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Miscellaneous utilities."""
-
-from typing import Tuple
-
-import warp as wp
-
-from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src import types
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import WrapType
-from mujoco.mjx.third_party.mujoco_warp._src.types import vec10
-
-
-@wp.func
-def is_intersect(p1: wp.vec2, p2: wp.vec2, p3: wp.vec2, p4: wp.vec2) -> bool:
-  """Check for intersection of two 2D line segments.
-
-  Args:
-    p1: 2D point from segment 1
-    p2: 2D point from segment 1
-    p3: 2D point from segment 2
-    p4: 2D point from segment 2
-
-  Returns:
-    Intersection status of line segments.
-  """
-  # compute determinant, check
-  det = (p4[1] - p3[1]) * (p2[0] - p1[0]) - (p4[0] - p3[0]) * (p2[1] - p1[1])
-
-  if wp.abs(det) < MJ_MINVAL:
-    return False
-
-  # compute intersection point on each line
-  a = ((p4[0] - p3[0]) * (p1[1] - p3[1]) - (p4[1] - p3[1]) * (p1[0] - p3[0])) / det
-  b = ((p2[0] - p1[0]) * (p1[1] - p3[1]) - (p2[1] - p1[1]) * (p1[0] - p3[0])) / det
-
-  if a >= 0 and a <= 1.0 and b >= 0.0 and b <= 1.0:
-    return True
-  else:
-    return False
-
-
-@wp.func
-def halton(index: int, base: int) -> float:
-  n0 = index
-  b = float(base)
-  f = float(1.0) / b
-  hn = float(0.0)
-
-  while n0 > 0:
-    n1 = n0 // base
-    r = n0 - n1 * base
-    hn += f * float(r)
-    f /= b
-    n0 = n1
-
-  return hn
-
-
-@wp.func
-def length_circle(p0: wp.vec2, p1: wp.vec2, ind: int, radius: float) -> float:
-  """Curve length along circle.
-
-  Args:
-    p0: 2D point.
-    p1: 2D point.
-    ind: input for flip.
-    radius: circle radius.
-
-  Returns:
-    Curve length.
-  """
-  # compute angle between 0 and pi
-  p0n, _ = math.normalize_with_norm(p0)
-  p1n, _ = math.normalize_with_norm(p1)
-
-  angle = wp.acos(wp.dot(p0n, p1n))
-
-  # flip if necessary
-  cross = p0[1] * p1[0] - p0[0] * p1[1]
-  if (cross > 0.0 and ind != 0) or (cross < 0.0 and ind == 0):
-    angle = 2.0 * wp.pi - angle
-
-  return radius * angle
-
-
-@wp.func
-def wrap_circle(end: wp.vec4, side: wp.vec2, radius: float) -> Tuple[float, wp.vec2, wp.vec2]:
-  """2D circle wrap.
-
-  Args:
-    end: Two 2D points.
-    side: Optional 2D side point, no side point: wp.vec2(MJ_MAXVAL).
-    radius: Circle radius.
-
-  Returns:
-    Length of circular wrap or -1.0 if no wrap, pair of 2D wrap points.
-  """
-  valid_side = wp.norm_l2(side) < MJ_MAXVAL
-
-  end0 = wp.vec2(end[0], end[1])
-  end1 = wp.vec2(end[2], end[3])
-
-  sqlen0 = wp.dot(end0, end0)
-  sqlen1 = wp.dot(end1, end1)
-  sqrad = radius * radius
-
-  # either point inside circle or circle too small: no wrap
-  if (sqlen0 < sqrad) or (sqlen1 < sqrad) or (radius < MJ_MINVAL):
-    return -1.0, wp.vec2(MJ_MAXVAL), wp.vec2(MJ_MAXVAL)
-
-  # points too close: no wrap
-  dif = end1 - end0
-  dd = wp.dot(dif, dif)
-  if dd < MJ_MINVAL:
-    return -1.0, wp.vec2(MJ_MAXVAL), wp.vec2(MJ_MAXVAL)
-
-  # find nearest point on line segment to origin: a * dif + d0
-  a = -wp.dot(dif, end0) / dd
-  a = wp.clamp(a, 0.0, 1.0)
-
-  # check for intersection and side
-  tmp = a * dif + end0
-  if (wp.dot(tmp, tmp) > sqrad) and (not valid_side or wp.dot(side, tmp) >= 0.0):
-    return -1.0, wp.vec2(MJ_MAXVAL), wp.vec2(MJ_MAXVAL)
-
-  sqrt0 = wp.sqrt(sqlen0 - sqrad)
-  sqrt1 = wp.sqrt(sqlen1 - sqrad)
-
-  # construct the two solutions, compute goodness
-  sol00 = wp.vec2(
-    math.safe_div(end[0] * sqrad + radius * end[1] * sqrt0, sqlen0),
-    math.safe_div(end[1] * sqrad - radius * end[0] * sqrt0, sqlen0),
-  )
-  sol01 = wp.vec2(
-    math.safe_div(end[2] * sqrad - radius * end[3] * sqrt1, sqlen1),
-    math.safe_div(end[3] * sqrad + radius * end[2] * sqrt1, sqlen1),
-  )
-
-  sol10 = wp.vec2(
-    math.safe_div(end[0] * sqrad - radius * end[1] * sqrt0, sqlen0),
-    math.safe_div(end[1] * sqrad + radius * end[0] * sqrt0, sqlen0),
-  )
-  sol11 = wp.vec2(
-    math.safe_div(end[2] * sqrad + radius * end[3] * sqrt1, sqlen1),
-    math.safe_div(end[3] * sqrad - radius * end[2] * sqrt1, sqlen1),
-  )
-
-  # goodness: close to sd, or shorter path
-  if valid_side:
-    tmp0, _ = math.normalize_with_norm(sol00 + sol01)
-    good0 = wp.dot(tmp0, side)
-    tmp1, _ = math.normalize_with_norm(sol10 + sol11)
-    good1 = wp.dot(tmp1, side)
-  else:
-    tmp0 = sol00 - sol01
-    good0 = -wp.dot(tmp0, tmp0)
-    tmp1 = sol10 - sol11
-    good1 = -wp.dot(tmp1, tmp1)
-
-  # penalize for intersection
-  if is_intersect(end0, sol00, end1, sol01):
-    good0 = -10000.0
-  if is_intersect(end0, sol10, end1, sol11):
-    good1 = -10000.0
-
-  # select the better solution
-  if good0 > good1:
-    pnt0 = sol00
-    pnt1 = sol01
-    ind = 0
-  else:
-    pnt0 = sol10
-    pnt1 = sol11
-    ind = 1
-
-  # check for intersection
-  if is_intersect(end0, pnt0, end1, pnt1):
-    return -1.0, wp.vec2(MJ_MAXVAL), wp.vec2(MJ_MAXVAL)
-
-  # return curve length
-  return length_circle(pnt0, pnt1, ind, radius), pnt0, pnt1
-
-
-@wp.func
-def wrap_inside(
-  # In:
-  end: wp.vec4,
-  radius: float,
-  # TODO(team): update kernel analyzer to allow defaults
-  maxiter: int = 20,  # kernel_analyzer: ignore
-  zinit: float = 1.0 - 1.0e-7,  # kernel_analyzer: ignore
-  tolerance: float = 1.0e-6,  # kernel_analyzer: ignore
-) -> Tuple[float, wp.vec2, wp.vec2]:
-  """2D inside wrap.
-
-  Args:
-    end: Two 2D points.
-    radius: Circle radius.
-    maxiter: Maximum number of solver iterations.
-    zinit: Initialization for solver.
-    tolerance: Solver convergence tolerance.
-
-  Returns:
-    0.0 if wrap else -1.0, pair of 2D wrap points.
-  """
-  end0 = wp.vec2(end[0], end[1])
-  end1 = wp.vec2(end[2], end[3])
-
-  # constants
-  len0 = wp.norm_l2(end0)
-  len1 = wp.norm_l2(end1)
-  dif = end1 - end0
-  dd = wp.dot(dif, dif)
-
-  # either point inside circle or circle too small: no wrap
-  if (len0 <= radius) or (len1 <= radius) or (radius < MJ_MINVAL) or (len0 < MJ_MINVAL) or (len1 < MJ_MINVAL):
-    return -1.0, wp.vec2(MJ_MAXVAL), wp.vec2(MJ_MAXVAL)
-
-  # segment-circle intersection: no wrap
-  if dd > MJ_MINVAL:
-    # find nearest point on line segment to origin: d0 + a * dif
-    a = -wp.dot(dif, end0) / dd
-
-    # in segment
-    if (a > 0.0) and (a < 1.0):
-      tmp = end0 + a * dif
-      if wp.norm_l2(tmp) <= radius:
-        return -1.0, wp.vec2(MJ_MAXVAL), wp.vec2(MJ_MAXVAL)
-
-  # prepare default in case of numerical failure: average
-  pnt = 0.5 * (end0 + end1)
-  pnt, _ = math.normalize_with_norm(pnt)
-  pnt *= radius
-
-  # compute function parameters: asin(A * z) + asin(B * z) - 2 * asin(z) + G = 0
-  A = math.safe_div(radius, len0)
-  B = math.safe_div(radius, len1)
-  sq_A = A * A
-  sq_B = B * B
-  cosG = math.safe_div(len0 * len0 + len1 * len1 - dd, 2.0 * len0 * len1)
-  if cosG < -1.0 + MJ_MINVAL:
-    return -1.0, pnt, pnt
-  elif cosG > 1.0 - MJ_MINVAL:
-    return 0.0, pnt, pnt
-  G = wp.acos(cosG)
-
-  # init
-  z = zinit
-  f = wp.asin(A * z) + wp.asin(B * z) - 2.0 * wp.asin(z) + G
-
-  # make sure init is not on the other side
-  if f > 0.0:
-    return 0.0, pnt, pnt
-
-  # Newton method
-  iter = int(0)
-
-  while (iter < maxiter) and (wp.abs(f) > tolerance):
-    # derivative
-    sq_z = z * z
-    df = (
-      A / wp.max(MJ_MINVAL, wp.sqrt(1.0 - sq_z * sq_A))
-      + B / wp.max(MJ_MINVAL, wp.sqrt(1.0 - sq_z * sq_B))
-      - 2.0 / wp.max(MJ_MINVAL, wp.sqrt(1.0 - sq_z))
-    )
-
-    # check sign; SHOULD NOT OCCUR
-    if df > -MJ_MINVAL:
-      return 0.0, pnt, pnt
-
-    # new point
-    z1 = z - math.safe_div(f, df)
-
-    # make sure we are moving to the left; SHOULD NOT OCCUR
-    if z1 > z:
-      return 0.0, pnt, pnt
-
-    # update solution
-    z = z1
-    f = wp.asin(A * z) + wp.asin(B * z) - 2.0 * wp.asin(z) + G
-
-    # exit if positive: SHOULD NOT OCCUR
-    if f > tolerance:
-      return 0.0, pnt, pnt
-
-    iter += 1
-
-  # check convergence
-  if iter >= maxiter:
-    return 0.0, pnt, pnt
-
-  # finalize: rotation by ang from vec = a or b, depending on cross(a, b) sign
-  if end[0] * end[3] - end[1] * end[2] > 0.0:
-    vec = end0
-    ang = wp.asin(z) - wp.asin(A * z)
-  else:
-    vec = end1
-    ang = wp.asin(z) - wp.asin(B * z)
-
-  vec, _ = math.normalize_with_norm(vec)
-  pnt = wp.vec2(
-    radius * (wp.cos(ang) * vec[0] - wp.sin(ang) * vec[1]),
-    radius * (wp.sin(ang) * vec[0] + wp.cos(ang) * vec[1]),
-  )
-
-  return 0.0, pnt, pnt
-
-
-@wp.func
-def wrap(
-  x0: wp.vec3, x1: wp.vec3, pos: wp.vec3, mat: wp.mat33, radius: float, geomtype: int, side: wp.vec3
-) -> Tuple[float, wp.vec3, wp.vec3]:
-  """Wrap tendons around spheres and cylinders.
-
-  Args:
-    x0: 3D endpoint.
-    x1: 3D endpoint.
-    pos: Position of geom.
-    mat: Orientation of geom.
-    radius: Geom radius.
-    geomtype: Wrap type (mjtWrap).
-    side: 3D position for sidesite, no side point: wp.vec3(MJ_MAXVAL).
-
-  Returns:
-    Length of circular wrap else -1.0 if no wrap, pair of 3D wrap points.
-  """
-  # check object type
-  if geomtype != WrapType.SPHERE and geomtype != WrapType.CYLINDER:
-    return MJ_MAXVAL, wp.vec3(MJ_MAXVAL), wp.vec3(MJ_MAXVAL)
-
-  # map sites to wrap object's local frame
-  matT = wp.transpose(mat)
-  p0 = matT @ (x0 - pos)
-  p1 = matT @ (x1 - pos)
-
-  # too close to origin: return
-  if (wp.norm_l2(p0) < MJ_MINVAL) or (wp.norm_l2(p1) < MJ_MINVAL):
-    return -1.0, wp.vec3(MJ_MAXVAL), wp.vec3(MJ_MAXVAL)
-
-  # construct 2D frame for circle wrap
-  if geomtype == WrapType.SPHERE:
-    # 1st axis = p0
-    axis0, _ = math.normalize_with_norm(p0)
-
-    # normal to p0-0-p1 plane = cross(p0, p1)
-    normal = wp.cross(p0, p1)
-    normal, nrm = math.normalize_with_norm(normal)
-
-    # if (p0, p1) parallel: different normal
-    if nrm < MJ_MINVAL:
-      # find max component of axis0
-      axis0_abs = wp.abs(axis0)
-      i = int(0)
-      if (axis0_abs[1] > axis0_abs[0]) and (axis0_abs[1] > axis0_abs[2]):
-        i = 1
-      if (axis0_abs[2] > axis0_abs[0]) and (axis0_abs[2] > axis0_abs[1]):
-        i = 2
-
-      # init second axis: 0 at i; 1 elsewhere
-      axis1 = wp.vec3(1.0)
-      axis1[i] = 0.0
-
-      # recompute normal
-      normal = wp.cross(axis0, axis1)
-      normal, _ = math.normalize_with_norm(normal)
-
-    # 2nd axis = cross(normal, p0)
-    axis1 = wp.cross(normal, axis0)
-    axis1, _ = math.normalize_with_norm(axis1)
-  else:  # WrapType.CYLINDER
-    # 1st axis = x
-    axis0 = wp.vec3(1.0, 0.0, 0.0)
-
-    # 2nd axis = y
-    axis1 = wp.vec3(0.0, 1.0, 0.0)
-
-  # project points in 2D frame: p => end
-  end = wp.vec4(
-    wp.dot(p0, axis0),
-    wp.dot(p0, axis1),
-    wp.dot(p1, axis0),
-    wp.dot(p1, axis1),
-  )
-
-  # handle sidesite
-  valid_side = wp.norm_l2(side) < MJ_MAXVAL
-
-  if valid_side:
-    # side point: apply same projection as x0, x1
-    sidepnt = matT @ (side - pos)
-
-    # side point: project and rescale
-    sidepnt_proj = wp.vec2(
-      wp.dot(sidepnt, axis0),
-      wp.dot(sidepnt, axis1),
-    )
-
-    sidepnt_proj, _ = math.normalize_with_norm(sidepnt_proj)
-    sidepnt_proj *= radius
-  else:
-    sidepnt_proj = wp.vec2(MJ_MAXVAL)
-
-  # apply inside wrap
-  if valid_side and wp.norm_l2(sidepnt) < radius:
-    wlen, pnt0, pnt1 = wrap_inside(end, radius)
-  else:  # apply circle wrap
-    wlen, pnt0, pnt1 = wrap_circle(end, sidepnt_proj, radius)
-
-  # no wrap: return
-  if wlen < 0.0:
-    return -1.0, wp.vec3(MJ_MAXVAL), wp.vec3(MJ_MAXVAL)
-
-  # reconstruct 3D points in local frame: res
-  res0 = axis0 * pnt0[0] + axis1 * pnt0[1]
-  res1 = axis0 * pnt1[0] + axis1 * pnt1[1]
-
-  # cylinder: correct along z
-  if geomtype == WrapType.CYLINDER:
-    # set vertical coordinates
-    L0 = wp.sqrt((p0[0] - res0[0]) * (p0[0] - res0[0]) + (p0[1] - res0[1]) * (p0[1] - res0[1]))
-    L1 = wp.sqrt((p1[0] - res1[0]) * (p1[0] - res1[0]) + (p1[1] - res1[1]) * (p1[1] - res1[1]))
-    res0[2] = p0[2] + (p1[2] - p0[2]) * math.safe_div(L0, L0 + wlen + L1)
-    res1[2] = p0[2] + (p1[2] - p0[2]) * math.safe_div(L0 + wlen, L0 + wlen + L1)
-
-    # correct wlen for height
-    height = wp.abs(res1[2] - res0[2])
-    wlen = wp.sqrt(wlen * wlen + height * height)
-
-  # map back to global frame: wpnt
-  wpnt0 = mat @ res0 + pos
-  wpnt1 = mat @ res1 + pos
-
-  return wlen, wpnt0, wpnt1
-
-
-@wp.func
-def muscle_gain_length(length: float, lmin: float, lmax: float) -> float:
-  """Normalized muscle length-gain curve."""
-  if (lmin > length) or (length > lmax):
-    return 0.0
-
-  # mid-ranges (maximum is at 1.0)
-  a = 0.5 * (lmin + 1.0)
-  b = 0.5 * (1.0 + lmax)
-
-  if length <= a:
-    x = (length - lmin) / wp.max(MJ_MINVAL, a - lmin)
-    return 0.5 * x * x
-  elif length <= 1.0:
-    x = (1.0 - length) / wp.max(MJ_MINVAL, 1.0 - a)
-    return 1.0 - 0.5 * x * x
-  elif length <= b:
-    x = (length - 1.0) / wp.max(MJ_MINVAL, b - 1.0)
-    return 1.0 - 0.5 * x * x
-  else:
-    x = (lmax - length) / wp.max(MJ_MINVAL, lmax - b)
-    return 0.5 * x * x
-
-
-@wp.func
-def muscle_gain(len: float, vel: float, lengthrange: wp.vec2, acc0: float, prm: vec10) -> float:
-  """Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax)."""
-  # unpack parameters
-  range_ = wp.vec2(prm[0], prm[1])
-  force = prm[2]
-  scale = prm[3]
-  lmin = prm[4]
-  lmax = prm[5]
-  vmax = prm[6]
-  fvmax = prm[8]
-
-  # scale force if negative
-  if force < 0.0:
-    force = scale / wp.max(MJ_MINVAL, acc0)
-
-  # optimum length
-  L0 = (lengthrange[1] - lengthrange[0]) / wp.max(MJ_MINVAL, range_[1] - range_[0])
-
-  # normalized length and velocity
-  L = range_[0] + (len - lengthrange[0]) / wp.max(MJ_MINVAL, L0)
-  V = vel / wp.max(MJ_MINVAL, L0 * vmax)
-
-  # length curve
-  FL = muscle_gain_length(L, lmin, lmax)
-
-  # velocity curve
-  y = fvmax - 1.0
-  if V <= -1.0:
-    FV = 0.0
-  elif V <= 0.0:
-    FV = (V + 1.0) * (V + 1.0)
-  elif V <= y:
-    FV = fvmax - (y - V) * (y - V) / wp.max(MJ_MINVAL, y)
-  else:
-    FV = fvmax
-
-  # compute FVL and scale, make it negative
-  return -force * FL * FV
-
-
-@wp.func
-def muscle_bias(len: float, lengthrange: wp.vec2, acc0: float, prm: vec10) -> float:
-  """Calculates muscle passive force.
-
-  prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).
-  """
-  # unpack parameters
-  range_ = wp.vec2(prm[0], prm[1])
-  force = prm[2]
-  scale = prm[3]
-  lmax = prm[5]
-  fpmax = prm[7]
-
-  # scale force if negative
-  if force < 0.0:
-    force = scale / wp.max(MJ_MINVAL, acc0)
-
-  # optimum length
-  L0 = (lengthrange[1] - lengthrange[0]) / wp.max(MJ_MINVAL, range_[1] - range_[0])
-
-  # normalized length
-  L = range_[0] + (len - lengthrange[0]) / wp.max(MJ_MINVAL, L0)
-
-  # half-quadratic to (L0 + lmax) / 2, linear beyond
-  b = 0.5 * (1.0 + lmax)
-  if L <= 1.0:
-    return 0.0
-  elif L <= b:
-    x = (L - 1.0) / wp.max(MJ_MINVAL, b - 1.0)
-    return -force * fpmax * 0.5 * x * x
-  else:
-    x = (L - b) / wp.max(MJ_MINVAL, b - 1.0)
-    return -force * fpmax * (0.5 + x)
-
-
-@wp.func
-def _sigmoid(x: float) -> float:
-  """Sigmoid function over 0 <= x <= 1 using quintic polynomial."""
-  if x <= 0.0:
-    return 0.0
-
-  if x >= 1.0:
-    return 1.0
-
-  # sigmoid f(x) = 6 * x^5 - 15 * x^4 + 10 * x^3
-  # solution of f(0) = f'(0) = f''(0) = 0, f(1) = 1, f'(1) = f''(1) = 0
-  return x * x * x * (3.0 * x * (2.0 * x - 5.0) + 10.0)
-
-
-@wp.func
-def muscle_dynamics_timescale(dctrl: float, tau_act: float, tau_deact: float, smooth_width: float) -> float:
-  """Muscle time constant with optional smoothing."""
-  # hard switching
-  if smooth_width < MJ_MINVAL:
-    if dctrl > 0.0:
-      return tau_act
-    else:
-      return tau_deact
-  else:  # smooth switching
-    # scale by width, center around 0.5 midpoint, rescale to bounds
-    return tau_deact + (tau_act - tau_deact) * _sigmoid(dctrl / smooth_width + 0.5)
-
-
-@wp.func
-def muscle_dynamics(control: float, activation: float, prm: vec10) -> float:
-  """Muscle activation dynamics, prm = (tau_act, tau_deact, smooth_width)."""
-  # clamp control
-  ctrlclamp = wp.clamp(control, 0.0, 1.0)
-
-  # clamp activation
-  actclamp = wp.clamp(activation, 0.0, 1.0)
-
-  # compute timescales as in Millard et al. (2013) https://doi.org/10.1115/1.4023390
-  tau_act = prm[0] * (0.5 + 1.5 * actclamp)  # activation timescale
-  tau_deact = prm[1] / (0.5 + 1.5 * actclamp)  # deactivation timescale
-  smooth_width = prm[2]  # width of smoothing sigmoid
-  dctrl = ctrlclamp - activation  # excess excitation
-
-  tau = muscle_dynamics_timescale(dctrl, tau_act, tau_deact, smooth_width)
-
-  # filter output
-  return dctrl / wp.max(MJ_MINVAL, tau)
-
-
-@wp.func
-def dcmotor_slots(dynprm: types.vec10, gainprm: types.vec10) -> types.vec6i:
-  """Compute activation slot layout for a DC motor actuator.
-
-  Each DC motor can have up to 5 optional activation states. This function
-  determines which states are enabled (based on nonzero parameters) and
-  assigns each a contiguous slot offset in the activation array.
-
-  Returns a vec6i where:
-    s[0]: slew rate     — enabled when dynprm[7] > 0  (slew rate limit)
-    s[1]: integral      — enabled when gainprm[5] > 0 (integral gain ki)
-    s[2]: temperature   — enabled when dynprm[2] > 0  (thermal resistance RT)
-    s[3]: bristle       — enabled when dynprm[5] > 0  (LuGre stiffness sigma0)
-    s[4]: current       — enabled when dynprm[0] > 0  (electrical time const te)
-    s[5]: total number of active slots (num_slots)
-
-  Enabled slots hold a contiguous offset (0, 1, 2, ...); disabled slots
-  are set to -1.
-  """
-  s = types.vec6i(-1, -1, -1, -1, -1, 0)
-  num_slots = 0
-  if dynprm[7] > 0.0:
-    s[0] = num_slots
-    num_slots += 1
-  if gainprm[5] > 0.0:
-    s[1] = num_slots
-    num_slots += 1
-  if dynprm[2] > 0.0:
-    s[2] = num_slots
-    num_slots += 1
-  if dynprm[5] > 0.0:
-    s[3] = num_slots
-    num_slots += 1
-  if dynprm[0] > 0.0:
-    s[4] = num_slots
-    num_slots += 1
-  s[5] = num_slots
-  return s
-
-
-@wp.func
-def lugre_stribeck(velocity: float, F_C: float, F_S: float, v_S: float) -> float:
-  ratio = velocity / wp.max(MJ_MINVAL, v_S)
-  return F_C + (F_S - F_C) * wp.exp(-ratio * ratio)
-
-
-@wp.func
-def dcmotor_voltage(u: float, length: float, velocity: float, x_I: float, gainprm: types.vec10) -> float:
-  input_mode = int(gainprm[8])
-  Vmax = gainprm[7]
-  voltage = 0.0
-
-  if input_mode > 0:
-    kp = gainprm[4]
-    ki = gainprm[5]
-    kd = gainprm[6]
-
-    if input_mode == 1:
-      # position mode
-      voltage = kp * (u - length) + ki * x_I - kd * velocity
-    else:
-      # velocity mode
-      voltage = kp * (u - velocity) + ki * (x_I - length)
-  else:
-    voltage = u
-
-  if Vmax > 0.0:
-    voltage = wp.clamp(voltage, -Vmax, Vmax)
-
-  return voltage
-
-
-@wp.func
-def inside_geom(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, geomtype: int, point: wp.vec3) -> bool:
-  """Return True if point is inside primitive geom, False otherwise."""
-  # vector from geom to point
-  vec = point - pos
-
-  # quick return for spheres, frame rotation not required
-  if geomtype == GeomType.SPHERE:
-    return wp.dot(vec, vec) < size[0] * size[0]
-
-  # rotate into local frame
-  plocal = wp.transpose(mat) @ vec
-
-  # handle other geom types
-  if geomtype == GeomType.CAPSULE:
-    z = plocal[2]
-    z_clamped = wp.clamp(z, -size[1], size[1])
-    z_dif = z - z_clamped
-    z_dist_sq = z_dif * z_dif
-    return plocal[0] * plocal[0] + plocal[1] * plocal[1] + z_dist_sq < size[0] * size[0]
-  elif geomtype == GeomType.ELLIPSOID:
-    plocalsize = wp.cw_div(plocal, size)
-    return wp.dot(plocalsize, plocalsize) < 1.0
-  elif geomtype == GeomType.CYLINDER:
-    return (wp.abs(plocal[2]) < size[1]) and (plocal[0] * plocal[0] + plocal[1] * plocal[1] < size[0] * size[0])
-  elif geomtype == GeomType.BOX:
-    return wp.abs(plocal[0]) < size[0] and wp.abs(plocal[1]) < size[1] and wp.abs(plocal[2]) < size[2]
-  elif geomtype == GeomType.PLANE:
-    return plocal[2] < 0.0
-
-  return False
-
-
-@wp.func
-def _poly_force(linear: float, poly: wp.vec2, x: float, flg_odd: int) -> float:
-  x_val = wp.where(flg_odd == 1, wp.abs(x), x)
-  res = linear
-  res += poly[0] * x_val
-  res += poly[1] * x_val * x_val
-  return res
-
-
-@wp.func
-def _poly_force_deriv(linear: float, poly: wp.vec2, x: float, flg_odd: int) -> float:
-  x_val = wp.where(flg_odd == 1, wp.abs(x), x)
-  res = linear
-  res += 2.0 * poly[0] * x_val
-  res += 3.0 * poly[1] * x_val * x_val
-  return res
-
-
-@wp.func
-def poly_potential(linear: float, poly: wp.vec2, x: float, flg_odd: int) -> float:
-  x_val = wp.where(flg_odd == 1, wp.abs(x), x)
-  x_val2 = x_val * x_val
-  x_val3 = x_val2 * x_val
-  x_val4 = x_val3 * x_val
-
-  res = 0.5 * linear * x_val2
-  res += poly[0] * wp.static(1.0 / 3.0) * x_val3
-  res += poly[1] * 0.25 * x_val4
-  return res
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_pkg.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_pkg.py
deleted file mode 100644
index d5860af2..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_pkg.py
+++ /dev/null
@@ -1,97 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Package version checking utilities."""
-
-import importlib.metadata
-import operator
-import re
-
-
-def _parse_version(version_str: str) -> tuple[tuple[int, int | str], ...]:
-  """Parse a version string into comparable components.
-
-  Dot-separated components form the version. Hyphen-separated suffixes (e.g.,
-  "-newton") are treated as local build identifiers and stripped before
-  parsing. Each component is wrapped in a tuple: (0, int) for numeric parts,
-  (-1, str) for non-numeric. A (0, 0) sentinel is appended so that stable
-  releases sort above pre-release suffixes during Python tuple comparison
-  (e.g., 1.2.3 >= 1.2.3.dev). Non-numeric components are compared
-  lexicographically (e.g., b >= a).
-
-  Args:
-    version_str: Version string like "3.5.0", "3.5.0.dev869102767", or
-      "3.9.0-newton".
-
-  Returns:
-    Tuple of (type_order, value) pairs for comparison, where type_order is 0
-    for integers and -1 for strings, followed by a (0, 0) sentinel.
-  """
-  # Strip local build identifier (e.g., "3.9.0-newton" -> "3.9.0")
-  version_str = version_str.split("-", 1)[0]
-  parts = version_str.split(".")
-  return tuple([(0, int(p)) if p.isdigit() else (-1, p) for p in parts] + [(0, 0)])
-
-
-def check_version(spec: str) -> bool:
-  """Check if an installed package satisfies a version requirement.
-
-  Supports operators: >=, <=, >, <, ==, !=
-
-  Version comparison rules:
-  - Both '.' and '-' are treated as separators
-  - Numeric components are compared numerically
-  - Non-numeric components are compared lexicographically
-  - Stable releases are greater than pre-releases (e.g., 1.2.3 >= 1.2.3.dev)
-
-  Args:
-    spec: Version specification like "numpy>=1.20.0".
-
-  Returns:
-    True if the installed version satisfies the requirement.
-
-  Raises:
-    ValueError: If the spec cannot be parsed.
-    importlib.metadata.PackageNotFoundError: If the package is not installed.
-  """
-  match = re.match(r"^([a-zA-Z0-9_\-]+)(>=|<=|>|<|==|!=)(.+)$", spec)
-  if not match:
-    raise ValueError(f"Invalid version spec '{spec}'. Expected format: 'package>=version'")
-  package_name, op, version_str = match.groups()
-
-  required_version = _parse_version(version_str)
-
-  try:
-    installed_str = importlib.metadata.version(package_name)
-  except importlib.metadata.PackageNotFoundError as e:
-    # Fallback: import the package and read __version__
-    try:
-      import importlib as _importlib  # noqa: F811
-
-      mod = _importlib.import_module(package_name)
-      installed_str = mod.__version__
-    except (ImportError, AttributeError):
-      raise e
-
-  installed_version = _parse_version(installed_str)
-
-  ops = {
-    ">=": operator.ge,
-    "<=": operator.le,
-    ">": operator.gt,
-    "<": operator.lt,
-    "==": operator.eq,
-    "!=": operator.ne,
-  }
-  return ops[op](installed_version, required_version)
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/warp_util.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/warp_util.py
deleted file mode 100644
index 55fe2cfe..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/warp_util.py
+++ /dev/null
@@ -1,156 +0,0 @@
-# Copyright 2025 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import functools
-import inspect
-import warnings
-
-import warp as wp
-
-_STACK = None
-
-
-class EventTracer:
-  """Calculates elapsed times of functions annotated with `event_scope`.
-
-  Use as a context manager like so:
-
-    @event_trace
-    def my_warp_function(...):
-      ...
-
-    with EventTracer() as tracer:
-      my_warp_function(...)
-      print(tracer.trace())
-  """
-
-  def __init__(self, enabled: bool = True):
-    global _STACK
-    if _STACK is not None:
-      raise ValueError("only one EventTracer can run at a time")
-    if enabled:
-      _STACK = {}
-
-  def __enter__(self):
-    return self
-
-  def trace(self) -> dict:
-    """Calculates elapsed times for every node of the trace."""
-    global _STACK
-
-    if _STACK is None:
-      return {}
-
-    ret = {}
-
-    for k, v in _STACK.items():
-      events, sub_stack = v
-      # push into next level of stack
-      saved_stack, _STACK = _STACK, sub_stack
-      sub_trace = self.trace()
-      # pop!
-      _STACK = saved_stack
-      events = tuple(wp.get_event_elapsed_time(beg, end) for beg, end in events)
-      ret[k] = (events, sub_trace)
-
-    return ret
-
-  def __exit__(self, type, value, traceback):
-    global _STACK
-    _STACK = None
-
-
-def _merge(a: dict, b: dict) -> dict:
-  """Merges two event trace stacks."""
-  ret = {}
-  if not a or not b:
-    return dict(**a, **b)
-  if set(a) != set(b):
-    raise ValueError("incompatible stacks")
-  for key in a:
-    a1_events, a1_substack = a[key]
-    a2_events, a2_substack = b[key]
-    ret[key] = (a1_events + a2_events, _merge(a1_substack, a2_substack))
-  return ret
-
-
-def event_scope(fn, name: str = ""):
-  """Wraps a function and records an event before and after the function invocation."""
-  name = name or getattr(fn, "__name__")
-
-  @functools.wraps(fn)
-  def wrapper(*args, **kwargs):
-    global _STACK
-    if _STACK is None:
-      return fn(*args, **kwargs)
-
-    for frame_info in inspect.stack():
-      if frame_info.function in ("capture_while", "capture_if"):
-        return fn(*args, **kwargs)
-
-    # push into next level of stack
-    saved_stack, _STACK = _STACK, {}
-    beg = wp.Event(enable_timing=True)
-    end = wp.Event(enable_timing=True)
-    wp.record_event(beg)
-    res = fn(*args, **kwargs)
-    wp.record_event(end)
-    # pop back up to current level
-    sub_stack, _STACK = _STACK, saved_stack
-    # append events and substack
-    prev_events, prev_substack = _STACK.get(name, ((), {}))
-    events = prev_events + ((beg, end),)
-    sub_stack = _merge(prev_substack, sub_stack)
-    _STACK[name] = (events, sub_stack)
-    return res
-
-  return wrapper
-
-
-_KERNEL_CACHE = {}
-
-
-def cache_kernel(func):
-  # caching kernels to avoid crashes in graph_conditional code
-  @functools.wraps(func)
-  def wrapper(*args):
-    def _hash_arg(a):
-      if hasattr(a, "size"):
-        return a.size
-      if isinstance(a, list):
-        return hash(tuple(a))
-      return hash(a)
-
-    key = tuple(_hash_arg(a) for a in args) + (hash(func.__name__),)
-    if key not in _KERNEL_CACHE:
-      _KERNEL_CACHE[key] = func(*args)
-    return _KERNEL_CACHE[key]
-
-  return wrapper
-
-
-def check_toolkit_driver():
-  wp.init()
-  if wp.get_device().is_cuda:
-    if not wp.is_conditional_graph_supported():
-      warnings.warn(
-        """
-        CUDA version < 12.4 detected
-        - graph capture may be unreliable for < 12.3
-        - conditional graph nodes are not available for < 12.4
-          Model.opt.graph_conditional should be set to False
-        """,
-        stacklevel=2,
-      )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/pyproject.toml b/mjx/mujoco/mjx/third_party/mujoco_warp/pyproject.toml
deleted file mode 100644
index 2182daf6..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/pyproject.toml
+++ /dev/null
@@ -1,129 +0,0 @@
-[build-system]
-requires = ["setuptools"]
-build-backend = "setuptools.build_meta"
-
-[project]
-name="mujoco-warp"
-version = "3.11.0"
-# TODO(team): create a distribution list
-authors = [
-    {name = "Newton Developers", email = "mujoco@deepmind.com"},
-]
-description = "MuJoCo Warp (MJWarp)"
-readme = {file = "README.md", content-type = "text/markdown"}
-license = "Apache-2.0"
-classifiers = [
-    "Development Status :: 3 - Alpha",
-    "Intended Audience :: Developers",
-    "Intended Audience :: Science/Research",
-    "Natural Language :: English",
-    "Programming Language :: Python :: 3",
-    "Programming Language :: Python :: 3.10",
-    "Programming Language :: Python :: 3.11",
-    "Programming Language :: Python :: 3.12",
-    "Programming Language :: Python :: 3.13",
-    "Programming Language :: Python :: 3.14",
-    "Topic :: Scientific/Engineering",
-]
-requires-python = ">=3.10"
-dependencies = [
-    "absl-py",
-    "etils[epath]",
-    "mujoco>=3.11.0",
-    "numpy",
-    "warp-lang>=1.15",
-]
-
-[[tool.uv.index]]
-name = "nvidia"
-url = "https://pypi.nvidia.com/"
-explicit = true
-
-[[tool.uv.index]]
-name = "mujoco"
-url = "https://py.mujoco.org/"
-explicit = true
-
-[tool.uv.sources]
-warp-lang = {index = "nvidia"}
-mujoco = {index = "mujoco"}
-
-[project.optional-dependencies]
-dev = [
-    "pre-commit",
-    "pytest",
-    "pytest-xdist",
-    "ruff",
-    "pygls>=1.0.0,<2.0.0",
-    "lsprotocol>=2023.0.1,<2024.0.0",
-    "mujoco>=3.11.0",
-    "warp-lang>=1.15",
-    "mjviser>=0.0.10",
-    "pillow",
-]
-# TODO(team): cpu and cuda JAX optional dependencies are temporary, remove after we land MJX:Warp
-cpu = [
-    "jax"
-]
-cuda = [
-    "jax[cuda12]"
-]
-
-[project.scripts]
-mjwarp-testspeed = "mujoco_warp.testspeed:main"
-mjwarp-viewer = "mujoco_warp.viewer:main"
-mjwarp-record = "mujoco_warp.record:main"
-
-
-[project.urls]
-Homepage = "https://github.com/google-deepmind/mujoco_warp"
-Documentation = "https://mujoco.readthedocs.io"
-Repository = "https://github.com/google-deepmind/mujoco_warp"
-Changelog = "https://mujoco.readthedocs.io/en/stable/changelog.html"
-
-[tool.ruff]
-line-length = 128
-indent-width = 2
-extend-exclude = ["*.ipynb"]
-
-[tool.ruff.lint]
-select = [
-    "D",  # pydocstyle conventions and style
-    "I",  # isort
-    "W",  # pycodestyle
-    "F401",  # unused imports
-]
-
-ignore = [
-    "D100",  # missing docstring public module
-    "D103",  # missing docstring public function
-]
-
-[tool.ruff.lint.isort]
-force-single-line = true
-single-line-exclusions = ["typing"]
-
-[tool.ruff.lint.pycodestyle]
-max-doc-length = 100
-max-line-length = 128
-
-[tool.ruff.lint.pydocstyle]
-convention = "google"
-
-[tool.ruff.lint.per-file-ignores]
-"__init__.py" = ["D"]
-"contrib/*" = ["D"]
-
-[tool.ruff.format]
-docstring-code-format = true
-docstring-code-line-length = 100
-
-[tool.pytest.ini_options]
-testpaths = ["mujoco_warp"]
-norecursedirs = ["benchmarks", "contrib"]
-
-[tool.setuptools]
-package-data = { "mujoco_warp" = ["test_data/**"] }
-
-[tool.setuptools.packages.find]
-include = ["mujoco_warp*"]
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/viewer.py b/mjx/mujoco/mjx/third_party/mujoco_warp/viewer.py
deleted file mode 100644
index a70827e3..00000000
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/viewer.py
+++ /dev/null
@@ -1,206 +0,0 @@
-# Copyright 2026 The Newton Developers
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""mjwarp-viewer: load and simulate an MJCF with MuJoCo Warp.
-
-Usage: mjwarp-viewer <mjcf XML path> [flags]
-
-Example:
-  mjwarp-viewer benchmarks/humanoid/humanoid.xml -o "opt.solver=cg"
-"""
-
-import copy
-import enum
-import logging
-import sys
-import time
-from typing import Sequence
-
-import mujoco
-import mujoco.viewer
-import numpy as np
-import warp as wp
-from absl import app
-from absl import flags
-from etils import epath
-
-import mujoco.mjx.third_party.mujoco_warp as mjw
-
-
-class EngineOptions(enum.IntEnum):
-  """Engine option."""
-
-  WARP = 0
-  C = 1
-
-
-_ENGINE = flags.DEFINE_enum_class("engine", EngineOptions.WARP, EngineOptions, "Simulation engine")
-from mujoco.mjx.third_party.mujoco_warp._src import cli
-
-_VIEWER = flags.DEFINE_enum("viewer", "mujoco", ["mujoco", "viser"], "Viewer backend (mujoco native or mjviser web)")
-
-_VIEWER_GLOBAL_STATE = {"running": True, "step_once": False}
-
-
-def key_callback(key: int) -> None:
-  if key == 32:  # Space bar
-    _VIEWER_GLOBAL_STATE["running"] = not _VIEWER_GLOBAL_STATE["running"]
-    logging.info("RUNNING = %s", _VIEWER_GLOBAL_STATE["running"])
-  elif key == 46:  # period
-    _VIEWER_GLOBAL_STATE["step_once"] = True
-
-
-def _compile_step(m, d):
-  print("Compiling physics step...", end="", flush=True)
-  start = time.time()
-  # capture the whole step function as a CUDA graph
-  with wp.ScopedCapture() as capture:
-    mjw.step(m, d)
-  elapsed = time.time() - start
-  print(f"done ({elapsed:0.2g}s).")
-  return capture.graph
-
-
-def _make_warp_step_fn(mjm, m, d, graph, ctrls=None):
-  ctrlid = 0
-  opt = copy.copy(mjm.opt)
-
-  def step_fn(mjm, mjd):
-    nonlocal ctrlid, opt, m, graph
-    if ctrls is not None and ctrlid < len(ctrls):
-      mjd.ctrl[:] = ctrls[ctrlid]
-      ctrlid += 1
-    if mjm.opt != opt:
-      opt = copy.copy(mjm.opt)
-      m = mjw.put_model(mjm)
-      graph = _compile_step(m, d) if wp.get_device().is_cuda else None
-    wp.copy(d.ctrl, wp.array([mjd.ctrl.astype(np.float32)]))
-    wp.copy(d.act, wp.array([mjd.act.astype(np.float32)]))
-    wp.copy(d.xfrc_applied, wp.array([mjd.xfrc_applied], dtype=wp.spatial_vector))
-    wp.copy(d.qpos, wp.array([mjd.qpos.astype(np.float32)]))
-    wp.copy(d.qvel, wp.array([mjd.qvel.astype(np.float32)]))
-    wp.copy(d.time, wp.array([mjd.time], dtype=wp.float32))
-    if graph is None:
-      mjw.step(m, d)
-    else:
-      wp.capture_launch(graph)
-      wp.synchronize()
-    mjw.get_data_into(mjd, mjm, d)
-
-  return step_fn
-
-
-def _make_c_step_fn(ctrls=None):
-  if ctrls is None:
-    return mujoco.mj_step
-
-  ctrlid = 0
-
-  def step_fn(mjm, mjd):
-    nonlocal ctrlid
-    if ctrlid < len(ctrls):
-      mjd.ctrl[:] = ctrls[ctrlid]
-      ctrlid += 1
-    mujoco.mj_step(mjm, mjd)
-
-  return step_fn
-
-
-def _run_viser_viewer(mjm, mjd, step_fn):
-  from mjviser import Viewer as MjViserViewer
-
-  MjViserViewer(mjm, mjd, step_fn=step_fn).run()
-
-
-def _run_passive_viewer(mjm, mjd, step_fn):
-  with mujoco.viewer.launch_passive(mjm, mjd, key_callback=key_callback) as viewer:
-    while True:
-      start = time.time()
-      if _VIEWER_GLOBAL_STATE["running"] or _VIEWER_GLOBAL_STATE["step_once"]:
-        _VIEWER_GLOBAL_STATE["step_once"] = False
-        step_fn(mjm, mjd)
-      viewer.sync()
-      elapsed = time.time() - start
-      if elapsed < mjm.opt.timestep:
-        time.sleep(mjm.opt.timestep - elapsed)
-
-
-def _main(argv: Sequence[str]) -> None:
-  """Runs viewer app."""
-  if len(argv) < 2:
-    raise app.UsageError("Missing required input: mjcf path.")
-  elif len(argv) > 2:
-    raise app.UsageError("Too many command-line arguments.")
-
-  wp.config.quiet = flags.FLAGS["verbosity"].value < 1
-  wp.init()
-
-  mjm = cli.load_model(epath.Path(argv[1]))
-  m, d, rc, ctrls = cli.init_structs(mjw.step, mjm)
-
-  if _ENGINE.value == EngineOptions.C:
-    print(
-      f"  nbody: {mjm.nbody} nv: {mjm.nv} ngeom: {mjm.ngeom} nu: {mjm.nu}\n"
-      f"  solver: {mujoco.mjtSolver(mjm.opt.solver).name} cone: {mujoco.mjtCone(mjm.opt.cone).name}"
-      f" iterations: {mjm.opt.iterations} ls_iterations: {mjm.opt.ls_iterations}\n"
-      f"  integrator: {mujoco.mjtIntegrator(mjm.opt.integrator).name}\n"
-    )
-    print(f"MuJoCo C simulating with dt = {mjm.opt.timestep:.3f}...")
-  else:
-    wp.set_device(cli.DEVICE.value)
-
-    graph = _compile_step(m, d) if wp.get_device().is_cuda else None
-    if graph is None:
-      mjw.step(m, d)  # warmup step
-      print("Running Warp unoptimized on CPU.")
-    broadphase, filter = mjw.BroadphaseType(m.opt.broadphase).name, mjw.BroadphaseFilter(m.opt.broadphase_filter).name
-    solver, cone = mjw.SolverType(m.opt.solver).name, mjw.ConeType(m.opt.cone).name
-    integrator = mjw.IntegratorType(m.opt.integrator).name
-    iterations, ls_iterations = m.opt.iterations, m.opt.ls_iterations
-    ls_str = f"linesearch iterations: {ls_iterations}"
-    print(
-      f"  nbody: {m.nbody} nv: {m.nv} ngeom: {m.ngeom} nu: {m.nu} is_sparse: {m.is_sparse}\n"
-      f"  broadphase: {broadphase} broadphase_filter: {filter}\n"
-      f"  solver: {solver} cone: {cone} iterations: {iterations} {ls_str}\n"
-      f"  integrator: {integrator} graph_conditional: {m.opt.graph_conditional}"
-    )
-    print(f"Data\n  nworld: {d.nworld} nconmax: {int(d.naconmax / d.nworld)} njmax: {d.njmax}\n")
-    print(f"MuJoCo Warp simulating with dt = {m.opt.timestep.numpy()[0]:.3f}...")
-
-  if _ENGINE.value == EngineOptions.WARP:
-    step_fn = _make_warp_step_fn(mjm, m, d, graph, ctrls if cli.REPLAY.value else None)
-  else:
-    step_fn = _make_c_step_fn(ctrls if cli.REPLAY.value else None)
-
-  mjd = mujoco.MjData(mjm)
-  mjw.get_data_into(mjd, mjm, d)
-  if _VIEWER.value == "viser":
-    _run_viser_viewer(mjm, mjd, step_fn)
-  else:
-    _run_passive_viewer(mjm, mjd, step_fn)
-
-
-def main():
-  # absl flags assumes __main__ is the main running module for printing usage documentation
-  # pyproject bin scripts break this assumption, so manually set argv and docstring
-  sys.argv[0] = "mujoco_warp.viewer"
-  sys.modules["__main__"].__doc__ = __doc__
-  # default to single world with no noise
-  flags.FLAGS.set_default("nworld", 1)
-  app.run(_main)
-
-
-if __name__ == "__main__":
-  main()
diff --git a/mjx/mujoco/mjx/third_party/warp/_src/jax/__init__.py b/mjx/mujoco/mjx/third_party/warp/_src/jax/__init__.py
deleted file mode 100644
index 484ad0d8..00000000
--- a/mjx/mujoco/mjx/third_party/warp/_src/jax/__init__.py
+++ /dev/null
@@ -1,177 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-
-import warp
-
-
-def device_to_jax(warp_device: warp.DeviceLike):
-    """Return the Jax device corresponding to a Warp device.
-
-    Returns:
-        :class:`jax.Device`
-
-    Raises:
-        RuntimeError: Failed to find the corresponding Jax device.
-    """
-    import jax  # noqa: PLC0415
-
-    d = warp.get_device(warp_device)
-
-    if d.is_cuda:
-        cuda_devices = jax.devices("cuda")
-        if d.ordinal >= len(cuda_devices):
-            raise RuntimeError(f"Jax device corresponding to '{warp_device}' is not available")
-        return cuda_devices[d.ordinal]
-    else:
-        cpu_devices = jax.devices("cpu")
-        if not cpu_devices:
-            raise RuntimeError(f"Jax device corresponding to '{warp_device}' is not available")
-        return cpu_devices[0]
-
-
-def device_from_jax(jax_device) -> warp._src.context.Device:
-    """Return the Warp device corresponding to a Jax device.
-
-    Args:
-        jax_device (jax.Device): A Jax device descriptor.
-
-    Raises:
-        RuntimeError: The Jax device is neither a CPU nor GPU device.
-    """
-    if jax_device.platform == "cpu":
-        return warp.get_device("cpu")
-    elif jax_device.platform == "gpu":
-        return warp.get_cuda_device(jax_device.id)
-    else:
-        raise RuntimeError(f"Unsupported Jax device platform '{jax_device.platform}'")
-
-
-def get_jax_device():
-    """Get the current Jax device."""
-    import jax  # noqa: PLC0415
-
-    # TODO: is there a simpler way of getting the Jax "current" device?
-    # check if jax.default_device() context manager is active
-    device = jax.config.jax_default_device
-    # if default device is not set, use first device
-    if device is None:
-        device = jax.local_devices()[0]
-    return device
-
-
-def dtype_to_jax(warp_dtype):
-    """Return the Jax dtype corresponding to a Warp dtype.
-
-    Args:
-        warp_dtype: A Warp data type that has a corresponding Jax data type.
-
-    Raises:
-        TypeError: Unable to find a corresponding Jax data type.
-    """
-    # initialize lookup table on first call to defer jax import
-    if dtype_to_jax.type_map is None:
-        import jax.numpy as jp  # noqa: PLC0415
-
-        dtype_to_jax.type_map = {
-            warp.float16: jp.float16,
-            warp.bfloat16: jp.bfloat16,
-            warp.float32: jp.float32,
-            warp.float64: jp.float64,
-            warp.int8: jp.int8,
-            warp.int16: jp.int16,
-            warp.int32: jp.int32,
-            warp.int64: jp.int64,
-            warp.uint8: jp.uint8,
-            warp.uint16: jp.uint16,
-            warp.uint32: jp.uint32,
-            warp.uint64: jp.uint64,
-            warp.bool: jp.bool_,
-        }
-
-    jax_dtype = dtype_to_jax.type_map.get(warp_dtype)
-    if jax_dtype is not None:
-        return jax_dtype
-    else:
-        raise TypeError(f"Cannot convert {warp_dtype} to a Jax type")
-
-
-def dtype_from_jax(jax_dtype):
-    """Return the Warp dtype corresponding to a Jax dtype.
-
-    Raises:
-        TypeError: Unable to find a corresponding Warp data type.
-    """
-    # initialize lookup table on first call to defer jax import
-    if dtype_from_jax.type_map is None:
-        import jax.numpy as jp  # noqa: PLC0415
-
-        dtype_from_jax.type_map = {
-            # Jax scalar types
-            jp.float16: warp.float16,
-            jp.bfloat16: warp.bfloat16,
-            jp.float32: warp.float32,
-            jp.float64: warp.float64,
-            jp.int8: warp.int8,
-            jp.int16: warp.int16,
-            jp.int32: warp.int32,
-            jp.int64: warp.int64,
-            jp.uint8: warp.uint8,
-            jp.uint16: warp.uint16,
-            jp.uint32: warp.uint32,
-            jp.uint64: warp.uint64,
-            jp.bool_: warp.bool,
-            # Jax dtype objects
-            jp.dtype(jp.float16): warp.float16,
-            jp.dtype(jp.bfloat16): warp.bfloat16,
-            jp.dtype(jp.float32): warp.float32,
-            jp.dtype(jp.float64): warp.float64,
-            jp.dtype(jp.int8): warp.int8,
-            jp.dtype(jp.int16): warp.int16,
-            jp.dtype(jp.int32): warp.int32,
-            jp.dtype(jp.int64): warp.int64,
-            jp.dtype(jp.uint8): warp.uint8,
-            jp.dtype(jp.uint16): warp.uint16,
-            jp.dtype(jp.uint32): warp.uint32,
-            jp.dtype(jp.uint64): warp.uint64,
-            jp.dtype(jp.bool_): warp.bool,
-        }
-
-    wp_dtype = dtype_from_jax.type_map.get(jax_dtype)
-    if wp_dtype is not None:
-        return wp_dtype
-    else:
-        raise TypeError(f"Cannot convert {jax_dtype} to a Warp type")
-
-
-# lookup tables initialized when needed
-dtype_from_jax.type_map = None
-dtype_to_jax.type_map = None
-
-
-def to_jax(warp_array):
-    """
-    Convert a Warp array to a Jax array without copying the data.
-
-    Args:
-        warp_array (warp.array): The Warp array to convert.
-
-    Returns:
-        jax.Array: The converted Jax array.
-    """
-    import jax.dlpack  # noqa: PLC0415
-
-    return jax.dlpack.from_dlpack(warp_array)
-
-
-def from_jax(jax_array, dtype=None) -> warp.array:
-    """Convert a Jax array to a Warp array without copying the data.
-
-    Args:
-        jax_array (jax.Array): The Jax array to convert.
-        dtype: The target data type of the resulting Warp array. Defaults to the Jax array's data type mapped to a Warp data type.
-
-    Returns:
-        warp.array: The converted Warp array.
-    """
-
-    return warp.from_dlpack(jax_array, dtype=dtype)
diff --git a/mjx/mujoco/mjx/third_party/warp/_src/jax/custom_call.py b/mjx/mujoco/mjx/third_party/warp/_src/jax/custom_call.py
deleted file mode 100644
index 153e5305..00000000
--- a/mjx/mujoco/mjx/third_party/warp/_src/jax/custom_call.py
+++ /dev/null
@@ -1,399 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-
-import ctypes
-from functools import reduce
-
-import warp as wp
-from warp._src.context import _build_launch_bounds, _raise_cuda_launch_error, _validate_cluster_launch, type_str
-from mujoco.mjx.third_party.warp._src.jax import get_jax_device
-from warp._src.logger import log_warning
-from warp._src.types import array_t, matches_array_class, strides_from_shape
-
-_jax_warp_p = None
-
-# Holder for the custom callback to keep it alive.
-_cc_callback = None
-_registered_kernels = [None]
-_registered_kernel_to_id = {}
-
-
-def jax_kernel(kernel, launch_dims=None, quiet=False):
-    """Create a Jax primitive from a Warp kernel.
-
-    .. deprecated:: 1.10.0
-        This version of ``jax_kernel()`` is deprecated for JAX >= 0.5.0 and is not supported
-        with JAX >= 0.8.0. Use :func:`warp.jax_kernel` instead, which
-        is the default implementation as of Warp 1.10.
-
-    This implementation requires JAX version 0.4.25 - 0.7.x. For JAX 0.8.0 and later,
-    use the FFI-based implementation at :func:`warp.jax_kernel`.
-
-    Args:
-        kernel: The Warp kernel to be wrapped.
-        launch_dims: Specify the kernel launch dimensions. If ``None``,
-                     dimensions are inferred from the shape of the first argument.
-                     This option when set will specify the output dimensions.
-        quiet: If ``True``, suppress deprecation warnings with newer JAX versions.
-
-    Raises:
-        RuntimeError: If JAX version is < 0.4.25 or >= 0.8.0.
-
-    Limitations:
-        - All kernel arguments must be contiguous arrays.
-        - Input arguments are followed by output arguments in the Warp kernel definition.
-        - There must be at least one input argument and at least one output argument.
-        - Only the CUDA backend is supported.
-    """
-    import jax  # noqa: PLC0415
-
-    # check if JAX version supports this
-    if jax.__version_info__ < (0, 4, 25) or jax.__version_info__ >= (0, 8, 0):
-        msg = (
-            "This version of jax_kernel() requires JAX version 0.4.25 - 0.7.x, "
-            f"but installed JAX version is {jax.__version_info__}."
-        )
-        if jax.__version_info__ >= (0, 8, 0):
-            msg += " Please use warp.jax_kernel instead."
-        raise RuntimeError(msg)
-
-    # deprecation warning
-    if jax.__version_info__ >= (0, 5, 0) and not quiet:
-        log_warning(
-            "This version of jax_kernel() is deprecated and will not be supported with newer JAX versions. "
-            "Please use the newer FFI version instead (warp.jax_kernel). "
-            "As of Warp release 1.10, the FFI version is the default implementation of jax_kernel(). "
-            "Pass quiet=True to disable this warning.",
-            DeprecationWarning,
-        )
-
-    if _jax_warp_p is None:
-        # Create and register the primitive
-        _create_jax_warp_primitive()
-    if kernel not in _registered_kernel_to_id:
-        id = len(_registered_kernels)
-        _registered_kernels.append(kernel)
-        _registered_kernel_to_id[kernel] = id
-    else:
-        id = _registered_kernel_to_id[kernel]
-
-    def bind(*args):
-        return _jax_warp_p.bind(*args, kernel=id, launch_dims=launch_dims)
-
-    return bind
-
-
-def _warp_custom_callback(stream, buffers, opaque, opaque_len):
-    # The descriptor is the form
-    # <kernel-id>|<launch-dims>|<arg-dims-list>
-    # Example:  42|16,32|16,32;100;16,32
-    kernel_id_str, dim_str, args_str = opaque.decode().split("|")
-
-    # Get the kernel from the registry.
-    kernel_id = int(kernel_id_str)
-    kernel = _registered_kernels[kernel_id]
-
-    # Parse launch dimensions.
-    dims = [int(d) for d in dim_str.split(",")]
-    bounds = _build_launch_bounds(dims, kernel.adj.kernel_dim)
-
-    # Parse arguments.
-    arg_strings = args_str.split(";")
-    num_args = len(arg_strings)
-    assert num_args == len(kernel.adj.args), "Incorrect number of arguments"
-
-    # First param is the launch bounds.
-    kernel_params = (ctypes.c_void_p * (1 + num_args))()
-    kernel_params[0] = ctypes.addressof(bounds)
-
-    # Parse array descriptors.
-    args = []
-    for i in range(num_args):
-        dtype = kernel.adj.args[i].type.dtype
-        shape = [int(d) for d in arg_strings[i].split(",")]
-        strides = strides_from_shape(shape, dtype)
-
-        arr = array_t(buffers[i], 0, len(shape), shape, strides)
-        args.append(arr)  # keep a reference
-        arg_ptr = ctypes.addressof(arr)
-
-        kernel_params[i + 1] = arg_ptr
-
-    # Get current device.
-    device = wp.device_from_jax(get_jax_device())
-
-    # Get kernel hooks.
-    # Note: module was loaded during jit lowering.
-    hooks = kernel.module.get_kernel_hooks(kernel, device)
-    assert hooks.forward, "Failed to find kernel entry point"
-
-    # Reject non-cluster-aligned grids with a clear Python error instead of a
-    # cryptic native CUDA error (block_dim=256, max_blocks=0 below).
-    _validate_cluster_launch(hooks.cluster_dim, bounds.size, 256, 0)
-
-    # Launch the kernel (cluster_dim is cached on the hooks at load time).
-    if wp._src.context.runtime.core.wp_cuda_launch_kernel(
-        device.context,
-        hooks.forward,
-        bounds.size,
-        0,
-        256,
-        int(kernel.grid_stride),
-        hooks.cluster_dim,
-        hooks.forward_smem_bytes,
-        kernel_params,
-        stream,
-        None,
-    ):
-        _raise_cuda_launch_error(kernel, device)
-
-
-def _create_jax_warp_primitive():
-    import jax  # noqa: PLC0415
-    from jax.interpreters import batching  # noqa: PLC0415
-    from jax.interpreters import mlir  # noqa: PLC0415
-    from jax.interpreters.mlir import ir  # noqa: PLC0415
-    from jaxlib.hlo_helpers import custom_call  # noqa: PLC0415
-
-    global _jax_warp_p
-    global _cc_callback
-
-    # Create and register the primitive.
-    # TODO add default implementation that calls the kernel via warp.
-    try:
-        # newer JAX versions
-        import jax.extend  # noqa: PLC0415
-
-        _jax_warp_p = jax.extend.core.Primitive("jax_warp")
-    except (ImportError, AttributeError):
-        # older JAX versions
-        _jax_warp_p = jax.core.Primitive("jax_warp")
-    _jax_warp_p.multiple_results = True
-
-    # TODO Just launch the kernel directly, but make sure the argument
-    # shapes are massaged the same way as below so that vmap works.
-    def impl(*args):
-        raise Exception("Not implemented")
-
-    _jax_warp_p.def_impl(impl)
-
-    # Auto-batching. Make sure all the arguments are fully broadcasted
-    # so that Warp is not confused about dimensions.
-    def vectorized_multi_batcher(args, dims, **params):
-        # Figure out the number of outputs.
-        wp_kernel = _registered_kernels[params["kernel"]]
-        output_count = len(wp_kernel.adj.args) - len(args)
-        shape, dim = next((a.shape, d) for a, d in zip(args, dims, strict=True) if d is not None)
-        size = shape[dim]
-        args = [batching.bdim_at_front(a, d, size) if len(a.shape) else a for a, d in zip(args, dims, strict=True)]
-        # Create the batched primitive.
-        return _jax_warp_p.bind(*args, **params), [dims[0]] * output_count
-
-    batching.primitive_batchers[_jax_warp_p] = vectorized_multi_batcher
-
-    def get_vecmat_shape(warp_type):
-        if hasattr(warp_type.dtype, "_shape_"):
-            return warp_type.dtype._shape_
-        return []
-
-    def strip_vecmat_dimensions(warp_arg, actual_shape):
-        shape = get_vecmat_shape(warp_arg.type)
-        for i, s in enumerate(reversed(shape)):
-            item = actual_shape[-i - 1]
-            if s != item:
-                raise Exception(f"The vector/matrix shape for argument {warp_arg.label} does not match")
-        return actual_shape[: len(actual_shape) - len(shape)]
-
-    def collapse_into_leading_dimension(warp_arg, actual_shape):
-        if len(actual_shape) < warp_arg.type.ndim:
-            raise Exception(f"Argument {warp_arg.label} has too few non-matrix/vector dimensions")
-        index_rest = len(actual_shape) - warp_arg.type.ndim + 1
-        leading_size = reduce(lambda x, y: x * y, actual_shape[:index_rest])
-        return [leading_size, *actual_shape[index_rest:]]
-
-    # Infer array dimensions from input type.
-    def infer_dimensions(warp_arg, actual_shape):
-        actual_shape = strip_vecmat_dimensions(warp_arg, actual_shape)
-        return collapse_into_leading_dimension(warp_arg, actual_shape)
-
-    def base_type_to_jax(warp_dtype):
-        if hasattr(warp_dtype, "_wp_scalar_type_"):
-            return wp.dtype_to_jax(warp_dtype._wp_scalar_type_)
-        return wp.dtype_to_jax(warp_dtype)
-
-    def base_type_to_jax_ir(warp_dtype):
-        warp_to_jax_dict = {
-            wp.float16: ir.F16Type.get(),
-            wp.bfloat16: ir.BF16Type.get(),
-            wp.float32: ir.F32Type.get(),
-            wp.float64: ir.F64Type.get(),
-            wp.int8: ir.IntegerType.get_signless(8),
-            wp.int16: ir.IntegerType.get_signless(16),
-            wp.int32: ir.IntegerType.get_signless(32),
-            wp.int64: ir.IntegerType.get_signless(64),
-            wp.uint8: ir.IntegerType.get_unsigned(8),
-            wp.uint16: ir.IntegerType.get_unsigned(16),
-            wp.uint32: ir.IntegerType.get_unsigned(32),
-            wp.uint64: ir.IntegerType.get_unsigned(64),
-        }
-        if hasattr(warp_dtype, "_wp_scalar_type_"):
-            warp_dtype = warp_dtype._wp_scalar_type_
-        jax_dtype = warp_to_jax_dict.get(warp_dtype)
-        if jax_dtype is None:
-            raise TypeError(f"Invalid or unsupported data type: {warp_dtype}")
-        return jax_dtype
-
-    def base_type_is_compatible(warp_type, jax_ir_type):
-        jax_ir_to_warp = {
-            "f16": wp.float16,
-            "bf16": wp.bfloat16,
-            "f32": wp.float32,
-            "f64": wp.float64,
-            "i8": wp.int8,
-            "i16": wp.int16,
-            "i32": wp.int32,
-            "i64": wp.int64,
-            "ui8": wp.uint8,
-            "ui16": wp.uint16,
-            "ui32": wp.uint32,
-            "ui64": wp.uint64,
-        }
-        expected_warp_type = jax_ir_to_warp.get(str(jax_ir_type))
-        if expected_warp_type is not None:
-            if hasattr(warp_type, "_wp_scalar_type_"):
-                return warp_type._wp_scalar_type_ == expected_warp_type
-            else:
-                return warp_type == expected_warp_type
-        else:
-            raise TypeError(f"Invalid or unsupported data type: {jax_ir_type}")
-
-    # Abstract evaluation.
-    def jax_warp_abstract(*args, kernel=None, launch_dims=None):
-        wp_kernel = _registered_kernels[kernel]
-        # All the extra arguments to the warp kernel are outputs.
-        warp_outputs = [o.type for o in wp_kernel.adj.args[len(args) :]]
-
-        if launch_dims is None:
-            # Use the first input dimension to infer the output's dimensions if launch_dims is not provided
-            dims = strip_vecmat_dimensions(wp_kernel.adj.args[0], list(args[0].shape))
-        else:
-            dims = launch_dims
-
-        jax_outputs = []
-        for o in warp_outputs:
-            shape = list(dims) + list(get_vecmat_shape(o))
-            dtype = base_type_to_jax(o.dtype)
-            jax_outputs.append(jax.core.ShapedArray(shape, dtype))
-        return jax_outputs
-
-    _jax_warp_p.def_abstract_eval(jax_warp_abstract)
-
-    # Lowering to MLIR.
-
-    # Create python-land custom call target.
-    CCALLFUNC = ctypes.CFUNCTYPE(
-        ctypes.c_voidp, ctypes.c_void_p, ctypes.POINTER(ctypes.c_void_p), ctypes.c_char_p, ctypes.c_size_t
-    )
-    _cc_callback = CCALLFUNC(_warp_custom_callback)
-    ccall_address = ctypes.cast(_cc_callback, ctypes.c_void_p)
-
-    # Put the custom call into a capsule, as required by XLA.
-    PyCapsule_Destructor = ctypes.CFUNCTYPE(None, ctypes.py_object)
-    PyCapsule_New = ctypes.pythonapi.PyCapsule_New
-    PyCapsule_New.restype = ctypes.py_object
-    PyCapsule_New.argtypes = (ctypes.c_void_p, ctypes.c_char_p, PyCapsule_Destructor)
-    capsule = PyCapsule_New(ccall_address.value, b"xla._CUSTOM_CALL_TARGET", PyCapsule_Destructor(0))
-
-    # Register the callback in XLA.
-    try:
-        # newer JAX versions
-        jax.ffi.register_ffi_target("warp_call", capsule, platform="gpu", api_version=0)
-    except AttributeError:
-        # older JAX versions
-        jax.lib.xla_client.register_custom_call_target("warp_call", capsule, platform="gpu")
-
-    def default_layout(shape):
-        return range(len(shape) - 1, -1, -1)
-
-    def warp_call_lowering(ctx, *args, kernel=None, launch_dims=None):
-        if not kernel:
-            raise Exception("Unknown kernel id " + str(kernel))
-        wp_kernel = _registered_kernels[kernel]
-
-        # TODO This may not be necessary, but it is perhaps better not to be
-        # mucking with kernel loading while already running the workload.
-        module = wp_kernel.module
-        device = wp.device_from_jax(get_jax_device())
-        if not module.load(device):
-            raise Exception("Could not load kernel on device")
-
-        if launch_dims is None:
-            # Infer dimensions from the first input.
-            warp_arg0 = wp_kernel.adj.args[0]
-            actual_shape0 = ir.RankedTensorType(args[0].type).shape
-            dims = strip_vecmat_dimensions(warp_arg0, actual_shape0)
-            warp_dims = collapse_into_leading_dimension(warp_arg0, dims)
-        else:
-            dims = launch_dims
-            warp_dims = launch_dims
-        # Figure out the types and shapes of the input arrays.
-        arg_strings = []
-        operand_layouts = []
-        for actual, warg in zip(args, wp_kernel.adj.args, strict=False):
-            wtype = warg.type
-            rtt = ir.RankedTensorType(actual.type)
-
-            if not matches_array_class(wtype, wp.array):
-                raise Exception("Only contiguous arrays are supported for Jax kernel arguments")
-
-            if not base_type_is_compatible(wtype.dtype, rtt.element_type):
-                raise TypeError(
-                    f"Incompatible data type for argument '{warg.label}', expected {type_str(wtype.dtype)}, got {rtt.element_type}"
-                )
-
-            # Infer array dimension (by removing the vector/matrix dimensions and
-            # collapsing the initial dimensions).
-            shape = infer_dimensions(warg, rtt.shape)
-
-            if len(shape) != wtype.ndim:
-                raise TypeError(f"Incompatible array dimensionality for argument '{warg.label}'")
-
-            arg_strings.append(",".join([str(d) for d in shape]))
-            operand_layouts.append(default_layout(rtt.shape))
-
-        # Figure out the types and shapes of the output arrays.
-        result_types = []
-        result_layouts = []
-        for warg in wp_kernel.adj.args[len(args) :]:
-            wtype = warg.type
-
-            if not matches_array_class(wtype, wp.array):
-                raise Exception("Only contiguous arrays are supported for Jax kernel arguments")
-
-            # Infer dimensions from the first input.
-            arg_strings.append(",".join([str(d) for d in warp_dims]))
-
-            result_shape = list(dims) + list(get_vecmat_shape(wtype))
-            result_types.append(ir.RankedTensorType.get(result_shape, base_type_to_jax_ir(wtype.dtype)))
-            result_layouts.append(default_layout(result_shape))
-
-        # Build opaque descriptor for callback.
-        shape_str = ",".join([str(d) for d in warp_dims])
-        args_str = ";".join(arg_strings)
-        descriptor = f"{kernel}|{shape_str}|{args_str}"
-
-        out = custom_call(
-            b"warp_call",
-            result_types=result_types,
-            operands=args,
-            backend_config=descriptor.encode("utf-8"),
-            operand_layouts=operand_layouts,
-            result_layouts=result_layouts,
-        ).results
-        return out
-
-    mlir.register_lowering(
-        _jax_warp_p,
-        warp_call_lowering,
-        platform="gpu",
-    )
diff --git a/mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py b/mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py
deleted file mode 100644
index 0caa291a..00000000
--- a/mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py
+++ /dev/null
@@ -1,1959 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-
-from __future__ import annotations
-
-import collections
-import ctypes
-import inspect
-import operator
-import threading
-import traceback
-from collections.abc import Callable
-from enum import IntEnum
-
-import warp as wp
-from warp._src.codegen import get_full_arg_spec, make_full_qualified_name
-from warp._src.context import (
-    CudaMemcpyKind,
-    _build_launch_bounds,
-    _raise_cuda_launch_error,
-    _validate_cluster_launch,
-    invoke,
-)
-from mujoco.mjx.third_party.warp._src.jax import get_jax_device
-from warp._src.logger import log_warning
-from warp._src.types import (
-    array_t,
-    matches_array_class,
-    strides_from_shape,
-    type_size_in_bytes,
-    type_to_warp,
-)
-
-from .xla_ffi import *
-
-# Holders for the custom callbacks to keep them alive.
-_FFI_KERNEL_REGISTRY: dict[tuple, FfiKernel] = {}
-_FFI_DIFF_KERNEL_REGISTRY: dict[tuple, Callable] = {}
-_FFI_CALLABLE_REGISTRY: dict[tuple, FfiCallable] = {}
-_FFI_CALLBACK_REGISTRY: dict[str, ctypes.CFUNCTYPE] = {}
-_FFI_REGISTRY_LOCK = threading.Lock()
-
-# Lock when XLA invokes callbacks from multiple threads.
-_FFI_CALLBACK_LOCK = threading.Lock()
-
-# Sentinel for detecting when per-call kwargs are passed to differentiable wrappers.
-_MISSING = object()
-
-JAX_CALLABLE_DEFAULT_GRAPH_CACHE_MAX = 32
-
-
-def _get_jax():
-    import jax  # noqa: PLC0415
-
-    return jax
-
-
-def check_jax_version():
-    jax = _get_jax()
-    # check if JAX version supports this
-    if jax.__version_info__ < (0, 5, 0):
-        msg = (
-            "This version of jax_kernel() requires JAX version 0.5.0 or higher, "
-            f"but installed JAX version is {jax.__version_info__}."
-        )
-        if jax.__version_info__ >= (0, 4, 25):
-            msg += " Please use warp.jax_experimental.custom_call.jax_kernel instead."
-        raise RuntimeError(msg)
-
-
-# JAX platform identifiers are case-sensitive and intentionally use different casing.
-_FFI_PLATFORM_CPU = "cpu"
-_FFI_PLATFORM_CUDA = "CUDA"
-
-
-def _register_ffi_targets(name, callback):
-    """Register one FFI callback for CPU and CUDA without initializing either backend."""
-    jax = _get_jax()
-    callback_type = ctypes.CFUNCTYPE(ctypes.c_void_p, ctypes.POINTER(XLA_FFI_CallFrame))
-    callback_funcs = {}
-
-    for platform in (_FFI_PLATFORM_CPU, _FFI_PLATFORM_CUDA):
-
-        def platform_callback(call_frame, platform=platform):
-            return callback(call_frame, platform)
-
-        callback_func = callback_type(platform_callback)
-        callback_address = ctypes.cast(callback_func, ctypes.c_void_p)
-        callback_capsule = jax.ffi.pycapsule(callback_address.value)
-        jax.ffi.register_ffi_target(name, callback_capsule, platform=platform)
-        callback_funcs[platform] = callback_func
-
-    return callback_funcs
-
-
-def collapse_batch_dims(shape, desired_ndim):
-    # roll leading batch dims into one
-    while len(shape) > desired_ndim:
-        shape = (shape[0] * shape[1], *shape[2:])
-    return shape
-
-
-def compute_batch_size(shape, batch_ndim):
-    # compute product of batch dims at front
-    batch_size = 1
-    for i in range(batch_ndim):
-        batch_size *= shape[i]
-    return batch_size
-
-
-class JaxCallableGraphMode(IntEnum):
-    """CUDA graph capture modes for :func:`warp.jax_callable`.
-
-    These modes control whether JAX or Warp captures a CUDA graph, and whether
-    staging buffers are used when capturing with Warp.
-    """
-
-    NONE = 0
-    """Disable graph capture. Use when operations are not CUDA-graph compatible (for example, host synchronization)."""
-    JAX = 1
-    """Let JAX capture the graph so the callable can be used as a subgraph within a larger JAX capture."""
-    WARP = 2
-    """Let Warp capture the graph and replay it for matching buffer addresses."""
-    WARP_STAGED = 3
-    """Capture a Warp graph using staging buffers and insert memcpy nodes inside the graph."""
-    WARP_STAGED_EX = 4
-    """Capture a Warp graph using staging buffers and perform memcpy outside the graph."""
-
-
-GraphMode = JaxCallableGraphMode
-
-
-class JaxModulePreloadMode(IntEnum):
-    """Module preload modes for JAX interop callables."""
-
-    NONE = 0  # don't preload modules
-    CURRENT_DEVICE = 1  # preload on currently active device
-    ALL_DEVICES = 2  # preload on all supported devices
-
-
-ModulePreloadMode = JaxModulePreloadMode
-
-
-def _get_ffi_block_dim(device, block_dim=None):
-    """Resolve the FFI block dimension for ``device``."""
-    if device.is_cpu:
-        # Remove this override if CPU launches gain configurable block dimensions.
-        return 1
-    return 256 if block_dim is None else block_dim
-
-
-def _load_ffi_module(module, device, block_dim=None):
-    module_exec = module.load(device, _get_ffi_block_dim(device, block_dim))
-    if module_exec is None:
-        raise RuntimeError(
-            f"Failed to load Warp module '{module.name}' on device '{device}' after a previous build failure"
-        )
-    return module_exec
-
-
-def _preload_ffi_module(module, mode, block_dim=None):
-    if mode == JaxModulePreloadMode.NONE:
-        return
-
-    if mode == JaxModulePreloadMode.CURRENT_DEVICE:
-        jax_device = get_jax_device()
-        try:
-            device = wp.device_from_jax(jax_device)
-        except (IndexError, RuntimeError):
-            return
-        _load_ffi_module(module, device, block_dim)
-        return
-
-    if mode == JaxModulePreloadMode.ALL_DEVICES:
-        jax = _get_jax()
-        devices = []
-        mapped_device_ids = set()
-        for backend in ("cpu", "cuda"):
-            try:
-                jax_devices = jax.local_devices(backend=backend)
-            except RuntimeError:
-                continue
-
-            for jax_device in jax_devices:
-                try:
-                    device = wp.device_from_jax(jax_device)
-                except (IndexError, RuntimeError):
-                    continue
-
-                device_id = id(device)
-                if device_id in mapped_device_ids:
-                    continue
-                mapped_device_ids.add(device_id)
-                devices.append(device)
-
-        for device in devices:
-            _load_ffi_module(module, device, block_dim)
-        return
-
-    raise ValueError(f"Unsupported JAX module preload mode '{mode}'")
-
-
-class FfiArg:
-    def __init__(self, name, type, in_out=False):
-        self.name = name
-        self.type = type
-        self.in_out = in_out
-        self.is_array = matches_array_class(type, wp.array)
-
-        if self.is_array:
-            if hasattr(type.dtype, "_wp_scalar_type_"):
-                self.dtype_shape = type.dtype._shape_
-                self.dtype_ndim = len(self.dtype_shape)
-                self.jax_scalar_type = wp.dtype_to_jax(type.dtype._wp_scalar_type_)
-                self.jax_ndim = type.ndim + self.dtype_ndim
-            elif type.dtype in wp._src.types.value_types:
-                self.dtype_ndim = 0
-                self.dtype_shape = ()
-                self.jax_scalar_type = wp.dtype_to_jax(type.dtype)
-                self.jax_ndim = type.ndim
-            else:
-                raise TypeError(f"Invalid data type for array argument '{name}', expected scalar, vector, or matrix")
-            self.warp_ndim = type.ndim
-        elif type in wp._src.types.value_types:
-            self.dtype_ndim = 0
-            self.dtype_shape = ()
-            self.jax_scalar_type = wp.dtype_to_jax(type_to_warp(type))
-            self.jax_ndim = 0
-            self.warp_ndim = 0
-        else:
-            raise TypeError(f"Invalid type for argument '{name}', expected array or scalar, got {type}")
-
-
-class FfiLaunchDesc:
-    def __init__(self, static_inputs, launch_dims):
-        self.static_inputs = static_inputs
-        self.launch_dims = launch_dims
-
-
-class FfiKernel:
-    def __init__(
-        self,
-        kernel,
-        num_outputs,
-        vmap_method,
-        launch_dims,
-        block_dim,
-        output_dims,
-        in_out_argnames,
-        module_preload_mode,
-        has_side_effect=False,
-    ):
-        self.kernel = kernel
-        self.name = generate_unique_name(kernel.func)
-        self.num_outputs = num_outputs
-        self.vmap_method = vmap_method
-        self.launch_dims = launch_dims
-        self.block_dim = block_dim
-        self.output_dims = output_dims
-        self.module_preload_mode = module_preload_mode
-        self.has_side_effect = has_side_effect
-        self.first_array_arg = None
-        self.launch_id = 0
-        self.launch_descriptors = {}
-
-        in_out_argnames_list = in_out_argnames or []
-        in_out_argnames = set(in_out_argnames_list)
-        if len(in_out_argnames_list) != len(in_out_argnames):
-            raise AssertionError("in_out_argnames must not contain duplicate names")
-
-        self.num_kernel_args = len(kernel.adj.args)
-        self.num_in_out = len(in_out_argnames)
-        self.num_inputs = self.num_kernel_args - num_outputs + self.num_in_out
-        if self.num_outputs < 1:
-            raise ValueError("At least one output is required")
-        if self.num_outputs > self.num_kernel_args:
-            raise ValueError("Number of outputs cannot be greater than the number of kernel arguments")
-        if self.num_outputs < self.num_in_out:
-            raise ValueError("Number of outputs cannot be smaller than the number of in_out_argnames")
-
-        # process input args
-        self.input_args = []
-        for i in range(self.num_inputs):
-            arg_name = kernel.adj.args[i].label
-            arg = FfiArg(arg_name, kernel.adj.args[i].type, arg_name in in_out_argnames)
-            if arg_name in in_out_argnames:
-                in_out_argnames.remove(arg_name)
-            if arg.is_array:
-                # keep track of the first input array argument
-                if self.first_array_arg is None:
-                    self.first_array_arg = i
-            self.input_args.append(arg)
-
-        # process output args
-        self.output_args = []
-        for i in range(self.num_inputs, self.num_kernel_args):
-            arg_name = kernel.adj.args[i].label
-            if arg_name in in_out_argnames:
-                raise AssertionError(
-                    f"Expected an output-only argument for argument {arg_name}."
-                    " in_out arguments should be placed before output-only arguments."
-                )
-            arg = FfiArg(arg_name, kernel.adj.args[i].type, False)
-            if not arg.is_array:
-                raise TypeError("All output arguments must be arrays")
-            self.output_args.append(arg)
-
-        if in_out_argnames:
-            raise ValueError(f"in_out_argnames: '{in_out_argnames}' did not match any function argument names.")
-
-        # Build input output aliases.
-        out_id = 0
-        input_output_aliases = {}
-        for in_id, arg in enumerate(self.input_args):
-            if not arg.in_out:
-                continue
-            input_output_aliases[in_id] = out_id
-            out_id += 1
-        self.input_output_aliases = input_output_aliases
-
-        # register the callback
-        self.callback_funcs = _register_ffi_targets(self.name, self.ffi_callback)
-
-    def __call__(self, *args, output_dims=None, launch_dims=None, vmap_method=None):
-        jax = _get_jax()
-        num_inputs = len(args)
-        if num_inputs != self.num_inputs:
-            raise ValueError(f"Expected {self.num_inputs} inputs, but got {num_inputs}")
-
-        # default argument fallback
-        if launch_dims is None:
-            launch_dims = self.launch_dims
-        if output_dims is None:
-            output_dims = self.output_dims
-        if vmap_method is None:
-            vmap_method = self.vmap_method
-
-        # output types
-        out_types = []
-
-        # process inputs
-        static_inputs = {}
-        for i in range(num_inputs):
-            input_arg = self.input_args[i]
-            input_value = args[i]
-            if input_arg.is_array:
-                # check dtype
-                if input_value.dtype != input_arg.jax_scalar_type:
-                    raise TypeError(
-                        f"Invalid data type for array argument '{input_arg.name}', expected {input_arg.jax_scalar_type}, got {input_value.dtype}"
-                    )
-                # check ndim
-                if input_value.ndim != input_arg.jax_ndim:
-                    raise TypeError(
-                        f"Invalid dimensionality for array argument '{input_arg.name}', expected {input_arg.jax_ndim} dimensions, got {input_value.ndim}"
-                    )
-                # check inner dims
-                for d in range(input_arg.dtype_ndim):
-                    if input_value.shape[input_arg.type.ndim + d] != input_arg.dtype_shape[d]:
-                        raise TypeError(
-                            f"Invalid inner dimensions for array argument '{input_arg.name}', expected {input_arg.dtype_shape}, got {input_value.shape[-input_arg.dtype_ndim :]}"
-                        )
-            else:
-                # make sure scalar is not a traced variable, should be static
-                if isinstance(input_value, jax.core.Tracer):
-                    raise ValueError(f"Argument '{input_arg.name}' must be a static value")
-                # stash the value to be retrieved by callback
-                static_inputs[input_arg.name] = input_arg.type(input_value)
-
-            # append in-out arg to output types
-            if input_arg.in_out:
-                out_types.append(get_jax_output_type(input_arg, input_value.shape))
-
-        # launch dimensions
-        infer_launch_dims = launch_dims is None
-        if infer_launch_dims:
-            # use the shape of the first input array
-            if self.first_array_arg is not None:
-                launch_dims = get_warp_shape(self.input_args[self.first_array_arg], args[self.first_array_arg].shape)
-            else:
-                raise RuntimeError("Failed to determine launch dimensions")
-        elif isinstance(launch_dims, int):
-            launch_dims = (launch_dims,)
-        else:
-            launch_dims = tuple(launch_dims)
-
-        # output shapes
-        if isinstance(output_dims, dict):
-            # assume a dictionary of shapes keyed on argument name
-            for output_arg in self.output_args:
-                dims = output_dims.get(output_arg.name)
-                if dims is None:
-                    raise ValueError(f"Missing output dimensions for argument '{output_arg.name}'")
-                out_types.append(get_jax_output_type(output_arg, dims))
-        else:
-            if output_dims is None:
-                # use launch dimensions
-                output_dims = launch_dims
-            elif isinstance(output_dims, int):
-                output_dims = (output_dims,)
-            # assume same dimensions for all outputs
-            for output_arg in self.output_args:
-                out_types.append(get_jax_output_type(output_arg, output_dims))
-
-        call = jax.ffi.ffi_call(
-            self.name,
-            out_types,
-            vmap_method=vmap_method,
-            input_output_aliases=self.input_output_aliases,
-            has_side_effect=self.has_side_effect,
-        )
-
-        _preload_ffi_module(self.kernel.module, self.module_preload_mode, self.block_dim)
-
-        # save launch data to be retrieved by callback
-        launch_id = self.launch_id
-        self.launch_descriptors[launch_id] = FfiLaunchDesc(
-            static_inputs, launch_dims if not infer_launch_dims else None
-        )
-        self.launch_id += 1
-
-        return call(*args, launch_id=launch_id)
-
-    def ffi_callback(self, call_frame, platform):
-        try:
-            # On the first call, XLA runtime will query the API version and traits
-            # metadata using the |extension| field. Let us respond to that query
-            # if the metadata extension is present.
-            extension = call_frame.contents.extension_start
-            if extension:
-                # Try to set the version metadata.
-                if extension.contents.type == XLA_FFI_Extension_Type.Metadata:
-                    metadata_ext = ctypes.cast(extension, ctypes.POINTER(XLA_FFI_Metadata_Extension))
-                    metadata_ext.contents.metadata.contents.api_version.major_version = 0
-                    metadata_ext.contents.metadata.contents.api_version.minor_version = 1
-                    if platform == _FFI_PLATFORM_CUDA:
-                        # Turn on CUDA graphs for this handler.
-                        metadata_ext.contents.metadata.contents.traits = (
-                            XLA_FFI_Handler_TraitsBits.COMMAND_BUFFER_COMPATIBLE
-                        )
-                    return None
-
-            # Lock is required to prevent race conditions when callback is invoked
-            # from multiple threads, like with pmap.
-            with _FFI_CALLBACK_LOCK:
-                # retrieve call info
-                attrs = decode_attrs(call_frame.contents.attrs)
-                launch_id = int(attrs["launch_id"])
-                launch_desc = self.launch_descriptors[launch_id]
-
-                num_inputs = call_frame.contents.args.size
-                inputs = ctypes.cast(call_frame.contents.args.args, ctypes.POINTER(ctypes.POINTER(XLA_FFI_Buffer)))
-
-                num_outputs = call_frame.contents.rets.size
-                outputs = ctypes.cast(call_frame.contents.rets.rets, ctypes.POINTER(ctypes.POINTER(XLA_FFI_Buffer)))
-
-                assert num_inputs == self.num_inputs
-                assert num_outputs == self.num_outputs
-
-                arg_refs = []
-                batch_size = None
-
-                # input and in-out args
-                for i, input_arg in enumerate(self.input_args):
-                    if input_arg.is_array:
-                        buffer = inputs[i].contents
-                        shape = buffer.dims[: buffer.rank - input_arg.dtype_ndim]
-                        if buffer.rank > input_arg.jax_ndim:
-                            # handle batching
-                            shape = collapse_batch_dims(shape, input_arg.type.ndim)
-                            if batch_size is None:
-                                batch_size = compute_batch_size(
-                                    buffer.dims[: buffer.rank], buffer.rank - input_arg.jax_ndim
-                                )
-                        strides = strides_from_shape(shape, input_arg.type.dtype)
-                        arg = array_t(buffer.data, 0, input_arg.type.ndim, shape, strides)
-                        arg_refs.append(arg)  # keep a reference
-                    else:
-                        # scalar argument, get stashed value
-                        value = launch_desc.static_inputs[input_arg.name]
-                        arg = input_arg.type._type_(value)
-                        arg_refs.append(arg)  # keep a reference
-
-                # pure output args (skip in-out FFI buffers)
-                for i, output_arg in enumerate(self.output_args):
-                    buffer = outputs[i + self.num_in_out].contents
-                    shape = buffer.dims[: buffer.rank - output_arg.dtype_ndim]
-                    if buffer.rank > output_arg.jax_ndim:
-                        # handle batching
-                        shape = collapse_batch_dims(shape, output_arg.type.ndim)
-                        if batch_size is None:
-                            batch_size = compute_batch_size(
-                                buffer.dims[: buffer.rank], buffer.rank - output_arg.jax_ndim
-                            )
-                    strides = strides_from_shape(shape, output_arg.type.dtype)
-                    arg = array_t(buffer.data, 0, output_arg.type.ndim, shape, strides)
-                    arg_refs.append(arg)  # keep a reference
-
-                if platform == _FFI_PLATFORM_CPU:
-                    if not wp.is_cpu_available():
-                        return create_ffi_error(
-                            call_frame.contents.api,
-                            XLA_FFI_Error_Code.FAILED_PRECONDITION,
-                            "This Warp build does not include CPU support",
-                        )
-                    device = wp.get_device("cpu")
-                    stream = None
-                elif platform == _FFI_PLATFORM_CUDA:
-                    if wp._src.context.runtime is None:
-                        wp.init()
-                    if not wp._src.context.runtime.is_cuda_enabled:
-                        return create_ffi_error(
-                            call_frame.contents.api,
-                            XLA_FFI_Error_Code.FAILED_PRECONDITION,
-                            "This Warp build does not include CUDA support",
-                        )
-
-                    device = wp.get_cuda_device(get_device_ordinal_from_callframe(call_frame.contents))
-                    stream = get_stream_from_callframe(call_frame.contents)
-                else:
-                    return create_invalid_argument_ffi_error(
-                        call_frame.contents.api,
-                        f"Unsupported JAX FFI platform '{platform}'",
-                    )
-
-                # Preloading is best-effort, so the callback's actual device must
-                # load the module before reading code-generation metadata.
-                module_exec = _load_ffi_module(self.kernel.module, device, self.block_dim)
-                block_dim = module_exec.block_dim
-
-                # determine launch bounds
-                if launch_desc.launch_dims is None:
-                    # infer launch dims from argument shape, works with vmap
-                    arr = arg_refs[self.first_array_arg]
-                    launch_dims = arr.shape[: arr.ndim]
-                else:
-                    # use specified launch dims
-                    launch_dims = launch_desc.launch_dims
-                    if batch_size is not None:
-                        # roll batch size into the first launch dimension
-                        launch_dims = (batch_size * launch_dims[0], *launch_dims[1:])
-
-                launch_bounds = _build_launch_bounds(launch_dims, self.kernel.adj.kernel_dim)
-
-                if platform == _FFI_PLATFORM_CPU:
-                    hooks = module_exec.get_kernel_hooks(self.kernel)
-                    if hooks.forward is None:
-                        raise RuntimeError("Failed to find CPU kernel entry point")
-                    invoke(self.kernel, hooks, [launch_bounds, *arg_refs], adjoint=False)
-                    return None
-
-                kernel_params = (ctypes.c_void_p * (1 + self.num_kernel_args))(
-                    ctypes.addressof(launch_bounds),
-                    *(ctypes.addressof(arg) for arg in arg_refs),
-                )
-
-                # get kernel hooks
-                hooks = module_exec.get_kernel_hooks(self.kernel)
-                if hooks.forward is None:
-                    raise RuntimeError("Failed to find CUDA kernel entry point")
-
-                # reject non-cluster-aligned grids with a clear Python error instead
-                # of a cryptic native CUDA error (configured block_dim, max_blocks=0 below)
-                _validate_cluster_launch(hooks.cluster_dim, launch_bounds.size, block_dim, 0)
-
-                # launch the kernel (cluster_dim is cached on the hooks at load time)
-                if wp._src.context.runtime.core.wp_cuda_launch_kernel(
-                    device.context,
-                    hooks.forward,
-                    launch_bounds.size,
-                    0,
-                    block_dim,
-                    int(self.kernel.grid_stride),
-                    hooks.cluster_dim,
-                    hooks.forward_smem_bytes,
-                    kernel_params,
-                    stream,
-                    None,  # apic_info
-                ):
-                    _raise_cuda_launch_error(self.kernel, device)
-
-        except Exception as e:
-            print(traceback.format_exc())
-            return create_ffi_error(
-                call_frame.contents.api, XLA_FFI_Error_Code.UNKNOWN, f"FFI callback error: {type(e).__name__}: {e}"
-            )
-
-
-class FfiCallDesc:
-    def __init__(self, static_inputs):
-        self.static_inputs = static_inputs
-        self.capture = None
-
-        # staging arrays
-        self.input_staging_arrays = None  # inputs copied on each call
-        self.output_staging_arrays = None  # outputs copied on each call
-        self.static_staging_arrays = None  # arrays copied only once
-
-        # input memcpy info
-        self.input_memcpy_count = 0
-        self.input_memcpy_indices = None  # indices in FFI input buffers
-        self.input_memcpy_srcs = None
-        self.input_memcpy_dsts = None
-        self.input_memcpy_sizes = None
-        self.input_memcpy_kinds = None
-
-        # output memcpy info
-        self.output_memcpy_count = 0
-        self.output_memcpy_indices = None  # indices in FFI output buffers
-        self.output_memcpy_srcs = None
-        self.output_memcpy_dsts = None
-        self.output_memcpy_sizes = None
-        self.output_memcpy_kinds = None
-
-
-class FfiCallable:
-    default_graph_cache_max: int | None = JAX_CALLABLE_DEFAULT_GRAPH_CACHE_MAX
-
-    def __init__(
-        self,
-        func,
-        num_outputs,
-        graph_mode,
-        vmap_method,
-        output_dims,
-        in_out_argnames,
-        stage_in_argnames,
-        stage_out_argnames,
-        graph_cache_max,
-        module_preload_mode,
-        has_side_effect=False,
-    ):
-        self.func = func
-        self.name = generate_unique_name(func)
-        self.num_outputs = num_outputs
-        self.vmap_method = vmap_method
-        self.graph_mode = graph_mode
-        self.output_dims = output_dims
-        self.module_preload_mode = module_preload_mode
-        self.has_side_effect = has_side_effect
-        self.first_array_arg = None
-        self.call_id = 0
-        self.call_descriptors = {}
-
-        # LRU cache of graphs captured by Warp
-        self._graph_cache_max = graph_cache_max
-        self.captures = collections.OrderedDict()
-
-        # Selective staging: None means copy all, else copy only specified
-        self.stage_in_argnames = set(stage_in_argnames) if stage_in_argnames else None
-        self.stage_out_argnames = set(stage_out_argnames) if stage_out_argnames else None
-
-        in_out_argnames_list = in_out_argnames or []
-        in_out_argnames = set(in_out_argnames_list)
-        if len(in_out_argnames_list) != len(in_out_argnames):
-            raise AssertionError("in_out_argnames must not contain duplicate names")
-
-        # get arguments and annotations
-        argspec = get_full_arg_spec(func)
-
-        num_args = len(argspec.args)
-        self.num_in_out = len(in_out_argnames)
-        self.num_inputs = num_args - num_outputs + self.num_in_out
-        if self.num_outputs < 1:
-            raise ValueError("At least one output is required")
-        if self.num_outputs > num_args:
-            raise ValueError("Number of outputs cannot be greater than the number of kernel arguments")
-        if self.num_outputs < self.num_in_out:
-            raise ValueError("Number of outputs cannot be smaller than the number of in_out_argnames")
-
-        if len(argspec.annotations) < num_args:
-            raise RuntimeError(f"Incomplete argument annotations on function {self.name}")
-
-        # parse type annotations
-        self.args = []
-        self.arg_input_indices = [None] * num_args  # index in FFI input buffers
-        self.arg_output_indices = [None] * num_args  # index in FFI output buffers
-        arg_idx = 0
-        output_idx = 0
-        for arg_name, arg_type in argspec.annotations.items():
-            if arg_name == "return":
-                if arg_type is not None:
-                    raise TypeError("Function must not return a value")
-                continue
-            else:
-                arg = FfiArg(arg_name, arg_type, arg_name in in_out_argnames)
-                if arg.in_out:
-                    in_out_argnames.remove(arg_name)
-                if arg.is_array:
-                    if arg_idx < self.num_inputs and self.first_array_arg is None:
-                        self.first_array_arg = arg_idx
-                self.args.append(arg)
-
-            if arg.in_out and arg_idx >= self.num_inputs:
-                raise AssertionError(
-                    f"Expected an output-only argument for argument {arg_name}."
-                    " in_out arguments should be placed before output-only arguments."
-                )
-
-            # map each argument index to FFI input/output buffer indices
-            # (including in-out arguments)
-            if arg_idx < self.num_inputs:
-                self.arg_input_indices[arg_idx] = arg_idx
-            if arg_idx >= self.num_inputs or arg.in_out:
-                self.arg_output_indices[arg_idx] = output_idx
-                output_idx += 1
-
-            arg_idx += 1
-
-        if in_out_argnames:
-            raise ValueError(f"in_out_argnames: '{in_out_argnames}' did not match any function argument names.")
-
-        self.input_args = self.args[: self.num_inputs]  # includes in-out args
-        self.output_args = self.args[self.num_inputs :]  # pure output args
-
-        # Buffer indices for array arguments in callback.
-        # In-out buffers are the same pointers in the XLA call frame,
-        # so we only include them for inputs and skip them for outputs.
-        self.array_input_indices = [i for i, arg in enumerate(self.input_args) if arg.is_array]
-        self.array_output_indices = list(range(self.num_in_out, self.num_outputs))
-
-        # Build input output aliases.
-        out_id = 0
-        input_output_aliases = {}
-        for in_id, arg in enumerate(self.input_args):
-            if not arg.in_out:
-                continue
-            input_output_aliases[in_id] = out_id
-            out_id += 1
-        self.input_output_aliases = input_output_aliases
-
-        # register the callback
-        self.callback_funcs = _register_ffi_targets(self.name, self.ffi_callback)
-
-    def __call__(self, *args, output_dims=None, vmap_method=None):
-        jax = _get_jax()
-        num_inputs = len(args)
-        if num_inputs != self.num_inputs:
-            input_names = ", ".join(arg.name for arg in self.input_args)
-            s = "" if self.num_inputs == 1 else "s"
-            raise ValueError(f"Expected {self.num_inputs} input{s} ({input_names}), but got {num_inputs}")
-
-        # default argument fallback
-        if vmap_method is None:
-            vmap_method = self.vmap_method
-        if output_dims is None:
-            output_dims = self.output_dims
-
-        # output types
-        out_types = []
-
-        # process inputs
-        static_inputs = {}
-        for i in range(num_inputs):
-            input_arg = self.input_args[i]
-            input_value = args[i]
-            if input_arg.is_array:
-                # check dtype
-                if input_value.dtype != input_arg.jax_scalar_type:
-                    raise TypeError(
-                        f"Invalid data type for array argument '{input_arg.name}', expected {input_arg.jax_scalar_type}, got {input_value.dtype}"
-                    )
-                # check ndim
-                if input_value.ndim != input_arg.jax_ndim:
-                    raise TypeError(
-                        f"Invalid dimensionality for array argument '{input_arg.name}', expected {input_arg.jax_ndim} dimensions, got {input_value.ndim}"
-                    )
-                # check inner dims
-                for d in range(input_arg.dtype_ndim):
-                    if input_value.shape[input_arg.type.ndim + d] != input_arg.dtype_shape[d]:
-                        raise TypeError(
-                            f"Invalid inner dimensions for array argument '{input_arg.name}', expected {input_arg.dtype_shape}, got {input_value.shape[-input_arg.dtype_ndim :]}"
-                        )
-            else:
-                # make sure scalar is not a traced variable, should be static
-                if isinstance(input_value, jax.core.Tracer):
-                    raise ValueError(f"Argument '{input_arg.name}' must be a static value")
-                # stash the value to be retrieved by callback
-                static_inputs[input_arg.name] = input_arg.type(input_value)
-
-            # append in-out arg to output types
-            if input_arg.in_out:
-                out_types.append(get_jax_output_type(input_arg, input_value.shape))
-
-        # output shapes
-        if isinstance(output_dims, dict):
-            # assume a dictionary of shapes keyed on argument name
-            for output_arg in self.output_args:
-                dims = output_dims.get(output_arg.name)
-                if dims is None:
-                    raise ValueError(f"Missing output dimensions for argument '{output_arg.name}'")
-                out_types.append(get_jax_output_type(output_arg, dims))
-        else:
-            if output_dims is None:
-                if self.first_array_arg is None:
-                    raise ValueError("Unable to determine output dimensions")
-                output_dims = get_warp_shape(self.input_args[self.first_array_arg], args[self.first_array_arg].shape)
-            elif isinstance(output_dims, int):
-                output_dims = (output_dims,)
-            # assume same dimensions for all outputs
-            for output_arg in self.output_args:
-                out_types.append(get_jax_output_type(output_arg, output_dims))
-
-        call = jax.ffi.ffi_call(
-            self.name,
-            out_types,
-            vmap_method=vmap_method,
-            input_output_aliases=self.input_output_aliases,
-            has_side_effect=self.has_side_effect,
-        )
-
-        # NOTE: if the target function uses kernels from different modules, they will not be loaded here
-        module = wp.get_module(self.func.__module__)
-        _preload_ffi_module(module, self.module_preload_mode)
-
-        # save call data to be retrieved by callback
-        call_id = self.call_id
-        self.call_descriptors[call_id] = FfiCallDesc(static_inputs)
-        self.call_id += 1
-        return call(*args, call_id=call_id)
-
-    def _build_arg_list(self, inputs, outputs, call_desc, device):
-        arg_list = []
-
-        for i, arg in enumerate(self.input_args):
-            if arg.is_array:
-                buffer = inputs[i].contents
-                shape = collapse_batch_dims(buffer.dims[: buffer.rank - arg.dtype_ndim], arg.type.ndim)
-                arg_list.append(wp.array(ptr=buffer.data, dtype=arg.type.dtype, shape=shape, device=device))
-            else:
-                arg_list.append(call_desc.static_inputs[arg.name])
-
-        for i, arg in enumerate(self.output_args):
-            buffer = outputs[i + self.num_in_out].contents
-            shape = collapse_batch_dims(buffer.dims[: buffer.rank - arg.dtype_ndim], arg.type.ndim)
-            arg_list.append(wp.array(ptr=buffer.data, dtype=arg.type.dtype, shape=shape, device=device))
-
-        return arg_list
-
-    def ffi_callback(self, call_frame, platform):
-        try:
-            # On the first call, XLA runtime will query the API version and traits
-            # metadata using the |extension| field. Let us respond to that query
-            # if the metadata extension is present.
-            extension = call_frame.contents.extension_start
-            if extension:
-                # Try to set the version metadata.
-                if extension.contents.type == XLA_FFI_Extension_Type.Metadata:
-                    metadata_ext = ctypes.cast(extension, ctypes.POINTER(XLA_FFI_Metadata_Extension))
-                    metadata_ext.contents.metadata.contents.api_version.major_version = 0
-                    metadata_ext.contents.metadata.contents.api_version.minor_version = 1
-                    # Turn on CUDA graphs for this handler.
-                    if platform == _FFI_PLATFORM_CUDA and self.graph_mode is JaxCallableGraphMode.JAX:
-                        metadata_ext.contents.metadata.contents.traits = (
-                            XLA_FFI_Handler_TraitsBits.COMMAND_BUFFER_COMPATIBLE
-                        )
-                    return None
-
-            # Lock is required to prevent race conditions when callback is invoked
-            # from multiple threads, like with pmap.
-            with _FFI_CALLBACK_LOCK:
-                # retrieve call info
-                # NOTE: this assumes that there's only one attribute - call_id (int64).
-                # A more general but slower approach is this:
-                #   attrs = decode_attrs(call_frame.contents.attrs)
-                #   call_id = int(attrs["call_id"])
-                attr = ctypes.cast(call_frame.contents.attrs.attrs[0], ctypes.POINTER(XLA_FFI_Scalar)).contents
-                call_id = ctypes.cast(attr.value, ctypes.POINTER(ctypes.c_int64)).contents.value
-                call_desc = self.call_descriptors[call_id]
-
-                num_inputs = call_frame.contents.args.size
-                inputs = ctypes.cast(call_frame.contents.args.args, ctypes.POINTER(ctypes.POINTER(XLA_FFI_Buffer)))
-
-                num_outputs = call_frame.contents.rets.size
-                outputs = ctypes.cast(call_frame.contents.rets.rets, ctypes.POINTER(ctypes.POINTER(XLA_FFI_Buffer)))
-
-                assert num_inputs == self.num_inputs
-                assert num_outputs == self.num_outputs
-
-                if platform == _FFI_PLATFORM_CPU:
-                    if self.graph_mode not in (JaxCallableGraphMode.NONE, JaxCallableGraphMode.JAX):
-                        return create_invalid_argument_ffi_error(
-                            call_frame.contents.api,
-                            f"JaxCallableGraphMode.{self.graph_mode.name} is not supported for JAX CPU FFI calls",
-                        )
-
-                    if not wp.is_cpu_available():
-                        return create_ffi_error(
-                            call_frame.contents.api,
-                            XLA_FFI_Error_Code.FAILED_PRECONDITION,
-                            "This Warp build does not include CPU support",
-                        )
-                    device = wp.get_device("cpu")
-                    module = wp.get_module(self.func.__module__)
-                    _load_ffi_module(module, device)
-                    arg_list = self._build_arg_list(inputs, outputs, call_desc, device)
-                    with wp.ScopedDevice(device):
-                        self.func(*arg_list)
-                    return None
-
-                if platform != _FFI_PLATFORM_CUDA:
-                    return create_invalid_argument_ffi_error(
-                        call_frame.contents.api,
-                        f"Unsupported JAX FFI platform '{platform}'",
-                    )
-
-                if wp._src.context.runtime is None:
-                    wp.init()
-                if not wp._src.context.runtime.is_cuda_enabled:
-                    return create_ffi_error(
-                        call_frame.contents.api,
-                        XLA_FFI_Error_Code.FAILED_PRECONDITION,
-                        "This Warp build does not include CUDA support",
-                    )
-
-                cuda_stream = get_stream_from_callframe(call_frame.contents)
-                device_ordinal = get_device_ordinal_from_callframe(call_frame.contents)
-                device = wp.get_cuda_device(device_ordinal)
-
-                if self.graph_mode == JaxCallableGraphMode.WARP:
-                    # check if we already captured an identical call
-                    ip = [inputs[i].contents.data for i in self.array_input_indices]
-                    op = [outputs[i].contents.data for i in self.array_output_indices]
-                    capture_key = hash((device_ordinal, call_id, *ip, *op))
-                    capture = self.captures.get(capture_key)
-
-                    # launch existing graph
-                    if capture is not None:
-                        graph_exec = capture.graph.graph_exec
-                        if not wp._src.context.runtime.core.wp_cuda_graph_launch(graph_exec, cuda_stream):
-                            raise RuntimeError(f"Graph launch error: {wp._src.context.runtime.get_error_string()}")
-
-                        # update the graph cache to keep recently used graphs alive
-                        self.captures.move_to_end(capture_key)
-
-                        # early out
-                        return
-
-                elif self.graph_mode == JaxCallableGraphMode.WARP_STAGED_EX:
-                    if call_desc.capture is not None:
-                        graph_exec = call_desc.capture.graph.graph_exec
-                        context = call_desc.capture.graph.device.context
-                        wp_memcpy_batch = wp._src.context.runtime.core.wp_memcpy_batch
-
-                        # set source pointers for input memcopies
-                        for memcpy_idx, input_idx in enumerate(call_desc.input_memcpy_indices):
-                            call_desc.input_memcpy_srcs[memcpy_idx] = inputs[input_idx].contents.data
-
-                        # copy inputs to staging buffers
-                        if not wp_memcpy_batch(
-                            context,
-                            call_desc.input_memcpy_dsts,
-                            call_desc.input_memcpy_srcs,
-                            call_desc.input_memcpy_sizes,
-                            call_desc.input_memcpy_count,
-                            cuda_stream,
-                        ):
-                            raise RuntimeError(
-                                f"Failed to run input memcpy batch: {wp._src.context.runtime.get_error_string()}"
-                            )
-
-                        # launch existing graph
-                        if not wp._src.context.runtime.core.wp_cuda_graph_launch(graph_exec, cuda_stream):
-                            raise RuntimeError(f"Graph launch error: {wp._src.context.runtime.get_error_string()}")
-
-                        # set destination pointers for output memcopies
-                        for memcpy_idx, output_idx in enumerate(call_desc.output_memcpy_indices):
-                            call_desc.output_memcpy_dsts[memcpy_idx] = outputs[output_idx].contents.data
-
-                        # copy the outputs from staging buffers
-                        if not wp_memcpy_batch(
-                            context,
-                            call_desc.output_memcpy_dsts,
-                            call_desc.output_memcpy_srcs,
-                            call_desc.output_memcpy_sizes,
-                            call_desc.output_memcpy_count,
-                            cuda_stream,
-                        ):
-                            raise RuntimeError(
-                                f"Failed to run output memcpy batch: {wp._src.context.runtime.get_error_string()}"
-                            )
-
-                        # early out
-                        return
-
-                elif self.graph_mode == JaxCallableGraphMode.WARP_STAGED:
-                    if call_desc.capture is not None:
-                        graph_exec = call_desc.capture.graph.graph_exec
-
-                        # set source pointers for input memcpy nodes
-                        memcpy_idx = 0
-                        for input_idx in call_desc.input_memcpy_indices:
-                            call_desc.memcpy_srcs[memcpy_idx] = inputs[input_idx].contents.data
-                            memcpy_idx += 1
-
-                        # set destination pointers for output memcpy nodes
-                        for output_idx in call_desc.output_memcpy_indices:
-                            call_desc.memcpy_dsts[memcpy_idx] = outputs[output_idx].contents.data
-                            memcpy_idx += 1
-
-                        # update all memcpy nodes
-                        if not wp._src.context.runtime.core.wp_cuda_graph_update_memcpy_batch(
-                            graph_exec,
-                            call_desc.memcpy_nodes,
-                            call_desc.memcpy_dsts,
-                            call_desc.memcpy_srcs,
-                            call_desc.memcpy_sizes,
-                            call_desc.memcpy_kinds,
-                            len(call_desc.memcpy_nodes),
-                        ):
-                            raise RuntimeError(
-                                f"Failed to update graph memcpy batch: {wp._src.context.runtime.get_error_string()}"
-                            )
-
-                        # launch existing graph
-                        if not wp._src.context.runtime.core.wp_cuda_graph_launch(graph_exec, cuda_stream):
-                            raise RuntimeError(f"Graph launch error: {wp._src.context.runtime.get_error_string()}")
-
-                        # early out
-                        return
-
-                _load_ffi_module(wp.get_module(self.func.__module__), device)
-                stream = wp.Stream(device, cuda_stream=cuda_stream)
-
-                arg_list = self._build_arg_list(inputs, outputs, call_desc, device)
-
-                # call the Python function with reconstructed arguments
-                with wp.ScopedStream(stream, sync_enter=False):
-                    if stream.is_capturing:
-                        # capturing with JAX
-                        with wp.ScopedCapture(external=True) as capture:
-                            self.func(*arg_list)
-
-                        # keep a reference to the capture object to prevent required modules getting unloaded
-                        call_desc.capture = capture
-
-                    elif self.graph_mode == JaxCallableGraphMode.WARP:
-                        # capturing with WARP
-                        with wp.ScopedCapture() as capture:
-                            self.func(*arg_list)
-                        wp.capture_launch(capture.graph)
-
-                        # keep a reference to the capture object and reuse it with same buffers
-                        self.captures[capture_key] = capture
-
-                        # respect the cache size limit if specified
-                        if self._graph_cache_max is not None and len(self.captures) > self._graph_cache_max:
-                            self.captures.popitem(last=False)
-
-                    elif self.graph_mode == JaxCallableGraphMode.WARP_STAGED_EX:
-                        # capturing with WARP using staging buffers and memcopies done outside of the graph
-                        wp_memcpy_batch = wp._src.context.runtime.core.wp_memcpy_batch
-
-                        # prepare staging arrays and memcpy info
-                        self._prepare_staging(arg_list, call_desc)
-
-                        # copy inputs to staging arrays (including in-out arrays)
-                        if not wp_memcpy_batch(
-                            device.context,
-                            call_desc.input_memcpy_dsts,
-                            call_desc.input_memcpy_srcs,
-                            call_desc.input_memcpy_sizes,
-                            call_desc.input_memcpy_count,
-                            cuda_stream,
-                        ):
-                            raise RuntimeError(
-                                f"Failed to run input memcpy batch: {wp._src.context.runtime.get_error_string()}"
-                            )
-
-                        # capture callback using staging arrays
-                        with wp.ScopedCapture() as capture:
-                            self.func(*arg_list)
-
-                        wp.capture_launch(capture.graph)
-
-                        # copy outputs from staging arrays (including in-out arrays)
-                        if not wp_memcpy_batch(
-                            device.context,
-                            call_desc.output_memcpy_dsts,
-                            call_desc.output_memcpy_srcs,
-                            call_desc.output_memcpy_sizes,
-                            call_desc.output_memcpy_count,
-                            cuda_stream,
-                        ):
-                            raise RuntimeError(
-                                f"Failed to run output memcpy batch: {wp._src.context.runtime.get_error_string()}"
-                            )
-
-                        # save the capture for replays
-                        # TODO: we should have a way of freeing this
-                        call_desc.capture = capture
-
-                    elif self.graph_mode == JaxCallableGraphMode.WARP_STAGED:
-                        # capturing with WARP using staging buffers and memcopies done inside of the graph
-                        wp_cuda_graph_insert_memcpy_batch = (
-                            wp._src.context.runtime.core.wp_cuda_graph_insert_memcpy_batch
-                        )
-
-                        # prepare staging arrays and memcpy info
-                        self._prepare_staging(arg_list, call_desc)
-
-                        # prepare graph memcpy nodes
-                        input_memcpy_count = call_desc.input_memcpy_count
-                        output_memcpy_count = call_desc.output_memcpy_count
-                        input_memcpy_nodes = (ctypes.c_void_p * input_memcpy_count)()
-                        output_memcpy_nodes = (ctypes.c_void_p * output_memcpy_count)()
-
-                        # capture using staging arrays and include memory copies
-                        with wp.ScopedCapture() as capture:
-                            # copy inputs
-                            if not wp_cuda_graph_insert_memcpy_batch(
-                                device.context,
-                                cuda_stream,
-                                call_desc.input_memcpy_dsts,
-                                call_desc.input_memcpy_srcs,
-                                call_desc.input_memcpy_sizes,
-                                call_desc.input_memcpy_kinds,
-                                call_desc.input_memcpy_count,
-                                input_memcpy_nodes,
-                            ):
-                                raise RuntimeError(
-                                    f"Failed to insert input memcpy batch: {wp._src.context.runtime.get_error_string()}"
-                                )
-
-                            # run the callback
-                            self.func(*arg_list)
-
-                            # copy outputs
-                            if not wp_cuda_graph_insert_memcpy_batch(
-                                device.context,
-                                cuda_stream,
-                                call_desc.output_memcpy_dsts,
-                                call_desc.output_memcpy_srcs,
-                                call_desc.output_memcpy_sizes,
-                                call_desc.output_memcpy_kinds,
-                                call_desc.output_memcpy_count,
-                                output_memcpy_nodes,
-                            ):
-                                raise RuntimeError(
-                                    f"Failed to insert output memcpy batch: {wp._src.context.runtime.get_error_string()}"
-                                )
-
-                        wp.capture_launch(capture.graph)
-
-                        # concatenate input and output memcopy nodes so they can be updated in one call
-                        num_nodes = input_memcpy_count + output_memcpy_count
-                        call_desc.memcpy_nodes = (ctypes.c_void_p * num_nodes)()
-                        call_desc.memcpy_srcs = (ctypes.c_void_p * num_nodes)()
-                        call_desc.memcpy_dsts = (ctypes.c_void_p * num_nodes)()
-                        call_desc.memcpy_sizes = (ctypes.c_size_t * num_nodes)()
-                        call_desc.memcpy_kinds = (ctypes.c_int * num_nodes)()
-                        for i in range(input_memcpy_count):
-                            call_desc.memcpy_nodes[i] = input_memcpy_nodes[i]
-                            call_desc.memcpy_srcs[i] = call_desc.input_memcpy_srcs[i]
-                            call_desc.memcpy_dsts[i] = call_desc.input_memcpy_dsts[i]
-                            call_desc.memcpy_sizes[i] = call_desc.input_memcpy_sizes[i]
-                            call_desc.memcpy_kinds[i] = call_desc.input_memcpy_kinds[i]
-                        for i in range(output_memcpy_count):
-                            j = input_memcpy_count + i
-                            call_desc.memcpy_nodes[j] = output_memcpy_nodes[i]
-                            call_desc.memcpy_srcs[j] = call_desc.output_memcpy_srcs[i]
-                            call_desc.memcpy_dsts[j] = call_desc.output_memcpy_dsts[i]
-                            call_desc.memcpy_sizes[j] = call_desc.output_memcpy_sizes[i]
-                            call_desc.memcpy_kinds[j] = call_desc.output_memcpy_kinds[i]
-
-                        # save the capture for replays
-                        # TODO: we should have a way of freeing this
-                        call_desc.capture = capture
-
-                    else:
-                        # not capturing
-                        self.func(*arg_list)
-
-        except Exception as e:
-            print(traceback.format_exc())
-            return create_ffi_error(
-                call_frame.contents.api, XLA_FFI_Error_Code.UNKNOWN, f"FFI callback error: {type(e).__name__}: {e}"
-            )
-
-        return None
-
-    def _prepare_staging(self, arg_list, call_desc):
-        # create staging arrays
-        input_callback_arrays = []
-        input_staging_arrays = []
-        input_memcpy_indices = []
-        output_callback_arrays = []
-        output_staging_arrays = []
-        output_memcpy_indices = []
-        static_staging_arrays = []
-        for i, arg in enumerate(arg_list):
-            # we only care about arrays with non-zero size
-            if isinstance(arg, wp.array) and arg.size > 0:
-                staging_arr = wp.empty_like(arg)
-                input_idx = self.arg_input_indices[i]
-                if input_idx is not None:
-                    # check if this input needs to be copied every time or just once
-                    if self.stage_in_argnames is None or self.args[i].name in self.stage_in_argnames:
-                        input_callback_arrays.append(arg)
-                        input_staging_arrays.append(staging_arr)
-                        input_memcpy_indices.append(input_idx)
-                    else:
-                        wp.copy(staging_arr, arg)
-                        static_staging_arrays.append(staging_arr)
-                output_idx = self.arg_output_indices[i]
-                if output_idx is not None:
-                    # check if this output needs to be copied every time or just once
-                    if self.stage_out_argnames is None or self.args[i].name in self.stage_out_argnames:
-                        output_callback_arrays.append(arg)
-                        output_staging_arrays.append(staging_arr)
-                        output_memcpy_indices.append(output_idx)
-                    else:
-                        wp.copy(staging_arr, arg)
-                        static_staging_arrays.append(staging_arr)
-                # substitute staging array in argument list
-                arg_list[i] = staging_arr
-
-        # prepare input memcpy batch
-        input_memcpy_count = len(input_staging_arrays)
-        call_desc.input_memcpy_count = input_memcpy_count
-        call_desc.input_memcpy_indices = input_memcpy_indices
-        call_desc.input_memcpy_srcs = (ctypes.c_void_p * input_memcpy_count)()
-        call_desc.input_memcpy_dsts = (ctypes.c_void_p * input_memcpy_count)()
-        call_desc.input_memcpy_sizes = (ctypes.c_size_t * input_memcpy_count)()
-        call_desc.input_memcpy_kinds = (ctypes.c_int * input_memcpy_count)()
-        for i in range(input_memcpy_count):
-            size = input_staging_arrays[i].size * type_size_in_bytes(input_staging_arrays[i].dtype)
-            call_desc.input_memcpy_srcs[i] = input_callback_arrays[i].ptr
-            call_desc.input_memcpy_dsts[i] = input_staging_arrays[i].ptr
-            call_desc.input_memcpy_sizes[i] = size
-            call_desc.input_memcpy_kinds[i] = CudaMemcpyKind.D2D
-
-        # prepare output memcpy batch
-        output_memcpy_count = len(output_staging_arrays)
-        call_desc.output_memcpy_count = output_memcpy_count
-        call_desc.output_memcpy_indices = output_memcpy_indices
-        call_desc.output_memcpy_srcs = (ctypes.c_void_p * output_memcpy_count)()
-        call_desc.output_memcpy_dsts = (ctypes.c_void_p * output_memcpy_count)()
-        call_desc.output_memcpy_sizes = (ctypes.c_size_t * output_memcpy_count)()
-        call_desc.output_memcpy_kinds = (ctypes.c_int * output_memcpy_count)()
-        for i in range(output_memcpy_count):
-            size = output_staging_arrays[i].size * type_size_in_bytes(output_staging_arrays[i].dtype)
-            call_desc.output_memcpy_srcs[i] = output_staging_arrays[i].ptr
-            call_desc.output_memcpy_dsts[i] = output_callback_arrays[i].ptr
-            call_desc.output_memcpy_sizes[i] = size
-            call_desc.output_memcpy_kinds[i] = CudaMemcpyKind.D2D
-
-        # hang on to the staging arrays to prevent GC
-        # TODO: we should have a way of freeing this
-        call_desc.input_staging_arrays = input_staging_arrays
-        call_desc.output_staging_arrays = output_staging_arrays
-        call_desc.static_staging_arrays = static_staging_arrays
-
-        if wp.config.verbose:
-            # print some stats
-            total_input_size = 0
-            for i in range(input_memcpy_count):
-                total_input_size += int(call_desc.input_memcpy_sizes[i])
-            total_output_size = 0
-            for i in range(output_memcpy_count):
-                total_output_size += int(call_desc.output_memcpy_sizes[i])
-            print("FFI graph staging stats:")
-            print(f"  input memcpy indices: {input_memcpy_indices}")
-            print(f"  output memcpy indices: {output_memcpy_indices}")
-            print(f"  input memcpy count: {input_memcpy_count}")
-            print(f"  output memcpy count: {output_memcpy_count}")
-            print(f"  total memcpy count: {input_memcpy_count + output_memcpy_count}")
-            print(f"  total input size: {total_input_size} bytes")
-            print(f"  total output size: {total_output_size} bytes")
-            print(f"  total size: {total_input_size + total_output_size} bytes")
-
-    @property
-    def graph_cache_max(self) -> int | None:
-        return self._graph_cache_max
-
-    @graph_cache_max.setter
-    def graph_cache_max(self, value: int | None):
-        if value != self._graph_cache_max:
-            if value is not None and (self._graph_cache_max is None or value < self._graph_cache_max):
-                # trim the cache if needed
-                while len(self.captures) > value:
-                    self.captures.popitem(last=False)
-            self._graph_cache_max = value
-
-    @property
-    def graph_cache_size(self) -> int:
-        return len(self.captures)
-
-
-def jax_kernel(
-    kernel,
-    num_outputs=1,
-    vmap_method="broadcast_all",
-    launch_dims=None,
-    output_dims=None,
-    in_out_argnames=None,
-    module_preload_mode=JaxModulePreloadMode.CURRENT_DEVICE,
-    enable_backward: bool = False,
-    has_side_effect: bool = False,
-    block_dim: int | None = None,
-):
-    """Create a JAX callback from a Warp kernel.
-
-    NOTE: This is an experimental feature under development.
-
-    Args:
-        kernel: The Warp kernel to launch.
-        num_outputs: Specify the number of output arguments if greater than 1.
-            This must include the number of ``in_out_arguments``.
-        vmap_method: String specifying how the callback transforms under ``vmap()``.
-            This argument can also be specified for individual calls.
-        launch_dims: Specify the kernel launch dimensions. If None, launch dimensions
-            are inferred from the shape of the first array argument. When
-            ``enable_backward=False``, this value will be used by default but
-            can be overridden for individual calls. When ``enable_backward=True``,
-            this value is fixed at construction time and cannot be overridden
-            per call.
-        output_dims: Specify the default dimensions of output arrays.  If None, output
-            dimensions are inferred from the launch dimensions.
-            This argument can also be specified for individual calls.
-            Not supported when ``enable_backward=True``.
-        in_out_argnames: Names of arguments that are both inputs and outputs (aliased buffers).
-            These must be array arguments that appear before any pure output arguments in the
-            kernel signature. The number of in-out arguments is included in ``num_outputs``.
-            Not supported when ``enable_backward=True``.
-        module_preload_mode: Specify the devices where the module should be preloaded.
-            ``JaxModulePreloadMode.ALL_DEVICES`` includes the host CPU and all
-            supported local CUDA devices. Preloading is best-effort: JAX devices
-            that cannot be mapped to Warp are skipped, and execution loads the
-            module for the callback's actual device. Module loading errors are
-            not suppressed.
-        enable_backward: Enable automatic differentiation for this kernel.
-        has_side_effect: Whether the custom call has side effects. When True,
-            the FFI call will be executed even when the outputs are not used.
-        block_dim: Specify the number of threads per block for CUDA execution.
-            When ``None``, CUDA uses 256 threads per block. CPU execution always
-            uses one thread per block. The value is fixed when the wrapper is
-            constructed and is shared by forward and adjoint launches when
-            ``enable_backward=True``.
-
-    Limitations:
-        - All kernel arguments must be contiguous arrays or scalars.
-        - Scalars must be static arguments in JAX.
-        - Input and input-output arguments must precede the output arguments in the ``kernel`` definition.
-        - There must be at least one output or input-output argument.
-        - The CPU and CUDA backends are supported. JAX selects the backend from the
-          lowered computation's device.
-        - ``output_dims`` and ``in_out_argnames`` are not supported when ``enable_backward=True``.
-    """
-
-    check_jax_version()
-    jax = _get_jax()
-
-    if block_dim is not None:
-        if isinstance(block_dim, bool):
-            raise TypeError("jax_kernel(): block_dim must be an integer or None.")
-        try:
-            block_dim = operator.index(block_dim)
-        except TypeError:
-            raise TypeError("jax_kernel(): block_dim must be an integer or None.") from None
-        if block_dim <= 0:
-            raise ValueError("jax_kernel(): block_dim must be positive.")
-
-    if isinstance(output_dims, dict):
-        hashable_output_dims = tuple(sorted(output_dims.items()))
-    elif hasattr(output_dims, "__len__"):
-        hashable_output_dims = tuple(output_dims)
-    else:
-        hashable_output_dims = output_dims
-
-    if hasattr(launch_dims, "__len__"):
-        hashable_launch_dims = tuple(launch_dims)
-    else:
-        hashable_launch_dims = launch_dims
-
-    if not enable_backward:
-        key = (
-            kernel.func,
-            kernel.sig,
-            num_outputs,
-            vmap_method,
-            hashable_launch_dims,
-            hashable_output_dims,
-            module_preload_mode,
-            has_side_effect,
-            block_dim,
-        )
-
-        with _FFI_REGISTRY_LOCK:
-            if key not in _FFI_KERNEL_REGISTRY:
-                new_kernel = FfiKernel(
-                    kernel,
-                    num_outputs,
-                    vmap_method,
-                    launch_dims,
-                    block_dim,
-                    output_dims,
-                    in_out_argnames,
-                    module_preload_mode,
-                    has_side_effect=has_side_effect,
-                )
-                _FFI_KERNEL_REGISTRY[key] = new_kernel
-
-        return _FFI_KERNEL_REGISTRY[key]
-
-    # make sure the arguments are compatible with autodiff
-    if in_out_argnames:
-        raise NotImplementedError(
-            "jax_kernel(): Input-output arguments (in_out_argnames) are not supported when enable_backward=True."
-        )
-
-    # TODO: support output_dims with enable_backward=True (requires separate
-    # output-buffer allocation logic). launch_dims is supported below: the
-    # captured value is applied to both the forward and the adjoint launches.
-    if output_dims is not None:
-        raise NotImplementedError("jax_kernel(): output_dims is not yet supported when enable_backward=True.")
-
-    # Differentiable path: build a custom VJP wrapper inline.
-    # Infer the original kernel signature (names and annotations)
-    signature = inspect.signature(kernel.func)
-
-    parameters = [p for p in signature.parameters.values() if p.kind == inspect.Parameter.POSITIONAL_OR_KEYWORD]
-    parameter_count = len(parameters)
-    num_inputs = parameter_count - num_outputs
-
-    # determine static argument indices
-    static_args = []
-    for i, p in enumerate(parameters[:num_inputs]):
-        param_type = p.annotation
-        if not matches_array_class(param_type, wp.array):
-            if param_type in wp._src.types.value_types:
-                static_args.append(i)
-            else:
-                raise TypeError(f"Invalid type for argument '{p.name}', expected array or scalar, got {type}")
-
-    # Capture an explicit user-supplied launch_dims so the same value is used
-    # for both the forward launch and the adjoint launch (required for
-    # correct gradient values when array.ndim > kernel.tid_ndim).
-    # Reuse `hashable_launch_dims` (computed above for the cache key path)
-    # so 1-D integer and sequence forms are normalized identically.
-    _user_launch_dims = hashable_launch_dims if launch_dims is not None else None
-    _launch_block_dim = 256 if block_dim is None else block_dim
-
-    def _resolve_launch_dims(call_args):
-        if _user_launch_dims is not None:
-            return _user_launch_dims
-        # Fallback: determine launch dimensions from the shape of the first input array
-        for i, p in enumerate(parameters[:num_inputs]):
-            param_type = p.annotation
-            if matches_array_class(param_type, wp.array):
-                arg = call_args[i]
-                arg_shape = tuple(arg.shape)
-                if hasattr(param_type.dtype, "_wp_scalar_type_"):
-                    # vector/matrix array, trim trailing dimensions of JAX input array
-                    return arg_shape[: param_type.ndim]
-                else:
-                    # scalar array
-                    return arg_shape
-        raise RuntimeError("Unable to determine launch dimensions, at least one input array is required")
-
-    # Forward kernel wrapper: simply launches the kernel
-    def fwd_kernel_wrapper(*args):
-        wp.launch(
-            kernel,
-            dim=_resolve_launch_dims(args),
-            inputs=args[:num_inputs],
-            outputs=args[num_inputs:],
-            block_dim=_launch_block_dim,
-        )
-
-    # update forward signature and annotations so jax_callable() sees a fully annotated function
-    fwd_kernel_wrapper.__signature__ = signature
-    fwd_kernel_wrapper.__annotations__ = {p.name: p.annotation for p in parameters}
-    fwd_kernel_wrapper.__annotations__["return"] = None
-
-    jax_fwd_kernel = jax_callable(
-        fwd_kernel_wrapper,
-        num_outputs=num_outputs,
-        vmap_method=vmap_method,
-        module_preload_mode=module_preload_mode,
-        has_side_effect=has_side_effect,
-    )
-
-    # backward arguments only include static args once
-    bwd_arg_count = 2 * parameter_count - len(static_args)
-
-    # Backward wrapper: launches adjoint with provided output gradients
-    def bwd_kernel_wrapper(*args):
-        if len(args) != bwd_arg_count:
-            raise RuntimeError(f"Invalid backward argument count, expected {bwd_arg_count} but got {len(args)}")
-
-        inputs = list(args[:num_inputs])
-        outputs = list(args[num_inputs:parameter_count])
-        grad_out = list(args[parameter_count : parameter_count + num_outputs])
-        grad_in = list(args[parameter_count + num_outputs :])
-
-        for i in static_args:
-            grad_in.insert(i, inputs[i])
-
-        for gi in grad_in:
-            if isinstance(gi, wp.array):
-                try:
-                    gi.zero_()
-                except Exception as e:
-                    log_warning(f"Failed to zero gradient array: {e}", stacklevel=2)
-                    raise e
-
-        # The same _resolve_launch_dims() is used here so that the adjoint
-        # kernel launches with exactly the same iteration space as the forward
-        # kernel (captured from the enclosing scope via _user_launch_dims when
-        # the caller supplied an explicit value, otherwise inferred from the
-        # inputs). This matches the forward path and avoids N x
-        # over-accumulation in atomic_add when array.ndim > kernel.tid_ndim.
-        wp.launch(
-            kernel,
-            dim=_resolve_launch_dims(inputs),
-            inputs=inputs,
-            outputs=outputs,
-            adj_inputs=grad_in,
-            adj_outputs=grad_out,
-            adjoint=True,
-            block_dim=_launch_block_dim,
-        )
-
-    # Build the backward wrapper signature expected by jax_callable
-    bwd_input_params = parameters[:num_inputs]
-    bwd_output_params = parameters[num_inputs:parameter_count]
-    bwd_grad_output_params = [
-        inspect.Parameter(
-            f"adj_{p.name}",
-            inspect.Parameter.POSITIONAL_OR_KEYWORD,
-            default=p.default,
-            annotation=p.annotation,
-        )
-        for p in bwd_output_params
-    ]
-
-    bwd_grad_input_params = [
-        inspect.Parameter(
-            f"adj_{p.name}",
-            inspect.Parameter.POSITIONAL_OR_KEYWORD,
-            default=p.default,
-            annotation=p.annotation,
-        )
-        for p in bwd_input_params
-    ]
-    for i in reversed(static_args):
-        del bwd_grad_input_params[i]
-
-    # update backward signature and annotations so jax_callable() sees a fully annotated function
-    bwd_signature = bwd_input_params + bwd_output_params + bwd_grad_output_params + bwd_grad_input_params
-    bwd_kernel_wrapper.__signature__ = inspect.Signature(bwd_signature)
-    bwd_annotations = {}
-    for p in bwd_input_params:
-        bwd_annotations[p.name] = p.annotation
-    for p in bwd_output_params:
-        bwd_annotations[p.name] = p.annotation
-    for p in bwd_grad_output_params:
-        bwd_annotations[p.name] = p.annotation
-    for p in bwd_grad_input_params:
-        bwd_annotations[p.name] = p.annotation
-    bwd_annotations["return"] = None
-    bwd_kernel_wrapper.__annotations__ = bwd_annotations
-
-    jax_bwd_kernel = jax_callable(
-        bwd_kernel_wrapper,
-        num_outputs=len(bwd_input_params) - len(static_args),
-        vmap_method=vmap_method,
-        module_preload_mode=module_preload_mode,
-        has_side_effect=has_side_effect,
-    )
-
-    differentiable_input_indices = [i for i in range(num_inputs) if i not in static_args]
-    differentiable_input_names = [parameters[i].name for i in differentiable_input_indices]
-
-    def fwd_function(*args):
-        outputs = jax_fwd_kernel(*args)
-        non_static_inputs = list(args)
-        for i in reversed(static_args):
-            del non_static_inputs[i]
-        # Normalize to tuple for consistent handling
-        if num_outputs == 1:
-            outputs_tuple = (outputs,) if not isinstance(outputs, (list, tuple)) else (outputs[0],)
-        else:
-            outputs_tuple = outputs if isinstance(outputs, tuple) else tuple(outputs)
-        return outputs, (tuple(non_static_inputs), outputs_tuple)
-
-    def bwd_function(*bwd_args):
-        nondiff_vals = list(bwd_args[: len(static_args)])
-        residuals = bwd_args[len(static_args)]
-        grad_out_args = bwd_args[len(static_args) + 1 :]
-
-        non_static_inputs, output_vals_tuple = residuals
-
-        input_vals = list(non_static_inputs)
-        for i, v in zip(static_args, nondiff_vals, strict=True):
-            input_vals.insert(i, v)
-
-        # Normalize grad outputs and handle nested containers (e.g., single tuple for multi-output)
-        if num_outputs == 1:
-            go = grad_out_args[0]
-            grad_out_tuple = tuple(go) if isinstance(go, (list, tuple)) else (go,)
-        else:
-            if len(grad_out_args) == 1 and isinstance(grad_out_args[0], (list, tuple)):
-                grad_out_tuple = tuple(grad_out_args[0])
-            else:
-                grad_out_tuple = tuple(grad_out_args)
-        bwd_call_args = list(input_vals) + list(output_vals_tuple) + list(grad_out_tuple)
-
-        out_dims_map = {}
-        param_ann = {p.name: p.annotation for p in parameters[:num_inputs]}
-        for name, val in zip(differentiable_input_names, non_static_inputs, strict=True):
-            ann = param_ann.get(name)
-            if ann is None:
-                continue
-            # Check if annotation is a warp array type (annotation is an instance of wp.array)
-            is_array_ann = matches_array_class(ann, wp.array)
-            if not is_array_ann:
-                continue
-            dtype_ndim = 0
-            # Extract dtype ndim if it's a vector/matrix type
-            if hasattr(ann, "dtype") and hasattr(ann.dtype, "_wp_scalar_type_"):
-                dtype_ndim = len(ann.dtype._shape_)
-            warp_ndim = getattr(ann, "ndim", 0)
-            vshape = tuple(val.shape)
-            if warp_ndim == 0:
-                continue
-            if dtype_ndim > 0:
-                core_rank = max(0, len(vshape) - dtype_ndim)
-                warp_dims = vshape[max(0, core_rank - warp_ndim) : core_rank]
-            else:
-                warp_dims = vshape[-warp_ndim:]
-            out_dims_map[f"adj_{name}"] = tuple(warp_dims)
-
-        non_static_input_grads = jax_bwd_kernel(*bwd_call_args, output_dims=out_dims_map)
-        return tuple(non_static_input_grads)
-
-    jax_func = jax.custom_vjp(jax_fwd_kernel, nondiff_argnums=tuple(static_args))
-    jax_func.defvjp(fwd_function, bwd_function)
-
-    key = (
-        kernel.func,
-        kernel.sig,
-        num_outputs,
-        vmap_method,
-        module_preload_mode,
-        has_side_effect,
-        # Include the normalized launch_dims so that wrapping the same kernel
-        # with different launch_dims produces independent cache entries.
-        # Reusing _user_launch_dims ensures int and 1-tuple forms of the same
-        # value map to the same key.
-        _user_launch_dims,
-        block_dim,
-    )
-
-    if static_args:
-        static_names = [parameters[i].name for i in static_args]
-    else:
-        static_names = []
-
-    key = (*key, tuple(sorted(static_names)))
-
-    def _user_callable(*args):
-        return jax_func(*args)
-
-    _user_callable.__signature__ = signature
-
-    # Cache differentiable wrapper
-    with _FFI_REGISTRY_LOCK:
-        cached = _FFI_DIFF_KERNEL_REGISTRY.get(key)
-        if cached is None:
-            cached = jax.jit(_user_callable, static_argnames=tuple(static_names))
-            _FFI_DIFF_KERNEL_REGISTRY[key] = cached
-
-    # Thin Python-level wrapper that intercepts FfiKernel-style per-call kwargs
-    # and raises informative errors before JAX tracing begins.
-    def _checked_wrapper(*args, launch_dims=_MISSING, output_dims=_MISSING, vmap_method=_MISSING):
-        if launch_dims is not _MISSING:
-            raise TypeError(
-                "jax_kernel(): launch_dims cannot be overridden per-call when enable_backward=True "
-                f"(this wrapper was created with launch_dims={_user_launch_dims!r}). "
-                "Call jax_kernel() again with a different launch_dims to create a new wrapper."
-            )
-        if output_dims is not _MISSING:
-            raise TypeError("jax_kernel(): output_dims is not supported when enable_backward=True.")
-        if vmap_method is not _MISSING:
-            raise TypeError(
-                "jax_kernel(): vmap_method cannot be overridden per-call when enable_backward=True; "
-                "it is fixed at construction time. "
-                "Call jax_kernel() again with a different vmap_method to create a new wrapper."
-            )
-        return cached(*args)
-
-    _checked_wrapper.block_dim = block_dim
-    return _checked_wrapper
-
-
-def jax_callable(
-    func: Callable,
-    num_outputs: int = 1,
-    graph_mode: JaxCallableGraphMode = JaxCallableGraphMode.JAX,
-    vmap_method: str | None = "broadcast_all",
-    output_dims=None,
-    in_out_argnames=None,
-    stage_in_argnames=None,
-    stage_out_argnames=None,
-    graph_cache_max: int | None = JAX_CALLABLE_DEFAULT_GRAPH_CACHE_MAX,
-    module_preload_mode: JaxModulePreloadMode = JaxModulePreloadMode.CURRENT_DEVICE,
-    has_side_effect: bool = False,
-):
-    """Create a JAX callback from an annotated Python function.
-
-    The Python function arguments must have type annotations like Warp kernels.
-
-    NOTE: This is an experimental feature under development.
-
-    Args:
-        func: The Python function to call.
-        num_outputs: Specify the number of output arguments if greater than 1.
-            This must include the number of ``in_out_arguments``.
-        graph_mode: CUDA graph capture mode.
-            ``JaxCallableGraphMode.JAX`` (default): Let JAX capture the graph, which may be used as a subgraph in an enclosing JAX capture.
-            ``JaxCallableGraphMode.WARP``: Let Warp capture the graph. Use this mode when the callable cannot be used as a subgraph,
-            such as when the callable uses conditional graph nodes.
-            ``JaxCallableGraphMode.NONE``: Disable graph capture. Use when the callable performs operations that are not legal in a graph,
-            such as host synchronization.
-            On CPU, ``JaxCallableGraphMode.NONE`` and ``JaxCallableGraphMode.JAX``
-            both execute without graph capture. The ``WARP``, ``WARP_STAGED``, and
-            ``WARP_STAGED_EX`` modes require CUDA.
-        vmap_method: String specifying how the callback transforms under ``vmap()``.
-            This argument can also be specified for individual calls.
-        output_dims: Specify the default dimensions of output arrays.
-            If ``None``, output dimensions are inferred from the launch dimensions.
-            This argument can also be specified for individual calls.
-        in_out_argnames: Names of arguments that are both inputs and outputs (aliased buffers).
-            These must be array arguments that appear before any pure output arguments in the
-            function signature. The number of in-out arguments is included in ``num_outputs``.
-        stage_in_argnames: Names of input arguments that need to be copied with ``JaxCallableGraphMode.WARP_STAGED*``.
-            If ``None``, copy all input arguments.
-        stage_out_argnames: Names of output arguments that need to be copied with ``JaxCallableGraphMode.WARP_STAGED*``.
-            If ``None``, copy all output arguments.
-        graph_cache_max: Maximum number of cached graphs captured using ``JaxCallableGraphMode.WARP``.
-            If ``None``, the graph cache is unlimited.
-        module_preload_mode: Specify the devices where the module should be preloaded.
-            ``JaxModulePreloadMode.ALL_DEVICES`` includes the host CPU and all
-            supported local CUDA devices. Preloading is best-effort: JAX devices
-            that cannot be mapped to Warp are skipped, and execution loads the
-            module for the callback's actual device. Module loading errors are
-            not suppressed.
-        has_side_effect: Whether the custom call has side effects. When True,
-            the FFI call will be executed even when the outputs are not used.
-
-    Limitations:
-        - All kernel arguments must be contiguous arrays or scalars.
-        - Scalars must be static arguments in JAX.
-        - Input and input-output arguments must precede the output arguments in the ``func`` definition.
-        - There must be at least one output or input-output argument.
-        - The CPU and CUDA backends are supported. JAX selects the backend from the
-          lowered computation's device.
-    """
-
-    check_jax_version()
-    graph_mode = JaxCallableGraphMode(graph_mode)
-
-    if isinstance(output_dims, dict):
-        hashable_output_dims = tuple(sorted(output_dims.items()))
-    elif hasattr(output_dims, "__len__"):
-        hashable_output_dims = tuple(output_dims)
-    else:
-        hashable_output_dims = output_dims
-
-    # Note: we don't include graph_cache_max in the key, it is applied below.
-    key = (
-        func,
-        num_outputs,
-        graph_mode,
-        vmap_method,
-        hashable_output_dims,
-        module_preload_mode,
-        has_side_effect,
-    )
-
-    with _FFI_REGISTRY_LOCK:
-        callable = _FFI_CALLABLE_REGISTRY.get(key)
-        if callable is None:
-            callable = FfiCallable(
-                func,
-                num_outputs,
-                graph_mode,
-                vmap_method,
-                output_dims,
-                in_out_argnames,
-                stage_in_argnames,
-                stage_out_argnames,
-                graph_cache_max,
-                module_preload_mode,
-                has_side_effect,
-            )
-            _FFI_CALLABLE_REGISTRY[key] = callable
-        else:
-            # make sure we're using the latest graph cache max
-            callable.graph_cache_max = graph_cache_max
-
-    return callable
-
-
-def get_jax_callable_default_graph_cache_max():
-    """
-    Get the maximum size of the graph cache for graphs captured using ``JaxCallableGraphMode.WARP``, unlimited if ``None``.
-    """
-    return FfiCallable.default_graph_cache_max
-
-
-def set_jax_callable_default_graph_cache_max(cache_max: int | None):
-    """
-    Set the maximum size of the graph cache for graphs captured using ``JaxCallableGraphMode.WARP``, unlimited if ``None``.
-    """
-    FfiCallable.default_graph_cache_max = cache_max
-
-
-def clear_jax_callable_graph_cache(callable: FfiCallable | None = None):
-    """Clear the graph cache of the given callable or all callables if ``None``."""
-
-    if callable is not None:
-        callable.captures.clear()
-    else:
-        # apply to all callables
-        with _FFI_REGISTRY_LOCK:
-            for callable in _FFI_CALLABLE_REGISTRY.values():
-                callable.captures.clear()
-
-
-###############################################################################
-#
-# Generic FFI callbacks for Python functions of the form
-# func(inputs, outputs, attrs, ctx)
-#
-###############################################################################
-
-
-def register_ffi_callback(name: str, func: Callable, graph_compatible: bool = True) -> None:
-    """Create a JAX callback from a Python function.
-
-    The Python function must have the form ``func(inputs, outputs, attrs, ctx)``.
-
-    NOTE: This is an experimental feature under development.
-
-    Args:
-        name: A unique FFI callback name.
-        func: The Python function to call.
-        graph_compatible: Whether the function can be called during CUDA graph capture.
-    """
-
-    check_jax_version()
-    jax = _get_jax()
-
-    # TODO check that the name is not already registered
-
-    def ffi_callback(call_frame, platform):
-        try:
-            extension = call_frame.contents.extension_start
-            # On the first call, XLA runtime will query the API version and traits
-            # metadata using the |extension| field. Let us respond to that query
-            # if the metadata extension is present.
-            if extension:
-                # Try to set the version metadata.
-                if extension.contents.type == XLA_FFI_Extension_Type.Metadata:
-                    metadata_ext = ctypes.cast(extension, ctypes.POINTER(XLA_FFI_Metadata_Extension))
-                    metadata_ext.contents.metadata.contents.api_version.major_version = 0
-                    metadata_ext.contents.metadata.contents.api_version.minor_version = 1
-                    if graph_compatible and platform == _FFI_PLATFORM_CUDA:
-                        # Turn on CUDA graphs for this handler.
-                        metadata_ext.contents.metadata.contents.traits = (
-                            XLA_FFI_Handler_TraitsBits.COMMAND_BUFFER_COMPATIBLE
-                        )
-                    return None
-
-            # Lock is required to prevent race conditions when callback is invoked
-            # from multiple threads, like with pmap.
-            with _FFI_CALLBACK_LOCK:
-                attrs = decode_attrs(call_frame.contents.attrs)
-
-                input_count = call_frame.contents.args.size
-                inputs = ctypes.cast(call_frame.contents.args.args, ctypes.POINTER(ctypes.POINTER(XLA_FFI_Buffer)))
-                inputs = [FfiBuffer(inputs[i].contents) for i in range(input_count)]
-
-                output_count = call_frame.contents.rets.size
-                outputs = ctypes.cast(call_frame.contents.rets.rets, ctypes.POINTER(ctypes.POINTER(XLA_FFI_Buffer)))
-                outputs = [FfiBuffer(outputs[i].contents) for i in range(output_count)]
-
-                ctx = ExecutionContext(call_frame.contents)
-
-                func(inputs, outputs, attrs, ctx)
-
-        except Exception as e:
-            print(traceback.format_exc())
-            return create_ffi_error(
-                call_frame.contents.api, XLA_FFI_Error_Code.UNKNOWN, f"FFI callback error: {type(e).__name__}: {e}"
-            )
-
-        return None
-
-    callback_funcs = _register_ffi_targets(name, ffi_callback)
-    with _FFI_REGISTRY_LOCK:
-        _FFI_CALLBACK_REGISTRY[name] = callback_funcs
-
-
-###############################################################################
-#
-# Utilities
-#
-###############################################################################
-
-# ensure unique FFI callback names
-ffi_name_counts = {}
-
-
-def generate_unique_name(func) -> str:
-    key = make_full_qualified_name(func)
-    unique_id = ffi_name_counts.get(key, 0)
-    ffi_name_counts[key] = unique_id + 1
-    return f"{key}_{unique_id}"
-
-
-def get_warp_shape(arg, dims):
-    if arg.dtype_ndim > 0:
-        # vector/matrix array
-        return dims[: arg.warp_ndim]
-    else:
-        # scalar array
-        return dims
-
-
-def get_jax_output_type(arg, dims):
-    jax = _get_jax()
-
-    if isinstance(dims, int):
-        dims = (dims,)
-
-    ndim = len(dims)
-
-    if arg.dtype_ndim > 0:
-        # vector/matrix array
-        if ndim == arg.warp_ndim:
-            return jax.ShapeDtypeStruct((*dims, *arg.dtype_shape), arg.jax_scalar_type)
-        elif ndim == arg.jax_ndim:
-            # make sure inner dimensions match
-            inner_dims = dims[-arg.dtype_ndim :]
-            for i in range(arg.dtype_ndim):
-                if inner_dims[i] != arg.dtype_shape[i]:
-                    raise ValueError(f"Invalid output dimensions for argument '{arg.name}': {dims}")
-            return jax.ShapeDtypeStruct(dims, arg.jax_scalar_type)
-        else:
-            raise ValueError(f"Invalid output dimensions for argument '{arg.name}': {dims}")
-    else:
-        # scalar array
-        if ndim != arg.warp_ndim:
-            raise ValueError(f"Invalid output dimensions for argument '{arg.name}': {dims}")
-        return jax.ShapeDtypeStruct(dims, arg.jax_scalar_type)
diff --git a/mjx/mujoco/mjx/third_party/warp/_src/jax/xla_ffi.py b/mjx/mujoco/mjx/third_party/warp/_src/jax/xla_ffi.py
deleted file mode 100644
index 259e1c28..00000000
--- a/mjx/mujoco/mjx/third_party/warp/_src/jax/xla_ffi.py
+++ /dev/null
@@ -1,670 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-# SPDX-License-Identifier: Apache-2.0
-
-import ctypes
-import enum
-import threading
-
-import numpy as np
-
-import warp as wp
-
-_xla_data_type_to_constructor = None
-_XLA_DATA_TYPE_TO_CONSTRUCTOR_LOCK = threading.Lock()
-
-
-def _get_jnp():
-    import jax.numpy as jnp  # noqa: PLC0415
-
-    return jnp
-
-
-def _get_xla_data_type_to_constructor():
-    global _xla_data_type_to_constructor
-
-    if _xla_data_type_to_constructor is None:
-        with _XLA_DATA_TYPE_TO_CONSTRUCTOR_LOCK:
-            if _xla_data_type_to_constructor is None:
-                jnp = _get_jnp()
-                constructors = {
-                    # XLA_FFI_DataType.INVALID
-                    XLA_FFI_DataType.PRED: jnp.bool,
-                    XLA_FFI_DataType.S8: jnp.int8,
-                    XLA_FFI_DataType.S16: jnp.int16,
-                    XLA_FFI_DataType.S32: jnp.int32,
-                    XLA_FFI_DataType.S64: jnp.int64,
-                    XLA_FFI_DataType.U8: jnp.uint8,
-                    XLA_FFI_DataType.U16: jnp.uint16,
-                    XLA_FFI_DataType.U32: jnp.uint32,
-                    XLA_FFI_DataType.U64: jnp.uint64,
-                    XLA_FFI_DataType.F16: jnp.float16,
-                    XLA_FFI_DataType.F32: jnp.float32,
-                    XLA_FFI_DataType.F64: jnp.float64,
-                    XLA_FFI_DataType.BF16: jnp.bfloat16,
-                    XLA_FFI_DataType.C64: jnp.complex64,
-                    XLA_FFI_DataType.C128: jnp.complex128,
-                    # XLA_FFI_DataType.TOKEN
-                    # XLA_FFI_DataType.F4E2M1FN: jnp.float4_e2m1fn.dtype,
-                    # XLA_FFI_DataType.F8E8M0FNU: jnp.float8_e8m0fnu.dtype,
-                }
-
-                # newer types not supported by older versions
-                if hasattr(jnp, "float8_e5m2"):
-                    constructors[XLA_FFI_DataType.F8E5M2] = jnp.float8_e5m2
-                if hasattr(jnp, "float8_e3m4"):
-                    constructors[XLA_FFI_DataType.F8E3M4] = jnp.float8_e3m4
-                if hasattr(jnp, "float8_e4m3"):
-                    constructors[XLA_FFI_DataType.F8E4M3] = jnp.float8_e4m3
-                if hasattr(jnp, "float8_e4m3fn"):
-                    constructors[XLA_FFI_DataType.F8E4M3FN] = jnp.float8_e4m3fn
-                if hasattr(jnp, "float8_e4m3b11fnuz"):
-                    constructors[XLA_FFI_DataType.F8E4M3B11FNUZ] = jnp.float8_e4m3b11fnuz
-                if hasattr(jnp, "float8_e5m2fnuz"):
-                    constructors[XLA_FFI_DataType.F8E5M2FNUZ] = jnp.float8_e5m2fnuz
-                if hasattr(jnp, "float8_e4m3fnuz"):
-                    constructors[XLA_FFI_DataType.F8E4M3FNUZ] = jnp.float8_e4m3fnuz
-
-                _xla_data_type_to_constructor = constructors
-
-    return _xla_data_type_to_constructor
-
-
-def _jnp_dtype_for_xla(xla_dtype):
-    jnp = _get_jnp()
-    return jnp.dtype(_get_xla_data_type_to_constructor()[xla_dtype])
-
-
-#######################################################################
-# ctypes structures and enums for XLA's FFI API:
-# https://github.com/openxla/xla/blob/a1a5e62fbffa3a3b6c409d72607456cf5b353a22/xla/ffi/api/c_api.h
-#######################################################################
-
-
-# typedef enum {
-#   XLA_FFI_Extension_Metadata = 1,
-# } XLA_FFI_Extension_Type;
-class XLA_FFI_Extension_Type(enum.IntEnum):
-    Metadata = 1
-
-
-# typedef struct XLA_FFI_Extension_Base {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Type type;
-#   struct XLA_FFI_Extension_Base* next;
-# } XLA_FFI_Extension_Base;
-class XLA_FFI_Extension_Base(ctypes.Structure):
-    pass
-
-
-XLA_FFI_Extension_Base._fields_ = [
-    ("struct_size", ctypes.c_size_t),
-    ("type", ctypes.c_int),  # XLA_FFI_Extension_Type
-    ("next", ctypes.POINTER(XLA_FFI_Extension_Base)),
-]
-
-
-# typedef enum {
-#   XLA_FFI_ExecutionStage_INSTANTIATE = 0,
-#   XLA_FFI_ExecutionStage_PREPARE = 1,
-#   XLA_FFI_ExecutionStage_INITIALIZE = 2,
-#   XLA_FFI_ExecutionStage_EXECUTE = 3,
-# } XLA_FFI_ExecutionStage;
-class XLA_FFI_ExecutionStage(enum.IntEnum):
-    INSTANTIATE = 0
-    PREPARE = 1
-    INITIALIZE = 2
-    EXECUTE = 3
-
-
-# typedef enum {
-#   XLA_FFI_DataType_INVALID = 0,
-#   XLA_FFI_DataType_PRED = 1,
-#   XLA_FFI_DataType_S8 = 2,
-#   XLA_FFI_DataType_S16 = 3,
-#   XLA_FFI_DataType_S32 = 4,
-#   XLA_FFI_DataType_S64 = 5,
-#   XLA_FFI_DataType_U8 = 6,
-#   XLA_FFI_DataType_U16 = 7,
-#   XLA_FFI_DataType_U32 = 8,
-#   XLA_FFI_DataType_U64 = 9,
-#   XLA_FFI_DataType_F16 = 10,
-#   XLA_FFI_DataType_F32 = 11,
-#   XLA_FFI_DataType_F64 = 12,
-#   XLA_FFI_DataType_BF16 = 16,
-#   XLA_FFI_DataType_C64 = 15,
-#   XLA_FFI_DataType_C128 = 18,
-#   XLA_FFI_DataType_TOKEN = 17,
-#   XLA_FFI_DataType_F8E5M2 = 19,
-#   XLA_FFI_DataType_F8E3M4 = 29,
-#   XLA_FFI_DataType_F8E4M3 = 28,
-#   XLA_FFI_DataType_F8E4M3FN = 20,
-#   XLA_FFI_DataType_F8E4M3B11FNUZ = 23,
-#   XLA_FFI_DataType_F8E5M2FNUZ = 24,
-#   XLA_FFI_DataType_F8E4M3FNUZ = 25,
-#   XLA_FFI_DataType_F4E2M1FN = 32,
-#   XLA_FFI_DataType_F8E8M0FNU = 33,
-# } XLA_FFI_DataType;
-class XLA_FFI_DataType(enum.IntEnum):
-    INVALID = 0
-    PRED = 1
-    S8 = 2
-    S16 = 3
-    S32 = 4
-    S64 = 5
-    U8 = 6
-    U16 = 7
-    U32 = 8
-    U64 = 9
-    F16 = 10
-    F32 = 11
-    F64 = 12
-    BF16 = 16
-    C64 = 15
-    C128 = 18
-    TOKEN = 17
-    F8E5M2 = 19
-    F8E3M4 = 29
-    F8E4M3 = 28
-    F8E4M3FN = 20
-    F8E4M3B11FNUZ = 23
-    F8E5M2FNUZ = 24
-    F8E4M3FNUZ = 25
-    F4E2M1FN = 32
-    F8E8M0FNU = 33
-
-
-# struct XLA_FFI_Buffer {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#
-#   XLA_FFI_DataType dtype;
-#   void* data;
-#   int64_t rank;
-#   int64_t* dims;  // length == rank
-# };
-class XLA_FFI_Buffer(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("dtype", ctypes.c_int),  # XLA_FFI_DataType
-        ("data", ctypes.c_void_p),
-        ("rank", ctypes.c_int64),
-        ("dims", ctypes.POINTER(ctypes.c_int64)),
-    )
-
-
-# typedef enum {
-#   XLA_FFI_ArgType_BUFFER = 1,
-# } XLA_FFI_ArgType;
-class XLA_FFI_ArgType(enum.IntEnum):
-    BUFFER = 1
-
-
-# typedef enum {
-#   XLA_FFI_RetType_BUFFER = 1,
-# } XLA_FFI_RetType;
-class XLA_FFI_RetType(enum.IntEnum):
-    BUFFER = 1
-
-
-# struct XLA_FFI_Args {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#   int64_t size;
-#   XLA_FFI_ArgType* types;  // length == size
-#   void** args;             // length == size
-# };
-class XLA_FFI_Args(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("size", ctypes.c_int64),
-        ("types", ctypes.POINTER(ctypes.c_int)),  # XLA_FFI_ArgType*
-        ("args", ctypes.POINTER(ctypes.c_void_p)),
-    )
-
-
-# struct XLA_FFI_Rets {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#   int64_t size;
-#   XLA_FFI_RetType* types;  // length == size
-#   void** rets;             // length == size
-# };
-class XLA_FFI_Rets(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("size", ctypes.c_int64),
-        ("types", ctypes.POINTER(ctypes.c_int)),  # XLA_FFI_RetType*
-        ("rets", ctypes.POINTER(ctypes.c_void_p)),
-    )
-
-
-# typedef struct XLA_FFI_ByteSpan {
-#   const char* ptr;
-#   size_t len;
-# } XLA_FFI_ByteSpan;
-class XLA_FFI_ByteSpan(ctypes.Structure):
-    _fields_ = (
-        ("ptr", ctypes.POINTER(ctypes.c_char)),
-        ("len", ctypes.c_size_t),
-    )
-
-
-# typedef struct XLA_FFI_Scalar {
-#   XLA_FFI_DataType dtype;
-#   void* value;
-# } XLA_FFI_Scalar;
-class XLA_FFI_Scalar(ctypes.Structure):
-    _fields_ = (
-        ("dtype", ctypes.c_int),
-        ("value", ctypes.c_void_p),
-    )
-
-
-# typedef struct XLA_FFI_Array {
-#   XLA_FFI_DataType dtype;
-#   size_t size;
-#   void* data;
-# } XLA_FFI_Array;
-class XLA_FFI_Array(ctypes.Structure):
-    _fields_ = (
-        ("dtype", ctypes.c_int),
-        ("size", ctypes.c_size_t),
-        ("data", ctypes.c_void_p),
-    )
-
-
-# typedef enum {
-#   XLA_FFI_AttrType_ARRAY = 1,
-#   XLA_FFI_AttrType_DICTIONARY = 2,
-#   XLA_FFI_AttrType_SCALAR = 3,
-#   XLA_FFI_AttrType_STRING = 4,
-# } XLA_FFI_AttrType;
-class XLA_FFI_AttrType(enum.IntEnum):
-    ARRAY = 1
-    DICTIONARY = 2
-    SCALAR = 3
-    STRING = 4
-
-
-# struct XLA_FFI_Attrs {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#   int64_t size;
-#   XLA_FFI_AttrType* types;   // length == size
-#   XLA_FFI_ByteSpan** names;  // length == size
-#   void** attrs;              // length == size
-# };
-class XLA_FFI_Attrs(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("size", ctypes.c_int64),
-        ("types", ctypes.POINTER(ctypes.c_int)),  # XLA_FFI_AttrType*
-        ("names", ctypes.POINTER(ctypes.POINTER(XLA_FFI_ByteSpan))),
-        ("attrs", ctypes.POINTER(ctypes.c_void_p)),
-    )
-
-
-# struct XLA_FFI_Api_Version {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#   int major_version;  // out
-#   int minor_version;  // out
-# };
-class XLA_FFI_Api_Version(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("major_version", ctypes.c_int),
-        ("minor_version", ctypes.c_int),
-    )
-
-
-# enum XLA_FFI_Handler_TraitsBits {
-#   // Calls to FFI handler are safe to trace into the command buffer. It means
-#   // that calls to FFI handler always launch exactly the same device operations
-#   // (can depend on attribute values) that can be captured and then replayed.
-#   XLA_FFI_HANDLER_TRAITS_COMMAND_BUFFER_COMPATIBLE = 1u << 0,
-# };
-class XLA_FFI_Handler_TraitsBits(enum.IntEnum):
-    COMMAND_BUFFER_COMPATIBLE = 1 << 0
-
-
-# struct XLA_FFI_Metadata {
-#   size_t struct_size;
-#   XLA_FFI_Api_Version api_version;
-#   XLA_FFI_Handler_Traits traits;
-# };
-class XLA_FFI_Metadata(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("api_version", XLA_FFI_Api_Version),  # XLA_FFI_Extension_Type
-        ("traits", ctypes.c_uint32),  # XLA_FFI_Handler_Traits
-    )
-
-
-# struct XLA_FFI_Metadata_Extension {
-#   XLA_FFI_Extension_Base extension_base;
-#   XLA_FFI_Metadata* metadata;
-# };
-class XLA_FFI_Metadata_Extension(ctypes.Structure):
-    _fields_ = (
-        ("extension_base", XLA_FFI_Extension_Base),
-        ("metadata", ctypes.POINTER(XLA_FFI_Metadata)),
-    )
-
-
-# typedef enum {
-#   XLA_FFI_Error_Code_OK = 0,
-#   XLA_FFI_Error_Code_CANCELLED = 1,
-#   XLA_FFI_Error_Code_UNKNOWN = 2,
-#   XLA_FFI_Error_Code_INVALID_ARGUMENT = 3,
-#   XLA_FFI_Error_Code_DEADLINE_EXCEEDED = 4,
-#   XLA_FFI_Error_Code_NOT_FOUND = 5,
-#   XLA_FFI_Error_Code_ALREADY_EXISTS = 6,
-#   XLA_FFI_Error_Code_PERMISSION_DENIED = 7,
-#   XLA_FFI_Error_Code_RESOURCE_EXHAUSTED = 8,
-#   XLA_FFI_Error_Code_FAILED_PRECONDITION = 9,
-#   XLA_FFI_Error_Code_ABORTED = 10,
-#   XLA_FFI_Error_Code_OUT_OF_RANGE = 11,
-#   XLA_FFI_Error_Code_UNIMPLEMENTED = 12,
-#   XLA_FFI_Error_Code_INTERNAL = 13,
-#   XLA_FFI_Error_Code_UNAVAILABLE = 14,
-#   XLA_FFI_Error_Code_DATA_LOSS = 15,
-#   XLA_FFI_Error_Code_UNAUTHENTICATED = 16
-# } XLA_FFI_Error_Code;
-class XLA_FFI_Error_Code(enum.IntEnum):
-    OK = 0
-    CANCELLED = 1
-    UNKNOWN = 2
-    INVALID_ARGUMENT = 3
-    DEADLINE_EXCEEDED = 4
-    NOT_FOUND = 5
-    ALREADY_EXISTS = 6
-    PERMISSION_DENIED = 7
-    RESOURCE_EXHAUSTED = 8
-    FAILED_PRECONDITION = 9
-    ABORTED = 10
-    OUT_OF_RANGE = 11
-    UNIMPLEMENTED = 12
-    INTERNAL = 13
-    UNAVAILABLE = 14
-    DATA_LOSS = 15
-    UNAUTHENTICATED = 16
-
-
-# struct XLA_FFI_Error_Create_Args {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#   const char* message;
-#   XLA_FFI_Error_Code errc;
-# };
-class XLA_FFI_Error_Create_Args(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("message", ctypes.c_char_p),
-        ("errc", ctypes.c_int),
-    )  # XLA_FFI_Error_Code
-
-
-XLA_FFI_Error_Create = ctypes.CFUNCTYPE(ctypes.c_void_p, ctypes.POINTER(XLA_FFI_Error_Create_Args))
-
-
-# struct XLA_FFI_Stream_Get_Args {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#   XLA_FFI_ExecutionContext* ctx;
-#   void* stream;  // out
-# };
-class XLA_FFI_Stream_Get_Args(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("ctx", ctypes.c_void_p),  # XLA_FFI_ExecutionContext*
-        ("stream", ctypes.c_void_p),
-    )  # // out
-
-
-XLA_FFI_Stream_Get = ctypes.CFUNCTYPE(ctypes.c_void_p, ctypes.POINTER(XLA_FFI_Stream_Get_Args))
-
-
-# struct XLA_FFI_DeviceOrdinal_Get {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#   XLA_FFI_ExecutionContext* ctx;
-#   int32_t device_ordinal;  // out
-# };
-class XLA_FFI_DeviceOrdinal_Get_Args(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("ctx", ctypes.c_void_p),  # XLA_FFI_ExecutionContext*
-        ("device_ordinal", ctypes.c_int32),
-    )  # // out
-
-
-XLA_FFI_DeviceOrdinal_Get = ctypes.CFUNCTYPE(ctypes.c_void_p, ctypes.POINTER(XLA_FFI_DeviceOrdinal_Get_Args))
-
-
-# struct XLA_FFI_Api {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#
-#   XLA_FFI_Api_Version api_version;
-#   XLA_FFI_InternalApi* internal_api;
-#
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_Error_Create);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_Error_GetMessage);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_Error_Destroy);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_Handler_Register);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_Stream_Get);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_TypeId_Register);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_ExecutionContext_Get);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_State_Set);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_State_Get);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_DeviceMemory_Allocate);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_DeviceMemory_Free);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_ThreadPool_Schedule);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_ThreadPool_NumThreads);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_Future_Create);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_Future_SetAvailable);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_Future_SetError);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_RunId_Get);
-#   _XLA_FFI_API_STRUCT_FIELD(XLA_FFI_DeviceOrdinal_Get);
-# };
-class XLA_FFI_Api(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("api_version", XLA_FFI_Api_Version),
-        ("internal_api", ctypes.c_void_p),  # XLA_FFI_InternalApi*
-        ("XLA_FFI_Error_Create", XLA_FFI_Error_Create),  # XLA_FFI_Error_Create
-        ("XLA_FFI_Error_GetMessage", ctypes.c_void_p),  # XLA_FFI_Error_GetMessage
-        ("XLA_FFI_Error_Destroy", ctypes.c_void_p),  # XLA_FFI_Error_Destroy
-        ("XLA_FFI_Handler_Register", ctypes.c_void_p),  # XLA_FFI_Handler_Register
-        ("XLA_FFI_Stream_Get", XLA_FFI_Stream_Get),  # XLA_FFI_Stream_Get
-        ("XLA_FFI_TypeId_Register", ctypes.c_void_p),  # XLA_FFI_TypeId_Register
-        ("XLA_FFI_ExecutionContext_Get", ctypes.c_void_p),  # XLA_FFI_ExecutionContext_Get
-        ("XLA_FFI_State_Set", ctypes.c_void_p),  # XLA_FFI_State_Set
-        ("XLA_FFI_State_Get", ctypes.c_void_p),  # XLA_FFI_State_Get
-        ("XLA_FFI_DeviceMemory_Allocate", ctypes.c_void_p),  # XLA_FFI_DeviceMemory_Allocate
-        ("XLA_FFI_DeviceMemory_Free", ctypes.c_void_p),  # XLA_FFI_DeviceMemory_Free
-        ("XLA_FFI_ThreadPool_Schedule", ctypes.c_void_p),  # XLA_FFI_ThreadPool_Schedule
-        ("XLA_FFI_ThreadPool_NumThreads", ctypes.c_void_p),  # XLA_FFI_ThreadPool_NumThreads
-        ("XLA_FFI_Future_Create", ctypes.c_void_p),  # XLA_FFI_Future_Create
-        ("XLA_FFI_Future_SetAvailable", ctypes.c_void_p),  # XLA_FFI_Future_SetAvailable
-        ("XLA_FFI_Future_SetError", ctypes.c_void_p),  # XLA_FFI_Future_SetError
-        # TODO(chaserileyroberts): Make this return the correct value and not a c_void_p.
-        ("XLA_FFI_RunId_Get", ctypes.c_void_p),  # XLA_FFI_RunId_Get
-        ("XLA_FFI_DeviceOrdinal_Get", XLA_FFI_DeviceOrdinal_Get),  # XLA_FFI_DeviceOrdinal_Get
-    )
-
-
-# struct XLA_FFI_CallFrame {
-#   size_t struct_size;
-#   XLA_FFI_Extension_Base* extension_start;
-#   const XLA_FFI_Api* api;
-#   XLA_FFI_ExecutionContext* ctx;
-#   XLA_FFI_ExecutionStage stage;
-#   XLA_FFI_Args args;
-#   XLA_FFI_Rets rets;
-#   XLA_FFI_Attrs attrs;
-#
-#   // XLA FFI handler implementation can use `future` to signal a result of
-#   // asynchronous computation to the XLA runtime. XLA runtime will keep all
-#   // arguments, results and attributes alive until `future` is completed.
-#   XLA_FFI_Future* future;  // out
-# };
-class XLA_FFI_CallFrame(ctypes.Structure):
-    _fields_ = (
-        ("struct_size", ctypes.c_size_t),
-        ("extension_start", ctypes.POINTER(XLA_FFI_Extension_Base)),
-        ("api", ctypes.POINTER(XLA_FFI_Api)),
-        ("ctx", ctypes.c_void_p),  # XLA_FFI_ExecutionContext*
-        ("stage", ctypes.c_int),  # XLA_FFI_ExecutionStage
-        ("args", XLA_FFI_Args),
-        ("rets", XLA_FFI_Rets),
-        ("attrs", XLA_FFI_Attrs),
-        ("future", ctypes.c_void_p),  # XLA_FFI_Future* // out
-    )
-
-
-########################################################################
-# Helpers for translating between ctypes and python types
-#######################################################################
-
-
-def decode_bytespan(span: XLA_FFI_ByteSpan):
-    len = span.len
-    chars = ctypes.cast(span.ptr, ctypes.POINTER(ctypes.c_char * len))
-    return chars.contents.value.decode("utf-8")
-
-
-def decode_scalar(scalar: XLA_FFI_Scalar):
-    # TODO validate if dtype supported
-    dtype = _jnp_dtype_for_xla(scalar.dtype)
-    bytes = ctypes.string_at(scalar.value, dtype.itemsize)
-    return np.frombuffer(bytes, dtype=dtype).reshape(())
-
-
-def decode_array(array: XLA_FFI_Array):
-    # TODO validate if dtype supported
-    dtype = _jnp_dtype_for_xla(array.dtype)
-    bytes = ctypes.string_at(array.data, dtype.itemsize * array.size)
-    return np.frombuffer(bytes, dtype=dtype)
-
-
-def decode_attrs(attrs: XLA_FFI_Attrs):
-    result = {}
-    for i in range(attrs.size):
-        attr_name = decode_bytespan(attrs.names[i].contents)
-        attr_type = attrs.types[i]
-        if attr_type == XLA_FFI_AttrType.STRING:
-            bytespan = ctypes.cast(attrs.attrs[i], ctypes.POINTER(XLA_FFI_ByteSpan))
-            attr_value = decode_bytespan(bytespan.contents)
-        elif attr_type == XLA_FFI_AttrType.SCALAR:
-            attr_value = ctypes.cast(attrs.attrs[i], ctypes.POINTER(XLA_FFI_Scalar))
-            attr_value = decode_scalar(attr_value.contents)
-        elif attr_type == XLA_FFI_AttrType.ARRAY:
-            attr_value = ctypes.cast(attrs.attrs[i], ctypes.POINTER(XLA_FFI_Array))
-            attr_value = decode_array(attr_value.contents)
-        elif attr_type == XLA_FFI_AttrType.DICTIONARY:
-            attr_value = ctypes.cast(attrs.attrs[i], ctypes.POINTER(XLA_FFI_Attrs))
-            attr_value = decode_attrs(attr_value.contents)
-        else:
-            raise Exception("Unexpected attr type")
-        result[attr_name] = attr_value
-    return result
-
-
-# error-string to XLA_FFI_Error
-def create_ffi_error(api, errc, message):
-    create_args = XLA_FFI_Error_Create_Args(
-        ctypes.sizeof(XLA_FFI_Error_Create_Args),
-        ctypes.POINTER(XLA_FFI_Extension_Base)(),
-        ctypes.c_char_p(message.encode("utf-8")),
-        errc,
-    )
-    return api.contents.XLA_FFI_Error_Create(create_args)
-
-
-def create_invalid_argument_ffi_error(api, message):
-    return create_ffi_error(api, XLA_FFI_Error_Code.INVALID_ARGUMENT, message)
-
-
-# Extract CUDA stream from XLA_FFI_CallFrame.
-def get_stream_from_callframe(call_frame):
-    api = call_frame.api
-    get_stream_args = XLA_FFI_Stream_Get_Args(
-        ctypes.sizeof(XLA_FFI_Stream_Get_Args), ctypes.POINTER(XLA_FFI_Extension_Base)(), call_frame.ctx, None
-    )
-    api.contents.XLA_FFI_Stream_Get(get_stream_args)
-    # TODO check result
-    return get_stream_args.stream
-
-
-def get_device_ordinal_from_callframe(call_frame):
-    api = call_frame.api
-    get_device_args = XLA_FFI_DeviceOrdinal_Get_Args(
-        ctypes.sizeof(XLA_FFI_DeviceOrdinal_Get_Args), ctypes.POINTER(XLA_FFI_Extension_Base)(), call_frame.ctx, 0
-    )
-    api.contents.XLA_FFI_DeviceOrdinal_Get(get_device_args)
-    return get_device_args.device_ordinal
-
-
-_dtype_from_ffi = {
-    XLA_FFI_DataType.S8: wp.int8,
-    XLA_FFI_DataType.S16: wp.int16,
-    XLA_FFI_DataType.S32: wp.int32,
-    XLA_FFI_DataType.S64: wp.int64,
-    XLA_FFI_DataType.U8: wp.uint8,
-    XLA_FFI_DataType.U16: wp.uint16,
-    XLA_FFI_DataType.U32: wp.uint32,
-    XLA_FFI_DataType.U64: wp.uint64,
-    XLA_FFI_DataType.F16: wp.float16,
-    XLA_FFI_DataType.F32: wp.float32,
-    XLA_FFI_DataType.F64: wp.float64,
-}
-
-
-def dtype_from_ffi(ffi_dtype):
-    return _dtype_from_ffi.get(ffi_dtype)
-
-
-def jax_dtype_from_ffi(ffi_dtype):
-    return _get_xla_data_type_to_constructor().get(ffi_dtype)
-
-
-# Execution context (stream, stage)
-class ExecutionContext:
-    stage: XLA_FFI_ExecutionStage
-    stream: int
-
-    def __init__(self, callframe: XLA_FFI_CallFrame):
-        self.stage = XLA_FFI_ExecutionStage(callframe.stage)
-        self.stream = get_stream_from_callframe(callframe)
-
-
-class FfiBuffer:
-    dtype: str
-    data: int
-    shape: tuple[int]
-
-    def __init__(self, xla_buffer):
-        # TODO check if valid
-        self.dtype = _jnp_dtype_for_xla(xla_buffer.dtype)
-        self.shape = tuple(xla_buffer.dims[i] for i in range(xla_buffer.rank))
-        self.data = xla_buffer.data
-
-    @property
-    def __cuda_array_interface__(self):
-        return {
-            "shape": self.shape,
-            "typestr": self.dtype.char,
-            "data": (self.data, False),
-            "version": 2,
-        }
diff --git a/mjx/mujoco/mjx/viewer.py b/mjx/mujoco/mjx/viewer.py
deleted file mode 100644
index ddd88696..00000000
--- a/mjx/mujoco/mjx/viewer.py
+++ /dev/null
@@ -1,162 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""An example integration of MJX with the MuJoCo viewer."""
-
-import copy
-import logging
-import os
-
-os.environ['XLA_FLAGS'] = '--xla_gpu_graph_min_graph_size=1'
-import time  # pylint: disable=g-import-not-at-top
-from typing import Sequence
-
-from absl import app
-from absl import flags
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-import mujoco.viewer
-import warp as wp
-
-
-_JIT = flags.DEFINE_bool('jit', True, 'To jit or not to jit.')
-_MODEL_PATH = flags.DEFINE_string(
-    'mjcf', None, 'Path to a MuJoCo MJCF file.', required=True
-)
-_IMPL = flags.DEFINE_string('impl', 'jax', 'MJX implementation.')
-_WP_KERNEL_CACHE_DIR = flags.DEFINE_string(
-    'wp_kernel_cache_dir',
-    None,
-    'Path to the Warp kernel cache directory.',
-)
-_NACONMAX = flags.DEFINE_integer(
-    'naconmax',
-    None,
-    'Maximum number of contacts to simulate, warp only.',
-)
-_NJMAX = flags.DEFINE_integer(
-    'njmax',
-    None,
-    'Maximum number of constraints to simulate, warp only.',
-)
-
-_VIEWER_GLOBAL_STATE = {
-    'running': True,
-}
-
-
-def key_callback(key: int) -> None:
-  if key == 32:  # Space bar
-    _VIEWER_GLOBAL_STATE['running'] = not _VIEWER_GLOBAL_STATE['running']
-    logging.info('RUNNING = %s', _VIEWER_GLOBAL_STATE['running'])
-
-
-def _main(argv: Sequence[str]) -> None:
-  """Launches MuJoCo passive viewer fed by MJX."""
-  if len(argv) > 1:
-    raise app.UsageError('Too many command-line arguments.')
-
-  # TODO(robotic-simulation): improved warp backend performance with MJX viewer
-  if _IMPL.value == 'warp':
-    logging.info(
-        'The native MuJoCo Warp viewer is currently recommended for best'
-        ' performance.',
-    )
-
-  if _WP_KERNEL_CACHE_DIR.value:
-    wp.config.kernel_cache_dir = _WP_KERNEL_CACHE_DIR.value
-
-  jax.config.update('jax_debug_nans', True)
-
-  print(f'Loading model from: {_MODEL_PATH.value}.')
-  if _MODEL_PATH.value.endswith('.mjb'):
-    m = mujoco.MjModel.from_binary_path(_MODEL_PATH.value)
-  else:
-    m = mujoco.MjModel.from_xml_path(_MODEL_PATH.value)
-  d = mujoco.MjData(m)
-  mx = mjx.put_model(m, impl=_IMPL.value)
-  dx = mjx.put_data(
-      m, d, impl=_IMPL.value, naconmax=_NACONMAX.value, njmax=_NJMAX.value
-  )
-
-  print(f'Default backend: {jax.default_backend()}')
-  step_fn = mjx.step
-
-  def set_model_fn(mx, gravity, tolerance, ls_tolerance, timestep):
-    return mx.tree_replace({
-        'opt.gravity': jp.array(gravity),
-        'opt.tolerance': jp.array(tolerance),
-        'opt.ls_tolerance': jp.array(ls_tolerance),
-        'opt.timestep': jp.array(timestep),
-    })
-
-  def set_data_fn(dx, ctrl, act, xfrc_applied, qpos, qvel, time_):
-    return dx.tree_replace({
-        'ctrl': jp.array(ctrl),
-        'act': jp.array(act),
-        'xfrc_applied': jp.array(xfrc_applied),
-        'qpos': jp.array(qpos),
-        'qvel': jp.array(qvel),
-        'time': jp.array(time_),
-    })
-
-  if _JIT.value:
-    print('JIT-compiling the model physics step...')
-    start = time.time()
-    step_fn = jax.jit(step_fn, donate_argnums=(1,), keep_unused=True).lower(mx, dx).compile()
-    elapsed = time.time() - start
-    print(f'Compilation took {elapsed}s.')
-    set_model_fn = (
-        jax.jit(set_model_fn, donate_argnums=(0,), keep_unused=True)
-        .lower(mx, m.opt.gravity, m.opt.tolerance, m.opt.ls_tolerance, m.opt.timestep)
-        .compile()
-    )
-    set_data_fn = (
-        jax.jit(set_data_fn, donate_argnums=(0,), keep_unused=True)
-        .lower(dx, d.ctrl, d.act, d.xfrc_applied, d.qpos, d.qvel, d.time)
-        .compile()
-    )
-
-  viewer = mujoco.viewer.launch_passive(m, d, key_callback=key_callback)
-  with viewer:
-    opt = copy.copy(m.opt)
-    while True:
-      start = time.time()
-
-      # TODO(robotics-simulation): recompile when changing disable flags, etc.
-      dx = set_data_fn(dx, d.ctrl, d.act, d.xfrc_applied, d.qpos, d.qvel, d.time)
-
-      if m.opt != opt:
-        opt = copy.copy(m.opt)
-        mx = set_model_fn(mx, m.opt.gravity, m.opt.tolerance, m.opt.ls_tolerance, m.opt.timestep)
-
-      if _VIEWER_GLOBAL_STATE['running']:
-        dx = step_fn(mx, dx)
-
-      mjx.get_data_into(d, m, dx)
-      viewer.sync()
-
-      elapsed = time.time() - start
-      if elapsed < m.opt.timestep:
-        time.sleep(m.opt.timestep - elapsed)
-
-
-def main():
-  app.run(_main)
-
-
-if __name__ == '__main__':
-  main()
diff --git a/mjx/mujoco/mjx/warp/__init__.py b/mjx/mujoco/mjx/warp/__init__.py
deleted file mode 100644
index 1270fe0a..00000000
--- a/mjx/mujoco/mjx/warp/__init__.py
+++ /dev/null
@@ -1,75 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import typing
-from typing import Any
-from mujoco.mjx.warp import render_context
-from mujoco.mjx.warp import types
-
-if not typing.TYPE_CHECKING:
-  # Runtime.
-  warp: Any = None
-  mujoco_warp: Any = None
-  mjwp_types: Any = None
-  mjwp_io: Any = None
-  WARP_INSTALLED: bool = False
-
-  # pylint: disable=g-import-not-at-top
-  try:
-    import warp
-    WARP_INSTALLED = True
-  except (ImportError, RuntimeError) as e:
-    print('Failed to import warp:', e)
-    WARP_INSTALLED = False
-  try:
-    from mujoco.mjx.third_party import mujoco_warp
-    from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
-    from mujoco.mjx.third_party.mujoco_warp._src import io as mjwp_io
-  except (ImportError, RuntimeError) as e:
-    print('Failed to import mujoco_warp:', e)
-    pass
-  # pylint: enable=g-import-not-at-top
-else:
-  # Only used for type checking.
-  class _WpStub:
-
-    def ScopedDevice(self, device: str):  # pylint: disable=invalid-name
-      pass
-
-    def types(self):
-      pass
-
-  class _MjwpStub:
-
-    def put_model(self, *args, **kwargs):
-      pass
-
-    def make_data(self, *args, **kwargs):
-      pass
-
-    def step(self, *args, **kwargs):
-      pass
-
-  class _MjwpTypesStub:
-    def TileSet(self, *args, **kwargs):  # pylint: disable=invalid-name
-      pass
-
-    def BlockDim(self, *args, **kwargs):  # pylint: disable=invalid-name
-      pass
-
-  WARP_INSTALLED: bool = True
-  warp: Any = _WpStub()
-  mujoco_warp: Any = _MjwpStub()
-  mjwp_types: Any = _MjwpTypesStub()
diff --git a/mjx/mujoco/mjx/warp/bvh.py b/mjx/mujoco/mjx/warp/bvh.py
deleted file mode 100644
index a7395b1b..00000000
--- a/mjx/mujoco/mjx/warp/bvh.py
+++ /dev/null
@@ -1,174 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""DO NOT EDIT. This file is auto-generated."""
-import dataclasses
-import functools
-import jax
-from mujoco.mjx._src import types
-from mujoco.mjx.warp import ffi
-from mujoco.mjx.warp.render_context import _MJX_RENDER_CONTEXT_BUFFERS
-from mujoco.mjx.warp.render_context import RenderContextPytree
-import mujoco.mjx.third_party.mujoco_warp as mjwarp
-from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
-import warp as wp
-
-
-_m = mjwarp.Model(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Model) if f.init}
-)
-_d = mjwarp.Data(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Data) if f.init}
-)
-_o = mjwarp.Option(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Option) if f.init}
-)
-_s = mjwarp.Statistic(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Statistic) if f.init}
-)
-_c = mjwarp.Contact(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Contact) if f.init}
-)
-_e = mjwarp.Constraint(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Constraint) if f.init}
-)
-_cb = mjwp_types.Callback(
-    **{f.name: None for f in dataclasses.fields(mjwp_types.Callback) if f.init}
-)
-
-
-@ffi.format_args_for_warp
-def _refit_bvh_shim(
-    # Model
-    nworld: int,
-    flex_dim: wp.array[int],
-    flex_edge: wp.array[wp.vec2i],
-    flex_elem: wp.array[int],
-    flex_elemadr: wp.array[int],
-    flex_elemdataadr: wp.array[int],
-    flex_elemnum: wp.array[int],
-    flex_radius: wp.array[float],
-    flex_shell: wp.array[int],
-    flex_shelldataadr: wp.array[int],
-    flex_vertadr: wp.array[int],
-    flex_vertnum: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_size: wp.array2d[wp.vec3],
-    geom_type: wp.array[int],
-    nflex: int,
-    nflexelem: int,
-    # Data
-    flexvert_xpos: wp.array2d[wp.vec3],
-    geom_xmat: wp.array2d[wp.mat33],
-    geom_xpos: wp.array2d[wp.vec3],
-    _jax_token: wp.array[int],
-    # Registry
-    rc_id: int,
-    # Output token
-    output_token: wp.array[int],
-):
-  _m.stat = _s
-  _m.opt = _o
-  _m.callback = _cb
-  _d.efc = _e
-  _d.contact = _c
-  _m.flex_dim = flex_dim
-  _m.flex_edge = flex_edge
-  _m.flex_elem = flex_elem
-  _m.flex_elemadr = flex_elemadr
-  _m.flex_elemdataadr = flex_elemdataadr
-  _m.flex_elemnum = flex_elemnum
-  _m.flex_radius = flex_radius
-  _m.flex_shell = flex_shell
-  _m.flex_shelldataadr = flex_shelldataadr
-  _m.flex_vertadr = flex_vertadr
-  _m.flex_vertnum = flex_vertnum
-  _m.geom_dataid = geom_dataid
-  _m.geom_size = geom_size
-  _m.geom_type = geom_type
-  _m.nflex = nflex
-  _m.nflexelem = nflexelem
-  _d.flexvert_xpos = flexvert_xpos
-  _d.geom_xmat = geom_xmat
-  _d.geom_xpos = geom_xpos
-  _d.nworld = nworld
-  render_context = _MJX_RENDER_CONTEXT_BUFFERS[(rc_id, wp.get_device().ordinal)]
-  output_token.zero_()
-  mjwarp.refit_bvh(_m, _d, render_context)
-
-
-def _refit_bvh_jax_impl(
-    m: types.Model, d: types.Data, ctx: RenderContextPytree
-):
-  render_ctx = _MJX_RENDER_CONTEXT_BUFFERS[(ctx.key, None)]
-  output_dims = {'output_token': (d.qpos.shape[0],)}
-  jf = ffi.jax_callable_variadic_tuple(
-      _refit_bvh_shim,
-      num_outputs=1,
-      output_dims=output_dims,
-      vmap_method=None,
-      in_out_argnames=set([]),
-      stage_in_argnames=set(
-          ['flexvert_xpos', 'geom_size', 'geom_xmat', 'geom_xpos']
-      ),
-      stage_out_argnames=set([]),
-      graph_mode=m.opt._impl.graph_mode,
-      has_side_effect=True,
-  )
-  out = jf(
-      render_ctx.nworld,
-      m._impl.flex_dim,
-      m._impl.flex_edge,
-      m._impl.flex_elem,
-      m._impl.flex_elemadr,
-      m._impl.flex_elemdataadr,
-      m._impl.flex_elemnum,
-      m._impl.flex_radius,
-      m._impl.flex_shell,
-      m._impl.flex_shelldataadr,
-      m.flex_vertadr,
-      m.flex_vertnum,
-      jax.numpy.expand_dims(m.geom_dataid, 0),
-      m.geom_size,
-      m.geom_type,
-      m.nflex,
-      m._impl.nflexelem,
-      d._impl.flexvert_xpos,
-      d.geom_xmat,
-      d.geom_xpos,
-      d._impl._jax_token,
-      ctx.key,
-  )
-  d = d.tree_replace({'_impl._jax_token': out[0]})
-  return d
-
-
-@jax.custom_batching.custom_vmap
-@ffi.marshal_jax_warp_callable
-def refit_bvh(m: types.Model, d: types.Data, ctx: RenderContextPytree):
-  return _refit_bvh_jax_impl(m, d, ctx)
-
-
-@refit_bvh.def_vmap
-@ffi.marshal_custom_vmap
-def refit_bvh_vmap(
-    unused_axis_size,
-    is_batched,
-    m: types.Model,
-    d: types.Data,
-    ctx: RenderContextPytree,
-):
-  d = refit_bvh(m, d, ctx)
-  return d, is_batched[1]
diff --git a/mjx/mujoco/mjx/warp/collision_driver.py b/mjx/mujoco/mjx/warp/collision_driver.py
deleted file mode 100644
index 99d802c7..00000000
--- a/mjx/mujoco/mjx/warp/collision_driver.py
+++ /dev/null
@@ -1,647 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""DO NOT EDIT. This file is auto-generated."""
-import dataclasses
-import functools
-import jax
-from mujoco.mjx._src import types
-from mujoco.mjx.warp import ffi
-import mujoco.mjx.third_party.mujoco_warp as mjwarp
-from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
-import warp as wp
-
-
-_m = mjwarp.Model(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Model) if f.init}
-)
-_d = mjwarp.Data(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Data) if f.init}
-)
-_o = mjwarp.Option(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Option) if f.init}
-)
-_s = mjwarp.Statistic(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Statistic) if f.init}
-)
-_c = mjwarp.Contact(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Contact) if f.init}
-)
-_e = mjwarp.Constraint(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Constraint) if f.init}
-)
-_cb = mjwp_types.Callback(
-    **{f.name: None for f in dataclasses.fields(mjwp_types.Callback) if f.init}
-)
-
-@ffi.format_args_for_warp
-def _collision_shim(
-    # Model
-    nworld: int,
-    block_dim: mjwp_types.BlockDim,
-    flex_conaffinity: wp.array[int],
-    flex_condim: wp.array[int],
-    flex_contype: wp.array[int],
-    flex_dim: wp.array[int],
-    flex_elem: wp.array[int],
-    flex_elemadr: wp.array[int],
-    flex_elemdataadr: wp.array[int],
-    flex_elemflexid: wp.array[int],
-    flex_elemnum: wp.array[int],
-    flex_evpair: wp.array[wp.vec2i],
-    flex_evpairadr: wp.array[int],
-    flex_evpairflexid: wp.array[int],
-    flex_evpairnum: wp.array[int],
-    flex_friction: wp.array[wp.vec3],
-    flex_gap: wp.array[float],
-    flex_internal: wp.array[int],
-    flex_margin: wp.array[float],
-    flex_priority: wp.array[int],
-    flex_radius: wp.array[float],
-    flex_selfcollide: wp.array[int],
-    flex_solimp: wp.array[mjwp_types.vec5],
-    flex_solmix: wp.array[float],
-    flex_solref: wp.array[wp.vec2],
-    flex_vertadr: wp.array[int],
-    flex_vertbodyid: wp.array[int],
-    flex_vertflexid: wp.array[int],
-    flex_vertnum: wp.array[int],
-    flexelem_geom_pair_filtered: wp.array[wp.vec2i],
-    flexvert_geom_pair_filtered: wp.array[wp.vec2i],
-    geom_aabb: wp.array3d[wp.vec3],
-    geom_bodyid: wp.array[int],
-    geom_conaffinity: wp.array[int],
-    geom_condim: wp.array[int],
-    geom_contype: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_friction: wp.array2d[wp.vec3],
-    geom_gap: wp.array2d[float],
-    geom_margin: wp.array2d[float],
-    geom_pair_type_count: tuple[int, ...],
-    geom_plugin_index: wp.array[int],
-    geom_priority: wp.array[int],
-    geom_rbound: wp.array2d[float],
-    geom_size: wp.array2d[wp.vec3],
-    geom_solimp: wp.array2d[mjwp_types.vec5],
-    geom_solmix: wp.array2d[float],
-    geom_solref: wp.array2d[wp.vec2],
-    geom_type: wp.array[int],
-    has_3d_flex: bool,
-    has_ellipsoid_geom: bool,
-    has_flex_selfcollide: bool,
-    has_sdf_geom: bool,
-    hfield_adr: wp.array[int],
-    hfield_data: wp.array[float],
-    hfield_ncol: wp.array[int],
-    hfield_nrow: wp.array[int],
-    hfield_size: wp.array[wp.vec4],
-    max_flex_dim: int,
-    mesh_face: wp.array[wp.vec3i],
-    mesh_faceadr: wp.array[int],
-    mesh_graph: wp.array[int],
-    mesh_graphadr: wp.array[int],
-    mesh_octadr: wp.array[int],
-    mesh_polyadr: wp.array[int],
-    mesh_polymap: wp.array[int],
-    mesh_polymapadr: wp.array[int],
-    mesh_polymapnum: wp.array[int],
-    mesh_polynormal: wp.array[wp.vec3],
-    mesh_polynum: wp.array[int],
-    mesh_polyvert: wp.array[int],
-    mesh_polyvertadr: wp.array[int],
-    mesh_polyvertnum: wp.array[int],
-    mesh_pos: wp.array[wp.vec3],
-    mesh_vert: wp.array[wp.vec3],
-    mesh_vertadr: wp.array[int],
-    mesh_vertnum: wp.array[int],
-    nbody: int,
-    nflex: int,
-    nflexelem: int,
-    nflexevpair: int,
-    nflexvert: int,
-    ngeom: int,
-    nmaxmeshdeg: int,
-    nmaxpolygon: int,
-    nmesh: int,
-    nmeshface: int,
-    nxn_geom_pair_filtered: wp.array[wp.vec2i],
-    nxn_pairid: wp.array[wp.vec2i],
-    nxn_pairid_filtered: wp.array[wp.vec2i],
-    oct_aabb: wp.array2d[wp.vec3],
-    oct_child: wp.array[mjwp_types.vec8i],
-    oct_coeff: wp.array[mjwp_types.vec8],
-    pair_dim: wp.array[int],
-    pair_friction: wp.array2d[mjwp_types.vec5],
-    pair_gap: wp.array2d[float],
-    pair_margin: wp.array2d[float],
-    pair_solimp: wp.array2d[mjwp_types.vec5],
-    pair_solref: wp.array2d[wp.vec2],
-    pair_solreffriction: wp.array2d[wp.vec2],
-    plugin: wp.array[int],
-    plugin_attr: wp.array[mjwp_types.vec_pluginattr],
-    opt__broadphase: int,
-    opt__broadphase_filter: int,
-    opt__ccd_iterations: int,
-    opt__ccd_tolerance: wp.array[float],
-    opt__disableflags: int,
-    opt__enableflags: int,
-    opt__graph_conditional: bool,
-    opt__sdf_initpoints: int,
-    opt__sdf_iterations: int,
-    opt__warn_overflow: bool,
-    # Data
-    naccdmax: int,
-    naconmax: int,
-    body_awake: wp.array2d[int],
-    flex_aabb_max: wp.array2d[wp.vec3],
-    flex_aabb_min: wp.array2d[wp.vec3],
-    flexvert_xpos: wp.array2d[wp.vec3],
-    geom_xmat: wp.array2d[wp.mat33],
-    geom_xpos: wp.array2d[wp.vec3],
-    nacon: wp.array[int],
-    ncollision: wp.array[int],
-    overflow: wp.array[int],
-    contact__dim: wp.array[int],
-    contact__dist: wp.array[float],
-    contact__efc_address: wp.array2d[int],
-    contact__elem: wp.array[wp.vec2i],
-    contact__flex: wp.array[wp.vec2i],
-    contact__frame: wp.array[wp.mat33],
-    contact__friction: wp.array[mjwp_types.vec5],
-    contact__geom: wp.array[wp.vec2i],
-    contact__geomcollisionid: wp.array[int],
-    contact__includemargin: wp.array[float],
-    contact__pos: wp.array[wp.vec3],
-    contact__solimp: wp.array[mjwp_types.vec5],
-    contact__solref: wp.array[wp.vec2],
-    contact__solreffriction: wp.array[wp.vec2],
-    contact__type: wp.array[int],
-    contact__vert: wp.array[wp.vec2i],
-    contact__worldid: wp.array[int],
-):
-  _m.stat = _s
-  _m.opt = _o
-  _m.callback = _cb
-  _d.efc = _e
-  _d.contact = _c
-  _m.block_dim = block_dim
-  _m.flex_conaffinity = flex_conaffinity
-  _m.flex_condim = flex_condim
-  _m.flex_contype = flex_contype
-  _m.flex_dim = flex_dim
-  _m.flex_elem = flex_elem
-  _m.flex_elemadr = flex_elemadr
-  _m.flex_elemdataadr = flex_elemdataadr
-  _m.flex_elemflexid = flex_elemflexid
-  _m.flex_elemnum = flex_elemnum
-  _m.flex_evpair = flex_evpair
-  _m.flex_evpairadr = flex_evpairadr
-  _m.flex_evpairflexid = flex_evpairflexid
-  _m.flex_evpairnum = flex_evpairnum
-  _m.flex_friction = flex_friction
-  _m.flex_gap = flex_gap
-  _m.flex_internal = flex_internal
-  _m.flex_margin = flex_margin
-  _m.flex_priority = flex_priority
-  _m.flex_radius = flex_radius
-  _m.flex_selfcollide = flex_selfcollide
-  _m.flex_solimp = flex_solimp
-  _m.flex_solmix = flex_solmix
-  _m.flex_solref = flex_solref
-  _m.flex_vertadr = flex_vertadr
-  _m.flex_vertbodyid = flex_vertbodyid
-  _m.flex_vertflexid = flex_vertflexid
-  _m.flex_vertnum = flex_vertnum
-  _m.flexelem_geom_pair_filtered = flexelem_geom_pair_filtered
-  _m.flexvert_geom_pair_filtered = flexvert_geom_pair_filtered
-  _m.geom_aabb = geom_aabb
-  _m.geom_bodyid = geom_bodyid
-  _m.geom_conaffinity = geom_conaffinity
-  _m.geom_condim = geom_condim
-  _m.geom_contype = geom_contype
-  _m.geom_dataid = geom_dataid
-  _m.geom_friction = geom_friction
-  _m.geom_gap = geom_gap
-  _m.geom_margin = geom_margin
-  _m.geom_pair_type_count = geom_pair_type_count
-  _m.geom_plugin_index = geom_plugin_index
-  _m.geom_priority = geom_priority
-  _m.geom_rbound = geom_rbound
-  _m.geom_size = geom_size
-  _m.geom_solimp = geom_solimp
-  _m.geom_solmix = geom_solmix
-  _m.geom_solref = geom_solref
-  _m.geom_type = geom_type
-  _m.has_3d_flex = has_3d_flex
-  _m.has_ellipsoid_geom = has_ellipsoid_geom
-  _m.has_flex_selfcollide = has_flex_selfcollide
-  _m.has_sdf_geom = has_sdf_geom
-  _m.hfield_adr = hfield_adr
-  _m.hfield_data = hfield_data
-  _m.hfield_ncol = hfield_ncol
-  _m.hfield_nrow = hfield_nrow
-  _m.hfield_size = hfield_size
-  _m.max_flex_dim = max_flex_dim
-  _m.mesh_face = mesh_face
-  _m.mesh_faceadr = mesh_faceadr
-  _m.mesh_graph = mesh_graph
-  _m.mesh_graphadr = mesh_graphadr
-  _m.mesh_octadr = mesh_octadr
-  _m.mesh_polyadr = mesh_polyadr
-  _m.mesh_polymap = mesh_polymap
-  _m.mesh_polymapadr = mesh_polymapadr
-  _m.mesh_polymapnum = mesh_polymapnum
-  _m.mesh_polynormal = mesh_polynormal
-  _m.mesh_polynum = mesh_polynum
-  _m.mesh_polyvert = mesh_polyvert
-  _m.mesh_polyvertadr = mesh_polyvertadr
-  _m.mesh_polyvertnum = mesh_polyvertnum
-  _m.mesh_pos = mesh_pos
-  _m.mesh_vert = mesh_vert
-  _m.mesh_vertadr = mesh_vertadr
-  _m.mesh_vertnum = mesh_vertnum
-  _m.nbody = nbody
-  _m.nflex = nflex
-  _m.nflexelem = nflexelem
-  _m.nflexevpair = nflexevpair
-  _m.nflexvert = nflexvert
-  _m.ngeom = ngeom
-  _m.nmaxmeshdeg = nmaxmeshdeg
-  _m.nmaxpolygon = nmaxpolygon
-  _m.nmesh = nmesh
-  _m.nmeshface = nmeshface
-  _m.nxn_geom_pair_filtered = nxn_geom_pair_filtered
-  _m.nxn_pairid = nxn_pairid
-  _m.nxn_pairid_filtered = nxn_pairid_filtered
-  _m.oct_aabb = oct_aabb
-  _m.oct_child = oct_child
-  _m.oct_coeff = oct_coeff
-  _m.opt.broadphase = opt__broadphase
-  _m.opt.broadphase_filter = opt__broadphase_filter
-  _m.opt.ccd_iterations = opt__ccd_iterations
-  _m.opt.ccd_tolerance = opt__ccd_tolerance
-  _m.opt.disableflags = opt__disableflags
-  _m.opt.enableflags = opt__enableflags
-  _m.opt.graph_conditional = opt__graph_conditional
-  _m.opt.sdf_initpoints = opt__sdf_initpoints
-  _m.opt.sdf_iterations = opt__sdf_iterations
-  _m.opt.warn_overflow = opt__warn_overflow
-  _m.pair_dim = pair_dim
-  _m.pair_friction = pair_friction
-  _m.pair_gap = pair_gap
-  _m.pair_margin = pair_margin
-  _m.pair_solimp = pair_solimp
-  _m.pair_solref = pair_solref
-  _m.pair_solreffriction = pair_solreffriction
-  _m.plugin = plugin
-  _m.plugin_attr = plugin_attr
-  _d.body_awake = body_awake
-  _d.contact.dim = contact__dim
-  _d.contact.dist = contact__dist
-  _d.contact.efc_address = contact__efc_address
-  _d.contact.elem = contact__elem
-  _d.contact.flex = contact__flex
-  _d.contact.frame = contact__frame
-  _d.contact.friction = contact__friction
-  _d.contact.geom = contact__geom
-  _d.contact.geomcollisionid = contact__geomcollisionid
-  _d.contact.includemargin = contact__includemargin
-  _d.contact.pos = contact__pos
-  _d.contact.solimp = contact__solimp
-  _d.contact.solref = contact__solref
-  _d.contact.solreffriction = contact__solreffriction
-  _d.contact.type = contact__type
-  _d.contact.vert = contact__vert
-  _d.contact.worldid = contact__worldid
-  _d.flex_aabb_max = flex_aabb_max
-  _d.flex_aabb_min = flex_aabb_min
-  _d.flexvert_xpos = flexvert_xpos
-  _d.geom_xmat = geom_xmat
-  _d.geom_xpos = geom_xpos
-  _d.naccdmax = naccdmax
-  _d.nacon = nacon
-  _d.naconmax = naconmax
-  _d.ncollision = ncollision
-  _d.overflow = overflow
-  _d.nworld = nworld
-  mjwarp.collision(_m, _d)
-
-
-def _collision_jax_impl(m: types.Model, d: types.Data):
-  output_dims = {
-      'flex_aabb_max': d._impl.flex_aabb_max.shape,
-      'flex_aabb_min': d._impl.flex_aabb_min.shape,
-      'nacon': d._impl.nacon.shape,
-      'ncollision': d._impl.ncollision.shape,
-      'overflow': d._impl.overflow.shape,
-      'contact__dim': d._impl.contact__dim.shape,
-      'contact__dist': d._impl.contact__dist.shape,
-      'contact__efc_address': d._impl.contact__efc_address.shape,
-      'contact__elem': d._impl.contact__elem.shape,
-      'contact__flex': d._impl.contact__flex.shape,
-      'contact__frame': d._impl.contact__frame.shape,
-      'contact__friction': d._impl.contact__friction.shape,
-      'contact__geom': d._impl.contact__geom.shape,
-      'contact__geomcollisionid': d._impl.contact__geomcollisionid.shape,
-      'contact__includemargin': d._impl.contact__includemargin.shape,
-      'contact__pos': d._impl.contact__pos.shape,
-      'contact__solimp': d._impl.contact__solimp.shape,
-      'contact__solref': d._impl.contact__solref.shape,
-      'contact__solreffriction': d._impl.contact__solreffriction.shape,
-      'contact__type': d._impl.contact__type.shape,
-      'contact__vert': d._impl.contact__vert.shape,
-      'contact__worldid': d._impl.contact__worldid.shape,
-  }
-  jf = ffi.jax_callable_variadic_tuple(
-      _collision_shim,
-      num_outputs=22,
-      output_dims=output_dims,
-      vmap_method=None,
-      in_out_argnames=set([
-          'flex_aabb_max',
-          'flex_aabb_min',
-          'nacon',
-          'ncollision',
-          'overflow',
-          'contact__dim',
-          'contact__dist',
-          'contact__efc_address',
-          'contact__elem',
-          'contact__flex',
-          'contact__frame',
-          'contact__friction',
-          'contact__geom',
-          'contact__geomcollisionid',
-          'contact__includemargin',
-          'contact__pos',
-          'contact__solimp',
-          'contact__solref',
-          'contact__solreffriction',
-          'contact__type',
-          'contact__vert',
-          'contact__worldid',
-      ]),
-      stage_in_argnames=set([
-          'body_awake',
-          'contact__dim',
-          'contact__dist',
-          'contact__efc_address',
-          'contact__elem',
-          'contact__flex',
-          'contact__frame',
-          'contact__friction',
-          'contact__geom',
-          'contact__geomcollisionid',
-          'contact__includemargin',
-          'contact__pos',
-          'contact__solimp',
-          'contact__solref',
-          'contact__solreffriction',
-          'contact__type',
-          'contact__vert',
-          'contact__worldid',
-          'flex_aabb_max',
-          'flex_aabb_min',
-          'flexvert_xpos',
-          'geom_aabb',
-          'geom_friction',
-          'geom_gap',
-          'geom_margin',
-          'geom_rbound',
-          'geom_size',
-          'geom_solimp',
-          'geom_solmix',
-          'geom_solref',
-          'geom_xmat',
-          'geom_xpos',
-          'hfield_data',
-          'nacon',
-          'ncollision',
-          'opt__ccd_tolerance',
-          'overflow',
-          'pair_friction',
-          'pair_gap',
-          'pair_margin',
-          'pair_solimp',
-          'pair_solref',
-          'pair_solreffriction',
-      ]),
-      stage_out_argnames=set([
-          'contact__dim',
-          'contact__dist',
-          'contact__efc_address',
-          'contact__elem',
-          'contact__flex',
-          'contact__frame',
-          'contact__friction',
-          'contact__geom',
-          'contact__geomcollisionid',
-          'contact__includemargin',
-          'contact__pos',
-          'contact__solimp',
-          'contact__solref',
-          'contact__solreffriction',
-          'contact__type',
-          'contact__vert',
-          'contact__worldid',
-          'flex_aabb_max',
-          'flex_aabb_min',
-          'nacon',
-          'ncollision',
-          'overflow',
-      ]),
-      graph_mode=m.opt._impl.graph_mode,
-      has_side_effect=False,
-  )
-  out = jf(
-      d.qpos.shape[0],
-      m._impl.block_dim,
-      m._impl.flex_conaffinity,
-      m._impl.flex_condim,
-      m._impl.flex_contype,
-      m._impl.flex_dim,
-      m._impl.flex_elem,
-      m._impl.flex_elemadr,
-      m._impl.flex_elemdataadr,
-      m._impl.flex_elemflexid,
-      m._impl.flex_elemnum,
-      m._impl.flex_evpair,
-      m._impl.flex_evpairadr,
-      m._impl.flex_evpairflexid,
-      m._impl.flex_evpairnum,
-      m._impl.flex_friction,
-      m._impl.flex_gap,
-      m._impl.flex_internal,
-      m._impl.flex_margin,
-      m._impl.flex_priority,
-      m._impl.flex_radius,
-      m._impl.flex_selfcollide,
-      m._impl.flex_solimp,
-      m._impl.flex_solmix,
-      m._impl.flex_solref,
-      m.flex_vertadr,
-      m._impl.flex_vertbodyid,
-      m._impl.flex_vertflexid,
-      m.flex_vertnum,
-      m._impl.flexelem_geom_pair_filtered,
-      m._impl.flexvert_geom_pair_filtered,
-      m.geom_aabb,
-      m.geom_bodyid,
-      m.geom_conaffinity,
-      m.geom_condim,
-      m.geom_contype,
-      jax.numpy.expand_dims(m.geom_dataid, 0),
-      m.geom_friction,
-      m.geom_gap,
-      m.geom_margin,
-      m._impl.geom_pair_type_count,
-      m._impl.geom_plugin_index,
-      m.geom_priority,
-      m.geom_rbound,
-      m.geom_size,
-      m.geom_solimp,
-      m.geom_solmix,
-      m.geom_solref,
-      m.geom_type,
-      m._impl.has_3d_flex,
-      m._impl.has_ellipsoid_geom,
-      m._impl.has_flex_selfcollide,
-      m._impl.has_sdf_geom,
-      m.hfield_adr,
-      m.hfield_data,
-      m.hfield_ncol,
-      m.hfield_nrow,
-      m.hfield_size,
-      m._impl.max_flex_dim,
-      m.mesh_face,
-      m.mesh_faceadr,
-      m.mesh_graph,
-      m.mesh_graphadr,
-      m.mesh_octadr,
-      m._impl.mesh_polyadr,
-      m._impl.mesh_polymap,
-      m._impl.mesh_polymapadr,
-      m._impl.mesh_polymapnum,
-      m._impl.mesh_polynormal,
-      m._impl.mesh_polynum,
-      m._impl.mesh_polyvert,
-      m._impl.mesh_polyvertadr,
-      m._impl.mesh_polyvertnum,
-      m.mesh_pos,
-      m.mesh_vert,
-      m.mesh_vertadr,
-      m.mesh_vertnum,
-      m.nbody,
-      m.nflex,
-      m._impl.nflexelem,
-      m._impl.nflexevpair,
-      m._impl.nflexvert,
-      m.ngeom,
-      m._impl.nmaxmeshdeg,
-      m._impl.nmaxpolygon,
-      m.nmesh,
-      m.nmeshface,
-      m._impl.nxn_geom_pair_filtered,
-      m._impl.nxn_pairid,
-      m._impl.nxn_pairid_filtered,
-      m._impl.oct_aabb,
-      m._impl.oct_child,
-      m._impl.oct_coeff,
-      m.pair_dim,
-      m.pair_friction,
-      m.pair_gap,
-      m.pair_margin,
-      m.pair_solimp,
-      m.pair_solref,
-      m.pair_solreffriction,
-      m._impl.plugin,
-      m._impl.plugin_attr,
-      m.opt._impl.broadphase,
-      m.opt._impl.broadphase_filter,
-      m.opt._impl.ccd_iterations,
-      m.opt._impl.ccd_tolerance,
-      m.opt.disableflags,
-      m.opt.enableflags,
-      m.opt._impl.graph_conditional,
-      m.opt._impl.sdf_initpoints,
-      m.opt._impl.sdf_iterations,
-      m.opt._impl.warn_overflow,
-      d._impl.naccdmax,
-      d._impl.naconmax,
-      d._impl.body_awake,
-      d._impl.flex_aabb_max,
-      d._impl.flex_aabb_min,
-      d._impl.flexvert_xpos,
-      d.geom_xmat,
-      d.geom_xpos,
-      d._impl.nacon,
-      d._impl.ncollision,
-      d._impl.overflow,
-      d._impl.contact__dim,
-      d._impl.contact__dist,
-      d._impl.contact__efc_address,
-      d._impl.contact__elem,
-      d._impl.contact__flex,
-      d._impl.contact__frame,
-      d._impl.contact__friction,
-      d._impl.contact__geom,
-      d._impl.contact__geomcollisionid,
-      d._impl.contact__includemargin,
-      d._impl.contact__pos,
-      d._impl.contact__solimp,
-      d._impl.contact__solref,
-      d._impl.contact__solreffriction,
-      d._impl.contact__type,
-      d._impl.contact__vert,
-      d._impl.contact__worldid,
-  )
-  d = d.tree_replace({
-      '_impl.flex_aabb_max': out[0],
-      '_impl.flex_aabb_min': out[1],
-      '_impl.nacon': out[2],
-      '_impl.ncollision': out[3],
-      '_impl.overflow': out[4],
-      '_impl.contact__dim': out[5],
-      '_impl.contact__dist': out[6],
-      '_impl.contact__efc_address': out[7],
-      '_impl.contact__elem': out[8],
-      '_impl.contact__flex': out[9],
-      '_impl.contact__frame': out[10],
-      '_impl.contact__friction': out[11],
-      '_impl.contact__geom': out[12],
-      '_impl.contact__geomcollisionid': out[13],
-      '_impl.contact__includemargin': out[14],
-      '_impl.contact__pos': out[15],
-      '_impl.contact__solimp': out[16],
-      '_impl.contact__solref': out[17],
-      '_impl.contact__solreffriction': out[18],
-      '_impl.contact__type': out[19],
-      '_impl.contact__vert': out[20],
-      '_impl.contact__worldid': out[21],
-  })
-  return d
-
-
-@jax.custom_batching.custom_vmap
-@ffi.marshal_jax_warp_callable
-def collision(m: types.Model, d: types.Data):
-  return _collision_jax_impl(m, d)
-
-
-@collision.def_vmap
-@ffi.marshal_custom_vmap
-def collision_vmap(unused_axis_size, is_batched, m: types.Model, d: types.Data):
-  d = collision(m, d)
-  return d, is_batched[1]
diff --git a/mjx/mujoco/mjx/warp/collision_driver_test.py b/mjx/mujoco/mjx/warp/collision_driver_test.py
deleted file mode 100644
index 36109eef..00000000
--- a/mjx/mujoco/mjx/warp/collision_driver_test.py
+++ /dev/null
@@ -1,123 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for collision driver."""
-import os
-import tempfile
-
-from absl.testing import absltest
-import jax
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import io
-import mujoco.mjx.warp as mjxw
-from mujoco.mjx.warp import test_util as tu
-from mujoco.mjx.warp import warp as wp  # pylint: disable=g-importing-member
-import numpy as np
-
-
-try:
-  from mujoco.mjx.warp import collision_driver  # pylint: disable=g-import-not-at-top
-  from mujoco.mjx.warp import smooth  # pylint: disable=g-import-not-at-top
-except ImportError:
-  collision_driver = None
-  smooth = None
-
-_FORCE_TEST = os.environ.get('MJX_WARP_FORCE_TEST', '0') == '1'
-
-
-class CollisionTest(absltest.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass()
-    if mjxw.WARP_INSTALLED:
-      cls.tempdir = tempfile.TemporaryDirectory()
-      wp.config.kernel_cache_dir = cls.tempdir.name
-
-  @classmethod
-  def tearDownClass(cls):
-    super().tearDownClass()
-    if hasattr(cls, 'tempdir'):
-      cls.tempdir.cleanup()
-
-  def setUp(self):
-    super().setUp()
-    np.random.seed(0)
-
-  _SPHERE_SPHERE = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <joint type="free"/>
-          <geom pos="0 0 0" size="0.2" type="sphere"/>
-        </body>
-        <body >
-          <joint type="free"/>
-          <geom pos="0 0.3 0" size="0.11" type="sphere"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  """
-
-  def test_collision_nested_vmap(self):
-    """Tests collision with batched data."""
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    m = mujoco.MjModel.from_xml_string(self._SPHERE_SPHERE)
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m, impl='warp')
-
-    def make_data(rng):
-      dx = mjx.make_data(m, impl='warp')
-      _, key = jax.random.split(rng)
-      qpos = jax.random.uniform(key, (m.nq,), minval=-0.01, maxval=0.01)
-      return dx.replace(
-          qpos=qpos,
-      )
-
-    rng = jax.random.split(jax.random.PRNGKey(0), 8)
-    rng = rng.reshape((2, 4, -1))
-    dx_batch = jax.vmap(jax.vmap(make_data))(rng)
-
-    dx_batch = jax.jit(
-        jax.vmap(
-            jax.vmap(smooth.kinematics, in_axes=(None, 0)), in_axes=(None, 0)
-        )
-    )(mx, dx_batch)
-    dx_batch = jax.jit(
-        jax.vmap(
-            jax.vmap(collision_driver.collision, in_axes=(None, 0)),
-            in_axes=(None, 0),
-        )
-    )(mx, dx_batch)
-
-    for i in range(2):
-      for j in range(4):
-        dx = dx_batch[i, j]
-
-        d.qpos[:] = dx.qpos
-        mujoco.mj_forward(m, d)
-
-        if not d.contact.pos.shape[0]:
-          continue
-        tu.assert_contact_eq(d, dx, worldid=i * 4 + j)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/warp/ffi.py b/mjx/mujoco/mjx/warp/ffi.py
deleted file mode 100644
index 00cfbd80..00000000
--- a/mjx/mujoco/mjx/warp/ffi.py
+++ /dev/null
@@ -1,476 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""FFI helper functions for MJX."""
-
-import dataclasses
-import functools
-import inspect
-import threading
-import typing
-from typing import Any, Callable, Optional, Sequence, Tuple, Union
-
-import jax
-from jax import numpy as jp
-import numpy as np
-import warp as wp
-from mujoco.mjx.third_party.warp._src.jax import ffi as warp_ffi
-
-from mujoco.mjx._src.types import tree_path_to_attr_str
-from mujoco.mjx.warp import types as mjx_warp_types
-
-
-# ``warp_ffi.jax_callable`` keys its registry by wrapper function and
-# configuration. Cache generated wrappers here by the original shim and MJX's
-# flattened call structure so equivalent retraces reuse the same Warp entry.
-_JAX_CALLABLE_VARIADIC_TUPLE_REGISTRY: dict[
-    tuple[Any, ...], Callable[..., Any]
-] = {}
-_JAX_CALLABLE_VARIADIC_TUPLE_REGISTRY_LOCK = threading.Lock()
-
-
-def flatten_signature(signature: inspect.Signature, args: Tuple[Any, ...]):
-  """Flattens a tuple/dataclass signature."""
-
-  def expand_parameter(parameter, arg_iter):
-    p = parameter
-    if p.kind != inspect.Parameter.POSITIONAL_OR_KEYWORD:
-      raise ValueError(f'Unsupported parameter kind: {p.kind}')
-
-    try:
-      arg = next(arg_iter)
-    except StopIteration:
-      # We ran out input arguments. Let us keep output parameters as is.
-      assert typing.get_origin(p.annotation) != tuple, p.annotation
-      return [p]
-
-    # If it is a tuple, we need to duplicate the parameter for each element.
-    if isinstance(arg, tuple):
-      assert typing.get_origin(p.annotation) == tuple, p.annotation
-      type_args = typing.get_args(p.annotation)
-      if len(type_args) != 2 or type_args[1] != ...:
-        raise NotImplementedError(
-            f'Unsupported tuple argument: {type_args} '
-            '(currently, only Tuple[t, ...] is supported).'
-        )
-      type_ = type_args[0]
-      types = [type_]
-      if dataclasses.is_dataclass(type_):
-        # If the tuple element is a dataclass, we need to recycle the
-        # types in the same order as they appear in the dataclass.
-        fields = list(type_.__dataclass_fields__.values())
-        types = [f.type for f in fields]
-      return [
-          inspect.Parameter(
-              f'{p.name}__{i}',
-              p.kind,
-              default=p.default,
-              annotation=types[i % len(types)],
-          )
-          for i in range(len(arg) * len(types))
-      ]
-    elif dataclasses.is_dataclass(arg):
-      assert dataclasses.is_dataclass(p.annotation), p.annotation
-      fields = list(arg.__dataclass_fields__.values())
-      return [
-          inspect.Parameter(
-              f'{p.name}__{fields[i].name}',
-              p.kind,
-              default=p.default,
-              annotation=fields[i].type,
-          )
-          for i in range(len(fields))
-      ]
-
-    assert typing.get_origin(p.annotation) != tuple, p.annotation
-    return [p]
-
-  parameters = []
-  arg_iter = iter(args)
-  for p in signature.parameters.values():
-    parameters.extend(expand_parameter(p, arg_iter))
-
-  return inspect.Signature(
-      parameters=parameters, return_annotation=signature.return_annotation
-  )
-
-
-def jax_callable_variadic_tuple(
-    func: Callable,  # pylint: disable=g-bare-generic
-    num_outputs: int = 1,
-    graph_mode: warp_ffi.JaxCallableGraphMode = warp_ffi.JaxCallableGraphMode.WARP,
-    vmap_method: Optional[str] = None,
-    output_dims: Optional[dict[str, tuple[int, ...]]] = None,
-    in_out_argnames: Optional[Sequence[str]] = None,
-    stage_in_argnames: Optional[Sequence[str]] = None,
-    stage_out_argnames: Optional[Sequence[str]] = None,
-    has_side_effect: bool = False,
-):
-  """Wraps a JAX callable to support variadic tuples and dataclasses."""
-
-  # Snapshot mapping and name-set options into stable cache-key forms. Warp
-  # consumes them by argument name, so caller ordering does not distinguish
-  # callable configurations.
-  hashable_output_dims = (
-      None if output_dims is None else tuple(sorted(output_dims.items()))
-  )
-  hashable_in_out_argnames = (
-      tuple(sorted(in_out_argnames)) if in_out_argnames else None
-  )
-  hashable_stage_in_argnames = (
-      tuple(sorted(stage_in_argnames)) if stage_in_argnames else None
-  )
-  hashable_stage_out_argnames = (
-      tuple(sorted(stage_out_argnames)) if stage_out_argnames else None
-  )
-
-  def callable_wrapper(*args, **kwargs):
-    # Provide a flattened signature for the Warp callable machinery.
-    flat_args, in_tree = jax.tree.flatten(args)
-    new_signature = flatten_signature(inspect.signature(func), args)
-    # Cache the wrapper's structural ABI, not per-call leaves. The flattened
-    # signature defines Warp's arguments and the PyTree defines reconstruction.
-    # Leaf arrays and tracers are forwarded on every invocation; keying on them
-    # would prevent equivalent retraces from reusing the same FFI target.
-    callable_cache_key = (
-        func,
-        new_signature,
-        in_tree,
-        num_outputs,
-        graph_mode,
-        vmap_method,
-        hashable_output_dims,
-        hashable_in_out_argnames,
-        hashable_stage_in_argnames,
-        hashable_stage_out_argnames,
-        has_side_effect,
-    )
-
-    # Serialize construction so concurrent traces cannot register duplicate
-    # Warp callbacks for the same structural key.
-    with _JAX_CALLABLE_VARIADIC_TUPLE_REGISTRY_LOCK:
-      my_callable = _JAX_CALLABLE_VARIADIC_TUPLE_REGISTRY.get(
-          callable_cache_key
-      )
-      if my_callable is None:
-
-        # Restore the original PyTree inputs; Warp appends output buffers.
-        def func_wrapper(*flat_args, **kwargs):
-          num_inputs = in_tree.num_leaves
-          flat_inputs = flat_args[:num_inputs]
-          output_buffers = flat_args[num_inputs:]
-          unflat_args = jax.tree.unflatten(in_tree, flat_inputs)
-          return func(*unflat_args, *output_buffers, **kwargs)
-
-        # Warp derives the FFI ABI from this synthetic signature and
-        # annotations.
-        func_wrapper.__signature__ = (  # pyrefly: ignore[missing-attribute]
-            new_signature
-        )
-        func_wrapper.__annotations__ = {
-            p.name: p.annotation
-            for p in new_signature.parameters.values()
-            if p.annotation is not inspect.Parameter.empty
-        }
-        if new_signature.return_annotation is not inspect.Signature.empty:
-          func_wrapper.__annotations__['return'] = (
-              new_signature.return_annotation
-          )
-
-        # Constructing the callable registers its FFI target.
-        my_callable = warp_ffi.jax_callable(
-            func_wrapper,
-            num_outputs=num_outputs,
-            graph_mode=graph_mode,
-            vmap_method=vmap_method,
-            output_dims=(
-                None
-                if hashable_output_dims is None
-                else dict(hashable_output_dims)
-            ),
-            in_out_argnames=hashable_in_out_argnames,
-            stage_in_argnames=hashable_stage_in_argnames,
-            stage_out_argnames=hashable_stage_out_argnames,
-            has_side_effect=has_side_effect,
-        )
-        _JAX_CALLABLE_VARIADIC_TUPLE_REGISTRY[callable_cache_key] = my_callable
-
-    # Invocation may re-enter JAX or Warp and needs no registry serialization.
-    return my_callable(*flat_args, **kwargs)
-
-  return callable_wrapper
-
-
-def _format_arg(arg: Any, name: str, annotation: Any, verbose: bool):
-  """Formats a single argument for warp."""
-  typ_args = typing.get_args(annotation)
-  annotation_origin = typing.get_origin(annotation)
-
-  # Handle variadic tuples.
-  if annotation_origin == tuple and len(typ_args) == 2 and typ_args[1] == ...:
-    return tuple(
-        _format_arg(arg[i], name + f'_{i}', typ_args[0], verbose)
-        for i in range(len(arg))
-    )
-
-  if not isinstance(annotation, wp.array):
-    if verbose:
-      print(f'Skipping {name}: {arg}')
-    return arg
-
-  expected_ndim = annotation.ndim
-  if arg.ndim != expected_ndim:
-    raise AssertionError(
-        f'Arg ndim {arg.ndim} does not match expected ndim {expected_ndim}.'
-    )
-
-  if verbose:
-    print(f'Did nothing: {name}: {arg.shape}')
-  return arg
-
-
-def format_args_for_warp(func, verbose=False):
-  @functools.wraps(func)
-  def wrapper(*args):
-    args = list(args)
-    annotations = func.__annotations__
-    assert len(args) == len(annotations)
-    for i, (name, annotation) in enumerate(annotations.items()):
-      args[i] = _format_arg(args[i], name, annotation, verbose)
-    return func(*args)
-
-  return wrapper
-
-
-def _get_mapping_from_tree_path(
-    path: jax.tree_util.KeyPath,
-    mapping: dict[str, int],
-) -> Optional[int]:
-  """Gets the mapped value from a tree path."""
-  attr = tree_path_to_attr_str(path)
-  # None if the MJX public field is not present in the MJX-Warp mapping.
-  return mapping.get(attr)
-
-
-def _expand_dim_from_path(
-    path: jax.tree_util.KeyPath, leaf: Any, ndim_map: dict[str, int]
-) -> Any:
-  """Expands the dimension of a leaf node based on the ndim_map."""
-  ndim = _get_mapping_from_tree_path(path, ndim_map)
-  if ndim is None or ndim < 0:
-    return leaf
-  if ndim > leaf.ndim:
-    leaf = jp.expand_dims(leaf, axis=np.arange(ndim - leaf.ndim))  # pyrefly: ignore[bad-argument-type]
-  if ndim != leaf.ndim:
-    raise AssertionError(
-        f'Leaf node ndim ({leaf.ndim}) and expected ndim ({ndim}) do not match'
-        f' for path {path}.'
-    )
-  return leaf
-
-
-def _squeeze_dim(leaf_expanded: Any, leaf: Any) -> Any:
-  if leaf_expanded.ndim < leaf.ndim:
-    raise AssertionError(
-        f'Expanded leaf ndim {leaf_expanded.ndim} is smaller than original leaf'
-        f' ndim {leaf.ndim}'
-    )
-  if leaf_expanded.ndim > leaf.ndim:
-    return jp.squeeze(leaf_expanded, np.arange(leaf_expanded.ndim - leaf.ndim))  # pyrefly: ignore[bad-argument-type]
-  return leaf_expanded
-
-
-def marshal_jax_warp_callable(func, tree_map_output: bool = False):
-  """Marshal fields into a MuJoCo Warp function."""
-
-  @functools.wraps(func)
-  def wrapper(m, d, *extra_args):
-    # Expand dims for Warp implicit vmap before calling into the FFI wrapped
-    # function.
-    m_expanded = jax.tree.map_with_path(
-        lambda path, x: _expand_dim_from_path(
-            path, x, mjx_warp_types._NDIM['Model']  # pylint: disable=protected-access
-        ),
-        m,
-    )
-    d_expanded = jax.tree.map_with_path(
-        lambda path, x: _expand_dim_from_path(
-            path, x, mjx_warp_types._NDIM['Data']  # pylint: disable=protected-access
-        ),
-        d,
-    )
-    d_expanded_result = func(m_expanded, d_expanded, *extra_args)
-
-    if tree_map_output:
-      return d_expanded_result
-    d_result = jax.tree.map(_squeeze_dim, d_expanded_result, d)
-    return d_result
-
-  return wrapper
-
-
-def _flatten_batch_dim(
-    path: jax.tree_util.KeyPath, leaf: Any, ndim_map: dict[str, int]
-) -> Any:
-  ndim = _get_mapping_from_tree_path(path, ndim_map)
-  if ndim is None or ndim < 0:
-    return leaf
-  if ndim < leaf.ndim:
-    assert leaf.ndim - ndim == 1
-    batch_dim = np.prod(leaf.shape[: leaf.ndim - ndim + 1])
-    leaf = jp.reshape(leaf, (batch_dim,) + leaf.shape[leaf.ndim - ndim + 1 :])
-  return leaf
-
-
-def _unflatten_batch_dim(leaf_squeezed: Any, leaf: Any) -> Any:
-  if leaf_squeezed.ndim > leaf.ndim:
-    raise AssertionError(
-        f'Squeezed leaf ndim {leaf_squeezed.ndim} is greater than original leaf'
-        f' ndim {leaf.ndim}'
-    )
-  if leaf_squeezed.ndim < leaf.ndim:
-    return leaf_squeezed.reshape(leaf.shape)
-  return leaf_squeezed
-
-
-def _maybe_broadcast_to(
-    path: jax.tree_util.KeyPath,
-    leaf: Any,
-    is_batched: bool,
-    axis_size: Union[int, tuple[int, ...]],
-    cls_str: str,
-) -> Any:
-  """Broadcasts fields that are used in MuJoCo Warp."""
-  ndim = _get_mapping_from_tree_path(path, mjx_warp_types._NDIM[cls_str])
-  needs_batch_dim = _get_mapping_from_tree_path(
-      path, mjx_warp_types._BATCH_DIM[cls_str]  # pylint: disable=protected-access  # pyrefly: ignore[bad-argument-type]
-  )
-  needs_batch_dim = bool(needs_batch_dim) and (ndim is not None and ndim > 0)
-  if needs_batch_dim and not is_batched:
-    leaf = jp.broadcast_to(leaf, (axis_size,) + leaf.shape)
-  return leaf
-
-
-def _check_leading_dim(
-    path: jax.tree_util.KeyPath,
-    leaf: Any,
-    expected_batch_dim: int,
-    expected_naconmax: int,
-    expected_njmax: int,
-):
-  """Asserts that the batch dimension of a leaf node matches the expected batch dimension."""
-  has_batch_dim = _get_mapping_from_tree_path(
-      path, mjx_warp_types._BATCH_DIM['Data']  # pyrefly: ignore[bad-argument-type]
-  )
-  attr = tree_path_to_attr_str(path)
-  if has_batch_dim and leaf.shape[0] != expected_batch_dim:
-    raise ValueError(
-        f'Leaf node batch size ({leaf.shape[0]}) and expected batch size'
-        f' ({expected_batch_dim}) do not match for field {attr}.'
-        ' If you are trying to merge Data objects (e.g. for resets),'
-        ' use Data.where instead of jax.tree.map.'
-    )
-  if (
-      not has_batch_dim
-      and attr.startswith('contact__')
-      and leaf.shape[0] != expected_naconmax
-      and leaf.shape[0]
-      != 0  # Allow empty arrays (shape[0] == 0) for unused contact fields (e.g., flex).
-  ):
-    raise ValueError(
-        f'Leaf node leading dim ({leaf.shape[0]}) does not match naconmax'
-        f' ({expected_naconmax}) for field {attr}.'
-        ' If you are trying to merge Data objects (e.g. for resets),'
-        ' use Data.where instead of jax.tree.map.'
-    )
-  if (
-      not has_batch_dim
-      and attr.startswith('efc__')
-      and leaf.shape[0] != expected_njmax
-      and leaf.shape[0]
-      != 0  # Allow empty arrays (shape[0] == 0) for unused constraint fields (e.g., islands).
-  ):
-    raise ValueError(
-        f'Leaf node leading dim ({leaf.shape[0]}) does not match njmax'
-        f' ({expected_njmax}) for field {attr}.'
-        ' If you are trying to merge Data objects (e.g. for resets),'
-        ' use Data.where instead of jax.tree.map.'
-    )
-
-
-def marshal_custom_vmap(
-    vmap_func,
-    tree_map_output: bool = False,
-):
-  """Marshal fields for a custom vmap into an MuJoCo Warp function."""
-
-  @functools.wraps(vmap_func)
-  def wrapper(axis_size, is_batched, m, d, *extra_args):
-    # Vmappable data fields may not have been broadcasted if vmap_func is called
-    # within a vmap trace. Since data fields are read/write in warp, we need to
-    # explicitly broadcast them here.
-    d_broadcast = jax.tree.map_with_path(
-        lambda path, x, is_b: _maybe_broadcast_to(
-            path, x, is_b, axis_size, 'Data'
-        ),
-        d, is_batched[1],  # fmt: skip
-    )
-    # Check leading dimensions.
-    jax.tree.map_with_path(
-        lambda path, x: _check_leading_dim(
-            path, x, d_broadcast.qpos.shape[0], d._impl.naconmax, d._impl.njmax  # pylint: disable=protected-access
-        ),
-        d_broadcast,
-    )
-    # Flatten batch dims into the first axis if the vmap was nested.
-    m_flat = jax.tree.map_with_path(
-        lambda path, x: _flatten_batch_dim(
-            path, x, mjx_warp_types._NDIM['Model']  # pylint: disable=protected-access
-        ),
-        m,
-    )
-    d_broadcast_flat = jax.tree.map_with_path(
-        lambda path, x: _flatten_batch_dim(
-            path, x, mjx_warp_types._NDIM['Data']  # pylint: disable=protected-access
-        ),
-        d_broadcast,
-    )
-    d_broadcast_flat_result, out_batched = vmap_func(
-        axis_size, is_batched, m_flat, d_broadcast_flat, *extra_args
-    )
-    if tree_map_output:
-      out = jax.tree.map(
-          lambda x: x
-          if x.shape[0] == axis_size
-          else x.reshape(axis_size, -1, *x.shape[1:]),
-          d_broadcast_flat_result,
-      )
-      return out, out_batched
-
-    # Explicitly mark MuJoCo Warp data fields as batched after vmapping is done.
-    out_batched = jax.tree.map_with_path(
-        # NB: if a field is not in MuJoCo Warp, we let JAX do its magic.
-        lambda path, x: _get_mapping_from_tree_path(
-            path, mjx_warp_types._BATCH_DIM['Data']  # pylint: disable=protected-access  # pyrefly: ignore[bad-argument-type]
-        )
-        or x,
-        out_batched,
-    )
-    # Unflatten batch dimensions but keep the broadcasting.
-    d_result = jax.tree.map(
-        _unflatten_batch_dim, d_broadcast_flat_result, d_broadcast
-    )
-    return d_result, out_batched
-
-  return wrapper
diff --git a/mjx/mujoco/mjx/warp/ffi_test.py b/mjx/mujoco/mjx/warp/ffi_test.py
deleted file mode 100644
index b4d5f0ef..00000000
--- a/mjx/mujoco/mjx/warp/ffi_test.py
+++ /dev/null
@@ -1,76 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for MJX-Warp FFI helpers."""
-
-import os
-from unittest import mock
-
-from absl.testing import absltest
-from mujoco.mjx._src import io
-import mujoco.mjx.warp as mjxw
-
-
-try:
-  from mujoco.mjx.warp import ffi  # pylint: disable=g-import-not-at-top
-except ImportError:
-  ffi = None
-
-_FORCE_TEST = os.environ.get('MJX_WARP_FORCE_TEST', '0') == '1'
-
-
-class FfiTest(absltest.TestCase):
-
-  def test_jax_callable_variadic_tuple_cache(self):
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    def func_a(values: tuple[int, ...], output: int):
-      del values, output
-
-    def func_b(values: tuple[int, ...], output: int):
-      del values, output
-
-    # Count callback registrations without creating real JAX FFI targets.
-    def create_callable(*args, **kwargs):
-      del args, kwargs
-      return mock.Mock()
-
-    with mock.patch.object(ffi, '_JAX_CALLABLE_VARIADIC_TUPLE_REGISTRY', {}):
-      with mock.patch.object(
-          ffi.warp_ffi, 'jax_callable', side_effect=create_callable
-      ) as jax_callable:
-        wrapper_a = ffi.jax_callable_variadic_tuple(func_a)
-        wrapper_a_again = ffi.jax_callable_variadic_tuple(func_a)
-        wrapper_b = ffi.jax_callable_variadic_tuple(func_b)
-
-        # Equivalent traces of the same callable reuse one callback.
-        wrapper_a((1, 2))
-        wrapper_a_again((3, 4))
-        self.assertEqual(jax_callable.call_count, 1)
-
-        # Distinct shim functions with the same signature do not share a target.
-        wrapper_b((5, 6))
-        self.assertEqual(jax_callable.call_count, 2)
-
-        # A different tuple arity changes the signature and PyTree cache key.
-        wrapper_b((1, 2, 3))
-        self.assertEqual(jax_callable.call_count, 3)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/warp/forward.py b/mjx/mujoco/mjx/warp/forward.py
deleted file mode 100644
index 45c378d5..00000000
--- a/mjx/mujoco/mjx/warp/forward.py
+++ /dev/null
@@ -1,5446 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""DO NOT EDIT. This file is auto-generated."""
-import dataclasses
-import functools
-import jax
-from mujoco.mjx._src import types
-from mujoco.mjx.warp import ffi
-import mujoco.mjx.third_party.mujoco_warp as mjwarp
-from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
-import warp as wp
-
-
-_m = mjwarp.Model(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Model) if f.init}
-)
-_d = mjwarp.Data(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Data) if f.init}
-)
-_o = mjwarp.Option(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Option) if f.init}
-)
-_s = mjwarp.Statistic(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Statistic) if f.init}
-)
-_c = mjwarp.Contact(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Contact) if f.init}
-)
-_e = mjwarp.Constraint(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Constraint) if f.init}
-)
-_cb = mjwp_types.Callback(
-    **{f.name: None for f in dataclasses.fields(mjwp_types.Callback) if f.init}
-)
-
-@ffi.format_args_for_warp
-def _forward_shim(
-    # Model
-    nworld: int,
-    M_colind: wp.array[int],
-    M_elemid: wp.array2d[int],
-    M_hinit_i: wp.array[int],
-    M_mulm_col: wp.array[int],
-    M_mulm_madr: wp.array[int],
-    M_mulm_rowadr: wp.array[int],
-    M_rowadr: wp.array[int],
-    M_rownnz: wp.array[int],
-    M_tiles: tuple[mjwp_types.TileSet, ...],
-    actuator_acc0: wp.array2d[float],
-    actuator_actadr: wp.array[int],
-    actuator_actearly: wp.array[bool],
-    actuator_actlimited: wp.array[bool],
-    actuator_actnum: wp.array[int],
-    actuator_actrange: wp.array2d[wp.vec2],
-    actuator_biasprm: wp.array2d[mjwp_types.vec10],
-    actuator_biastype: wp.array[int],
-    actuator_cranklength: wp.array2d[float],
-    actuator_ctrllimited: wp.array[bool],
-    actuator_ctrlrange: wp.array2d[wp.vec2],
-    actuator_delay: wp.array[float],
-    actuator_dynprm: wp.array2d[mjwp_types.vec10],
-    actuator_dyntype: wp.array[int],
-    actuator_forcelimited: wp.array[bool],
-    actuator_forcerange: wp.array2d[wp.vec2],
-    actuator_gainprm: wp.array2d[mjwp_types.vec10],
-    actuator_gaintype: wp.array[int],
-    actuator_gear: wp.array2d[wp.spatial_vector],
-    actuator_history: wp.array[wp.vec2i],
-    actuator_historyadr: wp.array[int],
-    actuator_lengthrange: wp.array2d[wp.vec2],
-    actuator_trnid: wp.array[wp.vec2i],
-    actuator_trntype: wp.array[int],
-    actuator_trntype_body_adr: wp.array[int],
-    block_dim: mjwp_types.BlockDim,
-    body_branch_start: wp.array[int],
-    body_branches: wp.array[int],
-    body_dofadr: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_fluid_ellipsoid: wp.array[bool],
-    body_geomadr: wp.array[int],
-    body_geomnum: wp.array[int],
-    body_gravcomp: wp.array2d[float],
-    body_inertia: wp.array2d[wp.vec3],
-    body_invweight0: wp.array2d[wp.vec2],
-    body_ipos: wp.array2d[wp.vec3],
-    body_iquat: wp.array2d[wp.quat],
-    body_isdofancestor: wp.array2d[int],
-    body_jntadr: wp.array[int],
-    body_jntnum: wp.array[int],
-    body_mass: wp.array2d[float],
-    body_mocapid: wp.array[int],
-    body_parentid: wp.array[int],
-    body_pos: wp.array2d[wp.vec3],
-    body_quat: wp.array2d[wp.quat],
-    body_rootid: wp.array[int],
-    body_simple: wp.array[int],
-    body_subtreemass: wp.array2d[float],
-    body_tree: tuple[wp.array[int], ...],
-    body_treeid: wp.array[int],
-    body_weldid: wp.array[int],
-    cam_bodyid: wp.array[int],
-    cam_fovy: wp.array2d[float],
-    cam_intrinsic: wp.array2d[wp.vec4],
-    cam_mat0: wp.array2d[wp.mat33],
-    cam_mode: wp.array[int],
-    cam_pos: wp.array2d[wp.vec3],
-    cam_pos0: wp.array2d[wp.vec3],
-    cam_poscom0: wp.array2d[wp.vec3],
-    cam_quat: wp.array2d[wp.quat],
-    cam_resolution: wp.array[wp.vec2i],
-    cam_sensorsize: wp.array[wp.vec2],
-    cam_targetbodyid: wp.array[int],
-    dof_armature: wp.array2d[float],
-    dof_bodyid: wp.array[int],
-    dof_damping: wp.array2d[float],
-    dof_dampingpoly: wp.array2d[wp.vec2],
-    dof_frictionloss: wp.array2d[float],
-    dof_invweight0: wp.array2d[float],
-    dof_jntid: wp.array[int],
-    dof_length: wp.array[float],
-    dof_parentid: wp.array[int],
-    dof_solimp: wp.array2d[mjwp_types.vec5],
-    dof_solref: wp.array2d[wp.vec2],
-    dof_treeid: wp.array[int],
-    dof_tri_col: wp.array[int],
-    dof_tri_row: wp.array[int],
-    eq_connect_adr: wp.array[int],
-    eq_data: wp.array2d[mjwp_types.vec11],
-    eq_flex_adr: wp.array[int],
-    eq_flexstrain_adr: wp.array[int],
-    eq_jnt_adr: wp.array[int],
-    eq_obj1id: wp.array[int],
-    eq_obj2id: wp.array[int],
-    eq_objtype: wp.array[int],
-    eq_solimp: wp.array2d[mjwp_types.vec5],
-    eq_solref: wp.array2d[wp.vec2],
-    eq_ten_adr: wp.array[int],
-    eq_type: wp.array[int],
-    eq_wld_adr: wp.array[int],
-    flex_bend_interp_map: wp.array[wp.vec2i],
-    flex_bending: wp.array[float],
-    flex_bendingadr: wp.array[int],
-    flex_cell_map: wp.array[wp.vec4i],
-    flex_cellnum: wp.array[wp.vec3i],
-    flex_centered: wp.array[bool],
-    flex_conaffinity: wp.array[int],
-    flex_condim: wp.array[int],
-    flex_contype: wp.array[int],
-    flex_damping: wp.array[float],
-    flex_dim: wp.array[int],
-    flex_edge: wp.array[wp.vec2i],
-    flex_edgeadr: wp.array[int],
-    flex_edgeequality: wp.array[int],
-    flex_edgeflap: wp.array[wp.vec2i],
-    flex_edgenum: wp.array[int],
-    flex_elem: wp.array[int],
-    flex_elemadr: wp.array[int],
-    flex_elemdataadr: wp.array[int],
-    flex_elemedge: wp.array[int],
-    flex_elemedgeadr: wp.array[int],
-    flex_elemflexid: wp.array[int],
-    flex_elemnum: wp.array[int],
-    flex_evpair: wp.array[wp.vec2i],
-    flex_evpairadr: wp.array[int],
-    flex_evpairflexid: wp.array[int],
-    flex_evpairnum: wp.array[int],
-    flex_face: wp.array2d[int],
-    flex_face_map: wp.array[wp.vec2i],
-    flex_faceadr: wp.array[int],
-    flex_friction: wp.array[wp.vec3],
-    flex_gap: wp.array[float],
-    flex_internal: wp.array[int],
-    flex_interp: wp.array[int],
-    flex_margin: wp.array[float],
-    flex_node: wp.array[wp.vec3],
-    flex_node0: wp.array[wp.vec3],
-    flex_nodeadr: wp.array[int],
-    flex_nodebodyid: wp.array[int],
-    flex_nodenum: wp.array[int],
-    flex_priority: wp.array[int],
-    flex_radius: wp.array[float],
-    flex_selfcollide: wp.array[int],
-    flex_shell: wp.array[int],
-    flex_shelldataadr: wp.array[int],
-    flex_solimp: wp.array[mjwp_types.vec5],
-    flex_solmix: wp.array[float],
-    flex_solref: wp.array[wp.vec2],
-    flex_stiffness: wp.array[float],
-    flex_stiffnessadr: wp.array[int],
-    flex_vert: wp.array[wp.vec3],
-    flex_vert0: wp.array[wp.vec3],
-    flex_vertadr: wp.array[int],
-    flex_vertbodyid: wp.array[int],
-    flex_vertflexid: wp.array[int],
-    flex_vertnum: wp.array[int],
-    flexedge_J_colind: wp.array[int],
-    flexedge_J_rowadr: wp.array[int],
-    flexedge_J_rownnz: wp.array[int],
-    flexedge_invweight0: wp.array[float],
-    flexedge_length0: wp.array[float],
-    flexelem_geom_pair_filtered: wp.array[wp.vec2i],
-    flexstrain_J_colind: wp.array[int],
-    flexstrain_J_rowadr: wp.array[int],
-    flexstrain_J_rownnz: wp.array[int],
-    flexvert_geom_pair_filtered: wp.array[wp.vec2i],
-    geom_aabb: wp.array3d[wp.vec3],
-    geom_bodyid: wp.array[int],
-    geom_conaffinity: wp.array[int],
-    geom_condim: wp.array[int],
-    geom_contype: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_fluid: wp.array2d[float],
-    geom_friction: wp.array2d[wp.vec3],
-    geom_gap: wp.array2d[float],
-    geom_group: wp.array[int],
-    geom_margin: wp.array2d[float],
-    geom_matid: wp.array2d[int],
-    geom_pair_type_count: tuple[int, ...],
-    geom_plugin_index: wp.array[int],
-    geom_pos: wp.array2d[wp.vec3],
-    geom_priority: wp.array[int],
-    geom_quat: wp.array2d[wp.quat],
-    geom_rbound: wp.array2d[float],
-    geom_rgba: wp.array2d[wp.vec4],
-    geom_size: wp.array2d[wp.vec3],
-    geom_solimp: wp.array2d[mjwp_types.vec5],
-    geom_solmix: wp.array2d[float],
-    geom_solref: wp.array2d[wp.vec2],
-    geom_type: wp.array[int],
-    has_3d_flex: bool,
-    has_ellipsoid_geom: bool,
-    has_flex_selfcollide: bool,
-    has_fluid: bool,
-    has_sdf_geom: bool,
-    hfield_adr: wp.array[int],
-    hfield_data: wp.array[float],
-    hfield_ncol: wp.array[int],
-    hfield_nrow: wp.array[int],
-    hfield_size: wp.array[wp.vec4],
-    is_sparse: bool,
-    jnt_actfrclimited: wp.array[bool],
-    jnt_actfrcrange: wp.array2d[wp.vec2],
-    jnt_actgravcomp: wp.array[int],
-    jnt_axis: wp.array2d[wp.vec3],
-    jnt_bodyid: wp.array[int],
-    jnt_dofadr: wp.array[int],
-    jnt_limited_ball_adr: wp.array[int],
-    jnt_limited_slide_hinge_adr: wp.array[int],
-    jnt_margin: wp.array2d[float],
-    jnt_pos: wp.array2d[wp.vec3],
-    jnt_qposadr: wp.array[int],
-    jnt_range: wp.array2d[wp.vec2],
-    jnt_solimp: wp.array2d[mjwp_types.vec5],
-    jnt_solref: wp.array2d[wp.vec2],
-    jnt_stiffness: wp.array2d[float],
-    jnt_stiffnesspoly: wp.array2d[wp.vec2],
-    jnt_type: wp.array[int],
-    light_bodyid: wp.array[int],
-    light_dir: wp.array2d[wp.vec3],
-    light_dir0: wp.array2d[wp.vec3],
-    light_mode: wp.array[int],
-    light_pos: wp.array2d[wp.vec3],
-    light_pos0: wp.array2d[wp.vec3],
-    light_poscom0: wp.array2d[wp.vec3],
-    light_targetbodyid: wp.array[int],
-    mat_rgba: wp.array2d[wp.vec4],
-    max_flex_dim: int,
-    max_ten_J_rownnz: int,
-    mesh_face: wp.array[wp.vec3i],
-    mesh_faceadr: wp.array[int],
-    mesh_graph: wp.array[int],
-    mesh_graphadr: wp.array[int],
-    mesh_normal: wp.array[wp.vec3],
-    mesh_normaladr: wp.array[int],
-    mesh_normalnum: wp.array[int],
-    mesh_octadr: wp.array[int],
-    mesh_polyadr: wp.array[int],
-    mesh_polymap: wp.array[int],
-    mesh_polymapadr: wp.array[int],
-    mesh_polymapnum: wp.array[int],
-    mesh_polynormal: wp.array[wp.vec3],
-    mesh_polynum: wp.array[int],
-    mesh_polyvert: wp.array[int],
-    mesh_polyvertadr: wp.array[int],
-    mesh_polyvertnum: wp.array[int],
-    mesh_pos: wp.array[wp.vec3],
-    mesh_quat: wp.array[wp.quat],
-    mesh_vert: wp.array[wp.vec3],
-    mesh_vertadr: wp.array[int],
-    mesh_vertnum: wp.array[int],
-    nJten: int,
-    na: int,
-    nacttrnbody: int,
-    nbody: int,
-    nbranch: int,
-    ncam: int,
-    neq: int,
-    nflex: int,
-    nflexbend_interp: int,
-    nflexedge: int,
-    nflexelem: int,
-    nflexevpair: int,
-    nflexface: int,
-    nflexintcell: int,
-    nflexnode: int,
-    nflexvert: int,
-    ngeom: int,
-    nhistory: int,
-    njnt: int,
-    nlight: int,
-    nmaxcondim: int,
-    nmaxmeshdeg: int,
-    nmaxpolygon: int,
-    nmaxpyramid: int,
-    nmesh: int,
-    nmeshface: int,
-    nrangefinder: int,
-    nsensorcollision: int,
-    nsensorcontact: int,
-    nsensortaxel: int,
-    nsite: int,
-    ntendon: int,
-    ntree: int,
-    nu: int,
-    nv: int,
-    nv_pad: int,
-    nwrap: int,
-    nxn_geom_pair_filtered: wp.array[wp.vec2i],
-    nxn_pairid: wp.array[wp.vec2i],
-    nxn_pairid_filtered: wp.array[wp.vec2i],
-    oct_aabb: wp.array2d[wp.vec3],
-    oct_child: wp.array[mjwp_types.vec8i],
-    oct_coeff: wp.array[mjwp_types.vec8],
-    pair_dim: wp.array[int],
-    pair_friction: wp.array2d[mjwp_types.vec5],
-    pair_gap: wp.array2d[float],
-    pair_margin: wp.array2d[float],
-    pair_solimp: wp.array2d[mjwp_types.vec5],
-    pair_solref: wp.array2d[wp.vec2],
-    pair_solreffriction: wp.array2d[wp.vec2],
-    plugin: wp.array[int],
-    plugin_attr: wp.array[mjwp_types.vec_pluginattr],
-    qLD_all_updates: wp.array[wp.vec3i],
-    qLD_block_adr: wp.array[int],
-    qLD_block_total: int,
-    qLD_level_offsets: wp.array[int],
-    qLD_updates: tuple[wp.array[wp.vec3i], ...],
-    qpos0: wp.array2d[float],
-    qpos_spring: wp.array2d[float],
-    rangefinder_sensor_adr: wp.array[int],
-    sensor_acc_adr: wp.array[int],
-    sensor_adr: wp.array[int],
-    sensor_adr_to_contact_adr: wp.array[int],
-    sensor_contact_adr: wp.array[int],
-    sensor_cutoff: wp.array[float],
-    sensor_datatype: wp.array[int],
-    sensor_delay: wp.array[float],
-    sensor_dim: wp.array[int],
-    sensor_e_kinetic: bool,
-    sensor_e_potential: bool,
-    sensor_history: wp.array[wp.vec2i],
-    sensor_historyadr: wp.array[int],
-    sensor_interval: wp.array[wp.vec2],
-    sensor_intprm: wp.array2d[int],
-    sensor_limitfrc_adr: wp.array[int],
-    sensor_limitpos_adr: wp.array[int],
-    sensor_limitvel_adr: wp.array[int],
-    sensor_objid: wp.array[int],
-    sensor_objtype: wp.array[int],
-    sensor_pos_adr: wp.array[int],
-    sensor_rangefinder_adr: wp.array[int],
-    sensor_rangefinder_bodyid: wp.array[int],
-    sensor_refid: wp.array[int],
-    sensor_reftype: wp.array[int],
-    sensor_rne_postconstraint: bool,
-    sensor_subtree_vel: bool,
-    sensor_tendonactfrc_adr: wp.array[int],
-    sensor_touch_adr: wp.array[int],
-    sensor_type: wp.array[int],
-    sensor_vel_adr: wp.array[int],
-    site_bodyid: wp.array[int],
-    site_pos: wp.array2d[wp.vec3],
-    site_quat: wp.array2d[wp.quat],
-    site_size: wp.array[wp.vec3],
-    site_type: wp.array[int],
-    taxel_sensorid: wp.array[int],
-    taxel_vertadr: wp.array[int],
-    ten_J_colind: wp.array[int],
-    ten_J_rowadr: wp.array[int],
-    ten_J_rownnz: wp.array[int],
-    tendon_actfrclimited: wp.array[bool],
-    tendon_actfrcrange: wp.array2d[wp.vec2],
-    tendon_adr: wp.array[int],
-    tendon_armature: wp.array2d[float],
-    tendon_damping: wp.array2d[float],
-    tendon_dampingpoly: wp.array2d[wp.vec2],
-    tendon_frictionloss: wp.array2d[float],
-    tendon_geom_adr: wp.array[int],
-    tendon_invweight0: wp.array2d[float],
-    tendon_jnt_adr: wp.array[int],
-    tendon_length0: wp.array2d[float],
-    tendon_lengthspring: wp.array2d[wp.vec2],
-    tendon_limited: wp.array[int],
-    tendon_limited_adr: wp.array[int],
-    tendon_margin: wp.array2d[float],
-    tendon_num: wp.array[int],
-    tendon_range: wp.array2d[wp.vec2],
-    tendon_site_pair_adr: wp.array[int],
-    tendon_solimp_fri: wp.array2d[mjwp_types.vec5],
-    tendon_solimp_lim: wp.array2d[mjwp_types.vec5],
-    tendon_solref_fri: wp.array2d[wp.vec2],
-    tendon_solref_lim: wp.array2d[wp.vec2],
-    tendon_stiffness: wp.array2d[float],
-    tendon_stiffnesspoly: wp.array2d[wp.vec2],
-    tree_dofadr: wp.array[int],
-    tree_dofnum: wp.array[int],
-    tree_sleep_policy: wp.array[int],
-    wrap_geom_adr: wp.array[int],
-    wrap_jnt_adr: wp.array[int],
-    wrap_objid: wp.array[int],
-    wrap_prm: wp.array[float],
-    wrap_pulley_scale: wp.array[float],
-    wrap_site_pair_adr: wp.array[int],
-    wrap_type: wp.array[int],
-    opt__broadphase: int,
-    opt__broadphase_filter: int,
-    opt__ccd_iterations: int,
-    opt__ccd_tolerance: wp.array[float],
-    opt__cone: int,
-    opt__contact_sensor_maxmatch: int,
-    opt__density: wp.array[float],
-    opt__disableflags: int,
-    opt__enableflags: int,
-    opt__graph_conditional: bool,
-    opt__gravity: wp.array[wp.vec3],
-    opt__impratio_invsqrt: wp.array[float],
-    opt__iterations: int,
-    opt__ls_iterations: int,
-    opt__ls_tolerance: wp.array[float],
-    opt__magnetic: wp.array[wp.vec3],
-    opt__run_collision_detection: bool,
-    opt__sdf_initpoints: int,
-    opt__sdf_iterations: int,
-    opt__solver: int,
-    opt__timestep: wp.array[float],
-    opt__tolerance: wp.array[float],
-    opt__viscosity: wp.array[float],
-    opt__warn_overflow: bool,
-    opt__wind: wp.array[wp.vec3],
-    stat__meaninertia: wp.array[float],
-    # Data
-    naccdmax: int,
-    naconmax: int,
-    njmax: int,
-    njmax_nnz: int,
-    nvmax: int,
-    nvmax_pad: int,
-    M: wp.array2d[float],
-    act: wp.array2d[float],
-    act_dot: wp.array2d[float],
-    actuator_force: wp.array2d[float],
-    actuator_length: wp.array2d[float],
-    actuator_moment: wp.array2d[float],
-    actuator_velocity: wp.array2d[float],
-    body_awake: wp.array2d[int],
-    body_awake_ind: wp.array2d[int],
-    cJ: wp.array3d[float],
-    cM: wp.array3d[float],
-    cMa: wp.array2d[float],
-    cacc: wp.array2d[wp.spatial_vector],
-    cam_xmat: wp.array2d[wp.mat33],
-    cam_xpos: wp.array2d[wp.vec3],
-    cdof: wp.array2d[wp.spatial_vector],
-    cdof_dof: wp.array2d[int],
-    cdof_dot: wp.array2d[wp.spatial_vector],
-    cdof_tri_col: wp.array[int],
-    cdof_tri_row: wp.array[int],
-    cfrc_ext: wp.array2d[wp.spatial_vector],
-    cfrc_int: wp.array2d[wp.spatial_vector],
-    cinert: wp.array2d[mjwp_types.vec10],
-    cls_tol: wp.array[float],
-    cqLD: wp.array3d[float],
-    cqacc: wp.array2d[float],
-    cqacc_smooth: wp.array2d[float],
-    cqacc_warmstart: wp.array2d[float],
-    cqfrc_constraint: wp.array2d[float],
-    cqfrc_smooth: wp.array2d[float],
-    crb: wp.array2d[mjwp_types.vec10],
-    crhs: wp.array3d[float],
-    ctol: wp.array[float],
-    ctrl: wp.array2d[float],
-    cvel: wp.array2d[wp.spatial_vector],
-    cx: wp.array3d[float],
-    dof_awake_ind: wp.array2d[int],
-    dof_cdof: wp.array2d[int],
-    dof_island: wp.array2d[int],
-    dof_islandid: wp.array2d[int],
-    efc_islandid: wp.array2d[int],
-    energy: wp.array[wp.vec2],
-    eq_active: wp.array2d[bool],
-    face_quat: wp.array2d[wp.quat],
-    face_xpos: wp.array3d[wp.vec3],
-    flex_aabb_max: wp.array2d[wp.vec3],
-    flex_aabb_min: wp.array2d[wp.vec3],
-    flexedge_J: wp.array2d[float],
-    flexedge_length: wp.array2d[float],
-    flexedge_velocity: wp.array2d[float],
-    flexnode_xpos: wp.array2d[wp.vec3],
-    flexvert_xpos: wp.array2d[wp.vec3],
-    geom_xmat: wp.array2d[wp.mat33],
-    geom_xpos: wp.array2d[wp.vec3],
-    history: wp.array2d[float],
-    island_dofadr: wp.array2d[int],
-    island_idofadr: wp.array2d[int],
-    island_iefcadr: wp.array2d[int],
-    island_ne: wp.array2d[int],
-    island_nefc: wp.array2d[int],
-    island_nf: wp.array2d[int],
-    island_nv: wp.array2d[int],
-    light_xdir: wp.array2d[wp.vec3],
-    light_xpos: wp.array2d[wp.vec3],
-    map_dof2idof: wp.array2d[int],
-    map_efc2iefc: wp.array2d[int],
-    map_idof2dof: wp.array2d[int],
-    map_iefc2efc: wp.array2d[int],
-    mocap_pos: wp.array2d[wp.vec3],
-    mocap_quat: wp.array2d[wp.quat],
-    moment_colind: wp.array2d[int],
-    moment_rowadr: wp.array2d[int],
-    moment_rownnz: wp.array2d[int],
-    nacon: wp.array[int],
-    nbody_awake: wp.array[int],
-    ncdof: wp.array[int],
-    ncollision: wp.array[int],
-    ne: wp.array[int],
-    nefc: wp.array[int],
-    nf: wp.array[int],
-    nidof: wp.array[int],
-    nisland: wp.array[int],
-    nl: wp.array[int],
-    ntree_awake: wp.array[int],
-    nv_awake: wp.array[int],
-    overflow: wp.array[int],
-    qLD: wp.array2d[float],
-    qLDiagInv: wp.array2d[float],
-    qacc: wp.array2d[float],
-    qacc_smooth: wp.array2d[float],
-    qacc_warmstart: wp.array2d[float],
-    qfrc_actuator: wp.array2d[float],
-    qfrc_applied: wp.array2d[float],
-    qfrc_bias: wp.array2d[float],
-    qfrc_constraint: wp.array2d[float],
-    qfrc_damper: wp.array2d[float],
-    qfrc_fluid: wp.array2d[float],
-    qfrc_gravcomp: wp.array2d[float],
-    qfrc_passive: wp.array2d[float],
-    qfrc_smooth: wp.array2d[float],
-    qfrc_spring: wp.array2d[float],
-    qpos: wp.array2d[float],
-    qvel: wp.array2d[float],
-    sensordata: wp.array2d[float],
-    site_xmat: wp.array2d[wp.mat33],
-    site_xpos: wp.array2d[wp.vec3],
-    solver_niter: wp.array[int],
-    subtree_angmom: wp.array2d[wp.vec3],
-    subtree_com: wp.array2d[wp.vec3],
-    subtree_linvel: wp.array2d[wp.vec3],
-    ten_J: wp.array2d[float],
-    ten_length: wp.array2d[float],
-    ten_velocity: wp.array2d[float],
-    ten_wrapadr: wp.array2d[int],
-    ten_wrapnum: wp.array2d[int],
-    time: wp.array[float],
-    tree_asleep: wp.array2d[int],
-    tree_awake: wp.array2d[int],
-    tree_island: wp.array2d[int],
-    wrap_obj: wp.array2d[wp.vec2i],
-    wrap_xpos: wp.array2d[wp.spatial_vector],
-    xanchor: wp.array2d[wp.vec3],
-    xaxis: wp.array2d[wp.vec3],
-    xfrc_applied: wp.array2d[wp.spatial_vector],
-    ximat: wp.array2d[wp.mat33],
-    xipos: wp.array2d[wp.vec3],
-    xmat: wp.array2d[wp.mat33],
-    xpos: wp.array2d[wp.vec3],
-    xquat: wp.array2d[wp.quat],
-    contact__dim: wp.array[int],
-    contact__dist: wp.array[float],
-    contact__efc_address: wp.array2d[int],
-    contact__elem: wp.array[wp.vec2i],
-    contact__flex: wp.array[wp.vec2i],
-    contact__frame: wp.array[wp.mat33],
-    contact__friction: wp.array[mjwp_types.vec5],
-    contact__geom: wp.array[wp.vec2i],
-    contact__geomcollisionid: wp.array[int],
-    contact__includemargin: wp.array[float],
-    contact__pos: wp.array[wp.vec3],
-    contact__solimp: wp.array[mjwp_types.vec5],
-    contact__solref: wp.array[wp.vec2],
-    contact__solreffriction: wp.array[wp.vec2],
-    contact__type: wp.array[int],
-    contact__vert: wp.array[wp.vec2i],
-    contact__worldid: wp.array[int],
-    efc__D: wp.array2d[float],
-    efc__J: wp.array3d[float],
-    efc__J_colind: wp.array3d[int],
-    efc__J_rowadr: wp.array2d[int],
-    efc__J_rownnz: wp.array2d[int],
-    efc__Jqvel: wp.array2d[float],
-    efc__Ma: wp.array2d[float],
-    efc__aref: wp.array2d[float],
-    efc__force: wp.array2d[float],
-    efc__frictionloss: wp.array2d[float],
-    efc__id: wp.array2d[int],
-    efc__island: wp.array2d[int],
-    efc__jtdaj_adr: wp.array2d[int],
-    efc__jtdaj_nblock: wp.array[int],
-    efc__jtdaj_nrow: wp.array2d[int],
-    efc__margin: wp.array2d[float],
-    efc__pos: wp.array2d[float],
-    efc__state: wp.array2d[int],
-    efc__type: wp.array2d[int],
-    efc__vel: wp.array2d[float],
-):
-  _m.stat = _s
-  _m.opt = _o
-  _m.callback = _cb
-  _d.efc = _e
-  _d.contact = _c
-  _m.M_colind = M_colind
-  _m.M_elemid = M_elemid
-  _m.M_hinit_i = M_hinit_i
-  _m.M_mulm_col = M_mulm_col
-  _m.M_mulm_madr = M_mulm_madr
-  _m.M_mulm_rowadr = M_mulm_rowadr
-  _m.M_rowadr = M_rowadr
-  _m.M_rownnz = M_rownnz
-  _m.M_tiles = M_tiles
-  _m.actuator_acc0 = actuator_acc0
-  _m.actuator_actadr = actuator_actadr
-  _m.actuator_actearly = actuator_actearly
-  _m.actuator_actlimited = actuator_actlimited
-  _m.actuator_actnum = actuator_actnum
-  _m.actuator_actrange = actuator_actrange
-  _m.actuator_biasprm = actuator_biasprm
-  _m.actuator_biastype = actuator_biastype
-  _m.actuator_cranklength = actuator_cranklength
-  _m.actuator_ctrllimited = actuator_ctrllimited
-  _m.actuator_ctrlrange = actuator_ctrlrange
-  _m.actuator_delay = actuator_delay
-  _m.actuator_dynprm = actuator_dynprm
-  _m.actuator_dyntype = actuator_dyntype
-  _m.actuator_forcelimited = actuator_forcelimited
-  _m.actuator_forcerange = actuator_forcerange
-  _m.actuator_gainprm = actuator_gainprm
-  _m.actuator_gaintype = actuator_gaintype
-  _m.actuator_gear = actuator_gear
-  _m.actuator_history = actuator_history
-  _m.actuator_historyadr = actuator_historyadr
-  _m.actuator_lengthrange = actuator_lengthrange
-  _m.actuator_trnid = actuator_trnid
-  _m.actuator_trntype = actuator_trntype
-  _m.actuator_trntype_body_adr = actuator_trntype_body_adr
-  _m.block_dim = block_dim
-  _m.body_branch_start = body_branch_start
-  _m.body_branches = body_branches
-  _m.body_dofadr = body_dofadr
-  _m.body_dofnum = body_dofnum
-  _m.body_fluid_ellipsoid = body_fluid_ellipsoid
-  _m.body_geomadr = body_geomadr
-  _m.body_geomnum = body_geomnum
-  _m.body_gravcomp = body_gravcomp
-  _m.body_inertia = body_inertia
-  _m.body_invweight0 = body_invweight0
-  _m.body_ipos = body_ipos
-  _m.body_iquat = body_iquat
-  _m.body_isdofancestor = body_isdofancestor
-  _m.body_jntadr = body_jntadr
-  _m.body_jntnum = body_jntnum
-  _m.body_mass = body_mass
-  _m.body_mocapid = body_mocapid
-  _m.body_parentid = body_parentid
-  _m.body_pos = body_pos
-  _m.body_quat = body_quat
-  _m.body_rootid = body_rootid
-  _m.body_simple = body_simple
-  _m.body_subtreemass = body_subtreemass
-  _m.body_tree = body_tree
-  _m.body_treeid = body_treeid
-  _m.body_weldid = body_weldid
-  _m.cam_bodyid = cam_bodyid
-  _m.cam_fovy = cam_fovy
-  _m.cam_intrinsic = cam_intrinsic
-  _m.cam_mat0 = cam_mat0
-  _m.cam_mode = cam_mode
-  _m.cam_pos = cam_pos
-  _m.cam_pos0 = cam_pos0
-  _m.cam_poscom0 = cam_poscom0
-  _m.cam_quat = cam_quat
-  _m.cam_resolution = cam_resolution
-  _m.cam_sensorsize = cam_sensorsize
-  _m.cam_targetbodyid = cam_targetbodyid
-  _m.dof_armature = dof_armature
-  _m.dof_bodyid = dof_bodyid
-  _m.dof_damping = dof_damping
-  _m.dof_dampingpoly = dof_dampingpoly
-  _m.dof_frictionloss = dof_frictionloss
-  _m.dof_invweight0 = dof_invweight0
-  _m.dof_jntid = dof_jntid
-  _m.dof_length = dof_length
-  _m.dof_parentid = dof_parentid
-  _m.dof_solimp = dof_solimp
-  _m.dof_solref = dof_solref
-  _m.dof_treeid = dof_treeid
-  _m.dof_tri_col = dof_tri_col
-  _m.dof_tri_row = dof_tri_row
-  _m.eq_connect_adr = eq_connect_adr
-  _m.eq_data = eq_data
-  _m.eq_flex_adr = eq_flex_adr
-  _m.eq_flexstrain_adr = eq_flexstrain_adr
-  _m.eq_jnt_adr = eq_jnt_adr
-  _m.eq_obj1id = eq_obj1id
-  _m.eq_obj2id = eq_obj2id
-  _m.eq_objtype = eq_objtype
-  _m.eq_solimp = eq_solimp
-  _m.eq_solref = eq_solref
-  _m.eq_ten_adr = eq_ten_adr
-  _m.eq_type = eq_type
-  _m.eq_wld_adr = eq_wld_adr
-  _m.flex_bend_interp_map = flex_bend_interp_map
-  _m.flex_bending = flex_bending
-  _m.flex_bendingadr = flex_bendingadr
-  _m.flex_cell_map = flex_cell_map
-  _m.flex_cellnum = flex_cellnum
-  _m.flex_centered = flex_centered
-  _m.flex_conaffinity = flex_conaffinity
-  _m.flex_condim = flex_condim
-  _m.flex_contype = flex_contype
-  _m.flex_damping = flex_damping
-  _m.flex_dim = flex_dim
-  _m.flex_edge = flex_edge
-  _m.flex_edgeadr = flex_edgeadr
-  _m.flex_edgeequality = flex_edgeequality
-  _m.flex_edgeflap = flex_edgeflap
-  _m.flex_edgenum = flex_edgenum
-  _m.flex_elem = flex_elem
-  _m.flex_elemadr = flex_elemadr
-  _m.flex_elemdataadr = flex_elemdataadr
-  _m.flex_elemedge = flex_elemedge
-  _m.flex_elemedgeadr = flex_elemedgeadr
-  _m.flex_elemflexid = flex_elemflexid
-  _m.flex_elemnum = flex_elemnum
-  _m.flex_evpair = flex_evpair
-  _m.flex_evpairadr = flex_evpairadr
-  _m.flex_evpairflexid = flex_evpairflexid
-  _m.flex_evpairnum = flex_evpairnum
-  _m.flex_face = flex_face
-  _m.flex_face_map = flex_face_map
-  _m.flex_faceadr = flex_faceadr
-  _m.flex_friction = flex_friction
-  _m.flex_gap = flex_gap
-  _m.flex_internal = flex_internal
-  _m.flex_interp = flex_interp
-  _m.flex_margin = flex_margin
-  _m.flex_node = flex_node
-  _m.flex_node0 = flex_node0
-  _m.flex_nodeadr = flex_nodeadr
-  _m.flex_nodebodyid = flex_nodebodyid
-  _m.flex_nodenum = flex_nodenum
-  _m.flex_priority = flex_priority
-  _m.flex_radius = flex_radius
-  _m.flex_selfcollide = flex_selfcollide
-  _m.flex_shell = flex_shell
-  _m.flex_shelldataadr = flex_shelldataadr
-  _m.flex_solimp = flex_solimp
-  _m.flex_solmix = flex_solmix
-  _m.flex_solref = flex_solref
-  _m.flex_stiffness = flex_stiffness
-  _m.flex_stiffnessadr = flex_stiffnessadr
-  _m.flex_vert = flex_vert
-  _m.flex_vert0 = flex_vert0
-  _m.flex_vertadr = flex_vertadr
-  _m.flex_vertbodyid = flex_vertbodyid
-  _m.flex_vertflexid = flex_vertflexid
-  _m.flex_vertnum = flex_vertnum
-  _m.flexedge_J_colind = flexedge_J_colind
-  _m.flexedge_J_rowadr = flexedge_J_rowadr
-  _m.flexedge_J_rownnz = flexedge_J_rownnz
-  _m.flexedge_invweight0 = flexedge_invweight0
-  _m.flexedge_length0 = flexedge_length0
-  _m.flexelem_geom_pair_filtered = flexelem_geom_pair_filtered
-  _m.flexstrain_J_colind = flexstrain_J_colind
-  _m.flexstrain_J_rowadr = flexstrain_J_rowadr
-  _m.flexstrain_J_rownnz = flexstrain_J_rownnz
-  _m.flexvert_geom_pair_filtered = flexvert_geom_pair_filtered
-  _m.geom_aabb = geom_aabb
-  _m.geom_bodyid = geom_bodyid
-  _m.geom_conaffinity = geom_conaffinity
-  _m.geom_condim = geom_condim
-  _m.geom_contype = geom_contype
-  _m.geom_dataid = geom_dataid
-  _m.geom_fluid = geom_fluid
-  _m.geom_friction = geom_friction
-  _m.geom_gap = geom_gap
-  _m.geom_group = geom_group
-  _m.geom_margin = geom_margin
-  _m.geom_matid = geom_matid
-  _m.geom_pair_type_count = geom_pair_type_count
-  _m.geom_plugin_index = geom_plugin_index
-  _m.geom_pos = geom_pos
-  _m.geom_priority = geom_priority
-  _m.geom_quat = geom_quat
-  _m.geom_rbound = geom_rbound
-  _m.geom_rgba = geom_rgba
-  _m.geom_size = geom_size
-  _m.geom_solimp = geom_solimp
-  _m.geom_solmix = geom_solmix
-  _m.geom_solref = geom_solref
-  _m.geom_type = geom_type
-  _m.has_3d_flex = has_3d_flex
-  _m.has_ellipsoid_geom = has_ellipsoid_geom
-  _m.has_flex_selfcollide = has_flex_selfcollide
-  _m.has_fluid = has_fluid
-  _m.has_sdf_geom = has_sdf_geom
-  _m.hfield_adr = hfield_adr
-  _m.hfield_data = hfield_data
-  _m.hfield_ncol = hfield_ncol
-  _m.hfield_nrow = hfield_nrow
-  _m.hfield_size = hfield_size
-  _m.is_sparse = is_sparse
-  _m.jnt_actfrclimited = jnt_actfrclimited
-  _m.jnt_actfrcrange = jnt_actfrcrange
-  _m.jnt_actgravcomp = jnt_actgravcomp
-  _m.jnt_axis = jnt_axis
-  _m.jnt_bodyid = jnt_bodyid
-  _m.jnt_dofadr = jnt_dofadr
-  _m.jnt_limited_ball_adr = jnt_limited_ball_adr
-  _m.jnt_limited_slide_hinge_adr = jnt_limited_slide_hinge_adr
-  _m.jnt_margin = jnt_margin
-  _m.jnt_pos = jnt_pos
-  _m.jnt_qposadr = jnt_qposadr
-  _m.jnt_range = jnt_range
-  _m.jnt_solimp = jnt_solimp
-  _m.jnt_solref = jnt_solref
-  _m.jnt_stiffness = jnt_stiffness
-  _m.jnt_stiffnesspoly = jnt_stiffnesspoly
-  _m.jnt_type = jnt_type
-  _m.light_bodyid = light_bodyid
-  _m.light_dir = light_dir
-  _m.light_dir0 = light_dir0
-  _m.light_mode = light_mode
-  _m.light_pos = light_pos
-  _m.light_pos0 = light_pos0
-  _m.light_poscom0 = light_poscom0
-  _m.light_targetbodyid = light_targetbodyid
-  _m.mat_rgba = mat_rgba
-  _m.max_flex_dim = max_flex_dim
-  _m.max_ten_J_rownnz = max_ten_J_rownnz
-  _m.mesh_face = mesh_face
-  _m.mesh_faceadr = mesh_faceadr
-  _m.mesh_graph = mesh_graph
-  _m.mesh_graphadr = mesh_graphadr
-  _m.mesh_normal = mesh_normal
-  _m.mesh_normaladr = mesh_normaladr
-  _m.mesh_normalnum = mesh_normalnum
-  _m.mesh_octadr = mesh_octadr
-  _m.mesh_polyadr = mesh_polyadr
-  _m.mesh_polymap = mesh_polymap
-  _m.mesh_polymapadr = mesh_polymapadr
-  _m.mesh_polymapnum = mesh_polymapnum
-  _m.mesh_polynormal = mesh_polynormal
-  _m.mesh_polynum = mesh_polynum
-  _m.mesh_polyvert = mesh_polyvert
-  _m.mesh_polyvertadr = mesh_polyvertadr
-  _m.mesh_polyvertnum = mesh_polyvertnum
-  _m.mesh_pos = mesh_pos
-  _m.mesh_quat = mesh_quat
-  _m.mesh_vert = mesh_vert
-  _m.mesh_vertadr = mesh_vertadr
-  _m.mesh_vertnum = mesh_vertnum
-  _m.nJten = nJten
-  _m.na = na
-  _m.nacttrnbody = nacttrnbody
-  _m.nbody = nbody
-  _m.nbranch = nbranch
-  _m.ncam = ncam
-  _m.neq = neq
-  _m.nflex = nflex
-  _m.nflexbend_interp = nflexbend_interp
-  _m.nflexedge = nflexedge
-  _m.nflexelem = nflexelem
-  _m.nflexevpair = nflexevpair
-  _m.nflexface = nflexface
-  _m.nflexintcell = nflexintcell
-  _m.nflexnode = nflexnode
-  _m.nflexvert = nflexvert
-  _m.ngeom = ngeom
-  _m.nhistory = nhistory
-  _m.njnt = njnt
-  _m.nlight = nlight
-  _m.nmaxcondim = nmaxcondim
-  _m.nmaxmeshdeg = nmaxmeshdeg
-  _m.nmaxpolygon = nmaxpolygon
-  _m.nmaxpyramid = nmaxpyramid
-  _m.nmesh = nmesh
-  _m.nmeshface = nmeshface
-  _m.nrangefinder = nrangefinder
-  _m.nsensorcollision = nsensorcollision
-  _m.nsensorcontact = nsensorcontact
-  _m.nsensortaxel = nsensortaxel
-  _m.nsite = nsite
-  _m.ntendon = ntendon
-  _m.ntree = ntree
-  _m.nu = nu
-  _m.nv = nv
-  _m.nv_pad = nv_pad
-  _m.nwrap = nwrap
-  _m.nxn_geom_pair_filtered = nxn_geom_pair_filtered
-  _m.nxn_pairid = nxn_pairid
-  _m.nxn_pairid_filtered = nxn_pairid_filtered
-  _m.oct_aabb = oct_aabb
-  _m.oct_child = oct_child
-  _m.oct_coeff = oct_coeff
-  _m.opt.broadphase = opt__broadphase
-  _m.opt.broadphase_filter = opt__broadphase_filter
-  _m.opt.ccd_iterations = opt__ccd_iterations
-  _m.opt.ccd_tolerance = opt__ccd_tolerance
-  _m.opt.cone = opt__cone
-  _m.opt.contact_sensor_maxmatch = opt__contact_sensor_maxmatch
-  _m.opt.density = opt__density
-  _m.opt.disableflags = opt__disableflags
-  _m.opt.enableflags = opt__enableflags
-  _m.opt.graph_conditional = opt__graph_conditional
-  _m.opt.gravity = opt__gravity
-  _m.opt.impratio_invsqrt = opt__impratio_invsqrt
-  _m.opt.iterations = opt__iterations
-  _m.opt.ls_iterations = opt__ls_iterations
-  _m.opt.ls_tolerance = opt__ls_tolerance
-  _m.opt.magnetic = opt__magnetic
-  _m.opt.run_collision_detection = opt__run_collision_detection
-  _m.opt.sdf_initpoints = opt__sdf_initpoints
-  _m.opt.sdf_iterations = opt__sdf_iterations
-  _m.opt.solver = opt__solver
-  _m.opt.timestep = opt__timestep
-  _m.opt.tolerance = opt__tolerance
-  _m.opt.viscosity = opt__viscosity
-  _m.opt.warn_overflow = opt__warn_overflow
-  _m.opt.wind = opt__wind
-  _m.pair_dim = pair_dim
-  _m.pair_friction = pair_friction
-  _m.pair_gap = pair_gap
-  _m.pair_margin = pair_margin
-  _m.pair_solimp = pair_solimp
-  _m.pair_solref = pair_solref
-  _m.pair_solreffriction = pair_solreffriction
-  _m.plugin = plugin
-  _m.plugin_attr = plugin_attr
-  _m.qLD_all_updates = qLD_all_updates
-  _m.qLD_block_adr = qLD_block_adr
-  _m.qLD_block_total = qLD_block_total
-  _m.qLD_level_offsets = qLD_level_offsets
-  _m.qLD_updates = qLD_updates
-  _m.qpos0 = qpos0
-  _m.qpos_spring = qpos_spring
-  _m.rangefinder_sensor_adr = rangefinder_sensor_adr
-  _m.sensor_acc_adr = sensor_acc_adr
-  _m.sensor_adr = sensor_adr
-  _m.sensor_adr_to_contact_adr = sensor_adr_to_contact_adr
-  _m.sensor_contact_adr = sensor_contact_adr
-  _m.sensor_cutoff = sensor_cutoff
-  _m.sensor_datatype = sensor_datatype
-  _m.sensor_delay = sensor_delay
-  _m.sensor_dim = sensor_dim
-  _m.sensor_e_kinetic = sensor_e_kinetic
-  _m.sensor_e_potential = sensor_e_potential
-  _m.sensor_history = sensor_history
-  _m.sensor_historyadr = sensor_historyadr
-  _m.sensor_interval = sensor_interval
-  _m.sensor_intprm = sensor_intprm
-  _m.sensor_limitfrc_adr = sensor_limitfrc_adr
-  _m.sensor_limitpos_adr = sensor_limitpos_adr
-  _m.sensor_limitvel_adr = sensor_limitvel_adr
-  _m.sensor_objid = sensor_objid
-  _m.sensor_objtype = sensor_objtype
-  _m.sensor_pos_adr = sensor_pos_adr
-  _m.sensor_rangefinder_adr = sensor_rangefinder_adr
-  _m.sensor_rangefinder_bodyid = sensor_rangefinder_bodyid
-  _m.sensor_refid = sensor_refid
-  _m.sensor_reftype = sensor_reftype
-  _m.sensor_rne_postconstraint = sensor_rne_postconstraint
-  _m.sensor_subtree_vel = sensor_subtree_vel
-  _m.sensor_tendonactfrc_adr = sensor_tendonactfrc_adr
-  _m.sensor_touch_adr = sensor_touch_adr
-  _m.sensor_type = sensor_type
-  _m.sensor_vel_adr = sensor_vel_adr
-  _m.site_bodyid = site_bodyid
-  _m.site_pos = site_pos
-  _m.site_quat = site_quat
-  _m.site_size = site_size
-  _m.site_type = site_type
-  _m.stat.meaninertia = stat__meaninertia
-  _m.taxel_sensorid = taxel_sensorid
-  _m.taxel_vertadr = taxel_vertadr
-  _m.ten_J_colind = ten_J_colind
-  _m.ten_J_rowadr = ten_J_rowadr
-  _m.ten_J_rownnz = ten_J_rownnz
-  _m.tendon_actfrclimited = tendon_actfrclimited
-  _m.tendon_actfrcrange = tendon_actfrcrange
-  _m.tendon_adr = tendon_adr
-  _m.tendon_armature = tendon_armature
-  _m.tendon_damping = tendon_damping
-  _m.tendon_dampingpoly = tendon_dampingpoly
-  _m.tendon_frictionloss = tendon_frictionloss
-  _m.tendon_geom_adr = tendon_geom_adr
-  _m.tendon_invweight0 = tendon_invweight0
-  _m.tendon_jnt_adr = tendon_jnt_adr
-  _m.tendon_length0 = tendon_length0
-  _m.tendon_lengthspring = tendon_lengthspring
-  _m.tendon_limited = tendon_limited
-  _m.tendon_limited_adr = tendon_limited_adr
-  _m.tendon_margin = tendon_margin
-  _m.tendon_num = tendon_num
-  _m.tendon_range = tendon_range
-  _m.tendon_site_pair_adr = tendon_site_pair_adr
-  _m.tendon_solimp_fri = tendon_solimp_fri
-  _m.tendon_solimp_lim = tendon_solimp_lim
-  _m.tendon_solref_fri = tendon_solref_fri
-  _m.tendon_solref_lim = tendon_solref_lim
-  _m.tendon_stiffness = tendon_stiffness
-  _m.tendon_stiffnesspoly = tendon_stiffnesspoly
-  _m.tree_dofadr = tree_dofadr
-  _m.tree_dofnum = tree_dofnum
-  _m.tree_sleep_policy = tree_sleep_policy
-  _m.wrap_geom_adr = wrap_geom_adr
-  _m.wrap_jnt_adr = wrap_jnt_adr
-  _m.wrap_objid = wrap_objid
-  _m.wrap_prm = wrap_prm
-  _m.wrap_pulley_scale = wrap_pulley_scale
-  _m.wrap_site_pair_adr = wrap_site_pair_adr
-  _m.wrap_type = wrap_type
-  _d.M = M
-  _d.act = act
-  _d.act_dot = act_dot
-  _d.actuator_force = actuator_force
-  _d.actuator_length = actuator_length
-  _d.actuator_moment = actuator_moment
-  _d.actuator_velocity = actuator_velocity
-  _d.body_awake = body_awake
-  _d.body_awake_ind = body_awake_ind
-  _d.cJ = cJ
-  _d.cM = cM
-  _d.cMa = cMa
-  _d.cacc = cacc
-  _d.cam_xmat = cam_xmat
-  _d.cam_xpos = cam_xpos
-  _d.cdof = cdof
-  _d.cdof_dof = cdof_dof
-  _d.cdof_dot = cdof_dot
-  _d.cdof_tri_col = cdof_tri_col
-  _d.cdof_tri_row = cdof_tri_row
-  _d.cfrc_ext = cfrc_ext
-  _d.cfrc_int = cfrc_int
-  _d.cinert = cinert
-  _d.cls_tol = cls_tol
-  _d.contact.dim = contact__dim
-  _d.contact.dist = contact__dist
-  _d.contact.efc_address = contact__efc_address
-  _d.contact.elem = contact__elem
-  _d.contact.flex = contact__flex
-  _d.contact.frame = contact__frame
-  _d.contact.friction = contact__friction
-  _d.contact.geom = contact__geom
-  _d.contact.geomcollisionid = contact__geomcollisionid
-  _d.contact.includemargin = contact__includemargin
-  _d.contact.pos = contact__pos
-  _d.contact.solimp = contact__solimp
-  _d.contact.solref = contact__solref
-  _d.contact.solreffriction = contact__solreffriction
-  _d.contact.type = contact__type
-  _d.contact.vert = contact__vert
-  _d.contact.worldid = contact__worldid
-  _d.cqLD = cqLD
-  _d.cqacc = cqacc
-  _d.cqacc_smooth = cqacc_smooth
-  _d.cqacc_warmstart = cqacc_warmstart
-  _d.cqfrc_constraint = cqfrc_constraint
-  _d.cqfrc_smooth = cqfrc_smooth
-  _d.crb = crb
-  _d.crhs = crhs
-  _d.ctol = ctol
-  _d.ctrl = ctrl
-  _d.cvel = cvel
-  _d.cx = cx
-  _d.dof_awake_ind = dof_awake_ind
-  _d.dof_cdof = dof_cdof
-  _d.dof_island = dof_island
-  _d.dof_islandid = dof_islandid
-  _d.efc.D = efc__D
-  _d.efc.J = efc__J
-  _d.efc.J_colind = efc__J_colind
-  _d.efc.J_rowadr = efc__J_rowadr
-  _d.efc.J_rownnz = efc__J_rownnz
-  _d.efc.Jqvel = efc__Jqvel
-  _d.efc.Ma = efc__Ma
-  _d.efc.aref = efc__aref
-  _d.efc.force = efc__force
-  _d.efc.frictionloss = efc__frictionloss
-  _d.efc.id = efc__id
-  _d.efc.island = efc__island
-  _d.efc.jtdaj_adr = efc__jtdaj_adr
-  _d.efc.jtdaj_nblock = efc__jtdaj_nblock
-  _d.efc.jtdaj_nrow = efc__jtdaj_nrow
-  _d.efc.margin = efc__margin
-  _d.efc.pos = efc__pos
-  _d.efc.state = efc__state
-  _d.efc.type = efc__type
-  _d.efc.vel = efc__vel
-  _d.efc_islandid = efc_islandid
-  _d.energy = energy
-  _d.eq_active = eq_active
-  _d.face_quat = face_quat
-  _d.face_xpos = face_xpos
-  _d.flex_aabb_max = flex_aabb_max
-  _d.flex_aabb_min = flex_aabb_min
-  _d.flexedge_J = flexedge_J
-  _d.flexedge_length = flexedge_length
-  _d.flexedge_velocity = flexedge_velocity
-  _d.flexnode_xpos = flexnode_xpos
-  _d.flexvert_xpos = flexvert_xpos
-  _d.geom_xmat = geom_xmat
-  _d.geom_xpos = geom_xpos
-  _d.history = history
-  _d.island_dofadr = island_dofadr
-  _d.island_idofadr = island_idofadr
-  _d.island_iefcadr = island_iefcadr
-  _d.island_ne = island_ne
-  _d.island_nefc = island_nefc
-  _d.island_nf = island_nf
-  _d.island_nv = island_nv
-  _d.light_xdir = light_xdir
-  _d.light_xpos = light_xpos
-  _d.map_dof2idof = map_dof2idof
-  _d.map_efc2iefc = map_efc2iefc
-  _d.map_idof2dof = map_idof2dof
-  _d.map_iefc2efc = map_iefc2efc
-  _d.mocap_pos = mocap_pos
-  _d.mocap_quat = mocap_quat
-  _d.moment_colind = moment_colind
-  _d.moment_rowadr = moment_rowadr
-  _d.moment_rownnz = moment_rownnz
-  _d.naccdmax = naccdmax
-  _d.nacon = nacon
-  _d.naconmax = naconmax
-  _d.nbody_awake = nbody_awake
-  _d.ncdof = ncdof
-  _d.ncollision = ncollision
-  _d.ne = ne
-  _d.nefc = nefc
-  _d.nf = nf
-  _d.nidof = nidof
-  _d.nisland = nisland
-  _d.njmax = njmax
-  _d.njmax_nnz = njmax_nnz
-  _d.nl = nl
-  _d.ntree_awake = ntree_awake
-  _d.nv_awake = nv_awake
-  _d.nvmax = nvmax
-  _d.nvmax_pad = nvmax_pad
-  _d.overflow = overflow
-  _d.qLD = qLD
-  _d.qLDiagInv = qLDiagInv
-  _d.qacc = qacc
-  _d.qacc_smooth = qacc_smooth
-  _d.qacc_warmstart = qacc_warmstart
-  _d.qfrc_actuator = qfrc_actuator
-  _d.qfrc_applied = qfrc_applied
-  _d.qfrc_bias = qfrc_bias
-  _d.qfrc_constraint = qfrc_constraint
-  _d.qfrc_damper = qfrc_damper
-  _d.qfrc_fluid = qfrc_fluid
-  _d.qfrc_gravcomp = qfrc_gravcomp
-  _d.qfrc_passive = qfrc_passive
-  _d.qfrc_smooth = qfrc_smooth
-  _d.qfrc_spring = qfrc_spring
-  _d.qpos = qpos
-  _d.qvel = qvel
-  _d.sensordata = sensordata
-  _d.site_xmat = site_xmat
-  _d.site_xpos = site_xpos
-  _d.solver_niter = solver_niter
-  _d.subtree_angmom = subtree_angmom
-  _d.subtree_com = subtree_com
-  _d.subtree_linvel = subtree_linvel
-  _d.ten_J = ten_J
-  _d.ten_length = ten_length
-  _d.ten_velocity = ten_velocity
-  _d.ten_wrapadr = ten_wrapadr
-  _d.ten_wrapnum = ten_wrapnum
-  _d.time = time
-  _d.tree_asleep = tree_asleep
-  _d.tree_awake = tree_awake
-  _d.tree_island = tree_island
-  _d.wrap_obj = wrap_obj
-  _d.wrap_xpos = wrap_xpos
-  _d.xanchor = xanchor
-  _d.xaxis = xaxis
-  _d.xfrc_applied = xfrc_applied
-  _d.ximat = ximat
-  _d.xipos = xipos
-  _d.xmat = xmat
-  _d.xpos = xpos
-  _d.xquat = xquat
-  _d.nworld = nworld
-  mjwarp.forward(_m, _d)
-
-
-def _forward_jax_impl(m: types.Model, d: types.Data):
-  output_dims = {
-      'M': d._impl.M.shape,
-      'act_dot': d.act_dot.shape,
-      'actuator_force': d.actuator_force.shape,
-      'actuator_length': d.actuator_length.shape,
-      'actuator_moment': d._impl.actuator_moment.shape,
-      'actuator_velocity': d._impl.actuator_velocity.shape,
-      'body_awake': d._impl.body_awake.shape,
-      'body_awake_ind': d._impl.body_awake_ind.shape,
-      'cJ': d._impl.cJ.shape,
-      'cM': d._impl.cM.shape,
-      'cacc': d._impl.cacc.shape,
-      'cam_xmat': d.cam_xmat.shape,
-      'cam_xpos': d.cam_xpos.shape,
-      'cdof': d.cdof.shape,
-      'cdof_dof': d._impl.cdof_dof.shape,
-      'cdof_dot': d.cdof_dot.shape,
-      'cfrc_ext': d._impl.cfrc_ext.shape,
-      'cfrc_int': d._impl.cfrc_int.shape,
-      'cinert': d._impl.cinert.shape,
-      'cqLD': d._impl.cqLD.shape,
-      'cqacc_smooth': d._impl.cqacc_smooth.shape,
-      'cqacc_warmstart': d._impl.cqacc_warmstart.shape,
-      'cqfrc_smooth': d._impl.cqfrc_smooth.shape,
-      'crb': d._impl.crb.shape,
-      'crhs': d._impl.crhs.shape,
-      'cvel': d.cvel.shape,
-      'cx': d._impl.cx.shape,
-      'dof_awake_ind': d._impl.dof_awake_ind.shape,
-      'dof_cdof': d._impl.dof_cdof.shape,
-      'dof_island': d._impl.dof_island.shape,
-      'dof_islandid': d._impl.dof_islandid.shape,
-      'efc_islandid': d._impl.efc_islandid.shape,
-      'energy': d._impl.energy.shape,
-      'face_quat': d._impl.face_quat.shape,
-      'face_xpos': d._impl.face_xpos.shape,
-      'flex_aabb_max': d._impl.flex_aabb_max.shape,
-      'flex_aabb_min': d._impl.flex_aabb_min.shape,
-      'flexedge_J': d._impl.flexedge_J.shape,
-      'flexedge_length': d._impl.flexedge_length.shape,
-      'flexedge_velocity': d._impl.flexedge_velocity.shape,
-      'flexnode_xpos': d._impl.flexnode_xpos.shape,
-      'flexvert_xpos': d._impl.flexvert_xpos.shape,
-      'geom_xmat': d.geom_xmat.shape,
-      'geom_xpos': d.geom_xpos.shape,
-      'history': d.history.shape,
-      'island_dofadr': d._impl.island_dofadr.shape,
-      'island_idofadr': d._impl.island_idofadr.shape,
-      'island_iefcadr': d._impl.island_iefcadr.shape,
-      'island_ne': d._impl.island_ne.shape,
-      'island_nefc': d._impl.island_nefc.shape,
-      'island_nf': d._impl.island_nf.shape,
-      'island_nv': d._impl.island_nv.shape,
-      'light_xdir': d._impl.light_xdir.shape,
-      'light_xpos': d._impl.light_xpos.shape,
-      'map_dof2idof': d._impl.map_dof2idof.shape,
-      'map_efc2iefc': d._impl.map_efc2iefc.shape,
-      'map_idof2dof': d._impl.map_idof2dof.shape,
-      'map_iefc2efc': d._impl.map_iefc2efc.shape,
-      'moment_colind': d._impl.moment_colind.shape,
-      'moment_rowadr': d._impl.moment_rowadr.shape,
-      'moment_rownnz': d._impl.moment_rownnz.shape,
-      'nacon': d._impl.nacon.shape,
-      'nbody_awake': d._impl.nbody_awake.shape,
-      'ncdof': d._impl.ncdof.shape,
-      'ncollision': d._impl.ncollision.shape,
-      'ne': d._impl.ne.shape,
-      'nefc': d._impl.nefc.shape,
-      'nf': d._impl.nf.shape,
-      'nidof': d._impl.nidof.shape,
-      'nisland': d._impl.nisland.shape,
-      'nl': d._impl.nl.shape,
-      'ntree_awake': d._impl.ntree_awake.shape,
-      'nv_awake': d._impl.nv_awake.shape,
-      'overflow': d._impl.overflow.shape,
-      'qLD': d._impl.qLD.shape,
-      'qLDiagInv': d._impl.qLDiagInv.shape,
-      'qacc': d.qacc.shape,
-      'qacc_smooth': d.qacc_smooth.shape,
-      'qfrc_actuator': d.qfrc_actuator.shape,
-      'qfrc_bias': d.qfrc_bias.shape,
-      'qfrc_constraint': d.qfrc_constraint.shape,
-      'qfrc_damper': d._impl.qfrc_damper.shape,
-      'qfrc_fluid': d.qfrc_fluid.shape,
-      'qfrc_gravcomp': d.qfrc_gravcomp.shape,
-      'qfrc_passive': d.qfrc_passive.shape,
-      'qfrc_smooth': d.qfrc_smooth.shape,
-      'qfrc_spring': d._impl.qfrc_spring.shape,
-      'qvel': d.qvel.shape,
-      'sensordata': d.sensordata.shape,
-      'site_xmat': d.site_xmat.shape,
-      'site_xpos': d.site_xpos.shape,
-      'solver_niter': d._impl.solver_niter.shape,
-      'subtree_angmom': d._impl.subtree_angmom.shape,
-      'subtree_com': d.subtree_com.shape,
-      'subtree_linvel': d._impl.subtree_linvel.shape,
-      'ten_J': d._impl.ten_J.shape,
-      'ten_length': d.ten_length.shape,
-      'ten_velocity': d._impl.ten_velocity.shape,
-      'ten_wrapadr': d._impl.ten_wrapadr.shape,
-      'ten_wrapnum': d._impl.ten_wrapnum.shape,
-      'tree_asleep': d._impl.tree_asleep.shape,
-      'tree_awake': d._impl.tree_awake.shape,
-      'tree_island': d._impl.tree_island.shape,
-      'wrap_obj': d._impl.wrap_obj.shape,
-      'wrap_xpos': d._impl.wrap_xpos.shape,
-      'xanchor': d.xanchor.shape,
-      'xaxis': d.xaxis.shape,
-      'ximat': d.ximat.shape,
-      'xipos': d.xipos.shape,
-      'xmat': d.xmat.shape,
-      'xpos': d.xpos.shape,
-      'xquat': d.xquat.shape,
-      'contact__dim': d._impl.contact__dim.shape,
-      'contact__dist': d._impl.contact__dist.shape,
-      'contact__efc_address': d._impl.contact__efc_address.shape,
-      'contact__elem': d._impl.contact__elem.shape,
-      'contact__flex': d._impl.contact__flex.shape,
-      'contact__frame': d._impl.contact__frame.shape,
-      'contact__friction': d._impl.contact__friction.shape,
-      'contact__geom': d._impl.contact__geom.shape,
-      'contact__geomcollisionid': d._impl.contact__geomcollisionid.shape,
-      'contact__includemargin': d._impl.contact__includemargin.shape,
-      'contact__pos': d._impl.contact__pos.shape,
-      'contact__solimp': d._impl.contact__solimp.shape,
-      'contact__solref': d._impl.contact__solref.shape,
-      'contact__solreffriction': d._impl.contact__solreffriction.shape,
-      'contact__type': d._impl.contact__type.shape,
-      'contact__vert': d._impl.contact__vert.shape,
-      'contact__worldid': d._impl.contact__worldid.shape,
-      'efc__D': d._impl.efc__D.shape,
-      'efc__J': d._impl.efc__J.shape,
-      'efc__J_colind': d._impl.efc__J_colind.shape,
-      'efc__J_rowadr': d._impl.efc__J_rowadr.shape,
-      'efc__J_rownnz': d._impl.efc__J_rownnz.shape,
-      'efc__Jqvel': d._impl.efc__Jqvel.shape,
-      'efc__Ma': d._impl.efc__Ma.shape,
-      'efc__aref': d._impl.efc__aref.shape,
-      'efc__force': d._impl.efc__force.shape,
-      'efc__frictionloss': d._impl.efc__frictionloss.shape,
-      'efc__id': d._impl.efc__id.shape,
-      'efc__island': d._impl.efc__island.shape,
-      'efc__jtdaj_adr': d._impl.efc__jtdaj_adr.shape,
-      'efc__jtdaj_nblock': d._impl.efc__jtdaj_nblock.shape,
-      'efc__jtdaj_nrow': d._impl.efc__jtdaj_nrow.shape,
-      'efc__margin': d._impl.efc__margin.shape,
-      'efc__pos': d._impl.efc__pos.shape,
-      'efc__state': d._impl.efc__state.shape,
-      'efc__type': d._impl.efc__type.shape,
-      'efc__vel': d._impl.efc__vel.shape,
-  }
-  jf = ffi.jax_callable_variadic_tuple(
-      _forward_shim,
-      num_outputs=149,
-      output_dims=output_dims,
-      vmap_method=None,
-      in_out_argnames=set([
-          'M',
-          'act_dot',
-          'actuator_force',
-          'actuator_length',
-          'actuator_moment',
-          'actuator_velocity',
-          'body_awake',
-          'body_awake_ind',
-          'cJ',
-          'cM',
-          'cacc',
-          'cam_xmat',
-          'cam_xpos',
-          'cdof',
-          'cdof_dof',
-          'cdof_dot',
-          'cfrc_ext',
-          'cfrc_int',
-          'cinert',
-          'cqLD',
-          'cqacc_smooth',
-          'cqacc_warmstart',
-          'cqfrc_smooth',
-          'crb',
-          'crhs',
-          'cvel',
-          'cx',
-          'dof_awake_ind',
-          'dof_cdof',
-          'dof_island',
-          'dof_islandid',
-          'efc_islandid',
-          'energy',
-          'face_quat',
-          'face_xpos',
-          'flex_aabb_max',
-          'flex_aabb_min',
-          'flexedge_J',
-          'flexedge_length',
-          'flexedge_velocity',
-          'flexnode_xpos',
-          'flexvert_xpos',
-          'geom_xmat',
-          'geom_xpos',
-          'history',
-          'island_dofadr',
-          'island_idofadr',
-          'island_iefcadr',
-          'island_ne',
-          'island_nefc',
-          'island_nf',
-          'island_nv',
-          'light_xdir',
-          'light_xpos',
-          'map_dof2idof',
-          'map_efc2iefc',
-          'map_idof2dof',
-          'map_iefc2efc',
-          'moment_colind',
-          'moment_rowadr',
-          'moment_rownnz',
-          'nacon',
-          'nbody_awake',
-          'ncdof',
-          'ncollision',
-          'ne',
-          'nefc',
-          'nf',
-          'nidof',
-          'nisland',
-          'nl',
-          'ntree_awake',
-          'nv_awake',
-          'overflow',
-          'qLD',
-          'qLDiagInv',
-          'qacc',
-          'qacc_smooth',
-          'qfrc_actuator',
-          'qfrc_bias',
-          'qfrc_constraint',
-          'qfrc_damper',
-          'qfrc_fluid',
-          'qfrc_gravcomp',
-          'qfrc_passive',
-          'qfrc_smooth',
-          'qfrc_spring',
-          'qvel',
-          'sensordata',
-          'site_xmat',
-          'site_xpos',
-          'solver_niter',
-          'subtree_angmom',
-          'subtree_com',
-          'subtree_linvel',
-          'ten_J',
-          'ten_length',
-          'ten_velocity',
-          'ten_wrapadr',
-          'ten_wrapnum',
-          'tree_asleep',
-          'tree_awake',
-          'tree_island',
-          'wrap_obj',
-          'wrap_xpos',
-          'xanchor',
-          'xaxis',
-          'ximat',
-          'xipos',
-          'xmat',
-          'xpos',
-          'xquat',
-          'contact__dim',
-          'contact__dist',
-          'contact__efc_address',
-          'contact__elem',
-          'contact__flex',
-          'contact__frame',
-          'contact__friction',
-          'contact__geom',
-          'contact__geomcollisionid',
-          'contact__includemargin',
-          'contact__pos',
-          'contact__solimp',
-          'contact__solref',
-          'contact__solreffriction',
-          'contact__type',
-          'contact__vert',
-          'contact__worldid',
-          'efc__D',
-          'efc__J',
-          'efc__J_colind',
-          'efc__J_rowadr',
-          'efc__J_rownnz',
-          'efc__Jqvel',
-          'efc__Ma',
-          'efc__aref',
-          'efc__force',
-          'efc__frictionloss',
-          'efc__id',
-          'efc__island',
-          'efc__jtdaj_adr',
-          'efc__jtdaj_nblock',
-          'efc__jtdaj_nrow',
-          'efc__margin',
-          'efc__pos',
-          'efc__state',
-          'efc__type',
-          'efc__vel',
-      ]),
-      stage_in_argnames=set([
-          'M',
-          'act',
-          'act_dot',
-          'actuator_acc0',
-          'actuator_actrange',
-          'actuator_biasprm',
-          'actuator_cranklength',
-          'actuator_ctrlrange',
-          'actuator_dynprm',
-          'actuator_force',
-          'actuator_forcerange',
-          'actuator_gainprm',
-          'actuator_gear',
-          'actuator_length',
-          'actuator_lengthrange',
-          'actuator_moment',
-          'actuator_velocity',
-          'body_awake',
-          'body_awake_ind',
-          'body_gravcomp',
-          'body_inertia',
-          'body_invweight0',
-          'body_ipos',
-          'body_iquat',
-          'body_mass',
-          'body_pos',
-          'body_quat',
-          'body_subtreemass',
-          'cJ',
-          'cM',
-          'cMa',
-          'cacc',
-          'cam_fovy',
-          'cam_intrinsic',
-          'cam_mat0',
-          'cam_pos',
-          'cam_pos0',
-          'cam_poscom0',
-          'cam_quat',
-          'cam_xmat',
-          'cam_xpos',
-          'cdof',
-          'cdof_dof',
-          'cdof_dot',
-          'cdof_tri_col',
-          'cdof_tri_row',
-          'cfrc_ext',
-          'cfrc_int',
-          'cinert',
-          'cls_tol',
-          'contact__dim',
-          'contact__dist',
-          'contact__efc_address',
-          'contact__elem',
-          'contact__flex',
-          'contact__frame',
-          'contact__friction',
-          'contact__geom',
-          'contact__geomcollisionid',
-          'contact__includemargin',
-          'contact__pos',
-          'contact__solimp',
-          'contact__solref',
-          'contact__solreffriction',
-          'contact__type',
-          'contact__vert',
-          'contact__worldid',
-          'cqLD',
-          'cqacc',
-          'cqacc_smooth',
-          'cqacc_warmstart',
-          'cqfrc_constraint',
-          'cqfrc_smooth',
-          'crb',
-          'crhs',
-          'ctol',
-          'ctrl',
-          'cvel',
-          'cx',
-          'dof_armature',
-          'dof_awake_ind',
-          'dof_cdof',
-          'dof_damping',
-          'dof_dampingpoly',
-          'dof_frictionloss',
-          'dof_invweight0',
-          'dof_island',
-          'dof_islandid',
-          'dof_solimp',
-          'dof_solref',
-          'efc__D',
-          'efc__J',
-          'efc__J_colind',
-          'efc__J_rowadr',
-          'efc__J_rownnz',
-          'efc__Jqvel',
-          'efc__Ma',
-          'efc__aref',
-          'efc__force',
-          'efc__frictionloss',
-          'efc__id',
-          'efc__island',
-          'efc__jtdaj_adr',
-          'efc__jtdaj_nblock',
-          'efc__jtdaj_nrow',
-          'efc__margin',
-          'efc__pos',
-          'efc__state',
-          'efc__type',
-          'efc__vel',
-          'efc_islandid',
-          'energy',
-          'eq_active',
-          'eq_data',
-          'eq_solimp',
-          'eq_solref',
-          'face_quat',
-          'face_xpos',
-          'flex_aabb_max',
-          'flex_aabb_min',
-          'flexedge_J',
-          'flexedge_length',
-          'flexedge_velocity',
-          'flexnode_xpos',
-          'flexvert_xpos',
-          'geom_aabb',
-          'geom_friction',
-          'geom_gap',
-          'geom_margin',
-          'geom_matid',
-          'geom_pos',
-          'geom_quat',
-          'geom_rbound',
-          'geom_rgba',
-          'geom_size',
-          'geom_solimp',
-          'geom_solmix',
-          'geom_solref',
-          'geom_xmat',
-          'geom_xpos',
-          'hfield_data',
-          'history',
-          'island_dofadr',
-          'island_idofadr',
-          'island_iefcadr',
-          'island_ne',
-          'island_nefc',
-          'island_nf',
-          'island_nv',
-          'jnt_actfrcrange',
-          'jnt_axis',
-          'jnt_margin',
-          'jnt_pos',
-          'jnt_range',
-          'jnt_solimp',
-          'jnt_solref',
-          'jnt_stiffness',
-          'jnt_stiffnesspoly',
-          'light_dir',
-          'light_dir0',
-          'light_pos',
-          'light_pos0',
-          'light_poscom0',
-          'light_xdir',
-          'light_xpos',
-          'map_dof2idof',
-          'map_efc2iefc',
-          'map_idof2dof',
-          'map_iefc2efc',
-          'mat_rgba',
-          'mocap_pos',
-          'mocap_quat',
-          'moment_colind',
-          'moment_rowadr',
-          'moment_rownnz',
-          'nacon',
-          'nbody_awake',
-          'ncdof',
-          'ncollision',
-          'ne',
-          'nefc',
-          'nf',
-          'nidof',
-          'nisland',
-          'nl',
-          'ntree_awake',
-          'nv_awake',
-          'opt__ccd_tolerance',
-          'opt__density',
-          'opt__gravity',
-          'opt__impratio_invsqrt',
-          'opt__ls_tolerance',
-          'opt__magnetic',
-          'opt__timestep',
-          'opt__tolerance',
-          'opt__viscosity',
-          'opt__wind',
-          'overflow',
-          'pair_friction',
-          'pair_gap',
-          'pair_margin',
-          'pair_solimp',
-          'pair_solref',
-          'pair_solreffriction',
-          'qLD',
-          'qLDiagInv',
-          'qacc',
-          'qacc_smooth',
-          'qacc_warmstart',
-          'qfrc_actuator',
-          'qfrc_applied',
-          'qfrc_bias',
-          'qfrc_constraint',
-          'qfrc_damper',
-          'qfrc_fluid',
-          'qfrc_gravcomp',
-          'qfrc_passive',
-          'qfrc_smooth',
-          'qfrc_spring',
-          'qpos',
-          'qpos0',
-          'qpos_spring',
-          'qvel',
-          'sensordata',
-          'site_pos',
-          'site_quat',
-          'site_xmat',
-          'site_xpos',
-          'solver_niter',
-          'subtree_angmom',
-          'subtree_com',
-          'subtree_linvel',
-          'ten_J',
-          'ten_length',
-          'ten_velocity',
-          'ten_wrapadr',
-          'ten_wrapnum',
-          'tendon_actfrcrange',
-          'tendon_armature',
-          'tendon_damping',
-          'tendon_dampingpoly',
-          'tendon_frictionloss',
-          'tendon_invweight0',
-          'tendon_length0',
-          'tendon_lengthspring',
-          'tendon_margin',
-          'tendon_range',
-          'tendon_solimp_fri',
-          'tendon_solimp_lim',
-          'tendon_solref_fri',
-          'tendon_solref_lim',
-          'tendon_stiffness',
-          'tendon_stiffnesspoly',
-          'time',
-          'tree_asleep',
-          'tree_awake',
-          'tree_island',
-          'wrap_obj',
-          'wrap_xpos',
-          'xanchor',
-          'xaxis',
-          'xfrc_applied',
-          'ximat',
-          'xipos',
-          'xmat',
-          'xpos',
-          'xquat',
-      ]),
-      stage_out_argnames=set([
-          'M',
-          'act_dot',
-          'actuator_force',
-          'actuator_length',
-          'actuator_moment',
-          'actuator_velocity',
-          'body_awake',
-          'body_awake_ind',
-          'cJ',
-          'cM',
-          'cacc',
-          'cam_xmat',
-          'cam_xpos',
-          'cdof',
-          'cdof_dof',
-          'cdof_dot',
-          'cfrc_ext',
-          'cfrc_int',
-          'cinert',
-          'contact__dim',
-          'contact__dist',
-          'contact__efc_address',
-          'contact__elem',
-          'contact__flex',
-          'contact__frame',
-          'contact__friction',
-          'contact__geom',
-          'contact__geomcollisionid',
-          'contact__includemargin',
-          'contact__pos',
-          'contact__solimp',
-          'contact__solref',
-          'contact__solreffriction',
-          'contact__type',
-          'contact__vert',
-          'contact__worldid',
-          'cqLD',
-          'cqacc_smooth',
-          'cqacc_warmstart',
-          'cqfrc_smooth',
-          'crb',
-          'crhs',
-          'cvel',
-          'cx',
-          'dof_awake_ind',
-          'dof_cdof',
-          'dof_island',
-          'dof_islandid',
-          'efc__D',
-          'efc__J',
-          'efc__J_colind',
-          'efc__J_rowadr',
-          'efc__J_rownnz',
-          'efc__Jqvel',
-          'efc__Ma',
-          'efc__aref',
-          'efc__force',
-          'efc__frictionloss',
-          'efc__id',
-          'efc__island',
-          'efc__jtdaj_adr',
-          'efc__jtdaj_nblock',
-          'efc__jtdaj_nrow',
-          'efc__margin',
-          'efc__pos',
-          'efc__state',
-          'efc__type',
-          'efc__vel',
-          'efc_islandid',
-          'energy',
-          'face_quat',
-          'face_xpos',
-          'flex_aabb_max',
-          'flex_aabb_min',
-          'flexedge_J',
-          'flexedge_length',
-          'flexedge_velocity',
-          'flexnode_xpos',
-          'flexvert_xpos',
-          'geom_xmat',
-          'geom_xpos',
-          'history',
-          'island_dofadr',
-          'island_idofadr',
-          'island_iefcadr',
-          'island_ne',
-          'island_nefc',
-          'island_nf',
-          'island_nv',
-          'light_xdir',
-          'light_xpos',
-          'map_dof2idof',
-          'map_efc2iefc',
-          'map_idof2dof',
-          'map_iefc2efc',
-          'moment_colind',
-          'moment_rowadr',
-          'moment_rownnz',
-          'nacon',
-          'nbody_awake',
-          'ncdof',
-          'ncollision',
-          'ne',
-          'nefc',
-          'nf',
-          'nidof',
-          'nisland',
-          'nl',
-          'ntree_awake',
-          'nv_awake',
-          'overflow',
-          'qLD',
-          'qLDiagInv',
-          'qacc',
-          'qacc_smooth',
-          'qfrc_actuator',
-          'qfrc_bias',
-          'qfrc_constraint',
-          'qfrc_damper',
-          'qfrc_fluid',
-          'qfrc_gravcomp',
-          'qfrc_passive',
-          'qfrc_smooth',
-          'qfrc_spring',
-          'qvel',
-          'sensordata',
-          'site_xmat',
-          'site_xpos',
-          'solver_niter',
-          'subtree_angmom',
-          'subtree_com',
-          'subtree_linvel',
-          'ten_J',
-          'ten_length',
-          'ten_velocity',
-          'ten_wrapadr',
-          'ten_wrapnum',
-          'tree_asleep',
-          'tree_awake',
-          'tree_island',
-          'wrap_obj',
-          'wrap_xpos',
-          'xanchor',
-          'xaxis',
-          'ximat',
-          'xipos',
-          'xmat',
-          'xpos',
-          'xquat',
-      ]),
-      graph_mode=m.opt._impl.graph_mode,
-      has_side_effect=False,
-  )
-  out = jf(
-      d.qpos.shape[0],
-      m.M_colind,
-      m._impl.M_elemid,
-      m._impl.M_hinit_i,
-      m._impl.M_mulm_col,
-      m._impl.M_mulm_madr,
-      m._impl.M_mulm_rowadr,
-      m.M_rowadr,
-      m.M_rownnz,
-      m._impl.M_tiles,
-      m.actuator_acc0,
-      m.actuator_actadr,
-      m.actuator_actearly,
-      m.actuator_actlimited,
-      m.actuator_actnum,
-      m.actuator_actrange,
-      m.actuator_biasprm,
-      m.actuator_biastype,
-      m.actuator_cranklength,
-      m.actuator_ctrllimited,
-      m.actuator_ctrlrange,
-      m._impl.actuator_delay,
-      m.actuator_dynprm,
-      m.actuator_dyntype,
-      m.actuator_forcelimited,
-      m.actuator_forcerange,
-      m.actuator_gainprm,
-      m.actuator_gaintype,
-      m.actuator_gear,
-      m._impl.actuator_history,
-      m._impl.actuator_historyadr,
-      m.actuator_lengthrange,
-      m.actuator_trnid,
-      m.actuator_trntype,
-      m._impl.actuator_trntype_body_adr,
-      m._impl.block_dim,
-      m._impl.body_branch_start,
-      m._impl.body_branches,
-      m.body_dofadr,
-      m.body_dofnum,
-      m._impl.body_fluid_ellipsoid,
-      m.body_geomadr,
-      m.body_geomnum,
-      m.body_gravcomp,
-      m.body_inertia,
-      m.body_invweight0,
-      m.body_ipos,
-      m.body_iquat,
-      m._impl.body_isdofancestor,
-      m.body_jntadr,
-      m.body_jntnum,
-      m.body_mass,
-      m.body_mocapid,
-      m.body_parentid,
-      m.body_pos,
-      m.body_quat,
-      m.body_rootid,
-      m.body_simple,
-      m.body_subtreemass,
-      m._impl.body_tree,
-      m.body_treeid,
-      m.body_weldid,
-      m.cam_bodyid,
-      m.cam_fovy,
-      m.cam_intrinsic,
-      m.cam_mat0,
-      m.cam_mode,
-      m.cam_pos,
-      m.cam_pos0,
-      m.cam_poscom0,
-      m.cam_quat,
-      m.cam_resolution,
-      m.cam_sensorsize,
-      m.cam_targetbodyid,
-      m.dof_armature,
-      m.dof_bodyid,
-      m.dof_damping,
-      m.dof_dampingpoly,
-      m.dof_frictionloss,
-      m.dof_invweight0,
-      m.dof_jntid,
-      m._impl.dof_length,
-      m.dof_parentid,
-      m.dof_solimp,
-      m.dof_solref,
-      m.dof_treeid,
-      m._impl.dof_tri_col,
-      m._impl.dof_tri_row,
-      m._impl.eq_connect_adr,
-      m.eq_data,
-      m._impl.eq_flex_adr,
-      m._impl.eq_flexstrain_adr,
-      m._impl.eq_jnt_adr,
-      m.eq_obj1id,
-      m.eq_obj2id,
-      m.eq_objtype,
-      m.eq_solimp,
-      m.eq_solref,
-      m._impl.eq_ten_adr,
-      m.eq_type,
-      m._impl.eq_wld_adr,
-      m._impl.flex_bend_interp_map,
-      m._impl.flex_bending,
-      m._impl.flex_bendingadr,
-      m._impl.flex_cell_map,
-      m._impl.flex_cellnum,
-      m._impl.flex_centered,
-      m._impl.flex_conaffinity,
-      m._impl.flex_condim,
-      m._impl.flex_contype,
-      m._impl.flex_damping,
-      m._impl.flex_dim,
-      m._impl.flex_edge,
-      m._impl.flex_edgeadr,
-      m._impl.flex_edgeequality,
-      m._impl.flex_edgeflap,
-      m._impl.flex_edgenum,
-      m._impl.flex_elem,
-      m._impl.flex_elemadr,
-      m._impl.flex_elemdataadr,
-      m._impl.flex_elemedge,
-      m._impl.flex_elemedgeadr,
-      m._impl.flex_elemflexid,
-      m._impl.flex_elemnum,
-      m._impl.flex_evpair,
-      m._impl.flex_evpairadr,
-      m._impl.flex_evpairflexid,
-      m._impl.flex_evpairnum,
-      m._impl.flex_face,
-      m._impl.flex_face_map,
-      m._impl.flex_faceadr,
-      m._impl.flex_friction,
-      m._impl.flex_gap,
-      m._impl.flex_internal,
-      m.flex_interp,
-      m._impl.flex_margin,
-      m._impl.flex_node,
-      m.flex_node0,
-      m.flex_nodeadr,
-      m.flex_nodebodyid,
-      m.flex_nodenum,
-      m._impl.flex_priority,
-      m._impl.flex_radius,
-      m._impl.flex_selfcollide,
-      m._impl.flex_shell,
-      m._impl.flex_shelldataadr,
-      m._impl.flex_solimp,
-      m._impl.flex_solmix,
-      m._impl.flex_solref,
-      m._impl.flex_stiffness,
-      m._impl.flex_stiffnessadr,
-      m._impl.flex_vert,
-      m.flex_vert0,
-      m.flex_vertadr,
-      m._impl.flex_vertbodyid,
-      m._impl.flex_vertflexid,
-      m.flex_vertnum,
-      m._impl.flexedge_J_colind,
-      m._impl.flexedge_J_rowadr,
-      m._impl.flexedge_J_rownnz,
-      m._impl.flexedge_invweight0,
-      m._impl.flexedge_length0,
-      m._impl.flexelem_geom_pair_filtered,
-      m._impl.flexstrain_J_colind,
-      m._impl.flexstrain_J_rowadr,
-      m._impl.flexstrain_J_rownnz,
-      m._impl.flexvert_geom_pair_filtered,
-      m.geom_aabb,
-      m.geom_bodyid,
-      m.geom_conaffinity,
-      m.geom_condim,
-      m.geom_contype,
-      jax.numpy.expand_dims(m.geom_dataid, 0),
-      m.geom_fluid,
-      m.geom_friction,
-      m.geom_gap,
-      m.geom_group,
-      m.geom_margin,
-      m.geom_matid,
-      m._impl.geom_pair_type_count,
-      m._impl.geom_plugin_index,
-      m.geom_pos,
-      m.geom_priority,
-      m.geom_quat,
-      m.geom_rbound,
-      m.geom_rgba,
-      m.geom_size,
-      m.geom_solimp,
-      m.geom_solmix,
-      m.geom_solref,
-      m.geom_type,
-      m._impl.has_3d_flex,
-      m._impl.has_ellipsoid_geom,
-      m._impl.has_flex_selfcollide,
-      m._impl.has_fluid,
-      m._impl.has_sdf_geom,
-      m.hfield_adr,
-      m.hfield_data,
-      m.hfield_ncol,
-      m.hfield_nrow,
-      m.hfield_size,
-      m._impl.is_sparse,
-      m.jnt_actfrclimited,
-      m.jnt_actfrcrange,
-      m.jnt_actgravcomp,
-      m.jnt_axis,
-      m.jnt_bodyid,
-      m.jnt_dofadr,
-      m._impl.jnt_limited_ball_adr,
-      m._impl.jnt_limited_slide_hinge_adr,
-      m.jnt_margin,
-      m.jnt_pos,
-      m.jnt_qposadr,
-      m.jnt_range,
-      m.jnt_solimp,
-      m.jnt_solref,
-      m.jnt_stiffness,
-      m.jnt_stiffnesspoly,
-      m.jnt_type,
-      m._impl.light_bodyid,
-      m.light_dir,
-      m.light_dir0,
-      m.light_mode,
-      m.light_pos,
-      m.light_pos0,
-      m.light_poscom0,
-      m._impl.light_targetbodyid,
-      m.mat_rgba,
-      m._impl.max_flex_dim,
-      m._impl.max_ten_J_rownnz,
-      m.mesh_face,
-      m.mesh_faceadr,
-      m.mesh_graph,
-      m.mesh_graphadr,
-      m.mesh_normal,
-      m.mesh_normaladr,
-      m.mesh_normalnum,
-      m.mesh_octadr,
-      m._impl.mesh_polyadr,
-      m._impl.mesh_polymap,
-      m._impl.mesh_polymapadr,
-      m._impl.mesh_polymapnum,
-      m._impl.mesh_polynormal,
-      m._impl.mesh_polynum,
-      m._impl.mesh_polyvert,
-      m._impl.mesh_polyvertadr,
-      m._impl.mesh_polyvertnum,
-      m.mesh_pos,
-      m.mesh_quat,
-      m.mesh_vert,
-      m.mesh_vertadr,
-      m.mesh_vertnum,
-      m.nJten,
-      m.na,
-      m._impl.nacttrnbody,
-      m.nbody,
-      m._impl.nbranch,
-      m.ncam,
-      m.neq,
-      m.nflex,
-      m._impl.nflexbend_interp,
-      m._impl.nflexedge,
-      m._impl.nflexelem,
-      m._impl.nflexevpair,
-      m._impl.nflexface,
-      m._impl.nflexintcell,
-      m._impl.nflexnode,
-      m._impl.nflexvert,
-      m.ngeom,
-      m.nhistory,
-      m.njnt,
-      m.nlight,
-      m._impl.nmaxcondim,
-      m._impl.nmaxmeshdeg,
-      m._impl.nmaxpolygon,
-      m._impl.nmaxpyramid,
-      m.nmesh,
-      m.nmeshface,
-      m._impl.nrangefinder,
-      m._impl.nsensorcollision,
-      m._impl.nsensorcontact,
-      m._impl.nsensortaxel,
-      m.nsite,
-      m.ntendon,
-      m._impl.ntree,
-      m.nu,
-      m.nv,
-      m._impl.nv_pad,
-      m.nwrap,
-      m._impl.nxn_geom_pair_filtered,
-      m._impl.nxn_pairid,
-      m._impl.nxn_pairid_filtered,
-      m._impl.oct_aabb,
-      m._impl.oct_child,
-      m._impl.oct_coeff,
-      m.pair_dim,
-      m.pair_friction,
-      m.pair_gap,
-      m.pair_margin,
-      m.pair_solimp,
-      m.pair_solref,
-      m.pair_solreffriction,
-      m._impl.plugin,
-      m._impl.plugin_attr,
-      m._impl.qLD_all_updates,
-      m._impl.qLD_block_adr,
-      m._impl.qLD_block_total,
-      m._impl.qLD_level_offsets,
-      m._impl.qLD_updates,
-      m.qpos0,
-      m.qpos_spring,
-      m._impl.rangefinder_sensor_adr,
-      m._impl.sensor_acc_adr,
-      m.sensor_adr,
-      m._impl.sensor_adr_to_contact_adr,
-      m._impl.sensor_contact_adr,
-      m.sensor_cutoff,
-      m.sensor_datatype,
-      m._impl.sensor_delay,
-      m.sensor_dim,
-      m._impl.sensor_e_kinetic,
-      m._impl.sensor_e_potential,
-      m._impl.sensor_history,
-      m._impl.sensor_historyadr,
-      m._impl.sensor_interval,
-      m.sensor_intprm,
-      m._impl.sensor_limitfrc_adr,
-      m._impl.sensor_limitpos_adr,
-      m._impl.sensor_limitvel_adr,
-      m.sensor_objid,
-      m.sensor_objtype,
-      m._impl.sensor_pos_adr,
-      m._impl.sensor_rangefinder_adr,
-      m._impl.sensor_rangefinder_bodyid,
-      m.sensor_refid,
-      m.sensor_reftype,
-      m._impl.sensor_rne_postconstraint,
-      m._impl.sensor_subtree_vel,
-      m._impl.sensor_tendonactfrc_adr,
-      m._impl.sensor_touch_adr,
-      m.sensor_type,
-      m._impl.sensor_vel_adr,
-      m.site_bodyid,
-      m.site_pos,
-      m.site_quat,
-      m.site_size,
-      m.site_type,
-      m._impl.taxel_sensorid,
-      m._impl.taxel_vertadr,
-      m._impl.ten_J_colind,
-      m._impl.ten_J_rowadr,
-      m._impl.ten_J_rownnz,
-      m.tendon_actfrclimited,
-      m.tendon_actfrcrange,
-      m.tendon_adr,
-      m.tendon_armature,
-      m.tendon_damping,
-      m.tendon_dampingpoly,
-      m.tendon_frictionloss,
-      m._impl.tendon_geom_adr,
-      m.tendon_invweight0,
-      m._impl.tendon_jnt_adr,
-      m.tendon_length0,
-      m.tendon_lengthspring,
-      m.tendon_limited,
-      m._impl.tendon_limited_adr,
-      m.tendon_margin,
-      m.tendon_num,
-      m.tendon_range,
-      m._impl.tendon_site_pair_adr,
-      m.tendon_solimp_fri,
-      m.tendon_solimp_lim,
-      m.tendon_solref_fri,
-      m.tendon_solref_lim,
-      m.tendon_stiffness,
-      m.tendon_stiffnesspoly,
-      m._impl.tree_dofadr,
-      m._impl.tree_dofnum,
-      m._impl.tree_sleep_policy,
-      m._impl.wrap_geom_adr,
-      m._impl.wrap_jnt_adr,
-      m.wrap_objid,
-      m.wrap_prm,
-      m._impl.wrap_pulley_scale,
-      m._impl.wrap_site_pair_adr,
-      m.wrap_type,
-      m.opt._impl.broadphase,
-      m.opt._impl.broadphase_filter,
-      m.opt._impl.ccd_iterations,
-      m.opt._impl.ccd_tolerance,
-      m.opt.cone,
-      m.opt._impl.contact_sensor_maxmatch,
-      m.opt.density,
-      m.opt.disableflags,
-      m.opt.enableflags,
-      m.opt._impl.graph_conditional,
-      m.opt.gravity,
-      m.opt._impl.impratio_invsqrt,
-      m.opt.iterations,
-      m.opt.ls_iterations,
-      m.opt.ls_tolerance,
-      m.opt.magnetic,
-      m.opt._impl.run_collision_detection,
-      m.opt._impl.sdf_initpoints,
-      m.opt._impl.sdf_iterations,
-      m.opt.solver,
-      m.opt.timestep,
-      m.opt.tolerance,
-      m.opt.viscosity,
-      m.opt._impl.warn_overflow,
-      m.opt.wind,
-      m.stat.meaninertia,
-      d._impl.naccdmax,
-      d._impl.naconmax,
-      d._impl.njmax,
-      d._impl.njmax_nnz,
-      d._impl.nvmax,
-      d._impl.nvmax_pad,
-      d._impl.M,
-      d.act,
-      d.act_dot,
-      d.actuator_force,
-      d.actuator_length,
-      d._impl.actuator_moment,
-      d._impl.actuator_velocity,
-      d._impl.body_awake,
-      d._impl.body_awake_ind,
-      d._impl.cJ,
-      d._impl.cM,
-      d._impl.cMa,
-      d._impl.cacc,
-      d.cam_xmat,
-      d.cam_xpos,
-      d.cdof,
-      d._impl.cdof_dof,
-      d.cdof_dot,
-      d._impl.cdof_tri_col,
-      d._impl.cdof_tri_row,
-      d._impl.cfrc_ext,
-      d._impl.cfrc_int,
-      d._impl.cinert,
-      d._impl.cls_tol,
-      d._impl.cqLD,
-      d._impl.cqacc,
-      d._impl.cqacc_smooth,
-      d._impl.cqacc_warmstart,
-      d._impl.cqfrc_constraint,
-      d._impl.cqfrc_smooth,
-      d._impl.crb,
-      d._impl.crhs,
-      d._impl.ctol,
-      d.ctrl,
-      d.cvel,
-      d._impl.cx,
-      d._impl.dof_awake_ind,
-      d._impl.dof_cdof,
-      d._impl.dof_island,
-      d._impl.dof_islandid,
-      d._impl.efc_islandid,
-      d._impl.energy,
-      d.eq_active,
-      d._impl.face_quat,
-      d._impl.face_xpos,
-      d._impl.flex_aabb_max,
-      d._impl.flex_aabb_min,
-      d._impl.flexedge_J,
-      d._impl.flexedge_length,
-      d._impl.flexedge_velocity,
-      d._impl.flexnode_xpos,
-      d._impl.flexvert_xpos,
-      d.geom_xmat,
-      d.geom_xpos,
-      d.history,
-      d._impl.island_dofadr,
-      d._impl.island_idofadr,
-      d._impl.island_iefcadr,
-      d._impl.island_ne,
-      d._impl.island_nefc,
-      d._impl.island_nf,
-      d._impl.island_nv,
-      d._impl.light_xdir,
-      d._impl.light_xpos,
-      d._impl.map_dof2idof,
-      d._impl.map_efc2iefc,
-      d._impl.map_idof2dof,
-      d._impl.map_iefc2efc,
-      d.mocap_pos,
-      d.mocap_quat,
-      d._impl.moment_colind,
-      d._impl.moment_rowadr,
-      d._impl.moment_rownnz,
-      d._impl.nacon,
-      d._impl.nbody_awake,
-      d._impl.ncdof,
-      d._impl.ncollision,
-      d._impl.ne,
-      d._impl.nefc,
-      d._impl.nf,
-      d._impl.nidof,
-      d._impl.nisland,
-      d._impl.nl,
-      d._impl.ntree_awake,
-      d._impl.nv_awake,
-      d._impl.overflow,
-      d._impl.qLD,
-      d._impl.qLDiagInv,
-      d.qacc,
-      d.qacc_smooth,
-      d.qacc_warmstart,
-      d.qfrc_actuator,
-      d.qfrc_applied,
-      d.qfrc_bias,
-      d.qfrc_constraint,
-      d._impl.qfrc_damper,
-      d.qfrc_fluid,
-      d.qfrc_gravcomp,
-      d.qfrc_passive,
-      d.qfrc_smooth,
-      d._impl.qfrc_spring,
-      d.qpos,
-      d.qvel,
-      d.sensordata,
-      d.site_xmat,
-      d.site_xpos,
-      d._impl.solver_niter,
-      d._impl.subtree_angmom,
-      d.subtree_com,
-      d._impl.subtree_linvel,
-      d._impl.ten_J,
-      d.ten_length,
-      d._impl.ten_velocity,
-      d._impl.ten_wrapadr,
-      d._impl.ten_wrapnum,
-      d.time,
-      d._impl.tree_asleep,
-      d._impl.tree_awake,
-      d._impl.tree_island,
-      d._impl.wrap_obj,
-      d._impl.wrap_xpos,
-      d.xanchor,
-      d.xaxis,
-      d.xfrc_applied,
-      d.ximat,
-      d.xipos,
-      d.xmat,
-      d.xpos,
-      d.xquat,
-      d._impl.contact__dim,
-      d._impl.contact__dist,
-      d._impl.contact__efc_address,
-      d._impl.contact__elem,
-      d._impl.contact__flex,
-      d._impl.contact__frame,
-      d._impl.contact__friction,
-      d._impl.contact__geom,
-      d._impl.contact__geomcollisionid,
-      d._impl.contact__includemargin,
-      d._impl.contact__pos,
-      d._impl.contact__solimp,
-      d._impl.contact__solref,
-      d._impl.contact__solreffriction,
-      d._impl.contact__type,
-      d._impl.contact__vert,
-      d._impl.contact__worldid,
-      d._impl.efc__D,
-      d._impl.efc__J,
-      d._impl.efc__J_colind,
-      d._impl.efc__J_rowadr,
-      d._impl.efc__J_rownnz,
-      d._impl.efc__Jqvel,
-      d._impl.efc__Ma,
-      d._impl.efc__aref,
-      d._impl.efc__force,
-      d._impl.efc__frictionloss,
-      d._impl.efc__id,
-      d._impl.efc__island,
-      d._impl.efc__jtdaj_adr,
-      d._impl.efc__jtdaj_nblock,
-      d._impl.efc__jtdaj_nrow,
-      d._impl.efc__margin,
-      d._impl.efc__pos,
-      d._impl.efc__state,
-      d._impl.efc__type,
-      d._impl.efc__vel,
-  )
-  d = d.tree_replace({
-      '_impl.M': out[0],
-      'act_dot': out[1],
-      'actuator_force': out[2],
-      'actuator_length': out[3],
-      '_impl.actuator_moment': out[4],
-      '_impl.actuator_velocity': out[5],
-      '_impl.body_awake': out[6],
-      '_impl.body_awake_ind': out[7],
-      '_impl.cJ': out[8],
-      '_impl.cM': out[9],
-      '_impl.cacc': out[10],
-      'cam_xmat': out[11],
-      'cam_xpos': out[12],
-      'cdof': out[13],
-      '_impl.cdof_dof': out[14],
-      'cdof_dot': out[15],
-      '_impl.cfrc_ext': out[16],
-      '_impl.cfrc_int': out[17],
-      '_impl.cinert': out[18],
-      '_impl.cqLD': out[19],
-      '_impl.cqacc_smooth': out[20],
-      '_impl.cqacc_warmstart': out[21],
-      '_impl.cqfrc_smooth': out[22],
-      '_impl.crb': out[23],
-      '_impl.crhs': out[24],
-      'cvel': out[25],
-      '_impl.cx': out[26],
-      '_impl.dof_awake_ind': out[27],
-      '_impl.dof_cdof': out[28],
-      '_impl.dof_island': out[29],
-      '_impl.dof_islandid': out[30],
-      '_impl.efc_islandid': out[31],
-      '_impl.energy': out[32],
-      '_impl.face_quat': out[33],
-      '_impl.face_xpos': out[34],
-      '_impl.flex_aabb_max': out[35],
-      '_impl.flex_aabb_min': out[36],
-      '_impl.flexedge_J': out[37],
-      '_impl.flexedge_length': out[38],
-      '_impl.flexedge_velocity': out[39],
-      '_impl.flexnode_xpos': out[40],
-      '_impl.flexvert_xpos': out[41],
-      'geom_xmat': out[42],
-      'geom_xpos': out[43],
-      'history': out[44],
-      '_impl.island_dofadr': out[45],
-      '_impl.island_idofadr': out[46],
-      '_impl.island_iefcadr': out[47],
-      '_impl.island_ne': out[48],
-      '_impl.island_nefc': out[49],
-      '_impl.island_nf': out[50],
-      '_impl.island_nv': out[51],
-      '_impl.light_xdir': out[52],
-      '_impl.light_xpos': out[53],
-      '_impl.map_dof2idof': out[54],
-      '_impl.map_efc2iefc': out[55],
-      '_impl.map_idof2dof': out[56],
-      '_impl.map_iefc2efc': out[57],
-      '_impl.moment_colind': out[58],
-      '_impl.moment_rowadr': out[59],
-      '_impl.moment_rownnz': out[60],
-      '_impl.nacon': out[61],
-      '_impl.nbody_awake': out[62],
-      '_impl.ncdof': out[63],
-      '_impl.ncollision': out[64],
-      '_impl.ne': out[65],
-      '_impl.nefc': out[66],
-      '_impl.nf': out[67],
-      '_impl.nidof': out[68],
-      '_impl.nisland': out[69],
-      '_impl.nl': out[70],
-      '_impl.ntree_awake': out[71],
-      '_impl.nv_awake': out[72],
-      '_impl.overflow': out[73],
-      '_impl.qLD': out[74],
-      '_impl.qLDiagInv': out[75],
-      'qacc': out[76],
-      'qacc_smooth': out[77],
-      'qfrc_actuator': out[78],
-      'qfrc_bias': out[79],
-      'qfrc_constraint': out[80],
-      '_impl.qfrc_damper': out[81],
-      'qfrc_fluid': out[82],
-      'qfrc_gravcomp': out[83],
-      'qfrc_passive': out[84],
-      'qfrc_smooth': out[85],
-      '_impl.qfrc_spring': out[86],
-      'qvel': out[87],
-      'sensordata': out[88],
-      'site_xmat': out[89],
-      'site_xpos': out[90],
-      '_impl.solver_niter': out[91],
-      '_impl.subtree_angmom': out[92],
-      'subtree_com': out[93],
-      '_impl.subtree_linvel': out[94],
-      '_impl.ten_J': out[95],
-      'ten_length': out[96],
-      '_impl.ten_velocity': out[97],
-      '_impl.ten_wrapadr': out[98],
-      '_impl.ten_wrapnum': out[99],
-      '_impl.tree_asleep': out[100],
-      '_impl.tree_awake': out[101],
-      '_impl.tree_island': out[102],
-      '_impl.wrap_obj': out[103],
-      '_impl.wrap_xpos': out[104],
-      'xanchor': out[105],
-      'xaxis': out[106],
-      'ximat': out[107],
-      'xipos': out[108],
-      'xmat': out[109],
-      'xpos': out[110],
-      'xquat': out[111],
-      '_impl.contact__dim': out[112],
-      '_impl.contact__dist': out[113],
-      '_impl.contact__efc_address': out[114],
-      '_impl.contact__elem': out[115],
-      '_impl.contact__flex': out[116],
-      '_impl.contact__frame': out[117],
-      '_impl.contact__friction': out[118],
-      '_impl.contact__geom': out[119],
-      '_impl.contact__geomcollisionid': out[120],
-      '_impl.contact__includemargin': out[121],
-      '_impl.contact__pos': out[122],
-      '_impl.contact__solimp': out[123],
-      '_impl.contact__solref': out[124],
-      '_impl.contact__solreffriction': out[125],
-      '_impl.contact__type': out[126],
-      '_impl.contact__vert': out[127],
-      '_impl.contact__worldid': out[128],
-      '_impl.efc__D': out[129],
-      '_impl.efc__J': out[130],
-      '_impl.efc__J_colind': out[131],
-      '_impl.efc__J_rowadr': out[132],
-      '_impl.efc__J_rownnz': out[133],
-      '_impl.efc__Jqvel': out[134],
-      '_impl.efc__Ma': out[135],
-      '_impl.efc__aref': out[136],
-      '_impl.efc__force': out[137],
-      '_impl.efc__frictionloss': out[138],
-      '_impl.efc__id': out[139],
-      '_impl.efc__island': out[140],
-      '_impl.efc__jtdaj_adr': out[141],
-      '_impl.efc__jtdaj_nblock': out[142],
-      '_impl.efc__jtdaj_nrow': out[143],
-      '_impl.efc__margin': out[144],
-      '_impl.efc__pos': out[145],
-      '_impl.efc__state': out[146],
-      '_impl.efc__type': out[147],
-      '_impl.efc__vel': out[148],
-  })
-  return d
-
-
-@jax.custom_batching.custom_vmap
-@ffi.marshal_jax_warp_callable
-def forward(m: types.Model, d: types.Data):
-  return _forward_jax_impl(m, d)
-
-
-@forward.def_vmap
-@ffi.marshal_custom_vmap
-def forward_vmap(unused_axis_size, is_batched, m: types.Model, d: types.Data):
-  d = forward(m, d)
-  return d, is_batched[1]
-
-
-@ffi.format_args_for_warp
-def _step_shim(
-    # Model
-    nworld: int,
-    D_colind: wp.array[int],
-    D_diag: wp.array[int],
-    D_rowadr: wp.array[int],
-    D_rownnz: wp.array[int],
-    M_colind: wp.array[int],
-    M_elemid: wp.array2d[int],
-    M_fullm_i: wp.array[int],
-    M_fullm_j: wp.array[int],
-    M_hinit_i: wp.array[int],
-    M_mulm_col: wp.array[int],
-    M_mulm_madr: wp.array[int],
-    M_mulm_rowadr: wp.array[int],
-    M_rowadr: wp.array[int],
-    M_rownnz: wp.array[int],
-    M_tiles: tuple[mjwp_types.TileSet, ...],
-    actuator_acc0: wp.array2d[float],
-    actuator_actadr: wp.array[int],
-    actuator_actearly: wp.array[bool],
-    actuator_actlimited: wp.array[bool],
-    actuator_actnum: wp.array[int],
-    actuator_actrange: wp.array2d[wp.vec2],
-    actuator_biasprm: wp.array2d[mjwp_types.vec10],
-    actuator_biastype: wp.array[int],
-    actuator_cranklength: wp.array2d[float],
-    actuator_ctrllimited: wp.array[bool],
-    actuator_ctrlrange: wp.array2d[wp.vec2],
-    actuator_delay: wp.array[float],
-    actuator_dynprm: wp.array2d[mjwp_types.vec10],
-    actuator_dyntype: wp.array[int],
-    actuator_forcelimited: wp.array[bool],
-    actuator_forcerange: wp.array2d[wp.vec2],
-    actuator_gainprm: wp.array2d[mjwp_types.vec10],
-    actuator_gaintype: wp.array[int],
-    actuator_gear: wp.array2d[wp.spatial_vector],
-    actuator_history: wp.array[wp.vec2i],
-    actuator_historyadr: wp.array[int],
-    actuator_lengthrange: wp.array2d[wp.vec2],
-    actuator_trnid: wp.array[wp.vec2i],
-    actuator_trntype: wp.array[int],
-    actuator_trntype_body_adr: wp.array[int],
-    block_dim: mjwp_types.BlockDim,
-    body_branch_start: wp.array[int],
-    body_branches: wp.array[int],
-    body_dofadr: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_fluid_box_adr: wp.array[int],
-    body_fluid_ellipsoid: wp.array[bool],
-    body_fluid_ellipsoid_adr: wp.array[int],
-    body_geomadr: wp.array[int],
-    body_geomnum: wp.array[int],
-    body_gravcomp: wp.array2d[float],
-    body_inertia: wp.array2d[wp.vec3],
-    body_invweight0: wp.array2d[wp.vec2],
-    body_ipos: wp.array2d[wp.vec3],
-    body_iquat: wp.array2d[wp.quat],
-    body_isdofancestor: wp.array2d[int],
-    body_jntadr: wp.array[int],
-    body_jntnum: wp.array[int],
-    body_mass: wp.array2d[float],
-    body_mocapid: wp.array[int],
-    body_parentid: wp.array[int],
-    body_pos: wp.array2d[wp.vec3],
-    body_quat: wp.array2d[wp.quat],
-    body_rootid: wp.array[int],
-    body_simple: wp.array[int],
-    body_subtreemass: wp.array2d[float],
-    body_tree: tuple[wp.array[int], ...],
-    body_treeid: wp.array[int],
-    body_weldid: wp.array[int],
-    cam_bodyid: wp.array[int],
-    cam_fovy: wp.array2d[float],
-    cam_intrinsic: wp.array2d[wp.vec4],
-    cam_mat0: wp.array2d[wp.mat33],
-    cam_mode: wp.array[int],
-    cam_pos: wp.array2d[wp.vec3],
-    cam_pos0: wp.array2d[wp.vec3],
-    cam_poscom0: wp.array2d[wp.vec3],
-    cam_quat: wp.array2d[wp.quat],
-    cam_resolution: wp.array[wp.vec2i],
-    cam_sensorsize: wp.array[wp.vec2],
-    cam_targetbodyid: wp.array[int],
-    dof_armature: wp.array2d[float],
-    dof_bodyid: wp.array[int],
-    dof_damping: wp.array2d[float],
-    dof_dampingpoly: wp.array2d[wp.vec2],
-    dof_frictionloss: wp.array2d[float],
-    dof_invweight0: wp.array2d[float],
-    dof_jntid: wp.array[int],
-    dof_length: wp.array[float],
-    dof_parentid: wp.array[int],
-    dof_solimp: wp.array2d[mjwp_types.vec5],
-    dof_solref: wp.array2d[wp.vec2],
-    dof_treeid: wp.array[int],
-    dof_tri_col: wp.array[int],
-    dof_tri_row: wp.array[int],
-    eq_connect_adr: wp.array[int],
-    eq_data: wp.array2d[mjwp_types.vec11],
-    eq_flex_adr: wp.array[int],
-    eq_flexstrain_adr: wp.array[int],
-    eq_jnt_adr: wp.array[int],
-    eq_obj1id: wp.array[int],
-    eq_obj2id: wp.array[int],
-    eq_objtype: wp.array[int],
-    eq_solimp: wp.array2d[mjwp_types.vec5],
-    eq_solref: wp.array2d[wp.vec2],
-    eq_ten_adr: wp.array[int],
-    eq_type: wp.array[int],
-    eq_wld_adr: wp.array[int],
-    flex_bend_interp_map: wp.array[wp.vec2i],
-    flex_bending: wp.array[float],
-    flex_bendingadr: wp.array[int],
-    flex_cell_map: wp.array[wp.vec4i],
-    flex_cellnum: wp.array[wp.vec3i],
-    flex_centered: wp.array[bool],
-    flex_conaffinity: wp.array[int],
-    flex_condim: wp.array[int],
-    flex_contype: wp.array[int],
-    flex_damping: wp.array[float],
-    flex_dim: wp.array[int],
-    flex_edge: wp.array[wp.vec2i],
-    flex_edgeadr: wp.array[int],
-    flex_edgeequality: wp.array[int],
-    flex_edgeflap: wp.array[wp.vec2i],
-    flex_edgenum: wp.array[int],
-    flex_elem: wp.array[int],
-    flex_elemadr: wp.array[int],
-    flex_elemdataadr: wp.array[int],
-    flex_elemedge: wp.array[int],
-    flex_elemedgeadr: wp.array[int],
-    flex_elemflexid: wp.array[int],
-    flex_elemnum: wp.array[int],
-    flex_evpair: wp.array[wp.vec2i],
-    flex_evpairadr: wp.array[int],
-    flex_evpairflexid: wp.array[int],
-    flex_evpairnum: wp.array[int],
-    flex_face: wp.array2d[int],
-    flex_face_map: wp.array[wp.vec2i],
-    flex_faceadr: wp.array[int],
-    flex_friction: wp.array[wp.vec3],
-    flex_gap: wp.array[float],
-    flex_internal: wp.array[int],
-    flex_interp: wp.array[int],
-    flex_margin: wp.array[float],
-    flex_node: wp.array[wp.vec3],
-    flex_node0: wp.array[wp.vec3],
-    flex_nodeadr: wp.array[int],
-    flex_nodebodyid: wp.array[int],
-    flex_nodenum: wp.array[int],
-    flex_priority: wp.array[int],
-    flex_radius: wp.array[float],
-    flex_selfcollide: wp.array[int],
-    flex_shell: wp.array[int],
-    flex_shelldataadr: wp.array[int],
-    flex_solimp: wp.array[mjwp_types.vec5],
-    flex_solmix: wp.array[float],
-    flex_solref: wp.array[wp.vec2],
-    flex_stiffness: wp.array[float],
-    flex_stiffnessadr: wp.array[int],
-    flex_vert: wp.array[wp.vec3],
-    flex_vert0: wp.array[wp.vec3],
-    flex_vertadr: wp.array[int],
-    flex_vertbodyid: wp.array[int],
-    flex_vertflexid: wp.array[int],
-    flex_vertnum: wp.array[int],
-    flexedge_J_colind: wp.array[int],
-    flexedge_J_rowadr: wp.array[int],
-    flexedge_J_rownnz: wp.array[int],
-    flexedge_invweight0: wp.array[float],
-    flexedge_length0: wp.array[float],
-    flexelem_geom_pair_filtered: wp.array[wp.vec2i],
-    flexstrain_J_colind: wp.array[int],
-    flexstrain_J_rowadr: wp.array[int],
-    flexstrain_J_rownnz: wp.array[int],
-    flexvert_geom_pair_filtered: wp.array[wp.vec2i],
-    geom_aabb: wp.array3d[wp.vec3],
-    geom_bodyid: wp.array[int],
-    geom_conaffinity: wp.array[int],
-    geom_condim: wp.array[int],
-    geom_contype: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_fluid: wp.array2d[float],
-    geom_friction: wp.array2d[wp.vec3],
-    geom_gap: wp.array2d[float],
-    geom_group: wp.array[int],
-    geom_margin: wp.array2d[float],
-    geom_matid: wp.array2d[int],
-    geom_pair_type_count: tuple[int, ...],
-    geom_plugin_index: wp.array[int],
-    geom_pos: wp.array2d[wp.vec3],
-    geom_priority: wp.array[int],
-    geom_quat: wp.array2d[wp.quat],
-    geom_rbound: wp.array2d[float],
-    geom_rgba: wp.array2d[wp.vec4],
-    geom_size: wp.array2d[wp.vec3],
-    geom_solimp: wp.array2d[mjwp_types.vec5],
-    geom_solmix: wp.array2d[float],
-    geom_solref: wp.array2d[wp.vec2],
-    geom_type: wp.array[int],
-    has_3d_flex: bool,
-    has_ellipsoid_geom: bool,
-    has_flex_selfcollide: bool,
-    has_fluid: bool,
-    has_sdf_geom: bool,
-    hfield_adr: wp.array[int],
-    hfield_data: wp.array[float],
-    hfield_ncol: wp.array[int],
-    hfield_nrow: wp.array[int],
-    hfield_size: wp.array[wp.vec4],
-    is_sparse: bool,
-    jnt_actfrclimited: wp.array[bool],
-    jnt_actfrcrange: wp.array2d[wp.vec2],
-    jnt_actgravcomp: wp.array[int],
-    jnt_axis: wp.array2d[wp.vec3],
-    jnt_bodyid: wp.array[int],
-    jnt_dofadr: wp.array[int],
-    jnt_limited_ball_adr: wp.array[int],
-    jnt_limited_slide_hinge_adr: wp.array[int],
-    jnt_margin: wp.array2d[float],
-    jnt_pos: wp.array2d[wp.vec3],
-    jnt_qposadr: wp.array[int],
-    jnt_range: wp.array2d[wp.vec2],
-    jnt_solimp: wp.array2d[mjwp_types.vec5],
-    jnt_solref: wp.array2d[wp.vec2],
-    jnt_stiffness: wp.array2d[float],
-    jnt_stiffnesspoly: wp.array2d[wp.vec2],
-    jnt_type: wp.array[int],
-    light_bodyid: wp.array[int],
-    light_dir: wp.array2d[wp.vec3],
-    light_dir0: wp.array2d[wp.vec3],
-    light_mode: wp.array[int],
-    light_pos: wp.array2d[wp.vec3],
-    light_pos0: wp.array2d[wp.vec3],
-    light_poscom0: wp.array2d[wp.vec3],
-    light_targetbodyid: wp.array[int],
-    mapM2D: wp.array[int],
-    mat_rgba: wp.array2d[wp.vec4],
-    max_flex_dim: int,
-    max_ten_J_rownnz: int,
-    mesh_face: wp.array[wp.vec3i],
-    mesh_faceadr: wp.array[int],
-    mesh_graph: wp.array[int],
-    mesh_graphadr: wp.array[int],
-    mesh_normal: wp.array[wp.vec3],
-    mesh_normaladr: wp.array[int],
-    mesh_normalnum: wp.array[int],
-    mesh_octadr: wp.array[int],
-    mesh_polyadr: wp.array[int],
-    mesh_polymap: wp.array[int],
-    mesh_polymapadr: wp.array[int],
-    mesh_polymapnum: wp.array[int],
-    mesh_polynormal: wp.array[wp.vec3],
-    mesh_polynum: wp.array[int],
-    mesh_polyvert: wp.array[int],
-    mesh_polyvertadr: wp.array[int],
-    mesh_polyvertnum: wp.array[int],
-    mesh_pos: wp.array[wp.vec3],
-    mesh_quat: wp.array[wp.quat],
-    mesh_vert: wp.array[wp.vec3],
-    mesh_vertadr: wp.array[int],
-    mesh_vertnum: wp.array[int],
-    nC: int,
-    nD: int,
-    nJten: int,
-    na: int,
-    nacttrnbody: int,
-    nbody: int,
-    nbranch: int,
-    ncam: int,
-    neq: int,
-    nflex: int,
-    nflexbend_interp: int,
-    nflexedge: int,
-    nflexelem: int,
-    nflexevpair: int,
-    nflexface: int,
-    nflexintcell: int,
-    nflexnode: int,
-    nflexvert: int,
-    ngeom: int,
-    nhistory: int,
-    njnt: int,
-    nlight: int,
-    nmaxcondim: int,
-    nmaxmeshdeg: int,
-    nmaxpolygon: int,
-    nmaxpyramid: int,
-    nmesh: int,
-    nmeshface: int,
-    nrangefinder: int,
-    nsensorcollision: int,
-    nsensorcontact: int,
-    nsensortaxel: int,
-    nsite: int,
-    ntendon: int,
-    ntree: int,
-    nu: int,
-    nv: int,
-    nv_pad: int,
-    nwrap: int,
-    nxn_geom_pair_filtered: wp.array[wp.vec2i],
-    nxn_pairid: wp.array[wp.vec2i],
-    nxn_pairid_filtered: wp.array[wp.vec2i],
-    oct_aabb: wp.array2d[wp.vec3],
-    oct_child: wp.array[mjwp_types.vec8i],
-    oct_coeff: wp.array[mjwp_types.vec8],
-    pair_dim: wp.array[int],
-    pair_friction: wp.array2d[mjwp_types.vec5],
-    pair_gap: wp.array2d[float],
-    pair_margin: wp.array2d[float],
-    pair_solimp: wp.array2d[mjwp_types.vec5],
-    pair_solref: wp.array2d[wp.vec2],
-    pair_solreffriction: wp.array2d[wp.vec2],
-    plugin: wp.array[int],
-    plugin_attr: wp.array[mjwp_types.vec_pluginattr],
-    qD_fullm_i: wp.array[int],
-    qD_fullm_j: wp.array[int],
-    qLD_all_updates: wp.array[wp.vec3i],
-    qLD_block_adr: wp.array[int],
-    qLD_block_total: int,
-    qLD_level_offsets: wp.array[int],
-    qLD_updates: tuple[wp.array[wp.vec3i], ...],
-    qpos0: wp.array2d[float],
-    qpos_spring: wp.array2d[float],
-    rangefinder_sensor_adr: wp.array[int],
-    sensor_acc_adr: wp.array[int],
-    sensor_adr: wp.array[int],
-    sensor_adr_to_contact_adr: wp.array[int],
-    sensor_contact_adr: wp.array[int],
-    sensor_cutoff: wp.array[float],
-    sensor_datatype: wp.array[int],
-    sensor_delay: wp.array[float],
-    sensor_dim: wp.array[int],
-    sensor_e_kinetic: bool,
-    sensor_e_potential: bool,
-    sensor_history: wp.array[wp.vec2i],
-    sensor_historyadr: wp.array[int],
-    sensor_interval: wp.array[wp.vec2],
-    sensor_intprm: wp.array2d[int],
-    sensor_limitfrc_adr: wp.array[int],
-    sensor_limitpos_adr: wp.array[int],
-    sensor_limitvel_adr: wp.array[int],
-    sensor_objid: wp.array[int],
-    sensor_objtype: wp.array[int],
-    sensor_pos_adr: wp.array[int],
-    sensor_rangefinder_adr: wp.array[int],
-    sensor_rangefinder_bodyid: wp.array[int],
-    sensor_refid: wp.array[int],
-    sensor_reftype: wp.array[int],
-    sensor_rne_postconstraint: bool,
-    sensor_subtree_vel: bool,
-    sensor_tendonactfrc_adr: wp.array[int],
-    sensor_touch_adr: wp.array[int],
-    sensor_type: wp.array[int],
-    sensor_vel_adr: wp.array[int],
-    site_bodyid: wp.array[int],
-    site_pos: wp.array2d[wp.vec3],
-    site_quat: wp.array2d[wp.quat],
-    site_size: wp.array[wp.vec3],
-    site_type: wp.array[int],
-    taxel_sensorid: wp.array[int],
-    taxel_vertadr: wp.array[int],
-    ten_J_colind: wp.array[int],
-    ten_J_rowadr: wp.array[int],
-    ten_J_rownnz: wp.array[int],
-    tendon_actfrclimited: wp.array[bool],
-    tendon_actfrcrange: wp.array2d[wp.vec2],
-    tendon_adr: wp.array[int],
-    tendon_armature: wp.array2d[float],
-    tendon_damping: wp.array2d[float],
-    tendon_dampingpoly: wp.array2d[wp.vec2],
-    tendon_frictionloss: wp.array2d[float],
-    tendon_geom_adr: wp.array[int],
-    tendon_invweight0: wp.array2d[float],
-    tendon_jnt_adr: wp.array[int],
-    tendon_length0: wp.array2d[float],
-    tendon_lengthspring: wp.array2d[wp.vec2],
-    tendon_limited: wp.array[int],
-    tendon_limited_adr: wp.array[int],
-    tendon_margin: wp.array2d[float],
-    tendon_num: wp.array[int],
-    tendon_range: wp.array2d[wp.vec2],
-    tendon_site_pair_adr: wp.array[int],
-    tendon_solimp_fri: wp.array2d[mjwp_types.vec5],
-    tendon_solimp_lim: wp.array2d[mjwp_types.vec5],
-    tendon_solref_fri: wp.array2d[wp.vec2],
-    tendon_solref_lim: wp.array2d[wp.vec2],
-    tendon_stiffness: wp.array2d[float],
-    tendon_stiffnesspoly: wp.array2d[wp.vec2],
-    tree_dofadr: wp.array[int],
-    tree_dofnum: wp.array[int],
-    tree_sleep_policy: wp.array[int],
-    wrap_geom_adr: wp.array[int],
-    wrap_jnt_adr: wp.array[int],
-    wrap_objid: wp.array[int],
-    wrap_prm: wp.array[float],
-    wrap_pulley_scale: wp.array[float],
-    wrap_site_pair_adr: wp.array[int],
-    wrap_type: wp.array[int],
-    opt__broadphase: int,
-    opt__broadphase_filter: int,
-    opt__ccd_iterations: int,
-    opt__ccd_tolerance: wp.array[float],
-    opt__cone: int,
-    opt__contact_sensor_maxmatch: int,
-    opt__density: wp.array[float],
-    opt__disableflags: int,
-    opt__enableflags: int,
-    opt__graph_conditional: bool,
-    opt__gravity: wp.array[wp.vec3],
-    opt__impratio_invsqrt: wp.array[float],
-    opt__integrator: int,
-    opt__iterations: int,
-    opt__ls_iterations: int,
-    opt__ls_tolerance: wp.array[float],
-    opt__magnetic: wp.array[wp.vec3],
-    opt__run_collision_detection: bool,
-    opt__sdf_initpoints: int,
-    opt__sdf_iterations: int,
-    opt__sleep_tolerance: wp.array[float],
-    opt__solver: int,
-    opt__timestep: wp.array[float],
-    opt__tolerance: wp.array[float],
-    opt__viscosity: wp.array[float],
-    opt__warn_overflow: bool,
-    opt__wind: wp.array[wp.vec3],
-    stat__meaninertia: wp.array[float],
-    # Data
-    naccdmax: int,
-    naconmax: int,
-    njmax: int,
-    njmax_nnz: int,
-    nvmax: int,
-    nvmax_pad: int,
-    M: wp.array2d[float],
-    act: wp.array2d[float],
-    act_dot: wp.array2d[float],
-    actuator_force: wp.array2d[float],
-    actuator_length: wp.array2d[float],
-    actuator_moment: wp.array2d[float],
-    actuator_velocity: wp.array2d[float],
-    body_awake: wp.array2d[int],
-    body_awake_ind: wp.array2d[int],
-    cJ: wp.array3d[float],
-    cM: wp.array3d[float],
-    cMa: wp.array2d[float],
-    cacc: wp.array2d[wp.spatial_vector],
-    cam_xmat: wp.array2d[wp.mat33],
-    cam_xpos: wp.array2d[wp.vec3],
-    cdof: wp.array2d[wp.spatial_vector],
-    cdof_dof: wp.array2d[int],
-    cdof_dot: wp.array2d[wp.spatial_vector],
-    cdof_tri_col: wp.array[int],
-    cdof_tri_row: wp.array[int],
-    cfrc_ext: wp.array2d[wp.spatial_vector],
-    cfrc_int: wp.array2d[wp.spatial_vector],
-    cinert: wp.array2d[mjwp_types.vec10],
-    cls_tol: wp.array[float],
-    cqLD: wp.array3d[float],
-    cqacc: wp.array2d[float],
-    cqacc_smooth: wp.array2d[float],
-    cqacc_warmstart: wp.array2d[float],
-    cqfrc_constraint: wp.array2d[float],
-    cqfrc_smooth: wp.array2d[float],
-    crb: wp.array2d[mjwp_types.vec10],
-    crhs: wp.array3d[float],
-    ctol: wp.array[float],
-    ctrl: wp.array2d[float],
-    cvel: wp.array2d[wp.spatial_vector],
-    cx: wp.array3d[float],
-    dof_awake_ind: wp.array2d[int],
-    dof_cdof: wp.array2d[int],
-    dof_island: wp.array2d[int],
-    dof_islandid: wp.array2d[int],
-    efc_islandid: wp.array2d[int],
-    energy: wp.array[wp.vec2],
-    eq_active: wp.array2d[bool],
-    face_quat: wp.array2d[wp.quat],
-    face_xpos: wp.array3d[wp.vec3],
-    flex_aabb_max: wp.array2d[wp.vec3],
-    flex_aabb_min: wp.array2d[wp.vec3],
-    flexedge_J: wp.array2d[float],
-    flexedge_length: wp.array2d[float],
-    flexedge_velocity: wp.array2d[float],
-    flexnode_xpos: wp.array2d[wp.vec3],
-    flexvert_xpos: wp.array2d[wp.vec3],
-    geom_xmat: wp.array2d[wp.mat33],
-    geom_xpos: wp.array2d[wp.vec3],
-    history: wp.array2d[float],
-    island_dofadr: wp.array2d[int],
-    island_idofadr: wp.array2d[int],
-    island_iefcadr: wp.array2d[int],
-    island_ne: wp.array2d[int],
-    island_nefc: wp.array2d[int],
-    island_nf: wp.array2d[int],
-    island_nv: wp.array2d[int],
-    light_xdir: wp.array2d[wp.vec3],
-    light_xpos: wp.array2d[wp.vec3],
-    map_dof2idof: wp.array2d[int],
-    map_efc2iefc: wp.array2d[int],
-    map_idof2dof: wp.array2d[int],
-    map_iefc2efc: wp.array2d[int],
-    mocap_pos: wp.array2d[wp.vec3],
-    mocap_quat: wp.array2d[wp.quat],
-    moment_colind: wp.array2d[int],
-    moment_rowadr: wp.array2d[int],
-    moment_rownnz: wp.array2d[int],
-    nacon: wp.array[int],
-    nbody_awake: wp.array[int],
-    ncdof: wp.array[int],
-    ncollision: wp.array[int],
-    ne: wp.array[int],
-    nefc: wp.array[int],
-    nf: wp.array[int],
-    nidof: wp.array[int],
-    nisland: wp.array[int],
-    nl: wp.array[int],
-    ntree_awake: wp.array[int],
-    nv_awake: wp.array[int],
-    overflow: wp.array[int],
-    qLD: wp.array2d[float],
-    qLDiagInv: wp.array2d[float],
-    qLU: wp.array2d[float],
-    qacc: wp.array2d[float],
-    qacc_smooth: wp.array2d[float],
-    qacc_warmstart: wp.array2d[float],
-    qfrc_actuator: wp.array2d[float],
-    qfrc_applied: wp.array2d[float],
-    qfrc_bias: wp.array2d[float],
-    qfrc_constraint: wp.array2d[float],
-    qfrc_damper: wp.array2d[float],
-    qfrc_fluid: wp.array2d[float],
-    qfrc_gravcomp: wp.array2d[float],
-    qfrc_passive: wp.array2d[float],
-    qfrc_smooth: wp.array2d[float],
-    qfrc_spring: wp.array2d[float],
-    qpos: wp.array2d[float],
-    qvel: wp.array2d[float],
-    sensordata: wp.array2d[float],
-    site_xmat: wp.array2d[wp.mat33],
-    site_xpos: wp.array2d[wp.vec3],
-    solver_niter: wp.array[int],
-    subtree_angmom: wp.array2d[wp.vec3],
-    subtree_com: wp.array2d[wp.vec3],
-    subtree_linvel: wp.array2d[wp.vec3],
-    ten_J: wp.array2d[float],
-    ten_length: wp.array2d[float],
-    ten_velocity: wp.array2d[float],
-    ten_wrapadr: wp.array2d[int],
-    ten_wrapnum: wp.array2d[int],
-    time: wp.array[float],
-    tree_asleep: wp.array2d[int],
-    tree_awake: wp.array2d[int],
-    tree_island: wp.array2d[int],
-    wrap_obj: wp.array2d[wp.vec2i],
-    wrap_xpos: wp.array2d[wp.spatial_vector],
-    xanchor: wp.array2d[wp.vec3],
-    xaxis: wp.array2d[wp.vec3],
-    xfrc_applied: wp.array2d[wp.spatial_vector],
-    ximat: wp.array2d[wp.mat33],
-    xipos: wp.array2d[wp.vec3],
-    xmat: wp.array2d[wp.mat33],
-    xpos: wp.array2d[wp.vec3],
-    xquat: wp.array2d[wp.quat],
-    contact__dim: wp.array[int],
-    contact__dist: wp.array[float],
-    contact__efc_address: wp.array2d[int],
-    contact__elem: wp.array[wp.vec2i],
-    contact__flex: wp.array[wp.vec2i],
-    contact__frame: wp.array[wp.mat33],
-    contact__friction: wp.array[mjwp_types.vec5],
-    contact__geom: wp.array[wp.vec2i],
-    contact__geomcollisionid: wp.array[int],
-    contact__includemargin: wp.array[float],
-    contact__pos: wp.array[wp.vec3],
-    contact__solimp: wp.array[mjwp_types.vec5],
-    contact__solref: wp.array[wp.vec2],
-    contact__solreffriction: wp.array[wp.vec2],
-    contact__type: wp.array[int],
-    contact__vert: wp.array[wp.vec2i],
-    contact__worldid: wp.array[int],
-    efc__D: wp.array2d[float],
-    efc__J: wp.array3d[float],
-    efc__J_colind: wp.array3d[int],
-    efc__J_rowadr: wp.array2d[int],
-    efc__J_rownnz: wp.array2d[int],
-    efc__Jqvel: wp.array2d[float],
-    efc__Ma: wp.array2d[float],
-    efc__aref: wp.array2d[float],
-    efc__force: wp.array2d[float],
-    efc__frictionloss: wp.array2d[float],
-    efc__id: wp.array2d[int],
-    efc__island: wp.array2d[int],
-    efc__jtdaj_adr: wp.array2d[int],
-    efc__jtdaj_nblock: wp.array[int],
-    efc__jtdaj_nrow: wp.array2d[int],
-    efc__margin: wp.array2d[float],
-    efc__pos: wp.array2d[float],
-    efc__state: wp.array2d[int],
-    efc__type: wp.array2d[int],
-    efc__vel: wp.array2d[float],
-):
-  _m.stat = _s
-  _m.opt = _o
-  _m.callback = _cb
-  _d.efc = _e
-  _d.contact = _c
-  _m.D_colind = D_colind
-  _m.D_diag = D_diag
-  _m.D_rowadr = D_rowadr
-  _m.D_rownnz = D_rownnz
-  _m.M_colind = M_colind
-  _m.M_elemid = M_elemid
-  _m.M_fullm_i = M_fullm_i
-  _m.M_fullm_j = M_fullm_j
-  _m.M_hinit_i = M_hinit_i
-  _m.M_mulm_col = M_mulm_col
-  _m.M_mulm_madr = M_mulm_madr
-  _m.M_mulm_rowadr = M_mulm_rowadr
-  _m.M_rowadr = M_rowadr
-  _m.M_rownnz = M_rownnz
-  _m.M_tiles = M_tiles
-  _m.actuator_acc0 = actuator_acc0
-  _m.actuator_actadr = actuator_actadr
-  _m.actuator_actearly = actuator_actearly
-  _m.actuator_actlimited = actuator_actlimited
-  _m.actuator_actnum = actuator_actnum
-  _m.actuator_actrange = actuator_actrange
-  _m.actuator_biasprm = actuator_biasprm
-  _m.actuator_biastype = actuator_biastype
-  _m.actuator_cranklength = actuator_cranklength
-  _m.actuator_ctrllimited = actuator_ctrllimited
-  _m.actuator_ctrlrange = actuator_ctrlrange
-  _m.actuator_delay = actuator_delay
-  _m.actuator_dynprm = actuator_dynprm
-  _m.actuator_dyntype = actuator_dyntype
-  _m.actuator_forcelimited = actuator_forcelimited
-  _m.actuator_forcerange = actuator_forcerange
-  _m.actuator_gainprm = actuator_gainprm
-  _m.actuator_gaintype = actuator_gaintype
-  _m.actuator_gear = actuator_gear
-  _m.actuator_history = actuator_history
-  _m.actuator_historyadr = actuator_historyadr
-  _m.actuator_lengthrange = actuator_lengthrange
-  _m.actuator_trnid = actuator_trnid
-  _m.actuator_trntype = actuator_trntype
-  _m.actuator_trntype_body_adr = actuator_trntype_body_adr
-  _m.block_dim = block_dim
-  _m.body_branch_start = body_branch_start
-  _m.body_branches = body_branches
-  _m.body_dofadr = body_dofadr
-  _m.body_dofnum = body_dofnum
-  _m.body_fluid_box_adr = body_fluid_box_adr
-  _m.body_fluid_ellipsoid = body_fluid_ellipsoid
-  _m.body_fluid_ellipsoid_adr = body_fluid_ellipsoid_adr
-  _m.body_geomadr = body_geomadr
-  _m.body_geomnum = body_geomnum
-  _m.body_gravcomp = body_gravcomp
-  _m.body_inertia = body_inertia
-  _m.body_invweight0 = body_invweight0
-  _m.body_ipos = body_ipos
-  _m.body_iquat = body_iquat
-  _m.body_isdofancestor = body_isdofancestor
-  _m.body_jntadr = body_jntadr
-  _m.body_jntnum = body_jntnum
-  _m.body_mass = body_mass
-  _m.body_mocapid = body_mocapid
-  _m.body_parentid = body_parentid
-  _m.body_pos = body_pos
-  _m.body_quat = body_quat
-  _m.body_rootid = body_rootid
-  _m.body_simple = body_simple
-  _m.body_subtreemass = body_subtreemass
-  _m.body_tree = body_tree
-  _m.body_treeid = body_treeid
-  _m.body_weldid = body_weldid
-  _m.cam_bodyid = cam_bodyid
-  _m.cam_fovy = cam_fovy
-  _m.cam_intrinsic = cam_intrinsic
-  _m.cam_mat0 = cam_mat0
-  _m.cam_mode = cam_mode
-  _m.cam_pos = cam_pos
-  _m.cam_pos0 = cam_pos0
-  _m.cam_poscom0 = cam_poscom0
-  _m.cam_quat = cam_quat
-  _m.cam_resolution = cam_resolution
-  _m.cam_sensorsize = cam_sensorsize
-  _m.cam_targetbodyid = cam_targetbodyid
-  _m.dof_armature = dof_armature
-  _m.dof_bodyid = dof_bodyid
-  _m.dof_damping = dof_damping
-  _m.dof_dampingpoly = dof_dampingpoly
-  _m.dof_frictionloss = dof_frictionloss
-  _m.dof_invweight0 = dof_invweight0
-  _m.dof_jntid = dof_jntid
-  _m.dof_length = dof_length
-  _m.dof_parentid = dof_parentid
-  _m.dof_solimp = dof_solimp
-  _m.dof_solref = dof_solref
-  _m.dof_treeid = dof_treeid
-  _m.dof_tri_col = dof_tri_col
-  _m.dof_tri_row = dof_tri_row
-  _m.eq_connect_adr = eq_connect_adr
-  _m.eq_data = eq_data
-  _m.eq_flex_adr = eq_flex_adr
-  _m.eq_flexstrain_adr = eq_flexstrain_adr
-  _m.eq_jnt_adr = eq_jnt_adr
-  _m.eq_obj1id = eq_obj1id
-  _m.eq_obj2id = eq_obj2id
-  _m.eq_objtype = eq_objtype
-  _m.eq_solimp = eq_solimp
-  _m.eq_solref = eq_solref
-  _m.eq_ten_adr = eq_ten_adr
-  _m.eq_type = eq_type
-  _m.eq_wld_adr = eq_wld_adr
-  _m.flex_bend_interp_map = flex_bend_interp_map
-  _m.flex_bending = flex_bending
-  _m.flex_bendingadr = flex_bendingadr
-  _m.flex_cell_map = flex_cell_map
-  _m.flex_cellnum = flex_cellnum
-  _m.flex_centered = flex_centered
-  _m.flex_conaffinity = flex_conaffinity
-  _m.flex_condim = flex_condim
-  _m.flex_contype = flex_contype
-  _m.flex_damping = flex_damping
-  _m.flex_dim = flex_dim
-  _m.flex_edge = flex_edge
-  _m.flex_edgeadr = flex_edgeadr
-  _m.flex_edgeequality = flex_edgeequality
-  _m.flex_edgeflap = flex_edgeflap
-  _m.flex_edgenum = flex_edgenum
-  _m.flex_elem = flex_elem
-  _m.flex_elemadr = flex_elemadr
-  _m.flex_elemdataadr = flex_elemdataadr
-  _m.flex_elemedge = flex_elemedge
-  _m.flex_elemedgeadr = flex_elemedgeadr
-  _m.flex_elemflexid = flex_elemflexid
-  _m.flex_elemnum = flex_elemnum
-  _m.flex_evpair = flex_evpair
-  _m.flex_evpairadr = flex_evpairadr
-  _m.flex_evpairflexid = flex_evpairflexid
-  _m.flex_evpairnum = flex_evpairnum
-  _m.flex_face = flex_face
-  _m.flex_face_map = flex_face_map
-  _m.flex_faceadr = flex_faceadr
-  _m.flex_friction = flex_friction
-  _m.flex_gap = flex_gap
-  _m.flex_internal = flex_internal
-  _m.flex_interp = flex_interp
-  _m.flex_margin = flex_margin
-  _m.flex_node = flex_node
-  _m.flex_node0 = flex_node0
-  _m.flex_nodeadr = flex_nodeadr
-  _m.flex_nodebodyid = flex_nodebodyid
-  _m.flex_nodenum = flex_nodenum
-  _m.flex_priority = flex_priority
-  _m.flex_radius = flex_radius
-  _m.flex_selfcollide = flex_selfcollide
-  _m.flex_shell = flex_shell
-  _m.flex_shelldataadr = flex_shelldataadr
-  _m.flex_solimp = flex_solimp
-  _m.flex_solmix = flex_solmix
-  _m.flex_solref = flex_solref
-  _m.flex_stiffness = flex_stiffness
-  _m.flex_stiffnessadr = flex_stiffnessadr
-  _m.flex_vert = flex_vert
-  _m.flex_vert0 = flex_vert0
-  _m.flex_vertadr = flex_vertadr
-  _m.flex_vertbodyid = flex_vertbodyid
-  _m.flex_vertflexid = flex_vertflexid
-  _m.flex_vertnum = flex_vertnum
-  _m.flexedge_J_colind = flexedge_J_colind
-  _m.flexedge_J_rowadr = flexedge_J_rowadr
-  _m.flexedge_J_rownnz = flexedge_J_rownnz
-  _m.flexedge_invweight0 = flexedge_invweight0
-  _m.flexedge_length0 = flexedge_length0
-  _m.flexelem_geom_pair_filtered = flexelem_geom_pair_filtered
-  _m.flexstrain_J_colind = flexstrain_J_colind
-  _m.flexstrain_J_rowadr = flexstrain_J_rowadr
-  _m.flexstrain_J_rownnz = flexstrain_J_rownnz
-  _m.flexvert_geom_pair_filtered = flexvert_geom_pair_filtered
-  _m.geom_aabb = geom_aabb
-  _m.geom_bodyid = geom_bodyid
-  _m.geom_conaffinity = geom_conaffinity
-  _m.geom_condim = geom_condim
-  _m.geom_contype = geom_contype
-  _m.geom_dataid = geom_dataid
-  _m.geom_fluid = geom_fluid
-  _m.geom_friction = geom_friction
-  _m.geom_gap = geom_gap
-  _m.geom_group = geom_group
-  _m.geom_margin = geom_margin
-  _m.geom_matid = geom_matid
-  _m.geom_pair_type_count = geom_pair_type_count
-  _m.geom_plugin_index = geom_plugin_index
-  _m.geom_pos = geom_pos
-  _m.geom_priority = geom_priority
-  _m.geom_quat = geom_quat
-  _m.geom_rbound = geom_rbound
-  _m.geom_rgba = geom_rgba
-  _m.geom_size = geom_size
-  _m.geom_solimp = geom_solimp
-  _m.geom_solmix = geom_solmix
-  _m.geom_solref = geom_solref
-  _m.geom_type = geom_type
-  _m.has_3d_flex = has_3d_flex
-  _m.has_ellipsoid_geom = has_ellipsoid_geom
-  _m.has_flex_selfcollide = has_flex_selfcollide
-  _m.has_fluid = has_fluid
-  _m.has_sdf_geom = has_sdf_geom
-  _m.hfield_adr = hfield_adr
-  _m.hfield_data = hfield_data
-  _m.hfield_ncol = hfield_ncol
-  _m.hfield_nrow = hfield_nrow
-  _m.hfield_size = hfield_size
-  _m.is_sparse = is_sparse
-  _m.jnt_actfrclimited = jnt_actfrclimited
-  _m.jnt_actfrcrange = jnt_actfrcrange
-  _m.jnt_actgravcomp = jnt_actgravcomp
-  _m.jnt_axis = jnt_axis
-  _m.jnt_bodyid = jnt_bodyid
-  _m.jnt_dofadr = jnt_dofadr
-  _m.jnt_limited_ball_adr = jnt_limited_ball_adr
-  _m.jnt_limited_slide_hinge_adr = jnt_limited_slide_hinge_adr
-  _m.jnt_margin = jnt_margin
-  _m.jnt_pos = jnt_pos
-  _m.jnt_qposadr = jnt_qposadr
-  _m.jnt_range = jnt_range
-  _m.jnt_solimp = jnt_solimp
-  _m.jnt_solref = jnt_solref
-  _m.jnt_stiffness = jnt_stiffness
-  _m.jnt_stiffnesspoly = jnt_stiffnesspoly
-  _m.jnt_type = jnt_type
-  _m.light_bodyid = light_bodyid
-  _m.light_dir = light_dir
-  _m.light_dir0 = light_dir0
-  _m.light_mode = light_mode
-  _m.light_pos = light_pos
-  _m.light_pos0 = light_pos0
-  _m.light_poscom0 = light_poscom0
-  _m.light_targetbodyid = light_targetbodyid
-  _m.mapM2D = mapM2D
-  _m.mat_rgba = mat_rgba
-  _m.max_flex_dim = max_flex_dim
-  _m.max_ten_J_rownnz = max_ten_J_rownnz
-  _m.mesh_face = mesh_face
-  _m.mesh_faceadr = mesh_faceadr
-  _m.mesh_graph = mesh_graph
-  _m.mesh_graphadr = mesh_graphadr
-  _m.mesh_normal = mesh_normal
-  _m.mesh_normaladr = mesh_normaladr
-  _m.mesh_normalnum = mesh_normalnum
-  _m.mesh_octadr = mesh_octadr
-  _m.mesh_polyadr = mesh_polyadr
-  _m.mesh_polymap = mesh_polymap
-  _m.mesh_polymapadr = mesh_polymapadr
-  _m.mesh_polymapnum = mesh_polymapnum
-  _m.mesh_polynormal = mesh_polynormal
-  _m.mesh_polynum = mesh_polynum
-  _m.mesh_polyvert = mesh_polyvert
-  _m.mesh_polyvertadr = mesh_polyvertadr
-  _m.mesh_polyvertnum = mesh_polyvertnum
-  _m.mesh_pos = mesh_pos
-  _m.mesh_quat = mesh_quat
-  _m.mesh_vert = mesh_vert
-  _m.mesh_vertadr = mesh_vertadr
-  _m.mesh_vertnum = mesh_vertnum
-  _m.nC = nC
-  _m.nD = nD
-  _m.nJten = nJten
-  _m.na = na
-  _m.nacttrnbody = nacttrnbody
-  _m.nbody = nbody
-  _m.nbranch = nbranch
-  _m.ncam = ncam
-  _m.neq = neq
-  _m.nflex = nflex
-  _m.nflexbend_interp = nflexbend_interp
-  _m.nflexedge = nflexedge
-  _m.nflexelem = nflexelem
-  _m.nflexevpair = nflexevpair
-  _m.nflexface = nflexface
-  _m.nflexintcell = nflexintcell
-  _m.nflexnode = nflexnode
-  _m.nflexvert = nflexvert
-  _m.ngeom = ngeom
-  _m.nhistory = nhistory
-  _m.njnt = njnt
-  _m.nlight = nlight
-  _m.nmaxcondim = nmaxcondim
-  _m.nmaxmeshdeg = nmaxmeshdeg
-  _m.nmaxpolygon = nmaxpolygon
-  _m.nmaxpyramid = nmaxpyramid
-  _m.nmesh = nmesh
-  _m.nmeshface = nmeshface
-  _m.nrangefinder = nrangefinder
-  _m.nsensorcollision = nsensorcollision
-  _m.nsensorcontact = nsensorcontact
-  _m.nsensortaxel = nsensortaxel
-  _m.nsite = nsite
-  _m.ntendon = ntendon
-  _m.ntree = ntree
-  _m.nu = nu
-  _m.nv = nv
-  _m.nv_pad = nv_pad
-  _m.nwrap = nwrap
-  _m.nxn_geom_pair_filtered = nxn_geom_pair_filtered
-  _m.nxn_pairid = nxn_pairid
-  _m.nxn_pairid_filtered = nxn_pairid_filtered
-  _m.oct_aabb = oct_aabb
-  _m.oct_child = oct_child
-  _m.oct_coeff = oct_coeff
-  _m.opt.broadphase = opt__broadphase
-  _m.opt.broadphase_filter = opt__broadphase_filter
-  _m.opt.ccd_iterations = opt__ccd_iterations
-  _m.opt.ccd_tolerance = opt__ccd_tolerance
-  _m.opt.cone = opt__cone
-  _m.opt.contact_sensor_maxmatch = opt__contact_sensor_maxmatch
-  _m.opt.density = opt__density
-  _m.opt.disableflags = opt__disableflags
-  _m.opt.enableflags = opt__enableflags
-  _m.opt.graph_conditional = opt__graph_conditional
-  _m.opt.gravity = opt__gravity
-  _m.opt.impratio_invsqrt = opt__impratio_invsqrt
-  _m.opt.integrator = opt__integrator
-  _m.opt.iterations = opt__iterations
-  _m.opt.ls_iterations = opt__ls_iterations
-  _m.opt.ls_tolerance = opt__ls_tolerance
-  _m.opt.magnetic = opt__magnetic
-  _m.opt.run_collision_detection = opt__run_collision_detection
-  _m.opt.sdf_initpoints = opt__sdf_initpoints
-  _m.opt.sdf_iterations = opt__sdf_iterations
-  _m.opt.sleep_tolerance = opt__sleep_tolerance
-  _m.opt.solver = opt__solver
-  _m.opt.timestep = opt__timestep
-  _m.opt.tolerance = opt__tolerance
-  _m.opt.viscosity = opt__viscosity
-  _m.opt.warn_overflow = opt__warn_overflow
-  _m.opt.wind = opt__wind
-  _m.pair_dim = pair_dim
-  _m.pair_friction = pair_friction
-  _m.pair_gap = pair_gap
-  _m.pair_margin = pair_margin
-  _m.pair_solimp = pair_solimp
-  _m.pair_solref = pair_solref
-  _m.pair_solreffriction = pair_solreffriction
-  _m.plugin = plugin
-  _m.plugin_attr = plugin_attr
-  _m.qD_fullm_i = qD_fullm_i
-  _m.qD_fullm_j = qD_fullm_j
-  _m.qLD_all_updates = qLD_all_updates
-  _m.qLD_block_adr = qLD_block_adr
-  _m.qLD_block_total = qLD_block_total
-  _m.qLD_level_offsets = qLD_level_offsets
-  _m.qLD_updates = qLD_updates
-  _m.qpos0 = qpos0
-  _m.qpos_spring = qpos_spring
-  _m.rangefinder_sensor_adr = rangefinder_sensor_adr
-  _m.sensor_acc_adr = sensor_acc_adr
-  _m.sensor_adr = sensor_adr
-  _m.sensor_adr_to_contact_adr = sensor_adr_to_contact_adr
-  _m.sensor_contact_adr = sensor_contact_adr
-  _m.sensor_cutoff = sensor_cutoff
-  _m.sensor_datatype = sensor_datatype
-  _m.sensor_delay = sensor_delay
-  _m.sensor_dim = sensor_dim
-  _m.sensor_e_kinetic = sensor_e_kinetic
-  _m.sensor_e_potential = sensor_e_potential
-  _m.sensor_history = sensor_history
-  _m.sensor_historyadr = sensor_historyadr
-  _m.sensor_interval = sensor_interval
-  _m.sensor_intprm = sensor_intprm
-  _m.sensor_limitfrc_adr = sensor_limitfrc_adr
-  _m.sensor_limitpos_adr = sensor_limitpos_adr
-  _m.sensor_limitvel_adr = sensor_limitvel_adr
-  _m.sensor_objid = sensor_objid
-  _m.sensor_objtype = sensor_objtype
-  _m.sensor_pos_adr = sensor_pos_adr
-  _m.sensor_rangefinder_adr = sensor_rangefinder_adr
-  _m.sensor_rangefinder_bodyid = sensor_rangefinder_bodyid
-  _m.sensor_refid = sensor_refid
-  _m.sensor_reftype = sensor_reftype
-  _m.sensor_rne_postconstraint = sensor_rne_postconstraint
-  _m.sensor_subtree_vel = sensor_subtree_vel
-  _m.sensor_tendonactfrc_adr = sensor_tendonactfrc_adr
-  _m.sensor_touch_adr = sensor_touch_adr
-  _m.sensor_type = sensor_type
-  _m.sensor_vel_adr = sensor_vel_adr
-  _m.site_bodyid = site_bodyid
-  _m.site_pos = site_pos
-  _m.site_quat = site_quat
-  _m.site_size = site_size
-  _m.site_type = site_type
-  _m.stat.meaninertia = stat__meaninertia
-  _m.taxel_sensorid = taxel_sensorid
-  _m.taxel_vertadr = taxel_vertadr
-  _m.ten_J_colind = ten_J_colind
-  _m.ten_J_rowadr = ten_J_rowadr
-  _m.ten_J_rownnz = ten_J_rownnz
-  _m.tendon_actfrclimited = tendon_actfrclimited
-  _m.tendon_actfrcrange = tendon_actfrcrange
-  _m.tendon_adr = tendon_adr
-  _m.tendon_armature = tendon_armature
-  _m.tendon_damping = tendon_damping
-  _m.tendon_dampingpoly = tendon_dampingpoly
-  _m.tendon_frictionloss = tendon_frictionloss
-  _m.tendon_geom_adr = tendon_geom_adr
-  _m.tendon_invweight0 = tendon_invweight0
-  _m.tendon_jnt_adr = tendon_jnt_adr
-  _m.tendon_length0 = tendon_length0
-  _m.tendon_lengthspring = tendon_lengthspring
-  _m.tendon_limited = tendon_limited
-  _m.tendon_limited_adr = tendon_limited_adr
-  _m.tendon_margin = tendon_margin
-  _m.tendon_num = tendon_num
-  _m.tendon_range = tendon_range
-  _m.tendon_site_pair_adr = tendon_site_pair_adr
-  _m.tendon_solimp_fri = tendon_solimp_fri
-  _m.tendon_solimp_lim = tendon_solimp_lim
-  _m.tendon_solref_fri = tendon_solref_fri
-  _m.tendon_solref_lim = tendon_solref_lim
-  _m.tendon_stiffness = tendon_stiffness
-  _m.tendon_stiffnesspoly = tendon_stiffnesspoly
-  _m.tree_dofadr = tree_dofadr
-  _m.tree_dofnum = tree_dofnum
-  _m.tree_sleep_policy = tree_sleep_policy
-  _m.wrap_geom_adr = wrap_geom_adr
-  _m.wrap_jnt_adr = wrap_jnt_adr
-  _m.wrap_objid = wrap_objid
-  _m.wrap_prm = wrap_prm
-  _m.wrap_pulley_scale = wrap_pulley_scale
-  _m.wrap_site_pair_adr = wrap_site_pair_adr
-  _m.wrap_type = wrap_type
-  _d.M = M
-  _d.act = act
-  _d.act_dot = act_dot
-  _d.actuator_force = actuator_force
-  _d.actuator_length = actuator_length
-  _d.actuator_moment = actuator_moment
-  _d.actuator_velocity = actuator_velocity
-  _d.body_awake = body_awake
-  _d.body_awake_ind = body_awake_ind
-  _d.cJ = cJ
-  _d.cM = cM
-  _d.cMa = cMa
-  _d.cacc = cacc
-  _d.cam_xmat = cam_xmat
-  _d.cam_xpos = cam_xpos
-  _d.cdof = cdof
-  _d.cdof_dof = cdof_dof
-  _d.cdof_dot = cdof_dot
-  _d.cdof_tri_col = cdof_tri_col
-  _d.cdof_tri_row = cdof_tri_row
-  _d.cfrc_ext = cfrc_ext
-  _d.cfrc_int = cfrc_int
-  _d.cinert = cinert
-  _d.cls_tol = cls_tol
-  _d.contact.dim = contact__dim
-  _d.contact.dist = contact__dist
-  _d.contact.efc_address = contact__efc_address
-  _d.contact.elem = contact__elem
-  _d.contact.flex = contact__flex
-  _d.contact.frame = contact__frame
-  _d.contact.friction = contact__friction
-  _d.contact.geom = contact__geom
-  _d.contact.geomcollisionid = contact__geomcollisionid
-  _d.contact.includemargin = contact__includemargin
-  _d.contact.pos = contact__pos
-  _d.contact.solimp = contact__solimp
-  _d.contact.solref = contact__solref
-  _d.contact.solreffriction = contact__solreffriction
-  _d.contact.type = contact__type
-  _d.contact.vert = contact__vert
-  _d.contact.worldid = contact__worldid
-  _d.cqLD = cqLD
-  _d.cqacc = cqacc
-  _d.cqacc_smooth = cqacc_smooth
-  _d.cqacc_warmstart = cqacc_warmstart
-  _d.cqfrc_constraint = cqfrc_constraint
-  _d.cqfrc_smooth = cqfrc_smooth
-  _d.crb = crb
-  _d.crhs = crhs
-  _d.ctol = ctol
-  _d.ctrl = ctrl
-  _d.cvel = cvel
-  _d.cx = cx
-  _d.dof_awake_ind = dof_awake_ind
-  _d.dof_cdof = dof_cdof
-  _d.dof_island = dof_island
-  _d.dof_islandid = dof_islandid
-  _d.efc.D = efc__D
-  _d.efc.J = efc__J
-  _d.efc.J_colind = efc__J_colind
-  _d.efc.J_rowadr = efc__J_rowadr
-  _d.efc.J_rownnz = efc__J_rownnz
-  _d.efc.Jqvel = efc__Jqvel
-  _d.efc.Ma = efc__Ma
-  _d.efc.aref = efc__aref
-  _d.efc.force = efc__force
-  _d.efc.frictionloss = efc__frictionloss
-  _d.efc.id = efc__id
-  _d.efc.island = efc__island
-  _d.efc.jtdaj_adr = efc__jtdaj_adr
-  _d.efc.jtdaj_nblock = efc__jtdaj_nblock
-  _d.efc.jtdaj_nrow = efc__jtdaj_nrow
-  _d.efc.margin = efc__margin
-  _d.efc.pos = efc__pos
-  _d.efc.state = efc__state
-  _d.efc.type = efc__type
-  _d.efc.vel = efc__vel
-  _d.efc_islandid = efc_islandid
-  _d.energy = energy
-  _d.eq_active = eq_active
-  _d.face_quat = face_quat
-  _d.face_xpos = face_xpos
-  _d.flex_aabb_max = flex_aabb_max
-  _d.flex_aabb_min = flex_aabb_min
-  _d.flexedge_J = flexedge_J
-  _d.flexedge_length = flexedge_length
-  _d.flexedge_velocity = flexedge_velocity
-  _d.flexnode_xpos = flexnode_xpos
-  _d.flexvert_xpos = flexvert_xpos
-  _d.geom_xmat = geom_xmat
-  _d.geom_xpos = geom_xpos
-  _d.history = history
-  _d.island_dofadr = island_dofadr
-  _d.island_idofadr = island_idofadr
-  _d.island_iefcadr = island_iefcadr
-  _d.island_ne = island_ne
-  _d.island_nefc = island_nefc
-  _d.island_nf = island_nf
-  _d.island_nv = island_nv
-  _d.light_xdir = light_xdir
-  _d.light_xpos = light_xpos
-  _d.map_dof2idof = map_dof2idof
-  _d.map_efc2iefc = map_efc2iefc
-  _d.map_idof2dof = map_idof2dof
-  _d.map_iefc2efc = map_iefc2efc
-  _d.mocap_pos = mocap_pos
-  _d.mocap_quat = mocap_quat
-  _d.moment_colind = moment_colind
-  _d.moment_rowadr = moment_rowadr
-  _d.moment_rownnz = moment_rownnz
-  _d.naccdmax = naccdmax
-  _d.nacon = nacon
-  _d.naconmax = naconmax
-  _d.nbody_awake = nbody_awake
-  _d.ncdof = ncdof
-  _d.ncollision = ncollision
-  _d.ne = ne
-  _d.nefc = nefc
-  _d.nf = nf
-  _d.nidof = nidof
-  _d.nisland = nisland
-  _d.njmax = njmax
-  _d.njmax_nnz = njmax_nnz
-  _d.nl = nl
-  _d.ntree_awake = ntree_awake
-  _d.nv_awake = nv_awake
-  _d.nvmax = nvmax
-  _d.nvmax_pad = nvmax_pad
-  _d.overflow = overflow
-  _d.qLD = qLD
-  _d.qLDiagInv = qLDiagInv
-  _d.qLU = qLU
-  _d.qacc = qacc
-  _d.qacc_smooth = qacc_smooth
-  _d.qacc_warmstart = qacc_warmstart
-  _d.qfrc_actuator = qfrc_actuator
-  _d.qfrc_applied = qfrc_applied
-  _d.qfrc_bias = qfrc_bias
-  _d.qfrc_constraint = qfrc_constraint
-  _d.qfrc_damper = qfrc_damper
-  _d.qfrc_fluid = qfrc_fluid
-  _d.qfrc_gravcomp = qfrc_gravcomp
-  _d.qfrc_passive = qfrc_passive
-  _d.qfrc_smooth = qfrc_smooth
-  _d.qfrc_spring = qfrc_spring
-  _d.qpos = qpos
-  _d.qvel = qvel
-  _d.sensordata = sensordata
-  _d.site_xmat = site_xmat
-  _d.site_xpos = site_xpos
-  _d.solver_niter = solver_niter
-  _d.subtree_angmom = subtree_angmom
-  _d.subtree_com = subtree_com
-  _d.subtree_linvel = subtree_linvel
-  _d.ten_J = ten_J
-  _d.ten_length = ten_length
-  _d.ten_velocity = ten_velocity
-  _d.ten_wrapadr = ten_wrapadr
-  _d.ten_wrapnum = ten_wrapnum
-  _d.time = time
-  _d.tree_asleep = tree_asleep
-  _d.tree_awake = tree_awake
-  _d.tree_island = tree_island
-  _d.wrap_obj = wrap_obj
-  _d.wrap_xpos = wrap_xpos
-  _d.xanchor = xanchor
-  _d.xaxis = xaxis
-  _d.xfrc_applied = xfrc_applied
-  _d.ximat = ximat
-  _d.xipos = xipos
-  _d.xmat = xmat
-  _d.xpos = xpos
-  _d.xquat = xquat
-  _d.nworld = nworld
-  mjwarp.step(_m, _d)
-
-
-def _step_jax_impl(m: types.Model, d: types.Data):
-  output_dims = {
-      'M': d._impl.M.shape,
-      'act': d.act.shape,
-      'act_dot': d.act_dot.shape,
-      'actuator_force': d.actuator_force.shape,
-      'actuator_length': d.actuator_length.shape,
-      'actuator_moment': d._impl.actuator_moment.shape,
-      'actuator_velocity': d._impl.actuator_velocity.shape,
-      'body_awake': d._impl.body_awake.shape,
-      'body_awake_ind': d._impl.body_awake_ind.shape,
-      'cJ': d._impl.cJ.shape,
-      'cM': d._impl.cM.shape,
-      'cacc': d._impl.cacc.shape,
-      'cam_xmat': d.cam_xmat.shape,
-      'cam_xpos': d.cam_xpos.shape,
-      'cdof': d.cdof.shape,
-      'cdof_dof': d._impl.cdof_dof.shape,
-      'cdof_dot': d.cdof_dot.shape,
-      'cfrc_ext': d._impl.cfrc_ext.shape,
-      'cfrc_int': d._impl.cfrc_int.shape,
-      'cinert': d._impl.cinert.shape,
-      'cqLD': d._impl.cqLD.shape,
-      'cqacc_smooth': d._impl.cqacc_smooth.shape,
-      'cqacc_warmstart': d._impl.cqacc_warmstart.shape,
-      'cqfrc_smooth': d._impl.cqfrc_smooth.shape,
-      'crb': d._impl.crb.shape,
-      'crhs': d._impl.crhs.shape,
-      'cvel': d.cvel.shape,
-      'cx': d._impl.cx.shape,
-      'dof_awake_ind': d._impl.dof_awake_ind.shape,
-      'dof_cdof': d._impl.dof_cdof.shape,
-      'dof_island': d._impl.dof_island.shape,
-      'dof_islandid': d._impl.dof_islandid.shape,
-      'efc_islandid': d._impl.efc_islandid.shape,
-      'energy': d._impl.energy.shape,
-      'face_quat': d._impl.face_quat.shape,
-      'face_xpos': d._impl.face_xpos.shape,
-      'flex_aabb_max': d._impl.flex_aabb_max.shape,
-      'flex_aabb_min': d._impl.flex_aabb_min.shape,
-      'flexedge_J': d._impl.flexedge_J.shape,
-      'flexedge_length': d._impl.flexedge_length.shape,
-      'flexedge_velocity': d._impl.flexedge_velocity.shape,
-      'flexnode_xpos': d._impl.flexnode_xpos.shape,
-      'flexvert_xpos': d._impl.flexvert_xpos.shape,
-      'geom_xmat': d.geom_xmat.shape,
-      'geom_xpos': d.geom_xpos.shape,
-      'history': d.history.shape,
-      'island_dofadr': d._impl.island_dofadr.shape,
-      'island_idofadr': d._impl.island_idofadr.shape,
-      'island_iefcadr': d._impl.island_iefcadr.shape,
-      'island_ne': d._impl.island_ne.shape,
-      'island_nefc': d._impl.island_nefc.shape,
-      'island_nf': d._impl.island_nf.shape,
-      'island_nv': d._impl.island_nv.shape,
-      'light_xdir': d._impl.light_xdir.shape,
-      'light_xpos': d._impl.light_xpos.shape,
-      'map_dof2idof': d._impl.map_dof2idof.shape,
-      'map_efc2iefc': d._impl.map_efc2iefc.shape,
-      'map_idof2dof': d._impl.map_idof2dof.shape,
-      'map_iefc2efc': d._impl.map_iefc2efc.shape,
-      'moment_colind': d._impl.moment_colind.shape,
-      'moment_rowadr': d._impl.moment_rowadr.shape,
-      'moment_rownnz': d._impl.moment_rownnz.shape,
-      'nacon': d._impl.nacon.shape,
-      'nbody_awake': d._impl.nbody_awake.shape,
-      'ncdof': d._impl.ncdof.shape,
-      'ncollision': d._impl.ncollision.shape,
-      'ne': d._impl.ne.shape,
-      'nefc': d._impl.nefc.shape,
-      'nf': d._impl.nf.shape,
-      'nidof': d._impl.nidof.shape,
-      'nisland': d._impl.nisland.shape,
-      'nl': d._impl.nl.shape,
-      'ntree_awake': d._impl.ntree_awake.shape,
-      'nv_awake': d._impl.nv_awake.shape,
-      'overflow': d._impl.overflow.shape,
-      'qLD': d._impl.qLD.shape,
-      'qLDiagInv': d._impl.qLDiagInv.shape,
-      'qLU': d._impl.qLU.shape,
-      'qacc': d.qacc.shape,
-      'qacc_smooth': d.qacc_smooth.shape,
-      'qacc_warmstart': d.qacc_warmstart.shape,
-      'qfrc_actuator': d.qfrc_actuator.shape,
-      'qfrc_bias': d.qfrc_bias.shape,
-      'qfrc_constraint': d.qfrc_constraint.shape,
-      'qfrc_damper': d._impl.qfrc_damper.shape,
-      'qfrc_fluid': d.qfrc_fluid.shape,
-      'qfrc_gravcomp': d.qfrc_gravcomp.shape,
-      'qfrc_passive': d.qfrc_passive.shape,
-      'qfrc_smooth': d.qfrc_smooth.shape,
-      'qfrc_spring': d._impl.qfrc_spring.shape,
-      'qpos': d.qpos.shape,
-      'qvel': d.qvel.shape,
-      'sensordata': d.sensordata.shape,
-      'site_xmat': d.site_xmat.shape,
-      'site_xpos': d.site_xpos.shape,
-      'solver_niter': d._impl.solver_niter.shape,
-      'subtree_angmom': d._impl.subtree_angmom.shape,
-      'subtree_com': d.subtree_com.shape,
-      'subtree_linvel': d._impl.subtree_linvel.shape,
-      'ten_J': d._impl.ten_J.shape,
-      'ten_length': d.ten_length.shape,
-      'ten_velocity': d._impl.ten_velocity.shape,
-      'ten_wrapadr': d._impl.ten_wrapadr.shape,
-      'ten_wrapnum': d._impl.ten_wrapnum.shape,
-      'time': d.time.shape,
-      'tree_asleep': d._impl.tree_asleep.shape,
-      'tree_awake': d._impl.tree_awake.shape,
-      'tree_island': d._impl.tree_island.shape,
-      'wrap_obj': d._impl.wrap_obj.shape,
-      'wrap_xpos': d._impl.wrap_xpos.shape,
-      'xanchor': d.xanchor.shape,
-      'xaxis': d.xaxis.shape,
-      'ximat': d.ximat.shape,
-      'xipos': d.xipos.shape,
-      'xmat': d.xmat.shape,
-      'xpos': d.xpos.shape,
-      'xquat': d.xquat.shape,
-      'contact__dim': d._impl.contact__dim.shape,
-      'contact__dist': d._impl.contact__dist.shape,
-      'contact__efc_address': d._impl.contact__efc_address.shape,
-      'contact__elem': d._impl.contact__elem.shape,
-      'contact__flex': d._impl.contact__flex.shape,
-      'contact__frame': d._impl.contact__frame.shape,
-      'contact__friction': d._impl.contact__friction.shape,
-      'contact__geom': d._impl.contact__geom.shape,
-      'contact__geomcollisionid': d._impl.contact__geomcollisionid.shape,
-      'contact__includemargin': d._impl.contact__includemargin.shape,
-      'contact__pos': d._impl.contact__pos.shape,
-      'contact__solimp': d._impl.contact__solimp.shape,
-      'contact__solref': d._impl.contact__solref.shape,
-      'contact__solreffriction': d._impl.contact__solreffriction.shape,
-      'contact__type': d._impl.contact__type.shape,
-      'contact__vert': d._impl.contact__vert.shape,
-      'contact__worldid': d._impl.contact__worldid.shape,
-      'efc__D': d._impl.efc__D.shape,
-      'efc__J': d._impl.efc__J.shape,
-      'efc__J_colind': d._impl.efc__J_colind.shape,
-      'efc__J_rowadr': d._impl.efc__J_rowadr.shape,
-      'efc__J_rownnz': d._impl.efc__J_rownnz.shape,
-      'efc__Jqvel': d._impl.efc__Jqvel.shape,
-      'efc__Ma': d._impl.efc__Ma.shape,
-      'efc__aref': d._impl.efc__aref.shape,
-      'efc__force': d._impl.efc__force.shape,
-      'efc__frictionloss': d._impl.efc__frictionloss.shape,
-      'efc__id': d._impl.efc__id.shape,
-      'efc__island': d._impl.efc__island.shape,
-      'efc__jtdaj_adr': d._impl.efc__jtdaj_adr.shape,
-      'efc__jtdaj_nblock': d._impl.efc__jtdaj_nblock.shape,
-      'efc__jtdaj_nrow': d._impl.efc__jtdaj_nrow.shape,
-      'efc__margin': d._impl.efc__margin.shape,
-      'efc__pos': d._impl.efc__pos.shape,
-      'efc__state': d._impl.efc__state.shape,
-      'efc__type': d._impl.efc__type.shape,
-      'efc__vel': d._impl.efc__vel.shape,
-  }
-  jf = ffi.jax_callable_variadic_tuple(
-      _step_shim,
-      num_outputs=154,
-      output_dims=output_dims,
-      vmap_method=None,
-      in_out_argnames=set([
-          'M',
-          'act',
-          'act_dot',
-          'actuator_force',
-          'actuator_length',
-          'actuator_moment',
-          'actuator_velocity',
-          'body_awake',
-          'body_awake_ind',
-          'cJ',
-          'cM',
-          'cacc',
-          'cam_xmat',
-          'cam_xpos',
-          'cdof',
-          'cdof_dof',
-          'cdof_dot',
-          'cfrc_ext',
-          'cfrc_int',
-          'cinert',
-          'cqLD',
-          'cqacc_smooth',
-          'cqacc_warmstart',
-          'cqfrc_smooth',
-          'crb',
-          'crhs',
-          'cvel',
-          'cx',
-          'dof_awake_ind',
-          'dof_cdof',
-          'dof_island',
-          'dof_islandid',
-          'efc_islandid',
-          'energy',
-          'face_quat',
-          'face_xpos',
-          'flex_aabb_max',
-          'flex_aabb_min',
-          'flexedge_J',
-          'flexedge_length',
-          'flexedge_velocity',
-          'flexnode_xpos',
-          'flexvert_xpos',
-          'geom_xmat',
-          'geom_xpos',
-          'history',
-          'island_dofadr',
-          'island_idofadr',
-          'island_iefcadr',
-          'island_ne',
-          'island_nefc',
-          'island_nf',
-          'island_nv',
-          'light_xdir',
-          'light_xpos',
-          'map_dof2idof',
-          'map_efc2iefc',
-          'map_idof2dof',
-          'map_iefc2efc',
-          'moment_colind',
-          'moment_rowadr',
-          'moment_rownnz',
-          'nacon',
-          'nbody_awake',
-          'ncdof',
-          'ncollision',
-          'ne',
-          'nefc',
-          'nf',
-          'nidof',
-          'nisland',
-          'nl',
-          'ntree_awake',
-          'nv_awake',
-          'overflow',
-          'qLD',
-          'qLDiagInv',
-          'qLU',
-          'qacc',
-          'qacc_smooth',
-          'qacc_warmstart',
-          'qfrc_actuator',
-          'qfrc_bias',
-          'qfrc_constraint',
-          'qfrc_damper',
-          'qfrc_fluid',
-          'qfrc_gravcomp',
-          'qfrc_passive',
-          'qfrc_smooth',
-          'qfrc_spring',
-          'qpos',
-          'qvel',
-          'sensordata',
-          'site_xmat',
-          'site_xpos',
-          'solver_niter',
-          'subtree_angmom',
-          'subtree_com',
-          'subtree_linvel',
-          'ten_J',
-          'ten_length',
-          'ten_velocity',
-          'ten_wrapadr',
-          'ten_wrapnum',
-          'time',
-          'tree_asleep',
-          'tree_awake',
-          'tree_island',
-          'wrap_obj',
-          'wrap_xpos',
-          'xanchor',
-          'xaxis',
-          'ximat',
-          'xipos',
-          'xmat',
-          'xpos',
-          'xquat',
-          'contact__dim',
-          'contact__dist',
-          'contact__efc_address',
-          'contact__elem',
-          'contact__flex',
-          'contact__frame',
-          'contact__friction',
-          'contact__geom',
-          'contact__geomcollisionid',
-          'contact__includemargin',
-          'contact__pos',
-          'contact__solimp',
-          'contact__solref',
-          'contact__solreffriction',
-          'contact__type',
-          'contact__vert',
-          'contact__worldid',
-          'efc__D',
-          'efc__J',
-          'efc__J_colind',
-          'efc__J_rowadr',
-          'efc__J_rownnz',
-          'efc__Jqvel',
-          'efc__Ma',
-          'efc__aref',
-          'efc__force',
-          'efc__frictionloss',
-          'efc__id',
-          'efc__island',
-          'efc__jtdaj_adr',
-          'efc__jtdaj_nblock',
-          'efc__jtdaj_nrow',
-          'efc__margin',
-          'efc__pos',
-          'efc__state',
-          'efc__type',
-          'efc__vel',
-      ]),
-      stage_in_argnames=set([
-          'M',
-          'act',
-          'act_dot',
-          'actuator_acc0',
-          'actuator_actrange',
-          'actuator_biasprm',
-          'actuator_cranklength',
-          'actuator_ctrlrange',
-          'actuator_dynprm',
-          'actuator_force',
-          'actuator_forcerange',
-          'actuator_gainprm',
-          'actuator_gear',
-          'actuator_length',
-          'actuator_lengthrange',
-          'actuator_moment',
-          'actuator_velocity',
-          'body_awake',
-          'body_awake_ind',
-          'body_gravcomp',
-          'body_inertia',
-          'body_invweight0',
-          'body_ipos',
-          'body_iquat',
-          'body_mass',
-          'body_pos',
-          'body_quat',
-          'body_subtreemass',
-          'cJ',
-          'cM',
-          'cMa',
-          'cacc',
-          'cam_fovy',
-          'cam_intrinsic',
-          'cam_mat0',
-          'cam_pos',
-          'cam_pos0',
-          'cam_poscom0',
-          'cam_quat',
-          'cam_xmat',
-          'cam_xpos',
-          'cdof',
-          'cdof_dof',
-          'cdof_dot',
-          'cdof_tri_col',
-          'cdof_tri_row',
-          'cfrc_ext',
-          'cfrc_int',
-          'cinert',
-          'cls_tol',
-          'contact__dim',
-          'contact__dist',
-          'contact__efc_address',
-          'contact__elem',
-          'contact__flex',
-          'contact__frame',
-          'contact__friction',
-          'contact__geom',
-          'contact__geomcollisionid',
-          'contact__includemargin',
-          'contact__pos',
-          'contact__solimp',
-          'contact__solref',
-          'contact__solreffriction',
-          'contact__type',
-          'contact__vert',
-          'contact__worldid',
-          'cqLD',
-          'cqacc',
-          'cqacc_smooth',
-          'cqacc_warmstart',
-          'cqfrc_constraint',
-          'cqfrc_smooth',
-          'crb',
-          'crhs',
-          'ctol',
-          'ctrl',
-          'cvel',
-          'cx',
-          'dof_armature',
-          'dof_awake_ind',
-          'dof_cdof',
-          'dof_damping',
-          'dof_dampingpoly',
-          'dof_frictionloss',
-          'dof_invweight0',
-          'dof_island',
-          'dof_islandid',
-          'dof_solimp',
-          'dof_solref',
-          'efc__D',
-          'efc__J',
-          'efc__J_colind',
-          'efc__J_rowadr',
-          'efc__J_rownnz',
-          'efc__Jqvel',
-          'efc__Ma',
-          'efc__aref',
-          'efc__force',
-          'efc__frictionloss',
-          'efc__id',
-          'efc__island',
-          'efc__jtdaj_adr',
-          'efc__jtdaj_nblock',
-          'efc__jtdaj_nrow',
-          'efc__margin',
-          'efc__pos',
-          'efc__state',
-          'efc__type',
-          'efc__vel',
-          'efc_islandid',
-          'energy',
-          'eq_active',
-          'eq_data',
-          'eq_solimp',
-          'eq_solref',
-          'face_quat',
-          'face_xpos',
-          'flex_aabb_max',
-          'flex_aabb_min',
-          'flexedge_J',
-          'flexedge_length',
-          'flexedge_velocity',
-          'flexnode_xpos',
-          'flexvert_xpos',
-          'geom_aabb',
-          'geom_friction',
-          'geom_gap',
-          'geom_margin',
-          'geom_matid',
-          'geom_pos',
-          'geom_quat',
-          'geom_rbound',
-          'geom_rgba',
-          'geom_size',
-          'geom_solimp',
-          'geom_solmix',
-          'geom_solref',
-          'geom_xmat',
-          'geom_xpos',
-          'hfield_data',
-          'history',
-          'island_dofadr',
-          'island_idofadr',
-          'island_iefcadr',
-          'island_ne',
-          'island_nefc',
-          'island_nf',
-          'island_nv',
-          'jnt_actfrcrange',
-          'jnt_axis',
-          'jnt_margin',
-          'jnt_pos',
-          'jnt_range',
-          'jnt_solimp',
-          'jnt_solref',
-          'jnt_stiffness',
-          'jnt_stiffnesspoly',
-          'light_dir',
-          'light_dir0',
-          'light_pos',
-          'light_pos0',
-          'light_poscom0',
-          'light_xdir',
-          'light_xpos',
-          'map_dof2idof',
-          'map_efc2iefc',
-          'map_idof2dof',
-          'map_iefc2efc',
-          'mat_rgba',
-          'mocap_pos',
-          'mocap_quat',
-          'moment_colind',
-          'moment_rowadr',
-          'moment_rownnz',
-          'nacon',
-          'nbody_awake',
-          'ncdof',
-          'ncollision',
-          'ne',
-          'nefc',
-          'nf',
-          'nidof',
-          'nisland',
-          'nl',
-          'ntree_awake',
-          'nv_awake',
-          'opt__ccd_tolerance',
-          'opt__density',
-          'opt__gravity',
-          'opt__impratio_invsqrt',
-          'opt__ls_tolerance',
-          'opt__magnetic',
-          'opt__sleep_tolerance',
-          'opt__timestep',
-          'opt__tolerance',
-          'opt__viscosity',
-          'opt__wind',
-          'overflow',
-          'pair_friction',
-          'pair_gap',
-          'pair_margin',
-          'pair_solimp',
-          'pair_solref',
-          'pair_solreffriction',
-          'qLD',
-          'qLDiagInv',
-          'qLU',
-          'qacc',
-          'qacc_smooth',
-          'qacc_warmstart',
-          'qfrc_actuator',
-          'qfrc_applied',
-          'qfrc_bias',
-          'qfrc_constraint',
-          'qfrc_damper',
-          'qfrc_fluid',
-          'qfrc_gravcomp',
-          'qfrc_passive',
-          'qfrc_smooth',
-          'qfrc_spring',
-          'qpos',
-          'qpos0',
-          'qpos_spring',
-          'qvel',
-          'sensordata',
-          'site_pos',
-          'site_quat',
-          'site_xmat',
-          'site_xpos',
-          'solver_niter',
-          'subtree_angmom',
-          'subtree_com',
-          'subtree_linvel',
-          'ten_J',
-          'ten_length',
-          'ten_velocity',
-          'ten_wrapadr',
-          'ten_wrapnum',
-          'tendon_actfrcrange',
-          'tendon_armature',
-          'tendon_damping',
-          'tendon_dampingpoly',
-          'tendon_frictionloss',
-          'tendon_invweight0',
-          'tendon_length0',
-          'tendon_lengthspring',
-          'tendon_margin',
-          'tendon_range',
-          'tendon_solimp_fri',
-          'tendon_solimp_lim',
-          'tendon_solref_fri',
-          'tendon_solref_lim',
-          'tendon_stiffness',
-          'tendon_stiffnesspoly',
-          'time',
-          'tree_asleep',
-          'tree_awake',
-          'tree_island',
-          'wrap_obj',
-          'wrap_xpos',
-          'xanchor',
-          'xaxis',
-          'xfrc_applied',
-          'ximat',
-          'xipos',
-          'xmat',
-          'xpos',
-          'xquat',
-      ]),
-      stage_out_argnames=set([
-          'M',
-          'act',
-          'act_dot',
-          'actuator_force',
-          'actuator_length',
-          'actuator_moment',
-          'actuator_velocity',
-          'body_awake',
-          'body_awake_ind',
-          'cJ',
-          'cM',
-          'cacc',
-          'cam_xmat',
-          'cam_xpos',
-          'cdof',
-          'cdof_dof',
-          'cdof_dot',
-          'cfrc_ext',
-          'cfrc_int',
-          'cinert',
-          'contact__dim',
-          'contact__dist',
-          'contact__efc_address',
-          'contact__elem',
-          'contact__flex',
-          'contact__frame',
-          'contact__friction',
-          'contact__geom',
-          'contact__geomcollisionid',
-          'contact__includemargin',
-          'contact__pos',
-          'contact__solimp',
-          'contact__solref',
-          'contact__solreffriction',
-          'contact__type',
-          'contact__vert',
-          'contact__worldid',
-          'cqLD',
-          'cqacc_smooth',
-          'cqacc_warmstart',
-          'cqfrc_smooth',
-          'crb',
-          'crhs',
-          'cvel',
-          'cx',
-          'dof_awake_ind',
-          'dof_cdof',
-          'dof_island',
-          'dof_islandid',
-          'efc__D',
-          'efc__J',
-          'efc__J_colind',
-          'efc__J_rowadr',
-          'efc__J_rownnz',
-          'efc__Jqvel',
-          'efc__Ma',
-          'efc__aref',
-          'efc__force',
-          'efc__frictionloss',
-          'efc__id',
-          'efc__island',
-          'efc__jtdaj_adr',
-          'efc__jtdaj_nblock',
-          'efc__jtdaj_nrow',
-          'efc__margin',
-          'efc__pos',
-          'efc__state',
-          'efc__type',
-          'efc__vel',
-          'efc_islandid',
-          'energy',
-          'face_quat',
-          'face_xpos',
-          'flex_aabb_max',
-          'flex_aabb_min',
-          'flexedge_J',
-          'flexedge_length',
-          'flexedge_velocity',
-          'flexnode_xpos',
-          'flexvert_xpos',
-          'geom_xmat',
-          'geom_xpos',
-          'history',
-          'island_dofadr',
-          'island_idofadr',
-          'island_iefcadr',
-          'island_ne',
-          'island_nefc',
-          'island_nf',
-          'island_nv',
-          'light_xdir',
-          'light_xpos',
-          'map_dof2idof',
-          'map_efc2iefc',
-          'map_idof2dof',
-          'map_iefc2efc',
-          'moment_colind',
-          'moment_rowadr',
-          'moment_rownnz',
-          'nacon',
-          'nbody_awake',
-          'ncdof',
-          'ncollision',
-          'ne',
-          'nefc',
-          'nf',
-          'nidof',
-          'nisland',
-          'nl',
-          'ntree_awake',
-          'nv_awake',
-          'overflow',
-          'qLD',
-          'qLDiagInv',
-          'qLU',
-          'qacc',
-          'qacc_smooth',
-          'qacc_warmstart',
-          'qfrc_actuator',
-          'qfrc_bias',
-          'qfrc_constraint',
-          'qfrc_damper',
-          'qfrc_fluid',
-          'qfrc_gravcomp',
-          'qfrc_passive',
-          'qfrc_smooth',
-          'qfrc_spring',
-          'qpos',
-          'qvel',
-          'sensordata',
-          'site_xmat',
-          'site_xpos',
-          'solver_niter',
-          'subtree_angmom',
-          'subtree_com',
-          'subtree_linvel',
-          'ten_J',
-          'ten_length',
-          'ten_velocity',
-          'ten_wrapadr',
-          'ten_wrapnum',
-          'time',
-          'tree_asleep',
-          'tree_awake',
-          'tree_island',
-          'wrap_obj',
-          'wrap_xpos',
-          'xanchor',
-          'xaxis',
-          'ximat',
-          'xipos',
-          'xmat',
-          'xpos',
-          'xquat',
-      ]),
-      graph_mode=m.opt._impl.graph_mode,
-      has_side_effect=False,
-  )
-  out = jf(
-      d.qpos.shape[0],
-      m._impl.D_colind,
-      m._impl.D_diag,
-      m._impl.D_rowadr,
-      m._impl.D_rownnz,
-      m.M_colind,
-      m._impl.M_elemid,
-      m._impl.M_fullm_i,
-      m._impl.M_fullm_j,
-      m._impl.M_hinit_i,
-      m._impl.M_mulm_col,
-      m._impl.M_mulm_madr,
-      m._impl.M_mulm_rowadr,
-      m.M_rowadr,
-      m.M_rownnz,
-      m._impl.M_tiles,
-      m.actuator_acc0,
-      m.actuator_actadr,
-      m.actuator_actearly,
-      m.actuator_actlimited,
-      m.actuator_actnum,
-      m.actuator_actrange,
-      m.actuator_biasprm,
-      m.actuator_biastype,
-      m.actuator_cranklength,
-      m.actuator_ctrllimited,
-      m.actuator_ctrlrange,
-      m._impl.actuator_delay,
-      m.actuator_dynprm,
-      m.actuator_dyntype,
-      m.actuator_forcelimited,
-      m.actuator_forcerange,
-      m.actuator_gainprm,
-      m.actuator_gaintype,
-      m.actuator_gear,
-      m._impl.actuator_history,
-      m._impl.actuator_historyadr,
-      m.actuator_lengthrange,
-      m.actuator_trnid,
-      m.actuator_trntype,
-      m._impl.actuator_trntype_body_adr,
-      m._impl.block_dim,
-      m._impl.body_branch_start,
-      m._impl.body_branches,
-      m.body_dofadr,
-      m.body_dofnum,
-      m._impl.body_fluid_box_adr,
-      m._impl.body_fluid_ellipsoid,
-      m._impl.body_fluid_ellipsoid_adr,
-      m.body_geomadr,
-      m.body_geomnum,
-      m.body_gravcomp,
-      m.body_inertia,
-      m.body_invweight0,
-      m.body_ipos,
-      m.body_iquat,
-      m._impl.body_isdofancestor,
-      m.body_jntadr,
-      m.body_jntnum,
-      m.body_mass,
-      m.body_mocapid,
-      m.body_parentid,
-      m.body_pos,
-      m.body_quat,
-      m.body_rootid,
-      m.body_simple,
-      m.body_subtreemass,
-      m._impl.body_tree,
-      m.body_treeid,
-      m.body_weldid,
-      m.cam_bodyid,
-      m.cam_fovy,
-      m.cam_intrinsic,
-      m.cam_mat0,
-      m.cam_mode,
-      m.cam_pos,
-      m.cam_pos0,
-      m.cam_poscom0,
-      m.cam_quat,
-      m.cam_resolution,
-      m.cam_sensorsize,
-      m.cam_targetbodyid,
-      m.dof_armature,
-      m.dof_bodyid,
-      m.dof_damping,
-      m.dof_dampingpoly,
-      m.dof_frictionloss,
-      m.dof_invweight0,
-      m.dof_jntid,
-      m._impl.dof_length,
-      m.dof_parentid,
-      m.dof_solimp,
-      m.dof_solref,
-      m.dof_treeid,
-      m._impl.dof_tri_col,
-      m._impl.dof_tri_row,
-      m._impl.eq_connect_adr,
-      m.eq_data,
-      m._impl.eq_flex_adr,
-      m._impl.eq_flexstrain_adr,
-      m._impl.eq_jnt_adr,
-      m.eq_obj1id,
-      m.eq_obj2id,
-      m.eq_objtype,
-      m.eq_solimp,
-      m.eq_solref,
-      m._impl.eq_ten_adr,
-      m.eq_type,
-      m._impl.eq_wld_adr,
-      m._impl.flex_bend_interp_map,
-      m._impl.flex_bending,
-      m._impl.flex_bendingadr,
-      m._impl.flex_cell_map,
-      m._impl.flex_cellnum,
-      m._impl.flex_centered,
-      m._impl.flex_conaffinity,
-      m._impl.flex_condim,
-      m._impl.flex_contype,
-      m._impl.flex_damping,
-      m._impl.flex_dim,
-      m._impl.flex_edge,
-      m._impl.flex_edgeadr,
-      m._impl.flex_edgeequality,
-      m._impl.flex_edgeflap,
-      m._impl.flex_edgenum,
-      m._impl.flex_elem,
-      m._impl.flex_elemadr,
-      m._impl.flex_elemdataadr,
-      m._impl.flex_elemedge,
-      m._impl.flex_elemedgeadr,
-      m._impl.flex_elemflexid,
-      m._impl.flex_elemnum,
-      m._impl.flex_evpair,
-      m._impl.flex_evpairadr,
-      m._impl.flex_evpairflexid,
-      m._impl.flex_evpairnum,
-      m._impl.flex_face,
-      m._impl.flex_face_map,
-      m._impl.flex_faceadr,
-      m._impl.flex_friction,
-      m._impl.flex_gap,
-      m._impl.flex_internal,
-      m.flex_interp,
-      m._impl.flex_margin,
-      m._impl.flex_node,
-      m.flex_node0,
-      m.flex_nodeadr,
-      m.flex_nodebodyid,
-      m.flex_nodenum,
-      m._impl.flex_priority,
-      m._impl.flex_radius,
-      m._impl.flex_selfcollide,
-      m._impl.flex_shell,
-      m._impl.flex_shelldataadr,
-      m._impl.flex_solimp,
-      m._impl.flex_solmix,
-      m._impl.flex_solref,
-      m._impl.flex_stiffness,
-      m._impl.flex_stiffnessadr,
-      m._impl.flex_vert,
-      m.flex_vert0,
-      m.flex_vertadr,
-      m._impl.flex_vertbodyid,
-      m._impl.flex_vertflexid,
-      m.flex_vertnum,
-      m._impl.flexedge_J_colind,
-      m._impl.flexedge_J_rowadr,
-      m._impl.flexedge_J_rownnz,
-      m._impl.flexedge_invweight0,
-      m._impl.flexedge_length0,
-      m._impl.flexelem_geom_pair_filtered,
-      m._impl.flexstrain_J_colind,
-      m._impl.flexstrain_J_rowadr,
-      m._impl.flexstrain_J_rownnz,
-      m._impl.flexvert_geom_pair_filtered,
-      m.geom_aabb,
-      m.geom_bodyid,
-      m.geom_conaffinity,
-      m.geom_condim,
-      m.geom_contype,
-      jax.numpy.expand_dims(m.geom_dataid, 0),
-      m.geom_fluid,
-      m.geom_friction,
-      m.geom_gap,
-      m.geom_group,
-      m.geom_margin,
-      m.geom_matid,
-      m._impl.geom_pair_type_count,
-      m._impl.geom_plugin_index,
-      m.geom_pos,
-      m.geom_priority,
-      m.geom_quat,
-      m.geom_rbound,
-      m.geom_rgba,
-      m.geom_size,
-      m.geom_solimp,
-      m.geom_solmix,
-      m.geom_solref,
-      m.geom_type,
-      m._impl.has_3d_flex,
-      m._impl.has_ellipsoid_geom,
-      m._impl.has_flex_selfcollide,
-      m._impl.has_fluid,
-      m._impl.has_sdf_geom,
-      m.hfield_adr,
-      m.hfield_data,
-      m.hfield_ncol,
-      m.hfield_nrow,
-      m.hfield_size,
-      m._impl.is_sparse,
-      m.jnt_actfrclimited,
-      m.jnt_actfrcrange,
-      m.jnt_actgravcomp,
-      m.jnt_axis,
-      m.jnt_bodyid,
-      m.jnt_dofadr,
-      m._impl.jnt_limited_ball_adr,
-      m._impl.jnt_limited_slide_hinge_adr,
-      m.jnt_margin,
-      m.jnt_pos,
-      m.jnt_qposadr,
-      m.jnt_range,
-      m.jnt_solimp,
-      m.jnt_solref,
-      m.jnt_stiffness,
-      m.jnt_stiffnesspoly,
-      m.jnt_type,
-      m._impl.light_bodyid,
-      m.light_dir,
-      m.light_dir0,
-      m.light_mode,
-      m.light_pos,
-      m.light_pos0,
-      m.light_poscom0,
-      m._impl.light_targetbodyid,
-      m._impl.mapM2D,
-      m.mat_rgba,
-      m._impl.max_flex_dim,
-      m._impl.max_ten_J_rownnz,
-      m.mesh_face,
-      m.mesh_faceadr,
-      m.mesh_graph,
-      m.mesh_graphadr,
-      m.mesh_normal,
-      m.mesh_normaladr,
-      m.mesh_normalnum,
-      m.mesh_octadr,
-      m._impl.mesh_polyadr,
-      m._impl.mesh_polymap,
-      m._impl.mesh_polymapadr,
-      m._impl.mesh_polymapnum,
-      m._impl.mesh_polynormal,
-      m._impl.mesh_polynum,
-      m._impl.mesh_polyvert,
-      m._impl.mesh_polyvertadr,
-      m._impl.mesh_polyvertnum,
-      m.mesh_pos,
-      m.mesh_quat,
-      m.mesh_vert,
-      m.mesh_vertadr,
-      m.mesh_vertnum,
-      m.nC,
-      m.nD,
-      m.nJten,
-      m.na,
-      m._impl.nacttrnbody,
-      m.nbody,
-      m._impl.nbranch,
-      m.ncam,
-      m.neq,
-      m.nflex,
-      m._impl.nflexbend_interp,
-      m._impl.nflexedge,
-      m._impl.nflexelem,
-      m._impl.nflexevpair,
-      m._impl.nflexface,
-      m._impl.nflexintcell,
-      m._impl.nflexnode,
-      m._impl.nflexvert,
-      m.ngeom,
-      m.nhistory,
-      m.njnt,
-      m.nlight,
-      m._impl.nmaxcondim,
-      m._impl.nmaxmeshdeg,
-      m._impl.nmaxpolygon,
-      m._impl.nmaxpyramid,
-      m.nmesh,
-      m.nmeshface,
-      m._impl.nrangefinder,
-      m._impl.nsensorcollision,
-      m._impl.nsensorcontact,
-      m._impl.nsensortaxel,
-      m.nsite,
-      m.ntendon,
-      m._impl.ntree,
-      m.nu,
-      m.nv,
-      m._impl.nv_pad,
-      m.nwrap,
-      m._impl.nxn_geom_pair_filtered,
-      m._impl.nxn_pairid,
-      m._impl.nxn_pairid_filtered,
-      m._impl.oct_aabb,
-      m._impl.oct_child,
-      m._impl.oct_coeff,
-      m.pair_dim,
-      m.pair_friction,
-      m.pair_gap,
-      m.pair_margin,
-      m.pair_solimp,
-      m.pair_solref,
-      m.pair_solreffriction,
-      m._impl.plugin,
-      m._impl.plugin_attr,
-      m._impl.qD_fullm_i,
-      m._impl.qD_fullm_j,
-      m._impl.qLD_all_updates,
-      m._impl.qLD_block_adr,
-      m._impl.qLD_block_total,
-      m._impl.qLD_level_offsets,
-      m._impl.qLD_updates,
-      m.qpos0,
-      m.qpos_spring,
-      m._impl.rangefinder_sensor_adr,
-      m._impl.sensor_acc_adr,
-      m.sensor_adr,
-      m._impl.sensor_adr_to_contact_adr,
-      m._impl.sensor_contact_adr,
-      m.sensor_cutoff,
-      m.sensor_datatype,
-      m._impl.sensor_delay,
-      m.sensor_dim,
-      m._impl.sensor_e_kinetic,
-      m._impl.sensor_e_potential,
-      m._impl.sensor_history,
-      m._impl.sensor_historyadr,
-      m._impl.sensor_interval,
-      m.sensor_intprm,
-      m._impl.sensor_limitfrc_adr,
-      m._impl.sensor_limitpos_adr,
-      m._impl.sensor_limitvel_adr,
-      m.sensor_objid,
-      m.sensor_objtype,
-      m._impl.sensor_pos_adr,
-      m._impl.sensor_rangefinder_adr,
-      m._impl.sensor_rangefinder_bodyid,
-      m.sensor_refid,
-      m.sensor_reftype,
-      m._impl.sensor_rne_postconstraint,
-      m._impl.sensor_subtree_vel,
-      m._impl.sensor_tendonactfrc_adr,
-      m._impl.sensor_touch_adr,
-      m.sensor_type,
-      m._impl.sensor_vel_adr,
-      m.site_bodyid,
-      m.site_pos,
-      m.site_quat,
-      m.site_size,
-      m.site_type,
-      m._impl.taxel_sensorid,
-      m._impl.taxel_vertadr,
-      m._impl.ten_J_colind,
-      m._impl.ten_J_rowadr,
-      m._impl.ten_J_rownnz,
-      m.tendon_actfrclimited,
-      m.tendon_actfrcrange,
-      m.tendon_adr,
-      m.tendon_armature,
-      m.tendon_damping,
-      m.tendon_dampingpoly,
-      m.tendon_frictionloss,
-      m._impl.tendon_geom_adr,
-      m.tendon_invweight0,
-      m._impl.tendon_jnt_adr,
-      m.tendon_length0,
-      m.tendon_lengthspring,
-      m.tendon_limited,
-      m._impl.tendon_limited_adr,
-      m.tendon_margin,
-      m.tendon_num,
-      m.tendon_range,
-      m._impl.tendon_site_pair_adr,
-      m.tendon_solimp_fri,
-      m.tendon_solimp_lim,
-      m.tendon_solref_fri,
-      m.tendon_solref_lim,
-      m.tendon_stiffness,
-      m.tendon_stiffnesspoly,
-      m._impl.tree_dofadr,
-      m._impl.tree_dofnum,
-      m._impl.tree_sleep_policy,
-      m._impl.wrap_geom_adr,
-      m._impl.wrap_jnt_adr,
-      m.wrap_objid,
-      m.wrap_prm,
-      m._impl.wrap_pulley_scale,
-      m._impl.wrap_site_pair_adr,
-      m.wrap_type,
-      m.opt._impl.broadphase,
-      m.opt._impl.broadphase_filter,
-      m.opt._impl.ccd_iterations,
-      m.opt._impl.ccd_tolerance,
-      m.opt.cone,
-      m.opt._impl.contact_sensor_maxmatch,
-      m.opt.density,
-      m.opt.disableflags,
-      m.opt.enableflags,
-      m.opt._impl.graph_conditional,
-      m.opt.gravity,
-      m.opt._impl.impratio_invsqrt,
-      m.opt.integrator,
-      m.opt.iterations,
-      m.opt.ls_iterations,
-      m.opt.ls_tolerance,
-      m.opt.magnetic,
-      m.opt._impl.run_collision_detection,
-      m.opt._impl.sdf_initpoints,
-      m.opt._impl.sdf_iterations,
-      m.opt._impl.sleep_tolerance,
-      m.opt.solver,
-      m.opt.timestep,
-      m.opt.tolerance,
-      m.opt.viscosity,
-      m.opt._impl.warn_overflow,
-      m.opt.wind,
-      m.stat.meaninertia,
-      d._impl.naccdmax,
-      d._impl.naconmax,
-      d._impl.njmax,
-      d._impl.njmax_nnz,
-      d._impl.nvmax,
-      d._impl.nvmax_pad,
-      d._impl.M,
-      d.act,
-      d.act_dot,
-      d.actuator_force,
-      d.actuator_length,
-      d._impl.actuator_moment,
-      d._impl.actuator_velocity,
-      d._impl.body_awake,
-      d._impl.body_awake_ind,
-      d._impl.cJ,
-      d._impl.cM,
-      d._impl.cMa,
-      d._impl.cacc,
-      d.cam_xmat,
-      d.cam_xpos,
-      d.cdof,
-      d._impl.cdof_dof,
-      d.cdof_dot,
-      d._impl.cdof_tri_col,
-      d._impl.cdof_tri_row,
-      d._impl.cfrc_ext,
-      d._impl.cfrc_int,
-      d._impl.cinert,
-      d._impl.cls_tol,
-      d._impl.cqLD,
-      d._impl.cqacc,
-      d._impl.cqacc_smooth,
-      d._impl.cqacc_warmstart,
-      d._impl.cqfrc_constraint,
-      d._impl.cqfrc_smooth,
-      d._impl.crb,
-      d._impl.crhs,
-      d._impl.ctol,
-      d.ctrl,
-      d.cvel,
-      d._impl.cx,
-      d._impl.dof_awake_ind,
-      d._impl.dof_cdof,
-      d._impl.dof_island,
-      d._impl.dof_islandid,
-      d._impl.efc_islandid,
-      d._impl.energy,
-      d.eq_active,
-      d._impl.face_quat,
-      d._impl.face_xpos,
-      d._impl.flex_aabb_max,
-      d._impl.flex_aabb_min,
-      d._impl.flexedge_J,
-      d._impl.flexedge_length,
-      d._impl.flexedge_velocity,
-      d._impl.flexnode_xpos,
-      d._impl.flexvert_xpos,
-      d.geom_xmat,
-      d.geom_xpos,
-      d.history,
-      d._impl.island_dofadr,
-      d._impl.island_idofadr,
-      d._impl.island_iefcadr,
-      d._impl.island_ne,
-      d._impl.island_nefc,
-      d._impl.island_nf,
-      d._impl.island_nv,
-      d._impl.light_xdir,
-      d._impl.light_xpos,
-      d._impl.map_dof2idof,
-      d._impl.map_efc2iefc,
-      d._impl.map_idof2dof,
-      d._impl.map_iefc2efc,
-      d.mocap_pos,
-      d.mocap_quat,
-      d._impl.moment_colind,
-      d._impl.moment_rowadr,
-      d._impl.moment_rownnz,
-      d._impl.nacon,
-      d._impl.nbody_awake,
-      d._impl.ncdof,
-      d._impl.ncollision,
-      d._impl.ne,
-      d._impl.nefc,
-      d._impl.nf,
-      d._impl.nidof,
-      d._impl.nisland,
-      d._impl.nl,
-      d._impl.ntree_awake,
-      d._impl.nv_awake,
-      d._impl.overflow,
-      d._impl.qLD,
-      d._impl.qLDiagInv,
-      d._impl.qLU,
-      d.qacc,
-      d.qacc_smooth,
-      d.qacc_warmstart,
-      d.qfrc_actuator,
-      d.qfrc_applied,
-      d.qfrc_bias,
-      d.qfrc_constraint,
-      d._impl.qfrc_damper,
-      d.qfrc_fluid,
-      d.qfrc_gravcomp,
-      d.qfrc_passive,
-      d.qfrc_smooth,
-      d._impl.qfrc_spring,
-      d.qpos,
-      d.qvel,
-      d.sensordata,
-      d.site_xmat,
-      d.site_xpos,
-      d._impl.solver_niter,
-      d._impl.subtree_angmom,
-      d.subtree_com,
-      d._impl.subtree_linvel,
-      d._impl.ten_J,
-      d.ten_length,
-      d._impl.ten_velocity,
-      d._impl.ten_wrapadr,
-      d._impl.ten_wrapnum,
-      d.time,
-      d._impl.tree_asleep,
-      d._impl.tree_awake,
-      d._impl.tree_island,
-      d._impl.wrap_obj,
-      d._impl.wrap_xpos,
-      d.xanchor,
-      d.xaxis,
-      d.xfrc_applied,
-      d.ximat,
-      d.xipos,
-      d.xmat,
-      d.xpos,
-      d.xquat,
-      d._impl.contact__dim,
-      d._impl.contact__dist,
-      d._impl.contact__efc_address,
-      d._impl.contact__elem,
-      d._impl.contact__flex,
-      d._impl.contact__frame,
-      d._impl.contact__friction,
-      d._impl.contact__geom,
-      d._impl.contact__geomcollisionid,
-      d._impl.contact__includemargin,
-      d._impl.contact__pos,
-      d._impl.contact__solimp,
-      d._impl.contact__solref,
-      d._impl.contact__solreffriction,
-      d._impl.contact__type,
-      d._impl.contact__vert,
-      d._impl.contact__worldid,
-      d._impl.efc__D,
-      d._impl.efc__J,
-      d._impl.efc__J_colind,
-      d._impl.efc__J_rowadr,
-      d._impl.efc__J_rownnz,
-      d._impl.efc__Jqvel,
-      d._impl.efc__Ma,
-      d._impl.efc__aref,
-      d._impl.efc__force,
-      d._impl.efc__frictionloss,
-      d._impl.efc__id,
-      d._impl.efc__island,
-      d._impl.efc__jtdaj_adr,
-      d._impl.efc__jtdaj_nblock,
-      d._impl.efc__jtdaj_nrow,
-      d._impl.efc__margin,
-      d._impl.efc__pos,
-      d._impl.efc__state,
-      d._impl.efc__type,
-      d._impl.efc__vel,
-  )
-  d = d.tree_replace({
-      '_impl.M': out[0],
-      'act': out[1],
-      'act_dot': out[2],
-      'actuator_force': out[3],
-      'actuator_length': out[4],
-      '_impl.actuator_moment': out[5],
-      '_impl.actuator_velocity': out[6],
-      '_impl.body_awake': out[7],
-      '_impl.body_awake_ind': out[8],
-      '_impl.cJ': out[9],
-      '_impl.cM': out[10],
-      '_impl.cacc': out[11],
-      'cam_xmat': out[12],
-      'cam_xpos': out[13],
-      'cdof': out[14],
-      '_impl.cdof_dof': out[15],
-      'cdof_dot': out[16],
-      '_impl.cfrc_ext': out[17],
-      '_impl.cfrc_int': out[18],
-      '_impl.cinert': out[19],
-      '_impl.cqLD': out[20],
-      '_impl.cqacc_smooth': out[21],
-      '_impl.cqacc_warmstart': out[22],
-      '_impl.cqfrc_smooth': out[23],
-      '_impl.crb': out[24],
-      '_impl.crhs': out[25],
-      'cvel': out[26],
-      '_impl.cx': out[27],
-      '_impl.dof_awake_ind': out[28],
-      '_impl.dof_cdof': out[29],
-      '_impl.dof_island': out[30],
-      '_impl.dof_islandid': out[31],
-      '_impl.efc_islandid': out[32],
-      '_impl.energy': out[33],
-      '_impl.face_quat': out[34],
-      '_impl.face_xpos': out[35],
-      '_impl.flex_aabb_max': out[36],
-      '_impl.flex_aabb_min': out[37],
-      '_impl.flexedge_J': out[38],
-      '_impl.flexedge_length': out[39],
-      '_impl.flexedge_velocity': out[40],
-      '_impl.flexnode_xpos': out[41],
-      '_impl.flexvert_xpos': out[42],
-      'geom_xmat': out[43],
-      'geom_xpos': out[44],
-      'history': out[45],
-      '_impl.island_dofadr': out[46],
-      '_impl.island_idofadr': out[47],
-      '_impl.island_iefcadr': out[48],
-      '_impl.island_ne': out[49],
-      '_impl.island_nefc': out[50],
-      '_impl.island_nf': out[51],
-      '_impl.island_nv': out[52],
-      '_impl.light_xdir': out[53],
-      '_impl.light_xpos': out[54],
-      '_impl.map_dof2idof': out[55],
-      '_impl.map_efc2iefc': out[56],
-      '_impl.map_idof2dof': out[57],
-      '_impl.map_iefc2efc': out[58],
-      '_impl.moment_colind': out[59],
-      '_impl.moment_rowadr': out[60],
-      '_impl.moment_rownnz': out[61],
-      '_impl.nacon': out[62],
-      '_impl.nbody_awake': out[63],
-      '_impl.ncdof': out[64],
-      '_impl.ncollision': out[65],
-      '_impl.ne': out[66],
-      '_impl.nefc': out[67],
-      '_impl.nf': out[68],
-      '_impl.nidof': out[69],
-      '_impl.nisland': out[70],
-      '_impl.nl': out[71],
-      '_impl.ntree_awake': out[72],
-      '_impl.nv_awake': out[73],
-      '_impl.overflow': out[74],
-      '_impl.qLD': out[75],
-      '_impl.qLDiagInv': out[76],
-      '_impl.qLU': out[77],
-      'qacc': out[78],
-      'qacc_smooth': out[79],
-      'qacc_warmstart': out[80],
-      'qfrc_actuator': out[81],
-      'qfrc_bias': out[82],
-      'qfrc_constraint': out[83],
-      '_impl.qfrc_damper': out[84],
-      'qfrc_fluid': out[85],
-      'qfrc_gravcomp': out[86],
-      'qfrc_passive': out[87],
-      'qfrc_smooth': out[88],
-      '_impl.qfrc_spring': out[89],
-      'qpos': out[90],
-      'qvel': out[91],
-      'sensordata': out[92],
-      'site_xmat': out[93],
-      'site_xpos': out[94],
-      '_impl.solver_niter': out[95],
-      '_impl.subtree_angmom': out[96],
-      'subtree_com': out[97],
-      '_impl.subtree_linvel': out[98],
-      '_impl.ten_J': out[99],
-      'ten_length': out[100],
-      '_impl.ten_velocity': out[101],
-      '_impl.ten_wrapadr': out[102],
-      '_impl.ten_wrapnum': out[103],
-      'time': out[104],
-      '_impl.tree_asleep': out[105],
-      '_impl.tree_awake': out[106],
-      '_impl.tree_island': out[107],
-      '_impl.wrap_obj': out[108],
-      '_impl.wrap_xpos': out[109],
-      'xanchor': out[110],
-      'xaxis': out[111],
-      'ximat': out[112],
-      'xipos': out[113],
-      'xmat': out[114],
-      'xpos': out[115],
-      'xquat': out[116],
-      '_impl.contact__dim': out[117],
-      '_impl.contact__dist': out[118],
-      '_impl.contact__efc_address': out[119],
-      '_impl.contact__elem': out[120],
-      '_impl.contact__flex': out[121],
-      '_impl.contact__frame': out[122],
-      '_impl.contact__friction': out[123],
-      '_impl.contact__geom': out[124],
-      '_impl.contact__geomcollisionid': out[125],
-      '_impl.contact__includemargin': out[126],
-      '_impl.contact__pos': out[127],
-      '_impl.contact__solimp': out[128],
-      '_impl.contact__solref': out[129],
-      '_impl.contact__solreffriction': out[130],
-      '_impl.contact__type': out[131],
-      '_impl.contact__vert': out[132],
-      '_impl.contact__worldid': out[133],
-      '_impl.efc__D': out[134],
-      '_impl.efc__J': out[135],
-      '_impl.efc__J_colind': out[136],
-      '_impl.efc__J_rowadr': out[137],
-      '_impl.efc__J_rownnz': out[138],
-      '_impl.efc__Jqvel': out[139],
-      '_impl.efc__Ma': out[140],
-      '_impl.efc__aref': out[141],
-      '_impl.efc__force': out[142],
-      '_impl.efc__frictionloss': out[143],
-      '_impl.efc__id': out[144],
-      '_impl.efc__island': out[145],
-      '_impl.efc__jtdaj_adr': out[146],
-      '_impl.efc__jtdaj_nblock': out[147],
-      '_impl.efc__jtdaj_nrow': out[148],
-      '_impl.efc__margin': out[149],
-      '_impl.efc__pos': out[150],
-      '_impl.efc__state': out[151],
-      '_impl.efc__type': out[152],
-      '_impl.efc__vel': out[153],
-  })
-  return d
-
-
-@jax.custom_batching.custom_vmap
-@ffi.marshal_jax_warp_callable
-def step(m: types.Model, d: types.Data):
-  return _step_jax_impl(m, d)
-
-
-@step.def_vmap
-@ffi.marshal_custom_vmap
-def step_vmap(unused_axis_size, is_batched, m: types.Model, d: types.Data):
-  d = step(m, d)
-  return d, is_batched[1]
diff --git a/mjx/mujoco/mjx/warp/forward_test.py b/mjx/mujoco/mjx/warp/forward_test.py
deleted file mode 100644
index 34cfa386..00000000
--- a/mjx/mujoco/mjx/warp/forward_test.py
+++ /dev/null
@@ -1,444 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for forward functions."""
-
-import functools
-import os
-import tempfile
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-import jax.numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import io
-from mujoco.mjx._src import test_util
-import mujoco.mjx.warp as mjxw
-from mujoco.mjx.warp import test_util as tu
-from mujoco.mjx.warp import warp as wp  # pylint: disable=g-importing-member
-import numpy as np
-
-
-try:
-  from mujoco.mjx.warp import forward  # pylint: disable=g-import-not-at-top
-except ImportError:
-  forward = None
-
-_FORCE_TEST = os.environ.get('MJX_WARP_FORCE_TEST', '0') == '1'
-
-
-class ForwardTest(parameterized.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass()
-    if mjxw.WARP_INSTALLED:
-      cls.tempdir = tempfile.TemporaryDirectory()
-      wp.config.kernel_cache_dir = cls.tempdir.name
-
-  @classmethod
-  def tearDownClass(cls):
-    super().tearDownClass()
-    if hasattr(cls, 'tempdir'):
-      cls.tempdir.cleanup()
-
-  def setUp(self):
-    super().setUp()
-    np.random.seed(0)
-
-  @parameterized.parameters(
-      'pendula.xml',
-      'humanoid/humanoid.xml',
-  )
-  def test_jit_caching(self, xml):
-    """Tests jit caching on the full step function."""
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    batch_size = 7
-    m = test_util.load_test_file(xml)
-    mx = mjx.put_model(m, impl='warp')
-
-    keys = jp.arange(batch_size)
-    dx_batch = jax.vmap(functools.partial(tu.make_data, m))(keys)
-
-    step_fn = jax.jit(jax.vmap(forward.step, in_axes=(None, 0)))
-    dx_batch1 = step_fn(mx, dx_batch)
-    jax.tree_util.tree_map(lambda x: x.block_until_ready(), dx_batch1)
-    self.assertEqual(step_fn._cache_size(), 1)
-
-    # Re-generate data and run step_fn again to test jit caching.
-    keys = jp.arange(batch_size, batch_size * 2)
-    dx_batch = jax.vmap(functools.partial(tu.make_data, m))(keys)
-    dx_batch2 = step_fn(mx, dx_batch)
-    jax.tree_util.tree_map(lambda x: x.block_until_ready(), dx_batch2)
-    self.assertEqual(step_fn._cache_size(), 1)
-
-  @parameterized.product(
-      xml=(
-          'humanoid/humanoid.xml',
-          'pendula.xml',
-      ),
-      batch_size=(1, 7),
-  )
-  def test_forward(self, xml: str, batch_size: int):
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    m = test_util.load_test_file(xml)
-    m.opt.iterations = 10
-    m.opt.ls_iterations = 10
-    m.opt.jacobian = mujoco.mjtJacobian.mjJAC_DENSE
-    mx = mjx.put_model(m, impl='warp')
-
-    d = mujoco.MjData(m)
-    worldids = jp.arange(batch_size)
-    dx_batch = jax.vmap(functools.partial(tu.make_data, m))(worldids)
-
-    dx_batch = jax.jit(jax.vmap(forward.forward, in_axes=(None, 0)))(
-        mx, dx_batch
-    )
-
-    for i in range(batch_size):
-      dx = dx_batch[i]
-
-      d.qpos[:] = dx.qpos
-      d.qvel[:] = dx.qvel
-      d.ctrl[:] = dx.ctrl
-      d.mocap_pos[:] = dx.mocap_pos
-      d.mocap_quat[:] = dx.mocap_quat
-      mujoco.mj_forward(m, d)
-
-      # fwd_position
-      tu.assert_attr_eq(dx, d, 'xpos')
-      tu.assert_attr_eq(dx, d, 'xquat')
-      tu.assert_attr_eq(dx, d, 'xipos')
-      tu.assert_eq(d.ximat.reshape((-1, 3, 3)), dx.ximat, 'ximat')
-      tu.assert_attr_eq(dx, d, 'xanchor')
-      tu.assert_attr_eq(dx, d, 'xaxis')
-      tu.assert_attr_eq(dx, d, 'geom_xpos')
-      tu.assert_eq(dx.geom_xmat, d.geom_xmat.reshape((-1, 3, 3)), 'geom_xmat')
-      if m.nsite:
-        tu.assert_attr_eq(dx, d, 'site_xpos')
-        tu.assert_eq(dx.site_xmat, d.site_xmat.reshape((-1, 3, 3)), 'site_xmat')
-      tu.assert_attr_eq(dx, d, 'cdof')
-      tu.assert_attr_eq(dx._impl, d, 'cinert')
-      tu.assert_attr_eq(dx, d, 'subtree_com')
-      if m.nlight:
-        tu.assert_attr_eq(dx._impl, d, 'light_xpos')
-        tu.assert_attr_eq(dx._impl, d, 'light_xdir')
-      if m.ncam:
-        tu.assert_attr_eq(dx, d, 'cam_xpos')
-        tu.assert_eq(dx.cam_xmat, d.cam_xmat.reshape((-1, 3, 3)), 'cam_xmat')
-      tu.assert_attr_eq(dx, d, 'ten_length')
-      ten_J = np.zeros((m.ntendon, m.nv))
-      mujoco.mju_sparse2dense(
-          ten_J,
-          d.ten_J,
-          m.ten_J_rownnz,
-          m.ten_J_rowadr,
-          m.ten_J_colind,
-      )
-      # convert sparse warp ten_J to dense representation
-      warp_ten_J = np.zeros((m.ntendon, m.nv))
-      mujoco.mju_sparse2dense(
-          warp_ten_J,
-          np.asarray(dx._impl.ten_J),
-          mx._impl.ten_J_rownnz,
-          mx._impl.ten_J_rowadr,
-          mx._impl.ten_J_colind,
-      )
-      tu.assert_eq(warp_ten_J, ten_J, 'ten_J')
-      tu.assert_attr_eq(dx._impl, d, 'ten_wrapadr')
-      tu.assert_attr_eq(dx._impl, d, 'ten_wrapnum')
-      tu.assert_attr_eq(dx._impl, d, 'wrap_xpos')
-      tu.assert_attr_eq(dx._impl, d, 'wrap_obj')
-      tu.assert_attr_eq(dx._impl, d, 'crb')
-
-      qm = np.zeros((m.nv, m.nv))
-      mujoco.mju_sym2dense(qm, d.M, m.M_rownnz, m.M_rowadr, m.M_colind)
-      warp_M = np.zeros((m.nv, m.nv))
-      mujoco.mju_sym2dense(
-          warp_M,
-          np.asarray(dx._impl.M),
-          np.asarray(mx.M_rownnz),
-          np.asarray(mx.M_rowadr),
-          np.asarray(mx.M_colind),
-      )
-      tu.assert_eq(qm, warp_M, 'M')
-      # qLD is fused in a cholesky factorize and solve, and not written to.
-
-      tu.assert_contact_eq(d, dx, worldid=i)
-
-      tu.assert_attr_eq(dx, d, 'actuator_length')
-      actuator_moment = np.zeros((m.nu, m.nv))
-      mujoco.mju_sparse2dense(
-          actuator_moment,
-          d.actuator_moment,
-          d.moment_rownnz,
-          d.moment_rowadr,
-          d.moment_colind,
-      )
-      warp_actuator_moment = np.zeros((m.nu, m.nv))
-      mujoco.mju_sparse2dense(
-          warp_actuator_moment,
-          np.asarray(dx._impl.actuator_moment),
-          np.asarray(dx._impl.moment_rownnz),
-          np.asarray(dx._impl.moment_rowadr),
-          np.asarray(dx._impl.moment_colind),
-      )
-      tu.assert_eq(warp_actuator_moment, actuator_moment, 'actuator_moment')
-
-      # fwd_velocity
-      tu.assert_attr_eq(dx._impl, d, 'actuator_velocity')
-      tu.assert_attr_eq(dx, d, 'cvel')
-      tu.assert_attr_eq(dx, d, 'cdof_dot')
-      tu.assert_attr_eq(dx._impl, d, 'qfrc_spring')
-      tu.assert_attr_eq(dx._impl, d, 'qfrc_damper')
-      tu.assert_attr_eq(dx, d, 'qfrc_gravcomp')
-      tu.assert_attr_eq(dx, d, 'qfrc_fluid')
-      tu.assert_attr_eq(dx, d, 'qfrc_passive')
-      tu.assert_attr_eq(dx, d, 'qfrc_bias')
-      tu.assert_efc_eq(d, dx, worldid=i)
-
-      # fwd_actuation
-      tu.assert_attr_eq(dx, d, 'act_dot')
-      tu.assert_attr_eq(dx, d, 'actuator_force')
-      tu.assert_attr_eq(dx, d, 'qfrc_actuator')
-
-      # fwd_acceleration
-      tu.assert_attr_eq(dx, d, 'qfrc_smooth')
-      tu.assert_attr_eq(dx, d, 'qacc_smooth')
-
-      np.testing.assert_allclose(
-          dx.qacc, d.qacc, err_msg='qacc', rtol=1e-5, atol=1.0
-      )
-
-
-class StepTest(parameterized.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass()
-    if mjxw.WARP_INSTALLED:
-      cls.tempdir = tempfile.TemporaryDirectory()
-      wp.config.kernel_cache_dir = cls.tempdir.name
-
-  @classmethod
-  def tearDownClass(cls):
-    super().tearDownClass()
-    if hasattr(cls, 'tempdir'):
-      cls.tempdir.cleanup()
-
-  def setUp(self):
-    super().setUp()
-    np.random.seed(0)
-
-  @parameterized.product(
-      xml=(
-          'humanoid/humanoid.xml',
-          'pendula.xml',
-      ),
-      batch_size=(1, 7),
-      # NOTE: GraphMode.JAX is incompatible with MuJoCo Warp at the moment,
-      # even when setting graph_conditional=False.
-      graph_mode=('WARP', 'WARP_STAGED'),
-  )
-  def test_step(self, xml: str, batch_size: int, graph_mode: str):
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    m = test_util.load_test_file(xml)
-    m.opt.iterations = 10
-    m.opt.ls_iterations = 10
-    mx = mjx.put_model(
-        m, impl='warp', graph_mode=getattr(mjxw.types.GraphMode, graph_mode)
-    )
-
-    d = mujoco.MjData(m)
-    worldids = jp.arange(batch_size)
-    dx_batch = jax.vmap(functools.partial(tu.make_data, m))(worldids)
-    dx_batch_orig = dx_batch
-
-    for _ in range(10):
-      dx_batch = jax.jit(jax.vmap(forward.step, in_axes=(None, 0)))(
-          mx, dx_batch
-      )
-
-    for i in range(batch_size):
-      dx = dx_batch[i]
-      dx_orig = dx_batch_orig[i]
-
-      d.qpos[:] = dx_orig.qpos
-      d.qvel[:] = dx_orig.qvel
-      d.ctrl[:] = dx_orig.ctrl
-      d.mocap_pos[:] = dx_orig.mocap_pos
-      d.mocap_quat[:] = dx_orig.mocap_quat
-      d.time = dx_orig.time
-      mujoco.mj_step(m, d, 10)
-
-      tu.assert_attr_eq(dx, d, 'qpos')
-      tu.assert_attr_eq(dx, d, 'qvel')
-      tu.assert_attr_eq(dx, d, 'time')
-      tu.assert_attr_eq(dx, d, 'ctrl')
-      tu.assert_attr_eq(dx, d, 'act')
-      tu.assert_attr_eq(dx, d, 'mocap_pos')
-      tu.assert_attr_eq(dx, d, 'mocap_quat')
-      tu.assert_attr_eq(dx, d, 'sensordata')
-
-  @parameterized.parameters(
-      'humanoid/humanoid.xml',
-      'pendula.xml',
-  )
-  def test_step_cpu(self, xml: str):
-    """Tests step on the CPU device."""
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-
-    batch_size = 1
-    m = test_util.load_test_file(xml)
-    m.opt.iterations = 10
-    m.opt.ls_iterations = 10
-
-    cpu_device = jax.devices('cpu')[0]
-    mx = mjx.put_model(m, impl='warp', device=cpu_device)
-
-    d = mujoco.MjData(m)
-    worldids = jp.arange(batch_size)
-    dx_batch = jax.vmap(functools.partial(tu.make_data, m))(worldids)
-    dx_batch = jax.device_put(dx_batch, cpu_device)
-    dx_batch_orig = dx_batch
-
-    for _ in range(10):
-      dx_batch = jax.vmap(forward.step, in_axes=(None, 0))(
-          mx, dx_batch
-      )
-
-    for i in range(batch_size):
-      dx = dx_batch[i]
-      dx_orig = dx_batch_orig[i]
-
-      d.qpos[:] = dx_orig.qpos
-      d.qvel[:] = dx_orig.qvel
-      d.ctrl[:] = dx_orig.ctrl
-      d.mocap_pos[:] = dx_orig.mocap_pos
-      d.mocap_quat[:] = dx_orig.mocap_quat
-      d.time = dx_orig.time
-      mujoco.mj_step(m, d, 10)
-
-      tu.assert_attr_eq(dx, d, 'qpos')
-      tu.assert_attr_eq(dx, d, 'qvel')
-      tu.assert_attr_eq(dx, d, 'time')
-      tu.assert_attr_eq(dx, d, 'ctrl')
-      tu.assert_attr_eq(dx, d, 'act')
-      tu.assert_attr_eq(dx, d, 'mocap_pos')
-      tu.assert_attr_eq(dx, d, 'mocap_quat')
-      tu.assert_attr_eq(dx, d, 'sensordata')
-
-  def test_step_leading_dim_mismatch(self):
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    xml = 'humanoid/humanoid.xml'
-    batch_size = 7
-
-    m = test_util.load_test_file(xml)
-    mx = mjx.put_model(m, impl='warp')
-
-    worldids = jp.arange(batch_size)
-    dx_batch = jax.vmap(functools.partial(tu.make_data, m))(worldids)
-    dx_batch_orig = dx_batch
-
-    with self.assertRaises(ValueError):
-      dx_batch = dx_batch.replace(qpos=dx_batch.qpos[1:])
-      _ = jax.jit(jax.vmap(forward.step, in_axes=(None, 0)))(mx, dx_batch)
-
-    dx_batch = dx_batch_orig
-    with self.assertRaises(ValueError):
-      dx_batch = dx_batch.tree_replace(
-          {'_impl.contact__pos': dx_batch._impl.contact__pos[1:]}
-      )
-      _ = jax.jit(jax.vmap(forward.step, in_axes=(None, 0)))(mx, dx_batch)
-
-  def test_where_autoreset(self):
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    m = test_util.load_test_file('pendula.xml')
-    mx = mjx.put_model(m, impl='warp')
-
-    batch_size = 4
-    num_steps = 2
-
-    data_template = mjx.make_data(
-        m, impl='warp', naconmax=16 * batch_size, njmax=64
-    )
-
-    def reset_fn(key):
-      qpos = data_template.qpos.at[0].set(0.1)
-      d = data_template.replace(qpos=qpos)
-      return forward.forward(mx, d)
-
-    keys = jp.arange(batch_size)
-    batched_data = jax.vmap(reset_fn)(keys)
-
-    def step_fn(key, data):
-      stepped_data = forward.step(mx, data)
-      # dummy condition: reset if first joint pos > 0.05
-      done = stepped_data.qpos[0] > 0.05
-      reset_data = reset_fn(key)
-      return stepped_data.where(done, reset_data)
-
-    def rollout(data, key):
-      def body(carry, _):
-        data, key = carry
-        key, sk = jax.random.split(key)
-        step_keys = jax.random.split(sk, batch_size)
-        data = jax.vmap(step_fn)(step_keys, data)
-        return (data, key), None
-
-      (next_data, key), _ = jax.lax.scan(
-          body, (data, key), None, length=num_steps
-      )
-      return next_data
-
-    out = jax.jit(rollout)(batched_data, jax.random.PRNGKey(1))
-
-    self.assertEqual(out.qpos.shape, (batch_size, m.nq))
-    self.assertEqual(
-        out._impl.contact__type.shape, (data_template._impl.naconmax,)
-    )
-
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/warp/io.py b/mjx/mujoco/mjx/warp/io.py
deleted file mode 100644
index 6dbb1f83..00000000
--- a/mjx/mujoco/mjx/warp/io.py
+++ /dev/null
@@ -1,71 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""I/O functions for MJX Warp."""
-
-import mujoco
-from mujoco.mjx.warp import render_context
-import mujoco.mjx.third_party.mujoco_warp as mjw
-import warp as wp
-
-_MJX_RENDER_CONTEXT_COUNTER = 0
-
-
-def _create_context(mjm, nworld, device, **kwargs):
-  with wp.ScopedDevice(device):
-    ctx = mjw.create_render_context(mjm=mjm, nworld=nworld, **kwargs)
-    ctx.rgb_data_shape = ctx.rgb_data.shape
-    ctx.depth_data_shape = ctx.depth_data.shape
-    ctx.seg_data_shape = (*ctx.seg_data.shape, 2)  # vec2i → trailing dim
-    ctx.seg_data_buffer = ctx.seg_data
-    ctx.nworld = nworld
-    ctx.rgb_data = None
-    ctx.depth_data = None
-    ctx.seg_data = None
-  return ctx
-
-
-def create_render_context(
-    mjm: mujoco.MjModel,
-    nworld: int,
-    devices: list[str | None] | None = None,
-    **kwargs,
-):
-  """Creates a render context using mujoco_warp.create_render_context."""
-  global _MJX_RENDER_CONTEXT_COUNTER
-
-  if not devices:
-    devices = [None]
-
-  contexts = {}
-  default = None
-  for d in devices:
-    ctx = _create_context(mjm, nworld, d, **kwargs)
-    ordinal = wp.get_device(d).ordinal
-    contexts[ordinal] = ctx
-    if default is None:
-      default = ctx
-
-  # pylint: disable=protected-access
-  with render_context._MJX_RENDER_CONTEXT_LOCK:
-    _MJX_RENDER_CONTEXT_COUNTER += 1
-    key = _MJX_RENDER_CONTEXT_COUNTER
-    for ordinal, ctx in contexts.items():
-      render_context._MJX_RENDER_CONTEXT_BUFFERS[(key, ordinal)] = ctx
-    render_context._MJX_RENDER_CONTEXT_BUFFERS[(key, None)] = default
-  # pylint: enable=protected-access
-
-  return render_context.RenderContext(
-      key=key, contexts=contexts, default=default
-  )
diff --git a/mjx/mujoco/mjx/warp/render.py b/mjx/mujoco/mjx/warp/render.py
deleted file mode 100644
index e5c4b6b6..00000000
--- a/mjx/mujoco/mjx/warp/render.py
+++ /dev/null
@@ -1,261 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""DO NOT EDIT. This file is auto-generated."""
-import dataclasses
-import functools
-import jax
-from mujoco.mjx._src import types
-from mujoco.mjx.warp import ffi
-from mujoco.mjx.warp.render_context import _MJX_RENDER_CONTEXT_BUFFERS
-from mujoco.mjx.warp.render_context import RenderContextPytree
-import mujoco.mjx.third_party.mujoco_warp as mjwarp
-from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
-import warp as wp
-
-_m = mjwarp.Model(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Model) if f.init}
-)
-_d = mjwarp.Data(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Data) if f.init}
-)
-_o = mjwarp.Option(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Option) if f.init}
-)
-_s = mjwarp.Statistic(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Statistic) if f.init}
-)
-_c = mjwarp.Contact(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Contact) if f.init}
-)
-_e = mjwarp.Constraint(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Constraint) if f.init}
-)
-_cb = mjwp_types.Callback(
-    **{f.name: None for f in dataclasses.fields(mjwp_types.Callback) if f.init}
-)
-
-
-@ffi.format_args_for_warp
-def _render_shim(
-    # Model
-    nworld: int,
-    block_dim: mjwp_types.BlockDim,
-    cam_fovy: wp.array2d[float],
-    cam_intrinsic: wp.array2d[wp.vec4],
-    cam_projection: wp.array[int],
-    cam_sensorsize: wp.array[wp.vec2],
-    flex_edge: wp.array[wp.vec2i],
-    flex_radius: wp.array[float],
-    flex_vertadr: wp.array[int],
-    geom_dataid: wp.array2d[int],
-    geom_matid: wp.array2d[int],
-    geom_rgba: wp.array2d[wp.vec4],
-    geom_size: wp.array2d[wp.vec3],
-    geom_type: wp.array[int],
-    light_active: wp.array2d[bool],
-    light_ambient: wp.array2d[wp.vec3],
-    light_attenuation: wp.array2d[wp.vec3],
-    light_castshadow: wp.array2d[bool],
-    light_cutoff: wp.array2d[float],
-    light_diffuse: wp.array2d[wp.vec3],
-    light_exponent: wp.array2d[float],
-    light_specular: wp.array2d[wp.vec3],
-    light_type: wp.array2d[int],
-    mat_emission: wp.array2d[float],
-    mat_rgba: wp.array2d[wp.vec4],
-    mat_shininess: wp.array2d[float],
-    mat_specular: wp.array2d[float],
-    mat_texid: wp.array3d[int],
-    mat_texrepeat: wp.array2d[wp.vec2],
-    mesh_faceadr: wp.array[int],
-    nlight: int,
-    # Data
-    cam_xmat: wp.array2d[wp.mat33],
-    cam_xpos: wp.array2d[wp.vec3],
-    flexvert_xpos: wp.array2d[wp.vec3],
-    geom_xmat: wp.array2d[wp.mat33],
-    geom_xpos: wp.array2d[wp.vec3],
-    light_xdir: wp.array2d[wp.vec3],
-    light_xpos: wp.array2d[wp.vec3],
-    _jax_token: wp.array[int],
-    # Registry
-    rc_id: int,
-    rgb: wp.array2d[wp.uint32],
-    depth: wp.array2d[wp.float32],
-    seg: wp.array2d[wp.vec2i],
-    output_token: wp.array[int],
-):
-  _m.stat = _s
-  _m.opt = _o
-  _m.callback = _cb
-  _d.efc = _e
-  _d.contact = _c
-  _m.block_dim = block_dim
-  _m.cam_fovy = cam_fovy
-  _m.cam_intrinsic = cam_intrinsic
-  _m.cam_projection = cam_projection
-  _m.cam_sensorsize = cam_sensorsize
-  _m.flex_edge = flex_edge
-  _m.flex_radius = flex_radius
-  _m.flex_vertadr = flex_vertadr
-  _m.geom_dataid = geom_dataid
-  _m.geom_matid = geom_matid
-  _m.geom_rgba = geom_rgba
-  _m.geom_size = geom_size
-  _m.geom_type = geom_type
-  _m.light_active = light_active
-  _m.light_ambient = light_ambient
-  _m.light_attenuation = light_attenuation
-  _m.light_castshadow = light_castshadow
-  _m.light_cutoff = light_cutoff
-  _m.light_diffuse = light_diffuse
-  _m.light_exponent = light_exponent
-  _m.light_specular = light_specular
-  _m.light_type = light_type
-  _m.mat_emission = mat_emission
-  _m.mat_rgba = mat_rgba
-  _m.mat_shininess = mat_shininess
-  _m.mat_specular = mat_specular
-  _m.mat_texid = mat_texid
-  _m.mat_texrepeat = mat_texrepeat
-  _m.mesh_faceadr = mesh_faceadr
-  _m.nlight = nlight
-  _d.cam_xmat = cam_xmat
-  _d.cam_xpos = cam_xpos
-  _d.flexvert_xpos = flexvert_xpos
-  _d.geom_xmat = geom_xmat
-  _d.geom_xpos = geom_xpos
-  _d.light_xdir = light_xdir
-  _d.light_xpos = light_xpos
-  _d.nworld = nworld
-  render_context = _MJX_RENDER_CONTEXT_BUFFERS[(rc_id, wp.get_device().ordinal)]
-  render_context.rgb_data = rgb
-  render_context.depth_data = depth
-  render_context.seg_data = seg
-  output_token.zero_()
-  mjwarp.render(_m, _d, render_context)
-
-
-def _render_jax_impl(m: types.Model, d: types.Data, ctx: RenderContextPytree):
-  render_ctx = _MJX_RENDER_CONTEXT_BUFFERS[(ctx.key, None)]
-  output_dims = {
-      'rgb': render_ctx.rgb_data_shape,
-      'depth': render_ctx.depth_data_shape,
-      'seg': render_ctx.seg_data_shape,
-      'output_token': (d.qpos.shape[0],),
-  }
-  jf = ffi.jax_callable_variadic_tuple(
-      _render_shim,
-      num_outputs=4,
-      output_dims=output_dims,
-      vmap_method=None,
-      in_out_argnames=set([]),
-      stage_in_argnames=set([
-          'cam_fovy',
-          'cam_intrinsic',
-          'cam_xmat',
-          'cam_xpos',
-          'flexvert_xpos',
-          'geom_matid',
-          'geom_rgba',
-          'geom_size',
-          'geom_xmat',
-          'geom_xpos',
-          'light_active',
-          'light_ambient',
-          'light_attenuation',
-          'light_castshadow',
-          'light_cutoff',
-          'light_diffuse',
-          'light_exponent',
-          'light_specular',
-          'light_type',
-          'light_xdir',
-          'light_xpos',
-          'mat_emission',
-          'mat_rgba',
-          'mat_shininess',
-          'mat_specular',
-          'mat_texid',
-          'mat_texrepeat',
-      ]),
-      stage_out_argnames=set([]),
-      graph_mode=m.opt._impl.graph_mode,
-      has_side_effect=True,
-  )
-  out = jf(
-      render_ctx.nworld,
-      m._impl.block_dim,
-      m.cam_fovy,
-      m.cam_intrinsic,
-      m._impl.cam_projection,
-      m.cam_sensorsize,
-      m._impl.flex_edge,
-      m._impl.flex_radius,
-      m.flex_vertadr,
-      jax.numpy.expand_dims(m.geom_dataid, 0),
-      m.geom_matid,
-      m.geom_rgba,
-      m.geom_size,
-      m.geom_type,
-      m.light_active,
-      m.light_ambient,
-      m.light_attenuation,
-      m.light_castshadow,
-      m.light_cutoff,
-      m.light_diffuse,
-      m.light_exponent,
-      m.light_specular,
-      m.light_type,
-      m.mat_emission,
-      m.mat_rgba,
-      m.mat_shininess,
-      m.mat_specular,
-      m.mat_texid,
-      m._impl.mat_texrepeat,
-      m.mesh_faceadr,
-      m.nlight,
-      d.cam_xmat,
-      d.cam_xpos,
-      d._impl.flexvert_xpos,
-      d.geom_xmat,
-      d.geom_xpos,
-      d._impl.light_xdir,
-      d._impl.light_xpos,
-      d._impl._jax_token,
-      ctx.key,
-  )
-  d = d.tree_replace({})
-  return out
-
-
-@jax.custom_batching.custom_vmap
-@functools.partial(ffi.marshal_jax_warp_callable, tree_map_output=True)
-def render(m: types.Model, d: types.Data, ctx: RenderContextPytree):
-  return _render_jax_impl(m, d, ctx)
-
-
-@render.def_vmap
-@functools.partial(ffi.marshal_custom_vmap, tree_map_output=True)
-def render_vmap(
-    unused_axis_size,
-    is_batched,
-    m: types.Model,
-    d: types.Data,
-    ctx: RenderContextPytree,
-):
-  out = render(m, d, ctx)
-  return out, [True, True, True, is_batched[1]._impl._jax_token]
diff --git a/mjx/mujoco/mjx/warp/render_context.py b/mjx/mujoco/mjx/warp/render_context.py
deleted file mode 100644
index e6d574a6..00000000
--- a/mjx/mujoco/mjx/warp/render_context.py
+++ /dev/null
@@ -1,80 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""MJX Warp render context types and buffer registry."""
-
-import threading
-
-from mujoco.mjx._src import dataclasses as mjx_dataclasses
-
-
-_MJX_RENDER_CONTEXT_LOCK = threading.Lock()
-_MJX_RENDER_CONTEXT_BUFFERS = {}
-
-
-class RenderContext:
-  """MJX render context wrapping one or more warp render contexts.
-
-  Returned by ``io.create_render_context``.  Holds the raw warp contexts
-  directly so callers can read camera resolution, buffer addresses, etc.
-
-  Use :meth:`pytree` to obtain the lightweight JAX-compatible handle
-  that should be passed into ``jit``/``vmap``-compiled functions such as
-  ``render`` and ``refit_bvh``.
-  """
-
-  def __init__(self, key, contexts, default):
-    self.key = key
-    self._contexts = contexts  # {device_ordinal: warp RenderContext}
-    self._default = default  # the first warp RenderContext
-
-  def pytree(self):
-    """Returns a lightweight JAX pytree for use in jit/vmap."""
-    return RenderContextPytree(self.key)
-
-  def __getattr__(self, name):
-    """Delegate attribute access to the default warp context."""
-    return getattr(self._default, name)
-
-  def __del__(self):
-    lock = _MJX_RENDER_CONTEXT_LOCK
-    buffers = _MJX_RENDER_CONTEXT_BUFFERS
-    if lock is None or buffers is None:
-      return
-    with lock:
-      keys_to_remove = [
-          k for k in buffers.keys() if isinstance(k, tuple) and k[0] == self.key
-      ]
-      for k in keys_to_remove:
-        buffers.pop(k, None)
-
-
-class RenderContextPytree(mjx_dataclasses.PyTreeNode):
-  """Minimal JAX pytree holding just the render context key.
-
-  The key is static (aux_data) so JAX doesn't trace it, allowing the
-  Warp FFI to receive a concrete int value.
-  """
-
-  key: int
-
-
-def get(rc: RenderContextPytree):
-  """Validates and returns the backing Warp render context."""
-  if not isinstance(rc, RenderContextPytree):
-    raise TypeError(
-        f'Expected RenderContextPytree, got {type(rc).__name__}.'
-        ' Use rc.pytree() to get the JAX-compatible handle.'
-    )
-  return _MJX_RENDER_CONTEXT_BUFFERS[(rc.key, None)]
diff --git a/mjx/mujoco/mjx/warp/render_test.py b/mjx/mujoco/mjx/warp/render_test.py
deleted file mode 100644
index 0900aedc..00000000
--- a/mjx/mujoco/mjx/warp/render_test.py
+++ /dev/null
@@ -1,457 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-import functools
-import os
-import tempfile
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import bvh
-from mujoco.mjx._src import forward
-from mujoco.mjx._src import io
-from mujoco.mjx._src import render
-import mujoco.mjx.warp as mjxw
-from mujoco.mjx.warp import test_util as tu
-from mujoco.mjx.warp import warp as wp  # pylint: disable=g-importing-member
-import numpy as np
-
-_FORCE_TEST = os.environ.get('MJX_WARP_FORCE_TEST', '0') == '1'
-
-
-def _get_model_data_rc(xml, batch_size, render_seg=False):
-  m = tu.load_test_file(xml)
-  d = mujoco.MjData(m)
-  mujoco.mj_forward(m, d)
-
-  mx = mjx.put_model(m, impl='warp')
-
-  worldids = jp.arange(batch_size)
-  dx_batch = jax.vmap(functools.partial(tu.make_data, m))(worldids)
-
-  key = jax.random.PRNGKey(0)
-  keys = jax.random.split(key, batch_size)
-  qpos0 = jp.array(m.qpos0)
-  rand_qpos = jax.vmap(
-      lambda k: qpos0 + jax.random.uniform(k, (m.nq,), minval=-0.2, maxval=0.05)
-  )(keys)
-  dx_batch = jax.vmap(lambda dx, q: dx.replace(qpos=q))(dx_batch, rand_qpos)
-
-  dx_batch = jax.jit(jax.vmap(forward.forward, in_axes=(None, 0)))(mx, dx_batch)
-
-  width, height = 32, 32
-  rc = mjx.create_render_context(
-      mjm=m,
-      nworld=batch_size,
-      cam_res=(width, height),
-      use_textures=True,
-      use_shadows=True,
-      render_rgb=True,
-      render_depth=True,
-      render_seg=render_seg,
-      enabled_geom_groups=[0, 1, 2],
-  )
-  return mx, dx_batch, rc
-
-
-class RenderTest(parameterized.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass()
-    if mjxw.WARP_INSTALLED:
-      cls.tempdir = tempfile.TemporaryDirectory()
-      wp.config.kernel_cache_dir = cls.tempdir.name
-
-  @classmethod
-  def tearDownClass(cls):
-    super().tearDownClass()
-    if hasattr(cls, 'tempdir'):
-      cls.tempdir.cleanup()
-
-  def setUp(self):
-    super().setUp()
-    np.random.seed(0)
-
-  def _maybe_skip(self):
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-  @parameterized.product(
-      xml=('humanoid/humanoid.xml',),
-      batch_size=(1, 16),
-  )
-  def test_render(self, xml: str, batch_size: int):
-    """Tests MJX render pipeline."""
-    self._maybe_skip()
-    mx, dx_batch, rc = _get_model_data_rc(xml, batch_size)
-
-    dx_batch = jax.jit(mjx.refit_bvh)(mx, dx_batch, rc.pytree())
-    rgb_arr, depth_arr, dx_batch = jax.jit(mjx.render)(
-        mx, dx_batch, rc.pytree()
-    )
-
-    rgb = np.asarray(rgb_arr)
-    depth = np.asarray(depth_arr)
-
-    self.assertGreater(np.count_nonzero(rgb), 0)
-    self.assertGreater(np.count_nonzero(depth), 0)
-    self.assertNotEqual(np.unique(rgb).shape[0], 1)
-    self.assertNotEqual(np.unique(depth).shape[0], 1)
-
-  @parameterized.product(
-      xml=('humanoid/humanoid.xml',),
-      batch_size=(4, 16),
-  )
-  def test_render_nested_vmap(self, xml: str, batch_size: int):
-    """Tests MJX render pipeline with nested vmap."""
-    self._maybe_skip()
-    mx, dx_batch, rc = _get_model_data_rc(xml, batch_size)
-
-    def inner(mx, dx, rc):
-      dx = jax.vmap(bvh.refit_bvh, in_axes=(None, 0, None))(mx, dx, rc)
-      out = jax.vmap(render.render, in_axes=(None, 0, None))(mx, dx, rc)
-      return out
-
-    # get reference with single vmap
-    dx_batch = jax.vmap(bvh.refit_bvh, in_axes=(None, 0, None))(
-        mx, dx_batch, rc.pytree()
-    )
-    ref = jax.vmap(render.render, in_axes=(None, 0, None))(
-        mx, dx_batch, rc.pytree()
-    )
-    ref_rgb = np.asarray(ref[0])
-    ref_depth = np.asarray(ref[1])
-
-    # call with nested vmap
-    def _reshape_batched(x):
-      if x.shape[0] == batch_size:
-        return x.reshape(2, batch_size // 2, *x.shape[1:])
-      return x
-
-    dx_2d = jax.tree.map(_reshape_batched, dx_batch)
-
-    out_batch = jax.vmap(inner, in_axes=(None, 0, None))(mx, dx_2d, rc.pytree())
-    out_batch = jax.tree.map(
-        lambda x: x.reshape(-1, *x.shape[2:]) if x.size > 0 else x, out_batch
-    )
-    rgb = np.asarray(out_batch[0])
-    depth = np.asarray(out_batch[1])
-
-    np.testing.assert_array_equal(rgb, ref_rgb)
-    np.testing.assert_array_equal(depth, ref_depth)
-    self.assertGreater(np.count_nonzero(rgb), 0)
-    self.assertNotEqual(np.unique(rgb).shape[0], 1)
-    self.assertGreater(np.count_nonzero(depth), 0)
-    self.assertNotEqual(np.unique(depth).shape[0], 1)
-
-  @parameterized.product(
-      xml=('humanoid/humanoid.xml',),
-      batch_size=(1, 16),
-  )
-  def test_render_with_segmentation(self, xml: str, batch_size: int):
-    """Tests MJX render pipeline with packed segmentation output."""
-    self._maybe_skip()
-    mx, dx_batch, rc = _get_model_data_rc(xml, batch_size, render_seg=True)
-
-    dx_batch = jax.jit(mjx.refit_bvh)(mx, dx_batch, rc.pytree())
-    rgb_arr, depth_arr, seg_arr, dx_batch = jax.jit(
-        mjx.render_with_segmentation
-    )(mx, dx_batch, rc.pytree())
-
-    rgb = np.asarray(rgb_arr)
-    depth = np.asarray(depth_arr)
-    seg = np.asarray(seg_arr)
-
-    self.assertGreater(np.count_nonzero(rgb), 0)
-    self.assertGreater(np.count_nonzero(depth), 0)
-    self.assertTrue(np.any(seg[..., 0] != -1))
-    self.assertGreater(np.unique(seg[..., 0]).shape[0], 1)
-
-    unpacked_seg = jax.vmap(mjx.get_segmentation, in_axes=(None, None, 0))(
-        rc.pytree(), 0, seg_arr
-    )
-    unpacked_seg = np.asarray(unpacked_seg)
-    width, height = rc._default.cam_res.numpy()[
-        0
-    ]  # pylint: disable=protected-access
-    seg_adr = int(
-        rc._default.seg_adr.numpy()[0]  # pylint: disable=protected-access
-    )
-    # seg shape: (batch, total_pixels, 2); extract objid channel
-    expected_seg = seg[:, seg_adr : seg_adr + width * height, 0].reshape(
-        batch_size, height, width
-    )
-    np.testing.assert_array_equal(unpacked_seg, expected_seg)
-
-  def test_render_with_segmentation_raises_when_disabled(self):
-    """Tests render_with_segmentation rejects contexts without seg output."""
-    self._maybe_skip()
-    mx, dx_batch, rc = _get_model_data_rc(
-        'humanoid/humanoid.xml', 1, render_seg=False
-    )
-
-    dx_batch = jax.jit(mjx.refit_bvh)(mx, dx_batch, rc.pytree())
-    with self.assertRaisesWithLiteralMatch(
-        ValueError,
-        'Render context was not configured with segmentation rendering. '
-        'Pass render_seg=True or enable it for at least one camera in '
-        'create_render_context.',
-    ):
-      jax.jit(mjx.render_with_segmentation)(mx, dx_batch, rc.pytree())
-
-  @parameterized.product(
-      xml=('humanoid/humanoid.xml',),
-      batch_size=(4, 16),
-  )
-  def test_render_with_segmentation_nested_vmap(
-      self, xml: str, batch_size: int
-  ):
-    """Tests MJX render_with_segmentation with nested vmap."""
-    self._maybe_skip()
-    mx, dx_batch, rc = _get_model_data_rc(xml, batch_size, render_seg=True)
-
-    def inner(mx, dx, rc):
-      dx = jax.vmap(bvh.refit_bvh, in_axes=(None, 0, None))(mx, dx, rc)
-      out = jax.vmap(render.render_with_segmentation, in_axes=(None, 0, None))(
-          mx, dx, rc
-      )
-      return out
-
-    dx_batch = jax.vmap(bvh.refit_bvh, in_axes=(None, 0, None))(
-        mx, dx_batch, rc.pytree()
-    )
-    ref = jax.vmap(render.render_with_segmentation, in_axes=(None, 0, None))(
-        mx, dx_batch, rc.pytree()
-    )
-    ref_rgb = np.asarray(ref[0])
-    ref_depth = np.asarray(ref[1])
-    ref_seg = np.asarray(ref[2])
-
-    def _reshape_batched(x):
-      if x.shape[0] == batch_size:
-        return x.reshape(2, batch_size // 2, *x.shape[1:])
-      return x
-
-    dx_2d = jax.tree.map(_reshape_batched, dx_batch)
-
-    out_batch = jax.vmap(inner, in_axes=(None, 0, None))(mx, dx_2d, rc.pytree())
-    out_batch = jax.tree.map(
-        lambda x: x.reshape(-1, *x.shape[2:]) if x.size > 0 else x, out_batch
-    )
-    rgb = np.asarray(out_batch[0])
-    depth = np.asarray(out_batch[1])
-    seg = np.asarray(out_batch[2])
-
-    np.testing.assert_array_equal(rgb, ref_rgb)
-    np.testing.assert_array_equal(depth, ref_depth)
-    np.testing.assert_array_equal(seg, ref_seg)
-    self.assertTrue(np.any(seg[..., 0] != -1))
-
-  def test_sliding_box_poses(self):
-    """Tests that refit_bvh executes before render for multiple poses in a single JIT."""
-    self._maybe_skip()
-    xml = """\
-    <mujoco>
-      <option gravity="0 0 0"/>
-      <asset>
-        <material name="mat" rgba="1 1 1 1"/>
-      </asset>
-      <worldbody>
-        <camera pos="0 0 1" resolution="64 64"
-          sensorsize="0.036 0.036" focal="0.012 0.012"/>
-        <geom type="plane" size="2 2 0.1" material="mat"/>
-        <body pos="0 0 0.1" mocap="true">
-          <geom type="box" size="0.1 0.1 0.1" material="mat"/>
-        </body>
-        <body pos="0 0 5">
-          <joint type="free"/>
-          <geom type="sphere" size="0.01" group="3"
-            contype="0" conaffinity="0"/>
-        </body>
-      </worldbody>
-    </mujoco>
-    """
-    m = mujoco.MjModel.from_xml_string(xml)
-    mx = mjx.put_model(m, impl='warp')
-    dx = mjx.put_data(m, mujoco.MjData(m), impl='warp')
-    rc = mjx.create_render_context(
-        mjm=m, nworld=1, cam_res=(64, 64), render_rgb=True, render_depth=True
-    )
-
-    x_positions = (-0.8, -0.4, 0.0, 0.4, 0.8)
-
-    def step_and_render(d, x_pos):
-      mocap_pos = d.mocap_pos.at[0, 0].set(x_pos)
-      d = forward.forward(mx, d.replace(mocap_pos=mocap_pos))
-      d = mjx.refit_bvh(mx, d, rc.pytree())
-      _, depth, d = mjx.render(mx, d, rc.pytree())
-      return d, depth
-
-    # 1. Step-by-step execution.
-    ref_depths = []
-    d_curr = dx
-    for x in x_positions:
-      d_curr, depth = jax.jit(step_and_render)(d_curr, x)
-      ref_depths.append(np.asarray(depth))
-
-    # 2. Multi-step rollout in a single compiled jax.jit via jax.lax.scan.
-    def rollout_scan(d0):
-      def scan_fn(d, x):
-        d, depth = step_and_render(d, x)
-        return d, depth
-
-      _, scan_depths = jax.lax.scan(
-          scan_fn, d0, np.array(x_positions, dtype=np.float32)
-      )
-      return scan_depths
-
-    scanned_depths = [np.asarray(d) for d in jax.jit(rollout_scan)(dx)]
-
-    # 3. Explicitly unrolled sequence in a single compiled jax.jit.
-    def rollout_unroll(d0):
-      depths = []
-      d = d0
-      for x in x_positions:
-        mocap_pos = d.mocap_pos.at[0, 0].set(x)
-        d = forward.forward(mx, d.replace(mocap_pos=mocap_pos))
-        d = mjx.refit_bvh(mx, d, rc.pytree())
-        _, depth, d = mjx.render(mx, d, rc.pytree())
-        depths.append(depth)
-      return depths
-
-    unrolled_depths = [np.asarray(d) for d in jax.jit(rollout_unroll)(dx)]
-
-    # Assert exact equality across all frames for both scan and unroll.
-    for i, (want, scan_got, unroll_got) in enumerate(
-        zip(ref_depths, scanned_depths, unrolled_depths)
-    ):
-      np.testing.assert_array_equal(
-          scan_got, want, err_msg=f'Scan mismatch at frame {i}'
-      )
-      np.testing.assert_array_equal(
-          unroll_got, want, err_msg=f'Unroll mismatch at frame {i}'
-      )
-
-    del rc
-
-
-class RenderContextGarbageCollectionTest(absltest.TestCase):
-  """Tests that RenderContext cleans up buffers on deletion."""
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass()
-    if mjxw.WARP_INSTALLED:
-      cls.tempdir = tempfile.TemporaryDirectory()
-      wp.config.kernel_cache_dir = cls.tempdir.name
-
-  @classmethod
-  def tearDownClass(cls):
-    super().tearDownClass()
-    if hasattr(cls, 'tempdir'):
-      cls.tempdir.cleanup()
-
-  def _maybe_skip(self):
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp not installed.')
-    if not io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device available.')
-
-  def test_render_context_gc(self):
-    """Verifies __del__ removes entries from _MJX_RENDER_CONTEXT_BUFFERS."""
-    self._maybe_skip()
-    from mujoco.mjx.warp import render_context as rc_module  # pylint: disable=g-import-not-at-top
-
-    self.assertEmpty(rc_module._MJX_RENDER_CONTEXT_BUFFERS)
-
-    _, _, rc = _get_model_data_rc('humanoid/humanoid.xml', 1)
-    key = rc.key
-
-    # Sanity check: buffers exist for this key.
-    matching = [
-        k
-        for k in rc_module._MJX_RENDER_CONTEXT_BUFFERS
-        if isinstance(k, tuple) and k[0] == key
-    ]
-    self.assertNotEmpty(matching)
-
-    # Delete the RenderContext and verify cleanup.
-    del rc
-
-    matching = [
-        k
-        for k in rc_module._MJX_RENDER_CONTEXT_BUFFERS
-        if isinstance(k, tuple) and k[0] == key
-    ]
-    self.assertEmpty(matching)
-
-  def test_render_context_gc_multi_keys(self):
-    """Verifies deleting one context doesn't remove another's buffers."""
-    self._maybe_skip()
-    from mujoco.mjx.warp import render_context as rc_module  # pylint: disable=g-import-not-at-top
-
-    self.assertEmpty(rc_module._MJX_RENDER_CONTEXT_BUFFERS)
-
-    _, _, rc_a = _get_model_data_rc('humanoid/humanoid.xml', 1)
-    _, _, rc_b = _get_model_data_rc('humanoid/humanoid.xml', 1)
-    key_a = rc_a.key
-    key_b = rc_b.key
-
-    # rc_a's buffers should be present.
-    matching_a = [
-        k
-        for k in rc_module._MJX_RENDER_CONTEXT_BUFFERS
-        if isinstance(k, tuple) and k[0] == key_a
-    ]
-    self.assertNotEmpty(matching_a)
-
-    # Delete only rc_a.
-    del rc_a
-
-    # rc_a's buffers should be gone.
-    matching_a = [
-        k
-        for k in rc_module._MJX_RENDER_CONTEXT_BUFFERS
-        if isinstance(k, tuple) and k[0] == key_a
-    ]
-    self.assertEmpty(matching_a)
-
-    # rc_b's buffers should still be present.
-    matching_b = [
-        k
-        for k in rc_module._MJX_RENDER_CONTEXT_BUFFERS
-        if isinstance(k, tuple) and k[0] == key_b
-    ]
-    self.assertNotEmpty(matching_b)
-
-    # Clean up rc_b.
-    del rc_b
-    matching_b = [
-        k
-        for k in rc_module._MJX_RENDER_CONTEXT_BUFFERS
-        if isinstance(k, tuple) and k[0] == key_b
-    ]
-    self.assertEmpty(matching_b)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/warp/smooth.py b/mjx/mujoco/mjx/warp/smooth.py
deleted file mode 100644
index ff0ba1e7..00000000
--- a/mjx/mujoco/mjx/warp/smooth.py
+++ /dev/null
@@ -1,620 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""DO NOT EDIT. This file is auto-generated."""
-import dataclasses
-import functools
-import jax
-from mujoco.mjx._src import types
-from mujoco.mjx.warp import ffi
-import mujoco.mjx.third_party.mujoco_warp as mjwarp
-from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
-import warp as wp
-
-
-_m = mjwarp.Model(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Model) if f.init}
-)
-_d = mjwarp.Data(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Data) if f.init}
-)
-_o = mjwarp.Option(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Option) if f.init}
-)
-_s = mjwarp.Statistic(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Statistic) if f.init}
-)
-_c = mjwarp.Contact(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Contact) if f.init}
-)
-_e = mjwarp.Constraint(
-    **{f.name: None for f in dataclasses.fields(mjwarp.Constraint) if f.init}
-)
-_cb = mjwp_types.Callback(
-    **{f.name: None for f in dataclasses.fields(mjwp_types.Callback) if f.init}
-)
-
-@ffi.format_args_for_warp
-def _kinematics_shim(
-    # Model
-    nworld: int,
-    body_branch_start: wp.array[int],
-    body_branches: wp.array[int],
-    body_ipos: wp.array2d[wp.vec3],
-    body_iquat: wp.array2d[wp.quat],
-    body_jntadr: wp.array[int],
-    body_jntnum: wp.array[int],
-    body_mocapid: wp.array[int],
-    body_parentid: wp.array[int],
-    body_pos: wp.array2d[wp.vec3],
-    body_quat: wp.array2d[wp.quat],
-    body_rootid: wp.array[int],
-    body_weldid: wp.array[int],
-    geom_bodyid: wp.array[int],
-    geom_pos: wp.array2d[wp.vec3],
-    geom_quat: wp.array2d[wp.quat],
-    jnt_axis: wp.array2d[wp.vec3],
-    jnt_pos: wp.array2d[wp.vec3],
-    jnt_qposadr: wp.array[int],
-    jnt_type: wp.array[int],
-    nbody: int,
-    nbranch: int,
-    ngeom: int,
-    nsite: int,
-    qpos0: wp.array2d[float],
-    site_bodyid: wp.array[int],
-    site_pos: wp.array2d[wp.vec3],
-    site_quat: wp.array2d[wp.quat],
-    # Data
-    geom_xmat: wp.array2d[wp.mat33],
-    geom_xpos: wp.array2d[wp.vec3],
-    mocap_pos: wp.array2d[wp.vec3],
-    mocap_quat: wp.array2d[wp.quat],
-    qpos: wp.array2d[float],
-    site_xmat: wp.array2d[wp.mat33],
-    site_xpos: wp.array2d[wp.vec3],
-    xanchor: wp.array2d[wp.vec3],
-    xaxis: wp.array2d[wp.vec3],
-    ximat: wp.array2d[wp.mat33],
-    xipos: wp.array2d[wp.vec3],
-    xmat: wp.array2d[wp.mat33],
-    xpos: wp.array2d[wp.vec3],
-    xquat: wp.array2d[wp.quat],
-):
-  _m.stat = _s
-  _m.opt = _o
-  _m.callback = _cb
-  _d.efc = _e
-  _d.contact = _c
-  _m.body_branch_start = body_branch_start
-  _m.body_branches = body_branches
-  _m.body_ipos = body_ipos
-  _m.body_iquat = body_iquat
-  _m.body_jntadr = body_jntadr
-  _m.body_jntnum = body_jntnum
-  _m.body_mocapid = body_mocapid
-  _m.body_parentid = body_parentid
-  _m.body_pos = body_pos
-  _m.body_quat = body_quat
-  _m.body_rootid = body_rootid
-  _m.body_weldid = body_weldid
-  _m.geom_bodyid = geom_bodyid
-  _m.geom_pos = geom_pos
-  _m.geom_quat = geom_quat
-  _m.jnt_axis = jnt_axis
-  _m.jnt_pos = jnt_pos
-  _m.jnt_qposadr = jnt_qposadr
-  _m.jnt_type = jnt_type
-  _m.nbody = nbody
-  _m.nbranch = nbranch
-  _m.ngeom = ngeom
-  _m.nsite = nsite
-  _m.qpos0 = qpos0
-  _m.site_bodyid = site_bodyid
-  _m.site_pos = site_pos
-  _m.site_quat = site_quat
-  _d.geom_xmat = geom_xmat
-  _d.geom_xpos = geom_xpos
-  _d.mocap_pos = mocap_pos
-  _d.mocap_quat = mocap_quat
-  _d.qpos = qpos
-  _d.site_xmat = site_xmat
-  _d.site_xpos = site_xpos
-  _d.xanchor = xanchor
-  _d.xaxis = xaxis
-  _d.ximat = ximat
-  _d.xipos = xipos
-  _d.xmat = xmat
-  _d.xpos = xpos
-  _d.xquat = xquat
-  _d.nworld = nworld
-  mjwarp.kinematics(_m, _d)
-
-
-def _kinematics_jax_impl(m: types.Model, d: types.Data):
-  output_dims = {
-      'geom_xmat': d.geom_xmat.shape,
-      'geom_xpos': d.geom_xpos.shape,
-      'site_xmat': d.site_xmat.shape,
-      'site_xpos': d.site_xpos.shape,
-      'xanchor': d.xanchor.shape,
-      'xaxis': d.xaxis.shape,
-      'ximat': d.ximat.shape,
-      'xipos': d.xipos.shape,
-      'xmat': d.xmat.shape,
-      'xpos': d.xpos.shape,
-      'xquat': d.xquat.shape,
-  }
-  jf = ffi.jax_callable_variadic_tuple(
-      _kinematics_shim,
-      num_outputs=11,
-      output_dims=output_dims,
-      vmap_method=None,
-      in_out_argnames=set([
-          'geom_xmat',
-          'geom_xpos',
-          'site_xmat',
-          'site_xpos',
-          'xanchor',
-          'xaxis',
-          'ximat',
-          'xipos',
-          'xmat',
-          'xpos',
-          'xquat',
-      ]),
-      stage_in_argnames=set([
-          'body_ipos',
-          'body_iquat',
-          'body_pos',
-          'body_quat',
-          'geom_pos',
-          'geom_quat',
-          'geom_xmat',
-          'geom_xpos',
-          'jnt_axis',
-          'jnt_pos',
-          'mocap_pos',
-          'mocap_quat',
-          'qpos',
-          'qpos0',
-          'site_pos',
-          'site_quat',
-          'site_xmat',
-          'site_xpos',
-          'xanchor',
-          'xaxis',
-          'ximat',
-          'xipos',
-          'xmat',
-          'xpos',
-          'xquat',
-      ]),
-      stage_out_argnames=set([
-          'geom_xmat',
-          'geom_xpos',
-          'site_xmat',
-          'site_xpos',
-          'xanchor',
-          'xaxis',
-          'ximat',
-          'xipos',
-          'xmat',
-          'xpos',
-          'xquat',
-      ]),
-      graph_mode=m.opt._impl.graph_mode,
-      has_side_effect=False,
-  )
-  out = jf(
-      d.qpos.shape[0],
-      m._impl.body_branch_start,
-      m._impl.body_branches,
-      m.body_ipos,
-      m.body_iquat,
-      m.body_jntadr,
-      m.body_jntnum,
-      m.body_mocapid,
-      m.body_parentid,
-      m.body_pos,
-      m.body_quat,
-      m.body_rootid,
-      m.body_weldid,
-      m.geom_bodyid,
-      m.geom_pos,
-      m.geom_quat,
-      m.jnt_axis,
-      m.jnt_pos,
-      m.jnt_qposadr,
-      m.jnt_type,
-      m.nbody,
-      m._impl.nbranch,
-      m.ngeom,
-      m.nsite,
-      m.qpos0,
-      m.site_bodyid,
-      m.site_pos,
-      m.site_quat,
-      d.geom_xmat,
-      d.geom_xpos,
-      d.mocap_pos,
-      d.mocap_quat,
-      d.qpos,
-      d.site_xmat,
-      d.site_xpos,
-      d.xanchor,
-      d.xaxis,
-      d.ximat,
-      d.xipos,
-      d.xmat,
-      d.xpos,
-      d.xquat,
-  )
-  d = d.tree_replace({
-      'geom_xmat': out[0],
-      'geom_xpos': out[1],
-      'site_xmat': out[2],
-      'site_xpos': out[3],
-      'xanchor': out[4],
-      'xaxis': out[5],
-      'ximat': out[6],
-      'xipos': out[7],
-      'xmat': out[8],
-      'xpos': out[9],
-      'xquat': out[10],
-  })
-  return d
-
-
-@jax.custom_batching.custom_vmap
-@ffi.marshal_jax_warp_callable
-def kinematics(m: types.Model, d: types.Data):
-  return _kinematics_jax_impl(m, d)
-
-
-@kinematics.def_vmap
-@ffi.marshal_custom_vmap
-def kinematics_vmap(
-    unused_axis_size, is_batched, m: types.Model, d: types.Data
-):
-  d = kinematics(m, d)
-  return d, is_batched[1]
-
-
-@ffi.format_args_for_warp
-def _tendon_shim(
-    # Model
-    nworld: int,
-    body_dofadr: wp.array[int],
-    body_dofnum: wp.array[int],
-    body_parentid: wp.array[int],
-    body_rootid: wp.array[int],
-    geom_bodyid: wp.array[int],
-    geom_size: wp.array2d[wp.vec3],
-    jnt_dofadr: wp.array[int],
-    jnt_qposadr: wp.array[int],
-    ntendon: int,
-    nwrap: int,
-    site_bodyid: wp.array[int],
-    ten_J_colind: wp.array[int],
-    ten_J_rowadr: wp.array[int],
-    ten_J_rownnz: wp.array[int],
-    tendon_adr: wp.array[int],
-    tendon_geom_adr: wp.array[int],
-    tendon_jnt_adr: wp.array[int],
-    tendon_num: wp.array[int],
-    tendon_site_pair_adr: wp.array[int],
-    wrap_geom_adr: wp.array[int],
-    wrap_jnt_adr: wp.array[int],
-    wrap_objid: wp.array[int],
-    wrap_prm: wp.array[float],
-    wrap_pulley_scale: wp.array[float],
-    wrap_site_pair_adr: wp.array[int],
-    wrap_type: wp.array[int],
-    # Data
-    cdof: wp.array2d[wp.spatial_vector],
-    geom_xmat: wp.array2d[wp.mat33],
-    geom_xpos: wp.array2d[wp.vec3],
-    qpos: wp.array2d[float],
-    site_xpos: wp.array2d[wp.vec3],
-    subtree_com: wp.array2d[wp.vec3],
-    ten_J: wp.array2d[float],
-    ten_length: wp.array2d[float],
-    ten_wrapadr: wp.array2d[int],
-    ten_wrapnum: wp.array2d[int],
-    wrap_obj: wp.array2d[wp.vec2i],
-    wrap_xpos: wp.array2d[wp.spatial_vector],
-):
-  _m.stat = _s
-  _m.opt = _o
-  _m.callback = _cb
-  _d.efc = _e
-  _d.contact = _c
-  _m.body_dofadr = body_dofadr
-  _m.body_dofnum = body_dofnum
-  _m.body_parentid = body_parentid
-  _m.body_rootid = body_rootid
-  _m.geom_bodyid = geom_bodyid
-  _m.geom_size = geom_size
-  _m.jnt_dofadr = jnt_dofadr
-  _m.jnt_qposadr = jnt_qposadr
-  _m.ntendon = ntendon
-  _m.nwrap = nwrap
-  _m.site_bodyid = site_bodyid
-  _m.ten_J_colind = ten_J_colind
-  _m.ten_J_rowadr = ten_J_rowadr
-  _m.ten_J_rownnz = ten_J_rownnz
-  _m.tendon_adr = tendon_adr
-  _m.tendon_geom_adr = tendon_geom_adr
-  _m.tendon_jnt_adr = tendon_jnt_adr
-  _m.tendon_num = tendon_num
-  _m.tendon_site_pair_adr = tendon_site_pair_adr
-  _m.wrap_geom_adr = wrap_geom_adr
-  _m.wrap_jnt_adr = wrap_jnt_adr
-  _m.wrap_objid = wrap_objid
-  _m.wrap_prm = wrap_prm
-  _m.wrap_pulley_scale = wrap_pulley_scale
-  _m.wrap_site_pair_adr = wrap_site_pair_adr
-  _m.wrap_type = wrap_type
-  _d.cdof = cdof
-  _d.geom_xmat = geom_xmat
-  _d.geom_xpos = geom_xpos
-  _d.qpos = qpos
-  _d.site_xpos = site_xpos
-  _d.subtree_com = subtree_com
-  _d.ten_J = ten_J
-  _d.ten_length = ten_length
-  _d.ten_wrapadr = ten_wrapadr
-  _d.ten_wrapnum = ten_wrapnum
-  _d.wrap_obj = wrap_obj
-  _d.wrap_xpos = wrap_xpos
-  _d.nworld = nworld
-  mjwarp.tendon(_m, _d)
-
-
-def _tendon_jax_impl(m: types.Model, d: types.Data):
-  output_dims = {
-      'ten_J': d._impl.ten_J.shape,
-      'ten_length': d.ten_length.shape,
-      'ten_wrapadr': d._impl.ten_wrapadr.shape,
-      'ten_wrapnum': d._impl.ten_wrapnum.shape,
-      'wrap_obj': d._impl.wrap_obj.shape,
-      'wrap_xpos': d._impl.wrap_xpos.shape,
-  }
-  jf = ffi.jax_callable_variadic_tuple(
-      _tendon_shim,
-      num_outputs=6,
-      output_dims=output_dims,
-      vmap_method=None,
-      in_out_argnames=set([
-          'ten_J',
-          'ten_length',
-          'ten_wrapadr',
-          'ten_wrapnum',
-          'wrap_obj',
-          'wrap_xpos',
-      ]),
-      stage_in_argnames=set([
-          'cdof',
-          'geom_size',
-          'geom_xmat',
-          'geom_xpos',
-          'qpos',
-          'site_xpos',
-          'subtree_com',
-          'ten_J',
-          'ten_length',
-          'ten_wrapadr',
-          'ten_wrapnum',
-          'wrap_obj',
-          'wrap_xpos',
-      ]),
-      stage_out_argnames=set([
-          'ten_J',
-          'ten_length',
-          'ten_wrapadr',
-          'ten_wrapnum',
-          'wrap_obj',
-          'wrap_xpos',
-      ]),
-      graph_mode=m.opt._impl.graph_mode,
-      has_side_effect=False,
-  )
-  out = jf(
-      d.qpos.shape[0],
-      m.body_dofadr,
-      m.body_dofnum,
-      m.body_parentid,
-      m.body_rootid,
-      m.geom_bodyid,
-      m.geom_size,
-      m.jnt_dofadr,
-      m.jnt_qposadr,
-      m.ntendon,
-      m.nwrap,
-      m.site_bodyid,
-      m._impl.ten_J_colind,
-      m._impl.ten_J_rowadr,
-      m._impl.ten_J_rownnz,
-      m.tendon_adr,
-      m._impl.tendon_geom_adr,
-      m._impl.tendon_jnt_adr,
-      m.tendon_num,
-      m._impl.tendon_site_pair_adr,
-      m._impl.wrap_geom_adr,
-      m._impl.wrap_jnt_adr,
-      m.wrap_objid,
-      m.wrap_prm,
-      m._impl.wrap_pulley_scale,
-      m._impl.wrap_site_pair_adr,
-      m.wrap_type,
-      d.cdof,
-      d.geom_xmat,
-      d.geom_xpos,
-      d.qpos,
-      d.site_xpos,
-      d.subtree_com,
-      d._impl.ten_J,
-      d.ten_length,
-      d._impl.ten_wrapadr,
-      d._impl.ten_wrapnum,
-      d._impl.wrap_obj,
-      d._impl.wrap_xpos,
-  )
-  d = d.tree_replace({
-      '_impl.ten_J': out[0],
-      'ten_length': out[1],
-      '_impl.ten_wrapadr': out[2],
-      '_impl.ten_wrapnum': out[3],
-      '_impl.wrap_obj': out[4],
-      '_impl.wrap_xpos': out[5],
-  })
-  return d
-
-
-@jax.custom_batching.custom_vmap
-@ffi.marshal_jax_warp_callable
-def tendon(m: types.Model, d: types.Data):
-  return _tendon_jax_impl(m, d)
-
-
-@tendon.def_vmap
-@ffi.marshal_custom_vmap
-def tendon_vmap(unused_axis_size, is_batched, m: types.Model, d: types.Data):
-  d = tendon(m, d)
-  return d, is_batched[1]
-
-
-@ffi.format_args_for_warp
-def _com_pos_shim(
-    # Model
-    nworld: int,
-    body_inertia: wp.array2d[wp.vec3],
-    body_mass: wp.array2d[float],
-    body_parentid: wp.array[int],
-    body_rootid: wp.array[int],
-    body_subtreemass: wp.array2d[float],
-    body_tree: tuple[wp.array[int], ...],
-    jnt_bodyid: wp.array[int],
-    jnt_dofadr: wp.array[int],
-    jnt_type: wp.array[int],
-    nbody: int,
-    njnt: int,
-    # Data
-    cdof: wp.array2d[wp.spatial_vector],
-    cinert: wp.array2d[mjwp_types.vec10],
-    subtree_com: wp.array2d[wp.vec3],
-    xanchor: wp.array2d[wp.vec3],
-    xaxis: wp.array2d[wp.vec3],
-    ximat: wp.array2d[wp.mat33],
-    xipos: wp.array2d[wp.vec3],
-    xmat: wp.array2d[wp.mat33],
-):
-  _m.stat = _s
-  _m.opt = _o
-  _m.callback = _cb
-  _d.efc = _e
-  _d.contact = _c
-  _m.body_inertia = body_inertia
-  _m.body_mass = body_mass
-  _m.body_parentid = body_parentid
-  _m.body_rootid = body_rootid
-  _m.body_subtreemass = body_subtreemass
-  _m.body_tree = body_tree
-  _m.jnt_bodyid = jnt_bodyid
-  _m.jnt_dofadr = jnt_dofadr
-  _m.jnt_type = jnt_type
-  _m.nbody = nbody
-  _m.njnt = njnt
-  _d.cdof = cdof
-  _d.cinert = cinert
-  _d.subtree_com = subtree_com
-  _d.xanchor = xanchor
-  _d.xaxis = xaxis
-  _d.ximat = ximat
-  _d.xipos = xipos
-  _d.xmat = xmat
-  _d.nworld = nworld
-  mjwarp.com_pos(_m, _d)
-
-
-def _com_pos_jax_impl(m: types.Model, d: types.Data):
-  output_dims = {
-      'cdof': d.cdof.shape,
-      'cinert': d._impl.cinert.shape,
-      'subtree_com': d.subtree_com.shape,
-  }
-  jf = ffi.jax_callable_variadic_tuple(
-      _com_pos_shim,
-      num_outputs=3,
-      output_dims=output_dims,
-      vmap_method=None,
-      in_out_argnames=set(['cdof', 'cinert', 'subtree_com']),
-      stage_in_argnames=set([
-          'body_inertia',
-          'body_mass',
-          'body_subtreemass',
-          'cdof',
-          'cinert',
-          'subtree_com',
-          'xanchor',
-          'xaxis',
-          'ximat',
-          'xipos',
-          'xmat',
-      ]),
-      stage_out_argnames=set(['cdof', 'cinert', 'subtree_com']),
-      graph_mode=m.opt._impl.graph_mode,
-      has_side_effect=False,
-  )
-  out = jf(
-      d.qpos.shape[0],
-      m.body_inertia,
-      m.body_mass,
-      m.body_parentid,
-      m.body_rootid,
-      m.body_subtreemass,
-      m._impl.body_tree,
-      m.jnt_bodyid,
-      m.jnt_dofadr,
-      m.jnt_type,
-      m.nbody,
-      m.njnt,
-      d.cdof,
-      d._impl.cinert,
-      d.subtree_com,
-      d.xanchor,
-      d.xaxis,
-      d.ximat,
-      d.xipos,
-      d.xmat,
-  )
-  d = d.tree_replace(
-      {'cdof': out[0], '_impl.cinert': out[1], 'subtree_com': out[2]}
-  )
-  return d
-
-
-@jax.custom_batching.custom_vmap
-@ffi.marshal_jax_warp_callable
-def com_pos(m: types.Model, d: types.Data):
-  return _com_pos_jax_impl(m, d)
-
-
-@com_pos.def_vmap
-@ffi.marshal_custom_vmap
-def com_pos_vmap(unused_axis_size, is_batched, m: types.Model, d: types.Data):
-  d = com_pos(m, d)
-  return d, is_batched[1]
diff --git a/mjx/mujoco/mjx/warp/smooth_test.py b/mjx/mujoco/mjx/warp/smooth_test.py
deleted file mode 100644
index 442461cb..00000000
--- a/mjx/mujoco/mjx/warp/smooth_test.py
+++ /dev/null
@@ -1,330 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for codegen'd smooth functions."""
-
-import functools
-import os
-import tempfile
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import jax
-from jax import numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import io
-from mujoco.mjx._src import math
-import mujoco.mjx.warp as mjxw
-from mujoco.mjx.warp import test_util as tu
-from mujoco.mjx.warp import warp as wp  # pylint: disable=g-importing-member
-import numpy as np
-
-try:
-  from mujoco.mjx.warp import smooth  # pylint: disable=g-import-not-at-top
-except ImportError:
-  smooth = None
-
-_FORCE_TEST = os.environ.get('MJX_WARP_FORCE_TEST', '0') == '1'
-
-
-class SmoothTest(parameterized.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    super().setUpClass()
-    if mjxw.WARP_INSTALLED:
-      cls.tempdir = tempfile.TemporaryDirectory()
-      wp.config.kernel_cache_dir = cls.tempdir.name
-
-  @classmethod
-  def tearDownClass(cls):
-    super().tearDownClass()
-    if hasattr(cls, 'tempdir'):
-      cls.tempdir.cleanup()
-
-  def setUp(self):
-    super().setUp()
-    np.random.seed(0)
-
-  def test_kinematics(self):
-    """Tests kinematics with unbatched data."""
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    m = tu.load_test_file('pendula.xml')
-
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m, impl='warp')
-
-    rng = jax.random.PRNGKey(0)
-    dx = mjx.make_data(m, impl='warp')
-    rng, key = jax.random.split(rng)
-    qpos = jax.random.uniform(key, (m.nq,))
-    _, key1, key2 = jax.random.split(rng, 3)
-    mocap_pos = jax.random.normal(key1, (m.nmocap, 3))
-    mocap_quat = jax.random.normal(key2, (m.nmocap, 4))
-    mocap_quat = math.normalize(mocap_quat, axis=0)
-    dx = dx.replace(qpos=qpos, mocap_pos=mocap_pos, mocap_quat=mocap_quat)
-
-    dx = jax.jit(smooth.kinematics)(mx, dx)
-
-    d.qpos[:] = qpos
-    d.mocap_pos[:] = mocap_pos
-    d.mocap_quat[:] = mocap_quat
-    mujoco.mj_kinematics(m, d)
-
-    tu.assert_attr_eq(d, dx, 'xanchor')
-    tu.assert_attr_eq(d, dx, 'xaxis')
-    tu.assert_attr_eq(d, dx, 'xpos')
-    tu.assert_attr_eq(d, dx, 'xquat')
-    tu.assert_eq(d.xmat.reshape((-1, 3, 3)), dx.xmat, 'xmat')
-    tu.assert_attr_eq(d, dx, 'xipos')
-    tu.assert_eq(d.ximat.reshape((-1, 3, 3)), dx.ximat, 'ximat')
-    tu.assert_attr_eq(d, dx, 'geom_xpos')
-    tu.assert_eq(d.geom_xmat.reshape((-1, 3, 3)), dx.geom_xmat, 'geom_xmat')
-    tu.assert_attr_eq(d, dx, 'site_xpos')
-    tu.assert_eq(d.site_xmat.reshape((-1, 3, 3)), dx.site_xmat, 'site_xmat')
-
-  def test_com_pos(self):
-    """Tests com_pos with unbatched data."""
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    m = tu.load_test_file('pendula.xml')
-
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m, impl='warp')
-    mx = mx.replace(_impl=mx._impl.replace(M_tiles=()))
-
-    rng = jax.random.PRNGKey(0)
-    dx = mjx.make_data(m, impl='warp')
-    _, key = jax.random.split(rng)
-    qpos = jax.random.uniform(key, (m.nq,))
-    dx = dx.replace(qpos=qpos)
-
-    dx = jax.jit(smooth.kinematics)(mx, dx)
-    dx = jax.jit(smooth.com_pos)(mx, dx)
-
-    d.qpos[:] = qpos
-    mujoco.mj_kinematics(m, d)
-    mujoco.mj_comPos(m, d)
-
-    tu.assert_attr_eq(d, dx, 'subtree_com')
-    tu.assert_attr_eq(d, dx, 'cdof')
-    tu.assert_eq(d.cinert, dx._impl.cinert, 'cinert')
-
-  def test_kinematics_vmap(self):
-    """Tests kinematics with batched data."""
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    m = tu.load_test_file('pendula.xml')
-
-    batch_size = 7
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m, impl='warp')
-
-    worldids = jp.arange(batch_size)
-    dx_batch = jax.vmap(functools.partial(tu.make_data, m))(worldids)
-    # don't zero xmat, ximat, xquat, geom_xpos, or geom_xmat
-    # these fields are precomputed in make_data
-    for f in ('xanchor', 'xaxis', 'xpos', 'xipos', 'site_xpos', 'site_xmat'):
-      dx_batch = dx_batch.replace(**{f: jp.zeros_like(getattr(dx_batch, f))})
-
-    dx_batch = jax.jit(jax.vmap(smooth.kinematics, in_axes=(None, 0)))(
-        mx, dx_batch
-    )
-
-    for i in range(batch_size):
-      dx = dx_batch[i]
-
-      d.qpos[:] = dx.qpos
-      d.mocap_pos[:] = dx.mocap_pos
-      d.mocap_quat[:] = dx.mocap_quat
-      mujoco.mj_kinematics(m, d)
-
-      tu.assert_attr_eq(d, dx, 'xanchor')
-      tu.assert_attr_eq(d, dx, 'xaxis')
-      tu.assert_attr_eq(d, dx, 'xpos')
-      tu.assert_attr_eq(d, dx, 'xquat')
-      tu.assert_eq(d.xmat.reshape((-1, 3, 3)), dx.xmat, 'xmat')
-      tu.assert_attr_eq(d, dx, 'xipos')
-      tu.assert_eq(d.ximat.reshape((-1, 3, 3)), dx.ximat, 'ximat')
-      tu.assert_attr_eq(d, dx, 'geom_xpos')
-      tu.assert_eq(d.geom_xmat.reshape((-1, 3, 3)), dx.geom_xmat, 'geom_xmat')
-      tu.assert_attr_eq(d, dx, 'site_xpos')
-      tu.assert_eq(d.site_xmat.reshape((-1, 3, 3)), dx.site_xmat, 'site_xmat')
-
-  def test_com_pos_vmap(self):
-    """Tests com_pos with batched data."""
-    if not mjxw.WARP_INSTALLED:
-      self.skipTest('Warp not installed.')
-    if not io.has_cuda_gpu_device():
-      self.skipTest('No CUDA GPU device available.')
-
-    m = tu.load_test_file('pendula.xml')
-
-    batch_size = 7
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m, impl='warp')
-    mx = mx.replace(_impl=mx._impl.replace(M_tiles=()))
-
-    worldids = jp.arange(batch_size)
-    dx_batch = jax.vmap(functools.partial(tu.make_data, m))(worldids)
-    for f in (
-        'xanchor',
-        'xaxis',
-        'xpos',
-        'xipos',
-        'site_xpos',
-        'site_xmat',
-        'subtree_com',
-        'cdof',
-    ):
-      dx_batch = dx_batch.replace(**{f: jp.zeros_like(getattr(dx_batch, f))})
-    dx_batch = dx_batch.tree_replace(
-        {'_impl.cinert': jp.zeros_like(dx_batch._impl.cinert)}
-    )
-
-    dx_batch = jax.jit(jax.vmap(smooth.kinematics, in_axes=(None, 0)))(
-        mx, dx_batch
-    )
-    dx_batch = jax.jit(jax.vmap(smooth.com_pos, in_axes=(None, 0)))(
-        mx, dx_batch
-    )
-
-    for i in range(batch_size):
-      dx = dx_batch[i]
-
-      d.qpos[:] = dx.qpos
-      d.mocap_pos[:] = dx.mocap_pos
-      d.mocap_quat[:] = dx.mocap_quat
-      mujoco.mj_kinematics(m, d)
-      mujoco.mj_comPos(m, d)
-
-      tu.assert_attr_eq(d, dx, 'subtree_com')
-      tu.assert_attr_eq(d, dx, 'cdof')
-      tu.assert_eq(d.cinert, dx._impl.cinert, 'cinert')
-
-  def test_kinematics_nested_vmap(self):
-    """Tests kinematics with nested batch data."""
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    m = tu.load_test_file('pendula.xml')
-
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m, impl='warp')
-
-    worldids = jp.arange(16).reshape((4, 4))
-    dx_batch = jax.vmap(jax.vmap(functools.partial(tu.make_data, m)))(worldids)
-    # don't zero xmat, ximat, xquat, geom_xpos, or geom_xmat
-    # these fields are precomputed in make_data
-    for f in ('xanchor', 'xaxis', 'xpos', 'xipos', 'site_xpos', 'site_xmat'):
-      dx_batch = dx_batch.replace(**{f: jp.zeros_like(getattr(dx_batch, f))})
-
-    dx_batch = jax.jit(
-        jax.vmap(
-            jax.vmap(smooth.kinematics, in_axes=(None, 0)), in_axes=(None, 0)
-        )
-    )(mx, dx_batch)
-
-    for i in range(4):
-      for j in range(4):
-        dx = dx_batch[i, j]
-
-        d.qpos[:] = dx.qpos
-        d.mocap_pos[:] = dx.mocap_pos
-        d.mocap_quat[:] = dx.mocap_quat
-        mujoco.mj_forward(m, d)
-
-        tu.assert_attr_eq(d, dx, 'xanchor')
-        tu.assert_attr_eq(d, dx, 'xaxis')
-        tu.assert_attr_eq(d, dx, 'xpos')
-        tu.assert_attr_eq(d, dx, 'xquat')
-        tu.assert_eq(d.xmat.reshape((-1, 3, 3)), dx.xmat, 'xmat')
-        tu.assert_attr_eq(d, dx, 'xipos')
-        tu.assert_eq(d.ximat.reshape((-1, 3, 3)), dx.ximat, 'ximat')
-        tu.assert_attr_eq(d, dx, 'geom_xpos')
-        tu.assert_eq(d.geom_xmat.reshape((-1, 3, 3)), dx.geom_xmat, 'geom_xmat')
-        tu.assert_attr_eq(d, dx, 'site_xpos')
-        tu.assert_eq(d.site_xmat.reshape((-1, 3, 3)), dx.site_xmat, 'site_xmat')
-
-  def test_kinematics_model_vmap(self):
-    """Tests kinematics with vmap on model and data fields."""
-    if not _FORCE_TEST:
-      if not mjxw.WARP_INSTALLED:
-        self.skipTest('Warp not installed.')
-      if not io.has_cuda_gpu_device():
-        self.skipTest('No CUDA GPU device available.')
-
-    m = tu.load_test_file('pendula.xml')
-
-    batch_size = 7
-    d = mujoco.MjData(m)
-    mx = mjx.put_model(m, impl='warp')
-    # Add batch dimension to one model field.
-    mx = mx.replace(
-        geom_pos=jax.random.normal(
-            jax.random.PRNGKey(0), (batch_size, m.ngeom, 3)
-        )
-    )
-
-    worldids = jp.arange(batch_size)
-    dx_batch = jax.vmap(functools.partial(tu.make_data, m))(worldids)
-    # don't zero xmat, ximat, xquat, geom_xpos, or geom_xmat
-    # these fields are precomputed in make_data
-    for f in ('xanchor', 'xaxis', 'xpos', 'xipos', 'site_xpos', 'site_xmat'):
-      dx_batch = dx_batch.replace(**{f: jp.zeros_like(getattr(dx_batch, f))})
-
-    dx_batch = jax.jit(jax.vmap(smooth.kinematics, in_axes=(None, 0)))(
-        mx, dx_batch
-    )
-
-    for i in range(batch_size):
-      dx = dx_batch[i]
-
-      d.qpos[:] = dx.qpos
-      d.mocap_pos[:] = dx.mocap_pos
-      d.mocap_quat[:] = dx.mocap_quat
-      m.geom_pos[:] = mx.geom_pos[i]
-      mujoco.mj_kinematics(m, d)
-
-      tu.assert_attr_eq(d, dx, 'xanchor')
-      tu.assert_attr_eq(d, dx, 'xaxis')
-      tu.assert_attr_eq(d, dx, 'xpos')
-      tu.assert_attr_eq(d, dx, 'xquat')
-      tu.assert_eq(d.xmat.reshape((-1, 3, 3)), dx.xmat, 'xmat')
-      tu.assert_attr_eq(d, dx, 'xipos')
-      tu.assert_eq(d.ximat.reshape((-1, 3, 3)), dx.ximat, 'ximat')
-      tu.assert_attr_eq(d, dx, 'geom_xpos')
-      tu.assert_eq(d.geom_xmat.reshape((-1, 3, 3)), dx.geom_xmat, 'geom_xmat')
-      tu.assert_attr_eq(d, dx, 'site_xpos')
-      tu.assert_eq(d.site_xmat.reshape((-1, 3, 3)), dx.site_xmat, 'site_xmat')
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/warp/test_util.py b/mjx/mujoco/mjx/warp/test_util.py
deleted file mode 100644
index ea0d8229..00000000
--- a/mjx/mujoco/mjx/warp/test_util.py
+++ /dev/null
@@ -1,210 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Utilities for testing MJX MjWarp integration."""
-import jax
-import jax.numpy as jp
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import test_util as mjx_test_util
-import numpy as np
-
-try:
-  from mujoco.mjx.warp import forward as mjxw_forward  # pylint: disable=g-import-not-at-top
-except ImportError:
-  mjxw_forward = None
-
-# tolerance for difference between MuJoCo and MJX smooth calculations - mostly
-# due to float precision
-_TOLERANCE = 5e-5
-
-
-def assert_eq(a, b, name):
-  tol = _TOLERANCE * 10  # avoid test noise
-  err_msg = f'mismatch: {name}'
-  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
-
-
-def assert_attr_eq(a, b, attr):
-  assert_eq(getattr(a, attr), getattr(b, attr), attr)
-
-
-def make_data(
-    m: mujoco.MjModel, worldid: int, naconmax: int = 1_000, njmax: int = 200
-):
-  """Make data for a given worldid using keyframes when available."""
-  dx = mjx.make_data(m, impl='warp', naconmax=naconmax, njmax=njmax)
-
-  rng = jax.random.PRNGKey(worldid)
-  rng, key = jax.random.split(rng)
-  qpos = m.qpos0 + jax.random.uniform(key, (m.nq,), minval=-0.05, maxval=0.05)
-  key_qpos = (
-      jp.array(m.key_qpos)[worldid] if m.nkey > 0 else jp.zeros_like(qpos)
-  )
-  qpos = jp.where(worldid < m.nkey, key_qpos, qpos)
-
-  rng, key = jax.random.split(rng)
-  qvel = jax.random.uniform(key, (m.nv,), minval=-0.05, maxval=0.05)
-  key_qvel = (
-      jp.array(m.key_qvel)[worldid] if m.nkey > 0 else jp.zeros_like(qvel)
-  )
-  qvel = jp.where(worldid < m.nkey, key_qvel, qvel)
-
-  rng, key1, key2 = jax.random.split(rng, 3)
-  mocap_pos = jax.random.normal(key1, (m.nmocap, 3))
-  key_mpos = (
-      jp.array(m.key_mpos)[worldid]
-      if m.nkey > 0 and m.nmocap > 0
-      else jp.zeros_like(mocap_pos)
-  )
-  mocap_pos = jp.where(worldid < m.nkey, key_mpos, mocap_pos)
-  mocap_quat = jax.random.normal(key2, (m.nmocap, 4))
-  key_mquat = (
-      jp.array(m.key_mquat)[worldid]
-      if m.nkey > 0 and m.nmocap > 0
-      else jp.zeros_like(mocap_quat)
-  )
-  mocap_quat = jp.where(worldid < m.nkey, key_mquat, mocap_quat)
-
-  _, key = jax.random.split(rng)
-  ctrl = jax.random.uniform(key, (m.nu,), minval=-0.1, maxval=0.1)
-  key_ctrl = (
-      jp.array(m.key_ctrl)[worldid] if m.nkey > 0 else jp.zeros_like(ctrl)
-  )
-  ctrl = jp.where(worldid < m.nkey, key_ctrl, ctrl)
-
-  dx = dx.replace(
-      qpos=qpos,
-      qvel=qvel,
-      mocap_pos=mocap_pos,
-      mocap_quat=mocap_quat,
-      ctrl=ctrl,
-  )
-
-  # Mimic forward call within a vmap trace (since make_data gets called in a
-  # vmap in tests). Some fields get vmapped (qpos, qvel) while others need to be
-  # broadcasted by the custom vmap rule (e.g. geom_xpos).
-  mx = mjx.put_model(m, impl='warp')
-  dx = mjxw_forward.forward(mx, dx)
-
-  return dx
-
-
-def _mjx_contact(dx, worldid: int):
-  keys = []
-  for i in range(dx._impl.nacon[0]):
-    if dx._impl.contact__worldid[i] != worldid:
-      continue
-
-    g1, g2 = tuple(map(int, dx._impl.contact__geom[i]))
-    dist = float(dx._impl.contact__dist[i])
-    keys.append((g1, g2, -dist, i))
-
-  keys = sorted(keys)
-  geom1 = np.array([k[0] for k in keys])
-  geom2 = np.array([k[1] for k in keys])
-  dist = np.array([dx._impl.contact__dist[k[-1]] for k in keys])
-  normal = np.array([dx._impl.contact__frame[k[-1]][0] for k in keys])
-  return geom1, geom2, dist, normal
-
-
-def _mj_contact(d):
-  keys = []
-  for i in range(d.ncon):
-    g1, g2 = tuple(map(int, d.contact.geom[i]))
-    dist = float(d.contact.dist[i])
-    keys.append((g1, g2, -dist, i))
-
-  keys = sorted(keys)
-  geom1 = np.array([k[0] for k in keys])
-  geom2 = np.array([k[1] for k in keys])
-  dist = np.array([d.contact.dist[k[-1]] for k in keys])
-  normal = np.array([d.contact.frame[k[-1]][:3] for k in keys])
-  return geom1, geom2, dist, normal
-
-
-def assert_contact_eq(d, dx, worldid: int):
-  *geom, dist, normal = _mj_contact(d)
-  *geomp, distp, normalp = _mjx_contact(dx, worldid)
-  assert_eq(geomp, geom, 'geom')
-  assert_eq(distp, dist, 'dist')
-  assert_eq(normalp, normal, 'normal')
-
-
-def _mjx_efc(dx, worldid: int):
-  """Gets unpacked efc data for a given worldid."""
-  select = lambda x: x if dx._impl.nefc.ndim == 0 else x[worldid]
-  nefc = select(dx._impl.nefc)
-  keys = np.arange(nefc)
-  if not keys.size:
-    empty = np.array([])
-    return 0, empty, empty, np.zeros((0, dx.qvel.shape[-1])), empty, empty
-  efc_pos = select(dx._impl.efc__pos)[:nefc]
-  efc_type = select(dx._impl.efc__type)[:nefc]
-  efc_d = select(dx._impl.efc__D)[:nefc]
-  keys_sorted = np.lexsort(
-      (-np.round(efc_pos, 12), efc_type, np.round(efc_d, 12))
-  )
-  keys = keys[keys_sorted]
-
-  nefc = len(keys)
-  type_ = efc_type[keys]
-  pos = efc_pos[keys]
-  # MuJoCo Warp may pad efc_J for tiled ops.
-  j = select(dx._impl.efc__J)[:nefc][keys][:, :dx.qvel.shape[-1]]
-  aref = select(dx._impl.efc__aref)[:nefc][keys]
-  d_ = select(dx._impl.efc__D)[:nefc][keys]
-  return nefc, type_, pos, j, aref, d_
-
-
-def _mj_efc(d):
-  """Gets unpacked efc data."""
-  efc_j = np.zeros((d.efc_J_rownnz.shape[0], d.qvel.shape[0]))
-  if d.efc_J.shape[0] < efc_j.shape[0] * efc_j.shape[1]:
-    mujoco.mju_sparse2dense(
-        efc_j,
-        d.efc_J,
-        d.efc_J_rownnz,
-        d.efc_J_rowadr,
-        d.efc_J_colind,
-    )
-  else:
-    efc_j = d.efc_J.reshape((-1, d.qvel.shape[0]))
-
-  keys = np.lexsort(
-      (-np.round(d.efc_pos, 12), d.efc_type, np.round(d.efc_D, 12))
-  )
-  type_ = d.efc_type[keys]
-  pos = d.efc_pos[keys]
-  efc_j = efc_j[keys]
-  aref = d.efc_aref[keys]
-  d_ = d.efc_D[keys]
-  return d.nefc, type_, pos, efc_j, aref, d_
-
-
-def assert_efc_eq(d, dx, worldid: int):
-  nefc, type_, pos, j, aref, d_ = _mj_efc(d)
-  nefcp, typep, posp, jp_, arefp, dp = _mjx_efc(dx, worldid)
-
-  assert_eq(nefcp, nefc, 'nefc')
-  assert_eq(typep, type_, 'type')
-  assert_eq(posp, pos, 'pos')
-  assert_eq(jp_, j, 'J')
-  assert_eq(arefp, aref, 'aref')
-  assert_eq(dp, d_, 'D')
-
-
-def load_test_file(name: str) -> mujoco.MjModel:
-  """Loads a mujoco.MjModel based on the file name."""
-  return mjx_test_util.load_test_file(name)
diff --git a/mjx/mujoco/mjx/warp/testspeed.py b/mjx/mujoco/mjx/warp/testspeed.py
deleted file mode 100644
index 18577bc9..00000000
--- a/mjx/mujoco/mjx/warp/testspeed.py
+++ /dev/null
@@ -1,354 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Run benchmarks for MJX-Warp."""
-
-import functools
-import os
-import time
-from typing import Any, Callable, Sequence, Tuple
-
-from absl import app
-from absl import flags
-import jax
-import jax.numpy as jnp
-import jax.tree_util
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import render_util
-from mujoco.mjx._src import test_util
-from mujoco.mjx.warp import collision_driver as wp_collision
-from mujoco.mjx.warp import forward as wp_forward
-from mujoco.mjx.warp import io
-from mujoco.mjx.warp import smooth as wp_smooth
-from mujoco.mjx.warp import types as mjxw_types
-import mujoco.mjx.third_party.mujoco_warp as mjwarp
-import numpy as np
-import warp as wp
-
-
-_MODELFILE = flags.DEFINE_string(
-    'modelfile',
-    'humanoid/humanoid.xml',
-    'path to model',
-)
-_FUNCTION = flags.DEFINE_string(
-    'function', 'kinematics', 'function to benchmark'
-)
-_NSTEP = flags.DEFINE_integer('nstep', 1000, 'number of steps per rollout')
-_NENV = flags.DEFINE_integer('nenv', 8192, 'number of environments to simulate')
-_UNROLL = flags.DEFINE_integer('unroll', 4, 'number of steps to unroll')
-_NACONMAX = flags.DEFINE_integer('naconmax', 30_000, 'max contacts')
-_NJMAX = flags.DEFINE_integer('njmax', 10, 'max constraints')
-_WP_KERNEL_CACHE_DIR = flags.DEFINE_string(
-    'wp_kernel_cache_dir',
-    None,
-    'Path to the Warp kernel cache directory.',
-)
-_GRAPH_MODE = flags.DEFINE_enum(
-    'graph_mode',
-    'WARP',
-    ['NONE', 'WARP', 'WARP_STAGED', 'WARP_STAGED_EX'],
-    'Graph capture mode for JAX WARP FFI benchmark.',
-)
-_BENCHMARK = flags.DEFINE_enum(
-    'benchmark',
-    'jax_warp',
-    ['jax_warp', 'jax', 'warp'],
-    'Which benchmark to run.',
-)
-# Render flags
-_RENDER_WIDTH = flags.DEFINE_integer('render_width', 64, 'render width')
-_RENDER_HEIGHT = flags.DEFINE_integer('render_height', 64, 'render height')
-_RENDER_RGB = flags.DEFINE_boolean('render_rgb', False, 'render RGB image')
-_RENDER_DEPTH = flags.DEFINE_boolean(
-    'render_depth', False, 'render depth image'
-)
-_RENDER_USE_TEXTURES = flags.DEFINE_boolean(
-    'render_textures', True, 'use textures'
-)
-_RENDER_USE_SHADOWS = flags.DEFINE_boolean(
-    'render_shadows', False, 'use shadows'
-)
-
-_COMPILER_OPTIONS = {'xla_gpu_graph_min_graph_size': 1}
-jax_jit = functools.partial(jax.jit, compiler_options=_COMPILER_OPTIONS)
-
-
-def _measure(fn, *args) -> Tuple[float, float]:
-  """Reports jit time and op time for a function."""
-
-  beg = time.perf_counter()
-  compiled_fn = fn.lower(*args).compile()
-  end = time.perf_counter()
-  jit_time = end - beg
-
-  # warmup
-  result = compiled_fn(*args)
-  jax.block_until_ready(result)
-
-  times = []
-
-  for i in range(1):
-    beg = time.perf_counter()
-    result = compiled_fn(*args)
-    jax.block_until_ready(result)
-    end = time.perf_counter()
-    run_time = end - beg
-    times.append(run_time)
-    print('Measure run: ', i, f', run time: {run_time:.3f}')
-
-  return jit_time, sum(times) / len(times)
-
-
-def benchmark(
-    m: mujoco.MjModel,
-    mx: mjx.Model,
-    step_fn: Callable[..., Any],
-    nstep: int = 1000,
-    nenv: int = 8192,
-    unroll_steps: int = 4,
-    render: bool = False,
-) -> Tuple[float, float, int]:
-  """Benchmark a model."""
-
-  @jax.vmap
-  def init(key):
-    d = mjx.make_data(
-        m, impl=mx.impl, naconmax=_NACONMAX.value, njmax=_NJMAX.value
-    )
-    # Initialize from first keyframe if available
-    if m.nkey > 0:
-      d = d.replace(qpos=m.key_qpos[0], ctrl=m.key_ctrl[0])
-    return d
-
-  key = jax.random.split(jax.random.key(0), nenv)
-  d = jax_jit(init)(key)
-
-  jax.block_until_ready(d)
-
-  rc = None
-  if render:
-    ncam = max(1, m.ncam)
-    rc = io.create_render_context(
-        mjm=m,
-        nworld=nenv,
-        cam_res=(_RENDER_WIDTH.value, _RENDER_HEIGHT.value),
-        use_textures=_RENDER_USE_TEXTURES.value,
-        use_shadows=_RENDER_USE_SHADOWS.value,
-        render_rgb=[_RENDER_RGB.value] * ncam,
-        render_depth=[_RENDER_DEPTH.value] * ncam,
-        enabled_geom_groups=[0, 1, 2],
-    )
-
-  def render_fn(mx, d, rc):
-    d = mjx.refit_bvh(mx, d, rc)
-    pixels, _, d = mjx.render(mx, d, rc)
-    return render_util.get_rgb(rc, 0, pixels), d
-
-  @jax_jit
-  def unroll(d):
-    def fn(carry, _):
-      d, accum = carry
-      d = d.replace(qpos=d.qpos + 0 * d.qpos)
-      d = step_fn(mx, d)
-
-      if render:
-        rgb, d = jax.vmap(render_fn, in_axes=(None, 0, None))(
-            mx, d, rc.pytree()
-        )
-        accum += rgb[0, 0, 0, 0]
-
-      return (d, accum), None
-
-    (d_final, accum_final), _ = jax.lax.scan(
-        fn, (d, jnp.array(0.0)), None, length=nstep, unroll=unroll_steps
-    )
-    return d_final, accum_final
-
-  jit_time, run_time = _measure(unroll, d)
-  steps = nstep * nenv
-
-  return jit_time, run_time, steps
-
-
-def _compile_fn(fn, m, d):
-  fn(m, d)
-  fn(m, d)
-  with wp.ScopedCapture() as capture:
-    fn(m, d)
-  return capture.graph
-
-
-def benchmark_raw_warp(
-    m: mujoco.MjModel,
-    nstep: int = 1000,
-    nenv: int = 8192,
-    unroll_steps: int = 4,
-    function: str = 'kinematics',
-    render: bool = False,
-):
-  """Benchmarks raw warp."""
-  del unroll_steps
-  if function not in ('kinematics', 'forward', 'step', 'collision'):
-    raise NotImplementedError(
-        f'{function} is not implemented for raw warp speed test.'
-    )
-
-  mw = mjwarp.put_model(m)
-  dw = mjwarp.make_data(
-      m, nworld=nenv, naconmax=_NACONMAX.value, njmax=_NJMAX.value
-  )
-
-  # Initialize from first keyframe if available
-  if m.nkey > 0:
-    qpos_init = np.tile(m.key_qpos[0], (nenv, 1)).astype(np.float32)
-    ctrl_init = np.tile(m.key_ctrl[0], (nenv, 1)).astype(np.float32)
-    wp.copy(dw.qpos, wp.from_numpy(qpos_init))
-    wp.copy(dw.ctrl, wp.from_numpy(ctrl_init))
-
-  if function == 'kinematics':
-    fn = mjwarp.kinematics
-  elif function == 'forward':
-    fn = mjwarp.forward
-  elif function == 'step':
-    fn = mjwarp.step
-  elif function == 'collision':
-    fn = mjwarp.collision
-  else:
-    raise NotImplementedError(f'{function} not implemented in speed test.')
-
-  ncam = max(1, m.ncam)
-  rc = None
-  if render:
-    mjwarp.forward(mw, dw)
-    rc = mjwarp.create_render_context(
-        m,
-        mw,
-        dw,
-        (_RENDER_WIDTH.value, _RENDER_HEIGHT.value),
-        [_RENDER_RGB.value] * ncam,
-        [_RENDER_DEPTH.value] * ncam,
-        _RENDER_USE_TEXTURES.value,
-        _RENDER_USE_SHADOWS.value,
-    )
-
-  def run_fn(m, d):
-    fn(m, d)
-    if render:
-      mjwarp.refit_bvh(m, d, rc)
-      mjwarp.render(m, d, rc)
-
-  start = time.time()
-  graph = _compile_fn(run_fn, mw, dw)
-  jit_time = time.time() - start
-
-  start = time.time()
-  for _ in range(nstep):
-    wp.capture_launch(graph)
-    wp.synchronize()
-
-  run_time = time.time() - start
-  return jit_time, run_time, nstep * nenv
-
-
-def _main(_: Sequence[str]):
-  """Runs testpeed function."""
-  os.environ['MJX_WARP_ENABLED'] = 'true'
-
-  if _WP_KERNEL_CACHE_DIR.value:
-    wp.config.kernel_cache_dir = _WP_KERNEL_CACHE_DIR.value
-
-  modelfile = _MODELFILE.value
-  function_ = _FUNCTION.value
-  nstep, nenv, unroll = _NSTEP.value, _NENV.value, _UNROLL.value
-
-  try:
-    m = test_util.load_test_file(modelfile)
-  except Exception as _:
-    m = mujoco.MjModel.from_xml_path(modelfile)
-
-  benchmark_type = _BENCHMARK.value
-  graph_mode = getattr(mjxw_types.GraphMode, _GRAPH_MODE.value)
-
-  # Only allocate the model needed for the specific benchmark
-  mx = None
-  mw = None
-  if benchmark_type == 'jax_warp':
-    mw = mjx.put_model(m, impl='warp', graph_mode=graph_mode)
-  elif benchmark_type == 'jax':
-    mx = mjx.put_model(m, impl='jax')
-
-  if function_ == 'kinematics':
-    func_warp = jax.vmap(wp_smooth.kinematics, in_axes=(None, 0))
-    func_jax = jax.vmap(mjx.kinematics, in_axes=(None, 0))
-  elif function_ == 'forward':
-    func_warp = jax.vmap(wp_forward.forward, in_axes=(None, 0))
-    func_jax = jax.vmap(mjx.forward, in_axes=(None, 0))
-  elif function_ == 'step':
-    func_warp = jax.vmap(wp_forward.step, in_axes=(None, 0))
-    func_jax = jax.vmap(mjx.step, in_axes=(None, 0))
-  elif function_ == 'collision':
-    func_warp = jax.vmap(wp_collision.collision, in_axes=(None, 0))
-    func_jax = jax.vmap(mjx.collision, in_axes=(None, 0))
-  else:
-    raise ValueError(f'Unknown function: {function_}')
-
-  print('testspeed.py:\n')
-  print(f' modelfile            : {modelfile}')
-  print(f' function             : {function_}')
-  print(f' nenv                 : {nenv}')
-  print(f' nstep                : {nstep}')
-  print(f' timestep             : {m.opt.timestep}')
-  print(f' unroll               : {unroll}')
-  print(f' benchmark            : {benchmark_type}')
-  print(f' graph_mode           : {_GRAPH_MODE.value}')
-  is_render = _RENDER_DEPTH.value or _RENDER_RGB.value
-  if is_render:
-    print(
-        f' render resolution    : {_RENDER_WIDTH.value}x{_RENDER_HEIGHT.value}'
-    )
-    print(f' textures             : {_RENDER_USE_TEXTURES.value}')
-    print(f' shadows              : {_RENDER_USE_SHADOWS.value}')
-  print()
-
-  if benchmark_type == 'jax_warp':
-    jit_time, run_time, steps = benchmark(
-        m, mw, func_warp, nstep, nenv, unroll, is_render
-    )
-    print(f' JAX WARP FFI (GraphMode: {_GRAPH_MODE.value}):')
-  elif benchmark_type == 'jax':
-    jit_time, run_time, steps = benchmark(m, mx, func_jax, nstep, nenv, unroll)
-    print(' Pure JAX:')
-  elif benchmark_type == 'warp':
-    jit_time, run_time, steps = benchmark_raw_warp(
-        m, nstep, nenv, unroll, function=function_, render=is_render
-    )
-    print(' Pure WARP:')
-  else:
-    raise ValueError(f'Unknown benchmark type: {benchmark_type}')
-
-  print(f' JIT time             : {jit_time:.2f} s')
-  print(f' simulation time      : {run_time:.2f} s')
-  print(f' steps per second     : {steps / run_time:,.0f}')
-  print(f' realtime factor      : {steps * m.opt.timestep / run_time:.2f} x')
-  print(f' time per step        : {1e6 * run_time / steps:.2f} µs\n')
-
-
-def main():
-  app.run(_main)
-
-
-if __name__ == '__main__':
-  main()
diff --git a/mjx/mujoco/mjx/warp/types.py b/mjx/mujoco/mjx/warp/types.py
deleted file mode 100644
index 431c6c15..00000000
--- a/mjx/mujoco/mjx/warp/types.py
+++ /dev/null
@@ -1,2040 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""MJX Warp types.
-DO NOT EDIT. This file is auto-generated.
-"""
-import dataclasses
-import typing
-from typing import Tuple
-import jax
-from jax import tree_util
-from jax.interpreters import batching
-from mujoco.mjx._src import dataclasses as mjx_dataclasses
-import numpy as np
-if typing.TYPE_CHECKING:
-  GraphMode = int
-
-  @dataclasses.dataclass
-  class Callback:
-    pass
-
-else:
-  try:
-    from mujoco.mjx.third_party.warp._src.jax import ffi as warp_ffi
-
-    GraphMode = warp_ffi.JaxCallableGraphMode
-    from mujoco.mjx.third_party.mujoco_warp._src import types as mjwp_types
-
-    Callback = mjwp_types.Callback
-  except ImportError:
-    GraphMode = int
-    Callback = None
-PyTreeNode = mjx_dataclasses.PyTreeNode
-
-@dataclasses.dataclass(frozen=True)
-@tree_util.register_pytree_node_class
-class TileSet:
-  """Tiling configuration for decomposable block diagonal matrix.
-
-  For non-square, non-block-diagonal tiles, use two tilesets.
-
-  Attributes:
-    adr: address of each tile in the set
-    size: size of all the tiles in this set
-    elemid: flat CSR gather indices for tiled blocks; empty selects the
-      native-layout scalar path
-  """
-  adr: np.ndarray
-  size: int
-  elemid: np.ndarray = dataclasses.field(
-      default_factory=lambda: np.array([], dtype=np.int32)
-  )
-
-  def __eq__(self, other) -> bool:
-    if self.__class__ is not other.__class__:
-      return NotImplemented
-    return self.size == other.size and np.array_equal(
-        np.asarray(self.adr), np.asarray(other.adr)
-    )
-
-  def __hash__(self) -> int:
-    adr = np.asarray(self.adr)
-    return hash((self.size, adr.dtype.str, adr.shape, adr.tobytes()))
-
-  def tree_flatten(self):
-    children = list((getattr(self, k) for k in self.__dataclass_fields__))
-    return (children, None)
-
-  @classmethod
-  def tree_unflatten(cls, aux_data, children):
-    del aux_data
-    return cls(*children)
-
-
-@dataclasses.dataclass(frozen=True)
-@tree_util.register_pytree_node_class
-class BlockDim:
-  """Block dimension 'block_dim' settings for wp.launch_tiled.
-
-  TODO(team): experimental and may be removed
-
-  Attributes:
-    segmented_sort: segmented sort block dimension (collision_driver)
-    convex_ccd: convex CCD kernel block dimension (collision_convex)
-    actuator_velocity: actuator velocity block dimension (forward)
-    ray: ray block dimension (ray)
-    contact_sort: contact sort block dimension (sensor)
-    energy_vel_kinetic: energy velocity kinetic block dimension (sensor)
-    cholesky_factorize: block-dense Cholesky factorize block dimension (smooth)
-    cholesky_factorize_solve: block-dense Cholesky factorize+solve block
-      dimension (smooth)
-    cholesky_solve: Cholesky solve block dimension (smooth)
-    small_cholesky: scalar small-block Cholesky block dimension (smooth)
-    solve_LD_sparse_fused: solve LD sparse fused block dimension (smooth)
-    update_gradient_cholesky: update gradient Cholesky block dimension (solver)
-    update_gradient_cholesky_blocked: update gradient Cholesky blocked block
-      dimension (solver)
-    update_gradient_JTDAJ_sparse: update gradient JTDAJ sparse block dimension
-      (solver)
-    update_gradient_JTDAJ_dense: update gradient JTDAJ dense block dimension
-      (solver)
-    linesearch_iterative: linesearch iterative block dimension (solver)
-    update_gradient_grad: update gradient grad block dimension (solver)
-    solve_beta_accumulate: solve beta accumulate block dimension (solver)
-    solve_search_update_cg: solve search update CG block dimension (solver)
-    solve_init_search_cg: solve init search CG block dimension (solver)
-    contact_jac_tiled: contact Jacobian tiled block dimension (solver)
-    qderiv_actuator_dense: qderiv actuator dense block dimension (derivative)
-    render: render block dimension (render)
-  """
-  segmented_sort: int = 128
-  convex_ccd: int = 64
-  actuator_velocity: int = 32
-  ray: int = 64
-  contact_sort: int = 64
-  energy_vel_kinetic: int = 32
-  cholesky_factorize: int = 32
-  cholesky_factorize_solve: int = 32
-  cholesky_solve: int = 64
-  small_cholesky: int = 64
-  solve_LD_sparse_fused: int = 128
-  update_gradient_cholesky: int = 64
-  update_gradient_cholesky_blocked: int = 32
-  update_gradient_JTDAJ_sparse: int = 128
-  update_gradient_JTDAJ_dense: int = 128
-  linesearch_iterative: int = 32
-  update_gradient_grad: int = 256
-  solve_beta_accumulate: int = 256
-  solve_search_update_cg: int = 256
-  solve_init_search_cg: int = 256
-  contact_jac_tiled: int = 32
-  qderiv_actuator_dense: int = 32
-  render: int = 64
-
-  def tree_flatten(self):
-    children = list((getattr(self, k) for k in self.__dataclass_fields__))
-    return (children, None)
-
-  @classmethod
-  def tree_unflatten(cls, aux_data, children):
-    del aux_data
-    return cls(*children)
-
-
-class StatisticWarp(PyTreeNode):
-  """Derived fields from Statistic."""
-  meaninertia: jax.Array
-
-class OptionWarp(PyTreeNode):
-  """Derived fields from Option."""
-  broadphase: int
-  broadphase_filter: int
-  ccd_iterations: int
-  ccd_tolerance: jax.Array
-  contact_sensor_maxmatch: int
-  graph_conditional: bool
-  graph_mode: GraphMode
-  impratio_invsqrt: jax.Array
-  run_collision_detection: bool
-  sdf_initpoints: int
-  sdf_iterations: int
-  sleep_tolerance: jax.Array
-  warn_overflow: bool
-
-class ModelWarp(PyTreeNode):
-  """Derived fields from Model."""
-  D_colind: np.ndarray
-  D_diag: np.ndarray
-  D_rowadr: np.ndarray
-  D_rownnz: np.ndarray
-  M_elemid: np.ndarray
-  M_fullm_i: np.ndarray
-  M_fullm_j: np.ndarray
-  M_fullm_upper_elemid: np.ndarray
-  M_fullm_upper_i: np.ndarray
-  M_fullm_upper_j: np.ndarray
-  M_hinit_i: np.ndarray
-  M_mulm_col: np.ndarray
-  M_mulm_madr: np.ndarray
-  M_mulm_rowadr: np.ndarray
-  M_tiles: Tuple[TileSet, ...]
-  actuator_delay: np.ndarray
-  actuator_history: np.ndarray
-  actuator_historyadr: np.ndarray
-  actuator_trntype_body_adr: np.ndarray
-  block_dim: BlockDim
-  body_branch_start: np.ndarray
-  body_branches: np.ndarray
-  body_fluid_box_adr: np.ndarray
-  body_fluid_ellipsoid: np.ndarray
-  body_fluid_ellipsoid_adr: np.ndarray
-  body_isdofancestor: np.ndarray
-  body_tree: Tuple[np.ndarray, ...]
-  callback: Callback
-  cam_projection: np.ndarray
-  collision_sensor_adr: np.ndarray
-  dof_length: np.ndarray
-  dof_tri_col: np.ndarray
-  dof_tri_row: np.ndarray
-  eq_connect_adr: np.ndarray
-  eq_flex_adr: np.ndarray
-  eq_flexstrain_adr: np.ndarray
-  eq_jnt_adr: np.ndarray
-  eq_ten_adr: np.ndarray
-  eq_wld_adr: np.ndarray
-  flex_bend_interp_map: np.ndarray
-  flex_bending: np.ndarray
-  flex_bendingadr: np.ndarray
-  flex_cell_map: np.ndarray
-  flex_cellnum: np.ndarray
-  flex_centered: np.ndarray
-  flex_conaffinity: np.ndarray
-  flex_condim: np.ndarray
-  flex_contype: np.ndarray
-  flex_damping: np.ndarray
-  flex_dim: np.ndarray
-  flex_edge: np.ndarray
-  flex_edgeadr: np.ndarray
-  flex_edgeequality: np.ndarray
-  flex_edgeflap: np.ndarray
-  flex_edgenum: np.ndarray
-  flex_elem: np.ndarray
-  flex_elemadr: np.ndarray
-  flex_elemdataadr: np.ndarray
-  flex_elemedge: np.ndarray
-  flex_elemedgeadr: np.ndarray
-  flex_elemflexid: np.ndarray
-  flex_elemnum: np.ndarray
-  flex_evpair: np.ndarray
-  flex_evpairadr: np.ndarray
-  flex_evpairflexid: np.ndarray
-  flex_evpairnum: np.ndarray
-  flex_face: np.ndarray
-  flex_face_map: np.ndarray
-  flex_faceadr: np.ndarray
-  flex_friction: np.ndarray
-  flex_gap: np.ndarray
-  flex_internal: np.ndarray
-  flex_margin: np.ndarray
-  flex_node: np.ndarray
-  flex_priority: np.ndarray
-  flex_radius: np.ndarray
-  flex_selfcollide: np.ndarray
-  flex_shell: np.ndarray
-  flex_shelladr: np.ndarray
-  flex_shelldataadr: np.ndarray
-  flex_shellflexid: np.ndarray
-  flex_shellnum: np.ndarray
-  flex_solimp: np.ndarray
-  flex_solmix: np.ndarray
-  flex_solref: np.ndarray
-  flex_stiffness: np.ndarray
-  flex_stiffnessadr: np.ndarray
-  flex_vert: np.ndarray
-  flex_vertbodyid: np.ndarray
-  flex_vertflexid: np.ndarray
-  flexedge_J_colind: np.ndarray
-  flexedge_J_rowadr: np.ndarray
-  flexedge_J_rownnz: np.ndarray
-  flexedge_invweight0: np.ndarray
-  flexedge_length0: np.ndarray
-  flexelem_geom_pair_filtered: np.ndarray
-  flexstrain_J_colind: np.ndarray
-  flexstrain_J_rowadr: np.ndarray
-  flexstrain_J_rownnz: np.ndarray
-  flexvert_geom_pair_filtered: np.ndarray
-  geom_pair_type_count: Tuple[int, ...]
-  geom_plugin_index: np.ndarray
-  has_3d_flex: bool
-  has_ellipsoid_geom: bool
-  has_flex_selfcollide: bool
-  has_fluid: bool
-  has_sdf_geom: bool
-  is_sparse: bool
-  jnt_limited_ball_adr: np.ndarray
-  jnt_limited_slide_hinge_adr: np.ndarray
-  light_bodyid: np.ndarray
-  light_targetbodyid: np.ndarray
-  mapD2M: np.ndarray
-  mapM2D: np.ndarray
-  mapM2M: np.ndarray
-  mat_texrepeat: jax.Array
-  max_flex_dim: int
-  max_ten_J_rownnz: int
-  mesh_polyadr: np.ndarray
-  mesh_polymap: np.ndarray
-  mesh_polymapadr: np.ndarray
-  mesh_polymapnum: np.ndarray
-  mesh_polynormal: np.ndarray
-  mesh_polynum: np.ndarray
-  mesh_polyvert: np.ndarray
-  mesh_polyvertadr: np.ndarray
-  mesh_polyvertnum: np.ndarray
-  mocap_bodyid: np.ndarray
-  nJfe: int
-  nJfs: int
-  nacttrnbody: int
-  nbranch: int
-  neq_flexstrain: int
-  nflexbend_interp: int
-  nflexbending: int
-  nflexedge: int
-  nflexelem: int
-  nflexelemdata: int
-  nflexelemedge: int
-  nflexevpair: int
-  nflexface: int
-  nflexintcell: int
-  nflexnode: int
-  nflexshelldata: int
-  nflexstiffness: int
-  nflexvert: int
-  nmaxcondim: int
-  nmaxmeshdeg: int
-  nmaxpolygon: int
-  nmaxpyramid: int
-  noct: int
-  nplugin: int
-  nrangefinder: int
-  nsensorcollision: int
-  nsensorcontact: int
-  nsensortaxel: int
-  ntree: int
-  nv_pad: int
-  nxn_geom_pair: np.ndarray
-  nxn_geom_pair_filtered: np.ndarray
-  nxn_pairid: np.ndarray
-  nxn_pairid_filtered: np.ndarray
-  oct_aabb: np.ndarray
-  oct_child: np.ndarray
-  oct_coeff: np.ndarray
-  plugin: np.ndarray
-  plugin_attr: np.ndarray
-  qD_fullm_i: np.ndarray
-  qD_fullm_j: np.ndarray
-  qLD_all_updates: np.ndarray
-  qLD_block_adr: np.ndarray
-  qLD_block_total: int
-  qLD_level_offsets: np.ndarray
-  qLD_updates: Tuple[np.ndarray, ...]
-  rangefinder_sensor_adr: np.ndarray
-  sensor_acc_adr: np.ndarray
-  sensor_adr_to_contact_adr: np.ndarray
-  sensor_collision_start_adr: np.ndarray
-  sensor_contact_adr: np.ndarray
-  sensor_delay: np.ndarray
-  sensor_e_kinetic: bool
-  sensor_e_potential: bool
-  sensor_history: np.ndarray
-  sensor_historyadr: np.ndarray
-  sensor_interval: np.ndarray
-  sensor_limitfrc_adr: np.ndarray
-  sensor_limitpos_adr: np.ndarray
-  sensor_limitvel_adr: np.ndarray
-  sensor_pos_adr: np.ndarray
-  sensor_rangefinder_adr: np.ndarray
-  sensor_rangefinder_bodyid: np.ndarray
-  sensor_rne_postconstraint: bool
-  sensor_subtree_vel: bool
-  sensor_tendonactfrc_adr: np.ndarray
-  sensor_touch_adr: np.ndarray
-  sensor_vel_adr: np.ndarray
-  taxel_sensorid: np.ndarray
-  taxel_vertadr: np.ndarray
-  ten_J_colind: np.ndarray
-  ten_J_rowadr: np.ndarray
-  ten_J_rownnz: np.ndarray
-  ten_wrapadr_site: np.ndarray
-  ten_wrapnum_site: np.ndarray
-  tendon_geom_adr: np.ndarray
-  tendon_jnt_adr: np.ndarray
-  tendon_limited_adr: np.ndarray
-  tendon_site_pair_adr: np.ndarray
-  tree_bodynum: np.ndarray
-  tree_dofadr: np.ndarray
-  tree_dofnum: np.ndarray
-  tree_sleep_policy: np.ndarray
-  wrap_geom_adr: np.ndarray
-  wrap_jnt_adr: np.ndarray
-  wrap_pulley_scale: np.ndarray
-  wrap_site_adr: np.ndarray
-  wrap_site_pair_adr: np.ndarray
-
-class DataWarp(PyTreeNode):
-  """Derived fields from Data."""
-  M: jax.Array
-  actuator_moment: jax.Array
-  actuator_velocity: jax.Array
-  body_awake: jax.Array
-  body_awake_ind: jax.Array
-  cJ: jax.Array
-  cM: jax.Array
-  cMa: jax.Array
-  cacc: jax.Array
-  cdof_dof: jax.Array
-  cdof_tri_col: jax.Array
-  cdof_tri_row: jax.Array
-  cfrc_ext: jax.Array
-  cfrc_int: jax.Array
-  cinert: jax.Array
-  cls_tol: jax.Array
-  contact__dim: jax.Array
-  contact__dist: jax.Array
-  contact__efc_address: jax.Array
-  contact__elem: jax.Array
-  contact__flex: jax.Array
-  contact__frame: jax.Array
-  contact__friction: jax.Array
-  contact__geom: jax.Array
-  contact__geomcollisionid: jax.Array
-  contact__includemargin: jax.Array
-  contact__pos: jax.Array
-  contact__solimp: jax.Array
-  contact__solref: jax.Array
-  contact__solreffriction: jax.Array
-  contact__type: jax.Array
-  contact__vert: jax.Array
-  contact__worldid: jax.Array
-  cqLD: jax.Array
-  cqacc: jax.Array
-  cqacc_smooth: jax.Array
-  cqacc_warmstart: jax.Array
-  cqfrc_constraint: jax.Array
-  cqfrc_smooth: jax.Array
-  crb: jax.Array
-  crhs: jax.Array
-  ctol: jax.Array
-  cx: jax.Array
-  dof_awake_ind: jax.Array
-  dof_cdof: jax.Array
-  dof_island: jax.Array
-  dof_islandid: jax.Array
-  efc__D: jax.Array
-  efc__J: jax.Array
-  efc__J_colind: jax.Array
-  efc__J_rowadr: jax.Array
-  efc__J_rownnz: jax.Array
-  efc__Jqvel: jax.Array
-  efc__Ma: jax.Array
-  efc__aref: jax.Array
-  efc__force: jax.Array
-  efc__frictionloss: jax.Array
-  efc__id: jax.Array
-  efc__island: jax.Array
-  efc__jtdaj_adr: jax.Array
-  efc__jtdaj_nblock: jax.Array
-  efc__jtdaj_nrow: jax.Array
-  efc__margin: jax.Array
-  efc__pos: jax.Array
-  efc__state: jax.Array
-  efc__type: jax.Array
-  efc__vel: jax.Array
-  efc_islandid: jax.Array
-  energy: jax.Array
-  face_quat: jax.Array
-  face_xpos: jax.Array
-  flex_aabb_max: jax.Array
-  flex_aabb_min: jax.Array
-  flexedge_J: jax.Array
-  flexedge_length: jax.Array
-  flexedge_velocity: jax.Array
-  flexnode_xpos: jax.Array
-  flexvert_xpos: jax.Array
-  island_dofadr: jax.Array
-  island_idofadr: jax.Array
-  island_iefcadr: jax.Array
-  island_ne: jax.Array
-  island_nefc: jax.Array
-  island_nf: jax.Array
-  island_nv: jax.Array
-  light_xdir: jax.Array
-  light_xpos: jax.Array
-  map_dof2idof: jax.Array
-  map_efc2iefc: jax.Array
-  map_idof2dof: jax.Array
-  map_iefc2efc: jax.Array
-  moment_colind: jax.Array
-  moment_rowadr: jax.Array
-  moment_rownnz: jax.Array
-  naccdmax: int
-  nacon: jax.Array
-  naconmax: int
-  nbody_awake: jax.Array
-  ncdof: jax.Array
-  ncollision: jax.Array
-  ne: jax.Array
-  nefc: jax.Array
-  nf: jax.Array
-  nidof: jax.Array
-  nisland: jax.Array
-  njmax: int
-  njmax_nnz: int
-  njmax_pad: int
-  nl: jax.Array
-  ntree_awake: jax.Array
-  nv_awake: jax.Array
-  nvmax: int
-  nvmax_pad: int
-  nworld: int
-  overflow: jax.Array
-  qLD: jax.Array
-  qLDiagInv: jax.Array
-  qLU: jax.Array
-  qfrc_damper: jax.Array
-  qfrc_spring: jax.Array
-  solver_niter: jax.Array
-  subtree_angmom: jax.Array
-  subtree_linvel: jax.Array
-  ten_J: jax.Array
-  ten_velocity: jax.Array
-  ten_wrapadr: jax.Array
-  ten_wrapnum: jax.Array
-  tree_asleep: jax.Array
-  tree_awake: jax.Array
-  tree_island: jax.Array
-  wrap_obj: jax.Array
-  wrap_xpos: jax.Array
-  _jax_token: jax.Array = dataclasses.field(
-      default_factory=lambda: jax.numpy.zeros((), dtype=jax.numpy.int32)
-  )
-  shape = property(lambda self: self.cacc.shape)
-DATA_NON_VMAP = {
-    'cdof_tri_col',
-    'cdof_tri_row',
-    'cls_tol',
-    'contact__dim',
-    'contact__dist',
-    'contact__efc_address',
-    'contact__elem',
-    'contact__flex',
-    'contact__frame',
-    'contact__friction',
-    'contact__geom',
-    'contact__geomcollisionid',
-    'contact__includemargin',
-    'contact__pos',
-    'contact__solimp',
-    'contact__solref',
-    'contact__solreffriction',
-    'contact__type',
-    'contact__vert',
-    'contact__worldid',
-    'ctol',
-    'naccdmax',
-    'nacon',
-    'naconmax',
-    'ncollision',
-    'njmax',
-    'njmax_nnz',
-    'njmax_pad',
-    'nvmax',
-    'nvmax_pad',
-    'nworld',
-}
-
-def _to_elt(cont, _, d, axis):
-  return DataWarp(**{
-      f.name: (
-          cont(getattr(d, f.name), axis)
-          if f.name not in DATA_NON_VMAP
-          else getattr(d, f.name)
-      )
-      for f in DataWarp.fields()
-  })
-
-
-def _from_elt(cont, axis_size, d, axis_dest):
-  return DataWarp(**{
-      f.name: (
-          cont(axis_size, getattr(d, f.name), axis_dest)
-          if f.name not in DATA_NON_VMAP
-          else getattr(d, f.name)
-      )
-      for f in DataWarp.fields()
-  })
-
-
-batching.register_vmappable(DataWarp, int, int, _to_elt, _from_elt, None)
-
-_NDIM = {
-    'Data': {
-        'M': 2,
-        '_jax_token': 1,
-        'act': 2,
-        'act_dot': 2,
-        'actuator_force': 2,
-        'actuator_length': 2,
-        'actuator_moment': 2,
-        'actuator_velocity': 2,
-        'body_awake': 2,
-        'body_awake_ind': 2,
-        'cJ': 3,
-        'cM': 3,
-        'cMa': 2,
-        'cacc': 3,
-        'cam_xmat': 4,
-        'cam_xpos': 3,
-        'cdof': 3,
-        'cdof_dof': 2,
-        'cdof_dot': 3,
-        'cdof_tri_col': 1,
-        'cdof_tri_row': 1,
-        'cfrc_ext': 3,
-        'cfrc_int': 3,
-        'cinert': 3,
-        'cls_tol': 1,
-        'contact__dim': 1,
-        'contact__dist': 1,
-        'contact__efc_address': 2,
-        'contact__elem': 2,
-        'contact__flex': 2,
-        'contact__frame': 3,
-        'contact__friction': 2,
-        'contact__geom': 2,
-        'contact__geomcollisionid': 1,
-        'contact__includemargin': 1,
-        'contact__pos': 2,
-        'contact__solimp': 2,
-        'contact__solref': 2,
-        'contact__solreffriction': 2,
-        'contact__type': 1,
-        'contact__vert': 2,
-        'contact__worldid': 1,
-        'cqLD': 3,
-        'cqacc': 2,
-        'cqacc_smooth': 2,
-        'cqacc_warmstart': 2,
-        'cqfrc_constraint': 2,
-        'cqfrc_smooth': 2,
-        'crb': 3,
-        'crhs': 3,
-        'ctol': 1,
-        'ctrl': 2,
-        'cvel': 3,
-        'cx': 3,
-        'dof_awake_ind': 2,
-        'dof_cdof': 2,
-        'dof_island': 2,
-        'dof_islandid': 2,
-        'efc__D': 2,
-        'efc__J': 3,
-        'efc__J_colind': 3,
-        'efc__J_rowadr': 2,
-        'efc__J_rownnz': 2,
-        'efc__Jqvel': 2,
-        'efc__Ma': 2,
-        'efc__aref': 2,
-        'efc__force': 2,
-        'efc__frictionloss': 2,
-        'efc__id': 2,
-        'efc__island': 2,
-        'efc__jtdaj_adr': 2,
-        'efc__jtdaj_nblock': 1,
-        'efc__jtdaj_nrow': 2,
-        'efc__margin': 2,
-        'efc__pos': 2,
-        'efc__state': 2,
-        'efc__type': 2,
-        'efc__vel': 2,
-        'efc_islandid': 2,
-        'energy': 2,
-        'eq_active': 2,
-        'face_quat': 3,
-        'face_xpos': 4,
-        'flex_aabb_max': 3,
-        'flex_aabb_min': 3,
-        'flexedge_J': 2,
-        'flexedge_length': 2,
-        'flexedge_velocity': 2,
-        'flexnode_xpos': 3,
-        'flexvert_xpos': 3,
-        'geom_xmat': 4,
-        'geom_xpos': 3,
-        'history': 2,
-        'island_dofadr': 2,
-        'island_idofadr': 2,
-        'island_iefcadr': 2,
-        'island_ne': 2,
-        'island_nefc': 2,
-        'island_nf': 2,
-        'island_nv': 2,
-        'light_xdir': 3,
-        'light_xpos': 3,
-        'map_dof2idof': 2,
-        'map_efc2iefc': 2,
-        'map_idof2dof': 2,
-        'map_iefc2efc': 2,
-        'mocap_pos': 3,
-        'mocap_quat': 3,
-        'moment_colind': 2,
-        'moment_rowadr': 2,
-        'moment_rownnz': 2,
-        'naccdmax': 0,
-        'nacon': 1,
-        'naconmax': 0,
-        'nbody_awake': 1,
-        'ncdof': 1,
-        'ncollision': 1,
-        'ne': 1,
-        'nefc': 1,
-        'nf': 1,
-        'nidof': 1,
-        'nisland': 1,
-        'njmax': 0,
-        'njmax_nnz': 0,
-        'njmax_pad': 0,
-        'nl': 1,
-        'ntree_awake': 1,
-        'nv_awake': 1,
-        'nvmax': 0,
-        'nvmax_pad': 0,
-        'nworld': 0,
-        'overflow': 1,
-        'qLD': 2,
-        'qLDiagInv': 2,
-        'qLU': 2,
-        'qacc': 2,
-        'qacc_smooth': 2,
-        'qacc_warmstart': 2,
-        'qfrc_actuator': 2,
-        'qfrc_applied': 2,
-        'qfrc_bias': 2,
-        'qfrc_constraint': 2,
-        'qfrc_damper': 2,
-        'qfrc_fluid': 2,
-        'qfrc_gravcomp': 2,
-        'qfrc_inverse': 2,
-        'qfrc_passive': 2,
-        'qfrc_smooth': 2,
-        'qfrc_spring': 2,
-        'qpos': 2,
-        'qvel': 2,
-        'sensordata': 2,
-        'site_xmat': 4,
-        'site_xpos': 3,
-        'solver_niter': 1,
-        'subtree_angmom': 3,
-        'subtree_com': 3,
-        'subtree_linvel': 3,
-        'ten_J': 2,
-        'ten_length': 2,
-        'ten_velocity': 2,
-        'ten_wrapadr': 2,
-        'ten_wrapnum': 2,
-        'time': 1,
-        'tree_asleep': 2,
-        'tree_awake': 2,
-        'tree_island': 2,
-        'userdata': 2,
-        'wrap_obj': 3,
-        'wrap_xpos': 3,
-        'xanchor': 3,
-        'xaxis': 3,
-        'xfrc_applied': 3,
-        'ximat': 4,
-        'xipos': 3,
-        'xmat': 4,
-        'xpos': 3,
-        'xquat': 3,
-    },
-    'Model': {
-        'D_colind': 1,
-        'D_diag': 1,
-        'D_rowadr': 1,
-        'D_rownnz': 1,
-        'M_colind': 1,
-        'M_elemid': 2,
-        'M_fullm_i': 1,
-        'M_fullm_j': 1,
-        'M_fullm_upper_elemid': 1,
-        'M_fullm_upper_i': 1,
-        'M_fullm_upper_j': 1,
-        'M_hinit_i': 1,
-        'M_mulm_col': 1,
-        'M_mulm_madr': 1,
-        'M_mulm_rowadr': 1,
-        'M_rowadr': 1,
-        'M_rownnz': 1,
-        'M_tiles': -1,
-        'actuator_acc0': 2,
-        'actuator_actadr': 1,
-        'actuator_actearly': 1,
-        'actuator_actlimited': 1,
-        'actuator_actnum': 1,
-        'actuator_actrange': 3,
-        'actuator_biasprm': 3,
-        'actuator_biastype': 1,
-        'actuator_cranklength': 2,
-        'actuator_ctrllimited': 1,
-        'actuator_ctrlrange': 3,
-        'actuator_delay': 1,
-        'actuator_dynprm': 3,
-        'actuator_dyntype': 1,
-        'actuator_forcelimited': 1,
-        'actuator_forcerange': 3,
-        'actuator_gainprm': 3,
-        'actuator_gaintype': 1,
-        'actuator_gear': 3,
-        'actuator_history': 2,
-        'actuator_historyadr': 1,
-        'actuator_lengthrange': 3,
-        'actuator_trnid': 2,
-        'actuator_trntype': 1,
-        'actuator_trntype_body_adr': 1,
-        'block_dim__actuator_velocity': 0,
-        'block_dim__cholesky_factorize': 0,
-        'block_dim__cholesky_factorize_solve': 0,
-        'block_dim__cholesky_solve': 0,
-        'block_dim__contact_jac_tiled': 0,
-        'block_dim__contact_sort': 0,
-        'block_dim__convex_ccd': 0,
-        'block_dim__energy_vel_kinetic': 0,
-        'block_dim__linesearch_iterative': 0,
-        'block_dim__qderiv_actuator_dense': 0,
-        'block_dim__ray': 0,
-        'block_dim__render': 0,
-        'block_dim__segmented_sort': 0,
-        'block_dim__small_cholesky': 0,
-        'block_dim__solve_LD_sparse_fused': 0,
-        'block_dim__solve_beta_accumulate': 0,
-        'block_dim__solve_init_search_cg': 0,
-        'block_dim__solve_search_update_cg': 0,
-        'block_dim__update_gradient_JTDAJ_dense': 0,
-        'block_dim__update_gradient_JTDAJ_sparse': 0,
-        'block_dim__update_gradient_cholesky': 0,
-        'block_dim__update_gradient_cholesky_blocked': 0,
-        'block_dim__update_gradient_grad': 0,
-        'body_branch_start': 1,
-        'body_branches': 1,
-        'body_conaffinity': 1,
-        'body_contype': 1,
-        'body_dofadr': 1,
-        'body_dofnum': 1,
-        'body_fluid_box_adr': 1,
-        'body_fluid_ellipsoid': 1,
-        'body_fluid_ellipsoid_adr': 1,
-        'body_geomadr': 1,
-        'body_geomnum': 1,
-        'body_gravcomp': 2,
-        'body_inertia': 3,
-        'body_invweight0': 3,
-        'body_ipos': 3,
-        'body_iquat': 3,
-        'body_isdofancestor': 2,
-        'body_jntadr': 1,
-        'body_jntnum': 1,
-        'body_mass': 2,
-        'body_mocapid': 1,
-        'body_parentid': 1,
-        'body_pos': 3,
-        'body_quat': 3,
-        'body_rootid': 1,
-        'body_simple': 1,
-        'body_subtreemass': 2,
-        'body_tree': -1,
-        'body_treeid': 1,
-        'body_weldid': 1,
-        'cam_bodyid': 1,
-        'cam_fovy': 2,
-        'cam_intrinsic': 3,
-        'cam_mat0': 4,
-        'cam_mode': 1,
-        'cam_pos': 3,
-        'cam_pos0': 3,
-        'cam_poscom0': 3,
-        'cam_projection': 1,
-        'cam_quat': 3,
-        'cam_resolution': 2,
-        'cam_sensorsize': 2,
-        'cam_targetbodyid': 1,
-        'collision_sensor_adr': 1,
-        'dof_Madr': 1,
-        'dof_armature': 2,
-        'dof_bodyid': 1,
-        'dof_damping': 2,
-        'dof_dampingpoly': 3,
-        'dof_frictionloss': 2,
-        'dof_invweight0': 2,
-        'dof_jntid': 1,
-        'dof_length': 1,
-        'dof_parentid': 1,
-        'dof_solimp': 3,
-        'dof_solref': 3,
-        'dof_treeid': 1,
-        'dof_tri_col': 1,
-        'dof_tri_row': 1,
-        'eq_active0': 1,
-        'eq_connect_adr': 1,
-        'eq_data': 3,
-        'eq_flex_adr': 1,
-        'eq_flexstrain_adr': 1,
-        'eq_jnt_adr': 1,
-        'eq_obj1id': 1,
-        'eq_obj2id': 1,
-        'eq_objtype': 1,
-        'eq_solimp': 3,
-        'eq_solref': 3,
-        'eq_ten_adr': 1,
-        'eq_type': 1,
-        'eq_wld_adr': 1,
-        'exclude_signature': 1,
-        'flex_bend_interp_map': 2,
-        'flex_bending': 1,
-        'flex_bendingadr': 1,
-        'flex_cell_map': 2,
-        'flex_cellnum': 2,
-        'flex_centered': 1,
-        'flex_conaffinity': 1,
-        'flex_condim': 1,
-        'flex_contype': 1,
-        'flex_damping': 1,
-        'flex_dim': 1,
-        'flex_edge': 2,
-        'flex_edgeadr': 1,
-        'flex_edgeequality': 1,
-        'flex_edgeflap': 2,
-        'flex_edgenum': 1,
-        'flex_elem': 1,
-        'flex_elemadr': 1,
-        'flex_elemdataadr': 1,
-        'flex_elemedge': 1,
-        'flex_elemedgeadr': 1,
-        'flex_elemflexid': 1,
-        'flex_elemnum': 1,
-        'flex_evpair': 2,
-        'flex_evpairadr': 1,
-        'flex_evpairflexid': 1,
-        'flex_evpairnum': 1,
-        'flex_face': 2,
-        'flex_face_map': 2,
-        'flex_faceadr': 1,
-        'flex_friction': 2,
-        'flex_gap': 1,
-        'flex_internal': 1,
-        'flex_interp': 1,
-        'flex_margin': 1,
-        'flex_node': 2,
-        'flex_node0': 2,
-        'flex_nodeadr': 1,
-        'flex_nodebodyid': 1,
-        'flex_nodenum': 1,
-        'flex_priority': 1,
-        'flex_radius': 1,
-        'flex_selfcollide': 1,
-        'flex_shell': 1,
-        'flex_shelladr': 1,
-        'flex_shelldataadr': 1,
-        'flex_shellflexid': 1,
-        'flex_shellnum': 1,
-        'flex_solimp': 2,
-        'flex_solmix': 1,
-        'flex_solref': 2,
-        'flex_stiffness': 1,
-        'flex_stiffnessadr': 1,
-        'flex_vert': 2,
-        'flex_vert0': 2,
-        'flex_vertadr': 1,
-        'flex_vertbodyid': 1,
-        'flex_vertflexid': 1,
-        'flex_vertnum': 1,
-        'flexedge_J_colind': 1,
-        'flexedge_J_rowadr': 1,
-        'flexedge_J_rownnz': 1,
-        'flexedge_invweight0': 1,
-        'flexedge_length0': 1,
-        'flexelem_geom_pair_filtered': 2,
-        'flexstrain_J_colind': 1,
-        'flexstrain_J_rowadr': 1,
-        'flexstrain_J_rownnz': 1,
-        'flexvert_geom_pair_filtered': 2,
-        'geom_aabb': 4,
-        'geom_bodyid': 1,
-        'geom_conaffinity': 1,
-        'geom_condim': 1,
-        'geom_contype': 1,
-        'geom_dataid': 2,
-        'geom_fluid': 2,
-        'geom_friction': 3,
-        'geom_gap': 2,
-        'geom_group': 1,
-        'geom_margin': 2,
-        'geom_matid': 2,
-        'geom_pair_type_count': -1,
-        'geom_plugin_index': 1,
-        'geom_pos': 3,
-        'geom_priority': 1,
-        'geom_quat': 3,
-        'geom_rbound': 2,
-        'geom_rgba': 3,
-        'geom_size': 3,
-        'geom_solimp': 3,
-        'geom_solmix': 2,
-        'geom_solref': 3,
-        'geom_type': 1,
-        'has_3d_flex': 0,
-        'has_ellipsoid_geom': 0,
-        'has_flex_selfcollide': 0,
-        'has_fluid': 0,
-        'has_sdf_geom': 0,
-        'hfield_adr': 1,
-        'hfield_data': 1,
-        'hfield_ncol': 1,
-        'hfield_nrow': 1,
-        'hfield_size': 2,
-        'is_sparse': 0,
-        'jnt_actfrclimited': 1,
-        'jnt_actfrcrange': 3,
-        'jnt_actgravcomp': 1,
-        'jnt_axis': 3,
-        'jnt_bodyid': 1,
-        'jnt_dofadr': 1,
-        'jnt_limited': 1,
-        'jnt_limited_ball_adr': 1,
-        'jnt_limited_slide_hinge_adr': 1,
-        'jnt_margin': 2,
-        'jnt_pos': 3,
-        'jnt_qposadr': 1,
-        'jnt_range': 3,
-        'jnt_solimp': 3,
-        'jnt_solref': 3,
-        'jnt_stiffness': 2,
-        'jnt_stiffnesspoly': 3,
-        'jnt_type': 1,
-        'light_active': 2,
-        'light_ambient': 3,
-        'light_attenuation': 3,
-        'light_bodyid': 1,
-        'light_castshadow': 2,
-        'light_cutoff': 2,
-        'light_diffuse': 3,
-        'light_dir': 3,
-        'light_dir0': 3,
-        'light_exponent': 2,
-        'light_mode': 1,
-        'light_pos': 3,
-        'light_pos0': 3,
-        'light_poscom0': 3,
-        'light_specular': 3,
-        'light_targetbodyid': 1,
-        'light_type': 2,
-        'mapD2M': 1,
-        'mapM2D': 1,
-        'mapM2M': 1,
-        'mat_emission': 2,
-        'mat_rgba': 3,
-        'mat_shininess': 2,
-        'mat_specular': 2,
-        'mat_texid': 3,
-        'mat_texrepeat': 3,
-        'max_flex_dim': 0,
-        'max_ten_J_rownnz': 0,
-        'mesh_face': 2,
-        'mesh_faceadr': 1,
-        'mesh_graph': 1,
-        'mesh_graphadr': 1,
-        'mesh_normal': 2,
-        'mesh_normaladr': 1,
-        'mesh_normalnum': 1,
-        'mesh_octadr': 1,
-        'mesh_polyadr': 1,
-        'mesh_polymap': 1,
-        'mesh_polymapadr': 1,
-        'mesh_polymapnum': 1,
-        'mesh_polynormal': 2,
-        'mesh_polynum': 1,
-        'mesh_polyvert': 1,
-        'mesh_polyvertadr': 1,
-        'mesh_polyvertnum': 1,
-        'mesh_pos': 2,
-        'mesh_quat': 2,
-        'mesh_vert': 2,
-        'mesh_vertadr': 1,
-        'mesh_vertnum': 1,
-        'mocap_bodyid': 1,
-        'nC': 0,
-        'nD': 0,
-        'nJfe': 0,
-        'nJfs': 0,
-        'nJmom': 0,
-        'nJten': 0,
-        'nM': 0,
-        'na': 0,
-        'nacttrnbody': 0,
-        'nbody': 0,
-        'nbranch': 0,
-        'ncam': 0,
-        'neq': 0,
-        'neq_flexstrain': 0,
-        'nexclude': 0,
-        'nflex': 0,
-        'nflexbend_interp': 0,
-        'nflexbending': 0,
-        'nflexedge': 0,
-        'nflexelem': 0,
-        'nflexelemdata': 0,
-        'nflexelemedge': 0,
-        'nflexevpair': 0,
-        'nflexface': 0,
-        'nflexintcell': 0,
-        'nflexnode': 0,
-        'nflexshelldata': 0,
-        'nflexstiffness': 0,
-        'nflexvert': 0,
-        'ngeom': 0,
-        'nhfield': 0,
-        'nhfielddata': 0,
-        'nhistory': 0,
-        'njnt': 0,
-        'nlight': 0,
-        'nmat': 0,
-        'nmaxcondim': 0,
-        'nmaxmeshdeg': 0,
-        'nmaxpolygon': 0,
-        'nmaxpyramid': 0,
-        'nmesh': 0,
-        'nmeshface': 0,
-        'nmeshgraph': 0,
-        'nmeshnormal': 0,
-        'nmeshpoly': 0,
-        'nmeshpolymap': 0,
-        'nmeshpolyvert': 0,
-        'nmeshvert': 0,
-        'nmocap': 0,
-        'noct': 0,
-        'npair': 0,
-        'nplugin': 0,
-        'nq': 0,
-        'nrangefinder': 0,
-        'nsensor': 0,
-        'nsensorcollision': 0,
-        'nsensorcontact': 0,
-        'nsensordata': 0,
-        'nsensortaxel': 0,
-        'nsite': 0,
-        'ntendon': 0,
-        'ntree': 0,
-        'nu': 0,
-        'nuserdata': 0,
-        'nv': 0,
-        'nv_pad': 0,
-        'nwrap': 0,
-        'nxn_geom_pair': 2,
-        'nxn_geom_pair_filtered': 2,
-        'nxn_pairid': 2,
-        'nxn_pairid_filtered': 2,
-        'oct_aabb': 3,
-        'oct_child': 2,
-        'oct_coeff': 2,
-        'opt__ccd_iterations': 0,
-        'opt__ccd_tolerance': 1,
-        'opt__cone': 0,
-        'opt__contact_sensor_maxmatch': 0,
-        'opt__density': 1,
-        'opt__disableflags': 0,
-        'opt__enableflags': 0,
-        'opt__graph_conditional': 0,
-        'opt__gravity': 2,
-        'opt__impratio_invsqrt': 1,
-        'opt__integrator': 0,
-        'opt__iterations': 0,
-        'opt__ls_iterations': 0,
-        'opt__ls_tolerance': 1,
-        'opt__magnetic': 2,
-        'opt__run_collision_detection': 0,
-        'opt__sdf_initpoints': 0,
-        'opt__sdf_iterations': 0,
-        'opt__sleep_tolerance': 1,
-        'opt__solver': 0,
-        'opt__timestep': 1,
-        'opt__tolerance': 1,
-        'opt__viscosity': 1,
-        'opt__warn_overflow': 0,
-        'opt__wind': 2,
-        'pair_dim': 1,
-        'pair_friction': 3,
-        'pair_gap': 2,
-        'pair_geom1': 1,
-        'pair_geom2': 1,
-        'pair_margin': 2,
-        'pair_solimp': 3,
-        'pair_solref': 3,
-        'pair_solreffriction': 3,
-        'plugin': 1,
-        'plugin_attr': 2,
-        'qD_fullm_i': 1,
-        'qD_fullm_j': 1,
-        'qLD_all_updates': 2,
-        'qLD_block_adr': 1,
-        'qLD_block_total': 0,
-        'qLD_level_offsets': 1,
-        'qLD_updates': -1,
-        'qpos0': 2,
-        'qpos_spring': 2,
-        'rangefinder_sensor_adr': 1,
-        'sensor_acc_adr': 1,
-        'sensor_adr': 1,
-        'sensor_adr_to_contact_adr': 1,
-        'sensor_collision_start_adr': 1,
-        'sensor_contact_adr': 1,
-        'sensor_cutoff': 1,
-        'sensor_datatype': 1,
-        'sensor_delay': 1,
-        'sensor_dim': 1,
-        'sensor_e_kinetic': 0,
-        'sensor_e_potential': 0,
-        'sensor_history': 2,
-        'sensor_historyadr': 1,
-        'sensor_interval': 2,
-        'sensor_intprm': 2,
-        'sensor_limitfrc_adr': 1,
-        'sensor_limitpos_adr': 1,
-        'sensor_limitvel_adr': 1,
-        'sensor_objid': 1,
-        'sensor_objtype': 1,
-        'sensor_pos_adr': 1,
-        'sensor_rangefinder_adr': 1,
-        'sensor_rangefinder_bodyid': 1,
-        'sensor_refid': 1,
-        'sensor_reftype': 1,
-        'sensor_rne_postconstraint': 0,
-        'sensor_subtree_vel': 0,
-        'sensor_tendonactfrc_adr': 1,
-        'sensor_touch_adr': 1,
-        'sensor_type': 1,
-        'sensor_vel_adr': 1,
-        'site_bodyid': 1,
-        'site_pos': 3,
-        'site_quat': 3,
-        'site_size': 2,
-        'site_type': 1,
-        'stat__meaninertia': 1,
-        'taxel_sensorid': 1,
-        'taxel_vertadr': 1,
-        'ten_J_colind': 1,
-        'ten_J_rowadr': 1,
-        'ten_J_rownnz': 1,
-        'ten_wrapadr_site': 1,
-        'ten_wrapnum_site': 1,
-        'tendon_actfrclimited': 1,
-        'tendon_actfrcrange': 3,
-        'tendon_adr': 1,
-        'tendon_armature': 2,
-        'tendon_damping': 2,
-        'tendon_dampingpoly': 3,
-        'tendon_frictionloss': 2,
-        'tendon_geom_adr': 1,
-        'tendon_invweight0': 2,
-        'tendon_jnt_adr': 1,
-        'tendon_length0': 2,
-        'tendon_lengthspring': 3,
-        'tendon_limited': 1,
-        'tendon_limited_adr': 1,
-        'tendon_margin': 2,
-        'tendon_num': 1,
-        'tendon_range': 3,
-        'tendon_site_pair_adr': 1,
-        'tendon_solimp_fri': 3,
-        'tendon_solimp_lim': 3,
-        'tendon_solref_fri': 3,
-        'tendon_solref_lim': 3,
-        'tendon_stiffness': 2,
-        'tendon_stiffnesspoly': 3,
-        'tree_bodynum': 1,
-        'tree_dofadr': 1,
-        'tree_dofnum': 1,
-        'tree_sleep_policy': 1,
-        'wrap_geom_adr': 1,
-        'wrap_jnt_adr': 1,
-        'wrap_objid': 1,
-        'wrap_prm': 1,
-        'wrap_pulley_scale': 1,
-        'wrap_site_adr': 1,
-        'wrap_site_pair_adr': 1,
-        'wrap_type': 1,
-    },
-    'Option': {
-        'ccd_iterations': 0,
-        'ccd_tolerance': 1,
-        'cone': 0,
-        'contact_sensor_maxmatch': 0,
-        'density': 1,
-        'disableflags': 0,
-        'enableflags': 0,
-        'graph_conditional': 0,
-        'gravity': 2,
-        'impratio_invsqrt': 1,
-        'integrator': 0,
-        'iterations': 0,
-        'ls_iterations': 0,
-        'ls_tolerance': 1,
-        'magnetic': 2,
-        'run_collision_detection': 0,
-        'sdf_initpoints': 0,
-        'sdf_iterations': 0,
-        'sleep_tolerance': 1,
-        'solver': 0,
-        'timestep': 1,
-        'tolerance': 1,
-        'viscosity': 1,
-        'warn_overflow': 0,
-        'wind': 2,
-    },
-    'Statistic': {'meaninertia': 1},
-}
-_BATCH_DIM = {
-    'Data': {
-        'M': True,
-        '_jax_token': True,
-        'act': True,
-        'act_dot': True,
-        'actuator_force': True,
-        'actuator_length': True,
-        'actuator_moment': True,
-        'actuator_velocity': True,
-        'body_awake': True,
-        'body_awake_ind': True,
-        'cJ': True,
-        'cM': True,
-        'cMa': True,
-        'cacc': True,
-        'cam_xmat': True,
-        'cam_xpos': True,
-        'cdof': True,
-        'cdof_dof': True,
-        'cdof_dot': True,
-        'cdof_tri_col': False,
-        'cdof_tri_row': False,
-        'cfrc_ext': True,
-        'cfrc_int': True,
-        'cinert': True,
-        'cls_tol': False,
-        'contact__dim': False,
-        'contact__dist': False,
-        'contact__efc_address': False,
-        'contact__elem': False,
-        'contact__flex': False,
-        'contact__frame': False,
-        'contact__friction': False,
-        'contact__geom': False,
-        'contact__geomcollisionid': False,
-        'contact__includemargin': False,
-        'contact__pos': False,
-        'contact__solimp': False,
-        'contact__solref': False,
-        'contact__solreffriction': False,
-        'contact__type': False,
-        'contact__vert': False,
-        'contact__worldid': False,
-        'cqLD': True,
-        'cqacc': True,
-        'cqacc_smooth': True,
-        'cqacc_warmstart': True,
-        'cqfrc_constraint': True,
-        'cqfrc_smooth': True,
-        'crb': True,
-        'crhs': True,
-        'ctol': False,
-        'ctrl': True,
-        'cvel': True,
-        'cx': True,
-        'dof_awake_ind': True,
-        'dof_cdof': True,
-        'dof_island': True,
-        'dof_islandid': True,
-        'efc__D': True,
-        'efc__J': True,
-        'efc__J_colind': True,
-        'efc__J_rowadr': True,
-        'efc__J_rownnz': True,
-        'efc__Jqvel': True,
-        'efc__Ma': True,
-        'efc__aref': True,
-        'efc__force': True,
-        'efc__frictionloss': True,
-        'efc__id': True,
-        'efc__island': True,
-        'efc__jtdaj_adr': True,
-        'efc__jtdaj_nblock': True,
-        'efc__jtdaj_nrow': True,
-        'efc__margin': True,
-        'efc__pos': True,
-        'efc__state': True,
-        'efc__type': True,
-        'efc__vel': True,
-        'efc_islandid': True,
-        'energy': True,
-        'eq_active': True,
-        'face_quat': True,
-        'face_xpos': True,
-        'flex_aabb_max': True,
-        'flex_aabb_min': True,
-        'flexedge_J': True,
-        'flexedge_length': True,
-        'flexedge_velocity': True,
-        'flexnode_xpos': True,
-        'flexvert_xpos': True,
-        'geom_xmat': True,
-        'geom_xpos': True,
-        'history': True,
-        'island_dofadr': True,
-        'island_idofadr': True,
-        'island_iefcadr': True,
-        'island_ne': True,
-        'island_nefc': True,
-        'island_nf': True,
-        'island_nv': True,
-        'light_xdir': True,
-        'light_xpos': True,
-        'map_dof2idof': True,
-        'map_efc2iefc': True,
-        'map_idof2dof': True,
-        'map_iefc2efc': True,
-        'mocap_pos': True,
-        'mocap_quat': True,
-        'moment_colind': True,
-        'moment_rowadr': True,
-        'moment_rownnz': True,
-        'naccdmax': False,
-        'nacon': False,
-        'naconmax': False,
-        'nbody_awake': True,
-        'ncdof': True,
-        'ncollision': False,
-        'ne': True,
-        'nefc': True,
-        'nf': True,
-        'nidof': True,
-        'nisland': True,
-        'njmax': False,
-        'njmax_nnz': False,
-        'njmax_pad': False,
-        'nl': True,
-        'ntree_awake': True,
-        'nv_awake': True,
-        'nvmax': False,
-        'nvmax_pad': False,
-        'nworld': False,
-        'overflow': True,
-        'qLD': True,
-        'qLDiagInv': True,
-        'qLU': True,
-        'qacc': True,
-        'qacc_smooth': True,
-        'qacc_warmstart': True,
-        'qfrc_actuator': True,
-        'qfrc_applied': True,
-        'qfrc_bias': True,
-        'qfrc_constraint': True,
-        'qfrc_damper': True,
-        'qfrc_fluid': True,
-        'qfrc_gravcomp': True,
-        'qfrc_inverse': True,
-        'qfrc_passive': True,
-        'qfrc_smooth': True,
-        'qfrc_spring': True,
-        'qpos': True,
-        'qvel': True,
-        'sensordata': True,
-        'site_xmat': True,
-        'site_xpos': True,
-        'solver_niter': True,
-        'subtree_angmom': True,
-        'subtree_com': True,
-        'subtree_linvel': True,
-        'ten_J': True,
-        'ten_length': True,
-        'ten_velocity': True,
-        'ten_wrapadr': True,
-        'ten_wrapnum': True,
-        'time': True,
-        'tree_asleep': True,
-        'tree_awake': True,
-        'tree_island': True,
-        'userdata': True,
-        'wrap_obj': True,
-        'wrap_xpos': True,
-        'xanchor': True,
-        'xaxis': True,
-        'xfrc_applied': True,
-        'ximat': True,
-        'xipos': True,
-        'xmat': True,
-        'xpos': True,
-        'xquat': True,
-    },
-    'Model': {
-        'D_colind': False,
-        'D_diag': False,
-        'D_rowadr': False,
-        'D_rownnz': False,
-        'M_colind': False,
-        'M_elemid': False,
-        'M_fullm_i': False,
-        'M_fullm_j': False,
-        'M_fullm_upper_elemid': False,
-        'M_fullm_upper_i': False,
-        'M_fullm_upper_j': False,
-        'M_hinit_i': False,
-        'M_mulm_col': False,
-        'M_mulm_madr': False,
-        'M_mulm_rowadr': False,
-        'M_rowadr': False,
-        'M_rownnz': False,
-        'M_tiles': False,
-        'actuator_acc0': True,
-        'actuator_actadr': False,
-        'actuator_actearly': False,
-        'actuator_actlimited': False,
-        'actuator_actnum': False,
-        'actuator_actrange': True,
-        'actuator_biasprm': True,
-        'actuator_biastype': False,
-        'actuator_cranklength': True,
-        'actuator_ctrllimited': False,
-        'actuator_ctrlrange': True,
-        'actuator_delay': False,
-        'actuator_dynprm': True,
-        'actuator_dyntype': False,
-        'actuator_forcelimited': False,
-        'actuator_forcerange': True,
-        'actuator_gainprm': True,
-        'actuator_gaintype': False,
-        'actuator_gear': True,
-        'actuator_history': False,
-        'actuator_historyadr': False,
-        'actuator_lengthrange': True,
-        'actuator_trnid': False,
-        'actuator_trntype': False,
-        'actuator_trntype_body_adr': False,
-        'block_dim__actuator_velocity': False,
-        'block_dim__cholesky_factorize': False,
-        'block_dim__cholesky_factorize_solve': False,
-        'block_dim__cholesky_solve': False,
-        'block_dim__contact_jac_tiled': False,
-        'block_dim__contact_sort': False,
-        'block_dim__convex_ccd': False,
-        'block_dim__energy_vel_kinetic': False,
-        'block_dim__linesearch_iterative': False,
-        'block_dim__qderiv_actuator_dense': False,
-        'block_dim__ray': False,
-        'block_dim__render': False,
-        'block_dim__segmented_sort': False,
-        'block_dim__small_cholesky': False,
-        'block_dim__solve_LD_sparse_fused': False,
-        'block_dim__solve_beta_accumulate': False,
-        'block_dim__solve_init_search_cg': False,
-        'block_dim__solve_search_update_cg': False,
-        'block_dim__update_gradient_JTDAJ_dense': False,
-        'block_dim__update_gradient_JTDAJ_sparse': False,
-        'block_dim__update_gradient_cholesky': False,
-        'block_dim__update_gradient_cholesky_blocked': False,
-        'block_dim__update_gradient_grad': False,
-        'body_branch_start': False,
-        'body_branches': False,
-        'body_conaffinity': False,
-        'body_contype': False,
-        'body_dofadr': False,
-        'body_dofnum': False,
-        'body_fluid_box_adr': False,
-        'body_fluid_ellipsoid': False,
-        'body_fluid_ellipsoid_adr': False,
-        'body_geomadr': False,
-        'body_geomnum': False,
-        'body_gravcomp': True,
-        'body_inertia': True,
-        'body_invweight0': True,
-        'body_ipos': True,
-        'body_iquat': True,
-        'body_isdofancestor': False,
-        'body_jntadr': False,
-        'body_jntnum': False,
-        'body_mass': True,
-        'body_mocapid': False,
-        'body_parentid': False,
-        'body_pos': True,
-        'body_quat': True,
-        'body_rootid': False,
-        'body_simple': False,
-        'body_subtreemass': True,
-        'body_tree': False,
-        'body_treeid': False,
-        'body_weldid': False,
-        'cam_bodyid': False,
-        'cam_fovy': True,
-        'cam_intrinsic': True,
-        'cam_mat0': True,
-        'cam_mode': False,
-        'cam_pos': True,
-        'cam_pos0': True,
-        'cam_poscom0': True,
-        'cam_projection': False,
-        'cam_quat': True,
-        'cam_resolution': False,
-        'cam_sensorsize': False,
-        'cam_targetbodyid': False,
-        'collision_sensor_adr': False,
-        'dof_Madr': False,
-        'dof_armature': True,
-        'dof_bodyid': False,
-        'dof_damping': True,
-        'dof_dampingpoly': True,
-        'dof_frictionloss': True,
-        'dof_invweight0': True,
-        'dof_jntid': False,
-        'dof_length': False,
-        'dof_parentid': False,
-        'dof_solimp': True,
-        'dof_solref': True,
-        'dof_treeid': False,
-        'dof_tri_col': False,
-        'dof_tri_row': False,
-        'eq_active0': False,
-        'eq_connect_adr': False,
-        'eq_data': True,
-        'eq_flex_adr': False,
-        'eq_flexstrain_adr': False,
-        'eq_jnt_adr': False,
-        'eq_obj1id': False,
-        'eq_obj2id': False,
-        'eq_objtype': False,
-        'eq_solimp': True,
-        'eq_solref': True,
-        'eq_ten_adr': False,
-        'eq_type': False,
-        'eq_wld_adr': False,
-        'exclude_signature': False,
-        'flex_bend_interp_map': False,
-        'flex_bending': False,
-        'flex_bendingadr': False,
-        'flex_cell_map': False,
-        'flex_cellnum': False,
-        'flex_centered': False,
-        'flex_conaffinity': False,
-        'flex_condim': False,
-        'flex_contype': False,
-        'flex_damping': False,
-        'flex_dim': False,
-        'flex_edge': False,
-        'flex_edgeadr': False,
-        'flex_edgeequality': False,
-        'flex_edgeflap': False,
-        'flex_edgenum': False,
-        'flex_elem': False,
-        'flex_elemadr': False,
-        'flex_elemdataadr': False,
-        'flex_elemedge': False,
-        'flex_elemedgeadr': False,
-        'flex_elemflexid': False,
-        'flex_elemnum': False,
-        'flex_evpair': False,
-        'flex_evpairadr': False,
-        'flex_evpairflexid': False,
-        'flex_evpairnum': False,
-        'flex_face': False,
-        'flex_face_map': False,
-        'flex_faceadr': False,
-        'flex_friction': False,
-        'flex_gap': False,
-        'flex_internal': False,
-        'flex_interp': False,
-        'flex_margin': False,
-        'flex_node': False,
-        'flex_node0': False,
-        'flex_nodeadr': False,
-        'flex_nodebodyid': False,
-        'flex_nodenum': False,
-        'flex_priority': False,
-        'flex_radius': False,
-        'flex_selfcollide': False,
-        'flex_shell': False,
-        'flex_shelladr': False,
-        'flex_shelldataadr': False,
-        'flex_shellflexid': False,
-        'flex_shellnum': False,
-        'flex_solimp': False,
-        'flex_solmix': False,
-        'flex_solref': False,
-        'flex_stiffness': False,
-        'flex_stiffnessadr': False,
-        'flex_vert': False,
-        'flex_vert0': False,
-        'flex_vertadr': False,
-        'flex_vertbodyid': False,
-        'flex_vertflexid': False,
-        'flex_vertnum': False,
-        'flexedge_J_colind': False,
-        'flexedge_J_rowadr': False,
-        'flexedge_J_rownnz': False,
-        'flexedge_invweight0': False,
-        'flexedge_length0': False,
-        'flexelem_geom_pair_filtered': False,
-        'flexstrain_J_colind': False,
-        'flexstrain_J_rowadr': False,
-        'flexstrain_J_rownnz': False,
-        'flexvert_geom_pair_filtered': False,
-        'geom_aabb': True,
-        'geom_bodyid': False,
-        'geom_conaffinity': False,
-        'geom_condim': False,
-        'geom_contype': False,
-        'geom_dataid': True,
-        'geom_fluid': False,
-        'geom_friction': True,
-        'geom_gap': True,
-        'geom_group': False,
-        'geom_margin': True,
-        'geom_matid': True,
-        'geom_pair_type_count': False,
-        'geom_plugin_index': False,
-        'geom_pos': True,
-        'geom_priority': False,
-        'geom_quat': True,
-        'geom_rbound': True,
-        'geom_rgba': True,
-        'geom_size': True,
-        'geom_solimp': True,
-        'geom_solmix': True,
-        'geom_solref': True,
-        'geom_type': False,
-        'has_3d_flex': False,
-        'has_ellipsoid_geom': False,
-        'has_flex_selfcollide': False,
-        'has_fluid': False,
-        'has_sdf_geom': False,
-        'hfield_adr': False,
-        'hfield_data': False,
-        'hfield_ncol': False,
-        'hfield_nrow': False,
-        'hfield_size': False,
-        'is_sparse': False,
-        'jnt_actfrclimited': False,
-        'jnt_actfrcrange': True,
-        'jnt_actgravcomp': False,
-        'jnt_axis': True,
-        'jnt_bodyid': False,
-        'jnt_dofadr': False,
-        'jnt_limited': False,
-        'jnt_limited_ball_adr': False,
-        'jnt_limited_slide_hinge_adr': False,
-        'jnt_margin': True,
-        'jnt_pos': True,
-        'jnt_qposadr': False,
-        'jnt_range': True,
-        'jnt_solimp': True,
-        'jnt_solref': True,
-        'jnt_stiffness': True,
-        'jnt_stiffnesspoly': True,
-        'jnt_type': False,
-        'light_active': True,
-        'light_ambient': True,
-        'light_attenuation': True,
-        'light_bodyid': False,
-        'light_castshadow': True,
-        'light_cutoff': True,
-        'light_diffuse': True,
-        'light_dir': True,
-        'light_dir0': True,
-        'light_exponent': True,
-        'light_mode': False,
-        'light_pos': True,
-        'light_pos0': True,
-        'light_poscom0': True,
-        'light_specular': True,
-        'light_targetbodyid': False,
-        'light_type': True,
-        'mapD2M': False,
-        'mapM2D': False,
-        'mapM2M': False,
-        'mat_emission': True,
-        'mat_rgba': True,
-        'mat_shininess': True,
-        'mat_specular': True,
-        'mat_texid': True,
-        'mat_texrepeat': True,
-        'max_flex_dim': False,
-        'max_ten_J_rownnz': False,
-        'mesh_face': False,
-        'mesh_faceadr': False,
-        'mesh_graph': False,
-        'mesh_graphadr': False,
-        'mesh_normal': False,
-        'mesh_normaladr': False,
-        'mesh_normalnum': False,
-        'mesh_octadr': False,
-        'mesh_polyadr': False,
-        'mesh_polymap': False,
-        'mesh_polymapadr': False,
-        'mesh_polymapnum': False,
-        'mesh_polynormal': False,
-        'mesh_polynum': False,
-        'mesh_polyvert': False,
-        'mesh_polyvertadr': False,
-        'mesh_polyvertnum': False,
-        'mesh_pos': False,
-        'mesh_quat': False,
-        'mesh_vert': False,
-        'mesh_vertadr': False,
-        'mesh_vertnum': False,
-        'mocap_bodyid': False,
-        'nC': False,
-        'nD': False,
-        'nJfe': False,
-        'nJfs': False,
-        'nJmom': False,
-        'nJten': False,
-        'nM': False,
-        'na': False,
-        'nacttrnbody': False,
-        'nbody': False,
-        'nbranch': False,
-        'ncam': False,
-        'neq': False,
-        'neq_flexstrain': False,
-        'nexclude': False,
-        'nflex': False,
-        'nflexbend_interp': False,
-        'nflexbending': False,
-        'nflexedge': False,
-        'nflexelem': False,
-        'nflexelemdata': False,
-        'nflexelemedge': False,
-        'nflexevpair': False,
-        'nflexface': False,
-        'nflexintcell': False,
-        'nflexnode': False,
-        'nflexshelldata': False,
-        'nflexstiffness': False,
-        'nflexvert': False,
-        'ngeom': False,
-        'nhfield': False,
-        'nhfielddata': False,
-        'nhistory': False,
-        'njnt': False,
-        'nlight': False,
-        'nmat': False,
-        'nmaxcondim': False,
-        'nmaxmeshdeg': False,
-        'nmaxpolygon': False,
-        'nmaxpyramid': False,
-        'nmesh': False,
-        'nmeshface': False,
-        'nmeshgraph': False,
-        'nmeshnormal': False,
-        'nmeshpoly': False,
-        'nmeshpolymap': False,
-        'nmeshpolyvert': False,
-        'nmeshvert': False,
-        'nmocap': False,
-        'noct': False,
-        'npair': False,
-        'nplugin': False,
-        'nq': False,
-        'nrangefinder': False,
-        'nsensor': False,
-        'nsensorcollision': False,
-        'nsensorcontact': False,
-        'nsensordata': False,
-        'nsensortaxel': False,
-        'nsite': False,
-        'ntendon': False,
-        'ntree': False,
-        'nu': False,
-        'nuserdata': False,
-        'nv': False,
-        'nv_pad': False,
-        'nwrap': False,
-        'nxn_geom_pair': False,
-        'nxn_geom_pair_filtered': False,
-        'nxn_pairid': False,
-        'nxn_pairid_filtered': False,
-        'oct_aabb': False,
-        'oct_child': False,
-        'oct_coeff': False,
-        'opt__ccd_iterations': False,
-        'opt__ccd_tolerance': True,
-        'opt__cone': False,
-        'opt__contact_sensor_maxmatch': False,
-        'opt__density': True,
-        'opt__disableflags': False,
-        'opt__enableflags': False,
-        'opt__graph_conditional': False,
-        'opt__gravity': True,
-        'opt__impratio_invsqrt': True,
-        'opt__integrator': False,
-        'opt__iterations': False,
-        'opt__ls_iterations': False,
-        'opt__ls_tolerance': True,
-        'opt__magnetic': True,
-        'opt__run_collision_detection': False,
-        'opt__sdf_initpoints': False,
-        'opt__sdf_iterations': False,
-        'opt__sleep_tolerance': True,
-        'opt__solver': False,
-        'opt__timestep': True,
-        'opt__tolerance': True,
-        'opt__viscosity': True,
-        'opt__warn_overflow': False,
-        'opt__wind': True,
-        'pair_dim': False,
-        'pair_friction': True,
-        'pair_gap': True,
-        'pair_geom1': False,
-        'pair_geom2': False,
-        'pair_margin': True,
-        'pair_solimp': True,
-        'pair_solref': True,
-        'pair_solreffriction': True,
-        'plugin': False,
-        'plugin_attr': False,
-        'qD_fullm_i': False,
-        'qD_fullm_j': False,
-        'qLD_all_updates': False,
-        'qLD_block_adr': False,
-        'qLD_block_total': False,
-        'qLD_level_offsets': False,
-        'qLD_updates': False,
-        'qpos0': True,
-        'qpos_spring': True,
-        'rangefinder_sensor_adr': False,
-        'sensor_acc_adr': False,
-        'sensor_adr': False,
-        'sensor_adr_to_contact_adr': False,
-        'sensor_collision_start_adr': False,
-        'sensor_contact_adr': False,
-        'sensor_cutoff': False,
-        'sensor_datatype': False,
-        'sensor_delay': False,
-        'sensor_dim': False,
-        'sensor_e_kinetic': False,
-        'sensor_e_potential': False,
-        'sensor_history': False,
-        'sensor_historyadr': False,
-        'sensor_interval': False,
-        'sensor_intprm': False,
-        'sensor_limitfrc_adr': False,
-        'sensor_limitpos_adr': False,
-        'sensor_limitvel_adr': False,
-        'sensor_objid': False,
-        'sensor_objtype': False,
-        'sensor_pos_adr': False,
-        'sensor_rangefinder_adr': False,
-        'sensor_rangefinder_bodyid': False,
-        'sensor_refid': False,
-        'sensor_reftype': False,
-        'sensor_rne_postconstraint': False,
-        'sensor_subtree_vel': False,
-        'sensor_tendonactfrc_adr': False,
-        'sensor_touch_adr': False,
-        'sensor_type': False,
-        'sensor_vel_adr': False,
-        'site_bodyid': False,
-        'site_pos': True,
-        'site_quat': True,
-        'site_size': False,
-        'site_type': False,
-        'stat__meaninertia': True,
-        'taxel_sensorid': False,
-        'taxel_vertadr': False,
-        'ten_J_colind': False,
-        'ten_J_rowadr': False,
-        'ten_J_rownnz': False,
-        'ten_wrapadr_site': False,
-        'ten_wrapnum_site': False,
-        'tendon_actfrclimited': False,
-        'tendon_actfrcrange': True,
-        'tendon_adr': False,
-        'tendon_armature': True,
-        'tendon_damping': True,
-        'tendon_dampingpoly': True,
-        'tendon_frictionloss': True,
-        'tendon_geom_adr': False,
-        'tendon_invweight0': True,
-        'tendon_jnt_adr': False,
-        'tendon_length0': True,
-        'tendon_lengthspring': True,
-        'tendon_limited': False,
-        'tendon_limited_adr': False,
-        'tendon_margin': True,
-        'tendon_num': False,
-        'tendon_range': True,
-        'tendon_site_pair_adr': False,
-        'tendon_solimp_fri': True,
-        'tendon_solimp_lim': True,
-        'tendon_solref_fri': True,
-        'tendon_solref_lim': True,
-        'tendon_stiffness': True,
-        'tendon_stiffnesspoly': True,
-        'tree_bodynum': False,
-        'tree_dofadr': False,
-        'tree_dofnum': False,
-        'tree_sleep_policy': False,
-        'wrap_geom_adr': False,
-        'wrap_jnt_adr': False,
-        'wrap_objid': False,
-        'wrap_prm': False,
-        'wrap_pulley_scale': False,
-        'wrap_site_adr': False,
-        'wrap_site_pair_adr': False,
-        'wrap_type': False,
-    },
-    'Option': {
-        'ccd_iterations': False,
-        'ccd_tolerance': True,
-        'cone': False,
-        'contact_sensor_maxmatch': False,
-        'density': True,
-        'disableflags': False,
-        'enableflags': False,
-        'graph_conditional': False,
-        'gravity': True,
-        'impratio_invsqrt': True,
-        'integrator': False,
-        'iterations': False,
-        'ls_iterations': False,
-        'ls_tolerance': True,
-        'magnetic': True,
-        'run_collision_detection': False,
-        'sdf_initpoints': False,
-        'sdf_iterations': False,
-        'sleep_tolerance': True,
-        'solver': False,
-        'timestep': True,
-        'tolerance': True,
-        'viscosity': True,
-        'warn_overflow': False,
-        'wind': True,
-    },
-    'Statistic': {'meaninertia': True},
-}
diff --git a/mjx/mujoco/mjx/warp/types_test.py b/mjx/mujoco/mjx/warp/types_test.py
deleted file mode 100644
index 6bc1d8ae..00000000
--- a/mjx/mujoco/mjx/warp/types_test.py
+++ /dev/null
@@ -1,107 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for generated MJX Warp types."""
-
-import dataclasses
-from absl.testing import absltest
-from absl.testing import parameterized
-import mujoco
-import mujoco.mjx.warp as mjxw
-from mujoco.mjx.warp import mjwp_io
-from mujoco.mjx.warp import types
-from mujoco.mjx.warp import warp as wp
-import numpy as np
-
-
-class GeneratedTypesMetadataTest(absltest.TestCase):
-
-  def setUp(self):
-    super().setUp()
-    if not mjxw.WARP_INSTALLED or mjwp_io is None:
-      self.skipTest('warp is not installed')
-
-  def test_batched_fields_metadata(self):
-    m = mujoco.MjModel.from_xml_string('<mujoco/>')
-    d = mujoco.MjData(m)
-    mw = mjwp_io.put_model(m)
-    dw = mjwp_io.put_data(m, d)
-
-    def _check_fields(cls_name, obj, warp_cls, prefix=''):
-      for f in dataclasses.fields(obj):
-        val = getattr(obj, f.name)
-        if dataclasses.is_dataclass(val):
-          sub_cls_name = type(val).__name__
-          if sub_cls_name in types._BATCH_DIM and hasattr(
-              types, f'{sub_cls_name}Warp'
-          ):
-            # Dedicated top-level sub-class (Option, Statistic)
-            _check_fields(
-                sub_cls_name, val, getattr(types, f'{sub_cls_name}Warp')
-            )
-          else:
-            # Flattened nested sub-dataclass (Data.contact, Data.efc)
-            _check_fields(cls_name, val, warp_cls, prefix=f'{prefix}{f.name}__')
-          continue
-
-        field_name = f'{prefix}{f.name}'
-        is_batched = getattr(val, '_is_batched', False)
-
-        if is_batched:
-          self.assertTrue(
-              types._BATCH_DIM[cls_name].get(field_name, False),
-              f'Expected {cls_name}.{field_name} with _is_batched=True to be'
-              ' True in _BATCH_DIM',
-          )
-          if cls_name == 'Data':
-            self.assertNotIn(
-                field_name,
-                types.DATA_NON_VMAP,
-                f'Expected batched Data field {field_name} to not be in'
-                ' DATA_NON_VMAP',
-            )
-          ann = warp_cls.__annotations__.get(field_name)
-          if ann is not None:
-            self.assertIn(
-                str(ann),
-                ('jax.Array', "<class 'jax.Array'>"),
-                f'Expected {cls_name}.{field_name} to have jax.Array'
-                ' annotation',
-            )
-        elif isinstance(val, wp.array):
-          self.assertFalse(
-              types._BATCH_DIM[cls_name].get(field_name, True),
-              f'Expected {cls_name}.{field_name} with _is_batched=False to be'
-              ' False in _BATCH_DIM',
-          )
-
-    _check_fields('Model', mw, types.ModelWarp)
-    _check_fields('Data', dw, types.DataWarp)
-
-
-class TileSetTest(parameterized.TestCase):
-
-  @parameterized.parameters(1, 3)
-  def test_structural_equality_and_hash(self, count):
-    tile_a = types.TileSet(np.arange(count) * 6, 16)
-    tile_b = types.TileSet(np.arange(count) * 6, 16)
-    tile_c = types.TileSet(np.arange(count) * 6 + 1, 16)
-
-    self.assertEqual(tile_a, tile_b)
-    self.assertEqual(hash(tile_a), hash(tile_b))
-    self.assertNotEqual(tile_a, tile_c)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/mjx/mujoco/mjx/warp/visualize_render.py b/mjx/mujoco/mjx/warp/visualize_render.py
deleted file mode 100644
index 7ebd58b1..00000000
--- a/mjx/mujoco/mjx/warp/visualize_render.py
+++ /dev/null
@@ -1,316 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Visualize batch rendering output from MuJoCo Warp for debugging."""
-
-import functools
-import os
-from typing import Sequence
-
-from absl import app
-from absl import flags
-import jax
-import jax.numpy as jp
-import mediapy as media
-import mujoco
-from mujoco import mjx
-from mujoco.mjx._src import bvh
-from mujoco.mjx._src import forward
-from mujoco.mjx._src import render
-from mujoco.mjx._src import render_util
-from mujoco.mjx._src import test_util
-from mujoco.mjx.warp import io
-import numpy as np
-import warp as wp
-
-
-_MODELFILE = flags.DEFINE_string(
-    'modelfile',
-    'humanoid/humanoid.xml',
-    'path to model',
-)
-_NWORLD = flags.DEFINE_integer('nworld', 4, 'number of worlds to render')
-_WIDTH = flags.DEFINE_integer('width', 512, 'image width')
-_HEIGHT = flags.DEFINE_integer('height', 512, 'image height')
-_CAMERA_ID = flags.DEFINE_integer('camera_id', 0, 'camera id to visualize')
-_OUTPUT_DIR = flags.DEFINE_string(
-    'output_dir', '/tmp/visualize_render', 'output directory'
-)
-_RANDOMIZE_QPOS = flags.DEFINE_boolean(
-    'randomize_qpos', False, 'randomize initial qpos'
-)
-_USE_TEXTURES = flags.DEFINE_boolean('use_textures', True, 'enable textures')
-_USE_SHADOWS = flags.DEFINE_boolean('use_shadows', True, 'enable shadows')
-_RENDER_SEGMENTATION = flags.DEFINE_boolean(
-    'render_segmentation', False, 'enable segmentation rendering'
-)
-_WP_KERNEL_CACHE_DIR = flags.DEFINE_string(
-    'wp_kernel_cache_dir',
-    '/tmp/wp_kernel_cache_dir_visualize_render',
-    'warp kernel cache directory',
-)
-_PMAP = flags.DEFINE_boolean(
-    'pmap', False, 'also render with pmap across GPUs and compare'
-)
-
-_COMPILER_OPTIONS = {'xla_gpu_graph_min_graph_size': 1}
-jax_jit = functools.partial(jax.jit, compiler_options=_COMPILER_OPTIONS)
-
-
-def _save_single(rgb, out_path):
-  """Save first world as a single image."""
-  img = np.asarray(rgb[0])
-  img_uint8 = (img * 255).astype(np.uint8)
-  media.write_image(out_path, img_uint8)
-  print(f'  single image: {out_path}')
-
-
-def _save_tiled(rgb, out_path):
-  """Save all worlds as a tiled grid."""
-  nworld, height, width, _ = rgb.shape
-  cols = int(np.ceil(np.sqrt(nworld)))
-  rows = int(np.ceil(nworld / cols))
-  canvas = np.zeros((rows * height, cols * width, 3), dtype=np.uint8)
-
-  for w in range(nworld):
-    img_uint8 = (np.asarray(rgb[w]) * 255).astype(np.uint8)
-    r, c = w // cols, w % cols
-    y0, y1 = r * height, (r + 1) * height
-    x0, x1 = c * width, (c + 1) * width
-    canvas[y0:y1, x0:x1, :] = img_uint8
-
-  media.write_image(out_path, canvas)
-  print(f'  tiled image:  {out_path}')
-
-
-def _colorize_segmentation(seg_ids: np.ndarray) -> np.ndarray:
-  """Map integer geom IDs to deterministic RGB colors.
-
-  Background (-1) and flex (-2) pixels are mapped to black.
-  """
-  seg = np.asarray(seg_ids)
-  h, w = seg.shape[-2], seg.shape[-1]
-  flat = seg.reshape(*seg.shape[:-2], -1)
-
-  # Deterministic pastel palette via golden-ratio hue spacing.
-  r = np.zeros_like(flat, dtype=np.uint8)
-  g = np.zeros_like(flat, dtype=np.uint8)
-  b = np.zeros_like(flat, dtype=np.uint8)
-
-  mask = flat >= 0
-  ids = flat[mask]
-  # Simple hash-based colouring.
-  r[mask] = ((ids * 67 + 11) % 256).astype(np.uint8)
-  g[mask] = ((ids * 113 + 59) % 256).astype(np.uint8)
-  b[mask] = ((ids * 197 + 37) % 256).astype(np.uint8)
-
-  rgb = np.stack([r, g, b], axis=-1)
-  return rgb.reshape(*seg.shape[:-2], h, w, 3)
-
-
-def _main(_: Sequence[str]):
-  os.environ['MJX_WARP_ENABLED'] = 'true'
-
-  wp.config.kernel_cache_dir = _WP_KERNEL_CACHE_DIR.value
-
-  os.makedirs(_OUTPUT_DIR.value, exist_ok=True)
-
-  try:
-    m = test_util.load_test_file(_MODELFILE.value)
-  except Exception:
-    m = mujoco.MjModel.from_xml_path(_MODELFILE.value)
-
-  print('visualize_render.py:\n')
-  print(f'  modelfile   : {_MODELFILE.value}')
-  print(f'  nworld      : {_NWORLD.value}')
-  print(f'  resolution  : {_WIDTH.value}x{_HEIGHT.value}')
-  print(f'  camera_id   : {_CAMERA_ID.value}')
-  print(f'  use_textures: {_USE_TEXTURES.value}')
-  print(f'  use_shadows : {_USE_SHADOWS.value}')
-  print(f'  render_seg  : {_RENDER_SEGMENTATION.value}')
-  print(f'  pmap        : {_PMAP.value}')
-  print(f'  output_dir  : {_OUTPUT_DIR.value}\n')
-
-  mx = mjx.put_model(m, impl='warp')
-
-  worldids = jp.arange(_NWORLD.value)
-
-  @jax.vmap
-  def init(worldid):
-    dx = mjx.make_data(m, impl='warp')
-    rng = jax.random.PRNGKey(worldid)
-    qpos0 = jp.array(m.qpos0)
-    qpos = qpos0
-    if _RANDOMIZE_QPOS.value:
-      # TODO(robotics-team): consider integrating velocity if there are free
-      # joints.
-      qpos = qpos0 + jax.random.uniform(rng, (m.nq,), minval=-0.2, maxval=0.05)
-    return dx.replace(qpos=qpos)
-
-  print('initializing data...')
-  dx_batch = jax_jit(init)(worldids)
-
-  print('running forward...')
-  dx_batch = jax_jit(jax.vmap(forward.forward, in_axes=(None, 0)))(mx, dx_batch)
-
-  print('creating render context...')
-  rc = io.create_render_context(
-      mjm=m,
-      nworld=_NWORLD.value,
-      cam_res=(_WIDTH.value, _HEIGHT.value),
-      use_textures=_USE_TEXTURES.value,
-      use_shadows=_USE_SHADOWS.value,
-      render_rgb=True,
-      render_depth=True,
-      render_seg=_RENDER_SEGMENTATION.value,
-      enabled_geom_groups=[0, 1, 2],
-  )
-
-  dx_batch = jax_jit(jax.vmap(bvh.refit_bvh, in_axes=(None, 0, None)))(
-      mx, dx_batch, rc.pytree()
-  )
-
-  if _RENDER_SEGMENTATION.value:
-    render_fn = render.render_with_segmentation
-  else:
-    render_fn = render.render
-
-  out_batch = jax_jit(jax.vmap(render_fn, in_axes=(None, 0, None)))(
-      mx, dx_batch, rc.pytree()
-  )
-
-  rgb_packed = out_batch[0]
-  depth_packed = out_batch[1]
-  seg_packed = out_batch[2] if _RENDER_SEGMENTATION.value else None
-  print(f'  rgb shape:   {rgb_packed.shape}')
-  print(f'  depth shape: {depth_packed.shape}')
-  if seg_packed is not None:
-    print(f'  seg shape:   {seg_packed.shape}')
-  print()
-
-  rgb = jax.vmap(render_util.get_rgb, in_axes=(None, None, 0))(
-      rc.pytree(), _CAMERA_ID.value, rgb_packed
-  )
-
-  depth = jax.vmap(render_util.get_depth, in_axes=(None, None, 0, None))(
-      rc.pytree(), _CAMERA_ID.value, depth_packed, 10.0
-  )
-
-  single_path = os.path.join(
-      _OUTPUT_DIR.value, f'camera_{_CAMERA_ID.value}.png'
-  )
-  _save_single(rgb, single_path)
-
-  depth_np = np.asarray(depth).squeeze(-1)  # (nworld, H, W)
-  depth_rgb = np.repeat(depth_np[..., None], 3, axis=-1)
-  depth_single_path = os.path.join(
-      _OUTPUT_DIR.value, f'depth_{_CAMERA_ID.value}.png'
-  )
-  _save_single(depth_rgb, depth_single_path)
-
-  if _RENDER_SEGMENTATION.value:
-    seg = jax.vmap(render_util.get_segmentation, in_axes=(None, None, 0))(
-        rc.pytree(), _CAMERA_ID.value, seg_packed
-    )
-    seg_rgb = _colorize_segmentation(np.asarray(seg))
-    # Convert to float [0, 1] so _save_single / _save_tiled work.
-    seg_rgb_f = seg_rgb.astype(np.float32) / 255.0
-
-    seg_single_path = os.path.join(
-        _OUTPUT_DIR.value, f'seg_{_CAMERA_ID.value}.png'
-    )
-    _save_single(seg_rgb_f, seg_single_path)
-
-  if _NWORLD.value > 1:
-    tiled_path = os.path.join(
-        _OUTPUT_DIR.value, f'tiled_{_CAMERA_ID.value}.png'
-    )
-    _save_tiled(rgb, tiled_path)
-
-    depth_tiled_path = os.path.join(
-        _OUTPUT_DIR.value, f'depth_tiled_{_CAMERA_ID.value}.png'
-    )
-    _save_tiled(depth_rgb, depth_tiled_path)
-
-    if _RENDER_SEGMENTATION.value:
-      seg_tiled_path = os.path.join(
-          _OUTPUT_DIR.value, f'seg_tiled_{_CAMERA_ID.value}.png'
-      )
-      _save_tiled(seg_rgb_f, seg_tiled_path)
-
-  if _PMAP.value:
-    ndevices = jax.local_device_count()
-    nworld = _NWORLD.value
-    nworld_per_device = nworld // ndevices
-    assert nworld >= ndevices and nworld % ndevices == 0, (
-        f'--pmap requires nworld ({nworld}) divisible by device count'
-        f' ({ndevices})'
-    )
-    print(f'\nrendering (pmap across {ndevices} devices)...')
-
-    device_strs = [f'cuda:{i}' for i in range(ndevices)]
-
-    pmap_rc = io.create_render_context(
-        mjm=m,
-        nworld=nworld_per_device,
-        devices=device_strs,
-        cam_res=(_WIDTH.value, _HEIGHT.value),
-        use_textures=_USE_TEXTURES.value,
-        use_shadows=_USE_SHADOWS.value,
-        render_rgb=True,
-        render_depth=True,
-        enabled_geom_groups=[0, 1, 2],
-    )
-
-    devices = jax.local_devices()[:ndevices]
-    mesh = jax.sharding.Mesh(np.array(devices), axis_names=('i',))
-    P = jax.sharding.PartitionSpec
-    sharded = jax.sharding.NamedSharding(mesh, P('i'))
-
-    def safe_shard(x, sharding):
-      # Go through CPU to avoid P2P DMA issues on certain machines.
-      x_cpu = jax.device_put(x, jax.devices('cpu')[0])
-      if x_cpu.ndim > 0 and x_cpu.shape[0] == nworld:
-        reshaped = x_cpu.reshape(ndevices, nworld_per_device, *x_cpu.shape[1:])
-      else:
-        reshaped = jp.stack([x_cpu] * ndevices)
-      return jax.device_put(reshaped, sharding)
-
-    dx_pmap = jax.tree.map(lambda x: safe_shard(x, sharded), dx_batch)
-    mx_pmap = jax.tree.map(lambda x: safe_shard(x, sharded), mx)
-
-    def inner(mx, dx):
-      dx = bvh.refit_bvh(mx, dx, pmap_rc.pytree())
-      out = render.render(mx, dx, pmap_rc.pytree())
-      return render_util.get_rgb(pmap_rc.pytree(), _CAMERA_ID.value, out[0])
-
-    inner = jax.vmap(inner, in_axes=(None, 0))
-    out = jax.pmap(inner)(mx_pmap, dx_pmap)
-
-    pmap_rgb = jax.device_put(out, jax.devices('cpu')[0]).reshape(-1, *out.shape[2:])
-
-    pmap_tiled_path = os.path.join(
-        _OUTPUT_DIR.value, f'pmap_tiled_{_CAMERA_ID.value}.png'
-    )
-    _save_tiled(pmap_rgb, pmap_tiled_path)
-
-  print('\ndone.')
-
-
-def main():
-  app.run(_main)
-
-
-if __name__ == '__main__':
-  main()
diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml
deleted file mode 100644
index 2c07c4d6..00000000
--- a/mjx/pyproject.toml
+++ /dev/null
@@ -1,84 +0,0 @@
-[build-system]
-requires = ["setuptools"]
-build-backend = "setuptools.build_meta"
-
-[project]
-name="mujoco-mjx"
-version = "3.12.0"
-authors = [
-    {name = "Google DeepMind", email = "mujoco@deepmind.com"},
-]
-description = "MuJoCo XLA (MJX)"
-readme = {file = "README.md", content-type = "text/markdown"}
-license = "Apache-2.0"
-classifiers = [
-    "Development Status :: 5 - Production/Stable",
-    "Intended Audience :: Developers",
-    "Intended Audience :: Science/Research",
-    "Natural Language :: English",
-    "Programming Language :: Python :: 3",
-    "Programming Language :: Python :: 3.10",
-    "Programming Language :: Python :: 3.11",
-    "Programming Language :: Python :: 3.12",
-    "Programming Language :: Python :: 3.13",
-    "Programming Language :: Python :: 3.14",
-    "Topic :: Scientific/Engineering",
-]
-requires-python = ">=3.10"
-dependencies = [
-    "absl-py",
-    "etils[epath]",
-    "jax",
-    "jaxlib",
-    "mujoco>=3.12.0.dev0",
-    "scipy",
-    "trimesh",
-]
-
-[project.optional-dependencies]
-warp = [
-    "warp-lang==1.16.0",
-]
-dev = [
-    "isort",
-    "pyink",
-]
-
-[project.scripts]
-mjx-testspeed = "mujoco.mjx.testspeed:main"
-mjx-viewer = "mujoco.mjx.viewer:main"
-
-[project.urls]
-Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Documentation = "https://mujoco.readthedocs.io/en/3.12.0"
-Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Changelog = "https://mujoco.readthedocs.io/en/3.12.0/changelog.html"
-
-[tool.isort]
-force_single_line = true
-force_sort_within_sections = true
-lexicographical = true
-single_line_exclusions = ["typing"]
-order_by_type = false
-group_by_package = true
-line_length = 120
-use_parentheses = true
-multi_line_output = 3
-skip_glob = ["**/*.ipynb"]
-
-[tool.pyink]
-line-length = 80
-unstable = true
-pyink-indentation = 2
-pyink-use-majority-quotes = true
-extend-exclude = '''(
- .ipynb$
-)'''
-
-[tool.pytest.ini_options]
-norecursedirs = [
-    "**/third_party",
-]
-
-[tool.setuptools.packages.find]
-include = ["mujoco*"]
diff --git a/mjx/requirements.txt b/mjx/requirements.txt
deleted file mode 100644
index 46c2687c..00000000
--- a/mjx/requirements.txt
+++ /dev/null
@@ -1,277 +0,0 @@
-absl-py==2.1.0 \
-    --hash=sha256:526a04eadab8b4ee719ce68f204172ead1027549089702d99b9059f129ff1308
-etils[epath]==1.10.0; python_version >= '3.10' \
-    --hash=sha256:0777fe60a234b4c65ca53470fc64f2dd2d0c6bca7fcc623fdaa8d7fa5a317098
-jax==0.8.3; python_version >= '3.13' and (sys_platform != 'darwin' or platform_machine != 'x86_64') \
-    --hash=sha256:fb75f4cfee64e990ce6d7a0424cb11eb0520e4de19d7a52d0ca3498bff78261a
-jax==0.5.3; python_version >= '3.10' and python_version < '3.13' and (sys_platform != 'darwin' or platform_machine != 'x86_64') \
-    --hash=sha256:1483dc237b4f47e41755d69429e8c3c138736716147cd43bb2b99b259d4e3c41 \
-    --hash=sha256:f17fcb0fd61dc289394af6ce4de2dada2312f2689bb0d73642c6f026a95fbb2c
-# 0.4.38 is the last Jax release that provides macOS x86-64 wheels, and only up
-# to Python 3.13. Unfortunately, later releases can't readily be built from
-# sources because some dependencies, like jaxlib, don't provide tarballs.
-# Thus, building with Python 3.14+ on macOS x86-64 is disabled in the build
-# scripts; if it's still needed, we'll have to come up with another method.
-jax==0.4.38; python_version >= '3.10' and python_version <= '3.13' and sys_platform == 'darwin' and platform_machine == 'x86_64' \
-    --hash=sha256:78987306f7041ea8500d99df1a17c33ed92620c2268c4c3677fb24e06712be64
-jaxlib==0.8.3; python_version >= '3.13' and (sys_platform != 'darwin' or platform_machine != 'x86_64') \
-    --hash=sha256:1b3acadba65863254cc5482455d31a41f1fc8d38a449701f13cdbbc45beb240d \
-    --hash=sha256:1e5481f9d7df9bfc0ae053d9f9d4f97ee77639a0169b45beb1cced070dc26da6 \
-    --hash=sha256:3233198422c7ef49e5340785fc23f61c25ee61a5d767aa6f9183b8015e6ac6e2 \
-    --hash=sha256:41067d2ec14a140e1d692fc84bc714f3372e208966b5f29cc309f4fca63c081b \
-    --hash=sha256:4be4273edeb2cc75c409e446fd4f59a63d2e14f1311e714a978b5fa67ac16b70 \
-    --hash=sha256:4d80575513f351eef4582908039c6e456d4e2ca028a043d2cdcbd059fa55e56c \
-    --hash=sha256:56adca7fc1e24972633e2f33c758a28d924e116ba54b2a4e73f8ae4647657cf1 \
-    --hash=sha256:831d817fa04218cc91b813920229c8ee0bec076c03ea744bec398e570b699d1c \
-    --hash=sha256:92e755030e7862d3ba15929f25c0d7647baa95b083c87ed0c2da297aeb50c48c \
-    --hash=sha256:9e76868758330eb63c5e4dd31e4d7c500a7e5523c7f09b34f64780c4a0503c7c \
-    --hash=sha256:be237754eead89788264e112b2b5c722ab2a941406d19f1a8da6bf48bfde0bf2 \
-    --hash=sha256:c96e562ad771fc81dfbb9a696519caa7e214f9b6dab1ce1df8bcd4759597d4a3 \
-    --hash=sha256:ef3376145cc6c768f7847b688b004f37382e952bdc34b9a9404eb28b15ab50f8 \
-    --hash=sha256:fe490fe3d81b02d21aaf936475fc4f47171473599e9d3907f6be0823ec4321bb
-jaxlib==0.5.3; python_version >= '3.10' and python_version < '3.13' and (sys_platform != 'darwin' or platform_machine != 'x86_64') \
-    --hash=sha256:29e1530fc81833216f1e28b578d0c59697654f72ee31c7a44ed7753baf5ac466 \
-    --hash=sha256:48ff5c89fb8a0fe04d475e9ddc074b4879a91d7ab68a51cec5cd1e87f81e6c47 \
-    --hash=sha256:520665929649f29f7d948d4070dbaf3e032a4c1f7c11f2863eac73320fcee784 \
-    --hash=sha256:52be6c9775aff738a61170d8c047505c75bb799a45518e66a7a0908127b11785 \
-    --hash=sha256:5a5e88ab1cd6fdf78d69abe3544e8f09cce200dd339bb85fbe3c2ea67f2a5e68 \
-    --hash=sha256:8eb54e38d789557579f900ea3d70f104a440f8555a9681ed45f4a122dcbfd92e \
-    --hash=sha256:972400db4af6e85270d81db5e6e620d31395f0472e510c50dfcd4cb3f72b7220 \
-    --hash=sha256:a4666f81d72c060ed3e581ded116a9caa9b0a70a148a54cb12a1d3afca3624b5 \
-    --hash=sha256:b41a6fcaeb374fabc4ee7e74cfed60843bdab607cd54f60a68b7f7655cde2b66 \
-    --hash=sha256:b62bd8b29e5a4f9bfaa57c8daf6e04820b2c994f448f3dec602d64255545e9f2 \
-    --hash=sha256:bddf6360377aa1c792e47fd87f307c342e331e5ff3582f940b1bca00f6b4bc73 \
-    --hash=sha256:d394dbde4a1c6bd67501cfb29d3819a10b900cb534cc0fc603319f7092f24cfa
-# See note above about macOS x86-64 support.
-jaxlib==0.4.38; python_version >= '3.10' and python_version <= '3.13' and sys_platform == 'darwin' and platform_machine == 'x86_64' \
-    --hash=sha256:55c19b9d3f33a6fc59f644aa5a21fba02639ccdd776cb4a9b5526625f57839ff \
-    --hash=sha256:30b2f52cb50d74734af2f477c2533a7a583e3bb7b2c8acdeb361ee77d940577a \
-    --hash=sha256:ee19c163a8fdf0839d4c18b88a5fbfb4e731ba7c437416d3e5483e570bb764e4 \
-    --hash=sha256:61aeccb9a27c67fdb8450f6357240019cd4511cb9d62a44e4764756d384853ad \
-    --hash=sha256:d6ab745a89d0fb737a36fe1d8b86659e3fffe6ee8303b20651b26193d5edc0ef \
-    --hash=sha256:b67fdeabd6dfed08b7768f3bdffb521160085f8305669bd197beef61d08de08b \
-    --hash=sha256:3fb0eaae7369157afecbead50aaf29e73ffddfa77a2335d721bd9794f3c510e4 \
-    --hash=sha256:43db58c4c427627296366a56c10318e1f00f503690e17f94bb4344293e1995e0 \
-    --hash=sha256:2751ff7037d6a997d0be0e77cc4be381c5a9f9bb8b314edb755c13a6fd969f45 \
-    --hash=sha256:35226968fc9de6873d1571670eac4117f5ed80e955f7a1775204d1044abe16c6 \
-    --hash=sha256:3fefea985f0415816f3bbafd3f03a437050275ef9bac9a72c1314e1644ac57c1 \
-    --hash=sha256:f33bcafe32c97a562ecf6894d7c41674c80c0acdedfa5423d49af51147149874 \
-    --hash=sha256:496f45b0e001a2341309cd0c74af0b670537dced79c168cb230cfcc773f0aa86 \
-    --hash=sha256:dad6c0a96567c06d083c0469fec40f201210b099365bd698be31a6d2ec88fd59 \
-    --hash=sha256:966cdec36cfa978f5b4582bcb4147fe511725b94c1a752dac3a5f52ce46b6fa3 \
-    --hash=sha256:41e55ae5818a882e5789e848f6f16687ac132bcfbb5a5fa114a5d18b78d05f2d \
-    --hash=sha256:6fe326b8af366387dd47ccf312583b2b17fed12712c9b74a648b18a13cbdbabf \
-    --hash=sha256:248cca3771ebf24b070f49701364ceada33e6139445b06c782cca5ac5ad92bf4 \
-    --hash=sha256:2ce77ba8cda9259a4bca97afc1c722e4291a6c463a63f8d372c6edc85117d625 \
-    --hash=sha256:4103db0b3a38a5dc132741237453c24d8547290a22079ba1b577d6c88c95300a
-pip==26.1.2 \
-    --hash=sha256:382ff9f685ee3bc25864f820aa50505825f10f5458ffff07e30a6d96e5715cab \
-    --hash=sha256:f49cd134c61cf2fd75e0ce2676db03e4054504a5a4986d00f8299ae632dc4605
-pytest==9.0.3 \
-    --hash=sha256:2c5efc453d45394fdd706ade797c0a81091eccd1d6e4bccfcd476e2b8e0ab5d9 \
-    --hash=sha256:b86ada508af81d19edeb213c681b1d48246c1a91d304c6c81a427674c17eb91c
-pygments==2.20.0 \
-    --hash=sha256:81a9e26dd42fd28a23a2d169d86d7ac03b46e2f8b59ed4698fb4785f946d0176
-pytest-xdist==3.6.1 \
-    --hash=sha256:9ed4adfb68a016610848639bb7e02c9352d5d9f03d04809919e2dafc3be4cca7
-scipy==1.17.0; python_version >= '3.13' \
-    --hash=sha256:00fb5f8ec8398ad90215008d8b6009c9db9fa924fd4c7d6be307c6f945f9cd73 \
-    --hash=sha256:130d12926ae34399d157de777472bf82e9061c60cc081372b3118edacafe1d00 \
-    --hash=sha256:13c4096ac6bc31d706018f06a49abe0485f96499deb82066b94d19b02f664209 \
-    --hash=sha256:13e861634a2c480bd237deb69333ac79ea1941b94568d4b0efa5db5e263d4fd1 \
-    --hash=sha256:1f9586a58039d7229ce77b52f8472c972448cded5736eaf102d5658bbac4c269 \
-    --hash=sha256:1ff269abf702f6c7e67a4b7aad981d42871a11b9dd83c58d2d2ea624efbd1088 \
-    --hash=sha256:2b531f57e09c946f56ad0b4a3b2abee778789097871fc541e267d2eca081cff1 \
-    --hash=sha256:33af70d040e8af9d5e7a38b5ed3b772adddd281e3062ff23fec49e49681c38cf \
-    --hash=sha256:3625c631a7acd7cfd929e4e31d2582cf00f42fcf06011f59281271746d77e061 \
-    --hash=sha256:363ad4ae2853d88ebcde3ae6ec46ccca903ea9835ee8ba543f12f575e7b07e4e \
-    --hash=sha256:423ca1f6584fc03936972b5f7c06961670dbba9f234e71676a7c7ccf938a0d61 \
-    --hash=sha256:4e00562e519c09da34c31685f6acc3aa384d4d50604db0f245c14e1b4488bfa2 \
-    --hash=sha256:5fb10d17e649e1446410895639f3385fd2bf4c3c7dfc9bea937bddcbc3d7b9ba \
-    --hash=sha256:65ec32f3d32dfc48c72df4291345dae4f048749bc8d5203ee0a3f347f96c5ce6 \
-    --hash=sha256:6680f2dfd4f6182e7d6db161344537da644d1cf85cf293f015c60a17ecf08752 \
-    --hash=sha256:6e886000eb4919eae3a44f035e63f0fd8b651234117e8f6f29bad1cd26e7bc45 \
-    --hash=sha256:819fc26862b4b3c73a60d486dbb919202f3d6d98c87cf20c223511429f2d1a97 \
-    --hash=sha256:8547e7c57f932e7354a2319fab613981cde910631979f74c9b542bb167a8b9db \
-    --hash=sha256:87b411e42b425b84777718cc41516b8a7e0795abfa8e8e1d573bf0ef014f0812 \
-    --hash=sha256:979c3a0ff8e5ba254d45d59ebd38cde48fce4f10b5125c680c7a4bfe177aab07 \
-    --hash=sha256:9fad7d3578c877d606b1150135c2639e9de9cecd3705caa37b66862977cc3e72 \
-    --hash=sha256:a38c3337e00be6fd8a95b4ed66b5d988bac4ec888fd922c2ea9fe5fb1603dd67 \
-    --hash=sha256:aabf057c632798832f071a8dde013c2e26284043934f53b00489f1773b33527e \
-    --hash=sha256:c17514d11b78be8f7e6331b983a65a7f5ca1fd037b95e27b280921fe5606286a \
-    --hash=sha256:c5e8647f60679790c2f5c76be17e2e9247dc6b98ad0d3b065861e082c56e078d \
-    --hash=sha256:cacbaddd91fcffde703934897c5cd2c7cb0371fac195d383f4e1f1c5d3f3bd04 \
-    --hash=sha256:d7425fcafbc09a03731e1bc05581f5fad988e48c6a861f441b7ab729a49a55ea \
-    --hash=sha256:dbf133ced83889583156566d2bdf7a07ff89228fe0c0cb727f777de92092ec6b \
-    --hash=sha256:eb2651271135154aa24f6481cbae5cc8af1f0dd46e6533fb7b56aa9727b6a232 \
-    --hash=sha256:ec0827aa4d36cb79ff1b81de898e948a51ac0b9b1c43e4a372c0508c38c0f9a3 \
-    --hash=sha256:edce1a1cf66298cccdc48a1bdf8fb10a3bf58e8b58d6c3883dd1530e103f87c0 \
-    --hash=sha256:eec3842ec9ac9de5917899b277428886042a93db0b227ebbe3a333b64ec7643d \
-    --hash=sha256:f2a4942b0f5f7c23c7cd641a0ca1955e2ae83dedcff537e3a0259096635e186b \
-    --hash=sha256:f7df7941d71314e60a481e02d5ebcb3f0185b8d799c70d03d8258f6c80f3d467 \
-    --hash=sha256:f9eb55bb97d00f8b7ab95cb64f873eb0bf54d9446264d9f3609130381233483f \
-    --hash=sha256:fe508b5690e9eaaa9467fc047f833af58f1152ae51a0d0aed67aa5801f4dd7d6
-scipy==1.14.1; python_version >= '3.10' and python_version < '3.13' \
-    --hash=sha256:278266012eb69f4a720827bdd2dc54b2271c97d84255b2faaa8f161a158c3b37 \
-    --hash=sha256:2843f2d527d9eebec9a43e6b406fb7266f3af25a751aa91d62ff416f54170bc5 \
-    --hash=sha256:2da0469a4ef0ecd3693761acbdc20f2fdeafb69e6819cc081308cc978153c675 \
-    --hash=sha256:2ff0a7e01e422c15739ecd64432743cf7aae2b03f3084288f399affcefe5222d \
-    --hash=sha256:2ff38e22128e6c03ff73b6bb0f85f897d2362f8c052e3b8ad00532198fbdae3f \
-    --hash=sha256:30ac8812c1d2aab7131a79ba62933a2a76f582d5dbbc695192453dae67ad6310 \
-    --hash=sha256:3a1b111fac6baec1c1d92f27e76511c9e7218f1695d61b59e05e0fe04dc59617 \
-    --hash=sha256:631f07b3734d34aced009aaf6fedfd0eb3498a97e581c3b1e5f14a04164a456d \
-    --hash=sha256:716e389b694c4bb564b4fc0c51bc84d381735e0d39d3f26ec1af2556ec6aad94 \
-    --hash=sha256:8426251ad1e4ad903a4514712d2fa8fdd5382c978010d1c6f5f37ef286a713ad \
-    --hash=sha256:8475230e55549ab3f207bff11ebfc91c805dc3463ef62eda3ccf593254524ce8 \
-    --hash=sha256:8bddf15838ba768bb5f5083c1ea012d64c9a444e16192762bd858f1e126196d0 \
-    --hash=sha256:8e32dced201274bf96899e6491d9ba3e9a5f6b336708656466ad0522d8528f69 \
-    --hash=sha256:8f9ea80f2e65bdaa0b7627fb00cbeb2daf163caa015e59b7516395fe3bd1e066 \
-    --hash=sha256:97c5dddd5932bd2a1a31c927ba5e1463a53b87ca96b5c9bdf5dfd6096e27efc3 \
-    --hash=sha256:a49f6ed96f83966f576b33a44257d869756df6cf1ef4934f59dd58b25e0327e5 \
-    --hash=sha256:af29a935803cc707ab2ed7791c44288a682f9c8107bc00f0eccc4f92c08d6e07 \
-    --hash=sha256:b05d43735bb2f07d689f56f7b474788a13ed8adc484a85aa65c0fd931cf9ccd2 \
-    --hash=sha256:b28d2ca4add7ac16ae8bb6632a3c86e4b9e4d52d3e34267f6e1b0c1f8d87e389 \
-    --hash=sha256:c0ee987efa6737242745f347835da2cc5bb9f1b42996a4d97d5c7ff7928cb6f2 \
-    --hash=sha256:d0d2821003174de06b69e58cef2316a6622b60ee613121199cb2852a873f8cf3 \
-    --hash=sha256:eb58ca0abd96911932f688528977858681a59d61a7ce908ffd355957f7025cfc \
-    --hash=sha256:edaf02b82cd7639db00dbff629995ef185c8df4c3ffa71a5562a595765a06ce1 \
-    --hash=sha256:fef8c87f8abfb884dac04e97824b61299880c43f4ce675dd2cbeadd3c9b466d2
-setuptools==78.1.1 \
-    --hash=sha256:c3a9c4211ff4c309edb8b8c4f1cbfa7ae324c4ba9f91ff254e3d305b9fd54561 \
-    --hash=sha256:fcc17fd9cd898242f6b4adfaca46137a9edef687f43e6f78469692a5e70d851d
-trimesh==4.5.2 \
-    --hash=sha256:2e50f3a7fd135c3045da887a1b9f91230528f3ce11d2ec1ba44750d82d6b4f73
-wheel==0.46.2 \
-    --hash=sha256:33ae60725d69eaa249bc1982e739943c23b34b58d51f1cb6253453773aca6e65 \
-    --hash=sha256:3d79e48fde9847618a5a181f3cc35764c349c752e2fe911e65fa17faab9809b0
-
-# Transitive dependencies of etils[epath]
-fsspec==2024.10.0 \
-    --hash=sha256:03b9a6785766a4de40368b88906366755e2819e758b83705c88cd7cb5fe81871
-importlib-resources==6.4.5 \
-    --hash=sha256:ac29d5f956f01d5e4bb63102a5a19957f1b9175e45649977264a1416783bb717
-typing_extensions==4.12.2 \
-    --hash=sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d
-zipp==3.21.0 \
-    --hash=sha256:ac1bbe05fd2991f160ebce24ffbac5f6d11d83dc90891255885223d42b3cd931
-
-# Transitive dependencies of jax and jaxlib
-ml-dtypes==0.5.4; python_version >= '3.13' \
-    --hash=sha256:0d2ffd05a2575b1519dc928c0b93c06339eb67173ff53acb00724502cda231cf \
-    --hash=sha256:14a4fd3228af936461db66faccef6e4f41c1d82fcc30e9f8d58a08916b1d811f \
-    --hash=sha256:2314892cdc3fcf05e373d76d72aaa15fda9fb98625effa73c1d646f331fcecb7 \
-    --hash=sha256:2b857d3af6ac0d39db1de7c706e69c7f9791627209c3d6dedbfca8c7e5faec22 \
-    --hash=sha256:304ad47faa395415b9ccbcc06a0350800bc50eda70f0e45326796e27c62f18b6 \
-    --hash=sha256:4381fe2f2452a2d7589689693d3162e876b3ddb0a832cde7a414f8e1adf7eab1 \
-    --hash=sha256:531eff30e4d368cb6255bc2328d070e35836aa4f282a0fb5f3a0cd7260257298 \
-    --hash=sha256:533ce891ba774eabf607172254f2e7260ba5f57bdd64030c9a4fcfbd99815d0d \
-    --hash=sha256:6a0df4223b514d799b8a1629c65ddc351b3efa833ccf7f8ea0cf654a61d1e35d \
-    --hash=sha256:805cef3a38f4eafae3a5bf9ebdcdb741d0bcfd9e1bd90eb54abd24f928cd2465 \
-    --hash=sha256:8c6a2dcebd6f3903e05d51960a8058d6e131fe69f952a5397e5dbabc841b6d56 \
-    --hash=sha256:8c760d85a2f82e2bed75867079188c9d18dae2ee77c25a54d60e9cc79be1bc48 \
-    --hash=sha256:bfc534409c5d4b0bf945af29e5d0ab075eae9eecbb549ff8a29280db822f34f9 \
-    --hash=sha256:cb73dccfc991691c444acc8c0012bee8f2470da826a92e3a20bb333b1a7894e6 \
-    --hash=sha256:ce756d3a10d0c4067172804c9cc276ba9cc0ff47af9078ad439b075d1abdc29b \
-    --hash=sha256:f21c9219ef48ca5ee78402d5cc831bd58ea27ce89beda894428bc67a52da5328
-ml-dtypes==0.5.0; python_version < '3.13' \
-    --hash=sha256:2e7534392682c3098bc7341648c650864207169c654aed83143d7a19c67ae06f \
-    --hash=sha256:60275f2b51b56834e840c4809fca840565f9bf8e9a73f6d8c94f5b5935701215 \
-    --hash=sha256:76942f6aeb5c40766d5ea62386daa4148e6a54322aaf5b53eae9e7553240222f \
-    --hash=sha256:8c32138975797e681eb175996d64356bcfa124bdbb6a70460b9768c2b35a6fa4 \
-    --hash=sha256:968fede07d1f9b926a63df97d25ac656cac1a57ebd33701734eaf704bc55d8d8 \
-    --hash=sha256:a38df8df61194aeaae1ab7579075779b4ad32cd1cffd012c28be227fa7f2a70a \
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-numpy==2.4.4; python_version >= '3.13' \
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-numpy==2.1.3; python_version >= '3.10' and python_version < '3.13' \
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-    --hash=sha256:d89dd2b6da69c4fff5e39c28a382199ddedc3a5be5390115608345dec660b9e2 \
-    --hash=sha256:e14e26956e6f1696070788252dcdff11b4aca4c3e8bd166e0df1bb8f315a67cb \
-    --hash=sha256:e711e02f49e176a01d0349d82cb5f05ba4db7d5e7e0defd026328e5cfb3226d3 \
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-    --hash=sha256:fa2d1337dc61c8dc417fbccf20f6d1e139896a30721b7f1e832b2bb6ef4eb6c4
-opt-einsum==3.4.0 \
-    --hash=sha256:69bb92469f86a1565195ece4ac0323943e83477171b91d24c35afe028a90d7cd
-
-# Transitive dependencies of pytest
-attrs==24.2.0; platform_system == 'Windows' \
-    --hash=sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2
-colorama==0.4.6; platform_system == 'Windows' \
-    --hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6
-exceptiongroup==1.2.2; python_version < '3.11' \
-    --hash=sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b
-iniconfig==2.0.0 \
-    --hash=sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374
-packaging==24.2 \
-    --hash=sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759
-pluggy==1.5.0 \
-    --hash=sha256:44e1ad92c8ca002de6377e165f3e0f1be63266ab4d554740532335b9d75ea669
-tomli==2.1.0; python_version < '3.11' \
-    --hash=sha256:a5c57c3d1c56f5ccdf89f6523458f60ef716e210fc47c4cfb188c5ba473e0391
-
-# Transitive dependencies of pytest-xdist
-execnet==2.1.1 \
-    --hash=sha256:26dee51f1b80cebd6d0ca8e74dd8745419761d3bef34163928cbebbdc4749fdc
diff --git a/mjx/training_apg.ipynb b/mjx/training_apg.ipynb
deleted file mode 100644
index fa9bc8a5..00000000
--- a/mjx/training_apg.ipynb
+++ /dev/null
@@ -1,1566 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "MpkYHwCqk7W-"
-   },
-   "source": [
-    "![MuJoCo banner](https://raw.githubusercontent.com/google-deepmind/mujoco/main/banner.png)\n",
-    "\n",
-    "# <h1><center>Tutorial  <a href=\"https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/training_apg.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"140\" align=\"center\"/></a></center></h1>\n",
-    "\n",
-    "This notebook provides a tutorial for differentiable physics for policy learning in [**MuJoCo XLA (MJX)**](https://github.com/google-deepmind/mujoco/blob/main/mjx), a JAX-based implementation of MuJoCo.\n",
-    "\n",
-    "**A Colab runtime with GPU acceleration is required.** If you're using a CPU-only runtime, you can switch using the menu \"Runtime > Change runtime type\".\n",
-    "\n",
-    "\n",
-    "This notebook was written by [Jing Yuan Luo](https://github.com/Andrew-Luo1).\n",
-    "\n",
-    "<!-- Copyright 2021 DeepMind Technologies Limited\n",
-    "\n",
-    "     Licensed under the Apache License, Version 2.0 (the \"License\");\n",
-    "     you may not use this file except in compliance with the License.\n",
-    "     You may obtain a copy of the License at\n",
-    "\n",
-    "         http://www.apache.org/licenses/LICENSE-2.0\n",
-    "\n",
-    "     Unless required by applicable law or agreed to in writing, software\n",
-    "     distributed under the License is distributed on an \"AS IS\" BASIS,\n",
-    "     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n",
-    "     See the License for the specific language governing permissions and\n",
-    "     limitations under the License.\n",
-    "-->"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Policy learning and Policy Gradients\n",
-    "\n",
-    "This is a recap of policy learning contextualizes how we can use MJX's differentiability for policy learning. If the below concepts are unfamiliar, there are many great resources [online](https://spinningup.openai.com/en/latest/spinningup/rl_intro.html)!  \n",
-    "\n",
-    "The goal of policy learning is to find a control policy $\\pi$ which outputs actions $a_t \\sim \\pi(\\cdot| x_t, \\theta)$ maximizing the total rewards $\\sum r_t$ over some time period, where $r_t$ is shorthand for a reward function evaluated at the state and action of time t:\n",
-    "\n",
-    "$$r_t = r(x_t, a_t)$$\n",
-    "\n",
-    "$\\theta$ are the parameters of the policy; weights in the common case that the policy is a neural network. **Policy gradient methods** involve estimating the gradient of the rewards with respect to the weights, and using this value in a first-order optimization algorithm such as Gradient Descent or [Adam](https://arxiv.org/abs/1412.6980). How we estimate the policy gradient depends on what state transition model we assume. \n",
-    "\n",
-    "#### Zeroth-Order Policy Gradients (ZoPG)\n",
-    "\n",
-    "Referring to `mjx.step` as the simulation function f, we borrow some [terminology](https://arxiv.org/abs/2202.00817) to differentiate between zeroth-order gradients, which only depend on values of f, and first-order gradients, which depend on its jacobian.\n",
-    "\n",
-    "Reinforcement learning (RL) algorithms such as the standard [PPO](https://github.com/google/brax/blob/main/brax/training/agents/ppo/train.py) assume the stochastic state transition model $x_{t+1} \\sim P(\\cdot | x_t, a_t)$. This leads to a ZoPG of the form:\n",
-    "\n",
-    "$$\n",
-    "\\nabla_\\theta J(\\pi_\\theta) = \\mathbb{E}_{\\tau \\sim \\pi_\\theta}\\left[ \\sum \\nabla_\\theta \\log\\pi_\\theta (a_t | s_t) R(\\tau) \\right]\n",
-    "$$\n",
-    "\n",
-    "Where $R(\\tau)$ is some function depending on the rollout $\\tau = \\{x_t, a_t\\}_{t=0}^{T}$. Despite this method's popularity and extensive research into its refinement, a fundamental property is that the gradient has high variance. This allows the optimizer to thoroughly explore the space of policies, leading to the robust and often surprisingly good policies that have been achieved. However, the variance comes at the cost of requiring many samples $(x_t, a_t)$ to converge.\n",
-    "\n",
-    "#### First-Order Policy Gradients (FoPG)\n",
-    "On the other hand, if you assume a deterministic state transition model $x_{t+1} = f(x_t, a_t)$, you end up with the first-order policy gradient. Other common names include Analytical Policy Gradients (APG) and Backpropogation through Time (BPTT). Unlike ZoPG methods, which model the state evolution as a probabilistic black box, the FoPG explicitly contains the jacobians of the simulation function f. For example, let's look at the gradient of the reward $r_t$, in the case that it only depends on state.\n",
-    "$$\n",
-    "\\frac{\\partial r_t}{\\partial \\theta} = \\frac{\\partial r_t}{\\partial x_t}\\frac{\\partial x_t}{\\partial \\theta} \n",
-    "$$\n",
-    "\n",
-    "$$\n",
-    "\\frac{\\partial x_t}{\\partial \\theta} = \\color{blue}{\\frac{\\partial f(x_{t-1}, a_{t-1})}{\\partial x_{t-1}}}\\frac{\\partial x_{t-1}}{\\partial \\theta} + \\color{blue}{\\frac{\\partial f(x_{t-1}, a_{t-1})}{\\partial a_{t-1}}} \\frac{\\partial a_{t-1}}{\\partial \\theta}\n",
-    "$$\n",
-    "\n",
-    "The blue-colored terms in the above expression are enabled by MJX's differentiability and are the key difference between FoPG's and ZoPG's. An important consideration is what these jacobians look like near contact points. To see why certain gradients within the jacobian can be pathological, imagine a hard sphere falling toward a block of marble. How does its velocity change with respect to distance ($\\frac{\\partial \\dot{z}_t}{\\partial z_t}$), the instant before it touches the ground? This is the case of an **uninformative gradient**, due to [hard contact](https://arxiv.org/html/2404.02887v1). Fortunately, the default contact settings in Mujoco are sufficiently [soft](https://mujoco.readthedocs.io/en/stable/computation/index.html#soft-contact-model) for learning via FoPG's. With soft contacts, the ground applies an increasing force on the ball as it penetrates it, unlike rigid contacts, which instantly provide enough force for deflection.\n",
-    "\n",
-    "A helpful way to think about FoPG's is via the chain rule and computation graphs, as illustrated below for how $r_2$ influences the policy gradient, again for the case that the reward does not depend on action:\n",
-    "\n",
-    "<img src=\"../doc/images/mjx/apg_diagram.png\" alt=\"drawing\" width=\"300\"/>\n",
-    "\n",
-    "Note that there three distinct gradient chains in this example. The red pathway considers how the immediately prior action affected the state. The blue path explains the name *Backpropogation through Time*, capturing how actions affect downstream rewards. The least intuitive may be the green chain, which shows how the reward depends on how actions depend on previous actions.Experience shows that blocking *any* of these three pathways via jax.lax.stop_grad can badly hinder policy learning. As the length of $x_t$ backbone increases, [gradient explosion](https://arxiv.org/abs/2111.05803) becomes a crucial consideration. In practice, this can be resolved via decaying downstream gradients or periodically truncating the gradient.\n",
-    "\n",
-    "**The Sharp Bits of FoPG's**\n",
-    "\n",
-    "While FoPG's have been shown to be very sample efficient, especially as the [dimension of the state space increases](https://arxiv.org/abs/2204.07137), one fundamental shortcoming is that due to the lower gradient variance, FoPG's also have less exploration power than ZoPG's and benefit from the practioner being more explicit in the problem formulation.\n",
-    "\n",
-    "Additionally, discontinuous reward formulations are ubiquitious in RL, for instance, a large penalty when the robot falls. It can be significantly more [challenging](https://arxiv.org/abs/2403.14864) to design robust policies with FoPG's, since they cannot backprop through such penalties.\n",
-    "\n",
-    "Last, despite the sample efficiency, FoPG methods can still struggle with wall-clock time. Because the gradients have low variance, they do not benefit significantly from massive parallelization of data collection - unlike [RL](https://arxiv.org/abs/2109.11978). Additionally, the policy gradient is typically calculated via autodifferentiation. This can be 3-5x slower than unrolling the simulation forward, and memory intensive, with memory requirements scaling with $O(m \\cdot (m+n) \\cdot T)$, where m and n are the state and control dimensions, $m \\cdot (m+n)$ is the jacobian dimension, and T is the number of steps propogated through.\n",
-    "\n",
-    "Note that with certain models, using autodifferentiation through mjx.step currently causes [nan gradients](https://github.com/google-deepmind/mujoco/issues/1517). For now, we address this issue by using double-precision floats, at the cost of doubling the memory requirements and training time.\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "---\n",
-    "**Publications**\n",
-    "\n",
-    "If you use this work in an academic context, please cite the following publication:\n",
-    "\n",
-    "```\n",
-    "@misc{luo2024residual,\n",
-    "  title={Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation},\n",
-    "  author={Luo, Jing Yuan and Song, Yunlong and Klemm, Victor and Shi, Fan and Scaramuzza, Davide and Hutter, Marco},\n",
-    "  year={2024},\n",
-    "  eprint={2410.03076},\n",
-    "  archivePrefix={arXiv},\n",
-    "  primaryClass={cs.RO},\n",
-    "  url={https://doi.org/10.48550/arXiv.2410.03076}\n",
-    "}\n",
-    "```"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "---\n",
-    "\n",
-    "**Coming Up**\n",
-    "\n",
-    "In this tutorial, we demonstrate two ways to use FoPG's, using Brax's simple APG [algorithm](https://github.com/google/brax/tree/main/brax/training/agents/apg). This algorithm essentially uses FoPG's to perform live gradient descent on the policy, unrolling it for a short window, using the data to do a policy update, then continuing where it left off."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Setup: Imports and installations"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# Install MuJoCo, MJX, and Brax\n",
-    "!pip install mujoco\n",
-    "!pip install mujoco_mjx\n",
-    "!pip install brax"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "#@title Check if MuJoCo installation was successful\n",
-    "\n",
-    "# Set up GPU rendering.\n",
-    "from google.colab import files\n",
-    "import distutils.util\n",
-    "import os\n",
-    "import subprocess\n",
-    "if subprocess.run('nvidia-smi').returncode:\n",
-    "  raise RuntimeError(\n",
-    "      'Cannot communicate with GPU. '\n",
-    "      'Make sure you are using a GPU Colab runtime. '\n",
-    "      'Go to the Runtime menu and select Choose runtime type.')\n",
-    "\n",
-    "# Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
-    "# This is usually installed as part of an Nvidia driver package, but the Colab\n",
-    "# kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
-    "# (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
-    "NVIDIA_ICD_CONFIG_PATH = '/usr/share/glvnd/egl_vendor.d/10_nvidia.json'\n",
-    "if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
-    "  with open(NVIDIA_ICD_CONFIG_PATH, 'w') as f:\n",
-    "    f.write(\"\"\"{\n",
-    "    \"file_format_version\" : \"1.0.0\",\n",
-    "    \"ICD\" : {\n",
-    "        \"library_path\" : \"libEGL_nvidia.so.0\"\n",
-    "    }\n",
-    "}\n",
-    "\"\"\")\n",
-    "\n",
-    "# Configure MuJoCo to use the EGL rendering backend (requires GPU)\n",
-    "print('Setting environment variable to use GPU rendering:')\n",
-    "%env MUJOCO_GL=egl\n",
-    "\n",
-    "# Check if installation was succesful.\n",
-    "try:\n",
-    "  print('Checking that the installation succeeded:')\n",
-    "  import mujoco\n",
-    "  mujoco.MjModel.from_xml_string('<mujoco/>')\n",
-    "except Exception as e:\n",
-    "  raise e from RuntimeError(\n",
-    "      'Something went wrong during installation. Check the shell output above '\n",
-    "      'for more information.\\n'\n",
-    "      'If using a hosted Colab runtime, make sure you enable GPU acceleration '\n",
-    "      'by going to the Runtime menu and selecting \"Choose runtime type\".')\n",
-    "\n",
-    "print('Installation successful.')\n",
-    "\n",
-    "# Other imports and helper functions\n",
-    "import time\n",
-    "import itertools\n",
-    "import numpy as np\n",
-    "\n",
-    "# Graphics and plotting.\n",
-    "print('Installing mediapy:')\n",
-    "!command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
-    "!pip install -q mediapy\n",
-    "import mediapy as media\n",
-    "import matplotlib.pyplot as plt\n",
-    "\n",
-    "# More legible printing from numpy.\n",
-    "np.set_printoptions(precision=3, suppress=True, linewidth=100)\n",
-    "\n",
-    "from IPython.display import clear_output\n",
-    "clear_output()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 1,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "#@title Import MuJoCo, MJX, and Brax\n",
-    "\n",
-    "import os\n",
-    "os.environ[\"XLA_PYTHON_CLIENT_MEM_FRACTION\"] = \"0.8\" # 0.9 causes too much lag. \n",
-    "from datetime import datetime\n",
-    "import functools\n",
-    "\n",
-    "# Math\n",
-    "import jax.numpy as jp\n",
-    "import numpy as np\n",
-    "import jax\n",
-    "from jax import config # Analytical gradients work much better with double precision.\n",
-    "config.update(\"jax_debug_nans\", True)\n",
-    "config.update(\"jax_enable_x64\", True)\n",
-    "config.update('jax_default_matmul_precision', jax.lax.Precision.HIGH)\n",
-    "from brax import math\n",
-    "\n",
-    "# Sim\n",
-    "import mujoco\n",
-    "import mujoco.mjx as mjx\n",
-    "\n",
-    "# Brax\n",
-    "from brax import envs\n",
-    "from brax.base import Motion, Transform\n",
-    "from brax.io import mjcf\n",
-    "from brax.envs.base import PipelineEnv, State\n",
-    "from brax.mjx.pipeline import _reformat_contact\n",
-    "from brax.training.acme import running_statistics\n",
-    "from brax.io import model\n",
-    "\n",
-    "# Algorithms\n",
-    "from brax.training.agents.apg import train as apg\n",
-    "from brax.training.agents.apg import networks as apg_networks\n",
-    "from brax.training.agents.ppo import train as ppo\n",
-    "\n",
-    "# Supporting\n",
-    "from etils import epath\n",
-    "import mediapy as media\n",
-    "import matplotlib.pyplot as plt\n",
-    "from ml_collections import config_dict\n",
-    "from typing import Any, Dict\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "#### Quadruped Env"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "!git clone https://github.com/google-deepmind/mujoco_menagerie.git"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 3,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/html": [
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\"/></td></tr></table>"
-      ],
-      "text/plain": [
-       "<IPython.core.display.HTML object>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "xml_path = epath.Path('mujoco_menagerie/anybotics_anymal_c/scene_mjx.xml').as_posix()\n",
-    "\n",
-    "mj_model = mujoco.MjModel.from_xml_path(xml_path)\n",
-    "\n",
-    "if 'renderer' not in dir():\n",
-    "    renderer = mujoco.Renderer(mj_model)\n",
-    "\n",
-    "init_q = mj_model.keyframe('standing').qpos\n",
-    "\n",
-    "mj_data = mujoco.MjData(mj_model)\n",
-    "mj_data.qpos = init_q\n",
-    "mujoco.mj_forward(mj_model, mj_data)\n",
-    "\n",
-    "renderer.update_scene(mj_data)\n",
-    "media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 4,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# Rendering Rollouts\n",
-    "def render_rollout(reset_fn, step_fn, \n",
-    "                   inference_fn, env, \n",
-    "                   n_steps = 200, camera=None,\n",
-    "                   seed=0):\n",
-    "    rng = jax.random.key(seed)\n",
-    "    render_every = 3\n",
-    "    state = reset_fn(rng)\n",
-    "    rollout = [state.pipeline_state]\n",
-    "\n",
-    "    for i in range(n_steps):\n",
-    "        act_rng, rng = jax.random.split(rng)\n",
-    "        ctrl, _ = inference_fn(state.obs, act_rng)\n",
-    "        state = step_fn(state, ctrl)\n",
-    "        if i % render_every == 0:\n",
-    "            rollout.append(state.pipeline_state)\n",
-    "\n",
-    "    media.show_video(env.render(rollout, camera=camera), \n",
-    "                     fps=1.0 / (env.dt*render_every),\n",
-    "                     codec='gif')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Study 1: Imitating Kinematics\n",
-    "\n",
-    "FoPG's have been demonstrated to work well in [imitation learning](https://openreview.net/forum?id=06mk-epSwZ), especially when the agent state is reset to track the reference state when it gets too far. In this section, we learn to trot in place. Due to the limited gain on the PD controllers, trotting quickly is far from trivial!\n",
-    "\n",
-    "The RL environment has three rewards:\n",
-    "- min_reference_tracking penalizes error from the reference motion, in minimal coordinates. This makes the policy's output more precise.\n",
-    "- reference_tracking penalizes error in maximal coordinates and increases training stability.\n",
-    "- feet_height nudges the balance of which body positions and velocities to track, by placing additional incentive on the *position* of the feet."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "#### Designing Reference Kinematics"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 7,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "def cos_wave(t, step_period, scale):\n",
-    "    _cos_wave = -jp.cos(((2*jp.pi)/step_period)*t)\n",
-    "    return _cos_wave * (scale/2) + (scale/2)\n",
-    "\n",
-    "def dcos_wave(t, step_period, scale):\n",
-    "    \"\"\" \n",
-    "    Derivative of the cos wave, for reference velocity\n",
-    "    \"\"\"\n",
-    "    return ((scale*jp.pi) / step_period) * jp.sin(((2*jp.pi)/step_period)*t)\n",
-    "\n",
-    "def make_kinematic_ref(sinusoid, step_k, scale=0.3, dt=1/50):\n",
-    "    \"\"\" \n",
-    "    Makes trotting kinematics for the 12 leg joints.\n",
-    "    step_k is the number of timesteps it takes to raise and lower a given foot.\n",
-    "    A gait cycle is 2 * step_k * dt seconds long.\n",
-    "    \"\"\"\n",
-    "    \n",
-    "    _steps = jp.arange(step_k)\n",
-    "    step_period = step_k * dt\n",
-    "    t = _steps * dt\n",
-    "    \n",
-    "    wave = sinusoid(t, step_period, scale)\n",
-    "    # Commands for one step of an active front leg\n",
-    "    fleg_cmd_block = jp.concatenate(\n",
-    "        [jp.zeros((step_k, 1)),\n",
-    "        wave.reshape(step_k, 1),\n",
-    "        -2*wave.reshape(step_k, 1)],\n",
-    "        axis=1\n",
-    "    )\n",
-    "    # Our standing config reverses front and hind legs\n",
-    "    h_leg_cmd_bloc = -1 * fleg_cmd_block\n",
-    "\n",
-    "    block1 = jp.concatenate([\n",
-    "        jp.zeros((step_k, 3)),\n",
-    "        fleg_cmd_block,\n",
-    "        h_leg_cmd_bloc,\n",
-    "        jp.zeros((step_k, 3))],\n",
-    "        axis=1\n",
-    "    )\n",
-    "\n",
-    "    block2 = jp.concatenate([\n",
-    "        fleg_cmd_block,\n",
-    "        jp.zeros((step_k, 3)),\n",
-    "        jp.zeros((step_k, 3)),\n",
-    "        h_leg_cmd_bloc],\n",
-    "        axis=1\n",
-    "    )\n",
-    "    # In one step cycle, both pairs of active legs have inactive and active phases\n",
-    "    step_cycle = jp.concatenate([block1, block2], axis=0)\n",
-    "    return step_cycle\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 8,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/html": [
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\"/></td></tr></table>"
-      ],
-      "text/plain": [
-       "<IPython.core.display.HTML object>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "poses  = make_kinematic_ref(cos_wave, step_k=25)\n",
-    "\n",
-    "frames = []\n",
-    "init_q = mj_model.keyframe('standing').qpos\n",
-    "mj_data.qpos = init_q\n",
-    "default_ap = init_q[7:]\n",
-    "\n",
-    "for i in range(len(poses)):\n",
-    "    mj_data.qpos[7:] = poses[i] + default_ap\n",
-    "    mujoco.mj_forward(mj_model, mj_data)\n",
-    "    renderer.update_scene(mj_data)\n",
-    "    frames.append(renderer.render())\n",
-    "\n",
-    "media.show_video(frames, fps=50, codec='gif')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "#### The RL Environment"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 21,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "def get_config():\n",
-    "  def get_default_rewards_config():\n",
-    "    default_config = config_dict.ConfigDict(\n",
-    "        dict(\n",
-    "            scales=config_dict.ConfigDict(\n",
-    "              dict(\n",
-    "                min_reference_tracking = -2.5 * 3e-3, # to equalize the magnitude\n",
-    "                reference_tracking = -1.0,\n",
-    "                feet_height = -1.0\n",
-    "                )\n",
-    "              )\n",
-    "            )\n",
-    "    )\n",
-    "    return default_config\n",
-    "\n",
-    "  default_config = config_dict.ConfigDict(\n",
-    "      dict(rewards=get_default_rewards_config(),))\n",
-    "\n",
-    "  return default_config\n",
-    "\n",
-    "# Math functions from (https://github.com/jiawei-ren/diffmimic)\n",
-    "def quaternion_to_matrix(quaternions):\n",
-    "    r, i, j, k = quaternions[..., 0], quaternions[..., 1], quaternions[..., 2], quaternions[..., 3]\n",
-    "    two_s = 2.0 / (quaternions * quaternions).sum(-1)\n",
-    "\n",
-    "    o = jp.stack(\n",
-    "        (\n",
-    "            1 - two_s * (j * j + k * k),\n",
-    "            two_s * (i * j - k * r),\n",
-    "            two_s * (i * k + j * r),\n",
-    "            two_s * (i * j + k * r),\n",
-    "            1 - two_s * (i * i + k * k),\n",
-    "            two_s * (j * k - i * r),\n",
-    "            two_s * (i * k - j * r),\n",
-    "            two_s * (j * k + i * r),\n",
-    "            1 - two_s * (i * i + j * j),\n",
-    "        ),\n",
-    "        -1,\n",
-    "    )\n",
-    "    return o.reshape(quaternions.shape[:-1] + (3, 3))\n",
-    "\n",
-    "def matrix_to_rotation_6d(matrix):\n",
-    "    batch_dim = matrix.shape[:-2]\n",
-    "    return matrix[..., :2, :].reshape(batch_dim + (6,))\n",
-    "\n",
-    "def quaternion_to_rotation_6d(quaternion):\n",
-    "    return matrix_to_rotation_6d(quaternion_to_matrix(quaternion))\n",
-    "\n",
-    "class TrotAnymal(PipelineEnv):\n",
-    "\n",
-    "  def __init__(\n",
-    "      self,\n",
-    "      termination_height: float=0.25,\n",
-    "      **kwargs,\n",
-    "  ):\n",
-    "    step_k = kwargs.pop('step_k', 25)\n",
-    "\n",
-    "    physics_steps_per_control_step = 10\n",
-    "    kwargs['n_frames'] = kwargs.get(\n",
-    "        'n_frames', physics_steps_per_control_step)\n",
-    "\n",
-    "    mj_model = mujoco.MjModel.from_xml_path(xml_path)\n",
-    "    kp = 230\n",
-    "    mj_model.actuator_gainprm[:, 0] = kp\n",
-    "    mj_model.actuator_biasprm[:, 1] = -kp\n",
-    "\n",
-    "    sys = mjcf.load_model(mj_model)\n",
-    "\n",
-    "    super().__init__(sys=sys, **kwargs)    \n",
-    "    \n",
-    "    self.termination_height = termination_height\n",
-    "    \n",
-    "    self._init_q = mj_model.keyframe('standing').qpos\n",
-    "    \n",
-    "    self.err_threshold = 0.4 # diffmimic; value from paper.\n",
-    "    \n",
-    "    self._default_ap_pose = mj_model.keyframe('standing').qpos[7:]\n",
-    "    self.reward_config = get_config()\n",
-    "\n",
-    "    self.action_loc = self._default_ap_pose\n",
-    "    self.action_scale = jp.array([0.2, 0.8, 0.8] * 4)\n",
-    "    \n",
-    "    self.feet_inds = jp.array([21,28,35,42]) # LF, RF, LH, RH\n",
-    "\n",
-    "    #### Imitation reference\n",
-    "    kinematic_ref_qpos = make_kinematic_ref(\n",
-    "      cos_wave, step_k, scale=0.3, dt=self.dt)\n",
-    "    kinematic_ref_qvel = make_kinematic_ref(\n",
-    "      dcos_wave, step_k, scale=0.3, dt=self.dt)\n",
-    "    \n",
-    "    self.l_cycle = jp.array(kinematic_ref_qpos.shape[0])\n",
-    "    \n",
-    "    # Expand to entire state space.\n",
-    "\n",
-    "    kinematic_ref_qpos += self._default_ap_pose\n",
-    "    ref_qs = np.tile(self._init_q.reshape(1, 19), (self.l_cycle, 1))\n",
-    "    ref_qs[:, 7:] = kinematic_ref_qpos\n",
-    "    self.kinematic_ref_qpos = jp.array(ref_qs)\n",
-    "    \n",
-    "    ref_qvels = np.zeros((self.l_cycle, 18))\n",
-    "    ref_qvels[:, 6:] = kinematic_ref_qvel\n",
-    "    self.kinematic_ref_qvel = jp.array(ref_qvels)\n",
-    "\n",
-    "    # Can decrease jit time and training wall-clock time significantly.\n",
-    "    self.pipeline_step = jax.checkpoint(self.pipeline_step, \n",
-    "      policy=jax.checkpoint_policies.dots_with_no_batch_dims_saveable)\n",
-    "    \n",
-    "  def reset(self, rng: jax.Array) -> State:\n",
-    "    # Deterministic init\n",
-    "\n",
-    "    qpos = jp.array(self._init_q)\n",
-    "    qvel = jp.zeros(18)\n",
-    "    \n",
-    "    data = self.pipeline_init(qpos, qvel)\n",
-    "\n",
-    "    # Position onto ground\n",
-    "    pen = jp.min(data.contact.dist)\n",
-    "    qpos = qpos.at[2].set(qpos[2] - pen)\n",
-    "    data = self.pipeline_init(qpos, qvel)\n",
-    "\n",
-    "    state_info = {\n",
-    "        'rng': rng,\n",
-    "        'steps': 0.0,\n",
-    "        'reward_tuple': {\n",
-    "            'reference_tracking': 0.0,\n",
-    "            'min_reference_tracking': 0.0,\n",
-    "            'feet_height': 0.0\n",
-    "        },\n",
-    "        'last_action': jp.zeros(12), # from MJX tutorial.\n",
-    "        'kinematic_ref': jp.zeros(19),\n",
-    "    }\n",
-    "\n",
-    "    x, xd = data.x, data.xd\n",
-    "    obs = self._get_obs(data.qpos, x, xd, state_info)\n",
-    "    reward, done = jp.zeros(2)\n",
-    "    metrics = {}\n",
-    "    for k in state_info['reward_tuple']:\n",
-    "      metrics[k] = state_info['reward_tuple'][k]\n",
-    "    state = State(data, obs, reward, done, metrics, state_info)\n",
-    "    return jax.lax.stop_gradient(state)\n",
-    "  \n",
-    "  def step(self, state: State, action: jax.Array) -> State:\n",
-    "    action = jp.clip(action, -1, 1) # Raw action\n",
-    "\n",
-    "    action = self.action_loc + (action * self.action_scale)\n",
-    "\n",
-    "    data = self.pipeline_step(state.pipeline_state, action)\n",
-    "    \n",
-    "    ref_qpos = self.kinematic_ref_qpos[jp.array(state.info['steps']%self.l_cycle, int)]\n",
-    "    ref_qvel = self.kinematic_ref_qvel[jp.array(state.info['steps']%self.l_cycle, int)]\n",
-    "    \n",
-    "    # Calculate maximal coordinates\n",
-    "    ref_data = data.replace(qpos=ref_qpos, qvel=ref_qvel)\n",
-    "    ref_data = mjx.forward(self.sys, ref_data)\n",
-    "    ref_x, ref_xd = ref_data.x, ref_data.xd\n",
-    "\n",
-    "    state.info['kinematic_ref'] = ref_qpos\n",
-    "\n",
-    "    # observation data\n",
-    "    x, xd = data.x, data.xd\n",
-    "    obs = self._get_obs(data.qpos, x, xd, state.info)\n",
-    "\n",
-    "    # Terminate if flipped over or fallen down.\n",
-    "    done = 0.0\n",
-    "    done = jp.where(x.pos[0, 2] < self.termination_height, 1.0, done)\n",
-    "    up = jp.array([0.0, 0.0, 1.0])\n",
-    "    done = jp.where(jp.dot(math.rotate(up, x.rot[0]), up) < 0, 1.0, done)\n",
-    "\n",
-    "    # reward\n",
-    "    reward_tuple = {\n",
-    "        'reference_tracking': (\n",
-    "          self._reward_reference_tracking(x, xd, ref_x, ref_xd)\n",
-    "          * self.reward_config.rewards.scales.reference_tracking\n",
-    "        ),\n",
-    "        'min_reference_tracking': (\n",
-    "          self._reward_min_reference_tracking(ref_qpos, ref_qvel, state)\n",
-    "          * self.reward_config.rewards.scales.min_reference_tracking\n",
-    "        ),\n",
-    "        'feet_height': (\n",
-    "          self._reward_feet_height(data.geom_xpos[self.feet_inds][:, 2]\n",
-    "                                   ,ref_data.geom_xpos[self.feet_inds][:, 2])\n",
-    "          * self.reward_config.rewards.scales.feet_height\n",
-    "        )\n",
-    "    }\n",
-    "    \n",
-    "    reward = sum(reward_tuple.values())\n",
-    "\n",
-    "    # state management\n",
-    "    state.info['reward_tuple'] = reward_tuple\n",
-    "    state.info['last_action'] = action # used for observation. \n",
-    "\n",
-    "    for k in state.info['reward_tuple'].keys():\n",
-    "      state.metrics[k] = state.info['reward_tuple'][k]\n",
-    "\n",
-    "    state = state.replace(\n",
-    "        pipeline_state=data, obs=obs, reward=reward,\n",
-    "        done=done)\n",
-    "    \n",
-    "    #### Reset state to reference if it gets too far\n",
-    "    error = (((x.pos - ref_x.pos) ** 2).sum(-1)**0.5).mean()\n",
-    "    to_reference = jp.where(error > self.err_threshold, 1.0, 0.0)\n",
-    "\n",
-    "    to_reference = jp.array(to_reference, dtype=int) # keeps output types same as input. \n",
-    "    ref_data = self.mjx_to_brax(ref_data)\n",
-    "\n",
-    "    data = jax.tree_util.tree_map(lambda x, y: \n",
-    "                                  jp.array((1-to_reference)*x + to_reference*y, x.dtype), data, ref_data)\n",
-    "    \n",
-    "    x, xd = data.x, data.xd # Data may have changed.\n",
-    "    obs = self._get_obs(data.qpos, x, xd, state.info)\n",
-    "    \n",
-    "    return state.replace(pipeline_state=data, obs=obs)\n",
-    "    \n",
-    "  def _get_obs(self, qpos: jax.Array, x: Transform, xd: Motion,\n",
-    "               state_info: Dict[str, Any]) -> jax.Array:\n",
-    "\n",
-    "    inv_base_orientation = math.quat_inv(x.rot[0])\n",
-    "    local_rpyrate = math.rotate(xd.ang[0], inv_base_orientation)\n",
-    "\n",
-    "    obs_list = []\n",
-    "    # yaw rate\n",
-    "    obs_list.append(jp.array([local_rpyrate[2]]) * 0.25)\n",
-    "    # projected gravity\n",
-    "    obs_list.append(\n",
-    "        math.rotate(jp.array([0.0, 0.0, -1.0]), inv_base_orientation))\n",
-    "    # motor angles\n",
-    "    angles = qpos[7:19]\n",
-    "    obs_list.append(angles - self._default_ap_pose)\n",
-    "    # last action\n",
-    "    obs_list.append(state_info['last_action'])\n",
-    "    # kinematic reference\n",
-    "    kin_ref = self.kinematic_ref_qpos[jp.array(state_info['steps']%self.l_cycle, int)]\n",
-    "    obs_list.append(kin_ref[7:]) # First 7 indicies are fixed\n",
-    "\n",
-    "    obs = jp.clip(jp.concatenate(obs_list), -100.0, 100.0)\n",
-    "\n",
-    "    return obs\n",
-    "  \n",
-    "  def mjx_to_brax(self, data):\n",
-    "    \"\"\" \n",
-    "    Apply the brax wrapper on the core MJX data structure.\n",
-    "    \"\"\"\n",
-    "    q, qd = data.qpos, data.qvel\n",
-    "    x = Transform(pos=data.xpos[1:], rot=data.xquat[1:])\n",
-    "    cvel = Motion(vel=data.cvel[1:, 3:], ang=data.cvel[1:, :3])\n",
-    "    offset = data.xpos[1:, :] - data.subtree_com[self.sys.body_rootid[1:]]\n",
-    "    offset = Transform.create(pos=offset)\n",
-    "    xd = offset.vmap().do(cvel)\n",
-    "    data = _reformat_contact(self.sys, data)\n",
-    "    return data.replace(q=q, qd=qd, x=x, xd=xd)\n",
-    "\n",
-    "\n",
-    "  # ------------ reward functions----------------\n",
-    "  def _reward_reference_tracking(self, x, xd, ref_x, ref_xd):\n",
-    "    \"\"\"\n",
-    "    Rewards based on inertial-frame body positions.\n",
-    "    Notably, we use a high-dimension representation of orientation.\n",
-    "    \"\"\"\n",
-    "\n",
-    "    f = lambda x, y: ((x - y) ** 2).sum(-1).mean()\n",
-    "\n",
-    "    _mse_pos = f(x.pos,  ref_x.pos)\n",
-    "    _mse_rot = f(quaternion_to_rotation_6d(x.rot),\n",
-    "                 quaternion_to_rotation_6d(ref_x.rot))\n",
-    "    _mse_vel = f(xd.vel, ref_xd.vel)\n",
-    "    _mse_ang = f(xd.ang, ref_xd.ang)\n",
-    "\n",
-    "    # Tuned to be about the same size.\n",
-    "    return _mse_pos      \\\n",
-    "      + 0.1 * _mse_rot   \\\n",
-    "      + 0.01 * _mse_vel  \\\n",
-    "      + 0.001 * _mse_ang\n",
-    "\n",
-    "  def _reward_min_reference_tracking(self, ref_qpos, ref_qvel, state):\n",
-    "    \"\"\" \n",
-    "    Using minimal coordinates. Improves accuracy of joint angle tracking.\n",
-    "    \"\"\"\n",
-    "    pos = jp.concatenate([\n",
-    "      state.pipeline_state.qpos[:3],\n",
-    "      state.pipeline_state.qpos[7:]])\n",
-    "    pos_targ = jp.concatenate([\n",
-    "      ref_qpos[:3],\n",
-    "      ref_qpos[7:]])\n",
-    "    pos_err = jp.linalg.norm(pos_targ - pos)\n",
-    "    vel_err = jp.linalg.norm(state.pipeline_state.qvel- ref_qvel)\n",
-    "\n",
-    "    return pos_err + vel_err\n",
-    "\n",
-    "  def _reward_feet_height(self, feet_pos, feet_pos_ref):\n",
-    "    return jp.sum(jp.abs(feet_pos - feet_pos_ref)) # try to drive it to 0 using the l1 norm.\n",
-    "\n",
-    "envs.register_environment('trotting_anymal', TrotAnymal)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "#### Imitation Learning via FoPG's\n",
-    "Takes 15 minutes on a NVIDIA 3060 TI GPU"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 22,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "make_networks_factory = functools.partial(\n",
-    "    apg_networks.make_apg_networks,\n",
-    "    hidden_layer_sizes=(256, 128)\n",
-    ")\n",
-    "\n",
-    "epochs = 499\n",
-    "\n",
-    "train_fn = functools.partial(apg.train,\n",
-    "                             episode_length=240,\n",
-    "                             policy_updates=epochs,\n",
-    "                             horizon_length=32,\n",
-    "                             num_envs=64,\n",
-    "                             learning_rate=1e-4,\n",
-    "                             num_eval_envs=64,\n",
-    "                             num_evals=10 + 1,\n",
-    "                             use_float64=True,\n",
-    "                             normalize_observations=True,\n",
-    "                             network_factory=make_networks_factory)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 23,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "<ErrorbarContainer object of 3 artists>"
-      ]
-     },
-     "execution_count": 23,
-     "metadata": {},
-     "output_type": "execute_result"
-    },
-    {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "x_data = []\n",
-    "y_data = []\n",
-    "ydataerr = []\n",
-    "times = [datetime.now()]\n",
-    "\n",
-    "def progress(it, metrics):\n",
-    "  times.append(datetime.now())\n",
-    "  x_data.append(it)\n",
-    "  y_data.append(metrics['eval/episode_reward'])\n",
-    "  ydataerr.append(metrics['eval/episode_reward_std'])\n",
-    "\n",
-    "# Each foot contacts the ground twice/sec.\n",
-    "env = envs.get_environment(\"trotting_anymal\", step_k = 13)\n",
-    "eval_env = envs.get_environment(\"trotting_anymal\", step_k = 13)\n",
-    "\n",
-    "make_inference_fn, params, _= train_fn(environment=env,\n",
-    "                                       progress_fn=progress,\n",
-    "                                       eval_env=eval_env)\n",
-    "\n",
-    "plt.errorbar(x_data, y_data, yerr=ydataerr)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 24,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/html": [
-       "<table class=\"show_videos\" style=\"border-spacing:0px;\"><tr><td style=\"padding:1px;\"><img width=\"320\" height=\"240\" style=\"image-rendering:auto; object-fit:cover;\" 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cCmw4AYnhy8URTxfd2/6dvB8Mr279lM603SzsHTk1fUcwI1WlrkoFmuRlcBYZaqu4Fl/uCZLqnA6BzvKlr9niXkqXTXAIQ4FFq53ETzTG9xACELExLa3re14xEMe8piH7OPBjtqvAx3mqAYveLEJXHy1CTwgAAGgnDWaT/nynWxgid2da4cSds0w5m8i51xpJRg60YXQ9yKqWAQkBJwHZ+jh/xeF617r6pdQ3hw2k1su8Rv2ueu/lnEXdfi2Ep/h86EHclbH+drqp/PcgYJzj/VukIQ7kAUHcBB68wZflYVuJqduJ5VNXPQEgtZkPmZgOHULq7eBHBgPuLd7kOABIugBGpABIjgBBgABEGAAJlAFy/d5eeZq4sZDXOdrsXVufqcEAph3hfeCWFdQYIBohRAGYIAEXoBoi4BuJyAFVCAFPAB2/vVgS4Z3Z+BjxuZPLmQ8UnZyl1dFOoddD8V8LgdxndaANfdnFHdO22Req4WB9tdyP7ZeNvVaD/h1GLRgFViFCBhZBahkklVcKjZppVd90VB7HHiI84AOKqiCE9CIHv/QiCroYQbgYQRAZ/5XQH0HW8EmhZKXRJ6HdVcIKzlnBZRmcvGHBdlXCqAABkpABE5ABYgmCW2wQwBHBUHwhk6GeEFVfKUYd43XXTvXYwbnajn1ZOj3Ppn4a1ZEVJ53gdDXTYwliD9Qh9D1Q5X0THXXBgaHgQQVWTFXftDFdYllAzaHepeUUZJ0Oj6ICbbQjrxwDLXABaJgDrVXj/XIZeywekhHCw2wAP74j5PYAAI5kIxWeGHYBnEAitUEROqIYL1YfZvVXsc4gATIPOYFCIiWCFigA1TABbB4aJJQSkPAhCogBNQIeChFgVgwX9oIem5IkQVFioDyXioJXonlf5v/l1dcY4BX55LxNDbIR3KnxXJ214lEKU69FiikJo7TOGXmOIrZpI48l5A++UMDxnzUhAUVl25CMAy9Bwy7cAlAMJYEEACNhg7rsA4cmI+GyGXaBgz/GJeORpADSQBZdgurcAuScHpKYAQ48Jc4YAazBijnOF25yGnNyIdsFlAnJJMmGQMyAAqJdgRdQARlcJmSWQo8cAUPRQRU8JlGYGya5G7v9jkKh0412WvjCJGbN06tRGAJ2Xz1N2INaIlfx4tKAFnFFn69tkjZZZql94A0pZJCiU6CpocJOYwWWXcIOIxa6WuwBVI01HUmZ3OMF4aEdwvM8AzSsAuwAAuXcAkE/4ABBtBowkcAxZCW+dgOrgd7sXd0sOd687AO5okAAOkBEPCP9lmWu1AO5XAOAHoO5fANxwCYOGALt2AKkoZkwoaUvViOo9Zf4VVlXaCHe8hDkiCZoEAG7uYFl1kGmWkGxWWZl8k4qtmUpzdqgYV4FHiQn1ea29WG8eReaKiapldpo0ZU/RSMCCmhgJKj2XiBD8eTn3ehSQlqXtN/NhAD1skEm1dZaohzOqSNCOhjQxpO7nYL08AM9SAP4eCdlyAKtbAJXNCP/mgABoAGxyB7bMqmsRef2ZZt9BAP6wCX+rkA5tloAdkAaBoEY8kFm1ALwrAMuGCg1xCg5wBmYcYMw/9wCwkaBm5gcKLZbj2pkPmlcicEBpkpCdMoA5fpBXyAaGZwBRRVBGNQBl5gBBTpZAXIcru5kIDIYMvjmHDnlNV4ZZXUogWXnHy4nE1Wmo5JZ3PgkmumRfJFecFJjnTmpLO6ldUnpb9aX0PqWS2ZgD+WYBX4SKRYc0tKjszgDOOwD9L2DvdAD8XAC2JaDJvgBWnQYXF5DEUXr0RXbdVGD/babOnQDuJQDMUgCpVQCQSwAHQpkAaAAB5AAiTgAUCAsCKIARgQAhjABVxQC7VQDNEQDdIADMJQDdigDd6ADl8GDuNgDc/QqLcACjf6XkIFBdSXsoy3cmawCIsgCGzwOWn/cJlpEIQgmZBqQAYeWgYncAUtqmTVBAUOWJ3LCjxadE5+p6K7aqkQ15I8C6tAlZqIVXMxoKwv+1LY5JjTCKGApWaiVzssmZDDaqVp1W7aWF/Pya1OeVlR0Hem16Qrd3VnK1nMMA3+4A/88A5+ew/3QA64MAyQwAWPqAIbkLgWYAEO0ADgALiQew/2ILmSS3SUC7j5kLn4QK6UK234+g3i4A3HQAuiAAl1kLBooAIqgAZoUAd1gAFoAAQhgAYj2Ii2OwEQcLsTAAmQUAn82rHe8A3nYA4iCw7beQu9cAvPMA3j0LzOa7zMYAtyML1m4AZucASfSgZEMLOCkAZMEAVR/1AEn2oE5GhzN7dyVXiYpbN8CDkHd1usGMW149WyWltlQlVVlVZnWDpu1IOdL0qD9QNZVPmDXxCs0ucvfJVuJledOoi+uUiK5yREYQiDyTmLVtmNBIgFFAUO+8AP/LAP74APInwP4HAMjgABi6u4FpC4G7C4jxu5MBzD+JC5+VC50ibCOCzCNKy5kGsPzQYO4iAOx9CvpRsCRuwBIeCII7jEB9vECFuCGWCCE+ABGVAJvcuv5FAO6UCvQFd01oYLaSAHaaCqX5AGXnDGXsAF0ysHn5kGPICqqAoGdnc/3fiqXZBNN2lpjUl9C3x82KhVqlSBPTmsoGdsO0mtU3vH6P9Wc9bptuVIoaGzlea7iUepRF3DkhScgLxptMZVd1lZckuataZnjm1jBVGwRdGQDqqcDurgZegQD+UgDLaQp412AA7gAAdgAAHwDZGLDzHcyzOcucsme0nHZWrZDvKgDupwwzq8w8GcD74MuEEHxEJ8DKJQuiOYsAyrzU3MxLZLC+mZDrA3D9AGwz6MDmEsB5twDHqJxlTgBUiwxkx4xu98xkFgBGBwBvk1Z33cpMjTRF3ndVU2X5nMjZgcB4RswTKJmlZ2fuMoypXGrOrVTEC1kvfnvu4LtSDXvsPKthRleloLUnGbwLW6wKhXt8kZk4BEgWWL0HSQ0W0gDvLAyvP/AA4XSwRSkAWCQAUMcJ5myQC5jAAEcAnX1qXvOQ9El8PQfA9dyqb0MA9JZ49Ml5bqiQ5dRs5JncP38MxLbcP0QM3HYM2icLpMfIKPeAztwGzyKq/vEA3TmwbHQA3JQAs3i8ZqPL0e+ZnvvNdpwAd8YAYw+lNcJMgUjHUWrDWbF3JFS2Qg7ceCFjpE5sgpWpjDJooVipAIPaxOFLaqJpNNucCnB8lmeKOUXIWvSscHTZUKmMBGJoUFrAQ+gA7R8Ay4EAQ5EMaJEAmSsNuJkAWLW8sOgIK7LHv2WtzGba/E3Wz20KaxF9VS/dzQvZ5uKQ9dbA86nMM6rA9dfQ/uIHug/yvE1xzW0Savv3wP81ALa7wJ6v3O05sDJHDXcvCKe33GZaACVJDbkpAIb5DRyrnQFEqUHm2S/RzRyANE55RuOAoFFQoHGD0Hyhm1me2+WVfAlBadp1O+fydUG8e0qHeccJAHIJ4HhKwGrXp1efAHgZAHcFBNoCycFfUE4LtFQlCrMVDjMfADVSYGbQDiMdgFx+ChaWAHZRDGu13k+c0Hp0AGKsAADDABDpABbUrcx43cRe3Dr+eeSDfV0b3lXM6eyIzVzDzC0jy5Yy5t0ty5k7vW0jYP1bDGbr7GaRDnbs4FQ+ABKjAEJKACcuBhE5AFGpYIRlAFpYzHTWnj5KiDB/8Zh1VFyZ84wD2uNRj8wIwN2iiHS0Y74308wQn50rH5ZMdaVJd6tH38A0nw2MCJ6UjrtKZtpT+ZaWdAlYTMs6Z6s3FuB3Iw5JKg25GQ24kgB6dwCkQwARmwArXQ3VE+5cY9dFCdbdqGj1Stnva4dEvH5dRuj/qIDtM2udFc3pGb5tYGn+tADZDw5uRO7hwGAarrkSJYngtAAomQCHtQBED6fBEmyGab0cS6gHmI2QHex6l+OjHef3P7dwse4g7Otomuz0YLd4ZehzAuKqcs8FNW6l9wdYFw8X/wB/l+lXGA4hef4iuuwY95fNJpynwlA14wBl4wBSzPrraeBrv+7on/4NdmkFvBvgLgEOU6f+xAx+zblo+3B7JoOfS39+xUbXvVTu3oEA5dvNXYLebcHnTtcA3GsAnlfvV4HQABMIkQ4AGL6wDFwA7i8A22MAxeYNGZfeIZr+JFa4MghUksi+o2nrUd3mKhnliT7aJUqcmorZtV2gZPMIAq7WuDHYaO3um+qpu4NotrVoo17tiGZLShPPcTD63iRARekAUsPwVO4ARZUAZizAczP/N8sAdykKGS4AAqcNQ7r/P0IHTN7tztsA4Big7nIPQgm9aq3A7pYPS+T+3SrnThEA70YN07TMNPj909PA/egAYC6wFDMARcgLNifPWGW54EwAAOkAPF/zDd7kkPzcsMq3ADCZWTinwDc5+1fkxKgCyBNOW0bTAHIS7iiQzpLBcHeXDxc9DvoI2jAJFHYJ45c+LAOdMFCxQoVrqIOQNnTqBDgeIkhKLkRgyOHG/8EJLkCZQnT5T8uGHjRccYP5JgEdPmj6JDf+KoEfNlYcOHbeLQEfhHKBspWaYgGeIE6ZQpZdJM2cNHztSpaSSZCVJH3tat8+TN8wpWLFh69ei1Y5c27Tp2686dM/cW7ttdoo6B+/YNrDux6dK1Q8cOHbp1hQ0fPnwOGzl7+PI9hhxZMmR8lfHZu4bGwAIDmzcvWBDCgwcVObicTuN0yAICrRlAEhdPXll39f/subuNex+/bdummboCU6JNnDqhJEnCBMpDNXHiFKRDpyBChSShYOnyRQxENWfEdInCREjKlRxt/FCy/MuXLhnHd7Rh44z3L1ZM/ohfPsb5JA7Xt0/ivY5uCOk6iNpAsLvtFLLCCiy+OOO5ggpyDiExsGDiJPSYcEiM5g46owcnmHIiBymcUIEpL9LIIos05EgjxjLKMEOQFXhpJ8d24omnna1k42oseuRRC7F1zEEySSSpaaDJBRp4coFKRLFLnLzImgewwdYhjMvEsrkGHXfucWwyM81EBxgEOCPAM9DeXAADOEELYYLWWivGR3rs4bNPP+255x59+PGn0HFy+Un/IOkMuuk7KJiA9DoIffojD+qeEMIGlvY7TwkmnoiCpCSUGC+++NCDAsI4AmE1kDngwAk8UYVASVOOXLLii+YOQeSQmm46QycssPMwjjyEajUQSy8U71QlRIoCOwZN2ogjF669NgYhmOgiIliLkGIKKaRAYlwknAh3xhxmZHdGL6gIQhq21GIHLR135FE2sNrxkrBzCEOnHIGVLKeOOd9EoM3PODNAlDwH+3cwif89h5xrrvmKHo3lSWce28g8M7J6sAmhMwNa28yBCVaegAEoDz75mGPcwe1Pm/185x57dtvHnnFMqWKL7LbTKTwBN9X2iaG/s4/UaltS4okHz2gD/w7n4mhDQYWGhdDqq6/2CY6svdt6aq+/xjpYLO6zgcCop1YjazGs0MgFpPdDT2rssLDi0QBRIpAJLCLMI9k/yAhCKXSZEjdFL8qgYox23c1hBTRE4aUazSMuTK17eRRMrrjigktg08u55mA411yTYQPWPOZIuWaXi5ow59E4d91zn6fjj8t8LJxK7tyMAQuOt2CDCzbYQAMNJoAATgOOAVTnQPnU+WY/A7WeT2tYIhDaKKJ4YlRaq70hvW7h+MPXily1cOvsIprjj2QPmQMnDDONwW2RnnCQpRJCLbyFRDkOGpbRntaRbG1rfQfRn0lKlT6pFUtCE5JOGxIyrKFR7f9sWCsCuoaABMaJKwcknJETJlcGLyBFFLSoAxDQQIAAoKEOvOAFOcjBuXXkCB1KMkc5qIGNa0hDGuHQoQ7RwDDQLEx1rQONW5Q0l9IZgxrt2F0WtaixeoglGTQMAAMc4ADnOe94DiDBBtLYvAksAHbcg2P3tHcb7GUvULewW/88NTWfoE1u8psU2pyjwfo0az9ukxqEFIQhH9wNbxpxZKcAKC0skM98KUnfcppjv1YJ5Q9z0GDZAlk49x1iWXTbCLb6BxKRQMGSJhjRuUo4BaVM4XFUWOEYkKCCIWpDG9ioRjGEAQs0wMIYy9iFAypRCWF4AxzMEEYx6lAJA8hJhgf/gFIdtEkL1XWGiaoDzTICFkQgmgMbyyDHbOjhMY9t0Z30EAYYCSBGByxAjBpAHvOYZ4F6LkAUjbFMHAHFj33k4zK1qQduakaPeMzDHulI0Hc4WKzCtcpXy+qCIdsmhGeNxEFWCA8kHYkeK3jIaggxzt9AIsGU8Gc5FrwghWLFQUX28WsRhGS2NtofRSZEPDFoQVCF2gIX8CcK2pmPGHgwhCyMa5bisuWMJDe5LJCAFtSoxsUuho1fYgNM1IgGMGqBCVBsAhDAoIUwmlGNboQDid2gRjOaQQtRaPNl4HwTBFq3V3aczq/QWMY6hMTOLpplnYbVYjqAYIAANNaxKHtd/wMcwE+VnaxN4NCHPigT0H30Ax6f9Uc/eiaW2rTjGtjgBjmiAUqcVqtTgpsUrMRQhbphy7b9C0m0/lPJ8p3kBh95SUwm0kmhEAQnMyWWGqzGSfcRpz3vsdtGOxqFBj1qPLbFrg2E8AQxwOFYxHFUgD7yNl09JzpAEYgKsuCEpDw1XJJ7HFVVAIlmSIMa98XqNbJ6WmxwNRupDUc3BCxgbnADieRwq1sHLOBqyJUX2gwBXud0jHP4VWDhEMYVx7LhwxJ2i+bwwBDGwIdE8KGpDpAnA1o2RgcwlgCikExmNfsYz/7Dxjfuxz3mEY8jQaMZXtUGJvYWBfHGALvYSl8VTP8qWwCdD7eJpJpzJkSh+NH0DHH7oAbFINLzcFRpS/bpD4Aq1NsSCIDZWQ/felsrAqWqDfVjlSc9KUD2cK05cyCl+5RFAiQgZUQllEJS4jvVMRTaC05gwCWQsQy5NgMaRrTvffd7DW8QuMCX7gaCAyzgACe4rd7YtIB9XAxaVKIOET5YMaihQ9ORIxuwCEdDNyyWddJ6i9EIQlQSkYhISEISkUjEGCwARgaowJ4MaKwBwGEmGeejs/CwMTxCyw971EMe66BGMqCRjWxIoyVJaEgC10yeojqQcL4ynEFi1YX5Wa2irPLVJ9XwBShA95AchVaDjgw1mIRt3hjyrUe2lav/KE95DtJJ23fYrZ24xdQgbbhQRjYS1OiutCehVIIJhnCUPzMOCTkYwuMkV2hDe2EIFggAMISBDGQkIxmMbjQ0ZG5ErXLb5tw2MKbbuuBPJxjUP990OOorjLrW4a6VgAQwpJEMWJTDR1z5yldmXWvdReMZIp4RjEjsa18nwgtuJIAHNsAABATAAJDwkUPtMePHZDYfmr3H2/VR0HvwpR3eWAY1uG2LG3AokH7UmrSKZfAJNWptJzEPSJhQhW71cd6YsoELiHrkTtnNzF1QQ/3Q3SqCYE3hzHnOuy0q74ziR6esnOSwmnYDyQ91qP1jwhfgQJFD4GHeKiBhuACNLie0/8gJXgB+8BFdQ5Ubw/jGZ3nLX85oaNyXv/316sVsx9//coPnA3Yr0LMfDlBz361FbAYv6gqEBlzCHDrKF4+gHpYNWyMaMZqKHeQgfz6kQRC97nWJLbCAAHggA2SfAFGoNdwpiz7Bh7iLDLe7jG8IB67Ku2ygBjJ4kGKRM09ilTy4iYwqFZDwlOtYGp0gINcjM+16gvJCKSsQD5QwMhcInAdRLjzLg/NaFFAKFhScoLyBiU2qFDf4AiYQMxEks8CJFtUbtzHTIyuIEPt5n2QhgxwwCt1jnBNxAnQhl+ADvinIgUvYhV0QhuPzwi80BmRwNGjQKq2iBsBaNLlqvum7Bv+csz7rw7626rTu0z45vAZYqINymJd6uZccST8gkYdo4AEYSQP5iz87kL89GAJeAzb9Y4CwUwEV+4YtqodKTCibyYdzaDCZY7SLwYUz6C2OEhyKap+agAMxqLeJA0IW7MBQGbfIo7gn+4I3oz10+6S02ZoOxA6kQpAaFA/WA0KiSjJdcYMBohVNaT1h3K6puSCE0yCyWbiIMJaBUJToACUxwL0pGIKNE5cpVIpzORErBL4cqIRdULkuBMN0hDnnkz4fMwZh6MKVC0OYMyJ2zAbUujQ4XLCg2zls2IUQWCttkJjOoRc+9MP3S43UKINCmxFD3AM5cII94LVdS4NHNAD/JNAABlAnLbLEsqhEjZmHcqgGaWgGRluGZdAvQCAVGwDCR6oCCPmOJ1iCRhqz16MgmIiQCtEyYekbA3mzY6FGGTQ8ololTxmJJ8iQlEhGMvs2zJuIQ6CJQKgUw3sUqWk8GAwKC5TKOTgDLNAQfJskXoS4LyCyH9C4QBsCKfzGPisX9hJHJBAFYACGdKRL4xvDNcQvalgGeOTLvjy+loO5R8sv6tM5TrO+bNiFSkADBgANpKuEYqgGgUSMtIgGhmShFsHMLHgcqpADL5BIQeADPiCBR1wZSCCLd9qdeUAHbGgGuVQruboGXKiC6wrGFmhKNciD5qIzGzSgl2qO6KDG/6w0iIiLFAd5iCvrI4gDjyfjIwUpmlAUAgfCTU6SM2qkQYVAygraJHhThF4JhDbowYlLARQgT/JMAbvZEIZggiTAD6DCvXHxRrZkS3QpFytEEb+Ex3esyzB0NJLEy/vay74U0AH9y5frT3bsL5vjhmwwBli4mJOkBWJaojepA0h4TG04Bi8wNMwMl8zUzBeZijKICj7YgzJAgtZAAFHAHcJqpy3aMXKQBjyEBWEwUGkAg4eos0dxGltJn8GJA06SygqsFCZLrmmENz2zCVTkH9dbpZAYCYaYlIOTQeB8uGBZOO7wCSktPLX5RRdIgRQgStziEG+ZN1IBqvEsz/JMAf+oeSmf2MmFWKr4lE/5nMIcsMKqSgRcOEf91E90BMNk6E+ZO0OZgwZkGNBDRVT9ZLmTHEP7uga9hIVe8iVt8AZf0ktSQ4NMPQA7HQMv4NAcyIEpaBGm+NCqMMTOtICyCwBxmDUO2x150MRKAAIgqIR3lCtb6AIJkcGHw4nPMynzmtIMqsEAibzocpvliAihOMV6g0UwFUEWHLg4QxbDiQMlRcYCEgkHWQ/2sEGWTNNvtc30CQM4GARFsIgBEinJw61oEa7gHIg/oIM4wL21nNP5LJHgGwIEOIEfaIEiMANRqAVz9FM/9ULmI9SDbYZ3RNSFXVhFXVRjuIRmKMPn4yr/rppUXuhUT+VQEiCBosgCUBXVFYkRO4iRFsoBVf0GqZO6Vl2ndWIHbICFEMAADGCmY8KFNqCDSvkurZTKaq23HwBaUdStA+mOQsoUL/1SNEUBMC03KIgJPKCOX0RGodIjqflRivBOOPiCJzC9FkDTpP3SFtCuVlLPgPNS87RN7XLaVdm8zWOVm2CPdhsuaZ1W2tNaHgC5eq3XKUSCBbATExgB8hyBLwUBFCiCIqCFWiBYL0xDRo05wGLYyJVcYQCGSxCGR4u0wSzD/tJMjRUXozgK31MBFfDYFZGDy0wKKUC2AMAXQOyKVo0HcqAFDGgsIEgryiUDdouId+MV76xW/ytYUqVd2nDtzVlRRbBl2vMowdnjlajcSuV8FOWAiVQ5g2LsAlJpJK/91qV9gfQZxTtLuOccFSVIDzFYFeIqLmpslCbjKOpl2+ZVBHNVg+s1shYwgbzV2/lEgpZpmQhoARQYgQAeXhaMAjGYA0wwBVzAhS90uZN0YJhrBkOd3Ake0F24hMCsL8zN3GrgheAzihxQgd7LTG0U4RZxChYaoSnUgBpiiz7El9cFC1htBtoNAAJAA3MEBjsIW9vcj5AQDqFwgzD4Ke3dXhSwTZd4qSujj4XIkPNJCSVAQjij2wrEwFixAjUoxT+gjoxoTyPrFJ88OHcNCgw8RXbroIIDiv/z8rzDYz0AJs9YjIElUDI3gFoxgDzJA+ARuN8Ryt8cmAASWDEV44H1JJXo5K442Dz7GYRAIARTsAVcOIa5PL5kYDnjAwaBpeC+5EKGBQZYAAZkMIYGdtwxLAYPNgoV6FgPVWXNnJE0OCGkQDk04JzAaGE/bN3VRAPHolm5FIX/LWIwTRrZA2Jm6eJk1COf/Ilg5VX6OE7lMq8YnFLDM4n3cVuLUE52oyj0rVtfqVYmSKWKc1JtJRrwQLwUCOBzRmcjjgEfiIIz+INHeIRBOEUMEbP63eN6HQKOZR4SUJkxYgAjEJucQKq48Qn0Ggg8G8soqJvyNAENUCMN8AAbeqH/c8zkhd0FY2JclmvgZNgEKgC+UT0RUV1lWiqKQWOvESKBAKAFciAnJOGhzuGXcKAFeQKCLQQGMogB4S1PohSCKPaV7iwl4igk6Y1SnRXSZPFZWglaXeRFsfFFIUjfgVhfFCTf731fqATqpK7fPEbnwWVFSAmVDFHB/01nYP4B7poDROiVinAftbaIf7OCIlABPu4zVGYeh86BsRujFVCBIlACW2kb9AC3CaSaorUC9gSqrh4Bh97n5ckAKQgC04CEF+JCis7kTpZkugQGU15lVZaCCXDCLBg5pABhCAgAWEsiVhsYc5gYc6AG2qUhDKgDc8TVomnilOgIIVhbwzlq/2VZ34nKvCMtJXRrg4wST3DF1ictnxikQbJEbF9mWo9QgjkWCj+YraM1Z8UW4GPuCafOCSb2LdwWAizAYqAO0gqMs6l+ArkGOT9eI31aAb6O7/hWARMAYBHAbxAAgREgKv5QDh39QRTQ7wEHAQpgbOfZgAmwgCBg8AZn8E3wghfy5Eye0bqEhDHQzM5eZSTIAKYS7UIbghzgWP6DhW7whhNPsNRWbW0YnsbCgJqmBltQloPGGgXJieO0mpwVY0UJpePADzi2gah5CPaJ30Fwg+vVFLLWbv7+NkkJrwBfcrNWgjBwgz+QZ58SAmsJqvEcAWjVzml010FSA5wIgzD4Vf88E1JPusa1uS7zNAFUTiPGhu8VIIH5ju8LYAEQ+AARIHAUYEUDSarndBprYYHmKSPnmQAHcPAgGDFHcIREUMQyOI1NEAVc2GRE3UJ5/EJeEDSjGCGR1nBSbREN9QIQJgEPaCxY6C9tKDABQ3EkQiJvmGEaIgAggIVmGAYYRG/ay4OuzJBn+RRxbrjoOEFibQHFRtt1XoISdAPrhbz6RVMBFtuBg5CVVPKuHl7Y+wJEjt/uVGtEeGuyLGTlAL2dPermDYT5LWSw1NaC+ySI2x+WFIEPoPd6BwEE1yd9IgEV2AA7v/MTAIF5/4BpH0VKqc4qHWcdyIBDR54FD4IVGLH/Xds10JSDDEARE3CBGnCBEyADMgBYPe1LT05HXpjrosBCD0ACDV/l4ONY/6OhStjcVWd1OAwHabgE2KZZWMAFmnBbJeSVP1D3rZb2osxWIqybJZd2uxlvNQiEbqcJAeoCAsItcGMO8IYur03bJOiCNqjF8wZS98HAYFmPiGh6ta5miojfXoeCH5A8cxZ4dXYb6eWbpGyBerf7eh8BFpDzfN8AVPb3+DaBWyEvwklzZGneQwBPGVBwfOKnHAiCSESABiAxiQ9NqSCBtESC/B7cFngByzMCQNiDWqgFkf/COgBVcCwRj+3sowB1lj/1BqjhSshLzd2qbNAGYQACDCAA/5rdhVpYgvRQlZno9kZAfPrFY6Tnb+2S+74R61TK7mzvO9krpWSpRV/JH4H2ENa68WFhCMY7gzlA0sK3Cegl1gbiEOE6hEZoBHhuhDkQAyaARQC+e7sXgRYws2HhfvGCxRGg98AFiBYtbmjQsOEgwg0qcpBY4fDhCh5ivpxxk+eQIkSHAnH84/FPIIyK/qjBIsRFAgYWLDiYYIHBhAkaDBhgwCcRHz575KRJ44UEEiQdQHwoOiJFihYxlnzxg6gRJU7AjCEzRpXEwhxInEjJ4vUrWK8MkYTNQsLDBJoLgDRr2wwaNGnSqNGtdk3aJSAYDFzaVesDCBQoBLqI8YNJl/8zcOC46bLkhw0XKVCMACECBGbMKF7cUAIFi5g2c/LMgdPmzJcuVp4kUaJEiBAlVs7k0bjxI26PpOGcEYMFymuQHPO0EdPleJcvYsScaROHTp7o0emc/hIlyY8YKURcHiE4aQsXPpjM9sPYsY8Y2keMEFH0/YcRLWwIYQJa9B86ceComYglChOvwSbEE2LEUcQGBiW0AQlBWKACRA4VwYQQPwiRhBWhzSGSIh16OIcYT9zgQgsoSHAASzl4UQaLJJBAAAIE5LDTHj2NkQUSGQyRw1CAoZCUC0JgoUYgHW4USCJTWQWMClkNsZUTU5QFVg4qdEVlBhNkEASXFiCTDJj/y4i5jFvQNLNLJUAAUQkwohDFHZwiDBaDDUp04cYgjxyChxpfPKHEDTGQ2MJkKLhwA4FYfKFGHNJFhxsdc+zXRn9hMKdGG3DEMZqjjsbRJxZPCDHiSGp0oYSghcVwww9KJPFZcs2pgRoWFNrQwgjw6RqYUj4UiMcjeuJxRhcUCirQZN65QN8TXWiYG255RLoff8thqulKCx60ggoNRbgCZd6BtyyBX7jxhyKPDHJGFdkRmmsHCDigAov1luHFBAvA2FMaY3jhxRRDTNBtCTe8kKqQaqCryJEg/UGILbjgIkqTOVis1VZSTpnFFFdO8bETMck0RBArQDAVMimrDCaY/8IAc8klsOxih65FieBdeDcUGIeHGSHiYSCffgHcEkrYl5hzeUD7EUci5XGGFUr8YGFsTHymXHOb6oeaFba2wERkJbYXp3zLIsrEE1BAEaAQtxJVc3yDzcfEF3FwmJGHh8xRXK2wGQ0ao3QszXRIHf5xBhSjslq1CRNoy+AKFjhU8kMm7IoznUJY4QYef7ghxhZLHNvCCQE44EUa9pYxBhUMGBBADl79KwUSApOQgQ6opeYsHB5xFEhu0R0yCBFZXZzDk1xt/NXHHWswAQR11MJLNN2E0wxVKmuf8i6wVCLzHlUkUaENMYg92KFMGPizRsATHtLPh+TxeRiWqjGHh/+ItO8+/AzD8QXYSEQZ7hzFbFX7DBZ+47UBws0o5DraFyKoQKkFSmw4c8EPoEAbI3XkfYfQ3yH+UC0xMKpIGTnEkfjXv0CowQonSRZRePUCDVhAW1hxwAoo95AgnAA+4pqbGNDViCE2gmF7GxoMVFIvIlCBCKsrg+sI0IAcdCwoDPFABjwAhlJ1YW1Ww0KsMPUcSGHleBdLnhO8MgUnIEFjauwYCaAnimZIgxvWC4c3rLI97e2iL7uIhH7icBr/rK01TKjC+k7ovsFtzTd/gswDeXcRDw3xESw0CYmS1cCiDKQ+CITCEyjzNvgo5QdJiAJF2iC4/AhyVqmxwtpcY7T/LhBJkYtcWmn6g4XxBSoG9clQ7+7WoUYcog1dOInYRqmrDjxOIUHwVg5zGIQSfIAy6NOcwjj4u5B8sEMBWIAFxsCiFUwgB2NwYhAg0IAAkOBJDHERWlaAiDZ8AVWEAs+qLMSEKCiKOWcAQxmNd8YhOCFKU1DBBMjyxinkoAEQqAQylgGNanDDG3ikhlUyqlFgyGwXiRjcH0izn95Y6gxqEOMYoZUHofXtVpVhz48I48snmAsPw3NDGJSQHsm0p4HyoQ95KBKHOCDrO4dKVGgaBVJpSWo//blUpoY6msHtDTWiigwKQADTmJLrCWE4V7DW9YT0iM09Pm0BDW0oBQiV/6ytXDKBoGKghLphBIUdhFYg3kCABTBAnGNYwTepkLoyIKCwGeiWi7KYrybU03ya1BXmbNAqJuigW2Y0Y1C4IoUcpJFjIIPeBOoACVHAAhjF4AUtaCEKqmjUKsKQGSwSIbhVMq2bh4iDGJgAmRssTglP6GfW5qAfvolqRCho4M3mJNkqnAEPg/BcGKoghNElqzLVPKp9kpoHCglhCYdMTOBAKpxuBgIOxZoa1XwLXOdwqqpdeAIkj1uz7qDPMMy16bBO9YNMCoY9lvmACFJwKCU0zoYrgCaXEhwEFsigucK5K1Xh0AADIAB1ZQgCAxgQhDI4kSYEmAA8FXsBHVThBv+EYuAmU8AZz7BAAyS4rBnRyLyPSQG0CUHAAVC0AQvkQBittUr3aqEHRGyTf7bFLRNGVFYfKcUGiErCb8H4G6lpZ5MAxtncvoCHdBGRmHngzXvbRqJVXcgKysGPG3pDwjiY0Da/I5xISOJCAbInPkmh09mikBwJ6talVk7uYHzA3EEMURFD1Eh+ryrAJv+ApopxyeMcJ00FJ/gBVVDUGbL2HKV9hDTVMQFNNsyiICDBwmMgAE0goAG0TAABEXCDdI8Vrv/qajCSbVYTSHAQgcJYxp6dQgbUmRAGIICvB9GAE1bb2u7ZIQlCLRzehqkIEIlIMqLc5E8nm8C1VaiCKcj/1Xu8c00rZJNhRUbhzzISNNQcRwxu2FRI2BabKiyKzenWX7qNGCKyXhtuypKs0dQWoBuU7126AnQLxiOGDZn73OkeXhyIVYUqOMs5ggtEEWqIkILQcNKUTjALWsCZVv2WOW1wjiDPUKsbxMsADVjRYJeI6g9nqbALeMMk9kQs3R6rUOyRz6qScB8e6PogL4bx8TLbPBWoU+M7XsABjH2QIdSBFrwQBtZ3wYVCAcmXSsCCYvKkp8aIToDKrBnQTQma5py8P1/4zfggo55B2YBudrPl0rapn/6oxgrOUoO4u94qep/rEI+YxCP+IIYq+IDOZj1r0AHXdloVt3z8tfVc/23a8Fv6bpsh3Y9xKAKHQdyb46YviAU+/vGhBObOTv5bAvvsAhRMeAJ9VV0ZVIBqBECgsDQpQof0lzfPLZ7KdGrVfeLAhpItCOlJ38pmF7AAmRzbAjgGJ0JyQAUvcAIUBGAnD0Z5M5iGhz7M9QMecCoqWfe3p0UBgVI6g8ozbCp4kqLUcrrwm7TRckN25Ty07J1v8JL5tMD7bVV4GIaduIF5sMsS8NusPV5RzMlhgF3SdNr9DZJqsI1vhQEcYASRQdjSDJfKJcENmIAUmAERyEB9JAYeZJzpJYhBeJzqOQAPmEAPTeCyVGBqhIoQnIAXUJgBLACH9QQR5EAAGACqef9YEaRQ5zXNw5WXmr2bcLDAgWkLr12WOzXAAkQOx5EAAywAAjSA05HAvywCKLzOBBAB3CSXgPlKECkC4unJH/DNa/ScYMRfuTTHVIHUXZXGREQQVLEXp+VGVVkHoJjP2WnVnAhBFahBnkwCw+SXrVweewiYYdANHxbi0kyHpMwBn5CQGyyGVEHH4IhUnySZ+RRBIkSCJEhCJJiBGcCAeCyBCRTEgjSE6nGJE6VBIvxiB1AgTTHKpgxVG7CBTywhARwWQn3TzBkAD/CAHrxZ3gHPcPkGE6CNs4DBBbjI42ThZU0fGEbOSrRasTGAgkydCjiBHKhAABAAEsyXuM1H5oH/IAptRDcxzJ70SRUowRIUDRTU22gAIG5Aof+cSnrgmT6ZmclpinAdoqLJV3xckCOewcIEn/CZW8SFmQ04WatkCKP0oR9yRPzEQT0pzpPNnxgJF6ddYxRM1+yBgAm04ivWJCwmAg8YAVrh4sY5wC6WwR7cxC8mghyYQAYllUh6BCCUASg4AU14mDKi2gVI4zQSJAYKTeJUUB5ygItcQDMdHYypQANMwL1ogEqwRKtBHTg5gAXQUBxtiQooYQ6cwIlhxjzWCV3h3ftwk7rhAW+s2R+IxP/d1e+A4OFAwX5VF5MVBqsYjZlF0Nv1WYlMoFLYyQfq5TahGwf9pRjAQec0/43n5UZhZgQeiIFOWRCWHQyi8BMJTR4WKEFkfNt7EAES8MErcoIk4GZu4mYieIEKbBwNrYSCEcEYCOVQJoIg8EEaJBVtRQtRcsIiEAECKKGHDWEDsEBooBxLjqAgiYELjYhsXsYJXKFXNtMGhOUCkEAZpE7rqEBLFNaENcABMEBL1JAHkMCNLAA7NcEujUpHqocPKEEY3F0IWiWkdOdrDogSEN6GPNw95uMh/I899dfZhducIErABcgPBIoLqI/m/d9IBsJK8cfQPEHJtUFg5k0KjSYiKB4TNN6s1QwjJuDZqA35WBu4ncAQeMUYyIEc2GZu3qZNykEOkCNbXgCXFP/ncf5iTuSEHZCBHujBKY7BIkBnECBCEawATTTABXSAap6NmbGd1khLyu1SBYHbbD7TBpSneQqUCvCVFNiLBQzBe8ZIEmZAYfEe9HXfAhiABoBBBrpdu50L4YiXR9yfdyZiiQgG+gBVYoyeoQXL2B2T+YSLBMqogDEL1mTaRHyQE4rXbvRJ4hSc4MlGZ6ZoEUnbIKhBu8yef1kZgF2oJmYaIgbKCwjECTgBzJWBHNzLFOyBkAZpkKZBDsDIvFgAEixpk8pBjfhEkd3VG8gBJ3CCHLxBI5QmbFoQfSWgZJ0SRWSaVblLVumKFaqAV7KpeYIlAgRAAKzAirAISwyBGH7/XwNkSRGQAb7yAL1wQiq4WAk8V2ZuhBt8QRVAgd+1JnuZYm6QoJlW6nt0BwIuyxJ4FZ4cgh/kFFlVF61BlsjRB0huitIQRylyYrRApLhahlZFrNe5oBw+Ah5g7IlVxqVCVqZ+nRjRwbS0Ejb+gAwQVFd4gTjZwY38C5DqJm7iphyQgPURAAQM5bI2a78gARnkT5HdQRlwQiSUARicwWnGqDzWV41SCMHR2SgpxLkWnXkanQoMge4FwAa8a+7tmJ1CABaBAXRUpRNFQiqUghQAbNMYiTHBpKo42S9RBErhrMlWaoXCx4wqxRJsgRscgiRSYnYIUPv1FNB1hgWm1B+E/+nhtmQrAZBWziyApWweiodX+cFNncp0oabMPh6vGAYUMCfJeuKkFAH0dUxBZQHcrmePCiko1CQfDCHvLStP2AjAqAAP0NS5SJsimIEXgMIi5MCLWtDicuyyfB24cg122MALkIgJMMjZpi1CrACLUIEKaEAQjME5EWuGEQABaEAWlYA9cgQZeIEgnAIoRMKDmVCEOkalsod7/FBh0AeGfOtEjCpPwer4zckS3MkhFJqhnRCf+MkDOpZy3YAmWtxHvN5vpdLkdYEJVirpMi75BWgYAIukGo76XbDrNqqzEaKhdhptcoXuFlRBScGK2EG/ZAGQ1qQrptM6kQAPH6+//P+LE+QABRiKArqgJUiCIFhppYpSCRtFI2aIxTGVMYIKExwYCYxvmx6YvXgBcT6RF2ipvmgJ9BgB3RSeIpABFZRBKZRCJGwBPhqJeYmOtvpUTOWTZwDHhsqa+10OzgSoGOAB+6zo3xqJCGGjazQLcwrHH3RdtyJQn5mPdW3S+AHdA8OBih5Jvo0ETlXBBatHnQwJyJJsNRZODXeMFOAwLCOBDqeBHPhLIsBiJDBpBjQA/PZELf+LF9BO7XhAuAhGkDCXHESxHPAAlbmuZcCufHAGTclw8IgUGQSBua7pF6ftCkjBAsBtzBGBT+RLYdHtBZwAr5CLEuiADpfCKnACIHj/yCMowstmq6XCanyU39f5U2/4YC8JxAA1sFIISeR2SGjuJUm2j+dUBB5A20bY2Q7axyvZyuig2JVdoi9tjkiE5rOGMvGFgWIgtFX+zlO4LBEUlCvDMg4jT0GhjhxkQSv+otAmQqsFQAaMwRTMTlAgAUNMQDFjEHNZ7bSWwR3so58IAb/93AXJFRZQ81JBiK51I7o+Dgn06e2lThqIM4flC3VCQAQc12WkLEwNAVOmAicUQuROQs7BWutSaBVDtC9FAVIi7hY7EqB477HEwHhoWfBRo3iJ6P0NjT8WDb2pAR7EH92glCAVRxclIvtZky89omD6NV69GeKqQXSB9Ac+/0KqKvL7GNohsLUKyHJKq3QSa0VL98sUCMJOjAESpAEJQIBcDoEw8/TtQA97JJwSWOQjkMHVRgIX6IFINIKwEMtrJKR6CAn9bSdIFUER/EFCSDX5lsBTIoD5rieLEAFXfx8ElEAmHxwIBIG0pkLw1l0Y9AEKXaw/Nh6uKPXGMtmqTDPIqlTOnhzXZCPzDsJgGminMSxsYjD6DCMcCFd/S4ppgErlSdYSMNfCfKqhkmlxwFeqZI6dVIThFdqKlrTineYI+GxpmzaUtPS9UIFr864X8AEJrFMGII9tB9tYToBui0GeZIQZpAHWEsGzDndxh4GzWMSjHPRHFMEuMwAFrP+Exkl3LuraA8RABEynEhIAhKiA60yffi4AC2CGlfFAGSyC/nJCnaTw4c2hKEeXC3+bUsMwLQ14c4KqtHzE55jUyUkVc3cior6koISnVs33KWrxpMwKczgX8DzKDIfUtKhcW1eGWJdfbLig4UkqJbgsAOOKZayjFNywaV/6inAW0PoLFUCPAUCAxdyOOmlJBlxAEoTBH3B2CJqBMgfBmgP55/CO2BVRgf5OEagTA8hgWypIN2KhFzCAuF1AjEznzC2hvgRACWC5lbGAF8jBKcyxDnjgBP/fcE+icSP1hJ8yMSqsoZK04YTIY3Rkq0BBxWknt4sUPYlIAMPHoAdsaEf/V9ooCkqxpCqHVGAnwZ1/N3dkxs/1SmyksCVMwrpIV3vLbAT47Ctf+qVLwRikkb9wTI3pCwScBQOMZQZcPO4ASxH9DkCJkxOAAUGSKRyESC9R+BaIgR8EAmcXERlogPRtgBee3kFMtUJsgAA8Xgfw8hI+5cyxwPcC9Hc/7AlQgRyUwimcAhngj0E/6zaFcnkZRxUA03xTdmVzBB5HurjJjWr6VrkP1RaLcNiM63v89e9McD2TVQL6UnZFVSoTOuhBgZKJvSZD7Agccx88Aim47BmETuUKxgmUgMVklsKbNu+qQBZIgRTsSAboiwGAFsZnCQQwMm6AAWJBABhIabQU/3oU7FcyzaheL/oZFEEYIgADuOeuGwTHNZMDGIAJKNMJREB1BsB0FkHoXgeHAj2/I4Ecr0IqFAJnKwKQF+S5DQ/xnUHKG1oRKfIteXsjKB7jxUAEvkfjMqYQsGY/wyaJDPIHrLIJ0bNp+kDBm65MdUZAatpiv+atWvTca4Z9qYHkrrykDsLIk3J6GEEOyMEQeMAQENTg4zBATPGSY8iQHAcnLDAAYUIGhxkmTIDA4ouYNnHizKGTJwIJBgp50Pkz8k+eOXHadFHyogWKESI+fBAxEwSIESNQmJjQgAEDCw4sWNCgYUPRDUOJGiVxdEECEDFj1mzh4oQOHjzAbMyTh//OyThw2ojBkuRHjBcuWrQgIqfUqlSSGikKNDcQSbt3R5pE+SXJjR8/hCypEsbNH0WHDx+iu1hRXDhdlsRocRMETKiXo+KcauOGEihQmAixEQOtyxF0/yxG1OjRHzFVfMRwWdMyVBE3UaR1EeNHEitdujAp2/IlZuMyRdRMEUNIFzePHsldHAiRokeTHh2CI6YJlUicBOUgMcRJefPny0vx4kRFDhUqSExAQADCw4gQDFTQzfxJlzNxIlDhIwMCEKmkruIQgwkbWkihuOOQY2GBBXrqCaigkjIKqaSQUOGABSR4SibNXPjBiv/o2AivkrjyKqwunkiiCLZSkWURRfT/QG1FvPRq44snbijtphE2E0IJK8TwIxDo4lLkkMYeGeSMJ35wwbTKILzsttyYQ1KNNto444soyIphutWiPKOKsq6sLUubUtjth/66gEKJINNKYTY3Y6JpBBd8UEKMPyZpBJG6dkytuuvu8C6SRagIoogc0EMPCSemcIKETTeFAIGFIJIovxBHsAmFFHQ7wYAMDpgvABM0OumMKKpsScQsP1iBQAiOmmCFCS4UKsMNghJKhSASOsCp5EgUAouL5tgqUbu24iqPQMhIY5FUVuEEozk0knZarr4Sg1YhZ0rOJtxaiMEHIZ74wg08FNHE3kHCUMIHKynj8zg4d1PiWYxS/0QQpUbigu4QN6wQIgYHacPVNhKV6OIijDA6A0aH0dKz1HSTQ4G5Ktw4pNBDpl0xEEC84AQ8KYrww4ghkMjhUvRUGGKKLDIgwQOfGyCAPokWCCBEmTCbaYQODjDg0/lMEEMNNbBQojQsJWYBAQ9yECSRSCKRpIwxDNpUKA2LdeCjVhPgF9UYkviC4DxSvmuuQ1h7YwxBTpEFFCOSYMI/OL7V6q6tTmoDCyFYcsnfdGtat91At3BjkEP8UJPjK2nz9wObNosbWrqpfSSUSaTUl9+bZpJ4y6l+iOK/cKs1OCwr+kKrQZda8GGJMPCATq66eZzDjDJcloMLI35QIgiDyP9Dj6AppJjAAw08wG8hCPCTADlcE1gAAQYMaDoAG5gAjeOW9oTwBARIsMPrsMGWpH6wE0lkjCykEI8EDRCwgA8hoAlbUMISlnAkMWTEQMQbyd1Ycwg1UKEMp0hFKoqQlqnwhglYsEjhqpU4vkgGYhLr07pE9gOSKSIUmkDddrawBNFIhnOVUVpuXHCDJ3wwWni53CDcUIUlxIY4kUuXceDUrrjNbUdbMZiYoCCEvyihCmcYRKEQ4cDD0SEOajCDHDgRiTQM4QQfaMEJVICEm1VqCjloSEQMQICFNOBoJvyAAhowvgEmYIdggoPGnuCwtKDAcW6KgBPSwIev0Y+R9mv/JP7ylwg+SGEIGehDdPDghnkhxklzcWAg8JadIA6BLauQRRFgwqxT6eYGvvnCxcAkBiA1qFR2RI5UYrAE51jHUNVhTXT+4IYwCLEsLoAYu1wghBMxkHR2ceEkDoEHNeRriDQsVeduOBVnja6ZKeNKV671BzjM6xCH+GY360auM0DhBl4QhMuoMITLsIBSlXKCFKRAAoZAQCEIaEAHamJLEXQAAQeoEAEcMLcWYcRHUbhTnmbDgxx4QQpZ8EIZypAGOchhkY/06Nf4MIQxgMtHT3jCYAqjCOzERTGIwgsoIxhEIQRBEKW4oBmOo8rcTKUzUMBCFEdTRM9pSV0oAJSg/64Yl+nMxZfXiabGDuiD0cQgBhXj5kubCk0gDrOa/DJVWnS4wHBpkSSBsM4k8CBLGQohCv4BIToPdxJZMggFXvhOJKigAjeZgGb2HMICINAApyGABS24lS0/EAACLIAAAQiADsRFrYUmCAvCiYEJvDAGjKaBs5zFqBcyO4ZE8mEPjnRk/vZQno2CoQtJIOFmfiAYwgziOo9gqUthCk2GOYwHcohEjRZhQmZtRmBiqNOddGea1iWNJu0SQuV4qZgd0eVJv4zSH7uwBTHAIS8PdGlqqAslYLrhCzEUglRjYIMlxkFFZB0J3iahCDdsQZA42WlnovBKBraXJHoRg2v1BP8CI7QsjFwoAZ9MQJCbqREJCyhCEYJAhiKI4QpKmOFkTIgTATTWsQeQAPFadJIiOCG0YwCtZjOKURWnIcVSmEIiJVmePUhSDmkwww8GaUOltcsGsa3Cdmm70sM0Ir7zdVgKWFAGOdQIFGXEVci0iQU1YIyhYsAdnnb3McgZNVBiuGJ0PFm3xZSznEA8AzmF3NLvgre6tR3EH8NAmD+01L0PPKuUnhAbFGAGN6gqURI8mBGNpOgkX7BaCT9gBCq4LBI5WMFxTsCCghBEBUUAwyQKxRpMKwIPUL3wnjEDglUqIAIKSAAFUJ1qVNeNDUHIQhYyVSl8nnizLKboReXAB13/508QcqCCFIgjMS69SwlbOIMfWEgKTeBLXy34wAmcUMFVnIIHhzXO68LKwP525STbqexwsgwC5+7yZHUeCYLEEEXAGAlJcAhyaxIFyjL/8Qzuri1LHfgk7OAhDEM07JP73AIbsPULZ2gD1Q79oJjAgAuMdgILICRuI8hAB4bAzvAeuChMP1Uln77NAArwg2flgQMl54CqUd5EIri4UkPImT3x6WL1pGHG+qPxGKYwBZcgNiZcku0gLHGIPuRrXy1ApAVlUe0svQ5uchvrir7pFUAK4QYxuMESdvhljLuXXHAYIS014y54WaGJCPoCE27wrsBoV0n37uSOVqNb+sqG/+efw8nbhACFQJJwNlApAvI4IQckOPky4mZOGLS+ZrtQ56zxzaQVDqiAAijgAQ+QQAVKXs65oJzzq04NG4YgBXt2qJ72dELNkJAFzabBCxodG6yLUHeoiOy5fpgEKUgBTT+IYQtrAUWN0mDtwq+yOW14ejpDzFA3nPlJiomsFnu0uBynMl1Ewgu6Z+mg2/DYx/IKcqHenpo7i0F1oJa9ZmwQr4uoYUwP1RMhv+iyMgy+8O36XfCig7JPahyaFIhABCjA5DigAwTw5O6i8wKQANeoUtTI9MoDCQoi9VZvDOTgs6ZA6eouhUjGZKKjqSgBDHzrggThB2wALUZAS0YAVf9MZMr4y73MijXSaguAowsWSNBaMFEQZJ1ugJY8RwS2DSWkT/uMIwV3w3dQirYooVCggxIeAQ8gQzKEz5buTofOYNCiLg4AiU3M4J04YSBM4ClEwLmAR3j0Dy8QkALs5hAkoPIeAABLgAXgsARKoAM6QNXsQtUwjw5fzgH58PQKAlNWLwtqrAy8YAqIIApxRWR8YAMv7ruwRQ4EoUY4YauEKDaMiZBaINt6yNz+IO4WxgqGyJh4yjd46PjuAt0WJNggZKG+buckBieKEOsI4xA0YRQ+gdl8wPzqDtuiQA1M8UC47XbkYBFcRlNuYzmaww+uw0lW5Aw7bw7OQAEkrwD/qFEaA/AN49DkELDk6FACLiB6+tD0IJBm1COjssD1vADWFM6EFHEDmXDrSAIMMuqCUuEOriO+gmmYDkiBmIkTzeo6/uALQhHUTAVVMlEJ8mvKwMVwWHElVPE4sDAKdtBx6k7UeqfY+sAS5G4JggoFEDGnNEPkjO8GDyfq0oATQCEShiAIXsAGdEkZ46sM79AZUU4CIuABFGAAdHIABEAnJ6/yIkACuJEOBbACKADzBpADSu0bw9EBIdBmSEy0XozF9mcKYICQ+i5LuIwRwWxHkEAO+uYUyOBuDqO2oomcoiMxFK9u4k6+5q4FPMdUdmrg8mt2MIZqhICWPlIILvEj/11HDPFAE5RNE6JEmAKJiFwx4jSjOeDgF1PmDghMJYlAk/DgELIjEJ7vD2iS89ZQ8nZSAEAzNCdPGkmT8gCQDgkQNesQJwvgAmwGKpvSUvoqs1hPydKgKslgLPCEkFjnMrjsCc6AA+HxLhLp91YBDAbhcEYiQbYApeYM09JSJuNt/MrPjrZklTgIC77gC6KoNIbqAxLz/ARuCbzs4hDBA0WJqxDzBC8DN1xACZyOJOsGMhmNCsiA37bApwpuv6RlM1PNJqXxM0NzQAVAGluAGkGuGk2TA+SwBDiANXnSZkgANmPzAf8wszKKAi2QDHLwRwTJY2DRB56gZBoxUfKADP9CUBbMAA+opSvUwApwbDfcRbYs5x7j4lBUJu4eAQ7e0i8h5HUCBgqsIDT4rjdlzziWQ4VItCvLCj2fKoYs0UHurumskBPpM4yQgAeUgDRa4iDzy/gkANW2whltEid3kicJdEBLswBC0yd/MgIYVClZswAI4g8r1DzG0QlUL6OoYBAL0QxqJxi/4MrSSwiqSDjX0i7+DowgpUXn4DEOzSNjgkhi8cf84N1uFFGe5DpSZ190se7u7j2lDCOwa+92JysRi0hyaQxjclpAqSwxzRIyyYBEY+CgQAwck6wCoRC8ABQCbwiMgJBGxL6MShorLw7C9Aw7swAENE0HdDQlb0D/fZLyKqBB57ACbnJS7tRSIBAJyjENzrECx4AKpoBHQuxRNalGmTEz7wIMemYIVgAJ2EAPDqTQACw8bQOHZtTY/MAyV2oJH8EPFgcKj3RST6XpmCn5oOhOeNNHwRNQmMCKLk46XfVJGgM6gcgNuIvMpMvcXjARwEiMcuALkehMU2A0LU8CkhXVADQnddJZnbUAcNIzQTNBSS0pCxA602hbz2Mcv/UcOWt/nOANEvVVRakLsIAGZ4d28AIMLEQDLMAIkrNFdJA4vhMqLJKqmsc/rigUcs8P5u5TeQ7bdkjbJIvb4qBIaynUnGsLYNJQElXM5A1llq9GMe1GO5Z4GA87/8iAC7mABIyDQD9uJ6sRKMvUZV8WZp2VDR+AWUGO8iRgDkvOKFENlKqDDCiUW0fv9GqGPGgzC2xzDDrkDej1pS52YWCDhHII0CxiIQ0HDBBgfBxgAkpgEFpEcfISVVOVSwz1Dq5IVonOmioyJK3AF+Wzv66sNJQLPMcT8VaKYsnqmxKESgpVCQgjeKBTERAhb3NUpR4hiASBC1fyMhS3Zs9UQaURQZu1fEHzASqgAiSAGicPTony5NDwcPQAc01PPMCRwQrCINpDZy7KC5BgfzqEBEjXdIkMdT2VWe5O4AhuduigCQzAQhrCBPTC0F6ANwu25wCFZDIB9wgzkzqOqv8eMktC1apy1S66qP12UE/aRUlVSqk4MS9SJA4MbXWwk3Lm5R47kHtTQ98mAWx9oAXACEtLACrYV1qn9f9uMn3PNHEVVwEwrwIa1/Lql3LvtySJIHMfcA8hUAUkogSCgAUmQAMIAlP6Rwo6hAzQCdUwj8gsIYg8FYlw42B/oIMSgAAsZHZDYg7mymOu9hXbFnttC1Ydb74sjEvx1WCXY4lWmCTQVkyigAmUwHrxL/w48XalT3eB1CX5VaUurpNeFdOIuCVOYAzq8wI+YInbdABQ4CdV9j9vck6jGGYLgAK60X3rN+USpYsXsOV2ogjI4DC2lw3YgAhU4NWQoAyoIAf/zPAouVEpFaCBAY5YFctCeoIAEoRWPMZhE7FdlEBi88+7sio6MgdKGRkMp3CHqnRcvimIBwEP8CA56yJF2BXEuqINYPSbl04znGsw+vWZoEMTQoHfPPUpTqBXOWERhqADXLknp7UNyfSJPfOW25RB45AAOUCL7TBRJsVmgrlmWMBQw6APruhutdcJFgEUQKEUOIEKEtgukJIOSw1BQROxTMCxxqcnDmACTKBqinSQURgZtwB7D2MtLRdKmBBz1KSrNGgFI3nxFqUJqUkJnsCDjM8K4QrqqFYiG3Z302JkwkAZSQEVMsENBhIqTgAJfHWMTsCVCZfU/JOWZ9ZxCbcA/yqABa6CBSZ3M1ckmf+XwbL0BFbJuZ5gtjCNBByBE0oBpgXBjTUTDQNhKNdQfdMUV0DgABTLoCpkdrWzso6MN9fWlrhknLUOel/qEHwJOjEnDAxIgaLleO3iYr/3LQkJGbNarPA5n1mkK2TpBniTqCEk7HxgCwwB9zKhD54wyyLAA6jAC4YAAkwATWF2ri2vrjvPouV38kqAB4qAB1jAo+s6L+iGDXqPCIygCAz7JqACoPkjDPo2Eh4bFBaBDBCBcmu6Ay7bcV258CQgAMqnjxlgAmoQXNjPTibSNNZxCOOk9jYNR12QtS8WO+aZttJSk/ECms6g2fbsNu4YguuSP/+7yYkAeUGWt4MtUggQLxRaqIUK04AY5AEKnAEOgADK6LonGgC1u6KdmAK+u697vPOCsZNLm892CrNQ8rHFqH4tG0KtO6Jj4gGExrMdQG04AA96u2DmICzG4gc2mLSF77SDc2LjVovmIkGy69hSGvy297v6TTLYEwVDHL9eadC04oZHKMUL1iKP2/biS3tZ+xEowYWASAcgoEKg5laY+HF5fMgRcL/LlK/F234hXdUioJ91N0tOYAgi4aVLIRKQAE6ttQSs+KIJlHwVtyYca8B7YgGaQMtL3IluWEwCacH7hQghPL4kvIaj7keqjqp8h19NZtME3Up8FIUIaXWRxPj/GEolVqeDoyI3bKAKbE8Twu9uWJvINKEIGEBtWoUAJAAniuPjYhlyL73zatrU5zQC5JAFbHJlIb3UEBecYyIHiLEUfFUQEmBB5fBBp3F9BQAzFJfDFKuxWACf4ZnLfSR5MTFgyjz/zlyf6cDrVoLBd8pdiu0M6AXTxnZd7Cs7v6BqLvHIZU8EuASENaERgLisQIkNnObKFSIAOqBWsDI3TDPd1b3k5LC/dVIBdNmKfzK7tXtZBd6EVuCdHtuxV8DRsbEDsDV91TfKc1qJX5mzHSsAPMxwQIzWuegMsOAJLOx3AF3DN3mfjdza4Lt5wuBIVQlVdOinHoq0G1y4Ut4N/yxh5Xs9UfSgAibgIxgr6zsthkpQCdpQ3nVemgfQQW86cQtAAqD+AebaNBGfM6Gc6lP9OJT8padtBX6yWueQDv+dAipvGvE6sy/jTNHdt5EvRUZiDgYh9smMRVjfm1ok3YR701EwN44UhW7gVjHG1qmOOPpFuFIwBpgA7wmTzoinJybAAmxcwAPgDTQB6sN0ECb3fcl7yNed9BF3QIVSKfHaTSnv8Dnvic80ogceKkoACZZcFk6BCqhVcgtw8R2U9G1Z4AXAVGS5AgAiT54/BAsaPIiwYKBDhx5NGnRmC5MqXcS0oYNR4MCEHAXSifOFiQ0UI0aI+IAypcqVLFuiBP8xAgWKH1HOYLyJMY4YLE+ExJBZcgSIkyxFjEjhQokbS5oeIToUiGNCNg4YWLBQNYCBAAc6VKAgQUKFDiVKdOCAtsJXChT+sH0LF65aDmQ5RFBQYMAAAXz7KkAroUBfvYQHFFCg4MGDsBIiPFBQuK/kyZQF6EUSCVSpVanGPKhgNq1ctGjJluBAQTHevIQtF3itAIsagXo2Sr2tEJGiSZP8XPHZIkULG0KifDkT56ZG3HkwwumixAVJky6rW/8AE0WLH7IzbtR4s83OJD+kBxVK9EPMFkrOHAo1iWFU3AbzGJngAOsEBgT6C3i8WmIRjFXWJKSpxZZbcY1GVwkVPNb/GmUKVMBBBQpUVphhhyWGWIaVfUgZCY5wcoosqZSyQlkUrrUgBXOVVhZqjq32GmyLoRXIfPTdttBumhxyxhIupIACTCXJFMMPTGBhkXICIeQRHW1gIUQLJIFwXZYpGbWeEFhcRIdtB4GHURtfWJHEDVYGBYJMLSwRxnuTPKXjjgUVYVVVCxhggH+QZXjYAxFEYNpZabEY14tm3fWaXh8WIEGFD4BoGWGBqoZXhntRStkFgpDI2SlBGIroggS5+CIHk8RIwYyICUpXB4jUaSdCgeimSW9b+LDmlkYe2cINShinxhzePRmlGFDcMB2WWlrHJQovKPFFck8yR+YcanwB/4USamr3Zpzw0VkrQiZotQACfBIQQACR8VXYhoMWeiCCbM1VF4SOUhqpXYJ9aKmAEoDlaqPvcirABVSAKsspXlRYaosJvqUWhWitehqMZjXCMa3l/rEQIpP8GGQMKVDXkgi/IinEE0wmh9NHIdlgZHrPrhRtDElUG6aYO2rU3EdnnDlRGIPAB5XHH/8RQH9Ot0sATCJgGHBikZYVGsQWl5Uaa5sK0BJfn3EgwYVUG2Z1i40B6HWEGCYwRCSlpEJ3GfZKjLdcFaN1SKwlkDLKKHPKpzRuPebqxxY/9Jqlyueh4MINSVjxhRpxxNEGdD+VZPPN2B1pwxNiGHvt0gQtl/9jQwwNMsfpy5lOEA/sNt2uuwOsdLZegUbAAdaG1sXovlm6sOKklAW8WN5sOfaYwW7Dq1cOi8xt4iIlKI/9goM+8IMQVXzhxiCHaAKfU4TvGPIkoShSMkmda+k4sDYoAQUWVkQHFHqeG4nCDVCI4R3YHSR1j1ifG6ogBCW4TAzWAtrHBEKBBGylXQbYF19wd7x4Cah3LOggB5pnQbBdh35MuMHXoIe2CAwse2xZG2KclyEFbMARoEiFiU6xgoixsEUzusELbnADGwTRe2Hww/hCQQnzJU0qh9OEH7pQJZJ4LmXZQUEKflA/LDDhB5tj0/te8rmj/MAKNnmdAAlCwFD/POKAJiMJCmLQsi4gB2g+k4pH7gIZr32IJRkMGKFYcBoQEsZZI4QCE6qEEhQqQCxo2WFctvdC5K3AC6BKhah06Mi3SOAx5XmBJ13QgphY0QVENCL5mvKUJSqEIepThBuUsDlCTlEl8WuBl84whznEYWg9UdN5hpIeImnHS2roWR1Nl8ZJ9KEKXQTBr4JFv8rNgY52FIgarPCDGhEGBSecTNgmozsFEIoIHrRL8/InS5bYgAndcsEH4leAxYylA/RETSY1yTzEJIYCFxgCw05ht3tKDI8bQow7U1LFFMCxCkU8oiYakcocNdEPYRACkUYwSyqWJCldAFPPyjSe8kyn/yQgcIENdtYGM54RZAtpBHwSNxKhbEllz5Qc5S7iwPoIJA7QcUGbZAJUbiIsJeDU3QMoUJbfYa0CbgjDEkbSrM5Bjn5KGElwglWTPCDCLPQ8i0DjMjDSdCAHcrMhQDGZyRkdpqD/EiFCRQm5UjrUKYrYjRoPaJ50ZvSdQVknz64FtJycoQs9MdkI3IAHlkp0pSw9RCM04cRdXcklIqBpUFzwgyQwKaV0FMgcxPAEG6AnqEHtJsIqNYDE9O40FZvLyEjxoz6EgQk+uKj+PuACOEKBiy3oLXfacCtECBcRXbWnQNVClg4wzwPTSwVnIlGhr2qyeQVFzB5VUsU3yjUUpP8AHCkG4VTG7RW7R/IfAFXqOvDMwUxRYEquGkG4wtEndYogHx4qOtnG0TQ7cHTZHDVyzR8UqbIfIK2VZJLI01bqMBFIasUoJtGGaIIU66PoFqrEprgyAZa91Wwcgjvc4SqiA8dFblkckxdP1fCGOZTu8joEoMS0tTIt4d8bl7CFpZBCFZ/oA4en88Wb1ZKYxsSWRhp6SiXmqFz0JR94hTCdWVbWmTAZTnGOo4aeCmUoBQZXbw/cAj4CTC+qjZFaFNQWhUg0EI+YsBr9EBEhjfIGP1CTzqo1KxCHuK7z2WHFTINivSiskqkIgmIi8NUZpZYxYeHUdbIznC0MghSxIMX/IWSrBF7lL8jQMtK0Oope5viACWEIXyZgOwlFxHe+gajvd50K5PG+c8ol2Q47kzASZ1b2JAcOqpWqU1QGO7gCdlrzY7v7EDdsQQl1jkGwmDC6xYK4rrrh2EGU92euPUCPOSCRWdMggA0JaoXZU+sAjioBs5iNUtc5khCMxt2RxXsQTc30gTn3rPj5NQ6hxo0V57eFMxiigJB9xKoTkiNETPgQYVBCKFEma5TE7waiE48WuYgeEQzHBaD8MgqyVKnEgIa1LKrVmu1KiofAuQpLmk2ec1PXRigCEdZOSIuyfb1tR4is1DtFJFBro3HnbZN4GYEChEAhs8z4upSNSVJ0/zw4hqD8IbKl7b0hXhT+mbfI5TpSXBlqSlSrerFqPgQlSGGJILkA3xGX+JSTUi3wWDxNLqjsG2Pgyd5+vDpTbgET/uiVkiNTonZFBSke4V5KyHzNfziEIjg2847ZfEFz0bYe+WKB5obqAigMZ2KSpz3EgODcYSmLBE5rnez8oIjka8SaIzz1QVRd07GmpZFsKZuc1iqMbvKBEko9iElQeBLwff0hhL9GWEqt7TMFwXZyX7o/5GG9X4iCt3r7ghiAEsGUhYkPwmAI7jbiboxl6eMRMYj0n9rwmlCERKstc5o/QmmUT3rOL88XFdvQkivoo4ZepULLAyEjEE/2t3RMV/8UTscEUKdKakZf6pNysjdbtEdS7+RpSgBq0WcnvuJ1MYBjAldAsGVwrHR4eLV8zDdrlUVxAEQfu8QtQlBnHBcce0dLdqcUloAKmrBk5TdAgcBTXPSBhqA+qCA4j8AxR6gIRigVerNaD/In3eQAOQAKp2BWZUApGvR5zTMCi5ZuJXB6qOcS2fF94dcUZIdwJweB8SFbVaBp5zEC+9ZvuIEzNkZKDNUH49NdgNNjWxBTejVeuyYCMUAtcfAxuyQGXRAFP/ACVmIzU2YDW+AH3DV/PAglenAGidg95PECP1AFZ9AHTIEKRKh4HEMJiLCE92J/Tvg8fdFtVLgKpwBuCIP/hQqgBK+hQiN3gAhIS7W2gJYAWw1oOGgYb5cWBghkJdtBRlxXLt0XFCgwamHQB5mgCq8QCj52UbrGfLuGe2ogQM2hE1iQJjTIV0pwB4eQg6ZIiQghHiXUPUqQQEJwA8LxA6JjCKBIhKPgfrSSKPb3QX8CIsxFPakQCQmgYOGkQo2Rbh0ASB3QTQkmGdVhJGMofmZocsL4i7K1BWFgEfJFH50mSinABH0QCq+gCspUjLziRX9YWSOwgnSwUjSnCHqwS09wA3UXiJCoCYKTjgmhBliwOLbkjkIglPAoHC2AWU9QRJYQCkSoRnkWCPu4Wv0YQp0iCDXkXKfAeaeFNouR/wcuwgI88JU8EBheU1nexHdV1ouj8CM7KECvN3WH4F5O8XobmHox4QM4OQrdNQpvFmdrt2UENkWVdWeEWH6UAFmKBxLdkmO+SArouJMFkQdnsCwj4ElDWWdD2XFGGQNJYgVqcAZ+oJSogETG9RZRCSEIozBTeENBMBim1Re705UUwAFhWQQ8oFxs0wIgIBmcxlcjIJGk4HocCTsShQdw4AZuAJpulmqMdxsQWRIxUAV9IHzxwRBthmz05lR9CEz5pnFe0gbpSAmBA1mNADIOYQnx0TqPWRCfJRIo0QIvIJSKGCxDCS7ZFwM24AM2cEV2aAklsJAQY5r+yCkJ0IpV6P8aa/Ua4IQYEUAHb+GfPAChPAAXEbATkQRMuzaHI+B3S6GWwMiDHnGJi+OBGekHj/AJw5ePFEkQGgWdbpAJgvN6ObIbgBMKloCRVaJrgGkdLPk/LpmOjRA4o6B4ORkKFMUEmtUkjwkSSRADL/GeQ6kmNxCfX7aZQiRgs+aMG+SfZQFIdgEZCiYAKsAJc8MZZVAjsIGgmxIoEqAgsxmhRXA9cOEWLpQmLQCIgOk4vxmc6rlTM+OGI+qJIQgfKaojOPOcVcCha0kr76c+e/kIhqBsSxADOcppg6me46OWoxCKj3AHSvBxb6QkL3NMpjMlDqcSLlCZSQCD3QODVCpEzEL/S/CyO7NJTh+UiyAyQwF5CgmAFy9EI4KxpnDxoBEaF6fyFnmwSzzhEykAiGiZqC/3mAKROdFxoY7jTID6iUS6nDnCgS6QlpoArRwhUdZ5kROIAhi6Erj3nepJEOE5CrFQknzIEgoVR8ixUj25OCuBqj80lJZJpUAkZpMhTiVABETgIACiYBbwKc5lSbx6pghqI4hWmmHJA3BarMW6nmYCjuWxZb85iewqfT1ZJejqdlQGAthaQHs5CRaooTcIW/nIZDMqmopgYUJQdyrBoywIsn9ACa8QC6/AcAflEsMRTZazNHQgmbCKXZ7kSVLar2rSWwCLQQrKOx3UQaeRGi9E/2MowQAFegqCoAIPuyGv8RgB+BYKGaE8QJotwhEu2C1CsJhq6Zh8+lnLcq46ijP7dbIf2AeP4Ewo0B6HQGHud0YNEQp5mQmyt2w/8QGWurN/8AioEAujcAhXoLSpB01WYBHpSR/saQMtsa9My68/UB69FTkuQbWzibUNspAVoFbHcwIMUAZykAZesAIT8LC9ymDk5qC0yQLYgxtSggdwOTKP8Lh/ABIiQbLQMmWCuQQoACeCGwp7ylhsNmGo8Ak2GgZb0AVfsK47e3w5aAl4AEVqcjMjEDlIehG3saRNuhLasZmiy7Q/8WVhZh3wIk6qu7asqyLmJhkIsAAkoAIbsP8BEyAACYCmvXqLXsUWbhqhcZo39KFwo2AJkNoFckSY6jmtL7C88DNlRtNdH7uThRcKmUBwqbazinC4llCMUWBIP/C5UwSqT4DBdZQ5NssSMmEDL7DD8vtJeoe6CZZaVYu1EkMggHQa5jYABGAA+YEVDHAAASJukVJcbOGfX2kGvwu8uPEIFPZkJWVT3su55ZcHImunESeJwslYhzAIeOAH9ZiTIqjGHxMIk5CXhsAEm0lCQSSOntMCulU5hJkHU5KvK9EmkfND2ce0HMe4fUxUkpFaD6C/2WN/Xbo9TOwAmWwBDOAAa9WrgjJyXUVPFMsDEIw3EqwJqGAJB2S/KEH/rwuUUoxVt8zCm1oyCceLvF/ApCMaPieag4+gCDxYX6gwCXcAZSghBIYEj62cUc43P8SiLJebEl/2Q0CUfT3sQy9wv5CsWl16T6zLAhdAAAigyVcRxZ68SBLQaslFT1dcsWKpPDvSxa/mA9UBTVAQyAKUvDEccceLtHY7zURkCOuHRIQrQPN8CPKaEjYABS/svhGHvvPYLS/Qx5CDqvdpzdncw478yIPRzUUsUByEACOdHxpwFQYMG1ZDBzI3Ysk1rKUcz6hMzAdUA1kCqkuSpOWywcz3uFOCSDk8P9AYmiJ4CEujcNjrBkvAzI3b0FskzeOFe2cwHjWJUdgnujEA/0TZ7ENC+034K8nefMrGuiCx8gB8Qs754QATgBUAshhx8HhHSIod9M4kFtb0gdBh4AO1nK7EEQU1TB9lTCVLvVcg276PtlC9TAqiicJ20sWqfAV5ncPJvEWFLGtwR5jUdz/wKLocl33WfJ8UrSWRPMl1bRBx0VV9cgAI0AAHAMUNwCcZwwGOB9dH+AiUEJ6hUE9saydHnQl9wARc7TnoG8ZtMMYHMcscPUvqOQdJi9wt0QK+B37CZ3jEx5HhW41CUh2S7Y4PLcPagUXFghCXM1hRkCYvIIM87Ek/0dw4+26WsJDZM3mx0gEHQABOjBVpPdJWywJEAJZIRNuN0GajcP+EaJZm5XLXQuCHU0SvS3IGcOCjBZG8MaDXWvKYPi3YWoICNoBjn7iUaukUCeFSqozXGFUdMdDUMLzeLqEdpIQFcBBcBzFcerBeYpCINanIFM19O9reeWm8jmQr9PQAmGwBGrABDgDAB7AACQCgBDuNgWPbRmjbM1fUAnTUypTHKOikwoLPRvsH0wrc45WOhS1rJZVAS/EJoZgrBh2+pGAIsGTTkk26F24d8Estc3ArhyBcOiJcMydcMn4GG+tDuSkt7fZ9OKhG15ZJIPMUF6AVJb0B970AB5AAMyIoRSR806gK4lmKs3JG88zCQkDiWJ4SN80kO0HZ/Vx+yw3QKPj/3L8nhImdcgCeyplwBj6Q4imh3eUhZL0VA9BGB+QSMvOxEFInYjJ+iHX61Cvhm1tgCTx+iiyEForAAwGwAI6+ASbN2gcQY539BF+AB5OACj4bC5pACcFM5ancY1cu6kMrOYZE1W3HWIMc2OuOEtoVnb4Y7q/wCpbABD2Q4C1h4g79LG5yA0xwBloFFauECJaQCanEELohXJCnB1OCBVHgU2F4lzgInMK5Q/TkAAHAyUNOwI/OAKvdqwqgfZzNiWIwCHkZih4+5R/j6fhF70PrJWLw54Ul5xR+RmJe8y/hAr4nkrHgC6TQqWt3M7rl1LcOLjcQBcD1FLaiG5bgCZ6Q/wlJA/FvDVFapQaFlQKGnPEhPMdijTd08QDtYhUETORYgQAOqwB5J4OoikWgBX747uFzixtHXY3q/vMrIYhfAAcEMePgWJO3vhICtNyhZfjMNwJCcAak4As/OwmGUFGMqyWS3arXseJe8mHDFfMFgeeKUPWWYAlw6VgxF3+NQAlCc3HS8U42UAUaL8K1kjexUjvjzAC5ry4BcAIrvohG6Xy87i2Q4wMbHpq/bO630difvvhtNwK9zkBjEgfbAgXL/CymI++n3vfuKQQiyX6pLJos/FS5eR293i1cVB1W9Md1HmLCFfOEpwgMX/qkX/UmXFczV4rr+Y1pAre+CBCjJv8F+lPQ4EGECf9QYNiQIYcODAIEIFDRIgEHL16gaOGiY4sPH1BwvOFiZMgRMYRUcWPpEypUmiYpIpgQ0SRUoQwxiSEi5E+gQYUOJfozxY0oZ+YoLDinjRgsTH7ESFH0Qxw6TJnG+aLkhU+rYcUCFRGjiiVUox4RVPQIpypSmfow8REDRdEYSqBIvXFXqIgWLWIwEZMH0WHEhw8VDHRIUaNGijxNplzZE6JGjxQ6hYPnEylSjxZrJV36T4kODihenJhAo0cXsVv4/RkYRFARNXwoOWPoZU5KjUYXfEQKlaUzPmiPZV60hRAsbfKY/hOnzZcoSmy0GCG0yxmspueIeWL/Y3lz9ECfu/mkaibCQ40mkVKF6tOgMEJigBwqZK+QH/hTz6MboFAjkMQSROSQxh6DrBFLLJPQk0yGO6gRTezDQ40z2ohjOupCLAgiDlSbiIAADlBAgdcCk82k5gDbLQxD5kOFlElEu+nGPpToKT0ggXpBiS/iELEgOuI4A4sn9BNQiCe+AA/EhPJoA4sAg9Tyg7wOgUk4pgJpK0O4LHFjCRtc6A4oG5hgQompgqqhhxduwAIOMRVRBJE9E9OTzwche2RCQi3EUJVP8ovBBiWwEAOOpY40jYIKKlDgggMcOGCAAljUyMXAAguyBRuWoNHGUYxzL4wlzttyrJQIM1JS/4OcgiqJkgTz7ws1PkSIKyVcAOvV5lDwIYz2NGmEOkTcGqU+ubaoi7bB/uvrpxqaiOGHLuJA8DA9/wQ33EAfJPTcxRTJ8JPkqhLJhRuSwAK8rGhVKBAO8qXgAQUKGGAATz8NtSNXiy11iz4yUcWXWBJd4jZimzsqqUjtNSiPONT44oMRdI2CV1/nOKO8giPGawlD6JsEkSMdKw4VVUKxRNEWQHjuzR8CHAmFJpYQQgw6FAx36HIffOzccz/RBFE3jnA1BRd+YKKLXuu1+I9A8KVAghX95UijOgd2MWIUzOpj4YZ7rGtNk52DTrqrFfqpYxuE+JhDLAVsOyxjw8jkFf9SaLJXzEcyBDyTM/W7wU0nQx3sDMMUBJdPB4t+bFCkJQyllVhCuUMIvYOyWSUovvCQyiOzzhoOLE3aGewXPBp4o4jXI+UV3HMycwv9So5YBBeInDVuhIKiW68nbuBub7FcEMIPlRFB3V7MHhnlFfvwA9C8gWOI7lvJw6Xc8kYoyVzzWWKZxRAfQieq47yiECOOOaYvLWs95uhqo51RgF3sjriAWGVhgiFgkqPCwYQUlugD76jCPI4NZn7ES4hQWvADK4jhC1BwEtsgODcbbMEScFkLBQ3islCgAnuIU0LjblCY8gVHaI/5E/koYb7zUWZz6rMEG2KQHpI0an4Vu9//IeggBp6koH/++9/A/Oe7sTznDhkKxbIK0pZJPIsUn/ADq7YzrFdNTA1ENCFQyiarJGmMg/vxIPNa4IM+hMI9ijBhQhCEoVjEAnuGuIISnnCgGN6wEX7SE2T2VLnIxDATOZzM5nyhCk+wYQk10BJJmDCv8JAmEHRogxVyNZvXvWBRLwBgbLZUFiUMwjgrs4l8jJM9VvlATa96TnTsR7yQAE8J3aJSGr/QJDYyLyVngYlo6qiVQGjienmEiyacqYkbRpMS40LknowWw0kw0hM7nEUm3rCEJvTgVSCA2g+i5CGrIcRKWNqPE0klylFyJFRP1FIKfHCH9lSxJgqJj410/3eGJUwLSCAIXpGOaZAPtOAGVmhDOg3iyyf8wCMQI5Y93RCKV2iCjgcNE4ZG8VFV4I5hH4VmNCNTyEAd8kE3zCYjd6iLT3yzCTMNp7u0BL9dtaF+B8GYGIIlz9nMBp4aiQEpxeaCFwQJlYM4IMtM4zIyLdANVZAlFINyRjGQ0YQSHB5T0tiFiLogBRQFEirRgopHOJWjTFGEIAPxlEEsU48fNSkiDQmoR0RTm5/xxSs88QY20FSwPeiBTYN0PEfRbzpxQOINYhcqpDKxTpNVHlA5YtWh2PMM+WzEPqlDuKhGSz+GJYoYtUrBIt1SIV+ViljJyhwU2ABZgBPcWkkTnP84YCEJSmCCFeKgiVfkMRZ0DU65KNGnvFLiE4z8hCtm4YtZ/BWcgqVuTYlFEnmdAQ5ngIJjYfcpktzgBj8Y7w22A1RToqcsS1Cle9QqKcK9xT6GyM92XlubH2DBVxx1KHWSdIYutHaszXGeAdH6XtuuVg9tiAKAciaEJDxBDI9AhXDTAs0HPcKQbaVEKzzMiqS1wrnP9QUrGBHY6qbYukMBwUjm6aoWX/AJ2ZEd7GD0gReQV8flDSooZyOxY32Ctp4dXLPmU59PHMKLs5xbQbua4CP9NyolQQEYh1K22ZKis1DWCh2WxAQH50zMEbaCKoObR0pg+K5t3ZyH3bzcybD/ghUiHrEvSswIQrBhDWBQcYp7UAPDLhGoPxZdC3b5haiQFzY//EmOy7vjjdRMnpj9wHq9dOCD9lNVMgNoVUXyuNNy2b9KmvJsrFwbONLnuKJmyniCJWZYw5q3VnADTmLR11E4c5A3cXMr2iziXnt4xMGALiNOzAZkr2ENMz1CnwdbFdq4GIBBOYp+56CHjGEnZ6FztHi97VgU2OwjmLXnbPVpWxTCbIFqs8EPotBQVltMyrgytRnNojBUgCnePNWfEFIgAp/FWuAQfkIYvKQKZganw8FmuLBd4VxfBGMWnQAssi2ebD47W7A1oCgKUgDAwPilbAaiQyB2HYg8aKyy/xBDgXhfYAOiFjXksiM0UUAQA/YWE8FrhaoKt2gIN7ihMfuWN6npXeWEpjqjtSX6HzCGhWuJgBE/CLPAYU3mPtzOzq+YxSxI0fBeP7zrEZ/4Gyp+cbTvWeM1EDTIJ92xJGT1DxwOVB6WpB1QIrWosRNli8Tmu9hmecvxjq8CjYOjQRK56aWZd0naNEK0WojonISCXX7SA0YsgQ1iHi95Oy9rKBmCFbrwBTGgO4tWfJ3hD4d4MHTRiTyjXfYWV7uf2+52x1XhDJbAWl5z/UyUz4GxVlCCeGNQ1BqDbTY0FyCLXbCES6d18VhbjBv6cIiXvEIgj2D69LWSB+Gf4QtdSP/ZK0LR/cmfgQlM/kkTMMEI835ex7AWgn6WQAhG3IEVs/iF6X+hCtQLtmELhl/ohGObPQTEuGcDOQACKpXoA0OYjOT6KAq0GvBrAwBrMMeKDaTyOxe5sauSLSELHMWLN5GBgh+wAR/YAt9QIVSgBO4rQe87iEOgMFIIBSTxPldLgTb6AIL6Nse6gfqjP/3wAcAyO/yzBFb4hdKDLudys7EjhtdjhDdYgwS8Qj1btiZgwAaErPzCA8ooHwr8KERQvDzYpKdgAvP6rh7jQKEgKCE4OOnzPsZKAu4QgbLxgSrog8/AHk3gPsmbwfi4nkRhAiigmjnoLygDvy8QAqQTipb/A8IbiIEgFIIWEgLzaoKzQ0JG6ITRa8KuC8XSK0BMMDssPEUf4kInkid4iQI1aJbJuKExHIWdKwjKQQSR0S3xgjmT+EAQDAksG0F9WzyM6QLQISsUcAFGSZjbiZnICESia4s9qiqFYgLTSURWe7pruTJv8zxvmyyYczkfWANTtDizewNj8wTSIzZfID1i+AVWwIQ8s0JUTMAtVMV5chwlEAOTG5S8UiYKDAUKUTwxCRREyJgpUx7ISq+QgEM5rMV44ySoI62fSEac2z36AJzIKEOii4/bCYUwMA+U4AhzukZFrCPKi4EebDTx4rxvA0fvAgFNPEe0Q0JC6AT+CwZl/1CGYIhHs1O2ekTAI8DHfAyMFxCCL6ADB/EEMRxDOLMEqNynQwAUg8wfMYiCHzAqDoy2GMgyRYBGExwZy7MKjoiBY7GEFNK+SYgMGTymZqkPSwCdNhoBkjynneIv9VseolCoz5NEx7IBlxuJNyAEQjjHs0M2JLyDTvCFnVSGicOzwwxKiwODXsRH9LKTOMAMQZHFMaQMSziEz7SEmqDKZ0QMPVgwLCi+40svm/kBpnqFOdRBn9JLsYCfYxmE9sCetfzKtRITUugcN+gB95mburxG1bKXI1ICFFhJYARMgZPEOukLhRpMwixMmrw4dOwEndzJd5xCmqTHoGwnX6S5kP+DrBh4gjYwuUBJszEUyMmAStA8hMnIhEPak6kUl6kMBMbSRRvoDizDKC0Dy2yMA2OsmfQYgRQwSxbMPlX4Q940ofhQBVXIhPW7L6GgSxkzTuJhREc8NTOSP1iTxBjwCPIywuokTMNEzJvsP1/4hVkIBmIgBtczse+sRzAoz1ICuRiIOz1AJN/rTMuwhEWqjEwow6xRDD5ZkMPIGiXpggAxy9eMzemTyG1UqmRsEz68HfPjvrgRE+AihT5oH/Sgy6gpHZ06ztLQRsxqOavLmW/LmaghL0KgzDU4UetEwk5gUV0IRV3oPxmFRwM8R/BMwKEctBwdGG5RSuMCyI9yzxz/KlIGmcpDmErEmNQlBTAouCjte1AdFEtKEwuLVAI3yAQtvRrHUKFP2IKxPNBk/IHSwQo0VQgrqTzmvKpHe85ufLAUXAJMKMUmqNMTzU49DcVZ0AVj/QUYNb3oulM9I1Si/IjAiIEoyMyioYRZhDPKkDM3A7EJYRDVSVIlhYysuTRSYJBYXURXo02TKUsh2L3BUYRJ2CP7ehUy3RVYDREvYwJ1DQsQfU43rb++kElTMAVfbQLCNLY8lVFiLVaG3VMmjFECNDEqjMyL6zF8jJ3gOQOTQyTOpMDJWK7mEjs5YwVXaAVsrQzVyZNw/UpFuB5ScIMt6IL5oYNz5ahi9DcL/42Y0aEVx3DZMFhVYqlXKJjZWE3O5USPC2pTN9Wx+rOpGiCEgS3FP3uDhJW4rtvT6KKQR2iFq+1TnSQ2VwjUn7w44XzWjriBXcoDuyofRh0FR/UED/MEgsiDMwwEJTzZyZjUcaVPQEGQR3gFVbAEWVKo7ErEmjUhKv3ULUmdZgHcuNzXiKHLo5Sfe60SOmjEcAOiNpU/IcREocC8gTUFQggDVoBRrJ0FgdxaV9AFV8iETODaPTXWZHU9T4BMwFo2UvG2EeXCHLsT9QyUH/VYT1guEKOJrKE+1VFCy8gE1ZGMyeCTnu2cO/gxDF0ck2Q1L3sCoP2gDxAR34wFUjiD7f8VJv+xG6Llqdy6gRHwULFIWqUdr/orGdC9BRj1hUxwLmOFW2Pt0/1thddtWHf8U1aAPcCKTkkkTxeR1vT83ZVq27f1BL3V25TNGudFWQq2DGlUhUM4RqAgU1fVUNsCv9ms1bYJEcwIqUwIFhI2GRGgS5XIoHu1kihQyVfp1wfDRADxHboMg19QBmf4BRf1hGI9ViD+hf3NX0X439j1U2XthCoYwr40voFBqn1MjGtiTwrE20ndYi7eYkSIkMrwVjDWIYQjhZ8tmBYuG/Ot3GMCP2McMO79CdMQk1CIBVToA5Ng3w9KY5VIrHyFXM1d2s6DE/Kyihb7AUt4BegqYiC17lNGbuQj3rWtBeDZRYVD6ILdijUec5Ef+II5oBwH0ZPg/aggLcMuPmXQrAzRRATL+IRQYBhPaBUSTmNGmRfDRckrqdI47l7ScIyQStWa2+W/cOFGSU1ABhIUGDhMvAFDNpZEfoU9EeIiduRHhmRdaAVw/d+GjTiGeYVPcIPdqjryOlsrgAMrPim2HUMcogzmReVTHmNWWJAxbqRXkDhLaAJhGYsWO4pLGiOaJZ7spWFh/oCAAAAh+QQFBgAAACwBABsAPwHVAAAI/wABCBxIsKDBgwgTKlzIsKHDhxAPGokSsaLFixgzatzIsaPHjyAjygBgJaTJkyhTqlzJsqXLlzBjypxJU2XJmjhz6tzJs6fPn0CDCh1KtKjRo0iTKl3KtKnTp1CjSp1KtarVq1izat3KtavXr2DDih1LtqzZs2jTql3LcCLbt3AhJnAbty7Lm1g+3kSIJe/eglb+Huw7cC5FhnkXJrY71q9iwgQXDxSccO9hynwxXzw8cHFgvAQDJ0wMmfFWzQ6/dKQsWWAXjahrcia5MHbP1gJx05RsO2lvg6896nZdczhE4xcFBw892TTX5VqhE1f4e7TCJy2lk00CgIlzh54xQv/pjFR7QuwH0QusTt6j6oaavcNMINU4e6b3GyLXuP87TTJNgNFEEzpscV1O5kGU30X9DaSeQglG5lCE/jFERhmCcFIKQYIMEcSBF42XVoMxUUiQeZikaKB1CCUQRlNvABAJJwBsONAiQwBgwAIkFEQiRz9i9GBNIjY1DADjxCOPPPG0k0476IzzjTXWDDOMKQCkgkkYmHVxxUDyGUUjQRtuaAAABECQ40xDovSeTCaaVCRHWM4zDz30DGQPAO7oCUA99QgUj0DtMPOmQAQcmpSNBskBAA9EACAFFwAoupKlU8WJlBsA3FmPO+7Y406gBw0KADvroIrOOoCE6ZSBjBb/tEhBTiSk6VcLdsTdTCsS1A4Av8aj5JLzEHROObwAAAkkQRRRBBgmpNQGSkuAAgpBYx5UaxFiNIcRE7v+dKtvDrVZETunpluQPABUI1AGBHngwUALTODBAh3MRhQb1wr0ZUK1clFCr85hGpMaEeXKjEDoNqwuugLJw84CDTQAAAQCYYwxAAggMJDHSPULgA7oUToQwvGOW+FqL9UCQC2VwELpOusYBLFKYJBxhk6S9EvGiwBQQdDPAkXKRQ44zYmQuUcxbZGlKEd0yybH7LILAGjggOZAAdQ8kKnAsvMrO+i2E48wEYHzDTPMrHKLLeEOVEQVSoTkqkI6CHTtv2kU/5SGviOfYfBTmMGh1A8Z7QzAwuBQI9AlWOu4gAEEHMSkoADEk06nxS4pECwEGEC5xx5b7DEBlQvEDTnllAOAObBDQ9AxANxyCyZVyMSo4goVMZMYvJsUpFLBC1Q8QbdMg6Q78zQDi0C1bGILAAt8DIAw85Ca50DzsNv9QPIUiw7a9OoYOgILVB9vjkBwUUktwCDDtUDmAIDOOfWrzXbtt3+bECAEuQFBygAAkQ0QAAQcXkZisDKGJEEIBFnFNIKxjT0BwB72kIcwcFELUdBCFGUogwo2NpB7LASDFwTUp+xBD3l8QxzaOAYwIFEJIJCQIDyaFwnkhYaBhEAgQACCF/8uUQthGCNZdQBGMa6hDW8AAH/gGAc49uc2F/jAWwK5G0G+kAY5CAIARwDaQopAQC8YQQlaBIrSFqKylbSxIuPoh0DsgQ8AvOMd4qCdF3IAAQdsoEcC0YAFGHAQE5YQAPewRyIBUMdDvsOQibRHPebxwjwWQxSY3GEO0IA0NKAhBEDwIQAmkLGBkFJeAJBXBmgIiWIUAxva0AY60EEOJH1jGrfoBZIyN490+FKK4CBIGuKgBjB4QSB9k4OjeFAFKGCBDMcUCOIAIECMxCElEERKGk+CCTsaxJAAEAQDIDABC1hAIA44JwAI2ciIsLBPFzQIPtrJSIEkknnBdGIxACD/CkikMgQ3NMgOB6pDec1rXvYiJSSkQag5WnAg7lAHQRJhhS4QEIEAqJVAKEWFNERTINdsIE/qRpB0oMMc59CGNGhxpMoFYGvr3Jo31JGPgdATITdlmNhO5aR5SNSC85ynQBqZj3fM04SiCuY3AEA7TGaAoBApRjnYEb7s1QOFhzSHowZypDEQhAt9AwAXovnRSK0hjCLNyRm+0b15RCMaAAgCFcqQiHCuoCAOIOQBAlAJgdyJIMWKZwlFBbbAHiRVA0kVOgilDokKdqiQJYghWRhMcTD1g3UAZEFICdGCwJMge0rmMgCAjFpcVCBCQ4gXhOYoQZCBDQRxmlO2qZFq/4LHIz8I5hjKkIZIJSISkhhIJBKhggycyWMOAJlf7XQQw9LjoQbxWkQgJrZ4zAOee8qpUGv6jgu6gx7FeuExaHdB6IKWnvhIxya+CIC+pZaAcsgB0gSChBBSYbUC6RF7AQAGPISUMcdbCEkvkgTdfCFHyUxDCAkSCYEkQhKnIMIESGkBDRjEsMtVCNhM8qt2hG975v2mPetowkQi1bN96hNDE6JMg8jXAyoYAo4E4gEp1BUAZIgC4E5iOLX6OCIELMMYhuwoO8ihwQ8eLgD4QBDONtdOUIZyRGh22I1Q91ehsmlDFlkQdFRjE6d1yAJU8MM1qRMIKhAIk2mbkScosP8ga7TItKiShToj0FF0XUhqAbA9iPyqIOd4ov3WsapCHxZVGyFVTofazpwakhrIIGDfwrqQ+W6NlBMgZDvaoTZb4CKtNdGoQLwKAC8wmckDSUNwGaBZkAR6IOc4x+aK9aTNLdZ+BaFydAWSKul+1iD5CDZO6xkPd3ksBPMawlh5q5AfEmQIx0BXVZmbp3HU7oogUUI2G5iHgXwoCwDIgRTCXWeveqHFA0zEIu6aOfBFDMPcY16uCVI/+uHvevw8RmU7FSjwyuNJNSN0Q1yHSIvUVCD0cByiChKCBfwwBCpIs1gRUoyaXTfFfvKmHLdhO1CfhApZmAIApjCFHDjBznv/bK9ALloGM8iBFr4S1KDAxi52WWQZ6qOezhHQV1Ecw7JLxZxAbm1oXGPDr4pc9MArsQD0KSTn9ArBmQRCu+yd0B77AIAcAcBxQ3RbK4cgyslr5QSSlx0JWfCqyA1ChSAMoRi3HsjNCPXnQdl80Oe4H/0EQvBymAMNFjPI5AiyI46R99WBfrVC7tTWUN1D6dyTxtRBtgBCAsABAMjABCiWkG9gFZwKeTw+8oEPQw7DmQeJG0MGVxYbNAQJUshRnessco1+9CATqAMkeOG4asR6lnIfiIcHUr97890g1Ah8QqCuc3ofxBzQkB1Dstc9emTZpt6ow0sFYjHMA2ADKtjA/wW+nwF4EYQA3xCqZENcEC6b+B7geMELCMJmjycE7QOZ/RRk71UkGGQMQZADtFAMtNBDP/RSdQAA2RAO10AQc8d3DSgM+wQA0hAOAhEOQFB4ZzJ4CJFzU0dvxvc1gUV9k0QqCUEPgbI5A+EAFLYBLnh55iQQ4zdIOsJoSgd6nwVdgWIP77AKDGR/GoF2tTJ7dUYFJ+dVQ2YQ4CYN14ANR4cN1+BKz7MMxiAQmwAAdVAMzwAAwFAJlYA+CFAHlQAJdVA96pOAgic5HPOBC0FwAFAO19AMnFMQJFiHJWh1AlEPwDAQBnAADHAACHAAAKBOgVRIBUFPNcUP9kQqJtgpWP8GUgkxByszTRDRA0gjckRIhAMRZgORA6IwEO4CAE04ENlwdNFwDLaACcUwPcIgDdXADQQRDtzgLs1AC33lbAuxABDgMU1HPROYEHPHeHc4jCTIcFujfAvXhwSBedsHbAShiALxDwLBD+CEJ+zgLtfgRG0QBwHWE39gFXQwEOMmEJkYcuCmWqMEDNAgDStGDdVwDdjYgLAEABZogQAAiwbRDQDQDeFgj/tIi0iEixVRS8DQgAkhjHZ4EFKAaomQCFTgZC9FiAWhDwRxcAzRXadSDnIoEEf3NCnRLUcRCBtRBE6gUZkYbkjgVXJwe/SFhVU4WgDQDNLXjqHIDTZJENn/cI/hUEv0uI+xyI/e4I/dIA3NMIF9VRAWw44VgWHwNhDP4H97UBCSEAl8sCYDYXkWAQ9aVxAPKH0JsW1AyBA5kAVOIAWZWCtIMAVj4AVr91FBAC89JBDykwzLAJMb6ZUA0JEFgY/36JMEAZQGIZT6WJReWAeBtwBjyAvyU28EcXd06FcEoQJlIAdR2UWOcmOjRogaEHggo4IIoQ/5cA/5wA+kyRDY9hCL0WP2919DCHJEOI5ScF/naBCQYxDGUIVzCQDLsJEKZ5B66TjX0IDZoA03aRBBeZwXaJwMCA3NgETM12GYY3ffQxDR4HICYWQDsQdr+VvB1WA+tAGbx1SA/8Vnv7YQDVgNGwkAuRMckhiWF+E7AABuZllnUiBqAmGV5AgAVyMQ5KMQxgCTjqOXA2EMyDBazcBQvamAfcmX+uiX+hiUAxGUDdqFteQ1DwgsBGEquJAGySQHdiAQe1BkcuB/mFkQJEBK4lCeCDcQn0IQpKJwoCgQX5A77skRGjWWs/l/HrGOA0ENDeiVaFOFxkCXMcmjAaqgCaGP4cCP/CgQCwBz2PBqcYcQ4JAFCyZkXpClx+ShAOAopgYAdcUHciBxQ0BKzHUQedJnfiUPPDmgckgNYLAEZvF1PJEDU4AE/ocQZZmnA1EruyAMgPoQo7ViBMGcVXgQaGNEyFCguv/5ptiYlzm5oPsoi1zopADQAIgJCRJYDd4AfLwGAJ9WRqWmpVkKAF5lBx+qTHxwY+BmABDAAJ+opoKqn/sEkzUaEk6wZ3w6EP7nBPg5jgJhDEFqRImKbwRxqHgpEMwJEYFahXQpkwgqinkpEJGal9rQgAQoEGggiJdaCQl4dKdVqvFJqsdUBh9qqgOxVQDwUuTFZ4DViDEHDUdZDPIDANDQBazXFOHoFJZ2f1KwqwAgmbUAP/jWn8J6EPUqfXhpqxVBPrcpP7spENIAoxw5EE0EANqgm5ckEBNwTB6bpU7QI1kAslJQrqmaBqhKQOHpEHhIPxTbnzshkhrxjVRBBEP/ALAIIXFOMAEs8APzhwI4Jgq1cDUOmxDNkJ4EUa8c4bC3mQwxOhAGSRD4uAngNrJaWitj6QUhO64DYWRC1qtf824H2WfVcAkYcKmwsIcCETU6EQdtAJJWMWcOIQMS1xAYQwAM0AEoMAIAsLcAMAIgALRe5TLFmhCjtawAcKgnkbYOsQxeAG7R5ASPmwUlG012Kq4DMQS5OhA99GcOEQ6wwIa3qhInEG4LMQEqcE4M4ADeZxAxgG14gAiYgCWfNhBKG5MxybAqUa8yKTvJSg1UO65SoALiRq5kabWYS5ZoKZFzt2E2Z3MwOxD72UBw2xKlCwD4GZk9sgHrxLoOEQjf/3gIf5AinnYMuIAL5ou+uAAMvEALsLALahsR0asQiwoATqubAiGHaAO50aQCU0CupDqqm7gmSGB+AzGlEGM2GAoA1BBKB+ECoxsSEAwA1+ti3ycQK2ABLHh5FdFtPWYF3BEDKTACKaBOGrABGkACaAAJHhS/IXGoc8mwWSqfyEuusVdqm/ivSJADBux3xDd0DggA3vA8EUwQUDAnrve3G8E7OiBfA5HChZhfALACd3VXbIavD8EC56QBXCxIF/AhbscFLEwL0yu/DSE0NQzA5LommAuszGePbSpogVYOKxYAldNXwoAJ1VvEH7EFVZA3A0EC3FsQQ8BuEDFgC3ECfv/ExYGkAR9yEFzABWJIxi6sEMBQxgaxCZI7qmoMwMP7v7cXcRxjrD05EP4oELWEhgYRdhBBp2ABtAaRrwPRjRfRAicwYdw7yAORZnUrECpgAh8gAhrhAi1QYQUxSI9MEF7QkHygAlLgUVIACHswsMBQyQTxPIo7oHZaaueYxgBcZ1paamOgAq1GrRh7EDspl7YpEHpQFqpZEDRrEDQaEdOiehwhkQWxAq3ryyQAzB8QiQjBtgBQAhYmEOq0wQSBaku2ByQwBEOQAy6QAi0AADHwLHYgtPBLEJhMEHmaBWkmuZ1cqgFMEBrgAc0ItRV7zkIMDXEJAKE0Wu1cxIjgEvj/LMUqMH6RqQITrBExqE4kEHEO0AAroAE3JggKXVy1wgL/LBAogAIp8INKQAaAUFefeBB1KzQ5EtJaW7yYexCE+rQceQ0uDAvPY1tS8V8r8WYu0SMf0ssecQIHQIivGlMMEAAMsAeJgGqoVgYkUCscIAJLDQCB6yBiEAeKQAmNEFyJG6wmg59afUzzIq5eUMAc62QDIYd46Y7GcJQA0HMjwLf6mhDx7BUnbKLY2xCInBB4UBAnYACEZAFk1SOWNwFywAdiilGjtMMrAAKB7RDCID+3SxDeHM4PbbUCMQWApMtYab8DobuQgwbvuwmAy8cyYdlSLBC6TBAsAAIgcBHd/x2IEzAGlBY0m+cxk3laU+AEUFwCPmADP7gQ3wgIWAKqChHS4Py492l+KnBXGlAHimkQSuvCMAfaEaEICgGWRxFnUqFZ3BsEK5DMHJEAFpADC6ZyQbMBlBPeXjAGdearfOQBK3AGewzffzAIf1ACAaunAQzAvMpZopAsFegNsnObB3G/azHRVrHTgYzBNS0Q0SIQwhwRVUABEzCOROAFRJAGXqUCU4cEZOfQaYYxEcDKFTEHRPDTC/G4O1y5H7WzAqG22hAOTmSPt1nmQoo2ZA2mMkvdBkHLKtEjJGDIcfXgU/wh3W0RF2AADeAFBEQE4EcFSU4F1YO3SJMjEmcxbP8QCHHwRiBJvC6Gp5KSBYWOw7tMTgLhtNQQ5k7UELDgnWzeE3AeVwlxAjVwERwgOnOVBkFQPUEQTQwwOQyANEjjAT0CATzQnhYxHqKMEGtyclnN0STkPpWwC7RACx3UV9lsEITwB3Qw2jW6rznRunAOfg7g1gSRN2jdEEVAAAjQUWVABQxgAJI5ZIREAKg7EB4wAbZ+Bk9wmg3x3k0Afg9xX/hlSpanAa+OABX2VHt2ENMjEFSOFCN+FQhj4AYh0Aoh7VEs5yhOEAdwEwN/EDzgMQxAalSwAnOV5IO8AE/Fhzzg5gxxBixQ0JUGAHhKBf1+MepkAegT1/l1TDZOWif/shAzvTI4/hIBnxCMDAAkDwDlLBANDwAP4ALvTRAI76RnEgQcSkDireQIcCYQoHk1WAST8AgZAQZp1uMHsSbAejFP/IfV49Ne4E+4kNGiMAafnQJW4cplYQQok/MIYchBnxEdYADqPlfIlORe8PQE0ACchQBFYPAYQQc8gLMl7+QqUDGEuAELcACVp8tGWCNy8FJDcAJBvhZi9BRF0JBmAABNQFLX5GS6/PMGESlmsN0NoQMNQADpg+QKFkIMkDqjLBBrjhExYu1iebOFeE4WoAIeE9ck/9A5UgYvRQI8cOdE8UZHgetnAPINcQLnKhCSUFdmcAIIThDZfRBpoNAl/0DgCfHtoYMmG4DyKxD7ouMxAVAEgyCzzg4RccACCUH6SFkvDjBfeUU9cV1hjKwCGoAEABGEAQASPEAAQJhQ4cKFhxg+hBhR4kSKFS1exHgxjkUKjiQxlBSJTBoYFiwo1ADgJMMyAPgkUsiHYh4yguQsSEgggEIDAXgEAgrgz8UnAGwsPLEBgNKHTB/mgIAgSBkGQxyoRLAgq4OBCCdYyJCjzAQCC4jEyJhW7Vq2bd2+fSgihxQ5MiVx+ghA0kdJicasSLhSIREvZh7KpPjHyyIAZRoQIGAAAQDJEHiIOQMX4QgOKghK9MwQggEkLRk40GAB54IDAAIwWABbw5AhY/9AUTFggEgXK5p9/wYeXHiWMmMaA8hiF2He5XYQcnVw9XhEOWkmgpHDCYCcN2w4GCgLoMQJtL9PUPFMYqJ6haNzKHTwfnJPAxMWQJgAQcUQKmNKyckggyLy2Eg4Aw9EEACHoEgQACSyGKOl7QDwIos99FpuObycQMAAlQB4LyFBEtrDOuQkukNCL+5wSAcjTnBBuA9KQCI9ipxqgDInVESoAfACaCADD8iIY448/mDDCS9K4USQEgYZqkEpp6RyLR6QkAKAKaTIwos05PACgDHSuJA5vThJQ4MNCABggTARQ+hLMQEYQiJAwqQTDzEaPIGE9C64SIWBMpgKISLUY0D/JwgyEA8OoQLJIw8VbAMAlEICqTJTTRP6gYlNATACoSkUcqLLOMGkIru7zMSJMoXkNC4hE6oI4yEyFuEkkiCuuCHGA1HgYCn2KtrAMy9yoMKLMogoLisPFxASgkEYIiINTlIpxbgoP+UWoT27fegFtrYdlSEnpPBSjjKUjSShSBJJRBD7APBAjoTGwDNLAFZooYWHFgNAkBVuaBAGpdQjAdCImAoioZasWzaHBRYwAKf8jBAiiloVKkOQVEBZJChwRyZZszQalmiIc40rbsSE+JAjpYTkwBchfR0kQYSHmrAWIR2WEALBOHjIYQMSnIpIhSBSMrGMNFj2YgOcDMAP/4ITRhhhISZ48EKOU0AB4I6SxyY7rTk8u/mh0E58GrE97A3TYimyTDuhgyJqtxBF8jjwjzeCyOFohIZt6qQJEHKa2TGImCA3RSNAQSJ0S5GlXTWm1UQhX8vm/LcuEJoWo0cUUnki2hKaoiUk5FAXCYSQOBwAFXJwHUSvunoIEIQ4CRER4f74Q48tED46YYmkRsgA9YhASKCEgGThoA8gEqFOsDkB4wglAPCjc+8BwPQtgn07gdSInFAoC+S8QIIKMcewFyEPHAzxcGghcogxxraFqMCMgAcDC3hQAg2kRHBNIcgGWPCAhPSkQ5ABAAQeY4DoAWB6EQlCGkCRClkw5v97H2xLbxqEvrRESEvqy9EEQjOBBkyAUfODiPsCtgI9ZMQNiflDEQDAgK98KIEPIUEOcvCAuyUPAPPxEAB0Er0RXDAiJijDIjgIiiV8DoTec1TZ3uMEElYEfehCzqhqB4AcZaCFLwRA7J4iB0HI8DeHCAQZGMCABpDgaCZJyAEVEsQJmOBuJ1AYZNgUmQvAIAblmQgLvCCIU6yiFGDwH0b4B5ygXbFKSwCAGywhERGIgAPzy8EQxmiRUdVpITxE4+EA8xA2aECIjOKbZvBwCCNMjAErwJ3MBseQDTggiXYD5AWysgIeFCGSFAGB+06RilUAQBGKsGSVvqAZISAyQT//QIj75JADz4wyUEdMo5DoFbsGyOAhdOCBUgYChli6pQUxMAEEooITB5xElwjsJQISoJARRK4FN4CCGNpwzIV8QYQLyQEjZQGAQkwimlMqyuYeihAwkC4sFCnVZzSqEA+QkwASkIh6WmOCSapFBCCIJxmfA4B7QoQEK9hAAxBQPonMYaI3xWlC7qSdEfHgdQ56SJ3Up8v5eWgCHpVACgBQxIU0QAMMaA0A4kCHtnzgBPNkwAYsIB2W8rKAS1mBF2CDAAkwFTjtWmhO1dogPRgGIfYCAx4QYsqFIEE9WbhZSnAymeQltZMROcEv2YSQNqzFqhCIjAqQELiibdUkLU1J/wFJMBDWdCBrwmlJKgBQCh0IoShrBW1wRhQJCQFgCTqEiCgBQML55YhN9qFA+ZxIEQQgYLCGFYEwVbAHeOmlXQB42hCOpqYNbOCrgjnAAWSAyUoaqJmhjQhVI7KFthyFc23AEyfc94HI+aqLCsmSZ+YHAYRMhgUYSUBX+BqAKKxFBCyYQBlekohIfKS+ALhvu+A1hixwkwQTOABrWIOQkvpmmQiJHHQVDJd2tUsFOkNICYBqLifgp03PMoEEPjBbiUwvwAlZwD5tmhERzMhLZYBXfSNxX4m8CyZeQF8GwCDd4PAgfrJw2YIzogi5cgohSsWpEaigHQBwIQgXBMFBQv9UVxI0QKbzUUuSCdAAOnqIBSPGSL+KMIQsdClCToOfHBIRkpD8ViFlXnEikJCGaWoGmrICgAeJrGM6p8WNSDgyUs4rStcNIQcG4MEdxMaGzKhlAAfYiULaaZE2fIEwjUlDGaoTPzF5wQs14wMfyLziviSCD4IQixxCdRE/hG8iLTgBnjYLgATX2dUTgQEXELIIKpyXIVY9rwpUwAMehM6hFLnsQ2K0TwccoAJpORIR0GVpKixbWWVwWhqkvZ1IVwgA8QKAHZDghXjZwQ6q/k0nqWCiVBSBw6/GyA1xWgQJyYELNIWIDZYQhtDBRQEJAUoHABCsh1DgIX9ABBnQpb7/hHCRhHOz9JgkXRwuSfrTdoCXIL5dLs1QFwBoSSjlUkGGc6P7Iti8qRnsFYk0yDoimCxwWkCeEH7zWygXUUQjVDC3hTihRkteiBRKhS45QDwRKBbEHsZAhSmcoNW/0SGR5dBxj7/6IC471qY6IOEOVD0jHOjA3+qWkNmdr8/6AhP8GpOFKRhEOGSIMwBkwYnmNr3pKaC0E1Sw4QQ5yooA0DdCzithhfgbAH5nCAcs4M2L2JxOpYpQGrrWGC9MAbXBeYOkEXIKsbnd8tYCRSSMbFYpbS/CankACeiaEcOLUgqJT1fNiMD5t+RBD6trJAB0Z/mm3yFMRC6BRDXFwAoA/74iBSjB6DFic9ogYQqXTsOoIm2cKQA5OGngA9hSUQg81JD2lqfCCrI40QKYQGXfLTwSRKmkMSlLXfydQkWDQxM5MEYWcujx9dei+7JRAWxFNkK9N+WCe6clAaLcj7QgIZW5NKdxmrFLv+3zjRxKA0YCBTlYNPlji0Yom0KoFOACADBou4c6AdqZHcKbCMPLASVRFsWzl3WZAjKwPuAAA8UauhwgAxqTwAUjg5FLgxyAN4YQF+8Jg6LgMwGcK8Rzmiz4knUBADOIQM34AzpygKNBuxnUsUeQhBHhBC7IGQj7lAd4AAUQAIugQIQgA9phC9fBkhIsl+KYgilIObf4A//JOA0HmIA1DA5MgkIEkYP7GwKU4ZYIkAAJiACL4B+ZOx/wQwj04aI+O74hXDj0u4P4W0APaY0m5AEZrMO1yo6EKAEs/BQOcDlJCgQdAkEnGD2DszkkMMVCFJM0II7zc4IceIMV/I3wAACuQABKrMQgixUAoAKFUSvgGTVzCZw6OUTxow0/66YuKYMs2BH20bVXXIg3c4tEe44F8KlbDC2wWYQh6ADWo5L+cwu+Y4jFch2bC5wGgAAjCALGCSKV2ZK5aEUySELfCIBf2iEjUIPrc4gFq8YJyUHQQrvvqzlyJKbHQ4g3KAIi4CYV8IAh8IIgsEXgiKqEyBFrVKsI4IL/XKEXExgA6IqUImCPURJFEugAcZGofLwDJIgEUAAFJlGBQQC8Y9MME3CNhJAOC2gCEFI3ilSIBMMSD2gAEOhCkmEe35OkoTACIjDFpBwCE0ABbkQIN8gBRyAy7erEqloIEIAg+MAdt4sB+lMrF+Chq8CJ6WG6KbE18XCLI8kDMGiCIjCBfowIFwgCQZhKgalKzfiAB9iJHOmKCyAonbQk6egJFHCispSSs3QLCcACVsMIlBKE3wKZFYDJijBMhZgeBgqAAICMnjABLLsI5wNMTXE5HwkAoxsZf2OBvPsUFkDJlSyFRcC53xiAQ0OIzEQIzwzNK5qMgTiA2yKZY6MA/2/UlBMYgpTcLO0qAOHowgEQgOQ6AAbKzYvwSioJBH6DKnocGeHklg8YAlyplCbhxd8IyoS4NwkgyujsHDC4CulYAAjKHIWYTE2pgAfYyE35AA2gy83CllVqEAo4T/Qsm0AogdN4CAXgRHABKQD4w00RAAG4AC/ghJVchVMIggSVTYQImsIC0LbYwQT5g3vaygOw0JEZUU1xANdZSQA4BTfyjfpEiAigANfbUAPxvLcAFDgEp4RIzoh4AAq4y+DQzk8RgOJcyYXyghKIz+DgRFObUc2o0d9IIp0AgAYtG/oU0hzAFWZKhUUAR+DAOoXwnSadKJl0yiqpgGCJgB3VlP8BwE/tWKhTWIEffYsDDQVS0ARKgMYZHJ+c2gkpVSKysYFgkYAgpZIHjYRlkoVSCIIkFY5DGB0xtaTWGM+R8RUliIFJVQgF0ML/hAsLGAJOKAUO0sUDOQqC2UBILZsCUNPvuYFzKwDoVM3goIDiDNWFKgNOZYsb8JeEeIFdfah7RFWKwFThUAIoYAIhaAEUUFZl7T859Y0SIIFFCNVVSIVIcFbN8FXL85QDedQqAc2EcNFuQYEX+AFj/YF+SYEWcAGQg0UD4QASEIT7SwU4ZVS2GIAC8EZCDdaS+day+SclYALrAgCvVIR8FI4HBQVEVVTgWNVwRYjKxClglZKVk5L/o2NMsmkBcrVUpfIVDZ0SB/hURKWQ38hXfd3XsbFYix3WtMBViUiwGABNOGhXZ6LZL2zRHIiEacVAzXjVLdTUVbW8Gv016EKBfukXYaWILvWNbI0DPYgUhYAm36FAg9WMaC2FhFiE8GwLBQCpCpAA6EyQPjhZtejKo73YiVjZBGGQzHCIAoMmCgxT37iAEUHUU9DatSiAG5CAeh3bskGLF3CB6YwIk4ULShiFhHhUTYjaGvqDQPCdZ0IEClQEOUyLC7C/U0gIPVyLjew/fYvVXgTMrrSmtLhWtngzh3DEw4XbyG0ERIAmaAoEys2IBMgBThDZ0krMBFUAhwXQuAWh/ySoJrIJBGiMAiV4gitgiDtdiEZoBCaFiy7MWeD4Q31TWjFFhaH9ni9os5JBBL7BAihQgiQAgCTYU4QIBYWgBACghO4NDg8wzlTY0ru1CPEFgB4FKRZY0L4FoQgMtk3JoiTYHvGlX4TwgSo4A7ElhYTQBOclMLeYW4WwW7eYuhI4L8LVySd9qHzMgzYQg23lFiF4ASFQgg3s1YFtASEwYEMYnQRmCNmtCGVSu4VdCwqg4IT43IdIWyg832iKOUpIX0VQwE1RV5C7gQ4FgF09JAztgjDYGKh93toFAGba2SnN4YnYR/19qMzB00/5LBSo1BsYV5BzAX9xAbS4gTPWGf8fUIj3fAsBUIHoVYig3NEqfggzQEwstiRN0GJxNWIAuIFKsoHu8mOCoTuF8GDN8CBZOIVSyFd8TU7mvIgbXggMxuNP+cJRSF9wGdeLSwghqKQddAEbIGQO00S4mNuEfa4LwFcAcOT+o2P5CwM/eIQ6pUhUcAg1ThCP3ck+1hyEeIEbiIFzg9jKzYGE5SBFXVUFAFqKxBr0zNZMkSgbWLleQYiuFGbxpGKFmFAqEE5lTk4FIFSlbVkXruQqQQWEEFhN2eSFeAEb6FVfHebn/QD3XaaPET6GeIAR5YA7Dq14rsPwIQXs5RbBNeLK9OeKGAAGGANBWARBkIIMSIBlrl//hOAAwPvc0rWIHS7nBPkcTwleTXGB8tWcGFFWprugg9432moAFVgBFVAKB1hlhoDJitY7ALjijX4oBvGN9lIIOYwccSlia2rnHTRp4UjQ3mQAPJKOVgYArkUI1TzQhCDIttDoSp4E3w2OVqNY3yg0iHABXl6IZ14IlM6IEjgAAxiI9USAVlbTGiqBz/Upn2pZnC6boDnWga1YXwaAX2YIkX4Isr6I82KB1jiNlWCAmE6IdqI6AOBnus4pGwDsjLBYhoiBdAYOf5vrDujNhEiNkxCMh1AERHjUuE5px7YkawLjBKFkvbau0Y2IYZXkhCBK33O5DnAANomOreKKhZDk/0dI38wZIJo27YcSgh8Q3ImYnhQgmK5Oi8Al3YtwYQbqEASYI6jyEYqgQMNFCETA6uE+7chmCOdlYGFDCLGuiLnuaYYIU80Oj62agDlCgAOQjmBhAX6mwPdsXu++ohjwvDOe7IvogjjwnTDdlqidCMIs47ZA74UYiqhtBDYZiJUIsDma6Id4hVg4Z/X9QnIumQGm66Axb4jgroRos7jt7oqIkRDPiAW3Ye5mg6y0J66AqqZOiBgQFyhoYoR4he2OR/0+EFVQC+tabYmIgf8G07S4u0zhRL5LopVICVqkcYUQFyGwAjU4BDslBVVgYR/PFNeeCA+2bIggYwDQaYlABP9PsIga0uWFKOXf+FKEkO8PcQoGMIB9urgUV1c/BgDeGPKb+stKRN4G2WrwgYhNSogwHXCGWDS/PpBYTWoLKC7jsgB9ynPnNltpZgJ/SWIuvyIhMFaKmK0kx7eEKDBD3yQ0912bRZD//FK+MoAGyG2oIoATmK1kXaojJhgVt0pOZwhVX4ttFYIwT4jNYe6FYNITHxv/VHYKQATblkZXgYwA8Bd1NVoLQrCjJUw8LnZNyWS3MHKFEAFEOgPry9NRd140p4hBGO+EGIRt/w19QzQlGiSdOIB729WjbYHZKlNeLxuQCxrdOzr/SXSGoNqb4kQHyEyd0AkPuTdf2VUX+Hb/fgeOco8IX5+I7YHshIicMH8z7q6Ibl2LO9DVBuGACqgABajzBIiqHR1jdgZvif/44EALnU5tABAB9QMA3Ox4j6dZ0G4LNfCBfkWQY4POAhiAVtM9iIf54AByi38LNd6e7dE9D39Gig8ON/CB415AhIglb36IbA3cl1/6hBDbc55cA1kCJTDuhYACNejxXocIp5+IVkiIIxgbXY/4sSebTaJDEkcI5kX27e55uPAFVeiELeiBsdmcZ3ZuAwn8BfusV0vgLRCCQ/57q+95uU+LWJgFS3gDANgBSyravLdGsQ8tVKjq5a0SNrB7KqGDP69mtHBns9X7aOLwipDctngF/1Zgg0/5AibYQWUt7xr38uGvfe+x+D/Y8h3TfIlohVjQhbp/iBRAgTa/CNL35RfQfnHR9EMq4l4pWik/fu8p+IRwFCDH7i/8wtSPCE+g+1j4hU8AlxjI814uYoS4gR8gGO5HsCMGCAACBxIsaPAgwoQKFzJs6PAhxIWkVAFQFPEiQkQCfxBkUiVho4EhBWoEEKohq1YYG34AQbDFSoIobhx8gQJmzJw6d/Ls6fPnQI4PNVEiOJLhp4PBBN5ZczHFB4JRZT60MvCFi4IzEeIE6vUr2LBiD8Zw6EeTwFixBlKy2OikwFZwVQp0BcAuQVed3vD8gEJgSxR/qSacc2bgjf8XMmkCECoQq8uxXplIrmwZ4w3HCpl8sQTgVcG3lxH26Op3cMGuBP9ULKi5IE0bL2wAQD36Nu7cPj+0EPKaIdxYqlABUAn3IF2DbBQ6bQLgSMImNSJHtS0QZwvrgQQWFWhxoWLdQImLLy+2xpsqPoI2dANglsHkBOUDla71YPaBSgAMCvQnpCajjCLQUewlBoBqAGTVAk4uJGgehBHe1oNAMTAm0IVBOUYIQUvFAh9YTgkEHQBNUMhQfgOJ4RkAlhQo0HYFifGFQilKeGNYqCSFo1QohIehEI0xxNd7AATjS1z0/QSGQM6hWNtAXbRRkicAdCfQKHQYFONCD/L4JZj/PpVVkGI3BBmkkGCwQeRAhBhSEGgF6VIlAGuIuJKdY9ZoIxRtBPLdIwa9ONB3AomxEQDheRkmo41CpGdCmQFQ1nIFVQrAHe/9QoxAsywFQCc+seFkl9ZVpMgjnjxyJQADInTIQYc9NlBWjtpaUKG31srQCzcsahAjA3FKULA7sXHErgmluGtJjQSK1kBwZQIrQ7lOeitEIxhEEba60cZeTQQt0dAbwf4CbJ0xsQGGC6amBqVAVrUGQCODnpRJi4dYckh/r8JaUrcB85gCUIMVyxCdAHAaDIgcLnepQ2zs2lWyMP2FkxrzskWQqwLpq2++MYZUEskIuSswyhJm+NoL/zHM9BtCbA6EZEEOAwCxQusKZF1Wyc5KqEgAQCvQcQNZwuJBh1CbMtNNJxTkmiQ+pAtDbOB8EBsx2GiQl3MgkmsjrHbsUCBLf40rAIhk7DTbaN4mlNsHXbjeQ7NQ3alAd2N9c0JZo9gzAH1qvPFAYwOQFCushOLJjgTleogiZ7M9OVA+QyRE3EIelGwNABycEIh5r9SE5ZvHUNah1gJI0EkJv+fKLLADwIrrAiF9yIuDUi5WLEU7jXnmO+mtd+0FsUKQ1cif2FBZX3ht0KocD/QJK3Z59gdrlrBC/UExAkzS7uFLNpVAmCPq0/Eh0ZWqQrOwQghfD4/aQsuQbg7AF9hxpB2a0KwDQOcnkGaQKuFLIZlQRCO4JL6wuKF0u2PMDzJ0kVkUsCDwKd5B+PKGNfyIIPZD0EAQIcLQUGJortqRJRRoEEQ0boHmmQ7lvqWQ4BlkCwJRhk70JpBfUO1zEMTQj1pQq0CEBHIEQpXYHqJCg1RQIC10YU9Ica3wkQ8hQjjZQHzQxJUU0G6zONdAXmGJLezHIDT5YAg1EpLVResi30ub0hRyhF+NRl44cqDTqugaLEJvaTuxm0CIMSyF/EBP+vOOIhBYkbBJbyeKWGIYOzFHKCYkIAAAIfkEBQYAAAAsTQAZALUA1wAACP8AAQgcSLCgwYMIEypcCMAIw4cQI0qcSLGixYsQjQTAgrGjx48gQ4ocaISAlZEoU6pc2fEkR5YwY8qEaSXAzJs4c2K0qbOnz59AgwodSrSo0aNIkypdyrSp06dQo0qdSrUqSiNRrGrViXWrV5kJun4dqzJsVrJoRSZIy7at27dw48qdS7duxC528xJkobcvgRInxxYpQsYIGTJNmugA87IvAAKCyaQRxAkUKE6RFgka4oEHE8cCE1TRWqiyZcucUiOZYMBAAx5TbzEDN69dOnbo0oH7Zs3asGGYVmHCtCUwQR0ALuCtCgZUqefQAZQCYIDABABIiEBl9kzevHr16NX/c2fPnjvy4enNmxevXft24JIQdBjgi1VJ0KfnByUDDBInTuTwhFO3zHPeeea5U095DJbHHjvrRBghOswMSNBGjUXVnEH6LQIFFERIIUUOVxDYzokouhfPivJ4x56E65hTjjS88LLJJkUsZsJWoAwEhhlyRCJQKYtggUURAjmBXFPgpOjkk/KcU02NkGTgwZUkXOnBBAhcuUAHU+EHACiSgMgFFUMuAsCRZ1LBF5PsABBnQU8CgA4EDTQAAQQTTADBlnsi0NoCBiBg4VM9PAcAJ1300OaQcgAgRhFUnAkbUZjYYssmmtphhxkRsiNqO+yQ2s5B7dCywKqsNmDAAnnG/5onAVAsRMZZQokJChlYpOEFFWhKlwgANhiBRKXa/XQLp7XsssslQKBBwLQEVBIhAO6dqq2cpwoUTzrAsCourLLGSgAzzKxyyy2AjNYQDvDiMIR8QIExkCRMyFDGvlwMaQYAX3RBhRdeJIvTLc9EI80usFxyybQYEFAdtdqsg+2K7rGXznrzeCcPAPKgM211ACBQsgcALIAAodMGsEs55Zwj8znmcANOvDjYsm67PTU3HShLAJDGvmUgKZ0ZX3yBhRf7pjHTNMyMk048ycDSMCS1bDJua8LUw/HXHXscT4st1oYOMA0UhAABgrIqUGs5AAEEF5XUIkwy0fAEADUzo/9jDjiAW/MMM7fkcgvAKUmSGgCArDlGGQCMYa90ZIQBgBpEpyGGGCjdMk0w4+BT3jvuUMNLLaLUEY0jTDewasoNHHNPg7QzuCB4uIcXjzjfZHMMMKJUUge5shaaZZZakgAEBiGEgMHcdQODjMLAACNMMdho4805fgMODrrq3oJJFcZF1EQacshRRhhisAE5AGCQcRknkgikhBcCkTjSM/340889+LiHAO1RjGM4AhJDaIAFLkCCDWzAAg6YQCXeIcAKWtAes8sgBgGYjw7m4x3vwEcAZ1ced9DjG7yrxjFoIQpRQIIEKkBDDtBQBzQ8DwghQEMIrhSCPvGpT32ywAT/rDQBSBixGNjThjbQ4bdxgGMcz5gGwmgzD/GEJx3pcOIwypC+IthAaGMAgBfSwIP0ySENyFHCGPCnAsuBZBjq4Ec/9iFCEQqwGptwxAQsYIENaOCBf3wgGkB4DwBYEIB1tCA+PHgPAzWojiLMxyI9aMcB0oMe4BCHN46xwhbucAFA1JIoj+cBUiJPA1bakgQhAQxykOMcjqxdedCBCwDIwQth+EIPCMY0L3DBjE74FS/LoILR1KojmMhNOtShjnTkZnfSwMUm1jaxAzDAAQxgQACAoA4KAgCS4ASnJPNRNnqQalSmisc81EEee4yzg+LMByIFSJ558E4cnGzhC0sJ/wAS9LOUotTSBDzAp2KwIx6X/A44ynNIdURjILyIhi2GJsxK2VIOXBCmGAGQgyMI5AcdGYaL5gGOaDwDFwMbIxUY0LIAGIABCDgAAgKAjUuqZ6QLssc3PQgAe9RDnV87p6iGCiEYEXVq62SQOCdJSQCSEJPiEEc0OikKglwHABM4RjuqSDsBEmR27qiFQORwDF6IAn1lwF8ZgoVRAADLrQAYghfMwAaPYiQa6jiGLcqwRiTIgQ+JiIQkJJGIHGhAA4N6WwDEkR6bOtam67mkg9YDMgDEYyCikhNRN8vZUqFobPRgqAffWcd86OODYDXhPFC4m290tUGFLAg+CGLGff8BgGhwteUQbHtbAHABCYJIRCJuBdKK4CILnkofF+UwWEkIlrB8OAUZVHCdPYrCHQPxWmMfW8V6DGRs8ljRZS2G2TgRVbOdTS862wPUdiaSQQIc4QYPaciB6FS19ZCHOaQRqYua8b/9tWW/ODoEQWyGT1SIxHARN5EkPM62crDDGdMQCQUrGACAPQUoVmABEuSANgCgBwC8692C2HTEAKiNeEt1WQBIyMURyax61XsidLCjnfM8pI692lP1sCcc1LDlWAE85IFg1AABWEAINjCEDSyAAAvI43DxQBEejCGMWciyFyKchjQIV7gAEMQezGAZBmRgBeAIMYpJ/J3vrHn/IB9DUWbtxEQmrgMdE4LRtR4yY6KawxwDiWQdvwnO+I5wgAAwBzUqMUanISTAtqRCkgkFRAccw7OAe8YtthARMGTBC1mYghOyQIVRQy4NexAEH/iwhz2cURKgCIIDNuEdiSjosicaqovRITNe15mJ7FDHerB4qjvnWc8LWUdRswFoDo722ZQMp+jQQQ0MNIAAEAgBBEhAAi54W2hOc3SkPTAyB1ggGutox0gjW49xjGMarMCEGw/CgyxnAQk5EHUOssxFL7g6uWVIwxgSwQcG8IJsLWLId8xJ1FAJBNAyM8fMhNFCURwDhd/obhXpIY902ObYer6WhMLBDXEwFdoo/0d5PJYBhFVJTGXjWhUGPLBDFaiACzl4MnUYUIyt0kNBB2pQCOW4DXj0ohcAOIMVzkKELANACkMAwBRyIIVPCwQJQyNaWvlghhxo47MqEi/ZKptijg8V2QAox5//TLNyrMp1eVqVoIJn8XuuRx7tsDOe0WEngfC9HNi4hrp/jsGDpHy03hheyiTmqlfFPOYkA0AxQCvL2t1DH3LsRz/GcYsu0CvfUnCCqKdwbycAIAv7ygFfr8zLLARBBdjYbK6dJN7L1ubOdZbZnWWUdkADehePV9mgYE6olWm1b9zLPa+vkY1wRNaxXtvYggBoEA/GoxgGoE51XsrH7vOxT64TV/+1joHB8tOupwLRKYNA+I587OMd9hhHIK4+BSQMYdT2pkIOxFiGYPKSl0OQAytQB5DAC9VQDdiQfKFSKp6lIrgxMzQjceeQdjBTgdSwACmDgQQRcytTKKsSJxIIgTNTDs1ADafyWCgIWV7zHRgUQNcABAHgUgvAAHxkbg7gABtAAhfgQEJUMtRBAPNVQfWlEAw1QOVHCAAwB0MgIvdnb1nAUUjwhGMgBf9HMACwAisgCrRQB0DAUgFAQ5DQDOFQDdxzZ6MSI3+mduVwDdeADdQgDeHgSq40PK2RfYIyEG6TMhm4KsWAhmsnM4kGANgADeGgZmqWgohoU/VQDDEYAAf/cIPdx4Pdx0APJESv8g2Q5FWaKIQAgF3YlVPlIWLx9xJUlwWiRxCmGIWPI1dVSAVDwAVtqESBZwzFAAuiAAvGcAkYEACVUAlIJAzHUAyQUAmOBwS9CAThVwfK+DoF0RrUcYd7KBCwcgwCoXYysnblAADN8BCOFWIpKAwE0IgSE44jc03dZ4MmgwCiMFqJZEj3kHn9wA/8cA8+Jh7uMA8RIg/18FACQQSmJ2pPKBBZJgUbNQaf9n9ZkAMeAA1s2IZtiA0QmQ0AkA3SkAzJQAtcsAmmYAu0QAvC0AzdwA3hEIckdw3N0Ay8oIwhkIHSmBAmUzKrUgl/l40VWA7hIAzY/5Ji3tiNC2FT6oCMMERqQQAAXuhSCHBNNxhBASAx4HBa+vCU0cYP/vAPVEmV/sAPljU27BAO0sCG1dA4AnEpQxB1qPiEaiVGVegEEyAKzSAN1PCW1FANDfmQEdkN5DCS3NANIckNIhkONtkNI+kNI6mX3WCS0sBCyhh+GmgQebIM1UiB5UAO2AAM4WB7OjkPZZeIlzQQ9BANQSAHwRVYiUBYY6ACjcgAJYNN5AgA0PaUrilHVWmV/pAPP0VtxiAN2ZAN0RAHbRCWV3csBjFqWFaFXhAEJLAAtLAMJ9kM0AAN0uCWbymXbIgNfFmd2cANucmXAgGY4QCYgjmS4fCd3P9ZmG3JC71YB2mjgXzoluQwEO25C+ZwWR9zmZepHig4ENGwAk3DRWUQXM2VCGXgANPiARqwMuGIAK6VDwRhWq65Dx0kR1jJD/lQHniHDclADdmADaYQBwSRA0gAkAWBBCpAhbd1kKBmio+BBtKDDBa5DMq5nM3pnF2JDdWQm7mJDdlJcnm5nQBQiD0KnkAanuD5ndXgnOYpPIp5ns4SnyyCcCCDmVBKnwAQDUACYK7GB1ngn86VCCqwAAGwJU+WTS5ySeTBY1C5D2i6D1A5O+aADuKwDG1IDV1gHwQxBPYWokNAegRjb1PQpwESg2ggDMYwqIOKDCxqkcngoif5ltP/SZcNSQ0PeZ152Q0AQJg9+qNDmqnfCaTPWYt1cADw+SS116Rksx7gIAXokwYSlj6u1mp74CuCYGF8sAIA8KUbwCeiYEXQBx441oKLpA8AIA7SsAzS0Axweg244AMFAVJRiKIDkQWhJ3pTkKciUq0rgAaXAAsAIKiE2q3eagzL0JyQGnhsSA3Q0AzI8KLOCanTmZ2E+a6BGa9CKpib2g3UgAaV0KbKpmxP8lniBQ6P02W3FUYBawetKgdTEJqJsAcqMFMKaQHioCC4s6u5Mx7qgQ7kYK7LCafUQAb0QhBFYKciOhDRanpOEHpIUK0ikgOV4Cy7gBDfOqgvCpfXEGTn/2oMwiCogmqo6goN0UmXkvquhCmk3QmY3HANsLAAvlgNSmRnCzgqniUOWrdGxMk0EuZqqBZcfCAHLAUBGrAA38CTKLhdHJexyZCzzWAMzYCsYbAcBPEHAOAE9kcFJYsdSPAfAaKyUoAE/WI9g/oQMhujcLk3N5uzhmu4OFuoiXqS6/qWgZed1Tm0gHkN2YoGlisulQAJ15M9ewchuHBlabWnJspLY5A+q4ph6uNkBOA6mHkQiTgP6IANwmCLwGCs2wgIXXBMBYEk0AogAHK3SHB1cpuy1eoEJGC4AGAMEGEMyMCcxQoNe/OW0OCYAnG41nu4icu8ycC40CmdEZmbSP8LDNkTksZaDKljuQeQjJAgCmtEtfgjogcJrVaoqnKwBwKRVkjQADFYCQohYjspEKeSDDV0CcAAAM1rC1bwsQfhu8AbvAURIAASrSqANQSBkwxhDNsLADHanBoMDcmAEDh5vdebuIa6uM4LlwxDDRCZPdpwnUqkDdxQvlvIivgjkCpAAqMGADZHhVZoB2kwMHNrATEICesWpQihX/fKPAQMrrgQBkygBAlhAkPQwAhhelTnpypQBF9gBYAACLVQC9UjqMk7xgWRrszJnDGqwWkrESJsvdk7qMkADJewjdLZqCv8wtwgDa13elbowAmpAv7HNPT7H1WXA+HoDeBVa1D/CjYEQQ11EDEGUAk5awyAwGkKAQMqMMUOXMU5cLJ7mwE8IAZdUAVMUMpb0MWigAsWbBAYrJyKupzaSL0W0cbWK8cf+ZzQGZfXUMdsuAkEkbe8JBC/MgVoOb9lULJDEI5fdyLslciLvB7xQA6wEI7bRAvWIwpicAYKMQfwswJkuRA5QAIZYAAmwARC8EUAgAIp0AItEAM38ANMAAiYUAuqTBCH6qL4rJzaiAwUQQsJIcJWY8Jo3JzPCZfUuFHY4QFyZXX/J5AEE3BplSRIEI54BiHolC3hRTbxcA7FsItLiQYAwDBnwKEMwQQmkAP7pxBIkE3Z5AApkM4CgQIyjQIA/9DOPqAEXQAHh6AIb4AJjoALuFCohgoA+TwQBYwSOfsswmCo9/zKjOvLwow/UWeFxYw/TmCnD70v/zEEKhCOryRxdfa0KYIO14AGPIEBsOAsRkA+EIECO/LNAzGWN3zDqCkQO4IQP1Arc3AIfH0IgTAIiGAJgRAIfxAHZ9AFRsIDDrTYVzKMtLALR+0ROXsJuyDUTF3CFgkM+LPZwUwQwZwFWeJ/RINv4bxNrlSTf7h3uEcOtAAZAPA8IW0LNC0RI3DScRXXN9xAGwAAGnBVDFAESgDFCgG3f0DcdPAHeTAHbXAGSvMEJrDYDiTOGhAE1B0E3ra+1jzLOAkLwMC8hP962Ya6CcFS1QnhBQGClgObAzaXAdvEneJAkqddgWlIEJABC82ACykw2xKRAiedA2PJbbotEHRNlAxwAUVA0hFBB72Zu1DsAjIdSACw2w9U3RRO3V+bkVqY3Q+R1LCwyt8a2WbZ2Qaxp1F9ZaXJbROwTdmgl/QKnnIoh9hQCRggEBiABs1wDD9wAy7QAhRxJDan2w4U4RugAkGAmg6g200QEizgRxpAEFQwlAJB4d7sBUMgXGWAAoNhB6LQLJFdEDmb1jDLC0hQw1OQyQrR2VXIbR6gv0CwwhCpRJNar44JGc+zC8LwBtpcEVbwBFCg2H602wThT0POQA1EAjz+ER3/cAEW0OQDYQFQ7tmAxQdS4AFeIAVFkATkk81wgAeEgAmJ8MUvu63CAAzcfRDGAAkrEIVSF5TlHSAhTjBSkCUZEI5AoMtzGXgRmZfSoIsRAwTcbQpzkAcd0QKLfhD+1OSE3kAm8AEi0BEvYALFDgDe5wBDiYVjwAeqRnBy4GEqkAM60LZdIAZwkAeHgAjljgiBoAedLgmocwk4ednJqwH+DSDEbHrlfcP2fpBDkAFECWULEKMF/bO73IbAYEMEAATOggnILewdseTGrgIdluw7uOwj0OwX8QB7VIMMwNXYtAI5EOnDsrV7MAYZEHomoKyHDgA/kARWIAZqsNePEPN//3AGRiAKFszUu2Bz/k3IAYkQVE6WfJoBGTABG9AnC5DPMErQb7gMsLA8vr4LmKAIhwASIOBHBkECWKgBhX4BN7wB6IwR2SQQDsDv2TQBDqAyf7Vq9dtlY0ACY7kCICACFj8QLeACAKCsW3AGbuAGYWAFPyAK0mPAyMALOr/z9O7zoCaQWVbmfZIBQUAE3CYKTJ0MTY3PAHAJdXAJj00GLlBcH+EC0H71RC7oKsD1MNQEatARCrAAY+8FrNf2AmoAEMCqbD8GVDABHhYBIvABH5AQSvAFVDYJk/AIgRAHhVAI9IwLdbAC3Y7SY8nzI07VUpcFQ8AnAEDdQ1CA3Q3el/8dx7vQi1ZTBB8AAiMBBg5w9VeI+1zP9TpcBLhiEQnA+g8WcABABB5QKACQAWd0ZalIXQBB4sKIDx8AHESYUCGAQIcQPbSEiIgKADksWhyCxImTKQezSEGSxYsXAFmmTHEyYQIAWsW0dfMWUxgymjVtwsIJS1QRECJELAQaNGibIhY2JCSxYUXSFRQPqlDhAsWIEUKtAujgQEUZrmWIpEnjJcMCAgu8jMmycUgOFQ0yXEgi5MbVhX/s/gkUCIDTiheHDNkoJUuWHBmQkDR5kAQEAKKaUbsWzpvkZQtt7gKwS9QNgnQ9AzVBwgLSDSRWKAXQdMVBEwY/LzzBYEIQrgD/iHhJU2YMlQUGAqhAguSvxcUTmqg581rhHwB/wOxNeBGjRo5UckhZyBiNsWTNqmHr1k1bM2RAjR3cFamLlSjK3QMQfVRx6RUTVq9OCML1+xIGDFApIw0iPNiAtjEAYICsBnJYiy0SPFhgBToCeeg9hNpoArropMuBOieyUAi7gzZQoQ4u6qgDCA8wQGAmmwAoDxYAODGEDjrmsPC1DkZDKCnTvFgBPyFNACFHMghAAMAyeAuAhK/K2KABBAwgwUEPMpgAATAoVOQQOHL8ogcS+NrQL+pATGgCCDQo7YINEECAgQYOYAAYm2gCQMZEDGEux9eKnMCo+cYMwrTUDgqi/wQATIjBBffyKMIABCYIkAgSFthgDE1J8K8BDR7MwIMJiuDykDj8BACKEjaQbyEOAaAOoRwQBIBVVhc4YFILLJigkoPKA0AYWCLBq09UXzPBAg3mq5UEBlALAr/UeDCii/d6QwC3MrwIQgqv0siBAEmvxBICAx55RBFjwWwiKTbJlJXDjJwQEYKVat1gtAUWMEoDFXLgopZN0ECjDjIQUQSRY9+z9SANHgbAghWCCOKgiS1e9AkolOPBAAhIGKOMg8YAq1ZxF1BpAnFN6AMPPBZug4chbC0tKHkzmqCBCeRjlQEEDmgAXxWo8AKUUgJosgglnlj4PSMycHhZhC7Gr/+E1aJ14ARHX7sAgQYIoI0rAcPyr6yc/SvBCjcOWTgONoZYjWYSgeIwh5wZkLrhAxZgICkSc+MkFd8WIAIFFJq+6ovkElJ0RFYPsoDiQytOiAH99rvKjCECIGsDL74CoAwGxC3LAAI6SEIMPBBp5Ng58mBhTIRoJsFmizTYV4VdR6RobwdGrJ0KQVLZnAAnEAetCDmoNaIFG4Rg4iAe8m14RMoBUFRa6ck4oSDMgZJjEQ/KJkAFEiYY3T/fOujgizkO6XLhQwIpjUy54T0oh0tXYiAHZTXgFQJwxSNWSUEKXihFGpCWgxMgLyFFSEQkJCEJACTCDGY4QQtaEAMfKOv/cQ5jAMW0dxAijIEPfDhIB0AAgsMF5Q1p4AQnxocQcZUNAAFo3/vitzA4BMII8KldQuQWxISoYAEQ0A2vdGcUAe6tYRtAAoME4QUCNIkHDjwIDPiQiAkuxILUwputHqYBB1xMIV6QwxYBIAj4sKAFLxDKHcrAiUg4YQWmQ4ikIMCDL/SQbchzgQ9YYD4iClGMZGoACcCShjHIxgEWSNDeEEAzNl1pCEFggBVb4EAQcMAJguCDJDhBQQCQckYVlMMUVgDA3TlAcgjZAwoPwoc97EEOJBCCFYSSCBguQgXO4cAdG9CAIqjhC134AhYBMIITAIkEhTSkrSiSA0+JDCyi/3PABBwgpb2JCwC/29UzpSAIlU2ABUpwIApKeBYAhIWWXQyKHFTwJgu4MlqxTAQbaSkHW+6hDEWIQxzysC4A5IEMguDEIoKgBwohzFRhUIIPYnAQGyCvIByYmfmEQjso5kADK8BNO0WWAQfA6YYGyJkkgUOFNJwCCfu6HvKI4K3cyEEOJfFCFvggwYVwInQqQIADHkmCfAJgn7YEi6YOprDlDEIOjuCEHEgFP0XMQQxKsMEmlQmAD5yARCSC5kL8FgQqIIBzVBDpGPLlANNxTgMeCCERSlAGM3ihDKkQxDPZoAcHWoEESJACFTpi19xoqjZyoKBPR3kQJ2yAAARowP8QjiqHpGoqCxlQw/sWcgc50DENb1CEura6kIsmhZBWMY3+tpVJA1QsQGNYAa+qyAAPeKAEg2DIH/RQBNyc4hRyIAJCmNq0HNCLClLYyPGmYNcy2BQtiF2sJCKRCD6oAAJwsgM/c6MbtDgBCR44gQ/QqRAywDASQ3jEIc7wBB+MNiHMnGftnonaIcAqLEHIQA7Q2k4imAsBZXlrBkCrF4YcwgllAIUsOFEIZb4BMFKYAnI3khDB4EYOurHDBCMxXTmAYgJk8QAjNdVdtXigA1RJAXk7u4gy4AGiE3XvQYRgAx7oD4hhnR2rVlAy3ZAkdFzxGZwmcCUKKCS0ObjpKjj/kQi+OpANGoGwhI+HEOEAwAm4SYMddjrdPYAlA18jwIjTohaLqODEK0xIDLyAUDkEYRBu2IISfhBjALRBDQya52mBYqsGqGCRAWonWIiQAwhgSyWNQ4gSsCAGIswxFaC4qQMVcYcHdyS5CYkiYDgSsjGk8cIh4UOWAuCBLFCnQWzJgAq/d4LORkIOd0DXIwDwMvfe5Sg1m69Yk7IAs84qdLn5NW+mVBYInLgqCnEBD5qbClksgm2TSDOqwABlS08Y0x4K3RjqC4CRtNO64lLBX/qiAiwxoAJoTggY5hgJLoABEQwNhCJqXQQeFEVqz8SxCoJggccCgAArEJlIbyMn/7IQgAElQHd+QMACNJ5CFpHIUB+QZ4JKo8TKV8lCj5m7G48uIAAZ+NdeRNUAlJ0ABMdGSBCQfMtA2CXGeCnCwXf1sNLkenapQcIFTLAAAPyXSgCnCGRFDYFzFwkoBWFpKWSRCgY7sAQaOcnFPTOSHJwlp2kZiwFAroKRowwAEwBBC8TLuLWoQEJ3Ge0figCAPiclYmOETzQ3wIAEpKAECDhIwfstKd8YgEhGB4oIQDAEOSid6bRGnAlWAFgDKmcMXhBMqS1y3UldieQrGfIFbqCEMChkAhpgwAEuoAe0YzEvRVhA0OL2OLhH02d/70BvAOAfk5rOAB2AY4qFcvIgdP+Y2ZFQ5iAtIpxLXyWnwBmOCrIEWQjo7Osjl0EYvpRuBligmzwYKEEX9ggjfDio1ccX61sPHxWU9AAKicDX+h4AOBWhDZ6hirIXwWxQtA55UBBCEQjvl+IHZTAhNx8PoDydwZKvKzQwEIMwSKaEiAD0yRUCMIGW0z4/8YEl4IFhmpPqUxbHOYoxkhonCII5SQCEAIEUcBQZqLciKAIwaLLPaAETWDMAkIVTuANlIoMx2DBBGIKVsDagAKwsGAKNepAG8A+VEJVC4wEZqAIhgLGEIIspkZQAyIM8QB4QMIF7kQ0GeKSZ48AOhJj6wBUDUKaloQI5cDimU4QWXJhGqKv/GEoDKuCBGvMuxsK02gHCZ/KAt1IQlWg+AmCBJZQK2IATSfovE4gDHDkWnzCBBgiABlAKB/mmXdnA8HuY3dmbXFGmQ8CDIRAEh1uFpnMgM2g1OZACMFAD/VuLWJEVjuC6ACNCMYQAczGBLRCCQASKE4iTSySLE4gCxVEDP/GJE4CA8pEDQYigDYsg3SAM86Ek3NHFBNAq5BkENSACM2Q2QdiYUESoSCgDLgivH5CZeZkyhICw8/EAALguYkMAHsC/GEABnxAKA2CAeZQTCHwBOEIVn2jANNiDREgEhNiwgAzICKKubfECi0AfBjCBraoCHggfZvMpB8oDM0AoTqCC/yHoHgAAgXDrQXKUAntRE59bAB7oAiZMge8BCglAEq8JgAMIuxtgmhwJRhLIgtzwRwCYLukCSAkSSGScLn9MBDnYNgcSAhNYNlkohRNooaZRAy+IhBiSgiHwHgA4gQ7pyIMYgiMiQrwrgi5YgqyCR894AKQJgAdAgRdQggW0EMFrASIYgpw6i+0aMX7iKeA7iA2TLoJMhD3IgTQggyRwIHdEI2ZLhSJYyqbxghiyMhUQgf04gRKYl4QYAgS4gAhYAQ4oAkMIAyZoL5SjiwEYAAEQzQFQgAdogziggxxxniAImQCxqZvKMq7QlJEIELDYA566SSAUBJsKOORJARH4pP8zJAMHMoLEpCMuCIKCQAhFFLenYIEOEIIw8INPIIVPmMYtcA8BCM0BKAAFiIBDHCgL6YIuIIIpmE24PIsAcc3XtClGOiB+BAA58AKg5IM0yAKlRB6f6D2lWwUzcCAYoIIYOq8SaMxbNAET6AAXsAElEAOEkDVUKQAAiAAJkAAKKDILgR8yGCwAMKAODQwIO4n0FBm0sCs7YKM0AEo5yAI4BLymEQGHZCMFI04pEFApWAHlBIoRcIG5QB4UaAEh6IJTyQM9sNALVY5GmIQ3yAGT6NAORYJ/adImtTInGALzzLL6LIMu25YsWLt0YoHmksFTaCDEgQEapSMpYAEcpTP/BUAICeCAg8iLuzBSz3iESRiEaYvSDu0LDtXTxlMLwMiCkAkLytoWKiCCFl0YIfiBMiTMLm2aIpijqOICVaOzN0UI9sEKAOAADijSCRQKDoCDLWicPG08PiVV5PoLeiEskqGs3UAT5HmEQQhOWZCFIogB3UMVISCDonE1J8jIHNE+lwuKBwCACuiAximBEuiACphTALBQoaiACFCAAlCUU7VWKf0LwPo1sGhVKqAC/EQchEmDzloFWUgEtTwWigSF0MHID/BMz/BUhciD1FyI0pzQS8VU5VCAGGgB4LjWf/WuVP0xOei03PACKnDUhbELgwofGYzIhckDSeADn7KO/xOwgSaks4PoTjZFiAeIAOWoAh+Qig8IAiQw1X/N04AFjPSUT9482CJASVRRO5sK0zcAgOHKEYNaBJ/iAhXAgzhwg4xVCAUgWo0tgAh1D4IAAciMIsZD2SgVjowI1OaysEIVEcS5C+EhTDJQwxwJhM4CBXYjAXTxjGY9lu7UoALYTvfwng9YSCSokqfN06gNCUGtyW7tCAeyiyFYBMMDA9xamA6LoSEggkOAKKFNCNLk2NAUgNdYghjg16kY04yQ2yiFlYzoCJIJmW6lgjs4Faz9g2oMnATSAypEFTkCBToCQSZwgRZ4V4SYs60iWjYtANH8jFgNWgBgQhcIt8rN0//L1Yi4JFhCPVgyIDCs1T+WogIkMN3THYPUjQQqWAHDiVnPrCihQER9nd3abVy6QJiEeLMwqDGn9V0JS1V2GlSw8AIn4Fq9vaJnMY29yl4LMQQqgF4nSFPSEtrSfIAHUADR7N6gkMCFmARKmAQymJVTrTI9ZazgEI7iAgBBnYJxHQMnUAEyaN6mcQ5c+SYHIIP5tZBCKJr4RILuidmDOOGmGQAJqIAKeIDRxFCEUQQGOdnGG4K/uloAELcy+xeOGAkk8NYoIoI3yOBjoYM8AAMDoBOhslQ/uYJdXVeh/FXERT8OqAAJUFukfQ+7CAQ2CLcaBgkGuTRqgoASYIMiKIH/QklglMiIC05NLm4aMYiDBJBHBvimDLgiVIHUGCqDHCASNfWMAUCcB9hUAJhWjrWQuwADBjHZlFWLnCkCrh0oCfTi9FwzQTCCQRDWhKgC1byBADC4Dj4AA8hGC1GnzuKEngXkq6iKaFwYBZCADpBQ75RlYLULMBi0jEiIjYiihUiY+bGLIFiESDAaUHAEDKaLFF6IkzMBpME7B5hHB2ABfLQQIkAoAOACEiiIAKZihKiAZO0ADlDWzyCou1hYNgiug3BgJOCBMUUIwJ2ERgitGyTmUiiFReCBQaCQpikIEBjLltTCJU7Y92C4SFiEIYCAD+Dmbj4IDmABFgAAFtjU/wpwD4KawjmIgybQgUThARNw56AYhEnQBDJwgnouBU7wNcTpZwEAZVo5CGgGYeXYGbZogAQwCNtl6IMogTjEHmaVWQCwkTbAAiFoAUQVihgQgicIAzeggkUwmpPeLwf6AJVU4peGZojOETBYgGzyNwJANwBm6A54aCLogAo12/eIAF3CVfhDgRTYIBKAKnvmBEEYIaAA64VWCAEoCAV4rDjRQmjmAXp9DzI4AGj+mgBo3YUQZEEWWnHmAAkg2geQgJxG4Q8QgRHgAUGIBHsGhVOIKatQZoQQgBUi1tmDE7MCgyL+jECoAG0CgAOoIjCgRaAQAsSN5cfOYsqu7IIwgf+SLuZT8IJazk6rOACyBOUAWMgcYQOT6jkCAAAeeFDdNuQKeFMFAE3p5iqFTgAkqOel8zFU6d6FZmkCOIAEmGwLyQMOkI1vaqsAaJ1QeFA/YGhYtuIXxumcBmDR5FtOMLxSQLSFWWzGLtYrPmvPAIPfAQANkJLHCgA9QASKVohQsIoCzxE3dWHulW4AHoANQChQKNdSCAIIV2HS9Fjqpm4Kvwr1Br+DcO6WjFahkHDhPgjmQHHlIGTcvm/81s4BuIDEPIUPJ4ImPhbQ1GIIP16Clo16em1/e+3Slm4FoG5DzvGcJnIL4O5SYDbgFvGFeNaFkHGgaGECy4scucB6Yoz/2XNuANBi3aZvFwZrygZN0kwALliEUyDMRdjy9xBuCoDwcA6tmz1y5WjmGjqIAHhtqghNKs5xAXBTDogADNdtEqcAEuhbwjyFFcjzHLFQPKBuTTgITWgEnHUPUO63ND8/wJtyB8Jr2IUCJsDiVKfi0qSAElABQejscvXsQWaCG5iLMFCDkCYFUvATBzjuNHduxlZTWPeTqQyKGFCCjXEBhRaK7rzXrZLsZF2BIeAEO5/BMjjvheFXF4iB632CBvUTCuBrpHmA8zs6zFH2z5iK11UIFHh2ALCBVT5aNp3QLt+qZOWAC9B2w0uFNEActW0BBXCBF4DcG6BmC/FfxV51/0B+d6vYgsf1jHr/gRbwHsEDgK0p1obmd6ez4grIgc2+cysGcO48CKJN7GNZawAAzXff5okPClKwU88AARtodaI2HB9NCDXQi1rm1BrXcyu2UErH8qW79Ex/DyJHiKKl+aswHIWIeWXKC1G3ihjYPCW4gZ7veKBoKE0N+aaxVwkAqcBZulRIZ1QhcqQlWgEHgKhfiMNUCIVedVsO9KvYIOi5AQ3apBaIXayXt01GHO7sToDv7Cwn+CE/WrdHZFQ5nL8/iMh39/dAhLwostJ7Dcj9gSR4AQ1yFEV7vwpJCEVohAF2oDgXgCGIBG5PhTJg+tdwekMm2jVPiLsPiqnvef8f3aSYxX2FYKimCYOSdIHiP4guaAMqDPubBYBGaIRDIPzmOJb8hmvXT4WP9RPQhGVi9V+4z2vlaAGPP4jet4rfn/Hof49QsARaYwJdmgNh5RJ5a355Rv/pB2ANEISkX4VTuIDHBwgAAgcSLAhgAMIHEipw4FDAIEEBECcKbCEwxguLKD5QJPgQ4p8/HUcObKSJoCWCgVYCQKRIkUBEjRSFnCiSJEQBOgVcoALqlKxUqYh8xFlwgAAFEiQAKMFhpESjAn/ciAHARQsUADhKLdFBYMibUiEGalRwkMBQAEhRAqCokVmZAMzWBDk24k4HQzidSiXrVJm7A5EOUCihRIn/B1AFA3ii5AaArCK4Mq5cEBEigW3aMIkhZIvARwNJFaQUqK7lnDtzROobdFFlhEoldPCaumObMwCYXEUh4nbqQDABzFETBYAQIViFCDQkeuBJRXpYAi+4UwCJRaD8Cr0wVoEChAUeUDicmCBl4IeGA4iixEX1yoEQzQEgJoqQJEKUKG9h8ccTAPgxCXTPgYTaXdddIMh2q/wVxFhxAPCAAuQ9hVhR8REE11yBAGBFEhoK1kZ7TPBXEAotwBeDVVu4AcAgKdmEYII7XTDET0GdkoZgFFRQAgtBslDBQBL9NlB6jJmkyShz5aGGiIIxcUNyP7xgww/MYXWRQDb4kGUV/zOKVdl1OfDFXWBjUUBBBywIxAMPTEW5ISWjaEIJJYiMOSdJLbxQJVZUMpciACzacMMPvk2ECikE3nadCq1xF0kCAg1AkQR5CLRmkHAWQQSfpTWJJ02OhtpRin8ydwOWzCXqXwyH/tBCkgOF0cch1V1ngXbcpeJdAQoAUMClBVGwKZtuwmnGVwNpOmeddlKiyUmWnLHEqROlilyIPww0q0UxIErrRCKMYEN8CnqxXVCpBBFssMNmSBCnbgLwabYlMQmAJq+Qgha6+ULkp0DJhdilfwBgudFEHzis4XUO5PCTX6d4IaywAmVsLAUcKMsDswMdGyoidQo0Sh9KCEyRC/8vXJSlqxlZdAPDEDlcK5lbOSxAAWb2lQooQyjw0MYSkEcvBUAKhO9EI2s4SiwAjILHEw+vjKLLBbGakUA04yyQ1RB/IMAABTSQxiKRCEJFBglkSB6RInf8cchXv/JKKHF0FvbVArmAUdYEYWUR3yvvVEABB0CgQg4rkDBBpfEKxEEHTyGrNABw9g1AKIOo8QRVNW8OwJWkFwQfABt9XdAHKKisK89IGWAAABbY7oADAykQgeWVb+oxC8s223cVUDAhxA20rh6qCze8wOILgTsvesM3o4BtdRQOrdPsDNSOOwJF0VbCQF8lmzmclvd9AxTG/xBD4dmioJXzpAMOgPP/5HZ085zkcxABhQyAAAA4wHYWmIBAyPOVt5SvTfYyA/lGFwMlGI9V1DsVR1J0KNK9oH42cNkFWcc/DXXsK0K6AAEOMAEDHlAivBvOW8zSgTa9qQijEwgKhGA85OlvZfBB1w0gEz0XfHAr+xuhmiiypmMhJkgHSCEDcmcBB0zAABGogEsG8pKZKIISbjKDCW5YsPYp4QcuiF+UfFCQDgYxehw8I0mW17QlAmBMdATADDvwAAIIEAEHYAADGrAAAzygAy/ZkFmmNYpFOqUgewpVDNrHhB/YAI0jmZ9FLMIEMYwlekHkYODmdMeBhGRNT8kjBx4QAARMcQITAOQCDnAB/1AFqSCNwNMiAXCIsDwyW55xn9fukqKsECQPNPoDewTCG/slL2tyBI7TSPmHzMwQSAxAACstsIENMECFB0gA+UBVkraYZRSUgIuHxKjD483KkhAZplY0k87TECQzMTSLfXbDHBwacXQhUQRmFMECDvCRAbbbpgOiuAAEHC0TAnnFKFBxElJhRoxdk+T73ImihEEGAHGoySEQcZqbAHSLcGkEIuggIQCYMXrPFCUHACoTTdwhAAYwqAU0sAENTPEACBAWc74AAEuQRiCoGAVA0ynGSAIzhAYBgX8IBQUxfLQmgQjpSK+KGczkikMtEUgXsJAEi4xuTXmcFiX4WEAAbP9zpxbwaQJYNJVNDkgVURsFKfApxhxCATnJ0yihUvSD48wBQfOhySGuGlK3wEQm+GysMm+4Jq8AiQcmsOla28pTBCzgeS/ASvQm2AU8+GFAFiWIDqFQxjOuDp5gHchIBbISl1jCE5mwBCISe1iB6BUAbclXL3+Hx8oaIACrlOLtUvg8F8AHK81TAm988LrTFooJO6zk11ybBKESZJciOexbausJT8TksC7hUDKB+8g14bEDJiBCAoxLgPkCwADzJYAJoqcirvhJCOiaH3UvktrQxW+Y+MunQXbZEpM+Yry3PYQlIszFmQjENJvb07FqUwIT8KC4ARDIfZV7lRFvZX7/zCVmgMfITuUVxD9kFUgeINtdxnrVwRGO8IYwQ4lH0KhvS0QpkILn4fsGgABRYW7q0EOoFHfJuvyBX3pc7AJvDSQzBHnJcLwKgAaTlyKZME1YqBvSQ7CgTSVIAAHkewDwCOvELognkw1iA+v6lXopUNGVk4nlLOtVEVzGSSYGEVsxhqUDFZBABDbGZvCQOMlxNsgNKFjGVxkxRTHYLh20KONDatktAMjEeKUSaOEQOiRxSPRBLiUeNhPET3B+NAD6wIQqdAEKMTAwQZZZkEPacy67FgiouyxqSqhiIC9WLx3UAIWHIKTZAwBPRyuCYlgDQBVq8WsMXty8jvB6Lr0d/w4lQs0YUtyByisLSR7igAXlWMrZ22r1m6kttVfEghSfAMDrnisGPcjUIAyESQwFAu5JiPsurbDEEo6t3jh8QQkveHXq5oeCgA0E4o9uRC4JUmsstMHKc6koY70NUF972rfhLjhOUDEQNhwBBH37wxzO8IRbA7jiEi+isVHwcGoHQpEFKao5SxJQmHgVoHAB98mFLRVdpGQJTVDU1dpgheRJvOZZMbFV4C3vueCpLScRSCyiZpAsannkSB+v0qXiiTewPHWTeSlwuiAEjdi86iggokH85HJYd/G3BEELRCisV0rI9JZ4CrZUQlFUgVShCQLpQQp8czO4MyYJLhiB3f81UnWFcc3YqOM7niaCh1C8wpa9JbzRD4/ykYSiFSSB/ORPtZGqu9jFKYp2q01H7dCPpet5xtMn0L56gqD9E6GIhS4+8YYwdQT2SDTI5J+PKoeliFBR9Q+isv/5ijj1tIoIBJTGUuyvl7T1rXA9K4QvbPWrJRi+AMAdwNCE+Y+kB86vVfRBMD+NtkcI2SbUiflJ9HgLAZJOYCUZ5QlMG4jBwYwEFLjBJ6hC6VUYXEzC+bneQLBC8KnfeLGC6/lCMBDEGswf/QGA400E5EkeV1AGCtwZQXSfR7XBF4AOZDhP9HwWuhSgtyTP1SHJownBD5jbSAQI4AkEKbSeK2CgQWj/oCd8ggcqIUG8wUCsgfyR4OulABLFk8S94IyolBqIARZMkvPEW9fgTxB90ka8WALKT5aMhRA8QRH6gi/MwkBA4UC4gkC0Ah4KhC4IhBQaBBVaoQk2Hxa2zuTVXEfw0h+sRB7MARg+xla0wAdFW8CQFXPBxxrK3hsswRLsU9cgihAWCgAkQRV0AgD8AgCEoEDsIUTYoVGMoCBCBAn2gM5Q36sdWxfEgabwknC4xFvowRxggSgOxGf9EOmgDpJZ3GlhAiYwAiFgi7kF4UAwRwcBwBq8ASMMxPudYrEZhB4CwDbeRSBa4QmaoBXODwi0zi1+yxfEwSF4V1i8hUl12kRY/8WWINmjgUATmIIpYMISxAB8qIy5JUesfBYbDAQhEIIpgiMxrCIdrqJABAMqCsRBjgUslqA5NkEP2B0iRkbXWEEc6EFKZMIhCNof3NKdwAXhCUSmeRR3vRM+KpxFiYAIrIEpLIEa4WMbltHWeGRFCgQj3MFCDsRDYqBEdgIjMAIb/KQ4kiAJHkEKdARZxQAThB8iiJdtlUy0MInflYTWDKMyppjDxIAPdBRAdsmB1U8LOB5TroFAEEI26gIIaqNAdBnb3cY40qJUTiMA5IE9IYLwPYIiLVLQwVZBBEJ9DARk3F3FMdkHzMwnFUrWBIzzxEAKrMFSLuVEEMJAqCJBEP/CH6ZGZq7B9uXdt2DBHAgHlnGZJwgmYS4SPW3I2K3UQJQmdbWOGUamQEhPNYLANUphZkIEIdwBOE4EUwpGZrJBOU7EVD5BG3gIlrnFeAlmtBAmjAzahpgUe/BGwITl1YxlZOpmowGAy6EAG7wBegKnZhpEJ4RjQUihFLrlXWQmGMCHi5mmQCiBbjAW0TWCbd2S1BAmJUBYSZ5GrghcTJREMvHGDeydGD3mJ+3gGRIj/rhMC9xAQgIAfKrncRJlH6riQ8KnNUrFaO6ctMnklH2BX/Kntz3Cl1XnImVGrozkyOVWSPlibjFQQajRaW2QYpqh4GTblAlBQmbohgLAegL/gC6EIB02aXGGI2dqqHyORGZmnd9cIqRhQRxAZ3TCRSYIJpMQplrcloxUGUtwlUvYk4whWIBBhrnhnsJMmSi+QZFGaXpqqEDM5UMS5Sy8nyoipR+OKEUsZX1qoeCgzoUGCJdympcC6GtuINoBgNJlgki1xDtaWW6V3LPsVUFIY26GZxC+wFIewRrUKWhmaB+6JysKxCzMwi+8ny/0IQBE6aAu5QmGJZ5VGYt6m0rC6CiMVys8YfqlXUsoVZqyR3qNDgpEWwHmJv5QRRBaiQ/04xvMX5EmZUS+n5O26izoQqv24bf6QkMipB9OKUXaqqMNzOfJVJfCxSM4qpiygiu4/8IssIK9zqukjgRALZZSWVS0eSJBdFS00kxkYAK19kANYGMn/EJD0iEefmuruoIueCu4emufhuD7eUI24qlbJmdkyGTAoqaM+iJveSkuvaa9jtcf5EEeeIglpKzSZaouJagiHOhptQCVJYcnCqG3CEE8gYALEAI/mgIh+EAVfGirAkCT6kL6idcjtEK3Rq3SuqpnFkRygkFW3KdBuEBVeltAlcRMoORrhgIrpMRK7IkiEOtA2Gwm1GyAoYCn6uy3BCFkII9B9IDQmsItBIP7JW2TjhcitMLEAoArZEImQC3FWiwd+qkv7GF6ssGdXeLgQIQeONbXntRMCGaA5pInULjHSnyuQByCQ11Z6BLEJ2SCyvmNGLWAJ1ZJwSAPzIRlE3RCMDiDMvzCLHiCJUjsL7gCK0xsH8rqLLiCJyBut7Kqt25jrLICI2ziGUamDWxfF4BtzcrF0YktYQbfzFJEZiidJayEzRLEK1iCz1qUpxJEzwqKbRZELBDDL0gk7sqrksoq/QovTBxutwbv1L4vOP4CK6iB637qRUQBiXBaS1jvFrXFa0pq+OJEqPUrANzbHBpC6mQiRAQEACH5BAUGAAAALEwAGQC2ANcAAAj/AAEIHEiwoMGDCBMqXCjQCsOHECNKnEixosWLEa1oxMixo8ePIEMWlFFFpMmTKFN2LAHAocqXMGPCZCGzps2bHI0kwMmzp0+DOn8KHVozKNGjSEUaTcq0aUUZDpxKncpQ5xaqWLMKNKK1K1WuXsM63Si27FCyZtPiDIBWrduYbF2+nasyLt27KO3i3QuSLRaLf/kKFqh3sGGKAQIfXhwxQBfGkB86jkw5YQAjUe5i2bxZo0YsjysfPDEXCxQmTJI8gWKlM5TTT0QbLJE5LegvYoqQ8SInkiRJZMyQIaOjrBImrDmfVsIcOegu0LsoLmjiS1orUJqQSbOIE4BToABE/1qUI4cBHl6hc8ay6tYwW5gwgQJUJcnx5JuXG2QRuiwWQKCEF+CAnFBBgAEL5BBEbVhJhwUzz4wTjzzzVEihPPGk00464HxjjTXMDHOLKVtAUVACV5iFRRMCAtBigBOsQIITThAx3VRdPFMPPfXUY4877vxoz5BBAunOPPK0ww4766xzhhgOcpWAGGYxkYiApYCSpYuggBEFEgIN0R9Vt9QzDz1o9vijj0MOWU887TTZJDrmmBPNF1Y8oQQHBBCghIlhqfGGllkWKiAoMlxBhBMAcPFDVg7FA0A7B0kqD4VxrkMnNbzw4oEHJAQRRAlBXAAAAUag5tVxkrhYChhjAP8wBpZckeGEFE7oEAZSajzpIGhigNPOsJQWa1A88ZjTaQafMvvppxMgsMAEECxA00KbHYUFGAJl2QWjXGB5wg08OMEFFej95JxyTCghxA0/CJGEkvSyA4C9AlE6kDzrNABAAw1AIPDAEAiE4AILACCEEPHeJ5Bp7S6shFDbhpflEUWcy6iAOojRxLlUFLHrTVCsBqwamNhiSy21CLMLLEAAgYu9S9JcL7HDTkoLwggDkDCC/wIsNAEOttaFGGq0EccYY3jhBRlRVMFEbDgh3WqWYFwFgBdUuAiAd4+ZS0UQNT2JhZ4MM7PJMbvscgkaQGDQZwB9dtMkO+0giyzO9Wb/CEzPBC0gtNA+E3AOOeB0GOIwq9iCw0BF2Ocuc1BggdsZZ/QKwJgg3dCDlqB41wQAaZRRhICchOaFQGacgdIPfx6tRq9fPPOMOdS8fMklQCBggAG+90kALXJOiGE7GE6YDj0VWogOLMIbcKABJJw6t/QBcGHMMtGEQ0455ZxjDg7k43AMONbYbsst7D8B7JNfYNHuDzbYAK+8yVH0RReSFAqGG2ZIQ6Pc4KpFEESAabiRRzbThcvdYhrTMMc96iENWMCiErXYBCe4EAKeLQABCChGj+ZhpuaZkEJIQmE8yAGMBnjwgy8UXAMMAAFQfSoHKwACGrgABBxgAAfd+545/8R3DnSg4xziSBw4psGMW+RiRFXAgtGQpoY4WBEOaoCSFVCDHKNFBws8iAQnOJGIH8CgDAAogxmOwIlSlCISTBBIGdCYAwBY5yM3sEEMVjGNYIxjH0N6xzvqUQxe1EIUtKiFF+YIARciDBj2AEAk20TJStrDR2wCgJm+IY5vaOMYwKgEJOowuBl+igQeQIMKVIkGNGAACCHAAAA8EIIghAAIXKiE0CpRB0hAQhjF0IY2vIGOdZhDiSASEfusIJ3TrIIZ0BzGM9jHPjGYAQBykMMRrlC6MqRhCWCIhDgXAYc2UImOSqBaR6DEjHH4ox/9eMc9BPkOcBRjGFzgAgkYsP+BDJBgAxqwgAUmUAxBCuQeCE0oQu2h0HvgAx/5iGg+HirIhyaUSPXgJDi8cYxiiEIUkFCBCkKAhhxgoJUkDUEDPDABlj7LAwTRgEw1IJAMAMCXoihGMbAxTG8Y0xrjaB6QiHSkeFRDIHIwgxvEECs0lmF1ciyDEYKTRhUA4FE36Agm0vEOfnj1HQ/FB0KPIYcFOGACFtDABjZggbVqwAGiqGhY54oPANBVovmwh6R41KaJQhSv+dCHRMEqVgC4gx7f4CRHaSGKSgDBAzV86SltiMrKAqB6s8zsBDbLC3OgA3lsukdB7NEOXAiwN10Ag9MEAlWBCHC1i8yBG2jHkZL/pOO26lBHOoo5LGDgggvSE94BJiCQhNVBHXRNbnL9Kql5TKogOdvQPNTRV7w+1K8QtehCD9shcRwjGh8VRWUpK9lncfaz8tCkmoI0SUm+oxwCBMAmrrGMTTyVClxrLde6hl8A5OB/Z+iCFZIgBIvQgRzNS8c8ohENW0jBaWmQAgPmFgAEOACECAiAN+qxLxTOo6/XrSuHPTwPSuHLIOsAQJMGkg4ApEMe6vjwj0J8XcDKs7A/mgc4xOFdxooCWps1wDEq5A5JHtSuC70HQ+0RjYFsghei8OYihrAILsQ3jVvD7yJJl1Q2zG5zFWECOuZxjGdMQQpB6NoeEgGAVm0t/62/a4ADJhwAgTj3TCTMs5kAUKGB2ANJKXTuvWp2L4rgLB7zCBJCAftX7OL4kjuqBziCJMlJUlIgDFWoOTYhCIF0Wo7dzOdAvMCFIXhABTmQgz4XkYhEgAEPc4hDRc7wDVx40w5yKB0ffvMb3wCAD6dIxAqIi1ZR7PnOzDOTsvE8EHdc6lLIk9Td1lGzalvb0MRCdKLtAVbRSrKh4EbotynJvArFoxzSyGZE0qCCfHJNDh5AGAlabYbXtEYicVBDLbyZhjTgOtdpEGckEjHwVoNnBRYgwRDAcRB6aJIgaNKkPRyut3WYWE5yYtKS7kVtQlv74wuh2cbZi1DlhjXcQ/9Ckzxwt4k0ZPPl6o75AQkQgAAsoIYTuLA3EquyIzjncmKgUkKUQASmeWEKAMjCGORgB4G0+ul84IMZAuSADKyAz81LCJoi/ue8DWtJSjqiEY2oqbJjHOM16/jH1y7yJaEjHPQY0kFMfnKxKnkd2qiDB4awyDLA/O9/t/mp0MqFYuANeZeaxzjG8YxeYOIPdPiD5PMAACgBCgBN6O+ZBSKFLPj914KIetT3kIbfBGECtTCh6k3IZ4HQA0hJmtTG3X6O2h8RAGJHx5AqdNsNzcnsGVf7tVPMpHBggx4OjehDknuPeEhDlgbwGQBCMIEQoDqfVu53Nl3ugegTgAEOOAb/8s7EIyANpKv82MY0ZoEJX0FhYgIhQ9KngIQh4CoHSPe7F/awh5f3uwytxgDHYDyJt3qqxyP08HVLMm1ENES1BwDncFThdQzH0EnykCY8Mg+9xyTFdHYeWA7ckA32AFgkqHwIkQ/3cA1ogDDRF0MvJBAhEAKnJjc0NwHiJ2iGdRD3kA/80A/+4A/b0AttMAd/MBBEkAVZgHT2JwU5IAVT4AVpMAZI8H9zVAZjYAZyAADecGh6gyzPdiEVwjwLKCcdeA4AUCdoeA7lgAYIATyV8FEU2EnfEHtjpylkV0xHdA3dYA6A5iPJV4KAmA/tIAwf5DsIAjwgxDOOlDCMuAB9/1IMQ5ZoRqYQ8wQAPLgPAKAOzKAHAEAHAIAEWQAATkB/U0B/ozgFaDQEVsg0TLM1QaAC4SB8eHN42aY3FBIPdlhEtkcn4GMO5VAn5fA3PfNBAgFC0QcAvnMq0VcJ7SB2u4h7utgN13ANiHYQKMQmjQZY9uANQDA9ByJnAuVWADBQjcQz1vMNAOBt7XVpRtZeF7VQmFASn0h/SHCKpTgFQ/CEZdB5rNiKSLACOdBLvFANBFlERmRttcgOdEJE4VN7vgg+EFkOBzGMgAMA0YcAApEMC+mAtdeRuHMNCCYRJVRp+LAOwCAQ3+cAbcVWbGUBDrAB/xRQBYMwBPANdidulv9mSZaEUIqGDgRhf04wBABwj6WYA0iAigAwBP3YiiqwAoxVB2jgATQXAL3UDOFQDdhAdtQWJ2j4i9cADMBQDMAgDWTpPeSwM973O8U4kcUlEOtghnVyhg1IDs1ADSdmEfSADiFQcwFwAA7wlwwAfgHFVhfgVgO1AELmUHZ3k0o2V25SD0O1e/EQd+PQAi8gEDkwikjghAJRik5wlLHCKEuZBUPABdSQDdqQDdmADcYglqKwC8sACw5wAbxUB8/ADB0FCZUgLUBQB41VB3XAM8DpgjyjlsmIjIGzDOjwiwKBhr6IDcsQDnu1dREXEe5gDgYQAAagASRAAgtwAAfSJwb/4JcC9Ze/AzQEcXII1YM/6A9edQ/NwzztgA3X4A3kYAoEJBBEACZnhnQD0Z+LFCtLKYoeIA3TOI30iQ2qGYKrGQ3FgAy2UAqbMAy0QAvNcA3cwA3dEA4D0Q3d0AzNIAyiAJwdRJwxVDDIiADH0IsSKRDlQA7QkAxmeCauR50O53AIgSbuUAwrIEBrBgCtNgYqkGE2F5h/GRXaKQp1RRB4BQD98A9QGqX+sA9voinSsAzYAADVAAcEYQRHOQT5SBBEiUZKN6AAIArNIA3UsKbUUA0HiqAKmg3cEA7h0A0ZeqcaSg7kQKd0CgDh4A1+CqjdIA3NUAy0wEslaqILIArL/xmRLxoOwtAM62CArWejW1ej9GAN0UAEVuhvZcAHBCcefKACNbcAGrAAgVlzCAAO2ah8+gAA+8AP/hCl//BO/SCf3WAM0AAA2HAMQicQRZADpLmZ/+mZsoJGXsCKq+WdlZAMINoM0BCtZMmmbjqN2tANcaqaC+o9dLqhdcqn4NqnfwoA0kiovECii7iowMALawo+5JANsGCXYGiAJmSpm5oG18QHALAHv8YHUwCqkjBwXuCIE+CdC6CdlSAPQwKI+6APO6gPr8oPDjtx/JIM1IAN2AAIPlAQRokrpdiZU+AERrlIaeA0JhuKQ0AAGAAMxoAMyJAMyxCzzxqt0jqNF/+LsbwKACGIpxr6rR76reEKrgLBoX56DWTJC5XAS4vIS5eADezghV84r/SKC7mWTfx3taJXsgIRCdhkAQEQAhaAMA4gDniWaEO1aIEVURALsSh4D+Lwp2vaqwdRBPl4jyCblEPZNFuDhHabnZcgDMZQEC6bDIQbs8uQpmt6DfR5DdlwDdTguImruKipoR5auUAbtOE6tENrtNIADDGTDRbHN3CCIVELaAzncv4mB1XocnsQdQIRimyWdMQGAJuFjggBmW2iZCWXD7izDADQDMmgpfF4EJlZik7It2dGI8drj6U4BGwICwAgDA/xstDQDADwptcAANU7uM+qpo+LoAv/SrkbOr586g2Y66e8CgtocA1FJHx8U4vxAA5I939LyYppcLWkx6+JsAc5cCAqAAEMgIMK0SMEvELXAA0xCwDLUA3H8AUMQhB0G7IqgIRZgCs0orxJSZT0xwVtc5LS+xDOCgDeSw0Csb0fHLjG0LLIcLjQOsKKq6AZWrmW663kmw2euwCVoFM8pZWyeHimNUfKujpLWQb8h1RXWwYbQEMNIAoCvBBoMg/oQF8nucLLcA2YoBCZiQR1ZME0QhBSMJREeVm7cMIAELgMcbjVy6YkLBDI8MEHkcIp7LIsDA1q6rj0Gb4xvKEhmAx/20pocAA8I0o5XA3ChIfiYIWr2DRM/yjEXhCKrdh//CcHTaMB0WcAogAA1InJWjcPK9QMF0QLbdwMxxAFSZAQJpCPUsDFBsEoTeifU5ADoiAMsgzHcLwQyxCt1gsAbPq7xuDGD0HLKwyi0Rq5kqua1ksNw3St1bAMyUALfswAS5sD9esFOUACD0bNKoB0sSIH/PqE9ScF/hIA30B+lprJmMw8EehYaLALAOCsmMA5I5GZF4wQNDIEm8koImsHtYALsgy4gEvLZiy40EqzBK3AvlwRKOyywTzQ1GC9VYyxPKUN3HCtwsQNy7wMtAAJsmJ0ySoQoukFQ6ACX9yKdoBrUrCZVEBTAUC29DoQ1Fli2AALsQQEGf9ZCwxBB2Rgz2CSEIwi0sY7BDTFOmQgCrUwxv8M0ATBwsI80LuaDAf9EE9NEChcxgBwCcDQptiboBiLmhK9Ca14dEnXWrGSdFvDitgkByddj9UTANH2bPSKZytECxhAN3UADC7zEG0AACqg0wpBI5spBUMAARQwAgAwAoZt2CBQBEUgCvwM0HBMxYYrEM+ay1H9EdB7y3Q8wlj9ps2ARkbnBCQAJgPaNHo7BqjrBUiQ2kKJBrTodVALaM4DDXITABhQCcCwC2QAzwhxAnud2gaR2qkdlJv1fTGAEC4AACVBB5hgCraAC8dw1C8Ls4bLwszcz9Zd2RXBzsBguEstDZn/vabS4NVmDdgCUb+KLJRM029pUI8hHQBo0IHUtpXwiyF4x4Y1R9O70HQScQI5AKa+LRDADdxDygACwQNREEcLQXl6sODL3dzOjQsQvq60sAu0AAuiAAu7YNfXbd0YcQm70LIAMLjSrdTFICsbPdYnvpReoAIeMAXpPUf1lwMaEAC78It1sosdF7pKcpZTiQGXwFjHPREmUB4BHuA5gADdaQEAAH4AAAZzQBFP7gYOzARLEAMdYCoCkVYJFwT5BAmIBJYbzuEQAQx/G7jIEOIKHd3JsAkpbt4qTt5NNUc5IFIZEAC0oKff8z296Fljtyk0TTdAAAvCQAYxkAIUUQSo/1bk1YxZ3RkV4EcCcXBHEvHAA6FWALBWG3BZK/CPeAuQJoVIvKDhYS7LCQG9AT0QZ+6yJxnEbW7e5c00QKwC3dkAAWAM4Yrn7sqi3gA9NVfbwtB+FrEFPFAeYLroBXF64EfgHVDcHrGSa3XpACAqA8ESYBot85YIY1DSRF0Loh7mBAELLIsQxgAJ+NU0WZCZrd6PTmPeldUnwiDRHuoN5mu+3Kqn4eC7AEDbaCAMtnAIF5ECKWACItWdBzEEG8AAViUQJvABIsARYFAGMlXpGkAFK0A20S4qK7A61CwIe2AHbdAG+4MFRgAIicAyuNDt/UzmgFvGtVzGXDCUTjMFJP9QR25+3m0O2h6QATQHC1gJ0RFtp/MeDtRQB3NNAGgAC7aACB+R6ZleEBtwdXo9ECRgAiiAAhcBCKWQA201UzJlAaJCNkGwArEiCPu7194UOUKgRwKRAi9wA7EBBiRv8nYNC2UuELS8C3WE0kcnBTXfNLJOBRw9BjnALLQeAJXQpt97oAk6ucIQN0aP9IgQCB9hAm1lEBsgUkpuVSRgKiZwEWBQCovQTxFfnhagAmGf8UQgCJ2mr5f1VEgQAyjQ8AaRAi0gEElgBWrQ5IBQB4Ke6mzMC2FSj1OQBcla86iNBMl6sswSLQhTCdVLltOauARptLzzSrBgBz5Qyh6RAif/AFBNPxAwqQKZLusED+muMxF3UAqcUAYGIFAu6QBNOQHivwIqwAehxwcw5wUaILIn8AEA8QHAQIIFDQKg1KgQLGHGjCGDKIrgECROpEjxMkbjxo0Ex3gBkCULCQATNADQoAHIsmXJWDZb1kymNGnQdqEBggaWqBEHff4EWmTDwaE5LAAgkVQpDwBPgPq8wymSoEUIGBzVQCUICQYTLCBoIGePWDlyynjxMsEDhBMpnj4tVKuhQ2SQVBSkaHEKx498P4ocAmFChiBBVKi4YMxgMsYulwnbVecSLDtvLQPlMdRg0SBIkSa9YCLG5YKgIqWJJGfBgQmdCZZZscGA1bJm/9FKyTFBsIwnSkgbzEMnDyZTkmyRuIu3opQpGT9SkQJgoxeRUgRPUCEKFzBp3aA9RQYL1uRNIED8Rp8EgAXNA4cmR05iBUGBvwtxQi1nyAIAOcq8PuurBQjI4SMvppgCCRWuayKONtD7CY4mgMorpI8AyMAJ6ajLYgoSBBOFmmu68cabcABQ7CCIhAFgskSqgBDCDiw4iSDNVHAguYJMqM8yUEBJwxFBhljhAAuo+C/JNAJEgAAIsjgQCSQGymACDgYJBIBDYjTojAkprAiA5qbIYS8Os0BiggnQSKYZabghsURkfELGmF0msyWOOLgkzTwOMihoqA1UQM6g+U7oEf+oQkqRY5EhyWAAgQW8+I+IIZAkogwqDDCAQIoGItQDAHgIBBE+DbKCKR0PGqJCKDPicIoqJ6CFFmDabKYYYGhJRkVkdhEvklPR+6CDDWoEQND+DCWyiBfeWjSNRRahgow5EMCWUgCQWICBICpdAAICGDjsMA8A5cHUYQtSQoZVf6qwuTNJguAkpb5CYAIHCEqRrmAB+GPdy549SjPNSNhqPgAUnq+ILrD4iQxQ5IhkES/IoAOAEggwgNIyiCCAgBXKWJKBBQxYQKlzJyhiEoEJ+kKMEgbNwbK8pBApixwg6Mq9pACwKtIQHCLaIVg4IWSgLF+2jId9bdxggxVqnm//vs4a/gKKg8AARZBGy8B4oCIIQICEMs7KYYNvM20AgZJIyABQCC74wg0A/Hh5DjYIIqHmt26eIjrBoBZwAQe62gWYuYSpBJIovgAADqYtmyOPCaLGHHOUVGC4MIU7cKEgGBqlSg7XAFBDhwXAojQNtDwuw20CGlALggYAOGFyAOj4gwcSakTObwrzymBwqNs+gIGULCBhCEEcASIAlnvSnbQiSNCcIPYWBiCIEgiaj4EOCDohB0FKP50gFgxggIExSIafCAA4BkAwCDr9fvI//ngDJIP6fkqrhjCBBjCgPVE7yQEasK+oYSQSp4BAAAigoeoRBAtJuMEJXNCC0BFE/w0WoFFBTqKBFQShagdhAKIAEAEV5EAOaQjCsw5CgAFZYAxESAMO/zMQGoqLBRUEQCCIoLCD5EB4eBlCDjJwOw1kLmoTAEC3joIUKgCgDKlYBAACkAMRAPEGMWBBERJhhhO0BQUoAIALfjjFgsine9zTWPcKI77D/e5DuTtIHMbWqQYEAS1EmEAABtKkALBgT9U7xBYAcJiftNAgrcqBBxawAK+wR1AbmMABusU3KSApFcIKgAp4cB7duQAFPEiEsAYyRhicAAUgQIEJQpisqN1FYfmTYxAyxQc+AMBkCEjAT/a3x07xEGgcIwALHgTEJZSgXE8xYkFyoIIGQCADDP9YjyWPZbLk+exSXvgRAaRXBFIybQQfOMEQEgEASQCAEwSJBBlPwAL2NBFzNcKl9wpThl4mIhGCiFQyhbk/HiCAUwYFQKcMcAEZhAGIABjBCcr1rv85sj85KOBAQHIVGoEQAZqk5QaQg5ZFcCKCBhhC9c6ZzkRIwqWcaOc73QkAMiDnnilxgMIKU5gxyAEA/uSDIPigggUEwARzOMj+lAoGDgyIbGDhgXoeCoAPsCA6jLRMNBtAgjQAYElesABHLbCaSRowc9PMQRqQYIAtSq6ULDDQf1r60pjOtCwqACEIcxmEMezhp4JIBC/HsgcSBIAHejBIIJT6h0As7Q1G4EH/DwDgg6lSVQRSWiRFA4WUQTkhDZ/t6me90BULOIA/mnSABixJI68EAQkMCGUYBjE5LDCBCFM4G8nsQJ25urSdBJHEHmIDFgfs86eBFepgPzsGBHwpsY1t7JYAMIgwwKiyA/mACe7yzJ9EDXtS++p/QluGoThgApI6gDi75QAHZKCFzjMpAUjAhkOo62VwUIETnDCFLJytLCHxAh98+1u7quAqsNXAPxOxB+UuSSMX+MESDtIIRVS4EdO9rkHOOVGs+kSkK0jKV1WwAf9YMYdqOi8CAiC9DExSUgMpAydWcS4N7E1/bBiCXgInpvctiWR9fak7fTsGRi4gBwwWy2dz/4smkvjkDHiwhCYegbcMFyQGJ1gBh4GCHMN4tXvinAAVQuuFbYrTAB7QwATIQAYwkMEIOfDCImQhCCQUoXqBuEOOmXORguylDGU5yxgG7NJIJEI3Bk2yj8uQBf0iwQMqLIgLhFCFMwzCElUuSBvOwIMsZ1azfFsBEYNQVG8tKQ1jmAA2OeYBVuPxCmdwAxm8kIZUyCISd9AdIhRxh+Xs2CD6lcL7zDIGOxAaqKokwAROfTZGNzoHJKhAOQfyA0oP4hEuwzRBtuCFLE+UKJfs2JhXkIEhZOpjZWibQdVSpXK24MqUOoUsOFEITUR6XW4owpT2/JMcTKm/LyxDof25pP8h3I4AGmm2E5BgxGePr0t/eEQjEAHdKkPXCBw+DBQD9V1sNoBkXi3D+3LrukmibDATwCNBzjgEOZRC3oWw2+R8gEsARMcnOUjpQMawpD0k4oVpuJTGJ5CXhRtRBR6YQAXSWJBHKGLiS6t4IA6hCBZgr1wk9qfCPoxXAsxv1iQDbfww2qR8TcDhBREBCnDICVmcAhTVA8H3ouNrn0zJI2OQwn9ahVsVQFG+DJ+mqGh3AhsY5OmKDdh1oVsEI5ABJckKnm8T4TcSIGHUBhjIpExNskylgQrYYquaou2TEZigDIIAgCxS8QjdoaAE+p1CzX8Tcpw3ZwxZCIIHGhAA9wb/HgC0U9MJIFeQxi5W8VIvAgOaPBAk7PxHLk1EVzm7ABNUgH4ISKuplxQEA9iOYxAwgXlIzwIvyCHeqyhE9TrQ74vYnDRjqMhHpqDfCazOAyQQPH/URESCLNb4QIw4RUg+COAcpHACL3CCRPgRUIC+RMiCqGGABDCP+5kNUBkZagoASmKrBTiBFgAKd/OseJOFThgExHqZKlgCEzCivKCgtzhANMkCKXCCJGIAToGA+tE/FGsog5gD4ciDPFAqIHqCMACDImiABbgLEsCILBAwOfAtmBK4LHAABJCA8ziBCzAolAmZkOEUTgmACzgkoLCBJXAhl5MFUNADxIK6dfED/y+AjmnKMRfUEC+ovCQ6uvMim9uZFd3ogBs4iC44Az2Zgx6soBEYgRYwgQZom67ArSHIgjRIpeCaK5jyp0TQAAQwAYgaiAs4mS4EvU5ZADu7jDAggyBJvVJYQ4HZNQAQlkWIpH4DAP06CFlsjiE4jGcrHk4pCaTTjQWogBSgHoJoAQ76gSSwAjFogzB8GRAYAR7QgG5RvilIgyloFSRIAwbzp0gYNH8qgwMoJ/VoghIoqk4JGUkpglQECnwbA9RTvTtQRoG5Ay6IBE5YBCcgAjBQgYqQxV+LRUbzAELRAN3jFBSDgAGpQp8QAREYARRIgWG0ASGYHBEAARM4ma16xP9gWzQpaY404INUckKYkgSBG4K24EE2YIMiQMkiAAN0fAoUpALzkwVZAAQx0B1ZGwhqWYEMgsWcKwgFcYIOyQD8Q7r5sR9xkYABEICkTEqD+ICmTMiFbMjREJiIiiAN6K8OORvXmcEcm7WeiwQBA0mBIwMmAI40HBYhiAHzqTVZMAMZmhz/EQQNMY8SSClYNIh8ZDQMiZsGsMGCrEKlBEymbEqnXEimQYET0I28E4keu42tdMSeAqyBkISw9Cdcq54YOCVBYDt5QyOmOQMz8KnUQAI8AgEWSCm7Mwjm6Duku58MbIAOICXAlE0BoI+mhCUOYhof4AASuD3n0KicUTj/JMixRwSsRCg2kJQEfwIA65ocYDQBORCEmDyFE+gipkmD0CyDHAg/vtHHX2MO3dANTlkAFlA6aSuI2UzKD1jIFvgBKwAApDrLKoCz3DqLMwFOx+wpO1gnsJS8RHC86hGBEyi/1JOFIqjOqdwhAKCC5RuI8skx/YJQ/RoCBIAAbJEUHoAY0lhKABiAAhiIM3iZLgADHpg1B6OCnEFRRhPOVhEJn0ol/gzJBRPFiBQBLhCEtfzPlzGCBOUCnzgButRHCN2PIlgBI0BJgXkAoEg80lCEN0ips6EO/krRnJFBhXvQ62RFn5rM5OQDOTBQ3RGBDwgCzYzJLGIaGPCfRUgp//NMSO0SIAWZUek6lR/AgjboQQpYl0NwAxL9CyoQTimd0oGwUgAYAm0BrD3Qxn8yiy+NyOwqi5gshckpgjSlghIwz4IwAhPggRllmgeQAAoAwiXlkzAgUbQQCTK5iykVCaAog56Lvo6UAxKQgOqRMBs4gbNJvVXg1GExgzFgxW2BtIOASFFlGg4wVg6oAArA0/0pCGUlDSG4LRSdPyQA1BQliBbMsZ3zqj0oAxVYNBM40MmBgy+QghuNSTJIFD75AdCEsSHYzlNZUmb1CQ6Y1YGIAArogHztAGPlEyXwgXSq1g4JWBTlx1bZL0rxj1IwjUXQgXB9mWszAzJly5dxA/+fkgoqyIEzAqIljQCDKAAFUIAHuFcO4BOIxJ0hGFhVzZmCkMEpwTkkIAEv4ARQKAWF7YVFcNh1USoygE5IPYTZGhY6kIN3igQkIAKI7CBMG4AOLYCPVQAIiTmCGJ+UVdks+LWF67vBcIJF+JFS6IVeyAUyuNRhGaYlqbVUAINLG5Y7SAOizQH5catsAwClXFouiQEPHIgOQAKcqdpAxYvcSLYMuD8kiARQkIWvBVvH68yX2R+WI1BAwIN1uQOQeCcq2NUK8lCfSE+lhBAbcIuBAIHx+cm+ndIqcoLcgID7GQzB9QDNXIVcQFxOAAO3FJj9MR/DZUugPZVCqCIAWAT/LrgD3b0MZ72Mpm1azZVN9FAknxhd0pXWGQTPARkM3eOBrXU52P1aTlAD/fkDMqCKmAQF+DwVx3unNMgBMFgCqdQd461b5OXcywiFejsIvHXeDllZJ5gVp6KdFdCD7iXceEPcXCgEE6zdPyiCR207G+OTQ5AE7FSBHsDb6jFe9j2I5LUMpwsKMYk9qk2Q0aVGFFMxCi2C/flBMkACTkiFXMBeAT4EAobX/ZECOThbxxODKOCT85EKLvCAxWXKYTFekFWAAhiACg7MYZkEMsgBDcnHgY09R+oQEqgdcYKAEfY/IiBT7O0FTsAEAFAEnd0fFaAYThAEI4haLtFMqUCC/xXgYap6GacN4iDO3PMs4rcg1oMwYQVBWVWVAoqggthDsQ2kYv8DA+uVBSwGhS7u4lMJ1SK4xX6jST4BgxiTiiG4gHSdHDf+2CEm4vd9ijpmFT2rWv5CkAGaALYigED2v+51ggdSYcRdhUQ+lR6kAx6QokGRAcriEiOQWVYcyaZ8qAd4gAl23w61DE82iCLYu75FkClYEINCAKYYiFQu4RNO4QAuhCsYFiV4HBMgLn3hgQiGkEk1Df1IOdLQZNKQAHp9ADgmYqYlCJozCGPG1H5r3hQNnD2mQCPg4oJI5f2xYsM1ZPmhzRhZSIasgI+CovY6lbWLhDLwgC4aaCDigP8S6IAKkIAkPYimDVmlexk2UAGKYI6cmT+LcAIOWAEeiFuCQIRDQLzFAoMhWIR4M+QNpQ/LGEyFPACr2JfUYoEfoF3S4AAqEBYumABLriAOYIEOoGg89VgFiIB81Z0gqEYpiVDt9MCkLYhJmAQKW2nEW5gTPoVW/toE/QmjHkxmlCBsAgD2IoB3vIwlGIxpYgAHOI+IfigWwGsWKAGOJoh7zVeSZRqkkoELYIEVHIISgGbLGASt3uoKG4gVGAIUxuJekJ8Y+QCFNIEV0+n2mYDE/g02MJz2MYAEWFy7riAW4AG8hmcJiABg7tjqwdsTCL+x/YlJCwM3OARNKIH8WQH/QbhexC2F0zFtzaUqQ5SAFWufw5lrBmDJpyiB9mGA9AqAHwDnuR1ugUHs1NZrjzXehxII2gYKhnS3JRBZwL6AIXigQgbugeBkoKDNEQCB9CKA5GEv9mIj0gCDA2Cv6BYnPHCoKkNtHkhtAGBqDl3a9pVboHBKFNDoCOBt9K5mxE2D66bN6x4AFLC++Tav+i4B4bWMpvKlnF4xHpDfg3DPAn8ZARdwwGZvuk3wp0jKpf3YB+DrhYls9Ubc3nXvjH5aQUpuB4CABPDwpwCDw2GvUh5x+5ouP4hcIArwvX7aFm/vFz8IGd9oipYmQQBo4K5syxjizD2AFQsAciQAMMiD/9/ggFQ7itXpugSALjnFMHh+md1W5zi2YCqv8hmvAIrm14F4AJiW6fWucdLIbDEPgANAccvQFwc4isPpugConEQ3CDlv7stIZwqIgCCWcprG84LQcz5H1oKA7EiI8K8108t42lm16ATQbwpgcdJQc/OKbgkKgASoV0wrgAqg10zf9OvG85ClAFBPVmbZcgmvgEE/iFQHAMSSLopDjwBYoPozqJBJgHVOcE+16GC27invdAB4gGAvAWNN1kSvgN7+7a8tBV99CgrQdQ6A5YE4hHiHkMzuupDRItwpvHPGNBqvALREozvv9oGgc2RVVuIliAvIgfRG3F44hWMHCglwA/8qqzeXaQSurnSfoPeCEKQBMI/q9HXdGWglYAIlEILQaUpu59DjldtwJ/iCP4hyj+xSv1kJQPaBUIIYiIEl2AIQJQhN0ARKuHifcABBInoDqFvaTJSPPxXTdgGRVwLqHkxfLgim1eiQ/fYME/eCd3mDgPli/9o0oPmDUAJTOiNiZIK6OYRJiN8StwxlVYAIlIADWFpOZ2OCoHsuQfCCuAElIPnCi/qBQIEW+NiPBQAPpflXn6qW1/qfqAAPWIRz74VSIALEJ4i5D/wXiIEbuIEfIMsYeW0Dt/vrwujaHvmSR4HBLPthxE08H3etN3iCqIAHyIGYPlzEbfhbn3qkrPr/F3AB9Y0R3wd8pa8Po74MOTcIFHD6km9KNFL9gcDbMzhzuXX9xfcJyJbshReEsDcIpBSAzAXiu7+MFvhcj1X6U3F4y7gBJhh5AEh98T8jFPBDg3BsSa+e6X/9g4Bsr6fszx8I7geIAgUAKCg4AABCAQgXMmy4EIXDhR8URqxokSEFChcb/njC5IeLFi0ApEAxYsSNKGoWKkKoqNGfjTJlKnggQULGjBs9LColK1evoJxWMBwgQMBBhAUVNKQ4EwDEkQhRoBj5gaHTpwg5VKiAUKNWhG6UiBSJUOQPK2ryBAKgqOXLRoFihq07oEDBBw8i6LT4IMeiVLmA5lo0BABF/6MKHxCsObAuQ4gMpaK46jDrRq+QG1ryA+DJj4UxGLZ92xJAIwBzN2sd4No13pobVwzhJDgVJyobLCw8elBChOCMWS+04SIyVMsVMVcEy1rTKFQIPQOA0mXtoUCHEL1FxPIP3Yrhift+ffdxxQq0OS1KE2TFCgsJjh61WYFDCQ7oicfoj9AFRJUR99WAqDVCCUKvjGLJIwzFlZqBqK1W4Eb00fdaZhCosOEGKlxAgnxHFWCTBCWUIAGFCDGRRGghQaQcZH0RF4gi3lFCySiUTHIaKQCMogklEKIGACLgpXiRhRbO9MACBjhgwQUbkKCCA/VJUEEHJXRwJEJndBEFAP8xtICCCKw5NyAi3jUCpB5xYMEEFgtNgpB0ACCo2oQWjcdakkc95YABBziwgZQqbODAiDeVwMJwXM4xhxhdAHBDCmVyWVeaiASpRxsAJPHpCwu5gRApqiAkVyBt7cnQqpD16edMBBjAgAVSXqDCCgnsZWIJEh15yGmdAhDapZABS4enN9zgUAxKYKHGIKT2WOxyrz4lAAG0EkpoAww4UGIJjTYEI2TeAdBgHl9QG1Ygc7Sh7g8tuEBsSAjFoGwSYYRxBx4zxdQWedbOlICsDhjMAK3eXsACB+u6dWeQiMzh8ExqxJnEsP39IMSkUo3mA0gfSLVRq5v1eR5eAiXVEAX/Ach6AK0aPGmBAxGIWyyOdjZSJMUyQSHEC6ElIcTGHN8wkgs23BCyCJZedFpFTs+U5HkIpaxAASsj1EQAs9a6gaA006wXAEwspPWAOWuCWsk9M/RCqAgNLQTHL4TkwtKVfUBuRJ9oxfdlFwoUm1JXL9RVAAg8ue0GHz7JAMWNjAIAkI0I6XZFLsS9MQAcgzRS0HoD3pASm42OGFICYc3UY0wRtBdDAQRg8NceXjCBAxPwgBGXh+SM4+SYWwT3Qi8sfbRZMYgu0+lP7d3UeasPJJBSAOzVMEISEJDt4o17qAIDCyTAO5c5k+rGEsI7hALxCMENt7xW7d08QvTzOTj+/ws9tpcEHWyJkAECELZaXeBWDjhAAMl3pEbUSRPoU59DXDAah8BNefOzn/0gMxEAmAdlVmNKBPrnP+wdQIDe+poDGNCAJgVAgSnSRCwodwYAjAyCUHlBDGzQELzV73lTc5hiUjc4qzFES/7bUglnhTAEIGABC2BiAhdyphSRokGdi0EGi8XD/kxwUgB4gd7CMgDXHUkAA0GKEKk3EJssxIj+AwABZLc9KBrAANszQM/CoK5J2UAy6gMB+5b1RQDoMEwAcIEPwzLDS+Gvkfvxyv969cYOyM5lsrrk9si4LhdwjAlCOBoEqdIC400Kh/YKUwuyCADLhMESR8JeBBrjSP+HpKZXJgJAlhwgx+3x0gAIwNwPoICQH2BRffKCmyCVZbcYhEpAT/Ejl3pFBADkx2YFUR1TUNQry7lEESZiAQt0Wck7HkB4MRAmH6FJMRRoLlRxe5vdVKnOFDXsf+BkQTUfkBeEdKARLbFcaripCU3woAQlrKQDjKmiT9YQMlSZZ0M8achDDpIhAMriCIgjIxdmCZxEAGd+uLIlLdHScpRYmyZqhD0bdvKUrBnZD7CwyIY8Sg1iWIhZ/kNDqqjyZk9xjk5iQoGVdgCcPOABC456T3C2MSKWg47lzGVDhKDzBoWkUBsCgQiALSRNLUHWHsNkN6g09CkkDctGEfIHgG3/Cak8MIFbWXCfoS5kd9M6EIIgVCOu2tCPPxAkhdiyHa6W5nIOAUGYIPrTKdblD4dACCKSagIiwDWpLOjAUgAQAeyZykfBgw5kp8qQTpYuLIiFyjzXOljImos7DNHDxLBAtB8oFq2MlQkFVPuwgSJ1qR2QwDUVEJowjAoAnQXAK+7EV9EuxKrPlIlqt9qQlqSpIchSQxe6SKG0biQjpqEckCiRpstWALirk+C9lHAFNzyiR7FABZCYi1MKxUkPj2WVVqmLkOzctyGIsJwevvCEYnE3Ihk54kkHSolAxEEMWEiCEo5WgJHEICQiiQETwnAIK8rXItrFVH9j8lhFPMIT/57IhCW801+X/Fc1yKLYbaU4VP+VAK5AUgR2maAEJQihLGG6aFXwxmMAhKHDEQlNbedbWoZUd78LaYQrMwGAQ1jCladyi50A0DYCN0cjWSrBW8EpBijsOMJjcsFxjnPBIEPFyFNZaLxkMkE9OKS6K25Eg1xpZRNn4hE1OhDPjJyRehYVnB3gwE12HKq7HfJFFwSkmxlittJ9eIcAUEl+pytVhqTGxJ5myIkp8YjlThU8pj7wof13k5voE36HlJcfExnpiX6kjw1hJ0JSIiy4zMSwEeHzIEhdalPngQIhrIk+mcKYgrx6lLOuCAo4Nqw4I8e/UoWaRXxtERMfIlpu/v9DHL7AhBvURDaMSfZSYP3sCAqBCRIdU5stUl1sY5mWdTnxILRtQzGM+5jlPvdSgqvJdbuhCqVVAoAiclNru2XeEXmEvjcSimkZ+QaVYZ8NXqBDfaL7agWA1bOlY4gzLOGq9hJCF+JAZ4vUiN4M4XBYXOELN8drfijIOM6tF9zYZC1Jke7RK1Ah5YocyLBwgZBrHXInyMRiFm52AQguqPGpf1GHHldAEPskX0SsrSFFllSW7bR0lqCm5UdqhS+Oa+QLXgXncQMsAFT38VeB3IZ/aEnXEXLcgS7kRjXq5qn+fqRZeGIhIlAll1LA9r1l/AZTd/xkCkJ3+jDXXGsLnkP/MH+ntzy5Rt6B+WZ0IeUqNAEAPSjJVBf/PLdX/dZYm3zd1VeyFTPE75z2J5GsWPi6tAK5ALgDGBbShOGfHoKq/wAIlKV8Zdn6LC5QAOyZg7m7R2TAem/IjW7vz5cAwG9h+USPdMEKNlRk+E0ovtuOf5W/hob9YDwLCl4/eea6XCaTM6xrQ9EKVnhfJq2YhS/8AitsQfBdhPmhn8Oo37As4A80YNzAm0DMn2i9WF28QpYFCZFcjivsX/8thJR9gis43cy5Qie8wRrMxAEiYERQxZtpxQioX6gsiwz+lUWFhNbJlxhYwVPoIELEEELcmCKEgkO0AhGyAkJ8AiuwQiu4/4IrLMQsMAIjAAAbsMEaFOBGHGBJSE2AsCD8PYULpMALsh0KKJ8XlVILQBqaJdlUVZpMHEKPzBwqjF1EECEdWgT5IcQUUqEVGiDxpUALyloXbkQX9BsKRN1VsJPbmZKrHVIaPtsHsGGuRYS79QtCBMNM9B4ANOFT5OEJAsARXOHw+aFMlBVD5AEdxMEZYIES2MDI4JAOMVrG2Y1UNOKsNQEhdA7nDFMZMgQNps9CEANrvMEbbAQnFgsTnEG3rZip/UEezEGD6SAOhUoXoRkh2Y0fJVwtmgIAYEIULoS08aIQTNAb3CIjeIIu/AIw1oUJzgQn7qFFXMUhRgTHzIEl8P/ZfS0jsSHEF7wJi4DSIeEQM9HQQmCjm33AHbKBsjDT0vAY3QxTDnUROVqCEcoEMegCcbSjQ9RAuQCAp+HbXODjQtCBu4wZDR7HsrwAvP2HGqrP3jQBQsrgFzme0nDOSTbBMDIEIXRjRGhiRW7jLTpEAXaiHU5hJx5BD5CiTEBNR1rCIZgaabgWHaiBuIWGDmUcrunUs40hYJ2kTGocQujQFDbETeok5uQhG4DBcWwGiS1ER55YnmhZ0hEJAKzEAqJkThGkkaFApd1AhXVlFwojcdzkkbABJD6FUi5llXWbqsgli+VBHqzEg73aQM7a5jQgQ/RlDErFHQKAYK5bWAT/VIO0pSdUGQAwpSVoB5HARaakSZsAwBdgzAS9n5G1wLIQC7OQUnMRgm4uRGc6hCW6zcikmSTelLkISYmJ5mgiRJXxmSIMFmq6xV6ZC5i0oHzd3AIuhG3mWlpOii8CACGMI0L05lP8JGsQJlK+zTeeipA0AnJ2ZCYUnqcNHWoiwoh51cpFYofhTXa2H0fE4KSwgU5+508C5i9GhCX+5oA0wXZaxHHwYHGuZ3typIk1REeqxpRpx9/Rp3fcp3xtZ3YemSC9wBv4gE3ipHeeqC4Qw8w5hC5YJACk42awwV02xDvFwHQ+6Mu1pxKGIBO6Qv91pCKkinb4k3eomJu1QHam/2dDxACxjAYmEEIN1ACAIgQ5AsAvIChCOB1DtKgv/OYvIARZXgRaVkVk+NFomE0ecBqFIueOdmQSugIrDJ2EWoJjacchjJiWHelodc4wWWZ2Hg0KrIEpmAImAICUNgQxYClDzIKLAkCLXumL/kIThmlErAGZPoTCMWaEgJpoGqEnpMogDEJ20AgSUmieCql2bJpnXoQQCMgHlN6gYsIbDJ9DaCkAEJ4nIIInYOJCtOiLIkSjWoSCzkQc8NrDteenoupjpQqwNER2IASqpoqqripD2IDRWMbe9MBPDmonyJyjfmsmesIjLGGLtsIjZAKvWqQurCgxHuVFhIqwOBm2QfNZe7bFnd4paeArQmQCYUWrInyCD1Jrc2HquPSATioDMZirK7SoRbaCr35pi7pCJqBrljLsrxLDL9iq8KHWpTYExrgEamyHQ7xnW5YmY97rvULWaYwqtKIqd6jCzN3BeQITdn4onyIStP3ALABjMPxCxn7CLzCszyLElzqqLsxCjaArozoqo/4mlrJB0lxmTjnEP02rIiDnlG1EyvJrqkDrvXJHI8SCL7DCEsys28Bd5tDPK8TCJ2ipz37p0Fopi/Zemiiti7ooMKbjHSwZYImJVMQBX6VGsw7J1Z7Ycu6rsDlrignphd7rS9SJFB4BmVBIQAAAIfkEBQYAAAAsSgAbALcA1QAACP8AAQgcSLCgwYMIEypcONCKQ4YQI0qcSLGixYsYJT7MyLGjx48gQxbcKLKkyZMoOXZgESWly5cwY7JIYCWmzZs4M87skrOnz58GS7AESrSozQ40jSpdWlKGA5JMo0qlaCTp1KtYF1atmbWrV4Fbv4rFGnasWaZlz6olmnat254BuL6dezMu3bsx7WKUi7cvQr1+A4cMwFOwYY+EDyvOGADL4scVAzyBwrdvZcgMA5xggrnzwgRGrjzBK+ZLFyxWoKi2gqW1Z4QEdJyhO1lHkTJmzJDZTcZIkSuO33b5QrxLFytPmCiJSIBFYbdgjIyR4ygSp0WRFi3K4aGBjipQzqr/Vo2li5gzatSUPt26vJj3Yk4TJFAiSnC1kkqB0g8AVH9OHhBgwAI58PDcV61BkYQQP/ygBBNQtIdackxA6N55BTU33FpHlFIKAB+GCAAnBnjgBBdO/DYWHHG0cUZ8rWECCCZhvGcaFlAooYQQQjzImmsAnEBAAsutlZ9AIn4IQGtOUMFFEErc8FWErT3zzDgAxDNQO+igkw444HxjzTfMDFPmLeild4YOBMTF2VlgJOmhhwAsUt6JVHig3hdeffHMNPK4Uw899RRajzvu2INoou7Mk0477ES6zjBMlNeFDG3iGN5YV/j3IRhEeOEFnYso8QMRVFCBxBb3ZbVKoO7Q/0PooIgWas+t9LTTzjq8roOOOeZ8E8UX77FJAI5FilXIQJIw0SSIIC6iHhlNciGDcUqxGAcc6p1mRRW36CouAO2QS2486KLL6znlUMMLLSR4kIEHHgRBwQoILHBBD2KEkdC23aYGFBv+jfiFDk5KEaIgxhUhBRUAmCAEUT/0CKFDqSnH4A/fjCtuuQSVOw86vNSRwbz00jvBBBAAkO8CCxBwnHI/3GBDxUpEaBxqb/50JABkfGEGFV5wQacg4YGBBBdUkKFeTsclp7MYarA4R4sBg/OxruRuras87UAC89gLNFB2A2in3YABsr3HHmvmqdFGHHS7+AWOFTJx2Ulxgv8oiRpglAFAGkPMKcibXqRRBhFXxJTenlg8sWODPT5hxYy2ZD7GGCfwGqnXXsfTDi9jF3S22gAYYMstcMSXY4M34IADADgggTEUGjfoYKVdoMdtt61mlJ9+OtjAQxoCFbFfnZsKDkAQV5hnkg037E4larjrKMQqtmyCyy67oIEGDhgQQEAlvbYjTzzrowu6POuQTfYEaMtPgDBdonNOON+EaY3ssivBLXJxiz9sy0Xegpt5zvOimTHoBhC0mBUO9MDq9ShCXyBDJEDBCUm0xnleAMN+PjQHAKghcQLJ294wghr3VC0Oc4hhHNRwi2fgYhmwyCEQzMfDNhGAG7xSnzz/1tcO0bHPUUMU1DpoYYABmc8ACDCADwMgICgaoBKVqIUwjLGMaESDHJcA4DXOob9znMMc5QATOKzBDGas7hZwfIJx2AOF5DwoQlSjWwzh0AbgtWY4ZhgIGwBXBsEZQQeLEIR2LFTIxZlKSh+hmQ0mWTG9daGGz5hHOIABi0tcQhS1eBnMmiiMWM2DHvNIpSrlMQ9WsjKVqOQVFusgP7KlDYr0ipcu6YUBDIQAA0DgwiU2oUVk8AIYdahDJYBRjGJgQxva8AYZ0SGOcYBjHNaw0jDgeAslWM5K40iHOMWJTXAcwwxyAIAZriC0RqaBCOlMHhjAYIZC5sANcADJE5Iw/zkHrWIa0xiHOuxxD3kggxaiuEQ0HOGIMTQAAGQ7xq0mStGKUvQeGMXoRE05j2+Iw6PFOEYxRIFFSMQLDSoQHxrq4EsghAAIQPBACDywMgisLGUeAEBOdzoQkopCFM08BjTNQY5zxCNRALAHAAY6UACgAxcDAYMYwCAqAHihDF6IJ/KqetUcnMENbfjIDO82jW34gx/veIc68GEPauBiGKLgAr00QIINaMACFmDAAsDxjoz6VaP3IChBMZqPwuYDH/jIKGIRW9h3LFajt0LUPMLk0WM0gxc/FUVMb4rTXHrWA/ECbU51mtOV8aIY64iHKt2R1LTeAwCBFUc8NxGNY//wwKpeIBoV5CAIAJSBaATJgRAqhSGOmGoY/OhHP9Ca1r6a0xENcMAE8GqBCWzgunnl618Vu9juGrYe8aiHQHR1RHUk6laGTa9h8XHY9uYDsIqqx2Q/6o1jHAOhooCEaDubspVN4Bjqo0dBXptUpd4qGnLg7SZGqjiIWbUM8fytbq/KhTKkwQxgoFscMmIKdKQVsYGNrDmOIYgFNLGJB3CAAyxwgDZ5Qx197S5Gu+tde6TjlLICADt0vOMdC2QdIQPAo1I50Ik69rCMZS9j1+vaAjfKo5U9xk/tiyiKJlUgr/1rOnCBvN4SRHGK44KX0yDmHKRBDoVEgiAikQgzKCH/CaOxCBxsUUTR6coc1cAFFyBRBi5MMQAIOAACAh2AOgBAVoQa4jwAcMp6VDRLqlylQCJF6R4TxMfmKpemi0heedDjvIRdL5JBTFCBVDSwqDZwRQs1kHVUI8EI6a2XBZIGFQyBC1lNQwgMkAEnJKLNMriBEJJgEVu80ou2GIIUvMCHREQiEgDIwaDNl+KYBUAch0a0trXN6EUrlR6KduWkK03uclM60+gG2abJ+7VUuiMdiBJIYrdLb8HaQ76tBIA0eCGIBMM6IV4mAAB2PYGcMsAAxxBHNGyBCzEA5wtngOEc8sCQLwxjHtG4cCG9sAdJeNzjbO6PGRgwgQU4AAAO//D0tleubUfbYx7sA5v71mHumtv8c5FKt7l4jOl53OoeNKa30APbDmpUYghXTcOZ/Z3gfvM2nnIIQcwAMAEHkEDHRXzlPMYxDmasAhNNgPOFEDIIWwTBwktPcMcjIQm2/1oSpzjFCiyQgRXUolEsz7uj3ZEuO4vOqb0KvODZQfOb59zwlDYHNuQBW3wchMYynvE95qGN1ElxAQOfQAhUkAMVcOHzXDiz6FMnkBVHAwCsRLShWAuAffBjG9tgxi3sI4Z8FgQLPCjkGEQFYTTvwdm//jUfzAAKUKxgAkgQB97zvnJH58rOOHdq/rrkqy6pNh3yeBSkBB94whtex+vgxv81CMre9ELkseGoQ74AQADMQxRmAKgfQUIwU4GzvxhFnMeiAMD6grxjH8rlD/0wDregBxNHEEWwe1MAAAsIAFmQBnYgB82WCILQbHwwfKCQBlYHDpHWgR6ISokCNpACKZ8DAGZERidoRsAgCvYFDh/FSpI1KK0kTrvSfTR3g71CDtywePZQfur1gwgxD8AAM4P2fgMCMw0AAWmzAC0jEAYgEBL1aQY2EfuwD/YwDkpQBfcRSFkgBUggBVIwBA7Ye3vAB3twhnKgOL8WBCEwROHWSh4YaYUiOpTmOeygP+ZwRidoDtCQNgUBRZllX+LwUaoFZL5yiOjAK4l4DteQDej/QBCFcmPeNlg/mF7YAAQnJiAMoGIAYAHXtQEnszLwlzqVIFimdooF0X8D8Vo/Zw+pEAMuIBBN0CRT4AQq4ARSkANOYFWKkwMRCIFglgZ8QAV1IC5G1Hdu6EqwNA/bx31nBCzQyC5oUDalA1EnNhBR9IQAIA76M33euD/UcA3xQCgQgW/8N1jzsAsBwH4HMAEA8InYtWLX1YkZsDbs9w3zhmVXplQhdm/8x1pKBVv0cCsA4AMxEAMAAAUy4AQLOAVDwJBIgAQMOAZpsIuNVEgPFgSiUHg4BzpG5IaElz8nuA7sgkbQWA7A4IemY2Lw94RPiADHwA55mII0CQ3UQA6n/5QR84AG6xgAKcaJCLBieLUBFvCOGkB1CwCTj+VXqNgPrrcPqJRtc4gOnjYObRBWycOQTrCLUjAFtbiVUyA4OXCRGzcEK7BSosALvFAN1SB91EdpxsglepiHaGRG5UAO5ZCXd2lFSfmEaDMQD2U6ApEMvwIsJqiH5wAAyQANOyZgOVYR6YABVERXJAAzAhIAKMYAFrBipDcghVUQIHYP/eAPBHFW+QA26RAPiXkNrGkKfkAQZIAEDimbDOiVQ5ADADAGZWCRF+kFSLACXIBQdQAEPElFCAAJwsBM3+BRiQgpZ3QNxQAMwlAJ9ZNMlVAHvCANtHA2SNhEJhZFCCAQ4f9JEGgjk9B4nuUgENwwjswHEe4gDjnwgL/3awCQCFTAAAFARQ6wiSrmksfwmQZxWKP5DwMBD/AAW8xYDtCwDNggfoDwHIFgBLIZkV3plVOQiw/Gexc5BlmgAsWQDdwATdqADdiQDNEJDbtAnCYmRQxgAhfQACFQB7RAC8UgDdQgDdIgDJiVTCGwhEioNkCahGUTnjBZmGhUDuYAAApqDOUAS8zHbQVBD+AQDVSwOWj3e2zHZkTQAIB2dQuAnwIBDoaFEIUFgMvFDwCQD/YAbuiwmCB6DNVDEDwgm1LAkALhlQCAi2FZBlJAlmJJC+HImthwDSSKDdkAotyQqNywDM3/YA3WUA3c0A2S2g3cEA7kQA7hkKmZCgDh4A3X0Aw5WjLXqYQ+GqRoUwxHapLlEA7JgD9a14GM9qTPgGB8MBDxxIBe4GzPtgcWMCA5kJSABglu6GihBqD5AACOV4UDIV6KJw3ckA2AsAQFAQY50JW4eKcN6JVX5QW62Zsq4ADLYKPUMK7UUA2sKaiE+kzeEA7ZQKmKmqiZiqmaOq/0uqmdeg04qqPKVAekijazxAvCwJbUEA67gAxU+YZx6KQ4dnoAoHZn+LC1KgdO0GzQxgcrIEW4iXmiIF4FYSs/91qLVVj14A2MCg3JQA3ZsAysYRC36AQ5IJEN2YAPpjjdujlj/4AEEwAEyNAMPAsNPouj5Fqu5noN3QCih3q0h4qp3UCv69qp9UqvnBq1AoGv0lAMvDBLDJA2QLAM6MBuyJiMraRo88BlDWsHSldIZ2YHFygQZTCBiSAHKmAAAUAC0/UNhnK3eHso/Hdo6ZCk0AAAPAsA1IANthAFm0IQRjAEEMOQFuqVSJADezoFNrt7XuAEJFBoxpAMmrsMnMuoPeuz0CAN52qohZoN1/CshoqokSqp4bC0rvu0sBsOUiu74dAM4ZMM5zCCHlln6cJ4g/O7ArE5A5EGZygQewAAfFCBaRAz8oIA3zAreRu9AhEP3SANxrBFzXCy1RBnBsEDugiGjf9rm0MwBdxaBlkgKugbhvkJDMaADO7rvpobv8nQuc1wo4NLqI0oENQAuOIaqIUaopPKuq0bu08LAN3QDMRZDdpAfXYIl+zwMafnPAMhKsKbm9NRvM6zB2VQmQRQcvMgvdHLsehwDcBQCbCADIB7DbagIwgxp3gavmC4lVlABUiHvl6QBTmABuADAO37vj78w8iwDD4bqOcKACZrDMYAAMiwuT3bv6NLotqwupM6wE47r9wgDeFzANQICZUACc30TNqgiITnDWPgWxO8gBSMq5tDvA3bsByKBAtARZWQkwiRt8xIDuGDBpXgvs2wJHzSwrq4gLLplXW6lVsJvuibBVn/MASVAD5JDMSQzMegO67XMK6DuUU8zMNIvMlLPL882wyhS8npaqhRnKgB3A0AcAnJoA08e1+wUAdoAARZi4RdXAmbUMZWtTleMAQkIIYAgAS3yK0Nq3a77ARZcLkAcAyL9qQCNhDyUA7LgAbABAvYC222ZxB0ADTjCwAqQMiGPBBbmQOioshZ4LLSycmRDMSgKg02GbTU0AzIsEVJPM+ZTM+bjMRLzLlNLK5PnA3UcAnCcA3aQKnd4A0G7Q2RyrPFMKN1UFVlzK1ekKcC4ZsqIJFsKwd2AABeaMw5sI7eoIypNBArN2nNgAbmEwK0IAzJgAtwgAcKEQhFoItO8IXf/1wQUvDL5KzIKgCwwoAM6JzO8PuzPNu/f4vEmGzP9ZzU9nzP8eu5PtsMsCC4o1y62SCiIcoNvPDQN4yruIVb5xu8FJlOY2DIQyBw3dB3MSe2jDYQ8UAOldAmAKDDAAAMADAsDMEDylbTBoGLyqbIqZIDooAL13vPPQzUQvyzk+yzyTDYSN3YSv3Y83zPu3AJ4Uqu5jq0+FuoE21Vx4ybBYG+uFXG8bSVvxyeXfvAH6MlychKJggMGCAQGLBMAjECEvGyWxmRCFGnKpDIQ1ACVQAAgEAGtVALuyAM8pzOyfDJoAy6T73YW3TUkB3djp3Ec30JwPC5OAq07nwMBHHDD/+JEFtdVcjDgDOtAuFpDvlziHDJNVoywkCwjgAABLCwC7UAArQdESbwshFp0QaBBFt5w1KgAiUABlcDB3DwBWHQBfPkPYIdyfPLqJ77yQtq1IP93IMt3RhO3Z2UuZ0b4dCw3H+72TYc0QaxyxmQm76FPEhwm+wHBHl5njOZiIEHAORAC/aHATpM1wDQAvcNESwwBEOw3wWx3+HMAON5CIdgED4gEEnABE8ACIXAcA3eyfSr3Dxb4Vhu4Vo+3dE92Vskv/LbucKwe7mcm1V1EKLC384jhioAAAEABJZ6qZeqpOkJANBo59UgmeYj3wBgCwBwIBDRBiyQA0G+34a+30P/YN6byABF8AQ3EIsKEQM3kAS/DdyAsAndswmarunXmcMkUAewQAu7IJ3GneWmDt2NncQ5pNJgDuabQOK4JcwR0Ui4GS9vng2Z2rSySw7iQA40LhDYAAvaCACyHQh/kM0U4QMlQOiHvt85cHWduOgtmgIjIAISIQYAMBvGEQVRkARJ0AEXgFcCYQEJsAISmQN7BgkzWtzGveXufuH0fAlK3OrxiwxOcOYRKeslnsu47Ftl0Obx9+akDE2R6g1La6+AGwLrCEzLwN2BkBHLXujOjgDQTgIqIO0qcAIt0AIXkc0u8h6dWBAa4GBB8DxBcPJBwAWbgAabMKOkXurv/typ/9zT9J4MvPCQ6PvsuwjeOLxsYA0A8ZIBmAcE5jqohQrFptwN1AALry0Qu4ALjYAID58RHMDsSEACWE8QJBAEE8AAK8DNANADTyAECGkRh4AIinAHJK4BbM/2EY3yKD8GgpAIfIDDERjRRZCAxETc7b7lG97JYF4HhM6QN8zfCOEEo0UQNy0QT9S/44rZAJCuxiDN2rgLZAAAlZ4RIJDfnZf1BZEDK6ACbS76KrAFSW4RiqAIfyBCENP2d+WJKL8CQQBPv1aBdsB5N9wB1Q4CIICAej/cwCCdl1Dc9A4JAuHfU3C+FVziXjjBoqIC8xJFMCPhoBq6jg/VQAAAGCDqZv+QAikAEkZQV+9oEKFP+qQPAKVhBT0DEYqAB2LwBJLACUjgAEeJV0Ip+0GwAl4w9xRohgAhpwwAJCpYgAABQOFCFz2SAGijR2EhQlx2GUuWMSMAEgqHDHHiREqWMWMWKjTpRSUALwpbZgAwQaGFCaKSLcOZs9myZj2BwUKDZteuIilGnESaVKnSIhYAbEiqQsUGqQCkqjDxw8VSrmeq/CDDSY4GBhYsOGCgIkhaEitI8EkkiM8eOWnKjMngYcKFh0vbBEI6CMCei8g0AlNxcggSkVO8lFwIuWVLhU5kAshBhAQJFbwMawS9LJmxXZUA0IJ1QoQIrq1dA9CgASrSthr/ql4F0CHh64V/3IgJKydSBgRnJ+RAQmKCCgsGFqjgM7dumTJOSECYEMENb6R53ojCdawYMl5JPzIeWbIlEpUmkcr0AJ6XNIXCQN9P9hMWAFhkACS5gTsBFTJBttkWamuIC6zCzYQPBGwkwjs4EWSRRVQwwAELxrirpCASM8CAMqYrwwsnCmpgLwAQGVChQBAJhA6FOMhBhSGQWqwxlabYrKUxKAMAAgDqkEaabMLxJhwApMFPI2QUQu2NOVps8YPYDlxohSCgum1B3Xg7JBAxQUlEjkXSgIAAB7y4i4g03GNgAY6oK9GJIWrEDgwqT2pjoSAwWypHJ7LwAqSkLgMm/xlpquEmSW/oazI/AHapZco9W+zAKSw5WsGBqrI8wYcYXBPzjz8KWaSMRQSKwAIS2KSOCABKpIIBAAjIQYqQ7lTBAwg4uDSpJDpqTVCWHjspsQk8oAUYXnAqBhhaaMEIP4V22QSPYAdsAQBNo2oLgD8VWgGAJr4AoIulTDW1EE7ScESOIchY4IAcZiUiiByCKIOIMmwl4Lg7a9TAgxUa2RYpFlS4t1jGnJjCPQCkmEAmDTh7CgEAHADAAFo+c/InThQ6JGEBedhgU46eIheAFW7kwTe/4oiDjjfetdAJMIwgAAEGOGyJgA0eIwKJBhYgQAOCPfCAA8FMPomEHBrmSv/QKbLAOoMJhFRoM1sZAHuBOu5DBphL7FA3Dqi5o4MEp2hbYYMVyg2iXIV4+KEFvU/6QYknsGhCLDO9KEINHTqGgEMicgiAASrsogIBBAywjemt9VwbACOgknpq13KUYgoVtn57JgQWKIumHGjhhRdggBFlExFSyHzAplRegYq26hbXbhNGGEGEBwEAAYUUWoiBjEjMlGNcIRowgIDHy6BiBRWILoOAEJfVa4ELFMn8j8QWYphqrhhTAYIGSlfI1pg4z4ELTlIxIIAJeNitdqVsUIrjlE+SG1Xs9qdxleAEH3gQAhVYBJzJgQjqIpABfOYFu3hBVtShQscMgB0IGCD/AvrbApC65rliDUF9l1mIBhDQAG9xjoKcWEUDAmAAKSBQf0hpQfBAALyjKKQEFvgfAJezkBIo5E/l0o0CEcgCgawqB5hTSBwWsMJX0alfaVjBDA3QgDQVQX+KyJfKypeUe91JfU/B0gRWeAANdM0Lj0vFIgIAgCEccHg3BIESFSiCHY4gZUFUiAYsEIQjjstuAGCAbhCCghNsAAmCEAQXvJiUADSAABlgk5ve2DECLKB+PFgIYEwmBBkoRGUKIeFCPpKDCSwAAsyRzUImcABEHogKVCjDKeQYABUUAQUouCEAlFiERJiBBycAgQiAx4K3HaiNbRyXEY24lg604AUs/2CAp1RAgiLkgSkEuJXQbskx7UWPBWK4IQqAxbKljNEjAMjAAjIAtgkAMWVkkRMDDpSDN0YCFPWbABn6ckMEnoAPkQCAJAAQCTPAAAUu+AEFYmnKlJWuiNMkZNH4UAKwkWABlmxNEbQ3OQLMUHsEIEAFXhAg/Z2AWKc8SSpVsICOeIEEtrJAGwFwugPoE0FOAAAV5KAClEohDn3Sn95QQIRESIITCh2ZJIr5BkXk9I9/dMAhxUXIIPgLAIkAKwnmOcUAgEEiS2FDiMo50gZUgHgEZUHDYJqsqeWAprNiiQYmsAGn0PIAC9jr/3JazyAM4QAEUMEbEHHW2v1ABtB56v9TnaqQkQGABVe9Z07HxdUgjIEPXwVrIvhAguiVFIpJESUYVtCzBSygAwDoIUGlMK65mrIjKnCCXdKQBpcwoJ4AaK1C6qUhs2yAM4KQgyVJwAaJgK92bTBCGbIwkKZGVhIKXUgZcrCB2JjFAhfgKhE8C5fQzmUPeyCB9gJgBKRyhQkBQmb+ggmAExyytsaFSktuWYbdAiANJHAAxxBwgOgZALgNWOEQWsIJWUwgAxp4A2PD9wciZMEu1LHDVyUBiutGNqF7SANz0OKAIRBSDuQFq3npUqIQBeAEW5kvlWJwUVNyxbjbJEG/tLYCCiqEChYAm8aAWzAIdJUIZrieIGT/IYgcFMG5+juEIkAJMTalQSBO8MIerDuyysphBX9FywTGUN7z0sUO1PGCCiUg3xgLqAfjq/FSOPMhJJQhCAFo3PTSYFOolJSFLrvBDxQShiJ4QQ6pkEUk7lAy/TXiEXjALcSmEDoOyeFHY9hDhzsMgKemIWUag4BoyyyHM/PXC8lRQGzbLKA88ADO7FRKRzxnZwbYLwi8tQuQb7WANk7gBCdxwQlweQpZcKIQkwhmFYwAktBNeiERo46Vy5BpDkv2umNorQEmcF5SR9sLU5gCEjIAzFW3KAwiRGNSZrOBCfB2Vh8alyYRLMFlAeABdwQAMHMgB1DIAhRmCEMfbtiC/xOEpNlSQIpjRmTpLGT6upKIRFMzAAEEIPbMdhkDuKdgJxK8ttwDIgMSDjmVPy4Evxv46Bh0a0W8eiFOzlkWBEzAZgDwQFWrSMUqwnDDEYCAA0iQAsIRvpSIWZkl1424aOVAgoqLaM8at9NHSMCCj/MGEY4uggoucBvMmlIqDkCpCuxyEv6mgQjxjJ6cGmCCtyLFBIZGNADI8OS1Be9PQJ3YUnJwo4jJYWKhLZMXEsEAA5OgMVEfQq8mwPaqt0YRjWCDG34om6ukbAJSONAQIuecAKyAvwMxe9d2WlIIXCAh+D6JUIkNgE7QfW0oMDwAwD1081Ctx1lQOq3S1zMbff8k8R1JERsavxRHP6IIDCgBd6/EGal5IRKe5ogKGJCAEN0qB5/fLREgANgFVNIELoCx3uVQClkAABSK0IMoM6eBxgSdO2zi0F1A4oQcaKD7Htj7Nj1wtIrp4AzDPwk3OARNIAOwObnY4IwsyAHsioQpuIANcAAEEAEWmJyFQKwJABhXAqciaC+uKIIyEIRUAIBTEBPA+IPMKYIcAKqgw7vXeIy9E4k3ogK0ywD9O6EM0BoAPAkbUIIwACWX0aeUUQGSkIMpAAVQWAhBoIINMIAEQIgSmBznsEAJUog54g4e8IIQlIVVKIRgegQymBpBacHW+JFBwRokQAKKMzDhcrD/ZZkAClC1qhsBiDKBVgIsDWkLyLCLDUPCr5ILBkAAZAKAa0IwlDKwQyQAITlB7oCj8isEPfCm2gmEOxAqVoLBMVwKL8gCFdAVJLgTNeok7NAavVCjOPy4FIgBIeABsAEbT4EVJ5CDPWgqsEqohYqLMdAYclMIMOAAtQqRBiiCRRQQIhCE1VuELvi/2skDMMigSLgQqQmJkEgKaXSMqUGCHCABX6nANtQL6DmAARgAAWi8FvCBIvAAn0kLFeAQAFBAJMC0RIiESLADhVIosBKEIeiAgQKAPDAVNtgCMGCDSGwRHjCT8iuFFgg/qKGDOLC0SKAQLjiBuIpGTASAaDw1/+bLRooLGFJUowP4xnAUAHEst1TkAU9qgBXAO3csETRkk1hMBADgA3qMOEHQnO14hJPQA4nIA4FsERYwtFUAgFQgA5pLmCgwAznghOerI8syFIqsyEFxggzYDA/IAOhBgIqBgDR5ABAYAKQIyVVbgiZIk47gryyQApW7Cym4EQAYAznwOwCgSYWaSUlgAiXYgtpBARBwghBUiKFEvYRpAUNLSinIgeEpgYFJioIYFCmQSqrUSMDqoDXLHxvyyq68ITeomJYYFLa8sDHIoBthD956SeGoxRQjA12snSDgg9WLBMqEGhQwggVbBC5Ygd0wgZdBjqhAgklbFq2xpA2CgP/XQoilcM2FiAAJgJow8AMyIIEfYUsOeRMgQTigAqqB+KyYTKiIiw4ZYI3aAQETKEgAKIVfy5wPKDSFWIQhYDyEYIH5w8TGGJ2KgR4COEnG4w4X0MekoIAWwYMzOAMimILPow7nPIksoKMbwZoTE62myk645IM8aik2EUEAKILuhJoPMIMFEwQkIM+FMAH3nEiRoJistEpg3BaeXAoK2M/WULYcmC6MQ7eFyIIToc7cUlA7iAR6tEcjAAALXZu9nFD/KE8zoEmlnDmkOMwQjcYhOJ0mnaTXUADeEEauUFG3OoklsIF7GdBvoz2kMNATuRf2cMvRfLiZ3INgKgKkLL//1swcFECupOQCYkkKHjiPkGAMuyoCNvBHbZmvKeUK5ASAGAiCx2gJs9y7KVAKAyWIynAC6hCEMmkqpLODNHjStXGDNJWD8ksFIyDKPdGBNBgZhAqCv1SIN6DTMJyASYJEPgUAU+EKKw2mKA02QpHOqXFKRQWqtSwJBd2DeBQtu6hQ/bkDLji0vhQCqGmDN5BNy2o7tAJIxlrRdfHT+YpS4uEATJw0iEnUhcjVipwuuBCELOMDS8OfYBqCRSgFhZAEREDRPcmDRJDNITACluKKQIDES/mgAqidCKhWhRCBEnBKrsAahUA433OC+EsDO1AJOcgBZCLVhCGDCik/UEAE/9fbEz2IWIVIgydSmxhTgAIA2doJWWFijYBdioFl1Dp1jIxLg1IAhUUggl+CrcwJBDLgLU0lA/ULlkCoEIL1AO6IVioB2QIAx6R4WNfQ14VAIPPhDqFjwWu0Rg3wAk4oBZdlsEJgAiEYlbXZSSkoVgAAhHalkjtAyoUaAiJgtBuyTAAogI9NWqMtztZ4AKPdE7PUlRNJPOyYABIYAn8Sz14AgEW4gznoQKjhrT4kg6fZljtwD4Sq1KXo1wEBRwWgXModWdeIWyKiMWDLzddQVHZkwcTzAOfIi2VZBE4AhVwA3FwABTpw3czJAzLgg0VQiFIQ2wEBDCoYmfR8Ma5YW/+2lVxxjFK3fVvuUIIzUIQiWqelKCysQdmkcF4f05V72T76XJYVKAInOF1ZUN1eyIVCCART0dlt+UAAMEgj6E8oCBZJ8DtO0K4eVduQFMmP/dhgSdvWGImr+VwZxZqrqQwkwErSm4B1CrlISIVcUN3AXTTAQJi1KVI5KAI4MBmaBAAuKAEfpds9AcevXAiQ/V39UUHCDNhwg5gs2DiYmAAZos9K9YBF6LfuzQVOCITHA4D7DRa3IJe13BZ+Q6XanC9wLFoAsNwPrh3/cAKGQdSkIExONGEkiIkJqJ8FeNzsXQRig+FCeIRJsIS1mSSdAgD+uRQZGIjAzY2FEEmRJdr/AajcyzVXNESCDFLij2BHJ9ArmZihx+1LJ5gfBAbc51MEN6iCzJETB5AJ2rkU/+AETlgEphWQ4m2NCHgAyrW3Nb6UaU0KMDRDrqACcLOMVgoAAsDjhSDGF+4F7+UEfo3SAcDgFgHUhbAAQdwTMxhjzDjatVFRCYiACKiACpCAB3BkKrHknSSDxXDez3VejcsBNZyAO2gNNkACdOXeUs4FIkiANNafCUgAraUSFGjLkRE5EDjj+VJRFWWBcu6AD1qbaQVDoCvmY2ZBilsAEwhkroDEkNvjUu4FTggCom2NWlaKt7kfhYiCATGCHHDI9FyQcBZnFe0AFuCBcg7adAYA/xlJwRyZvbsNCRNgAVh+DQ4gAUEgZcDlBPnlDn8+CQcQUiphAORwguCErXBctXG2rIdmgc3VHzWQgRKwEU98GPqzT+4oogjgAmiG4SAgaQHBt5/emIW4XdcALESyLHoFAJgOpnGuAB7Aah6waf3RVwGorxIIAhYwARNYZdfo1xVAgj3uXlkw6nAeHoU+iTtq5aS4A1blDTZgxZ2quaUAx7atHQqoAA5waB4ggg6I3BviYH8ta9f4YBUA6WgW6QIQgCBGCpNeiGyKCUSyZK7IgwjIJgeQk5rThFBYirmda5PhgA4oARYgghLgVx1UCMteiggYAkewYmlOA7fFXLg+if8/861WHRC8JoCeoiWF8Kab/DjVpoAH6AAOqIAI+GUAlG0fcpkhUOtSlgUveO655Q1TrEIDs0JWWwjQBgA8CwCBXF4AgFX94dcCeAAJ4GVfhu2EWYHH7t5eAAUOKIEiimjXmNsC4JhgYQO0aJ+mC4AmaOrtSO+T6G/uAGIO4ABcPuz5ppJzvW3vlQPnXnDe8Kb9fIALWG8OL4EAP4twAgATwOVLGV8HD0cFgO9ejm4K546Xue5eyO5dDuwNbzMOmIAAZwCQAoDiBkD5fW9erl8Z3xMeC2n8rgCZFhBEYJFtMYEMwcAoRCkYiAEiLjf5hXAJf42+jnHYNugLD9wmd3L/pdAWCTgE0gYASkCKzV4KE/jkNTyJHVKIxP44BHIBJeDzGwjzAUhakFUA7kbylzFgPvbeNJCAcW5wpLgCpBgFhbBY1ygplEKp8hbyO8LzGFMgHlQCIXABYOJgQPfrKHVvAKAAjyt0L1hyUAgCM1fRPSEFKvlw8zbvqa5sM+btYCFiBVKCugT1hQCmtn3bKP2gDkB2JEelSLjwfIb1RvfXpDjWPeHlBKiAw3oNfNv0FjlyuPV0IbABcusWhUgBNgaA1G5uZV+BHKhxltjlM4fcQZT3S/kCJsi3o+ih6c5c3iiBED8J4fkAIQD2hEyBXxqBGLD31F6IZFd3LyC/+3b1/2fna7jdE6n2ymzf945W9aXoOWB6rxagHRTQmxyyASYQAxlZEURQ7XRXdhWwbcg2P1g/bd6YboUAppHXm934gF03GX/n+BGweITUG0E7gzxIPwBQBEVgkUbgAGhvvAuw7gO+7zKAbwpAZ6TQ1zCv+Zu3ea5/622/lFgXkCXwAQBIyEBVgi6IA4l4EaRfkceLclSX8Zdp9VeHZFxfCCLmed54KJxvAZFHAVLde6VocoWAdzDpAzEI5Bd4gXEXgzkQpbiX9EaQ/IVw+hjzgEh4eHwGBUjudoXQV7eSAAmYcGHilhhgfLO3+Voe/LVBNoV4hEMYBP9UA4WA8oqVdACIEP+kX3EGH74LMGipl2YhTmPLtEwJKCIJ4O2aVwgYc4FuCXzemOzWEPs9WXoAUIVYQIVRIIVRQAXdd3ukQJgGVvYsGYLNL+VIuAAU2GCFUABdttIYZ/6FuIFxpxIKUF4Gv/zWcFUaBggAACg9mkRKlUAAjRQlFNgIUcOIEidSrGgxoodFp2Tl6pWLExIBAwQIADBAoIQSACpU/HCRopgvAl+keEmxAgUAFHLarPjn56FGAttEEdLFzaBBjwCoGpWQEiVEeV7y7GnVooMcnFLJkhWpDIALIkk+kFCBA4ASCq721BMRBdu4F3/+URQIgBoALlrcSJIEC4AwfhIi1ITI7cX/qnIXXxjCaZGcICtWAEggskAECRIEPkhYsqHLxYiECjwDZTFqiX8CzcnLREkMFzcACBECoMUPKwI1jXJqU3FqtghIqFhB/AIJBgoKlK2gEsDn4BMbQaUk/fqfNmKiJKlt+wdtIShatIiBmuX1hAMKsGcv8QACBA40XNhAgr6EDiU6sADQWQR0CYUW3CNO+XZXenKdYUUSMbzgnW20gXcbADcI0QKAPf2RECnpudfQchE5QAADDmxgX3EX8MACDyuulWBEjWgCwIzWwRjXEzYA8AKPtCUkhI4UAgCXVQhOFB1b7imwZEUJECCfBhsgt4IDLfJQRAkRiAHAiwCAkOCM/zemRiSPL9wAHngt3GbmgDah0hOSFrW3VohcFlBnQgEQ4IAFJwqkwQErFEHETmIamp6aM5X5gnkCkdfmS2Gw9UGcEbHXZUMFRNQZACMeYAEAFjDAwAIOMMBDCRT81NBUCZJ2qHSLNooCpBfVahWlcX6o6Z2aSqSZQAcQAIABBzAAgAaigopToQltCCu0L7kAQJAROYgCkbjeuN4A3Z4kkK92AmAWAGgZ8CSfGzhQqroOJLCTYs9GO69EKDjYaEM/3PDCrRb1i5oABZBE0ocJhfhAVRUIW+KJGyTEgKjwNiQvjLFYpwS99fK1r0CN3qBjotreWMBIAq0XEaYiBlBin/8nqlCfBe5yEK+hirgBwA/VZoztCxXu+0KQOk7LVqXBuddewQKl/FynARzAZ5QXXPAyAxMw0GzGWTvqQs8C3fAzAObFELLWDXGq9ETLPRBBTio950AABpQYpZQvb4BAAFgfmu0PE9I7Htc7er2vCzq+kG1PKCwBYwklsNSZpl2+mJlCDXXwQAArh9qwqAvgnQBa0c7m9ZDzAt51mQnxGNu/9LLQn0AdZJqyQqQxVALmJDowgakL+I4AAAGATm+E+pIdF7YofEnRCy0ErpcLXHcNPeI2RZgeBx3ox/SmXG4G0asJ8ZC5ngYYEJ/5BATAAcWHtikEvsiTd9sNUGzZUEz/UCihr163ueCgXrDFluulR3YCKQGLWjQoioSvIeQjAATPdS4CJGAQGWuUEj5WPdS0IRAQSYhUANCGiERPcNiKQesSJDGd5CR7BzQBDwTCIovA7imNGF/mIKhDCIKhVcQTiPHYsryIqCEPHkTEXTwoEKnM4UeCG5KDUiiRGl5lVRFxIQBYpMUVrahcK2nIKwAwihqJj3x6IoD5eECHrA1of/F7yXgiIhM9/CQQh0DiIQBwiDsqAokCUUMXcPYC2fBLLnqzCsXu8pAtvs4ERDABZxIigcEAIIwAeJMYRwGGBJiRB2BATNYaxQQNJk5Nx3PWau5oxz3uEQCIOIQiGCKQ/yhwpwVSTIxcVhVLRVBiRiZgAfe4BIA7+QgwArGkxWQJhh6WLSEtiJAQbnDKiSQqZGcw4sT+cEdEeCITlgCAHRkiS3DGYQ5tIGBqDtmTOyokTK7kj6X04qChAaAPk0AIKkYRikcEwofN/MCE3HiRDYLwlRG5iyIs4QlLWOIQlkCEOAHQR+oEYoQ3As5FQqcId7oyEHEQiBDu5LzoCbBCWDjDGQzRzIrEgAkAcOkNCCoQEFRzIogwqECUuBBvOlSh3VzKTR9BiUC0D0bqnIjsnhOmRsxBJrRpAVym5QJaJcQGjPIBALawUol8AJo/mCYAUgDWiLxyNR9UyCM8sVC1sv/1p5RoRFEPhdGGoGU/NXRLFLzGo/ndBlJT/cAIthqRD9zApRh7o0BSMDTZ4MWfCemjKyXqkEy01RMCqWwm8qi1uQqEAxxoHCQTkoQfdC1k0/zALS8oBCjA9HjlgYuaTiPZ2QokltOxSFszMQgj0QtevuUJB1gCrAgsSQE9K6HzBIsrIbhUCD+IXw2aYFPJ7vIi48StWnXL25XuBC0ReACT/POiaalpqsp9yQdaCgAlAEmAKGjCEShyVoicNUaKaOBF1PrN8wJADODlEngDjKkW8Ci1Ky3PajEGMvIkSghiaGJDPgjZ2wJgKVdR6ydCwd8XjOAFChDwf8GVEJnyd73/QsBY2Bryvx9gIS82XciEG0IagsilFZYssVVt8OEdD9Ng0EFtiSUyiDDYhp6yScIX5kAd/DokogkRylJsxJZWxGIWfcBqkEHU44T4CkkGhpaGYyGRniUBnAKBioUbct+FQLTJwfEFQrJMLaDR2QYu6NVy1lI0IAtWypfMo24c0pC3xrjJbWYyW6oMgDf44MvQ2hidPwYuTH2Lq4LdkG8aouGJQOWDr4JxgjKRkCb0oCbnJVK1bEC2cLVkq3WJSBhf4QuKvLVyT3Zyal7BCjYsDgBN+HWpz7svG3zta4PMFqsp4ugEaTYig8i0RPzc5PvK5RMJ0cWi2RDfhvya1KZu/2bI0LQjqE462YN19URcGgdN3HjQDbEwRDTRilawwiatcMUsZuGLX3ziDRfpdrBXKm7wSFMgKLhUq1f6hzb7qCFPSIisxUgjGwl1iZ9oBQDmTW9rR+QTrHAFyGchkFkz4g1r2LZFgJ0CFGSomaObjQDvRDsA8HmlKG04Rf6QaTGrGQCiTgjGNc4Kj38C5CCnyBvYwIY12ATg324IbBlM7uB8rUJWH52XEpXsZd+oCjiPCyka8QiMU0TjRncFAEQejFljoiFKXzoYmq5yipR06nKJY8/KZFWD83WsK22Cv69iiTfFwhevaMUsyH4Ro4s8IoF3u9KZLvce1EAgoXEJ4v/szpbnDZJrQaKnnAVSA1P4uzYR0RfWBQKFh7fCF2vvydHVnnabvD3uNqm8tGJQBTXEle5DG2T/ErKXc2fZFCW3uun7FhHTL4ERDQnG4kOOmsgLBOW2Kh1FFNpQm8TgBuaZnuDM4/fzfqAGJeef9y1kepBWKAZsEMgbOjFy6FNE+vQXiNKv8nbJV6SkFekCHSBIdjUbRXRBUcwEAloV6FlelonAxnhNbOzLmSTExxzB4wVeJzTeROCbRLzfYkSe7UWE1I1VB9lWQqhVK01EHqxRQzjIsDnK+G3VA1JgBNaZ4Fjgoj0eI9xBRWjgL8DfRHigB75E5MHX09kERCHCfjX/RDdtlx41RBsEUlUNEl/JGQpUXd9MiPcRErH1zHu9ARiCoUBIHiFEBPRhm0CwQhkO4XWwAWJRhBI41WNVBEMZSX2BExxsCYqVzgKeGrGdifJR4LCZyZCgwBGUISGE4eNNBDFExBqyYXBY30vEgaehFUVo1hKOE2QhRhfoT/NAHX/JRhZOhLHNRgygwAssASGsYhkqIkX8YEKYAgC0YnqEoMFRxA3kVc/ZWkT8nEBQVoW50itp1jidAQLuiAtwXYJcISAmRCAOzv+Uxw8MISvmoBgyYUIogyMmBCSyBfA5ipBYBaJ502Vdlif4ETuxU07BAQAYUwwM0YE14+iIW74w/0rf2IAPBB4izqIrlqFAEIMuiFwjAgAsut1i9OFFQMR1vYRlMWEmQIQdgdMhBAJF9tNUqEEU6EwzXaHfoJMzVkjf3AAbEEIT1AAbON8++qNA/CD9YdsPDiQAoJ3z4d9VxB0KlJDw0ZOaAMYd2sTQsUK9TYQnTGQSVSRFStRHKRdH/sj1ZGFI4syOwIUptF0TrMFMIqLzsSQAoKEuoOEvBIM2Qp8aGuRL4AvZJFcJBdocythEsMK9zQIHzsLQSYSRGCVFHkLvaQ3WrR8QOeWZRBNqfcAbmMJUvsGvAcBM/uMZNoRbRkQj0l8nBN4iBmEVDkkVFg4AnMFd9KRApFlCNP/mQq1GIDCUWzakzxklONllkE1I8ZweSIlHYH4AGDACYWLCG/RAD/gb9MFkTH4CInyCJ1ycBgIAMShDMNwfN1IEG7hWRDwIAEwFQzDcRQAngmgTUf2BHlwXUZqZHrWSE64UCvgNRehLbdwAn4EACHxAD9AmYZZcKywmAKiVIrRCV/6CLrgCZSkeANCfWM5icjYEGJANiUnUK3EmRdxFCtYlgmRCRSYEK7FS6OHMM/qIhZgnpARmE5QhKwSDM/hCKMybfc5Cff7CD3Ylfo6dQGBbMBSnQKCdSrZgTwQCQzzEaETEQi5RCgoEhDYbUe7ogxroP83GbIwibWSQbQTmRAC6Fgq8gS44g3H+gg+SKIk2RFd+Qh996OwJRFhOBBjcJE4iIW3V1kRAaEXsUYM+6IMqwiOEUZwJVldNhG3MBpJWhA9Ygqw13pRK6UruaYqK2k1RgiugYTYSpEAk4guIp6RZlzpWjmfGRUR2Zwq22SfMGgBUAe5t1RVKRDRZ6C29gl38QVASaop2JUFO6RwGFeJhmy7MmjZmKSl631DcYR/d4VJs3359E2felCyxEkRs0019kCV1Qq9JR0AAACH5BAUGAAAALEkAGwC4ANUAAAj/AAEIHEiwoMGDCBMqXCiwBIsoDCNKnEixosWLGDNSZJFAo8ePIEOKHHmQYxeSKFOqXBmyRAIrVljKnEmzppEEW2rq3MnT480tMXsKHUq04M+gRZMqpXkT6dKnUEfKcOA0qtWrFwNUxcq1a0KtXsOKLQh2rFmvZc+qtZp2rVulbd/KFRrACMS5eHkmsJu3b829d/0KVgl4sGGUe7EcXhwyMeOuioUm6OC3RxEiacyQ4WOmc5AiXp/QrOKgQ+C1b8AkEiTIkaNIixalGeJhgYEVkR9LTMCCiRK3YDiVGk68FCg5BggYMOBBRRXdEr9cAIBlq1hJoIoXl+NhwhAn4I1A/5d4IYAaMWvBZNdOnEyYM0WocHFiIvf4hB1PrpV0angh9mYwUQUPTlDhBA9YQCHXLcww8401Dz7IzDAUUohJKqasgkkYZAFghIJnsZEdKJJ0EQYRXhBnxhVWQOEEF1QEYZ9Zz4Ajz43z1FOPPe7YU4879dBDzzw3tsPOkeC0QVAAAMCw1n/GgSGEEQUOlMYXXXRRpQpXzOjVLfbw2COQQYZppj3zxGPkkUeugw4zOQnEJAdqkTEciWKcQYQTXgwUoGJESCEQDEKcxUw7iCYKQDvxANBoPPHIwyY65lTDCy+QcCBKECUEEcECDVwAgxKihdXEeqDoAAUWVHiRhp9MKP9WBIxOsKCkWeAkquuuiMqTDjaYTuDBsMROMMECyCJLwEPXrQfGFlA0UUYZcgwHgBlQMAEAD9OWwYKXXZGDKDtGlssrpMBAkOy6CDQAagPwNoAAC0kkRIYRRZQ6lHrDSVIdE2lMW20pAJDhxhkAgOHFtAiaZQQ76xwJADsTC0SxrvKgsy678XaMgAlYHoTDyDgAURQZkcB2xxlqKJyGF2ZYm0gUivXQLQ+/WQWILbjgwkstXHCByzrrMEQxAOvQgsDGC0AAAbzICmRAAOdUXc43WD+IAck43OL1LWTUa5McZKfxgxJMEDGtF2SQLUcaSTBhhQ5lLGwwAAgXdYsttuz/IswlQAChHAEBEBAO0RE7CsA8AKTjeDpD5pjOOcstp5zlhRe+HAIEcFELMMYkE0003YSzy8gYXHOOOVVXjc7q4MQe+zO0M+P1KnsztMowtD9jjTXTTMPMKnaQTR0WXXgxRp9DuO0EGD00YcTaQXQ51C2+U7MLLJdcgsMCCFROACzVMBopkUTeiKP688yDzjrAVFIHGg0IRMBBCwAAAbEkkDAsECHAAACBEDQuXKIWm4AFLRZQB0g0EBKQKIYEsYENbWjDG994nTliN47YNShHOwrTPXikjnTggmxesEUVprQwL3iBCm7jggtn2KcgyG0n2LNGPdqRDAUecBO28IC7/5J1jDOF8ExIFOE9RmgmIAlpHt8QRxS9cYxlHKMStBCFFj2AhhDMT4CBw0AIQtAdYxWLWMMigQY8kIFhrVFYxppAJZpRDXOkI1L1UIc9RshHd2jDbby4RobU5kL5pIFsVEhkq6gAAC8QQQYy0FdKbjENZ4xDhPaQxjFwUQtIiKIMQwiBAxjAgAagYY9L3KMqk4jKfLgyH/hYoixjiQ98uLKWtnzHPd6hSzP9SB3gEIcwq1HFY2hRFJBAo/88sMxlonFYxqLFMdghD3eMiZVhsobbfHYMYZRhDIl0YQwVGc4XHjIRZtABSqbRD3/wA5UjlMYwNnEABjjAAhO45wY2YP8BNKhDl7IMqEDvYUtXuqMd9nDUkRCVDl+po0dmegcuJ0rRW+IylU2sxzyCGUwqHqMYWoRgHEVxjHnQA6JIHOg8Tkg2QQikbGmIqdsAwMg05CAHZXgVFyZAhZRJggxgCMkw3sGPfvASoPbAhi0MYJvkHCCfo0zONwBay4HOkqCNM6mOJMWmriIOcW1KxzrakQ6ypuOh1rRHLWFJ0bbuEh8Z1RFKzcREJDpxSOyQhtuMB4C9+pWmQUvkIXdKgAVMIAsp40MRcpaRaDzuG6M7xiZcuAlHNCBzAUDAATR7gAB4A0jsQx89QgiAhNYjHu2LXD242tXWuva1rUVUPMh1PpP/6jFM7kglRK0qS1SuMkyRi4c5vFGMmb70bX41nhcCwFxkeWCfDDBAMajIM8V+ISNMAMcxbFEGKhABhoJIxGsikYgcGIBzBDgAAA4wNXm0773wja9Jw7Ta9rlXHu2IWMRgy9/Xrqm/bCrHPHbL2wLfo7TuQIc3kBmwmB4yuXsFABdCYBvlGOsYx+iVe9sHjnFMw2sWEcMQxlC8tx1SEij2aSISAQozMGAC9myAKDQq3xoLKUxpKlKk8ks0pBEEYj6mGICH3FV0ZGPAam0rRQcayxGygxpoMEADCkthMnogByrIQQG5AICcpsEDybFwhlErpNFCtEf42Ac/trGNaZgC/xALiYMZxhAwahXPDmlIWSLIu+JEnMIMObAACXIADsbJdyDxpQcA3OEoeUCKUflFh6TdRLT3ve+rX4WYpvWradjqdx3huEZuAaDkir6SrbWcB5STFQCmLQADrkZWmAlQjHbI46Q8wmaY0lxUf/RjG7eownMMwoMx1C0LyHYVnuUAgBU3mw+cMQ4ANJCDdBi6xvEFAD3sQQ9IjwtRr5O0uCV9jnVYWx3zeBxZi2ZpSmP63YgzxzWukWRckrrUpz41OUSBgaUtoLDnbQADIADjWP/7GLnVta5t2Vt7jGMY1y1IsZEthSlMQQpZKEPxoC0IaAOAD2XAThAmUAt3YBvbP/+ax64W+rrWufwaxyTpMaQoxQ2b9L1ibfeld44ObFwDHalNd2p7dGB8u1Iey0hO5QwwgX1u4AJOz4AGMnCsZBmgiAH9rcKVyMQl3mJGbGhVFpyQgyk4YQjIPqQT5LAHORQvpmVYMQN4ob77nrx9AlHTf/dLKXP4/e/lqAPUNracZFVCFIf3RsbCPe5wn6MczaCGzctM+SeO9kZmViU26lA4AjTgnhYIvQMcAIANrOACJNhnBp52dd6qMus9EghKR7jtEWKiIHGID7KnMASLlz0Lrso43Bs8Bs4MwRu6gpTylV/3967p3asrx9/9To0hbgwB4QOfrAuf4dW5/PvXgAb/0E1a+fKbv8zeIFwA7Dn60Ls/9E7npwUQAIBK0LKqAu11P/a/j8UN3eQQIw/1AA5zAAAFOBBEkAVmBwCCAgBOMAXINi0q0C1jUIHGRgUroA2wxSsaJimV5iZVsw6PVw4kKH2BZ31M429WlyzF0HfexzrRtwzQ0A7kd342SHnFoH6aUzgAUHgHcE+jNwFTQwAIAA759kq1xA/+8A9M2IT9wA+nZWvocA3UQEHYAAikAiICwQMXhwQAgGzIBgA5kAV0hgQWaIFeEARBMAR1UAy8UA1w2Drixmmy1Q4t53LlEH3ksIfkUA7SoHRLEz4EYXDIwg7mYILTZw7hAAzhQGZC/zIQladtN0gLBKACGtA/GkB/6kcAL8Z+DkA4BCAK93CEp7YP/QAPTAgP8OBr/ady50ANy0AN3tAN2FAEMRADAICLAhEovPeFYDgFOSAFruJCZ1iBWZADK4B488MA6vdA1wAM1fAN3vA+RnIO14ANxQAMwlAJg1cH3sgLwIAGyQIA+dODyyEQ9Ed/AhE1AHAM0XeIJVgO2SAM6GBz2ZYQZaZtx8AFexBeKpYIXuAAzLV+KgBj0VU43qAPpJhvsZQP/KCQ+XBg9IBf0NAM19AN3XAMUSAEP2ADA/EEJSCMTuCLYOgEGJdTTlCMXzgEOUAN2lBBPicNxpCNotAMwiA4Df9gOaW0AGhQB7TAC8IgDdJADc1gk7TgjXVAYeOIPwOBLBDgb95AgvBIguFgk+zwXv53cgdxDM+gPBrnjyiGYonghZzzXBYQZgxgcz8SJgNBivqgkPaQDhbkDdgADRfZDaZwCH8QB3BgEAqIcWC4e2SYBmRYjFkAABYgDddQDdd4jRSUDZDJDdxgQUQplKVTOuGAmXsYDt6QmZmJkRhZlM3AC7QgP0lJjgkhCtewh/EYDsIADdR0IwBgd3fXPqNDNhqXBnYwBsK4Z2EZCWNgAQsQACGgAhnAdKJQg+YXQme2I/MgDs0ADdJQkdCADdyQDHMwB3EQBwVRBGgHAGgXmGD/6Covo5JOYAGiAA3UsJ7rCYfz9p5WyA3hIJ+gKZnyWQ7h4Jml05mcmZ/+qZ+lQw3S0AzSQJqmqZRDVAmVAAnxQw3rACmOsnx1Z3cbFg08YGJ7VWJI0CeSEAmSkAh8MHIAMAEFOQGicIOUpyNlhg7dIKBFOaDViQ2OUAVWgAURJxCHEAjB6IAQGJhTgARZUGdn6EJIQAIMcAnLIJrQsKRCOZTsyZjckA32OaXyOZ+XeaUY6ZmdyZ/5uaVd+qXecA1COZq88EU/x4GJonfLBw5IUGdw9zYlVjx78CrNJhB74AVTowIC8Q0oan7yUA7UgAzamKTRiQ3U0AIu4AIeWRBd/0AgFyeeWTAEKjCYwEdDXuAEKoAAGCAMoZMMy/CphFqUSyqdjHkNkHmq2YANkGmFUmqfoPmqWvqf/Mml/Zmfl9kMaCAM5oAOSPM+sUUuiSIOU2Bs3+RCybYwbrdXidBsiSAHfEB6BkACACAO7tCnlOc+3bCNlbALnyqdALAJNxADNyAEkgQAuTeGkDp2IwkAY8CA4kl2zJWrxjCvxoAM9mqvyZCvnhqLiumYj7meFRmd7Pme1xiZrvqqsJqlnYmZGEkNl4AsC1oJElQNFqQNl/ZVuKA8xtqj4klnZWMHy4pnWbABw4ksqfWIAsE4knit8RAOxtBFQEALxgAA0ikNbf/wBeAiEIGgpwroBIHpgOBBBT8qnlOwAhgAAJcgDJxKr0zLtMhgDDI4lARLhdCwDMawtPgaqkvKntQwb4/ZqpKJsFnKDd1wDbAADMVAC7AwP0DAAMgCNXUgP7xwDMuzsVJQcRQHmK6CXM2qgNMyAcxVCbV5sk9kDtCABhggRrQgDMgADQDACXDQBmKgHwYxB96ZBUiArgIBHk6ABCYJmIGZA9u6C37TtKbLtFGrnu8JsMvAqa57tbBLr8igr6K6tesJn6pqsNxgts2QDRbUDRc0mc1gRcKQRd44hl4AhlKQAyTwgMCoAlJABcDXV7pJhtMyBhlAOMLgaKFlj+81JO3/cA1oAIpAsAsA4Km4AAdn8AWnURBRkAQqAB5eCLSdiwT2KwVkJ55DMLoCcbr+iwwySA3qebsD0bqw+7oIfMCxm7Va66TsqY1ea4UUZEGTKZnaIA3SG5hSoAIkUHEbTAJI0KPk+U11mwXZGwDakHzmwz42Fw/lAAtTUzhoAACcCgyAkARVkC0KYQMm8J2ca79AfL9IALpjpwLCoI3967+miwwEOp0CCwAAiwwJPMUKTMVOa6+fKgywoJ7uObVee42bYJJTILR/+YCH6bkWB4YUSENIgAABcA2xlXzLFw/n0AwhMJAYUAlHDAyi8ANJEAWUixA4mwMjWb9BDMTgoQIX/3e3UkACtaC0AKDE/psMAiENUOy41ADFzVAQwkDDNFzFoEzFrnvEl9C4TCqU6+nA1UANXHC3WSAF9guBaSy0Y3xxENhla5O8yzs11HAOjDdpcbwO2sB5AxmzR7wLYWOj5poQeQAAf0AGQ3DIQDwQXui5h8mAKlAETEAGZLAJtbAL2ri0SgzAmxydozqqrRsRnbzOoVzFSgsLuwDAnyqa5sykxXC3EOgEJAC9HKvBzQuB0/KFsMySUxMO5dCHUul3vtx45VAMGIDHAAAMEr0JYvAFCEMHC5GjbaACQwAAQWwQ4FF2vmcAJ5ACJt0CI4ACKFAERQAJnyPOTeupmwwA9P9Ms81AyRmxzp+MwEf8ybOrr/kKqssACV5QcVSwvEMgKJDKe1cWhmXg0UgwBJJKONoQDptJDlbNmiV4iNqABsxFAASAAbTwyMcgBlHwBE9gBYGcEDFwAjkQzfNrEJ6LqRDAAB9ziy2AAiOw1yiQAi3wAjfwBGKACabAMx81r7M7z6FK00V5tSSxzlq8C/V6r5T908EImBZncSQJhked1GG4PGeHZRrAXHfpDab9n/nJh9ogDA9dOBhwCbgwDBqZBD/wAi1AESjg1h2dEEigAhZASqSEsxChBEogBMYt2HFwCDkaCMxNB3RACKaACTzTM7VQ3bawCVnkQJAAC6Ig0ez/LMrtnMA0DAucWtmUzQv4HJjSu9m/2KONtLkqwMEZwFzVoKoVVMGgWatQpn4GAAC1wAzNQAhJEK4qTREx4AIm8NYHwbwbQAK/bU8MYATNbK6S+wVfkCdq0AZtEAd0kAce/uF5ILld8ARKcAMtYNImYAH7pOJTZwFDwAUNJAq0AM6eDN5UHNHkbd73CglHPcbputQcO0OS6j+XFQDA4MUSfN/XcJPkuwubIAyFUAVJIAQ24AIAgAIUsb5FwNEEkQMNvgGXuALsJxDiYRCLqgRJsCpdYNFtoAbrawW0HQMovdcgAAIaEH8rLgVBQARq2OcvDgQyXgvgqNMKIQzb08k6/74JSCC9sOyzP66Amau3jcS8bASKlZDKXMuYpYoNzVAJQIABBBCzpKtCZ1DqFW0R59EFWy7VzJt68RcEG2BPEwAAKiADEWEDZ6MtAOAbPyDnKFDnwM4CYL5PGlDsDNDnyB4EgbYCSEBekZAFZAAIe1DdnwMMNS4QnSzZ5r0L0TzGmOoBjp6uU6AC4O6jl9gdyrEAc0TPo9qk6wkMgGMARzvqUdAGcwDiF3EDLoACJqACC+DqeO7l9sTBKrABFoEw6IEFZ13c4foCHTAd01bsGvDbyR4E37RifOAEIJoIRZAlX8Dhh6AIhYAJmMAJ1Y0LwADPk32vwLAChFxxLEnERP8r1bKMbLSRAVInrcYC1Muwr/PcDMYA72iABuC8C47wBXDQ4R7uER/wASyg4nhu8CuwAhsQ3xfAwXSSEQWoBgNh4RZQEBM/6wOxMHzQZ81KAgGDBC7QAogaA35sBWKgBnGACI/QCI8g7aBz3oP2HQzYz0AuyxYnBThvLH1OBCRAC0Cd+Pm6PbCwrSlvB0j/B4ig3IfwEU1vAXfudAMR31XPwQBw9YsFEodwswQhehYwSlO/B30GAOEFbQXZ2x0wAiIAAimNAm3vA0qwBWfgBm4QBmOg7fYKDPEt1V5okuwt7r5HcB6gAS7PC7ggoD+t+J5KuvCc8mUw4C7g9kqghRr/kdImkPkGPxAksAIawMEQPx1FEAgeoQZYIAQnwADuBwCjJHDCyYl8IBD3zwe4CQFvbQIA8eEDAIIAUKRoEUPJFzyKJlFqdAgTJlu1uKhQkSMHgCFInDiZkkVklilSpoQUeVJKhgkT6kij5i3czHDGkt3EiVMYMFi7gAEYcyMFCBEgRqAomFTpUqYFn2zQsJTEChUkCFolWORMU65Lb7hocYKABQAONEgZo2KCBgMEEEzYwweAnLlpvGRAMoSECKUtXAgBoCYQwUOBDBcOpIgMRo0ANiLxCFKkFBIkpKQ8OaTlBF7NqF2jGY4aMgA5bxrbBQsYTyMuhoqAzbfrbNpJ/6cG0WAVKwASSW7UbhqjRYoRJww4cFxGuXIVDBAYQGCHLt0yWShPyOHhB1M1f5R6/xM+vBHGGwnm6Bi5ZFUnVEiWJDHBAxpjyJpVu6ZNGzVhyJItNUa1XRxZ4gfhUBBoIOAWBMCECciyTYUVNtANgBUuNEEgBgvaYokYXEMBAQY0WK5EKhowIAAVyhhjDC+8kAKJHCaIb0PxwiODhIyU0qijj5yQwqT3ptCsJQ028CAHNIYA4oINNugPGSmnBCa1TcT4IkssngBAiO02rE2EB5WqbAUHLkTzwg4U3LARRQ6Zo40vqkgAOwDKIKJELywwoE8nJgMAshk9KOEQG8Obo/8EjBwzr6AeI3MCgCFZaulJDY588kkL6phySmFguWSPNuKgI7w8wASzgydts3CqNC1cIUM2gTvsEEQUeaOECbxYboUgvMjzRAgC0CA9x6ryIIMiBgPzjDNK0LHRpR79yKQpZmzJgkwzrWqDBUIQRhhj6gNmE1ES2YMMM9jQwztUGQQBhA3IBECFIDZAs6AgAPjBBgZvDC+QFdwiAoA0gmBggSDKSKOMBVCEoDHeSPCgAQjeLYgHxrrSKAfIgJRiswm2JdkCBA5YgAEgVp4AAgYYYEkDQDAGMwUWHJiXt4mDmIqgFQDYNwitFgQY0SIIMIAKhqlYQEWgxnDOgAkWtYr/pQZ0qALjLkrIrbYeO1ILggdJXnWDBhZAGQG0nxNxBQ0QQGAMQ2lmkAmzruLtghU2+hnoIP5eIQw8asvjxjziPOPotxj2Igjs8EzDKgMWqAwASi/QYQu6Lbh0AxVo63gIsSHgfFWCMrVggYJEdODlB2U8IAASjBiEbgaL0Fbngkb+fF+C9l2BiBNc6EqMM9QYNY42zsCCCR0WmJzXMl4sw+AyGADAAAgyyMADABBowHYA2Cgbqs9ny4ElsS+9NClNU36ZAbMssEBHQcZI0YMixF+Q/KgKYp/fgmYh4AWhA/Fqig1uoAQmYAELBOlXEIZggAYwQDkNS4PBxkAQAiwg/wPfe9gbAIAImuWBCDnI2elS2BQSQMBl9CNLAAHwJAfAjwEw1IAKhkCFSHCCAAGYAA/4tyAeaOt/7SPL34BWkBIURDZL+QAKXGCDHzTQKWRg2gIQsAHlGCwNaSEAAAgAgQVADwH7Ex8LSPC/gjxpN0pRgQsXYLa9qcABnMOUBixwAAY0wCyZIoFyOJGKFBmgYEPMGA9OcAKlpOAEZmFjVCzgqyA00VdN/N0BZ2WQhPzgCV9QQ1LAIIhFZCEADeggEfJEBOwRxIwEECL/3gCVFbaRQkvJACoNsIEMaCBhDLAj+ywwgQNUcESA9AIPU5GDABAACYgEQBH4kIhISCIRZv8wwwlAUJAOXABCSfGVhZb4O4IQgQfZVJALYvADKIhhVEq5gxw4EYkc9IkA94ReGNtyT2jawAS05Iobk9I0FXhhDMsZQutWAMMJoK2Px8xUMuVwijQEIAA50Cb/TpCIREjCox+NxDUZ2c0ZJmWSSsRkQRi2h0QIYg8dAMANhGAFd5LKXQWRxBg4sYgcFKEtbMseCKFZEA4ANKDms5wBpFCi5XgBAAxIqAV+mbIFYOpJUtghJyoqOxMMsQRO6OhHcVrNa3puhXr8m+/25QU5xIWj0xxDErqghjjMoXBLyYMgBMEJQQRBD2yIgD1ByAJ1+guRJ9iI6bqiKQMEkqkXrJ7/A0jQOgCk7Dkjg4oGclCZMlAhRSQgwxBz8KIxyKEMgpAEQVILgI9KQg5yWKge76jEPMlhmm+Vyx7kUIRD2AoRhjEMQbwTz3mm4Q2HUIQiwMCBC5igAygYAQCeOMQT8Eyxi4We0rqYJ4YRIQ1UcIAdyXiAHzYgPvMb5gRWMAQGABEMtRMfEniVhtfKIQte0O1q9etR2JIAAQ5wwL5sy1FBoAsAe0CwXZgAyjkgVxFKkUQZdjoE4YpBCT5oAXQBsM2hAoADKsjUbPbGAKnxCgB5GkIQlIZBfKUOAeWlWPwkm5ExLGICHRQiHGwHBo+gZIP09UIWxpAGOyiFE5LgRBk2/4C9yY2hpehCcIKVMwYeJMQHSqhCGNyQlNPy9ZBP8IFBRhDdDtsyxFwhQQ5UgLSLTTkI0FuBFxpWhntpYAE/hADFMqBFuOWACl5YxCmGsAAI+M52b+hxSYL0Z4aVQQ52GMMUEpGUj8rBAh2EAB/4EGX6HnR6WTDBmMeMkBgUhA3yjEQawFDmrpyAZLR58eQueEKLMiAIGPRC69pCIw9oIAhguEOw2UAEKgjiFHyIz6rFdwckWAsAQYL2n4csB7uUYdIECWkiStFHApBAyk2VghM0I5CiGKUgMfDuPJGw6it0idVKYQGFztyUDVzaLQYoEcIIoAKledcLWpwcrzOgA/8A9GEQycViGkqxCk6wgX96IAMSFA1tKTw7SM2+E7UlHVJranoDELjnnJUDo4unL0Ef4HBBzLCInRJhEu9uinXnzRRv3bMtVMAgnZFAhTvlyanQ82CyLtACAMTAB0t4QhO4UAZQyIITZNBcqWnWCCJIXNEWxzp6gCRnOXjhtrodAx8mkKIMTI/kMRrCELJzgg8URSlgQLUcjqsHmCvlDRciwcyTUhU+8aBPTb6gSht2wny+JQMXGIhRjoKCFgyB6angRCEGJz4iWCtIWId22kGGcy844bVlcAISDqbLj6E97chi+5iJLtw7DGERglg33euelC2scVtMSTPCEiAGHiD/jQAMyKDBDJanNBDh7wFggAcOmJQxSzEHaQBFKkohiUfwLwjWmkJSKF5xijv1RUi470H5YGfZkSAvp6fYBBoQ6haEuSCKKAF6clAC+M6+IGDQo7auW5DKTAABJ0iIVzqfE0uD4vMCBoAAVCKACeiAEUg5AFC9GFiYQAMFQRgiEgCJk9C+7ds+XuG3KfszEmCAMcqIIUAWMmqJF7iyMBAlzmmdC2AW+zuEIsAeHMoZxVqyA2gQo+gAm0Oan2kYF4EeAGiAAFiAA3pAgkiIJSgCR0uFVViEQ5A9ujGBIchAkLE4DoS2LKiO7AuyLHCCXNIejIiPs5kA7omAMAgDOHiw/4IoggxwgAYgr1OxPwBQL7KAIfqxqhtEmwOIlxFoAROItX0iAAfYp+f4IRYgs6WIgSXogiJgq1NIhVS4gymkGR04obTzCILQwg5MC5LIi/S5s/CpmAU4Q+6ZADA4gyz5AjEoiKpigANAgADoqroLhSKYgCG4gPYBgDwsHQqxo5RRABRgPBe4ARNAkT5RHehgRgJYvyjgCkd0gzfAuVKQhVQoBEukmxygC+ygsE6kuPvSIQpTs4bqE7GZAMvxgJa4gCcQAuFIChn4qeegxZsqsz4oAghQARxin/zTww3IgSyIxYQBRBf4ASs4gyZYgXwKIzFCmiIAAzpsCi07hEcYAv+Fu0ZM0AOJpBsemrA0y8JOnAIvUDM1678+OcMzXEcAIKMTiAEUiJeUu4A+kkW4CYB3UwJcNKZexKN+9Mcc0gBjQgCYEgIsGBW7AoMSWAG4AZ8iKIL66wo3gIM5UAFBiD5ZkIQ50MZ3uQMp6KFIWCojeDZO3D6OkBS9qIwYe7FTbInv6YCXjI1ZeQDnSJsXOwEuGSoryMeCuCM99MlL4RypMqZYZCSCIJXCARgwUYIf8IEgkKdTWIVIGKI7oAJOmCcqIIIlqEIZCcmKswoqGIIMqAzuQaW3aAkIMIAOkIAUiMuTI4gSQJmBXAABkCJoWoh9mYDWyU0L6Mue9MnUiZ//hJGBrQAAOhCuG0GVGCAOE0gDQUgFWQAFwFg2KbDMRaCCFVjOtBsCDqSwKVCBXksW1KSgdDxCCmgBEDi59EQ5ELinBGyLBxiqKnCDIOggFQi9+3SCINgsecusS4nD+OEjMGiEpAiu8HgXmBQBFvAC54ROI0CKHfMCywQAKmAB9PwAFfAIkdSAdcwACIg1MmIB4SAK9SRRE7Aoi1IAAHgBRBIcMkCADEiD2wqpGaUmjuIogtC0RNC0PbAOJCACK0CkFJCuDzgBnJPEVEAj26EvCZUCthsIFsgBkOFAIjxNtoEAHriwFhgB9VSKBEGgAxCAASiAoTqEOzAvO+AoGlXT/xqVzJACABsliD3IgT1I0iESAYFwgjKAzFQILdt5ATOQpyQbAicdCBOIUoojCCQggYdhygUgg0kYhDPoECGwgVLbUq4QgIIYgIKIgyFShEdAtDJwqwJL01JdUxpNBDtAgurhA7pAJNgQCCKwwGs0A/EBATPYK07AqgQhCCKlMMgAVhUwABa4AA5wykl4hEZ4hEmYBEXAA+KkjQEQ0xT9DuREFTUAg4AECadiERcxKG/lOjtgqZDiAztwgj0oiD0ogxN4UP5JEB6Qg0h4zkXgHwmzTCdQgTvdpHpRuxxorh8Ig0FAVkUIBPEIhFtZEDEFgC4ozgqggNkQD9pYAh84Af/SWo6ca5EWudgxyAKPYKu4SINIkMynKYJ9pRuBYE7nZDjxMYIIVbcgcM2kIFKXXIIw+IOBLdjErI0lSAoJ4AAOqAAOKAgKeNiuMFimCIuAdCqRSIoXcVrpYREw5EK6SAQ5eCs5yNihEg4WKK3nLAV2pZkUkAGXjYTrRM/gqFk8eIRHeJOisccF6YC4jdufBQCiHdqi5Ypm1TGCSIEP+KqS+JGP+JjA/ZFAkRGJGzLpKC3d6lZogoM5MQInSINTuMY6fRcwIFsKRaCmUFu2PYSIBYDwINqHHV27VYpAmBuCoAAOKAEWSKlqBV2uGFMEOQErDLfCRQKMsELCJYjQQ4//ZjOoNMiC1yqyFrFc23mIR3ACY3tOMiAemgEEpuMEOXACFiBGCDRa0MXbpihdplAA+IwAn+2A192QAiiAARCAD1gv3g09E4SUwE1UjvBYhqE2O5AOFuEB2EAk1KWv6EuFRAglmiGDXE0DJGgCKKBUiDXQ7QUO+NzUglCACH6ACYZPMDFf9E2QEthdwuVgDjZcrTOouRgDcTWtFhmqP8gDMuCDRXhOC6SbRFgEUOAEKsgBMJiDOdjb2WDgBTlfaS2IAojgILadBCGBDe7gI46Ugki7igOy+vqiMThemhEPMpADC1wFUKCbQJAEq+QEJyABWxlQ2uBIBpFW9BWATAUA/yCO4AJogTHdEDNGY4HQISSm4yT+VSkI3uGVDqwdA7EcIlNhgwJ8zlPYgslDlTyQA1AAhUjI3WWFyqaQgIIY49ko4zM+4x9WACAuAEtekEw234IQiCKu4w7u3VCEjODFWt0qYaeCpjzIAymYqEkkg0lmEOjjBI4gAkuA1qZwYwAQg0jmCuNUCjjmZIJQ40x+YIK4ZK7ogAqIgL5AAQ7oCB8Z5Y8AAMENRSd4kQL0gj1+4juYgz8ODyQQBGtMBTAwZDC5Ay+Q4UjwghVgAnhkimRuV64AZqWw5HxOiiD+ZO+NAA6AKQ/7WaFViioQgirUiyit5mv+kfPz2AIsLel44v/3QqTwkNVBkgUzcEWuHIN2RgIWILpNKuaBSGYwyedlJoggjmDaANrRZYpJOIQ+kD+FrmOGbmgZscI8LoM9ro402Eq6+QMqNjZOYOV3KQR7lQMucNKkQGkAaGpUOWmULoAJjgBqpZtGmISIe18PLlzCFZSOoIKDwtq2sq8h4IHU5Z8/2J8hSCZDQxVctcw0wCgNUeYyI2Y0JggJqIAKkIBexpiD3QKtq+bABdZ+3TnpWapIkxEyUIQw5p88AAO0wRQTWL0NCQNcXWQqyFcFwWu7ltamVoAO4AAKsGopHoQioGYOPtxIweZ+Nck5lgIqwKop8FE2SC5kHaI2aAK1kR//B+iqel4QzOaIvRiIzi6zHi7jH5aAuH1mHaaNPzAM/Tzi3MXQa5YRErCYImCDIggeDP2IjOiu234EN3gAv8aYGDCOlCmLCajsDUnkeUoxk2W1B1hjHyaICiiB/A7o2tjh0DUVE0rtwNW8jxAdBBCal1MEEgIAMvCCSFDkUuCEHHCIR/CDlYYiMEGBAKAg7HGADGCBF2hv4GBndUM8up49CogA+rbqCGABHuABFnjsPKCD+Atw3FUBGBfLPlgKMHCCGAaFUgAAQXhUPNiCC+4K+V4KEzUAPnIlAmgDAIACBtGBqlyERRiCBEAQXq270pWA5uYAIiiCFxefU6EDOOgC/xMoQWBVcxVowK7QBA9guVIoBVBYhCCQgAf4gR4GDhNXihGI5ABgnadygFhikDugnKpYgApYPQtF8iEi2qAFaIJggUlnAYIWHyv4AUe6gHEsbBOASdoYYE748VKIhDKg7x42buDobBDIVALgo4F0ANphkEMoAQaYgIQhABOoAvcjiBG4U75YRGj62fGtAIJ4gLltbvGhVqOYWYKoReBgASRwcDmHQg5IAGS2b6Z+anyW1oOwqCXHHuyZAPrbkN7+HgIoAktoiustM9YtgTsfUwWggGauYP7JdgAYiOmijSjKgTi3xlMIAmde4zEtaVBudAAYgBvAJCYniAmwdODgAf/5eapZ5IGXa4rSHioOqOrzzWugjQDz7rCDZz4U4AFBiISFu8YyGN8SGO0Jng0tZwodXHJBT5gmiMHa4DMmu8kmSN0SaGYJ6G9oUoBKBoAHCFoJwHiYE3kAuABpv0pZKANIB+j8bvl9RzmleICG1Cek+WmuYAPdzM2GNIHB2GsboZvPtmQF8NkKeICCr8OuQIIYfk5ZAPhHH+hIZxAUOMjwTYAEKIgf8vsFyQMO2E0HeI62MIE8MN2leOb9TopiD12MOWkACFpnBvm3p7e9mvtUiPrSpYCyf3jgCGfZS4AD0MHQn42vz82cQQCCSACHxRjIf5eoNnoOQHrMr4314gT/lId6h/X8xWeQ7UWE4S8MBiED5CALJiOIAJAT3C+IyV/7tnf+2RiCk5/7uv994AcOhAWAxCiIm6cNMAiAO0oY6HB2JrCBMcN89Tzjyv94pjjje6/DFbDKzSeC7Hdp2uhyD9OEUAAIAAIBKCKIaCDChAPz5AlAAMBDgQEAHBgx8ANGhRo3ckSI8YPHjx9scOAgQUFCASoHsCyAsiPMmBpXUOF0SpasVHIqUOjp86dMAAUAbFGDR+AoTQIpBQoq0ATEgRMBDNAo0qnMjFY/olACRcmDqirHshzgMoIErGo1PhgSCVQqnJyC/Kzb0ykKADcAhAEwSCApSlgpIJgYUcFQ/wEpL4JcqxHFCIsbRXplIqTFh7ECWiLk6fgzABKLSsXNGQSAXaAbmdiIbPEDihYDfzzpq5YChwQCHygW2BtmY8dntiyJ0fEqEyZKYmAUAWJEVYEcAHQQSAH02hVyOJXWyTO1ao4gMMaWDcDFXsdiBKZAISLvZpma1YYiNekvcPJeldhAAQIEAC38EAV1Ck2HnVMX5MAJaTjJMR14PsWkUgEtuPAChnk59sNG0cE0FlaBiIjIJDKJoN9XQgCQQoA/YNFGUwhVVx2CTuUwWnenoRbhhAIMJdALKGilVgrmCYRCbAIFV6NAfzgZY1AjgBCDEMrF0AKLSWARRyCIeOklAP+IKNIBjUzCtIIgcOHk3Y4RXreRSgL9+NKQQWFppECyaQhAnVgp1aSTTqrlQmwxJMGEcQAk8QUAUH4ZpiKKNBLIm2ZudMEQNq3iYAXWuQlnfAIpMCpjarWAZ4B8ImifiH8A6ipWg7ixhRJCpJfeQoEccpBBiDTSyCED3WVpQjeqaVqnbdrFkUooRfAAAA/8qORaLgAQg7WoIhgIrKDVd58fYVQBBRYCHcJtoLtGGuavBSU0LLEWpNkdEW+CJwG0Cq30gAQScFBBvhdtaJwLWDKJrqCfiajIJKSgQsojj2iiiWBe6oGumAJF2oi771ZqpoI24bSKIAilFsGoHvrmYwT/FXBQQgfTUusYFAIVzKIIoCHc7Wd/dPnrIYMInQkpAykyYkHrStqxyR+bmUMkDcrCyQoePoBWT88qwBJCYynQbwklpJXQkljF0YZAKrrn2M5m/nF0HFgk8cISW5xhiEAPUzLJr33/CmXTxAokmtSprICQSwo8sDhiZQ20rwQVhC3zzI7xCkC5gmMXSB5nRGFZrTe0oOIZAFiiCSqoAEBJI6w3kodG8Fp6ARXHkpxQS6Pq7vgAzYIN82+VW94IAMTH8QUTmq/1RxxiMMGhEEkIocR5A0Fxhh+WhJJ6UojoEbvTTzNYmhwX4H5Wv1oL1BK/EpSAhRDBM/kIJX8igrby/1ipgcUPslEvhIqSUL3zxOAHdvPDI0gRio7IzkweiFp3Doc4xUmgLs96AAUr0IH3yUx+n2nEKASiiUYkLH8ygYLoAMAhFd4AekLIy6liIMMfWGE9eOtIIApSApDJ4Vip4IP8HtCGCEmgAywoAQvawAQP5YxJjdBECH+FCJ6ZEDgocMEKb4AC4wDwBQF6gQxj4IMfFAkmOSSWABywoFNsShZyAJFAsAYeDrCABzyg2NgAsCcmQXFilFAEFas4GdhcC4DnecEPAFgwC8XABi20FkwUCAAWREsooNGMChxRijYajipDWY+bkGjHpFSKQJZ6RAhXR8LLCXKQGkpkEn6QyP8uBsgFjvwBJDviBks4xYMp0cwFFsGdNRFhIBHwVGroCAAejGIUZQokgkCYFNZRomit5AhGjARA6QFQCC84FXpwGZMPqGgtvtSMSkJ2k5zIYSAuU1ZdRNnMIgykhJaiRAhRp4oSDfCajPlALlW4TSH071SIDOhktGVOdMJRBZE4RXfMd50OcGCOdWRBEXhASUBpDp8DmUQYfOBPssFmiwlpoSy/eaoUAodFTFJM8KqiAAcsAhSbSkUkLpBHiqbGiHbM6A45KjhKvEJjYvBB2a5JnrzYAABedKoXX0CoGO5xMlVFUJwU4gAkRIITkZADEhigwYHwtC4sqCMPzMCCStn/00ykiIXqutC/pApyqU+1wVOjiiEQnOqqCoGNEkr3UnRShSUCWIAKkDCEFZDAAhEg0w7JVFGf0NGOdgyqUAU3iaPUijl0zd9SW5Coa8UAQxgqmB7VYglU/Ak0KJlP78ZiAAM4wAIa0AADzAdZMpWVAkisYxHqVU9oMolcUHieFj+ruWzi6a5PvUGQHMPaGlV0cT8qC0sIYAAGTKC2FnAAmQAQNt5StLI/LYFP2kosFAjhuLbCjHItBRsLIWQvL0jPfb+JlSWEYYNM8m/YOKA+SwZgu961wAR2O17e/tayk1Wv4H4Aha/8wLPYucpGXFAk85hWLx7Ob3Sd0l8zUda//8VEiAIK7AAHaMC2FqAnzDY43pehVa09Ia7gYjDh5/UnvhxJkoYAqgRGIeQLVgCArYxzWqfeALqNDHFQbEPin0D2rAMhQAAQsOIWW8ACB1iXeMnEAiOilQclCNQ1XVAZWcIXK+UZiHmgoIY48MxVcVADkZ1qM72AsQVIEjEvp+wT8laZIgYgAAIYsGIGNMAA9Cxe8X511p9O4hBovmZ7LSMECwflzXlCgUjhEAhLoAsAPiMIAL6nBgBEgUMuKO03Y+NXjowCYrepVDIJjUQApHi7DPg1sBnAAUU8wm+/qt8o/jhFHGtOx8f9gQ369OO+5klAmfOSJ/zipGAdhFewO/9D5kQHAhTgCiuBYnZMqMzbgdQxAgQgAItv6wBgIwAVye7bH584Cl8BcqTn8YoKfyAkH+uR2nkSAhbgIJAuIcITnghWU1jJSnAnIQY3GG3PICwTJ1GAvMv8+Gy1bNsNzNsBC2AAPV9hbz+2rhFeApw/M01QF0g7IUAeyAuGTOeBqMvh2UaEroyWMYLMQQ1i+EK5QXPu2zhJTBs0ARGgAgAEILq2GtgAlxfgAKgoIhSqiMUrRmHvR/lbIM62TLSV6+lasloNc0DzwhRhCZ8D4OdBV8RB2uUr2Anu0unuSQkk9QgAaMIELJBAAAKg6JFvYAMW+DUCAKAELLghga+IRSz/Vse0kcbAK1D4QXLpWp5ZN+pJ6uKYzz2RCUsEyxJL47evmGJCjXuMA5CVehuEIAECLP7qjXc8A3RjrRsoQQyDgBgpVFF2hMh8rkldu0AEmBARdUlSv3qEz10PgENkQiARixQiKMHKKjK7J9PZIA/Ey4EbPCDxDOiy7x9PAAmcSjYWjwIWlLCFPgRLIAvkPBOkCKcNRHmYh2gBwHogREGcXt9kwic4XEfwG7qNFOCJmUB0SoolnnbN1mxhmQkACDjZgBJo0QEun9lVRpMNHEJYiwuwoECUDpiICZj1zUDQHUxkwiCU2kgRF28V0XRIQAQcgAa+GxESQEUAyEBcyFSZ/yDzuVf/CAlC1B9CKJy7jB8NDsTcZZtMZIKl0Z4J1UWqAQDA9AsZCqFDEKFDnIBG8JVC+VsL2EBy1IqfaUgBJsRBgBmqWR/xaEzdQaBT4CDMMSHyGEf79IsZJl4AHIBLkB4TDsQSKIEVfMUinYpCLAodGA0e6qHRAAD2+SFWHILENCJCIAmGxBFKJIAAHABKoARCiWJCfEIfJA+2SGG1xQATCJbRcAyqXSGqCYYNYkUrJJ8rCgQb8poxvsQq2gwjNiLYWdMS+IBxWNxetJca6AGYaMwe5t2vEASxUQIlZIInYoU13cEKiWJsgNHWYFd0jErBiATB+dP2ZB4AfIJAPP8BQa2QNX6JDGqiNnqfN05COGJFLMwC3rQiE+YFCqgj19QSzbljzfmbNCWEJYgBFnxBHAyEy8lgpOnd0jQC/exNQDqFLzjiMBIgkpwkdiGJQQ2cQ75j/oSfYCREUSFFTHLMxuBbpNykN3aimXzEMJbUSQbln1kIfLWkSyqPNwpGTG6E/Wwj8fyRIgTLRwKkFjKJe/hkIwqlUOoRDDWkUR6l4CiCNzqF3ywFN64OJTxgVQbFWgrEEjTBQBxBDVzlQwqSVgolIbVAkHwlWBKLWC6lTAjGNmpMQVBCKLRCK7DCA8qEw4VCKMgjALDBEWhED6SAO5bdXW6lhbBkSzZiUs7/hkxQDCeGSfgdZisghFoqROqxwkD8widsARg0AVxuxBHQJYZVUWYKZf29wFeKolgGwqqVo0bggTUBgCokhct1HWImhCsAACuknsN9AmsqBCYAgGzKJkxU5mX+lUj8R1+O4knWX/0NpV5yJlaKoh6sh3BqBPX0wWoNBMWYZkcoJiuwwmlqBCMMxBrI5hFgJ0do53byiU8WiYb42VoAmXjOISVu5nmWJBNwU1AoQRcMxEjqgvJpTmxeZ3bapk+e5JH8WYC4VKcRpYKu1CSOG0uWJAG2wBKwgSwJRJMJxIvCaPQwQSfMwi/4AjH8woWKJADoAkzs53XO5kYAqFbkhUiA/6heRMEZzIFMKGFUQZUjQdccImRdMqEI9EB13gAAzehAdFGTvQAhDASQEgNWBANWCKmGWidlWiZ7IOlSVZUe6IEXAkAXWAbo2cx9NZm4gQAkqaCKEmMKLEFTFVCXyhIAhakN5NIdMAIrzIKPCsSYOkWGrqlCyGYPHImSlNRALMocvNzSKQTnzAHaIJdeNVWQ5EW2XKkJfsBT6WkL1UosYUh/xMAaAMCtqkUwBMMvgIaaWqp1yiah3CVCbIk17srOlFAOeQnefQ8AMMHFWQvBsKC1AKqKtuKFQJe23kBTtcAasEFkgiu4TmpQ5KevDil2XmcPLKMphYlBJKugvJ6xNf+P3GirVFkIJLGqG9ZXemQriGmRC4ABQoBrZAZFJ3TCGzBJpV5nDchEAiLCrhDEIXThuR1C67jOr9gPAFykolApfe3ld1ZRFq0geuQXDBHCG6CsQLABwWqEL6ApAJgpADBCy26EwAaFmmZqTHTBHHRJxIIfLwGik1xsUkzMCAmETQLdHIhBFFycVHmRvppgjA4EtuyFSi7BpCbsQLCsQuTnSA5EJ2ytmbDBfhJMGyIExN5hTu6huQQC/UBRMyGnsfWNInwPFiAXAIxHSdrAenoY1VocCiCSD5irQLyB1oYrTPRq4TIJy7KBD4goRwjWl+RkpCGEJRBt3O7b3BrbQRT/3YRCmSuWk3CWW55ySAwcQcoOhNYmbOMCwOGiKZAKhC/E7uF+BssS6UYYRwJu3z4WxPVhJP1kLiqIn/XhXcTSLbMiwhycgfQFqgoNBK5wSAuZXWQewRoQQtYurkboAqQCKZqO5HTKxM0OLBsIbB3aDEI1hbpQbqQNHgBkwttm7ijkI8eIiT5aH7NKkYqWo4qUI5+elA34ACZgwhs0wfWSa8KS6+xCqkAw8CzoaDCMZCcQrlOw7OOmFpwZVLmBCfu2r/cFb+aGgidEJfVNrP16Sf36yt84L0zwbZ7kbQtUJwEb8JiSq+xyb+zqAvcOBKR+r0AwAgXDBMuOFqroJQCs/1qv5KS78GLrwG3c+lwmAJ2ueIm6MOuu9E0gqmg51ZfA5G0NEIIpzCwh9AAbADEA9GowxO6PzoIrtMIs7DAc6ygA+AJr2jBHcC0GJ4S1fAEddMw+Iu3vcqI3yq9aQrEUb9/24R3eEcRg/uSXcjGM9q2A9gAYAwAmEMISdMIvmOkb/6grfAIitEIogGMr4HADPzAARPAstKVCsOxkvvBG/EwVdkwDcmL8NlPqtDF0CkSgCYT9FgS/9V9JllM3fSnobXGRMkIY30KOnvEsvLEnhPKP6rArZEImuDEOPzOOBoPMsubqDiwYiCjpyWAK07JHIu0gZ24jeEIruMJz0h0EUu2fRvpKlzzCTLqiCxBU2jCfUzRBJ8DsKltCoKnxjwpENV9zNr8xpOqoL3xtQliwNPIpxg0EORPPISzxYEYMsuHypEixJbQCdI5wozRFJiTN0SjCKMQCKYTBRC9fUyXE9EyvSO4oQhA0mcbuJxAbNmszpD4wN8/u4hbwSfHpBnNju0TsRr4v5sZtl1CfiIR0ti2Mw5U0xDbCK6iCJbyQK4IEMiOzWngCjgoEQf8CWU8zkOY0J+40kGpzjhLDSLoCwpajLM31DySBGFwkr9yk8W6kInjCRzpxsh1yo0xsSDeFruxySpPCHfhZ1HZEQAAAIfkEBQYAAAAsSAAZALkA1wAACP8AAQgcSLCgwYMIEypcSDBABywMI0qcSLGixYsYM1Yk8FCjx48gQ4ocadBKAhYkU6pcyVKklRIdW8qcSbOmFRYxa+rcyTPjy5w9gwodSvAmUKJIk8600sEEFKVQo6q0IsOB1KtYPVoxkmBL1q9gI27tGras2YJcvZ5dG9ZIALZwv1p5G7du1Ll28ybFq7dvUL5+A9sMYEWwYZkmjRxePDWBkSiMI4fE4hiy3yZFMhchk7lJEyMQJVfskqBEXiyZ05QRtChSpEWLhgwhYYBHF9EVKaMEUJhtIU7AgwOXo8KA8QAQclyR2rtnlZOh2YIBRb169SHGPUAYgkRFmLBMaEL/ee7A8tor1tODMqPDcxEuSLiYwE3RJIG4kjipr05ESZUtPCBBhRM8hEcfQ118cQEBT601HXWSbAEGIItUV0QXWFihAxcCrXCbX7cwI+I31pBojTXDpKjiLSyuUkVvYgBAgA7fnSUJdQCAgcUVUHhh4RdiiPEFEgBQ4UFfzzwjz5LzzOOOO/XUQ8+U89TTpDzxtKMlM0sIBEUABBjxxVkPgiIJFmjqUIaFQiTxhBVEAACfDGrBdUs9Tz4pJT329OnnPPJoqSU77ayDzjrDVMFEEmCyYB5YX9wICgBHXAEREYJURwaavBURnxO7xQWOoKSW2k6W7bCzzjnVFMMLJB7E/xpECSs0MMEFF5xRFhnVnQkFE0p4EcmPA73nBRVFADDmWmfEgQ470EYrLaHsBKrNqx5MMEGssU4AAQQGLCAuAaF+VR0nYJyhhhpglFEhdUXwKJCaZZQRRFxQmLLOtPxC2848xYgrsLgILPDtwd8aUG5BRTgxRGZVNLgTIDiS8YMQ4amWKXVkWOExADp4ITIRasAVxi3r7NvvtPOwM/DLCH/bAAIssAjIGboOhMPOOJRQRU9nlCGHIGV88UWGOoyh9CLAxTuQEF4IFITEWQFiCy6RFFMLF+WkDEA7X7MjEL8t82KAQdoB8HIAAZhzztvmmEMON9/wjIMozKzIIoslr/8kgxyqmcEpFEVEzaEcchQhhroA6CryvVfdYostwuxyCRoYEEAA24d6/TUA6bSTzujpNDlPoQYQgEDqZ6euOQFnz2wAEFxUskkttQBjjDETYAAABs2EU87w5bj9NtznhAPON+AsL+IzzOzNYkHMPDMOOvZMOTo6uKQhRxnHmOJGGwCYAcCx3qfBhRNp8NC+yACo0GVSIW6CzC6wwHIJ7AZkTgAwWQJAPOQBqCVhKR4DXBIATleOYlSiDpVAQwPEJZAGWLABEFiAAbbFLQ+ggQQeAAIGQgAEFaxgBUAAwhC4AARvHcxbkIhhDIFRjBpWQxva8EYO0eGNcrTDHX7ykzr/7KGONBhxE9k4hhAAIAORUYELaRAIF6hARSp4gUNeyAFRbvGMaaBDGsKgBSxoUYtNbCJc4gLCMYLIxjb26R5wDCIQ6WG6b4jDjt44xjKOwQtaiMKPdZgAGtAQgkGmMAQdTGQHQegBEIIwA9zSFi+KgY52MAkd7wjiPewBDqGVQRrVwEY0osGDMlBBTlFMwxCqyEoA5MAIPCiCDnTwM5kwYxrT8FM6inGMWogCDVwowxBywAAGLOAYcdykPZTZRjjm45n5wAccpzlNfFjzmvh4xzummck+PYke4ghnOI9BTj+K4pwaiBUjFRnJCdDiGJYEop8y6Q6B2AMA9sAF4ABw/zszbsILZeCQ0KI4RVae8oo58EIa9pAISYBhJdPoRz/4sc0+ieMYm2CAAxyQgAxMYAMgtQAyqUnSkkIznllKGTvSsdLRqeNJ9gDiNktazXzoQx/RnOYy/RQlOoLjjhcl5znPeYxovNSNfcLnJu8hD+8BIJWIM2JUvfc9KuQgBx7IwTCHNgSDTYAKkoiEJMjwhr6BZBjv4Mc4ABANZkTjGdHARRaMozkEMAAADlgAAYpxj4H09a80xYc94kGPKNWjUClL7KEWi47GGspQ7XhW6FwqT3dIs5rWpCkb5fnGnXb2njF1h+naUQ5tGDGKT5XqU7+3TzlllQtZJYFsMqCB1P8hYAINlYQjyBASEyi0BEEIghEFIQhJLMILrwuAARhQsANggIAITCCT6MFZKZVuSnQUSGK3y93tqkpVif2uSv2VKkGlQx7pyFOfCrtMmpYUAH0ViJXoEY9waGMTRiyDagBXBgB48nv+TYMX2BYCDS5AWyI9RjhO1TxrXM0IOcOIEoggNMANVxJhxXAivGABCxjArg64ayUIaLoSl5jE95wHAEg8j3go9rECQcdAvLYOAHRXpTjuLngTyw151EMg7qUmfEkK33mUAxmVeO0QRFav/jpZIE6GrQdYhwCREorFToKpO8YxjmmYYhVJoIgazNDkCiMurJFIRJoTwYdTmEH/BQjWwDdKLBAVm7hJfHKHAb+GQAAsNmWd427nAn3jQncXHdRw0j2wyWhsAnnIcHQHOYCh3AUEYFwYWEAINr1pFbyWC1zIQQiMkzphrCMeToqpqtv4jn3wox/+2MY2ehGHhSihcGMQGZP3IAeGJgIAiQg2HxJxClCswALDlIdE5kGPBa74gKfy8/Ea29hzUNtQfx60oW+82HBQwx2LbrS4xz1pA1s6XGgMlwU1La5Mi8s4lYAns5HazHs889UTzcc4bhEjhEhBZFKwohMAKgc7lIHNAOCDwgEHikJsqxbLZvaKBQi2VAkEeceDG3XVgV7S+Tkd1EaHtUNOcsaagxrc/1imNRnSaAGK48MLKNilGTABB1hAAxuYQAYw+LJj0iOOnmWmn+yJz/biIx9wlKY96gGIJdSSIGD4txeG4IQsDGEKBF8oH/bAdV6nIT9BcAA46KHssk984mWvUj0CJSgAiA0AcYt73MuxgKGKgpzHAGrpSEzAdox85NW29jmwsYx/mY50eO5sPgDAaHyGAwisO5sFQEqCC4D08hvQwAQEcrZjWJakO11qQtq7aKOb46EGUUIJsnA+J1QdCUgQmRzGgISp5ncRiViEA6KLQAP6XoEEzC7YoGVjVQFgeOYoXvKXIbCCLQADq1OdwCpRCVF4Ix7oMN45tL/9chgDG6i+s//4mQ2oxJsjYJpbgM0tYHMHfHQFlQep5S2w+TVeFrBwhO8+ninNg/QJH+7QbACweE9HEF8QJ1MwcOcDAAMHUGmQA2XmX0pjBoLABeVlKqfCe0wiD9HSXXJDPMQDBBP0bgWzOjBXMKR2THAnd9vnNuYQDqbWJHXmbAs0fiZmDmiAAAFwABu1UR32gxYQP/OXV6kTbtfkVwDwavCwhP4wUfuwJz+2QO0QDubQWOLABT/jAwTxB4HAAwJRdbo2dVIwBmngBGMQgWMQXEHABYCWY9FygacSKDv2WOewDsNDDuRQDnkIDQJjEDEHAAgAiAYWLuxwDsgnd8MDDdQQfgNhgzX/aGL0YA4HYABg8mGpcwALwAAHIBDs12EHoDkGAA7RdHRHN4r4sA/98A+quIr/0A/7YA+AUijYIA3X0A3d4A3LAAZ4UBBwcAZdECcAgARZEIZIMHBpoDT+5V9lkGtBgAQeUAe8UA2gpHxvc237Migil3Fvc3zdEA7e6I1oQGpnAwAwR0ELIBB9eEzooIcgeIfGQA4EVGc26IjRYBwDwTabozrFpFH8mDoBAAn2AE34IBDQlA+u1g/w8A/w4A9JyA/4JECIBg3QgA3eyA21EAd5kAcFoQZiQARYh3VhyIAOKAXKWC/nEwRDkAGiUAdooB1sEwB1EEPXkIfYUIeqog3Y/1BDwlAJBPAydfCTtFAwB2Ec57g6gahB6FgMx8eOeDg3wLAO8TiPUtkMKqACUqACJHBXMvKSCzAEG4AAB8AAlEgA3gBEi3cQz6QP1oRT+7B/mzQP6QAA3CAN0pAN3igNZJAEBrKFf0AE/+YE5xOGIkOGU1Bm9eIFSJADtBBK2IAN13ANwhCZ59QM0IAMOACKYAIBdUALtAAME+mYy7AMwEALD1QHBXaOFMQQEAAAoiAQTamH4XAN0GBJaVd+WDaPz2AHjpBbYZUIY2ABDZA6ANAASLACMac5DBB+eIYnoUeQBYlT9hBOiqgN1AAAKBcOALALL4AQbSAGDUMFQyB1uv92PmQoYIbpBVKwAqJADdRwDdVQDe75mI3ZmNkwi80gDd+Yn+GAh+Fgi7bIDQDKDdrADcvQDKJJmj95muhIEAtQDHTZlOTgbdSQgVjyexs4ftGgcLiHYZxwI5IAAB8aCSrwiQtAAhkgIxMgCrcJiYUVJVDSJOlADuzJntKwDOzJDQAgDUTwBAiRBEJgAglFJIIZjAqlGoY5Bk4AZ55Jl9QgDexZDe3Zno95Ddzgjd3Yn93YjeUQDgHKDd3gpbboDWLqDf7ZpdTQDGgKSD85guLyQJWwC9xAKKSSJbzXe78XDStABcNoRMGWHzcCAJwAbKBwAQ0AO1xAAtoiCqbTiOL/R0emgw7ccA10CQ106aQopw27gAiBgBBC0gUqcEqBqWuJ6YBRE6pe4AQ5RwDCEJpoiqbQcJ9Map3X4JhfGqC1KpddmqsA6p+8yqtkuqtdWg1oWgy0gAZA4A0y9oZyaip0Cg7RUAZecIZn+FT/xqEcCmySsAEQADunxABzZmdSaTrxUA7XIJrAsAzSAA3WiXLVYAZwkBAZmQdGgEWCKQVTYEUAMIzjeao54AABgAbCsDvGgAzJULChyaqUCZ/XkA04mg1ymQ3ZMKWzig0Qy7AAOqBdCgC9urG96qXXcAnFYDwh511v2A7R4AVZoDRKY5jC1FAd+qHYWhwEQAI5sADK/xmuV4IO4WAMDwQLwCANANAMN7oLT0A1BpEHasADOTCMDehErucEUyAFVZcFVJsFU5ADlPivkbk7ASuwu4MMYIuu7FmxFcueByuRisieUzqfEIuxutql/1mr11AJI1gJkFAJNPSe2gB4jRUNQSCYg3mGTTYGfIBhYiUQcgAKVJA6JAAJKyqVU1gMdTBCaAAAy5AMM6qjANACCqEEP+ACKoAEV4t1A/K0SCAFUjAEVVu1OQABKXQJwBCwXTu7XGsMq0qp1OCY1wAA10AN0LAMkbm1u5MMB4umTKq28kmfECugupoNkUmsxcqSPbcAECQKf0u1T5u9AOVkcsAHaRYJCf+3B2kQBDpIACNWfjgrD+bQDJjTP0AADMkgDOwJDbWQAi7gAgqhBl9gBQEyIFSAugIBe7AnkgNBtUPwpruQwMFruwzMwLO7DLgrpY8JANAQv8F7wRfstciAsJRqqRI7n43pmRSLQzjUmDVaDGEEC3Xgl//rerCXva63vUITbGw2e2mQCOVbDBkoXQSkbHfGDtQQjpUIsAVbo8KwBr7IEIHwB3nwqS3sBAIswE6QugVsdXWAP7sQu5EJAMLAxV3cxQ5sDBDsu8g7o8iAwWicxsI7sMTLqmjLns0gDAq7thM7n9pgvQnowrJRjFDMx1lQL2PQvXwwrUakApuDDcxKmwn/9GztQA6igAEvCQB1IAzJwLWb4AdxYFYJ0Z2owcdRTCQCLAXFKBB6mqSRqcUYzMWq/MUCO8Zou64Sabur7MVqXMsZ7LUUbKnUAKXx+ZitwsemC0JUhwQg9LSFqbJjAADfA60TsDnVQGjrAIc73A7rC8kvGQKwUMmRCQuA0J28wRA/EAMssAKfTBBSrEUCkQWoeju1gMaz3MVc3MCUCbTVCcvQIMtf/M7vbMtoDAvG4KqU2cHHWwwvbLo5ELpQTAKy9bTRSoYSKDJZQAKbQw5xt33X1jnRgg7YgAabg49oQAu2CwzAYAdPEAVGmxAx0AIoAKQDbBBEEsPp7AQaAAZd/2AFTwAIgCAKuKDAwavK8fy1lBnQEmmdr6rP+XzURl3LwAAABGuwCOuqkNCMfVyMUowE3OF6DDiGuZay8CMFtRUA3QCh7Bg31Sh4kwbJm/M7dXDGtbALuBADFvErqofOLv3CBy0wLNAGvngFTBAxWCAGE7IHtYALW8zKAZsMrdqq6iqRyGDUjo3UkC0QwuCzXjuwYFuwydCMVE0CCA3DpluMuqavWZC6DHDI4eAN+smfeHiH2sDRYCIjQEALwrAJtpAMMaCXFUEHcdCLKjAECAHKGjQBGjUfQmADKo0CKdAC9xsDP8AEVnAGhYAJV0PYAUuwBZrYQfuq+PzY3I3Ukv/905W9O7xQ0MS80J7tMOYdhqIsGwzANteAsV9Kpqedn+SgDcCQOfiIAZUgDIDwDNCACS9SEYcAB1/ABDZwAldlEMOk0CRgARrlfgCAAhKOAgIx4S0QAz6gBF3QBn9wCH/Qi12A07TtT7bgT5CABjmABnUgCrCQxbHb3dzNxcCwCwAQ3rsT1Z68x+edpBOQA67Hegxo1TmQlWyTu45JsdhAwmAqpteAOfhoAGgADJjwDNhgC3dQ0xfhAio9AibQ2wOx4JdHAhvgfu43HwfB3E8xB4ew5ocQCGw+CB4OB3odBVFwBm1gAhvQ4EDIAEGQA1wQk3/k4jCez6qsOzYuxTv/DsOJycdTAADrfdAkYGkBAAy7/J4SW8facA3GgAYvOTu7gAmRIAxWDgBKAAAxkAIWMQKqvtJaBeaZh3NYiVdk7oUM8Qe2fuvxOgd6fTRRkARuwgCvrgHCbgFqWOxEQGZ2MAZ2IAptvdRLHdlcvAtd67XjDcyJnr3APAXaftBV6QEvWQkCPaO7vMuPKQ2wIEJvAQS74A3VAAy4EAZPUOoaoeXJ3eUfFezCvgKQ4wBVeQFgMAe5PRAN4gITngIscHNBOOwNUOzFfnCJQAZkAAMgAAKZMQbsLOhfXDlL7bU4DsVXfe3Wru1Xi5WICiYIUAcGet2uKpGVOtnhSACxPePA/1ALVRAFe6kRGYIFX1AENyfswg4AGgAA8FeVKnABK6ACIqHqE+/zTC/cBaGGGpAFapYIRXDhP0DnQIKRgBDdkYA7Cszx5AyYCk11DOjZ3ZEDjB61Cp1OtgIJOWfZmG2wbWy7sGCsaCDtWVwLSaDz/fYRNg0FMtBhTC/sJsTZRR8/KmDmIQECI8AAPy8Qwr55Tx8EJAAAJGAHwCY4X9Asc7DEtp4Hf0AHdJAHehAInDDtNHvVWEl1gGn2kMTH9uoEjKQtJxRcojCwlY0MbCzSsFAJPls5uwAJUfDXJIECLdACHDD4wk4CKzABSP/8VWkCH/ABHxEDWm4CQTgQGkB/Wv8pNcsoCGyWA8ksCLwlBnCgkYjA5m3u5oeQ/pFg6BnQ21EM8lf1tKirAhoASbiC9DqNwgBhTODAgch27QKGMCGsPV++nIkDQOJEihUtXpT44UMHABo8fiQBYMiFkCsuqDiJUeXKLl0qZJBowQIABxYOMFihQo5EQRITySHhxQsSEy4uzjkE4BGAP2eqFCGzaQMJFTmGIMHqROtWrki2SpGCZIKHCRNoIavmjVy4cNIIvkUGDBgAYMJ2MXQoBkCglX1Xghgh86NHEiuCaACgInFiFSb8PpZYBYHMiQwYAJiwgIAGxYISed7DR86EHDkcQ66y5IYLElQB5JiIBABX2l//nZAoO0GUsWbXsIVbe+3tW4V2YdmpkkQIgBiQnU9s4cLEhMGIVazYoELxYhVG8DxX6eIEAQeYLSChooLBBgMEIJAADYAPADtpNEzx4gTypKVxzpDwALaJrgJANq2QyMGrr8LKbQJhBGqmGmy8AYAbaAAYzpiD5trFkeSSeKEFEcADTwweBPsIgMLKA2AFF18kESMURkBggdfGKAPH9AwAgIAJtquPPi9IyMAJJE4AYETIEGltO+0qkg2JDDJQEAApbsvtDRY8QGOIOiDJAYgLIHlwuIMA2GWPKJL4IQYRY3wODjgAsACkqVYozLAXXTShBTgp0giBA0Iag4g0ACjD/4vMCEBAhTQeHWOMLKTIQYMhcuAIPA1cY+xJihBUQUGwnICgrBJK0GCDOlVNdQMNgBkOGFhg2YSNNZUQwoY/nxNCCRPqJGyqAjeAUaIVTEBhVwBaaAGFBBCgYgyJCgVgDCoYMCAADbyYyIuwcoAgBxV00Ms5MEjgTLEnPSUQq9mslEKF3Iios6PBWtMADQDKNEZWUfhIhA8+suBB2edAQKGFCYAlYQMALkhvoiAACMKwDkAAQdkTIpiAW4mCoAIAIsqYoEcIhpBICokQnABANkgEUMBOtduOwJQZLAsCYD2SaDALEAgBCCA8AKIBBI5egAEIIFABDEMMhkyjDgRrmP+EC1Yo+WOKg+DaYEVWYNRjABbYgNsygmhAMxJQlk1cFRrwwIMYPVqX5pklQtkJsHDLjIGdq/OoAcsYOLpwBBjQDgEDSDAD6sc0AqEDB4IFYIMNJhCW6yBK4NqEG174Uw8ODDDAixxXCMAAKnIkwsZGJ9IOwLEuIFGGKUOaue7tChSpVAgaqAnwjyxgQHAGDljAgQksm2AILxwIAAL9HH/shRuAddUjVbfefIiJuV6hCCzgdKMIAkpn3QMLgkh0jAAAMAAmiQDke4UbSOQgg1Ulorl/xgacwNImUJOZ/O0jg0OgTBxAghyUYRETCAABnMAGPVCPIidAEkWe8IUioEj/e6nqGkVKgISKGaEKMeqCCUjHgDIkygtBMF0ZiCCRzajIA1OaQAMukEHwqIAE9QIATPpnN3UFcWk4qZwKCGhAB1wGAH4TzHmGUIZSoCwAOQiDBQHwBjAsIhJ8MAMYxicROvwheBRRlWEotkbDaC5ZJLpBDBZAuom1UCKGAhsBbHTDsiygAUWAUxNUIDy5DbFuR+ybZZKmApkwTHATqZdHqOCEMpxiJwEgQRF8wATHsUEOnpFEKCORCDO84RCHUEQRECMRy2WnIpyTSAkoxoI3PscFKOiAjxqwOpGlIVETaUDJGjA2CLBBEYoAACLAwwENGBAkQ2RMDhFAABI4wXRU/1iBZbBWp/VZhiI824BXvHCKRQAAkwWjnhHGwIdQtlOUYGxCEzLgsMo5jEVrlNgdy2AGM5wgY5ARwg1soDgDIGCGMiyDE+EHgLT5EZB/KgGK7DWYDPhPBR6AQEGDgKMWtpAIHsCJAjPgzeLtbAM5oAIVOMEJAmByho5rAw+8kAVfJsKd7YyEGbywgonQc3drrGMaQpOInzgnDm04gxiIQAD46fFyPZom0nr00D81QaLC84gH1tUA0jmBoyPLURmo4LAVWKCJgxubB1UQlkWwNAATkA31plCGNMhBDnbw1h5uKso95KCszWTRxIjgBaECjKgA40MRPvCYP/whD3RIg//KSNeepp6PRwDgQQU1hq5IYnVTVJmAe9BnqDLc0ZfPG+BZh8kARlVHXCG7jAGcUEuN6Q0/dJVDGrLgBTmwc6+SoALxGMCiMgiMqET1DB/2AAA5FAF0fWnsH+5QBlCMpj2UrdFlqVeCHABrooDrmQUCEEwS2NFaE5OWoajgAKw1AHktbQBuCKg8BmgACRsggASR9AODnQAsU8jCFKSQhTHIoYWP2oNN3cmJNJDAb4tzwnEDptw9VNiuRfgCdKMLCC+AghNDKMIKDODHEkgAdPeD2glS5dnBTEQzc/RqoXaKuZCVllvLW8A0o9caBiSNARUViSDK0J4cgMFxJrBtgMH/AhbCpsEOcvCCtELJCVGmQQUBWAAEJlxhCxu4hV7gy0qiG4jPcCISZZiDGJRggxakQIsAOMHkWMyzqrCWdARAQmnTcK0IwhChK9BAaMfbGgDlOMceyI8XSiGHHJOADYOAGhH0JoUpCHjJYCFwXXO0XABEQhLI7bEBVMBlu3Y0R0PRQRZVEghWB8ILbV3ExN5ckQh40LOJQYIBLnC+zZR2sOI1wApwFCkLGAACeiT0DclwB2azoQTO8zCRyBBmgxHh0tcGyxD0xls7lGEPoxylwDSQUQOUuqNj8EKlpUACFvTlmIqY7koFcYLmzLqnzgSvRDSTBwRIpAEvLS1VqDCy/8FmYMTxa80Ni4AIPUT3Dzno8CpAkQhERARqa7X0RC49BG0PuAxyWCdR9wByPkwgWypoIborXWmssHslZ8CDJTRxhw5zggo8tLcMcsAqFkvE5CYIBCAREIAau5AIOBKKF3rc75bdMAjHRESrA2EoTqRi0RaHWg4ojZEreQXTaRiDFHJbBiOlAQkQAAAEvLVyI3H8UhRQkkVcIIQqnGEQfBAEKCKRAx/4wN4SKULD5qwiCxgtD3/gAWUb4DHSFioNXqDCHPM7gQx4gAJLwIIY4BDmRoDBC1UvRSSoF4ghTAEAleY6vKRA2DGIM8pe4EMGbFSatrtdXFajbUXqPohHkP8h74t46d8BkD98p0gFQ/jZBQ7/B/NNkwGMP61EsJWtBZSlAyMYQcImUoUw6FQOVueEDpZgFGU9IiQq4/qS4ZWjIXBUUlY+9o9s70O+JSD3EznDHx7RiEN8nhOCoCp74wG/CR6sSowcOJomiIM4mIM8yK/2YACAM5QgqD6ueqsJuBgQiDuKMAEqkINTWAVOAATqMQGryIqLUD8rMR2IE4osyAIqyAAIQADSKI2EE6AMyECL4D1FiLo3oC5OkIM30Kw3M4KymC9b4xnpW4ADOAEmwIIvaIMisJHJyo6dgoAXW4AAqBETwJjFsogWOIHVKQVZ4IROmIjv2JUWYAEkGAL/BoqrikC/lCktJBAwNhwC2TOArMEoCPgxmMiAE/iAf6KIRog6VrsDKvAwJKggaqOeImiZHzKrmSjAFKGJJWSAhIkOALgBE+CqycqvT5S8AMhAjfBCi1iCKQKFVPCwIVQWEIABL4iESBiDtfGLMXACqyiN0pA9Agim4pkSD9CAG7qAFqi3img1xyICQTCz4NOiIogvRmokmpCIAlSRJ7qJBiBFiUgB8biAaZosT2SqChgBEMhGjOiCHEiDUlBFUAAAVvyTGCgCOTAzOaACD0CZlZiptSkN7ZBBP5oSDai8ysMMHWiJi3C4P8gADyyDFXBHgyEDHItEypgJaaSTmXCC/8KzjAOQAHKcCBe4gSfggdGhoZZaAM+JARdglr5wgxliR1kQPUb8EzF4lJXyAi44AQ7wijccECRwwZCgmXGbJsq7oRvCDAjggUZAQ4uYAzrIgzwAAwvwKxLgAZhUlgEcHOVppKycxvnJAQQCAPsbAYqAAjFogzhggyIIMbRcQDhogy+wAr9QBDJwoFSQBVC4g6RUFjOIBJp0giK4ARW4RTqkiEvJgiBSkdbIIQNogID0OcXhAUQ4A4x4gi6AiDgAgw2wDATggTwgQR+zDAeoCUjSShbxyga4PotgQKY8yMZqSjp4jEaQS0E4hboEA0iDGiqIBL0LGTc4Ax64CsGkCP8nELBHvCEZHLGSCaCWekw1qAL+ughmcYEfSAIFGClsOQ2o2bXJsICSkYkBKpklikbPzMgOgE6LWL7V/AOjAgMqkM1VOIVCwMs/OcSVAgAqSANEOAQ8CAIkiEONm4IcGIvKIxw9yhkD4AEeUAQ3qILlUAkREIHsS4HNOJ5saTeDYYGhQ4Ix+IlT45p+A89GuonLcCJkKUYtsgEbcIJDoUtAcAOouQMp4AQAWISBwwIluIETSJD+lAgnqLyc8UalwSxKUAQ4sAIhiIH7AxRSHA/Lao8KAIAo2JUTWAASsINE8LSbisXHw46KFC60kggTUAIrKJc3Q4EhkINSAIBUIAP/x+GwGKVHHkCBOP0AHPWKHdWKHAimKyQdGykCMKCER4CDLTDSFCjFiyBFjZCAAxCUo8mW/soBObDS39qrUZIU2cDMyxggMFADPECmWROBIDhTuiwnqPkJdtyzE0ABL5xTFuA4rOA4BLiACLiAtIEKSgiFScCDLlgCXdnAlYCcBCgoo1HUAGiCOfiTEzg6SL1SSZ1USRilaomXCUiAFZCBE3ozEfgAE5BHAHDJXoUTMmir+rTJUlTSErgoE7gYF4gBH6A7MRiESbAEQwgDTnqOQ+0ARR2cLNwVIwiVrNitMagrAGBWSRW9NmQ3N7tWAGg3QaBLUDgBbwUPJpDHGL1F/41IUgc9VFIcgRhYgi3wg0kghU8AADUAACVwDo3IvhbgxeJpjwT4Ex3IAQATikiJlJmigt3ytvlg1k6bjdwiAUD8uxPgrdk8hQCEExQYg5WKBO8RxInIWI1tAR9QArubBGVBgW0EgAMIgK3VQgqQCAoAW+d4g+O7kq8ozKTzmBaUlm9zp0iwAyToidwaAkC02Df7AGs6BbpEp339PInYqVQ1VKi1gSWgnoRRgAeIAAlQAAcwAQbgAIwIW5VQhGfDisq13KwYMKGolnS7ijGosBbyjIDRLRUoR7vNs7yVhUPZFRCQgTJwUy9ggUK1CBDwEwv6Ab8DgAeQAAp4XA7ogP8O4ACqrAivvYi1uVysyAHjPd5JE6eP44My6AnRmCkiSFXZpZ4RmCF1TAU5sF7wIAM5MNVx7V4SAdvyBdsKeNyJyE83aFEOcF/3lQjgdd+wbayVyBQ4M8HjHYKqWBn9tYq5sivTMTAAmKksKF0L2oIliMdUlIVR3RUycIQYpYIj+YARgFhlMV8KqAAnhYNyiQAK6IASYAEWOJXfzZTylYj0XAkc/c3jZUMXdtXS0Db8GIO5yhFJyQLFqts3I4M0GFVQMIJdwQNJ4AQP44IcYDOEBQ8VfgwKkICKKIACAIDDlYgRHuH7fQ4HyF8XLpAouVyOswq9ITCvSjkX1OEDhhr/RHiDgJWFUyCDDIOTPEgDUGBHJCCCtpQIFGMsqBmAAYhiiUjc35Ul8BiABNhiGEbkS+k4Ais6As4CIkgBjnyzP/C8NMjbVSiEpYATmvMwTnihpXyO+oUaASBlAZBiBaBiQpaIEzg+2EDkRC6N0/tXRPkyF0TJOJ010rNkWUiF2pTPmhMEJwgCOhBelWBiUYaTUiZlVC4ABZBiEhGA10je43tlF76UMP5XG04UFwSDL2ACBrWg+gXfVZAFPjBWOCmEMfAwOXCCN+jUxzhnieDMlWiDx1BmVGZmEhmAL93HarbmaxbOKNNmAOBmPJiDeKae9FxT0ZMFQcA68MgDM1BG/5vLgTeYhKR4joe2COKFDGWe4nx2jge4IGrmHX+2XEVWQVt0P8gzg8NrzTeLR4Z1yV2RhLz7sBxIUMLFiGieiH1+s1IegAfAZ+fAYonggQQxaf8NYyqYKVre5iw4SC0KOvvkhEUoAyOLkTwA35VCAhLYgh6wZ57+6VKOgLKOgGeOkUEIiaT+YhnO3BruqJlCAiGMrjcDAwYIkJwoAiVQ4ueoufpcgWaxiPG1N4+eXwVQCRRWiSI4vi62XHFpYVe1PWwWCkpClAJRgTcIhMYq5l35Az8iIBMoUec4xHV2ggvYYeHri1JWgAr43QhIbI7GiENgbMeu3ORFajB2m93mT/+hkA10QwIVIIOG+4POVpaCGi4HyIC+dg42yIG9TIO53eHUVm2KAOoKOJUSKOqJiFwxO0D9ZZv9JYMieIOzLIGxEAm9uUXMJoPlCwREaIQ3U6Fhmh9xxB8GsAoPaAAuVFXCVm1S9mMOYAEeIIIKvQjFxojGYgP5898gAINJgPBGOKZDYAMWIIKryIEMgLgcGATOVqaJ2AIfuCWDwdfK0K7neIDlIRwDANqMoO7qnogoVoAO4AEz4AEWkG3IzfGKyIMiyEW3u5SiEIInCAM3eFcI79QhaCs65oQcuMv3pogtQGsAQGPIcDMsqwwC6AAkVQkjOAAVzxYudNqMhXGKaOb/CBjwAzXwJt5xiYiDL9CBzdkcEwDElCXGIQeAFr2jCAaFUvi/4UYERahaP+iLKu+L93miz7xOyLgA0JyAA2gPQGzapy1zAPjg3z3QG09f8OjuNsACIWiWGXnaF5cIM5CD3CwFUAC+RmgESsDVLQAA8it0UrfuHjkAfZO+eX6MIsCWjGypB2izwSbFBw3L6o6AB3iAElDzEtsV2JaIGSHHUR/fDsxNOl7aUCCFUHBSOCFziiiPy2oi+roDhF6JEhgusxq6AEgAVcOIYi/zKC4ANL9ix+njjOn2vlDyIvawIbgDUiiBChDqKScRyCn2XOo3b2cKyACDJpIJQcmvANCE/4vo4z6udACY+AIAYQ5wdrv1b4oIAmXs8yImAwFnAfgNa1JWiWRhggiSvstYgASwzb4IhPOenJnAFqZ6Z0AOeIGH8VLO+LPm+UrP1lOn4z7fnBLw3ZO12FK+iCT4AhPg2jsLADDQ9b4YILNqojmSiCbAaAAY5FBmYoMp5QdwX8Wt+DFfLAeggkUo+lMYA/k1eaXXCAD3aYlog0Q1J65tgpj3iwRogJnIMYICAKr/E+Kta2UZe/StAMQWeuvNgbYqhVJwe/etgO4eeMCw+FR24gRIgANwAAoIe78wgU98wK1NADxIz6Ys/IkIfWgWgAGQAA4A+Lo/+4mAjyJOBVVcgf/KR/CjtYEnAIDd9doNNt/ngHrS51owaMDHUgMscE6Daf2ORnn3Pevar4gLkEdQyNtSCIIMpp6mLF8OKH7jj6DyD4ADWP6IUAIXwD4NdJyux4hDlYixL3vGt36JuAAnYPu8dXveBwgKFAAQLGjwIEKEHDgQ5FCBg8A/CScS/JMAQYAAByQIpBDBIAgRH0aOpGgSoZ8tBkkiHClAgIKFFRScrGmzZo5FoE6lOlWmQseBN2uWKAFgkiJESgMFGgrgT9CgER4oGGD1JUGSLJ1SHCGiJsmHHB4U4Gq25gpBnEqlSlVqRdSzBRWUVaDgjJ9DoUIdbXTokNOoFCRQLVvwJWL/AVnlIhxxk6QQKEwiGGZsmeAKOWvbnoIblDFdqwNatLAhZAveR3s1maVQocLUGyhATESctaTcGCicjrQBBYoSFx8MDlDwoCHDyydVSIlUiqdPoB3l0jW4G0UKFzFsKEHdh6sePW2wCGmBAoUIxbUTqzc7yA3XkS0AALdxHsWIAgoiVDDYQflJOUTCCXRpCCYXCCM4BsB155HmggvzcTXHQbttRRFWZikyyVkfoPACfUzYkMJ8NxCkBwBGFdRBcgAipIJabKUSiWfTnaVgSB7uBkCELbxgn1lWTKTVcC4yxZiHLgjBhBAxuDCRIv65mFBmm/VUo0AAOgghAC+88KRZ//Pdd95tt+HG2JGMidTCDUoI8aQQXbSByEGKHEInAP9NadAFTjhX4IGXDaCfC156uaNT2DF4HUEonGnmUIeQAgAiaVqmYAsx3OBkQUrhaRCejbS4JwAqRLJTW3Jw9JllL1XGYwtFOpVCCtY1SNGjFKm4Zwy1xgAqAE3hGWWUBDXyKakbLEJgW5FcEMGqWTImQHE02UUTALIOdQNpKJBWq6PaJpSrQaEo0tSe8KnUabBQRtlII6QWZIFmMp5ygX4PPADttALod211jGHBBI8RMpjtTSLQVtAok6C7ZyijEGQJh5pEqcfDBL1rbLwGCaWcA1JwAgpnVIimX6uD/muXcv9qiIFFo+d95ZQhoZDSSMZG0olsQRwSlCa8ACjSyCMHfWyZVaaieoocL4k2aE0LHuQvwAFfhiIAXTDxgwszyytXU210wWNBg1hCUCiadKzxu2sTdPRlyqI6YwLsyfXSfvpSNYCLQcfxBQA//Pq1WXnEoQYAN7hwA7cEqdQHYAc1QgkAlPAMt2X0Wnmv3WdR+4AEDHHwantnIRJvUnOoATPhXLVB0KYAKOFm4y74UIUYhhRdECmWY+zxlA5QsRZ0WbBX+k0DwASABEWNCgDyZsE7fSN0tG6WEC+0IMTsShD0g4QECVEFAH1YEgoqqLCGEOZnJX0qdE137lQBBTzgWlH/xx2mHCKUaMIazq7HlRF4S3ZCOCDsCsIpglRBDX3wg0kE8jyzWGBZPJmRAuZnkI9QhD95YoEYSmAY21ymEZqQGOUQIREBPgYFLvgB7UB0kPDZwAeMM8lrJkjBGHHmAsoj4VAEwoIhAqARerLKlCiBQko0YoUsBEsLXgiAJGjPREr4AaK2c4MfmIgiLChKigDwEb6ZJWTE6wkVjpch/VGEAhxgAUFGUYTkYKtvEtMEE3n2xCHt5gWzS9wPxLcjLXKNIsaJgA7lQgL49SQNasxXHCJIgRKwgAcAGAUPJACA9lkGEevL4+72iKvdxCAGbiJIEgAghN1kaotgSghi6ggg/wcMCDpSqFti8hUBTr7tjTw4YRGMwkvLnLByl0QFAO6ghPCJsiAeKqWmvCe+QAKgNIrDkNNI5YA0DCgScsiBA5SnMrtAS1rsmyQAgGnJ1jVCYgB4xStC2cyVjEQ7pSzIAbNHkMW9EpbUktcBGJADJAxBBQBggMr08xHpmNNjbyxmEVjAASfKa32qeMQW+jlPkqDABgDw6D23I8NMaXQi0iQVARjgAAtYAAAIqJ9dQFcQiDT0bR0YYhF4wAOjUHRPjUDmK1B0A3GJciQgQMHgTATNfRKENCdRDwf3dAACBNQBVmVAAvIVOj2xyEZvowARAWAGOD6ldaoYxRy6IAQgzf8zWzry0Q1+BIB78kh75nlqcR7wxl0pZwAEIAACrDoBBwxWPxLY6opo+jE3EkSnwXyiGL5XTaIKcCTeKlRBTORRENngBYjCUF73uicBZESlK7UAAwCwHwlUoAN6ylNXo0JJAOh0ncMEkAugoMq5UpZwHI1ilzT1As3+aLjMrE1oybqnBATAAAewqgUmsIHn8ocDriXIf1wbFYaQ1Qz/uS2AYqBbJslmjyOQD3AJ4iXYgSiunq1JaAmHAAIYAAEBZQADDoAAE8DBuq79L3Y7EJSb0lanENmjNH9Qnt7aZEeW9UEYIosQJdgAQhKKwZcK1dkXbMdgbT0IcwlwVfwyAAH/DIjAnRDxX9eW4LoAoOlsAVAEIsxTt26KAYNHWU1ELeEOhmDFJyxhPYLEoQ1fGBg1MVywj3rJPJ89yShIkUjGUOCvBjgtag+aWlSMgomKUASLW7ziNxa4CJHbo3gz+2SwsHJHLQikIVrhijl7AjB/uLMeDHcGLDwhlRmeqwwL6JQ7c8WrHqOAAQIQWAdoALUqPcACikAKVJwVj0LrgJhZPEQeoCIUWBOlEADAJLINZWHhWxwA4kAnVsyZFZ6wxJ3/cGYAtEHC6v3SeWxw3KEQ+iZxKYgbD6ARLLPUAQtgAAusYL5QqOIVUdYYbMk6ilG4TZTjbVKOTRLFk94JAJ4g/4gnwh2spvwlSoGIQyS19oMXpGCLa+ZKr20SF4Y4IKVY3oAFHHCAA1SATUwIw7KRiUJ4UW7a7pxnDAgWuPKapVYIOcSXv12QcCMCMH8hiFIAoIdIRuEHSegigHpaE4G4lgGKvne+F0CAE1z2hUoIgxvOhopXCPySo0jKh0O925IexEM7buoNmGDrTjXCEhKfuCcyMe4vfxleepjDHNpARVKJnCL+7UBG6OsAlTKgAVT1VhQLxWFqqgEwMwdALCpXrLbaeK0m8TlCWBfvpsRL6UiX+F9OZyyhKcJyrau6Qv7DAeYG4K9/BQABAmAC0kTRS9CUIQDCcAZJzfysH27BSf8vc4h4d+wTrmAFuL9tiUNYwuiZeEQjvlxEv394pmFkgQMKb3gCAOAABWB8oaCJYQ5v8QdP+ALgMsGXdM4zMrvlyhkOcogjuc0SrGjFJwySibNNnFL9WzsLAX+nRhSFAglIfEZqTxXc6373MfgB+pkgzSW0niAEO2VCTi0hNeQBIXSqdqWofxJPDO3DsY51ICQFIngEVQjAATiNXTAeh0GTj3CYDcAQFtjHXbVfgi1GQezIK7GOpxhE0NSJUujf/gHArDXT/+FcGxSGyogG15iHAzpJhGjYD/wGg+xaM6EANYXar2jFuwmN9RVEB9ofCNrEq9Vf+3WbGHgPCtRPAdz/Ryk9iEiZhwIGnWyQSfuFGp8lzg4WBIVgXxH9oOQwht21nx4kXxc5yH18iRM6CaKQhitRYfsxUBUs01AQCyIMTbUZhDxxRSi0QixEn841ExxYAdeMyZhkird4CYQ4inV0Sxbu0SuoQkJoR4QMTkEQy9pw4Q/moVO0gi+oQiewX855VoMQIiJCSCISlRu23/oAACnYnfp1ERa0AbqsHerYoQ8aBOVchiWwwRE0YuuIIuMx3nmInSlaWLa94SoSxKQAgBXIidAoBS1W4umsTcdQQhByhSduARj0AA0+kZMFYzU1YIaZomcdo/8VRDJCIkH8Tw8WUUFQAs5VmzVeo1mA/8ERNEEPtJ4LISJpaI/YjaMpIswbUsTaJCNCMJEXMhG0rU3pMYYufMIbFAQ+6uM/8qOhcFgx8ogvDuRB6NE6UkIuEgQ8JgXRoA2QMcYrEAQvFkQPoIc57skhGsqTXGQpcokLKCJHIgTgAcATAAAeDN87sSPlhOTkGEQrtMJJ3sQyEsQSNAFC9EAKvKSLbEkU9SNNmuJ8RIhUzlPHdMwfeg/5EEQspN068qA7JgRSRh9FeAJQAsAbsIFJQCW5yMuW0KRdVqWE3GRO1sQf4pOoAcAgfII6voKlGRNaAkBaGkS4fQLoEUQwtAIjAMAR1IRcbuVRSWW3/GOmbJhINVX44P/kXhoEEfYlQgjBE0BB8hVESrIiRQzfUUbfJ7RCQtwBIQDAGoABQTglRVRmTTSIhIDmRDyB4FxkcJmfRzkVU21lM1XgSVwRAHxBlKgCWQKAK5hEWyKELjACI7DBGhDEbepmXEblhbSErPzmDs7BH8SBGDAJF3mIXYIIcnaJQIamQZQSNRXEfSqQxxGMG0hcMPjCLBTEdRaEbE4Ed64BgnonGIDnboqntpyHrDhI+MRAEgydxvgPE9GBGiwTm5iIh8KKUwHXXOYkR0kWQggONQlORBZoMBAo2hhlgR7EdiIojSaobS6oTdQAS9zHwUjoccUBEf7MIyiRwbGGFSjBDST/ARctaTjOh4iOKEdalokoGPoZhOAwmfawQUTewUHEQoAeRIwaBCO8QY2WaXfa5ho0AYNOREumIoOQyI8GQrz13QkV6dMZ2RdojZKiH7cwXqNAKUd+1hblkyrdUJdkilsSREQiRCvMQoEWqC8QA0FgQkSaqaXSqJqeREsGI6cexOtUxApNjsFNWxPdGR1QCB3sWRIIARcJo7eEC31eICXCjpNsURcVlwtMZkS+wa46RSfU5qUGK4JmakJwY3wihL8BQB6gi5z+QSA8Qp0aHB383x/giXh8QRR8HCP+aaxmyyvd56YsznDFlZMZxKIWxBtw6Zf6wkGwAiYQApkKq7yq/ymDGutQCEtS3BmdjqoiUCvEdQzOIQ4TtIBjgAlwRilSdVF+huuHMogP1Ca6msQvFESLEgQhyCvGDmum+sCxmkQkUUqUVMqzEqm0+uvard3GiRoX/Ypw0OcHLI7O5WficEpSdRHEKqpBwOW5GoQpdEKlZizGNgHHFtBvUgSK1CEe+s+oUkIemGwlMh3GUUgX9KSuKWfrjMSv9OXCqtd8oJ8PLGpt3uxB3EEnHAS75izQBusRgGNNEKHqdSDJTttTUGsAPq3qQRsADFk17WU9IZCVHkQhBY4NLMEauEB3iu3OGkTaBUOLBsOXqiSapi2NxkC5GgSX7FMSfMGQIe30AP8AtI6qJjTr/9GdsTDd2tDJ2n1B5rXfSKSAzvktuC7c93AYIxBCDeim2JqtLgSoLhDE2UYsABxo2oJBCoBdQbAtQYwNxrVNx3yuwfkFtd4ZxHUh9QSNJcaqlAaOKsVsaQqBbIhADWACpTbBmQIAvEbmQfTu45qE8MqrZPopDT6JblUi9b7jqI7Cq1mC6BKaHVbv9MRjt9aT9m5vZi1cqK2SUbkAIZgCpfYAXCbE7gJA7xrE+kowzkZusDZBj5jEr6RmHTKvSEbrKAQZIoye/sbanfSv6U4PNBbECLKuz90naRqEzmnFGmCCKTACGMTAzvJuQczC8/FugD6uL/xCdS7/avuWaQ8EZDcSRB5knNB0bgiPariZMOmdMDSmnqcohRTr3VmS6Ad0rfj8IReJj0Z9AAj0wAKbgincQXVK8JcCMf9lgicUzeNWsLkGr5lqEeMwzgI1FdHZSdsUhPMaXLhN3xWH2yEMQsU1ch1uYOpt3+rdYeuRRO8pWKhhsom8yZB8QBMscDAQQywcpWzqwreFKUEMMQA8Lln+rkrS6BH0sSwzjkcxFeKw8CFIcRxF6yeEmy+Lmy/rL1MoRQpn3LFwLiX4DBh/QCYbhDRxskmgwBK0gjIAwC/MQtK98QRbM0HIpidUsCoTxMSar0r2MfqdcyAxzpOclB1WnC7HLf7+nLI8+zIACLOnQFxSFMvpgCT2esgNxOwB/TPPIUQmwBMqn4RsfsIsRDBFfCkboDNEyyzeHgtgwEvRKK0hewJjusIszAJHAxk9T8wwYxzI/sXkaMJ08m1vwO7BDMUjHIInvPFEbPPEAAArLLQqV2crvELFAsAnnIH3NDNCfMHrhOzObF81irBGy5kr/PJNg/TRCc3DfBkxT4467klAAAAh+QQFBgAAACxEABkAvQDXAAAI/wABCBxIsKDBgwgTKlyI0IpDhhAjSpxIsaLFixgxOrSSsaPHjyBDilxoxUgCIyNTqlzJMqXDAChbypxJsyZBhwZi2tzJs6dGKzCj+BxKtKhBhyeFGl3K1CZSI0qbSp068mlUqlizWrSqtatXiA4ddLj6taxZhx1MPDHL9qyVDh2wtJ3r1QqLuHTzYrVSAq/ev0zt+gVMeOhbtYUT9ywpYIvixzU5JnAMuTJLyVcsa04pd3LhjaBDb+7YxaTejVhSd+mSGovD1nJHY8RiJACA2Gxhp36tenVrjrItQrGCxfZcKE+YPBmuevfr1V++BLf45Elt3GVhW4Eio0gRL2kELf9KRCaRGSJFMk+vCOUEgRNQ2DoEQ8bMokic8keKlAbJkAkIGOBBFfGtJ9FqRhDQQYFfRScJJ6CAAqGEnCyiQoAIECCgCjpYxlxqUDChxIhMQIHFaii6RtxAavRAAAtsQdEEJwBEaKNAchBwwQoRDCHQEOkpBlsX0X2xmhXJkfghFiGOOBBtL5qFRRUP2ngjAIIMoQQAVegwhBMA8MAkYSBCYeYtzzwzDjvtpLMOOumA88031lgzzDDMDHPLLUok0WeCCajXlRhisEGjlREKJAgR0v0IgBMedFEYiMwwE88889AzjzucdsqpPfVgKo888bTTDjitlUBAAmWVKEmNnID/IRAZoCiqQxiSfkGEE1yokJmkesERRxu3YGpspvRoas+y9swjj6nQtsPOOuswo8QPHRAQAINaYSFrhIAIdAYYtQIgBxNVDFQEElwMwcOWf7UGjkLSsjMPm9OiU00xvECSgQceBFECAgKZANVB19rwgxJMALeTFTPWuAi83pabBnbrOuFEEW789YUYapwx70LsyMNOMZBMAPC/AHswAQANGLDAAgZccCLIBIlhZGs9qeGGJBKCIusVZpJbqxmpETQEF04QAYCgXokoxA0/CMHwiexkzQ4AWRvETjzyANMAQTMvAAEEDZx9dsxCVM3wh00KYTXDVnQhxhl4sySEDhO+/yoQE0mkEbQZwAokhhNUADAE1FSpIWwccKghBmtWFIIJJqUMAwC1Wa+j9edbx1MMAmWXbYDaqMcsAyBb3KxGG3EAAQAOOEhRRRXKmYgia03+YIPCVutOORMF1X23GsjrzFqVsaohkBpNyAEhJ0S8feIXUgjExbVT/eB2iRvZYgsvxuxyCRo4IIDNOdRGayro9rJDetkAkH72QAvUT4Aw5pxjTjlzqhMQaIeDENzCFn4akYk+hreQTW5Ix4NDG0L2BSYx4YIlOhGKrNADTuzHDEL42xWIILgIpQGDDetCGhzFFCMhKYNdQJMtlrEL8wGBADjEISyotY5Slape6QhiEP/nEQ92AMMASMShATSEwwAoEYlAqMQmagEMY0QDG9nYBQF3YY4ulgOA4ACHNdLEjD3tqQoJswHVhJCED21HREqwWgrP0AY4mKEMaUgDGFqzmhWKZxFgcEMFm8SDMijuCq0J0U6QJ7kKPkEJt6gUOpqxC1jA4hKigITMDBCgYxzLWKMKZShFRa1K1AEIZQtAA1bJyrPJrGWwBEIIMDDLKIqCilZcBjCAwQtgFKMa2gim/8wRxjBWSk+5uMUfILcKZqQJHOOIJjiG4QU8puEWUEhC22DgBTCloQxcKAIYwNADHVTBDFQwpBGgwEDkzWRhGcSCKZgxjXGoox7xgEYxaMH/izpsghNlUEHZjsGsghrUoPdIKLPcEap5AOAb4hDHMZLBC1FUAhJnI4EHcoAGEqChDmgAgkhDIEuATQACJ50AA1qmMlh6ABIwhUQxfhlMb5QjHOhg6EA+RQ9wGLIM1QhHN86gMyJ4wUeG5AIAqMDUpnqBqUbAYN0YeAaVuA4O03BGP+zxDmZR4xib2AQJcuABFZAgAxawgAPAYQ8AtHVZbnUrswCQUHzkw64Jzate7/GOvBa0HpoSB0TFUYxjiMKiaAhBCFDqMpd6QKOPBRhkITuByla2GOZARzwuVQ+EuqMWAChDLYCJDWvcYhVSoAIXvpkGLjA1ta5tKhdg0LYb/9h2YU/ADkh+p7BhqIMfW+XqsrSxiQMsgAEQSKsDHLABCzCArfewx16new+75iMd7ajHswSC3SB2qq/UxYd49Spde3Cqp4KV6DFocdiOOva9EzhGO+RBD0+5tR6dZZYh03CMY2gDG9f4qhe8IIVvysG1CGZqbKlQBDIQgQg8SEMTmnA9MYSkbQsbBjrUoQ5wROPDuIjGMbjgRCcSAAAHYAACAvCNdHC4vArdKwDwYY94AAC/+CwIOnYMgHPs+Mdt8i6nqEvkd3T1Hgydx2C9cYxiHPaw/U3WQZcVXb36lLUrHMOAtxzab3JBDjmo5oCZOmCX5cAJcuBDIszDWzXCE/8jg2SCEY5hCxUQQQ6JkISeJeEIFeQwAAQ7ABLrIA+BFNrQhS40PeyRrHRgKlmYKuLm0DFpAFDa0puz9DoK0jV2dNcdzCJyjAv6qSlPGcehYgcu5IDHVufR1WVg9QrL4AUuuDYHchCEILjAABwugARZiISeBQGGKIgoCSkEGRwm4rsYxIAIZdBytPfMiT0nQgplsAAnGeAAFYsDAIc+yChB/clRvencmd40tdCx6Um/qdKX9trWPN0mdXAKx9Lda773Xd5laUoe82hHOLxRhlgbnNUHL3gaWO2FAARgAQRYgApUsNENbIAEBkADGhBAgjxLgg9kaMPkrADHZFeVIV3/QBIRxlBwPIZ2z3uOxJpPsQoVMGACJIAEuHce7oJgyrzgdlY7NvumH7P76OdGOg/ZvTlqpbvp6WZ30QGQqXyLmroFjQc2sEGLara84AgHe8vT0HCH0yziHnBAfOU79Hh8Q4zik8MWQtS23zk7BmpUwloSIjks8GDAU8ieub65n0TIXOZ8AMApCqECCwwBF45GiEMnPw9Gg21UNo7HOs7BeR/7eMec/3HRla50dTNd3aYnhzkWXVfx4kOvdBW1PdrhjUs8HAAhAJgKbM2Fah4Y4azmAsCSiMT+Dh1Z9KgHpwDgDoFEsxe3IOrOzMQthPjuBUTIwqOyl72FS2HN4E8E/x9KCAoH5AAcAKe6+idPEHkon4ibjdbmzdHjHvcvs/IQ4ug9H/ofu9voO/Ym5wAN6NBXrneACJiAedUO1VAJSARxEfeAMoMBC4ABHqBYFMcFORACMoNDwlAM89V8B0UQfLUPwAUP8LANupAHbjA5KIcFHSIFTvAlOYAEUuAFADAFe6BmfNCDPVgjkhAEQCBKRChKVOd++OQ+bLIO9NdFTlgO1wBlEPUNznIs+ecmoAeAAHgO3GAMbpWAYBiG7uANooABnASB81M6aggAalgJxSAOVWdqBRVdXJUP+QBc/dAP/DAO2AQAN6AQc9AGTQAAMnhmSLB90ZYDe7CIcrAHcv/AaoaXBnXgPptViZs1SpgCLVrjOUz4RQBQDp9YDnVwEAhQCZUgCoUVUd8AcOjQP533iv6zDOEQbulgY3JVXWHoegBQDBpiAADASQ6QVhZgcRqQAZXVAGq4AMdAD36lUP02ZXSVb0Y2jfkQXdYwBwvBBD9gAk4gg0igMQLhBNUkBY1Yjo6YBmYwfsUAP9JCiUFXRJ3DQ9RiDuRADl/0RdJAP6QjEAGCRL/4iwRQCfLQik7YRcNkDtywDO0AEWADAItmD67HDtgAcQBAAAxgcSRwARm5ARdgccQIAaRTfFbXjM9oUAJRXvgwjXlFY7gQCAuBBU9QAk6ABN8og1IwBEP/gG3g4YjmmAZUEARUwAv9A4A89Dmm8izTsnSbhw7lUI9OSQ6jWBCkQzAPuAABUj/HwA5fVJBPKIsZIQ/msHFLxG3CuFwqcHEa2ZEWNwEzcwxXN5IjOId0KF34IA5gkC4K8Qd4QARDQJPdKAUymJPVhATmWI5lEARBACAkUAeMSQvNIA1b+XmeIy2gB4vnQA7c0A3hsJnQQDP+6IsIQTAIECDJcJmhCIr/Qw67YC8C4VDrBxH14A0qZgDctlzBCADByFwcSQLN5QBm45bVFZwJRVcAAFz+4A95uA/5YF6lxiwDCXD1kA7AcAIo9wTc6JeACZga43WP6IjeWQY3WQzU/zBTvFAJIkUABzABdVAM3MAN5ZAN3uAN2PCBxWCKMlM2H1UHtIAGyUgz/QiaoDkQorAO9QiKoUgO2XANYPNJn6R+B5Epy4CMThQg6MkAFmqbEzCMDuCLAYmL1nVXrscP8PAPJFqi8MAP79BQgNUO5FAN2QAA7SkNkGBbC3EDLgAjGpOd2dmNhtSd5lgGTrACvBBg1XANRmqkzVAMwoAL0AANNIQDGccFvLALvCAN1wAA5EANybBPplQHadifarhJpEmPT0kO4ZAM5jAqVQhwDNqmxwILM+NwDpdDKXah3cYAC2Bi3wCirmeHfgpcJfoPKKiH9xAqJhMO1yANAKCZ5P/QDcAABtjIEFYgA4Zogzq6nYZkB4+4qWSXA6LwmNQQqqFaDUV6DQCGReFgpqm6mayKpeEwENmQDVuHDcmQDMBAC4wZAl8Kppf5lJy5DmoKcMLqpm0alhagUnK6RHLKAEhAAnWaIQFQCZWXgH6aD/oQXfhggvuwrcvpDs7CDtVADdJQDd1gpteABmCwbAyRB3FAAlJQg9n5KDiZBQrHqXJAdjZ3CcvQDPzapNIgDaIaqteQDZrJqkLFqpjZntyQDQorEN3ADdoQq7KqpcuAq3Wgq6UjCrf6r2bKDdDwNZVIKkS4pm0aDbhABo4AfgCwAhOwAQfQRAvgBSuQPwbwcOL/kGgO+ZD2UK08qw/6UI32EFHlgA7YQA0AcA2sigwqQBkolwQm0Jd/mZ1QmwVZ4AQLl0d5NAZO0Gu74IW1ugxgu6/N4K/UkKDdcLZnyw3hoLYLK7EQG6sQq7ByKxDaAAASSw1gSwtdWjp10Azr4D5t13YhO0ryEA1EYAbC9iBAA3OnsAICRQAQ0HgWAAA3dykIkSz5RWX3YK3pEA4AG67U0AwAUKRCVQ2XcAIxIBEtwAIqMAU5Gq8AUJNSMAZX+2pIMAEBgAHAIAwGgQzI8LXNQA1GyrByG6sBdqSzKrHKK7fMO7fcYLexugzJQAsE6DlG2Y6U2HbWkAZqZniLCwrf/ws0q0AEDRBxJEAClSUK6eeaC0EPABAP5hAO4Qq61AANAoG080kCMcAwEZEEP0ACX/K6YCIQhygFSJBH95pHU4C7GHAJwAAAvBvBwmAME8y7xgANAKu8sWq0yAC2Ywuw1FCqprp1sRqxCxu3KNy82WC/5eCKoleU+AIt0bACRkWv3+RxEbK4e7YKGwABp4MELCsKxOqgBSEP5+ANicqvACsN0CC8SFsNaGAEeCkRcVAEhpgDMkgQNGmTWJtHXhAEAFBDuwDBZEzGwhDBAoHBAABgA5vGy8C7AmEMxvC7+0q2TjzCWKTBDEu8sYp7pXhRwECq1dB/ohcNQDlgY6Blif+cBV6QZ+ALvg+yH6dwARmiAmlgAHBIrMdCdZlIDvNpScAQvE0aqtjQDcKgAtKxdxHxSACsOAOsxd2IBLTbamUwBKJQQw88EGi8y8KADMFrpUd6pQDwxgohxx0MthgsrtdQqrOax7EqDL7EXho3M8i4AIzJC8JQDccQBFSLyIn8zWMgyzCnZzInCadABEuEBAvAppr8SfDLDcBwSmggCsvgpCBctFFsESmAAqybxQdRk0OAtQWHBLe8C7skELsMwbucDE1sv0drpABADcgAzQDwwLlczMaQDGKbzAJrpNKLx1sHAFsqDKKgcRfpBFNABVmQOIA5Bd7MclkQc5KAeKD/sAE1awCVcHlVCEo7DUro0A20AAQUiAGV0MHIELC7QARTTBEogAKtjBBbbMACPQQMgAtnfNVwjNAKvdUMXb8RLar2iwwGYdEVXdYJIccZ7cHQQEkhvMzIC9LLYJP+fIgDkQXfHGuGJ3NrNn6RsAEOVwltJ0o7PayZGA7AAARLFHGVMMzGEKrNYAxokAQZIQQmkAMKgZ1ZQAJ5egEAgCSAYAe1AAu7dNVajcbDzNEBa7ReKBAXPdZl3dpmXRC78JggPKohXKTVIAqPMpOx6yM0+ds3+M3dmwiCwAeGlAgroC3YwCbRcomE6yxGXAyyYxwhAAvF0Ay+nAzCAAtGYGEZ//EFVnzZNDkBBGCbJmAQDQYJt7y7WK3V9QwATdqkEa3VCQHbrB3buZzfwCC2/eqvAFsMdE2TigMANUiTfXmIW5ZmxC0HtJsGUrAB2lIN58Y5zG0qlqh5UDwQThQCtAC2cgzNK+QRMeACJWDZWvzbQ3C+GiAQaucABzECL3ADSQAGhVALVo3Vc8yvOj628f3Gu7u7EGzf900Q+X3fwNC1c/y1HsyvkBAEvk3XOEeTZFXgALBlZcAHtHuvQEoCKyYNBjmUAWi90LIO3kALGh4AGRfKHw4MkEAWGDECI8ABOfDkv60BE6ABG7ACk7tcE1ACIIAQeCAQiIAIAIAJpmALuP+AC3Ss1mPb6MbA3lgNzZJexgMh5JU+xnJMEL4LDDhJwAeOk1JeVr/t0l7AcgtXcASGcQHADWXawl2UhTtWDtAQAgKhLQRA1MlAwQYNDEbgAiAxAk0t5wfuHy6jAcPouA6wAkGwAivAAvCiEHmQB3QAAIHgkpYDCIBABtmO7YAABB5FApcAypB+1T8u6Wf84xUNC2at7hBMwVrNC3MeuzkAwL/92wU+6l5AtdGW71WLcUermd4wcJv5lAXpDZVg6wCA5kCwCxMdCcewDHbQAikgEjHwA8KOk2YFAGmlASswBMyu7MzOAmFAEV+QLj6QuiOQAinfAiXQkQKxARrgACH/wAXqvd6Rbu6Rzt5k3e5nDMFN7ttkpQL1PvQCLgVUa9f5Hng5ULNHG0zakJmZKfAI6w2zri0Jf+uVsAy2IATMIA2bkAR/OBJnAAdGkAM5cJYaL4wksAIAAMYg3+wfAedwPrkDYewMUBBLUweiQAu0MNrlrvPnLgy7cMYfDgC04B++TeDDTvQqALVM5dLa5x85kKcB4MSnmg3BlJlnG/DXUAkYIKcPhwYAsAlRwAzcgAvTblVjXwQvk/Zqr/Efv+wdbwIf8BEo0AImQPcCEfN3XxAswM2JMPphNUW7HviSPviEDwB14OQCTvRDnwNRjgRTEHi9bfZc7nDAEMJtzcyz/wqx0oAGn+9wBgAEtIBAjrAMx0AH6r8SLoB3uS+MwrgBAhH7H78C5+0RLrCNBKEBvO/iAAEAQBCCBCGoiJTQzBkAazAl2lQLFzBgwnbtEmbMmDAuXIYgQSJQIEiSJIeo+IhEyhQpQ4bkUKGCRACalaBBk5aT2k5q1ahdw0YNGBACAQgQAELL1phrwnAFoiNS6lSqVa0CADECRQsLXb1a2AAAiYoVZYOsOLsCxVW2U7+IiWNBw9y5FgBMKJg3iJMhGuxESmSmBQAfALYIxEMIk6RNGI3RcvnRZciRJS2LlSIFAMyYKiDQDABk2ehmpZvdlMbTGCw0GI4mlYYNmDFgg//a3r79AcBWFya+dt2wYYiFsmjNrjDBBPdVKEyeQHFQ16sDBngJjinDJ9F2PgDSbOdB9YfAO20A1RIGTEUOkDkmiKVsWT4AzZxJeFiAwEFwUcj8I0smwNGWaUYgWloLAQiMKAIGliJcWC5Cq254Qow5JvgNgA1WEKi4sz4UQ0KqWkhhhBMOAGA6EhyYgIEDSCBhOxm3k4MEO/Yo44Sq4BLokVogISEHyTRgDySRSBJIBSSThJGEuzbQYAMVIMlII6qQEUYYWCq5pJIsGRRlBBHHlCoORBRBpAgHvgqOBBUu0OtDE8iU6oMPEligKxYZYKCBCRYggIEgZRREuz3uywL/iTnZQkQPIzxYb7L5RgLAAw/gc0Kk+zKYIDgPIOGFlyw1MoYqBgGgKMuL7KCTzjYAiCOOOcBYE7jgpLQgL7Q+bFUgOyvQzwEVsvCCChgRIMCACXLgo1A+9pBDjjSWPSmG24qANNKUJhXJiZCccCKHDDLwYAJamqGGm3DIIacZUkudasGK0tsFFjtK7JVMMIyQhI8SMAQrrA1ICEKgOIMwAYRWURihAwOEBWCMMSKmggEEDEBAhT2gtSPaMbxoAFzK2sLWzfWElM/II5EQmVyBRNEI3W7YJadKUkUyZpdU6RVlDSusyHdMHviQhBNJEkkx4DZPKmEgAErIywTdxlTC/4cXOiDAAS/KGIMIromo2IAASEjDjjTK8CJtJyYg4SUdqmirBA+clCkHIbe9TCwAwFVBpKRoybIZbLTxpht339VI1XmB2SWRQP74I2gRYUBCkqKNlsQJpW/VAAAODc5LxzEPCSSOHhwgYeuJiQAgbQsMCJTYtIvli+2YRGdLbpOd3ExSJIZou6S9h4BAIAw7F8iDOoYA4gAEZsuoSnoZ3CQOyCOXXEIi0ii6e8spg3IuBzgseKA4TcAjwkDymAOOABjIATsigqTCCyKkMADQvakAF1yYICXBWtqyAg24yYAiiczvyJWS/pXrLhOYi0jCAgCLHQANiUucRS5yiTpkQf8P18tehEyQhixwjxMntJwkhgAA6VgATlI5WBFEEoi2tOEMX9BBslJXhiAAKghlQNsCANU2b70kJhpg2wWw0hYWWMCAMumbQO72O0yBCwAQmMB77MJC5AHAAUJkwAIqspGN1EsUaDjAELygCDQdgnQhtIoLBgOAIZTQC3aQBCjy2L0csHA6IiGI+YgQhEEGoQghus0XmPCDE2BsAmUAQNhWkDYiGABjROpMTEgwAQ9o4AQKY8sLOJABuj2Rd3T0Xf8eCAFheYUuFuiTixjgASDkoA635EIkZLGIDWTABFXowhniQEM4SsWNcThDF6rAgixIQXZl6J4ejdYXucgFkAD/YF0hCRkEORTBDEfowm1aMIIF5M8L2DTWD9NmSQIAoDNN8oCflIibrpDSlDIRyRRVmUUIkIABm3FllGJ5AFZmUSDh8sIpcrEITvAABSlogQtiIAQlFBMAgXhcHuIABzAMgX/g2loZEnG57iFBLhqwS8FYRwWBDDIN30lEQvgAA2uxRQQfcBgBCgZElpbBa8lSFjzL1QAIyBA3TchAVwAAIyiacjMos+IEDoI2PuXgK306QANQBADnGQACOQiCFzghC1mAYhU3FcEIxGRRWNkQC0m4QQma2T8neCENY+CD0aTJiTLUBXnZpAIktRNTSSQkEWnATQw6AACistQ72/PC/wqOQgBSWmoBDWhAEXigB4Egoi3z22KK7nlAVCIhA1fMwMSKxaJafVGW/7xYUW/wghTkIKG5AEUvAGEnO7FVDYq8QQxacIIhTIGuICXhHvYoTTnoaYtEwOt2ChuJowFmO0YoDFuwwAQSEAABreOaT88JuwZkALMQ8BMHbLMcI1gzaXdpanw1tQAIZOCcrPOCBVrJogbwKYwHMEAGIiCE4LbABFSQwypy0QtZ8FYEbAVADFyAAhB8gAWaERld7WgHo3VYEnagDgNytQLCJsS6hDrsbeLwBikE4LsICAIV6scAoCLgvPQtwnqXc4KvvJdJ8Y0JYyGwALttjXVBwNCeZP/ZAAQsgAQQaIIYxPAFKySBBGMoRS4WjIkPMIytJeItTrPgrf6xDFx25J4epWkHFRzAAgFYABISAoAZCSIRe+BDnsGQPqtAzgz0AYABBDLZZB0FAsgigGbzIKIHeCVpjnYikJ/MZBJgbJJAJEIGNMCiAywgjGKr7wrmQIc80GEOcSgCF+SQigXnAgw+sIG1sps9hvEWBB3IAV1BomEg4hGFRovEtDJwsTrfOc98iJYXVniVPwTCCwxFAuwsOe38ia0DixoTj3+ToaU+UQUT6O9JaHJatJXBAhP4IgKQFQAI9BMCYKDD9SCXBzKk4RSy6EUuOuEGKVs0Bi9oQQso/AH/qHrLzP0r4UujmcJTbKABBJhAIpyV52gBsQxZIAEbOFuVQNxBrJyQAw8uALtk2VgCEkiBQF5ApgqoYNvbBgAp+0YCBFzZC0hggAFyEFiv5WADDlg3AfrpgRLAW96QC0QRkLDqVneCdMQMoRi2+wMbvKAHykbZro+bcGimMIV8yHkAmIVsOVica2PIQg7IcJVDmEEOoIhEHwFwAgk8oAMdAEHe88UBEmzx5b+BUQPAaz++9DRtnqFxoO5zHzbk4XFHhxwZylAKWSz4FIo4hEVPDQcbfiFzi1gqA3WdgylwzQuWo+52xkACQEFADtgBosRmp2yjUqURjzgnJwRRAhGs/2Wt2dO2Xf7u6M4xAM72A+I5W0eEtOUcUJzcVAnaiFHqS2UIaWB1vjvRhysU83p5yAMYorWIRSCBBEbStZKmkAYv7OHEdpbEBBAQAJB44WOzA9dLONCDqjziDZDkhDTAnWLiAP1CqUfbtuC4i6Pwqq9hP9bBphUQIke6jwmIgCoIAzf4g0NQhKogAy8QhMrrhVM4jGLCKA5UhEUoA/IThCHwALk7ro9wghLKAjlIhDzbgzSQg28jgAbIASlIG+N6iU2aACVKuamwBDMQBE6Iu5qyKD1BqeHTkBXIAUAptEdCvvoZiAkkgAXgpAwoAa2IKBugqKpQBBWQAwDQslwoBP+LQoTbw4NCWEHyS7sT6AAZPK5MyZQycII96JiyYz/5+y4pKCIV4BQIIoEIEKCpmISPE4TysSg26DulkkLjIQA6aAB2YoDAsqsYEyJEy6ILoIC8yzu1ugo3IAMqCMEFk4W1g6NDcIMqAINFSINIWARByAEWyDsSyEO6Kj2J0UG0G4IyyLkGcIkc6BwIKKAmuQAImQpE8DgACMA3eAS2YoFJTBEEdDQWmgAD0AE1AIOLwZgAeBghYrcJKIoGWIAKGIEKC7PeqgofUIJ6YzUtKwQhgKOqaYFEWEFbdAISuCkLy7VeBKm9QTtCjKScMwBDnAB7apL7OIEn+IKpoKHuWIT/HDiEjYOjIkCAbfQ7NkGpBkiAf/sBGCgnoIIdABBHF9PFEXhH3roKG1ACHkAwEZSF7YOjEdCBRZADW8TFEwizIiFIYlES4HES4rkYRJQJeEIiq8iDIeAEAJCDIIi3YioCCKgOvxMI4QOOvrEYCTDFFDiBCCC0QUuWDvgkd3zH2+gCOKg3yuuFXgCFnBwBMpiYSMDFFXjHFXiJg9ub/vECKFqP9YAAS3pIGOkkS+GBRqCKPwAD20oDKgADjZQcI8DKJHsPkdBKDfG5JksYUAIAETgBPEHJC+ABJZgtORK4dpyatnADNqqryrPHRhGJDmyVJhAEQQAAQfCCHDiBgPwA/xBgAbsZgqHMgSDhDA3IxJpDTEvxgENbAc+iikCIAChCAKirTMxSQOPJzK0UiCixAK06ALVsTYE4ARnQgTZog1hpg9+KgiQQEUVoBEX4wEUQwVOAI360xUUgi+BMq4dqAaHsxSk4znf6ky6sLHIBlABggavIg/r6tEWrzBX4p85JMoFgkamIoP+6APKkijOAAwAgNfAzNTKZT4xCw+xjQwnNF0yQAyZcBCpQASOQsIBzgR/AgiIozuMyMylYyqXMRK8iF3AripNzxqqIgEsBAEAxAeykExPgE8HzIoARiQyVoA1wEa1aAAmosAdbxGJiI+r7QDkQwVTABMokEz1QQf8AuEUVcMUtqIIvUAPwy4OB/MtwGUh4chL9ySL5CwAOoK3fqwpLWgAUIQBsaxUW8DT/cgAv2kqleo9G1YAhWIH+EogDSAAK0woIE4hYmYNRE78sWzBQ0AMWJZNCSAMYHQIi4ECBOAM1wINDmIRJIIMd7Z+XAJdNuRTB8ypwY4EOWLnbaCR1E7SiyJcL6EIlcwDW6jH9ysxv45NLDcMRgChOFQghiIIuEAOaTAOb7AQ+I5M+iISebFMwiAOBsAEf+AGKCqY5qNVvyTAnwKIsKqf8aQBExQ0FyI8F4CqxAQAooBOyhDgV+McwUjdmnY5zm4AD+CepkAElWAJ8tNbdsNH/GCiCVMW3XuAEPDBVCZGEWiQ/sIqCHxgMMfmAEWiBGPABiiqCrNu1zAQUjLkAE1gCERGBpqGgrPouGaCTE3AyO4gpOpsRHPSCLJCdj1kBGMmAaAWAOziEP3ADN5hYtMoKFABCEcwFQAAANRiTOxhXW/QCEjiBCRPUMEPZGDCBIDnG4iGPOwADHWgVCQgU/wKAC4iDqBiTC3AC7QCMvo2pv7WuE5MRL0iEHPAvMMiDNviCJ3gCTgVO3jKBMljFXigFOpE8nySLWquKlzQRFjABFniCM8CDTJAchQmAhxObHsAeEYlcO/Pb1wWA1x1aJBgsTnEAMBCDJBCuaoWwl/wA/zRUqLgsgi/FDckjV2MJSKuAx6kATThSgKKgiQOgADIpArQbg2iRg8HaDtkFDDrjAzWyLj4wXANIABkIOAp7sN59SRPwAjJlxeGNEDaQEp8kOrWc2NtIggeQAAqoAA6YXgqgABC6jVplj5VoJvhwCSdwppVIAzxLg72NBIG4s5eiiQYIIJcsT7Z6SQDggbfTMlmAQNwwgQpYAAdQozfx0Pu1ChwVCA5wYQ5oCwCeXqkgA5ZxJqM12inQ4SnA4URZj5CQAxwxLGR7qXJRAQ/A4Pvd4ApAsFIABUEogyJQjrYwAQPwLz4xgISBSbbigLvrABimCiGwgggQiApoYRgGY/+2AGCBeAMloaLIcIm9YRmVyBQhCazsLQM7eJYgfqk0gJEIAM6J3WAAYAEkEJKykDu2oBU++SIAC4C0rLAQWt2p6OK7S2M8YCOBWCwASGORWONJlooS0JYVOsa7IWU4honiDKn23RjvkJYc8ACgXF5OpTo5ckmRwKL9CA5XtIo7WFaL0ap1O4EYSAEU8LJeAWW24IC664IwuAqclQoZhhyqUNs4dom6gWNUMqI+AkK0aWBokZY0QOEwm9hBcIMwqIIl8IGacpgD0GUkMII5qIo5YAFO4RNEowkZEIMquwFkTmYy2WSBKIGmMePbSACUiAxtNmU4joyTAULsuCNoyUH/HfykEUhea1WER5hVRYDaMGhcA2DYgMkAHuhY46EOFlE36B21T+VaMhHgoFEAkehk3DjobGbom4ZjlACAKcCOGrwROTCbNCiC3TVmQbWo60FBjRaIkWOA6Pi5zKIKMLDiX3ZkAkiAeSs1l57kf6YTIXgACanphD5lnI4MzijOLPDmG4GWlyICOJA6uJpYyPsDCa3iEtYvsGAAI5AK8CNHB2AyRLPqoxsT7JlerlZhTcFpbSbrba6rralBidbBNCi1T0UmAGhcCDu6rAYArJlqvw6fIsg8kTABBoQdoyCAI0BqOilstiBjCSkAqRgACcmAhV7sm4aJXJOCni4bjnkp/zLIqFLDW7bK7BLdbHJs6rsOjgaVCjagCeilCfRpNvnEjdgWia+W52ISAKl47Qi5ALMe69q+ZpRwAir4mDFQa2mxgyGAPGv9PlM7VwCQAHJ0Z6cOjgloTfBrgjcDjRJwPPmchNC+igymbrYSgJgWCAPHjbtbj2oGb1QWb2IpAwT7aTsogxx4gw+aZk6Vt8lmCAAwgeg9brCwgENtXvADgyYAgzkIhDOZhEeIRSecigxW4QH4agBQgO1mi/6FYTKg7QY/xkjpZrTemD3YGwvH8Jc+6rk2tTbAAnwEgeg9AHRD6QBoXoGgU85ShBaPRRsI8MOeCgGIgAqoAApAcKtYY/9NWWjFZmiFDrLx/hgn4JpmQgLfXm9Onew4+AIlWDkQiO+SKzQCGE+2mFU/2AIfELj0rRMZP+wC1+SCNvMZFokiQGixfgnidPCYuBTclgKVSBQkKILHkzdrBe45EIMn4HKBAAEFAI3JCoDPvApCN/SB21xFP+wC4AAWwHVopoozlwpJx+njFBImGTIEKIIgEOUdFZI0EARHoPNQt9ZYQaaRLWZUT3XQoAkubQsfmLAUFgly9nLtXiwe4AHlvgpIj/RJT2i7EYghKEIeyLHlLgIqiARQcGJOQALBloq7KyYheAIswAIl2F2RyDsTMAH9rfI4QoG1pAqF//YHUO5xN/f/cu91Bs9m9yiBgJuK0M4BhiqFUuAEJ2j2DK/kuhN4Wl8O3lACLPiC7RICYqb2JcKNJSBqi57lGPd2FdZ3Dv5VCZlhNhBlS4+MDMC7gxcJMFhCeoc7jHw8Yro7kl/4mscNY74BKBAmWZmDlhaItSDF2zDnLVACGzhfo376qj3sW+dgHtB1EWEDIjgZu5kToheJGmCBWqR3yhMEMpjPF97surtxttjitjBmG2ACC6GDES18MnkEStCESTDnMKgaAJijb2+LCAh3tHd0CTk5gZCBExjA29h4TiiFezsFMjiEgTZ9Mvl7qkABF1CCL7hbUtvw0TmEN5wETdCEQ+gDthCA/wEYcC8vAAVomnEPaDLZbrFnCxZ4UbMiKy9QgAeIAA5ompmWkJsXiBbAUTUo/DxwdhG5nhNkcU0IBUXwA8lvC963u4GWgAhobS/feFBIBbIShAtQAAWIAJztgMtf+Lawk6xYqwoBCDp08uT5Y9AggIQKFzJMePAPhYgVAh061PAixoUIM3LMOKBAhQ4cHnQsafJiEUGcTsmSlUqFggcVEnbo2ALFCBAABPAUwFDEiBEoYiSMM7Dgwz8nF0Zs6jRQoIWaljoEQOEg1Y48JXDgEKFA1qwfLrJIE6lUqpZUHHAokbXFzRE7ey5E0UIIFgACkT4M6/RvU6UAoFr0G1Fw2P+GPB90laAgcdixAD5QzrEIVFpZnFaUqAkZQNydAwYsPLOXL+KsgFdHBJDnDJQfnyl8XsiTNIcKD8DWTuxA5alVLYeUqMChN+gWKQB8fKwxKWSIhw2ujkASJ4rss3vzjND1K/KwCZCczZxmRe7wCX/8gEKydULaWKMnpR5RwgMFBUaT/gBU7mfHZSRZQpQptJhxFTin3lIqXJaZLDlUAB+DAChiUW4T0mZVfBSelBRBedAhhn789eTTZP/NRlJCOnE0Fl257VbhSRakwUkpLclCxQMeVqjJJI90lSFrG3YEIkFqWPEDTgeeyNNk/oEgFGQD0FXSBwIw5tWCNGYElgr/jqDVkhfoGYlRalQ9wNVUQQ5ZgYZOlXRQiHF8oYQLQYEggoFOohilf4lZeSKWH9jARG5dKiRBSF15CcAKwOk4xIQmpVnSaGBVEQYAh0zVgUhdwdnUnASN+IQNcu1JWZ9+QgkoVfvxR5pJrAIAhRIzLiQBAKD6KiCDHHBRHpkrSHBmbSYKMIBQKKTgghCb+gFACdWGCixHSS6Jk06sekujV/nttxSrNkDBhBIxoNBQtb2Cim14JDiCWUuRBMFreLP2xOqU2S33WRxd4AnCniIo5K2tyHHQQbXFUcUqCoee6wIATyjkmVvuilThBXKsJNyOlSI32sEI81sbqjmJwGer/wUi/BmcMcNbK2VDCfHEDRchotBxoDrMoArE7rgCsp+tavK3taFQ8MsXmZzVqBJBRpkILvwgRBJ5NYQIIhhby/EinECowsyfId00ZDkdnTRGT2PUVgnpKVQ0VXq2EIMSC0EVVUKKKAJA1w2XDZkDZURySmZebPAo0r0RLEJ2IKDd9uQLFaehetmNQJRCOwNw0CE7N2KhIo000lmFJDxY7wosMnhi5WGpu252KLTcEdVBCaFQ3FFXqITFpgGOCN8HiT6636Yj4uNnDnjMEpkCKMrdkwIknNgZXTDxw+zZ8fkWE25k0qvvFYYyCQBT9a3IzlEZFMjfyJf+yN8VBj2mLP+LBFFh9X8SGFYg9BAHMWBhexTb06N6Q5HCMEQTjajfYDw3Ogs9ghI0EsAFVtcSJAgKI/0LT0Uqkgc1EDAJN/hXAhPzhzmcISFECYMbDPGIhIwiIYion+n61ggL0sgBNwpOS3byuurZBjKh4xpFEEGHNnThCbtLYWK+kJC7YS1rnAKAJUIBgBqqb4LKe5Tq8AeK/YXng0VMTCAQccROcU0PbRADFMOCBSXcBAW7UwIelXCDGzwhDNOSCgAo0QjPPUoQAIBe/tRDRIb8KSvw85vf1Ei8QFwqjh35QQsgZ7WECAFrQogBXG6whSsm5BWo4OHcFIkixLVEf/kazZUONID/2q2LKoEw3QMBB5X5WPIkNbNa3vZ4tU/ChWIAsMIZ/PAIUjBETuG5AADotUHk5Ec/+2nkaGgZOVuWLpJqpGQle0k5u9gAay9owQ2EoIQXgEYhNgCAELpASgCwoDOD800aDgmySDQyMRGJgHW6JID9aLN2WeEaJCtCSXH68gMoeMELsPYDG9xACUL4QQpaQDGKXo1zCXmAdzKmSA9EAgCZEcQKavOXPOALAPpRAAgKqp2DQlKSC2Uo7ijzghi8wKIJScJFi8lRIbTANh951G/E1pJTqCAjLc2IU6gTHwlE4AtRMGEd/ZWYQ0CydIcIJ05L9tAYxOCdCrkoaFxwA/ag/5BQjxJAGEsRiTKQwAG0Uk1gINKhwRxCgGKwqhJscBPIlI4SFnyEFgHghiUYM6wloxhZefoDi/4gZxrdIyNf9VYHIIEKVAgCCSyQgLkcFQBzKEleNwQfqCR0iWfQWmIQoYmpaAIVqmCgYxniUBu8gLdkfcEe2QmXFzSWkSkUwAEQ4IAJaEADE2BAQpqzJtRO5y+DgcoNk1e6CX5GEaNABQBQgdvc1gUAZe2tCwFAXLvARTEJuc30ykiABTjAARawAAMcwBuQkgqq1aUNbRaYXVyaDoKEfUV48WAFj5J3LIPtLYSJolHiAqCWrvLJAOKLnGUR4ADQtYAGLLCAhETAOP/OvMh/FXLEAeOSkL1BBSniAIAbMNixknHBTt0JAN7O+JyKcWsKC6CAACAAAPbdgAoYkIAIUKAmHDgxUwDTqe0itMVesoIeb8DO3DpUo+rlqXrNmhAtW/i9QE7gbg5AZCMDAMQNYECT5wblDsmJA414hCYEuV0DMygGTEDXDWxQZvUsIQxWMK/T7EIxiKq30VvubVEzq9lHsQAAXiEApj1cXwYwYAEJcEu1ntxfOf+FAyww7GxHYVju0ugDQkCXbNTFIBQ0IQx38EQn4Khb9kIWAC749Y53KlgXuOjHlmQBCwJggISMmNOcLjKoS2BdUkekLchO9SiyjYg8pNDPgLb/QXEfZisU9GAJd+jELGbhClZY4gxVmKJcNApZdgJbveycaUZi8qghdeABATiAfS3gAOjmlwHQbNhq6EwBa7MA26PQhB7i+AEXMAEAlXXBoGnGqho0AQBdaAMiWOGKka97EAmBwu5ACZe70TvYRY2YSerpGYV1xVf+zm+bHZCQTV+gYW4pUkQYdm1NfPcVlIi4xFuQt7yBWywQa0ITltCFOKSRawDwBNaxnoc4kBDL3Buso++91qUwLyw17wyoHPDv+ob4vgLvNA+QzYIOFInhDc/2KfWgB75JnGJ4pHHGKbfxI/hACV84bdW5hoisZz0hdADAF7B8g7v99pxrrbFJ/8pukoX5yldqB/gEErKBEOeXA+MjQtx7V+oSDD3bRkfE3sVJmaXvMdyCd2gPmuADJoiBDlbX5RoZ74lMHCIQjweAGK7aYxe0gD2Bz7zm39b5moDq5su1AAA2MPoDeNpif0R2qI0jdGyjYhSN0DvfLUkZovxd0DmlDMd7cAMonCEPiv/mH5JYP8ZnwhLEA9wI/RQ7TVRvjFpHTB/r+UoABEB+YZ/2OQAB/JuWJUQVnMEgZALrIRspzBYl4N3RxV5YzR6gAd6AsEru+QAAYEEb6MH9fc5BpJEijE9CeIL/WYINWgLyBEIetAEWdEEURFoBGuBFdB6yxR2yqVkAEIABLP+hAWBaAJwARGkUFTFBGBhCKKhCLACAKrzCK2QbHaQfTq0fuuiRYAkerTVBDDzR8HDNVyUFDH7CDA7fDWbdDAEOC+qaeswZz7wLC5gAC8SdH/IAAATAQjihAzAa8zEfOSVEHzwCKsQCJAJADjUYZfwArJHgQnhL/AFA3lDdGrJhfdxQHDae8HkC+0wijegh55maEQpi3NUEIQJABAbAITJaFJ5TWV1NEohBHFQQn1Gin/3dDRSXJoLBESQEHtqQ1RHPC1KE6VhCHDKE8NVhHFHIH9wQIhSh3CFbB0iAABDAIBrAASiAAhAFREGUMHWSEkCBFIGAC6AgeWUiZVCcRWH/IqDUABs0gWy0Ad+xz84oniKAE0VsFzVihPCNlyVlFyXkGSV0xtxxSQEIWUKQI3Ftma+lkxBAARZ8gRCwTTy6zAcowQga08atARssQRS0gSSSzv0hFPsQBoGxWkbwn8mJ0xE1AkM2QhwYhwTghzWRIznW29hdDTuKwQ145EcCCj2S4brAHxiwQRUcWtUtxP11ldXh0iPIJEdkXSiQgiqIE/soQp45UMD0pALwh5AB5UatFY0dSrrcBFJ+JChJjkhmmQvUjEm+2+P9o9V1ld8ohBfd2Q5RhSeEwizEQiu4QTtBUeiUTp65URS8wKygpQIAG0Vd1N8Rl7pcT1ICQCYs/5YPqNUYTlR2NMEbhEEyKh7ghOVfJsToYOUOaaVJzIIhvAE8xlFYmk4cFNBCzEp2/JoLxABRYsHk2QWg/E9nosInGMIV+AAWeB2NHcEbdAEceA5fqmYktSaBZSUuUcVhzoIlnGQP1EAvEQ8inMEXMEELFBtDoADFwEVG0lF2gN3tJCVi2RYW9QF6xsaMiUEexObotGR2WYgobicuGVZivMESNMF4MpQYMMEEFlRC1E57UVSF4VtnXkQaNcIkoIIpAcAnuEEXIN8tGZZhPUJVWghVSqJgCtIOUYIMLoUnKCjUNQF54lRR6QQtXahBtdNgPV+GKoRBcNUyJUQsoEKQKP+EiVoQa3ZngJpOVlKCIlQQghImAOQjAEDdjTLUy8nUjrbXhQbpkYCOIkxCKKACmmZhQjCkicYPiw7mKXLni6rPUsRoQmhpWNGOl1IomHKmmDIEiCxRF1SBHyQWDdXQib7p6OgZIhyoYYUCHJ7ELHzCHYBBx91pjdYAe0ocLa0cXPDpcNkOcv7pc/zB1qlBFLAH8LjBJ3wlAMQCF7mmrEriKb4oJbQCrrICRrACK6SbL/gCK7ABRtRoD6CQxE2ocSZHHXnqr9UnqTrEHyxRbFTWHqmhQvjCoeZQHT7QDT0qAOAquLLCJ3wCr4LrLABAMAArI7zBGhzjRRCrsWJETM3/56eSS5cBp13k68otZoU5K6lG6xkwQZ40hGxYzB+QAoIpRE7iUmEZaiiAK8S2wsglRLq6AgAwwlOuARhkBLxmxEyBKpAuxAg4mEKco6/tq0I066g+K/LR0cjaXkKIpBWwqqvC6mwpDyJQgqG2gkI8LK5a7LUGw8UywpWaJBtoLMdCXbE2BIYmh0IAYUb8wK8BITv5mNO258o+qxCkAMtkLSclgcVYBIIdaZ6xj6H2LM8mRNpSbELcASEkxBqsAQAYrdwCgLsyRMcia496KhB6LdclnxDQGE/Vm7IuBI75K6kiDOfIBsEqBBQAwBXGgi+owplaLM+ebUe87ULE7dzG/23dDqvSzqtyjC7fLgSYNkT+6eAbjWhwzVhCMB8Q0o7XsmxCWGhDCJPFTdZkuQEr/AJDgNe3doTvZgTneu7nYkQP8K3yQm0tSRGg/oE3wR4LPShDgN3rTgbtYsRQWBz3LkRlsQd70NgSJAQjeIIuKMQvqALQloSwJsRTMgTndu7xLoTKLa+nKkQtUefxCekhxOZ2DdIc0IEaLISWxW72am9Z5a5s7JEwgW8nadkbvC0haK5JCG1CdEL8skH7ckTcbiz9Ki9HJCvVbURC3BKeMWQgcVs3zcEAj1mXytsBM8Q7sYcC03AndRINo0ANEMIbKATRJsS5biUmzG1YaDDnHv8BCIeweUVBBIGTQ9wZKm0RIeUswb7Ab75nDE8o964VDWMWjanVMFbYEkwwD7PrQugqFMkt7KKs9pbZI8XgIERFo+KZQqia3sgkC1kchWVxgZQZ+I5ZzvhaDFjWD7zAGE/wGyRyDwPAIicEMTAEBdeGys3n9TLtWR3e/z4C1vVv+izEKKRfozJELkGeJdMuZQSyAiuEF0MUtNzAMR7BGpCxIjdyQgwvAOhCJ2DCD9fGp7YXEL4n7SyEFcRBo+JSJmAdFC8EKjQCKCsEBE2QAKlkxZFVyH7k+jEEDY9Z7mIkKDUBJrBBC8QyIivyxXoCQwTD+QJAJGdFE9zE6ZbEE6j/wQ0R2NWNDx3XMdKpWEf830JYZOI6FMEyrjClkx5RBgh4MyNAnSz3MAUTg+/6AjEoAwAM7zpzxPseAb0W1TtfLaKJAfzQ89UFEkOMAuwBKgT94t9AUBwELMvaSjanciCrE1GdjClgwhs0gTgTwi5bcDoDQEQLrcXuckZosN2mwDmyMUMwn6+lYB787+jM0JR2oEKgQig8AhgCDkPwmYv9zWk9K8T88XowbmXlzQt4C5/0ACFgAiYsAT4uhAUnRE/rgtASg9B6QkU3xBHYAEUx8AReBI4xGuCAdB3e80KY83hdNUY8M2J3Jqs030tfjUKsk2QgDAiwASbUdBPcgSMr/4QujOsptoIunO8jv/XbEjVDDDJf8zXMDvIuKuqdBZIiLGQN9awnMBADgWF3LoSBjfI/r19lLYQSyIZkNwS/oHUn3AIAYOu3zoIueAKuhnZz16Eu/EIwKEO6onFDgEFqb7ft4Q0AyNh2JsT4yHZCUPVCHIIlHEJtfw5gNkJFsFFGRPGfeosNZDMO01F9essIpEAY/IIyKMMsZEImuMJ0T/cv/EJot8Ix3zKD+/RFsIEPbDdDoHJCvMAPjOiGQmnfAACezfYMfjg0yqAM/qMzJ0ToDJKKcjglAK9Xs4pwwpPr+ilDCMUSZMIr+MKBH/hE5/iBQ7cutMIj8Oz5TvdoM/9EhNMYhSf168ZASqrmaytEh29RQoSCOXNEJngORZQ4V10IIWmCmrZ0Y3MiJsl4QwiBjb+CInjCLOi4jqPvLevCpCqCJaztdFOsL1jsDTPujKW2eRXVCyTBGdySGnG4/AQS0RX2GYPoRXjCzjCQdbJh6WihcsNsUppMdpB5Q0BjLDDjH1hCEKMr+g5vaF85IgQ5XCvEI4eXJVSBT203ZgWnEHzB8V0l8qxptilElYcC0LrCua5bQ8jge1uEPwJOHWYhRply42RFUmRdJwRCJyCCxYp6KHhTpAIAc685tsbCK0yCYqIVA+/1HmGBjCHRntWPbM82lQcvAOjqJ9ggiPoPOkc0anYCwI2jQgupR0AAACH5BAUGAAAALDoAGwDTANUAAAj/AAEIHEiwoMGDCBMqXMjwoJWHDSNKnEixosWLGDNqXAhxo8ePIEOKHGmxI8mTKFOqXGnwoRWWMGPKnNnwpYwqNHPq3InSCosEPIMKHVrRJwGiSJMqFfgS6NKnUGlaMeI0qtWrJ6dWxcq1a8apAbyKHTvxYViyaNO2tHJWrVu0Zt/KHRt3rl2sde/qfZp3r1+iff8KRokFi0KzRqIMXpyzC5YEiYO+ZGy3SxfIlDPHvGxEs+eUT6BgRvuECRMoVgoXdmnyc0omShyciGKYa2HLjrFAMZ0kdGosVqC4Xqk7wQnhXHOr7vJFjJgvjoNDQV14eEo1Yhyw6Pp7NZTQULAw/3cuxrJq6ygtJ2BR2+r06apXP0kiRAiAJ92Boz8oXswZNdhBF18X5JWnGxMDoQYAC4pdZeCA/oFBhhFggNFEEzpsUd1+A9H3ww9KnBafFaWZFh6B/p1R3kDiAXCBGFipFhwAMvBQRBqLRAIKJ5xEskgaXOQQRHvoqaiceM095xgUSihRX4jdkQjAkwm0FdVtYhQiCY+glCJQj4JwMQQECyBgQA4Icgjcbk2KuMowcA5jiymgYFKFeAQCqIaRwQVAwGlRQeGhDpyAYigoA4FCRZkLGAABBDnkAIYa++35HBarMAOOPPN0Ss+n88gjTzztpLMOOOBYMw4ztwjIFgHIPf8FRxxwqCjJoYYKZCgSHrBQIxECDcEDAES69sUXt4jqjj31LOvOs/VE26w79MyTjjztZNvOM2d8gYWfJ0QFJRZgFIorAIhykgMRewJQxBBIOMFDsZT91tx/m8ajr6icyvOpPfaEqm227KxzjjbeDAOgnwzqVxCt2HUxo0xYFmJooRYjaugQkQHQBbxceJAZm0J8CCITWHxxRjvstOyyQdoWfE4xvPDiAQkeZOCBBysgsMAFJijxww02/CCEEidGB5uTMMEmhA1kmEuGamDomkNnAxHhBK9w/CWGGrPOEUcbEQeXGnO3uNyyQGqv3Y43kEyw89w7TzBBow1A0AABOoT/sVp/arQRx+BtdHugaWf7d2maGsEBhxpgHMqJQF/faigRMA5UBBdO0NiFXSUbrQR+uFnBRMlE33ADIKVYs846bcfOzjzaLGD7QGUC8KjuAkFgQN9Mfqj60b25RLLJIYr33+MR/52nGoMLVLZpp51tGRkX9/C0DTdYDkrfSzLBAxJIADDs52itufTRT2DxdRxz4DGHKbbYUowwwFyifzivtww77LHDlu0GaDsDNCBvj9qdAS5wi1Yd7glBQIME0QA/WhUuOtZzzhn4dLqhDQ9K5tkN6m4gOiiUy1CSOIPHgGM5ToDBcYOLAxiQIAUnEEEJZIHfHMQWMTaZCAvMsMUx/4Sxi0ugAQMESCIBgGCw/qVDX6QiWMvm0Q5gGMBnA3SU3g7YANsRIADmKMc5zBGOb1jDGqLAgRpxwIRjeSt4RIsB99hnBdwU5juwEdH7dAgHsj0ICy3cgh/igJ0mLMJQkTDCDZSQBCZE4SVe8AKwxCIEJtTRMqYTAtFsYANmaAoauyjiJWgRgisawAAEAAbL2BEPUelrYKVKRzqoCIAymYkAqERlEv10SlQCgQuiqAUwkhGNbOxijZcoRznKCI5vTGMYDbxFbgjUhrDtkJBiwMLSQoQfPAHnCU66AfZ2RIZKIokI5hKEEUTXvi9EsgwewAPZuuWYQHXhDHDIgz7ncP8LZkxjGvJwhzykIQxe0AIY9UuFCgYoDAAADADLila1OsWvTnWqYMWoBBoGSAAucvFRp7yZBzRANxVg4KRAEKYxooGNboSjHNjAhjbOcY5voMoaQWwgJsLQBUFpMnUkHF3KFPccOQhCDnI40fvMoCNQRKJ5u2GCFwBQBgC4oY9nkBh9nkKdJE1jG/3YxzsAZg9qHGMTkOACCUKQgyGMqYvHuAdZ5+rQuQLsHnjFK8CW1alviEMcxyiGKCpRhwlAwLA4UwEaFFsHNADhsUAIARDmNoEVhCCBj2IAJOoACWAU4xra0AY6xgiOcYBjGqxqIBCZ8YxplHYc07CFHNLgrif/aNJoMqACAIy6iOCcTnU2iKQXciAEHRShCGwAQxsM9ASkyNEGJiCDGTaBC1vg4rq2qEU0cMEABBxgAROwgAUYsIENWAAcck2vPdT70PXeIx/5wEd805vXe7zjHey1R7X8CljBQsJRJHgsGiRLN7vRbW44w9nOdLZgSFQCEsIoBjnIEY950GOu0XIHLtKQBi+EwxzD8AEniRBJDpdhCFxIAw9ULF0qeEEF8PICHxIRCQCQ4Q6Oo5RQTFSE3QIgDWUwaiIWsQgALCIHuvQTAhjAgAMQ4BvqjfJ63XsP+eYjHQAQGADWEUt1PKu+9cUHPvQKsHqEChyAbYYoRAGJA4v0/80KVvCBJ4CGYqADHfqah0Ds6g7aAmAT2YhpA8VABd3u9sRSKLSiFZ0DKcghEVvaUY/AUIXJ8AScQuCBHZBqhz3sQQ6SqLEkIJ0IFRhgAQRAgAMOgAAEeKMdpPKXO9ThXipPeR7Sqoc8XrcOdADA1wK5s0BkmY67ghnMYpYrteaBZsDSYs1vdnPdeHGMVj6LWtKyKzjKAORmhDam2GhGGVxMWy+guNBS4AIV1E0FJEOABF6ANAolYYaUbTBzNIlBDFY8hkiOAQCd3gNBIpGIRKSBD0Fg8gQcgAaD6FnP+gLApwCQDndY2MyhYgc6ev26jW+c48Desq97TewvHxvM+P8F2H7/eow1x00UxzjGv+x61ykDbMNB3kQxcCENXPBiDIIQRBmCXAZ2G73Q5g4ALyfgBUk4nROJAEMc8ECHPPzh6gDoGktIxIQp9DsLkaSqwGlb8LLLoRSnIMIENKACXnQqy1m2KEVDNY9l0YNTdJeHxkHOd453nNeA3zLs2rGOVtJjWVTWq1xpjniaO96u8gAykGcLZC8MvcRDP3EOPDDbm+Wgw17YpdIRoIJIOF0SjihCk9qHohWtJJsy8EK/h+AF3Y4hDXugLR92z/s0gKIQXtBADjaVd7lbdCDL6he2RqXxOzuf7x6Hft8F//f+oaNU8VCHxOthbLwCIK+1Xnz/mTtV4XaUQxsm5rb6JW9iOZTBCx54FIzXzW21wjgIX/RTDmhMcDnoW99C0D5iAAdz8AcqoW8k1m9I4AVZUD5esAdBZgcEIQdjcCuSYAG4UHz9MndvV3f10EquBGvsQFMk6HyjZYLRd2d+93HRJ30bJ0bPkngnB35kxixUlA3XsAlD537uN3lEl3nuFwL5FwBksgDldYTR8A3FUAdAgABDUHB8YAdkEAVMEBopAz36pBJC4wQM2IVewIVekAZ28HkcxmF2wGGjpgLaECob2IZ0l2UWB0UDM4LmYA5jRFN2eA7pwA7pgILPp4Im2Gsel4LocA3xwH1VJmaKOIPHZg/t/yAOsFAJkYJilreDlciDQ5cGIaB0ZZJEh7UBx/BqeYZ3NmVdguAFcZBVbNImsUISc9AGOjAFUwV2wjUQcjAEmZd5ACBjiRAE3wBrIMgvwtgv9KBrsOQyYVSHyViHx2BT32BR8iBLzUeCNOWHfkgO0MB9iriN3DhmJ2cP7HANlRAABoABAeBFIRACO8MF7PhOZaCDYtIAvWQAxXAM7cAp7jAt9tB475UP4zAOs3ALS3AD/xcDKiEoJwB2AAB2Y6CAU7BbVJCLQzcGVEAEQZADLQNLwLgvFUVFUlQwMqNMIqlMdSAQCFBLlbBmxSAO39BKc3dn1eiHNAUN3WAP3XiTOP+JD/IgDpVwaj5zjo1CQAOEAQuQjiLVKLhEAMVwj433eHe1D/zQD/AAD9swDVGQBABgAyrhAuHShQ3Zbww4Bu43BhLZb04QBFwAiADkMrDUL2oDeOtQDhMml8okDQRhAAKBl7kEAAiQkpUgDvJwDgBwh4Rph9ywDO2gZ7LkLwCTk9zoDpB4SmaCAOcoEHbDAF1US0JZQJVwDOLQKTU3V+JXc3iFD/vQD6gZVuNwC3GgEk8gA7THkF8ZdkhFlhIJAEGABCpQB7wQDQBQDuYQiGsJa4THax53DnE5YcpJDnUglD6Tl2bCl/PYDucAnMqojNW5DNzAKXCnZwQhKhC1Xt3/WA7FoEtH4QDidYRHSFJ3c2oDdAzuIGX5JX51RV95JV/3dQ/uYAtahxJtQHsA4HWzWWJ2UIm52IAoBgsSdAAMEABAgAa8IA3VYIcqyDKjRY3ncA3YYJfd4FLhgA2o5p7uOUA+g0VXBADFwA4iuYxhFA7CcI/Gd3wPVxDyAIfo4A24RI7oaQEqoAIkcAHldQFAWl4Z4DundAwyqHg2R1dkZZ/JlojpYAaWdhI3oAJeIAWyN5tZkAVBZqCZ5wVIkAOiQA3VUA3XQFDAUAkP6gBD8FncIEYEFWGVUAmTSUBoUAe0UAmbSQBlckpBaTtYtADFcA7kQJcjSQ3dUGF4F6Mx/xp3FpUOaIAABMBkDoCelWoBDkACKnABJBCkG+AAEEAAccWI31dXTtl9xvYOxWAEd5ISLWACu+hvYAkAUkB0VJWLU6UCE9AM1NCrZXoNwFqmx9AM0AANAEAN9TMMuFAM0nANL0UO3CANyJCmdRACgbqZBHRqV9Qox4AOy6mc4UAN6LCBjFqucmcO3xUAS+YADHCpmIqpG7Cp5uUAZiIK+pCI3ghmUYma+5APi8d9fEYqxWgP4rAJOPEaAGACYJil/SaLtycHWfCVDQmmAMAAlbAMxQoN0tCrvXoNZnoN2cAN4TCyJDuy5BAOJxuy2RBoMZUMxUCt1oqtm3kMcrmc4f/QDdRwj25orjFKD9FwakqnRAeQAZjZrpVqqbpkAO9gZfAVX8m2D/4AD/8wtVMbVszyKXzVDgDQUh3KDcKQAyrUmtcRqwI6sVmApVkgi8IVSUNgAagGC8iQDMuwDM1Qt8W6sb3aUiJbsiQLrdygsiGrDdzADdqwsi2bDDB7rQNERig7YR/KDSCYd+TKs53SDL6jdJj7RQvgAAvHZE1GmUkEZdvYtE3LD/5AtVTrD2G1bO1QiNUADdiAsuFwDbBwAljJEiUwBQ9ptmcLAE4gBQu4tuamAl+EAbsAAMaQvHErt3Rbt816Dd3ADV0rstkQDoG2stiLvYJLuIMruIaLDcn/kAy0UAfVikXkG6HSAA3msJGjMozFx6jpUAcWoAET0KC4ZACYiwBBkHDfJakBUAnysLSjS7piFpWqyw8IrGwCow12SQ2xO7LJoAI+ABMpYAJoy4C9OxBSEKtriwQZgLlAYBDGgLzGgAxxu7EgO7gqvLUCQQ3ACm7YkL3ZsL003L1/a7hzO77VugBosL6wRCr7wpEVxSnHEA1lMGOjJgllMAY5QAIkgErn6AUrII8AoK7iQBAXBjDxRbrwpQ/7oA/6AF/6aS3mNxB7iw21KxMnEJtSsMEF4QROQHsdzAWXEEqhBAwLYQwY68AyDADQgAx6TLfQ4KsvDG7Zy72ILLje/4u91AAM5rCWbPnDUASC0WAGNPZ0oPB0TrcKALACqNYAKiBepzYBzyh3cAcAzdJ98gXG9mAO30DIzQAA1UANIssNyRDCM6ECv4sQuyyLseoEkFDHu0BE+CMMDZUQxPq82ACyArEMxnzMySu3ydyxGmrI2avIgBtowiANdSicwwlL0RAEYzBjphdplnN6oLAKG4BqC9CjdgMJi8qo3fkp1YIt5lCmZNqry+DC1SC90lAJPEAHM/Eu5YMQbSzHWUAFTqACsGDHw/zMEH0QvDrIwFrR1ODMeAwAGT0Q0Ty3GovChRxTMhxotHBqhMULZVqCzwdA0bACYXl7l2yBmZzJif+QzhvAAAQAAWFqAaJAueWKDrM7y9SAt8swy9cgvcbABXRggLkML7wsBXIcSVJAAsIgCrRgzMAA0Vp9zAJhDLxKDRRt0RgNAFxdzBpNEMYgzcRKyCF9DbtwP6LQWAR0vhoanMfghVkahu4n06eXxKdwAZKqAnKwAJ/p08YXD+agDc0gDLQwwr1qDC6MqNdQB1hDEyagAuRT0ARBQwubBUMwAScwAiMAAmYQTMCQ1Vut1cjw1RzLsdDgzFyd0Xhs1gdRwtJcrB0LDA4MbmcK1xI0QI22pcIlsbfnBJBmgafHB6dQCFSASkiwAPFs2PIA1Gp2p7CQDOnbDEadDcBAAjX/sBMmkAOZPRCZDccZgDcEUAFMkAROkgQ/IBCYIAqbsAuondrJkLGDPMi9+sdY3d/4IxAbPRD/TdYEHs2IO8hm+rEvrKHXkAyb8LtUoLu/q7sMOwZP2NcEV3CgsAGUaQCV4JLRba7tEA7FcETpWAleTbeR3QxoYAIpwBMlAC+ZTT5D0ACaWrGc6wBFQDjPQTmC0zWFkAi4UN/PnNbESqz4TQ3NYAz+jdrAQN9YDeAEgcdUTuBZ/dEcO8sJfg28AMc1pNkC8bsMKwV8EGoZngiCUHAbIBCVwL5D/L7zEA/lkAxHhEsLgOIePdTLAAslkAIjwBNhECmZXeOdWl4rkOM6/x4HX8AENmCQLTEQgIAJ11Xkc1u3dovksF3Mxezk/v3MAp7VGo0/wIAMzYvk0nDq1FAMvts55AMAblUQETuxe1B2aJ57iWABR4ENLKMtsRaMbYgO0oAGX5REGFAJwtAMzcvkXIATt7sTRQBjNQ4AnaoBGrABQbBw2G4CLtACKDACIiACCvEEVdBcgEAGtbCswpC8c7vuzgzlRM7pm67pqG3l+LMLyhu+lV63kBAEBTEEPjoEmx2x74TmiSAHn1Z7JHAU1RB9GckO2QJFoxIP7KANlTCEBBAC190MyQDIwnAJdCDQQ2ECGYAA5UXt1L4CQaABOb5wIPDtLh8RlrEFV/+JEE/AAxuwM3UgCg2d1fAu703e38OMvOkuECbMC2AeLE4M8ACgAuKNBLR4xHzwaWkAdrqJl+RQh9T4cQ7v8ARDDsBgjpkLBMCg8UweSmCQB0lhAvNr8ifP75wrECpgAtze7SLwASDB1AAgXhpgASEATDtf30Qu77CA1fU9wmRtDPsu4zkAY66eA8GSASSg9E+/abE+BlUPACK7nNaJgq9jDtIABEGrdBhQB2nN5FktCUoBAh2g92yvAiugqSugAkufsEoQAy4QAyDyEVbAAQDA9hZAAlmTA1wACVZ92jwf7/L+0EyOvLSABADf6h7QVgTh744f5sIFsRMbxwkfAC3/5Q3h4P2NW6jYaQ7e0JN+Muwh7MybgAnQUAvVtBR7z/ZstwKz38myDwBV4AcqojIeMQIAkYIFAA0ALBxk4CDIQoYLVwDxIIrWLmDAhFm8KEwYRY3GNEIKggQAEiRDVOQAkFJlSpIpp2ShQmWMFypOSC4gEKBaNm3auHHrFjTc0KHkwkkDklOpgTrGNr2whQ1XjZVVrV7FmlXrVRYZLGgAq0LFihVjAai4sOJCkS9WmAj5sVVuyg8fTjg4mNfBBIVEgvhdSEXKGA17ItnZNEVULYoWgXEUZowWScpyWwJwkmUKgCxSkDgxaSBAAGnXrmE7zdNn0G5Dq1XCMHq0ASC7/54yC3cMxIe5vX3PdVNkgoavGsSuCEJi7PKyJ16gGDHid9a6HybkxT6BAcMyaQAkAs8nB3hBRQDEBVQoUi3GwDxCWkH5ctYhGoa4fEnZJAnRAYBRo6YaakwzDRsDtenmGqRimy0EWp4aQ6MTRJiuQgtTEsIIvMAybqwgLCBBrbPKMqG66i5UaQQRTjhAL74cYKABAEgAr8Ya5VBhDz7kSMmNPAZBJKVAItFIgxxIum8IkbJSYQIVbJpCCs9MEisD2S6BBhpptgQQwGpMy4YaWoAYjQACgIAFF1uy0cg8FN/sDYUW8PpKrLFWGBHP5UowsS4KL4yhhRYSYMCCvRhAlP+BCXCCQAUbE+EjkT0AyMCLKdxUSQwA2oAjEVgyUEHJ+khQckmrhkCJJCmdyMFOEhqYrY5klqG1GVu1lMZLY2ABAgMzQ4AFGG3cAwYQALqAM1msTDCjvA4ssNPOFSwgi6yUyBqhOhBGQAFFOM4I44EF9gqCCppI0CAAAwxwNFI+9thDDhwnMMmDFq5KAgAzMiAhByVVAKBUUytTSVUpWBWLBCuLKOKryIwxBplkJqZ1mWaSEQYWNBDAAAhaNKpol0LyULbklYpAIpFIIkmEBGijNWuFIayt1gQbYojBBRdiUOKLOCw8owsTDHDAiZmIKMMLFRZAgFJ445U3jTKcIGD/CFS1YkED5fwtSb6W5EvVYCdUIIEEDyaIoOGDKnk4JWPcltg9WCpBoxJiK4JljUFM5psHDVaWZOWWlYt2BS+qRXwFI874ogvHz4jjj0BU+qO3J4S4oQMCSBgD6TLGAIAKC5pGIA15y/jcCy+GgABVFf68KgIPSEiJa6+/RkIFD478zAnPyj67jjpo4QWYasJxz6O3l4eYol1owWijXUTRg2++ZUBiDE4CD5zlDWBegYoQkaMZgED+cOMLKJ6AAosvxDjjt0BH6MABFcZImoiUxqBiAtEAmMkYxpCFLIBmAsohQbeu4oIVaE0ltrudSHRXKidUMAca8EAG0CAMZEgD/xvhIAc5mvEwEkLMGLswRkU0shFYQEIOdwiS9ZLFhiHISw7cW1kkggAzsbCgWkHAE56KAAUfuEBQOovBDX6ghCdgoTd2CcABzEUEKmwgCAAgghf8Z4AJIIEKnZFSSSbALw9oZThleyAEvWY1ylQQCRk42wY9kgxqfDCE1FBeCTcSvceI4iD6k6GyzPA5OYwhDZHAYSJMcgESbMCRykHOFVNyRRRAR0XaQkEKWhADG8zlAyUAgAEkuQIDLOCKXggC0xDwJNCYpFUHDFFbsOKB2aExJaESmNdG0jskkGACE4AAADyABkhUghbFQGYxPgaxyDzsMRgBBiw2AYpICIJHgf+EExHSMBMvfC4NOPSeI8VJAoaUYJQAWMEJ+rTO3rjABARYpQCDQABTdjMICDBAA0J1EldBgJZgaERWxlg2gt6SjSUBAO9EUsGxQQCYCJjASg7iFbywjZnKa8xjIDEEL4CiFKXohSywiaIibNNSvutOGXAoCTuMcwMOGIJDFjLJhZRonR+QUwzispUnKAGfMsKiSWSSxXWxy1XAcygPtGICgxDUqbWzWg74JTALNgCYiCJBQiJKp7ygoRgd8UjGdrGLOnigBCaggiA4AdJeYOIFI50ODJCQtAJWcAx7+OZKe7kBElxgA5EsJwBkagIUYHJnP4DCXOLQBlISIAhJ4x//0sagAgKUEoEewCAwF8CDQFQPKxZIidacStCTRFWhbnSoQ2G0gAPE9Cx44WodMJLCXWisATx4gQtSwAEucOIUuehFW5kQhjnAVS4oWIEAvXAwJ7ykDHxQKSKliwS+XmACMsUuQ1gAHTm5wAZCsIIY2hAHOmzlD3ogAgEgwIBuahN/RKAsARoAvAk0oAEQwFRWTAAwgvBrtLRL6EF5mQEIQKABBmBABuKzgQlcgAEM5qoFGAARIITgAATQDuOskAQhqEAKnJBFcHNxBzwYVy4giIDqplBBKWRBdab7pnQDt4JGWnEh5mxIQ4rQBCEIIQldUEMc5pCHym0lEHegwgJC/2mBpJUBaVRQF4YzcN/1TiC/AgUwQWb037P4S0kMJUGB8TkBJwBAdarb4Qr4cp1DJYoBENVACf5AhzgsFgxDKEMpQhxSPByCZCbOCguQwNwWn9kLcvjcSlvmSAvkOAjmJAL++JASMLgBD4E4BCIQEQhOTw4rmJYETaJsypjMs7IGQECBG5BqHmhqK88C7Upg+V+AUTAHDWAaABbg4tB5IYsxmcAKcuAAByDBzW82AC3ZQGTJcZoMUijDb4EriygAWiuF8JeUqGDmM4+hkICT7hQMpRCGIE0O8OJDpMhTBCZ+QQ1zOIQiFKEVeXtBrUMoqpkMoO/KQmDfCegAAN4qF//YWkW0tMYl6xAQAFyTgCZYNPTDie2ABrhZNAoD5R+azWlEkMELi0gFcHNRiE5a2yqJWIQcrGauiHdTDofUKwJaBMR0A0AQNrq5jsYAgpz6QAlVCINWBvEGL3AiEmm4wLpOvW9UE00CIPiNCQqClYM7lWwnWYABLqBeUaqECuXKYhYZDaMYMUA0DFBBEP7c6UAoohGKyCIoZCHyQvDG5CrBxNEXsQgSIKHlqiuDHeQg45WN4aUBiKhKIJXup8WLB9GBvCZjgBU/hIEMcuDEInKwogTsG54IIIAETpASqPsmB7Q7CNVJi8BXXSAQRVB6udCcgQzIniYMME6M8BkABpT/7Q2e5XS8FXGIOIQhB17Qc3BloQPYWbsTnEjDIqppEi+4uOV2wKt0V8YHSYyhlChhfONtWIYiVEcEINgWABRYlaGXwehywBPUTyCBDnRg9CopfW+KAODUX0UD/i0b3bktIuOBygqAUyKCHBgNDaCCLPICELGArAsAAvCvMloJeXsERcCDMFgCFqihUwixXEiF5jOxQoA+6VuE1YmPlssCAHiuMsghlgkPBliABRC/l0spqcmCPtkW6biKR0iENDC6IdCBLQAAG9CZFCg99KuQg3CAuZg1D1gAE9C4PwADzwsC1aGC+wgAhVAd+PolpiMoD2CqlRiESdCEQ3CDKvgB/xfgASmQg5DrhVwAhfwzLkMAheiLhJTLARZoAYeLuCnIgSkogz0YAxtJN0nIAJxwAkTzDqnZppmQghwwvx68F6vgtDFQKzkggkfgm4bBC7kALRAhAR5og/EirzwAvXxqwDKgghXIgBxowJhQAQTACQMAngwAJasIAz84hEOoPCUAAB7Is7kLqbqzu5G6g5RDQUHoQxQAAQ9sueY6NE1cvJoLggbAMEj0gpkgIAJCgglQJ0v0OVdbiSMrukgoAzbwLGUpAhUwlLkoCA2YgA54gcljAvdpgwIkgF5zwJigCVpEAHzKRRbYDV7Eg0eYhEl4hAzEgyzSs2krhEqCq1IYvP89dMYVQAERsIvjizgCcrksiBfBk5dEmAB8GoMW+8a6KgkNOIHoaAGfwwqNSwM+yDwiOIR2fBMwKIFVIo5YywrRAoCnU4kjeoEbUDJdm6Iv/EIqeDN88iddPMircLvhOwROAwAw8CIQVD42gKvAEQSMzIEg2A2O5I2/O7M02CZEQ50skIMw60cAYC75sBoVOIEY8LkwSMir+AMakr40+D1lMQIDW4DU67+rqJMh6IDdqAv8G4EUCLh+ZIClDEgv2IDKMpMJ8IDFTEaqZLtOIwMkiEORS4VH+DPr6YRqyjxBiKkWgEb0E4ESgAm07I4pECBvTANfIoAyEhjXSRgdCIP/MIADeePLPCgBFRg0C0wWDjAwBKATgzAIoJQoDdiABDiRZdE3dmHKKqIn0VgACChDI+u0KsyDPPA4kKM7RfA0k3m+ixSEXgIDJliCH8iZFjABm0BL/BkCAtoMf7EAXLOPHBDQhDkbRRkEcPkCrQADgxgjCtibN+GBCCzMNXvCWDvMlNiAlJhC9OtMq+AB0DMTAlCUGoQnbSSACxC43uC0KqxCACCDMpA7keuE6nGDkjFBIdw78SkEhjwEOBCDLViC+xyCKaBNLxtQ3WEaDyDQ9YKADNCaEqgCIQiUrJiDCKAds7uAIrsQFnhK5cCLNZMooPyelEgAEDDLDq2KDzWT/1XkN9HggeLyjfNh0RZNAyoAwWnrhD4AACZIFjw8pD2kAhXwSj3AQB5FmZfIz9PLIH7JgUUxAACIqAZw0rLRGg+4gBiARq2QgQXYgAY4gIWD0woxAe1oAAcom70wFEPhC5UYRepsVAQoU/Qz060AAw5YuDYNgM3Syd4ozzmtHK30gpCbtjuAAiGAkzvghItchDIgATPQAz2QU8nJtIRCyzMjrYSBAASQVNGqugxSp61IAQXIOgCoLAAwAXP0DS5FADcjtuuITmILU7BwANYyghvwgUBZP61ggwrIt80qgvX0jTOAgzqbAzro1fJ8tjSQw144BWUBBWUVBA8ggzmY0/88oIM5aINh9DtDsz7VCUBsDSUIoFTgwSA4qgA7xAoRoMFPBQDQ64Bq840TgBVt3YAHSwg6wdlxCy2wYAAA8NQiGAQfNUK5KE+VAINdtZAfyEfxItiCfVFBMMZcIAMXeBMyWJnVJAEyIBnypLM2sIKUMAGOMrQp2NgpABWyMZtgMoBJxSxaOpsGeDqUtYq6WNmWvbAEmI6kky9FsQAnUdWcHbfr+KsJOIAFYIADiAC3a8h5uzuV0KQWcIEbSIKvzVgyEMKonch89Q0iQIKwXARBSLut/QOLjYMzgIIbuERzdQJDYxXBCEd0MZuTtEXNhCNg8jyilIu6wFuVuLAmOE3/ueiABVABLwCPmkSVX9KqnF2zUDlcT12AZZuzOQjVxv2A8+MWOVEJJsgBKSiFXJg2MoCO3+CBmtUAQfjc0E2JPJiDOBCDJ7CB1H2g1T0z35GCJqElAlvFXzqbhXOABzABJuyNEZCAgbSvnPgZ38iAMgAP6QIASQAAlmEZPqCJIBgCBFqtA/BUT122i42DBG1clegT600JI/C73wouUDACAEiBuWiCCFAUrBqbICgvAFhfMUiCGEiBTK2KE0DOKRAMhnKoXzqwdWEAhzIAHijDH3iBgfONAjgAlQgAAaAA3wADOVAZ7eueLH7gB06E7/gOO3CC/zxcBqCDrsUCY/1g/7owkfOTk3spAioYzVzgBFPZCh4oFOdElE8lADAorg5WAt0aAca8ihPgAAjCtQvIOlTTVjK4MhT5ggpIgAdIgAqogJSggClWUC+IFJbJYnDDYk+OhD3QZAlDlDyIAzWwgh+A3w9eY25ZiRddBE4QhAY0A7kwgQ0gjkT51ADYXSz44xS4pMbMihOIgBUwgQr41hMwAh4ogjcIqJJpgxlWCQ6QCwp4g5PwF9/RDCooAytOhE7WPpZ5z/AYAkXhgNJ9AtTVXOr1E27ZpHwBgDjYoeMgASowg+m1ihLIZWQDvQCogCh4i0DJ4UAW5qygEKhb4fT1DUXwREuOAGSpCjH4Gf9qrgqKzooIyIEKeolvXLHLaDEqSAOV6Z4xyAFJuJEyYIDRuK0XcM1sSWMQ/gCe0yQ0VglcK5QNuIAg4IEHtQoTcM4XqUHZgAE3OOUviAIlQN0cDl/r0bitwGSV0DQAKIEOKIGp7gCLtmQtBYANUCgKaq6N/sZJ9DBDGgyVAY89QJ0JYDgSYAFumcqXTgkReMwW+AErUIOV4AFUu+m+W4Ai+F0AAAET6EIYcYB+NmCDLeP1DZon2CmTaWrfeAAAcIM/4ACqTgkWmGoAwGqVuOS+lBmrsZraUYmDqqCEWt2afK5EEAS8Qp3XzYAT4FA0/eBKaoEbeAKJHjKVyOsDuOn/DVjXKwvsCSzsgTQTXq7YxMZYvtHqC4mAqu6NCjhO0L6PhOqX0V6JVkECQlTLQ5MDO/AO1DGbCBDopYbrKgCAJVCC8BIyg9XSUkqIg3CkCdhF0gOBCQxRpQiAJohWFi1PaU6W5b6QAlCAlKhkuegX6a6dk8CKVkGJFpuJbpYXFyyDJgEDNVAfzIHrlcADSzuEDJS3Q1CJznNOwmY0FuBpADiBMpGNADCB/fbVktFSCnhsCxmAAYjsATdvreBqBJ8LbM6Mbjo0wZOaCeeBMr7Y5M7wlGDfLQC6yT6EhUwJHpjAAziUR5q6lWiCBJANFmA2X2XR/7ZkGVcWARBwAFCA/wHXcS8L7blolZEg0jLIgjQgSQmv2CRXiVSGXJzxgSVo8kGQcgLgbTpxJAbggd8tsqKlHC+f8QoJ1c42GQEQgJQ48wLQigtQ8zXfCgbHDNuENhuScDJwcQD/4F+GxroYgTwHACEYDZkjNgvA5RMF2KxQ9EWfCxRg4qGUAP8umUgHgAc4c60oC1SR7unWijaXgjf3NiFHnZ2eUzsHAByGjpuiEAlQl3UltjcjgBV4Zq2YdVHXCrkdKTJ/AAmQAAWgdCbJAQ8YdmJf8JPI7m50AjmP8DIYAkVP8pY+03VSgAk0gAPwvJzQATcwhLl48d+QbbiCdM2ugHKvdAYHbTZX8P/VLQNC9PQycNFQz/CWZsybQj/Blo3iloDpqMJYz900FoAHqOyF34qEe3i5aHNqXN3uxsEyYPYvT/Jov6nG7PgDWPEHAHcZOngTE4AB4IASYAHMnm+rsPRhx4qWZ/B3n3h5R7QsyIFmd/Z8vynA7ngT+F/SM7GgN7ECkAAi4AEeGIisoIBYZPqEQomUAG1/QYlszoIxoPhtkoIhIIL9dnYAyPmCxj8ANjm/NzkFoOYiMPuAywowOHAEP722V4mjOpLMQILjO5ghIAM9sHmsYMiq4HVsyvoTuzvBNzHojnIe2GyreAB1Z3oFp24IuIAEYAEFgMVsZpW7LwMPeIMPj1b/q1AEhvSDLSgiFBgASCf+QIoOvt97g747DhiIsk96rHgA5Vj3qCIBE3ABS6qLEziB/SIgQSgFTnACMtCEhXy7GKqKhfx9H1hl4md/vrkXSwJ9uF7lkaoATD58eeyXSz89E9D4DgUIE4I4gSoFapGHJ2HcDJrkEAAARYoaAZiEZwtEFCMgcuQo4CPIjiJHkixp8iTKlCozrmyJUgKFEgB48JCpMoIKFTl25ihiBAUKkyXkRCoIipOTEy1iCKmyEICmUJpIhRoUxiUAkAKwcu3q9SvYkwoksKBZgkNYkyBA5FjEySAnOTxAjECRYumSLW4sUQWrNS3gwILBDijAgQVi/7SAP5AUSNDgKRUiPlAWgcKFjSpuMq3cevLjgNCDXXKoQOE06o5/VgcaTAHAn9GhHwDgwCHCaMYcT6RxZHSVoBOUP9RtsSTMoJUFQg/4zLyAgtEpK5hGbR3i6uyrSYZy+To29sEfKXSo8KCAdAC6275dJUsu5eLHk2NdLlq9bo6FFTyIMCc9SdVZl5pI2m0n0iFdbZcdYB89YJsE0QEIgGOgpCJLZCIUJwRymkxCGEQgfEBXRxHAROCEAAx4XUna5ZFHYAaG9RF6pZ03YQJcLGKhLKl4cYIA0D1QQQkdcHBIIOB1ZQNHKaBgwxNidLRiiiW9BhGKALxIhxpYCMZaIP8JevVRBLZFgN6EKjjCyYWpCHKBkDEZqZqSYYkxx4t5KLnilVVOOaBISrgwwgggiBSUV4dMEsohuHkG0UefCUBbaRIC6MBAp7SZQwEPxHSWYgUemChEhyCZ5IGnccSinypah1tHk1EmUnNdaeLHFj5ohFWkNqIpUgQVGFkBWE5EUkqbXlwgQQmgmmYSg2khYmogqNaJJZ8UVBDqaBE8oMB9HQ3HGEjMdaWRrC05CKGlHEXQAbzxcuuSCjueskoqZazQrG0CohQbwF2JCdG0p0br6oDbctCBTG6kF1pIIuX3F1cjjJsfSpQZ5isAcXYAQLzyduWAHJycIkuPQzjLakr/o7akQLsAUPJIwdVmt6LCzUZwVXoUS/qoSjEARaihLlH2g5kKdCoBsR0tLDJXxpZyso8bUEelSteqZO5IUWlCs6l/KswwWkwAqBXQaWUyiBtbLCE0Vx+g8MMTT9wAwAMScARvR/AW2VW9PMrixAqlYd1z2l/hAVELKfoMliKLkjIJfVhRlkIMSvwAQBQjfdxRs2dxdUHJmsoSSQ4CspzWAGi3OprrXlU7OyJffWCZCy6IVG2oH9sUelc5HHvhKl5YcOLqhCX+OuyxrzR7dq2BBQIKLQjRBUd6oCo9ADL5zS9WHdRr8oVyrMCfBMj3yTz7Y6K9/HGHkAIAItzDJpjZ/3DQyVrtzYIMAAv+hpUNpCESVOOECoIEswf0R1WBGU77ViKCyajrfSSZnM20BpYW3K0jiJhWa7JziIlQxG8smNdKVDA8WayCCg5gzn5iJphZRbAkhZrgBCtYrgFIiBSaUEQGB/MEKHRBDR78IJIAUK3aAYAiimgiC7xyAbfc6z0XAA0MC/Ar6dCwVVKaHUTEgIUk3MAFOBQBr/YTgUdUJIiD+QQA2BiKUVCCEhFRBCLwGCaROJESTxxZAU2HwPeFK0UYA1AbqqVEReZhDm34QhSUcIMW5LCGWeNIKFARi1fQ8Y6NyCMfm0iR+3FFhciSBSe84ID3Lc+SYMkDtWaXwf/VxOEMX4CCEFyZEjHYrXEMecQoNAkRSjRilBx5RCMowURSYmWKJuvRm1ipy8BUy1SnCkT9DETLM3hpmiVJQgxA4IIYcOQMeHhEd0hCTDtKb30ucUAayIfKHLCylT1LT5hMBUIkwkabf4CRN0sywRa4IJc/ICcUzhCHPgwMAKMYZiMCkSWskGCFnKBCViz4OnuG5RBI9OgHa+fPgwU0ViJowQsg8oPcCSEJQhCC2QzBRo6MohHUeZYUqYhKOVxRmn76CAQHg82Q1u+DIfRnSUlCGZRmTgg3uMEPlCAEF7SgcRBpyChIEcA5fcUBZSDfUZBQzypp5WKDKaZE8HjNfmr/M6kSk9sLXvCDlgLgpUJ4QVVjcLckbIE/ZbIJWCp6ylQCoHXOO9tHZDUcNAqGhBL56FHb6laIUGacMXiBXV1617xu7gWggQ5gLKDTuPRUo4BxZ8cSi8PKdIQ+k0CEHrqCTTw+FoRsldFkARCUGPD2BTfIpRA2l1chKOCwYIEnWDlBT5+m5TTX+pYQyHlGQ7mgChBBRUToZz+XzLa207otSZOKmRfwtrc2SCkAqnoDz0ZMMB4Y3lFcWM+t7Kc/EuBqSpy7p9M48gtjXGmh6gqA5IzitYoESx5JWMwEGegQmoDIHZRgVVdS77znLW9cXxAUlCIqo6NxwI4uxIlIrPJ9/1o8MfqgdhL9rkq/2anlLQGghC704RHY/aRRwzKROs7sidp5BCnmF9DqERQAHQRAb11AXheggFyQai9gynCsU/ABCQtA24khAjMTVUARIVsxBUblYqTC5hGPiMok8hm2sFBiFJqoYyMYHIhJoOITfTAbYy1ZPd2h927nhchTmfwBC0ZKMA2gwhi8oAILGOAAhi1MliECEyOF7HMk+U6LR8qgJ6JiEofwgxjE0AZYAqYRmnAzMeMMgDlaIgxC2Igu94zeF5x3vZe9290G/bjRHIABFtCAAxiwAEcLgDnF/tV9Kw0vFKqImWNua7XaTIpDqIEJvlVCFLBXajfXlBKaQP9FKAzBhBgEVTqH8IRVTjLhuAIAvRCptYaN6xoHEIABDrAAAxBggNBoEdKglQBalL3skUTr2dpR4rQaMb9bheEHcV3vhNPS5jaP4hWkOMMSmlzucwFFJF0whCEs0QlGsKHDKMkdrQEw3vRmtNATovcBHBBsBjT6xCjOW+/iVSQBWinMSB0hjimBilFYQg1PyHDEAZOHUYxik5pw9cW66BIiE7kFKKhBE5bAiE5wnRGEWEMP8syRquqOnLnTncptYPUOu3wlGjyJAQJgb3wzgAEHUBqKxyIskCkbeD33eYMP0YhHpPqhpMCDqy8DoKbH4hGuFnTUsUL1qlK+BU0gBCP/PMEKALCCESRvAqJ0U/kM567dGiaySNp+kvCiJAD1vje+G0AAB3gLZgqIAHn+5zed+28kAwr84Ov45m932g1mq5ImBiEGSdoA8uOautUpH5QNA6AT9PME9gdhiDuE4Q1H0C1Qqh6UlKIXBeKcJEmK7faWJCAAAei1zCdAAAIcgAXD2la8+A6y0Pn9T9YRoeAlk7d5Gyq8QiyQQnKQk58wARNozg3EgAtE3SGVBPVU3tqpBwrcABbAAfZ1YAdawvaFwRKA34ZVVUe8QO5AlcmJxIMMBgG8XwM0wAE0gLA5wAHQBA+EQgkgRgDpHv+FDresiAgVk/B5G9O9AhJyBKxV/0kLMKAkPaDGPR9KTF5VBQVlPEkUtAEiZAIrtAIrbB5HeAIIbl8V+IDVtVteQQRevVtK8FxYGMDs3ZvM1Z0DNMAFsECc4UFMIAYRcMQPNsvn8MlqBCCPGSHTMZ3MQATatYoNOOENNF8UbtxIUOEZXo4GtoEeTMQkfIIXfmFHZJ8hnEEVRFdclZ7KNY4QrKBJTBRWUIDryZwFWECvTUCwOQAitMEYKYESbAF5RBFE8GDoGIkQ/gEh8tipMd2btZkruUADOhUkmlVJVE/VSd8HWM8GVgsJaQIrKJIXwhEAiKElBIIh+MEZbEHnLCJTMEkropZKUED7GcDcxaIFzOECxP/BFzDBD6xUC/iAElwBB+wgEdAEYvzN7wleHAnfMaJaIPyRLsGUA8ZAC0TeSFShBVJe5nxBHOxRMTXCay1SgriCN2JfJliCGGqfKCpiXaniSjhQS7hjACxAPGpALMbcAiiA5rzUD1AkADBBF/wjCwQkRBQJagQg4XlbQr4ZGHlTEzbgUwmNRI5dRVKeC2yOGswBNm7k4I0Q/UzLH3mgV1qCJbiBFUQBEyxiV7DiKlJAo8WjPPba3XFQcK0UkZFXDPwAE5iITxIBKiRj8BnlISLlgZVUDDSgEtjAM0oh4xBUVE4l9tQO0GEljj1RSHHGN3ZgGH6gIXzBEzQXS6YlBRz/QAAgAOxZwAY4gAEAgAFomA3kYz5WIXnZwGX5loyFgSFkQgG+wtBxG9PVEWzlFkQMplQ9ovN1EcqRnWKG0RxMhIJhJTIJYCNYgkp45dt5hTsdnHW43/wZgHbOXwAkwHpBFWtKZQwwiZLFlV7RDXKQgirEAnvGAtPRgfb4JkcoQQP+wN1EpBRSonoBwBnoAWT+pyZ+AiVYZnR64HSGhYysxmdi5/xx5wFIAGvOVXCJp8qV58M9FXriwSTgpns+mHx2xFI+oVOOyzRW3d0Y0X9CJgllgle6hAeGQjqliIJyAGi6no06WgTYlV3dDVCUosqN5w80Xz7CFBHx5IeaxA0Q/2aQOl+Jkp0GQoREpGgxHWQjsKgHYgX2hYIq/EKMAghr2AYHKMAFJAALHMBy/JZd5aOSpdfZqVw+wqYL3IASQAETvNSRooQSWEFwQqDcRCVB/UAXJGcjRGmKHmQdgeWVcsUsxEIrGMISpICMylJpRIgCAAUHseZ6sdvZodxq2qeEKsHp3SlKnEEYWIF9QiA54VXlxUASSImCLSdz8tgjHAJJEqhLbCkqdMIWgJ7YjcYfqFkeqAEUTJKlouDZZZixbmo+zqkkURVViSpKkEImuMEXaI4NPNVTqepgqkEmbiQyidLgTamsIqqVegJYLEET9ECKVBOSxEEXTNUJImuGVf/optoAFOhi+HUctKIEEoYCHlyBVOHkI94AFKhBIEAmMcGqAFJCKHilraqEKvgCRLwBADSBxVYJIy0fOU0YSslrym0qS61d+O2rSrTn4XUBFjCBSyUBAGTkKG1kwk4ERCxsKHwhK3xCi36FxarruioCQKXXhDGGx2pq7hhnvpJsS6znJqFC0QEARiKCH6WoHdGPzPBYKLSCF2KtFz5sS7DB91Usr05Itdijw7Fp48zK0OoOVRmtSiJtSQQCj70CRFicD3WSgjURnOFRUV6t1vJtK9QsGJIEZ3xCF2IXR4wgR1hsukJqejSSGDBBpq7huAxtShknk7mtSwCdEd5mLEj/7DCJEjJ5G5TKjN+WbhdqrTdyBOG2giu4wizMgi/8AkR4bUco7s4yrlroa0uIARQ4nI+a1dBaoClirkogwsJSQiDEgRgcwkNxhCY8GEV8UkRALSX87eli7fXWrNZ+Ida2buu+bux2nveRhO0uLknkq/SphNGV0XFGHQoMLdBSnoYR70rwWCPMQRckwZxiAR7EqNwmYoJJZtZqLwFvnvVqLet6r0gwwhuwwRqAAfmWbw90mPmRoAW2LUTgYuSSF35cDPxGJf2qhCIoUxtEQRJIaBI8gRWcwdzGAkdMrSKc2/ZmrRdyhAHzrfe6AgDoQuxyhAOzgQND8EiUbxPUAAla/2rlqcQ9bjB+Rp2FImtikl0Iq0Qt1amO1hXLQkQffIIq0BQxIQInHnDNrloXjnFH6HBHBAMA3AEhODAArMEaAPEDA8DXJq7iTjD6gjBQTCATwIHy4tJTRSKJlheGxS/ZYfAUc0SE2hVEMDJM+QEAFOAwfYIrIHAXch5EBG7gcoQuBIPnQsQavHEow7EcC7FIpKufWqBuZQTG/IAaIMKb6YHybmYKWEzU4Zpv5XIUD28iRyNrXnFdvZQ6zhgAqCdE/IIqaC0mbd4YgyEaqwQci3IpiwREpjLlrTJHNBlHdEEgHKUmtEEXQK7VichwtICnYqtwVZ4LFE0vl8RUDmlH7P+okUGVVPnBJ8RCMHjy67YCR9QwGXPELEBEMBDDxAIAG5wEKQcxAPTA2lYkyzWO7rLyRjBBHDTCITJdI+gBHdQSFhSm1Q2HXEGVSK9X/F5uO5vEO29OXeliR6yX2uFFJwQ0ABA0RAhZd2xyRxCDLgAAIbREQh8BCE9i21qPGozwRY8CHWRHIymvnuJVXYj0Od9nFUb0SYsEVM2zUxnZmj5VC1QYAHheJ7CCTI9Elwq0To9ENKPEGgD1BZ/vSOhOC1wrFhzsUTeCnhhIIz0SLo0TrmErV0+fCVa1xMSpfeaSSPD16dnnDSwB5jECJpirSzAwR6Q1SjTB2ladWx927jD/RRfggakd9V0jFR30F1meqrx2XNEKtriYM3BxhF8rmQl6qg8swRpg3ldDxE53BD8DgBpjMsVyBURiNkqusiqenV5hQRuMcELSkaZxxGq8yBx0CRkhWVydIUGZtGrLTTAbtkqr1CTNlX2+wBJggsUSgnk3tifktkgEgyl4nldE3zVnNkdsapK+8mdfNPYdgmRhBzH+UfLyrlORdFCcHSLTL2XcDSN3NwDkI5oeVFU1ASa8QQ3U9nn39EgQdHt7HQD89koITRID7aF0xKZmjhjEliEyXcOKpH6TFGsQam+2gRhEEgo2TpuqtnpAqo5G6JtKqG5RBghAeIS3AIWf9x3w/zYAOANEmEInYILXvUEDH/TJqTLLHbZV0fhmA2pyntlRewLOduDaJMn+PNGUPlYgxNYXTHeFFjjxHriOxiWm2mkHj0gMEAImkPfl9XRP4zQA/AIrMHmTN7BJWPZ4PuKfJR1HpBSibPYNWEEb4O1yp7jDZoL9ZEcebeQdKSciKK+XPKICCvYVtjlO5qOAGXacg8AaMIIpvEETnDojQIQyHLMaE4PsAoCS/3lJ+MC1+nWgkcQ4Xe7Z1TcTLfcoOKxIgmVDtThWSgS4LhJEdLRZnnRlgXpw/ZZUYXOcf0APEIIpYAIb+ICRQ4QrkMInNELE+oIvBMMs1DohODmUQwQY6P+6rnf6fJfedctpiQ/ToxO7J4wkra4Z/4g5H1HEB0GELIuBdXl6tOtocBqUyTHGxbABJpjCF8bCLwiZWP8Cxv9C56oxnzP5ugN6t8P7kaGhiJde9UBVoFIEMF10inf5w1oCrXoCqngUQ2bXsg+8KNl4B9sAcAmBErj2BFLWcIzAEnRCMDhDMCTzTmc8xuf2K3juL6S751FsyOf6yM+3CR4r43BOcuM7frv8lWIfdCKClw8CSN0RUZEQAHjUzNpRLHTHFVT1cBQUnLdb0HNEfKTAEsCRrDO93+sC4OtCK2iCxBJDMOw0kyOZX6O0lattuzHBGSxkHOnmKEB6zraoB2b/Qv3MThKFVG39kSa4sM6XM0Q0690fihJ8AhIqQitk/J73dtMHfihwJEcEQ8e7lGKbhLGKBAd9AR0oO8UdIvaBPWRDBOHiLEQ47KmISR5x5bQwUReTQhjIO7RfodlxxStMyx94gkwHvg7POuDPAlp546sHwyeEAe4DGkeooyEnJkXfkZYfouUnagK/ruu6wuZ9Je0wfx6xPUAAABDLkkCDBxEmVLiQYUOHDw9+kCgRosJDfzD+MaSRoyFPv37pEvlJUUlFoQAEU+brVSg8SRq6aDETQAsXSsQAUNSokaZRP3968vRJaFGBrVq58gTAUlNWn1yxygSgqCdFgbAGOqQIlQCirQJjvTpTo2JZs2fRCqSY1mDGjHTcInIFUqROk41apYzlKxaAQ10YzhT8o0scgY0oafL5M1RVowA+sfKUNdAfuF9ZCaxaMKtORCUpCQwlBAVb06dRo3YLF27GQwBCstJjt+QjV6pQ7XUYQ3CMKG0CAWj0aDFQoUSravZ0CCvz5loPZfpk8DFWgVwb5X7Vx0XqigEBACH5BAUGAAAALDoAHQDTANMAAAj/AAEIHEiwoMGDCBMqXMhQYQcZDSNKnEixosWLGDNqXJiARZSNIEOKHEmyZEUrHU2qXMmypcuDVkp4fEmzps2bDGN2wIKzp8+fK62w2Am0qNGjFK10MPEEqdOnUAEoLfExqtWrN5Uyxcq1K0sYDqp6HUtWo5EEUMqqXTvx7Ba2cOMedCu3rly6dvOqxau3b9ezV/wK7mnFSs4APAcrfooFcVGxixV3CRC5stHJljP7tEJZcGLNP5UEgGIYtGmWVp4QMKIXzBEwOpq8PX3zy2rIZXUUKZJGjiBOkRYtElRmyJAitF92ITCzLBtJwDlJj8Rp0RguJBYsQLCASHKXRpin/y3LCZT58+blLDDAHgKEHDkCf18pg4AJtWTQnwcASo4HEzwUMQQSXCChQxjzHXTLM8+AMw446JzzjTUTDmMhJqVggmEUSQx0AgEJIDgWG+WBwp9A5y1ChBVYYFEEEgSykCBBzDAjzzzz1JNjPe7Y486PONIjz43xFNnOM198xFpnXgkhyUCFABAlf6AsokMXXYgBBhJOOIHcjADcMg89ZNJTTz30AGDPmmvOI0887cTJjpzsDNMFADAEQIB8XbExkCRRYNHFElR6UYUQP9jwA4FOeMDnfOC0w86clMZpaTvzzCnpOudUwwsvkAQhShA8XICAAScY8QNXWEzJSRNKMP/xBBjnmSGQGF90QQQV2Ik4XxvrTCrssMPKw84xoHqgLAnKKjsBBAZo1wACXQHCCX9ghPEFFlB4Z14aA3XhIoFIyJjgLewwxM6blWjnrrsQNBBvA/I2YAAAPlzFmkCczNZiGVTyMJsYahQhBa88JFeIhqUMs846C6UrDzANvKudAfK6BwEA8Rpw50FEjIFGHUaIgZMYT2L7hUBwsCEHf6WsKFCsOnjhRRlBZIYJLrbwIgwsl1wCBAHZnCNQO3BaWhA7mVJL0HoCzUvvAgTA8g04EzIzzCq3YIDD1yFE0ZRNYKAoyQ0DCdEblWR8rIQSRtjsRc6KPWPLMcLsAgsQ7BH/EICewEDMTtJxApDO4engiCM7u/RNwL3a+U3A5JRXYkw00WQTTjmcC/M1DpdcTSEzzwxzy+mlkYQFGYIIkgYYJgtUsxzngYGHQG2c0YTcdOdVyDPMjAPNLnpfIkotBnDHHjDH0KM4jkMOWWQ8b8pj+MNoOA3AAgE0QFDG3HmQgbI5AAEEGhNgAAAGsCQTDTfhbF6OOeYUjY45V4MDDummn64EQ6bgGoYA0IQ0GDANcxiIi8ZAhd4Iogj/S4sV0mIzuq1qLbdgxjTGoY4eVQMYvKgFLWjBCUeUQQXuOgabVsjCFrLJHTpy0zfE4Y1jJEMUkKhEHdyzAAh4gFkeQEMO/9CgAvOFAAghCIGygrCCIz5LYwyAhBQhAYxiYAMb2vDGOc5hDv2BwxrAe8Y45EEmHZ2pHt8ogxqjYQ0mAEAMYkiDF7hwQCLYkQxGAAMb5OadtQzDGf3ohz3esSZ3FEMUm1CBByYwgR9awAIOgIQ97gEASqqpki68Bz7ywUl83OMek/ykKD85SR/pCB0zFIc0jiGKOogCDeZDAwCU2Kxa2tIDGvghs8bnLEZKkRbSKAc6cuRCd+DCgJvAxjWGYbIl2IyOveECFaZJBQBQwWZUIIIbymKKafDjm4PU3zuOsQkGrKcBDnDABNIZxVJS8p2VjKcoN5kPe8RjHpJiRzrikf+ODoZylJ98xzvwgQ+BgrKQ7qCHOBaqjWMcEofLiugPb9ksRhYDHe24EY7Q1EJwCEQO0rgiNjDHAwYOoTdlkKZKqTnNHAAACVQoAxnMULarHMMWuKDCGBh4My9sgnJ64s4BAIAANPSzn5McyDtHqabEnTEeD4sqOqZKVXSsIx369Kc7ADpPfXASlAe1h/PSkUqHigKH4xMIIydwjIzSg4UCoeQKPVoGOWziGLjgBV7pqEYAyCEN0uQVr6x5zSHkAAlySEQkJLHY2TiFCOASSBbKwAdBJOKyiSgDA/qGAAcAwAAE8MbzcFQkjc6jR2hKnJnqAQB6xCNdUY2tbGOLDnb/RDUd7Uhcj/7JVU168qAJVdzVrubCNRkElMY04F+VW1eAeQEAaahrDuRA3TTkYAg95UK0GsCAREjiu4kgg9iOckA7pMEO5vWuQBgbCe/yYQMMYIA6DWDa0T5Po/YQyGhfCwCIPay/UQXwbIM14HXEycAZVYdWw1qPNZHSnaWM8AudR9pzSMOvBmyuHDT8UQMOwQPG4UIODogdBuiJAAhQQSQAIInwCuQMQAmZZG9G3ZetuL0r5sMpTkGECWhABbWYBwCELGSCjFZN9nQTAJD2WqsCwMkCgbJA/AsxAUfVtgWWrTnaYSbe9nap8fQRmeJBjhoCQI0bTnN0X/Yyv6bU/29/c5cHNkBnCwgDGHUAAhIUKwk+2A4oMpDCc6UwBYGMgboAE4gjAGBZM4CCxxZYgUeHTOmCELm1AGDtkAAAp9du0WjoeHKURW3VUId61FOmMoELfA15sPbLsBalfsmRDViQIAdyAxjA0lxXAGyirlzgXuQI0ABGHkMcg6Oem/Q3DFvIYQnj6UkJsvBcADghC0ig8R4SIQiC7GEMLAaFA4ZwoxsxJE2cLtKS58Qpc3z63efIbTtKPZBTR3kdpq53fwFsVXNIQ8i+JajAB46PSnI1v9iohJ6EjYEFJJF8XIg4HaEL2GBTjQALYEBb77laHvXoR5McxziY0YktfOwmXv/IghMONoQsQNcOUmjzQORAhCcFARLWy/lANg0AnWuacABgNwDoR3Si80J/37Dv4dhR6nxP9SARooY3Jknwqltd4Pa4RiUwEC1hr8diX3cXAJQVOQNUohgZbXBx2XSPffAjkPDwxzZ04YeXCAEAKj/YFLAthcnKYQov07UaqZCIRQQBG5bq9PTi0fPGZ3rJhZuUfwEwv/mZg/K7AHslRFEJG87wGzcSkqjPEaHRA+Ac4WjG4FS71U9e3ermgAZ7TsU9A8SXARPAPdgvdq9jHCNIa2/hQe+Rj7e/3R7jMIVjTSIGJGD72njf+xS8kAZB7/T64E7DrrRBrEslvrRFHlb/bM3BuXJQvhzh2P162BMtBHCHAJWYxzrc7W54c3EZ17infXGUjtCvyert4A188zj38kgWQGcIqAEakAET8DjuIgrf4GAQtkKXJBArBFYCJ0piZQspwBLQ13c2AwBS0HJl4AXZJjchmDNBUA3mUFX4ZlvCIilIYz1Y9l8Qcz/kkIMDAQveswACwR3csR5AmDzscQzsUHREx0UAEA7GsC7794SKcyNoog0CMTnyBUkHuAEkcAFbiIAbkAHrJwqtN0pJZUkIcYG+9U/msC8r0XJUQG0hmAW4VgbWhYI2kwVDAABDcACNhAaQQAvNIA3UYHlT9TBI82QRYn/oFz85GA7s//FZPrg927Mdk6g863EM50d+9DN05UAN+TdkUBiKONIMVAMA8uUABoiFDkACKnABCGgBDAABlfBl8oQP+0BQltQjSMZ298Ajk5QPx7AyK5EELtUlKGhtWTAGaYBddjgFxjEEnlgMwPBKQNBwuCcK1MAN5YBFANANWFQM4FgJlQCEdVAHI9QMsFAQREgAkth1YMcO5UcO5QcA5LAMRpMQOAKKT6gOtMAeAXAA8XUAAAlJqOgAG6ACGwBJAEAAEAAOXjVw8HQP/OAP8FCR/sAP+5BpZ7JC83A/w0RWm2ByLKECLucEx5gFyZgGJtmMQ7ACGgAN1XANMnkNylQN4CgMxv8ADcMDBHoSAGhQCbxAC8AgDYLYDMVAC+UYApMoEJE4ED7og9FChJd4DuRAj+VQleTAhOnieAxRZIqTDkDgfn/zNxgXXwsAkOnETicGAA/JSW6ZDwTVD/DwD3RZl/DQD704D/cUD+hQDdLQDd3ADdpgDEZQBS3BAU4AANMnNwNBfYrZjACgAiQgCtBADZZpmdUQkzGJDQCQDZqTlfHDiIxIDoHJDZ6ZDdggDcuQDEhZB0qpHZLIlE65HaeWg414DdzAeARhPRGBI+bAAKcylif2NwdgASoQXw5gTn5TCfYgcG/plgQ1kXQZd4GUD5mml+iQmtJwDYyIDZdQGC7hfC7/F4KKaZLgAody43IaEC+0sAzN0Aw6SZSXWQ2eiJuheZ9LGA5ZmQ3c0J/+CZiCeZrUkAzL0JohAJvvUgzUcGECkZWDWFrRo3O8iY/HMAxDYFl8wEAAcADB+TcAkDMIwAALSQDa0H8NRk/P6VUYuEkEpV/y0A4LSg3VEJrNQAJv1BIn4FIoyZhIMIclmJ4omYcNiAbCgAzIQKDL4J7vGZ/biZqACQDcEJhQWpX8CaWCeaX++Z/+qQ2eSQ1JaqDboR065DNbxmSLF6E6x5XfAF2CsFjQ8V2SoIwHsAKgZQAqkAMbcC8EwADiYF++CEpw6Zz5oA9eZQ/gIA7aEA7mQJ+e/xg/tWYEcJBALUGSU3CCNjMFmLpTeDdNmCoFAEACFvA3aAAMxmAMOGkMRpoMSPqeMokNWdqfnjmTNIkNnsmlUMqfr/qq3pCl2sAN1NAMBVoHI3MOleJ9Zjo9ERoNacAHl+WmoCAJzwpeq7AB6xEAc7YBCMBI9bV/ZrJbIIcP6MANgsioAGCZnNkNy5ADS0AoLsEDSCAFOUBtijkFXaKYQyAF+NoliTkBlEEAQAAMwhCwpjqwpVqwyyCIuJkNUAoA10AN0OCeOomZM0mrp9mrvZqruVqa2UANwEAOVPUwwyIn3hcP0bACQTAGZaCM2/amzxqt0CoJKgAAAaACKsCAov8gis9DYa5lDtrQsJcpnzRZrrDwJS6BAiwAU30ngtaWmNYmBVyir04wBFwAC8RDPMAgEMYwEAGLk1y7DDo5q6gpENBgqqdqDAT6nvJZn2BbsdwApRf7qtcwMkCJDSzoglc2KdHAjNiHsgDjXZzwst/FB492AJMzBkjgAH2qjzjrJufgDb9aDMkADQAgDZVJDZqTDDnQAjWBAiTpqfWqh8YhEDkAtU6QAzELC+kIAMJgEFkLAFnbtZUrqw07tltbu6d6pEoKDYKotiLlmQQRq5WABsIbhAugQ0BZDdhAeuhwDClnM9enRtDrBOD2t3AqCWZwCkHAAOxIBQuwpgYhiu3/QA7XAAyVAAu8sAwA0AzlSg0A4J1GIIw0UQJDwLTP+IxcMrpQiwQqkI55c7Wri7UFkbUDe7AOW64z6bCta7sKLLClera6i7AxGbTKJAyzig3LUAzC8ErC6y4IIAooCYdZ0HfJCL1qNARuyl6XBQpBYAABIIu6qRCKM2Rkhg20gAZHVAnpmwyXmQ3GYCs3wQPXVb9CHLVP2yVIQAK7QAu1oLoH0bpO7LrGEIgOG7uWKblMTBALvMClirtLurvCwLvKJFJXlAxHSQV65wQwksZccjPQ6wWR0F6YlQhpEAkHoCeVED1ciY/ZCQshYAAYEAKVQKDGcJnNUAd+QAc2gTYm/xDEQmwcXKICRgwjAHACKJACKGAGZFALtXC1rIu1OIkMgbi+lrm+6isQ/3vKWJzFtluwyLALOiyjmlmfDHtF8ysFaKzGuDwFz7sHAIBZfEBdiRCqAeANx0o9aWpkAciDlIMBONwMyTC5ywALYLBNODECAMDIQmxtRYzGG3AfADAC4JwCLnADgGAHorALnAzAA5sM8KmTOrm+D4vKVyzPqazKd7YLSxqflymj1MALT6vGOUACuPyu1ycHzMoHfLAHcnAzDRgAiKcpcbJ4xtxzemkOwhACY0kAIUALxrAMyLAMpupSLvATKtDI9nvNRoxCMPA/ACAEdwcAcBAIiIAIgf8ACJhQC7gwEALc0e+5pPAJADppqqY81EwMC6tLz1qrwLsgDEmqpD39wCow0EcMYjBCs2gsvWPgBWOwB788BskYBBPAwi1YiLUVgxGtbuhADUOT0f8KAMhAtpdQAygAFIvcyHp4vxNALwxQUwVxBmrQBm0AAHSQB4T9B3mgITgFsB+dvuqrvu6svvK8tUSNykd9xUwMsLDAykeKpMtwtZKshwNxWEjwYSQwIM6X1WPwy8mY1VmgAn6zOUWnvPgWLMKCDt6Aw8KJAXUgDMlgqsCwC0UAAnP9E1+QAaCbh4YV0JIZXxLxGW2gBmfQBRzyAzFABmSwCZtgB9i93ZtQCZD/UAeoy8mRbRDjXbvoXLDojaqhEtoa4FIEob+iDSNwaH1ZXakqwMLwY5s5aHlbRFWUlwzqIxB6EgLp6NsAsGhjAxQ6cM3XrAITQAJ0BgDwNRAOkC8SAQVQ4EbU3QIpEM4pIM7jHAMlwIUKaAG5xAWQIApCqbVMPN6qC7B3FuPpXaq8UBDKjQQFMdCLmdV4Z8tI0AB/gw2A6Q3hQOSjmYPkVw7eUAfsyI4BYABEKgy2YArQgAuBINhIQQITIBAbMBAHueUC4QDeXBHbMl4dMhApEAM3EAWPpIAKmAEWEARyHgRS60q0gM4ACwB5nuctbsq7oNMFu94DMdqfXehqfG07/6qv+osAf1MN2aANb9sNRG7k4QAA2pAMIdDkTw4ERi0JgxANx9AIfwAVYE4QB2mjAJCWLDACHQgSK3MncEC0CggAEzDnti7n54XdKv7neh6wvf6/xCPArssLdJPGL4Xjx17oGSDahUaviWlY2fE3YHxFXBqlkh4O1VAHGNAZBMDMuJAJiBAN0vAGiKAHUaEBBfFjG6BOabkBMvDSJGEC6E4QjEQ3t64BJCAHbhrcu7EJxwMMMC4QwQ7Fgq7G7/3ZevjgMEJoldqjNEsCYwkMmCmj1xDBItWzyyBLnbEAu00GtpANywAGZxAHVjHvAzHv7J5OG0AEekDyJHECDoDubv+e6qVeEKuoYu1VBCIAAqyeAi1QBGSwB5pstaUqDHcqEMjOEI7MJZgKHw/Pr39TCe5MlLs7n9hADbQABAOBAaNqDeMLDEXQ6lHR5ieP7pC0Tl0e4Sc3EjFfEBbwoXCfMyV4WV4wBJfFByaAAi3gAi4gBF3QBn+gCIqACG+QCKRKC7eWh58KYgtx6FMwgjGrAhrAPQLA8U2dpE+tz8YAC2iAAZNTBwC/1MDgBSIgAlYBBwBA9gCggCqwAlnIha64ATcw0iNxAsVJ4VseX0yU1cyaCALBByugAr/sBSN9d2oQ+IpwCIEQCH/wB5jw2yRQ2sh9XQeRxqa98Pjq3spCABX/0AE0q9mqqqqYb6qcf8MBC7CjLwIfcBVKMOYCMetc3uVbuIUdAAIjAQIKsABvz07xpQIAcWDBBgAFCwoCwEcOASlThvD4AgDOnz+BClLESCiLBxUqAAwZYlBkQSRIhnAs6UTKShIkNHiIUKMFBQ0kIBnDmRMnMp7AhNG6BIuWMGG7gMEaEwNAipFNnT6FGlVqwQkANFjVoEFFEAsbNlwgsYHEBRNTzY5MgMDBhAlBkBC0wIAABBWJEPLBK0cOiQkqhhR5MjKimjZx6FAM0rJjDpBPSw7RWhLASickPGSYAMmOLV7CqJEDhkxnTgDIjAJDTXTXLlhrzkQ8G1t21A+1/z9EyJBVt0GvYxVzmG3WhFoSXsZ4KbiigQEAGXLwAaA3jZw0XjKUDJKCaVMmALB8OVOiJQASKhiHhBpSshMnADwAmFAJGTRq4cKRIwdt9GifqQEA2yURjIIjMDjbahOhAwAs0O0qABwAwCODVCDhhgKhMoEAB4wjoowyxqBiAgTmyoE6O9L40CEDcshBAxSiisEGITzQqqPyWERPJCR0bM+JHNgCQD5j5qumG/zIGYk0YQAkqihYNjnsjwunnGoEEET4QIQUXjjBgQZrgk+kji4AgAcxqByJBQZUGAOAMohwEzkGDAiAhBzSGCMLPX1coKMVQPgAqhRiuMEDxWzsCP+kHBnbEYCUnECCLQhKMMWWTWjZRZhmpGmmGGCawonJ/3YB4k429EAz1aZcaAGFFmL84YkvGGAwq7AACGIFj3QFYAUAyFAkD1VPIIABKcYgwosggnCTiAkMIGACEvSkQorHpAXgARRAeKoFG2LNgDwKOyL3vII0qIokkjyYAIIJApmjCFotoJdeDTYQBgBjDNp3NdREQSMAAtIopCBEVFU1jiLMSKSIL8QojI4iaq1pgxWoIMEgXzdWo7tUSyDAgCA8XIGBcMtQFgGVwy0JCRZVkNaDE5SCKgksmmCwIHJ3NjcHv0TyEQIAIGBjDiMmqDdpeiHJd1+chIGFNUhKkSP/gAByKANhrQGIRBKvzWAjjkEOmXi3gnzeeIWNATDBhVRByFDkrIMggICRvaBiAQAIyGAIlzsir4EMIPjDDTGqeAriEuiNUOedE83RIEgNMsGEBRZwQGmlUSvImKPQqOPiUk4hIIAJ0ihi61QT8ZoTrxPRYQkmukD6Sw0Y2ECFFXLtNdcTuEXzBAQMYABljDMIwjgqQl4gY48otKyBCcBApHqo/mBjA3vFfNyvxiRPl4HLMTfIggUXrJcBBoDwAAgSMuiKCi84kSUHq6coogXVL2xiiDJa95okIlEEVy1OA7Wi1wZ4l5xe9aoEgULTAgyAACpkjQrJexMVmEMe8rSE/13PAkMepASVJ3ShBDmwlwYyALjumSdHlRFaAxbAgAYUhHEiSVoD1Kc++DFICkPwQiqqdrU06G9/wYkBEeQwBTu4zomSKFMKusQggnjFAUNY2+42FgQTXIlKPJgLA4zjISJUZwUhQ0DGPMCuyxVBhBQR1lNQcIIMaK9BK3xe9xgVIQjIMAAAoNVaHLCW89mQXjtUX700kIMxIIETp6DTwIywhC/g4YhnkaIUvICnMrDOdZLgBADMcIJ6VdErvmIgA331IipJwgALIMAQ4IQyOBmAOQvIAGYuB4AiUGQqWYqADb/Ulzw+DkcyXEAAZugAHSLgAEHIQeZwOAFEzstePv8rgyCcUDpGhiEOlzwLCkwwBSkAYAxpOBEo1cmJRKDwXl7RWANRWYLkTFIIFwqDHKRAgL2pgApw8gIDAgAtCFwOATLkAR3oYJYPdMkgtrtKMR/XAATo7ZUImEDudKW+H0KIXiSAUEESmbQcQOA6JSMiG/IwCHCahQdUmIwm5WCHMQAQipJwQlfg6YAF0lOLy1oWGO5wJgLdIQ2c2GZBwigXWy6gonUrQRKiAJ5ffoAFBIFogyS0MxJAwAAXGJEtIWAcL6BsDNFkQFXoxSyRjrRea5mAExZhgbp5ATBWaKlUwJCFKbRnMlmYzhj44DpQtE4OBzSfPHsH1CCMoQx44UP/EZRAIEkIghOLEFpBbGmQkBFAAhIAgatexdAP8KpBWLnjVikESx6ATKzmdGyHjNeWaOYMkOrDnPoGOQGfUeEUgpCeCozQAhfQLK9O4YEXpMAeJ0zBuWVIAwD2sE4AQFEFFsgcT3EF1E3KYQ94SUgZUDCC2dxBDpyIhBxWUAHOAqCiAJDAgWTzAhew4AIQRW1WLBCu5zWAByIc0XIaK9s3eeg4DAjCIBlwWwAsx5kVNQAEqMAeUMhCA0MwQatGMAIRHLcpbGjuclXiXOeeE7oAdB0AnKACZ+4uCEqE7EHywrZtxaYPZijDZZHwOwBcIAENaEAFQFubgpA3Nl/AwkPx/6sbKhYEAiYYBEX42S5zvskLXuhQsyDgABU4YIcAoBMESHDQEpCBDEYgw/xWUQpQkCEFG8YSBD0MgECAoVoqYQ+JSyydrqXYdWPYgIKDsAeDQFYvBvGCnM1yiMoCQBBBMCIINmwlRRv5LHmYAxiuktVN62YD9yqBL6Wssoy56YId+aeHAgpo8R2gdGLmyxseAYBGTOINSCjDKWRRCgBIOs6Kzmsg6jwEPDdXz84FLE2nG8AArgCWExAEeOVQEL1MuwxZALZUzIteOYChC4HxQQw0XGRWyoYiROg0p7NSxQY0gaUAoIhFNTCG41BhA3WTJS1h5gBYBgDWKsiAEYhqkP9kVbgUuSCDr23jYWErohFEIHaejz0FJDihDHLwQtc0DoBElMLZCBjCtKs97eMgxwsm6PBZ7ILeIThcaxQpQg4+re6rEGQIGzCBGwoyBwDkIawIQE6yNmA1gqj6us8KAANa0hJUjoQMTkhDKmQhC0ZoeNJeBCciGvGIP4gBDDlwlLGPzZhjyeGxkeB4IhKBKwggAAKH/pDJvdDXHLAAeFPRgyAQIocg6MEiB0PTH3gw5vxmlTcaEEBT2sADMCPATXOjZvKSVQYVECDAS7fMCSwtEiCWQha5kMUVqrCEcLfgzZtX3SPw0IUlxMAMXpCDB4Yw8b4OoSFjkIMT1I6XPaT/gQ/PIgDKrnzlvj4mAx1APVTecN70giEQI6TS8+WlQyUvWTcG6KJIYvCDsoyosW4CwAXllywqONuW0mpJBuz+FDKUARSpAH0nHqGIQ+DhDF2Y7CUHcYYqCKEFI6ACOYiERSCB2Zs4sYsuO9iDBZw2KSABWPKA45gCRykIkKCQCDCiqeiQAVSBKEuVQyADCwCyBSMkTgMAsbAABAAtp3CBDQK6rMkaZKGlEFGZuXAJD1i/pygCLoi6zysFvwsERRBCIYQ+rSEF1TuDLVgCMOCCSBjAkzBA2puCNkECdCqILKCCEJkLkNgRkPAZsCOBFfgCKxADP4gKMPALKkCCFYgj/yrBAyMAgAVogAsgCELyEojKnRxgAATIPqi4JeTImuroEC+oPGiJlgzwAAWJCj1QAS/wPNArhOcTtkkMhEPYmkdohK17hEcYhMpywjLgghNQgYaQwim4tixAjiHwiDF4QAPgCJ15mZbQgCKwJLOAmbgAA1SZkhYwAg5ou16hlYKww8I7wS5DgAS4O6e4gJABpDLCsjQYv8uhkwVoFwowizRbhFX4vE7Ag+fDiD/ANABoA1WhRGFDBEMoAydchMpgGwMEANozJwDAEZBgqz+yE5+hEA+AAHdpAo+RCmsEgANgGyoRARNggD5CAAuYgMxJrAdJl8JzgIo6gamAJVsygP/iKIN/SqYF8Cp/S50oOIsq1LVcAIUo+0ZMi4NxDAwq+cZvlISjigRB4AIyaIQI6SspBAAvKMDH8Iu2S6PysIx9NBnM8IGzSKsFI4AEaMPZaKhgwpy4YABpqhdhTBcq0h4EYIADkICpAIM5gRY6ATOBscgAQIDUkY32e0RZiESMyAM6iAM4EIMo+AGWbEmKuANBWITLogIVAANF4CWXETs9y4KzYRGRsCXLmAAdyiVEPL4WSDmpmKDh4Sc1UAMDOYEGGCiFXJCoLJ+GXEik+QgSaDWKkgq/AwMOgBaDGB5b6qxcBADAM4sioAJBkLpcWARvzAOUbIMkC7y6/ANJmJ//JyQCnoODLjiPY2uIwYwQsIuQCbAoCBjKcAmXCbgArIuKE5DDOLwQ2wA+y6AQGsLK3UIfG8qcRaKmBTiABggms/iDIlgOgambgSIAsySQHAiizzuFQpiD3JyDlPyCJBC3KfFNKVkEy1qEMRgCNlADkCSJwBQxmCo1wFGqCcil5oCPdqkAQMm2psBO9SkIvTGByoyN2ugABngOJ/SaSNgDjAuCqEQaxsmuhZyh9DwA+jwLNuCAj1sBGw0OFOCBMkhLQKjMlGwDMXiCGzA9KyGQAf2DO8gx4fRHAGABJEDOIQC7yqAQ8vAAB2sOdvlQCXiAZJyK9wpIvQEAnjsLKwEB/xKYtq5hthQVoETwghX7tKmcUR06ADa4EGFDkw+AutoMJQBQAijAAigQAhsQt/ESU6nIzQGtLuYrgyEwgnIrCBOgUj0zicngIBXyKu1sFwhIAAlQ0g2NimLRTgJYyqkQtyLoJNa5qTd9UydUOw/5ERraoSWYM6jgATkYyVQAgxexASXAAjHoAihQghtwmwyMii8ojDlQqDfyJaPihMs6CQCg1LOh0nd0LnW5DCqzvHZxPB0IgyU4VOOKjQSgHIA8i5Qkghxgj4tbu1etLlgNII2LhETYAz2cHgBIglxtChbwAkGYulwwAwBwGyxQgzhQWIUdR7Mgrh+wGTGIgzlwVv+Fqq4nXYQhYIGnOAGycy7mYot2kaAJqqEi8MtU4QAF4ICVbQoKUFeRwB53Tc7hywIpyIKZmtecjVWvEYSQU4ELgIFJ3Q5/NQgkoILaLAUZMIiJjRJwXCipEIENQ4EU8BYhmKozMIgCRa+97EMOPSEuHAIRsa8HcKoiIAPYVB2LkAqMQEMkKCebRcUr05PlctsseKx5ZbZI4AMngCwSUKaXJdqC4IE0qDDQKwKPcVZo/UbasA1Jm9pXEQIoeAIwwNgc+BOoEAEROAEK8IAV6IAOeIF7KkKzmIRJUAQ8cAO8cooK+NzWVcSLeAqX5YB2bZmWUbHmGszhuzIqmL09WDv/PvAbtUsEhfACaYmAxwxcADiBCoK/XIgE3rwIR3WKA6mNEXAVG5CVcZSEwVqEMsiBiYTaqHWbezI3qKi/pgAOAKAngwDc0aUADniAAixak8CR2mUPPckCwCwrOwhY4cU4LxgCEgDf5DWIIODVz0uFgjEIJvUlkaBe602BG3iCM3BWANi2AcyBIGBQ1RldAllfAADcBaYzDuiACGCR2i2JHLAT9UBhk7C9izMnOcBXOSi5sCXgkTCBbBpYQDjTBWbSkUAQ622BG4gCNUjcgnhJ9EqDHNBTnXs5NHldFlCQ9EVfEu6ACwC7FpbHLK5dR7FSv3ACxwKAwUwDPCm5Ab5h/wBYAicIolwgSTT1YektiKh1lR/AgjZIXIy4g7yk1vdI46h4AABY2dd9ig7ggAjA4hZWZBS2Uhyx2TwBABSJO+T4Y4Mgg/P6PLUcCQZu4IIQgi6AgzweEEAIzkXIgSJ4N1WBvhAukAdQgECOCgpw5QtQgUW25RR2ZFQ8DhTBkysDg1r84+SSg+YVhJMtCPr74ZEQ5QbOAyQQBCfEmBBSZfbt5AtRgNhw5QKwgFp2lFtG4Y9gEZk1jikoY1Xzgl+uZJ054FxIBTIQiUco3UZQBETwxsU1iDiq5iJg08uy3KedEostCAro4Ka4VqgoAJFIPKiIAFcWAI/IGG9m5HCmUv/jKKdyHr50FlwdNlyRWIIqKMNBgGdMnOfnm4o38LK+KSnXLJC5FAkK8GeEeYBAfoCDhooS6IAKiAA7sZNuhmieJDtUbI9yLjmMtlYpyDU3RjuRIK4Y8IEl2IIz8INDCGm9Wib1gRa1DY7kgwIAWE+tUYCtLIgBiIqVLQFe4emeBme/kAIqyJNNQpGSI4NUveFdpR9ZAAUbbVxXiYHtU4IuOINUdgoKiEr1OYAAUADAPgtSvaQCAOuZjuUKWFk76WlGbmTcHQMpKGfhAwPEvuEKwOyYPCuDoN4Dsd6p4IAMqKisHJEEMObEDlwJMORs+UeBLoJanuyWscAcqNsxCGr/FLloop4AQ9EVKiiLghht+YqKiaGmiCwdq5m1EU3eB1jf1oUKl4U53dZiLv7mRt7tin5rhyBqAOgA4mEQC+CBuzvuIouKQHPRAxiRALgAYA7vpiiBjWWBD36Kb2zXs/4b2w4JK91i83DXKZhTt77swiRqEzCAAwgkzxXThTML7MouuaibhI4NAbBwf93Ygi0B9rqeb4Sms5ZHv6Bfvijrl1gk29MT+5ywHCgBzoZacAIBECAABmfIFQDrp0g+kSCWtSDsuiEAAVDWs8BwooWTgmCBHI9dgUYMj/CbFv6RDnCV4jqB+/4I9sgBa8kAEoDxqNBQCNcauCHLqMycrJwS/4GRIUOsGw8nkCLPVcaTUkJecuuubQRXFBXIQQD4ANFqgRMwASeQn4CNBCR4brPYFiIzbuRGkyQ4AbI8gEGS8A5YVADY8ZGoAPgUGKtRAEOY76hY341l5ZZ1WVkugv1mkfqe9OpFgRzIS1AoBU4YAneWih9wGz1/CupFEx0QGLXQrcxB49m4AKtp7pCiEguZsxIo7hKg4tmmgAqoAFnuAQBogRm/ddswAYRw9cvi0aYQAhcYLzCvdsU2CzAQGBuPSnop7gIxgWBPgI1F27OIWmuNgSg9rgdgAR5gASkO9am4Zsa1DRYQQFcHhUjIARGo9ZEYhHE1rkkP9+DIAxOwGv8bZ0gLKAHodXi5jg0UKGiilW715QAlV50DYXVQIHlYP4FsQwVUmIQulw1Jq3SngPga1y3smoAI+AM4Ngt6rsvZSEJclQ2XVZ0CoAAFiYB+PyKRb3VQuKzzHolQ0IRCR5h+NYuIl/gJIIALwHioEDZ7bul9vxCgD+itgW2cLgCxVp2E/vfByvZSSJ2D1wTTnZIMbwqQh3mrkU9oCQBpPot6HuiWlopljw2wB3s0eQD2kgAFMPsjEoDaYIE0iASSf78yOPhjvhBlHYDEHwkRgoqHt/vmNoGs//BqjmWoMPrgEPxUgewKmGm51xoMx3BW54RSSAUhIhOR4IBnv5ACoOn/gigABejqOB7oJnCABAiAe9fFrx91rwdhqMD82QB6yJ6SBwCOCCgA1m99DFcBy5L9VFiEphuJwS+Q0k/+puD6gshNcBJ9kSh9kbj8C0lf+AWA5gcA13dzkSj821cA60cY13cAtQeIVKlOIQFg8CBCABQWJmzoECGHhBUWUkj458/DjBo3WsyTUYCAhAIGcMxYoqLBAQNAhixZgUOFBwVaOuTAsOTDkQmkRAJ1SqAcnBRxPiwhceLNhxeXBjpEtGGgqIEcqrHysSXNpwiVtNCK8EFECQqyGkRp0KZZrSAHqHDkE+iFp0PTEuVg9OjQhkwPIZoUCsAZolIHPyS58YNX/4RLWqBIbFBBBQAVFKg8GCFyQg42E6sccEEQp58DV0TUmtfrg4cwkaa92FSRJk1+uuCMemhw1JyOOVoKo2T3QSFQKkQoUEBBzQ4Hkz4dUMCCHE6gUsk6RQWzaeAaNa9e6PrQIb+KAPwu2RS8VD162jz8gFg7QlWqSE0CDNyFECZKfrRAvrFEB3ThpIACD+QQSSmiCSIBfA1q5YdBKZQEHnqB6DGHGBy9p10ojyDioAsxKHFDCz8YlEdpDQEIwGamadbWW6nIcUGKDjbkno1eRYUIj3qogcUPEh62YUkjIESKJk7ZiMILMXQFgBp56KEiAMotl1gHEXzGSSmprJLKCv/Y5WgQWRul0MKTWzioByJRxdGFEi4whhOOHI0QQxV9TELKI2MC0BhCFuaBEQBO3dVBCXcxV1IJETxgQRpcCpQKEhH4SeZTKGi66ZPwqTHHHGpAcYOcjAGqYZ0Z+QeAJpem4AIASRw0FaEGIaJII41UWQILJwnIkUxsIXjKKqcIUsClZILE0abNbtogFGJgkQSJKaSAAghPuUckQnnWlyysUAEQCKFN5QqAIunyuihOKpGwSIwzlunnsg8522yn8LVxRhdM8DenVttuKEQYgyR70BZWYBHYQYo4RW4giJw7HgCNPEIJg5wN4EB0oqUS18EN1XsQCPc2q90XAOSxciD/dLQhRhRC3HCqViKA0AITbmQSMgB8AhDKKKw28qGuiPA1ccXoUqIIRrUSpdJOkfz0ZUE8O1Svs2iieS1wUXq01CFDz8EvFFY3+CEAj5CiCgBs63ou0ro+omutTuMEkgrDCiSI2TkJoKnWaKKw9W50LHX4HxKne2GGfe8WxQ8x0FbrKwZ92xAliDhtd0kgbQCvaJxs4LjIAwzuggsvqH7DC7shjnjFjVAyO8WkJ9aVrABEcZAlB5ECACXACz+oQUt5BRLHUk96gWHaZetVASigrnqTMQD3OuKwaTIKJY0oabtWLeC3Xww3CBGFGBkq8jvbCOkBO2cJOKH8l144KAQA/8g+XQCaqauer2OwZzxKjEITs9MV+MIHAPwB4AUlIo8LfGCfnrFNFZmTCueIAhIS9EQ0aUhAAp3DP/85sEECXEojCsg97yUwU60TQhJM9AMhyKwrMcCfGywXClSEYmnAQd4iQiMQToCMdMYxTguoRzPtnPAPedieAbs3lRbipHXmSwIDATAzAJRvhkLwQRXC0IfewWdjcqBfKkhwPa8MoEDH8R8A4dPEFBZwdt+jokaY9AIXmChWQohcV15gvhd8QAQiQIEEG6SSvHVJIPZzHIEeIIEHxMAGpGqIIQzSiNx4pYkEjOIm8biRcKnOBjLkj0Fi8ANCbksENvJcB71EBf8HhIwCFzFIBTqgyxJEQQnWOwjODBK0D5ErgNijYxTRJsqHVK+BqjPIqUglMG7BRwAOAI3HiigyARxHIS0SCgAI1QEWkJN2YmDdQSSYST6RK4NPwR4Bude9Oy7TIB8IkQ2a1MCDyAma1MyRNcsgqWJZYJsjM0sHapQR75yFnNsbBSpGwZ7gbMENlhjm4ZiIuEZAcXatqqc9P8CkGJD0IK0TpAtQ8J6V/lM7AuBgl04BigwghCUjQVZqOKActCm0Id7BiF1YEBuIjoIOHjkIHg5hiUlo4hHwu95GR8G9UbziL/UU6ZxucJCSWk91iJnmtsYkAAaUQRCCkEMQGnAAkrD/5DEHiQyiEGIlh/yURbwaqlQbcVRbAWAUljCEG7rQhTPEwZ1aeR2rqBqLUORQOy24QRKwkL7EYDVc+WTdZQ3SOgBM82AoOMACSKACFVhgAWtliXEQIiYAHKqnCrElUO/60FGEsnh/UFsoBhEGIYDABZC1igkPF4hRxCIWkziDEJaYKcagSZVMsMgf2oCFPDbkspvdJ2cFdjAJROAABmCAAyzgAAYQAAAgKUBlAPAAClgpRa1NCEPE6VCpvoISUwrnRRDxF0u4oQotEJiQgvsH2LTtuDILl1cGN7iuiDQFN9TdF9Qgqpn9EzFPOukL8tlArcYAVtoNWQkcQIADTMAB/+ElwLJWws1VsUiuu3LtQcYpVKlyTw9ROZzaSKFbH3zYRhfJsVPOwIQ/xkC5zFrwn7bVmP4t4Q5n2IIPVJoqzjYmdQ0kpQ32KafncdYrv9JIBxAw4hKH17QAUDGyLHWWhuiStTDmADl5IFVUZM7Gh0NEqybR3xpMOUeaQMUn3LAYJujnBpckioIFB9aStSAGWzCEJ1jRiU4sZgQbApT/DAIrfQKgK5razVAMm5AEBIAA4AWABSzAgAAAgMUOmauVSuDaoPJAzlK1cTuXAuQwJDJklriCD0RwT0L/0QZGdkiinyTlr4r0BlYwBCtY4Ypod8IQS/ABg7WmWdWhjoud1v+UsbUDW1GXxQAAGDEAyDwBAljAKBVpb4yrpJw261KhQWVBrSOKa8ThGRWZ6AMAEBwyFwhMCYU+9EYAhyaESPlPB4nDh1wx7Wj/tQ1PEEKHu9KpZ27201oNLkcqMuIFAIABJUcAAhJAThYAABWocHGVEqLLhB7k3vku6o0Rl2OSmW2aLiD2D8KdkWQbpFMAA8APujAHXDXCE05PyCHg8AUrUKtUgbyut/vYN1Kb2wETOMgBGHAA7rhhjL87yF3YXG+D8ArfNAbA+16HZwB865c9L3ihfyDwhCx44Z0GpuBaoAQx5AFumXD60xFiiTyo4QvPNZENExI5nJAbJ+U9wEH/HIAA0J67AhLQeyLHGAoWEAHtBkHUzHcZ5zk3Iu6vUxsVBfZz/QT92IH7e0LQdIMnnCEQuUJgJqbtCQAg/iBOD/IXpvXx1vExuY4TOYkdoAEA0NLkB7hAZEjUmCwDQPQGYTnaAaR6Fsx5XLm+8zLx7q/JN0RrsIqjQZzdBt+fS5Ou8MQnpk384QMgE5awhFINwhzEwRfsDolYD/d1UmJQgAGU10EUFPUxAAMkgOcxSEr93Q0oQUVZglXxAAD0CoDwSjy9HCK43lPhkcDEAKHth9AdBJJphBB0AcT9XsM0QibYBiu0AischP8pVe9kgthIFxNEQRIcW0ncklYcAAIk/8ToVB8ASAAU0hDuoYkgAcAVWJQmEEGtSVVsbE9E0cH5GQ9IZZd7GNx+sB80+R38vYASfMHS0aBB1E6hRIUisAL/ZYSH5EEczAFtaNRTIIcDPqAFHEAAcJelSGHRiU/rkJSJWMEZDMInGEQsvAIlFpUJVl4LbYsK0p4NKFvgLNzg4J6s0MHbNIwi9EkjKAKPrOIU8UYqxkEtnQZCBIABmNYCLIC5EUAEKIAg0dCB/UmIkFQl7ZMSTJdBVE5fSZEYjmFCbIsZ/oDeSY8DqeESlY1DjMfFAM+tdM8q7gxOZMIgBMIcjAlFlGNFsMtBEEAAJEAEvID0mMgfwYr0CGMC/v/SDSQdHczBnrgcfTBje7iHiCjBgZWPodkAgnVFt2EBLKYLQmDj7MwOIlCCATVVYhzCIHBUCzlgABxAapBKFRKZ1pCUQfrPx5mPzNzAEqiJP26EpaHADHVaC1gSNBra+wXcC5hIHOAKujRM2jxk8DgdJUQicISCKgglzxCKAlgAqQVAB5CEf/yASRYbTFZSxqWOVuXHqDDXSpaEkzSLIEEjWN6A9aSOEDSO8KRLuvSJT+5f4u1G+9zBDxjhmERERMgEsuCHL+alsTXXHpVKiAAAE2BBeRzdVmrEE5BPJRkaWEKlWB7EHyBQ96hiTwLP7CCeJxwecMxCLMyCIbwBj7X/lI1MRSsynBfl5eTly39R4Q9AgRIAjlwWJkIcQhhUgUEs5mImwe743kEED0NezEMiHgACgCXcoVagwi+oQidsARj0APz52LgYBBwASe5F5R85U0IQnEjxEYn8yWvCpiTGAipMgh9gwWFCI9L9QBIQnkPwpkHMTijYoSf8n1LRE1G4Qtt0QhiAAQD0QA9wWciMI7IFXLhsGtb5k4V5Wnd6p0G0T+UYDNVBIxOcgR4g0G5qUntSQii0goZ+gif4IBnZiCGFDCKMozXi3pI5xHV1G3a6h4IpKE7EkyQ6hOwETzayp8RgqIa+JwDA52USp3b0QJclixMBQBdo1Yl6GjNp/5qKBqmLPkUeSKRUJYRVtSeVcuN4zE4maOgOAsAnRBuP+ihCDJ/TZahG9Gef2QgdwGJCONCpGBmpwAqcJmiTNsSMbk9fHSNCfNTsVAzF6EogsIJVtcJBaKllJoRlekKGTiKYHkQPpEBYacSjEsUXPAFCsClC/FNfog5CzmknBc9BrAcAGAxCcE+ryM7bDE0gfIKGIkQrBCpbHiriTaknvMESNEFGNGqkXipYgSZCiMFzUc8eAZBINUSmFt0FcupT1E4cGCMTWEEcaAIyJsTvbdIhqCoA5Oiq5ui1vqrTGSUABMNBNIG4lqmjpgqO7OqZIsQZlI34oE7qxJFyMR9CHP8rslKeTl7ceeZHFYjB5VQpALRJtRqEoArqtgqswLJClxIsAMxCMPiCfQLAGwAAGIirrd5quZKhkjlLuhpEL3UaKRWoPXHRL5VUQ+xdvW7EGXyBrNyjQWSRFTzBIExp+yhCxORftg7sX6zqlDaEL+gCIzDCGgAAG7CBxFIsAFRsQ+CqwJTMyRzEPynBYPWLSZkslWUY9cRAgYqPnJ5sp1maezyWod2j+fyGGnxo5cwNQrhqwa5qwS6sLwSDLnRCxCLE0BbtESBtQoir0moKi55Kc96AQjIke8QM1TrcSWEXQiAp15aEsLFo2JKIIAlSBmZR5bwCKczCoGYutgqswh7/RCdkRN1O7N3mLcU2QQ/wrUj5bUZAgRogwiPEhhQBqEN8AOugU+QS6+LSiXv41uMmUe1elxLkECr4gi8cSeZeK8G2wsO+rUEwwhsE7UOErtGWLsXWgLMkYu4BSnrOgewchFSNZkMYGWq6Y+6WRLM9Lk0eroa1bBhsKbga7LWS6fF+6y8AgPOWhPRS77g6hN+5IO59AcRJpPcWFaTCn9E1Z/k2I+/GnxZxESk5XPksgf06RPIOqn0Wb/1iAiEQLU4M7RpMLMUyJ/+GbyrhTxvQwSkOsBw+hITIENIBnqls7cl+QPlokaEhRIchxMcRLSHY7+dqxMMCgC4AQCcQwtwS/8UaePDEFtkI813//AAWtMEc+N5H9dUo7FVGHGYMoS+JICi9JnD4mpIN3/BWYZdW3QAbGDEA9PAdGATmOgTzGgQhbLBWrIEdD+0RhMuTaFz49g8AsC4dvq4w0RZHpCl79AtUchE6fVrAyTCnPlZYkvFBrNILN/AcG/EbZDIhtHFCvPEvdAImrPERI7Edr8ERkDDuuWBIDl4gpEv3DrIyZcQf8MW/jqNgAlMqI3D5NsYfzeTHIYQpmcg9+sASvMElZ/JBHPH7vu8aCy304kQpmzLVaiU09d0LCMEX0IHEWMxH0dghIKFStGIoNV6soJN1OvKcalUfMWbY2nAkx0Am1/9AGs9xJiOzQRSvMhhEJ5gCIxhxEgPAM2dENK+B9SyRpjrckvUP4M5grniqFf9FJnwzOFvETlKoHtABAPiqSTUyGLefedbmGANAMM+k1mACI+xAExxzxEZsJxQvQgyxQWQyG9ixQA80GBDmvGpcQocIpU5FrgiyFQcND0q0QyROn/IkAIzN7jQwOrsoCrDsJDOmFpmn3h1EDTACJrxBE6zBMR8EMRSvLrg0MzvvG8z0Qww0G8TAmRiwtoVkek5o7FCoVO0s8YEj+IbTIdSOrjBkxSACFmtdR/PTR5+nDEG181n1G/DzTXM1IwBA/S6sLsyCLujCLxCDMhDDL8RtP5f/NU0fxECvQRP0XRxpW6edCT5qUkP/xdsZ6mWOy+bQ8kOkImwDQBsAV2BHtda9pBblpXL1ACbwcxMsQScEAzEEg2RLthDrgiswLDEQgxCvsRF7MEAPdBO0q9XlXv+8Xww463j8Xp8EdRUjRA8CIBLO8q0cBIVa6E6q920XXS/jDzT+RmlSLQiAwBr89sKC6y/MAubOQis8giJMwidQAnMfhKSp8Wcfgd3x0wH3D0kJXuuituy0ymo3hDfO5+IhIdOhZf2l4r8KT/u0d9HZphCMiC++pnAHgzL4wiS4goZG9ovD9Cc8AmU7N7ja5/3O9AdnRCfCpN+FCDY/ZlwLMo0J/7VDRPT/kZFFJo7i8Ii0OkwsR6uI85EM0ZD5/LJGSDBx/8J+R5pkZ3ZCtEJ9SDYzDzEms0GvOYRW9e9UR7HExLUA05i3hqnT+R/UtclBOIVkxiHRHMTLiTgw/ZEvGqRWKMKXgzmXJ3qYXyuZA4Bz/4KkvUEiJ8QvJ6Cm2UAUqEHETCtGFrlDwGrx8SCewzbaOEWfG4RQGgmgo4ANlDgqJYYnzAKXU/YvBIOiw7StPEIrIHdzY/Ys9MF+ZMQNJGDq5I6TezeFS9Wcs2WXSpyLsyVCjLrRKFN3L6gfFO5tn452sEKiT7a0UfZkD/EsFI2uS3ZYN7dBDIJKVvJBHJrA8VTItAaPp7P2tUrcLEzcvdthQ9Bn0iAEpQK6nxyVIQxCJmVSpFH2QXxCuvBIrJv7YzdEFtlwwCVEKyN7UC+7QeTg/RXKLVlCDoLph256ehtCmodMQAAAIfkEBQYAAAAsQQAXAMMA2QAACP8AAQgcSLCgwYMIEypcyHBghxNKGkqcSLGixYsYM2qsmMDBxo8gQ4ocSXJhAgtRSqpcybLlyhIdsLicSbOmzYMdTDy5ybOnz5AdElT5SbSoUYUyPB5dypSokQRWmkqdOvMp1atYRz6NmrWr14pbv4odmzAs2bNnjQTgiratVytr3crNCpft3LtM6+Ldu1Qv378//QIebFMw4cMt4RpJibixyqiLHUseKTPy5MsfExjBq6NIES5eysiRk8ZMGiJBeMjErLGEWzaFIsmeLdsLFw8QFhiAUMQu64oEWDA+KwmUcVClkIPiZKB58wU5iPzOGHw1WTLKjx/nBGFFCSJIuCD/yXFl+kUCCdpy0s4elIwtAoc4cZIjjHmLBAigLX68ECj/x20m0GdOcGFCF4g988w47bQTTzztpNMOOuagAw441liD4TTM3PLFQJvpRxYY2gn0RRPHLWJZEeEhwQNhzIxDTz00uuOOPTbmiKM788jzYIMNPtOGQDIAQIBvXUmSHChgRAHFFUQcJ0gXXWCBhQ7zSREEYfHI4+WXXs4j5jz0zANhg+y0ww4651TjzTBEGrmYdVmRaJwkUVzxRBJIHCeHlVZagUSBJJT31y1psqPooowqGg8767RZDC+QeOABCZZ6MAEEE3hgQAdi8cfJEWecoQYYVABgnBxVQGFlF0QU/+jEYMM0amui8rRTCQQNQMApp5v6qpsBCyCAgIB1GgdAIko0+0QZY6gKihxVWmEFFkR4QYUXYIjxFzi33vogMA0sYO65BjTQq6/sGqDDF94aRMYYYwDyoU9grLecGGJ0YYUOoUm7iEBYQMFEEaF5cYKhcmFSCiaYgLPOOuEy2o48xZyr8W7sdmwAC7eEvNNAJ+BgMg5F/GTGIiyTQSWVRJRRhrSSyHRGG3GQkTALVpJliy28GAPLJWhcAkQlkU7MzpcPngkkAOzAkh8CxeqG27kIAGBAAGicc445XpdTzjfHnIzDMcOEHDIgVQjhkhqkpVEGFFBwlcYYXKSRhiBj+P8AgBBKHJwwD1B4dYstmwizyy5oAEGAAfkRsEs3E3fpZTwAtDPQgwI9WgzVVUNuAOgLqAsB5ENwcckmtQBjzDHRBIABDgGIbQ7YXld4TjgXXsiMgsPkojaCCq0yDDPIIz/MMLaMVsYmVyQhEMDapkEat02EYSUZ23rx4lW3LNiMMbsMfYkoIRCLQHPH3FiPPTTWQ0+ZY9YvZoPieFPM/qJcAkklpVvX6QxgKUxdCg2YwkEIgLBAIHDhgZWoBCzQwIAF1AESFwTG/qqhDW14wxvnoBA5emeNZwxjGvKoxzxsZI8W2oMeuHAeOYbRLwAQYQxecEIaAJAGbVGBClzonhf/vOe2pdyCQ+NoITsmVQtaAGETORgCA3KzgGO48IpYvOI97oGPfOBji2DMojvoJ45viEMcx5DGMWghClFAAg0qAAIaGgcED4RgAp3yQAYylSlMaeCPGsgAHjWFR0hAQhrVMIeDUphFe6jDes/LxjWGwQQAbOuHchBNEIP4Q0tqqwgM+8k0+tEPe7zjlPZoxjEQd6kLqOACG4ilBY7xRTDa8h72wCUY88FLe6zwRi20JT6GScxTnhIf77hHMl04Rnqc8YzVOMYx2thGNGyggH3kIx/xWIw0zaMe7gBnC993RXCQRg61SOMxmoGLNPyQCpmUwzvn+UMvmKEo0+BHP/hh/8wWVmMTDGAAHh3ggFjCkgHHyMctFypML7bjm7mamETRgY51oENC6UjHPLTIUC7mQx8g9WIYW8ijdIgDHGiUJjUhgUdRHENM5MSiLm3Zznjq7aYyC43e5PBAmXGye2T4CSDMoY6iqgMdj2IHNHCxvuYg4AAEPQACAlCMB8mDTDliaAsfSiYayQMAEqVYWC06sYpWdGLpoBg7MioPdbiQi18kZi23OExckjRHwGwkFm1Uo3iU46YAiNtNb0oa0VAhB0HMQRRHMwTp9CQMw4hHOiTroDNGwxiXiFwADBDQpxIgAPGwn5gIgjkx0QNHpp0HAObBDrCO9bWwlSikxgqkNP9FSB7pyCqOxLnQXOoyl8AlaZl8hA5qFEMgmZRbPEXD3LiVYQEEMFcIPKBYD3CgBEEgAhF68CE4zMQaF5NHNKJxQzk4whE5EN3ULGCBqVZCtPAdkztWe9UwRZSsZo2tfmU727H2t6zh+GYwO0pgF9IDHeIwxia8wMPlbgKSyy3sZ4dlgAlYAKHHEEeDLGSNkOGhJc+IRi2CQAU+JEISnOCEJCQRiUSAIhEbCCh7NfCN+MZ3vqFl2qMsml8e43e/sP0vbMuBjY3aw4tynSuBt1iP3WU2NyGAgKVUwIXUcaEMoZmZFzKZAw9ANz8ITVNoyTSju45jHNO4hSmGEhIeZGH/iFsujpxBseJISGIVq4jxBHIQBBvHF36WO1Pm2OQ1NlHUaxZdE6Qo+mOyTnS/FKWGOXKZ5Epbmpj3MAc2HEe1AFDNABjQ2AJCHYJST1cF6YtcMdYRWhbmNYv50Gc/trGNX9wiDm7ASAneTC8cjmHFwFaxJPhwimKvYAJDqIWfRUsPHjkISGj6mrRxd7tvCDcdV83oWinK7W7/OL+7awY64HrpchNzHtdAg7GK5enRmYtXohY1+14qYL02kouyJuU4bnEGi/BgClOYDxJCM4Y9AFsSAGhxItJQiFOAgggZEAeYwNSjHgnE4vXIVW0VBQB0lON2IDdHOepgLgS0sRKi/yhGhr3xjauq1ks8PnS3Q3gOaFxjzD1Kx2pPS2lzA8AblXDOcxzA3lgaXZATKJfG2jdT4NrV3sDtIi/pao9x9JsiRJACEra+dSn0WuGJCDsf+JCGFQeBAesA0pmaZlUvDWQeG1dapGz38Y9DQ+lVQxexNIZyDePOa4AHPDeEgY5ljylM3xQIF89RDMg9bgFEJ7oFNqCCVxp9AxbIDbGsqOTf/hbqtvRtpvVAkRMMYetRHEIOkDAFHGYhEQDYAx/2QHs5LKLFGYCUraDdIAh9VR6Kgu05ykEOsRmf5FgrVlPXV6zRPb4dXws52MBWjmXc3PDLNgcaPssAgrL3+xaIPP8JYHkBDVigdJzvfBj5wY997CMfJM0ik9+nTFzAZyIyOD0SVDCEIfAfCVQwBk6wB3JAgHYgB3YgN6bhARykO4xWUY3Se2piVocWQgBQfBhYDtIQb6JGNR6oPgtQDB4nfSBHDsJwDtjnZ/UQDc2xWQdwALohVd0neTRoLARQCVKXZHS1D/0AD/8AD0C4Ty9EJi4EdxUiD86ELBLBA/o3BACgevqXBVKQAwhYhQlYBkEQBCSwAJjiAHXQOLsgDdSQSCHEaBMYeOeADdWghs0gDd3QDeEQDs8hOsTyHByoMexgfHooNtmwDJqTgjaWDLoBAAEQAIQYOVRzADNIUFOVH+D/IHW8FImR2IP/UImW6A+lRA+Xgw7XIA3YwA0dJAwWYQJRtHr6t3+sl0MAYAer2IplQAVIAAnV0In7UwlGgwYhcAC70AzIcAmVcAz7Uwz/03wGAAR1gHzmggbIyIHMtz7Mt3dVdA7FJzYYSA7LkA04B4iiBUXbkgVUQAINADmFGAAMoAIXFlBbc4NHNkxeJIm8pA/6BIT+oE/7AADwkyvmQA3Q4IZxiA2QQHoUQYpQyHUAoAKr5wVSUAZ2cIAMmQb0IQpjeA2ziA3YcA0VeQ3UgJHCUAnKCAu0wAvCIA3XEIfkQA7hkA3ZQA3LkAy0QAvHGAJZIxB3qDFUlAzEV5I3/xkOxmAO9bVa2igm1pAGJmZnwBYJY2ABB/BZATABQbACAHAA6egNXUJOXQSJkqgPH4WVXoRa8bAO0iCGcBgOzaAD/rZ6UcR1qIcEUuAFQ8CQVXg3QeABbUgNdDmGGTmL12CRFNkNJhmHfumXJskN3PCG3SCYhpkN0tAMywAMtFAJxwgA5gKZoiYK1RAOJXmZg4cOADBxX7KZqhVf1pBdZSB7iWBnKiZsXnB+CEAAE2COC2CIE5CNpgVOAHAPtUlM76gP95AO3wANGRkOYngNcJgNonADMWARqYeWWwcAgwIAoeGWBzgGQ2ABlbCLzdAM0JCdX1mXY7iG3aAN4QCHcP/IDSQZDoZ5noP5hoPpDeppmNpADYrJC45ZByEgahFUByCJDmrnIGzXJZbzewBAXllWBnJzNycmZyuWCHKgAq8ZAiQAjhMgCikYP/ODjxhZl81Al8LZDc1gBC5gES5AAv23esq5dW+2ilYoN1MQUHUgDMiQDMmwDDJ6ndeZnftIkYJZmIdpniiZDeiJnoQZpIXZnucJn80gDGxUB0BQDOegKGiiJrz3bA8SDTgkMzJToJnkBF5wcAmaCF7AAKw5BBswAfRmePRzP+SAkV8phr75m9VQC0NyETwQRf+Hlv23ljyUgM6VBSowVbAgDMYQqIKKDC8KozIanJ/ooz56kRr/mpcUiQ0oCYraAKRCWqlBKpjYAAzAUA5lyGhqtSjQFg3bQi/QYqU4JQdOYGeq2mKSQASQo1gLIA5naqY9cg7aAA3CoEFt2KYjuQxroAZiQCcS0QP8d5ZoaZBD4AVZQKByY6VegASFiAbAIAyACqjGAKgAIKjGgAxzCak9mg0AQA3JgAwzip1i2KgW2aOTOqk/2q7ckA2CuACVAAkatIbVYGj5hQ7RsJZDlAUBlyU6xaxlUJot1mKCAAoOQCwM6nLaiA7kQA20gAaVAAxtuAwamg21YCXDMRE/EAMmcIpoeZZOIAVOMAZWKjNjMB6LswvUWq3WSq3XGrNzmZc0ew3Z/9myMBuoMboMNSqG5+qoFImSHQSK6NmHHikKxwgE9lkHlcALKkcFb5YF8zG1U7uWBEqgdhB2YrcHaUACBqA1lcCwKRgPD1sJDAQEsMCzGZqRyWAESVA4F9ECLEACWweyaClwJwstTiAKsLA4OBuzLhuo1rqrGUmzdHmkOJu4LSuoO3ud2xmRQBu0KWkM15AN2oAN2oCYy1AMG/mF6uYEUyCFArd1UzsooHu1ZWBigsAHcmCyicAAAUAAx1Vf2CcPbVIJGABqEAALxcCzhwsJUZASV1cRN2ADHzseJMqcdTsoSHCy9OIFOeC3iwuz1Au42+qbvJqXdLkMitu93Tuo5f+qndwJC4UbuUH7qLwgBeo7tUOgASogcIo1H1NgpQW4B14wBjc1AYXoDfzZdrQrWu3QDbj7WQQQArRgDMmwj8uwCzLQBWKgBhnRL8X6vlzXf/03KENgsr0mnaJwrdQKANPrwSIMqMuAvdlJlwDgm8jgvSzcwtoao8mwi3RZDXcpkTacl+9LtU4wBB6gAhicAT4sv84asK+oAYWoDU4KbWw3cX4FDCEwjsUIDMtArsYADHaQBEmgBEV0Ecb5sSBrwU4oH0gwBNDSa0jAAmQgCq0Dwmz8wW4cs8ZQwm0arnUJACvcwniMx39ao7v6uHRZDFRLunU7H0NAAjlAtQTXrK7/NwUa8FkV4qmfqsQNcg7SAATjKDt1IMUevAlLIAQ2sBEoEMp1CsZgjATMCQAny8gtcANJwARgAAhqDAvAIBDVCscuysfQkMLY2wwgnMe+rLjAsAsILKNqW6PZCQkkS8j8p8OkS7Ve52s4NERSMAEEAATkIH2FdlbosCjoAHRKWYghkLYevAtGsAQ38KGgjAKkOMb9NxCl/IQoSwIWUAFY8AVn4AZzEAh0QAd/sAaFYAu4gAvWC6gxSqPGnJ3LQBC/vNB9q62ECqM7a7pOMB7UJdHzAQCjOx/36wWhq6w7DKZAQJKXec0fBzYVWH0YELufFcXXugvA4AhfAC/EoxFC//ADQlACOWAQpIx6CDBQRRA4WPDAcRAIRH0IgYAIh3AIcVAIgLAJAR2oxEyjAICd12kMC7HQLdvLimOt2iqovDDR7BvEOixwGkC3TvBmyiq1Y5wDUwUE2fCGcegN5TnSYqMNdZCOsYsBlbDCjrAMuHAGcDAHcwASX9AFYSAGLJDTBRHGFqwCBzABBOUAJ4ACLeACMRADP8AEVgDYeAAHYfAES9CxKZACI0AGpr0JY7AJduBG8+q5deCRLs0QeKzVwczVXQ0JQTC1GK3Duy1wlzIo/JoFdZsDfRoAQHAN65qj3fBBf0kO2pAMTxy7myWttpAE0rTPf5AHefARn2zZMf9wAyWgAoutejlQ1phHUJCtAicAAqHcAjHgA0rQBW0wCIoQCHFwBl3wBEpgA5c92i5wAz+QBFEAS0ZHApS3AitAZUxbC7UQ21ftvbLc1YK6JbMy1hY+yBr9ZuStAl5biBlZkY+KuYa53OFQDXWQ0oVYjLBgC0wAJ4BgBV0A2CMxAiPA3iZgkO5M3BtgfhtAAujtAAh+Au79A1AgBnOQ1EkdCEie1H9w319gLQ7cBnNQBAZudBqwASvQlAi+AmUgCUfgGWSw2g0+y7NsEIrLshJOEBa+5jqcBW5O3JXnAePomzQ8i3ipl5h7DcuwfQJRwCtuCscADZvwAinQAu494zT/jgIucOM5rVgk8EdFtwIaMAFbjuAvEgdJDgB/sOmcrt15MAdtcAZfgAX6DdQ8cHlGh+BNmYVcLglkoAOjTdopgAJFEOZqHNuzLIo4O623TeEAQNy9TbUYjdEWDXBOwOEP2gDjCAzauaZ1ScPaO0F9rte4YAewoGAvEMoooBLfrQRQ0AVUruPm932UpwGVvuUpcxDbnQd00Ab9AgVKcM7aXugncOWXZwFZnu+rHgR2lghkIAMiQOMpgNlJUM9n4M+JoMatM621ra0WoNgFSV1sTh8imiUAhwQPiimHiACVQMzFbKPbiaRAgAEEgACyHMPCsAeiHcorcTP5HAhFUAKQ/w5+FlDl547gJrDFBvHkA9ECNP7zP2/vVs4Aq67vQYAEWUCUZtACNhDgBh8H2v0HdKAHU58HYFAIhZAItSCKgeq+TricwT7WKuAB8jGyUzCFfjQBQMBSaOAA2/rQEO3x1zpBC/SnLg0Me9AGMY0FUcAEEVESQd0GeXAIilAENP99V04CN4/gE4ECIPD4kD8CKDB5qE7p+45dTdkAHsAHsmEGQQ3Y+czpov8HRW3UbdA6gfqgxmrRFq56Vat1nbJHNX8BtE8EopAM2+rQhIoMmgoLEkQLuerSiWAI++zpg70SLuACNqAETwDuh190lL74HTACEqHFBFHZFCD0AHDeW/9SAqac5UGwARmgAWkQdi4jBnAw+EiN5KWP1HDwBUkQA069Cz1ukBA/8RU+slIAACSQAQCRYUKGDSQ2QKrFC5gxhg0dIgO2KyIwYREBJPrzh06ePwA8fgQZUuRIkgBGoGgRw8cJABZcvrSwYYWKFTVt1rxRUmcXADoYaNDg8SWDIABWfPRCRBCfPRDkyCljooWLGD+SWBGjZs6hR13/nIHiI0aLFCBOaCChIofaIR+dvIUb960UKUMgTPAwgZYxat3CkSMXTphDwhCBHa64C9YeRAACHToUKJBOypU9npz6A8qZIjBfalgB+maQFUFMiLE88sGClxssqFAxgegKIlT/5PBZyhSAhylDTIgwiQIlVR9Ktpxx4yZMFSE2xqI4QSLtWuptPb4FoGJIXLpO8uIVZQwZtGveApOTRthhYmGJ7VD9oQTKl9T1KT8RM0eRokMOPLskIbvSSiMtCAfsCykBBCxwYIINGIBQtgOyw40PC+2QIw0DABhiiA8+/AAEFDyKQYkv8FBkkkkeOSSOM7qAQgbpPFILthysA8AJAARCAju67BIIjcGMSUaa8sIJxxv1Gtpll4qAgWWMEUQA4SSUEMQyJEQUQUSyP4rwr6XPPAqizAHLNCFLACo4wD8v3qRCBQAmCGABFfbgA0MM0ygjAxWcGOKEDwFIoQWPsFBj/zIAIpPskC0VeUO6Gmus7qMcbpxLCicEyiumDVSog4s6IKnDAwwqWRKAJiOyI4UpRYAVODVnjSOOOTjK6CUxXdpgggJ/LbODFxAEQYEJNPCijDKIKGMMEggwwIAJctCz2TG8yGGCIXIQNgbLMsookCIkzY5StS71qMe5PMoWLwc3AAqoDXo1AIEQhmwIAGBUvcSO50AcdFY1mYiiCzHOaCMOMC3YNSYkaioz4jIdOAEE+05AwNdkxygjWSI8QCDaHJQdo+TeYoNNhy/C6IInysD9UtJJbbQxBwCQQCJHKXKcwF1P503rQQQQaGCCSoQBgKH2YIEkkS++6AKLJ5IQ4v8HGwAwVOAsXbDhBiGSgAKLCQ6ECbQNJC6TiIkfOMFbyy4woAEqlvUiiGS9oGICAwJIawwqnMA5BxImCJCNPNSA8ds/5gDDgrRgo3nmG9tyYufYev553nktQGCBAxhwIAQg6qikDtNJICMOOjLKY4442gBADPq0zvJDEVqwIT4TJmg4JgpoKk3ttIMYmwc9LFsg2mTLWIGBIZid0wACCMcZiW1hayAvOLpQYqzKDj5DjBIAhDxymi9ty/q7eta8/Q0aOGCBBRyQf37YGAhggixwBZd2rT8YQUpukAQsIIwB/7HABAgUBLUJLwgMmkARLMMB5Y2BCCrIHxWIAAASLAD/ATuy2aVgkwEIeMAE3SOLZeLDBB1owCVAeRzk1nI+9PUMABCQl/sYAL8FHLBBDCCBE8qAPwNIAWYZ8Z/AXHCDE2AhK6r7Uu8YdDYHMtCKY4sgZeDAg2gFQVlBaIAD5oY3DxrAT4KTDgnycoEbkAUFU7KMfFiQg3jFa2blo1ReIHBAC+Rwcz38HAPg9RonpCESGCSAFN6giMdIRlFJxFIREpEIMrxBDzDrDAKHYEXhNdBAx2IBEQxHEhbUCwIlIwKgANAxFUALhyoIkAcy4AEImEAIMXBBC944Ast04QwlIEEf64gWPFJnhhBAJoQ+My8NOABCEQqmBgBXBlCUIQB8/yuCGuLwmP0AQBGQ1MmLqlAFnoAhEpLgBCgkEQky3AFcfITJ2SSmNiowkAppCEIiRChBktQvCHzyAgCYVYYNEIAAC0CLB+Y0gRLw4BB4eBETfoDL77WhcS4cph1hkx3qqACZHFUmw+L1TAh9al5UkIIXSiGHa3qgCFOJgRCUAE7K5CEOcBBDF75gTklIQp3q5IQk2vml/zggePVs4D3TkIhzRkKETyBJB+q0gGR5hG7QMsACMiAQCAxtkYh4FH9SY6sSYDSj8YohdSYAgQWQQFlecKZIPUJSQWoOCSnlRCSumQEiiGAEf70STUdyBiwk4QY2yCUHxvBTn/o0nZKgZP8w/zO82ihrkuuE7CRzwAOSmCFaB9Vgx4b4WQiQMGQLYIMeAhEuRx7CmzppVFCEeVag+KlGJGiAATSgLGVtACS9oqsKNJcDLlAhEpwgQAAggAQQ+RUFKRBsSJhwg7FMSUREQEIWxpCIoDIWFJwIahpW4JIGOUAD9hzDUhOB2UlO0kJlgF1I1CCHIXyWAI8j4kE3ZNAi6OGSR0Ti9+DAhhX4lrbDnA4EAMAx3irLAeWVDUk5qDkV4E0Oi1hAAAygAttZKbohcQEKQACwD+QgC1448RimsAfvNhYUe5CCCjg3P6PwYb3nbG8iLCSHPcgBDCK5Qxo44YRoSQ+r0isyD4z/5yUApwYlMSjBEFwDgAP78VheGEJpGhwgBtF1AQXRnAbWMgQqFJQAKjjBG4WDu5nGIbojIDGIMEWFN5WhcntwsYvBmwYSBDIAKsBxe3fc4zRMQU4gyQMZypBXOUHryNI7TRsSZquN9K8+VRrBjBhGZdpqbgIEGAMYDbCB5S1rAi7h4Q4RsIEG9TGBP8kyAgiggSL4wDkqmemHTRLnD5xAO2/B2RTe5IQplKGn3gWqGZ5FAATkIMd84HGGSpYFEhThkQCQhCA4IQgiHKIIF6jfBVjwghh0TQhMsMIXEJawOdQHRCeIyaY/clbfdpABYxjCNQ8wN2WVmXcH6By0AgAh/wC02kZyGIOsPUCG8EHNYG6wNDhf0AJdTulDJ8AU4KrnhDd54Vp4BsVP1enTFXiQAO6NdhpKNoYsOCEHZKDDR8Ig5EjI4Q2NmIMYjHACXVaJSpihSu6wBKIK6KSOBSEeAZBQhiAw4L5efKtBnJ7cBjSABBrwYMgmQAUkUIETi0AmrR8TGTd8oQpQiK4YsCBRG7wgly04wRDUVT26C7sMWZhCnnsqiVN0kAAQ6PEeVD7t7uSgBK71yB0WHQkngEENSrBBxUcw4jj71SMusM/F51WSo7vGAAzgbRByMDfoeaFe0mtrQvNCBiOQgQw8GIIXOFGKqwchEPs5RBu6cEvMC//WdXBowxm+EAUmKIEHOegR3ekudzqreAyN7amOE6G3AKQhDR5nOV3qAssSWOIjidD2IohwBR+E+K+UJ7HAeo5x35IkXpoDgNIb3OANllzWDciAGqUzgdQGokuBIAFDKoVSEITb44/tWQK3ESyYyQOOGIRAcIMiyAG4UL7AuZHsupbni4RISATBcxYIIIAG6JEs0L4hgKW7WAEr8AhFkAPwkoMVeI43AgERiDOtYYLm4ACD4DyPgJcJQIAA4DfeIoI0WCUimAD5MQAI0D9ZYoND2A8uCQQiGINIGMBIuAPIQMDnWMDWUoRGGIQzeAIhMIHtALYK3BbkuysVuwhB6DH/IUqEDGiAABCzyjHBwSktErgAtwGDFoyEMjACJhCLy+AlAJhBWaGV12mD8ZG3kSCmDRiaaGEw3hoDgTpCR8MLDZClE/ABmXIiOAgEMvACOQCFUuAEMmgEPAgDyKu46PK/RngEPPiCBGyBEeiACSzDCrSe6pmClsuQLEACj8sOEISAbTHBtcoATNSAEvAINTADbTukSVAEPFCD2aEpcCmCsXEJ9/sUMJK1IlsB3kqD2jjCaFGuWRKIDvgrwEoJHzCBZBlFTigEAHAD5sgl4Zg8mmKRebwlGZw8ErAZXATIKaCC7fC4jimzBvi7tfAABjhGD8BED2AJq9I2OSgByfim/+jKCCNggFNjEF0BCQ3YvBlLnpAhAAFRAadbgCMEAGnpmQsQlOYCgSqBDi5YtFIAhXg8BD9IxSUoP5MQLCXwgVmcPBq8OA7wALYASLpzAl/cGQAgQSdQAYQ0gME5Fof0gKu8AEVhgyGQA0HwAjBwJEVBPNoJlyIAInjyjJBwjQbwHBZIntMzqCNbgORiAAgogQpAPxJzriEYg9kDhURoBABYkUdQhD9QjuiaxUKMsyGUA1hCw6S8KySwmZaTzA6ql4HIv6ukJQJgg4/ggHNhgCMCp4yQIAVCy//gwXlhgB5iAAA4gQvoxtMjyeRagA6IybwEmJ8bgSBowQEUBI+AjP9G2Y/ApKnzixUSIwI5iIRFyAEPeEyArJwgksxL8Turs8q1MoAiuEiPACYIMQD+gSRHusYeSkkE8gyZsADWnBBeckuBi0sDMAFhoTgZrDxMA4AiKANBsMlFuAPHCEtH8ojG8J+JCrHbjBVYkYJF2EApyAET+MeknIKOgg22CsFZyosf5IFrA4OxWU0CKILV6Qj/4QoyiDD4KTjz/Iw/2SEIOQAJGETX5IEIWIEiKAI4AL7hMyxcms/Ji8kX5YEykIMqBATVWq0mgyScqoIlIFBXiUkRSNDl5AIi4AxiNMPkSwsOIoGuOiiuIgAWGAkO2COACwATKFLaUYkl4KwPgpD/8moJKepI4HqmA6gYkDgDOFCdBswDOnCdm2qDL7CCJJgot8saj+CBUHzHQjgeAIs4rVGER1iRQ8ApAFBSxGqBBP06JyCCBgwQ7VA+tagcP0GLStyQI+yAksi6zwoAjqCdHo0AaNlI9vmIAxEKzzgQumqANAuJOag0AGtAPa2VNkANqAKJuXlHM8gDj1BUSAqXLXHURwAAODiDLQADKdjARZAC2/sSOUmf6rmUt+CdHVnJOmkAFui9kTiB1QQ4DxpTOog5NfkAWAEBt8yAIRAEppIEIC2TC2CQWWUYhqErCIlIROMfRQWXBiSJIaAmm6SCjyBY/1HUx/CmFmEDJzgu/zngAjJgJHGRO1wEnN3AzqzakBEpiQ5gAARggPiJPxk4g1l5V3hlABWwA6Y6p73rqZrzgkGCCWf61xNgAkQjWIKdjLH8iOQcRVAgQo+gtAZc1Fnh1ZhrAyyAPB3wgg2UAydggxRZETK4GVzM0q6qFwRgARQwxJGISaJ5pjgsNyZAOyyJlRE4ASSQA3ul2bndu0TwAieYF9YkqQnQgZUdiZ8NsJLgAeX0TRn4CCeaNF09VoE5ojx9HRUEAOEoAq9bhDTgAiNQAl/Cg0MggwukuxxIHiWLzxYIGMqQAFmTnwB4gBtgAjGIL/uIFRQ4vrvKgjSwMbrF3XXiwDJAAg2Qjf+e6UydSNbKMIE00M9SWAQesJhCmYoBSrfXVZOCpQMXWVuP+JDk/DoqyIE0UwmZ6oIfQ58bQQAe2L3Im8HSNd1rCgAFSIIvqJV2rQ94bQEe2MWOK8g3SQM7yF26xbE9cAIOcAAdSI3ApYwTCMUB5ATl9YifW7NBZdrWiQMxeILICwkRSAM+5AIOA5EA6l4dCIISIIMiMIQwAERDQV/KEIABGIADUIAHkADVyRKKswHYEzb7JZlrSTE82d+5RTHBia57GkBQ2KCPyM0qcWAEgWAxSIIYgC6LAQkQSAPdRQIVIEqAGYEYWIIw8INPIAVN+MItyDX7GIACAAAFkIAzpgD/AAjR+nA4E+gRTVFKOsM++2UwPuDfSVo6OciCDIguei1aKjDEIhZZNYmDL1ACF2BSspW9r9skEgug4jiDQVCRRyDOWWndOaCACqCATQYJTi4JjnBCRZiA5FO+DsGZypFj3vKCHtmuSaIvKdCxp/CCCBjbJAoCbbNJOQiJ5sKMWTlkV6nikfC67F0BygsgG8hiSSbMJIqDYy26jEhj4WVYRGiESTgEMHjOz/VH5XsLOZaC7CqD/B0DGwO/PfCCKcBVmuKBNFgE3wxYAOiwJ0uCLLklN5q8DzBXr4PSCxCRlFiCD6MDDhDogd5kCiDgkbg9Rx2EMHDQbV0+tUhKYqyq//eK5TKggilQYJoq3iAthUj4DSIOkedqASFwGQSZxihQgjaCLnN1Ahd0AhYwlH9GkDX+CBURCQ7ogFIdaA7wZIYlCZzmAAnYAiFYgecECeXb2uUjxp0J5yxQZbzjJ5pqAmVB4Ixe4BEolB+wAjXAkjz11RcRVpE4AX223Hce4MrAqZJmgbX2CBbogJ4WiU0uOgDogAqIAAUogAKwgAfFGZIAyDNEgikAgI0hGRIkAiemKS5Ig6Id4o9YsxvADzdb3AFmHXZtN+j9iMnNqzLIASPAA11zGxfmAGX0CIFODQl4ALwugAG4AL7OGZGI6EsJ7CxYMKdulnMW7OhCAlwuhf+FBQklWAIlwApKs4/hJYkiUM5IyOA30LWQaOEH8Ai4pgzVHgABEIA5MkEcge2/Rp+lXDApIBncTmdwAlIqBAVdDgk8cIPNJcztVBwjHQkzaMFFmGKxgl/KiGYswWsFUIAy9m/LyOsBeDft8EftDgnuxhTBVrGnnoKohqRE68oBXARLAokI3oIqCAOIE1rhbdiReIREmO8o7QKuLgmaFpgC4G8ACHAytozqtm4Q0Y4O0QkE3w4FF6K3wjsy6FmaMoKnQGCYC4kfgKkzpWz4jm/wWoQsGxaSmGw1powBqAz+Vm3rTo28LoA3+hAWOLQZr56k7pAEXzAnYDAUkwIzqBX/mgIDqiZFmGu3j0BkEfuQF+Vw4x4J2dtAKuBn6cKCCEA0yhjk6ZbyArBuAUiNMAhDHUUBEjDwkeBuuZMC7Tqx8NaUD+NKxj4ekEgBLAeRyvhZysiBvEryUv0IOfcIavSfAkjtMh50y5jkQVAO5tDyRT9wXDzDIXh0lrPtjpmC3BasHBAEKuztNgcJiwOYl+lwkjiBCchPL1ABCbAYfG7uj4iAM36A1YZyyniMLalmFXF1CVz0M0zqCkSfR/9uVd71O/hsmkrORQCFSAgokcBNaCcJoBVQZM8Y3zUACYh2kVAA01bt/v6WbO9CFSGCGwmJIZCOjbWeDiHG7l7YMbjx/45xOQqnqSKw9VVWgR+bZ5DgNZKIjCPipknQCQVoAAiRNQm49n33CAWoAA6ogGp3YU5HVnAR+IKXO5AgxpvxCDUinDRCvpQag1+8lilWgTe4tiTigZCKoB3n+I4XifZmFCdUET8oiRMApJIlgAlR+U7uAIGOgArI6fp4WGWUcTOsNv5YLTYAA2DCFE2xxZdrcnCSgaEBnQVIE5HgtRNeFE2Y5EfQhFBARZ1IgM872R8MgK0HiQgoAS91a9MWe0Vlg4K3GYbfliI4BBWZhEbYjy4BAw7ALutRo7q59Og6gaxnUQXb5byXd48QAgz3g0cgBVTIBDfgyXINiRM4ALaUtf/kCoADSHmVlwAWUDIWEGhNlvmZL9gGZBwvvZTNkgoheIIMl2QV0XxFIAMqYPeQcypd+wATMIBA2si7d+zzq8GQUIktMARSIIVM6IMukOmRMBbQcQAkU10VRnwA4IEi4AG3LuiZBog/f/LkoRPnS5IYKEYAaAhgBIqGMYQ8CeNm0KRJd4YsAgWqVKQhDh0+KFBg5IeUI1eydHjAwAEGMl+uVHKjBYqFI0aISPlhpJAwg0KF0lT00aCWDWU6sOAAAYGoEkA0HDDgpNKsWpUS4cGDRQkKYre2pFCQThssQnAy1NqixcSKbjhy+sjJyx1FJBUUsCqgoU+fZB0GCHCgQUz/Bgh40BnZRgyWJD9e5NS5MqMiRYgOIdo6gYEDBwwORDUg4APVhlEGs87agYXXsGIptG44NoKVHykWkk0JMQXcIIvqluIkiMyohg/4+hXwF2Xgn1lNFIY5GnSRQCPPGjzz5YmQGylYHgokUPshrQRAK45KwMDUtmJq01/JgQULDhQkjK2/csBg0YkwggmCRPIRKJGQUUIJHADAl0MAZhUdSyBIUFhiCLA3kkACEUQHiHO08YUVKwnUGgulGUBAYQGYACAW/skIQAQdcFDBcg88MCNLz00YHQtyHOhRSK+x0EEF9UUnHQgCBGAdaE05YERSDXV4JUHc8RiAeyxyWYAC/xLw6N8DFXRAgQJWYTXmSj6utOQJQwwJ0hAMdsDmBwNC5CQCiUlpwRt6cHgloX+wVOiJSoHRIoZi3knWbGw6JMGNJVkloaRbLfkBXaWAcleDM7r5EAotVPDkAQuAZoEFC+RhIqIdDhproi0lMFqS/vU35gMccBBBAc5hmumPgY2ggiCceOpRELnWd+kAbv5gRYsGGKCqARc0NiuisNJ65UizSaAAm7uSWQEH4zrnHLFbnebbAA4ka1cpQUjal1UAPCEGCy26F0AT2h1aaEvfFvoqBREsBy2bztaHbpLRsttuVuuqeYGQH6VSr8NjKqBABHHMQR2jPORhqFK10oclQf9xNISvxAIMK2MHJdTX66/BTkxxS8JapcAFUnRUysZjdCzpjeaBYQIYcxAMALhsfijGEzbsVFnMo8poaZs7j1TmjQqsq7Vy/Enq8wAKPEBBDh2BksopRvPskI0VJBmIeQajrFXULf2wUGVYA+C1jMxlvW5WEAMQc0sP8Bcpmz+vXULbysK9iINzj1RCB48CgPe3WXXb0k4gBJ5TvoSLAMLVZBk+NuEsCQEFE8COXVVDYlYwG+Qzpu04g8jWlcrGQYip+aSZj1Re3oQWjOirLYlwOuozsyRdVhwsB3NzZNnABBNKuPCBz2uuxLvHkze4ghx1nVL88chfRW5LmzGvMrf/HhKkhlLU52SSjIiAH18pzHCsQYESoKAEG6AAOC5oSARaop/eyYgCDLrRCpxwIOKVogzxm5vMrFcfluUhDl3ISk7e8pbA+YdzvqoZgyqgMCX4gCylmp0SAPCWBzZED54byQTNVR8O1C1hOTjQ+05RBs1VhlhZIsgcqGY1pZgucDhpAQgEo5RhXdBuXiSizWrjgh+EzwUt4OHnEKHGzjSkZgBA34x0pLYIREAFkeBEEsvgK4pRD4U5aUgVtPJENeQGBSAQQVZcoEgzXjGLFBrJ/CJgJy/SpiF2qw8KXnCDGJwRAFhQgx4CsUZEZAYRNivB7oRIH3yZRAEkSNb74Ecs/5mhYACna4lPWAcRrXzhDGrogvhGAIJDYm8lKHDBC16gyFI5ckmpAUCvuphKVdbmmC1oiBKw0IYsiTIzpexMI95IzdpAawAYs5wsiXUpkxTgj2/aFOuywgQoJIGBwxQBPlGITDM2EQCBWd0IHlijGE5znK0BzkjikKXzkNKbemlEIwRSSd+NzQIAQOcp7NUuk1wFWqPalG+2Ahkm/CAGwkQkClWIk4iMRE8ssRsceeSHM1QBCgDgHwDKIyuHqjGcEZWVqMaWgCOWIo8b5Sg7OYo4kOapLVpBC2SScAMXoFQpi1wp8rQyClQ4RBNezUwaA5GZRoAVAHqBWq321hrYOf/HjqBIYhrIJiOOXiWpWFkXSONJloGI6AtRyKE+l3nNrCoFoukBwCAsQQpUjEITAGCjWRsSTsniT61rHZsHOpLERdDvXmDiy2ch5BDnLGlALN1rh+LgnaycUZlnPC1hHaKIQLShC1hgwk3d4IdHhEIVACAFJVpCCfMcyj+wswAsk3gBEfqnlR97bmcbQtro6JU1T1OKJm9gAwbGdiV6OEMUmJCEJDhECVU4Qx8e0RDGNoQSEEUE/qBm3Iq2j2gbW4Hvnrm40D63R+/yyYBWdl2WuAB8QvgBGrsLgC8w4QZCUIIQAPBgIZjRB08AgCHUC4BXNAQRoINVfdjqACdgdIn/hVucQ/j7MfMNbrq59M+AV8KELoDvvH1Q8EhaMOEb3EDCaznjRLYwEsaGQsMOAWqIx+ZWuBJLxSwe2z9lNDqWiKENcRjEUFChibN295g/OLAOHUzht8QgBtsFrG4t4S3LXnZdJEAi3NJwAUkpTEfLiW6L8apFGE95JZpAhSpGQQojK7hUNhBCeFzgYADcBMg28MEPABCD8Yzkz6SYxGzFSh+2amA4SSzFcmszUYdwgHN1+2CeXVxMPjuvJa+IhSYGcYYY4RgAIDgjosHckB/sMAY3+PL4ZByGPhziE6ggRSgAwAJoAoDFPTsuHzA65zEZqQT4edRqTDI2fK5ayjFu/4gmLBEHKISn1g1pQTIRnYRcN9oFMQD2qvE5AhsowSJqlpFQuYBRjc7oPrDxyrJp86oCKmDS+ZRUnx0ShiuAT7uw7fILAPCCXCOak2fkMQpWvakxCdWO9lViVh4QgYmyGQCv8UoRvkIbQ/FuRJFBcKYS3pDZkfQm5kZ3MgFggx/84CalmqpKHAJSNsHuzW+FmxdYEsnHUaDk/uZBys0gJpaLhVAuI1ahCO0QF9DuwAnu7gOTKfYXKOQt/lTKI4m+LgcMpxQgcQIDJOQcMDmOd6o8uVfMUAJBibPqrcb6eSaBik8QeJ4ktQGOP4CCMke88RG/gTK7DR3J43tdCFABFf/K4IUhhGZx0aL7yO1urqcXwQw8SNIfePdtNglEEaEYhSXCwBIUCKHh3NXK4n/whC6cQUYqMXPjJd4QxAf7nYFBoKSy9pIJbGADFmBAAlYictHHFO88MAMLTqb6v1NsEoI2BBNi0G2a83ywuAwMXCKspJQoWtIxEH6PG5Jx4/sEBUs4gyW4yqM7O2dFAHDABAAgArQSAEiAmFAf+pCe6eXK9iEZz6CCRghBxnUb15EbzJ1fYPjTrSGeQ/SepuRE+8WfpNlAxBWf0EWH/QFA/iENBSzHikRJaCDAc+2I5yAgbVgf9tlGAzogxWyBDaRdQxQY+PwAB9Jf0PlTSOmeAkX/HNp9QCfxWDJBns6R3dmd4PEtAcVYWwk4wJNEiVNAn9pQShsBQBCJHn5A3QL23Wxw39wsiTHVXoPdAGy5ofHpGBacQVRN1TvBFhRKYQwoUxVaoeKpH6SwhlgQUWEgQGg4hQUEYAGWmn1Qn7J5xfUFnN2xYRvSoUPQ3IGZ39C9iQsowRfEgUD0lRUskNBFBDI5BI8BQNgl0xGixAgQ4lZQUFbMRgI8CQEcQGgAoAMYABkCAOcwiDCq4WycYcoVgTH6XXxpjiYGIfgowQUyFfagRgwwgRjQgRrdTxyMiE3pkCuKnSI1hM1F3ARmhewZ4qjdolisyAEcAAAwAGI0gLVE/4AAjQIlUAIxkqHd3QfKYR/19U1sbdzWgc/hUeOe2QAUqIEobcYoeYhqdYFN9VwyLZLOyV+pUN5IkILyjAkuviCrOMVnIAACJECuAFpjHYmN8M4ZXt/pXSIPdtcz0t4QyiFCpkQK3AAWxIFYjZJDeliHNEYciAGNMZoZMWHGtcAPzk0zzoZ7AEBIAkCfIABikFE6AoAqvEJjuRAF+CPUFQELwGQzDuQzwiGY3aSOdYE2+qROBQJn5E03BQJUnRCjyR+jiSBTWtZsGEAAKGJIiqSGHEABPNANzBi4oWQoWNu/mV4QrZ5MAqEQSuP4UGMoikEe/KQaNc8fuCV8/UF5NP8UIkTPfIwExsVWoohFkuziBDRESD4FAxjAxywSD4XBGQyCsWUlKiRjWDadYz5m2gnhQYLUCFxjGzSkT2rmZmYmZz6WZnAGAAjKCTFBueGYRHHAAQTAqkCl8zlATBzAx0icu/2hC/iAElTEIIzCK/hCLMQCJXQmJpqbJtJkzU0gCt5AF/CkT44Sch6CIjxCJngY3vCnGikCRAmKauEW67UGBdRMIySiAzSEBrDKSwhAAihTMjGexF1TDOzLeb7CK6CClj2CIsSkuSHhI32AWUbakqSAEIziGmlGfrpngJZVJjBPQxGoZgAARHkgwg1G53QOAxTGeyxAqkBFAAwmMpH/XZn52gtsl5hZgZVtgRtYgrFpGaaVKAYuiRAi2mT6RAvkUB7wVIzm1HmYFURZQiZYwiFYgiUgAkR5k5vmY8mNScnRBhH9qAIUhkP8ywG0lpIuKeRB3s4pATA1UAyQ5xkYAuEBQCgEF5YKYnSEYvgIwQ96qRKcwWW+qF6Q0iiZ1WdCFEQ9Apuq6b09AlmpUT6O6JyWi+j9aM3kh5BGBYYogJ++H6BqkhA0KRRgQZlNpgi0AHk+apaiYO3ZxN98QEAxwRkY5yiVEozeKIGCKkRlxSOg6k81gmNpjt39qLV9BQdYC4YIJq0i05L+IQnyGBH+miuaERAKq0PQJwoCQPgg/9gx6SR+xiic3qi07utWYFrr/Rnh2dzciMWPNgIPmAALLEdVtFIBANmSWmiPhQccMtIzuuvMcVIzpYSh2YDZRVj0dGqzOmu07uubDkYmPIImqMInqIEPUBrycAaBakIJjEuaQAtfhGeZBaHEmdkPZBOv5US7WiwAZIIbLIEPuMAElkoK7EYKXKMYdEZwuVd+8tTIkuy0ssYrfIIbrEUszk20UkIbbE85NSy6Lakrmp2k/cCurlDQCu2HfoIhXIEPKAQK2IB2+dpC9mc+5qOOhiyOakbVSusjaJ1WzIIlHEGXaqSkCCgddAGF1dKl+FOphOe6toDioVthNhq8Cq1ShP8CoJFC7AlBsAKAEojBHOjF3jpqPg7oWOEoKe0rgeYj4Q7G5iLPbMkrZbgTRpJZDFxVLmlS7poo5yqFmwre2/YBZAAAHGhHOPFt1O6tvoKqZkir3vJtbYBBE5xb1/IMbUGBQgDALYHvGT2QRS7JCg3vVggEfz4CKbyCKpBCV2Wr8wJA6pIVyU6v/T5C6spID/RADSiupNTWz7JQE5mRbI5jxaJvyqhvfwqeKqznSqhu6gbXvlLC9Mbu3rKGLmQCAFRB9jZEDwDA/wLwmDgu0hIwCx2wIlFG2yrwwPDVrH3BIcBvpdHv8+6t4FqwGulvPmarVrRCLHDYHYBBS/RABs7/TRKccArp0ArlhA3I5viiWwK7MKyUEBaIh+4BgB/0VkPEAgAkhw3jcKiCKintrSZ4AhqzBBqHAinEwi98whuwwREU8RSPCd1WxjWpUE5okgErEtrCKwm7MFp4b1KuxL35AgAwlmPhsKnm46k2Qj6isSRPsiSHAhC/8RssQRNsMksYMUEOayAjreL5sQr5sRSimx/zEAvvGRXLkwuMQEq0wK/xnBIwQYnQMAB4sSY4MiSvLqpaMitQMiV/Qhu/8RBvMjJ/sEP0QAp8IqS2cEP4lRBwkuOJHeZqUuWqkCua6Pa2claEMM/tWi1DgRtMwgPn8ijgY+r2VLI5RCgIsyd8/8Ilf8IdsMEaJHMyA4Ayi/AnBh1TKcUcdON3SCMUKpOiAW+jqVRDrHI3e/P1NAEbAADPRVrE1l4Y5J8Xx4Iir656tcJIeHQwT3IoxIIvzEJDEEJE6zM+c/I+jzBBIiRL0EFQxsFQ3tYmIVOgRpxKafMDHbFDa8UH1AAmYEImz3KP/VotWwEetO96xgL8WvJItLM7s0IouMJKEEIcj8RKc/JK1EBP3OQnW8mViNLnRBEwUWRO7/RgMXQgU3FKgMARmEJKcyDPzbISJMETqAFGE0NLeHRDtLNHI7IuOARWp7RWb3Uno8BXb8ot5cl2EArMvqke1NbL8RjkqbXEvYBP///09XjpSqAbox3Yl9HyFXjCSMSCSfd1QwTDYDPCG2D1G2TFVu/zJjMzY7NQEN5AiaBVh/TkWBXoc9a0ZDDxTsvfZnP2CR4TgYE2Ni/0DbABIYxEMDSEKlg1DQd2MPwCANwBAMA2Wcy2SiOzbddfYFRRXYr1WOsvvz7We0URFpQUI5WyC2Qsck/e123dKzbeJrEBG7xBbLPEYDeEX6tgQ7w2VrPGbK+0bQNyCsXAajxWofRnY/UwlyECDutBFCVBMukxOB73T8ey3bYE5P1hk1ZkDKwBf6d0bLNCarcEI0Q3VqN0bSQ4PoMv0CoebGUqUJ4HJKezj69EIPSyI+uBGkT/wWScsB+zMmcrnq+14krwGIlf9h/FcYr792uzBCIzAmH7t3/QePb20x+NURfMAbP2Nsr6eGMJzEhYeP02gglpuKQ9EE40dCsrmmXj5XnbORaloH+neIoDwBtouUMQg0lr+YtH9xrUxxrcM2KDo/k5RBQU5xpxRmcSKJqPwmQBOUSpLkQFwlCeEBG64jnW9/vduZPf5U3fAFX8gH/DNpX/OXcDAF/ztXYDgJYjOn0suq7XuPn1urz23qSDZib0OJqr+UiMrENIK97QwS8NXxbV90Xeec/F31H/GtkdGCFke3T3OX8DOgAEuCqY9HQ7xIsDgD2zhq6nO6NrBROupUPC/2l/agKaa0LerAR/Tqs3SS9oOgSvQbvdWnY43zmj1TWi3YAPGLirW3lD+IIvuIJJz4K4E8N0swKg/zdZqHu6v19LdBIWkPk2Qmu0XvpPqYxY4XtZNQT+ltUXfCNny3IrTvRd7lrP+VgMsIEPNMGhx3h0D7YvtMIsuIJVQzzPAwDDz0InuHZDJHpLYLyuvx9soS0ARHpDwqxDbfrr+fiAIXv9aP3tIjcKWPauCfyvVfRkxABRH8EaaLuW/0LRt4LDOzzEz4IumLQuILIvtLbFrwTTL/ocs4QKvd+yfjy0brq8o7kKHgLBlPxkgapsgZNPJTKHIbfAo3qPETyEXdOtDf/1G7QAG6y9xM+C2zv8tz983Me9LxCDL9R63gPA3q8BGFzTw+lQu/tk1YPqpS+qJ1gCcorStFptI/RUpmNlfbfAtFP7y0sYhDGhrbkAIZgCI7DBFvzC5/+86Mu90M996Tu8L0x3SZu2Q+w9G7x+qRBYQ/Dks9a+1Rt+Q4wq4oNL1Qbu7xMotK9E8Zt6XSuBTSy9KZjCL5A0QMwCMMvVLIO6ZiFEOHCgQVeuVM3yBWAiAItv2KzRuLGJDxQtWlgU2eIFEwCITh5CtFKRokYvG1HSNIrmqFAiLVk6pNNSnj9/WDZShFIkTJQxcYpUupRpU6dPoUJFcYNq1RsAhNwQouTuxdMtv5Qpm/WplUCDCWex8oRoLauzZ10BKDixYidCbzBuBJMCJMiRLpQOXYmoJcyXMmvatOgp086dlgAcGvSnZeWWJ08KRYQ0amfPn0EDaPHD6o0fp7lCzURx1i+Elsom1OWpVStdAHSpdYsQLoDaAIKxZsUILxswID/2bVqZ8ErDh2fWXOyJuqec1SMfCrRdJeGhkQsrtZIidHnznUebNk36BwrPinzr+vWLFR06rHTln+96IHW3b+OqrZVXfCHGF/o6ecMHqmJo0C+miBpKJZdgQqwmSgDArroNPbHIku0G8w4+oihCBQ8hzoMqIAAh+QQFBgAAACxPABcAtgDZAAAI/wABCBxIsKDBgwgTKlwI4ASAJUoYSpxIsaLFixgzapToIMGWjSBDihxJsiRBFgmsmFzJsqXLkChVvpxJs6bNKjZz6twJUibPn0CDCh1KVOjHokiTrjyqtKnTjEyfSp2qMCrVq1izaqWaYKvXpka6fh1L1AjZs2jTql3Ltq3bt3Dj7rTiU65diwHo3t1bMQAWLHwDMwywli7dIoiLNNEBRodjq4IJEjA79i+WImR4jJEjqLOgRYKGDCGxoAnOyAdLAP76V1IpgpwAcJIzgQAAAwE8FLmCuqCMs1CsgHlNHEApUKXkGIAwAcIQLjx6FzTLYvVWKGAElipOXJCOJkS4SP9xQkQ6QYdit3bp4vq4e+PGF22pAsUJACckeHu9JRAcO3TomGMOOOBYYyAzwwxjyzC3NIhFFwWll9VfwxkniRhiFCGHcaUIAhgWRFDBBRKUYYXJM/MAQA8A7gBgjzv21CNQPfPQs2I8ALQjEDvPiKEGQX5t1dpxoICBxRchuidJFAB0QYZATkSHlRXg0DjPlTVeWY+N9KizIzvsABDmOgCgMwyEALAAgF9Y1CUVFFgMh5wkTABgBBJUbAeKGfoVIQUVUvCAJlVWtKPjoTkeauiiA5lDDQC8QJKBB6KUsMIFCwDQwAU6TAgGJ8gV2cYZRDhRhnGgpMEkAE1w4QQX5WH/dQs7iNaaaI5lQgLABLx64IFAE+wKAAKZ3vbFVW1KgioYSwTnRRlyuGeGQFdgYR8VKvxIlRvDrGPrt+3M084CxRoEgaYFfSHGsQb5CIYbZwDVhRhsKHksFJ2WIQiH0woUEQBlcFGnVJaBQ2aYBdkqTzq7NHCQw5o2IHEDBFiGBRQKfeFmTT8IIQknoLIBwBdfpAFwGkqKIZAaVAjExRUb/2QLALjgAoxAsACBxjkAkNmOPADEg6OhBAmNzgLEZpopAugKRG6mwJRDIIHWMMPMJgTZ0sUZ616sxL8ucd2EHGSnsVoTZaQt0CKRmGGDQFCMAfAQ+v10iy2bCLPLJZdg/2AAALYRJszBQAuto0DpCLRwPe2sQ0umBhhAANMEVC753w4nIAwy0UTDTTjhlHMNDjgIdM05PEs9ddXPMNNgg6a4AYcaYnRhHUJMKPGDDZI0uORfaaQhRxqdAsAEEWl78eTwZguERRppD8HTM8+M0wwsu8ByCQCiII3038XYEyMAW9KDJdDypD8QPfKws04yxVQifyVoLCCxQBMDUK5AHjiBBBAYwEAIMCCKWtRCGMnoHDV4AQxgFKMY19CGN7QBoHMMaHVWY9Dr1MCMZ9CIRfNwRz3qIQ90AEB4uFiFSqzwLC94wQnDkwN0yoAYk5WhZTS5xTSYkQ4vVQMYtKBFJf94EZsxPA0AdfhGRewBgHsMBB/4cNFA3CHCeXxDHEqsxgN5IYouAgANv0JDCIAAhBAAIATB2lUGeBWsNHpgUr7ywAQgQUc6PrAY2tAGAASkIhk1cSD2mIc2YpgMW4SBVQBwoRe4ILwNKdKFicQhS6bhDH7w4x3vEIg9inGMTXBBBQDQwAZGaYFSiuIeTjQIEw0SxSbeQ3yuBEAUWymQfOSjlfhApYuYKEJ6XFEgx2jGMbwIiTj+iiAk+BUJDPKrCYiiGLRaET38WBDx4QIAcsBaNaJxDDOcCgBUaJnwuFAQL4CzRCRhhjr60Y99vCOVAJDGJhzgAA+U8p6htAAkdFn/kXwMJEVgIhqY0pEOeagDRquEokIXio986EOWtkSl+Jg4wnSAA4veOAYAaCEKABTTV7ty5jHiMQ9qDgSeArnHPISHTTl8cyAuLEMjuRDOgbSsDNkpiTV6+E95XPEYwyCA5AgQANsAgAGAQ0M85EEPKrpDHfyUpUKd6A6g+RGgYEJYmMYkkIMNdB20KuhBeenPJtJSlphsqCxRar4rgUOJCpmoXOdRjQ1hs6V33VDZhgeAHGzIA0PIAfSGMIYykEFkIAFEOwh6jM4FQQppSIQjHJEDyTjgNmvSRooOwr701WhFMBLIZnO01aya9rSoBZOYsko0gfzsSlScqCthuUpN/zrRHq/MLW41aQ/zyUNc5rgG1hp5QmxCq7h6lQMVvCAHD9A0nB6AQAackIhIJIIMcdCIJKIBvTKMIbKS+BgnJBEJL+TAAgYgFj0lJ44VTYSiBPntQLwK1tWm9r5aRa19TVuOeNQjtBXRpfjmYQ5vNIOlAhHeqVy6IRuSzQsBCIAZCZCBDFhgA8/E4oLMoIY2XOQEOZCpTF2aBmWFlyCnOAUR0riBWoyWIfRYJdCC5tqekYlMNnZfz3a039SKqcepXUc25AEjlEoVigpBZT3OoY066M8DJBANALiQNgYLxK4y9IAZJTcBBxyDVktN32/HMQ7XraIKVsDYQjTj3cJuaP8zkSBvJOacCDOkeMUZGAI4KgJaGheETAAqE6DXgY4bG3rHOMZxae9r43WUgxrzqK1FoGiPc1QDAwRYQOQ0TRAMLAADADimCnLAhRyE4G9CLYahPvtfKrKoINsYxy96EYc4wMHDBDGCC6XAaylkAVppsEMihk1sAJgBFKAojxMSt0SEtAMdPDsHtCsobcRdiaA5Skehu9rVddwY0YhexzmuAQ2TThof9KgGEPS3ANtwmlwPc1q7DVCJkTL11S1KiD32IRB/AGAbvTjDFwZFBC+MBwBSGAKvZZoGQQybDxDfAwBAEV4HQCJFGMcSxgEw2hq5Y7QI66o5oo06AIxbIB3/5d4xjoFFccj3n+lI9La/TWhuXKMciLuIQslRiaUBDgHM4dU9LQAACEDMaQY4RotwK+m4mpWJ/MhHjMCBax04YQoAEI0TciC9KQQvB3sIux3sQDaBJGKjQgMA+tauvo2rKB4hH8h/+GiOPQKgHHWA2P4AR5CUJ0NcZQo8gEwIbXNAAxo4UoiN5gE0V5sVH+yoxlCJFUoAWMABlw/lBUigAQtMQNPkOoakUdp0VZ6Uie+wB38a4gReZ91/CJeCF9KAhGDbPthjMIMgVlCNdtBqUa0VWtoTD/iCEP7uexSQo46uNKQh4G8D4TQAjtEO1Fk/2iY/BzegUXeN1MgcQCAq/wEYQE8WW34DFtg8KR0wAQOIovQp3S0A9hFFXr5aivdY+j3AsYQ6FaH1rYcE4yGACFcGXjAEwZOA0OMFQRAEvDB43gZWWeVaRIMj8eBtJkQQZIJzHHh3TrYQxSJ9C1AMGSgQJCcgzdAMcWcRV0IP5oAARdUADDCDlWM5BwAADtB57HcACJBp4FBWAgFFqIRK/eBvAOAP7ORELfhfJIRj9nAMN/ACAPB/TjAErddrSKACU/AsTqCAwVMGWTAESDABv1IHTrYLu0AN1SAg0haBYXI4BHEO5ZAN10AO4UAOeEgO0oBZBvA98AaCYVJ3yqd85CAM3JB4GdFUxxAEcsAHxP+WCHyQBQwQYeOHVPTkAEVFAKKQSQfRUPwADwTxD//gD/zARD/TDo+GDdiQDdpQCANhAkhgHwLYa1vnBL/mBd+lgN6FBENQDNLwQMAgCmQUAjIIDLCABqLATVeUUcLAC/JjGw1gPwNhhl90EJt2G5ODNPoTfcdgQnXHgeVQDtwgDDyjEdFABWYQPMOjL3FGXomwApS4Rgcwg5T4gwAAhANhS/rAD/0AD/7ITlHXW/GADtTQDNDADQDQDdEwBwPBAwIYi73Ga07QeoVFBV6YBmOQhdJwDdgAAKoIANmADeT2KMIAC1xARzoDCaJAC8AgDBspEORQkMsgDELkZCHwhwz/AQFMAzjsEI7gWA7kAA3CwA4vNhHgEA1mQDZKGXZ84ELVFV6JMAYO0IMq4AEI0ABFVQnhEmP28FAHsY/7oA9ieUsxIi7Z0AzUgJDagAmDwgMKN5ERGZEtxHAJaIAkIApqCADVcA17eQ0AwJEfyYreYBDdUBDh0A2DmZDdsJgAUJAAAAy8QI1HdxALcAzl6JN2aAzQQJQc15ludxDRsFdktwdyEHZhJwdO4HBxBonolRsZgDQMIA4E8VkApktQZEsOlQ/uIA7VQA3dUA3Q4JvdQA0xMBBMooVIcB9xOR6/RpdfmAZZoAIMAAyHBw3SIA3UkJ1qyJfX0J3ZEA7Z0A3h//A53FCY3IBz4aCYi7mY6RkO3pCeArGew9kMACAMSIQ/BFEJdQAJNyMNsFAN7BAP7YCI6qN2HZdguggwI7YHdkCawVZdw0YbMJgDJMAAE/ANXJKhGaoi5AMjVrIO2nCd1CANzYCdAMANtVCcBFECSJCcV9hrfSUFhfVr3ZU8lVUHxrAMOpqCKVid1omd1KAN2SAQCDkQCDme3FCe8rmk8NmeAOCe3uAN4vmei7mH0uCMlSBv3IBjiFI0AyoQ8cBdJgMAY/BIkAQtpwmJAPBwUjCJBpADGYBUKqKhG2oj5cM+5oANjwIN8VSi18AN0gAIBsEDOSAFEBmRgeUE5lSmaf8zBo46BkPQg2hgDMaADJaaDJiaDDq6DD1KDXyZDUMaqqAqkoAJqkmapOopn01KEPD5pIN5mIfJDctwCdVQjgdjEAjTDuKQNt6lSFlgpi6UBqQpB3bAB4IAcWlAGgTgAQzQUXT6rCqSJegQDtQgDC25DNJweH+KC23ALgShAocakRPpP1QwBUjwqI86hgAABMIgDJQKAMYgEPEKAJZKr8mwhwLRkQXBqQYZnNnZnYCJDdpwqkqqquy5pOyZDdRQP5WgK8VQDXlUgmDlbeyAC476SFKQA7+6a4oUbGRXBqS5iwxAVAggmwixInfKJfJgDj9UB5VAC9CQght5DWAAGTf/YAI5MAXjIa4TSRC4iK5SwAXbU5+UGq/vCq9GC6/LwKcG8Sj0abSXuqMGCaSN2Z0fSbCoWrDryQ3UsAvG+EVAwAA7uQANWwe8gEcaBaxDoAFDYE5Z2LbBSnZklwWK6gUkgBsBAFcLgbLmgw7acIxjRAvLkAzWeQ21oBDgunUIN64GQVjoal5oWJ9Im7RGO6/xugwC8ZIDwafJcBCUW6nIILXxlJ196ZGraKonanOwsIcSNLDUoKNAhET1swA5AKxeEIYb+7aKtBnDMwXL5UIZgLckJRFZEg/hAAxAYAAYAAS0YAyECw3JYASDYhA4W4Wx2LMDkZxSAADn6qgCMQSV/2Ctk4u05Eu5AIC5AECfApGdAAANyEARlgu6mNqj1sm+AEsNsIC5HwkAedS//isNvxrAUrCFZpoFvvZI0EKsVJAFWUAFTgCDdQCHC3El8nAOwrBuRQUEwFCp7rsHYRAvCZG42CsQLdqispgFZepCTgAJ7Tq5RQuv5Qu1JVoQ15Cd0DCvGlG59IoMmpq+zdBAVbuXfznEHsmRm/C7XjAFJKCxtvtIZGoyJsNrU+AEk4gGK3g4xMdxjMcOC7smAWAAaLDByWAMtXAaCmECVmgf2VvCLXofKiA3AkEFF1ALu9Cu9lm575rHMJwM9PkoAsG0MYvDJGG01pq/7RtPjTkQvf/JlxvrQlOQA0xsu1kQyd1lH+MxBJN4Mxp4EMLHDuEgCoETABiQpQKxC2SQBBKhAmJIwmxcwlDyqE7QAB3QAgBgA4BgBwbUQO76wkmrtO1rkANBDXw6ky1RyJqsvkybudJQCwHsq03sQkjgAZX1LGljqLwonQEADThndzwDIDrmLWBiDssAamtCAECwCwIBDHuAyhKBs9LTyq1MwvYzfjKAMfMCB3TwB39QCIVQCzajx1DLqQQRswLRDO9bzAAACzsMAJ17vgXdDEf8zJKcs4lUWGWwvZCsAjCIvjhHDsjHhoMXIN3wgUSFATgKDLtQC/PirWumyvAcz5/nAOTHA0z/MDAFoQd6oAiKsAamEAk1s8s87MMGAQ3EXMywcDOWmtRJnQy8INESLRC4uIsAoAJViRvG8KoCEQ4me3ceHY7hUAygRonMCwy1kAyYYBFdUARcx73wDAAksAEkYAHkJxAmIAIpoBBuAACo7AO0TAZksAkGFNi8UDNARAuwgD0t2cIjUcibo9RKjTWKdMBODUkV7ajJSQIqkAERJshSyphZfYe8iQYCEWGjXAu2cA22MAgY4c7xrAJvLRArwH4CwQAmAAIosBBwMBBCEAM+cAMu4AK8nQRVUAUZQnSWF0rOVQcryZJ2rBElic6ObanGMM0ulAO/ItFZQIDm9LMCQQIk/4CVAQAM+joQenSii/me1yAMZlRUy7sLXRANhpQRI2ACLp2cazRKGuDWQ7ABALAC/g0AJnDbF2E71hEHfxAIGpDg+d15KtCADr4CXHCShu21LWyfDFGS9hndwKDK4OQFWZhIzwwAeQas3v1GXlwJfvmX1WA6fqmKAysNdYABmXjO1nANx3DXG4GzXOfaG5DfobQBK6AC/y0QKmACagYSYtAGRaDgCm4BQxAEAuHgDbgCBqABeyAIm7AJBVQLiS25BwELGZ7UxsALo5bGt+vUU40EZlpZHqABDpOVyRzMK77ifAkMaIBp5rwLK1kLOA4SRTABCIDfoaTgQr4CgwrCG/8B3CxgAZ3X5FD+6FHu4IE1BZHgCHvgEFHQBYBQCIlgQI9Z4Qnd2EldB1QtGto72Ug8BQacASL+K9m4buqbvrJ+eNeJDLtw5+ZMCwCQ0r5NyyJRSgLB5BqA2Rdg6N96Az8ANhlh24ye4INOdJAOAEFQBsTGB4UKcU8iEHPwB3QwB3SQB3kABoSACY5QC5AA5u9rqVyA2ZW1ygBAwE6dBVMwBVW5RnVAC1xQBxMABM5LEA19vs0wk8eoM6VMCzlFEkaQAcKe4JhtAcZOELUdEi3gAhPQ5Pd0WdK+AmPgcMQmCHswAWRDQwpxCACACHpgJ+huqZCwxJAMydIjEI185mb/Ou9D0CsTsAINCABEEAQdpdSdm6nJIL6VgD0lWQsMmQcksQT5tPBAPgSgZBAn8AEgsBE/IAMMMHQOgNkyvQIk4IgdD3F84N1jIAVFoAgS8QQ+UASisMuY3Vctz3XJ+e4uFJ2RnMQ6yz8TYAEkEAQ5IAq4cAzFsMOOba8F77UAsAl4AO4rYQKlJOwb0OBATr0t8DYZoS5NsACYJ9PBYqEO0AAGoAIPBwAQZwcmAwEUugI3QBEtMAIgIAJjwO5u//ZtDAANTNUEXK6PTIYTgAa+6Jvp+Z6irtSEH7konQiHcPwtkfeOTwIrcPMH8QRHkhFM8AQrgACY1+EupAJuHjml/3llwVOmvEICaUQRKYACI3ACsF9Zb7/WE7mFGyvvOrtGcsQLyOCnTwo60hDdYk78sADHAAFA4ECCBQ0eNFjEggUNDTVs2KDigooVQQSuWAHAyB+EHQmmOFEGAQMLY8aUQTlGxQIEBCbYkZMmjckpTjRkIDHBI0IlN1iQUJEDQA6hRI3mQILECQAvTac8VQFgwoRKwowhW0YNmzcA3bghAxs27K5dAIDBkjJixE62bRc6fLgBKIAgGTMOhGGl7cEPZhYxYADgJJGUXlYsIEDASRmTWbI4GZKjQYYLKfYOVHSoCICgRYcONQpgCBKBWag8RaLTg04AG3Kg4QKAC5qctP8AiAWbrOwuOyIu/0aoEC5EEis03BVYgjSLFi1cAP8gI1KaCQ6olGFKxEsZ7RMMENAgZcrjpDlyZkgQ4/efQIFYaCBB9LNQgUeHjF76VOp+iARJXNjAuzpwQ8YYAGCBZQwX1gKuQYLeagiiiKiIqq6CTABhBBR+Q0GSNDwwgAEvACAiiA2GaKqMIAxYIAAVkkLCPABWg8CIBv+IgyH4jgKtPvtIcyInACDQYKD+5NrAAgQQOECY28AyZpdLIAHjiyiicDBLAExwwCEJN1gBzIxKGMiiEk5AoQUb9iJDEDkaQMAAAFBagQADgkijKRZdiiwqEjzIAAIeHGyjiAj76zH/tKNyuE8FCIZkjSDiNmDpAAaAwBQANNBoYIEGRtQyVAd0lLAhCzAKwiKLBLLogS3U4GinNyIpIxIVDDAgizK8oILFIQgjAlcDJlBBBfhWW8CELxz8ggjjviQBNPnoW/RRCCYosiAJlQTgAAgaOGCBBSYwDzEVAJkj1Cx5IBUuulalK15Wi8iMLUnkWCSSIXBlACUinFBhu+1wdelPD6RCQAcAfGgQCh3C/BKibBUdSD6BJrDAoC8B8LQBAByYgIGpqPCCgQBIIELdy5TAciAd3QXAAlUJmtmBItrziI3pIhFkJRapOGmwNMqgws4QNVjNAARMYJjZEqKKWML4eCwq/wOpiBSoIYG+tABcwLrcoKEc+AClRQNIU9mjE6L44gw45shDIIVehivVeFdVlQgGzCiCDbhjJaiQWhfxooQOXBKRu6F3rfO7a5dEQN0mACCBhKhLrc/HqABowAGXGYrYgQYAI4k4KbyI5BQIAiBgirSDk0MSPshI5A49AvmDI+Hg0sABeFmliwgq0kgkEQAS4eGMNgoiYxE5eF4BBBDiZBFUIvIkeAGlv9tMyzh+svxyaOcTCk7PQxR5IQDi0iBk0qV2ggpBVhEkgACG4CGJ1wkyg49EJBGIJCKRCDIAIgyD2B1cHKACVQWhRHMqg/8EUrw9nCAJTCDIImolCCpg6P8DJTAaATZABSroxGjfCQAPFIGIUP1hCCoQ3+Xq450FbEAKZViBChjQuaw1JFo7BIyEVEDCNKRiEfZTQff2BwAYOEESTwRgFAEQiQGSAQnG0ppAHIA2B0ZQglMsHh8AUAQf/GAgRBBEJDTIgxe4IAUj6AD1UBjCxKgQZ6F6g2FiKEOdTGBEaYAgDgHzFguQYHSWsoDUlOKFUpSCACdL2RJBYAIUlUEOidjDEwEQRU5AEQBy4IwW40UF/yUiEmBMhBj5wAc5FEEMagAAGDTIMxKIAQtP6IkNThAnOwEAV0MqwiHaEwh1BcJZldtjxCxAAAiMoSApIQFJRmWBCVhqh4n/JE4OSBYJUCAgAAhA2xI5sB2UzAQATuBDJKQoxU7KgQEG6BwDNFA8VK7yk3IApRfikC7hqZEKfotDHNqghjN8AQsmuIBAxHUznAEuSy44gQr+g8wYcsZyiAkCSgiCEpRswAEZoKalwLUAbBInRl5IgwoS47olikA5U/DCScowtCmQLA17OKUkOsmJTs7JAiZbQAbCCAA+CGIP+PxkGZDABj0UgQRIoIITgjCH3LEHd+z5gxt0oAMjnOEMSwQAByhnufDJcCheiBMCyMkdwQBgcVQAGcgYYM2RaACbFsjABDbghBwcgAA5MEFLS+AEJ0xBCgKBKUdnOgYpxG4gOt3k/xAmEDkVCGKVRwUlSryQhSSyQZ4YawAY9GDVQCAiM3H4ghJ8YAP1gPUDEiUrgMTXmmLZSQWKpVBGOJqGAP00XAcwQADGBbKFVC4HbmpJEq+wxCAQ1rACIawTxDOnNOTTDpoUYPE0AIHvYDazTWmKFHJAhgOAtiV5GOYhFKEIgShhTQBgEFgpKZHKlTVirdmAL+1EAo4SQaUEWAFKUWKiwKCwAX/iGEsmABkvgIIT1/LAG5b4gheJ57DnjO5SAHDY6mYhDQAcYCLSEAnvBGAC+NyVU2riBCRogAFMYkkKS7veP4hhYWA1yAdYMISJIGm2rUEMrjTAUS+QwH4WGN5Mqf8QM29OAAJ/IgEEiEAGIxCBCDkoQylkUTkWuAGsT5VCmDGcYaIoRQpjGNqIMbkHkwQBAokpA0wB8JTo5kAFHhAXwVKoiEcM4gxPwPFB1JLfidoXWj8UFjxpBphfEXl7BsjAsayWhz8Moj3X48QqSrEIL4N1NGG+cIYhw6jojsjDchiDE2KaiAw0wMT0qfOdQ8aStAagCJbAQxiUEGiEnCBJlJOLbDc2xPxGoE7e/OP1qBAElAIrByyBJ04ARYbS3q49ZPDCIlJRCk5MDqxIATV0Rc3iDDszB1M4SZpV4B0CqGAIfLVzoBiQ10qxhAAmsMQg3LAFJZiR1wNRIjYNLbX/HLwTDEUwGgPQDMg0z3RXlEIMBDIwcQqEIQ6DWG8jGoFtOaRCFpwgQ2tfd4JPX3jM447uFLAzIsZsNgiTXYBR7gyBeQMgA+IiHWIaMYlH9PzfADcCDPNrJEPjNzARyF0D7BSAjDpcccoWloknfoEWDGQJVQiDGthAslN8nAw3sMz+VCDdMKPc7FnwQg5MwhSpcncBGrjzDiNttQycwAGseyQYEDHMn8vNcgyQmEPw258MZEQnB2hCHvKwGRYZAMszXRx3xOXNYU2gAyAYiIbS5AMlDEEOWgZFIZYA1ggghbBKMbuoT/fumiRlCC9G3AQiDShAQSAJXwADD0wwzKs6/xSsRRjdBkoXeB++yAsqSGcQAqMRMbShUEYDAAOAlSdfXiu4DIBABTBPEA2pSQlEeJ4sZFGKSQAAD68TgQki8MKg4Cf1pebrfSKjATghQPZIm1FeIcCCPzyCvQBoj6r6tyKguegjicGjCMgrAylwIipKBKFQABdwgRi4gSSgAF/SL1yZANZhEW9CgMvbvoJogRhYgi4ggzIQBI9LhTuQJMyTAueZmnd7v8KSgs4olu36jgnwANrTCQTgAY0jiKoSQLAiA/oLDAcAmYhwguqSA5iwgxzwAk4AhSdKJaFIABHAvBRwARu4AOpZAF/ClSWxEwLQvo4gwS5wA47zOFkoBP89wDEpiAROAAAKcTdyEzXRGALxmIvKmQCls7mDcbLv4AFEOIQgFMIhfB0yiBMGcIAXWkKYwCc72BVMSiVJmEJJsCw+yAEEOIEP2L4beAIesDc6SgwTqDqPKEE3UIQ3uA5QED9McMMlOgEqiMNIkIIgiCgkGAIAQL1YEw+cGCt2G5ep8CYW6IKDUDxKE8L9MQJXywEmxKc9KAMPm4LRGIM9+B//ya5U4oMhiJyCaD4AYAMOIJg4KYJBsTGPQENFaARF8DxXlAVQgJslMgJa5IRI8AIiiAMeMAoZjC7REI8J+JP2CbKpeLMOEIKOCKg5mAM6UDzfCxWBbMImPB0vOJ3/ofECJLghbBQEETOlAVqlbgSBU0QINhAt4FAvRTAmOeAEj+MEYloiMKACniIcIlC8IhiNXsywMJM4GgmuBfiWEvgBkTMIF/iBJLCC5lvI12EBJNiVMQCvP3K4LNDF07Ek/8Gp4uFGIniOjlA8B4GDgIoDMkiDRdCyU7iDuNmfO4hCTlgEKiACngMAMsiB1Fs3nWgAXAFKFhACohQ0FEiB5rABIWCbtDEBq4w8IvMCwxq1PESpPWAlU9JKyLQRHPsBG7CBJOABFNSyVCiEdNmfImhLDiqCM8CDQiQC98uwIfgW7pKTpelLtviA2RQBEdCQwEwbFjgzp4PKLAA1UGMx/1LLAjTDSgfkRjBIxyV6I8CcxSwTPzAIgyUSTZ6SAypgAR9ISIGgy5wUCMkigCIoAYswgb4Mu50QgPM8T9tMEwAANC1hNpPYrBX7zfkMziHQlZtyK8ksHjngg0LAMRCoTRH4ACT4PC0zA79UF/CjTiroxBGoOhv4AR1ITfoggyIIhUk4v9EDAN8wT/Q8zwEYAOfYNQAAzQYZp/BiwBjJw/kEztEYDZRKA/9Jp+PhRjJITvSrzdkMArLRMk7g0NepLp6iAi7oRILYEAA4ASOQgTMYhEmwhCxBz4EoAIFYHi0hudMAziuqSxYtO3hTipnCxksKsVTag0AT0NnkATkQBP8tKwU0eR0Q4AFBENIh6MQPKAgRONItAIDy+wQAgCUHWU8AiACCuMAGWQEkeK4WfTcuZcD6HILh4c8IGtNVKoIj3Z/ZnE0WsKRSWAVZUCKVEQEzkNM5HILZ7LuBuL19KlQt+RcWJaz53LDfhIyhYDE02wNBwA5JKJ5MxDFM/YATWIxScMUi+FGVKQOeko0cwNRTBYA2aEhKEwiILIhVLYgKY9RrbVRdzAEpuA7/iVHjlIMy+NS08dUPGAJBAAUDXaJjlUO+wtQQ5DUJoIB5pVcAyJ22qICCADdsZdTTU1FVi9FPkkxU8wIeqM39iYEWGAEdZckeXaIx4KlIQIIg8MT/FmIP03qEgxArDuCACqBXah1CajWIB1AARuHXfj29oUCC7diDMnWCJsyTDAisJfqCLViCy0zTNZWFU3BTlTmBKASFOQwCFEBQLcmdQChEQu2Ape0Ajs3XjrjXjgCzk3XV04uMd3OMERmeMciAEijW/aGEPnODIpgpTpWFQUmbekRWw/iBLvADHLuBCZxSAFCAB4gACuAAptWSE6HaqmWxPgE3psgAFNQXXpuxR5gEKUiDRpIFMnidI6ACB5vDFcCDjGULkXWQAigABajbQdWShGIxM6Pa6NJFygEUYOSmRnJLE/jatDlELpBTLQMglcmDO5ACB6tOMsgMYlLLg8Bc/+AA0eDV3LkFjvOsjxgZO7LDVsIaipxQOkjLAHBaBE5opFJQIxw7xDwAP7OMx94NFUBoME6QAy4wgS5oG49Y1XltkAII3gFATxAI1N9Az4S6olilz6Ugu6XIASd7M+GagBIAgzZJ3VLIBVkAAw3dHyEMBDJQ085kgyjITi0RHDmUAydAE5I0iN8F3uFlX/c13gYBUQEAgBIQCuWlzxeKVciYigloEQJYgCLAgzzggSGYXgLOhVxwhBJ9nUMk28+ThVUY1ywBA5Z0qyEwAbU4iBsNFQ4e3ij9DZJVAOI1gS3lUsioQwZc4RYRLh7IHcVrEym84QJuQ+9VmUNcQngkg/8XsNQssSRQwEfAkh4jBSvN5VzOLQAn3gu9JYgYIBMTltVXDRJifKQVoINDnOHUkYVc6IVcWATsFcLjaslTiCR1MQM5cDAuUIFlNQgNSZvNrWPN9dC9qACOLYhD6AMdiBb7rdqrQYwX7j0hbBN4vGE2hMkdrqo8KAEu8AI5yEgAWGMHEVWeuiIBPVU7juI7/tC9iNqDeIOUWdQ/JiwS0J4XPkRDRgJEVmRGTlpb/oM8oAMeKC+goFN4dZA0cDBOQAISEFAR/rnN5eAPJd6dkFaBYC9FoEtGGYheJAIeMMlXrubcieVEnmVMYC/LVReH9GY6MIEFYEQknFktAYGZ5Cn/J1iBD2Dnvvtk9qXjB2iLeSaIQ2ADIoiPXawPMtAEIByIf64qMhgCbF7kU9qfL2gDsWQBAzgAJJwKlTkuNeIx92VWTz7mArDbDuhotlA8OqADMGgCHuABGMA6NxiEgiBEe83ePAjoMM6FQugDAHivUEmBGBCCJ8ACAQgRJHQAEihDLTmwYlmAAwhljOZckn2ACjCc/aEDABADJrABFODr5ijagSDEV2bpSPC4MJZDAGDfUFFP5xCCAEAfsyaAUNklBwAMO/HgD/43BYiACOCAEjAcp70Rj3iBBpmEdiREPbBqdBXoG3bcEH7r39C8GzgB+xkkJGQAFtASBTBABiAA/wGwaPQcgL6rABZgAR5ggY5VX2bdiSadhNK255Yu7Je+aADwUDzeCb62ASZgAdb5GMpmRMd1kBNQAJ2Yq0fCVBEQXt0OtBIgbhYoAQmQVw1W7oEQgqc+BE0IBTBQbawGb4OobszeZBRwASXoggRgnYb+muVrkAhQmrkCAPtRgAzh5FOlgKalACh+AAmY744AzBFcgi1gwRxoyUR+abb47+nuvh/AAjVIADtp6OoYlTeIxd+wlLgaCAHA0xYQgi6o0swe5QtXgAHQ3A1HCNoUcBuogjTkXqwmgunuiP8GUQ0BRTGQ4QCwJrMGGQdhA8peiDgBgMh2AQXAgjaQ7yWa6/8KkIAgB9Gfc/Ii/4DuW4IwOIQVEPHozoVI8Nwi928BSO8v2CcT4EBGFPQEiGrgKIFBsgDKXroEIOX5lgAOkIAHQObg7rs2Lwg4PyDDWQGdxWrsaAs7HQgQ3Vy7fVZAt58xDAAwcBAXWwjKfl4COICD2OaC8OgnrgA0VwDrrnRLF/K6peumpfOWxGqYdpDOldeHvDv7sR/cdpALkCY4+Y5HsnSPWGYtefRIR2YiFwjgRmxf/2yx2nQtY3KxahDNjm96lYAEOIAD2D0tAXQ6UnbE1vYzT3Nd1/a6pYBv99hgT4UbXuTDdpBz/9iBDxW8S4xHsnJK1/Zrj4Bs13aCeID/fC8Bp1XfFVjyMCYCcjdRp/XYgU9uBzF1hA+ACAd1ZsVseg/yad9wz6b4iq9zrAZ4LWlajv/YUPErZXfr89RkXit5glACJpCAhgfwh5945K5XALB4ccd4jdeSUNCER+BYpneQ9nVt9CzXG2/fQLMBJVCCvvRpg9jcCJDXvmv5mud3mFeZKjgDPziEUAAATVCXyz7xgShXUFf5trj7n++3Fuh5ABgAY695XjN6gm+NRei6cW8QT+y+ERSCLfgqdfHQ9n1tAKh7LVH4jth6AFCCGEABLFSLURd7j+e1W/f4Qg32VfD3XOCEp70MX+XrNAnMLRxRleHr4LX3nS/3ru6I/w/Q+x9oAekZgRhI1Xlleg4ocy0pfWqFAMNf7VzI+N+wU1N9fb4OzOYIFb4miKq3dwfx7MvIfADg/BHIbjGYg9sRCBYSCKIONIEn/NNP/dWXXzzu6xZ4/euf/vo/8bvPYAp4WtYHCAACBxIk+EEIEyZCYtyAcgYAIoKIEB1C1OFiwYwaNxZU8ECCBAoiRQ6EsOiUrFwqcxHhqFEATAEFZhZAgaJFC5sudwLQafPnBxQfAMQsOoCnwJEUkBYcceMJVChdAASaGNFqRIgTOzDtCmBAAQUeH0QgKXBFDk6rVPbKxalC16ICxdJ98QKF14w/e+79MHRgzAFgFQAoofHPn/+keQfafNJFTZw5Va0e0ooVkSJFgRIv5ij4c1jCBCecTLmyJdOiM+myFtCZMU6cfAH41TjAY4USJTi8dukmjJItcTRbPhSIasWsEzMrEoi4N8HAn48SvDAE1NqVb5EWFXCUtdiYvV38/JmzNkcWHSpUUGq2d6hRnw4dIgWAUqNGihAdR/ynYnMQKZJfQc9B15131A2kQmkr5RKEBDx1BwB4ChQgkGuvpWCDC7HdJNRfLrXnHnQCBXLIH3hUlolA9gmEiB6bncjcfvkdRxBnvSEIU0EX5IAdW7lEEuFOEw4k1oWA9YZCDDHYhROIIjD1HnR/zCHGEz+4sMQWZxgiECr/AGjSSCBlRsQcIgQWmGNnO/JIEAkNqgTKCqJxpFqSFOaJIXQuvBBDhzZ9IIKUJeYVxxdJAOpChy0IAUAYfliiCQCkaIJfIwLppyaObC7mZkYW/LiKLLJE4oUFADwAwEwCKUgUTK+KlVGGvTHxw5M2iTCCoXlhoUQLjbpww6M3ENTHIaEAEOaY+XE6kIGvgZqRB4IsskgZQaywwQUFPZqneKtS+MCevQJwhhhdJHFDTjFs4Ye5XonQKACPAqDEQjj5UEUYfUwKgCqjhEIJjAXeqCOCGjnAgAorqLABCRcwQBAdGQlWwEcSVCCBuPEOhAgdbXzBRBhuWEIKKVl5zJFf/zY5KoS9MDfaAkNMfOGHIqGgogopk6gMwB8HS7ujRgYY4IAGGyhtQQK8afTArBRUwIFuLaw8kLONWGrJJJVd7ZJfHwQLsxA//EA2ALG5EAMAP1QhxkPJXu1mrQMdQAADDii9wQQTazSSBCWoxwILTIBQUIglNqIJKrGg8kgYTCTxNdh+tfBCvQAwWu+jOK3dpA033OAC5bAmnNHdee9NggoXEEnQSALxMDslUxFEqLmUvBLLK4N84UJQpbMsNuaPvmA1zD/c9Hnoows/bUYEIKD33hYcABfsInHAgkBFoKIJ9gJ1Hu8royTGbtjCaxQU6Wy3fcPZZccWQ+hCkK6Rvf+GQl8QAUdbsPcGpleQkQgOADzwXoAEMoerDcIPXcBXDNKnPsSJTSDxI5v8gsUQ+23EavEiWkEKIIAAGOAAeWMAChfAgAQMZCTbAwALvEcp9THhCVBQiA0kOMGBoEd8GMxXsIh1v4ykoESJM13CwBKWuyEAhRNwgAU0wAALNKCFIhHc7FAxCsOozwVKuOEPbgCiHfIweASBX9m05LkfeFAv8QobqGjikbs5AGkbsF4DLLAwFrqQBTyIYRFQM0EhQAEKbWuBDifolyEOxC42uAlOYoCXjdipV0PZHwAoYIAA1HFvE/jfFKtIQD/ywAw84GImhdcQKEAwkeoLng0wJxD/u2hObS7xyAs/2J3VFGSTeUsatyI2RQckQHt+NGAgYSe8GBQSCj/IYQ+F1zLMsQ1ztPTT8SbJkYesjFwihElYLpQnDhwgAHn73wUglk4H9O2KpDQlKlNZOhcQ8lZijGbpfhLLWc4yluziSRhOpqx4laACEaALTfI0NV9CcXXpZMD0JLA97h1QkIoRHiENyUZXfk02xrLmR28QS21uJAxcuZrgdNOBCEDNQgAoSwc44ABzQvF/EOMbAfpHASyW8pTKVJ8NCtlKfKrvowDAnA0A8E+XhIFy2uuA4FiwmwhEgANc4QoYAkCAA6gQogZYwAIMkNMKEG52ReAeGQfCTDBC//OIXZmDf6JFEFk28gWiO+qw7ELStGbShVbVDeEKyL1GmCAAWpUeAoxmNAIkgKdF4IHTgEZGeoLxnm7lyRnosJm4euoLXVBIQewqyyYxUiPbK8FJ46UUDrC2teyhANUGWgTD5rR/tSVAADpAOAOaAa18FV8hD8lRl7ThEJlg0SEGwdmB3EgNWJhlsJR6VKvtVSOopRJPluKp7MHWqhfhAAUOKpYHPGApAJjtYWur1cKU9bG82e4Eg8pK+w1XI1gYzkCM6wlLAM0/ANjPgBShhwU+dyCBEhRSlMIUA8U1e969SExZ6lILeWQLBjSsVklIAB4oghKUGMUoUEEJ+O5wrf84rG9BvoCHR2SlMlaxBIoQQx/MaGU/IfsCY1DwyMtyRMELdo5/ngrhmFIAauFklQL0tQQjJOACWiUDGUB8KRCP4me/pawzLcsTMRyCvwWhyEQyYQk6BA0AXmvOIQZEpoEkQQlK4HF2sesSBiNGERC2qkEpLEfPMSoGP2DCFdyQLFS8AmDlI9hvvRXcjRJVIEE1mUaME7SKWMITmeAPfcy8n0M4678D+YKxeuNjpPgnEPuZSGA7wLE9B4tRn3PSD5QQ6EGEIha2HgUlEk0Q+eILeI2+ARbgEKCfSToxJ0JEpS2dCePMqEaZEoiHr9Sr2MWZAsk5BH7oIIaNgYRVBVD/W/uaRD+7xhoKcTjEJFw00ETHgAk3FEJbMyKELvyBxRMhSIz9WxVFeKLfnjCzmdOUGTVR4hEkFrWcrfjU/VBCD22IgpvdLITY8BkA4vZnGImVhB8soQq6JoijChnGMaZ4EAm0CkSowtn/KCLZ/K0Mfx+RGayp3KnmHeBIYopaRcQBC7eCGb6SECzPCYS0f4JfudlVXV3XU7jRVIPJM3LviOS7TGkGQKXFbAkvC0TmEcHPwc2F3dViBLUVEIJdzuZmdnlO3C9g1NEJ+VydfHzX7u512JgEBWEXZNj3hkiMZ9T1fnMkE49YMxnN4p7dSJTbCkDBC4SAL7S3vUmewwmx/5y5l7qr1d0KuYFfUgBsP7D4v8yRyNT5I/iBEN4lmRiEqfmqlD9IzaAZk8BBPyLx40USUIiEZOSBRXfOCyTkt1Keo7owB0/Ym0Yzx4qAAFyQR/wbKaFQhbJ8QEb/0EENEaCQAkAi/vHz/nKkQ2Teb5DNpeuangkpW7vFQIdPeOIyA2nOVZbjkurvpBXLusPEbd8f5EHPKYGxYMz4jR/U4IWr0UbY1AZ5EN9AnMESKAEWPAGxREEbTMZl/N3H0NiAFESmKAL1LYZQ7BBiIIoSuAAIfECHhF8CihdduBqIoFjdhYIhbIHkfUEccGAHTp2AYIaaEUR+DAiLeMUSCEQNwP+Zx8zBGTyBQISN1djVR8hghSiALNmgrjVOoX3CI3xhI6RJEf7gcmQGZqhJpmwKAPAfUrCBQPRATxSK+ljBDaTAA6bN5cQSXbRUhYiQBG6E1oyCKgAMwGjCDGlKGF7GzAEYgaRhCD4bUyQhAMAhACwhGaHfHaZNLG2iR1yhArzJH4pgILQBAOABIWpEIpZhc5ghAGQNCXoYUujCJ4TBGhRED/TA4ezQCDxg3lncJr6ADXQia4QTKIaiQDhXm7mbG0wCIJbhl6mZs8DiTvhCoXGEJe4QL/IiAPxiMPIhhVnIANSNMZ6N2SCFfjyiQJhhGjaCNO6ELvAECsjhK2Vj2CT/FSfyYTiJRTiK4x8Oi9n8AJtBYWJUIyI+m7MwBzu2406EwhuwwRGE4i7So44BIzB6RD6Gkx8a4xn9owVlxCGKCaU04ip6WCjQHxu6RBMgBRzmYuloSQpEZN4l1VH500XShUYWhJ9xpAWVYxI8AY4RxChcSisOHCUoiysAACu0nkB8gkD8gou8gUCkpEoWEeWowWcpXQv6BUX+oixR2OWwnwS6wD+O5U4C5OQY0rIIxKFtykD5n0Cwgkl+grL4QkawgRuCAVP0AFV6zADSQRycwa/YwHmggEhtI0WCXLDQ1U22zVg2Zke2jRJAilpS46W4SEH4HyvshF1uJl4yhR0O/08mzpl/5MEcxIEYWIESHM9AiI7o0FVs3MViFh85NqZjio69dMEhCGIsAEChzcJibCZwuiFTNIFeZgQ9mtFhrNwAAoDIsBIAJEEamY1i5sTw3WQLEEIV+MBYig5tPtO9QOEZZOZAuIJvuuVRZsQbEAIABCd7DsRDomRxRmF5gMgIuMATcNOarJxz0MEctIEYAMBnbZzZhFpOpE0ELmZQsAHmzCZ3jmWxAKRAMIJL+OZASKhAQCV7Zigb4OV7cgRx2uF8ykYLKMEXzEEeZIRy5gj3nWgcAEAUlI3o3A8KMEoLsGQotoy8dedC+IBwDoR6csQ7DkR6vkFDamiGduZOxP/nRpiofwGZfnbKfxShE/pcGAkEAzIKWCaa5WTE5iRP/IjOZmbEj3IEVA6EkZ5pLXooJtZGdcnYIFRGim7XH0BjGOoBAIjBr/ie5nSIMVaQRvhJUsXPM7mAcPbohQIAIdwBR4wpe4KBXa4nmmpEStZgUNyERvibpcHekxZIczwbmjhcooSa5mQpXzEJRwAqRRpLDSAqhhpqhGoEhZrpmc4qG6RpVOKioFTqRkREJmDqsilXkxYIjaXj6YXhlRSYxf2hqTKmdBEEoIpOjaIAVBKpQLgqAPxCQRCDRjQkpNKqhoIBcc7n5n3Zi2AqpsbYYcReK45gp2ZKmQxEakqgB/3/I2sWxOUYCwjgBSGoZ5lWK6ICQJDOwlGep5geqrdqaBOUFkeAGeuZq795TYEkh2YkB9box1UIRBt4HOf5I0AaS72u5trgRBil574CALX2q0DMgv8JLFJw68ECJyUWhMIy7Iskm8NamtA4B7OVCc/S3LAOJfGJnk5qBPxwCEAeARvEwBqUrMmqZ5COZ0FQKLYWxI++rF26T0a8wOR8TEZkxs2uoZgll9CUSdDw7LuuqwcOhH1YWKIRJkCWY9uc0ft0rA2AASPsQBPsq4Ve5kD4pm++I8EKRDAAgP9ZaKueaRO0UfFpTqRZGQBQn7kKBIvAGH0MgomYLeZqyqlpJPww/yaEQqhSDWi95AQIvIEpvEENNAEjdMJADKL/ucJRUmis9q3/EQNdvqrJumF7bmh02auotpjKJBDk+ttAIBeMVdrOYi6zVcR/VcQjGGMLvC1tSlcYwYyoricmmAJ2ugIxaKs7akQrzMIrDG4wPG3usucaUBeXmsiLVEaAJFB+RK5A9JuX9Vvyngh9LC9FrCIkSiAKdGc5Il38kBQIqO4tBEMwxAJ5xirB6oIrZCZ5AixBCGysBoMvHKXh6m7SGpir+UlknmjwEmvFyu8aRq7y5i8Kn9rAqeUZrCrnRa/0wq1AEIsBasQPhIIyKMMvzMInhO/fUigrBEIrhIIreAIrzIGCLszuRphvQ+KlBzGSEHxBxWhF9M3cCBNvRnyCeJ5t/ppZ/h5HpyZQvZDqDtlAOb6tD8WawkbtL7TxLHgC7LKCLvyCK7SCLjytK/DXOz6twMKubw5uQTQkxU2S1VjBcPjd6RFhIwwvG34CeS6wK6BwZWSamfFsCAoE7/TBGpdIQAAAIfkEBQYAAAAsTAAXALkA2QAACP8AAQgcSLCgwYMIEypcSHDJEgAPGUqcSLGixYsYM2qkaKXjxo8gQ4ocSfKgx5IoU6pcOfIky5cwY8oE0NHKzJs4c2qUUUWnz59ACSYISrTozQQOsBhdyrQkiw5Km0qdirGDCShUs2pd2IFFlK1gwwqU4eCr2LNUyZpFy7at27cvycKd69NIgi108860q7cvTL5+A6c0Iriw4cOIEytezJhhVL01I0duvDDAY7ddumDZ3HGzZywdoWCljNAy3M6bM2vmbOXzZdIDuwTI7DY169aZv3zJDNombINWEhjp0vYJEyZQWntuogMMADA6mEP/bVBJACNrz66GwoRHkTJe5Cz/EiRo0SIvQzwEeX0WC+/I7r+IOSNm92fVBJ8E6NA29ZdCnIDCyYAEcoKEAQhCoAITbCmBnHJYcKfEhMi5p5pmqBE30BcAeMWWFVA80QQopZRYCgAnlgIKAQhMAAESOYSB1n267daFFcZRmJxnEuoYFXEetrfZFQCQaKJAJppQBBJcAMCFDABoCJZoork3nxpq1LdaamJ0KYZm3CWhRBI7EnDXaGB51gUbRpqYYolQFgEAFVSYgBYUSQjxww8OQoHJn5JgUsVxFXbR5Rn0bemeDARc0KVYPUpySolgsJHGGEiWYgQWPEjRZBFuiNVGorc8A0487aAqz6ryxAMAOrCC/zMOOLRac0sVSgghhBInEBCAbmIsFAccQZ2B5RmAmAgKEzrQmSmURjhBBRclECkWFszMQ4879tTTrT3uhCtuuPTEw8656D7zZRRQGBEAAVCwNxCfTOCmmU99YgHKpKAssQURdL7ZBB4ASEuFClJ9qaZ8x8ozj8MAzCPxxBSn0w6666BjTjXHVCMJdFbAQAABm4qhBhxxxJGlfWo+qhOGUIBhYiJd9MDFtMoSBgDAN+sM1GcSCnHDD7sy4d4t7SStNEHtAKC0POicQw0vvEDigQUaeKC1BxAs0AAAC1QgRBIPbhb0rg5aYSiiidJoMsoZ2VC0b2Y3oSwUxJUBnpGcyP9AZBFeBK5DqDnFa+jJKcORJYbKyceM0pBHrvQ86zDQAASXQ6D55hAggMACoAOw6eFtJL44iEw8YbhqETKhxA822EC0EquD5vqEaa+N5cpbGmpyG2pIUsopoJDhOgB6F1kiJ0a4zkMZyLMwkxhYPJHrnkUnF5rreu7pIBbgnHvx+OxI3o487dDSAOjsg5455xAYcMINsu+6uhNToAFEEWLSjoV8iFJD21pmLDgA7wxfaB2hVpcZK3DPBjG4wa7AwIkSSeILUWiC3sqgAyOBogluiMN39MYDa6nkcALcDY4K9bY4zCEOwPsSoAABiHOsQ3zly+H4ICcPYHStfaCD3+b/DLAJZgzjFkhEIh7ggIMm4qAEVhjUcXAzn/pgwXWws8HQxrYj0PRobl04QxvgQEbebcYMcpCDILbgBjekIQ1lkAMUBBGJOlZohGVgAYNSAsDdWdF63dvVE6ywClvYohbAgAUaLgGEkVViHTZcRzvS4TBWtSoemIwHPdYBCwIYwJOfQ4AKujYyXxkgAGgohznMcY5WujIAThQFOL5hDWbY8ohJvAUm3LA4zlgJSykb1ukWaC/e4AlKAJCDGY6gBB1skAxRSaMRhMCEJngBejwgXEmGli/OfFEJt9jEMXaxC1hcAgMYKGUpsXHDeEhsVZhUWjwruQ5erA+IXmuAPjO3/wAMrAAIQPAUFypRi1qgAQfoPEY0yEGOcjj0HNfQhja8QVFYaYxWGLWlEXN5KyYIYRjMGIc86FGPktLjYeeIhiDk8JwrYIEMY7gmeJKZRiKkgQdw9AIAihCG+ZxhJL9E2RyGqjIxlMoa61gGLcx5CVF0LZQISsa3vFXSqkZMYgSpR8Ti8Q1xeMOrx0jGMWghikpAohIhuCcJ1uoBNJAACCpAQwgAGoK6emAFKlABEDQ3ARd5oK+AhYRgBSuKYhj2GBOlKEPP4U5v2eOxkKUHOnAhkE3YYgtKAE/gAge9NCJhs9f0Ag8EiYX5tAEksSNavbpwC2ZMYxzcmoc0eCGK2v/aghOOyEH7KmGPe0D2t78VCGTxkY/i4uMe98DHO96B3Ob2FrLuqMc80AEOcYjjG9WIxjGKsVRYwKIOIYBAX/+6tfKSQGvnLe/WAAuBYpyDHSPVVnQBANx7iIOlgjgGNaKxCTkEjgpeoIJAVnqz/16TDKvpAgA/4j28TWMb/VDuOx5bDlwMAxJc4BoDMrABDVjAARYQRXNHTGISEzcf95AYSR37WHy4+MUwlvA7ipuPdxzXuc91x0m7Wt1jKLQYta2tesvb12Oww53cCm6J7WELNaYxDQCAMpQ3yNI05sDAXkjDEMzAAyPQL3bcfJBFuDOMafTDH/xA8XLvAY5jOKL/AZZjAIg/7IAJMAAS9rhxiff8YofNox7mQpegy7cOp03SneqgB3BtjFwXJxfG+Xgxiu3BXHvQ96QP62pXjwGOJAMXsvT9LT3MgYs0pPHUqE61ldMzhCGkkQRcSISsyRAF15FNbS2MA0NiEINhpOMd44jGM6KBC1wEIXCR8EAp34WAAzDgAAYAQtMEwi2qNhfGvtWqiksa6EF7+9vik1w8Rrqt5z5awnr+LXJ7u27fmhu4ADjpqtjBjWOkYaWqzreVcxACD+QgByRgwAImUIZZu+FLDqQQro2FJeoZxHrmOEYc08CHMhCBPImoYyTGMAEEjAwBDljAJ+sQbwDUgx4o/0/5igfiWOlSTB7gjrnMy3cxHOowcvFIBzrC9djmAmDPS3a3PeLRjWb0V99ID0EARD7wCVggrEmj1TNukYokfJnXMdCiEp5wuIJUTwnHkIMd5LCHPfABypGQhMYTwQcpIMHZcmaAAb6B8j//WeX0MHm8SfrYhz1s3DBnxw1nTnhw1/zb6AhHqM+NbRILpMT0KMcuBu4BEqggB1y4GRdMLQfOozrDn1yABTJwjFRVcmIlHcc4psGKW2xBNLhWg64J8oIYFMHUG0yDHfbAUln7nu2SWoEFJmB5ip1Uusi3O/K55Q7Aw/x8gl+H9AVPfelPf/CFL/w6utENRcf4++CHsf89zAEMAoBu6QswPz4X0O9+X17ZI1tAMY6sraqGS7gAYO4+zryNbfQiT7uSBARhBTpwTTG1WWOQBrwnB78nCBUHCqAgfFxQC+5AMSqmfBjoLeWSSRdjLhljURkTguuAKkoTfdZ3gtcnc9YHUeRAaeH3gjE2D8kABJ+zAGBjg+tzT0B0gyJnAMVwDCoGLkL4acCVD/3AD/2wD+OACT0QAwQhBjxwgE6QBV7gBIGTRmZXdlqoTJwgCRZAAuBggWJofOWGPpCTQ5B0DhYFK63EC7TyDd8wMZj2TulgMReDgngofeeADdiADgOhaOwGg98XDnUAVeoHZwBgAYroIj+kgwT/cAw991xECGr1JXTuwAwFEQNSsFk5MAXoAQBeMAaehWrI4wWSkAhBMAHu5GdjKIbRZYaHdy5R40quRH4CYQA3CDaVUFY+dgzW1VWU9CohCCsfmDHkQA3X4Cp4l3L14A7ByHfX5mLxIAyfZH4MoIgbYAHZ6ADcqAEksI0L8DkGcAxBB1mW6A70xWLr9ly5UBAyAGCBMydV+FnXJAdSsEH4SHFegAaXhEmWdHqsaHeHZ32Cdw6rdJCsVA4JgSAAgAECgQAMWQntEDVruIatRA3U4Id7t4wcyYwlNQ/iAAQB8C5yxo0CxwDZqI3Z2GF11nGiAAB6NmK9lQ9IyA/8YHIn/5dyj1UuipYOHEIQgOMFUuCJm0WFoehfTjAGSrmUWUYEEmk+8pRJ/vgwJmh96ABJqoSQ5jB5QFSDEIkAtwgADAkAx1BotHiW5WAM0NAO2tKRbllVJWUOIbAAGYAEZMcHB8MAIwMACHCNdIYg5gcO+mBcMPZz/OAP8PAP/wAP8JCEgDZu88AO2MAN4SAO0ZAEPzAQUFAEnggAmwhaSDAEWSYHObCUS5kFQxAEtKANV3lD2BdukDNu7fCBZ7kO5qBKuGkO5EAAOrh+Xck+BsAOBnmQrcRK5pANyBAODuOWHAmX9QAOz1AL4GFqY8AHiQAA10kFCPAuDtAA3OgAp2QAkP9wYjRWnjTpD4qZnvDgD/swdOxQDtLQDADADd0ACEvwBARhAlSIP6ClU6IZR1lgmkqZBUiwAmCjAQxQB3UABLvAC9XwoK3Umjg0iwaJDcUgDIbFC9KwoQxFCz1oAB8Kol+5futzDBpzkFl5m9RgDOigYsypcnAZDURwalnIB3wgCFIgEJGAnSrgSSQAAQcglgEwd4NpnuaJD/qAhEnID+1pD/PQDtrQDNLAfdggIwVRBJ/Zn4HjiaI4BgGqlALhBQVKC9gQVsXgXUCABmjAAJdgACuABMWGC9q1XZUgjgagoHUACeDVm74JRA1gAKEUjqDjg8O5Sg5VDuQgDM3AlmL/eFLL6JzPwHlaaKOUygf+xQeRIGtUgIsk0HEjAwmTJA/eglxGap76MJi+hQ7igA7QQA3cdwxfsEcDUQRW6AVEqaXh4V+YMhBCqQLFwId8KFHCmg3ZIA1iVQy4UAt5SjW0IA3V0A3h0A0NFQ7Ryn0AEJ/CwAuVoKCV0KckugDogJviyg2wcA3n04pyqC1tCQ5UUAZjl0Z2IKlmZ6N7kAV7IGt8oFsAcF4t8pIwWlKe5lu+dVzEdQ/mIA3XCgDN4KragAkRQRAyIJpOQI+4ampfShBSoAKiQA3VcA0dew0gew3Amg0SxQ3aQK3VCq3cR63lgLIu6w0uGw4w6w3X2gzc/8ULdbCtfLoAolAHvAAMD1oN1JANAIANqeKPljQxATkP4CAH7uq0ZSCgYxBH83p29yoIe5ADuKgCfUV3VYV3VgWXJ4UO5FANGwoA0JAMEXUM8gIAOSAFWZCloAUAWTBxocirU9CplQANG0oN0oCRGNmxHyuyJ5sN3cANiJu44UAOKAut1Oq4MhuzkuuyfruhP5uz4NU+QNANNJc0qCKV/gh481BqcBS1UgumZTCvvJeFaaABBOAiC0B3L7qRdbeHzYAMxbAMywANIosJCcEDn2WUoCUFbyuKmgVaUzAEE4AGxqC7zfC8zQAN0iu9feusfJi4xJoN3JAN1Iq43Pe94P8brZOLsjA7vjG7DLAABNlwlYMGlagSDRtkmk6QlGAKAErprnyQhZ3nBSSQfpbTli/KjPMQD+GgVLAADM/Lu9FwWnlwEEWQA8Lbn1kQtzGFBBM8BRg8BboVACSXDMiQDCAMwrq7DNAbvRgpstlLrNeQDdcAAMgosthArN4LviurspFLrTM7vt1AtGpqWNggUa3pmt4WoKYLpnn1pf8mEFNbdk4rlKHJAO9SCQAcwCcnD+ZADZUABHWwC8ugltdgnwqhArUKikUpBVKAP52ZwRicA1AcAMBgDMgQx3I8xyGcDMvQtzDMhy0MDcuADM5LvX/7wjCcDZNJnzRcw+G7ssj/eQlqegD6tFtn5cMTJXFSCwBTgARKqVM5QAVLqYBl53ZwSwJRLIdUTA/scA1ZHAJosAvGEL3H4AILYQJXlreBkwV0csbzOwVSMARqfMlo4F27IAxwPMfEPMe7+7chC7LUoLDGIMzG8MxwHMLOG718e8Ify4ckm7iJq8jNgAbUYMjX0AzLwF09q6ZAIHALgMlL6Zmny6XrfGpT4ARSQAVI4CvewIpLS4b0IA/hQAvpRABoAACtvAxkkAIMkQNTCLcTjMsDgT9onMFBoALkxMrPXMwW7cet2qrXgIwYycfQ/NEgDdJxbMckHL19e8Igi83YAA0AsAwxLKzaoM3dMFHc/3ANvFDEADAEKjAFp7vOSsl5ZTCxTjAE9iyVrOJ3Y4gOywAApnQJwCDMtdC2BQG8XrDQ82sQZ8zLakwCsCAMzjzMF03HUkoN1bzRHZ0MIZ3Wag3SIjzN09sMlyAML4wNIpvHI6sNm1DEYzAEOWC/PR3POhVHnjW/Q7CdkoRzmZS0MIcNaDCSARACXQ0Mu/AGBCMsTfC2uIwESGAQ8qzZumzGGtvMIR3WcpwM1SwNrQq41HC7a93arg3SAAALaBvIgSy0g3sNlCygfn26AKACHpAFyNN5aTCxOn1KaoiCsOm55kIOtOArI7nKkp0If0ARPDAEmn3dBaHZoJ3BTnBlBf/11R9N2n5s0mRd3mTdDK+d3mkt0MYAALtwCa0cvVLKtxsayNSQ1z2d36GpxLgHIznQowFADloZoUE8eFIDAI6NAXUg2bVgESCgAkMwsdgNANeNBPIsz7qMBCTQASOQAihQBGSwCQUVzM580cmQwPI9vaiN1q3NyuCt3u1tDMBwCbtQxyNcwtBQDPm947udgHrz374dAECwuAxV5A51m6sUNebgDZWAASMZbeQkDGRwESeQA9Zd4ViOBGesAuFoAAnAPboSBRwSCABQCIxgC8V20dOM4/Ld2sL84jD+zO4N3x9cx3a+CZwMplPQ4zu+lBukAmuVAULOveVLreJA5Ij/2lDkIA1O7isYUAl3LAkjgBGyfOVZft1szACazgAwVB/yURAuNAiDUOamEAm1UGzLQNJrDg3yjQxeDedxvtYCcQkAUOd2DsLI0ImhOAZO4AHqnN8FY5p6kwVrpQENIOSFbMjeALkoW7ZNPpIYgAa1EA228AEgMOkX8cCWXuEQsFZrtekOwANMAEFZxxDEUQUPAeJmQAZFYAYgXgRFQATjpaaQIAqwQOJeHeshLcwzLgy2bufAgDBTGFMIzeN5tetTWwYa7gEZ4NzVoMd3HdOGXHSN9C5AUAvHgAtVkAQCmBEPjOUN4O0bYHl1FncngAIjIAIqbxEj0PIp0PIAkAIp/2ACGgAAG3ABF+AAALACQZDTmVdbtEALT/3qcS4M3uXvt54MvIAwWj4FX8rjVr7roegFGcDwxz6Sfyu0HpvMKa0N1QAL6EQAQAALyIoIf0AHH8EBVh6aIr8Bbh8EAecAmt4BKq/yIHD3FIGZAuECLWDQN0AGOVDzAqGIFhAEhi8Fhk8EQVBwkbAJdlAHohD0+A7rb07jxpD0kIAw1o3GfX6AmRw4Q5ABVV9KC0DN1KvaHIuMwsBIBoAB944LZA4SIoACJZADxOf2uO/2Q7ACcrZWKmACKC8CH/ABIAEGoOAEFpCIhG8BPK/4hj8GgtCAe0BwXpADP2AENJQIBYULQ/+f7zMODP/uwZkP4TmN4U+/45vlBBOQAX2lfjx74yWd4tCADACwoGMPDLBPEidgAiqZ+wCxYcOKFRtUkDhIwoSLGD+UAIAYUeJEihB1cFrkZQJECxYcTLCwIkiQFWMSRUqUko+cNCQ8DNFwQkQKiDckggEEaJMoSJeAIUsWNBkyFSokDkHiZMoUL2OcjgHw9KkXL1k8TMDKxcumDGggAQi6LKzYZcuaAdh1qRItYKLEqKkYV27EFgBMaNAgUK9AgiQAkAAMuMiXL2fc5JmbWNKiNFQ4fmTAYALCFSpSqkwkh6UUCBkgmEisCBEdAF8g/RQKrCjEIRGHOJEyJYtTADn/VDR1StXLEKwTclAZeYEEL2NCjQtdtgvW8rZ1Ez+Pm3evXhUrIga+sIGJkB9CHkKnaCZSGQAaEHgEmQEvSAMILCfis1LOmClIJkCYcAIEeACNMOESBihRimptIqSUYmqMIUiYbQzdppjgqjogqQUXasLxJhxpjksGrKCEAYY5UUDYjz8Ti5hOIIRI+ishwDoYYQQUaDIRIiM4KWMRQUggwAEH/PICAC8OQgAAA3KQL40xsnAiBwDuc6FGiAKhA5AgjJILqdhmo8pBqrIgAas6ioGGmmzCQTMcaDg0TrldgLFDSiktkE4vwFagQgOEsDPhAz/9rJEHHHX04gICGCBh/4wyyqBNIwQIMCCNNMqoyokhVLjqAjkBaEMMLErAMsuklsJNtxx6AyaZZaCphps0w2EzKGDe3MUOH2zaFDwTJpiOsiBaDAwhEP4UQUYaE2ODE80AKIOFFw5ggIoxiCiDWmrzNCAAFbKQDYkhcnBpAR3CkPKML6BQAlQnE9NSCt28gBArDUSBhRZehCmmGF5oqQQ1DncBOBE4xMiVPxPo3Auh6iarziiCWPgABBlbcEEIKxILpBBB0nAEACLOYIEBB7xg1IsgqNBtAgIAICAHb791aQIjkpDTiiR+OMGvHNad68Atvcjgqo0gwiu7DSYwYIFKgDpOmOUSIa1gEzmoc/+DPSsjKOvqSojBBYaU+CKOQxSLxItFGFXjDE0RkBYAJBZwIIhqvViggUN3dikDmWOQE13uStAAIhV2TiyH12BTobfAJVJhA/MWELk4oZBxOhGp5TTBcTsPEmmgrAka4oQtujgjjj8CQR2APyoChJM0FpEjhya209QAZgEIItsVSKYbAQMmy3uCBKKU8wsxxPiC578Ij2vnIZDKAb8JFr+uIAAQQOAjIOpdrpI6MgBjkMuh++GJiDSwYHOEsvg8B4IAWOHcJ6DAwvgz2ogjjqhtZAz2IYwQwgtawILrDY0KK8iAdaoFAQMQoAEauAoEEHACvkmpDXPIwx/IEKSJDE7/eRBx3vOGgB8IAGADExGIBRCwABYuwHe/O9oKoTK+uXRBDPijw+mKkD4VHaQ6JMia++BnlxZQjCE3cMgTsEAwuICBCnIogyCowAMBjsBPC4CI3IgAAJRRywsMWNkCsLIAAvAgVzn8Qx4uUKCJkIB5EQnhqSAAAR4KBCJ6AcACDtCAyEQGJEEYwgH+YgQaxqULhYHDIA6hCNHwymoHMVoJSDAQFkFkBSYQwZ9AMKMWxMAGN1DCrjJABUF4wVkoyOQHAFABA/CRd0RIA+9YlkeklREAiNjUH3TJhurIxYMgNNy3PEPHFO1Fj3x0APosgBBBlKFIfikkRWzgAorZQAhM/yBdHIyQl0lOZwU5IMmvrEOSFZzgT+dEgQtMIJnArIAJSriBDfjWAhQYioUkqxaljNLABhiAB3ooGOpQxwIVCEcuJPhWCIfggTkyAC9V04sG9BgZC5gQoVTgxClsNwEzRjMiIxCBxGKEAhRQzAcHg6hewvkr+I1EJOb8U0ljcAJoZYABCzCACeLQhjNM5ASQWhkJqDBUBwQAUtn6p9QWqYgtFGU1c/Hg81QgQQYcrSMVnc4EBHmAxVltUZxYBRYNwEaPAuADHYBpSEfaggikdAMOAKdIRLLSIEBskwz5ARQiQwCtIjWDedgfRHpAxgYayagNJEAAeBBYOflACE8IQ/8aCHIB61TEjlbbWfRaGBnIgaROKtjjHqkXFS8IIhVOCEAAyBpNHvBBJWY4AQpG6gIfuLU6IykBXXMbhCK04AUWEwMYoEUAoAbABLpc3UQCAYYVAPWF7VnBEeJwORmh4AQmo2yoUGgng0ygAe4qw6Ry4ADJJBMvJDjmHSEiVCqkIRWLSK0KjICrQppBDieRRCTymwgz8MAIWHCDJFPkALmOxKUGllt8yJA/OjDgAO0xQLZMEAhdVmQOXTBCAh7VngWwIAlRGJ+fRMABgjg1LtwlAQImQDJJhTcqOWBARTsygWM2YDpSQIIXOCGI1ALACGH4QiFPYBlJ5LfI+s1vJPj/QAYiNC5FGkAwgseQhvi4Vg5kUEQgkoY93xGgCYNIbmJOcAITlMg5BfvTCbJrYss+EgAMKFJ4JzUpAKQBAB7piAMaADk9dlMgTspBGgSBgABMgAxwYG2X0iAHPuzhyI/Or2ZysBcLXADBRBgDo/kgCPjEZwxzOAQPCIDFm/4TdYgIxFxUCQASFfJPHCjKBdhMkUdeiQAkkNSkFkUeiHjBAhNwgAVCa7fz5OW8E8CTAwiAgA9ejgeZloMdNMOoLOwhEkjGdpEBoALyEngkcthDfBIhiCqDWw5FWEIVMqxYEzSCkYpoRFmhE7ERVMapT73jCVW0gSEgoAFZaPG0HGNn/0l5IdgqPMACUouVg9MJoYJAQoS1e7k/pEEKKGOxtCmlKEYjucgfD0L2yNuAPQCA3PAx9x4kRYQRpKCTDiEdHiyhiUf4Qd5ziUHXeHBAWRe0svk2oV7AaIAgLYoIG4DAbeZMBA985FEBWIBLbtoABGhACk4owykEwcIMeDQHUshC2MNOlTJoRtp2cEoiPv7xNBzNgSoo9x7ArWsHnSBG1a1YFc4gvpvLhaddiAI4710ZiXB3A3ZjGcmymFgEBGHOZSiIygLQgOAFgQiXNwMVsr4jhXgUCbIRe+izkHGWKMrjKEmEASCA0zRIW+W6LkPYh4DJ2f5A74N4RN8rgtw85P8hEAbxeXZRuCcLhJEAU54UFRgQAAbIbdcWaM+oXaKBFYCyNG6ASBlKEREbRNMInxe96KXgLi9EWw5SEARKUKKZ+/C1xbtmkhOcoAIWSKwFPlDCGf7wiHjrfiKnQx14uwMeAqLVyIFEgAoVQYK3iQCIIAAWSwMimL8hoJZ8ojrfiRAPyAD9mIhAAwWIMAMmiKYTcIKwA73wqw0AkI0xkLss4LTMSIMpgDHiUpTYiz8nWEAViIAawD8xwD3R8D+JAMBAWKoiMKGIeKQcyK86s5oNOJUL4IH2yCM5g71doxQaw0ANyIAOKJGIWAJmEQQAAIVFyL0wkxoTKMHwCz0pQAr/scu0MXiiSfGWMsgAhfOAG8TB59mZFUgCcumPIBTCIUSERjCCH3IcDVABKcgBTgAFUJAEy5GC7IC+E7ielSGA9gqvRYE9IsgBnCIurLiALpyI8oOISFCdQuKAE1RDEwQ7sSs7B0GC0ZuyxGkgw1lAEToI6qOD3APEiBAo1FmkIiihFdATIBo9AJCED/xAAICPHFAhBNgPFnihS6TCfGoM3yE0/IAYuXCMUwAAU0y18UmBFVDFVVTD8MqBLFgUOKQCFWiAAPAAFcDFmIEADhibXoSIQ3gE/oM3MrgpRFkmgJuCPVA7y4mIR0yEMqC6BGi5AQqACIOfTGyx3Gk/AoCA/woAgBGYizTwRk7oBDwIR6kJJfAzx1UkmRL8kiyQAgDopwmQx4NgqAaYgAwwgZ7CRx9YAshyA3/8Rwe4DSRYyYjQL4j4ONQbggXgQEuKsMLyHBoLAH8jtAXogOdwku37QICiIR6QR/lbipIUPUZJw5e5KRUDDJYUI73ZwDMDxBhpARvggT7yKidYEgAYgkwLt2/kgyLjBIQUhA2ILYkogRfCHqBaSuLyMkSDjkVYBYgww8u5AxKYP8NJQ68cvSF5GcJ5FPygpQzgzAzQFHxktRg5AZUxgG1JgxKss9hbwIlIiaJMCS+oAJqRiCLwxAjDngiDlCIIyeeIolSAiDfYzf/LsS/XQYghKMfQAz2q8KCi8AwXksnO1ECsKDN8DKkUiIEVMIAM8AIkcJApgyIvsJSI0IyUcLS93K9EAIMuoAgwKAG7gZSHVD0jBA8hEBIA8M2yygMviAROiAQqcJ8ckI3jnIJeG5KESBwGehLOFBrvkoASEYAHhVABKKtiub8S8AB4aZAW0w0cpEsnAAA5KEVHk4S9HLdEuIPpqgg2KIIVLQI2QAz+KKkP9UYAKIQgo6E3wChO4AT//AATGIIsSArRG9Df8AJwAYyr6CeZFJrVI4AH6EIIlYhVoyERQIEYEAIdyAEv0LVJ8ZIHCc8hCBIQzQy120vUk4S4SB2I6D3/OWmNVJAFiCCe8dGBHO3PIBgWE3iZVhQ7Ngy7DHAJl2BS6WFSJ6UIKZWIAhgfELi/JSCDqFi0RXmXSPVQb3GXD/1GET0y+ACEF5U3OeCENzVFFKAhI6BTL1iBYfkAFUgKPUXOLJjJ6PQdMYKABnAAJxXFKP2TiYgACciVthSCKiADuZEUB6nMSN1QEXKX8VQyvUS9RGiCmzMBO/NNbzTUgimCMdDRRaACiPGTEgBQAR2/zhgj4ppVFuDVVoOOGzCfiaAAKemCLggDNtC8kmESITHWDZU/ALg6ALAD8gQA83xEO5BPeQuSVZAF3xQBGio7UFAWKoApEvHRyWRFJyAB/xKK1QaQTyzYlByai3adC0XAgzPIgdyoCimQR6a4Vy+4OhFygvLrVwDAVMuRlJv7AC11U4gQ1fGhMoalS5haNR8dlfGTP4nishUaWBqqMLmggKWdCDdQt2Kliil4HiqA2ncRWku5uvBKCZYwRT6wgzQogjK71Wh6UwBI2MsBAR1jWCoYgnOKiBMgAqRACiSAgCLgATbYgiIAg+Dkjwb8v8ZszInggA7oAAp4gCWwgV+pCt0Qu5TVjavLQzAtAztYiT0oLTkggQpAV3njg0V400U4W6kxAk/V0flLpWoFAzJgATI42oLxWLlI2ogIXIoogAIYAox7l6pNWch9HpQkGf878AJQiCJAlIM33b7Q3ZQXkIEy0NFIGIIgIBa1hIj+S4ykRa7AfYAH8FvoSC6mlYsBEIDPc9zxVdmr8xaXScPzKwWGlQJMurmOctNUaN1NAYMxYFhOgB+JsU76LCQ6mIMzgAKIQFR5e9DXIF/HpQL5Q4JtOxUPcIRIAIVSWN9cAF3/A4WyvZw8KIQyYFhBcIKFsIEl6AKb494ayVmaPYGvO+B7pQLzdRL8CBonWAROkOBe6IVcaNSbW2AAeNNEwKWCyQMymGFl4QIwcAM3wAN9BEQoHR8IzYGWXeHcvbpT8S73gCASQAIIzgUb7oVFIIMTLqTVCcPPnV0TCYTFYNj/MhiCNxiEMLgC+kmM180VCWViKY3TGklVKI7iqpiCJrkPCVIxDYzHB5aFLbbhRZDeaCpeADgFNbCCH8iVPBCERuQELlCBMGCCaUrkieBU7zWRASiAARBlJjYrP9kkKenRLK2KsbtXVu5j+8CPR0GAoMmAIiADGT6FQrbhXACE7/CoSfHNVCADSM6VO5ADSqbAGGgBK0JepX2OAYiLUBblUZZQigAB61wCP5SLCpIIS5GNVl5gE3SC3mCgACChIug9MkCCT80FQ46EQgAAFC0kLpCD+zSCGDgWKbmDNKBkJLDTcwIUiThhBeCUuQDjiQBlAa5d8E2MQ5gEd/vhnlmv/1isWm7ZGdCzD70hIwdqAB7IIF3KgUW4YC7uBfwtqwUuBVmQhTTI5xrRhDvgYB3dVrfF1YiA5oOuEVAmaABY6GoGD10iwoiOCDcogtcAAN+NVCoIZyaBIKzIFoyVXV265UjwRi7OhULQBI8iAkHwXFkIQ42Ukz4gA35WFifw2YCu1oAumAJQAIJm61D2aRpSZz02VuQc5/Z7yKPVpXRe51Qw5JKG52gqAjkQBJXmBNnKFTOYZGUJHYD2v7ZWALYGAIb2OgN2XG6RwYo0gPm93pDevr/mhC0AgE2WkjzggfJjWDurVhMxA5HeURUos1z1v9qN7Np90LLipTZk4dgYZ/8yQgDd3D3kmupT+Gsc7j4aOgMPcCP3AY1cEWmGvRSAjuubg+zaDWWI2OkSGB8wiNtREbs+FtoM8Ddb5lvV4b0gdgJ25mJOyOHxwQIWCroIEIFm5o9JZlh/Pqfp7rsHcGuezqXnKAJ5XMCkkD9LKQIdAAPuBWpFGAKR1mUb5gRS3hQl0NgiERycBg8YiOkdDUU/kfD9fgAAaGvtncr/nosTUBekKIGOumO5oLDTQQRFUGdO8Ou/ZikA+HDwgIIzWDYAcIAnMQFfNhEjiOlIQAIu9HAc78UK6IAScHLCHZ8yxvAaYaRG0IRJ2KAL/mtQuPGIiFDwEINnfTMfdwAImAP/OSGDmJaD0DndD/hy/+MBMyoBCdBe0JQTTSCFUGjjBs9l0J6LN6+IsEmAPGIAMl+AxZKS8EptFTiBFCApkPqAhBVltg5xeSsBFiiBCoiA2rXzGnEDS8jzQXgAfouEGufiLpcLCBXliaCD1EKAAwC2Ql+ADKoRb1WU6AmDLRACaiKpKZc3CeAAAIgABVj1vtNvKckEVGCBDqiA3UnpLUf1xJh0EKODZ4W6iCgSCwBuEykvGjOAUHiEkN0CxAUAJbiYNe07BaCACqDz615iORmEUCiBwW3ykO5zLgaF24YIn1briXgACSCNxBIkH/dxQ2MsZDkA8mKABhpETQD3QfAD/zwYBEW4R//TXk2P7GM3do2PCErHSADggJAP+RUYAhr/615wjIrw6bGVAAowAeKCFh8BNgdgA6yEjjzgAJHpqwA4NSL8Az/gVYoI9oqQ402RAHbnb473P33HcWiuCA6ogKVdd2d/8F4ABSLYXv5YWlePDB+xAAYAA059DjAwAJk/gMQygd4D4No2kT/wZDlRgKNvd6XvdKKX+nUfAqqWBZJeRjk5gNSCzwYyALF/jpxnIewBAONSAywg9lV3+ud48TLmj3+XgGGn+7pn17unAJK3z5Mvg4+vEQ4wAcBPrAQYevAAA/LKs4UHgARQAheYZqavEeQyeqQvgMvH/IjQ/P/Np4Jnx3cOqpHUSYADIP4OKG805QBg64hXLyyJAQFAzxVFyGrweNB/BwAJyPjch47drwB7r/pSqADQB48YRwRUK/9DOP64mHn0Ia8ICwAQON19l/0JJ20JF8HKVwDc137Nb/aSBwhZuXL1KlimAoCEChcyBBCKFKVJiho1UqQoUMOMCic4sOCAwYIDBA4EMAHiA8qUAASwFKDxZUaUMBO6UAJAyI0CLmfy7OkzI4WgQius8FJKYMFepYgghIkiRQwhWwDgeQSAFABKFH8CCICA4wIECAwgAJDy7NmVLXdyZahSow0ASoS4QAGzAocOejm07atR6NAcnE7JStrrVIT/phlFLHTh4geTMG4GTRqF9eeFAAQIaA7gmcCAtWbRflDb0m/CETxt3nRRmmFivXtl80WNGnBQokM4IU3qpUIFCRnZlk7xIsaNG0KedGlLcvNmzwHWnlaYtrpfJT54xpArxIZdhUzO5EGkdyFt27dxU9hgtLdSIsKHrx0AwPHx4ynaDiDZ2fMBoVHXUFqokaLJT0J4B4BqN0DRRiCIIIJRQ3up1xd7FFyQwyKEGQZKBDwJMIACJb7gwgtmtfVBaA9IYABLIAAgoGgXMkThTyjYpMQPLfyARRsTAhAIkYcAgAh6HdjYVoYrDAGKQAQVRIWIAJR4pU6vcYUClyB4GZ5p/9SxZdsff6DGBBM/KPFFHEIeEkiZf+CYkCIlKLYkTxm2J8hRUvbCyQoFwGSfoArVmCOXiYJ5lpgscQWYmeoJwYQYbdJpJJxlGgmAIkg2AieePmV4gQqcpFJYUovo9FKJC+nk0pg8cdkCrbTaxSVpYbZkH0xlCmVjFVaokcdCiChyyIRyHmJRpwA0gmRCZYb6UgQSsLdCDlBKmcoiF7xUwAMKJPSAWoZy9QMKtqab7mgFhjlAAQpEoGRDceL5yCOaXKaVRcYe8iaydBp7ZL3TZqTAAy4CpgGfsshyihxBkGDBAKVpCYCLwUkgwavm/oRFF0nc4FitKOTKELwPUFBCCf8c3BltqIcMAsAkqMSiyiijVDSRhIok5GlCmy4krcELwRsvwtU+oMIiiwhCRRArbMBARuBuzPIDjtrWRhtiRKHEDeuKgNZLLNhZAWBF39SdGlWNYvMrWVlEkc8UVTRkRpGqndAAfcN7pQUTqKDCBoSrYEECDWXcQQkdrHphIHrMccYXTNzQwgcijC3TTLip/dQNSSSBxRl4KKIJKgBYRqdCjRCc996GsuT33wQYwIAFG1xwwcQOuOqiBCxLEKttyyqiRxxfRPGDCyO4GztMIqDggnIKOSgGHn5YgqBClMg950Lgq13f3w6Q5cAGG5BAONUKLc7y4wsR7xMidAcyBwD/VojsgubQ8yQ9ihLCvBYoJwlMYI1DABC3URBJfHjzX33i5aIAGKAjuiMBqRIHgAJUCwAsW8nFLnQIujFrDmr4AhSUMBX/weQ1KUpIDAg4FwW1AABPEAMAHkEKUqAiFJTwGUMU8RAIskSCEaCAA0aSu/SpjwG+SwwHWNYBBfRvISFsy0QeQQmtZCoQj5gEC2eCghe84Ac3AcAPzCgEdAGghsrBAgDCAIDtZSQULIjjEsBksNmVqFoUSIDtOmIBCxwAJAy4QAnueEcO6BEAjLlQIzQxCk1s8RB/qEwo/BBGpwDgREL4pIJuMkA3CiEG0nvJKBqyOTwdrQASVFhQKHiA/wM0AHcbcMBHAMADhVDga0WjRM62CADUWeIMedwkTMj4AlAqpDstoB5dOJeR1LVQmn1ppQQlkJegJICCCFgiAw5gAdxZwAQ8MAML/kCsoj0iZ5JUBSkGsQUbWBOZCflAipT5wjS6QCEvCFs9F+KGn7zlJ0e70uI6wIE/BsCJGkjfICHqgBUUgQcl0JvBGpGzV8RiFH1QAuYCiswxJkSfygzPMwvaECUMdEUiRZkrFRAvjEUgL7LpQDcruET18a4jDiACC0CVEAoYbBSxiAUpNEk2eypkjN0pqUn7CQCTvVQuLfWLAJ6nkJjOVFzVykvj9qIZcqZPBby7pQUQSVReGv+Mo6GIQxUAqtUwjvE4T+2kMi+Hq6qydEk7uVgrGWIt2YS1A5oBgAV3N7gLhPMC8xnqWkMVikO44Qk/uNxSR4qCG7ywISPL7ErvECqXXMyVtLMSFG8aVs84cacXuGUDDBCAxwIgKEXbAhSgsMYYgNZ/IODSPzkLw4Qk5wVUveJClnAG6BWARgIoFABsqtoOcOYAiNWARxbQgAYsQLYMsa3BYpDbNIFnrntLF4qC+8IbEPcFIUXuQuR4R7U1tz4KqcBNCdsBkhjAALZDQFjC0t/ZLiSy04oBE6CQJsya12DpaoE+k7MQ4ZqMK43A6JLIxRBBhQgAsjEPYUsgnc2Mpb///bXdJoWQ2932tmhcSm8+g9vJGNjAvVVViCVSd+Gi3TGy4hKOdDvArMI6YMS2O/JmxBVG8SrYjMeFb09i8ISZpIBW6b1PetkLgBh0p8IzscRl1JZIIvDAbBxw2ZkTope52U0ReinyZ6CzGQfQFnoIbjKDb5wRLqXAB2HwwyE88ZIFkzEhtSJjDFyQ6JB+OZV7synLWDBfABAhISwz1kTspmkeSEczgayz/1Ss21K2+CXo/VEcAs0KV1iiIXmAA+WgkASatLGTCUkUlBNiCUerLcj0SogEECJpoLJAK5rWNBsu8ADP4BIhGLbzeH9QXpU6pQVR+cIcJoQkT7DCE0IL/0TAANCGMzSHJvlEAQjqkuuEhGI9DCGams8DAEmbjbZRHLZlNHFsY0vSbs/2XwyU0OQeNZgh6YpBEsRAhzcRSUKW8IQnMjGIIv1rWfeLAwC6kKYUoQA5erZN2hQSJ2mVQCEsKDMLOhCcB0D3ARywRChU8QpUTFIrxt7is6DFVFF/krfU3jMBx5OHN8UJ3HOEOMQzMaEiBe14ccChGX/g80f5BbwiL9PASoByhW5sYwmJV8C34AaYyzxuCUHQsx7IVCaT98mmptUNogAhS45cTsZ6ONIjbomlN0sheTiDGL5wg/1UHUMGBsAfmNUISdup6xuLQLwKUMOFqOEqHFWgzv90ztT7CDxNBP/5rZ95gy7EASN0rzuyFPFwACTdEpYwkrF0fpFG5AELTNi8bctUN4rM4QtJKJHjS0SrxsRlKo9I3cxzuHmF8JzUoD+4ELCtc6JLi0gTUQTEda36Qzw8E3frVCMocfHlQ9Z464QCujY7lyQIpwXTownJqMcEOMChDzAnPwzH+53jNuTgShBDeTQEqIBbpjWCJ3wCQ+Qd0kmIVsBbqPzbXwRFCeSBGlQeE+AENCnBXLjXMxnaBzxYijDBccgF/nGegq3Re11MujjIGUSIRpheATZCJrBCJiSEAt6gJyCCAxrMDjbEr1BABDxAEmjgGcnFBrZRDdlYSjj/VV2UIPPllk34nDStIBbAAYUA0UL4zLIc27NkX94thAJKnAM9IATWVlAoTbxIgAayhgYKgXtNz4mkIErYBeY44ZYl2AVOm5bEwA+IQbbtDKfInuJxId7NRBhahf/0YG1JQLjEFAB0nRHiBBk5BiU+Wakx1Qt0Xhq9l6ElwRfQgebRic8MIhcCQCZkH08gXcy9AincgZbFzsghXhxEgEyFhispxMaYkTJ1ICWSxseFkRBUQRRcYBslSkL8X3lASyiS4rH5zCmiYk+0gi/MQifc3uZBQdi0hExdCTfGgHvBXxOejBMOghuIQRhAQQw8WA1BgRrogYQEkUXQSSlySlZ8/2FPqEIszIIlsIEP1MDmfd4HPBfShAtBmghNPNPktYsdJkTcfMJAlRLc8UQ8IkkMso732CNP+IJCHEET1ICMLB9alAhBYgxJCt8zSdVCMkTMxYJCXIESUEoe0E1DjOJW7J7rdA8lKGBP5GOrKUQPPBJIngUKkAtRkuTXKcAzNVJKUsI7KUQmTIImRKUw9d0oFuCR2A09btEkYORPHAEANME9kR9p1JgNIIxRCgrSKFlKKoQiMKUkAQDyAUAs0BxbviMzesrdaKVO8sQrsAIbKARYemUJogUKkOULECVablCJvMr8kF9bCpMeVN7MmF1CjIJWYBoX1s1E6CVXwoQnvP/BEjBEEzRBD9QA4W3eUnFWjbEXdFkJY2JHCeIc/iTEE2BBHGgCZQ6Ts8SgVXTKZlJCKHQb0vFELPwCTIzmaPbAaTJVSrzAajrnP01eWjaKHRpLG/jSJ7HGGUwCPuKks9wk64RfKLQCeXYbTCAgAPwCK9wBGwhmQyBncnokan6gYZLl8CmmTFFnCcbBGTwBKP2nENgEFsyMQqiCVGZhW44neS4oK6BnQ0jjNGICI7ABG4ABALgnYMJnci4nC6VEcnxoctgArXSVAjRKYyJTEgCoitrQFfhBuzFkKiFIsyjogtZoKzjoJ7TCLPhCMFDjhFIoha6BRmjohm7SEqZR1N3/wA98I1q6kn7inwuoqJTahDWSgtlRUyPkaI0CQCtwKXm6giu0givMwo4Ggy4AACMkBJAC6RpYKIYmBJGSJoeqzZEiKZK6V+QdjZjY4Q9I6YomhIK5qNnB0yxsKUPU6JgCQDAsxF+q6ZoG6ZASqXJCz1n4iJJe6mVtUN8s5qGUYJR+UkIw002IKigxgRt8wi/EAjFM4yy4wkuIaUMQwhtkxKOygZBeqGjG6aQmxG+FivOkS421F2eFjV1gidYs5PTQGPMxHzPtVp++wR2wwiz8AjGkpypohKsmhHECgKzCRK1WaKRqaA3MSq2434XQRXrVWD4hRxyepGMo5UJ+AAH1/ymz/ucN2MDlsMEbEAIAdMIsAIBG9kSadutMfOutvidy7mpTiZ4VBA33/ctPfIEVeN7IDJ+6poi7ouRaThW+vuJ/jiq+HscavMGsEoJoAcCZwkQnoCm/csW3WijC1pBQJmsUqEGE4KDQwMQc8KfGcRZ+5IeVVeLGThVyoFEadcdczNCWJRoAkCzJLgQjeELKMsQveAImJETLNqpPGGxDmNJLJSP23aAY9kq/JMTXcNY/cZy5wWsJ/pPRIqmtXWpyuF8TOO3T9gQmEELL2gbXJsQRKGVCKoSEIMIz3iDE5s3AOItCREESXJZx1dCVrSUBva2dCqteoUAT6G3T2u1LKP+Dq15tmt4to6ppwX7rVJ1uY2RE7LEeDkJczkZL4rYZADzd8pwIVM0p+XWcktqpnSbahwLXvnIrt3LuS/jC1C5JraYjEgZuQxgJs9hg61rCnPxBz3znVnCKHrSBXLit2y4k9aSRAPGutAHADaQjciwBITCC3vKrrIruQpzpokKtQmitX1BoE5RruWbEpvRLTypE3rkeIrzexP1B6ikEsqQeRSBC1zSscoSSE9oAvYav+EqdtV3WESyBkLIv+6JpeipEq87CmVZrQrhqmpIuT8AsQ4AB8xqaRmBhPDZE6z2s6yEe+FXl4I7Qs+hBQqiBGGiSHSqpgoDvBAvxZdkAJrz/QROsgfqub5pua6ICwL8mhC4sKjEsqidorglzxV1hEUUgYgLqHffhXSYciwGnXqcsCwAUsPfApRMq6aiG0gQnhxk5RhOYwhEnMSPkcXqKcBRHMcrqAiD7QrUGw7aW8Kx2pW1oWkbkXeEindIFjYSknjJCCz622xWUoI+gkajyLvmaUbs0ASbYMRIfMgBU6wcrxNTqAgjrwi8EgzIALCswBP1qBBjYLq21xfV+cev+788ADBCB39B68sdSbieTb0qAQA8QgiksMwCwgiD/K5mSKcq6gi4kXZcCMiBT8aLG8ujSqgussELAQU90MQwfIJiOqSsIp+EOCbjtzEQkRJjZ/6GCrCj4ujHq3tMHNAEj3IIrB4MmfIIqgyErBIKOtuonoKcq64IgaytDkPL8OhOWOQaXQQHrvI5GgCdDrFo6xzIrrFor4KD0NtxWeM+1puQH+KkAka+CuIYVjQAK/AApEIMy/IJxeoIluCorNzMg0zQgu8IptsKZ7rQrE8Mv+PH8ZnEN3WcStCAWWnRDYLRCdPQcZQqONegNsnMgWIL3pA4phMEWlyAKSGmfBvF9IJcPZMIrvEK70fQv6MLDxfJOszU2A4ArPEImXHNCl7KiNsQbVKhUTV66mBH+3A1P1GBDIGADgRumEMkBIt3eMRxGeAIp+MIrtBru5q4Dz3OAzkDxuj2CJQkaK9O0trJ1erY1IAuMJ1zzKi+0CCtEXytE4ModRlzfkYRi62iEJ1AcZDdQoEGc9CpEwz3CK0zj3gQEACH5BAUGAAAALEsAHAC8ANQAAAj/AAEIHEiwoMGDCBMqXFjQikOGECNKnEixosWLGC8+zMixo8ePIEMqNMIiisiTKFOqRJnAysqXMGPKLMjigsmZOHPqzGik5c6fQIMe7OlSqNGjOIkiXcq0qdOnUAVaCRC1qlWGU4te3cp1KtevW72CHQtVK9mzaNOqXWnk5tq3OBO0hUtXply3dfOyNKK37168fpliOSp3cOCrT3aW6PClLhaHDrF06fKly2GLHToYTsskyRMoVrA8hgKFyWezlyFGKQEAMFgxYr4UKeLESxpBuAXJGZKDR2qKCdRCKSQpEifjkZIv4jJhgQEIRcT8lpggwWawWMAkTGMAAQQIQ4iE/248fWECC663Sgd16iAoE0WQSOGigolj0Y8TT/ySgABaMKAIVMqAAwpExhUAEOEEFVyAoUZa+En2BWyVYQGFEkoIIYQSTIQmmhX6CaREf5aNFUaAAJRSCCiScDKQGQjyIAUAVJR0lhWlYcjEMMwwM4w10Qwj5DC2DIMJJqWYYsoqmJzRmEtMBDcXWJKgCMYVPRRkhhtzFDEfADxc91VsPcYjDwBn1lOPPfW4o8489MwzjzzxtGNnO99MNhgUwZVA2VdNoAhKGGEQAYAXA6WhBAAycCEQEQiO9cUt9LSpZj302KPppva4M0+d7IQa6jroMPPFFxYGQEAHPwCw6FVMVP+ZIhlYNMFgGS9eIdkQVFCRgxoPgnXGM/HEA0CxxxarLJ0AtDPqOeXwwgskHIgSRAlBRGBAAxfIgFpUb4AyoCQmEYFoGqUIZAYUj/ZKxQkhcvUFOO00a2+9Bs3DjjbTTuDBvwBPMAEAC/i3AACs3XDQY0xgKERQTIASYClgYPEEogDIkS4AZsQBAByGCsTXVTiG1oUY6OBrkLMEzVMMAgct0EADBS1gwoeSiaFGG3HEAQYZP7cGFBiliCtJHG2wUUYaZfBBIBlbGHSCU5N1YQUTQvxwgw033CAEIKICwI6zZI99ZzvzoNPAAmyzTTDM38UNwQIlKfGD1l4rkQQQAwH/kUSGd//AoWRnqAFHsCcJgdsicugAABNpHJoGGJyAwokZGD5RBK4AOHjUE1joHMcceMxxpC2o18IFJLiIbfadA7E8tti0wGxQ3AKxbUAA5/ReTjjffAPONwLhgMMlw9xySy7KA7KFZCeLccYZYliNNd55d6gnuwDg/cOGUGAx4fRgyCFQGiY1AQCub5DxYhcWFuEFrjyQt1MXOTLBRPhE1iIMLGhAAw4IQEAChOMc61iH2eSRjgamo2XuSAc6DEBBAxCAggUsYHcAQAAu1MJ/yFhGNKIRjl0YLwCXMMc5VHgOdPTOheYIBzhmOENmPOMZzFCeDjERhjP0bA5zgEMb/2wIjnEY8YjjsMYmBLG+JiTGCLjCFRfMR6My8KAIkZsfC3IymasJYWs2sEGPjrELWJjxghfEIAGScSd5zOlTdJKHHOfoRnasAxiVQEPbFhCABsjtO87xFwn+NUgPACEEIQACEHCgSC9woRKVAODa/AiJSkDiksXIZDGwoQ1teMOT6ECHOcoBjmhYox1rYhMA6rFKNbFDIHLYhC3ugIXIHYogcqCCFzCGKC8UQSZngEMehjmHOMDhGdMARzqWYUZYiKIWm1ABBvZYDE5Zc1PuYJM2remOVspJHt8QRzi9cYxlHEMYokhnOoGQgwBiIIBoQOS/QiAwfwHsnh7IgAU0wP/PDAhkYACYAAQmUAxzpEOO82iTpgBgD4HcwxtpMF8zrhENSaRhl15g0EDcRYWBeIEMUEiCEGyAEtCIDza5mMY0xrGpakirFnXAxRjKUAYIrI1tx8AHQxt6TWveAx/5CCo+7kHUohIVqPnAh1Lz8Y6fDvUeA6GHp8Ipjqoeo5zHUCckAFbIruLzX/UsRjvkUSmCQJUgnQIAEwGwibZuYn4ZLQPGAMCFMugyo7bhAhXMQIYjXCFeHYlBGG/AjG30ox/7eIc97mEPaRxjEw6IrAUm4AALbGADFrAAOIxK1IEYFQBEDWo+7NEOepzpTvE4aDrUkU1sJlWpsI2taIWq1LP/7pRNcUqH8Kx61XRCQp3HoIdUGVoQTTGWqPYwhxyouFaFIIo3Q/iXHHKABD4kAgBkYAPiOKI/KAzjHfzoBz/GAY5nRIMZ0bDFAg5AQQAcgAEWcMACEGCAb3D2vpwdqj3ical5ICSBAEjgOgjyQDs1UB5v6pQ9Ysvg2L6jqYxtKADcQeHWcuq2m5pwPeQ0j3aQQxoFsWVCHOkFFeRABV7wQHMmIIVERCIRTbjC9TgihGGg4xlMc0IObCMHQSxiEQAgwQVV5V4EHIAAtGhHsRDqRgwvGKppc4dw4dRhsYEEtfUykxvflE13MLab3VwsZw3C053GqcPhoMYmlsvmNsMy/8QECEAIDBBQAFRWrOyYYTRWcQvqxQZ+3JNIDFzAi4jKYQ97EAgfIlGcSAhEBRagIAIY4IDdEQ8A/s00pjedaf8ulMNykt0rR+26UFkZJOxABzkmLGb8urqoi6WHOYpRiRwMYQjzo2kZ2sxrOaQhBxUEQAYycAx2aFlOcaqUEafRi1vEoXoXYsgTmIBFX6fBDocGQBpcLJAXJyIRfCDBZAUGiXxx+tz0YOic3BhHZylQgaKKd7xLLe+wvTIh8f5dpmyrEFcnVxhUofNADhYCDxQ8BCpQgQe4wHAuQICDBlhAMYwNp0t107Pv2Ed4/bGNbfQiBiCPQUKwIIMxpGEMiP8aw0z5sAfrfvvbfIg5KIgw7BXU4uILQXY2tawse4VywAJGh4CHnkA7Gv3ddqR3ve9NqmuQY7ENnkg6qgEEBBxMIBSU2R7ZFgKCDQSDxRCHnHDebwCElx9oH8ct7GeQGBBB5V7IwqGmMFNEUyHmeOdDGiRGcy+Aw7/pZkim6qGss7VjwOgAQCgX78J0cNiB6XBWOhIodMoLOMABfjfQ0REOxdvjHQ0OPYM9qw0gNAAB9M26AxgwgcwK7KYHi70BjsFTCUuYuAJZKHGhCtSmCmQYczhIhug+hizkIAteyAEATL6HMSx3D2yOnCQk4a8zg1pO546qPehheLOto3fgPwf/AFbIC+BetarhdCOy3/hAoGc+86QqBwCoYSzsM7DJOz2q6NtRjAoSYNLxtU8WQAIbIBD81BxtYwDiYFtl5mTcZFwAgA/G9Q59dhBtYCsoNwZIIHdIMAW3NF1ME4JM821BAAl09Ebqd30612F2YmqjYg4CIX4y2Aw1g3VeRzCVIAo5GA5noniMF0oxiA3U0HmahhAchmnqNxDUAASqYgCsl1mWFYAOQIAbcAEaMFnzdQyuxlD3kA/8kA/7MFpq0kqdcg+mtSbp8AICARhJwAPIJ3dyBwBZgHzrYwdSoGu6ZnJm4AXSUCdKVixjtWR0pH70EA+iMnQBNkowuIjlwDcH/0FftgMzFdQAxyBK4ReDMAQA0IAv/gURwvWJwiUNCBAAqhJZDvBeqweFmXVZ8TVflRCBsTVmAAAPtAgP4mUPCBUn7dAN4UAO4hANSZAeLlACyOcEHuhRcjgGt4SHZTAGThAESFANziIqLWh4drJkHUZ0LkQqo1QO3jhKy9A2BCOO83V1ANBeAAAz7ACD49eOvRNDAMANZ9KJggeKwlUPxRBnpLiPBBQAkkZpkTUwqkIz+XAQSrUP/fAPCrmQtngP2VgO0kAN3AAA3YAJ3yIQT8ACdNeBAqGMACAfiGIHSMCMKDcESFAHAFAN1aANLbR4RUeNf0gq4bdCLlQO5HCT3v9IDmgQbJBYM24TewJRiTAofwBgDkZZDtdgDOIHAPbIlAZhj6BYD7TgASowI3I4BavHj5N1AJEFAFQhCvYwW0FVEPfAD/5Ai4eFdmwSD+twDTTYedcAIggRB780ECqnjMrogbiSBcwoV0GQAwwACcDGAHEGBJbEC81QDdjwDT83Ni6EDcUgDMIASTdVB3VQCdICC7DnNudIZ93xmTaYO+xQDuwIAERZDsjQDOxAjwQBik4ZeFAZDUEgB9aVHNMnCYngBQ5AigSgAiSwAAwwigSADaymD2J5nPqQnPuwD/olD+jgDdJwDQAQDseQBEmAEEzAA1OwS3J3lyonELgiB7n/pmtegAQrAADakA3ZgA3SYAzGAAy0UAnNAAsYMGkNYACVYAGVWQm0wAvQEJHN0Az9aZl1EAJbd6AHKhAQADOV+I3e6I3csAvSqYLYJxCwCZX0EA0rQAV8uTR2sGi3iZs5MF8EQAIZwAABMGnigGnYR2HGpX9LlQ/GaQ9V1QzUUA3QMJ3ZAAhfcJECYQJD4IxI4J3Lh1EZ05djIAUaEJ3XgA1Nig1Qig3qmQ2dRA3J0AzSIA0kxIu82HkAsGoD0Q0A4A3dUKbSgKXAwAuQZJmbiaDFQA3UQA4PWg7ZAAvcMFbsxmTfdH0sOg/RQARpEKjYhm2J5gUudpu5OV8B4AEb/zBQE1ChCKEm7mApaMIO4SAN/3mm0oAN3HAMbbAQJzAEAOAETrB8dxl3SGAbdrA+zXiXUkACohCRcFoN1HANtnqrTgql2hAOvFqm4cANYhoONsmr0zmd3sCrx3qsA+ENFCmm1YClzSAtl1mgm7mmvHAJ5DA2yrIsg8hubxQNgRqocjCobTYFWXCoL5YFDMBHOWCioiARrCRcAoGjy7AM0LAMm4oNmAAAf6AQc1CVcmiqeOkEQ8CX1+YFp+oFUqACCyCf0NAMmZqlcDqr1WCr3ACsF5uxF8urvxoOZfqxvjqd4XCsI9t5JsusxuqlzJql0iAMvAALXRcO62CNZ1Mn2/8aD+AwkiFIUzO1a9jGZmPwcokgCGOAogsAmO8qEemWNtqQDLSwC8Vwr9KQDdGgMAzBA6KKcgIbd3OYBcp4Vxg1BaIaAsIAAMmwDGcboAH6sNDQttJQsdegntwwpXIbpdmQsSCbt12arMjKsSRbsl3aDdiwC0CwDObwc5UXb9N4NrhAnlzbtci3a2wGAC6XCHKwAQ1AAM2xovIqeMdSDsuQR5VgDMsAAJtKBiLHECgAANsZdwk7h1LQK7WBUbsEbAGABgaRDLq7u/W6DDYKp1BKtwBwDQ9ro7KKq8F7txertyDrsVxKrB7LDchQBzOzAJUECcUAAJvUSUKHDna0DrX/IBCIModTYK6QK3fR96EslwZT0AC8+Q1wgqFNORDnUA11gAGGaQwh5FhqGBEmMKQAsGMoB7ukKhBSMLvcOQQMAARoIJnIwBDGkAyZaqu5qonNYAwDgQy667trCw0TS6sULKXKu7zMGw7Z0AyXIAzLUAy0AAt1gAZAsK7VyzaXCQlxN74c2IEEPIc8Nq58YMBeoAG7gyYUumlRJa/tUA2XgAEGgAGVULb3CggTwQLHNwVDGncHTKoFbMUYNYdIUAm7EMZli8ELQbo5GpG2OrwWXLYAULZsTBDIoMFny8FuO7HIK8IXmw3UAAvSoA3coA3d4El+zA3UUK8s7MIr8IZd/+sEJEACxjgFCScFPGxtcpWqxTeKaKBkJ5iCoIaE5QALdEYAGCAQxZAMtUAHEgEHZxAErZsFUpDFBVyqU1CqkLuwsLALkkkQZJwQ+EoNHkwNaiwQy8DGbtzGxlzMb5zBG0zH/zmxvnwJydCkTxqlnNRJ1iwNHHq+VjwE5ioFJ7Ygc2hygToGd+UEo1gHr6Nkf6hl6idH6NAMXScQQEAL77kLhJAHE3EDJrBjrqzFBTwQpYprcDgFJIDLxlwQ7pkQWOrLHjx/A5EMxXzMEo3ME30QcpwMyHDLHwy3t4qr1SAKtazD5WuusywF5juHS1MGUxC7K20BAQAMQmd0oVKzf/94eNqAuwPRwMCwC4nQrxQxAqM6qv5cqgUhBbjGnSogCu651ExNxrtcEJkKzBM7f83wwMQ80cYgDFld0RSNzFm9CwBgrxErq858o5JMvkhAAtx8vtmcBeUrdzQ1qpKMBAOzC0a5Qi+UuEXnLOQADAInZ7Cw07XQAhdhAgKhxQjhBEaNfN4MATBQBICwCbiAC5Kp1UydEG2b2W0Lp2EtEF1dEJ8d2scMDJcADL3LwWqb2dJQDJALAEOgAmt9vl6cA04QuQKRBU6ABDkwMLBgk3NKmkZ5uItnDtjANwEHBMAADMJABinAEUjwzwdxwAvKQb4xEOQBCICwB7VA2e4Zx97/HccCobYCwbYCkQwYvNWind5cDQBgHcEFUbqnvQlnnQVUMMsnrc0Kt4FxqIG8MaIAAAscy6vk0Is4iZPl4A3AMBAEAASwYAzNgAtADdQZgQRBTRBIcOFIoAIAxQACYbUGcROAgAmcMNnC8N29m9oQC7HL4J5a3eLn7dnrrd5Zfcu6ixDJAAwcKoeyveMrnQPZXKQB7JswAwvdAKzd4A18K+C9eKkE8U61kF7pYRGiauEXPgQw08gcbmeswRBV0OVVIFJkQAayVAu8gAsf9EHqZEl1IApPW9ku7uIAcN7q7cbCANYlngwHkQyQ0NY6vuOQ+9ZzOBAnNkgcBAvUvJ6d/4SxRx4O10ALHOSPQIALknAMiAASQWCSH3nhDTABJAAAGkACQVBnqxcRbDcZ12kQJbABJKABG8BPARUEf8lwv0ULtKDclZ3VuK7VcQ7jxTzju6C/Fr0C5mvFxujnXXvf4uubJCCQl6CSHR3CusoN0oAGGEBAfIMMuNAIIAECI6B8mt7IBLEBQUAClMbhW34R0lEQ/LTurr4CsA4AoS4QJBAAZbAJjtBWH7QLti6ZuY7rce7rGlwQN07bHLqwHkDLfq5jtR3ocdfIHoCiC86y1EDWNwq31LAL1L7gtIAM9owSJqbsBhHvKgAACRcSTGAC7L7uoP7u8A7rE0AAUpAckf9QBCAgAihwAkVgBnbwTLWw7y0uDMAQ2O5NELygfIrtgcpn7FkQXccX6FmABBqQTxHHNqid2qrdsrRA7QwextoRCCHhAoyS6gcx8iuwAQl39gKR7hmRAiewTynf8rAe90GwAhNga95WBB/wASLA7SMwAs19nSFuCpyw3bUACyk89ACADElrkkff2rKt2/Pt1gqXARowBGU/AaKA55192vUKAAleB5fwtLDwS6krEorwSxaAEGVP8iWvAibwKhgxAnmf+ikfWXIf94YKbkgAbnzAAiAAAijQ3AShBwJR6cRf6YSwCVpd48lQBysw8oxf7H7OusMuh6IqMO5OBAQoCg//rBBg/d9BzwO/rxJxoAEGUYAjb/YkfwEJV4AZkfd5zwFuz09Q6ACw7u5e4HKCYLk5YAcAYSfHixgADB5EmNAgnUTCjCWDCImECoNDkCBxIiXLxo0AOH6cMsUJgAkTPGzihYuaQWPIFCLcBYsWsEsnXt7EmfMgjw0JN6hQEQQoABUrLqxQ0QEECJ03W7RAgUIHAwsaLFx1YMHBhAMrqCQSlAgsnz1yVDgZ46VJmKYJBwGAg6mQI1sWhh606MTJFI4AkEjhuzHkFBUeJtSRRs1buIPUXL5MBgAWAGCiALhomxnnixtVEfYkASBIz6NAV5jQnLDNlypKTgg6gHUCAga1/y0wIABhj1iyZeWMyYAkRxE1XVIjrHLDJkWFF/XylaLBg8YsUwCIJDmB1zJp18J9DycN4ktgsIABi3QGgPHj7QF86GABoQoSF0T3pKjC/gr3hxApUuQQUOQwIKsJsvDCCypI0KABAhAAYA8J5ZCjjDKyyEA6E5Rw76AYTgCKuYTyymiKHHJwIovrQgptAjR4AQYZaKiRphlheHlIoWR24TESQwLpsMP4NDiIov0cQIi/09r7449AAimEE0EMYGCCMSzEkooFEDAAARUotNCLKZCYAIIM7Avyhg/pywEnEkOiorqQhsgOACIB6Ek+BCaoJJnHAPBTGFh2SeStIN1LIv+KIuSbrzSDgjhoBf5Sa/KPOcAARZBIYhvCwjQAKIOINKhowIAAMggzJCSGyGCCDDo4FAAsTGCzzZsswmivwaZodQJGiQptgQMYAKAOiI5FRlBJgIw1yCI0uBOACyhaIYjQAJi0Wh6iyOyPPOZo4wxJFokkkgkYoCINUYkoI420NDCAgAakAEyvIYbQwEybgvwWDKJUONHWl3DVlbCSJkiIBGIPmA0Bmc4TtI4x1mj20ECsMkg//QCggjklg6g2hbbiiCNcLMBYRNMJqPQijVBJQIJdjhFYIAAVLLo3BxI8yKCBJITosMlAWIAW4IBxysE5KYaAoKSXIASgaQCQtCD/CyQYCICEIoTgsGL3FiVK2hCRUlIhFHRiAgu1mQCDEzkiWaRLA7ywcAUDDAjCQiIacBCCHIbQeedW/Q2ySTYA8IyEgE9UiPG8yiRWISQXYMCBOycSZBEEsuZhBJG9bu8Qy4maFs0JflIoiBJysuGHtL/owu1yvfDgbrpDJcCANssAAAEuJ6BP8Aka4EEPABBh9rgmiZi0yMUFfj6HDCCIPCENFgCAWAtAG8ILTk7ZHAEkRADdvSV4mgjNSCE9iH1sUVPohye+UIPkcTWVIwgeHmQgTKGoCFUZFmCA7AlvNs1CxCEO0byEPM8gzyPBAhqAMA305CAWoNwBIGBBEngB/wCcSAUSAkAAKYygfDj5wAdMsJSEnOBXn/kVyEQTKROcDSFiaEMc5pAHQHAiDZEQRA78xaUFpEtv7SrDGAxigAZkwDAQQEARYtWFM+DhDRuwoEIUd7QH5kAFEFgA5a6SEIQZ5HQGIUEW0pWKRQSAKCdowQkTAp8i8CERAOCBEZhyEPgdJDQk2AB/ICVDhAQBBgjJIR0M50O4cWELeABAEQhwrishUW8EAEAAXAVFAxQBkodKQQtiwIENREshGjDa4r64gInUxlfbQ5ywGsAwDkoBVKdoI1GKEAMfyNEgHzhBGuyIED6YQQZbAMAhLgeAPzqgWtgyyOraxwM2hMENO/+sVB4koalIjIEMczhIlwiwgCuJykIMuBsCSkUAAvBADc0CwQhOgEVT3uR5KwtNEjdQpYNsAHsMWMALc0AFLkQCFAScABFgJwY5omAEHFDiSyRxxzsU4Y/MZKYFGNi+INANAHwQRDIB8KRAtE1TgiBCHhAiyXgRoINUIAJu7nY3AnTgBRX7QDxXB8icYPEnJyLBBJBwEH06IAMGweABZglLNDohB16QwwQCgAAnBMINvrRBDJCAoDSk4Y6RkAQAwBoJACRiDDlYAQmutQH5TCoIQSACVPdgx7DwwV8AegOFgMgFMOghEIcwyCD2R9MAjJCm8ZLAHpslghGMAAVOxSL/TnzqU4C1i6ig2kpWAEo5BFiuglZp1QaCMAQICRELvjxDE9J1kAp5gQ84kQO2SmmnRxEhtnywI1juyAfeAUAHJBiCHAQxBCkiAiFMuEEHuPSgmTJRKSd07Al0Ftmb9GSyKhoDEahQSVARwVcOENYAAYC9raBRcYuQAwJc2gRf5iEPd3ACFQCgRDlI6EIG2cNByEpUDUBIoxuY6x3D8tEISagIJ1jABCZSlDjcJAUnSMAC2EmzDiRWsRV7yijxRF3JqgCLvOuYAzpoofluZQLYM0gDSII9A0yACk7wAihAUZIMGMGXAFAEGayTIC+oyCB26CoA0kAhhUgiNA4IAASQ/xCWueZ3Qi7zggIYQIJZImBfOjlBlnN64YpB4QlMkAEgffoSC/7EWkPFXQDwRmIi5ICtpoqaGYlABjDQOQdlAIUsqDAEE9jgxl/gwY4TpJDYSggAXrijQSQBVi8wgGYLMPSTQRWmVjHgABI+ZFNi0ILP+XIQeLDoZBUy2Q0obgJZQvICkBCqT2WgNrnbmXRssgQAsEVUnJAFKBYhBBfE8YRCiAERDMLjhHREiflNQxYWHdZE4LZMLqVQbCedoCkMYWWEZS+AbtwWRcDhC0TwcGTHbBBS46e3Y0ACCVbQMoMAxwAS5plBIuDQlUI1FWIFQ9egO4L4enDQCNnIXw6dhv+yjIGsYplrvuJlEAulRU4m8oDv7hYAHgDAeNvWySDOUAUjDCGt5bbuhrHogAcpEUvZNYiwG72lFvNsAiIgH0J40LJTfBAQBvkk6ERwAlt68CUbsYhBslCGPZTBjnygUIIysDkPpEFMg9HLqkiAgANMnNYYz8kj8BCGJdhgniAX9U8AmTsCqIDElrUstrZkxgwsoI8J4UIZTiELTnTiEMnTOc+J/fMp2FLo7ZoCiTFShiEQC2pZkIITLnKRHHjA0lu6wMWxrpBGHMINVQD2CTrAVrD7VN1aulvNVsA7LMmMCHfLZIIvwMKX5EAOpcj1KfQgea+hAAQs6KjPM5OFCl3/BEFjSAuVs6aCxQuHPq1iLgHAoNLJI+QRjxiEGJTggw44gCpXqUrnJwKvDuQOAAQYPagYHoSmSTh7LGAKlw8ChjI44t6p0EOTyreEH3RgqLpvi4rSgITAA38KXgiqSfob4diZqKGeBEgAFgAAcGo+gzgETQiFQ9g4HzCBKWMQq8C+CgK5/kqAH+ABAvo+AwgkosAaBACjAFgAFrgpnMgxLxCE97sD+SufONAB4gMAv9s9p0sQwXCC4UEADwCKnaEegziTG2jAhFCCMOiDQ8iEQdCBFZiyFagKaMG+q9BADVCr7LGy0+IA8VqueAFBPioZnWADD5o7AMAE2gOdSXgD//oAgKTBwZzIgitRAZEYqhyYjdzYGb5hFA/QgBNQP6xzgR9QgjMYhEmYBDIAqCnLCmhxxKtQNycog6ECgCG4NBk4iCIYIO+DEALKHQ4YhD/IDCSQgzOUhPjzpUMgg2h7Q0r8OaEDvptZnOHpEqlxolssoyM0CCGwAjdQhEdohCJgAAhogK2YQmiZCCegEHexFbKapbcDgxJwEE/EpAUoAkPJDNuquQ+aAzqQIzrAA6jihEjwgsYbKh8DuL7wIC/SGQ1AmD0xCOlwopJIrBSyxw+IuRtTgi84xEcggwapDQfICgtIxiEDADmwg7PiA1AIq4/KgQOouINgFjaQIoNgg/88EMXU4IE0WARZAIBSAAOGOqE2AAP5+iAqyAEUKAEk8CCTFLoscAI6GQM6oQ8VKJPfwcWSaAAL+4BfssdtqwI3OIRJaAQy+B2qQCspoJCyKAs7SAQLSQRJYMiywi0NeAOFAJKMBAAZTA0WcEGDSAUbk6MbkAEPGkcqgJQPSBq/cEmPcAIVSBA33JnhyY1WeSL1SiwB0EsBQIicQgFfA50wwIPnU4QtaIAA8ICRQMj6qq89GIO94B1BkAQ7kAROKKtm44MhAAMGlCP5ujcAIIN4OiEUKAL5GkcvWAGm6IA24T+FGAkPijUPKBUIKQkIMBUJOIi91E2+/MsfsII24Mz/QxFKokSEPzgx12NMO6gQFRETv4CqYSqDRIgEscBMMjBCX8qBF/RIM7Ch8vkA2/ogQaACBVwKFtgqhfiIJuIZKBqnkuisBwhEANDLARiAAigABTAIbOLK9vCDX1SEQPiDIvCAMYi2wNCISvKCc7yS+gIAO5jO6cQtPojPZuEBOcA1AACFFDohESADQQAFt3ECm7DHtUxHkWiT2oyXPYEAFuiAG7jOpngACZAACqCAg6iUG9VKnTgDNcghHTI7BEmIK1Ei/BuqT+Et6ZzOkOIDI8jH8jGBNHAEjzyFK9M5TfnQPWtS6bqOj6AXpoEAMAo9a4wVGiXTm8DRl1gCH9g0/xsQgiLYi0oCvogSCb1QvBMZKgLNr7IyiLHgg58snxOgm8+sSND5ACOw0A/iAoFBCAUEADq9iAagmXezxiJgPq8h0xp9CSf5xUkYBLYAgBYYgQ9oLB6AMSH1iDmlUzqtRNacgjHIr+h80ESYKyb1JS54QYMgg54EHRCQASUChUjgghJoUpkTDukpAh5QKTZgAzVsi5y7CUw1iDK9CTjYAmBLgXsMtINIPMVL1W6tU7+YL6JDOumkTkPzJSIQBMsEgEXQ1YqJgRQgg085S0Z9iUlQhGVNCD2oVACg0WiFVoQ4gy74AtzUjEppins8gSHYiFT1olzx1qhjTSkQ1+gkV//MpNUTWkVB8MhS6LSKsQIzWARQOEgqAERfogAJiAAA+IEYiAEFwM/1OCEBSCEO+Itu9aIheFi9qEQ6uYiWmStYnU6LHdZmIQPe8cjP9Bo6mINx+VDCo9Ibs8+oLYCYldkUShpvdY6cHYk6hcOJ5YNYRbpBLR+J/cxCAKyK8RY5EFnLVNRtk9qo9Zp7TCHpclit7dZGVTzh6NkhO9JySYTfiKgTGip1TQRmDZo74J1flUSVQqamyNHUuE+XVQD7RAi+rM+p7ZC5JT679Va8jTrAyQhX5QOCA4s9cDphOyFRzByDUFe0vQNf5QS0BDYmSQ3JndzJVYi9pM/U0NW5vVr/zlVVrB3AlkHIBXU6MoiCJDihQFhFOfBIAMi3ioGSTxlZesW4+wSA2y0AvrwJ+rzPB9CMUDWBFahbzvVcRwUcjOALLxgDBJEDDyADOmgwOACdPGADEjOIIvCzZmmEbTKINOCCp42VAcAJl61c7s0JDugADmDgpui1mwFeu10VoMBZwECVUvjVHHCSE3KvNtlGMujOILHXRQjZB8oJBPaal51avTwOGq0ADriJMKiCEqCTCD7fvPWioJoAMigBR+AEUCiFUsC1QmiERpgEXxLZgwSAEHaPywupD0UCFRja3K0YAcDcyR0AFPaaREwaO7Xb8xWOMomXBpCiIuCCkA3i/1LIhUUw4rP1mjwgg3UFgFQgKyZ2Dxn4lA+doSPk3peVI+NShC6GGa2tW+FoGgKYqkHt0B8GgFwAAFnAhEe4vMuoGG+U2JShgoiMFSPoLU5wAmlqQL18gFF+AMxdXjJoE5zN2ZvNCKdqms0hgEF1LyRYBBBy5FyIhMvzAczwGh0ok7uoGDOgXjlAAgHWDG9sDwKOUQnAXQ5mvq1NVbwdAgiWAjI5MUQWW1zVlFTIhVsmAyEoADs+FKi5iqNq1w4B2f/NgRXSRQAYAAnggAqQAPB1j399CTBYAVXW2YOIOjoNKvUi45FCCPcagpCVhW5eVyIQAAI2CC1ulhwo2SBBAf8SFtko7t0jdFkF1uhD6deXaAII5lxrC6M4xgkyGILvOWiDkIMsdmiH7hAeUN5DeS09DoLePWesS1kW4AEWYAFQ5mh7PgEOuBe7LQGevgEm0ImCzjOELgWFZuFmMQEURAgE0GT3IJyTXL2+1NDJg5WdLgF7bhZ6XmIWuBlcWTzFMwHymVCEIAMkiIS5Q+hI2MvMcGmEUDMz6h0jeNzUIAO/k4Mh6ADARAjHwroKWB0GfgA/PiECNoEI4IABvIgSSOvjWAEPXQWEFg2W9hoCsj6GQQC8Ow4W6KBG9QAdaApk9qUCgGd5VuzFJmAByLIsg7nj+AQWuIAheOuDdmROWOj/LFaIm26LAzgIFQMdFbsDS2hnhBgABYBnlDXlyatrnVidDlgBC71shCaCqN3d42gw9iKjqUmpDiEWJIEQN0aIF4Zh6AZf1n7uUHaPHIgE2ENoTiiBCEjsDqmAPHAjhbCALcDGQyEA4/kreUtuvoznCGjt5NaM6rZlhE6DDigBDqAAsT4O4TYA4c4erAkSAqAKJEHbrYwVAYhRDpjn9lbwzMiBRZDvbuYEIlhgWOkQaHUjTDoA0D4OqKmYCrDRvdYMEa8A1mboE1/wHAChg+6FD/px9K7nBPBwNzoAsG6LwzmI6jkIExpTg3iS9lBtEo8AExdynVABR1hxRx6DGaUA/x1vDxjW8Qe4AAVI7+PIAxjPCREA7g6BYU3wg8xIofVmZi8/iO+d0S9fASKHaxa/1I5uDyDJcvd4A6p5oZfY6orBT3qD9L4EACZg7ZuI3AiA540+8cpe6lw48jK/1ENRBEQwLjgHAypfIhyH9Dp3D768x5v4AD9jAiW4gRCuz8kd5RfugF9f4BN3APgu9FzghAo4dJ0IcitQCE3AMThnLypBmHfTjEgPcZ2o9VsHtrP5APs0YAmogF8/iF9/83aublC47m4uAzOX1peI7mYZoYOIdwDA8Mp99WYJchS6dCX4ARdAgVBygRugcIOQ82BX8BQv9hZH9mRvDyj4gvKp9/+bQGBYr939zYkPOOpbdwGA/4EoEIM4CIRUPwgOmO5PpwJOWAUjzwUziICFR/ScsGMj7FgAf+oTPgiKl26fxnYmYAIfaAEXGEQsOAM6cK+DUISDKIGkh/LmS/ExV3gyJdj2EGwt/23W2zY0r3YX2LQ4EgLj0FeMFMX/AJCjV/pPJ3JuFnVjd/mUVXaFGACcPxS4D5KXzwwUAHqtl0jkkcFDGHsAKeI/WPrJ8wAV1+1uJgJkt28FyHeF8PPJk3vNCPycUFOgv04GDHkQD3lFaAQAQYS/F0Uex7pBR+luzgVQoIDEL4DtdnuDaPz2YApxpvX2+NfIzwk/OIMtgILTkrz/ozcu/9B8zW8EAAj+/TR3wif9XCACBE/9xS9gr9k0g5h6fc8M2tcMVCAFAJiEUUCFUXB24wp+sd/8IhZ/AOVx0D8hBSB2lQcFLKbPp0ZghsbNCIiAd9eMLjitgoj+nLBynaD+pgAIRI0QDXo0iZQqAK8ANFLEkKGiRhIlIvpjEQDGjBo3cuzo8SOAC4JApcplMheRAgMGCBDQUUGEChUwKgBps2OcLxpR3OwJgILPm2ewJFHSxc2fjK9GAZgkEaNESgAsXgxqNaiKSKdkneQUZCVLlxoHYJRQAqPYqx8PZeyi1iPQtx9/xEiSRMiPKGLyALAUCuMoTQAoEUaUp6rc/8QbL+QAtepkLjIJwLLcGJMDTcUeA2Hkq/mzRxcxhCj54cLFDyVRAITp8yiUqoRM9QRCDDoxiUVbT0YKokCBSrIYhZsFUCHtbY6I4ohJ/hlFi9FCANxwcUPJ9BY+qpwxdFDVqFCPEIF06BzkBRWcSp5cVCHCgwfAMwPADKDmeYxJM5LPnxiFCy+MlgQAP/wgBILQATBaF2eE4Ydf/iU2wSKlcJXLKmWsIAEFFEgA3wMScDCTccidR14jGI0n4VstvEDddAAgiFcLNcZwAwAipLDdTaQAIJ9wyZFVAJEYpcfJKauAkkYQE1TQIZQdsICRCT+yCAAilGjCFADmXRnUC/8vUrfRDTW2cEMMH6gpwk1MRQAAWS2ZKNcABdx3ZwQRXFBGGmVIsYIKFlwAJQUcsMADC0WYwcIDX2akiWB/OXoTCmFqhOMPL0DXwmlqqnlTLAl5JCedduKnUQILQLABqyRcwEAEUJZwKA8A8HDWlykCwCWXk4IkGkdhulAjRp5+cFMmC2X0QJEbkRpUnffZyVECBjBgAasbCNqhoYiaAQARcV35h2AZGeIrSC7a8NGwKHjqkyVXPfsRkadmJkFGDhhwwASCbkACAxeYRWsRt+73Zbmo4LEFT+hyVKmAC260LgruftpTvHLJOee0dhYwX6MbEWCAA9iyagEDFdDKw6L/+Pr6Cil4MAFACw7vVPG6N7wYQ0Y4tmAsvKDNG+1KlpGY0QEElJwtACtYwEKiPBTRoa+ZDKJGFAjybDMA0AWYM0Y4jtn1sT6dYQkqyYlVZ1gu2RkfAB1shAABDDhQsgMMIAArDyyX8CS6S2AEBXUNo+u1pWFTJ6ANL/xcNsaoaKKIbZqptPbbjcqt0QMBEADAAQyIjjLKffPAgbiTtqAEAIT/UPPhnCb+4g04vrCuppD3JDnlB3+mEpwrNVsfR51bawG2eTswAQMrFMEClOh+MB0UTAixta81Jn6agGIDMOzFQaHuaE2aZ6SIIiUYv/QGy6N8Nw/RO7z1zDcYrlgN/0tscUcbHtUYYEZOoy6MtKBiuruJJjqQOtBMqQQc+NCy4nY+qHROaRbQQLZO5oAEoG6BjvoA66CAF+zJBQU9WMIdOjELVngCDxuJQc0AqBEXSKyAADogSEhhH+fgigVEyEgFOBCIzWnEIWzwnN1MtoELAMwCC5Cf9HhWPSHY4H5qacEPoGAIRLCCFa5gBVsyggWMxEBBAHiBDDWFgnUFRYf56cDmiJiRKQFAMF5SBBiQyL4lkmADDAgA1bhGvx+USTExQgQiPcFCT1iCMwCIQxvEgAUm6MxFEftedLzXo0dULihU2QgH5Ag1FpylUBuRFACOSIAD7PECGmCAAQLgMv+uTa91I0wM6wAQCESwBZEA8AQwM8EWztBBDWKIghJqJ6Zh3eAHOPQIJ6nSSZBIUz8YISLUeFCluIVsIwsZBSVMsEq7TcABC0DAAgwQS65l5ANSnFkV38IEnfByKoE4BCIcAsx9ekKXgaADANrwhdUQ8AWvs4o0E9oTQm0EEZs7FB0zgi97AcBHGAkARkemzo0SIAGDYCdGXMA6JhgIdj1JweCaw0tH/uGe+cwIPzPRyEA0IhBx6BmBnmmThFbzJoSKS38UEVHjZORNGCkAjsKAEU0UIaMEGNlTnwoGz7CzllDADgltQkPCYSmMGWlpPjOGkX5a4hCWOGtDFKGHOKj/oQ1MENNbePpJm/wUjhLRBCUU0QEJPMCo96mJ7DCiBCu4IQFOjWoALkDVqr5TCPa7CQx/MEaMrHQjYE0RKzLxS82e1RLBHI9AEHEG0Mh1mhvhFhxLsM0ulJGNGYnh1mgIgCU4AKOeG1kRJgFSjYCwdQWSrUdqINhHagSRLE1KICKiiFZ84pf8dO4+MxFN55TWdx4pARyhttcyxeAHGRGTi864qTOeIAEbPFRzd9tOKWLHtRwRLgBm5hFEcKalhzBPQzTST45EdxCOPI9cQQLHDlSgAw/80AOKIiMYYkRYPPkAgG4ghBfsyAfq5a0UXWfS8nREEeQJRHIzIpH93mSf/4f4qIR4ehMJsLjFLHZsxU5zGity6sEX5m0IF8wREWztpl166QTRd9+N6Mon/ExvihXqkZC5uMW/Oc33usYRCOsUpO5sXXvvh4ImJKELeUAfRIDsJY80QqxGDsUsXvEXH6DUP6XNiRIKSCQms/g3dsYPXG8MEhCIFAoabhgK2FCFhm7kjmTWrFpiMQtDLGHDkxLDW0cA4UrZWT53vnSe9dwRH8RACdWTEbEWtIXREro/E+RIih7xiKvMIhYYecMSaGBlNWmvcVay9KWB0xJNd8QQYXhCF6yghKx+xNQYGbOIIyIVq7TCFwAwBKybgAI2Wblit7u2DRTQKDt/DDht2/81rwGQkEyogQk+cG95gkpmZevWKq7GiOCaAN8LoyAGjbv37Y76m499e143nsRCRJURnUAF2eR5aZFRPZir+EIV/WTDEQAgb17j+95mAs6+N7YxTYdRWQD4hEE0QolVU9bDXSq4qVO9cLksoQkYaUITejDtG9sb22G6+LQ07m/1/sEhvfrIsrG0kbwme9VBD4ouMvGGQWcE5jDvQZtvjKPGlalGH5tWRjau55Zi5OgaefdgkN31Y6coRZRgLpI/8gmLfmILYOiI02Meda5ZkYBm+tidnMXrPyTct3iAjUa4lPCyezgig2kF4lvBirRzpNnBcAUj3uDyj8Qd6uzcmmv/X3R3jwUJAFXmGh0AupEkPMEKHRlF36WSIocEPfGIZzwrWjGLYPhiFp14wxvYsAabVH7uvqod8Gtn9/+ZFGh6PoN8OWIXwh2iVwvxetm9DoDEu0Lxn6i+K2YBgGBshA3eZ8PbQeL0HtSg7hsBQcUqphmDFqj9YjNTpSxmrM87LDo3mWxGXC0VqXi47xuhfvbZxPfpHu+Nn+9hBPql36aEmlp8gNh4l3dVB/xBh/y9i56JgKN1RBIwwRMoVdpwhCKgUkcgHka4gk8M4BqEH+U9ne+pH0ZUDKdIVv+8BY7UIHVkSo3EmAtUIP05zAcA10cgCAA8ARa4wSckhC+8giaQ/4IJ+scAqqBHVN60aVmM3UAUtME9yYUN2qAaVcqMWaCmqcm6TId3yUj7YYQQsg7raIIu+AL3YUQr+MQvbMTugQQK3sTTPVjZwGAMMMEZ6AEiGZtPVIqtvQju0BCnyBgI9CAtQZj9FYgQlqGMHEjtEEgneEIbcl/txaFPEEIqBcX3paBNwI4B8WESfMEcBKIvJQb32IANmVGUhdtGrNENmqEkomGDvQEAMEJHaJ9GcCIx6AIAYELkEQIbqMUTBhdPmAkDYkEcAKIqIoLV/NdHcJX37KACph8pymJG1BumEFJqZESMXM8NWBhGeCIvboT2zQInZkQnEIIufqJchOJGyP8cM5qJcvASIimCZwmTTfjYzWSjNsYiN1rHGRYIXeCIErAOjqBADXiiJ8bjVUikYtAjAPTAPeKjcuBTPnmYZwWTV+UjRqgBdWBj+nWN+mkKN57JQWKEgQSI2JQRzRACTQIAPOoiPIJEOmLEMYLG92FSRnpEL3UkmI0VMIVkRlDjHIiBsMFQCvDEQJqfetHiLWbES8qWDYBAC7ARTUIkAFDkTdRhcvTAsARlR+BTl0TEU2wEI1FjyWHEIegBHURSU+agghDbhVnHgXiEgcSA5mGRD/jAEjACREIk7nnEG0rIEWgkzWRgcZGdRJDcRpSVV/kOiIFYHuQBHIiBCNFMm6H/24XVjBDyZRli0Q/YwBsQQg00AWHaJETuJADMgvYRg0aYgk1+5Wc0wYYBlwtMx2JhCXmoZWRuhGaF0VnVBpY4BIixxSEcAmYCwBc8QRkmn541zIzECEeAY4G0AAgQAiYAwGq2pidiBG1ihC9ihDLQpjAS46v1RE9uhGMCSxfEgakFIlRMxFrCFKIZJaIhknPeU3MCQIACwByQJACgWBiK42h2xBh63geAACOYwneGJ0YEg4WuI0YIY0YoA0b8AiswQmu+BRhsWMOciRXQ57EdHJENJ1sG034FE3n8Z3MenC+hpbiF2we0AF6g4YJqxIEIQQWuASaYgim8wRHcQYWa/+d5xibizV5GcJ9tjud/BFAROQRHolojSCZbckS89JKAUpZGhBhG+MgW6NmnYOeMcASCeI+agEB3EikrAIAvxIIwzoIw6oIufAIrIEIotAIlTMJsAgAxBIP2YYKU3gQbMBgBdRj6CKJG5OdGxJ4rVF9zZYIizGhHRqPQKYUs5ih2ysiCNtN0GI6xjIDLBYMzcKgnfIKG6gIwtYIu/AKe5ukkNCEAcOgc7mJPvJ0VyRZAos9A2Oej7mdGxF5sAkAXaR9FBKJwNmrZAcAH3oFjzhoQ8qgQjioOjQAKLEEmONsvfKsuWMIfxAuefiu44ikAhML1bej2uYIptOZ7akSiDv+f9jBB/6QcRQzZo3JEenlCIAxCS0XEIzREPqXVRKgop3oXCPCaGLokj2LHC+qUECTLKyhCc5kruGJshwLArLqCImQCMFaoLrBCTXLEEdxI8PGMEogBIBbRQ9joqbEliOnSIWRpIxCGRAjnJIgVInzCEWKEtHZqw7bfdCQTkFZZvMQCfVmEJ8yCuQLAt2pE1MqqLoQCIr2GMHIfrgLAO/Jk2ARf7fyAHwLUKjrEU6xiwfFXgOKTzRJGYGjCzWoJMHVELPSTVKqXp/SmGZaG/TCiflBF0+Yqx3aRCUYtxwoj+niYpMwhh75hOvoA8BmIgSQBy1JCsBJlztbT+YidgPYZUty67SiEbmCEgokdW3rpgiEcQQ0s7HkEBAAh+QQFBgAAACxLABwAvADUAAAI/wABCBxIsKDBgwgTKlxYkEUChhAjSpxIsaLFixgxOszIsaPHjyBDLnTYRaTJkyhTmjQCYIvKlzBjyixoJIHLmThz6tzJs6fPn0CDCv0ow8HQo0hNWgmQtKnTp1CjSp1KtarVq1izavVoJMrWrz4TdAVLVufDsmjTqp2KBYtEt2vjinQAw4pPu3KhlugA92uPIoADFyFThMdRvD9ZsNAKhgwZOYIiC1q0iMuQBgsWeCjylMnOxVnBgCpFujTpIQYWGCCwIEeRL3kxJkBcVZLp21Q8eCDBBYkTIlBiW0zg4MlVNrdvm7liBYtvJwCMC69IoMrVQqVGg8IeqbSZtliIOP+RwqXHdOpXyZQmY4WJkDID04AvwsUJFcPnJxIw4pnq6OxntKEGGGMMZAYTbQHABRUAcKYWJpiUAqGEEUIIYRgL6VCVeqORocQTVhABn0BpRIGFFVc4wQUAKrgB1i3PgCOPPPHIM4+NM+YoTzs10hhPPMzc0BBVbPxXSBhWQCEDF2mQBgARbQU3hII5MBFcVrfMQ4879dDj5Tz2uGPPmPbME087aLKjJjvrsAPIFl4BYABoUkmiHRhffNGFiII4ScYXAcYhohdeGHGFVuCciaaiaDbKY5rrnFNNMbzwAskKdZSwAgcQeNDAWVCBQRookrTVRRdmlCHHqGTY8INARZT/4UUZRlx5lRjrOKqro2dqw0sdE0DAwATETjAsBAikploH/TlFRiSRLNKDEkww0cSscnCiLRhhdOFWrGWUgR9Wt7TDDgDsmKtuuo7Os05m8MYLwbz0QrCACbQRNMUUaADBknQ4gSHHwGaI4S0Ug1IxsBxkeCsQD2MQygK1V3Vxy5ronqsxuui2M087dcQrLwQAzFvyAh38YMNBOLSMQwNL7KTDwjqEYeqsCsoBgBxpfKFGG3CQ4cXDCVr1BTjrCNQOAEsvzTRB8qQDDAIAUG01sfESsBoB1JxzjjnmlMPNN+Bc4rIo1jCjNjPPDMPMLXDHfUsiNwgZESbPPDPOOPP0/32jObgMjIs1aqgBBxuy5jywfVQ0TujQPDChhFOF2IILLrzAcsklaBCAzjnrJH2mQOmUbno6GaMxkAEGABCAsg00IFADBqCxiSi11CKMMcUcIwoGwEMTTjjklGO8OdcUo83y2nizvDdef25OOOCAM0714FgzjS3PtFMPmWS64843aQx8DDe2HCEEEYRSwcXCjlPhhfzyk6EGUsxYLswusACh9da7cJSOfPQjGtnITOzwxjGQUYwGFgMWkIBEJSRYhxDQbgK70Y0H0EACIGAACEAIAQZCMIQVmBAIECgWsTwwgQxkAIMqJJYEI1iNcqyjRloCH/jAMTBBHAMXxXCELf/aJ7+BKahxSGTQk3TQhCbcrydqA8cy+Kc5WNThAAtAwALQcIwxiel7YLTH98B3j3vgo4z3sEcZ1chGHXKpS32ThzjAIY46ioMa0GhGMhooij5GEBIaDKQgdQPDCRSDHfGYh5jENKY0OnJMtlhYGnbGs4GVr3w6I1QZkDi/MiyofIkgAxieGBO1jcMd6YBGMWohCiBwYQxlUAG8upjGNuqwkWbMRz7C5MXwofGXwETjGc04zGDackxdoseNvmFHcSjwGNAExyJvGSbxidEe8riGIIwokIV5E5MA8CQAqJCDhXHBAy+kQiQkEQkysCElt3DG3qxXPXIcYxMHYIAFLKD/AQ1YYAMbsMAxgklQYeIDH+yYRz3ksSY2tSl07EBHRCGaDnaULmrqSIf4NlrQglLzo9RU5o3igQ5qFOOblPSmN8NJgAAEwAMh8ABALYAAAvBCFJvghCQSUQQhhIQHZtjDGKSQA/mVTxB8UMHWAkCAAziAAQwgQBfZWEYAFFRpWqqHVhna0K569asNVdeuFtUjjZaOHt97pFrVqkaClAkdd9xEuC6ZUpUaMQ2yZJ0BGjABgbKrR9WzRiluUQXYcIQHadiDYvfAM2g5NhFeYEBNCcCALB4ACAfUkpdmdKMDeomRChXpPADwUDW1CayoTS1Y14ENedBjTMXsKDCtWg90/4QDDRiwVwhCAIGYekAFwFUBF4Y7hAWVIQSq0doCjsGjzKK1l2Paxzi2MYxeYEIMbZiIEQZWhjQklg98SEMiEhEJ8iZCqBoAwFMZYIBK+O298H3vmG4UR3kIJHSkza+aBHKu/HIMtaddLZvKQQ0wybaMBz1oMNmhjTooNwCZgd0CMCCyeOm1gTXakjUZeUsz8qMf/fBHP7ZxCwwxxAjhGoOKYSkHPjB2vAAYLx8ScQoiZICfG/iGaEfL4/jSAwDYpK8BSbsOdITuyEhOspKJnDTSssm0Tz5ySb2hRjRaVSEJTrA7xFEJDGhxAa9rgAOIZYEXTiB2FTbAVGsJ0o+m8f+gYxrHLf6wEBFFLAuPG0OLzwvePvMMFDZWQQ5GG5F6AMAd8QDAjHiU6M+h49GQhnTUSre0dKCDtI8ucqaVrGTbUgMdOMrhmBaSZXMsQ68GQIADcAzQVrf6zPASBT3YqkM2U9ORuL6HOTzTrILIIAsqngISvCAFJ8BSsU5grLLlMAZSEcEDtaiImX7EKNJ67drXrgY0oSmOb3jjGzg8oI4AAOkiazrT52gGNBIZX795iR6c7duW5ksN/2mNAWPeZ183ANwLbMDfAZ0AAhAAjirjmqr8SDg/9nFoa46RjWl9By58mhAdeKFAAJACoZCg4sRS4ZLeTUMZ+CCJNDgAHIT/hsj3duQojaHDHF+DOczLgYYFVNbCylpAJSohCp6LIx3Rc/Sjr02OZpyj3e5+t9KXXg9kGCAA+HbAqvdJdQcAVAX+toCcDACOe+SDmMDcRz/g8Q+yi5gf94i3VuNhjnXIox7meANDCIVnANw5YmWwA57DxfdwzZgE1Ka2AQeoaIHUQ1FrOi06ygG2xpujGRXOTLK+rBq9LqAdL/cazLFtjjx6DL5LD33o0wEEBLwunwdoHQLwDQALSH3VDliNAURBzCzjQ5f44Ic//sF73vvDH/zABz3Q5OlrdIMb3miGHuYQh4SwLwsaX/FQOS6HMkxB+ir2Qhq8wAV2jfVM4Mfh/8cSj+TFHw9sNBfZl7XI/gjD65CNj7nmyyEMbmQWAF7C/7sFIvp3m8MDq+FSLgUABEAAq3cAE/B6klWAXEdM+WB7uvSA+fBh/KAPC4cP+Hcm3QAN0JAN5EAO3lALXyAGYoAQYpADQxN9K5YFxpYGdjAE2BcxQaAgRlZaXyVA8eBQRjZ0kWI8PkhgqYEQmUEQInMMixc2jlcO4bALAOA3AsFjCLF/7wZ3qpEBmGF6WiOABKACKwBVCxgAddAONkImuJdlZZgP+qAPVmUPcPVo0kANHhgO12AELnADPgUwA/EDOWB3dod9wOaCwCZ9AOAFToAEE1AHEVQpu/CG1QA25/+QaRJFfJGWDdnQQMLAC80gDZooDTWHarKnNauTLAAgMuvAeD9YDuRwDciQUH3ThE0IXwvhDsdgBuNVXuM1BhugGi5lACowBOzVUg1wDO+ldPXAYWSCRvngDgT2hm9IDdTADeQAALjQBDdAMQfhAjM4BlnQh4KoKnJwcSs2iEhQXLDAC7RQCf2CAQTAV2hgRX1UC9HQO8UACVrEOnVwj5Bwj8gVLwqxAAQxL1STRcVgfj9YdNIghoQWakgXX9FABLUoCZKgU6TCTmYgS64jUxpgAAwAAOKQTP03hVqFSujgDdjgjNSgic7YDXJYCAbTFwaRBCWAZ0jAh9inKnbAjQX/MlQ5QAvVgA0+6ZPZgA3XoErUkAzAQAuigAa0QAuVIg3XMDzEQw7hwA1USZXS0AzNsAyVQgv3eI+ysxANgA2aCAA+GA7CkA2MVkADhCMK2TfggAsipyozBpESCZHrFAlY9FIroAHE4lpKpyXy1n/yUA5imZWaCA0p2Q3A0AZi4JIG0QZFYGwaJxA5SYgFcpMx6AQrIArSUA2eWQ3XEJrX8JMAEJTZ4A1SCZWqSTzD0w2uGQ7d4A3eAJsq6Zq2eXxY2QzAUCmVcI+VMIpXmBm9iQbh4H26En6B1yPREASzomJ5VwZjkAh0CQCcAAA7dQorAGY5gAQQAAmu1Yqa9ZHK/7QO3rAMtAALwJCJzZCS2WAHWOAVFPeSN3ACMHhxBVGI2icQF7efY+AEKjABlbCJAGCSzgiaoBma2HB8sLmg3DA8UskNtXmbrzmhtRkOsmmhESqh1aCexYCO2FCDAZYuaiJWjdKQWQCdsNR34iidkjAQkQAApRBVCyAFEyAKgal/P/aRgykNlQAEdQALyQANAFAN1BAOyZAEUNAcjkkQLdACKgBsBIFx+gkfU/A4hOIEJDABBGAMy5Cb6saBYLqJ1OCTxwcAVckN2QCbaHqmVCkQEHqbtFmhFEqbceqa1IAGdcALxVAN2oAN2lBuEoVk7LCceSZ9fQed0nmXMQYAQf8QVQ3AAOLghK8Ii/ynTOhwDT06QpWQDMswoKFpB1YAKAvxAzfAAxyXcQNxZ9CXBVTgBF6AZ3jmBDnQAASABsKADMiQDMmQq5y6DF3apZl4DXDYptxQmkJpkqI5mthAidnApsUKABIKp9HKDdfAOXUABDdHeTtXB5XAC8LQO1KAZ69abE5Qrq56qOPFTonAB9UXBC0FAN+AI5Pabk/YDtjQZQWIAaIgDADAjMAQBmJASgkRB2rQAzkwBlOwhwKBZ1NgrsL2qq8KAAkrgGhgDMaAqxibsbiqq4g5psxKicK6DLjqq7kJDSjpjMKKoD9JiWd6fC1LldiwiNrQDdrADdT/oEfHsJTD2S8OkAVT4LPmGrTmOivhEmMy9o1pkANPxzSCpyNIx3a7EAIuRQAhAAvGkAzNAADGAAhCoATxqRBK8AMxqZ+E0rBB27DbmAVqmwWz+kGXsDsWe7Eaq7EmSw2iKZTCCg3IALdxG7e86qtdmkfqdpIoe6A/uawguwvNoKw+qQ3MWrPMow2iAH3kWojPYbnlijMFglQqxjNjcAAuZZyLkpY6QlLSAARaCASKe7HCUAs3YANNGhEpYALQUbZBiwS4KwVTMAQ/u7YAAAmwsAu7AAx827dze7GI+YbJOqDQYAxwuzvQ67zSW7wXu6u9WrIc2IzUYAzAYLfJ+r1C/4kNyxAElVuIJEACzwFczxFOdgedAOBdm8QAAYAGjxg6gTqivNIO5FkJLbWLAAAMyeC8wEAGN+ACLSARKIACe2i25oq7uOsEwqa7aisQohC8TNi3GGwMA4Gxy9CxKBuaziikzzu9JBy9JpzBFpuruWoMsJCJJ0ugRHoN1QAJD9zA5+sbAEACHrC+4DiIKfaqEzC/jOeIYFNu5sYm5lAMGMBULqWvyyAMwgALmxAGeTIRQiAEPDAEDQwdDvzAUqACBVEHUMyv/IrCGAwAIysQeOSMACCs1NCpAuG8AEDGc1zCdnzCJgwLwgCseSQN2buJ0gAJQfAchIy7AIAEOTAEl//bhwAAbISScfILBB84yT8YfzHnDZ3DxAYABMS7P7sQB3QwBxWhJ4lcrl08k16scY8cBBsgDMCgtQVhxhaLxlgrDQNBDbcMDXAMEXSMx3cMDFarq70KuLkJDJiLBIImtEKLw+JqpVLgiwEABCo5m7MZlZP8geXgDcmgjlOLAZUgDLaACctgCoOQB3lAZxJhAzHgAiawnQLhwAQxk7L6nzUlASAwAidgBmOQO7swxlqbwQKBDF0qEGAqpM7YDMggxxfRy3Xsz8DAq8Ic0cnACzWMBLtxucusAs+RZ1mAu7MazX5Kla7pDa+5mtVQB0u8i2gADJGwBNRgC3cgBnCQBxb/MQIj0M6nHM+FqAEGiG/3fM8pkAIt8ANPAAaAUAibgAu70LcbLNBYCQBfCgBgugxyfMdW7cvRKxBRXL0SLcyCTMg5sJ3KXK7/KdZ1JwXjmAMkAGZAwLg/6bg1C6Ek3Qz+s4tVGwlNEA3H4AIp4AIxcBE2fdOKfBBqfb5Q9VQmcMVX/ARiEAeHEAiIEAh/MNl/gAmmYAu1gAvHcKucmpsELaR5hAx1bBKeDNFd7cBjPdbI/Bw/K2xDkAMqQAL9Sw0G+r13qw3X0D9TW7W2wAzXsAxFMAIJjAIY0QIxcANhXRCFDVA54HrGwgEuIhAlCABt0AagbM7YzXxtcAZdEAVG/wAIZGAGm6Bi3IoGXIAGOYAGHoCIFUwLxDvHDX3VVj3Hw4urBJEMAEDRNSy0AKDM+70vuxtcGTC1LtyM2hvD12AMrZSvlVALdtDPZGDTw03cFwEoYJDcAKDWraYBGxAEJDBmT1UEf30QcBEganAGX2AFSfADMYACIhDUI5ACI9ABF9BPG6ABF7AAK0ACXGhCDOAYdnA7uQMMr0zG8s2v8L07BvHVqd3k5qq7CRvbWcpUOpebfPylJvvElwAEBuDNezy8dqAnUSA5HYEFYlAEgkYCrgZQKxAEYGwUsc0CIAACCmElUCA5LN4CKDDnNn3PNA5QHH7jDGBChE4ChoAIdP9AB23wnklQBd8NCImQO0r93kg+EAKsx6JNENvpG8icA06OyGINHfsi5R7AAEAgnLq6DKk+zF0Kxej4o64MDLuQCH+Q6Hkgyh7hAuwc6K7GIisQXMF1ARAx3QLxnk/gtQThAukFUACwAQDQACtQQm2+AmMACHegB4GQB3CgBmLQLV3wBW0wB4GgCIfwBoWACYlgC0mNC0UOAJg+ELsQ1pyuw1rc3/7tARrA2lMgBTrMl5CAC7kDCVzd1Zwq6+fZz7I+65I92SDxAfeMAqzm7ALR4/zWbypgAnRuEWdQEDyw5gG1kQKxAgCwAnIQCYDwBmIQBUkgBDZgwC3g1z+QBKH/6gZ0EAiN8AiPQAdn8ASBgemiDQw8PtiIvL7+LWjyLAXPnAEspAFB0PRJXQxXS/AFvz9Evj+wEAmRHdkmgQItYAL/JPETP/IDIewsYgIeEQUm4PEWwABBIPJuP4jQQgZN0OIiUPcA8PBc79c+oARbcAZu4AZhUAVCcAMtUAT7iqvAwG+JvN/QodrPgfRO4ELEoqdFmpqmLdHcO7z0DQtj0Oiiis4h8QRNkF7pNfFc6OZkPxAkIAaGlREn8PVgD/JvL/I5YAflZQYo8AG6LxC6DwIoINQAMDl4oAiTMAmPcAhxwN1RoARkAAiQsAE8rrCHjNFNLgUZnkI1ipjYYM1F/zkQ+K2ryCDrY7wLkHACNg38LnASh4AIWkcQwMWo0O/+IcFPBQFVYg8AJTDxDZAFtngCAIHiw0AABQ0WDFTwEICECxUpahQoThMSJFTkMDgEyUYnHTci6dhRihQnEyZ4QJMsWbNr2MK9lKbyYEFku4AJAwZgzAgRPX3OBBpUqNAiEw6qUAFgCAASBpMCMDFUalALFjQcdDDBQRAAK7iuWKFCgxMAieQIuWEjxtSgfwK9ZVPxIoCkOZZydIJEgweQIqXkMDmBSyVRomDRqkVLFCRhMg8Ks7kLFpERAwmyxTy1S9WCSJOCveq0oOXMQk8csHrQwgQGDLyuGDOGz+wsQ/9mkzkj5suX0gX/AIjT5ohcADk8F9f4UQWJIX6dZDB5IcIGiyQ0WNiQHRKyZAeNSd61x0qVJD9+qO2d3qALGxwsdEZ6AewGsCu62u8AQv3MBAzeA2iNAa0WOKABEmabDQA+5FAhDTnKIAORPPYzSAYPSMAIKbqSUmGI5D7qCIC/AnsgOxNN1OA6Y4wx6LtLODHkDzrmCK4g3ihU76rjwGKqvvqgwtGgCBZ4L4McrBPQAgKYUmE2OQxKYwIkhjDCjy6CNEKDporTkMPi7MJrpOdM4mCCE01UYQMNGAACjTog2UQUMu6g8w877wxSvbUsUkE++YIYwr6ZgnAhyDweWMD/ASTKKCM2L1SYgAAEJkDKjoLSSINJEjxQYq0gK9rQM1HrSs6JkSCdIAPssgNgg4M2eO8ABhxQwQsv+NiDj0RuMyNP9ZQAgIcLkArLvhWoEFRQroq4cr82znjAgBUYLagMAIjwAAEDELiojDRiG8OLDDwYQoUWUgiyiQx09LJdpHIAEySTIPDPRIOyS5GBBVpboIEFFkBgAQgaaMAkD8hICBFfM4sDAAv6XEE+6tI0iKsguNLBiv2+OKGCCahglAhGraWCAQMCsCiHcLMAAAkSKNUghhaCLEFVpkIddcMvhyABAggMqIrVV61qIEAEAj7aAANXWMAAErxYWD0++zxR/wWvLuYKgCBWOEE9Jn5IwAAGvGDUC64a9cICAwigVIWQkABsgk27+BpH6/7LoEuc6eJbBZ/3DTqo6wBkAAACtXIAAkqlIIEAAqSIOr0sWz2RhA0s1hqAEobYuoTeznPBAIDHYJTpWssgQgUDts3bQ4xyyAAADUpQJEg2VoD1Kg3UFHXvpCaAAIFZq+LsVQ2MCnB4DRyoCIlFhggggByMuCFyzPAoYlXqLCfBgquDKCGHrbsKIqrMsHhCiJ8RIH0MFQJggIo0yih5AbYvMm45DwDwgA2EFkqPHkqgphQVcHdTaxcAgAewFVhALg4oXnY4EyCr4EsjVCiFHKJHAhP8wP96BTFBEIhgghOgayYm4N5yQOWVrgDlYgDQz1RoFBwOEMAAZCtDEFRFBSKkIQirA0AG+FSRTU1gBXrIU82sYsACUodJHCJBA1bnAP8QrjWckeC+AnSmjpThFILYYBGWIIbIFSENe0hEGhOxBzPw4AQnmBkLLkBEInrPYvYBXwu19oEYCuVOf7iD6gywgZFRgQoAQF0ZbLgADaiQfx6YwAKakBAcNYF4TGRi3rw0gdURQAVUIF0ZHtWa7lWFNck7ExK44IVSgCKMYbBek/YQiUREoixqTEQbi6DC5VygIBpgYUGCSQTS5aoIfvyjGYbQrwaALGSZkt0ihbg/SCKAB5T/DNIJcic7TKaIm0khQcAW4IRQ9jBcXmiNCqqSPAY04Ew5cAIVQAEKAgRgAkSYUNROEBtrAcALe5BDIgBAy0jQMo1yqE2rHMbCEgSBh2OQQ65mYxYjNOwgfwRkGRZBBQL8i5/QLEMnUwWd4EkSDgsrgTp1180mUkeKBlAB6Xo4MkZRISsQtKK+KJedT1JhEaA4GQKWEjUX8KAMcrCDHfYAUC9MwQtnFGgtCyoJSaRBnQ7IHBEiKtFECGJXBfGCIhRmkLfcKQ1e4EQkbNhRIpCNdE1bneKS1oCuLQwFR2IpEw3CAAJAgABkQ+S1nlkGErjGAu2U1ckasDsLfjJKASAA/xKsR4QseCFcBkkqpuwgh6fyIRJUpWokkIAAKk7ANrrigyAQBFCAGmEQBhHrWwKxhTEIghOL8EAnW/WytRmgIAgAwOryE7kTXCevBWSSBQKwALnphAgAoIJDQ9koB4xhAwRCQD0NlAEIHo81GkDCBtaWg7r6Kg48qKyt1Gsrb9kBV3K4rCQGKolEGCeuCHova+XwoCL4AFhhcMMfHqKIRKA1EnJ4Aw9WtzYb+nZJjpOABEDQR1+BIAJVOa43V+CEBQRAiioYGRFy0JogoO5bGzBJduFHRH21RojM4YMXxlteXw1hvf5cL9TIJocFZaGWt9yDJPqFABJYKqL7nd/IvP8wghGkoAUx+IESunCGSNh2Ec/VXHZ7u60GJEACH/igQS553IMsmAAkCCUVlIsyHLqvKidjABE98K+meWAMTmDlIrSlgROAeWF4Vq9BdDyFITiVbHwAwBTUCFA+xO5om03yyFY2hBNMmMkoQIELimDbA7/BICdgQQIItoAOmEA/IggzAGTQvQyHBgAIAMOCFyDTMqjAccdKpIy1xciKeIAIYKATnYIgBVbKgQQZiACqF3YHQNtK0M4GiXrLYAeIPqgMeZFDBhCAMpraagrfdgIJSmDpEWRaCHJYxG1VMAmh2OAFM0t1QYiwglb/kgEP+IP9toVD+oEFlIlUwb/6Os3/DBihIIOYxCQOgWdQrEIQ1qJwkGRgaGeDNdBOxfG0m/Pvo/qNAA3w9rfB7QSesQAETG6Bf9+Q7kikoQgAjPdUSmDc41rk1TygQxEkRYASmzM2giUb07K7WA9kgAUGUUIY/HAIEIMiFaDoVeSMIIVz+tPiOQ40fNs7P8tmwH52GbmHXGeCD6RcCWIYhCTSvQiMxJwtLPDPElnKFA4joAdxiENvEfBUE1vLW/RrWj2DmIEOHCTpeHgECeTAiVRkMHIgMEGzcYx1rHtLZY0KVxpGHAAPdEjsQ4BXRTpwg6T/4RF34LTL3T4VExhAK2PGJFMsELAkWKELCl7dAqCWhh4C/50BR3OcSTw3EzhARGScOEUpFmG9yFd88pRX7xjS4IT0UkEKVNBA8CZgly/12iQs6ALiG6EIHqCV7auXCgcgcJ33EE/u3pRdAw6ggBhAmQkXaLC0vIVIsgEskgHwGQkIigEjAy8QhOSLhDvIJ1+pgBxAgpFgGejDurMaApLwCA3wl7bhH+BxsQwAg4c4hD9gAxVAAipwghWgA/QDCriDgC0RM9gLDQfolwRwgRt4gi8AA33rrQ2wGgYIgOCynwDwJaEYv0AggyyQg1NYhQTEA6ljAeOwC2KTQGnzAgd0Hdixn1TxAJ8ZKQ/QgAzogi8QgzaIgwp4GQuQJGxSwWBpp//CIh7VuCS6IAFZ+b0bgIIxjAMwMJnV0ZYH6yTHKTwiVIRA0AM2oAI5KAVZiIRCiJxBgAMy2C8GIUEJBAAnmILYeBek6JkGQAB6yYB12Qum8IALcIEWcIEYMIEJWBP7WcODKIoGMBysekM4dCAdgsXf0wHgmAM6yIM/4ADgAoAlMYi1WYBjkgrZMsQyKIWnwwQ9WEBfMQPb4oQx4BwkaKrnsxWNsKzOA6cMKKl1uZBw/EQISAFLQwFVbKfsCsQ1DAKsggAAwCn3+w8LgCCrYCdJKog86EU7AYMSaADH6a1izIw5mIM8GAIvSgVZkIQ5iJxAMINIAAVOMCQweK68oDj/WxkJW5EbFZoAToQAD/DCottACJAwgugAkwG+ABDA6lm9O4gkB6CiWckKepRH4olJdgIDhgQAjLITNgCDY2KDZ5yKKJiyHEDEhFxIoQwSKuCEpiwDLjiBH8AIU6G8RHuxooMA+4GAT9wf4FmdkrQMBfi9AwA+AVA2t7sD+1kAhzGJAyAQeny9miya5DkANkCinfSNOykrfeyNFvDLIMiUhFw+65ECTgAF6BqCgQifCMwxEVEBcQyeTlQg4FGxBwABy7AM1sAubTmAiAszRfihsZAqSYiEPQCANFCzFKlJOkyeLZgJO/GVDxABEDCqSEhIToiyqGkCpjxM1OEjyCvB/8aUAiTYynHhJMcpnOBRSVO7TMwciJMMELKUsNVjgwUosjQCrewkzYKipTHIAikAPTUJkAnwn1QbCBYoA0FISFAwOBPKExngzUgYgyAgjc2RgurrCOAxCbjqRAi4AAnoMz7CTIMYiAeALAbwqwAwHyyINwFCgoCaKu2U0ND6rB8rCy8Yggs4Adf8oPM0QCU8BWNcGBkYg4gUhDFYgcsEgJ7YHBAZggxYMD5EgBUogjPogiVIi1JszpkAgQE4gOiJngMYgCgQgzhIwTBjg4N8qrL4LNKc0CcFANL8pyM5gUKxnoE4gUU5hVRYhSI4yzzZNBP1Aha4jII4gSCAlwlggf/RU4KfJIMieIRGeISEUwQ8sFElEAIbEIoCKAABEFIFEMDXBAAKINQ8AYNKBAkqYBnvnAKW4bEmhdKCcALT3AMkoLGosYxFAQBZSAUyAAA/CxIRiMaIpJ8APYgJ+4ARaAEbEIIw+INJKEK9RARFeAS2QAG/dIEkuBIJIFQKYIvf6A0YIIH7DLSD8IIsmALIucRwkYMm/azieBKB0rxLXRjLMMotlQUz4KOFMYOfgi4q6DOgAIEnWwJXnYRHGESehE22EAIhkDI14IAO4ACD6FVflQpgnQoQIJe34QgRSS9wcRTwHIIsSAM7ILaoAgDOygJQvdIPCIIkTIVUWASGDZL/NDBM6MoBESjTgwgDxEPXEIRNPDmIXq0ADpjXg4gDPFAESigBFiiBdRzZXp2K2hGKDviIm1WKD/mIgrjP2kACR9UJ1KI2WzkBFAizUuSBZk3ISDDahSmDeRKRjKXYg6jVEHxNfLXXmKWACihZABCDM1ADPOgAFnDZqahXqXCBpi0IEDCtm/2II3FAt90IpYAXPHMQOZgCB+G6MSiCqfWVMKiCpFVPWeCEKvUVNnjaiDQbFDi5/cjaqVAABSgABXiAyn2ACAhUTDXTDpFbyYKXzp1b0GsOp/JOb5mfcOGBL42ahCODo9rUU9CBJWDQILkDL5inSMihF/AUtxuA3o3c/9+90k/jXJxtGdDd2aVwQEPzJwdBmzHwW1+ZLbLZ0lQABADogzy5Azk4TEGILovqDXwtjQEQAAEAgN/l0zyZ2g84geE1XtDN2Sh0qjLIW2uzFRG1nj8YBCRIg1OQhVMgAzXwlULwVs4ig0d4rf1YV7YY3/F9gMjl0wEoCAimkDJVX/Zt384FPaWgPsuSAm95EKix38ixEyQQhGXMVpbEkTyopVLwJyd4AzEAFszIWvDFjAUm3/KVXAnGkRGYiYGwCw+5YNAdKn8NF9NFG6j5ILPS3k01A5kxFNI8TCqgkhfAjAgwiCOVCrU1CBsWAMt9gALAkfQBioHggHJhjiCW2/8MLrTKKgOCfZBzKk8R/oM8gMRFSEhBgDccQQRJOIWIpIIcSFup6F2DgAIAsOL9sGFAjTAF0OHeOFehSAETsAsLRuMp+dwNHgMpwBSu84JDrdWosRM9qOP1BAAtVg9KSINSKAWJVAHVPYgbNohBxhEulgAOqIAIAOP0gLmgEIIY+NxK3tn3hafKGoMp8GC0AQSatZ45KIL05NJToNb0eINUBgBOyKGNLQhY3uKFseEHMFkJYOTeeNygOAQ32KW7qOTitWQHvM87k743BhlK+KAZAQMveBJZKAXzoZArMAJlrGZked6Ys+FavuVczoxxDoqEEzF1lluGZmjQs4sNbmP/5s2CHOABSwizOBCDHCiDphQEfd4PF9ABauZeMg3oeFtgADBZCngAcWaLQ0AERMAQDJ6LjxA7eMmf0c1GWyE5ImC3MDuDKOAfzlkBkN6PTWNhOQBXhj1poEDozBDf8ZUAeZWAQ4ZZoSjUofiNPKADMJhpuX2KjQA9EgiCIiiCIGCBC3FAj+iIHPDpPqgCH7DSyFGCgCmcDYidik2EVaZGU/3Upo6c3h2AByiBlh0+cX7qgpgRMTCC8NHZuX1bMhArsTIINmABIpgCE4yNSMiBPtgCuWZcwC6NL1idwqEVU06Ph1xlLoCKPhrQ1ePTyS0BHuABIjhs9cjqg/iCJHgB/xSIgIt4bLghAR3oA4QDikNI0nQDhVXOATCwgRYIbetpAkkxbQ0w6vTY61WmAhWIOOdcvQgA72Ch7dvGkceFbkw7AQ6Al88bAhMwxRgQgicAilodAuVeZUHggbStDNFmGAeg7oLQKRxhpYKgAg/wzIIQgUu7AaFOtQ6o5cs2gZeNnHAegeZU3xMwgQw3AY0FMx4eCjIQBIhspUgIAhQQX2yWChQ/CIZcrlmZlQXgARxRAUFYhI0iRamIASYgo3hr4AKIgA54WSs+5MgRAOeUTQ4X7SKgAoicJ2sWgALo3fFVj8adiSYAgAAQG3iclRAujS14x+VYgAs4gyoIism93P/EjhooV4AK6IAKaOAwk3IAKPLXzoz65oRWuq0LkNwHHgptFgoFOAMAyIMECEZZMZwDYA0azoxjWg2TiYBQ+OSDoFzMRfOoiWqV5gBwbsX0IALbWu5UOIUg4ACWfvMg4dVBtyFDbw0AuYMmTI8yKQj74YGxMgheTQ9FTw8GLlk3N+hNF4o8XoFm/fRUKIN4LexRb+kUV/FBpQCsQgBVh8cJUEq2YIO4oyICSABsGvXMxQyMChKpNtkIUABfH+OgKOOfWsZUSAOTLVljL41y86CZEEBhnBUAiQBcl4o8ACKsaoAf9F7HzUuRzfUu3vVwJvepaEDbWsZVCHWSbXf12MX/gziAggDIbQODaZcKMIBJeiwcYSyIH0ABD0fsQtVL9QD3gh6K2D74YI+EdE8FIqjX3Ebg3+AAkA6AA6h0oSgT7JDBZweADmCCgqhwjS3vrQWAQ5iEUCgNXbdlgz+IAZjcyR13X7+AIYDIhDwFOYh5mc0TQk0ABSD0k+0NNqCi3YHHZ0eAChD5vyYNHClsAPhs1GZ7PxsIJbBlXJ4JqZ/6guDaTc+BdJveSFiBrc+Tk0WEQ0D8/ciD5zIKLX/2AziACu9h78aRXEZyOidQO2QCJQhnqI/6qU/2q0a/FbCtLWX4IKiArc/5ofAcTTCIRigIRFDDXz2mq9CXbYH8Ff2A/5Se/GVfesyoeyhQgh+Abj7de0P++YNvkJbn31NIg9Qn/N6AegXYAgA+CHmm9cz4g6iQFG3pwx/kYt7f5goDbBTQ/Of2S78E42SfCc9Z/ajJAYicXjmA/uhPD6NFYV/xrWAUvGwGCAACBwooSNDgwIQKFw5EgWIEQ4UtYigRgqIFRgAoYjARM7CEwBIiOVCIaPLkSRWCQJ1KJevUCgoyZ85EyfDDRQA2BD4B4KaPzaAACAxAaVCAUIaD3IRZEvRijIsYU2xMAmAOIgBZQYoUWDIpWIUr5HAqleoskQo019r84PatRgAuXgiMGpbg0AACFRQAEbQgQrCTNJHSlFRqC/8ALVDY6DgHQCBFiho1UgQAJICvd8NeUBGp1KlVqeSoXVsTLM6ML1q8QLEZgAiBB2YDGOAQwIfXKAPxDgQWcQqBP6KcySMwECLKjQRS7qBZt00JAFQ4YukyUmbTMsEWLKD4xQsXrl+Pb6gQLvSEf9b/AdvChQvFiQfqyZMH+eTl+iu3Ty90LCctnRVEadolJUBRCbWAnn8muRWWbwOx119SYVQhRHzzDeQbfpVNxlwjgVDY4EkXUFGWS6eQpt1zRglQAF97JZjbXa5pOJ6G0LEHwIR3hWIJHgCEIYZHxlmGiGSUfbjcI4isR2JQOURi3SqkFUiTBA/8hVRCCiSI213/QiyUE40RlXnSk+lpMgoAqIxCykCTLWmZfo8AoMiOEbWYngAaCBJgikFIIIFpEQCggEJcHjTAAw8o0CiiA52ZFBZQCHFDjpOGNeGIm0kGgCaaDMbmK6MYRtlAy1GCZ5p6QimQBWSZhdahD0RAKAUROPolmIkKoMCgHHBQgXeS6taGRwCsFhYqCnHaYB5txNEFEwINMskkoTRbGCUAUPItj50utGd6CUhp1kuCIAXjo5AWwOtCBTE6aAkdGAplhA3FBhan4uqmRhdRVHTDDUl0cYYbfgBAiirNjtKtInqIeBK56amwiHWyRLJCbQMMwK4CIcObUEEK3MqBSMUaq9sh/wLpgSwUr6bHxA1CKKFEeDYrEYMPT5xxLSmvvKLJI7xBZlIFMgNgwZ8CprJCUR7DeKsEukYEGLASiCTdeektd5zS0IVnw80/1Fw2Ri8o0YUbgwzySChBVcCBzBZIgWK6An38KK6nKeTxvCiXoDKUWaXactg1vhDDDTcrAQDaE9ngww8xCFEFWCzI7Jl1qQgy0KMRGNglX1mLZIWirzYCLgCN+Js4Si7s9IPjj2P63g0/oCDCvkkdYmjq0GmAcWhncXzoraMPlGsEHdTLQheP40ViI6OYatjrsJv0wk460S7Qau/FwKBQlmj5aqyRtCRaELX2zdbyMnXAAg88NILI+f+wqc6mt5Q0Ypj2nrKTAYJPPGkjXwBPkgDPoEtFfGPRdrwikxJozno8uFe1ZAbAbqECTgmM3Q24p5MRyiUxCLQJEUgXvNcIwANTWh8n7kUSFkmQAhygHw+s1wHtVS8hfXDKByOCghsAgIgELGIMcPMgsNBNaYBxQNPOwokLDKQDzoHgBFnAAusVQUJha4QqBDIKPyxBU0GMSxG5J8IiCmRBZjxJE2UGGAEwYAhT4oQgqMCAegnEijPUTgXot6YisIBurXoVJWIRi1Co4QnjO+NCXDCREFJSIDagS3nAMoq4vWqOtVlADoaAhBVsYAJ9BIAVO/DHtcyvfkXgAWYO+ar/UNhJIDfI5BlBEB/w2ZIuMUhir8KiCTxBCTADKQABDDABB1jAAgy4AN1S6UftULB+9ZNQ9tIzJOEo5o2wO9MvLxlCXu4yLCWYYTEV5R0CEIABDlimO6MpzSvS5IYAcCVmwgU7JcRMCEJ45Bk/IMm6gI8uBcxRUs4ZwQbN8UW1CUA7HcBMCyxAnvNcCwXvaQYeYFN7MYgZAIRgA1ymZwlhsAIAgKkQ18QnBpeUyxo1chuw5PNViCoAggAgAAMEwAASbaYzLzBPaf5Ri65MoUCy2aCPcnNBDUJBE8IAAEN44g4Lyc17RgiecmpElwhFyTmVNhJd3ZQAPXWnBSaKAGmK/2SewsJh/UAiy8TxM6Qp9eZTQFADgRjCFbpwBSuqGoU2thEjibkkXQyqyxtw1SZfexUHnAcAFmAmAT01AAIY4M4FMAABCahXKkEbWhwWIYVzTRxTQ3pLvJokIwIJgydY4QpXAGC2rLAEHABgKSImZjEtOKIkCWbQoLjutK+p50CIEIEAZFazzs1sERThPNCKdn6kLYFSZdYCkP6gm2GRyni60IZAsKK8AGAFADyh3papQSCPSyJGBhie+OhuUz0Sit9quB0/csAABEDARB3AgANoFgH5oUy9EkxBHI4iX2esq5gAKhTwAsAqcRAIIiyh3oSoNxOWuAoAujAQ+OzEl/+50819KWYa/UqTAg+A6AEm6kx3DlgTyrnxgulnPUogDpJMZcKlUMDahrgWAGKYw5OQZIlPeIIhnshEyy4sBiwkgWDB/cFwUZwnlLAoslasgAQsS4ADLFMDQBXwAsgAAFP578bf2jEiDAfJ7casu061CYUBcIY4iKg9+PFEK9C7kCcfotAAeNkXAGA2RZP0NSnmMk1SSRKBQBStzdxAMwnMBm29QhVsXt3qTKUkSA5ECP3855Bz0oIfYOEqh8SPIj7hilZwGACWQJwlHhGiOZzhC1/4wVfT82iTzMSP0gHzASIKVExb4AAGGMghOF2qh4E6zg4+44+DjFepCETEkNn/MgAOUZnIyFbQTx7Ih9VrJ988BnbDVkixVTm3QR0gAGdlpkQXMObF+SAJW/hZKFTxiliUihJxJnVCIAxsb+bEBVZpd7h3xJvk3K/QdhL0ST71QXDDuyQkkc6gJGBviLKz5AQ4AWt+6YKaRcENhwhaLBbWLYQL59QSXmli6HKGhRziSchRjlbifIgP28QTtw4ixyUIZkcJRDr1trfJIaqAxdkgBu9Z3A+YcAY8uMESnATAJBCe7dUqBARFBkAe5HwnRfT856gSiCKQlAmwZOLa2nt01bqAZX8KBKcjN2sADgCjX1odPpa8wRUqdzmaJ7zO3k3IQLubW61QXjJHovhj/0FVy7uE/YycihYWcMYaISThAfLa6Ww+NvhxaiRtjTNgo8+IAlOH9J8gKBMKXJDEL2AF7nGyTOvenpBMbPguqojFJxgPvveg4AdCaIHH5AU41f8yR1BhbE6Un9KPQqEiksxkDKzie+ArBOgJsQzxmxyWWQikE1XYK+NZWkSHoEBqBXiXbXQ/0DFhJPZnxNwTRAGGZF9GZNDvWQb5mV+cCIR6qV9SoMIvhNEWgEEP+IXyuQb9ZaAGwockLZH2RQQpDEJIVd3ZmYTGBV/m3Ym3PELxJQVtqUInhEETAEAP7I7yfQAIaKAOXgQHCtlbDBkkERwqfIIbVIRKZVzrgEjmWf/Gt7CgA94FG/QAADQB/GnfYuxgBs6XG/0gEH4QJYxCzCkEFKiBHsTZwa0dnYya8DEhJTwC8enGEszgFFbhBcqUQ1wh/b1HD3KhB2ofIqxJQqhCYQBQ0CGJ5d3Y2qEKG1KChukGGyhEDfQhwuXgHRpW/7HUHvLhBw4E6xiGwAGAL6yZt9zPISoHxOSHQHyLJrBC8r0GEEGikGnfRYBXBsYHfLzHFv7gJjLHzEFGHIhBjwHAK4zigaViIlKGKrYCrdGaTYQCrbHfG7DBEZhEDcQizfGgssiFstiiJGGEeGjiLgbCt1DChS3EMAqEJvQiJ0pGciQjM9ZWoJnEJ8TNLwD/wB1Io030gAhIYgJdBHhkY3jIxS55ow+ekPa9nfhFRMyxWbc8AsQggjsKhfr5QjDQFgCwwRrIIUrU4D7Knj+Cx3xdUmMpURdCUhy0VxJ0l0kwjEA0CyHeCSVogjIGBcYFQyh2AiEkREZqpEn0QAoYZEJ44Ez9Ru5ZItVlmWK4QEkiXBKkJEpYQdehwjmCiv8AwCfMZFC8IwDoAgAQwhssxE7m40/yoxIlxG1QhLfhmUPMBUgSntVpCGtY4y4qhAuICUqISRRYQTA+jDNipVAEAwCwX1eaxE7yJEP4JALlxni4RU50AZ/hWTey5QsQUWLJR2GV5Vyu1C+pJEP8wA9U/5kSMAEeeBAozsIsaKVJCKZCfCVKNIFrbuRY/uBMPUgKqJS1nUTuIBZ4xEB39aZ8WKJSkuVc4sROiIln8p2iIRHpMUEYiCAAEMNAWKRNcKVAEAIbPKJNgMFrosQWaqBAoIBBGQeG2Z1AnMEZdAG1mM0N8KZntuft9N9iAOUuugVd+FN3IaclqeQNvOIvQGcEquZCAOZAMMJmaOd2RoQUDkQKtEBw5F5EIAJ5GiIi6MG0YMEI2ADB5I6GWuYsCudctgAR1Z6IQs4PYOg/NgEh5KQlYJxAuAKAJgTR5eRrGKhhDkQTlKBNQOiIBMLqrMmaNIIYXEp3UVKGagh8+GBmLv9EiJaaXdpSCI1UC7yBjBJoUmACI8goaxaoaxrmjSZFVhyCGbYKIjik9ZQpALTBQJgNeCAWAJjdHiZpQhxhQtCOEKineKTUYA6EjJ4EK1BpnqYHjQpEEyRoUHxpnMVdn/0Bj8ZkmT6MQuycEoRQDICHN4aHG8FpmkZEDJSTjSypV+7pni6En/6pfxgoAPiAl4Zb0GEYe4zpFzaqb/TYhLbBF0RBlW3q1YWHXA5nfOCnQqiU2ZlNDGBnV0ppQozqQJhCQrzBGkAJGMjpQEwESiUEIrTMoSIg2y3qmpTpzEXG10hGINABskRBCIXHP1pgZn6ASjWpQpCgC3TXCywBIRz/QbNWZ5YiHBtgIDca3kJU66oCXyPYia69aplGiG98jYdYHh2oAZURjMpBq/Z9wHz4E7vO6buOGBhgQkrVa7Emxb1CBxsAk40MRPgd2kD4a+Wlip30aKNSAnu0zJLcmJL4xpQpQYmiaro2X0JUrEJcSm6AABuYAiP0QI0qBHWKqowS612AQXxkUlZhwWMg4MmuXUI0QiaEGqy+LJLIrMwqAnJQKJq6AZwK1M7ybO6wq1vMoCm8QQ0orUnU40BwZYp+bFJg5EzNh+5FwXidIOWpYKog47buWM+xR9wpR5LIrFZ8SJssTM4GBc+2aQ/k5NpuJUNwJVfOgl+FokDUI07S/61NhCyODESWxdn9+C35gQiZNqoi3NrgHmrprqrhasX/CETcXEG6BttAnNhNuIUP5KSACibwtsInKIInUIKsHS0AwC0jeC5KMM4/9qvrFuJCBCyjcuutEV8mDAKECoS1quAhyMn3zlwYJqlbjCTF2tUNvBEKLIFg/kIrKAJtodcsyFpCuIIzIi/lAgDzKkQTZKj/eqZCuO5ygKlC6FrqlumTNWCTeQKE8gaYgmncSai3hJEqhAHERuwHLOlA3IxAKCVKdBozzoLRxVbyMsQnZEIrHK1/AkDnEqb/+q8QfEEcqN3BVQYBD4RDKkL1Wk/cKLACz50DC53GaRzyiQlEkNlvBlesZ3pwjgaCJ8wCdeoC3EaECKMw/nLu8jKEDxBRex6nFcSBAmYF+MqZrlFvo45CK8zWrDGZDzNwb/gGkgRfs6iCG4zkcApUxTJxUvzBEyuEgAqE5QYm+qWwakKnQGSx/l7knALwE6gBRPrPkVBtJP/tDr8J5pYXK1xyG3vCIRhNcrTOI8Rc3AQHpgoEY3bP8y2lerCC5UpnQsDt8GrFEwMoMQTDL9AWa2Zp90DO0Yxjk8DdoaJsEjpk4KKxJ/CGog4dK7RCG4dbJ4Pp6qBCLKhCH3yj0gQEACH5BAUGAAAALEsAGwC7ANUAAAj/AAEIHEiwoMGDCBMqXEjQCAGGECNKnEixosWLGC86tJKxo8ePIEOKVGjASJSRKFOqXDkygBWOLGPKnElzoEuYNXPq3HnxJs+fQIMaTGBEqNGjOokiXcpUJdGTTaNKxfh0qtWrEB10gIq1q1eBHUw8+UoWa4kOWMqqlcoC7dq3S8M+wQm3Ls8OaOna3UuThYAtevkKXinDAZa0gxNbfMmw6BXFkFPKAHA4KFeIiAs2KcK5c2cjmSNbNJIg9NfNRcpQ8eIljRw5ZYYMmbBgARHTQXHvlBHgS5eyYDiVAkW8OKgcBpIbINAgB5bASMfqdNjlN1lJwwEYJ+4BggcPJIZw/8mhw7doiycImCQLZvv2IU10gCmCxAkXE4zPU3TYgcn14e4RR0QVVTzBg30A8IAFFPpRJAMBLFx2FRnFJRIFFFBIUlwRZ1QHABJSUOHBF2I0ONGDLHwVBSfEcXKYFU8kQhwARVyBGBJcOKHCFgwOdsswQA5ji5CYpGIKJqtggkkpgGCyBABMjOVQAjx21R4oAJAhRolHLLKhFRjSyAUVQ/DQY13MMNNOPPLM4+abbrYpD5vytGNnPMOEwRELBARwhpUsgiIJE0ooQaOXxBURRmVFcAGAFEW4AQdcz9RDDz3uXErPPADMY4897tgTTzztAGBnO+ywsw47QoD1kHVXaf+I5RtqmJdGJMWBhpgOVPQahKFwgXPqsMS2Iw877ayDzjnV8MILJCVAEgQHFyzgwQQJ6BCGVU1UeFh1TXiBKCg6VFeiG16UAQARXTy31hmoApDqvPQKNA87xdQxAQMTQDDBvxAEvIABtQ1colRuSMIJJ5EcgSFHaYwhSK5K/DBQugDkYCN0WN1C78cfAyAPLw0UXLABAUMAQMoNACAEsAUFgQQQaJxQxZk06fAabFEwkYRAZngBgBwACFKEGmJ8IVC6XgwRhhpvMbOOvFSzU/W8IheDgEEoG9RASbcA8idBLOBgdghJ3JwTGa6VAUYbUAPQRBleUPFaguYBYEUaZZT/kYMPQrTqFSCgKAnOOuuUaqepjKNaqrwGALD15AB4AEBtyi0nzDnmcG5OOeaQI8xAl3xjTTTDPKM6M8Pc4vrrgGwx0SppWjPO7eOAMw4uruHCTCpRQJwuF3cTkQYPaZjBA2sAOK30VLbYcowwsFyCBhAEYDD1qgWtk4736aQzTzzsCLMAAgtcjgABBDfQQMoQGIAAF5VUUssmtQgjDBo4YIDBLtzgRjjCQY5ylKMaxaiGNhbojQWe4xzoMIc5wgGOClowTc+wBTjkUY9PgSpU9RCHa+TQDG1wowslYk3dXJOGMQkNAC/s1RU49pNCZFAYu9jFJQiAPgL4UBijMtY8/+RBxFGNiohE5JSdvHEMYxTjicAQBSQqMcU6MAAABPvOd9CwxRCEAAhA8GIIVrCCC1ygX/9K47XWmMYJQOKNcKQGOdDBpnmgwx4GAYccXCONY0gDdYmgW6/uNiaBUAEAhxQIGA4WlFsw4xnoSEYOYVEJKZqsGJ/qoD062EEQetAe97gHPvARSlCaspSfDBU96uEmc4BDHN8Qhziq0QxpNKMZ9ZOiFCegxV5WTou//I5A6nAMdsgDU6H61DsMggtBEA0AaeDbGPoGgL7tEQAuhOHFEuQZMOTkFtMYhzroEY9mHKMWokADF+wwhBwwgAELOMY9QAkAPNqznvUM5T3ykf8Pe9Bjk+4IKKjuAQCC6vOgoRylKEP5jncoFJWfCmim3PTKWIpDG8fIaDFEIYpiZNSfn7SnOwRiz3q0g4UCQWkZiNa2PVIhBzCNqWuG4AEVDEEOfBAIGcamkmn0gx/v8KA4jrEJflngqA7QwAU2YAFwmLKg9DRoQUMJAHyYah6sTBXitooOZaHjq8pqRzrEGr50SFQdIz2IQRFaymQKNJnz/BQ+B+IOSw1RHuvgRjR2pq6U+jUNAiEaFxZQMgioQAU5GAIJNEDYOhABAJFYiSl8Og4AMCMaz8CFNXARPx/ykAEOYMD6tKEOuZrWIJ8i4irrkdWtCkRVqQLA1KwmW9j/ggxZp0rcmtgkPrMGdJyrLKhwqSrV4hJkpOugRjU2cU2BrLSv6oruJtLghQAEYGDLycAERHEMcZyqgtYYBi504DLpdIQMY8iCF4ggiEVEIhIKW8QK2CcQBDgAAQcwQCXgBKd0zCkeb6qHvVb5JlVt9cCu3Z5sBaLgBtd2VQeGLeKyAeBQEXe4BCFoQe5Rj3Vo4xIG6KUHuCAeLnCBb32bbjRNPLCHAMCjQnwTMktrj9tNgxW5aEMb0OOEMoywb5IIspARuQINEAwADlgAAb5BEP52ilOd4qQ8njzlZC0YcVdGMJa37OCpXVm2CEYHNeThDoROxB7o8MYlAoC+6wKA/wAmqw0GCubFa2WuGN5gk0RB9UmSAqCh/OiHP/qxjW3cwg8S4QE1y2CH19hBEu+FrEAScYpErOBfGqgDlCEy0ilzak6m8qqyRN3VUm9Py1oGM6qVFQ5qlJmqC4H1KPFBD21UAn1tvpxA3gcBwqaPa8f4Bp9DelqDxHUf/Ei2PioLq4QUYQxjWA1r0tDoMiTCIGYAQCkcAIAg1EIdm17ISOMhsiCaalkPhOBXH4iOsrIjHehgx1fnvax6KwsA6MD31PL9VXNAoxwcnCtENAwActAiOdhF8lE3wHCGa0ADl/s1AERBj1ISXCIJzQcpqRqNOMRBIU7wQhak8CgnVLOafP9IhMoBcO00gKIQVJjAEDYYEUzVg9zmttOyOsdzzkEjo8GW5TfqKKchuqkd6qb3vAFwjmssox1v6tSTh+hfN/1TrgK5xzqqgYDlAMCoDVcBCS4w9oFYAAIlE0WZ6Zl1PBKUlFZNiEE/JUp7JGIJhjJvQaTghSnkQApOGMK05ZADPhje8ADYgxw4gUgIsElkSIS8yArijnkozk6xjaAENw+AcgChZHHu+vkqWclkeMOO6U59usshjHC0KdwGcfKAzYGG5bzTAQ6wAAAsgHsLbAAAY/+9BWqDAHtsnOAazoegl9+Pfl6KtQBI6/g6eA9xFCEGMUhICabAmiFMYQpDyIL/euUgBdcMbWdpUHkQ6kCq9huRTkhULTlLVS95G9AcAjHgMmqj64FETiCRoxzx1A4SBAA9xzkAEA7GwA5uohD8xV8h1GIHwG0CcUXcRoG6x3vr0wDgoHGzFndWtQ/+8A8k+A8A8A/w0Hz0MGX0YCrmkA3h0A3lIA7A0AaMdBBBIH5TIAXiR3JIAE1lgAQ7g36AlQa8gFvFUiz2gipadWXnUA6dZ0AGBAQSJzlWKBDnMxAIsIXsgIAFuHnl0AzX8Hqx94BmCADNMDAB8BB9whzwBAAHIBDcxgBrSACiYA8eeBD4EGjwgIL98If8ME/jsw7eQA3ScA0ERA7UwAV/gAcL/zEF9aFerOF3WSAQTjCEr5EGWRAEQSAN8zZqW/Uxd0I+XMV058B05UAOBWdA0iA/BfFr6ROLkvNrxbAOUiiFnUcOyHAOZDgQZviL8+AO+2cA1hUAAvEQxsgAJGAB7/ROnuUN/MRPAhF3BMEPpLQPALAP+5AP91B5dZINhogN5EAO4SAMRtBsB0EEkIgEkihySMB9sLFSmNhX8AQJdWCPtLAL0qBcEvSJobZ02VAMwvBEtMALtyQNvPB52BWAPuSKybE1BXEMT9h5UVgO3AAMDAh7vgiMb5IOkEAEh0cEWTB8W2OMBjAEQQBPSkYAkABgVlcPaTVP+UAQViWN9mAO3/+ADeKoDdRADdwwjtnABTWAfQqxfYDXjiKnTQAwBpgIG4fUUcUQRZUARkAAWmgADJRUSU9USfLTdXUgCpUAC3UwlnEWcXF2lgEDkctxDqqYigVHDtdwDcYSf5M3ZU1mhtGgcokQZJwgZGNwWPl1OTlAAg5ge6IQdRspdawlUax0L4rYkwBADdBADdegDeTYDB1AlArBATwIAEgpclkwBjDUlHSTAwkUlzqZmnE5mdeAlbQADPkIANIwQANUQOEQQNnADdmQDcvQm7BJC2NZByGAEAUjEMUgR+Ooiq2WDbv1fqMCeXRplwAQDWZgeCqnMBqiHQAgCdpRBkoWADVlAQ3/MAHiwJGI2Smbgg7hcA09KQ0CAQ3sKUDVAAtNcAbPkxAHUokhp0IiF3IpNYTRVImi0JPVoFzVcA3VAABxiZrY8JO0SZsCYZvdIBAT2g3d4A3e0A3coKG4yQ08uQzNAJu8EJzDCXq1QUV1QAvycnnD4n7OGQ/RsAJUoF6iCW3wlZ1Ywp0sB08E0E7a9Q2/KHVTxynjQw7Y0Az6U0vUAAAFKkDJMARwwFP4mQNNs5+skQVIQKXUxEI+RjcqMAGVAA1iKqbSsI89qVyUeQ0bSqFsWnC3GUBwGqdtShAYyqEcCqfUcEvNQAvAiQbh0FWrAjKmgoR2Eg3pBW3QVk1B6AXw/8V42ylpiUCHBpAGJGAAr9eAG/mAnYIO3ZAM9QMLxVCmh1gNAQQL5wgRMaACTiAF3MefALCqzDNNfdM3XuAEDIAGxpAMvQmiegoNzTCmh6iT3AAAHAoAw6qbu7mbcbqsw0qsxGqhFuqsBmGh3HANl5BA1YAN5kBvqcYO0UAE0oao1DQQWbCXQSYQkXBtG6BkE6ACotCL5tkp7RAO+RJGV+mro8oNy6ACTxIRJhB+4sefVAB4TvB9PTarffODAIAGwmAMxoAMEIsMyTCxuwqilIkNxkoQcSmZZ7qgqYkNu2lCJsSsyzqhGRtA11AJBeM+J2qPvFAMvIANDJSDkpgF3/83BZU4rukXZO+VCHwgB6AQBH0ST73ogENkDsmABl2HAQAADMuQDAQKAJdQBEmgGwdhAyrQma06BU7QtfXxfSg2q04wAdYFDA3rsGibtmi7DO55Dcm6m+y5DMjwsE/Lq2R6pmnqsW/roQE0snCaDcZADby5DNNDC5UwltdTMggwAUEQIlxbH11rcp4pq2OQfukKAHzgGnygAghgXeJwRHWpEGJWe551lU/bk9AgDOyCjgohBvSRBbJRN4CHBLQLIlKABAhbBlmQA0BwCbCgP2obvA67DNCwj9eADdegoJKZDPoDvGfrsBBLsXr6q2aat8d7vCCbDdggDM2gkwCgkwv/pA0yK768uQldS7C1KxC0uzRlAG1yoHIRsweKlwjEGAC4ZSql8n6hWyfhUAn1y2YM2wzGAA3LIAyQIAZR8DMRcQMnoAJU0LUD6wS1S7sFy465mwM5tAsAoD8CIbxpuwxLuqQKOhAi3LwmfMLOi7YSq6sgSrx325MCTJkHuqAee7zHwAWQK8FDoAIUnAM8/LWICk3y+xplIAUOYF1dZTWBSjWPIxCkYg7CEALFCAAYIArGILfGgEM68ASCExEogAImgAQR/CHrq76riruzOgY5IApNOzoHEbwAYAzNEJmRKcIDkQwbPDp6vMF8rMconMJnG7HJgAywULzVS6DKJRCQ/0DBXqsCHpADH1I5QwC5XoCo6Nc3UrABBAAEPFdv+eZgVoMO1YA9xUgAIbALy+CwwgAMdpAEMDMRJaAC6pu+A0G7JDcEaYwEosDBbuzGBBG8yCCbJGzHA8HLfXzMe5zMf9y8sICGaDimZCqq0lIfr4oEOzwEH+LD2By5lSw0YVurGrDJ4wiFBWSABfFVBUcLGLCGJsmwc7vKovAFJAIArKsQP/ADPIDNP1jGtbyqlYgEjEUAHVALuAAMeczHCeGwAFC8dCwQIoykB63Hu5DMyFzRFI2V0UuxvamnwGDN9eHR+0wQ+xyJKtQ3Y9B3SMAAm9wNtCkOA/SWqxiF2EDKbf+IAZVQwJuwCcYABn8yBxehA4mlsAZBwRNgAA1AAKD1xSnQAkVABvhTC7tgtr48EGsLzWJaEBRN0Rqc1Rbdxxr8sBGb0cnAC7JBu4MJyRJcy2Y9yZ6pQum1gznQuUDQoBVKrOEgEA8KANoADOvMzgjAsLuQBqYADbYgBnTwBxgRAycQ1AiRpcsIWhOgFSDwxSiQAinwAjGgBGQACLaAC7jwyw6rq7dEENDc1Vx92hN9zACwC8IbsZCQWCZ31q/atWo9ARoQieIHAFwbeCqwAAEABNmKsSArss0KAN7ApGjQ1wFgAEAAC4V9C9eACwTyBVJaESOw2NhsEIzFcJfmAJH/7QAnAAIA0ALZBwViMAeIoAd6cAjsTQimEAkEfQzFoKsAsAwI4cemnd9ZvcqsHcfBKy1DkNY58IORq9YkIMtdK35ZEHgwRQKdGwCHiKA0LBDeq6DAgAZTbNO4cAbP0A3HEANL3QIt0BEjYAKJVRCDuQEasAFD8HsTQEYrYBCHEAgF8Qc2HgiBQAc2+AWAQAY+DgZAQAJB/h0TAARDUAeVQAuwAAwGfdr6zcdR7cEeTdv8XBDp27XfJwUwdVgkUIy7YIh1nMgFSuHUAAs0reFhsAnAYAxGkAJfDBJKwAMwNRAk4HArvgIqAONkxALbshB5QAcAUCJQoAQ3AOKWnQIm/7DiGpABdd4AZJTnZDQBnDEGmyAKtVALTP7kezzRwUvWk1zgjX3lBYuzhyV2HlCMlTDatzSmAuGe1EA9QIAB7FMJwFALxsDkZBADLtACKAAScDAHRgBT4wkAD0fsGkBGJADjObACJeADFNECIxDtADACA+FwALAB70RG1f4ES3ADL+ACh84ZZGAHTx3VTm62xuDfxlAHQTDJIx3qjK3bUwB8YkcCDbCGCwAEFMvC9d3CcVwMsJDcIVAJ/L3Be7AllCEScJAHZGDbxv5wGkACAIDnek5GJvABFgEC4g0CI/B7AvFwulcQK1AIdzAIcWCfDJI2ViAGOjYHgfAHa6Akif9w6bhg7sAw0cEMsQD+gwc+20M9Gwi+qlpOAiTgARkAC3wKnKIwyDkvEHg8sfqTlb9rDFG9C4nwB3SQB1o/EjagBCZwVBD/cES/AhZQ8Raf2LteAWEPcaAVBCUQBAMRCYUQCIjg0wLRBRwhBgt/CIgAAOyd43pA94hQCIUACLuc7sZAAkGNBEU/25JLEIqF1lJAckRv9BTw9pxIBB0FsQAQ1gNx87Ap1att9Vj/B3mgEuSd6Gtf5yugWGYf4x6hARYQ9hPQbTEeBCvAiSwHCL/hHwkhBmowB4fwCAJx+gBQ6GrusDXl7lNO21bOyJM/BBCw6CP2RrgQqqIT1trfxgb/DeWwkAiIEAjsfQgq4QI/kOizD/GsHwTJbvZF4PsWwSBrD3EL4AC4D/cDcW0AAAYukBEA8QIAmU11VOTIMQQJEidOADyECBHJw4YASEzI4KFOMmrYwpEDKQ0ZMgAjTY4EBkzYSgC7IBWJcUMJlIg1bd7EGVHMHEVGMljQEJTEBgArLKxAmhQpnJxNawbV8NBBhgkAgqwIYhUAEjmJBhpx2lRNmCpJOpBQcXCIQoYVty6cGBEJxgwZeCFb1vHjw5N9ge1aKQwYLDsjQIAAgAJFWMY4ESlCFKiIA6BCN5BYAWADVs5XTTBpfPOEg5xZOUNUAdFEaJyKgpBAexDA2oUN/50gIZEDgFsAKjzUBUALMDJq1KpRkwYsGTJjfXep/CuqCAgRIlhftzknzx8GlTUMRbtiQxDynLEuxv4wAUQL7S08ZEA6q9UsY7JISY+zBOy0vRHShui3IWx7qK66GAhqgw0S3ECFDYTpi7nndgEAkhdaGOGD/DYU4wweKgPvAhVW0OC0q8hbLb0TCGAAAAsmcIABGFs8YAISypCDj4f2oCKHPfbYEKIi+EutNwD+W+gh3QjMga4JvINKAwU1qIS5kowxZhdYYEHDgD3AgOIJAIQIErsbhEhCA6BCJAEALx4iL07yTkDsuhMQIG0CDVRoU0YADIgNSCDlAECDMsbw4v+xP/Ir4ru0ijRSN7YoqkiD36qKEiojLQCClpQEg6WOOoJAIAAVzJijzPxEaMEGE54M0aLX4ixBThbSYwMBGb0YA1EvLNggAAMYOEiFPeyQww6LZsuhiDg25IE/3WySja2KhsBogiczharPBRZogAEZGdhADkEOCGCCMVTdUCYsnrzsgqEUtKBN8qyKk4cm8AgkNDCG9aIMItIoowwXCUCAgIN0I/hQACDojQMAfMjPCEchvUnStizV1kVug3JxAXG706AqJBZJZYIAAigDkO3YDYuHMfbQVww14ihigngXDMqCOPGVMwgeIOq3KThMINeLNB4aGAAqMgCAAKgB6PX/oSycgAChFVxoIb8jMojtSP8gTe0/hSDouL2Po2IgXAAQ3MCCtcpIZZGVc5gikED+WPQQmGsyIo1EIpFEkkXIuINvYHmGKm6t4AyaBzUY64EAA3IwmAgq3iQCgAkShqDYq2/LoYHUtt6wBLXDtkk32QDwQFsI3Cv043DF1XnBhLw4RRYCAligjDcgQ+TvmqAoIRLCCy88ETLeKELtqBRUEE7IgyAiziKYAK0pExAOYt0ggKXCTSoQQKDQIxcaIgcVFmgzs9TVLDSD/tw30ia0J+iOsoegVNPIWjQlEnjBC6BIBRJWJgUyYEEMxqsJGHKQhURIghMWxGAkyPCT6Wkm/27zIU/2Qoi9NJiBDDLwHsLKZxUDBCAISwMAuNLVJoQ8xDffYUOQHFSZAvUHNWLznLYagIAFvI1Y/9PUyDw3pQ14YQi8E8TdvNACF9iATBAEAAwC1qs0CIJ5zIuEF1JDvQ3IB3tZ6RwVypAGPiRicIkoQtduAgMDaIZpHmAAEspgQAMgYFipSU2bHhY7veWHDQt6D7WmFZGLQAABTuBVEFTQtic9JIBKzF1UcuAEFXRlAcArwwmoSDHjjUAEQYBkGuQghzR4gQ9fLFwk0pAZeiUSAJpbYxvdGIk38mF7AGhDROCgBj82ACJUCIIaAVAGAgAAATYKJOw8ADEe5GFDjf/iYU2g9ijZeKABEBjCoQqGKKLA6CH8U+LioKICDeSACitIWLOqqIQvwAwEH/gACFQgBSlMIQs4koMB9wDLwhFKTf4DABvd+EZeLjQRZsDJG3TTgLi4aY29ERYBYEMCDxRoAhDgwd42xAFMRSUn01JBAzKwRSIUrHO/mooFYqTEBjigZy96UbnSsACFBUEm9YQZPj9wAifw06j/lMMex/BKgsohA8MqmQoY6lA37oEPciBD0WqSgwBAoIi3JFhLJ2A5lZKgLtpCQBEAQIcyPcmWN0kkWjxggF4VDIbLRJQDYITOFsXQATHS6wRUwBBOyEJbJGDBEsLwLHYJdahGhaz/FP65RoINFIMYVBABCLCAIVAVAFaVwx5CC4ZB2MQLnJhrHzd3y940M4ZU8SoCGtAENQQzSCcggdqcQi8DqOBQLSXCmwx2S229p20t0iwBDuBMP7bvtLIAQBaC0AUxuAFmLWgBCkxZgqJG9qhjUGUZsrC8L/JBtugTBAAS8aPQhjYNrRyCTSSxtJ1ajgANygEEMvqQbxngWywQiKpOkIP27JYoDSBAEAomsBw0KGAD88JUqkLE3zXgIg0oARnIYIQiSIFuueAEGfrQhSr87Qc2eIELiODdyDpBjascgxy+yMtTOICnHhBtjt/bK0SRgAwRucNpASCIqvwpapaDyALS/0eADlTgnjCLQG7DkhsNJCx8AqNCA4CnYJfm1gEJCwADNjoBMiCCb3rzbSlkUQpOYEEIMXABu+DQhjN8IQpI4OcUuhtZJAwIqe+VhPLcuBUIaPYhO+axAaXQrNICoBGSWNcycxi1P9XRmVGTgAQOAwANwazAuyWBExhggASPoWBUcEAACLCCNLRUjPzTrJhh44Ei7O0PegsEGaiwCFmAuBAxyC7M8rAdMBR1ClLYM2SdkAM8ezipXXEjH9IQiQ180gMG7JUBp7DtKQyhBEtYAgDAsIhFDPkhQjjBBer4LQR0wASbxqfxRmPJphDFAn58W8AEhi0SKDhgAHhqwmy00f8g4BrXiCgCFdJwChCX4gUjgDi7FNGIQehgk8dOtrL3XDCHiDYNvQrC5y73RG5PYSFag4gqDx2RH8TgBCf4gGEQYx0syuDTOZkSAxKGPl6tcQxUoAJwDcgAJRtg4B0FQyAUMfGlK+IRae61LGQAghGw6xF4+MISfBABZjeExd59U8+90Gcn8IEEWlZBfN+CkJJN4AEAiMEPIgGRMTSiJmF4iA9igMWIEEHK9QaAjUtFagYIbGkDW3AZgqBzAxidoxkAsA+WUGKIaIIMXuB1LmRRiMSwqwpvVgwKgoCEtDf760ZV0hCokAUDpmECDYCfQhByEW2B7QI/GEh6ASCHHOr/ge9hYUFuTXqTBm2A6BHgaamoUDWXCswLo27hAs7aAe2OAD0ReYPCe5cLUPwNQ4YRAQhUKQf3DeH0Ry1DDvBjwKJmYAFGd58QwbZRE9STUA8pgx58/3uncABqw7eJDXCfBjgAE+ABQzOAFVgwi0K1b/kdbZmADrgnEai6m/Ct7ZOFN2AX8BMBfAIBKYgETliEIcgA8zs//LgajHOCIdCA91uA4jKpjfIAMHiI++O9/eO/nFiCCHARequJ6iG6AzgBAOCBxosaYukcIngfA4AA/VoACCiBe/qA8GuNyxMEWei1TgAARVAV6qiODzACEBRBKXgNEzy96FKBFXSfJnk//z15CBnkqBLgwocoNxVotBzECSM4gBcJPEsCQKKwsQNggBNAgRcwgcbrI81qIUUEswVwsgmsE5wIBIVLhVwAsUHYvzlMDxQ4jHsygtPiBDl4J9xCtq9zkynIjWJRgc+Rmo3iKEuhiqQ7koRQgSJYFDy0CSUwAWBJJNLoQ5PKudshxIfgAT+ytDpKRITpgBTQrk1zikDoHADotVQoBGtSlZZzgRQwA0HgBFmSAlEygbUYEGVjiCxARW6KnT7yAI5qk9j5lhShgEn6HDCwRlyEiCp4lT6MCF8kDSlRAQtwGwDogIgAAw74pORqps0yASxIgpYLsKbQm8srt14rBK3aEP+/EYMtCLcQjAQqGAIhwII2IIG1yLiE8Cf7QYsLQ5jfADhHUjUJiIi3skfsK4EFML4iqwlftAgpUCIAOAAUAoBn+QM2KIELaIAELIIiyAM6mIM4iAPbCgs9yAMnMBhL5IS/mYRHuIMx4IRu5AIikMo8KIIBybiFOLajO7vG05bYKZUAeIAKBAC3Wa4AmEmIIIOq0DnG0ACii4gGCCbGggi+EczBvMXGoIM8IIP7ywVqtMj8uLVDKIQy6MpFQKZDmISsJIJme4jIahJYdCaEkR0CyLRIhIgWsbS6fAQjgJi20aselMk+bBubiAO2wgnCLMzQwJkyKDdLrEZ2YcpE4Mb/SJADKTACJeiCM8CDQ0gI72qItfwoP3pCCLgATRMqiACBB1iA5XqIOuq0HHwEIgiXGCGB+NArvbo5iBDEmmAAOrjNmuAbAHjP63CBGBACLqCbXrtKdmmDKCAUr8wBEGiBGPABIVCCJkiIimgIJMiBF4QYyyEiFng3KbSJBEAn7QyA7vy9RigCy9GAPiPBCYAnPIERmUzPfdRAHIQgw+ABOdi+VQADvAsSKLgBGViXbnSCIHCsEaAiIyCChHgLFUCAFSiBFQAXFmABTpRCDIWIt4uI08RDCPCALqoJ5UmqFRhP82yP2+kr0lAr/sMnFvCCK+y1HyuT7JIBUKTMC0AM/8fCpxE4ARYIggzgAR74g0nIBDwgCx/AkIdQUuuEyRhKH5+ES77rF0GqoJyYO16yjyzIAdgQF726gCH0UnzSo0oEsevLj3vaxq4sAy4YQjZlUxCgzy3wg0kghU8YBDXYAiUgk70bVIj4AAEAAFn1yYdQgDPgvz/gATvYgwoqnIeQBEQFAOVpKD7IAiQYNQC4Fb4TKh5IAzXTvC7dEHzqT05YtppgUx2lmDMYhMtMjzopgHDFCQqgAIgo1w2ZAyJYCylQml4lL+ZxilgaAjtACwn8PXwqAS+Qg17LBYiaVjA0GK+cD1jF0HArrUcoExcQiC8ATMY419AQAhbwuixwE/8DooKiijE+eNdfBYBgFbQcCC1OykGhGgI5SIVeK4Uy+YAzBYBupAI1haAOkBgsetimGIESAAApALosYD0DMiBzLEXW270KIhzl2YNp4YM9KAMNkFRmxSdnjQR+5YEkwIL8GAEzkANQ4IQ08FRVIVeb6ICwndk/OARNoARKyEGuu4m20Fmf9dlum6AysIM0KDuvSAQ+MJgciDe+y5ChooJ97TVBoIn8SAEycISWJT2ay4+azQkJeIAKeAic/ZsCqAkTEKSaiC9mqwljO1bzA68fUa/1chOrIE0I0jo4A9ntSwU2SBXsEAMwkMyWHYKBrcuHkADGZZfSjYgh4BO1s4n/zEWCLEgDZBFeQjkUXqlOLFKEP3CDMCiCNHCEqAMDP0gPOgiyrowEKeDB2mXWiLiARcJcH72J9tENPKPYQwkvROG03zuEpXuErAwYLMwFQfAb7PiDxGxZrqXB63jY9qzdV4UItU0P8h2QKQgY4V2m0TUBTDUewdwOIhAEaJUFMmhd1vgDw+nKteDfwAQA3L0OWp3WmhABE9Bc7Gif2UACAx6DKbioPQKAIkiBXF3KOXjeK9Q8HrCB67g1ycxgIoDRsOjfDm6KGMZFBn6IFEkS1iBg8x0Dqlya4wUAK+C/GYaDLticUyiFjrTfrcReJLiAvcsJBVCAB2BStvLgiBiA/9BQgPz4YbCdFoVQ4hM2P9bbo/R9kzdoSr5jyjj4Al1kNipAgiAwAcVtDILBvyFoWpsYgDSOiDH+U+6tiUlwimgyYUlxMV6Rgid2GDLQg8eAoBk+AxntgHChHh7Q3aaYBDD1ShLo04cAYTyUgDW+jpnNidU44evI3K0w4DJg4SdGFDNABLuDIKZsAzdjRiKijKOw18YAAwjYgAHxgAu4iVe2RyaFoNKr5NTAM15xAvBKKF9pBEnGIj5WghdQDISJj/ZIEcbYggioKXExAAEg5FmtS8jlPzIYrAG25M1hPTt2gjvgu1R5AhtgxhEQAF1JZgvQNMZogfgQF556ZEi2x/8gKOHWgeOHiAsNng0noONMJpgxUFCA/r0fKGgTCACEbo9Rc7KwSADy1DkCeIBTrueHsGfWOGOCzI2Keoj2yWmIIF+ESAtmY1eQzrb2IQPq/T1gS4ERMGnl+qvylNac6IAv05VRWxmb2FuJTo8zThUdyI2L3unX4V0fKwIjCIIS8IB2YggpUFCTUwEyaNgBEIDkLRMsYAIheIETWJkD+CtxsQAGWGeceFSZassLvQm65r8CYIHOGZoy8eAT4ICEAGufzgEeAExN4MI3IAIeOLkMSIMsGII3CANSkmtszerrcMo5mIMzgIGVedS/UhPJxQkeiJH2OICE+Z2moDoUkCP//pPWmg4S3O2AaomIRpVtnMiBReAEUGAzQSiCK5Jrao4IxHaKOaCDw1zKphbEv3IPayY+LI0Ry6HLsJDl33s7FmhsvgWBNy0BhEiIHIhQpyADQYgE5gaFSOCBcM0QAZDuw27lmrju7eAb7Y4PGDG+9cjhm+CA/hEXP/odmFPkNB7j2gXu33u5lwuNFV2E7pPdcGVk7DjtiDhMwjRpAxBEkeGpJmiKCwgzoms8y1mPmlhk7qVcrQ6N5OaEUtDaIYgA794QFLiBJ3gg7LbNlVG15LqACraJPPie30muldFAALAuJRBXSPZxG88JIlBu5s5xIjhuxuBvnGBYthJwwgQD/yM3cnp0iiPXrJVJgENAWIGs8LB4T//FjgKgZe7975pIzPoGAFA4BSqY86aIN/7+cBEv88HMgznAAzAwgUcfhHrMiTNHcxbQKkSoX5v+Wvi089Bg0oiu3e6Ubg4Ygg1POQqA3DxnDKpb5PJ+iEQnzGGzYL5xdBOgR1mHiB/o7cYg114n1/i8DgWY2QeocSxvnS1PhVVYhBW4acawATG53YigANsUzFmP9aWsidDb6l6H3Ez3dACQGFe/iUOfyRXgg+VOBTgZdOyQ9a/1dcLUYb7xdQpwXCWwCQq0vvyoAA7oAJxtY9N2rIggdpwoAAUo9pmsgAuQg/o+BQBIBTlo9v/0CIRNn3dfZwzBnPcIMPhFJveHwPcNoQBiT+M1pW6IEAIoCHder8vkBvRV2L0KiPj0OIRAgPmKt/icwPhe73EF4Hj+9nnpDr98x45F9nnGYAKasIEC6PibiHmYUQFuLIWTLYUggHnjCYWsxPRDqICan3en+IM8IFfH3XiiB+GfD3NYnecPLvqmIBPQiDMAMPi4V4BMq4mmV5ULgPpTSIVUGIOqh5kqCAM/KNtQoIRHQAQO4ICt73WnGDY6EIMnUPrD6MAQn9Wf57SSD43oDgvcA4AbqIk1FncAwNl1h6ALAMFS6J1TkAO/3xABmHEASAEXEALAF3xNCAXsUAMr+AH/7UKByQ94m1j7y9/zpuB4xhCIG9j13p7ZgZRtuy8TFdhwvW9Zqg8SJd1tFEgB+qT961ACF5D80EMBNs2J/g6NCuhxJSAlQn+I3kYP0LCmpSuBgYQIVf+9FZCDHD/ZU6B65xdhrAaIDwJBjECBAgDChAoXKhwBQoTBiAYFUhTI8CLGix1KlMjoEeFBhYEUAWgEgGRHFhw+smwJ4IKcSKdOpUolpwIFlxc/AKDYs6JPnQohSgx5EGhQoQsrMBV6MAWKFC0SQkkYCJHJkwkfKe2akEKORaBorhIkoYLXnUgBFNUpgifbkAlBJEQKtyuFnEJTuEjYt2+XNnkABDqkyOTh/5KPKP1J25XEIk40EQbB6VihgMwVi0Z0KSKj3LpAP6IF8Kfx5R8Kq8YJhNBw1qyILnuFKTmVrFOV9dLO7HsA584sH0oEMBVFi9CiKYoYkTFv3sukAPgB0MUKFtMAZiNEnPVkI9cXedNWaMFJpFKTzQIgn9Z35gEACgRveaNvwuPI6WYUIQJEC0y4kQlD0F2WlSoKkUJJI4kl9B1C3GEUXXkKqeDIWKsAIEgFD7R3GXzxFTAiZy5FgZFBLPkQhiGhkBKeawbSRhIAmiiICioIUYKRhBO6V94FgnBSCm6nrKCATgJgFKKSI9LXApTJ6XTGGV8gFIMLUCrnkSaBBHJahf8i0TGblQkNwlWCozAk3nM/0maBHEOeAkAqYwwgn2NMCjBAAQoUkKWWW3r0Bx0AqGHlD8kJGqZQbYiRnWpJAIDFFWf0QSBDenzZJqMIJaBCeutlBiKTfCqgwAupxnDDohn94docCEWRxAudOgbFD0oAcEMLN+jKKwBVqKFQggqhthCFnZKAIU2yRLLCqO+FOF+fqKb6QquDztYIInOc0YWtacUQg65C3ABAuVO5cG4YCBliyXQeUVBapxbwcRudKxSQZ6nVXottWqcdghgigcARbldTvaArAEKkC0BfPvzgw1RCccRoAlwMWeQiSqZVwADw8envC/g5dlojKZfUI8L/LtWK7kIo9BXDDy581rJOJEQyVk2CRNvVA6fGYOqI1pp88h+IULIjgzjrhIINL9gAwA9CIATsrkc7zZIFQjZrpAD7KpWXBIc+IEEEp76waoUoAzCKJprk+MgdDG/NUq02sKqw1nd7BOfGdBIh9tgUnEZBCSywEIcYXTDxcnmnUTIKKq+8wpXfQtWa5WWvKPTAiOV9KtMpGsqhwAMR5HWsvIb/QUEHimsyyiiUtMGo5Ai9okgYMWSuk8kuZJuRJTh7EAm+ckQgAXTJtvk6B7LTXvtgYf7xSLyHXJHo7wvddcML4AMQddRpFY+zA16vksopF3TQAQAcNP/8H9EDwMPs/6iMUiijk6DyySH80AUlCMF33csPAKQ2voQYMAYV60pHWsYAJIQqEmlgAPwQIj8ZFeg0HEgc/kahiv1Vj1GWCMMWAAAFXGHtdx944EWmxpbLsC5Md2qAE6hABSSQAIPv+woHFQKd2LGAB9NrhB7CxYQYfEAIUGCCEH5gwN/JJWqr2lzbEFY0AizAAl60AAPcF8H4BREhQ1QcD3hQuUbwL1wCicEKoWiD4XVKZn2TYQKNc8CPhA4ACDDAASaAkDC+b4wbdE9eoseC+9GOEnRgk60oooQn/oB7jLqDpHaiR8hBbFUPhOEeGbKvOwWAAAwAwAQcAIAF/DCCJWgebyigyP808kAVlNAUzijighUScIqXWcIb/GCJTnjiDarhzwwRosAEuiAGeFxgKMeDkAIIoJQMcIAFHLCBCYgRABfDCSxlmTgAsKAI+nvk1t4Yxx+0UCkWUcgsZgEAVnSiTAAoiEJawEmIheRc0cQIByJAgEFiE5sbOMD7NnKxcMIOjWocRRLvRhEnQlGKXRGICJrABgB0ohWsUIgnPGGIMzyBIclpwRTztis6IitcHMggACJQSgIcAAAOuOkCYlqCDGYQlvBTHOVGASGnUQSOTxTCHHVCkRo0oQphiEPBEGGJkIIUNVbIJEhcUL4XTOUGvhSK8y7zUoVcIAAIOAADGtCAmi7/4ABFSBlHEkpGcSJETa+4pQsFMkkmVBKUGVlqUwEwh9kcAhGGPV9CqIqQL5T0B1xdG8Tws0+80GasCZEAAWiKTZuqMpAcWJBWEtoBDqykRnW9JSTTKZBdMqGXLREICpqwhCp8YUyG3Y5hEUGjhXgiEwajkkJqVSshsJQlYXWJXBUSAABc04sOQCsDGIAAVXhOEzvKLXfiBgD94TKvH4gBEyjZTrXU4AhLSKEesDsbLxV2twtBLADigBCr+e6ZFXJTRl4K0w5UIAHW3KxNs8mABfDgEPHKESUUQRJK2Ih23e2eT45aQI8IhKlsANdVsHsIwrzKMJn4aEIw9aCEqCE7/0xo2XE18kNyLhIAATBAcxMiYACcgAnZUUiO3nbETR2wqOGFIqswIpAeBDZCGkbIaRqjW0+44hMI6S1CRFwSAGgKXE5LcULkqridAuAAMMamFzfgxQMgYFwJsQIANgyAWKyZzV6KpiSPaknvoaAHs10Idr+U5NNcRRGWcLJHPGGJRqj5blhOaOK43OXlMmACX8xml8HXQISg+RGvYLMqbARndUKBgPbtSWzfkMLXJAS7ptmza7hV6I94IrVX/tFLOcIC/sbUxcslgAFybQCEnACy9WVnrb7QuJMAGgA7grBAWrDXKD4Qtk0gRBjUUEP1cpjPG24E5oRSw1dTSL8VeP+fBIKmgAMEYKYDzSwBFAC+vN2AnatSggtcMDG7hdInTIDihBHyARSs4Q1nSMhuTb0dRXypMIdJmZRdcuwD5qUDcxDDF5iQhB+gIGQGKHdmy30A1JWsVu2u5L2zdJS77LEi4O20uY4SW0YYolAq08pscqtgBRu8JCnLtlBeEYpQ0uEMuBJCEswFMoTU9ABGn88D4t0CF4TvB1DAAquQ885otgAEceZrzXrShDt0whJXwS2edavgk5DEJCl7eVqK2ymoyxvoQb7TfAAAd4gZJznhU0IUKD5yku9xCfz87r09jQIfMMISXjdybgE+c4XE5uxpaRcTD5gE4blACFZbiJP/xHacfaOUgCdVu9M+YYgr+MB3Smhtvs/QxlInfubuNfvZ0a4UMPTAOHz3mx3HexFs6RJLwvlnQlChClJY4gwOe8IN/JkRU7ueRrCP/cKFsoQmAKAHPUBm9wyipY/EGwUWAZCUgM94/73ifwDYghCY8AX5NmJpJkm8YXerCO48/+xL6wobjpCQ2kcTBMhZCCgtHVclhfgtxB8YxiPkGCpkwiMowv0tTdNg19ipjILVX8rcn1L4nULsAPApCkKA0kHEG0hMXQEa4AEqQrwkCJvVSO1AILfMHOxFyMHZHwYKRRVcBArcTDT9nwfqkbqM4O2V4Kn9QR7MRht8gSEAQLEg/0Tc3N8E2tyOVCAN7pxLvIInAMD0YUQPpEAQ4p4AAiDdLZ0LEKAQnloeME5CPIEVxIEmLCHtGJtW2BwFYsUFUgIVfkS8zAIhtMQWdqHTIMc+/WDF8J4fih8dtAEUxIDVVFL6VYEY4Jz+PIjZRWEFLs0dIgSIJQSIBQMAzAIj7CEYAID+eUQfFqKtHIQ++YVxAApCCA8JliEAnAETuMAIyFsl3SIAqOEgAIDnrFntKASDvKAlMkQrIEQrFKM8+QInYsIdrEFChCJL9KFQfAAI0IUpMkQIVkwz2UCUKMQYXuM/tcAICMQtlqNqnFiNqMIKGpt1nd1h2OFHuAJCBIMvIP8EI2zUQoTiKGaENH5EEP7AjX1ESDAdQkxN1ECJN3ofOIbSW6yWOZYjACTBE1iJOiIEKjTh/DXCJWJEMgKALiDEG2QENH5EP2pSzNxAdpRQRmgJQQLAuPhON7biN8Ki9yTbQ+Ii1UgkmgFaLMSCJqQMKcgj/n3ESJIiFzIE3+2bC5RUQmxbQkgM+OBH8gkXV8EQ79HkTlReJSEERN7i6SnBGUxCgvjCOrrEL9jjGzgjS4AB9ZHkUeqbQlidcdDbR7SBGqjBrJxLFJ1L8rGiQrwiVhrHuWzlLX7cVlrN6d0BK8iTS9QjQmACAISkULBlNHIhCKRAXIREC6iGSwTCBSr/Qh4cCtYVZkz+H2DCIgpMUfIZJmFWjQ3EgAYqxS90QifsoWTOXlsKpEl9RA213+y8DSUgAhZgQRIogWqoRlX6hUIGJgCkgO9sJdUkH2feYhQ10x4ixHV+BDEwBBvgo1KsAWViRAxgpk4gwoZBkmdOjkIgAh0cohhEQRQBm5SI4HJiZfhE0UWspsNYFAp4Z0Iwwh14BG0yAkj6Z1esQRPkpmOY50X4ppokxJi83KPwVdTZEcScZgHSzOUxRCVJ5Qw1AYECACHcJkZwoikohIGmBYIqqFIwKI2IRyAsxoN2Rx4cHEK4BuNggRJgiQBmCYaKH05yqBTFAORMn3eOqEcw/2ZCrEF3VsiK9oBfJcSJ4NmGld38fYkiPMJvQujAZQVJGFYSRdz4EKkrYuVUcOaGKkQlcVXD2EATYAIbtIBaiihDKANDQCaJVkgTTAVC8unyVemUzdzAaCnjDcZIeKnzcQsaoiOo0eQHfNx8YcQNWB6rgAD1MUKChihGnGVGpKhXHEeUAkAejESEAOpQOahC8M+hIqr8wcq/0cpXFeAH2GJCpKlCWM1U8MSbmkJIzilLBEMwCGWYhKp1RMh2pJlWyJ5iaBqN3igdLp/YiccNOmp8eoTV3MBdVGNIYsIbuIBkbmdCfKRHJgS4hokDEWupAZzNMQSDzSgA0MGxbIskKv/E/NnosTrqZkInh6KL9/3lB/TAHp6okoqrLshTK4TCMQIAJy6EZHqqSKKr4i3EUCUEsxrbISTZsapM/Z2EYdVh5WDlrEJkpDYMW3ThCOAjJ7qCuAKAK3gCSRyjPBZjQtAjQ/gqRqwBCtTKuPTNQtTr2C3EYjCEml1s0oDH/BnZ2c2GgyhhYH6ADTykcbLTj2IiuM7CJ4TUFerCL2htQnwCVygpuF6hQthsPn1a8jUozLnXlL0Nsz6C4RVPJgyCYRVWex3ttR1rtpHCHfCs+Dkt1VSScYLP1CrEJ8jT1s6C1nIqQojrLHhCKCipQnxUni6ED2REYKQWjSgt4z0Czj3QGQDAVyYUDHup2fwp7YYR6ucyZ0+YjBLcx+AC3MVmouIqxMp+giJ4AuRWbc0iBBj402oOJsBJSNmpa3dgjrteLdYqFgCEbmFsR92qq+e8wr+p7r4950wKRR6UkNYuLEaQhCW0AuSG60JslK+uJkMc7W6ZxKp1bkIIpSs0GdaKxJulmYKJXfSprr6NhmN4AiuwgivQpid0AuJ65EeyQsw9gsx24kJkIhZW7qqcLVYRb/AWFkIshklsKQCAb//27yy4Aiso7+d6iZdgxfDyIs4EBAAh+QQFBgAAACxFABsAwADVAAAI/wABCBxIsKDBgwgTKlyo0IoVhhAjSpxIsaLFixgzDrRihEUUjSBDihxJsuRBFgkemlzJsqVLkiwIvJxJs6bNgkYS3NzJsyfInD6DCh2KECjRo0h5Gk3KtCnLnCqdSp2a0UqAqFSzamVoFevWr2AFdg1LFuzYsmipnk3LlunatnCHvo1Ll+fcunhpYgmQt69Nq0Y++h3MEksCI2S9CsTC2CHjx1gUE77YBQCMK2UfO2bcpbNmK1jUEu3iQEbZJ1BAY+nS2HHnL186h2Vi93BZK1CeMGGSGnJkh6BlTwapJEEJyVNXe8YCZXcS1KpxN0c9XOMTgVDCQu7yRYyYIkXSmP8ZT4aMETI6riCvHvFL5sZNzMsRxEkgp0iRBCEZAgFCETHsYVSZTl9BAQVjgICiICcMNjjGAggYYAABORQBRRWTqXHLKgDYggkmoABQhXfesdZcEgAkkV1o2jHWBCcKxjgQJwsYAIEHJAwxBBGY9ZUKAODIMw8A8ggkz5HtpLPOOuB8Aw44zExzSxSMAWCaTFs1BkUiMcpoHw8CNTEEAEjkIIYaeN1yZD32uOOOPW26Wc+c9bg5zzzpANCOnswMdAIAAbinVRdinPEGjF2GKNAiA11BBBJO5GCDEHkdaamQd9KjKZzx6MnOp+yscw424AwTBRRGBEBAYCxKJcQPQij/IUmMYIDxBhkDLdIqGUhwgUQRrcbFTjvsKMROkaGeUw0vvEDiQQYeRFvCBQ0AYNtUcJwhRhdglKKgJADERsRAghDEAxJUIMFDsNXtKU87xTAwQbT0RjsBAA0gsEADCyikhBCxKsHEeiypBgainOgAwMBIxCgHQTr4ygURhQY4UDzxAFNtQfsaBAEAwQFIkBrb4sbEdTcRKsasCpLxBXMKx5gIFoJWMYQTTpAAwA9hAYKLLZvgwssusMDijUCgJg0qAMXKU0y/UANQY7X9VQ2BAScA0gOsShzYBRloABF2EgEf2N0ZZ6ihLWtVSuR1Z11YwcS/NsSgA6KShLYaAGXE/5hGFISq0UYZVACQw1fP2HKMMLtcEjYBkAcABADnALAOO+nEIw/G7XRObDtDoqHvQDVOsDG/CyxAADDnnGNOOE1aw4woAOBgO5XN7Rayti/P/YMNNtwAq4rRNafEvwJb0cUZbcDhPMlfsAwKGALBAcYYacRoxtzHM0FEGWV4YUR2TjHDjDnUEH2J4wJJKBAw5ly+p0Cdep4kAHnKw47G+hIgof8EUFUAJGQAABigEqIAhjGOEQ1uhGMXtsNBAFzHjW98wxrPGMYtNogJN8BBDSRjW8hAGIcSfrBku+FNcOBGBgaBQhIvCJ4QiIA9mUWBe0ogghf4ZoQzIOUWzACHOv/q0Q5k0IIWl6iFLVLBhY0BAAjHAIA9BGKPegCgHvS40zyEhCl6yAMd7KhEJeoAhNQRoAFoTGMDrrYAHLkxWkgAAg4wgAEP1EIYyIhGN8JRjnJcAxvaOAc6zPEkcGCQGau4hS1+cINYDcwzzXnVDYQXqwOJwQwASEMZehCG31BhDF5YBIPMMAc4tOEMXyhCGQQyPu5UbCfT2AY/7nGPd7yjHs04xjAgAQkSbGJM9yrIFBMCJzjREh/4uEcxr5jFb4hDHMdIhiggUYkJTAACJPCACtCwTTR4MwRAAEId6RWCFVzAahC4Ji8hAYxiAKAa2vCGIMlRyGdIqRdRGkc69on/DnWMo1RyWCUAboEHMWBBB6DkghzSIAci6KAJW4iCFchAhfCdQHg/UMITsCCylwxjGv3wxyxpKRBpbOIADWAAAKw5ARJsAAAaOEY+AEDSe9BUmAPJRz7ugUxa+tSn+LBlMpVZxSyC45nHkEYdRCEKcKIhBFANgQfmBa160Sub2dwAjjKgAXutsxjhMAc6hsSmYsLJHbjIZBmk4Q2V6dALY0qDQKhAVy5QwQt3pQIYxBAbzpzNJcxQhy3tAY5xCCQax7BFvwZyAAcIpEbHGCpNbWrTghxTp+lohxc796kkpUMdbXoHMkfbU54GlZbFdEc6nvmNY/CCqWjQ6huzWS/a/9bLmsUoxrC2OI85FfMdcFKHQMqwCWxcwxrD4IQX8MqFNDDUrnSNbl6LYAQeFEEHQgAe8IQnsJJE4Ri4wEUQ0sCHcgkkEV5QKaAAwAD1yqQdGJMHPdz00/pWdh70mFORCIIOAKDjvwD27z7V8SZ31He0Oh2qWd0xj6NC8xhMrYNsbzuBYngjHfNwhxQ3XGCzgmOhcijGMa5BDWnUAgDLVehAqGBX6EY3B0gYgxz4kAgygGE3SkjCI88EB5CwoAwP0yQAElGQSABgAxYoIAIsYMAAeIMeCPFikfI7DwLjVyBDKtZB1mGQYnG5WGDcZ4bh1FPSllnBbcriPMThzGO4Gf8cbzKrWSf7U1w417ngA+Vyy3DngA4hB+DDK12X20YVZCERkZBEIsDghtjIrXvKKxSaKiKDLGTSuQMBFwAkAS4ig4sIE2CABSZAO4p4cSBZthyXV71qy7m6y0gbSGeHJSTQvumnc6biMDc8RTmfFYv5jQc5GArkOzsXxEBONheWTYUc5IAEgpADfwbYABUkgtM1jsITXgW8GHg7eBqtCJi8kIVyy/i8RiZIGk4BAFBnIAffGNJE9nukToUKHevAt6vzvaR++/vfSwoV0wb+5VV/ah3miMd8ITJMexA1i5tbBzWKcediB/Tiyd6Ec6kQgNSpQKrO3gAJLEAAIBhgAnv/SHSN0cY7Exko0pOGiBEsPYUpUMEJln6YE4h83nJhEhTjWgEA5M0QohPpYgMRJICXvnSAO/3pS1L1OrohDzaZ1r72JQhR3YEOcRRjE15INsYxrvFjcyGAA5xQBiZgAQu4uXNstsUwBLEHMtAhD3/Iex7gsC0o/ItSEPFeuSE1hRxIIQtAzsIeCsIHObwQFAwQBZSHPvQh3YnyA6HHrgfCWcpRrnWVax3mMptvpvMb31AH+DmoIUXTmtnMWEctOshxiTMuQKoe4MIQuBB24vK5z8tWHeQW4AARwxdT+L3yP5lxi9WQqAt+v0EMJjKEcg8BCVJAAroqWoYc7GHx4C+I/zQydylLWV6LV3THfjtHENeZYyDmiD8w3hzvTN1pn+xYutKbjm8AjwobDvd6AjiA94AO2lAHBqAvHac6qXN7qRMCExACJLBsfxYC/+M/xaA589UmvuZw+cAP/bAN2zANrtAHc/AHcRBzDHECYzIFAOAEUyAFToAEUzAGADAFchB+izdkALAC3jA/ANApGKM55TckUMZ+AvcpAvF+8Rd/rOdE/YJAlXAMrKVFmyNI+8d0s0cN6KBwDud6AyiA9YANlQAhEBIA+qIvDbiGbFgjGJiBvdWBc2ZMHxhS/hCCtzAIdDAHEWEESPCCUjAFWUAFU3B9mSRjdgAA4dduTuBfAf/XWfbjOZ2CKQO3b1z2fuUAAJmoiWV4EAQEAAiAAAY0he2ADq4DeqjYOssADZ1SEPKQJ5oHVAJ4D+RQCQQkIY3VdhawARugAdCyABDAhgYgCsfgcMZkjHJoVrSUD/iQD/uAD3ACDqZQGRDRBNj3ggBQbjeXjXzmBDmoiIqYBukCAHVQDNVQDeawf484LJ2DLK1miueAcOQwj31UDtQANakDihASIWlYI+5zDAjXhOk4kOZADtBQORFxJFf0hfiwDsmAAAFkAAzAiyRwASpwARuAkbzIi8FoAJD1hTelTETla1JUTD81VDxlD7ZwAxFxAn/4h9lYblkgBZ8EAAuViOH/NwY5MARowAVocAAMgAYAgAbAIA3ouH/Dkn+peA7lgA3UEA5QGQ7kEA4G5D4FlBD6UkAGwA5MKZBNaI/NADroZ3kQgV/mgAYTggAM4AC6yJYuVZFHtpHXtADFGHvGOJLJ6FPGdA/ggBgSkQMx6IIyWW42J1dpgJPg+IJcQA3YgA3VUAzCAAyVIDYMQAvLAADXAA3Z4A3eIAzCUAxiJCFsWAd1cESos4Ye+YlXWRDFgA71WI8AUJDCEA7Ip0W2aZuYV3kZFg3/4wBryZZt2XYil5FthwAQUAmiNVpYB4L9sA/7kA9xEmdmtUVWdwxtwC4KoQIxeIODeXNSgD1AZgfi/wkAdrBKJAAN73QN1XANf+SYAAAN1NAM8ikKOTAGkoALtMALzSANAhEO3UANywAMtECabVigqZOGHpk6xVAO5MCgfdSg3LALunmbFFqhWpQMNRIAaBghBLAA7eUAIGoBDkACDnAAE7IA4KBTKmpm+dAP8PAPMPoPd3gPDIZfbRIPTQkADlQNayAoEVEEkAIAhyeTUmCImUSeApGIdiAFAFAJ6CkN0kANUloNmMme7JkN3DCP/bml5EAQ3SAQ2pAN2bAMATpGdXCaBpo6x3AODTqPDRoOJCaWFjqnt0kLEqKheAo5KdVev9leqkIAomBaKjqoH+gPMRqjd7gP9TAP8f/ADuQQn9cQlcJQESYAmNg3mFMAk9noBMaGaSqAALCQDMsgn80ADdAApVJKDeyJDd3gQHvkQAAAlVPJDbRKqwPRDd7wpQAQpgC6DANaByFQoMUgDVLppuFgDOFAhFxEpxZ6lifHAAugof6Tp0OwAnwKkaryDYS6rdCoDyHVD/wQrtC5qO1wDqUKDdgQDt6ADZAQBYIhESrgBIFIBZjaiEyKYp1qgwSAAQoEAMgAAKI6qqRqqox5DbZKENkQDtwgprXasLXaDRAbsQShDc2wDMIgCgTagGPEC9CwC+YAX0MYX5fCWxZ6DM8gB4mQsik7BhbwqQigoQaABEHAAAkIOaL/UCRFUkzbmmD6sA/84JzJxGDxsCdQ6qrNAAPYyRCVmgWCWW4FwaRMemeZhAQZMJQDMakEgQzJsLX7qarYgKU6yg0CQWJW2pgMqw3cgLYOyw0Ry7beILZiq6MVSwuwQEZ1UA6R2DlDG7JFiCnWkAaLkGiSwAmzwmkAECIrECEGkAMaQHInJw4UKhD5dYzIpFP6oA/4UA/icA3ScA3aIBDUwLbYIAoqOBHxWng4NwWNSBCqKwWGeaRDuQsSCgCTWru0e7sCQbBiursAQA3QELClGqWq2p67q7Zr+7AR27bc0Ay7QA7/tY6fE4l7izHREAQzJgiIVriPZ7irsAEZSgIk/xBqE1B/Faop5jsnmrJF5qANqVpizSCl3aANxWAEgEephteCq3sQNjgQ+1sQtWu7ABy87DkQvmuxWGsMxgC8pyqlZVu8aXu8DftElXCO2JCFASc/7NgO4lC9YecFY7AHZXBt2ju4nAYKiQCtAYAEK2BNtUmnasao5MC+UHqqCxy61wAJLIkRpwsRUrtKlUAQnumZtAvAWLuf/GmlvQsNBowQCGwMZBq8DLyqX7u7DnsNdYAGa1gH1DSpFdx06xANRHBXHjwGYwA+ZbBzhEu4JMwHp0AE0eoBaaABkNDCzHon6OAN0iAMtDCp0rAMJUYN3YAMJ9ACGWECQ8Ck+YsQSP8gtTnww8AgEEIcxEM8ycKQDDQ8ENfQu/4qxBDRxKIKxcPbnl+byX9UDclQDLTgTT/ZgHVQCbzwdeW2XGRcxmZsg17AabiscqCwAqrjAQwAuXV8mzhaDalcB7AgsKl6DTuIEZSiAtoHEU4wAS+bAIBAC7h7u0EsyZG8ilKKngNRqsaAtQYhzgmBwAqMqqzntY25zo25DJCJsWhwyIMpg4fnwWYMPteGH5GQCDQmCQcAs99Ax3QaD+ZwDZMpwaKaDMKLC3RAByBRBBGBBBNAAPcSTCgAAGQwBrWwC8AADJMaztosEKsIAFHau74LAM0QzgxBzgrhybuQDKq6nutZtmb/O7pUEIjZRyZk8syIVwZlbAeIprJ8EMIrIBMB0A59S6frUA2wEAIEgAAYIAoJ7MfQYAyEMBImwBD3ogEC4QD3MgIAAAJgDQAuUARkIAq14NH/W7vIMNLQ0AwFscQgQc6ye641TA3nqJ6P2Ygz+Mza99d/+J1kXAZ7kLKCMNSYVkBoYD8hS4QU2g7hAAsvCzkhAAuVTKbGsAkA4AZYnRANEEwCMQGOBQBZjRCIcAgfEl4gbc6jitIoDdcCgQwsHRLAsAtOLLDyaaqnGqWQMION+IeMe337cTgv6MFegLKNd9yaJAWKvY4ZPLSbYyntYA7FEAJ5CgS0kNLhvAspYBMv/1UQQicQJqAECzEIh5AHqY0LxtDWnzyqb12xkZnN2WwRjwwAtd3EWhuwAgsML6mpOfBu2pdNY/KCZDzGxBY+Q3AA9p2OXgwqkYgO1DA5eIoBdfDRwgALXtDdJgHRBKECMCUQTBYE4M3hEHEGYYAhZH0C1lUEQGBbHtDilQALHK3W8j3fEMHRTVwQWssLACDcgO3jz0bc2SjLmpQGoJQFQyCKy0CP5FCQ8cd09+YNsAAoeFrZIA0MoqDhJdEGGC10A34QHi4QQrcCpU0RIEAQJqABJJABLqUBEBDeAKB7l0ALM17jdl7f7wMAEprjBGEMkBAEA54DzgzYfy0QPL1cn/+0XF4gBTnwssjgDVE5lW5qDuUgVulIDvwZQBEJBB5tC7UQRQKBIlvOhyuVEN9NECvwJxnRATDVuF0N2ju5aYVwB4UACI5QC2lN43aezffdxL5OC5r6hxng44C90384BYq+XFngBEOQAQEkDK3KtrgalVJZrDHcZDBb2cLACcMgDaagBw3tEihjEC8V5uANElxNEKM25j0YBIVzbYFAB6cEAGAACHaA6x1N47qO4zluDADAC19eJjBG6IU+7AIhk16QqX/m7AEADOwMSGiLq5DuDeSADc2AAWi3r3UADJjwDN5gCoNgE0xmECoQBOaO5hrBZOkuEGu5AkEA50MmCZH/AAZWgCLTNxAvcB57gOsczesKxOd/ThD9TfBlMgEeToM1N4NDoAIqMAEaWgkxbaXEi6V7RA1khKcGQJSYwAnNMAx6YBPkQ/IAMPLgHfYWwQEG0fID4fI9/jA11gQiYBApMPfd/QNGYO9o3fPC0MTA7uOGTvR/PfDYF4N/Jugk0ABPX8NRWg1R/0fXkAx1oOklBwzWQA3CYAsEsxJFYAErLxA6swI6QxAiXgSBgBER0PljL9pCJ+Il8IcLkAP4kQgknhBLAAB00AiU8AiNwAl7j8AAT+wwSehC/9c4LehMnwHSugCjKrC6Lbx4zbxogPEGwOmyKwyboOU2EQj3QvYC/6ECq8/2Ig4AQUDeF8EAK89kXu0A4b/2nE8CPAcAH1ARtvDzkLACwg0AOfLMxr7Txj74ADFFhQoSJCYgIGFBBS9kyJIBSLZMYjOKzQDQQoMBAxpgHXeNSQFA5EiSJU2eRImyyAQLJUkAcDAyyIogIk2kxAlAwgEAGlrGBDAh5oqRY9Lw4QNgiCA+aXKepEMHEy5gdVbkQIIkhwesWZGQzEpCxRAASKScLajBwwQNAMSKMhZXrrGRyYwJg3WpTiVgwnZ9FCHi6WDCInmQSQSGJckNL6mooCmyJoAgJz4UFpkiAYKYDhwsAMBgwoIDDEjs2ZNUpJyBduQUUYOZpJ4SJP9yDMmK22tWsB4yfDUrxQkJ3xM81IHEq5g0YXMBxBVpDNhfWB39whoDIIZs7iaLJJIkKdIUAC1FbnBbczKAEiNZoOB+wUBQFVSkiBRKAIJIpABcAyhjgimcUKE7keiYQKwcutptt5GG0A0A4VQoThRpqPEmHA2hmatDY3bxy7pdLnkDADEMRLEIL8JjMQ2iSGgMPRhXIGo9yk6oQTYODHDAizLKACA7FSYgAKEcVHBNDgDSGCODgTwIBA4DM3hJhRyUarBBkbxywokhIMhgAjSMSUaaazQkJxwP5/rLOlgkMSQQFFE8AYkVJeGExUReRA8/ok4KIgge2ABAzqdKQCD/h+xE8gIAKg4yYIIr5fhxjDG8yCCDK3VAkUqxRLotSy2/6tID/CqhhRdhoKHmmmqYW1O6v4QBBpZE/vhjThSJsCMLPvAML89ECCqpT5QC1QOAXHHigUcfyxiDiEoBQMAAA6xs1NEphjBooBMACIk7DQoqUKSxdMtNAwa79HK/CSYoz7zQEFgAjeY8bHMXTgJBxFBdZYtBhizKSMMLOVgEVpIc5NUAKJSIEPQpMQyg14toqViBCkYzMCCAlwCYwqscMoCgoG8NHFesgUa6TbchxtWN3TDf1aCtkSygtzRIPMRrxD3OMOSPQxQRieh/n6qiCyK8mMJHowBgMU+FaxbJ/+aSIB6JCB7AAAOnBRBgYIwyiNjgWiKCZAAAAhIsC8IjfQvqjE7JHahcAM51OSt2r3y3pZrbsoAB0hoAwN57hcELl00AIKMFF2IQQgkA5D76qS66zqJLKcaQI409Es5zPQ3+BADr0oMgWI5EEonEDACEeMKkBgxYQOwxNghAg0aJeIl2J6+8m8IJMlgBERRL8GAglT8FNVS9ZX6XAQum/xuABg64XqQQgAgBEuTSSCWXUnppHIQR4Kt8MBdUYFo44cawQ2yoo3aqZvNqIoIKafkQJBEAIpEEABJRhBucpD0EoAKQgrAB9okkA9VqgNVeQgIITAACyTIQG6a3vLqtrP9ALUMCu4Y0AQYwYAUsoRoAFsAA7AHgAAhogAlYAAIOlAEUspBFL2TxgQ+I4HzhSl9KTOCFzLHLCVIwGOdEgrA9rABwReEf6yIBQAEKkA9GMMkdSGCABjAASNnxEQC8wAADrG2CxGnLBBoAhjwsizsloB7dlEeQci0IN05AwrsggAQNmHB6Fjgh9lhYrQkUoQUoQMEJckCFU+SwF5hAAQgQ2YIgpuQDOWCaEY+IRDkocSTAKpD0ANCnKYrEfyQRBJBKAgo50GsB6znb2AhQxv0AwANqUWMRcOVG2SihBD5pi5M6OMwP4iYoDQjCGKjgAKFYgJmDO8ACDECyL1ghCUL/sAEPnCCH8PWiF4X4AApcYINKouQDQ8gcANh1lrN4IQ0EK0l4cnAACwTAAB875UiSgpo9gAEPI7mDIDghhVmWDkBjK4MKCmqcMEGAXmDQA67opIK2pDB4xFzZVhrQgAJlJwgOIMEzsRdNBJSsBHiYQxzaoAYxLK0UjpRFC2LgA8mV0ySXFIkRJcTOLKQhDXaA2hKhNoR6AsAAwOMPAFDjn4KVgQ4jAQUfOLGIMqpwMl5QaBkX8C4EQLAHZ2iDrh6QAQtYFADCJOaRVLDRDFDBR0tzgAqYGU3BESAA79rlLvMABjudIhe56EUnwhAGm57kAyzIgSZHwtOfqpIkkXAC/8msxRSR7ME/lPrRFKwWUE5EQg4QsJZICFDCWZa2WvPpwAteQE5dRQCFVhuJyoZJwQUQgAAreJYXNmABJDAAAQewawAyxYY25jUQgSADFbgJ2Fxgwg1hsEJhSdICMmglhF0iCTunUIZOqkYkkUhEKRyAgAB4wLKu+dGPRCIQMiSrEAJdxBDYUISRnFZtaiujBCwDgh7+6wQsKStsb9bBu6mRAQEIQEuiVYYVWIA0ZQxAyTxQgrzuEgB50AMR0vBSwKYiDDWVrkjY0Dk5kGAI2F2sFLQiBe56IRLfFaAcggBaAnQyvWLMQo6zkAMjWOIOjuhsGoLwiEE0QT62pVZt9f/LQyZXrgIVNWtJ0EqCBbTFAwwYghekldDp2VU/xMkAG/Rw3EBIdCRsQAL4mAsA1ob4EKBIwyIiUQYTOyG7wsEKi50iCJH071cWvKudGqXjzC3IBFWQhEABkIM3/HMJMTjBBS6ggA5YpsmVHEiAU9ISKq11CJeiTAIv5YUVEKC2CPAAmIugCFYrwnglOQQZvCAIWQBAh+BEX2HvsAg5RGIRgsgBB8hyZ+zepwxe4N8e7JAGOUTWqFjRsZfeloELyGARQTaDIg5REhekAATmG4FNdZCQngj4JBuAgKIWHCRpnQ0CX5tmBnzDghtEDgtikNJJiCCHU9i6F6cQQa5tKon/MkxxEZRJgQq+ghIp9BSocoB4GpqWga9JqEtXWgsEanYBMgB50Y+YxCNK8oUQiwSOmk5Jn4jEAKchtFGPacBphzeBDqBgBDdHgUxRwgYulCEVts4FGQAg8CDqgNe+5rNlOhDClGxuDE545xiygIQypG0BVnILyTIwLresQKpzJgOZ/VXym1HP3CW5CgJmyfKxpWFplLFWx7YKAQnwl4ci+DZK+hBrLxzc1rIARDhtmoiCR0IQQ1hBJEFAAjsz3GJIyMKAkCAWDdSWLVX7mEgKQoVfq4DMvCQ7AMLgAbOnHAAnjLu1SOAFL7hVmnXVTwfszmQe5mQSS2qkN0+xBSGU/5MMgjD4GHJg6cOeuOlS55bKcjCakqaMJKmegJWGoIIiFDf0V0vI36JcNQ1MwACRLqPai9QxU88uwrKnfe1z0ghFsMEJquxFLgoh8iCCYM5TBPYK0o+VYZsEiVnIKCs5CALIAJPQAHm7uhJCADYCvesrgd3SvijbgJppgAT4ABC4APGjFqNCgPvqgBRQvPQjDOSaNVkALFnohEHYtsrxKYOjguG7uxFIAQ7QisYrCSSSAtsYCZLpKlOxJRLIFA9wqHeJJgKAqOsjCR24gLTxmwi0mcawHgMwAfNpgUgrLduyrRiKgiS4gRhwgRagJMw4rn17Kd0bBAz6FzBINF9bhP8cYIEPOB/H+QEe4I07O4scK0DNAwDQmiYgLEAaG7/r6RgTMLPrKwLQYibzcMKa2YCX+a04dIEfiIImWAEKWIEIKIIimIOUigM4aINq4o4yA4MEMsG/KoSxm5NCKIPOiq8giAEwjESRiIPEug+S0JyQgZcJghQIgBujAoAAAIAHUEBrCQATiAMkZBzRADCHccINQA/BSYCci8ToIokKw5U8MJAywxVZkwMT1KFOwANU5A5DcATg+7UcAIMrqIIvUANsvDAyGIJafBAVuA8kyMOgAA0CCArrEYm6CwrfOgCKIYAEgAIkLAHCCanpAYqYWMTPOIAEcBwhwAKRmAPpKi7/MgSsXiiFQXBHFCE4VswBIjgEPDgDNfgnkWA/Ili4kXACWhwZkfCA2TGAWupAkbgMAFCAjYomnnAAoissMhgNB9iAZpoekWBGDXBGFeKJ1EqCLzjGEIODOIiDORhFL+imb8IDNOSOPvg1XxsDFdABJfABH/iB3hsJRbgDrDgJKaigYzIq0FgACjAJEZCAFSqhBiCAKQy3ECODEgINovwjhSQJyGAAwnkhGTiDqSS7H2CCeyODMqA15sIEkcg32fhIw4MMF7A5HtrLkbic21AnlqQyFZqPDZQAALhJkzgAe7IrBcg7viyNEmKARAzMPyKJI+kikTgAMGA/VisU6UKB/xQAwxYIAjm4IW8CBTcwkEKIBFbEqoCjPZOYKSMogZZRii0igzfggBW4CZtMiW/zMgIYgG/zycq5g9lZAM8gIfV0gNq0zdCQzZFggioIAzdowHLqIfM5ASS6SjIgORAbjDyYs6kSBBV4w/RLzZKowhXYTgAYBACwBEPADAEQgAGw0AvNOQCgxiAKAtsqkOEAwq5ST/d0gMKUzRIaOsexgR9YgiooOdozgTSIzPgTOtkwAzlgxSEIAgRN0JRYApLQhMmZ0Au10AIAgAiQgIpMnzdYgNNYnRcDr9VZHabYA9azmEtBAoLooxJCgcAIjBHQOelKv+LkhL9aBafADB3wLP+kUwHiu7SSQ6RJ2o4HeAq55A4a3IMnnaI9/Z8pYp0nldLV6aTlcwAe7dFKSj8TcCtQ4AQh86eOzIkKoILOKlD9Q1BkdAEh6IKwsqkTcII8Ba89FdU9/dNQnVIkONUHmEIRfFEeMh8TgBAawa32GgwTiD5BWAQvIIFVvdQgmgSjOYkzoIAKsNMg8lQkSh056B89NVVTFVQ7Wx0+UIEAOAAKEIHobNULRKQLWCEL2IALGAIsygkeKFEGUBcISIBv69U5uc+ROIRBgIN/ooRHKIEOqIA54QCTMIFzcYIpyLEBabx4zAIi6qnU6KQxYB1JSISmKIMGIIEVmL3Qi0Hh7AD/EfXWDcgBMUuJCIhNBSSAE4jTm7vWQy2nCqgAyumAEqhXYz2xhssx1iO0gbVSKVgQMZKDPSgDKeKDZSuD4XiAkVW/kgPBnLsBJjABA5hNZxxK+jqJIviM2SQNu9JQLmyBoe3MEFMAkcjaYIyA9PmADDgxPFrJnDKis/CSeOSuPTAKPtiDiAMSEnDT66sCJVgCJbACMTjaLrrY2WRakjAClhCc3yKvANjEOVCDL4ACIbgBFwi9AthakTDSo7mMExgLBxmCmt2SOrzcsehXHynYm1WSNCABdQ1ashtJN8CDQ3iEAAAbz2jPDXCAvgWAN9itEi3RwSXcPMiDqNjEyiyM/3Z9isgtgAKw0PSJAOfhjekbi5O43JptOKPgnLbtHLf7QkQS2dD7gzgQgy2gTwRr3RK9gN0KO5EAA2dyXWIMgARQFlzhl0aQDeAlDAV4XAGoHBGwDQdRCjtCieZNrCkQG4OxA9d4pzQ4gy94AiF4xetTAyv4AcdxAe+dzelRWizatmZxXRYqo4HElaEBuQcljKf6F/mF3AGgXwMJQ81jkDrMCbchC38tgyn4qbZdNsbh3U9EQiXoNhT4gAewpwPwDKTcrQsQiTwwgQBIz5jLYAI4gqFphEk4hDP4UZz4gXJ6APlVgAIoYdlQTpdIYa94igW5DWQ9NtCdXjIYhD/QXf86qEglla4kiAEQHIEd7uEILisDUN+RCADbshYvCwDedGI3eLQTNomrDSIFeIAIiAAFIGHZcF+T0BRRGVvmPZIr8d+C8RzpBRJrDIQVDLFDGgG8K2LWjc09PoBcK2LbQjAEA4N5dYMqeMXyDL0IMNkIwGLu4OSRIAMQwl+caF4IcYIsGIPtatu2JZj22qVAAFbpoqQR4K9vU4BUvsJifE0ACGUEM4GuaWUbOKTSRcYHyFcJUOQsRhEyGIv7VeEVPhKB/V/QXbY0yIJjTuaSi2NXBYFnTmUE80eT4JotyIR/8oFDAlqSDT0J4IAKoGVx7g4MsxLbiJDBcBtK9hF3sgP/6X069lWEJr6+gP42EziA1XyABwABnDAEwhq62ePmbv7mKz6aItDlcwYLFQZjsxiYgQHdMciKN0AEVgu50DPpS53mnOjpN0VGkagADuCARN7a9hgM0BvDLo7ksvAKCCGLdP5lH3k/qfOS9tLpDkjk4QXOTzZU2TBUkkVo6XqADkDrgjYQXmIDc26QXoZqtykQCrGS4OiSqRsCiNpqCXiA4R0AkaDQSnpj62VmViUMOA5ogQZssusAAGAB9shXFEHjPCgCE8uSuzExUFGBDIg5AOABDggCK+mSy+WuRSADnZ4EP+hr4j2JsjaQw4UCJbiBQ7K56yWMLVACbfZku3uK/wGIXJsqAR7gAcemgGKdk8p26mHLiuVDa0EWiSIAPlAoBVCIBCTgALTm6yv+65wIbBSpYTHAgiT4gRdApMKYhEF4LrEEQ5sb6pNggbNhAWKtnASQPlGZvgu4QNTUVym4tunmBCQIghKogCoGAAt1bZQ48JyY7N2Nijgo4NgpoKdoYk3QhEPogzCogn8+pEGGDyYguwdoDw4AZ52oHJCyI6m+3BnKiRwQqFKY7lQoAwEn8DlJ8JOosDSOisLY5JyeBE0IBUXwgzDYgpKA5RCjAHul5d+uHA2wEjCWoZDOCRboNem+IUFgARawV5zEiZMuiZsjDGu8xi9n300emh4PBf+RkJsobm9vBgAKUOTCSoA71u8vXgRQAIVUkIVICILrTtmnMGzpTIKnAPNCXOpjJvNX0xXjNpB7HfBavj7FBgDo5oQbkoVUoAKjxvTCgHRBH3TMKO7iziuSOITI/vKRcCNFxww2B+caL6wEhUOYmHI8lwVBuABiRXXCuElCFoniRglCJ4xPB3ZQv08lf19l4XXuYPS+ZnUkzIFrk/VUWAFbv/XCQJ8TMYlPT/Rg1/Zp325dIXXCUHUFSPDivb4LAL5TkHVBkPZpT+gGBPaROPY61faTUGmTIHexSglxFgCjbvQDv+J6J7tmL4V0r8R4rxw5sbCUePecCHY0znfX7vb/ORmBv65xGzDqVUcJx4X3gHd2HEqFIJAAbC8J+B2MFdRGhRd5QdfdPFhgnID4iC8sJohtZS/hfy+Jxr7XELsAHC2FVcChRQj2Xj8JSB3BMrv2lM8J3Y2DL8Dhm4PywjCfELsBKGACIdBMYt/4kfh2m2r2O8chToh2pJeuQziE44J3sX8KG9D1TQ+i7jYsD8dhksD6kmD3ozF3TjgFn5cFJ1h4FBEMkYB56Xp6kuBykihhtk+JwOc2IWACxs2MXJOAnC+Jra+kC3CCSBj4n691tJ/Q9gbakkB8xKf3uSdyADjhkNhLygGAxmYPkeiAuv8XEqhzWZeFgjd42Vj2Skrs/0PN/TcijAzNDADoTDpAhFcjmsZmgRKAfV3ZebyXdaDnfFyfc7IbawR3MspPieEscqLxTQBoBJVdfl1RAcwn+L6fE5Jd1+4Ya9HnjtvHCcc3fcfZjpGQk4sGAKNhtUZwX/dPnxUACEGcUskqqIICQgoAFjJs6PAhxA8NP1CsSBEiRocWN0rM6PEhQoYKPz7c8lFRIwAoF6J8hOiPyJEkZzK0UIZTKYKyFj2QEJImUAAcLQZtKOLo0KIeZRZFFQoAHjxnvizMw3DlSoYpYYJU+pGEo5wFZQWR4JOpV4gC1iZVGgMFiqMiNgbtkBFtUEoLX6nymBXAo0aKuKYN6kDOwP+xixQoeFDY41q2dIuKwcLkhwu5SDsWrdDwZ9qUjUbpBTAJACmIpSkNfqxURSSxO4MMGFDAtdrIHIsGCjRHjZgoSWyk0PwYtOtAC7skeYgKFQC9pRsRxj1zwyJQOskKGABUBNDIAnYDPWT+UO84ar4wEfL2qHXXcwCoAeC+YZUwhk4D6MsyPlCHcXLKKgUtshaADYk3HlE0BXKeeb0hokcblV3mQoJpsReFfTG4IMRCLwDwAxZuLDQKANBlOBMJsekkSBAIZiheRSjwdh4i6CGS4x9/0NHGF1asqFRzNzQEohBGAhADAM350ceQMzkg0HZeROaRVUEt+AFcAMBlI03/h+xoXo47BtJjj79FCRSYSgqRxJtKxmDDD0JgCBQFHADogBORnKLTIgkI4FF1My0owJeJogAilIBhFMiOiuw46Zlo9rgmm0wquZAQL7TQggs3CJFCUBVwUEIJHDjm3WMeuDhWjBkVStIAC6IAQqIptBBDFTSh1IhgOfZm6aWYBvWCDZwCcKeRYNKEKgupRhCfgKcoJqNrjBVQwFoiKApXCyAChQhKikgqLJqIaAKAJWcsYWxGdy6U7AvyxsDZTBFwwAIRLGTYomyCrMCqaxRIEMED7d3gQq679hpUpOZKit4fj5BCyiDwfjQnRPUyrKUCEZRAREOMDfqYBdltt4IC/w7hRVJCFPwxR4VdPKHEDZ+28O4gnxR1iMQ7NqIJKpPcoUQLGmeUbEMvIPtCzvhC1l3Ieq7oQBl+FiiLIA84ltYfMaPZWyB5qMceE2E0qpTEimgyCiqHhOHDRUo/1MINyALAdGEDVL3itgVo8GoqclygUAXIzST2Hw9CSi6wjejhNn9eATvKK9Bt4UJFdk/U5aYhhugsUPtmGLgCh0UCCidyqDCBZwBwoPhSCfUIqZjk/toIJSg+RokqsaCChxWcN+i5Q3wvxKRQNPmtb7Szv6xU4NsK0MAQACCxwgYMXMCQ9DTFfAiw55obOSKlufZKKHgwccNbxysNQtIM2QA1AP96B+X3A6YDML1SalOb2wCAAAuYwEI04IAL2EV2CYFZQjjAO0qw5nyNQESCDKEGKODMBsbrnNI+UD8RLSRv8voYrRrjPwC1DAC2YQgCDMAABzjAAgBoQAdKsJCY1S5PJWABJTQhRAqyZkguYIISlPADG6BAfo/5QRU4SMKHkI4hUHMaQ6oIEf6tEECzc0zLtnUAAhyghhboXgJQVYIOPBAjCOFAB1ggRyGOoo6jSEmUlIDEH8CviXV7zAd41QdD+OELSTDSCBgikfotxAUYup8LWoCCT82kf/5K0A8BIMcSVGBaCiAAGWsIgA1oYAE53GEbXeZDTbKAjnWkhHLWFAP/JiDxBjZogROLIgIfhAEAnnDFQizxBQ45xAUv4BhDmNQCXOUPKGsEUAeiCa2FREsBASDADG1oQ++h6n+pbMipfsgCHvQObqOgQywxJYQ99hGESvlADZZwB0O4whWzYMVCWDEIIEFhRMuyEQqchsWFoEBJUvsIAEsXzYVKUyQGAMBDEcgABhxgATp04Ddld1EesCAUdXwFJdCpsVnW0oO5JMkHesCGPniCFS51KQDwWZU4TAUASiTorhjiyOM8hqEd0JPVFkIAAEyUqBOdQFEXKr0HnoqarawjKiihBz2kE15HVEKS4vdHmthoC3fwhCcg1RtfOiQTLwFAGwDAoYW5/+B+oitYQjOiVHHKcYcGCAADGFLUiZJhXYpgYwRPqUkeLAQVd6Qq8lqgR5wtzJ0orQEA3mAIT2RsIYdgiCUekgn00AGtwRHCDxpyg9DiJq4OgaM0x2kCOfJgJENtyAwB4IADoEIVo3gKInwox0sCAHMhHSvyloXEDvrxoBARQQ8AcIdOZJYhl50UAC77qFjWhyFGIq11aAcR1MZxtRxdLW8dogEAlDGvAPCZijRBQToyhA6IDS5DFstHrQLlq81lCKUWsiNPNOS+AMAgAPRglS50AQChi09cuTtO1npkA6SUbV6FYIUw9Cx4fEnRQqQK34eQlLEf9EgNjqBcT/j3v/9miqWYYspfAGSiuSv+z0LSGiXtyu5UceSov9ZoNQQ0ZAMAGC8DCHCCpN1ACWFwg8ViAQBfAABYeZgVfH/ATvpGBLJvgENYHyIsiICVJBjE45oyuhBpepcFFZBA7IQqW4Y4YAEACEDSbDBaIQjhC3BQxCSG9hzTbDh5i71BY42bUjZ0oQ8ZA/BHGmeuTNAEEZWFF1oWyloz9wQjQ32tAwyMNzpDoQtiUIILfKCEMxiizxC5qoGZuNXmvWG5iCZJuhpR4o9YIksaQ1Pu3EYJRLRBAj05WEYCEIH5AoAJWMBqcUXASFM7RL7tnEgTAMDcHX0EwLeDVJOV8ojg5g5Ycyj/MJ2FIAEFHIAh13xzAkbExx/wsV7FXTWzl0fLDuKyI5whMbn0i0FETwqDjcN2k7cd748Ewlx5mIMYmGAf+3xNqKBcSMh+AAUoCOFTKGDYSQeuxxE9GwAi9qUnRAPm/0xKEf+VUENGHpQlLNtYh8iDGrrwAzgt3IUMqQ1DCiBxJRAULpMZ+ENuMG9AG0+5nfgEK14MkZKbXFImb4jAi7KFJrQAPJ77waeQdQNn4fzmC8E6mN4Nb6BzSkjE9cFXXar0qzjEXB6JelFEHJfE5s9pWiwmhrpEHrI/JAxnCAMW2C2Er7Z07aFReVFqYFxMgcvuEGGkxTmTcb6j5hN4+EIX/9RgCbVTW8sqafrTHxKYwDwGssGdpDGpSDqALp7yDyHFK2IhvFCs6xMCT8mrMeh2/Yo+4JSAu1KSu+GAMvLuNqq362ey7dgrGQBPWRfbqS0xtkM9chTETQ9IBd9Jeun4OsNp0pqYfJLM4Qxi0LwmUsMQ0rBE97vn3X8ZEhhgqdcjPmMySZqQfaUwM1RpuZMkKYqXfEoktd74LQQWwM8PYFUYZIKKQEToZZhgaMUEPYXPPMQn2BMABAMrMMIbNMHHYYT+ad9MfIsLxAB2cVUjOYSnUNI/GeABwoWuuICUfYElPOBCaILKRU78AQsFPQVD+AwrZKAGLtlCvMEbrAEYRP+bR4wgSXRJz+mMh7DJskxR/iQNIxXgAXoECsiZDXwhSYDZI+iFyfkgJQBhQ7QCANTTQyDhGiyEEuZfD9QACGDE6k2SznwK8zzhQrSAQC1Ly+VPHW6hHQKaIdLEauiXIvwgRqjhQxACHK7BGwKAEjJhRjRBE9TA3PXct+Rh/SQBVXwEmPihI4VK3lSRFhLiipQP76DhQrjiI7KBJM6iJMIhGOSfE+KhJ+4iDS5EVd1N3vmhdfGR8njJC8Dg+CFjQ6DhK7DfXwBFEtKiNEYiLu6iNYLKDURBdf1iQ1jB+9SLiFzXaAFaQ4CLKmZECmaEHn0Bo8UeAKiX+jnfQ8zCBgL/gC4sBCG8oTTuIy1uzDXu4iyJQUOcyUNAyhzkgSGFFmiNY2jlTfddHAqdY0Ok49c5BLstYBVcVvAEQyzMgiMyBCwyBCTyI0n2I0T4wD96YgwIQRfEAUsoQqUMJO8I0X/RVBI0JKCJiLvVIYZIkkRa5EVS5Nf9wDH9gEl0Aj2mYSuQAjABUxvKYklGZRzq1C4CQCBiiBW0gXJMH0FeBQXVEX6JwTDN1x8yBKj800+W0ESGFrspCVsaGBvMI0O8whomJUOYAiRCpVSSJBvI4i1GkjVihMK9ZLkAQLGQTxD5TlWMlRpgwSEdk4hgyAndHeWhgKZgRFCGlhKJyBs0xBtA/yIAzMIvEMNDsAImQOIb6OVe8iUbgIEkfUoKcJ+8HMlVWBCwZELGBMJMguVCUEe+BZhLcpAJfd8KEmIX+lNGhBudMcwSgGZnHiEAMAJGYAJDRONqRuWSVKVOEZSIYAFhRg6wgJVZjSFvRseZSBfvoZVagUj9SCZlkh0IHJghAhqdaUrehAsb+ABoRpZnQoQpdAIAEEJq6uN1kqR2noRtRg5Yjd7bKKYe3E5WPF0ENkdkLosqbopQruBOAQAbvEEPNIF0QudHdIIpMESBkiTV6eLdPITEgCewgNxu8mYjxOSridxDNEeyvCfQtUAKZqiFVhwKdGZnroFzEsJ+0sSJzv8i1RlTJPXhQ0wRtbloSjzCizVoexXLQ/CgQ7ikTR2Y66FAOvpoMx2hKYRoUBDDL9glh57oEcjZfN6nQ9SPVVzW7rzoGPLXIzSo7yCCJRwCV+he2zWEye2IHgDAGXjnFvaiuIjpRICBKVBnE+xhMDCELsxCpS7EPTLELzjEaoLBm86nB5klAAgJSugeeDqKJ4xhOaFIVB1Cn3rCITwaS+RO50VXvpkc8CWfuIAIRRqJuDAECIBADxBCiQJAL2EqPV7qEKLEJKjpGgZoJJIkAPjAp74pCR0RS6QE0IDntqXqGOppMFmCuIIViSnHmOjemGQFBm1b8Bhnj1bkdoqgmQL/QCskpS6wAiK0Qivowj1OQiY4JQAQw6Q2RFzyY7V+qojwXB78iq1GjsAxWp7aEYqQK8WSqyWQjaCWXIrNpSry6EPQ2YjoKEMogzMshCfkwSFkqi78QqbS6xlChEytKSVKoqfakpt6KbspYtAgArCQnrmQJ1g6hSd8wtB2WcVe7OPY6rlEF5ihQhjs4fh9SAouJFC8QitsKgCwLNZChC60QiOEgl0qw0IA7MwCQBO8KUSQlhroTtNR2/z9bGLaEb3Wqz3Ngiu0gs8cLdkAV8kxBH8M4gGGC3KOaaMFwi9hbct6BCJ8QthiKsHWLDkGHUMoR0qYC3S9KK6C69y6An+Jk2tMuYJMVSx6kE0E+gcAmJ4qdqEQ8FwgzgSWbuovBMPWrmwQ/pcl1OtDbK2BHSJENEeTgZ6Z9KbEfKvEhkIrhNWw/FsgWMIFmixYKYeEaOl5oWRaQiSA8JcnTBbZZuwjqKGl4p8RAkAV0BkfGZhDfEGhfp6+3arbxS1YPu/eOk5vXFbzgpV5AMDy8pf6uEHrukZAAAAh+QQFBgAAACw4ABwAzQDUAAAI/wABCBxIsKDBgwgTKlzIkKGVhw0jSpxIsaLFixgzaiQIcaPHjyBDihzZsCPJkyhTqlxpxYiMKitjypxJc6EVFglq6tzJ8+TNBFh6Ch1KVGLLnEWTKlVqpQPSpVCj6nQqtapVlR1YRLnKtavHEiaeeB1LdmKHDkHLql1rkAVatnDZghUbt+7Ys2nt6rXqNu/ev0vBQqHoF7BhkXgPKx7qdrFjnn0fS57p9svkyyorY95MMjHnzx6jdACwte6XLlisQFltBYvrwqA9mnirFsqT1Vi6fBHDuwvq17pjh0zAYu1rK0+SCBGS5Enr46sBDBYuUI2Y069zRyQ+fazrLmLOqP+xjlo17ty/Y/9QwgRKduRM4rsHH/6MmPQCv1x4OpaJkv9KOIeebwI99B1ov32323WoQfHfcuw9l9oTSgxUYQJhkDWefV2oFt8TTYDRg4hhQOHfDaCZqMQtzDwDzovgWCPjMJhgUopv4I2nBodWAMAEAQG01t98vhUBAA9lyAFAJIs0KYgcRARx2mZiPDPOPFjSU0899rizJZZYyhMPO+nAyMwtvqUGBZDadaUmFFZIAsqcAHBiJyeRUDGEBwgYAIEOXXA2Dz2EbmkPl/Yk2qWX88TTDjuQRorJF19gYQSQQvzgJhYmJkFGKaCGGmoZBhhAAAQQDMEDZ+C04+qrrsb/I6s88mD5aKTroGNOOdVYc4YbauhAAAGudaVGG+OxIeqypZhhAg9EOCEQCyhW+JcSmf6wHhO5tQrrt7DKg8451fBiLiQepJtuECWssIABLMjgww02GFSef9bqdIMQ7F1RCCjMhmpGhmA4wYUTRdynVxxzxIHsfaq1Bt6j4LpKUDvzsNMAqhN0rC4AE0AAgJ8QNMBCpanlJsaxcbTcxhmW7fRbF5+CWsgdd3jBSahGCuQEFU4EARtZ/DqHIyC2bGILLbXUwkUduLCzDjsUUy0QOwC8Kk87vCwAQANgg73AxqiWDQEBXTio7Q37KtHcQx5iq+22uYlHEqfKyQBwKaAY/7HFFUOkwfNABlPhQcz9PRjgLc/Ycswuu8CCBhoYDAukAdycs846szpacTzpAFNy2GAjAACqBDVAAHmcfpgbGWCQAUjLcLxcnsT0ncEjE5mybdFuuoshSahghLFFwYKESoZ1ABBBBRcqMNHjVXM0bB3jzIyzTjORX+I9Bhgg8K7lwkjNDq1iuprO+mCivw4BpS4g/wIIhEx6AwsQAMuLz5x5yyo+4AAOBoiDLVCKU0r4Ab1iYIO2GS1NnHqCf9qDhZW1rHq1Y52CxAOHO+wNFP75ARF0FioAXKFHReAC0ASCoqhI7xbTiOE47CEQeTSDF7QQhShwkYpSqEB++FvAMf+6dKgvhQl9jZrVPNqxDmDgD38GyJ+pgBSAYRkgALCIRjTIUY5zePEcwiAgDm5BxkM07GX3AY4Y2gAHhlUvDtbBAr7YI6A0IQdbC7RBA4XwwSqEAQs6KEMadsY3GXzhDG0gw8+4wIMzSKUIYHhG/6IBgHG8iBq42AQkSOABSKggB0OAAAPwJ4pEAUBRqEwll7bEynkAQBzFKEYlIAEEAtwvbFFcVxCAkIVK1AINAwzAJb54DnO8yBrPICMA6dU2buEICsphWwNvsJ4nYAF4vMGOeeQEqkS0DA9mKEMZCMkJI1CwCOIsQyM7lISkFMELcliEIAQBACpIgQpeKIMjuED/v5EdwAIWYABALcALfNzjoActCA1NCYCD5uOh+bjHOxCaKHfQ4xviEMcxeDFLCOTPA5wkARo8MFIgYAAIQMABELggilokY4vUEAY2tMENXR3Tf7cYRB52ar0zJChHcJjDTvMARzEAMhKRwJPbnhDIMpCQbye4QQxiwIN8qvOQ40kjXXZSBDnsgQ98SERYBRHWRCQiEoKgQqmqeACvMYAAxTAoQudKV4RCNB/uAAA9FHUPfBgUH3c9aKLqMQ9wZLQZOhRFCNAAhMmhIQRA8EDHOgaByVY2ZJCAhCiKoQ1veENX4wAAMsl4i0zp0QalwIQtSHuLP0IhSXKQgxHYJgQi/4hTZ3diECDTyQMwtIxhtGNeTXSQBjukoQwDSYQgvmpWs/JBBRuIHwAQcAA0tAN9XHLHROt6UL/SMB7zIOytXEU1eajDHfYALGAf6leI4qOihtWoDiERAo+p677p4qS6MqCuSuiQs55FhziiAQ7CAqAeed0SPcqUhtgmgkGBBECSABBbOfzhD3AEQz69MASzwu42rfEQTaowhjQcdwyCRG4i9pAGspKVwnyQgwMCygAEYINQOMZxPeQhEEQdah7oAFN4lxipImMNUgBIR5LnoSi/Onm9cr1Hl+Yhjm8c4xg61K9+QZrf/UqWssUwBzriIQ8fS7mi7viGkuRwDFtsof8KRnIqPCtMhTTwIA34dCoVJMEJUEhCEmRIgnt2AwAxyMQEKfaCE8owBi+kAQBm9eoeJs1iUJghAxsgAQnSkeNO45ggFa2VkI1M6lJT7VXpmMd50+vkfKzX1YK1qGGtrEP8qqtjx2gHeNHLpQMnSspSpgcu6LmJa1xjGIDgAgC8wGx6yiENzG40s5nthEjI6dpkOKQbZ8IDOYhzDFRwKgAeLdYSV9jbaZAEFSyQg1qoY1Cejnc9TjkP9M3qVqYGgKlL/Soyo1fK7n2yQRNFDyxVWaNXjoY69ppKGs7VHlIGR2wFUYtjFEMYtUg0F+gpCGZTAZ8gLwMESJCFP/NZEmb/oG2AYqJhOTuV0YsuLh/CnU5xllwSQSABOAoe73if0h1kppWjHLW5qe173/qOVNXGG6ta/frMT4e61BvecCnPY9jnfvZxbwuAJ8nBC1zwOD4dLcUJ3DwSiTDCVNcuBG6JAQ4kOQGKl53imnt12dOeNliDkAEhg6nnhbKHK2X1LXQYvuiIR7z5jn50fEPKHO1AL8S5u92HV7TgtWqHObBxbq97PutpzUG6uOCBHKSBCxAIQBUb4IWzJkK2aXvCba6phjgMNSTvLEMW8nnc4zrB0XvwghSmkIXiFx+eVIBEvf3O/CyF1x5bgxXV2GH46lt/aupIh6PMV3TGM54b8vj3/5MTKhDu3qOhg5UHObJRjKy7f+IT90J9N6CCITjaA2VAApBsOQaxBv8PcOBTKvIfFBQcHkEGVpViWzcFwFcGwzcFEDgFVBAESBAE2qBr1xV0tbKBflcP9PAquAIp40JMIwgMonAM4IBRBQcm6fAo6IB4SbdvU1MO1HBKr3ZXruZkCFV+c1UP5nANlUACOSBOoAd/cuB1ZaB6ARBFE7ABTrgCuCBLaDABdhBjXsAGavAFDiJVa9eFH5F7XlBiCjgGJWYHcuAEEQiBUgBKK6ANkPI5s4JEBYcrildM5lBMXvSDZEM6OlQJx1BlzjcP6ZB4izc1m3MO2UAN6YWDjIiDAv8nZeUADAEgP5M4NumiAlyQie/nBT9kOU64AcdwarPyIplUBLrDIdBkWlMFEjyQBWXwe72ngGUwaQ+YhkiQAytQB7xQDdVweEr3LWS2RImXK5tjDsZ4jHdYB2EjEF7TTwDgNQIhCpUgDrICAC94jcRYdNmADeiQZL52g43YiOtQDPOzAJUYRWEzPyHgASGAiZk4PsMiROxAZjwXeKY0DsygC4dwCIEQCBgGB+TxhU6QBlkghrEoSHawB7UYgbeoAqIACSPVAAHQWMBQDQBwDi/4hrpGfV90h140LuVQDsdYDtfwNctIEKbDjCMTjRxpfS5pDs1ADfIQb/LAaegFjjj/SA/YAATlSACmMwEM0DEM4FHz84zzAz8EUAnFoGtM5g7o5ZQNtw/8wA/9sA3b0AsAGAf2ARJsgARpgGKxeFyu6FVekIYQiAQrAAnUoA3YgA3UUAzAUAmM5QDLQA27AGCQsg53WA3GJgzCEEvAIA3SQA6ESQ5o0CcI0ACJ2QAmqRDH0I3EhJFfdA3L0I1aAnifVmYQt1734A11YEUGwAAzZgGf6IQZoAH2U46lMkQVRXWuaQ/5QJX9MJvMYGgiMQQoJk6x6AVIMAZeNQZmOQVIoAIWIA18aWzYkA3ZwJbGBgDLgFLDsoQRID91gAa6SAuwUAfKuADaiQblKD9RZCoG/6CYJ0kQ7ICMkVkOyVCSmNmehJUOyXBFBLAADjABDkACTkgCF4CfpTkB5SgK7kBRwHZKVEegfCVR+TBR9cAMIjFC3xaLZFiGaeAEUlChFToEJDABlSAN1NCh1HCcyJmcyskN0CAN2BAO3RAOKpqihBkO3MANzbAMwKCdIfCdNgpF87OYj4mMImmM4bAM5QBv7YmZ6QAEV4QADjCaAzVj/LmfTmgBEBBFDVVXENdwUFl1ZyZloRUSrVgGwgmhZBiGYzAETlCmZYqhE0AAwrAMzQANzSCYHnoN1GBs14AN3oCiK4qiABAOLdoNKXqn3tAN3AAAMUoL2hlENjo/HoUA5//Jo7tCDckAAM43pPHmDuYQAvJ5AA7AAAcgmgA1mp9oAQ4wPuCgXlF2fgA3ld4FAF5ypYriY7cQCLiHBC7HaI2WBVPwM3qCBLzKqzmgAsOCBsKADMmQDGzaDG0KDSXKodUgoi/6rNygouSQon6KotWaotYqqNTQDMJQCXVQo4maDOcQkruyK+RgDNkAXjj2d0LanpaKmFSkegswAQ3QVjOWpAFlKgggCvvAiFHGD/4AD/8AD/DQD/wgeFmCXvIAKYNiDuYkEr1pq9TmMxQ6BTnAqwDgqxmghMJqDMaADCBLrMZ6rCWKnNnwoiMarSMqqH7asteKp4HqssjKC4cKNnX/UAm88KHVUA7hsAvkAF6ixnyU6g7FgJhKWEVUJFCbmqTvUkUIAA76EI75oA/9ILD/cLVX2w+Cd13t0I0m2pbHMAIvgAIuABIlsHteAABlSrFlmqsZiwQZOwQ5AATeAwt+6bF4awwAELLEugwlSg0iqpzZMBBzamwpyw0u+7J5eqcuWw3NIEvfGkQAAAuQR2YayIFCBnj1sAlDAFZ8AG6jegBXpHqfxACcKp+iQA9S+1BSGbDw4A+zuQ+HsrDhAA3r6afYQAYjkQImQKZm6jMUm6tD8LYAkAMkAAuQswvAIAx5m7cA4LHPiwzKKg112pbYAADQsAwgy6Z/S6cpy7It/2utePqn44uitgsElQB5sDJ0l7t8mUso0dB6ifBnnJBcVGC64pkDOcAAUzQB4qBjT3dXUZsPUuleibI15ICsAOCnxyAGUbBVIAFKZvq7hCMFKvC2SIChkQM5zNu8Hqy3xpAMy1q4xqasyOCXz/uxxtqmzGqyz5q41Hqt1Dq4sEAOL2h0p9ZvuhaHtDIP0bACYGVW1sZnffZniQAKG8C/AaACGZCm9qlXnoZgT9dq+hC1iSIO4eANMAkN2MAN2mAKf3ASRXCxZQq3BYGGA5HBQ5ABzOuXd/vBIIy3zsmh0DCndoy9xtDGAxHHfYusdVy4bUlTgoq44eun2YAMQAABs/9UDDN1w0UGjLr2w07QaMdlB/NrcpxgcpKQCAxgjsbbManLSqI8ygjGa1qSDuUgDcvKvcp5DIiQByjBA0OABE6AsQVxoW87BBYgAmbQNHkMx87rscjwptQADQDQoXK6rXksDHssECD8vNG7wm2KzNV7stDKDTJaDIaKBjUmP4s8U5uzeNHQaGRYc0mSBZecyUa8yW9FAFJAAgzwDVpCyvSsYEDmDR06vcmaDdVgCnqQEicASr1qxhWsvyqQoQZwAiOw0CNABi21vB38wc+bDMTMoR5azMuwzM1MEHoLzdCswiTLod6LDcZ8DdrQDTRFDcsgDKIwOfNzs5CgDdEwQuX/nE4HuSSajHaJsAEftb/i4CXzXM+iTA/ywCvIsLzJIA0iLA3ccAwvQE0nAQIgYAIXO9AFAbfziQAPgAVRgC/a0k4AUAiJUAvLC8fI4LfKqqzF3KF7i8LM7NEdvdEdHccfe9Z+LA3NAAtzar0zRVPLqQ3NkAyGWgckMHbMZnzMppviJAVnpdNilQhBYCoaoHyYOcqEAmTa0K2VQAsiPM3XQAYjEBMCPdCaVtoAYLqmmwd04DLXgTgDUQiYgAu4kNF5K81+nNZuusxu3MbMHNceLdfOnMJ6Cwt1yYt0GqJ9rQ3awAtesHtZIAUTbKYJiFyC0FwrJgdDgABVVAlC266F/3KZ7eANwEA5QAALfVvHuCACob0SY3yxGFraGwAAJBAEnbqpRXAIcfAFTGADU1UvBREGiAQGqoULzNvHyHrgbmq7vK3bDI7Cv/3bevvWAgELwJCscNqhxk2ny5AFVPDcFBzdUpCb4mRWy/V1UqDdBOANPYy58PZ3HhgP5CAMJoUBIWC3xeCmyGAESxATWwAAJlDa/BnfmXa/m2q6T3ADLtACKDACItDkCCFBsgcAsrMJuMALUYgLIrsMWr7bd+vGDe7lEu7bBAEM5q3lfvymf+uhmwAAFfq7Qqi20qK2If5tcsAHeyAHBTkGE6B63hArshJ0QkvU6JAMtVRFQEALIP/bDMaQCDqhAaVZmitABBBQ5A7QAS0AAk2e6SDAEI70EFVQBZryAgKhAZrmhKV3CbSwC1zO26ze6nk8EG8NC9FcrFp+rG0KDNG9thlAAmor3ypAy3OOkMCJYl6QAUByDo/cb+gjagtbDWighAaABsCwzLWwEyywAY7+6DkQBDRW5Emu5EsuAh/wARnBAxcAAE4oEBsQBCuQA1ygWbQA0WA+712+2xNe13xbrPoOCUHw4QLhu+8Nt9ISodJGbQwwkR5ZfTjcb7LCDuEgChighBhQCXkMDLvwBrJaEx3w6E+4AiuQxJReBHIkBDHgAjFQTRghAxwPUEEgEC3f8lywCaL/wAuqzuW63ep+SeH4zrchC+fSYry++7uzPMFhOG24Ct1pCgRcRK4i+ZGKxw7qGfGqRwBAoOrAAAyJgAg6kQIngO2Q7vErEFBC7oRsoAiBoJXX8SuwfBHZXpoOEAQtDwArAADsnmlyIAl2sAlc0DTy/uVurOo8z7e8sLZlKnrDm+sgPm1jYKFDcPBAgK3SSpg9eofjYg7a8OxVFAATLwxXvwk+UCAA4Ac0YQFtD/Yr0PLp/olFEIBfYAW88wNCoBEcb5/sDgAl8PIAoAELUG2SAADFAQBFUAQtVfOrLgyAH/jIAAkTKPQ+H90AUH9lethIIAUZrAKpBwtdHKiepaLc/1+Y5aANwCD1mg8EwLAJx4ALPZACKcATRWABpg/2VIDuY++EUCAESL7kI4AC628RH8ABAKFhw8CBDgAEQQhAYZAVXgDkQKKwjEIfAF4oLAJoTy1cwIR93LXLGDKSJXlJAeBE5UqWLZFM8KAyi5csSIbkyEFiQYBK2Hz61Katm7du4cKRC+eNGhACAQIQCAFrk61jKVIoxJpV61auXb0qNEFixViyK4KQ2AAgLUEWI0B8gBv3A4ivXFucYGBhgwYLffs6MGuWyBgAiQDsASBFzkStX84ACISVEKZItWABG1kSGaQgLT23fJhD5ZQsNXOoUKHBKRBq1a65vvYzqNBw1P9ghXBKAEOlTYmaXa0bXHjdE6jLjh2yYq3agR1AvJX7QcSI4VlPIPDrYAMDFQ4YMFiRhQ8AQQD48NmTJuUQEoeCt4EDIE4iYcYyIxOtEsCQlJ9ZKnQisSymGAI1Ejx4ygAApGGQGgdhuyY2bZapAwMCoIJFKWAASeKJ6j4E0bjjVlALANRQu8AEF1AYIS4QRkChBRdALIIAADRwQAMSIGBgAgAQYMC88/ZAbDESSDARjDiCSwKrPTAjCRgVhkDCCSQO7M8//VKSYgoCj/SgAQQgWGCZZZpBsxloGJTmQWhgQcPC3YAJiRA66AAxz+E4UGFEszYYCzUASLiACSF+sCH/hhhccCEGJb6Iwz33gqvRAQu8GIMwL9IKAAAIVChSjjTKGCOHCW4CsSIyEsGlo4eodOK0LD17SAUAvZxChQMzaKAvDURJJthgzUwTTWDgBAKIy3apRQ8AENEzWoVO4MEMOUxAASsWLvCzDA0uMJEEXVdQQ40zxPiiC3XPiOOPQN4Vro0mCHDAIYXUI8IDAxCwUQ5RAcg0ixy0auHDJKoI44wiBs2Byiq1VMmDDB72EiWJJ+hrAkhoMUZYj4U1RphKLqlkFzproUMPaKXV04g0EkkkkkR4mNGGEwAdcdM+dx7LiEN+/sONL6B4AgosvhDjsbrO+IIFB0jwooxRJyqD/4ofCfAx4CysVGECW1mOIwiGG0biYS0b7q/LITKYYAJamvHGqHCE+fhjOmGhxWRYJFFoZZZBvCMHmSMhPBEy2BADjj7LMo4CsXheQQVF/jjjCR9caEHGRm/4QYknsPjqBAIWyCGNMYiggogyol5BwQVUyEIKlW7qWgMPWP6DiEFDg6hs/7BSSQopkMjAgwmAkeYaucORhqS6k0HG5JCOtaOKv6W1Ng1JCN8+Ej7YiIOIEzcg9AIS8lq8LB6SiKEFFkcQwUUUUmghBhsAUIIJrW4wgQADIioDESaQgSCszmo72Y9NHmKiBihEEdL6QwaQpIKB4cRhZktJVoLnBBK0rf8SyVgGNZRnlGZoBhnCQoYwdnGZY51gBteL1h3G4C87xKx7MitCWNBCqCOhxU9BKMEJWASd6MgFBS6431b6h4AcEIYKCAhAQ9LghQU0gAANxMnXSNBAMDirbx96F5IUMrAxDsFhVspJRNImhSH4CGNoGEIlaEELUVSiEvcx4S5oQac6oCRbMMyTGcpQBjnYoZDd214iikC+DYxLXDgrCwDIYoIiRidGMfiBh9SQlTg0AQEKUoj4GDAw1S3gkw201a5uxwOWKeINRxLUAgdmRt8BYAIDC57s2gYBrGTHAQtYQB2gZ0JhwCIkaLBAB6gDSBCxYZBjyEIZ7CCIPfAhEjf/9MKJTnSB9PlpBSMAJwjiBxcQHBGTUBBDG7byhzssYF9Wm2IQHFI1d2JtUBIz3vWE8IQvwJKCY5TlBWHlBOFJYUcTEKNf+hKkBQDBhCmEhVRKsQhQkGF+BWPmcMyQKZpETQ6JKIM1ESmIyJ1oBRbwZmB48AL3sShGSBSCFdIZBzr84Q9YsakkBjYBBjAGK2kggo2wZru2GSACN2UZClBwAh1pMysV7J3ZhIcECEwAAivwEQAUCoADdDWiHknhJjaRAy9wohSlyAUYjnCDjAqHB6aDJqbGQEiQyuGa3EsEFVTArQsAhiwMCUxg1NAFJixBCIdNQhfUEIc55MGmNsXp/x3KA4AFEGAIp5saEXIQAAMoKJ8IQEATNsky6VSgL+Ki4D+fSrYqCc8JGYBABm6UFhL8xQILOAAwQUuEPCjkTmSgAkXRugp1tTU4SCBVR+c6SDnwwQ5p4B7hIpEF85nvr2NhCEIQAoY7TM4NZ3DDHwZxCEQg4l3wUohN05AGTkhBqFALYNVAuQAGIAAABugAAGJwvQ+cAEl6MdGJKoiVWQ4heDvKgEOyuQELOGAC2wEmAwzgYDBEBgB/yEMeckCFSKAVAJ1QiPWMyxVnkqo0mBokc/fgr0QgMhJp4AuDA6PdIBAhC2NIQyHN8IUoKMHH/FTDHA6hCCKbFzJ6SIMgOP+xCA8IlQDkY0CnQGkAAlQAAHThrwg4kAMGMwe1sSSjicimggVMAFNeGEyDceQABOCWyhAowSCy4i4yIJcTssiFQoQw4q6obgzKTXGgz4OeuxIuDSo4AAMAFQQqrFdUNFyxHYqQOZfWzwdKQFh4idwIyXIiEmV4wwUU1Fn/dZazBJAAlgEJghOUKCsbyEBqY1mr0+RATEGQAhGi5gUq5MXBuW0KBEhQgq3oQQ+oi8Qq8sxnr5RgCn/2AooDneKPLka6MeNDEPTSIzkcRg6RtoMhp9giETwHnOCkHyaV0IUzSKIMSx6YEjrwyQt11pSpNq4LTNAV2sq6gqmFgAFWkAH/7qQu2hN4GgMO0BQGdPAND9xKEZBbCjyfwn3LZLZCeGDgmSx32mWYSTXl4AWYlTwRWejsBAoZblGNyuVl4AER4VLuF8HoiCdYhJLlEITBAuAELEhAAxpwAStjnJldgAIH+MLvAJ8owBAggGgMEAAEFBDNVLCABqwYgIZ7gJVeIUMZIgEAPAPiAxnPSiCc4IEhPHvaACAVEqQwQ0GkgQ8wE8R5vMAACDQASVIDPNw5agKZuwicRxQCEeTgaS90lyts5XMe2PA1r5CPBKcBOASijXUCMGAIZ6ZCBxeOgANdAKNdOQR/QIFnWShE1cwGhRci4YUcTOHjg4zdXOUgCC80/zfv1dzABIDpco4CoDSlQUIRyw3OFly63UoWhO7QzpVGEGEIXfYKXzSA+SZTAfQrGILBUWfKzhYvAnXxA1Y4cQo8S6IFL8q4ITix+EggQQW2HyTcUxw15vIhC/4SFanJACpDgtIwvuObHRWQi+UbgeZTAjEYhDugP1DTAwubPgdiA7SoCw3gwIEQlwsJEtUBADTbPF4jvwZgm1YTDrIqBbKThUK4giXIOFCwJk8zKLK6vUD7tqhZr9UxkcryAIeYAisxIzMylfc5NwcMgz94hEYQJHjrrQvMCjwoAdkSDoLgABa4r0GJNtVBs9XJF3orM8IbDuCSA/bLBVBoBIgbMf9DiIRF8LRFkAITKAHk0r8cXIyZGBCV6BoCgICGKUJUyYkJUBTMiYFLCwM8aEJFAIMcKINFSAMSkcKsqIKs20C1OJINEKILODUVCKBoI8EM8J+maAAVFA5jAwMqaEFZkAVMqEA2zCga5ARP4yCFUAH+y0GpUQ+b0JUpIYFPEpeB+ZoT8YA2QBd1CQM4ILJDsKkiwIkrAYMolEIxUAIj2AsNyL4OXAEnyC+FCLj7MgCoQR0qMCUG2AkEUCb4E44/4IFGOwUAyIVSqEALZCb5m8VIkIMhAAMoWAITsD2P+7j1Qg2cyCINcCcPEBes0JUDKYGfUQQ8YJovQJo2iIM4cJz/HgGlSTyDKvABFlCBa+yKDhyI81OIG5CB1hlF/3kKAmizpvi6PCGDNACFVCC7QnAs48KExVsyJBgDSmiEQ/CDz5u7XCyDKSHIHGCbMekhrLidqloBSgiEyhGC9pGRGBACE8iL+iIAPJHCTBgEHkgAgbhGbNQKkQy+E3g9AIiAyiq1zqIyKuOBJYkWnnxHADgFV4QsQMIEJZvFMsgBNtADInsEG0MCXAxIzDuRHTEAmDgQqxK6trEANlCDKviBGEABLIORFOAphYMiLbzASZgEMrgQhcg6DiTLV0MLbPwjrQCDEqCyCxnFIugilgm7SKDJXJAEPcjL68mDJQOFJRsC/yJ4l8cyAtIwTFJZrjH4ssZsgH2xqjIDgAyQTg/ggC0QghURgexUCLi4DvsyNQHYr4xThEe4A637jqwwTQ5UiA48DQQ4gdPjCjAoAh4ogoWBoTgYmNUDgFToBDzQA2lkmb28RyoYAjZwrMfSMFIJtD9zAo5CKHHpIAhAgAYYIOksngudgBPwARTIThHAirhIAIUwpQOYurRsq0l4BDIIEmHjivQUSVMxACWQqUnECCo4Q4XghP9UCHWSlj4ABYp6Qycgg97CMDqIgzYoAvwLNNoDRQkCE6sak+nE0LbpgBY4u674gA7oKtwCrU5htkloBCNogAWQJAsIyfQciAlAgP8LgAM8gEUpLII0oLhceMEjvR5QkIPfjAQuUIHIyAMjPQMouIETGIJomraZoL3isZ0MID+YYJtdklAJAAAPxVIAkAAD+A4GGFMBQIHwzKhHeARFKAEyYQBs9IsWFUkLaIADMIEn8BAandQKoIIyYD8AKAUlMBoA2DM96YMl87R8XJg5iAMxeAIbuDgTKNRpo4ksiC0PMJ7KKrO2sSoqSwArCw64EABgc6cAOIAbAJ22agQy2MwFcAAHUygzLctGQpJVNYAWAA5YBQAeeDdlA4AiuDSWkUVPC06FEAP2SYHLvFITqBJQHMIpkNZpvRAK7bsVmM9JGY65KAABiAAJOID/AcAKSWUmRTCCgNvMcm2wcwVZEnCCCUi0BUiAy4RX4PGCWj0FMNgCabkDSfhNTvBLNsAfF0gBt4gLrDAB1nKCNprQfQGtKloAE2ClR9ATuAAAGXkBJiDJr0AqGqGyBijVCVgBvrAUkFUoDZiAVR1TBaDUlAUAEygDQUiFXMgFQRADxuLKDymEPAVOsXFX+JGLrTgBDlgBE+iAVDuBB7gABWCBfbseEejUGEgCMaiADuCAA62LqBUOK1IBnnwmmlgdUATFMSASACyDIVA451DalBWBDZtTWQCEOMgwECEDR9BTvzQClvpXnd3ZrKC5KzNRQPqBH0AnDuiA3e3G9NrN/6S9AA0IKZPDipIrjOM1DIVIhD2oIAZwDugAXRbovVRgxTLAg5usDhT4UVAgnBxYgTbgMSW4AXdVKqPLqN1EhPEETQDAAzdwgxKAXwAogd3tiscCkf4igeYyuf3lX5PbAyT4qMJYgef93JTlgcUDBUGQAjB4LMf9CjAQBD3lgoG5E2E9gy54gsp8VykMhEOAAzHoAjHgAIVgAc+8HouFixIY3v4dnP5NhCbim8JIgyE4gboV2xN4xsgZAiMYhN/1iiaYKO5dhCEYUpv6UzqYgzng0ZS9ARcogALAigigAGv9m7P7AB6IXCeYgs3Tj7JBAtLIAioJqUKCLkmQBMNQj/8AuIC3EFus4AEg6QsAoIIDdWCuSIQI1lfeamAjPmJAooA8GYABEIACeAAAUAAF+JvV/AATIKho46hoQ9RM+bMsUAjb+6iX8Z57SYOcqOE2xopytBQkIIIu8mGt2AJBgMMX+0s63uNS1pM/VghYHg4BoOVDVoAnlhaL5dkv3sOC8uVfJsJZLaQ98IJq4oNuU48JgDxPBoAEQIADKFeBaIA7aOA+ywE4XIQcCAJWbuXrkWUA+OZZHmRDvmVdZpniqJKtcBiuQBUkoAIc85dqWjH14AE8YGb9OoBnZgBLAYC8AM1GeJaIywuyogIPIOVWtl8/9grQgWKuoGUBeIAHiID/B2holgE/NcKKAgkzdX5GKYgmOcDc8wCA9QKExgKAOfBkEv0OgwgSB4gA8HJYrCiCcvUOCbuAQEDoBqbH4WACLHjacM4TWgbnCpAARAaRp9WvDKASrbiJjd6KWSpML0iD/xPpkb4wV6bRB+iURGMzhXAAI/BUrOAABLCU7+CXaLzqVg6ENwURIYgCtfwbWi4ACeCAClAAc44WssmTdvY+wKsmAGg5QADQlAUBrSYArs7aZHqOrCiB24Jmc2wKL1Lr9J0EaTHfuBYAuibqihaOnTaRC/oQ/gCQjy5mkV6vtG5jEDABp0i0fS5rCYhdMvgLNvskp2jbxwoEyr7nrKDl/wfgAA4o6g+p4ynxYoxeQbKRAqn+v7+2asH25OdwCn3eZx8RXIVogoVaKAZoigBA6awYMtBMP+N662ihZc2OAKNex60ggQsqm+poanfmwZBGDJIebIU4b1yePq3mrH2hsgO4sijOgKx1AFILgBDlCj94WeEQgEns7d+mAPQOjjomA4hYZ/cWbSe4MdP5tmMeaS9wrNwGaLW85QIQ5Ifms+dQAKfIjQAgQ6zoqtmWsAtJAE1gGaFmcAVI3A6oAAoY4Qh33DxwRvYAkfZG7qihZHmeIie4gzxYmUdwg0IGgBJ/6Clvq+cwga46gAdYbKwAgYUjV/KDTRaIA0uQFhOXwv8BKIAsLGETHo7dnBIKMm6sKG4592ILSm4c6z1R2RoeyG0A6F2HnnIqz6jn2PKsKOxRfMunCABTLHNBR7sCqAAimE8WoGIQ+QMjYK04B4A53/SyMUI43+IxKJtoQwIyKC8/39vgCHRHlxZCZ+OtgG7YVPFFT3AYouVARjsp1jgW+PM82T5Oz+hOVwibyCIVQMiG0WI2coIZJoNGCHE9WXUbZxlC54rVXvEAwNi2CmTOHrEIGGEeYIESyHY9We/ixuic4A9i3xFg6oAT6AAKWAHxGQNV5N4hCAViw+wpx3U+M4HMrgA3yDgxeHQF4AD4rYAIQGoQeQA4N/eIGBgv7lr/dKQLV2cBDgMFUAAATkgONr8eAQhkNFcAKIehK824GBGCLjhzCtDx8/6bBPCAqGp4m8iAdv/vp4bDswKFVaCCXq8LaY8OrPj4AlCAiaWAoi96rjh6T04iWIXoCuCAB+94C3jGhmeP5/UKFrAmUDgrWRAE+OV5r6Dy6JgOGFGIB5AAo0f7tFd7oEY7pAURo7d1zaboGl9wrbKgQLyAff+KIRCuFkwFTFCEQ6h0cV5wcoKRFhACLGiDtgXntXd8tteTauaKHq8OCngstK/xQgZuCG95C+AmQjHwnh8AC1Ayims9OTgEnMZqVcd1FPgBKziDO8mwOm78x/+bnHZgCjhv/86H2lb+Y8gXDhyv6wfAa7F1gCGIhJxvveg7+j3WE5CPgDmgg9l3/q1Q+9vHfQyTxrv++OpQ/eqHdkk9eG4H+ifG74y7Zk6g3tYjgqT3XZ3OE7jPfpyi/a9Ie63A/QzLgzj4AiUACBcAAAwQYHDAwIQKFw4MFOgPRIeHGFIEYNAggAcVOEhQwHBAAYUeK5IsWVGFnEinZMkCIKgChYoQZ/4JZJJhhQoJafLkeZMC0KBCYwLwCSBPHjpintgYMQKEiA8DLwpAeFNhoEOKNGnys2WgVYsYFxrUWeFBSIIFCigI2TYhB51X5zLMEQlUqpariHAgSpHCTLomexKuOPQwYv+/CX+geBr1A2TIYi+GvTmJlKUzS1w0FjHXBgeOCkCyLQ0gbcIOHASzXiGIU96WghSTpD3Q9kJNJAkH/pv4d1AJD9oOQPg4cuSpVKtWLrmkRWPkkkm2UALAutuQpR88WNiBteALQ1Sukk0EKPibQq4WNjyUIeIIxIsvB5CcIVW6SmKgaPwUeUUtxCAEEy+0kJB2GVW0WnpXqbAIXiwBcF6DFX0AwggoVLhhQhEMV1xBy11004glkTLJIG5ssQR//pWEwoE2HAhAChqO0IICESRUAgDfAcAjhyRdIAcnK7W0SFBBgiAVXaEMNEmQJYlYH4kmIaLIJKGcmGIYS9hwlYb/FCXxRRw9ltDBmQMBGSVFdpWS10AUBunZXDEAsMUZA4WiG5v4TVlig4c4NCgik2hCCp8mwZgQjC20cMNAc+RhkyKNfIcmCxL0ydAFgkR4JG7g5fciCim4cKASV5zRx6Z+/jmWYIPONGhWV6UwIwC4AoCFGgDoMVClCSkCQKatKhSBXUYCsIicfQKqUH/ROtqCC18a6+qrVyHiEG902ZnrQDOKEQciwg7UCADoXrtQAQ/C1tKEoQYJKAjR9gddqWGuq9Cro1akx0O9FQVeFQD8kASBUXwxByJXAjCsQuhSYtO+AFiQxrtHwiTvvAZJO62j/dEl8ob9HpTQIIgqwi1N/xwOAoAaZ7ShhyITAatIuQk9AkDOFQOgQiSllDdQEN35TFCjLih9qr6KohADE2KU5IIIdJL0Kkg5AjDKJCy33KC6C6EyCiUPD9vzQJSgXbEFnsK5LGr7guSo0i/YbSCYAAjRRRsOVfRFFErcoGtFyxVXwAOKBfx1gw4hwhUlj+ysSiznJhR22UcPlIAKRQ69SBAIxW2S1XOtpQC1dxNOEgo/WHHGpLQuBFEcZ3wBhRCQXlWV1jL9wSYiv2LxgxJi/PEIolsDkCgAlOSh+UAXQPh2EAIIBoL1dK3FVguq0/WEGHMImlUg2yrUEwBnYPEE9HTVDngSP7ig+xmrWsIQwP8AUOzzxRkvm/1VRiCY7bFFAS7Am2DicIgFLrB85hsIb/7wvPbNpQtQ0F38frAeIbjAB0/oFQBQMTb2bIoEQRsaAKpnLLYMRwEKsBsKpjOXBTYMETS0IcUi+DsKXuUHAIjBtzaoN4G44FthuAMeMnGTHbLJAnyI0EAiAUA2sdBDCnjA4CIjAhDQpWFZadghvLiTCPLwJhkCgN3WYx0h+DBXdopB6UzCsfR0TlmgI+DoWCMCFFwxAhEITQVigBwROMUHADCE5ShSPkUwEmc4zCEZy2gSgcTAbjfQ4A++daAXMOkqctmU9KCYQgJekTtzZMgPbpAjCUQATViwwSAx1AL/JswFEY24Jc5o6LeidEuSJXkBECt5NxuEqZKdvAkLrtW/t0Vie6WkgI+YeBM4tKEDqikBFr7gg6o9ZosjMCRdAlGpRjASjDbjZXt8yZCnBTOYaLQbAJpmkivuy4RCg1cQTpc4DlhTmiY5RCNYwAOBNgIRTIhBCrjpzVmCR5zkdOQCx5hOdSbkBQlx5w9t8IIYzgVWxhqAE0XZzIxIoAJnUs0MAypQHvAAFeX6Ahbi54KngMCQhnASaypVzlvuD50zOSdF43mDFwzVnRq1gQuOKaWKkaaOEhLECgCgI2uelEElAahABVoEVKBrJu+DghKEsAU3VOiWjXgEJW45u5kg/48UQY3n0waiux8OJAYtUOpSr7UWACjAAtNriSyKpilrEtaqC2oEJVZqBk0ogjd0aAMeDnG/BimCEpogW1qBWpRATAIVn+gDLePYvtTFAFJDRSoANBpPvJpER30agAsTkgApZEwWctDUjwibJpJwoAQsWGkReODTniACpxtqxChGoQlKZFYhigjFKCwRBiEI0JcwOqCdbgApi9rpBUnt6HVaRZqFeIA8siiFF1bgox6hCaUUwRRLeVCE8+jweGyiRHKZm9aFkMIQB70PD69rUTQCQLvcteh3q6TX0uwVAA5IwyIiIYj0TgBNA0FTCXbrHd8ClwgwiWSftpLfyKHtDv9CiCGAKegoeAJAaRVtMXRYS5Z1+XE4bGFlRxagghysQAUbsMAFFJJhaxrWTCuVLxEkAJSJbgq5ymXuZRUiHRlGqQU+EAL7KiLggbgYmDFg2kBknJAptuq3HdhIXCSgZgAYYAIW0AAAGOCA3Wa4qqn5bYeVDBj07cvJyY0FKfqwnjBPWTDRokgNmrCENyBSDFhgCN2AiUaBANNA/SGmmBMyEmMlEwAsJQILzlQBB8RZIQygAJCGXNge4ZmlZmBBUJh8LU2gIhaxCIUaBk1o6YwMOtMKEwqa0IQ3dIIVxmbFINoAACtw2VG56h6CB2Lp0nL0JhzoNF38yRAGdUCxPAD/dQIWsoENFCHVZ1I1h4HLgo3J2liIGIWtNRGGgzZtyplmlK9B1h9hM6ITnjC2KwDgCU8coky7SgKkQjajbykNUtWeyyl3UhugMCirLPU0AuLsAAuMWwMMKMIt63zudLsaALHms+ZIoYilpJIzCbH3TWDUKA3dy8qEMEQnWiHwgQt8IBOZQxukxqgDErgFNrjkw+kS8ZIkidVZ5dFqCHCACWz8zQgogVlDnm7gAuDD7a6YBZnARtS+vNCsyzfJNBQDJeRp5wP3BEPg/qteMfud3n1UJqm8L2kGRbee/q0EEkAAAxjgAAwYSAMO0IA7uDWtt0SrYofLOAraAApQYMIP/zKpL5hrGe1SbkESjIcIT3yCFW/nOUMsUa45lOnyaMQ7ijm09IQIhZ8WNoGZExCAOMuZ6gNhABlG8YqtjeKWllVuIxZnFEnG4PJM0C5/ys7rdXqe0C4o3hwq5YlWtMIVrjA26gdiCUtIFgCWKOgcBsKEJMRP75obykmJNRAOGGD3A9GAAxDAgMMfwA2WCMUrxIIqEF+6IMLXUZAQXJ4StJyUmd1A1Eu+hYx9jADUnAEdpAs5NUIoeII4sQL3sYISAUAmkJ8Ivt0jDEscxIEaFEgKlNFQqIaFJUT9JYQGWMDGHV6PMMEX+IElkMLwqQLZPMLyBVULWB7m/QAxSR+AJP+EwoEMvlSeGjxP1jUCwU1EIFjCJ7jCJ8DdQJyeQijRxKiPJB1GYTFIANgfAMAZAGyAgzFABxCVElSBGwzCIGQCKagCKmjCCWobRd2A811S9O3aEjahE64dFswMBprVIyhRDTWMInDhTXhCJgzCBe7dxB1GRlzR7smZBazhBWyAxzlAAszPD1ie0SnBWGHhW1WEElgBEyzgDQiEIEYGCDihE94AE5yBHkzEFN6SI/piw2RC+JmEJA5CT0EPYAiFcLiQCx0AAXDiuEUjAhCABHSPEigBvqAAF61iSZyBGFjB2OHKlNniqTiKH6qBQ/ViBiIClDGXJbydYEjiMR4NT8z/wRm0BT4qwO4Zng06AANMYwCcAApoVzbeGzeGwiS4gRhgXiDaBy3WzQGdSsNhARwEArqo4zgh1nJpwulBYpO4FQXNRB60wfD4GlscwO4RAACo5OARAAGgwEaFTOxxo0m8witoAh5cARMkoUNCxnWV44r9AJlciTpm4FkJY0d6oWDMQizonK75jFd9ATZGBgqExBmioUsGgADI5Gq5H00yRCz4AqD5wRXoWmTYooCEXh4wkrpMYbqgFRUmpVLOhSr8AioYAhuEZBws5AuMAIAIwAGgZFYSQAAcwABQS1Kl2FdWBHIFoFiSwiAUzGqhZQXSDFv24lvq1yOMn1x6pEm0/0JTGsIdxFMZ3QCKJQcIIARgCgADHMBp1GKLOeRiXoUeUAIqBKCtoUJC+IBdgUzzoSMuZaRZZSZiPYJkHUJn0iUAzIIlsIGwoUBU8JADngYexdO0zKZg1GZyCV8sDF8muEFYxeL8YEEciFNGXqZRphUlTMJxcmZSVgh0ltF0UoSG0A120oUibKdlaQJuHtIVKEHUMAx64pJZVYp+hQIIjt87yiVrLEETDEQPtKB8LmFJhMxG3edV5AFyLRc7XlYAhlAmSA4GBkvzGKWBMlcofGDpdaZnmkReKkQT9EANbKO3KAEWnEEc5MGvsIZiKsSMHAhiYuhcrEzDaGRyDYQqDP/gTZaoWj2UWaEo90WpinZkSbTCACbEElCEsMWohMYcyShBF6gBHQTCjs6FZByIPKHps8Hk6gjpQjgQUeqX2sTBFwzCJ+jm1oRC2VzksJwVJaSolAZqK2xhiwJA6bnCLMwCAPwCK9zElkao0/hoDJSiGLRB+tEFkygNkIKLdy2KBLopSSCWqMrpHHRBEijBE0DBGdzP8N3kZbUlcwmqoLqCzkHioXqfogKALwwEIazBgx4BSWwpl9JnmDDJdd5AEkSB0F2FmL1AKoVLkIJqRVSWnKZVG0QBwgiBtjLBEoTBIfjgQDxZ2gSCrApqQrSCB3ofQzQqI7CBu7IBGJiEsEL/KqMcmnVe50VZx8gwhLNeksPBVZtKa/PIKSK0wRNkq7Zqa4EBKB4AwJXmIWORa7lGKUOoa0IEw64mxIu+6xrI67zWCFriq0LgYsz5aEVpF8o6XH+4nMAuBLWGIfslrMwKARARDy31YKumFa1OLEVYrEIwAiMMxLsK7bvGa0kIW4SGrLNBy0Asa+fhyt2kVmq9gEbBUM3JU8sillIg7MwqbAwcXSrZaMro5iv8girMgqwuhM4BQMAxxBu8wbvGLdG6a8eSxBHcytK+yEB0QfrNY0IUkUQmxFDdDeHeHQqUI9YKLElybddqKxCdlnZd46qigi9gLNpSbEVYbDAkBCHE/63nuuvcskHdLsQRiOyLHIgVKBsj/Y0FQcEPWNSXHJDdnEqL3Y1AgEzLLgSyalDjyuwPEdXdfG0M+ECx/YIvEIMvzIIqtC0ArG1CtO2u/sJAvAEAfK71fq7RAkDpimzikuZAoGMjIYIl9JRl/kocxFQSGIjqTIvsAuWn5i6X9e7MtpiB2e6pvAEj3EGjVq4vmG2uniuiAsDmDgQjwO31HrDndix/5C3rDMSYXOBFImUm2Iwi7IzyqM0rES5Q2h10PBvLwi8aySzvyqx1oKztalQLvC0hUG/P7uxyDsQAD0THIjANg+6v/a0sMu3ekkuf3tLpZYItLY9CaEIbwBQtTf9apMFT0nwwCBfRDZQW8QgBwpxqyg5uf9wAG7zBCjOELizELDAvALACJgAA9dbwAQvtDTNEDitEFAALBqZLRyKW8lxOINBBHtQOABxxl1lUo7TYGoOw4BqMQnxZym4UjNzAEhCCImtxQgAtAHSxQgxwJ0wvAKyBGSMwGCgctIYLRViHOL1xF77dWTHExDzEIiFC+j1agUXt0jIxIM/PXF1UaRXYvWiXDygyeJgCJVfvJV9vEzAwpN3u3vIMKHfhQDyCRi5EzvxBGPXpsFwqwn1ZH7sYIAtuGy1G5snP0cFmgdnAETCySUhvRcAtL/fyuzbBotzEAelOuaiVzsBdJhj/aUJw1TvSkFa8MSLkgT0CQBs/G5d1r7QOpAYthu4aiL8+cRYfwRrgMkV4wgArQ0KIMQAErQGbM7xSbcp+C0U4KxQsa9gAwCPwXGXNcdpYAlJKYg2NTxhty/P0SibZCTUD8kAmrMFcs+BCSiqd1htgwhs0wUIvRNAmxC9AMkNQtDmjURWjrEYPcvroD4m+syfszPEpRGcC8aCs9JU0DAAEXd09JQjfgO9m3kIcXU3fFQCAQBOYAk/7NCFMdCQ/8sVerC6YQicwwgpXNAL7AMpmcxtp1xoLxBfoTzs7V0jH81QnBOmxqCdsC62s9EDowQQ5LQijgLaGVQaN9SVlXtP0/0Bbk3H1BjUxJMQs6IKihsInhII4JwQm2DUZ07B21TRfy9VQcRmklEnNpIuwKMI7yvEoKMTyJuoXf59crozslEtENU81L4YaSbFNFxhsLwRksMEYT/QdQHJqf8InWEL3zQIpgCYAQHQwsIIpAO0KXy8a+dCX8LVYF5jS2IkaOGKR5nZUy/NAoIJww939cB+hdmRjM9ICNQLzVHPrCIFl07RcZbO1LAQIgAAb6DIAIO9AcN8vzAIr6IIu/MJQ64IrhMIsxHAXm8Iif24TXBI2q7dcWZTQDQvOqEsjGXaUnSsAjGlEOAQWml5HNtAVesLZqMuVJnd1ELgUy+xrGwxAD/+ELjgDROvCOzbqokpvalu4K2hCK/gCRC8qAIx3eQ8tTqt3Ntd0QlwqAISRWjXSifZ2fYfCmDa2ORlqRxJ3jqPe8IFkcrdYWF2HtiaBc2v2VfR4STx5KJATag8EMQTDLGB5a+c5l6/3QHyBsg2EcZM5W6LViwNAKGwLAzWQVtRQCL5dCL45djuJKliCIVVXNbuAwuqNvmbeH1/VH1R4n4uzLpzgLWnC/24uKyjyChtSoiu6Kj8Mz+QMmafLYXehpV+6sTczYkPi2532K/gCKtzBqgNyCxi44PxAwJLE8wwCk7OtLvibK1x4kzfvlehUJqxtlV95u8J2ouexspVNDTlp+rgL+2WZ+c6Vz7EfO8QMxCdMxIJ+ui/4AitsQRN06ZzPNJDH4ob8wSAYAk0wfIVj+FCzAqWw5SeY+6ArqhJkqbqLdfHsj1YnRA0h1rBvYJgfe8lPBAMlRBZmBc9hd7N3Oxs4aHxGSUAAACH5BAUGAAAALDgAHADMANQAAAj/AAEIHEiwoMGDCBMqXMhwYQkWURpKnEixosWLGDNq3DgwQQksHEOKHEmypEmGCSCeXMmypcuXDjpgsWLlpc2bOHMmTCCzps6fQIOW5EnTp9CjSJM67Km0qdOmLJg+nUo1ZwmpVbNqNRl1ptGtYMNe7GDiCU2xaNM27NDzq9q3cLuehUv37VWvdfOiletWr9+pZM32/Us4KVssiCsOLsw4ZFeQjSMffSy5MlDKljPfjPqlSxfNoFvyxOKZ8eLQJ3kygXIateuLHpnIfk17Y5sLCbrMrM0bI4EEYT775VHEi5xFnCSRSWSmiJEorRszYzYOXLx16MZ9s2Zt2LBCmDCF/1lIwALi6FsLHecEqhQoTpEWCcphoMSW0MyeyZs3j149d/a4A2A9//EnTzzptJMOOOPc8sUXAxlBQABinJGXJKeUoiEoHIIiBxIEELAACeNpdos9KKZYT4osCujOPO1gJyM6tmxRhUAnhPgEaXSBoeGPP54ixwoTOMFFDqB1YV078TAZTzzy7McfPQLOw86M5pQjzTHRgBFhiLJBAZePpWRoZpmlFHIGGU5QwYUOoI3DTjt01mmnnfGcYw45vPACSQYbaODBoB5McEEDCFzABFxWgJIhmpC69wMPTkghBQuQVabEnHd2Wuc86EAwwagTEFroqAsg0AAEC1zww1tggP8ikCRHUEFFGgKdUsgVRXDRJgAQ6oWJLbZsggsvtXDBhSi2sONsOwjZCUA7dTRgrbULNJCtttdaO2YpAx1RhpFUAJChJFjoIEW5PNgAFyDMbHLMLrvAAgQaGCAQYojSrLMOkwDEoxCCu2i7wMEIb9ttAwTcIsSrBmWRxRRTFJHEEklJoiEAYIDRJhdDnAJAKWaI4QYX6xIRbFi3PMNMO9TscsnMGGBgwM0GhBgAEFeuw07AAMyTDn/zRHmgwPKgI2LCB0MAgcEIBwAMOueAY/V0t9yCw9Y4BAGAGOi1FKvIoLhhRhpleIFrhmkkAQASAIB8hVa3TDPNOFTOswwslcD/UssmnHgANQI3J/Mi0YgXffSBUiYNzAIAEI6zvgFMGGLOBNQCTDLRhENOOeecwzUOx2z3zDCr3ELGEm7fpASGAh0BQBpok+HlyDwsemsZXFA1zTb9vIOi8PbwWYsoohyThRdl5MAqwgB8cw+L1NtDYD300NMfgVauU0wlldTBdMIC3WyqB0MA4QEXOGCAQwDWhFNOOeaEjs465jAIDjPDZG0KACUaSSHABQB0maEMZaCCGwohMl2pAQBUQGDvxJQU6vTDH8F7hwY1WA1cDENZEGBABlRAAg1Y4IQMqAQ+8HGPFrbQHtOLYYpieA985OOG73ih9ebxDXGI4xjFEEUl/0IwgQVAgAQk8AAacoCGJqIhBCEAAhBC4IEVSJELl4AFGhZQB/AVoxja8IY38Kc//mVtFUkIW0HAcJxFyAEMOkBgGXggBDKIrBRkwAIUDliGIbgLYkJhhjv2Qch3rHCF96jGMDbBgAmccAOQdIAGAmUBSNTwkJjEpAsvecN83OOGmVxhJ1k4vQDNAxw+PMbxRLEAJd7riVMkIqlGNagJZOCWGkiiBzIACUiI4oth9AY6ymG1/d3CFM8Yxzj2k450VGd/wyiCIOQghzSIAW1lAIAOdJCGRXiTDALhYw7ckBRAoANBCUoHOsxRv2PQwhY2sxwBDjABBzAAAQFAgz0OOf/KUIrShp1shzwC1qSAyUMdALJHJxe6UFIGyB2o/GEzRAEJNNDyfB5IokYzylFdZmCWvaRGOMzRDv9UD0Wg2sQ0y+CGJaTNCwLxAhWoKQcipMEIZhDIOJGCB1PEA3HgiMYzcIFNKgxhAQQwQAACAAAHRA6f3qiSlOiRIobe8JOH60/RnMXVrrbjWUMDUAvzwU+y5kMfo5yeO+iBym+4E3lI7ChHMUqqYpxDoNijUjo0uEl7pCMaNOUFJnjwUph6gQs0lYIXFqvTuSHFFj89Bi4AkAU5JNALdgCAIyIBABVYgHAAYIADKNef7Jn2tP4hmjuwp46iuXYe8eiqbGfLVTv/ySMdCQUoKBlqQw2iiK2ppAXyTEWqBRyjHfNYUYp8O0MYmmMTA2kGMIzzUgjOdJpcoIJMF5sDOZiBDXMIyheG8Q3j0JSaY0gEACIhCUlwNhKnIEIjGzkBUawWtfg9rXJhGyUARMlZAgEwbWf7VTrNaU5N+ilVx2pVstqQhb/VXg/BcQxwJBRFpYQhDC8pSsAKRA6b0G425ZCDEnNBEACQQ5sYC4AhLCISkTADDBalkzNIYgy0y6Yd5JDZ9UYiEYn4MR8ScQozOJIEOQCHaRGC33oI5ElPQjCAD/IzAAzYq8868IHplOD95BbCKGIhKTfpwg2jaCDWc0fQziEKgUxT/w5vfjPtAIBiOWR0CCRQQQ64MAEqAJkPMhCCToRAhDKMYbGG5bFl1QuARPCBD2aQAyiCYMsVlJYeDMkegGDUJAN/VUb+8hcA1jHqUhfkyrIt8IDbcQ55pOiQmxwzme8BgB3upx3hkIYTPnzeXg8EzirwgAqGUC4PGGABORiyHJqQKZs0AdFZcMLylleGzO6BDwB49B4AMAZJTNoBuFgrfyQCIHnYKcvoSHe6Z+QvJkFrIKQm9alRTVty4BaGDfWnJgliPXNAAxK4Om+cz8trDyzVALZ0gAMI4A1xfKNYT7CBu2zCA8ZKQQVSyEIOpqA2OexB0bSzQxq8YIZFOEAc+//ZT9ASRzSCqDm2XfUZO6h2Dqqlu+bn0IbVHsofdaQz1EC3stCtPFufnYMb5gCAbhvcz1DSmh3VCAGrhL1nLpSh19P88HxCECJbqkAYCIYSf6qzClvc4AUCecJJFOuF5Q1hChpHwmJpJ4UcGxoAUqDmCryRYChDKUqvRVw9YOSsUN9vHaGrX+gWDw2mIe8Yx3A4f1601nQMNNSljveo/YWOcIQDHWhluugbCgBphAABSD3YsQ1GxRBUHbFpIPHlGKCC4/700v8ZHj+2MQ1WiKckTZC2E5AwBSnAHQly9wKOpTAGACAa0UGwgM8K3Cm//30e/p05dkKHeMTTj53sPEf/ObY1vpshDHnFiPw35MFuUAPd89eQEoBGP/pyiO9gBEC9AaCmreexKgSQsy8icgxQ8lDWoyIpsg/80A/wwHuAMBJs4AReMHxs13ZUAHfMk3ETIxBS4AQ5sAIbUAeQUAzVgA3pdiXPcidPYm40l3j2I35ZAn7msAvkxzSEgzD6d2zGhXjq1oPqdg7XwA3lkFyoNXj9AUMAMHr00Aw3g3oBgHr05QAnVET9lzAhUgzfsFYXdlIswkILuA/3AA6Y0AIcAQZIMDFIIAXOt1hxxzxjgHGWYilOMAQqoAHChQYesAA700W8QA7VUHMyxynswE70Mz/0I36fMz8AUA7VcGyr/zcQ46N6qYIwg7h4L0hz3HAN16Bg+ZU9eUUl8iAgDJYP5IAG+7IADMAAG/BIF0ACkKQBGjABUJMz0tNXGUY9W5hh0wMON8ARMDAEy8NxhtV2SDAEygcAOaCGcTh8KgAJ1aAN3MAN2LAMyAAMWmQMsGABAeBF2tANVlMNwsALwgA+2XIwdcCH0gAM1dIA5QMAObN/xyYQ7AgATJMMAAB+lph41HAN5AAAnegf10MgAhKQ3OMNSxUAovVIkLQBUmgBG0ACF7CKRZQzxzBrOtQiauYiM7Qi9zAObRASG1cuFciGyVcGHYh3cYgEKoAG0nAN2OCS2KANMZkN3JAN0ZAM4/8ogi/QAh1wjrTwk83QDNeQDdLQDN8TPk+DLQcDAAuDKIgSOUtpLRAwiDIog+RgDNDADthXEATZlV4pDAdJAKJ1AKmicCekkKvoVABQCRwma7SGD/tgQ/dAIACZUEWzIsPwkRyhApWSA8n3fMsDU2MQhynpWaIADQBADdRQDZqoidjwmDEZjd7gOd4QjZYZjeSQmZ63md5wDUXJC+cYAgVxLfIolUyJAMmwTuBXiOWQDciADQo2EF4ZkADgle4gCgYAAEs1IZWzLwhwAAmpcAAQIgAADvoQeg5GSvlwQfAAD/3QD/egOPzBDtiQDeEgDpigRgtRBHKXhoEJbdQ2LoT/2YFDMAEEYAxBCQ3qKQ2KuZgAwJgw2Q3dQJP0SZPc4DmbmZ/6uZnSIA3CIApdhDBNaS3aUA6LGIPlQA7QIAzloHLJxZWzSSC1SSDpEAJcMAZyMGR8IFMOcJAGYAGipXATkps3dJwmipz8AA//sKIr6pwBg3hFqYnHEAXQwREmsHFw952LJQVyBwDiqYYC4YEaEAB1IAzIgAzJsAzLEJTNoJ7QwJ6K6ZLVAACQ+ZjXAADhwA1Yup/7OZn66ZnSwAvhI5rWAqC8AAzVUA2KKAzC0GoshzgEEaHuEA1pcG1ABmPtlQheoI0BkJsTgAAMMKLfwFAnqg+EdEEtikH9sFa4/4aVj4kJVbAyG8GXMKWjXkCHHJdNTrBrAoEEOTABSwUMAIAMxnCkSJoMSaqk6dmS++iSrpoNQ/mS9imf3YCl3eB5t8qlutqfxQALkFAHSdkAdQALU7OCgCclLCcQDyoQ9BANKxAECBR7CBRk7SUJeroAx6YCf5pUDMAOYVVr+3BWJpoP+wAA96AP/MAPcWlK7GAM1IAN1BAGYqAG4cURZACM0ZYFa+gFliKMEwg3AjEEOXAvsLALwmAMCJuwpGqqppoMTQoNrdqYismkUOqYsyoQ4ZCrurqx4YANRQkEDGAMd8VlTvJ3x2ogQEWnsbdjO7YHe7BY1PpjY2ABIRJsAP8wAZBAhJ6oXOaKD8h5ovlgD9/QsYuJDbhQBUsgBEogEskoBX7JWBQzEBeYA0NQtVXLRPRisAcrEAnbtaZaqky6j2JLDUFpDAd7qqsapS6ZDdlQqxibsRybn9wgDGgAC+aADl6lgiVrNPIAWLFHTS3rcR+nYl4QZEAmBxMwnCQwKqIAkHJaPfmQDtiADEGZDNdADWRwAy2wuZvLEZQyBWkYtQQBsHNotVVLArAgDMDQtQfRtQhLudDQpO1JDeq5DGZ7uwf7ukmanhALn49JkwMBt+HgpZvJDc1wCQ1QCSMYk8IUiCmIJyprd2MwBgjkcdbrskAGZFIAOR7QSOIwkBH/SpDaYw7YAA3UuAzCAAC4sASdOxI3uoGjC7Bw44EtZrUkQAtsmrvG0BDG4LCx+6SKKRDQgJO4W8AHq79HuqTqGaWQaZ/cUKsZyw3QkEW0gAb3ly2QoLxgpA1A5yx0Sr2F9Xxzx2N28GiOxgdpQAKEkwEM8A1OJr4RClvGCwy7UAz2CACF0Bl6RGMgiQSb+jbIh3wFQbWmqwLGggu3OxHIoMC8C7EA0AzIIBDpe8AGXMUIm6pNWrEwCQDZMMHCgA20eg3NsAy0UAdNRJYH40XHML2GxoaWulhX17J8sAdpMAZIoIfHtpUDkV8BSQ/y4G+wMKyk2gy2MAh0cMglYQR+/wk3QhywQzAQKmm1AEACPJAENtACZLAJtbALwJC+C+GwzfDETqqeAGC7W7u/A0HFqlzFuXukuyu7E7wLLsnF2tCND9wN3KANQVkMFVwHOaB8jDWBGEeSEqh8O5ZjWSB3KrBUlUA0/6hfVnINlUCwRnoMiJAHefAHf0AS5FQCi/w2AyHJAOAEJFC/dEgBKIACIwAC7IwCxAEJmqMQqqqq6RnKUby/qAwArLzPq6y/ZgsLlwAN1+C7L4kNVFrL0Cif0jCMiIYESLZYeGaMcFxNcuAFcMOvE1IMyIo4fBww4bALQIABQIC/yKAmcJAHgbASeibEpivOpVu1KnABKYACA/+BApvrAjcQBWJQCKZgC7hgpASBpEo61PQ8EPhs1Pps1FubyvxstmwK0OjZn9QApYzpuzAJXSLcdismzH+pNrQzBpXCoxPSDX4HeG+KafNwDsKAASFSB5wsCjHQAjEQAzYgaCZxAiUGsOEsyU6gZxkAACZQEEIw2AIRB4dwCIGQ2IMQCH/Q07iAC8ngyqlK1LbLtUnNtaesz0ut2WYLAP3s1DKzC6/8sE8KpYpZDcWgrwMxfDEFmCKMY2gzgZvKAAGADZxSJ01iNEQzUOxADUCwVBhQCcAA1+mczi1xo0NQjPGb3MWIABVBB9iMzXMwB38AB2IABmQACEVABivJRLr/BAR1IAq0sAtSfNlJncT4vNm469lODdDCgKrwPdT1rJ6QsK9ZoAIqIIz7imhUEJhyVClzqId3e3h4+7x+h6WVwJtoUC9FMNPF7RJFQMTMbbUkREJOxQAU0QVfcAZtoAZn8AVWkAQ/EAMpMAIiYAIWMEkPCUkr8KwtriyVQAuwUN7pfdSWbdnpLQwyAwwMe6rwbY9JKtFtp3HAmNVs6AG/rHwItKklhgBA8DkyaD+B+C+DmAwYANxZlAhdEAVMoAR23RJWUATDdrVIhEQA8JAgOhAy4AMxIBGrAQWLMuItgALs3AELuZAm5OJBsAJDEARBEChesAmbQAvxzN7mfdQ1/y4MUN3jDBvZycALRv7GiEbOSQ7CTpsDJGAAQOA5mdnp8xN+6mYO2oAGlYMBAAALifAHh1yvNyFsJGTmA7EBKrABGB5aFlDiFiEGAIAFUfAEXn4Cdw5JAqHnfr7nK9AA6OMIdmAGcwAGhbAHtbDJTH3enA0Ml7C6jN7jIWbk3D7k3zm9F5dEO3OfxEsOnJ6giegNwGDqAIABsIALgUAH2vwTG3DmBiHrSBJaAKABJpACISEDDrmQAmEBLg4Ae+7nVDDHSDYFQ1AEUCDiL+ACm7vdmlzo563jl7DU2c4L/trt3D4Q00vOu0QAQBCT0BiN3TCZk6mZTwwEAoEBlwDviP+Q2IytEyxgAff+kCug72duATwQElswAbAIiyluASpQ7M/qfNqGuFSbA2yOAiIQ9eo8AimQAi3gAtttB9Gute59EEfK8YjG8B2f1ZQ1Ba29WA7dvTvTmAX9mJYpn+FADZXA1hgwrFaw4XHwB4qgEzad85CkAvZU6ybEBoegEYPAAg1Q9BbgAJ7F+C2+AlTgsnNsB9mUAXN4Ah+Q+Zqv+SCAAlYfA0nQBXTQCJMQHlywC/ksEKYKCUGQcRYtbB6vcfktwsFmAQbg5Katto05y8IQ0nW/C2RQ9Vff5gDwGXCAE0VAEMEO+AWxAcm/EQqwACfkAKhoAZQ2AStgAWnwaCz/SzteQAIC2wE7OQICkfmdb/UuIARWoAaBoAiKgNiHvQewkPqmimQ+nHHI5/FegN/OJzEA4WVKBg8MICxY0EyhQmjSHFKjVo0atEtoMKDZZWaECI4iULQAEFLkSJIlTZ5EuUHlSpUrNGggCRPlzJEdDDiYMMSLFyorJmgwYECFnD1y0tgZ4yXLhBwkTGB5oiSkDQAxQgrBouaPIkWHAgX6E/ZPoVrGQiJLlgwYiRxDkISkslPuXLlSpuzMkmWKigk5L6jYwAttsmWEly1UuOsSkEu0ioj4EFnECJqVLaMU8pPlyhxBLJDc0OHySSE2HVApkzpNGSoqELx2UiZNUi9O/3JMIOEBzJw4bc6cGdlFDIA/IsGKFZsnDyZMtnDhAqZCRVu3AKRkoZsdb94hECZYyM2rFrTBac2bB6a4EiwyN3zEaIFi9Pz5IDps0LB5g4ohDkCb+IC+kQKJwAIVUpONiNW8mGABAgAogzYnhuDLOzDy+OoQRCpTow0A6ECODjjO+GILJViQLgcVq7MOO+3kyksKDyaAoBluusGxmfN2TAuWSy6BhRDfxPgCCyiYEDBJlOwjwQL9SFjBSRI2WEGFCzZQMqQVCGAgh9WIKMOL1cagwkECkMhiwiGa6msFPQJBBJGu4KgMyZDE+I1IK5L44QUOplNxRRbj2gkAFQCAkf8774ShBkdHk0GmPPOQEQYWSws5LrksNyXpAxLy24wEFRgAYIUqr1TBhBuSzIMDAxBArQwipKMCADAnMIAADQIVNTcIwIizqzi+qOoyqpRgAgoolBDihhhKODTQQIdgEbshdsUuryyk6AuNZSLiJlxsIiW3XLNg2QQQPZAD4BBO6UsBBRRGGAEEkVJgwclQpTv0ApFMzTIIAmCVjQoGAjgwNQYaeC2DQ3PzoIEiGnlEkT/OeMKHFlKYTwkovvhCDCKx8ABQaad9q0Un7lIqrwqHqIOLSupAo8FKjCmX3F3QNeSr4wJx993RunhCCBtciA8kAH5gwgJ9VxKVCidLPdT/VCNYLeLVCVIjIgMDNhhDywUQMAA3DwiCQIYw3MADjzOqEMIqJefI44885kjxZGmpRcKJlbdLEwAIpLxggQMYQLyOnCOtNBE//jiEq5AUEXo0rg45JI4zuqiiii4AaCOOIp5WiQQSgsCyVC1NVUNJshcY48shgpC1DBUIMMA7gmhMYIkq3DhkkkcOwYNT5EQFQO+TqRVJ2yxgYmClCRBYwAENDMSZXGOEuWSMFFyIQQglsKicPp/tjgMOMbr44gw4BilCJQBCjT71IEoNYoUTOKZvBQMYIIFsyhCSNKxGA7hDQF8g0IAEVOELeEBEI7gSJ+OFhQ0bIEFIlLe8t6xs/wo5gED9VEK9BahEA0jggihwUQtYoKEOPADBZOgln/KN5g906M0ZsJCEGxytBS6wgRCYgKXNzC96IbnfCvJnqgcIqAQEgAABaLeaNCjIC0GBIo0AwIIvxCFyXvlKWAIhkqDN5zhE0JcGT5a8vbnFbwBYwPxUYgHqiXAISSmFLAIQgAkUITKRAQBlaniZOKjhC0y4gQlOgAIRgIBeI5CXCSwAKhO+BAD3uyQSTbWCDtjrMnOQwxBwRwAVjEFBqQEA7gzgoACwwItdOZ9YNqUIRHhFjqXTW/LYOK0hwPGWG3CA4UQYwDRwIhUQCAABsvBHEQxyNGKIQtxMwAdJSCIRZv9YpGQaGQFKVtJ+mQRACWbHAEFa5g7FJMHACEBKFawgirnKFQvaADSfZUpoXTgDHt5ABf2ocYMqysACRKgSwwkUalTgghdKIYc9pqqRlKGhM2dytBScwA6RqGZGzQCDE3xgMh24QDdNCM5w9jJ/QWjiZe5QBk5EAldYVCU8DcAC9uGpDaGLwxzokAehpaAFz8qBflQSrQ2SgHoqeJpRDTcBlqxpCHKQAwIQVoQf2MAGMYiBDySKEoqioAR2yCgnqinWSGCzBZLUD2DwJ5KTBiEIYyiKCSqTCC9wYhEq4AHZZEo9HgjhPVi1wQ2EaIX2eehdjjwBBoVaul1KSwULIMH/BBiAVJgo9QCk20AOMpADKjhgYENogxqItNWZREEJNzhB3+QgCLG2NqMASEQWpsSSlzggB5dUouoAMAao7oEPGcTDGE2iB0nIgROCIIIe2MCBFSygAQvgwQluEB96PfQj4KPKuz7gSLnOdrFYymUAASDZz8DRcABwgAOcpgEHZMBhgkhDrlSQIVsSi7QjiUNv1AAGMe02dokQqyTECoAByyEHn0Gw01bA1iBkISS+3cMe0sCDmehBDovghByK4BWu/EEMp3XBvOr1RxKXb4YcMN0vhQqTQOGGil6YrAUc8JoD4A5xiMsAEpBAhVIIwjsaiFxX2vC5+47EbnmggxG4/3AXAKRBDnYAQBb2IGABA4DKxQWMjC2gRLcS4cF8iDBUy5BBlKy0pWV4A8UOgTEfhJheICAxIGs4w9SqYEoqflIGTSfANMxvAjhBQI0D0IDpOdcDnE0DKFZBhRwY4Ytw6MIS5FZk4oiFCH6zSxbCJocoe4GaVHZthgEQaAcokbcRjjAA5CBAL7AAJU0oZiSGoIlJ+CEk8JFXvSDzR4m24KcskILp5Pfd0q2ABJuNXcEcQAIGIIAAAViABiZAhjs0YkNEGMMiVgGKRVwO0pKmtEjEEggeTMGDUvAbFZItQGq6VsCRCEJ+cpUDMBeF0yEZQxaooIFmmsQMLLXVISwxCP83bGFpuH4kADzpzCcwQQbSEfZK8KxYEgxhjwygAhWJMCUGPLsBGvCAEcYnEjJ4QQ6nkAUnAKEIPIRBCTagbjlJ+4cMqUAKdpkCuv3mhLgMcNVwvXI1IyEHCwQAAQ2A6qpXE+W8IGEC/S6JGVgriCA8QniPMIlWSRuIQeChCKaLuMRDtQInBMEJCwgAA2iHoL40DOQTcGRErVOGPHKiE5ZwA9yQlmtKf0URd+ibXW6+c8JPIXZIGUMihB6JRPABFAszgAdePBIVTcAEIFi4SAQhiKG/QRHCDTdJFAGHMJRgSmFfLJSkMJshbAAJXpBVnxmGgPHOqKMBGslQQJGKU5z/ol1+cPkS2hzI+0bwEX8oghNunnOdE35CfROTHbKQBsYnovF8CAIEchWhkGQBCYHiS0dLAgaWRqIMYDjEuooT+pAM4m1GsDPYFxuS0iFhNQOUzf29gJBV9qUDchYJFOABLxCEVJAFWbgDALg6i3GDMKiC+3oEPIg0ssO55nM+FfGbKVA1orA+CRsDJPAaPmo6FTEU08kA8SOJkrOrHAgj9huJMFgCGyACJAA772IJkVAJBqAiAVKQKmquXEmgTgJAkTgB2EM5WegEzAGjILsv99M7DlA+wXM+wuubnRuDMsgCowiTHJCtBsCd7wuJh8kNy3uBkiiBHSs7EHHBkYgb/xQwlRrsJyyZEgsgANijovsbs1cBgACAgE7KPJLIATnII1kABQBAhDepp68wRGeKwDPYgiVggSE4tymkRL8JE50AgL7JgiDwAGfzgJAAOwCImDgCgC+wNZH4Ew3IgAs4jjUEgDajF6hBvWFTgfwZpRUQINkYg46bAC9EABbwtXn5w5AggzIoQFlIBUV4E+Rgl0FqBIp5hEcYBDggghyowkqkRNjzAgBwgrxwgrdAJgjwAFH5RAhIoBXgqZL4DgaosXR0xRZgAQk4Af+Yn1kUCRJAgmZ7FQMIwxVgAAdBAO0LgCL4AiuYCSwoApMzQFkohGVkxrBwpnqSE6vTMYeRRP9sdD6BUIFt0bHbaAADaIBx/MQE8g4deECSYAEGmIADQDsKW8O8MwEGUK/UqccbpD8ScIAEMAG9IptRexDa20Me0AM6mIPKQAJBOEJM0IOQeEiILJ+m/IM78IJIiIQ0YItrxEjsyERqsbOXIrTpERwauQCtGwkQSADnIpsHsa/Qm4Q7KAEIUB2axEEikiMNQIAT6IImYJh14se+BACJkSWacAMyMK4DLIWlrLSHfEqolEqqXIQhIAIiuEiMvIscmA7T+cRUQgiVVKAOKEOTWAADOIDXcDYJWBVKa4RDKIIFwiD6kzgclCPAYJiRYIMnwiKQJA764AFjNMBUAAM3AAD/nVIOZnTHTYHKPzADLmipRUACMOgCcWo+bpzCNNEAzNSAjwxIBdI+CVCakjABlhxNn5QAmduqzyuCf2wAehQpkYAJDNq38woJ5QgJMHgDMEDMJKECOVhIMhCCO8Ep4SzOLDlOADAD46rKITCCj7BGaqFESUyTDMiN3ABIGjHHClC4k8C8fwQAxDkAAJCrIjsE5IOAEEovABApiXsJDZgOlkQANiCJQNCDN9kUItDPA4yEkXCBG0gCwgodoYHKkDBGu/ICFZCXD+gAarFG56NBNJmCCSCIDNC+B4GjDnAB8iyJD6iAA2iAkHg2ExiBz5SoQLiDDEAAUpHJkThRE72e/5VECATQAQAYhEEygQtbBVk4hRNoprj7iB86TeNsypCQSk5oKSQIAhKLxEqUxA9y0g0NCoRQpMsAgQHYwz1KpgH4ga1ChD94g49cgO8IRfQKCUqqS7t8LpbcqiIsg4UsgoiSDEf6oexSkrpBDnckv0iwqyG4ADj7ozN0AukkPLuQNrg0gAAASZcUEAMQgAFQAACQgJCgAAooH7BwUQLwACfgg0RgvOqzPkHggwjBCyrwvhyoElU8ARSsoSE4RlkwA7nzKBC4LqxQkpzSKTogyjgQCTOoK7tCghMICck4gbbARrR8jQYggyShoZ96gJQ6CacUkPyagxJAABWwg2vNVv9stdiKrVjr01jrk4J7GyQeuDDD7JTJ+IgbeIIsEYIoKCw1IB8XCIkCbak0GAJ+FYnIOAFxmsLuIIAV4IAiKAIACNDLcNnPjAPleFZorZwWCCIdaICn2oONxdiLlVptTYQ9GIKj+NlBYgHZUFWSgKSfSoIu0in6QAGfCh8oKJpJ27yWag2oAwBtMgHq6MgioLBG4BQFUIAHaNbJkVWIfFZOmaEIWJO88IJkow3ZADOi4ANOy9hECMTGWzVnAgEpSNeCFQl39Skh6II2GNv5+FobeIIvCJ3WCYkeMK5bxSSUOAEeMAEecNH5ECOS4AAKiAAJEA1Xc1aS8Nu/pY8/OgH/FSjc/LODAsJDBGG1bkyDPRCEPfACi02ENPCCrK2hIuC8A+SEkmiBH7ACNYiDnYIXkz2DeSWJN2CpFWQBK32XAeUACUhYpA2JEsiSNVOCNmPVD/hX2IuQMdBf/eUz2Rheo4gyw5ODa51YxpODpJDe8iEDJzvAVeCBSQMAkxWDnOrby7iBKFAD4QxMoKUrQX1MGXgX3l1YJJsD4FCAAgCAvBWJCHDfyxAeCYybFli4XZWCKBuJSpyCHM65NHk9J+MDPjA5O1i1QnEmMVlIQACAJ1gCkZhgDWZYmuDcnWrGkCAuAy2DHACDTRFhASmAB1hWAEBhAcm74cO9t7XZbqSC/ym0TCSwQCV1C8PzXycbYi9YpEEK0gNcBJOomMuxp5lw4ikG2rWNBCnwsqIUkKPdFGUNiQIYAEmlD0lrAZkjsRKoYUpc45CoRCRg0MIFADsog6RD4DIWmjwgTEE4wFR4AxkVibWBnEkQnsuZib4FZAC4g9ONhBzwskPe4haeDy8OCRQQAAHoGBtIAV4zY5udTIzERh1z0E0zOQ/0Ah6ogRrKA/5K1QMkg/sEAPDJKt9Zm0HAOpQY0JG4gzEQ1FsugjilDxHmZZJoIkc2iS5O4QII5svAu0fEqpEgsX/1VWWmRGbuxiuUgywUYujdRmfKAUEABWwGzrKMjBH4oW6uAv8x8AN1FrcfJQlJyNfHfAP6yNsHyKl2Dgk6GI0ulgAJUIB61meTCAVN0ARpbOiQ2LsRsN/b8meM5BsngD1VOwqj2AkwKJ4aIsxFQMY87pQ486jrKonjXD+RIGXWMj8V0IQksQG8ZVZOGQAJ4IAKeIABUGmUkKBgMQm4iQEXOIFeumlspJYhkIIrVDWTg6qkAAOLrhweiAv4QgIjIMtdQ+oSE4laypRZBoBAWASodgIi6IOTpYkypgx4FpoI2GoJoGdhrowNHolJOIQGvJp+Tmtf1WS3aGtV4y0hDhMHcyYGyAAVTZX67WtjDglXrhjAFuw7YK2Wmp35GMLyUYAKWF//RqZsmrBskVCERpgESpiEXhqCDErrKfxsTRugIPZpL0jAQYqA/5Gx26rZ1vbrLWAbq3tl2S6Jc/JgJziB7iyJ376MLxYQBdDqCkjpZK3sJxY3oJETMugl5V5uKnSjnU4NqJqNLMjiMXZZTsmDCyA1nPjQ7NZumbaBJdiCM/ADRYBtyiEJTUgEc67KHKDZ80ZvSmvvByiAEI/vpjYy5DACtM7vXt25z9Zpn4NrOfACcR0JRnJtAUmAo0svnJAAT9JuAPzanxKCKggDPzgEWtNdM4g1L/AAtxWJrw49rV7fE1aACBCNmZDvxDyeZE7xb+QbTSugLEiNLFiTCEAJvx4N/6NDnPRiAAMo4wXv1z/68fARcj8IZ5HIT9tegWEM5g6ntN0WjYStAPi1Id1NjiKw6UoEAC3/xs9Wkelg4ynYliGYAhAk8wSojBpX3T1qAJl0AAawgE5iV0zv66/NqpJoAghAjTTwAEvncCentAcI9BIogQ7oAA7ggCQpjuRAsiJA8ZytuBWnkL4gAzJggSBgC+tANw0oAyc4FGc6gT06nE6XyQmY8Udi8mMmMXdtASEIAzPsVMkiAAsliT0ndz7fKhbgAR5ggRLYapEeDQpAMjpoAyzggV6/QF/tDgTggS5wg0Eo7kl4Awb4ZFAoBW5TgTDOElEOiQ64OE5PLw1Ym/+S4Luj3q6P8AGDK4lDuLF/JADcbXVyd+ytSncWYIEIqN0t1uUI8GIUYIFDz+TburyPkPO1OQQycIJIIPhSiIRmnwlMLwl6EYkOWKdoz3FqF5CPsIEqOMWS4AFOZ5gA4AEKP4lgbuQBKAAV3ioOmHUOkPK83dskoV28rXoH4A+sXPEcEELJgCSzXYLTsNWC5wQqUABWX2yfH4kfwII2SKbD4fQJIICgRYlrPwkwaDaZHM09ugwUVtitegAK6AAKUICqR3glOeGq33Pb6qVM1DEkMNajFgAUCHEScAROKIWCX4QLWHya2PN+RYkD2CPSdJAEv/IkCQQO6HTDebY9Ar3/k3ABJbCCNnD3GmpvAKj6kE8Syy/3BECVC/CXqad6q1eAFairnE+FsBmNcv/qqxcJCcj9ZCJWWWbGLGEDTpcxL3y2Jkg/kxgEP8ADui4yKI+AyXZ1+mjkkMD+1W/y+3/+q3+ACwAIKZFAlSq1yguAhAoXMlwo4OGAiAUUKKRQgcOBBAECHEj45yPIkH8akmSYh8MEBg4sOGhAgEAAEyQPHVI4qCRDCjpx8lyo4KKEAg8f9izqcOjQkkgFJBww8UGFEkMWcSolS1apIAAqGCUZUcGDCBISBgrEQScFDhwAiGzblWERlisZMHhJQKZJnI9Kou37lqECCRwqPFj69/Db/6dRO6gAwAnU1VNBKuxEvFACBQBlaZbtzNCtZRMIWDJAYMDukZsKIzywvLUvWsSCCQ9AqjRiRNd/H1Ao0YHDCicDU8lKVQYAbIuW8+TZfCgQTZq6PYZUaCIAAQOmTwdIwPCBggK5XVegrLP82q4R1EYQmpThUNwFpnftXYK9k0WgiMtalD5hclzxpBoANCmCSFmIKIhITa61JdJGdsHUXWYMRWSbbhdxUEIJFLSmVEIxMMFBUIYBIMAAAMwnH1iY0dfTfYNRQIIjnBC3SipBjJVTZTy54cchk2gyySSNGKnIgQpa9mBbGsE04QGYsUYRfBha1sF9EYR3YUJELeSCEv9QKGHDUiiqGF54Zz6AWY8vNqSWeSt4AcopVxknIGJKxBDDElWE4YcioYxCCiWFUtKIHojlwWR1DxiQwAUmJHCWhV4qZKluaRoVphI3oPApCvOlqQCaFInll5skyajTBUhwcgp/XuCJGAoAfJpCDABY4UYgk4zyq27MVfeZWnBWcAZ4ODEFwAfNptoTCi38AAUTQrTwaQuArQYgbM82BNsQkRgUmY7TQTRACzHc8MMTYbjhLUmdBQIHFtaiAEJPzeprGQuZdIWCC0IooScALWRra7QuuHDDAw+kdxaq8HKLlgqC2BgZETtaVttDBUxE6g25NqRJQo24WdYcYjDxAqj/Iki80H9dpfuDEi4YjLAItUobxRl5AIBIB8hF/HJfKwxBJ3GppGEuRB+TuuWXAPiZkCah0KeHGlZYe220zkoc81spuGDDzTiDMMIIAETRRiALmhzIH0PD29cD4cJ6VSRgW+Y0qe4tezaoAAjhpx/TdVEz14Ezu6+bs/4V7c0ppFBrCmffAMXPSpZ8iEgvJyQBmxSosEgpN+ao8d5PP80xUfp+cPYIn4rs2g82G2zwpwy5/sFhh5BC8nRhVOGD7QC4kFDAVrCtJCKKJIRIdSBJTGrDEchJp51mROD4WwOsKQFrD8x34lC763v2dOnG8ILCietu/luTBEKfJof0AcAT/8YrfAMTAMShECIAoIhGOI9z0lPIsNwkEQVcYAivWkVx5MC9kuALMNuTgG+o5BDz6SttRkEbSYQghD29gGsVfB/8SBKVErhJSKgYBQAmAQA3bAEKWFBDHpp3oJIlhBJw+0hJDvgi3AxgKqWz0womWBTvgQ5LFYIPBz/gsqKIAARg+gJJuoCFJNzAYJPDCQdFUMWFsCBobjoSJVDxiligIoaaeKORAGAykyEQiDyxI33iswFB7MdORDDKCRWigO1tqAQavJQAohhICgLgBzdkDknm0AYxRCEJLMuXvqo4Ah+EwRAJ0ZtrAnEgRRRqFIWK4SEyQYo2AoASPaTOSHqCR/+mPaSBr7LT0rqyLAC0CIMlmGAiOWgUEdzgCWKgQ+cYcghExKENWGDCD7qSMyW862UHaoQmChVAADChC1c4gyEmQQpVsPJnevihLGP5IqSE64iyiMQuS5K2FDVlTRXAEgt5dxRhbuoLcXhQQw4xwEYEImWes8whGlEoPWxRCEmwZMCq4IZByPAVqNAEQefHFpzMkpYCoJE7U3EBepLkBuLxyfZWqACvkS+YrvuLGhhFElJSIpuNgMNBD2OkRhi0BTcQoRASFgMldMENNFElKbqiznXWkgp9LE4uu1KA73FoLF57CD/fwqiOypESo7DpNnPaFUXMIQ5iSEI0o5kQyMX/wAbr+sEStpAQSxilLM5jqgAc4MBTQDAVcvAYSXz2RAAIhgP4XOkUsZrCw2yVJF796qHE+pY4fIEJaFXCD4SQkB/cTl1CcIEY9WmUP4jyWQLwWA6GY6cLHDIhgl1IB1ggWx6wYCwgEAFSFsvYxjKkEb8Cq2SNggUlvGBdAsusZm9ng9qxtK6iDAULFOgxBewxpH/kZU5gNlseFOGPz9zSAMQoXtEuibcKIeWvDhXW4PLkBe41rgijabCFLe4vqCCFoKLbmvHtzWMTsSV//DqRCIgFQAwpAQt4oOAisDAPc5iSAroo3heZVyGPtSl7oeXeDbvVBi9IgcG62NyeKMFd/5Yo54v867EEpPZu/QFAgSHGkNgmmAdmiO7EKCCBM2DhCZpNlUwX4lvINmK9GWaIC9wLACVv2GYuQMGIeaIvIVTzRR8QT4pQVAAP6CfAF7hI0Nq0oRorOD3J+cgcJMYkhjy2UHQ8ckNesL4XLHnJ720B44yirxYo4VknbVoBLjCnAJshKgAI8xNjq2AbmzE5FOAqkEGjkCFrYhQvtIRc4bxWD3uYzp6+AcvyrOcU9DlVTiGifx2Qg1fdqAyFfJNsE1wEHozF0Y8+6Jon7dU1jsKTmlaInPdkZzrX+aWHqTJ9nOJfhfhXBeKCIFYuAAAOHfrQY140D1ho68G+LNcJGf9FLNiIhyr8eq2gvgGwiR0DPEcZjLU6w4k1cVfdOEV1VPLYBQRxxFMIgggs5FDQOkBjBd9YaMlhL0AVssZQ4GFMtdJ0rW4gcXTnKslrFbWUUbAEeF903plKiKiYXYAEjC4SiyjDEBBgJN8oBMEL5oHBzxxcb9fPDVrrIsSTrK4foBvUdV5cuxvyAY2H4cRu8s1g/RseoSxAAzlYgQo2MIGdmgzB22XwtiHdbZE8IqkJ2QITwv6D2VkGVLhLyAhcoNaGJCzYE2cynY2d8SUU3esviu51N9QB1ijdAAaYAAA0YIEDFIHqCqWErIlgnjMvVbIgQYQmUPEJNywBADGAArX/bmCDh//FWZDj2rU+0AIhYOEMDGk7kyXO5CfLnSdCKDqKp2NYasMcALUHgPgekB0GAMACvi+84d84iiJDDC0JzPAfuo4KS1zBBwoRArWEcIPjdT5anH94tPjnTzQrBApCGLt7FQYAGyjEYLvriiXsXp+F4NGwQasxAIqQEJj/MgAGcMBKLKABBuzUzdiUN0F5W4YFCSqEQh8sgQt4zeUxAWZt3lsM3cEgzPlcThsgk0jMgSRREhfpj8hcS+hhXFE0Hk88UVu4n6IxBMzxwAoEAAKshOD9nhxlU6FgVPMIIJxZQhj4wAi8VAxAHzThnJ5ZX8HUir6ggA1AgRq0zQ89/17z6AEdtEFlAQCosY/sQBkIjpYIphNItA0BJZjtRVessYABcATv9d5KGEArZVOlFRmCSFq5WV4K+SBmkZ27XUvBnN0HpMANYEEb6IFAQc8WNg/V6UHKPJNmoYC6WCF5ldf6IRCSkNIbmYBvxNZvEAACXGJHMEADAIABFAHJVJomMAggat2vRZHlhV2nOGDG2eHtdBbpwQF0POISiuKCCKIiFBQAbBEXKaKbCFFXuJ8ivJFNrUUHKAB2OMAEIKNKOAADkAEAWFQbKcgSZuEbRhEK+KD0RWBRtGKIYU4cxOIjNgJNkFZ0NE8AIUIcJUQbnEEXrNsiUZgv4oQJmgAPwP8RHYgBFghAdrjgBjjAApQGAigCKcQCAECWAVHjGwLdS10OA45dSeiTNt6O2vFhojSPAA1UJniCJ2QCgzzHHwoiAaFjI+TBF/gYHUYaKSaEwHFIgslECVRSAmgHPwKAAwDAAhzACWDBRInTC2nCIxhZQipEFA0VtfAc5y2EzjREC6hdF3zjRYbjkWikVFqCJSAIkojkNfkQHfxPTiUTSQjctJkAC/hGBYyFJa6EQmyABfyjBIDA6D3BFvSBJYRC7AXlQoAAB2GjQ+qOzSCPwlAfAHzBHATQIyKJ4WWkRmbCIVAlVTZCVRYZTYVEmnXl8THEhrifjpmlSgTeBgDABuz/HwMkgOuMQA+Sm13iRAwoYrOICAMKgSouzlE2hBoI0FMiSckMEABIpUYypr8oRCYMECWMYmVu3QFxm1h8CEUQgEroX1o6AAKYAF7ujgjUwGnixAix2we8APRhFhDCZvmRhIIU5l0R0E6xwidopFEcpFe+oRVEE5V0BHYwgO/JxRhC5/lVJ09YAuXZgAvsoBCE3fc9mdm1YsEkxNrQpg7Zphzd1SMYiSccRiYMwhJiU1Aml7BRif1x4kIQQHReIX4yBCpkQh9sgQ/EAM0w4JPdDkkcTxdoxlPq0G3KUYMGJ10hRibATTBKnhRqI5yhQLApQEc0BEy4VNB9KIiqQijg/2DlCQHLSOTESdzxaNZgXuRFWiR5NsIjGIrHIcYnUIIqfIIa+EAKBCUixoBQoGEAAAABJAQLKgCUGelYPULkWdQn9IFJ2uGT8lwSYIEY5FBCKOgoXeleFIoMvUgouIEPsFtQxsCTLUSEOMABOMULFCmcsh86PoIqKIQliMHA8NwPfOoPJEGfsuGfzpvzDNSgTgJ66kYrEGQfHAF2kqlCTNFCFAAI+OibVmoI/gEiuFIbxcIrhMIgYAEUoNUPMMEZ6MHh6VA6Ps8Apapu6oYvqEInbEEPtF658aitlA3AMIuuYuEfPBa4JcTyqQEW+FOvGgoljOekGWYrTQJdraplxP/CLNQoCoiAh37op4Tat2qh89QUDCkcflWaurrSHPHQgWTpJCxmKtGHv1TeEdzrfb6F2j3BF7RBHNCBm+TOWnUs6/VrCNKUKzHEK7yCL8TCbxnKHNHRKFECvDIsYj5oV4RCKzwjK7BBQ/RACkwsJnkQ9F3sHPjMYQxdxy5EBNoMpfYrSBjKpAHAJBXkKyTEK3wVyczRXlxTKOzmYm5ktJaEVH5Cq+rCg7LBEZSEzmKr0C0isXWBGHDlA0KO9WXL5yEMyPrryMpRHGBBQjCBFcSBJqwRAKDs8LnSuiKJ1QCAebKCbi7uQiwuzT6jJ7xBFTRBQlCu2e7sFXoNCoyp2Yn/TIu6bb58CvUVD7EFjh3WbUNs4XltFqgmhDE9Qhv5gkLIoCJ8Qkko7uLmrifYLgD4wi+4AgCwQRMcQRMUb1GcbXMZm+twrBQCAOYUhec1xPFoXq0AzPG8I+qChPNgDTSBausmwRNYwR+MQtQ+oylRQs3yBO4u7iewQvr6QjC4QicoxBoUL/Fabk8gr/mopuIshBhgUtTQmc552PHMl/Ggbup+hM/8r/d+qsSBqhLwbeGgAkECACrMQlcobvu2Qvr2bjBgMEnU7/Aab1cs7+4wbwTmgcY+ZLNky838ZcEApu3AMAKbxBx8Qae0biM5cFp9qhIkwY89YzDILgC4AvAa/0XNHjEAgDBPiDDx8kTxFq/OggoVc14E/g+DlMS9IKIB09n0iZ/lFWi2gHENKwQWeEqzvIEaL0Hlse6nft/s9A8r/MJCMDFOJHHvIoYI4+9CRHEU18AXkcRSqg0A5JA0NsRw2UCuMGqSFRfOKYycGc8YK0xsInBqNgsKMAIjEAIhgMG5RZPAaBb5jd/0vUERJ0QwJIQdN0QrKLEuJAQb4Oxb7LFC+LEUF6ggK0TPtI052nAcnIEaYNEP3kCp/SWn2YpfJmAZC6W+YAImbDKoqcsLcNo0j59CoIAsv0Ur57GbgIHx2jIfK+VCfGN4jtJGSujjQWYeUFYU/AD5cVg1u//wX+bqMjcLCDSBKZjCEkCp6oGah0nckn0KGODsG3BySTDxERPDKzOCGtPHGnizHydE2RitGQOAHixIYe6FVJZFlpIMZKlBFCREyOyJsKUoGC9iDevLGrzBkyaZz01zcS3ZzcQyQTPCHTQECHewLswvI2TzQoDBYcTyQzcBHWrrQvCybT5rQiTm4X3brzihGnRBEtxhsN3hASPzMpfEk67PSycEsbnAG9C0UCcEISgE/Jq1Qsxv8Pq0ZYg1G4DB8cRmJTcHRjvPTuXmRipCRxdkegliIEAhFIzdC9cK9dFzViOiSD/p9KGbp21rE6ixGru1QpQ1SWCCQsQyfbg1HR7/T18az4/xMozKkYNKZVPz9fCJYlkwRzAzQciU0BjHXVYrxPQq9sS5NMK0gA2wQUEDAGRLNgAQwk0TcUJ0gmWHNVsHtVgDdUkIsMhARzmXzE5JZSYoVKX9SgEmJoIs0zbFgbn2z2szC/ai7ijT9sTtiaf41G8bNCFAtnHT9HATMTGocidssimzwRoYhXLDsmbL7YrGwBOYXi3aJtU9glTSlGkHrHRXZUI8h4uegfdJHJ5VMuqiwFvxHHmjG9kANCdv+G+zdyw3tELMwisEQyoDwEKvd/D+hVvHsu0YNZ2JAWiHNtVJ5Yw6taV1sG5yZGc0j0YBQBck6kmi7sJ474U3/+/E+UBBb3hZrzdkUzYRYzAG0zExBMPvzndDHzdJrDgbcKO2YsFghiRGDzhpn9Kv/AoHtwIrNK5GSsf8/GZZ6IEYdMHzLvNyNTBth4gUShyfHMEaEAIjpPd6G/QvDHGIJ4Qu6MKgJ4Qv7DR9pzhPrDgYeCCBhsjacCGY23Uc0TiZWzclnFMgWEL7qrlCHEKBB0JzNMgy/1Ra7bCFA3Ri+zMhYMIbFC8bbLKfA0An0LEvgPAs9PosHLqJ60IqxzcddwJk44SWpyaXG8wLJMEZzI8gCpBAUR1ee8LhlbkpIUiCBEIm8O6oL/jiIgn5JlWmoa6qZ5bggOrEGTnyXAshmP8CJhBCDNTAGmhyrgPABy9xr+u7K2zzryN6fA8xBjO0KTfEih/Bwjyp5SmMEHwBHYQnOkq7SJqMImhklroSthOUQmxGQ1jC/JB6tX+Cty+ztLyxZmlWAy+EDYjWu+dzvDfBHfwCMRCDr/t6blZ8KzzCI7QCBuvCLAx6fCtEoy+EW3uyYuc5APQZOT93ksQRAWkkdWN7cEpjg4Rn486VzOam1fhCK7gBddYwhZs8yjfw7IyyQvRAy5sCK+iCL7xCr/v8LLgCKyACzx/6obdCJuz8vws7Khc7isuyWPuAq7OuQtBBkvxpyWTxglb8xVf3r0hjAEVHdCyE7ZK6zHoCzZ7/LCtUQQ+QPKiKkBt/n0L8gIQ3ASPcQjA4gzL8wix8AvAe+t6/st3rgit8QrfXPaIzxHzz9lrHsluh2+ije1ex7FU+T6kqwnQDbJmTakChunlafkN8sCGAQcQuc2aZPKs30mYBZkP8QCb4AjEM+i/8gi6wgisAO6KPPx3P/icEkCfg/ivrPpPHssIvREj/66GIp5IMUDiWEkCMEjgKUSBEABAmRHgoYStEijx5QiixlUIAPmqAsLiRY0ePH0F2bCFEyA+TJxHeMOki5MRZv2DC1BWTJkwAunA+RHQwU6tZOIMpZAWA0Zs3Pm4ASJowiUJKTxVFVZTwoVRFjyhp0jSQGZJBj5YQfnJ1KJPEiaEQvkJ4pEULFC1DBgQAIfkEBQYAAAAsRgAYALsA2AAACP8AAQgcSLCgwYMIEypcaLADiygMI0qcSLGixYsYM15MkGCLxo8gQ4ocSTIhiwRYSqpcybJlSYcQXcqcSbPmQJhWctrcybPnRZw6fQodSlQgCwFbclopyrQpzRIJACh1SrUqSRkOpAa1yrVrRSNRt3odSxYhWK1Ly6pde3bq2rdj24qFS9ep3LR18zK9q7cvUb5+A/MELLjwTMKGE69ErLixSMaOI2c0EkBqSsmYNcqoPDezZ4mUAWC5/Ll0xM0AunRRbASM6yNNrpieaISAESyqCxfxImdRqVKgOEValMPE7IUdCMB4greva0eRQJ0CLpw4hCKCmWkfxr0QJlCYqnz/kciCQAclSgRLmv4bOKj3ASAgKVJFL7N48/LTo+euXv558qTTTjrogGOgNczERFB5Dz0RGBjtsdceKE5QIUUQdd3yjD3u2OPhhyCGOA+B6KBzDjNQFJQAASaIMV5fT3Dym4TtleIEF1R4QJcY47hDTz31uCPkh/Xcc489R8qzjonnmFNOONVIUkUSA63ogGqr6SVJKTTWWAoPOKpQBRQprtXOmWiiGU88AMQjD4DzlGgOOdLwAskGHpCQpwdBcLCAAQbc5pyEVFBRBhagtFdGoUN0Idtat6Qp6aTtyINONbTomcGeHnTqAQSAGtCAATzoBUUh7aVhYRNh1FhEoU4Y/yHGWlZEyg6luMrDSwO8QtArBMD6usCwwyZQX11vcFnKIl54UQYTaZUCQBE4UmGEU7cw48gmtcAizC6XoBGCAyocw8657bADgLq4VrrOArzGyyux9BZ7S3oHIYEGGkAU8USZTCUKXBlylBFbitIuUkQZzvLwolDDMFONMLDAcgkQGBCgcQABaPzNOuu0syabB6nbJjq0ECvvsA3Uu0AA55yzjjkGfgMOM8/goDMOHDRHFIS/CZIGwV1gAQUoAi1iRBlppMEDaTs980w611h8ySWAIvCnARprjAY7ILspz5tkj03Pf/mlcw7XBHCdNQAGdMzxxkCIUoswyUQTDTnllP+zMw7XxEyOgeBY8wwztyRuikcygSEwAF4MzaoYZyC9bBNlMM1DF7PS9Mw06HDIjsV1iLKJLSS0TCwCgCbjzn/77Yf22fm9OU89AJgDjMsAEADAsL8PSwAEehbfaRAlYKA8BrXUYswye/NdTDHYaOONNyWKQziCiCeOCeMZmbHI+GMMLQd6TDSR6CmLYF4wCza49Hkw6Rz5zjvuNCOKKGhEU0qzOYCAyoZ1DCN96EghAlE97LFADwlpHt8Qxze0cYxiVOKCQAjesCaQJxWgIQdoqEMd+AUEcQHBUx6YQLAmwMIWdgoSMJxeMaznDXGYCBzjMJB2brEKnI1jHrI72/b/NsEHOQiiYJnTXBqMIAcjyoEMSSSDGDpHkmn0Ax7+4IeR7nG/dxQDF7jYhAd4sQENlHEDZXTAAhAAjnvg441bjOOR5rhFfOTjjnjMxxvxIUcP1cNAEozGMWixP1GQIAQgLOEJ0bCAFKIQhcaLZKfw1CkLTKASkBDFNcpBDnPMI4FI8lA6ynGMIsrBUM5KJeScCLkkFuEKUAMJM97Bj370Yx951CM2bCELLoyLARogwQZIcAE0asACx9BHLnP5Rj3uEY/6sAcADmiPZS5Tme+4Ix8dOA/tiUOQvBAFDDkIyT1J0nie4qAKi4GOdgDxdvZQRxzx8Q57XGoTR0wlw5rF/08nqoqfZuDcSGxBj3zsI5t8dCMfqxHGcTnAAhCFqAPKiAACFMOaGLWmyPLTjnVN6k0d8tCRMqqPkjozoQ78Izi+WcFCSvKRHGzAMdxJD2oiMJRGMgcvjigILwjiiE2EXLOcuE+mmYEJAHjUR/AAjnSM7EzoMIdUm7ELXhygbRpDAAIO4AAHMCBuAajUfxo4zYzio022A1C6zsXWtrr1VmgCkDpCWs2M5jGbznTgSld6jGOIc3/FOEZNcYqkOu4RH/vQBj4BcESGMUwgOfBAE/M5hCZ6gQdCuMFIwPHO2HmWHLCABATmRgCOHQAAWo1bHYDoWSC5Nkj/6VCQ6jG22v/KY61vzS26bsXbdJ1pTSLDz2Cbadd8GDBEcuzjTT/kjnUUw4k/5Sl0p5u5HMgBR2QAg0iwAA7/eHY/0XgGFxiWiDGsIAMaEAgBGNBVj7E2dq917XdlG1w2xQO3us0vW33b2/769rdiBaJIP3TYAht4iwI525vW0Qw08EG6EIYuYwEghwBs0ANI8EI0bnYLQPRAsxahA2dpNw9wRCMNXqCCHBIRCUlwQhKJgPEKGDABBlggAxZIx3d/FN8ed2geaYIr2EA2kHUIxGT6detal8zb3b71HATWpoGnvMcjAYAe10CDigUhkOlCeMJyaNsEereAaLBjZPkZxzgSJwSKWOP/P9HARRrGEIQsxPjFkshzJBIBgFMkYgWWXMEm3juQHgMJAK+1x23PtN8llQgdIIt0pAFAZCMn+dJuPUc4FniP4uKRypRO2QIg0CkVcAFHFG7iZCl8RI1NgAsBEMZG9ROkDu2jH9vYxjRuEQWAGeQP1nhTLYgwtCSWAQB5zjMA9szn9zhgAkM4xutih2jXIqTW8WgryMBmokd720Q1lV06BJSOIUs60pdex7nW8SR5dNrTdrUHNTDQAAv/KV7ECkEIPIBIFeTg1HEjABfqsA558GdICbx1P/yxDWYoZBjtqMUYjj1xgSRREpEAAJ8BwAc+mEESZuDgN9CWH4HMAwAl/zdIPeiRrnODLGYwj/k5gFHIvkpw5D/qD5DO5lSXo/vcfeNG/eCdy5IqMx/pgMWw7K01lrGsAQIMAbFKq7FogBSUCdyihxx+kEgcYwxeyIIUxi6FLCQxDYngc8eLWIZICCIIDKhvbQGUVpKf3D/mZtLLyyFVczSpSdAAFtQFv0YDDKvmx4gggBy9pMaDDNIzC4fkDR6g23WIuHY1KTVCYHiNGQAB7H2oJVWoOni9jADHKOwcE0hXaooyCgoSyBkA4IQsTEEKTnCCFJCge2fRvuN7aGLT0iCHNEDgv2m678hsC6d5xGMdMPe736PqpL5LtRz4rpdW6ZValh0D+ufo9v+3TRQObgAAHUDUuY8BxJ/C5rIeu/A8ARog+meLXpjHFOCfCFAJe8AxjqzHQEDiRzU1DrEnEH/ABk5we06gAryXAzkwdqmEBHIAAExTBmMwcTmiDZD3VsgHYGPTDk3iJH3Dd01SgtVXDsAgL9nnMoVHL0vydzIXM+ZADdnQJvthaDr4WvqRDmjQMQZgYxGFRkS4ARaARpYEKgTwDZ+WUPOkR/YgO/lRD2CTDuMQB3lgEEWgewAgBSowBE6ABCSge1IAAGOABBOHgRkIAEigAhOAADW2L0AADNVQDdggfuq2X+0wM5zESeRADtdwDdRADX/IN+VADYCyNQggEE73dI3/OCzJQH19J4NzQg2bBEQ7mInyhQ6l5TZY1TUEwFUR9WwMwDoEYEd5dFj3YEv+4A/9wA/1oHzoIA3SQA2mgAcHYQRIUIZOAABgGIa8t4BjkAUqQHEZOAa+WAfaIA3LcAwUAwRAcAk8sCIiVAfHwAw2gw7sgA7UwAvAAAyV0DL7cgDxUo11EC8CwYKf1wCLiAC84o7ycgwjaH3Vdw3QQA3rwFqamInuIA6jpgJjuAd8kAiFwgBAeACh5wBuUwn5YHQmhUf84A//MJET6Q/7MA/rgA3IMIgAsAQ+AwBkwHtDMAS014W4B4FlSHtecIwZ6AU5QAvVoA3ZIJPawA02mQ3U/xANxWALtiAJmwAII/AC8YIGtEALyWCD4fCH4YANtFgMvFAJdRACqsOCVCkv6bgAlQAAfJeCfUMOzQAN2KAu9FAQPLaPriUOETgFGSgHe5B2accHJBAAQYgAXsU1AQAO+OCQenlr8ECRWKRF8XANzXANx/ACMXCYBWEEQyAFQ5ADu2iSTjAEKrCAkDMELJmBVEAC0lANgRiI2HAN2BCaNdkN3XA93OANoMkNoZkNoYkN2RAOTxIOAJCUkkcOtRkOTckLoRWV6FiVvFIMJFiCQYcMyxAOHXVyCDGWmngMcrYHzimQgsAwA5l2WTABjbRGHdMA6aAP+9Cd3bmX38kP+v/AD/mAaFRTDYCwBD9gAzFAEFDAA4sZmWRIdmHIhfx0mV6gAqLQDLQ4iP5JDZzpma2pDd0AAK0JmoHIDbQpeQzKoLb5oA9Km+TAlNLglBdUB74SL1DJC8JQDQBKDtmwC8gAAO7UfHb3XjsmEM/QRHbABwK5dmvnBG15RBtAACqwRhMACfrRfv73RntpdPlgD+bgDdUgDYfwB3EAB2pQEE0AhrjHhWSHe2M3BUKFnwCQAbCwDFraDFwKDV7an/4ZoNhgiZ3ZmQqqoN3QoGp6mwsKoRL6oLRYJ7sZAhlaB5cgDORQX2Izd3U3O/QADrigasFnB2zpnDAqB3YgkGmgAQH/UGMTIAo8Bl+uRVf3AABxFA7CUAzIgAuDEAeeOnsDkQd54Ji756RR+qRleJ8t6QVSMAFoIAzGgAyyigzJkAxaugxc2qXQIA2CyKuW+Ktleg3ZkA02SZpruqa2KaG3qZQQapvZYEENsAvkEDKSonxyx6clRjCIikQsSTAvOpBsKQdeEB81Jg798V2ZyHLa0AzAIAzUAAhW0AVfUDQGQQYR2JgCcapO4JhTcJ/8lAVZkAPeAquxGquzOqu1Wqu4Cg1fKYiCSA1eugzE+ZW7OoidGZrFmqbh4A3H2rELWn67AASV0Awlgm56mHx6GqjEt4aXmYHeaqh7UAZSkAHDwwDf/4Cu6ToP59AMtLALwFCYLWADP5AEviYQWOCY8jmfYyeZiwmwUkAFYQewWTAEaNCuxnC1WHu1BzursYqryeCl/smwy2AMBIu1tLql/HmPlsiZw5qxksexHhsO2QAM4XIAWAkJlTBD2qANjueBEdc0mbOqKwl2WTC4aeCcBbOvTgAB84eJZukf7eANwFAH3kIGMXADQsAcCFEEYEh7p4p7wbiAjCm1ALuvwlC2AJC1qsu1E6ulXuqlXLoMp0u2tAurBEuwtGqrFKu2ndm23ECaxip52SAMl7ALmVqUIoQG8eIrmJS3e4s94pCGx+gFTqABTrCSbegEx1gGiCufExAAlf+Aojj7WmdjDsawL7tQC2KQE7ihEDmwmLhnkvSZe8FIe6QbsKKADFdrEMaQuqp7tckQu7rqpQCADLZbuwh8wAqstbrLpWB6sdlwDcZwCbBADd5QmtdDmtTQDMtQDLQwQmjAAF2jAhPHktSbA1SQgQ2YYWu4rWMwBEgwBOBrO1e2Y/B1Nu1ADWiAAXWwC3GgBmLQBVCQBPhyEEXgmGw4mWOXe72IBE6cewAwBaSLBJBQDFirEFfctQDQDLWaq8sAAGO7wGKcwGRctrOKts2ADBQ8mK05kzVpPb+LwaTJpVlgwoK7qma4vYSaBsBIAMKArX7qWfJQDrCgPJcQCWfwBVH/kARCED8KAZ+M6YBQzIZOTMlsmAO3x4AbwC2ne7oSYau3mqtcCgDJYBDCAAC0UMaqPMYHTLd3OogB6pmg2ZquubfcIA0mzHuD27Jg1yzlU3xOnAMGoA3Jt3y2c8zrsAwYEABAUAtJEAVPwARKcAMuoBCahbS9KBCV7IsjCcNhiMkAOwUqwAOwRwaAYAd248kHgbAJm7C3GsarTLYAwMplbLud7Mq7QLFxWothSqaeuQl5jIwqoAIBjZ8kkAMryTRysK8qgADXoI15iC6/NTLZ5g0/iAGXQAbPLK9UtBDYkc0G0c0jyXsAQAVTMAVDwAFnUDTR/AScowbeYQu44IwF/0wQW8vOXzzP8SzGOs3KndzJFuMty2CrYNylX7nPg1gMK5nH1FuGvAx2X+iyQ5OfJEAA0mB94Veyb6WCXmMHSSCvZxAHczAHETEHZFCSCCHSueeYJMAAJtBmAIACKJACLeACh3kDTIAFYhAHYIAJmLAJYKS/9iwMwNCzhAQLPTvPPb3TCTzPCvzTAHA1wMDO7fzOuVoMAvHUl2mGqpqGXqAnBJCUfWiIfedt5oANGFM3en0GcEAHfzARbQAAGEIQ3TwQ3cx7JJABDLDbJvABci3XcY0CLRADPqAEXwAHh6AIR+oGYVAFQmACRShMGwBtK1DdK/BvmVQLvLALik3Ptv87EN89u6cLC2iwCwZ705SdDACt2ey9vQyzKQGgoG9aiCXIN9oQfxgNBlbwBMyRJRVRAgCQA9oc0iM50DW2224NAgORAgAQAz+QInNwCBJ+CIFA4RV+CGBQTEVohNUdBCvg4R8+ASoQCXtWBpiwB9xSC8bb3bUL3ootEKcLLnd63ug9q7xQ0O3dkoVb0EiQAd+LDcDLsXBbiEq5DBiDBhr9AzGQAnRtESAAAsbxvtxMkgMBkMO0AQjOACRgHArxB14OAF4uqnrAAxtehB1+5isAdWXgokXwAzfA5CgAAkVQBGOwCXbD3ad8yjDev7ZL3sZb41vLC9PrBUOglpqdxIb/fow5YJ0BYIdtPJNu6w3UUAcYgAZefQMx8NsZ0QImAIFTPpI5IN1mpAIbAAAMMNAkgB0RIap00AZncAEMUOYbgARnHgQgHgRy8IVSkAMn0AIoMALAHuwjwOQ3cANGAAiAkAjN47MwTthXI6KAPquQkAV5PAUHjeOXKZmD2yzVCQEVVYseeg1iOsuhuQv8IgpJwMg24AK+rhFWoAOePpIAQALSTYQqEAQaMNCozuUUsV5lDgAW8OEfDgAfTgXOmQYQOASYhenszuQp4AKYm9ddENZ/QAeimgdr4B2RsD9oAAvAUMCAngxIK1Qn3d4AUMe9nJ8ToDq7+6X8DKAbfO5T/3QGZ+AisWQRW1AFOkAE/kbQAIBGAmHv+q7vF9ABCi4RJ0AACGBGZXRMEQXiq7StKJYBSJADiBAIcZDIUMAESVAFqw0HcxAIXj72Yx8IiHD2gMAF3tK/AzGiswoM/sZ7KYntLcvUrLryRcADRKCwCovGHEzel7AGajAHF3/xINECnP7zpU4QpT5MJGABRK8CRX/0DKEDrGMBTp8Vi64CDLACJOAFiNtEDKMBEAgGVx8IeaCkQawaYgAHeXAIiDDhFi7hsR8HX5AERSAKsGoQssoLCf/EJ03tJs/tGgABJWALw4ALadzOzJ8MMg4IalD4efDaIvEBUI75BRHdwzT0sP+OAhLBBm/oAMc0AfnO+RNgSQagAsKXOV4wBQ1IAmBAB1mvyADQyANh10NrBWIw+IfwCADx6NGfM1B8xGiRogiZTbVw8TKGDFkyUTlyDBmCRKOTKVOyABgTEgASKSDHeEEpBUIdbNW0AWgmUabEZMkmXroExk0gRId8HgIQVOhQokWNfhiBQkPRDU03qFBBQsUFFSugdjCalY0BBg5ylEmTpkwZqwgQLEAy9uQUJCo8ZGgi5gsUJTeIigABAAWKoDF8KNlyxo2bMFWE2IjhIkWNFI1TjACxMIhFABgzbuz48WTULGOEfoSQTNtobctmnjYG65KRgzF+KIGSVfbsoS7/bpggsXSoUxVIAEi9sEK4gzC0g+bRc2DDirBhwZbxwmCBAQgoOyLJQWLCBCNMktxwwdc4ACVf8CgCMOnRoThnutAF30K+6yQsLFq2vJHjFABespT0LCiV6qAGG22wAQAX006TaJfVUhABr6RQaGE8C4USIw5EjMhAt6CaCmoFAKASrkQTfBiPBwscyKK558RaoQEDAlCBLYvcmuCCKLwT4gcbXDAOi6ICCeQQRBRB8pA52hCjCyysCEOFi/DDbyMpMvPiJC8AAA0XXDaRhAcrAImIQWBEKeKxCNe8sE0A2oAjjjgmsGA3EEkgAYAVgihxBQawqlC2OwhAgAGwxAqC/4oxxBrDAgMIyOBGPD1oQIc24mjjDLncLOoPT4kMhA441GjSCIumpDI/JJwIij+UvMihAQYu0GA7BIpoQZgyZRIGku9aQOEDYT/gtE0lmIjCBA08dCooEhzoc4g9GZAAhLyyeiOABhA4NIgJGGCOCAAmWGABAjSIyoPteMjDU3fzKJYodzEVAwsmhLjhhPtSTdXKK7kk14AGJiBhWxJEAGYmY4DZ44wvnHwiiR5tiNdCCl2wwQQ7N3B2BRJWkDaIIEoIgoETPri2qEe25VYsLxAIIE8A0hijgQYImEADdSdYQQ93f/6jYqGWDAoKfMMDQQUAUOW3ylVZVQEBB3Jegf8KCwKY4ISFxrBjjz3ggIMOT/OYIw6hLRxWWBFU0K1ZjodYbs89RS75gQRiyAoCAwwIIiwikJhAheeCMOAsCLaDoIElDgkE6EAAAOrsoRAS4YMTNsgzh8qaplKjHBCw4KkhvBBkggAQ4OGGH6Kw4gw4xQZacrRHaCEGEyyo0ymnPq5q7pFFZoCBCPAwKupCDy2DCgCeW4GAvQ+HYAEeGlGkJ8aLjFz2oYAFoYKmpBKKys1TheA3EpDwogxOnAiAgCKewEKMM+QkMnbtjbMNNjGKsEAD3XV3AADoNsCuMKAEQQPA4wDABkGUCwKCc5FYygAA5y2gfATowA+e0Do48ET/IPcjChSSAAOPYQ5zJBjC+Dg3AQNAZQPpK0Mp5BCAAJRAU2eAwx+QVD2fgHA8T/gCDueQh9w5ZVkb0IAF6EYyAgaPA00oAhjmMIc7yMELAdAbCcTinDQQYTqEMpcEJpSC2gnhCT4kCqbA4AUTmhBPQeGcBriiNABIATqcEAQNPaAEfMXABmbswvwUiMbZiA1URSBBU5a1yGUpcYBMLNnU8KQCHgDADOpzgvMIQALleYYKjwKlA9ImghGQMQZCIKRQ/hAIIgzhAv9L5BtViJHPGYBjvxmdHCLBCQJgEQZ7GcEYA5XK2RwCST0JBIcW+aGm1EmAkAwCEagQBEEkAioq/zABGeSARw84j4IEIBQBplM4CQyLlHtpgQ2UIAZieooNwfnf7jAnJSrpDQFCkcpY5LAICATAADwAQdqERczxBDIOPlFECfrHMd3paYADTAMfEjFRKXFSEHhcQQT2VriNPgoB1RJWMCmkToIGxVMsUFo8dRdLeg6hm2ehI+aGkAMVUEEF4DSBQIlVUgAgZARBMYEczMADI8jABT5YQhXE4AZm6i6JAqQbEcYg0YkmQhB84IMKuLAITqQBDAAAQwTMBQCzNMAEN0BMYuZTHp5ejwhUUWk8J6mC6RQKALnzXwYmkIMY4WwElRtWSZE2LB5IwrCcMGwkzGCGIshABhwAAP9DkZhE3IkMAFKl6kSxygc5lIEEXoiEF8Dgsz+AgQ1FKAIPMKUGh2EBCk+oQhjgwFPIIeIO0oppXL/XTAfs7XRdwR095ZAGc0EAX4hJCApS5sMRCPQEezisJBA7XcNKIhJi0RzuVuQAB9QpUZm9KmfVYsdF5GAQ7fpDHtD7qcat8g9u+AJtgyIEJRDBC1DZ2ErxlMgA0nAB5FoAACBAhTLoEhQZyEAJ1MDaL1hBYnYhZHPTxoE0BAUUkrhwhjEsXQ4jdg9yWMECCuWA6QxhouHtLHSkgIQMCEJcQGMvTxTBni8oQb56kc8KckAVosh1BU4IQhJntAB1lQC1ZCgCEnT/WYoxEKEIY6ODnNqQyhi8QD4o+GsJRsc1OyQCuhoG84ZBwQk7IHEDhUMLALCaYi90ZAgoDAId2htjYypiDmJQAsVunJQTXPMCMsuvVKRABXGKczsXAOKl5kAEQcgBFKAwAx4cN0gf1osJPnpBDOx7kpCMJQv+GYPXOBxmxEoCCQzYlgHkwAcJttkJGJHKGw6hB1ARKXtB8cEw5Vu7EkzFKlnZLQkm04DpIE4GrouDnLWZhkcvYtKUBmHZ4JCpL0ShlU749Kc7jZJPj8ULe0iEhhEbiUToFQGEWt4YroMRFUwAAmCgHvWQFJRB3NgoLfABE/wsImBHdgVlALDAIGAC/zf8YRB1JsOiOFGKRcy51uhB47vaNQgUOuFKUnBCxrGdJRiWYQxS8IIdqmtdQaTBAnoLQAYAwBEksBvA9A0kHiwBgEfYOytCwAIb+FSVC8hGKhuwGgIeRQAIsICPS4BNGNSQBy5ctBScAMMgan1rH9paEY0YxBk8sKqLa9zrFp9CltSShUREgtx2gA5dwXmRlr85ejlKAQpcIIQqnKHeNi+KUufAAydYpSqyWQESVuBuEWORBZkGVlJagLEhCGIRpQAFJh5x9R3WHI08acQj8PCFJcRAA77pCMa/nnGMZBzkHvcCHwRhh5FkQQUZ6GcDVDAEtxB7OwkQgWvqfne8E/9FU2JAKXD43WMSaE7o7hanCV6gmObiBQTBJIIcBPFoM9A9DG4YxCQ0QXXZrccNhonBXlBYRymIfvQzfdrGvZCWQadbO+CEygRk5e6skecMf3hEIxDR+6HU2Ecc0I0V6DmjwBwGQLNeMgGEwDKd+gAeSANHAwVBwLG/CAM/ICQ8y7VgAgERGL8pKL+MW7nR+zqQg5XTqyMS0BsIUJcFYAB3gwAEMIIvwL/qARX+C4ofCA8TAJHZ4K+zqKAOsDLlYkAAOIECazYcU6cwwAPLAyGf2kDA+ryLmwIQDEER1LiwQ58xyIIsQAIN0Bvq+C8GgIAvhDf9IxIAQCD+O4EJ6ID/y4ksHoysc9sbE/gBBZQwnQoKKlgEUCiFSCADF4iBJegCOKA8EGqBYIKMNfmADCCJi1u5obBCjaOCLMgBi5spARO6/yI8AzgAA0gARQAVT7FBIvwWC1gBhgI0OxGOCUAAE+ABLHCtulCrxAuogaoMQYiEpwODHhBEN9ihGtSeOkQaaxGBCwC98jOK0atCKeDCi6CpDJARA0AcBIAABhC6ADAB++k9E6jGCQAA/4msPEnFyNoA9EGADmCCL2iDS1mtavuOxCCKIhAEQYA8MwCALSBE6gHG+xGDKlgCYWwBCaAnjfANovC6EKxCD4yUoIDGwhnDc3OevSEAE5gDOlAv/xs0AWJjANwRCsz5jR57Cms0ATGIE4tULzoomziYNqJwAR6QAzmAPDm4PsqrtTTUnvWAAzHYAiX4gRMgAhR6M7aDxEi8EjoyN0KBgAu4gANYgAMwixkxqDiYIrzjAQYAgAa4q9C5pY/sMQ3YFgAwAam0SBhLL3ghiiYosFJguK9CkpqsuiN5BPU4BDg4AzMArUgog6qYPaGwwplyAioYAgQLir2ZABZoAQWwGaY0QAJYvB9IAitgJ3sjg+DZyO7CnZViClYUsSPAA/UiS5scCjzQQ7WMhEIAgJScIov0oZ8pkiM5hEuKhEUogyFQj8kYiSEQwbbgiBzwxugJgAUoAf8AAIEOKBTK5MTnQwEySqcbIwOz+LxVeRGPC4kxKIPNss7r1EJtzAozwMWnIwO0+qMoCKQ4AaF3Qck2wAIlgE28HIIzOA8yyIi9FMHyQ0EACLAF6ADIIJYDECcZwUZzOif5MoIGCIAhWLWqQtAEVVAE5YMyyIE0AIQ5AE2jUARAmEfISwO+QKfFc43yzIMoawMr+AFg8YJtks0cOILX6AIeyAGNqEJlxMqz6ABrCQprOQAaCoACqEVzkq83AAADUDJwW9AhTVCsMjHOGoMJzYpli0m+iJAPkBAfirKCuIEK+akC44QTRZna8QETyIhIHAIEuIAOmNHlEk4QEIA03VH/YQGBiyGoVQoCBEACLRQ75+g0tBuLNLADOaDOMrCDatqDMjC7RLAiMFDSogCDByRNI4DSIZSdOBCDJ7CBxBMKLJVNFQCskDKBixg9jRhA4TSKNBXVNB0WxQMAK2gnT3kgJ0ifB5SDD9vT5tjTPd0Dl1kUcLuusgvULACEC9FDPowEHmBAW5ScJIiBuNvRoLDU+8rUYTkBLcsIjMCOImCq2RhVUQWAERiAAiiAKMiQITrUinEXNiABsHjJl9zTc5WDWB0uLsqSNBBSQSgwO0gDL1AeCyECR3g8TiiCoHBUyXmMNRUK0snSadKpETgqIwADIuCBIAAAiLMQUR2AiS0A/wWQF+2sGDqwSPsCi5PYwo8F2ZDNginUiNPT0wIbLi2UAQvhgQsFhTTICzzUnmYlVkvlghLIVNqxgSUIg+ybPD1wE8XYCxSo2AeIAAmggNn4mWKJgi9QAzYAOY/92CnwS5Gd2hVblVZ9SXjl0yzoV+N4ApdMA8iTQAD417PRz7SpVFxcBCQIAjatHZ4NGiZsEwmIgAdQgCX4C8hMtnahgL/9W6UVRQshoxdQgS0RWapVAWyz2i3EOI2YAs94yVDrLC8gAjPNCjD41T40gmyV2bOp0rjDsuUqg4tqW5yNWyWsGA7ogBIogQ7ggKStAA6gXUSoADRMw8DNCk85hEaYBP+IPQqUOQH0aVyM8wiQ5ZKpdYKNaFU7KNFa9Q9fXYRc5AQyOCMfcYFD3KmzcY8nqEPRDYoTSANOyFJp0bMLcReiAFzY7YAKsFujpQAyxQr0DQRFiEvamDBmbFyrTV7lXV5mBAu0W9eu/VrjSINFoEdOKIRJAIBBIAx/PAggyViUXBIxcLCgaAEjUJ/yDQIsIJ7x+ExR/Nv2vVsFUIAHqNgTthB3MSa0GZYSuJL9Ddn+BdmMW5UpMFe0+7AyyAIe0LWsyAMyuNDqvbu4/N33AoAqsLFiGZsPpWCh6IENLi8yaATZ0N3dHdygKGETtliKLQA3aQRK4L6iECiHPV4ZluH/x0WCyJ1Xrhmu6B2PIpC+mFSlP6gzumVioIEXOgiKO5DiHCADowDcYuFiBahYABjVCzFiPCgO/B0WEGCBIThjNC7e5c3aNt5aLSyCKhiPrVo4OWCD9foZ9IoXshSKQ/Bj8i0vHojMoBjkijFkQ+bWax2PTyAFUhiEMFgCRzanEljj8qPkGd7CKbTkLAhgc+0srx2PPFCBep1NMpBQPUZJcYWx7EnlLFUBFhgKo5UACRCaFDZkRCZVATCOLegDS/gEFzYnL10aFdDfYP6IYX5ci1uUyd1hJyhg2uAAdUGiAjbPOZitUmZN4AWDDXaEISiBa9lWiw2KbrZi2QDnL6Zl/38VCnIOCp4dhFDQhFAYD506gcvIgXeG52EmWZJYnnU15jKYghx4g0nYP9qoygNwgBas4w8tG2r+lKtjYKEwAi9Q5Rw4gaCYWL3giy+OlwHgYome6KKIASU4A0XYaQtJvLQxAZKY5GD2QI1rO5LYQi8w3hwogkY2jgsozuBhA6CFsjmg0jyWMfX4Pp726SxFgqBOU7MFgAGQnAfA23Be6qz4XcaxEPDLXiyLZBpO3Dq6WkueKZqip0GjAif4rCA4IwtJABYMHgcoYJtGTyH4YQtp60d466EogrgurwQQig+oa8k5Ybu12Gu1aNk4hCyeDQY+hAc+jBjggRTaXymwCP9mJNlxKYE3MNoIuIAIsM15BIVIEBcLaYLfuuwFCGUAQMk4qLEXiBeongQ/2IJcE4+gGO2fNm1ilR0FkAAOqIDWTmTaSF8Lwe5JOAQ/CIMuaCWRBtmVluSOcAIWKoJDAFzAvQAp2CXI4wQ56OysqID2MYvgsYDO1dg7k9S445RJyO7t5p54JO0cSIDtBSEKMO8IwOtRxWvBDdchMRJEQIT1wAM/+BsAuOqp9UDAQa1B+IP+poDZzQGuUktQWAQLGIDUlo0bde4DCJ6gaI8o+IG40882YWQfGCwN15MLDyBCigAylYAC6PE03dYVvpCTpAM16AIlQCotA7369sAVIwP/sQHcGf/b2eWAmuIEPkzuIAhxccZWoQCB9iEAIS+gCTABKIBFJUAIJBcBN2HyYAmsil4Bn44EQdCcVCrv9u3ibT1kH7JpMWACGxjaFmABFHJRocA4ACADIqHxNafdDkj0SODDpyvboqhzAMBzPeeurHkBJcCCL7AXIThWYLKQLui85PqpihaADXACTsBLDzCKXz+bEmCBZfdmbq3YCDibpC0K6k6CF8CyOxyBE3DYgnQCIiADTaCESaBd2q0AUmfdDrgAJ8BxUJCFU7iAOQ9eAXAeWJ/ps4qC+ZHKOVCDuWiTR3DgnZxUobhyB8gAjIsaguKBhGeBpI2ACIjf+ZWc/yvm7NEd1hOweEA0o+I4d9gd93OXgAdwcz6UhVSQc+N4ABoqHFRjgAB4ASYQg4o0SY09z/E4cUrQhElwYLGe2AFggAP4lrEiJhZIeB7Aig543wcgpIlN22Et1eQEgBQ2Wg5w3amvALy9ANAChVWQBVlgFWB/7aHoJRoCpwA4ASH4gmQby3e5EOxBBN/VhO0LChMugKYMHjkM+qFnAQ7AW2cnpisXVaYPCiz34hOOAKkvAb1XAAegAlRPha0/BdMmivQOirDHUQWIAulOe4zFYvYyEuAFgASQlbqnoYllaBDqAB5ILW3m1p0vKdf+e2JxfXIOcQWIAGVnARIWHE44hf+tJ3l4Z3UBwOsDEIADEIoz0FjP1Hyj+ExbGwqNCh6npKEDIG9CSngi6IAulnxiin3XN4oHqADXlV+SWfzdl4VV8IIsl42dZ30AOHuTNGXjCGH2CorgMRffwsagZ4ESOG8693GeAggBAgAQLGjwIMEKJTpwaNjwApVIpVLJklVKAcKDAwYU6BgjyReCdPL8KWmyZMaDJ1eaLMiGAQMHFhAQqBmAQ8qcOg9GqNCBAkaBQncSLWo0J0MOFSgwpTBk0cSKp4Ls5NiigAslWNrQIUiSpVGWK71ygDnBwoEDAQgEOECww1GjBXxWeDBAqMC4evembLi0KYUVVDhRlJUqDdH/Fi5aCLGiJk8eAF/BFhU7FkDZmBYW0KyZly9RCg0jFACAdyDo1HGVAmYqONKpirIE6ZQQoYoQrWoCBdIDwPKfsMANFoHpYIKBmmxRq875oAIHCaVPN6++82/rB1IWgSp8CmdOFiXGj6dEiSBvsUctQy7YIYCBBgvYBqg/wHpKBRKUxjCNN+V/+IHWWlMqcNFdRYdJ0FcHHSzUIHkNInLIIemhJNxKkOWhhhUADLCWcvQdcJ+ACCkBhRI/oPABiywidNpGJJZ4FIGuScFJbLKsQkUFObEWwQNBKvDAfuNJSCFvGJakYRxfKOHCCCOotVZ9a8lY3UbUCQEFE0KgAECL/2F+cJoAMRaA0YxG1UhBBBGVItspPfZl2wMKKNARR3YSyUEJoZwXl0mQ0SHGEzaMAAKi9xFwwKIjDqXanTFmSZANSjDxpJgufkkQCiLEOGQEC6ZZ1Jo5jIGgYUHIeRAFEkhQ550GmannXn9oyKGKIwAggosA4ClpgHuNVmcBGxWUFYoxZPqlC4u1AEALKTC2VVOjhlZjEEjgWNEqaaxqEJuwokmQUJJeaRRkcXTxJKIigNkiCvGiUGyMGbVIFAcOjlcBkEr4UBATXKoo76bQKhbDszc88UUcGl5obUprQgSbbIt8S1Acr9oZKblkDnQuUXMQaigIIvBKEIsgyNsRvf8gG1UBzDDnO55BuDX2RBIttFCwwTrrDAAWAIwEWUsnQQzumk9FZdgKCLXBQZ11yugxaFaoWDKvvRK088p4lrYXzE3FfPEjhwzixxlCxOBCQTtvrVgSWxGkx2UFGQ3xmis4gWoqZhx0Rr7QVfC1f2QW9EFcULYbpkE7+3wVR4TrxGcJSmHXWkajoEKKJoMchMII8QLwEcOIoFe3Sqhbl7e2OaZSxrdfNOQgBQV5zNy7R6HQrsmMv+04CjrHizhRJYQNGFGIUDKKKqgYxIQP8Y7QnxhzEISIIr/drVNLAoIqQWvbnbKKVD2KCh0HLHRQbMcCjYn7vUf9EMOhJvduEAr/L7zQLPAoa32Q5Wq0E+yZ5zyaA8Ah/BAGJVhKDAUxXSMaobqcBKdEHRnSA0JFAQPxzQxywoJoHLQqvLAIfvE7ChaScAMX2M9dBUGBC/S3P9EhpAVMcENBjkcgogQCEY3IXvYaoQnNhaJskwDAeRTRCLt1LywlktSZhrSC1iVIDnUhEnTEMy4SjulwvotLG74QBSXcoAUufGEM9+c2nSwRAGsyiiIQIUcAYE8RSjQbHjyXkfTopYL4KZekEiAFiiVoQUzYj4Pg0j73Ee9dJ+xjHM7wBSgI4QYHaRb/eDaqQNjRdEFERCDakEIXLGELANAjQTShCN4EAlAzItNGclCG/6WlgipMgNl4HrBIAbgINWICzUkiGTSDpACTa4SYHO1ICU38KQ5R+MHjWqAEUwLAEpMgBSlqlaQ/emyKHYxAIhdiOy5+5ot8yVAbDGIDTC5GkzOKo/I0IU+hAYAJPTtYf+q5BTcM4ohx4Y0iQkGKix3FXB5zgBNwVJhFsKChPDCBqLIkFMTl5ZHApExBrMCE+cXgXxCLoyLkSYlGWI8JKvQZJvtzA0SxDTQCPQRfInenOxWLTEojn2EuwIOd8kBUNI3Ro8CEH4yKZA6RdAMejhaIQ4R0pOn8gRCSIAQXBA+fZTRZal4aAdPEJXIXBMBMC3AaEuytMKlIBA+KwAMWEP+kVUCyU2nuUpAzNkc9BWnE8lAxilAcDQBKpAQi2sCE/AkBAEJ4gc9eEIMbKKuRfCHFIbaKu50g7oIbCyuehOIAJIDCdVTgaQnc2Jqt1mlUdiVII0YRi1hMwg9QOBoi9DAHNURBbTcQQlRVpLMY2KCxqhmFJcLAlwum4CA0zaxAtAUKqQiCCDtt6w5bZS2ikiIWqHiEGrx0tDiIAQu1lSpucWswFyx2RaqJhSossZcLnulMBoFrewVSgAlwFhSckAMSgsADuAiwr6cFQCgGcYaNPgtiXdjoC6SqYPH+7AbmTU0mXhGLgjygI0TxKntZ1l7Mnuk4Q8jvCjaggp6+ESH/fhzqSWBakDNolIz5tBZH+xNeqZZxt+7Uixss0bz1suw+Gi4NTY87JAcgAAEWsMAGNMAA/u7QxCe2zkkegc1DCDcGW9qoDY6WvxhwGQAvsIElH+cCx+4lx6jQxF44ciUNE2SmcB2SBBRgAAQw4MhHTkCJDdJEFAdiEqj4RB+OdWUh2ODG+EEBl1/8AoI468GpscReFfFkohCuTMYFK1jPlEEJ1IUACHCAAzSA5CKQBHOpe5iAAgrcMBSWU1cmY4FHRd5Ed3l/MRgemVOzPaKgiUQ/xrSbiTQeBSxKJho49gROS1QBjYIUhmCCbwmyJRSV0VqItsGXFdufbK/of7re//NOKgckhAAZ2HBuEFwMcIA6H/k4RQDOBPEziTt46YQ/sJQSemutWWM70V6GlkX3okpUF6UEbGWr8XRZkHFtjNMGL4EB5kxnUC9gAQaYzHAgZoNfEsTKAssyUTJFFBTc4AWWBAC29cepgMclFBKcNFEc1FAAEAHh/CIWRjASqg40NAIEMIBZGDABoSOA1PDua6aI54JBO5iySc91QRB7gx9Y0pLrXDQAug11o2ji5TCfHLrt+Ai2Nk88HBg3RiQgcxYkAD4y2cAG0NKAomMc3EcTedavzIRqpyTpjswKQiQZBSgkgeol358aWW4UUnhdLxRA94QiOFK8kgIVqiBF5f/ytXYWHCDib0/yBIiMgEAQvK8G8bthuQTrvuO940yonkGY2ps4AC0KKpRh1s1Zq3gjJIQQMsFO5clMH2qCFJojBQt4QAQTNLQmn0Yy3JPsAAbwoJWmZz3H703tF5++9Sumw4U4qcQIYqy7SXih7i+664ygm+c8fe5aS/DDQOQhDn3wwzVfYYj6LODz0UcLqV1fTuCdx2EZQjydY8WBHMEUKHFSBC2RHcVRV3QB1Wnd1qnfBLXf+yXfQ8UfAFTAF6iQEDxBGPSBJVxAsUHf/yEAGPiGANqLyC0dlxAazyDgBzxLF9DBAsoRD/pQBEWgEtERHUgSrI3ABapGxs1MCfD/FPM51E6x1auAVTvdgBKUQH0AwOdpgAM0AAE0wQtin++8Gt/Z4AcAXh704IQkiRw9IBD94FIBQBhRkumJBVONBwc2FJ8A31p1gLjcCS99wANUSU1EXMSxxRcOIMcJARNcSrXZYAssQRjAgfXxYIWYRA8BABs+YCPA1CPYShyowQuuxA8pwjI9IQCwlXtcVqQIxZQoR3KwxQUcIhjei/alyMYhIABUwR34AUEcQg+S3kn00PhpYhw9gtd93dGUBFPZkTyNgiboIQ+cYgW42UzhhSAqRwA4AC/KIgwyjpUt4g/c4rIcgS7qERrKETCahC9i4gP6VRDZXSiuISk64xCZ/wdbPYD+tICbiVWZDAB91MeigAA3ziKLLN0iVpIFsggKLMEb+MEZ0tE5oqMl9lDkPaAPUUI6DmRBwBNeNSMl6EEbKIHJIdbjKMBpHIAApEVQaaQX/ZIiXsoPOJJCLsEdwMEfZM8cQSQaHsIf8EYdreEP+eD6DWQPBcID6oEY7N3hOYvP8GOZUA1LHkTSveTeyWQK0KRNzlEPdhIa+iQQZoIxElA68t4LglIjBNYzlVzJRVMM3cXtfEZUrpyY1OINiONC3oEh5CT2EAQ8nSMdRSD5EUQmIBFPWgZLchIdxEEKmRwAqKXPBI8L8KNEUUdcShvCgECLfGOKvEsL6KIlnP8lGv4lTvalJ9nRAw7mQWRCJgzCWN4kmg2k9dieWo5kjVVV/qCAQa1kVJJCJrjBEvgAVSHOSyJkZxqCJXhCROpkJ8ETELKhTqwmMCrCJKhCXOrPbJZcOz0mwUhKZRrEKLzCnxnCFfjA2iiiEqhNDEDBY1xPRG4lSAHh+AXhTmQCJ00nKdxBTLLkdZqcg2mnvGRd1tFQZTLVI4SC5ZGCJZzBb65QC8RAFLQBRUbQI7CnVvIgaDbnDwUmUYSCKoRCH0BTVJLcDajliD7LzwgowRiaRvZQI/jZK1yeIWyBEoBEHEQoEhXQeUTkcppmhj7ChC6eIfhAC3ibLO4ndkKLQH7/ToB2JxP9AYE6DwBQ5yT4qIbiqHlAJESaJkj9oOQVBSn4QjUJafp9oYiOqJlincrgz5f8J5OuxCH8KHUCwIQBwGsShJVeaTJpqQ+O358UxSwMZmNxHDe+ANUV6tRZEsEEKNcIaHeuRCtZHwBkE0LcqXnUkRLtaCM8AiX4U07wlWDmYhP0QA2kAOrphUK2QKUM01EQ6g+0qqs62Jqy6ZoyKUGcRP21QRQQxBMAABxE6UGcB7Caxyj+IEfiFafmRHX9wicAwBIgRA+kQKcIasiFicq4wA8wQdD0amIcqqGm6D2pqEaaBB20AeEhRBUQhCqsFgDoVUEU0DBG0Bpuqk54/0IotMKEZcIdgAEAeGFG9MCzeh8MckrwAGhB5OrI8afVCWxVPc7uHCE3/sEQMgF5nVxGDIKkyikAjMKNaiK8kuIkeEJGeILIfgJfvcInvMESNIHKEgS/9uuoSuvpcUqssSkAnIED6UT+zCYmLWzwrOmQOqwsiowSRMsRUGyrIoQbaEKcxsIoOOPk/aAPfazIiiwATK0nZMKyAoAvuAIAEILKHoHKruy+6sSzRuv/NBKuKSTPzF49ZcSWYWc+fonKedn+5B7QHqIQpIAINAEbTF1B5GdBFNbCPAIqrFYsvMIoCOsjyNEnWK3jekLWpsQagEHYhi3Lku2/ZkqSisnAGv+EHEVGSsRQyW1NVWEd1vGP4rEkCqxB37rq0f4tALRqEjyBFVishB2uM0YQyAIAKzSu1Uau1hLEG7xBRqxB5YotUYgqqSqk3cJLPkHqAmZEC+gPtoXZl5goUzaL3dIqy74BGyyB68Zk+LrujD5B0qrCK/hCLBTfLBgE17ICKxBEKxzE8O7E5H4t8uZE2PZAgKYoDD3Q9fgiKB2EGFjBeVKdlzGlDNWYYrANkUZlDwwvG3yvDwjB+LbqiIZvEkBBFwyCKvwCmOrE/BJE+wIAG8SF8Vau/lpuShSWDrKnAIOSH+WBUdmsbG5NS5Xos2hvt9EqGHgvG0gwG5CnYbkuQYz/b+GxASOol/vOwggDwAgHg0Gc8F7cbxOA7UFULv8axYQk0xypV2H+ASiB5Bkc2EadafZub3e2ACG0MRuwLhuAwfTGgGLFLlSFL279AL+2MULogiq4ghMDgBRbAiMM7xogBBUbRQqv7PEmDwznqR1ZgiVQiCVQpGmOsSgN1vT+TLNoXXeuQRuH8hs0waItGq3JWHilyA00AfECQCszAlHAcppQ7hWr7BZDS0aYTgBDcqZO8iRngiccZ/YsU9OOVBf8G1VBJmY+MDe+ASYwAjS3cUt5Wb+dMm/dgA9McCITBZgyAiG08oxMcAovBi4TBKEixA5a6g8BQCZIstXi1fI0/23idsUR4/KYpe4hsoEpmMIzM8ISgJw5V3OigdkLaLM2pwQs/0JBxK8sh7NBN8E0+8wD6XI6A6buPq6mxrM8A0Bv0BMAKIGXGSEzy2IP7PM+/yZCuAC2jU6XAQAYBLFBT/BBnDATF4RCg8Y2I7JBI8RiAQAoem4Xq/NFs0IruIIreEIByXPTBnNPMtUhJNXe7UySViYbm8KCZgRvaVtWs7IQxzRCSLEqzEIIA8As7C5+PHRLxRB53ZUdTbSljl/VGvVRf0JGK7XGVi2F0NHVBjPQ5ButlqEPmClWK9ZKx8saDG9XH7RBjDVZ68JYxy8hVMdOM9rWnBwnYSIQ8aBFN/+CJ8CvJ5QEKZqHPKOCp7JzkhyC1T4197bAiBJEax/ECrXUC4CAD3wzYnd1/eoCMRCEUQMA184CcIMpmJb1N+O0NoMB1qXEHAWhZvNo1XoCKx3CEml00x4EE6N2QVytilXmlxitYBfEiK41CMQA8bbxG9j2bQOAYxdEb/s2cEPxLICw1uoCAEDzXhj0GmzKjfEgO3Ilj4pshVDIMA+RPPuQQVRyNZk1QXwC8Opn7Dbmq752Y1KKYv3AG8AyH5/3eUc2fYcw13ItQegCcLcvcDv2bvNu1x5FTIOBtOxMcl+PckLgOj4ggFPIRVI3RkKqaT/3QYRCyYaohE8dBptpa8f/ZAxQnQ9ceNeGctd2QofzNogD8izoApVPOVmTOJgGgy+UdVHEdBxzjQtYkrZSqCcFMDs+wtUulXQjEYE37QDXNB2huYIDbxhw3yGyNuAaMZG3tiX9ABsQQg80QQ0oMSFAcyf8AjFIsW+D+IjrAqOLOKSPuEKfePy2Mji7REzfmmLcwFbsJZnT0RLNkYSKrCXIUV03LSqcJUEw8bIiAjAbBIMThMkuQQtM9Z0f6snpuZnGZNW9wD5jAiHEQBOQ96ETAzGQ+CxIOVmLLGd7Qiu0b6TTdwn7wm7/QglfOkF4OapOXYfYKbxWaPbQkS8u0SEAczDDs13rwQCjJiswlVmjySZBgCl+OtohktzR5qerunYG9/nO1IBJ7zMhHLozqPeIF3xnI8KzO3orXG3CVzl9kzBB7DZ9F7LwmvBDT/iuGkQBgaZf8SUd8eUhuHNGt/kogJLpHOeCu/qcF8SEKcGtjXRfcevrGkShNmYlFUQNEIJJ30IwKIMy/ALQQ/pRe0IjsMKUUznSGzUiOHsrOPzDA8BNazlBRLYrG3RPM8EZ6HK7Citf4uRGxhFqZ8J0KzVGIsJxUi0rPIIlvHpBRO4sWEIP7AzME0VAAAAh+QQFBgAAACxHABgAuQDYAAAI/wABCBxIsKDBgwgTKlxY0IpDhhAjSpxIsaLFixgpOrSSsaPHjyBDijTIIsrDkShTqlz5MYARkyxjypxJEwABGVU41tzJs2dFlzB9Ch1KVGCClzqLKl0a82gUplCjjnQqtarViwkAPL3KtavCrFu9ih0LdqxZr2XPqq2adq3bpW3fyhWaoEPSuXh3sugQNq9fmXv7/h2cMjDhw4U7YEHMOGQHE08aS+7YQfHkyxZZsFh8l2hnzDwfQ2GMpYtpLKhBM4zSIUGV0oObEElDBgyZ20bAmFadMIGDJ09G52VShIucRZySR1okiMSVLnNNfxHzpQtq1LsZJghghclfNqAAhP8nyMnJECNMIqtVwp4JFOzWN1opPf0MdesFExCIn/cLqFMDAQhgKV44YcRiZlWHBRRMMKGEe/OhxiB7D75n2oUIAtDFBQGooUZeUIABwCmlCDiiQF5QwUMUX4x1hofPPAMOOOjM+A041lgzzI47YiIJJphUsYWEDhpFwIF5YVFIiSeaeAoVVJgAhXBiPRPPPPXUY4879tijzpb2ZFkPPfPI0w4655xTyBnTWcdgAASccNJbWJBxCoCLmAHGFk1SAUAR1mV41S1cdmnPPYd2iaihXc4DgDnmlCOpNVaIIcYZ9nUBZwn0vdXgfwCUAgAYV3wBhoBe/JkdV1CAM8+rsL7/Sg89YnJZjzvnREoON7zQwsEKJQTBAQ/EGmBAByc4SOVZakgi0ClpEAEcAIAISIUXQShxg1LvlYYhFEoI8YM48bRT7rnmAhCPQPGsO4855PSaQQYe1GvvBA0YAAACABiAXoMIKfGDDT88+JlQYIRHYhlgYGHFFYWMWEoaXpihhhhDMZFEelZ0IYaHbaiRKRbtmNsOACUftG488gDAywINQDCBzDRD0IBAxu5bQhRTlvYxHHHEcbGCqS0FhSQCCmIGdAJFTCIVacgRhaA0idFFdxRWeN2CDq7CDsolhy12yeg+2sDZMKe9AAALtO32AjuHK64QFRqBw0Bm/EC3wR5j/zoy1SlhceqIkQDQRKkAiFEIqmkg8RxN730huXWr3LLJHrTsIswllYRwwQUmsGDLOuywM/bpYstjjigwn+16v2sThIAx6JgzIzg3WsOMLTj0joMtt9xiRRXpWfitgwMTTLfxDnfUhiSSJCdHGt4JFCKJp3ghxxDhruQwdh+r0cYz81QjDCyXXAJECAS0D+f72awjv7npzDNrrPLkn/888YRjrAEEMIDbbEaAAMDJfbVIRjOiYY1oSKoc5/AdDq6Bjgquo3biuB2OpsGMZwwjeMHDRBj6pgY4hIxNXGuQe0oTvFVgwhamWEIMYnADIehAEADAIQDIcIQmGEEHVSiCIP8WsYg0UMwNIhtJuJJ3g4JBIUbpqAb60oeBtiEAAcZqHwDr0A7SxYNMsMpfu/YHq3rI4xy0aBvaYEYABCzAjW4jAAQ8QAJ71SsHK8AABkKAAS5UAha1qEUxlgGMStQBEpWohDCKcYxjaOMb3vCGONBxwXLMaBwbZAYzgleKYTDDfu7IkkCylA5zhAMAZuCDIOTghTQAoAyvhCUXcohDil2haB8xocgChYVnTEMdZkzGJdBAi03YggsNeJvbEFAMRmnpmWKaFZnqgaUs0SMd6fiGOLzRyGUUI5GIrMMAJ0CCOqLhnGioAxpCAIR1AqFeE4inzCYgkHlpgI4C8QAA9Kn/zwxYwAKIFIUoKlEMbZQjHOU4mT0AsFBGLfRrl6ClF8ow0VcKpAyzFAQOYcmEK4SEOlZIwi2Y8UtGzaOQdYhGKTjhBRVA4KXJdN0xDoWomjJqUYm6h07xgY985OMdPs0HT3l6D3zodKGjnFEGxXGMaDSyEqKARSUgEQIPGCuedqxXHbeqT64eZI4LoMY64lEPAHAJAOl4h1oBcA+BzGMXkMChIMpA14lWFACp0ijUvLCF6h1sInGYwzS24Y9+7EOtiK0HLWoBCTTwAhIbiOwGNPBPCzBgAaLoqU+HytnO8hQAQc1HTY0a2qDqQx+lzcdp87GPfWx2qEfdEj1wBw5x/3yjqceghUAFytU6ZnUCHpgZL9ohD3owtK2IfQdNdYqOYgpkla7kAhW4YETqPtdPZViiQLZ1EZL2ox/+4AdqS1sMW9hCBRNwgAP+GVkSRNYCDjCAPVJL3/rmgx1fFAjZ2rVfeYBSUTu9h31VO97QvgMfA8GHcrvkjtkutZHHEGgjGSUQpLJVpxh+hzgqkUOByEGuHdYhLQEgBy6QoQ1w+BBGhqGOd/CjtQXebDVwAQAIMEC9DKjsP9kGgACAdsD0Ra09WFamMg0EdSk7mZLBZq6VXem/yz2tPlrbWvsaNbY1xbCWK1xhMgFgHuvYRUY/nEMyg3iVOETvCtJgBEiAY/+TQRKCDWwgEWuM1VGOSkftIEUNWOBCBQsAYPsCyC8GHKCAaMCSO7gEK2ky1FAYtsc80jFGAORPIKYzHZI3fTqwebrJ8hijf6HcVkR9ViFa1qlAQjkPbER0xB1+bohpOQQSEGAIY6CF6dw6jnE84xYA0JhCrGANMd0qlMYmB1RJkIEGaNGACHBAoAt4CWQbmyELdZS6yAaA0nmb05xGGZPBjTpzPBrBCQaAZxFiVHnAAgHl5MIspytrEaN5CEMIQAOGQA5LtwwAWrKHi/uxDQBMwxRPYMJduvCNRRtbTNF4BhXGMNFEWNwLE9jAFRvgAAYQgAHfMOu1B/LwYxdqHmL/07S3v126kq185eJuR6ZlTu6Ufa3bZzIHOgQOACn7/LQLMeo50GCsmw0EAgJp2z6rCgAV1IsLcILEzWdl8oHwgx8A4Mc4MNEDAHB3DtaopjXr8YwhICEHSADAHhIBAGcNJBErsCwDMqCBeVi75MZetN63hHKXt5wd8pMf4FdOupS//PAs77TMXw4pcrT155CXMpUnvw99QKNfCEgmAG7WOqSvDekACEE+F3AM+63aHWYF+KIH0tYtPWNBAxmG/aR5DCPa3g5y4AP0IsF7ticCFESYlwogESa8513ve3eHPAi/jpNd8PmUDPw60pEoSVMdjJMul9+7jfjDQwpe8xBw/+THT/l92EMYmBeI0QVigXnFE21GD0DIE5KlUM5KIMYdRxysBoUqDGPU9IALURM1coB7ZYB7kWBxFscHfGAGnEAFFqACteBwxleBYRIPgCd9gHcOFdSBFZQmwDAQuyVhjfQN2vQNVDcmXSR4pKOBgQcAknIO9IB6ZiVp6UArhcJTBOZzrTUPokAA+3JjAGABGiBZKgAAk2UB+LIAAWAAlWBhBYFhADArodYO7kBc6WAaozEHttAOZSKAdeUFWTAGBFgGcmBxgrAHezA9aZAIDjABrhIrsydNdPhwDbaCH3gO8pMmfMiBaXINSVcQObN5NhM7DSBQ3nBBlBR90Rd4B/+FUOuCesg3iXq3avZgXDVoDhhgEzfmABpQEBYAAA5AAhdAWUw4AZCAbup2aln3Xf2AD2ayDudwDdVgDWIAB3PwB6OCDu0QDWNAUVMQjMLYStPjBWooB8iIV3KgARMgDvrzjP4VjXLYaPPADmliDucAQXqYK9iIjXxYB64TO0nHL2yzNlhEEKIgixzogR54DtzADeFgDo5CifRYj4uWDk3YRuoFX4bGABswEBqwXg5QQBAADkD3Y5u1D/7wDwz5D/7wDvFgDs0ADbZwBnGQBwPBDejgBF7gBVMAAEggBVOQdlOQBWWQBrA0PbCEImUwAbwoNufSLjI5k/sTansWKeX/QA7e+H2QkivYkBDJpEZBqUwLkAxowocd6IezeA3ZgA5mZY9QKYnuAA4hsACDZkAFBIRthAAHIBAO4GwBgATgQBCnRWX5AF4CAQ/wEF7p4A3SAAhLUCECMQzVkAUeOZIqgARTMAQqEIwmWQYTR3EdmQVTsAITUA3a4A3fEHg013Kngy7ZSA6SKZnlQIsPFCmRQnRrYyyBRo5wZBBns3kNIIsAkCul2YfhQA3XgA0nE0pRGZXiQAIQAEDwRgIqoAIrwAA9RgAHsAAHcFk9Vgb2QGUG4VOoxQ/9gHX5YA/oUA0zFAMFUQtUQJjBOARO8JE5AADBOFFjQAKDmQXgmQNn/4MGB2AABhQAdVAHolAM7KkN2DCWK9dFOSkNwFBIreM6DZCe6Ymf/Pk6NUaOy6R0RtmTPBkp1wAN1BAO7VCBJvea3+ABCGABY2hxkSAJhZMIQeBxMmMAWMQAkBAP9dMlVyYQ+iAQrqVaoGUP4GAMUJAEQjAQ3hEEwSgQUiAF1/mRH3mdE+UEUgCePuoEdZCY3tAN15AMy3A+tFAJQAAEXEAHdFAEH2cBAlUJyRQClUALwEAN3JCT2UAN0kANxcALwDBQU3Wf/Xmm6wcAycCN3Qgp5QANy9AM5XAldEgrY8KglKgNG+AFFPd2ibB7kgB3BBACGWAA8SQKt6J6yQdg1f93D+cADLgQCIFgEEQgkmenncJYnX1pkmOQA9Ppo1IACYj5jtrADZHUDd0QDuHgDat6StLwqscADMlQDAWBDQg1mbiaq5IJAF3qpbzAC7CASFRlpvgZpmGKDdWQrOGADMIgp144jV82EHU6SnmHC7PhBFkgB3vwSq50hgmYCF7AADGjhDPVoKs3icX3LsgAC5gwB3NgEGRwnVKQnSKZqU6QnVPwiwCArT6aBUggDdcQsKuJDQSbDdiQDdlQqtrQDdqwsKqKDYAYsQBgq7pasRWbkwCwq/1GDthADR4bpmMKTiHwOkCwC8ZQDuoik/72jG6FZ1/WaPRQCwCwAtODe7j/t4ZrWAZZwAeJwAdpgAA2BgHfsCWT+JSUSA/xcA2wQAuA4B2CEghkIKNT4AQ3mqkfKZKcyq8/CgnN8KVf6rHUUA2qWQ0BC7EEiw2lGrDUUBDdQA6qGg4WG7dyi6s5ubGTCQ20sE7A0G+dNhD89W8tA43RsGZRg3vIaAceRmLbYwdpmAOZB3IOlxDI9y7CAFUx4AIuYBBggAQ3WqNWa7X6CgDgSaNDIAxx2gyoCw2qCw2v+qpeCrZkC7YeOxBMebDZ8I6o+rZv67a8O7e+67bNAAtoAAC0IKSCx32aJjb6ZTLx8A05cJJGVAZ92pF0hbi4R4ZyMAYTIEANVxA06L31/xAP1MA5ZNACmXsQnDu1aPe5wSiSE6WzWUCjUjAEomAMyLAMRroM+ru/qNu/qfuqEym71NAMa5u6rOuxZFu2BfuO3JCquuu2cAu3cxsO0AALUoUG9ykQAQUJ7CkQ3gAA3jB43lYLKImSeCWGHZnCrWS4aTAGY4AETegoJee9rNZcQCAKbYAfB0EGIXmvevm5TpCXUyC9UgAANkq1SFC/xpAMRsrE+NvETYy/UgwNzZAMq1vAzbAMyAAA9osMyODE+mvAB/ylAmu2pdrADqy7ary2sLAL1/Cw0tAMYUoLsFAHsuNjBgQFlWMLfEpRKTy18avCfFqAaWCXQ2AAdfBksP9CEKI0JvTQDtSABkCACQsxB+lLteyLBEKcwpxLtU6gycKwxEwMxU9cyk5spM2gpsuwussAAFVsDFwcy7A8y1zsxQDgxVF8uqv7tapZxgiLsGy8C9LQwJEUDqkKAKrKqsjsDdkAAHEcDcPACfFLEGKIBBOQA3bprxzJp1GjsypAAlxEkzUph6oDCwCAwxjzV3+Svuw7BZ7rzoQ5BPuKxDkgCqM8yqZMyqfcv8aAugBweXBqDAKNDLRc0LJ80LPsxV+My/wrxsFrwc3AlAnbsApLqriLqpHEqpvApyeczVOQA9gKAEPgAUNglxNVwrZZB383NjLZMhiYDEBALdazEGb/J4yY+rlHTLXZyblIoMn3/NP6TMphvAz2e7r9nAywvMUGvdQI3dSznNAEbQzngz7GILvVAAACq8AEO7EEqw3S4MJjYJdSEJJiOLpZ4MMm3Up0lQMqAAw6hyYdSDrf1m3kYMd2wF0MUQSXTAJDYLVH3NNUC5I93dMqIApPDNSnrM/7u9j8S9QD7dSQzdQFLdCULdXoAwvAsMqq27q8PLsAILZkWw2b4MKp4q8ZUNIpjFfgqcKxVAY5kAG8ICmY+X3a2IHmsAwYAAk38ASAgxDxSrU13b6BPdidjHZpNwT1LAyhPNA/nc+l/MRfjM9aXNmVHdnWLdCyXNlTfQm7AACM/+2/E/nPrNu6tIoiYmgePZra5k2YgUxXTjABrWy35JCTsv1A1RBRgMAiEoEI7Czcn0zcgO0ETQfYQ2ABIIACRVAEXgAJgWS/iZ3PyRDVXYzLEU7dFl7dkg0Au6DUk83FxrAL6QMLSyzFJM7YQ70Mm2DeKZzWgiyGry3gfDoGUwAByfDBrLq7GiuZwAAEidAFVUARei2vgS0QAB7gZtfTJMABLYACTA4AI4ACAlEEgPBCuIALx1AM9yzh1C0MwLALwKDcFx7mFp7dHn7h5wMAl4B+JJ6/bM7YtZAqJ9ziqZ0qLk4CLJ4FCCAMCnvGxLyqIAwNaCAKgiERPADYxC3YRf9OtSrw2guABVFQJAcxqYiACHQgEJhgCi+0CXWQA2iQA/g0s0MQBACQA/KWnn/0q18u1WIe5h7e6h+ePiaby22+5ssgzxTXry0e598pyE5AAMAQ2lp9tgR7CXWgHhcRBMZd5Mr+yQTQAAdQBHkQNG0wEe8qBuV0AeVEECsg6gWhAdm5B6vEAmRQBGOwCaIQSLXw5cu96pSNfmgegvo767MuClQ7mEOQAUgg5x15wirekTlwAjTG2VbtscCABnDZEUSQA0eu7MTN1l9paEUQB1/ABHQ2EWQgByRwEA4QBNsuEKLOgAIxBnJABFUgQy8AACkwEC1QBEYACICwCZxQC1X/ru7UDeKXAAvCIO/xvvN8HZKiG8RDIOcd/cks7gVEUAONDd4TuTl2wDQdUQL4xvCEXU7lxABWrwEm0AJLPgIiEBFkIAtjEFkCIVmTRU8EwQdqt4ZO4MJFoAi6mMMDERktAgC6WOkE8QZAkgicIAqbAOuqrPP4Cww5oPA8WpKrre9i6AEqYNI+igtS3coCkb/6q6aXYAdiMO0doQQAYAIKr+y3mfEAYJtyF1kdwPUicPoMQQarcAqRQPaRpQGwr4RN5wADgbjZS7VBIKkLYfcJgQhtYAVtdgkhCPhGCgmDH/XXOZ2I75Fm951ZsAnXQJ/e3cqTH++7sAdnAAe87xGc/5/smvzNoB/6K5ADuilZHbD1Xa8Qd3AnyeH6FlBOtK8CA7kAE2C4ciC9aTcBf4CRH+ECAJGiCIBawpAlW5ZQ4TJgORwOgYjEiZQpWbx4AXAxI8YsFr10zIJkGbZkuBIiXAZgGUJge87AARBT5kyaNW3GNPEwBwmeNVWsILFBqFATMVzEuBkzz6JUkTiVYaBBqIUJJIasWKDBAgEECKTIKTNmzJQhGRokRYvWRQsAKECMEFHEDBkzm2xtgrQiR0yIQ5BInEIly0YAg2NeBOmE17VqtnA1Q5gscjJjm5LccJFW880TJYIG3WBThYPQQzfEOSPmS1JMp5wukrLAwgYLJP9ipgGAWwOCBQTOiqWCZO+CzcWTpkgB4AaAJDVUOJzZVyJFi1mmqEBy+KN1FcM4AUJka/JKyZButABhXL1MqaZ9XrAAYCgJE1aYCPlhs3Uk/lTIIDjAAhUAkAM3OXJLwywDAlBhir+GUMGDBaB4Yj0LY8LiizOKcGgvmqSTAgDBnCBBBY9AIkKIJKKw4otIToqssvPSu9C4IjYALTSafhJKvs9cQGGEEQBITiYyUgFlkUjKIGMQEwCID8E0cJuyjN0IMACADkmY4IIaa6yiihK0TCoiJ2KyboqMQMrBgw9EQAGAGDaRTDIAgLHjywtNUMG9mUjIIQihPlOhAhA+QBT/0ZiMQFKQSOQwYw48inDAgjIITIMKjKhcAYAJAoDguQw8gACMPPRcL4YTeIKuzCFiqgixjpwwwAAWDv0AhCLIIMMOOwDpYjVU1/OTphWG6PEnAC44IdE3RzjhFFDkiEQQIh5p5A4CHLBtSi8sYOBVBBeAwAAISPAAAAgiGHa9DyLAkYRO0xJXTZCmGCOAADo4FIQWYrghiWDPaNfCDkzTUSZ5AVBWBYcVECHXEVBoAZRSHBXEQz0GWoCB27JYIAAHxqgyJgJimgCCBsAoWL1OcdxgwM2coHmKKeTgRN8MUEghMyEAiEIMpVouDgQQWNigvYRjcji0FRxeYQUWXnDh/yhJUlFykSHe0CMmMghYgDgCGT6AhDKmxA0AAxaYoIEF2FWEaM1YoMI2mAHdzC8nvOBklZARMEEJJZiISQ0A6ADgD7mNywFhYx1QNuqoTQiji0KaimQR//Q49Y8/yvUqbRHPTqNArsxtAAECjABA6MWTkvez0kpEq0O/xgAAFAD0LQIPNVx/3cIi+uxxpg1WwEjyFYIAYIUIijiFE0fTKEKNOOKgI48/ijAAAQhwT7t0tANQG4EFJQgeLRZKxNH4oDykqcMcNJBiiL2oYCAAD8SwIv0aifDTfJj3tE51aghBWAAJlCQHHthACU/AAgDOoIYmNMAAHpgAycQ3JTkwIP9LBCBAAExgNP/VZHg9sY1tZIIjmclkLznIQExKpIEVlGErEIDBD2LAlhLaaDYI0xEJSiCgIBSweQBgAAkOBAKe/csGNxicCda2gAZkAW1TYsDJ1naAEdCohzJhw9MGlEIApPBuKtSSQzIQJQ2oYAhOAIUXqHiCHQ7pi8W5kePYszyZGJEBDMhAs5yFAhfY4AdM4EEAFqA6AjAAAp9CAACwJAEv3hEAeSDCGIByARSW0ZMxYWGHFmCAPzZAA1442ykEwZMTtMCOlqSJkCZGMablaGlQWp4RARCEIfyRASZYQQcoFoMfPOEL1uPBKNdmPmV670mwBGPU+kRGan7SR+r/Ih/bVkAEInhBEKWQRRp8sMMiQTMmzhLBWyZmAj2CMml8LGAQ5EmFIPCBJya4ARTE0IY4zEF7bKhArbDEFXLxwJwyIYIKONnJaprRNgvyzQlS0IIX3AAJcliELDgBhjBYIQkHBcAHTgApHpwgSBNzgQmUBkR5FTEm8gwCEdKwh1rygJ908JznYsKGCAQhAiswQhEUB1IYxGuhnmzo8Z5mAQP4JgHDhCIZSpcKWUhiDnOIQxsOeoJESAIAXo0EGYqggy24IY9ApE3UYApTOdAUAHyQA7q0l1OZnOqSIK0JC1RAgoU2FKkbOODawNYAkwJMYEUogxxOIYtF0PWgRIiE/yQkwQlJgGKykghrIdA6FAssD6ZeOFBM4AoWEhQhEKc97VDxWhMJbKAML1OhX0Epr7AZYAIUaIEhCwcHJ3xTFpHAxCHsCk0ZqCCylLUsZTmhXK+mwQmN00B0LTBdzwahrXwAwB4KVIaLZEAR30XEaVcbkxOEFAAS4GTT+MpQpMqnMG0b5QIEx4QIygQMghAEVTsxiOHCkggSKUMiumpZAlf2ssrdgxRW0BULkIYECJADH/ig3TRw1wvPpZwb/hC31VYACcSRwAHmg6O+1tKTTQtCDroHwjfgwQ0Em4lU5UDVUwQCpN1Mwxi8IBY7BHgPljVwgREchKjkbwEZ0K4c5P+gYy+EKAcX+Fd+VtuBMWhgAQ8YFMKC8pMxDCESIbJNDqSQYgOcJQAlcMMXoFATN3hhEYtdRXC7Bk0SIMEiYTlbj3dchj38OMgGlqwkVDAB3hggA0pmspMHHaQ44XUJXshB2AjluIumAQmJiEQiziQvJDTgZBPAEhiwoAQb2IQIjpKFLApxCA5b0gg5mIi9OjIG0oWFx3voaqAlG1kppEx1KmCyE+znMAgwOjMHZQPNFvmZFZimhkouwxQum4g9nKk3ywxhEawgBKTYhAdyyK8sTmGDJUDzBDlAAkUqYjN2Z4HWpLODju0QaP5Qm0uqM0BHIJIDYi9gBDwEKQ/G4AH/BNQmZu3JgRzs0NY0DGGylqU2TbtCnDKbAApS5oybqZoKHQAA4F80Ac0oUhh2lzxWtK7SRTAtYOxmAAIICMAEcjBsFUAgbD5QghgGcVAyZCEDC+AWbQQ0hLYWvQx8iMQedi3gPfABhN0rQheesJy0IEFJqSaDOTlQMzV13eQ2A0C671xh0Ep4yWWBAAhLRGwENOACX/jDIw76hkGTsjaQK8PCkywFkiF9SStn+hB4YAIxYIEJVE8LDwQBgFVUlZaWLAHXvf51B7lR3V6osBS8JZwBNQBUPHl5A1bWiEYcVA8b6I02E150PlwEIpi3QxoknAbAT5gMNyCccViQhozK/yIV/7KkCDwQ68lTXgrZUXdFdJwDwzghOxAAwJFDnzpEHEKn0CSC6hCABKJrt88XCUtwnDAFVLY1EXKo/R7A0AXjpMcJiwAF1gHQBTfcMQPEp3z+S+5uL7iRZjtRHeJoO7eRgX26Hmgqgl9TuKKbgjLIgjKAwLH4i3TDvAjjAzvINKZzK+N4gSLAr1QDhC2ApQlIN/0zQXa7CGETtjaxoMFyGwlogaMQggqBpXJRIr2TAot4t4+YAilwPolwt6PjgzJwFJbbAzJQrc0oggNJtVKoP0viEImYiOQ7QZPDCA2wnwyYAOJQGZujpLdoIlgyAkNLrBwTiwj0ApPzwb+giP/EwjXay0BB2INC6K/i4ATfMycyeKOHmI4q3L8sKBEP0MLeED0EkABnQRQREIE7+oEL8Iq9gcAITJOvO76/2BuSoSn0y0AAKIMk1IxCAABBSDUAUAJYIgMl4wQvGAIPwI7x88OKCIkJ0MKXMxdDDClE/ABYIoA3QqWw4EH980Hnc4I7izAlA4BMaz0wGARPTIqsuxRZKIWPKyEsKB3+WIQcMIEW0Cv8Mz4AoA4neKQJkKRFGiFcVJQ7eoMJgMQxsA4fPME1nA4ItAM+mKlIoEcvuAPEKQ5FKINFuMNVMIJcvCMzKANrzAFBOgEOSDfno0KbqR8VyMEseCRPM5cRSg//XISlO8iBHUvDKXguWDtBmpnAiyidISwdLyADRTgE8dIMNwiw3ss6gSwhEKgwTqgW+sAVEYg8J7C8rxMOinCCQgQbizwnjLwjIqgOdqsfkHzHH8xBWhMLKYBIMgiER5gEGxEEOYg/Sagk/zECJcschomYRBSBOmNI47MZElgkBGCAEyChosRIirkBGnydIWjIHnxFKYDHiRAM0CoF6SEDJagC4ziBNHAKPLwjGQA3TlgELwiCRJGJc0MCYNTLrii4B1AABSiAzRwAmUgUJuqZJPiCfsIpuQEDu3zF/FtDh5AIABiCUigFUMgFUCCDGCyOFni/jFqFIljEHiodnFkE/yRYAVyRyRMgAtRUQ5rJAB4IA0uICQ6ggAjATM3kTAEYgAGQxsTJqe1kRvUwAcDQPwAwwdVUKBMwASqIBFCwmFzIBTmImM1QAh/wwBmTBTLoyuAxA5zJnIOETJo4TimkmQCdADCwsaRwA8wEAM1UgAd4AAmggAe1Ce50LN17IxMUT9UUtgy4FVwZPk6IP/bMBTJQxM3wAx4wzDuMhDsCC8ZcJUHKlZq4Ax7wi77IAdOyCQqoAA6IiQ6YhENwMTfAA5nQUQCA0LS4vuJggQqtwgtVyudqgAhAxBNQAUfghMUCUTJoNM14BCQQBMMsg4HooRW9yYgRAeCriZ17gy1gA/8CvdEHpQCZqIAclQAGjYm4m4RJeARFQITNeFPCZMrU7EESaSoXTRQWQIL0TAUQzQUA6E0jPSG9IIPS85/7EgTG3CUQSIEYEIIu8IObGIRBsLEjjQk3ddOYkIAIyMzNLAALcdMhZZzJLD60dEgkgIAAuAC4wEUT8IL0TDX2LAUZ0AzP4YE/mi4H6KH78kfNWYEbWAJOlbubkFAJLVWZwMzrvE4BuJBA2NP1MAG7PD5XpDzhgNVew5ITcIEUQIEgIc4gkIJIACcQXbxgBYOucIB6BdP0Ob/lusYiANJDeNbi4M6bKABrFYCCvZAO6IALscTnuMsehJAhsJkhUJ0igIP/wruMtUhXo8mBNKhSWQDRQjCctACDtWGAeo2S4MkDSeDYzCEBNgiDK4CCDJGJPkWVASjYm7WQEhiTPZEIiABGV3QCDTAANsiDPKCDq0KNL3gCbtPGIYA/qvpYzUiARipZB2CAe12cPKhJ6VGBJbABjI2JBS2Ygu3PmMBWzXgAdqmRD9jZV3QCMsCp7SxaOjjaOWiDL4iCIpCCN0vUqEULfTGAALFacQyeOygQm1ylFkCBZxmB62yZmzXYmzhbmljQCtATtn2jhnVIvYTbaJVbo70qMqACTgAnj82FRUCLPADcqj2ACTCCnVscQ3CESm3M4XSWyAUAx9UTyJ1czSgA/wWIAFetEUXs1j4sOb2kGarkTlIl1ZwKBEUgAS7oWBAFBazSx5kAgwDAEgCo13pFI6KxBDJYBNrNARa43cnt3aRAHwBYVcmFXHN6i4TkPgANUCRQ3u1k3vzNUQ6IgByo1L5lz0LIPZowgafjXu51ABaAXaLZAjPwR8YkARc1WERJ35ug07TgXePA01bTkxiIASXQgRXgAT4kAjLQg0Dw3Px90P0tAQ64gPcDhcbLhV7IhSLIzjiQpMCNCau1gOslGjPgWOmJYAomWwCoYJtoUAo41QdIigzex/BqlzAQAzfQ1tTyXM9h3prY3w7gXwV4YdLt1V44hQvozJn4gQrQF/8sqZUAaII6bBcUkAO+GdMPuFk6Ng4K4IA85uIKQNUELeOYsFmcBdjurJFBsMpJaAQ9XUlpzeKa4AAujoAq8AEXCAIkmF72XARBbgsUkAB98WQWkAngaZcTWIQyYEzcgVw7No4c7YASQNgOsFybsNZrtRBCNo5Sq4IwcINBuFNEVmQU/oNpJdKaQFhUrU4P4BuoZU8z4N2C7Ux9OQACeIFiWhwZGF/G7LU6PmK0aOVuRljhnYlU1V1zSo5/mUFd5uU7TeQ8juWk6IA55UybdQCrAwUAzgUiMGLInWVrtU258UDa9YAEcGKa+GOb0NlX5uKbiM7pXJwiLQ6KMecnQOf/SXBlzYDngQ1kAbgAS65nRV2BQM7nm7XWOFkzoiGCB16lZrYQDjjob04KNz1V/1nozZiYFmCLzEzbdk4KzbxWyN1oMAbRFDVb60SB6xxYFCi1xckkxPUAlV7plk7oNt1fS+rpbTZia21f363qyK0zTlDmXEgEmRiAdCVrQipFubkDngiLHDgAjM7og2UBV+ZicI6JLS4BnYalZh7ozYjnjD7bjaxn080FM1jVsSZrmxYCLAjZlnmDP5oABlgkcbZW9jUYFmjlinZkli6B9R2vkK6RVO1rbJ1nd+1V9uTNdEVXmy4mUS6YEvClAwhc6JRO6lzQCODs4ugAFtBtFqBr/wBoYWPu7GFpYQpgUOoc2GUZAqBmz1QwAiZSXBeYS9ZuFzD4I6uN5n056ApwULxWD93mAd2ma+JWgHEO7hrRY52FzgteFku2Uky2aZvGPTHAYbm5gAMoWQa47gPYXyWWgApI2BrhgQDX7f+WCZ622fJGlf09752NCQ9AgsAG0UTITOCVADoo0JYBA/u2TE82gTw4g4trgd9l4hopgQD/7rieCYLFXQRnVTeN0zyeif51hBgWbCJYUAngYlItmAhggMd2gAloKgJIACz4gSCZ5ay2EBYw8e8m6Pdl8QtRYbw+FnddBRCVhQuQgEdW4WEp2QmoFAcwH315ASHJ6IK+EP8lNwMeKIEHQF8nf/L1UGGHjoljuWRQGAIdnWsOiFNhvpA76PJ6fewsCQC9tmrj4AEi4O0HyGqnfnP1iHOaZZrkpipQeK0VyNGZyGM95+7iKFov/3EHWKSTCYAD2OpC1z0ulgDNlAmyPUezbXTNePSa8IB+zJSlSgAFuIneNo6pBTrIbiry8esV15MHyONTHW+4bPWakMlXn9k4rwkekEUS+KENqFczb5cCBiHt9WRS3+theYAcjU5cv8WynQmMfAtmj/WZ0ANHZMtpp/abCAM9OQDtDaE0DnZhRxU8hs4fYAtEVHaIbosUEJKZKFo3xqt0l4lGYIFaKdn2oB2bKKf/CxmAefdkAyh1TZ4JjEdSFvCDLhACtuiisUTELLXpmIiBj6qJgAUphAeA3GaBC8CSSpkKBmgAfqGJc68R6yzze9d4VGEBMxiFSRiEeEdXIQGBsUzXmUgOF8gPMZgDI91OaHL2ui4BFjCBEsASwXWABsDvtiz3ZF8P63TmWSb0W/z6C6kATXiFWHiFUZCgKvh4WUr6ko8JHsJhzhnkqC+hqW95Stht7a0Vrm8w6/ZMcl+Psi5rAAABvVb2ZV/lmKCEUUCFV2j7R/CDM9gCr43BqlmLY6MJgw9WWy6YWK8AFlAE3S4B7W13ameABnvsznSWL0H8sl58xq+RRj6tyB8F/03YfVIghauMiSf4gbVoAcSbiQtfD1F9HWev+ri+a30pWXffgJIldcM//NmPk8Ul9J430pvQg1HQ/UTmYEsI0sGEAhjbVj2tEeVv6C1nAUSo+g5QgBAyAJkflAuY/up3fAs57PcGCBQgUHwoKOAgQoQDCiiIAOAhxIgQKUiEmCfPqFGUNFFCVBGAIoiTADQCafIjypQqV658IIECzJglWLDoUKLCgAMBCDBwYGED0AskGBAY8IElSyY/YrRogQKFUwAFpx6FOGDhAwolSnCoUAElTJWNMmoqCdHjQzx+/FgKBbGkIj1IK1Kc+3FhgbwFPuZVoOBBhJcdaA4uoUCAzv8AB3xqAGqBgQECdleqifMlipIYLpwSpFr1480KMUePZklJ40NEqiFaEQLAB5Mwfh4BQDVqcsSwuB/i7csw74CKVxn+tbm1RISriQ/0tOBgwQIDkQEI2P0RUaA5Zy7/cCpCBFW7pHWzLBtIkWpEedRIRAFASJUzfaw/hOl1t16/Cn7vDx5RwFVXKcABCzOxUMBVAASwIAEERCZdg0VVR59EiCgSVxxiQCHECyNQJQKFSDVy4YWHKJKHGEzcAFEKKbSwmQvwWWdfBRxsxcFcev1G3H56/XfQQhHMVAQPHTzg10ML7hRhg4olGGJEh6iGXoYAJHGDC9/FAOVKFk4p0Q3/LUDU1IsuaDajVzZylSN/DD3VAkMA5CURkAoMxgMPALxEgUMAJLZkkwf4x2VEioyI3iF0qPEFFEps4QahKUkJgEeKWJaEEko8FFVTLrjwgnu4xaQmBw8AMChKvs2pwEN7tSrnoAcVQAFNPBRRQkwPSRCBAAQoueABkVZkIYnY/fFHII9MYomwHwUiZUgAdKGEEJhSG2qZL6y4W5o3mopqqnr5p+NvEM1J3QAP3IlnaRFJkEACBwQLEQjNPmQoiYr8MckoofgRBhP2ShQIAHEAgAUAP9hwQ6YcbuppDKHitlWBHDgELl8IPlTdueZG5OOANGWESK4q1YWZwIg0Qgkl/49QAsAoltyhBEECRwTHGQ9RewMKLvyQ6Q9QvRjDliGygGOOwQEpJ9Os9ujXXn3RygIPGh179R8r/ZGHwfauPIomo7wCwCBb2DCVzWBa+8MLNgBArRBCt7AthUQQYde5TzL9EKsQOQ1AcVRXnQfWhWMNQOFph/1KLKMMskQL4aVt5Q0vvJ3pe0kIce1moNLXEIEs4N3x3nwDThzgfgUmOA+PGP664ZOHwvgoeFTRGdqTm2mDtpn6Xu0Lm7VgOX0REFiCXW/y2Jffp/cN+AM2moBnTRTAfv3klLzyiiZzYBGmZ5/ZOzzvvN8gxObU/iC8CxQaX3FdLPlAZgtQ//3RX/96VlArDyV0YP3VEHe9rE0OAI84RBueoIQbxCB8NkNB2yLIuxdo6wZuI5PEdnM8DrRLJRaLwAOY8iYk9S1OrHJJBx5Cta38L4AVcWEBIUKtRgkhYp4RWM8kKMGHEG8zGaRQB1PCAiKIDgA26kAFHvAAubUPcLraH01o4j8OJC6GLImBEKDABCXYIHKSExZUIli58rWNMwB4irBgmBKKAYBIPCDiFJ9XgDIl4QslMAERpseVFlbRiipRghYXKJUvEsopc9NWBB9ywYLYa4AS4UAHUii4IpgBTzwoEAj30zcJEEgTYesIIjj4Oj+qxAZZpJYNCRmiLzChWisaYwS31Jn/Rg4wgJCUJPUsSUk8oUR0eOoAB0Q5SlKiBIuB7OINuYSdOcShDWKIAgDGqEgv0rKWV3sW8gQnxZngiZJFNCIAbAKAS0JyPDA5FjFTAsgtMjCZITJRI+LpkTksKglskyUjbWbNY5FoI540QSSpFrbbRMRAD9mjORNKHlIaM1M2wJ345uKDKKghDwCAZzzNQhI9zAEACmxgPidXSxMZ6pMcYZknNdIIiwLADW44xCdIgQr4KVShxGzBOrnoxZAiBadfOMtFDQWXkKysJJZRUROJaTiSKoJlYPOkSSnRCDp0AQDags8dBjEJmYZiEooQTU1JQ8xMsROkubsiE8TQUUod/+IQ9xoqSeIJgEDQwZkIS2dErjYlRDj1NH4tix7awASmgOoDLfhBbAyxVVSQYhKNCMQfwrrQAjZUp6osJhRyBpFDQPaiFjqUUBvB2UMca614zesfVKaylfn1NI1AhPfC1JQXiAkAImiBD5QQBkNkQqak0MQjOFhTUuL0mDuNKERq0IMe1OAGWGiDXB7CWXR61lBvoVQgIEvd06KWn4HIqFTjSQcxJIF+mwlfCmywhC30wRIyfQgwzZlOsi7QrMhFQQ+a0AQ2bKELXUOLdqP02UIJcLvcfUjhOAveRgQ2Cj/gWVMgCFGqoCAG650PRKY4WT+a0rhnfYgI8tsEQmxBDP8GI1iUqJtd1cgVJIggrRoPXOBjSamoiGgDFh68KaG5IHyeGYGMUZJTG/T4rPjVL38161ZnZe1ZxJKravoY5BkfS2WW+sKVtHXGM0rYx5edMvrYebbcHXm/W2hDHiqVmopkV0oWMuCIjBXjKVMZEXQAk+dC9QIvf5jOAMAiE7aITEaWmQ1hmGtF0IOWzX4JAJbwBAA8cYhBBNjPEjlWHtpQkcpt+SkP5TNP/ayEQHOxyEepgX6rULDz3Cs1b/5ItBwN6YdAOhOeQLGlEfyHowqBbjyU2PBAjVwwC2GLCusMqpsgXWLly7pAhbUiPDHriEibtLkuGACYYLnKcTuaD8H/1iB9fO2HbG6LllXuEt4Q6UUnuiReWvO9LjRtlHT22lDx9ooejKWnYMuB44ZIGLpgBS7GQLlsuIMhPKFRlFyIUpRit0ekzRJr2/sGDxbCDzL+YOJtSkzuHHcoDqGGMNR3Cbv1BLPSs5qPjOgkqVHEIyS+EksoYiS5/oB7NK5xi9O24x7vc65jEYtXfMINVQgYHpYc2teuvFCvjfWFGhHzeaPkE5pQBQAw3Kw0q4azdjFswvB9g8r1nH7h/vdDKBELXwAgFp+gTWoW/pA4VyTOIYl6pKmOklbEQhWGcE2kYpAEK5iY6+nBdUoKIibLUTCaiBQemb485fOwDAAyRQUA/7gnlkWjBT0hUVne7aILALxhCU3oQQpQACL68FtnXVADHQJxeJZAhXdWfdELYkB2s58dImicsomw04YuPMENmcA8ALCOGom0fDXWRU/aZc6SWXwCAGw4gn6zv9zUrx4pvz9jC2LwAyiIoQ2xV41pP5JDslPwU7oPHgDohzZ+tz7Ih2hxxgHpBptHxJMRablJLNzUcUn2aV8NpADt+d6bvMgNJEEUfIH5tQE0oUQOTRAFURC39ZzvFQT9dWCQIYIaBEw0rYimnIEloMIrsB1EaMJbvBpINJz0rYQufMIbqFpKFKD2oZ7qtUcHCk381daWYEEXiCBKDM+WNN62PZ5EcP9gD34fd2FBK/2ARACeRPjC2KQEUcXgR7TCLACAL7DCHayBXeCgASIgl8mNmNBPbUHEGVQVBSbVQ2Tg7m1G/DWhBx6YD2jcR7jGEwCAH2AhUNlaSnwCK7gCRHQhI7ABG6yBGI4hGTaBIamhJLIZHfhBFSxBe4iJ+VhOtqyIGoaKHf7QTa2BHqrTQ4hB8tUdSBxCzFUdK7RCRRACRCgiLa4BGDzEEaxEAaKeJPZiokWbJRhCH2zBEhRNU/heGnbcD9ZhKNYfXu3XEmAcS1BhRPgC5r2MIrACRGhj9bHCK7YCLD5EF8riR7DBG7yBIjLiXPiiL0qEvEmbJQzCv1yiD5z/Cf3VVlRwmRk1YT7iVQ2Y4xJk3Fy4BhOoGv89BCq4giE+RCu4AjiiBDmqBC1OpC2iRA+o4Q9KIsfFWyNIm7RlQlsNAhzcQRgswRLUgBmBHwaFImeggBniFRioW8LoHEoIJEQA3hfgAeYFgziyxOg9hEwiBS2eYzo24kNcJO9VRBOZVtR55EdaAlSinCGQJBv4ACTeo5h0IGdMIl71wDmSXjTqXClChBRWhBJgYkV04UqYo3VMpFuugRp6yqd4yqY8RBugGIl0pEfmnVNKmyFMZRWwQRP4QOrxo6eg4UsSkwiswTk2JsaJZSmOXURIoRD4AADIIiN8xCzMAhdCRCfM/yKUuCUAQF5t/Z6Z3AAUuKOhTF1fvqJCKmQr+KUf3EEVrAEdth4EXSBtOQUcklINvAEhLCJRBiT6oA/coA9kos8NsAHpMedlqoQuMIv12UtVouGWSUTAEAxeGkpfStsrytyjtQIrwKMhnMHArQ+ZwMgFiiIxgQEjEAJ8EoItsgFKus2WLIzFbQ76aE4SpFtjNuZzRgQxREQhpA1cWmdiNlEelMgLGoqtOeV4zhVnZVd2WQIhesKUzAGO8RAFEU0PdN9poQAjjOiIyiIhEM2ftQ1EkJHt+Sdj/ieAfgQxqKUsBiWhgMEkSowLbEsgUEK05MujOeVcUSiRUih6sJZUUf/CHDyT5mgfe/pRDWCCKWACI1ApI4BB0YxmIgEAGQGlusEomMpkMAxoSqAjlLwBJJLJt41JDDCBZpGEIrSVdQWpR1rCs7QVnjrZarGMU2WEVBlCGFQBGJgeSnKXiJoCoprCe25kilqVIrXNDfhAUIbpV5LjgF7hQ/iCLmgjRNiodVzlaY4dA72Iaxje570gItBpteEpq0KL1PHpQGXEKMzaX95BVVrmaYkAGCQqohZNWUJEDKjoJgLAEdgomEYETwLAQgLAL2QqRGQmlMClqIqqxjHBFxiMyv0oeqjqRbVqW+0pn8qqrM4bVE5lF2idP/aAlDLn2NkkRHyK7X2bc0r/BIBGZE+6wiws5E8maye8J1Duhu5Rq84lgRjoQYt5xJS4G1/OGp52K7huhKzaBiLIXCbQmrTFGnfVi2VKZthJRLBy2jECJSF4KjkmKwDAor4CgC7Mgi74Ak8GQ7NSSMA+mMZtThfMAWtpFKKgBSJkgiUcQsV6QsXO1We5TJ+Kq4Vo4UOEAirEQij0QWqGqLf96q9GBNEwxRL4K0SM7Mg+RMwyJL4uqy6M3tgyazAow0MYIrTOxRqMXa/ZQM1aARw0FZ8eioutxov97M/W6cOehrimxqNVxCd8QjgGWZZ27ExWRBfdACGM6EesLUSEI74qK0Ss7NheLk8SA8xqI7R6/6pEHAFk/kCxqQFf8SnLkMjDPVzeHkJUesJqwirMjIJt3IsltCIADC1Dsh0p3EFvklL7WNxHuOtD6JsP5NcbOG5KdOHkGqInsEImNKTKqizLji1Pom2yIu9XSkQTJKcSiEEemG7dFgvPvhjrHoLQriYAVJ64hgKkfYIl9Oys4S4AhAIx+IJ0Alk6ocC2ZJyvbdqfReqUEsLp1cAaUGlE/CQA5CutPQIhOuQkfIInQC/Z/iQxWO+mUil8/udDbK/OoY8bph34Xkh6ONxqMMsjxNpGQIRt7CUrJC21MSTm6UIf5GKIAq9K6KG+AcAamEJEvAGijinaVoQhPgIXTrAuKJNkzD2vIf5ksyqD9QKAor7nyJ5j2wqk6E6gRBitVD3cpKic62pUCiPkrEpcK3yCIgTuQ8jv0AHAFjRBveCV/lZtTUIEAz3ErvLwLQAAK/yCM0jET7pvETPr114usz1CJijkvj6E5uqCKfSrFBOCxWVctSDaR7CMuyGsysVV5UXECsscvpqx0kIEKRjCGlgmiO5GQAAAIfkEBQYAAAAsRQAaALkA1gAACP8AAQgcSLCgwYMIEypcaNCKFYYQI0qcSLGixYsYKzp8mLGjx48gQ4ps6HCkyZMoU4bcqLKly5cwBbKMSbOmTYszb+rcydMIASNROPIcShTmz6BFkyo9eVTo0qdQLQbIGbWqVYUBgDq9yrVrAq1dw3oFK7Zs1K9RzKp9inbr2rc328Kdq1Mu3bsx7eLdq1Iv378jWQDAArhw4A5dugxOmtZwUcFYCDuejLEDAKR/I2/EkvjLF8oRWXRorFLySyhWImvemBo0ww4mnkDhiwUKEyZJZKfGYgXKbNcKWbAwfbfLFzFivnTh7Rt1ZODBWYjhKxsK5+PIE6vmbFaMdtXGPSf/tvKEiRIlTJwbtGxd8V3eRMos4gSKkyQyiTSb5by8dnPOYpyhhhrJ9RdZF8hNN1AHCSiRxG9zIchGGgBwckopAESySBlGcBdWaon1B0USQvzwA3rWqUbebel5OBBkxL11nhKSAFDKjTiC4oUOWzzHFYgBwhFHG2d4t51xyClX23lCCIHeblgkQIASTSoxV5FGAHDKllxqKYcJVTAR1g03CNGiirad1yKCZwjonYGJiTGglN71Bpd1YQjC5Z6nACBIEW7EIdaBX6wyzKHDYIKJJIsCwmgSBqb5gw1lKmGdlEZ8wdxavUEBhpZ8buknDyh2JcQNPzATjzzzzKNOq/PU/wNrPO2kY2s76Fhzi5G8pfaFlNJpCmFBu6UphFJplrJlKWBMdweGp8hRRH889SYbgGoIGQccBHbBTDvy0FOPO+7YY+659tSTrj3zoEPOu+UY+0OVwAqoRpH9AalGG3Fs2y0Aw+o0oBlcAkJQn6csEkQUYv5gU5FYPEGliU6mt5FtzNhzj7kbo3vPxh9rHI8573KzDC+bFKEyDz3o4BMBLIS3nBXm/XCDDfNayh9v5lF5nnXHtXkvrz5OFCLNVNowEHo6cAnKFeXdxqUgAPALB00IDniGciu2J6eQcww5DrjylG32PADAirZA55DTDS8AbEACCR7QTXcDCEzgAQLDBf9dJK/68tsvkcKyCGSRmtZsA6XzPrhbbz1XbEUXZ7QBx+UEKslZIssWEiiBWCh7SiRmWPwSkvZmHvHEOT8xeWJVtBPP7LLTarvstc8ejzR1TJCBB8AHPwEEEDRgAAEGGMDCFwK20S0USphIppO5XWxeiSaix5mA3HarGbZq9OtvnSw6F+JyIwohg+icaB8iKFuSfh4Abn10qg0xMI4impEr8QQWcorDHPAwB1rh7nYIzJ08zMEA4jmQeA1YAAIWQMEKVkAI/wvQgIyEgw7iwAzHyZYAt0WkmYEIQQHCF81KRKZKMeF1tWECC1HlJKClUAySWBYZ4rQvOMAvYSCszUj/hoQv3mALbHMImxowAQhbbGITPDgBUBJTBFHEgx3tyKIWtWjA28mjHbBo4AOLZ4AKmvES6CAZONbIRmt4EAfHuIUc54iJMCzJZvijlJNcF6LIQKE8+wugAOcAB+cRzTjcY8MiNEQGMETPRPMSBCgmOQbbhGRAqlPc4ubFhGkwwxrjgAYwLgELWFRCgslDHvJEwY5W2u6VuNtiFudhjgo24Ja3XAAEFpBKAgQgAFxIxjKaIQ1rWIMc5SjHG7FxjnOg45noWEc0n2kOcaxxHODA5jOmsU1m5OIWvZhjFWbEBNdh4RnPGIc6sYlNcBxKEj8ggkAE4YUylGEMY/BCPssw/xAv9LCQHbEYb6LwhCSwzlLPUEc60EENWFziEkAAQi8D4EtfBsAb68goO8qmtnTUox7ioodI6eEOdNAieRNMXhkJwFIElHEBBAgB8OjmASAEL6YhwEBEgcCFnlbilsSbgFAhIQqiElUUxUjqMY7hDW98o6neEMczyRENa8SjXAAgFwDO5Y50hKMWUfAC1dJgz3rWswz1pJogqICFEBbyDF2wQhIq0q850CGJcVBD4W4Rj3S0gxoPRQMtuGBGA7j0eMirQztaKQ8AfNSx7qCH2tAGq66aoxKVqAMQGkA8Xk6wsHpTgQfQkAM01OG0EUVDCNAQvBAI1QN6C17dZmu3uv/RVAOwhS3xNhGOc7SjVeqyBz6GS9yNeQMWXHCEn85qVrTWs5+Ls4GZAGgvIwFyIWxq0xesED38MQMc5JpHOy6BBlHYwhZyWAAuI2jGSpQLXfCFr0DgCzJ0jYse6QDHN74hDv4eIxr/PQYtREHgSkAiBDKVqQd0mVvZzpS2EHawUCfQADSg47ce49jHAPCxaiBXECAWRA5IoAKBDOHE8wRAGa7Qq6xpK2zji2vPDALANuQhD3mdxjTU8Q579Nge7cjsMThBZC5AoIEMoCAu0eDjjzk5ZO/YWI+ffA985OPKWM5ylvWxj33og8v6yMc7xnzl4TpZY/bAr37B0V9xLBX/wMUgsJxrK+HhUVAbrTqXk4lrZSvnwxiVCDGI5SAIORja0FxYxKDl4IbtylCPDtINc2Q4KfzFAABKA0Bdp+GMfvijH2OOcpXnQYtNoKEaovBCBjbA6g1Y4NVJXgA4wqxlLL+jz8Ot9T3mwSpYieu9HduYl8H85WHTOh9h/rKyudzlMJP5y/nAR8fMNQ/9WlMcbj7GN0DGbTSjq1ztAAYXBE3ucoM4CF8wwiVwAQ5mrMIWgIhBmR7U1gAlCX0EYcY++gGPfvBjH1imNS9wsQkPiMIBDnh1q1ltAQcYoBK1jnitaY0P2fEaALLM+BZ1J7uyCUSk5HLHme+B7GWbHNpY/8YHAKRN5ZZT2R7ukBWvy1GHcZv75oLwABnuUAdyYDEesFLnNFyRCzjcNQ9/SHoeriYQcLyDH1CHeq3BgQtHHBnhDGBAwl/dcAP8Uh0SDzuW7aG7VX1xsRpPu9ozjvHZlU13vZ6HSD32MT7bXeUrv7uT60GNEJTh0IUO/M3l4IEcvKEO4iBbq7b6jn3ww9PbuEUVJpcggdwCHergseYV6td0sGMXtcgBL1lKeuQdAAEH+GUdslquclF2bR91x1bPtVV50A5cWWzl2nfP+97jimN+jrif705cexQDAOq9pYMLnwMV5CAHXKACFXbpAVywIx4jHde40JWPe7hjGP6TDP8UbDGPkJNrpJKdhzjqAAkqSMELOXDCBCxKAAcgwKLegLn5989/cpmrHmeHdrmHRVjkewa4dgXYDudgDvFgD1fWZRAYgREocfSwerqUfOsVQSGgSxFkAAAwAVwQDeYQWfpHLh91gsE1LlHQVmoAAC5QBvIwLv3nDtEQBPjkBAAgB4mwg14wAQvAABNwAFnHAOA1g0b4XvWAduywDgTYSk74hFAYhVKoewmocU3ohM1kDu+QDxLYhV7oZV02D5WAfMazAADwWZxlSx2IfJvgDt3nbeYScyLFa7ESg7cwIwIBCFeFgh/1X2aQCHKQBffEB4kQCZGwg3wQBDkAaxqgAST/dYQzCHNJ6IQatYQZdYlMaInrECsgJVnp0CrpcHsDCIVKOIXmcIrlMA8kx4Vf2Ipd1g4hQACe1QAINwEIl3AOoAE+CADJEwC4UGUsN21VtmtfJE3mwA63cGkEsQ4meILRYAZywAdysAd7cGg7eI3SKAdUYAEZQAKiUIKQuH/UtoSayITSdI7TJE3oEGeiEGDa1l/7BQ6cGHvuIF5SmImZiA7lcIrnsFWs13rz8In0MBAas4qsuA/lgAHIwwAKt3CtpgENBwHIRwDHUGZ4x2FV1g8ayQ/uwA7mQA3LUAhhUAUDkQQjiH62kAaHlgZpYAfUaGh7IAh8wAfVaE9BoAEk/3AMzciHPMmHrscO09RMl9hM0ARN5wAMEjkBWWeGvGSGyGeGZSRnxdAOmFiVmFgOyFQO8aAuMghzJeiVIWcP/iiW9gAOx+NSp2cBKkACDcAABCCEXOcAJLAAAfANKJdy+MAP8PAPfPkP/TAP2HAMjRAIBMEE1hB3uCAHZJVPXtCYY9CSdqCY1aiYaJUGJDAB8ih36LeZ4tKTAChNWWgO57AOzVSaztRM5YBLZkRBn1VYnwUAELAMz+RMz4SOoJkN4UAO5gBZrQeWvtmbvZlV4tAABIAADJABLGkHABCZe+AEDIAAAIBwJIB84HCQYAiB/MaX8PBp6mANI0QQw1A74P8wBvfUmOaZBY35d5EJACx5TwDgBSowAeJgNqxSn5N1n3I3D/GwgMnUn6Epmll4DpUwRsWTSxi4mmZUDKRJlLSJDs5EDtnADdyADuUHnL95ocApDgzQACTgBEgAAIS4g3uQBkggB0gwAQbAADkwASGADv8mgcXWZVcGdfvwDu7ADOlBEIlwDq2EC2nAmEgwBI0ZpOlpaPmUTwIhBU7gABfWRWWXO3B3NldkDlj5Lrm5gAt4ilqKDYZlAGWIAMXDmpxVoED1QA2woFiapufADdeADdnADo+4LhY6p75ZlhAwBACwB9e4pztYBkNQBiQAAV56AHhWfk/WbMw2bNE2D8X/4AIGwQ3moA36ZJ5IkAPo6QQqYJ5lQFYqMAXu5wROsKLVAFWZ+IQCmHG0sg7kEA6sKkq8gFmQUAm8IAzFwAvXUAcFSqBjREGdxasVVAwOKprCyp/XAA3X0A3t8GshJ4NhSae9WQwrsAeEKAiIGKLXKAhOQAV7I1TfsH9b9V4aRm3zIA2icAMGYQvkUA2MaZ7v15hSgJ7pSaJIAKqgigQNcABoYACp90sEYGCYxQzM8AxMhW3esFjscA7SwAu4CgGisAuzygvAQAuxGqshQKa66kBjerEQ4A382LFYCQ0gyw2/JVIg5ZkyyKzmdwxSIK0zaWgsmZw6WK1O0AC6OA8Y/+qVsxdz83ANtAAIn0EQhwAA1cALjAkATgCv5ukFSIAE+vSjKoCDOIgEkKANTRUO19AMALAMyyAMtAALtsBEmwAEDuBqGVsHokALWEsN3JBMyPQu8NK2EEoNcksNtQoMvAALE4tgF+uvkJBUvFAM1QANyGAMzcANG4WfvjaHmlmyH/UNTkCTfGAHL7upL8uSetqyKtCW3+qVXGmhH9UOzbAJTGcQnMAL8BqkSGueQ5Cp9ZQGHoqDJnas3cAN3dANUOUNrNoNrLq7rNqm13ANcgu8v5sNcFulb9u2WJm8/fm2yYtM2iC0AFAMyQCxosC3QAABQAALwgAA6wB3bkefZ/9jn2pTC9HosmSlT5RrTxQCoomwB6LHAOW3Lp0rv+lSj+UAC4BwBglhBPA6Be+ZtJSKno85BvMKu0jAC9Xgu9iwwNmgDQ6sDRIqobVru+HQDdUwt3NLvG67wRy8wc1bvMgLwv3ZvOXQDcKAq3WADehQhRvHRWVndvEADippvj/6fI/ppzmwqcs5k3vgjRVqfie4f/UQD8kACaRxEE1wtAC8xOZ5w0tLrwCQA9AgDRgstxecwAn8uwu8wNqADVQst9AwtxIaDtzAu7mZmx3cwSTswWlcpeGQDAAwoOxXDEx1u6SoRSzso3IguZMLAFOwqX6KBDqcBtLqvqIgdyYbe7L/IqBkoBDZ4gTtKgX/y8Tx6qf0GqqiMEzNsMnNALJTLA2gTA1U/MUJLA2dLA0gSw3NALxhHLy/26ZuGqESrLtmvKppfMtW2gy7sAtxfFp1gAYbqquQYFqQYArDALDg8IwqyZJjIIjt2Z7q+7IuWY2iEHdqQ7IfJVLxAA1cQJILQQRO4AVZkANCSsnvd8OSDLtDIArGIExa+87vvMkAwMmcbMrI0Mme/M7IgAzJ4M5ay8meHMpz+8qwvMARTLtmzLvdoMu8DA20zLvXAMpYWwy0sAtdKwkYLQmAQASSK7llEKoqVrkiTbl2EJkTAKX0OVkLdAmAECMHYQRKPAXtusQA/0AC72dPfgoAJ7a67QzPPv3OWbsMQT3Py4AM/9wM75wMxoAMALDPTv3UUM3P/qzJ+AzKX+zKBA0NuwALu5AM2DDBFAxVCc2qqxoO0tDR7SkFgizSk3tim3poJECFp5pFusMOxsAFEjEESkzJXuC/STvOeHpiKiAK/fzThv3TSB3Uw7TYSx3Vjv3Yj93Pkg3PSA3HpWQM1LDFXOzADQzBDzzL3bAJdlAGfExWlMvWTosE0iwHomCa0FSJraSqddDIANACDMEDkMzXjZkFvO2pUiAF5LzTkMDPyzDVh+3TSL21Pa3PkN3czg3ZAgEMpQQLwNAMVWzF1HANWEzQvlvSpf+N2iMdzYqZBqJQTaiopR27gMswBgKRAhFBBtk6pOF8nr2tpJCMqTs9YsK031pr3Mfd34Vd2EX93ARO4AIhDNO9C/e8ydBwylYdyqM8t7gguZQJ3pU73pPLkpDQxiNcDtqwCQBgMxFBmKAqzjkwyfV9yZCs08E92MX94v593P08uI0t2QV+484NAAheSrsgDForEEKdtVhLzwDdDE7QkmQFAEjwmBb+o0xOVmR1DOGAu7i7uxscDsAACAoyEfCNnvCa4ipOr873fDlQfRArDMKw1AL+30ptDGluDHDe2Dg+51Ht5ltNSj7+40G+50AOz6ZLnkneoafN1mVAzulbBlL/UA2d3cARDMG2Kw17EAd0YBHx5+VZMAVhLhAF7KHOd2ITEAMtAAIfYAIqswm1UAu4kFSGnQzIkOau7uZoTgu0AAxoHudyTufObQx3Tt1G/eNZC+TADs+QkNtnBegW7qdSAM1jIArSUA0XrN2vvMDavQlx8AcXYQKgOgWYHuYeurRPjKknTgIs4AItUO7uDQAgAAAi4ALmCgCAgAmOgAu48LeyDgmQcFqiValBsO8rEARD8EQAcFSigOq4QOtvHud0juAPBQvG4NMH4ecfCgDvir5N/syLOQZOEA2evPEPLg2wUAiKkBE8MASb/rrd7u3f7gSXiQB/AAdwJUMD4QMF/wEHZCALqbBIQ+CQNd1qQQAAQdDv0liNaTDOEBAIgzAIeUAkRgAGZND0drAJA3/qtVDrtv7Uuv5QlwAMvf7f71wHQfDt52zsFc+Ym2ANei7USJ32wMDeMi/yOVDyKB/3BWwBElQEh4AIiqAIhIkQd7AKpbBIgpAGFrBwcdOIarkCK6ACZUCTcnBPWTCX4aEpUaAEPhADIzACIID5B3ECRUAGgGAHkWALUk9Kl9DjW8/1kPD1lywFU6BPYv+jg36kkGALw3B8Z5/U7C0CH1EE5Eyvco/yzacCE4QARZAHc0A4BwEG8AP4ObAFJfCQAHD4KjD4KmCGQo9WSEACBlAxAf8D6ud+ED2wBFVwBn+ACIGgB3qACABQCJBw2THu07zQ7fUKxQIM6IWuAkxenkhQDEwExwCxbBkAgQKTQRoBQOFChg0dPjQyZAgSihUtqlABQAUJCwcWWOjxBYqQGw85nYq0aNEQMHgcWNigwYIDEhssMJiwgQGCDGl8epkCgASCJFi+qHmY1CGiQAqbAgik502hWsKSFcSKFZJFJ06QeHUCQIqXMV7KlJGCpIzPsl54USNDJmtBZKJSgFCaN+kgAEUkWqQ4BCMJhSRUBFng0cGNGC0+PGYoCaWgRVSM/LCSWIOGnF4AjAGwIgcC0hraItl4QUybOHn+6IUNGwwgSYD/yGzaZEtUpRwKKXr92jWsEyqeAZxNU6bsGEi2powwk/Vqsk1VosTGztDE38CGCX8PTcXm5ggiHkNWaCZVJDmLvLBgIuZPEQQOJnhJs9BnmQwLEBAgYYohciBhgibm+OO17BZk6AkAGkthhBNAMAEAD3wD7DfhxMrCC7LyI4uIDwAQIQUykFnmqhSRsSUOBhk0IQcZBxOqRsJUWMECCzazwAQUUBgBMjJS4aSMRcbgQY0/FOkrAAty8Ek/toYiwIAZM4CAjUC2fLFL7SCYAAINGOgtw4qEC4tDDz3M4oQUFrIjxRSTESYRLxk8wQQSagKvzxVUYIDHHoX4wYYYhuQk/41FyiBDD0UOOSQQHhxgAL/9iNgvDSoIaIAACFTQAIII/jiESUTufLGEDAzYAAAGVjDMTDO7AmCKKbLIoggrlFCoCkAcicSWPRJ5CtXsToCJTxtr/BOAzXhU4wwxyDgFlPYYnWPLLdkIgAEGfPJphQxyGCM/VyFAwIAMJmiAght+YAKAM4zNzgQCeHJ1gxUUUiEHWc8ESzgwIP0DDgC++OKONuhAxJJT6cXuBRM22kBZ8HDMUQNnNSjikDtOKYWyNIKI4gsxzmgDgCUMaACBcpPTIAADqFCoDBIWYBmCBhIYYQQUIM4ODAYMWGCBl3Jo9sZ/f7Oo0TnaUOMLhX5QKP+GJYBm0LCKK16WhCG8iGljDdgA5ZT25AiiBRdieFehLnBGwNIygsApiORCqxKABgwwAYTHRMBarzxKMMAABnSaYO6MwAMAuKUByCOONsTAIl4bAveyCD657lOFIRzYrNUNvAiZPRXMQ28hexGAANw0vKCijIVIKHwBACTwG3DM8ypi75ZBJyGIP/tUyF9Zh1i1CDUoT6Kk3b00YYOt+9zzTwsykp6EReQQJIe+z2uoA7hVcN31Mgo3AAEBPtD9+aTA2BuBBiDwcAX7F7eRMAAmylCFlov4wq4Y4z4vZW96QqleRlRwAcPsTxBIOMF5JDgiALyABQaYAALIV740qOD/Xvc6gQsImBRElAABRWudHOy3wq59JyMZkoUGVFAEJjCBJCPsEgtWcMDvGMZ+hPmT/XLQARCAAHUfAAEK1kY1AFAgABMgwALGcJazMAAAtWsCDpWCMwgEwAty8MIK7dc1G20AR4GRwyoEkYb4iMGNUtNiXib4AVjxcE8kWMEYDIORfa3ABCcQAZBQoDYbCMEKYlAIHlaAPgI0kgABSJcBCFAEPBQrjgo5QQBsZ4A0oC0NYmzhHc1omBLIQQ6nkIUgVhMHOuSBDpdMynlEAIKedUAFBuyhYYKgEf2tUAUKWIIQhJmELqghDnNQSB7yUITCpeuEzWxAEZgES4aUwFMI/8gBGINABVBS744bUYEJWkAFOURCFpHAxBzokCBqPoR9PRtBC26gBB5cwI7fcYADcBSaFeaAAm44gxv+MIhDIIIpDAEDByJ5r2gWoZ0MGYEJ0keAFahwBUMQYy5zKZoSiLAIa0yFLDqhh0G4JkEKaqcLWrDSGPzgCWc4RCOmN1MASE9fYxTjAiKwBCUo4QlHmcMhHsKGJbxhC3xp54gA5zMWRJEAKgijGMeo0T2pAAk0U0gRyuAIVMqikidl50OjwAQlGKEJbihVpIxAIJu2VXoakKr9hEeCB5yABSdoQQx8oIQqKGWasOzZiHo2yBOQBgETiOtU77hYw2yBIVwQhP8gZCELTChCD1xCKTUHEQgyJCISiTDDG+JwTCK41bQ3latcg+CEL2qgA/B800MfIgRDxUCleRUCFvzjHyT0sZuM3dMGjNCQj6aBE7JYhaMUoQimWPKSZ2hCOSUxXUkkggxsaEIJTmtTGa5QeEEIQhY6uQc5uLaItJRtQyTXhjN0AQpPYEIVxIAHZrJuZIkFQA42UlUSsAApDDmBFxZxXFmAQQlYEAMcnBvHJcSACFmIBHUlwQlJRCISZqjJdkkA1xV8d7XjNWUZJmAe9KZXIWBVZiAGgQdpnWwBAEosrLLphOohwb8PyQFlQFHgQObVBw9FAQy8MIRESNjI0/XCLU3/awHVBkEKabADeZNTBi+8NiEmPrG2FNEIRcDhC0ooVAwikAEm83GFWaACkRMhBTxK4QhWeIgJuLfjU8ySlgn5GSxFEAQk7KFciRDEkY2c37fyqMNOBvGUvSCFCcQTy1DZUqkUMYgzVOEHLgASCyawJwb6MAtloIITQDFdO9DYoUqhwoBDSobc9aydIGCBeO2QnCnKIRF8mLCgJSGH0SBgJtLjpCkVPQUpDFEJYTCxthDRiEfgIQxL4IEFIhoBB/wpNSr4dBn2kAZJjFoSfLCDGXillI8KYsdgEEG6XU3NE0C1Q2QpgxzsIIc0jCERe9D1dNOQkw1o0gP0PgtQBBRO/zw8Ir2R3vIh3FAFIfDAfw/Q0f0wMoS10LvIw5rureUABiwkRQQsKGcpZJEKdV8ZliAoAQDYhKt3Q5neYxiDHPAt6EggoT84SxyVbTUgFUDgrw/d8iMeMQgxKMEH2/HPS+BaMbVA+cmCAMB0PxthjetFCioRORl6ltd2smDlLGe5h6DsOjngmroWTsQYJjABSZJA4DwnAQRMjFZNhOIQlfbBCWyOgMNlD0pl4ANasgAaQAMA7RW+NxmQ+pCPyqEUp5DEC1pggyV0AZZgyMHXwQ52sc971jGv8GdvrQIP/McASJAC3Nlu4mP34RCZGMTCiUCCBiyAgf1aix1iLgeVk/8FAGU3fBqK/Fk7FCIPSWlCGSIBilKswsBPQDYsiZB5L+DqVpvHPn7mXW/hA3rWAEDXE2dUoAUkAC8P/YESzjCISbT/EbOvPQNIkIPcf3oPe7BDGbLghLFomw+Gl4MKkwRBsANA0IOkUBRBEDlMOIQ5cAM3gAMX0SIe4ILqsz7s2zyKULnd0z+ZS46w6BQAyICNmACcSQDZMiQ3UIRHaIRICQMPiCINaDo7MAuZ2zYq2z/+myI7+L9IMLwK4wM5MECH0AMy4J5SKJu7qwIwi6M/gCrNw0CWQw0kYLl4SwO1ADUk8ADaCwBnKT2i6RvZYr9HUARtySArqbjfM6UbhLn/ssAVHfQ/AMw4QZCDO3CIPNADL7AwkQMEG3KB2NKiCeiQKMTAxpECsJuiMRiCLBiCO4IATilBojlB2TqESWjBkyIC+Wm6cpk3NmxDmMuCKeA/D5G5RLg1s7s143AIMHAEx+OEQvCBGEABI4ojFhgC4ghFQtTFwZMdcMqB/oginMGZMHwoMgyEk3qDBmgAJyiL+7s/WvvENgxFYpMCKYg5PvAsW6uwPfCCRnEuI1y+somBu0i39nGfu/Ca35ACKtjFKIS5PSGQDACAeyEaviki2UIEsPoDIjCAjIi5Z1SOaPzE6gOAHKzBYWGPstsDJ3gYh7i6Rci6vzFHAjKCNIA6/yQYkK+4vnYMuzGgMRLwgEiEAP/AHRPTxz8oGhWIN/xTDrIQyGgMRSlwgg7xv1vLAj6YglN7CDJYo1IoBUlAAfa5JDOAOk7Yngk4gRL4CnbkSFzxkAxYlwy6pgMAAAGwyqoUgAHQSi06JjpopT9gAwCJNzkISIpwyZeEOQuUyf5bizKwA7UogiW4AgTcQ1k4gaBMHQIaQEFICW7ym3bDxaYECjAJk/RJDKUoAIeggMVkzMU0FiEoGWOaAzZYgHgLSJjDyLNEy5UTDqf8IlDgBFAoAhF6CCJYBHNbBTKQIByCgZTwwe6JIEzigKvKxXacgjAZyXspAkpYiF1hkMZ0zP8XQYEUyCt4KQL6q7do1Ey0TMssSIuJcALj8slS6AW7bIGd5IPQTCXaigEtMgNQAACjFAQPSB0UIAIkmAKK2EiWE8UhuD4s2RsD6BhEWMFJcIjlWpCwWpDHoKUfMQFeZM4ATcv2zAEWIIEyCE1QyIVe6AXwFIKHkAL2KBIyiIMvcKwRqjBBMMowyssTuMUBOUTsQ42ZzIIF2BsCuICkgAMx6AJko4AOgNEO4AAOeIiTzCzYmKNYE9AArT5R7K/HaDcE3bEFzQVJuIL/YoiIwKMcMIJHmARKMDj3eQNOiAQqhc0SWwgyGIJqXE+wI1EpSBfbe56TEqr9lKASWM4dbcP/HkUeAJAlFmAtTkiFXCDSyrJPhuABb3EAMkuQBQucCZMDKpUDD7ABF7ichiAD1NNFW1kVMd2dY/SSCSqBDlFTgXTOuEtRNz0PE/ACBZxTBs2FTpiEMl0I/2CAfCqCk3KfPCiElDBKKgiCNnCDpEjUwAQ7KhBFJCiCB6CA57FEobtTBpGgFZiCNN1RoMiB2jsBAACSI+IBPUQlOu2FXCiEA2QIAjiAU80nHnAN97kDV00JEriDoQOAC12IV9qfr5CCKcBVmXSCHACDCiAgtAoFUojUTd3ASl3T26So61CIFAASnyECPRQ5ac2FNygWMNCkfMqnCTCp5wFUQSWCQQgD/yXozoVITIboMIBBmtjwGwpy0+ygvC3oA1Q5jw6gQjX1gpT1kByQpDcAAAm0guaJgUKiv5OQhQXthVIoKcgxAZlpgHw6VTLoVsxhVaN81RWwWAC4sq10iAiA2gu4gAeY0Rk10zlKihSwmjBYvHv9gK8gCw9hziH7muqDIguoAOCUAAmAgwcEg68BhZAi0lOYg+NLgADolnxSCAswqRs1ljtAWk6wELwKSoW4SqV4AACIgLStgMaFmAkapBhQv5/rkr8ZAR4AgOLIgSEI0HcLRaKJgIVgzAqYURmNgA0ojrg12JECgARopANgWACwgKPyW1RRhIj1wRUIEgo6XL1QgP/ElQAKkFeFGACgcYEf2AI/CFZ6SaLG8QwkONYs8KC8MF0FUIAL+MycJdJOwIMEkCRtdQAAmAAweFig0YRCQFqxiCDI6N3edYgCKADrfYDQ3R2Yep4iANvonYINoF+GCIQtG9UIUAD4LYALUJSCBVUwaCoDyFZKmceTOj6gAdwB44TxXN8REQCF+AD3ZYgRid/fXdwKiIAHUACsab8xJYOumAIexZV9iQ34HQCrXAE9BICcndZcuAC87cIqIQATqFtXwppESBQrXQEJymA3PWJ3UojffQAJ6AAA6IC0lYARTlz4tV1SxZxanUnltMApSDnYGOACiGGrFIDMk1Np7YX/UxiAA8BbhTgABfiClFGIeTGWFpiuARMEJ7jghdhg7IiAGJVRDmhM9+lVrHmD8+yKauRSW+lYBiFjAUgAuJ1TnRWENRYA9clKrX1QoJGBlABNC36MI+7j7OiAlHviGWXMS0rlOzGCEkDkihCeQnbkR7aAsVBdIi2EFiiiD0ABEfCZwCEDTgjURQiNDb5KkF0QDjBlABDk4JQt4IwN0lSABLiAFy3lJ+6SRxYA7E2DaMXlHwHnX8aaCcNjJ0gAMjaWUoZiZnbmRwMABdBKreRgAIhnK4YYbV4BI0HgaSUDlQJnEzYEYeaECvYAMY7nvMizvGABFgAAFki5dnbnhtDm/0fGHG0242gFVSNogRcARKDpNuPaHg0g4QEu3odIaL3ggIVu6IeW5YiWLW0eAiq4ZQY9Bdv6GSail6PVUEEYAmUW5MSllxLggaFmaEF2aRPT5kimguYz2EhIIueBmDtwBA2t4Akg3VL+4qAeaoXoAIg+algaY6u0ACqQ6Ume1kSI3yaGmIFF0KNs3KrFGhbYahZo5q+WrXiO4Quggm624bNWgOD1agbZAA9AAjAigWpezMYdXojhAYZeaA5wXLtupzCO3xVQFIye1jGQgAoA7DthA0pZOwYggLQFTgoQ4AFGlQ6YaxaQUWyW7EsS5AgwbQWQZBum08UO7NgoAUrxFv8ECAAIdiU1IGGnRRW5xtyFLgHXfu046gC5JoLkjumZ3tnF9pIL0FYGwJkAUCZlqlAlIM3zMxbjBgAeKIHhXm7mZoFRGGoeCIKYFjnb9sE7AYMDaABtfbEAaAJXEoMnsIGeoUWgkWuuhueS1gutFOPzfpGUTu/1roALuKohBVUzAIDh9VOloIAJcADSMAAd7gE1sIIfAJIBMI8kho0f0wseeG4KeIACmOeGGCQCjl8CR3C9aG4e0IQi4IEolgC9LgNvlgW0WYiGhA02YICZEFoEAIAA6IAkcIGeGePnYYFelYAVv0oSV4hBWqksz/LCnXGlSOmhHoWGNm0SVslICKn/VFiEINiAFD0ETcCOwdERhh2aLpSAESgiit6dBygBeRVgFneIH9HyQF+phE4BzFCDlj7vhQZzHlhbEmbxFZDpSFAcQDkBIegr7NCRmcBwb6Fzv8Hz5ykBh1ZcBVi3K8fyQQf0hRj0pDhJu65xMO/q047nC9nCimEgpDxpvTCataMUnHmkAwABbR4hIkBxABADIfgRU9fyZGfWXMcOG63dOPry9aaEMR9weS6a+sieW0Jmvchhw3EAdGmkAJggK38eHiiCVyAFJfSBQCfOnzmP4VSb64wXBrFRagr19Wb0KSdpeRaAAyCNl1jzirmriUyKn3WkAHgkhS9eq8RaiSbx/xaHDR5ABQB4BVRoNjeo2BtYKRcQoR/h5dj6AZNRpjtR1ewo4QjY7Bmlbuo17qFWhNm+9keuEm2Xnl5f1th4pIQPgAPwd2HX1AliCImHjUYYhTA/+lEghVHV+CrwARFC9etUiB8u2i7RT9iI3w9+gCYOXthQ8PWO8giwgmsP63/H1usucm/Jeb0oADbWYQOI54k2dw2WoFm6E0o4egBoBESgBFI4ejdfCCGwrYWAI2W6+hc5/KSAcetlfBAGAKB+iHxfb2s36LK3SplJl0DRCW+xItjoAkeHYT425k9XCpODDWiGHErQBEpohNYHALxHhVdQd0Xwg3mBAixAikcBK/9U6dMCJ+ABDmPGj1+lqHEWwPES4PfKn2i397WBhwmdKA+90IM4iJonEPyFSLfzAHp6iXbWp08m0YRRwPu8BwBSeARLUAg3R4TLglQvOaktaYRQUPysB/7FH/6HoABFJ2qZ38qJBogBAwIQMGDBwoYNF1Rc2MCgAwgAEidSDHQokJ44YrBIdAFCBEgRHwSQLGlSAMWUKif++bNSUSNFihBRAqCJ0iicOAEgGuRzEilVpCghCmR0JVKKLf8EojgojI8RI0B8QFFAQYGsWiUqkLg1ZYQOLFjw4EEhwgMFAgcAOFmSAEEHCC+QWKhQgIikACweQuR3TpuNSWygCJm3rVv/AQMURODAQi9FCiv7NkKkSJOmnJQ2b0YUJUmMJV3cDDqUmdQkyEiXHk2aFQVs2C1aoKBYwOvtiQUeUBDLQsKDtAUESkws4EAAAAcOKmRIgoEB1RYR9fULYI4aLE+ExCgMmUKJEh0qUChffqVkpIEsKwLAGUCjzXraTHQR48YPJWFIZ1K9smVrrg0n0QC3zXbggbdpVeADElTAQQkPXKUAhWpNNIBbyAFggAMOJHTBBA0gYMADESXVSEwyyUTdH3kEhgUTP7jgX2Tm2XieXoe0h9lNlTUyhxhRvNBRDDGIAAIIMShBY0oABtKegGwRaFtXBwLQFQBZKdCgBB1wUCBj/xJIEEFKAp0UQAAGMNAhAwgsgAACBJhgonoo2jnTRUvR0cYXTPqpHkyY5cRTHAAkkcQLM9r3wQch0eknU09ClhUAAuWmYJZYYXklVrs5CKGmD8SRB6kpdbqWAMmlSZABcBpggJyPrhRITCjOVNRSS83xJ68TPYkiJZrAN1ESP7TQEQqMKnsYpEwpEspjAn6VG0VdaVrhAxGIWUIEi2VLaq6k5hHHGV9AgdUAyKHJakEEEIASjeytaFSuLfXaKyLAxtcIAFgUK8QNs0mkrLK9GvUsKZNqSSGn1FrLVVrZitmBBBNqm0e94eaxp2ASrEuQu+7OySRMKfqV8b285mtnYP+fASDECwgSXDCvpIQyyiiTVrhzhVdOhOWWQUvQ25bBDX1exhnngR0MH6NJgARUMWlZijIdkisimqACwBlLpAwZrSjO99kLZQ95YLIzfw2AKjpPeKVWb3d11VVGpwUcAGgdbZ5SSS8lkQ4OJOBABzGrXDIl/C71SMJr+7eyHmpEAYDZQ8LmQtoEr/1KLHotRrcCYpKHN6c/A8CltmQyFsGN6SXlkuMqbYZZ4oeYhsokdywZO1KHoEiHGFBIdEPZmM+sdq9KuGGJKqiMgkooj0RApm6dhl4B9thTIEHPPjNWgZgcXIVW667zTuMjmeXUiCakkHIIVB+cr5KOigDJhA3/Q1L+QubHy3/v8lChCSghJS1YcZD2KECe7bngQNbiUoS2pC0bAQBH86NRZtQHgFD0gQkuEMkFfeWXOHQBUfnLH+X8R7NeLW8UoVAE7JBSAg5MDHtjapACKaAEFDTQBT7EjxK4ly3WUdCCIYQM+0YRi1iEwg1CGMEK52eRcXXhBzeYyBX5p0JGpcwSAoRhDJHCAxaUYCwzpBAOlaCERKHNBTawohK6oAaM1euIfuJcLDShBiH073/nM0oc2oAFgL3ghC+IgQu26Mev/S0pHSgjD4pQFiJ0YHoIpICEDFSVFsQgCVg4wxxQZkcmvQIVj1AD/hKpufOJATBBws8NYgkA/xtQrgXHAwAXz2fElHCgA74sixkmEq0SnO4BusFQJ78Qh6SN0k+DEAMT1EiYVcbuBUzowkaUEMsrXhEAMQBA/5opkRtRpJcAKAEPJpLOIkxEMpvSUrYowExx+kcIQoBCNAGgyiimDAU3eMIZ6IAdLERBCCmxJTXpOU7zQOicFEmnRMwwRhZ0AGIS3BvfFEojJuBTCUKYJj9phILZjLQFN4DCGfSAIkQAoA1n6AITYEabhGo0JTrigEQgaQIiPOYxZaEIxcr3n5qqxAb3jKYN9rlIkaKtBT+AwhytoyKJaESbCM0lUVUCIMrsy05j+epYbnZOL2VUL3WkZ0yj+dFwMv+ppLRxgRA4Qoem+GWqEqGDGsTwhB/EIAVZXc1SuGqnwQJAD3OAAwAMYQlhbbCif7JXM40KBWnGgKZ6cSsnk9BSOjKlOiUDgCICMa4z+Ouv/8mVYAfLL0H+AAA/YALvKBjCtHq0OyGdCAp60ITd9gBtE1lmvdbD0juFtiW7Mu1psaZafgFADJqFDf9m5Dhyzk+ySK3sbXO7WzC8IQZWosjV7NVZqvHLMrlCLmCVayfQAqAL4Lyc/lQT3qQI9Xy05U7mVKLdJqxhDU14KwAm1xSJUEci0+FJe2YSiPOi93WNnMhxMRcbcDLpEYh4cAXryzvJLskG2F3qfpsAhv/O5gf/HEmJXy4iXJmA1rwYbnByhysRNUyENrUZaW2YpIlHwDDD5evN/GjrzfxOpAa7PfJIlQQAOrCXIn6hjrwU4QlPZCITtoOxapbC3EJp1ooSiQ2Oe8WBBd4Ip9U96iw/XOQj7/aHTBADgUFLQALXlcVTvjOeD4Hl1+XrfkL4AaB/YLjakPRevuSAjRwbZCHk07b/q4Fuj+zdk6rhSQmWl5NVNBM8c3rKhxjEnlUCGMkVC9CwHBII3JrjUKfEukrwsLIgzeYe3AcLhdJ0TCTC4omoiKWZ8AQAgN1pT1iC1SnBghK6PLwXxLJsCKKNsVOS1pd5tyqR3q03f+Benjy5zuyF/9JU8zVllQjb06COthIaCIBuDil/xMOcb6M9ESU84QnX/YCRjwwAHyThC0zu9pP7Mqxvt2e4406Kp+UNgBa4kdmJckHZiHe2eCu8D12A6UddcO0mAKAKYsiDXqxTGU1LpBF3hgyVM1EaY/NwSJWLOLOl+12Fo+ITgzjDFfjK5iVswQ1/YE9SpKprnjTiEQdXzZRD0QpfoKIT3JGicFM84KRAPH8vb3aiJFJohQMgFqVURBiYsIQY9MAHXWgDrTizmVyrJF9zNvnRUa70WMzCEm9YwpF70IMUeIdXwrVddbo99ZRU3eFlc7fDcywwrivRFxKB3+7iQBO1q53HL8mXuP9P7h+l+0IVnngDG47A5ln3oAZ8Z1ZS8mCUBbsk8E/Ww0paTjzK0X7dxavxqqOtCJxNBHfFds9mZLd2XjeZpUaPu39m8Xm8j775pDd93zuiBI60IQ5zHbDg4/AFGTFrpPHVp2xGWvsvc/1J6tvJRHhvE+Hzi8UomojmkcKKVrDiE63Y2kRC7/z9O1/vpk/BsbwMFHwBHDAZnSFCHkBTDBhZ6V0O5RDPsTwbD0lYUmAVcgmXHoDcRITCK0hEB/JISqydTLyfXxwfsK3E/LWCCrrCLPjCL7DCHbwBGKQE/9XgkZHUJtlAHAGABhaW5NxAD5VeDdTADvTAEXgXmMmGldz/GEXcEnr5zl5MBKNZgR9oQgfqRfANy0xIGfJJxCe4ggqq4Cy0oC+4AiMwAhuAHhv01xrQoA2OHmwAQETIxjc1V6HEARYA4YH43xBuHK3ZmGyQX7IMjAohV7601Ha4Vms9gUQ8QtdJRNsMikQkDq8hgid8wglSxBeG4QqSIStgwh2sgRqyASmWIin210SIXg0eAWTcgGYNTwPNRqTpHf/pnY11RA/AhkioUBweyxlIRCgw1xEdgicMghow4svYkz1JBBRwRM50XedgxiRCCSJkQiu4AhjS3yewQgpyoitMhCt0AiGYIjmWoymuwQwCgPNhTlIEoETAWYzoIZuBQX+N/9g6yoYL5B0uOWEc1tQgeMIdHEoyKqMyTsQVeCAAOJ5E5AxzKcIKYiMnqqDSqWBKYEL+mSNGkuIbbOQptqG+6YU7SoRhvVSM4J0ocuQabqQ9HlkNwEYNqGITlN4+YpX4/SIANI4d5YEhMAIhLMEyDiRBLiNHgdbWKKREaMImYqNSZiMnAkArpMQbIEVGTqUpgoFfUV030RkgqcEdxGATJCEKxAAYsMHo0Yas8VZM7iMuUYQSFJsqpMYonQEjbKQiGhRQBqVdNmMPep0qzMJSLmVTpoQuAEBURqVKkKJEUKU5vsEa5F5HYNFE6FmdzYQldAIcJIEP8E8/AkC+5R0IFP9h3vHWWlJYC/jAL3aOhdnRFmwkXSajROBlQb5MSlhhLBCDL+jCGF6jUibFLKSMYpJiHeoT4WXlXjyZisAdHZALsgEh331ZZ+5dC1zbLNbAo3yTW9aOHS0Ba0pEE3gUbBKkLBUkE0RBGLDCYBIDRfQmNoYQYgLAVPIQRfiQD3XSkk2EccqEI1qCRYiWRiBbUkGbPpJdaO4W38WGC/zAGYQCaiqCnh1RExAC6EkEIbzmd9pTawGlEiwBIUxoJ0iEbU6EegLAN0rEL9wLd+nFOS7cbMzIkNhHv0neitwnlAAe4PGnGFgBd9gHb9mHdO5WS06YkhTbK0xCZbBUCNUAIfD/5ISyYWtVqD15VBKokRBop2EywkSUaEqMKABgqXv6SWuuxAyOYh1CHCKpaHDaCubVWX8AAI3SaCDsyRc8wRLgXQ940+h1B5hJhA+4gYKiAiUw6OCdTxOc4Rkm6YYegQ/YpalZ0TZtkw2kIWsWJgCcIQCwwkSg55V2qGHyDl2aog9onUosCcitTHnVVSOsqZW1aY2+KQB05RL4QAxIWgNNWJItiSq8giZURoOyJyYwQq/26hnS2g2UKfHMnsPFkg9sZ1JY6UowK2F+6dqQY0eEJIQJF3ysVJ1ZAjEGmyWwlKoegiVMmSWUyxYswRp41zchSFgKgRuQQiyMApEGyAUx/4Ip1CsmWCQmsAGz4YeMHOuxxtIRGOamqgQh3AFS9OqERiq08so5ylyNOZmRrgy3WY224lkmdKvtWEK44hl1DIIbdMFkuZZ3regNMMEkcM5NWIcdEUK9AkC9mgIhuIAsBVpSrZvNNhsKsAEATCjSqYQufGKhQqjCDqx/lCOoBl23tZhlUEfFDpvTRploqUEXAAzE3QC7uisAOKI4tQDL3kL+zWygAdo3NVss0caGTijaNmt6eigABEMwuGwnBO2GvoHQKitkkGMsLl7bRey1Li24bqzTclomrMwjqJ1ftMFnVIHX/FWS+CohzKwihi1frdsVoYCGnu3Z7qzmTirbAv9AbwKALgQDMTgDMQSDLtxCJ/yq3J7t0K4EOZKYfVxRpb0fnfGEnGErK3hC7gbunWUCTBRusNwEzuDMHJzBHRgCcn0AkoCtREguoOlTDCTKGxAq5lavlXKpRPilX0pEMChD6b6gKaSurxIqJhjq3Nbt0HJkD8hsCHLGIzCXvPTFrTjlNWrj7los4gSv+gzvJ+SB0b1C27BpVn2AzAbaRDhvoAXMDUQloVIvT1LqL5SuRLCg8ilCJlDCJ3wCBxKDMrStLoSvKdDr+ALr6tJt+gbgheZBTQDfe8hLkT6ZiAKmCtafJ5QM8N6E+qCC8zzeyfoCTmaVP/3ATx4wAluRhsb/ZBGeIQnT69uaroj25iVqKW7OQiu4qy843iygLiaIr+qq7uoK7RroTxJAQRzwC4/Qjgj2GsD9JUS2wif87uwIL868wjMGGyKEggtKRHBqVBAL8WumhOQODxu8rCkAACYQMiawQokSgy7gZrA1wlMOJpZK8izEhyos0SuQAvIaMhd38fhSL4RKxCse5RmjceKEW9Ky8RsDS/DiBM7ocChcIgBgoiK0zSxsclYV8DJarV0S8fN+EwisQb3eAiG/bDA4gzP8QiPH8ic0ciP/AjSXKJa2QtFNQuOV0iFYAd5N6Aj/6r2OMBvcwO4MWCnzCGeg8pNZwlK+MUxwhqAMryrU/y+wWWr0+EIssIKVOiY9xQCgfWfzhm3ZNgrLDrMpEDMrHHMyR7MyO7MyK7RCV2rJsM8r2DMqZIIbxJIN+MAR6OwIi3C+/oBmzUFNlPNNBEsaH6BfqOAnZEJM3PA76zAqROQsQ6LndsId7MBf8bNd+jNFVK6ygEATxECSVioAILPb/kIwQDNDOzRT60INI04joEIs+EImGwL+IJJ8+gCkImxrlbFNkDTl/SkBdZt+5q9Jw/MoMGUYfoJTkoI9t+ob9ICs0BNcWShsyuZEJNX/EAwItMARKDJ6NjFSJ7UuQDM3zoIkM/UvKN/txscoTHQsoIIlhMGwIlIaroFGB2wV2CEuSZuz2u0at7EHK9PO8PqpX/ylSjtl275CJ4QeCPVKQAAAIfkEBQYAAAAsRAAdALgA0wAACP8AAQgcSLCgwYMIEypcWLADjCoMI0qcSLGixYsYM1JMwCKKxo8gQ4ocSdLghY4lU6pcyVJkh45WWsqcSbMmiw5RYtbcybNnxg4mnuj0SbSoUYIdOmA5yrQpz5tYhjqdSnVkiaBSq2rdWrGE0qxcw4o9CBXs2LNiy6Jde1Yt27db3cKd61QGgC1m6erlaeRu3r2AZRpJcCWwYb6EDyueOXjL4scrBz+BArnyyMFVnsz8O3OpZYuDr3CeS6SMmdNpjJABE8Xz54gyAnzpspiMlzSCFul2JKgExNcSjRCgrRhMqVOpkp9afmoI8IkdCDBZLGl58uupTnkh/nwhCwInphv/BmMdu/I0VVx3R/i9w2EohZjHx8T8VBrRo7XeYsZ/mP//w2CyCiYCmlKKKUkk9B0LCQb2BnOgRMEEE0cAkAoAaTSxBWVrMdNOPPOESA897pSoTojzyJNiO+icY84wCCVAgAlfGFbfEl10gQUYFmIIhhhtoLXKPPXY444999ij5JJM2kMPOuSQE0434TiyBAA+ECQjCzkCRt5ykuQ4G48CycGDEB2iOM+IbI5YDwD1xOkOO1Jmcw0tQUASRAl7rlAECxdAYEATYQAW3ykAHPFEejUuB4AgZOiI1jjtyCMPAJbGY+mm8sSjqYrk8FKHBh6Q4EEGHngwwQQQLICAqwuY/7DXHcxJEgUU4gFQikCcGHHFb2I9AU6mnhZrrKebzmMOAxA00AAE0Dq7wLTUTpuAGAkV4YQTRZAhUH41SVJKKaAcoeNQoCQHChlnAADHWe20A4CxHx5rLy3PQqtvq69Wu0AC3BmEw8A4lADHu041sUhuZqjhRhwHl7lIJIsUoYRTgGxiix0ndGwEDALZ0g477MgrkMkGmazsAs62LG0D0yKAgAEABLAOOuuc4yI54PQcAMHH8MfMM88wc8vRq9yStCRJBGzRfsMQ/cx/R2OClxm5CUKEGWnwkAYZZBghh26CWEzULcMkggssl8CCxiUExC03AQFAss7dAsmTTjr1uP/jZptr1pMOLDMbYAABhi9AdwByA0AAGpvUUgsuySzTjDTWiAIABgCYY47OoBdTjDbelO7NN97cjQ465ogzDjiv9yy00LcAssow7dBTZJP2zJNONo40kfVtZZSRRvHFy5Hb1+3uNA0z6FBzyfRoAGG44XPHbYA465RMZD1qWpqimkQCUA4tQEwLgLOOIwCA+wIREEKppaLhgf1AhIABEBjMr8IKK6BACFYFgVWtSlUIRFWqRMFAUUCigaJDRzjIcQ556A5J98CHBu/BQXdgoxZByA0AvIC84o0heWRLQxSioJmWrIIZ4EhHPHZBPVFswgAwU5+rZoYAbSSJd0ayR5H/4hQnIQJRSUSkxzfA8Q1xNPEbx4jGMaRxjGPwgha0gAQstoiGEMyPABBAYKrGmCpT0e+MYzTgBEIAAS6cgx3zWBIH35EkDmbwHtK4RBlEKIfiCYSEANhjbuRghjMEaSX8Ucfu5iGMOvBCY5zgBMua5TJnfcOOdUSSJjOJyQzm45OgBKU+RknKUYZyH/oI5SftqMkg0qNnSxQHOMQRxSoegxaaAwAD0WABVRlwWt4IUZM6qUF83GMXlRCECB+1sGYqMzeLIGRhSHKLbTjjHft4xzsweA9giKIO2sCFF3KQAQ1swAIWcIAFGDCtY6RSlfCM5yfxQQ8VkU93fTtSHfeZ/49SmjKUqfxnKfv5TlUaU0kjQhE4jrRJJgkEifQIkTl2wQVHOEI3ZHumMsm2CCzFoAhjsAUmqgAuhEyjH/CARz+0+Y5QRqMWjkADJBygTguc86bpNEAl5MnTUHKwUiGKR7w+RNShGjVe9urUp0REDzlyEB/50KA//2nMTj51g1a9x0CEWA95hAMNcuBNRwHgzIU9c6w9CAMX6lCydqRjHONgRi5MIRFmqIMf/OgHKuEJjlpsQgU0nQADGFDTczrAAAEIwDeUBICewhNO7CiWioR61MpaFqmYpaxQNUvUzX7KUh/qVDqUdNVimva0WLVjPaCxABWogAtUiC0VvOAFjf8+UyAkwMMYKlEyyYLPHvzYxjZykZmDmAId91CHctVhD+XuLR3t2IVf2ak9uiHuAAdQXADQ0FSGApFNa2rSPDrrqcua17KcLepmO4tZo8aDHeeIoyf9yVPU1oMWAXiWs6JFSZeF0QNcgEAR7FANTaEIn32zxzvwOo5bGGQTcipRidYEXkhwwQtUyEIWgjCBwyWWAQdYXCW8e8QS20MeJQNAb1UskaEC4LwwvqzOzGEPfEz1xjjWhzvQQIAFtEpa1IJZfxsQNwSgwRo/5GqcEuomrk5jDgP5ARmIFMQjWTkaz8jCENKABCeUYQ+JSAQfVrAABkzgAOxkwGKDaGIgukP/HiMbWYrZoWI601kgJLvzQOxc5zyzWM8vNm/J2JGzc4RjHgDIsaJJOY9K9BhWhd3ABjRgAcE2i24WOIY2WbkkOGWqHeNjRsAAIY8iWdlI0SACH/ggh1aXYQx8SEQkwrxqL2hAAwy4NTjYDAB79LrEAHCHQNzxXpLdjc7rwHOel72OIt0jomyKE/k2FQ9lsxjPfSaZ58xRjnkwdB7qSIe3E6wkDTZ2quwAQo8bQFibStqwDjCnBVpFgAO48x2p5eA+8LqP97ZodS9A07fSobuBgEMKrd6DwhcuhzSEWRCJ2EPDpWABDagADUbqtcZ9zfGNb9zX9WjHse/WPUKT/OR3/xPGtBrYQFtW0YlObOI8ir3smicbHeUox+fexOYSkxih9DDHAgJgAATUFJ00Pae7acoAAHjgG3udZzH5kdJ/+IMf4zhHMo6RKwDEwBzCjhM4Wm2HPhYvDXJYOAD2wAeJN3wMQcjABkSR8YIIUSG+pofIcaYzkuPs76pDxzWmpa8cGoDwLZOZj6F1DJQT2tgml1I5yNGOJf28zUxKBwIIULjFEVl7CDhAOh3AAARgABz52IfqVT/KfffjH7CHx9W9YQssSGgg1qAwPXCRBjuUgbbA98IY0iDxtje8eLRFQqbpAYA2Rdv5RIxTsOfBjha56HN309nqtp8zIDTLX7DyV/+/XOZ3lPudG9wIRznkgXnMo+MANCPABkggh1UnQhBeCELhBpsBlqGDH6sXgPqwD/mgVfqAV/xwD+OwCklwAy4gEMOALOBgPGNAW04AfFNAW73XamPQgRWIBGXgANqQIuKjIvZEPvc0c6yTcyx4DtYHOgCgM8KwL/vyMi0TZDm0AMlwM9vHfatjDtmQDdwQX0cSbB13RL/WJOAQAgjAAF6Qdmf3avfHB1IwAQ1QdAtwAMHkbfZQgBrEegNVgOaAC2LAHXaADiWDC69GW1mgAhc4Tm9YBq2WA16QBVOwLQBAAtqwXnxoL8jCKe3AbVEiJeEAOuYQg59zDthgOK/yKjD/AwALAIk1CAA02CzHEIOr44Kgcw7cQA3XkA3oEEfCxnFFaHkcx1hHuIQkkANSkAZtt2qxVgZDgHBlkCoGsCqLdWo/l0nuMA/oUAyYgAiHMBBJUIjo0IHBh4cAMARIAHxoNwVSsC1IgARDwACQcAyiow3dYDokI2eCNnnhEA7SAAy8UAmQYI7nWAy8UAx1UInuCC0C0SqRCACHtwAGkGwxuIkucg3U4InrQCKjOER3Bye9potH+A1DMARsx3awGGuCsGpZUAZVeCoAsGbt11XSAAuYIBBQNhDkUA3CV4dZUBB1OELClwZjQALTOI1DYIWQgAZogAEfRgUTkAFyBwkP/7QJolBFy1BFxQAMlfAsaIBFy7AMybCOvCAK5miOABACDUAQ7xiVEFAM6CAQ55CP3AYNywAN2LAOiMZUTLZk9YBgbyJswgYOKpADabeQEld8DZkIXjAEZbYATdV+TtIO3pQEFzMQdKAH1xANwOcEQ5AFtPVHdTgEtGU81LiSQ6AB2hCOkAmZ13A5zYCNvHBFsICTlVAJooBL0NCP1MAN5pNz5MCCpUmaLIgN1FANq0kN6igMSbmU5+iUlFhJDXCOSrkLwoAM14AOn1WC44OCKSgKT5h2GHJCJVQGdtCQTkAC7FaXmAc+5FAJZJACLWAQtrAMXjBCVDCYwGeSbXiBw/83Bis5jQBwDdzQDerpDdtYOuHgDZEpJeIQjlKimp54n9mAmqW5n5Onn6jJggAaoACKDdnAmtVQDerIC2jAAEAAC9RwleRFL5KlVJwiD99ABRuIkq+WnGe3kHKABNDSVB5XZQPhDiFnDJBwAy/gAg84EF3QBpKgYQIxkiM0ELQ1BVQAAGMQSDnAjCxZC9dwDdgwpEOaDdigDdrADdrIDeyZnlTSDfwImv14DYM4efy5n1UaJTknDqYpoF76n+UQDtDgNhCABrxgOuLgDXEWY5tVC2nQe8hTh8iZBc2IPHagcFlAAqLwPcEmEG/SNwQxD+RQB4yAB3DQPAMRCIgQCFP/QKPfSZLbSUIomQOMqQKfKaWteQ3VoKlB2qlCOqT9KA2gORDhSCWQCQDhAADkIBCDmKWu2qpWiqX9WZrhQA27sAuwAAQLSoMuc47nWAeQMAz88Qw9A5hvijxj0JxOcEJDoAJSUEISBwA5sKcAAJYjAid/qnfJwAWDQAd0EAcHkQezCABa1owGUZg6GkgAUJ7T2gzNAA3wGq/SMK/zSg2iKqpTKg3vCq8AAK9ROqWdSqRBKIROaqqRqaoI26oKq6VScg23ugvIoA2DOKT0Kg3FQAuYCQtcIAkiBQiGgAgZwKFjQKcnRK7LGkhnV3ZUIAqS9VkoKA/kcAmFEAdx0AbY/4IQUpCj5nkQXjAFA1EGgkmNQzCtRemuRnu0SHu00qCV+wqvRVuUUGs5Rhuv0FCvmOqpAkuw6qmekRmODnurxgAA8AmfkEm2XRslE0Sfm+B7JoScKPtqKFuByeN7DNCN8dJWEboOwMAFS5AEk8EhBgERUrAQTuCGgJQGKjC0OZADJAC1zSC1kOuukfu472qUUvu4W2mUlZMMm9u5lls5lhu1RyuvViulnQoNDysM1ECw6Le1W5ue3gC7Y+sN1FBCyVqnKKuur0YCQ3BCaJcGJOCC/7Y6xyZn60AOQFAELmADP5AQbRAHRuAEI4muBUEF0jtCFbi42ksCwAAAy+C9Av8xueJrtABgDJebuZyrueqbvuzrue27vqEbtVCbDLAAAPX7mZt6oJ4apNjwqURKoNoACbbbrNvpR340QioAglFIAjrXwNt2fS5SDuz4AjeQBF0XrgDwhtuJEBqWYd2ZlotLAgDwuCNcwu5awpYDvuDbDCO8DMZgvin8uMngvZwLAO97w+6bw+vbucKwRQKBDPBKr5iKqay5mpq6CbYrp2XwtsgqfEy8CQsboNxGDXXAQlCABTWiEIFABtJbh5RaEBo2BXcoBdEIwotbB0VrwiPMwifcxmzcwjZclAOxw3T8vgNRwzhcx8hgDD5cvpc7uvt6OVQ7r8XAobnLoQa8xMj/AwnhaLb0OYjhsAuFYLNdAC6BkMHkOgROMKNhHI3b8skgnJYaALUC8cZsfMprvMaaiwzs+711rMN5bMcqbMOcmwzGsAsE8cdJu8vuWsiKjDwCgcivJgXIiTzHgH5Kiszb6KTSsAdn0AVQsJcpsBBPoC00Sq5ZQAXQ+Mnc7ARI4Fo5oAJ6+r0zTBCo7MaqvMdhawzIwMpxHMuwrMPAAM8AgMsCIQzJwMv67K5IjKzFLMzNObivVoHFkL+c6r9HrCNPsJcoEBFi0GUdTAWezM1dJhCbDABpKc5FsAaYUAh74AiSgwvIUMqp3MY2/MIo/cKsXMvx/Mo7DM9GOdICcQkF/3HK+9wMwFDM5KkCJCTMQIuYa+gFm1C1FSvEogoLZLBC0yEENhARw+gtSLDN3SyNK5nBzSnKCxAIh4AHX1AFMfDVNnADRQAIZG0LtrALvAAM7GwMwiAMwIBFWfRNkLAJdB05IQ0MwhC2d8zSLk3PADA99bvGSFvCBtEMxRAEwteBTpADU+DTcIt8dVgMuoy0wGAHSYDFYoCoErHF1DjV3lyeO5uHHsABeCAGT+ADMZACKDACItDarl0DKHACraUC7/ZuDvA/AARAXuAIs1YEPpAEYQAHh6AIikAIBIIJHMsJthDSuIDXL0wQfM2+yAAMbVPPI33TSKsnTpCBif3LiP8ct7RFAsOQz7y8DJDQGkAyB3lgEWJQBMz4yetangOBBAPhKiagBDbgAinA2q4tAiDw3yCAAi5wAQHgbrUtaSSQ27k9AVMQZmYABoogjIEQCHmQB4HwB96K4RQOB27wBbPRBWAACARiCsq93Lhw4rjg1vZrv/OM3UcLAEHQZVKgYbT1z8mJsjdqBJhQtJRLuctQC1GQ2XBAB+ttEUxdAsw43/I9EN68AmeGACYgcALR0AAgAgDwAS3Q1MKBAHJ34JI2BAqe28zSalmwqH9w5miO5nkQB2fwBVGQBEyt3y3gAjHwA0kQBV0gBnNwCI+QCZOAB2dgBEUACfYrDIKN3Sv/sIxd5gQ5S+M6vdgRqaO0tQkEMr7LAAtgEAZiAAeKmhEf8AFIXtWhLRCu5VoW4CoOkBDNOxAcQAATQAK1TRAkUAZhDgAr4HsdWARfYEhxoN5nTgcC8QXRfAMxgAL9DQIjgAIoMOcx4ANKsAVn4AZuEAZVIARfXQSicOLHoNeHfrTAQI3xveiMnmGJSZ4k0NgV2LPAkAc7btKPCwuAIARCQOwAsOoYEQMtEOqj3qwkQNsb4FoycwASQQQTgASCYE7vRhATEOZB0HBpQKckcANCoARCURCU4YAo8OmffhDWGQNK8AV4oAiTMAmPcAhs7uZL4ANz3gItEAM3QAZkXQgj/74JPQra4t7ohKmjJ5TuPHDmOx7DArELZJAENtACHwAAIAASTKAERFDzpO5asB71KhAEGuAqFuDQRRAJ0hrrAjFpCy/OGHo8r5YDE1AByJ4CdY4Q+X2dCOECQoAFahAIxH0IEw4Ah4AIxK0IhzAHlIwFXbDrboAHf3AIf0AECWmeNr8tOL+d6e4FOpAekQD0AFALRpAE+N7aI3EwTR/O4hz1F0ACUb8CQbAAleYAsqIQLWAGpRAJCFDbFhcEK6AC60QCB2A8KPmBGXABH4D29q4Rei8QfwD8aD7hgUAHcKAGZVgFVZDnbZAHRZC4zoH44T6N8E3utBUEyd4Cm9DWbP8NU1UA50Wf8SIR/FAgBDzw+Z4P+hsAAJ//PxOAdFiSEB9wAqUQSQiA8BuwABOwAYP1/gCxAAGDMWXGeEEyJEMCGz+YYAEQUeJEihUtXpyIhYmQGzFafGzRwUEOAEMAIImIROVKlk6cSJlCZcqJDx9AgGjx4keSKla+/PyC5QlGokVRgNhAIukFAEpJXCABYAUADQ4yWJjQAYTFDyIklYrEaeAGCxvSnE0DIIcGAgYQQPCCcIiKCQmqdBHTpuhevhKhALjhAkXND1QnjBxikiJLxiudmCgMAGeMnVi+qImT58+fvp0nfjChwilUiUxVrFDhAIAFCwBetKAIYsSJU5z/OAliwKCsnDRy5AD4DYCBQAJDEoqG0MTNnD+HDnmGTrSDhQQTDls4rXhxY5ZEUqRAIVHIw7yZOUeH/oGEiqRLo0Y8HWQC69YmmEyM4SKGJFCLOI2Zz4LeeOsNuDTKgAABAiDIQTQPFjgBLzfyQK/CiU5gAAEDyNqgveyIYkyFM774KyLyMKMjkPMs7IwFpkprKqnTqCCLtYj0iuiLLroAA5SwBPGAAQ1U4I03AMqI6KwMNCQgAxIymOCCFlJoQT8hWEQviQgCSNACDTaIkQQxVSCpIpVOQiKHNxRBZCIxxDgDjj8UoRNL6DocLaoLVDhNhbKUAqCIQAA45A83uuDP/78yJjBggSCKJMLJINCigoEJAmgAygYqAEGEreyMLo4iICAAAQDmc8CJqZYS7bSSJkKpJAiKWFG8iGy4EtTOeLigvaf03BM1DUiLCJE/znjChxNK8U8QIiBolMizgjAgABXQSmOBBtyaoAEETLipJl07++ONCQhYgIENGLDKCxUAABMqMddTQTuJSAiAg3FBxUuqiPLk8zQHokoqUCE8aoEMUASJpIwTVmh0At8OdGCBdwE4q9QFvZUABML27euPIADQ1gAVxkhrKngBePHX9UhQea4JEFigCZBBNSlPllW4IIcgkhpzhQ5SmI3Z24gAoAQEli6jtwNHBi6iUhtFwP+BcG/m648iFmhULd/kOA3MeO99Cuj1cigjkgaSuwJrFk2gyLQLVlghjacA4HkqmsxYuOETJNsWggmwLRK4IdpqNAElbrAhhhjcxsi5EgwAAIEcBhzjxbEnmhfoayMBBW8dIGcRT/fmlmqFDjeYSuUEBBHkaIkmn8DiiYs8i+aum1BDjTNIJ+qNpRkt42u1Vn6Ronl5zkEQOUDhhIwvgK/QRRgB7VU3uumWCAEvOHE4ohde2BLaBdAikIHK2wIjj0BUrJX6iGIwgssM3p04CCpWvkjMC4YIAg8wxglQFEIN8oPOTabynl7Ba3Wn4d5EFuCsiizNABckgAoYkIEALAD/AOhigx7e1yYEUgQFk4NWDr5GhCCQBEz9i0gATUCFRUSCWXEooWdswAP2rExsHQKAA7ZXEQ0UAYcUmRzVlmaqiCwghIF4Tg4pMgITuMVkvjFDmfhnkXmVIAY3QALsbNMJPMQvhyzggRH+RhEjAEpsgPKXyiYShCBowA4ZMMESJIKHIkAMg41qQBFCqAgpWqQFLGiUARjwtRdejIti2oAMAIAFMviGgKko5ETIwAdJSCISiSDDHe4QRRbgqSmnjCNF6OiFAWWgA+GZiA6CEIEglKAIb4hIIzJZER/cxy0Q6A3S8LZFLrLgRmDwgn9AIYs+DCKTbBhCIiLRSU54MhJk/zDDG4wApqh0UyIOcBUAoOaF4vEGQLKRCGwkEoZdFsUNRTDAtoh0vGFeBII2i4gQiCBGTnQiijkMhBkyIIdOdjIinABANRuWBdFYxALcoyMVmsabMsRFK11pJ3QOUQQAWPEg+8NbN9/TlD0FQZgRQYEJ5OAIUIDiFLvMQVzKkAhOIjQikgBAQT0pBypMRQMaoM8K6JiFs1DUC2NwwgQ+llHPqKEI6EpXwIY5r3+NaQMwcMFERLC/RfiIDOosYRNUUAY+HKggvEnERXQqhyAszQGqWQ9aKorUNHXMU0ztzBcbQAACTEADTuHZvEQKFbhR5AMCFAT0wCACEeTQCDEtyP+B5GAH35yVDxYpaCSC4IB19RVlc3VCmkjAqRHgtS8jGAEKToCA+axudTqDpEVAYII0gA56kUEgCEoQFy9kAQBZiAtw9oAxg5RhD5edyDQTkQYpLCievFVJg0iQABS0wAemtYgNYDMCEFRAKybQDSRda7qnrCAHJ8hqRT4ghUUsAixkOAoCUZAD4GbBvr+1L3BRRlnf7CENYxhuJD6ZCJqeagEE8EAWoiuaJflACezELn5QgFoQdECDIhGiYJUy3qRMKgkAOIEJJBkRj/HAeaWoJizlZwQNxCW/vpXIi8mZBjvswZx8IDBNeZOBAxMgB2licJS+AAdCRjgiLqCwCE7/MAQGHGA+fDKbU8YLMx6YQQ6JQBkZJtKBMiC0PzksAhJcfF+L5HcKMv2NHMYwBj5MtgwkgMACuCRdD9TuAl34iZEB0IIJc/cDJcjBAhaAFfYI1ldJoe8eBEHTNg/Bv7gUAxaSkIP2vvcFCOTBEMYM44tMIQdDmIJ9x+AbAHjBDmXIgkL22qQn1c4AHUCYnpfwA4+oViHpYs2XnDKvmPLhsosGgK8T4QRJJEIOYADAHAAQBzLADgCgKAUCD0GCTcOY0xOZQmKkgF9WRiQL2X6ZnBcwAZK5BVw3KS12J3EIPJyhC0ogAglyA1QvdSghbM4xAHJMYD7YeJqRkIMXwODM/zzkYQwCBssd8CA/aveWzL/FyBTwa19yloFPJMhBDuCMLlcjQACMFRd2R6iIRjziDnRpgLpIgISRLXrfOZaDQXqzh0RIgub9LsPAAbCZMixCECguhBusQL0M1De/fTl6qQEwhgxk/ElcE7RbCCACwoQcr5v5w/sCQQQNZWAIUsDxywlsB4xR9iAoE0REsOzrgA+cM0aIHQBKcYoqAOBxpCuCcWACUr4kvdTukm7tpqYgcC3VtFjHurnQhQQ54Njxyx31fuVg44oetWk1bvMe9lAGQFCIUF6IhHtlQYZLU48IqS6JS9BzVC/8dQJxdouGzl31wyN+M1yHAFGPu9ymlf/BDjSePEXHkAUpvCQL5dwDm9sscGc2AhCLkEMpZAEIFDSWdFEoA+xiroISDOEl0PHCFKzz+gtybfa0v7rt2bAtkqTBCcCpcX/NeRAvlPrbxQfugDLvXzNIpJJhAYBTYCzgkQHn4YRFaAoTOAEKMAm+24vwe71uoZoT8Bj0qz3EIwIDmIA0YSXNm5jK4y3ewi+X2DaUOS7lUzNAiAg3oILQkwVZKAIVc5tmk4MDFCePaSwNcIJQk7iLkIJYORUISBB0OQAFUAAbcIEWSLeIqAkQQIEUKCTb24wgIAASGILiObW/Ay4RDMH6ywIqMD6imqyyEgT/8oJQiIgigD5ZyCn/3JpBR4idReipCmSsIHACBfs6i0ACEng/AGiABjiwBriADuAACoiAB+gLOtAMKTQjLJkDRcS6PNCQKzyQEEwTJxDBvxPBKSg+TOxAPjCuNhsDFQQAI6gtAJCFlyIdFIiE2LmN8/qYm8iB95vFa4uIKUACiZsCmmmLIjgERFCER+gAQjTEB1CA6LA9UMECMYiDOHjEPCCAFkOSLnSCWexCTXS4KSDBGTuuNMC5NBiFUNAESkPAUiiC63IbI+CEGmxFEjA8AOiAr5M4v4uxLCCBthDECqCAfcw6ouAAfSkKxNOVj7gBJYiCL2iDBejDLnQxhsTG/AJDKciCgjiuUEyD/zI5BDKorUhIg/0Jg7q7Gb6pQeBYgaNwQwDgASRwAiqgRwCgAimQApopgkLcx328CAl4gJzMmkZkERFArSdsgRiAC4YkyvpjyPyCyZeIrD2YMS8QIAAouPUYkhUgA0rAGjrwkbSTw5JEgQmTiB/AgiIIrZjgNJn4QTLYgkH4R5qkADtBhEIRSFCpug9ArRLYwqLkwqO0r5fcwYk8izI4syG4A8/7AwqAAN0IFLehg9BDKEFQgR6oAo6wiDvggdAiweJTSSMYhF8cRpocl0Zgk3+yk7n8ABQggbvES7x8MTAMQ/uSgjEgAz2YCB44gG9ymztYx8b0ADqYgzmAA4y4A/8i4AEuGAKNK4JHoBM66cx9cYNBeIRJ2Jeq80kUUAGJTE2jJMq95MQ0MQ4nIBL/kIOnjIgEYKKIgACeZBFJOECEGgMiCARE0CWLkID5BICarEkOKAHQLIHlHJcYEIIHi84mTK0WyIA7vE5s5C3XDK0h0AAe4AENyAECailOwATZ3LkEUKSJ0Mx9yQNPQsBFEExFgM6KKICKkAD7pAD8HEb+tIgBEIAXhdGisInqApmaSK0UeIEkEEsqcMhMPEptHAIeMIHrqoIzIAMqsI1SaKlUKIRF/CAEOAALcADdQE/0uAOAy0oPGKUz0COJEACMeID53McK2M8VrYC+gNE0/VL/iSCMTwGZG40BJhADMngJTxOz4AouBO0tbVQBRJSACADUCniEsSIg6ZMFMgIAZOso9ZlSByADzwMV3PyNo7kDJbi7iFhTojjG+cTPMj1TFonRVUyBG4CCM3BGlfS0IUDNiIiLbLtD15yACJiIM83JC6ACJJU+AGBSPWiCAKgciTgMIoBULAkE9fzQnroBPvPSziiAY0yaDqgAWS1RO5HBfXnCH7ACNXhGMggCiURNPO2tjMuvHIgAgKSIAiiAFeiyZXrBMpgDEwiAC1KfU7EAjhqXGgodQTivFsCtTCWKTxmAASjR+cRJZwUVJYAcLGiDZyw4IniJHuWtM/s2JHiA/7UkxIlwUQcQM05IBVnIhVQggi9IgI46AHbhmvbRFUNYR+gBEqrrVyb014r40oAVWAkogZvlAEQElYWDHK1DvOG0TnANwW9zggsw14sQAHXlBEOVhVQogNqMiAAgAADw1XGRVAAAuBXwmGUFgA+IWYpYU4FVgDBFIx5ggRLYl390m0kAzbcMBDBw2Fc9SrNcgaPFCI31ApfyWFkYmamViAAY2XGRJv8AAClggZBbU6/tjAeIgH0sAQdlARboANKxTzsZhEnAXNBUhAtQiTq1ryngxOKrWzRlikg4hRds2qMYAACA2mkFFRvwD9sQBBKgCa9N3K8tCvs0W7NFWylCUf/oCAM34IAVfYDW6E6XcAIAkgC7LQoB0A42HL2uDI/GqlYWAQMsbUWlelE2xd29qMnHhVzm3aWCLYDVtQh0PUbG/VTGPQ1DBAAJsJBIiIgXTAVlxZpCAIXg8IILKF/zxZKajFze1TOwVVOMEF/0GAIqAAVMQsXF6so9Ays7AQVJaBYk4N/T8l+MsEkHNdsDHmD5uYCDOwUGToUXcAETdg1dCYTYvQ0PAFS+yGCiqEmUNFsW8OAPBp4EXmDUTQMjTGFdudLfaMcO6N1xmWHInVwcLqQQXoTTRV0jVIDybdbfYZE0uI3boIIJqIAbrpB9LNvI5WIlxpoE5lgeNsIMbsv/CskDE4ud2b2ANL6ZDRZgMc6hC+g5J0ZFKR7bCIBfC3kD0bhVJ1gAm3SbNEZiOs6hHEDSjs2FIxkAI2xcm6xSjGCB3CC3BbgAJ8UaQhYgFoBjRAYedW3ijmXDZuXjT55kiyiB3PBDA0iAQakIiPDK/+3dTgZl6kFDRd7hFzSDMJ3hiEhliuABdhEOrkmAzcCIGK6QCjCmiCACWU1mdJXmW4YODqAEHgiCMRA9j00FQlxLiUDmvgCDA1iAt1qfAGiCYZ2I7kUPDigCMzhbAHDdz6iuj5DmEmVnapYICuiAa1YLJHViWUgEMi1TAOCAQ4BlvoiAw/Agqo0IExjW1X3R/5Mkinm+CCKI3E81rNIECZCoZ35VXH22CH3RBAfVHyow1FxYhQ2ogjDFz1CYhEcQZ2I+FZIhgAAwgS9AWABQZpBJYgVIXI7u6AhmU3HpCtlYQlBuS2MSIGwGaNQ1AxFAXwUIAz/ojCJoDdWICAOY2g64ga3o6X3ZYn35gRbY2q7saIwYDKubiIJbxGDOpCRGyaThXJRG3ekTAJpNgfTii/dQjdb41Y8DgHweFwESOhsAD6D8CJR6YI9mQk9JaqKQQqY6WrONiBX4noAuhDSVjeq9CA7IgIhwgAk4AFMJgAMYAeujHgdFhUfwg7pzgdhOQgBY609Ja09BJwvBOt8tgf9mnuvx5AK75mEXFYB3JAoeIAAnm1INqRZw+QzgGYVXiIVR0ASr3oIlyA8AIBqXhWAqcQGktoGMqgCN7gy5HoUikGupyGwehlHSJAo6gFe/jVpMZWfjZpFGoIRR0O9RQAVSWDeJeJwJC4+PqK7vHgFSpWIp0snhJUTyNmAA8G3flogELoVV2FsiKICJtkCMuGn59lJ2/lr77otDaARN0ARKaAT8JgUAGIWI6AMAQNjFBgDZTgFsPSDs8i4HpwgKKOLf1tmIsOMyfsFSaO+5LAoFcICqne/B7gs3fNGwvojmgE8Uh8/kBABNAABUAABLcIOIKOsZjwElUFh1pp7VPcb/Ev3xiPjTB5+IHp8IRTbUVViECyBuIyeKM3iABBCA1uWuxiLsFt2L3ca692wE+ARGSjBxFKeEUODvULCEiNgCLICCL4iDcB6X98GITG3WZpXniTBYitCXsi0CCacIC+iyUigFQZAPDXfviwgESI2CJCi9df5zctntiQBGYCxxE9eEUaAEFCc5TVhxAMBcYn8EhE7ofQkFHc9nTkdXE01vHujji/CAmOop0dBz0hRxAEj2ilDt7R0XMwJGNuH1Fs/vK09x+AQARXAOP7AEYYfpIrOTQGgEcQSAB+hfF+1pZy1RsLLoim3zonCAA2gAB/gSC2CA4tZ2ii6WhicUz4sC/46Awo1ma8+Iy2LRdV7/dURv8UJHhECIgy9gAutigjB48X2p91AYBHbK1C+V5oCdZnk+RoMt34hYXfhF2/TGCLdgly/ZgCJYeIx4n18k+og4hDhI8L7wAzQMyFuXCCgicRP39RS/chNHBD1QAys4GKQegfAeF0UIBVJYeZmVZ4nO63tG3xKleQBQAFn1LoAsEQ53q9UBsYVneADQJRIqFoQGFUsHZr9/+hRPdCrPb0SnAzFggo6oPsZSbV0J+5Xv0mWt+cHOYLXndLaXiGn9xxI4xigQgzlAeqGoiFI5AIMnCweAgApsdYuQ93V/S8CXn2Af/F838UZA/MBoAZe9e/8LCftDCIMliGyXt3ll3vQodlZEbHsJOFOAnB6JyAM6aIOgSILAOAADKNnRHg4GuKjVtwjQ1CU24Xa4vnSSawRfN3+rjAhZrxI7HxdSOAQudVOuxYjiv/yKwM9pxRGikFquFo7DAAgGBzqA+GDwA4CEChcqRLQQ0SEAfxhSrGjxIsNAihpx1ETJo0ImLUaiOIgQI0qLh8IsQQHiYoECABQkVEATQAEFOWUqeNAzAoAKHR4AePCAAlKMAQgccGBhwwYGDBw8EGH1YEoAHAEoghhoYtawWTc2ogSA0igAetokGTnSpFixlu4oQWGVoYCYGG/unEnUZ4QKQCUwBEsxT4D/AAYcaIC6QYOFBQSt3k2JaKMiAIgQfY3rmWIgjo3OUnRbEutnlJbCtKAsAmvemzoX8syJkybNCBGMAn1AeKFhigQMLH7qeIOFA0JipIjbaOPZRoeCp46LSLTCNgB+ACiJ4rTB6ihJGQpTxUcK2AN0sj9aoYIEojxxKjwqIQKHhL+BWwSz1AADFjQG1QUbUKDGZ2Vpokl0f1AnHkqhbaVQFAm1ABeEcflxxkKxsbdfUBVQUJNMALSgwG8lEAVABCBKVFEeTSRGwFTGQcUAAdUtOMqCAATySIZZaSTaaAu5AF6QKf2ByCShoEJKfjWR+Nt7IYroggsmtuBCDD8owQQT/z9AYdGDCl2wVI0OOGAAAgYEEEhqjWiSFiWUkIIKg0laFMh1Eyr0AgAvoKbnRQ46eAiQClXA4gNABXVfiyFKsJNOLtxwQ5hMiNFGHoZ6alEeiCX233AGEJDAINWNghYAr7wySRiEVsRnnXBikZANWV4YnqxkekodCwCwUEJCHSzakwTvSWCTTTH1ZNQD2n3GwqgEWGttAGDkUd0jeQLwSBgunNQrAHOERgkicWz3wg2AvnAaub7+ChYHwbLAQ0I8lFCBUYSJSJRNAwgQmwQFI3WwWAlUi60JGb4SyyuKdOFDSfEC0MUZeqy1XUIvACourxYrNO+8hyiiCLFFmJEQEf8KdbCfTQnl5NvBNduMkQkWjBoAD9uKN8ormsCpRAwg9wrCCz9EIcbFTAixrscgjysycCQ72NXJc6ISC9cKlRCfzDcpZDPZZY+YUKhgqO1zkGp0wYQSN8RQsaxb/mBFG3MkxHQSWsJLNUq/hob1jqMAzTWPqUqJkdmN10yoD0pAAffcIaeGQneYfydEF21clpkecaiBxQ9HWg64koccImFZaNVpuKujZIIHHoPgUfWvYztONqGSwy033Z+hQJKFCWERB2YJcaQIHWJgsRzqqf2hkUNlkVaW4YaHQgoAPD6CiNW5A7B7UkneIMTkStjwd1zDt4B5Qij4AEAbfD6X2Vb/imh8RhfRVwdnZsxCGpV8QiGTUET4xDc+syXJBr5TXwxOlxL3wc9EN7iVHg6xGSKNpisSoYP//gcn0phFgOp6GgCUcJGvJPAi5QvS+aCgBPWx7yIf+I77umMiAAgBC3BQCJ/IUqSusDCE4oFTCQcIACZ8DAAgaIGSSFYoPTkwfTaI4NQw0gPTJOQGSvhCHByUED5dBjsOEaMRLQbFHcbFagmZV5KcJkMaSrAipoEidxIyHQcFQoObIYtmwFemNHpGgCCkCKCqM71A9FGKQbIB+uB2xToyJAYj6U6W+reQr5DRIVppxBkHScgMVfB9ImQkI+eVqAwp4WmtrFwWGbJF/+Il4Qt686QeI6KZzDzCElyB4yg/Y5Y29C+PFTRR8MISCk2AEpWewmWGIGlFLGLELVCEQsYaAk2FZMYSnvCEQjKRCdXtMZhx8VkeAXCDIzkRislUjUJIQYlmGmqVQZJcCn+wvtMdISE9eMEaAXCGPDhkM4GEZmYQ4U1wqsRQ5oRQQdb4TotkiQkAsMQnUNE9b8kqhjPMVR1nmaWEXIekXSmoJ0+WkIUytCKZ6MxDs3KDirAzfrFkCA5R0CUVDiKjFusCFmQIPAm6oAWA+oJmEnKy53iyoFzRTCMe8c2UlDOYqKwIu9ylkEslUqI3XUhOcegC7sQqXn0QgxisoL5dAf+gBz1QCJeEIAa9MeRkCc2MUqv3zZZeJBODGGEIGbmZwQ72kDF4QQxm+oKRAsAGiazgRMEa1pwyllyqmERC4laSGiwkBjFgAocuotKkkjSqU03JOD+FOj6tDpV95EwcuvCDLWWVIY5t1yUT8tX4hdWax+wV114RCjycpwVNWIgPoKAGPQTSIs9JKl4bsVexiHMQj5iEKkhxh9nKio8+cqiPNNi8JFjSqLddiGLXGdDIZu5937GmKS1Giof5IhbDrcISmtCExFZIeYQ16ELul9BGZOK04mEDxVLwGgx5xlBkZKFDEZGHM0ThBtZMrEJsoM4/5TY9FQEBZYs6vOFVVlb/edDDnF4BgFgAIBSGuIJC8lAkhTB1sDTG2mUAYOC4aHQWvsyvQtxagxTYxSS7VUgc6HAoiAiOkXEgnYjd0q4pu6tdACiqQk4XVhd4rMu/jddHRqFRVbiKFJ+4bo8oAsrB2nU0GywwXz2TiawImcgLHlRCfvAEpE7PK4wkp0KSAND3keS27iWJUQGa5amN2H2J9tiXyUWrOs3zI9xTxYoTkhaKnFSlHVSEVONskb16IhStaJWow1LnIh9kBADwQRjCcIY55AGwCgntHS+5TsxVloImChkKsGTNxWI5eq/ljGZGaIVBcG8hdFqIXfGn0ulixBOfcAUrWGHqWOjCE28A/3KGhFyDGui3CTcQE1IZIi0LEdot7/rtenV7kmDb4Afl9dj6QtinISYEhQC4HaZFu9TnIGrHFLG2KyrCCgC8YQ36PUK5IVTuJsxvSzOlyA8SiUxr9uAIs/yOQgIKgPDQWwgmt7cNbhBpqrWOQgoRwpcSgl2FaPQho1nzVFNt7YVTJBgAYAQj3sBwoa9hDWAoN8SPmxClX2TiTTjCygHQ35DD960Lcat7dzg3EVwZkiaHQvqgGJ7mlJUUeO2VIurkEIv6WyFKeAJFVJyW53DkENYmNd49wfOe8/wNfv874IludKTrt+kTB0BzjASAMSEoITHoDnwjThGQtyAGx/Wsyf/RB4Wgit0gXPdfIwLBIZNnJRSYZjEAQKKITLii9a5oRStY8YmdJ+TUDPF5JwgR+N3zHgBFP/rhFeL0hJR4k6LDAnmLNhIXsEH3b5A8b9u63xhkHuxA7bxByJ6QUIjsD3j4QhJQSPqU+FIhoyBFKGZx6oQDAPYJYf9C4L8Q3tOf/gkputORnoLKUn+udiWtGEQB0RRNQtRADKyB0PVTAX5HD8RAvX3d5pHOyI3cB7zEEqQKKthTvCTBD2QeD7UdRhhGMPjCLACA+qUE+wVDCRJCQtSfC7ogALDBxFkdbT2eFShP8jhEIORBG6SVELhA4iXEEYBBZ4mAAXagEDDB5n3/gRAghEmggA3EioqFXrxAARsAQBUgYb+B4EKMX0JAgRiwwi/4AkbY3vtVxAumYf2xAfDtF/EV1eM1hFIVyWBpzLqxUQ8UXlvt3/kk4eZ1wRLsykGAQJZERAaCT7zE4XZ4oEX8gCMyIgAkwRIwQieYoC/4HBkCQOsxhPy14NCpISj+HRuWW1G5RUJ0AV0xxPJ02jYpBLlZSGKZnORgQRdUAeLd2Q1F4SeomCLAFLkI3RuwwSNexA+cGyMqwRL8HSPoWEIEAzEohCucIBp+IihS4wvK4NG9FRRZ3A3qAYCRVJ/cFUbol2d5HfrQ4hIkxA5QYAW6gBBEhCp8DxrJCgqw/wEwLiIkWoQrAcAS2ONCsCBF/AJGhKLftSAMiqLDORzUEZ/UcYiN4dIGScdTXcQWVMGlVB8t2qJ+9UB6GIROhcEukoJ0zCOh9AAhnCQbpOQSeOAjZl4rJcEMOWIyXgQh3MFC+BwaEuQLGqQoAh8YoAdDHBJhadPJ2NhFHILoOA8TWAEWYIESOF0NGAQhPg0qxKMgkQvmLCMjnCQhsOGWBIqVUcRM+aNYXCJFXKFC6GT9gQHgsYHDNcEaKGBCfMG51AmQnB2bDRagMcS+hV7ouI3TgUENeEcMgOQrmF1V0SMAYALQ/RwA6F6WHBaVTaZBhsUyAkAmKsPCbaXQUYRa1v+fwwHfGmDOD4hBIFAaas5TQuXlI5CT6ugRWVCa4czTHVQBGyTd8wGACLTADwwCKryCPIoShPSAKWDCYjImY8pl0WQVZb5AExRkZ6bELygDQ3TCMjpfTn6m34VmExxdl3wBHbROalIaKO3SRszZSllCZmQCqMlm9nyTIfRBbS5BD6zBkBVmKEwh1dSAKZgCAPjnYlaEZF4cu2SOP95jdIqFQDpm4DEcQ6jl4DWBDF5QHIjneJInV5xU+THEI4hn9ozCXsGZIdxBEnxbDMxPCL1Bf95CfzICilIEllxKng0PQDoodDpojV4EdSZEJ5jCdeqeNXrmCzqcDDbBElRBGwT/0IWm5v1sxoYqxCOknUd8aCjknScoQhz4wR10gRukUeUxAiaYAlpeHEUM6LssAVfmKIJaRDQCgC7owoIyBGP+XJpSo4MOJHemJEUsKWqe1B9NV5R+xJxkT5VaqSX8QYE9AirUnK0BDoi9FZlaRK7YgFFN4nU+5kk+pqZexCzMQjS+6S8Ew44qhCl0wpw+5lZyJeDd6UKMIpFuAR7M2ELwqZv9VyZYgodmj45ZqSccaqm1CgC4wRak0Qc83rllhQvYABsAHbMmRKry6IKWoCZqoicgQitIVSZoQjT+AjEoAzEEwy+wgn/6KHJqZZoC6d+14FuywR10gpJSmkLw6WoS/1ZUhVn2NEIozB7erZQefMKpqdiVGdEHtMBM5VE6WYQDAgC59UBBMitjVmJClGA0zoInPEIrSOv7zUIoNMInhIIvfCu4zkJ/+qhCgKnJYqqqxiAYEKkhgFMJoWa8LqmfQkTa2avhhJ4utF7sGZglIEJ+tl9oGRH8cIcQOOLBMsQNOFaYJgQhNAGYOmZCEAMx6IIJth7CKQTVwinVtsLNzZgvhGuP+iiAnirUpiohEOkd6J3LjmfMXqifmozNrspXqN/rAQAr7FyvKgL3kaGGuVoIWUqeHavRCijiEacp3EJCjOt/AsCOvmnONsLFummcUm1C6AIr4BJmrZgvqMInGN7CshICI5CrcSKncT7mGkyiIbBCK7jCy9ZJQggQn86TXnaL4aACuiyJp26ijhVQQjyCiumCJdBA1FlMwXphnjliJQkfIazo4TLELwhknGaFLuTY61pPpiXEE8TAEviA7oEpY5Kr771By7KCzrbunsbumgXCoCYbRCSc62Gb3iVEAfmCK7xBCxRECKGA4HJhnm1VWCYECHgc0N1CMDiDM/gcuALA81IunD7v81LE9A5ckWAW6ikEip7o/LwBmHblHaTu+7aC+c5q7JrFzPLJn8nfqc0e92EmxeoAe6FEQAAAIfkEBQYAAAAsRAAYALgA2AAACP8AAQgcSLCgwYMIEypcONBIACNQGEqcSLGixYsYM2qkKONhlI0gQ4ocSbKkQQMmU6pcybJkgJYwY8qcOdAjzZs4c2JMYCSKFZ1AgwoVyNPn0KNIYxb9mbSp05FLn0qdejEq1atYEVrNyjVrAgBWmHYdO5VFByxiyapNahbt2rdIS5xNC7cuzrZ07eqNiXevX5l9/wpeGXiwYZIyEmzJW7dIECKQy/BIY4YHlsMXjSS4wvjtG1CgQ4PmtAJz5s2X92IBlSrVqdawSwVJbXoiiwBWaNfFsgS279anctSueNvtXtauf7um0mW4bQJGmHy02wT4Ih1hABR6nYqK8+cw/IL/en2KSBWBYJJ76fl9IQsCJXS/Te9aUI8rUJ6Qge2lR5jOV2FSCiaSYAIKJgIimGAV5y2UAAEsNFfXF4W4Vt4XX4ghBiCnvCZHEVeQ9cwz8ZQozzwnzqPiiiumc4455QyjFYR6gUGeIDpUAQUUWLAhUCqLkCEfVZjMY8+R7thTj5L11HPPPfZAaY+L5IQTTjfh2NIgQQ4QkMATdo2XSilpYIHWE0w00SEAkZAxXVarpMjinCzKE4+V2NBCywqQrFBCEBwAugAEDTRggBJwHRHJomk0EYYYZ6ihBhiLRvJhiFlVEQ2Kdpbo6afxyCPqPObUMcGpqEKgqqoLLGBAqxe8/0mWGYssIkgZSuSqxBNmClKrF2SMBU6noBbrqTzp0NLAqsy26qyzXyWEw7Q4IAHgSrdkq0ZBMvh6qxlkhGsEGeN6KwcAUQz5VBTjsNNOiQCU+K6x8JqzLLOsLtDAswskkO2/2QKyGLU4UOBDTM+Mkw497iTpDj3zpIMONZsU4a0XaWRcxsYb+7pIGgBAmpUY7Lh7rKgoi3oyqZXw66wHCwRAwEszF7MOOjfnjA46xkwbQDY7r3PzOTubY7Q44CSttNLjLG2NNc8wI/WIw1izzjz0RBnlPfh0DaUwiZjhiK1jeMHx2R5nfMMPQwGySSS48FACC3Sb0AELdggt9LwqAv9AJ9b01NMOOYUuu6++ASyAwLMGAMHF44/DUgksoqCBQwhAQFLL5rXgQgsDEKSKqgWnimL66ZCcrjo15JzTzpFbw/7k7MJU4oi3gsiR++6627qIF2aIoZMpmyQCCyxoAIGGAQQ0P7Pz2ZTs99/zTL9i4BF/I4723IuzvTfiHCP+McVIc0w05qd/zDLI7EK56ZVUkvr8kNQPyQQe5K///vmjGsIEDdDGiZIku63N7h7pEAYXHDG2WuHOVt6qVRkSYaaIyGRE3riEBjVoAAzsa18IMIAIDYCNd8DuhChE4ezywcIWupCF+4jhPvShjxjqIx81jGELvYaPJ3Xthz18kgn/tYbCekAMWdtD2jdOKCUpHcmIKmpHOOrghdvVyncOzGKt5AAGMYBhD9lyg0pWwQxwqKMe64DFJSohik3YwgOEKpwcwXHAOtrRh/hgIT7sYSR7ENBhBIRSHYHYw9i5kIYyTGQiWXjDHT5pa0GM5B1nB7t4NAMNgsikIAaiyU7aCgCCOMISjFAJd7UjHU1jxi1McYSM3GIa01DHkd7hDm+IAhK0OIYXuJADD2zAAhZwgAMYoK9o3CMfeXyhMl/YtXepKB7tmFc0p0nNalLTRClDGYpQ9Ck7aTNF7zoSHgnJQ3IG8R7yqEQD8Mc//Q0hB/CMJxeKoIQy8CKa3lTRie6x/41tTOMWwlPIK7fhj368Yx/vSCg+wEELTgDBAw4A5gYmGkxgOsAAkDjmMjfKQiixI2XzgOY130VSaJq0pNL01LzkddKWRrOl6yhHko5Jw5ra1KYbjUclAlAoA6yqUMySowGG4IEiPGMeTTIiPSCmTyPtgx/juIULDsKMafTjqvxQ5j2KYQsuTGCYISQAAyJqAQYgIAAB+AbgkppUADTMHksloB/h2k15WNOaIj3pXVFKUpTqtZpGK4c9cHjTwhqWkewIAQEGhYAGkBWYGtAA6SagqgB4wACicAclURjSUTGMHs8I6ECG4Y6E6jAfTqRHOCCxCSS8kwQNmJnMDmCAEP8GAAhZOyFC7AEA3p5wHtUU6V6HS9ziWtNd6DjHOcgxD40S1rDQpaE5MLDYsVpgAyS4wAo2oAIVXICiE4jZBI7xDjtGaR/94Ic9ormOdsjDHW0oSDja0VQ5HcMauCCCE6jgBSc4QQ57yMIEmmcAs6K1Eik8Um8X7FsGH8mu0SwZNEtWsrua7KXHpbCGTTlcDZfjw+d4a4JhFzF1pKNhTVKSParBvAUIM6Ib0ABFgXndDTggZgf4xjK71g9//AMe8OiHOtBRjXBgYksAEKzD5hoNIvDhyXyQg5TTYAc+JCIRfFjBBCwAAAZMgAFLHLGYTzjhkrW3HRtO8zrcIZAnNin/SWx1B1tD6i5Tprlk6PhwOdrB5gS3ecEHOdI3FkCAAlc0osOUrEUdMIHaGmAc+CjsPljYYyAHuR9Ezg5BrFEPOPsRF2YQxB6gDOVRJ0IQfMidHFYQWQ2QABxjjrU74sGOddTa1ma2tdBuLTRhtOqnrlqAKNgIP9V5A9d3znWVqiSPWIt5IPYQB6ELLcLmyWyEBxjrMBfAAAygI6uHjfQM+cEPhLpjGD9ggkB8wIx5vNUdtpBDlNPAMQDzYQ92SMMe8G2HMsghCBrwAAkc5la3znXJCIed4PSWM17nTG8T+6CqChVsfR1OhPpSVTIcvmuGoyMb3AjHOarXW2eLGRyu/3oeWhHgZbTKrAEsP0BjF6ANd2DNgFzLuR65Zg9v0CIGBBmGuxsWjSmP4ehIHwOA9yBlOWQsDV4YgwossAmssfXqWE8qm+fBjp0pV7lC21nQcJbcOsTRZWhfnMUbYLOxM1xo5ciG3EPM2yWbHIWDdpUDSOAFK0fiylJnAAE8ENavhjnWva1HOsIBjFoUxBZ8rgc4ykDvo09BClH3QtT1ve/Ka14KUpgAJKhHp6Wa3vTyWMeLjAYjoSnX614XRlDl+MHCtYr2hbqZ2MVOtHOEgxrXyEY7soZwTyc8we74hk9XgLFELEoS0Id+IrKwAPxVfwK55W2bR+wOeVADFoTQw/9AYlAEdqCoFpU/OhJyEHUnDOHoVJZDFjSfBSo4IQgroEU2Uxaq/Y+Km+egZ+VADuXQe1/3deWAdvyCL/eCL8uge7ynXOZwDdBADdETOJ3WMBq4gRp4cAeXfBMQdWOgb04HYILgfJKQCHsAAYNCOtkHOwVxQvRgDsBQCVWgG20wX/GAC2VwdJrXX1GXBewHACNoB2OABE6ABK41BBZQDMYVXCXFDuZADlRIDtAADMJQDMXAC1rIhcVQCQzQgPhCKGOogMXgdQYYgNCwDNAQPX2zItMzPRCzVEqFgXGlSxszBBlTglRWBn13ZefSAGb1grHmfZcgCjcAdEFHNBszBln/4ASZh3Tzd3T+VgYkMATvBE8ZEIYQwADJUwd1wEa1MGxZmIXFID7hAD5dWAeFAgR1wAu8QDnyIz+QID8hgAGgM4a6uIsQUIta+Ivlg4XGcA3r4H/fxClyciLKeAxUIISUR2XxZwdTlgZDAGBeEF6iQHwndHxwxQ60gAaAkARPYEEA8AJEQA7VIIk5gHlJVzaQOIJpsH7xlAMTQAvS0Az3KAx6Aou0wAuVUAfKgwZocEseAASuODm80AzUQA0hJ4AOSYAOqWfXUA3UQJEWWQ1dKAxcyAvAMGy0KD9mBwFAAAvUgA7tAAAjlVImBSqi8g1DkAX0Rm9ycDZOJ40ZYzZj/zAEASAKSKV1Cbck9TAP4TCQcSAGX0COAAAHwyANIugFU+AFRJh0XqACSDAGlDeV86gC2OANqWglXvmVVBgOYVmF5KANwAd813AN2BAOekaFAwiRAxiXchmRc0mXEUkOzVAJQMAAdQAJp7g+5FMM3jCY4jCYhgkO1iQKSHA2ZZMFjumYm+d09OYFSIAAoiAnc0KHTcJ1wAAEhKAGR4koitgGYFAMmueD7Yh0l2eV9KYCWbkMAMANsjmb3dAN3lCbuJmbXpmWZ7mQ1+CWBBicbwmcwlmcddmWD9mW5EANu+A+oPicoGiQFJdxsvUFaJEbX8ABJCCVjjkFj/md8NiDSP+QAZWwUnW1TXbSDZmDBWKgBmcgEBYkBElgC0iQed6ZmkcXlZQnj/FEC2iZlgAKoNiglthQoAaqDdxwDQu5oAsJAF5JlhAaoRAal1U4nGRJoQQYDtfQnLuQDN0AoeIwlmIZDtqQDdJgDdGAoigKCezXmI4JADngBN75iE4AmSBTBjlAAsVQYWjWo9aEDsCAAWsgBnCQB4dwCAXBBFjAA1kgEDmABFGJn6wpdfNIAsAgDQyapVlqkWhJDdCApQsKDcEnoAYqdyDHDXLHDbmJJV/ZphIKoeGADRyKDFvZlVx5p21qJVzpldIQgvT3mE6QAeuYBUhAAjkwo1C5MSTAC8n/lVxEs3u3hg7ekDkaogZxEAdzUBBzkAdk8I5TMAVR2o4C8YyZCE8qcAnL0AzQoKqsuqrQ4KqvGqtfSg3NoKpeSquvWqutqqpfKg3SMKtguqDB6pvVkJYDaqDIaqbM2ZzCYIHa8KzcgKCzOa1qqqbacJtokAPz5wXfOQX+5ZhOQJUzmgVWOQY5AAnlACPqynqrN4XGAARkcAM3YAM/IAQFkQeBkK9SQK6nmZpeIAXaOgYAADJVigbJoKsI2wwAoLAJi7D3eLAAEKuqugwUW7EWe7EYa7HNkKqpqquuyquyCg3uAwvAUIEUOZEoG6Aqa6zYsAA/mAVT4Frj2p0zO4lj/+AEdSChc7mcaGAHMeACLRC0LXAQYtAGnRqq7dhf2goAlJcF3ZUDKkACokCxDVu1VbuqyNCxtbqqGdu1Xvu1XWsMsOA+HdqrvkoNWDqsWvp97MetMBu1NfqdjxmzcfuDdbCnXWklyyYO4bALkPAFUZAEQvADNqCIBPEFcBAIbCAFVJCfSFs2ULmtThu1UYsGxqC1Vpu5upq1CLuGYPu5oHuxyAALAMCsDfuxIRuyDPCyMKuEMwoAjwm7gaoCkAmVdQCtsomguiub0oAGjKAI+RoIeZCpB3EIeqAHYOAEAoEEKhCqsEuzVCAFJEC5JDABHKu52NsMyJC117uxofu9X/+bDMkwsgBwudnbsMDQtm4rt+zbpDFau1NQDMU6vyqLDd+XCHSQB/qbB3SwEHRQBN7hBfY3EI9JBZfnX1KgvNNLAiTgAcAgEJh7vrUKABlbq+B7wV2bDMBwPCQbweeLBqzLvs/7ojA7rppHBeXjqyqMtmcLDFwQBhlyBm0QBwzRBmcwBJgXuY5pwAnsXz6swAxMAhqwsBsLwROhq8uQDMggvgCQDLBZEBiMwckgDBy8C8ggwbqavi/7qTXbvnLrlNWQsKibDJcwAi3gAjGwNoiyEFDABEWwX/UXvT3sXwCgvD8cxAwsCgORxBQ7EAq7sALxxwwrENtbyNtLwbDZx4r/nMgUbMQEIcXGAABqBAvC4MGaWwxBgHkwOwQa8JJe/Ig54MmPWQu0mrmXUAQpkMopILQSYcNDgASg98M/XMc/XKhCTAJBQAeFgAmFYAd2oDm4gAtLDMjE/MfsAwCGvL1OPMxNTMFODMGJHM2IPM2K3MgDkQwCgc3IAAwb1KGWbLV1EASw3IzhKsrt6wSGOq5UAAOlXLXC4LMx8LNBO1VCACYLkQdF8MqyvM9K6MOuxsALYJ1MIAQ+0AIjgAItUANoHAM/AAiAkAj1Iwp6oieSU4uQUAfzZAInUATj4tB7EAm2ANKbE8zBjIXCYAzGcMjNvMdOzMcuPcWSfDzCcLDn/wsMnYyEUvCpzUjC7BuzM5sDMUDTDYsMkmAIgTAHbSAGXYCUDJGvZKDP+5yEStjPAEBUcNQBPxADLYACXN3VXX3GoiQD2HUBF8DAKrACFoAAZa0CGuACa5MEVQApcEAHcDDXcUAHeI3XcOAGaqDUXeBFYAAIu4wgiWALkmALtsA5JM2RAnE8u1DJBcGwkt0MwrACmNjPOb3Tnyy3TsAFS2C1y7AJhvAH+5sHcbAtFaEGXZDPUBrVUw2lddxoLJAEP5CIWz0CuI0Cq8zQUCAGc3AIRhDEF9BdKrABBzC93YUFfz3Df5Cvf/Dc0J2vR5oHZ4AFQhDPLuADPvADSsAEUP/QBV2QIRiCBYGbiCmA2yNgAkVQB6Lw2BLRJ6F82Uj4qZs9t1MACZgQBkKNsLVw13mN1KJFEUJgAy5QAlDtwwexfmltAGdglOTNBLkiBBL+BGIQB0earzzAXStAAmPN4Qhw1ivAArmipEX720d6CIqgCIhwCEX5BFndAimAArnd1SngAjYgn1EQBW2sBLWt1Vw9AqrcAkVABg6NIKZgCoid5LZgqPGNifqc0+MqBa45rp+aA2DwBUxgDAm7DLWgpDFswwFeEVjABD8QykhoEO6H3CrgAAiAAEWwv3RwqUmNIZCiBm0ww/kb3MWdXUHM5ivw5yVwAvMcz+lmBWcQB4P/gAdnYAUE7ePo/ehAztBJEAVfIMNxAOZdgAVQkAQ8XttrUwVh4AcnLrz6+9xvAE9OnupPTt9STgJx+6lOAAZYoARBjcTIYAcgAAItEAM3ngTezdQTgQiIEAhgIN9Qun7Ui10ksAJtjgCBcKQAQMNMYAMEwd1JwCNdkAB7XtZBvAGK8+d/bgZmAAMfgNAx4AMUDgdHigeqPdCFC7QwjtA37uWHXtqlPQdxAAdt0NdfEN6RAgeYau95QASoruqpjtM6ndM0SwZWoAQ+EAObsAl7sAl28Ohc7db1vBGB8AdxUATxDbVRy8DcvgErgARmtQBFQLw3ALQFketmPFUEwOF8/47HGvDhA1HylCEDQCchAqHihyDswBsHZ3CUTADX7HkGcDAHGw/dTC/dR9oGXaAE8lqv8vkE2NmecOCaTW7wTj7f9F3CPIAH7A64SWDeqizjKPACN7ArIYEFTyAEJ5DsMz/WVLkBCJBtLHADFcEAJAAAM9/3GwBzBEECGWA20V4Q0A0AzZ2vA9HXEkKkRrrio/7sP38IcIDlBH7bj37GNnADQgADTM71XO8EoMfFTkAGiJDiKj7sdJDUVvD2nq8EPPIFItECuW4CEyXzI8/na44AADBMAGC4CSEDABDzfT/zfh9jitO8sDyZXsADSHoRQ0sQVtCeA/EIj/AHAAAFD/9/2yLw/SKQ6+KPAjFgAmYdygIh+l1vx04wAW7u3M8dvKM+B/xO+yPxAfjf7XM/88x+AAAxgUGRNgAMHkRokAcAByoAkHh44eAGDRsQEHAwYUKZMgCmOOEhRkxCkiVNnrQBoEUKFCNGiAARc4SLG0IsbNhAgoTDIT19/gQ6JAeDBQj+HEV6NE+eOGrEdIGS5ORUky4AjPhgQkXOnBd0dl3BcIIDBhMCKUI0tWiOsQ8NWmhAlkFFAgsaTBgyxosXFROo/gV8EKqSGy5aIBTChEeQryRy5ggKNMdkEkGcHAhAkA6ApEzPfMHCREhg0gaFaOVKwuvBCyuGWMiYkYceqiT/MshRceChBQ0c5ZTJsaKBAQQLNHqh4gQJAAmlnTvfgMTx9JwkIEeenEPFkDKRDAS4wAQKgC9izqg5I+ZLlCQ/npNWUwSnYwAS6a8I0jc2hzNUT+SIZIiDVJCjQDMKTEMDuwiAQCMnnMiBhApAOOw9C0vSYafUUtNJsslU0MCL306BIAAERDAohpqSEA8KJpS4MDATcDJphRVycIAhACxI4oapQJBjkUUIsACAAo88Mg0ShiMgA7xUUMEDAHyMsUqDOKAuy9S26ym7DVQQsYxSFgmAgA5A+OADAGIwKAosBLPypBEAUGE6+3JSIawJbtIAgA7mPEkGRxYRZAELxpDj/0AjD5QjjTQWWICAu6CU8oIn4ozxhA21zFKF7CzIkwpHOeGEgABYwPRCFnLwqquHvrSxoj7rs4HNklAwAxRQkNjAggINIsIJLwxqdAIIIr1LA41MSFXVOjndcD4SLGAAyhsdEUQQThYIYAEUmn0vh9RWg3UFDSwoMiceoijJhRMiAYAKAgxgII1ElcSojDQOXAECCCTVCIIGwLUwiCFSOwhaxxZwYDowy3BCDi8MIIBZguO0No10N7hAhSPcICkMMzgBoAxJIUjDyDQ2KJOIX1cwANIGGoQggRq+vTiwDp7NySCuANhwha0gVU0nJ4AeYgUHMgM558A2eLVoOvMMYv8CnKBUgYglDkHoCxkEiQQUAGJGQA6VvfjSXiNzIM4AAARegFkQnP4LjFa1nMhhJyhqYIEDcMIJ1CHSyMAADqqgG7AiGlvtVQAOYOBLrDcoIpCDXCAikkg4MdsgvxB01N4DVYgZ0gUMSCBNNRM3KY8SGttwIqBn3xOBMhtAFwAkyvACFCcygIj1qb4AQ2iDJAIcJwZ2grK1+ixuyWxQIqGiBATe7ohRJOVA4KKiCCAgTeFN4sEAoTeFOtoNVvDiJm7rOn273zhJgwiLxz+JB+SBTn4+a/9XQQcAAAIjAGARnBDEBTrQNyd15EgHMsMEYiYpU50AfyXhAQFIQIUVcAr/IVADmhfS0JdIGacIZFhCEYIUNkFc8CQxKdLsaJQ8FbSmNQ4BwApO8AEzHJATXrAgCwLAAAQYIAdGOsgECFDEBgQgACeQigsPwgMHVAR21JGda0REuO5BiiY1UQIVBCGHUkSiCLaSYkI6IBHZccUCJBBaWBDCAhnIgQqgEEQJRPABFCiAOJEiAAMYkIF5RYpiJphDHAqCvxIcgAUmIBJOKjIf9NEnB6JylAb6hoAEoKAFL7iBEogwRlIB4grCMwEReHCCE8wNISDQFAhl6BioQQkhQUCCF/SVBU6M4QQpcIENhMAB4gCgKKfrngEaUAQw5OEoF6wAb0zVv/7hrZb2/3JUBr73SxUpAQsqPCAoOBEH1vEgEZGQhCQikQgzmKEIrATACRywKYRMIE+39MIYOFKGIRABIW2IQxGuNy8DEGdmlTuK5fB3AiRIoQEEANwKqAk46khSRAfKQffq0gIVJaELamgDFYRUilT0YRB044EdzplOlrJ0nWkYAxJuVBJ08cRg+tynF0CSkEMcIhBs4EDfJlCEIiAlEArFHwu8oE2rrU+iE50P0KAkQmwioG8BWMENfvCEL6gBDnPIwRjFiYlD5MFpZpBCIviQTk601K0t3YMdlYYuv+AnCDjlSBb0agIl9PUgcziEIgSLiKMW9qhcw58JLNO3rexkkv3jH/+NkJOkskiQAAC41BkASoc/kCFIujqFWXPGhhz8hiNp2MMexqDWt7aWD1RAwAEmsIIDqGCfY9CrFIaggha0JGRu+INgG6GINAKACFnQ5Bt79ViogjAICCICBEqXGYMAdxCBRQQbvLA5UKQCqeDKQxi4gyQ78CGuMC3DGMawBz6gs6XoTISSAHARD+jSC3pFglBIYAIQAOogKUBIF4oLABkgIQcLWF6veNNcwCmIXhMwJDLJwy4ALEEJUAiDGvKQAyGBQhaYoM3FyCAFvWZhL7pMgx3kENcjnVdE51znOnHDIANM4L5ZyO9uMzAh1Q34JERQAaQYcBPHnAtdzE2eBIv/oswiUqwIb0LICDwZTBUKwsOnyFkeWDCFG+/FICfei77kYIfUxpV3AEiEWvkwBg9M4CIqwHFPdDIBCaBpdT4myRtIQDGNIMHPHDFvo9KrFy/4eQhI8NSHpOSBElRBCGg0iExG0IE0RKIUsjhFFAl23C6D2dOdtleZvcAHPgCAL26uy4dIoAEPQKDOqrszngEQCCIgawhpZmuuJdHWXbfWrZFAQhFKorqYSEFIslgFGSoELg2YuMTD+vReICSsvSDqN07gnROgdDoCeKBObZ5AA179ARTJ+iBsGI4HyrCHlea6re92t655HQneCTshsE4TDwSRBlnIQtkXy8BeSpyF/y972dRemMKhTXxifRXaU0hwAoQD0IAMKCvcBuCvS1xiboOwIGZZkAMfcN1reINCEiYnua7TmYM0QMwksC5BpfuNZYI1gQQn1mvBP23qhYPZUVJQAcS14wHwNQjCBb3BCwwDaVlHigTpdQJu81mGRqkXp+otg4rRS2Y+yAEJK5aDgGKwbIMQGwRS2ByyyUAwMAwB5zmPtqcPXm1Tk8AJQlEBIRl0LOKYoA3q6UIXwsDxO0x8MljXV+ha3vLTho4j99VlgfZA9ZgaYT2aVklLYsIDQvWbDF+AQ7PIkIO3Ezzu0f6yPrU99OE0oAFFRMAF8hCIwOLhM+aeBBkCSXp9nv/e91PQZ6PSIKwsOIEMiYxD6L9gBQD8IAZKN4EcItHvUhCsCDlY+MB9f/oyZEEnHvBApCDQZACAoRGTGMQZnjAajhdhASrgMnKmMP8pSMHP9Mc//aWgHCdMoedchhCkMKvNAABFeoon2K7pKylLSItUIYEheBApmL+52z5PGwMAmAAPcJLhKKjYa4RHOAQ1qALnwxlzI4MJILEsyL+P8JT+W8H52z+II7ETE5aES4pn+gMAWAo6yAMi6DxZKAQ8ABcw0IApuA4I7D8K9L25s7jxqzEEiIBJOAQ3cLQYQIFya78hkAIqeEH7a6gXhMEHaaiey6UsGAKEQoqDOKxGIAP/bek3sSGYHtocvggCFoDA+Pu9HKC2NhOYPyIARXCDLXi0K8RCjnsDJ5BAMFRE/BNDCVy4MkQCMgiEG5w12vvAQ+gOTpCFVJCBQrSSQBARUhGEHAADLDgBDtDCYZECJfQyPdwLY3k9SfkOQYyBFMA3jgMAPSiBL1zEXoxBRzS1ITAxkBgESjSIS3SDNDi2ZIu1OLEXToiERVABI5AyFOiAhgIAyGDFYTkIq2KibSLEW8RFIuDFXlTE/VMO/5M2KfAC3brBP1AoEHQDKNA3TZQFSXAlTLmDAoFGQVABEcCKmPgPALC/beRGJ9CoGiOiTkIBfGtGWSPHRDRHMETHhqKC/xPLJSoYgjfQg0mEx4MARCsQghOotCsDlzvIFmiUAxLYI1gTIHaMO49wAulCAKKAFAIwgiUQglppAf/CRQAgA4jbLRecyPz7xbkrwyG4g0d4hOFShEY4CFpsgSE4tlSwN0xpwwNaBC9YgYY0OxZYDlb0CCkonCIgJicKAB6YBEWwvS5QgtGwlR7zsTwoAqEMuqJcwRjsv0ckSBJYgjA4Az9QhFAgBU0wCCXwgRYQARMQhEVYhVRYu1Qxg5RcBClYATsTHwD4gBMgR0TUP/srAUOYhEdQBDAAgwSQAA5ABEV4hEmQwrZ8S568QilrgR/AgjaYgwvKgYaSSLxER+WQQf+98oLdyoEIqAGOWoIqCINBsASD2ALEjIEO2C4h4Uas1BZOWIQc2CG5LLvN9Kejya8MKILRVIRAoAAKkIDzVE8KqAAO4AABCgxnesdnsr77W0TPDEM/y7HsOLSjGQI4wgo+igEh2AI/mARSIAUp9AMxsIIM0I7guJ8qqQJSwk4V2M6H1EwKMQIZaAI/YEpFOISjWM8RPQj2dM8OQFEOoIAIiAAK+Av6JBgegDhFRDQkmD/lGAINMIEOYKUT6IAIIIEtTIPt4gE0QYEY+IEqcINDmASDWM0PpIQiKAt0MQEfiJM3iAQ5EEUVQAGWcAlPXBMhCAM8+NAQTQr1/IPzJBj/F82ZErjDF4SQhnoQEjiTmMA30iOV6UkDEDhSH1BSJn0Eg0iKQOCBA2AYB8iROLmDLBVFEtiCHlkJkhCCLvDQtTTTGywsDgAANcUU92TTNj203sS/GDSBEcBMfOMBtNMV+unTP6UE0kQqpDCB4kDUCSggKymEaCQZLwgCOpgDNfiC8TAJEJ3Po+ipSlTRVHFN1rFDP0NEKYDWB7k7Hhg7ltA8WDOB7eIEcRIEI7CBPyXP70KKMmGA2JgAMhAtC8kDMhgU7KSCINADOiDAkxjREXXPnjoET22WCEicD4CljtHPgD2+Ofg7LOgRw0CBlhiBExicbQWFRSADJTgDQC3P/xw8iKMAgzLxG9g4ACM4qRhRJ3HKziIoRostiQfg1001iffsAPfU1GYpAOFJASHAAjDYAjLA2S0o2R2cg0T6jPWrRRTA022NBDLoA4r1SJP9gzxogjKhF0QtiyrJA0mQA5ElATb4g8AK1IQogAH4ixQ1iBIAFwHAny+IgzngQT0o1hGVAAmIgOUrgu5Y1UgYhHA1xqMwgTJBAETlW3S9ED1YhKpFIA94g6ds0oQgW8DoALEtAbEFAA5oDitJ3PFB26Uo1jSt1/Vkn3AilRJwz6WVTxzE2w40CES1AJ29kDsIXLHxx9acwiVAiMkFjBJA0RLFFNlNnMq9XKTIXPWMAP8uSINt3dYgeACUbdvztNykmJeaxEBBaqbUxU5o9AIieAQqhDTc/YsHMFGDeAAA8NqfBIzdRdPerQAAcDuHBQUiGIABKIACUIDilYDclNelyFsnohgCuIB5fY9c1cp3rQIb6K1hI433RdkHUICYBd8XFd/ePc/yzcbt0pUy8t71Xd/2VYD3jYCzpQNTQcsAaIIY0QNJWASxyU4TiNTYLTvsnQoJqID2lAADxpTIxZ+1ZWAHzqEyGGFQKAVOUAAAEIAfpmAKdl8CTgCKOQAZvpBCGGEDIoETaMmDSNwPUOEVpl0UrYBPTZV6zZn5ZGD2TAguKINtLQVQCAIf/uEzFgD/gJxg9h3iB2jbKhErkvGA7TSIH07h92CBPGYBz0ViutHiGHHZK+5iL06IIaACMSZjr0XjH8Y3EGjfmGXfHr4QMGBUABAElkwTO77j9+iAPOYBFugALE4jtqUKlLVhl+UAQR5RG0YIFThkHZbgOkbjW0xYg/CkGJmEQuAcaCyDFXgJ3J3iwGCBhcjjUE7gCT5jCj6Jlg1klTWJC5DbUthhKGZkh0QIlqgSTbCE6N3KFWiB9Q2MfKQKHiDnPRblYwYMVqaKBJACK9NhMoZih8zMWlaJKjEDXc3GIoDhwPjevxjmjktWdM4ZQ0bkIPjeRRaANEnYhW4BjqqSRNhWA1KB/wjw3Ish57DlVIEGlxV4ZWmWg35GaAF4ZDaOAY+6kHW1MgRSjZclmBJYCABggYDW6GaB5rCRZpKh5kVuX4O4YDeukryIRjmAgBZmaXC5aFSR6ZmOkwsQI1gGBTmSZTTeaQB4X7cFAP0tDT2bgKG7gIxu6ZcG5XNW6hghaGlOX4QYAJ1u4wiQ4XQtDSmVCwR4gKTImX+G6VQea0xpKDEuBT5IWYMIYpG+YAVga+YwCLcmjRIo18exHfpUiqUwKyhwjyoB600t6ry2kBUoyZtOCAN+5MF24z42WdIo14w4gO9wJpNwj35WFbBuXMyuEqYeYbN23EloXBVl0eJ143Mebf/AuADdwMAiCoAIJQnWjpGLNi4O6N5hy2Q0hm2SaKgILgV/mjWX7eQ8btyKTojepgowkC2rMlQnSoDe7lpwxpR/5gEiiICuvTc1kWfuhO29huUyKN8GroBO/uQ9rgAJQKyD6O+/yAMwcABqgQ0iMgj9Ze1gfg5yJoISeAD21szMVJ2FFkd8A1PwDYKOFqf0XM8SGOY85oD2XQJJBgDDJI1A4AB0GXCyaCIA6IGDMO5mYQEiaIPQaAFY604+IgmvxFCDuAEoOAMeRGwfuwAnmO0dVlH1xO8PL28UMG/EIY03yBG/iKEFSIgYB5cSiINg/YGePIgJNwiy+xavLI13LC7/CIxgMlZPDnik/JYAChYBAfjeEgyMsdgTarkIt2kl4cmEUdCEQRCDJUhYlzBSFzB0F1A6eu6tHi/zNBSeSypoQRbbT+aBDghiKe5O5zidcoULigmACI9wRq8SRZgEVIiFVyCFQxi8xEyBFDiMhob1hi5BUUfnC0CCzVmEMdCAQaAANi9nFlAACk7oM85M0mCWMjEVDgZ1hLDmKjEsVHgF/xZCAGA/Q4/1CjkMOo8TsQYMr56KjLCODlINCfDw/Lb09WVkTab1hBjygziABNdkZi/20kjaQKCEUUAIfH+Ej02ClLD2ZbOKNS2NNj5eb08IBeieskDUBBAgSmcBSA5p/7Jd94Q47Q5+HCxH3Ng9Y9LoDES4d3ynBACYhFBAiEA0iEMPeDwL4jZGWYPnaeIo7XnS4zxO2bRG6LIrjR5OgAMQgAd4d0UmjUWeio7MQUpshEbwc0oI+bSASoNI0I9NEZWYbHDhdsRNZiGmat0uCfCJrbEgiw8HZY0P6Xn/C3694PLmUzNOlaNydM4wiMBS+pAHAERAhKNHi/MjzE84BDygQiuAsmaxb3W2ejT22gOeigTQ2wNY8dnSYxI345uf+IRAqidwPo1PFRhNiLrXBE1oBLr3fLovLFI/CKa8GPvmgMYVa51GCMOnagQ2CMQ3kZpkgAMoojw+57GPfP8+Cf+ya0n45ni65ilFeNW59/xD+PzQBwCuGYRpB3yiRn2SuPmDGOwLpmoAcP1kP4AGECRBIoDTd/yonuXcf3uuwVeD6A9hpQpyu/DtBv6SQAsAEKz4Fyzj9ymuqfF+X1PnL4EK6F54BwgBAgUAAKDAYEEABRQcTAggAAEDDixY0MDgAIELDxw6HCjwA0iOIkUiOlQQEQBEgQKhHOmSI6lHgRz+qVnz5SFFiBTxROSTJ0+TeQBE+eEiBoqXSpVWqMChRIkKG0UOLFhgIcKGVhsOOBDgAAIGFDU4cMAggcKRHkGyXcqRpcmSh0oi+uP2bkGbN10GaqQo5V8AlCgBDQwFgIv/xHgXA3AKlcMDrQmrAhiA1eHCAgove40otiJFBggSCkEKAoQIgSLYsmbcyC/Qk4xnv+QJQBElAKM0jdLdCNEcAEliIEZKe7FUBQOoetRccAD0tJqnHywQIEBYitodRHg54rSI8KvbLvbbyGEgu8fX3/77SJPIUXG6KHFRUDH7l48jL2cuMOEAHi033XQGWQfRZ9otgJZLUAhxQwuoiTfeYoEo8tpvKu2VH2OBzEUJbyCCWFAcStyXWFIcjsQCZMr111FzVwVYVYE1KuDVdREZYAABAYAx1Eh0tCEGFkz8YFp4tNlW0CHpqThbXyCOktt5BdGHQmL4PckRBxEo9x9H/x4JUEALKEB3ZkI2HqRAjxAR8GYAFwApkl55zKHGF1EoAWGSiyHy2l8obbglXlNOSQcARCaRREEtuNACoQ6x+EABYoLZnEhXpbWZQgx5asB1EMU550h62ZRHHGdg8YSSAMCmiJORLmWhYFNSMocYUSTBhBKOtvCCrA6V0KICHhUk5lVXKbAQQ5puxawCDzwggQIIHOBAAh2oV6qp3c7Rxmw8vUbJI3UF+9IfLQnWCK668iqErykGq4pDEXQH40DKKstQWtXpy68EHXTAAg8Cd4ButwnT1khuuxE26Ll50ZpbQUXuqoQSL7TgaMQuTTLIGVssUalAlnm6bLLMZgbttP9QlcACCwIXRAHCCetFmya8aUKJX5MA8EnHAGx43hcA3FDQDTdovDGkQXMUyiikfDKIGyL7wPSy0dIMQGSXZf1CEmdwIAEHZZdNwdbc2nzzbI3AtxtvqFjidEGvodQFo0kb/QKwZdLN0R+HvEfKKKFY4sYdWCgRww1KMMFoY1JpxtDGN0RRdCBml33X2jYdx9soqACAih9MEBdxHE2qlNDRSd/ggrx/c9uXJqSgMsrHbriRK69KJIExvI86mkQXZ9CxEvIrcW4ze5T0BoAqgyyBwgcdYyFGG3ScgbTRR78Qu+w1uz2KKqqgookibnzxhO8YQ/ioEFGIMQfyhzS5Etv/LjG/HimxxDIKHpjggpAE6wMoeIEQvrA9APygewCwAbDCtzy7MOx5o3tEH9ygKow9ynJdaIOHPGQ/+6WncwnpVn5y84pJuMEKN0AKASOFghbc4DB60EMcCmIivtlHgm6xyXl4Ap+CvAIVqIgJHtSwJyWIwXgjbNITS9g5FKrIDV2AAq8gFEP2sAYkLWhgHHDDM3YB4AsP8iFearKTv+hsN9Dz3ytGMQg//GEQeXii/eRyiCmuTUU2YAIWlWCDGJDnOF0k4BeC46px5UYPaFzYbWrlPOf15hWW3I3oSHGbufjEJ00CHB8hdhwmCAEKSjgS9apHG3mVCSQuEIIY6PCa/0WeZzAFUeQj76IIk1TJUJPkmR4U+YhQZFITjcjj6vQ3RQ7ZoJS8skELtniXGSakTEmJASz1gKEqFSQ3dVFXLjnnE1dJSTAA0IMYGCWEgvThEKRQRRynBE617S8/SgjkCwt5l43Jy5VMpMOFxsjNus0knLPJCcPOU6U2YAFCBUGBDZTQBTdYwnavmCAVOXSDUgJAkNFU5VK82LSHfqCHAODknzDkkN8YVEl/yQ0lUIKFJETQBiiY4Qt+wISJ0kaU+WnmYTyqz5GAZIbyQsEIYsCE+f2BJXRBKMX80tLjHGKgSOsbx5j2qNNhNFiOMyUqpcmRovIzISiooRro0FSUJv8koLdJ5lQXky6R8G2kG3MB3yKIUZ/+1JlCFWtCDFhWAEDKRHHQQ00KOs6eLDIlcaVNXyr2g6RpjLAbQwzfuOoWTUwCVp4jVAvu+UxCAhYAHwDBYAGgVAAACYptDUxKYCPF/D22VMARjusghKUY2AevDr2LIRISCiZt60mkPMwPbDpU084wtQVx5DwLYhtLICITmaDuHutZW5GIgQmUVdr3YjDZ3OKlsAAwxCQ0SQqfEWoLXegC+6A5VAPW4LKELQgIO+nY16bEEv71hEOsO0JTbZcjX8BCAxMyWUgJAZC8Mq1bWNMCGyzhvOmVlSYGIQYAlKY1BQFJDYSHGAB0oa3/nUTJT5aUCU+wWCmZkGJLP8uRJPygxjb+QU5/AIUdC6G0DjmkAW0AgC3IKhZFNIkgQRDDD4SYaTdg1B8Kc5JxSjchLAawW14sY9l1LocA0NgNbjxZbJZyxzZY7liBXFRZjSIWvogFAAaxBR/ArnoGjMFdj/ZaqdrmJ+1pxCOuvJg9ys6pKDaJqeigBijc4KYumOx4GdjgHUOhziB1iZrRzKHQuXl0hriCD2CIGEfpmSOxiSRKAtMIQS8mE3qBraxEOBOUerImqEJwNLGkZ+I0s8ymLIiSL53mTIsg1pRsMwBeQQpLhGGdS3iUQ6jcVti0ByWAZvWga6KISagiFH34/8FHhQ3Zgq71xJ4MRBy+UB8l+xZYL3DBRu+549OlEtOZ9mKw8jCKfRsKFUX8hCVERiJDn1i6QezJa7C9GEvMhduk6MPV7s0YNeCyqSkxt0nU8AQYlvQFEPyypCndq6YB9t4+5lAgBrPvwbhNdA55xCMyZO5U+wXFFwp0i9mjCkM8ezwm17QOo3DLO85cXT9IQVs8/oLXkZnS4G4a9UTy845VNUQZAnRBRPcKXySEMDO/TZWsrXDGkMIX9CLEEpoAgB7UIAUo8PnPY0jNxnVBDQBgyUtSacCjKC1pkzazfbAE4R9LPGicvNBM1JWqoonE6yl2lWxWjOW7XHnys2CFUv960AO3w93kN70rceQHAEQVJA92J6zek7J0o/3A13uKIKQubXK66dfcdCASxqCABQCE4qJdB5S4ggiAsbuk8p4IRSv8B4AqgEHtAHC+S47Ads6r+fNMG6lDvnWfDxNw6R4Xgq8p++PAFt5piBiMLR9x9+0luIFPEPoj/F0QW21zJ5bIuVKM/4lQ9E8Xn3hD2jWBAA4g9EGfSGge9ZHV9XGMSBSJQ6RSUuCVeP2dEkQgtJlW3MnO+aHfcxVE+9WYcCTBYRRU1u2M+lnI/Q1f/l0Z5s2CQ9wBGxCgDM5gQhigQ2hemVzffTkEpCzVGTBeQdTATRXE9/kaNJWJfcTe1IX/D8OgnyMJR4K9BBb0wSTI30XFHM4Zn6DpnysAgAuOBBusQfPNIBkOoEvcFdM0ikgwXjCdQRcwgfTFQBP0AOP8HRTkYA5yX/nJThNSwu0xBuQYAim8gpGhQiu0Qih8ghZyYReKBCG4xBpE4gAeQRnKYDVdn2LwEF79ABbEgVPdnR7gQcik3RL4QI1RmhDclPUpYaY9Es/MgeKs011Mlg4pgRuEgioEAzFwRCt8giJe2SdgHoeE4RpUogwegVbZl2UBy+6h2k80gn8ZQh+EwRPwCqVRYg9Y08YgRQp03skFjR60gZ603mJEoQ1UASN0QiNyxDq2wkvowjCKoQBSIgEK/w8eNspIgdBfxAVKGN8hoMqQwJcZaqMcCmAP6N03Ws/jtJ4sKgX4NSSOscEbMEJCwCMABENCfKE70k0YjuER2GNzreHdzdJJKAKLsUIruMIjoF8j6MEZsEEAAoAq9gABsh1C5hJDPmRDjsRDss4SEMIbFAQhPGIn6ALXOcQsbGT4hCEepqFDYAEI1c0utYcnBCOAgQjoaIIlGMIdbAEbAIAP3BRNDiBNHiSFoJEIvJJOjkSYRaFD+ABQBqVQAgBF3oVFdgxTNtfGvEAM9CVamZp0BRoruFoT8ltMHYInGIIf3AFYpsBYGqTa1cBZ+tAHNAEbKAH4YSbkcJgQ2BiHff8m+EmkSwwlXTrELjoiXq7B5zFObikBVM7TPioCznnIe4DOKDTCTNxfNK5PADYBJRZENiZkAdXAG7wBGCwBTHLYErQeZmomcwoBo/iAXL7EIzrEL4gEI0wnochlGM5QbtVY/KjB+dmNfhWEblqIyu2bJqgLIlxZesDBGcCgDyRENk6m7FTmIw4lMQLAERgN99yY99ggdY4EMXxh0LABG9BQ0tgYdC6QiRXc/dkPw9jmQCEmi+XEI1jCIBhCGAAgGByBEIIECEiQCLABI5woRQ4lGLhb33lf34FbE2jnUlSnLiLlXEaMeN0YdLrE153ESvLbKOiR/VzZTkgeAMxNcPH/Z4QYkAShACY8KSNgAoo+G2uu3pf1HWGtQXECgIyi5khgJADAI0V2KYesQVvamIm8xNehRHrKEx5dWU6kYEEA2Ny4QRVcjQ/VgCkUhCk8qZQWBG8tXYteqUy2QHEeKpeOpkvMglESQzD8QhcyQlwGJZniBUzW2ILGTze5hE6cWFVJyb7t0hPd34UqwooVRCY4hCeAzBX5ECOYAqzuqSnoldHwXd95T1IAJZce6pZSKmk6RCN2oQvOgi/soi/ogicQQnbyKqIyRineGKOQoEvInFwc23qOauUVaULMTUEcoiWshEnk6avegilQZKklhF+6DuwAwFAO5RvoKq+ya0Jw/12whqlFMqov1OgvsEInuCuzxutSNEFnMmcX4NJS1FxJCBEl2I9JamEm2N+2JkR7eoIlKIIFkWhSscG5igRvJc3GHIGktmu7+iqNHmVBuMIsMKourCzL3iVGzkInnOik/iuiyugaMKgVwEHbcJP9zOkiesJOTJ5DMJwiPsIr0MsjlZTeKEUMvBsALIHMhqzIVic8cp0LCivKwuO9tuwvYKQyFAQrSKmk0izNcukaHEHrMYF4bipjCBTDLKIiBi22ecIhDAKAoUIshMIdYN/fGNCCuqVLHEUMvIGUii1dPmI6XmcwpGxGuiDQekImhIIrWCTX6qIyOKoumELMjizZHv/q2f4AE+UBB9IG+pGLFn7CLACt5G0h3QYC0MSCKljCfFImcTSQ7S5FDMBlDTQBcU7kiWJCJ/wCMRCDLqTssLoCKyhCKLBsUlbl8aUsy/6C8F7uo4btn47szBZnMZJYHDShOZEuw/wiC6Ls3GihCubEJ8AjKYSBSYXPWSnYjY2EkA1SrA4lcfapKUwvo+4vylbl5BbEytorK6zRirWCynatMihDMARD5nZC4UotUALlGgAAG7RBH8LUekiuK7hCL6Zk6v4BKyzi8CGCJQxXLMguAIyABClt64GgmHFEDNjA0TQBrJJrrAYvABCD9K5syrrCJ7SC1o6ELrTCqRWpJqAzrOVi7i10ggNHqcwO5QQfqSfsDAdSzGyk5Aaj7AYDWCYcYiuE8ElWpeBc5CvcQfvORkAAACH5BAUGAAAALEQAGAC2ANgAAAj/AAEIHEiwoMGDCBMqXDjQikMrDCNKnEixosWLGDMyLAGjikONIEOKHEmypMAEJbCYXMmypcuQF1hEeUmzpk2bLDpg+Xizp8+fFjuYeMITqNGjSAGU0Fk0qdOnLnPuhAi1qtWRJYY2vcq1q0QYDh56HUs2oZEEYsuqVXt269q3V9u6hUvXaYC0dfPaxau3L9C7c/0KfgmY6uDDNAsjXuwygZEohhlLHukY8uIiRDIDKMMjDZEifCczTAAAisrDkkCBMuiBjGXRE0lHOS2YzalTqQTmBnDKS5CpsCUm0Im4UKpTBk/JSfM6+GgAzfvavn2bN3LlObp0oe08IWkrUML3/8UCijoVHViWpDoux8sW7t0RXkhwBbzf6acEEdnypAl1OVQYAVx8CCVAABbw1QXKeqV4AQaCvB23iBdNvJdgWeAxocSGTJiGhXZTRXaQgdr5tcV6ypWBYBfWnRKJF0VsId5aXYghxhfbQcGEhh1agSAWOm6oRIcjEiBgX09gchsoZRxxBRRPAFAKbovIQYYYJWL44RfDdMmMl8MwI6aYzzDzTJnMYLJEFVAQVEUABHQwpF74CWIGhAJxsh4AVnqolg3MtCPPQO4UWk+hiNYzTzrmlEMOOeXYEoYVNdooBpwsMJGEXpJEEsmED34oEBme8sncjGNhIY89rLZqjzuvxv96qDvnOBpON9ngUo0MPJjAw69FQOABByz8SJcOiyQ7Rho6EmSGI8nKYcYVeI51SzwAyKOtQoMCEA4vAHgg7gTkkgsBBAAYoC4AHWyaEI4/XviSGGecIcZAZiQLwLJkkCGQEWSkIUiyXJjh51hWXLstQdgSpK0885gzwbkGLQBAAxc3oDELWGa4o2lG4DDQEkr88NIqzAAAzjgsp+Nyo9jY4kWyZaRhs0A1AzBzsl54gcUXajETz9ADDW200dl2S0sD5zZ9LgIZLyD1AsVuB154H4YsMgA2wvtjpfZ+AeSGQggxJBQ+7hRk2WYn+Uw79djzDgDv3EP3O/aoY4wogkD/217PZfTcsxzJLjJEGWXbkJQVGgrZYbzWsNNOOw1Tbnk8l1MesdPoQtAAAhMsoC4BBBgQwDXopI7OOamfcw4OOARwyTnrrIMOO7Wv44043njzze7A/8678L/33vvv5pCzTtwC3WNP8/fgA4A9u2wysL4CCQKA9osAoC8Xabhx408/fwEveE+YVqMacMQRxzgCxdMtQfQAMA89+NcTdzqwLICA1P9bQAMIEMCpGYALuKiFAheoQDRgAAhoUGACayEKNEyAAeUqFwAmIJAJZKCDGhQIBBZQjHXEYx6sgp497AYA6bHjEnKA1iK0J5DuJet63pODHLTDIpt8SAxqUEMb/84AiE0kAheR6EAHEjAfCyQgAbkT1Dwg9jD5PUxb85hHPNBRjWIkoxjHWMYxvHiMZJTxjGKUxjGicQw1HqMZzYAGNOB4jDHW8Y11dGMb76jHZtwxjHWMxjeeNxBCvgoA9aBHFtchjUoU7obbm2Eka8gnHWyhC3aIRsoAoIZ7keQHNrDBDX6gBCjcwhG42AUs0AAEIIyOdLC8BsSyiL9a6u+WcWuV3fLBy3zgo5e81Ecw99HLfRAzH8bUxz70wcxmMlMg+RCIPqQ5TQBMU5gDwVsKn0dI5wGAhQLhZqvqsQ5YeMER3Oue97z3SH0NIQdFUAItJjc0ecBvILe4gUXg0P8GNZxhOwg6UzhgcYmCXgIBGhMgABcAhHS46qEPdd49ohdNiU50oivMaEYtetGOYlSiG70oPkY60otqFB/OY9VEm/dNj9rNpROtRziA0AByeSAh4hqXsKQAAHLUcx7ZItQ7+sEPANwiDPICQKVuZIUkCOEWzACHOuSRjEpcghabwEUpEprQprnjHe8gqVjHKpCR8vIe67ifFikHAGxhDgDtgKtc40pXuL61YQSJq1vb2tbL2bUd6ziHSn8JAGAaFpgFsccyIBCABTgNAAI0yLkMQIIFHANWrHKHQOphv4Ewz3nMEILiCMIELAAxDnO4xTSm0ap3uKMYooCEKLjAhRX/QICDDgCABRzAgAWA4x6HDS4w8WEPLKr1rfHj614xNzS/LpevRWMrQ8wRDhT+spoVuYcwGEAAAf7PAROwAAA0AMKmBSAEC/gGSr1JyJG6Qx5uVWs9mPHPgXThC/Saxjb8wQ9+gPW/1MCFF9CQAAtYgAEbSPBuGQAAAvAiemblpfRa2tFvIjIdVYQYcpP73Il0uMMFQYc5zIGO6zqTIvRAwwCl5gADA6DFDmhxgjVArgAEYHolnfBA+uGPftAtHrZDhzymcQaC3CBM/UgyP/Lxjl6OIxp2sAMV0iCFIXD3xgg4wAIOIJBvaPbLAACzmMPsMModja6Ti6tB6irXgqT5/82Ti0g5ktcOzKoji+lQh8v0fGd10AOXs0pHJRbQ3RZbQAMWuAAANiBeAFxgAg44gI3rkA9mLpMg++gHPP7xDwDwdx7hoIYtbkAkAAxDHfd4xz5+abdnCEIOmwFAGhIhiEQkgg9OILQBDoAA0wVgHmMeM5nXXFfKsYMdAoGzms18ZsspO82Sk5xcpU0QdECKHKsiJEbQgIDSIYABvYZl6Q7AgBjzNgANEEWTeykQYwKgv/DmRz/sgQ5tAIIoA4lGOk44y2jwgQ+13p5A5GBrACRiMxaYwAYawAADiOKQwV6IO94MAHbg9dgVR/ax2ZGO375KkVkMuchDDl+MH2QdAP9YBznCAQBzoFDbFnEHt0mnWxJkIQs92wChEfBtyN64GKwKJqb3wQ9jEvOX7tCGJKrwhA29wBrTGwguzCAIPshhD3Lgw60B8O+qW70MJNgACTywgWPAPLFR52bUEdmOjSO77QPReMUFAo0GOBZdAIAA1ARIsQYYgGkQgIQ2cCcQjSMb5QBARzay0Q105DIjMoeAATIghVnX2ta29gIDJmuAbwMdVtMTp9pTOo91VGMXjkiCD/TZBWa4I271sIUgsF6G2tc+Df/mg6wH3p4ViF0F4IgVrDDbquHHylX0OHzuTJ47lKP8HEDoXNM+BzWmaSxdeW8a7pzvfIKY4xrZwAb/3FKY9orUQQM3R0IWdCiHMshhDNmjAgRIYAByDZL8C6GHOYxBC0DUayDDAFTuEA1psBy2VwY4437/5gS1txnLEgQboALAVij2AHuwMisXWIEa6A7zcHirQzvIpjophw6BBQx4d30DITUYIxAWs4J5lwxBRhDdF2rUEA51dkiJZXzlZxA5MAZDoEN7EIRCyAdlgAT/VgYLMC73d3YHwYHYAAuw8Ad4kAd/AAA2YAvxUCi4YIBeIAVjUAZOcDi1ZwdEmANeMAZj0DNjYAF14A61pEi1dD9vOIeJtEUA4Dp4aDvnkHiJlzoAEAKcE4h4NxCDKBDHEIMC4ToCcQ1y5FOH/8JZiIRLCGF8sFILKyAHdnB1QggAe5B7e5AFSJAGXuA5DbCEDFEP5lAMl7AJJBMlAPAFgAA34GCAZZAFORBrQ/CFtReEUjAFguMFU7ACaDBFV1SMxmhc8tAOe9go5TBnrYOHeLgLUyM601iN1WgQ7NA6ArE6AFAOc9QM5NAO+DMQ40iO41g/AICO6XgMQVCAOpQG+4KG8NeJQSgHN6cCC8AA4DB8ZCZsYTYP3VBQZBADBOl98xANCViLm4GAgbMZVwcAZig4oIgGzEVPcIY5mXM07MCMzUgNvFAMIPmRxfCRvBCIFzEBwPCB0NgoySAMyGCDWCQQQIUQIScQEPMNQ/9QgGlQe7/4iwiIdXvgBUPAcyhEiQhRD+0ADEBwCV+APgNxA9HQDrgQa2d4gLXnBD3ofnswBr4oOFLgASB5DMAADAAQlsfQO9qgDbxjPL3DO8DAC5UAeHVQCaJQCZBgl3h5l3qJlw0QAhiweecCeIEomBoTiEBQCcLADZKjV21FNEQDXQ3zMLVQM2mQhj3TlT05BphoB3uQAxlAALR0jog0bPozD+XASpEwCH8AB/XFNbZgDlMZOEjgBVaJgE7whVcHIL84BSRQB3WABqwEQWjgm5Dglx5AADYWABsQmCFQB7BAC8UgENzQjD3VjQLRjORwndZZENlJEOVQENdwDdj/QA3VUA3kSQ3SAAyACASioA3Awzu8Ew7iAADz6Q1wRXH0eYASqQIqgHNegASzOXB8ogIZsABWNBDzI5NZxA7CQACXAAd4EAcH0Q218IUAgAQLWZu295BS8ItI4A3yGQ4iKqLiEA4rZ6IjunKPAgDYUA0AcA0veg3T+Z0H8Z00ap03eqMCkZ08up08+p2PAg1Q2Eq9RZjVyDSmIxCeBAA8UHuWKThDMASXqQIRSZuwJgcZAAFplmxqFj/NFQ4OZAc+8AQsUmQEYQsC5qS6qKG1p4k9KQW84A3dMKdzyg10Oqcg2ju3MqIwGp4xmg3X5ig2qp01iqMFkaPaKaiQEg7X/6BKAEAN3rCiLOct4Rme0nCpmGoN0WANx7CTgeMFWeAEOtOTSICZtLmTOQABJGg7uTN3cYcOybCUpCYvVSAKVVkGaMimgBOEZSAFN5d+2CCe2DCswjqsxrp4aakN3MAN1PCoMBqjKCqijzKt1Fqt1nqt3ZkQjboLANAM3TCi3hKuLDepAGCfAhEO3rAJdoCrXgCRKmCqPSk4uogEDDBi9jpid4iH5nAO2lAHGGAHPIQQeCAJviibtFmbXpADUlAzdgAAUkAFUzAFUoAEtUAN52mx5nme16Cx5Cme1AANFtuszRqslRqsxjqsi5ey3IANKpsNy7qsd/qtMjui3xoOK//rqMggoy+7rADADQKBpwDQDQPRDdHwhU8apfHqof7ZgAsAKYOqo91IDrEKCWIQBUJghQdRhb0om1mgoQKBhmfYM0ggBWSLlXJ0tmeLqWp7qdAgDegZRyHbrAAgDXAER3N0t3GEtmirtugZt377txtLDaoEC8JADddQDX36ooprENggEOoKtgORtILjBBkgpQc7BmgQqSHKnT2lDZeABmDwBKK1EEVQsAlplZb5qxDpBGQrBTlQCxbRttCwDHorR82wDCvRDAKhu92qu7qrSty6DG7rtiH7qMZrEMeAq58qEJL7i5ZblQPWDXIqvebaO97iDUrpCENUGgsxCBi6prX/ORBZQAUP67BUwLoTSwsXIUcAgLt6274+gQyOugvGEEcAAA33i7/3u78FsQlO2q7M27zxioYAAAQna6zakA3aAADZcA2XAAl0EAiHgAiHAABViBCBYAQPa3tZkKHMS76tG7FI4ASs6wQq0K2xi7/JYLe2C7830ZJQCADCULcGob8Dgb/F4ARh+5854J8CHK9DwAV+a7wYK7hoQAhUmAcSkQdk0KG4mgNIwK4AzFNkCwBTkAWuS8JIMAS0sAy8SxEqnAy9a7+4+8LCcAmwIMNe/MULAQlB4AQ4BwBDQAI63LxSoAId+os8gAm1q7dnbAeQ0UMScS+iOgZZALZeALGt/7vIEUvCWrwBKBzJE1G3dVu/bFwTxhDDu4AMcBQRvBClY3tzAODDkjvHddwzAHAHkLDGBeG7sMAFKZACLWARMmDFPAmqILzIBBGxOTAESKACBgAMlNzJErEMxnzMNNwTyaBKl6DGxKwQkNDLQ8C6V/zD7ZrHqEwEm1AJrGwQZzwCsYwRZADHaZgFErvIPEUQvSgFJEAAQHC7x7zGlLwQyVDP9nzM7RvPuLvPI1HGyyAMBAUAm5zMCaECoAygotrB1twzNzcEx0ANsNDNBLEMlwAGS/AD+mQRdEAHREC2udy6DgsAJDwQU+AEoXMAXGALokBBCgQMyCDPw1y3xowMyP9Qz8uQDDd90zVtzzaN0zid0/oc1PjMzy6Mu/LbzAAADBJ9EMLwTr4MoARxcz98c1JAC9ggDUVA0AOxC3uACIEQCBqBCLfosOhc1ndsAfz5PwbwArGcAiAgAgNxAmZABoBgaypNC7VAC8BAC7QAC3YpCr6ZAyVQBCdABmAACICACYqdCJxgC5JgC5C9CbWAC5Rd2ZQtDJhtDJq90z3t0wA9EMKw1AXhxlD81AUh1WJLx4IzEJAQrM1gBM88EMCQCH9Q2yFhBCxwoWa9yEOgAiRAAr63ZQpwECggED6QBGdgCGDNnwDw2wCwAov23M3NA19QL3AAAHqgBwMBBxu90YH/gAh0AABWsAQA0AM+0ARXOxA/Qy9gYARgYNj9UgRFwAN1AAmwsAuhzcb6Cw2fHKWgPAQXiqEhrdBOoNqoDACbQA1iZAttsMJsLAyR8Ad0oMQi0QJBoNtmTQIT4Nti144O8Nsl0CYGATQAANYW/NsqIHbNrXPQfcIrUMsHgQgyjggZ8QRVUAUAsAT65AOynAIAMAJyvQm2IOSQXeQAEM3S7N8BDtUCodC/mH6JsAbZjQhtYMkDYQybkARRMBMDoQYgEQM8cKFk3bq93dwX8Nsr4AW+F3ZFMAfXLREkEN2QbAHQLRArQARkAOM2MRNOBQAmo09fcN0yrgiHQAROreQD/wGgUN2Lo8zQ43sHFIwIf+DlxoDPtWAHI5DpxU0ScaAGRSAQomrCGx52JKBoz70CKzABYbcBn84QOvDbYgfJkHzqBOEFtmYGMHAUSzoQYHDmSQ7gB4HQjP6rGUAGdHAIg+AGLBLfZpDpI+ASnfTpvlzmZ75opb4CKrACOaACZ55gJrDpCOEDF7AApC7ri8YAqE4QQzAFgiAIPOCKSYEFJUDqBh2lwb7kospTGRAAE6AEYeAGAvFPVWAyAOACANAC4G4SN+ACJ+CZcR52jrbi2I7qa97tHQACCXECBDQQ5s6CdX6L0J2Te2AGFZwUJxAEsB7ncpwQGNryOrMAAWAARf/gBoGgCAJB4wIxBwKBBUzAEiLwAUD/ASZg7ZCsaGE38UNABCkedhcw6wfBBBEQ8ysO8QPBYOmeA0EQBO23GWSg3UjBAl7w29Xe3MDOELLACTZGAhNc8kYR9ACQ4tZe7RO/AkEgBbFe6kN/EGcw7roV604vEFavAlNmM6KYAyRQ3UdxAsBN6meu8nWOED0sCKAgC8cZAEVwCCbe9iOAAiZwwhBv9Hae7RAYdvx5wgcRBgYAAQhIEBugAahuYBbDAB7gqWjomSzwA+7yExzAn6UO6xEf52VPENt+sKWwCAiAbkVwBm0goUDBNk/w6bLe+29P8aie7diuAkUg4gOxBU3/YNByYACLxmgbkAEbwAAMYAEb8D8QkAG4asjNHQFwDRRNQAL8KXZj//tvH/yGH+fvhwQAISjIAgITfigBkFDhQoYNHT6EKEaMmjYWNmwAsIHEChUrAHBcAVJFxxUsQDBscSKNIAMaAFggkUZmmjErLBhAgGDCmCwJhwCY8AHiUKJFARDhqELjBRIklpJQuCGHwgxOVVAhkSGIoJsNTnwQalTsWAA3bvwQYkKDUwAXOALo2DGIF5IhV5xoeAIUKAQvpypMYybNkL4EGkxw4uRnBgg2yD6GCKZMEBUkmLYF4NQy1IQkVOTI0EDjRQsAnJxapEHFV7CQXTsE8QEEChM5/zB+TBg3ZBkLdu3iVQiCSClOCBhoSCMnMADlnRsYAJDhZw7OUV5fB8BiyIrNmxVeyPw0oQEHFzdoyJG8lKwyRFC0xo4d7PwSSnHDFbni/MYVQUJyOOGkFjjhRI4hGPgpuTTKkAmANABggKDDmvKgrTbig0yGkVS4gEOoxEuow5FeaoABBxgAYAEkhpBDjlRyWQSMFlBIAcPrPqjgqxPY8gi/kTZQij//hlzBBBt0KCWSAHRaKAgLfnIwjQkAaCAACDiz0bX6RrLMw+/CIyEHL867aQEUJyCDjC24WEQQWXLp5AolEMoSMh72SMQMGEy4yKOkNOpMg/4GJdQISUpZJP9FBLx4EC4CEnpQDiRQNACCKRNqoU6xikiqS/C+1KxDoCyYwAACCCAjjzz++IOM5F6EcxA31NB0rBLSSCSRSCJJpKaO4AK0Kah6I3LQIIiQIxISDFigDIWCMICBICBdgQBmE4Kgr1qNcsI/zzq8LEQwNwhCSgcmICCABVhl9w8WF3lTFjfEsGLbosAYYwxdJYmE30j46EkzzzJ7KaQhD/aijD34QAICBxWiYtqHE0LAsAa0tRciHnrLYYUOPQWTKRU+Uk4pBgIggINB2m11jEVOyQVOJYTIeCgzGLQjEX4l2XnXMpJaaIPejA0iiDHS2GPhPbwwgFHlHmw0jQUMMKD/gakdOKnmhni4qKmPwQPPu4+QWKHFNHIg1bAL2mgjjjlUzQMMANzMRRYwbgAga60VkiEHOfjYQ6ac99h551498rDPoo9NTmk7WkQCUjMclEOwIAhAgNkABDBhhL15YGEQ0NcyD1BwsQRvBSQYlWkDBBbQ6YSDnsDiizPOEEMKAODNpZAX9N47IRacKANnOezggw859i2c17Mv0qC0IJAoQ46k93hcjjK8sKABLxh6ELpHWWAieB5yaCCB/Uq/KEQvm3w6jQ2sRuAC2VDINAaFipCD7lwAQQEKgpcQEVCvDGPwQgLTgLxEaC8NfOBZv3YmByeowAIWyFwGkJY97SUQ/0oTIIEXVpCBAAAAOgsAQByCFwQnXKxr+jFPQjDCmbBhpFwKSkMGpmYA1oDFcwqxwhAEwTtZ0CljKRjBfE6QheIhMIFeGEP1lKY9hUmwX7uSggrUhQAIVK+DCZwC+vpCtUeJzwAm+EPwTOCFDCAAJoLKyG0awpmRBMFsylkBTghgv/mMIFMKOUMRygCvN3WCVvZKAQqSCBYiEM+JT8xXvqSYNOXhaVe8amAGJkCQCRwwgVRAwoqmBJ0xIqABABjEAE+QgxwsYAFk0kD7ZOiQENoxfkHgYsVOIAKwCHAhZ0ghGARBN1n0IZW1UsINYvCCFqTEgAjMAiQjKUmFJU95Wf/AVa6SR4LnEEADnwzlEHLgkoQQAAIOK8IAE0IEFbyuMg6IpSxlyRASUOGOUjLnBAJwgQDizwWOYcgc8ECFRBUSD4GoVRvUIAYsMOEHLGDi9ryQhWhCcZqRhKL1BLGH4gkieYHbJOaGMIRwspIEYHiEOhvCAgweRgMOcMAFYxlHOS6EATpRQQYyYCrYmaoJYajCnJRQPoYEolX9e1PvDpGHOqmKDnOIAxzakIMmJpCiFr1ovqSwuijuQRBymMLjZDIECCwgABPIgThzoAIPTMAIXVDpQmSALgNMAAlUaJxyqBCSkTWkVFWjGuxyUhA2KAIRhxgEHh5yiEAEAgmLiET/vFaVJZaxCgxU9WRFAZDVSEphCFKwqPX2MIQFjSEzGThVmKgzAaudwJdxBUC2DDAEPOlMgjzD7a5okoUhkIABEKBacAFAgAUU4Q+ByAMd4nAhKDTEDX84hCLIUIZIrCJmmDiEHih73MYi4g4ZgKJVE8hZjEZzmgoaghecgASoEMQDOd3kAhpgAtgmBJcIcMLycoVb/vaXv5fslXpJEIQOsEq5CiWKEJSABTIMM16GoGxjA4GIRjwiDhdAghOmQFEAYJW8kdxsvpLjhLVWiLU6mUC2GlCi+gKADRcjAU+QgMAo/o0PgvBvjvubCCSQ4cBnqNdQRjCCFLiAoJwoZJ0C/6GIRxzCDVUQQgzWGkoNh/jDnK1eGpryGR0S15W/hUACXqvSEphTBU/L3h6s9zTj/S0RAOCEJBjCKz7kgAxzaIMYoPCDoYBFBCAAAQ/kgOSYkUEMfcDQI/4gBiX4oAUjkMFXBUHSIWjYw6a9chSdxaXY1rUB5zwnffEW12qBl0FUNB4Hj9eiVZc2V4ngw3q3h4Q2fOEJN3hBUebzgccSMUtdWEIMHg0CEaxEEJxYRBpWwIEcOOHSmS5eFjxAgrZOLcUQsFoCRg1bAoSweBPlMEUrCsXiLXDV2qvx8bJwvDLkoKHK/GOfP/BnFqSBEzDrXUqxA+VHDxkEkT42sodggv8PmKAEd830RbeXAaBsslLn1GWL38CALORL3OKegjiRcPGLJ7DDR1uYR4s3BRU04QpQSGYMXAARP4NgyEVwcN36cAjsnGELS/iBylGQiEUMOhKCIIEJAF3wjV/UypzNwgSULltsV8wIKoTtHN4gJnBzPOMqcALHrS4FS0tydSQGQ9uWe8ihuNyPMfDCIjgRs07Q/DqPeMQg4CCGoHICFMeOxF4V6U8eZN00IT46JCdqqXNW6mI8aLFCjDCFqmt9Co/X+sWnwHUp9GSz6ZVCDoyAB7jRoSjNbIENlgDzSLxIFoXQ7msmzORJPMIQiOJEJBaRgxO4oAUu+AEWpiqFMDr/4ej58kJawQjqzJWKBYlXSAkqH3nmRx4AlK/oGCpPYh+3yyhJUMITwuCGISxiEblIhSBS/xp2BeIQe1H7z4mwhSp8QQ1wK8Jdp2BlK3shwwlUwYoJAlwjbDvxjdwwjkuI5hNA6Buvysu46mMXozA/PHADN+CBNPg5OQgCI0gj8mOXOwAFAkE2JyCDODgDNcCDQ5iE1iMD37sycHOlzGkAHviBlUO+3Mg6AqTBnuC6rDtAKsg4IlgVliGKuFODoPqB86kKpTAC7GAXSTiFgAM6I7ABG0ALJeiCM5gDRTCDyCEvcFMBnGAW+orBhQDAtArAGuQ4KrjB6OM93iKCyrrA/6EIwihDoghhgAuCEtcoPwAAhfQToRaIjQ84Ox9QsC3gAd67NC+YvMjBHIIYsy8kAyTIvBxYPjK8ODNMjOgzrSxAAhVgw6KAshhAAWKrgAMwkQtSgBOoEcj4gzzog1KAM04QhNXYtV37wyJIDCegAgDIAinQxalQugjpAOBhREeEPEkswzM0rzHIukw8rMZiFU6EQ2IDAQlAAFG8IAt4ANfIA6g6lEiIPUFYgfeIxXAcASPQjvXKMBUggwAIAFMxgBL6woYIJWJkPtNwgsqzKFysoEF4hNZrBEVgrDZ0iBhIAREgyIILAFGMqTn0QrKIAzEAgw3cwEVwApNIiHC0yP8ROAEj0AEwmARSuAAEUMcDKIACeEeGaMQZbD5cjLxbpEd7zJchyAInIAEfWIIqEAM/CIR9LAqCJEgQeACUQQCYgikNMAERIAslcAEyKAVB2EBB8ADgsMhY9CMfUIIzGIQS7ICs7IAS4AAKiIAHUAAFGMkCGAABMMuzHIABUKc4IAFHZL7M+wkOu8FaNEccTCBIzIELmI0WiAFAVIIt2MmCBAETCEmYqsYSeIxE4gQA4MZFEKGGuMjQW4IwOCYAMCoK4AAA4ACt7ICu/MqwHMuyTMsCUIAHiAAJoIDUpAB70QGSisSLgwtIfL71ygEi4IAVKAHKSKvI4ToVGAIN6KH/+VjEh5gRXhpMdTQOw7yJxEQSpkQ2EgAOyAQLEODLyQTI8juE7OSA7WwIB7QCI2II1RRP8cySVcowKtA6heA6EiiCJBA2RYqNHfGABMo6DuClcBSLm/sBG3iBE0AZAjiAczkRByCLKFACSQAFbvy5FQDGhoiByVQshsDOQ9hO7iyKCB2K1NSUEygBkqpH9LS8xBiCIviCJHiBROpDsAiCMrC7DUyDFN21sYg7OOgCJuiAUzmA4ALQ2BCLObiDxYxIJ4hODNTOzezMCsCQBawVDl0v36NLIwADLEDKGYHRgvOCFuWEMojKsUAE1qOERkgAdRTTAJiRsciDQljKpqyQ//iArn5UhBIogaysE4DMEoI8AbwggiDgASP5ASawAiaIshZIJM8xyjUikA2UA4ski3ZZvTBVRxYgO7H4g1PIQ2TzgiCAuqHYzvHkVArbSq20ETndG5dLgRa4ASgQgzhQVTX4AigQgm0zAeraC1cMzg9AARfwAUllwz8AA0RARQ10TqADAz1gqofgACSFCNXkADiNU1HFEDfYGxEYAfz5AStQgzmgA6fyPIYwAidYhFkVBADYtVv1gScwil1txutADcYUhDWECLAsCvLkzMzEEBfQn+D5IzjA1h68QPGUgAewpxZdBB5QpGnF1SeAVqJAVzolix8FBYVAgjcYP4YgSf+jGM/syMqujA/4qC86VU2IvVL0WwHQJM0qOAO3U9iFdY3XSwjZs8yHUEuxGE8OYIGMjYCNLcmE0FCFGAIW3YtICAIKkAAJiICirYAO0NmhWFiGNQpKVTvHDAJFcAgBeIyhVc2a5QAJyNn4+NidBYAZa9FI8IIK2M4OqICvvMaFwFaHUNnH+NFv3R0SeAOiCIuHeK3SNE2t7YB/VYCtvY6PTVoAyAEqwNLv2UwnI1mHsFqFQFfIyAMeuLvYkwMicAPAXAizrEiqhYiYTYiRDEsFOFahrVi/JQvyZIi5wFJn4coIEEuyVIgfagirTc084NTHeINKg7NJMwI+ey3MFVf/zR0L0izaEmCBmk3b+MjY0FUp012IFZBAcNVM1h3JsgRehhhO2fXXCCCqojACEnAA3xyCBZiR3tXcD6hesXgA2eUB0Dk+AFAAzq2Ti90WwGWIFRikvUhQxGxd6j1fhpjWAIo3hRha1hWLO5gABjjgCBEAXgKAs1QI830N8WSB9WUBxIQt5hWLzhSLCEgY/OWEFXiA6T1L3yWKIQugUyzNvhULIhDQCCEACQALEk6I/h0L8SyB9QUden1HsBzdhVBhsuCCMvDgaSFL/qXhuq3I+ZDW4SyKImiAmDoRkPyKsqwV8qRgCyZdDBkCKhhiAEjLET5fJH7g+XA5yLgDBrgp/zS+qQCQgJEkC/jN0NS8YQrW4Sy+jvRqUVAIArIEYxIW4zGeN89hYk2dgA0wEdhRxwS4WXuxYva14/hYnTx2lgbu4yNOYh8yWLIogvKwAChG5AtA2oxRzTnO4Ue+DtQFBUptFCN2YIhw4GltgdwbCwuIpQm4IAegmgBIgDqu4o+9YlN+jRW1O6ft3CKmXqIwy7QczSgQg7FgAKGBYjRuxwTw1ZoZZRxmAV4GZqOw30gAhVJIkoR4AB6eXjhmiGQezdLM1KIgrpiygJsyFV02Ku7KTk0RT2zG4m0WCw7wAkdI5SRpX66kgHEWy6EQAGUmzfStgGJl53Qxk6k5lQAAA/+GZhUJMz+U/Vs5xuZQ1ueiKAEKoAIhBmdOsOCyhdOuPN6GUOYBKE0AqIAK0AOEKgrCPJV0EdMEmIOhOIOwxBDVxGHQ6eixsMVvLgVQIAKdfekK5WgMVQiENk2y5QAJMwp1rGkx1YGVaQivBEtzbghNmASiSM0KmGAeKAIiQNaFmI+gXogt/mZKPWoAEM+XJtuE4Ghx/lyFrtColmmiAIMLGFMWmOh0FWAe5mqGCANDeIRQ8OpGqGeGSOoiMAMeKIHjjVEAwB/Qm5E/9tsgINxSOAVOsE2drV2XXoiTTs1lbVYA6ABF2GuFBQMwMIGJ5leGJmCx6OGHkDAKJV6MjYD/AkhRhbhszB5f/MxZPPZsUJADZOVUr02IpO5K1MQD4i3eSejHc01FfmUXVbHrmlldFuiCKkiCFhDj4La9ZrpsJjY7G9he2EJdcEZu5V7u8EzNz4yBG3hqEhwFUrDuyoIbFSromuEAsHyArKyAB6Biy77shsBsM1XSvXHeYc5DhVju1ZTw+YbX2/tcJYCCMNBVlnEqMXgCGxiBBq0VHo7TrB3Jfmomh8gU80ZCwa6TC/BZpz3r+BZtoQVLsXSBF/jcGwjgomgXuFEDK/gBRQKA++RYTdnOCEBtDlCAZipV0FPxFceUH8cOCreRCOCCNADnJMHiCb9x1hXLJ+dxsSRx/6W97jyIgy5ASkAzSkBW1OvYTOle3xIIgyl1gZXrpxMGgHiz8oyuk54l6kj48vhWzc90XwXIc7EcAM0eCriZA+kdAGJ7c3mLc6OQ66Od4MjWhEHgcDoJIGKz1TGDwSzBcgy5im/O0hXQWrie8NT813FOXwWIAXgVV0d/CFX5ShFuZbGIRbGoANV86Q5ggYUEgK8GgJtzgSEbcV/Kn0GO4CxpgPlUr46A71f/SqPNWgn44Vsfi8805l436F7ftTOvcPFcVkoAAKnVhFEAAFLodAAIg2Ar1T7/8yunX+xgljmMntK48eX+yqEl261MaW8ni3IeYXt56dWccApz00ZohP+ECAUAQAUAsASFEIIWeIEXuNeexuDgdWOSxIkFgKkJINB/H8+iFfg5L3iDN4pFZgieRPK0vo6Fv1jVPC7DUgSpBYAuBYBGoIRQGAVUCAVL8AObA4DmspGPN4oBGMsxFwDMMRGYQhFXX26iDWuWl05cd4jk+kosSIIbcAGePPJfx3cMznmp3XlNYHtK2Pl+bIR2T4gSNHWmJ4qRLNM+B4B1RMhOvpT0vfpMj1OYR2uuZ1tWycZaM1D/c4gkt1gbB4C0BwBKYPtRoHxNUHdFgHhfldpD8IOlt/vNJc2FiAEBUEcGCNB3ZoAEAADSLM3TVFbNpAA4bflbN/yGYEMV+oL/xxABaLd6+V0In293yrd8y6eELvXVNWeCUj975jYKz3Vf0iwAHM2JBTiAnDgALx7NH3h9I5WAmiX8wkfFxo1fMF8I85t84qeE9R/+iMf4GBgyj8/3ooD+MS8A019HKE5gAkDLAQCIESNsfGnDogMLFgoAMGwI4ANEhxInOvxj8SJGiho3UqTg0ePEP4EAUNKkiSGiRiVHUZoDIAqAGChEcKzZ8KPHCjYbFuhZAMBPhgQIGEBgYcMGCwcQEBDgVIAIEC2etFGkiaUYmBJF0NypESNYr2J3igTQ6ColSo1IalILgMkNhiI+jLVZoQKHEiU41PQ54O+AngECHDhwNKkD/wZNoUJNkUQNIkqjRjWiU1csxkAXL3OWWFal5JKhG81JwvAFCrqdNVLgu7PngKcCfA42wOCwBQsODByILUDBgw56Gk1ulGe1TZGBlmv+g7yzSEWNVLJkybCN1hYtIj5nyOFu3hKvC/gWAFQwAQQOcOtG8BR4XuKULXbfyPw+/fpjnatcC8D6Sy9ot51q3ZXAgl4I7vRBCyg46JNPBwwWwG256WbAbAU8UMGBxeWnn0SBHDIifs6B6BUiDKmlVooAJKEdQ6kV+NwDEXDAAhFeoaDdji240GALABgwIVEGGDAUAUFxgBAPo9Dx4YkMiXjIlFQyZ2KU9knH0Fp6YHfDC/+ouSAjiL9FUAIROerEUU8KuDnggChIQCSSAQiQAAASMKmJHlBmudyIgWq2HJZZUrQlSZVldUODIHwg44z12ZhQQntR8ABFBSig6UIAbMrQTxIORsBgJ7gghBJfxFFSc36eOCUihyCCCKCaGaoRIogqwhBcYToKEXe3MtTBgSV0UEEEDyykqaYNPfDsQssKgOQBDN1wQxdtTIcIWIW+KuusscpKZVnCNrRcQ7uexhCBwEZqbkMHcRCBBM9qKsFdFVBQb7OfblrjA0KIkVIjh4QlbKCxKjLrco2EMgq8IymSFgBtYHHaCwCQGSy8GqFCSiZ4EHtsvhVIIAGnQDF0sgT/VlSlyMKbdTzddDDDLBkphpjbRh4pUaIuxmFy3DFHj4yCCgCvjKLJIXvd5RHKm2r6gAQUVDDHcrEeDC/B01FCCiqT3CGEsD5EIUYcegCgBkM/nBaDC+8Sjesh1MVyNymW4AHAooD9pQC+eQSSx4jdzh2uJqiMYskVPsitXwsv/HC2GFiY5rYNPM7tVSDSTTwZAKiognQoh2yxhEwOovBDG3PEcQgA3XoL7yhK+/FE6o8/p53kWKjh+hlduIiag5t71QjMAFx10kmqxAJAKJa4EcYSPrjwg6pqy+6quZOcocSPMWyXpXYuKMHQcI0gokccZ0TxQwwjGL/TITabZB0l/ySt9LElfrjhBh4Cwa3tza8K8LuBEGwgkyjtyAWmkYh01hKHL3xhfsfLlfKu0pBGiAgRk7jKKELxCbCdZICGM971lHA+G8RtNe6KSJDOp5HpAGB9FqQfrbwmGYb0jEpUysMc3AAANxxihNCbhCK2NrcWKAEKTFDCDWJwmRrUoAc1AMBcgIUCAJwvDp3D4AYBALOR3NArsoogQxQRKCpZ7AcuiAHZ7jCISYAtFEgk4/zi0hApbtErVWxCE9awBjCkQDU3YAIAXpercEkkV7Mr40ZySMOCkSgOYmBC6lLTgh8wIQyGoCPSysgEJwKAbC7QUQ8AGUhBgqEHKIjBE8TgEv8p1S9WDrElJMXSOZrVkEp0OAMUbuCgdn1ABC3wgRLCkEsuNiSKfeTIH5sABkGuQZpNYEMY/MDIkaALgwuL3TLHQjCz0KqNp3RB3F4IkRQs8wYyVAILaxJNa1YTkFW4gyEEOKsQ1fARuzJYOMfCS0TM4ZJ6BEDG1Km7zX0ACs0U30ZQkEpVNgEAE92CHPWJSwCMKEWH8IQnMhGogKKIhnTICkJfMCYXvECh4fyAO50IzwVOBAUUBWQMUsmGTnTiEyjZJ0PIJSIAWAKkRgVpJoZK0hn+7EvojNwWUaPOgAYJAFBQYTwn0oOJ4lSnYXDDIOxzkQ4C4KhmTepSJ5ISOnT/QQhhQugC0flCki6BCVawwhOjWNWGzBOnTViCMgmnEYNlRlaWYIhZjYrWtEoJEW1QgvjCpFLV7chdS+2DGsLwhasq8JkSVSUYmhCDI7BBDFSqIUVo1S19auSoYWVsxbrgxsi9wAaMUp12hrZMVYSCqMGDYlVtytUm+OAI9/Qga4PakFmRyyIigtlhW+sJ2MEWCj9w27UQyC4QSKVBC7Vg4p4HgEm44QlCCNJWKXoEH3jSEo/wBCOBWsNwqVYkuUoeR6JLNAJqxAZCEAIUnEi2G2QOSN5NayMe8QqGvCIUblDCEQAJAFWy1xBHnW+LMpyicPkQZsiryXSpK6ztZWQi/wgcJRaCCQAwgalHGvvu5iwSmYb44hWaMMQbqsCGCC/BCoYoKkjFKGSg7ZO+sbrvh0EM0k+EYsGGQheJC7VJAAeYCad8AZhUCqPULNW5+avd3V6BClbc4Q5vEAMegOwJS3DQZmL85k/pa7MkcwSkoWhFLGbhCTYsAQU0eI6q6KDRFMluDmdoSAv+G+Crvg1MY2oIjGNskeNMZjKviEUwftGKWcwiFIpFXgQnuZZdLSxcc0aUTZCmC0u8YQkU3WoKZuIVqbyRbGjrWYta9Qc6tMEKeoQjgFPs1jBdK0x75XJAL5KHs1S6JKr4xaWV4YtWkCIUPxPjhxlpFpvNymY2y//ETvCsi0y8oSE3BeRWa8BOjhTvA/J7C0MsAwBu/iEPcWjr+E686CzbAMuSDVJuSQqWtCxNE2vpRJl/8Qtf+OIXJ/EPhvdJapjdVzop0QgrfAoAI44bAFXQyLmbAGtZN6R4D3kURWYZCEsmwQUjeNQPqOxEFvs7y8cWeEYm05Y4MMEH1+QpABbuC1ScJM5yRl7FawZuibCiFa1wxdNn0fBPbGENXgm5FdnZR7qY3CFuawgcrOADGSVa5sDFbcYEVHKcX8QSoWgLW6OYSkYwYqeeCIXzXkEKs2C4hh72NvIewXSnu6LwnGa4KzrxhkEy5AhjoWiDuu6Qqq6bIV0IAxv/fOBKYEMhxYyCE4xO2SCNsV0knmgFJe6NSBY2gRBNaAEbbLAEN2QCFQuG2LZMva0IAm3jUCe8KxwyC0ww4g3GfwMbBMkZ1QFgrzV1yBnccAfqNSHmowzwmCi7ZRiRnu2WYIUn7hCFKDzRBgU2sDuf4AZL7B0AqmgLOf9us0kAIOO/dzoACq+R4/Mf+YwHgONtRA8MCLtQxDPxjdp4giEYQhhgwRNggRVgARMMYOTtyDONXlpdBEjR3RIowRPFRI9oxw1cF9k8QRgcgugwBEuohefYzNM5HQwS3ix4Rf8dn/JpBJxIBOg1EAAIT64YlawAkRp8wROo0lZhYPORXqRt/w7h8BTyoYAHMoENhGALxMB1xZwQmIZd4cEn2F4sEB0lPALSTULh3R9DuMIMOgQj0GANJh8YNB4Fcl8SSgQKnJJWIBZIPUJbtIUinAGf3dQR1MAzPZpu3VAbdELxPeGPGFiDWOHXlVJDeGAVqMEhkMKlKU0YNgL+BV9DcKIarkb/Jd8ALiKibcQZ9AzMGJUeVpomeBrC/WFDPFoLpJJF1YCjLFMYMAIhHB9uLWIL2JbbXJdD/FcWJgETVIEf4N3dhBBDtEL+nWEaGorx9YAvMgQ6UQTZ+F0qghTBVZpZdcLHrR0A1EAA1mIhzg0b6KL/+UB2ZdcVagQxEuMP+MDs1f/eKwSDRBgevICBgJTPKQEAOl1j8z2izbxXSK3EZFCCUB1CUTHExx0BO9EiQ6RSDWSRBfUA3dEdIRBC9VzhFRIjNv4XCQpBDNjADyjBFngCRaQhMZRNCvgIwE2ej0zEt+Xh/YDOfSxHUemXG0VYQ9BiC8yFBTUB8REfIxAfG2RjQ4DkUjJEPGLhDbxRDCwBI3TCDcUJAYJeFULBGaCLzagiCE2GGq1RrDSkSrYBAGxBOE7YRCLb5ojAG5iCXGJCUa7hf0Ei2dxlXsYjX7qRDxACAJSbRLQkAOAjABACG0QJG2hl84He9XzBF6WIdBhVN05GlQhK56jkvCHCIBjC9LH/JQCmgFAaD1HKpWnqon/xpWquZjy6QGJqxC8whDJ4omKCXmOCXgxEQRss0hkpAlIhJEus0Yg4hGbWTyZkggL6wR3o2BHIxBKCCAhckSncwlxqR2qyJnaiyg9UlFf4QkOsoX6wgQUOyFMNSAwwQVfe130RlSc8AnCO5RoRZ1ApAnI2hGYCwBI8mvFABAiMQAwwgiksgQgqARay5kgSoxIIwRLsBLQFA2HGZidsZH3EWgtci0MQGByJAa6Z2q5YQiYwW6WJS3za53zWp0Ms3RckgQ3sp7uAAA+WUnaKZDyq0A+wAWACJkUYJgDogsIRgzK05AwSH452RgrEwAh+nTC6/40sDZqRHUJlagJ8Dqd9qmQm/OB9aqZPHYIlzc8L+cgIOuV/JWgSZCGZjmkSJIEKKUFibuSNagSnzYIuxKnCBYMyFOYvsAImAIAuXsYaYNmB3iX6IJ2R0RdwagJIjSiQMUSVGiSJ1t8nHMIgPBK8aJELHKlEiGQMSNGKXcsSIF+50d1hsqmeSgSnAcAsPN2OBt0vOGidBoMrmAIi6mKb1sQRHCiMptagzspahOWuJBZN+lOQIVZQscK8idh+1qGlasQPgMmK/UALRJgLvAHdGaUugioAEINhzqAnKEIrfMJxhgInxqZs7iieGqWoDqlELMGfhikW7KZDlBp9ycp/hP9oWV0YTaYiRXxUe7aIBVVogXLEAWWMab5BD8TlUU5r0F0rQ8zCJzxCK8RpwhbeJHiCJpQqAPxoYQKAXAKAuUoouvrAdY0gU85Qk8JOpRWMb9qrQ7BCrpioQ3xCWKmkIkDM/KCAyMZjTTBKD5imaRICJqwBJsglPhJDnHarSsrpL/Aoj9ZfrjTCJHzCLIhrQ9wCxx6srHrskR4poHKEoDKXdHTUxKpsM7aClVLEIDSkgnEU2YAA0VghquilUlIEo3xAFQGoXFLnxgYDnSYtj8Ipjyoc4Crc0iKddLgnKTioQ2xsXWokG/ypElzMTtCMkTWCJxReKxBrQ3wCGrKsy3qyRlGFAiqIl6YSzQjKUCklaNx6XTpBBFe03hqaAisEgzM4Az7qgt8KrsIxRO4K7lo0Lc04rSr4Aj6KK6wyRFE2Ll/CRO8JFAAAHyc64+Zaxifc58Y1xB94wgjFgiqU0gHCCwLJ6PmM6dY2E5epUx0mJjHQrp0GA9IGn9Q6xC94Ii+F2ijEgi/EwitwoikA6FEWqBCgZyBQzGWsRRnq38tahP5lnEoSq09dbyjogi+0H2cEBAAh+QQFBgAAACw+ABkAuwDXAAAI/wABCBxIsKDBgwgTKlyI0IpDhhAjSpxIsaLFixgtOrSSsaPHjyBDiky4caTJkyhTjiypsqXLlzAHsoxJs6bNizNv6tzJU6CRAFg49hxKFKYRAg+LKl1qEinTp1A7BhAatapVhlOvat1aMMEWrmC1JjASJaxZqGPLnl1bNC3btz3dwp1rk0UHtXTzvrQbharevyftBtW7sXBOwBY7mICCJa/hx34RUxQceS3kx5Iv8q18NqhDLKC7dAE9OHNFGQC2cA5rhTTpz6FNWzQC4MpcK1CK8CjCu0gZHmmKQEkqW6KRBFcav8UiiROo59A5BZjwurhEGA6UvwUD4FSq7+ABOP9xwuTJcOsRf2pfK6YQAPDwAYyhYiQoFPQQj7Zmy4SNwFTPnYLJKd6VQUUTYYgx1xlqqCGGaK518cWEolnxBBNKKMFEQUedsOFaWIDy3ilUEAEAG96dUoYXPCTxxGpX/aBhaxBiAcWNjHUhBoMOfjEaaQTpQABZbIXx3SlyeKFDGEuk4l0aXhTRBW5n4TYcFqL9CEUSQvwgIxOMvXYhE2BiKYYOBrDw4FlPlOIdKF6kIZAOTqaSZBAUmmXjlTqeAUccbZzxYIRfiCGGjzZmKIQQSjxBGwtRXPGEEmGh6GQaVIChhqDepbLiEFuAFlaiQtxwgxBlvgYFhhrmuCODD/7/iKUMBCTgxqYJubaqS1/YSGaGYLYG2hUEniIiAGV2Ucp3nKSRhmoAdBGWoKPdwgwz1mT7DTjcduttt6ZssaoSP9hwQwe1YikaQmKo8WccaqhkpqGDBhVau3cUC4AcTVxxoxWgfAeKHHJUgeEPYUExzDPyzOMwPfW4Y486E1NMcTrnlEPOxubYgge1oLFAQLSGCtorFEos+gOjwYI27qLAWtHnGSCTJmG7f8Lh4Gg45phlUAfbYIMQiSyyrxxl+MtEEkrIAcAicqTBb4NmwTGPPfZE7E49XHMNsUAOm6OxN9zQwssmPPBggtomGNAAAGn22WDNNLbbRhxx6PwgbuX5/wzhuOXasLISPgOdYcxyN3hoF00sYnQZcpDRhuJdmGG0I0gbIe1SYmAxaZeDB2vFLfHIIw8Ap58ukOoDzZMONLRMMAEEs0NgOwQNLLAAArojhSWFhv/Qm4yFW8Eqo4RjUSjNm9Z7L4NwTH7GyWSS6fdoZggkSNRkFEGGEWSQkb1ABOtQxX12wwEHAGfQpOPcPlqYLM5x3IK6PPHkr7/p+Ztu+jzYYMDtBtgABDTggAg0AKMYszxBiQEHEMRBEQqlhrvhLVDUI1PdTIaFoJlrZUm4EhaewYxxyIMeKHRYOtARDmikwXFlSEMMIVeGGQ4ECXIowhU2BCwR+iplCDPJzf941CPPAXFwL/oCM+LRDvzpb3/98988zCGKAd4udwjM3QIMcIsuevGLEcTBJrpoiy+acRW3QKMZb5GLNX5xGMxIxzzqYQ+D4OMe1ICF4xYhiBXVsIZeKIMg9ohDMvzwcEyQ2Y4a1DxEdeQGNojBB1ulquM1CgvtigM42sGOdjzxk5+cBz2kobsDlnIBEzAAAQJAgFYG4BLriKUsZSkMDOAAA7FEBzvQIUtviMMbwAxmMMXxDXEY85i//IYvzUGOc8xDYva4xz2iiTVpCmQTexzkHre5TciRIQ8XnJ6vNDhEaqEsiBIBFMjq5q44zOGd8HrQuKyHpXHIMh7pyKc+9an/DjmqQ5TkgIUArRgA3Rk0dwTgAhemoFAvcMGhOcBBCDCg0IpygXayy6hGN0o7jMqOdsdgR8OgibWSUtMe6TBGGhzBzZZu0wuCSIMOzOMQKHzuB6a6gYyegMkzSE9BDGHkoTpILqEJDlUyw8QmIkELUYiCC0MAQCtbiYZYsiMeDnNYw+bhv/9lVR7p2BYxwVHMbZmVrGjtlji4tda2mgOta90WXNUKjrjWtZjILCY4SGpSk6ZwHuuARiVY6tLC5mACU5BDEKJhDWbcwhRuiN6mEPW7RbZhcgk5VcusEIUnMA10hOvCMyKxC1jAAg0hKCACMIAAAqiyGO4QSD0AUMfa/9L2tgORZj52m4935AMf+NCHPnhLXHz89rjDzcc+hMvc5B7XuLsdLnTzId3fSjOaAJDmNLXL3e6WtB7o2AUXtieI8pZ3m4NM7yK8MIEFTAEXnXziOOY7jS4yQQhGnWRCvuBTvM2BDvBUw8mY8QxzeAMWl0iwKNDAgAbgLovHuEd2sztN2kq4u7r9bT22ylWudvXDpfvwh7NKYlGiEGInpsfDIOY6OkbzHneEMYZnLM16XCMEBFjA26zIY9sZAAE5CMAxmijFhplOHbHtBwDGcQuiJuFDBwHTzKZnBSVYyxp0lEcxKlGHYjjUCyo4oO1yB4EIA/fMwO0tmtMMXGvKo/8e9DidJz3JxDrP2c54prOe6xwPAPCZzn+OBzsAcDV7EPfQiEb0PYrRgBxDwAAQMOgCevxoA3BBHHWkbda8Ng+smriO92DyGaYEZYLE4AdJwGQb8sAMZ8w3Gs/AhS1wsQmFDkEFGpiAAzSwAQ04gAEMQEAl7vGONaM50QCgh0i9Kuc7OzvQz95ztPPMxHZYux3MNIc9fJvobh96HnVYQI53xwAHOMAC595Ary0AAYG0EhcvvvBA8sEPfHS6zvMAQD3GcaEu2cAg/MXbNKbhj36M4xmDTEQkBpkGOwCAD3sAAAlYaYADAHuV32hYirvG8a/FVsJ+LvK1rV1tao985NX/jrbKT86OcjCTHjBes7cRvY5wEwAB5ea1une+AQv03AFSFXLM26xdfvgDHvDoBz/UYQ50mIMd6cBC+4BqECWYIh38yPowypuIrivc63LYAx8gjoRgb1GVQKAH1m67dpOy/e10vqo8Tk73a3ey7njPO8vLobF1SOzttrUtQsyBUASY2wIH+DHOz20BdKdyleCgbnOjy49+wOMfSPcHP9KhDWocQw/vTMgPyJFPdUSjvHywA8EIxgevZ0EOqk/SBlTggN1Boq+4z31J5273arOjk3e39u/b8VU5grXEJeY9y3/P/HV0Y2Py0L30S3pbdbjWtQhQgRSkkAUvkIABrj2A/7kdoEoDfIO4k98HP/ah/qzvwx7uEMcxTpUQMbRBju4AhxkgvnqkEWwPXScHUyBDMoQEJLACHqAB3zB9DKh8w8dJzBeBv3cOx3AM0VCBGJiBGliB4gCBwCeB7LAO5MAN4VAOaseA0+cO6eBoSJAFABBDACgIicAHJGBAFqdKCLAODiMQGMZbbfYO9uANwEAGN7AQVZAOaocL/OcsDjcEUgN7Xdd9YzAGZTAGUrABJMAF4ICCJSUxJOWBIQh86xCGzbcOlQAAwDYBApE7GHBAqWVKGDAQxUCGETiGscQN15AN6HCCXKh75jB7Q+AEeyB2fCCDaZAFY8cHE+AB4gZsJ/8IeAMBavrGecIADICwOQkRA9pmD08oB07wenbgBGOweq0HAFE1hWMAAAaYA/DXil7oilnzitBUDxA4S783S7OEDVc0ZgCwOzpmSr74NgKBi8R4DtdwjO0ATcrYh9UEDiswiISYiGOXCOLBB3LgAYwoOy7GgLTlDvHQDLAADHnwBwtxBnsFDv0HAK8XNQBwiKyXCIeIilO4AZDgDlvDcfiYj1xjD/MQgujwj+fAS+vwj7xUkDVHQA72YGKmkFnUAMuwQgT5j+sQkOUADdTADe2wjV3IjODgBGFHiHsQdmMng6k3BCvCAB7AAJCgkQxID+awC5WAC+7EENZAD7jQiU7/039pMASj2HqCMAXyCAAqwAvIV5RFGWcTeQ5KaQ7mkEsR+Y/ZQGlS2WPHMJASSZDnwA3L0AwYCTH6iI/2aI+x6A7fQAVhB3tpQIV/BDnSqI5IEGmiwFcMGA/ScAmVQAZLUGoIMQzpcDRy0n8E43BH45NSII9UwAtOBEqKGUVzdw5MyXdicw7rgA3m4JiWiQYI8GPl92O+yDuSZlCaqTtWGZGOeQ3CsAwYaZSqSWL0YAuwhzQ1NIVrWUNykIhIMATgF5d9WA/mAAsAAAtkkASYiBA3YAfscJNJIgWQA5iA2XVU4AWo6AW4QA7CBEzM54F1xw7mUA3AIAy8UAlTGZ7i/zlmolAM5nme5ikMuwAM2SB3jAliXdVh8xANUiMnsTkFPFlDAlFDaQBxdmCABnAM9BCWsgiL7iAP0gAEQLAJVQAAX7AQbQAA5ICc9hl7zCk1rZcIWSCPTpCSCxAAIHpzEOABObBKBsAAIAqivJM7CIAGtEALwLAM5MB3MwoA1wAA1UANOaqjPJqj1SAMwlAMvAAMQkqkQ1qkW1YJkKCkSwoJdeBgaHAN6KB3JHdyTAQOMQSbgJQDKiAfY5ADOaCWr1kGGoAAx7BiG9c1WzMP51AJGIAGgFAFSxARw7AJoxg1zLl6Y+AEDScIe/CJXhCoWXAM3hAO4dANhhoOOToQ0f8AANDQDAJRDQAgDdVwjNhwjNkwo3ynMTTKqZw6o6DqqZs6qpuqqaRKDgCwC5cQArjjVK5aCbAqCrA6q3VwCXVwDAR2kzJUhVQ4hRtaBgCQA1H1R6+ZAyRQDCE2YiUWD9QABBggClGATgtxH7yQpU6DkwSTBlLgkZCTllMQqF5ABUHADYhaqMAUDuaaqOgaDuIQDuRwjPCKqZo6r6G6MZwqDqTaqZ46r6WqMaDKDaUFAEbKCwRLsC9qNk0FCwuGBnUwRp7SjlM4BTnwglUYm176Rw0nBzmQAcWAd3l2DrDwpoBQEZJAhU7jBEcDmM4SQ1MYSOroBVngBLygDdiADdr/cLM3yw06u7Pd0A3kGg6XGq/HuDFEW7RGC6pHi7T+6q9IW6/lwA3A4JvJ8Hzu6q5FW7XkYLWJWgvjU4VIoAK/OpuxKaZyMgHV8JQSOZC3iA4AgAELigcW4QRegDRxkqe7CrPgmgNZsLdeMATV8LeVKrSBew2VWqnZcA3UQA2Ie4wXubM627M9i67miqjrWrnqmrWYm7mZa6jdYAywsAvGgA3dMLmQW7qje67hEA2zOQYwq5ZiOwbaR4UrCwHSwJS2y5SWabsBJbKBYBFksKGBeaGAtLfd5wVT8Il7CwC1IA3M27zUIA2JC73Rm7jRK72IS73QAADPK73U272Jy7iE/7u48XqpNVu+5psN2YANvwkLwkAN5Gu+8Fuz6Fuzm2AHYnu/f0QFJIAE/FlDDNAMRvupLsd3CQoEkDCcFMEDgbR6yxk1w0u8xeuCeyux0FDBFuyoApG9GeyoFpm93mvBy7AMANAMkErCI1zCI5zCJLzCLPyoFvzCL9wMyPC5u7AMPZqj4fu3OVypx2C/+Iu/qei6VdgAyaCul+uu7QoAQFAHHSEDMFufExs1aQmzWTAFVcy3XpADyDsEtQCpGjwQGpy9Yuyo0gANy1DB1PDCABDCAwGpKfzGbhzHAiHHDOG5pmUMFdy8egy9zLu91LAJM8S6QPnDPww3xeC4Pju65P9KrtSABmhgBiPQEUYQqHQbyFRcxVOQyVYcqIHoBDkgCo9Kwl+MwQaRx9CQDDBMDW58EHTcynP8ygthx+zbDBVMy2IMwxZcDEgAnVXYofLxw2MQthWLBAQADEJrqeVbDbAABKJQhB4BBlRwp1MMwZisyd8aqAgAopcQyqK8wqQcxhxcwclwxi8swiF8zue8xnAMy3TMEMigquHYzbfMwfQMDZCABEhwzXsaSD/sBNo3tmNAAgdgCxbpvdxrDJewCXRAjh1BjmaQBSx7yRNszZmcBca6AQEABNy8whu90bRsyx/twh+NziRd0lsZws1g0iqdzgJrWrCQDCE9xhgsxsD/IKxI4AT6TMhl4Mm9GqhUsAAnYAvhjMvgCKe9CxJNQAVSIKgTXM0UDQAroAIbsDuV4NHdzNEt/NEpjdVmvNJe/dUr7bmXwL5bGcoy7cIAUAwTq4pOwH2BSsiyCaxeAAAecAF00MVofcvNAAyXsAdHHRI8sK1WTLwUrcn+TAJBAABTjQDAwMKO3dFYbdIrDNaUXdnvnGC7gAxabdYh3QyQEARDgM/47ATPycuEDACBmgNvMAy2IAxmvcEkDAuCORAR+hFFcNPcN9EUzaUHGARUkAYqQAIbsAvrCQzGgNJYndwpPc4kTcKV/dxfLQwIdgkxGtPWXQwrEFWiPdpuzc+s/yu3f4TaXoAEtFAN2MCdm63VwAAJIAACKPEGQdDWTp3JVGABJCBxKwAAQUAEXKoCLHAIcRAGAOA9ZAAIm2ALtlALuHAMC14MxpAMxgCkMMoLTSUKkAAJm5DholALHK7guIALQCoMxoAMyJAMzM3cz/3OLi0M8izSjwoJQxDa2y3aOB2oU+gE+9vTxssL11Cz1LALne3CwCAK7Z0SgQAGgY3T1qwCFiAQF7AC+R0EUn4BXcoBPhADLUAQIPABHyACKXBqP2ACUS0QKlDmF6CGBDEGZLADKdACMZAEYeAHCEEIawAIdn7ngGAHmyAJCI7gHP7hH14LCfa5LO7iIg2mMv8+49zNt/tchYIKCe5bs9IQCVrNwpcAACngEkpQAridyWV+3wIB5VCd2BJH5RwAAiIgAgcRyTeQBFGgAQfYpaAulAIRBCsg5a1HBm+QB4oQEW4QBgI+ITQTB3qgB4hg7ABwCIcgEIRQCJCg4A+O4iQMDDGe6Io+2oOtluAKCQwua7YQB2u82csAC2CAwCrBAzftBF9b6gcI5SUQ5UFAAlR+ASaQ5blif0VQ6rKOhRpw67We3/vSdSNbEZkeEdGKEChgAioQ49c+4/Jd2oEKABdgBFXwBXBw1Fs52bagBzbB6UNAAqD+5FCe31EuBytAAmUOACZAKQgRB+P4ByUgcTL/f9/3fetQbutDYAEqIAeJYAZN4AY3sQH4be0Nj9t8OwXZnANkEAeIsOwAAOjePgd5UBPtfQImgIVCL/KinthSLnEpDwB/XRCK0PSBwAYEgIUSh/XCPeo2vwK7jDR7MAYsTxNivvYqUPSK3tYDOAGtpAI3oyBwYAiDAAB0QAdTvxMl0KVQ7e4kX+vxLpRdOkGRYQX2NweBUAEjI9yaj/W/Zuu3vo52ACVlYAI2Ia4gL5QkkAN4P+M8mQMOkGM88AIx4MxLAQZlPvKivgLvrt/6LfRQrgL1jgIG4QJDYzs5IPQ8p265dgBSXQYWmpbGegI0wQJSkPbyft93X/QCMQQ5/6ABGlA0DZABHCACXP4BAKDqSqHwKoD7UN3+/i7qXXoBKGD+BTECKNACHEACVJD8GrD+AKHCAgMDCxjIQZimjJccGUxYARBR4kSKFS1ejNhExYoVJDaQuACARMQcSEyeHJIyBwkLKqhwkhVJyokPNT9gxJlT504WFzZwLAFghdAgQ4ks2jCxhIibEkegSOHCBxkPFjZs0GABQdYJDkYaaDAhTZoxXrwMITF059qcLDiq+BjSo0gAKk4iSTkkB1YSVMyeysWJDAgQNdkeRmzRRBk+WTgKhTw0SJCNalewqAliREQXQqyAKYVkwVULSMoAkAPAiwoEC8B6KetELwkIiP8S39bBUS2JuXKTqiiZN0fXBROGKJSTKlcuTC9atEhxW/raIk7s8EmUaExRoSV0r7Ba8cQLFzGUfIlzyMwpKgQ0OPCSBiEAMwDSZACAIMCEKbLRZliBjukO44GKoVaIa6QEAfhIhbwYaGABMsA45A0k5IhEluXAUOMLKAYE8SLYsMsuuzGE+m4FFUaaqCgWmjgjjj8CeQMUUAQhwIIcEJJDPvvGIgEBAwzIQa8VIUjAhx9CzKkJKrhDkMWLeFNhAQQaIAORQPTQgwwvBAFsOT0UCeQPOJgMsYUhTuOxRBPfUvExolYIArIioMDiCzJOiYQTBuCTb6w0IhrLCwMg2E//BRU8mAACE9DMiQg4I+ItKd/oAokgBsAYpEwA8siDDPnC7GQQNzqEdLoqyJhCDuz2kGOPRCJxc4wU65qITo5YkIEMQQQBZTgHUJMPvBwETYMBCFpbdIIJEgAh1YvYOHAjAC6o9FoFI0LLggMICGCFOfL44w8AAglkR0FWWa6TM7BgYklpERNjiNTks2MPElNzs4wcHksqV9Xii1WOLABwrYx7NwhgAYIHjcjZRhs4AYCm5o0oDx7e2mijuESydCMvWDIggAAeyPMMNSRigwpBYMoFgC6YuCEGADbDWKcbisgCoTLKGOO0EuWwIxIASixjiJAiUouKMuRLbQ8A7CCh/6AxIA4CgQnik2+CIReAAIIFEvggWmllRPeQMJyIs+MofQOJtxwsaADcBU5oIYYbKCpCYeVykeQH53DOOScYLkwN6KCftiM7PhDK7uhE0tiLQQZVmFoiO6aWY4LiehzUCyICTXZICCIkAO95mXiiCzHgGMQMA1V0+yOKlh7ZAgM0WMCmm/mWQxANcymEvBQIL9yiD4jwwmfFnxa08UT4gNXNyRUFgIAGPNg8c/vGyKIB1XokH+o0XCPASgIenTeGFlBAoQUXKnC7fmwtr4vFMgo6tILCLqaIvTK0HDJgIQnJy4kTeKS4oCFrLNJznPXkoDXXTKB7P/tZFiQWHzOYz/8MHhgSAUpmgkHM63gfEIFmWGABuSiqbdj6WBaQMJYcRAgBEPDdRXjghUX8DQBxiEMbEIiR5vXoRA10YPQix4c0JAIAfICiCiaAAAKMJGhm6U8OwIYAFZAuDRMQ4aECwAOMjcAEJegACCTggKtM5AIreCO2RjISzI2lDJ6jYgJQMAKzXaQIwWNXLjqBh3INsSIqSMjzoJdEO8oqOwrjAwBgRYIFAMAAQ8jCFDTZnyG0BgGW1MAKnGUAIRHgAo3ImQlWwIADRCCUmJNSRDp2P5BsIAuDUgEp83OCGLggOheJAx58JbzlYEIPhTRkRA5HNLIsjpGC8oIUniY5O4xhgY3/CoD4pCAFJ5gELXXzJCkRICQsfQpjJwiC5xjwkyjZzo1DmeMFuLaCG+qHDIHAA6owEggAIGERi9AQAMBASHMZUg08wCQAnvdMaCKBa9eZnBcAUJbhUNEDABiCN3PggdyE0AAiBFsRDpGzJBBBK+v8yFV4s9KAYYojQUiDChigPQgQgAJpA4AidNK3Hi6nFOTipyHzQIfqOEEKE10kQ5GYBoiaRTUpmQAAooqEHKhAA4w6gQuMcAEKvJEIRcgEHgpHhAlEyCMW0MBHVlopj1zlI1LIAAHkijCJgCGoOxmEIsiQmoB2Ig/oGuIhFNEIM5QBL0g4alIZKqipPW4IGF2J/9eiSgJGia0BJuhjMslQVgek1QJWSelaK+XWDUwxnEMqwSAKehgmHAUAAcWETg2JhzcghBNykAIJkDCFHy0WWZKUWl08kAEIHEqqDUCAsiZwgswOkQwLIAAEHMDNbUqBIyrdwIraepUGfNS7BihBEVT7hzwgBn7+HCAA3jDSSUzEZvO60SI4EQlB/IsEUuCab6O3hy9mwAO0qSQAGCBVqUIgmRIxgoF1SyJJREISD5ZEGqyr3baCkQdH4EERwDCHcZVrqHFIDAvKEAnAAAAUTAjDEHuQCgBwghOLeFJNOOCE/OqXqXeMyEUXEJaoSmxpyWRDccWCHUEkAsJHfjCtxv8whI0MKQYx+AET8tSGNgAxDme6DQ96FFBAGBIUp2gxAAShApqIQAQUcIJiF2uH+2TAv8vSmsQg8KwDA4AIBpiAUaVAFtjoy8FIPjKtqFAEGBghfuW5QRKs4LrpEOFXsogIGCyRPDCkghOgAEAkDIQCi5k5B7dUMyPtgOPhLovAjYJQE3JqyDuMkwRlsMN1oDhrWFlzD4BOcoOzYwYenABvNriBlLFwmxM4Qb4ROcUdkleKUrhYzGS2iQjMeFQApNm3P5NIowhQYLEhgAcjNeQWeEAAFVzNDj1inKuot4c9sHnU08O1gyMRCTuY4AZP+IIQpcOCTJciJma4q7QKweL/ZkeCbSAQwURukIOIIOFqSTzN04AWMYRp7XQfTUCdr5UDiZfFLB9vINGgyG6SM9HI8s6OHTAHhdfFQUDS2evPgpCDIiBCD/MqBZ9AEYlFqMAHLmgB35zgTIgDYAo/cwKBDRyWugVAAhoHgAe8ALSPV10KQ8CvWUIua1hBknrdTIMXkACGOMyBDuW9TRfaQAQSoHQDRihhqgbOiRYvYghFcINFynt0hk59DGOgzemE5IGmPwB5hjyBFP5e9ao7oSSMB3nIRU49Hw1hw6Ba7W2aILY/YYUDmQfRHU6hc/qSQBGHEOtFnKZUiQLgdPkRGwEkQBioyxPyVa/2FG7/caNP/+FqexDEHrJQhimogA3kQuZtluCDDhzgT5+dQFCYFAhQrOLSL1YBGLqgBAD4oCKHAAMX+O7AiXuhARGy5LJmD/WIgIAIWdh9/CFvdCno/u9jQIIMjX9M0CemBRLQpWFhI+kDkT44BWabr+0Qgvc5vIhYgjAgA6OCP2wDgCw4mKiyJFIygANoLo2TAviTvxCUqCn4QNj4O0xCAhVYr2MKERMIAAITMDYiIxAZvevruROAH5xwARuQASIgQSfQJKOroY+qJFYyAAFIOPaLCCewQCAUwd2jPxD8u/xLwTt4hEdoBNmSjmgxmU8aFgCwgC+cjj5IhUgoBVBYBC9YARQojP+daIET4AEWIAIiIAMyeIMiECUG0MMGCADMUsKGqz8HecLbi4j60zr8ywInUAEjqIIwyLsQecFtA4DOEjDM6sC1qMGIuMEc0gkQQIEYWIIt8AMAQAVNqIBtC4CSeYABGAABqAgBgEVXTB4ewC8koLFBZDyjS7pDzD9FNIEUiAEbkJfp+ICnAwDni5hto73EED0znK9NM4zpwMJHKIEIcAAHMMadGIACUIAHkIBsZBIy2C1cvL1MMjoTRERFZIH/AaDb+IAHkCsEOAD1CYBLXIu5w7RF8ACaaMfbKJfBaoQSEMgOiIjtE4LDoICEVMh9G4JbJMeqyyRDNEEmVMf/YRL/EHgAADCZjXwAe9SJSjNDNLQuTpyOguqAk+wAgeQAiaCACHgABYgIH/AMMQCxnEhIxIgWE2DCh4TILDDE+6NIFVjHfrwN98HIjQwABWjD28i5S+M5D9CMpRyQP0AEgRzIk7TJtbjJ2zCBIHCo3XMChyzH/rC/vwvKoWSSL9gCIagZE7DE/0lCtsCEMiwFAFiEHOCBF0gBTguRcmkEgkSjDljJAVnILQQBFmhIEITIHMgB/LLAbQrLyAxLvwiaJesPaEuVRzCVL2ACIfCBXvoltsiDUrC0nbOzNhADiNgJweQAhXRNACiXP1jJlAQAwWSSwtw3W/QLxuumKfDJbkIL/yKYOZVALBBsyCHIAJqYl0eYhElQhD94RMSYy0VotrtkAz3gsDnACQ4gSJ1QyO6szcEEEQ4Qz+kogYxywo97TG4qAvaRCB3QgZlDLG4qEhUoAYucF8GSDtErzUUogyAoE/IaKovgTrZwTRYICqwEkQiggBAhjBOYMVuMTMgkARaIAn2LCIWUgBVwKMRSgSDogOMZgbj8Q4qQBFkQhOokgTfgP4zISMRQSA5AUMFs0OkogAJIFRHwNSIoCSQgAh4wgWGciIVcgZewEU1TAAW4UVYcgBKdiDv4sjNMQyKIzeSbCBy9DYVEUDSKgOmAxSZNHr7EiJtcgSy4NNP8RpfMSP8sBQAFiIAKUML1WARQeDEPOD4rRZOFZIGTjAA2RQxYVELXJFMvuLRSiAQvqAAJ0FCM6L/kuQNEolMYCwI6mJHBwoloREgJiICU7IAIgEknTQzcpIAVGINC5QREpYDYDARwG9PXxJg8YAHeoAKFmAAwGBNFaK9XjIgPkMWLANOKcMkkJU8JeAA/BVXvxE2hKFUb4YQxqACFhNOJqILPhI5WFdRrrVG2KIINYAALcBYGuABFwNVHAIAqmIhe5dXpUNIC4E4OkIBPvQ03Lc8hSlahKIMz5YQygNbZxAmoaAEbEIIosIhslYhvZAsycIAwnABWCgA2aE4/2ALviwhA3dX/Xr2NYJUAwayAPoUUV5UWj2Wae2VWfaWACiDPw+A0YIwyLKBJ7awIMXiCnSgCA0jYMHQNBZgEP7gCiQWBWJSIdAURCtBUAGABFuAAeM2Zek2MZ63XFRBZOgWACjDZdmULorwBJYiCfLOyMxDYj7xGArhGhk2AMPCB94kWi53Y20zIEuCBOCyBF60zpbUI8LyIFUiDSACFZisD8uTOTkXaS82JGBCCJ8CCYdOJE2CAtHIABhCSkukAG3ABFLgJtE0V12xbtz1WAGBFieDGnbBbfJUDkz1JYgXcwnGlDQjDMGTcFxQC90mBX03atb1co83cxOgAu8XbZpODvpWALTBW/+U5J7eqWUsCFx4wlS3gPgSy3LZF0NpNDNxlVjng05csANhNpjckjc+6xqZjA0rQhEmIO+WVXeadV+fFiQe4AAxhVkEogQqgXuu9iKYgSum4gADoVtW1EpMBA0VAhEaYBAIsnOXFXPPdiQK4gDSY02ZjXw6g3t89jLKRjnETIT2kInAJgCOYkVVFBC0M4PGNw/IlYItIAB7KW04QhCDY04392+m4NwIJABGSqxcGFxOo0gw+BMGaBE0IhXl5zcsF4BC+iBFOYBMugb4VSEj5AsQAl7mKYQdAviqtCER4BB2uXA8uWs51YAIe4TSwkRtpX749WTQpr5vbCTBYYpOZxP8mCFAovogwVtuSBYDZxYltvNEbzdwtLmFBIE/XjFbp8FO0O4wLSIAEuAAarmE8BQDX7NKcOD1WtUmTZQEe4DUCHAEAutF1reMs1ripK+FFaE1BxYlQUASCpQiYlICVJGPRRLtDZmOWJGWcsIQdzqkbRpdGjVryLIFINtqOlEr4eY4WSNI6VlInvQCn6eQSUFSQDRFHPgxWxtOtZIsIGMWKQJc1loiUxGUsgAIhEFMA6OaI+OX4aQH4rbMIGL68RcNPBuXbqACC7M4O4F9b1olDpghoXgtyjohHuOGJUARN0ASIlckoeAIliFz4+WaJ+OVwthgUgjou4GIbcYQSwFb/6aAAPBBPfwYAZmYLRJaIRUYgN1gCBtRmJVjA55iI9/FlcFZoixCDcUEgYz7SqL1W6aAZU37EUJBlaSFoQ6peVoyyeHEfijDoHFRpk16L2EwVLiiDLuYEIphp6dgbmHyAGxACJTDXwkG4+YUUVnzJDkhUoBNqyS0bvnwOsP5DJ6ACpnbqp47mjHSBJOWMpzgwm6BrrUaMl0xSTc1IgwZnb6Zrsjbr6Xjlw3ACLijhpp5otvjGl3xrmBRrUCXJxBDIjY0ARbWB93IBoAs6lP4Aos6bg4bRAUFrtU5simhUk3VfAHgBJR0ATA0RmLWBBjQk7rTKElCEMwCAJQCAXgI6/7P27My+TemIgCHwAhs5w7Vma4xo58Ak1h9QAEC1a7ZQAyv4ATY0s7qm67WI7ouQWu4kBVQYBU2IiDBgAhuQn8wOOnAuDxdQ28ToRiRI6y9D7NJuYzTaUwoICgVoxV3dbozwaEiJRQHA5zGV2kBAJQAghVd4hfA+BDeY1l4CAPR+gRYmzMHOCW7kRpewkVNo6mRW5orgAIFE0ApAo+e22P6uCG5cYSdNyP7NQkqghFFQhVh4hVJMvQjP7B/I2gpPjEwuAA2X7yB4gCH38O3M5VwO8QpoxRNH8YnYRjcFALiViACncsoNkWxNyHJBhA3WhFGI8RgfhViIBVLg4HwLWv8LxwgUwHAlBfJTAIUgEOYh/2+K6ICiLdqUlIAlp4gmn4hu9HA0p1fXrNItBwAvBwAY9/JRGAWKIAXxFmxAt4hLvtHnWAFCzTlQWAH9ZtLOrQgSt3M7jwA9nwjXjubkXgufBZHMq9JGaAREp4RGQARXRyXbyOgzR4w6BtMCcAAVWASeGwML4MYvZdJ6rvNIzmUWWEWKHfXa/dJQzdYqHSxNoISIePVCj/GbM6C94fHDWNKIaNICOIA5+5f34MYlR/WbuYE3/fQ2HfY95/Nkwm806mOcIFhVZfUDN/RDH4VGEKIlCU2KhvQUB1NWxFFSWoCEXdhyp3KJUNkkwII44IH/DlhX62UKIB5S+k7kiiiXQ2B1AGj1RZ92j6eDJPgB+bF1bq9ePxUAAhinsGUADDd3WSwAgFUCJlADLZmDOHiXmNVci98JjI+ISu34Ay/0Q5+DKHAOb77yD490YYbJApAr50vYxQ3m6o3FAVAAmleCMwCVOAAVUNE4ea4zVn/1V2d1PRAD1Y7c9H5jnVBxuFbSJUaAmnWABqh6q8d6b0xUmgwizBN7aanhP6R1jzd7j58DMUiCF+A00A6xWxdmAMDRFw6A5LrGcBeAJMVkP5faEuBarieXOmNlqFtVDkalLIwDLPgBwuhsNIkAEPZVJYX9F7CBeNTDulefA8B82PdG/wkgcQB4gpbm6MJxZo2r5lb3+OPnJyy4AbEmdel4crYogF92ASVQghMIgANwPrcaiA3MfSI/ZYk+Dxn5e8B35uCfl1UNBEWA8bJvhLtqgexmknPXiWCefuoXgIY5ADa6CgewEokHCAUPFESQIIFDCQAKsLT58wcAxIgSJ1KsaHGiw4wZATi86PGjRUSKFDWiZDLiGYgvAHxgCfIlRAEyByh4qaBAgYIGDxgg0MDBhqAWHADo8OIGUhs/oCh5sVQMnYcwp74MFEijRqpaJYps5BUAJQCN9ECMEcNFy61TI3BgUYIDBQ4VIwzUKeFAgAUMLATdMJRBghdChPyIIUSJC/8lUL7Ekar2MYBAka1exQp56iGSXyEimiOGyQ2IKC6rpWCaQ4cSbt0i7MDhboAADIAKdcBAwGAlQpj8cHEDCsOOpKlSLk5Zo6LhHvMg8upcUR41ElGgSKv8MWoWLIiw4KEdb2wCCGYzYGDAxA0lSqLYaJHYipo8wq+DPGT/kPHKgSbRr8ikSxt0NCcWHZ9NN1p/kB1SEimvFMEDDwSERwCFFRbwAhNMtIBCCz88IcYc8yV40X33WfWHVYpoMuJ0vimBRUoAeJbECzEA8EILHyDI4lbJJTcKKq9EEFsAFcZ2QAstvOAChzckwZiIPFJUoolWUUIKKYdsYQNkNVAnAkX/SboAgG9QQBQFADe8YMOSLkmpVWYALAgAIhxccAGRAbCQgAI3KAmRC0IE59ibFAVyHyKIHNqIJqh84sYSOVo3FQo9NHHpGk3syGELELUQAxOMzaHGF0wIAUCSkxb60n104ncIahGsoB0Lh/QBwBZCtHBDFGdEtapFhyaKiH2UjAKAJVv4IMIHzWpV6aVgELJGpjWIRh11NjxxBnMkQSQGALoCq5VD9h1aZXKhRDTJIRHJN65FigzbSCivjOKHEjFU16yzMLVgaRPUCnzppT3EkMKuUPiaGSIRSXaGmfBOVe65hxBLbLtgqYsKAPwdK3FFXmkyyiuanBEpdfz2C9K//wSDQS0YBMvcxBZ3GGKJIvYlClFyesQBMkwZVTxsw0QDkMccYfQxCNAVUaIKKpZA8UOS2KqsakXQytzCzAQv8YYfhnjiiSWHWHL2I5YkGmXTHj0kbKKBiCRvREy0/ZESbLpQNZNXe6R1EzG3/HKml7IRxh1je5LJ2WZnongmmdh3N6sizS2WvA0DkISaK1MukZJLurBm3/x61APAMbvQA0RgHEEtIYx0ojjttds+diaSff5SI80hIsYTnu5uUQs23PCDEjfYULrnEtUAcMExXHrEhtTF0IUhrLgyCyu3ew/5ILoPz1kjEZGkyBxpbnjj+BQlxoR6NpylckXPywyAjf9NxOADpz908TNFFPE97+WufXSa20h6p4YovABbnTKgRJhgBabkLQaSah7gwAAAH7DuCDY4AgoMAxWuyOmAAvQERAaoOKaNL4Hmi8MXOLc+6jwQggAIgxisoJsb6It+EUHdpSByBNYBoAk+OIILmDCHkiRHIhYzGgopcruM7S4QLuydZ6Lwgx+ERjRJsiGyDuEGMVThB8vbl3WASDD8QWR6S6gCHCixoom0K27CAkAmLgI5S4wvEI3QTHLaoEWkIMUFIOBUDQ34ClRMwg1fSB7zAGC/NcaAiE2AiM3G9oiKDEsyd/yI4oi1u0OYRBOUaEQcsMDFNKXpBW1C1Y4MGIv/WLwiFHioQt5MZ6k1xGyIqzvCpaqQybGFRFHioyIowYdMiSFCjqPQRCPApSaVsOmVsASjKnwxS1L4oYwtAEENmsCGN5DzCKYY4qW2gCzFNZFOFHFMuQDQTovcLhRBCoUbABBLKTHqmZSYQxTUJLrRmQVHnkqkAUcxS18AgBSDqMISmkBOcrIBAITAhA8qmkIALM4jlYGIQyTTCD7qsXahaEUsZmGJNyyhByhIAZiIUxyQlGQUlAiEGoRgFhfwdHQrWdID12dDRADpFbNsqCU6wQhGEOINGnwDI5bQiU58IiJRdCIdNXIokmzSI7QLRTZVyoaIEgx1KUBBTC/CHKIN/2uZEnmEHFGJBTbpjacR4VINETq+PBhrFEDiWCx+MQtPYOIOmXpDJxLXClcw1hUoZGuwQtqwzUDkE6xgRVUnctKUrpSsXStYDVJAEQ99ISV5eCLRxCeRUzYiD194QgzWJFtX0nUiQjVgHujQ12ON7BXE8IUuIPKGO7Aie411BSvYurOdTcQqGaMsY1uxWFe0ArMAaAUpGLpSNny2u2bVZyy7AIc8TCRRlshdu/yIiDycAQtKUBJd1wSA2hpUeDbMbSP8ChaTZDcYvuCeJ3ThienOwhV5bNhILGc0nsmpK/L8xHEjzNhZzMIXv8jjRLrbXeqwBASdetEZ0scVS7BTEf9xIBUUhICC0VWTSZwaE+jAGJG+AsCUjwjFLAAwC1SgIhio0IQmFtuK8jVnJCOhU+YQLBHnQFjCx6WwL3zBiqWyYQ0V0XDBENQs6rggBj+ICAAbRmJPrFcMX4jCFcgE36olaUMzlDFFRubPU3rCEHdYwhks0SB7hUUszvnjZjInT/OVTxHTdfL2KhwMVnSiqRMlJy+vPLPqebHNEYQIHVJoiRNjwQpYgAIHe8BTbJHa0hzGWvsCEYqR1ZgSv9uCBZUShkOQQhWxqIiRv+Ij8/m5yRIGwPYgEgxXLPXRxn5DlTUIgCNQhDoIa7OlJ5KEiAzCEG2YIBSyHYMdlPVgEXH/IHjdBEZPuOLHH1NDEvTl7P09oQ+f4Fi8kvNHiQDy0I2lSDAg4uhj8zvZQkTVF6HdbPv+5w5diEIUgANq6MmMdWcNd6dQPbxBLHYWpFAXAALaHlKnYExf9siR5blrr4Ti3vemSCfeIBF+sxzSYID2F7Nm34z7IQ5taIOZnwBMLPdAtKP5F5wtsT1XRCaVpuJh9UbDZR8IYdbxEsuS/8hYYJ9cKy1/NBs49RKEDuKUp9TDGQgh9rEXbmYOLKtoDdiKWeiCe51gwhPgt0pK09A9SHmCHzA+kfL5+Y8l/zVpWG5BvcJYNDP/whzgKmdNTMITd6iCEQ22Bu7KzEscYriX/8Z3CF20nRWmWKpiAJA8+SEI5knanxDOgOHV8mzeVB96gekz0TW4R68SYZJ9rRAHRCjerzalg827wBsc9UDZBBtTCqAHRNsDbfO68DwjMMGIOygh7hVEpG+2yMWzxEDWF1FEZo+rYxadJeY8LWjhKaIGP2ZCzn5thFX0kIcTC3+azC6itazVRoD1QP+fY8Ut3EInmIIpYAImVEESMMWpAJwLfBwAaB8XLckNLOBEnATRAVuOScne1J5tAQqgjMa00YEAPYL7jUKilEggzJ8YuJcPXBIA9BzXuCD/xUBa3Q3nAAAB3gIBjgAAmAqTtNnxiN7mbM6XcZF7eFlE2NpRQf/EBQrbiLCBwB2UFL5SaOweADzCJOyWCZaInJjL/KWEOu2UC77gJTVBDTCfxKAACIxADcQAI5jCG5Aah3AIEkKEEgzhtIUL/jzQBM4aKeRbvkWELuTbL0AEI1yHDwgcGiIFvSFLTfkexlAJCkYEAragRMggGsLL1YDAs4kJQSEF8tghHg7hqbTJStyAD6jcRAwiACya9ImdRZEG9exIJv4AE4hBt9CJM+lXJC5TelEbHJxBGIwVRcAU5VzNB3iY3YGi9gnhtD0jHjrgmNSICywBABwiAARXRBADDkrfUjEVLBKCWjTB3sDEqcSBFfHdLj6TJ1TMlBxCFMUJSamTNRb/USaOy9W8WGh83B1Coz9G4x1+2QscASxeIwBgQhQ5AwD8gucVoPR549gVJEyQY6ec31l4lJKBhftxlCdMTkU8Dmc8guIAQLUBwBtUgZXtjspwilNskRJ8WT+O4j8+42C4kkVFpMqxAgAoAzda2POZwgBGn1C+YkSCRM/FACFBIA8VkztpYePhDkWMWRSNBDFJRFIZQhXYiEp+QJK05A+cygLO5OYIgT+SpRAM5DdKZCvGgipUGABoE9EB5ecZ4FAuVVGKI0UcATNC4O2lH1c8ol+dkAqhUCYowphRBCLoZD75wO6s2PFs0WAIoSiKJU0mAVmuhFB+Yytq00L+QiHm/xsx+Jgl3IHsYMJcPmRm3iVEsIHxfOVgvGZkQoSgANDeaSGxPM4A8QxVTkRVkRiyAECM3E0IQSZsEsYdUiBFRKZZJoESsEEPpOQbbmZneiZ1tiIxEANbPsrXXKP0zWVdgqPYNQFhFKdEOOAcWAwdKcJuUYLFVOXtQERynZBEVBUroEhVfk4DIo9u6AZsvqToLadZ6oZlMqcSVAEBziUb3AEAOAMxUKeDVmc2ztIrkIIhXMENLME4RV93ficjHIFrxmZEcBEFUlZEkNL79Y4iXFZmVQRjHYJIXlVllRAKWYJqNY1TqEeAFucdCmhuqAeBqoefXFQOmgIrBAODPiiSUv9nKDSINqmCJYiBDURpKkKVAVZp9D3gKiEnRCSB7vEdRPxRO+EH3DTCoVXXikIY9yDCSMYoAHwCC30CjLZNCxzGYPwobErEPlYPMjaLCFwKI7CCMwQqdTqWbxbiLwQDdeoCSVCCUdHSJ+ALD51FKnLnG7LBV37Za0bEtLWB05gEmM6LVyCadG1PK+QBnFalZbUpSfrmilIO8hzG5qgHjhbnYFzQnjbLCLTAEnhCIUaEQ0TFHxjCIHiC9kznL+jCI2TCIyiUNpFCsijP4LnAEZATI9BqbE4bWViESWyrp1LCJCBagc3CJwTCIOiCdGUWfYIUialLnDZNC8Tkj8pquIDw5Q2Yzq2OAAoIQSa8wisoSh7IR0YAa7BWW4DNgoO23STUi4Q+ihDwkLSyATDZwJ1qaheI2Edwq0lkwsk1VoF9Avz9QYTpZKpawh88zmLdXtt8wJioxxDKKqy+5r5IxCaigA9YglEpClZghcA6xCAMK4Ud7Cw06oQags4dKA5OIHLmoZd+BJBFBISNDStg3Cy0QjtaTCbYWyhYl04GAgqt3fA0S2LQKYGO5YDWa/NExCHVLL8+wiHkrNvqbEaQGNtRJ6Jy4yuoQq/iIACwAYjmoea8RNNCBI1SBn6kTXFkxgU2lmWlKtd+QitwJqpsRUAAACH5BAUGAAAALDsAHgDAANIAAAj/AAEIHEiwoMGDCBMqXMjQSBSGECNKnEixosWLGDMCsCIjABaNIEOKHEmypEErRgiYXMmypUuTVjy+nEmzpk2CMW/q3MkTZM6eQIMKPRjz49CjSHUWTcq0acuYVpxKneozgUOqWLNGtGL1odavYHF2DUv2K9erZdNOPetVrdukbN/KPWqFRYe2c/PurHtXr1+dWOwa/Uv4ZeAOWPCqLVRIkmMyjiVFiFp4JBS7ecGcWpWKs6zOpwAYETi4MsbLHeZiAQVA1inXAlOd8mKiiumQgU1QVvuFTehVAl3LApCqTJErt0EGTiAXSqFUxNPouAKmc6o0Rc4k1wilBAElb8EE/49E5Qr11qfkBGGyPaMYEwSguBUDCnhoIl3CiCcuJwfy9he9R4ARX6TFhHicReKFEUwoAR5ni1ARBoAWMcGVAUbIVxYWhRA3WxoAiAFAF6GlwkkZGVJYURcJGGBCWlZUl4osiwCgwxYCdcGaLKDIMR1hwwDAzJDMPGOkNUgiOZA1A9lGkBAJEMBCWnFIAgoni6RhBo6kSYIliGCAN9cqzMwjj0DzqDPPmvXUQ8+a88QDADkAhBMOOcO0oQZBUFzgYoFkiVmjHGCwJxATZgAQSY1kiChXG8y0Sc+kcFa6JgDyzGNON9ksUwwtvJjw4pQsMAfBAgOGhYV4i2rpBkFYkP+x6CJyFJGXFeMAcOk8uvbK66+6olMMBA00sICxxS6wAADGQuAsC4odVEQST9AEyC3YYjvMtsMAkoiiAMhhBhlGkCGQEYku6sVxc+GRq66ZxvvrmcDSUwwAE+Cr7wTLOutvA8whVMJAOGjoUjrz1GPPwgzPk04ysAgUiSAAlFGxHGnIIQfFiwJAhsFqddFFO/HEI8/JKJ95MkGZmlMJAwUR66xADQCwgANQYNGFGGeooacYowmEwws3CKEEtVYkDUWDQvzgtBJMAFIIJlSbgskqVKdiNQCr2BINOvUIZA8AYw/0zjvCQKLoIrMuwrbbbK8NQKJzYSInppbmfWk98iz/Y4ABCAAAuM0CqSQ4AgZcc8456DTuODo4YADAJQCsYzk77NQ5kDgCifONOJxzTpA3AIjjjTjhRFPOOvHM4w7Z9twDwD2yzz6PMJusHQm4u/fOuxdm4DEHHG8BMtA6JLeecsnxpFOyw+XwUgkk04sCCS/AAFPM9txDww034YAffvjGJJOMMd10E0761Rzj/vvwx39MMfO7v4z70ahDjztlDyTpm/JYBzUqIQjfGZB3a1sEGZhgKKd0ARCbSMQm7FCCUl0gARe4ABfCMZAz4Q1NlWqTwmJHu3vg44QnzEc+3rHCFrIwH/iAoQpnqMIYxpCGOMShDfFxD4bFLnbvmJ0Q/2VXux76kB27QAPFALBEhWTJaEYABjrGAQ5szQEot7ADACI2OQQQawEIUJbgxMa/hRARADz8Ie3U6MN3LMyNCxthHN1Bx0lNyoc+NOLC6EjHhaWDHmRDo0Bqp5AS3qMe56iDAYrlxQkUy1+QhMAEAqABIujgGe0QyMru9i5MLCEGLbnFM5ghLMoBoA6VqMMEIACASA4ShbCMpSzvwY520CNsJQMA83aZy10eJGXADKY8SjbMXS6ujDlMpjLDEQICLAACgVOWsopVrIFAgABc8AA4fOiOSQGgHeDMFD5WcgtmAEAdrwMAL0QBACBwYQgZ0IAFHDABBjCgWJVAyAkNMv/Oha3jVwkbpi41uUlhGvSgwrybnOKBDnN4Yx79o4gKqdEAZ9rMng5ggAM2aoEJWEAg1wQAAehxRj3uIx/2SAfJ6GEPd8yDGV34AsgkMg1nbIN2z7CGLQTChU0EwQlSAAADEMCAA1hgnqgKwDfwGEd7jJCPCwOAO97hDjmdbE29HOhCB6rVrirUq2Bd6N2+aY46xcOOt+xjHu0hyxPeYxkVJepRN7CBC2xAIHTdwEYbEAAP5JOGbpWdP+ABD3/0wx3tYEc6ANBAiZizH/0AAD+iUQZBuC0SjkgExuwghz2kQQMBIMDfDrCsSzD1tFEd29juMY/kZZJXuhSrVzP51bH/yolkmRTIVsW61W+uoxzlCAdLUUtcPB4DVQY4AAMsoAIVkIAE91SuQOgJgACwc4b60Ad2+RHZfhiWH+oghzgAJZFhqONs+VDHM+RAkG8JRLN72EO4glDPAwguANq4iD1aC85wjnUgvTWZmcyE0AF7sKsGyRwAymGOdFpkYcclQAMY4IUxjMELXkgDZ50wVI0mtRi0uyEA9DFiFe6DH/kwIUrnEY04UAQdUr2lNeSQCD4IRItysDEAElEGOeA4CwBQQT0ZAA79HhgA7PhvQcDJDvpFQ37xA93nTBcPBQukvwNhxzqyEb7c6tcex21ADnLMhxqXORFeQIIcnJAvBBAA/wHHwGMPDVlCp84DHdKgBRmSQBH+2QMcZAYRALSoYfYmAs0VA8AYckACFeRAAxixR5UVnDkv5za365AGBOw5gU5/MQTOCgEjnynJYwik0t/MMjvKkY3vHZkiDDtGDvhA6xp/KxGCODQfhuAEL3gAXwyIs+xUG0g2Lowe19jFLgzSWINAAR2qtQXF5FAGIFPbCQJhryDYW2EMQ5oEoiDkQogtEMQKZB2Vq2XmrIzkyrVy0/n6ogGORZAwgjQEpCsIpdcRjmtcoxyw/XIO7EBriu3Bx/HdMa75IAUkLKCj3zijEAcybNj1DRa1AEBpFvICcKgDAEUeNLWHMAZqI8FinP+tsQqoMIWWOwEJG4jzQCI6EP6VsWz2oEc71gFjxqHbypjL3DqAEe9qsrJmA0kWzZgFAVGs+9THOwcAqEGNc/AK5xNZmC0IzgeNlaEMaQA72OVr6ynkwGYRh0hLy1oJTAxiImKwhsJwwQcQcXYMZeAs2O2QsT2gmddOCDwVNvCNeaD18Ii3Y5tguzgANF7L6I48AMq6L0niy1+X99cqNw+BY1zOcpXjuTmgAY2qu65NdASACOtBR9arHvWvcwcuwoWxsH9d7F9PQxr2UOshNAACIWfIfptRB1gU4g8UKZM7bKHh3N/4xl6ggo/5sIccBD7wSCCBOFbGfUylDFOa1FX/nBpqDuAC190FQccupLmAv7n//eyPvzS9AXrLWe4c5VjGMqBhjkzpLW+JV2TsBSIW4wU5MAYAkAZekAVgt3vUhwQaQADfEBHuAGNAIAp8RhG2wA7yoHtaJAUol20KiAQaRmtTgATXB3NSB07fhGX95YK71A74Vw3VIAzFUAeQIArTs4PU80iR9INAGEmiwD3zQz/FIA2wAAzLYA7tgFAHtSZ0p3sgEnZIkANeIBBDcIANSH3VBwEJw3qsx0flJjbyIA0AgAYA8ARYoB0S8QPnEA95R20ZNmgEEXYaxnt7AHiBZwEMQAILwAABEIjz5gE5AAGBGABocAmXgEqVIAqi/+B+dYAGoAIMybA9wsALxYCJmpiJnLiJmJiJOtiIPEg9kFCKlcCDlQBqQAAE1HA6pgM6rmg63jCL8dBftRgPISdot1cGCBh2TjAFeBd2PtYfDOB/ADgpbnJnlYABl7BxELEnXzMGhSZoBqFh4WJj1xd4Q8AL0tCNzdAM3diN0SANy/CN0CANwmCDl9gMxUAN/uZv3EAO5Td5DMZg5nCP+JiP5beP/KiP/piP4SAMl4AGoOaDxgI40oQAiBNaAQAFUbA0ZmCNAOAFQ8CAtmd7ApF70wgBycNLwdQO19BO3yIEFaEHtkAOXoByYUeHBLFZnVV3eriNdKI5AnEndkIOd/+Ck+SwkzuJDQIRkgBwDdxAEOUgEEVZlAs2eUpZVky5lALRlFCplMBFDsugbLuADTzJk9iwlddADdLgleGYJMMwBnz3dQboBGCXgGInEBUGdj6WBhOADkG3c5jzguB0Dst2CUlAkhXBBFgADZtAlmngBFQgkdkmh9OXCNnoBJuQDQCQPukDAN4Amekzi+HgDZdpJz5JEP5GJ0VJDudnlEg5J6RJlEZ5mkl5mucHXOEADbCwC8BwDTepkzp5J+IgXjx5k7NHbbZ3hWlphxYTZCrQgHwHAYyzOOjAOI/TOABQDUCAAd/SBRgRCbyAd3JQYYY5EEiABNe4B9u5nVnobz//uZXkWZ7miQ1DSXVTRw1BaSd2ojkcRJPyWRAzWZ8DMZOkSSegGQ7sqWzSAD6WiZmzOJmQeZmk4w3RMGi6h3sJ2KBT+HVIMAV2qHsTEA5TaX7+SA67gAGQoAeIkBGBsFMlZ3cIsaAYOQQomgO0QHXsSXXV0KJT96LU8KLVAJRfOXUC4Y7Y8I7vuKM+2qPmmQ1COqRE2mrfc6Tf02rZ0J+7sAzX4KPnuZXZcJ64IIW4N4UOqpZfl5G2VwfekJVgWg50Ig1oAASYABJ0QAfmEpwGoTEVw4tXmAU5gKIoCgnQYBBm2I1gmafhyJ7NgKMCcaPNAA2DSnqGeqiIeo6kF459//qVjsqikPqnuwALxvCVNEqDNZqp16Cp7ZOAglZhWYqlGGmHb4oGApqZqCqgyyYKzngRbTCRdDiHnJWRCAgAVAAAWUAFc5qFJHCnA8GowBqsXkmovkoNzUANhDoQfwoAy/qnzsqsC/GN0jqt3wgA0LAMEQMLwgCOjvqoX+mVVOeomwBkArFoByiqDfp1gZeuZeAEQIANUwqvQsoN2vA92gANiTgCllEEeKdoBPF1tcpytgoAUrCrQ6ACtCANpGeth8qw1vqwxSoNzbB/gEqo08qszpqxGLux1dqx1Pqx31iVAACby4qngRqo0lAM1gdkKSmw6DqFY6ACQ9CgeOdo/v/GqZu6qVukaClAEq+artQIZAI7EEDmBGeXhaJghobKsAubqL4KAApbjgRBeiCrsR7LsVZbtdMqsq+5DFAbrGCbZ9vpBFmAYQLxslqaBdLIi2MwBSfgBeGqp+DqlQIJAD9gEmTQrysptC03BQRBBVkwBY6Gor3KtHfasE17uF9rrSUrEBartVmLtRgLudMqDFu0C5Z7jmELrJAQBEOAglJQtr0Yqmu5khjmASkgCZobjquLhFyACIFQErHba4q2gFTAci03EFIQVOQ6p4wmDAqLuEuLqNbajckqEIOKDI9LuVfLvFprDAKRhIO6uYxaDCj6nYFXtqCKpW8KsxOZAxf/kAS1wK1gK5CYQAcsQQa/mAW5mrt+S7C7u7u46rfNNQHAELzEK7wLq7TM6rXQyrjOG8DMK7KXsAvQ27pgCw1q87nfCbraK40CsZ0WY7qMaQvDAAzFG6yumQjo2xJFwJ0A0Ld+G1TxG7+BqwIEkIhNC7HD28KH27j/u7wCPMMfi8GXkIT7R73dSAIoGsENDFQYVqsHi4DB6QW14G/UAAnd+LXG+7QEsScmQQQCIcIH0XK6qgIKyQWSYAu2UAteXAu4gAxem7hkDAD+C60TO7k0vMbSmgzK9prbqsP3MrPa+cNkO5EI2IsI6AWbEJLYIA1gELwsLAxapK8zwQNcEMLv/0sQLddcjmwBC1AEdBAIgaAHI/IEPhADMWADN2AEgPDJmAAKtiAKtSAKtOCI1mM9kFAHQ8AFkDAuYzBBm7AJtkDLYIwLuJzLxYDLwmAMvowMyVAQICuyl4sM5Au2kNDDBdHADhzEabDHQ1AMIXkNyIAFgwqx0DoChjwTf4DIv1gQU8AAjrwBKhAEG6CQRTAHYvAEN+ACBSEC8AwAM+ACoMQDAnEBJIDPAEACDiAQORAEFZMIZDADNXADGhcHsfuhigAAlmAJjaAHdOAGX1AFTJAEVYAFPAMHcxAIawAIb1AIhEA1mADSkLAJtWDAzOqrh0t6nXt2BsHM3DkFQTyRfP+MC7UsCYaAB8mAv3fKTjfRBTIAeCNMsDnQXPlMAraaBgegkEbwAi6QAttsECggEOBRV/sMAHeFz3dFECtAdmRwBxIBB2ogIiIjBnCQB4eQ1oFwCABAyYiACIqACG2ABUlgAy7QAiigzXrdAidwATKbEMwceC1XtkXQA0vQBXDwdoowxneaDJFwBlhQLTXhAwBwAp8LVAUbZAPxXAAQBLd6VBQgBHfdAhOhAle9Afl8VysA0CVwdjkgaJLAJRNB2hEBBZR9ECCQ2xzwXCSwAoAd2EBFAkXABGIQBx/a1qbAxZyA07B73Dph2VXYXABwAfvM2QJhzhogT0UAB2fQBUz/wJcKwQYLQN0kgNr6jNSrPRAroAEk13VF8LM6AQInUNT43GgufRAwbdoL0AR4QBB5kAdpagiB8AfIBxQnYALWTd7WHQS+vQHZbQFFcAhwDRERsM/mjdQCoQEws9rpTQXyFS6i0Wwz0QIpUAJp0OCN5tcK8Z1egG0BUAITMhBtEAfoS+AFHhQmgNrlPd287dudjd1HNQF/MAdtwIYJwQbzZgEXPhAX8FHqfYUEgW1TfRNi0AUcXt713Wg+nhCbYQCCYwKghBVFsALlfdQYft1EQAIW8OA88AVRIATtnBAygC/Zt+R45eQksHsseYX5chN0AAdjvgJkntXP5dd/XcdI/6ACUiAHssAJBBAADWACIpAVzWXnf0sEGbDm8nQDMdACH/ABCXECJVCR94zhOYAEDqACfOjleQcitUoCLNCqK9EGYoAFKiDogz7d1f1c0t3AGpDngsAai/DoJDDpWIHgqL0BPr7lAO3g2a0BFQACn/7pCMHXoEAFDEDdd5Uv2d3nNgMBtQoARqsBPADFMyFTPMDggo7V+SwQhd7jSHCwEDCcXwcKpTABBiAlWqEBqI3rBmHOdJXPYI7XIwDqJTqwm02NaRAErIQqOUCuQZYBEcDWM2EFSfADC4/rZU7eu07OjbYB9tRc0TcEZUBf88YCKUDbUtEBt47r/t7Zq81cdv8FACbw3T9gA5rszgSxBVdCMWu+AgOIMYlSBvzyZiBc1BNwAXlAE0ogBDxABDng73aO1LxOznrVh47mBCSQAZEQCQ0g3DEuFbk9BC7v8miO1cnOAnpyBmLwBSIjnQIxCIVQCpHACQjgABYwhRgD4omGKhPg0hlQ2TEA3izxBWIgBrcOAFJ/1O4uEIKuAqjdAL9OVxqgAl5QI8ADBo2AFTFgAkhQ9mZfBkPA681VBIiQ1n8g0VAg2QBwJZwQCRnAAPcNAFI8EGkAM6gCafcc1S0xB3kw5opv9oTO1V4A+RuwAHmF2lRQBl7ACQDg/JYsFSZgBBgN+mUfBHZl1YJeBH//cAaYPNou4AIyQPfObwAaAMK2ygAbcKvsNQT3hAAZEPgNcAIG7xJ0QOCJX/ZYzePVLZwAsUGgAQcOJiyYgGQIADmcAAAw9FDiRIoVLV7EmJENFT58zDQpokLFCpIlS6qYsOEhSQAyYrRAMWKEiA8fJIGKxCmDAQQqJAYhEGAFgDQAvBBAYAACgAYITIDIGFXqwz9VyQQZmpXlBhIXSHwlodKCQAYGGDBoUAQMniJeFgkqJTHJVLp1MR7JkWYPn0QeiZg8KXKFBsArVHA4AaJmzROgFoES5IGphodyylhgsFBOmjRIDSwAgODhCLulHwYKpMfMXwBah3L1CkAFiRUb/yZYsDCBJ4MiE8k8dNgLk2nidc1kSRMp0fLlZXIEHhmdcGESi2ua4RQp0pgSBgAsSCPnYRoqRM3IGeI5dHHTgQ4p4tE6q/zXXUn4VOEljW0LDoImQEGiFwAggiFQJLqhBfYWpAiGLPqSYw8AmFuOjyEEG6mkDTIErIQRQKDJMU4WCeIFCD5jgKHw0jBDIgvWMyAAGa5gcCofhOjAAq82cG2oh0hoTQqGLHPAggUCCOCCioyQ4i1QegGgiyhqrJGICBMRRMI9ElGOOT6ooI7HwlYgQoYijICMEzmMiIKHBRaAYCg5zChqsyACEO0hMPKgMiqZcoRNINo0tO++IMKj0/8wBgggIAGLiigDAE5kAaCTQfpk74Qp5LDMDgD2grBL5rx4jqQNLBiUpByCyGIMztIoY0QV3IhjjhIC0C3FOgHIIADQELgAEUwpWswEDUyQ4AHaRBKoWZO4+soBJMLbLIcFECCggadIo+i3NA6EchA+h7XLSk7LGMOLT5kTTw4KEwFgiNo20GCkIIJwYowyyuBMDn3lICMQRA4JZAUCQiPArLIA8A4ADh4hV6JiVVjggReHEmm2C5qVb0MVNlggiM04I+HaazGaAwmKDLk04qnAGEIOO2BNd9807KjQMncplMMJDTSwYIUgctD31X3HENIILNSY470VkkLA5IeiDqL/kT9cjgkEE0peADefPM64KwBUAoCEIKQQ+lXOJmhgAQOUvOiPIsaQNBcAZKnKZanM2NSydIt+qAw7BOlLEDv4ejcHFRhAYIIciEJ3DMmz4ACFFmLwQYkqvgCDAoYZPrgBvSX6wQYYMmhqAgAs0ADsjEUaW9AVqOiXU8uQQgqMQDIiQ45IKO2lEzxGx+iOmC0rwwsvbA4cgDLkQLyvLb0c480FGlBZci+ykMKJIUCQSaYULv/BCBM4AOC3SfwYPY42wOCaARVwE0i21zNulivb6QzPgWsJKAH7MPKHQ6RBEIKw20NaRjyKHOdcf7MZvyI1wSst5yF74cMekOAB3UBg/wxZ4J4UpLCQDihGBCAAH7diwECJVCUPLDCAARyHhLOBKQdku99sVGAAKtiOU2lgwAR0QwAwtCEqP1CCEwAQCbvJAmIslMgdVGCHzSRPchKEFaycBwB9rSsRe3jeHmQ2hAlgywNOECEScqC4Ei4mhVBsYVWIgC0VQG852pFEJCQhBzDdjzYEIMGcOOOFsrwpAPGZyghMkJxT2G0VariUJibiApfdwQnnsiIWNek8LwyBbuviQxYC54WSEWABClmj4rpiQvDBMY5/IENSSFAGPtgRj3rEZSLKEARmrSCGSflMwtyGgAicoS4i4MEBgQcIJcCRB0OgwtGWp8ksThBp+/9y3pYEgQTtkfFIHlCB4mZDAgicUCYt8IErq/IHNjDOAyMUHKz2tQdBACCP99RjIsaQA8a96TNQI0BvTIOERSzClQ8RAgBY4AQ0ZsELrqImv5o3wWzW0glZQMJsPIAncH7FAxBAQEzQ2UxXoiYQRFDKLA/HBwB0xKV80It4HoJPSSTCC0iYAKOUgkjTnMALOWkiHhQBRR44ZwhIuGhEq6lFipZBjOHU4Q4NkAEScPBaCcCcEsIwvEZAsRGKINj1nHAzMfLrZtB7qRjdxQdJzBSXyrmpDEhqGq0JIhKpsFsnHjFU4oFBDovgBCfKMIQhSEE/SpXoFiNlBzBOIAMaIEH/GSeCgKg9YAti8IMi+MrCLpwBD4e4gwGmNTPJlba0z/sUSzMoxj1Egq1uVU4k9lCg4hRhEXKQRS9ygQk9HEIPoysFlrIjBxWwoARIWN5SN0lRAHhqAh49EQT8uQC0gOEMX/jCQQGAuSXwgAThiZzkuJguhj70X55Kq2XYqhxBwBRI7GnSInIx3zugRm+GSIUgArsIKgRBCD8wwRCmoNwsTtR5ziVBBoQYtailSHRPEMIKtZvCoRzNtKWN1xDMa1p+eWpIjIWpCrIwhRy84bemCUMRkgOK+a5CD7tzGSZOod9ILIIEdxiEG87AA+QS2MCReogQOdgAGTIFAkvpwAtQ/wCVg5pzBETQ14VNCwAQjveTpn3o817qBX8hgQ0nJg4Z7LqK+RZCD+Ma1h1SUYrAAoAKRDiEsB5SBCkcLaKKdV4ZhChEIk/gyKIDkAhEoF0AnDAFMZiClaW8aCkbRXmtimmrskCCLxdHCT8gQkFlkQtOkCEO5ArEKU4RiQMJQgVgmEMbsACAdCJ3DBq+cxfRBQEhSrdxDSAyAT5A6IeIYAToNMJDGD3sRitPeVH2ghOQQGkwmyYFJ0BCjTmhPBgwYVh9SAWpR+QFIqjBCj+YCAuCMAYqJFeTZUDq0Wh9ZAPgegEH4xavtyuEKoBBlFkYQquIPWyjODTL5F12pdnzgf8OSAEJG7oACyyHKVFzotQkMEKCABBvAOQAOYilgr6R0AAINAUAB2HUCXYtbwAsYat3kAIIVTCFffObysdGFxqX/QYANNsugwZBBxzwEHp1gOIL6sOoQTGi/o4gJiOXiAmccFgC70t5uM61bmJogJqQHABuOMQkFCGFRAu75Yt+iEOvOAaZv3dBJwTBAg7AgLE8ZDEMavjDRY50ivBg6Yh1KAmiFkPGASAAADiARAQwkcHDURF7DQQJlPh1l/u7tFwfAgnSyaCaSMBFrCtB1dmjZkmwmb8rUAzd6+6EKZg7DZMjMU94EmwAXEABEWCP5/qkhjbEIQ5kQIK+GV9sx6P/S8BD0MCgKf+BBxDgLLhhOweEX5xCpMLhABAECeYelRMQQYRTAGHGnaCbqBWhCINAhCI6IBFF4MGYNZJ9aV5iAyFEYQiL3/2Fw25edOV+CB5g8sA/AIIHAAApRSqSDTAB9niDbCsFx0AbzZOK6ssBpMoBMjCCN7gD3TkNh5mIDhg/iwA3BiINmUCBFFA6KWA0N1O0Yju2KPu9DFi+BVGkhziAIqGfEljBuoCDuIM+6UOBAGGPPHixjEAfqwMA6wABDiC9RcuCBuSisEs0EFKX7aG/MUCCEYqAGVwQJDE+GASZ/LMLbIsEz0ObKPgBCRuWEoiYqykO6/gAQcOXRJM//9Lbnq5DgjgEAIZiqFZxusIaginElABglLVzgLL4O+KwwUXwgCUYHruYBIpYJzMEQqlwoyFEqkQzL2ObgikQEh4wgRM4gRIoARIgrCh0qCxQASdQgRMYFh4wAM9gFAJwgIQqDS5ks0iQgiDIgzygAzqIGBZoxItYDEGrPoYSoYcQIScwgvhog+uKAiFIkBO4gPfjOifwRNAjFxNAkmoMADBgxLoYRA9YJ6k4BOLgADIkwx8EgOyKgRTgNTRcjOojApVBAiLwPjiQiFucg1QTAyxYgTE4IOfwABbQQkwBgwRAEhPAAxjbwlE7wEWQgu/LG70hw/HrAMtjEAXAFHUEH//LSSgjmohupICO3IAxcLihK4MBKICYGJZazIN6nIPiOAXnwwlCDIRsdBn0ycD+K4BdvAh0zAgz7EgKUIFYAQWRzIgMlDdYzA4nYEiZpIib7JMKeIABOEPRU6dFrIqe/MmQ5IQxqICo6Ehea8nA4oTI6EYqgQIAgL2KqIAS6AD0YUqcpIuxfAirLIqgnLYKoIAKIMeoyAOljBg168IRWciYFJipkEq7eICtBAAFKDy3jIpFnIiezAsACMpIyALEfAgOiAAFUIACKAColAqqXCdbZA9MyLaX9IA8GExenIjCtAsFGL8KiIC2ZA8MzMvRgcu47MghiBRQKIVIKA+pGID/4ORMzTRM07iDU+AEz0OCIngP1VxNKqGAH1QAzySXrhwWx3zMjkSC3ezN31yQB3gACZBIisjMzrQLMjiFx4gEQZgARUhEANiC59QbcqQA2SSenky/uqhNirBK7pRFlxFPCcjM6aROqXiDIfiWEXlATRiELXBFONLFy6RIeevJs6QIDiBKjLBKuplMIRmdB5jQuoiBTgQAw/ICCJgEN1iCyXM7u2BNu9hPqyNJ+8wIyPSCoBy6IJiKwXs74jGBCWAAgzgIM3iEPtiCJZAIHWShCNXF8WTMqeCAKK0ADQOAA4wEHe0/nCyIF2GAI7mDT9CEJ7K6GH1SjKBNJ4gUK9VR/xq1CAFw0zeNmBNgxRfxHwNIALBCBDHVLiYFgPwsU4xQgAeIACJMU5zwEboovDdV1MUsjhMIUgQoCAY4gEb5A9Q4hG8EQjL904mYUQUwLN4ckUNdEAEITupsg1qsiwhIiQmo0//AzsvU1Fx8CF30002tCFIVAC4oAxwlESetkQKIgjOoxRczSIwogrHYAADsUkptyIvoAE4kHkRigQy11YoYAAFIgHLj1XAkF9jjQZMq1oq4g9Y5FdzYuRhJgNuUCj3tkwh9CDJ8iOm0iALdRZJMAOWRTMjQG5MiGPvCCDYQCA2AwT/0jnRtVm/UG56C13mN1yctAAW4gOXB0UiI1f+JONKM8EwJ6IAK2B338NeLAAPqug3MoKygqAtUpQv0qVgflAioVEBbFVSJPUBBWNioKIFYfdiHWEsAuNSBCVeKAAM+vEK3YZQAaIKfrQg0g9KLqNWKKIICqYAC+DkAUJCHaIGqxckHoIASWJ4DhIyVpYvXk70OUAREMFs5ywihLdqgCABHkQqlpYswiAjimFYA2EC7QIGXPait5YDlqVLIENXYGwRybITCLdzNwghqXMWiNdq3NQ02BQBJkoouQKgW+EdHnIgUGhAoKoEL2BevFQSwlQoJ8IMKGL9RIAUAoARK6KqpuAC2rcYmOESrIwVLMCZKugFrA4AbUFKp6F3/jKhFdaUSDriAMRAPNpMD0Y2KELXQyLWLgLyABGABuM0IyHWZD4GCsrwBq50IBRm53/3dqXAhlGUP4uUyyVQTy2QPEN1cilQC3S0N8jUNRtWbArgBIWACJhACJcOIXVNSmFiQP6Beu6iAFSgDg0JeKomA/xIQt4TTPlkCIbCBJ0iCH1CQq32IhQvfPuHLuihg3zlATigK8WVa8WSCJ4iAzNxUN2WQSRgEPxCDMIACFsVgqtVgiqAkBjlYGO2AQ3EINisD9WVai7hLDqiAI+bE6aRfB37g0kCESdAEUgiFSTgEN5AIF7haLKZa2+zgqMBQHwaOMojS0ijiKOUACmCB/wqY0CXexUVl44wA10OgBIvAAiXQye3q3RyukVdN1RVoCCsdA9qsCwqAyJsNxwhYzDemi+EM1GHRW7tYp499CFSYCDzoAnC74IfQ4wDmS5N6hFDogPwkyYcogDpKTpwIZAy0i2cFgLVkgeYdVVINTsYEzT/QrK6SpFd4hVhAXUUwJhZ9CMplD+G9CBvImgChSAXw41OOBC+QALzkAF/NCHgtAViO5Vl2S9A8jbLFCFQ4hIiogijZ4y6+iGu9SZhAgRVQlwPhL80MTy+mZpoMUSpx01GeCFtsAzHICEUd51qWyUagBMl9iDme5IcQ09YlDmLGCHN+iFLlgF0FhfQMgv/NpGimzVBWdpmHzVIA2MsdlgpFrguFBgA5GwVKGIWam4g5RlxOLg0Wvsk3dRzAEqwVGE7OrIgvaAMYY4EIteYWLVMWhmSqtAhhmWOCLuqSpgSN7Ge7cFPOLABFRQAGyICjIoGde1in5lQAeAIxmANEOLMzEIIPIZYXxckC2OidFGqL2KySZmvVpYRP415OJudbFQCnZkoB8A7R6A9HedjN5EzPlE01QA0suAEX+BAUErRqLQ1tHuqHaF2TVt2TBoAo2N47Lg6RblOgloibNIC1+7iCiFe/xmqxBQAxEBi4nogNVuwBYuyKQASEVl2Ebt3txVqWrgvNTkwFiJGKcBT/zfTtzQQAQX3mDtADm1vt0TkE2KYIXKTaq1XthK4KpCW8piZl4gyAP5QIBriAvv5tibC8ElhJ7QJX6Za3QIBt5R4NENjcGqFkAFAESb6IJt7MA3jB9WDVBeDr3AZP2BPPVhYDfYaj8TYpt3xtioBt3t01st7CQ/gERG1qinzYBAi8hziLh+AJAGBK8AxUCpDIs2YhAQdXnMRUi5gSBTeNEbABrXJwAdjMq1WCBDiLA3iRh/AfAhgfBYmAZHm9iOTwg3KPS+3XECc5ggEA9E7tiOnRHXVTzexr75BUyhgbQHyBq40BJRCCK/+vrUZtKAJyIB/vIV9pi2gBEzeNJP/o/yV3Z4rcDYlQiUXJYiR6UCVYGu2Ksy4n8hEntEAIc4q4Af4lHjewhPbGCBDlbuI8mJ17CCgnAAVoARe437JsgRuIAgD38Tg720vlWQDwaAaKM7WG6wEZc+1S1xKAzRQG0Qk1vooggAJwAUff3cuBX/E+24GxdJ7lY+JpA5vjK6Wubas7hEeIYuNSy0GdiHZbHYK1HBeIgfW2uoExW83SLLTddJd5AgBQA+M+8mw2b01ABVQYhRJA9IoIAAF4iV4HwsMz3K8y20yf9mGp4YlA7T4HgBwkczhaxEbQhFFwV4k4mMSc8hYYEDFsREU43Gh3D01nV/3T26ptdGYHgLma9//n5jXQDIQOaN6gCLwwzOIYmItsfu2v0ixyaQIA6IEeqAEFrNreFQNc1MgNrPepXMRBuJT+KxIAKAFLwAM1YAIf+IFY38W8KXhufwUAoBH2qAGJYAOaa4IeQAERCF8oUAOehe0ZttUdxnMAUAVUeARDwIO9fNKqIHiTjgVVsAQocIGXp4ijf4iRpwiTT4EUyEGJyIN1R+g5yK6qn4jd6XSJGAVvl2JBz+Y/oIRdVoVDqIIEQfuLWIO274EY6IGHqIIwAACPFZahKttDGOAnhTE8v9TCDYQ5gAM3MISEb8RJQIVXGAU/qGMbeInEB1oAaAIwIPmrhYnLUQIxuJRMAAD/S/jGR2gEYZlrnJRJZ//4ldzfHyjLP3WDe4QCK7cBF8hbu2iCI1j7SaJ9y8ndL6ADs+X93QcAT5AI8Cdv4edZS9+sRgiENmCCKUcBP3/SGEhxKGACJbiB54/+0oj97Wpu2o90KAAIMXECHUKEyJIlAAoXMgSQCcCgQA0nUqxo8eJFRIoYKuoY54sQhShcoMBo8iRKijeUQGGi5IYNFx8+pFx4pAWAHjhb8PyBRc2cP0IJHkTpKWHNpEoVBtqosBGiRnrURPnRAkUKFChwLu2aVAgUKEoA2IjRguZFFE16NGTrgicAFwvzCK0bSCPSk54Oee1r8U9DjXGwJPlx4yqA/60l/TK2+OWLWCFlUaCtuFZhEzAxFJqFq3COnrqimwJ4lPKhxMaMATsFkKeNGCaGDbcA8YHnYtW6Ibpx0+XJj5iUT4JpIlcnzxhKxORBdCiQ6D8SOyrytPv630CNnAb6mOTGjRfhD2vFjV01KlIA1HSRLLPywhqXGbrleQPKmeYMoQ8F0LGRJZ5Yh5GAeZynlHTbfRbbDQC88EIM4D2okGcH+hVLLKqsx0RcMzGkFls2bXaTCzdE0cZdiDR0iHT+UVedgCfxZWFKLVKyUBcLubAjAOG9IJd5NPYViy8KTXIGAD7kRlMPTTQBgJMxuNBECy74NJBBFfH1nyKICDigUf+ZECRkRX8cQokmoygSB4cMvUDWg28CUCGZSjWCCoa+vKJJH0psplCTTj7Zg1wuxJCEGHRolCVFL1L3JZg1qRJLKwqlUKeZmtwIgBhCNOijgxLKOWduddaUByWjvPIKALG8EkofSwixRBNsAECIQowcESETZ+jhaGsKbUTddoo8AmmkNRlyRxNH9FDDpTWJBkBqfyFCSSMAtIGFp+KJ16O3P1JYqqk1UXLjK6oC8MonANzB0BsAMILJD1GoEVUj+eZLHQAaARsVssmmFC9DTvbQQ1YiWDQHXRMZNGNDf0SlYhdQ/BCht+N5KxeF5S4VSKoLjaKuLgCwwggjBDPSRRz/+L6oL78uKlLsscgy5Em7AidlMMIoKNyjElgAQIcegRgNsUGKBDimdN2JYYVs3iZWXknhLcSVx0qFrAkAN5LiSzAA/MKQJXgYdLaKMhf78n+ZBLyQda64AkCljQn67KUxhITFGXEYGJhGX1oyx0cAtBSTcDy9xVOVWfulSJpdb0rKLAoFo2ErrWCLdpYF+Sczl8YG/CUrZDpZA04pWBmFQA5nedQZX2CBxeEtvKDVYiWZp5XjXaE5CgCaPtLILJXPososrxCjIbZQZXn2U9luN/3oOKeECQBvsLHGzk7yPtMILTSoEB1M9WuQJYZY8QQUtDPhLFsl4Z7YnCTx3rvW/5FjC8AnrrSS0BbuMAlUuC5pLsqWi/jXClZAqnR1s0gwiiSvibxhDWAwicFw8gHc3Q8AUfiMQhCRBzjcIQlJaB/tjiCotcQgWhx8C7nwh5JUjUITmmpEJgwBJRf4ICQJYVXXOFKRRrRCbkbM3AMx0glcWeQN2uPekwrmpKvMryIhId9gqiArAMzufZhZ4VpwUp4WREuG0kpTDSkRCDH8YHHiU0IVxGAJUmioIfzKVpf6Z8Q9YiSCs8AEIwbmRAs+SYVNwIpFuBKtJGChC1FYwg3AQjslgMGCUnTSEUQCJWdlxYwmMVMr0qSJRrARLuL7ASqT8AQrDEI9CiHgjaYnrP8i7lFuKQlkV5y4vSgmUpMKecIZ1PCFLlihC+4jBCHYwAZCvOGCX5TLYlZYgxh6ciF/8ITmRqkGqzAuBj8QghCUIIQkMKEKV+jDQxQCxHNlKxO1tOVEjAeACKrGiW8IkUlKlYe7KKJ8H3kCFbUSA2UWrAaJCRHPagCCak4kEK3wRB7UgIWr4MZK3wznOMepSih8YRDralXw/EPLWpqkZLjsiz3J1biOieRNLPPXuYKniDYIAYa464EzNzmCUgXqWQxlyB8sMQtPfMEqW0kOAH6ghIuKMwkZNWFL3KCQWCiEcrMgKUNccdXKKaRkjbEn9xTCMYZ4ZiseRBF10ASAkTX/Qg0NqSJmKPIkKlFThn9gxdx8ECHw3ACV32zqUzMKznF+8wsJiQUxglG84sGTImHbjT0JxbgqFYohYz2DxDqSCbWOTI16mINlERPXsRZsTj8FIQA68Qa/MjWwTn0tAJwKgMEmVQl3YIUufJFYXxRPIVzVKkPGpht7rnRHHHvTjzzThTkkTRGb5Vpn0zYRG/gAM1XC50LCeFqFdMIUppBXYcAJ2Ne69qmzldISkMmITujiF8EghgQBwNWJ3IGJfrGnrRTyJtJ205s50oO/jsXZUaixImLI0RoymZPsMvhnDLUKGxhhilvcQQh/xSh5kxDbDTMkCS84AjMJgbL1skK4//GV74mH60QFX6RxWGgDtQK8WYWw9SIeBcAWFMLigtbVjCBowRsYEc7WZnicHHbTMt8Q4iCv1zrvfSxG7KsUe+7YIso5w8z4qVno1lhLebnIWnpcTZooYanide0PADCWhYwlvchcMjNRgj37hnjKK6bfRX6Qo5mpaGKP4PIoEEiRvASrIWBgw1oWut2FbFA5ITGyhhkSkjWX+QdKfvObCXYreXUibMpQyC06QZGTblrKTXTik46KtYz0q0uNAPSXGhIgMClN0Dp0FxuOsIZpLlohM0GB3sZyZtiWudhqVvKIGYHphkhZGcqA70K+O2qG4MrU8EK1G10AIXFlxCCvXv/ryABQvcAAIC/pNIQhksAs0p52gwvBsEL82le/frgJNQgyIJNd7YkkNj2vCNsvCLgQQEp74IEMJBNNjd+RgIchs0nCFyhytm+PbBTOIVC/vqyQT1giDgAwRBV6/QEQjNUw4GGtYUoEHhdIWNlN2sEbMAHICSoEewCA7ySS+Ol1pbPl0gakzfOtkIQ7kZk9iBDKF3KiPEBsIRPnsiYMkk6KfIIV0r2ZuIPqiUGIYbszOWXSUY7KG0jpBTXAhHe9q+wYNAHmQO/uPPk3C682xBlh49oPlrDMlqO9IUK/FTLf4E1USjrSesBWsM52iEbQkMCkqQheWRGIqSvEOhyH29//frrBvmY0qaz1PGttgAIQNAllaf+usmvVBFETYyF0b0gwIhhfi8XAB00IMgBMMa+CYw+QzCS8pMMZ8XOxkyGKh9y5vI1EVrRr470ttMmsY4nUeAL6ZvyAN8O51KSCPs2svcF7ZvIBEThJwt+9hbTd64tKeTVsUF6IcBeSiTPoNQa1PwKycz8vAAAdV2meiNAECzshENooREHky0jxkbgNQtVNxCfshUfhDOWNWSSVmXnFm6QBwGZ4yESQn7x812MFQ8n8git4QifglkK4l+Xogic0Qh0BACn0gY5USe0pWa7IHMEA3y+51ULYEEMQH8woxCNgSxIBl7gdgifMQuYw/x/OMJDk8UX/hMKi/ck4rdlsFcbntVFKsALAiWDpAAYd0AG6meDr/YIutMInkAKrvAIBXUGakV39tMARsAGTed//rVlq2JAecg1F3AglDKGgZVX1KQ1JtUu7WELaKGGvYZgVKgRhfZMvJYUn/EH5lA8lMoVEGIKA6IJX/YIZ6gKRvIIqPER12cCcrIEpINMc/t9E3MgeviIfNgQQegIrSKFCsMIjSAQSZtVDVd0DJiLwLJopTlojOuJCjIpqXKI1wYHWzd08eeJ7FUm7MIEP5Nd3eZemLQQcKAQsvqJCxBTXAOHRHIIl5CK13IUtKoTclA7/sGMohAIQbRcKVGEVxkBWsVXhD4gZY9ABdAzN0AiFJaDgPDnDs/0CK7BCwaXdG0QaQ3SjN0pOSGkKJWyERBgNAMyI0bBCEW4c84kMYwQEACH5BAUGAAAALDsAGQDAANcAAAj/AAEIHEiwoMGDCBMqXMhQYIkADSNKnEixosWLGDNKZAFRo8ePIEOKHHmQRQKSKFOqXEnSyEmWMGPKnEnQJc2bOHNmtGLFps6fQIMS5NnzpdCjSGXyBCDDQdKnUFPy9Bm1qlWMVgBQvcq168KsADp6HUt24FKxZdNyPau27VWwaN3KPUo07ty7Ouvi3ftTL9+/NP0CHsxSMOHDJK1gwWIXseOKi83ybDy3iOXLRXSAgfIYIxQoVgJ0iQo2IhaBhRapjrQoEqdIZDpj5UnASJS9YE6l2s071Skyo2VDxmKEAIwnc58wQa679+5TZk4Ln8iTOIESt90uxgKmFIBU33v//74ynSIULDIIsMiutjoWSc/BYGEChjeZLeUnLi7OQu6XLtwJBN4XYhTYHBX48fUMOPG0k46DDqIzzjjgUAjOheBYwwwgYRTEEwsEGNXeYoU8d8RnWHSh2ylydIjXM/bUE6M79tRo4432uJOOOeF00004VRTEhBIdhOjWZ1DkthsoUUQBRRJCNLcIX/NUWSU99MyD5ZZY1lPPPOZ0ww021+ASSRNNgNEDGDpgcUEDtbUlBoCgrHiEGGrkKUYpu3FSmly3xCPPoIQWaqg8YC5DSwYeTDBBCI5CECkECyxggBFpnYcFGytKIgQASjyhGChL9kCeXE8Eeuiqhc5DCwSwwv/awKwLIFDprQs4kIRCRpCxlFCLdSGJaoscIZAVUDDBBBmcgMJJE6fKNUw77cRjrTzXsoqoOQzE6i0EBuBaaQLSHYTDuTiYcENQTwohgyCqxSZQF/ReYYZqaYDxxV3gUFuttQAHLLA86cDS7bcN3IoAAgYYUMkzzzAzzDC3VJzLLejiYMSfKd0yDMQQMxMxMxVjckYiqslBBhm9rrzyvYsIYsQNn0IFiB2b2FELL0OUYAILLJhQQgcmaLPO0ezEM49A6syTTjoA5Cg1jebUWmnDlRIQAAFcE2DpNeeEvc4566BzdAA4YIDDNUejww466JhzIYUWggMyxNNIfHEvFVf/XO4qw3zjDo33FF54jPKY48i7qpWRRhlypCG55GU4ohoYYiR1yzO4wHLJJUAAsbABXQewNQHCtMNOO4gqtLSV87BTzTHFVCIKJJVAUsfudYhu6QVIIDEEEkCgUTwXHgARAgaVwFLL87TQMikEtotSvSiiFFPMMdx3L44433jjjTncmCOP1Pa8Yzg+7L8jjihGWL6IHGXUX4YX95cBb8xgCLW5NfLwxufQcIlKhEBWtLIaAo6BowY60B6Fewc+8pEP9rHPcIZroDvqIbcLfQMc4iAHOaTRDO5trxjYwx4kblcHRk3AAzBkFAwb1ahITUAU5lgdPWx0DwtOcIL5EAcs/yonv5gRC177ixkZ9oWTWzCDGemokTuwUQc0iKIWtrCDCmLVrQbE6hj56KEPMUjG9VWwjPegoBr3wcY2tpEf/NiHPuZIwTnaUR9qpGD71Hc4G7ljHhcC3/fE0b1jgINGNjKIFO0RD2xcgliQJBYApnTE/snkFtNwxjj4ob53eNIe3rgdLY7hBQZMwAIk2MAGNGABBzCgAZAAYh5nSUs14uMe64hHlgK2KmoBbFBWwtLgCAfBYt7DjcjE4z5oiUYIkhEA97BH1GqUpXmsAxZccIQjBjIlgVBykqoRhEDGsIlb7Aolz5iGP/rRjzjO8h614AQaMmCBem7gAqp0gAY04P8AAwQAHO+opUDzgUd82KNawJxHtRbaoIYylKENFdi/BpZQhWYrmIOqUeEsuNGO3uMgh1tHHbhABSrIQRAoRek3ISmI/tUBGKtLh91uYQoXZcQU68gHHOG4zDziAxi1UAEDGHCAhhEAAQeo51BNVwd5VFNLXqIRPQY3oxtNFWDVUqi/HhpRrkL0XxAVmFgnulBzzAOC+LjjQG1pQXuQIwQLmNW3YjVDGKqADMSBhDR8SSilTWgarLhDRcJwDHZUyR1YUqg5yCGOcBQDm1zQwAQ0YCnTEcAADEOA6bzxwM7eyB0N8he2turQ0m51oVw1rWpRS1p0nMMc7pjgHWdL2zn/tlEf3KgVBOQKAVvZyovemkARutCEaOTIS9UEJo3YOI5bUCQa6vAsOKIRBCdYVw58SIQXckA6AxyAAf78Z42ixhBp2qge1GKHev21utOetr3uja+/VhvarbLjHOgghzwAQNDa+teObJRGuCDgtQYM1ZUOmMDBEJAwAlwAF4eL5o3m0VB5yIgezBACchjShWHIyIHRIELkHJeFPSQiEpFIRCKokGANDHUCDkCkZztbD/Wqdx3ttfF6Vae61cHOSgORqHzjuzp2mOO15dhhA+ehjnSoY3Be0ij76liMcCGAARbQwD1ViU9VWmACBEZABqLhyR5m8B5wBIBCV9e6iDxh/xhPxtExILeHOu9BDnaQgxxUrGI+pCEIWp4ACUQxzRnfSCDUZAeOj7aOHutYx0c7hiiiUchjCPIb3wDfU+nRYx47GtLkOPI6ZGzoB0bDa5g9gApUEDzhHbieXyZADqIx23wAgH39gMc/4LHOdJTDHJhYAhMYcoNNRJlG7oiGGfCs5zTcuc6R44O071yGHNSTC8cYiDsAsO1tSxPRAvG2jaxZtrG5TdFIYzS660ApU4KZUnH1VqViBYnC4vjRjy5HOEQYj0MTxLyGPsbVJmBdL+i5DHaYQhpywAAHOMACBAiBNewB4DYSlB/+yPg61SGNJKyLIW1gQzqmOjhlU84LKP/3whgAIIc7M3vEXkCCBTIADnp4qR7DHCYAcN7tbteoHvKAW9hEzWizMfpo0JgrpWwV1wQy2FtHX/SN0c2NcISjHEuzyI2OYQAIDCER2eUznwWBBBVMIK4EwAA57GHrOQJAH7f9YT7kaI9xMJEhSTDrYcfguJT7XeVpyLMTHFeGMWRhuxNAx48XH0wu2XxpSDZHOcpBNrjBrdxmA66sYjWrztOq87FaRtuizmjycYMb58h6RW4UDQ94IbthT4QgxA52EpCgwAxENg97CM0Ipm8e1cBEHhqShGg0FBx8R/kUhnD4KeQg5Wmg3/O9kIUsOCEHDpjowAR1qHkgyvvsmHz/OURIDvxa/vzZAMa7lc7+uR6jbOc/fziukY1soIMeF7lRLQQye5frmeUmpmKCMAUN4CjZBnA4Umg1kg7UAAvssRBzYAvnhgtjMAYoRwUqMAUopwJOgHJjEH3WNQVSYF3Ypw3iID7e4Gny5VAA0A75ZXVWBw3CoD3FcA3YUA3agA1VtjCWwjAGAAC24jW3AgDiMm8QgHnnFzbYQA3UgA3rMFU8t231wG1UuG2KVCPKJk53RjmRMzl2AHuJMAQaAAHfYF7kZYaI9nPtIAyi8HEbhhBW8AVnEGrmoHJ+NwWHR315iD9pAAAkMILWhQQMsAAToFmmEwCEaHuXAAmXUAfY/9M9yWBCwFAHkBBXIYA7mHhAngcAsCIQ7deJnhgrYFYM5paE5UANywANbMN4WlJN9WBzr9glN/cNVMAHLDc5hec4lCM5dgB2ezAEDHBI3wZu/1Yj80AOlQAI57QQMSAETDAM5FANVIByWSAFf6d80+c4UoAEAGBdTgAJ3kAOMHgN0hAN0kBCxcALsEALvHA7mFgJuyMKsFAMy0AN18AN4peP4neD1dCP1SAMvJCOwpA7BAkJDSAQXsRb9GY91lMJwCAMyXAN6MB93fd938d4uAAAWwgAj+MEKuAFkuMEQ6CLX8gHe8AA37AQN9IOxrAJZxARZxAHcwAG2CANKScFOf+ggX+XBSogBQDwgWMwBN0YiNoQDt5glDCYlPu2b+RHfvNnj0zYhFenj1RZlVZJlfxIDf2IDMCQjrCABoNYB8JgDvFlLdpHUfIADgCQZ5PDkV4weABQBsLzgZKzByaZA/hnhQdhI/RADpeQCG0AAEECcnAQBwBQDDqZBUiwh14AANSYh4+zjd6IBLyADdpwmZd5et3gDZvpI565mVbHDdUQlUx4DVM5eeQgfqm5muN3la5ZlQAwfgCwC5dwQNeDPdpDO8VglCfoDf1yWrigZzAnEI/Th7k4OYF3Z0PwDVuCXFGYI4MTD8mABmGwL2rQEEKQBEwQBZHABYzpd475dx//WAZDaV1DoJXXUA3XkJ7r2Z7riQ3wCZ/aMCbnSJrUwA3i2JT6uZqsmZqvqZqoqY/hQA27UKC0AJDqSIm8UwcHRCmmcwZfMB9KIAQ8wHJduF0+iZzEuYuBFzni4H0g2nhbMg/lUAd2AACB2RA/kARRIIdnAAlTYIFeoJPXmHLjGTzeOAS0cI7SwIQ9ap9ROZqjuZ7QUKTSAA3UoIrZEJ/ZwA1N6iM98iNJmZ/7WaXj159XSg3AsAvAYAz4yVhVKkJMyQ3RYA1lGg2b0Gx9GHONqaGTMwSD16FpcAz15UvZMijsYAxoYAUvORFzQAeAagTVF3M58J0p5wTWqItI4ASt/6YCAgENzdAMRSqpRQoARXqpRgoAzZAMmAqp1CCplMqjQJqe9tie8Fl/3ICZUHqUSgkA4jh/BboLyHANoCk+SImUrGp1rxoO0ZBnXUgQyCk5AlEGrCY5emYH3lB0irZeLag65YAGseEDE5EHgXAI1noIUmCNU7CYNcqTQ6ByhTc8wjMEKkALkQqq5wqp6KqukFqky7AMlAoNqdgM71qv8Pqu9Aqv57qv7QoNR1qf9sme7nkNBFqgwtCE2AAA2YCZmTmfmukjnOkNtRB9bdmHFhusHFk/xio51WAOHuuxYeNalmcOy5ADTdACFPEEXSAGbdAGZ1AEUmCoKeeY1kh91P83BSowBDqbA7Sgr/v6s0BLqZuKDEBrr0Z7tEibtD7rs/u6DLAQq0g6pOqpngJrqjZ4DccgnBXLkRyJsVwbrNXAmuIneR5bDtVwCYDwhhQBB9V6CHFQcDXqd9U3BSIoBTm7sxcQtHr7s+pqDMjAtEobuII7uMbwtAXKqTyauEBqn5tgoX2IBFTwtV0rrGnAd13rOGMQDo21n646fsCQCBlxCIEwuoFABk5Ao0iwk1kggt44gjqrs+W6t7ILqstgDMlQr5E6uLq7u+9auIZrDKDar+0ar536fASRAyNpsZPbhwCQA9xIOWWwCZ6pDZtpq0fpDdSwCXCQEXmQB4A6B3H/QAQxG3MkkJhZQAWA2LrXh7xDwLNMO7uRqqn5aq/JML+8e79Jawy7AAtPC7zrGrTDCw3FMARBcHjkWXiSW7FySQXQOwaiQCYQfKqXuaSwAAbBoRFi8AVRAAMFt7p6yLreGMLbqAI5UMIbAL9Bq6nLkAzI0MK3i78wbLQA8K7IsL9PKwzvy656CwlBsKgaaLlfi7EXW3jkRLCLO5paOgYpABJMkAQ/YANF4AR5eL7pG8JWTK46qwGiYAxcfLsoLBAszMV+28IxXMYzvMKz6TnAoK/qyq+Ryq680GrWNb58p7xuOjkWiATAYKnCi6nLAAkoGxJnkMFYkAOnSwUgbMWM/4qj1kUCKuABPDAnLQMIm2ALuGBC7xu/yMDFLdzJf/vCZby7Z7wMwsC/l7AL/vvGquzG0FAHPbyoratyKze5cYmLK+cFXGAN15Cuq9wMl/ADI9G9efAHbMDIihyIrQbLSFCIJiAENtACKIACLfACMRADN7CiLHABKjBSkLBC2JM73QwJY3AZK3MzlbwJtYAL6iwMwuC3yXC7oBzDvnsJsACRbtzL57oJ4mrFdFzHzUsCung/XgAJtjAMqQy0u1AIKNG2cVAEOgvLIZzMcnx9FlArIBDNGB3NKdACMWADSpABjpxKjqwCq7QBJHABJVDNPnADSVAFXdAGcRAHfzDTg//wB8JMB3EABoUACIBQCJsgCbZgC+mszsfQpbb7wqCcDADwtDfMtG28rntszPychytnfYSHclJQDIDQA5kcqcKQCDVNEmrQBUoQAy5gAsgL0cfMqAKhAg5QKybwASMw1yiw0THwA1AgBmBwACNt0n49ARuwairAAmDABmygBjI9ujO92H8wutaaB2eABUvgA9VczTegBEywBV9AIIMsBr0CBi5DTmPAiPzbpfMavHzLw92ozIpcs236ODJKC9RQCGGgt8gQCYagEjbgAtA8Aifw0GvtkX5oeyuwMAhgAkowoUKgYWIQB9Z6AQSASn4t0sStAiuwaidGBpjTBnNwrYf/oAiKgAhuKwZP8AMx0AIpgAJ0jdEp4AIvoARJ8ARQEAVPkAQeFwMpkN/5bRmQkM7I4MW8rK5CSRBS3bqH95OFh3K48KlfAAhdvQl3l6IjwQTm7QIu8NvDo8irZnsmrQJBsAELwEo80AYZzNlq0AZwwDUcLtJ+bQHW/eIaMAWyxwOU/QNMwKdxMAh4cAZWIASU3dtzHeRznQJ3zaJyCNMkPidWUN8/8AM38OQ+UAXNba2KjQlWbgqYoLMFkcytnQXh6QVmwAmAEAVLQAbvmwx2sMQA8HEpEQhxAKFYoANEIK7BswLDfQErHgQfvk8OMDME8QNKAANbQwUszuIrQALX/70Civ5lY2AHRCDNMeADTyAGcGCteDDWTODMZt0C6C3NNuCMWCCHcSDMpJ4H4AsHLlvieKIGhTkH3ksHwlwEqzbgBM6oti7CeDgFb8Djk00G+woAxqDEADACMREHapDBW/AEc96+KrDieC7Sir5KfN4CIDAQ1X4CWxMJ070BAMDtG8AAjgoA103SZUAFOcACMQAAXVDpAKAIAIAI744IiuDmL8kZCMHYjO3Y1toGZP3kP7Dc8a0YBMLqJk3cTmAQEz2Z1gUGboAHADDWgPA8tZAzS0zsxM4SWPAEQnADLhDNLcABzZ5KAyHSeP7iWcZKLAACHzAQH5AAAaACjoBKfv+oSi3+4uIuBfXjBc0uBnPwEfB+CARhreINB18wbAnhAjZAMyYQBCTd7CR88ATOyMlcBGoQCAIR3oGACIFAB23wBVawjDBhAwAgAh9Q9h8gAiJgAqok8s9u0tqs6KzEShZQAQBQ7QLRMCMJ2KlE89wuWau2AYOX4GVXBH8gukEBAhcdA9+qAtpse458EDjaakVQEIGw2KRrrTlh9mY/Ao7s7Sdte8O9AkNw8vtkAgSRHgyQA0JF8xqQAwKBgRbQAJLFdxZIBU6A6IshBn2aEyAwAi5wAyag6Nft+La3alAf9UNQBG+g3YigB/j+B0JR9iMgzWdt593++dRt3UQwWfv/tAGmLxBgYAATkAYqgABatgGChrzoD9iWAgHUKAVDQAINwNE0Eyo4Qf/OKO45YOfE7/gAoSKHEwAFkSAZksFAAwYLCj6EGFHiRIoVLT4UkvGJmDhGAGz4SOICCRIARK7IscECCRUbNDw0QmIIJ0EELFjYkEaOzp1BFCJAMIGKkyE5MiQQ8UHpiBQXnT6diKXLlyIrrK4oSFIrSRUlARxEAqFBVwYBTEBFm9apGDFq2sCJg5PEBpEkN3RVsYLEipZ0TXwAUZBIJE4ISFjQmdjMziELGiwcMqTrhARKlbaIoVbzRDViulQReLXrVq0jVXxFYmECiRxlJgRAsFn25hs//4QoYWJi7u6RW63SpZu3Q2AAkSIhmXAgy04ziXemIfGYQIbJEEyAANHCxg8ms2czEXLDhJwgVwGcNkn6wmnVK5E4WVQmQIDh3u1fBAEYRQsXZ+nyHi2vIFi6aoUTADiBkzQIYGACntIoI4g0JoQQgQUIaCADDyZowIUYflACii7EaOO+tMJzAQUAsijwPJMe0gqACwBwYIMNcqBCDsIIoI84E3+EyDKlDuSNNABW8OKuCwqsgAdQxiAAgtgSA8AAEsYoKA0GpDRgAg4jCOOLL9SAY44/gIQqhhZEYOHIAtHLqiSRcggCAAaCk0OQNErJIQADDkQTTSFBQMEEGwHUKv+vO/MqEIEcDVhggcTS0AA2LxKbAIIFDIBA0ybCgOKJJ6wQw41AL7pBTRRKcLNFOBMtD4AGuCpDjjI4kWM+Hk79MSkRUnDhBiWiKGG3/+oC6c4Cr1pAhccQ8OI5L84rA4A0AMgAAU4bWCCBJVJtAYUU+OO1oi+wgEKHgpblC8YY+7KypCEEESRPCGAr98ftnvjiDDiKsKuuuWwkmF2rGnjWweeq1claAx62kIATUkDBMhF8zBeiP/KYIw4z6mzVKhfTI2kkADSY1SQVqKACxxUu5EGMjDerooouAGgjDjr+CCQQMkwiGKSPDmXUqiGsCqKhISZA4kEA5LA2Ddg4lVj/SCFnjugPrd/wgoh134TxvMNs1CBeknLAy4sJCIgA67TigMOzfuEY5BBFFEEkkL6CHnjgq8pbIYggqEhjjz0yIGEnqM14eoIFgCLgOquFFMFtrf8Ao82HlnWRpBWokEIlDTYgoG8NVHBCCk7U9sptp7BI4gYbXODPBiGY6OKMOA5BhIVDgTPWATfLEzwLnfaQQ47VLo2aAQIQIODPG1KlHYX8Pqjc7Z4xX4ml09hlyXMpkt9gAtL9tMABDab1QsEhTMjM9YvUHEEEE0w4If8W+PNhiSqaIJixBqaSIwlOcMmzQ/LKUIYGRM8A2oLcAsDQhjOIAQtRUILsYhADF7gO/29FWIkK1sMVdqUHAGPgA3lawiNILYAEacjCIgRRikjIIH7yo4j1hjQGSUSihwUxgxl4UISYBGxoBNOABQAgOMIlbycL9AJBAADBB0KADXrYGB3iEIc2qOEM58KaCXjwhC4UYQJYUYEIE2UevZCECHJYTBpuEj0E7AoAN8hBvTjBCUAUpDs4lIiQ2pQISRTSkIcsZCQSkUA5ZCEHNLqJA0gQBMQkD0Jl8EIWnLA2AjgGAkXY2OUut70zzcwESFhAB27ClzTOaDQqE80KJhAtOfAhDZpCAAROgDGoAQAUgpjDHAAZSMucIAdpkAQnELlMZhbSCwuoUQAy9DQoTmEKOf/QABuMUAQwBEKUo+wZ1pTSASc8Tn10Oc+STpNGr9xlBWPoSq2ao7wGWOgELYAIFWQIAE50Ag9aG+ZD9oeCERjhkV4Yg07scMJr8YEPzTxkJAAwBAt1qVpesGZRSMCDnpESnIGw28yUYgJZIoABHxmdO/OyztGMZAUI8ZoTtXQhA9wQAHAggyAWwQlQpMKbpRwmFpjwAxu8wAS07GXy9mCtMoxhgbWaUAINaZxESEEDE4AeCablhBygTQNFuFveOtpRuylCpIApFgJmNTYbnWelfOFLb1bgxMUs5mXQw0pEiuAFGYJCFpjQQyACCgC4UfALJXDCFLywWIQ6FUKMtEP/ApEnB6eWIRGXFQQf1AY9AwwBCV2dDKvc8Ie7NeJuimjEIwYxsxfQjgUWyKUD6CQFlqFERmmEaxrTSAXGPc2SW4IeGNQgERUIwpe56MQg8gBU+V0uD8slghOokAXqVte6WWCsY9PAyMVmVg5eUIGmAtAstJHAAwiQQAcBoITc4cESmngE1tRwLh14IHqt4cNljbNfOeTAKm89TC35UNdqeYltVZgIGdJAmFykQhGBFSwOe2a3RgyCCLS9boapKwUkTIG6XqiVHcrQNC8UJbwGmE5XzmuAszxEvfLjWBxYEKn1JbAMDt1vjr/LyhW8BACLgRpsNkUAI9gUIlJYxCJk/5ELTDwCtRJGRGrx8IUlZADDGr4uV4fg4Q9DsasDQQIJ7tUADawYAdcBQFMAeTkyqDUDRbkx8qK2h4fmWJFjCMLjDACAC0XvQg1oMUV4wIdILBkA/guDqVz3iEO4oQpCiAEKNDCF6WI5y4ldUXXLkIYxDCF1klnbArAKqQQU5MXN1RobJmCAeNrBoYnI72UBIIg9pIHQibAzH6bAoUg9jMUXOYEXCCMLWZCBdj4oiB+wJgYl+KAFIxjBCVTAZUtXW9NjyAFCTnahXgPlLDcY5ijfEBQV2MFwClyguWPtUOQ5tIc+VGQiojgB/Bl5IkWQ4ZLBgAIX2EAJblsCAJ4NAv8RiEDa1La2hjMNYmw/ks8OBIoEwB3QUXKAAK2xcVPHsHGO18qh7H5OIvZg58uaIX8YkwgL0sCJJcsCBTFYQhfg4DpoE9zgJJBCwnW+WMQVZFO47IAQvjDYsXapYRxH+hiimIWNb9rVl8Vsfgkd78t6oU1qngh8Ci0LQAjhCnC4G9Z+wEHrgaAD09Z5whdrFABMAABRQgALvjDzgD7iEaa9QwMudS2IIP2aTki6UwUM6+QBIL8JDHMRLsIDOfg1F6foghtQq4iO5ituVVjC2GPAtNRZ05ppz7AXpAABDmlrATMabEGekOhB3MEDAKjWQ5BekDFgN/AdP57h+YA8KZT/wQkeuUj7WC6LQjiZ8hEulyIeMQlGx20LJwjCQSLjWSekLu1FwW4WGqCp56E+9QL3dxjAgASJzD4it29602spcuNNoQirtQi+F5ELWXSC0WNlLpq0FghEKH8SkziEnBqfMhgCIigBIvC0nLO2z/IwKeg1A1iBHzi1gHIBEDmDQciC8uO4isASpGsqAJiWTRuDxMoBxbOIPygCOeCEUqC/O3CDOAgmOsgDXvmm/QMARTADeomERRgCMvi/NyCC99CkIVDADOMyFXgcArgAewsoIbACyXsExso2tJg9jlssp1I6J0ACFQCDp8iBJCM2QLAdMvKXU6nBLAKiPKGJHDCC/y5QAzwIwPfgKiSotimoJwOIgBPInu9Tgi8YBOZTBMbyNCqsQvbBQi94Dy50ikEoAkHghFV4PBTYD/74kED5pjzQohL5MUfkhEXIgROIAR+4jS7gAU/7PA0DHYpCgAtQiu97CDc4hElohEP4AyfIQLVIuhMyRCjyrAzoJqfYAmHbOjLIj4sZAXHRP63BxDg4AyiQPUfcQRU4gaXADB8wAVPMwOuaAg5jgJNCM1csCLujPK0hAsXCxUJEqAVSul5EC3xzPFCYHOz5EWXsGDF4AhvAp4JIHk7YQRJICquJtujqPGuSguprjAsJAAEAx4doBEQQJSOQrnPcONq7Qo1DxP+EQIsTuBVOoL8iiMcfiTExSIIYoBjiOIF9jARBUIF/jMcTEMjqQ4gNMIAAAIAKKIABKICHEICdVEgAsAxUEyVPmxZC3MDsUseLLAH4u4imCIJ8kwUwYMmrsY+O+QIlcIEUGIH8eAgY0CNcqZN4HIEW8AEl0AFCIAMyuING6AAAKIEOqICFjIg5oAMZ1Boy6LCKwK7zmz2j3DgtHALvewoWUEEWLIV4/MnZwAKrxMp/hAh8g0YvWIHAEJKwtIElCIM/vDtv6hnUWj5KoIRDgAgF2AxRuo8xgUG5LIGcm4gSI7+HGMqhBMGKbKqCzIELQLmLcALjkAVO4AHD/IDZeAL/SGsBislKvUqyTrQ6H8kOmAuDPwDEnwKAQwBNAOCAguiA6oQIN7ACJVgCBSgABXiAB5AAiqhB+8AM7sAC3bkwKWA4LCkITMskKSjI1JFPa1qspyoxrqoPtOCBMRCEMqACJPDN23yKnJkvDLqB4YyIHNwpHtScEwSo6DSrtewAVqEA2TjD/JONY5zEG0iC6JMCEJxILMmkbUSCErgfDgiCyDiInHMqLxiIT9SMDMiACegKE6CdEaCcEdgMGZzLjjmDLniCBd2pTpTG30yLtqzQtQSAC/WOCDWRHT3GFjAm+axPANhGJyABFlCKgvvHE+AAD3gPa3ICFUiIPUQLDoAA/wZQHxUIA8zzAQ6iGAx1rh8VJojIwT1aBGmcQEWgRSiFiP5bUgAIBCeVDbz5Uw3dDMOENpd8yRIEAEkkqPqhHBUI0RHcQhLYz7TgAZNygPTxQUX4Azd4U+7UjAydCD0BhZQsiS3Ag+UzK/K8nENoy4egAEPVjEFYPlmM1SgFy/24ASjgCMIaLmcsCIohqPxAglsBBVAgj29UCxPw1PSZgLJaPkbDg1Mtz1RNA1CgidcDgPhKiw5okw7ogFt9iAcAgJuEittgvXLp0in9AStQgzuliNihnRNYVp5aVR4g0KdIAAZhgJtgACMYBGUEVKjIUA29A0foVpoggiqAAnVNC/8OYJW1RNfNIBRKFAL5oTuJeK6CkAAJiIAHUAAu4Kdm5QQTyEfNCAACIIADmAALaBAy0ANMpNNtjYg7iAQVjIQyyKvNYIFa5YDxBIAB0AzL+FccupyCuNVbjYAc4ddIEM2IYFKnmA8CcIBPBVU6sFe1WNiJKIQdRM4MmA1yHVoJ8M7Z6Em4LKWnpYALALFmBYVFaBuKyFiKeFkG4VoHYIEZzFnSpAhAOM5FcAIHGICdtAjRNNqHQNsOkICbRFrZaNvBaloAOBO4vQD/pFs5CFqXfRg25VoO+Nq0CFuJYAIzKNwcSICdRFK1YAEWKNqbrFy1mNzUu1ynfVoVqBWV7aX/tHiuMzEBP7MQ6EkAOghcwZ0IM4gEb10EEii111ULCeAAyFWAAUjcH+lVy8ndJt3dMhCEzvWOPJiP8uWRJoCDoVOLQ/ipUbIIMlgEbxUEEoBWzUDbEohc7M0YXL0PuC2I/IPbuWreUuCE2EOL76xaAAjY8g2AA5gDe7QBrHsK42NfkLIIEagX+fWApYUKHuCBNjHZ6x2mvAUSuM0BFQQFAoZNzSiA73wAATiAAyiIM4iCH5hTqPCDQ9CE/7M7TQgFPAgDH3gxy8jglAQZ72ABD2ZLkqVYcDTZ73yIQWAVqDBhFF7VI66IVqyIFlYA8HwADNIMIaiCMPCDRyAFVMgE/4pQCgVwWH4UBOGRiNq9iA7w4A+ugKeFS/t42goYgpVr1uO4CDmGCEnljxdgwqfYj1DcAkMgBVJI45uBiPoBAAXoWX5UGxOpYwA4VzzOY9m41QqIAC64lVKo2xXIyYrgyVTuSUIRF3xqgXnVjI0VgssMhVDwYYnAx3VdgZTsRCqAY/tI4g8uAf/t5M3ggGMO5TKg20j43KdIZZxs4f25gSs4A7XYDx/YAj/4v7CaCEWTEbLd01K7DzpWYg7g5GJWixJQ5xKY22YVhARm4e/ESQWAgmpOC+2oAm3WBD/1JorQBJFVgSwQhJ71AMW9jzpmgU0mYXR+igeIABVt518CTP+14OIuFs84CATkhYoqcINM0IRZbF+KQISHuADqyAESIACePOXZCGYeGOZzZmin4OIIWIFNS+FfauJ4dmEJMFcACF6ncIP3asj2TViIqIBjTo4JYIAGEmdM9mDZ/WTsjGmLmOcHqICa3pNmhZoIuFuKbmHxrIAS4AC6LGqIeK/7I+qyhgg2cAA2rSetlWr7QOhzPerqdQpBBkfwDOu5ajwC/l2L4FGJqOiRvU4KWK7ulYhHQAT2RVWLAIOtdYADQACzwFxlA+ZgLoGjrtC4jghVNmi4tOq2POFFKAUVvgiTtQHBRuAIqIDrlIBbVd6JYOzTpYhA4Nu2nuwAGKqL4Oz/ipjrCq2AnObJgvDs4V7IsL7OINARUo6EFU6LLgZPnr5j2I5tiVjY6oYIMOjGSDkAHgmAxqUIdV7LY66At5yIlk7oCFhb7FVcFakYIVFluLxODkicFVxVKjDvtGBtCRDPOSjUp8Vu66ZtioiAgR1YB4CeBr4Irq7QtjxmDijv6b7QJC4CHiACk8XexFXISWzZ956cgpBeQBJrCO/jZcZi/nxqFtjnB/cop7jui1iA9PnUtp5JmqyI240IB4fw8j7mIkgDHuiA62VvAfhN/nCBI38ID5fKiUiCL4gDrCFvCnCCbm3WRThxp+CA2EXoHBZvxZZOhW1simCDA59ZGp+P/wPA8dkogQ9mAbXVcAFQkYJoWYHyyQ9Hi+cK2R+BcAp4ACpQZneeYrQogWCOXQWAuejW4VAw3W9yCiOYAAcocwZIcAJIc++w2Ot8gBYuAEmcc4HaH3yy89lYxtmY7giYW1JehECvCKAi1xSXgAGQROwtgI7V1rSAFDblEBSbj0qfjQgY2grwTgWgnU+XVBX59E8PdVHPc814Wg7AJFKu296uiCxP4titAOytHwHIcLeRgKyFWfPNXhNhASKIXQ4w2f1Rr4qJc4E79jrHHg4G843ZjKe9AAhJYZq4CEOl9g8G8gx/c+POmAfwdu8OgEoPcUEf9wofWgDYAkirHoJTiv/9ELiJ71LsMBHEdgq4pYCa7mtcgQqLRW8hf3MAAPhywY7uZuADKG6FNMynqNBgRoVw9YNqFoLqycp1H6h3D+yLV2uKeG0KOGrenSECLoP8tohWZ/MHyPDPLvlySWUDiOEhj++I0GIsJ1cTYIFGAIBRAABSAECGV4JIc2V0R4GLAYGdn0dwsoidPuq5WoRT8FYvMHqK2PckfnX27uzPvmfbiYJ+UYMusMqshPiqP1p/nwi9TwveaYRRaITGNytK2PpR+IRGC4NmQ3IXyEqm+AGeh9IIr9BJ8IMtsIFJ3XYvVgE5KAW4jwQquE6LqPt+3/a814yCO/uw5A4oSILRxw7/LxUSFIBmSeV170AERPhMvBnpG1QEStCEUUAFTTiEPggDAOhYgnIBJcACzr8IydVwEeDwFvCAtz+FUrByc537hwB5hNb+OEb8p9D5EbiBjWgDCxqqGMhKL+X+Yi92eEeLW+W/0gIIRJQ0aQJACUCjRo9IjRoVyhIeAEuUMPkC4CLGjBo3Zvzj8Q/HkAJGFlBQsoWGMqdWCloBQEKFkB1Y8KjJQsGAnBxHhux5UYQIEC6UfImTJ49PACiWMm364SnUD0BBJKVg9SqAQIgUKRJIcBQAsJoSbm2kaZQqTYcOTZr0KClcAB9Bxh0pAEDJkgIg5JAjiI+TBAoAPHiwkQML/4KNeEjQufNuXI4tfmBRczRu08wooj4NOsJHGEOhSDUKFIguRqwXuyoyS5DSqIEGEdFO2IhSHjx+/EROOre33bwFCuxlMEEFiQmCTSpofvGBhBIANFFqpKbFCBBAOffuDjfJDxctxrdgilEqUBRK3FhCpcn03I8cWQ88e/Ci4q1cEQF4cgOFdz39VhdJwxUwgAAGHDABAwBYwIBgF+XFXAQzAYBIGzGMcJF2UAX4YUhqdBEFEzeUVx6AGtmwhR+jPXJafB6FZBoirlFCiR5mxaYJbYro0UYSMYBAFYgaDQiXXRgRd8ABDDRogQMNJHBRcwYCoEAEEszEghhKFPllUv+lxSEGFiWWB1eMMvYUSEL2HXTfaorQIUYSLQAFJkZHIsnTRQMcEMABADBgAQAOMCBASc0pWoBhHHTAg3R4SrrRIY1w9aMYT0y6UWsDxWbQp2PN8QUTdt4p6UeBRBacgQMQcIABhloA5aEFYDTYYIYBwEIJEmz660VlJRQIHGIAu1oj08E2XVg3xtGFEps9dSwAiox2SAQAQKZRkgYyeYADCCDQJAML4HWuYQ9kWwGvVlEbUnyR6befqscqYpBBsMlGSRtdCOGCh/Zem+223JKEVwEIMHDAArM6sMACCtpaUmEPKOArCzNxgNS7eaYZF1eWdlUQsKhVd9GNP0bxw5n/x6JCSigN7VmgCwmY6wAAG+j8IAISkPfCS4RFUEIHRVPQscdpouaTyMsCcIeXqP5xb7IZ6XHRCymkeCx7qMRCoAADnGSAuAw4oPMGFhzQMwrivfADE0pA0YZRiNSLtFxKq+kTV5qoosojYWyqpm0IAaCHGky4QCS1HwjhRiavZPTAcBsFd6UCARhggNk5p73wCSiM5wIAcht14SF4J600XIp4DXgYMUz6EX+2VW3sC1tT28J6lqgCNq4FBKD5oBfs7IABAigw3ttMnDEHHIGkrvpFeu/tUyykHCKGD6Tjmeq91SU7R+kvAEz9dIr8wV9PSV4pfAAEBNDgzgwgoHwB/y24YAMTcbSRB/vQZ72l9cQSaiCVEmyguw/NZXrBAsAXkkC6BaLvIod4RMwyxgHCmIRKD/gTAUJIAAQIagEHyIsLUHADLLRhDgEUoPXisoUnQAEKCWzBl85glD9o5UaUuJv5gFbBuDjEEm5wwxYK86fhiTCEAUiAxQognh8AoA13G+IACcgRJVBECTeQXZGEEIUvtDBfGMICAIDmghd8YIiRIQUASDGJQfShBEvEiPwcIAEFmM8FN3AjRwYIFxsIAQpxiwEFI/MBELTABxW5iMqoeIM1eg+QrQMAKlSBChZwIAEOGB4ANFcBCcTABS6goiUDqbek2EBuh0wkXKKCw/8fRAEAZ+gCE4RwAxNVMpVw8QopWMCrCyRgShR7wR/R6EtVxueFIeFi3CYZEs60MSMeWiNl1EA+NYihlkqB5TI1cppAKIISwtwVByKwhS0kAQBJOEMbwrmR+CwEFUkRQiGVIAQwaoSa/myj/oRAxhxxBQBzOAMTANBLec7TI6YBwPRIgQpUhAKiAMBDpTjG0Or9gS0U7cMSfBKDQsZNgf38JzX1l4QvuJAr98LImLy50Yby8BCqmp4iJlGQ351FctWaKUJCgQpLhMEHI6imZFx5Q2uilDNtEwIW4lAjkSWLLM4EKkfpspa1WFBViiBfHwBQUazG0RBKiEFUeqJPG37/8TxNjQqAVipV2vSoql2pGlmNJD2uss+mcThDO2/wBMGR9Qw+kFZaOTJSQyYQQG+F60XEQD6ISq+ultrK9fLKQ4vSNSt0OAMWhHARFf4Rqz0AwT+Tylgb4JCaNegBbHsgrRSdgQ60yYpDD1EbrhziY1jNrW5rp4dblkh0KHiBEMma2i3m84uu7QEAmgCGNTShBilqgx6Cm7dU0VV9qwSqR7ZykUYgIg5lAoCJtgbOcCI2sSpSKlrh2oQmAOANawADGJog2qzQ1W7xqSxmYwje9dmGDqRC7w9MNFql5BUArEWtezESA6WyFiot6AF9pzvdNayUv/1FROpSFdzeZnGm/+Et6BlWBgAqJhhFxs1rH5jgA0RG+CJcZCvAPoACDEd3vk1YQhXOEKwP35bEWqGNJQCQCQBYAsQkls9GafdSLLD4BwluMQgAhMO8fmIQYdhnC6alIpLu8ykYbgKGe+CCJdyBIx9GHYALypEnazGVtCtv+dB7AyH+Ub0NVgUpjLgEG7hgQxlZbEl3zOP5SuQOcIhTa6rVWSLrxydPZijtApHiiyQYuRf5o6cBsOW8ogUVmejDFmasEbnZkNBnjm4M2GyIF770p/zp74UqbWnfAvIjevgRFriISqz9cc8pWu8yFVFPVTzky+cRgtyU8AMb9Hi+TLhDkudlO5cOub/7Wf9yAWH0EUX47RNqwOIf/HdALBjyB/wEGqgxMurfkvMRmkDFK0iRCTcAoHs3IGkCj+BjK/TBEk3GCK0TgnBvy7knmRiEuHPKbDf4IMwBY2CdjUSHA1qE3bks7QuovUvzXWTeZA2vQkbxCnsa4gpLwIIVWu2DJrBhC3CwhCe2QuQhI3zILn0LXDKRiUNkwm+kuAPL3oom1nEkD+alIQA8Ltpioxe9oWZwgxuobKEC2uBfEIMVEsxm3ngi55S+7YUQ0pUL7afWGSk7XNhw2BSI4LFixogY4jAHGTkTxFCOwxekLTeP73KSpNvynjGC7HD+t0aTwPcrVPEJPHQBC12IwyH/3N7tsyeLNVwB+tvLLnq4h6IVAFCFJ9gQ0ozAtgZaqztKRV1aNdBhr1xd+GkO+oQYTBgKhM+dqBWfRuE3OKtan8QrYuGLWKBiEgrRSGtsc/Yasf2uGhk99j1R+ljMwhMAYENcWv967gBgwhehWx4ciPDe3mEJLug94ckzHnmbEkXFX91cEGFvsGgyFj6t1m340I1Y1Yd5nrJhRPZh3/bpQia8wRL4mHeIHwCIAABoTfkVUt490EUEQh6IwRY8IPwZEj8FX/DJ3+JhWoysRR6oQZlATkaMwmsIoA+9mchUykUkYNmxAit8Qiu0Avd9ggPml48NYWQM4ZY9hejcQEIB/wAdZEQbRIENoJkPeInHHQF0zV9GzF8LMM79bZdHZJ4iJM4N+AC0GYvXAEAsNAR1UIcAdkWPtN0j4KAnsEIPagQrMMIbsIGPCdwQEmFPEGF76dhFtNNFzEG/TFILNMEU+p4h+cBG9MCWaZlsoQAFdmEDDUKK6dIN/IAQLCEmfQ3zNcRACCB/uJRL4eAnAEAdXoQvBIMrdAIhaAQbrMF97WEfMlp0XcQeakYWYoQVAECJiEcPOJLvlYkjbgQuis4Q9kAlatZc+EEnCAEn4hM+YYTvXUTyoaEaCiCyKALRZR8P9qDpaQQjxAUbzCJ1zRcfQqCPQddSSMZFxAATiIGQMf/BD/gAMWLBeV3EG4BBRqCZUlwYRrTeCfaaR8yBG9yBA05jNQKAaEGbprSIKihfGsIgdVAVbbCCJ3xC2X0CHYpjK7gCALQimKCjEPphT2wZUUDSHIhIGOijPioOAPRADKzBG/zjae3YP1ZXCvzWH+TBHIhBFbyBA0ojNV7EQzokRQCAGLiO8p2eKEYfIqSiRoBkSGLELABALE6KSaaIyZUc6WBB9PSX9ASCIX4BFPDTO/pjjykFdEUXdKHZVzKe02HBEoABUb6BlVHjfiVlUkZdHpCCT6XhAFJlRlilSF5EVv5KXtoXOOlPRjCcTl1kHCiBC/TkaL1lLuokXOpiDTT/I0PRQRukpQ+wQV4uwb85pGr6ZUZQRBW4gd+MZBrCUWJiBEiKpC+8S2PSl/yZ0uFVUhN2V2voVEPEhnlpBArUgC7qzw7o4lvK5Ux9luKgAF6eJmtep2oiJRNAQRi4zu/4wi9kRGL2YG3qArU0JiQqlPzN2xfUXq7px22cRXFelXgsZww853M2AWZulBKkwAjEQGMSgl5SEXaKlpWhEjUqwRNUgSFkJTFohEheZW5eBB4yZmNqBCV52n7pnHA+gqfM50ZYgRDcpX66gGZqZnUVpOoIASV+AF4KaF6ywV6uJo3uEoHy5YhqxIRiRGIGA0bcpIUS5RpgxBptRC1VmnBm/8KHNoRWaAQdwEEf3EEV8N6JYgSaqSj6tMBNmiaMvsERpGbU0OiBOmSC/oBpYgQjsMJIBsODzkJu/kInMAKM1hedgsluks5C4R0AKRyI6YclLOkoNGlGHEKSWYIhfIEVrN5MYkR+jSBDNYGcyik6vkETLEXIXWrhlQ5SOmQSKMHq3SSQYmVG5KacNuaFhmqANKYj5mlGNOnz6RZXWIKOFKegWlCSAUDZPRQACM4R9NgRsIFszZQIsAEjFGuxEoKAyhbv7RmzIpOzFt4SmKap1umoXgQxzEKc4qGpbiu1xkVjOupF+BFH8CltVIp8NkQmeILBgd4NZsJWgN4ZvEEVNP/BhVUqaC4TCmCCvmICI/ArHrZADOzSGo1cs+7ZDyzBtibsDQLAgz5oeHYCLCJrwk4rqoZEY4qH/MlLue5fcYIbR5SdeOEqkw3C07gbmnHhMtWAKazsyuorI+iPjYbrsz7rDTSBgHYpt47qLLgpMRBDMIQnABzrzb4BzlKsxeblEWhNbwqBsfREf80qk17VRXBkw92gurbBF4QBG5gSQ7UAI6zsLbBsEyTXoYHRzPaAxA5tlyIrAADtzu6seRKDMvisLphCJ/CrViLr0E5snYJqXjYBxg7sO5GT5i1cbYSFGnqjx97gJ3SfIiwuAnaUoX7BFmwUCkAq2HZCCmTqRsT/ADIhGAocgZzGot5qJdESQif8QpsCgCu4Aty2bTAogzL8LCvYLb/yKyGMrt4SrcI25hq0TcxihA/h1eaZa3EGKtEZ5hy67sFdX66mjrpe0TJNBQrEQA186S71xCQ5q5YGbe6WLrKWIyvqQuvOguu6AiuEwuvKrc/2QifY7u0WKyZ87+7O6W4ik5VxxAC63YfBRmz0COu2rji6gicEgkdSpffhqidw1SdUVCxU1BWEE1RkWQxcWU9Ymee+X78Wa9Aea7F2AsMGw86Wr+OqryuEwic0MM/67C/Urinwqyls8O16L/jy7pdSkRJ0geEQBLMMYEjYFIA1gmGybvcNgieY/68A4ypHLjDOqS9QRYUfHWj+ZkSVWdn7VZfNvoG/AgAmgHDP6sII76wntMJi6sIv6AIat8JtjCR46gIrvG8Xu2wMYwIXU6jQEsISoBIU/FQMbsRbFBSRldMjpOJ4foL6WAISt+7UaqTBjXFukkIYaKYvWdgmUuMUY0QVu9vXmgKy1gAmtKwpsCkAoPEskK8nNEIooPEvrDLQprFtjEIsxPJF3AGx5q4c9ysdxy8mlFaYkky+1EdPvEl1UMIjXCXrFrBNIfJFJDEApLCSpWJu3qo8IeEmcuKVSSMqSTEGv0ATgC3LrmwnBIMzKMMqo3Eau4I5s7I6h2fI3IZgoqE9qdnBHy3BEtikLcexy+KwMiUFD+svMVeHIlhCHG6gaUhz67pCK8yhQofCK/jCWG3UB7RAJePTNK6YNh8oIs0kIbBs2LKCODvDz65zKZ8xK4e0OutCO9vGGcZR6fCeb+LjTeIy+AHAucEFQdw0Rty0Dz2C3bSqaSTwMivyRaBwK+zofkpwBWMzjhpoFRNaRoCAIr5B6joDSP+sVZezGZOvGa8zK+uCutbVJMAGRQ5VGHxRDLABsrLBESyBDyxBEtS0Td80ydRHDDZC6lzRT4tn63IkRzL0hLJqXAQEACH5BAUGAAAALEUAGAC3ANgAAAj/AAEIHEiwoMGDCBMqXJiwBIwqDCNKnEixosWLGDMqtGJlYIASGkOKHEmypEkAHAcSMHKypcuXMDOmFJjASJSYOHPqhDkTQM2bO4MKHUqx50+iSJMqRdmRps2lUKPG7BlAqtWrJali3crVotauYMMi/Cq2bNmmAKqaXQsWrVq2cK+6jUtX6ty6eJPezcs3aFMjCfoK1vk38ODDLwsjXnxSMePHIrEIBAy5csSeAyUDkOFAM1+OoEOjtXxZMgvDUoFKbIqldZcurbFgJs2QI5bTfWPbdv3aM+2NUIIneIsXihXXWJqA0aHjtWBM0O/4nigbypMEBCDitWKdCRMoRZBQ/5HjSJB5M2S6xGUGTl689+nQoRsHzpq1YcNWYVplastB3QQQR9drsGEBhRSlgKIgJwxyAoZ/azEzTz32uFOhhfZcaE897tQzzzzxrGOOOcMURGBaBECBV2xYqBcEJ6ekIlAqNJ5SyBVriWFOhRn26OM99gCZoTzmcKMNNtwAQpBrOgRAQF6tcfeEDmmcEiMANNZYiFldfAEIiPK4F0+YYc4jz4fz0FMPPeUAgM01tNDCw5w6yGCEEkwYQcBKdUHBIhZEWHnKQFmeUkoUqnWF5y3vNeroo2OG2Q4AtGTgwaUaXKopBAZMAMEFT8HFYhdFLCIoG1iAAYaghYQhVnBWDP8TTzuQ1tqoPNgwAMGuEAjUKwAQILCAAcQ+KSp3TChhBBWCgiJGl18IKglShawCyDB2jCFKLdwOwQILdsJgBA+ngNMOO7SmO2ujtDpKJBoMAMsrBA0YMNAC+BprEItYiXGGGmqIwUMkgh7xhJ9YSCvUNMzU0w401FwiMRAUG7DnxQE4SQA263T8IQDzgByPQO+pG888tCxA0K4NICCQsMIScMstgEAIgIFMAIHDzkNUoaJSPwiBJxRNyCEtbLaVYqUkc+jETDrquCfNJWigcUkdDeCLAALEWrynAXUA0DHIaMqjJprzuKM2PWqaYzGxCxiLr0ABBijMOvKdQw44fD//48HOOAQRxWgmPRula2KoAUcccABgOHdpgGJlKWDABkWySp8iSaIn3TKNNT7Sgw0atIiCCyh2LNDA6vhqPawo82zY4Zprpkk2PWh/WM85tKzuu+pd2yusARhwwQW3yUhjTTnnCLNzANygsw4A4AgEDjPM3JLLzMe1+EXii8MRsOWZEYh0sj/YYIPQTHTfGhQ6jAGK0mBc8f2/akhuo6slTePMNv3oxz7e8Y57GPAe2oBEHaIRCU5wIQcTiKAD6MWrBlQiSAcEkgZ9xMEOumMe3/iGOI5xDGNUohJ1aJ0BEHApEnhABUAgAQA8AAAM6IwLsKgFMpphjWvwQhTFKIY3/4boDXSIg2/Xy97MbiGbZCnhie3rgr8Apgb9hKF7UkxcG9RABPMswgxO/E6LFlGKBAEgCSJhxjT40Q9/BDAfcIxjPsAhik3UgReb0IAKLrDHDWhAAxZwAAMQ0ABw6EMfccRHPvDByEZmUCD3AAA+AABHRB4Sjo3EhwEBUA++iUMc0WhGLURBC0iggWJACAEQPBACCHgqgrCcQEEgIQpaHkOIQxQHOspBn+s94xaYsMUwwKGOehhTbekYxzi+EQ1MLEEGXACAedLAAzIUoQnMAYMczCMJNcQhJJhoxzv4QU5+7OOQ6NQHPoqxCS8AwQHwtAAgN2CBDdjTAhY7xiXlyP/POKKTknG0RzomlCEgTRIA+iDIIfeBUIbmAwAEvIc70AGOT5JQFJWo5QQ0xVEXesCjHw1pLGlZjHNwgxzoSJs7AHDAd/joYVYogXkEMYYypKEMOM2pHBYhCDPgSCNdsMU65PFBttkjaulIB4fEUccFOAAAB1gAAhhgAQsAIJAMCBAaLJTQdCZUIIdU6CUNiC4zAaAdJiPZmSiUwX249Zz64EdcyblPTWaIHhUFxzGkIYq+QgKkHPVALBfghXOsI2QYNCA+CEhATe4CBiqYqRdwOtmclmGmZsCTRrZgC3pkyEKg7RDb5gEMWHCBaxerGwIOMEgEZEwbHMSdmigUpEb/ojMf9pgHuiYlqbP6dlLA/W1wB3ImtbkDSOh8q1v1sdx9yBWRQKJeRb9x0VpCAF/S+BCGBqLIOBrwHcDIghcAsAgAyCGnXkjvZL3o08t5xwpdmggTgkpQ0PIItPOg2hBygIQhSMEBCAhQAFhLrIx9o4MA6FGC7TEQDGWoHvJAK8kEElzgVvi3Z7XwrChMJgCstaBwVO5bK6lOIfGooBrcoJAWbEB57CKyguDpTGM8051O0ztC+MENdvwDJTwBC/5KSJfEgAl5AMBCFHKwhaKRXilIQQ6JkEQk+LCCBhzAyq1lwEor0qN6xIMdYGbHQMR84UkRxMwVTldByjwyMo1p/0JJLqBiM+nIDB7wrh+KRzlC4AUv+pnGfuZpGtrQhji4QQ1n+EKBhvwvhNxACGQg6pFXSml7PGMIVEhvFgQiCUkkIhKJ4AMgNcCACIoikly+6/TWwY6xhVnMa7ZImX27ZrTSih3oUCw/FUnnXhtwQ9gAAh9mTGxAz5QHYLgEJK53iy9YIQlCUJ/6btBjJhDkC2dYHDo4ySG12eMYZTAvAOyQBnLLIRIASIS6+SAHLzhgAx7YwDcu0mWBdMywA2G1mNEFgDCrC63oCriEJ2JhtM5qHeeYxzvywVwRwxWRiaSzPZqxgEupIAdSoEKmzbNNYpOBCKZE13uUObMvPCFZaP8syHekWA404W4euEiDHMotczuYVw5y4EOoE0HuMQQhAxbgAjgovdJ6HPnolEb6kTMUMvmg4xznsPfYprdvVscDHL9O08vNNCuAw5rfGba12HfbsadX0uFoX+5t8SEMAvjOd9f1naYAwAUqgCELm6iEyN88IX5sYxu5+EIVkjWQHyQByMdIh6NijtMxeEG8kx13GvYweZyf1wsqsIAHPsS2zhvz88Y8utHta2QAnMMc52iT2LYNANaXnRpZE0hf+0pCEX5DTRXiEIQpjOFJ+Zsd55DPOlZ6jxCn/fj5oIUB3i4s1WWNZaxbwQMgcQxrtCNNuVPTOMdxCwDcYCBniEP/HOZgC3Scix3iGAMAxpCF9rd/CuIdQxoAgNM0pMHxj98omcp0ptxxvvPcRg8jUw4ESICGFXxOJ3ynhwEA0ADAsjoAYAD4wjIAIFWzdwzh8HUCsW+tFmZQd3pmVhDzkA5qw1KKlHb2gAYEIFULQFX2ZE+A5ClZ0ylcgAvjcFw9Ilpm8iEM5g7jYBAHEwXkYA5PVwvh1n5I4ARTMAVDgATt5wU3NV7q135SQAJoYHAmcyv7139ko1vlQA4AEA7kEA5QZ3pl6HTrcAnxkjWt04Yqgy8rpDosMz1j1m8dyGrrQA7Mk3AVQQ/q4Fn2gA/zUAnCwgDw9IL35ABVZQGcsgAq/+AI6KAPm7RgDAYis1Im00AHBPFjXzAM5EAO1UAEY0AFWTAFF7eEOaAC7ldTYyBDpTgFUqACIQBEx6AN3eANYCZ2WPgo7rFt3NAN3BCMe/iBxHgNEGgQWfN2buh8yGBvYtMx0NgxX0iA6GB09NYjKbRChmgBrIUA7zZPWGUAaIALhpQP78BIB5QP/cAPZ4U368AMYjAQcUAHeTAHiZAN4RANm+Z+TjAE8CcFSAB/7VdTALCEBukEDEALdUAxGWMADNBXlVAMx/ANQ5RmwBeM3NAMtAAMvBCRvFANIFkN5nANW9OAAAAzv9IA8wJ39OI7yzAQUYeG8hEONEkOk8JgOP+ZYDqZED7iDkAwLBYTAAhgASrAAFllAAcATw4wAQQABMcgV2qHSfvgD/DwD/7AD+kADbYQA9YGAFLkTXFgC9jACwBAhVJQigLhfkMwBOJVBmOgAlJgkFLAC+JAk3aJDc3QDMLAC5AACVzwTkYJAbMXRHWwK0BAKRtZSpXQSr+yEA74hq1TgSqzK6IgEFF3mVCHDkXCDWIYD/blYB0Uml2GAVzDACSQXmOgc4kgCF7ANd7IAAGABsWwcOckYvrQD1X5D/DgD+lgCwbRBdkGB8hQC05ABVOQA/7ofmoJl1lQU15gnEuYBU7AC97QDdZ5i95Ak95QlzVZDdIgDcXACxz/CQu80AzUQA3QgA3hcBDVQA0AwAvC0JeLqZLzMi/AIi8AMAEqkwzBR4wfyA3XcA3ZYA6TZl9JdmKi2SP0QAAQkAP2V5BSoH70lwhl6QFI2ZS0MA/3gHaXhA/ORU72wAw/AwB5EAgmGgiYIArRiQQY535liYRnWVkYZ5BTgAvX8CbYkKPaoA0YyQ3VmZ3Z+YnkoA0DQQ3SQA3XAIYAAIZKqqQHgQ3tWQ3wKZ/1uTq8AqXYQIwjkg3nmaXx0Hmz1W3GtSH3haACdQBZkAZZsAd80KZtKgg6125yQAItOAGQoFJbNmdqB3H2YA5g0AIEIX5x0AZFEJcFqYTKmZbKWVNl//CKsDgEtXCe59meAVqpOYoNO0qk1nkN3wkA0AAx1LCeSzoQesikAuGkCwGl1BCesAAJlQAJb9cArloJwrAMEGMOfJd9nsc2oCem3/aciZBzbgqncNqmiTAEXgBLlYlgHXQPHpIOwAAA2gEAQfgESQADSHCW76ec3PqEODUEEOoESEALefmp0PCdR3qkkkoNlHqj1dAM5vqp1MCZNGkQejiqppqvp1oQqqd6AqEN1QAAy8ALaHAAQLAL0mAO7XIrkVIm/qd1bAMO/SUHe1CxOBduZYBzbNqmmEZqogCICdpl8bAM01IQ8XgGYvAFTuAEpbhf2tqtTdicODUF4ooELP+6DMvQDDmbs3nZs/GKrkaKs9DgqdDQDNeApAGKDdkQjGFIqqZKEG0StQAgtVNbqlFLgGMIDbsABAyABtLAaueii+tCK/u3g2fyDRcnB3aAc+s3Bm77tubFpnuQBTnQAMfgQaHpDvRgDrsAAN9kEPSYB2TgBFIAAC7brdJ5iuqFnDbbX7SAszobuTsruZELAM0AAMlgDHlpuTsLueWKrgBwDaGrtEhinXYphkKaukI6jUtaquQADcCwC7DAtZQJkUEEANu5W2LbLrWwAjhnc2/Lfl4QvDW1BxSbAwxwYJ9ZphgCYddgByl3EIEwB2qwssaJqC76fkponKUoBfxls0P/oAI4O746K7ACW74vmbOcawzI8JLli7nIkAzxmwzJ8JICa7+e+p1Geg3VcKNKmw3XWZOom7pfGA6wuwvAIAwA8J2sqkB1wAByaAABsETM8AyedAwqYHlu+baYpwIc7LZlsLZygATf4G0mzLy5hQ60kAIK0QVK8AMmQLiIq5zQKQUrK65NaLM58Ljjm77pa77pG7nNkAzCUL/LkAwDEb/zS79M3MROPBDl2gz6i7Q3mg1La7rhwA3uGbvGcA3ZKYbhUJdjuJ7S0AzFMAy2sESBEAcekANTcLFuObyOR7hue5xO4LbjJgc5IA6yxasdIjtqA2HVIKEKoQbOVgQy3H4s/+t+xgkANiyuN6wCOTwEG9DDlny/QKyzO0vEwtC+SAwASuzEojzKolwQPnuu6Hmel7sLuyAM8/qLQ2SdQxQOX4y6YhwO0pADN0d/jqcCdwy3Y+AEOfDLACBzZXAMZetyYToP6AALg7oQJvoHeZCEpOgEJMCWAzEFAtG4SSiujDsEJFCZltzDmOzDOosM6IzO7Au/pNzO7kzKmIuzmQsLrAwM0MC/lqq0mfqLPArLQyQKQSBzN1XHw0y8bivHbmt/chANutguZ/LQD/MG9agQdDAHbSAGWBDDZ9mPTlCQsAgA3Ny4KwsA35sDokC/44yz5Wy+mGsMLu3S6MzES/zONP/tzulcWqy8C8ugv+rKrkjav5Xqv9gACb57scGL0AaNxzV1U8eQgPqmu2hlDpvQOBGRBD8QAynAAyMtEEu4zSEN0t1MAjmQAyswBWMACdxiDEb8w2wtsC4tDHBtDMLAvvQ70zV916KMDMaA07AADM0oEJdbtJ8KtOu6qqrItkmd2F6ABMNbf5swIpCNegjYMeawDGQAAJyTEDHQAiiAAixAuF0N1iEd0t7cACbwBPAlBnBAB4VgCqZgC8fAC+07vgKLxHAd13Ad03i926Ws16VFz7vQvgJhv+pruVAMr9BA1JM1f8Kb2HALzr/slrWwugUI2eVgDtVgBynwfRNxOUr/IAQ269XcPBCkjQQZIFUm4B1A5k2DoAfubQQkcM11wAW0wAu0sAtxAguwsAn8bQebsC24kMDsq9u8TdPI8Nv0bAw/zNLEfb45KwoekK1y7AWpGLxtC8wA8MtvS5d2qbpfSA61AKgVQQeMcwZgwLhfTRDhzaIroAISiAAngAIt4AIAEAMAMF9nYAIkoAItvgEXEN8H4OM/ngIpMOM3kASI8gWEBgiFsAeRwC24kNvpXOAyLQywAAD6Xavu2+BAzLnAMAE5HKPBjAQX7twGLQ07GowB/MXLYATTOhFw8AVMYAMucAKSnMMHAb7xHd/cuAAacAIgAAAoIBA+4JUX4AAq/6ACG0ACPy5D9ZToQXBNN4NtABC4efAHAGAIdIDpAAAHYCAQe2ALtYALUQ7TSywQ9Iu5qY4MCnwJsHAJnazSbI2+kYsGJNC4imrhSV2WCK1p/QvU/mvF2XANidAGGcHZI5DsJYDiX03mAEACi64CQWAA9uQAJ1AQc1AEAbAAMgQAF/Dsi+4AMsRHKpAIZHAHC4EIBCEEANACgPpokwEIgOAIok7qcz3l9GsMfevqu6DgbT3ry/DlYA3SXB1/ux7MJBCh+OcFmzDYUzyp0lALAPAFGpHsFm8CaznaAKACAmFPOx4EK/CCFgAD/AMAbAAABADOi/7jALAB3m6a3i7Jl/9FBievEYAaA9+XBFUweMpCBmTg39wiCvqt38BQv5fb4EG8DA0AruTt7PCH1OvXtv3IwV4wBdFqvj1brrAABoRzES1Q5DjPA2Odw6kI7tB+9iuwAgwAgyUQjwDQBhwAAAwgBwTx7Wc/SDLE4xOQA2trBNx9EomG2WiERkVgBJBAz1ouxDy7s8DQ7QZB5k9v5gf9eLyQ9JK7DLBABpmNEceBbXDABhdX9tA+EIv+7ImOiBpgAgIhA8sHAEHg+Hbv8hqAAIle+3vvttfuEnSw+5ooEMYOAGQACKPuuYufl8tQB/31+CCNqBOO1G7bflRQArWQ0jgrDNCrHiLRBR3hJ2L/0AZgwAKk3/Jnv+j21EeIKAGBrgIZAApUIO4E4fL3hADxvQJBQH9e0I9DkXJCsAQCIe8AUWiTLVu4jh3jgmQIEgANHT6cksXLGC8qVIzB6CVLliklfOBqtkzkyGXA7CTp8lDlSpYtW7hwYUMJjw0bHNrcQCLnBhUrdNbcYAIAiBJ8Ti0yoJLnCg0aGBjQYAHAGABepKjg0VLrVq4tQYgA4OMHgCRPopxQAWAhEoYtI3rxMkRKxo1ZiBw6RJLkLjtWxHQFrPLDBxAjULSIAUCFzYY7dZIgEQQJUBIqKtzgsYoTJwOMHUxgwAC0Aw0NCIjWKEUKiSKDAr+GzfKGCZ+V/9m2dbsRI8W6ZPQAwGRM77JdgBqeiQ37sIsfPBYD2An98YYVK2r2vHABTKpSoBYh0CA9TRo54y0iMLAAwoQpU4aQaADgS3L6gIX08BJkRUMVt9mydOIt3jYiI5CGMEmGpGQ4AaCK+mC74Qkx5lDEiJoA0Ek6x1S4oLrFVlBhlUU4kQMBCyzIQQ4VV0zDCwQWQG8CJHLIAb4Hb9TKChKyAGA/ntTyD7eGkAiwro2MACCPJCPBpUlcItkkiiQAuAFHwBBRBJFAAinhwsama+gCEnyqDkTv0jjAABXkAIDNNlVMozQECJhgAgA8yCA+K/cE4AwWHHrugrRy8E8ltpxwQv+K9rJ6aL42+KQvjjny+OMPEjTUMMMVhuipzCA0GAIqDbxos6Hx4EyDhAUIUE8DDyBIACxIbyxiP8WgA+CCWwktFIDb1lLhhK2iiOKJKWflKoouxDijjSKGwCnTnFSoqMwV9DsAPQbIU5GKyMoAgLwJFlgggPgmaOCED5CtD4bqFLNIV5VWCJKtIe4dggcQBluX3RttuEGIJKAoAtPoeFJBJxX0K+HaAxZoII0201CBAAKIgNML0AhAAAAIFvCXvhOkABfeQOcNEt8JEABh38FCfvADEVqw4QclgMI1J+iAskk//RxeIAcAzEhjBY6DgLOM9F78WF6YXyshCP4swtX/6YZsU+jeHJwgIAAWXGihhRSeTm4ExG5IAoszsooWZ6CkAqBhn1dg4IANZqSXIW6DIAAAA+IzQAYHye6KtqktWowEq6VTIYd7s1CxgQAWiEONL6AgnD4x1IiDjjxqxZAxnHgGwGe5gwiChD00ICFFOcwo71IY0esg865ANxlxmxbPqbLGGXJChTmLwPIQ22ObtNJKyVh85wvTKt3nIKjio3pQ35QD5L4NqKCF41sygloPEUccw5XSUryyhoYAgAECishjjjYs/z6wQJTPI48SlOJZBamkR50c9lC98vSETR1DzwIkMIL6qYQHlQlCfkBEPovs7moQZAhQhgAXUHgA/wBEgEMbxICFBm7lDWHAy5ZUyKWbNOZtFtgP6qhQhgHyoTxVQUIGDJCUHUqgX7YzQlboAACadKonuSNfTuTVOxI44DPxIU8ZOJEGIhRBhFg4VglXwgNORCISiSiEJMhQiDvc4U8H41lUYIg6qRGQPBpBQgM6BgAE7O94YCBaBorAvMp4iDGHS6LiQrcBBASAABDgQBEiuIhIlEIQYviCFZRQJS0OZQSXNEEiIiEJSXCik5z0JCcjUR45UGEFQpuABZw4ARJYAAIA2MMexkORKeTATguw0/d0kIU0TMEADhiTRWpzgZr4DonTSssGHFDIC3zgMC1wgiDkAApOFAIKTP8QAiVLyK/BsMARoJQEKDgpznCCk5yeJFGdlDm5CYwnDbQcQg5eBb/82e4ETihDGjyAACMOwTqLwRnVyKerFXgBCYuZkwlcti45jAgUZPiCGCQaySwej5v3RIIXEpEIPmx0DwAIZTnHOVJOSsIJEPgYARpQBooYlFMkAAOlvkcEL5RBBVApE4d6Z77nCTR9C0tDAxZgAAYsdAQnoMIiBAGKSNyhc3kYYgO5KYIT5CANLMVIPt+ZhTGwlIZ8aAg4SxqJLGRgAgY4JBw5pQIIxPR7JpDCjNLjIQ14KWGDvBQSUAcXOThhDONpgBwvMILBHCYGRJDmZgoxB+X9oYEikBn/JlVAha5mdTx2iGIZylCeq45hCntIhCg3CoAMzIkAHlBIDlSgQ7cej0arWoAD/Eca/jguo2Po6Ea/+EU+pCEHXkgDElIaARQsxwYAKEIZIsEJUCSpsQ0EW9hi4BxFGclIcOmqZtOAWTlodgpy2CgfyjCEcU0Ocfs0ABh+0xAtPa0EJJjTAlTghCw4IQ261eQXJaFJ/nqRo0Mog3inwDGLgYEJSkBwQ8QgBaVSExN6aKxjjxeFA1fhC0QgUkSsu2GOCEirLeptFlS7sgBgCL471KUH0Eoo3XrRxV7c7yYjUb09bDYRUyjDRoMLAcmVQBGHGAQe3IAcAJBBEJEAxUMP/6HCSn1vEIFwg0RZgKgpqITD7slBdSWiWYPWcghOsCUBDAAfAyAgAVs4XhDQowI7CAK/X5RDV+2QzzLYAbMYScMe3EzDPYzBCRkQ8xvmEIc2XK4hSpCBFyKxCKYqwtFaMtDxzvAEIdjABSUgEhUAUOWH1KUhU5gRfY3UVS/QCNQqaIABJgCBMhvABC8YC+HYsOLxzGWze2CTHOygIjvEMpZzHoMA5WBDXpahrAFgA6HVgAUlHLchIEDsUjlBBiyIAQ6BUMT3YtCCS4KABJneNKcbYiSHtGfDE5HC1jgF2/QYQALfW0EAMgBm4ArQ17j+KJs0Wwa41FcKNSXPnFuEBP8wEPoMVhDCSkwgh0aCQg7S9UH9RtAyyH5bCppmiac7veExZMED8fTAWRN4meOxgWNr0jWuJcZluLTc5Vmggmokwi3g+vkNahBDFGK9kqQuohSRIMMlDYMC232FXyeY98U3/RoOGxQyHoAtAi4wJQkTjgynrTe/Wz4F+rrc616IedfzaQcqdJcKEGXCDV7QEh4IQhDdKYIIRHBJAHiPcNwcTNI/zfRzO2ECIWc3ko6nhxIgYC7v9DqN/v31lmdBNf8eO8ANmvZto4CBKjnBGJbrHREUxmy2gyw3G/BlRU2BCuLmypXrBIE5NQAMjahfCS6ida/HVSItr8rLuX7xmur/uthOaMIVJhkDF9RdJSpoMCd4YHnELKELbiDbV+QOWROUAF/3OhTqM84RKchlIxn4WHqKYLzY+xX3jEd/v+sbIIDLAbjGJkMclD0fhQuCE90ZSvNt54IUTLxlR4ULKnCCIcgAIsiAhZCCvVsJjgieIdgIHkOrFfiLBjKB20s/xsu9fhPAiHAIkhm4/IGqOWgJKlg0piIDG3A+N1AE2CObJfgBSwubtmO4RSgDIqgUNiCCrQGAuAoQANgIH9w0RDk9BEigSiqBKbjAJOw3rqMvU7EDHhmDIYiwqnsIMlCqUqgmJggDNzgERyObRwAAODiDLbAwI5tBKrBB5XkWRFE8/x/8QSOZAinYoeY5HhAIAiRUwgvkPiegAlJRkSl4JxV4AwhrMpYogjToIlBYBSFzAziQP8IpHjw4AzWAnSNbBCfwjcZig/misnEbt42QAifQAAPoABCopA9yAtxriDz0Ogb8t3ApAzBDAiKgFOXRihxYBDkoBVkohC1QghdsiCggG2azAR/wgUrkhEXIgTuYhEfIEj3IAzDojwTcOMcDsw6YuFNcAjIQtSbMwDzcCCYkkuoCMw9gg1osRJYwss2QhVIQghjoP9tpAcsbjDRwO04QhBwwgjbAg0OYhGZsBETggXHUtNMLRYUQllNsCDXgxlP7RiV0vIOMJ8dBFACIRf8wGIQp1ApFWwRZkAUyoDi5IxzCGgwQ8AL7w8dgAQAhUIIuOIN+nARNuAMzWAtfuRcA+CGFbIRGEEIkQMKHZDwGHIIqKgIjMAIZIAEpSjIG+bEtoUKWAANHSAOPBIPpkxWywTt77CJBuJSGQAwfEIIqOINByIRMYAMwKAIe4AETeBmFVAlutMCgZAuJcDwkIIMjEAMl2LYUaAEeoALmSjJHIINHAMitOAQeYDhQaMfpa0uYwbsTEAREjARB8ICrBIARKAAFeAAK6AAWmIRBGMMl8AEb2DaSxLucPJ5AIBILfEgRywEqYMAigIMuEIKwQYGvOAGGuD9qAoMlqAIx8IP/SLvFRejIVCgCvHsavDOC8ugiOZAahyiAzIyACuiA6uQAALBOCjiDLlCCStMKEECBFHCBJPgCSYkqfymC1Uw/ugS1IlADK/iBeTTND7AqwGQuw4q4rVgCE7C/yaQCbsJKbjKCxKLBFTBFh9hM66wACmDQCuAADqjODuAACoiAB1CA2LBFZFnDxQtKriuCSbsB+cQ7E1AuUMBC4ww91FyJJVCBeDoltuSX5OSmIiBQKvgarogwCnBQAABDh6hQBbhQwGBQdpEBDGM/UtEIg5QCMhCDJKi8+eQXJwCAJJOFVKjKGN2KQeCBCXCAEzEBsCEsGeWXIlCqZHSCP8FR5WHQ/yGtjzWlAJhhARJYCER5PEyMgy9IghdIgds8zcEgAkQEhVSQBVDAUq4oAgQ4AC51AB6oAhd0Nn+5pNAzA0EYkXwEA8CoFDd90xt5ylkhDAA4ARMgAiIogT1iFmYDm9tsCCwdDBJFMkE9BTJozK0wAaJyIgsogWYcBOgLGbEpLhCY1EoVREzN1DXFkQc9Hr5kjiewAmzay5YYjFQM1CqVhH0BjAQ4DQbo0gkwAkcjzJC5nGxyATNgNHz0gDsYBEIEgOdyCDVl0wfhTLfsig8IAik6BUEl1MBIgABAAG21gERlV3ahgzmYAzhwAznoT8qclJV40Ot0CE3FESCVVwCQAP8JiIAfjU4AKC4TSANHuFdZiNXAuABD0lYncgAyQMdOxZE/CAREaIRHGITI3AxBIIIIYNiGRVYAgNgHGYABmFg3ZQkFKICMAgBBTYVEyEyuyANDOo1bdQAW0EhIUQTCHIQwaAJBkKLJ7EqVwNmc1dk1tdiJvRGgVYmKjYAVGANOOIVVGFSubQl+bdoudYASiDCogpRJOIQzWIIYGFApWoQxsJMCeIjpbFgHdViwfQArEQABqCRjfdeHZdAVKAOfg1WqcNh2dSD0OIDQYACpowP8Oc89cYO9nUcZWAREXAQqcICVuNAHkADqlNB3owCLBVKfxRHbLSGy3VTIZdCMKoX/U6jSSACAIF0JNg2A42XaAGiCjKwUu+WTKqi8wSiCyTTT1VWJzATSB3Bdm20IC+1Z3H2QpM1dY2UJN40gta3SUxBcrpCAA0De4z0AdAzBWUEBbiIC6s3HBAhaIOVf4hXaAujZWelR29nZ4m3QgqLcKiUCxu0KCkgABziABQXdQfNUfkEBcrU/yjyAAH4I7AVS8QWAHxVa8BXbrUhHndWKBn3QjAIF4OUOrQjgGEg4iv1az4Gq0N2T0/SCcuVKrfBg193d2a3QhsjYEmaJJYMNHX3QDqhXtRXUUuDelVhcja27l/gBJrCCL2gD+YsDduEmAejYmc2lllCAioXQCuDd/8c14gvtAwD4x+Qw3OqkljQoBaMlAilm4JYprj31HrGR4SfAAhKCFH5ZXAHYrK2EG60oARaI0MMtYCO2kiXuAAlQAD5s4SotBTxuiOLiZKJrCMN4CWQZjEJeXC7wWzlgAK7oTBZY5NppiEeG5AeRZAl4AMG1V1iN4pUYgMyMzgIIG27T2BvAHD6RzwEo5ASwCKebo01miUVmAR5g5Fcm21i+EQidZAstgASQAjpm21S445boZf4dXgDo2QJgggm0kjBQAh8A4O8VgNHoXAIgYZZ4ZmiOZk3dXWqujxKoAGzu2Q265BduiV324CDdZc2EFE04hD6w0BGum9CQo74BDP+1hOYSuE5Y1mfYKAGLxmYAVgFE/NhTQGOWIOj+BeDMfIAIkIB8fhBFmIS4mVALDQ0HqBsDCIB5bmaKZuWvJd+MTg5n7oAKiAAg1WYqKAW2PQUvwOno7F9yPmiVVuP6CATjgdCNvoDNpek0CYADCIx6huaLnmafhpoSiNCN1lmAduFM1uWCdmqUXumexpFAMFwOCA0itJiuCYCR7gqK5gGyxmixVuWuddggAGlYvWPB9dmCvtBy1kyV5mk+UZ4tAYDRWCa8hhqdLgE31WvABowHXdCepgIq+NhVSAPuFVzN7N/vbeyVluY9aaxo1FZF7Vz4vVyu8GoWmFAlrm3O3gr/Dvjsng4CKpjWVGguh+CAjZ5km2XsCJiDqILrB8GfPOAALvXXyraY4c1lANjthtBpRjZcO2KJQlZRff5tsl2BwgbZby4BviaCDuhfla6nr4VsEIyDIviMVVoVy17fiaZoi+4Aiw7vxT1NscbnfEYCo8bXO+YArzaDvs5tw8ULAKiABeWT/KEDMXiCCliA2HaAoYJfnNYKr65oCqhllSDlPvXpAn+I1zTRSCiDS1lkvm5YIZYADohJ7PTaG8mf9/wByzveuzak4+Xg16hnM2CBChjhhyDl4nII75lVIy7wfBYTXkmYCxBxiqXQjlaAKggD7TZrK7lTJXCBbpMAQwIA/7ze6iF/DTNocBaIgOg0ZlJeXBCv35A5A/prUxV3CAUgFwawgA2AIRPQaQbFWKcOz+FF6D2xAf+DLAHgagBA3kf/aSJo8xJ4gO/t2UIegBcIm+JjcmYOmfimjyhXiTI7gC79c75mUFoW2oYw5qFw9V3ek4lL0Q9Y3APA9RuJ8Qbv66Fu53L+5V/+HlGPDT1/CI5J1BOxACJQy8ymUImFYRCPDbn7YjmX8/rggQb/IA7A2OiEiegKG5WwO39p3s625kbG6K1ugD9XJQaAZkL33q0oZByp9VFmYDwmZYfoPMPQirTMChZg5QmNgCvYW3C3u4P35D3B5wzVCqiO0IfP7f/H3dd+NVmIuYBVx2aumHcc6dMpxvSWmGLA8Oq4ceaGcI2VLD7j88p5hJQo19HN7uDslfCHz87H3SEi7FfReIqVHmri1YqNv5E+LSxOVvNR92pKyLZsawhSeARDCM3EqGKxafmwfogSqNB25uUgVQCVPvffdgi0QoAurYllMrMf7Yp8z2EA1dhOLvpi5wDMVgnYIwVS+Exe9YEXeIGEx5G/ZolwTtrii4EfeIIvaJY4IN8AKDPSqAkN+IwDsFDAAHqOR85N7uQ6fxCAV0sWyBJE4HwsyZJGmIRQQAUAOAQ/aJCpf24fzvrVF1oXuAElgALt5V5+Dfu6WvxlSoD9/vn/kN8Tai/UtefkA/VKJnCDTBiFl94KCjhugA9ILHH+R8s2RHAIVKB71I/qvu9lwdV+v3+JFjhtBcBWjvFznrEAAziBbNz9e+99q8zJTqbiNGXXNf1vSnh+R7N/LwSAR2uEH+MTvgcIAAIHFig44OAAgQULKijQsIBCAAEIGGBgQcOGjBYQmBjo8SPIkCJHAhByI4UIEShQtGjZcuVKkjIFHgLQCJEiRDgV5dSpCIBORIHidEky8ygACkqVHl0IQABUAAsZOnT48UCAAAgaMOhqgEAAEyCQkj16BssTITFQuEAhkCXcEWVD/jnUSNFNAJr2jqJ0kyeiOWqs/Egxd+RS/6YzDT4VkHBq1YYKAEwu8ABrVgIUNVMsePgzyDxtxGBhIkRJjBcuXLgEDRIwJU2j+ArMOwcAlBtrXfOWWuAgQciSHU4GECFCBcwTOQdQEOEBE4GGe5P9Y51Omy9div5QLYS6QJ8/BY7SW15gHDEAbqwG/7ECUqcCWbdAQVWyAgUPADyQQKEDWJlldUAFirlXlnUJzhFHdliI0Yd7QQmkiUB+yWYTFgCw1taBiXFQQgkc7JfQRwWxtJpLKd5H2QPPASABBwoIEOABCSx14GcJJsiTJqHs5d4fiDTCFyVC1taGEi2xhiMHFVTwYYgjhlRAilW6RJ9LN/QXwYvDtejfjf84zqWjdQCoMsohbkARHXV/TKgJJaM0AgAlerSBhWotcHggCyD2uVh+kwX6QH5UWnmDEkoIwcQPLfnwhBj+JWWgmNVZh4gmqmjShxUxtARekHT21VedakSRZGs4RsABC0TMNABxDlHgJK0PEIffD4kqwUR9iH4RR5mVgmbdI6SQMsgZSrwQw5K9WVfTm5TMIUYUQjT6krACxSLTAIU+QCu4FUgQ6K0SrNpQDEJg0Uaw2R52iCaoTHKHojcIcZoLbYZKJwB6xFHaDz+w9am7qIyCSiiP+HFGFUK0oFChEoArMa3jDsefBLYSFwGYFLj7GSmHhOHDBwAosaYSNrjlWoL/iAxEBwBJ3PACzfXt+TEAk4SCCimTILvFEjbo2YISSTBRAaH90RpoQwLoh19/iXmMM1l9MOGCCB8QjbKnvFkXyE/jAfDCzC88TDVJpHwySB9hdCGE0UwocYOeixqd5GoofLA3rPpFIDWlaI8kxAh7762o3OyxbB1eAMQx0A1jv7Cy4DKRkskgfsDxBRRKBFw0E0kIYXYLk+/N4t+AT105SYbvbYMQXIOmBrB26eHRzDPny7pMO5852yHprWl0EjbU7FZMxnUsNe+tu24yFJ3vNpcNSkQhRhzprffCemN33TxJjVASyiixxIKKJoqkZ4XxM7MEQAsxfMQ8+CO5fviu/ymfXdYHI7gghBUgN7Yb0G169QvJIRQBrVGownzoQ9YVUFMfFPzAKAc8zP3u1Tm1zMVwLlDCGfTgL4HIjGbcuyBJAnEIIclmFK94BfDUsJ4YMEEMZ0Ah/54XO7mpjCyGi0EAEUEJv8xpNHPbHQ5HssJGiC9OLnyFvPCgOaG4KYkzuV8MTiY3A14RBDHAwuOYOKchNsJfWFCWFZWIF78M0YkAGEUoAICK2gAgEHZMI0ju9wHEzW1/MvkACmwQBQCMh4kDGaJA2oBHkVyKjeITnyLmAIeQUCgQi/TI/X6wQw5eMQU36AIhxTienzDRZS675EcS9EhH6kEMPxCIErbgBv8AfGKOpKAEKgGARS2ihnIi0Zq68sCTnoTHZYYMxClzKZAEHaKN4hvh9ESQrirc8BPKvN/WeLgyPQrkAx/8whzGo5MVuoychBSKMj2SIDpBMg5fGAjyYDJNAAwil/dTVOcUp8e9jYCGYghnMcmJiEP8QYUSSqc6g0RGOw3yB3QDAAjiuRIX5AqV9ysJ1/YJSBtAQQ10gBZQgjJQACQImclE6DIVqr6GAsChfoQJTCzquixyTW+ArEETmsCGKqwrD3X5SFACQSZkWhKlKf3DgooSOQICgHISTd4l75k/ugGyBwJhwx06YYlBHAKkHgkKQUu6QqG2K5fWSU9RtkczusX/xC0p8iUeM7goRcXgAzhtwhsA0AlP8NUTlhCJhMhq0oHqSJlIPUMAI0czyS0pJi6B6iKxGLtE2aAGAGgCABhhCU+wgq+ZMKVMDmFQnfxVIJkgKCpFgwWTGM8jpGNLvrCUTtd9EGU28AFm6bnZvgqEJ731LVAFqojSDiQTRcWjO5XlArJ9ZIKSO95sXcfHGyyhCgDwRCD66gpP9OSkvR2ITkLKE+IOxK95wKMYmPAC/5FtqW9xiQnh58dL2vR0+TOKIYByXc7aJIGGtMmcwlbMoAAGJHz16oHsKNJxziQ3eitdawkoW9XIj2C59MFa9pZFJmCBduX1RCZsEkrw+oSJ/+IU6TBF4gmCKmIS7kFmVxcc1JE0am8sOSHNZLue3c33kmEQgtBakAQshHO4u83EI0QMEgnhBCjdTfFRVJHfgdBgLkn4wg3zYM4le9YSiDAEw1oAAhvrKTXxM8lyycZjMacTFZ+wmg/+OQk4NeIRfH3EI8QWEgLPCSc+QUSSSTLHWVgirx/BbA96UIMapAAFKAGJngTShTacV6Qf6asnDHEHNvhgB4uuQaQfZq/T3Cty8BxLLov1ClWEwpqjeLVfSBxeQuo5pPr9y05qPZIQIyWnOU20ouEKACycYQ55QKdHFMHXv1Yhp55edA9yeoR0xQ4L0YNJbBudywQ+YhKkQP+FKnwRCxjaZMFrbGOswxPSu+wE0DN5hSd4k1ObwiR+P2BCF2T4GksY4g3WbUKioZ3TGOSq2lg4glUn2oMj/FrYKPxDHuZwBnrppYEVesRNmuwRdGecwDn5uIH5ak2BxJsNR3BND2AqXyURPCR60PQSLuvrmU9bg1hAi69hUgOG/7oGIrAixP+1hCO4wAdCCAMASPEKObaRXxtv4yPCi5O75CTQJOcrK1whEF8MZAlgEEhuT46UGqzESlX6CB3cyYYlYHbmeH1DuvB5c57PGwV3/TXAp4NC7EDBBwz3wQ1ypYQuHELpHqEQLg+J7vACRuP79YQ1tS4QVjCCEQBYg0f/2MCGNXAeDLkFgNibyxKzP0zYWPiCFUzuds6/oQmjhsLNt4B5X5O9BlbFO8BR8PMD0uEMV4uBTpcA+MjtKoAgodDTybgTqie5r9ZsRSsGwopOEIIkbADAG7Kv+c13fiBnt3BTPxI5NbjhDmFYu6/BcAQUxJ3DN7e7zOdte5lHO6ct2H39xJCkFPRgDW9ggw0ETMAMhBX0wciFBLr5BU+wG6axAisAQPS5R/ZlHxikyEAgUfh5RBKIgR7YmSFoGgCgH0u83s0JTEzknAvcHgDUH8D1WOV8gRCgBE5NIMG9kgC+UhI8wReQ19LtRQLiRSMkEOSxwic8YAQOhKFRh6dY/+BMdEEcIAKmZZohhMESxAAJlgZMWda8xYAKsmATPBr43IDeoEAPsMEExpwN3uArAcATWAEeDATXvRGdDJGQ5EQrSJ5ARGAcVp97MEuKrEaONZf89NZuYZolwMEZiEEXuB8W5IvKbWEXxh/Z1Y9N1cAamCEFqqEmfsQkzNFAzIYmlNIn3OFA6KFA8CF4gAHplA4GtgSzxJZAnNdPRCFfASEi6IFgDNJbvI/9ceFlrWD8NYHDUU3h7I1VTWD2BZ4AtpQm4uATkEcsiBsM+UUcCYTWmWKlsMFbyRdIMFUXzMFOPB6miQ+ckMo7wdPtCaMvIhrYNQEY3EzlGI4I+B/2af+fDwygQCxjPi6j0QAAHihdNG4LALjCLBwhAOwhjrDBEr7E/lTJBwFAG1jSeBiiJWBcOcLaR+DWZR2BnkTiZdVA6+ldPBrj9dXj/93jGm7iJhbNE6gBJXiiQKgCAMzCQOhCtvhACqQKN3pEDEBBHCCTR+yWJRyCJZDjG72al3nZIHygQKyBD3TkL1rVR+JUDaCa4MgjPQoEBTZBAH4HM64hMxLQAAYM3DAB0tEkAASDR+iCJRBCEh4IlnyKCw4E1fUZAGwWUSpCbFDIq4UCLQ5E23ASO2IW2UWbSFKN4dQAJuZV9q1BThLcvShKSZREM2qS55ghKvqCWpIcJrwlXFr/4MO0h0isEDFBIQAcwiPEBnmMwl9+mBqcY8yloxY2AQbijOuAwRu4JWO2HtmxxCDGgA0AQHCWRKLAjXEmQcxhn0hIHioeSBNkiTIKIFPtWTLx116Sh1/yFUh8wix4QjLdwRao3nOKgK95JWLuTQtM4ObVIxicSGoAp3DGp/G0zwssgeaBRF51gi8ow9b5Ak1WnnKCx3NaYWUmwaR9BIIFQpKpJnk44CccoEB8AkFyFy1d15RVARisRU6xgRhAqLsYTg8QAiMQAokSAht4XktIGNm8wHyyqIv+QHLi50csXVqKRG4y5mdwpQDeC4+eBhj910AgWBN5hCsUqZG6AvTd/6ErfEIgSKgDltcHVoEP2OcWkNfHGM4aVB4mVF7lEYKeEBBT7U5wjml74WgSvoHlfcQdzoIubOZMCgQjYMJHuGX1NadIAJ4m9ei9JEEUtIFepltIKMIjIF8eKumRGiktBcIgFKmSPuB+IUsf3IEnoCXaABIhYMKWZiojcCSYDsQPLNfMtOgNYJaZYl+aDsQ1at0sUCoxEINIpOmp1ikA2OkSBEzg9ahRnMFxERICkeN5DOShHiktKYJ1zIKRQh/JWVN2ecIvxGGlogAjmIK0SismsAEKdKpH/IANDCJ9+gAf4igfqiVaIqnWESQA6MIvyIScAkCmZhaAWl6J3uqt8v9oLCpZb3kXndAGAISCsFpjkWIXFRnrkT7gJ3BWiL1CMLxCH1iX4BCCtN6CtDJCC9jAdILED6RG+6RnicrqchrpLBChJ1BCK5CCTfKnR3QCAJhCnIKEpm7pvNLrkCme0+XF071aXzzCv3KXJQwXX9mRz0bfsUZfwY5iKPgC14Ue2qAAGEQrxLIB95jaSNiAC+hGC3DprGYWAKRrMFAqsBord32CTRJkQVYjALzCf8Iqu0bryq5rZ+bpvQgEE7SByyDSR7DbOA2JzQIAzmKXz/Zt3/5BBA4s5H1CKCAsTdYmzoCA4voPs4AlSQSMpyzBu1peJ6SrQNDkqgpsd7YCm9r/pE1m7S+QrS8s3SFsQRMswRL4X27CqsqyQY+WhFHcDrrJbG2MUyD0GRTyrd9aEu/a0cgd6wOSbSx8wsnJxUjuzdRqkkzcoAuwQQ/sAMAJxC8oAzHogi5g7puywiOEQucKhOf+Arom2ZB4xCecAYb54Wr43Ro0ASEsAcyC0hgloPzWRk/EmHHt7kf4rCcELpK2gie02qB1wgmxjuG0QOC11AGLhHTGqCmk7EBYrvdarys0AudaLwQ/MPgmEyXIpPkAQB88o/cpyRq4r/JCZIXILwo3HcaVUt+KhM/ymr8i6b6O2yfcgWXxjuFEThrqsMUK4OQ4LMSygpumKxFL7y/QOqTnisQvgG+IjZFA0KinBidrsAEmmAIhJIHR3NAcpnAKn3BOiBYYH5RAvDCR9q+2oEIfgIEP4F9ZBAQAIfkEBQYAAAAsRwAYALgA2AAACP8AAQgcSLCgwYMIEypceNCKQ4YQI0qcSLGixYsYJz7MyLGjx48gQxrcKLKkyZMoPTq0krKly5cwATg0wiJKzJs4c1J0KCMAFp1AgwqVaUUGgaFIk7pkaSSB0qdQQTJNUCWq1as7ATTFyrVrQpYyHHgdS5YlC6pk02I12+Gn2rdP2bqFS1eo3Lp4gbJMYMRm3r8wH/L1C7gwSsF9DSs2iZjw4scdG0OezFEy5csVsTgMgLkzxS5dAHD2TJohltCjS6tu+DM1YM0O5/7t8kWMmNAZnzwx4jqvFSzAYa+UTVY3FCuga3/pEvx0F9u3F0JhcuJoYSZMkjw5DtwKFChqvTP/UUKeCRTgoIX/pi3mjJgvCZmz6F3X9nLN37kT73p/+njzvwE3HXlKmOccaAeJoYYaCViX13en1WZbevtxdcaCt93yDDjooAOONdYMMwwmpWCyRBIF6ofFgEoIdF4XF9AHlxVPJCGEENoF2B14Y613CzPyzEOPO+q4U0897tBTzzwApMMOOOB8MwwzmJzRX3ZKJAFFgyzh1R6GMhRBRg9NGMEcbmM5N44997BpD5ttvmlPPfa486Y785gTTjfDfHGGe8wFJ6NaBD7xGxFUlCHIIpEsIogcYMB304A/3PCDEk8cGOh367Unz6fzBDmPkHTaKWeb6YSDzTXUYANGFd09/6GEENUB8ERdgIrHgxyl9FoKKJwES8YPMMERRxtWMpcfeqApO+sNNwjBxC3xfAqAPNdim+2nogJgTjbUFEOLB0GUEEQRRYDRRJlHnbDdfkr8YMOlTHSZlKY65HDKKan0628qhZzhUr0HYvFEdkwY+tyCbagBaHBd2CJPPNViy+3FGMeTTB0aZODBxyB7MMEEC3gAwQVRnKagsXGo8V6gwD3FHW1ECPLvv6cUcsVJENf25xnTMCOiNbXUAgssuwBzSQ4sdADDCSewwEEJ4rTDTjsUZ531xBjPQw4DEIQtNgQTQNAAAA0YAAABCQjxgxApBjjgjeUh196ft8X8EpbY8f/gBb8395uzpB6tOKu8lkp73jTppGOOPNRcIjkaQKBBwOWYZ07AN+ywU3HWWGu9tTzoVDJ22A2kvcBACyxAQHcqq9FGHHHA4XIX4r3brLLjyTsv3C+iydDLFQJwOxYycBEJv6dE2gUZzANiQ0csH3t8gBrOk86R8QCDBhqVQMIFBq0jgIABmhOABjvrrOO5qOnYQ8/8oXJb7TzCMLBAA2OrvgAC/1sAEG5xC0D4IAZvU8J5vgcANBgBbnBTIBZ8dqGHQexLcGiYlVaEHewEDzRWGI8QbBCDaBVIR0RIA/MKsQUodAEM+8pZR7bjkLn9aBrboIeb2jQPYFQCDbjgRCT/uGC21LWudQZIYh3iEapRzQ9J9BgVt0ZVj/m9yRt1SKIWDRDAJAYgAAQIADbQsQ50mANK1njGMAKAgzYawT0cxE6n3PMFLPTOBjZInJYCJB7ywK1eXThDG+BASJfdxzkKYgMASiG4LRxMCTKIIRi2kBE/DRIOzJiGP+ABD3+84x33CCU+8GEPYECCFseIhB24ULaRoY1/qEPDPEIZJznJ6UhVFJKSjkQPdJiyAftLXdq2yEUDAIELXKhFMqRhDXOc4xxtbOMy0MiMW6ziFjFIAhNOcyHbHU8zsVMD7Wp3uxB6cD3NWpGNfPcDMywvFacAxBU0wwQdMG+SGbHbLdLB/49+9JMf/NiHPgY60HxEYxOn5MUEMqABC5DgAhtoqAUc0LoGgCMfGB0lPkIJAFq26aM7tMdGQ1mndHxDHNU4RiUqUYcAEgACJPBATNHwsSEAwQAYCIEHlkENazzzHOjwhjc8NA5wPKOaubjFGXDHBLdBy4SA5J1TEydBChIPDCqEpyTm4IY4zAEOMIQnIDiCBQVZQx3v0Mc+1krQtoJDFLhQwQQAYAELbOCuDcWrAxxggGPoA6OADWxgR5mPe2gUH4Ftq1r/Oso4feOk0TgGLUQhChJ8Dw0hAAIQQqBTD4RgBUAom9gqQdljCNUb6zBHUcFRTQIaSEG0m8NXG5Y39P/4SQ0sc5kZFsGJX+ngRtqMQhNAAc9CdORP2hCSE0cVDzN2CB27EMUmFsCAAxDAAOdjQF0nurYAAAEfiiUoRv8q2PK641pUfFMoB7rW9vKjoH+NEzjEIQ5p8IKyOjUABELG34/FVAMfo6woTCuOoYKjqMyo5ipMMYxnjEMe6RhHUUN0C1sUwgpfwKpAFpEGG8EtU0XobSkKMQeOmMcaArEHAFTMYjnN4xIt1R8CwBjGyyGgugb4ojcAMD8lnXek4W0rRu2Rjna0I1RYwxoAKMY1IcHpHu1lqz7ey9iNusND3zjGMSgLCZDFVKb+DVkGRlY20j7zGuQ4hzzoZEsWu0P/HuaIBBzMIAdHAEAOaShDGcyQBh6QoQx8WMQiwOAGNyBLeBFpAwDwgOIWr7jN4oCEFLKQBS94gQ9ZyECOA4CAA3gxAN9gyPzccV6S2iPJRqaYkVPdjiWvGgCtbnW1KDYP9d4jH219b3sBK9/5SpayX+Yvmc3GBXSwQx6n4qhA8PHJdGyiCUNYlCAAoOdq65kKABB0EQpU1gsdTyJnYIYO2yynaDzDCVJAghO8kIY9JCISicjCBBjAgAYwALuQWLG+Wbzvfqv40fWIR+dkveqCrzoeSUa4wkPX6m3JY0hwUmuU/yrxfeSDlPaIkji2LApIkK113WAim0WZjyeP0h5c/7ADFaRt7TJ44dqLWgQZorAwls2Bdra7jb0O0oZhkLpOQHfHMXCRBjkYXQ57KIMcIgHvRCRCDlKwgAYYMDJR1JLccvI3wK3WOVgb+WoGD7vBFS46hmdtHtUa9ygFytbx6gMfj5bfz90U0h0aFqPpyEG0Bf0oObT85YJeRBOamke4aYc74nHb9AziVVvMA0k/d0c0im70PVh+D3KwQxqcLgg+7CENQZC6BzYADqybHuv0aJ/qr9a5gYv99WJfuOwTHrpPidwe6vDoYXfv0av3WB7YCIEXAs93RwlC2o5yVBOU4AM8Oj9aWppge8SQECwAgh1NHFU0+IznMYyB3e02uv8dPJ/5NHhhBRmQepFOz/43zaOMZQSA+1pPf6tx3eBgh33BZ7/w/Qs8HR2FWBm1exrVe21SRfEADR5wfMQnbQyYfI5yB4WACS2zQcHhJ141B3nwB3+AEGJgDqkWD+BQBmmQBt9naSjoBZm3gnlWBmMgBSRgAXWQJLhEanZyg0EHdLb0fj91DvLHPu4zf/R3bG1iJFFke183cPkXe0y4DudQD4ilWOV1cQQ4SvUADCrgBHJwfAwYcxDId2RQB5fQDKx1C0w1QoWHKadxEHmQB9FARp2DC3pmaVIwaV5Qh5ZGedT2fVkAAE5gAZAgKqMyiD2GSzUYdO4QD+dgDoxYDuX/oHqQGInGcDYCpmXi8A1KMidzIkUIp3+rBnaqhw64JnFtFWVSJlikVAnB1AAgo3eWxoUOOAWQUAnScDXVUlSmIAkvEAO8yItCcCsGUWLkwIjaMAYuZ2lDkANU4AVIoAKWJhB5lgN96AROgAQbUAyhMzpTNIi69ERL0g7m4IjkUA5pVkbPBX9klA1oAwAMwDoIgDYQUInHcInz83X2x3pcN3AdUkbs4A63lg/tVYqmOJD2gAar2D/CxIofQwREUAebUAvNUHui8g7bsA23EAa6oRBxgA3kQA6b4AUn6AVTMAQA4AUAkANTgIIliAQs2ZIaUAem5Q2xpzXbKEXr0JHh/xAO3BAOPYgOQHWOpgNMFVU+R3RE2HU2ZnMM7TOETMkOz+ST8dBv2jMQiDWQpkgPqghM2FVRqYMACHkAXIAL35B93BgkcDcOvRAFUcAECWEL3RAOH+kFWTAFKVmSz0hpAjEGADAGJNCSSDAEDFAHIRBGAQAJtQAJ8+gNVZN/ZIdwepINkAmZANCDT+mTwnA6qCOURlSUq7OO4QCJ7NM5QeiU5fCUcUduUqlDAFCVaxUPQBBA9FZXe7VX9CZMCzABnIALb5JiRlg/tTYn47AENxADCdEM2BCXU5ADSGCXKdiMz3iSfgkAvCAO5BAO19AMy0ALaFAHkOAAd9VxA6aYMv/ZDutQDtmQnbugnbMICZBQDNVQDdhgDtjQAAgwTAG0P6iTmQl5RMaAjpGoeo5YDiDIZu2HdStGD+lAAP9zAA6gAXcFUXe1AROlPwsQAptwDIVFSwQRcGQnD8/wBY5REIAADaLwjCzJnCgoBSi5lyU5BC0pnd7QDd4QDjOak+KQk9cgDdEgDKIQPqGVkBAQAqQFC8UgDdXAC7DAnpi5pPh5RBDwP0t6DD/5XGRERudQneOIbAXafukQAGljPgRAAmJKAvWmXbIJQJtQDVTYWPfQUQAFAEC4DtOgBwoRMZBABZVGaSmYglNQaSYJnQMxBNeADdigDdrADYjaDYpao+H/gKUdCQDS0AzNIA3UUKnQkA0Bmqnl8J5HmqSQAEtLOjYL8KRc1ACVYI4d0pPkkA05aQ7zYCpbanrgsADowwBIIAVyQG0AUIJOQG97dQAYUAvUQIrktVH9sEmetA7YcAwlFgcIIVtg4ATLKJcouqcmWW05QBDCSg3veQ3eSqiFeqiKuqjeUJ3VQKmUCg3UgKniGKDjqKkB+p7FwAvhEwKgGqrF4JM+2YPmwA3XkA3cgA6vmoOwGqvgQAAT4AQAMARykAiCwHmRAABI4AXUBQBAcAzLgGtWyQ/+8A8e6w/jMFYKkQcAUAQAUGlSMATrZq0paIxlsJwLKxDQMLPSULOV/1qp1UAN3vqthYqo1CANMxu02dCR41i05Hi08Jq02iCv9AoJ9io2s1gMhKoNz1QOrHINASskNEhqSDInplKwbeYO3+ABf8kHTne2aJsIY6ACEGAADSAK3AAAVule/eRP9rAKKdACCeEDLiAFJamiK2utMftyZaCiQ5CMKiAQkiqpANAMQVuzlHqz1eCtkRq0M4u1OZmTRNuR5Gi075q0oLu0ncqe/JM6ldC4OosOgkiIT/RENhh5tnQMQdB5iWC2fHC7t4u2fEACZDMBx9C1dmJY+DBxgGUP82ALPqBNC7GMU1CtKNiMdvl9OTC90ysKjHu92Nu4jfu4zYAMkgoNi/97szybDYqquZu7uUf7uaCbtNTQDGjAAEAADNeADu2AMUGyuk5URT4GebLbebeLeSWoeWlgBw3rdHyABGMmDu1namxiDiK7EArrpywrl5RWwVmQuNQLAMuwDNnLuNrbuBzcDNqbDCHcDMaAnSQcwtAQuTo7qIfKqOeLvkabqerbDchgsQyABnC6hNnIZEyEv6PyDSogB/+LZ3agZwEcwHtgu06AAN8Qq3NiDrgQESabkpYmwShYwXRZhwCAwTmgArSwwSKcvR+Mnde7DMKgwRtsDBuMDCQsEMugxmLsuJMqvoRKvjUaw0SbvuRowwAADLAABPUWj5RVDEIlDjxMk6D/IgpOYHlGV4JlMAVIQIK5uquZh7sM8JsFiifXAAg8whAsAADLKAUqMLFXTGl0SY3UCAAkkK1dbL0cHMKNa8YDYcZjvAzJAABujMsbDAC5HMcaDMfCrMaK+702O7mDCrAymrnnyw3GsAt/vAzcULPzWgd1IMipAwEspSEHBg4FJw4kUHlFN8BlcLhKVwbZqnTt5nk5oMk5SG71wA61EKIKUQLodockScFzKQWqrLDUiATZOr0ZEMuxbMuyjL0cnMsCgQwbDMzB/NDAHNHDHMcNPcc0W6k7iw0Ayw3ZkMbAAAwAsJON2qg4ea7SUAywYAqmgAmG8Ad0QAeU5YxHl2e7/9qCRScQUxDASId5tQarOGhLeOIqVSERRSCt+rzPqjwQSa0CKvDFJAAMKTzHITzVkjrVyYAMWJ3VuJwMJMzVWy3RED3RYl3RKkyzuwDNUH0N4zquNJq5I0203RAN1iANB5ADM50GTkCS46x5JFiCAzzAmBcNNHgkOIiD9MAOmxAGFUGNqDwF/bzKBPHPJNDUHjAEkCAKtSAMUV3VnG3GuIwMxiAMxjDaxtDVpv3VXp3abxzWrA3WvIwMZ33WxqCzyDy1h8oNisoNMSpUbh3Oj+x3eU3Jf/3X1SZ+chANTSSIPsa1wAcIblARRaBu/PzYkC0QLEmNKhBTHZAC3C0QYv9yobhg0Jy9DMggDOZt3qFd2lx92uvN3u791WJdEFctDEhz1sJQxzfLrS3Ms1PLDdrQDXVwZ48swH2teXj211lAApZMwNHQidm4uvJwDnsw1BQBAiZw3dVdEH5ZjRmAAB0wAiOQAgKxBFbQBnSgCIdgBpQjCsBQDF0d2ud93qPtxu293lut2qj93qrN1QORDGl81rCQxmMMAI9rs/ndrddQDCRAwEY8zsMtwAKcnOqsebVwjq4XguxwDDcAAHprESZwuElNEH553TlgAZ52I79IfQAQCGz+B0WgAQm7ARcAAB7ABXUwBGhAAlyQA2iQA2IKBJuwCbRAC7hgDFhd4zb/juOK7t5cXd4CAc1sLMJlrL10XOTUgAZa+Mjq/ORJTM5TnmfHwIiMWJnzhw7lQAZdjhE8cLgvKrFj3oxMTQIHgAA88AU+MxBxQAdtWAJegG0bQBAPdZIrAAArUOwbgACNbAdgAABrgAmF8JC1gAvCcOiLjujWztXPfDRJc9CK2+2L++3AAAEkKMApK9xQ3ukC7NfV8K7vKuqNiAtL4BFFwOqv/pdMTRBm7uE3kEcCEX1dwAY2swgA8OsbQAIFf/DFnvArYAFZYIxZ8AV9AACKQAcEISZksAlwVQszfu3Xnu1HAwze68GSPvLfLqlAoAKVZoxpoKK7auCdbn5OoM5I/xwNNEoO1Mm54igNyx4ZXTDvLuqXfp7dB68CK0ACnTYBHQACHwACADACLeACRgAKshAsicvKVm/wFjDsCs9uZUBpJmsQiJAHcAAAYhAFSVAFtwIIhRAJ0S7tWW3tyKA0krMLkV7ydl/yEOCHUgCS1bbX6J4G09vXLrgJiFr4vJ253pAILg0SPKB3LPnFVQ8Ac27wKyAFCDBRDmACIwACTI8CLlAIU88Ji5CtCh6hEZr1K8DUY5BnY5AFQ5ABC0EHzkoQgkTxiiAQmIAJkWALuCDthh73SHM0mn33xN8MlVD16NbwKu/yT+5yq3/E3ncM14DMg6rRhqoNuNCBImECkP8vpheg4AIx+cQuoQ5gAQ/wAR/QAjYgBIkgC6cg+lIwAaYfUUS/8A6lAUPQgpaWA51ZSQABAA+iRgAA5AFghIwZSLAc7jK2rNlEihUtojEIwIkTKVO8jCmTJo0dkSRHpikjB+UYL5CkQYMmTRo1mtSqUdtVCFGgjD19/gTq8wSJDSQMXgBAlMQFoypUOLBgwQELJUywgJF1CkCkMkVWONiwISoCBxMYQJ2wAEKWMl68OBkCQUdQunV/LrnhIkWRhsCSWQRMEZhRjRs3SskyBuRJlGlUkmzrZQgwAIChNYMGjEwSu53rFlFR9ChhAEidRpVqQYwbrKUiRZJDRg+PA2H/F2goA0BkDhUaDCBo4NEJEhUQTkDxnJxulCRFyNTCdexvYIpokBg0bLjjxzEiyyAZElJOGZZSaP2V2EziemBjAIxQHj+jU9Glkxa9oGKFWNQddKRKZRHYiFBEkSIWkCoNgxxTqYwMFliAgAmGU8GDBlCQL8OMGkEkDji+sMKgQjDBxJbojilmmV0AQOK67LJDTLGQ4AopDZa8KGIT9XZcrxlh3NNQPq+Mwo+0/IYIArWwQEnltUWIEOKJL4pAwAKDVLpSpTQ2iBCBHHIgYYIEgiTzpy22COMMOPQwgoGihmjxxRe3U6wxG90q4gdceOSxPRH+LLOzLwAoIizCkFLq/4IVVtDAgqI2GMNJJE5oIYYTDJjAApGw1E0kGxFYIIAJSMgAAhZuCDTQGFpgtYgIMgVAhRaRkFPOGBe7sQSDkulxGV93sQMAvFL1DAZHEyWNBP02yKioRRbx4oQUWrDhAgYa2MAxkVYgIQgty2AAAgMwTQsGYslE4YMPeBCLgEdVACCHOGuF0SPF3CLCBQDIiMhXf2vRgw44zk3OhNCMWoowFZSF1yBlkRjDBBeEsEKNEgxoYAKVzKCCAVF1U2kCgwyAoAED3CBYQxMm0GBUd4lcAd4VaKW3sMOmoCKLIU744Qcw/F0mGWMiSVm+IQ4+KikSlGU0KadWKGGJL+I4RP8RMghYYAIGAbAAUy88ZcCgkhHoAIui5csBAQ3SNhQAKmI2SIUc6KVbBgCesAIQQBKJRJI9eDpbOdAeLW3ppVUILz+jVgCABTD0CESPA8f9WrcygqBCWzkMAOC3BcYMPDkeDAiAAYwdLYoEOeCOW1Y5bZ5VhTfw6AllSxBBBIBAAA/dLiMMRVjx/L7SAADGjUfABDHOaEPcjEXqFACVsESAZAd67yyPJSzEmr+wNlghiEUbdnruWmflAWWglqgCe+XAMLTIpTNigIRFjTd+ARNsUMIEBCCAgAqgZwYGpaFr1SOACUDgPqD8wYErmAABGuAmqTAgbIsan8MO57rszCr/CAA4AwMzVKDcGcQICyOKfXyCQcZhkGysioCoMLapTTmAAOMygAIXiD0xtAEAcwCAAx3IBtMtwGQkCM/qWBizZCmLBOYbTouMMDARyocJXTgD1RBRoCEQhVkA+GJGLMBC4+VgBQx4gFeqh0MGxCwDRfyNCVCww9C5IQ5/2N0hdre7PFwMOAvwghzkYAY5UEF8GIyV4ZaCQlnNqghqqKJ8UICCFrjAB+xbTRG8+L1HhSUHisJgDoIwyhwI0gIQuOEC1ogABCbvCe5jAhOe0AUxwCEQVVMEIt6gSlWKR5BEkMMhF+VERS5NcTkYAg+SgJxIKkcEIBjBCCjpAv6FAX7x/1PK9yygHwyO0gvSE+QEeLAAA9xwXMCZQBEYaINVTbKSPohSFywmqgAOcpBlCB8ZmVhMRQYhEoVQQhSamRx1iSCaKLDkE84wiEew4FHZ9KKjFjXKUWrLDg4qwh/YUIIVNKAEReAB77CXghF84JnRlCYKpnUBAmSgASkRpBKFiUFiKjJmK+AEKDCBBTX4cKB2MQEfEsGHhYCBDHdA6h9KgE1OhmWb4cOcRcnjBXHmQYjNLKm6tKrVZ4LAZOR0DCFnusSaHg5zi8hpJDChhjnQ4ad0OQEf+iYJTkjCrnbtWyIUNAYprMCMGnBAYKWCxN4wiDxjmAISirA7BzZzq49VF/80yWlEQfIhDaNcIk1RaDj9EGERcgAFJzqBBz28lS4l4Jtd60pX1baWta+VwwQQcABHNSADjjnsFJyQgwbsZHcZuSX2UDACEEDWpAc1GagEybFFjFWzimSKDngwBrSWYhGdyEMg/mBan4BhCFMYw1ATMVTXrta8d61rJJCwgeohYAK5hUtxwKCIZibhBzZ4gQtaMNySQlOaLbiAAUJ12Q3ox7nKGgMT6WOEuAlCEKHtxCEOUVruGkQN3h1PGTQ8kgxrOCR7kOtdRRwJvWIKAQTwwBiyQCEVTKADSuhCJOPQBjV8AQtMEAI7Y6DfSgnBBL+pUlj0w00MfjMHe9jDTYf/oE6D8KAMiwAFKAAwiENUOCM/MJgXPJwSkthBkJ7yskpULIfUjteyLiUAAUjQIqd4YAISQKgQROjAPORhDnGYcRvO0AUoPIEJVQDDHEzGAA2kTnF+DYlk7JqIMqggCEaI8XwcHFoy/EAJVjaICXKAmCxkAQCdBoBbFLMYDntZJE4oQyIEwYcy5GACpFsAcRYmWxO8IJJCxDWdszsII1AhA2IoAepuujTGqYQPAEgEJziRCDsEgQVb6AkIWFCGSJQCFIs4KKY54IQpdNrTdZlCqLXMoGBZ1gu8MVkAYuUBlxrgBLfONR53p4hGGEgjCHBTWI7GTQaNJxGSIC+J00AG/6DkYBGCKAUnitDVCougBNz29qfpMoQhSCEjX7MREqbwJScUJwAIYLe4LjCoKuZ6j7gcBBicAIBXf28p4GPQHqaQhj38m8RyHW8aGOwTE8ih2tfWqpU50BFQSzwoSNi0T0By7rnFKwM3nEAEkxdJxjpwjwR5BB7CoIIpqADfXlxbAe3wTQDYQahCjQQfAG5Z+PgECc8qBaE+YGURkADi3o44UKYQbqXnZm5HE5dafnM8qu/xlvQ+hBuqQIEh8BYBC9tADhg0BRCLOdQpATGj+ZaIPZihBTyXAyesLYiTVtjueEd90e3CFi88EUwAIMAaDfC4Zj7iEfVuhO0HIQYlDP+FBOOqn7cECU4+8GEPZcjC3rWM5PGSmcRyAMMre+KERQAg4UX4QNvfOhROpx71Bvn2T7LwEScszQNhO3HyINnMJ4TBDYfQRCgOcYYq+OACviEAnL6cBUGafQ82Yokp2I4yyLxE8LlIEATooyKDKILQGz1K4q4T8IDu8z68+7S864nxmwJ2SwsJMoAKsLWBohYlCIM+OIRMGAQ3MIIMYKVSErMysAOze0ENc4/k84iRECoQu7k0uIOMiAMAkIKDcw0yiBLuggCNq8AkDL+e8IIpyIAJgIDJSgDti6QRcAFLW6hJ0MJHIILqyYGUKAPjqzwb2TIN6zQpkAItA4CaM8D/zdsDMBiEniADQcgpUJCDKuMuHoCTWdkIIMyZJOyJxAo3LygVcSGABBAB06IYN1CE29OjNzCdHMgCKZCD4uMDkgCJMqTBSSQ6LyjAmouEPZCCO6CdjKACBAytQlCD9jEtExgDKhiDL6mQIdiIP/y+npACxOm0CWgAcmoABXorJfiCQZiER1CEPSoCCfG0SuSDDtPELes0L0DDrzG78RqDZhwC2suIOaxDOYC2PEzASICWILg0Taq45Lu71Fu5ToOQ2DsBOhqo95uERjgEXFuBACCBMZCDPciwFcvEZzTD5EtDLSMzfkxDMnCrnkCEU1wE1wCDHZiktyICBxPHt2mB/xDkAVqRgi/ptiScgnLSnwqzvWPEtTcwAAbgvxccg8YDAID0sFATSCrQssV4IjL4LTlEq9A6hRaAx2ZKAz6gw0VwAhaYu4xgAVocjo5MPQH8vQZgAUwLIlzLg10SIGdsC7ZwSWicRI7oSDlIODkoBJGiBEXwAnFkQNMCAUICAE4QhBw4AXXpCQeAE1tEPQEcggPoABDoSdPKtakMm6wETA3zghWjuLkRPWvLBVmgL58oAjrkhK0AlJ/yAsdcBLcsSoNoAR8wAjhJR07ciARQAAUoALoYgNIsAAV4AAmQAOyhA6v6gzxggwZoycAESJYgzAgoAROYzCgrhVzohVXAw/+MUAKGPAU+4AHTKgM6FEcSEAG4zIhhnAQyGI4OcgIIKIJJUAQ8CKEMoYDu9E4KOJc4mIO2YgMV+Efa3LLBTCwTKAHi+gDMySlZyIX5LIQzMISe4AFpBI8guMxIOoEE5AQE9IBn+jyf4JA8uAMi4IE0IAIjCKlA2CIA0MLsdAMrUIIl+AF48ozuTBmrEIM4gJfzRE8Vy0UW0MutkjxOOAX57AVZKIQ+6IlDMAswYpYCjSQjEKQADaZKoYs6G4Q9CqKUAc/AaYEbIILEQE8PK4+FgazGCQ8mmc/E7INM8AkLggoACAPHkoHPClBBWAEhyNLkaCxi+c6zMSgAKAEkTdL/q0SCBeCA5nwsANDNMiiFVJjPFgWAEjIIUOEaB2AATWimIji4x/SCIIiDR+AuDuDQwDGBNKTNwVy6LIAABDgBOI1TJ4uEFY3STlhMOeUcruEaMtBTBjIDQUCrRZACMsDOejSI7aoLVyWWDugADuidDuA2wRTRLdutxPACJCCAFSiuJjUIIqA2TZ3P0aILByBFEcIDVTvVHHgDPSitMTUI7+wJaiWWB4iAIT0bvdy0JsyBKXDJt7hKEmCA0YwmS/0ADEkIJEgDTlgFFpUFTIAc0PEJIogkSUArtlSBI1CDH/SJ71xUz6BCuyiAg3WfRvUIjQPM8pDNjCiA0pTY0TQI/zKAmFKQBXmtR9A5AFAFo0iSgwdjSw84AVT5CYHlVoIRgJUVIR4YwKy0TfIxiAd4ANE8WAWQQ5HA2DuVBTpIgE81CLRACBEC0JGNWAAYgJ5ITQmoAIOogJQtmqR1HyJAw1z1sMHMAiRYzZ7oTtWUgAgAWwDoAIMIgicz1lzoBNgDAATICKBlIBkoWkEgAZb1CYqNAAko08Ch2KlFgltJT28jvIzYLgqoAA7ggA6ogAgAgAeY2S/khFRg0Vwwg47lOVjFHiMQhHdlSw2g254YAITF2dTEHsZ1Hzp4A7tDw47Yu9UNgq39icI9XA6IgNDsiQRAAi/A2MglAnsdKBmADf9OWIQxmAAB6E+IPdi9hUpiYQO/iiLwoNW6MNxZnd2DlVoAEIAL8AIq2NkoXU0WMIELwNsqEtRTpQIHAIGVFYCf2NvQFd1mwlYyNQicVQ7ptdnqzYgLSIntRdswUNwKGFoRSgNxBF63TF+gOE2fcN3kDVL5sNz4kN367dyMkLxIgFzfzIVCsAGTFQMRSstn4dcEKGADplkFlg/2AQD1kdCCCJLpjVj0BYrbrdM7vWAIrKIPIINIAAVx9IAI/gmmHVsA4ICmJeFmegDqHQAX/okLgGH5jNJ3s9HegUs5gLKR5eGf4IASkNVZHeKBitgjRt8Q7gns1V4mzoVVyK+9LJr/HYrbHQZj+82Isc3i591iESrNL65ig1gBKa7gXsiFROgJ+S0aVgGABFiEd0VAC0Biu2ABXdGVOa4iO75jgxgCL4DSKDWDEA7flAlTBXAEQ/YCBhAANw4KDmCBUj7OH3Zk7KljOwaKAbBdSrZTC27kjIDaMok/PC5k4C1f09QQVE5lvTViLwZjpB3NC+ACKjjbXAjYWg6S4FwBKvA5QRgCEEbN5JhlNJXjXz4bmrXZo63b0CyAPE6DCp5PPxZiAGDmIAGcDZgAWVGBBQBf2E2OpzQIetbmwCmBElBUbh5NqS2AsDWIUnpcWegFPk4Epq3WdA6SCvDTsGGAQ/Rh5aAA/3te5HsOnOjN532O3wioACtQTaSd5EqeTzOgZYUOkrABAAaIEAkoACXYAo5OjpRlgWy2aDKtANg9XIMogVJmATV4yoh9ZWOVheqr1qIBg7MAgAY4MThTqdEc4c4Y0uNkAV+2C0iu6ZP1zpsu3MY5TjNABQCoANK9ACpA5ozlBCqwkoE9FwLoWD9FgAAIAAUqTaSti+AUW6Os6KqO5J7YawVGWQooAR44TgBAhbzGY8eww7dRgQswaQ3RAQtipRMjgAA4gC+OjwqwZx6Y6ao2CHfar/hoX6hE2Q5gAcEmFE24aZ9wooMpiiCoAAqL1bNgAKlYgIwQZvkg5SZjAcUNiv+tyoj9YpXPLpPGDhyBJeXSruc/UGvrhRCyCIv84IBOTRUFmICygArTMYjblg/kRlMJAOSe2Cp2/e3gFm/uymKqDorvPG7TRud0PgBWggptIgNNANRUOYvqlopXCxTSdrbGSVzkNQh1wZDPE2TMpCThLho42GBFxuLz1uK66M4rLu3BVlTSjL0gEwsHWAAeWMAyqW78ZgDJVrcyKeVhZQEK+O7iisiMSIGeAO4nTpk6q4tFdvA4hnAKIG3BFuwSWG6fOAC2vu8DmO0DOJVUSQB8q6ATg+tUueIiMIMd5+1JOvDOlnIaBu7e+V+fyOd8llU0zWexfXCgwPEJF+yZbmz/0lkjQrOABnCAA3i3QJEAuE6zyZbzpI1T60VfiaWLCvhhHjCDqY6AMGCCjNCXFEiXdWVX8k6VeBNcoADbu6UAWn3eRkbval1vwSaCHveJATiAADAA2nruQtMABnjLMhEAOU8zuA6AKt4qgyrYk8VsANBxABiFUEBUg1ACH2gBQweB5hzwaSnvIIk3IQLSP6ZdgwDbc4ZeU9bxvKWLTo89R7mADWAKa1GARCSTlfUYVTeAVU4VwqWEURBsTSiIUDCISTiEPsjSHyApDOGxGCCWYfeJUJgEP9gCIViVAkdgZe8JCddxHhDYuijNAEiz+MaPxXbbIPlcAajsz5XYvt5Q/wr4g3AfBU0Yy0ZoBEog7FpXBBgddBfQrxtgpjIZ9gbOCJtF2gE48GnRFwCwCrx97Tcmcx7gce/k7bog+JMEi+c2VwN4ADRWDinf9AJIZA35znAndwCgt4JQBErQhFEwiFsHACjgqUWPN5HqieNd2aQdTYol8J74AtXMcR2v+a6tWbuQcwOI7wtwgF70eaBPDqEHbwD4ADv+XAWIANKu9GWmAAh1ehU2CIunhLH0CdvTBFIAfGFndAMezTz/CUAOTZBfXMye8BP/ztlVALjndLjGNwsSMAT6eXQ58OCe++LtiZv+64DFo6U3CERwevqGfYw3iEMYBCqbhE+AesU3uf+gMGKDOF6Kxdnvpl28P9yp1la8pYAIqFlR/olOT3scmmwdIpNKovLOpvvIjA+BFaJDiFDXh/1RCPe/R4Q2MJsYUAJWJJOrx3rjhViUj18AEM34n1lIn9W7R01+HoBXjzYTUHWCBwgCAgk4AAHgIMKEChciTHIjxgsXLlqg+CBChEGGGjX+6YgIgCJFBzUBoERJkyaTYqIAaOEixsaYCjvSDBRoY4ECABTwLMBzp4KFCh4AeCChAocKOQcw9cmTJ9ONIEAoCGA1gECsJjLKlPkFCxMhN1pWFDGiK1qafxAd+oiwUclRjeiwbOEyBdq8AGyKZDjA6dOggXcC8LnzQYT/B0Y7DB0goKmCCBIkHPyJguFUEweuBpBwQm/XOG3EYAFwA4UImKA3qv3TqBFKk40QUWo0R8xBly9Wy+QbSmNOwUAVKwCs87DkxBKeCnjs0ygFCgcpRIj5YeoJE1t5d1WEiA6ALkzCuOHOsDUiuJpGmQSAKM6XJLtdXjafsKaiUKQOVReQMPhOR1Uw4ICDIUSBBBFUUFhO/j0XgXTTRSfTBxVOZV9MiCgCFwCTTGLJJBjO1NEhr6U0CgB6xNGFEkK00NKLIh6kiG/7nbEEClwBVZyABBL4FAAuAPCDEhJ0QEFOBTQ3wE8KTdiVQRVKKaNCISUUxhNJUAkATa+pxyEA/y3+YBdFW6JCSiijjGLJHUr4lxCTQT3gY48VUNDkkEIwQRZqzT23UHQRbmkeJaO8QsogW1RUn4w0pfeairgNeRqMg7phCSqxqGJJGH791ONyRh1UgRIu2fXCDUq4gEILF6U2KKwKoXIoHl/YUNEHW3Z0E6RqRPHDC8HCZBejsZJiCFBvHmSYggtGkFN1/+2k0wsUSRljrNmGYgkeWChhQwsV6roWXHSIAcUNL9hQbUUAFJstACVwQMEDPQE16oL0EoWQBPsWpsBfzQmAwg1QiEEHTfBSKYYQUAAghAtTNhpISHMAwIQNAGRcrbgKK1QCCyV0UEFiQ/nUIwA+AhCByf/BKSnwcQgl7LF9MTTMhBKndYxhR94llPG6L7xL80IsdMABBxEkNqePA4bak8vNyfQk0XrZoAQUOIO7s31/HJLHQT+kC3SwVYOGhxsSUEBgv0PVW1xwAMesUaB1C2o2Qy3i/BDX3P0RSBxnHDQ2qi/EgC3eG5GECgCfDOJGGGGlewPlN7SQpAIxijHHHwzZ/bndidtw87cSc/dFG2p0MeQPAKCqsQtCJ97VH4qEqMoopDzihxhW5DzWiygInwRLAIDdGgCgK/850TFg7XAMuNr3QxRRYBGFEEMOHqyQs8ukFmwoqkJKiOGZVl8MUagRB9hdLb88zUoosXfEuXLXQhL/m8/RxkFMiD1WRLyXF5rkAUwIedwTfPCwLsShEe1bzfsC5TEh3EwIMTCdXlywJz28JkVxAMAXsMcuAerFUQzRxOPi0LnZ2CeCHrMZFKDwLemtBgpt0ENCNvSR2zAhBt0jYVo60ghKKOQVqtBEms5UGy51DoLwU1gLsKa1cNkvLz7AAhwCgYgtsiUkXvrIF4C4Gq8dpDa1gdSMAMA4FHGJN8ojWotkyLcqdkUJm9PDFg8RiLZs8SCNUERbxDhG2pSkkG3AQhKEoKUzWOI3RyyfILsCQ63RUCb5owMX97IrLX6kg26JZBDhQkRFzCE+lXuRErbghkOAMi/Oy5oSDtc3/4Yw4Qx5+KQe1XKT9HjnJq0MokhsIwYlmIZywdpNQpD1y43EMWf160obtMjKgwRCLVzypc+WSbtdmcshx5xctWAUAx8sQZsMEYIULci1FjShCWBgwxKsEActLiSXndvjRwJpzu/RIQ5qGFJEvomqicAoXPtUyCspubMmHIQQbzAEJvOIkE8iwiaczOdBZRKHlWTvmMECp6nsktGEoECKpqEiAGrAEC5Oc6WH4KOGLOGJmXoiE57Y40hBiIXWJeSj4EwI4jIqP5yp8wMo6MFB2DBRLm4IJBrhooYeQdOp1tSXeLOoRWPyBGChaixe7Wq6ukesnAJgkjM8KkLu0AZLWP9CQ59ESF8UskUrzRQhVD3EIKp2UahKdCFjwlblgiTSsrmrTDlN6LdaUAOGVgEAhvhIF0HiJTBZKYczqmtCptpSeEkTq3ztK0LCxSrTaOwyZKJI8MZKVr3lLAZIZYMbOtFJDcXVPX7sS20ri1mF0NSqsdKiVfHJVz7OQQ2NBcAH7PKSwlLEtMRalfDyIrzoem90exKCDZawBT9aAgAs/GwmD3II3IpEETTVyFRDkalWGOINPqgBClJAg6HFhCYv1SVMWVrROIShCk3YQQ1q0IMYELi5pp1uaOlL0uky2HvOY8J1w6DMgzwCsu5560E0lEaQiESqu13ITEPhCl/MwhL/b1hCO1Os4h6wuAbj9EESuiA44yWsmjXJbx6/M0wf9CDANdiBitvJ4gEjeCJNaDF9GcxgBSbOB1BIwhOi8IU4DGKLlpiNhTXCSpFouLznRUuJTxzkMZN5CW+QsCEO0VYm/g2nGc4k2KJguSMPmcwrnm4LeqBi+CpEydSdnSHU8AU13BK8j/LSRv7YZQ97QiatAIAqGs2GIyjEznY28x3gAAA65MG3CeEi4HY6ET2nGAxrOPUawEBmg+Q5xXrusUFA4Gfh2eAJm63amVBECe+4Jaom+TUlHmHAT3unEV/eCCkO0l0AUFovl15D68TwQdt+er/xqVYLYpDiN7xhDSk+/zUbgtwD4ZH6yEKugaxn7QIhlCdxJCFFpo44SskCWyFEzKGiAcBohrCiFa6YhS9+wQpGvAEMBzH4asT9w4OAR648PJxdtN0Epc4aqapOcZlIXe5xzxoFNqjCss3WTzE09hOMG0lKfr0R8vrMvB8+yCda0YpZANwXrMAEI9jA7Z2/gQ0+RzUYloBwhJQ7xQwpnkJ8dYOJRBwABk+3ugFg9GwfxNzthK+62Q2AV5DEbGGZHxTcMAlVxAIAsVBTVz7iRZDsOyH9lvlBgnGQnPO87tzWed19zgZUp7qdCz8IMhNyyB8wvekAgHrHVdrOIKmGoe00sJJb4AOQo+LkVRvnD/8yr6cqiOERmfJFQrrOkJA0FRHHbtzbHw0A0GPiIG9AiN1jH3u8c5tRQopR95jQBfEs/bTa5njHp0tqxle9rJfpuM3c8JtQDBuKMdA8BRUJhdIshI0L+eNrNPTlT7CCFQtxRVdeD3vZ230NKAjgQSSi/u6d4Qy8h0gLjtAElc7aXcKXOvGlDnHhEUs3LrjBE1iCKqgC3oxADbDBC/xA9FEQQlyBH4heTAQTIsgcBVZgQrAeI5iH+Lkez7EBGMhOkHCP+t1ALe0FIszBGYDFWEhdCtTfQZCb1NWACyCVD2SbDYBLQbVAsPwAEygfACSb2dTHEizgw0TfxRhMbTFE9sX/nCs0oStQIEMQwpbYnQ+FoES8YELQwYb0Uh4EDgBswRocAdYhGEKggEpJnUsMmAvYwA1QkA/pYLAYlvck1xoAwBJk3sMUIRECwPQ9UOh51yR8ghOCH/ghBOPIXazYXQ26xEL8X0J4iRZ5xyD4AQDcATxBF6MIGEI0ganEgA0ooN7cABv6AGoAEQo0gfjh4QKuYvb8ob0NYhMCQCwiRDDMQiLa3d/1n2rg0EcI21wB0ksNgiHcQRjAE50ZXdVJRAy0ITo1zPXYgA/M31mQUAvU4UEswQ0ooBGyIkIwgcOoEULEAs3N4kGQI7yUn0agAEyE0YVJFq8BI1vNlCUMYzGq/9hB1OAagmLDQEEXYMESiICAcSIJfQBDIcQdaiNCrGIx5SExQcEcoEgwEAPoAcAs+Nu/xZ0uAEAGDord7Z1GtMANYEEc4FGvvUZI5FE80pQlCOMdVEEYAkANLiMFxREWfEEXoFhytZMC5dXsiIA1GmT0ERMrtqIeHsQTQEEnsEJGIoQtmk3eKZVGqM+bvZmGKNoheAL3UVVd+UEYOEQ2Rh8TYEEXfEFjtVNOTpykJM4H7MBCvJ4P/V/lBKUiNSM6KYGZvQEjdIInLOVEHsQvdMIdEMJPTqHdFWRZZV4SiCRcwAVFcRkXecITPiEFssInHEQe0EEbpOATCIH12GQ5Sf9dE3zAYpmZAH2AwUkh7M0frRUOOFHO4NzAEtDeG6Bm3LndRmZL7JlfAmpeFLSBIgBbB3EYrz0mLFrkJ3hJbQTCHPjTGYTBT7YTq6BiJ1ge3rxIzyXEGzCUS6xLa+4Ga8rmBjKEMnifRgIAIZzneZqnenJHRx5BxjwMlLUBbaTcr8GFF30WLLrCJ2zII5zEiagJJXRCJ1wnaPZAC7DBFrhCRv6R2XxAD6Bnep4aQ2XMMnoVaXkVbPIcev2CRpgCIzACzhECI4gohKKneUohbSpE7KlG9tiRHvgnStDnH4UEjkGmE+7nEPmnmqgJKsjcTA3oEngbTC5BJwDcKCShx3z/gFJ9KJOep8cNjg+5poWOhQ/MZhSm6EaYQifgHJeCqJd+KImOaImiaOwxGTEBwByYxHoUyknU50kOF8zxp5qux45SwiD2W3dZout9Ql/iDQoQApcCQOthQg8gU+ZlHkxM6VigABug6HpiaTn6ZV/qwi0AgJZyKaaCaJd2aZOKaYne4Zk2EADQJ5u2KSW41WfN1GvM6Y6OgiZoUUXKYhM+micYArJ0ly8AYYOiACOYgq+agqW+wd+FjQ0ICYbKDopC6ELYYiEexCzEQjD4Aol5Qq9Wa+t5KM5hKyZk6rZ6Kc4x6WcygXyO6pqyB7C1h6HJqY7u6GzQk6w6IVY22ie8/8IvEKBaikCK+moT8JRf/UCxvg4KHEEGjqh6biQxyB3NyWJCZEIoAFxEkpglVMESTKy3OdQGXqumWiumbisbJAETSMpJIASbkiqW6deGzCmduio12URllmMTsoInhMInkF2JzWENEIIpVOotEMIKbgSiLhcbMCmTWioiZiTNNeUssEJ+6IIu/MIvRKQzKMMvPEIY+IAorp9E+MAR+MAaLIHFdim2gqj5oByK6Bp7mCsRlSxbrOq6qsl37UUgtOwgqp4mxMIrfMIbqAbeVAhGEFgdZqNMHGpZRSO3ZWDryR0xZKQu2GJG6qciXKTTRu4vEIMyyN0n+EHOFOtpkQnTqf+f1nKt156ZU61HQuiaSaDtqfYRIvRnjO6oJryVRbWsyz4hpMUCKfQBG6CbWkpJhRBMHnbFD3giejaBwJpCMDiDXzKt8jYORSZE5Prl0/YlpzxERGxu4bXAG3joeRLcHQwCSpTuQZRtXKhcXxyCmrZq6ioEyyKEE8Kd3VpCbOptacIETxHlRozTrwIrKxyv1Epu5C7uLCylXwIAhxZwMPyCLZbdKzDEi7zhgWKCKUCwryYlzKKE9VkfALAR6sJFiaTs67rHrb3U273rv5UdKZyB1iLVQMYIBY0FA97vKQLALdwCeQJAMCDiAUsu02oEIkbuAetCREpkK1jCFigQgV2N4RHkbwSbglJ23yekCfhqMMr92iN4hyKwx3eBFtyqHvvSnC/EgiWoivwB0QesYPRpo/0mhA9ZRA/4ACPoAjHUptzd8A3bMIfKYq0OAk0pJdP67wHzrzMQwy/cQid8qM/5qqX+Kh/rgiewwhO6KgZLMQYHWx+xkk1cWDYBwEspxL857CvcgQ8tloJ1RUAAACH5BAUGAAAALEkAHAC2ANQAAAj/AAEIHEiwoMGDCBMqXHjQikOGECNKnEixosWLGCM6tJKxo8ePIEOKJGjFCIwqI1OqXMmyI8cSLWPKnDmTIwuaOHPqxGjlgpEoO4MKHUoywU+iSJPWBHBUqdOnIa0E4Ai1qlWLUqle3co1YdauYMMK/Cq27FWyZtM6NZJAq9q3Q9m6hUs3p9y6eO0muJK3r0y2fP0KVinDweDDI1mwAIq4cUfFWBxLtgilA4vIkzNHVNKhA2PNoL0m6ADgSejTBsUkYDEX9dUuWGJj6fKldpcuVp4wUTLxy4XLrrnCxgKlOJTZYs6oUSPmy/DYXcRIF4PQ5me8sK0Yx2x2OBRmzL5Z/xs2DFMpTFWw5GbC/nh06gdlALjp9/bt2A6hi4UT51m7ePIINM+AA8qTDjvggDNeKYCcV0VrQpwwXxRf5MXEE0WQYQQYTTRhBBRK3BDWcfPcY8+JJp54Yj31uGOPOzDW0w465ZRjyx1tLHeGGLAZAUACvGGHhQxDeCHHIpwsoqQc8HX1xS0EzkNPiyqqaKKJ9aBDjjbZZNNNEu7Zh0UJBBiGHW1EgFLKmqC0mSR3MvFoxW5K1MnEcbJBsZsQN/wghBLMACjPoIQOCoA8UdIDQDjcXEMNLSWsUAQPTYABBo8JEJDAD3gd10QkpxiUCihdzFSbc+pB8YR7YqjBXxxwMP+XnRVYgDMPAPEIVOiuhs5DDi20WODBsMRm4MEEHgAwgQE+0qWnEkOEmsq00wKQSilCtBTdcm3seMsqw9gyjB2b1GJuLTmYdIISQvxgQgnlxNMOrvHUa6889Q4UIDuiNAABBAJNMAEEAkPQgAEGAEAAC+3eYENB980Z5FPqFcGJtdRmHOpIP9hgQ59KQLHtNOqkg04z1FyiMhpAVEKAAQTELLMBdcTDTjv/yWvvzvciWsy/QDfg7wIGLGD00Sygqh5yarQRx9NtAFChU/yBkcYpqZwiiUBgFJIKAKfAiREcOZ7xHG3JMTNPOunEk/IlaMS9AAIIICxzzAEQAMQ6fLP/MyiM9BA4KM/ymLOAv0D/uwAARy++AAu3iAHiDz/ccIMQRQARtxFVRLEn5T9MnNPlShCB9bUAQAGAEluD3RpF0n1hRRJ82hDDKuCNU+U816BRCRq2OMKFwQ0cXTfMCFSC83/z2ENP4AUiCj0ALLqTDiwvG1D30RMQjXDCdfB9DjkJWsPMKrbgoD4OaswBa7ezzvbeGTu25BAZi1h7Chh+QF2I/h6Jg/u6NY1t+KMf/XhHPu7BQBMVow5oiEYkOLEJEgSNeEJrQCVclCIVsage0CMQ9KbEjmtk0GBGa0DesoeABRCAC6KoxTKkYY1ynOMc3FjfJcrHjFv40AcOi8HH//70BCuIiTi6EV1GsPCENGAMFD9gQuoCM6qOLEcNzxgHAg/Ij3x48Yv5EMcmIEELb3DBAxtI4wYAYAEHOOBwGrwHPubYwAba40pVyuOJ3AGAb4jDG8cQRSXq0MIWGs0AxCKBB4DggRwAAQgYiOQlovENc5wDHehYhzfQMY4EPaOHPsyDAOfgPuZggU5KuBCtIvYEdgXRY5djAnLEQAZBTOsUOiCIGLw2qji4ZBgA2Mc++DFMfeRDH8g05jtqwYk6TCADbbSANC2gRg240QDgMCYYwUjHOjZwjmBEpjDzQccTpeMb36hGMWghClGoAA05iFsdHvnIEIRgWCt4ZPeMBv8JSIiiGMf4ozjQAY5OMmMYPsTEERxmudA9AQtfSE7sslMcpvGnDGwqRHOIcyFJZO0UrsKIAKPRNik9DwAlUwcATASMWnCBAQx4I0wdoAENRNMBBAhAMbS5zZ769Iv1kAcHGXjMZApTmMlc4IkS9I1oFAMWgrSnB0JgAGMJbFjIIpYHNIDVdoriGN7wxkDN0clnPMOHtzjDM6wxjra2FRwHvYUkALEEJfCAD0u6gp74ZDkzrAlbHTmDNVRaEBZBTxyXqIMKIHA3mQHgAI/NaQDSwaKVCgSZX8RsOL3IwHkhKlf1Glw85lEPFNnjqEhN6hdTBA6xBlIUkNDqsBTpAdr/0pZYAgMABNqpJWyUAx2lVREAdscObZDhBkgQiCAGYgYzpIEMZDCDcsVWkTlE40XYdVEexQGJKTghC1mQAxWWFYAAGOAALytvHRR1kOfVQyAMxEcy7zGPm+EMQLmal0LyhSgX4YOByQwwPzD73xMR9BvHiEY7Yztb2QpsYA1YATXWIdThrlQdCsQHAPDxDndcYw88EIQgFlGGMRSkDGlIgyMAIAePzIEZfLTHQLBrj2dEAwlewHEa+ACASCTCCxNo4QEYgAACIEAcGHGHPJaXMyYvJFe4inKhnueOK+kDtfwY8IC9WGAAgMOPr4XEwAaGgDq0A1EnEsg73rHS+M5R/xqQQMJyBVGGMnihznW+sxxGLF1OXcQhwISRPVrkomPI4dBysEMZ5LCHSPg4EYkQ7wqgCdMJgCPJNmOHppnMaQDMC2cFmReUQSuQfIV2Hv21xzvmmNp9GJPAe3weOsGRxw4ORI5fhEUOyjDnQ6chz3bm9YgToYc8dMQW8vggjMAhBT4ceg/Q3kOL5QDpRPDB2XJYwQbQCAk9yvjbFgY3QWSkaXZkcl6b5rS6142r/7ib1FEG7X8Gh6jgkrOOc+ymN/G4R3coqh208IAjlJQ/QThCxCNGuEDM8LQ45KhJE8FEOwYUOHCkwdd4LoMdoJ3oa/PBDnIYQxlUAIAciKKD3v/WY7gH3Q6+8Q0d5QZAuW9G83bY177rVneU483zUusKVw3kcr6Hrm8Gnihw8igHELywiIQ7XUkEUZIZhGAEQCghCqpKQsdiEAODSJEgsDrHznAhh1974ewAOPsYDm0HFpf911mggrDA4V4YCZrGe/R2fTGJjhtqum/rmHm52zGlehRIXjjbNM5B7enGf9rTy2u3QO4oX9UKnehDZ6A7qOGBi4u46Z9HuJJGvAgz2AANl/AGXG/RrYkSRyFtaEbg2yGOOpsYvF4AgBSm4IUxXFwOSMizF7LghRVMIB2IEqF7Qdii0rro+S+axzpueA5zmMPl2Hc5ANaBjtdG4xhfpnL/8w2Pr+UtPufL4xsAzPHqALtfID3FBzntUYwAAKABWc0BFc6O8P4LQkOQUAfhgDOD0la90At08AdwYDaqgxDWdw64UGJnhwQ5kAUAMAQqcHZecHFjkAPDlwXepQFmhi+7EiXKt3wgFA/VVyM1cg7cBwCZlEnbl0l10AAAAFMMYDQD0U7HEFDo5A6Gl2mdZnMyl3iZdA7zUlTut4TiJEzw9w7Yc0L/kkH+0gDDkgNDwAUkAAb9NIAkeCvz8A79sA3TgAkgchBzAAfdQA7UAABjoIFSUIEAMAU5wHu9l2JD4ARTIAVS4AQrEAJFuDw6kzM9k3wEwg41Qg7kEA7kcH3U/8d33HcOwnB/Nng4jGNIh+M4RvMvoqAN7CBzgheK1HcOFYZS6cBHG6aES4ha7gAEBHAwh1M0DdBCBkCF/lI0OYAL3wAgJjgg9fAOWTYOmNAFDVgQttAN0mBiZ0d8U2CBAGCBIHiHY6ACfMiHTsAABwABBiBPPigO57czg4MO4dAN3cAN5mhDo9h3fccNBUGFOigQi8M4cCQQ2Rd4miZzMkcjlnQO77UQUsJH8hdg+yAPdVA0AhFTE+AAMeUAUyg0AYML4IByUxJCU3Ii8/AMjYAQ0sALy4gESOCMBIGBuedEfViNTgAJ4VAN0rAMsDBIdTBkG+BPXyVQTMYO5lCO3P/QDMBAC8BQDMJQDNVQDQ94DpVANC0kjwPhkJQIR5XYAMjwgvXocuVADuXQeBcxJeuHAXTDRtSkRmqUkN1jZBPACeigD+9gdLszKBM3WtMgQAaRB7ZAC8QHABQ4BQYRh3bpe2PgBNU4BUjQDWEVDoIZDuIgmNEgDcUAW5CwWJzYToP0Ly0DLMLQTyEANHWQOJjZQrNYNBCQQgbRAMdwDjAIg5jkcucgmFQpD+AmbhKRDpdINwSwAhpAAguAg9TURgBgABhQC2umb3cEjPkgL9y3DvNgGgjBA3b5jFIAkgQBXm7oREjAl9bIC9qADdrADdpAjoAZmITJiOEgDdJwDDv/yZMoQw3UgA3hUJUAUJXYUA3UwAuwAAmVEAKIg5n2uQCdyZkL8JR8p44CoSXZIJjmMFzeRqCTlxAyVjQEwAB41nt3iAS16UYTEAAhwAsDpll0BAD94A/+wA/xYA7aEA0j8AIH8QMSYoEaiBAaiGJ0WY1xSA3XUA3XMKPXgA3WaY7mSI7eMJjkgA3m+aPnSZVTWSPrSaRG6p7VAJ/9VIX2mTgNUAzqOIo31CjZwI7No114l3Ks6WUEAAE5kAN7wAfVlgiRAHxfigAKGQBooA35gFpHpQ/84A//MKfw0A/egAsxcDnGWRB8mHtOkFwHMXx3WAbR6QSGigS1AA3QAJ5A/yqjMlqj1nmd5Ogo0mCe0GCeijikVLmpRsqCnrqeAOCexQAMlFmf/1IMQKkNo1gO5nkN2UCc1WN32aWleaQNG5ADgjCmumptQ5AFs0gAdSAN7+CmbwqnG8pFzyAG11EQZPCMXoCFzDkQUqACOIZnOfCnSICBANAMAsGtiqqolQqk1PCo1PCtimqePLqIirium5qpnFqVnsqC69me6kSqkECf/yKfkAAMzQANr2qCgfM8ywd90Fclm8AFAABpgnBt0CamY7oHEBpTojA9DYRl++BFwmQP4/A6AmECfepdc1kQTnCtaves2ToEQ5AD3boMzbAM2+qy3LqtAPCtlQoNyf/Qr9/aDI5Co1VKjqjJrkCbiPH6qUQLANrgnrSABhBQCcmADesgKIOCar1oUoVXPS8iCmNwbZEGcog2bXswpkNgARNwDAWBim32X+RUYNgABj7gA8fpBPuXdmgnEBq4jM1IBXSIsilrECzrsgLBsgDQtzILAMjQDP3asoa7DCzbr+FKo9bpsz8LtOyqqUL7qd2QDJfwSMWAhEymM4VoiMr3Dc12bSyWYr8HAGlgBxcHac6WAQvwDQSxpTNWD/FwDbUgIgrhBM8ot7lXtx+4h3wIACqgt0NAAoEbswQhuH/bsi9rDMiwuMgrEMkQuH+7rYzbuDXaJZAruVPZrt1bDtz/gAwAsAs12ADtBFBhpW6DCLWIIg+1AAB8IG2HRqgbWHa893tiygc50ACwK2MH6r8z5jztAAyAMDUJwQO7l3sUWLfgRQV9qLu6V3J6a3LcWsF+e7wXLLgtKwzLkAyKC7jSG8IAML0jnMHbCq4/CqnZ2Q3pCrThYAwDsQvNwAu0UAeXSTyV4E+oqnrfKA5OJL+HJry6KwfPKgVuB788BgH0kHdptprD5Q7zoA2bEDUK4T7NSnwUSHwNbMSG2sUC8aVYOAS08MGAG7PKi8GJS8IerLgDocYi7MYjLL0uu8aGu6gpnL05Gg7ZMIkAwK87qojeCZ7rZMNoEAAocMiSgAni/0IOtZC6LfZ7v7ZoclAGWVAGbtdxe6AC80Cws1ol9cAOwlAIgRARhrqMw+fAA9HFXvzFKWsBZNy3zLu8F/yyyJAMtpwMxsDGb0wQcNzLIly90GvH5gkMAgEMy4AN2rmjOzqYhYma0fDMw5AItgAEQdB2LDYGVHDJLXbJv/Zse+AFpKVsglZazmcP84ANXHAGEsEDenjKe6jKEJzKAjG8KtABMQQLwvC8H4y4sNy3HWwMAI0MAu3BJGwQBR3HCO3LCZ28f4sMuyAQu2AMj2qj2nCd3OAN3JDMyzyY4QAJ1txiceh7XYtoZTAEVOBEbScH4gCwVCZo/rYOsFAELhARIP8AAiXAl3soEPAssgDgBCSQAQJBOShRCIp8DLiQuPzcsooL0MJgDE0N0Lcc1beMEApd1QUBww+9C8JwqebpnjHquDaaDdm5woDpBB+dBsP3eyMdctTIYqUrDvUyb1ErQqhWDWOQAhTRAjngkfCsu/EsEIUKoQlBB4GgB5hgCpWwC7zAwYqLDE7d1MLw1M4r1ZQt1W38ywwh0AAACwPBxwIBruH6o14N1s2AaG6H0tps2ijWtQDgjfaIc/fyoaIAACMwAhShA1hYqIZaEB7pkdrqADZ4Al13EF9wBhbUYhvABTbcT8ttwyir3HVAC7wADM5by5V93RIhvgTBwQkBDTP/Kw3C/KObAHJqzdprbdqmrQ1DyXeDZ27JsAYYIQNEMAS6PRC97ZEqQAL6bQEHsAAWcAIfYBA2EDoy4AWn4IwXcAEkkOAksEbzDACyiQBDsAdpIAWYIAm2gAu48NTWfd2VfRDGsAu7AAuwYMwDMcsKAQ3AsHaqW3ZBfN6PvHa+FnIsaA7lYH2WZEnoYA7ekAh0QAcZwQL0Daj3jQQqQHJrNLz8LbYfAAIFcQMhYzGlQAUOXhBBQHIrkOU5kIFovZcCAeQDQQiYEAm2UAsbXt0e/uECAQuXAAyF67dwXr0FYbh1cHGqmwbRecRrfYFDIMkotgmLKA6T66nkgAujnBEi/4ACJYCyRX7kDd7gwhsEDZ5GEVAQsiQGb8AJp1CmBOGVaZTloO57aTAG2VoEBwEHPMIdGTIG5YIL1D3Q1y0MKnMJWg24cU69uA6zy7AJlXxxJT0Eqc3aSCAF81tnABBWOsrRgk4OyPAGIcEDuU2BAGC8G/Don258G2BTJlAaUnMGccAGWONoXqABAODpaSS8K6ACtxrJYzAFGcADvmQQUZAEBjECeJ0CeJ0h5KLhry7QIc7m+Py8cn7rcK6TwE58ddbNMC4QKB3JSDCjNkrR2Jmj1NB2ahASRaCyJGftA7FGWe6VAMADbZAHh6AIiOA1nMAJgpADDFDu2U4CQ+AAK//ARmqUYhLoBBlwAR2RAjdA7wCQkYyACWMuCiQOC7WOuLk+8IbLC1yQXM04BiJX3nte7F4gCpUa2qPdnqLQAioB6R1f7o8+z57+J1awS6dQCkniBCWAABqQ7Q4wATWlAQxgARqAf33+hn+aAQngEa1xCIeACACACISwCSX+vIaLuIi/uIsLCUEAqAkM9auNaKab0nhWC9RQwSdMs9JQCx8Q4F1f5WtU7dVOAh9/7gDQAS3QAkZw9osQCZYMBgQwTSeNumlABTNfPAtAfFJg5B6w9zNRCJuAC29++Iev+Ic/5ATx+FFfdtNol8xfBlRwDMWA9CtruDEdEyT39aJPAir/EARBQO5rRAKdzwml0PpyEAQ+cAWx7wBOtM3bTJsKQwIemQMkMAEnUCoxkQcLOBCAIAkAYQfXwGPJljU72AyYEyRIADyEKGWKlzFjyqQBkMNLGjllyow5QSYZRADNSh7cRSYGSZYtXb4kKUQFiQ00aZIkAWCIhZorAJgwc2pRpEVElIgxMcHBkIdpnGIEkGbDAgIAVOQgMQHCGZhdvX4F0CLFCLJFhswEwqUOJC5MYUrJQtGiUzsey/BYAsbk3pPLgAECG9jrBpKEa+YEsIIBiRUqapbhtGiREzB62AQA4OCiHKdemgIYgwBAgAkkPEBYoUfwarAfWAAgAaHmARIk/y6QUOHQK1y5Fz2OkfHEVjKTB5cdh4UpD2vmEDkQhmj4YU4VGlRcsLpCTqQyZBAdIkOgAQKnAMqsOLBiTFMGEBAYmDChgYnm9VmiMOEFfuMFNf0PaciJr3jzosAxiujiC1yOY/C4WghZzj7WwIDNv5umW6Ex3CAKQg4i9AhEj/AWWOCiqCwIAAHPnJJvAQPaM+CEFiSsDwoegjCAgCFWWAAAw0hwoCEknCCyKyIlyiILMyBasEFkbJlDNRpXy6OIHB6yMKecckhjQ4hUkIErAOKAwAAE1sMoiAk0oAKjNDQAwAAIxpPgAxCmZG0OMFaAIIAMGADAgulqciCjIRgq0v8lIhclsgmIaoF0IFvsmAMRPFcL5A8ifLQJutpUCIKF2khaQYETmHiiTAQgaCoNityUKk4zJbjzUipZ8IAAAixwgAQLNNggWJusyoFRAUkylkgeSAIBhRRqIMvW5tgINrraRgUSTpZ4PAGADkhsgAqWnsIIAfEcqFVasP5gYwIzG2BAA3gZWMABx7BUgVhGIUoWiSLUVdcIOLVELLqWfApigRM+eMBPq5zijKM03H2vKoDX/aMEA+REgAGPOBpDAwaQKGOmL69KllF/L5Z2EA0Li05QiDJMLIgDWDACAATM1WCuNMpggICNEeiWZa8OeWMB0SAYAio5ADBDDiqCCAL/NpZUQFllhkpYwuhLuygiXx/Hhs4qbQEIwqcViJBiCD74mIAAF3WNU2hzEeBBTK9dOgMPDqoyQIWn5SC88C8LJgnrYhlqaNO9bSWD7JbKVhttKcqQYw/C3R3axfcQaKAIKR93yYgUSUCgDIg4M4OjxBGf7tMcGlLB0TlI/woEsogwY9k3AFBEkUAC+bdsLSGSeQWqgxgjc8J/5oDHHA1oIHTcu+p2vCufTmOMIKT4+XWWrr0AaxUWASOO670iqwUzEpEEokgSISMRMN6gycJg97fAAuWpVp3mOPMRJxQhD2BgQxHAgIjRrY8lrzGXuLi3AepRoQxVe4jJcHKt63hB/xadwEMgHPiSGPygCGmA30Pix4kVxi8SP6PCCnIQLA30L1DK45IAf+aFLEiBDKphoKVG6JISIIAqGwEAZxwQgAAE4YKHwwlscNMYTshCFkN0SRXCAAczDAF+kpAEJ8DCQjnkYAII6N8EFpCD55WBh1nIwdmw+BL6vIeNzwPABPKFwQzNhGDkW4EUxhAJK3ZijhBxgxjE0AQuVaQuSbTD28I4SQCIsZIqjF++CGBEFfyGClkYAlZec0iXYKFHJEpD1J6CwcT08Vqv/NQQ5CCIVFhxEKQUgg1cYAQVeOF5rgNAXbxglz3wIRJgBCMAwDg/M5bJAKD5JBJyMJMO/ICULP8RAx7+ZS5fyoEPUUtbhsSpIVjW5gInoMJQrFgIAFzhkCMAwQlyMAUAeAY0FiGcHZ6GuYd8pHnHjMT8+KACNQZgARKR5kw80IEnXPMheDiDGADAg3cZAGJyMEMMx+nKcl7ABB/gAeGseAoUkFIEH+BADqQAEwNtRp97AI0b5ycIPnTJRaQJpR8XQB+HwuELSviBDWJgArutEY/h3Kgfa5MhDogAAB+gQiSqKAsypGCOH/iACEqw0q8kaSKvep4UvGmHMSBBA1QxAG5M46IiHOKaZ6jCD1yAArKMIAKe29gElLejjbqyMSvwQtFAKghBjJSUWN0qWLIwhSEMgZ71xFz/GbLgRquowAMLCAAETNMAM1HoISLE4hJs0AKygEAEp72A5+C1gb5ulClSWAFPH/IBL0RiFVYkQ7ociNUPkOCxYAklVyHys8aq4FAE3SQJOLuACDhUCDGgKzxPytsO0AsCPPGjCsY5BMkiIRGJWBZJPlAEQcjBioD4QEmHKIITkEC4YJnCbx+ykZAdCisNAEADykSiypDSBy4o7Wl5O+AI6BFrrwSVR7wgBVCA0Q6Rs+ZDJFAGQuJWt9cDQTzFJqG4lGEKxp1mj5a7AB6oj5QtiK5pp2uCj7KAAXrVrvlIwCWnuHEPk0xEGjz7kCSQobxWBEMNhqhLE8xzSlmoSEZI/5CBh5BoAQmowjWrsIQfxADF8ASBCYbQgAfEpzFYa0zTnMKH74ZxfpKIhOYgcrsTcgIUVlQCFrfAS/nWJy5eyIEHNOABc0HgyTO65iQOAdEuKEEIPjiBE9TIgP45BmtIeAqSx7CHREQCAC+sdCL2QIZbPiQPRFhEYWWBiduNcA5nYBoAnLBSiQgmSVkAQFykMAEPnFFOBjABCD5AyuEhQhGNeISg8UCEHJBIAzXcQC8h5ks3Ys4Oxbw0TCWRCDsAIkKBIIMcxGhFvTnQBz8gghPomYMrPaTOLvEqPRcLgQnUjWgOBcAf5D28XpNBBSRyQLByMIYxZyFzfJDDGKZABf9+w/TSypyfHKwNAD3owQmSAYAsCuGDIWLVDOXlhCBIwIMSbMoJn0zSSxir0iTp10UNkAC84y1vlv8hDxqQz2Icwpk9rKeYAB8DrKeAZACQOc3wS3Ma7vAQ8KTBzbJIhQ0AcOHHYXUMguAEUVRQNCOQgClZINK5ASDNWEuhAWjtANOx2PKWF8EDOH2KHXwZSYBjZAw8nIIgk+hzO2S6phB5RDoXUQqqVrxb2o6ExkkSgyAgYaWzQ/fOs4A6A+xU5WRnORs8ICcnQAySxeQMSdYDAClQgSLF/K4x57fpYAPAx4J4yClGiFUYEC7qcmDl0kdggkW99yGvjq+L6jUAAfT/3vcCGDvkP70ACAjyaW/bg5pb8pGdr5rfdhDEd+1wzESUATDtjOoiIv6v3ZJX24sYwwouvISqwYUkr16sE0hgAAcMQDAUgH/8WQZ5djHAAEMokDf5oLnNk8Quku0hJ3i7MiAzauODafOC65soQUgDUDiFp9mti4O6RaCCUYKIMPgDSgCDQ1E83JMCKciBZcECQxMqQGMOClCXPCA7IliACRiC5tm/gOs/iPg/j8gCKoivegI9TcMcLxi6h1CChyOcn1gfiyOsyMiBomEJ4XkDHkgZJCCCCOCAEugADngJKxADE+sK+AOYOJgDOsiDPPibfEm+gAOAKXACe+qnGvyI/yT5wI2IJM3JgjQggkwgibApDeN6gevBqiOUOiVsieG5Ax5IAyQ4CzLgPjxBQZZRgij4gjaIA+oJJggEDWlSQza0i7fDurioCH4bgjZ5g0mACDYAgAUAlInCnZM6gUUwuoyDnZaIkFiMEFuRP3VxlhaIARnQEWB6iIpQQ/PAxN8IQCJZLDkABVDghFVQBCn5AwM4AAYoFBX4HdJBARlgxagTBMcRjD+4mEVUF6wiixOAgF9kCbsAxmDMOSkwxBwYAjcrBVDohVzohEFYjj+4gANQikKxALd6HBsogkgAPC/Qxq4YHojgRmmxwovhrRFAAVaBiWD8P01URxNgAXmCjP9SKAUAiEdMUI3lkMTMML1ZZJk5iAMzIIrIoIIiAK2X4ICW5AD4O0hp6QCFzCqGnBFy9D/VQcckQQITKJoqsJKLBIBc6IW+o5AAcMaHYDTSmQRJkIyMywEKKbWWcEmXrACvcD/eCgwF8BqbFAIiSLKHxMS3+7ANKICHaCjwKBBQSIWHKMo8aAImehGQnAAj6DSjCQMAWARkXAQSOIE4Y0mXrMKZlBCtfAj325sXSIIv4AGKEEtM9IIpyIEGUAAFKIAHeAAAoEIw8AJO4Luh7IVVOIKqIIBTBAANSESjiYHyQkZB8ICzfAkU5IAO6AAq7ICrVLnAEIM5CAKecwmITEf/A7CA5moJCtAITjiFK4rHTsAMZ3SA52QAMBBJgGkBGXCEBnRFmFCAB6gA26TNDvBGW4FNr6EDI0hDj8jJGozMYSoQEiAAMqiARzgENyCJCHiApmFL0MwFJCDNigmAJrhLhTQCgLy0Mmg3lxiAATjLLpCACrhN3BzPS0k5r8kDNjA8BbOIYKQClaqILCCAQtHOCyCZUmhLopSF2AuAA1hJlhmvyIgMKWi/XWOJBE3Qh8BMzDQawmSZMCSDiYCjy0HHy3k7FaiKEoAJ3rsAzPnMXihKALiABGCBA+iA6QSYD1iSRUDCBJBRlvC9Gn2ABuWACX0ceVOXIog7L3CCyYLI/4/gIQjAjq8QgBWgsOR0S1CQKAoAkaYjg0jgSw8ARJIQABotAAWIgNqkTdwMPjJlDjL4wAwFTh7aEcEQgONMTqLMhUKwJixoOhEor0pyza5Q0O2MAAroABYwVERVOTpQg0JTupdQhB6VgmHaSazTzIQEiwTAvze7oqFkpxcwQaNZRcATvK4g1PijABZAVhYoAVvNzZd4gjBwg0Ew0sJLU4qIyFdziGVlCbGDCAHYACqggjdzy1zQARdwgb1hGAJdBAP9CmOlgBJgAR5AViNt1tWIgGL5QImIr52bgiBA1dUQgAvgiM/UyFzwVa/ZtSAIPL2kAhD1CneNV3k11Xpljf8LuIBiEZK00dH6EIBOioRaslRMQAEUsAEmYJkBUFgsXQQVSIDAgFgekFhmpVjBSIDwnBIByNW2LNgleYg4oANpqYICKIA0sLTs7L12dVeYlVdtnVnBiFA8CVQFwD++U85coEQAoFIaeYAs4NOMmwDgc1ljjdilbVosClQAUIAL8AIqINh4ZIF/nRJFeAgOcALIAEgGeNqHFVuYRdaNLVvcQczKlNM0WNJcUD0xtdn6cKsKMA2dIIEDkMLVSNp4RVaZ/du94Ur7BIAH0I6PzQVLlQQxtZVAKAGH1BnROEFjVVpltdzLBZjLlMIKCNMCGICp1dl4DF2ISNz6sEJAsT//AeiBh6DP1nUJY50ovrVA172Y2TRSFhCDEngAoRVRL0hOWWDSXEiEq+TCKSFF3z0AADiAX5Vc+VNajhOMGlXewCBMmEUFegWAAsgXKlC9z43HzNxere0YkHwmrhQMfgSA+KuACoBZM1DW9/UKFGiBBEaxkvK99KVK9zUDVGCJCggCjgDZeDyFCthdCemR0TjM+gjgliyBIiACFuAAy4QJBDZBFUYxBA3Vv33XUeKBIvBbAJAAkmFL+s0FSaiArGWNlhUUB7CAA3gmGmHeKaRCDogA/u1W4FOvhzBBBX5ipK3FQyJVkjDflhhU29XhTpBbrVVKXtEZPDHhByBU2ZWA/+htYgBA4K5IYBqJPwnQXNZwSdagACu0wOSd0QvAv0q11E4gBQDwX9boFjFWStOUkGU14wKQ3ZdUYwA4WohIgZEd2bCAiBZWF+LsCvdlCeIliTsGAAsMr5foPbWVX1mwVE7YsfqQGZbADPvoAMdpSfs01TC1TN6z5IcYWayiZEATi27cZJiowoeFV4hITVKOU6MD2VPACIqzj41pAAc4UAAggAPYUlgugWym3BKoAAVAzEuGCN4qKbF44+uZTW+BiJmszYcY5tgsVYjI4q7wPY1gS1BIgx0Z5SkJAIvpVvG6ZrCQ3dpUWiKAXiEAgJUAAHOtZDZWrxQwV5bZXRwlif9hnkkjreGHAGUZNmHRbYnfEwCrowIkaIzbyDVpOYBvBtSWiIEo64oAll2oIWFBA4AueAgXaAGbXmiIcAEhiAKWCWCvkICUs9UkLk48hufA+D18ZAA0MowVCLv6OACwbY681FvZFWAe0IRRAACtHgQ32IIq+K+HJgkm0FR1+QN6e4Rsts/KFNqzHFQb/d90RlX4e+eHyGd59ugDOAAEEOKauIANeGrWAIGnHYBmkRb4C4RGeAjFfghUeIVXGIVJ8IMviCts8ll1QetQ0AQ/2AJdWmABaOtBHVRRnVtEJVVR5mQ47b0E3aQD4Im/tgAGKAFu/QqnIgkUQOkpkTdEaAT/uVXsrKaEUXDsWCCFQe6CNljR0Q2ER9Bs4hwAFBPnBE6BN24By6zMByBOCeAAZLVrPVZt3zuAamaADeCVZ5RS2naJKXaJf7YPxA4eAEAESqCErd7q4NZqVQAAUXwITVjR5G6O4WmEUAgFP/hg2gUABSUJBVbwFrgBiHgAo5ZXF0bm38sRBHhGU9SA5zyAP/UKq2IJ8VVECthtS1EETQAA+UbxUQhuRBAiAPiEUACYxNbsQaBq9xNasEhgF1iJQW2uUmUBjj5M3vPoIQ/UA2Ai8OWJDWC02GYN6LptCblfjEZBllOEQ7AUFaeERlDs4G4ELQQAqlaXAA8FGofkluDf/8rkyrx9iMvkSlItASbGayIPVAHADKa+jdvYAC5bDcB8aBC3FZbT8vnW6kaI74fQg7J+CA+XFkUIBVKgcYMmCSY+87OsTAN+iO0k1AbVTE1uCdKCiQHDKg92AGC5c8dQGDsRDJomHTJtBEowcRU/8fkWA7mq6YtpdBpfghF4CLCFzRt/X0pHW0vfTrSNAAnogCVWcwDAgieA9PUesPB+kSTfgPJR8sxcjVJTdTaev0PQchMPbpJIghew6XO9mOIOg1yHiAHgSusOagoI6kdOc7TdzpTLdLTN7dUQMBCQgH1mvyT/a3rhZ8FAhECYSqP5A27Xcq0GgEaYyhkp54s5g/8lMK10X3eXCGqXyEw5Dup47wofhojT2ly5hMYNcAAnyxH0dokvZmwTv5iDX3gtV+w2wIIfuAH1vhgwt21Lx2gJE9MJFdrKjIAKaFDCTHbWKCkTYKJqNpfGew/2aw7GfogAlZY/UHlEiIMuCPcX2ENy9xoUELBdf1/LnFA5/tKgfne2nncJePNb/oqY9IoX2Hcm4veN0RUHaNXVYGwYvwKun3qICASZp3lxf6qcvpgWOC0Bw6oZqUzRvcx2lwA0t+4bYIIfEFreG9Qvddcq/goxiIIOkHtdAX0C+EvmIAVVgHGa5vtLcXmWaPCERgHDZJkwAOsUCPU1R9uxN2MFmFD/CkB22LyBG5irKR7VzI/yr1iOBJD7zzeB1mcNUTyDLmACJXByaQmELwaAnoYIwX+qvQmFR/ADuOrnhyBOoW+u3QcArUdgFBj31zcaMEB+JiqBJPgBK6iPKoiz6J9+1W9xlbZ5owGIUKhITQJgEIACBQAKSDjokELDhAYLKCgA4sMHG0y+xPnzxyHIkCId5skz8iRKACKUOIyR8iXIQCJvAIjxAgXMnDoBsChRokIECg8WPmgIU8EAh23yeGzadCdUqB+ECIECQEkMnFFFBooD4EsSkC4AtNhqFiSHDiV6ruUQIUJRCUYNKhiqcCHCpCKd8vV49q9BG0qgMGGpFfCf/zZiAIS94fgFABc3AVOuwGEt2woUgD6o67nzQYoJI0igcLIv6o+UX35gafCGS8pxvjBx/OPG7RuQIa/ubRDz2g4VJDzo3LliAYoSSFNo7rz5yNR8fYecKgRA4ayAsXyJouSGDcg/ANCMUZZ6b0UASL0CMOogFoMvkieU0OE5fvzRpaM/aAMAFFBgdZ5ZrsWhRhdM3AbZDS6gcFh/qyGiCSogITieQW0ggshI+ekXUl8RtsbSd7GZtZhBitDRRndMkGcQhBFSFkgjAGgC0iF+wGHQIY0ckpKH0KFkGnoZXZddjDkxoUYgimyYYiB0eGUVAEnK+FceNRp0oyqvjKIJKf823gjVc0M214FvGQ1WmA0E5mRDFAf9CMCGiKhn0BxqYHHdlb39gUgjjVAiKADq4QGAJQeFSZ1zl7GQphJKFAbbTjdgEQeHdG4YSCCHPNmIeoGo0advf2gZEhMuunHIJwYtulWQapXAQW9GEoaVTkJ0AdKGP3oUyJPq3Ulqb5kGetAP44GHIQCh/JWfoyVEcBdgH8SwphJthlRDE92C0cQLSqB4UK8yAfDrhk7OSWxv5hrk4kE0kXXQGc8+pxYLHIC22oiTjuVQC96+scYbd9RLJwA/9uoQugCcym5vdACghos0hacbAC8QyOdZzUU7bZo2VMWEECZW2YRBaxBsSCf/D5O76bl/cGqnIpZ0esi6EJvF4kGQuSCZbi/wBqPOUVmLrbZV9nAQGwYZ4olBHOYcta+dFoqIJ1lrnckg7hYNUxtdJMHsWJL1TGALVn49EkaR+qs0ygCswUQfAECN8EmbykRzonbbnXUmXn/NKacihRXDfw4NnTHAaq9dnciECfEftwYtsYUblmRdaKHCDjuSIoo8EpLWfRP7VJ2pwxxYC2Yzzhvs/5Ll+OMOHX2rDS7EzUYYO2bN4Z2hO8l5SMDXPFLWU/fXlLmHEA5s6nN0QRMKkoWXsW7ZkwdZWS24WTvb/ZYIUqKZNLIhqAcdm6lDNHd+kidcC+6nU4gcwtfe/xvmcUZtF1X/QvaE9iAUlOVnVfIe+FgjssJMrglVuEPfPFEj4L1MPRP8HOcwSLqsCeQVs+jDEmqQAhSIwCxPSRgiAuGUmRlED22Iwg2896DWhYc330PgvFiDkQ8U7WipUsJ4OkEnqJlPg+TqnJ0Q5rmctMIXiALAErolxR5QsQY1iIEPlhCn06gGeipcIfvE5j3vpeBnADzPgwySNhjhMHw73KFDYqEKV/WnbSyxAkcMkqj4vQR9CDOe6GCiiljARIrdWgIbrHAGQwyikTiLWcIsYT/8eeogScjKGFuwNINQMQYpWONBupc2jIjkjXAEQBUGsaUrtekHSbhUkxSWCf/T5U1TE+QcoHLixLOw4YF3GITmAJc8Dt0MJQTMZEpSEMqDULE6pnTIJ1QRpvn1pg9M2IIYAkGJbQouiY8YlBHRl6nQjS4kmQBJLGbRt7hFBZFVAIAfnga4nRxzjIZkJ8AOuEl24sSUGAFBTQxSIUooonARIkUmwjQKSvAqlw7ZpsvopCUnRdQgrGhFK2YxC1/8ghWMAAA+AXCEqDShl3dgpCX0cJI5gKSe3nsDIWL6hoGBpAk1UJpBULa0HrTAnzwsyx0A8Iow2Y+alCkIAOZYPIeKZFDkUgSohFdOaGIUALMwyC4JwYaZzpQNbFDZGkIy0pMckndhOFhI9tfSTGr/0kQ9cAEYmnYQlKFgBzkFwNJsCoBn1gReqhgUzpyHnjyFwQpNnepJnDpOWzrknBc1iCsM8gsAfPQNIZkpALbKVa+C9VsGGelI72kQKoGkDSFhq+xActO5Vmm1TdgnT0XwxpCEqaA4M+pflrAEjoVEE75FyaAoCKpGIJYVjwVAZAHgC1dgAgCWRclzQcLVN3j1q2sAwxqO0IQjKDO1c+hKF3hLFraeBAX7rEEL3ArSbt30n1XSiEH+6iNPCZY6N2jCG0w2koUmtkZQPd/oWmXcULQCJMEAQCcIsZroOpcN3+pB9QzokC9AYTyyY+v3WprTGrjArYbsQQo+ANDIAOBg/7XtlfIoEwOCLQEw2wzd+Q7RClfQGKMFPklYfdPVNbAThzH4QRTUoJgnjMclGDZmXjkcm9feM20DhO9Az1enFP8lBfh9Q4uZBRJnvYSgDjvEI2ic3JAcOMH92WwTwGAe773AJddCUSDywDPykLe8ea1eD6Y4xbdWCQUv4FMsFpo6Kv+lBk2bqbx2wl+DMDRQiqgqch2iVIMwmDoz5fEaEPiC1MYBeppiKRYuGYPUhgQFygRpCmKQ526t2gc1scF/WvCDJ1iiS5oYlJTZ5xv8OhfLABiPlk9CyIPcGtc2huxBrsquS2+X1O1LnUEaEQgWWUEJPsjwg1YL0tat+rVHaP+dS6gSgxgIwQ2kiAUqBmXQCMm1wbjRSXsEaiNKHNshNC4adb91hH+5SWJRyxQiHgEqPcjZcj5wQQrQq+2clqXbb4X1D6gihEhtYRKviEVF0cNrSr/h3Se5jivRuUqRKDsYyu4TV3nsajU6xF11ihqo3JcSKXK7CddGXMQnXpUvnOEQFWIXCtrd6yyPhCq3YVYqzx2LXZ7k5FfarL4P8q82dPPlUHXSsDxhCIegTIqZdkEPbn4DqiihKtwRQxiK1gOYAkDBbV/DtcR7EKr8WstWcMMnJpvAXjMbDGMpCxQ0FKj0vYxmwz3JHaqQ3YGlt8M2iHjZzf6FMIShbjoDg4L/Ods0MLTxNY65js7DEpayv5MRrDjIgUVS6Qjlm8cuSO9Btil7XD+pc4cInSdY8QlWaE2PhmAZI6rwsxiMXedQwEIXvlAFNmzBE5MmFQoI8VFGxFSrAQ0g9ndjkPEgciRMP4jbqx/TtqOHumluwribOnuGpkg9dYLajG3Me92zwhBfqHbZ848F5FfBWk2bxbARSw8wAiYwggEeIE85BmwAEANiHwDIXU5IXwEeIGW1nfiRn9vpRFeVFPolAYpQgm+FYLFBlPD8290glyvMmCvMwicIDyKsiBgwAfJ9gRhUQROAwEjlXSw8gq7JSBOYAiYEIQF+FArYgG38QO5sTwCR/0cTKFgGgkQnMB0x6F0nYIIpGEQBZuEQUuBHYeD4PeFlscH5/cAXRBv7vYcmLNQIRpX7bQjUiJmYfULANcKt3VqgBMIchEGafdZBxILNkIoI/KApDOIgVgnx1V2y/ICz6YarfSH5VSA6EcNJXCFINJcWTuD0GYQTPiLHYVeLecWW3Jp7bMlCyV5UaQrWwKErtOAjfBMI+tYoxCIpeEJQUZduAcAv+MIsHIJJ9MkHLM0g3sIgLsEhalmy5A4D/ppzUZ8XjsTJBQMx+IIqZEInvAEjWGMBUiIANNc2HkQWWuL0ZaImvgEYIFIb3EkaugdDLVoayh7xvF/WtCBUyd6txf/iKKjCzzlEJ3TCHPkCYl2JiLXAGnzULXSCC9BEsoBEIo5aKB2gAUIiABxY6jldK9wIMSgDAOhCJ4TBEviAD5TUEsDURzWXKYwkI1DiEGZhN1LfGrDBHbgLQ62jQbxHKcpe6PxbCgELVLkiLMYiKqDCjTVL7jXLL8SCLoQCoVHHG43ACLRACshLsCFLsnRYC4TkFhogJpyeQeiCQWiUVX1CI7SCLvxCMCiDMhBDMOgCI/yATbxe4/nAEfgAwSiYSZZkN1Yg9bmkIZyTjdCkTMbe7J0PKqZLoGyTmNjjKASlQbTCJ3xCK7zCLlEexJgSCuBGQqJEIo4FGHBLDYABJgj/kUFIIlfqAlfazSd4pd4dhDMEgyvUS/qhllu6QBYdAcFYFgEexDV2gie0Cn+tI/uNohrKnurcHnFtU0+OAiqIIki4QiiwApedXovpzA5VZrKA3kvAGiEWoimwwi84gzP8AniSplUhQiiQZmk6xIE5gzL8AilYXkCdlhp5z1jEJVw6lyFoDnPCIgD85W8uVCnmGvrQI2KOgkp5gmI6RHugQlAdQQl9zUFG3ItAoOK0ABgEoyncglZ+Jy6CJ4f+gnmC50gQgzMAQCwsysqFBENqohVaofSFgW5eVH5Swnv0p4wyWmCmjmGmoT3ekoF637ssQY4VDXU+4APmnISCBwiA/0APSJ9DrGYwSGREbmhpeih6RilZPqkycFQobB0A2MColQ34AeEVcqNB7J4KhoJ/xh6j0aQ6kqD90KE9JmemcIon3FuyOYQb3NnXVGaR5pxB0F1ItMkONaUPcCcxmCcuSuSBTVZHGUIg/F7WsIIrICpZ/oIyeKcyBEMvdMI1skHYGQQbkCkAaKNB1KlGpWAotON7AOZB1CRB2Y+MxiKHANwhnOBiOoQnLAHsbZLOoACGJCTHWCdI8JCIoYAPWMLFOQkdQGonTKp4sgIcRIlTGMKywoEh/EHWWAIraJSljqhB9EJ2kipKaBS5tkKY/GartuqN9oi0pdBByMRxHUSBEQnDB7klXplFQAAAIfkEBQYAAAAsSgAaALYA1gAACP8AAQgcSLCgwYMIEypceNAIiygMI0qcSLGixYsYM0pkkUCjx48gQ4ocWZAjFpIoU6pc+bHEQ5YwY8qUWaLDyZk4c+rEyMLmzp9AgxaseVOo0aMxexZFyrRpSKVOo0rl6XOq1asKExiBiLWrVwBauX4dKzUs2bNOzaJda1Qt27c6rQDYCrcuTrl07epliVfs3r8jT+YFTBiklQCDCyvGiCXA4scZuwRYCjko5Z+SjVSW+mSnEQIy5P69vDniCQKJ7YLxC3fVsGGYMJXCVOXiFRYETkD5W2SIlzSCEpExk+bIlrHMmLWTJ29ec+fy0I0D980as2GmUpmifdwg7hKk197/iUSeEyfyixaRCPN1XD178OPbcwffHX377ui1Q3fOXLQkBnWRAAEv6QXKKQgmiKAgKtTW1S3zREgPPfXQ99579tRzzz32zHMOOeGEGI4tW3RG0IAlsMYWGAim4uKLp0SSg4lYMcOcPPHkqGOON0Y4DzogZrMMLZBAEgQPReigAxhYDGiCXmCUcsqLVJ7CiRTttRMPADt2qSNz8UhDiwYaeJCBmWh6sMACDXgAAQt2SZJgIlsUUkiCnFDRFCCAkLFEQVaY046WhHrZpTzmMAABBA0s6qijCxggqQEdwMUGnjqE8YUaCUai507J2bLJJrBcAkuplYRwQQIJsMBCIu2w/8POoLTSGo+WO0YnSqOPMorAmsBGWsJbXyRYChFK/GDDDwku8ulMtzyTDjXCXGItEEBgYAAB3BIQgLcEALHOuOzEk86E9MwDgHM7LjcPMIw2wKu8BgS7JgJD3KKvEgUFgcO/QDyxW1OFSHmKIGCoIcYXXTTrRUy3TAOOO/PEs4y1aNCyiQcNAIsAAtsSYEAdss5aTz0RrluxQBNGiJ85lWw7ab0IQLDtt95ecg46/J0TDjhAi/Lvv4Dwy1QTCYJSxBVdNI1FKQDEmMYJQowU7TTBjAPfO+9kKEwlGttingrylt3xmsXIF587J9eTro8SzuP2OcDUAQCbZYv8KwJ3L/8QLhdc1FJLMtJYUw4w/wZwCc/mAA2ONc8Mc0sut+h04CmlmKEEE1Z0IYYaUgLAiRyZgsTMNP74Aw8/+eDj+j342MNLLZDQUgsXOXgwgQUWOMAAA3gf4zo+GxbP4fH2IB+f8fDVgw514hRTjCiV2H23AR6Q4EH2aGjvwRAYhBACELAMDo3h10ivjTferPM80NYxs4q+AIrExiLkycHkwEooATUAoEjDFhyUkVukYx/86Ac/FpiPBjqwGrgohe4cwLsKamADG+gdAyqBDwd6sIHDMx7xXPfBBu5DHx4cIYc6BA5xiCMax6CFKESBhhqOL1sh8EAIIBCCCUwAAj4Mog//RQEJUUiPfeyTDjim8wxm6KtyAmHGM8ZBRSpa4zW3KAUgmgAAMwjii8UBA0GUIAjyOCIN7PGINdyhDnXs442tGx4+wFELR4Tgdwz4GAM0YIENOMABCwBAAMBRwkIasnVa8lGFknePfOjjkZB05AlR2MANdciF4jiGNKgHiQls75Og9J72vFcm3RFxhsc4hjfMYY5ynGMe91Fbh9jRjWP04IuCKEMaylCGMXjBDMDEpRzKAICBZcQc86FYhKLDSlbWYRO4I0EDAmCAAHwLAQfIozWXYZ96DKSRh/SgPdKxnObcqla4ulU85kGP+RDPHpOEpD74Mc9Htm6F6fhGC1M5/0NIeO+T//zkDyewAFqQYx3ykA+H5HiPd7gDGbDw4hd5WQYvUNSiuKSCF37gkTOgAz/4gc84noGLIFDBCU7wghwSsQcqVFNkBzAAAqz5DfrIEj4Tso89AFA8d8gjnetEp1CH2iV2usOS8kyqIx34TncALZMxJKLugrgmbzQHQxtyHSON9zU5LAIAubSoWHnpBUEsQhAa9QgWsFCOZOLnGGWQgyDkwIc98JIPiYhEIhIhBwDgMY8EqIRNb3rTRcLnp7Y651AXa6tBKTYeYFrne7Ka1Ejq44T56Fp+0qXPbyg0efA5HuyGN49LbAKXX5SDHHZJUbmalQtpcING6DCHif+djG244IMc9sCH3vZ2tXsNbhqksAINMGACDhAFYZcrn3rEY1ayotWsGEvdxhKqUIXiEWSNCp9KGg923/0uaOuDMnrEgxpowCVYUcteswoiB1zggUbOIAZrUOhktlDtMHmZBjvUdQ9p4O0eBqxLFWwge+CoDwB2umDmxqcesgJAyWJVMuhW98LoPKdih4qOdmZVjiB+HfGKJxB2AgAWXPjiQNh7VtQuIgdUGAMAAHGRPOQhDsxgJz2ikYZhjsGXP/7xgAHQ4z2stqKJ4B0J2lkhALjDyU6ez05jOVh6rENW47oyltmh5QqzgyCD8jKGMYwOc2TVkZRMYYhdJxAOmQP/DSrggmpZjMsWg3UIE/BCEC5BDqBJTiJxCPQwtPSN/foypQ/Lwo8DLIffXHQMObAAJDZ739uC9NJQXheXx8WfK2c5y5seVzrAYUkdp0yxYr7wdPlDjuShubJK/SA+FtyMBhCgbJ/MAYy9oFIVf1EKASDBEHgxK8g2h4q36MUXBLLsgkSBCXZARztqwcsfe0EFUvBCFlTghR/LwQ4V9WUWTlqGCfDCOXAztYTaZmn7yMN954j3ObLMM/fZGx3rEAawIDBDUaTyG+L4BoXYdrJ0UdjC0PVyvIE0j3vA+uGwtsclbFa2NZWNUYxa0/YgwAUCLGAI4XDXc+hBn330Yxvb/+iFIdpAEPp+IRznwIW1Dz0FXudgCj+OaxpUMAUp+NwJSCABNrx0I+akO24oa0d/mulKeO+MZ1DPhtkqLimLy6sSqDyGOATiZS97uhzNnIeU08FO+HQQ4vKUhyjqda8FHDeIinJUxwigJlFEI11um1DBT9ZIfuxjHJXjyh/+EIhhkCPG2s4CrxfPayCnIQ1ABzoSkDAEBxTDG4vVcDl75Bx2tLIcoAd7z+TNs3jXIV72WsCvggUyi0PgGJ/2dKi5/PlytGOwg1VbuugDgLND0hwYIAACGsCAPm7gAiQgAQYzkIEJdKyaAZjAUcfbvLxTSOzNm0Yc8iCQM3SBCMsAsv8ThgCAIJffC0Afgy7HoILJT34IDDgACdZUQ2AUY33imHCGbwUkEYXIlf0RgPKmb72yKPKSevYiL8lwb/YWeyFCDuYAS/XhYDfFTtXgN25HQRiEQbzjABtgYBYwAdAnCuBVPMtjD2+TI+U1DnQgEHCgBl+ABXvQeFmABI1nfk6QA93WYzngfpOXAbQQDs3QDMIAC0CABkCwLQeAAHUACankQpgnK+YQDtAgDbxQN5VQCZBQCbxQDNXwhdWwKB/TANtSM1bXKFN3gA2wgDvzdPj2hufADdwQDh1mU7lHgfLxDdwiU3+kQR7IR33UgbZGANHwDnE0YsWTQPwwD+3gPtL/lg5GAwCDFwh5UHMD0W1BJmMAUHPqlwZjMAQ+OATY0A3sEyLeYIrV0AzLIAy8AAmbAAm+Y4AWhwZgQwvNUA3FAAxbCAm8YoACUYC8EixnI3fHMHryJm/hcA3ZwA3t8B5UJmWEdYfuEA2B1C3WhDMwxQAU9EcEwAAEMA6XNUlMxQ/wAA//AA/9MA/koA3NcAwvIBBx0AZi0AVQMAWKJhCYmIky1m26BHmhyAvXoA3YgA3aoA3cYJDdQIrhcIr+Jw3U0AzUQA3XcA3VQA3ZEA6gRw7lQA4aSQ4VSQ28wEkhAAAFWIACsQAQ4DfGKG+sdA0SSQ7xQHJOFlJP9ow2OR/H/2Az3GIB2JYF2yZIAbAA2eQ7BAAABHBAb5SUb7RA/fAPTvkP/rAP5dAMgOADPjAQQnADLkAETjAGWQCK+ZiJALCDcuCDlAcJDlmRE7mWA5kNBimH3KCQ4pANEymREokNHcmRG5mXGbmRG4kN1FANV7iFIdCLi/KLEFAMAmgO8dZK0BCR5RCTAMBu3WQfkxllAmGTtOB2SDAFaRBcerVXJBAAH7MmImMA6WCISpmUrIMPS7lA9yAOpoAHBMEwVsADWIJ+WKKPP7aJMtZfPfh+KpAMVSgNxumQERmYEsmW2LCMLpmcEXkN4cCR1Fmd1rmXfumXHVkOgVkMvAALRXJxW/9oRF4oDchAnFwCN+iSd5R5aTW5U6LAbdrGX2VgB3ulV3xAAhDgAQZAfJAASzrFU6P1RpV1D/NwDHpQEDY2B04gBb70MLzpBbpmUY8HdENwoSogCsuwoUPYodDwocUJndXgko8JndQgh+HQDQ9onSy6l3n5on3ZkR/5neEJAUAADMtge8ZmdM/hI+iid+0JDimVbXZgB7u1WwHmBXslCPM3Vco1gbG0PCsEH/MgDbVwGV2QBDzgBGOpifroBVKgeN3mBUOQA2Wqa6KQDBu6pmzKoR06hMXZDFUIANBAp9BJkdfQnCgqItQ5ndWJnXpJnS6qnRyZDbQABA0AC+UwXYn/9SWcd3T08A1Ap192MGCWaqkA4AS6pQEoaQHHgIfkJQ/UAAtkUD8E4QIt0AIN2pvlp48A4JOwOgUqoGs5AAB1UAxtmqu6KqfLQJwgCg3L0AzJcJ6qKKchupbZgA1xmZAP6KcsGqiBupHZAAywgAYQUAdGxD75x6j756jMgQs50GPfplqP922XKgdOkAZe8EMQ4Fmgmh/mQK1JwAQHwQQ/gJuKJwUqEGO96ZNUMAUN6nOzSqskkAxqqqsI66a92gx0WqzLgAwQG7EGy6YeipwjOpDKGpf+96zUyQ3AsAunIgp1UAdowABoqIWVcETsE2a1Eg+ikK495omM13hFZqS8/4YEd+NZNylL5kUNleAIVdBsCjoHatCgXjAFOCsQ/pqpKIVSUoAEtFqrGpqwVDuE5xmsbyqxEbu1W2uwE+umxhmdE5kNy8is/pcNRbgLwIAN/ocNxlkMtDCydQA83xIAtzA/yXEMQ6BLZDWzjDcG31akZCpTAJohySRlg4Uy5FAqXyAaBoEFT6AEReAEiveq49ZzXJq5TusEAyu1ALAMn/u5oEu1HPq5yGAMoFusw3qeXNu6rguxXqumxfqhYcuW17ALICsMJ5qQp8iQ/hci0jCEWHQLmEAE6kdMiyeriKZtNKtadpADGUAAErKeFQJSGVIP7VAMaLAHVaAsCJECKP+AAg36qlTwc017vk47BAOrAh4wsQCQDKE7uqIbvxsqums6vwDAuq+7v/x7nl+bDMXaDCALC7sADXlKkAb5lqS4wL7LkNLQlb3EeE5AAjqIfirgG2RZBrVaCcaGbj46cCczD+XQhElgqggRvjyABAGLvk3rfg06wbQ6AYBgC7WAC8BgDFcbvzpcv726uvA7v/0bxEIcscYAsie2DCI6osyJwAW5wN0gCp74oIxXuV6ABBc8ljv4eB4gCtzqqOmGDsAABIDQBQyhBEIgBCVAfiyMUmbJpQCgAiqQASyQBEpwBWGgBmCACZyAC8eADPL7x716usaAwxAbuvk7xIj8usL/MMCwYAwAYKxVSA3IGZFquZZ5ygtBxmuyisEzK6aLt34kUAz4BmpdnCPtgA1oAAltEAcLEQdwcAZfEAYXrMLna5aTJxBOkAELkADhmwIt4AIxEAM+UAVdcAZxkMeYYAu8wAuj+7CDnL+DjMMCkcjU3LpFfCqwIAwcGqxYC6fFGbYRKQxIkMlgOqt+e84URQK80EystHDoUGHrYA5GGAdz8AcSEQMucAIXSstubBA4G2lC2QEgEL7h+8s+oARdAAeHYAl4AAdtwAPIBwlc0G+QgK1FAgkDJgk1jAvCMMjVPMSObCqwgKO7us1vKqd10EtSzLznfLPyqX6Qxgt6GXpg/9dMSycNQEAGWEDGEjECPq3PoNjPuIxSQ0ACcGwBQsnLKODLMfADUCAGc3AIUn0IgXAIiIAIybcCG5B8Wy1/KnABKmAEiGAIdDB4g0cImKDRuMDRHU3IHw2xxlCEprILB1u12wwMQ0DOLT2zKkACYvpjOZAMGysOMx161XAJY+DLLdDTPu3TLGCmSUsQcGxgH6gCq2cCZ9wZcSDVgRAIZm3WeVACyUcCyKd8G8AAKrACqi3WnX0IiqAIiHAIcSAGT3ADL9ACRWAGY7AJggMMbT3E+SsMAGAtjUy6uQoJmOi3WHzOWVBzNzic3bCsGsuQHBkOu8AFKQC+FeHLL3ADPP8A2cI52lv9gTmwAQBwABZgAmk0EHFABzb23nlABwSgfKTN1cp3AKq9AirAA2WwBG4AB4OAB2dgBULgAzHQAijQ2Ao+AidABmTA22v921s7zcgADJeABpcADHVt3MsAYw86BTmwvHt9zhlgyQOpDW6JkN3QDGhQBDEAvihQEVjwBWcAB2Sga/rd1+NN3ySwAjkQf72zEG2gBmegA/O91aU93qid3yvgBXxABmyw2YeAB2rQBUwgBDaAzy2Q3SjQAjYgBEngOcbs3nlQCJiQCDRsw44c1wJxCbugzRy+DKIwBE7g3FKgARW8183tt1wgySaqxBN52ICwMBkBBVggBm3/AAYGRt87Pt6qjQAd+AAiIAIIwQRQAAUXQAAOoHwCQQKdDjwrIBCqnQFZIAhk8AavHQiwrQiBEAewDAVMkARVcOjGPAee/dl/QAd0EAixfQhvwCdNONd+bL8ICwAUTOdSYI8+OeJZQMGefLS4cNLQ0AzSUJzQAAuJoOs2phHAfAMmwOjgvtWqbd4WAAAO0AEjgBCH3gQi09eeXt/Kh9SBlN+zGlfEZM8D0dmU+ILz2DRiAAd5YNVTTdVVLfBu8AVK4AMu4AJFUAcjzcPc3Mwbitf73KD2OOJH24NTnAPRUNJDuAt7QOYe8QEgMAJdLt7hbtQrsDsVVO4H0Qb1vAIE/2Bcxm4QG8CpCJDaVMC3vEYEgVAQrv4FYoGqv9zUSWAFnxPVj7D0f3AGUGDgCN7YRVAENSw9hky/kFCmlBfUyf7szP6Vm2ALG96mwCAJvS4Sv2wCi27ejZ7aOUBBvAMALFA1BJEHg5cHv/LjBjEBANCB2+JDAFBt6lsEBgEFkTgQIgACABC+AADMB70FZ+AGbhAGVYDlBw6+JT/pI1DyLkAGfGILtsDHuFACukZ+Fd/1GJ94SEALpiD2CJsMm3ADSbAbZyASUI1BCJHaXpBBFcQDkU8QBM8GGzABchBIAJBBE6ACAOBDDgAA2wJEGfCgSJABK8DTFtECMWA0igAAk//wCLLtfYavlamK/TcgBE9AzP8eCHpABGZ6oe5f8VPg3Np2c1OcBVLAC9IACNGuq8ZgBwAxYgQKFAAMHkSYUOHCg0UYAlCxYsUECxYO/kDYZs4hRYreIImUgcEGDUPSyDkpJ0gGAgYQQMjgxYsUJCoyPMR5EIvCQIEOAeio6NCcNmK6YOny5QycOT4DFckRdchUqlOROJEyJctMEipkeskStkSiM21wAViWVu2yMTNAiICbUy7DPBoYqoioYgMJEgZZjEgBoIULG0KefAEjJ6QDAEjkPH58Mg2CBggMTMiABEkOEhOMJBQzV7TBnnTgqDFapUoXMW3ykNEgdQiAqlT/r2ad4kWrzLBZiMSIISQJrmVoiy8zZgfuhw+jnQPoghOvxA16Dao4YRDEwBYxbBCJFAnJARUo5QAwAznNEAgGAkzwkAOvBwY6APx5PvpPnDYHhdyIoQUBWyiBBAtUyKE2BYe4bTewwsqBuRRi+KGW4wBABhg7kkjihh9syO+5IfYikYTqptsgRRUgMoG5gVJowQYm5FgECQY0cEwOMwAo46A00tBgAQIWmEAFviZoIEQlDXIBBeaYYwGAkfhKkLYFrUICt96cYAGE7n5IAhBA9ojEFkIGoSMOOPpb0rm+EsJLhSDK6OqCFVcwAYXBhLBCjTsWkYMABBAw6LEgGFjB/wuU0siggQYCgAAzDya4ABE92gzxyewI2ACAvQy6srarnJiCCikMuOCFG4RgAovW4KCDjj9mpRXT0To1Mdc4VwgCV4kkMkGJL+LgKBFJIjFgAQTKWFSFAAggArIhGIBgyAmubQAMW/MD4UkOHPViRYP4CrUqzZxwAoIAGlCiVTHUiIOOQGild1vRikgx1+o89ZQBC349iAgw9Ahki0UiAQUCBBZgFqUgFmCACoPSWMGlBRqYAAIISvjhCXtFS+I/G06YwAA5jSyRhBXKrQqAHAggoIgwDILjj6AQOeSQnj6e648V+CLR0xQ3cODXFRLagcdEOOGkZCLVoyIIACBbQf9QAzSGYAGeReNPjTPEaK9IvfTVtVzOMlPhAAJMOMg7w7o4Iw6ftpbrDzJIuIDfTofey2iEFrhBDkFAiYSEBSDuMb3HpjYjDQAGdXQBAyQAgW6c6P2jiIW7MhKhlFdWMIcMuqKCj2ojOEgggmC0XDQ9ojxo76H/lUihBxxZhBM5WGAAgQwmACAlyFRqaUgECHCg29YZwrw9DVYwkmwAyFahNtFVyGIMOU7JIAMOAlt+SQ32FhqhiBIKIn1FyxgCBRMgNaABlNJDr0cDADAAZsrDZ57WNwhggMtQpi+96SsqUclACYjQuDSUghNBMEHl+BciFgxNIXc6mkHSNyfITID/QhdwiQEMsIEhEGEIwNNa/AJQgRdMUCE660nBAkCCIESPgOTbG1/4YoLCKKEIZUgDKEpBBhe4cCEnQGJ2FLIEHlygUwuhHa+CMAQq/MgOjymDCVpTAgIAQFkAaInk3GOAKInBCkZEyCEQ0YhGKIIMC4gT0G6oNwBcoDMVaIGqlAAFJwiCE6lYxE7QGLBEGCsSheSDGRRpBjCk4QISyUHsNDDJf23QC8Jz3Bi8wANZaQ5/j7uf1gAwsEEiJDhKgBseigA9G5YoaHuTiAYmcIIW3EAJWDiDCgQhh1RwAhMAUENRjEiEPRhSEsc6ZiSQmUxm7kEOR6tI0aQmvB6NIQtO/ygCrdhQAQgcBAIccEgpEcKd7ghhCyyIoxxdyS/arAABqbpBEuDWBjI8phSgwIQeLmXEE5DADnzgQyIAKomDKHOZBj1mMnNwACkFIAPak0MZxmBNdKmgJ/qcFQDYsASdiVMhA3HBD1hgF+jpUJ0mouMGFnYCw3xBDUwxArNKkYpT5AGNLpABErwwBiCmwZll2ClQgfjPxywzmWVQwaBeItGJXtMJQ/DAGzpyUT101KMK6c4SWGCBDUjEhmR7ZYoaQIALPAGXbYjXHwbBhUWAgqal5EEWGiaHK9phD85ESV1/CpYxRAIAh0xEGlBIgIc6tSaiM4EbbHZVhpwgARW4Af/vxkeir7rSRHjZgOQCAAY1KHYQHMFZGviwiFOkIp9GDAQZkKCVrYTlKzvlaRrKoNefjgGRaUCCB8ZqgFENAUEk8EAHKIRKxiZEAlkIUgL4Ntm96NCyLlvJWCNQBSUIYQl7DIMbXvOY0t7hJy58ClZc2xvyhmUKWXFtGuwK1IhmQT7tgdRT8UKC30lgIChwgRCKaxAYTMEJCziAibrKt3ydtLkqQBLMZOCDAKGAOy64gRG8QNpUlOIRaOQBelubBQBwuMNhkUJUWLsVlOgmB6v1Qg6EZICukEADk2qACUD6gyrsFwBOGIOyBCwfAg/NwBtggAgNcIIbuCAFIwCACED/sJ0lI2ERM00FGDw2wRRwQAq9edBCpqCZK2P5JGPIgRcAMAUVeGABkAIuCbI2ZBT4QAlnsDEPvJABBDBAL3rpMd/IRoIG5I8HN7hBCxzcHAA8iTk8EMQiUpEKIroQBVbeSpZFE5bgjQF7U6ANggOwgN9VZgEJcLMYBvEIRRT3DkPIQQPg6GKu5pnAfQkC8HgAgxu8QNDKM4ihQWAClJSWoC4UQQmcMF4Py4W8XpDoVVDN52QhKVkL6IAY/vCIRiDiIPgRp3wa4K8NVKTVPRba0JAgsCIU4QQNHgGhD2LoD0x40aVA4wqGzZti54S8AJhofOZzPFUnqwEXoAO1FRGI//3GWlAW0IDKTgS9BA0hCFTYKUALOXGBYvMHMShiQtg9hNwtmgxKmOAIKHDlr9Tb2BzeaU2AOwEhDepwF+jIIep1VTAwAGYTkEIawrNznvec54k4JB9ykIYxtEENX4gCAG5wEEGPYMmIFsSiwbCFOEzwAg4Sc4hkAgD4ZMwyWft0GL7QmjjEYQ7FLZkBchBQoB/L528PTyG9QIVE4JsMekhT1RFy8Re4gNfbSwUo9M4/Fpw4K1JAfKnm4t8c5MYL13J2/BDQAR8IyAXBmfJVg7AwL+yB7TtHZnj4cNfZRrRHdkiEHMYAAIF6AQx4qBVC+GOUJ3ghEqU9hREHUQIVIP9hKlEZFaZz4gQVSEHMkYLAWLPWARQseTsoAN9V76AsJ5zECcj+EVPLsH2eQgaocpVDMcPPB6A6AXPYNkge8kCHPKRhEYpORSFcWOr0cCISXiABGYJQkmHfWAoMyQoAkIIGSD6LoZzlMDQRYCw2cKgswb7hGZ4rMg8eETNmuSJ8+5ExkAIymJeZ+4OeOIRGAINd8jiMmKAuaBz7W4QcaIIzwAMyiCQpQLX/ewgVcBSYaYAHeAt2szEOCAAVGAMr2j7umyhNKq8s8K+r2IqeAqIyyILXOz8AAMFGeIQ3KINISIVVAAV14x8zKAOmEYQcOAEf+AEl0IEcQJcseYgBFKH/OjOACOJBG4MAD5ArieqNKfCvETtCU0EX4wtCx6FA84tCg6DCQ3ADKui4VDAiEKgiFRTDD/CSGDgBFSAVSusNg8BDEoAZiPm0bonD/ZqA63uQO5SPYTvCsODD1coeIJqCDJQCMBhEgzDELSiC91u0IiiICbokRzQ0gzgBFrgKPTwvJ0ACEHKPAAiAFulFG7sOeiOvLRsCDTtF/0KXVfwy2aICMBiEDvzAEDQIN7ACIUC0NPA4CeIfZgHDCHmSgxABExgCJzgIdHGCDDCBMCgBASCAA6AcduNHLkQjNkCCU0RCPBTI3jCVYMyeH8mCiPICJ3iESRA4RWiESTCILRAC/0m0vZniBCN6DFDQHXVcR4TQgTHgAd8iAyPIhEmYBA6IgAh4AAUoAABpgXRbRiZJgmGZA1mZua0pAmksyIKkgi2rxti6JKKTApk5Az9QhFAgBU04CB9IgQ9wMkUDBSUKnxN4DKZBKhEISYQYBAAgtZ6YlUDgAA7ogLPkAApwSQWAyQIogJ45P/SzFRaoxJ+0S8TLkimILR6RrSwogglZgioIg0GwBIRgMB4AAEGIhDRgG/7BytyJhDIIgicxR4U4PwrAzAooy7M0CLV8SbYsAAV4gAeQgJ75mCBQRbv8yfMKRjFTSIYsARFAgeDYAj+gyIPwAzFozIgIgiULHyOgEf/7K4MVaL7ueIi4/MAYksslwczmtJUU4IEsGUjVPMVUvLI/bMUykIIVmBAac4NDgMiDoMI3kBJ/YYzwAQEZoBHC8YIVuDz9uhyDwLac0Zmy5BnMtJVdw4rNqEvqJC8pIMZ545Gncplz84Eq+M7wJDj5BINBYQAHYAAysKnlUc/cubEVEIIu8APn8An6tCpmRAgTCAJiJIHU9M9hJEarkIKgJD4VYIEXONDvpISwzKj7AAMAYoAHDaDwqafcWYQhKAI/eMiFaM4ixcyyLMucKcvSxJSyrIBtWTITyJL+PEKCREUAJcYDwosTIz45oAI5MIEYBU8azag/yIMECAAGSBL/KSEDOmidOUgMj6QNMngEnZnQ+1CIIgWAs+RTtNwWP7WXElBCgTwvBtGKJMwBHjCBEyAIgWCBIWCae4qEImCCMxjTgYtLAAgAAziABz2ACbhTuimEwbG/RMUCpTAIN81TI+2AEnDVEjhLJkUIAaDV0RBN1LGXKH3HgpQCBCEVACUDCZCAtWzLARg6TrgnTpAYAIBITD0/bdnUHAWABnAAI/hKyzEDUo0E7BCQpUs6IjVSCnBVtCzNtxQNWhUAhBgAt7ScCBjUKv1V/zKCPyhSYXXJB0gUThAiThCEvCFTzMmD98GfHIVQB2jT1kkPj1wE7Hi+XARXI+UAWB1WmLSV/3VVALppASmVzg8zSNaU0FkJV8wsvkh1q9V7UiPFHJipsx11gDfYJ7rxQo90hEdkDpwQVgmoV2F9SXa1FQWIAA6wHB7gUsQjWix1gmAN2SKtAJNA1lJYhY00CGEN11k5z04FsAB4WZgNIk5YwRMIyQ9QwIQIzdGMgGE1iNEEzUDtALppAzctAhMalTS8uzxI2ubUzDDT11KQBVDggRYAgLElTamlAJxNgIMggAA4gAXF1jIABYNQR3T1R3V1S7a8WIOIANA0V1uxT8uZFTZ4AzIgAzBwWZCtWwrQTABYASpAGFBYhVQgAgFQHRgpjCj4grI13QRwgAQwAQeggPCRKP85VQERgNycsNiWxNUKuNfKBVGcCAT1ywPMKV3NBFraSAN9lYXAU9cB0N4B6M4n6AI1mIMKoABVXZ7tk9kcGF65CFznjNhYRaPlzI+4jN7NhQgvQNZUkIVSuIABmFVa1V63LIAYQKOs5AQ6qdXRCFcA4IEFZoEnvSr1I1+5wBlurNvT5cw6sj23koVTIIKEQFdaBeAC8NvLW7rlARSt1IADRmAjLYEF5gEWmF5mhD4BCQ6EUMlJaCMnDVkLXtuDGALGLS1ZgNr+9d/JdQEBeQEBbp0TOOHITOF0dY4EdmEe6OHlVQjMm5kK4FMk5QDxNV36RYjUvd/8zSCE+IAiDk3/F2ihFloeJh6c+8sAFV7hIm1hBo5hK8aJB4gALUZLJH0IC8hg/OXghfBfgnABNe678JGBSIDMIbAAOZ7j5mQBBi4BPHYOPRaNdwSFIG5cQh4APUHkJnEBYbEcHWBk+xsCB0hX7c0PFnZhGLbkueDf0RDjmSJjhfDfwUBkPfkBLFCDWOEZS3iDRAOFFXQAVg6RcJ3kF4adWP6YC8hI/HVdDwZhmKRciz2DWFE/+FWSSSCDLxWENPCAA1DeZDbSKXbmraGiTW7d3DsIdOVfylUAiyVN/LwPbs4PRDACzNiAkuEBPPADBzZnSX7lSk7nbXk4TgjiU8igAUBX0WTLB5hc/z3G2d7dmhIgEoNYG4AehEkIBSVR2ik26IPGlESJBFtOBUAsgP99AAogzQcYgFutaHv+GA54UC8iAAGoARABANSp4jk+XR4wAyom6W3R5FNoZwBA3pcsWz61Zts10oOw6DZ5UItQmwAAAf6dZSWpAOmtYxguZ0KG4qJmiBFF1lXI3yB41RJggbZmgRJgS6iO6s7ElASAGAhFAGQkAGSWCzBGCLMsAaCFVQ6QaIboR7JWCGg+aWk2g67mgGU2gyIwaC7uYi/uXedUkjwQJQcAnvvZ60B16QIYbAko5+YwtFwkiJqd1a125hyggk3G31IQ38eeYoGOWFjtACQ9WZrOD/8Z0NFua4kAAACH3pbLXekH0MwKKOyaPW2FcJKc0FNmNOsgLoUgqAC25oFRIGqEEE0JuO0+7uIlOYHztIsDyGsAOICxxpSVdujc5gAliAHmfpKCOGSmKwiHFY25XhKgFd/RUGxbPoXGVuDsRsyE+F8FEEzvflUAsLYQiYAJYAwNgND8QW/WxpTtVQCzVIIfcJLTHpDBMAg9EQz8bmUjxdW+7uIEzgk0ZGeawm4e0ISfPojthb7QFM0NXRIWYIyK6J0uQm9PtBeYHIAHiIIngG8AIIiC+PABQQgQ/xjeZojKtuzofojpjm0iQGeGoFVI3N4BqOFMeQBByVHNQkY4POz/EFnqMBADLIACISgighCMJfdbwQCA+t6aqV6IFC9dnLgAKtBXQU4EF37SzPVg5oDngVCSJXsWH/dxADhgOe7K0SgBTTgES1AEP2ACg/DbD9f0Od90IRCkJ8cJma7bh8BMFkdqmjKBF5YLQ4dc1Q4RhvJx4dbU4SZkgxCAAxeNQ3iEUXiFV0CFScADAFgCEDlih1XygxiWCN4WgUYI9p7c7pYAx7bPO+5MzFwBKVDoK+cBCiD0hXD1La/J/Gh0MLrk+CSNnlijUVAFYD+ImbGBI4tdg7jJOCi1J+9qLX72Lt/et7xYWd1TMG7OPl/sDTaDZs6JDxYAflQSAUhvc9Ve//UOEeS0GUqweADQhFFABUrvgy5YghhI8oOYA0VocHvJ91YtgdDe3nT133X926g1XT51YCMtPtiubmd/CIUX93GfCxRQQBKPdCWJvVkJQYtHhI5ohIxHhY/ugzB4glZRgzyQSMW1lZN31amOeIW32NAMTcstzSkfeCRgmkVoz/OcC4U/c0x57kIDWyV7DooHijWSSIlkI6fc+MLEeABgo2ures28+hkn7g82iLbkeq5XXopuTgWYgNj4mQ3Im3P94LSfi4xDiFyMXJ64HMyRzz/4iaO/GTba++8ahEwgBVUYhY9x7Kt/gBnX+a1+y9cHYGs2/FulAJfwl4pI77NHe/+GHw2Qj/ODKIjL1w/Nv7ZAuJl793yC6wL9WoIrcIOORv3bVm5bd2idd8uId/nXF5C/LXyXjwBB+VRvO4CVlngPdvSd533RyHQ2DnH+CQpFoARNyHinRIQz+FbLiwElqLFml/6XBAgAAgUQLCigQIEBBQsIBICwgAKIEh8WeBAAwQEHFjZGEDBAocGQIT+QLFlSxIgRDVeyBHBGzMoWKD60rGnz5spGihQ1GqVpFIBRjfR8eQHARQsAMZbibNqSQ4kSHB4oGNBQpACHVikKROgwIlivChJcPLDRAgMGFz5+xDrSJFwQTlcGoiMQCwCjIubybakTEYCflIDajRKjhYv/oy4O920KVSpVqwOxcn3Y9atEBQoEaiYQgMABBg4YHGhgYGXCtm/hmhQhtzEiRYABYFGypTHuP38QaWpIRwwWJkmUGFUcAzffBAqvinyoOaLXrpkhAtD8QIIBAggWhE7LwAAbPU1FiGDdOmVjRQAaAVAPYBLyvrsBUNJEqdGXHzeU8DeK+AUK8TnVFnMhURQWdRRl9tx1AQRggAMabLABaQgUkYdT5GkIl2sq4aYee6gA4AcATAjY1G7qUaJHHFEIIQR/StyA1AuJnfhUBBEVVGBBAyD4HEMLRqcAVRIkABqEEm7gwAQOLIBhUze0oOGGH3Tow4eUCESKH0oEeONN/38c4l4bUTARI39SIvYlmA1NVYBbBjKEggswKgGABBJ85RBCDErAAQAEGICARhNuYIGTRTh1BhZPCBFDClSCMEILJjamySuxADAIEzO1WZNugeTRBgA3DKdEEmcS1wJin65UQgUPPIAQQZP1CF2daPInwQOcLRhBByWQdVGhhlqAABjioQhAG19gkcQPLowAAghY4qaKKpr4gYUNLZDkakO60aHGSi/c8MOLN9DJKpufsvCuVBRQtZJBfRagJ55KSIDmC+z6WQILPHxGqAVKHopAE43pFscZX0ChhBC3ITdIGFAwcUMM34ILwB9zAFcqyDeY+4IN/brQ7sYAAFxCB/+oLSRRnnnKel3Mm7HqwgtJiJFHwA44aEB333mm8B/gLiGExULYoLGrf8TxBRP6jSyyyAAKhHLKK43CQgeAUhWkZjFLAFYEMff6lQIRVFCCJpqY4OBnBMgtdwKDZM1XDEg//IO3NH36RxtdJHHcDTeUOvXJd+N0yCOakDJKKJZEcHbaAvG6WdkyR1TdA2qv3IHPDs7tIBhQKt6UElA83C3TbWIhBKsNGT77C1afjlMgjTiOSiiTDOJGGBxUkGcEmWse0dkUcBBsBxUcALfoCQRyu1P8WfxDxn7fqMYZUKiLwux5FV61jdTzNYoqqGiSySFuiDG82M/9EMVNDySAkQP/Aulm/k02IM2E0koCpic8TGQuOJfsRmY7/s3lEUFRxSt49wg/AOdOtbsBE8RAh0Popmgo6uD+GKgUvUWtbzcSAhbOoAaYACAJpfqBfkQWgwWKsCmyYc8oYhELVZBCEWe4ArRMBIfcrUR5HDgioMIFwiWG8HapgwIAWKc95CjhC3EIhGxYxCiBxBBAKMBaDW8SCETMBgCqCEooNvWHQZBRNnRBIhI5xsQ5MjFl1rtY9qbYGDHMoWggagRgSBWcaIEAjGHEHSIawZ6GnJEUIhoFJSgBpUBQspKVZAkdM+nAT/kvaUtr3Vx8gIU26GF6PFGkItujhzzEQQx3Mtwh+2LK//XQUll+2OQZ72PJQxzikmHK5G40IaI25U11pTIh3qrYklOiUiCKREQcuoCXWDYmd6j8TdT4IxBLkAIAIroPIngpzul9kImPIAUpLPGpJypBinjL4BwE0stAHCI2qEzlPetCTYUdgj16KJPS+oWCGCjhCgAwhDAFoolHyIaXc2Eib1DxiT5Y6kZ3xJgAWWKSL94ACmdoSC87CIB61vOeitzJPnNDxmgSJy9e5CiWwjCIT5gRcpRwj1OWeM50hkEIbbJB6gD4ST2apAZNWMIolQWAQIBwqWSs5ynXw5OU4mYOHnOhDRoiky8C4Isu+IESwmCISQyTaBENBUU/VcwzSf+pdUU9aheuCFKmNnWMZLTnM+VI1caYKKs2KFxXvxggwbYgBj9gQhj2upInHjOjb62CGOKACHICADAhDVVlZfPHncxRsTapjU/Hp58fBFawMaGTtRR7R+wJsKhLeIMa8hBOmzCVngLZiSI84YlMZMIShxgEXUVKzabWpF+jhSEMj2na2jGXhlTtZF9bS5IaAOAObdjNISp717vKk5y4za1uPcES3gLXgyIEpnm7+oFzIXe0httqc2tkSGqutbEmKd8YcRsb7c6mjN8Fr25tkgngMhC9fxgVFkhLkhYgkLSwBIBMknIU+Xp2saq7WN8WvASBxKaN7enwdit7W9wCILz/4sVdeu9GyXBSUn8gfJoSvAWABYNMICQrDqtql7gKN+RFFsMojUGKUlR+l7+z0W8jwusU3ypCE6r4hBp8kIKMnqieI90uGeXoNDEw4QUj2CjJXOqCMSfmPy+IwXxTCt0AfqAFVejDbWPjxhHrpD3atfOQleyUT0xCFaFwgw8yzBoQFBZpTaHn9P5ATyyH8w/j8t5MSvKlktUIKTb4AXP/erUTveIVAkkjuJTABIsd0wVVMIRAHsHdZaK0IerBbSMeoeemkOIVpLgD38zDGkoRNAqRnUMeQpjdUNkVywKJQ4IFTRKcnbnSXxUCAF+E48aIIAZMQPV77gY8MXQhajeI/8IQLeHALN8Epa92jyJn7RRVdCIMTTgCCiKla7iggMFKwMKvxQTC6a16pA1hggtAwJox37hGN/AxFmojEHZR2SbaE2YaU+wqUmQCD2KAghXt2hJGj9g9O7FnJtTdkBMLZJji3TBLetCDFMS7PLquNwaxoAZgVzK7LbF5qSJNb5zFoGSG1VvCpQRhVsHF4XtRwiC6OQlENPFTZAXAK578iKkv0pknZXSWefLfWIt85LoNRStioQtLvAEAR2BJwlLegxqw3OUlAUEK6uTrOOSBsk0xT73PbINnIy3hq2IVw01Skw+kwFp+XmrT26SISPamrA1pRCQj6UzZYJnE6DZxS/9MDPZYvMITb1hCE0Iv+tG3JO0AUDnbUeDyFpiLCV0gV0vsvhJ5lyTHZ0YXFBKOBcSUOfCCX4mVAIB0by6duJ9K5FAY5Qf4lNwnvWEJIO8Ka3TLOsAjL3F4wQ4AXXge9KP/Pvi/35CENaEHgG8VAOjHkjzAfiWhX3sNqAvhxaArdQmHXYC2KhPzAL/wHz18cEncjSgCsg1HQ2QCSwDFxsmZuTkT5nldeLVCQ7ACIwDAGqwBGIjeEYQfB4Kf+Z2fhB3Hsc0BqYjMSmwg/MVfDzRBzyFccBBWYO0fawgESVTbEiTdezCd8X2KGEQBtPiUQECRGQGApngaq+3ESa1HyAX/mHiZmCd8gisIhC8AACZU4EqwARtcYAaG3gZ24PfVAAiCoEAkgRV023spRhfC3w6s4M+NWsKhGWFtlc4JXkkUXhjQVHsEYMrA0IsAYQuBFE7oBBLqBOM4oSGyQhS2RNndBBZqoReKHlIA3sItHKtgkBg0jIkYUBd+Xwz4gAtWwfvF4ekBwJSZhw1mFyqo2hKlTAvwoU/5YUNgAR48n9bcxz2RUSvkIit8AiuEFy+uxBRWYXw0IgZ6YCTyHrONWVIkwRdgiB7MwRl0AQD8gPeJXgYeHNBhgfeN4hdJWMKAIWvY4Se8Qig0gh6mzAe4Iiw2hAvRT9U1hCbc4ie0givQ/2M9AoAENsQsAMAUAgAhuAoxsiBSROKX3EzefIGICUSLucEdVAEbNMEasMEbHAG69B0WgKLp1YBpAUDCqFwPuB0IxMANokIq6qBwbcwH8N0rAsA6tiMA6IECKlQkxZor1KRNskQi+oIunM4anF+9SdhKYIFkqUd2oVRvGYIf3MEbsMES+I9FMsEKul8PFJJAvN/71QBJoIAN3KGtmWPigQtJ/FwfrmNLPIFAMJ+mqIIrzII9JmJD5CP/rMFPRhhQroQenFRR7oQlmJghYAEUPAETuCEWnEwK9MD49cAXGaZVhp5GgoALLMEhkOQm3Y6VrAE29mFTCEGqAMAXnNMrEP+DL/zCPrLlTezk6bDBYYhhTQBGnY3YXoZXL61SHLSBGECNYKGAYXIkYsYAB66dVt4hA5GEYR4NxPwgSyCXQPShCz1BEnTCLPwCMRBDQ6xlLrol/wSaakLYsSkVe+Tla+pW7jAeODFBDCAFClDX+7WAUS1meuYNzpkPSayBQGDhEtRnS4xWj73InSwBIzBCJ7CCaQrEGa3EL1gCIfzj6TQB4B3Q+ACWGhSbnLWHenynJyDCI9THKGQoJTTLE2BaC4geda1n+XHiESSWCH0AChwoAGShRL6B6eknuvQYSyrBEhDCG7yBFQLAPtoEIyxighZW4bTXnXxY5SGhQJgY5A3/RoaOwmTVhRp0QRVg5FGsIHtyIWQ6HmV+QBPkKAC8AQYqBdW8QP0Vp2YKQY3eaF8s4o2uaZeCSw8cF3KtY/Td1ZgcoG5dKIZqaDjxkqjYzR3cwQ34wOhRaegx5R2EghHCpwj8IyY0BCEwwlK4QMmEKdWAjETahI/exJpuKqeiadllqlMYVnvF6BmQ00xi3VOpE54u6SjQkzgdwndaQm06JOhRKUfiqCVAUHB+ACOYAhUyQhW+wXGU58iIz8j8gA+wKaiO3C/YxKPaaKdGa7S2aUtY5qhqJgDQAeTRx6mianZFEqtSgiUggiUoAoXqVjgZgiE05FElDFOaUSyQwmSe/04NIqhAmAImFIdAlCdgyU5X1cCnfmqbLis/9mND9OeBQqu0LuymdikWnssNXBpYORO3agl9oCoZQd5PLKkhGqK5hpchwMGKLgEb/AArEGEmKIIAoqOWAoCv3oIpvIGDrcQM9avhyMWBCiyb4mRLBEMw6IIpdIIwJqyNKizDciobUGR7CYH6Vey2XizWJSmrQqATsgJDLaFuWYI6AUAY9EE3DSj/vF0PPKqv1thKzEixAgAInB3R+qPbNusU3qM+zkIwKAMxBMMvsIIpmAKwImwFJuwbGO3CWisf6oxASF5DWOxfYNmFbizkdGx4sUIrTAKAKdkTegIpQNAnIGANff/ApICAueBEzQodAPxtwpZuJ0jhPtYkPq7lLLzuThKDMwjELOyt0PZtfyKsigZutGJhnCpBF8wBe0QefRxuqlEeGQUCuC5pIHzCJ3QsK8yCK1SfIQJAKKhCLEjgHcDZIbVZv4rujBhO7o5vQwTD6wLAWtKu9D4vJXxCKJCCL9zt9rECJvAtJtxv31YhIxBt0XbpjR4NulgBHCwe4hpv8WrJ4vaT4wJSW7bCLs7j63pC5fqi9qmCeD2kC3Uu+EwjBzdFDNwAajZBDUgkJqRudOrC66Yw+kbwI3yCLuwkCs/CK/iCpsyC3grt7VahDuPu/hKtzEKbGiBC5BGvAa/EfTT/VHhSQi81MD1K7yx8QnbV4y5GrhR+giGsAejJ34keEGn5FGn1T+EsoikQAhtsQbNKJwrHMAq7gic8QivMwgtvX4DOQg5BnYjcARs8ahXab/7y8P6ygc7kwRBLnsUecPE+HuU5VCbYJCOvJU1F8QQ+YSi4ZdmBARtM5YluMBdx0Re3xAcvDSGYwi2shDL8gikDwC+88Ou6giK8cYAKBAzjY09kyg59ghsUzhKswY3qMC//auneAR0MMvEWshEbMgA4EORVJyPb8LhO6Eq0gidoXzCgwh0sARh0aROkGToyWEWuRHKxxOwEyKKKcjA4gzPgbbOiMiqnsxzrgim/Mzz/k0I5Qh72+oKtGQJ5zpALHMFr6XHfAkDqWkJ9CPMwHzJLELMm6FZu7WIvNoTsNcQ88uPJgh4YeGnnStiL1EQnRxHGNEQK/EArxK8u4C1J/wI6N+sLx7NKnzJPXGgO0TAqWEIY2ECk3owPHEHg9ior9GLb2IcwF7OWFHLbKKQlTc9DT/JbSmAshKYlFGOX1sBr4EZAAAAh+QQFBgAAACxMABcAtgDZAAAI/wABCBxIsKDBgwgTKlxYMAAHJQwjSpxIsaLFixgzSiRQQqPHjyBDihxZkIARkihTqlwJMsFJljBjypTpMsrMmzhzZqyps6fPnwVdAh1K9CbPokiTjjyqtKlTi0yfSp2KMCrVq1StYt3aVCvXr2DDih1LtqzZs2jTql3Ltq3bt3Djyp3LMgDduxFhXMHL1yDHtUWGUCljhkwiM2bSwKjSl6CRv2jZSOK0KJJly4tUBODh0wpRGQRYpC10qrTp0qVUDAmClInEZ8/AgbP2zZq1YbgxlcKESVIUmwtZdBHoeSyYUqdPl6JCJciXrc/GxZtXr3o9e9Xdaa83b568ee3Qmf8Dxww4wQ4AEmw5Kyl5cuZltt5yZ6++fXv0793HHk+8uXLlmDMMFgRZgV4CT5gFhmmRlJEIaagxp0KCV4EjTzwYZhiPPAB411137ZjzHznc8MLLJkXoAMaKAJgAgF1lVQFKhFTo0EV7pTHnRBhXfSFOO/EAKWSQRAKJoTzk8EILJBl44OSTE0ywAAQNIIDAXmPhWIocVBBxBRaFlCIQc1SsRxUW7aQZ5JBsZigPOgw0MCUEdNZJJQILGJDnBRCF9caMp5TiBRVGWCFjaQCQ+VJRgBQCSBVYAnALO+ykaemlaxIZTzq0LNDAp6A2oOcCpJaagBgJGUGGqkkskRSgW6b/MUYXWICJWhlelAHGT7ZsggsswF5yCRoEhHDBBQlIQ2k7AMjDIUGXWjqPOaGCmucCApW6QB23dHsLJmYKhMO4OCxKFBuoRZJGGkbQioUkAm0pB7vmyfQMM9IAC8slQBhgAAEAAxwAwN6ssw6QznrYXTrV0UNPd/WcU8m//vpLKgD/ChxAANicg87H55xTzjfgkIvDMd7eQqFPkXDSchplkAEFFl2IAa9ASMyrwxYEroTJvenMs84uwqIhCiR4yrkAAv4SgAY67jws9YdUd/fdh+dko7TSABCAAABfZ1ssEF5wAUstuBTTTDSXYIADBiF7jM46H4sj22zMPDOMt4C4/0oSGILIIYgXcpSxhWsA3GDGIow7sW67KN0yzeTX3fOOO8uIUgkkttgCiiCeehrqMfbop99+qKden8PffCOOOMUcU8zmldSxAAETeECC7h6gQQIaHmAQAhDDA8EFF5XUAksdENAOSTHQa+PNN958PN44s8GWchdYMgPOOOmkow4645RvG25mCM5lGnwURgYZS6QhyPxcrLurSNNsA08//PDzzj33wMc9ioGLTdRhczmYgAU2oAELOIABpDpGAPFBQQoC8IIYvCA+8sHBDnqQgxTMhwXtUw/ZvC4axziGKGhxCVigYXghCIEHckfDGT7JAxrQwA090CRIiOKHsfOGEP8DRI51zIM+9niHEknIjmvsYn5y8ALMykDFMowBV/MTBBeoaAQhgOQZ++iHGPmxj3d4sBq9YoAFFriBNm7AARZooANEEUAQivCOG9ygB/WYD3u0g2r0yE999EHIQhKyg4UUIQDtox0TiiOFP/xhk3bHux3eMEqY5AU62HFE+2TwgvMQxibkJwhc4coLqEwlFFN5P4+AI4nv2CAATAcAe0QDEo7wgAMyBrADOEAgCNhYOjgIgA/y8YMdbNbVwBMtTKlpOvVwBwAF6EFD6oODiaTg/+rjDoGI4xsojCQknERDKR1jQ9epjwYpWDoAmgMWpBTEFHOFSipIEYqDWZdH2qD/BnQ8zDvOQqEXpDAEJDiBcHzggwoMsDECMMAAVgoALLCDxA85LJ33EAgH7+GOdjgrYfJIU6WaSdJoYchI8nBYO++RD2smsqXXBKF+HNYdcLROnaXL6enUeUF7eAMNiwjcQLKYRfUFLj5lkAMZ3JARKzAhHfSwTjQIk1A+yGEMckiEZRKRiD04wEoMYEAwA/AN7Zj1rGjdTjrrkSGBhLRSIy2pXOeqppBuaB6BvI9MV7rOT16wlgCIGojIYQwqzE8gggscUQWHWFTmIAeCMMMZMNKGM0C1OrhIHx/2sIeE7mFeXA2tHIKwggxMgAFRoodA0spas64uTQCwFAAoRanZ/8qWrrjNLZDQgdEK+va3AgTgLE/X0WTUQbGILepiASAHAITAAgyAABK4EA1mfEsMTI2IGL6ABXQAgB62SMO8qpjUzjY3oYLYbBoSsYIN6K4W3WytWVfrWnvMI7YiZRal1kHb/vqXtu2Aa4AHrNv8wtUc8yidHmNqzN8KpIL2IAcaGkACFXBhulSQg4YDl1hBACBwM2RAACAQjZE6q3zdmoNCrPAbcwBgqjAbAyrHQGMAcHYPafgsAOyAK0mswAJcAEdg5cva1b51v3A1mJL5yw6DsWNDFxrIf/87V7jS9j/meEcxYepSayLzu8C4HakM8CltydBJKlBBDo6XARWEgP8AlXjyMjtpj32MYxu9uEUUklCQOcyBHPPIlRW9gAQvjGEKVLiiHD67rilecQgWIIE83GGdSlva0t1ka5Ob7GSDze3TS9bGMe7msEBGlTvdOelspxzg/4osQPbAR5dn3WV2VELMolIaqRpAJU+FYNcAy8ECjuHRUke1vu8IYz/wDAc4COQLVlBCNMRxRRpnIQeodEIOaJxUO2xbxl7IghTSMAQPVA2Qxr6odSjdjiWfQ8nokNvHQHaNXsupzJX4YQq/+c3u0CMem6YtfwfO6XCUIxzt0I49gnbEyhWT1oWkBgZuZ6UFwHGNGLfABMosp42JQpr7oQ99ojny+9TjGXH/EIgazjCMTdBYxgCYAgBQWWgap8EOWZhCFnae8yyooA4XctNHQXruqM6DHfGO27vXoXSPxc129y5znvCkrYo3oBLeQPqSt26wg5MD0CQnsn0vW5+H20MYTWOAAy6O8Q2o4AIM1HieBvaNT+6n0t2pz3XqAZw4nKEMtUCluGcOABp7AQBZuGLhVSCFxjd+CCsQxVw1pKGrheccIvpPOZwuopCZI2TAoJLUq66tqe+6AXSTN91W/zFsZIMc7AgkkWdPH1gQAKJs14AbG7jGNso9AJWYYHAxuI/+8cM7RKLHH+shkCco4Qcv2ETipYCEwr98DABQQaLFOwTHNx4Jv4ME/y+KUQ1sYGNu/SUphtih+XKQw/2ez3znzUH1allLdKUvVTKSHu95z7sc5ncN8XBstCdf9YAGAXA7AHAATEMxB6BGa7R2uwQwoqAP+3BIICRA/eAP/wAP/sAP9YB05kAN3WANiAMAtIJtAiEF1vdyhCYFijYG1beCTqACaEALolAHaIABA2MlmyMKsSM9Wbcs6+B+0kANwAAMvFAJTFgJvAAM1VANS/gpEJUnFAMApIIADTAQ9od6cfN5TccN1HANHUKAQ1aAZ0UPISAnBBAAYrUAB/AvAeAvvrR2IrYx4GCB+7CHe1hI/QAP/xCI/+AP75AO5LAM0nAML3ADAjEHbf/AA4knY9fnggKRVM3lfTWIDd3QDd7QDdzADdfQDMlQDLBQCWiwg17jACTwQ5WgNAdEC7TwhLygOZCwhtUiEF3IaxCghVmIhUuzDOIRf5j3H9cADdRwDtRxadlRZGmFDiowQypQBnygVVzlBSoQTHrygAvghgRgD4TEh+D4jfwwRv0DAOjQDNJgCiomEEwgBEXAguFGENj3coXHXFLgBN43BMVgftqgDdzQjwCwiZsYDt5AkOEgDdEgDaOYDNcQgK5ncF8XkV93DUdYDEvIhJ+Ci7mYkQAAAccwjCBpDoe4DNRgRKemjJhWZOBAAlKQBWUgCKFlGZIQCYmwUA3gAUz/41CQ4CH0YA8PFo7fuIf5wFHVAA3rCACo8gQ8cFBeMAROUBD0CADxkQYA4H1IUAvSUA3XcA1a2ZDmlw1g2Y/cIJDhEA4O2ZDXwA0SuZYS6X5rSQ0VOYtMSBBbSCpOSH5a+R/cIAzIcA3rMGf+5m+lhpJSFQTaJgcJJSt7YAd8MJOJ4AUPlQMGECWiEHauhUSxtkjTJA/LAAy4wBgD8Qd0AAdIkAVVmQWHNxCGNwSmqWHi5gSwCX67AA3SUJtHSA24SQ1RuJVeiQ3+yJvAeQ0RGQ5sWZzGyZZwSQ1PCAlMaIufUgewsAslCWVDpzCAiVfGVg+1sAJ8IF52YAeLJgd2/7AHuDKNiSAHEOBQUUI6Iocf7tmeJFQP5dAMwCAMZHAQSVAESIB9CKFtiSeVAvGUAIAEKnAJxrAMy9AMCqqg0ECbtpmcunkN1AAAZDiGEvqJ3BAO3VCWZUkOxPmhHnqcIsqWCgkEDIAG5hhXbXIkR0J03RENiXFzGgae4flZdoCP6ZUGBgABC8AA4NCT7RlN7+me1SEP2AAMtFALS2ADBuECJlB9UUkQqYmajjUQSJADDWAMyJAMyYCgXYqgYLqgDAqXxggAY5ibxWihXpkNnziQHNqhITqixskNwHAJC4AGvCBEBeNfJUV50TAv4mVF4CZoM6phhCMHkgkBDFBWrP9FUdiBHdxhDsbQQgAQB9lFEE+Qn/uJfTInpTonBTpHBSpgpTkgCsJgDFy6DKn6pazqpQgKDc0ADQRBDQq6DFuKoAxKm7jJlWiJDRi6oW8KosRZnOFAp/tyiqIHKsz5PMUghFQmDlN0SuFGpanUbYs2RRPgNUfUTau1jK5VHfFwDZdQB7sQBylnEHHQBvppmjV4eIKXc/eIjyw4BAMKAENAAsDApavapfuqqvyaoM2QoA0qDbAKDctgDAiLDFqKDAzLsGEaqw6Km1qJDdfAptrgpsFalnvZQs1QkGYpDc1QDLSwPHVgolQIMHVQB5vADEhARYOaBU6gc6k0YzKaBo7/BXzYSZgkxx3lsAtAcAm1EAXDcRA3EAMkUH05965TEK+wiY8COgRQqwK8sKVcCgBVe7X8mrXLAAABu7WyGqvNoLBi27BkW7YMq6+4CrG3qaaux6bcgA3CACzJkA2bKERl6bEFWZAgG7CwmAhE4IKpJAUkwJKoCZuoiVU3F7MqAGfXiZ0nWQ/K1wxAgAGwYAQx8AMJ0QJPapqINwVT0LSgC5sEZa9RKwpWq6/JcLqqi7WquqC3CgANGrAKi7C0W7u0a7YNm7Bnm6q42qC+awz7Igxr2o/E+4+eyIl2u6HUYHjvunNDkAOoKbjaR7PrkgMa0ADF8EwbclfL9DDyUA6V/xAAaGAHMbAQN2ADOVCaSxu6TQsAsOm+qkGvpXq6qJu6WLu6XaqgXNsMXAu7qgoAthvAtlu2Aly7BCwMwgIMzZCb1aCmvfmV2UC8myCtU4AErMlzOycFqiGzgpYGOfCM2MBfrRZXldcfwoABGCAKUWAFNIMQKScG+mlQ7CugA4GP9Aq1CYQLvGDAqIu/pwumW4ugAxGwWlrARnzER1ynlwAAyOC7D5qbEhuhXMkLgzatFaZzBIHBAmFoVHSvE3CMYCg3Iixg66ANQCC+gCAGXQAF5hsDPJC+oXsQ8jqqJGAAEtACKYACRUAGYyAKtXCq+urDXUq/VQumAIzEiJzIxv+AwPtyoEAspk5cmwCQiJL4rgbFuTOHSgJhmqYpaF6gAQwgDQASIPLneXMjMsCAwnsgBlWQBF60ECiAAhxQUO+bELCZAaLSAS3QAjYgBElgBWJwBnEwB2DAG7aAC7KDtVzasMucurZ6yIoczQEct8IiDF8KxNgMsAq6CYY2szwnpZosbh7QkgIhYxunDWzpfgCieeRADZMLCb/BBH0CyyjQAiVQUHL8vld6jQdwADPzBWcAB3TwB3mQB39w0H8QCIigB4EQCJhQCCv0hLCIpLSwC7AIC6IAC7hQn6cqzdIsEMKyC8iQzSSNoFTczdSamlK6ydY7g9jnBROAAJqopxz/ypbaAAsYgAZgkARd8AWoEhE/IARV8FgzWMOw+cEVRgLQtQAmwARMgAWoEgcNHQiHgAiKcAiBMAdi8ARCEAMmoHuDW2EqAMpul2Yy8ATyvMdksAl+XAv16dFGjMBLbM0lnc2QkEo7hwRTkJqpVBA5R8Ob3AABUA1hKZZtuqEFKQxAML5VANAU0dNi0AQ5gM/uC5tpNrhtNNZh1QAsMAIE8QNM4BlwgAdwEAbtaAN4jAKDuwIksAGtTQIMkGZpZgRuwE/b9Rt75so/oCqAEAlos9EdrcgADAAhjQwAEMTHTdK8gARIQAU7BwAVxrl9bRCYjDPBpJtj2JXmt93ZQA38/7IHAC3QFREDMXADMjDZzE2gKtDabkQCK+AFD6hGHQACng0A5SsQbTAIihAIftcFzmcDJhDWru3aFnAAK3DgK7AFBJ0HetDgdGCuaqDGPQ3QbQAHcUAHa8Abvo02bx3ATKzEsMCXBrG1x33ckDDZ+Iho6YvJKr3Jn9vJqTkEBgAGA2uba4vdLiQKhvIExVERIwACIMACK5ADbcbebtRGABAEp6V7v8QQh/Dkh/AHRbABA0HlbRQnCL4CZKAHANDQT54HZ4AFXU3ePnADP6AETPDPYrDm2wUFSlAERmAGdrAJtVDnAEDNLWQMC8ELjwXHoPrcCTEFVzxznAwBF6AGuP+atpBcp5CQBNCHxxjx4y5wA6995EgOAAfe2jmkAS4SEQU9BxdAEJVOAguQ5StQGHdwBwPxA+WbxyMwArEcyyngAr2cBE8ABVDABI5etCnw4/Qdy0UQBMVttQgBCUOO3gZFzgkhBZM9EM7LApJgCyNd18gwrkbA6rGMEeWrBFDQBVNu6VYuECugAgyUQxbAAz+tEG2wXXAHAAP+2hbQo1n+WIhpBj7AEClwuUkQBRSermegxliwZ8/3AzdQ8EkABqIADHp+ELygZpMNtbTceJpM3YCewbxgftTgyCW9L2TgyjfgAi2gEW0wBw2N2eFu5aP6Y5ueQwwBbUlwAg7l7qP/vgEMcAANkOUkMAFesAdm0AMrIxAhTxBP/RwAkAcCUdBIPwdxAAe2/QVOrwYVbszHfAy4wKV10OdQS7oGdZrOXt3OLgWQoA0Y78itqqoIDAbBPFkhkQeHYASjevLuPqpBMNYrjx4KIc8/cAIBMAEnv3sQhOkrIG7rckVmEAgM4WwHcdBdLhCH0AZdoAQFH9S+zOM1U+EW7vAQ/7wQL7pU0Lkq4ATVnXMk0Axijw0jXfZdisCAoAZzgPQgQetLYBNwT+VyT/e6twEm8AEJcQb//gUXQAAHcOQaAABsxzQLkAGN1sUqUAQh4WxMwKQtgAKvPv0tQOs34Ms60OePJRAP/w+1ya5zSKABOdCpPJcDwFAMSIoLdIALoigQqWu1lwAII1/QKOHVww/3o4rpfK8Br60QAPFH4B8CCAhoAADAQkISDCBY0ECgwYQMZSyOyUJCRUKOHT1+BOlRxEgRIEyaRBHjRhEVOVy6BDAk4RCaSJxIkZLlZhYAWXwimaBCBYMAKg7hWgYgWcJkyGp1aRNI0aGQVa12/AEFwIatXTdsBLBiA4kVKkhsMKH148A/bAgwMLBQQ5k0ctKkUbFigYEFDTJoGIMxyxAVPMRcRRxyREKTHG8I0TG2JUwAL2PSHOLkJpWEPnVqIIGED1EIRZAuTZbM2J4fN2LE+KEk8WyPiv+MqOCaG4CKC2EdCD1rtg3IQALzsEFAgoDCunblPC9jYcECAh5I6NQs1ARt7lWZWGGxQTyJHJUtJ8yB2aYTzj6nZMiBRAqnIQEIkMHEqVatTZvG3GhhJBC66+6QQMTyarcLNgpiLLLy4iEJkBSh0AjyFmAgCI7uMuOuNBYwCIK/aMqBBA8uiIJAFTligwrcxuLKvJfKq6wmzQCYYoqznPDCi1IECSCAEs4Qo4sqkkjihRRAIGlF2v4oIiHdeEsoDY3yWiFLE1D4yI0/DnlkkAk0sCANAMw888y7NkDAAAMockkFDyaIAA4AznCSOys2COKs8b6accbLbHQCNxKGsIj/E06CJEGJKqBgIokfbGgBhQ8+yHO2M4bT7aveNmJAoyxXyGGFEzDtSAgr3MCDDTczqCuNMkgggQoPqVgAggBENIuECSYAI9PuKNBIPGPPIi9QylyiSYPxVKhrkVMM2JWHKLD4QowvusDiCQCEEDaxJHjolDc/J0ho1FE5OIHLhMT4Q5FGyJBogliJWCAArmJtAAIDEJiAhAx+hQCMPMJN7ISvSLjgrK3+VLa8l1RooIFjqcCYkxzsK+ILNeLIw7g54kAYsRd+ACs3Y8VTd4WwslThh4TinSoQHqaDoLky4CLhTDnKKAgBBhKac4ILDi75Kg6EGqs3lWGcTNkMSBDa/88NnMhBBS+GQEDIj0NOmjssiuh05Z6z7GhUHhI6xMDinNjLgDE8HGMIItQ006ChCXY5kLCrMiGLFWhd2SsYew50rAYMYGADZx0fWAUkiPIA6b9piwMMC8rm6CuPglgBdDD+CKS4P+4QxF8IJnjuLgBal2MFAkCcCIIGLsDisMs/kiGHIAy9oPCnJXvJAuP/NeAAB4wnz4kyIpmAr91BMoGIInoAQwySZya7K44QBwsADccPIggz9jAjjjmIEMSLNxew9bkzzbBrAQD+rZi6dqf/qATgCBdPglQWnBwwYALHI8CupkMAFZRhDGU4BRJ8xT+O6GAMiUhEJCSRCD6QAf8QYXhDcRDCEAAwrGcLEV8Kyze3PchhD0YQAxkEAQrq+MtWAKDf6xzwLwJMgAA/rACqKJgQNvAGeA/r1FYcxidZaWSHATAABIxABjb0gAcPBIUgynACEQyRCBiUhAbDOMZIJIIMWQBOCT0So/IFIX4udGEZLiCIRYCCCgTgoQpsVYYh+LBN9guSBAY0xITkgQhCaRgAA6gb9ITuLmPYgAWI8hYwtEEMWEjCCaggB06UYhGEtFAWLsgHPkjClKdEpQbtIIdSJcR4fFphXVq4BzOVwQuCUFTs9oKANtknIQYxAAACIMhBEhIARnDRgprmJwH2LAhI8BAfLeAAhUBAW1b/UIJrhiCHSJSCE0Vw1/RO4ISf3WWVcrhlKcWIylPuYQUIWN4FkKCB57SwlrbMAhVAEQknwAEMi/tX3ACAAAiYQALG9AgPVDCEwdGqhMLzCgk0IIVoWgABucoAC5gQBSYIwTVFqMspOEGGIZqAR3Sp5x5oGZjAkDIS6zylHHDDgB4iQX4WcSAVpqACUCyCCAIBAwdAtJyKFWE7X8DCEDuwgioAwAQZONYyrRZRrqzAebKyCANAtIAHAMAK2RKDtnhgkVKAohQuoCAFpOAFKmShR16Y2ypbKFdZZSENGnxpGesDAYLiFJ8/IQEnBAGAQbAFDGwwQhFI5zdCEiEHC0jA/1/G8rjDOY2RLguCh+5ShhXw1U1GSEgb4kCHPNAhDlSYIShSIQMmTE8EQZiCF9z6VrfO9oEp/ZkXuInBROxhYA3o4V+zgASXZEAKZRgdWwbCWGMG4bHwpNWLzNa0RWpECpnd7F2IED1qrSCpABgtW7bJiVOkghEAcMP0SBDb2faotrKV7RTcOgYX7iEwGOSDHLKQAeASwAnyJW6cPEDc0s1MIMw1ZhHghoDN5WVl0y1cCVegWVl5YQIQgAAem8CRkLGFDHIQRHk7MQg97O4FOfCMT9wLX54MZgjs9YId9uBAPuR0YMKEgBQCnMYhaCghpUOwMXkQhAYw2HEqoOwiH/+smwkgoIEV3mGu8sUDO/1YuUYogxxKkYpSlHh3TcgBFWSrYhazGAlDWCtP1DQGJEwhPk7QAATuRx6hmCUDECBBsBAKEpZM5zeR3FyEhyeZJvPQPlC8nwEIYIJBeATIpRsEard8ij40+nJh4IJbOwMA2fakJ/Bta5nvMoT4+MQsDQhAwDQypwYsIAcn8MGePVIEEkwnYNNcSAA717kAeoEHenFTm3jJwwWYYAke+RKFFIGIQOQAl6lIRSEacblHkMEJmv40p7XtBU6/tzM9MlNOdIwEFaCrAaDxAF/7tQIQpEDWHCnCBKB4QA1MANDGk9JHAriC4oChBMBVNB4RYAL/FoDEBkJQQu7gEAgwyEFaqejE7rrAg7VyO9vcxni34avtnjxQBU4AAHH5G8U5gQjDRns3i/xFADRn0JQe0rFZQKIBBkSgsMU5Dg+KwAMTKCEGihnBCFDQghj4gAWyKi8oJnE5F3QAxRzRdMYx7u2pe6EMO82anKjTl77IuQEySXlCosc6PricnamMRF1JXW8yzEFkcbAkFH7wc6uUBARCRwEVHp6KO1wOBCfQABLWc5NtF17qHMdIBno1AeCaHMMNcIkNwh4EgI2h7GY/e+ZPWUYMksEMZNhCGLyFmEtdSgRBZx8noF2Iy5X+kFIo1JsNP/uEYHxqGbhzmxwiZwQ4/2ERK/hCygMBIs04YQw9yrIcXKp55kcCCWVIwg1o84GSBJ0HIIY2Jqb3ATOUgROREEQOLpCBNh8+4zjKQcXRRbBgPj4mnEgDG8LuFhLgNA12aA500vBAB4K47Gd/KT4oPzCAgmxKjOobgRZgAd06BVngBADwsqRhEln5PlYqCRPIAR6BvdnbKSRICBH5lRpqAAD4OlkZAjBAhJQrgQmgAv7zK9fBPw/Bv1Xav7nhLS9wHlryAiOIg+1BjLtLwBhYAr3bMr7bHSNIA1yKhDLIARRwgRvggfXIwNmTginoiYkAgL3IFQTggRLIugvAk5QLgvnKghwxwynICRXjv7uwC/9bsjo5sAM+sDw+SAMkIAPSKq05uIoW4EMbWIIuKANBiITVK7Egy5QqaIJA5IRFoIIgEAIsEK0iyAz5MD/PyIF+6a/SGIQmwDMGOIAECLtx6pEzzBEpcIk2I8UcUbEpYCFSoq80GAweKCyBEBcleIIwaAMZkgNoIwMD+ZsPUxTnI4I5yINihBL5mD1uQ0PGE7YG4AE1qIIOgAgGQIAEKKY9I4JrS0U0JAxU3EbYEzwpAIAyAIAxkILjO7OBmI1AOAQ8cAM3AAP6Kq9SsJykocDvG4IiUIRJmIRHmAoy8MCo4zSdkgISQJ4FKAI3qAIhiIED8JUD6JqDkjUjyIFtNEP/nKhCiwRH+eCJwDhHHBwC5UKMMIFGJfgBvVOtVNiC9Aqb7lOURcgBI1CCLmAbSqAEgLSJi8yOFSgBDkjILWBIFDiBA/ghNyGAB7hGQgKDzLDIpiRFJwjH2IIr4wPJEFLHqzgEaGTIFGCfReDFFwgbLNCtlxyCEyC6bwGALjgDPLiDMhA8qBwCO1QESngEP7iCrbyUBKBGT/yXAEhKClIDgPwvp7RCHMGRp3xLToMrJBjFISADPSiO2VjIGEABEDCB54A2SWiMpFkEXOIEJhSBSwGAxQAAH0A4LDiDNyADMjACTdCEScCDLlgCShmJS1EArfJEXgqAE5A1wcQJpzzM/22EypzskTFQzClwTESAzD9AjMlcEhE4ASmQg1M4BVD4GxlwhBlawiAQTY8IQtNkgjMwhEmwBEMIAybwgRYYgdL7ABNggAY4AAagxuWQtSKwCcIYzG0MzuAsRcHzwOKUL9k6wX5shKlAjBhIAZIQASRYhEEsBd5MGhnwTOdjNyHqiEsZASHcAj+YBFL4hEFQgy1QAiGwgRhQzwdgnAU4AOo4gL8cIsEbAhLIz1TkiG8czpyAqzGwwuEigioQAz8wRJAIEJL4AB6goywygS4qGSOYoe/LARPozpBQgjMYBH58hEZ4hIRQBDw4gy4YURsQgEMLku34ABDgkgJQgAeQAP+JvJzAg70q5E/CLMUbna8xADkvODOiM00l2AKrGNLa/IClio8cYAElDRcR6BBQWEQVOJUoBYmlmxmOQARFeAR+bMeECLgDEAABQAwK8FQKKBlJzM84ldMp0AybELPA+E+sYc+hQ4xKCU1Mkc8DQqGSSdQHfDVHfZIDm9RKBYAOqAA2LQAC+dQ8kZyMJNXfTEWMBMdry9E7LUj21FWQ2IIlmJQXOIF/UR4GKAEXVREUEIQ0UNQ0yIFYtVDuYAsAkIoOKIF2BdY8+VRQ7Q6n88bCLEVSG0zYO1X/rImKqxvYy4EIMNcPCKeqoMtBgIMvMAICiE8GWJ6SOYFFqKPtNL3/FuAOeVWuAzsEDuCADkiICHCSYu0Ok2CBDMzIHMERUwwNU4VLsuCAEuiTlsgMABg3hgKBVk2MQOjVSUiAgpBPB2CAggsXMJDYfXKCFRg6uruKeGXaTxWIje0ADqCArlIRps2TkvVAMzxMZoVKEzDLFKjMSzmBE9CjHkGCLOCAgU2JxFCuIEGA+ATaWs0U1FHUSHhSH/jDqm1aACgBYJWAB1AABQjZCuCAPPmAEzgUD+TaUyWBJlCDL4ACj2oBsC1TFeAkUFBUJ2hVtEIM5WqCIEke+VQeMqAEYaGfulUBMGAVqgAJ5qyKpvVUvwXcwHWSDrBdYfkAFpAc/yw+O6SD/9+lgzmYA0vCpBtwATfiBMwFhTSIVSf0gdG7CrYwAfsQGod12BII0u6QBHF1UjYIgytQi46gg05lWgmIgAeY3cAdVhV52RLA3Uv5u+ohAiJgzdJSrmIM3pE5gyLwgkjAXE6QgxMwUxd4XraV3h+qXqCdgCLQwzzJA0koA0WFSZ9zgUrpiC8YDvKlAPPtqgEIXPVd3+5IU5AtGRRIARdIgi9QH2PMWFrEXzKggkjoJMG6gBc4uCo4g0OA1JBoYeptWPlsAjzIFETozH2alRa42dPjCBQAy3epijzw1L9VgAIYAABAUxBekQeogKRJgRhgAjGYAzxs4av8gzwoghjupP+eCoIIYOMIqIAOmIoy7jDX5Qjlmt4g+SECSIDxzRRDiARH2CcvQNrS44i74wh3u4oICNwBYOSESN8qXpGoDZszCOM5HmPlYoMhWIQ0joQV6NgKOF+q9QgWNjC2KLggCQATEOJMsYQ7cISJRYIK1VVOJU3EYGRG5lQrnt0QJhCOTRo10ENLvmRaRA/vw9xI8IKoVeQppmKroABhLmMwMAEwaGBhKQL/dVIWIGQAQBUBOFdbvmVOLQDABVxeHpbpaeFSJubKoILkVVQ54ABFLgAqFgAQuOUBmOfApVoJ8FQo9lQA2GA2FZa6QN1G/YBcBgBvJpApvuWPXdMIMOeq/Zv/dO0Iik6XLHBnRUnTeR6ATWVPQ04IfNZnNT2o8o2A1sqU7pNgFTCBm0VohO6OUJ7ihFAACohawZ3oyxFJjlgBKfDf/10Bjt7UoU4I9jw9vEOBfE7TNX1onM6U5zNiEgjNTQ2XKD7fhOhbDpCAiJ5oOnYSi06IC4hh5QWFIMDloYbpj4DfoEMBE44BfU4RYUFc1BIEJLiAg6ZqYdnbEmABFugAUUYoJrCBgr0KRDCQdeaICOACXCqrsj5roq4KtDa9oeNchDmBX5EoCEgAtEYYqy0BHuABFigBwE65DxA6PuwIN6hSfvTYkMiBMXDnUjBrtIbsjshl2haAAuCSFvgB/ytQg3CJgAYAWrig7c62WtAO7dYOO5AYOqIDF8TIjOQ9hVKQA9zOa5CgbXweuhvQinp0kgiwXqI8gLMuGatlAeR23+UOlxVoZ1CY7gf05qE+6MgeanzmQy8G4+zljiJw2GmijgBAAVwub6blAOTua/UWFqvyX+rkhM2W79r2CPmeZwBwASFQ4QLLlH+pXoMYpgpu6wEvVuQObXlF8BXp6QUXqRW4Z87G7k01Uz58xKhABOXMEzZwgBufAKBNIBM4g2q1ARdQAitog2KEV0/d4vM2Ax5Q7hJXEcWuI+oEhbthZipu5I9A69O+AUjUA0QoUK/ujjzgAEnaHGpUtAt4zf9B6AM8GISayRQj59gOAG2/5momn40hGAOzmm5uk1r0ZWZItu1NrXI1zQMKaQTT8XLaYAAx34AbV7QAYMc/8AOWTO9MIVx2ZVfRrgAF8HM65w4V4IJOmm45AICObdc9J21cbmgAkICXtV2PBevZYINpWp5pWpwfEoMo+IF8Ju2qQOyPIPUKeAA3BtYHmHNOt4oMBHVvSgjCffN2BWiOmGcqr2ItZte+XQsCMSDj0Srk2c0Ar+JNF5YOkOcC6Fit5uVtNvaQ6GnpFqmuMvIKYPaOTQipPV/apfa+ZYEtFhbQnY6AC4AWfeykAdxbfgCOzfSiTvfEuACfdm+RCgJ+Zlr/eB/1Ua92qX3jdhVtjy3cTDGBPM7jMe1oFi+ZcBaAN+aAHyBsabVyTnfyho/ywoVdUIV3eOdYCih3vl4bhAEDPE6gIFGAm8XrtA6XkN9U7i5Ai+UIaUV3kFDT5UYUPC+FMijpmGfa4VjTYJdaq9D3xPjdJkgAMf15pf9mYZFvAGCCApS8osZZALBYC15akR0irYF6Pthiqo9XkFXTYA1WjkhTj5Bk7tCKEzAB+RZ7lRcWRi49KIAUIeCSVkV6pGd7RJ4Nq72cHPj0Ugh1fbf7DT6MCIhdDnDqKk+IVZ902hAAorfu7lT6TEGBoAMBo/e5tv5wCneB2ufc+5YQvYX7/0xZd8z3Js23+whIETe26Y1PiNPviCvuDtS3buu+0GlNjDCYzbZ2gSeAFJSvitrnwx+IgjAschJ3Eqtid04Q2uDvKjW16RJw6oTmZo5g5BSQ/MRo/uKOcMgWesQghYTog++1fiwACCYxBgIA0KJFwYQAXPwA0CaQHoUSJ1JMSKEiRooPpHDidOoUqCASClIoabKkhAdJFESoQKEEB4kCAHxIODNjRQE6d+r8wFNnzps4JQYqqIlUqEeHBvk5oyRGwYNSFSbBAgARIkV5hg4tyVXiyZJDFoH6CIpITABhTUZQcOOBBAodSigYoFDo16Ef9vLlmRfjHwCBAxcMFOiRpv9RAEhNwnNmyQ8XLg5SzKpI0d/MQx88iGBSxRhQpU6VomJxbYQHABQ8cAlz4l7NGFHQps33dk3ZgjEaDoQIAKpXrwr6+VLFRwoAI2IwKZgVUaNGukl6zTzgegEFrCOQ4MJpNCgnFU6zfaCgBdyXHVRLjJ0wt+baAFC851vffmbCEv/wD9SIEiWaUKSEEkyIQQcAl2El3XTV/aXTdREWUEACKiyyiCBebKDQSSkpMGFLErwGG3w06SZfe/hN1AITbnCl30T8/QEdJZZJdMghk0xCSUGKRIeZbiZl9hOE1x3AwAQqqLCBBgqQR0FbdSkggYjrcVXiXy7IVxsKt30VCIz/CYW5H3+HYGXZZT4S54clwAGgCSWNIBKRZkI+SGSRByBggAMWODCBAwnFBaV5AxTQmohp6aVbFElEVhBtINDknmYy4iQjYWkqZJULPmwBgCGLqaJYkBSMdydQO9kFgAEGIOAArA4kcBNrnH04wJQclGAlV3jlVVQbX1ihxA1a2kbpdBlZ+tyZCHKakAtCbOGGIY9MIltJp+a1k00CrApAAK7GOoEFERqqHbqDdtDBtrIFYiYic7QBABNC3NAllslW1N9l0b0JAII3IGTQZC4MJIQVQVag7Vd4FqRACgcEcMACfcLawADenhsBlbqywEIJ7A3l61+IwPtbHGd8kUSx/yLoe+kfh6SpCZx0JjGZVC0YPBB9dS6sGZEKKRDAnq8y4EADC8x6bnoVsMDD0zygmxG30/2YJiKBqPEFFC9/1a8mjcwhRhJMJKGECwbp7MILMQyMra4wmTfyTwldJwDRDDCwwN4MGHDAhNuVVELUUFMgQWraTZhx3ckG4qO/WYN5mNfKlplVHFj8cIMQZivxwkFsE6QvCxzMTbeqBTAuAAHiWqCBnwzoqR1nJQUSIA+5o5b4rRl7/XgjlwFwSCCTjBJK5YDxh0gbbWDBMgo2AEAg6Dq33bNsJSxmN+o7Le6txAfw+boGDuhtAEuDUtAIzaOM0giYax3Oe/LQ+dsIKf+jWHJH8vv+EWwUppcEANzgBtNTghBQIJnRyYYDLCACC1AFoQlREG8EeJUGMugnByCgNRxYVwcClJhR5IE/E7FT/wAQHemgYhSD2IIN8tW//z0PAC9IQtmUUBAC/SB0UJlOBEpABCIkRDsku4/3KKi4cB3AARmEnZ8QkIC4zYUFI4SfpVKIEeiM4hWhwMMWWoAsLZ4BCgKT3gGVcDYCCUxnb9MMSxz4F9ygIDsfomAAJjYB2G3AAn4ywAPm0oGPPc19mNIiToLzxS24QEWIZEIMsQeAHxCIQDaQStqS5UCYUOCDdONLzrIzoTwG4IJ/Mt+e5lICwpkgd+9DhAkRmRH/VHyxCzeIAb5kCYAkxGAvL7jBL39pQxu84AUoOIgkkxWWDxJulQxbnRIV+EvpkZIA1rTmxAgHMkK+L3hZ1OVEihOF5gjMkckTQiM/8MaCBPMFaaONLE3CTJCN6FaBKwAAqDQSAEislNckWhUJ+bE4YeWb4JSIEqAABSYUy5xea8hejklAhQCzmMk8qKniBjIOII4zh8rnPgvCAFLm8QD2E+hAsQKmMR20IDZIKBN+YINcajGi9AFmQipKzJZipJNVXGUJIrCuiVApAU2UwLpWKMJRaOJMseSpRGIghIUSS4wyTJYxP0CbtwGzgMSMQSahihFFEA5qPIBgCSrAGX3q/1Muq4wOgCgxCkr4ZqUs5WlCF9rQMSZLDM/b3EAK2JACVhSXYsVJUSjxtCLkjgVQ4kBqWiMXQUbnEQEahclg+dTDuhSmMqXpy/gjLzWIIaeTJGwLislZnCjiN3Lt4itUAQDHciyj63pOdOBU182uVqoLJaBVKyejrABAD3EAQKMICExjrTYjZroMnEaYGFJoQpvaA0BvaISZQxi0uXllaC+vOhQbQOEMdMCUzBICvzlsbZw9lGhzMSInH8FprnqgQxzUcIY+HKIgqADAJBSRKc3ydrU2mGpMZ8pXnKTgBlhoQwkxJTyJKOK+behCQ2IgqfhWxjL/oYRW1GCFyKBxeP/Ie1OA7dpdzvoWCkro4YIx0gIhdIEO/cXKbhIkXz20QQwJ43BFitJa6QTiwkkwJjyj1YUzAJgUBZkEFgvM2e/eMsYpisGnEnKmLWv5N+q92hyAjBMzNSIOYoAklyaiQ0NkAjjUVYqYD7zQz4r3PSPwQRiwq2XiGQbHCWqtn6Ujp0cURcy8yZqIBVabFmAvbR9IgQ2WsIU+WMLJhp4xVctZZ636gH8KMVmhsWsmHOkYxyuEjqFxQid0HjNnUZHMbVAQA0mnenoKJVZ4MfLoJdwBQV4uzFMJQ7z+tlaFwYNfrXHCy61KZasGecGkbrOcVMs5wWKsiDqVYIhBtLa/CbH/q2AMkxBLHOIRQ9ZUsoeiQEzirNXpxE2dxYppF5eTIuqswravQhHiyehdzrEEwNuUiUxcBlN3rTVtiqnwyRyTPlnFTbKpnGuFjMAF+G7TmfRNlD+8y8sMatNEBj4I7h5czCBAgcKLmVpGF4RtEE92te3VJYXIOmGW8PJvcj4R4imEQUPJxCB4avCSKwQha2uB9Iw5H5RbNd7ezXQjE9LgLwzCEz46k/AyXpEf5SUTodbi0A2ekVbbsCAxwCk8D+JQQxdozjFMiBC+cAhPKCRNxcaxl4Fk7AS1+SuhOPEMLRV2KUcldNC+weY2x+jF48vpnK2CFbBQr3uJoAVKKC0A/6wOuTQFT+8J0fuPfM6VVsQC7GIa/B+2MhFZTyYhP3j9YBm9VdAm+xAuGrE7mXCGqnviETqmsI88DySui370lvBB0x0PGIWg/g9x+IIOi/56wsIe8daXPaSsHN/YIi/yXVDD3D1h9Yxk/c9795HvRw+AV1iCDeGFt5e4coY4nBfYYZ/DGZ7wQ2h1TqFMIBZhdRWSJcTMJdsjvEIs+EIsUFdBmFuX+RmFSQfoHVv6ZcYSNEEPHAEKpIAIwB+8VURD7Jtd0UEbWMENpAB8oADnMAEUYIEZVVQxERMxhdWkJBsiPEIXxULprV8DXsWWaV2PqEmCSMdvWItmsMERTEQPpP8ACnSgB37gfBiMElgBkxFFHsRBFwhB8qnTD0xVC5oRMbnTAsUAtBlE9iVbn4WZErhBmw0HUwEAJTyCnHCZ+RGhCv1GI1wLV+wgAFTBUPRADaDgE/LFsSgQAHTNRJCNC4wAbkTLVGEBFnwOAICVZEhG20Ab2SkfTwVCHnyBELhTF4ZBpQ2HUcChD+IY6Hle8VFEKDjZK3jCG1xgEzRBQtAiRvTAEnrgyRFizxhQQbQBgkQBLtHRgbEgJKLNwlXiJWoJZaRbyoAXWMXAgX2BJfyXQgjIHIJeqQGAEWKEJ4QC6f0CADDCG4BBExzBLKbjLNZiReAiEzphl6SZmlnFJDb/XkR1oUK5IFhdohi+gAyW4VQk2wBVn2ApwRNYQdDxYUFEB3H5S2v5CI944yc4mS8oBBuwwRqY4zmqI0fiRA/II0WkAFQwWRc8gQ/EACN+AEN4IRYkkOiEYQz6ozsVXgEa2gsIgRC43uslBBMkDOAZhb/UnSL43ieIH90VhFF+QisAQDC4QicQAgBcJBskBEauAUdeZTpKxEdiT85MhQtcXkLQgRvcQRUsQQ2sYAu25DG1zT9Ko0y2nlSsHWchRE5qxlxF5OcBwFLqJSsUpfh9QkVIpWAOJkZipWFOxcC8kc7cQBfoWYIggiUYgiGEQSRiQeRBATK9JDIdxCV2pT2K/1kXfkXXqF5ByJaAtJZStoJqqiZFBMMsWCRhxqZUZqRhYqBirkgMRMFD/IbwGCXxxEHKcE0NtFrbyN7iMZpkqA2jvVx80SBXMMETAMAnBEdBjAJi6OVqZqdC+IIuSIRsfmdBXCRtqqNXtl5F5AHWYcYjiJ9l0UyNiIEsHkELGNbseSYyQeFqaVUI5sUPDFAYBB0A6CApugJ2riaBYsR3JuhFhidGmqN5SgT27KcP9st6egKAuI8h9cEdbAEbyGIPIASXtNpWwV98fUATGFBO4uRE4GRdSsQPMIEhEGgwKARrSkR3ToSC5uiCAgDyvU0lhtUPWMFDfF6/sOeFYqj4Rf+mIWwoG6TjESxhbRjLFn4ACDgnVNEHG3Qhi7ZoQbDoikIFVE6ELrzmXhZEJ5AjbOpojq6BliQnwUyGaslXI7Bn+7hPKHwCK7iCK7QCK0gmWa6BDxREDZycrAGABjphRO2fWH1ADYwjAAhBEmypik5SRaDTgr4BVHrCjVbkRIQpVKqpmroNZXTlQTCHGBSat2FGI1Tof2DoKLSCnnpCUbICrXrCknoaADBhoQIALX4klUZLfjYBJmACI0QlGxCLpE5SaKYosUxlpxbELxCDRHgqVYKqgpJqVzJEF8zB1QUh+vXeZSGpJ4wcnxmGJ7CCJ4BcGCyBrhZEr36orIUBYC7/qgg0gSncK7ECwBqoFuJBKgKxaKQKwRIMhTgCADG8pkJ8qrVipGyuwWaSqgvcgG76R/AQW/ApgifsyAgxVW+IW29g11GCiiE0SgzQ4jkCQA8YqhAMgjUu6gcwwr3eKyMcnkQgXheezQ0M7FdIa6e+wcImKBg8bFcyxxn4BnQAWr8gpWW5qiK8C44YBo5E7SH0XeaRYBXyqrsCQB+EwnA0grcdFCH2QLGagrMOhQusAQC8QUWEqUTMaEJgQtq+gc/+rGAWnvUMRMEkwReg55nICbExiIVu7Cg4rdQWLqkhpcwAHKjkWUG8QSaowis8wq+11G2IwA5MlIRmUjBBSuMS/4Laqq1EcGpBvOaNAoAvsMKZeu7c0i1GqmAAFkR/fkEcGG3f2l0DhitTmYzhGm7mnevjJETI3oEhzEIsoILn8VSsYQRUGJABGZMLsO3nUsRS1igAlG71jiMjqO7qgqoPEJZChKAeBM8PYgVmeNxruc8nWIJv7K7UGqXmTYSsCocqeF1+7kWJVYSVAgDb6u9E7CkA6KlEFKwyBEPBMkL2yq3c6ugaUB/5jS+X4e4oJOn6sm/40R1kJgTVvoJr+kEYfEFzUmpG/BB9HAHoKkQnFGxBEOiBju4szIIuvHC0KgPPFkSxam8Cy+YRJB7sjZUDky/uAkAmiJ/XUXAQS6clHP/vUSogKywBWPnianEOV5Rh2jYq2hZrQiDsgbrCLKjwLAgxgerCLwSDDBMwDRswIdjw9rKBD0zfTmKE5PawdLjqI1iC+2aC4dKxUbJCVohfQihlQehCJywBo23YYUFbToZmCBeEzqZtEzCCKyhD9b4mwk7yLOgxrM5CK2QCJXyCK+hCMBDDGOuCKXQC3GbvGSNwAq+xTL2eEESfen2aA/se0+Kx+9ZyLX/CZRhl5k2k6bLCHbBBC9SA9smSE4/XJIIALZpCQrht9b4wwgJAF3/jH79wd7pCKDTCJ7QwKBMDAbOCKRCrGZ+y3C6BKrNyF8TBKn7eD/bXxjYVxtoyPP/ApSLQsnSGgi74wiz0QRMAcwt04GHRB5d2aUU48QeIrZgqBDW7Qibs5Y1Sc/W2gn9w4yf4AigHg2viKyMQ6xkDABjAXhfqJmbg5UQwJFaYCQBgqNdW6FHSnS67rysEWC0DwIm1ghAcwRrAq8ssqi9KKAhTFIT6gCWIIxlDKwD8gvU2s402My4P3yOgAkVzsy7cAilntAEXKysnQdHGFYBkxByCGo5gBSe7Ql/G87nqKSUEsfty7fp1wmSkbC5OR0AAACH5BAUGAAAALEYAFwC9ANkAAAj/AAEIHEiwoMGDCBMqXLhwiUOGECNKnEixosWLGDEaARAlo8ePIEOKHLlQRgCSKFOqXKnSCAErLGPKnEnToJEEMGvq3MnT482cPYMKHWoTJ9GjSHn+TMq06UoZDrA4nUr149KqWLNGvKq1q1eCXL+KzRp2rFmnZc+qPZp2rduebd/KpRl3rt2Vde/qHZl3r1+fRv8K5ht4sGHAVw4r1phA6uLHE42cvGvFCpbLmCtDgQIZYhcWk+Vi6dKlSJEmTXSA0XHlcmfPLAjYLULGSxpBixYJ2u0lR5HEb8WQxnyZdJfLUJ4wYcI5oZUEBDYCcHxW0ikApUqB2g6K0wQCDQB0/1lrhfQXMV9uDbN1C1MpTJjCCMdiZfNm1wWVQJe+Fkypgv8BAMoEEyARxHhnKaEEE88wE4888swT4YQQtoMOOOBYYw04zDxzyxcFPQHdCdRVN9ApKF4HgCBECDQEE2otN489NNpTT404uuOOPe7ME8866JxzDjrDiCGGGmoA8AV0JZQ4FhgqnlJKitdFQgQXAHAhxlmk3QIAhGBKOM+Y89RTDz3ztCOkkOaQQ441tmxRHmkBENCkWv4FSIUXVBAx5SmRFDEQf2NhAc5A8bST6KKKtkOQOeFIwwstHlRaaRAcBBEBBBNcYEQSZ4FyXSllUMEFFUaguKKgAwmBVX1QWP82EBZRHBoPALfmiqiiAsXDCwQAQMDpBCEQOIGwBgxEgAkJXVYfE0ok1cSoglBhbYuqSlKEtVTw0JRxx2GxmWVdiHEGHHHAAQA77LTj7ruO4irvrecc1AACADSg774GsIBeuAQdme4ZTBUy0J58qjYlAJLAcCoVRUABXFD3jUaaKZvYskkttIjCBRcODMGCLey6myi8KLs7DzqiLLAvvy6/3EC/USAH7Q82/MCBQGg40YVlmwkFyJSlpAGAHHKUAYB/1xUChhdllEFGrDsdp1wSTDxhxTORHAPLLrAAAQQGABAgW50BULPO2uwkCkA66RAkIYRv72KAAQQsINACBnj/AIDe+OILjDkYZtjgMLeEgAMAOIRgLnriKiiEEAvG6iwU0JIEhqjamaF0GRvpQDQoUXxuRnMxnXfG6sJZsQozzKSzTjOwXGK7KBgssAACCNxtdjHyKBohmWNC+KA8x9fDzjktu6x772YTcDfgBAizTDTWkFNOOeacIwwO4F8STuHWNHjL+bds0cV5aqALhxrz2QeFxcPlhLMNlDNhGWaYmyEHbmQwWtSQxIbtnKIQV4gaAMgQkxv8QAjMwcItpjGNcaiDRvNohihEsQtRcMIWpdCd3v62gGLQ6B44SiGP3GGmM5mpR+L4hji8cYxkiKISdaiDCJ1HAEtVCglIAAIa/4aAgRBgABbXyx73zoENbXhDG+hAB+EK1yH03UJBCtJfuc6AJPhZ8XymCIMa2qCGM8hBIGYgg9LSwIQrdAEMuwEAG9fIg2il5DiWYcY0/NEPfuzjHYC8Rz2AgQtcoGECosjBBDQAAAs4YAIMQMAxAIAPSgLgHphEoSbtscl74CMfoAxlPvBBSkzW6Ewy/EY1jnGMjm0QCDlAw9hkGYIQeKBYK+AAp4Y1rAlA4pfFYKUTveENKYJjHIZjxi1M8YwI6WiF7qBHOiC1CUGcEQyeA0AZ0pAGHhAhjmR4Q9TSYAaVCAFnw0hHP9bJD0C68x7HqKYDHLCBC2zgnhOwwAYcOf9JSpKSlP78p0ArCUpBAuBGNbqHKEWpj32E8h2X5KSNLiQOcTTjGLyohCggMQEfevSjlhrIBACgUVFUIxzniMeYEppJGqXjGptYBADMwAalaRNqZeBCHKPmBW3+JiVn6IIt0qGOogKSR/YARzTiSQUGJEs2ADjAPJ0aAGC845+hxOoo/wmArd4DAO2YBz0GEq9esQNXYt2RJheaD33oo61u3SoAaMRCcMRQG6zcoChIANJKEUhY1VDUWO0x169GVCD2SAcv4uiINMjBC5CNrBcEsSLJeoEMSCJJEoQQg0mqQ0LPiAYuchCEMvABAIkQSBaoKr0DGAABBAjAN+hRj7n/koketJWoJ0EJAHqwA0JkIkg7zmqQsxoXUbiSx2dPyFaGxhWUleQRPWQojrzq9Ri43VEKM+lJUr7DHJtwxEDkwM008NQ21gQAZLW5TTM0YUsjQY810lGPY5QBafhNAx8kEQn+AoAPKtAAAhbAAAAgIAB1KFMLa1uQFuJ2IPU4HnDLShDiWuRBXxLrCTHZXHxwd7u6VeEp3QGAlR1DvONN74rOKBDKcmEIOXhsDnQTMSyYqw0fYYIQrDGPaBhtD3LYg5CPxodIJMLIieBDIoJggQwwgEC8OOiCJxKPW7VDHgM5q6O2DNYuw8vLXrbwQqwcoXTMiJMC4a6a10yjehQP/x3SgMT/drOb/62oxUcTSG+GUIYcLMAJiRCEEcKgujGS0SJPSIISrPGNbSpQIEEWiJKTnAgg84EPFtCACnIAjgWbCSKExdWXBcKuUpPauKU2NZjdBWaGOMoc7ThhJQP6T0+u+cPyuAYaqIBfa9LZ13P2tRfqVCkGQEAF0RCHLVYRgxg4sHKaUQ5E4qCGL4iWxT31QhagFuQgX1rI5JVEEDKQpXkchMQ6SndB3AGvksVrHQCAt6rbnep615vLXD7IOshhDk5+srkLHeg/7cENNCwgAMTygAoW/jEqWLPXvAkBABjggQUIo12Lksc4xoG48hwJXXEIOUN+cANJjEG9Uv+QAgCykAPI3tcOSMAv0vQbiSBMABfRxK3OaSuQKQ/EHmO1N3HRAe+iA+kc3wAHXcmUDnmkw12lZhu71sXl4xK3HOQAwDsALsquAhwf8QDGgAPgMgPoawEQ2OECblkpFZAAAAaYABeEoSji0bYeO8LHOLYxDVZs4QtcTFJChFOFMvQUAEgYgkBy4AT13jcL44xaGcbABzlkQBzEy7y5d65zvJ96bWwTSBSjCADS52uE1y1GRb8xJtqSabjrEPrU2VGOcIB18zQiJdebC4BshEB3ZJ9ZzHbZAOcVX29mA8AxwNF6HeEd3TXCxz74sc5t3GIJT1AI/LCg+DH0FAnqncL/FCJrNBVIPmpjGEMaNoCOXFUZTGEaHpnO9KO1Ef0coBdIvQCwf2iER2/6MhAGAIADUVLh0A5Gl39FJxDcwA3dkFYHQVS4xUkKxVbzQAvTIxsMoAH3tAECwUgAcCz8QgCVQGIoJGI78kwJ5WH2MA4fohA28AJSAFlZoF6ShQQtd18ud35esAIZ4G4pwytVNoQTUnprwibwNhBr0j0xo3Z8gy8k1DvJki/HQHpEF29YCG/kcA3csA4vRGIFYSMHYQ9idSPmAARmQ2AMYAFsyIb0tAEqYE8aYAHFJxDf4GEfViNzlW46MlcpNA4MYQVO4AVTgAQIE1lT0HJ55gTnN3lD/8AAdfBLvAAM14ANUSR17QIvVQYA5mAO2/OJbNKJomgOwACAMjNCJCRCAyZC6yAk6FB6o0d61zCL8UBbfWgR4IABARAACDBPbahP+8SGHWgBf2MAldBdpaRm/LCM/IAmc0MP9hAhLRgDCyEGg+gFQzCDllWDh2d4jZgFE0ALwEALsqSLeVMHlQAJxQAMxCQOsTdc57A91UANwiAMvFAMxQAAwDCP1VAO0tA7fDM9z7M3+XJ8BAkAyxAk3aN/9RKPzUAN5VCGfDiRECEOu1gn0YORreUAbjhP0mMA4OBWXgddntQP8PAP8AAP/sAPadIu66AN5IAOz3AHCvEDMYAEPf9FBTZoWet1RmPQiF5QCwDQDQ5IlNxADcuQDOOIBkwZW7uoUZVwfCGABrQwiTdUCRAgM1oZHiRkYLujigPBAOzQPeZAEOcAKcugNvPAQgwmEBNJkQYhDQaQlRpAAhtAAgQWW63FAPPkAAfWAJWwdW41mIOZD/3gD/+QmCjZD7hiDtfwkNRgCniwEEqgAjqpbTspWeplNOl3fmPgBNSADaI5mtqgDQ1YlN3QDQAQDQ9ZDM1QDdkQm9nADeFQDgAQDriJm9IgDcWQUTgUAluplcECLAhQDFJElqJYDtSADNfADpzXeZ72aWPICzlABXugZJFgZJEAAEFwALtoAQxwAAb/xouVgA+EeZ6gNH3s1Ec20g7VAA3XIA0MMQdtYATgBwBDsG2WRQU5MBDol37e5wS1QA0EOo+zWImVKJrZUJpOFA7dIJsQWpu3SQ62V6ECYaHhEJ+8mVGRGDNbWQzVMIqeSA7LIAzYEFa31XrPeXfRWV858JPmhVqJIAk0amQrcDcekAEGwIsAIA7RVCaXhEmEGUoOVVD20A7aQA3XcAwv0KQKoQQmMASEiAT6eYOKBzUnZ1lTwAXL0AzQAA27uZsEWqAHKpoPmg2jqaDcQKHhQKEE0aZwSqFZZ6G3eZthygtXCZy6A5iQUAn5+DXd8Fvxp3m39Zz1EA0rwE1yYAdp/2AHgpAGXnBkNJoIXnBgHjABC0Aga2kjU7YjhfVVHgZQ2mAMyUAN1UAGNwARLjAEg1ilmrlyU5AFWUAF10iDOXAJxrAMyyAQzdCrXvqlYSoNSnoN1XCg19B72BAODuigudmsuDkQWeemF2oQtjcQu9mbsFAHQMAAsBCoJrMoRDiomhcNZqCodnA03XauXlBkRpYFEEAAJGAsawmGBCGGe2gj7jBN2LAMyJAMSzoHSgIRPDAEe5KZNAgAVDAFTiB+tQpZSCAKwoAMAJAMAkGxE7urCNkMAOCl1AAAw3qgADCLBDqL2BCbRRkO3uCsuSmnAhGtcVqtA+GgyAAEIZCQsf8HhCkTrhACDrhAXkfjWI2KNEBmB3IgBZPGB1MQAH3DAKJAD7dIEE/bc/QQD9iADMAADMtQDZgwEWKgAuAHWYN4MASxsConWYkoDMZQsWo7sWubDF0KDR57DcMKANDQDMigq28LpmNKsiXbgKmpss6adS07EN3QDJeABvpyQ6KAj8TkDaU2XJD7LuCAU0azXnrGbTJ3nYkgByRAAGl3DM/3lm9pJiuTDLBQCfV4DAQzESyQjV7gBCoQfjVYEAtriJKVA7SADBJrsbzbthkLt8I6pnCLDGmbtgSBt76qtx97DSZ7soCLm4V7CbAgDM1AC+SorQzgPAtQCenIuMTEDrj/IHmRJauX63JEKwdjEGRpgASxZQDfwJYtyocAEE3tcA2VgAaXAAzNAAhLMBEpkAIDCwDip21ToHIGIX4rR4MPCwAS67ts+8Bu+6V0Sw3Q0LF0awzGqxAN7La6+qvBW6Z9e5rKSg21Uw3DhLIoWw29Wgwdk0N8YzYe4AXpt15ZcJ+QFas9dV8+mwZTMAQZUCesx3kt2kLyEA60IDawQEhLUAUV8QJDMH6yOgUJsbCJqJ9OQAINTBC9C8G8+qW7+qUULBAYPBEYPMa6y8G9Cqx7ew3QYDvQULKxaZrcMEypmZrEFA7awAvjF1kC4QSaNn4AsGl7fF/c1GdAtIvHo3lC/+xm6yAMQBAAQDC9gMDEFVEa2VjAC0G2UgC7BnAJuvvJFuvAofyrX1rKcEuxGfwRn9yvSZmUtSMMpgrCaRrHDMoNouB9fIywQ5Cfr7twUuxy5gVjQEQAaGAyikKEhAoA2oCGAFAHu7AHAEDJFeECrQsRC+sETkYAB0AGm4ALtVCPGNyvA7HFbruxyUvKAJDKKiEMtrMLzSCmwVugyzuaUrpehbhtCaxtVDq7AmFefTYESLAAdUB0j6uJ74c85UALuxjJm/ARJ5ADiscQKqBPDFDRHeBA2QcGgAAJtQAMxtCvyRDSa4u3JO2rGqvOKCEMu3AJ6dylafzOwTqmBHoM+v+5cjngtTtZEOSLU2WQeDmAALvQiWtyifdmIc2giwGABrBABomWESnw0ACtEDlAAiRwARpQ0QzgLW0wmQCgBwOBCaZgC7hwDMUQ0mbdyiTt0stQxmOc0sBgOxGblA/Mqyb9pZtQ0yxnmQjBcrz8kz190wZAC5+4PZ4o1ENydN5wCXUSyecKEk/QBEQQ1QYRrwBwTytAAlitAjqAEIgAAIhABwJBBoCwMbgADLxQj2iLwWh7teDM1q4NEbugEOx8CbvAymxLsVsMALyQyzWIwwcxBRnwdpCVfkjgdgaQDLjpJsqtPdxD2ORgDLqIAXUAzSLBRZF9n3180x5Y2TlABBn/oAIrEIcnwBCpOgLmfQIcWNkCoQIVbZdUPQGAAAiOUAsd3dquzdYSodJw7bYi3d+3DQCbQIM8abkEkQVO0HgCcXJIQAIZQADGUMfdkLIru9zUMDYEAASRQJMj8QNKQAT9iXgQgABvJxCWPQThfeIbcAIoEBHNdk92KRB2yQBvB97E+Ad0QAd5IBCAUAh70M2lbd/3XcYHMdu1zd+4feQTCwwDblkHwY187MMeEAAmWrKlOcd2LOHcAAsYcOG1ACojYd4jgAIlkANkTtUFAYcrcOLg7XapOm1nwAMX4Hbb7YEFFrsrYASDQBAAawVJcAMu4ALUaARkYAfdXN+pHeRl/7wL+BvX/Y3kyQAJVLBtWSAFrpvLOu3k65UDGdAAVRXLxYqgpKkNzTA2QCAKbU4SKw4ASlAEIzXiBIHml73m4c0CEdEGZyADd+mBun7VBMEDioAIh7AQ/5sCLtACbS7ahE7fwADkwlA7sECq/F2xR/4xTrBtSKBwVXrAZL7HspoFGYCpCyAKpSymY1qs8xg2QFAJZPACKbAS58IqBgGHALACFrBwag7vCdEFUKAEqarrlX1PE0cQK/AGamAFrrIQxm4QoD0Qok0GiUDftUPbrNzoSU7mSJByNYyTrzoQWUDV+LxyUpABabe9XerSyVvKK42/dpAEMfACLBEIf8ACrv8+EHBIAkFABWi+5rG7EDbZAiNAAf6u63Q+EGmeCGRwBxNzEXpw43Rg62fwBWTABfk78a0c0sBw0wDtBFJwiEw+EBevWlkwBSQAAWiQJZugq6EsEBhrDNl6CYmAYzKhCIpQBDM/EFW9AkFAAva+5iYwAgoRAy2AAiBwARdw5lddYPOe5gQbaGAAEoEwEF+QBD5QBJBQ5FWvq3WwAi6CBFqPwzxpg/rZ7UPQAFSJCw/J37tazuUc225vCEzPEkrwBF2gBvg+EHGY5gsH3mme5iCgELTyBEYAhR3YgVi9+2meATG3B2bg1STRAu0+U2TAzYV0DFxw0y6S9RgvWa6qbbL/6gQQUAdy3ICoL9dy3eytf+N/MBM+IARVkGkEMeMXkOYkgPfGbwKoYxB5MAdxEAHJMucAoUGgBQYLDqxYkYWKHDtO5MghA0DiRIoVLV6sOGJECo41RrhQoSIHxSFDkDiRMsWLlyxDVKhcCSDLFBIIhHnj1o2btmXJkgH4CVQiLFiJBiFChFHpUqYSz/wpAkDDRBIXQiJUgVDriiA8ANCx+EdsIAMEAGzYQJABgwkOJiAwwCCDnDRp5JTJ4qRrlKZ9lYoA0AKADJE5RpI8KUVKliw5PCDJwjILACQLgFWjhu2atGU9e1JctuuSnRoAbvhF3VTRITYkLKqwuqJMVq5c/4OsUBSo4thDb+BaSKvBC5UVGSZsMAAAQgYSacqkGeNlAgkTqa1bXFHY8MWTKPOqZAxgygQGXDZx2kQgQIZaPnsm6ykM1pgU1+1bDAQmUSQprivC5mqDHGoLokAe8LBIEQXZsMAAByygQqI0JFJhgwAMWAAAEkgYo4yVXCJBidPuS40IFQAwbLuKTHKiRfAYy4KEBVQYgovnhkCAgDregy8ZYS4ZYwQShwSADD4kiUSSRJCYCLaQLtjAAf8KpHIFFozoQiJFnHqCBQeDmFAiOSQqY4EMIdCABC+mYDMkFXQ4g8i+qighB+1StIjFFmHEcbocNLAgiEgyMKAOYIQxJv8ZZICxw4cUhJTzOjCGSEQSS5FMY4WJ0OIUACoLLKFKFm64QqI/3BCDBQcceK6uMAFIQ4MFCEjONSSQsFMFEsCItKkT0LoTzzy7YxOCBiTaYDopThmUBCOSAACMLr7o9T4ZhkjDjksvjQQJEjZAViINPiX3tiMGkaiRRt4gAIGRXA3CC1gBGGMBBAIAwAMSDNN1Ag/AyKNajD4wQQO0AAj2sGGdIHQCiSw4MQ1QZImEEzKyjFNg+4gog48y5DhyW0nK8O+sDSoEldxQg9jijjsCCSQIDJurK4cFNsiirjIYgICABjJAcUMSJnBY44s+GMI1tDZMsemLhgDArFUnmHH/CCq8KCUXUHp5w2j7TphiDLvK6FAQkSWBWqJvHfC03CA4FiSRRMzIwwifD8s0AAImg5VnuPLVNQPjNE3Ka4lAOIGKg6lKWGFxG0AAAQAgh8CIJYrwQo5UcuklFcOtI2KMMRgTPVs5zpZDV7QsaNvTtj/mQ+5E+ACDiMghCFM6DahwFYEFkvM3Aw+IhoDXdL1OQogOkAWXKhSbVlFD8nz3nYzV/ogjh4dk4ZyVQz5nKgYbdAibJTazKGOPuyoVuQxOLeDK09BBjl1uPvawozK4vHB1pQnrMgsBlmMc4i0PfABoAxguYLKLMA16CAMAAyK3gAaQQQ9zaIMavsADKcih/xSy6EUuOhEGNRywIlWoQhfEwAPRUYFNL8zcHsZwurPlwAIWcIAKbkM/2d1vD/jzAgQMQDQJ/c9VALgd8SCwAAmY8A95YIHSFmcREgTrhpFDQANUkIc4tEEMWGDCD3iQuVNwLhdGAEAMTDgRMUyLDE6IzgvPN5lsOWcPZytDWyywAAaQQHaCAMAP7eAckhHAYWCClavSMAEDNBICE2hAI08wos+JhQ0rkKJSwCUgw0zghgbIEQAoEAeK3CAGLQhCGQSxuV6cAgQgWKNpbOCCFnBodHKcAowi85AylOFskdDVBEkASEE6BzpecIxECKCCVtWFAe0SYCRpVQJoHVAsRP+Ql8maZ5GlbYAESHDAEBxQlgAsgAMZm0gLQIA0OUyMc4WIJQBGIALEISGOuNQlY0w3pm0lKQ0CnFUO8GdM0WVBCrqa1ayWqQKHgRJDBIBoB04gBhMeAmZZ2eQ2MYIWL4whLc8MQAM8gMaKtOBRLKCCIMoYQjKgAAUm/EBMTZAD8+Ezn7tUny+RFAm5Da0B7YIV2UbHGCc4hg1/k5xDywLRAJRABp/zgRCeAIAz4OEQiEDjt76l0U1pCADxk4qsCLCADEDgIlZI3g14oErudU4wMP3AKzkwBCfgMpf5FM8U0ieHMQBAdrMjgRDX01GZ5OVWQwiCHsDAgUY21neV80r/Gz6nEZemoAUxEIISSnAi5nGVU9+UQhkAUKbIAYBo1bHIHLqohjMQIQ2LaGshbHDAmNaWCEgwSUpeeNMs4EolvIwbH+4nhwz8lABQM+ytcjC0ibChBAZoAAQ4UARLwDWm9BwBClpwAkxqKKMU4ZQ3STCZMqygAWeagAmsgBGxPBEMThAEKHLxTmqBTwQfEIEMnCMHXKFkCjIBMIyK6oTIlMEOOVMfdEjgAQgEwGG3wtWCGXAsAOQhYPGUSG1rCwLK8sBOXuWqNtEShNESwQOQ81kE6nuR9ooFc3Lg3nzhCT5atkASchBEJBZhpyGkZDK6lIliYGQXbPWyDEhQgQfa/5WDISyXwQ2YAAe+h+GJaBi/lL0sQjbk1QZ+i5l9QyJEI3AGNyilxTAjw/Y4d4otfO4LUWACG0CRBk4sYhFDIEMJkJDLwobnxzDK3EqiU1TlQFcqw1sA0SagqUZQOTAo0EhcsewDJjivZJ1VARJWUBcqQBkC92qAG/6wlDMHAhE5EARs3+kCw/1hEIHgRCRyvIjUxWEORYBMYQPcZ8aQLQdOaLLwfpohiSh6Ahl4qqPBKAQbxCAGtKyABYSAhSJYQCBc3tTSMs2WBVyoAQ0IAAKMoISmwMzcvaHCIjY334gYrRGDOAMgOCGIOgsiBzyIwhfUEAQC7/rPgC7DFJLMHP8G/83Yw6MwlVXbxTacoQtQKMJaEkCCqQhkKhUJLwkY0EgkSg6iJ/CLghqhoC2RwTltlYUMACOwLyxBB7GO9SI8hYIXxOAGMPi1vwMMo+ikSVce+J1piTY8SBoQwy0Wi4XJsBYGIAQtFr92Z9Gy8UbSql2o9csSqhAGNwxiEpookpp7AYqVVysGKZBEnSMhaxWc4MogQIEJ9uwEnetyDFQQmgeANlZ/KXoBCVgCRY8+FpgpYul8RIjBOAV1xXuzQgZYwe8WEAEeTBI1QtKuD5QQBj9IBNWq7kVLBTYCGYBCDpyoM3Gs/IET/DrTP965TFYivAVD0pB+J8DyRj34cyv/wghvYQBwrB3ep1scLVZbgAkYvuLraNcGm0dQkbyg7vmGnty9EgGSFlFvD7i9tvREgZ5v9V++5RVGUji23j9tgEcKdoGOJrypG7H0teBw+MRfvOJX0CATqBCMJLqsJegCONgSAAgEk0sDlLuDank5erOzHGCBdboyy7IBHhgCPuMbxpgCk2AMKVgOogkl22MmTXG03msEFjAWBgCUB7khgcC/DRgICUKASWICLMACEokBAXQDBTFAiSACQRCEtgIFPShAIkm77VuEMSCBmJIny7qBJxCDOCADEoM9DTSMXKK7CTCWsjAWEoCaDAAD3aCykWuER3iEIKAVT8IkwyAB//u7P+JzAOo5ASj4gjaQLBLpgh0cOTE0wCHYvuorBD2QEzAwvVhDmBMQAe2SiCg4A1ujgzwwCX8zqLqiCQjYwgjiAQfIAaJ5gDJzNDc4BE0IhSDIEYHajyRBEkwBAJZgw6dDgAOInCgQAziIg0ckET3MDZgBgFErgjJYhJWSBTK4sPsYBJhLvSBogRZwgR+YiDnIg/Z6g/GDPYlICScwE7hAgBUwARYAjoJIAEcDgOcLgz54gwWAgDHYA7mxFFRkx3VcR9kRHS8gAzBgAzYAA0G0D1BUEHMLhN0rEruQBYqRg2G0D0woRFkjAR3YAhIiyPaCmTfggcRgEyloESmYiP8FWAEeCCMGyAEHkKAAOAFYwrAfUIIzGIQgYAAEU8d2TMWWZMkkWbtEoAIwQJf7oMU4sLU5AAuKIAK6SIMgyAEiwMfruIN5Q71FcAIi8IMzUAOrqoh+/ANzIwMmuxVgUwEyeAOXOQMoYMYTeKakCgAFEMlYEgIr2ME7WADDGI4sEJ3nEB2G4ANUdEl3jMlVLIM7iD77sAEbEIIo6IIzgAOKAAMNIBpOMQJ/TI1CqDPuMwIb8IEfEIKKmIRJeARFQASo/AM2KAIyKIIiUIRJ2BIomAgRUADyYABYNAAJGMs1+gKve4TW8IJeqouH8Mleikf/sQP64ZZIyAEkyM0xaLf/+8gu7VJGNaIIHmA64NgAI8hLv7iDQpw3CIS0mIIUiziEyazMy9QD3ZgEAICDNqOID4ggPjoAADAAfIknUJyERjgEImBLD1mJ+DQyu6DNh3AOgxKbh/CC2BGEPcgCM6ADxEwNESBQ/OKwl6IIBaAgBzAYEjAAHUgNUFjMRfCCFUABCWRCjMgSq5pMAAiFpfgABWAAAPBIWBQAKqvMQCCCVTQoxVCMFkEJxZgI+fQQtkyDPYidMkiEPSgDJ0ACmBFQvyjQ2roICYiL4EuLDWCAp2I1puiDOYs5EvA+Im2KKgCAmlwKEZAAAmALtgEAE1hNE0KEzAQAF3JRF3UCkUCC/zNlU7rrsecwMPQhG4q8g+68j9W7iAA4gAZ4ELfYADDsi4pBPUGgghK4LyurlpgKAL1ZVPSksjy4LTZFU8OIUUmlSNyaiA4hG7LJCyMIgyu1j9UTz4pY1LjoU7QITqUoglI4PVnrPjwVmAI4UbM4AAGw1QEYAIuggF3dVYGhg0yzSEutSEt9UUylu9HyEE51Aq8gEVG1iAMINwZ4EBhMFoK0iBNIA3rTsRy4AGetljPYAgUQVwUoAFxFDV6Vky/oTWJl1zP1USYRD2SVgmNKyjBNDVgNTwnQmwNYleEjAIBRCg7gnzqTAw8AAG+tFsocBDcIgwcAAAUgkV69jhNIG/92pUZJnYhbkYj/Gi29IpsWwcEWGAF8lQh91dO18MhZAdiLyEQGUAEqIBkOwFANGxIKuIhH+Dqw44AmkhMK4IDUyK1KPVMAYFOiLVomAdnRcgLbnAInCMn72IIl+IFZEtmKgDu9AaUDsLpvxIgi8Eima4AEcClIm6cMtQ6b5dW03dXvQYqJ4NkhqQAOMLqm+IDeRLI1Ldp2LVa6coKV8JAOubtltVe/oIRHWNgwqIIl8IFrbdTGXdmK4AEEWJW1mJVvTIIbMCmX0oj6iJRd7YDl6YCdfQCIHRIOkFvrMAGT8EJLpQhifdc1lZdeik0PEdz7MDVFwFnQDFIoMIIEaFz/FrBWiYg4CSrRe2kCAJgDDYICIbgBF5gtpghSpdjVEugAm5WIAiCSn72O1O0OF21dvW0R3CKwjiqDeR20FbUPpPuDQ1AQnL0IMIDfoayINwg+gnjFHAkAMHBGOqCDOZgDOPBEUrMOCYiACCBdAMjVIale+2AyvQVf8ZWC2Q2tjy0B47QO9W2x4JUIDd7gG4oSad24RT3esUCEMkQX8LQIC7sOcZ0I7E3g+ygB7b0OFlhX1x1WNIXR11WJDpHTxigBAKi0C8bgJ9pJ6wAUgliVRhLhQGBfnB2ET12KOZgIFfaLASgAh71eEpHh+2CB3JJUq8RbGD2skkiRPYuMkgC2/5GaqvRV3zzoX0lZABya3AM4zwBIikaYhEM4gyVQo+qsCGYEgAcgpYuwXosYAAFwWHHFXhj+4SEpAbr6YiTjWx/NgSAwgs4kAyJgATWtq6Kq5B5wg657hOto4zeWlAtxCxnUGwXA2UNwAz5uARQY1aV4XusQgCt+2HLV4i1uvrlKjDYVYzJgAz0YhFebCAWiKQ/hgkUAhEdw5TDAAhVqRP8tYjPL4Gq2Dr0Zq9+BKALggUdwgyo4JVk2W4s4URKx1QdQ5wdYZPuogEK+jxbgARrpXooM3xwoAiqeCLEIZD/kBAAABWCiCFpKARe4gSTAAjFoA2q2xbBIOmxGXW1u3P8E6DwbiGWanQhbzWgi0egIkAAJOODrkFgiaQIiMAkIOwkkEGb53ef2IgFH+OdS4IQxqYgXDgy+zLdp5t8Ku2Y5uYDGDQAHWC8AQIFDpVJzjpRDjlsOiIB2vg94vg4xZIMtIAIiMAMyIIMqGAQOnggKYKaYBgVB4CpbvdUXToEY+IEajEKdfEQ37l8xWGP7yI8LuIAEmFtRnWW/sOCmwNUHCF2QBscEAYDcYGldpQgKWAEpiAQAKAVQWIT3uwiyLut0ugElyLc2wMk4OAO+GBKwy5K3yjCS9ZoCgNgOqICmtulq4WfwqYALoIKKKQUAiIQgWGTRlojJpgipskHDQdj/z4mAB6gAFjDtkP6ct9YY00WC7YvtmT5ni8DoiiBrXAVtwzHq5zYczwUAHohh4jahSMvrpRg5jOiAYfpnAEA9v7BuXMVV0vZor4nlEZjZ7zaaXuUBHhDuwA5t6qyIJ+A6r2vkiugAFZACTgAFUEgFUIDsexUBIbFiBXgACVDbXSXg3+Zuv1ACH0hGSItv+e5cCmCB7Lbv/8bv/M4uy2KK1n5tUACAVCiFIGju5mYKAcBVFHABJfiCWozwCH9b1NCEQ+gDxMVwwYC0+1rw7ALiXtnVCsjuIuCBuR3x6+CAC0CCSACFUkiFUyCx2/YLGV9vBcACNdjpw85xqFaNrwsF/0XwgzDYgsicCJdqASHogjuMlLj9cDNgAQ6o8CfvizvPAeW+cjlw6r5QbyuWRf7VZzEfadSAmUNgXzN/hOasCDLX4g74YU0GbD2/js9VEwJPhQOHbEjj6y6/8bbWmFJjdER4BFEcZT+QgKVW8qaIXowoAQqg9NBVgNTG9L7ggBVwAk5n8RUg4NQYgDd/gDYw9FgfEvXlxynz6ApwcmtGdopganKVW6YO9FxvCsSeciu/ciIQ8b5AgR+wgjMw9Gcs9Ta2sDw4AxY+W5vl52i/9QF4ANO9dGz3Cwp4gGUuhVPo9GxKDRuAQp20MPXtFaSzMDpQAyy49TXCVQUw3QpgZ/8Ot3ddpQBUU/FOF4RXRw0F8OhdfUYM7tldfSILi4MvUAIX0Ig1ImsJ6AAmOPmJ74tdXQEv+OdOLwWNj/mlNt2ffXWke+oxh2sb0AgQMGra+gAXYAIoUAIbQFCLIE4UuPYRl3kk4ARub/HUIGAJ4IAS+PaWFukxp3D1Xrnerhay5gAoYAIhmG6JIM5kdPv6aPAnpwApp/JOP4Uy2HGliIBcJm0HXwo+vHcdH91yxVXJ1uiDte37kOwHgAKlj4Gml4gXeAEXoHy3T8ZIT/RYwncuiIR9v3IvwPmlINdBn++0jYBKU+/bNnzJrrLVG9ymMPwPUAK0V3uXuojKv6wkYD7/RJf00leB+OL3VMj4pnBYwj9kGJ8soj/qjF59jbZu1Bh0AYirG2h8Jcjwtr98AKD8G2ACMaCDwsb8tPUamacCTgj+UoiA0LcIBfiBARiBwl8joq9uRDXn1Y+p18eIwc9VjXC22QcIITYAECwIoEULAC4K6lGkyCDEiAAoUKQo8SLGghRXIOFUKlWqU0EyFhxgcoAAARBTQixQgCRMER9m0qxJEyNLmBFLlOAQAQATHylavEjyREgMFAVToFCa0CAih4F0RqxIlSTFC0M4gQJ5Kg1JBTFO5jRYFoDJAihSXI1o8+bbtjArcOhQgqAiP2G2KBFy44ZBpiKathDyxaCi/0aH5GqkwPgixRyLSp0KWUZCRgVkU6o0a/Bk06aPSb6dOdoqgAqqDZIK9WiQGz9VfBRUCmJEih9dADxEBABRI9+PLY6GSFGFIFCVUy0iiWJzRJUfCJ5UG1ppcZsX41Kt6PhioEaaSKEi2Ifgj6culGBpg9d34qmM//wpHlECBY6clpf6ebHAZp15Nt0AAF4X2mgycZeRCCOMIEQYOqEmUSAVTmKQJX6IUQVBX8yxGF4ANNLIaPTZB5ECD1zQ0UeplBJEBReNYBJnEglY4IEIPiYCjwvClMkok8gn0YQS0QfciKxZ8ggAmhREooiKPUZffSeWNEACW3UVUhoVYBYRjf81ujUdAC6hgBCa2D3WAo9t3jSliY19h9EfgTiEiG/CKXLIIINkEhElUMpFZYVWcmaSCo4oF5IUMqIk5phoqdWCC5Wi4IKajEHhVwptKmilXA9BqYkmlNDxRRIxLHEFAINYAsArAAQJZ6EncsYZCV4sesoiL4EZpoAGmeZSAZS68AKyN2TaVn1nYHFUUm2CetUfD4moySiU6BEHFi8sRBRBauCRCXnz1TlkcSkNUKZLWu0HUilnUXfSuhJ9gAKxClSK7AtPlUhfHm2IgQUAP7gwwrQ6HakIIk4CoEcbUSihRAwEuVAxAEp0cQZBf1Jbq30CFFiAAsQCsFWLoFzga0H/ETygQMn1RkSySzDzK9poFQZCJX10tPGFFQkrTF+tdACQhBATK3GpQTbcwNagFVqbbmc0uySACpEox0kaFxhXkcsPlGkQyQ+8TDLMyzKms8480zeH0DBReUgjeqCHwgsZK/EtABUrm/PUo3WGkNUwL6ACFVQ4ocIEX3sXUYoPSDC52S+fyHahO7tdZdwZ/eGzGF1M/MINQiTR10FE2bBQcTylW2bJsRNbAAEITKCBBhYwoEAEmHlHXEF1dTB8CRWU0MEDwT52yCGBMK8zAJrz3DlJcYhhRRIvKF1QXy5Q2ndxoQDAAgBisyzX7OnTbgAADljgAAMOfPk7ahyUwAIL/zzkr78ELp3IPACb1zYqNaw8Z1gC9SKCBSW8wAYv+MHEuHeDhLTABmqjiiVQEQtVWCJCozkJu2angAAYgAHte18CKkA/79TlfvrjAQ+KwAIKSMA//wMgIpqXQyo9ghSkSCBG0oOCG5DOBkLgXt6IckGquCETr4gFKQyhE0ihRV0vSd8BAnAAE+bOAhagAH1WaD/8wbCMRChScZyHJ+atsXmH0AQqJnEHJQBRIij4wEJIp0cHvsAp9lGCG17VllsJAEAmIdvsAkCALXrRAROYAA/04DYAtDB/+yvCGdFonxziiWGcBIAPDxEGH5CpjsJSExFTiSy+2UeQjOHM7MYWQv8FCIAAC0AAArbIgFsWIQ9uo9sjKIEtGGISP50Lz4gc4hAnhaIPTHDBp0xZkHsBJpUAAAwAvGWaE/WEMaVUAABKJkL/AcAA8HskAxhgAAP4cm6NoIQwKTGKeQqKenZKJiXIM4kzCAEENZEmQe5FumvqETAviEELStk6DtAPJkrwgffGJjurFUCL5twARhlwgAUcAIx/WEwwSTXPbKELiMDRhCpGcYgtWFA70rwX3q5ZEGwia4mnWSHwjOMGviAUX+OsJS69iFEHwO8ACfjoO4WJLXoCtCCkUAUp3PCEpCTUpUCcTqWwqdW8xQBjncMpGsnXgQqc4QtQUMIEiZVFAsT/TwMYbWQDiqCIkIp0FJooKUAHIYa9eQ9TVqUeVg+aTa3yMQasqyNYKXK/8fEAAI0FQAes4IMzmSAACGgrRjfwPgRE4EJ1HUUj8NpUIjbQL0n5ZwJvsK8G8msggLGUTalHP+F1IH8AMANB9HcXcAZAiw5w61stgIA3kApbqNCEHkTb1IMkDa0K+avQvvAFiRGEXw3EJmGW+zXaWrKMPDADDEsggd4qEgENgJ86A9CkkWoCEXbTrkR+AAUmoBWhqI3bRwPhMwAQjLTXHAgIvgdfgwTCfrV9IQtcaMYs9pYABiAAhAPgtXm2F2QDNkgMhEDf+t5xm49JAW0iQh9l/oYO/9bb1F+8BQLDXhgxDunu8WprybEyoMEQJoBlS4CtEQmnxRGxwXzRurr7tiUGVbiDJTzhSgCM+E54whPcpvsDb6nWxwQ5BMMUUVwTJNgEPEBEHCQAMwaTdwMwHAXDQmtliQghyDawr4ev4oMw3METrnAFKzyxGPqwMSqeBJF++ZuEJMS2qZ5UanE10Qg6iCEJhkTJAQ4gAQ7wgAiyctiaIxIDJdAXAG/ucFtQ4IM7GIIVps6zJwjCtsUwz8miIkgcOJbpTipCmNkCLcSikJAw5UtsIMr0RYBM3xsMOc4ZScESSO2JPOf5yT0GwCFyWCE/+yaZoXXPrPc0ong2ImLYBP+AUohVrxaEGNgXaTN9bWCDquqkBRwqtSeU/AhnP/k3vsmEJV4Fn8Q4hBLKvbDUkISINjCBiAciiI7MnZEMMyFjn1boRdwNgCTHOxO9oTciCrVGSxwiEx5vRJqfrfBo60ENUfhBDPqoI6XgTOEZEbaQXWBsiLhgCxNftpKhhHGCEA1P+aZ4xTPxa5cHIg9qwEISiGjBHIE74S5ns5vXDXEM29wSqFYyVJ4svZ4rItXx/vrXMzGIoWdaDV34AbEbiKnsUrAFhXa5DTjdl09fJAYRwvnXJYInJv9SEUsmCNgr/u8Ws3Z1CKIgwt+ucJgTW+YRuUEYgJ73ggwdT1uXWuD/IgJ2S9RzzShwoAMRkjqEXMqvT8+IEs6qBHX7qyBneBXePVFvshNkh+eKSiP+rnlPhAIVsXKDuUGPqWzmDVlu7+PpMcLpjAkkKQZ5PQC+nu+9Wytwzj5EnXCfJJi0IhazOA+wP+BA1eLNut5j2tSTXxCgxdz1y45+vPMUFahYy9l78vOIOi+RWQBgFoZgQ/jdy0CQ3rH0i7/0UfqpHwCoQRhAwV9UjBt4QitM4CfYGcglRv4VRFTY30M4RP41gsdghPcBwBscgeKZ0kwohQEShbdQFUEkxB0poER8AgDsxhnEgZ1NYCvE2ywwyUVMTSfhxQeCYEb4gip4whssQRPU/8AJDg3nUAVNUApCFGDenF8LgADLJeDT/RBBlEep6GArVKCdXcT8CYpD8MYHJgZJzEKqAWATvGEP9ADUPMYTfEEbwI0GZhxp1MTFVApBlA6xuR3ONKGPYVkjlAcAxEIiosIsuEIrhEK80aDe7V2IeGD+JYYPXoQu/IkSRgQcziFVjMBTYIEYwAEd6AGIUKK90MTn/YBf/MUr/gUKBJgMQsQf5AHcxIEb9JAqxIIv+MIshAIrWILI1V699cYZXuI7ZcQsSCJMNEEP1AAobsd0OEXcYYGsEQTEPMEqzoQLlA4UzFfBgV42sRK4yWAecMtfWEEXfEETqcIvvkIrwJOIQP+E/W2fqHzgRYiPL7ACIcSNaTQFK7rAD8AaAHBLekBETbQiE0ABFmABFORN3zjQCxZE651eG0DBaXHaE0BBFYSBIcyCKnRhQVDCxdHaJWLgtl2IQWTCJ8yCLwQDQTACG7ABGBDEEciFYJDJdJTSdRREEhBEFKhW6y3kDciXQy4Q6xxLyg1fbcjgwdzLEsgdAAiBDwhBH4RCrBQEqZgkramkMoHcIzgjQXxCK/BfMPDfGxDEG7xBTa5BEzBGHKbATVwHU1jkt2EBExTkNNGECxxRUmKBalXKsYBP6zll8o3ATDRBEm4YQmQYFPQBWV4ab5xhlGRZYpglK3zCZt7ZLAT/AzASBACKZk22JRuswU22BRzGVgwEJQDkAQDMwdEJgQukgGIK4A805EMyQcUQph4hnMUg5uml4Bs0AQrEwNJdSukYBW8YREpBRDLhyTKC4Z0RhEzqRFsCwGniJEnAIUnwJbT9BpPFwRcUnNt9Y5slJU21lqcZBGESInx9AGMa55k85l8UDHiCUkEoIiVECY8BB0FM4EUwwmjEZU564htmxDdSnnhWpt+VldzpJkQSBOgdVIUeRHBepMt9wBsQAhiQzl+EaH4WBIeglC/GCjxZ22QWRFoCACP842heRU0CAGrGpUG8YQ2kTkbYzVToCch93SAEjMB8gegwpQN9C1Mm/1FwyiAjNGmIHuUPRCmbMcETdMEhoMJIAsBxmeQnuAJJ/KN9rOVpgkGCQqMfnhsA0EFJWSLFBVOKghkDddW3oMlBnKlCCKfLoQAmmAJNRqmfkoTpUKkbTEIvbpD4eGlE/AJB/CMhzGiYuuVpNoFXoYm/3EAXxMF7NaglPoInZEIwyco8UYIfiA75EQadit6dwmdTfQAIAIApvOob+OmIntvEQEgGbWVBIKpBECiMJsxbnolC6OjFFEQe7ImL5V8meEJSjdQoVOCruEEVTBnp1edBEAaemlsKuuqryipfCsERFQxECEGUxsANsMEdsMIs/AIxRIQlYMJaEsJaruW01P+kV0mEEmSjcMBHBsbbOy3VPHldvL3KGVQBEd1lmhCFPw0nK7ZlhslqVXorfhakt7qiwSDQWhKodUYEIcBro8aolWxnocGHiFBf/nGqJ9DjSJHC1Xnd+lEMpTaFzM2clZXGN1Jst37rNXWrK94AAhkEmGIEvD6GxxpETYLBQsQW7j1EtKlkI8SbmzKrKzTiLGxmvBkEHohBxtxATnrPTATYrM6sX96nuPqpuKJHlHpr0gjB0BaEJQQDMShDQeiCJ2ACxsrrx7olVVTb/akk/C0jewWCbwSC1V1dQcjHF4RBEh5BDdyL3W3oTLTAfUrs2aIt2iqNty7BxgLAz0JElq7/a0GYguaypX3UJBvkpLEclhBgLWIkifb9qJuCKmhNBdt0XQWybYX8QaoBwB0AgA/07iAgosJBLpQWxMSK6w2Q6x+2wBHw6sYyKosahJcqKgAQQ1qaQie8KAkWR022gFfdJ0YkBiddoieE1N9CT/QAXu5GX/QEQgjCwe4CgFaOQvD+xZ/+IWD4aWFOEO+yQZMSAvZibK5GLaLqAkQoKia4KJjaLVWwgY1ek/e+Zj1CBDImU9d96khRQjHWXvquL9lJ4iy8Au35GLlSbBAZjGABgLtGI/9ibDC0cP9Fbf/xHwDoAg0bRDCwAgB0gv9uLkw46rfNqhniRT763euOlJRc/4QrfQLzeMwGG6EU7QawHSXaZoSfJoQLrMGrumsTHOj0EsQsfHH/FYQnfAIleIIMZwQPS8SMfltBYNuTVKaL8QZw2BqFqWJEgMiyYdlF/MInsEG5ZVrpiOsUY8Rf2MBivuqr9t8v1rAM8x8bNsJZ6sIshKEmnHEPDy0bLIEPoB16qBpEmOQP9lt/GnEO0R4AAd4nWELgpK//HcEfr1kLkO3D4ixEDMQd8UgPMIIpsEIwOIMysKEieCkBRy0isAIN68IvHPMkU8InSK9E/GN2kqZ2ajLaHSUAfIHREER/FkTmGWO/wm7GBZA4H4IgsUIIGkQrJCIJIhCbZNq9kO0RDe6yQfxFzM7ECKDAEbACMTgDAATDL/wCG6ZaMh/zP/9z3BLwXJGC28ItQdDtAUOzvNZkAxMEwbTFk1nwPNGgJQDuOJNzQaQzRKTaKwTDK3RCFRjnXa6ZN7KZRMTANmGhD1jCK7wCJFqy9NJwQUtvQRNwc4rII8QKMRBDMqMwgWJvW0YzuMIEyPVYDtWak4wURIjzkn1CKmdigBIEK9zBG96lFi7XvVRluMZzVQJGDELETD8C9uEuT/+CTCJzQRcwADizQTQCF0IEI9Ct5sIrG1iz6sKEJ11ZrTErBlMcRsRbKzyC7vUzW5ag22moXAQEACH5BAUGAAAALD8AGADIANgAAAj/AAEIHEiwoMGDCBMqXMjQoJWHDSNKnEixosWLGDNmhKixo8ePIEOKlMhxpMmTKFOqBFBypcuXMGMWbCmzps2bHR8aSYCzp8+fCh/KCIAFqNGjOHUaQMq0qUudAZxKnRpSJ0+qWLNWtKq1q9egVnZ+HUuWpRUZDoqWXYuVK9u3Ut3CnXtULt27Pe3i3StTL9+/K/0CHmxSMOHDH7Fg2XkFseOGiiFjQfu4skfFlC1rvqi4A4sodLsoxvIw8uaOXbqw6AD3oRUsqb98SU369WmMsFmwUFt2tGLXr2N3qSx6dGoxYigygdLBBJS1TJgkeQLlNWkoUJhQtz0YimLawGF//xFzRsxs36kNak/ggK150VawV/cdn7CS5daxZFfCfzns1OBZNxxBXVzB3lredTEecrQZN95g6Mk2WxdWPMFEf/Mpth+GvKWWwAXPjVVhEkIIkYQMRQRBxIpFAFCEDjoAMOBe8iVInhpqvIcecgzqJ50SSWSIRQAEKEHWGTjeAYokkUSyyJNPepFDDgYEYeRe+pH4ww/MPAOOQOygYw441nwTDTO2rIKJmmfIFiF5BASQ3Ff8PWFFIafkmedApRDgZwNE/NVGeV08Y8889dhjjzuK2lOPO4/WM8+k8bTDzjpjDrOEEPx55+cXY1EIBRl6lipQKRN4wIUTOQDAm1aiQf+hhBA33CCEf6NZQcY88vQ66aT0BOsOpPTYcyk6yKJzDrK2LBedEUSaZtB9wbn6E4BggFKqngKd0gQRVFCRwxawioFjG2oQ6qC56Z5xSzwAVCpvO/PGY688yJpjDjnS8OLvMT3AWIURBAAggxpwxBFHjucZN6dP83UhiZ6ApCGHIKcAkCcURVDBBRVGSHUhf/d5N9p+tP7AKRPifQEOvTDX2w4A9MYzDzq81JGqBzxbYAHPEzTQQNAGsICfhheW2J8VXZB3hrqjuZTEfWDoCcoS4VKx5ylYFPExFTq4YZSE8EFBHWzmJhwHHDnCZ914SL7cztx0zy2zPOnwIjQEEDT/sIDffwsNAAKDG9C0Gm0ozLYYomqXIIA+KvGDDTaorMTjpDHRUMNoP9w2FlYvMUbWei6iBA9ZsxDiTWifWx4WT8y65crVPQTIJrZsskktuNRSgglG8GCp3XUXT7c8wPCtPN8LICD080ITUDmnmFsxMqeXYwE3klB/dyMc6LbpY3T+AUhh0jbEYCu1ik18Silk6BCuFBrnKYgbYEgRbhEzymTDDT+43OHSNZsKle8Wz7BFLXaxi0ugAQ0YMICf4kSAXazjguxoB97o8ateycNe8ELHAgL3vBH2DXoNIMAtAHEcxCkMDDiIIRDIMB0mBIc85sHChSb3P5UFyTrxuR61/7pwhjbA4YgMK85xtlCKPBXCDWkoAwC8UIQmnkIQr3FCuAJlk3UhCUc5fMItmMGMcaxjGbC4hBrrUAcEjLB5BjAAEIoxj7nJg1eT+qC9NAiAXgHgZrxYgAEEKcG/STAAiAyAAQIgDGSd4xuQPNMmYhjDEwhhSwFkGRERBsbi3BBHCltb26wXnYhBDgpasoEP3FcKMDQhimkYwxGsKAnsACCKRBCbTG6Qvh6WjBnOmMY0GKWoeTSDF6JIpu4coYK/kfAYjVIUAOwxTUXVox5/nNRA5hGmYxSjEpWow98I8MYRCk2OXKhFLZIRDWuQwxznoGQAzhEOcJDpGcy4hT6R8/80xlnvkrVanw1pkx2AApB62nPae8iwCE5wIhFiMEMaAFAGMCjJiVtgwhgEEoSHwQQ+aGPGNPyBz2hEYxjgGAc4eIGLTUxgAg7wGUxhygC/geMe+LiHTu9hD55GUyA97ek98kHUnPp0UfP4hjjEUY1jVAISlcDAzkjAMyCQIAdAwAAGgBACYyyjneWA5zm84Q1toEMc9gQHGfV5Cw6ZS2FzmAP4PvedLyBJbWowg0AEAQMfpCGKRWCCDp700FmV4bBBCOATYiI5ykkiHeNghhwmyweLCUIOfACAIFQQRz8dIKYMYMACDgCOd+z0tKg9LVGJuiie6hQfRV1tPvBhVJ7/QgocS43GMWghClgAgashCIEHQjCBEHCAbxNQ3gQgwdxiFEMbZPUGOtJqjXzqEzzMsOc4tptStebTFgMhw6iiWIYlXKEJghCIGdzghjGUIQ1B+MJ3YnLJJOjWsoJIRCIWUVmBJAIA/2VAnAxwAAQwAAEB8Mai1JFT2r6WthCO8D3msY55uKOOdqNZPO4YTdnOlqjvwIdpbUuPpYpDGsdIpih4xuIWuxhoy02mc8laDnGUYx3qIKY0rRkPc+AivQDAQxzee9gyeIELmpUDAMhAhiIHAQskohzlXKKfKAzDDnuY7F/3kF8+XEy/gsjsBAzMgAPE8RLuIEiigEWPRClq/7aHYscdJyWpuWWweBlkB0E0aOFGeTgf+gj0bHVqzXngVhzHQOaKXwzj5BbDHHNjlI5du1N7aMMMghCEI6rQhMN64dNeoMJAqADqwxKhk7C7UBI0d5L0xcAHm5ADeWe9h0Skdw98yPUexsAHC2wgtAv4BqSuic1rIsTN9ZjznO1svGYbL16Vasek3OHaP8vWwYqihzxMnGIVH+MY82hzNIVKaKGmYxOLyLTuNmHkI7c704KggpFJfWRBkOENcxClP0c2UI9uxEI6KIMcpEhRL0xhorm2QxrswHCFC8QCJCCBCtpM7Ipb3NjVnMe97mUpdnjc2SB3tob3KA9xKyrCOf9V1D2A2ijXjvvlLbcHOS6WaUdcFt6TnSy8udDuIjcpEWT4TUF5GIOi/+9KGokdD4gshSmUYQxIeC9m5TCEiU5UipIIwgZUUIthXfzr2GwUCKMtj457/M53Hl7aQz43mrF9j+sAADFTi1qgHtUd9OijPNZBjWLQnOY3B/zNBeGFIQxhSlzIAQkSEYlEmCEKCS2PjuTDNH9XJAYnuOVhN3pYp08U10gYg+g3OoY0JGIFFgDHsMF+cUbVA2bFuyAGz0772udZ7cNjO7PtTA55MAqnEqY7aoNqj3ZQAxibgPfglQ/4i+UAAjlQQRmoZAAP8EG/ZDhDHOKahz94Pw9wYJz/rDryBB241wu3LH2RpfD5MXhh9Bv1AtU98KtgBasebaa4xYtJt7PPTfYAKHvo8CvqsEdmZ3trZzy1dw7Z0A49ZW2rFXypNQ/cgAYL4AEkwAVIwAU5dzF/N3g5QCTV92sGUAzHYA244AhF4AOc8gSdI35KcAMd0TWlNwVZQGTkNQSl52VUAH/uB1+Q4EF3NGe/Em72Jyz2UHZnN3vrsCzJgg7rgA7ZoGKicAzioFR01maTkg7RZnsHuITdgA3p8A4QWIYRiA/2EA6w4DyD80YQcIE8E31c8DE5NwQSZAATYAHFcGdjNw7DcAspwIIsIwZwMAd/sDAaEQM8UHoCgYOH/wUApWcHfIAE7zd6AIAEK7AM0TZ29+IrRYgodRSAGNSETuhI51AJfAMAyiMQbiQKlVCFVigOQxh3CLiE4dAN3eB76RBuQmWGfzYPxmBOAWBI5iQ0bgg4IfCGIugA0cAONvOJwTIP9rBdrHALCpMH2EgHGiEEizhrjnhYC1dZlSh66LcCvOAN65CAdCMvIJRHYQKFyoIsUXgOYnUO9ngNDcA3DTAQI2QAbiQQb+Q8lRAPoiiK5gAA14AOxDYsDCl3uzgsD2ht3QAEb0RODBBTPqMBGpABydU3f/OGflIM4MBB9LB61wSRvwcA/NAP/bAN0wAIHnEGLRJFXuCIsyYHuP+GfgMxBlKgAgzAkQZQB2iwC8AAAGYFhWu3R8qiL/Roj00IT1Bpj2iwPNBTTgsAkIN0lccQhfIIjwKYDdfADfJwkgxZlmYJkdNWTLvgJ4PkAA5AAlunAiRwARtQlxugAUFTkd/QUyzXKK7HkG42TfvAD/ywD+MACD6AEUnwAybgBGngBU6gfrDkaWmAa6RniSoQltRwDMngW1zFAHgICbXgTeLgDXZGj9dQDdcgDMAgDM4lDdVADmFVDrwgQc7jRvmojyhklQ2QDE0Yj10pJtBADQr5KGd5nMjpDmiASKGFkT4TU2+pAhcwlxpgAYVzDABQdyvHcq2nKO/QKPWACT7/sFgX4QKQyHmTGUVOgAQLtwefVhAkUA3YkA3ZwA3cgIvcoA3UkAzFQAtsFAICpkgBiQZsBFV1AAmBw0Yn9DxZaZtvuAALqjwNcAzKYo8WaqHh0AzUEA/GmZweOizpECfM6ZagVZ0+YwF0uQEW4ACDVAlkKIE9tQ/9QJj7gH9FmG3EVAhb0D8UoQQ5cHDulZ5G5l5MlwVGaqRDQAvUoJrXgA1O6qTZoA33iYu4CADSIA0A0A33aZ/hEA7l0KXhQA1XygvgVAeAg0LQAwG3mZUjdAz2KFZQaQ7XsAzl4Hut96FmKQ4NgEgTREEjZGBuuaIWIGAEwADgAGh/Rlv84A/w//APjTqjZVcz7YAO7UAP5iAGrIYRLUJkNvl07vdpSHCkRpoDaNAM0kANqIqqTNqkTxqlXaql9hmr4SCbXUoOYHqrXXqlwCAKdVAJJERCaQoBFRqV5lAOxoAMA3iE16R/ZJmc9lANOeABCCCifMqnoXWRDtA8ipQB9rBagaYPsrWSjfoPjuoP/WAP8SAmV3oN2nAMUfADGtEClBhFB0dk5DgFUmCkBieqSDABl7AMzdAM0DCwV5qqqnoNTcoNYUmfDMsNXoqrt2qrtQqxVyoMZFoHIYBCosAL1dCx9Pilu7AMFfaJRmh/+HenEAkMKoAEVJBrZrBRFjCtiGQAKjABBv9wYIMjCvFQLOD6rYI2mIQZtIV5KO2gDcbAqoVAIRnRAi0AAEHwmDlQeuSYBVJQtfl6iVkAAEaKBAyABsKQDMsQtmEbsAFLsAWLDaxKn/NZn13qsN0AsRE7q3JrqxIrsVdaDBcbAiQUTgDQDOuwYR5EsuHGZvdXcdEQBLyWCJIgCZywuI23AoJEABCgAhqwSAswAXI3bHOXU+DqrfvwuWjoDuaADsXgpNFgeRdxApQoek/3aVYLAPRDBVmABFdLtSqAAbCADAKxDLsLAGIrtgF7qtTQpNeQDfOJsMi7tlMKt3Bbt3I7sbZ6DVcqCr8lDZRqN5wohII7uNEQKLmWX5H/sLiN27heYAEpdIEZgAAvJY2S5nqL8r4q52f1kKHLIA3N4KSmEAchUZPkaLX0MxD5KgVIIBD4qgKwsAvGAADJkAy+27sN3MD1Kw3QgLwIi6rAO7AHy6r2iYvM28F026XZAAsPVA3oSHvNpkfaKw+1sAJBcEt24F6TpbiLu7iJ4JODRAJ5KArFImnvy8M+DCnm4A32G7DLgA3QIBI8QIle4L9VWxCyiwRTgK89CQnCcKwLfMUPzLsPLLAYTMECgQzHigxiDLYAa7YUrLxvGw7e0MFgyg27gAZAcEKQ4IrPRVYfl3vYKw4bQF7v9Vd/9cJeEL5Mol8rsKcTULOi0L7v/2ucPewokDIP/GIMwADGE7wJMhgSKyvFAvG/BJGvNhjFUpADomDFV1zKDJzFAmGq1KChBksNAADGAyHGsowMVyy20FCww9uk9Dmlb5vGIAwAl9AM0gsAtAALbFRTgANOM+YNHhcNUlRkfezHFlMGSKBfP0d1CGAAJBBseOrIw0IP6HANwFAJtEDLpxoDI8ECOUC7TYwQUTwEKuABNlsJxmAMpnzPC6zFYXvL1IDBqQoNy5DAuhvLs1zQYzy2AzucuazLsZoNwFzE0RXR3YClxcCrU9kAEoS5kNi6WRDFU0BRFvNXWXB9tuZlB0AASyFsFud1HQqY8dANb4wGsGDP1P9gC1YwEj9QBEPAzgfhBE4gBRmQA9NqAFyAC7iQDGFMy/icz/kssKc6nFDdz2Bczwhh0LL8xQeN0P5MDchwCcLAqvOpDVIKXVRKpd5wTFlLwFX70/7reX9VBlyWa2mQARREhOEGdl43D+YgDFwFBLQgDMJwDHqAEkWABEjg0wXh0xBwyCTgAKHVATXAtGSwO0RZz/i8DPlcxgkd1QANxlNdz6CdwFhd0FU9y5gtDJcAAMPZscn7pE4q1lLKDZuQBV5AtWt92Gz9urA0BnuQZWMwBHFSBxoUuPVXuNfETbyLAQEwlF+LCYGQEjqN2z493SqgAgIxBL/22CAwAinAtC7/QgZ2wDuYXctMTbZku9nNkAxiHNrs3d6iLRGofQnIQLCtvKSpibBO2gxH6r9IoAEkwNaG3cRFNgZyAHUAsAABINzrSC++Ytd1FA51QEGV0Jq1MAeDnRIsMATT7dPRRwICwcIAcK0MAALdHQPwCgBxgAiKgAgAgAmmgAveVMrAa95cHNDufeM4/t4GIQxpBAxjW7Zmi6rCSw2b0HQf7QSwyyo58NNI4AEqwNY1+V6/TbsaEADAgJT+t46A+0HlAAwiCgSwsKsvAACXjBInYHjrCc8ePhAs7AWhBQAkYAJK8ARioL8HMQiBoI1vgAmcAOPCQMs/bt45PuiELtoNtAtk/yy2vmveCV0M/rueSy4FPl21SHBVbH2Dh4UEObDTVS4N+gKnULgOHUc36NAMyk0kaAAMsFAEKfASTTAlExBxBcHCQ3ABchlxPHAjbbAQZxAGVZAEAOACHXABAMBipDoBpIoG5PzXVVzozm4M8W3Pv+u7vBu21L4JTvDRAOAEEcfOVjvd/luJALDpQ1Dly0AOsonuny5W8DhWAEBBYA4LYzACIwATbACXdUkQK7DvK7B1ETeXJwBASNcQ9C4Q/y7rAkHsAGABhwAIhbAH6tSaz97euwDGbzzJYgu2EEztotDR3z4luc3Eko7kogaqhscAAYAMEIvuslmsYUUOy3DqGP8g04nw6zJhBCSgARug7/x+63BOAhwgAiCw3U3bEEMfARI3ECpKENW94oeACCwuEIBwOxE/8fUc7Ylu7dV+3VQgxWsd8kzM7RouBe85JSQAAQHArvbpDd2wxmtMt+guDWgwYECwC8eQ5zKxBFGA72zO70GgdbIecSbwAUOPAg0xKzdgAgaxAfs4EDlgBnfQfX8QCM8NAHowBwLxBUYw9ZzAO82e48BQ98gQtlkvtrWQ7V7/urAr8jmA7D89RVmgeNscANTg2tgg1lNKVuGgDbuAAX4C5teACBdeEyZglzvP723+7wAgnSTwAS1gA7fCEOkiBjKg9HapAQywAh++AmP/IAmR/wd5YBCJCQA18GoCsfmJwDu48Pmg3eOl/7tLjq/rOemvK/JOMPZNZ6Ry6QFxAgwAQY1aNWrXDGJDiFAbNDQYCACBBczUIQAVLV7EmFHjRo4mNnwEsELkyCAbSJy8oOKCiSdYvpwBkIcjgEOIFFH8mPMjAwYjRY5JJGnLmS9QZgJIAaAGgBtLKgIqZKfW1F2XYAlLtkzr1mXAciBxIsWJCg9IpJw9WxHt2rNTskzR4GHCggXAoN2FJk2aQIHVrkmDBQQDBli7MPk5mljx0QkWfPocsgIlgJRF3OQ5pAgRxY2KFP1Rg2WCTpA8e64IInKInERkmixucTEOAEqN/xoFqmikztVlWbnWAfDViZMhJIawRQtACgCwaLM8JzEBAl1RWpsta5b9bjNp0IAFhrjLTtLF5c1XLLJBxWOfG0KKBKDihxIrYtrM4YhHzJMbJxiQdm8CnlAjUAUIskhEkCJ+OG8j2wipRRiutCJBBQCGAGs45NjKQYPjpHArCySkqwMSNHbJCoCtVLQumaqs2mWMBmc8yggAwBhiPfZQe28FC1UwAYUWWnDBBiGe+CKjKn6IoYUIJtBAJw00sMC0kYagIogsvOCDjyJozCgQPfR4AxNMbMHlGFpUYDMH5oYLa8OzciDBLBCnmMLAOmrhRRqsJpzwO6tg+RJMQy0qgv+1RPhgQUf4RqLC0R4/+ACEEYSMwUgrMNpiCR9KOCBKKi2YwAELLDgAAQQqSkMOV8twQg4ZD83ojC6qSAKACNp088IM5RTLzjuRgIAWbrzpxptwkAGUq6poIdSFFEaglUYjnEgk20gSQcJRn1LzViQTPrg0hRZsYEKMPy5q5CY6TEDAglGn5ElAAhjIAABX5UijDBLG8IIMOqrdyEcVckDYzSGG0BCtODd0YgJRqDk2HG+8gabZ3r7bZZOKuiB4RiOekySSbSVJZAz22FxBg/hGCukEIoWwQo0/PDsENwACCeSQQ4og4FQq0ui3jJYZAGABAE6SowynvZhABQ04C9n/ohMqPBjhgyvKMCwnkADgYYczQMMYaApCiBpjNOaYE0OqpnEIPvaQgw+UUU7EaJFUOMnCkFILIqSQZAgjjsx85vkPxRf/YwUDHCiD6DQsWmFVACDo24sx3lIhAxKohvtqEnLIOmuFuwZggrDZImHpDRrAAIKsRfFtQlhgsQWOgeE+j4hW507DjpJRjoQPyfgmISXHUiPwPSL04DkQxqcHw4GeJJ+8ojIyWMAAAjTg24sspBiRbzZk4h2Gk7RmH+ELGR6OObaGQGA0BhD4T4UhMvCgN62ychEsEqE43p1HBlIoWqvksAc+ROJuiSAdm1TiIwIFrkdGEMMZ2hCHONAh/w+M08MFHucFABBtDETQ3hgYYIAALI0ExBlCDibggQyAQQxb4B0LXFa69rkPfg07ixMgMBoNqMoCG6DS6IRhDGRkxRiwiMQgAICIAp4HCSYUXxkYuIc9ODAoifCCBNezHsBVMDVFuIESWpJBNWwwDmAwQPdmRYSTUAEATrsfASDgAeMgLDr8Y0MBizClipCOfQczHYaag5YJjGYD9zuAvKh0HC8IwhaccEQqahAbAOSqiovxXRoAlgUAeKEMrHFVUE4WEjZtYHmoKWMQZHkCI7ggU2lkAhawwAMIqKoMFaECAgKwgsilQUDdm0Df+EbDElSRdCCJT8IMOU03/UoKGf9wZBEPsAAHWG8BMeSCF04BgFL0AhMoQMEny6MDL/RrlF7QnBb5sEAvliwRObrABkQCOFkGgQiak4O+ToCCIv2ACU2QAwQMYIDIlXICCCBmv1SwAAQsIJl8JIFcJsAGPfCuCEOAZkVGx0PTIQxDTiDBfz5igYoyYJsIMAELAGCCoaWiIr0ohDrLU4Kiia+UY3DaKflghzQkop6JoMJKYUkEKkTOVQzsEgBgYAMkqYFoXjAAAkggOS8MIZRl2IABLpeBuPAPmxGoogVI4B73WEQDhkQkXBNGAnl9hEoIOEADENAAHgAgnSIIwilTkYte5EIHOk3MCdpZBnhuyZRBddr/3BaoSgeWgQEWcIBIpLBAqHaJbnbA4AbvIAdB2LEBECgm9vpFgIUuIAP8ayQEIiBF3hkhJwBo60XaFNeEdS4HLZtSdCq6VxReJAYqkEMkZEFYWYgAsTMxQWAZ61igQtZpdZvbybaVBgaoAAEGmMAeACDZfb1KYHlIRBpAEYkGGKABDFAt0VYQgIUyQKMK7WsBrwaS3GJkpHLl2xgsEARTVUlV21QBG/BzkSYMIQ2lkAUAenGKG9zguRkBAQi+Ij54Vte6111UcrNlVH8FoAELUIEd9LUvp41hDGDAw2gFwYlFkMDEBPgX9soQx6yetnsGYEESsAAAMVStBStAAn85//JW06kACZErgwNUgFmKLoAABMgA+i4yhyI0dZwAyEUnwnBhjdDRLPH8cIu9gN0yjHjEQ6zoKYvmYjo7IRCYKAMnIpGGNxRhofdSwZYc4D3vde/KBugACKp4ghXkQMkz+e8QIOuADZhKVSxsQBC0bJFADIIMa7ZpYTEhhiuQ2SJgaBoSciCFx6aZOWPAbhr4sKi58W8BAfAAnV38HLHkABCRWASNg9BRDiwUAVe+8ncJcOwrS0DRn6TAWm/b34vwt3MkaHWUVfBQApg4A4XCyLoCQYY0LGK5hQXDEUwNgDuUIg16ToMKnJBtyHoBCaZMgyD2QAW6uSo+7UVAY8eHFv8kYFsOoFhEGd7wCIpUbtnfNfatJXACxJ4gpGzdSE68GwACSLcMdMRmtw0gF45uJBCIUMG7I9yL5q77FJyQg54F4QEPOCHNT6sudmHtThreWn9xQgISFqYCLwRbEEEo8qlXwFq6NKAEzkZsC2JQAtLgNuMkkIwTLECABTwZytGZQNBoyIGjKOINsUqFLHrRC1A8+7mdAMWMgT2EIJxABU29OWQX6PUyAIwsAZDdwgQfw4PpmQoUx4gajCCDE5zABRd+AhN0sBy2hlQjKmB1GVLj1b4zdoXfzegCfJAYRXRZDoNFNwyea4lSBFvPXsjBCT7QgRzQO83B8wIVSOgE92X/9WBDlxoNSQDzCwiBI+t6Lg8YMAg8cIBvFam6RjYQ2KJBlgiW7Z5FISB7xbihCGs+dy7I4PZPggIUnNDzInLAgkqBwARTyDtk7VAGoceQBNhEAAQiSMPLnVYKkRgCG1m3jCiCHCAAHkiADLC86MOtAFmsoPqqiTq2BYAAE1C0D1CMPiCDMhCEc5MFMkinTyoEhEO/RRiCEhABSpk9SfOwm5MDO+gc/skohWoA2JoOCKiIDGgaHti0AQQAQNAApakIBwAAecEInVgaFXgk8PKw6tsA1uq27TuPSXiEyDE35nqNKmqC1kO/SAijFFTB4HiOLIi/fvEcrCGBXso/Bhii/9d6rQmIhF7xQYsAhAxogCKUmlExwiN0jxciAdZaKBVwGt8pg22aiwBYAAlokJwJhCGYsVwgrC8roEJAv/RTAdlTQQxkgSkIuhZMMw9gk4yaAL3KFzekIWzCNnCbQyJggAVgAA2QDEkqwlNxmWozCQ5IgV5aKEITEI5bgAa4skSjkUD4vjI4BcIyp4vQGVoZwUU4P/VbARGQRgysCBYYgjGYAk/8sDMURWCcADfEJrnAHAuaQwBgxffSJ1eakimxgIrYw4uwgBMAARe4AIj7rh87NhYqgRcwlD/4tDI4N5w6hI4iGEMoBUF4Ri8IgmnJMBGgFnMZgizQRoABKoCZof+MyoBesqhwbCTpqB8TKMc7sEMGaIxukqR1ZEda/IiTaEeCugEoaAKHQzYohIAsNJQ8yANyk4PwKwSCpJVDeLnziwRBUAEjUAIhsIHHuwgj4DvIGgOGAZhrMivVMYAh6sj2Wqj2OgEGGcAmCAGKOqJuagxaREk9jBK6656ttIIziAP84IAVoIsVKAJVPBTpIQI5uEKW6wM8qBa4c0YaywEyoIRDgIMz2IIqSBIAWBeGSTMncCwZgi2lsahGsjL6EisAIIAHCEFTMwIIuDJs0gBHOpXRLEvS3DYESAAlwIINmoM8mAMCwkne+YNByIEZU7teKAW+PBSDREjDIwJFCAT/nNHNi7iD4/iwUaICq5wL72mk9qKv7qkIAgAARaTGC5MBhSIASUuDPQuqNICnKUiYRougDRCQBniAL+AgD5qeKsJJNii6UoBEtmuDQzmFv9wzFXiDOZiDNsACJdgIMgALeHqat8gCCBgiXawfhaoA2eMJjDiAAQwCBPAA0lIlSRieC3Ugk9mWbXGzdpoDOpgeAqoiDiqCyDnGtSODpJsRvyzBHDCD/YyCH+CkjQADIugaOHkoe6woFhgotwKAB10VvMowMmODBSABCsVQC3UgDM1QDc0WO5iCPQAE4EycxVGnXCrRncyFUxAEMgAAF9jMxTDIg6MxrzoDKLiBFkCB/xGozozgRyOwxhygOzIogiAogSDgAB5APIyQTgBggDs0AEU0tTsggSxomsnSliVtUpMZHpNJBDkYAlobgzxQBCpsF9ApICFxAR5olUVIgyBIA7pcjPoUyjIoyjRd0zblCLczqItADP/MCAykLwhggD41NUUgAnlzzHjanNzbkueIHIDaA0FImSkYMUEoJR1YgioIAzcYhEegQnUSAXTygBzwHCWUAlE9Cr9cr0UAkhRAARAIw08SgAdtoR8dAFMjA7dAs6DStRb0AuKAvwUaA2JNhD0AmCIAAamzgR9Y1iJbRrgRARBAAf9wRSLcgBzQ1o1otxmjMSQIggzLRMQqgP9yFQABMA8KoIBD+agpEJ/lCJuQHcPngCefujd54gMtahoZ4YFppBQh0SmHFJIO2KbLyicNIDvFKJln9BdMHFd1upUlYBIwdcjz0NgGOYEc8Bo4+Ro5ZdqnDTo59Vig6hd+6TsvyMSJrSKZbYEXSIJlYwBTiZJTKTmOYIFFCDZgI4FEE1dKeS5KuIgnWALjM5SNVYwOCLqn/Ro2uVGmDbqFQQKPDVZ+ESUvKIKsVVXeQQFzEYIuYAH3CtsqyYk7GE6MKIKDiQTAXIE0Bdc1lU2NBd2MYDg4CJmc1QgQKIGTYtqwAVy9hZP6C1Cgaid+YVmX1VreGQFz+YGaaYIWOoD/UummtSKCHkSPKrGAHKCCiIkDW3kCJiEPWhFRjeiADiiBErAN4jWUDqgAtNII43Dd74Xa1t2SMpCCU2qaUkJct/2kG3gCMWjLijjYunIljeCBbrIenjAAHqADOtDPNlBRMIlejqCA6rUIBQiZDpCAB+CInwPfBo5ahhlfUSLcUjpcxFWn+mjLdwEAAwhbB5iSDUAAHrwIDohc62mvC/igP8DJ/e1H5FMMDuAAQQWAdD2UDjDdBf4hOKmIBn5dwC0lpzFU2jVcC34uz+CBAAiAA+CJbmovMNAyDjgVDnaAbQqABJCe6cFexQjgxFDgiiiAkHkABfhijkjdr+Hh7/3b/yEAAIksgyxolX6BJzB8WaW8MI4zgFRRtgAoWxY4olLpnu8KABMIURc+DyutCELmiAFQYAMuABoGkzAe440QARP4Cu89Y4sYjr8NOsEt31eBJx5Y00t5vCcgsw5A4lPutvwKBDZYKbFMFSRugkFGZMX4UADQ2C1O5AIIYwAQYzApAQ7g3qOgvRxRWh4Om9VdGDfZkjFIgyAWJScogiS4gUwRgiowtRQ4gQM45UC+CDBwJVOxHu/pthRmnOA8DyaoCAmoZfPA2IpQAAVw5AZppsTIMBPIYR3W22N2gouIIQgGqiloFRnJgfyMAzhwg3I0AQWQgBmtiAsggFKpEpfCTP8rLmdFaATzoJYZLgC6PQ8B0OUHiIAHaGQwgWHFaJS+xeen5RqwETqnnVoncAveI4MxyQyLAJl1G9KMMIEr4wmIq4gEWJyTq9QZGYARyOgZEQAFqIAYhmcwOdqjYBBKRunh6Of4+dv4CMXf8xqlVQEioINAgOEOOAQ3qAIfiIFyxAgT4LhDuzKOawKesQkqPOijUN+QudilrgAJMGAaeWrFaLSpjqb4yZEJKAI2YAMwYIMiIAIiWLUcqNdFIANFCOsbBoCBNerFLccLWOttNoGeqdRJ8AMcouvErRYBUGAOqACRRiy4Zex7zuQMAZsi+KAx0QP0AQMncEbz44QcQAT/DrDhCNjrWLWUSwnT53oDzd5mFohr0BZtui6PSF6MARiApWbqasHljCADOUXpqC2CgA03Dwi2Uji/Lv1l4IbumTDqCxuKPgADHigCHlCEiggFABgzOuaIuuYd6VZg7VXtkLlu/NCBINAfRQq6oPPSmfBHL+AE80M4IigB8x5pALjYCW/n0z3qKrJvGsHvAnpnCrBhCujlAorNiniCsz6BO5VTryqCPjgKFb7tzBVvTvCCkC6ARo7ni6BwjaAUmUXr+95wuKGACKAAFmABBA7uT0qCF0gn8luMzeAZ8OaEUiiFVSiFFRBj6dZxrc3xiyDul2TLHr+I2+UdjWUBHuCB/yK32+cS86OYhElolxVQcPNbhVMIggFo5IudCSKWcAHAcov4UA/Kg/3lX//FAk8awA9wyAuvFo2tAAAwcx7oAB/MWo2IgWpuVoqIAC6IBPOThVMoAz6f8PLIWmqxcwV4AAlIc8VU4RXe39kox7MWgwWrFhhmATM4c73uccSVWXO5CBIINlBYhVQ4hRWQ7gGo8PO4lBZgECEH3dC1CMVBn74G80PhgBLogDN/uiPP9R+viBWIuVJIOzoX4xq/cVppdmk/d2lXJ5CW4aoB5gqY3tQ+72nXiAsYgk0P9zIA5pAO7j4vj1NPdYxI94Gnd4sIeC6GZwmwYVwv+JnIAWc8hf9VkIVFqN7q5QAK6OLnNuAIQHXFGHh1p/fr3gjpVgAY3t55b3jKSa5TSIWWDwLq9u2LgImNeLYBMHWOB/mZaPaUV3XkW5dZzghjN20Y1utytwg7r/Eet/dIAHdZSIUyqABGb5ACUACcP3gw/4HibpBy7pmL1ggKN/kIaIFjt4gaF+NxR+uHB4WIn/gS2PkGiYMRH0BDpnnnopWemYRQOIQzWAKyn/CXhAIliIHNvFibf+dxp/qk90Fv5wSW7/QgQPWcJz2fYUSRX/RDZhycDPQ8J20a8YE1bVuMzUQlgAImEAI6RqfYoPp3Nnuqn0N7j/K0S4U0iHrJP4pDmARNoML/zah8gjn3i4B2nFQDK8j6EWByjOD2BpFjxAV8JbABNYXZjDj7qr/653p4cA92Oah92y+PUNh9xKnbdD8KowaB5e/8qklfISh9IVDTIXH/GXUBF0iCL6iAX273C1uBGWN7Oo/86gcIAAIHEixYMBSlR4gMMmxI4SHEhwYVFGj44SLGDwwFcBzQ8CNBjAAuoojBBIqQgihQtGgBwAUAJmLiKKoZESTOnAZX5OBU6lSqVGkqQNRplKCmowYj3hQY4YGCAVI5cgSZUSNVAUoLjgChEWMLF0KYuHApcOXKlgCeCESEqFEjgk23bs2xCFQqWankEC2KUwEAj3QHK81q2OrA/450baAYCELExRYxYhBcKQIEiBE3AKgZqAiuw7mEG64QxAmo3iASJI5u7frj4Y8aCR/qU3lEV5ZmAZjNPMIGk86NFn6Oi5Pp64E8feZNZSYC0ZwVCwuQ2jg5darYBx56lLSgkBYjXLqA6bJFCgCao3RWBIA4aKN+k9st1VyO6I8gRuY0fBFAWtv1F1trFARyIEN+nLGFQJSVV5ZkSmABB3FvAQBXIAJutYEgoKAGgGoU4OTRfrBpBYBhAsyG1nUa4pTiYCLiREoo7oXBhA8P3iBTHJ5deOEhMWK3HFCrONdXTiU2VFWKJwLIYosumtjRAAo8ANIfWQKgJU6PhCIQjf+P+IEFFF2okYd7jXw2kHF0yUhfJPbpxdd8BZH4okApCvbkSinsJiVI1RWgQAQdsNBBBQ1lySVIGQpECSqvxPLKKJpoQoqPbLapFGvJWbAIJ0HJcsoF+R1V1QcprsRnWn8CCtIDFJRQAgcV9NXpon/klCUi7mkyCiXAWjrJJANhOhAl7rlpK3YX9IRaKkRY2ZBHIryoYqpZ7dcYWi2lQNmrR9nKVJ065YpIsBe2gYVMbpxhyCSjAIAKAJpQoseyiW6XQ5z3DTBoQ0ouiW1WJLWqW1jhjlauUYsGEp8YP9ygBBNJCFSFG4MU+0qMzCbX0aceGglAAgVINRhHF2XFYlj/5b3wQnkKy2xQroroQYdAL9wwlhI/tCyQG7YVexQFHrtWVUUXUHFaXqQOuudAWPSnMlWrtuzCyzHc8MJri8581KJxnBFFFEoMpIQS4bkUww8wbVV0BRx8TJAAPdlnZBmDApYdZBxV1ALCWL8QQwtcu5Yro19/9EceZ7B7w8RnK3FDSzC5zelDch8tQAEVTQfBXUCB4kUCVkpwVOcDiCAC5wooAHlLYb0MOGEH2o6414p/NIcYT/iw9dZoA4A212G5qlOtcb+mmFSCOTDEIpEIQgXJD0CnOUgURPCU650DFoEESsQg+PFK2X4+7onrTtAXScSAAvAvvyDxDbpdvtWs/yyUAEAEgdGlGAoUQ7IFkEAFK9iABhjwAA50AHuhgchqbMWBWkWACU8Qn2sCcYjz3Q5362tICz7ggvjFLwYwC2FriMACDlzpf37zX0EMYIAJTMACAJiABDhQgg58hFw6ZAEAWCBEFvBgDk/4gWsOoUQlcjB9H2TIB+AHABJy7QU2QOH/AFMCIhChBPrait86xxACGIABDrCABRiQgFmV4E1yiQgDSyBEHvDABEXgQRGC9JolLjFDiNigE59YmRZshoQAkF+UlFKlCDjQhQDQm+sEsjcCAMCMAtmAAzowq1uRK3NynCMRzcADIuQBOxpU4h+VKJBAeFCQlRlhQWxwSP+YEWaRjfwf1CQpkAIcIAAGOCMaLaCBC+ywA5305BB5QEQemIEFFCjldg7hFg26RZqHyFUgivUJV77kZVOcos5yNr7B2BKIKEMR57xHEIABIACVdAA8HbCACykCERzwYf6WScdmttFF1KxJrwKBiANlSRGhGIUlwqCeJ8rOBuHcTM4Gl8ijMNKcRgmFJdwAAIoMwEnTkQBIoSIQAyDgAA04KQAQgIA3DGegWaLABD+pzyI0s1MaggtO68lERMSLFIZgQgxm88G1HbKomzFP+ZRCK5uChBSo+BIAoNK9AoAPpFZtJwEcIBALOIABDABAEeo5zT8cohGPoAQRiXhHIqz/RmGBKE4969mIUKBiEncQAgr+s77ZVNGb4YQZSyYaI4Y1xKm0KsH2oGNVqxKAjMBMoxkZgIDP/PEtjaAEJQBAiV+hQhNulJlAa9IIzlriCja4iu4+0JLBbU1+f10J4QSEHJDEURVDHEgFGEvJx6LRAQ04ABsoa9bNWmoUlXLUB9E1ClWQwg9VGMlVhJqcGtQAXAYZD9Zk2VquObR4lJMSuZYCkU/yYCBeXI07EQBMgWhAngfYwlkxm9lfjaKzekDuB0fxCk2owQo+oEx0t1ODJizhDp3whB4FYgUmCIFyugHnZhwKABvUL1ydFEhEOqBJi/JgVgBwAAHMiMYNkNgC/wggwCPgslkAGNe4dEAQNwcRhiv07AbvC7BrRNCDJryhE6z4MSs8kaE/xCEOYmDXDwiHApjobHaQU9wxYaphHtIxiEAsgTsPUMMSM8AACdCEiulLiUDcl5sEcQEUmDC5zeQVtaNBQROO0GNPAJnOnrDEBg9EBzgcmQlJHqH8wLm+YxaTBSYgYhCD6AB3UlKGBiBAAN6gWc1WihIDNbNBlJDmydnABW0WCWHgzGNDCCTInjg1qj2RCYEcQg9xUMOR1/yCwlX4iUyZcgcsZWUv9pLRjW2sO+sFLDXVBNMGaYGmGXyDTuN4K3BewhvgQIeBuiXV1la1JQaaoR4JBHIQdf/luf6oiMwCYA4AOJ0AAqBuSEM6AmaIRSw0q1NjM8QGm5YYgJptlGcDQAzTdotbBGKJa98ZAHi2xCMeEQg6qOELXfi2IBF3IDUhYg5nOGRHBXAAABzAAQeoSAceMS8W0/sjMYACFGp844woZcACgYNAAc5qgWTC1Ki2BM5xfupMeAIReTA3pnF3iDy0QQxCMNy/puMRqdzgB0oIA6lL/pEfoHzNnnZzTlzeFoAv5JoaBIAiPOEKV3yC4NfOBH7BnSs6xEFqLylI56ajG8FKvSDJ5rQL9N2QAW+hE/+WOSCzlCFF1LzsZid4JnQV9D+sSwgmTOpAYlZ3nAAnzQ3mDdb/974EhQ6C6wsBACtz9R5FHGLgqSbI4TMxCJyBOw7te8FKDAcS2E+e8ve28af1ypAaFBgAnef6Kj14iM+Y3hMgQbyXXHmGJzDmIrRnyHUkX/uPCCEKaobcykFdkBawYevAH0joHVZWNZ0eJ6kOhSo4BoAluBIjq2LIeVDw/Ok35ApfsILVc39sNhjizgCXJkF0nfgVh1mhmlF4QitEiiv0gQ9wU0Y0httYDeBUzv3QX0FkwiG4wRdAwbLlHctFXt+xwntU0+e1BUEIHgHCRfnpxC+oQicsAeR9jfstGfy1hPzRnQWqgipMghswSP1gXd+1AtjFVbHJHHG4R4bgFE7x/9ypKYUhvMESrI6ZGUwFCoRayI4FfgS8xUIo9KASeKBebQGdtcIkWJZ7FCHAnaFoKWFcrOBHqIIvGBwUNkENYJrB8AbXlIeNxQ7gzF8WEsQkoEIs+EIskAIeQIHP4IYLPAGdscInPAJc0VNN1JNAnCEbxkUjWNtRLEETdGIPpAAKWMtgUBPApV1ORNGq5CHbNN2sWSHt/KFBKIJ+DWIhHkIV+IAQYIEl/BgAfILnTeIkFsQlXsgjaKJOsMERdKIyNsEnhuJRqMEc5MGBSNP/bQV5GA4SScwPwB7tsAQsFsTD1NcoxFshYuAnzMJAKITMVaJoFZtAsOGPUIIbNsSqsf/fQCyjMjajKIJESnzEpeVEC8iSS3AXAGSjt7UACKCAn8Qg/QVLiy0XKahCMPgCOoZCSwWcZwBjCuIUAJyVMRrELPjCL4ggSOAjM4LiPqpEQajBi2Ek6OHEkjkd5MjSN+VMa6HAfsTONxJEHjSCcY2ZGmCBIczCL8RhpQ1HQWjkGnKkZn3kQLCCK+iCLwQDK9wBIaxBTpikPlYGWvAG20CBGLTBKgmEGlgMCFHYSTABg8WAhHENW76Mp0EIQ04fZumB0QmBEBgYK5CCpKBCZlHcEC7lmvzIZYWCK7RCkBUEK7TCLKBjMAAAIzACG7zBG7DBGoABTmglSrYKH4bFDZj/pVh2m2ChgA04HRRggdRsjQmdkAuspqe5Ig5aYB58gZr9gA3EgA8owRdYAl8CwCsgBFyoIVNWYmEeZiscJ2J+wti5gmNSJEGwAXRSpmViZmYuY2dep1nEgNkMRF4dG+ScBGoyQeF4k/EIDtcsWeXsJEEowROomRAwhktQTBUMQkT6ZmdRwjAOoWZpAnL2ZyssJzoyBHQKBHROZmVeJgAcQUliZ2eeRUF8AQD4wJ+QpmmiJm+4zOw8yCy5TcvEJv0Bh5+xhNbgpRJUgRVoFF9OiqX8ZWad4Vn5JwAgpysAQIACgC4IhKQVxIAWqHRiZYIyRA/ETll8RJTomRuEwRI0/yBvNB14YoESqBaT5WF5dFfxXI16cmdANgYh/QBekihbfAF9SgqLJUVSFBsl+KcQEkSN3igjAECOCmj3AUCBQqePEsQRNOhoJqWaGJwhGAKS4mWTYkEIsYRb5gwATAZcqkV5eGjtcabWcGmXAoAQWMwTQIEbfAK9+Ga9DEQo9CdI3CgAEEKcHsWcWqZA3CkfEumfLKUB0kEbnIEYdEEXOCkVHhJlVJFr2o/07eQIeVtBdileGgReioElRAq8JQUpGOdxfgSo4ihhlCrhpOqDVCFBpGAxGp+KqckcqMENjEBkFM6hjhO4ehNvvMRrqueW/oC6AmuwDgQSTZHTbQF9Dv/ELzQmcjbELwgEI1zlaOzoGsydTkaeq8xBr6QgqsVXi4FeF1RBDCzkIZ2rSxCqp1HgXNadCLFrpDZE2zSdEDzXJxQlMThnmhIEMdwoJuwrZb4GG0TrgzGE22BBG7zVRhrgZhlXWwxCn4YBw5Yrn5QrDVKg7H3jRewMxoJEa94mZTKCj0llQYysQHRCqEram7ZGtAbsnyTMQPQKGzIhwtqsJujcQPjpEsCElgbIS6RFa17pSKBAz0BqxhJEP9rYC0wmIbxBZDKCJ0jlYxaE8RECIYTqdgRpwDZEcLzkzKrafiasARrEHYRB23CnFQJI4VArLIpFsAIreODlDbgAG/j/bd3+LSHs60AQA0GcrED8bcq6RhMEpLdNxkfgi1ukCWg0IWYlbCggoAh+AkkWxB0kAZsdjPxVbKO6raS267tKas+4wBuErueCLmQyhClAbZv6LWWmLl2sgc54m/Zal2S0xbxxZNglXM3a7H8G6CwwpyMWxCBo1NF1L0uc65WWBMemBOZ2KdpMDgpA277uq+cCrifE4UDEIUmeLP9W79TqxO94m7rSD+QELdjFhTQFJ9h5wrjRl7wkaxPqSpBYQi/y7SAIBBQ8VxPEltq+xM4Qr6QOz/3mDCFNZg/UgN2Gqt+26UA0a0F0AgEXcPUahQIv8AJ7G03iyxn2Cj2B3ao5/yT5ClmGfN0qWYLTUjAA5AHO2Mb6LcERJBgswo/TSar2Qk42Qu7WEIIpAEAnrkFkCsRjPiY6zsKNEoMyAMAv6AIrYIIp3K3n7jBIJHDT+bAPr4X3KgsgByNxtdjt/sEpjaUecTDqNfF79KlA0Eum/mFjpE3GqitBSAxl+MxFvIEpmAImvEEMKGga0+ga2+gs8KUvUCQ6ejIAEDD14rFB/E6S7TEfB6A7gt6anGHtKu4fDBQWZy0ArNpAGB+MCcSp6UIszMLQ/KFGmE3apI3Gss0PZEQPiHEnx+gg5isbBygrNAJj5isA+MIr1KtAYEIr82/dwrJAyHItD0QuviMlmv8gICdui5XdIX9E6RnzNjHxQMTbLFjCHWgUM+9G2pilQWyGbQYYI7BCMDjDG7eC2N2oLujCJ0z0L1z0LzxmyKrCjI5xDutw6jYBHx9vQbLH54nVCPrIWT3kKJzaKf1yQSgynQGgQcRhZfqAPVrgRXDp8ABAErxtt6nrdWDECOSv8RFDRsfxwP1BVGK0U2N0OE8KqHp0ZN5x9Yp0H5O0QawjQVyWBbf0qaUSTigyALhCdwzEJ3zJY3bCFjBjw2YhSQiB2VjMTxt0SjRd3kHXBxT1EmTCK7xCkBClU+vCU8PxU+uCIE6KKuzuOaOzm9JyNmp1V3M12K10iyUEqqkSPnP/sJ0pS0HE4R2AQRMAgJ/AdWQ4s08Xb5celXQJhBD49SuQXpbQGVHu7UXb6I0edits1isQoiqEQidEr75WNSEswQIbxUWymlc/5B+ZHgAsEUMMn0AopyKI3HR/wiDOgiFYpoICQA0ITO2BRc8IBCVP6uS8QGsTRCy4FOJ4AlECAFQaQiD034wa9kV/ArmpAi2Sggiycg77gCUbBSQGXHd8NSWU3sANBAYWhBLJdCt8AlmX3UDMKBhwYh2+Iv1lBLLBLdpso+5hCeLI9yCs3R8Ywh+InX1bQoasNC2igiVA7cmaMxv0MXLPmwVrglsUn/EpeCZYgjCjtStkQpt8wjY9Cmcn1oBCOqNrBAQAIfkEBQYAAAAsPwAdAMoA0wAACP8AAQgcSLCgwYMIEypcyBChFSsNI0qcSLGixYsYM2oU+NAIjCobQ4ocSbKkSYdWEjg4ybKly5ctHyZgAbOmzZs4UbIoESWnz59ARz4s0QFL0KNIky6UaaSn0qdQjzJ1GrWqVZhTr2rdWjIr169gLXoNS7ZswrFm06ZFq7YtWLZu416FK7fuUyxYEjS1y/flQ4l49UYx2rfw0cBGDCsOijfA4sc+u2BxDLlyzS5dKNeFaNmnlcmdQ59kwgSKZtGoN2J5SCC1a9VGCCSW++Qz3tVQckP5/Dqkldgn3IqRrEMHjyJEghRZXkSHER1CQispfXv1E9LUu4gRcwbAcIRndBj/mK0WSxdQAjmpB8Up0hgVEBYY4GG5epcvYjBhKoUlShIlQggxnW3WAVhQFywYIIMYapEGxkGnnCIHAQYQ4EERlUHBhBLMPANOPO3EI2I67aQDzonfMMPMMLe0eMsXXXAGQGkJGMCCjGRh9iBCp0SSAxdOUFHEFY+J8QUWt9Rjjz3uLFlPPfMwuaQ77swjD4nsrLMOOuBgUoVueRFgghtpYYYJABFGSNApZoDhBABUBMEEZDCOA4A88QCQZzzy9CnPPPMAME876BRa6DmIWmMFFAAK4QABHUBhVmlkoHkKKGpIQYUcArHZBQBcUOGBGpCd8YWeIqa6p56oyoOOOdRI/8MLL7RAUgckmxTBQw8mNNCACeSFBUUTlpZyBIZUlGEpGTYQAWcOTxCploYA/mDtdFh8cYYatxC0qoiopjoPMAz46isAEKSr7gILACBfcGHhJUmaZPRERbKWAnBGGnByYZYYasARxxxxtKHGcIt+dh93z7AjUDsQQwxiiAPFUw866mbcAAIZq4vAjQYVbCoWGs4ZVMB3lBJhIWEUcS8VZlhaRBeJ3QuvVtX+IGBtmHUBiC2bbAL0JnvYwYIMRnyjZTt9CioPqiFKPA86sJSbMQAcdwwBAicIccMNAiZRmxVBTOHEckfZAHaxYIjhRRllUFHIsl24fC8PpN6F16IbAv+oxBOYdIiLMbvAAgsQQBCAQIUEEBBAMeuww46feIL4dDrpuFMPPe6Yw4sBoC/ObgMTNCAQu/JB4iIgW2gXMBAA4IBDCCM/ZN6nNa0278pqsJFGGWmQIYmlRlShw9tp4J1UwAPPQfDBtzzDzDjprCOM4ZdcIoooDbDr7uLIUPnkk/QAOg+flVM+Dzvn0GJu9w0QwC4C8nG8AAGIroOoOeGciIbsOCjBLVYRgx/YIAZq25kVeoYXKFxHJGIgViQiIYcAmeF3acDC7k5RhCUk5ncgC4oNdMYEK0xjGtsYxz6W9A570KMYuBBFDoBQCy6UIQcQ6N4CGlAJewDAh0sKohD/h2iPe9yjiFMqnzi+IY5iOBESlahDuhCAACCgAQlcqEUtkBGNaggDBxjAQDYMdY5ynAgcHWJRL27xB+fF4WBY6Nt0akMYgTwBQDc4oA0SyATzfIFfixBEEZhgBDn8DgxYMEMgF0GGNoABeMk7yg+UAIUuMEMd/fDHOMYBDk5ykhebYMAEJmCBDZjSAaW0gANEYY93AMCIAjGiLGd5j1fmAx/3wIcud/mOd/DyHUZ00jyYKI5jNGN7okCDB4AQAsQBgQuVqAUulsELYRQDEk7Uhje2+apOopEZA7yFJG4wySdkizti6NAzrLFJcDzjGS4CgCAWYQY8qMEMnEpDacwg/4h+FiEOYPhdGVighKCUBhPkUMcwyiCHhqYhWWmQgyDkIAUKBaBxAHAAA+5XB3vgMpe6NOIudQmAkO4SYu6gR9NEBKgmLSkfMI2pTG95jxZWSRziKIc0jlEMUUACEqMcpQcmMNShTiADUNyeE7mxTW9wqZPHGAYz5EGPgQgRSueIhjwXAYYo9MCQcEsDEZQ1z12RYQxw40F3gBKDGEhiHriQAx/myodE8KEMiYhEXhORUQMEwABYOwACAvANetjDfIDiXBBH+kN65IkenHNsOxbisDvNo0lHHCk+YKqPzr7yiEuiBzqIeYxjbA8SHkhtUYPK2mqcYx3pAEA9XPrKgf8c0RybcIQgABCGLgCvDF4QCNy2igRlAbcMZiAYUJgQBVvggg8OtcMeBJGIhibiuteVw0YZwN3FVYJzVAqveKkEAHeU94eHRez5IlaRVOlpHoYN5kzz0VmYftaHUMJpMU27vWNEIx3zqIdBZhlLe2gVAItYRBrwmYa3eeHBApnnEIAb3DLwIDc4ukmAeGCH3wFguADgAwASQV0+UHcPaQDFCgAwSguAA7zjjXF4f2jePgVqvQCA2MMGMtnJUkRET/vTZRe7y1qiF71EXNIPCRLeIE4tt/NE8G4XIRAqU5m4FPaCHGCmA0rmpK3B8bAXxjCGLChLxAzdgxzULFdQEEH/A0NYAYxlPN7yLul8fcoTntrBjoj5+c/s7XGOBy2QPCXExyIiVDsUO0sfFgSIR3YhoOSxjmxUg1OLRPBArrzVKHPhR3CjwgTJsKObkGascJsCEsbghQkDD7oAMGSH0zAGSUjCAiqoBZ137dLK6RhEkgu25PjMZ2FLLseAZu+hAW0OcygplyUdKS0fLZAlxaMbxhBFP+fJ7Ux3W8pOyIGrudAAFewVADcwtRKmMNwxSEFZSHhbmnMA4uEmIggZAIcL6bG58fn7301yx8R0DLEsRS5Lwl5HPKyU54Ib+9iARrafASC5SpejiA0pMi3pQQ5YQGACAPCACnKgKSpsu9vc/xYEyCm0gQwYAAH+tYUg29rWl8TgBGMGgIOVtfM07IEKOn9wcLUshwyoV72Q5ff47DyoYkM8SwDQktS1BIz+HmOJ4oAvfMvnaz4/LNA+rng4roEOe8x0IrdEBzAM4Cv5AcAAECCIaj2QgxzcywseaNwCGGCBY7Aj0fHoZIsoma28leQGOB/DFKaA1g8DYAw58EIa7MBzoeu8DGOoQzqA7CcrHT1QnKuHPIIt9YobCh1b0t810IUudXUPAdurxNWX+Cd5OP3hwSYHN64B3x9iDrJL2mxMEZIPd3gjBK+XH/00Ospyme75vrpf40Thd6Z5ftKJ3eTgSzMSIzUhCwJhvP/jMe+Et615CEIXOhJWIIpkg0hV6gNUO6auJXRA/RynR8c5YFcQ0y1uIOcCWJUgDgZ3bA5zgFtyDdyADlVVbUrygPagJPOQDowmfDBlDsCAAN/DAKhUShtgEOliLhVSDE1yXuTTgE8iXu/ADwCwDdNgCjW3ETFgAslyXOP3eB8mB3YwdOmHBDnAXbYCCcBwDdiAegfnZ5y3JYiyhK+lP0yIKMDgeu6COlTYLm8HgOyAeka4DlEndeRADdcgDwL2QxAIgVZVhi6UDuIQAhTSLithSiSwASpAAgBgSqYEADpkAMfgaJAmEOZVEH/4Q/vAD/wwDqawBCFxAk4ANzlnXB//FlZ2IAdTQBBeIAUqQAvLcAy0gAaI81cMUAmQQH1NNWyEcg7mYIrncA3X4A3YYA7l0GynSA2o03oaIxCmU4XscgxbUiipp4WpSA3l0IAROIxoWIwR2CTFIBCAJRAaoAGllFEAQIckcAEbYAETsAAI0EOy9GgelQ9HJFvkI2BF5Er2MA4ZZhFGEG9eEG83CGJqlmUPJgU5UA3awA3c0A3dYI/UsAzFQAuisAmQEAQkwHeiUAmVQD/3s0PR5yt1EEW8IEVvtzigIz9UyHrvYy4Ogw4CcXpltAzQsGh2RobEOJLG6A6wAAABEAAI4AAOcAAMcACoBAAWUId1qEoUCQ4D/6FxRrQPmeQPANAPVcJwAeZDLgUIS+ACGHEkQTcFb3ODWbCIa5Z+DzYFl0iE2HCV2KANWnmP+NiV0iAN1FAMzTCW1QAA+AgA5UAO1/CVvGCQlaCQo/M+7oI12GgAVGg6x3AoAHAOe4ko2YAM4SCG5DVjJUiShqkObEgZrXFRCIkABwByLMkAjsMAolBLwzcQMNUP8CAQ//AP/tAP9UBsfHYO8UAP5sAESKkRPPBuY+aI8FZckwcAWRBc4TcEaACW1FAN16CbVomV2aCV2hAO5OANXdmVABAOaQkA5KCczCkQXykrUQQJCnmRptN69OOEfLk/5gANwmAOVAVZ46M5s/8lXpBGjOUFDmhAAhPgOCl5UQNBAKjUAA6wAAdwUQbwDZsFAGcXUzyZSf3wnysUD+gQDtKgm96gVSaDESlgAkOAVnDzoIxYZmjlbgOxeEPgAJUADdDwnLFCDR6qm7yZld2QDfZYotygnMkZDs3JnOTQogNBDsL5lcLQlnUQAtPpK6JQDNVQDa2IKOUgDMLAl+ZTEJAFjuMZY0wiDhOAfnVlV2NABBkwWCk5ASsQH4OFAA3wNJrjDrVkmQQBU/gAAPuwD0c0gQCADNjADdhwJiERAznwiGb2oGTmBVlQpwCQA4uXp0MwAWgAAMswloCqoc+Jm7mZDdiQDYgKANkAANz/EA6O+qiQWhAuupyUCqMtKpzVwJZuGZcNAEWVIAzogD6dJ2SAIhBJl3Qp6A7H8GAiNjwDIQmRUIdU1Bob8CgGMAGiMIZSEnCOZmQjlQ/2MFrXIA7LQKLRoAd5MBJIoHNvinmsZqcDQQVSsHgCgQQQEAC7YAzLsK1+ugx+CqiACpa6qaiISqJpaqgkypWQuq4vqpyU6q4tGq/MCZbSQAt4GKRIGC5+YlmCUqrmEw1jxQd7UFeRMDycAAAH+2EqsAAB4AEaMAGitIcNMSVQgg7iAA0AoKHNUI9eMhIuMAQCkQVzCq0VKgUgOxDhBgQn2a3b6q3c+rLe+pVgWK7YcA3U/6ChGgqGqniVJIqPjuoN66qix7mcLAqv8coNwgAAQIBN2xRsE8cqqUI58hANQUBvOmh+cpAIBmtreqUCkilyo/QNjuaHY0tjSsYk8/CFzbCtySAN2SANJsED7PasUvAmBmE2TiAFUgAATqACsLALyMCyLduy3Vq4AqGzqngNGroMyJAMy+C4YymoYBiiJKoN3RC0kSq0AhEO3bAMl4AGnBgfOxSKlVAM2kSA7lcL/NKOAMAvYwAAtgar16UCjYMEFoAAVRWBDjiMSCYlU4MNwkALwOC41IANm5BuJYEEdmq3CCGPepu3fpu0AjG41Ouy3nq4ACANibt61NAMyNC43//buMnguI77p82wobiZuFdpjz7LuevaDc1wCcYQnNk7lg9ZB2iwMdi4AG5ZDAcaBBX2oGkwwK37YUggCBOkV3xABQyALpQ5ZCIpkhDYJKJHDsLQkJi4DLlJFSMhBCqABE4QwgnhBFMwBCQ8BVLAfuL7uNU7uIYLlgMBhtQAAPsYvjZswwMxvuVrvpLLm0SYriUKDZcADIzKVE3lDcfpnM3Qj3VQB0CggTrHanSap00pXI+HXQJLAn5lAKJgpAgxjFQyD+WwDGiAAWgAuMlwDbbwBydRBG/KvAYRwov3lE6ABCogCo87vizcwtY7EDBMwzRssxgLvjd8wwexwtsaqBv/6qGCfAm7AACHqpWICpz2uE3d0FThEHkPlgV6e7ev+zuRWFfQ5QUMkJJZV6qmCo6BOFuhmQxlbMbAoK3HoAgtwQM5AMIHEcIhLI8SKQFksAm4IAzG8L16bL0w66cZS6geOsPQ0AwCkQyFHM3SbMN6vMPeCwCXQMO5CQA725s8C5xdXKeTWLfL+iadPBD8ImJqlgZZMAEp6Q14oid/IhCBAgDgCVnxEA51gJIEUAexvAym0BIgAAIMuqwEocshrAIgC8UdkAItkAIAUASA4AhaJMw7XL0AcL44m7MeCg3QDM3THNIiDc3GAAuXIAzo66GEuqO7mbjHELIDUbcqkAEg/ywFSIDLAwFchtRqGpCSEodohiYo/RoP5kALGJCSKivMtYC8LkETb4LQIQwBcziHAsFdAUIQgTAQhZAIuMBTLQyuGLvRzSzSZE3WhOPIGa3Igiqzy7wJ/vK8fHunJKDLJOAByyoFtDmnJIcEAQAEiGIoB9dniBYi6NAMR52SaAAMu0ALH2AT4gbVEEACkr0BdAgA3MUAJhAGCPEHgwAAdEAHhIAJznUM2mq+Gi3WzTC+Zb3a0SwMaAALgSsQzpzWal0MdkvOOQDVe6sCH2zOwcVqb5wDBAAEr9hsA2EoFBdsA7rPKYkBlaDYRTACNrEF4nbTkS3ZdWhKQeC1l20CMf/QEJICAC8Q0b+8CaJAC7vAC8Cw3sZgDEA6zKzN2mda0ic9ENcr2xmd0cuwCQYt0x5gwnHNtyIsENNKZpAHAEMg3Pwnr+XwintpDg9ODsVw2BgABIptBzdBJmSQAwuwAtgtEHcYBEFw2aYkAhWBAiMwAh1Qh5I9jdLI2zmABnWAC7gQy/Ad39NMxIC7EM3AC3tLEAmO0yhbt7cddAk+BLQLOyrqqEnMnA2eltSABhcVABgAC7RQCz6hBDJgEHZ4pxmlApR9ASww0BORBD8AADGgAQRBAipwANHI5h6+BIPQ2YyACZxA40CK4zZsDNkjvfdNEH+6CXCM0Ach0yYsBbP/2WoJ3tNAwA1byb5JrKItWg3AQOF1cA3IQAhBoeYD0eUrsAIqAAAXkN0dAAIWIQYYEuoDMZMAEOq8fQd/EOsA8AdwAAC4Qwa/rEU2vtquDdsJsQzAAHR6e84JYdNElbc6lwV2XNd9rb5XORBbecnSAAQYQCFosAzaYAqHEBSVnd13CAAe/oEXgN0FZREY0u0I4QWS8NltYBApMAIg0NgoENFmYAe63t7RTN+PfBB/Cgl7S84DPsJDALLTWqc5UNcQMNzL/KHcvLNXeQ2HU+3Xjg22MAlHYYcYPxAizuLjToftXhHRYRAzuWLgHmuJAAZdwCgKIQIpnuIQDQBggAmR/yBNg9PewJA901sQ1ITgSFC3ObCkxQ7XADCtADAFOZABGSC6p42+ykwNwnAJ1A4Eu7ALtvDdSYHxHygQQUAFGhDmkn0BIT8RLtACB8HpJb9iXpAIpMYEYR8RnQ0AiBD3AFAIMi8KXLCyA+HMy7DPb1qtJND3ha7LQ68pdTrT1+g9+Q2u53u+xnDzVqTYm2DqQTEHefAHFtD1XU4QlB3mKnABHUD2E/HuFKD5307y4L4CUnBdZHAwIUEHiBAIewALwjC4awsJrX6yAgHHBWHTf5+3ezsFWZABHpDYsIAGvJD4zpz8f0rEl1AJU78JAPDyPsFc2nEGReCBWT8QK6ABbP8+6tFoAhQRAy5wAg2M9Ruwdwzw6UGwAkFgASRgB9d1B3NQEoAw811tDLzA5qou5M2bAwChIQcAKVKmTBkyAQIvXsKqSWsGIOJEicua7QIAaxesMQBSAAAZUuRIkiVNmkTRwoWNG0JMkNiwgeQKADRDqlDxQcRJknPaFFkQU2hMCwAY1ByyQukEEmUE8WGjh+fUklWW+Igx4sMJEioAeAWJhKSUkE6cIHEC8qAUEmi0eQMQzhs0iXUnLlsmjJZGWmOiRKEaWPDID4ULi2hhQ4WGmTmI1FyB86uJnYMPgTm6QYMGC50tTDiqNEiWMXLk5LAjp0ygwa0BFOYAgMRJsgX/nZAFYBZkQSkqFhSLG05uOJAUm1lMthEYrDeunVM1PKJFjBtJeFywCVlpmcg0ba6IoeSL4EBFDFjg7MABAwYTHCxAsACAB9N20qSRUqYMGQCsn/MEwYSvQsrBKxWGyG033RIMqaAcFtilmWqu0YYbbrIprq6KduFwk0H+A5EknVJw4QYlohBDjTg2IME7pUQD6bscVihijj/84+mPPHg4zwESxhiDOwY2mIAABjKYTY77yhgiAydI+CPEk3444SsVChQJLCTEAmkCFdLaTQokGvARJzRU8AADBmiJaBkA8FrGGA4jMQQRRKQMcTobfnjiizPgmCOPP4po8UWaNlDB/4KYVkAwJB2wGI+nPHzKwAAHqADgPpC8ICEAABCYACT9yvDCCw1I8OCMKvAkqY0jZPsKy5sAaFSsA8G0jb2YSNCAxQlArQSvN/FCBhZYJAHgTlZBrKILMdqIg44bAwlkUJyUUuECEki4wAJGVwgCXHFNoO6Hk9o4wwgSEKDpPk3TGCODBQyQTQUSvMgiC7ZQfUORZUP64w8WGLsSLAINLqtBKTIYcteYPmXAgTqMQSYZvIy5BBIArBADgEP+dU6MLr4wAgAz7jhEEUQOodZeFrXldtsLRBI33BJAQCGFFkrCQobZLMgi0zT0SwMA7hYggAANcMrCrByY8oANf5Vl9f8PIzZjbECDCwYJQS4J6q3hmHCS6YAGJpBijE0A4ASIAIYw4iOQn7vBhpL5SCRvPsh4I2VFroapqwvsBYCxcMOtCTITQDBsJEjNIGCBBTpKwwtwvdj0KAI8kG2IIQqEIIMMwJDq34BlvQl1kAzmsiAVQh2KqPgc2OAsLk6RBYMACMihiLmf06oEOyKRJBLjjefDDDB+ggkn57sVt6Yggihh+hVOECGlGMwFKY435JBvgTJACgK+IDItgwGkQyehQHsn8ACC3wMxAmGQEC0w/4IL9Pos2GPfwAIOEBREUYEKZUjFIggQAA+UYWe/G0xhTlC0NOwhEcUr3vFy87xs2cv/AaKhXlIONz0y6OAHUAhJoLwgBwgYAAEhoULSglCGoU2gAQh4YVe25YEMTIAHOGIVIthQlJIURX9YAstAEgJAogiwAbsSCxUWEQkpGOBtRvABBAVTmBIAYA9ySA0fACAIDB4vEfCKzOBgsoGaTW96QPIiH9IALQAErBBy4IQKCGAA3IwhMgccGgMQYIAjoQpVPeRAlP4lBCXEJmsm2d+VQOK+zTCRSANkgKJYlINtSSEHDogc5rQIHZ08Jkhp4EMq5eCFMewhgxmMhB2GoC1NupEIVCgaAFK5SzAE7A9sAEUaOMEFA0BgApoCwCnvs0cjZYCHzpzAAnQAspRwhSoy/1ndJNHkGQAwMZoHYECvNMMrJ3FCEAhoQA6aMMrAnCALpdpUafbABzkIbQ/EO17xghAxb4HLNPPc5ReVRAZE6KEQi+BEJNKwgAYQxF0PfQwOQzcBikKgAwC4AchGgAIWfG0qW8tBBhAAzgYwYDGxk9wCHIA1znRFCqWQxbbI0IVVsfMkL5DBO+HJSjjKYQ8ATYMcEkE8DMpBBetBQAbssEufKik1cphCIwzBCYQugghFiNzkHkrDQRrAABUdZAcYN7cWnEAFK3jkVNp3JR5ijgorYACZNMkiyYHTAuoBTQ68UIZ6coITYFhCDGxqkjN8IQilQmwygbRYAMhBlaXB5/9QE7ECry7AAwI1jWr0MwYvgIETeIxEGe4AAK+C5F76IQIECIAAAkCghXsU6+9a4IPYtGZsKqDhVofQHkVxpq7sEWR8iBAEJ3jhFLkARSR88MDBjiQPeTCDThG7WOqy0qf0DFre8iYIiiItC6bZLHWlQIRIsE0OQYgDAMjgVXoljbUuNADSklYBCYAAgkLQQVp5EjsNjMFdQtPPUT2jPrMdAIcT4M+dyNARAOQCAJhAAQrs21yQKKIRb9ArZ0tF3cV6AQlSYCUq+ZDdRAhiD2nIQANaWwYOZ2EKSBgCEuQAikUMoUogMY9XccheZgqgviCY8NyqIIbHCIZFKyBBA7z/8FD0Da0M7smBBW6o4gAsgAUWDkkjhpAGmIKEDCCoTHMfgYcvyCBtAJguhzmLFp6iUg5S4MOJyzAFEryWlfgyi1mQ8DS2jYEFI3nDCuSLwwYsoAQnQAEE8xAIMOThDGAIwmwEowIpsChTILmlMvXjgAz4hrUBaIAGjBCpkJiBCnJIRS56cQoJh9mmVRBCDEwg3Q2rWcM89a8dWMxZTGGuAQHIwJb0/LkchJSqRAjDh0JSUDYUoXpF8N0ctGhhDhCABR04ymBiEk0VUJAITujMDIeWhkS9Z4ENQNWNR5KDGcvCwYzI3ggGu9wRjIAFTrg1rjti68XW83NoAfHrIncg/2IXu0ATcMQY2FCS54KkdKNUBBs2QGUATOBhJ3lYTBjgVUlXbgMBCIAKiLAkKmhgAgaIHKoiILeRkAFTqXYwE65i0xaMAMwfkEAOkDCFWvNbzY0dAxJ02pvZKM3gBUIVACCQhiA8QhEPp3CW7zDxkhIRJFYnCYtUsIHaxndoyVzBAlewV/14Ib4EaIDoPHAClrc8DYtwNwA6MYmPsbPeYAbyCTwXYxBzWLG2lsMYpEAFPatAXuhGOkgg0ADER90kjSCDbxYwgaVlvSQsQkIJbCAfAGh1aG9VwQHLMPIcxKeYopvZSbbABVTnwsF3CIS/AAayH8TABRLOe2kEUSAkUP8Bjvvmd6a+BGNOQgAB8uPc4uUjOhL80PEjeQQYVHBDH60A6/slQWxuYILVEiAI4x4VDTebg0KjfQIRoAoZnOLuXHRiEHqgFhBZNQg4iMEqtXeBDLwQCaomJAdpAz7qSqZkCrBiw4n4+RSF4DzRyQAAQL/nCwlNCIXIK7TM4CaMEwoLuLEeQDkXWjLwCz8igI8FYgAIOAHBOgnWYLdUkIVeeDD4CxiQQQRFeIRJeIRDqL8tSAMq8KtFeCsTUIEp4KyfgycgcZ5tsaEXAgkGFJ1fAQAhgEAACIM+IAN5ySQNUI/COYmiYBESsAAEOAEswDH2QjMQHLn0kZw9MkEAqCn/niCDFXK3XigFQQmYPDCdgAmEGazBRxgDQfCrNwMDACiCIXAxnuMwDwNATtoWEkgxAlhCHoIfGwIACZC351OCM+APQnKPiHGAkNAvkdiAISgfA5ABkUC5QWIXJys7yYmmAICAQAyM51IBOYA718MEPdAROlgWX+LFG7mDMvArTvCCRlGvDyPEQ4wxVkISD0AVCICPSPQAimqokPiA57MCNzCCBagyztCATGoPB/AM9GCpzliaX3kAOBAJNmghr9ojk8oACAgAF5IvWByMItgr9luFQXiuOUgvPOnFOsyDO/CCYJSC87kJJzDEQ0Ss0PEAk2uA+KIoBWSmKASJQSAD/6RRgTFIBAAoL440Dc7KgmKLjEW0l5FCgAjAg5CgFjbggHmBr9XSsT0ygIVzDjJ4O/bDhDngxzYgtf/4xzygg/SSBB5MKCq4mZAwgSHouerKgoSAJtKaPIVgraQ5AHqhl+c7hElwrTLAm5BAFgD4yrDkSADIm5DIGzkgg0aoOzssjxGUyQ4kgCKgyedwAkGQhRaUhUJQgzYQgycAgBZou8HoRaDsRwBYBD/8LCRQN5DgAaFTMy+YAimIyGhCOdcikwcQCUECAAF4vkd4gwYYA7whKkkgTZBAFtIsTZGApUTIgT0Ag7pLxxJYga5CO2iTEh6goTiMhCvAAigQAhtAQf/n8KVJiYO+tAEAkAFHAAVQ4AQqGAiSKIEPwzV9eZIFcK15QQBBqgAgs6+vko9fe75GUIR2MZoKwpuhKqPRRE3SNB5dgjM7MAMoPAk2YAPSSRY8yQFBgCnXIwMlwAKRQSHh1BF+FIMkCE4ZmLHkcgKDFAkREIHGRIs8QwKRciEcQgAT4ICMMkWKBIlAYIMvcQIq4Ck0eyee06mhAaPRjIT/I0s58oJKPIlGABkWuEdVO4UrUJE40FHXoAM64McvUAIXSAEYNQNBYM5IcILFHIkTYAFi8wBou4M3IAMjKAJNgM3nmANdFAlFApE4aIIcENE7CxJ+27WgUUoaCjzt2gP/ziqCaow6HqBF9iuENshSX2qNNlADLAjSIQ0zEYiERWDONOACJRUJF8iikJgEh8uDQbhSkQiDkUiBRGuuxCiBITiIsliQg5gCWvOCs1gyOxAEMIqzkPAdx+sAL1gEmJOFO4gDOuRFqhACKHiCWANMFIBRGViEUlDQIAiy3/GDL6gCJQAAH5BPuyPU3PgcYhyJtNgzKSCNr+Mr/UAzx5M3OLVLVSsEXPxHLi2JPoEWNfiCKBBWkUDQ5YyEISgBV/PJV22ESdAEkKAEkHCDwYINAPCo1LnXdUOQdwqS8ZFWL2jT50MC/XS9XAAEV31VwspSOgBKHyUJMpCDUkioJA2R/xgkCQ7oIhkFCTXogrlRgJI4gRxQ1pCAsRibCr4jjTLIglzqiFJ1vCLgK/bjBBvpxZPIUoTVEZIwnkAdgsUR0KmorQoACQ39l48F2QOhS1qxVyd4pzmL1o4QpedTAUFYhII92G0lCYbdVm4FgDvIVeYcAiJ4geAMDIudCgm4KJAogAJYlghQgAIgW5EI2ZF1jYFASMzZq6AaHy9AtOczg72CuVSoln90rq01W5C4I3PlAvRqjcOdCgXAzLdl2+aaWzB5DrtFsyCJWhx7Pij4AoiFO1kABYKiloQFCcN1XLDUT3NCgtFqXJCgAMEoAMxU22UZgJMoDFrZEucAEwRh2v8gmQKWBQAiYC7HowJBQF4S0oRJEM/TPV3U5do8oCrmLIPnFAyGBQAKoIDULYnbBQCjxZMHAF+T+IDY4CS6pYot8Rxn3aspGB+jgacoZIHAsZccgAIx8AOSgF6u9VpdjQQkKDKq+M9JpADsHYzZfYAEntz/KIG0xV0RYAGRRdr/2JK+wze97VQ2kDYIlJxMigkeeIGS2N+RwIQEPdfU44kIA4mP7UnBEAAFkIAYHt//qC2eGAGRdY08O4t/I4u9WlnV8KRHjUIJGClwDMUEEGHUJQlJANTPsjHcdVMAGIABUOHn4EwAoK8Zdg6h5YliRd/cWBAw3pIxLja0aNriErz/HCiBQ2hXCDQBAwAn2rEABmCBXvWYwd1akZiE6eWEMlABdaXG33mACuCACniABX6O2A0MHvjiPbPX3BjjgrOXWyEIJ8gBSyYDC6M7N6gCH7i9wQKyKjuACbirDbCA2BIJlWGZmh0JMPhaTkACBiUMCBIAoeUACVAA703kwEjUsCCJPSMB3wVmaKPPIggCFrgVJ/gczkrLSbAETs4iFDCM3B2l3VEpBwCNDXAAAdFjG1QERWCZQGhU9YrYokRlaozi31EAoa2ACEDk5+Dakygyy/VlMIYbZdOD57JDQSSBSAAFACgFhaIERXCDLThUwphmnQAZkCMkcFypmAizKggD/z84hOW1QZMoUuY8DUJN598ZAMzsAFx+ZxCJ55DQRR4QWWHLs67pHZ4AAyRYhJDIo0ko6IPmiYTu6Oc4gADITvXYDPQYibg9CSdoYi/gHIS2qQLggA7I4t9J3Rs4AQootlrZEhXgj5MIGA8QBJEQBDLo5NuzY1ICERAQgN2xq86YOJ9tjROYgBVahBxAYcd7AIwtAQ5w21GKg0gBMhFg0hKIYCLgAQFhgqn4gzcEgOWkMTBA4pMQgMZubABxDhCQALOOGPfQxsUBssHgAAjAGgTYziikgD8DABao68GyuZBwUOdgA6IGCVBIBS8YaZNwbMc2CRtggo4RDJBbrfcigP8DyOzBuAMIUI+4IgDsmQpdnpsu8h0W4GIKo+bWkEASQChdTYVSyI7AMIzZFgDkBoBo0dqSDgkZADndBrkTeG6qOIQScI8JMLAAKJnB0NJl6YAiKwHxpcjzLokYWIItcAOILa8uA4DYJqVqnOICgNxJfF7CBQnC7AEHGO8K6NvWAANLuauNCwA2SEmqMOB/KQEJAIlb1mIIfG7DyJ6Q2AAk8GfXToUyWGwQ2agbUIAIkADt1V6AQV1+bILCdI0SUJ+RYoAF4gEAeNeSsII2oICGU+cIWGpDFvAoxG+QqIAcmO5VSCCQiZbspfEsT/A8Vm1s7gykCoAWHwk8UDab+mj/AABx7uZQnlgBPyyFVACAUwgCB2aVGofdLKdxkwBvSXHozjA9AhDzkPADN6hhqrBzRR4MAWDbQr5rk1jbtw1xx0OQfxaVk6Dd7j0JOycJPEd0LO/0wCiCu0KPCk+aQIcC7ok6AcDMQn7b7mXbj4V0iowNQD2FVbi0f8nzqeB0La9H9+AM9jiA1Qp0AIDRZSl02ZYADgDxkRgAAzfayZXcKNwAPwQAOC8FWX6OGef1wNj1T58KEwiATHoP+DKAYf+X5l5hxp5rKFCCG9iZ7V7bAJd3kVCASB8sBCmFak+FXAIRZX++KOG+pBH4BQqAUmRsLeLM2X6NG4ACJlCCGIiw/xZoAQOv3e+l+BiGQKn251OIczzB2Oba1oFPGpBzAKKdiiuWEpQXkQ9gAnYXAoknCQOXedrtgGNvLhIw0lNIhVU4hQuw+daQaIoe8sCIP/lL4m3Fqt1R+gBQ6wgapQ84ISZw95CIMEkNiQeQcQAogS6CQEx5c0zz9hARep4o+vjLEcNV7PG+yptrnPtugZYw+UQ7DJ1JIUTYeq6X6yHw55CoJwia6Ea9kzspejvBaqxd8y36ABd4AeaSexEAgXoLzqkBgEYIBE1vLs7hhJCIBCV3vEn4ZpWxE6ppDfEtgCl+7NZ4cpD5ABVOtJQAAKuPAb8EiTvxF8oXCcsfpb4HCf+OD3uQmdwzMARFCAVSAICBnnzneFvT126Fx+5RcgGSkPhEY/g2EInmFf3bx/1/mZmOtHU5yP65GQCJN5EtOAMAeAQAGIX/GIDlJwmVfz4UcAEXYC6VkPgWMJc2mBoZldHrN4nvBwgAAgcSLGhQoApHoE6lWhWpQoWDEgcAECDxooABKFq0iBHDB5MwfQCgQnXxJAAUKlFItIjyJUyDYQAIcQEgBkcANpN8maNIYCOCh2IOpED05Qo+nAheiAiToogPH44KKCCwhYsXL2LcUDLz6MCVYlliBGv24BkxXZgwuQEACgCfABAFHVgX7J+zBy8IBDVQDlGKU8EOsIo1K9f/rgNDUTo6VqxemHlhKiIlEJXlQW7UtBmISNFdAI9CE50cueAiAKcIRy5QAKtWjzFOMxFy4zGImCJOowz0maAqAKNKagJakNJQvKZ5A7ggSDWAVakAOH05uCxB1wUUwH6BlWzkM1iY/IgBmehX5gX//AmkiNIoAI0aTdIUX2BxSo0aN8pjdrl6ApUi0ClpPACABGVd15JLAAygAITcZfUCACOgYFNkgRySRxtiYJHEDy2kcFYgEgF41CH7CSQGiF8AMMggj5ASHFAlAmCjZAEexJBA2z3wgAQRFETRSwJYJJWPEjwwoQ0AgGAhb4gcggiVHHbxIXMn/ufbT3FgAcAP/0kAkIQSW5xhiHCq3HeUlry5tFQqspziAAAKJGlQbicZiaQCQCrxp20fiDDCCC3wdsiUUlIZyByd6Xgao218ycSfSgCgRJM0AaCGG/89WpGRBUkXBADbKSCBBB1EdGCRR6LQpwQVKNFFFzdI9eQI6tGlCK+8UvlpZGp0AaZbBCnxggs23TAiXp8aGaoKkRCUxkARpNpBBxwI5ChGAnzQwo+xMoEFFrYK+qSOKc7XiCKIBIIjsEdB8YNAL9wghEEt2ABeaW3q9ayRCXjgyECypFYndSVgm22rA8Rgg7Wp0vqDVIKexh7GA7nHLq+IwhsvTDa0cIO9WpWcEgCGmqXIx/9uAkzRBVRwwlAqnDhw6rUKM/ySAlyhCkAJXUBRcZYYZzwQaOwuCvJRH7hAslskA2CyC/wyjdKzAlk0gAAkRAIKKItQQacEHCyscAkwcaAGtkCzIIQIuxVt9NEAqOsry1fDxBLUJd9g076nsRDgsx9sbeQCOSCBRA4bWCBQBwAs3EEJ2kpEAQdpA8DD5gBQEAOzvNFNN0F0rftIY3qf9O1BbmlldUwf4JvJKwQ94BpYAGdE0AEATPD4QGZji7bCB1FAQeQCscC5GSwIGeDopA9ECSWaaIJK7W4sgaHqA4GwkUBQExQDhWeprJ7uLlkFgAEDTeCABXydTTm2lheVOUH/RUBegVHQR1+3fIYTi1cUp3sG+ZZWABA1ew0EWWcJHXPSJ5AIKcAABGCAA+gEAAYkj3gsqJ9Ajoe/5QGgCJzjwPH657//lQ4VsYjFI84ghAUZ8EIAsEH5imWT15kFdqfRHcLspACLEEAgFjjiBBJAvBIwcXIozBwLBre5IhBBAin81P8A+ApVNEINPwicAQUCvhfgMIHFSlkLfBivyo2EILp70HZco4ADBKB9GbSAAyZggA7wqhFN1Fm2IhfFzfGgeZ47Xryy2J6BPMINX6hNecIIgKlkJVNTK1lWVqIXKfLGNc+S43asZYBRGuAADGDAAUp5AdPNB20LGxwJeVCE/xKkUIXA+p8iCigQG0ABCuQBY/c2kpUzTs11TnLB+c6CSKIoYhIAkCIFfgRK3CEoAAEAgAMw+D5U6k8+8xEIaDoQxeXJkgi17B7dZESKQ2xhl0zw5Q9+wD31zEYiU8EKVxRYryZRyAU2mGdklhmTnzyTiRWIQAQeACGBJAAARXSABjaIAFQiADTy8eZ+qFeccl5Rkn9AxPU+ob3zKaGXtQHmaVDQhCW8wRB+OENBvoVMjhjKkji8yd8eJVC1UY4FJfCp8DhwAAI8VAMawCMAEACAhq5rPvqpnnBQoUtJDoQUqLDEFXwQlcHwEp4h0lEnPMEKV7DCEnAQiBLKg8yrgP9Pn95RoBp5s9OLpNBsg+QBD1iQgDr6DgBHxeMBINDQ0cxHE/pphH1G8SuqFqQP26uYVNBqUiGgFCwfqMERlgCATgDAFWRlhSc8AQBHJSGnNMXQ3wx1m6t11Hi1hOIUN5BUDUbUcah8A1AyCgCNUoIuiGCsQUYAWaJ1lTw3SCZYehADIWChDVSyBABEG1pPZCIunbGCbdDoT4E8rZ6qm2tR6jq8gQTgghC1wAY2oAEHBIANQWkE6gw7ilF0LG/AjelwI1tSKAhBCN5Nrg+SIIY4uIdKiIDuQKabiUD45wtRIM9WvGMv5H7XlodM4cK0lTz2IWABHbbgBQ77W+rN1zf/U7rvQfIb2eLe4LhnAYkY5jCXGyHqNwUJrSUUcQg8tEENA3GBR1BcyyEfQhEUsBYFBHBNojrUoQHgwCtMIh/49BZRyUHxAVV8qV4KIZJguQEUzuAfgQSCPRp6LkE8gWAAWELNgWjDWpgAUCwbLQ5fsMINhmgAaxKVqAE4QAQOEYrLzLcRU7oylrOc3xiY9Aer3RuYmjvmGxntzL/9hECoe+PoWiIOYkj0Qf4wBzE8IQY2oYgA6GjNP1dFCVU4wyCqqwrMsAvU9lRxSSH534ug4AhC6AKBNcYeAGCMS54ga3VPEtpDdMrWA2kDnlNAFhHgzkiu0UiyYrAESznbOotu/3RlDcKSKgy4IIcYtkDaszFFYDomy3aDFbrdgg/kidc6+U63vT3cLev6JOMWM6IF4i6NDWVda3a3ms9qaxBEFiU0dWC+UaJiRsMz3GIEwBbUMOnSUSk5vvkmfM/iiVCgIjiG8DGWaXgQmrbgBXGNOHeFWzEb5LrLc66QZuHgHoIW5DNS+nhdvnmWWQCgFX3wAahVnq/TvhzmAPCBeSoGZiiktbIoWMId5rDzXvEcAFz/jNDlk2yihGIWsQCAIdjQ9DC2NScsyQoaOXJzpw/EEmHwbwty08t5fXUgKViCIT46n6T1CpxcX1dBHgGW4JhkC01AgdxSnrKDPCzuKHA53f8vQopMaM8HLngn1f0LHiUYwhN1addvuV54jBKk63p5fORRrHSd3DTucM+8RKL8CUNcoQpfGE8803gpNGXitwb+1WdWj3ikXfQ0TaiBradiw6lNDYc3ZTnmcW+QR5BcFaSwBLNJXR4ww8ETjzg++pnPeuZTQvG8aUIPIKgc6TWNIIYamQJbfEaarh3mdJkE9rzCK3wCHlDKFxCYgfVcAjYfA3rdblGCaAUI/KXA7KFFHNBBogibY1zFQNgAvdDLDTgaTaGR9oXaHxQZfFyGaDzCI6Debx1E6oUd+0FgBD7KBFbgQPxAFHwaAOQBop0bTDhN+dSLAn1gPIkgS6gEhZX/ILH9wXzUh1UBQCx4n/XoR9fxXFPxCjgJBCVMQg2eRCu8Xg1QoD0xixBYwRnImGWhQOVZX8q8wAcSi6OlhEqsFRMSBHv4lp09gRtkggsN0ChYT61toTeNhgNOTyi0AisoW9kNBCMwAhuAAVg83wEJhPTN2W9tXIq5wA8IAaXgixBsxAKFj72gQG4kS//5XyPEQRSAiRIwgRtMgirEgi/EwnzpxyHK4E/8BCWEgiu0Qiv84iKmWbsFgy8QHQCsAW/0wCRJ33kYRKOsDgrYwA2A3luwzg2ZzE3gEIYkS9XcYUE4WJcVIROgoSK4kBSqSeosX+qMWCK6QmfBI0GwAiuE/6FABIMrdAIhvAE/8qNBHAFR9IBKoIRbxNvqxEAnvhMAlItMRdhMARn5EESygCNB3ACIgGJ/JUESQAEWHMIo1M4LNYb72UVQoI5nnSRKwqM9AoAxAoApMMIa9KNM4tZANAEA2ORJwN9LGMqu7doHoECLWSMWSIUNkY+hTORW2MRRfiNFCkQn9hdU4otAPAEW4IEmzKIvCEdj8MfgNQIwpiRKEoQvBINAMAIAzCRa4hYbAIAk3uRBNAFOLuFAYAW3DcQZwBSGfMBseCJcYAHF/KRNkE8/YUhEksVENqVORCVUEkQSvJMYnKNBUAJB+SJYhuU9AgAyEsJZpiVnCkRbEv8EXM7TEuaEZxDUUPRBFfiXowllM27EVmQK3JEMshgmU1Kk7CimVB4EFvzBoA3EKOgHZVbmSSIjZg7EPnImcvrjGrQlXCJdQVgNT3rGIY4kmqgFuSykWxDl9GUKGWUjhahMbYKj0ygmSjwBFLiIFGalKszCLASjcBKnQGACAGhmctancjaBDwzkVYwgQZSPf9gYAyreT9hIK1rit7RcNjaJgiZQThymbX7AvfTXSUhlEuBLF1iCLoxlS8ZjSsLnZmkmfdqnfSrjRvCLgxIEHcwYFmZaUBSHfTSCGCiBTQjXG5oaHQofN04eKiKmVBATQdBLQSiBWyzBI3qCh3aWhwb/wy8AACOA6HGKaHKywWwI30Eg0zylHkHURSaoyEBowo6dwRb03e2JJioupfzdIVE+DTHFU5CSTAsQApwOxJIKxJzCpyfI53yGKJQmJ0wMYYkkH0lGV4v6JnKAn0DAG72QBUuoTBqtFWzsGppKhZo6Gr2klUGITBPA6RtoJgDcwTCyZEFwllkKhJ7uaWfChBLAlMB1XSNkgvmhDkGMgiVYwgsSxBeU1lsZiqJWDUt8BGJa4siE4BFSqmKQyd/o53xu6nyO6lieRKma6kyugRLy50HkwU8MBRYqnukBgC6NwidMV2gdxLAIBATpqgv4gHP+aosN67Ca2rq6HAr4wKga/+d8DkRWAoAy5OOojiqnbia08iMYIOj4nA/3BEKt2djgUReXCsQoTBcrfAJohWtBqCoH6moLACmPYgi7DusNcMUPuNwN+MARvMG+kqqcKoNEMAKe1qtA/Gu66t9A4ETPeR2WfpMimB5UMWwofIIrzELP+uyRCoRZOeXDpFHl/SpLdCKYsOnGThgc2gAbvEEPNAHJlmVB1A6oEsRLAsDKEgSUKqM+SUQ9jZlFFZk3ed2Wpg7D0qMreMIn/MEgHJhYGYQnKEJetMEXzEQICsEg8Cj+dVmXDWsO0gsniiAbmAIh1EANrCUAsMIvEMNJkOUtdAImcNZB1CcbpGvrAAATkP+Z4c2F6QjcwgpHKIAWjX3Uu7xL0W0aAOjBIayZHwzamjDhTxKThBrEHN6QJdqkKWDCG6zlnOqCQeiCLpwdAGAtk2LCvBYEcuYfM4ET2CENrPqmWOWBjaRuiSDKwXEajQ3EJ8zCFm1vCUKopgiEmBxEpljSZXGq4/rCKyAjcc7CoHklvhJDLAivS1quRKBl/lmSsQAb0vAcooFGzgrHt5ZIy3hGreLYu1wZ8gLAGaAc7aYAvQiBEghBhebmQLjFD1hNobzBLygDMehCJlhCGLKnK+jCLLAC/hrELEyu8uIpfXotP7ZY2BKEBl8EQSnC9DJsdHnuRRxYplHXuxxcLAz/4xJUQRWI515eypgorUHcnBJ8wisc45L+gvB6Ah0YKfEeBDFAbiwgI+WWLPNS40XA1F24HtLsR7dm2o2gBKJEl9t6gtnaq0CwwRLA5RFAKt39JCg6saVIJSj6r0QcgpEOhC5gcQsfxC8s6b0OhCkYBE0ugeaexWf08HyhyFCI1iK+YG8aLwCwwRHAHzOiKQpYqgUbC70Q8kmwByvMQiMTxJwWRCOTQm8e7wpjwkvKsEDgZGRICRv75ki+hJVNlysoAoKFQu0I7xssARjAHzJBnikL8kBYSjylIh4aaSOPVeCVnjzKaVBQgpRFmUDob55q1lE0Qq0Cs9oGoo4h2IIVYLL2htbDPoKrfsKggfJa4mcSxp721S4O08Sj/ccgoMlA/EGKBoIlsDAif5RoDMQWsUIkF4SPvoTSzEUg5Gyhve6VZYKVfbSVtVlouUILCkRvzoIlgG0ymgcA1EC9nUZAAAAh+QQFBgAAACxKABsAwADVAAAI/wABCBxIsKDBgwgTKlzI0EGJKAwjSpxIsaLFixgzahQYgAXEjSBDihxJsqRBAjJMqlzJsmVJKwmMfHRJs6bNmwCsAIBRBafPn0A1WnHAM6jRo0gNwjQCJanTpz6XzoRKterLmFOtat16USrXr2Aleg1LtizBsWbTgkWrtq3VoUXdyqUKt+fcu0nr4t1rVC/fvzixENUJuDBNwTINK2bZJSbhxZBHXnHQ4UvkqlgwJ/B4+esTpI1L4M1cpAgRJFycUPGSRo6cICWMdOlsEcvmvZJO6T5VSjcnTgQIGIDAg7ZFKwQc4AWzu7luUAggQEBS3DhFLAQShLkLynnzUkSoiP8P0tR6RCzILQCw7BZQb++7u0gRT+TvrWfPwOn/Zu0bs2H/DWNKKZhgAgogANg1EBQnEBDAXMztVoQXVEjx3ilKzEdFDlvg9Yw79NTjjjvquGPPiPXQo+I89MzTDjvsrLMOO8OIMZAYMgQ3VyEClQJIeOI1p0Ya4nERRWZy3dLiPCyGmGKK9IxITzrsoLMOOliecw46SQz0RY4E4NaDeFQQsRsoURghnhMyXDEXOPLE046cAMwJQDxy4jnnOeaUQ400vNACCQcrcMADDyaYMAEEFxihFhag9AgGD0WC8R4nmZFZnVtRtDPnp3mCOmc886ADiXQTLCqdB6o2YMACCyD/cIFalgJQChlGlJFGGURc8R4oVxSxmhdFAOBmW7cAwI6nzDIbajwAzJMOLdJVK10DC1h7rQFpgRGprWCYkcauYFzR3SmLqAFGGbqawUR5at0C47LN1tusPMBoe222+hrgRkI4BIwDEusdxQQZjizCCSA6jAtAGUzowEl3nCihg65lFLGdVoBsYssmtdQiCheQPHCBCeCsc8467aTD5MtMyiNzPPLUg04lr8Kq8wQANADAAj8vEEA04FiD33+33LKKwDiUMNtRVggitRxbiKsrGG7EIcfUV1zcmhlVPWPLMbvsAgsaQAhnQHABBAAMAOsAIM/L8twpUDsCyczkOW/7/+xzzwGsDWsDDUCAABrWkFNOOVo2fonA1JSjn37WTMPMM8MorbQtXWYlUdKgh45HHG9ILQgZTGAsx7tRm85Eruzy8ANStzDDDDrNmH3J7qJgqzMCCwAzjz3EE1+PPfUkXw/MTEarYjzifOONOMckc4wwkEBSCSQhFI6AAR4A4UEOKwABxBRceIBDCBhAkkwz0VizODXF1F9MNtp4oz+W5oAzjv/gOFrmQNeUVTxjHiMaEfJAJA90lAMXUktDF5owLnZ54YKmE0QazMCuMpABKLeYxjTGUSJ7tKMYtBBFHTbBBTvkAAIMIBzhjoGPe9iweDjMoT1siI98+PAd78BHDf+FaMMiFi9F6ADHN8AhjmgcQxrHoAUsphgC8WFgURMIQaq2OAEPZOCLXISEKLYnimMU4xjH0J85zHEOms2jHukAohHtkY5qLGJrYOiDQCzImjIIYmtyGMIF2RWEm9zCGf3oBz+A+I4dUgMXw0gfBFKVARJsYAMasIADjpGPGhbxk6DkoQ/zUY+5schEOBylKleJjyDmQ45zVBETvyEO6qFRFLgUhQd2yctdgnGLECgGOuaESuI1sng3TMcmTAe2MgDggtD0gukCCU1eAeBfLRnGOPbBj368EogAuAc4juEIBjDAAuhEpwMcYAEGGICT4QxnKOeJD3vE6Y0uspc+5zT/NxDlUIj5uEcPB9pDVs7RHi2iZS3RyNBofCNKOsThJ+2hDUEAIINbyyAAAPlHLgwyDV6gCSbMkY50qOOkVcLSMmgBgO8F56XmZAACAnCJuZnyZRAtHgDwAQDktQNmLfIUvfZJVE/hSU94ahLxitjJTgrxqfdAZkSjGtUd4lBKL1sHN44xzal5VSAZdU0OqOCa17ygJVAYRjrcAbNoRAMX4UlDIvigAuG0jVsHMIABAuAN5Cnvr4B1UvFuGq14zKuoiE2ss5BKM2IudZ47BKVA7kGQerQDG8JYZka7+keB/HFqIYDALoegA0cZ4TMlscELhsGkaDyDCmMgQhC2BgBJ/9g2EolYwQaAt4B1IoAAbwSscP+KynrgSWZyM+y8lMXcOt1NsdAdKjvOUY7j2eOp2PVkKCc7kHmQAxhoGAIXUtOasob1otPMQXAYMAENSOEZLNNP0pQQEih0gRnziAYR5FBe/vLBtpKIhCQSQeDcTuCcGhCFX4ebPAAQt6d3ilOeDDujeVn4whhmh7IOm1gMhyMc9LjuKkc8yuzW0B7oSIYBGkAAWL3Kdx4IwS5VoIIcqIALVODCAoRjgRxEg2Vu1Ns8xjEOZtzCFAqqiBLcSgSHbdQOctDVgCMBAALzgQ+nIEIGxgcOBzOYwcS706fw9iIZmTlGMZrR3PA0kAtX2P/CL4rzsuZs4XKE4xruKCiJ97zKe3AjBAtoQAACzVsZYqsBgF4AoCGw4+AcIxrpmFuLnJRAVO6jH9vYRi/gEAc80IEhMXiBJLxQhjFkIQsAyMIY5ADlMhRYEHwAQBpAAQoiTMAL8lCRrp305eO5Q05khlGZrURsGaHjHGjcjzhetjwoxQxPGc7wObLRDXMwyWUqMtFO+bzKduQLVgEA3jrRqYFyWyBVjM6WqwhQjIiK6ETIg3fx8MGPeo/jFp4zyBOsQIQxeCELUphCFpyQBdbYIQ0AuDIf9rCHDUYiEg6ABPNwuuuKH89FGoaRjNpxJSx5PEuVkE6g92WASuTSesf/iN6y05xmM7ucG9i4Rs1EVGkUJVBaLLKuQPNhj2oAQa8IYAA7LXDJDdD4AkXXwAR8R4BjRJaqOqy5vK1KPGYwRAlGKPjAc+CEKXC94K3JgnkRLlc+BIEWR6WZzNY+j5vitJQad7mGG7elxlHjWoSDgO94G+hA5wwCx6jSlVxuZgCcAxrYIEdwa874xifQHsW4q9AdYG5MOmADDiABCZCeSVgR4LqhtCo36/2OEDHbeMQbx0JiEIMTnPrUXJ8CEnJw6jEgPAe76iC70qACaRD1qKM6brTgZmyVnQNufEp+49CQd9/p7Pk6y1nhUvpxLF3pHOGABjXaESXHe5/xwGhb/wAOsE4HLEDo6swk0TX5vQVwkpWevDQ8/gEPeHhTHszCPzrkYQ9wfCHfAhEDNlAcWTAFU+AEXSd7AIdqZYAEuudMAIAEK1AHaFQN2qANVvJmQ7VYhqd8fCIQfLJG5gAA5gANhUMQ1UI4gaaC0LcAyWB8jZMlx0YN0BAOuUZz39d4AJBAaCB+DtI2wWEACDCEk7dODBBuBgAO76APe9ZN8/cP9Gd/+xAP62AO1EAN1xAOmJBkBdEFWIAFRCAFEUhwrzdwKqBqZcCAuucFQbACDIAGkIAGByB+dSBGkHBG2tAN3gAjzrVG2FANwlAMgQgJwsALwFAN1FAN4fA9r6JXwv8RaAIBNNfSMynIAB3IRsrXJ8jQDNbWYPXgYA5WczvofengAYrGAJqnAee3V3flAAdmTg5iAKJwD9w2evXWDwLBD/fgDunQDciADdlwDY+BEC7gAiVAcEOABFJQhlLwdboyBA9oaipggfnDDdmADMmQDMCQQpuwCWiwAQygAUfYYjqDAXBoiLxQCXXYPSv4N4ZmaD0DPAgAAELYdwsgTFrCRmtEXeEgDM2wDk1ScSryV6HoeODgAdDIB4kgYLiVCFngAECoeUEXHA0gDrwYIpNlQySmD9wUUPZgDuiwDNqQDcfQBgtRjCZAcAgocK93gAQ3BqX2MGuYA9WADcCIDRf/mIfdsJPc0A0AsJPS0AzSMJTV0JM8GQ7kAAAftpTh8CfSUIiVoI6QsIIC8Y5WCXgiqI99Qg27QA3sMHFMIpD04GAY+Vf0EA1ewAeCQGACJgmcYFuJ4AVDSAAkcGAEwF7fsEA4aCLaRnVhhg/mIA3L0AzQcIGYgE0JIQRCwANIUIAGWIZlGFKl9oBeoAKigIXVUA3XsJk22ZnAmJPdQA7hwJPcUJrcEA7lQA6iuZSiuZquuZTXMJSAko7bgwE9o4INsD2VUD+aSYOw4JVrZ1MxA5ZNEpDgoAJBQHDswl92sJAAhlstFQBexF4TMDx8eSIKdJ09dTyfWA7VQJiEqQ3H/3ADC2EjUCADQwAAUoAEjfl6qVaAWcAu8dlBYzAGTpABwCCbV7ifV3gNmsmZ2NANpZkNAJAN1niaqsmUCvphr9maSPmgDkoO1TCUxWCIdVgH3YMtaIANLBN8wXdUbOd2+UUCuVderWEHZeAFzhlgfJADQqMCHmABohBie1lp8YaD9IAO2KCN/igN2AAILRARLdACXNeM7cmMXAeTcgAA9dmkUkACl7CJg9kMhAkN0CCb0vAn/RlzwJgNXpoN2KCURjma4aCUC8qUr8mgatqgaroMaIABxbAycLZPaUcz8RANHbQr/FVWaXBwTqCiD5cIe6ACg0YCEDCjOVhzy1MOy/8AC6IADMtwhai1EEPaAiYwBAPXdZA5e8rpBVIQTf82BAEgDMmwDKZ6qqdKpaoqlPvpmcG4mVgIoF5qlN3wYd5wpriaq3d2CWiwgmMkCvWjP/ojbHPWLNHQpOzibyFle+aVoq8mBwxAAIz2UMlTacrTeKVSDZUABJdAqtVgC3gwETcgBLHHkszYdU4wH54KqjkwAbBgDNhoqqW6DPNar6Z6pdLAmdcQc1eYqlWapf35nzZpoKW5k7p6ptewO8DQDLRAC3XwsEDAAM+HAFEZlcGKlkz6b1KwsRy7jGXAX+NiBwrJB3JAAkD4DTnXawlkXNoAC+ZTCaTaDH9AEV0gBkX/gKkFuIyoBgBTIIYIqJ45EE1ZgASVAAvYmI0AkI30Kq9Me69DGaubqX3NgAxUW7XZOK9TaqVWup+bKasFu5O1WqujmQ2wcAnQwA23mra32g1B2QwopEJ1gAYE0AAF528ci4Adu7GsEbJysAdR5gSsKKK7ljy6ljzzcA60gAHCAQvCYAyFcAZnQBEC+HVOkAMCkbMC4QRIkK5/ekGn5nWNe7VJmwyjKxCku7ROe6VYuLoAMLXwWrWwG7tVy7RUaqUAm4gA2qXXULa/2KUXyA3agLbekD9gq4feIEgXdLc1lq5SoLl6W0GtdoAW0DYfqnYTtyLtIA1AEAAEAAS7IAy1/3ARKIAClzq0ORBwGysQ7MmeYoizr5cDojC6SDu/pIu0qMuqhMmfNAgAyPC6svu/AHy1/lqlVroLlwAMUMulnjmwOckNvPBvAHe3laSMT0oCFDyfZYCAOSB7AYAGG7hYard27RAOlQCEdQAMu1AsFpECLRADscexA7G+7OkEAOAEgvR6SBC/Vyu69Du6TIuv+8ufzQAA/gvARnzEsgsMlwALAHC7+4mI/ymw1zAEArexzIuAQ2DFNJbFettBOTAENtzBW+JxMiJsQsUs5lAMGNA2QAALu2AHXXIRTyAGRpCeYqi+Mry+6tmY0OQEJAC7O9zDSru0BGylAKB9VroMxv+QEEjcyFVrDErcratqu03sxFd4DFXcvEOgAszbsXjLsWg4BkiQjENAALRQDlmpj2ScZuigDdsbAOa4C7UwB3GAEWJwBmqgAgQTgXmcxxt7hkO7AB1wA2QACCGzC8AQuoJMu9AAntBwyFY6xBXhyLIrDAqLqqa6qqqqtZtwxwIBo7uct3ebvvU5BcmYAwEAC6q5zopDDqm8Rt4gDGyDAbAADHOQBxpxAz9gAl/cy/6swRBwlyzMekrQBWowCIWACZyAC9dTuqg7pZMczcsAEgDMv/1rDAZstNi80dkMDP82BeopBUMAxgSRtzaWrhnrBbNHAqZcq7fKmkipmqlJDtr/CwCwXAfCABIjsNMjwM/J6M8yXLntZE4m4ANQIAZzcAiHgAiIEAiW8Ad6gAhvYAqYYAsMLQzYPMmEqcglgQwWXbXW3K1Yy9Gn2s07m7chLYZ360XKOCxeYGMmCwvBa5pgGw4vjZTVAAtrjAFAAAy24ANMMIwY4QI3wAP9DNQrrXnm5AAMAAaIQBB/ENmRnQeUjQducAb/BwUbkAN1wAV1kANoELehDdoqEAkhgwvAYAyqvcgZAbuqfTa7YAxkjaq88HrijNZpPcobOwWeqwJ1GQCVoMAL/Ls7uQxAoLhAAAC2IAIiMBI1WwSHncftakmaB46MrQJHgJiUDQCUTQdt/yAGXQAFSnADLoACE2BJRYd5GnBJljQBTbAFP+ADMdACpTEGmyAKISMMjavaElG1/BvWwDDWHM1CmCsQ6Yvbt31qVEACHsBilcCfiOif+vqHl5DcbVwLH9DcIxEIHA7dP82emofel5QDJGBOK+DbMJAQhBEDAMDTJqAB6E0CKtBO5cbebDAHatAFTCAE8p0CMeACKcDCNlDMdmDauIAL+83fBBG7GN3GOQ0AEx3lUL4MwJADFNyMCHnHCJ63LHmfS7cAlaC1tvu0t6vExw0LtUCeJGGSh6AIivAGOWDlSODbIn5JK1BIKnDiKzArEQECIPABAHABKgAA7L0BhE4CAP9gSWygCEuNCIrwB3GA2VGQBE+wb18gBnAAB4Eg2X9ACJiQCLZQC0ee5Krdv2VrtAWBqlVu5SitAZY7EGqdvpXLybt9akOQAemGBqXaDNmszc0AyXELALtACGqwEk/wBWrABjSmeQKR3kan5zR24hwQEUogBADwAoY+EJfUADI+KypgBJINABzO4XkAB2oA3l1Qs3CQB0ut1EodCHqgB4HA6HDwBWRABvZdCym0O7vg1QOBqpBAAl88ED9bEB2b6B7AvJ+rdEusAhMg4FkNDKcOC5gwsyzhA0KwBU1QSNqe3iSwAhMA7Se+KRFh6NlOEHkOACuwApJwB/jM3bXMHkL/YAMuMKQuEAM/kARWIAZqkNSP8PN/cAZQcAMxEOQjAAJHDwJBcAm7QLoCgaoWsMXJWPAGD8PJuNsGiASpwgX6zQu8Ptu5s8SwQAh5EAhodQZ/8AjFogHNXnSETmPPnud5XgRzIBEmTxBKtwIEMVstfxAowNzNDQIAML4tcPM+oARbcAZu4AZhUAUzP98pgAI7jfQiUASiXj+nCgw0FudfDMZUb+Dpm9YBd4AZUAc7qT/hIJizLfFT9AZuThOM3uGI7uyGrssAIPd7vgKOEhEmoBwGwTMFEVKJQAZgsBAf8AEggAIsLBBfgAeKMAmT8AiHEOnhPd413wI+7gNJkARR//AFgIAJkrD5nN/PCEjDB8GxBvikACAMqK8/U87RyODGsHACOF8Tmx7ZbAAA6+3sAnHnAAFAxYoLKwYWCQRA4UKGAE4YYNBQYcQVDXPISZSoSJIbEj0uTAjgUKCEhxApQnloThsxXbB0+XIGzhySRFSoyAEgx84cQ4Y4cYIEgBSdKoRKkTJF6RAEwKhV6+atW7dqy6xevQprlygQKFB8BBtWLIA/f/LkKWJhw9q1ADYAWLFiw8C4cU0oEcsCgYO3DSNKtACBCh8+Rc6MRVwWAEk6cNS0rFKli5g2eTLc5Jm5JxKgQFV4GDI06RQnECbUESWqkqg6ZooYWwYg9lVhsP+4ggDwFfFusW3izKGTx4JatmxJAHAQN0jdFSVegBVigsEECwA0aBiOnaLCiiSG5HBip4xZ3rvFYGEi5EaMFu1bnCCBU7NmJJyBch4KYIoUDQ1IXCABggYmiMAKMYSZTbZljAHAjhRGyK08CT1KAgosvujChA00KI6tm5iriwUfxNrrOgscYICBEyc4YIGbpPAijTTKAGCMMcig448Jw4JCPRe++iBIEUYgIb75NBsCPyfyU0oF/zYggQEDJmCgiTPisMWYZBRKRphI7OgiCgCY2LHMhX5QwkIsVOCww7eCoGuF5YIIAqGwCFBRJy/imw6AAyAioYwZyyjDiwnYDMn/zLGCDNIEDhU6kr76nFCKtAaImwAiFXl4YIEQ7MAkVEz+oCNHRU/F4gzf4kirzeJICOI4AOakMwgjwLoDARVl5LWMtRogAILjyrDRiyxUyIAENko69SNGgyxOpyOl3cknoJKibgUSNEBgrxSxQ4CACczKoyzFmlU0R3MtcLU4FYioSE46S6CTiCUGkSgIByYYg1devVCBAAMWKNILg/c7lIQ3FEHXI/VsYM+EHDqkdqeKeQrNiQkmgHKDBnRFcYIhVmAggAnAGISksgI5pOEyzS2rCAc0cKuvta6Tt9ZahyhiDoY4wHMFXiVaYAECklVhivqQIMEDAMDAw+WG1Djj/zwo3nJTvkgzy2CCmidAYIGQVfBCkJIJAOMQlABgWOodYS6LhXbZui6IWemdt1Ye2liIAwMQoELGoYIYQyFfwxUWACd2UmGCDDIAY5JHWnabrDzoAKNIN9fSOtKNFXprgRY3sAC8MTgpIwCThVAiVQDwrdwjmQZRuyGSbi9i8w05tFvnWktgwIQnAHgjh79jTMMLCxAYYtAVDBhYA1k/cxyARlBChG2pVw6EhY51JyFSADzwGnRuAWBgQwCoGAMUQQgAAIIidIvdIxdacMEGIZjo4koyeLiD2lCiiEYYIQO624Dd8Oa7IBCBB4kAGPSQ54WSkaBfsyqauGTlAQ2Qj/8HiNBDIHTktj+Q5A0KmZubBKIZAJRvISxaAMcA0Dw5RKIUC+DOCFJQP4mIAAQjAKJXWvBASURCEomQRB/uYAk3bMFRm0uO3WaVtyykgQ8ZSYSUEEACGZUBCRZYgaDKEIQGNCAAEJCeBzg4AQ6oLHYkOcQhbLIQBK7lODxpoUQaoBCvHccLNAJF6gCQgRPQj4cKedYHfHiCPSBREo98pBHNAAYNpdACx5HiFMtAGCwmgg8NmI6gAEAjMboFei3MAAfJtwIw6MFcbmvE9RpxBylUBHR13BBOPJAidi2EBAhoEc0UQgUqcAEAgjBAABBQhBbY4JALSaQiS+AFAEiimpD/xGYkCqWCml0HOxeYIhEKJ4hOEoYPaegWEtKgEH8BAHoGGFAqJwABHsThN8GpXP/+YAl4yYqOdYQV4SbggOpY55cLSN9bwucFoFCBBAZo4Q+eiUhG+RCIOciCFAQlBz5YE5sflUNchkNQFSxHDgAopznlUIYMhIuaC1nnCpQ5sI1BYAEJSAITrBCTyrUgBkKoAhgA4M+GbI4EGxCajJQ3nOGE7QAJBR2yJrCTkmWgCWGYqAgUCcQRtEAGQxDjOu1gLD7s4ZHX/OgepHSAgTJgCFg0Jx/kMCgpEAABbikcjVaAgHc2AAIGIEAFRoAC/AHAmW5zwQ+qcAYWiKVDRmme/78oyNS76gprpLMOAGqYKflh9Zn3a08MfvAEMHAmC1nwQr/kIIcxZGEMXuCDQiDJCUnQtgwc+tsCxhDXuQpqDFLIwV/5iicqEUBgwTKuBCQAAhBUtHIxWEIX4PAGbjrWQ1KgAgD8lYYNUMcBd20RivKYg8AtohS3JUEThDDRKDBBCVUIAxwOUQSgTCEL+8HuGMQoKDuM4aS1xSYnclDGv+1BrjNKw2szqoISKGRgfP2bwBAQgOUy91n1Y4IY/qAIHjANMWyZGAmyyyspEJQB3TIuABYQNgAggX1l4MQiqMCDJcTgmX9ImRvEIIYzqKEInLEvfpGCXdemYbWFGkMiaP/LiUh4MgcMWEAAPLDSGRkrC074DhHesAKjuROiN5VANINUPyy4QYA3ISpY1jIEEqgujP86askCEMMMQIAMZLgDAIrgBTlwohSgIMMNWgAAINZvEGd4ghBs4IIYxKAE9VUKUkQzZCdQ4Y8r/eMRm0wYDRiNAISyshSCgoTGAeARYFgBByBwARZ0oAU/BCIIRKBVHoIhAjw4BA+GExYPIbUMKlAdCajJKwb8lQAL6GAG7hDLtuWgDIIoBQAW8aNC16/GLeDqYIlgWiEPecg9cQJ2NSujjMi1cGAzmeKuXJ8cfAYCCnlEvBUxBzV8IdE+YA8PBxE1HTiJACZgqjA9Ykf/JOQkDbHSQODY6U6+otIDFFgCfBdChhn5mRNk8AqE6oeCETBXq0EiQbjv621vYzkHSBiyfssgB/G8tHGAPc7SqNcADrTsdoFASSMeAYCo8VARcPhCv8uIQ3ax6zofgRIAYqTdMhBBcIJaAYFNk8pCGhIMVBCEnwFAhh/cr9puk3Ui4SPybpNc1OGWtH7JNgQpuJZpZpxqwTUwgQFNoMEKOVeifH7oKhSBBAsApQq2ZXRvSoQtQmPndgFAhAmsmAB17wDHDamT1YKiFJHAgxvCUIXYfVzs4Gl72c1O8ikQKgdTeO0UqED3KRXJAw2I4cbYkIeJSuQReAjDEoqQgRUz/0AFpBO4N6/TFrYwgABL95eg0qCCCItrAhfg6qAZQgZCWZ4Thch526Q2azEbJfSjJ/mkYTQGtnuBClMYAtiO3TU6O44BYKB97RdyCDdUQQhFoDuLvXZ0hgjfjiuoDr6ike0iguD6mMebgA6ANY9ABCnIuj8zg5sDgOxxm1njviDpgM3oDPADv9dCOSQYAmQBAIExjQkgn43hgfiTv9cRAyXwAR5oPAZAEQdYiEfpP29CKimQEugRlxwQHC4zANMwLggQrK+TCCKQA0GwvEWAG71rmAfxuMFqARMIuZtIErTjwCEzlvBhHADgK6/ZmI1pAHBaQYU4hDOoAh8wAeiZAP+a2QCCosHMagiawQ4L+Ji7YjgCUKYAEBjHCwADOAHQaqaPoL4ysL5CmAO4cZsl+IFFa4/EAgMviATU8QDvQLksRIrTCp8iIQH1g4CumacFMAE4KEORyIRBcAMeiLIGODknOA7e24sa7KbrYIAWQYAI2Kvc+ptuWQDAQoC9aYknSAIAGB6J0IM8QAIl/DMvUES3OQQ4OIMtqIIvUIOnkcQYo4I3KIKTEzWiILlRa7sc2Jam+asp2RijkYBSfJ1JYMdcIYAcsINEMCJskqtjIYHhoBtuWbEFKII/KII9+kPjMi6IQoizwCexIIMkLIVSWAQ2cKVXchmTUIRDwIMeUwj/PoCxSBAELtiCQdjG+lCcb2y3cGyaVGq4eTKAdFRHRXiERhiJEjCALGgkR/qobEqEMaCCidmAFTuABujHsmCDEuAyBCiBIkAI7qGcsPCxMVgE6wOEcoFIdKGDlcACJbABH5Ao7eqzSJADLgCDRkCEIkgScCO5grOvkqQ7hYAACCCAB1BHAJAcRSAJNliAIWA5PpjHmtTLSEoEQhkCMujIsjgLuEFK3hiCBwQFObins1DBZrGCH2gBjgsSCPEvJpshPFAEdiSDJLlEs1OKEvwrFevFtgSADyhFl1wZDvAOJ8go1EoDO8BLtNrLjzIirsQRwlyZpEQMHlithYwEMLiC/y9YFb5Bl8gcgQszgjGYRE6gAiLwASXoHzwgArYTv/BbS77CIYX4N+YqQ7k0l0AIAoMhFEJBsEIRzyuSrdmMpBwYA9wsoQk5AS8wr1K4uBfAnxtIE3SRzAsDABjwAk5gMi4oARHwKR8AqunEQqS4j8brFjxUsT9srjJEBLghgyBALYPB0PEkFBt5rT8qAzsQhJrcNLAqA0BYDBFSDN3kjRwQhPlchVnrqvxBFzFTCCOgAgBdhCEwAUYZAejagum0j87QmBIwgQ7oAD9ZiAcYAAEoRbihr9M6OyHNRPEkTzFiqCyQg0aSA0oxMDnwAjJYiJ1TFBOYq1LIhVwggw8AAf/8EQIsaBYaBQAbBdBIQIITUNMWeM4zGIRJAIAO8wmfKAI3sIInyMqGGACwkAAKqJx7Co4/UIFwE9LO+I6f2MC2MxgFmwKt5APYEoRzkgIikBoqaMozJYPIbIEbeAIxiANFETPTBAAzgDFOkIMhOIFBDFORGAQ20MY3EFOxEIEIKY8RmhAhiAJqjIPSagghZTNKVZxIHbUlSQMD469CCQqpCQJBEIQzlQXCioEk+IJ7MpNWVQgz2Mo0GIIeWK+PuJ2weEaJMJC34Y3BSgGf+oESyBigkAiQdNbOAMGfyFT9coJiCYoTwI1mAQETSB5ZINUWEIIuaAPgaEwJ6bhoUgj/bGUyLwBVRaGEhnADnkOXRhALRvkhFLDXZsVXjxBSkw0Kn0C5KUgt1HqtoOCBgkUXKViEVDjTSPgBK1CDOGhUYZWQFMi4EaC1OO0zJhsCIuDTxDgXhTgJ7QOAaPQsdDkDvJCIaBIB71DZj9jX+2BZ1jyY1PICKUACHpCaImhRbdUBVZ0DqATa8rACjmgBoeU4EJCBNAAFJkOCjA2LqGyIEjhSRRUCRrMxdOmCdL3aaCpZoRCLlOXXP2VNpXstG8mCsn2OhuEBSVTYXCgEe/rZpuWNqaS3L+iRG3ABa5zTIXgDJ2QIv5UIDjBUdKG/NDxdj8BaE0iS8GnczlBZyLWv/9TSqNZyAr5tGCcY1Vw4hUcYoJEA3d0gl1KZgzkgRQAoBCrI20gYgo78iOb9iAion8J1lmhigZPDid3FVyHtV0qB2eBdN7chg7TNBVkgAzX4g0NgR+WdyLft2+9EBJAdV7zlyiGAP4/gXrB4AAVYCCZtFhvYobAQs5PbDcf12iSx1DEI2JhFAjaQmquLBJxF0xvwgYgLAzcYhEdYWqatX5Y8YRswAyXUJhW4Ao8oFwCgAEUdiwJgiENVlCZagkWJJolhXPON1H5FuSyoESkoFrIlg411mSFYBE440xf9gBiNgRDmPOfFuUaYhDNcCBRYhKyLBCrIpIX4DRpWVP39CP+3BAAFUAAF3pFQ0IReBYtW/QAVCI2x6Nr6sBaXtWCxFTUy8F/MTUKFlQWzfRYRIKzaHQsC2mI3qLGFMAI5uN4hGNCFSAH9AQC3jN6w0DiFUAA1VoACcOMyCWQHPuQR6IAk+YiCY9w83uPUcoI/aq0caAIA+AKpGQIbOoVImFlxRQzJqT/2oB8YOFrsbaytgpABONSOkBAJgF0JaONmgV2xuJ+6lUIg9gg2A4/76Nc/nVRKeVnUywI2C0S34QDTCoLQoGNXBYtHqD8biMwxq1EvuF4usFN2Vggj5A0FcOYKeABRPpUaHgv7g5hGa51tpNQladZ7BcEcKAEyMEoiIIL/+GgxSH1UpqnVyumA6ZCeCzjSdQ6LLfCByPw4hjACeo4xWnWbCHjmNh7lCRHosTgEPwiDMBADNyihIuAm/FBZdrtNt/0DMGCDieYMUqvE0/1VqTnYA9iL4agIkAaLyGwu/nxVeubKnHAbBagADqiACABoRbHhsZgcPPCDEmbHoe4Jzlyav6QDssA7c8kDnPOARUjCvJUDI0gkqbErgsKOHYVqj5hqqn7VrSwDp6mcB+gADoDmJUUXNG6ILrBKETazSbiDOwBVn+ABMriVhoCZQDgJcYoEUBBtQUgAhqBYRTk2FWGqMPPl8BVszQLjIRA4tzHSri4AHX4mJrABr5hX/5/anxHeU4ZQ0bf27MwkAykIbdFeBDK03dPeDRMIgKdiKgcwgHXGZ0vmOM9jiBPIgdDG3r/QaBZotX/G4YniuOOcTMLyKWIcixI6CXYsAiqYxD+LhOry4deWiDaAAT4UmxNREQVc505WCKtsj7pl5xNgAPBAAgg4ANx2Gx7ggcbigAgIax5ycHkuj5yjhEnAAx3ggiemb/sujyHxCrBoAtWRQf+2AAYY2sDG8IWYBFQMAxcs8CQVm+Jq8PphAbON8Akvw5cuD00ghVAYhDBQACf2s7wlirAQgCb/CBdQgluWCBPQwxRnKgsoAvWg21hL6oXo30nQBE04hD7YPIZIEf8UQUcQeI4HSFSp4QEzUAjyfssJsYQhH4QDJgFBCG36JO3daHIgV4NSaUwqxxMHICh83AI8aIMviFvT9Qg4em9NCAVF8AOF2GhDr0UKK1QAgErMbaxMvu05ZwggXwgZjYASEO8OqACySW73YW7eUObyhligJvQzx8f3C45S2d8SYhm14dNQ8EKQWTHVEYP4c91TKYEGg2YnF/WGYNLJ/FvANdIVQG7RFm1bKpNEPWO4UZ2/scVkGmCxwE04Uog3CJkW0cMAaKV1dZsH4ABV/2dmb/axSGwOsPcLsFlrBwUpiAAEDugaNhfoVh0+NK4LUBfHJgv3PBcOoJITaQDACgD/s92NmC4PZwaAZSd1hVDmWG92e6+AGo4AJP+zUlDoZqnhk1dUgR/4BMBNAlZ4HWGDfTn0WjSuA5hm22EIlFcIihcLBfD4eM94hcDhjRf1jz95Fk3yUjgpdEF5lE+AP3GAA3hIwpSIl6e9Kmh4/z4AgVxj70UMlK+ArR4Ld1dsl/YIHC4AfwcAolfHpveArLO8P6sAkw/rpqcAbacA96x63GRMAJABUDqRFUumFDOTdy8BDnBLB1+IAvB4r/5zABAAHVb7HC7vUmx6FbhRyzsFUMB2CbH3j7B7nW9vuGFMOhADhVCdsIEw1VGIoOeN21ZmICd7aEaBFxd6AKh8T1Zj/8s/+RUYAgA9hc0f4/IA3LCgAA5oet6AGcZUg8dUCAkISIGM7tZ3mT+3/ibnAChQAsgs8bBgYwmIgDbn/Rq+ACSYxOAvBSqYewn5ZItnwJsjiYQv4NYllzyIgy9QAhfQuA9QHT0ECAIBAhwQAODgQYMIFzJs6FAAxIgPmDBR0gIFQowtWjBUIIFDBwoUHJIsaZKkSJEPhiwCVepUKSonZx78WOLgJEWIdgIIFAjAn6BCTebJQ0fMExsjQCCEaGBgAAMRIy78QPPkVAEFYiiBcmMjABQYw25s4WKhokYVRl5tOzOlyByCOL08JUiC25MPKHC4CYCSosAA9Aj9E+iQSf81Vn6gWCriA+SDAyZPbpoVAOTMeSUPmIrChZAfHMOiiEy2xY2DcxClDTR0M2yEcFV4oQsTVGy9ESr0PUgJ0aFDPg+X7KLEBQgQIh5ntkr5+UKqByGDGIHCRtsCzwcc/Az2IuYPIg62+GEFQJ6DjRq5/pM7N9wVQ2yfArUC7/uFBQocVKDgQQR4WKJJKAA8gggAipCUlGPMNfeBWBFGyB1DEC2EwhJtcRDBAwrstxBYpHXHVAo/YHGQYK2559CK+ZUUXw6cgHIKTEG4qN9+OfqngBBVhAEAYqSYpJyDVl0ooYQ3HgRSCU1ywNBZDXGUAgpCfBHHTo2gCBRNLSp5UEr/EQwRCSc0luJFBV/q6GEB/lmHQgxLbOEGAKSoYlJzDCEZIQiluVgBoIB2wBCdT/gAgFkuKDqaGAAgyJBreXmZH1w5tPRSTFdFZJWRDQ3Q5o47UmddCzZsYdJyD3a6p4TNicBUXmwdlCZDqGhiCR5udMFEDIoCwAQAdCCoIEKITNqWYS5GIIFIKsxVlxy0YjVdSZ+CGqoAmY1gnRAIkTJJQ0SmqlmEZV0UYWYibCtEGIO8CJdIJiFCiSYAvHKnlmJAcaKj6zF0yLFXDefifw/QRh8oESi5X6gKAAARZOqOZVISN7iwHMameVcuCi3ACgAILTDhRiajTOLTsfDGS1Ja/41QMsoosXirSb0OURJUbD5pmd9kBVwwX12gqIBfSQqZxHDDm35Q3VVfRKHEVxiPd9ALVbuwkVgNGRIKKey195rKJ+2kyMu+0UvJJJkgNAoALredR8Az6VxgfgJMZsF8M9ZnI9ENGV3StQ4ntOnUXf4RxxlfQCHEDSkU/lnVL7iQNUlfFyZbSjTprMkojcwBwK6gn4HQKwj9dFDclQfSSCihuPtwbhHlEIlLMGVRcGwFAOjfCzYooHSnhguFOBZPdJuRCy+URflJOOeWFiWUAIDFD0kkQV63brhLCvew+aQI14P8WDdEJDhSe0xa+efpQYUzpPtuFYT2O8TBX1WYUP95tNHohZFf/eVJApGWObQBAD8QwvUQdRaufOFU3hNg+MZHPgGQ4FkwEYT6ltW3k7RpWRUoARaEoLTY4O9yDPmB5Ng1CHAB0CGHiIMYxPC0hQjBLC2IwQ9S8DG3fI9rh5CgiyCygdoELQH/YdbKFAaABDJkAEfsy66mYj9JldB5CMECFs6Ah0ygIkEtdAgWgAUAJZDxIKI5yA1Q4D4ego8UhzhDApQUkQvEKGgOiEAE4MXB//CmL1/4wFRcVEUrJkgT3COFJvTwRYf44AUIuYEQlPCDq7VAclMUWBt/CLsgQqQADpid3uyTJj2aZFkc4E0JvuCCQCqpirUKxSHmIIb/0S1STzd4wS0R4sj/XZImpAgFzCxxByV8qZMFEIAKaFeKUkQiCIMCAAcyV5IOsKCa1eQB/aRzo0EuxA9wCOMPiFnLhuCynLfsnSPfg4pYqMISQIzdw+zWpgJAYAxyWEQakJCBhURzZQ3hwDV5wIMilKBDHurM3/JTwkcshAlCgAITfmCD0YwzLAAwpzm/FAtSyIp8AHCYhwzQgA2ogAQaYIBfwORPfpaABQItghlYkLkHGBSAQjmEJro4TI48FKJnHCdkolTOhThyYnlRghssoQpUjAIVBZJWbP62HwIYgAEHmcABInCTDpRgLSuFZktfGlO4AEAkEohAF74UlEdw/w8xC/kBFCB6A+wA9QOpceRQdRkbpFrCVor4AyImQbfY5ShHAiAAARjggMUy4AIHKUEHOtBPWfWFBQAY6GW9irmO3igQk0DFJ/rAhIshxAYPjagNjApAyHwmNVTL5UGidNSkjiIUf5WjQSZjEAEYALGLdQAALJAAyB4kspMdCTUFCgAzlNWf0mzhKNwphBGYJiynDQ1FVwuh1v7AtQA4iwt6BZsz9FUTf00dQ5RIEgsdcyoDOQAAHGAB+aKUqx3YCSImixAeHISgHX1uCw3BqzwhpKcRjcEiIVNJANygwT9YSPJy41dCmqSlN8HP7yyjnakIBAAGiK8DFLuA4d4Ev/87edJB+AvTkCwEwF8szYNK2xXUqtZFrE0edlJzgwcn71zvofBJmHSQTPghAuszWmERC98DMKABCFiAAS7QJASZGBGNoBlCLLtZzn5RVZ1qwWm7m92ryNYhN0bnI78yuY5tMy9PCkUXEfKAgxRWAFE5gAWC64AJMKCqTfKioxDB0IM0VRM4c3FFvVzguB7YLQoWQhb5VxWMoHmXNigqCMJbUZo8Apgs2CoFaOowA1TVAnkGwAIOgAAENKmlXiTWQhS56ZIo+iA2YPRc2xJUJVwpKAQs7WjQec6LpqZjMYhBjQW5mRI0VRWf5sCTomLVU8d31Vp1tZbotTb0zBpPqjr/SAyu+xWaLC0GTFDDIIJjQsU9obuXPqcjL62oGKR2nOhlSGQfywJUsACxCACuqQ/igFRfWz1a4hzMEJSebpOk1gAw8CRPwtpbJ9UTntAJfgGWnjiowThUe/dFL2qDNM763iB5ZorjS5AJ5LnlqEaAVlmws7a9rHONuHe3vw1uXNO14R9IwQ1OZHFWqK3KwAkOIugAw4cz+K449m63gQyAyA7KpdVcSGIdsAFTOwABB2ipy2gWPU1QYj2PYjitdR5un5LczB8AcxcGYXFPBPoQGbf70YETiPQoLgpizivaUeclqneAByZ4Nq0CcBBS9zYAK+DBKMiO5cg3YienC7zP/wn8cIhKcszT+YALlCCGQ8y9ygcRjmHsHpyeHEIRgficDH/Q3TJjXjaRbdLhS8ABCTwAvgwRiAH8UrouwqzywKl92mPMYEb/AMEM+cAIzE3euWMc73ovDN4ddZhGYHwOahBDWpHfkNZDtpq7J7nvAUAAABAEAAr7EZxjEYtRlN2t4nc7gddO40lT3BKl34n1GQv+HEZgWMIhWELL6IQAfc79MUTlzQEMPY0jgYBuIYAEFITdFBWCtQEldE8DJl+eoIASUATjUNTPBR0cZMLc1V2VoV5hBAJrGKAlWAIAZMKBWNkfQKAY8Mv9IUIe6EsUMEES2MDHFBZ/IEpYRMYNPP/BFvSB/Q3WB9YaxDnf2wlBF8zB3NHd6Rmd9gkFAQoGDTKEAPpaATWgGvjdC5BROpUERkzOqtDeB1bFt3GFXGHH2/EaHmRhihyEiQUaIrjGF3KfSWTCILjGlXXRINAS5tVQeJERrFDOxFAajMXhTCgaaEBUCboAE4jBH8yd2ohhglCZiX1PyzRCGJ5EKKjCJ4TB8Yhfx6BGlNRYG16Un1CixH2bEFCEEgiBEESBGvyBCnpC0a2HYASaH7IGxpViIwyaSdxJK9yBEKTAB4qFoiRJd3RMlLihLd5ijJkbFFiBFahBGwSC/1mcH/LhQrDG2ARGYKyHO8IaScxCLMyCIbz/gQ9Ulyt2zGfEFkcoj1lQzQvU4jaSBIw1R7hhgRrMgesdAiuEAit4gtHhV4LoBEUqiDJyHzw2xCwcxCnWwA41YIhQDaJklzYOJEn4ALLlyRO0AdlIz0E8QhiKYpWx49h4kTtyXyN8okO0AgCoQicsRA+oURxaBUU5EkeEZPLgo0kuBCtO1LbEwBfMSyPYnxhGJDLqRILcJE665EncAVB6ZC8xHGsdpaJoWkh2R1gOJGiJ1qGEH1WqR/T4i9EVY1beJPQwo0mAQRMsRA1onlu4kqNFBlhEToOVhS69QFraIlvdSyjQINk9wswJkMtED2Ua3zoSC0W+42SehBY6RAro/9xMPMEXAEAc0EEJ6RqEbMRZVM3I3ZJhcsRZJGYctt4jgAspdNH80Z/BUSZvRg9WTiRCtONWcmVDxIIuqE0VlEQPUEmRpOUIIAQUfEEbzAHc5E8lKtjVJI8j3dVIfkdSymYD/kEezMEZQIESnAEplM5C9CZ7AsawEAv3IeNm7mQsvIIn3IFe7qVJLKeX2U9kEKUNKAEWiEEcUOfhSFrm4VLzHZuOdddXmAtGiAV4il8exAEWNM5nCAEe0I3MIER7UmbbhCgxZonbMIQncE0s/MInvAEb+EATvOiLngR/6lx/fsaDHQQdAEAUOB/+ocCO6SIZyZ6QPijWsJlALiUUpP8kZEhjcp4iAHQR2bHnX1hZ24yolaFNFlpcKLSCca4oG6wBG7BBfsLoXuqnQ8xofzZHudCe530e6EFSXGGBVwjpkPojNXbHUiKEC1BXuuwYADyBFQyCkKwN/UmpVm6lQ2bpJ5BCin4CIwDAGyzEl45pjMroZ6ZpQUJIQ9yoHEIGDjHBvsipjzYYqZKqx4BenjbEg/TAEgjpr1gBnRyE/AFA5P1FZVZpfLJOK+xqK3yCJ3wCl/4CTyIEIQBAmLLBQUxqExwBjMoommZGpr5drH1OCHWqj/4AqGKREGCEjlVNg13UUV5IqroKi+6YkCKQaDJUh75CrcblergnInwCAPD/6kL4gi/oAgAQQqTmq7Eea5gm6xqQaaU2BIwupxptF5JAneUpnRgwwVegAAi83QHFKRT8I2x9F48qT6qqqoIRAiGYK53eaKCmp6wCgNhNpk7QHa/uqiswhL5GarH2q7/O7JcKrJkCgM02QQ+QRrIdo+WRJxYowUT9KMV2yi0JFYM5RECOK2Q0ASYwwhuELJ0u0RO4gSbcCaGJXSg0gsqubMsexEZCLcwiBM2WbZhSapnmbBOolvPJWsaNDSLogQ5iQRcAqhVoa1icRS7hVdJ+l99WTc9SImTUgCmYAiawwY1K7Y4lgWgqQsz4QiygQpytLMsiBL6K7UHErMya7bEC/yza2qxhIsT1MODbwi1wiCcMFgUMdcFZjMUtwdvIAV7ktKktQkYPYELhEsISfKsZOajsJQETVEEe3CZD7KpGAoBXvsG+euzmcu7MAqza7ix5TEwcKJKJ4R07KsIjWJzbkF0jyNo+vhtGndNZ9OOxbSxmgEAKvIEpLIEPNFiv7JgkhewIMoFX4utB6ALWLoQlMIK+QqrHxqzzDvCxBmzBlhkclm72cp/FRQ/MwAwl7GASMA4uDZu34lKZ3YA4bWxmxMD77tgNxEBGSRIvStISFCsjdCZDXK7yQmq+Mi8Bx/Cx6iWPLoQY5MGjACB+LTDXPgK9PPAo+KDS7U8Qelewuf/maPxAcnKwgpGqARkQCt3SpbWmDbBBpO4rQvwCMSwE5i6v5sowAStvE5TZC1iJsDiKz/LwMoYdEB+ga+Bwhf5K81FSG1JSgPYBFA5kZqAG7/ZuFAOA+KJAE1yx8mLxLxzEFhMrFgswGBPwGlxElKAGaT4KsezwRJYiZCIczGgCIszgDE7l3u2PFUBNr1yExi6hTi4laznxCcmeC+TSwx6Bvr5sCyNEIv/CLHRCJxQr87ZwIw9wDGCNQyBIfPahcLrjDz8wJXiyOWrfcEQg1OySC/iAGwyqKkPIyJmE7FXwDYTMGwQwADtEhwIAvnbCo9Iyi/6y2foAlWzEC1xPjkr/pIKo47DgKmQmM8xkIQA0cw3+oU/kwfcFLYMtQSqbZFClBqc6hOwd21n8ACP4Lzj/JAD4AgC0rCvMgi5QdDDgcieYgv8WcjrHcPMeKyWZhYl8jukFBnDIpzs+gg8DcSjMna+uYDoihB5UaOLUyUbl6UFDMdS91Y26wAEtQQ+wwUM/ajAEAwBs5MrOglMHAzEQw0YDACYAwEcrrzr7q7nEABSMo0SisXoc3026ND7X1kU79Sy4givIq4kixmFYWSOggiq40bgKNZ224luhkezZwBtgwou+QSdAtVJXtFp/rVPrQkYTgzIkNSsAwC57LFarcw+Elw+Yx0R+tTFqSevZ/yUbP7Baz90MekIrrPVCmCMByiop9AEUdAGC1i5qnKtC3+iOESEIEELhdsIs+IJSo3Vag+1ZI7YuHLIySLUusMLT5mshg/EavPKOdTVC+IsYagmJEuNLP3AreMJPGMZwkCMrsPU+ewLSgQ8AqOgSXM0NMNE2XqvsPRxePzEgH9DEEAIrBIMzBIMmPEIr8LZTLzVae4ImNMInzEIwDPdUW/VVh7TzfvAS+YaHzlxVJmBn57NP9MR2D8cn0p0nWIJkYq0hAMARSAzt3p9dwTYvPljIgvBC+AArKPYvtLivnvVGuoIuzAIrIMKuIvYsTIK8KjZxZy5yR3bZrkEfN0RcZv+kOqZFO+JzKJzdQgzMIagNhjuK9saCL6zoErxoDTzGUpYHFB+Pq8rejm2rC110i+OyxbUsRuuCJ/wCYufvjLdCKAg4gR+yVb8wkPvrEQw5kZddOu4wRv4FEH/CH8oLYqxgWnTRRrIBs+JsE9QAZpgkdrhq7z5cdwkBHL4CrHnCLJS5LswgHch4cJc5OQO3LnzCI3yCLyh2Uh/EcdOyv7rvEqlBScRlsZhYkmvyKGC3SQTHAc7dkk8ClbPCqehnwU5o4IWG1B4Q1ETcTMjdppc5m0O7tI/6LFDpJ+gCjweDLnT0OYM0G2TIQchaQzCUb/IhF+KzJkBkSfB6cJijKzQSgir4gk8q+kHk5xH0QIjnRUAAACH5BAUGAAAALFUAGwC2ANUAAAj/AAEIHEiwoMGDCBMqXAjACgAZVRhKnEixosWLGDNqlGglgYONIEOKHEmyJMGOFqKYXMmypUuQVkqwUPmyps2bNWN2wIKzp8+fGa2w2Am0qNGjJzuYeIK0qdObQok+nUqVZFSeVbNqvRhz6davYBVa6SA1rFmzV8+qBduV6dq3VceWhUsXadq6eI22zcv3p1ysfQPXxMLCBBTBiF1iKTE3sWORXVjMBAv4sU8sixNYbuowK0/Nm6kycUo4wRW+Dq2oxlKkSI4hUqh4MUM7SJHQDD9HLFpZI2YrhTiBEi6QE6dIOQIsIEMTN0IsCQj0hUIdDCgApbBjP1XqFAQIQ4g4/1fIk8AXvmK6dJGkPXt37tmpUCHhdrxB6NLzPrGCBYz79gCcwh0A8g1x2llqqCHGLcMMYwsmqWBiSimYfNEFFlAwkYQSABxWEBNCRHdCZ3BhYQUUwHF3ihxeeJFGISoiIR8VB4LFxC3PrJNOPPLIM4+PP87zozzxxJOOOeAkycx5A1kYAAFG4KVeF4V0V0okBFJhnYCllDFjlJQ9Y8+YY7oDQD1kpumOPOwMhI5Aw+wGgBhiPFlCXU9AgZmVpXhBBRdEKAFjdzzMyENYSozTTo+MNhqkkPOgg8455pQTjjS8FGOGETp0aoQBC7AAgBBwqWaFJCrKMeMRYYCionjyFf8RxldQcAhAPO3gqmuuvN4aaTW80OJBBh5MMIEHyE4AQQOgNnCBDm9dCEUTVl5XRhplYDZoKWTI5gUZlN3SzkQ8xsNLAwA0oK5ADSyAbroNfIcAC0zUR9kXYpyBKncuYgsGFme4Wgq3AMghRxBfiYEFMxLFc2s782BjkLzvDgSBASbgcdATRqABhMdiNKWEEkwcAcrJkqSRhhxl3GDDDdudQga2aQTR3E9KCPEDGYBIAggmgBjRRKfgsMNOkbkijWs7TDcdqSjpfvddAwhIra66BmzyzDC3dC2QD0JwIBAOOHTR1BNMMGGGIGzzwHIZYKhxhhhmLBJJJGDQjLBPccz/cYstkfCyyyVooIGDQAQkjgEA6zSeNKTppCMPPZRT7k46wBhgAAGba55uAE8mTgDo5pxzDgBvSnqOMGPj8I1A1jDzzDPM3LLKLancEsMPHWIkhoVYYDIQJn4AAAccaoAhB9tmpAFAGmZcgRkWa7MtAwDX7v3SD0IogaM10uwCCwCwYIABAgagvzkBuzTNY5CNygOAo5Gew0slaMQbb7PrxrsAASsAwsekwIVKwKIWtSBACBaAhmpYgxwAMEfpJKYNbXiDG6hLyDQMcosqTGkY1vAR5QDgjnrUYx7pOIc3NuEIthVBDtgqAwC8MAYask0QziuDDlmSoZHdghnWUEc8/5ZhwEtAohabyEHFFsDEY4xJImmyxz2kmKZ60ENI3xBHFr1xjGUcQxiiCKMoIIEGEgBBBQIEAgBCwEYPrOCNBTGWsTwwkDFCDQDFOEYxBuKNPpqDHOaIxzzo8UQA3OOQ9nAHOrxxQ0m4DXstKkMkbziEGe5wJHPIZC+cMQ11qEMg9pCHMGohijrgwgtDYEAGHDABBjDAXeBIiD0AMMtaHvIe+chlLvHBS17mg5cA0Ecw9SFMfAwEH1MsEz3EwUxmHqMZxSiGGCFRB2IhCyHIyiYA5AgBXphjHfEwk5kGMqZb2sMcx+AD28hwSfl4QZJpoGQk09CGkDDBChv0Rz8I8v+Oe4gDF8PgAhcWIMcNkOACG9CABRzwjXcAoJcQjSgw8aFLALTDHfSQ363eNw93RFGXIAUpMYn5y3wU8x79TGYJ6ZEkLWrjGHqcprEg4IE6HMNH9VBIL/dRjU0sAgCCOIgcCnZDQQzhnWUwQ0i6MAx18OOp+3iHVN+BzGNsYgGudAADLMBVB7BSc8eQqkQj+lCIzlKjJxyXQdrEVgC0qSAOA5I7PDqmklY0HwAAaV51aUyBzLVyZpolLQkSRROaMB7odIRAggrUgTC2qEYdgsG4cAJSBQUT6IicOiKXDnRI8By7qAUXDAAA0QXAAAw4wAIQEAA0zIOE9oDUIAdJD7r/CtYdKBTIa4Wk1reOpEgO4xGQapsmZNKykAO5x0GUy9wxXXEeiKXGJoa62Opat6g58AAJPKACPhiBDJiwwhksEgNbyAOj6sAoPeoRjWgEgQplEIQXssCAzT0JAAfQXACAQRHDjimn8wMAbwuiVpYUuGntWEc5EilFgRxyIoi0RzyogQYZOu+6BbmhHDxAAIIygATRaAc72pEkr01kGGdabzSegQskrGBliQAAe7BEhQ0g4AANYIADELCAb8xVIiY87mtvZVF5FNiiFkUwkpm25BEn2bcCgbJAEDwuEbOjUh5VrkLwWpB78PIe7ggHEBoQAAAswAB0pKMKcpADAHBB/yDyMdgQCMAALnigGE4eiJBqO45p3IIVd0DIMOZRD3BEA4YrU9keZCzjSEhCEOxZgQVaSQI0JLK/dH1tcB/2Vnasg62gNpqoCyJlt1Z5yUlGsqjXEQ5s0EPLFgGpPGCBrjIzy2JMjFq7AACBM4/OAVwoxqIgRbmcBtYe+uBHP7axjV4MYiAxGIY8wCEFlcHQDgV73t0AEIlEJIIPicgOsVZQi0QaliE5HZPDVM20Nq2DcQJpnLz3LBDJ7QjBozbIqQeyanKQIxvysIdducwQkJoDCMtSDrOYyIDvsGvX7mqA6I6h5TIx2KP1+LEU87EPfuxjHLdgkrRxga0aRnKoQ//1trf5wHIzcIIKFhgCOCq3XsPa3OZnwriqRZ3geMMbHetARzbEGEaYHkOLWtyzFQU8j3GJ+ulG+/Q6zMGNbpSD0OfGbTo6SlwvUxSvILXHNRDAYwIggAET8KpXJ2ABhG4gAxNgIrMC8DpD2h2UhRynCWfZXGbUyhbHSEMNs0D4KUwBewWbAstZvgeWSSISrASSbIUEAHpUnubGjq2V3e3WoLtJUpOqg8OlBgEAkHYBU2tAJSoRxnDI490HkbfQs9GNdlg+yAjB+SznoY6OYi5xBvgIV9u+geJvAAAWKP6k406AStijr8yd4iE7zg/lPlejhLbHOADgAjLUokVZQIL/FMJfySxcqwxOMJjBVAYAPgyBjkQSrqMkT/nLy+/djTtd4wBwuoGYjhr6czXrkj4DsQAAQHbqAgHHAHvwxjhAF3TmQA3YQA6DhHsVMVdzhQFPsjkHYAHrkzgHwADIt1BftTnfIEy79GWHpGzwAA/6xA9GZmrmwA7zEEtCcD2ElwUqgAQA4AQqcHhZ8DxO8DwXVgZjwDJoQGXukysbBVzzw1tB9yamcw5B13+lQynnkD/vsi7pwkQGSBAIAC8L8G5vIhCpozrZQA3UsA41hxEYmA5lBgEqYDAslwjzdQAgCABrxwDKQQB9RRAklQ/8AA//UIiF2A8weA6Xcg3VAAg+/9AFTTB+QegEPAgA4gcAWeAiANBmA2GEQbACHsALx4AN2oAN2PCAUNc0AlEk7EApEiRB5SAprziLwFA1Xkh6qedwVwMvDXAMZdh/U3g60AAN12B7JPRjFIGB7gAOIZADUtAiNANu3pYFCxAADHB2OxYAqidYBGFS+rAP4AgA/fCC/ZAP9pAO3QAN2HANgMAELsADTpAFUjCEUiAQhDcESGB+aXB4nShJKgABaFAHaDABoPMkBlh0wmBB4uANRtMO6MCIwgAMxVAJddAuFLl6vCAMvGAQoKI5oCId7sJEVWM1EBAOWCgQpSNB5LAMy0AO8XBzAOZX43QQGGgNuCAHfP+Ak4wHbmNABSoXhB5wMZuzAMWwdYR0dwMhTHn1dbkEZuJwDdgQDfXUAiYwfkMAGwNxjzmQic4zBgQhSUhQDH3kDd3ADdnAknqEC7UACWzpVaBjAOqyABiABpVAC7QgDWooDcVwP5VATQvULhHHEBTTRJNSOhFEKeWQDcKwDOUwOZUjELgHYACmjBj4DGVAh3uweJq5B0iwB99GBQhQLATQSuIAmRlHQqBkSLfkZbiED2+SDMmADaYAAH+gBEWQj06AlQWBBFMQhGlQj/2YBbRgihVUnNxQdWM5luHgDdAgDdJQDdkwEMfZDQBQDgDgbwMBQQJxDc6JKXzZlxHHhez/YmYNUAzVUA2viJjUAAzIcA4OM2RDVhCWV3k3Bw46JAd20HiIZgc6uXg1xAd7MAajiXYT0FEDIU6oiXEMZkXpQA7VAJvNQA0+IBBQUARD0JtDiBBZMAbO4wUCoUOSVAvUUA2MeA0maoooSpzF6Q3kQJZmaZbZUHXYCUE0ep00WqM0Gg40yp14uZf3AwmVEJfuUnp9WQnAAAvCYA6Lsm7z0yMChhBCAg4cim3YY4RVqkNpwAftB274mQYaQADFwgDxeaAzaQ9oknElFA/XYAzAYAzVgAtHMBAn0GZZMAXAmZU56CJlYH4gCpbA0Jx4iZdqqIYkSqInCgDHCQASIzEA/5AN2eBv4XCdAqGd2WmjN2qpkiqp2rmjzkkNvMALHgMESYpkE9EoN6kyIDoGqpqq99l+e7AH5xd3CyAK8wlKZ2qmuHqmJ0QOyQALtGAM1AAISzAQLZAD8XiV/GiP8piPY1AG2GaEquoFQVAHe9QM1mqtwygNgCqo23kN1LCdEhOd4XCc0xkO3RAO6BqpAKCuk2qpN+pv8Bqv8Kqj4UANsBACQMALFsSQ+YZqA8E08RANKlNyMpQFOUBDqgoAzXotryoH5qeDT0KrFgiTuWoP9NAO14A/sJAMxxAIBeEa4cebBHGPKuAE7+QFdzpDVOAAl2AMyyAQLwsAMdsMAHCt2P86qNcwEDnrrdCAsyeKDY46neearuh6EDiqqdeJrtcAC7AwZoB5NUAKNdG0r+FgZeKwsH06BkhAAkOgqlPwGqsKAPnJMkOgAqwlDjN5jCRkWMpYD/IQDrDgMbsADKZwCATxBWrQg1PgBMmKiVkwhEAYhMDZIl6QA5cAs8nAkokLAIsrswOxDDTbszp7DcP4sonLktiardQgDd5qolBpiuRadURbtOpKtEt7CcAQndxprcECC3UgkIBZeqKTA1nbrDU0Q6oqBSpwVDuEn3JQtqlEd0wnYCMUmYY1D+wADEAwl8CAC3BwEDwAG4SHp3UqBcBpp21GuF6ABJBgDMjAuIr/q7gymwzjC7PQAADN+a3qCw3N8L0HAZuwyZKQW7Oai5cl+rlBO51Vxw3YAAuoew3I2UeR6g3rKsAA4JzNsAx1kLXht6GqartjMAU0JEPXwp9ysLskEACLIhBOin0CQXPx4A1AkDi+mgIIgQI5kI9/G4+FZ71OQIlOMI8STLhf676PC7M4vLiX25zoSxDUAA3LYMMXcbmQm7mdqoaeSw2DAwvfmg3F+cTagEFVpw3d0EebkLVOQAJIsKqp+sBc3KVIwGYB4FtMljQcHCSIRQujAwSwYAcmjBAmMAR8y2ZTQAUu/MKWKH5SICMzNF85QAvFELPLcLmELL6DDLnNmbkC/0ENzUC+JQG/8Su/ywAMl3AJL1sNAGCoObuOpqioQJsN0lC7ezzBfapDNYQEEzywQ5ADKoAGBfFppGpRuoIO0qCBBHAJtfACMIMQcUAEfAwAdvrCGSoQSBDDTrCVMxR+ojDIN4zDjksQLEkQ53u+6BuzLoEM2GwMg3MJrHPAADCoBVEN1FCiV2yEpvzApWzKlpgBObCwKlO2HoAG1mkOh8l/kgJ160AOl/AkbAwGDGGhBHLHB1HMexyPLeIEGuC92Ay/zyzI5HvINHsQw+jI1+y9wlDJuyAQET0Qw3jA3SkNx2C7pczF6VxDvAuiaTAEGhDPA1EO5UAO1jkQ6UkOzf+AAQQABJcQYwxhmz0ozAnBg1JwoQZrABJQBIBgBwhUC22KDLD5zATRuDMbuQn8EtlsDMLgv7BgDAmRwDa7CavqxVibzjsU1jqUAxnQAGhAneSgo+sqqS790uVQDWhAABgABOwxESggEMOMEATtgxlAZ6OBB4Ew2HZbCJjACbhwDLgQvsz8uC87v9dK0S2RzbuABtws2QYhv8AgG7a7iVNA1rUb1gtLAhlgALCgDdJZxQKBrv4mDt0ADDYNBKJgNhRxPW2GxwaBBLpNia0EAAxQBHZ7EH9AB3rwB3AABoVQCLbAC4ltDMnA1MiguM/NpsIgDMag1dgsxBuR3VaN0Vr/jRCSDAnG2iJjkMVdK9amnAWVtLCrqgEEWQnRORDRGcVV1w32LQ3LCwSV0AIWcQb+zIl7rdu63WYqQAIC4Uq3YRB0IBDj9TUAMAIp0AIp4AAkYOAksAEqAAAaoAIq8EZrtgkgLgoIBAzWfd0AgM0YgQxWXdncrN2OzZKQsALlR0OZiN6mnAMk4AS2S0NOMAESVwnj/K0CgcmefA2lCAAecwlF4AIxcBFsIB4EIeC6XeHFRwIa4EoMoAImQNsSMQJe3gEXUODGtwEN8EZmrgJB0G1k4AIRDgAnUARkYAebUAu4gAvV/d0nrhDZfNFoAAsuLrPyywttlsJ8W+M2boSU/7jjLUICy7IAQKCtAiENkf7Ng3rRQFAHm/ACLyAQNyMRiEAEV5nHA17hAFB8KkAFIggAHW4CTc4QIPDqXg4AF17qpY7hZu7hOeBtkoAVVdDrZ9AGbRAHAJAHAPAzmBAJtkDnANDNAoHiKq7NGH0QklwHbPYau92bSCXW6CxJLTIEje7ozjwQzcC+QIzkOb0RZkMHRGDtSODeBi4QVf6JA8HhJjARMRADLtACFjAQYz4Bt27mHiCNdxAyDXEQgw0AdEAHiLDwAuHPALAJ2IZAEVnJsMBfBRHeK/AaV4mPgJvt0PrVOjRf4TcBbOwBLHAC0i6/zUDJl7AJg4AIIFEFZ/9ABmtW4O8O7xguEB2+8yRQBGog7AthIV1wKDhvfBMAAP+uSnLgbWSQBAwB8wRRBRPK3wAgAiLwAR8gAiaABJeApJKt2Rmv8RuPj8Bs6GNQj1ws8lPg4xNQB80rDXj+4stgDP7r8iPRCI1wB8d3EKZe6iuw8ypwAR7LEG3wBVBQ70VffAyQA2b+iUPgAAuQBd6W4BexywQhAg/+6icgCsLgyJLMX2w29htfzIaHsCqQAZ8tSTlIAggADFRMltSZ2fI7OJtgCSbxB5RfEMUnEPvO4aq+AmBCHkLgAkWQCgTR7yL4iZ/4RuLnBQCK+CThAjewBPcEAIUAAKZgC7aACzH/DgCVJPqjX/ZeMAWobIQijwTl+a32XZayz5IXLQqqAQDFMxJ/8AcscPP8XnwrEAQYvvMAsUJFEQAFDR684aKFkVSRHBjcEHGDBQYMAKwIssKLnD17yoyR4+XgSJIlTR7Ec+iQHj1/wKgoOGRITJk1hyBxMmWKlzFjynjJkmUKBFHQqmHrxk0btmPJDi6DigyWKBcvTl69+kdrERIaSEZUEYSECpgqVqwo0uVkixQnTp1K08CrBgsWSACoazEsRzl25KQZMsaLCayFDR9SlJgsAJuMbcoE4ATATsFBs2RAAKCSLVubEpF5sclpQahQYdlJYVh1yThFNHg9GPGuirsG/8+a8FFySQy3pxwhWQCAroMGACpOmGCAQYY9cpyXKZOFBJIiYlZfN+jihhIoRSLSfBwepxTL0hcwcECBDBgyZJqIATS6dLJddkSkiIH9OhYmEyx83YCsu4Io6CwWzjAJj7f44CQHA+rS4KM0qFhhAxICQIABEtKA7qMpciChOP2wGwGFE1SQDabHHHsMJyek+HCBAyYAgAQDDMgwBzIIMQaZZKAyJhI7kgBgiSdGXA0KE14bKcW7VrjorCDIACCQkRDBpBRBOFkEAAMeSiNMMalYAEcDMiDho6CQ8ACC4JBU7QM5WRhCNgvDw1MmnHKoCIEJEPBzCA0QMAAMPAoqBP8TQgYBAI444LwujjZYgA2i78S6KFOMjCCpkFO2XMSLEgygUUxTx1hgAQI0DMqJIXKYAAIoIS1MzhOoCEIiCwMMDzybIKCxIgD88yIIBgKoDYA88ijISlqv+4OrSguSLQgNcpCyoCCC4NQgTxfhJJIyVjjAApgA4BC6MMvIQNUzncjhVRU8mOCCG549CYURRijBLAB0JeHOXm3iE4DgLNhAAxVySCMSBAKAIAxG8UVyKwum/dfCsWY1aNsVOACAjFQWiSQSOYqIAMccOt4gCA7T8AKBBQKYQINXSSCB3hMoNikJJWAgQSBqAeY1zxwgMEjDAKVIY5FUIAjAADIa4bn/4kDqajIihQnUtuMgKjiFS5OD+GEFAhZgGIAySCCgASrWXSA5BDwYy4MMJlhhjqpHmiMOOFggS4ULLLWTBDwLHjZD2lQoAwA5SqECAAJK2HvEQA4hKOt//6P8oG23VWFLOYiwwQUTzs4gjYJyCGABlzlkYAFA0aQX78pHOgSRO8xaLDaiVSAYtg1kBGBxL7woo5QuCTj39pJyTwx3N1wrKaL/SvpchUVU0OEJIVgAtIEwAfAiB4ZfBpQA5DKgV0TnAUAMETMo7D1rgM3PoVILALWQLCeo8EIkSkEAmrEABe/Ljg+WUAUxuGEQj5hEQawghBMwyXcJ8xwAPkeENMgh/xGJ4EMR1CCGBsiMaegyVRrGQIAbFSdWC+CBs5yniEOAAXT1s9+ucOafgmhAdgvA2eq80MFFIM0APEgNAveFgha4oAhpMAMZ7nAHN3RBCRS8HuEcwDENbosIZeADAD6YCDm8QQ9FIEAGIDDEFKbBbDeCAAQaQIAYIvARh4gD4ASCw6wFLGh8uhhdcKQh2lgICQvDlQEm54LcvG+JMhiDIwwSiUSEDBBbcAMPCKe1/3wuCEQYAx/4MEZR8qEMWiEAoIKTwjEYoEypIqAmEQgARfhBB7wLHFZ4N8QNOKAuD8lMbRK2AeTc5ADFa+T7UOACIQThg5IgSbgS8ROySOQ1dP/RwAb3MEpSilIOZSDDGW+kSBIcrwwOYKEiFVmCKMwSAG44xCOIsMfADe4rNcrB8cI0BosYJ30H8CXWgMeHRSQHAl+wjvNssIQw4IEETkiEJCTBCYlexTkrsMBDMrotKYjxg6Xkw1/KIIVABKIINyIUAVSKo4IgwAESAEALrILAQTTiDhkJHB+H5keuhYmYwCRg7GTXACeUQQ6LKAWaMlDF951hEIq4w8p40rgw8UGi0DQINLXKCTugsyIQ8wIIS/kXDnlhCEZ4hCJ4UCYcEQqlDYApCNwJv8TwwAv0rGeTArYBBnS0IGnIlVcCQDPkEKE9YMhBGdIAikWYAQxqeR//DfXABiQMUbF26OAYsnC8bWq1IJwoiETHwDYcLQCMfPCLYjX7ITIE4gxP8MEF5ni2BTSgA3M9CA0DMZac5nIkQZwAAWby15UFd1UeKMEfllVSMigWAKWIBGTf14Y4xGELQ5DMZjerWDkAoCeOg053J3pViZIgjmdzzss0mwVXaSAMu2kBCkx0gg7sTK64bVZJa1S83v52BXUKkEiI60oCQCADAGCDHkpqJSqpDgCcKEJ+3neDJHQHJwAIyhQMQhnnOkcwaYioRCmZCA1AwAAB8ACH1usEJCBhCCRwwxaU8IMYxHcEILivO1OCiCKUlA0sEE5BeEsWe24An0FA3hhU/wedgqSKVHgLRPQAgAjGCCISpwAFGVrgSCa6IAIXzvBBpDDmyfDEcTArgyRG/E0fqrQ8LEZC/ibAhoIcCr8GEYMYwECRIhhBcL/1beFQ6OCCEAFpCCjwBWKQTIN08HGgOMUB3ycnFFAAJ1PIAhU0XJAxjxleSBjzEEX6wb84ATkzg8BNWnzINvXzzgeZMQ8s0oANrEADFrKnQcYyOAu5ikDjoyoR5Na6C4BgXyQhQwcLsgohMLpqcvqACEqAhMlMQdMj8bT5XiQFKvikJyoEdRZUkBwCGO5VGphAAybAABm++gcuYMEBUmUBKG3gAn7MdbyMmoYc2MGUJKFCrBpgAP8AFDvaIxjJF4ogEk6UAhSAmDS0JyAZTG+6JCze9ph9MgXsZkEwKmhXuc3XprhNAGSvLogNThCB2DHAKxerUf9yMAWONAc6SJDEB1VggMSWwdCtm8DMDC6CHI/ECVsqBSc6MbHbyUkED52MUAzTabWNQQU88QLH/5QZr6gbORMAA8oBEAMeBF1YAHgICXLghDR0xO0diQ55w5gDla7UTAQAwAmifRVlO/wULHGeCEaQgruQR+pTD/UYpuAEobjqT2eT47BOLXbTeak4/x2CF97eEVH+RBDcTARFE7GHNKhAlYRCNAIucGMcXyXZAABFKVKhBwRqZwIdP3xhOi0FnpD/QAqvWpmqgvP1oIOBWXdugQkaEAAVOGHz20wEFYw6Bik4ASSJiIQk9jBGMsrBRnhn4QJMIIQYzPQqRgBJ7DlhqD84Dwtt4EG8Vu0EyWBl95tdWA7IAgFEE5//hHm1KjCC4FABO3g7wfgJJUstoNiIbRKERACxDyI9M+CAICiCIjC+6lKNP+ACQSiFpMME2nOeZckDMICzA7sJk6C6TsO0ISALuuG/Jws6AuiWO4MgY8mCb+qQDkkDv3iOMaCCS1Oy7fu8MfoLQFiuQNCK4zMMIhAEpAIFTMADJbydSZiER7iDjeCSISACIlg7vzKIFWQx8pgC2mkXyYkjuJK0VwuE/y2AgBzYrB50jjlUsePxAiqQAhdjvA4aJQ8itTQAhJbQivZbjS9ItsfREj3IA0Lcmy44Azy4gzGIhHApKjooAhUANfoLw057Mcabggmwm+QwADkyAJj6AJRTwiDgPTkUKcGww1f0guprMd7riw96wEQQhCMUQf04gTJAqqQrhEe5nUUTgrDjBC5xAiJIKzbIgRZrRjGrvo4zNeQojgLrgKK7M614A59IF/KxDFh8RSqAM/LowT60RdJDQjhxgkVQPzL4gSSwgr2BNhBYuGOMhCEogkE4hEnYHRejNmyDkSkgAWpkIQioALEzCK3IgTHwruPJNJnwK3A8HvqbxSGyA/9BKANSOkImxI4geEKHIwMRYCJ5hDYkO8ZFOKsfAIAzMAQyaL76271Oc4IGiMEMAQBsfLU/IAIpYMiDyIJXYTw7LIhXlMUhGLMeFCOPIiNA3MXrAAETcA6HWwQ5uclngzaYOUkk2JmC8INJAIRmjEmZ3DnZcSkBAAABQMsBQDmtqCxwzIKRkEjygbMh2Cw5GKWM/Ki/KAQq48Ux+EUIEwGiW8NngbYP4IE0OMmzAoCEegQsbEb6qz76g5cOMAEW0LsPMMuToINB1Irb+QM62yy3lEgBE4kpkMUWU5vuIiMjBCeqGZF1bDhOIAMQEDyrjDajOkbAGAkl1AoiUDU9mQD/HsCCGSud+DKIFlBJ1aAACniWOZgDygGg0ZTO49EJinwRxdq+CCSjKeCBLUASHhAEDwQFKahN2/yAMdgScVkZkhhEAHgDMjACMqAzAJgERcADN7ACJViC5ByJ9iyM5UQSJugCIiiz6ZxO02yxmxC1UdK8b5KCzBkRqEwDqQQBFEgiipETEJCBMkhPnqySk2jKgkAERYCgSTgEO6OlrOjMq+CADjg5w2AikNkJA5XO6vTHjtpB6BgCWUKSE/BL9SuCFtgyDBWBFoiBJigDe+TCDeTMQbwcOBCDLngAaLmKCFCAAigAtTwJpzMBJAhNGpVI08zDV7m00MwAo3oWLlgE/6SSzRa4gSN5lsGLASHYgjtI0nAZAjLgSPZc0YJQLjqYgzOAgnupmge40iytlQ8wAaMEii8F0zusPsbQv3gBHr+USjJAEDghg0UQz0VQAiuwDr2hlSXoAj94hELwAlDgkhwwI5NgRJKQgAgw1AHQF5zUDw6wUiw9y0T9gBPALo4jj0fNgjGjtoG8AMv8AA8Al9hLujRQBEghg7/4wFRwg5SgmJS4I1RV1UVAglbtz8JQgCsdgAHITHzBUnKNEzlpxikAnqAYTXcFio4agpArNhCQExOggkgAhdgDBVnAhAgKUdVgA9gsBVkgAyyogjBwg2fZAijAgi8wg1Tdwi1gOv/VmFIszVK0pJiM1dh0XVQAaDFHtcNhNcowQwJya4ATYAt9GQEScAROiL1cyIU0OAQkWZYhWNOC1TIXiAEJg5MYUAgmMoMyAAWTGQIUXQ2MBYAsJddyRRJZPdQCuA45GQGwlM63BJ6KG5aZWQAwaIMvsIIkuAGyywJ9LQWZ9deAXQ0yCE9ZSAVBkC97pZUROLgRkANBKNoyUAHpogM6KAjmPAmMxVIFaFpIKYES6IAKkFX9KJFF9dKrRQKd0LA/CQACSLC+dc45gAM3cFlOWAWZndlXxY6Fo4IuoYITQAGqhJTC/IC7PcZikbR2igAJkAC/DdwCCNel5dhnadERsdD/GyiCZhTZkQUKDTM9BFgB3nRSxHgEKrkyWUDbQlBbwwAD5AgaFTABEYC21YU2IwjPY0SCIDA2SSuAJMCCq/iAcA1X3N1dhEyBH7ACNSiCFBzeO9QJJGiABuixJo2yRjBRN9AeUEgF0JWDK4ATQGGAuogA7T1F7pUTGJADVY2EHDCBBh7XwbwK9Y1atHRalGuDOaADNgAeajM8neg0JJDPReRfRfDfQ3CDKuCBfD0F6M0FgzU/7Egl9EAY1oWTwjSCCMbThyiIvVMN3I3aAuBghDSIQFDEaKmJf5RMAFDE/vyD/p0ES3CDQw0dUFgFGpYDDF6N1kEPB3CAErDXBkaS/8IsAqLF0wSAkwIw1ENt2g5GuUZQBEQ4hEBggxLgIB5Yjz49iPZDBP99hCw+1wugAk5IBRo2WDAujBPAkDF2AASogDPu4e4dg20dAjeGkweI43Mt3GcR3dVgFCu04zsuqVEuiSuMsXM1y9ApWC9O4tU4gMqtCAdggA2o4O0dEWgTAZhRVTlYz6zAigrggFh9AKbV0qpR5ZOAU5LgS6x4BAl4AB9wgXE1ywuQAk6YYbQlAg4GZzo+iASoXIDC5YI4YzSe2nnkiaItvY6FExaQ5xKogGSWWiV+FmoG5Y7dYhrOhe4yiHAWgHElicFSDjImYwswAZYdARHADtbtoHAZLf9xxg4OYAEe4AEWKAEKiIAIwGdaMVSmneULcAJuZmQCLYmBJmiDaILKPWgyppEimLEXcGSsYN0sSM95pZgOwOiMZoEO6ACYejWKvo6LxeZZLh4P9GdBwArcndKCqNwMgWkH0IAmyIM4OIMveGbV0BftPQESKF1BIAFXe5aL1iQe6ABDxWeiZtGCAOU5LgiSVmRGHoNlNonZXU4TiOqKsIgAML6+xdzVEIKgNREGmAASyIAvkYDlBFxIwWgAIAIOENePDmjssNKoXWmQVWrQZWqsWGzGJqDBgmoTaNJlWQ08OIMtWAIbiIAFwGUGIAATCAQAxRceIFAKuFK2RsiOrWn/ADhcDqAAT75Sg5DrRQZdFbDrkwBt0QaAA6CAJgXkq3gETQiFRxiEPuAA9GCAAyAABQAA/6QVCnBRALBSeKbs6+CA9O6A3w7up0aCzZbZzlaNCqgABUiAC6iA5YTu1SgplfiDtSLj7Sagy2k3WokAY9Zn3T7vklhOY07v3rUNJBBgf+YiFg2EB3/wJr0OEhTUH1AAQgmO0HYAkDnIg2Twxi6MBzjIBD8JDs7sBWfsBjdxg0CCRejm+E7ukkhvAr+cPFbeZjYJOlADLPgBE0G7CSBjRCOAA7itwgByHeeACpCA4SYJgU7LBQeAGI9xzxmCCQfdCmfP/s5jlVCJH7+O/y9QAhfYlwvA5bx4mBMDgAeggBfFippt6hKf8uS28rTMcYTUcsYeiRq/8VyQb5Iw8dwhcERQ9EPY79XYF3t9gHWri4xSqQBwHhUHgFg9yz3nc/aNc8r+c9qOcJNG268pifFODFRedETQcKdkYIrwJVyeLQJAap6Z0mNOZtaFtoH29DiXgMTF51AX9YIQdH8G6JI43GQvARZohGZvBM7UDwb+gARIYIook0rvc4qRAA5QAgCwAQDQdfkqiBa4Z5gCajp/NWEniRWQ8AFGWzA/CPGW53lHXCsB73SVkymNmhsJ7QOA66oRgAIw5goY7NTl5YNIgi+IA0QIBKCmZyVW9/9At/GlLowI4IBln2cX5QAfX+d8r9y663dLBmd8QUsVZ4IrcoEGZqImGjsmMAhFpyUpE7tQx54ud/cahne3Vl9PLgihPtxH0I9dr+XQHiwCsGs0Htd7HhFwvgEoOPkb2LKV37IbYALroDJFv+PEcJYnvx1hR/E454Ln5WxxHlwNBoABkFrvtviglxMOruUA8O6TQDgACINDIAVNwI5xHVftVQImOHkbENImclMoEAM60ANFx/oRbYQC/+65iviDkAB252JGvoAcL/vcVWm9N+KH3vWAP9ezz/aC+ITqZnzl/uR9uTEogII0H3fkjIIzIMFAwPqsb4RoLono5hmvJ4n/BAj7QZfvBtZg9RVozb9QwyjMgzggFNB7nkl24A4D1Y4BFIiBJ6ixLXMBAPgCOFBEFUaMxFB821fRvaH5kpD8LkbbCyjXAXgAZPZkTjdv4z94g5AvbA79q9hy+jZmyiGFSRiEGAMIJUkAvABgEMCcQIgC/Ql0CJEiRRAjBjpo8eLFQIEeYezo0SKFkCJDdnSAhNMpWblWyhFwUEGEChU6cCgg4CbOmwB0fsT44edPFCgsthA6FICCBxV6Yhx5UCaAQIomhSI1yZKfM1sOVpSI6JDCiBAbRWTq8VEoTRHMMo0gYSTJjheQlFq1MpesBCIAFFBaoUSJCDlzGuTJ1iDQ/w8AWixeLLRoxwoU2MbNqFEqpVGoSFmaRGoUJYsSI0ZsZLriYYuhQvlJ/VFB0gdvRXY8cDIlXlBDAAyAyYFDiQ6Df7os7Pog0BYujqJokYJxz8oX4U62+Od6Q9NkJ00CQOrVKwCaGgEwXdr88YOaBoVJj3HAgAIFYD9YW/3i3FKpTkXyYiFBUhL8VcIDwynmnkWJufCCCw0qV0Vq9wFAXUfY/aFIIG0A8IVBbvzhGQCojKIJJdo1UiKCAIQhBAgpHiQAfPDN99EBHqRRhhdBrEBCA7L9VgIHgwlw4E4uihCUCzEoqUQYg3ySHlw9XZdHHmdEEYUSShiURBdqDOKHJf+aoCIiiZQgogeCQowwgouF4RTjADQ2YIEGG9jpQAIVSACYAga62SZQQ8WARR8chQJAHm16dF0bWCgRgxBZCmHDDVkqIcQTYfiBFiqvjJLiEiO0eKSLN8UIY5weHYAAAg5YYOcGC1AAmARC/rRTcW26IIIIPgBwCCmoaIKaohWqgcUPC95g0A+M/WApAC78UMUZhnCEYKgt+pRefPN5q4BHEgBAgAGuwjrBBXwOBsCBhrkIhRJbuDGJKqAtVOxHUNwwglA2HHTDC5Fe2gLBMdgwELYg7MUUkT3J9/B8AYpbmwEMvArrASXgmtOtuBa70VWhmDkavh7ZEFQLL8QAgKT/lgpBsHI+HJXeEihom1rHFxXAV8T0uQUABx0ZYAACFrxa5wQOFAAfThY1XSxrYWDR5Rx6YFiyT0ABYHClll4qhIMxuJAiCrym2HGcCngrnwIC9kRuqw7IvcACDACo9s5OP93mGTWPjcUZasShBtYXKeivvwILIUQMMEPnXgtmK1qA49/6qLFHBMDNAAMTWOAAAwdQIMFaGJla7Mk/CQEFFFY88UThCQJlMAD+FmTDCy80p1yKhoQB4eSLwcx2fTN1oHEHQB+UgOau1mnBAZzjKaFFS6eqKFA/sM7EDSvHjlhQiNc+fu4uEKzoIxGUjmCqMfIFm1sdyH88APIHDUAC/wEQYK6dRn++wEceoACEYe8nkIICE35gg5kVDiguANiyxMegsRULc21i2k2IJwEOzK9+B7GfAjRnsTpt4AIk2AAD5NYR6RTwAy1YHQKb9b1A4Q5gEswdA91joQt6jDfzkY3xOmgR+YFBfykkoQkvoIEUTuwgLGzhB5SwvRtQEGuBoqD4cFc+RVnoOi6CU3xiE8T5YY4F8kNEEQlwAAeQsIQnXIADmjihJ7bQBlJMoL8a+AGhFCSCLwDYghrXJuwAgJDuiRPE5PMAH81PiMcDDABMYETnlXADDjCA5kBCvZLNbnUJvEEOAbXHBsXgBj+4ASq1iEMX7dA1HKDAIvP2Ev/Y0GeDjZQf5krAghIoghKU4IH+EHCABRCNbkMzgRO/h5yfvHB7MuQkChY0vmUBAJULYlCx/pAeXXaElkhh5C3pBwBd7pIFLABmAPQ3tHVqDgyJUqbhfiJFBHYPmrzbGkH+eAMbLMh8+NokW5JXTgD4YS3ggskYG2lBAJjTnAC4QDr1Ry7NBeAC74Sn7D5gxxjmsVhsStn4GrQ1gL0AMsWi0GGucwhKkMIgVrGEInQZTlxCkgUMbSh5FJBOzVGUAO7EaDw/sDIECuEGj2OKGObgxY5oiSC4M0iD/lgQoaSgZNQB6EdKcCJUxCIWqFBFV3kAmOPRVGMNdSgASpS/nbb/86JAXeYHYJjAo37kDHQASxe1CYA4AOAMAMCSAgsyNtyh4AMljd1VzVJGE/iyEYd4xCjAWq9dPrKM5uTBKEbxFTSCwQQ8+Olbs/YB7dGzox9pQ0U84YlPeAIsDgELABABADQBoAtMEAJBDMIgxtC1cInFSNAWahAmYEEMbgAWKVRRL1KEBjAN1YS9FkIlRLk1tHC1gScVGMqDYAEOhzAIK1jhClYowiCyNa9syzsHAIjBtrgtaSm3+z2UGqQ65KyfBAQoASVEQQxqcEOYOiWsEp1oRIiQ7VKt+5GfuMCTSjCqR74Qh+8CwBOuGC9tN3vg2MoWIohIFF8BwLjcKtiJ/06ZTPKSB4ClLE02EthvpKoAYM+gAgAjKo9sGVLingDFkwmsokWSagmDeCK8njjIgZN8mdg6RCzkSVQXsLBjj4SEgysOjp4E6OIXw6YFMVAC7PpgieSq4iB6nXJHsjdF0xpEDXQYcoVZ4QmYIjnJeG3IQxwCgNJIRA+B6AKaK9QBPcVEJi9+MVQEGLECjG0J8rJEKMocaI/MDgAxBKVF2pAHChfZE+W1iJLNjOevlEcRZDHvpDHyhzic4QmwEZBMYj06AcJm0S6BlIzhLJ5UL7OZ8HrmXv8A505fyyAUji2FLaSQQ8A5ExIhD68v8oUngDIGAUuC1yRAy1qrTQEDwP+JCGoQbdHK9Qc/MEgc/sBp1h75IMdGbyGvo5GJYOQQh0gwrxe4x+b88ZQ2fIGiu602IY07oxt9AhM4pNQhq1bOR/70eS9yYIY0ZCyf7kgmHqGJggcFBS+ooVRJyhiBf1tIGRy3AYUQhS+0Aa/fbbhqN3zei3PYvBo5xHmY8opD+YrXHQc5BP/YmMUM3OSESTVQlHAGPfiS1HFWLc0NIpE9J7nqODe1aXTtkU5sIXLRDko1qyl0QEJHOQUx+tEDzUwxHAK6lHhEJo4cd09whDSfPjV6JzIRExXbLA2bdFCWJXipEmU5aN8bmkXQAiXwdUQlWq1q5wxtUKd36ge2O3n/zKN1jISBDQWXneDFDrDCv+DwiN+xC5ighl6OiEQAeIQlHhF1yu85tqMpTXnQ85E3HKQHTejB39W+R1QSnpoWMZ/pJy0ELKghUZkBDXmqvmGJV53qe8+9dnrChiP0vgcL8/lPBD/6P87M7G4i+KSvLpGuSP/y5Lm49HFOFogYRDum7rtZelCDmwmfmYM3yOgdRHPkUK7w2isMmGm0HyJMXu61X3lFX/2Zx4kgSA+kQPBZV2KgACoBIACc0nIYRFGY1OctQRiMWXhI2vzRH0aUSNWVhWnYngSGRptU4JQlxh6dG26Z2ylNFWS4QFV93tbYwBZYQo2px8Z9hC/dXnmZ/9pokMWJdIdHcJ9r0KBrtMANJAHgwMEZQAFb2GDg4RazmNKytMhQnA8QRpMPfMEjlJkv2FhaHeEKUsLt5d6elQYlQOFB/IJBLEET9GF6/N4PMswHgEBz/MATYMkH8pgXuhAqNWI1bSAInI8/fd5PNMESfIQmwOFB+JIcuqD1mZoMAsChGMQbVEETgEGbAOKCWUQkKkEXfEEUjNiCLSIKrExB5I7t5I4ZJiLK1QAbLAFuPQEXsgUnPmDm2WG7HcQn3AEYeB7vvQHvYUQTHEYfUiFyHAQhilgXzAEdxEEbTNu5iZYNRgvhNUiSkFRJQQcvIt0HgMEbsIHxYUQbGgQlHP8hJ5qIeSjCI7QCP7ZULLDCHUQjADyjQF4EKqZGNaZA2fyEtjCGlLlbN6oBoAWVFy5IRzFIH0VLc0CVfO3YB/giNC4LGFoEHXyKRYBGWkVgI8ieCrbC7pFiQR4ENAIAGxwkNaqiQo5ACyTBGVQXzlkCHmyJQRTWOLqQsmCTbi1LQRBiNK2j2oEBIRDCGyyBr4wkRoTHQYCG661kIxzYk7ikR0SjVDLFTNbkTU5j2bzQFyQEqBmEJaiWJdABAFiBEpTUCGjNKH1c2BmEv7gAUxrF0KUaChACI0QlPP6AVXZgR8QCAHgKiZxIV1rYS74BIZAiWzgjG7DBGvREHzZBDRT/lgZaARwQS2whmSJE3pzBwRdAAdikAJvsUcpAkNg5hlHUJgD03KS1ACYAACMwAk0uTgeGo7ldRFC+Qiz4QizUI3N9gitgBCNEI2VCZ0wyRWbSpGZKY2cOxQi4wBP05Lud10MgwlsSGVyqJuwYhE4CGUEURW3a5rhhgimYAiNgAiOsQcAsjhCE4yNuyROowSRwFWMCwCwAAFhaxDNaJgCMpYtk5mYCQGc2QQwIRer1JGmCp8wNG2ram4ZUk9joJQAMYHsaRQv4gF+lGgjEACPEpykQAgr4Sz0hpmLqYAcmARN0gSIU4TwahB7KpGVG50wqCoNW44d+RMSFJ4e9JWrO/5klHMIgDIIbrOZ7PU6IokAKxMASDMK4oUATxGcTOGI9VRNi5qcO/gC2XSJZ9mhUDmSxZCabsoG4Scs2okbE5V0dlleSKimzWYKeZggAJEHjsOeH1qYLkGhLfZ3/beBBqOezCEESLM4SVGZPKKhAKuiasqlNAgBqJVlpmpeRuuCdzllszR1c8lUUrCdkUNWXWYKksSMjIqpFFETtfJxUmSlb9CakGsStViobvIHYYISm0h5pGMQjfKpqWQRqwhkU/EBJKWTtlCj4tWo8WoQtgpyWHsY87iauFo6l4tMXJAr8ddivXB5pZF6SWgQrAMCTkOec0VYXPMEPxICvqKqhav9gtGKERaJSc0znRQzogBIDAPhCc3aEvrpGZr6BD6wMoEVcWUwfhwWraQwraqKrK8zCxM7CLISXWypEVCBEG7TXQRQh4NGrYvbEUaLAEvhmHhJDjgbsQeSoLhioTA5sT6DiO0LoX9me3dVZeGKediQpK7SCK6iWRlgCIvxsJthb5S3ExaEC/tXgA1FTvVrEKdmAFS7BG8xnT1xYcw6oHvrrS6YGNLJpg6he5Z3Hp3lFnZZHedwpK2TCZbjWvHmF+50IJdSYKljCHfSBs9ZgKeXgcHrEuZ3SDxRmDISBLhADMQyoQUxsczKugCouW8jsRbCpfQrBF9DBQkwfn6Etzub/HsRGXoXdnEUoBFcmmRPWY1exwi+ugaNxSA3mkSnpJ0YEbgwo65YCgC74gi+0gi5ALgA07u8ahMX2LlNAquQaBJsugQ1gQRwoRPVJHRPSH/1lnqgeWWv9ir1lLygm4VjQ7SgE6Bo0wRH04RI42pQ9jn4m5sj+7RsEgzMIr3iyAuRaLL9arJw1wieMIgC8r0WgrPF6BJtOZX86b/sdBNZtFtaVB5JG7EXIHydCl2n4UihkQmNexIPipoJtF3AeROCa0uPEAjH8ggjjbtD+7PBS7MV6QiPw7o6ma45aBH0m6EDGZMG+wRaIwR8oIMPu2SM4VveSxQKD7kVsbz1mVmZpusIntMKnoEInLMGlVqO47ZgpGYT6Bq7g1usheMIsjLCAHpn8vmyF8e7L7qjw4uFFmMJBGG80FiwjnEEc6PCv7tkL1l+pRR4Fw6XGyjEnGrERr9YsGOcnTKU06l9HKlMLwKiI4SeYdjCwxcLFDYIn6AIX464lDMIs6AImewQm9/AjoEIwWIQpdMJuFqYaU+YdtMEP63CdksV3HaOeimcW4/EC0u3zZdYrhEb+YiUAVMFBTqODAmIhp0ZAAAAh+QQFBgAAACxVABsAuADVAAAI/wABCBxIsKDBgwgTKlwo0IpDhhAjSpxIsaLFixgnPszIsaPHjyBDGnRoRaTJkyhTfiypsqXLlzAFygjAMqbNmzgpGiFQM6fPn0Ct0ARKtKhNoT2NKl0KEinTp1AzOo1KtSrDqVazam04dKvXqli/il0adqzZoF3PqvVZdq3bl23fykWJJQCWuXghYrlbsa6RKHkDi+wS4G/MpAsRC7bZBYARvosjY7xrBEBjyZgpUgY8t0uXL573isZyObPCuycgHw0JBQqTJ1CskPYceq/p0wkqv5Ut2koRHUZ66GhipImOLlduI/xyQYbc0UWoeJGzyJGjRYIE5WChHGFd7m57c/8CRb48eTkBIJCBMhb06C5i4ouZKARAB85nW++VdKp/fwCnALiIFFIE4RUUo1nxBBMMIgifGGecIUYX7x1UUgnhYWEFGP75J1B/nAhkoFakfRGfe1AooYQQQijBBG8aPrFii0qwR5BzCSSnlmigdPhfgKeECEAOT2jFhIMQmrIKJpiUwqQkE4qhxpQSdmGFaw2KJgMBCRR5FmlivOFfJFRQ0QQgQArJxRdZMaGiEs+AI8+cc84jzzx4yhNPPOj0Cc444IATBWxgqtEEAQG4Md9Ybv5gA3+nlDIGFWkwwWF/ZJYZRlZXPuOOPaCGas+npLpj6jzpoHPOOeacM0wVLP7/0OIJBBBwBRauiTWlGJeeIkiZYKixhX+/lmmEElY9cQuezDJLz7P01GMqPfKsao455ITDCy+bGKeDDmCYYIABYMQRB0IO0qZUuj2eAooXXhABwA+6+VomFTwY9cMPLmLxxRlUigFOPAIRDEA78SAMAMF77oktL7R4IPHEEk9Q6wQLLGDCFaFZ4SayKiJoolIMWgHpKYukIQcYAHwBRin9LQKAHGWQ4VMcbagx4ZWyfSafGF/IiXA7BydsNMINz4NOAxA07TQEDQDQwNQNGMC0AWq0YS7OZ3yBK4Mvgimh143aYMMNsno0m5RwECQGrmC0K2kaZiQHRRMwnxLJzGkU/7FFTE9YQZvHQvxww9k3CHGkvyOz087jkCc89NFz0kK11FI3gAAAT3MOQItJBO6Qa0pwgMPpXCQhOMBw7EqhhoWqsXXrO4MdG2QUQpFE4WYn3i9tWEgSCSecCJJGGWBcAeEb7UaSxvNmRMFmSi0+gYWUccyBxxxcgwYIJoUAAogbeMRxSzvrOA75+uwjPM85VMe/AAJNx98AAdEw88z+zNzSi/8AOB0OgBAFwT0oQrUr3A0W2KIXhcY1CkRbi0QGobFRyCGFagMc2JAdQcjheHIAG8fkAIDslOF5RfCBSeKgsy6QLkueAU0kcFELWNjwEmiolQ4vsY4esiMd6ZgHPf+aZaciyqMe6IAFAcY1riUi4H6I0mEA0FCOa61qVaoShgAvYa1AeREc+uPfLcZIxi/ILntzgEPOJiSazwDsFvubRhiZwYxhDMNJRJBDdgAAvTTwoAiAFIgJAVCzkAyOCUI4XO9u4KJnOIIau7AhEIBgAB1aEgPs6GE8mjWnhu2JTkJkVQMyNsoF3C9jqJwaAgzggRW4cpJokAIXIIGBEIQAErhAxjKgYQ1rUAMYkKhEMYY5TG14wxvfOOY6+mQOQHnRGs+gIzNsMYx20ENUoXIHqsyBDS8I5HllCKcXThhOQQrCm2mwmUfOAIc8uJN7cKgSFvQ3DnY0AxaXuIQoagH/AVRmDAGrLAao6jEqe9TjoAiF1jwAUA+GTgtP3xBHRMXhjWMcYxnHKIYoKsFRUZDAAypAQ0hFOkkghMCkIXDaBFbKUop5IAMTg2nFJiCKmkKipsUwRznWcad5uAMA9wiqUO2hjmzwgoSELAO8xslUb5ZQEENQahE+xxF/xSdCXoMCM6YBjlC1Axgc5YUtHEGFHEBtlFQ7xj3ssVZsFiRUQs2HXOdKV7niw674GGo2TZWOb4BDHOIIRzOOMVhg2FQUkJgAxT7qAcYy1qUshZo22BEPggLAHkCF61CpsYmB0EycSg0tCT04hOlQoWTwscjZhBC6rW6jH++wxztiew9y/9QCF6LIQS0yYIENaMC3FrAAAxZwjHzg47jIRa5Ql3uPueLjp0I86KdEVdfqyvUdeM2HPrarj+PqdaD1mEegJCoOi0pDozZN7AQacIwgXhObmF1uXtOxC0GUkCHZkYMHhpAGIoThCh9zIEWk9Ixx+KMfsJ3tbPEBDlwMQxAMmIADgmsBB2zgwhZAAC+Mm9wOe/iuHG7HPMK7voMVhGhEK9omhWiq6YLKuNat7nH1AeN8vOMen0Koi0HVVvi6I7x4Ygc20NDBIuvxyEXOjgeowAUkGCGRZouBlM+mhCfARw0KeQI4ZrsPfizYu/Y4hi0WwIDhHqDMExYuAqYoD/h+OP+5a5UHAIj4OPW17854jlzDFhaPO0VLWtg07j0uy2PmGnq5bAWVO4bYjm7swgtGTrKkPWiABThABXIwgzQCZY0xtkZw2EPjHAxiC3TsKR17Ysc5skWOSG6CAZYMAAEOgABaIwoYLc51rkeFp2gBYLp3AmWd85xngjxOcuwzMbHbgQ52wFW5h452UO3RDloAYQhI4IIUVCaHbiNZjx7MDgQYwAUCqCAax64TnsYxjjEqIQmLI01BfIrQekcjGkSgQnb4kAUGIABRBnCAAxAVgG/o+uC5dqiiGyaPduiJHRBvh52XveyDUdxxjrvWp5obY3wI5M3TxgYGTlnKjIXApSD/zYHKuTBuLgSgEpTtqRAJYg9+IHgb08CED1w0kGH4FFr0iMYzVBCEMQAgEZJIeiQS4YUNkHkCDAAAAyxAD4Rb/afTpQfSJBePTEL862APu9jBLnGMX/zr5yhHNujB8Ri7na71gMUoCWDKJ5bcnwsIAQAyVisDcKEYva53qQrKVn7wYx/t5ssLbCEPaEXDDMcDJx+SrnRJJIIPpwjCBCwwARXU4uqgB9U8hibxOvfw9OmDuCbzNI89rW/sYi89xsG+DnKQIxvxuAeI3/52dlSC7xmrNAJMybR++nPuBKiEO9ba4722mPDZHEYSALAEW8TjWbV4Hrft8ME0RMLyS7+8/xlAsQELtNLgP9axrustXVA1vOwRzyQ6ejj/ZfZQGBY9Bjgi+o1vBL4efwaAdgJ7YbcO5RAO4UAOI8ZQmIUq0UVoyBVj1IABq/REFnZhGGgBADABAGABEFBpBiBr34BozFdoBxUtvWYPVWcPzPACL2AFjtAO9YAL4VQGY+AFY1AG3iYHidCDlycIezB5VGABQwAOQActAHiE7GdQXfd1PsQOfRKFUogNDRB1A1FKw7cAAFBTlSAKxXAMgIU+qDeG9JcN3MAN68BQFKGCeAKAwhAA44IAFqABJKACKgB1DqABFnAB5ecAGFNJlWAPeXVoNdcPArEPrVd66CBiw8AE0/9HBuyAb0qVBVMgEFOQBTpIM3ywiXvQbWnAB4LgACGgbkRUikeoTRJ3evW3DlcUheegKr+3d3uXMQAwLrK4d+NiSnsnf/bXi/OHDuVwDdkQDnJ2cBHxfG+YASSABGkwBh80HXIgBVVzABTmAJWUfHNFEMjFD/DwD94ID/CwD/IAjNJADdhgCgLhAi5gDrhwg1TgBFIwBUiABFmQBWOQBgAwBNzXfYTEByGFalvHcH1WJ8HGLPIAhX1yRT1kLVe0KteAObOIdxKJSgKRDOwAAFLYJ8ukKtlADddgDj4FeqZyELqGC/goCImAkj6YCFLgBHvgBP4mcAAgawQADjGmD13/1g/d+A/g6A/8YA/okAzXQA2DMBBWgAteUI8AoAJDMAVOoAJSUI8ntG18RBBjQAR1MHHE5klzwmyswipWpCrXMpatggZZaD9Tc4sRmUoAcAyseEUA0JDmQA3QQA0XmX4ieXXP4AWgeHkruZL5+EEqQAJkRpMAwF3bVVeJ2VyGxw/6YA/pIA7XcAyhIxBdUARSAABZkI9NOQVD4ASUyEdlkANlYBAqwAB1gFh1AAysqQ2u6Q3LRHaO03VgqVPXIAzDBAzFwAvV0JvVwAvEZwCrtABxSHdPNHxneTkLsA6t0ipfySrksAzNgA3WxH7sl5fRIAibqJ2d2J170INHx3RK/6VYldQAkGAn6UBQ8lVX+7APNJYP9iAO2kANgFADA9ECJjAFlQgATqmflYgEQyAQoVUQRlcHtCAMtGBtJcUAThAEWSAdNSUKzxANFjVMlVAHpgQEBrpRwVQHUEN8aBmi8dM0xzk/x6AqXzmWamcMyNANm4SE1hmjOvYMcsAHctCJ2pejafCdPbiJDwoBKgABNNVQCYd1l0Voa/Vj9lAOwmAMyaBCBMEB/DmP8TgQ8giVhAQATlCaNVgGWXAM2eAN3dANxxQOY9oN1AAA0bAMu8kLpmAKm9CFCboMaZoN3UAO5cBqtmd711CO57UtHBVMICqi8eMN1TCWYFkOv2QM5P8gYqXYLEcYgPUADnJgBzaqfeSkfXxkqT3qBU4wBGSWAcdQUKRCqqbaYvMQDtIADMKAC4ZgEEggEDngBPvJn/IImgKRg12qVLyJDb7qq66pDdwgrNxwpt2AgLbHDdmwrMzKDXi6p9AardK6p0NZjm26UZVASx9KNV3IUcAAC8IQDg43kHRSkKxHRPQwM9yHqU7AjOR0j8/znZvoBWY1bkaIWaNypDmGr9LyY/FQDbtwoOjoNkWABFQgBUiQmQWhn5oZTlKwq2UgBXVZDdRQDddgsdeQsb+KDcGqDceKDdmwsdjgrLaXgCWrp9OasipLDthQjtRQDMDAC3VgUrsQDuv/sD5H40l9Rq5zYpLdh6kqkAP3WAZDkANeoH1BqJ12SAAIgH6h16/adA7CUAmwgAtFWRAsMARROQUKSxCUeInj1IxdOim1sAzSAA3SkLYuSw1sy7YUe7Egq7HXgA0Zew3cgIB4m7cJiLesZrIr+7fZQg2wYFLLoA0AEHtaibPi8Dzdd0L4yKXH86nohI+guAdIkAPEGZIHJ13r1w7UUAlosAtkUB8G8ZlZ8KmaORD16JlIME5lMAU5OAaymwVDYAwA0AzS2Qy6q7vQ0Lu+i7YeybZ1O7zE66vZQKxnqrd8u7d9+7cI+JCwgAZnRXwbtVHEdEwAEA5f1w4mqTLH46l8/xR54ISPmhqEe1C0GkAA0SWj6hde5QAAQIAGtZAQPECPl0ur9Zi/S9mUOAgvNygQXoAEopAMybAMywAAB4zAApHA0nm7aAsAHjm80IDABpy7vZu2blu3dGu8Z1isx6q8y9u314BPu+CRadsMxZCgdbDCM8sAU7MAOoQAjAtOKmd0OqqpWVqjNmqHlSBzvQaj9aZ1xQAEGFAJ6nQQPPCZ8hiP+VuPmUkgU5CUretUSckFyUDBB2zAC7zFCgwAE9wMa8u2t4sMBEHAZlzABry7zYC2GFyxGmy8xOrBx8oN2LALlwAL1GBMZYq3ZeoNCNiyYJwMzPizmpkFN4ypnlmaN/9aqTy8daD0qK1HDmgQAEAwvwpRsPHon01MiQQCj5VYWlQ8BLxAwBWsxQzMxQfcuwfctmmKwGQsEWdMymnMu2zsskOZsZB0xwDAscE6rHEsx8fkDdLwszkavoecBnZow91mByqQAcKQuI5MJ/EgtbVyCZiQBwohBNi2uoW8ui3pBOAMj06wVPDiBLRAymhcyqi8wGs8wV5Ml2kKDVccErG8DOm8DHZ8CcZQsRgrtyILsse7Cet6zIcMwNq3jx8FDBmZemYHOeuADURcyXrAECagxABAAqDJtd8czgCQmQabBfCSBSuAzgZ8z6fcxe08wb87wa/cEshgDMAAAJcADGD/3MasXLEe2ZuTaQfee0LGTNA3vK4aAAHSQJaI+ornQH/oYA7AQABAcAlzkAdtsxBFoLWoy7Xh7AQEAY9SkAMgnZQ5IAr2PNZobNKlbMEp7bu4iwxszdYo8dIxfQm7YAzNcLu7+7tqi8GbMB3gNI9A/Tw//Tx24AUesADNAK15mthVVEXYQg1AQABocMQQgW0anZlZTRBIIM5TPAUkMAS4IAygzaKyfNZnvbu5y7tr3daqvdpujREvLQywINO2ixBqvLtDsJnllAMqAK/HXAbg7Lgg5AQWkwzKi7J5Sg7VMLhAYAdQGhFk8JkbfdkCMY8Ji7BUcIcmUAUDAQaAYAe3/4ULZk3apL27ycDa5n3ebQ0RZIxPM70QpQwM2JaZNny0QL2UpDm+ZZABExAAyCCs3QDM4eDHfhwOyDBJkPADAjFqDDFqZDCPHI3Z1J3ZLUkCZcYAJ+ACNjAQTDAouwMAZEAGm2ALvJBLZT3aJW0MoN2kxsCi6N3i500QZCwMAgELs40QpQwJK4Bt42x0gX3I9oipZYAEELBmwjC3c7uxx2uGhnoJTw0IqgERSRAFRKDj4DzdEU7dQ2CHFf4ALnADCNEFVRAFSeDlA1EEZCA+gGAGZeABv4WBvjUEXDBLopCgB6riK+7ieA7bMg0A83wQpaxyOQAAmQ0AstvjOgrcsv/rBRMw5AEADDf9tv18DbuABmiwNwpiESUwBJ8JzldO3YNJAr5VZipQAtfTBgpeEG2zKC0TBl0QBnDwB6eABCSgAQDg5hswq0FABEGw62PQg2WwCZvABTVFC7cV2ivO4i4ODJeAA7vQxQVRyrwwJIIeq4Ne6H9tgzeoAaWUAIQFDSl9tmpLDcaAQ5xwBtRnEdpNBjmAbZ1+uSogEBsAAEHAACsgECzABtgsEa8BBWRQCpEwh7V+Yb+lATmg665EQj54qcvIgQNhBOKDCZFgC7Uw8caO7MbA3rtQwAZx44Ee4YKu1QOBqbEK5LILqlxwAQ9wArhQ1wJR17W9DLBQB7b/wCbTlxHqzu4RTgI6D+/y7koroAIrsAFsMNEQ0QIpMAJFUAqcMCC07lt6GFwOQAJBsAJBwAc9qJ08PQYTkAEQUBCbAgCPoAiKQBBG8OFkYAebUAuikE8zHd4VDOid/vGEHrZeELTwKrtjkAUTYAJkAAS2YAut/OwVbMeQEAfmzhHuxAbrTt26bZorQAKuBPQqcAFvIBCIoBAoMAIfcAJKLwiLMARz+PQMcJoRZgEH0AAqYPV8wNOvOwRMcxCXfxCNEAh00DJYEAVYAAaQcAnC4PYx3fFxP+gA4FQ/fjx4nwEyDw0d7OelDAuQ8AVtEBJsQAQq9+kGUYeTX+8CMZjT/5MQmr/5oMAJchAJcpABU0frFy0FdbgBE8BEOYCjY+CUOZABUXMR0V8SGwIIuHAMwGDSAAFpBQCCSJAAMJjQoJMsXgCUSZOmzBiKKhZc45aRW7ZkBD0CWBYy2S5IUQDM+ZhS5UqVeQAUIbFhA0sSKxyoAIATJwAhLAG4aNEChSROciLJIdLBgAWmZZw69TIEwQIDBsak8ZLFyRAVHi6c8Rk2ZQoUKr8UwmQKQI4cKQ8qROhkihcvVymOGbJAmDRtGrHhauYx5GCSJlGKRcySh4WZKmOuWEFCZ84VYljOafOlihlQRhchMQKDgIMJEE2XATBmBQQDBEjIdYJEBYkJRv8S3x7bIoaPH5LbqlT4FglDunW9QKhTTPmxYbYwYUJGcHBIYaK64MaesgSJlTEBBNEwWcVAlocQKSoEStCiRVSahFGzgEEOpxKJSATgxYIBBAFIIOGKtg6yw06EEVBogQcANtgJOIQSikuuhjJgAAEGHGAAjDnoyOMPY6YLyZhIMvuCwOya8C4l7mpaYSacVghihSJU+qPGO0BZRI5F0uDhiiee4MCCFZ4iYogg0hijDCIWgICABnKYbQIIThjBRMQORNCFgTaI6TeWghtOigwaWABGBgJw4A09/gDgw8GSESYSOL54wocbrMROJhUJqmmC7yADNJCPavyDDU4iScP/ETl4uCGGFhIwYAEkIPJChUiPlIgBqhoggTYIEigLz7BQSKGFG4oogzw+D/oyuAzk0wAJQSwIwAAwBhFUElt0jSQRROAA4AlRsythwY9WBCCyC5KFjCAeOgSgxjzmkKSzHYNwAYUPPmCBAPkIUi0AAui7D4DWFsggA9ZOAGFYloSAV4kugqAiMgBiIuGCBt1SiEINSMgBiVL4CODeQxRBBABEAkkYADrA8sFd3NjYQINj76VMyBWGGGggI9RoI4442iDDWjlyOGHbbU0AAAEIUEuDiBxIoMI0FQhAwAApCWBB4pXigAMONcQoYYUc7OXOo30JGmIIg4bIAAHuhqCC/4pSOCEAgAlOeOIKyw7xGU8jVLCYT4xrKmO8ZD9iQYYrsCCjqEgEQSJllbdlzQASUIPqqVQJqKoBAooAO+yPFDlkThnGgwzZpO9VgdWmEyLBAI9ykMMoWRYAYAEeWjDc3RIaO/vemoomr1iCVmCAgkhyXAQ1G2IACgUQPugAAd2DME0iicrgz1sCeNAjdI8UCeQMKITgAFCkS48Jp8kNIgECABjY6alUFhE3glCNlxhZgjaYYGkASggiCAacSDSNIobG4gklbrDhBRcuIGACvf12igHAq3oW+AiChy8owQYn4BigHIcxjzDoaSqYgAUQEJ57OcQLkQBA1jyAgu8JcP8lNpBXHwYxCLZ5RHwL0kDqPJK+9DFgCGMgwiDyQAeRtUENZ/gCFqCAAOEhQAVUIAIVGNAywAVQgHDoghAcRYSTOW+BDeQSwHIwgZkgoDEqoJoX0hCJJiHgczbwoEpc4IMnnGEQj3hEIx6hCEXMQQ3bYSAUN6CqIKCPhepzQiL4MKMaBSIQffwDGC5gOcsRoGBVwdmMwhgGJfigBSdIn/Oehy8ucUlfMtGAn3yYr9kgoVPJ4hwL7hTGlFjBDQdDHBnMsAVcnecNKtDT+GQyS4LcMX1EyEIaErFLPpBBDws7zyHiUEAf9AxwLavKVHgArDAewg1hqEIJjiZJx1WyU7P/mYkGLDBEBuCLBNpMlxb9B4DrkPJwiAsEG/hAkF4B4g530IMRMjBLesrET+ezZRr2AIBd7lIOYUDlHMRgQKGM4AQJSMACcAaBEpzAnI1QRCMa8QZJOvFe1pxjEJBgAQAwpWUNcEBImZIDJ6AGFADIgDlTgjw/BsIMiYiEJIjCzkSQIQj1pCdT7hjEMfCzn3wAak//MFBHomAEI9iWCETwAYcCoF3mPERLeVBRBZowiiSQwhi84ACm8KdWC1gAAhpQtcyVAgBDUKRKW2ojEsSUKDLlBFwJUoYswHKWGtCmBVhIBJ/+lA9ykAgZCJKto95OZSpViR//8AYvULVxjaGk/wqC8BAAOKABBghAACDAADKQAQxsAEAaAAAKHCHWI3OYQx7yQIThjGGXcYUtXCVBEEk0kSkW4Gr6kMAHv/41IlH5yAhAsFQAfMC0KfnjH3iQhhg5Fl+m28Bk5ZAqEjjAkACAQCCKpzAjOOW4HonCF0AWh54hiSJpsEMiBPHWt8YVAJwAAB+8MAEEcNVJOeAlUKeLpCnkwARLCG6Vjlu45P4hEERwLDUlU5OIhJYBD8aZB1bQiOMBgAtyAIBZC+EC08bABkJ4ggoYkqQyZE4Od+GDbN0b2zEkLWcq0G9EypCVLAyBDHH47kfOMN44bEi1fyCCCi5QUe7QBzIqyEIOqP9AkEy1DAET2JpKAEGQk64CdCoFwYFScAIRS6ghXoDIdClS4hTHFRSyjUT1WEOAKQAWSVnQCoBSmmOCzC4GNxBCFLAghja0gQX5uiagtlKGXiUrcloMLVYY0ICpNKACAEhBSsyAGoLIgg2zM+fdTuAETlMBzlPwCBWSJBE7TNcLe2CvJHqVSR4aACJjgHNsZOMBOgPAqEflYAda8IIYsEAFQu4UwOoyBE6cWRJ7kAKMmCwRC4TVWx0QcEriIAVBeKQTpv2AgUwwHAB4mgqg9ogUpEAFMKchcxSRg0x7pUcNsCYAE5DCFLKQkK5Y77stKOxScceADpxgBRb79QrAvAf/XfKBtDLdw4kjsnAGRIoABLjAU1dibkGQNhKFM+cISlUCJ8R7ClXziRO6fZXp9jURcvDCmB6ORYPkIJMNGOJxbz1cpj6gAQdgwAos4Buo6DMR792nTBOR8IignAEQmMACAtAAlvmEDBEBRSlkkQdBmdNUT5gApwEwBa6zxAlYJMgUSlyGKezhr2UQE3c0G7AceGCzE1AdYvO91A5oykIbsIAKBq6VXO7BrfFV98nTQKGvNokATfVJILKwCPhyAhN6qHoYo3AGMIjY411nSdNEDgApaNELJfVCDpzGHZxByQMwh/IK6IDYmSvVBAsgE4NUgBonyMEOM87CGORgdgBE/wKD6t7DHnLAn5y1BvGJz4Egqg2KU+hhu2HsceXFzXXMI0bcYPZCf5EwBSmQQHAQyMAEGgBlKYHBJeZcwg8chYITvGoBDsgBmOWQezsEf7pScMLA1xkJO8hUEkOXg+IjgBIAg8QIhKeTg6gDhcgjJT/CCXmjvtsQt6waAyzyAiqQDaowAAgYPyiDgGVBrEPAgzPoAh2YAG/5jZKKCPuTiM8bjiwosZ/7PVXjA+EzgBIoAjy4DTpggyXLME4oBMRCHKMJE+6TArEQN84btzHAv9gYAu/THQYgvw8kiDYAizBimIi6A/ryAEopMdsjOhK7QCkYDohYJ4JIBODbA0DQQf/c6IIzSL5FGK3Hez4POoRJmAQycAK2cBqtS0KVmMAJpAsPQIKZIQEN9MAGSIDj6qMD8yGHSLiEs4OIIDGn0CoMZIgy4L1IQDVV0yMMyw4X4IHMyTA5VCl5UYNJO4q0iZyO+8OPCERxawgo6ZRXiRQoWwAJYERCeYMGUAHdC74w5J+nGMPh0D8AmK3As4NCOL/bMKgykMOrIQMmwIIwGgHd8AEz8IJDEYQcuAPBUkKWCER5Q4IMIAEPSDpvSTpd3MUaYS1NJLphlMcLfMFTwzBOTENVS7gpw44PGILeKwVQAAMRyLRt0SJubItBeAPWOsLNSwkyRAIp0IoJyAC3q4r/pDuAAWjHGmGfzLFErqtEeRyDJTMILZKD/evE/0sDMHgE3NgWHvirgISvgpSBMhAE31MSAMADTSAFHuCCQvxHWJQCKGEIKSA/pVuAAxCAAlCACJAACaAAcyKUPzADGbPEtfhHefQbL8A/JGgIcyMIO1gvPdKq7OAWQvtBMjCuMHrJNBAETmgPvgIAPGwE6SGpWMS/IZA3FUA6hVoAE2gBJSgRAKCAwjTMqDSeqXyDkJyIMeA0xpxHiHSCnjpDAMiCv/KCIDRLJ1iESJBGiQMflYmISIBLG0uJIggYV8RLj4MACKAKBBAlLGgDHyMUnzhMUeGQGuEByLwLreSfkZS1/3KLCDvQvTEIgjbsRwWRg4A8BXMCgRaYNE6Ayxx4g0NoRgAgg4BZTXHjNN2ZChOAAgCIAw7xiKmsEdukgArggA7oAAp4gMTYM5EBAwr0zfokxjjruIaACEHwgkWQy+wAARbQvVKQOhnooNDRjSVAOensRhn6CNUigz6MRU5DggYogiIAAzUAAA5gifMkiKkMCwl4AAUogAEQgBP1CVNRAh2YK/u0z6xwwuHIgTSIuoAUBEwgkNuhgs6UOjLgMAESgjC4A+U7FKdQrZRQrTfgAacZDllDAsIxkfP0UABgwJQ40StlCVzrgCVzUd+kC+4rxK7ggAviBAIthV6QhT7AuP/b8IEiEITllIXmFKAu8INHMAQ5eMu4TDwAUNIyGAIoMYIc/IgCKADwuVIUZYltCdDO69J5zIIp2Iop8goQoJliA4Ve6IVcAAU9uE7E+IMiMDepk4UCFKBJUAQzeMvSJINO/dA/qIBH+4g5cAMsEIIrMx6NxFKxUJkOYNRG3coskIIh0B9PMQEUMAEnIE1QyAVMzYXHY1WfUIRH6M9IkAVZ0EzwCYQ8kIRthEsVYIM6jBbEKFEAQCpDPVRETVQQQCCx81VLBFYkEL8nm4AKSIExKoILOgVZWFY0vQPsqBG3rDZZAAUsGMzQOYM4cArpXAQv+VCxUAAAGICIFYDbsFX/3DjXiQ0LRR2CkmpMyHyKMdOqiRScJ+uAeiUjNyCBbVyFXNhXSahSn6gROigCwAIAWUiFFxCgG9AB5QOFSFCSZ/WJiJVYFC1RoU2JuwGBAw1aE81VsSAVHpiss0oNkfSC7aOIrFAXpYO7F8CzKjAjPVwEqdvXZoW825iWHZW6UlAQ8EEBGViPQwEiZrqNob3SASjaiBWLFIiBJQgDn1AAEiVUjUwMvS0CbhM9j9WqPzWOITi6RBJPAHADNzgjRCCDMuCEfMXUTO3X25iDOCAC1ODP/wydD5hZUJhOHvgBKChYxFwJpj1XACDU2C1U3ECYhgEA9qyACBhR7IACMSAD/68ENY+diIYI2Ux6uBVAhIZxpi4gWDH4IVBIBZbFVFBYvcSYgzMwAShbsOPzmW2ZNNNdWHYJlYe1DJa42BON3b8NXCvBOPYkEB5EiIeoz6utWv0JgLjziCrwgfVjASpwhHwdWzqEzxOQD5GqANCUmG2ZMYXNgbWEWKVdiYv9W/UlUcGlMzowgoMAM98M2SyonMFZCR/IFhHIMh64oOgd2zvAMcRQghPgjwvJO+Nhqjc9FOYiiImNNrEQWiydYKYcVzr7I+xEiLlwVDgjAQKAAF/6iAjwCNfdFiUDBX1d1lyYrcQ4oAB4sI5ygA5A4GH5ACNYhDz1grI5KuwQWoklVP/And1aI4hAeKUw+TK6eFSuq560Mt9zdQC01VdmLQQHZokfQIEHCACc02J+62I8+QAeqLjpdAByNZEKFloK/mE29ojsbFLVDFYyeFmPiBiPuNgLOGHpzdSICwtHOQDAgeELaboEBoGqfK+FTQCMXQnWZQndVV8A6OGH9Rk2GZY7IAKZyQEe6KyyZQlC/YjzhWIpxlQMa9qPwAImEABxuRAMcYCySWDjGgOFNZ+U4OWwKExbBoAR/dv3NJ7qxZM0UhgCudg8FgQAZlbRamJpi4PMyhqC4CoHWGV3mVjL9dnHwZPDpAAJWM8OKIGCpmTjOV9Q5gQUZlYQJIg1pgMOERf/AxiiRmaKCIgBn1EAR8hTKrBmUTFM9ewAHuABFigBdjxow0FmLohiUa62lIBKCugQHmiNLOYqBmgCnxGBBEjVhXXoYVHP9Sxok85dNpbl2ygBWA2L83WA/hTbd2aJwjwAep6KnAkAoCUQFNAAZIVLEiBnieGAghbRChBoCSDRlD7qYTnfH+KElR3br04JqQaAzMqgAMjnYXEBDoAAtrAUpQbrCDhrCuCA3NXllPZkvDURur3SHOACsd3Xl55lDjiARcysA/BrUfGDAuSmU64Aw5SYETVaCSDrB1hjw3aXu2Xapl4Ed87UREBpj6AAP+IADkjPDeVQifGDCshiRgMA/wLrZlGh26ckawWwYNMWlQcY0cDFWyeAXlHOhcH+CAowsEA4hKhqqU02EYe6EAY4AAR4CVO9bYk51AIQaMI2bokpAdq25RJlbNbuhUWA1dqkbrCZ76iSGBBIKAvh7rlmgZZEDFpGjEMFANEW0dI+bxOZbYJObwqIgA2ggnbe40yVBNGOFgNDBOtWmAv3mROorwvhHEOyHCb2VIIIb584V+E26+I+cAJ51dkWavShguYe29mu8AxnI4W5cYlZxJCqLO8Oo/FWTwkA7AgWAKFlyhWf5cJ81SWvACXjhAh/b9sWaYKWqCqXGBG4kAm454aba6MNHQEn8Af4nok9USNXgP8HgEokj2uAZnAHX+0IzwX4Ys8XLwGTHhCfwS0tD6mYA4C0VukrlQAlUAIlCpWkAoGIZUqnrO0SX3E2t+UViPFqzdxcuAD1xF8AYIHBLkx3SYBpTjpECgA/D5vxZgImGHTQMXSN+wErUIM8gFX2nHM1P0wRPev2hnNTfAAKuHNM9wjolpipKKQub+ZRv1I0F/Q7IeGjagEhwII42K7kvXBYZ3TTPkzAJm4BUO1UgPNEWGOnVIkOmHbcAAFBzpqHy5pBHgCVqds/P1EhEHRCz7IYSIIviIPISxhoh/ZwP2jDtOUzXgEpaOlJX0SPKOyPMGgTOfSpLnd6VnEShtgzD+v/ElhT7DjUD2iBUh90crUBJgAAqvuIe8f35K2636bkwqT1uz3RH3JsTMX1gk+JCOgDPNHIA1BKA1DxlKiCPpgEUmhj7A6LM9a3G8D4HwCA8PSj5CUI6zaPDE/eiW9YNmbwv93hic3jy5WFzJUFOXhKA2/imy+QwCVUEBB7UfeIhSkw7EDusz6qo1KCJ1BdPjt6fE8uP2L6HIdZOgPtqZ/YFRAYKZaFRVgBDnD5lPD6YYFg9C6BDlDqGOCgFviCNsgDRNADNoJ284iqPjKP8zgP3AgF04Jk18VYEmhsgRUEmVEV8zWc70Hsf950AGjxXR+EZxJ0MUAEiGoYpL/9uT8P/4ShMNzwA9PS+0Odj+migiD4tQsYeILw42E55G9nAcXPDoAmiFf1iEkIhVH4hOqeBADQBIKo3XQGeUExD4SJKJ9XiTDoZHNS7HXHEAZgjAuIiQlYxIldfsMvi4oFAKJPcuxo/cQCiECH/uDxM2gSKVQASGnSRIlSI0SIFEk8NFFiI0UANnLs6BGAjxEfR5IsWVIAypQpCwAwgICBhQ0bVFxQAUAAgA8md5K04TEGz40UKOwcOnTknzlintxAseTKmYOoYr0aNUrTRopaKTZqFChoxxEgwJYsYLaAApMDVKYcoCBCApcONlyYqSKBgA86b5LtC+ALgFB9j3Y0SvhjnP8vSWKAADHChQslAPI0shor1saMiiIi6qrRLwgRfj2eRWs67cgBa1W6iCChAgEDDmLW3WDBwtiNOEebfLFxEsc/ow0b3dlCBHIRKFC4AJAkipg5ijSheqUQYtfsfkXn3Ou3tFkFaN+OLKB6dYEHEjh0OOAypm0HDRB0GHBzN++Sg0ZtRJQnf1/HIacXczEIAYAQNzgnBh6HWAIcKqOE8hAiepA1oF56deedSWdxlFZa6nFQQUcRAPCAeOG9xgEADhhwAAPyMQDTARY4cB+AQR2SI1kZZligEEkAYAMKBirBxBdduDFIKKNY19eAH2W4IYccDYAWACACwNJGFXTQwUf/FEgQwQMRVMABByW0FIBLMNl2wAQw4sijR5oA19+OdO7ko14tvPCCEEH+cMMNgSohRJFKhOFHnmBhyNNeU26JJWoeAlBBCR2UwGJhQ3XAAqg88CABAQQc4IAGMm2A6qoOqKZnR1ZgcUYcgUQE654++vkCUEkE+muCKLTQQgwK9iUpWBoCIGwLKLDEEmoPEAVAph1wKhQFabIgqqgRHMDmbDLVdAEJMbpqH64f3BDFF20AEAeuJvkIAq9/Furrrz+84EILLjQFpQhVBrgcwcJ6BCa1X17r6baimtEBBQ4EQEC4MtFEwgUMIIBuvAZyhIUV8ZKUIQjExgAUAIUCe8Ow//2i0JcPKSg7GkurfcBslhJwBKaaX1rLMA8sFBE0BxIcUGqNtI2rAgMGcIxrCwcCoAShIkupV8m8nnzynzYQ+kLLzfrlxxlVAGheSjvxDIDP1obKbQVDfWtqxRfU5cACBlidk2RQUI3y3hsR2NxGW3P9575h+xUKKqTcSfNGpZWk5kYl9Mze2w/HTYECAQSAgAOo2rhAA/MZAIbVH9gg9ZAvB05gCwDEYMMLPm2NOMFij3bII/ldOamlI1FOLQAssM1CQ1axYFgCnrtkAAEILLCA9KW+gUrv8Ua9kRI/xL43gcLeYPjtYLvO47SQj6cAajtZriaoyFs1SiB/2P8HBf/feh6bAc9DT8DrOPI38N3MYF/bGu3+9D0ACSdHXAIR+4SCsI+UIH6gSt4ovHK/+zVvf6X6XwAu8LrVQYEJPyCSyG4GAMj4ZiMK8gntbuCC8+Vng/fry/omxREKTJAk8augqLpiw/t5zoMfJMAdBJO67U3Ne/G6Wb98czKOvLBeNOTNBvNjoi0BQAKv+dTwTGI8agWtM/UbIhg6WMRS3SFwgpPM1MaXruU0p4UA8A2hbsArGyyQgTfsC/w2UjSFfWpbLAjjSHiwkaCVIBCIGKJw/pNGCyggiBsZBACOkDoSmhCFenpZ7HzjGxb6RI+0y40f7eeXoWiLBUQQ1SQe0Qj/SmhiFCZQpOVKwq0OWASSqswDMEmiBMCly0AlZALLgnKGBpJESECRIkf8VKw/LQdWquQNBxBhOR4UAQCqqA4AInSVRuyschwRVaYQccYhujEoH4DjAHfiBk/Q0xOHwCRHLAQHMQAACkmQY3MgEwNqXhF96SMLDxOGPAAoYhB4oMRGqDIKSlCEI7ncCAt4CQBItjNZnDxhQTsyCE8AgBWzcAUrSAoAiVQkEHlwVxQ4ApmN7AuV8TIMWAjzKY5I4AZJUIMiRjGVVwAAK404hEAU8ZCjbvSG1+wopIzJBKr1sSNdGGlJAYDSklqiPwBoFCLepQaO/ICmMyTc3ohTFPZ8/6lLY1LPRuKwIyXyxyuOnAgA6gdV3uhFCSWMp0fEcAiVsqKwn2DFZ8LaEaRaBAAW4sg/XRCDkFpNrWGalhdHVIEKSIACmwUAE57QhTBsRCEMecRA/rhXv6hOCCUEqUfOYAnCeqKrnsheR1rawIpsRA9twIIJV9spnALgKBSIgAIecKnNbpYoykUZE8QwiEyE8yqPUKxwjyVVqnakDbPdSEoRQc+ucmRHvM0iRgBAzjzMAQvZHQlxyCQe9il3s15EEYq25AJASaYPpX0va9/5VzluBA7fLaknFEHPT3yEpV9pqv0sYolMJFidADbJb4VQAAGEh30exu9GxENTyl44V/8fFQIcD5zSR1BYpdhdKUvzdL9AUKSensiEJRpV4o4k4QUg0AuHkytk5So3S6dhicB2LC+pWuELZ/gqbTPRYq82uCIzPoQiFIFbG2fiEUpUsuAGRzsXcuQBpoEWl3IC5lwpIQpdiEMeFKFikj7ixlm582f6Y+VAOHIzuOWIJ0KhilewYs1hJtBH9Cji8KSZI30ydEf0cgMr5AEilMjeJ0g6W0+Qk6EM/UyWORLjPmvnI7OIxSwMsYSqlthHPvHInyKH5pEleccpYMIciuoQ6gLAE5/Y9HXV6xnPNBjGGil1R1TxC1UA4A1L6AGkf5TofwFgWBGE9E6E0AVyXgUivQb/QCYUTFKWkjsrieVIlo+dEY+04iNNIDGAH63HeSvIdaFkdUfaAuYvxGGW3W4Egz8hZzt7hKXmDmtY0y3sriQbALOwhLM50oNaX1iFHtFjNPvVAmR5BCVowdSFzzCHP/i7IZdWRCtuS94qK1YjCA+1sLW8kyZsxKZg1surjfU1ewsLBXzKtwDcEoEKbuq9dIgwJa4y0b5IhKHkxHKenR6UJjShBz1IQbRRUNatA2BQvul5z39+nyBra1MHhepAvjpLb4s6rGuHSJ7JfWy8qtfpj5s51al+9Zvf7Ad+/7vfjQXKYQlONyi50tAPOaLDQHUSjbjuISIPVro/pPKdlvun/ydCzs10mix5z/vVUcCd7Eo78IMalAx/rDigo6XsHCiOcF/xignJ0uXp7UjlHwJjvG6mourdTEd08QnSTv3zVd876aGYx3m/QI/8Yg6/+hj0AiR+U5s7ezsHMYtgfIScnfdI7m/FeYZiBPgb8QVRNwJtNqwBdXg3fuhH386b1a75iLO/AlcImSsqgAOg+hnjQdUSdEKhvQJmMJtDmET4hVp2pFsjTAKDAYAucMQasMEbXOAbsAH7bYQmlYTxHR/WdRRziNK+sJAeJU6/zJTwLN57pYAFEkIYGIJf5J66dYVEKBUAtNtG3AEGckQGaiAQth9PfGDVhWDg7NeY7ZcUOf9fy+yfSIFZE2AgITBByHwZT1QeRzBcljVCK6iCL8QCKzACIbyBR/wgAADhBbKf+5kEEcafXqTADWBBHOQaAIhBGFTBEjRBs8iflIxgKd1f1fgG4amgobXAGjTbBS4BHJFF7mWGLDXdLABAMMxCJxDCSJDhRmjgGWpgGq7BIb7f51mdEYqagxiCIdxBFbCBD7xbSXyAn5RSygyJ/clQE7rAKCpZE1giIrKBsfTFIyxVdkiEFY6ELo6EJm4iEKohKPaAZD0BANCBQLRdIFiCIfjBHbBBHh6B6HkEFM1iLLqQAvHLChHTjqGALhICIawBzXEE65BEAobfLCHC40zgR4z/YbOZxDGiYQYKoQfqYQwowZvlwR88WNuJFzX2QRhgYxE62rC4QAyFjZ8wYUO2447VACMAACOIITouAVlgRlFBlKU1wjDeQTFyREnuRD5y4j6uIUfoXQyUVRscXTQWHCKQV22dYhjkYQ/UgM+54vcoTsso0LD8o6H1gCmYAiZgpBgeQVkhCFjwRwZxYUf8wke8wRjqIiaOhj5q4CceAdU55EaM3EAWnJ5FnSeYYk4egdX1wGTtXzUBZey0wA0445qJwEUCgClwBArYEev4HfcwQUd8YYS0QiRyRCeQpA9epVXqSTIGIdUBxRfMgUDOJJWZV016hCcMgiGEwRYsgVc2/8ERiA0obUT0xY4LCIF/rdnNZOVFAoXXcN2vfAQWHMIoXMZHdNVJLqbVNKYqatsc6AGfEWRlZt7K9dp4AQBOKmTVjURDTk1x3lwNEAImoEDO/V0deY3K/EoSPIEV4EEr+AL3dUQxWqVubkRW4goQAoAc8oRFJBzMbYSN1RM13kFC5mHV9ZFk/YAbDKOhnU8v+l2xyGIM/cAS3MASsMFHKANH3KV4mud5MqYF+gBPKFZ7OuCfLRgruIKGotR8bgEbfGYNbIRcgptCYNtOAGgv0lQuekQwEIOCAoAvuEJHYOJVIuKDAggnIihYyN0Wfl9JaWihMVhhpZQpouKHgtIN9P/BqaFC1JnoRwBo/REKCkjoSXKEL3AEVXoEOtroBdIJJy4BP60USVBo0zmgjxYan0VecFpCK7TCbFXjHSyBQx5ILPhCK3zCi5UYvj3pD+xXyvDLG2TkRgRDeJ6UN9EjAPxCJCZlRmokl+KoBTJCTBFk04laed1gj/qoPQUnpwaCHihCSo2XIXyBFfTBd77CjSECUq1ZipKE30lWDLQARwJAUnJfeMqoKxjqSBylUqKjJWJgl/IEgg7rBRLf92WZYpGpe6oboNWWQKipQPBZXgFAptVTsDncJKwqp14YDQ2KSQSeXLJBDKzjRkzgLERiYabrlXJEJJoCI2BCo6IjsN7/aEccIyIyQhvcFbpphZiuVIWa6ZbZU+R9leQVrIPU0yd8An8g5xUAhmQCp7S2YNd5BEV6BOodZaFRhQRuBLo6XK7KKEe0aDCsK17CK7z66ryiZKAagnBwXnZ436cl1kRkKmbuiMHe7MEmrGAQlQ3E6g8wQReoAR3kQcQK14h660YEiqsSygj0wC0EgzMow7mSFD12bGFuRCs0AinUKfrRYyfA67tqpLz24CUSgilqnmcoXGbEXbq5bEfQ00fgbM4K2ka4QQ80Cx39ABRsBB28F4c0JYJULOrFjhKEAjEM6i8o6my5gi5M4AQyLqe1gi4k7i8Qqi/4gioUGl7SatiK/23K+mAnGALvjYRGlC6yzqyw9Y4lTBg9ZQJByu3BatVGZIKcFgyzxMBzhOlqfYAdAe7S2pHsKVgkUq6i1hbjNq7wNS5VEm+LEgNVsEInfG1egm1GoizZMsJsNelXfcQW2p7LypmDHCzcEqzcklQo/EIsqEIfPJ/tLgfhvVfsHIhfOuU3dl2rxoI6/cFIecIEEq8uWEKh/cLkYmniJirl1ql1GEInvCsmmGz1ouxGEGArCOeYou1K1aAihG+OtZizqurN8hopoB/tzlD7VlM1kR5a+eUPCEFTBgrSbsQr4NYG8W//Em+ifgTlGnDS1WksoIIn3EFGTm/nEkJGdoIntB+pwVUw2nLGwn1GjtkWlxnsgSVqD7sB+5bwssAbWQQEACH5BAUGAAAALFUAHgC6ANIAAAj/AAEIHEiwoMGDCBMqXCgwgRErDCNKnEixosWLGDNaDGBEo8ePIEOKHJmQQEeSKFOqXDnSYRSWMGPKnDnQQQcsNHPq3Jmxg4knPIMKHVqww02iSJPSZHFUqdOnJJnihEq1KkYZCbZY3cqVoZEEXcOKJfh1rNmuJ8+qXcu2rdu3aq1AxCgXrt27CV/ifdtlr9OpW7/4LZLGjKRCkiSRSVTCiF6dQJFesQn4Lpk0i0CVAsVp0SIVE3jM9UuR6WO4YCJx0rwZFOchEIbwIG3RNN7VpTbrdp1DipMiV2hP7GKCRWW3ZHJrXt6aChUpQYSXBnuXUykA17NjB/Wcigqt0iMm/yAAxS6g5ZwECSrEfAgALk6uBA+/0AEBu1dcb3ZOxI2k5e45BwYWgtGH0BfjpdVWIdstQgUXMkDx32bvOVfEE/OZdYYaYgCAiSQeYgIKJqZgsgomKJaCCSBLVEEQFvZ1oIRbYCwHihdeEBFGFOdtZgaOXpDBhFlMQPHMM/EkKc888sgDAJNLLjlPPO2ws44tW4wGx3gmnOHWhKAskkYZYFwBBXs+ljEmER2GBYUVzLQzTz301OOOPXfWU489ArlTTzzrrIMOOueg8wNBTzgAQAIZqlXjZpyUoaYYGxaiGyBqqimWEqXo6c6d9oQqqj33iDqPlYSWAwAkJHjQahAlXP8AAQQLXDAHWyBulsauRsQghBKPgpKIpLuK9QU4TSabLABOxsMss4OawwsvJBjkAQQIGCAQAiaspcMigkQiiKR8dNjFFWREoi4ZZQBQRg5hdREFOAC0U++99ubbzr7tyFONBxMELPCsEwzUAAANNHBfQkHg4DAXZ7RJ0y235EIxxUwEIcfGVEhaBpAPbixIGl5IykUYXX1xrEH24utyOgsAsMDMMctswAIJ57yAAd+AY83PzAQdNAYC4QCL0M9Mw8wzQQ8zzMUV39KL1FBTvMotmFRhRYEDYfIMOPPUaY+eerZjDja4CCJHGh0DCbIcan9cMhUoSzwUFlh0QWkbcQD/EMcc7AAQ+OCCFx64QPzSAkFBDex8MM0IIBDALt2EY3k45GBezi5FX1LO5+aUY87oxRRTDTbYaJO6Ntp44/o3rrveujeDoiMoOaLHs+eoo8Yj7cZytI2j3DgCD8DwXhxx9xNKCHGDLZvYwgssldQxxBCRCLQOO1V2z/2+3H8/zzoyI7CA+THjLFAAAdxsgAEexB8/EB7kMIQKGISg/wpA9O8/AxAIGMAykAENGLCA8tOABzIAMIBNYFbVOEc74rGk3d3jghi0xzU2AYCNlQF4a9uVpOTQQRK6yws84NpMrKC3iDHjGNLYBSzQgAZtrY8AlQBAoLiXjnakYx5ADCIQ/wUyD3Tw4mADmVkACDKzx7nKA2hQAQDQUIc69A8NIeifB0KQgYAxUH7xa5UYn9gqMDpwVtToF6jcYRBR1QMaTgCe3ATChTrWUY5cgBsVCiOTvO1tDkurxi5kCAQCGNIAhkwkNgIlJ3oEUVnJCmI92rEObBwDGaUrBi8qUQlRdLISkBCFQERBSkjUQQUkMID+QgCAEMQvBAgomBkBUK1a0vKWAgGjwBagDXnQY1T3OMgF0QEAtZUQeGoDIQk35sprqUAQXIgGOMARtFuswgcfSYIQbMBNbq6CGegQ5CUuIQouYCB953ufAbxRjzl5yk6f8lM9ALC7UGGwVBm8Z6kAwP8nDL7DHv/knajuRA96pGOaPQOHOKYpjoaK4xvHiAYMjzHRYpDyGMUAFakAEEx+DsRPBW3HNQCQBpGZ9KTJ7ODOMsAFApAgGuygoBBDNY5tbGMarLiFGFRoECvgDQtReEISmuc1dNRDHsugXi1skQpH0AydCwCHPQXKO37eAx/5yGpW8cHVrnrVqwDAB0HAGtau5iOY+eBqWtV6Va1y9R33gCtV8anPC3I0VO1cUjy44a5kKtN4IFSbCgwwAS8EoBIxBWKdQHVBe/CjH/3wRz/GcQsA3KAgcfgbHegwhznEYRrTUEeo3lGPZFwUFySDzQQYsFrzgSOfddUnVrN6D2f/ycNZCEkHAHSbDgo6SR1ABC5wnyRQDH5VrGXlaGP7ecHjHre5jS1VO4ABhOtxYQh1TANJO0jStW2spCG42RACoI14zONOGuXdBfPBj3zgqSAEOkMb4HALZ2yjHwC9qz2KYQtc5AAIDmjABAy4gQJbwAHfiK2C1ZrWZx1VIOyIsIQnTOEKW9jC/MrwBPmFjnkIhE/ODTE+9GmPcIRgAQR4auNOfOJznngBLDbkYY8Rj19SVb3Rtcc09OIrJnSBGdPwhz/48Y4ic/Ue2hiGI0JwYA1swAJPdoADskWLqzb3yFf2alrv8acgPkl7Fw6zmMds4XWUg5gD0aqa3arm49ID/xgzS/FT50znnRnyGKTKc6luPDZ72skezHgJgdQQB2a8gx+IXuuRwXEMR6gTAARo3wEYwIADRLpfURJiEB0ZNgD4iZ9ScpI8Wka+7W1vwqYms6qtZKVSAwBz/ESuQdZMa62yQxQ3SzEAtOWACfTaAl18IK1mhkhRkIrEdP0wSBW7DjkNQwx9KVIk4qGOalc7HecInUWJ4BwpHACR7AMAAwwguTpIadMFTTenJfneZdWr1YEqdbznTW8d2lveqc43q+mNDstdwx6yvkg+shFeA7SPAQ6wgMILTAISFHgDXZQZpL/xVX3u47EXx8eUkoSOa1yjGpgQSAxGPgx7CREc0f/AxQqIALdIgOh4UzYfwhlAAF5oOmzqznlB9zTPJOHWXrUblKCIOSh29PDog4O37QK1dHo73XboKAc3LNckdP/Zns1FiD2oYUgEUDrhTi6wBhQOZRU8eQI1U2vFr9oPePzj7ZK9hzzY4Q1oYIMaLgKAEJjwhGH8EIjR4MOutCsHPgAgMZKIRCL4kAgiTMACDNAACcB2c53r3B4eppK9uCeQc5wDAJ4HPaHO0TMAUN7DX/6Upz/NpKEH/fWEykY2rtFhnKsbAJZXt56CCIwAEMAABwCAlB1QaUWRXQNSLhgCAFAJfdQ6q/vwx9unDw9/CAQd0sjGMS4LgBb6HYi12NX/xuwgEDvIQV2KV/we+MCHFUg+B38XokF0zs95ZPhw68i2/vU/ujqcb2YEoS0x00nMR0qiIA7t4HkKSCij53nlAA3XkA2NlHsUiHsFhXuwQAAIkEiR5nuI9HsIEHzCxwABoDDg8A764Hy0NmL8IGSSxQ/7UCrpUA7agAlLMBAx8AKOICe4kCljMAaaYn5pkAhEmAiCYHiJAAoJxwUCQQ8KUXlHVSURBmHkMzpWODrnAA0IUxDpBADLJxAodjMycwwAgIXmoIBnmG3YAA3UQA5LQoFwmHOicC0Q4GRSQAVZkAUr0ADsEwDEtwCUFgAb+A36UBAp2GZXhVX74Hz38A3U/3ANcFAQMQAI7BANRFAGY5CHWSAQXiAH5ucFgrB4fLAHcjAGkhAEHiAKQHRuN/dlqGeB8RBh8QYAthM6oDM6ooMGGDEz63CFvhg6ANAM0FB7cViM9CAKqJQF6ycQLqd4iRAEhgQw2YIwDNAvPwRMGERrzmcP3iAMxnAMeqAHAIAIABAFXwAG6IALY+AFWSAFU5AFSOAExwMAdvCDe2B+diB+fKACvJAkAOBzAKkkykJE9ud6n1co5/A5Cvk51LB8NUMQjxMzSIQwSNQAyxB1triQ5RAOybAM0LAON6dYxphu9WA/WYCJQLgxApEYigcAARACJACIE6CKtqdzdAJP9v9AD3PnDckgDMvAIKORN18gDUTAjlKQA05ABUiQA5voBSW1ieQnEJgoByrQDOCjYViZLwKRJOwwelZYDglZDuQwlmSpizljQ++TMDdjPghjPuiTMMUAABr5OQCQDd54DewQknqpaTkXDUxJQuS3MXxQBlngBYeneFRwH6s1kzUJh3TiSOjQDLQADLhwEC3wAjygiVkwBEiQBVMwBFIAAFkwBqlFEJLiBBtwkVDHdE6Xat9DSVZ4DcIgDHVAKzlTRVWURA+ZEDlDkTkTdRoJAORwDbsgDNjADpm2l8o5D7WwNsckB6QYnXsgj0W4AktEacfQmMUYD+GwC5UADJtwKAX/cZks8I6bOAXy6Jmb6QSbmAabaJpjsAIMsAAZYABWREVVBAy8AAwAcDrT9J/eUDr+twCVQAvLIA3UIA0KKg2lMy3Tw0mmJBAnxkS7CZGQoEn6KQzUkKDCAAu7wA3rAJCQNKJQUnVLEn7lV1Jj4onQuTF78EGMtwepBAENkJ0jeYGfVweXAAxx4CUFwQRYQATvCABIMBCamANMSZpjQAXwiQS0IA3LUAxR2qG0AAuigAb9Y0Vk8AI3kAQmAAF1QAu0QA0CMXUCYTmvdjlqiqZrajmos6AMiqHTAgt1AAmgVAcekDNAAAvYgA5ZmZUB6XPRMCbuso5uMzwgBADrN5g0/2cA4mB56JZzAIANlQAEl4AL4mgQajAHRCCaSACaBLGJSDCkJFMQZcCkqbM6rMM63NA63cAN3dAN3gAA3pA52iB7uJoN3CCWl/NqadqmwMqmvhoOw5o5l2Os13AJWHoNhRJvrHZhWBkNmCgpQFKYbnM8HySY9+gFKuB737Cc6EaL1IUBsBByB2EDP8AD7EmkU1AQWcCko+kupvkxtfCI1eBx+HoN2KCv+oo62AAA2hAO3JAN/+qvqDMQ3VAQxHqmwxqsavqrwPpq2QAMl9AAaMALpbOqq0o7ULeaS/cNXvCDhuoFUtCZQPKOODIGHZQG9Xg9G+hbycmKQsSdQBAAaP8gCkmQEClgAkOgiQahme1pmB6DiU4ADNAApwm6oUq7ofdaDZN6d5NaELJ3sNlQl2XKV7EaqwCQsMPatd7gsAsbDnaprDREQzPDADmTtreJm3WQAyFrmDiymRnAlF7gBCpAtyEbQnaLBBMQAPtCJYArolHSJOdACwSAAZVABpY1JAYRAycAmqLqrp45qiQ1tCjpBKIgDATRDJzbudAADcL4uQDwiKNLENfAhlrYDAMhjAKBoEo7Uh53rx6HDbKnDdxwu7ebtbobDpWTDc0wTtDgqrq7oZ0bpcUgprsgpnVwqHF7lE6AI0hAAjkwBUDyQSxLpDkQAKc2YVipeexQDRj/QABosAkuAAA5exBiEAc50JnX065GCo8qwJ6YyKQqezxegARoIAzIsL/IkAz++78AnAwAsAwAALoCAbvUILreaAwM3MAM3L8B3JGdG7oLurSP+Ij5eg2/ewnGcA0aa7us4w2uCqvcIMKxugnXKgXWaq3syJ6HKkJLOQRoYA4MWChChw7wZiXlwJ8YIEoAwFMFoQZFAJq+8bNO4ATtioftSBD3Cwmzyb9QHMVRzLkFrIWlC7o9aQwL7I1crMVe3MUL7MUNvL8AvAxmvAzNsAzJME5Gm6/7yq8GG8fNcKhOQAI9y7zVaq0e86kqgAa4gzsLSQ5Y6Hmjgw0hgAFoQAiB/8AQP6AEnCkQ7wnJeTgFUhCaU3DJTCwFkAAMYyzFnty/rOuRA5HAzdDAYPzFqHzKqpzKDDybmnsJsIAMcOq6Fry01UANm0C9QGK3OUAFeMyOKnDHJfMxOUACaFCrZJnMfwzI3sA5hzcIAOCjCjECLDAE7JmHKqyJlSwQR0zJbsuJXpADYfzJn4zGBWzGA/G5y3DKrLzK7tzOswkLbHzGEyyMofu5+AwNLNy8+3yoUuAq1iqyJJABaBCwX6ummTOW4jCWzQAEACAKdPAHbSARNzDEKowEKjDJlXzERwwASOwERWq/SCAKyODAxkDOUUzAqrvS9qy6rfzS7xzT7QwAs/+5C8q6Cycdwf5rxh3ZkctQC778y7+cBUcMJD/oBV0EBKnTqrbbDdqgu7IDC0BQBxdxBpwJjz1byaHJ0R4tEKEZmnGrAg0MAA6M0mRMwGccjMGYxmIs027dzlrcoePkjTqt08iwCf0s1HqNIxnQAECQwfsa2PuqOslAQ5twA8fBEIFABtZ8ydvMzfI4EPIoBSqwyxawB7WAC7sADMAwm538yQIc2j6d1lsM128d08Jg02iA03UdwbwAty2sy3uNx3yLAECgoEmb20y7ocrqw2fQNxKRBwCgCIpLyb7B0R09EPFYyaAZcZeVs1BgBGRABmOwCbWQ2d6IDADgyQC83cD/4J2iAAvIy9mu7Mqmfd5grLlocAnZ3dr/CwlB0K5eMAUq4AFSoNdTgKSyjSM50DgmMMFo7Lmduws3u1NAzBAz0hcAEJoezdUFsdygIW4dcBARU44uIgQCMd1kED220OGbgAb/dQEaIBAFBCtBcOInngNcsAmbUAebQEqZjQu4QN7l7dkxraywoL/u7b/BvOCFOQS9oddZ0Cor7JmhAQaAAME6rcZyTQgAgAWMexE8sL6SfRBIEI8YPeKUpgMIsVl94yUFIhhW8Nt5cAdQZhBDsAIAEB0CEQRjEIp8sJnuCQNQ8AWbegiP8AiMUAiAAAjVbQcwft2bLQydDQDjVJxK/67TvHC31rzNeX2o8Pi87JiHOXABtiAM3LDjySDPhTDRM4IR5ZEWDi4QVx69E9BwkEdpKrAE0BwRXZB3ACAXZoAEG3AQKxAdKA6KxSQQGZ0DJUAQSrAFZ+AGbhAGVfADNxADLpACIwACIyACIAACImACRVAEOlqcrY0MdbACSMrNlfzo9us2mugEDYC73NAMiR7AwnAJjBCJn+4Rb0AQkU2kV17MALAB1bIBDKDmUmQRI5ACRRA8FkAQIy4Qag4AK+AFhicQpOgFi3MBKUAQBTIJk/AIgRCJXxAFSnADLtACHh8DNyAESRAFYAAJ2G7XkMDtSOoeHu2OTQnbzCuaU/+QAcvwqrfr3h26B3DgBiHxB38AALPB8qU+BA0nEPgeBFK0AiqwAiQAHooQER8Q9ZxAUgUzEBZAAkvvACug9IwnCIpaimNAAiNevgXx9AehCIdwK9AmlMM+B3pACJjQ4TJ+DLhA98Vwtyu/8i1/h/ZL7yysiUMAC9Vwq9BgC7WQ7v/rLgo+EoHw8wDAmfVe9Ea/AVuf9EuvAlze6goR9R9gBunBpDWxAWPHWpDXAFLAfntwQtHrAReQEWrQfQBQBXrTBnlwCIqgCI2ACLqf+2+g8kj6+9ez9/AKGpKuzRDg4ScAAyIgAsIQwdptBzkL3CNBBwBABiuPSgVRYEtfMEr/r/QqcAKJbRAoMAInkB6RUKSK8nghSwUr0EW/J5ok9DEDUTB2gxEefxCbigiPMAlEgPcAkUPgwBxDhgAAIGVKlilDpnjxkkWihyJr2IBZ0kTID2DJkH1EZgzAmCQA4ihCmFLlSpYtW5Yg0XIDABU0Z6pUkcdlSiU+YkgCIGgRFYQOqJQBgBSAlyELEBCYMKaMF4Q5AEDYmVXrShcxhDwJQ0QFQbICDyJUmGWpxCxDICCBO0QFiQlkagETJgwYrk1RrCBEuVWwyyhJNMgEQELFCpYrjBxaCRnwoUBkJMmJJIdIAwspkSods6IBgQAqnDhBYtUDCxSDXbf02oVmWdpn/6U4ocJ2CgCnBhZY0LBgAYk8f/LkwUMnjhoAYV4/V9mmCGKaQ6hsWFGTcU2XgQLlmcNJkFAqFyw4kJJyDJE0Uol4MEDAgFXVE1C0hv46xpIubTbEpK02hJyQQqIMsGKAgQmGCMKBADJgQ49DEFHkkDjEYOIHG/KD7o8iuEvpppmCwG4lI1r6Y442zjAjkjIyM4EAABigqozQNAhiDKmCWACCACao74IROHyNCTHwMOKmsQIsawgkCMyBAQ02sCCDHF500AAyAqHQQgCYIJLDPzQ4LESENliMBMaCAGAFNyNcacUvdOAkjUgEIYI3BAwgqgwiJpiRijTaQ2ABAyAgwf+DCRoA4IMwB3MjEEU6u4kEJskySK4GHCDhPymokKMUJAIgwIjA5hADgBsehS6QIjoLsVMSLqApJjYZaxMAOFI6A4sMExFEjkXKOAGACKpKyoscDJiAzTwNeGqCDBYtgVXBznADDjaImum/mS41SyAIFvhPMSrGSGOVRQIIIIhGrH1UkWpj/e+CxRjDFVcAoMACAF81LMLFzBgToQMEeBsDgDS8CIJNhQEwwADeFr2gkUDg3YkJITYugc1uAfAWgACHGMiCQklAWQUvyigjlUjYjQnjMGXIoUxvZ0VoDO5WCAJXFpjA4osusHgis0UWQaJYhAxdgAGl0lAqT4hnbID/VoQQkZklF1JA4QQRQQY7ZCYzcIoBlBVzYuVSSiENAhnOGCRr6GJgQURZL1AMXzdTupUDMOKIo8U0HJGDh5RiMLgBBEhIWGH2aJIYIavlZqmF+0bgoNOwNy+XNgAsYKDps8cqw85SFggAgekon5uDw27GG+QNsHN4XoQOKOINo+VIAwA12hAjVRMCGG0CL9hjGYAAImfdJRRGGMFrlD+mPsSaBtLAggkQQMDss0mgIgcnBFmBAAJWb34wPNzQgdKYcEZIg5gRqj2lFRYRlgo4UxpkEB6YJ0CCJkCAg8kofSuxHPRKkINOVY96s0vMWDJgAe1xj4AgI4H8JhiEIRyA/wAsAIBkDhiZQIBBD1gDgCKK8D6X3MR2AGhYEBhwljxdjCUmkBjzEHLBEapkCTZwQQucEAQVQNCBs+tWp7xAFwcw4CkBWIADpmQBxahADnJYAAE80MOVeOcPYHCEJMwQBu8EQl8soRIMV9IwIniBDykhAwpZcoIERExG0GoAC1bFxQr9AQ6GK2IDOSe7mwUhDVQAHQNIswCyOTED5/ICKDghrRdy8Q9/8EIkAACUSCSCDHcoQpnQqAFcdSyGRCgDH/iQCFbK4Q54YAkIEGKCE0igAyaQAABkyUUAlBERLJiLt444OzWhZlBjIIHJljctDxCBCDwwQ1AiIYvwmYCXCP+5JBkSEQmgbJITm0wEFQQZog0cBldsdOMbWZkIVSqlJSCA5y6vic1L/uENZxPmIImpAkMOKg2FitgEPECBQUiqQkNIgxxkwQkyzBMAlxTfJlUiiW9ysgwqKCISs3eTIKBSnetUJe/Q51Ct1DMPYsGbMB9ISBJkwZ9jEI5vJgCBQxxCERWCA3vkwAlZJAKe14zDG5AwFaixs6LfRAhFAWCHFeSAghSEIZs+ys6QDioLPyBpSevJBqrIColfRWIDkeDPMgShAYZCwASKgLVHKAIPYeAB1Hi6CIdioQhDHVTp7GAHACRCqUk96h7KsL3zODEHIOXDFY85hCK4IatZqaf/EawyPbB+FWUXWIE/07AZQwUAAjxgDgA0cQg3VIEHXtjpQnVwzRa4oFpSSE9S0sDXMVCFD5KgaG5VUoYNTCB1CMiBKhPLu9pmAQlEkONjVwK4OeShWjerLBL5mQMvQG1Q23sKAS7ggpT4oaZvHcIiOLE2MKBAngcEAQo8ANvdMGQpY7iijaRy29wiVRKRIEGP4pMF3tmhPRCRwhDmp9zWxgAAJigBFkwAAeCENbrlCkJ1j8kAACyKeCoJAx4eMYlJPGIIchBEKWRRCCXwMgUnsMoUFuLelGQBXXx92B66idtI4Hd78ildbQEMFxWAwTuP/cAHRDCCEiRIAhOYHZke/2xZIJVhCBQGAAIgYL4TpGAljajQIchwRVDIYhXXtIEOxJcWFq8kC2WQgx3kMBU50LiTe9AABAzwoDFQwQtSgAsDMwAGnZA0yH8uwaIQYIEVaHTJSLyxfOSzp4h1wMorUUQZyTAoUIDiFIDp4RmCgISEEKXMKYEtp10826WsMxF7GAPZzIeWPGtgpib0858/wAIPNIABFiDRocPaqRxwr1CMJgAEqtydQOiBDWUQRKVXcQcRpg9wRHACQoiym5Y4QSDRTgrvprCHU6chCx44kGdzwGMPQGACE4D1PGX9AR5ooAGbskA5l2ypIfAXAEPggwpkdMc8ooC7xA7EH8Y33v8RH6LP6StOBlRCBWq3BAlDwDZC2jPWqRREBQOcDwMB0IBzA2qeI4inCETAAwtAQEpPrayapiCHPahyD3LIwjrNwIMiFKEJvtJKwC85hPGIGBN6GGE9Fd5eADRcMCvLghNIlhAVYCUx5VbQuTkQh2sqQQg+sZwJPNC0WzuAgvJrahpaLtyQ2mEINOZDGr4DgDlsZQ50OM4fyMCHEFeal4GAwBAUUnSjb0UKLLs2FZxAggZE7CoVPjcEdBDaHm74EHg4Qxd4UHh4L2gIqCW7cAWhSoVRhRP3fTkggO4aOACuCGheWyqu+QYiGORJCXmNi28zhYc3fU8c73gDEjBP71D/6BF3mLIB4LJ54tPd+Ino3cpYzkoZdzKxvQNAcrMSgx8wQQdUWduyuXgGPKRBCl7gtFVek54l1j6/hu/4AnZ/zXrWswQGWK8djL95VSbCxTbyAmrOvMpEpDkRQQk9G9oKEBgBFGiBFpCCRQAFEQMExjugHzADpIiERVABIrCKiMsK8huLuag1aEm8BeiAVKE6S2q/IliAqJA/lwMAF4MIqYCaqUACO0sosRsD/nu+5wgyESACoSgFUCCDF+AiEFgZALiTIWCDO2CTaIstloCtosuCyQK3LKowOTsACcgl9mu/CViAv5uKhGkciUuK2poCpYO4KYAv+ZOD/xOElyuE/9f4Mx64oh4EBfw4oA+QATTjhEhIgxzog0wYhU07DQwEtWhbiGgDtwkIKAi4gPUDAApwxB5qvz9gAwQ4CCdImN6BvqXwgilowtt4OCT4voRCNRu8IkBwjT9jAdQrBdXrIXZLKE4YCql5BADIE047C5WQghxQgYU4iHMbjUMxgTh4uz9YCUc0xkfEmEj0EA94iNLJmYiArWiMRgCItocjkDNMO1ZawzQgAyYwMMEIshPwAgUUsSL4t/RBgQgkwkUYgjtQiT+oCYMQRAB4uBW8uJmSDwiwppWop6w4Rg7gADGJRCLIAqqARk+UxoSELTJ8kqNguRpkJT54uW4cjD9zgv+jEbEfHCEDSxhYzIE3GD2EmI7TcAmFmAJzgxgE8Ju224lLcg0FKIACGIy3iztJRIKCpIJotDYVAEWFnEbUeBJLXCo+GANtfDk5iJutkLUdDDFZIIMSOyAwCBYilIMcgKWUcElqXEK00MneUB1FqACWMEaWaL/BEACtiIIvaANhnAMWuElO1EmS6UmfXMiH07ujkD+IZKfQE4whCTI4lIMuK4URwgNDCIo8PJ6kXAkycBICkcbTQIJx4QAe6ALHAoASKIGAbImxVImwZJUUaAGveAIs0Du4fEzHpMuEOA0neRKpkAM+KANthE0wuMqtiAEXSMVQkQVWTJ9J6D8AgMX/ISADOkCRN+ABuAhEoESfGIgBBehMmQkyrQgy6AHNE4A4usTOhFxNiDsX+SsDbju1MXQNN/iCJxhHnpIFMPCD9AkESegdWFSB/WGJQKAADigIs1jElfgAFJBJBXBOjBGAAFXKDyjAFjCBMcvOhEyI04QLUFQ+VNsDqEGCV3KNDrvIRdjNQpjF5tmCKwJOQcgBYuTHlniAyZHJAThLABiAmIzJ/8QYR8kKISvQH+ABJ0lQaVxQ7VS6hpQKGxmCMnCC4XyN4iCCRRAEWZCFbmqeOzgaIjweAXyo/BgA/6TSmEyJAugKIoHRrCBAAxQCuxq3G01Q1CCZ68yNJyyDRSCD/4PbijygAzowgitCUqRiHSVIKOCMhBwgA5bMyucIUP8sAECVSQFNiRawgSVwQ9d4gST4gjhggzAVU58MxNTAqHFzgvZYmzwtjsEgzj9CrVOQBVBQGspJxzSQpEXIATBICTZ1jQAVgECFVStliRVFiEEIBU0IhaygQ8Ewkjl4uzA9jUhdyNWsmSAgg9wpAiqIhPHqwRGD0q34giSwihornOZpDaTwSCFACAekA5bcClcVAP8EgJgcAMEAyBRqBA5TiSp4jjOgSbnjMdMQVtRQgQZYgV0BANk4Aw8QrwUshVzgBFbVCii4AacTiH2kHBkwUiIsK4T4twd4gDZ4DXANVP9BhY5zBQB1fY539RAnkQvU1E56dEzU8C0DAIMnSIkUcAEekIJlXZtckAW2cw0haIEEsDUqARG5KQKhIMI2IUCEGABD9VOKrVIOoYAwKY56YswnwU5rIwFQ5MQMMJ+TZYkR4FdO6LJcyIVVaEOBbYkXQIE6OgAHIFvW+QAzMFWPVBoBGAAUeLSJJVoqLVfoQEYiuaTjUIHrpEsydQJOVIEFIIMzqAIfcAE6PEsWSEBQWAVZgFkSGwyuEYDucQAAcIASOC94+QCWOVXxG4C2JRJwPcsHUADRzY+65RDKuCQ2yFuQxU4kIIMTGdzCFYGVEAAPcIJIAFWtlYUi2FWX4Jr/4TkABpjcJtpSjDmBhXUREmBba+lcV30AK5SAB0CIDniNo7UWRAgENmi91+NK7SSDSegDdpXdljAKBUwFxpUFORiyrUCBA1ge4Z1cBkBYzFVYQUAIJMiAuWWVzuXfB6iAEmCBSqJb6yUSLGuoxiSQ5DwNMMgEP9gCwjWv6GSJC3ACTgBVAIDZFdDfzm0JrGKXA5iAJmKACJhdmUmDZKsKRtzMKB0MmGTREngmHqBeeKGAK8wPJCzTBj0NIiADTXBgH7CcrcgB8TpfrZWDFE2JFXXROWgC5TEAKEsQCxhVawEBtAVOClRha4mALY4AFuCBLxZgjNHf17gDMnAmMgCD/zfQBITYgh8o3MG4XVBFXw1eidGVAOsdHoiBMgcI4flllQ8QBAksgxyQXpnhgA7oAAnoYhZgZM08ICTmkDAQgsIdEsEIL044Xww+YgCo5GJ8qACIshmh3AmwgNUyXuRFJMqpANEtAP9F5ArY4muC5K0IhUEIgyWIgRZwjQtAAtwFAPQlApncCQrwIAMIXhG+AG+1Fg7wAqQSP8oh1wGoAA6AZRclqVlOiSqwzDCx30zOBUFY3p1Q4fgIAD7DGAObgLSRAggoZLlp3nCVgAqggAcQZuVKCQNEVFbhZV+O2VwI5qyoABUOgCqUGTYoikUBAD3oRxGFF3CdZliuZ3uWG/8S2ClWhNnRPRaxDEgKUIALsGaMcWQoG1GZcVUFkAAOiN6IlmiMcYDbFbGYlQUziIA7LkZHDqEekpg1DqFma2hXrYCfjoCPXml4IYEhoFOYDQJkPMYOeNablhnJdYAFuJ2A1OmtaGqtKOmTTumhzpoLGIJIEDGEyAUzkOdjjFJEgAwbQuur5hAQ1hPSAIADAIB29kfv4OlvDdDnrQAJEGqufpQVMOoL/uUgoGZ5xibIwBqUQIRGaIS7DhOP443bIZIHFoysRml69muM4eVFKIUvw2BBQOTO5ABEoBCVkD4iUZpbmxH3BQADeuS8/ulJbpTiVYn6RGSbzuyWAGwLZtz/weaAFzrkDmAB6sUy4/W6yYWVJO6hAI0BJWACJfiBXYWeuQYARLbu285tl1CA8AIF1dNaQfDP50WIeQFgzJxhazEBBEBuKDOgMW4eAQgyG1ACqztHhBCCLogD0k4JzewA3M5uyUEC3s6FXyaCV0UIBTiWeTGc5yQSeAJlrtuTWQIBCU6fAC0AJnjuH3hbRo0+KNXv6vbv/86BZCvioGDbzu1PhDhklgjxU0SIyAFlhHBVhPiz9/4A+X7ub2SCM8gDrCmju0aEFs9sr+ZthIhpV41ocWWJMK5IAYhx0pCRA8BmhECBJQiDQwChXnoU+A4yJniCJPiBG7gCNeAShPCi/z+AUsgQIYbObhIg8d4GZ7aVXudUcpbIaA4JUPdllweQ651A8E/IVWtJUSG7AQy3AizI7+TSOTTHtJv6bzQy6pfWWjMI12PZYglQ6Stl3hNV7p3AbTZ3jTH+2S5o1A9PoeiDDGJstnfJuaH2gCHo7t6WBQT/6RLoALpeCffGGBAo4a0A9cG4cyr/gS4Qg5PA3pRI7JoKhAm5GkVg9cHQhGCfJwf4ajme9Aig5hLwTJfQ9de43JXoZLkJYyxogz5TBEqghEdo7MQmbf1ObOig7Kwqakxm3Az+31tPiVkOZw6hbfzY1UywlqO9mG1fCVylBABAd03QBEpY+Oi7mtIGAP/GPoRf14pwn6cD6GVJ76l7T9EAleB9JxLushxdTgkfcAmK3woC1gqAB4BXGIWXB4BRQHdFQCEUcnYWfg2L56XOJfLczYVUWIFb73guBwBCfZTQ5IrBQHmXUHmX8IEtCKFRWAmZp4RnR4h3mfj8oO3n4F9a9dMhPoXFXagc6IAZ93gZ73ZrcY7nWHqEaPqdaIEXgIKERviWfwVUkHpWZ+yr4ffPddWuz/SdEICeB4WhmFzQ/fi0JxIDcwOWFxOxfA0XuIGSYAIr+IKLGYVYkHqVOHi2rkjoAN0ARfG+ZgmPnwAqoIKemQsLQHwYVfwwOQRSwEpWMV3BAEKViAEwabv/DVWFmO+lH8NzcK3s0Pd6ACD4luBfAeiAppEiJHIAFD17oH30MIl7IBSCJNgYbdVWsLhpVUAFUpgE6KhxGQ/9KSd+lzhvlhBUBZAY4Y03KgHXLX39R7H6rLJ+7NdWAKBZ7nqCMwCIO34OhQJg8CDChAc/MFR4UADEiAYjUjSoAIAEAB00dujAQSEFChFGVghg4MAEDRsAqEhAESKAAQ5n0lTIxOAcg4pq8uxJ04XBFy+EGEwC4EeMFi1Q2ECBwqdDhh98vqwKoIDBCBkRdvx4MCTYEiwuEDjgwMJKABsuvDSIFSpcg2Li4Ixr1+HTF0FfxLjx48YLpS1eoPgg4i4A/6lT41YtUEDBDYUdSnD0CgAshQ4seCQggOAsAAsOGCA4MGCAAJmPEcO10gULa8QfXAjVC6C2UBctDBZefFeqXYkABDzG+iACQg4bKWv8iJkCZR4GApRewOD6hAMHFBQ4fTV2zQ9KAEAx+AN83A9M9dYOStspgN6shbTwDRem2/wPHC5HiFnzZgGUZZ0FAIzGgAMJPKAAg/uhN5MN4zHxQ1MP9qQeADHYwJ5QAADlgmL22TXIGVsE11ZMjz1AwUEfbdQRZS9yEJJYPPAgIIIqbYCgBdeFFAGLFjoUw0FK3LCbkDOp58KGMTh5m16RJQYca6GMQsong7ixxRI9WTWciv8RWPZiRwCIxREiiOy02Y2enbUBnHAimAAFHFhpSZIIiUceADYQmWdCUz0F2IZ92paUhX/8ccgjmpAySkFevtTdamJaxlFHL5bQESKHNKKJJqO0+ZkFaMF5wY4OUPAIoArZIAQUE1bYKkK23QAYQjG48FSiiv7BGEWOPabVpS7COBmyLCiCCCWgjjJKANTlGCeqCxxAEK0IIQmAEj9sm6R6SPJl0K23ZWhbtlS19VZGzAFg7LElUFZCI41Q0uyzmkRLwLRxOoDABY2QQkq6iY1H7p/gotACUHrFYGtkfKH7oK92MViAAB84psADElzKXKaTycscC2LhOwoiJuB4lgP/DixgAAIGXKBJwQe9GiuF36InKFC12lobr73+Cpe8HETwwBJ/KeFxpgmFPLK8LABQMiXPItKIItHuawDXXBPAA0I+pLsYFEYmvPNT29o2WJ+3KZWkrxX7NNnU8g7iBx5/KFJvjGRmCjULgbNAib31IjK11gQovngAbwAwCQA3jW1QeX0GTZMYg1jiSSaWHJKQEEQybK5eLuj25G6Xoxc36zyFpJxYRJRs4ysHadKIRpgCLjiot6cJQB4q78s4D6PUnCusTAhxJE9nDHIQK7OwgmcgiNBhEBbdkm5bz0Ch0DPFrIuvqEOYKcdBBZrZWIQZNo5CCQCKKFJm1FMHHiol/50GchAYCSQeANiOp6eDma0mbficJzwBAFewghUKpEkSztMh96CAMHkaHwaHZhCwzCgCF4Edm9hnI8qkaW+NEMv9rPY7g+QhDwAAAxhMAAY9CDBQEcLZrBKChTjgKYGsMIgrPjGTQ+RhDm34QuUydBvdSKlVGcQgWCowkotQICMS8FjgbMSDwMmrXjtRxCOqlj9E7C8hLazhTGKQPCPpDABfmEMmDKLABH7CEzuZyR8CcYhAxEENAICN23R1vCeyLg5HY5BWMPKAx3gMhSyQnew80hFF3KsRhzgcGuGyJ24pESGZiyMAPOHAR2QClDRRlB7JSEMAiAEANxCC6mr2xP85iOEJQnABxyRQRQ9e5IoVMBoWBbcpDowsEGXMpE8+cDNZbUsNhwClKD1ByoRgEgBkREgerYmnRugBDmcAJDIPEjc6tMEKN0gKw5SgzqxcUQLqbNBxxITCTXkEM+HkSQtgVbZyAeCAoPyEA0tpx5noD5vV62EmKHlPfH4gMOlUJ0QhKgSH4pJBCpAnFz1SgeeEZKELORgTlADIz8nRgZyLX03SdEwABEJ+eAol5w6hQY8mxCkteJgQIgrR2ghmVyDYWAQqME+PzAgsdFuoMmGFBTHMwYUHieZJd4I1mqgUAHk8XCNYlRBPRIqmClEPr34AUaS8YEM9lc9BOPZLLpb/gANu1UwJDIHUJHwhfvV6qQJZkYlHSNOaBjnc4e54kBUepF4ziYUr7uDVrz7FBqTbEGB6+oIQIYRjdeKiMB9AlHCiIAk5odlT5biThALAsPFbVjUPsiySGgR3M+nEFnoAgsVqqwWORQhgHKoUwoSoIal5zEVjR4QSOCicNzhDI4ynCUp8ohUmBaMlGlHCNKmptF8crPxQ2lpTJiQMYGiCbGl7kFi+ADA9YxiIeuvb3yqAApsZrkfjQLNRLLcRrQiFJ2YhRK0q5HdfXJZDsMZdhzQBBYcRL4ZqlVuD7LY36vVNcGVH0z/Yi76EEyIrWqFfwfY3sNV1yN540gTwGhjB/wnGLfi+x6sHGyYGTBgEwbxK4VABYLklPClP/PvhhGS1J+CtgXgN8oHZsuc2uGLwbS7X23ze4ROqCIVrF7ooGt9OIfWaqkPUhLXAFra0UBlxD1JgYhdEzFyR2c1udBMoqYggBkoYBCpQMQlEzDSTvzpEiKOsE/gZpJI0wZ1gcadnuIBXzF5VD2ASXV69SFZEUkmBD5r85EYEgnz3nHNqETJoAPhZJ63dslTByGfWFFpEmZxKuSJzZsFUsDCBavOL4zxnuSFTFbPgNOG8yGGHEC67Xt4yQiYhxAc1waNTOQ+yjwKApSzbKa4eL5NDoQpSUJrWmfRFMGp3EPiNmiaEq//mlX0Nv1bEAgCsYAMYjvBCNryBDWsAw29MXZMo3EA3gmH2hRr6g33z+y/MBsHCng0fJRwCFarIn7VrKDYAzCIWvgAAKuxCOB7/rhGhINgvHghvhbDB3RuHSwrkrRArMIFIzl6YYHjCkNny2y8uXwqvmG1TAJzBINRGhFOR+YEmEOINjHggYrrt5dJq+OGhYIRB2IAQxyGk42uwS5hFDoAktBIhKL93LBcSLlW7suvLni2SB/45VUxCEca8J5AJ0fM3KPYgD4eK0KWriFDc2he3RrpCmH6QjgPA6VAPeUMOUlfBR8Fs9lZK1qdUQcgeJGETm3nNY0GKR5h9pTX8ABj/GKF2tXfJ0wAot0FAOxM+AzoQoH37Xfju97hEHQVEagMdfFXEOIgBC0l4GOLbKOTRGcR0putLbjwE8wjh6eCWPARr0fgURmBC82pPyB9i7O0+bxsAA867QfTuE3cbRN0ibsISktCGOXwO+azVA+2jMFE1m3pJZX2B6TyUIcfuKj4L+4EbQlFuyptf5x9ghClgQvMxAiMonbIZRBvYBe60AgC8HSEkhN45zsfxhOo9HQB4H4EtwRacAR1Q10zogR60QRdMSAwAnp7kxYbgxqIBxlOgQAoQSfERjvklnwAxxBuYAg6aAvMtHABsVlxYnEIU4NIdxBtoH1xUYPclxIi9/wFTUVemDRYZBcIcqMEIluAIBB6vQBZuJNp4ucAPRN4olF2a7JH/fQAb5KApsAEKvNIP+KBPwE9XMRwA3AHfZV/PPSAAvIEFIkYdHkSxAUATVMEdtEH1EFaWXZJKzYEbMBgKXOEH7AbwKZqieU8MLIElqMIrfBt10eDxhAgYmMIbvOCtnIcQlKIPGsVMxKEuWEIhOI4BOs4b3KERWsjGLcEdnEEh7hhCYBIiyo/8IAKenEEVeMv3DAZkpZlQHBkA+IAbkEIsoAIloBYZhpNUgMAIgIBted2tOMmt5NTUKQTqGYQudEIedhy7AUDPGcQDzqKQsN0dVM8vqpZgAdbnqP+J/NRLKX1OH4SBEoROWe3KvS0bYRgaALxCLNSX4dCUVLSAlJyHefwAbRiZX0wdE0ABFuQBKfwCQiiQK3YcLOYhHuphq/hcJ1QPSfkiNRkEIp6WCWkV8g3C8wBAFEBkyvUU7zkjKtTXEy7UtjjkQewbbUgiYRSh2xkEMRBh0uWh3uEhrbyBIRgCJt0j1mBNdmESdfnilcmRJ1gCV27l84TBEujKUpgOP1mCQdZXkP3kTOybriTaDaDAEWyeuf2CMhwlAPzCraFjLDLdAz5gH7bjHXiCBu0Ea92jYPWiVOJOAiVQKMHUA/mBFSyPX4gVEzRjQVKC5dGWTzrEvsmf8Pn/HN4dxC+oQgOK4wMxJTo+X98lCSN0wkDxhC8CVgm1ZGN6AkCxQiiY1GJaAh2cgRhYgRJ0wRkURCygTJ0Z258QRRMpxL7ZQKHYQA0oHSv8AjEEg0HcWl4ehCsEIQBoXp4YAmP2hJb5VQll5Ryxgiuk5yy4wno+15XpgUzp3+dRgkxZmrE9RRv6BL+VFwCYAiFsASsEAzHoAsPlZXYmRPOZAgAMYGruHWu4Jis8ghMa4l91WadglWmJkgNZwq/sjyXgZr3cS9U8iy/EguQ9UNwYm2/4hSnSRGfGwBqYwg8VJANeZ4HOhEYiaHc2qF0o3R10QoahlgcaolUa1iVdmVbZ/6YnnB1LGdPV2Mu9PMsoxAIxxMIc3EEfGAKHxp59+t9yEkUp0gSRgEAKdEIwOIMz/MIv6IIuaKQuYKccJsQzfkIndELzNV93Ip1qwkUnNFcroBYA8Jc1EenVoBZtwtTZGZOTZpWISqnDxUIjKMESLMEbhEEfwAFd5MFx1uAjHuBBhOlMLIUSfIIvEMMvBIOarimbsqk4bud9UUIrBENdBkMoGEIn4B2ehiYeGqBDvAGEtsInMIuIDuu3QaGH4ZlphZIlVM8uMmqUPotB+sIoqIENjNiILQEbhEFd3BOGEMVmuqF5yN8SZMIrvMIh5NddpqpGqimbbueuAQAxKEMw6P/XHRDgnYbmQRCCOSaErbaCv0IpsRKrdFXoF2mZYA3UMV1NGD3rKJRriU6CEhyBtYIX+BUbFAye/7lAKfpkmErJZi2nSirKIHgCgZ6qmqYrXuIoANSlfvUBITBfd2ICTfShn7YCwAbssA6sTvxioW6OQWRCwjrriI4CKkxpid6BD/jAxErsiJ1NGYZpZ7ZoD5ai04qTr4BnXqLqyRpEjjqEgJYbwZjIjsbs2G4VAPjrJ4jowuJsp8VmoSrCIXClQSwrVi1sqDxL0RLnDyntxE5sD9SA1NXMym1WsvWgQRxMTyiKIYwsgQIAqjauQrQpALQpaRYkAFgCWL4sns6Eq7YogiewLdtSJc+i5Oe8VCYo7L3crZQ2wiv4gi4YwhHwbd+CmQscmIUEBAAh+QQFBgAAACxXABkAuwDXAAAI/wABCBxIsKDBgwgTKlwo0AiMKgwjSpxIsaLFixgzXkxQQqPHjyBDihypMAELkihTqlyJkgWLKCxjypxJk2CHlzVz6tyJ0YqVDiag8BxKtChBnzIcGF3KtKZPIwm2NJ1KleTTBFWzas34NMDWr2AZ+rTiNazZswLHlkXLdqvatnCzqjUCM65do2MT0L3Ld6hPAHrr9h1M829gwohl/i3RAUvixyutAAD6BHKRIly8yBHEWVCOISakQqbomPFjMJsXReIUaXWZHAQgFBE9WqJkFo0RAwJVqrfv3mkgTBhChHZthliwdMBK+Arv379BOaHCRcWV4xK7dJERlTAY6NALcf+hQiWHcZWStWLpwoIA4uelOMmP5BsUj/FcZFzPyYRpciztdTEYGb7JQR4VRfi2SBEHspAedgpZAUUJBMDQVxPPSUeFFGV819uC4yF4xhcQKoRFFB0Y0AFfWEjynBxSUAfDEQU2wcV0QexXIkJdfNHeSXeBwUkpAICSmRdUhAEGAL1xcoUUXngxhI7YYYJJKYB08WCP7ZlAol2S9AaAGWmUWYSSz3GChRdplFFGGAB8ydYzz4CTzjrptJNOPPL0Kc8888jTTjzssANOfwIpwUQHBFzgWFxgZFhmGl4oIYQQnDAJChZtlpGGQBCd9QwzfwJKjzv1uKOqqqnO0846sK7/c845zAgIABRPMOoemKDIR2aZZKghRherySdDmW6GQSVY49RjD6v10COttIACKk+s5pTDCy8liOLBtx5AsMAECyxgQlxybJYGEW6WocQVyZWRrhxGGNGuEWKctUo7/Pbr77/tyHNONbxAAu63EyQs7gIGlGvAQkZMQYYRZ5yxFGrpmmFGu2mYQYQZY8ybxhheuGmEEmfdwg7ALPMLADoLN1DuzAs00AAEOOP8cEJA4OAzED9UxtIqzDwzDjr2TOsqOuTgspkcPJQRpdRRRjnvEFV7AYYatn5VxTAAtMwyAOnQAoHNaMuMQM5sGxANM3DHHfcEPuNwyahFPzON3nrn/1103nQGPirecQs+DKnO2qP44s+iU828HlOaNRVRCrIZ1lGmwUPXW136TaErh96O6Cv3Kw86NKc+gcwAEECAAQSgEQ45s5NjOznl7IIBBnbjXk45uJMDzPDAFMOLMMYXo/zyyh/DPPPmmMNOn/Mkbs89i9+TTjGWC7KJHFkfqdm8lJdcBhmIUoWJKZjYYYQMMoCzTunxtANA/WHXr3889KBDy+sANAACXAeAh6ENAQj4FhBWkIMGfkYFGABCCDwwhBVY0IIJm4AHNOiBDHwrAxqwgAg1oIEMaDCDE4BAMdDRjnm4g3H3uIf17vEOcWwCAJvBoeWetsN0WY4L5DtfE/+WYBRA2IIXu9jFJS7hOtcFIFbruB8A5hGPeNyPT/IAQKnQgQ6Z0ax1BMlZuTxAAg+oAA0kQMMZI4iGNoYgBA0w4cEOVkYyfquOB0PhMf70QsbB8Hr2aIc0BDGQefUwhzhMVw7ApQIPeEEQb2PGLVYBiCrIiSXM2IQwlIgGA8Cuia5DRqGmWK0/mbJagEqV4lK1qlUp7oUvdBYsT7WqadnSHdQCFDrAwUteisOX4PilOL4hjmEWk5jg6CMg/WiPaAXqWtgQheUSOS8fpquQghgC7IRDrmiYbovjGMc0bsGKW8ApJNMABzR2AYtLwKIOqUOAASphPWbaM4b5yCc+Yhj/Q3z4858ADahA/clPgebzHQXNxz0IGkPFNRSQDeUnP693DwBUFACpkkc3gHFDgVjzaT4spBwAEIIFOIALBtBGwEylSsW94x364Ec//NGPbeQCAHCwyC2MNg90AIMWlaiFLUrhBS/OrBjYiyhEIZrQfNgjHs+s4qAGVcV4pMNP6QhUVuehDkCpI6tZVYe0/Ig9ezr0lQ6VqFrXGkOC2GMdwKgZBDzQAA+EQIMTVEEOVMBXvfb1dQzwQjGgSg9W2vOl/uTHPt5hj3E8aCHMmIY6VimNY4iiFsXIzBA8IEIHTIABlWCraPuZTy1WT1CgS61qV8va0bH2taqVXh8XOlCB/7LVHdjAQAMIgIAGNGxm4iqpcMsVgk8S4BjPMqtZH6q4VcQgCQiZhjP4wY+XMtYe0sCFI7jgAAdswAIb2IADOosAcOxztBI9bz1KNQ96yAO28I2vfFW7jnCIYx7Xy8dA9cvf2uYjHsBAwAJ4y7AFMECEGbBABm9GM9e5I6JlPStan1UPZ2GPHoq7BUKYIdN+VPelMYwGLjghM+MewAEMYIABAqCNagHAltKqMCsFcirTWmsehZrffHcs3/nBqhzc6EZ+a+vP/vYXoOEIgYB5ywAHkDC8UIayBsjFsONSdK32wAd1qStDa8mDHu04h1VNEYZQDQQc9tjHYt8xDmuIOP8I5BEEH6ag4gAEwAAMQMABCBAA9poKxvRA5amayadA8elV7PBxohcNRSgyetGJVrSOUytpWJ2DG+HIRhYtyk+LAmC/+DByPajxuoY5mQQa2AAJwqsCElxg1eElF+xo+0+18sMf8PgHPOABgH24SlbUwMY1qHEQXKAjT8eIBh86ViY+JCIRkoiEJBKxAgQuAAAO8GQlUPlnQN/SHlTskxUFsg4ulvvc6Di3ntiRDtL5OFbphnej5820a2QDHd32ti3rUa2tziMdwLCzgZsswoJbwLsWcDUJLJBnBFSCv/nUZz730Y9c/+Piu+7HU8PRDG1w4xj5IggchgGoaHQsXXz/kEPK9yDtSCTC5SpfgQkBoAFvuEPQ+v72FV3GL1mh4xxcDPrPAfANXnL76H+WRzqEzvSf//wa18BGC9ub86pPCwh2BkCTu4vi8Xb34J11QACuDY53RPzsEafuTPvB9n04tR7pwAY3uIEJMwvkDMxIh8mR5Sk57GEPaZDDswfvbFCsYAMeWAE42pvvqqtKHvXjFzvCJqtZWX5W5rhGuQRsM4elbgEOF4UojtGOnwP99KafFTmaQY1w/MnqsE8HDu7cOt42McUAOAC2u5viACAgA99Au/DzoY986qP4bn+xN6jBDWwY5A95GAY42ESyrMlrD3KwQyL4wH3smwEU4y0D/6Cm+OKCzEMggkZV5F0bRQBE7/3RO0c56mDUmcnzt5v35G+PIav4m+Py52AO2bAM0HAOVAd7VZcOCGNnDBgAfGZnBJBwB4B7Y8cAWFQ9iyMQF0VrC6VQ5pAMy7AM2gBycrIeYmALuFAGJDMFWeAFWQAl4/N3fzcvYyAJQTABomB+R6eD/OZakTY/ACB/5QB/5kANNVN/9vd5qZMM6ECE8FcO0ECA7HB0CAho6NBArcMAJMBXDpAB8sSADJADE6B/OHiAOVdhqhJo8kAO1LAMyCAN2GAKBWEDQUMEWTMESIAkORAlISMHOSAHfOcpfBAEtFBVhgh5VeQnimgtP2hpUf+ULb8zhL9Df2mTNjSDhDTDDtmyiZFYDuGADMZwDVM3EEjXeDDmDuBARkMgeNAmCdGWCGOwAQgUGyrghQkjCtVThdTiOMawC8LQDNEgGABgBV9wBnDABi0YJVOQh1IyBVMjB1MwBtI4jZqxAtIgNmLDJ/FQbqk3K+4XPL4jDfenfw0jT6B3jjUjYOoIescAAJLYieWQDcAgDN1gP6RUivh4fgJhDhYwBs4mbZLACaDgIq44BlrnOo2UMMegi9MiD+WQDKIAC8VADbaQAgShBnAQB39ABC2YBc5YPlkQkl4QMmOwh1njBUEwBM2ADpH2g4+mWi7ThAF4DtegPJVQCXX/gJOQwAvAgAY1c20CUYlCOZQNkAzw+DvkcA27AAzhoEWK+JSBEpWnxG3HMARZwAd7wH3PJm2cQJDRNgR1lgMpJg4MGWjtgA2VgAaw8IsoQxB0qARPwJFegAROcJJSkodlUpcnGQRiWQeQUAd1gAZAAAy80DzHYA3eoA3akJiL6Q022TAhwAu0wJPbQpiVIAo5+Zc4CUdDeW1EeTM5WQnHM5rGcAm7EA70M1X7Y4isWVXy8A1DUJdSMAZlIo1RApBdOW1esAABAAEZcG3ehnO2tIa7AARAsJa2cBA/wAQC0oJSgAQAECXROZd56CljUD5VQwUqIArLIJm0AAuwcJOC/4kGXAAJSsYAB8ACMGAADVAHtEALzdANc9eUtBMO9nmf+Jmf91kN1yAN/vmfxkOZvBCelfCXkPCXDRACsMANLAk6o/OgPig24rCFJCON7eImY1CXAOCKr6gC1wZ6pXKP+GiWyQAEGBACtLALeRAIAHAIAyEGcDAHG6mX2OkF0+mMbGIHelk1WTAExZAN3KCYijl3iymfc3ek3TA74TB3Rjp35AAA+hmlUjqlUlqf2LALaBACyWAOQndu89ZokFYLWSONAFAGZXqhIeNyLpcGFgCBWEQ9UVmKDlkHrlMHuwAIS/AoBSEGZ2AEO3qS05k5kpM1WaACtMCfUJeowhZ1Uf+HDY6KDdmQpHIHpNlQqZhWn1PqDVS6qVIqEJcABJ1XLmgDCQWqkzcJCcPDPKIgklUzBVIgBc5ooW5SJgCQCHuAJHyGBv2iP4PylNQTD+iwDBgQABgQVCOAEDFwA0JgAlhDBQAAg4Bqo4GXjFUTBGgADNJADdlKDdzardRQDdRwDYh6Dc0HqZXqqJWaaUCKpN3Qru4aDkmapJqapPipqZyaacuwRL/YDMfQDMXwngAbkYA5sHVgnBE4BVSQBRviBAzbsAwLJRg6BmWwbFlQBiQQAGgwaQ76L/rDDuGABnYGBLtgBDGAEC6grFEwBFKQBUiAoyeJBLOZBnZgl05AApf/kAzNkLM62wzQ0LM+Cw3/Ka7hKmzClg0AMGw9663dmqhMS7SV+rRA6nFB5q5U667cAA1LJA3aYKRV266J2Q2LubVbKw2v6qoOe7YNmwXTKLF1OQZTgLGz0nTzlmgf6DoYAACRkFMJUYxxQAbRKRB2OQU5kIcCIZIhmQU1GwDCYAzJ0LjL0LiQG4IgGILL0AxBy7TUAA3NkAzGYAzIgAyO+7iUG4I727M827P+6a3DxrRQJ2xYewnI0KiPOru0i66Vugl06bBIoAK56wR81bCzaaF6mQULgAa+8zubCH8/Fz3eALJ3Wwt0wKIJkQd/oAdFALh2GSUJ67LTMQXeK7gY/7u4oJsMnwu55gu5yHC62bq6mRuFnfu+8Bu/8gu/nzu+jju5lVu5m9tOu7Ct3Aqu4hrA/Dmu17AMvduwQzABKsCwSEACJNC70IoElEO8QHA7Fmw7SInB5CCs7lEJhDAICnEDSgAFXXAGZMCMNpo1APCCDKuwOfC93psDarm4nlu/NnzD5Ju+QJu03dqzyzC/QBzEQgy/wiAM7XQJlfuz/7nE2sqt2QoJSHDADDsEscmwg3u21NqCTjABsGCv9oqftHM71YAGBIABaGAHMfADCoECLdACNiAEPKCyc2mSAvGqUtCwU+AEMDwFQwAJvii+NxzI5Qu6PCsNPuutzQCKQ/+8yIxsDJu0RMAguqO7s5SsuZuAhw0rxQwLAGgLg64qBQmMBnIXpFI7tV4bDt4ADLsDBJuQAi0AAD8AXQhhA0nQBXAQCAvsBU5AuJ+su6+aA7Dqvb47j4JczDacxNAAANDQvpnbDI38zEEsDMCwRLvAuOdrvo8LgiAIDHiYuzlAAlXsBJysuxmQAy0ckkgwBCrAAEDQuu5cu9pADYIJBKJwAzfwAgDQlgkRCPwcCGSQA3/by+K8y8Cbu6/quzTcucYsyCB4ugLxs82wDAUBzdC8uEe8uNec0Y0rCphsxeCMtgMthubsBCv7gq3WABigtP8brgOslIJ5CYSgBgLBOQj/0QYxSgd0sMAbcsfizMlR/NOvqgJ3fMfbCcQJMcikq7MAoLNRCIoAYAxPHdVQPdVRLRBQPRDyW80J/b4AcAloUM32q9GQCwlB0LsAoMlnC8EhSQVlZDM8+9aa+7NAW5pocAmcwM9/MBFMAAVY8AVF0NFp/dN0edCw6gQ5UASFwD6cUAuMDQvz2LkFUb6hO7pLrbOcK9WYTdWandlVTRDxu0l1DQxhLdbJ8NMNO84gDdIlnQUm1AAIMLr4O7rLMM2XUAt6gAgsGnIMwcYizARFcMW7LNjC/ctIkAMLwAOIcAjKzc8righ/AAaAAAh7YAsoiAvHIL7nO77STAuiUKCQ/yAKALuUwgAA4z3eWM3Zmz3Vn30JOOCLo53RvBDFqT3fas2yGWCckTna2dy4RnwJm2DLee0GFDHCWCAGbUAEwC3cgk3STjBgDFAE1PsHEg59eZAHc9AGZ1BmSyAES1AFBd4Gc7A+VmIGG6ACUfZdKxAEKr7iQcAHkWAHdrAJZgAIMZ4Im8DYjC3e5L3jnk3ESwQLnksQjQsAyUDkyUDWaD3f31zFwSyGk9kN0kDayaBEADACMSAEGAEHdFDheUAE3XzWUQzmUazAKqABKcYAXM7ldNAGwwIFSnADLoACcu7KLhADMeADSlDCcXDiUbbiJcDif9hyZgCjaz4sXYAFUP+QBELwA0ZQBEZABjQeCbYgCTiOC7WwRKYZ5AiRDLzrzeU83wzbSFUszBpQB97gDd2wuWItDO5UBHUuBI81EYEw4RKuAt0c5gMBAQ68agyXYibAp22gBiNiBUnwAzHQAiOQ7Mqu7Gx8508gBkWQanw+BH/u5ymZQmnwbGaA03SgB3pQ4XMQB3AQ7CMSBgZ+BjYdB3OA03pAB3FgBqZp3gexC5+Ruw080vQdzr+8AKeOyt0g1sYAniR75VCg2xWhCMl9CIiwBQ300wKh6w4cXuB85gxgAogCBUygBMbeAigAAh7/8SPAxnVey3BwCIrA5+HFACy+4ivgBdznBHZwPhH/LuH8rNyH0AZf8OY34AM/EMtPYAV9LQYYOe5gUAu4YN3AoNDIAAC8QAL1DurzfdATQAtBpg3Y8N6Qy06AIAZf8AVdYPAUURlqMAeHMAmHAAYNDwC7DmsSHwQboHWrZgJdw/WO8QT6HAMu0AIuEDRiMAcIfwiBwABvDwBRZgErMBB/7o+JIAiJkAYZoM5FAPiBoNzJDQdfwAQ2kPcosOwjoPc2oKxJ8ARQMPpMIAQvgOzKDgIssIUNn+RRD8oYUAuwAMVtQAe2sPQFAQywQAiTnwcgIQRVcAZ4gAdu0ASL1GpsD2UkcHgqcAHNTwJgoAcEYeEEkS/a8QVioJGTP+tg/4AABEFCIWT4AGBBLr/42ycHvOsEED4Qj/AHZwAFPnDsmy8C9C8CH+/xKJCsBN4jX3AiAPFEiZAbMVioIJFDRY4hSJA4gRgR4pAhEAE4kSLFSQYLDDyC0aOIEwCSJJEJk3ToEKI/akq+hBlTJoA/jxo1UqSIzQaePX0CWLFiA4kLKi5smAnzC5SXWLB8OdNkgQUAGzRYsKBCxQoHCHPwSQSAz549csZkcZJjphAbAFoAQDHiJYgRLm4IeYJFTJs4efzSidPmjJgvPLwqzMGwoROHEUlMqIgx45AJFhBMiBAjhg8ywjwLA2bLFiJFjQ61SZo6aaBAf/6wLuKz50uhRP8BXCBhRLVMFzHusmDgoKSDCR4ZWJhAYIEUsWTllCmTAUmOEzIPxQHQhelMJlag9nUdXnyggyQAJF64kOHDxtMfSpZSuQECByc+0B2BokULzTeSdDkDjt0GjEk81zSQjbYVLCDKKKOKILCkDyb8gAUEDiBpAi/GKGOMIABowAAEDEijLOi8cGIIDVTQLcKYBAzkENYMfC1GIkjQiiT11FPMCZIiykgKFY5DgIEHREAyyST1i8EGJQBww0UC/6DJtTmKIGG2knAMIgjbLritCCoJpHDCExRAwAIH0iiDzTTSGMOyBQgggcOzpJhuAg/AkHI3RQCQUSXSblQBgELTQw//MYoceijICTZgYAESyDDDCCNkoFCE/Fqw64k+pYxDjS+ssECDmC4Ak4oNwGRVBSsIHEGED0ZowYYfTDDAgTbdbLMMLzaYkwAqssgIiSFUyGCCT3c7I45DSJpEkRUQMrRaRBNNrKH3VHh0gQMySCiLLMDig1JL7WKCJESWJZAJtjoAwNSXjAKKwaJWAArCATmN4QcloOhCB4+8SIMkIsZIg4g0vGAAAQIgM/bYx8Bkl0A34mCBBByttRaxaxfN0gJvGyB5AZMbgIABD1TwgIeS1q14N6aE+KFUmIoiyTx8pwWAhEBggvklOM4Io4sv1IADDwIYULbgG1eggs0yHIBg/4EAVJDYgwwgOAGFmHdzY5BSNdj40I53TCyxLDeYwNsFioz07QZW0GCBBsgA4IuvIxzMMJjoDYoknoFqMbWhtXviCSvAUK4BAN4MwmoVEIbubQQMJcGDCSYwYe/dAtkiAw0QHIpjs9FWqCcLDmjAo1KRwyqIIRgIQANPPScwjzlUkJekoig2D6Yg6EjtiycIiqEFFFA4AQHnH/d1AQM04JAIKggwwIAJNNAcggRwT+0QRYigWzYcT68WPd55AsDkBRxwgKcVGVpkDAMC8AD8CP8oovfb6B0CFQRHkg/xYEwxYcIPkoeCDwDgAyIAQXIQ4ASpESEHUtjV9QywNM2FyP8++pMJIg5BPtLJZkWmQ08GekKCSB1gKD1xAhW8wAlOBCAAGQDhgGJkM9/RayuC+1AQWcAnkoiBJAVpwQgo5MAJqUBEDSBYmwDQqzSsAHtFSg4BupZDmMAhDmCgCoKqIhurmOdQCtnc6DQwAQR4a21DkWEZQAEKGyqLi6o5RBGo0kOfrKhLJVDLCoKwAhbAxAUokNWEmPiBE8hBepvbVUnYBIDs2W2DPEDNHUsihCTIgIdVGSMZE2IorTlgCFhxQBunskIneEGOpajjCXygyZlYQQjBA2UfBSlIAHxol0UwIkkIYoMYuOAtJGGkIKRAgBAxoCRleBztNng/l9GyJCP/yE8ERgcTpJiQJzgimJoqw0bpufCbSJAhJ0BBgABA4A0/s2ZMWmACeXXTJxfo0gCB0iV9BWYwWLgdSWLAgzSA4nojohMVqLACBhDAYXPiQR7iSZJEksR/JSFjTwjGJrY5IFL3WwC4hhLAMiyCE/dzJzzvaAQiwqQFESCJPZECRACUACgv+dAd7vAX7LRBDWfQmxnKwIlIkCB72WMnASiJvQuAZKIASOQJkIDLmMhUY0F4E+Q60tAANIAEKuSJeqgghwYEYAFs0MMdeWAHSSSiXIW4A03ydjt7lsQCOxPeFMvABz6AAQ/heUkgEpEGTiwiCDxwWPZG9MQiqHSiiYwA/+92UzrZ7WphhZImADRnAZ5YAAJ3RYIDlKOvHLIhDYlIhCQiIQnVlgsQd1AEVWb6krt+qJclIUIZ5EAuORQhD44FwBzkIAhOCMIELzgBqh4KAQC4DDtPhcvytndRmSBlBQvQwEbfNB+H6ckDkWIa1pxQUguIiA3AxR0RvMDa1aoWAOxtq6+CQtWr4Au3ctgDHwQBFvx6QQ8xeokR0mBSOZwAgiBg3glO0JZ0QRcAYqiCEk5gFeq+xJ4WuJrCoFOGho1oAskKQgnwZSw5ROIUHrBbS0E4BHG9aQ+JkENJ4Kta1sohB3RTkwVsi1/98rcscpADGMR3QBkMlRNlMAEIyv/0QLk4mCQ5UQQHtpkU2UyLChvuUPtGpLIitKELSojBCYZQ0lRQ4TF33ELUgJwGOzzHV3ywA0na294aNwx+QZjAbn0MZDnAyQmDOANO5RiJIZTJyTFhDWtctseZfHNjlm0TEaRHgIetIA5dWMICc0BmTvDgBCnIIR7egBEvbKhNbTaLqe3AB5Kw1tWSQAKk2pmBsfy4z2PAtROakOmSmGGGhgXBoWViIIUMKDECzGqkJyAi5ZTAD1jItPJGkIM0CCIVoMDbHYsghSlMQVxZ8LYr0wBkVJdhCnKQxHvZuwdgSU8FqIYTrtGSgyJs4UkkKQNxF7GCJgv7JX+I6B9MILr/CoOyZ7xMdhmIAIAJQAClJFGCDaQ9gtzK4RSpIIMI7sgBJ3j7290GeRY2xGb8dijGkYgEahPR8OxJTd4RyUEQcIIHlwiCuIIopL9hwgMDXMAEAcDKJzHaR2i+aVdzggAEAmAAIgphgXEJApAvnohg5xAFJZDCt8UFcq5jZAquxC+HUu7WMmzOAAyX9xQgMp0cZIA1ObmDHGiYBhlUQeclAUND2bm9oGOld7JpAPZIsILNLd157KwmxJfgA2OWYNwXx5vGQSgCFWT94wDoNua7PZ2Of53N0IExmxQSeAI4AS2MGQJ6IFAjAMSdqGX4k79/kK4vEEGCKuh77ks4lGWL/yixin0oD+bwkkco4g9uCEMRgFyKVCyi6jmsvNZJknmQp6jz3T4Rrh8yBW5ZzQPrSeEEGiAehRVWLf7eVAtK0HBlLUiNV9E9UoIQoqPW/4o8eG5JWCM+RZBBtxdfhDuSKo/bOs3TPJA7wG57E4b4ujLIApbBnh3JHAhoAAoIj0AwA8IyLH8rExbIgNa5K797P/gLug1YARJwngdYAABQKodqgM6RiURjDTLwAjlgvkggCfT6mgEUl2GhvgTkOpDzAgDwAimQNynInOxJiAlcgM3xrfAggaiRAuE7tDI5gcd4H9gZmxEcnaCbAAxZABBQsBPogOpYDfHIAzIYq4vDQf8ugoEc8DiFwrzpC8I6nIIOyQEvIJapcjgI4J622ZzNAYM8cI2eUQgNgEEHWzIOSBniII6+40ISRID5YIAXMKZjSg0qCY88KALdukEd/BqXIIGKYI6SmAIgtMMG1JbUIwGHa0KSCUTMEA8wqIyGYYEXcLBEmhATEL/K8CgHyDFg3ML3cwCTOQAGOIMuCKjdEA82aJOL44S44iIwsKDUWww6TMWQO4sd+UADsJtYZKMmiIM4oAM6uAA1aZgAAIDns6YRAIF3FIEOkJ4GeJTiKI4RSZPjEMGrKMbWYQCJcpFmpAJBuLhTkMZprEE5cIKFqIhsDEI9xBES4B6kS5bNgQD/BDiBH3gCqFADA2ChA7gfCWBHTRoIH0ie6li6HECCREC5V2OvSMiAZEEO9vswhzOAIigCFUuKOaADv2ADKliEgryD/AMhPpihSFgEKiiCIMiB67NDABgCIvQCcPEALCQACLDIBRBJFEgB/rCB5nEoxQqAkeSiR3iEQYADMdiCFXCYHJAD1KIzl3w1dXO1OWurLEi8pNALvgADoBRKTRIqGhIEJ7iDPIpKqHTKbltIJBAXPckAD3C4qxQ/AngAENAU/bgBKNCBtzkAyyGACoinPxCfRjDLi5SCgmFJuVTN1WSvIdiDQkkNUOOU2ZOCoEyFUwAEl+CiMZA7TkgDLsCD/0PQBDKISoZARR8Btw8zOwNIOq18RwTjFCXQGx7oTAY4xgNAgB6wJgOhAzBYgELZrbhkzfGUgyEYizQwAa9JDbpYHicgrtskgy64I92iIS8gAiGogjMYBOJkjmzMghwIxMSCgA5QslnRjx+wgjYYPgCAG+MggCZY0DvaRDq4kgYwFirYvm+jAh+5QyyDJj6ISz5YyUQQhD3wgkRMijIZAkFYhFTAuAYDISOYIaKigiCIgSXYAj+YBCLwulR0goarGm+8AJE00Ba4gScQgziYA0L8g4Z6G6shAICUUNfIA8BogwvQACTgtiEkwjEotVITl1Lr0nlDAg6BJi9ALT64rP/dKJMcYFEXjU83nCFQiAQuKAEl0M+S4IHtC8KLMCrpaSMWeE6udIEk0JuSAKwLsKEASEQKmNIqDRUrWIELQsDpAzet+1IwxZNW0q09eBM7YJNSM8MUpRAisDkXBYNAy6EimNFIQAIwGIRJeISXIIKotIi1y4ELeACf64AWeMdN+QEsyKSYyIMK4AAF6AAO4IBhQ4RG8Jw/0J04OIMnOAGVlIiIMJb3uIhbZYzpqAhTOwvK8VITkDxSFYEgONVTkIRh1R9fA4XCooI7KL7WeIk3cJmIGQIyKAJNUIRBcAMrUIIl+AEfEAIrSFLiAQAKUNiFjRGVUIll3Q2JW5Y/oND/OBADJoiBEliMa0UChLjGbf0RxkiMhxiWDYkiL1WBWUqNCRmBIOADObjNdItQ8AnMkRgCRTiEQgysQGCDN8DJQXgN0niESZiEQ8ADN3ADPPgTREAEHUxWZeUAGYEnnQWfORjHL0gC5MKa95AIY2GIiNjWrrVGLRW5MRivUFUBNoCwFIUgHnhZFy0EPOCi4XrXNMiBv6JaknCNGaGRvT2EtOyCMKCJR+iAwo2JEugAxFVcvQ0ERRha1RCAyBWAARGDM8ACJTCmDmiIkL3Wa+Xci3AIxci6UjtbX/ECMqCE2FweHugzF21DEIo7k+IELiCC1sjbfxOPhaUACYgABVCA/2OyASFQAsF1VJgo3BJAXsSNEMmV3AHpF8VxlxiIAGvt3Or1EZCdiEXpOJETOamxz9QIgwgTgiKoNhcdiRwyBDl410hwgtoFrGH7A93d3Qh4AAUYgPsdAAEYAP0ogAKQCeRlgeSF2OV1kcxM0nFUgyKgXuv13LBdu9RziJIdAww6EdgMHzwgX5hNhfOFXTkiqnwlxJm43d0tiQGACea935iQAAAOYClpXgKxAjXgyb8ggwVmYIkIWdCliKY0vQ3p0A5RATKQ0mHDA9a1uGuLPf0BBC9YXydAq9u93d1gXuZ9if59gC6gAA6Al+V94QGBgxmmUh7YYRXg2ht2YNDtkf8wbSU28VIyQFiZmAM1sAIZPWJQ4CKhWt9X1QO/wN1PmeLILYnIHQAFeIBCdhEqjhAwFg/FSIgbvl4HfuCvHV1x2bD2HeKY+DKpCsBrG1XcQQEzEIR3Lc8raJaXCOGSAAwC+ePJhYkCqN8IiIAKSN7UuF9AjpCeZFLxqGFtYeCSsN7QbYhw8wIkaBPue4O0So0wywGTKgVB6GTcWQTZLYMgqBUAiAKSmIMFVdg5UFVVnuKYIGQK6ICcIwmoNdyS8N3+/RQa8YuFcGRI7lZ8HdkeHubJEOLdSAEToAp0GoJn3hsjCGU65YIgeEf1vIGSiIBQ6ZM/lolx5oG8hAllLdz/DqgAmFrnvi0C8eLWbfXW93CIHVYIrcAR6mU7IrjkmUABE6hOniBn3IEB9aXTITABRariAviXZfnmmCCCInjo1DDWAWaXvuWfxOBWbPXYblUIFijDMUzWQZqCK6MCTijF3RBDh/IIByBQsqwY8l3ffqZpkrjfg2YXht65h+YBoI4JhY0ZoXaNjN7comYU1Jvpd2ygCWFPFSAudQKFRSCt9QTJYwQABiDQdh2DPD4BVgZrz5HcAfBfmGABs7appFjYr2FralwPjv1oFbCPJfsAyf2AFRiCSNDrSOjrmRiBnzMAwG4fra4YPOaE8hTkHNLf/lUAkojsEoDs1NDdmJER/7YuAiLAmkVZFCSoJs4GgMV2ACcwKVAoBU4QoNgEAQEIAAI4ADsygMHGHVB+1zIgAVsGIdp+ANAsax5gAbSWbLVmFxGyXQPZAiKo1dQjAh5A0SUjCUEeADeNBOZm7u9ZHpkQAjMMgGMUDgdA0a8RgWimUzPT390o3j5RgAgoXLQ2a6X+lPptbBeZBJxQb79tBE2YBJgo0CViouOW3A3wgvyeo1Owr5mIg+8JgCIhCda5ABRg7T4B6DkitA0Y5DsS52QV75J47Ic274VGbAIhWpzIiUZIXZhQIvo+4chN7uUGhVQ4zLTeXROgNBgP7OAAnxNYhK52gAfXpEKOAAlo8P+aCvLIxh3vjhnjlgn9vW/imqNUiARGgwmFxRDqLgmPKAH59BwTYGKiyoEeIOE76t8C8N0HkADbNoGHVnPZLnIXiYsQT4oSP3FOKMgVMGEsUIMzJwkbUipnIg42mNmY4QC8FgQ52JM9jmLcwV/GfokgZ4Efp6VIf4lMQAVUkCdpS43ItQAkYGYXPT+YGBMKwBCSUKoR0Z+GA5dly2UaAR/7TmGSGGcWKO9DM2EACINBCAUAGPIBkVw3VSc2XPG05gAUNYAEAMVPyTsA8Kg5+S9ErRIQymkAiOXCfYC725vI3QAqyO+CXDhPJ4nipQAFuIDa/vZlKYLgEA4ECIAkrvX/nFYAca6A2tb3mLlfCwhtTmC+VBiDClj0O4faklCJde+TE8gVqgDJAMi2kScQk5+JnC4ACeCACsj3i8d4AVhRjnfRUxjyn0brZ/GcBAi8Y+QqB5DbmiKQCogRZz3knKZ5DoiAbMf5ZaFfD5jTi0uFMgj5gc9iw1WJl/EcFGgA+JkA+NkgAHDlCKkAY4UJUAN3RI56Cbjwqv8UERuCL+94LvV6CnCsPwF8zzkB11ETZQ8Aqu+TB6h7Kf7mGFBWurd7dpH6Zeb52ywBoKbXJysJ0/AcBVAWznJ3hwGAAo94AVCkGPgXjIUJM5/syE8K3sX6cXfRmVjWm3B6iI8Z5BDG/3cPSSWLJ87+ABRI/YPOzDOgA/lFb9ePiV3NgfzueGg6XNsupEbI/K8hegDoCMu5nCRz8juibyaAAoEAgBj2C0JkDeVXjQQQ944/BfwtiQdocGtXc5hn05s/KkpTx+dbMk0BH+AHCBEgmETpIkZMmzwK/wRS5BARxA4cAFCsaPEixowaN3LE6EEOJ1CnUqUKYnHAgAIPKpbAOLHjRhAPAhAgYAAAgQA4UQIQ4JMiiBEobGyBafQD0g8AkIpA0eLHlziBAEwFABFRRYcUER36Y/Qr2LAUc0QSSbKMgIoCUlZ8sPKBBIsdxFYEAeIATp0AAijgaXHtAIukNHGoQJdiUv+lFAWiiAGlTaNGWg9dxVrRMleKf7we7gxWQI5FnEqRjJS251qLChQUcOkZwIADpw8YCHxaY4mWACoYpjtiBAgRFu2OECImkCZKjQAcslp5q3NEiqpW3Pz6esaPFEemupDW5wC3Cty2xjj+DABUqMSCaF0gMAgAKAbc1sibAn4KYbcsiYECYwo/ADBHI8opYtVWh1C3lXSKWKbRgth1dkEOnADAXRn0+aSABLxVsFJGbHX2n0Y/GaXfV6SQMskgblw0ggtKYNEGIpTYSB1WgWwWSHNbKRLZV35I2Floo5Xmk09wAVBCByBi5NdhJFbUQkXCFRfGa9ZR1dAkoWTERFT/UylHGUQUKbgZQ5QB4CCQQ7rpEUiljHSKd2s9wBuT5T2pJ11SWkRlfBWNMkkgEcKEppaFajTJJI9IF5mDZR5IFZqBNOjQcmCN8CZYFJaFIX0KRFBBByXEhdpJAyjgGQpO/UdiCylwpKVRaBrlhyWakDKKJpBKBtGkOvLokIM/hhUopzCBJhppqYyRZIdMRkCRT4qhxOdhLmhLUawxPIHeoR0hyllHTIThxySkqMIrJcQ+xNwhxCIS2YPJvvnRaACkcooD4eHZQXlpWRsYdi68QNELQlD0iVjkVofoV78pUcUZfWiCSiwUabJmI2VKB0BkmYalmL0ceWpWKmUU0GGp/y9Va+2QTsUAABR9WALAxp2NSytMIojgQgstKCEGHgeut96aB7IZmaElY3eACmU164QC/06L2sButiAEuBTpISHPMCXlFABJJBEFAHHgTEp6OIdcYNNiJ+XZWgWMJwGKHE0gyGilRDLEBdECTC1SFIno5idIOy33By+4IIQSFN0goBhu9DFIuq+gMopycXOUWOFiIWn3AxHk15EDGsiRhhdIbJAABy2rFTrBbnZJSdJdLa5RUi0cLEQSNzQGgBJCQL6FG4ck/sooh4F+GHirRYB3fnlj5AACDViggQUWMEABk6ciVhG2En7xRRt6QOTw7hUhRTZFSfxg8A/GCxF0DP9KhIHHIM4/L7pPSEe96llPNQYwAAMcMAEANCABuSlAfRZ3Ayh0QQ0IOYPa2ue+97mAIsATwg/qZzwB4e8GHfTf3AAoAAGebi4cSUBNDpBAAGhgBSxgwXuQtLsYCAEKTFDCD5+gwQ2GzoNJ+KDxHNcCF5iwM/8Ly+jGYzoKxI4iLgSARC5SEwIk0AKp08ANxYMRJ72phwBgwvyoNMTEDAUAM7OB/Ub4gqAt0YmgI5lRkJQSUeGNAxPJDZMq0oErUiAAATDAARygQAWuoAP4kcDVKhLJN/0ACj68gQ2KuDg2viAGnozBweAYwjkG7YSH6c8dNbkRHVKkj1i8yBWxOJH/BBjSJnhhAG0QQECL+NFecPThD2zQAjyWjI0n/KQnX6BMFzglaEPywaY+E8ECyuWKg6SAAQzJgG1yc5sJ2OWSWAAAPCQLBUBkAhqHuTtjxsAGL7CBG92ozBe0ypkSsoQbsCRNi1Agli5xYQcgkk0uOqB7uGQAAgJXPSzqpmRKsCQaY6BKN4GuVfC8QSdnBkptqdFPnQlEI3SluDzWjY8T6aUfJzKXlb7SKrXsohcBgD1dVo8DDS2ZDR6KRhuggJhDYmOrTniDeLqzk/Qc0rgm9ZUA3k0/fqzpKwcpVZCB4aUF7Z4XEcCAB1TPn/Z6nA9BqE5OsbGOB6sIRosaAzVi/2dn7FslU0tHRQBwoKYqlYhU5zIvWiJwAli1AEUQwFUK/KFei3soMCXq09eU9ZgzA8BQMdrOo4LNrW81TwEyWzq80TWlKbViXgfJJEWY4JAMmMBVDfqAQaDpEWbanQ2YAEyeLtaOSCnlPBF2g90qE5QebatlL0sRDkSguNSL3WdhGbu8BrIRhjykDBmwgJskAE2I2FgmKGLKZPEwrDcYZm0vModxZQS8zQTAPLXVQd7OcbucCm7YSsACJsk3N6Wi702XK9XchMwBz91iTQLQBNb+4RFsG2IPEztRjNABTYfIhCUgoiAAnKELT/jBDdZ6zINta7L0/K294AsACkgAkv+l4wALiHDD+eZ1uKEFZH39S5MAA8AE1h1iRWwA0WAu2CJ5cLAnItUjBMUBXJHLqHYNNjNmosC97XMrHc4AhczazXS5UfF8sRha0cJ4vizA5nMVKQFb4Zgi3WWCEL7bYzggyhJBLpNFDtEcRVUkzehFmDJbgALKlvlheWgDFu6HFNaM5wFe1fJ+u7xiFvCABRKpADXLnGAlzG/BcahUdiP1oDNNhSvNyQNFunBEDKe3BUPtc0a+oAQXvI+OHOoNAIjAAx6oeEmS+REgHf1lzzoy0jiu5GwnOt7NHMITaypTj87kYAkzhypxEAMAohA8oH0X1RqJwQjelwKg/UAJ3hb/5A1LoJ7N2ShkiPCsZ/Fj7YqcOc09xWODiW3sq8SZvMxBhCUyIeeGTIUOahD1btedkRSMzXdb83bxgAdELHwhDJgjxSvWlZxCBQLddRV4nS1J6WHKiiI/ljcAIgzninQFYpZSRL4tQRlHSUYPbVADEzCOkYIHTWEAAGEnIeftF/zgCVvAwydIgQpVhIISjqI4xYX7a4hmeGuaAXLI6Z0RHVknXg5RucoBkAlFOGo6Mp95q4MmIMm16gYIF0KTn4LOMFgicagYzCMUoSAdGVjgOQVmEsB0aaiLHCsjt4iwrB6ZR+Tb2BXJxCP+ENKvz5yOZ735ULvtbSGQ0mAA6KC5/wbhdl5NAiKTeHsfrI2CHj4BCggZNrEB4Im4w1krlyH5VH40eE/QPiND/4Q+Gc+tJT4F4cVLwtkBQMcOtqoxkHO4298+9EmEYQnWFkIUoC0dRD0YAK79mLygkxWKyB5ItDe8RqpQA91XpJ4AkLzvvS2gJjOTIsUP6vEN8QlV+CIWuF/3D45jI0pQ/RA3A5mxSAYAHojUEcvbSMb3gZ9FGMIbOF8NhBeqvc8cEU/6UV6eacurFB8dtUAM+MDPvUL9MYy1QUEeaALnUAIi/EGxsUIrfILUcZ+7OIhFdJ8AJiBM9ACICdwHtMpZ3YDxoNcyLdFR1ZOebSAPuUEoxMJ6qP+CtYkBJZhgckQKRazeC2aFVsjggbzNpHyfUTRBE4wf+X0A/rgTGb6T41ye5dWTwTiO40yMIXxdHjTCKDRPx8BZFV4EsawJRWghRTwCF8KEFzZBDlrbDu5ZGZZhBwXNhzXZPCmT2eEMJAqcgihCuzzHRVhiRUBKJoYMRVDCH2JEE2gEGOre+xyiGZLS5RFhI7oAPDGedFRGAT6CchybJWKKyICMAFLCJNSeWPRACslcUsCTMAJAUQnfEtVTMy3RCU0C42lCctCLZfzI/mVFZRjgcnyMZBTILvKiWKCACCQGMO6gKdpAIlJJEa6hC8xM5JAf8zhjRewf7lxEHVrjcrj/XoF4Iu15yWH0QA0QHDgSoji+QFqZ4e4N3zx14BkwjD5iHCnEQv0BAOfAxK0FYD1qRYF8X9D5AgB8whuwAUUEYiByRA/44z+GBRT4BxvJx/sNIlK400ASoznagDAJYScBwBIMAtswI8blzyOsR8YwYSRuxLwAST1ChCxyYSsAwCywwhaswRGAZCA+pReKJEn+YkdEwaotReGsJBGCGFKY4SEKHyuaHSa903/k3nQoXfuMgNBgwZD5witAJEdkY5skDQC0Ait8wie0QizEAis0IFR64RoAwBpApUj24x1xhBJ0wUXo2fMko55dxPtEFmRVBCt2m2x5G5U4X3o4Stjg/1hS5M8TWIEf5MxFbIxp7iEnQkcotEIruAJF/MIn3EFhguQaeOQbvEFFgIFhbsRIplJGYMFFWIEbpUC2fQAI/McGRiYRTY5zCogJTY5sQQEWKMFZAsArhEIjUN26JQUY1E/kmF5FaCRFcE5q4mIjXB8itOZrXgQbBOIa3CZF5KZuWkRtgiRVAidFQIEaXAQdwMEXQEEamd9ySsnYhBCC/oBAYiZ1YkE63mRnpuBnatDYQFYI3RzNYAGoYURqriYiZIJrJiUA+IIuVIRHYgR9asR9hiQAhOJFjKQ3JgVbAgC0QUxF/BnNxJMx0lGrIMZkPqcJhdB0VicxhsEnxOV2kv9ZBH7A+L2BCNnPGVWBiwBl22gMkGiCIkyCa7rCLABAMHQpRZwoRhBCfXIEb/ami1rEb4rA1kTFx6ngRnyB5PBo0PzH2DBRZcrkDQwpFNyADzQbKnimkvbZ+2ACALyB/NjczQlBzGHJSEFkprCna1YEmAKAmM4nRZBpmXZEbUrlVLYoRhzBEkRBG8QbQwjl14BL09GRVpKNMLLi+ckWFgRa/rjIK5BCWg4qoYKAizJCFSzBEoCQB2EoAPSPReBOiE5qRoipbuomIQDAs4rFirIoRhgCeSlN0kzKg6SqFShBhrUfUlgePOEpYmEBE5iaEAGAKgiqrkYgChCCKZjCGwj/5KldKEXIlouMZyzMAmxuBBswa0WQaWesAW966qceqiF8XyYMglJdBGUQ4FUEAh20gRhYQRIczDdaXgykY/3IKhZkmBCEHgCQQiOU3ISWWWLUwBqslxtNDvAsqsI8gZzOgi8EQzB0xL82K5k+q8C+xrR6YRgYgpt9n7bCoFY8yFWQCSIEAhxAmw1sm8GQ424NKRPEwKn1oYSe7JJ+ABNdrcFglAh928QwQidUqr/i5s4SgqYOyZk2QRXcwSAkoCf8nR66Cyxehbw8m7RBVjuZncfulqKqQslq7dZ27dVeHmQJpEDG02BmhNmG6Ym+Ac/SZ+NKyL/egeoloKbdobEA/wuZWGMg5MEcxIEafMEPKUHpUWfMMapFPILnACTX7tbhUoTULq77haJuKmBGNOuhZmpu2ksnyG2QXcYLWkam4C3obsZ0LO3oisEXdIEV2MAjUsR6uFYY/ujsWoTiEiMItMCmUkSX/oJFsAIjPOum6ua/coolsCBefoInZBdG0NuDXOMr2mLJdgVE3GMUzoEbCcETTEJcPuPrEqo4Tk5HgNJQmRojAEAn3KxFwKbZsgIALDC0qm1u/mv6Dgn7hqj1ZiuD+B10aJr9+p8lPIL+ziHnUCwW4AHGVG/JkmK4DpWiboT0osBuVUEDE8OXUkS/XkQwkCdFLLAFXzAGY4drSv+qa8kiPCpHHSII9j1syKCcJZSwEqPwKHRMZKBCxBngAKPsB8jw+Y0dR0wOG3TCL/gCiT6wK7hCUial+FaEBHcCJpSvpnYkBl9qWEjqEUfGEsMjgzgHyADL7H3fCc8hlv4IxpACHnwBQkjshn4dUvjgDG/ED8TADyRBGOiCMhDDLLhZK3Rpl8LmGiflLOgCMWxyMOgCK8zxHNfxHWdwWCRrK3hCH9fy8QILV8heAmZCgZggCrdLlr7CK2SXDzzOrJ7BHNABJDeOwoixRghIt2FJXAbDL+hCJ7PCLGRzKIOpNpcoMcQmK5hCJ2SqK98xWCRra95iLe9fHeIyZaTnJ4z/8j3yyhyGgifoZSK7gQ/4B+/tKePdFkU48ySfn9l9gQhmwiy8MQCsMShrs0NncyuEAin4wjensjjPMbTS5ysbhSyL4EWscyVq2jvHsyvQXi+jsOrpZVK+ws1sbJ1+gFC4gDN35wfUj0DbHDTXTxcc2NKqHiv8whvrglArZSlz6VIigmuW6Cw4pJf+wioHbDmbs0bosUer8zpHx1U0AitkwlTM8xyOrPuGQlzOghusFZX4QIx+gAgIBSRvzQ/WWRiLEBawzSs0rDJj8xv/Ar+WMgDogie0glCXaDVbM/3pcDCE8zhXsEZL9Rv2qyyzgu4e6/4pcSXCYiMYW0PIoi+7Yc1fW0QVxAoK9EBFPGBSCAfGtWQcvXX9AF8VsE0sNKxFxG1CB7UniO9QV0SJDrUurIdh68JFT/AQd+TvAoAEU8QRu6b7cgQ7+/Hdyllz4M5XB/J6WgQYMJloj/a7QWBnBAQAIfkEBQYAAAAsVgAZAL4A1wAACP8AAQgcSLCgwYMIEypcONCKQ4FGojCcSLGixYsYM2rciPEhABkBInIcSbKkyZMoD3oEQEDGlpQwY8qcedKhFYEEXtLcybOnT4E2BYaU+LOo0aMZgwJIIBKp06dQG94UyJRo1KtYeSqtmrWr15QruX4dSzbp1KVNy6pdq/BsiQ5Y2Mqd23AgC7h0864928HEE72AxwbtUMJq4MNRg96Ni7jx08F+HUs+GrREAiiTM/sMKsOB5s87gxpJkNmm6dNnATM+iYXxaMmndRQhMoRKmTJyBAkaQkIn6IuiSTc2XWiRo0WRkkfi5MUDAQMedPj+TdHja8RYHEIBY7CUd04GIJD/4GKiC3WLXbIDMEKgcevWoLp7B0VEin0ePFeT/fIFYnvE6VkBhnfeDURgKTpwQQUXQejX019dYdFFfzIQYMRhEk54YBpydHhgFwpSocJ05y0EhRVxVchCYFBAwcQTkoDinSROLEjEgV9IoeAQXVxRIkNWuPgieyw4yBaKrTVBIChFUOFkEUtWUYYUVDhx4Y8LdZEeZh0Q0AFmeb2HRYzegUGEglzoQCAnWDS5oAmaYVIKJpJgggkodq4CACap2GmLKS+JcUYbZwDAAgHChZkdGDKWAgoYVHhBRRpfNMqJDEVwISkZ5qnW2jPgyBNPPPLMMw8Ap6IqT6nxtNMOO7CW/5JEFBmyEEACnc4FRWtdSHKKd0ekIWwZRsQ1nxE6lJFGGUHold0Tq4BTTz32VFsttdba4w49r67DzjrrnHMOOkk8wQRmh/5HV3ZWsLHkEsoq2xoABOoAhhfLNkuXGF90YQU4pq66Kqmijmpwt+eUwwsvkEwwgQcQexBBAw1AsAAPYszVGhRkLLKIILLdVgYY83q8iAxG3JZGEG2oIVcXgg46DjsKuerqPOjw4vAEEAAAAc8QBC3QAgs0YMBBLUooBhhkwAEVzGew0aEcZoRhhrJySPgFbh0aAYXIRPgo17mtWUFzzTaLWkdBRC+AwEBBB310QVAooYQQOOSNAxKGof8U5IkZdnHL4INLAogkZkwNRg8ip8GD47gJIkcaZIyBbxlzoQizGrcAAKvnoBNks6vy8NI2AG0TDXfcR9syDOGw641DCbDfgokYYWDRYtJaapkdE0r8YIMNQijBBJIbM5EEM+CkM4879UBvajvokONFh1UvCwDmZXjhBddyDOG99zmIvdYPPxTPxC3gCtQOAO+/P9Do86zz9kBEI8DzAu0FYAABBKiDOcxxDgKKq4DCyFsAsjEudKBjXA0UlwMfSMEBhgMcGMzgODKIwWgMwxzOc4c9AHAPgVgLHdqQAwDkwAkfAMALAolUpMogOTkoaHxUUIMbvqIGTNjCFps4Bhf/uGCBBFgAGuECVzzSwcQmMlEe6VgVPdZhOqI1oG0EWIBAKBa0BRgACGAEAgnQgIQhkgADQAgBGi5RiTZWAhZoYEDQeLazOk4AAHeEBCREAYlK6BES1SgHOkw1D3poy4TZSscmBCIHXFyte937nhckJxAuvFCSWUHRLWzBC2DAEQ1HAyAAd/EtdsRjHqUqFUHkAYBSmQpWxTgGMoqxjGMUI5a3vOUe2yiKXvqyl5VAIxgxEIIQ3BGPA/GAQJQJAGYSJGJ4dBgavNGO5xmkhPfI5j3eoQ2BCIIg38wNQabGhRwMoUM5MAIT1vkEK+SqJz+4ATNsQY1dwOKeAMAAAryI/4D/FaNaIhRhtgY6wmzi46DafMc7tMnQht4DH9kcqEDcEdBt0YMeOAPANwAgDnCI4xsfFYc2jnEMaZCUpLU8RjQOWRBrUXRa9WhHOaThzXEORJy5yY0KdjqEHHhADmQgwyqq8AS7Ge9EWoLJHKYxDXSkYxkAgAUtarEJW1yxbQ2oREXskU0A5AORBB1hRQ6KD4OQFR/5eAcA0CqQfOSDrAAQ6wirNRBr1TWuJqwHRufRDnJIY5ErBAAlBavCmpLzfw1ggAUsEA2bxQMc42DGLVYBiCVEYXMAiMNGsMCMaYzDHup4Rzt4gQs+5sALQ8jAYh3gAAbUgaskjC02CaJNtP/iwx7swKjnYMXb3vb2VTZLBztG145RrYqQ9IjeQUbojhICgKJipYhY78HVeqyjGnUYgqYaJ6zJdYhDHOrQEP6nWC4Uo7iuxGhyqXWPcWxjGr0YXH8uEox+9EOhCrWHOI6xCS5MwAEa0MAGNuCA1TIAHBN5KETvUQ95wJRbGpEf/OZH4QlLeCA0Y0c5HFwt5w7EoQeJ6DywgQH+CeRoWlxAiVFXTA+0OAT8IwADRBENUsFUubS1xzv4Yd9+bMN2S6hCQs4ghmFMw7782OY7OliLUjCgnwQIAAEOwIAqIyAA3kAlIU2VXG0NdFvpQNVe5xGPlMSPwhfe7be4gQ4Relj/IGWNM0LIeg9zwAInBkgdVokmtC7yzwDHMORzTXjXuNJ1rhGt1jMyZhDdJWEY6ahWNJ6BCyTkAAleSFwiEuGFJwcgAAh48gG+iKqCXPTUYy4kXU+VSlb6JMOlXEc5sEEO2B5EznImyEHdoQ0sGsAA+nOAagGQAQ1kAI8Ww+Ix3EHouVqLul/uMLRve5DWRIEJ4RhVNMK7B2EBQBKRkAS4EyEFDYSaAQ4wmlbpcRBUA+DU2GplK9ErkHUAwFveCt1A8B1re3/r3jSzN4ZBx1twhSsb1DjH8+gqkDfDea0QP+s6gNHPfip2A4sd8E4vQAIAbEADE2hAPw3QXIdz9R75/+CHygGg1zGL8JT2GEff6ECHOcwhDub4xhjC26E9fFc5iYhEIuSQiBVYYAICRvBE4H3IgbkqHjRDBwCkPhAHrqOapnLiEluVjuCeLSEGRwc3rnGNaiqkHqWG4qkuGj17VAMDAFxAlQmC8QI7QAUcx/iTAX3WtTIUH/2Ax0D8keRWFfcctC6HNQrSBjio4QxdYII5cAGANFjOCzu3g8/TAIBNb3oPiQDFCjSgghzIg90MYfqpygw/V9HsHAKBPQAgCIxenvQYzSCpOEIK0m+ccokHkfoEzUGNa3RDlRq5qDg+HQAGCMQzrS2IBQCw2AM8xwBKNys+9gEAePzj+//wR/8/+GEPmUrjGtzQBibCQBAxtCEOjhcD5S/vvSxgXg52kMMeAMCH/vOBapwgbKLgDltWgAZoKtRyKq6iZuxAdeYwe+JCfFdFMUUDAL/2NqmTZwtQCe9DQQ00QeKSDc2ARKmSEWwnDczXHkcjZQSAAC5IZazVWlI2AZXwDmV1EG8FACqHZCp3W9yyDNnQDdhgEH+QB0Y4B3ggBQMxBFLgBUjgBPdnB9ezB3aQf5wnCUFgAccgbwuxZcklD65Xb7AiewAwQARkDmjQAPijOr82NG7za21zDAJXEAdUDtSwDNSQZhdxUe5QDCzxHwZwAH/IfACgAQBwADLYgt5AV27ViI7/6Fb68FX7MIm3tXvYEITRwAQF8QVi0IldoAP290I54AQA4ATic39lMATLsizKkgaJ4ADeYDCyKIsCIzCE9CqeY28GlzADYYbUAABqSBBadBD30zbJQHUEUUDnQA7GsAzkwHoCMQ9oVxF8yAskgAQq0H+exwdj4ABR5j85sAH7BGoT8A0lyHIC1WFcdXLUhQ/ygA3LAA3L0A3cYAp/gAcEUS42UQRTAENeMAVK6ITjs0JIIBBjcJBjoCwrQE3E1ZCjY1zycDZSd0DhAgDlIBDmUA7lAEr7NIzCmBBtww4PaIZlqJHcIAzGcA6uZhCohyrTaGpsJwpUsAd8EHTfxgni/yYJiZADI6cCAMAABuAw55gQNwY95uAN0gANI8gNv2gQ7xcHNkcE9ucETQhDL5QF4oMb/QgACGk5Q2AB1WB16GBwZOlbw9Uqcxh713BL0tCW1CAN1JAMEEAxANBPFviG/eSR+LNPCFAMBVSGJVkO5FBPy4AOK6kQp/Zu74Zq0UAE3FUGNgkAOCkJY2ABBhAAHrABPyMKQ0mUyUUP8uBXwgAM8cgNtYAQh5CaiMAD9veEA+kFWaACVDAGclAGSNCVloMEJNAAKuABeQYEaIAGfsQLt8QL2PAN3qAN3rCc2nBLlVAHRRMCdQAJdRACcxk0FHNVesk22wmMFOMNGBmY5P/QDLDQDMhYEIfZSp05D9+QAznAiq0oheITCd8mbnywAgsQAL1pAZzJEDdWDziDDbtQCbQwgtlABggBNWdQH6WohJf0QlIwBdsjB1OAm064AbRwh8eQDMgADLQAC720CSIKCSFgARoQZQYgnbRAC9BADeFADuUQDjI6o+Hwlm0pDcKwMMDgRtNZnapDENmZVXXgR5WQo8CwC5cADeigh3qInq0EDh0nMvEyOcPiBEEHbpHAByoQAABAAgxwDOfobix3YxcVmsCABnWwC8ZADccwBwhxBnMQCIdABg46EN5zSd6DG5iDm1QACdSADYCaDYKqDdzADdlQqNzQDfTIDS//KqMA0A3hkKjhYJHkYBE0eqnhUA032pY52klECglxBATQcA7+5jkS1qQDEQ/RMAZcuT1cyaqVB15pkH9Bt2llwABZtAAbhWoXxXLspleLiVHn0AxoEAJAAAzIIA2mcHMHEQh/8KxkUJBZ4AQS+kICMT60qUK4mQUkIA3VcA3fSnbieg3YQK6ACqgAEKndMBCICgCVehDgWRKTmq7h0A3QcAkQgAbVoA38OnUFAWu5eDbRQAWvCpsAaR8RCkPCMqsqNHRe0HFSZo6p0pkCoV5kNoRwhwbAIAy2oBCNFwdxAAZDMK1MWBDeQ4oc8qoI6YRo0Aw3Sg0wG7MxWw3f+q2G/8oNAGCogmqolVqoirqukAq0jyoQ66oRMjp2lwBGzpdiV0QxbbQ2bcQLBHEMTRhDUuAEpIiw9rGV28OwYyAFlflpZVaLp1KAqBIw6EALGCBlRQoMCvEDxvMELTKKpZgFJouNXaut4+MFQcAAtLAMzRC4gjuCSgkNhnuj3/qL2SAQi3sN2XANxUd25Xqu2UCohJqoj/qzQSu0RRuvRRu01wALl5AM2nANgot7wrCitCAKAIAGBUEAOSAQdquEBSkQtEuVTcg9+IdpZUACn9Z6CziLtbgq6yANcBcAQEALu0AGNwAhCIEFX3AGalAEQwAAdmunJ6uEWcCqpLi3SDABGP8gDMiQDORbvsmwDOe7DOqrvs0QswBwrtgAs/LIvoFbuNAAl3AJszU7rpR7qJeLqD5bqAJ6CcJwDQCgnDl7wDmLs4m6ruDZDdLgJFmAsADQm9UrBSpAAqNoH1nAPVnQj17gBAHguvyWYa7XkORQCVFGABorCoymEDRHc3lAt9gLQ1nwwdT6QiDsPVLgu7AgvgRBvgBgvua7DG4JAONKDfJoDEzcxMaADFAcxeWLvs1Av4eLvzL7iwYsrme6C8U3EeiqDYuktVebwQXpBDmgwbZbtWUwBnYLmwuABmcoLlM3QWQJLudgvJ8GBPeUBwwRCIAcyGRQvQDwhJf0wfZRigD/IAUjW39ZkAOwsAsouRBEPIJticTFJ7/JoBFOHMXIMMQCAVX0uwzCcAmwAFUA8IuqDK4CwcqtvAz64qBXS4qLjLUEgbsJOQZQGMILAAQWeZEaeZEZaYYFdJSXEGVotAuEEAfztRBxIKeDAAej+MiYBgBTAJBYm811e8M3PASVsLFMLBBELMTj3AwCAQ2pLLPoTBNOXMpoIAzmDACGWxD4m8qpXAy0LAWWNgRUuca0LBBPqIQISbK9nK4CQQ7iQA6VWqkXCaPksAzHy8e20DcKUQXuFwduQL0Dcc23/ISkaIrcnAVIIAqTXBDjDMpTDAA0NYLprMTxPBNMLAylfAm7//DJA6G+BoHOhgsJBOugHtBxi0zGSkgCHoAECcvDPYUAaBCEywmp3hAOTz2p5PCi1YAGyFwHp2kkCnEIiIAIh8AG01ytA+EESFDWAS2tN+wEKoCSxpAQ41y+5uyWLSq/0LDJMB3TrUvABYHKoXzTvHC1tYyNsSvU9uEERI2w9WdpJEBqg4oN/Hq5QLucyYABlP3OgEAiDPGsz5oHg1wQtFzWhVy7KsDNU7ABAODE4RzE5jvE5Au4APDShmu4Lx0Tbc3EwHAJNG3TC7EMvJDPs7zGQm3LShiQXpDGJEAAQDCukvu+zO3Y1QAAQGAAaLALmLAFzTwRRpgHMdwE5oQQZv9du1LwwUMwATxwAmQACJsgCrVQC7sAzm1dvqyd0gRRv0rJ1yNR2waB12jwwxORDDwd1BRM2Fq7yAR+wzlgbMiNxVlMDYlbDWcKBBgAC7ag1RPRifyBBTzQ3Yo8EN9t1IXYAFMWCHFwBlHwBEkQAy6Q4kVABpsQCaRlS+8txDk9glUMAMJw36d9EE0802rKEMkg3AAu4A5akMMtu0Q9AUQzuIMb2y5rDLsQnLDACdeNEbtTVBlevf8M0KCNjRtQZQxQBACQmqmZWZBnBVEQvXBAc3oQCJhgCqbwQz9UC3vER9TJBUAwRFygR6IAC7hQC25744DOycZw47iNrAqRDL3/TRBDQOQCDgBD4AGxW+A9HHJE47aiDADrm+meVAewUAtt0AVP8AMbcXOEIgZFoOEEUdbiQQIk0OXoxgBs4MebiAVFBQDOG+aHIKeIoAi83gEV3OoDtgEHgAQrIBBBEAQ8QAZHUC5kAAaAQAZ2IKIAsN5uOxCDjt8Eod8/rNsG4d+LTrsaUNRCzsiQThBTkAMZgKaX4AGbcOmY/u7qKwyw8Ea1QOEYkd1GSAaRnuqsDuwr4KWttQF6YBE/cDwCMQh4cAYmwOoDEew+CQAlAADHTgSCkAhkcAdsAH9tkDFEBQCiLuoDsQe2wAm1gAsmv7EyfdumfOMI4d8rgOWkONhC/+7b1uwEGcAADUALvPCW797z6Hu+9gQLmyBkJ/EHgTynGo63AhHsloZuOwXmFD0RcJCaeADmDR/sxd4sx37sZWAHQkcGb6DddIAQ/FEoA5EHRWiEgFAIgMAFpvzE3Z4MpHdp2jzugJ3I16wCEwAJkArVBozKgF++9yQK71QSu64IcyAGUZDh7kl3WJ+FO7VTPJAEGsHriGD1Sx/shigQJbD1+JkDe5AcZCDrBWEePoA+QiAECAF/YkAGZVAL4rva6Mvq7rnoBCHUQa6E1+wEPLMMUC2j4An4oUy+9lQLU24ScPAFSmADMdACHOBxju9xKrACkb9xRVD4FOGsz+r4A/82d1t/7CsgBXyAL4nAB1fCEVEQBUkQTwCw4mbA4iJKAjvlnuZUu8BdyDKv+1OgAhBACwBRTVs4b92wNQOQMGEyhsB21RKjUOJEihUthnkiJEaLFiYsSNywAcAGFSsmqEB5QcUFNnriWLT4R6bMEiFthrTggEGQICvKjOEjKBEfKVLKSIGZVCmAJEkA3HBxAoCKHAByXM0xBIlEKU5UTKiKdMoUJxMWiBKFyxYoM4hsIVvIMBkyWJvOLMVrsREARX/gnOliYqLNhCtWaECZ0sigvArbxJmTBwwDDSE1aLCQ2UKDAypICOIzlA8fOU6GqCjSWLVCLE2mSsSaVaITr1v/AYydoqIBAwYeJhBoMIEMIGRyGdKNZMiK09WrDx1CpEiREQ0KCQNYESQlyhUqlqxW8sRKFx0GLGzAbIE3AwebCUAgkWjPaNJjJpxurhpREc8Jq1a16qohEqLNCQDEmkIKsyZgoIEcSFiAgKqEEcYYC4VJDoAzwsivOZnmcIMHAKobKSQSpgrio5RWuICM1UZIIYYfTDAvMwdIQIKq8wwgYIEM5iMtjTKOGgLADpdSxMUTqfJPIayG0Eoh3HRjAAAGJgjCCwcCaKCIDyTyYQkr4DiyuTbO+CKKJDxKyKYTSTCMhBUNW60FGZPQYQEGMhujjDSE9EKFBRAwYIE05PDz/ycFiwRDjzKTUiQ1Jptk8r8nkUDCQCcgWGACCzLIQQ5QJgiAACJQeDRVpm7YqIPMStyABFkN28AwW1dIrYrGmMBCjDYe0HMMIYcV0oIFDAhABT+9yCILJHLIgAQwVLUID9dOtKrSigTE1EA9QxrCCTlSWSSAZFFAoQVqO2xhhA/evQxWWacyCYCebl3N1zn+KIKADRIdUsgyvNiARwSckCILJ5A4bQIPdCBzXYXgcKOEy1TwjyqNjQQQKxUQWEADWamgIo1UOCEgWSOUCE9XiRu7wYaNUOiAhPNMBGBeKi7AboUhsjMCgEPw2ve5QCLIQAWBiQiiZCLSkMKABgLQAP9TTB/0gILvXlZoko8qI/G/bKua1L9BF4gVRym8OEUWZBcgg46/xOCQa7y+sIKJJG4A4Oa05/XixJ976qmIQPASw408DlnBAAQASPTjDbwQeAEIgMvhWVl9o8DuhBQJA9sSLSAhh42tmqpjCApFW1YV5EhjkVW4KFWFQ+IQgwnP84qjDTXO4CEzE988sUrseOJphZaUSqEFF2Q0gQAElB5ygwAMAEBgkA1IevMMJuB590OIMLLNDSwoGzZoBz2AAVll9UIKKkARxFwVyPjiid2XIsOMLQY5RCAO4YDKpO0mJ8lOApFHhK0lZQQjQEEJejQBgQVhAtX5SRmO9R6R+Wb/AgnYHwACAbaKVOZE5XtQA0B2gAnEKiGao4IcGNAjMjCBbyGsCBvkEAlJ8PAOeTiDCUgQq5vYZEAJQV4Cy2eRd31ACscyAOWERAQv+ElIBDCA1DLgGwg8bn9zYMNHYOIm1F0FAhMAWciGqBAPkC4LBZOQEmKAw4qYIRE8lEQeyaCDGpCAROYLiQMIh0TkBYEFc2TiB0RwAkGsTk/Dyp4ViUCAhJxxdQY4gQ/2BwUOoGcpJjKdzRyQRs2I5FNUEYQgCEUCjGiEjgohQw74kMc8ciKPglCBGAGJnhUg0V6FDEJqLCKCB/JAEE9swAJONCwrMiCLCGjAM4vwh5fsTl2e/0yKJ3HyERWyTyc6yYATqOAFToBCZBl4xCMO8YdXJsQMcqiiICRhS1vmMRHls4kGEmivEvwyCEQoAxkEYYYoTMQFziODqKgQgMtZgHJDKkOVssgjAhQBDHPA4QmQgE28rMACExglAlJmpQU0AAIA0MoOS1EGIoThOc95ZRfekIMyIKoMdhgNLWkZCdvA6iP9lEgQahqaRAgCDGqQCBSeYARHCIITi1gAACaKAN6IVKQU5UE1Q/gBDhzxkyihwmEswCMubZEHMEiXDZQlh1KUYhEBDIRMcPiEM4xvClnwgrDkYIc0ZGGWOs1jGXJgk1cphAhj2ENCErHYPezBRQr5g/8b2OBUTsgBDBzA4uMmyqNjmSAP7fxABfz4SRwFYSofJQABJrDFTMYgBj5QQhGGxAlZcAIMg5BrCN1wCOmY4a64oZwd9uAFL+wBsHmUQy5zEj7EhoaojW1sGRQShy8o4Z2ciIQTfCAEGvHIu9AsQh4w2s4TnCcvscpCRAul2gxkgANuEMMXutAFMRQhhpwoBSg6gdvc7k4RAbxDDqiQBdw0K7hpGIMX/grYLDjOAhfYwBASAYAJJ7axex0DGPAAACXYwAVpcOoiTAsAdQEgAlJbgWDaqZAbRGAk5/3XGBpEqNVOoCVGc0MYqhCqSJRCFqVQA2RwGIhA6IEIzSIwFe7/iuQD3zQRx02ECjYgUggAhQ8AaCwAbFoG27QABYxcRGWlIhFUrZgi4xPJeX+yAhVmEQATMJx0hgYAIQCABzUFBQBkYQQmFHR/cZVJDpql5AQhmck13YMcEAvYSAwBONCUQ5YhOjCvJASCTwNFJMpgAhCYWSlsoALGliLlIaRBBY5D1hl5gIjoHCJiCWEB5fAri0Kk64uRycMbhtCssUhhyYY2cBqEW8U8RuKOifjeApIFOYh6YSxOIAELQDACESRiDE8lgqeXwgbRjZEEC/MCAyDAqQAgAAJgiM5/4dCFiQxBDvjNBQBEgEM1PKYIUwAAFW6TMGA3CwBIWJuw0+CF/8UudjQZiBD2BubssTBMBYL5cio5IYgLlFnbEpHrH8J4vmzCaQEROiOySvCI6DxCERYJghwAkN9V0NEGQniCCbai7wP5G9hSyMpdx2AHOUgBNKORgwbQGAAPxK/hUDqNiJjQhHdzIg0n+NLFIfsHHvBAD8LMzB8psgEHPFOkAWDBF9wwiEloYs4AcIFETCAsUPgYDPPeHQSbV4EVADwh/O63wpyw5DHAzq8YHoMGLoeAzKEUSirwQAaKoIhHSCIN2B2CJqWekDzkoQi/KYEFtK75EkaVUD3qQPNgGwY/JKT0EwGBz2dNBovbrYkQrJlWEJZ3JP86C2MAwBj6xCyqkP9ApB7IyoASP+4i6EEPZQiziA83eQC0oQjrOUy8JMJ5hZBAoqB/YFqVEIYNW2THAFhEW0/RersRs3kAlUOOMkX7vP8kXFQZAgkyEE1seQAAnFotGALxBsqmgQ3LlzoXMAHewBIHkAitsw4pWIFBYYEOAIFpGwE7WYIueLWKSBIQaztZIANEshsYaQEbYALiioRICJwccAL2A7Y+OQ2tyBE06pQMAIBkWq3vkYksiYRFQAI8aIPJ+4AB3A2uK6ED3IAcYIBBAYEPgEAJxItAYAMvEIS2kgVMcAkA2AKuaYEbeAIxuIOawi4vGAIwUIETREEDK4MpMEHNQaP3iEEAaK//70mNPGCBcHECoJK6HrSSKzFAvFAPzkAAFEjCxpCJQBgCQWg7UHgrAHyZKDgDyJAEcnoqJCCCPwBDMRzDBCOBIvEMToEmNmyvCZiABgAASYyWj7qAOpM6wdCJhMhDmKgODeCNA1iAA1CIEsuLmUioJyyFVWCDhKhAVdnByNiCRXi3G0QCNhgEyzPBhEBBZpGTzbkkTvweswCDyuOBK2EABOgA5gOABfgI0gEABwCpnOgbiqiOA+AM48kPmZCtNGgrTigEEPEcmbgDR4iELiwDPcgDmSCDTBkCvPO3scCrKZiA94FBqQEA+zMLAmgCjJoDBCgekZI6qXiPDciUPlE0/yJAAsQ4kT/CDCuRRXT0EJngAkLMLzLoPs85BEkAAE54qiF4Az2QicoLQxPsNyfIgYSZgmjxAKETKVD8RALogILylSZAgKI8gJSRAG1DgQswAA/wKwqziB5KhJ9QmAf5CBKYgEBohEdgDNWISSJIpbZKhRAyhEhwqkiQgxxoCUD7AyMYEH9sFq/gt9XyDULplNWRgE5TCCW4AFk8gO3JS08TEQiQrtWIBAA4TApbLADoHwD4gcaADDoggyGBwhryHCYggkVIiEiQAiIgubjirUnInLwDgL0zQ0+cgMt5jwVIyonIQmjSk4RAFm0LggXIAixTiMTMjzzKAjkQpqW4gf8ksIIvaAMqIEl3tIHdmcqEWIQceANFmISyC4VJsBat6Le7w7f7iyYDgIBsjLqJmIMiKMoqAcXw8bSsiJ8TJK6fEBbh0s2kMLYyEJci0Eu84AgXyIGwBIVT2B0ZWATN1LTymQRLMIQwUAK3BDhDKwqbtJzH8aL6rAgaAcU8VLEVAwMNwKu86pNJS7AE84Jx8gItizTd7CGFAboQbQwRmDYe+JPK1B2ueSfm/JkbSghS+IRBUIMt0AEikD3a+DcSuIALeIAL6ADBeMCk+ANkGSltg4MSQIJx4rUBC1HcY7ZJ+wkvMBARhZzEKqoyyIITID+YUFEQOAEnWIS2y4VC8Jz/IVnJRRiCoIkIhdjK6FQEPAAD8smKh+O0JlIICLUICmCABCCAA6iAUGSnV+KBTCnNAimQTGFUkrnN3IsfiRiNMigqlcuC31wKYkoXJBCE8MuFRUBEapEBRwBQL2ipiviDQCi56DwEMGiCLWCCH5AZAEABJFwKCtBVAOgADoAJCuAADsjGl9EBFVBUingQr7KIt4QcYesThaACIvBTmIAgOykCOSDEXJAF/XuZhGJJNyWDR4iJmWBVxotOADhJJJ2JhADWYA3WuFqKAigAajkB2aMI08CYLF1WlEICfOuTSAWAZknOpQABFGgeIeABLxAVWaC1z1oXEZA48HPOvVDV/5lYV6/sLwDwVYVwV13tnENohElICgEQgCPpqmOdjQJRip5KiH+ViCl4AypUCg/8AStoAyf4VG2VhPGiliZYhLOM1nVSV4uogArgAAl4gKTtmkkwOUQAQF91V171VQow2g7IxjNQAsmDCZJdjX7S1/yAkn/L0sIszCwABJFdiivMwjgQKEFg2FMY1UeRhDJgyUhwTpj0yoqQV3lVAAV4gFCEzokogWFNiI1tDpLl2sZQAWVNFbySrmcdAyrQsLOziCVQAisQA8gogj9JhVNYBDKI2w4Bg4nDrjTIgYtVioyFiQGYV4voABaQiF5dDcRF3NXgUYmZgrwamDTIPZLJC/83wINDMDlFUAEuSJggWAxVUQRDcIS6zYEgALTUPdRUiYDXhTU6VI3EPZL0aQ7ZiNSj4N2AzQLVpQjc2YIqCAM3SFI9kZWvLZMqmNtvVQE2qLzppQiLXRcFiICkxN7srd3VECZRy4+tKJIsfVY2ZRYNW4ofcB7X8oESQAAWyolpObky0QGzxC6WUoM5mAM6oIOK/QOHTQghaN0OGQCFiIBCnd3/7ZBuKZMocVwpoNIPBd2lcIEU8MN3kYAIbo/VOoPdKpPM/Naf+QFeidOJiEkAoICkTAIOPBLWTVoKINy8oN1HcdQjOSIDySsnEJafmILHYh4UcJd3+Uv2aI8NmOL/DjEDuj1MFTiBgk2BivDghJCACLAhaikABZAADigB2G2MAhiAASjZR2FcvGBU2xiQ3B2DZgEUFXhJpfAyansXECgVFmoP3niUEwCxLlwBRXqgEZCIJMACOnYxEpaYvwUAFmjAvHiAvsWhZzHWryVgKHmShCGuHIifIcg2vBiBI3wXEzAXqnKAbzIBuMsPDiCBHWpOqHsXiQBlhejbKDBFieEAP+aBNKaIYLVarinkf0vWLD0iDlgBCliBmikdregKE3xT+4UJMW6iHjSX9hnmA7AAWeyQE+ANxMiBBXjnhGhmhShhu+kAoOIBP/5VozXcdspSDZC2Se40Mq0J+TEK/ypwhCLQKgcSgSYCAWAOAHkGx8yo0NV4gPW4xgR4Zz5tp2BNiILG5onwWK7ZRYVgWScxgRqQiNoN5LqrxzyLhCLQ2qTw5Ul+gJQ5gGFuj/YYs9WQADNmgKMUgJOeVqVAqjKpAAqA3apL6D/12M5RlcpLiNJRCBacCoNOCBYegATggjBrO05QgTClCDHO6EmOno5mj3BkAE5bjRMYlGG+xgB4AF8mJm2jgH6quv5VCl1FWgVYl5hl0RwggtRIu4oY5IRIgCFQ61KYuAQQgMC2iBjAYTHuZUoulQgeFGTBa9VQAPUYFELp6CPMPsHunKpjgaxujEAW5EeRDkrY2sTV3v+cEYRIyDPwc4AThok5UIMvgAIluAEv22hzMZfU8usjbQwWuGS+RgBzQcJ0EQIsaM120tWr5gHaPlwWXpcqLiEkAG6eDoLJpojK82A6mIM2EAMs2JsTOADnDgAFkO68KC9wvGSRSpmCvQFF9OB89O7BZoHCfhnzLhMGpwgLMFP8WkkqEADiHtfKywMPju/5PoEOf2i3TgrMGOacmKGUeQEmEIMOrl/8DSFd9VXZ3h/y9l/2pggHsGz8AoVUAIUKn9cH2F+XttiYzPAPLhMjIIA90YlBgW4saAM6EOEgR127kYDYZmk6knGJmIRBOIMt+A55DWSlUIHfbrtUKIULCGj/heBqJdZVKFeVYC7CLEotE3Dyod2fvs3GqmvpEMpjhdCEdELb1Zic9B7LINjzX91qCviDrX4UHrielEkZc8kDIovbXaWjQFZsVc7GNNfG1bgAJDjTUhjLLPBbAOhul2bXQz/0DmGDUkmtR2eBUNCERkAEU1cNym0O25ZaCkDlTW8OGw+zU0gFctFfSndpVDd2YleNOQCDBHDuAziB9B2ERwiFz1mNQkWESQiFrhxvAXgAYZUAxeb1/Ahz/Ar2UqhqTUfzYz/2/NhBADgBE4jAdImBJdiCMzAEcVUNhKaIZ/ZfPeaACtj1cFcNEqCCcgJ2e5lydFfzQ1/XVD+SBwTs/+xDARcQAvRV4fywcIX4TqVAXISOgDMX+KXQaU4A9lMYA6OtCGOPclWJ63cmJgjSbpdZsSYSAiiAgiQA+ZBPiguw7P0M9kUogcGd4nNHdDaXGNpF3CZSUZhPAR940ZfZeI1/lxjoMyaw+hTXebzIT3Ify6QtdYmoALYk3wZH+rLn2qWHeRvYvqOn8XdR0SSIAjFQA6TC8NxyV/HmdYLHr5JfAXl1XQ44BA4gslWV9FQx+8OvXQhEF6d3g0ww/N6Wt2mzAjXQA0VABCInV1azWqvFe+bzGeAG9lQggi+niD0O+sHd2Fkv/CNB/NZH3AFIFyZwg09QBbKncQB4oBbAgv9AoARNUAQ9ADQi4wvpYDVEkN2Qv4AcAP1g94IrB4C+jYAIyOpsnHWn7ZCTxv4PYG+Ste0C+NtPIAWSq+AVpvEHHIEYSIIzoIRR0ARKOByYAgBWSwhZL35EYGdtHESSD3YAuHLbBogBBRQ8iMChAwAALEpw4JDwIcSIEgF8qGjx4kWJAwhyKFEiYaCJIiEKEDBxxAgbTNQoojSKUqNGh0QiSogIkaJAf3b+GenzJ9CJJORwKpUq1akLJSOWLDlAIICBAB4AOOjxY1CRGLdWHNmhQtaJT0fegHImECJKmkY1AnoTZ86HPMPSzSrgQg5OoE4hJdKUZNOlBQYPVEAQgEH/FnUhomjcmOsHECMW/3ygwMVIK2ry5EHUiBKlh28RBQo0E8BNAIoUyZwY6FGoDhQo0wZgIUckTnxTeQn8MHBJwgoGDzdc4IFDyigkYhQh2UWVPpNIIaTc1mN1n5zzHGrZFvVbADpNo17NupGin1ts1F4sIMci3UcX/f0NnLjh/MUfgA0VOmxjzFkU0SCkaJKTTj0FRQEFpYXF0x+BsHbaW4ckuNNM6Sni2Xc+oTACCO3RRYIgRR2VVH3AOVWYfgoAoIBByi0HgGPLfSCCCCNBuNNPDPoYloWlBdLWajiBZyFPaCW0GnpBgfCBiGHhVRRfpxBRwF8qRtXicAk9QAFW/3UFSCNjkgG1o4ITMbhYKJNs2GR6Nal203gSoodTa0B1FWVQt0Wy11FlpAicQFwmBGNHMjbWQgs1oqCEG1mhmSYAa9bVxyGaoAJAKBHJGaeDqwEQU4c/7cknUPDJlwp9KjYlEIvDTXYcmCWUmhUKjDKaawop3LCFH53WhWZtNigRhiGWaKoKAKNoElqHNWlI6mlBnYrqRCapUKJRSCXgqgAbFWccSgMZFGZdMTTKKACMPhHpKMJiS5dzIPjwxBeDPBQLKi/V5Jlq58VU17XzkqTBEHqduMIArhJkGUEulvvlJwA8QhsWTPzwAmZhDLLWJJQaHBSOIqTQwhNn+JHQKP+vxPLQtKTeGlbBBuP1Z5VjOPyABBX4LAEAZiIapRpiYCEGHpMAQIoiPI5Mc0UtYKaEEgB0AUCmo4yiirMJxUSJnJTVjK0C8AF6ChUi3MezzyV0UAAAE1NQ8cXtZRqKJpo8okeCT0P9gdQ/UH1DCzEo8UWkhkwHQL+aNKIHbWPP60F8u5WSAAgNhwtjBRJ4RFXcL8aIKimHuNFFFF+o0QYdfltrUQsvGK6EEBwLTrUQW0T6CSpck7L0YlC6npAFVFBZihwXGDcQz54zlJCZX35Ud5RM+ODCC4JDcfTwPl2E/QtCUA3AD0IIkYQQ7DIRRqS1Cd9eQx005ONsDyXggRz/gsjhxQoXUCBBBJDTAfmVgAVwg0hiDAa+GNggBjEQQve8VxEX2OAF4Rsf+oTwA105sD2Sy4oEBpidhHDgRwBwgAEYQAISbMACE2BQohTCAx6oySMGQ8ENAKCEH9gABe+LYERgFwMAvKCCCcFd7RjlgiEC0SsIeeIASfgjBRgghQ6wgAMYIAEKdIAFPGBBEb44EQ4sZGQ/gAITduiCHzaRIh/IVREBUMEKvuAGP/iBupQ4o/bUpy4ViGJCbAgRHzmAAFZ0QBYT0MUZ8iCMIumA20ZmAyig8QY9ZGMEK9IYChYxjnQsYq52FaWM1OUgIkEXgwhAAAAwAJEW0MAFCshI/zOM8CEljIDfhAAF8uERk8PTZGNyOEc5ytGCNMrVHqOUzKz80SeRrIoCAkAABLgyIQzgwBeLUIQSgCUi3KTKZCS5SyZYcpm/fGOAbnADT3YSewbrVP0GkxUKOMQhIqxlmAwQgAAcspULWIEJzDDDibCAA7h0nQt0qbEbxMCXBrMIClyAPRuos44AyKEFX2DONiKQnsk5iAi9mRBpIuAAC2iASRlAzRkWwVIP8YhDIOi6SSbEBj3sHkSlJrsKqtOSFqwgZuZVv8XMxkcgfeJDqlOCB0jzAFe0ABZVyoBRoKIElqJnAWvpt4QCYKFB9RvsdJpRIvaUiBXcaHtMGJYtVv9qNvfUKgBKYABDthKqFjjAARhwACNogic+giRHY7BLJeTQdTkNagw4FtSKxsAFLXCdWn3SkHoCAJARAexHEMDPutrVARMAQBH6xtGIGCshP4jSHwxhiDAsASI51WkHJYoZOjYKrdii31C9qRjFlAART0xOQhByFQAkQJqc1QBUHbCACEBotBEpLGFvShcMWcITnmgaHM6wyxik4I26emwnFVvM2tp2ZPSLSAixwgN0QQSzHnEAPz0LVeRCFQE80IPInJsQmV70sQ/6wyGsa4mI5KENAEiCOr+rK3dmVKMAiEF5/eajCOjnAfxRyEMUE8i4DpepxrVrcgnQBKfp9yH/HzgtFKom3TMBWMCiSc0hIHeGLmgsj7taohEVy8QSQ2wgcAOdBMjIAiK8lMNYga80DVnFuQZgLiWGSGmZ0F8Wt9gTA7ZJeCKEmkDgAQBYuCjHGDXHMBf2yf0tjgTSnBAJFMQjRBiyQq6imH0mWZUECIAJnGxmisiUsDsWCU8CfF05jQZJO0ELIjxxCEOcIQpJwOODLVi4qu3ZsYwSX5ozPRWCBFmGb2YBqB+gzyTv0wF50LOZP2AsNP6AcDraSXWvC5EKyeXQOBHwH7KrQwi6a88JWTDVqJbpNEOM0wUkAiO/GAF9OtUBDCKxrz8AwTQyFNA8sm56Zn2TakEIJ5aw/4QiLHEIccfhDFgQwhPC4GsaSc0Fwd7haZOQ5vwU4IFQ+IIhhvxF7MivhBSA9p5VDYBKKkHKETk0AFyckGqBhzRJQstqPJGJb1vXyoYYBMPNnCuJBjuJN+j4C5QouyEqAVEFXAhDSgjwVEsbjVb4AhwOrmWF04ROh+5OTKiXcOuSYhaxaMUhirZnXYmPdoTLXrDDDF4XOOZFJgd1CSbxiIyznD1fiIMe8gSAQ8d6wBsyUrZfLB7TCGxmAPC5KwzxhiW0VuNK7Lgdzzc4XQFAouh8iAtcBADF/W4U6zYxCqyQB9DAJCHUrThqlgQz0dhEEd3x2sAiwixXACAMbDhCE/+a4AMzW/oF747IBpWImeWMCSI+WMIW+pCJvyfEV2po1rMagYhAs6IVrXhEejoEp4bDJdsyu3JCfD4L4Gc+8z346mgjKubPP8SCjpXoMcn0EEfFIDrMWrcQuhCHtbwEJrAGgO1bEfbwKD48YW9LTBRBvVkkxBB3aMJDip/5GrjdBbfDnQWHKLXHBmhG/X+Mf5HCK7wC45jZ1f1BWzgLJTwCIhzCJ7iC7VWMp9yEhiye13gNazxEKwCAKnSCSBRfD9Dfk4EACozVn7WLpdXI9NWICMSAlG3Kus3BXGgNaDSCJ4Tf6k3EW2QbXFzgqJyHRNzBSBRfDURY9zRGHCVEDuX/EN01Xbt816LIFCrIi5lBSCOsRezNhM7pIAXeSdj94GdsIQCswRFMhPz1AArkyJPlCk9dlBuGHP/lSkIsx640BhP9zrodQnNhIUyExyPARJO8mJEQSe6BIWjUhfyloa+5wDo1Yh3B4THFjmwlhGOlQEJI4N+hR2ngCSUgmpE8RA3GCQXm3p1g4GeEBin4wit4AgBc3k+AoCX6Whsu4RPOIRGNlS2yHkSoAik8AnocAjDu4K0QnuwFjMAsSfp9xifgoSesXVbIXxP0QCyWGA49YiOyS4A0WN2hwDTqIqeowiugQt4sCWuIIQAQo3lAHnqcxx92yi8AACuwwRLAH12c/2E3ighk+EQbXtQ6xWGj1B3HKKI3QkQf8E5CbMoh+sQhnl/6cSIevow80mNEwB8YvCIs4iNkSE41OqKrOYY2fsA9emMM+EAYSGAsvIwmKGRCPsTArAYl9Jwv+IJPNMEavIFNssEaJEQZmuFFUsYIQIkK0ggpkVZCvEDzWZpYaZQaDuRDiEBE+UAfUCHLqMV/gOJKWsyoeAYeBoMrdAIhsAFE0ORDEMJNsoFZVuRM9mRWPMEPLBF5McaARIR/uWFR5hH49FBIeqNFNMEd4EtYHGJb+OKdpCQABENCkOUbgCUAvEFE2CRjtuJN5iQA7CRPRmNeSgQdxEEbiAE5NUqIlP+eD2HSXCohexCWJd0A8jGlG91IE5jCaT2BFTTLRBDmOdagxVDChiiNRDymSJClRJjlWVqk8V2m4UVIHpQbFiiBDTiWgARRC5zWaVFUV6UY7bSAsbQPU15EDTACI9xRRBAgy8gm4Y3KZ6BHI2xgY4oEYyLmSESmTg6h8cXAackcMJaGHhynuSVEY/2aG7lWrtDix+3SlwVOFQyYKphdwF0ECjymdw4cRMgkeP4HqXDKQ+hCQtikehICALCnTwAnG6DlTG7BHQxCSBRnSADjQ1hIHoiED5nYG3ESRf0AE2yPDvlXH5BCLLDFQHKF/UGE+CTEHFCh37GF2TGCY07EG5D/JWLy5k+4508MgnVlAolq2b+khkh82RC1aEK8qFHagOBI2Zetk0oAwAAeiGpuhf3NJ0QkwUpABL9QAipQHkQwwoViaG/6Jl14aEVSZkII4UNUnCWU6Kwl3qytKABEQd0BHvbEgDrNaEIwgXS2jzh+4Y5aBGbYEfnI1HyujyKgQizEJES844XWpJ0uppJuKIcuRmLi5EMswRusDERYl03w3qDOamms6Bc8xE9KlHxSWpjegBBIGbPEnmq6KCOq0x21GkNhakLA5hy0gkw+BCs8hGPa6WPaJCFkK5PShlmugWRKhJWZR5yIYtikaOKRxkMIwX7mkKN2FflQGuMsoNZV/+qlFlay8hBm1JE6NRZjGmZCyKmGLiaGMibBZmuqiohNdgLwJQS2YY1EHAJOEJrEBsxptMEXWIEVMIHBhWlCRIFu1mDkVepjlZlpJWuOqRMIPNa0AoAyNOmFourBikgnGAIr1OyfQoS4igqWyQnEhs2EbB0dhEQcAIAadMEXkNNpxQEMkmdMUF20vdFF8RdE3Ku+OlYSFGZhxsIs+IK/PoSRCqypouq2/sS3ikQnoGf4fcKVUSp5ZtuGYE25eo24kejF0CYdKEERtZ3XeAZrsG2CfgAjAoDUTm2yyk4LJEEfzEIwEAMAWCj7iWpEZOtYGuyRPo347axEpGPcQkRbjP9btvldRHyBH/wOs8jeMeqipQLr4BKudyqBGqiCMvjCJ2zgLLBfRDAu+wWs1zKCtpaqiKAnAHzC140G+anGnewg53auJbQFbYLEaqjC9bVFFyLok8GO4Aqu+UyEdwrBGXhqLPzCL7hCddVu7Z5dQnStnNIpJnAn5fouUDAp8CZEK3gC8dZv2HiharBkI1xMJrDtKKwo9QzC1QBA0PatXkZNsppP9oIe+XRvLLyCJXwC+OqC+N7g2ZXv+UKEKXQCJpgCAHAn7y5pXbCCVIIf/dov8SLj294v9XJKJrRFLKiCJUBQYcEcuqKuRdjRaSmw1MbbF6CCKjZgIFjCLIBv+Fr/gpzYbvA9hC+4wiBwZ0KAcPsCBSEYwkRsoPhl4KiQZ/0iI9aISs55wiewIgCsRXhyyivI5BnkUUYpwQDjcNSQz34p8EP8wNXiaCzkBIR4QhGDLwB8G3paaOO2AugCwC9kwh3QKQCsbwgv6dgmhMKubES0wif4okjI3mgkhCXnb0zcIHpWJad4grDEAissgQukQEQ9n1FWakWwR7ou8IElhC/kcXHucR//gi6wgiVsoC7oAiuy3+IqgzL8QigYgu5KsQhTq7SubPy2wneAcvKan6g8XlvU7CPU7UNogu1BhCGwAYRtnGMtJRxDrRzzsA7l6km2RYn2xI6wohH/wvBJfHJCGHEwCPPZWYIif/D6TvFDeKA8ayAmKuTX5e/C5Z4Ye0JbVKXf6cEjKHEYaN4xWWITiCArQ22yZqrVeKovyJ6hQgSa8LGoTvBDvDP4BrMvkIIlcPBD7LO2+gTaQrNIhMaGfCHOPQK2YXNCEGYj+N3wAUDmRXRCzN/wBAQAIfkEBQYAAAAsUgAZAMcA1wAACP8AAQgcSLCgwYMIEypcyNCKFYYQI0qcSLGixYsYMyZ06FCjx48gQ4ocGZEjyZMoU6pcCaAjy5cwY8o0aHKmzZs4P5rsIKNKzp9Ag9LsmIBFFKFIk9o0WVSp06cqTZYwCrWqVY9SO2C5yrWrRJMstHodS3boww4mnpRdSzbrVrZwr4IVG7fuU6lp7epNupPq3r8/dyYATBinSxkOCiuW6dLI4MWQW6bE8hCAYwBv43LczLlyZJBW3l6u27l0zc8esYh+DBeKQ9UcXb9WrRq1zsqI61K2AqX37M45PXOlLHA029Cqu8CG8uSJb9jCfzKp+kU5gNxwuyinnVy76t7gbXv//CJGzBfHXdi6xqK9PRYdRYIQIVLGCBn7JjKLp8iESeguMgTwxVqUQcGEEkk8QQYYcjQoyIOLOJLDBAssUMQZ+1mkxIZMGEHAFWt1QZ55XbBRyokDnViKHAYY0MAQRSgRHWAGbqgEE1Cw1952yBUkxnbXfVgWeOt9UcgpKgqkoiAeOMGFE0SASFgX5ZWnnIFJILjeckwIIcSNUAzU3hUeGlHWdjWSgWSSAKgYCRNOSMEFCWFgqFd/OLJX3hln/MidiGLwSSJv/Q1EGwAlEHACWcmJoQYcYKxZSiKCcMJJm6VEgoUTVFDBxV9YQLGhlzciR9kTSpCqRI6AkvgneWrE/2ECASyQdeANNgjBhCQqgkFEp1SouMgXZXBKhQ5h6KXGj9vp6KgapmCyCiaASBLFE3lyV+MPNvxQKgu0KqRGG20I1UYcy1YHBiilnAKKDlxQIYUUSwpRhBSd8iClbqEeyO0NzIATz8AEyzOPPAjLM3A65jQ8Djg/mppAuAd9iWNoMl3pb7dg0ibJmmQQMS8XZLBbiiBiFBEvFUUka1ccc8CxLCbjyEPPzfbkXI897vBsTz31yNMOO0Ozsw47zGTppRAOEJAAlXz22Sx7sMIRh8wApBfSjXmSd4Ya6Tar3RYqgiIGFQB0CsaSXTTxJBVBACBEXUnIZkUVzACQMMLx7P+d8DzsBL7OOeZQwwsvm2xSRBE8mJAABAvIcMWO/SrBbbdfsqqcFQfa6B/UYIdNG5WOtgG2nzV27N62mJ54BBhlpJFGEWufuMgVPXhRRhl8zOGVGlLvRvXXcMwRh8DtJK/88sr3fc7hkEzgwfTTTxDCBAYAsEADCBiFhddfBz96oI+afsYX/eKpuXacp2pDDDdYbOqpeH5eOhwyF6KiJFiYAcDubniDm1C1uzIM4QphgkqrrNS+H/zgBj/I3PfQwbwKLg9wDchgBiu0ABdB4IMgbMAF+vOfQJkHC4tbHPwiWDfkEGpUperCGdqAP5m5ylmPupoNK8ch1+hgEUC8jhH/CsgDJfSAE5EAxSJ+pDsDQsUGN4hf175AxSs1J0dfmOEtimbBCsojHbSokAYbsAAEgPCMC0iAEBx4I/Z8jQU4iCMOikAZPYEtDni0YRc415/1UA4KSVijDaBoMR1pzEZKeAIYBpKGNshud2G4AoMaJAc1uKGAQwiDgYIShzacbztQOxce0YW+LjnwS0m4xTrW0UULxkMYHIwlAjzwwQ12MADgyCU4vmENazCDGbaQIw5ucYtVFNMWYPBBDDW2xihGcFXfC1SfqiM8KhHzFtOYBjOuSUz/CaQJTSigF8iwOABQ0ggySEMZvHBABD5BaV6qG0u0Q01UCQFXg4RgItlj/wtb8KIWsLjEJdBAgAAQoBurPFry0vHFdDh0HgCgxzwkug5YtAgBLTIARgnA0RY1AAIGoMUyokHSaJQjHOUoRwBwgIFLEO4cMEXHOWQqU8Lp8mG59CUznsGMYdwiF7foBTHdgIUn2OIb83DHztzRs5+lAx3UoCQRhMCDderuquaUQxq8wFXdUcENboAZHj2JPt74MSRRjKEJXQUeLNziGbYAxi52gQYgdJSjBhVG0fqWMILpbW8HQ0c3KkFYwtahDiE4IwgJEALqeQAIJABCEHKAgxAAAQNA4IJmuVAJWKCBAR9kwARGC4lKQOK0kBBFMVZ7jGJowxuw9YY5yFGOdv8YTKn2uEduc+YOc9RCEHIQBCi+kIYxcJUKXaWkHJDbVSqQ6nPtsUIgLzdIb+HoIqAMVBvmMIc85GEOy8ICIHiKjmbQIqCXoEUdDsBBBCwAGDkDgD0GUg8A7Oy+OcvvPfar2/zml6lAm8c8viGOb4BDHAiOxjGkcYxjnBcWEK4EBq5XvQw49sIYrt5oR1uMc7AjHvTA7c/8m19zpAG4csCFGXbXVS9QoQyUTMMQuODidcrBDDqQXxatlkfxscciQhikkLsFXWwyo2f0MBwtaCEKXESiDCsgIwePgQ/d9re/8ZVvzvabjyrjo8r8DfOXx4yPfOTjHmN+xz3eoebc8vf/v0oV8IEPTOAGM5gXosjzaT2w4QkU4xgTbSqJd8vfeUQjuMpNdKIFUQYq5ECd6hREJCKxoDrqiXzA+9EmK/LOVEWQCd+bhjPewQ97sDlnzRgGJFQgEAe42gIb2IAFHEDlMNv61mjuMjvk4Q6hMQ8ARFMewuahjhAPGtdoJrOyv5wPNt9DIDeTqIDpsbNB+xfJ0paHYDeBaBQrWtEeOK4XIKeCREQiEUYI8pAhqCu7JZAi4TXQE5ixj370gx9sBsc4SOqIEBwAowY4AANmzQCMFgPMyMa1PW4b4KIF7uEQjzjRAteOgTCPYNOutn/DzNudWdnKbib0luebs5sB7hq7/1j0t5ULXAJUCAIboBACjnHgaBBzj51W66MuEuQYxAAQ3zD1M3BBBCcEQat8WAQAEuEFBhjAoAFHwL8xAFGDDVvAWJ9otemRDnsIuB4TnYfDJU72iA/t7BM3O8XTrjx2lAOiPUv4m/cbcivLgxt1gMCMuTCE3a080SEggAEgMPBiJI+vwx7HOKZxcwMx4Qk/rkgXACkEW7DjGFRoEB8AwIcGSWLSn+eDCjCKAAY4nQB1iGi0V896iNKDtwY72MHGXvbakx3tXFx7xNFxDV7ndtnAR3Y9yLEL7Wmvg7GsUGOX7wEV5EAFIWjRwKNhW6zfbKlbrvc2tj+tGlTEeMuKgv8txAHjNDTIDnzYvBzMnQhzp58KDrAAAxwwgW+w/v43U321Zc83oa3SaGV3NLY3gLW3DuFADfFgD8C3bF0GfPkwD8DgXgtwfAaQfFKWfBXCUQ02bUpVD0w1aFp2D/rAD/c2DrcgBEkgEVEQSO8zDFmgTmMAADFYBntQg+vXfpSyB2YgCBagATmQAxKFf0L4el7HN/HQDke4DuighAmVUOjwYW0nOE04hQJYgKtkDtlADe3wewvogMoWDkBQRgsQABUoWhZwhhugATE3AZDDQYInDrkFAM8mX3T4X7ylX26mW+MwEcwRSDfAAmMQg14gEFIQiHKwB3KQfomQfnyQBqD/EAQWVgvuMFFDeH88QzDMMzjosImcuInnYGC7lHXSlnVflIRUSIXncA3XkA02E2314FAMJWD2lYfLNg/LkFEGMH9nCGsboAIXQAKxFmsAIGUGcAx5SHf6hWbP1jMdWG1XNl8SwV14dAZZEIhZMAQA4AU5UI00KAc5cIgxxgeSQAQZAA6jmHXomHU7Qw/ME2yDA1PwCFPlQIzbQ0YIUAmigI+V0GDJUGDJs4lMuIQAiQ4AQA7UIA0EOYQDQQ8RRRBgZzDoUAkGVXrxt4tn6AAa4AAkQAIXkIZsaACVoIAKdw/1Zm/25g70YHXzAHbtMA/2MA5iIBF/EAdn0AU6kAUy/wgA2OgFSOAEgWh+UxA7WqVOZcB0HmAOB2N1w3Z16BhiYudwArgODfNSL7ULEHB8sWQABICVZaRRCyAK7aCJnciJMEUN0JAN8UCJlViJ7pAOGBAABjV/rmZ6FVmXGwAADoAA7gUO72BmZlZmX3YP+dAP/1CY/wAP8NAPC/eP3XAN3VAO0SAGcZAHDPEjXRIDPFCNAoGTXJUFWeAFYyAHBgRpsSOUE9A8SEgwBQNYExUPgmM0Tdgwskk482hLEtiVAlEhGlWBFXIMNRWP8VgOxtAMb6eWaymE7iAOcAmXeGVQgqeXC3AAs+ZqHFUh9uCX2OmX+0CC8HCY8OAP93YP8/+wDtXQDNwQDtqACVoDEX8wB20gBkSAk06Ak4Eog0iABGNQBnYQlKRZBtc4BFUIcWd3cdUXlqtElkpoDuUgmwq6CwwwRraEgRiIAOGADgxqDvBYDtwwnABgnMeJf/XwDQ3Am3p5AFpZUHBpAHc5f6eHAKIgmNmJnfqwnVU2ozTKM/PgDdLQDeEQDQ8kEd7lXZkJAEggBTJYn1OABLojmgBAmsU1BBlQB6LAC8VQDdRQDQAwUzO1hA93eOzwmzB1DdqADQdJDeRAW7yAUQsgeIKnUdzjlRdYjxnkmxeqoApKDcKQDS35oWx5DCqQeTh4bokwBhaAogagAiQQnVrJAOL/kH8emIy5xmzYiQ8h6pjVEA7hYAs+MBE0iT5EMAUAIAX0GYjWCJoN4gVOOgZIoAFMhgZ1VVClxwAqIAqbIAq1IAzF4A3i4A2rVQyV4FELAARAEKcSWqzb45Xu5XIVeAyEw6ApRQ7GAAzhkJbpKIrHCQ644AV7gIOSIAmc0K2SkAgr0EGHmgFrKlrfADT1QG3qqq4f2FRgN57Y0AzSIA3U0A3ZgAkVcSslAKoCQaoAC5ppYAf52Z9ZQAvYkA3aoA3ckA3ZgA3SkAx/xgu4oF6nFQKHtWTA0AzV0A3kEA7kwKPdcJD0CgyHc1iVUAfEaqwchA4ptaAwyw1zVQ6It5Sy/1et1noMOaCkXCU72xoJ3gquXlBGAeABGwABo7WS7bq0TBtg6ECmzbAM0LCjx9AIgUAR01QESAAAU+AERxqw/9MgY+CkWVAL1aCK14ANaru22cANbqsN3QC3H4upPBoOdXummJq3eru34eAN4VCv9Xo4hlUJ24OBhVUJvAAMl7ALtXWEqjkwfqOSNmsNF1BAsiM7diAHnwm03RoJfKABCAAAOZABFiAKStu0qJuS5AANwAAMxQANYmoKcWAR3lUE2OgESFCNAXufoVlcBcRiKgAM1DC8Vnql1IC2qogNaYsNdMuj3NAN5wmyc2u3eeu3emu9mIq9fJu3gCsNgpuyw/8KC+Wwdl10hKn5uNFAH5YrOw2CuUhgbp+XCHvAAAGwACTgoh7qikxLbfPAe+oFC8vQDNcQDRBkEYcQCH+QA1LgBf4KsFlQpKBZBjG4u5Ugtc0ADRg8tfU6vPZKvAmLDW4bwg2LqW4rst0gsnaLwtu7wtW7t9ggDMIqDdigDUuYULc3oO0ADgsswRIciAJbfnaQBlnAB+yXCMNIAJCDVB+6rusaD90AC0CABrDwutcACCKAEV/ABDyQk1wFsMY1iEYKAD4JsEjwXsmwDACwDGocwM3Qxm2cwccLAAnrsA6bsNdwvMs7xyV8wnx8wtRbt3W7t9qLqdmQDJcABAxQuBX/Ulql1auvBVsJ5Q0LDJouJsZeKxBTgKqXyzs4KAcawJxIFXYfOg/lAAxoMGG0MJzH4AIugBFiUAVKoMBdFbCe6bVTkMmgSapOMAFoIAwAkAzJgBBonMYAYK8yPMcOO7xq7MYY3MHDi7xznLAh3Md9/MfUmw3NsLjX4MYOdl5oUAdoEAJi6IYEkAPNZclOkM7pLMZTMLbsy4hp4ARPRwA1i7PWJ3bNYFcEAATAgAzJQAgA4AYYccCBQAY5YFxDUIid2bWWPAVSgJ+kmgVccAnCYAy/DMzAnBDDjMdoSw0A0AwFgQwifcZnzMYX3Axl+sxoy7Zt27YhnA3QAACwUA0L/wu9Jwxbr2XT29zGyTABnpkFoJrOSKAC6oy76jy2uzMGe1AGXWsBcHl454t4Nytg8UAOdVBQBFAJwCAMkjAIHhGkCvzAmQzURa3ODE2q2rgLwCAQGJ3RCHHGAFCmHW2WwywRIu3PJR3AGbzBw8vRMX0JsLu2gi3YCwu3r5UDtxzG6TwhRO0EQ0ACrJbO+ZnUPekFn4wGAUqgj2sOwvCWAQAEsAAMtQASpGS7XUXWRd3QottiQyAKxmAMI93WCRHM9goNKn280IAMIHHXGL3GAZwMARXXfX22Z4u8abu8x+CvXlvUO5vOQ9B8liyDLDYE8zkEAYAGWtqJR5PZYYkNQP/AnGggV0bgE1iRBD8QA7LctWWtzuzsBC2GBK4N27zd1hhNEME8tWZp231NDc1g0SzhWR/dzN273/tdDZsgEEKdA9Rd1jqJ4OmsO4Fo1EhAALRAWzDLoDGlhJtIDrTg2SEAC7tgBykAEtPxQDxwu+td1rdszl7gBCpQCcgg33eN1/RN3xfszPsNDcnw2jze4zwOAP59EUGODL7txm+cwRhcDKEqBV773I2d2uydzoVoXD0pBdYNCyCb5WdaDlueUgpaDtXw3QSAWbtQCyNAEuij4Cm+3l27pghwAZgQCbiAC1td0a8d2zV+xheM5Bhsls0Q4z4e6ILu40C+EAIlDP7/PMxqnMa+HcCbgATqjbsqsOBr3tzubVzOrQIEAAux1bd6+7FneqbYYFEcBdrHEEUnkQdsoOZrrs5DvQGmxwBwAABhQN6L4wW2iug0buNGzufQsAyDHuzCHuwyLdP+TMzIrujJAAzzwuTL3epiPATSk86f6QVWngMkEACwUNgLO83dAFvcq88YUAnNYAqKcBKHAACKUASsnuIkMAEbKX/zZwIEgQL2ngIjLhBkYAabMOfHIAzAvMxvvOcYDOzDfvAILwyHnugCoegNnwybECcD0errLMaTns7MJQXY7gEBUAnJe9yDrbDdUA2wgAFjrtW2gAhejRJPcAMmMASUztzA/7gBJBAEdMkAJnADCpECUVQFVtAGiEAIpmAKnNBPm2BaplUHXIAGHlAHqaWxwhD1CD/1wkBXsGAMAd/w9s3s83LJDg7lKZ42nokEG9kAWU3gxmvcL1xXGFAHu5Dyf6ASLpACI2AC7e7YEwAAwbgCcbMCfr8C+ZEQmwoAs0sQK08HlAnZAqEBHbkCAuH4ABAEWbAJjpA4c07nUm/nU28MCr+4Af/5JJ0MkEDdzq74Xx/dKT4FnvnYHlAhQIDBe06v3Wuvy0ALpxzetpCCdrISLWD3Q3CfiCoQe48EG/D3K6ACSzDrFvEHf1AEAEACAxFrFiAQQVD91T8GnCsJfTAQYP9ABmRgB7VaC7VQ55of6IpL0YkO+suQDNO/4GTvAQXx7F6LBD+43D89uhSSQXm9xlFr5AABDBaaS7vsiEgBQOFChg0dPoS4kIkQHjlUqGC4QSOJFSs2dOxIRE9Ekn/+0GkDQOPKlUGClHDpUoOTPZIikWH4I8YNFwASAjBRxMyYTaJq1QImTCmsS7CEIUu2LFnUqcBIqBiCxMnWIVudNNwKYMgEFV6nnM0woZKoS0CAAVgGV+qyucuE7YJVadcmkn39kgwUB4zDlQA6Gja8QoWRR38bfoGMhQLLlRNiuoQZxMKCLJEiSWpEqVGghVEUxuiZomeSJKYVrilkBo3TqVL/qfJSQUJsV6+9wSLJodWJlLM5JkzYUIkXMGpU6Uatu4sWLFp8R4BwnL1vmzNfopjIqDF3RwsrEncswkQ7ACVMoECZTBmABgaYL3tJtMcLn0RkDvm1YqE4HDLEjlqEqa22Oi5aKKveHlToQeKmQAKAOqQJJ8NwoIGuw+eWwWuXRJIAoKf1TmwICiF4QiG8DXJTwSXdFOoIo/Ww+EINNUrQgLINLHCgviBWCGIMPgRJJBE5ANjDDjLyAHCLhxBBBAA93jDFFE5ssQUXSADAKIeFhHvQt6+Gk+KrBorJRsMM5/JQKoF2sYU0FO906AM9WVhoJRUuwCiIGc8Db7048vij/wgLetxAAw0sACDIBlYgAUkk+cAUqyzExNOhxh75QyEbVbBIIQcfVEE4ANCUIocFRIHmGm407CZBqqKak5NOd2VIzw8WVUkjAAA1DNKFOsJpPZMSZaBHC4AMkgEVGCAAAhISEQRTTNMYIgcSeLCTV4aauAoAThnKoSvhhvAgA+GkgBeJCSAQpRJaasGFSwwugcq2uXbZJRJDxOV1BD07gNTPchXiiEb0FKnSsUAC+YOHAxZ1gAQnvFiBgQ0AIGCBCfbQVo4yytAghxxMEINghgS96FxRzc0KCa1ORdOJeTdjgIEhvOCklCHQgJMqvBKhw+VOhfjBhhdMUMEC8YZlUP8xIs1DdiTHFIE4EA4MsGACL8pIowyFgmjAALVV2MPkNMaQYiwVWIhBaQAUMSJmUvcW89yae4NXChUQ2IABBMjiYggu0kgDiGKgmsoYWOz4gbUA7b4TjD0820O8P/8EAIkhOsrh6iCKcEwIJqw4A44hCHBgiJNPVmiMFRZAIIAMxihjjCyyAM7aDl5QGpFDWNCAb+UbqlmrwIdoYAILEFhAo+A8IIFsIEJAwwszzABgBMxPNGliAApRgQ9JbErk84tA90IFIoc4ewU1HEMhhRaKkAMBB8ZOAxEAYLYyeGEDBiAAAojzOyd0iwQZOAHmtpCB+ZDAIhfcG5gY4qDAQQD/OQs4gMd+9LFKyWIRGiCBCVKQAvGNLzvlC8QhFAGAKWQhEetjXxb+BKiLrIAF8gPAS1zCAiH8RQQjSIEkAuCADZQtDV7IgQCJkIYgGGABAdCYE2zmrbScoAtKwwMRGrUQ5WFwZuYSTlp+BMJmPcoCWPFCKXIxBk6gTgQu1M7EZHgIPAyBd2nAIfuCcJELsIRIDRlSoSIyAhSgQAZySCADZrcCA0yACrNbAASqFRxvkcADE7jAGezWAySQQAMMuQoGzWgulQ0hAw1o1ARAOAEHBGkCoqNCGlKRC1D0Qgc+weNfuNaIQ7jBCkQYgxz4QLZAemYIFwiWsMwDgBIsZIgk/0FBC2wgCS+EbAJjGOAKAkCAIJCNCAtYAADIQgJPamAC07QbB1TwsYYkT5WkUlk+JwDLDegGnQ5AJwIgQAY2qKAMkZBFLnohizAE8y+TsIQxhVCELPQuDXLgXSBtQj/5NCQzQTDCEx7SghgogQ2LWETaDEA7IrAzCG8rwwIQaK12fRKa4zMWRCxYRpWpwAMHcJQGkHCABTTgAAItQhjicIgicKEMpZBFL3rBiv84NCJ9GMQg3NCFJshuDF6YwtjKsIcbBtILJOinRuD50ZgYIQ4NZUgVwtAGSciBEyoggFhm99WTBRAAamtABj4JAQS4MAL0jIg9ScVKny5gCM9ywP8EEBBCAkxAB2HAgwwRQYZcniKqvejEIapqVYYM4hGPaMQj7pCDk41hCvCqqB2UCYBAloGdG3CAeS5zmTGkgT9kGMRCvtAFHURCEJwYAvUYkEsnlmGKZSDATDNAWAN0YHwnKExfdnrBCTzWAZGygBXROYESYFazEyOCFwSxS6neYbSkXYhoJ8aDivruta/N5R7IphAcJoJSUtutS5KJqSQlAgx4UIgPYnBRTkSiDCuo7AKIcLIpMo4BakNA2ghAgA5gB3MlKGV29kYCKZRBCgxYQWSpl7sFNMENy/rDxNiQA7smdKEIhu9CJmaSGfeOhvB6LQDGpt8l8dcmOXiWBWL/0lsCFxhbe0BdC1BwgkWkgROLCMIJEohAFUxxbNRSGwI5jMcTlM4xpwSABZ0wux+pOHcG8EATtlAFK3RBDGpoQxuaWoZT5EKhoc0xACi2LIoW8LWBy4IXFD3W/RpZEkiopZI3oEwnZ0tbZrsO/xqchgh2AAEJ3DABGBAAA3wagR1oQTBLMCjH/MiPk7QAA2RKak8qxAUuiEEMbHCDIhbBC3Jgby46gWP4wrgIPwNA4IKs6EXLoWwLweG0NoAABKggSUgiGabkYDIeXGcRdFyEAEEAAk+HudRhXsAFwOMaF2aXJOJZwQSw+NwyUKFRBqC1ByjQAwCgYAQjEMEHGJmQ/5cuwsa5eMP9SAvjP9yBg8SRArOF3Oxt0zaQTrBAAHA3BG3xYdvOfpsUQCADQRw3DSXAzrhPkAC1bdiKDShC0hxqBGH5xXo6q09rkWnF6GrAAx6IoEIA7is9AaDMNVboKW4A3zjMgQ6IKoQchtAVeDFb4syWwx7S8BmbfCYLECAsArK+bcZh1As6PIEkytDgHNxRISBo0QlkcAEOFIEHMrdqKT+GWIhshApUiLhzT6YCdBoAAoKt5kICTvQPKKQEa2ZvLwABXyyIoQ1wwAQoyrAIKCIh4la3eqLtoN9EeKbAacmdBy5atq8q2gk5CIJxOSEHFnj4IcS26h9m7BGWvP8bCbMjG4VlKVMIeECRb1880RXCA/UevBCkxfUPCgEKlF7ZIhsDvaJDhwQvpGEPY3AyH/ZA+Oj2zupT0OIQqGDXRQwh6IF2CBj0kCgfuXshaDXo7OitgpZXC3UN+bcABIGAs6Y0MDiFkoU7cINgwo4W0AFQ4ARBiIRFEISVKYvsUzTgCKs0kC1MaZI9IAFZ0h3uOwuv6JYcOC5BCAL4cwgZ0AACMAETkJ6EqT8ygjTW6ivBwytq0zgyaISHWAIFawEWaiGjGwKk64VTIK0YkITZm8D2I4M2qIjPA71kSzQvsIM0mIImycIy8KkEShUTzI0M0I1FKAMwgBIWVIgTUIH/BvirJEuy+qMnrAAZA8i/9CK+CdiwIvhBh2gEReCjM+gCJRACH1gIExgbG+uFQggXF5o+QQCAK6MCIqADOpiDY8NAL5i4sZEDO+i+k4kfDUAAO9QKiwhBCGCADDCZFRgQNQQKEnBDDTolOIym3vsYDAu1cVKbBSCAAPg/iJgYROAarvkDOACALyoCsnE+RdAazCkEJQQAlPLCQYAxFQgrDNzEskGCMfgqnZGsBtipwZqADEAhn2qCy2FBHtgMNwyCH3EUAIBDqfERACi3MKO2UnO5X4QIGJoYPWIIFZADQbCxBJwhzLkDUDCuSAAAQVCBN2A4MuC+TaxCL+AdJKCC/wbKgVMqNQDwAAbwoAwQrFc6AANQAldUR8JigBmElKCCxyQLlqtwgAf4gROIgCsKtXwkg4gpCYZLw5RQgmOzKz9LwjkAgD50GQiERIXIgSeBsTwoAjG5xolctCmwiE8Km1FERZAkx3ZRiAMggBNoEfgzAVRkAGhpyaBiSZfcAC36qzjgDh2YOwq4AB4oAjZQiGaMCJ6cA7dkCEQsg8hLFqUBBVCwqwkcAqZUiGpsFSq8ukXTRJD0pLRZgK30uZqaLAMAAAlgwbE0AAdIi8hygCRjyaCKwxVoAASIgD/IA0T5g+BaCDcgSsdYljyggzgwxobgAcY5ODKwPV7pBMJssP9FmESKScxlOQQiEJ2vyESKnAIyzA0ASBsEECwP8Ll5saIw28wNg4DQfCc3Ck3RJE3IQqcDoIAYi6FOmc082EuIAEiDkypZMILG45WDXAROuDJBIAEwGLT4aoRJgEgAoILsk0gqQCF2kqXKAslPik4GUIjCEgC3I60i4MVUkcDP8D458IJBcke0dBSiQic20IMYSq1DUIMqKKL1WE31dMsvIBGGEIET4ILj+ixJEJcmsM/6NC4VuINHKEiGeAQ42IKuyL7fCdAMxB7qVKnjmJcNCwDDCaEDiJSwtKo3QCcnkIMk4ToapVGFML0CogJvCZsDMCoQPYQRdQMTrZsTiQP/t2wDMXiCpXMIRJSDPpOqwMQTSQDOCcwBHjiDzHKILlgCG+AB+gG9LHACFfidKWinTxrF6JGsADABPDCBkFEIavkl0gqEEliAKbADPvAMjQLV9eFS00sSLyADMyAD9zpTIYiBn1iPG1ACKMACFYkIHigDOTg4HgAA+TwRMigFK1NIJwgCF7ABiGACH2gBEAAxTbS6VqGC1zo8Ro2ueWEBRQqVACC1ACBPvHOoBhiCGtpA/sjSUCVXhYwELFQDK2DVFIBQ7WgBYlWCyusCKHgIECABOTA4WSiFRTgBXtUOMgCF47oyLygBPRmBNH0IQrSB4LhCZruvHPAgySq1CTAB/z7BOwrgAAVIAIuhgI4lLTAgASS4Qm7knTLIgikYIG0h1/UxvTGwUjJg1RYQgZltV7/IJhcQAixQgzWNiBNwAkFAqQxNvPWAgRu9T6D7gBYwRFGKiDPQASLoCnBFvzQJqFJDgONjiD8QrUPggK4FgI4F27D1WoIhgs8j2ZLtnd5pPYokmzGwgyz9jDQRPwyNAZmlWRS5gScQg6ajg1CBCB7wqX4qpBKQUsfA08JkyBLQpiX411SxGZsZAhZQgAt4gBLA2qyNIa5dCJOICA6IgAdQgF1BzrNIE4ZYIIrkRuD7qtBJJtmiAiRJhGWaAiUQQhQgwPVIgi/gW9aMCAldgP/Q1IgiIB7HKAJQANZFyAEWsIElCIM/mATtuIM7CAIi4ABdPVEAwIK81FqF6IDuHdvEbESGGAABGIDyXY8iIJOwMJXgiJCwOF1NjDgOFATvi10MnQIw6AMx2IIl+AEU6YI2cDrW9FuIUJsDYKIX4QAwUDiSMIFbDU4qCIIfwKzT6lHHeK+G+N7NXZYOKAEO7mDrWgiM5QDrAtLrbQjyNV+/QE4ICR1vkZmG2KJv5Z2sywKTMTRAUIRHmIRHGAQ4+IL12NmngzGS4AED6Bl5DJI3iE2IMIFnYT8vmIAJ5lH0DN8IoIDu9d7iNIkO7mCSiAAFKIB+81eHEAAUhogmSBf/3xiTdCEJ0WHfRCug4HMtM0CUQBDGxjiRORBgzoWI1dwwBghN4J0AMMjeh0CYniExL/AAMNBhQORj7VBNboUIjAXhGRph7rUuCuCVMhYAiDCCNFZjx3Bj+glQ3umt3jlZhiuf9RBihiMJUkMAQLaAA9AIDSCDYmUIHYgAQI4WwymCSXDkAX4h2uwU6zJmAKiAXeHk3g0OFhblbqGfiOOdLGC9k70DPBhiFAHEQXvkh8BWUftOeTQBQ1wIMCjLzgySowqAQwiE1VyWYbbEXaGAxBtaFFnmvji29PWKZ06XCsmCaWYccLpfbH5nFDmESdhhriGJPDCBcQqh0GQUeAKA/zsAXsNhAKIKgAT4gjPgW0nuC9pc4k5RAA5QCBbgEzy554egg6cUHd4I5b5o6SGQAjieguADKzLg5oLWjiWQKzcwrec1yoZoaG3lZamRt4XIAzHCrSD5tF58gBaA1Sj4gpRwjHgGAAUYAH/DkwKIgAiQAA5G6TL2i3TJDZf+Cn7257FZs2qmY1U+kRF41xjwAZ4WAz9wTYfA1snqmQvrTIZAjlirpZHsRRMAAUZCgeH1C9ocEDAOn74YY4cYAAW4YpO+k5QmCSLgJDLRji2ymbAqoE+0L1UWZscgOhG4WZK4gHEitejqxWRWiDcIAGhh6l4MgHH7gMJmpL6wagUIXf+t3pUCUIAS4IHhrmfHEGvH+GSzPmt+zopEA+i3sWaC1mnSZjxfIQk84AFs1W5tBQAP04FxoiVZyx0CEADG6wvLWwis9m1xkQAWGG4eYAHNdIwCoO/1UDNnBot93qDgmGneWWuzcYI3mL9uzo7qNu+IMAIH0O4OUI+F8IFxSqCmxlbCVr6HaKRUUwjeHp8uBgD4BuG+6IAK+NwTKQKsKJMxsZlV2YrH3b5u0Yp/LoP/BhM2cLqnQxEDt26/sARNgAgJgPAflwAQqHCHOKLCxaOu5RPi/ouu7V4UeUrlXnFvoZ/QMZWpyydScYKwctmwej0TUJ3Ku3Ecz3E8OQDt7kX/BRDyIWeIfzNyvyjCE7niDodvku4LCqiADNaOJy+TBqJDyFWBEuATFuCAFUChZt6KHGiVCyjfC4dT7RDzMUeRcTOBAxAABXiANFdzocsmx4gAcfHYDmeBD/cLsHXyft7zFR+CItgCHzARAJjZEwCUsCoxL6ACTkbhFC7wRy+6TvGwR19zFLgBdiOtjq0mJT+RAsD1v2ADFkiX5nncIcjPVY8ID1iESACFUqA+CxhfWwcAFK5vv9D1x76TR4fQGEgCMQjpYdfk4Q71TinjAXCMNxjUqaP3w0x3hWA8DfCCSAga6rsAW7dshfBqCZBvh/C3f0u+TB93MS9shoCDp+Nd/3VPch4o7rCG94jg8YkmAzIAgzuICPO+gCHgd2yPhBUA+E6OiLB1iB94gUY6+DQXl+sw8CN686x15WAidXYXdYIh34h4XgAIhY+vcAdAgvrEdk7IgZO/+FZvCJVXiNrsjidYkYRY712RMn8LOJpHAYTdR7fGHLB17+Heebvp+fVQ8xyoz2uPQAWwdVzX2UpMQ4UI208PpjDYAiFwgau/cCH4or8gcLvp2A54b0EnrbInibqVspr3AAm89ms3+Xcv34tviGz+2rnXZBd6BDw4g/21ARdQAitog7hPedJ6AK+W83YPtAdw7YWYBE04BD/o9Ie4gH3v91MIAk6OfL/I5v/Ll3u6J5hH0IRQ4GE/wINBAETtDTT6VoAKcG+TLng1FC2/cAAnWITBBIVU8ALIH4AwfqHp7n3fxxM9OoQ/8AOf/nk8tnntIGlNeIQFvJPI5wAWKIESeH5X7IsISIAhMPpUSAVBAAgBAwYOUPAAgAQAChcybAjgD0SICylQrMCBQ4cOEh4oKFBggMOQAPLkOQPlRwsbSraEPHRIJEyMCsMIaYFiBEyYAgc8uFjhYM6gQocSJSGIE6hUqUpd+DiggIIICYk2jCgRgEWMJThE6EhwoFA1ABQMRIECQAqHoTRNUkQ1JEgAH+ZSFWC3QIUOFSK87es3JwkvkZKmOhVEAeL/qBIoUKVI0eqfkBofeBxo125Ojk4HXBbp59HaSX8bClA494NQuyJudODwE2Zij6NnN1wxJBKnVKtOlXFNIetLoo4ZE3V6GbNIr5aPX47LMIyfQ5rWcqDdkC7p0h9EgIjB5EubNsQZZqwgIQJHBdZpXxiyCNQppV5cn5dQPehwABTXwySIPLtdYD3Xh3Rr8VeaXKg1xN0II4gxhyKUBKJHHgBclBGGep3HEX9/5bAIJ/EV9lNHUKmXUwWOdRgUZwxh51CAAi7kxiGfjKIKKut11lCDN5zRiCaaNKJHIIcgcmSGGV7E14pUeSAHJ6UodcoKyhEU1H0KWdXkdad5+SJp/181hAoploShBG3HMZTCD1aoockomlCCiJGIKHSknUlmxCVRtiGlVCpEKLDTf0LZeUggD13F5ZeNgunQU1FN8ooqpEwyyGxqMiQEFnE0QskolDSCJwBHunQnkh2UsBWfQrU3mIhlfFXoWxwgCkCRrebkJUyrtsbBJKGMpilDX8SRByJASmjnQoFAlCsAikiryKq6ZvYhfEot4h+tOakXwX0ldBCttUGdxh1MFWRK7EIPkpRoqQ0hGlGRbjWiSLKNLFouQ0aFOOWgzA1FUAFjAQDuQiyUwG9I2zUYA5ec7dgQSXn8EYi0C7ml0LzPAtDIvYqA3Cy8DJNARZSAriDxxP85xUjwiQopDMASHX6Z0whLhHEIKR1ulpPFfwTXEJ7zBpJoI6WKnLRDk/hR7go5/KkUESx3GxJzOz2lUAUlELEwf44ONcnRkdXK0F4c5vSsvQzhaWquSef7CLMi3dTqA+5lm0oZWQ+VtdYL+Rq22G9FNFQFiasr87hBQYSvQpRQIuecR0Ku0L2YM22ugk3mcJSIkQCeWtYyAiDuRes5+uhQhwv12+JU/YFvskHKGeSoljOd9MhDsb7eBlCKeMoFo7vMnOmnuxb7bKtvN5rrDuX31tFHI2K7nKEKSerHST+yOed8XiA1YYb5fTzyDpWgOK7Vu00UXV6KMP96+05P1Sj/li4NquT9h8psshTyiDnB73e0cUAOBgOovglMJ6VzzkL0oq7qUfAtZzGLWbbDHRtw6X5UccMgMkGKUYwCAPz7mOS2V7cB7s53netQAj70L74ZD0aAS95WEkfBHVJFCAC4oFlAMAIl3OEQqNAEw4QSg5W4wRKkyFEJPyW5EloOACzEHFVeyJ8H+Gt4CaghQ0YHljAYwleJQ0T1XHI0RJUMJnmIgxi6wIQfvMAsPtjC05JIFRCAwAVVOEMcGIIKEkpuVJEjIPj+hiD+SOBkKdvNBbi1yDD6TUBNVJhrcHWkIiGqk20UCSfzAAcxWEEJYWhiz+qmx5zMTwQuiMEPoBBI/0oA4BWxiMUoQpamltGGA+NLmVLSgJjK0ApwpRljGcW1OE7SKRCmGlpOOOkSRE1CE5mYxCHmYLZV7mouL4gBOG3AhC7EIRCgulH+yOUXdtEmIxFI4N7KcB70DNM5xlRIXC7JqvY5U1pv+yRM6iSdHA3iDE9IAhbEwE3OocAG3wTnC27gQyyE4QyGeMQociQsVAQnLeibZDsx5IH3hC5FFNkQJRuIzNPphZ/JWtrSACoSIzWiZ5PogxJcYBZYMmGhMPnAWRwKzqF+8wZpEcIWwkCgvrDzL8TJ0AZAN6ULDGc/C6knL5uoPHw5ExHSAhnINkaU66ECFYo4EwZBMBeP+v/UISj4pkOFCtEW6BQANlnIJ+rS1LdEYDwMidojORGEDlRVIY5Bj9oaYggAKKwEtPPq0gz5l1DgIQw3sIlNMmjAVWLwBgDw7FBj8IIXmAYFWtTr1d5in19lyQIkwA0nFuEFFbSmsFWlwFRCwoLdUmJaMLWOEFzgghYQF4OnaWtD3nqD5cJ1tC+wgQvUulmigLQv9rkIdu/zgAWQYAhByAEJLFDb2xZWfSwgwm55wAJRhXVFLnjBcDNr2unyywUAKOpyPwsADt43QaddJy+HEoGsOOY+4yKAARgwAQtYgAERKAF5y5sw9O62BOmNUyL5gwLhclin9LUWXUkLzs961rP/Dn3BcQFwB4wKiyhbQQ8+/dLX7KZuIQ8IQIId4IAGX2B9EVaRQjhQAh6gV1wS6AALAhFIXb0VljeAboq5Sdf7kpa0JL6vaM/SkFG0eChCtvDCpjIookhlITVuHAAuQAACMEDHDL5ARn7MECHzoM67FTILhPADfklUCUqwgQ1a8OG31KAGWhYJcbEMX+E+VyGBPvRohpOlvjwgIara05wBEIAAIMDNDGbAvf5AXjOvigV1Vm+F98ywFgiBCUoQwg1iMF8N16AJtl5DDxD93m+OlsMQsysKWmAdD/puIQPOUASvuulO73jHEyiCIpwFkfx8Ob1mqDN6maRHcbr6yR5e/08KemBrMBCCEGsAw6FRQ1fiClu0wgWAu39o3/VYlSrCPtiRMRTkhhiAAAgwAAIOwAAGLAABEeAqZA6hqt2amgdmMAMLOlBdhrkACq4GtAsGDZMuhIENbHgDIUAOiDfYOkEYDDZmRVtl+KJgxCuqt1DcgAcKKImxpgabpglwgAk4YAIDBwACEIAnaQsNZCnkQREezgJ4I1cJPVVCrAU9m0NYwhIA6AQjquCDFBC3CeLONQYxy26iLlrVfPIrTFQFAFKIigPpNYGpd/sABLeZwRY4wAEC/gZ8ddLok4OTLWOBRADgpK0qcfUPYm3av1jCEwphhScWi4UkRF3Ytva6fP9R/spet+AHVeAXzBvyAISdlwWDhLt64Y6ANdedwQ4Y+AGKkDuQDdB2Gb2lJtxQhXkj1wYWhzqU+xKITCjkE5B3PCLooJAoJAEA9hW3rXvQgxQEe7hUpisWFtKzcoUeAJGyUAfqXIRTa0K9FwgAm3dsAQ243sEiU8QA/07C+ZcQuQ65we8BLXWiHIL4ADA+KyjExqARHagBFjwBrMVA9O1AobUcoznfE5zB2nETBTAJyxiM2zUckdVZAnCap7GfBbweBcTf5EzO/NlfTrSA072a4vGf4wEAK0Ce1S0EqQTCHLSBQj3BEjTBERRaDeyAuMXAcCmBG6BgARxHRyAGVqj/SnXU2QZsWuuBoAUgwBtIUZCQkCboAR0kTf2hYEP4HuIpBKTN1Asanyc8gtvATUTkwRzEQRt8QccdAfRdXhWsGAqOwFzchYksxEYAAJLxwKahX6e1GQMggAkZHRZKiBcqUf5BV1Acwgt6wvHVzT9pCb0gQh4Ygh/cQRWwwQ42ARvcASu8AiqIRlt9iQCUiLahhwRYxAFs2prF4pohACXUnpBI1iIGBZqgyX79WktEovGJFaoMnSVeTLI0niUYQh9w4hsYwifMQiy0widkAjTpUaOwm7AJQRIIATcKwQMMwCuiXyxuGgdgIch4lSrlIkys4J5FgUI5BCSaoSd8giWk/+Mw2gm9YEzmKITjeYInuMIrvII0+qMnZIJMWYujTNkL/IA2AgA3ep8A4B0sBgAPAIAZ4N690Ik6DgV/KcQc3EpDeEIrjGQosIJvhcQ/sQ1YoWFDzELkGULVEaQnHAKmWKOjbFgLSJQ23oBZDMQR4h2CRMcnoIIqdOFGmssPdAG5PIIw/oFIjuRA4otbTKUwWg4aOVP3NAJLOgQb1OEdwCRBGqRN3mSwOdcPnRwKeETBwJvZHSVVxEAgBUktMssfZAIrQGUoeALvjEzmZIzSRMvlgFWGAQAYNAHNLMEbfIEhwGTVrZLzAJVZoqVIAFVHumVQYIF0xEkhVWMoDOTbMP/L+7kFaAojWAnjYjmErXXlHXzlNvHLY5YlvKElu7kIr1imUOQBF8rJ9wRCACrESNIjDXKPX56k5tyLJuTI1dGMSNjaEnRlGCzU6pwFxJycXWHjQtSmba7NH8CJXDaCSPrmSG5lcB6JxkzLQuwlnADALMwgTFyerfmAT0UnvOlU2M1mf2FndsLEH1yPZopKXkGleKahVwmgKjFNhHThGwiFezbBGCZRdD7arsVXC1iZh2mcZUJEIySif/6mLjkEeYoMYGIRIsbCetKMYebEgkYfWzmoo4DThjmXcyXaD82FCOSn4zxOnMiJVkojCYqKWFnO0oToXoKKQlgdGxBFiqr/KDc1yludBYzCF7sJl4W6pVXkAXfqKCJsZf+ISqnYyVeNDOSM6ELsoEicG0Mk6eX1QA2saLl8SbAd2nDZl3WiQI3aKEwowiE8CymEgmaOSiJtqZduDJjayaeU0C8E4Odx5Rss6ht4XEOgqZL2BR816E+5qbDB6A1I6KXaaU6MAlN61SysRS6Rp0NsaUP0TrLQUiz4AgAwAiOAwUKAwceBHK16nMeZ6UJAqtexKUzIZnEJhZegXIg9V36hHLxVJqc2BKVMxyx41X4GUEiY6nmCKZAAAKt2AqM2araGXMgtqq166xo8KqROX06YBQCAQH3+aqXOhQtA165F1A8kHru9/5UQSCAAhMJg5qcTBeQrTAJ75eshSQ5DCKYmxAIAuEInmFu2bisAdKutPuytwmqujiuvAgAviqFCYKOMTiZQQQyaLJdExau8/pA4sWeyMoQNbIEhhMIrLESQmBBM9M/HYNEjaMIrsKpCLOyiKgS3AsDOAgDEehy4iiuaHkHNeGRDCJvGZiylJogLxCsUWFy3gexyJZobkEIsbN/JimELxMASuIGwGCxD0FKpyqwVGZ0t6QJDMCpDEELDNmyCAu2RBu3DhuuZJmkdGsIaBQIbAsAXQIESiNaclisHKQEUYAEWnMSJVVkMcJAlqMIraIIwcuppjEAKNO4gaO1ChErZiv/K90yOLQWF27ot3MYtV9Ktx8HqEUwsc36lP3bV0L2RGESBEIjWD11nSORkqx0uFjCByu1aDHjW2uESl26tf20HCggvTAyeCZEtF66q2ubE6DZst4aEo9Lt0J4pYhqCJ9TjZ76NHujBGyqE9c1octnADxgu4mafuxHXKyEVAECunOCp8R4vUHnWE3xBQ4jtQvQPyGgu6YrE9Jab6QYF6rIBrgLAczbe93ZpcOoBHGWfqi3eQqTEDzAB7zJBjL6bZ+FB/4JV/ZpGx95AvDbfSBglAIRKqEjO9kWv9C5EuQWwAc9t0ILrkS6W93LPTB0NAKiBUt7AEbRAjbZc+kYt4t7/AIxyWCyZ4scsTTWebMuBLENgsBuQ7eaSkLAQA8/mBMi9LdyORg03YyeUSu7ocEsIIK7EwRl0wRv8QA+06wVn8ITyGnxZLB4gp4+CcP22nEPEK0MopUIYbCygQjDwIybkbEjQKgyH3F8cqdwKLSN0gjSWMWQFlAD6Fr4oYxgkAScbMRbYxLuOWBRMCg1G1kFy6kMCQLx2ow8BABNEQR7ciNhqMSYwggw3BMgFMAGvx8cxgiGwQl4BKbSSC6kOjW/Rnj/+QQGqwRd8QRcowQcQ12iB0w3UTI6owsfozj6e7Aeg70O28mf5kGf9ACwpwQ+cAf/OwtXZ8i3nbACzc7au/4ckhkLRkGegZg46XvKXgow/SpGoQPAPuW+vLdHjAsDgaXMjnLJb0gUrp7Iqi2y8gpMQ4AE2Wyur6kIAuqoMd7FC2DIjYEIMs+1oWF0rZMLbCCholue0rGRBmhCcEJIb3MES+ACUuoAPXK0ACaCROHGyngar+RArMwREx6sboMItBcMvBIMvxAJSA4AptKoudzQA1HItEwI8/yxDOHJO5JUVnXS8NIQ/3QlgCuYjnOEUnWDVLWYYLMH7Pu4r0BLk7DTIPLFtnoaWNTQ4P/SeuYEqDDL8AUBSK4QvXPRUu+pCMEJhu2otu+pVF7BQ9GaXmrFDgGjdCKZ3Op4Jzp9Mdv+vMlrBQqACUz6WXNO1ZXqJRDlkUG9KEkhgLKgCnkKEJ+jCL8w2ADB1Ux+yQtTyGhyBC/QAG1g1Yzd2X3yCXLeXSJzjS0RWI2SCWZ+TZh+fTH5Cy+YIGh2CaLqEyCj0RnrJveE1QyTBO7p2nloFK8z2bN+SQgRDb67BC3gcJpjCGxwBrC62RhOwY4dEi8HflkrO94TE+9GUYPqjS9OfK8zCLBQ4MH8Cy/rCeobBF5zBHKAKTXEzdytEQy+ECbMqGkFGRDieef/CYCvELzj1U5uCKWACJryBD8BncLNzt973/7WCQkyCP+93LSbS+x2JYAJAc9PfKMikJbRCgbeCL/z/wie8wRKswQ30VBvALmnXtZdADEOychIogVgYbLRxOGTEtnnrgi8EgzIQQzDowi2YeImneAys7kczdkhjdUOEgr/aeOTArEonjXWDMGa/NAkltCc50ySMuCp0gic2QQwcFRbInD3aaKMorw9V+Rmggi+0bFVoucV4wizMNlIHgzNsOjH8QpmbQieceHUeARsoNpszMj/C4HnK+WRDFlWSZ+bEH/1pgjNRkFdRwqoCwBYUpq2ZRQq4gM7cgRjAwdY2in1xY5WLgVGXCl1rOUQMgqWbdyE7AzFQu3qbOSawAbv5wBqYukYj9gviFX8L7J36JaqEjJ1k9p7TyTTp4yhksu0dmKitUR8K1FoTNOcWADLlMikAJEFPQTq5tOakO7sk3qUxjsK0j/ktKIQQYmMTMHYtjzEruIIriLuoWLFIfCoAeZUu1d78acIzuYRXPUIsvEImoIl7yppZLKjRPkFPN0ofJWosPEKeCoWz/wFJKLMxXo8vOIMyIPUt3EHXxilxqfkhF7iBU7wrfILZhsRWPpYDj3XN0t+oTBN2A4BRo8Id2ADEpKlZ1AAApOnl+SKXBAQAIfkEBQYAAAAsUQAeAMwA0gAACP8AAQgcSLCgwYMIEypcyLCglYcNI0qcSLGixYsYM2oc+NDKxo8gQ4ocSZIhRABGZFQpybKly5csOwJgkQCmzZs4cyKUyULBFp1AgwoNKbNDzaFIkypdWPTo0qdQkcqU4SCq1as4ZRpxirWrV6IQt34dSxajVq5l06rd6REl2rVw154UG7eu3LZ07eodC9FK3r2Ar85NcCWw4ahWoAj8m7Ht4ccXsWBZ/BayZZxQ2lKNcrlzTohXGBOc7Ln0RzFdukwWHVcyltRiYqvG4tj0yNRd3Baum9k1bSiZrbz+Ets2yd5u7WIB/uRJb8lNdOhQQp2JYuNEJQOQcaG22thivsz/LlJkCBcvZdLIESRoyJAg2DfSFr6dQN0fQpQwEV6IE6j/oHDiHydDEGBAA0TEtxEUTCgBwAn2waUGaqpZ0UQppQyE4YYTTADBEDkoqBEcZ4gxEwFGXJcWFJKlhoUkGGq4YSlEOOEEFVLsZpsaJXaRGBNMTPRabiUQAEOQac3XIhugxCjQjKUUQYQUXFBhRGn5sYhbhcBpKYYacMQRx4RfAEAaAF2AZwKKa9HWIHWgnFLKKWZQ4YUXi8h5ShEAUFElD3BYNttDr4lxCzPMfGPNotFYM8yjw9gyDCal3HILJkc4qJ9HCRDAwndnqMEjAIXEWUohRFChqiBzRsmDqlTw//ADZAwqIQR+iMozz6708NrrrsDGE0877azDDjph/Ohcp5+WZYMNP+gHxYUYglJElVQQYWopZIDhZ7aXtTFhF8y440499NSDbq/q0tOrPfO0w8469K5zzjnMUGerEsym1aN2ksh5aqp+6rBtEUxgS0QYkLn4RBLgxKMQscLSe4451PDCCyQdBlHCCh8v4EEDzRbU4A/PKuVarT1geAonMKRRRnpiFCIwwnaWMQTDj8UxxxxxtMEQse3EI081EHgIAQQAdNj0QAYssAABJRQEh6ionSnUfmmGqkbAGIJBhBwygyFGkxjeEQYVZaBn2RNRPHQLO0MTOw/dDeSd9wINIP+w9N9LL8BCFEPGdkaPU0jhRBE+3HCDECSp0UaYYrZxxhfLAck1GAGCIskXMpdBhBA2RCLwFluwPbODa4mXua34JQFF12rMbSzRuOfejjzo0KL37wb8DcDfC3RAxg2N5/eEFV2UgMPzOOgnLRZfivkzHOJm3eIXoVI+oUBK/CB+7NY9BMUTsDvugxfryQEGGKGDEQYWZSxifxFimNF2Gn2QxT3lP4vD1Wxhi03gohhc4AIkFGCCcdiLbvKQx0CENawK6uocBpKaBhHgAQBIDQEGMkAAzoEOEpqjHOBIoTCghwNEDcNSt1iFpZQwJNqgTwg3sEEMnvU4JhQqPK8TgvL/sMC9W8DhiOI6AxgEsR4z5G9mANiCG85ghvbxQAihK8NPsNKgG+BHCUlwzi1sgQth7OISaACCgQjAxgDAol5GoyDRhJUOYemqWLSQGgQ0aAAC8E1vSzMAECpRi0IaIxnLiAYvMAAAHKChHBe7173QwQ1vkBAd5kihJsGBqGcwA4a5sBQdgHY1MTwDHL5C167SgQ5vbMIRcpCDEYwAxTt5wU5MFAQR2oYeK0VFNSd7lg1ucChrQGMXZ4TFJQCAAKkZoI8EKEY95qEuagJrV7qK4DXnkY52iMMb3jhGMo5RjEqIohKQqAQaGAABA4TAA/CEJxo8kAMgYCAEQMhBPYEQ/4IErjNpf2PABCABCVEAoKDFSCgAtAHOb4BzHeXwhjXQEY95uMMeGM2oPdyBjmg4AgCCMEMXdslLW3ohl0gwqReKoCOhqCEOeYhpHoDWBmZMwxroWocwRAGLYmzCFqkIwe8awIt6aPSoSMXoPe6RD3zg4x3vcCo+lnoPe1Q1owBoVybFwdVvSOMYzVgGLMZaiTokrUPxTKta15qBDnnIQ8VABzvmQQ+BnAup90gHLQQB0gK2DVu2VA8Tq2RSOUTCDEIRTprEcIZpBAMA6ngHRiXbDFxsAg0ayIFbJ+AABzCAAZVoCFXvgY985KOq1DTqUUkr1daW1rSwheppR1tVAP+cq1fgEEduxXGM3hZDFMCFBBosAM/NTuAYu5sHQTJK23u8Ax2bWIRC0gCAWDJRVXeamWElkQgwaO0lMdjhMIXADH70YxrPeEY0hoGL9jqCEyE4AAIMwAAHWKCzDTgAJKza3P5S1akCSZc82mEQ3K0DAETTlUXnoVF30Na1TjXtUyVMVQBsFFgR/EYK3WFhe3TYwha+qLrMNY+OrgekIOWrilGcSzlwIQexlEMOPECFSEQiEWSYg+Uw15LwCWE/pkDHO4ZRBhWTLQ3scUQiEkECEQbAAAhggHwx0I5dXdRc9XBwfzFKYLqqa8AEITCBw4zgMosZwWeWWNEq6uXVjrb/w6qt6lWVilEQH/VXAy4HNjbRvha3uM/ty4HIPLACCPhxCLZwBB+MMD8oJAGHzwpvSDLHhCpEIx24sC4f2CMIPqQhETdeMhUWAGUp97ESylUIPXTlrovCi67AGrNB6IaQM5/ZzGU2s+6IxY5zxMNc/B0tf61KbDkTG6P0WEczKqFd6zob0C0eQgjou4H7FoMd7ChaCj+JCdf9KAm2+kh4w/sNXHg6i3bgAx/SveQl8wEJTrCABT67gG80xF3pwmg9shnBAWP739gGAMAHAvCCB1wgsh6zvORV8HVwox0XXSpC/Cvso6FhaiGAgAfeqYIcdDyBIFcP2bjwzAZ0qBhF/8smXdNVDwCMYxvT6IUpBhGojfzgBuH9AZHtMIYyAGBmPQcAH5bc6U6n2wsW2IAKVJDqheBbtf2OoNGKRa95NdxYWDe41rHN8K1jG6LXMIeDIezagcC2qVK9BzfqIDUCNPNAGtQg0zwotRCQ2kAMOIY5WO2urAoEq+7IBz/80Q+YR4EzGclaGMzQ8zIgIQtjUFV6Ni2FPVh+D2QDRRA2kINacBjfoA99Xd2FUQoOq2jFQgc61rH6eq1+d1Ln9bzqRfsD083rsz9HNqiBDueS/fevhS0+5iEMDQZgAfNtwGc3uwC6x52Nx7iobTPq6g67+tj74Ac/8jGOW6iIIkwgXf8MToAeKGYBAFlAgs/lsIcxVDcNoUuDJKhgAVSKvq4tF8iuAJDvelQwd6ynegKoeucgDL0FDt8gDgkILL+CYfIQD7RndVhHe9xwDddQUQIhD+mQDvunVKxFdqZVDpUwX1ODAA6wASiIgheQghmgAXvEN8/0DcTWYUl1ZW6mVO6ACBfhAjzoAkSAHmMwBnfifk7QeHsAADngczNTBmOQCCuQAWy2Tdukf7wCL0QDcO1QQgAgSZJ0DQ0AAXkDhgLxTAtgTsBVDABwDOKwO6vXhqz3hqxXDtRwDeSwK/m3ENMELFlmD/VADQDARlFmX/LWWQCAgipAAitYbRNAapWwZVf/lQ/7sA/5kGW3RU1WZVS1ZRFn4CPhxwMCIQU/t4QA4AXnx345oFJeoB5oMA+mF3VRl2p66G9fZyzHIhCRFEl1MBB6M4YGAAANADVRkzdZWEIDOIDngA3QQA1zVRGhVw/CEAABQAD1JYjyVo1Jp4L39UHgAABp92b50A/+EI790A/T9IBSR1H0MA4YMSaoUYQA4ARZsIQ+NwVDUAZyYAdZgIpSEARckG279n/CAgBGsysMR3ttaA4ImZAY8ztx50EE4UxRwzfHYC9cSIz3Ug7NAA3dIDHMCHruUAfQGI1uB00AYAAHUF+DeF8hJApMdXb5AAAviQ/8AA//UJM1CQ/k/zgs52CB2NANx/ACF4E+N+ACSNBz5yePTCgF7mcH6KdSTjAEosBQrUeLWJg7EXQsBChJ9lIO5XBCCYkGCDBUuyg1esM3zUeWx4AOtoiQkmQO4WAMy6CWondvoDcPQPBkIYkA0EgAe3mS0+gAC/BkGfANpOWSLrkP4AgP/mBe/FBV8RAOy5AN4dANmOADO9gCmJlSPheK8hh0drAHqEgFOWABC2ABURYAQIAGoXUM1aANrlkv/kiRx5hQwpBOlQAMvEAN0kANywCRvdhHUNaLCMBMYpk3onBg5gAACnlC1CAM0DBX9xeddcV/oQcOdaB0XjB07jYGE2Af0bgBzMQAgf8ZNVWGUYZ5nvqQffqAWu3QDNwQDtGQETaUBCECAFMwBUjJmfdoJyaVBUNAC65JDcmQDMYAC7SABmgACfC2AvN2TpVgTm+HAXVAC7yAm6JQB2XVAHG3oRxKlhAwnMxUkghwDBejkOUAAOTQDMCADVV2Tfi2ctIZescQBGOgnQQhCdyVA89kACqQAQzQRwwgCjDadxr1X1IFW/UgDs2wm90QDrYQCHFwEXnwB3MAB2SAn/DImUvoBdVlB3JwJ6NIiiqAhthQptigDWfqmmqqDcvQDMdgDLuAC8nQDADQpN2AouVADgLRpADgDQAgDUuKm7xQBxjaoYa6AOjQlV2JkAD/EA7AsAvcAADzoHJSuE29InrREATweH5jkAZDFwk4iqNjYAEi5AEasAAdcgxZpS4H0XJ72C7xgA7kAA3QIA0amQ2A4B0U0QZdwAQ8oH5gipT+mYqfmY9h6gVIIArUUA1zaIHOig3XYKYLVUnkEA6TOZkCYa0naq3X2qjh0KgJoZvSIAwag6F1YHd/JDUP+qDA0AyXAAvkwA6mZ0euqGCTKoW4QFIyYwfUhXlNCKo4mggqAAAB4AEk0CHicC7qsrCs6qojBqvewJtzSg0+OQIukBE41wIoMAQDgZRlkAVKaY8lZUtIsADAQKvSsJvUsLIrWw3VYIEAcA11yg3dQLPc/3Cz71mt17qz3sqt3/qz2XoQ3woA1ZCy0qAxD1oHQAABsBAO67BrFCMsa2Y0UZepjQd/1MWUMZYF5ycJoMoHOcBGOSCe36CwDHu2aFti1AAMtNCu1KANZHCxGpFDMcADUgBFWhqEpCiESDAFXJsF9DgBdYAMy9CmzXC4GUmrtSoNfzqHAIANAICz2cANkkm5ONsNmDuZmNuk3uCznuu54Aq0PosNwsBPcTmVVOmP/jhHRRMNTNiZjVdd96geSLBkNyYHFkAAYMgA1Cl6aLuw9BAP5AAMqikMwlAN0ZAEH/EHcXAGRVCU73i3QHcn5+e3IDsF6Jd+ExAAwmAMBVG44P/bpgBwuMnoh9lwvudrgSzbrNFappOrDTe7uZnrDZnbpJ/budzapNmwDJcABHGXTqKQUMXgmg9VdbQYDT+ot15wnwxsrGTDr9npblIgQgYgpEN6f2c7D+VQDGlUCcKQDNRgCiFRpWcwBFx6I0xIvQLhBPZJj/cJuE6gARhwCcbgvQsxoG1qq497vtBKq8mADDhsuCjLss5qgejLDdpQszQrv/J7rdzgrj0VVsVAC7BQBwiqoRtaB5CAocXAn6R4n1IQxgx8n6l4ZDWqbmmgAdBowZYandPUnmiAARjgwdDwpJPWiUWowOc3EDbiBFPgBFLAwFKQA8jUvcjAEDj8p4z/G7Mxm4zLcBDIEMlAjEiFS74ZqbIvy5PYcL4428nQ8K4LVbPewFDgRLPUcLjLMMUHWgc5kI+3BMZIoAJijL2BHI/wd4/+mgPQ6A31ik0uunLCWwcYgJq0YLwkobEd8HikuMcFwcJ/PASBfJ8qgEw1fMg3jMO7CQ2MfA0smwwXAcTLMKfkO8REbIGffAnN0L5mWqZr2g3wi7O8sMxjPMgeIMvYq0+BjB77+qVIMAQi1A3/SLXatCuxCgx8GQBoAAzAUATiIxIxoLEqgASgiBA2Esg5IAU4IgXTXMM2jMgDuqQAQKsxO4fUoM0hIcngDL7NkAyXcAnC0LKZXMRlqs5n/5q9VJA49hnGHBvIQ1DP0Vx+H+seUrC912DAVpc7pocO1HCXATDHwCAKLVASUeCrQ4AECuHMUgCygJsDosDRkgwA3owQA4pIjbuyALCyjuwSHA0AyrQLl2y0urm+y7qs1cALXAvGQxDRYSzGipMDEs3AjTcGOTAETsAAAbCo5kBCl1R1BUcOlXDQaLALtQACAACUIzFKcVAeVk3RfjzI8KZZe9BeHF3NCjHWIT0Qfsiy0GDNJcHRZtTScGm4iKu4KJuyxfC3YDxj0DzGiTPLL8yEY6AC7pEBARAOeXrcXKmQl3Qx1DDMBDDHuwAGLXEIcfAFVcACVW0QfVzRgsYAEf+SAikwAkVgBpsgCrWwC4Y8yWE91o9sEIpLpy3B0cDQ0sAAAOFs3/b9yCp9uJuAfjeN09AczbydODbit0E4Bv2MBNurDZ4rDuTw4FyJ3NhQB2yEAUAAC5yACHTgEi6gsYPdzNud1yrQfAxQMigwAig+ApRdBGSwCbWAC+Q01kGMuBmZuLSKDKNdwyHh2rAQ2XAJ1o9M1ohEycBw1/Ps27wtBUMwAbvtBULoHirQAECADUu8ueGAv9b64N6wDBjARhduCxsOEyIgAibw4e/Yx7FMAhtAAiTgWZ+FeAiRBGfwB42gB4iACZhgCmQU4/sdVsuADMIADMab44TuvR0dEfL/3dLCwNoEEc5DvglZDcYDPumDnAFDQMZ34nFNFgDqfL6uGb+Y27nUgAYVDgu4oIM3gQIoUOYAgATw1gBsrubgGQQkUF8MUARCcxBnMBA6mAcDEQgaDgB/kAfgCQAaoAEAQAIWsAIr4B5cUAfmTaGC3r2FTugJUcPCAAs4sAuHPhBDngz1HelS4OoCPukE7seY7gU5QAIewJfLeg0xHa3yfqbXAAz2NMe1wBlwDhMx4AI8MNgKzuYCgYIAEARI8FmfxScZcQaeSAIF0QArEAQrMBDyFwlk0AVgUAiFEAmFVAvTXu0gLwz0fcj37ejhvAx14B6ArNFMbu5jPBAvzLUq/+ABGQBli5uycv2yL7sMlWBPt0kGAJACOlEiRIAADk8QBG/wFkACh7gBipARUAA5BVFtEw8AEW/1QeC1pKIInvAIAlFzRgAILW7eHj/o1J7ju4AGsLDo9u3NJs8LTO/XADDuEe3yBP7XMZ8F7I7F7UrjNa640pAMZzRIwGAGKC63WRF+x470hjjxa36IFwAAT2CZFvEwJjD1GjDrVi8QQaABNea1d2AQiIAIgRDmZoIShYAJiWALL15GxtvSa+/2ODygwLB0+rTZ5T7pTsDmgBzzSOCjQAAEExBa+I3f4dsM2V4JlwAMYwDeQzECJmABjK90zM70sX4BJbOrQcMDF/+A7AO/ARrAu/BRAkFQ/hpAAoaVCIDQED4CAGFQJnMgEIqgCIRQCFzwroc0+4gECUyPhACRAwkAAFKmHESY0IkKFQYTqoCwYQiaS8AAJFt2cdlGjst2waq0a0+VJARNnkSZUuVKlgQ/dACgweSGDQRXBNlAgoQKEhdqtmz5J08JCwBoHrXAIEiJIE1LDFnhJEuWRInIBAKaFUAgQpBgGUuGMSywDSpM5sgxZCCAhG0BOHGIEMkEWryoeQt3zWRGjMv6Cvu4SxIARIjoaEWc+OSHmDN/AggiRaeKCzyLqFFs8s8fNhaOagCtwYHSIDeDeAEgiI8XJ3zsFMnM8ksbTJj/bG3ChavWToI5eg8xmTDuFIcO58LCG055uIwA/G7sm+wjrUSGYl/X+rIowbIrzDbNWVmnEUSKYm8GwyC0BfYWHExgsGIFEYJ8VO9RkabMZewrH0165BA4WACABADM8g0AtN4qiDgFnWDrICkmdGICUai5ZjnloNkrumSAgWUXTAA4rD8TUYohBhcAKIomFVYwKQgNduqJMqwyO+QQRDhYwAIN2BuNAQZUaACBCUhQLZE99pCjjAxyUEGIE1Mq7BA2dOrNLLN+M0mKITIgwQkJJ5QiAzSEEUYaaqRppphhjnEuLL8wAuYjQACIY0o9xfiiiy544A4AGL2TTyazBsUz/7ZAECHCAPaOpGIMFdSbgAAEPFBhSTnSkENSnU7Q86RANntDJygTPEtB4CBUEAmDyJRi0g1AY2ABB3KgohRcinlOTmRgEeWHUPXM8Y8mwjBhMkQHrUk++VQo4ozMYhCCDCoMcMCCMU4qA4kFDABgARL24HSMMrKgkcBhRxWKhRlVOBXeVBUkiFXiyESCgQNZRICBCZzgIg1Oeg3LGFjsGGHYKRH5g4w0EuGhBmVfFBQy1AR1dgUmblCshRgiEYQAB8bQrwwAyihjjKIQICADFVL2QoqFPMhAh2HpyGMzNmKaMSUoUVLL1XtlnqDFDRo4wMccvKBCDl54gYWWXWrZRP/hUL8o4mEAIjGDAw28E/TFF8fYIGP5eHABBcRasIEMToZ4z9wyiEjDJC82MIAACEiIWQokoJzAgyaGxeKLM9QgwkCjyor31JSQQAKuCTMITaYFktZgg4Vw9WKFAwLwgAgQrD5RCDMmSCSSSACoaoWdCBU7iKKcrfiHG2zQSokvIkkjAAZ8Q5mKFaggKI0gLA0gAycgHwLwCRR2IYYbYHBC8cWtN0nL3tKKvPrKNWCgAQZ8nJUECCagghMLDJgAVdKvi6GIIeSwQ5JIBoskESTEdh2AC0iwwOsqtgIenEEMWADKF+JghkgQDwEGSgMRVIAt4pXBCwtgAAEW0Lwh8MT/AxMwgRtC9QESfuBIKaFJ47R0KrT4RgXfswAGxwcaC0zAZVQ4hRzARAZpvS82StBBDuyQiDLUz372099OaGIUAJrkJoNaARviEIc2YCYlcAjEGwDQJA0+Tz8rCIABgpAG/YTLAA2Akk4+mIAVjZCELLhAY1Dionhtr4U5ACAMLzc+IGVgCE7wAidksQhOFEIRiPChYhRhnpOlYQ9leNj97BeJLPikJmX537JssgIjHCIQ7ELJF8RAhkVEQg4AMMACUAaZnVAhgmUwAMuORAKaTaADanPjB0wQx5bkRIVoYUgH27OeBWAwSAhAABKIIAUvlCIXoJBFIQKRh0QiJhBg/0ACyrzghTLQbw+SsB9BxjAZAxlIk6ZZASIWpYhD5MkkMQCVHDixiAYYQIwA0M8YzKUfLxAAXBDQwAchcIHRDWsEIwBBCbYEFAOxEEo8EVIQsgUaEiAAaUJC5gSuEggidDMVueiFLKqJmD/cIQcoG0MWpkCFMvCBD3IA5+pYxxCdrKBsFWNKaZrCg0coYg5iUIJJRoACMwiCE5EowwUMcD6WoiyCZFyBP9k3AQjYE1TD+kEMWnACJwCnl9yBF7xy4AGWegEJEsmWBXLQrwN8iwFkaAMdcMaGk0ITpJ4Q4UiDAiiYUSEL23QkH9IQU4JEYn86scBNBKXTpjSFDIDowf8RWkAQhJ4AZJwQRBA+8K0FNEBuZFwlAlJZVX+aoKChOgQe1FACGCGGJiR4qFNRRoKvZcsBxTyAP4sgLCsYTg1FoIIXTiELkGJCDEzQ60rIkAWYHeSv4uQDub4pU0rmBDSmaWwQSHZKAPCBBwcFAQklIc9FeOEEH2BBABAAAAKooKMdzWDe7EkAmLwABZMNVSAO8Yb/ZeUoRyHBQFKGMpQxwAErmIADEPCtAEzgBAWNng2EcBo5fLQXuUBuclVCAm2qdConGYMcNlW/+20tDSTI1gaaElxOLcmlLgUAQkXwARkswqiCWEF4X7Jek/hTqhokgAkA0AbSbSYQLMAeSwD/TBOWAoAKHZVbGRwQKwawLAAN0MBVAUDCobZgCGmway46AQApafgkJx0D0z6cEjkwaWuETQN8EusdObz4xUySQxFAgNDxHtULpiVICzogWnt+y56x5AEYqPm+zRhhoUB5bfM6Kjx/BQGSdFtBBlawAAIEYG8EXUwJWcDMU+TC1J2wopnxRAQkeMHDF0tJGlwK0xIPhiH+nMAeXKopEYvYC0LwQREuKwcOnBYASZDBCuYbywUUgQc3YnQe8iAFPGrltUiwtJMZEIAAuBe0VJgVywxAggxo2SRcTgEPvCAH4ob0DnNQdRKiQASBSOGvsEaJFwIrh0RMkiAZbMCB8Nxr/5R6gQx54N08gdPGk8QBDEtYQRGKAAZoWy0PPDBCHuYAKCwpeXEpXOXdCECAFXBTm7G0J+V4mRIQ3DcGORBYu0+BMw3HwAZgSAMXnJADZm5zJVkIbBlSV5VECGICE1hvGuxQMn2mOQtEIMNl0wAbliBCD1vx4WyMAAECNCEBE6iJTFbyX5oIyVwnC0IOhmfBSS84lRlwMAAYbpL7usAGJuBCGVJBXDHjoeKJTMIbOGGyBgokzfgmSBaWNobopkEQRXdpQFlGgqYfXmZI4LBRF6GCQagaJVvlAAQyiJLtqOS1NoUAAgLA0pINmG4WzEGRUjkBqq/E5krAAhm8IAgLy//iDp0f6RfgUAhOyBNkDAEk4gnSagCMgUlTiO6STszpBWyzbxNCwhA8kANBlBcMnl/MCUiwAACMz6ZiZxH650gCKXAAlWd8/VNbT4VvjRwCVGekSqwghjbEIQdyWASZ04NF86E4mIMRMapIWAQnIAI2UIEp8DmWKIMl2SIyGgPfyBu1gIvlGYLm2Ym0KIEqAD+X4AEVKKZscZ2iAA2TUD/uoAkOEAGuQyUG4CbQmps0GIMq4zQCKAHEEIMz8APg4j1ZuDBDurr3mYM86ANQKKV5KoMc6LwiWBrUUD6ToB8kKBnUMAvQUYHs68AOUoEPEhIjwC/P+wAeMB8MMornOQn/9ZMJsqsAFTkBcLEnBFgBAksDLwiCzkK6AFiBv1uJJLiBH/gBIVC3NGg3WRgRH9oMUACFBFyEHHiDIzQCLjg8CZQDV2ONv/ENvVGB5kkjAKAqAKgnCWgBY0suXcoANRQNB1AJ9COfnECxJhCDLngCGainZSMAA+O0QgsAAmCDI9SKFkCBoVIBORCEdisFAMAD4BuWzSiER+QEhSMDYZTCw6tCgugUyEELG0q9CaApgWoA+ECaEQQAECAQbPGX93DFlRA78vGCigIDPUjCQGADDjg0QtNHqaK4zBgBERCBDpACQRiuXugFMrAB3BkWdjKEUjCqefICIvi7IQgu61sJ/zIyCzAhCPIDKAAQPQiwgAzIAJZhrwNAxZGKAQowAE8DR55QgQ1wj1eUCfYom3pSCRNYAJbxsZHLmyJwp9gQNW4CACLMBTJgjFDBg0OwjkiYRhvLgWCsODKQAgBgvnwjiNnaCYYgxTMSPRsSyQ8KOHAJgD3TMDhYAZbJFEF4s/thkiAYAhJ4DIJoD31BAApgiRO4AGSKpQtgAXPLjBIioTFKRpA6hWHxASFYAklgwqOKRDIAAGEkCPmZAq86CYtMGZfxIAgoJgAQyQygmQ8qvwNYLwFogRRILkW4gzPyAl0rrNZ8MyQiopiBEg1YxQMoAkCkrJOckhI6gSEQBLs6yP8RGgEwkEaFI4L8A5p7yzfr0ydwVCMIAAAE+ErPPDpwMYkFGJzkEgoOaIB124PU2RrXpK7CAqfwZB0+IAMzAISdsYJUJCET2Ca+O8ij7A8SMoLijIQxCIKW4AEkSDMAQDzro4ITIoEJ4LTPFChbIQhx8zw2QKMcyAKD4CZvSgTzHE8LBYBwSgSW2gIN+8cZ4wFOabdUAABcuo4SUkwAYEwV8MuTuAIAGIKewzeBcDXODKiRDJejm4B6ugATWDQeEDL3AwAKsMtqogMyUAHUiLKr3BYv2KddE8+T4IMh6CYj6AENa4HSRAHfjIR2c8wYOFESAgOHbMoc4AEwbQkyGAL/CLS+bbK3qShQuGsAXKMqA0g0aoI2T9IKDpAAPZFMAG3TqzwZlFqlgquzDOWdIYC8TTlHDcMCJhAC+EyDUruwIvCBMNWBUpADUJgnKgiCoMoKMFjTNt2mg8iB89lRf4IACIgAHpA2AiSIHEEkDqCAzQCKAsBV7GCDP1IplHCCX5WKbdqWq7SgXyUZO8hEgkgEPhiDKfC8OZgiMuimRDSC9lQMEhIBFZ1G3lGBJvADrTgEMoCcN52CDVwAzazDBigCeEuJQFgkRehBmDgJCqgARXgEoBiAAkiMOehBleiqT/RVYI1QuAixPRAE+lGSPJyCN+ghDRMKOvi/AMwFWTAD/zG4VhJKBFBQUQVUgTewBMV4AyIImq7SNB4pJolThApYiUNoBPOQV5aQgAdQgBgwTZbIV6AQ1bU4iV99S8r0VapMC0CCpDzEJwvKAjCYBFXbjD9QtzLgVDkIAjBoWKAoITIABXmixqSNDTYoAiOQOMKAA4tdCQ5QWZM4hEVKjAEQABLKigEYgJQ4A5vR2Z0diLn11YGotywwlxpMmSkAA2fUq6XdDDWFCvnwgtprCRQoxhOYp23VN6zLDGkDgD/Agzk4AyjQ16xwPx0pgZctWz0RAAFIiSfgAYHADg6EUakgVgtkC/DbDGmrpxmSiBNAU5X4AigQght4ATNoXAX0gP9gNJE5aAMEytzE4IASUBcAENIpCV2VEAMjMN3rWJ6B+CMIPBmgQxmV+gPPE1weWDADYyIJoM+TkKs5mAM4KIJFwNrNu00TiYMvKAnskFcC6df+aF6WmAMyiN7YmF7uYaaTcVZ+moI7wAMzE1x3tZQDSLENWIAOQEUjQ4RGIAOdIKRFGAL6MJHL5RgTiYD6BV3RTYk5oAP54UTp/RuqnEpzyYKi9YIpuAql/YNFaQTvFR8H+JENcAAH1oyz/Y8iSApwpAIngABhwY7hFYIWcNstG9/EKAAJoADkTV7suN+V+L4OCjD+9cI/AtAykAJISpmjLWCl5WEeuDIFBgAHcAD/mBQyk2iESTgEXgoSBjCA88IO+AXTt92ylQDhJT6JAniAHuQBDJbirPiDT8w+u9UKCGmet/grkxnaMaACZ/W8RniER6AEMg4jA0PjzLEeN3aDB6gVNA4fA1hbAMjWfT2DJ+CYJGZbDjYJHnhZxZjioNBfREaM/lWL57IgfEqpKdheVRuESQgFUtiZ6DQwmpwVk3CDKogA9ojO0VA9QEuMOFAD4mVlPr4O5CUIHvBgxEhirZA2eZFeqoRRJIBAcyEefkKCSQS/OziETCAIAziAY/YMBuhTALABDvCMBKuyvAkAac4KG1ACKEgkmBBSHmCBWM4KBVCA4iXkIgDYlejA/51FieyrNyctg3TulkcDv0m4AG6bZ38JHwI4gZoFIPdIsGLiNoBuiRS4AYIeqQpQF25WjA7gU8X4Ayn02XrZH4Blld44CUNmU6nIgv0BFHPcZm5DJkLrNJMwAQRwD9vSybHUihhIgi/wZhMh0m1OaOPlAIV+aO7x1ebpnhNG6BPoABOIAEwxXZnJgYUAtHwtAAUYQRPgNm4buQDggUY4RwlQr2wRks8hABAGCiHAAjgwMwogEB6gacWIAJnFaZ2GnJVQJhM4gsXYMrzMAC9pvliZMZRw27lWNTBIgLsOgCh+gDAygH7utCDTTZQ4A7lKbHlFaLD25lzNimuiN/dZvv8hKIIwaIkTyAFCAoVS4AQqKCGWUIAHYO5qmqY8aAIwaIIwdgn2yuuRa23Tem2TwBlY1SvFBgDG7ubrCG2gQIQ3KF2UAAMzeNGW+AAPWAQA0FgmTIA81goJeGwFiF+Lo26UqAC87rSV3m6VWNrkogDa7upQKW//QM07uAMAyIQ+aG+WIKGSU9FSYMKVUwwKwO/HNrMT+BxuUwBjw2aWKPBqAm/xfp8FP4lP0IRhRgwSAgETcAKmxPBI4GiTcOiVIFIixW+9Qq4VMc3w2jIQGPCgsFXSOXCuXt4Vv1mgFDUkICT5Pm6WeIAIcOJaPfF57XHPq9n+EFwfItLFbmy9wlX/utYKHSMh4SZu41ZLrehxLU9yLu9ypEbyX/5uQEboJk+uEuhcuN2CJVBIgghdJImE4i7u1kqMLhdcPCeIOC9SOyeIMNcw5u4AxmaB8TYzDnA/RZgETViJAdgAL1idUliFU1D02GB0SjeJCuD0DiiBz+XeOc+KEuCACACAGDDR2CgAXDcBFmCBSJd0lWDuC0CCQ9fYUyCeE4nzyW30W53r5cZ10vkkWgeKWH+AUCvxlkhiWO+Ae1YJucbtETR2QlrGVEANwtbqrTYJ/fJ0UM/2lHDbfGVorfiBYkSMHMFNKG/lrBCAAaBrm6aAaUeJuTb4ht5xDeOAITB3AEiF+NaT/2ZXiUnwgy3wAWIE7Xn/ZtsFVYKYsVMGikbIkWFJ7pb497eF9c6N9MeOdwCg64ZuaDw2swrwAEGIhFNIhVNfgSZf3n1XCYlnCZr9x1YO3aKX+WsVgYQBigBRmJI3iaKPsRGQEkWghEa4ka9WXmE/+IQfKQogASqIhGUEgFMgAnDPjCIFetJBc8Qgy5boKeRMJBtggkbQhFGgBEXQL0RKiUhnaK6vJmM/9KEE0P6o85Ha+KdXd5U4KKA4BOBOJCg4A762e742CUQYeZQg0giIAAU4+pGKAIYHhcJMBZO5jgqoAHbXq6KHesRP/GE/CT2Q/EbQ+1gdlbxHic41++9WAf9HGHuCOIUL6HzEcD8+H/bWX4kSUIVW96E2yAM9gPt2P2AAeNeUt+1EogAPkCeT+H2/zwyylXXX1wpYP5FtlzZ3LQ9G0hFPEtxDMIlFaoTqF/MVGAJOWEZZQHXuv45XB/9UbImcAQhEAAYSRKQIEaJAf/4EMghAEcRGiBb+IWjxIsaMGi9eGBIJ1MBUZQZsLGlyIIcHCk6ybLmxgMuYAz+YZPhQEQCBAw0iPDQQosVHgQgGehRqkkyZD3IsAnVqYBkBSV1GUFAA5tSsWrdu/IPzK6WwOw8ivKmo0U+NW2yg4KpRggpBnJ7KKpXAbUkOER5cROHXL97AMZWwXHgQQFj/TYrDHkL4FSiARmhNgvjwQYTgCCSocCJ46oLgjCVGdzjkBkCVgS1SAA7dkkLMoQBGf2q58KYmAIpHUdJEaahBnBaFn7RsOXBHAKUArDpFJKnxlhymdwAwCoBP1EJcrGb5ty1e2C1lx6TYmGBi3xIdWqSks3h0vBdyfAxZxjXGCvorPHykidQomvh0RmomfddaYOLhB8AfkqHXSG++HdbeZCwZRxNeAqjgSGcApBLJghZRMCJsPBnUyH+jfJKdRgcC4BcIriloUUVZBRKIZJpclxMl1lGClkNoUaJHTPG5NUBcc60CwCl3hVgBiTU25hhEiFSo0Q0ZgYefgjVmRYp6/z3yNlBi652FGJHEwSdYARtQQVBzoIVIIgU1BkcWexup8QUUStiQAgAxAoBZiHgNghQqA113HSW8SXaie9CFFkFyy8kCwH1uPSCeUABAOeKNjUEUkYMnDXUGAFEIEUMLhQq2xBZ9GJXoKwQ5mtOVrp5EwXyLMJlKKmkUYBVWU0XAwUCHBPKpglRKJpmaG015KhZM6IqXCJhZcQYeiOQGQK0/nnjtaxRs2CEAkTygkgIKkKQUp8uOyAFOzj77XkuO5UmuVh+0YIMNAPzwhBhwINJjrbnh6xKGgpHogVzMMTldBRKsu1JMxybrKQUclADkTdAm9SxOqgwUBhTW8lskCv8x2PBCwAD/wMQXbuAxCSkA5GydJQNtqVHDCc67AmcDyXJKEB10UEIHFfPV0qYDCVXB0iz01uOZE01VUaOv5KbyyizDPPbLL7vgQgw3gC1T0G7Riex8yj0FgBkdcKA00023pHFOgXTAAuCKLRaZVn88MgopPQPQQqsIhr3RB61lWTYAL7wQAwDHSeownQCklC5IHjpxt9JLL/3abB0gUgLgLOw2yii5ZjXJHam94MLii//8uEUfgNACeDcIDzNBLws6leZuR3nIdBRA4OsppSyCBACll14Csi2NxjoLPPCgIyq/kceVD5ZZ7sLtNuDO+0WRt4D+5Tf8kGWWY7fqVtv/SdEp3nQcGAAAFcpAhSEwIALWWxr2TnK3EgyEBQDgQfeKwJsbuSZyaROCEG4Qg909zn3wi8ELBiK8G1wOhByMiQI2yBUSEcRu/TsAAByggRla4AIHRGBJWIe30z2QB2YwAQUX5C8lMEEJ81Mh+yzDuMqdL4QAICEA1Hc/9omoc7MZSAdgCEMLOGACCrAe00bDH4xQoGrY4890ugfBOOjqAy5ImRKEt74F1eCEmfPgQAJ2NtxBEXh2ZInssrI/jHQgABhhABa3lzcycoAFRGAB0yrmsRJIoFhtVAIcb2CDKQYmcj1oAiibUIPeua8FIYwBCPc4kNv5BXNbExqJsodF/wDAEACIJIgDdvgspcmSRCV4DiQpORsWREAAUiHXB2xARCNq8I9s8yQAmrAGQhDiDU2YiRIZt0TL3S6ElkMBCLKUFS/JRAAtEMJA9jejYWrxllxkgA2Z9iyJ2C2WrOMBAII5mmIaM2zJzGQz3TICTzIOBT3owRresAYw1KAy3ykoClo1Nss9EQuoKhw5W3KDKJyBDvu7G0EAxwFDIsCWDnAAAxxggKWdBVrrOcQfPOZAHgCTkgroJ+8+8AMo9EmTc8yKFZSwhCNwR5uMOygoe5ACQAEmosBD28tu1wIs+CEwt9mbBPJAkViWDnA8QEAADMCAsQJgAQSJwMdIBiQrof8IFbHw3iP5ScWZYJIJGWRL4eIwCDd0gQk/eEHjnFqDUDahB370izbRdj4mVBUVoXiEVTOaQ9VRZDpMA4AJWADDkuIypQtIgCLRchYrPaJRippEF+bavoAV8YjO7EogMmEJRNABDmIgCGsQO0rCFja3ZzOl5ZTghlA4dkFXzSHrmMaBxjTibzyAjQE4q4EN3HIB8WRgZBpR2rCMIlGxGMVpVNu+GAD0p4X5g09mW5ZA6EENXUjCDVyAghS0oAcDCWUPdlCDGrQKdy9Qwhl2pqvjYkQBEajAaFrHtLAU4SIb2EAMLXAAA2xvnhASSyxikSjxZuQDdY3jJl2ykPSWJSf/2PnDHNpwWyNWzr6hBMB+a/DJI8RACWGYRK1Wloc2YEQAw1LApjrwSAcCIAIAEOtAHgxhCyAAAaN5FmLOoqMMx2Ig5uXwEFM2P7yeZMQAUC++FEKRgXxhIEJYAhjwC4BPgvINAPhErSD7OBc0zJjGvIqB8/kcBhKAINPdgAYGgoAOSCYsYXkEirr7CqRwGGg2gKNra4LeLyNkYSf2kh7oMIeB3AHN17QIG/rAilfMghSWXhlN7KxqrEgAu4J2gAUAzUUCPICBFx6IjhqlilEMotGQe2NP41sSL4NZIwkZSCAOcRZFBMIP4bVIgcDVik94whOZYFEHP6DqOw/rARG4/yVBDCBuAAQADI04S2Jgd7BRqILRvgbah+VHGADQ4SJefkiJM3KQoQSipaIliCEsMmpdoKLaBq82FS+kcBS44CoZ6bOTz43rAOFIE6oQ8Ls7zFrCYMENm7Y3QzzxiSqNKlolZy6Ur2SJnrUCAKW2yME9YYk85FThxvGLww3ZZ3I74JGJMvR6TJtxk3yAvFhQw0MaMT6KeAIAk2BrZEpOkJL7O5ChANdAFHeRg2s92zYfyFUEcACpVACGErBEKFRRK1JQ4kxDZ8kImDAHFIVFTQvp2SfOLfGBTOYxpILyQyzSikTNwiQGv3ava65wizh8JQUYgAuUUIUzoD1RG347S/+6gBZGPUInI2bFmyst+q/8BCjz3DpBfpGoNyzhvtEeSMzH5/XkbeR9MRBCFcKA+Zi0YTKMagRMGcKKlnceIwLRielLRZDSZkImAZe5JwYhe1RfqC+Oc+r7rrz7YfseQo34wyBqE5l8W2Rf2a0QTiiRiasPJOBrOIJJwnAHQwwi8Qk3Uu0Tq/3td0VHuhFX0wGAJ5DfcOBEqShf+lFCKLRcUiwBG8jfRd1f5BAEJ/WXUaHAC/gA/9nG5uUGJTwCtXlCoUWLWZyfmiTgAmpFEzhgFdzBGbgBHCTRcbzPElmZC2ySUdXYBrZEHnSfexyMoYUF+kUE4WREWBCXLwwEG2T/RSixQe6VWc3lDkbYjzb9ABbsIA82Sm/khCKIBXq03agA3nAgBiW0wiwkYfMBAPxtxEJtxBGAkgNuwR3cFvW9yBRykzbVmB+wHxYO2x+oB0JAiBHqHeC1XeCVFimcoS+wAiOwwRpmxBu8ASGwARuswUA8IkEQVhxuAR22UcPADwC4wAhlCePcQBV0XR9qBEOEirIJokac3kWkXyImIQAwQiNWokWswRISAgBUEyX+IhhshCY+YGqVBAg0leO4hOPYgPw04w20QI25ASnEwrekYkY4hmSUViCxBE6EwhkGgysMRCT+IkG42UBU0zhS4jhaokZo4hokwettBHgUlFaE/9D83KPw/MAposIr9Ig1ZkShBaE/toScdeM3nmM5WoQ59iJDAgAlOuQvUmIwtmMosWA8YhNGAI93YM77EIQ44SMmDZfO9Mj0/SPs8IZvxIScmdgZupwtbsRCVhMvYsQvrqMwVuQduEEnXgQnqYYzudEPCMEPRJHAmBL9CA8TdMEkqEK7tV1JWqNbKYpuTOVJ9AhSNEJLFl5JSKIk9mI1ZcRDRqREbsQSvIEfWIInBIJtqYoraYlGtggzWgsUrBJwgdALqA0eWMS5keA/vpkq0CJBVCNA8l0reKMvBINWwqRMSiI6nkRNvgEuasQgVBu/1ZYYREFJvGX74M5QziUWKP/BloSQC+gjjvHdsmFbX57MVDRCKLiCIpqEm3GlVzbmQATjQtJkRLLjNWIEkWQm8BCKz9jAD8wbAEAB46CPlbUlAGyYlUDEU6biOcWgRuzIRWiCax5mYmpEbBIENX2lON4mbkIkG9gkQcicRsXA+jBOYTVU5rTADQgBE8wlACiB+3CTKKZGrVxHQrTUqVnjB4zADcgnRgiddaCFGQ7EL9TiVpqjm1FTJGZFRL4BIxhCALrEGaSWT0Gjmg0EcWJBC0wgNw1EeP0cWYhhahqHEz2BFfTmReyIRABAMBADSzwoAJijg4InRthmeEpoJ3gCKwSgcEDGRtQbQcQAYT3RzBD/BH3W5+WgU89814/kxIkAX2rekb88EQCgUxI8wUDkmHUghmRU2S94AibMpHbS6Gzi6EWg6UbcgY+yQvOpiU9Ey3lkRBUsAShhTofekV8gZxJU1YPgW0vx5Q7enPAIzAgNJQBgQSPsSCz0YywcJuh1Z0MqZI1aRHeyaVa8aYVOnXAoW0GcROupDUFYi3HUoIDynWhN6TZuoHGIIgah0w/M6qwmQRIwgRpoQq0QAzHEgiG4GSN0Jy+aaY2yabDeqEzo6B30KCuIX1mUBbQEKfJhhHZ9GRy0AaqkFhbEwH6hgL/8SxIAwNWhgmhBi0C0FGpioXGIU6zS6qwKjBDc6nLK/6gvJOhQSaiwNuSDmmOwMkKZ3qiaYoSmAkArpOHCYGO9mARaiOCViIF9yVgT+EALaOBy9qPEZQc27p1/mg9BxCpGzOoT9MEr+IIvVBkxJGgTHAG+UuqlNiQhYIK/9ivAxkTAESyhhurUlViFLCyZWMQg6N4bwiEbnAEfKoJPIMKcolyrbt+pWoQSYBBGhCsAJCFvXIczEEMwOKQPrCym1qKZwmzMZurAagQDip9JCMTFboQnQFY1jkIA9sEdsAELjprTmRjGIu2U9uWFKOp8xmtGoELJjoIeKMLg9ogzOEPWAoAP8CIjIKS/9iIY+MARLKEtVq7YBizsEQQr9NtJnP+I0W4EZA3klzbrjwKAIdyBJZzhK3yCUNzIUJAFrtws/zUth8Yr1A5leH2XHuyuHiTbmSjD1QJAJyzBTDbuJDbBC7wBJmDCG0iuhFbusaIj5g5EK0SLxsYiolkaWmQCWghma86Ca4Iv+OpCLOhCKIQgALju8R3CISjdia6rkvptuKJK4DbC7hLEKvabLgCvMpwjIyivKUwiJpgCAWNCjTov2Nri5YInAzLsRXyg7JwI3o5h6FrEKLiCK1QbHTTGJCRhgs4fhQ6g6z4Ec1WplQaNECiB1JrMd9lvRiyEHhjELBDD4RKDLnRC4xIEARewARNCxLKBLSZwpmou+zGgRoj/7tSdW53+hCV0r0WEAivkgfoqwiO8gsk0ogOGgSEYAh30bmzJ1nOqq2UcD0HQL5TqAc2pIkMo2wwfrjMk6EDcAgCYwhwXMB0zzuQGseUSAiN0guC1wtKmRfmtx3BUsK1UaHY0gluRQqcFIxy+QReIQRzQAVpW2yHYn95aBgq850DQ4RmHcUXA8I20Ai0qQ9b2wkDQsSkM8PIujjZdU8y+JCtgMHqwRNsh37nGohMrCrVhB/sOBFK8giUoAXoqbkXeXhS4QSVXGyb/44VgTplRreCyqKQtxI18wi8koS+EgiXEbSoXMCOwSmKprAGbwizPAvhicG1EaUkUJEGAaumVslbbDuA7D8SGuQF6GlQ0hdJ8tUBZwoEhrBwYV+kYo4AQ5IwvwM7uhvELW3Oy6UyGqcInuMEdMMIOm8IaMNxx4jEjNJ0uzMJHo3PTIfEgCikXEkSuqIjMHRtGLAF3+AWbgdJfDEQWoy5lmjAK+IAlhIv93m9S3IaUdOmjksLpWjQBZzTD7dENWIEhgJ4ufPRHA3JJfCCZ8CU2bqGiGFxm/sVggRIbRJSLEYQTTqghSBZeBAQAIfkEBQYAAAAsUQAaANEA1gAACP8AAQgcSLCgwYMIEypcyLAhABZRHEqcSLGixYsYM2rMSMBIxI0gQ4ocSbLkRAIytphcybKly5cFA8CcSbOmzYYyb+rcyZNlzp5AgwpdaKWowJ9DkyoFavQolqVQo9YsasWp1KtYTTYFEOBp1q9gMW7tGras2YZjvZ5dy1Zg2rZwz46NSzfs3Lp4r97Ny1fp3r6AmVY9Grhwz7+GE8/Ewpiw4scwoQzmmvGj0iZFihAhkplMZh4mdKiELBLKk4EBuuQFA6rUKdeuX5ciYKABGbWL42KxAuWoR7ySTr0eDrtU7SFEevc8HZaxWgInlAOYfBYM8euuc0ihQuQKaZGNAcj/IMACLyjs13NQ4TLkO/jGRsjXBQN7EZX7RIirvx/GPUjeAsUHEV2tvUaFF1xQYYR+9yno30ZdRAhABwSUkARcWATnmhwNlhEFg/eJ5h4zwzBjzYnMkKhiiSWSeMstmFQhUBdiCGSCAQm0xRh9sDnRIBhiwAZKEPdxwQNpzIwzzzz0NOlkPU0yuaQ87bCzzjrorMPMDwD8oIRACRCQQBjUgWUFY+edAoAZDRKhhBJCBuEjFUUw8Rgm8iyp5558zsNOluigc4455XxjixhF9ZZAAxfI0J9ZvFkHwCmFyGFpGUB+cV4ppZRQRhlpEBHGF4m5cUs8qLYTTzuqtsoqqvHI/2MONbzwUscEuHqA6wocENAABBAgoIMbZX1hbCScgMIJGWk0mwYUjCXrmgmflhFEmYB18c2qrHbr7auozoMOBL82sMC55yKALrDAXvBlWExAAYYg9JphRhqf6hAGFl3IQa8gPFQbBGTgfGuwt7GiQ0sDv7ILwbkOA9tAAqohFAIOGCMRBbY1dYEFFGb8W4Qcn6ZxBRRMKOEvvdR+GgSphgmRhJXsHHywPPLwwvDODC8QMbkTC4HQFxhjTMESF760ii0svuj00ivf22wZZLDBxhZs/CsIEWV4ASrMdWFiyiqYAGKEDEbYss45V7aTztvpLAmAk/TMU0896FRiwN58L/9gAAAEBE4bAgRcE+g5iBNKDjgBFH3MN99Yw8wzkz/zzDDDOH3LKrfYYgoZMkqnEDPt2G1PPfa4c/c88qBDTi3/gjF11596rTUV1RLhQ1u2bMKLMLBcggYQQGBgQOCVZLMOOwDg7Lw8scoDAKx5yrMONpVAUkn2ldRRBxoANAwsAmhUUssmtaSPTDLLXIJBCBicWM785VxTzP34H6PN/t703784gDKHOMAxDnAYMBrRIAc68mS3edjDHveAIATpgY2VCYIMXfOCBg+kQQsO4UCgOovlkrGLXcDihAhQV7oQYIBiqA51MDydDGP4wAi+44YRjOADd/jAF9ZjSeAQhzj/viFEIR6jGctIBvuEUQlRbEIUkIgirqZIxSpWEVgTEEU10NEOebjDHTu8hxh1+EB0HENraBSEvyxIryF4rVnGwsotpjGNuHkDGKKAhShqwYVN9GwBDEODO3IoQR6GsYb3yAc+xhhGfDjykZCMZD4mOUlIjvEeiyQkGb9Yt3kEMYhEFMcxjjjKY0TjGHcDoyFVach0eGMTjkijLLXGhWrJwTJJmWMvxrHJZAyjDjkAQg4YMAEHWGADG7CAAxgAjks685lidOQ9VAUlbn3LmjXrlvP2pI4dgtEd+cAkJiMZSWca8pzo5CGUpoSOawBjEbOMpyCoIAd8rQA3QZlGP/a5/493MFIbvZsAAwbKAAsYdJks/IYYIfhMckawHvGw290gyo5s2uyiGIVVqlSFqm0uqR5xowcYc0hShjJ0oYTcYTy6AYxNWGqWAJilBwjgASTIgQxGYMY3hlGKG+xkGOq44Q3tAY5oPKMWQfjgEBwQAAMEoKkIYMABFhCAYtBjovVwB+umpKerqg6MH10SPVZVM4ti9Kxo/VZZycGOL9qDnI+E5jPrYY5d+AwCE4CAB/aqghz41a8JahAAuDDTBeAqGtnsqDwK+CI1wAQM5lhVPI4xBj7wgUNeSAMfFpGISCRiBU4lwECP8o15AKAeAvmiD7GaygcycKtUqmiVbFbW2f/WdrZpZVVFd8uOc2QjHPSAIFyHC1d6UAMDDTCAumqzM3QB0lzQNVfgJhCNYsRqq3pyhzquao9xbGMarLiF6ERSiIiCYwpysIMc9rAHS8lBEpGIbyT44AUNEHOgC6jDalnL37uptHpdlAdveVulARv4wAQ2WFl5u45ucCMc9SCuhCPJDmAAkgDLXcBAHYCrDORVYtA9XiWCy0PVgjGr/k3dO/jRD35s4xZuIFZIABEPcIwhDSQDlXrZm4ZE+NjHfPCxQT2wglqoo79ITnE9cLbReFjpSstbXkXbxjroWbPAA5bygLHMYHJkIxvosJtW3ybWqwpkjMO9xzWAcC4MN4D/AQ6IszE3oAESIFMDeQXk8RRaUh7q0KupC/QOx8GMGoEEEO3ABb7GoEEN3ri9Pf7xZUNmgQysABxXTXJ/HzgPVQHgW1i6EjoAEGp0FKOUoByiOF4rJT3FQ8sMfvLarnENbMQj06ncL2sB4A4AzONt9FAHLPgGZ4MeE5nHPKYGkI0rv1VCnJeU4D1Y3OJ9VDmiwUXdPcYRg418QQyYEIcXGO0FKWTBC07QYBrau9492KG9Y5AEFSzAhbnR7d74blLqqNSOTwukSoEKuMCvwa7mLiCFzl3A9kTB8FVlCcoQF3U4qHGNc0hU00n+YlZhEYDAGQDOB9gbbQ5QUAckM85+/2MhOChZybjuox//iDk8/NEPdbxaVeuIhzvGsREodOELYKhFo6eggnMPId1esFRm1ZvjHjsAEtitHp98vSeR1kO3zGsbAATFdUEhDg1AA/HBVfhHdDXgGAA4R6CwBKhQnwMa0KBGO5qE8brbAwhPJUCdSSCFIKiAAXlXl5wdcDwDVMIeLE98PvbBYn/AY+b75Ic60BEObFwjHNHQw0ZiwHkOahAJ53aCG8cthzFI4VNjSH0Z+DCEZlhZoxp93jZ93Y4oQ1kgiUOc7qFR8IT7/uBmP/va1C7ww5UjGdAIR57qXvd5GC8HON6DIHzs2URQAQFNnQDJGXA8ABweH4pPPP/4J8l4fuDDHukQBzW60Q1MnGEjSrBCEw40BXOfW4NSaDSOVZB6cnuBCBtQDWaVURw1D6/GdmmXJWlnDoPSgOYAdj9jcAYHSM6Vdrp3gecAANlgDMtgDh/FfJpmDlzgBE5AMviyB17gY/BlfX9DAm1WG9+Aaw8EABAEAJkkSeE0D95QaxMHEvwiBmCQf06ABFPQaBokem+EdEaIBCRQBwxXK8AADNiwP9qwdrDWb+3Adbp3DftTDdVADdVAP7TAQh6nQuiCADsDNOIDLMcgKAxoDuYAAHBYDtAgDM0QZk8yUXQHgs+ABDiWXoDYXnsAep0VCXvAAABAAhNgALjyDar/xWu99kWQeFoCYQ91Ew/l4A3NEHfdcAwvcAMvkBEu4AI2YALpBgBEaITolgPjBgBjcH+N5gQrQAu0WAnDUzwIcAB6RQIEEACi0ESVgD/FsD0E8FwhEALPxTPKuIzRFSzKdXAGAHwL4A0O6IDhYAzAAA3rIDdU1yetlocTFQ3N4l47tl7ttgdOEGSJIAcQEAA5gFcTMA8mZmK8BonziDfYIA3sIw3aYAogMYouwANIIBCwaIRIh2NIoIpSwAVTqA3c8JAO9pDa0AxIFA3CUCvdAwu8QIvQ0AzsFw7kUA7hMJLhIA0mKQ3AwAspWQfaUwfIqIzJuIyVgA1eWA1vWA7c/1BC1JBzTBY9OFNlzSMQfQIOmeUsizYGJbNeO1ZZPpYGeyNQoiCP80iP9qha82AOzRCFyYAN0dAGAmFoF5EESQAFTTB6WXBuAKCKAgEqWZCWjZYFKkAN2DCXdEmXVOiQ3MB+3UAO5BAO3eCXgBkO5dCXJFmYhHmYJNmX1HCS0gCF2wMJLGku56KMdQAEl2A4BmNNsKdYOGNj1VIG/qeKZVCOZbAHfLAHOUAADyMKmjaVGgcA2kALdUALy6ANhRAFuHQRKPMEMjAEZ3l0qqhBa4lj+feWKkAL0uCF1wCG11ANtFZrtUaX2fCXeVmdD8kNIVmY2rmd2tmX3rmdhDmS1//AmMAABBAQAsLANgaGVquCC9VihAVphIBIMntQBk4AeAYQg8wHiUvmDbuABmiwC80QDQAQihvRAgjaAtrhBakYnE4wBTcmB27ZaEhwANkIDYwpDdSwoRzKodWADdlwDdd5nb81kn/JnSiaoioKACSZDf/JZujCcE0kjP7jDQZWC/1nkDlwf1lAgvpnB3aQBmMgek7wVKWVb/iWSvRgasWDBsIADYCwOyCRoC1gAm50lsE5BTkwkM0yBbCYBUgwAZfAPhRZphQJd5sId3BHcbT2ZW4KotlgeW6aDdeplyfqDSqap4WZDcJwCZcADMtAi7QAC97jPWOnLogaOHVQCY3/NqFwSQIJ6QVDQAKs6GjuJQcqQIRUJQ7YxSd0AyVNslLFQwCVIAy4YAheCRJKIASs+gQLGpxe0KNnORBOcJZZQAVIwAAYsD7L0Ku++qvA2gwaSnFz6aYUd6ZwN6wb+pzPKad0Sqd5+ZF3OpJ4qp0b6KfQwA146j/h0D96eQ3CSpHFQAvAQAKw6gVTMHoMmqlGeGNBSoJO0I6tQj3R06lTcg6w0ItAAAvCgAkjoQYewy9FEKlY6qhTUH9UMAVEeLBT4AQaAATrwz7ACgDA+qsmyaa0hg0b2gzJELFKFKxlmqwY2qHMKqdwOqIAwA3Z0D5jWqxftj/cgJfR6j/sJw1e/6pBZ6mEqhifb1QGUoAETkACaLA8uJVYHNU8qIIOzYABT4UGwBAJZwAzuWkRPxADLoCgJpADXjoEZpkFBysFJCgFUqAdDOsEKrALwPCxEiuxFeurwrqYGLuh0LAMyFC3dnu3dqtEHau3v2qmyXqxJEsNzeCnwICxlleXiGuXvBCrODupOhucVHB/NwYqSIAEHoAGxCdwWoZlVRIOdfBUGAALtZACJJECKIACKZC6mdqjTgAAXiu2JFi5TgC2DCu2KgALHtura9u2vjqycfeccpu3eDu8xIu3esu3bNuryOCnAqqsHfqF0Ouc0rsJjKtBQ6ACjwufJEAC91ctTpADE/+ABvNDKHBYvro3aoFiDsvAtAQQoEXwAlwyEleboDzgm15bf7E7kJWLBGKbA7MrtkMgCsibRLpbwATstsO6psu5oXRbvA78wBDcp5cAC8YQsmrKmHA7rMdgq0ZYnOcqBSSgAo2GejmgAhMACyDpnXwZkuQwh3NYDWigr7CwB/FLEl9gBU8ALV/gv/g7hPv7w7OLivCKBKIwEMkAAEokEEd8wMm7DCNLEBzKsXXbsRBcxREcPJcgDH27DGYasmm6CZEbnxMqnPAJi0g5BipAAhAAC/3TreC5wuRwRxhAABhQB5xgCCzhMU/ABExQBEMAtD8cyJVru/8btACADAaxDBT/q8gU28SbKBBryqFzO8VWXMkOvAvM28Rti0RZibPnOsbnOm6pRwIasACwQIUSaafe8Jd4Kg1AQMdAcKpwAJYkYQMtcLop0AIk8MeCHMitO4Q/O0xFQAZ2IAq4UAu7IAzCMBAGHKwAkKZqqqYEYcnUfLcSTMETy7vLsAn2p0E3G8pvCaskMFMzGZ2JO5cOiQ2wUDxAsAtx0Aa0TBKnO88ocAI50B69/MNga8LF1AIxcANJYAVfcAZxAAaFgAm2gAu4cAzFgMQgu4nQrKZUDMGHXM14awzAgwZ/qs0Vqx33F7RFp5ZGqKWvSqEe0I6X8IUbCr3NWbLGAADFAwtkIBDM/7ESI3DTqFul95zP+zuEBMUAP6gGcfAHgRAIf/AHeZAHgYAIerDUYhMJtrALKmkMU0yRXNyryjwQ1TzNVYyNwoPNHN2rwHDPtYqulMqzE5qI3AufJswwlfC3GHqScEsNy/CisLAJn+hTLfEmrCoETyAGRrDTvRzC20sCBGUCb8IEWCAGbTAHh/DYh6AIioAIh4AHYlAFPuACJoBMKnAB25tMG6ACaawCJmAEYAAIZLAJiZA+tZDVAmHRw5vRl7ALmlyxaOBXAECCB8KzDlqcthqmD7MAQNDFxE2RTIQGsGAHowgASbMScQAA8GwsYnAGahDYvLy/k/rZ27tMA3UCOf/tApz3A0xgBQQ9CHhwBlYgBJndAh2ATO693YW9AqR9BmcAB+/8BV2Aw0mgBEVgBGSQ2pFQCwoNDMtc0V0NDH7Kr7X9q5Ag2gDwx7oNzsF5llKQAcEt3L3KyVet4cKAyaKLm83tEkxgA5xnAzfwA0JQBH5VuTlQ2O69AUFg2MvEASBw0zjtzz7w13Dw2HgAsEwgBDeATHa2Ads7ASEs3ypgBEmdB3TQ5HSQB3MQB+/cBmcgBt92Bm3gB3EwB3lQCIyACYlgCwKu0MqMt8CT4C+9yG0bwirAtRA+u7y9s2dJdBNQCUBgARBQCWyr4RpuQgCwCTsxAiIw6CBQ4yVQwp///eLIFONwtr0sAAIC0QLgnQRdsOOSPdmHgAiIoAiBwAGJ7t4rEOqiLgl3YNRHTdSBANlt8AVJcAMnzqpJ8ARnMtBYLuVRawVJ0N9kYAZ2sAmQoNGzjQyMXLHAINp/dc9vbm5vCbRtibM5OwF1cAzVQK3CXrGLbAy78OeDsBODLgKFXugnYALLtgEAoOgbEOp1pgLIZAIo0CV/PQeYXtSnftRFzQHj/uIWIOqhHgR8UAh3cAipnumHAAdfMOJXiwI2ftOSbuIywwRRAAUoA+QpkPA3fQJIAAm7gMhtKwrGfuzIDrQkeG5wOQGtG6tzrgF1UK3UOre8S0IAUAtz0BOC//4BH+DPPyDu5C4Qio7uhH0BGvCVA3EIAPAHA3HqA3EBOk/u7g0A+x7qOSBfZDAJj/AHZwAFPhADtyzo3f7thY4C/6wE0PJzX4AFUfAErX4DWD/xKQDeZAAImADVCX0MXNBXHv9XXDuQAGBu3zsFaWmrKtAAxYANhekNLN+2JrQJSzAdPREDXvIEWDDQP5/0L64CK0DkhX0BRyIRTSATOT8QyLQCTL/vFkAF8ZUIYOAGYVAFQkDiLWC6N+3thT4CLnADfr3YbRAHS04H71zlYuAcZR8FNOIHms7UdOABHV/3fvXmPvKWc55F0JCxAnEMuIBEvnrtu7AJkN4CQTHQbv+QB5FdBCpgAeX+4keu7iF8AZ2t/Q5xAQYg/gWxAQwQ6gKxAkGwAnXmY3twBwDwCIfw3AABAIqSGy5aHIxxQwgTK1/OxMnzR+LEiYEOBfozR82XLh2/iBFzpgkJFTlMnkRpcsgQJE5cAgCQRaYGCBZCeMgBx02XKpuaLQMaFBksOyNAoHgBU+lSpk2dPoXK9IcQJVbEuLGgAcAGrltJABhCZcMFkhdUdAARVakMAwwmOGXgYAXMuStI5BiyR46ZQEwVKTo0h6lDOHMsBsJI8Q/iQ3//qMEixKCLGAl/KFFRMuVmlSxdTpGZY4EFtwx0uBn0SBGnZjCBJhs6JoVa2rX/bSsdgSLFQRcmLFjgGpxuEA0kzBrnYBsMaQcaNmj9/ZvuirlU9MrJUiZLkb60qwDoIgZAnqWILh46hOhvHDFPCrZAMULEB/onimvmvHllSydSajIAkAcx4vhLEUxwQRBBWzg544vbHoSwKfroA+GorITbAACSVrCAhBVUoE4F2/Jg4wAGMrRABQcYEHHFD6mQQw47YvSCBBKKGOSPCJs65JFJJlEEDzGYiKGFFOKbkL4KnCMpv/z2m8AtBByoAAxArCRji/PQQ4QxmA4hb0cxaaNPhNxSMCE44TYEgLoQVTDBtjui1MACB0iKcoKvEJhAxhjLKGMMk0jAQ8cxlwrD/w2dwlBCiBgMQiE+ED6w7zmu7nJSvwwY0GCBuBZYwIAFGphABTByVMzQQ1eFCoTcWnBBCBNIcK4rDT1EYoMP3VxBjdok2SAuFdIog9gxJtiggQAaIMEOQAH1IgMNu/iI1aUmAUCRvsTAgokfHm2BhVzV3ABTADLNYdMNIJjSAAMQ2IA4AwgIgg7FAFDVWn2VokyJL+I4pE41NQRABS925dWIMNR6gxMTc0gj4mIBVcFdpaCdYgobSXDBhh/2ZSq9v7qMQ40PyQ0OUyc9WGADCxY4IE8HLCiDigMCUAGLj85oAwDBQAa6i4cWC6SI31K2UYUgLOB1hSGCMMGFqIgIwP8tLyQG1NgJQjWABC8yRiIHEjzIIIWEgFaqIsaKIAFlcvFLSYUGuGJgAWTrLEkQQQwIAIIiOr4BbaDd+AKKJ6DQOaQLM7Sx3A1K4GqFICSX/ASoTpCCAD7HIJYIKohQyosGAAhAgymQGCIHFci+4IUfnhA8VYlYoNVtcjljYCsNGjigww1KKmMRWRAIwAAeJhV83zOe8MEgWCm74YdZLyVXA6Upn3zyEp4qogwC7J44BwZIkAIAIspgAAECJsAps7EnOCEJLMRDW3Y2yKrV9pRRemsrCw6YW9LSIIdFlEIKASDAV5KnLyUU6QQmMMEJJnSUFAwMZdnLHuVMgIKmLML/Ce9iALHKsAIEBiENMGEABACAgAyoYGwa8AALosCzOAiuDXGYQ0T+QAfQtU1/5LJRutT0svFdQENeAEAZShGJAAQgA5Zb4KpccCQe8CESkgCAGYyQJBYAx21Mw6DksrfBpeggEmUI1QKyRgULTCAIz3LAAtSXgbF5wAMmcEMcFiO4yzxBZ2c4AxiyMIQL/BBlJDgaV7SygDsZkQRUAAAVOFEKAgRgAUWI4qHgg4IT8CERkQCAJESZCDOcoEIRyB+5ABAEDLIye5hUiiT4wIkGiMqESaQCFcYQKACAan0ZyIAHJrACJjDhCeGBA9peBb0fdICQKjAk9drGAAsAoE4T/0BAzArZtiEkEQCLmAACYZnJCDnKSESQQiJCGUpRjtIMHEhlyubiSjGy8nx82AMYwBAJQQDACetjwNUAIMLOEWBeEJjABNh1giJFqgVoS9IIWvCCG2zMhz8kSRCQ4IU2VtMCDcgmsoKjAidkhgpIIF4OyLkjPBBOB0hIgxfkUIZE8KGdN02EF6BJLjCu0pXnkwMfPFkGMgiCE2fU3FKIJcIVGBQBEICqATqQghF8QARpAVpEW5CQWd1qKxiN5NW8QE0AOKCXjBxiBhKKFwYQIANvWOmDAqEeRdwBpjNKw4xoys6bSkIOVMiBBuokHZ8SQaZCRex1ACAIqBkAAARggP8uk4i+77mrAQToQAsmNSHBzecDKNjqDZJAu43BxJBfkdgGJjAzBHAtLtFpkhwiMQEDNAAMcbUN0RBDBCcAADSck1FMvWDTvopSDipabYaSGFTE4jNGxDrjCcJl0HlBNkrUJUBZJVChJAnuSKDt2OuaMASLLkV/KihWxIiQUAcggG8L6JQcGeCEqxUQmCRogq9wqxbFqGAKuZRJFrxQBhkFClB7KK5fAfS/CSChudeZ6RgIGATkdQAA7nKvu+bl2A684AXwMQp9BPeFKijBxEzAwhl4IAUX2ogpQGybwSIWU65MoJLMmkADOBAEFqQhB1cDhSOkUIQGwW6/T1HMG1T/kEsqBDjAA45RgWVbXBWE86l7AACEAzWGMcBUgh8AAKUSABPqIqABPADkF6KQhB/YAACQAtpfDjGIlp7BDX8gbWlffKkhkFADV5sYaS6LgLFF4KExAMANeACoSXLiDWKAwpGhMpE85OENTgBwk538ZALPaMDtvGIiSNCAWnpgRhHmchao4ELPwuQoJ7gABVYQAR7EgQ55oMMc4lBD/QoO13FoQ+EatYTkFMfFpjXtpaRAAjeOYbJofJcBgvlEppgARpMEBRmwEOmPSZopf/g1HFgghVxmbNNOloIXkLgHYu0hEpFIRCLkkFD1GSvVWXACEoyzWQCMAAAUZcIXbpjD/1RFkQ7AhowSGNoC32RFKwp0m4e8QIWJESGmAACpASaQgRJgdSlDkG0pQGGG+QHS20yJAxyC/QQVBNjc587CFHKAhN/+yQ7xlvcYMsA3CNzbJahTQQlG4G+lKAELA9chRTJ58DacwQr2YQCaYOJwwSYbZVSIWBIltgJ2GXQCERCBU0woB1CUAgBiGDgdTg4TK3SECTcwwpJdDvOYo04KMpGpHQ5LLI3VkgD9+XnYxMYCACCaKXO49b2SJxEAMB3SPCANAkCkFZgI1vJfvZSGZmy+iEESAaSDQAQi5RQTMLoUsgCDGwieryMbXQxdgMIJhhBgKoDGyTEJsBRsL+A0dP95DF5IHbOVhROWmMSFGeBBVBCDryjecNcq/8ITTJDC3HGI8kqxvGC5UhLrzThiYyBCAyCwAAIQYAWBe2hTWHBtkWNi9YyXtMB3vWswkGAI/53C3QOMe7pngXNlwAuay4LVsSTNcCEPgAAGAIMw8TboSYK24xYmmD5SWxGHM6/nsDyu+DEGkBYRogIG6BtsCoASUAS1yAECKrtVmAM9UDpJszUdwrUiCMDP6D+YC5SWiwkkUKt3cR8EJJUJ0IG1+wBXSQHAQbEiABBqmpms2DNFsjwSSB++wbAy45sLQAQ9AABEgAqLI7vTywPESAzWI6fES5UhyDecaIka3DQu86//3tLBWoKAsYGAH/w6ITg5CpEoF7iBJ/iCEkjA3Cmr6LBAq7O8lzkABGgtdwmVzzOoIhBDp+ieNCg7TugEOQPD7lippFOMO5ApTvCgu0ACNeS0sAkbFcgA8rMbUgGAhIIfDpI0+limG4ACMSgBzWkhJMBFJHChCYiOeOIKBKgb9yqe8is/d+GOR2wKI3ACoxK5QkiUPyiQ/ZIdibiDMYgET/wcNiCBUKQ7/vM/FhORKgsVhFpFVqwAqnpFMwGvH7CCMwgCvlEBOdiDeLsiUdILFVmc4NidAwCVMFiBBVghvzlG+KONExSEUiiFU4AVG6AKKwAAP8DEBZpGHTEDL+AE/08cgjt4hEMggtnTPZj7LwGjAmMjgfFbn7dIqAUIAAmStKtaJiE4uiJARIjxpE9KMElIAxXQvmsCoANYgV2bA8SrtBasDR5IA0Eou0iQoKF7lRjwgUwKQ8W7Nk6QAyQ4BDeoAtnLtyHQP5cLmynwgiygI6V4F1YcnUqSADDbLxDbjRhIgn+Jg/EjKSRItwG6yXYqgyH4xQZggAOIAB8QgigQGjgASghhgatBSE4gg0kRgcasEI8TnB9RjS7ZRAI7qgGDAnNyJifIASc4t68cpGAiG/UhFXaZQgkAAMjMJDHYAiVYgoYckDlgAwPQgOx4FhEqg3mUBE64yUhAgihhAP+wAy1YiYFui5BlLDtQAAPP6q4FUgKhwYNDkMwS7AszkKSjcgIeiIEUGEIQiACa2z10azJmE6Y0UqjWMpEVOgHQiqtGeATV+AM3cAM8KJAS8K9dkphT85NdQrC7jIQxCIIHgKJDEQGDRMhTSJLmFJytAsznPIPojCWL9EQnWE/PEoET6Ey6q70psJscMyi/MYHsggmY6Zm4kohcm4OVe4IqCAMwMJjfC0vd+628irJiubm7lAR4KyVX3BEQMIGIQUhZ2KIEdUyImhCJckqmWASj4oQ0GAIUSNAPYIGZC8+Yk4KSWoDxE5UiMIE/oIAxa6IASADUjCtc07UvSIIi2Q3/Fxi3sHSJN4XTKcBPORggXhIE4uLN4oqEUhrQBzlMRyg7WVhMIg071WSVKP0AooOJTmDSSKCCIBACGyiSqqoPEfkMKbhSzoQJROSBIrAXLwWABziAA6gApqCAKPq1NoiMg0ABELhQ8ITTWMULGuScGQGAGJkR4kqwMiiBsIsQJBCERTgFWSgEGEhNV23Mq3qzfYlSiXrKWCqDi4yEjPSDM+iCRpHUFqiqEmAJlggbCOgAHWgCMEC8iSgPLYzIpSsZK/gBEJuQEgC8WIXTzOCPN5VTGp0pAUsEnLrT+xMTIhAEOTi9VLiCbzmIIzGKrdKXBJUoG1iC8pCEaD2qIXiD/x+ZhEPAA2vFVgeCIBbogB84uhc0VwA4hKVAD0xERmvRteW5AXctE8+Q1zcFCzOM2d7apS0jMHyiywibgj69DTIYoFLIBWKFidd7AiG4gYRYAiM7lCQBga1agjDIFzZYhEW4yGLRgy9UDx8BkpayAtf8AcBMMaF0ihKEiZGBCmxRiwK4DfYgEpetD1x8ipeo2ZiVgloVKgLTizEYAp+tDRKhAqOSBWItWTPVNWBzgzM41CGE2jDAg0dYijy4g0ZFAtBJm8XY2h/BWPmkT0VABC2Mir/YnlNlFbaFijhA0xc4ks2aEMtBgrmV2bp9U9S5v2LZA0CZKc70W9qotCEIVv9ZyIVSwEJ8kYhAUAT3FJKmFYGtEgLHfc+miFhQOKoceIPhvVxzLVnweMbkWIqIbASYUA8AIF21EAABoA3dcAosUAJIYd3WnTmx6SamkF153Q/PVDcvSLfTUSkxIQM5EITBlQUGlAhEaISLdQOHFJMRMBsh6AI/8BGSZYo88AKkpMr4XQrGwzWlKAjDU4vkQFsOGN9V4aymsAImMCeElY/6mLkhUAELVgo49SfZRZ00FDAvoC/9HRMjkKnBzQVAII/iVQQf+YMvWILmiZCOWYIG9hHAEMM7qNqL9AIiSNemEAL4MMztgYlSbVoFRbld24jMbNnVBQG8gAoYluGV4Mr/Gh6DGw6bMRmEwAWFwcUE6yVgIHGDLTAnX70Nzu2Ri6g0p5hc6Z3WN5jipdjOHcHi7bGwpas0OkDRNuCWJCgIE9hfp5hfOMXFlbBfLxiD/G3jMcmB382FU4hIHxkEMVCC5oFStayNRxiEMNgCxHEIqIjeiWUD620KhBUTDuBeaxlhp9BEcDPcOFCxmSvjS863Gd7kNf6a1DmU/v3fwb0DPFCKSXgEOMDjImHd2njlBoKUFggcp6AD/wWFSIgYXGYKSSlfmGDl2ogAAEiOEsDiHeHipphIYXbkCXBh+Y3dms3kNFQ3Zp4CZx4TMvACYR1aQKBmmJiEQTiDVHaBVRYx/7U4gyWYVKsaOh5lCidehHIeAsttivjwN/MNs3ZWCvM1aZhQgFLlARaYZwj55ai454ngATK25H72Z89Q4/wl6B1RArAQ3GyDXJh4BD+IDG2u56awaPhIUFdzCjOQRFtmQJhAWBFY5zATE8KDiRLo5QeZaNqY6YkoApawZJWq15j9Z/vtZLCUgp7eZfqaqdetZj/YAouW6K92ioZC1JR2NTMoA0HOATdQiipWZ5LGa8NMPgBggRB+kAEYALAO64kgA5teCicgibNO5nqd4XTjZEzF349elQpwixRRAVgahEmwBDxgFB9oKEp9Cqbea74GABSIBLI7oyCACRP+MAk5lP/tSWyPZWzbKADTheyZrjQjmMG6zWQ0Zm6WuDtOzqVmBp0kGBMJMIADWMIOCOdMIAVS0IRHaKlrdZQicQrm3OunMAIKntYViAIxgANuSR4WSOwSCO7aeID7zq2wbow7sFxclNdzMQEWOIETYAEOaJ8Wfu4xyJivyYES+I4xCVETmZkcME5rboS/4NogeYrYjmmmsDjAbgIcQrwF6oDfBuEIAWEyrY2ZnitFsGYw6MhczGR5bt9EHYETiIC7MEPQwEUp0DcdsEMx8VECkHA7iROlYGKiUQ/3lBAOl22YMKxy9jE8SLxM4oHkA24xKQAFuI2JbHFrvmMfGHAIgqCS3uv/xkSBFOGPGVYBHqDuMQGBmynyOOIBtaVMxXMKJ5ftE2gwvXGCFcjalN2XEphvCqjvB9lyLpfpVPnyot6CqDhvpbAArBOEXRILmPgCLIDzJsqmmYkLMqCELym4pwg7PXcKCrAbC8gABOABFhT0fblyxe6AQ9+RRIeKiyhe9fgRuiaT8/4ADaCCawSFcp6LphC22zABTo8LB2iA5rDnV4eJEENUqACQFbksMEDnKJJvxV5sWh8TW69mAPjev2gESpgEPHj0Xk9Qkt4KKrDaYY+EYl+VZA8ACXeAe7cAMMjeCAGxbVYKPYYJHlj2viSABdyvWC9wby9dBeDyPgAATQgF/02A6Si9ag1xd06Ad3mHcwUoP3u3kwkggkPI9tr4jofiIPkAADNRVAAAA3689/QJgFZ/CoXP6sSedZq3li1/gHeOkHWv+EeyWpGLhAvQYkM39KgI7hc4AQSS8NVqjnFilfRzigpYETlSnwA4cqcgSmspARNIPq7GeZCJgBJgARbIBNtIkvL9+WDHtnhXcaUwelp35KKNgiZylyRsK2wv5H0Bg3vnxRVRnzG7XjyHdSy/+ZPrgA6QZ7NVClYFgMdW+8gn6Ue6RpFbBKKHirg/+gjGNTqgd7svvwuYasFBhA5wgNXSgCg0AAUYBJhQPGjfEQ6Q77KXgLCPIg5QfKhw7P8BkHyYIJ9IGHZQWAQO0GK10HzGtggWCNMm6oAo0PQompOOshMHmBfRJ/yoKIDH3mXC6wAJiIC3X7uoUIDh3n3ehwkVkALgH/bhj5DjH18OuIBRrYAP2w2GjIJZ3hdDuLAlBBD3AggCAfL8KfgHAMKEChMqGOBQAMIPHxZSXPiAA4AKDxQoqIhQAEiQHkeSLFmRA4UIGwuwdKhCSiRQMhdhNFmRAk4KFThw6FCiQoSEKECMKIoCRYwfTGwyBRAgAAMHDBAYMEAgQaBAB5smDBkSwESTCip0ABChgIIHFAsoHPCVK1ySPkugVInwZcyZNePmRMizRAcJD1qClSiCaNH/ESi4uigKoqIEApIFCgwAJhCArHEVehUZ1mNPABQePIggYaFdtgAKuBW5+TXCnTznolTBJS8omhU2901IN4IC1gMSSiz+4bDNJzYcizD+WUKAyZVZLDyEGfZHr2ApDlDAoQTdOHTy5NFTtmJwAA6xv8ZZ4b1sCiq84F70k31CTQDCCHGBH8APKIwAQnPOOVfBUwkaQNIk+HUGEQACODRAB3MoQkkgegRyCCIAIPJhQhKICMBg6/3XVE4pBqUCFfWtgGJvClECwCNuVAFAC4uxx5yBPQJwwAEETDiAah4t0QJ7nZmoRiP6KYJIIB0m9CGVCHUAFEcsnWhTijjZxSIn/5yUklsCanEZI0KNIIRHGErE4MJR+BVYnELOqTfkQkQqEMF5CcVw1AjYgWTiF3loMgolICKU1YZVUqlIRhEEteWZOAkWXA5UhFkKJ4uAVCRJ76Uo24wNbgEAnHFSOhKENnVABAss8HTGFkvEAJuEJgIQx4WjNCJlZlodFOWHTyLSiCKBkLeqSSpyJECmnMiU20ebycbCb6i6kKOOzFbk1YQfEGXTIG6EsYQNXA2qK0LH/uphh9YZlBkiikDqLiJ/kLestxTlpFJD0Go67SL/YTtalgoM1e9IRzkMgGJLhMHUIermOtxCgUCKEKSKVHxIQQAcYu+Tav4a8qKBPBIKw/+iUXApawJLK5MgJ/60UcIYt6yQwz37UEUfk5Cy13/r6qwQlcACsLF1HNrbYSNqCltRH1vY0O2WXnL0ULTT1nxiBwDj7NrOAPScQpxnIKQJlFOzh2dFGneICIdVtrv0kwBEjRDKIzlW1IkpbfRQAjl4MTMnX7NHHQ/gVSBBcA4VVSDDDqfQgg1b+AHAKAoZNG9cHd05Ur0c6wdAolXeq7eamW3F1GHjsrcS4V2DkjhcEi3EQay9N84BwGwBGqi3R7XQghIiAxBK655/3ndFO51XAlN5Nynjr8Wm2Tz0sMf+2GuR1364TLiX9FZFJcSqPnhltc+BGwAo4QO3cRnnEQr/KcSguSaoUPJkHiryPNBRBD49oR4ALEGS7FFCP507FCWyx7rmgex1TTGOCGDTkIcIoHDku50X2MO79bGgT7LpQChIMYlB7GcpXDFQRVAghDMcghSjeES9rjOSAXYvJ+9BSABJUi9EaEITlJgR6vQDor0hhBIg24ydXjOhkHgQcWPATgVYACv29Ukn79mQIiaRwhU2RQRmhOFCBjEJVZACWR/SYUl4eJAUwaVelEBUBJukn+xFTU3/+wMcLxjFzUyxg4azImwiUAIe8CBWJkCgy3ICSEZpjCu3MuOcPqMQVGiij2+Ey+fYM4pRHGp7ACgivBQRtT8Gkik+2swGaycI/8SlATYcIEIRGNlIAIQsRQNsJUnEgAUm/KAx96OIKqNmLGCWbW0AiMUrUJcQRFmPEo/QzMYE+cq44KwAhpxl+WrJGxbwwAw8yCXfIkkBHsaFDm34ghWScAMXmPFWFNEYyejGzLKFAQ+KGEUsFhLBkgVrabnr0TG54iXSJGAI4LydOOHygEWa05w/KYgv2QnKgsxBDV+AghJO5RF3PW2fO1sMFMRwiDsq5FdR654rEUon3uTkATlYBC1bxRTvkLOcRWDBbjCKE43G5ZePmIQCPZLMJ2WzmRSJQQxuAAU1qEw/quDcNU06EpnOlC//4gJOyyeH9JBEk4r0qTn59oeMEv/wNZ+bxChCsTkmJKEi7npE1JTm1A/4x09R3c8ZDLE82HBVdzT9FxIigTg5XGqnJSCCT4tQgqGuVZIwdSsRUWGJMywBBZoUaBGp6VTifOAFNjAtak8bVSEgxA1JfWFh25OiDlAArIvtAEpOYxIJkNMMRTDDlYbKVkqRAgCDsNogkTZKI+JwtBJBwWmja1qEnBZrmYAtV2GTIg4gIgJOCOvtqAAA3FLAJIqELBnMwIIudalfSmjBNhNSqCMeUa/9Mo4LoruQF+CIPbH1Kk4A0JMOXAAJABDT7YKQEJSQ5CK9JQMP2NtehsU3IV2IAz6bet/ioOAGL/CwfvkbAyThB6H/ssVJB1LcgQSQAJyJywH1UkwSCsSKkb6drITRxCwTL8QGSfjCGcTQBjW0zDhHucENABBi/r4Aa3BZgg9GwOPDqjjFB0DABJBABSfkwAIAiHGfdtdbXZagNBLIcXmLXGEACAEKTIDCE56g5g8YD8k/AMCH8fyCPSPkDJbgZFNCYQlzzc+zay5JTjDCE54coCoAsIAFJnCB8YK5Ih3oqUWJhBbSmIaOZVuzDaDg5huk6zWG9Qh+/WMDJCc5yXt+gT0BAOimaIIUqBC0H8JQBfqhsVLl5QlOEkAAAyCAAQBwgAMuoOKEdAB0vCsnI4ngzZAMhyOk0W0zKxyDNhPzBiTG/25CSftcF4g4Bh9G8gvIXerNGCSMtibFIwxxhl1HBEYBBjYFEvAUAxyAAVFhwKQBg8AO0K0ggVgktHkQgc5kR0vOrXCb3fyDWMe0whymiH/Q7QIXKCF+7H5eGEOBClJkgmgKQYtH6LhoDlCG31GZQLLb176kBaJJqoAmD1aDPu2MNiLxtYESRn01bWb3mHu+1cZVDWshuOG62BkgIlbmEZaYeSF0rLIDFHQAhMD8AjIHj5qKdcdYxEKzP2gOhHjec3GHm81uFoK3mWKDFkiZw4b2UQvIDdV0bxwA5hZCGD6BihM9r1kx2q6KH5Agyhzb3wcAD+QFXoKod+6ZpAiDC/+6unZU9xpAoiYmxUfyTigIYcR0bkIPeuac4+nd3OlGiFSb/orKb6mtJEGJL4eIiLIkaOsImcoCCOAbLrKgeQB4BR5Yu3mbTNkG3P7BPElikDzE4QxdeEIVbHU8hBzP0Cg4HolbwOeoQgEAk3iF//pl+xlTQG72AsNTJOMADWzAAlJhwIK+DB5sFX8hmrjC8hGd5nEbEyiBnHkEDx3CIRiCGESBm2wL2lxOz3wfknxfVD2BG6wRKtAewxQEHZgEYCAEYBwC/AWAATCABdCfBhjbAuQf5PUOE/VZAIJbV4UaFGBBF7TBHAjQAB2CJ2QClMzB6OGZYnxfz+QI+LUABgL/gCqMEiUEUdlggRB8W0VoEQDwHwdER7+loAZoALLhn/7tHwvQV+e8wiGEwZ3NIPO9UgsIQQ7mQd4sRAL+YNJASRyIAemNmAR2n8O4gBCIAUKQUgRtXtuJIAI1zlNEBRcihFTkXyOoT6wc0fHFgiacwXupYcVFkRXMQZMMovM8jw86XR0qSxx41BPA3YgBQA+kANr84XX5TyNgSAAm155EAOMgRAAsAEJYQP01IqT0USzeESrEgiocgtVgogAalhg0giA6UULModMpD5VU0B/QQfV1ARYkwRKg3g5IzCeoAicl02U9HIdxREb4hAM4BUIgALLZHwPwgMkk0xEBFCVa/2IKIKMApkCSoc5yeSI0JkTFzA2VCAsgkccdnksV3MF1vUIoPAmGrN8MbksLmIYEJAAuKoRVBIBCkEyTvELZHRc+glsbXpje9GMjEOTnHEImeMJC1CG8CEuUqBIisJACXZVCPAJRzSAFctwDDAACKMRkBMAKsADLNAIgjcwoeGSNKF9IxhTyfEEcFESTOGGi9OBK3o1B1eE0xmQfUYJNRqNCZMIgECQyooBETiEIDEeCPEUJJABGDN4pPcLIaMLsDcKNfFZTkoQLMIEYzMG8HAoEGWVKWoInNAKHcIyHtEvSGIu9RE0pAUAnAEAVsMHEUIQlkKUast72iQBECMABeP8mSyhAx1VMcVXeK2iCG/hAXnLFVNHB80wlHhHkIRDmI5SMyTTPYpJMMh3KK7SCYNnEIQyCBQXgYvDXWqjG98nPap4IQQwQYBpRvgASYX7CI9yN3eSTbu5m5xRXU7BkcC7nSPTdqoHn0w0QMzZjQRzCJ7iCKyBN0uDN03SMYyYlKRwXGzSFJeQnPhqWqvCMtiBE6JHnRn3OIwCmJCbQI4ClVtZLfC7NKpFCLNSnSMHF5kSlGn6Gk5kNQmxcC8SAEtyIgH5cSt4RosALRSyo9jDVgwIAKRhjXDTBErBBF1iBGMTBhU6g8eSdkikEBn5CiBYVKGIG3dThKuWVVhoU3sT/IoSigou+xhHgyA0wARbMIJ0tRt/hWX8ZJ0J0wZ/9KJCmZ7zUDZX4EX3NyHumid5cyJIeQjyVRBM0wUg0wVCkgAv8wBN8ASHSWV9h6bZ4mEL0ASlEk5cCqcocEV6paEKUqTVpj96k6RGh3yNUQV15xJtW6psiBJwqxCpKxAh0aJvh6V49F0Ls2bYYp3/8wKmogqAOalN8TjCShKLC597EIl2qgiWAlA9cakJYKq9aqkdsKp1hjhJMaVl1XiYm4fHwGaooxOwhEauaBEpCirN6hKL+D5o20CvYagHmaq92q7f+agpwWAvcwKRSxH+ZxOohyav5B3+tWvmtjfE9K0kk/wtEVkS1yqMmEKMlFOA2eiuvHoG/6ipFACsIfJ+d1slnTFmxPhfrvRp/JZkQJE9pNqq8mgS8ecwfxOtIxCqtQtMk7NoSIMQagEHAVuobnCwAkGyv/moNhCsIIE8X4ClTFoZMlYSRbQu54dkP3Fka/tkrDGLFVGxJoN8kXMiMTKu9Hi195esrfILVxMB9KsQaWCrAvukavAEhYO3JvgEATG0TVG2l/mpUYUEczEEcvNMTFFMK1J3CLsTq3QD0pcsNCMHOJgEWDMLgUROxCG1JoEK2qgLLSNPGlmkReWQofIEPuAAbRO1CsIHXLi4AZK3kAgDKiqzK8upIGAJBWqMadP8BE3jbULQt2/GVUriZEijBzirFF+RrQIlMlLwL346EJZCCLxCDoOrH6VDE0tIjKYiBrTypR3Dt1mJt5Gqt8CYEyo7synpEJlBjHljjGWCBEsxdf9YJwhpHUryZqCmBh/0AFODB4J2m66Rp0MbuU22BJwRDQgxeETWQQDUQ754B15bE8J6s5BJv/SpE8nbrQniC//7gWBZEHpitGFgB950N+OmIgSCZqG0vANyAElxBg7SuG/2iYZpvRXQoI8wCQgRUNKFSEx3RoZCdKogBiJIEym5t8RJC1tbv8FKE8lZqGNyBAv2vDTev8+bB6PUH2lBg9xlIh0WcAyvF5nDO9jD/FetgsLkexRF0gidw8PsmET2+ghrML/1SbuVKbtauARa/MOMixP6ywR0MAkvasBn7L8goYDUK4UeVHqok4d3RGQQ3MBSYGwBYwULmbl5ZcPkqcXGYEQqAQRWIAVx55PFxTin5girMARtYMQq/cOSycAs37hfL7hlfsv8qEErSgRA2YBLsGR8WR50GXQPbEx60lCnVSx8psc8Zx8uyWfLUkKDGgmnOgRCosCMvRP5irSRPstQyBUuyAiab8YZQEqNAiR60AR7+wAv8MOlqr5vp40h4kgVr1aAayLgimfwkj9oshB4wwQvsckXkL+X2MhabxH1WMiu0Ajt/wjAnpmIu/6ge5IEaDNPEHcFiRGkD98edhe8RtY4nqTKysLJzdJg2K4QSJIEY2CQtXwHUtjAu628XF29CEAIYV65HQO5CrDM7t4IrtIIwmzFYwguKfsgAW1/2CYEQk16pkR2iAGMSN2bUWPOPOkdU7eNCuFAsEMMzocIkdEInMAIjiLMLm7NFv0HUujBGL4QCsQIAdDRUg7Q7+6+iSElJD+kbzYEbCBMWYIEVQIEPxIAbFNfPmqi7GCnr9DHfGse47ixFJI9NGnEs+EIw/AJkCjVEKzXx9vLWMq5eqzBCOPVTRzVhs8K9gIhAoqjTqFJjPskcRK8Q+IACxcKM5FNCGGky2ZfQPv+XNs+scsZ1LJ4nACgDMfwCB2MCI+T1C/eyJLsw8ro2ZCoEYc823hjU0yh2sSQTrcYmAAhW2b2LApaOyNy2MhH0B7Q1gLi1/KgBXKLOPzcQ4AIAMRCD+rKCUHfx1vZyaqc2C8M2dnvEbEd1bYqM3RSLVi62bpPocnnCK/xC0yZLo9DNlAypKtG0lx43xLKZSututbaCLsxCKPzCdNd1bHc3L0tyaqM2d6t2LgMAIwQzQoQ3VDckx3RMPp13bvfRI8DvKCUlAEAxQginHihgcN8Lh2is+aIAz7IZQohBc1drI8yzK/yCaWdCK4w2dUMxXiO4RQMAaqN2a3t3YCeEhHf/tNPZy92o0tIg9qPIdDB2+Ciggi/Y9fxasbIsCsk4DSsTR5KlYUK0rnOXKSIE0YzT+CxMQibULnUDACsoOF5jQgszgo8L9YLXb48vRJG3QkNaNWJXeLsYC4MC4zx2eO3+AisUAhuoZkLcARwAQHngUw5teUK04Q8IQbkmarUGEivogplnQiYIuDKo7yyYQidgAhssgeIuARiwASMoOJAHeQKtM5HnOSs4CpObaNg1uaAfyihFUyx8QiM3cqZuYxW8ARbUqPsNJyv/QLnOdQgrKoqz+SzQ+C/o+SwQA2kHAwdjNCa8wREcwRu0Op2ntoN7AitwdJ53tCccaTyPKVMVwMuud3hAocIdNDNCgMEa9ACmNoEPkCsWtMGijCPfwqyMLC19RXtCPDG160IosHcwZLsu3IIpIAQmUO63s/qPMwJQAwB7fnS6s/O6u6R7wjug6/Zue3gsWMIU3qPZ9AAY7LucXg5rGYIhXCYUsvISQKgvUOUdNZAnmoTC07gucHowOIPRl3YvTLyPm0ITuIAPrIG4d8IscPDUs+eN57lcnqldnbXTaLh6O7sbvIlQoIC+W2oNGA8AwOkd9EGjl01AAAAh+QQFBgAAACxhABYAxQDaAAAI/wABCBxIsKDBgwgTKlzIcOCJHg0jSpxIsaLFixgzWuyQQKPHjyBDihzZkEWCLSRTqlzJkqXJljBjypxp0IoVgSVMPKHJs6dPjzZvdmAR5afRo0gRBgVQogOWpFCj+rwpkIVTqVizsqTKVKfWr2A/cm1aNKzZsxK5muhQFq3btwVtAoDS9Cncu2/lArBqF6/fsHoTXP1LWGtgI20LK056OPHix1OpJkAMufLUgQ5gVLHMeSbXzJs7i946cDKU0ahTcp3sOLXrjKspv56dsW8A2Z2b6ACj4wptjFwDwPBtGQyZNGXSpJHDPDmJC78l2jVCoMRjLNixgAF1qnv3Ut6HGP/IgTI6Q+wAZFRXbDM7FkkCTwHw7t3LEPJALTOBYoU60cJY2AQFFGCANx993slBBRcpMVEYFEww0QEB//014IBWYCGfQItwwgkm9KVBBRXlLXYLM8+Ao6KK31jDzDAvDnPLLaakcgsmW3D1RRdd7EVAB6f9JYYYXWAHhnyncDIiGExI4t0YXFBhxGLMzDNPPe7Yk6U69thTz5f10COmPO2wg86ZzITGoxgAJEBARxa218WR341BBRE8FvIkFV5MqVg6VgZqJT3ziAmmmO2cc445izJqyxNKPLEfFm4m8MVfAUKohJPdCSIFF2BgcQV43SGxpGK3tBPPqquq6mo8qq7/Kg865pAjDS+0QMJBHRzwwIMJvy4AwQK94YVdF0O+QSooIxIBBXZ6djfEiCYAEJpfqb6qLaysrjoPLw1AAEG4E0wg7rkLGLDAAgiwcOlbAUq6H6mnIOdFqKJyd0opfHpBRl93BQgOO+0UDKur2wIQzzzonDtuAxA3IKzD4p4EF488vucdJ8wRcUV2nJbihRxpFBGGX1Y8kcTABBfs8ssvxzOrKOFSLDHFw8KJEA484zBEElz5dKEVcwoiSCSLeJGGFx9j0cUXgoAidRnJFVEiVoXYsokttXTNBQu/mmCCHeuUvQ4A6QBKqKAAzCOPPFZSYwAC6q67rgcA2M2uAQ48/+M3MzMGDkDPOHBQRRJHFakpD0YLQnUZJkOYhBJmNM5FcmZgxYwjx+wCyy5oYEC3AQSUHkDp3bCjOtxWvr3qQLLKU0876MDCQMQAQBwAu3aHS0A5jDKq6JnoBNDzMSxa4/czgN/Syy25YPJuRqvMyEzzgd8ixhlnyGG0HErLMeQZbaihRuVGI0F1EcT9dOIz6KSTDCyX1C8KEAtArLcBxXTp//9e8tKhCjUPdxiwHun4hjgUKI5jGKMYxRBFJSBRiToQIAhBGAIQ0OAELnABFrVAAw5CgIFoWMMa5QCeObBRjGNowxsw9MY3zmSOFYFDeX4bRi6yNz0AMKMdVqqHlv/cgSV6pK0c1eBF45T2OC94YQxpyFzjkIAcq/EkF9OYxjj+5w1eiEIUvNjEJsrAgAk4gAHDgtgx8nEPe9zjjQCMYxvxkY861hEf73gHHvVIR3zg443v6FKW6qEicYCjgc1oxvxgUYkKhmACOSiXJCdJSVFA4ouiOIYmj+ENccRQHOQwBzoG5Q5zsPGNqHSHOIxBhe810Yll8EIZAOA9ow1BlmT4Qg9Vgolp9MMf/XjHPvL4RmrgwhaQUIEZGeCADZBgAxvQwBnX+EdU3sOP2MymH+2Ij3osTFD0AKAdx5kPOnIzH/rQRzmt6b8wHZKBm4zgFyGRAQ9koJ6UlGQx1tH/DnlkCQD28GMb3UjQe2hDiY2TAwCWtrRYzrKWgrhlGcjQPpWsAhz74Ec/hplHgYLjGI5gADMtwAALaMACDrAASQ0gjHzwUZswxeY17ZGOhdHDmzDLqcu4JbNCfcl/19wmOeuYznEKFI5ectsCxdFATUYjHVryn0DsAVCAdgmO85DGJhbRuK4KYiBeFcTl0kBRlpzAG2lTR1rNhI5zcGMXuHCAAUhHgNMZQKQMAEAAAjAPgLYOnFOtKgDuQY+eBqqwZdKpYhfLKnlwi3VCdCMqY4rUNqKyoG4cLFW7NJAwBWod1KBFQb76VYKENQfM4UFLwNAOddSjgGJyBz2iEQ1c/xCBD3xIBBUYYIC9EsABAJhrAC5hwOIa97hfummW7EEPuLEOVqpL7GKnS13FsspV6FiuZK3J3e4itUvxIAcwNtGQ0xpnDgJxg0qMYFMxzRYXGCSCIBIhifpKIhFemAACELAAkR6AAN+gx3EHPGD/zSMeAJCHwhQcXXYIpB0EIZiEq0vhl7VsHd240mDNGdNqeheO7RDGAjygAi4g4VNUYI5CwdpVOXhgBTo4GRikAY5xPOMWhQDAEjxyBta69xjMWY5ylmPf+iaCD2lQgQXKpQENFJDAUDag/14HK4Wp7spYzrKWt5xYCQNAsRLGMjm6UY6ADvXMaC6nPbwBhAYQYP9dBniY3jzggRAAwAM5yMEQuJCBDXzNBuAw2NvgZuMZAWwicwCE2qJBtSGnwQ5yKIMcIkHpSCQiEXuQhBcskIEV1KK4AIiyO0IdainPrmACYUc82GE2s125bOxgnWMRPJBXb9nBtY4wAFRXq3CUGQBpDvY47UENiL05XcPSm8T014C8LYAABlBBCI6hYEEV6qb+48c2tvG8nTQEY+zoaxrGMAYvZCELTxSyHHJ76SOXARREmMAQvnFt99qbHgCwN5j+2WUAnM3f60BH2QQe8HWcY5PR+IYC6e3Tm36pdQy+skGwfI5whCMbQDRgWq99VWALux20WBe0EQCAlFoAmtH/zEC5li2xuoriqv/L0iBN7Y57aHQct2hIHnZ+jnk40dxTOLcT0C3pNDiBD4LA7R7WLYkygoN11h7UoPRtwFQ7uGwCMTjxtn6OOkBApBMbVt2+WIlMapKpCIb12dYO8LJdnBvkkB2WvCRqe8wDUFJ2Iz68EQL+GuAAJUV5NB2QUg1E0wLDQkDpvmFNzbZRs/sWYj3y+A53TEMNCtmeGsghDnRnAQknloIKhp6F5HgBCSoOsiCCgIbGDvr1bov6lejRjlbXuq2KOseZFNWMcEFMXBJLV+8gpq6IHQMAAic41lttjmtcAxvrUK6ooRxAIYoD2nMtOUpJ2syTnjyaGjCj/+IJ8MZqDtaaGe0HP+rhOn8G0B1tUEgSnhCFY+CCCuceggqkMIU8n7v0aSAFykEyJJMGQeABLaNT3bKArMNqxKMoArEoEph75jAu46I3GLg//FUzx6B1WxdwAudW1EAN3BAP0hdlAmFc1RdA1RAAc1U6IgUxDFA6f3cAKoVSDlA6BCAK+JBO6nRHAtUP8PAP/+AP/mAP8sBqtDMPVJUQ5BMHc2ALK3BuADAFQ8B/UoAEn5cFYxBLqKduY6BBLVQN2lCGatdgMMMquBc8imJw5vCGEngNooUzwNdsERN8GCgK7JB7uUc8ANB80AAN5VAoAzF9o7ZZkhdAxaAuEEACcv+wB7jVblRwAKezAAdAeP9VOuAwTj74g+k3hEMITPyQDuVADddgDS+QENsDB3MABkFQhU4gBfz3f05AAkNHNV5AS0JWBk7gAGgACWgAAXsVAPx1SaIgDMLwQjAUXcjXfNdQDMIAjRDEC8JQDdZYDdKQLi9IAHkjEOtSM+OSOw4jMceAe4sCABMYDolEDaOkECpYVSsoRO5ACxOgAkjwc1BUBux2aQsAAPolUqdDAPLQhB6HTum0DxmFD/tQR/zQkDRliscQB7s0EC4AAEoQBTpwYk6QA1r4f1nQf1ooSwJBgMoxBi70QtyQDdywDM2wDMCAC6KABr9IiXtVN3uDAHX/gAa8sJMTVAchwHK5c4dCSRAkB20Z2ADsEDx/2CjlkA3CgAzXsA7XRhFzl4i1oAIqZgd8YAd7AIljMAWSGG3a2ACQcCU/BVRBNVT6sJBa4g3YYAo9oopqMAdscIVSwJFB939UMAVOgH9UU3okWQa4gA3YkA1leJje0A3coJjd0A0wRA3NIA3UIA3NoA3ccJmLSQ7lEA7kwJmciY3ScCu80EiQ4HUDgTtCGTHiUo5/iI6MAgDlAA3ImA3hJntT514FASZfAg4qsByQxpVdGZxLJwVUcGRSYAAkYADlIgr1UGpSJnNRBUCyZQ/osAzIcAw/sBDk0wZxMARDhwSk55Hn/4Z/ANBoJGkHVGCK1XAN6/l8hPmehlmGi8mZ3mCZmMkNvkYOnbmfnKmf/bmf/Bma0lAMo9mTIZA/dzhBE1QMAGCN0rAMsAAM3LAOr/c2sWebtykm0YBkvuloZQBpwikHU/CIQxAA9jQBx+clhXhcdDdE7jAP5EANDwQIQrAQN/ADSpAEo5cFVCCL4nlufAmA5YkcyDEGtSCgI5ikI7ie7eme2tANhZkNUiql/WlxnmmlFsefWuqfW+qZAiqaFQQJIfAwDYAGu5AN/LRTsdIt7TdoFxoNZpAc5VluP+dEXRiiyVEGGdBfDfANBIkQA+ZN1yAMwJAMDREDOPoERTAEWf8gBUPQkR7ZfyowBXPahY8zBk6QDImUSIHYqUgqmUuKDe4Jn9cgEN2Apaiaqlrqmauqn676qp75VmiAACGwDOfAalg2XQsYD+AwpABAp3UarMuxB1yJixLDAH66EMg1D+YgDJUAV2yyEMiiBnFQBDkQi3gpnnd5hZQKAE4gS48jBbWADMtQruZari25qZwKDUn6fM+XDe7qfO4ppZfZmN0gEOEAAKmKpfyJqqsaDt2wDJeABkCQbAuASZUAQTHkDWWChi6DBJZKEI5ap+hmp5C2bpjaAAHAAAUkELqpm8hFe9RQCZcADIBwLQmBBV9wBqyoAozqBE6Qlx6JhbI4BVP/ALFdWG5DgAzJsAw967Pl+rNCi66haYqieg1Jiq7N4KlLKq/zmpKL2ZgDka9Tu68Wxw3NUD+wUAyJRAu8AAt1ELa8w1/8tQBhWwnCEA3MgAu/OgYFoQIacI9eIHo58HOSJgd2cB85EACiUG/41lnN+SXFxX7eAAtAUAm1gLIK4QIxYANCwAOParMfKZ5TIAUwG4uySG6aiwTj2rOeG7SgC7TlGoig6nwjCA3WiQyqy7PJ0Lrmuq6kO4JO+64qGbX3eqoAe7XQQD+wQA2OCbDeoK/62g2TmUjFQAuwgAY5iQQoQW65CAA/Z4XQ6wW1mAMVGz7M4bINUAlQZ21iAgBh/+Jw87AOvAAEGEALgHA1CtECiMoEXWAE3nluJwaksni54Gm5t6S5VCAKQOu6nyu6Qru00sCuIwgAI6hIyGAMq7vADLy6/7upsSu77Qmf2YAN0FA/AAANhHmYl2mf3BBDjgnC4bAJwAoAn+dEA/FzQ1enYxBkSDAEGVAMayozMtO9YmIl7VANQBAAaFALQcMQX9AGc/AHgfCojeqyH2m5MAt6oBeLTiC35JYDrWuorQsAVUzFocuSkrm0SkoN1qnADRzGYuzArqu0Sxu7AnsJsIAMpuh8ovqeFByflqkN0uC25SYQKrB/zysQwVqnQ+YEKpAB2uCwO+V6jlUOl0AAGP8AC4BAEcgiBmrQBou6xDGrxE8MAEyMBACQhU9EbkMgClZ8xVRMxVYMugIMAFxMDezaDACQwGP8yrC8wMmADK1sDPVzCcLArqCqpNWgnrMrqiRcEHm2xyn8cyYMS0UayNSgex+4DmjYMtWJAQSABo5wOBPhAjZwA0KgBEwwyZULswIBnpkMerJYt6eHALswyqIcygAAwCzZqRnMrhm8DMYAALtQEKvbyrG8z6orDLcMDCwJwaQrmaC6y9RwDE+kECg8vdQ7ASRgp49DAhMQSsCjQsFDPAOHDt6ABjwsCkXRGguRAinAvj+QBI/qrQUxzk1suSqgeF6AC7iAjMagwOv/bKiiG9DQsLTxHIisjBH7rM/9TD+XsAvkeq4Bra5n3KmbsNAHUad87ETXCtFlMAYZAAHewKWumkJ/aNHihQEYcAlg8DQV4bhMoLJnQAYcebkDodJNjAQTIFIQMAiDQAdrUAh7IAoxXc+GWso3nUhHzamKxBIMbAxCDQvGYNSIfa7GC71uixDG/NTBqrlZMAFooIz++p+uKg1AMM17cDLxVxEsSwd/sHNo7Z3gjMmajNqarAIkQALMxAAUYD5nsCNRsAQ34AJmQAZiBNNlrNisvLR+LdgLbAy7cMvC8LOJndib4AQEAZ4GwdR93MljgAQMgAbYIJ/c8KT26g3hwN3h/1ANl4ABQOAIYdAjE9kQWADJcRAIehAIpZ3SmZwDz+RMGsBMK8AC+yEpSnADNuACIt0CLlADKcABGlAHXGCMogALtLDgC14LuODgwDDTEh4Sw+3P9UPUBrEM7YzYwHCtWSAQU6ACHtCtjv15U9DHOYAAQCCvcAzHhrmYwkCwonApP3ADGMG47WsFZ7CoOdDcoAcArI1yKkAFG7ACRs4CkVw+YvAF8ZIEPyAEQmACF3AB0NTaG3AAKPdMRSDacwAHPQYIgCBGEC4MEl7PFLHAAEDYlwAEsCAMCYHYdaBnJ0apP14QxAwAQ+ABclunE0AAQNDF1GCNTiuq0rDmldAFiP9j4xiBAijAvj6gBF8AB2+gZ0Ow1uE339C0Akhg5JzOAqO9c6BOB3EAB2ogBiZQ5VWuAgwATXlMAkvg5V9gBUrwAzGAAilQAy3AvjFQBGQACHbANTBN5hN+EA1M3AM71LR8EIgNAHnmnT5q548tEPdxvVC9AAHABcDdqQM9mZOZvJcACA7yEYgKBWIwB4dw7m+gAnqGx5gu5CugAkXe6X8w74EAAOeeB2eABUIQA84E74JHAipwAXlcBF8ABbMeAynA6ArP6CBg6zGgzV0AB/cO5mG+CV0DDMJezwwsDIV93Blu1B2u7kPwqLFI4gxNzMEqdBBgACZQCCyJrn+9qcD/cAmVYAeKqxFxcO6BEAjzPu9EkAMqBwCCJ3h5rAKcbuR+IhBxAABPQOstkAINIHhCDwAHAABHbwZgMOs3EAMtsPCMDuCIWgVikPM6HwiHgAiI8AeDEAdqwOS9bgeR0DW4gPHFrbVmThCIDQkrkGfNfr9S8OFPDdkU+5EZwAIm4AeYgNzJzfF1sAkgrRFtwJ10AOo7VwTRJPRDn+pGf/QrUAR/UBAxAAAo0AEkJxCCpwErYPWczgdkcAcCgQVB8gM1fqNPMPZl3/O4P+95EAdtQCSHUwXI4gZxAAaAwAUXbgx7LRCITQI54LJ8P/J+XxAnnvIfSQJ1YAvDAADSYNPt/7zh50o/dhCXI5Gjz/I05KMGO24Bpp/5RR4Em8/pKrD0BmEDbrIB649yDMD5ObAHkSAJABHmDwAAcACoEfOFoBo1BgnmgRgxD502Z7pAUXIjRgoULVq4iBHDR5IqYCDhEoaMIIBlLVsCy6Eix0yaOYYgQeJEyhSCXlR4kOJFaBaiSGiF65a02TKWTV2+vJTozEqqVa1exQrgo40fSphAgcKEAwkNG8yeNatiyAq2bVcYucomAIINVc0yWNlWQ5ZEicAMotpFSVYAYhpaFWKjBYgRjR03TtHixo8kX9zgwYSp0CZbtXBBkllT9E2dUrJ4GaJiylCiUiB184aUm7GqT/+XCYO150sVwr19A0Dh4oYSKFjEnDnTBEBZtATNsiXRNghbq3oiGMhg1awDvADcTlAhiA8YAG5+U30Chapiq447glTSRU0gRfUbIQqECIwKFQBEjyZtJ6FYy2IKSKhJKilscKHKNmBgSaSLKM6jsCobhGDCuDbm+KPDP4rQgDm0zCJBBQtWCGI6tsjQgyo2EIBgAgu0s4CBFQhCUQUkcihDDjmK4K3CrJQQgiAXCHrPBibEiAMRRA4JJBAPowSgP4L+m8m/AAX0gqgsSEjEFls4G6MIM1QiyDZYwKhiQiHfJCiOPDykswQLNABgxLT4UzHFIOB6CAwNVCDgTgAsQDT/0RpxzAIAH8uQAoki4OxNIQCsUE+9M+Y4pFMp6fzDiBKrwpIm0pyYwssceLBiCR9aSKGGEYpA8yljRDHiB0opfTLKTztkwyw89SQhh+im8zOIIrBYSQZBDLjTAgcaYICBCRywYAG6nJAjDW/LIIEED3YlF4A24qDDQxVIJLVUmwKcYogSANhiiR9icCGFWZFBxiVkhLGjhXLh3PCQ+g6uzwgT89RzBSosSNZPHgCIAoomODHAAQ0soKIML9JQwVoLCEBAAznKQHkMLwaddGA4v8LiiyLQGpWq/4bIQcucnJigDYIOwUONL55Y4gYyyPBiEzvM0MplOC98wrI/FHlk/5AzShiWWBMvQDHiIB5oA5RIMtbAW7PT8GKFCQhYAAISyhhjDACcMHZipyv8QISOTpBihRFJsArLIQYfwoIm3rjjDjYUcfLgP+BoQ0IAKLu7whG0iuFCKy77ww8dstPzLAe69joIDuQYwoEJPj7b2zEm0NYAEsbIwgm6f+IhkMrP+6D3DyKQIvQNrLR5JpxxzsGCCRBoGwIIiqBTdwAQIUj63StsQUkxpm6k+0aKuFP4skr3kwEDqjwb5W+90DaADEhwAonUPMigCeuvx8r3D06oct3QAW/X4GaCJwSAZwMQCAAEBoI/l1lBDVNTBJR8FYgNkCB0ZTkW+YjAACQkov8MAEhDEEgQBJShTAMIIMAEihUTEkwAAgzsDaxQkAIOqKBEwktL8WhCLZENYQwOCAAByJAHGA4sghIEVRHIIqK/lY4IVEgDH/oSCZSpwAALCEIaypAGBizAAAjwgA3FNQEKvOAGRbzKFzAigxJdYCU4BGBNVAABBiBKA0igwiKGAIAARACN5YoSqOhkhAwwES0QSxYRggBFKUYiEY4cwwoCYIAseuuACwjABDQgrgwkAAV/tAoiIvgHHhirZs4Rnn9oAjsLbOCOQgGFHPgIgRiAcldtKMLRwnAHPHQoD3EAnyFdKS0/PbEMUpxiX/jAh7Sp4GMoyxYCCpgBD0zgApH/sYEtV5KHObQBDF4IggouQLw3EqtKOdBAF2e0AS8AwAuc4AQB5sICbb7JCGNIhCQkEQlHJoIM/iTD8Cx4lhAhygEpIkIWkNkXZe7hZCgDoRYJYAACxGgCLjyBGesJgF+2QQwsYCEAtUMzAACuggs4AImQ4AVBRKIUCCQAPTd6FRQ0RgRUYYEU9blTnvKUnw6VpQq44wASKK+RyuQDUMcghTRElAgEAMAVXdiADlDGOPWMg0d1YENx2hArZykRADe2AAaYxTtNHQMn5JbAmbYHBPr7AABOQIIhLFOKe+hpXnfKCUnsQUYMIBkEBJGIu/roZFlQgdkAgAADNBYCDSCA/wnEIIaZniEhVihBV8MlUu1ExwkrKEuNFjABsLaTC4IYgzxf2NaVjACuvjvBEIQyhi2mYamz7ZFOI6FPvvJVElmYQANQOIFlAtVjXpiCTABAhAY0FgCQNUEPznCFmQqBOFDYqhjDdZW61MWCQSAIopi3zjwhQSZDCMIEotqytqLAvY0BgQh8V4IhUIG2ZuvWyWi7Rbh5QQpy4K0+HelCAwSABHKww8ncWbshLI9t50OhCYaWmLYqwQpfMAN0wjpSmgUBL9Ia7xs1MIEMqKBvFC3CIVj7BCH4IAYteG9HTJADJJimQDtZDW57lIZueWwMO43EcjxAUage17+2y0FzG/8bAADwQAxWEMINjjRTJWDhDEdAQjg3y1lUVtAsWdxYjRBQrQM4YDnDG4ITFiEHaXKAtQCIYNC6wIQlCMHOpawxUaYgBT73mc+oWs0YeOzORwJgD2MgAQQQkEAndMl2qckA89pWBB1gIQkaAcDlZtqFM7TBblvmsnNuWEkkHIogQQyucAFwXE4sIlwlUANroyTKUcLhDG7gwE2kQAUq7NnPf7ZJaaYwBjn4t1s58UIGIFBgEuxsCC2EAAV4YIIzDO1eMGbtFxpighDhactXKZEXSu0tKox4JcqOURB4kAYqtLQUi0iDR1n7h0BMJKtqVMISVnCTVE3B17+mG4397AX/j8WvUWkwVgMSKD8VKJvED8BQWKJsgynX0wga4EEbTCAjYa3klAwrqXIjmgO2kSwDGeBBzDrdhiHIQRCgAEUhYs2Emf6BDlk9AxaEgC8YRyAn/vb3r/tsu9L0meD+9ZY7MwDZBhjLhRedwAmqjJyVWGGjYFhBtSgwgRX4L0QeLydaoEiQMqxgAV6EQHaMBIALkUCLoChFJCy10Zt7NArXrmne6IuqLOxE6H/3s8r6ozIpAGABJBvxRU8+gSiIwWdv5kHIyKqBFbTSrF/tLjvTBzu0j6sqKDAByjhRCk6QwU319OgTbvACGL/VdyvICRVuDHja88QLjY6UCrwIo4tW/3MCJnjzSpTYALK20jl5ykoF+RTRVeueyBOowFVYIAVBjB4UYJjKTKXcghG43ncgmECaZc8T2tO+S/3ZEQkYO9oJ+P4Cc4hD8HmwgS4yQAPYYiJhVFCG/jQVhCpAgMVKoA4AARCwChDYIzmAu0WItY16sZqSr9e6APErEAAoP6GzQKJQC4JQP5Khn+AigCYgojcDkQV4rg1QnTsxJKr4ugqaAChCK7xQtokqgcagqXWTg9GLhPjbqIzgOY7oPt+pALXYmZ25wD+znVRBAsAhgUhLoYtaAB6gg+ADgCI4vJLZJP4wEURhmLNwDjwRMwTIgQxggCCCkQIzAV3BihYwAf+WGj1OKIQ52KisEgNLuxcXkKHGOAG1KJHzyokLvB3TGIL3qSaKihEEAD4q5AEIIAACaLkp2i1JeJSu858uYwBpaqxMZKxGZK+ssAEnEIRFAICYg4h6mgj4w7kJ0wg81CJOiARByAEyAKkakwLbETon2CPTGMOTO7y2QYAT8AEq1IFlWx05aKRIREYB8yDU8J+zkybDIwiKaoBOzAoryJmXe7cWqbk/gAg6QEWP+oIuGIIycEU5oIIOKQIdkQKcscBb9DdxAYBlIwCqyjQqBIAgMAAIEArb6pF82icBA8h/3Ke+8AIqUAHYkUboOQ83KIJuAQDSu4NtFCR6Mxg8IDj/eEKdOIiDOWCDdyEIwNuzlWisBqgATaNCMGAeGiuh2toiH0kwIAvIZOwnPjADIqAQJmhDR4A7UCADh9AmQQqEQ2iESbCaJ/CCHOSENBgCJXiCLhCDJlALWwQ8JCC+keQfewSAOOCABgCA+zKsBLODsMwvBEOwZYJJgeQnwkICMrgfwnCBPRJFUDCDWqqn6BHKhaiCezlKUOCEMiCCjviIH5CBYLvF+BGuL+oArIyTOViBRqMtAiG4HjGsyfzKKMKrgUwEOcgCJFAZCmmBIPCRh4yEm6rLDhHKSViJnUOBEyiD6osEcIovERiBGTqBIJCf+CE6XFQ0BigBA1RMAKAD/yIaEKAjTqAjCoJzFAQLSy0SCmMUhD2QAj4QjzRolPMAvTJwhIfkBGpEI9McSkVwA6sDDhEQAdZUwEiggiCAKxFgjBMggpuQH5wxQT4CgZpSzHQhgkYrkOLcM5lAAv5MFYJ7zC2yAyniAzkgrDRAAjagEL5ZBJcChSIgTVAymEl4BDjYgiIhCNgiR3iSAh54rbyZzROQgSIw0QBA0Q6QOtZTTEVgAyTQMwCVgpgANACdAttBtjTYg2UiNupEAhkYDN94q2scRUGop1CYBDzogiVQjAntHdaEJ05AAhOIwO97DyX4go0MzibQA2/kQax0gzwoAp0AOoIoTj6zUaDD0f+f26/IFDe78Y3umxhZIr0T+CRQsgRDCAMmeBWTXInQg6dI4AITgKvZbIEfsIINCU4AqIAKoIBHpYARtEeuIIIas1EASNPiXFNU8YLHfEwk4IG3+o0WYIExWAS4K707RaNJIIVPGAQ12IIgrQoeeCd4yoET8B1DvYEnYJI5ICIKAABIhVQA8BBJnSnyFAEWKLVM5QlmrUWc4FSU6VSPmVJV9Q0rAMVFKIWYA44/stBGeIRJmARFwAOrKIJajYQhwNX6TAEXqIwvXYk/ENZH/Y1yRaPeEQG6QlNm9TdM5c9n/bnIhJuCs0kKmQMiEAQ5KIVSkAVQUoRfyQ+qqYotIIL/dxIbJziB+hQYgpBDq+gQKfkVeaXXGMIf/aGvc/JXfm1WoHtWXUPOgb09Ioir8wgEMjDVhZWFQvijiewQqzADKuDLSHACI8gmK2CSrJigX6kK6UnM3qDLgfEdETCBPYqJlFVZ4mxZZCshAXWCgv2NDvmmBy2FXCiEttwdnsUKM/CCoC01CukUJMJK/WEBXcOxqz3T+CGNTl21LICbKWjbr+2QIUhYWciFVDDbs53IqzCDMuBLOSi1LViJcLVQxqGKt+0UDnAze4Qrm7DbNJ2bvN2vKejbvz2PPyAD6QSAXJCFiIShxMWKcWzcHBCYzNHQq+gARZge6nGSuNWfGbPa/84tU1xEttCFm83UgSWgkA/Jo1QAgJw9XKdB26sgOL4sgyBAAVEljBJgAXrqnhKIPiqsKe/7gA1M08KrW5ZF00cbXpThW9pBgjeokA6RgkXgBNU9BT0w1sqJXqsYg5frS/U8Dw7Q3pVo2oERgHKBsZoagQ4YnPNl2dTw18KjCpzAicFxTJQRXY9RAXtNXptcBMJNBW3En/2titaEJy4IggE4DwV4gAiQAIIogXkplwMulwl7MVK1id/1t9T4TwmWn5kIDSDeo9MQtwKRF2apEEQggzIIsub9C/yBCEHCCiNIA/rlBCkAHBr2jQdQABZ+AArIXErR4oGZg276gihIgv+p1TUZ5TMAGAIyYAM98BA2KIL0ojEnsMA0GwIPmDsKmYQ3QIJTfUjywJ85oIPgnJMFugoYKINTTdcNOOCZrYoxBoAC8GIJEOBdoeRy4cZTLGMweE+cWAkJJoi1RORiTeQ/mIAcGIObAID0hBPkVQMS+BhBEAoGigJtK+NDnsIDNAJy5MvC6R3CkGQAcGEBLgHMFWPE/ViDeYQiqFRRbtu1LAIO4dkOeaJIgLm4Mz1KcYELsJYN6Lo7IIXdcS/hSAINyZ9f5ktOUFchiQB6YoFk/t5dGQAVdpmPVYTvdIMqMAITKAFFKgIe6AHH2+VTBpUgcIJIsL7SU8M3+QAJOAD/kbGARKwcxpjNjsimz4OvC1BAeBqCBHgTHtheFuiAkaUUS85netvnSTiEfqa4FJDNxpih7BGCXD4DLUVoMljohvZaiJYAA5joQ1EByH0EgggFqBXRGboB9VgJFqPLFWBckBZpIdneiSkBlKaUCKhnctGdobSEfvYBF0CB18Jo90qBGPiBDOlVbxxT+kVVM7BWvHkAAjiA8HIAHoBXqKXpGKgMqvDGxwOAElhbVwxpOOGBiWEBDtDqN6mAAi6XRiAIsSbrKvUdqiBN9+qI4cjlIsgjTthJKuhWIfkAEDgAqAIAbJkWFbsbQxUCLICDXibWUlwJFRiDoB0CAdhk32AB/7vJamAlFxb2o8qp7Msm5tK+5+ROgByAa5gThLnmHQMMgANYANXeADLQBKeZzRuIgjM45Dkh1p6lChVwAnhKA897kxJIbABYbOB2mhZ+M93W7QFYbmDeViOFkw8AvkkqsxrBlrvxazEw5CgmCPFmwQlAsvlEbMX+bfxp4a7+I/lO7v0D7W1dBDfjYgWgkA/Q8IkKr9S2ADJwGthG6AUy8JVggAbgDsDaFfXGasZGoweP8Pm+ZxXgAm3eVkeQ4aroYsIw7UYcaoMK8eetEO8OTlChCvc2Zh7qItSmlPU26caGoRbO5Ouh8QEoABWgAhznyyCAcKrg4iRgUYLovhe2a/+8wJZWKgIiP48BT2UPuQpgfYBqqRYUMrMv/43exmopByVkDmPSnuTktmQS2HK4W9ifxgoJGG4jud4gmujuYAAIAAMRppQoluKsuIADmAAGOIBFu+tdSWySPmkln6kOqIAI0HDf0O2rSG4sV4BmY+htPQUiwHPCyDkmqAAUDSIPdyNFhpM3R3KsAIMDuKJGlCcm25UOkGcWkABSfzPGfgAuflo/xQpBZ2HYO1W4O4V2ohD3zgM9qGoU5SMw6FhK8ZVrvgpSGqpLJDIHeGFKGWAWcFRn/83zuGdLbuEL+OxSSIVT4INaJ4zoO4RH4IEZYVSXeYQnQaJgj9eerZYwdHT/cnkADuiADpCAaH/3eq+QexZuCbgA6hu9VEgFOQB436h4VC+Ap90VwAgFTRhXT1Hahu8QBuCOGqHuRkR2gpBvASjmrFCAx64ALi4AjX8TV3dhCogAwQVtkeeEkveNP3eaMzCER2j5l4cSYg1vD4mAa5GRTTT2qxjm38Bcxi6Aoa/2Vt9trOzio0d62Vr6VAAFp68KCqgA6oEhFxCCKggDP6B6l28E1gaATzm16q4RIkNRfO6NtP95U1cAla6KDC/7Vif6YK2AseeACsgBKgh5uH+A5KWK7J5kl8noFsj7vQd8qpAewNr1Y59uxP+NTaZ4RsV4Ye1GRYf85NZ4Rcfk/xjuABvf/FLw3t6QctTcgh/Y2Lthz4xOgWDMCkooAhQ19mPXZBqeeN5v9khFZT3AD+qJAKHX+Ma3ZBaWABt3KZEvBfAS/ketfABATdyFIXw9axTYaOmDfl0/ANenlAHQ3u09aWAHiEMABg5EFIhOhAcEFzJs6PAhxIgFBlCkWICEE06lUq06VYYDgAoQKZCswIFDiRIVHghx0SIizIcfZtL8AGLECBQofDBxk2mhEQEHCBwAAWBATJgDFHTgwYMFC5JSASCqqqgRwUAA9OTJAycp2LAPKwoQQPECEo2nUnkUGbZDiQ4JFRSoKxZmzbwfRORs0fOTKlWkJlWIoEAB0v+BI+4uLKDgQQSnTzucDFT1MiKCmakGyjMwz5w2jEePJVtWwAUnkTamSkXkbomQAOjWpViWNEO9HwiisLHFzydSjzYTLPyALgAUOEGImJnU8QMJFFhI7kCZKuaq2DMrUvSHYZ4/c/4IxM3Y9OnUi0qtTSUIdmMAdQucNr+wpgiGh0hpOhRIq0MgEdSCciMw59xD0EnXAXVPxYXdQIEckh1VACgCoEOT9BEGFFDYl5Rtp5XlgBOLgLLWKYIkJhYFCshXwIsifogfTjEs9Mh/gfzxXVg4LZagAhFIRwFc1LEQW0E67iihVRYqUmFMKLRwgxIeRvBhQwOIeFoCQ4xxYmv/oIwGkovITSQjbjXdtFgYD+34pn1LQTYkBRwwCBVx/r35h4QDKaLdk2KN4MIPSWCB5UAhbgnAEF6AmYqYMKHQEAsAXPfAAzCGaN5MItzkQhV9AEBKRHzmeNJziUEnpFQkocSCZYhMGOGbff7ZXSPE3TVCCjEIEUUXcW5ZXw5DPBqpQ7f9GFJsSAIAFQUETbTiaHvhJAQAgwCgSaAP5fgtnA8Zd9hjdEYLwB92IvInZgL5x+StuOo6Gk4u3GDfsLflwAUn7ZVyJVgCAlBCpUcuNBeMpHnql0+jTPIfjw5JeMi7EO/p0JEnWUdZBW6h+we7l90qKwATdrcuAI3kap+n/yDcZF6+AgCgQlqslbJCRMtS0OxABHfAUEolCMzYCD6EYUgopDQCMUT/UUxxjh/vueNAJpEUQZ1BCy1SIFixe/KEKDuJssrzVruXCPnhFjMAFqR1CoqvQTQpABEw2POzHUiAbnGomueGJahoYnHEDU38dMULXUzQYQOs+mooA6ms8raaaJKydhaSTTmWea2dLwCprdbaKXJH9AAHRFQalwkdiET1QBR4bJ5wSoYrMeITRg1WRdARNAoqpFBCySgAjEL88AL9KbnKlOjReU2kaQn6BVKMzpbpDf0YAXUDFSzdx7Gf+yEiU8PukEHZWYZlH4dEDgAqxhOkycpPTj45ov/Rj4ZefQ5QEQmYTsEHiCzmAbHhAQAQyIMOnItqU0GU+c7HEETkqiphM5t5+nC5V8hvIMUjTvMQdR/z0MY0A+HCetrzHogoYDo8MAMPisCDEpBkIN95oAgjCJH7gU2E9voCHlI2ieINhBLLax5WRAgABJFGAnMpIQAOQIIygKkUXoBIASKAJASaoVI13FGrlGjDqUHkEFdR2Z8w9CEUuEAISmBCF4A4xFfEYluUaMTwLqfE3ZinVRGYCwAE0AAVCGIRgiiDChYiM8Z1gAhFgGERiFCBGn4sjGLU4UPM2J00ilBKAFACKN/YBTcMQhGWIIUqUBE/UomQj+ax08asA5L/BBhgARtQwQpIMIEETWcgCgQJJcUXTCWaDyLrQiPJEMVGAMQglKFMAhOqcAY/6HGPriQNLGNpHQA8gAAIQIADLCDORTLEgL58pOsAMD51tmqdiIpDMR9yxj+VZ0YfcMFAXvADISRBCUIQQgsI5KFPWPNDsrzMxrjpTQY4oKETcIB8FqIADlTKDEUoQqUe0k4xAgAKX1ADPCXIkDM2YnnQw+dCbMBMF0gpBlvg6DVHc65YBu1nBjDAARwwAQuE8wIMUUAFkPRIBI7EkmKkkhXE0IY57HB4d8QgY2gSAxu8gKoqpeoLXBADaYqRiTIVkDatUwICBOAADBUnTy/gMbsx/4SoRR3mHgd1A0OJ4SF4HAX94mDPD/SmqlUFgEoB8IJ7wVR/d1lnWDvwgADcNKc8dShBiEQEt/IAYG91pzX5GoMf2BV5gcDCS9JEExdQ9QZ/DewPPMRRgtDksJZK7MYc4M0DIGABZmXANwUUiFFwEIEssKxGcbhavWRSE5RAxBmSQDfSRM+vVx3IDa6wWkUu8S52AsBJsqvNAMwWrRNgAAMMkAB1UgIVsUBF5GbnEKNOVzfyzMMZoABQ0doEBTe4gVUBcK8b/OYRq3XBB8jJop8B01WxVABRwGkBDWxgAwygbQIooIhRxOIVDlODYSX6GOBOd4mec0gc1PAFKNwgtP9RnYlOpvSDe131Bb+ZxGoH4YYqkIZI7HRVNjtgAAIYQMEM3oADHuyAn8VPFaE4xA9045yyUKvDA3Gv4QwSBytw9mwfaAE+77vi+96ACdQ0MkdHwUrGUIBiHGhVjn9GAKLs9Mc8ZSh1HukwGnv4w06GCHEb0gjLOU8NMonpfVDsghcAdrA3WPET3DAJDnKUPI+oJotklTtEaPMAjGWAON3MUwRQB4ao8POdrdxaPRPveEnMTZ5Zy1csv8BGhB7IoSahig6/6RCPBouBO/C07EyoAw4IAHfDqWkHGMApZlDFk4wS6rvoZbkEOUSpjatGAPwgBimAcmtb8IK/uuQFVgD/QCgE84h6rvZNc4ADqIsq1pRY51YXbAKwgd3jhgYZARx4YREIumzm0iQFhGWIJkYh8OMShA5xOAMWknADlioZAKyealZfoARwW/gRJr1zfG/QKyFUAXU/Iwiq4gLbDlzGBPFeM8rJamwe9EEJzt43WGjSAiFg4SsAF7hxA7Wn0IihC0oocZ1nEtBBW/UFTDiDJl6BiuOuDOY1IRQTwgASghFE5OxOrCISAOyUk9UBLJChJT4J8xO7QAlfgGdDKBHwUVDOfIfwhCUM4YctJGEgIHDlC1jdZaTDj+2KwNHYAy2CFvhACVIfiOokIxkWJBYBJwe2W0mR7sCLJQZMEMN4/wonOeIZd2lTe7snPMEKV7DCEGcYSAxeEtDVA4Dv8rsK4Ckf6A+kQAlVEIMhXmNRxc9QmyWIAAJyWgQ9+gIVWvGB7MUCBTXQYXEEuSteKUHG0HvCFdZnBSs8oa2OVpulLZh42DmIFQqeOvn3aekPxICHSRhbhk45ktW1BpWGvNz8EQmP8wcCbZxTwnYAoD72jV72UZ9AtMEXRMEPRJ0lpFLn/ckjlJ/9DcRLpN4bYcEZuMEhTNbuQUVc1FSRFEEEjgYmzY/AHY+SgJ7ohd4nUF/oPUlVBEIc5IH7oAJeTc669F8IMoQLuIQQMEE//YANKIEa7McrOMWzHAkD2UmDEP/UEuRgUozgQKydcaELCn4CK1jCI7CgJ7igBY2KkR0CHLQBHejBn6iMSNnfleWTDzKBEMQAoUTBF2AgwbDAZMWFxtAhuTkhTMQTQajdwJkSAMJdI4Se9bWCf2EGJQCAkZ3BEtgAx50BHNDBheSf/bHRSygBNPWTG2EiE0QBEzzAztAhB0JFJpwBtuhhTIzgH9yVcVECC2bf/32CFSKCJWTHJJBKKNzBD6AAX7kA8gGAH7RBHDTf7djf0FHbG2XiGv6clBwG6hBM9qDiE5LRx0Df8KggLFIfJVzQZTwCKXCQG/jAtaEYlg3ES7mBH0RiMSYfL5IWlSgjKC2cTqSYjfj/gTTeRTztyP5FXyakYBZ6QiZQAkFlx60BQMu1QE1ICUoxBBzAQQxK42D9QDyWGAjMo07gUx+Ewnnd4zRG0I5IISVkghUqQj8CJCUMB2bsGQf5gRLEAC/SxEX2AESc3hx4BhpeWQuU1mARmkXqBPINwphx5B565EeWoCuG3j+GHpSsy6Nx0CD8XEC9ZIq5hEMsARtUQRUcSgjuRkCZlmm9QEVaZNndQbgJZUd6pB8eT+g1Qkm2oHZQUNIBgCFA5erNI6stZEM0AQA04VbShErdSwuE5TzaAJ0BQCKaJUQQpT7uGV5tS3ewoJOkDMVlixL4wOrVJRttWwwcQUT0AIH0/yVf7VdPspEQuEHkBCViNoRiSghWCJz+JWUmhMye6d8TWOZlrt4OtlqrwUQNKFsEytxX9iRhwo8qcEtqJqZH1qJWBBzmvGVKDgQqHEJlYtltYtmgtZoLcGZnjpr51QSXCaYLNOFplpRNHidDeOTbQc1VxEp2VAUeEQRdUiduXmcMbJt2duY4AprTAWeJzaMPFGYiXpx5Ks7UBIIntEJJtWd74hGjxefQDR19ZpWNgEUP9EB+Bl5e2JdpKSS2vE9BGMSAnufUWEIrICjztOffdZAlMIHD1eUOQqhukhZnNgGN0mhMVOiFLptehBZpWsEjqEIsTOF/JFOIckatsUKJwv/YQqARVjAmAMRCKHwBQFXni9KnVvlAjWapjQKAXuIn7YWabqheM+EBqcRPrvzHyRQpuJXUIfzBgZaovj0E8dQRqTzBDaTebb4oltXnC2CpljbBGqxBloLFEliBGHaYbkhJC/zAEywaBz2VjiBTkapCxX1CicIpWJwBE/wAp5bYfLrEXfppjYIBGwzEGwyEoNYoWGTCIEybQ9CEYMaEkqGAr7hBmTrVmaaMyuShWVYB0piXL8yCsLZCKBwmRMTPpnJqp+5gbuadddrAEYzqqS5EqRJEqnbpQ4QdQWRCm2reQCgBoQWUBMpqs/niE4Tf5dwR5RwT5wxoabKCLwSDLwT/6ywYq0Ogghskq7Jyat5dp7O2QAwsARiQKhtMKwAQAgCwgcIq7EJcK0GAQagYwkN4At8QBFOJARaAK48OyMvNahC6AXRWkw3aTyPwqlAuhgswAgDowi/Eqy9YjuUsBAepQr7uq80OWgzkLKguwan2rM8i7MJWK0MEqo3SmMTCxE98zH8QxBMAwA4yxGc+WaIqQRdETiwQ0fMlKEmF6AfUACNgAiZ0wizowrzCz7Y0ZoXBARva7L4uXM7iKfL57BtMKyHMbViU6tEmBUAOAogORIh9QUO8BN0omQ08wSC8gi9cLdaqa66QrMkKZQ9gAiN8bSd0ApLWkS8wRBysLdtq/9kPtJoN4GnBAsDclu7BvgHCDoTQRkQntIJSxkToyUqBAkB5DoT3EUhzZKgQfEEozOvVJiLw6uqt4M+A1oApHO/kSu4bqAFqNkIUJAHbdqoN7JNWLVwLKKzdmi7qkq7BwgQjGEL2WR8ArCBEhN5POA3iMEQbdIHCOVwMVCgK5O4HxMAT4AHixsLV6hkakdTj3uMHgMHxIu8aACwwvoIyEIQaQEESCEH0cmob3mkLcGb29izCpm73JkUrEIQrZHCcEgT1dQtM6IFeAQAT3ICfwi8I+AAWRE7iHs/zsOfIztOAugwKvMHxvkE5AuNCJK4m4AETgFIDB+waVGvpZm/dpv9u0C7sQ0hsBjeEKzQE9YHFZgAIwm0BGxxBhTbT4Sbu1XLOZZhRgpIfCJtlXtTAGiwTdC5EHT1pdIaBD+4rA/8iQRQx6R4sIQBtEuex0DZxRDzx+LagFIcNF+LBhizBEfzAFnxCLBCD4urB8/iJSVXQVUAVKupFRdrAvahB/BTRqcVC4r6CJrjBE2iiEPDlHNPxqd4xHuuxEsvlXWzwJ1DIQ2SGIOPKIMbdHYiBJdxvF+sBIviyrBBHd0zI0hxnhk7JQJzBrC1pygwPhXlyLJDCIVjBEwjB6nKv9hIEIbBy0JLGpVrcJm0S+oSNk1yFIlDfJFAC/uLvwL0nk1BMZLr/p3nmhYpNnEPczx2V2rz6witQLMJOaxGjLureMfeqrh4PxB10AgDwMUxcKsVuh3YoT6BshlXY8iB6widcDjvrweRQXyYYRNSUFLvM82gdmj0zRPkh0R29wi8EAwDIqx/XbUCTrirfsekmbBIvhIfGxKVmBnekTHdYCFUECjlvUkfLokZ/mhj03B3cwSCwYCZIiGU8iYAiJoodGgDUVUQw7nG1wtgK60LoAgCobDar8sHasem2ct6CxaWGAlWLtFBLzvIoQi3bchZ+QijQUSxMwlI/ARvU7UAYwlOHntNUBbcOKIpJJODCxPCgEf0gglfrwtgOBDEAwC+4QicwQk3f//HXarNN3/RoXOpPjLFmUDVVVzTJYjReA0DxtQHGspSNvAEbNKEbGELYSfU5762r+u/MBcuTGqZDOFVjt8IvzELoefVXt3RlZy4rEMLkavbXSi4mjPVA2DQhJHSJisWlknZDZEYSSTLzYHReJ64iiMEXXAGBzCMArAGXskEY3AEAzIEeoODepiYIuMC3/fZCGKtw35Ei5AFx/4IuuIIlHAJyS3YwEAMxBMMvsIIpTO42N+HXTjh1q+ylMnRDEyt3T5B3P4nJSM4jyOL7oEIcdEEXnKJFyiSXNsESLMETjNL/ebS2mqUcM0Tw9ne7ssIs/AKPzwIrZIKOCyvLEoMyLDy4LujiX79BExRsZzOCKQCAH/sxhj/EpUoxu364yog3B+31F3wBFiykRdbAijfBEaRAC9C2JaQ5Ad5ZQAAAIfkEBQYAAAAsawAWAL4A2gAACP8AAQgcSLCgwYMIEypcWPDIEYYQI0qcSLGixYsYMy5ZkrGjx48gQ4qEWKXkyJMoU6pMacUKQSNRVsqcSbOmwJYuAbBIYLOnz58YcQrciQWo0aNICQrVyTOp06c1l3ZgEROq1asil5boUBSr168WlyaACbas2YViyZ5dyxZnzrFV2cotmzbu3LtXlwZQi7fvU71+A/9tKTCA4MNHASNe3FOoEcOMI8903FSyZZSUL2semXmzZ4+dP0Pt6lQoC66S3eYEi4V0z9ZFS5h4sli1bcKiI7bsurUL4tZdusDGCbt1boit37Jw7Xd48eDDVx9PWBxAghLM8UKBYgVLcOjPfU//X8iEu0sCJaLYxZscypP33Isn76ukfPfh27t3+SKmP/jsALjHBBMAEECVYFaYV1yCRRihg4Pd3YWFFU8MaB9+FjKh33ewGSTGF74ZYeB6c/Enxn9dpZGGHCwCoKIcKwCIlRofCnfLM+CAg06O3zAzzDCrYCIJJlXcl6CFA+3HnwwjBqZEfVAA5xsopwx0ypVXctLAWt59Jw899dhjjztjjknPPGiimU486IyTIzO31PcklFawYGBgNWKx3YAAgHGllVieEokKayUR3y1pzgNmPe40SqY99dAjpjzomFPOpebQCOKE3SVwp1/dmXjGiV0U8icAgWYpxVmw7TdOO/LE/xorAPHIEw+tsqJ5zqXhhMONNJJsEVxL2xVY2V0UzkknIFhyIompmDRLxVlKCCHEk+zEo+223GqLa6zxSEMLJBN4YK65K5SwQgQXQDCBAScQWJAVA9ZXnlVfnKGGGqNC5yeWVIAB4r+ncDLtUaS22oUY+/J7YoK3sNNOO/FQXHG33c6jDQMNQABAAyCDDMHIDRhgwAIGLNelGAD094WefEJlLZ2wBRpJEUxUgcUWWEbixE9RwgYFE0qQYTQgSAMiLHRVRCxxxQBM3E7UUWdszshYY90AAgKF3MACHVQ78xPe9edfcsAxDEcccIzq0YREP1le2WcIlKeUpl5ZChFh6P9ZBRlYLrLqZPmVrYaPuACzCyyXoIEGEAREHvkFCTigzTqYZ5sOPZyjCQC428qTDiwMZE0yAiAvoPoCCJhAo3DbbYeFEVI4HoQRSSjxgw02XKthcUPnPmCU/OmrqXgCLWx8vzBbGLTQROuAZSll6BDGd8xeuQgVyIuk76hYPFHtLcwwg046zTB+ySWVIIBBAxggYLIBkhfTDjvsyIPmmaBr+2WakDIHAuRnMvktAAIlk5/8ArCJZzzjFhC8xbWUcAIcWBAHRmjD8VrVHzVo8HUwk1uUODQ03fHuB1DqknCOxIQnhOoMbVgbla4kCACk7Qx5E9QYRIJCJmDhC7foxTT/pjEOdahDTO5gBzAqIYpN4MIWtuiY1762ADR8Q0xYxKI76hEpNOnPcwCgBwDOwYtKVAIICOxYAFbHxkuY4xznQIcc4RiOY1wQB5uIYBfoVS0bxOAGvrtPcipkISsszINwgIPDhAMc/jQMhOKbExPIAApQlIITaSCaEHb3A4JxQg4g2SN3mDENf/ijH/zYxztW+Y57iKMWuICEKCChAncBwAIWcAADGHBASNjjHQK5hzDvYQ9iZhEAWCSmMPHBTGGOqR7fEMc3vHGMYpixfQZYwQqAgAYuwAKWzbBGADCAgUusAx3nlKM4wDGObzgwgrfQ19oSSaMQilCQJdwk7wBp/6j9nG1oBFrEIgDgBTLEMA77EgMlLSmHNITBI5u8ASjQsQ9+WJQfrMzHO/JxD1xwYhMOwOUGRjpSB5BAAw5wAALAgY98uNSlzHwpTO/RzJjmAx/3kOlN9cFTfbwUH60U0zxyJI5jSEMUtBDFGYEAhBAAgQtcqEUtksELYUBClsU4hje2es4ctbN8EYyb3AwpBuOpgXzMcOADIaivNmjwDGQQ6CLkYAY6BecLcRUoFUDpkTac4QvRSIdg1ZEOIwo2HWjixSa8oAKO0S9yB8AlAxBAgABow6ctlSkzN5tZnTIzf/WYx6y+KCks6vSmLtXHPjRqTHqI47VFLcYsIZEBD/+UawK49UAGcDsBUfhWFMfQajTRUQ43gSOtt7DFMJjBjnm4QyBIhBQ90mGOaBwjCnwQKEHNkIYiFEEHOmgCGMggCIGmwQtu8Ij4fmCNMIVpTO54RjRskYUhZKEMdhBEIhKRBQYEIAAEGOABDBCAOoQJmWmKVJiG2VmO2oMeU9vfPKZmkKlZTCDxmAejhqnTnvJ0psR0Bz3AIc3g/ra2E6jtudyFWwj8lhzhMEdzt0imdLASp8YUByzIO9Ay+NjHKvKxF7wg1zKk4Z8AEAJFXPYFcDiqUcfwghxquAc57CENe4iEliPBBxUMcAEHoGwAvGEPZJq5zGg2MwCe+6hJ6e//i1KLs5znHOdtfY5zxrTHaVP701auuR4kLuoxfEsu3DYADeiA1TyyyMpiFnOYyICFIBwhUDkMmQpe+LEXVCTXTQthbl8I9QqhAJE8zIFGTnZUNABgZQDsAQB8iLUc7ACA/SaiyxPQwC51aQ5invnXaV5zmSA1tW1NmM50JoicLzYxb9XKVvp7L4c9G0wsRopzbc7iMZNJU3zQwxhoSIRAy7uI8gqCRZYugyDIPQQzXME7+TroHOIQhzY8TF4IwQITvrHFekRDRWkowxgGXgYr76HKt761HKRggQ14gASbKBOZJi7xMgkk2xOm1cTkMTGJIfvjUqsYxaJGsZKXnNn+/4N2GO2hjvc++h4AGKbMh+loJJ4JTezIxiXGUG65jtsRjpj0uOXKBXczQQg3uMEJ62NI6Bw9IXmggzXABI5NC3zgYxjyGMpw8IbywdUNHQIuhyCOilP87GjGeJw9jr+232/t+Hs7yIs992VLLY6mvSmOZy7zmDtTTKFdxy5UQG65knvSQe/5uL1gBlEyIXc/iLwQ+nkGOMzh8nOAQ0FGBVjR4mLrWSfoGKSABILvwQ5bZ7WR5RAEC5DAHM98suxlP2x7VIwdAIj7/dbR9t67HU3agrvEPE7yus95HZZadE73/NO98/0e9QgHEHLAhRWtu/CKH3q5yaA2QNCb3oo80f+E4F3Wfc2rO8OQmBewngUVTMELU1DB+ndohzLk4McCL8ME0OCORHHu/1zERbNHJvVwP7iXOe2AOQq4gJiDDcGVI+CgKIrSObEifHXXe+VgDuHQDhvFfB7YfPdAD8WwAASwACFzLjmQA0PmBdfXgkTQQmVQB+zATrdgCm4gBvomBLyzgzZgEN8XCefgDVmHdT+TdVKwfusHAHbgBF4AAFg3BitQB/PwbG+WKP73f2BiD/OAP+sAAOtwDrx3TmI4huiQDR8DACTjMUwEXMcgTd+gKKFFD/LgdlIzfAaIP5ZSDuEQD1loDw32gac1D7SAMiKTNVO0OufiBB5QBDeQBcD/IDWyMg5wcgZ7JD4RZRCBgAhxQE1ZEHorOHDr5wROsHVyUAZS8IReoAH2E3IWEzq54n9T+IXoAEdgiDlxJEfoNEd1UIgkozoIsAAfkzpc81sbyHu+d4znEA7kQA7l4FxYpGbqIA/PVUx/qFPoEAImk0AmuEu7FIxTZABDEAI5EA3PUCuiZYWLNg7b0Au9QE8sMxBWYCK4IArrRwVI4IRPCABIoIJjAEqlh4+MVQezVAzYoA3eoHt15oqi1Q7nYA5v5JBgOItwhIuzKAxo6DHACDIAAIyqsyUCYQAXOTLswIAjWZK5tw6+0ivt8Chn1yhmV2bzoA6PElPLoEBgxgAh/5VLKSVSFjABIUMAORAAooBMWdRvXSQmALAP/bANt5BeBXEIUCkJ9NiEQ/B+T2iE65cGdpAGnYh1VEALtFAHTPVfBoAAvlULwMANW+VxcYZ8lwIAmCKRb0SL54ANHeMxpoORBMFGhXgMZMiAmGMO15AN3GAO0viSaNeSZlcNJGgADIBLDbcBF0BSG5BLlclLlcUAojBzBnFzobVg6sAMBKF5bBMHRmCVoneVQ0iKAEAFqIgL4eAN4dANtNkMzVAMuFAHaKAClRUAZulbWVUMwAAMkGBGHbkAlVCcxVANzIkG80MAJ7M6d2mIAuExwbgA7ECRciSGchQO1/Cd5yApif+JmORpD8WAAAHwnLnEAJHjmJC5ASnFAATWAOCgdzQ1TDFXUfxQD7aSYfTQKMzQBgTxBOpRBEwIiqp5lUpIUPg4BlyADYTJDdrQDVtFm7MZm9XQDNJwDGVkRmhQCWBJC8mgodVADcVQRnUACSY4RV7zi2VJggekOnkJAcmQTnMkkQ15DdBADdwQRgQ4nkBqdqLQmAygAmUgELHGB1PAno65k5NlAB6ADx4Ggv3gD/BwSuowkhPjDtMgBgIqED90BjzgBJ1Ieg2KikzIanKwQ1nnBVLAC9XwndeADXSqDXaqDdzADRQqm71CDt2QDRCaDYLKDcy4jIZqqNQgDSdqRir/yqJTBAGoY0Cqww5xRJdwBADhAA3NQA3kEA8CCCmgyijkOZ6i0AATgAT1lWlrKmX7xQcbID8ptQDvQgsb5WFTyg9W+g+66g/8gA7V4A3D0AIEMQd0QAd5gASj6ARDcKagOAQq0ImgJAVZsIJZUAvSQA3Yiq1xGqdzSqcFaafd4CtmaIYQyg2Xcqjomq7LmKjU0KGV4KheUww4SpeCiQzL0Azl4J+LEoCOEqqgOp71AAQAkAOJYGVJGmtKWAZ8wF8eQADsGWC0sGj5oFq2qg/4oJ/9gEr9sA/iQA2AUAMFkQeZSAZIMGRWqZpUMK3T6gVZ8DNDVl+22QzQMLPSULPY/3qt2koNc6oNAoENczqY2bCMyqiuRFu07NqhkPA+IZOcolAMy1miwiAMy2AO7YCONwcmnMOvLkmAoHoMSGBwB3ewB5sIOcAHcqAC2LhLx1BxYtJtPLUP+2Cx+QC3+QApt1AFBaEhYmACyLqaqvmyUzAFWUAF9qWySFALywAAidsM9xqzMkuzNvud1AAAcuqz3OAr4dorfaqMnFu0nmuo15CovAALKRoCqYMGuzC1FiMrufJFadI5ACiA/8YiXbeVK2KwghBrezAEluYBsjoBV6RtwvtojiZMGoMLfxAHBdEGf3AIJDsFoNiV0ZsFAuEEUjAF0poF2isFtKC43pu43v/LuAAgvrYpDQAADQIhpzqLrZVbrhaquZ37ufK7jN0ADGjQAEBAC+WwDnbXLdBWhVb4bytiB6WIf/hnsLFWBl7gBBCgARbgZMMbwVi0DtIADLYwB3pgEH+wwX3rBfuIhNv7MyKMvVWpvVOwAoqbuMugwt7bwimsoeObvgAgDTO7DCNqmzTLvt9Jp4TZDZcLvzAWxPNLDtywDIxjug3wW8UgDlv1cRfzv/IADmPwIviHdQbMdbqbBUjgAQjAAKUlwcLbf+FgDLtABklwEHFweWQAAO/nBCXLstgriiJsvVPgxoFbX92bwnrMwt+7wjN7vgAwuTsKDYmbDIZsyDZ8r/f/Crk6PKcR+r6aK8SGyrnhYMSXAAu0IAy8UAdiiUCrc01O28R0hgsAV8Xxt35HSnAFd3B7IAUqYACiECbjObxbZA7Q8E0vkBDxkQNvDMdSIMfALIqBOwRkmgVB0L0rvMfgu8wvLBAairM72gzJAACHXM3WnMgr3Lg2q8M8nKeZC7++AgCwMM7CkA3gfA01KwxhyckNIDkJgAcQNA3yFXBXPAY5QAKjWAb1VXo+ZmVy0GVmyShBypKQMg/YMM5gEAMKEQVYUARIcIRZMAUAEMyiONETHbg5IAVSMAQOkM3J/NECAb4pvAzQYL73GsjUMLOGTM3W3NIufcjZ/LjbzK2B/wqolgwLxnANE+oNFLqnsQnOmhoNw2ALq2AKYGDAAwcAV+eaPuYEKrCsP1ZlcpADwAuH+zp7ZRIp5iAMdVALdaMQaUwHJAsAv0zRcjzR1qvRKrB/yYDNHh3ScB3Sizyzf0zIhDzNL53Xeo3Ibd24Mj25jAMLwqCzdXqneJqnekqbW7VVmosLBgwAT63UBrzA9/VjsyYHU5AB4uC6+5O1Augo9RAPzfChhPAHDLHBfzAEQ4CsZk3R2OuwWYALuBC1xtDXHp3NBdEMgCwQdK2peL3XwB3cbY0MALA+sLALO5qzctqtPHyn3twNpGzAU5CCW3fF1o1uE9CKVHiF/ycP5v9wRhfMEIEAAIeACHeQA8va2sCsAve8ARxjAlWgBEZABmNQC7xg27ft0ba5wo7r28mADMId4C+NDMZQ3IyzC+ebwzibrdTAnNdA0+hcf0jthNb9Y1ZccCriAby3dq34imwCDBgACQJxxhDhBnHABuiN1q0N2QBAAgCwSx5ZN75RFGQACE5UTfmd345ryAAu4D5ezcgADOtzCbswzY6Lw5B7rQve4JtQwBVe4fZMAplmZAE3AW9EkZnDlnVYDWhQB0XQAikQEV3QBoGgCG8AAOlN0UNAAiQwUiQQBO7NACyAEPRmQwuDCQLJC8BgDMgA4PzNuNLc4z8+6EFu3LtQ4DH/rNu2Ob5H3tuiQM9PDuUqoALVTc8QQA6W4pAZ2JC4GIboQA6wgAG0BgDCOhGHEAhnnuaiiAQL4OIk9eaTPulFMN4JEQMucAMmwOaE0uIq8HA5gAbo3U21QAt6zud9PujAjQzCMOQ47cyJnuiNq8jNwAvUa+FIwM+RfnXVjX+QEL/LiCkOGe7lkAxAIApfQCIS8QdsoNrXjgQqwOYDMVIoLHaTvgFGoBAoMAIjcAKQ/e4b0OYbMAEAsAJIsAKtpwL7JQMAUARmYAeiAEvC0OfHjuw8LgzqAwvA4OyKDu2A3riQgKwCsUPvPgXZXs9ClgyMzafxWw7fLg0pmsEdkQco/56C8E4QIzUQsa4CG1AECKHv+j7nLQ4AlPnvQWDwBl+k+7XGNyAQS4C3YIAJmGALsLTnxi7owU3GxU3kxP3sii7tiswLKUjM1LtDp5jtbrrtWIcExZANzk2bFPrTvdINsIAGmBAItJ4RX6ADHKABCLEBu97v734BCGHrLdACKIDC8U6ZA1/0R58B+wUGTok8yhsHdADzawD1Uj/bwvDfek3GjXPJFsn14+v1tiniKc7G1Z7tY+CsUuBjT7gADb7chc322eDD9hsJiHD3GbFeFtD3ky4QOU8C914QgRAHfwUFkrAKNk+ZDAAARf/8E0AC+QUICIFvBOFWXRAT8z0Gm/8gVcJg7Ids8UMODPba8eYv7bwwEMuqjwAwrdtu3aufA9W9godrs0vOrT872psAADfAEQABQOBAggUNEhTzhYeKgwBUqFhBZcNDinkIBsIYKM+qVKCGDNwQMiQDBgCCrDi5AokXOXyKxGgYU6APFykKFjEzZlOtWrAuXYIFS9iyZc2KHjWadBkJgUOcAkACQEqWLGPKXMWKdczWq168UsUFrVkzsdDMSkMrjZoxWGVsyoTb8E+eDUwNMlQRBMlEikUCDZwb5wymjpG8gBS5wcKElCe97JGTxo4cEyDixkwysIXAtzGUgKnzc5cxokpNLxP1EYBT1gOnZPGSVTZWL1T/p5QQFQ3A2N1jfY9dBuvwZeIF/xTZoOGuwBUrSEBsvmIgnTZnvpxaBSpSJBWJk1vQYMHCgRUqqECWM9nLGCKbi8eNMlAMAESICkHCJSyZadN2V7NmLarXsrhqDC+GiI022/CrBRfgHkxqLFjGyOy99wI5BLmCKHrIIQCiW4GH+boAAApMTuGEk0XkIECDkCzYYAIGHGBABQsQOAAC9CIrQwonjLAwSADOaEOgOQgxxRRbcDkGl2SWoYWh/wAMEImpqhojBw+QsKqM2qgSRRtsRNnkQaSO2oUTgeYT8jJF8FCOIA6hgy46GUrU4RQUt5ODhwMmSA4AErx6CFADCIAg/4PI0hgjCyRUKKJNSQHoQgwiq/siihKaovKpAJ2gar2VuqIqi02y4aaaIhw8UylgIvmDDjomvawKE1aI0yGKHAqiTulWEAOMSE4BYLs0imAiAQbAKyMNZ52lYgUCEDAAAhIY9WKKHCDgQQ9ag4zhBiGSYAIKKHSoa8pOn4LKiQEVBFMbbrQ55oxj9mt1mTQNmfVbuNwQYwtcB5ozrw+jE4iFYRfhJJI0yIgjjgtmFOjZZ8vIYIFDNfDKiSFUaIAHi/wt7oMWYvghiSiwGIipdT+CeQgkrITNwFJ5sCVnSQRy0KijitrFlvpIdlNDgeZ8TgUNmPoVgCzS2K4MMub4I/+QEhiQDgCLnx2DAQMCmEADJIbIgYQJmnCD6MtAODllLL5gIQeBSNiAUwDtdsrKAaniYZBBALAII9KIKi2ZXexwAYAn1I7rEBYsOJqiukPSIOsSopKOy6kxugABB7x41iTQ07hqAmoNmCCHh0hogPHLXBCXCSzEKKIMJ5wTFO+X83bCCSmoyIGMvwp6kvBlkNkEgBFcv+y4kHYl6PmmAShhiOYwPCQMAhZAAHStV0BgAipITwMABiAIAAIVSMjAAyOYYD4mJZSQXQw1wIhu/dxd3p1KJJwgAQIgcJA9RGITktjEHoqQguXFLy5/IAND/IMYBzDnJEHAYBB4MIlHKIL/e90rn0MCEIAgNIt0C9AYBDTggQlEoAoObAgc1CAGS8GBBfljSg4FlYP+ASgIGiBAAEzgA4KQ6AtVqEKFGghDAESMDnn4wx8I0ga6FYRudCsP9TKIkiAQwQyAIEMODLAArWmNCgDQQBCcVQZpGQB1LISADphoEDV8wQpKEMINTEAnCe7vaD3MgQaa9bUBGuQJVohCFJKQhBsw8QdKeMLszqCGNkSsOliQAYxaVpe6WMABXMxgF8sgh0QIgg8aQEADQogti5FgWoiaQAMuMEeDYIEJP7BBC06QP4jocIIkeJnqnLKIRXwNASegJVxQkIIWFEEQZoAmGZYABh3g0gQh/7kiJ+kGI1AGgSV7AAAfEsEHOWhAfRXbWhrcOEYGNMAATRhZMrHAyBi0YAQ8kENzHoK7HGpzh1RSnQpYsohSTCAABOhAMmPyAYayJBHFKtZDIzFOMjjKes4RiQbCYwEMEmEMLRHEOPmwhz2MIQMGcEI60yAtamnsAmDwlkIBoIQb1HMEcetVeSCyP21ObiKsyYEFSECCZpWhFJE4aOtkahCGniAHe5BEVCMh1aluRxKREMh2ACCHfDrAk2kkQVTESVKSki4DCCAAUU2YBgYEwI0EIEAJWLZUJuSxnrvUZ3nKo8O5cZKTKlAdAgBQly5xAhRBRIARhLBUgoAABSyozf8YBAKZZo20gFbV6lQFIgkvOGADDUDUGPhg2T2QrgxI2N6hDsCACbhRY26UgHuWSsOEWOGGOtWr/vqZzWwCwAKtq8sQ0iAHQURiCCMsQtoYKxAXxGACLJkMSeVQ1jJItgwD4epDN7udDQTAnaqkbleGUEjBUotaBDDALC3D2Eo+kQ5GyEFucyuodPG2PJQLX92GSgUu5GAMSFhA+pY7kCR0QUpe8cpVhjsZrk4XMowa5VUlUUoVTGABBJiAab00BSkMoQTgQy9cEbAACLBgvcuNAx2i+AY+xBciL95rfbUZkRx8Z1mJGUJ48jKBaclxwH94A0Ngg2AiE1nB6ZHuGBL/seREmPTCBFDBVrIwhSkgIQdBEEMTVvCAC0TgAgk9MWPnAMU/LASDMIZxT3lLAvFYgAEIgBHlxGMeQSDBAAgY4nLnpwMSSAEARQa0F/w85I9CJgt74AMAypADCwdgAVRw19ickgGC/GDAsjtDE1UciOPoCs25VTMne+VVT46YRosJa2w4IYcMkMAEAwYACpDptEAX2cqg8orW7HDa2gzBCTlwZwCgImkVeKCQsAaAG87ghjAWQRGIKEIG0kWw3A41B074a3fUmIaNBpt7GssBEkbJiVJ4YVOwBgELovLnIde6yn82cmRkRiAvkAB9DVCBUxgCgQgod8BfgIISioAE/wZEgAcadcgF/JO0HIDOSomQQnAx6Cw5BJV7B4WACXgAgxZ0wAmCEEQpQEEGJcD6AxQYwhTYXWsitxvBRXXChoeQge2pzgPtnMAKZDVgLCjBBkXIQgMWwADFNEdQs2TOGJzlBSdUNRFICOu2l66YrzFg1h8YQQtyQDpyY3XADOUAAKbwFZeznMh/lkOWqCIFkFWLKRBYwAQmANMBW0EIMSiCFM7KALsoTVAk8G+D07CHLEgCFJyQxEg34ACpk25708o4CEAwAmbyYAyCIDcnOoGHeMpUBBNAwthrY3azK/1/YwPZ9iBAErkzAAydVygUfhADHqwglguYHHgAP9wGl/90yYlH/ETt4LG1piEHKKxWAk7cghecQAqCkAMoQNGJQ8A+mR/IwFS+QnqzeynfqoPAGBsgd7kjfXgKfcINXrAQ05Ukh1tv8K6zIAXQ8WGqiSDlhKGfTgYgfwEn+ID1cgEbUIJrSYOuGwTrS6YLGALtKzvuMzIvACwS8IALgwDyyzmBiCmFYoKa4gEeI4BlsTI5EIjpmoLIaBT6GzxxYsEJG6dFcRYiQK+vuYBGIgglwILaEQRQKAXNw4Pzk6kK4KGZOT0noAIIrI2pMJCh8oCMqRa5k6U7YSwswAIoKAKNIYBwa7DpAh3oigypAJWnsYMlS4NE2A7845o7uzAEuIP/PPA3ABADOACDIQA56aM+BaQlI8gCjxmbDAg3IyS9PVQBJ/CKCWgf00EdC5OAxFmuNmgDMAi/DPAerqoKBWMwL5ECIpwCpeODkLK/CSOnNAgCDGstAiiCQzAIS4kDIuAqHlyEQdhAmfoDMHCWYkkDJACDIgAmQpy/BzyMlKuNRPEAdyKxBZCAMJMpOIiDPCgBA/CAw0i769I1HiGyKXACTWQJcbquM9yDHJiWYFsBIBQIRvoBIeABL2CYHuyERxgwHSgDQSiWMiACKBiS6nGXcPPFr5gCuQs/1DGAyoC1OaADNkCda1S6EqRGQJu/awy9p+lE/AMA/as4tEovcSSI/xZAARRAApATuUIAgCtYLh54RwDgBC8IAoLgASIExkCbsgqDALSCgA6QPGTLgzyQFhWYglGajPIhPR9hyLGTDAAoJRckJ/TyC5lAgREQgRJoxVJYBBRYLhGoHZLkBCd4Nc0wgWsLFYW0xgVwp2qRSWQTCCCDMqVzFgM5jHaDt2r0EZlxF8kQp/ybqD0wg0iBC6X8AMgiqB4EAwAQgaUSASKgyqqctYEQARP4nwekAh9BRAQIS7EEgD/QA13sEgRzFK2sNbHzyZkZu8l4KDm4qnEKIbgAAYb6ADokKOmbSZn6ANIRCE4YgsIkCMT8Hyqjst5BgtZagBIASMg8BIwAkv+taLmowDWW4zCGfMvpwj8zjIQ98AIyuAzTxCejKgVZWK4PoAJpjAQkkE2COAEimBncdAq7pBTIHEtF4KAy8MUp4z4qk4JMDD3QGcNEKENyygIZkK2YEAGG0stSqE4w+EvW/CgAAIVFUI2GiAAJ4IDm8LIomgvzJIglqAIdIEQkDDT3ZMjQA4DokoMT9AIeIA6MlDw6DLlcAAWB+ACFOoE0gMetEsyYkAAKoICDiCIIFYisOwEqyEcItE0/C89QsQopkIMJeA9GcgF8koNSyAVZkEKFkgHiIklRRMaDkFG4cFAoOgRFUASFMk11W0sLRbAehQre0VES1A4egMrLmIP/OICDc2QYWcgFMnCBKY2fLigCKAUAKjjJ4pAiKQKAKiWOAmAihjIBdwFTQFvMtlQdP8yCSOBBkbPO5omiPKADOpQDOD0FepQpEiRJJABRSXVQwHDQP6gADkgoxupSKzlUyzxOhzABmfwA6YgEcvPPXPBIUIUgOYgEWYDTO4iDZDqERJBG2OxLXK1RPzUIONgCISiAAbiMAqiQSeFPX1vV2mgKuVuCH7gBF9ClPjMsJe0FWQCEK8g0K40iNwUFOMUEPYhFB8oD7dKOHAADkHygUa1R4jDNFG2IARiAAigABZCUD3CqlfgSJMwCAPAYuCODRhgENwiDKlgCHhiCdMyF/4otBeIY1RwQhEWA01SwyPjRA2ksFiRgRIFQgjBwgz9ATw56tkOwV2T9FgGQWX511jZhKB6CChWgv1rbQ1o7WCRogAAogUBABEV4hEmYBEXIg0EZFjjthVzABMAx1ygiA6hZhSW9VVriqhI8UMfKT4LogA5ohJbltJiV2bMVgJoNWBNwSxUg2ECTghzIAfqbMoNagDfQg1HNUkUgAyQ4wFSo2Kct1qllA3TkBHVlxzl6g0UYiPIpTYaCiwiggLAVW7WRWZLZT7f1nR3NApl5jSlQATfyi5edizyAToKC04oFhTzYUpmY1DxQAZDr2EmgJTAgphMtgxLYz2dVAAV4gP8ICDuSmVl+FdRJSQEUuBxV5b4pcwK0IgMyI11KNQ9yc9pcAITFiglOc9CqXQTAlQWPfEPmcSYChQoTK45+/VcAiACzTVvi/RYrAAA9GohApLKTGl3SnQs6mIMioIJFAIWrrVhZSNOYeISxRQQw6N/DlQVMQEUmIgJHJckcmDUBuAzi9d0KoJWzpdniJRk4sMviLLIpo7LgsYh7jcwr1d9fJQEqaNqKtVW4OAM/OISjLYNOXIVSEAQ8YCIUMIPog6gTuFx9NYj2FYh/Bd5TlZTh7df4YBw2WA2BkALb5LD3lAIy0AMFHFVKnYMzgAIWGAIu4ATAzYWnLYIBNogYQBn/JeiClPQCKtBTMqBXBzKD8tEOAEgAFI2JAUCB4n2Aye2A4PUXgIWh6iHC3ukdIoDOmEDhOWgDLFgsHnAC1HVhxpUJrEMBXRo6QCGBF4Whq8gqABAAyG0IfwUAQQaAsOUADphRf/ldGJK1E4iAFWABHjCBE4hWucjfNf2CkgMAEJjeU6jerD2IfEWBO5sRT+oDB8pIQQghOVABUR7l3gXeEiiBVK4AQPUXDJ6j1cxImZBRCqBU/RWDJ7CBt2CBj/tfF86FEzBjgjDNrEsAAzhmCyiCxGUcMbACHXCEFhVFtY2JB5CAEmCBEkiob8ZmWglbG+1dgJaAho6A3nXWBgoC/ylo4acVZnc2zUs+AASYEVITGcaRFTooAUegZGzjV5lQUBYYaIK+ZoNWG21GthFYon/13d71V5qV2RwA41QI5mFmKMo7gYMiCfFwgAnAwzaZVJO4XeNCOpnoAJVmAcpVZYNeZcapACTmUtP8S/T13Qd4AJvmVwGwgP6tThdOBZ/+gEsO6mk55gOwACsmmVA1CUfVjiFY37gQaMr94z91aSZK6Dmi4ILoVwVI0IaWAIIoABUAY2Ae41wwg8AeiJ9mpgMYodXyqhkhgaO2ELkeguhrGBW4AJh2aoKWaqqu6jmiXMYxzYP4V4Du64G4ACkog3Ru7BUYgMDO6JMRgBHiaP8HIDUL2IK/+RYTXgEvSJFFIIHThgsOoGZU5utvHjBqpmZpheaC8N0YpeqCWAGKZuyKTYT2dVYRoDwXEIISgCt59m1P2oDB9ZdV1oAM+J/jq1JA9uaobu7shsyvJuXigOyG+F3shu672OnqNQOw7tfmUgIWcCv09m2vcR0KiACSAAAHAC0KEO24kICwVekOwG8IVQB/bVZaSVDTVu4PIevUfVqH/ure9V0KGCHefqsL6Be1ceIGF6xStZAHqADSbujXttEivml/Jg4A93GCIIHFTt1ckAQArwAJaOkEELYXD6ImcJ08oIBjFogA4ABKKIESl4lSbfII+GrX/nGiIfL/IheICwg3UBDjpy2Dww7eSRgEMVcAyq7sw3YdMBAsT6qgAOCBR7jr4igAU23yD6fpMicZEj9ogliBRu3uXqBkAFhZP7gCZi2AtD1014kAYkQAtBKir26I/rZuMH/oZu1XRP8WRffyo+ECNq9eS7CEQ5gETTiEM1CCGKgJZmqBt3Adz1mWCc/yEB/is/XvUpWAh6ZZIUd1C1H1mLgAKgg5FM+FNzjaSfCDMLg7bs3Ibc/zGZkAyMERAAiAZhX1gljtggBoDjh2U1/2SeGACmhpNGd0J+CE7s4FVmDHWq+CXMLIbe9mxuEAufOq8HAAuDqAy40LyBVlJ1flCPBXUx6I/wBvd6dO5XeP95iIAMXmBACuWEkoAQl4gLurp4xsgZJvZ39hLVKjEcEigAOgFSUoVQj36oin6pqk1DZgk4kfCOYm7YqHi4ig3sY+BQ4o9Q/v3ZJvARc4+W8hAxkRj/47FFAu9/cogD/uAIJW9+de5SutySve4i/Q+YVWUOlOKPrekFbn6caWBJt+eBbvXTqdlE8wgxGaQQIQ9wBweVp5AIFmAeoJO/yNouFBBIFABG8RA1tC9A0We7M3iNg2qiTPhQsoXrfvXYQnmky4g4M6b7jCe4FQdgt56oSpZoO217/QUgBAxfoo/IGwoyTAXrFUYveNC72o9+o9DMqvfGJnHP8T0PyDGqET8Lk0DWvLJ45ZFn3Sd1CLVP36+NhDsAR7Ziy0Hd7LqACNF+NTSINZcntBlX7X4YEgCqILuINPOIQ+CAMm8AFeH4ipp9KB4IG+l9FRbYjlZ36Z6IIzWEaZkn60vYxnB4hIp0pFShPEAgAFChUAaCjgoYCGEidSrGiRooILDCtMtIQnzBYhLRoOuGiRAgUeAHiwYMHhD0wAiA4hQtSwJk6ZiBQh0mNy4hc1c/Lk+Wn0qEOISpE2nKCCipMgKqY+YKggosSlTJGi7GrUz5ktS1ygGMEVJY+0PB4dgnmIJs5DgQ7d3ImoUaOtEsW0oUO0qF6mSiEeLQmAxYL/BRMmbGi84UIEhhO1BjbZ9bJXk262bEXZQa2mRm/h1gQQ6E+gQKUV4c1bWeKZOH9fmxz8sHDDMA4QGHBgoTEJCxwqDhhwm/ZJzMopIFfOgscoTaFt4kR0Gibqna01IW+oxMqXNnO6U7R9/KgbBwQMMPh9YYOKhiUG9ZFYoDj5isv3B65QQTklo4xCiUwFUtcWdoewpkiAABjSHQox/MAEFhHkB4B5WF1kmEQBGHAAY45N4AAAk4QikYUXVvSHaaldxyIAy23F0Yt/UMKdIjcZCIBcqAGAV4Ck5AcCkSOMdGGGPxnmBgBEHEAAiBZI6QADBlygRyANdVBCQ3SpKJGL/6lhB6NEmEmQ4kUldMBBmIHgpaBNDfGUI02qATkKKhKZhZwIfRKJXHEF3GceUoOshAABCBywwAEMtMeAAzH5x9GXYLYYJnYmSVDVfRyiyMGWpISWGl6sKUhJI9TZdVcjAaLyiIofAPDBB31WNoCgBSigq6DGEbahRJM0FICHCLS3gQWOHlAEB5lVatpob7kYE1K2BarAA24MMgkpooaGV0PSSSfTnAC4+kgfQjwrkQhbCbprrrvC+6tFHBIx7Hq+ifgbAxc4W2lq0col5mtKcbjFHXhYgkqeAGgyIMQEaufqJH5UcaGsRsXxk0LxdgzvoEypxEAABOjb2AUkXODov/9fWifwtF9+0IIQVZwxSCavABALABFzlxeeFXeRwrpHUduQBBREUFXHusK7q4ZILUAAAZBqgLLKJBxwQdLMPavIWzy+hQhqZObXZ58pCHEFjKo0hIqAPwbtxxUxYIxcdh2sScGmnMrL609cTrRAyVFevUHWkHa9rlzVzTSX2eTROnkLMSjR0Bx/PIJKLLG8wvAkfYTxw93I6V1XTR1U0PdCu3oqkQKUTmQAsQs44MDhF2hQpQNde12pqTzidJrMk3+Awgs2SATFF3goMkosvrzyiBtCoFD6a6ACwAH3bJK295lMW4RmQ0RUcACxxvpGJQIL8IbAZeu62ZoiPB2NMeX/L7wghBL98y/G5niGCkv04Qn5yRhtOrC9GKGEezrRGwQ5ED7JXIQHgiMWBg1gAPdpMFEt+5KCwMUT4hWPVi2wwQsAwL/+McENjyDFKz73CiFJLj/cu4z2AADBHbIAfA9oCAdYMBHBSQB9xKLaepAYgAQ063fr2kn9eHKI8ZTwehO5gRCYoAZFwHAUqXKN5BBIm+6RUYc71JuaOtBDvXFPcADQGQtkV0QMIhGJ8Pugy/LSCJ7M4QslBIELJqI8AHQBD6FQxSgesZNKTS4wXhtORdZ0xhKoqQQsSGMJVNIQUsyhC2eYiAQIgMEjJuo/KCnaRHK0RzqIQQiBxN/MKGKD/xsU8pCjAABP1kUrvZySIpQcjiR3SMlhqlGNZmhIJtQwAhfcIAngaUMcJJAAUaavd71EpURY0wg9qAEKLRBjd2iFglfeAADK64IfbNmQLMkMQ45kzhkpckY0DvOSLeGBGdLihxgYLwUxEMITsMCXPMDomtiUSBtsEocv3AAF4HzN5FCAghuUsyE/uIIhX+FFXT70LPOcyDy3VM+WZDItZigB1BpivJndQAnMU8NBLwKFOOghDl0QSUf1EtFxAoCiPcWCIVWBCkoAplJLoA0FAqEICB6iVZS4ZEhFasmW3DMtEYhAAaImkYjG9Cd6QBUAWvlK5IjTBS2o6A9+AIWMRv+HnZX6hJfeCcWdSCc6D3uqMKXakoakxXyc0mpXt9KIh+EyDlEI5/FckEIU3uAHtewZKRRR1Erh6US8pEAaP8ODugYoQJrYCQRHqkkAlOCvgA0sUgZ7S1RtjDbibEEKYzDIKOABhqgYVUy7pQlhGaUrEHxOWkzAg84OKDT1085UG0IGFkQmq+dBrWAJay4SVkZWLVBsDGKQQiY05HOj0IN1UBuGPgziEzTUj2e29Bzg2lO4D0sVT0o1WFWQgQccqAq9oKuXuGmCEmSDKApaAFvZblcNwrptI+aiX4ncYVukaBgATIlZ0paUJS6xJA+Ey4JU3SW+o3hFLB4RhgUjJw//hO1vIyI3ESyYxLqKZWxDJqEKRKYqDzki8ZEcxC1UkGISHKgAMD/D3qmm5TmU3NJpEPHhURiibiSmDdDM9QgVAwAmg8DDGZ6grq0S7boAcIHd1PCJieyxNE+uiCEy8WBvNYKSK2GvWiyMxg5QYEuoyMQZlmDFM+tFtWCKHGoyAQBPENoSfmwI0SoSBt42RI8J5rMsl7CFPliCFEIdEIEAIFyWFJmkW0LjJSNjN0jrBRHS9S9F/nAIQXviE7OYCByswIQtAwAF6soEw1Zb5huTWqXHi4GkKf1gjQooOsVFVSPWWM/7KsBXp+11RU6MKjKhxhKDbggrAJDthlhiEDD1/87bzOXonbi11ysdwT+r4AZLhCKGxaYEskuliKmWgAJQsw20TQJGSky5IdW+Nis8se2GeELQmMNDQ0ZBCon9SCf59vVKa+UCH6h7Eqhwd3SQXT9NMCwTVXF2hp7N532bpsqBsDahCR0nglv7JrACgJDcoC03zanc0I648VDgAyV0IQ6T+HAs4IZiTXzOD5cTQcgJ1WtT35I7ZFM1wD2Ro1azYuANgZXOGlJOAxrCEpZAxCBsTmqcr3SipOuCC0ehiqCrfYYXSTpl+ExYL5Kt5Z4YdCYecfeA330ilq3eFatwhwYXeib5JnvOb/CCxlJIDYdoty8AgAomtcsicH8uif9v5LAf0YXQ2rZEXlrNo4lMgjsAqA9FUpDoixnCECnPRNjHPivEA2Dxtv+BEsIwCJ5J3g8/uTykB9sQAqH82pZI+STiWqKJ0FqlAR71RAwxiEKL/cmInyhFF49FK8B8Z54zCvDPvPKrEzrgmchEwc01kZe3GAAChj5Fum6JQxhq7GRXfPabKYaFvaK/pv990kEbd/DW3dndJGQCdRyFrAQYmFVEEyzBG4TBHRgCHZgb2dme4gmBFeBBngyIXVSL0uUbrBAa+6Xf+P3E8XjZWFXEEqxBFYQB993cSvUURU2IGBBd/3GY4W2FyOlX5FBCob2c5y3S/13ESDAgdplEEyz/oQ8cXsS9QFolARYcAueoAqpYh1JV38OtCIuYHncQmiKgnCc8QoJlWkMswSBVhIC5QCC9QA8o4RLWQKJZoPH0lFqJQSh0joCkSpbUj/JtoUW4RSjc0oBkQiu0gt4V3B5RQh4CgCUwwQ+YlRpel2K9gAu8IRwuYRP0QOXYn/G0wA9sIOfATasoQh/WjxYCIrXUFYq1wiyk3CPwGoR9mSRKxBqyYUO4wBEYhSb2Yg/4APzp1wy2AM9Ngs70V7zNSf0AYiC6xV08zIC4hiKAIfv9hFlRIhtaYjBmYi8u4REswVFBV9ndABPgAfRIRGvgBRSBDTOmWqAplWeJhkTURKu8/4IqCFpFNYSAeZn7sWElvsAu6kU3auIS3IEbnEEXBFbO/QAWGGPWpWOprGM7SgR2WAJcpYYUOU493uMTNKEaptAtWmIDVgQYsMEaHAVBvoEfHF+3GYIVhONFgIBE7aOA7ZkCmhAA+J5ExFs6QtGjTSRMBAIrtEKZOQ49UkIMhcIW+ICAfSRIvhKYBeREvAFVUqVJnuRPCN70pZwnWELrhcESBGOASdRM0mRNVt5F0AoI2I2gxcIt/QiQwKVP8hoggk0g3B1RSgQZ4gSDZB0AKIEQ3EAt6uNIsOF16c/ESUQTgIFEVKVjvoFJMiYASOVEcCVXeqUhhAEbmBVZNpL7mf8lChxBD8hhWqJAGm5eq7RGNtUPXqQipKHCJDxCKwBAK1gWmWneRdyAWWKjgFmiRzYBVjbmYw5nZAIAG1xM3xGcZRaaIdxBF5TTCOzSntHk82liD6QAClTeBwDSUa3dW+KSKoFRTQQPIOKazvyC29imUQgBe2pdIN2iYn3mC7BBRbwBAAwnfjomI3RCclbEcnrCxkCBKyVajn1mgLVADXRjD/SAQ5nmiPXMj/BETqycT54gtMVAGLQcMdDmgFAEz+iMAakQezYfJSLmZ3okRdgnIeQnfu6nwA2l1VXm6wFABTYEFABAdlHEgbYACvTAQC7oN/Ifjijjja3GeFooqYn/QIAdFSv8AgBsKCFCqC+oQhxAQRKMKJaqyw+UaHaZlQvQZ4oCwIqyqGPeZydYQtUdopqywpj5JztKSx60gRhUxI4KmI9aJ5D2QSvEgip8QoK5yGjcBJzsxB+mBqTRiggQAiMwAgB0wqv5Au9JxBw8wZVmKZYCQCTG1gsIGEw2ZkO8wZiSqX06Ypqq6SG6Aqq2AptWhFECgE9MRFN+Zgso6BFUgSWk5yeoXMDUxNgcV51cSpjwGa3UACFIRCcwgiGcSORJBItZapamlQ2AWXa1AIp+6n0Wa6iSKQDcAX8O5WyaKrgeYtWpiuNQhBpgASR+GSXGQDeyQR+4AgCoQijk/ypX1kSYzBUWtomLCGsTYAImMCoj/GsVwMGTSsTGMEGlWiqmsieY2YCAgel9RmxDYOt9sqiYWsRs0ma4qmnLHUVRJQGOZlcvQuAn/EIskAK9/qcluIhd5Ii+BiuJ0UoPmEJDmELAMkLCRM+T8swtQYEBgeylYpEQvIBs+QDESuy1Zmt+GmvGVsS3hmub0gYT3ABBsoEhPKouzAKq8t1ysqwjvuxc7OuZrQEmmILZ2mwY0FCkNoQq5MjPiqiICoFsdSrSqiioiiq3xSjGamwruIKg5UgUAS5F0ISOmMYcnMEdVMEaQCAr+EIw6MK8lt9QLufKYuTAACrM8BkIpEATMP+CKXRC2kZqg1CEsFQBdzXEiN7AEhTrVEas3SrtYzZEJwRGxrIGeOKSnNxu4cZJFDVEcwKALgTD9IDN5aJpyhYaalzuXEiLwAhr2hzBHZzXRATIW0Lq8jCBElRqtXqqxK4o7FZld7jCmJkZRC7jcRUuLjWCwXlCKOjClNplsM5Fq1mmXNTv8gpMoJ4ZrRhJFTTi/8HbTt5S5+wMADyCGJgu6dSn64opITTw0gIAI+wd7SIga+5R70ao4BYI7vodAPjCLPSBQKmBX9zvTBwfV7bIaNxvwNDEH4rjB4xACihBI+4kDTecuQhILBBD55CCG7wBI7Cup9rnqDbwDztwqE7/hN4eBSsskk5URzbtES6ZWQbTJsGFpQv8wBOERx6ssIK8XtiqBvOSxky0sEK+MAooQdReRKa1BrzFTQcDgJNOrLUK8cUW67/+awM3MATP7mu0gtQ5cas22h4RLu6CUQfPwh0w5YHuDxSIgWwsb6GNHgvDhWqUq/WNAAoswSfo7E/AG5CgSii82hsXrChba9Lq8R3f7KIyarahKrxuRSt8ApKiTpyAi00UaUO0AqSywhbEAHbW2oHGgBQ6sh5UsOME7qqEzZNhshCMmS9oXhFWBKpM8ysiQt/qQsECwON2QidQbB6v6BrY5x37ayewgivMAjqfsysfhR/TpUXkxIKM02futuksGAIY+IBETURZNlPPzY8OakdPouKZ6ZwlRGo0SzO8TfMv/ELWHl/fxrEyVEQRN8ERsMESUPSoljMr6ELWZm06ay2qXsQhSt1R5IQ6Kkj6PsKYvcInWPQm0ulMuoANKMEXxMFd0GNr5B36FZxc8JklgNjmHfT0JvS09d1C/8IsHN8nuMKyNsQsfG7tsUHZlu0Pf+MdeAJHc/QsdDQ6f/Q6T4SqKpUikCGysep45sUisYaMSd4dHIF11oCOUuIs9Q8WDMX8ZFqu0utb1N+zBAQAIfkEBQYAAAAsbgAZAL8A1wAACP8AAQgcSLCgwYMIEypceNCKFYYQI0qcSLGixYsYMwJwqLGjx48gQ4psyHGkyZMoU4IsqbKly5cwBTp8GLOmzZsYZ+LcybOnQZ0+gwqNqTOBg6FIk4osykKp06cXdV6QUQWq1asKixqJgrWr140DE2z9ShYqTQABxpZdi/RsALZwhbJ8G7fuzrl289osaSSB3r8v+foFTBil4MJJzw7FwrEv4schGT9k0QEL5Msau3SxTBmz54tYsHQB0PmzaYlaAYg5zVphaCtQxHJtTftnaABiCTNRkoQJlNoQZ1rO/bfLF82boShXrtirw9DIk+9WosS3xOO36ep1CMWK6C9izoj/Ob52M2Po4duIN/9cNHIsvw2Gtoz2yfb5sKdXh0L/62soTAghxH7uvddeF2KoEQdC3wEgAwHx2TWfaOGJMV4XsJUVnnjH5ceEbxPmp8QPP1TnHX39dWeZDgTohR+AvYFo3Gpk8TfjhRPOqCAc6zGmYoHJKSEEiR0YcMJocUGHoIWrNbHFh9SR9SGIE66CiSSANFEiE95pFppyTyhHoRptqCfGZgkQYIRdVjCRBHVKAABFETkMgQQXZqTBQxpGXNHTDzbcMKCNBMEmJoLPgDOQPPLEA0A64ERqDTPD3ILJlVEIOKBvJ8KW5gl1paeGGmcCAMYppwBQCiiscsLJImvW/xTHHHCQyl6XFnIIn5BDgnOPPb/aU489xLpTrDvu0DPPPO2kc845zEQBHXhqwBFHAATIEIZB0THGhFOA2iAElV+gmsq56J5big5wtETigEl0x91uQwqoBBQInjFqj1jEI49Ayy5LDz31FCysPe7Mg0455JATDjm2LCGEDTb8MKAR2BrhbZQAcJnvqE6ZaZ5AhZyySrrpngKqSPqq0eNzxukLxxxxtGGroSoah12bt8TjL6NAAwD00PLMYw453WBDCy+bFNGEDjqEcQUWDxLQhBs2n/EFfFPKqBlST5wIn0A6oGw2KGp19B2TZ7Y54g83WHyve1g8ISSJcvMH3hni2f/i889EB140Os1MMIEHHhyOuOETINDABAtc0EEU0vo43aZWdHFGG3B0Tip27tHoEhNhI6iGQKCgK8l8JZ8LigweBSooiF/Ujh0UT4SJxRebz0qzyJJRqG8bboDTzvF/J+8v4IzWw0sDEETfwALTL2C99QgsYAACCSoYRxy1tj1lzu9BkcSQFAtaXYFjM8SheRQaJD7HgJxy7ikY7lb2uZysnBl6vfteHNSwtQC9izdPuMUmEkELWMBCGLvgQg4c0IEOwMAIMuCBOdjBjp8p74M+MxoDokdC6RngetczANww5yUADekGcRvU7jaEI5gliHMCVM/WAPShzO1tPVAYEcX/AiUgTvnoCW9qgv3OxYYEWesOS4wEDPyUESHcYIhxU8ITviMdIa2CGcwwBzUceIlLoAEABiCAGteILQIAgR3rWAc72hHCdNhjYAET2jwGJwrqlRACDXAcChdAgN2AKEHfmwMRcIADNABBDCeKWbW+R6q6ve1dvZEX7u4GwyxuUVQvO9QNZwU+c6UCFJSzERuWCKuOJEdMvLOW724xjWmMIx3zqEc7hHGJOoiiFptogDCnNz0DGNMAxVgWowLGzKDpUR7Iigc5ArkABBgze9ZcIwGwdQ1ySIpStwgnBBiJgxCc74oxSN+4KDQervFKi7vbHOfgkDXQzWh4WTuTCw/I/6VTqesIJBqiDqL4ESzsJoZKmEYwtsEPfryDWBBlBy1EwQtclIITggjBCIVJQmEeAwD2AKlIQ0pSd9QDAMrKo7LQgY1jVKISkKgD9AgwSO1xoRnRsIY5noWOOBqDnJcAx6QqFU4mjMlac6BZ+KRDOyeqB0PnG2KgtqTJJ9ALbzpIXSpOAYg44AF84nnDEjnxESHaYBjM4Ec/1soPfODjHfl4Bz7cUQtbbEIUKoCA4RzgAAtsgK8MoN4x8uHWwt7jsIgdCLF+xVh85GMfhEUssejxjW+IwxvHKEYl6lAJDwDBs0EYAhC4wAU0YCAEGDjGTp8Vx3V4Ax3iiBQ4wBjOW/9wzYroTKe4jBqeUZ2pbrvpTeacKEDwqccMi0guGcKQq32J1X6g8MjvxIAJedzDsfkgbHazi497FMOuC2DABBjAAAds4Lx95asBKoHd7br3vYQtLHaDdVj46uOx3O0usOoRKXGI4xjNoEUZgRCCAq9gBUAAghRKCIkGi6IYx/DGZdlhjnFE6hnMqO1RE/m9W4DxGRjOcDir0NtRgUEQAFiEIIyARYsxoQjJVfFH3HYMXBZtj/GgcDmsUQxckJYKZQCAFBhggDY6oLxFDoAdQwrfJr/XrQCIRz1wzCh/LctYxGqyPu4L2e7eI1nmAMdlISyKBiPuzGjOgAcyMAFRuFn/FMeI8GXREeZIUQqt7aAHlolVD4LNIx3liIYtokAGRwikDHkyAhmgpoMtAEAQyZUDHjoCGyQeA1kQNdYzoiEIOfBBEHsAQBn4kIhSZ4EB2KrmAbZZhz1DVFkFAylit/srZt14WfFAHh11jTyf0XEesq6ve7dM7PgGi79i/sYxeOHmOmgAzWdmnF4nUIxwdMMceS6YsdLxjm57GWHZ2MOJHbEIOZTh3GVIg7nl4AUqxDgN6aGkRZI6BzowQ88Hc0c01M2HfpN6D3yQQ6lLLQcViPcAhAzANyDK8IZDFKQNJ9o8cn28XVf84hTPtcbbUWV/oZTh8G0vYbv9K2T/9xhu/4YE44TpDY7Pg+Hdfug7EHtYYdjBDJAutxe8gO6euzu5SIhBOsdlhb2JjiGHAIAaujCMeRjLWNEwgxymngY7yAHgibg6qQWRiDSsYAMa0KsD6OHwspvdHslrx8Qvzva2Vzzju9a4ozReNH+RHVjCdq987wHSPg8MHHc/+2IP61Z7aNYR5FaxiuWgbnOXYervTsL54oWgNswhD5jPA80WpJCtDcOO9dC31NPQc3T7uwx7SL25SbAB1tfC1YIvuzvY7us5uv32GOe1rzfOezp6MB7zoIdASAoAmhtfsnwPFsLwOPFywIILiI9xzhVP/ZybgVZnSI7ubqQv8SgkEHmwhf88CgaOdJ8bAF4YwxiywHPU88EOWZi6ub0ghQ1wYeFPR1jsG67L43Gw4hwUgG43RwSIe2+na7y3cXFHR+xQDsN3XXt3XcdnfHxGD+3QDHUwfdKneJDWgTGWCHrwVE8wMUJXghSzJfZxEAsCB4nADoxSCz0nBUMAAGOABEggao8Xau1XBl5AAhbgAemALJg2LPlXhA43DwEogEm4hO0QgMzkaxdnewY4hcdzDuZgDsUnciFnWBJIc2gHCxugboIwhjG2gRyYXEXABGBABmAwHlZgN1ZUgiWyRbyDEE9gBOdwPDnQc1lwg+g3g+e3B2mgAui3c1mgAh4QMAOziASjbUL/eDDDQiw5Bket1YStBUeYGEfnEGfRECnfoCzJ4mc4FoVU2A4AMEdWaA7hUHxO1or5VXjrgAY0RT1nlgM5QAU7p2JkmFyCUARPwAWX0AzsMA7W0At/8AfY91vfcQbtYhCkwg3o4A1lMAZBJmpeIGpjwHPp93h2IAVZUIiHWAcTBzR7xEyKuIjadkft0Frn0FOUuA491VqaCATRE1jRAwALUAluFmfiUFnBN2V7JIVsV4BwVA7lcDTyQHbX5YoMaQ4hYADChAAlBD3CtAD4eGZDYAZg0AV1UAfh8HbxMA7jkAu30Ab5Q4IJkQfDQA7VoH4AMAVSgIPoNgY54AQAkAaC//iNO+cFKiAMB7hxglOOwacs6/AsRnkOcYQOStlT8XgOu8AAHCU9KAQAEECV+GiRblYMS7iVSWiQ5FAO5wBxxAJS6nBlWciQ+QANCCBIFIlN2kORHZUDJMADTMAF0cBx5FiO9bAP2zANt3ADLxADCYEIe6ANvOCSTmCTpTcGiUmNeyAHM7iTVMAAHhBTaAAM2uANLSeQcuczVUZn5mCQB6mJS1ma1wA9gERMFWk9xGQ9J9QAVAkBxxBHXJmE59AND1MOUrZ/IwVsIOVW2WUPy7A9ECle53WcFuAAgOQ4FUkAF7AJ6PBQENVnBRMw7rAP/LANALAtBwEeYlALvHBoO/8nkzO5jXJgdVKwk1kgCtJwDAIGBGigZjmgAvooCsJwWeLQdqEpmuVADdqgDUdplOVgPX/UUcM0TKx5oBAgj5f4jutADtnADeFgDi+3f/vnPMR5AH1FAirQoTmgARpwnGhESBMwBLigDl5WfMMnLMtkMAjDDHqAEIhgC6LwjdMYZKVXelWngzu5CRIaDkAKpN4QDdJQDLzQkSqwAAcAlW9WDMJQB5BAkRwlTJAAU8VwDVEKAWtpTAQgkQRaoBMpTMkAj0oJjwx6DthwDdmQDewQeBYqeKJAUw0wgwM3cJFgByowARYAABaAagugAscQgYclEPnAD/fga3s0LCmZB5L/MAU06AVTsIOL6ZhyIBA76QTS8J/awA3dwKnd4A3hoJlBWg0AIA28AAy8QAuqmgzLAA3YEA4GSQ2yygsNVgmpGZV/hJrakz3XU0IMwA6lqZTtiA7n0J/UcA0fGYlvKniVsABDwHV1WmqRkAjTugcqYAHJyQAEQALVwA9btl1udVhqBQ/+wA/1QIn0cAsJ4VVSMAVlkAVDkAXUuJg3yI17gARekAVZIAW1cA3VcA3XkKbYoKncULDdcLC4+TAQig0My7AS6pUNwzASSw7UQKrM9lK5iqvRAzmuuQxkupRGaQ7XAA3QQA3lMH76h2Ww96aQkAikVqfQKq0DNwQT4AAT/xAAkAAOjkVsPFuo/fAPQPsP/fAO4nANkhADLXADDVEETuCS21h6XpADNGh+SEAFUzAFTpAD0iCrXFux//qvATuwmyqhScOwAXsN3PCVDbO2bLu2XjmxFWuqogBTqKmxDVAMAEqswlqs0LAMzUAN5iBljviI+WehzyAHXNdvjyl/lQoAL1tqY0BkOIsO9qAP+8CzxLYPjqVWa9UP/CAOSJsQX2ACTuCu6pej06h+O9luSCAFrjsExQAAzUCyJCsNW9u1FXusYau7AJumD6OwbRu8DKO2ajuxDFOxAHCxlXCgDVBmD1YN0pAMwoAM0HAOwGeO6DgwoUe4+gdRnOZvi/8rf1Y3dQJRp14wXgewcCgla27Fs/uAnfzwvvtgD+NwCyl4EHRABuh3bqfbc9mYr1kwBQE8BE7gukggCs3QDLKbwAycwLRru7d7DVsLsABLDQVrsEEKvMG7wW7rtsZLsRYLAFUaPUAAC8AADdg2NHt0a8zEiNprMOAgCHygevJXBlKgblYHAJWKuAMnBYbjpmVHc96GD/YgDrjwBwrxB6V7bl6ABPP6v/rquk4wwIlZwJDgtwqcwAu8xQw8ENQADc1wDbrLtSUrDRTMsNpwsKEKpA7DwR0svBErseGQDbAQAhAABMCwQRiXPOTIwi1MD7YgCHYQvlPXg0NwnnIQwFX/52kDlwMIoKwWalLpEA7GgAmBoBCKQAbpOQZSkAPpl41RHJOJ6Y1OQMCJmQN+m8pavMpZrMACQbLLcLuyCsvLUMtYDA22K6sUnA3YYLAJ+7tu/MZriw3AAAuXEALTs4/HEKotl3u+BzjlyGmILL6FXAY5XCcAML6JIMNDIAqQbKH1EA/NUAt6EKMIMTNwkJipC8r7GpMAUMVTPAV2kphDQAu13AxYnM+svMDNIA1gXLKzDMYCsQwDDQC2fM+zi8vUMMFh28tqHKTBPMe74ECwsAvFQAsdSY8QcD0vVQnFoJnNjHHgcHXjy243yLhUNwVjMM2f5rKisKzFMg/kQAtk/5AEVZEQgwAAmpx+AOy6QiYF8FzAMDnP3ZzAqqzP+GzUDEy7AECyX0wNrkzQBl3QUz3VtWzQS63QFdu72bCpD53B2DDRDgQAEtowQCrBRYrRdQAECEAACfAHcVBbiYILWce4Q6ACK43Seq11MhwNxZKygM1/7bAMoqC0DIEI74wEAuy6MSnFQV26jmonNGvLSX3USp3UDty3CU27y8CqyeDZVS3Vok3VB43Qtcu1Z7ym1yDWu2AMDv2pawyqGRwO2AAN0RANw4AJpYAJZDDIKK1+07zXi+xp/ebX3Ht2CYMNlUAGN5AEEUEGNsjYjx3U7SqDDCAKpX3PqozZWOzAm/8Ny33r2eLd2eNN2uYd2ged1WBM0Q9UDQy7pmN7wZ8K2+FwWaPq23ud31M3Bh4Qf1rHB7hwjouIaUVYD+tAC5sgENwJEdDduo493Yk5BVRgAX9qCo5QC7XQ2qy63UjdwEud0LU83p9N3iQ+4iYe2uct2p29DMZARg8E0NXAuw0ttv9psJqJC2ZQ0vqt11OgAl4wdapXC43Sx+cYen0WD9BwCYSAxBLRBmJQBDYI4fCMBIR4ZAfQB4GgBwtiBICwCbhwDMbA4Zed3g1c4iJ+5mbe2SiO4uLNSxQNDKWKy7IsqzH+tWccsLiA0mlwkzqu39YM5Kl3l7TnmUI5ceRQCZL/AABMPhFMwALzDOE3SAKSvgIIwABFoAgDkXQAQAdtIBB74EunetTZzcBpbuJobuqlXt4GnQzI0OKXYMzCkAyyO+vQ0NRyPud0TtBjgMOJrAJTsOPArg2liYltl2voAAybYAmIfRFE8OhTTois13pBQAIMcABFcMkIEQcbkAEcSgI5EFNuBguisDS0AAxLwwvCYAyfjersfuruTuLIIAwA8OoV7beznsX3ntCz68/SAAmty3M6PAZD8OPAfm57XQ1XmPA8VaZzBI/aAAT6e9MXwQPOPgEqIOnRLu3T3noAkAfdSQY8uAEAQAIacAED4e0HJhAM4AWlRgYubwe/hAvG/4AM657qNt/u0gsL817Rso7vPu/hDCwMKwAABJx+fA7s5laTwz11uCAObCuxCr9T5uANsGAENeARdWIncinpAHCcIj8EQdB6G7CnBgEFZCALqcAJIk8Q5zUBBzb0B9YATtDyNyB0KZACAGACRWAGm4Dh6U7z7X7znm0Mu1BGl9Da9y4QPw/0kBAERP/OkXqTwb3XXjAEv051aZAGy7zGbOzBamsMY+ACH8EGHYrxAuH1G6ACQ68CF8B6APAFry8QSgAG5wIAnJADay/yx/n2b08CCDD3fEAGJlkFSwAAQucCeD8QZAAIiWALuIAL01vzgT/ihG/4D9TdQJ/94SkQfv9YwO03+Xr954xHekOAtvLtDWos2w7TDFxQ/D8AEms/EKhPiEPPehewASYgELgjCatwCgCxKNIiDRsAbECYcMMKhiuCrHCAwMueNIgUKQKQEU5Gjmri0KHzBwCijIUwRaqFC5cxZMmSLXMJ0yUwWJdsAkPWTOdOnj2bQUICAMnQoACcABhTJo0dOU2dPm1aRqoUINWuXcV2TRs2bdy6avN2bZMhjmXNnkV7dgMJjgoNMhxygcTaDV/UgCmU6tQiToKIMHCbcMgKAAwf5pCTBimZPH8CpYU8cqRFkoUKbdrEC5ewlsJq1twlbJlP0s2AFSU6VKgTKWMyymEqJ2nsqFL/p2zSJo0aNd27rWK9CgtTZOLEeahom7CwihVlAMwlcYHHFlCpSgmUQwRAiYJuNVhY2FAF0zResgz5k774egBPAMQoW8SMFEg2Ye16WbonpCBCU6s2SgoApFqqjBw8KCM2qcowz5pkdAIAGgmhkaZC3aTZ5Q32NiyLDeQyUqgww4KgSwUiUkmFk0UWSYMMPQBAALzvLLBABRotYIi5ptJgMCgw5miDQ+J8eK+sEUAAwIQ6IIEFmNH004kXjv5LbTWkpLJjiiyWSkyqMYL4whppAIASml0keURIIYsw6KCEmGOOsLVUYO66FctwEYBDDLDgOwY0IIGEIBxQIVAAluJx/wwvclhAhzPUVDMFAFpIoYUXyNgEl2Nw0Y+WHDKissqikioDth0X5AUbTKyBBkrT7KiiC0g3/MMCN9uE8wKGFlrOiYG8KCIjiwigkQELxkiKBGM3mKABFRL1wokcEDjBilnVjCIJbaP4AoCP6AgEE1NMsUXTYxJALlQqM3LCC6lqkwoXbqhh4ocnSzNmE0lduJa9YA/iiDldGyKMzhWGQOKOR9IEQCQLHHDu0DQmHsICBBAAIAtFnRgiuij6BTmjPy5C5BCTEdHDBMJIWEHdUJ3QeEGpjtFGm2OiIANKYewYIeT15gAgB7YyEngF5gDwwuiGADBCiTDcwAOPCwD7NP+jiSc2EIEFnpOCYxU0YMHnfmOwQYgnujgjjkAQucOhlVt2+T/WssjC3VqqgWYZTLYARD9gNgEBSbGLM+FDAOI0eAUiNCB4BR5+qMKNQ0oggAEHFBuwDCIwH0ODrQ0YYohCJxh8VhRGGAEFFCp1IYYfgkjjobnojFvuuYso4oayOCVtl01ueKH0jMi+QQkmsECeCRBBVEFX55mDjrDCWMADkUaCMGABBpQCgIgcVKAicyouDkADFTzIoAQ8hBfyA/ffFwF1DqhwG7rncqg9NSd4CN4s3u9NRi0A0IZHCc99KHCBDX5wvC90AQtPMEFBPgQ9uciFVw55yAqMcAgjEKD/ARNQShqosIAAbMBdSFsABAgAgQx4AAJseAxHYsi+tLzPhh0AgcoyyJDoBIoEKnBC/pBggrQAgyUPSgYwEkHDjHwABS1w3RPsEoc4zIGKbWDBDwU2l4SQgHGFechhjFCEBRigAVfzAgMMoAEvHKoMCGiAARAwgQlEwA8vYiJxUjACEbzvBCzQGst2SBi5BKx2JJDBEpZwFpFkBBOYyEMe8giA1v0ACmJoQxUbk570FGEFXFTI7JDjtjA6hAxqNIAUsLYoKvBIKgHYGh0XcIIWTJI4SRDCDWwQgxNkgAB8Mkzjeki0DeAvVERQRCDwsBFbEqdsVsDkRzg5zfQYoTvQ//GhoUhJyiCogAAqmMAYrsYjrBHhlx5cgAkE10y0WLENajjDF0oAgQAwQA6DXJpc2OJDFVAJAhz4QxyCxE7ieGQOmwTDJqlZBAcgJJvZdAAYwxiEIFChDHvgQxAYgLVxlmECv7yYBNZJ0LJQMw8laMAvkRC7xvFQn2vRZz+J8lEDFKENYrAWSdEyiEMgAhGBYIMZEiGIPZAhEWC4wxs4wAAGBKpQD50LjjBIUS+kQQ4Y3UMODuAucpaBAQRAgAEMIFKdmoWafyiCChdgAXw2DgAvxSbLVJCDFSyAAEUQAxaSoLuylkWKapjDIXggBz4kIhKSMGwkIpGIRLQRCYMxWv+gLFgQDBJhSxjlwx6Y4ksL/HACXxUrASow0rKelQ1lNAADANBWYb70qXPJgLsggAAIfOEJP+irkZ4YAx80wQNOyKwkJKFY4hbXuE0x2o1WQAUVNGUPmoVNecQ6XTn+0gS1JOgfeJqRQwTCu95NTwnkuLWWlveT+lzB90iwUkGUYgyBgoIQcmsWEKAOBCWYAoGcKwelJGIPcjCuYoc73DQ01XITGMJzmWKHMihqAgb45XghwAMxkFQIS1ACFJ72h0NcRBE/fYNYFyCoDJagISVuHJ2CMIYM5ECcZeBEJJzABCgoAbfzbaL7RMABL1wVs3wA8n8XZNWm2IGxA16sFML/CscsRLfB5mEOByCwAtyVNQYtON0TEygEJWBBDHAIRAkCAAEN8KEMbmuciQkmux9awAOe9IIgInEKToDhDAXEMQDgRwIptBEpyFIKbJ47aCDz1zmGRWwiSDABCJhxYsgawxSQoAI2SDK3LtjjB0QQONShbrc+uAABJpCBIeBTzeb9pAneF7SmcKIUkTAoSOZrwxOoYAoccc1ZAG1VO2CWwWVgbCLkoILZEsADXtgYEpyggn/1FcsjsKENN13fETQaAixD9Qo0QNfGRcB9HDFBGQTBCVBwohN40IN6Zt3HE1QtI7lOS/jenQZBZNYLiWCwFEiAALBOQQrKHsL3mq1T/yyDINoH1/QIYqTFxBFsCMuWikOysAIGnOADqOPIEJoCClAsIt3qzm2nC4eU9YSuLGP4b3m8IIUcDAFGAfAAwgIuNB7gcYa2fDbC3WcCi38ABCzYQDeNRqc4TQFZaXCCcBNBhSCUwQIE8AGRysIDcbsaAJ0YxCbnC0UfrIBuXgC7n9PihKMgDewAiG7L+5wD0M71exloQBEOoVMl3CAGLmjBsw3uPh5YAIcscAAPxbMCJyyo13yQRLklcc8Hc+ARf2BmxgUhB1BcRw+BAHlfu/AFIrQr7GEnzueR0hQV1E3SJIAwCYQ2gQU0QAc6vaIavpAtu+O93RNAwAFo9MMNMP/nU1hC1pE5kQjhRoIPimkAG/BoFjKUgS+lMHd3b65TPMQzA57//NlBfxbQu0s2Q/A3EnCPAA+QAALag4BO6RDJPNDBinGAQxu+oAMSNKCMoXSxUvbgGmQDoLDCHS7FEjbkWD6z6AAnEARBqDxBwANFaAQcE4IYmIApyL4KPLu0CDurIgGOyYFGSyH7Y4AJSAAUICmFmqZIYoNF0xoGcDuluKgmw6jEECcAwCzFQrzFSoM3sDS0GKxFKAXoKwQiyam+QgET2IC6URQL3D7uCzupyIEnzAHcy54GCMEGICKSOitOugMPgDAIwB8XRJamALJE4AP+ygIp2BI5yIjEWqz/PQCEg0qLEpCCFSkFACCDwMGxwIEAJOgzJVzCssi+pJi085kt9GM0ssquLPyDN5BCFUiKNHCNpcAsMmwKZFm5LJAKPpAzSdiDwxI2MFgftACBwSqDOowEMBABACAtgnKfCjCmoSA7NMw+Jvw8S8yAFrKrBWA0CBgtLFTEN9AAA/CA/BKnegOyY0yMrmIQKdASq1oiARwuiogMFqACOgSFIkCBb+srnwOBE1g5AxmCbVO2uvHDsAsdZPOCUWM9A2C0BUBEXzwrIqCtlUuDMQyyLukqV9oYTCwDTTwsORiuT+yWtPAAQShFAIiEVJw19wmCVosEpjuBXhqCPizHxwK7/yEYtUYzgNmSgNxqBEWQvvR4gwVYgBy4KGTkr3x0wa4Cu64Zg6tirEgQhOE6viE8CxbwgkXIiGvso9x6HyKQA06IsSFSxSSZSC8YinIEu0Vbxwm4gPl6mkF4hEl4hI+kHI2LwZSMxJXkykQ5QypANiBTrE5ELDkAgzCAjByYvDpcBMFRSFZ8HydIA6GMBCQ4gfjgQykYAnK0QLr5QFgqAlnJLbL5gSWoAjHwgxBrLqdwwaCRgq6ETNdwSQAwMsPag4BMAzDwg7QIN74AAE4ogrckqRaAtg/oMbrMgbuMD/ArxyyYAhVogLBqgAugAA6wTQmIgAggqff5NCNogFJJSf8wZA3IVEmw05KwLKxIIEt8y5O0UEs5+MFFoBQSJCklEAIbMIKJKbdFGAL5Yj5l60sqkLTpagDdhIwCUAAFeICOpCGEK4EhCCHIJE7I9IIpIDtx2oOYTAMyLINbgwwjKANHcDVOKIQoUAIbIClFwAM3AAM5GDdOyA48y4hIIgNlgxmwo5uuQYLY5IAiCARFmMpBQMvzTM8HWE/2DBmE44BHnE+VdFEvOUONIaxjbLIsIIPpK4tBGIJFgM5SkIU5ABqCsoipBAQ5WIRy0xzIeAMeCCKya9IJ4AE2qACzYM8YSIFViwz1fADzvJaD2zEWfdEw7cqNuVCusgOwG7i0IIP/NIgEq8sIHGUiTsoDMwhKUIgELiiCQUAL7wIANggDIigDFiADHvCuKSUOAUBUAVgP75wVL9WOFoXUfKzPIBrHaHHQSACEUEyLSEICHs0FAJCFHWymP2i/OKBTcpMxI7gxtMAIPWW/himdixsBSemXg0OOSIXUBnPNIAq4DVTAH+yLO1gPNUwFAMiF4SApIMEC/iq3SEjNVGwdLhvRqZyEs1gb4ekZkIk2FPg9MfXWMchQJMgBMiADPCgCKmjTHwSFXjg3OOWIPxCQRfhUWcAIdoqDL0gCGTDIZv0ULC2OhSkdRRUb3nQBy3oxb41M10QCEqg5PcgDPBADFYAxVyuF/1441shIDzIAsFUw1kKgBHaCghtAASNYkXK7J4M7iwIoAJJ6Ip/xNBfwgSK4NVdC2K5SlCmovxLIiDlQAysQAmqkAnLLhV7oBVkojj8In0gw1lMAgMjLo2crgpLlhDFYAeosiwHAWqxd2fbhkBToH58hGyGogiLIggGhAiQgEOLcNQbJAm+CgB9p2i5QAkwDn0hIBVkY2lwoBCHYAsgIBDLgg0hYhVyQBaRqJtT5ADMQhCO90xMYgJRV2cjd2kaNjBSAj9JxAzfog0GQgtaQlgF50TJ4rKRQlBwgAAIwgh1MAitFARaATx8d2qLFrrSgBB6oRk5IETIQzDziI/cxg/8jtdMhSACBLYvIVQD0NCCFTIEbgAL2OQQ36IIigBkGgVSOId0soKcS+IMgBYAbeDYRsF1OOAW8JdpCII4zIAMqKDskMIJmep+Ns9McENgPKN70TE++YqIHcN6M8AH4gBmEdUGwywFYYgPuzYjTMbj3LANQwNu8JYPIiIEOAADLQQjtsCV241GOc1Y9o9+ysF8FAIAHoIBJkoARFh6pK4Eg+N9c3ZhfMgIDPmBoCxwTALvxzVuOjQwXkKMDAAAaAQNLmKTTkQGZNFkV0EazAOH1zAgJZqIKqAATFp7AYYFxbFFwNY9GiwAKoADcVB6O6KP3cTHczYW8RUXIiODci6j/GgGDB6ShvWqBIhiIcvuSDkaLLGZiW7LNSao1sosZmzWPM8yAC+DSq8XaRBWAD2CBx7Rhov1UMz4ABFAtB/iODMgjnv2C340EO0WCBIAMBTDhsGmmDrhjGjIBDrBQZtSSKdCStn1K9jBkFfAC3CVfvU2LGBACBwiAA6BgB7CA5iydSKIDCjDSUohfTk6LCigBnQ2bEugADiAoUS4dPDyBCyAChGGNrrmACxgARF2PrN1mBxiCMYBdRm7fs4gBJQiAAAArXnaAhmIfTtLipiDmDY4M2+QAFmCBEshnZy6rZhaeE+C5iBSAx1WTAsjaC/CCOZvlQrDajHABvgWAdLYc/xrhZcYoHXimgMnT4BwwVMjQYgDAZx7Y5zyz55ARHG6GlAh4gPQsABerjjG2WEA4CyV4FHXmYUnuYRZwV0jBaA6IBOiEUOkhjo/mgaIe6TwriwpY6WshXkjRYtxEaC9Y5KItgIHmiC3wA3UmAF3mZfBQrcHB6BJQESQ1HOKQAAlgAaPOZ6SGjKxt6hqi437R4i2GZU4Y3NjFHJVVgAgQrNPVZctRowsQ1ZBJDy1GAsWyUydYAWguDvXMCKMeZbZOi0Juan8NmbmmgH6S6ga22LNg7HQOAAgLgIQSnsIug0iY5yEY5OIYgAKgAH3GZ36WbKTG7OZYhFSA6VyQBAmY0v9BqAAOqIAEMOYAiGgeLm1OEjcNNhyV7eYBoIAKEGUOyM3ZzjPMvgD4tOG8NYMO0Nkz2IInMNEEcIAEMAEHQFGw5qSX5LhFyAE3KBJXxtoOcGLcpG7anusV8AIqmOpG5oi7yzstjQA1eGeRtCgkXQEhwDIOQdQCAO4KkIAHmNzmru/BwewcoAIGlgVGtgRLGNG84wgSnN2L9q4t+CEucILoOB01QdQH+O0KiIDjXQ/JRc8In3Cnvm8qoIK7zdtc6IMt8IGv5YhKaWifcYxAmBwImAALYIDcAwCCTotE1bOyWPEWf3HiAOHjPd4ZVwAnr3E1qXAYu1tGToQsn5Qyz7v/BC8dI1cETSiBEJxgA2hyDonrKecALV7tpN5ilWZpLGfuLvfyub7uzc5tMxAA403PSQFysVGESSCFN1Cth/nq9ok2ERgAFuduZkYLDhBlUaYANRCDleZzGvfz9aht59Nxi02EldXrD1aAtw4ZVUCFQ5gadnaA0+VyNcnaKJiDRhDpUa7NTQ8EPXiRYI+DM+gCXALhUReSua6AIRB07YZxD4ZysckEVCAFMGgAHs49fsvlWxeSAXBsABBpSpg7Ldb0DvApzCPVYCcJRACSCvuBGMhWZR/q5+YA/M5x8rXYrdVfAABhQ3Z1SPkEVVAFiOhqJS/ukNnSjlRrZ+YAnzKZ/57qrvQwchmq17JwGk2ld7NwYts0SQbO7SXKCIPmCEMeHERAgHYGDwcwgAMggI7EWrmmAAlW600XZYsAST1xDLNIJsiY+EbaeHvugJZpI31v5GSX8mkPGTY4MPAoFgTg5CogZJRmDy2meR5g5k23iIy4CD2ZO67vevZgv8Ge8GTO56YT47yVBFEHAJMPGT1gKAdIckgvowAIBUXYTLM4EtGs97QGAJvvgA8ri4sHgIt4QD4VEvYDeuq+ZxZQgSHQb87OBTN4cqoHmSJoALmnkQW4GANoZVIIBYa5Wg7RYhYQZWYuAU2gBNX/2A8jicJ3wEb4qZCJpMzDMRZP60JgkP/xZeRcsPyMcHuQAYN0Hi8IIwB1RotJ0FMAUILLJfWZ33QW0ITpp35KcH2SMPyR2Gk1qX3bZ+3Wjtx+eQAOIAIeUAULH98Mt1g+aG0AmHelB5k/IP5zOv4AMGbIGAQ3GFFSz/oOAAhNAkdRIigQEUJEihoBoIToEYCIEidSrGgxD0aMFjcWKKCg48ePAzaSjEiBBY+UQah4SSUrV69cpyJE9NEi4oCRJXdWPBAgAIGgPw9U4GmUYoekLChpouTUKcFGCBUtBNCoUSgAfo4aFRNHo1GQHcV+LMA1YoQSKVHxKJLDSylZL1ctIsKiw6A+Dz6eNUrBAYGfP01woGC4b8X/ChUMG+bQoZEmgpSsOm2qsColrJoQ77yhBMoXNTzFevSoIGRHnTwfdGBhhseoIjxWvD11ipOcIDkudJgEoEQJDpx3cnhwwYEDCRwCSWRMYbjiiH/+UC54tRHTpgAQRZwcKmtEEMMtghjx4keSnaVRRzxd2ixPBRxQvpbNocKFHEOoBFmhYoUDADBXgWPjlXSIRAgGwpxFh3EFnHACLvRUU0wVRMlCikQUCimDGEjRBxOBUN4ILpBEFgAKAGCWRymWtpMCEqhlBgCyLfYXAgws4MAGJFywQQl/UKBYUR9ORB2DAByiYJIkDSDAThFU0EEJEUHUEAAEafkUQ4hoQkqH/2EsYSQAH5h5pggAlHfDE2LMQdFpfK2oYkTwpSjnRgqklZIZNt74lwE5WvDjBRaw8edzZALwB3fbcXfIo2cJMClFA3j0gESkSATVZBdepSEApBwipqJnmikCqiDEkMQXAGSUBx1tqBHBXh1JNFZId6oG5wPz8WCGGSzc5xxgCBzAY48XBCGBc4ouKmBCCEWEIGeTWkupRGEcEtkro2yKZaaH3CHECGSaauZFeUwXEUKBzHHGF1HQaWeLLu7angInEdEnAIo5R4EEARhwgAUbXADABgYzy5ii013lKKSHNOksAEp84YcioYzySpaWTSZqGEqgUKqpafKECIJ/ZBRHG/9iRKGEi+zZKpECD8jIQhFk8HAfooYZQMABCwyqgQMMHHDBwokaOd0h1zVCVaMUS/QCADcw8QUcXm48CtcAWHLGEjeZe65RjhVGwYJJ5hEHvFEkcYMLMaw41gA1R+Drax34+y8FBwC9AAAHMDC4BQc8wHDD1C30KSITK4pCDJFHbnUXbgwyiSqxqGJJGC2YbOS5n5fUgXDCJXV61IisLUYXtM59qZQz8hBcUXxT8FOgBCdctAUOIE7mdIyCqkjjUkfkgg0A2PCC5C+48IQbn3BMSh9hbDE22TyZDUBSJZweUVJTEd8BAACnaDMFHRDBAwB3LWbSv0AZ4IAGCRfqgAX/C1zgYOKgPo2y8SAnNwBILgbn6cIdHqEKVIwCFV7Dw4fOhS7tOQY4p/teRYCjQSp1rzXsg1CibGeAAACAAQUzmAouQIINMEBpzlrXpxThuA+hwAU3qBoBl/eCG3TBD5ZAhSYUwShnSbBs3uPeBZMSkSpJpEolYMFvWIAS+rDAex04TPD+ZQAADAxZG0ihjxZQBONNhyqfigMTnAUCFNjgBm7c4QtsYAMsACATowiFEKljvAnyRIncA44UgQO+3ywxIlJsH0p+xb0K0OoBNAkeJPOQAC4iAH8GuwAYL8CAPJCxIZpoxCG+cMPHoeAGPzDlDW8IBT9EJivrMl6ZQqQ9/z8mMiUpgSL5mmhIEwQykVXci6XqBYA5QHKSARDUoC6AyQ1MgAAz/NB0mqKIMwiBamRqQQts6MZT/uAHV4gIKkLBED0S0VQjGOXolFhLW95SgxORIvtQYgK7sCACH7mWpegkkQTgjgH020DvFtCABRgADJykWGgQdAYo/CB5RkJBC14Qxx1WTQk91IQqSAGqPZpqVV+IAzkr4kd28mCdH3wnSgCQkifeBVNQuha2JCIDwRDgZwZYwAIQQNCCHtRZP2iTGMSABSbcYGQGgqgLJKpUqnUBAJpgYCNC6iwXiOBMLRACFiSwk+6pxZaHrGUVC3nIlbavBPYswEthWpGA/f8kKAZ4KwLeSoCeUgwLbdhOHMSgBLGNB6JLdUELBhgR7cASAH3YwhJi0IIbRKF8W6VSCUxwy7t4cCBPy2X7PshSCuyFUjCFUkUEAxS3BoUAF6ADLEG6GQy1gY7jwWZEIueCpDLBDQBQBQAmgQipSs0SfVCDGyCoPYlAUaW9XO0opIKIp03Ie4E8K2jVahEFiLa0bjUoLKfDFK41gjmN5QxfCQiAF9T2E90JBEMKWxFNnSWyEYknDzbTHalERBFLwg6YigMA1UjXIibwSXUJcAL1Omwzo7BMSYxqkZHdhGoxuAEUAGDeAzNko+qVyN0EWRIOOFEt703Je03wiIcRL6r/XkLFJPrAhBicSSIxJQ8ITCCAAwiAARIQz4WjybXkRq0iPWhCE35cg4nIErDYbIES3CDf+lLlwtON3RMbhMTWmBSR7SNfiR8CJksAgFycwbGTj6TjyGRmI2cIAxveQIg1gKEJRkUBnOPcgiWEIROvcKBVlvvMC5uoZul7ooadw+HWtM+QVTokErHz1E+oOMwUKzDXnGIRS1DaEJ1gBCPesIYg9yDOcE7BD+qMW+1wp7uOtogsAXA4DlfRe2dzDJURiegqka81muKcEE6dOMjsmL4TsYQnIsIKAHiiE3dAsw8mouAfgot4Tdb1UVhdRdLB+qvFLTT5nsg+P6QR2kuL/2bHMPTrYBObFY2yhCHcYIW3KTYFAGhqdx7xkIiY2ttnyQoQKSFtKfKbkORjgV0k0mJ7cwbcka73IcjtCU9YohHkVlKsxBCRbmcJAMRLuCcy4YlDDGLPBLfIJ1ABRKeWld93+Y1dSoApIvPx4zyBNHeZc4hM/BpUrnDFJ3p8UAc+QmKQAvbCg56JTAyCWi6vyJCVcAZDhJwinUJEQarIAZqg2lRH38h0tHZghxhdIqAyL6QmUhAAhGIQZzhDG+IQCAQBPehuz0TXrx4REbTAB0oIA5cn4q3JqGIUh6jCAwpwL5ZbXe6LWlevG5H3cteR2JPwuBBiYAMlYMErgVCE2/8zv/BMeJzgZmrBHCPC3jtzTBNuUIINWoACa5Eke1dXGa+bkl6JMJzYj/jExNjbBwCY6AM1/AETvIIgzWc+7nK3qhCgUDlFjCIWxKj4XuMMgGttxPUfd1iWtk7ziHjiSp6YxPa7IxE/KEGxqjdTDSm3e9prfvGGjwj6TfkDJTChDQx5PgDwUAUh+MAFCn5xRbQcwQVPZETaldRR3i2chY2fEtzAkZ0fRAXWDYwJRWQe0XWet1mV/F2NInBMRMSCpvhBGDBBskmKyxEg18hesHmCImjcwnEZVVACvu2eAz7gTYzMbDGPRWSeJdCV4Z1JKf3UGWjCK8TCjnnLnX3CIIT/AYikWkVQn71hX6RNBgA8AqgooPgBACpshUTYoNgklfNYhCF4jdARnfF9HBDehGvFQpZcR2Wowp1V3RN+lrdBGpk9QrA9Apd1XwxqiioMAgkeDwA84CAeT9xURBMswRucQR8YggWa4dEBoQtYDOZUXGZkhlQoGp5ZRFp9FgCG2XRwWQpSwiS0gi6ARybMHkXMlol0YTZJxGwdAUksARtswR0YwiAQH9ydYZjF3xNAULfQm9M420I8AhVWhOB5Iuvp2h+sHVREBSLMgnl9AguqYgNORCsKIu8BljWRBJDRYhjcYtu5nSW4wRbEQAqIjnqhnxB0wSS8AsdMhtNchfjI/9BG2JNIeCK0/cF9RYZAUEIgJEQmLBcRKokS2MQqamMrukAJ8sQ3skE4OiLQZYIh3MESANkR9EAKoIA6Ss0HpIAS+AF7OYUbXgfUUMUCUoRZ1cqTLKOjNaMnBGRB8Fi09NhEwBYsUg1fmYhgUcQbvAEbsFlEyCIAAFkVsMEXGIIhoNsdVAGQPeVT9kANuNtR1MCP9YBGtp4IxAATcJkRUoYwXsdlUMWeeUsVcVZZ7OMhsMLaQcraOQpCqKLyUMRN3ISJhJcLEOVErMFP9uVPBuUaUEQTsEEV3AEcvIFTQqViAhlWUiXS1cBiMqZGcqTApYAPuAF4eAuTLU4MXQYvGv8eP3qCK0CNtFjEK3xCyMRANkZEXSbVIGbTIe6lX87mbAYlGEjEGyjlsbHBRUamYjYmR6JADcRADdRARvomp23kVi7BIOCWZsIlQkBKl6DkZ8rdH1hCK7TCJzwFJoLKZsRCKIxgNzXUTWojbK3mGqQZba4nbTKCI0bEGN7BFvAmcj5lDBiVF7ZAkCFnDxzBEtzBhFnFdqBkkwEQ8ShEdR7ddIimK4QCd3KnJsQCCIoBEyTBeJ7SAGHTbPFeXfrAX/alT7LnbDJCJ3gCK7CCdhJbRDQlGyCnYnkanL3mA/pmDyxBFVgCHIKHxCzIklBLTdrj+1HEdQLAzblCQ0Bo81X/3BP8gBA0qRCM5w19IWtik3r+JEUQQoiuJyGUKIq2QpG2wrAFWx/cAQD0pn2OjKnEaH4eQWT+Zyvc1idQoye0y5KgzNo5W7sE6UQQTygUqSvM3nZFhCqowROkR5c56ZN2U07KDUOC6JWWxGx2QidkJ6VS6pdSY0SgWW+i6ZmskbvVpQ3+GFTWYrC9AivI6dvZadocKJDq6W2hwiwQ6c1lxZJFxCvAQaH+QEQgqpOeUjYxzwvA1htYBJZiqVFwWZdWaqV+KSsU22ElViyZyRqx5pQS4lPSoiHMgi+oQiigquZlgiXwaIlhIMGxVzDMwiy0wjFGhC+gQhwAgKFKBK82/+kPyE3kBGtDEmtfvKmy9mt23hyYeoIfWMEgosAIoF8hTmkEYlMMfOMbsMIr/IIq3Nws3FyzfiuPIgKw7WKQusASuEIwBIMyBIMvxKp8xcIrzMETkMS8CkHcKFa+ToSaAYCxHsWbToS/9uvN/QEdqMFQ/YD/MRhFLGw2xQAYVEG2+kLJzoInyCkruEIrtF/a8CC5Opnv9QAmmMIs/EIwEAMx+IJExMK77gS93kCTElDDEquazWzNIgalAkDOZidbCoirAECrENBqVutsxQBEQuy5hsKSvOWCWMKp8qCSjCPDIYKHuBzC3oIpmAIrcO3zKYPFGUWvni3fQiohFCsb7P/EsNlsvx4gRbQBvEkE0c6WDSxBJ8Qqx+xo2iwI93mrwr3dC1YtLJ1KE2TtLTguKwQDAHyt5ebaoQrBBA7rRqzt5h7F54IupbofRejBm3ShkRXtD1QBAMSCL7TCxe2oz0UM4jJHxgld4r6uvXUqCvQAI5jCLbACKmAv2JKca0UENx3qriqBEChiRQwrIfxk8rbtpJ3oWSgrW6ZkRbyr2zAP6grB+s3CJNhXjz7wA2Ne0G0HHgrdRLyu7ZKMtKbADdzBLLDhcwLAnQ3CF0ABxVGEECiBEnRu/kYE225u8lpEJ7itsuYcd9hkjxVPXllBAwoBE3jCL8RCK+gWBBfxkrj/3SEowjiGK+xicAaDzpmMQAtUQVZ4oEU40Bk8QRQwgRLoasXY7xL4rwu7cLESAiOYMQxHhBhzhbK6giVwh4ZoyMNQBMq0ix6wjRg0J9iGArkZMQS3XRK74MIJiBOTr66ZiRRXgXm9AhVKmkS0ry9wDB5UaK6pMBuwQf/KLG6WMSZgAiN48hljGgAMW5Eyb6UqhMUNDxw/DcTU41XA4SlSI5ehzJIoSRG3nUIIMucVcuA+saIwgfSUntgd49iBk7h8MqbBcBr7r/Ga8Sd7cid/cic8Lbq6QsWWcknUsLw1CkMMY4EmhBlRQuaogiGEQSNaQtchSBELMlUIMpPwaBH7/7KRSI9T1Wp3PEWWUCHYqkImXBoAgPIZK/PMNnNELAFfIrMpTDMA6MIsMDS6Vuw1G2lFtHEmyPGnSMQwSkRCXEWEeg0YCEEPFOYdDMLiJkiPjqPFuSATv6WStOUDe5ud1TPJOR13dkeEKgPlhkInbIEpYFoyF+uVNkEM8CUA+IBeuoIuJLVSN/RDW7OfSnS/MtdFswsqm9F2OAp2jDMAZGRxJuIiNqLRHQLiVrQEh2tLP7BL9yi02dkrCMRMW4Qjk2QjzAIxOIMzUC4AnPEb+DRfu7APsMEnP24nA8AtesKbKvVSJzVTV/NTF+mwPRsdgzOJWRxksGEmLMERFCdkPv+kLS4l8bFg3rlu4NoyBAPQqbE1dlRcSXRKQ3QXgwSDXTsDMfwCK4BB5yIzIwDAG7QAG2Tt4/42kerCnLagYTc0Yiu2Q1dzRGcnAWt0aTbEiC3EOLtBi/bADogqVNJiYTpi5hVojzIHANUppEQntHHMcq1rZJBEpwTCdCxInOpCXdt1MOjCP7OB3Ah21vr2byM1uxAoIiycKTL0cS+2co/mTkhLo0BEarMhzGgam7VZm0KkUi6cuYFKtIx3HddkgkrNK/RcIDAFRXiLPR9pVEFSMyJEKIhsbP9CL/x2+gKAKcD4b7MCff8CbY9lhiBEJmTFcSf2Q9swSSREfWFHI7QZryr0wV+v56a16RsYZhzIcWb8KGlGi9QEBAAh+QQFBgAAACxxAB8AvADRAAAI/wABCBxIsKDBgwgTKlyIsIMMhhAjSpxIsaLFixgvWkngAEvGjyBDihxJMqGVCyaglFzJsqXLkhuNRHlJs6bNmwRjzsTJs6dPjDp/Ch1K1GDQokiT4rQSQKnTpy6ZQp1KFaTUqlizQrTC1KPWr2AHWjGSIKzZr1ZkODgb1mvVsQm2sJ3L1SncuXifYmGRwErev0W7sCgBuLDQvSa6GF6ME0qJDowj14wpuXLLLglkXrHMWSSWBDLOdB79kUkAI0xIq67YBQuBE6lXy4YopgmBJmG+VCZjhohvMkWCg1E5+6ASIwQIVy6UqrnzVKA4pTHCFgoTQJJ+gNxLgIXbxWCei/9PFQk3WDXPpgGQFy/eQHTjAIADx6z+sFW2bt1IyCQBAciSgTLec6A89JUQt7hjj0ALAuAOAPTMY8+E7rhDjzwAoGOOOedgIldBbvjHgmSAAJAKAKCcgomKAkEHRhxfVRGNQPLUuJ488+A4z47z0EPPOeUAQE445JSjHUFQYBFAdzsZBsYpzQFghhhUgtEiJ9RppcQP4MwTUY3xhNMML7TUAckYPPAggw46NMEDBBPw0MRiTKwoEJZJflHIKSYuosNmWYmhWzvuMVTjPNgwsEADEDAKwaOQIgDAAgsY4Fdhewp0ihGAXpFpKotYqVtVaohxCwDstHNQPOwRhKM5Ewj/BCmkADDqKAQL6OAGYE1ACcApXoQx0A9ktLhID1cAilMUXEEByCbQ2kLGCdQagcUXZ6hxzDrcAsDjjjjaOBCr6cDCQEGPAjDrowuckFARSMRbxBJJUCXJQKESFAcjV+ogbE0/CJHELcw8cwwsCF+CBhAINGyAAQQYAAABIbiKIXvzxJPOQBtXOKE5DxuwAAIiL5DuQJV2cIsSBsUxIg4wP0HVHaUAUMopaQBAHAB68pmKIGCwzFIccKhxS3rgqBMPOrRc4rQokEzagECUCmRAMfXYU8/WW9MjkJeuequjObxUggakjBIwMqWLLnAJt+icMx843zAjikAwrxKDD1CR/+HIIot4IYMQBNlABigppmHlSEk8wcw0zkyjDkHvzFNMLXWIYssmXHihbq0N3HoMPvcAULpBE6auuj33tM76hBF+I47sxxRTTCWQ1FEHF7X03kw031hzTjYYFP/2OuigMzc46TFzSy/Pt4FTE4AvIkixMA7UBRnVe2Fl9hjZcAMmz/ADQD/95APAO+u/c081uDhShwMZbLCBBhtYAIAFFjig6DEFwYcAB0i61pXugPjIB+kSqEAB5kMfCsyHBBXoOnuoox7gEIcGj9GMWjhNYbzDxTKkYTtIQEIUxTiGN8SxQuSBYxzzsQ8mbpGKJNQLIcwARzp4lI5x+JA+zBgGJv/EkIiBmAEMixvIF7gHuDQYKCOtwUQ67PGOfeTjHVjExzieEY1oeEEOQ0DCEAAAMQIcQCAWOKMBKuE+ArqRgAHEBwDa0Q531GNHdDwUPbKWuglOUB/72Ac+9vEOAbZOQfT4hiLFcYza3Q0AQJjABCDAgElCQBSYtN0xwsFCb8DnheAYRjSs0Y4d8dF196BQOrwRCQAsQiBySEMZvJAGWZohDWaggkAWkQYdAIBwGLmBD46xMRqxpxhpEIQg+MAHQciBmXxIxB42sKSHHeCMAfiGt3bko3rQQ0GvG6BA8KG1duhoa/IgFADaw05CEYqd7InHPOoBTgBMaIIJZCA+C5j/unl8I4ONLAYATCjJgsIJAsYwBzrYEY9vNqh0rDMgFpHhiES8EgBymKUXaJmGWMrSEa4swxtAooQkRKMeDloQOILATAAkQhCJKCIf9uDSRPAhCAhYABkNEAA0gG0gq7Pn6haUygutR2xzjMc718lUVbmHnVCFZ7hY5SOits6PfsQHBLH4Dq3lSB4alJ0i7eGx1Al1QqcToD2MAQuLurJ61lOmM+UA0pCCAQ4ZmQMczjAjstoDHHKgqRw8ageYzlQOAGDmHoKgARIwAAEMeKRF7JGxp+aoIE996riYmtlCRfWz7dERq7iJUnuoVXWpRGXqTscgCnmTR+0gByy84AiQ/8L1trXF13Q+8gUomPRBDrKFHQCQszLI0riFfekelhtLFWyABCTQADgwYg9zCkRVGDKIZjW7TnViVlUCyew6QavUqLLDHF6zZz4MyN72GtB0qfMRO5pRB0Fc9JW3hSu+5CADoWGECUoYhpfqEY2OCsQLYwDAGLJQhjLIYZkAKANG5TCGDQDAA1xA6WQXVCg6KpUdIKYIeMGbVHeWV52eVRUd3XkOcrADuFjFqjjdyzp3rAMAKpDCg5VJkPvucpdm2FVGAvGHOAj4m8YlbhlyIIUyjCEHXkgyH+wwBAnPMg0a0MAx3qGgLkvEHukVCIgLRRB2oApVZu5RhL7anoGY2f/MIyaIUg+i4nOYoxzhEEiM97znAdojHCEQWegg4IFCeyAHQxjCRjfK4+sBAAxo2AXdTHEvibThDF+whTnBkeDjZoHBZZBCFpS8XFF7zgtZGMIGvuEjHwGAaw4yyIOAS1mCrCNVArlxmQGwDm4cA5OiaOTsxNEjrm2NR2SGyDrKwWxy9GhCcjQIn2NMDQio7VaNCp22tQ0pLsigC2CoAzlWLI90gAM/LwDADRGSBCEYAR3tqIVAxkBvK0uY3lEObBmQcOBPWyAdOtLRt3qkZgi9etbJ5vWZFa7rgaCBUQWdQAPWRilRVEIUyRC2NhdeZhCHmB3lIAc5UAXOoaZDHQ7/NW20AYBVewijUhPPaQMYQPMJOCDb20YAGMPwjDvyqEYYm4cPWXELxRjkDIIKBzpwMYZZ8lvCspQlFXJg3OXmYNSolgIE3glV9tgoXAP32jzakTx0AOAc5wjxQdaxi3OdTCA5XdSsKDUrb6DZ4x8/Mzq4EY5wBGlBQw286uiBcgXdYx5oiNgCaG4B+zm+fw6wgAYYELoFqMADRaDH61J37HPegx/beMZ+CpKHPAyDHEGI8BiQ4DniKnn1TbfDHsYghQNPgQQXt502vGH3FXu461+/sTkAsKFzKFwgZs/QOrBBq4mDjmpTc76gIbWtGzfc1usgBzay0Y11hBmoZhV8/+ArYQCSHYAB/POfAxxgPwtcIH83p5gBeEFFA26eivUI7bP/+oJ0A0ARgTAHe8ANrNdgA5Ezx5UzEQYAeyAHowYAqEYCtAAAdQAEARAAIjMBooA5wmAMvOcNK+Ye7WB8w3dn5dB9aHd2A3EOaCAr6/IoU4M2OiUQ3LYMvMYt3WJ9N4YN13AN2VBHEzEhrSWE9hACavMwAEACTiAHTpAFTkACDXB+6bcWBjABx2BFEmRIrrMP6NMP85Aq8+QOzBAbAmEFT2AMmxBlstRprndcEZYGy+UE/YYEfVeH4eAN0iANx8ALCpN4F4gAE3BxmFQHlwAJixICi6JtuFMJtlMHDf9TKeWnNmxjMi84K+oCAexgdprYcOhQDtTwieUgD8CVEfaQDgtAAHCCBE4wBRw1S2WwWBCAAOs3AQxAACoADu/gR/qwixLEhf/wi/7QD+mADvGgYQNBZLYgClE2Bk5Qe23oehFWBrIXagfmBLjQDdiYjd5gh9tYh3koDbwADLQwjsmwDMuADX7HDdRQDdXACxYHAJWwbfJYeaFTfhAziZQIAdWXfGVndtcADdBADeYwT7EGXKMoEeAQAhNQZXvQUs2UWImwekwoi+dCMeiAhX+0i4AkQfzQD8HYD/ywQoMwEH/wB3OQB2QwBQq2igKBgEomBU4gYXH4aVkwBbxwDdj/kJM5qQ08yQ0+qY3dKHLdkA3ZwA1EyXcAEHJF0mzMxmzsSA28cDuQUAmJOI/aBneUYmYDcX0AgAzNAA3nIA/GViEV8mqxdpYJAQ45sFzQxAeJ9ZYvlQhTgARj4AESgwAk8A2UJSFExXIauQ8AAEH7wA/7YA/ocAtzMBBzMAdtIAa152QH2IZjEEbIlQarqJJSkAOfuI7reA3V0IM4mZPZ0JN8l2cAQJRHOXIDMXKqmZRLyZRN6ZTryAvCMJVRI48Wp3s8qQ0thgzCgAzUQIzf0mp7tEdkWZYohVKjCA4qMFjQ1IB2MFiIJQgCwUxDMGqVNAGaJ36pVEAGhA/vgA7V/wBMA/EESVAETtB0EtaSSgaZGzUGqKaKAOAEQ9AM0gAN37iZm1kN68iOnokN6ggA2CCgPOh3CyFyBBGbrxmbTfmUAOCOlVAJIbBtFQgLwCAN8AZ0YCdwPEKc3mSc7vANKoBRDRhLDXaiDQaHbslMUzAEDSBJJSd+q+MO6UAOzYALBvEFXWACopZkbHhcnkOTnzYETlCkQzCBzdAMAJCkAPmVAHmf+UkN2PCJAoqTPggAPhkO3VCHBqGarSkQIRckSamgDMqg1JAMdTChQFAM5pAqIQhah8KhHVoL0plRx4WiKPpM0JQFuCIKJXdWMmoP8gCVgFAFBkEHdJCSTecFUP9GXPAJAKMmBVIwBTWpAkXqBEGApAiRpF/JpPZJDQAADQPRg9RwDZsJmtunDdyAjXaYZ6ZJEKqplGE6ck35muSQDbtAgRMaOsB2DMmwQiBoYlwnVV5SS4OFol6gAlHWYPDZYIHFTIlAAgYgWQgReD8ijn6AEH9QBJTqdAmGYDXpjDApagNRpCsgEEq6pOi6rgSRpN8IAKDag81ADc1gjpz6pPtZqjp5lNnYd0LyqqspEAgqcre6CwhjoctAJpWgOzE3MggQoYxYDN4wNyE4BLUUdSeKBDnWYMlaZc6qWCrAAAD0ZfYQD9UAC5wAAHhlEIcQCIrKsZA6BeI6EKI2BTn/wG9OkAPqmq48y649Kw30Kg0CcQ3zmq4AYI5Iuwz16qn4eqqhya9b2qoA8KrhgKsH2wxB+a/kcA15KAy0IAp1gAYYIAEt8AI3IARPgB9jgLF4KhANNmpIkKduuQcT8A1kiZYJMQ+yBQt08AcHgQc8wwPk6jkyKxCSShBOQAVTQJ8AgAQ5MIHqGrk9G7lLCrT3KRCbCQ02aI5HWxBJ+7lL66T46bRPW5SriqXXkKsAAAvLwH3YyHt3aIdD0qqjFA3DYAtra1wNVnvLiqfqeaJw2IBD8A1q5k1cU5azJhD10A7AgAabAABNYhCBEAdkEARTULgAMLPlOqlToAKqmAOi/yCqO+uz7KquQMukoEoN0KCknNu+m7u5AvG+n4u0nMqkTfuJppqrl7ALxhCau6kN2biq2dgN21jAfbcJdqC7DZYDJNC7ePrAgSUHOSAOcTqce2Rs9SAP3tCCC3EIABAIRRBGcpi9RXoQcqiSKnB5opCk46ukk2u0APCNQguv8Mq+73u0N+y+OGwQ8wu6Scq5qwsLwiAN/OmZoBma+0qaAIyHtaTAswRqD8ysV+es0YkEwXpirHIo3yIP5gALHMwQJUkGYZS9zmjCk+oElbIJx/CbyTAQLky+biy+AxGQAHm0wLDDOpzHOXzDBNHDxgAAl7C6wGCfeaifn1jEn3nEOv+JwHcaxVH8hB6bBtHpBNqAg+xwa75XXh+2DF8MEXQwB0YwxguhAjngXA1QBHNwBmRABmOwgcKgtHA8x3EsEAC5x3hsy3p8yzvcucvwxwKBsE0KkMJcyEBryPzJCybayI6Mp1MAvJKMBNWwIRyCdmXHLXR0yeTQgoEQCBChBphmBSHMbwmhAiSQhBowKYiACHRwBl3wBEJgAzFABomwCbjwmy/MqQTRpLi8z7qcy+7by4B8CQhbv0zbqcL8pHkoBWz7u8t8otFoXLW0CQQbpnfGIdNsZ+UADBiACds8EVtCBKJMEBorEPajAqm3AEWACAKh0h8cB43ZBVVgAvbDBZn/QwvAwAvIgAzJwMLoWq/9zM/+vM+9rLqwsAs2GKo7W7/ra9BfSQtUkLuzBAAe29APLEt2IAqyS7Ai15R3Jg0YcC+KUBFfgAWJJs6Nq1MkYGEDMQb+swFFkAcHQQdFwwPvZz/QBV0LcAFp7QFmQAiFQAiYUAiO0Dv1zMtAfdi3bAy78EG7gAz5TMtu3NOc6r2sSG8AgGhUHWqK9sDHMMAfmNXhUA2F2G4yUxF5wAaIFi/kDAD2MxAbMEbnej9+exBR0G4kbdfk3ACNRwIq8AaP8Ah/cAZV4AMtkAIpgAIiUARmMAab0DsdWI6IrcfmmAzAAAtOI8RHDdnard3QUAzn/4oEUvCemb2eDay7TTcEPZjEquqTquoN3bALlZACLoARpUcGPABdjmcQK7DfJF0ExnEDMYACEcDb5QxdtbIB5KwCPHAGbuAGYVAFPxADANACAIACADACGJ4CIwACLlAEZAAIiVALuIALxoAMQX3LyyAMAuE0wNDGSL3dcoyuUZPaiYtg471RJ4pvopCvR4zE2ICmZkDhQ4YI1IE/B3GuALACjQcAGmACYkAQN+ACKPABJ4CXBk4QDDCiCn4HijAJk/AIhxAHogEFLOMCKSDkAxEF2NIGfzAIJbkGmIAJtiDiaxy/e8xWgIwwvgzjshyqvHDZiNa4zbhoVP3Q8OkFRP9QDTJcyNRQzJ+YDLBABvVCnhghBveNEEiOY+/H5ATRbj9gAy3gHwhxLgPhBZJwB9uMCNxcENJDEGcAB3PwBx686iWJqIGgB3rQCIpQCIXwLIRd4slgsEFs1I/d57QMCTkQ6AIRLzVu41R96DkgCWKyvtQuuk0KC5KwsiHxAyaw2votEEGQAxfA2gCw4G3g0lTyBSYQAJJyEBswNQKxAl6QCIWQByVZkhfhwYdwCIgQ1nEgBhB+A8WdAiLwAUXAA2gACU6zC69c7Nx9x8meaFI9RqoY3jhugBub4xvFb7ZQDQVd7evbVoGQziOxBCZQzgVxrucaBF6g1htQAvd+72z/IDIq4AAo79obQOrxngWJcOr2XhKpgeYA8AEfAAIbDgImUAR1UAvAYIPiK6ox3gzIPgSINkYSH0aqSAXvCQC3lwPqeehZwAvRYAriS9Cd2gzAkAiqXhKHUATnnPIDMUYDkdYx/wd5UAILKc6Ot/eLl+RJzttpwAdg4OYlQTjzPRAgUPQgsPggULY/kARgAAhybgu4EFBKCwzJXvWJJvFS3bjgTejOfuhewAvagAtVgAtQj9RyDAycgAiNwBJt/+2ZjmNJrgJFQGT3HghEMAZy4Fx7/3gMcAD7vd8L2VFFgHQ1QeHHLd9nywRWIAZuAOuDcOu4/gcgnPmbn/1y7/mr/yjeHLtRx6AN2VAISxDjsgwMm3AkLVEEIzoQ/M3ffo9j0KXqHR0IXhAJXjABv59lWSZxALFCIBUvcsaMKcMECgCGDR0+hBhRIkMoSiwywQJATRyGfzwG8uixhIohOYacRImyIRKWTrJ48QIAphdI0qQNu3FjGQBoDHsyFGYnBYAUMSYeRdrRiIqGAgGsaBgEAFOGRQIpYmhm0SJBBjZs0GCBgQMGExwAWGBAw4Y0Zdx6ycIj6Vy6SBUhYhhI75uvJFakBAyYJZIpVF56MYMFC5MkP8jsdNgTmB0RIupedgiHB9SnUD0zTPPU4YkqAMgIWgRKCoG1FjQEIbmgrAUCBv8maChzMEuOCZh9/z6kSJHcvkwDBwYw2ImUKUR+KMGIJQogiMtqFfnwYcSI35eZmJjqtDPDIbAdshDSRE4kTpyQELDgwEuaNHIYetnAgAACCBlIeBlDChJ6667ApIRQogkvhtiAhAZJMOm4IQCYcIjBkCDihB8cUiMSXIQRxhhjcNljiRtiiMEFA+vq4AIVBPpMBRfjg2qIFYIooYytQBGEBALOAkAO+kILLQO0CPBvCiecUIHAFZ90qIMReMihDAAa3OBKEkiSsELyiIiIjj8GCYmOOOAA4AwxoKQriZGakpGEC7K8oKmGpOBkERIW0IAE0IYUEgArFwBgAg+cQGL/CBIgYBPKEyhAoIEsGXLQQS0h7JI8Hl4IMyRPG8WsiBwYYqrBC/xUIcsbOXsqNwIAQMBKIdMIYozQGNoAAQIWyMCDHEjwgANQC/zABAcCQGACViudtFIuAaNwiBIkyqOhT4etKw+qAJBThS2ZWkEDCpsKYoUcDFgAgZgASGMFPqkgcgV0AwDAPw086ABb31pIIYIFCAhA2YYszRLLSiNUaQgIGtBX3z9Y4HYqFSZ2UYWzVi23oQmSLaO+qQIIQAp206BiAggC6M+DDCIYquG6rODAgNo2GHXggrUsuFLAJgiAgCJc9q0INtjYYpCH/lhqYqUrvkBchlgFgIgx5NjD/4lbqXBgAqnoWwGBtPqbYIITgKaLjiL+hYBQ+xxitqGCH/zLpBUaQJlsut6gwr5EHEmEDzISIQOMO5KWuGIA6pRo7T3kkKK+NGAaOQ2qFoAgbMTtPuoPNhAwINIGgpCK7ZsNzpmEAVUoeVcZMEeKiCwSSQSARCJhKPbaYU+kYzmyCILBsCxwqD47qA5yviEdp682zhlY2AQQQGA9oj/yYNTrBfyEiFlLud2AKQctyIGKSORYYALwoo9IBhVeksMOPuQQcvHYYZe9/tkTkWQIICN2aFYArJ6VkOSQg9oQYAINIIAEoIc+iGiuc/+aUETaVroVSKFBSCiDFzhRBtOdwP8oDBwNEtKwhz3wwYR8SIR93EKf4S0uDbajXSKw9yor2WFIY/hfDo4nBwfsCl266gCnQOgQvXAgYBMwkmieRinSVYoEEzKACpDgBUFEohSgIIMQhngeJAjKcS0EAB8EQcISCoIPe2iLHGIXidhBgAAQMAAEbBiaMcRECvqB0AQYYAA+yswEbgDAmrbIEOH8a2NeoAJEoKK9nJ3KBEUQQQuGICRQlGIRahgkQzjgBAAdpCEHQUjH0gBGM+4hN/STA1P+xZQ6wkQKCkMA52RJgNqYIBCZdMgSqpAWzkkhkUu0GSMdNDYQpKAFPCiDHDhRCk50Ig/V2iIHYAJKAIDSmvf/6WQyASAIO0iBD3YogxP2tKspyEQKXRzCBPrYOf5YBZcPQQEKdAUBC2zrIStg5MQ2kADLAKAFMSgBEuBXyULccosoIMEUOolDa17TQtXEYRnOmIYsZAEJOcgBw+qFqOTkQAUZcBfzVvCzd0JkBChYwAIs8KDuNQVGzFLBKxlwPobYIAlBaEslOQHNIZ5AAwqFaEOvKQVOWtNKQcoBErIwhozuKqkYZcgE9NIQg+IyOwAwwQlAMIIOTAB4psPSi2AkECdKcQIXECJDlICFInhhEVYERSeMBkIXGCEHCmWoUBs6TaMuTgW6GUIGDMCtmg1oAY3ASkkZkp1iqQACJzAW//jqNCewbmms2mNAA8DAkczgIQfwW+Yiqoo+LIBBBQvVa2obGpoydDELTFpAADzgLQ9k9gKYVGwLUDACELBgCAyQzUpz0CCKVbZ7MPLWqfTDgUNA5Ax+IMMYBKHTThxCDyAsghRQq1ruTs0OMU3UAQu1KIZNIIiKtUJjAJrR4K50LVtiWmUtq7QJ0PIN133ID27wgyEIQhBXlMQWV+CE7hb4IG0xyag2BgCGyUaPJ/jAAjNJhznEIQ5FcCwDGNCalXbPRfHV3gpSKTN3RiSePIBfKZhZiCswMAUXmGJeDazXjjHJWxP4F8PKAgB+9jOTnsKwB4JLAge4ZgMugq+Miv/7lQ2sQAUGCEAJwACGI3DWISMQQQmosJUrGgGEIqgAU5bDnClkIagFZohbpOABYEEgUiYz2QJA4ONBeooN6nyjAxCFhCW5pZWohV8JT2hCQSQiDUhgAwCUoCKGiOB5JEixJbd4gomdBKN8FhmaT4IQJxjJAwhsQG/UCR4Jb9FTeWDBKgV6O9y12tW2o58Z5VCGHIyBDExI62I/wIIxLELFnAADnTGXnca1R3Il4IBJIMqQ1C7pILzxAI4NkAFGJYCmuPQUETj3H6qZ8NWuZiP8Wh0JPqTBCWwstwwY7ZDs9NfXPBI25k5gK04AYBFIEMEHACAsAlOhi6mF3L0YjK7/hSlQsZ56Q7oS6gUkHNgOJbQP/NbWPhLKASajRKGhIyGJRIyhCOtuSHZMIAdfM5MMKNB39E5AySARwTIpJ8wUhrBda5o51HA0gAcSIAHFMuQQIAlECWwzBJHZwX2DNiEJkW5CIdnKDvQDwB76ZusomBTLUuAyKIwQb7KtXBBpJkKpKXSY1GZhCo514xt50IYvfEGxgXjEJB5xh/0wxegSD9RE2tIWuHihY3uQ9cPLUM6IuOCYfCiDimnHQB6kYboAoEIJUPAQIyAh00KtKBK8xkcOgCEPfwiOIvBwhjNkEkFbOEMQAlBrduUGlDOhuTURiSgAjRLiaMzCHfAQkTPw/8CtVuTEzybPOiIokyFcgMGGJEL4hijJCWlBywUkQAEANGISEGmBDYQQhS/gdtgo+GfTIrrX3QxhqaqdvROmYKtup+F9XiDDaBtCBzrkQBByUPEiGGiGMnACFBTSAe/riD94Ax4QmSVBQA0ogbOSPgqoAA7ogA6ggAc4ihj4AYwQAwtzGcZKgQlYKtfbq5OIPU+CC0RRqGRyH4maNTPgKYfwCDLQkWXihEKYg+iZD1DghEhwgjs4hOZ6CL24AyLgATMgAjIoAjKZnhZkiAdQgAIYAAGAwqO4ASXgvjYYFsZCgRg4LfSbCdWqJi8gKidgCPvYgzEgoTRgPoh4JiTgiv9SyIVUQAS8sJs3CI3/W4QhcIPdayAA6MEevAtP+YOei4jsyMIT0K4RnLE6ei1mC41ye7jH0b0GekEAiARQyIVcKATMyYM7cLwxJALtk4hHaATEEg5EMCjQYxMBGIBVHJYs9AEj4CRE5K6ggglEeYn6KKERsrj4k4g/4IEt079c6ATMcQMwsLc0C4IPGL6GoEAAKAEWgMYSKIEOQARoagRQGQBscQEfqIIicIlEpKa9AkOlQohuU8EyYEFqyQMiEIQykIVckAXMYQL6+D8dvDax27cIZIFnjMB8aRSugxIfeIIzIAP1A0cZqzmLKqoRMiX3IZnMKYIysCIAyAVMsJv/FDADOfg/CoEwAEi5hmBFBXiAB4gACaiAhhmAAsCWJ3CDQyhI7aooWfQkgFMSpdKdMqQaSMwcd3vHVMCDFgMaM0iDeswBCPtIhoDCpFSApRRJuhCAy0hJfTmDQ5iEN1gSLzCJ2GO27vIC59OuZCohFZyCJggDPPDBoyGDNIiEVIBHMngCshkohsC3o0TKpIxCJiRJYbmMp5yIqMQWQHoERTiEhxJBL0RI2StBPouJUZIDDMJKD5KISRhFNowEWdigrouE/+KEr7uqxarLpMzGkuQAafTH7ohCAEjJqmsYLOgCMfBGgpDFajozuJCCMESUk+Czl7AohosAgGyIQSCD/0TygiBAApJqGBmIBOCjlZQTgI8EzagMg2eMRlApSerTF35xAZY4P4AzO4hCpNq8zQRTAZNQPyoQECrogM6cCCGYlrIwHR5gApf5mXrjBC/wk6c8SihMyQJQgAgAABbggQBlAb1sFAqwzmFxtBEwgSEoKoAriaXqSqIigSKQgQ9aLA/oL/wrhUjgARCgy4jwAXQ5AAcICzIIRGwBAcc7BbncAPyEiP18AAnwxwAN0GkZlgNtFMbKDg5QTL2SiUTRTZljlCbMHvFZpivCDsY6CiFIAAQYCwCwACNILGzRihWNhBxIAI+UCJGsgAgUlhKgURYoTTbhAAK9wsoIqG8Mx/+amwIBuZyIsAApYI9fk4N8+9CHUIIE6BwoBQAHkAt9SaEVBYBR4cuIiIAOQDYOqADqA1ABNVMo6YAy1RfGogALOUTEnII2pYpmjAgHCB//u6JFMAIlnYgtAIBXYQALiA8LOFFQoYMgOYX2GAKVPIpIVVQDpT4a5QFkc5kyfdTuuKrK6ACT4DP1a1PmqM03PYoc0KBKAoBVCILmVE+I8LIAMAANEwsHIAMlXJE/4IDMBABOWJukWFRcNVAwFVAbtRtfPUkDeZ4POIE0RUAnGAJlRYr/mNNSkIUyeEJplYgmYAgCGIsiI1EywC8o+YMgSE5mKoMVwNGJMFdcbVQeGND/ISrTMcWMygCAEziBBPBY37gAI9VXWTgFVUxKiTDGnmEAPoVSI5irJ5keqVg8kamLiDXQMJ3Gd3LCbMSMacWMC5g5/5MFWUiFCFDFVeRZnmUINqCXV+lTKN0A44TZPDCzUyiFQW1XurBZdKVYde250zyKO8UMZhXaoSUCJiwAJ4QIDpiEpj0AhsiaBWiCl+3WP0gEQVhRTsiBCBjNuohRc53YihXEhwBbz4QS1ImEUxhaWYiE6ZOACODUh3jbhiigAPC8RsmD+hBUAMDYuVhKkpw+XeXVwcWcC6CikSVZm60AnrPOMr02gDkAbl2R+7vaQdUEPAgDzNhPkeQAE0hX/9LFnAgYAioAhVRYXCLA1QfUy3ZlAitwCAcwFp4DlTfQP2ZKAzCpAhfYLahE2gKgAOkU3L7cT1oFXt84LVBQ3KFNg+lzwIvtAAkw1YZwgR9QAIaQgFcFlS2QA0dgtivDDP1E2gicxgrwT4nYXf5MW6Ut37lYAS9I3MWVhEVV3g7QhEM4gyUAOYZoAYbQIlApgkMBQ3xhxd+wy5SEwAiUXojgz6VkCJVsQvJdYKQI2TQoBeMlWgku0xKYBD/Q4A12iA3WLWxJ1UIxgJOdC2l1TgB+gA6Ixl8FgPptCCJFYBiOYYkQXiqo4cUdgwp4QETlgAKeCB8GlZUFnlMt3KMoVP+PZCwR6N5n5AETGF26WEoFruKIQB1OsGFZSAPllcYJTNuGoFUhyjU2IQsDscso3KoRsAEmkACclQjOioIkuAEfZuE6nogGfuChPYWLRbYIaEI6dggqhpIic4gDSOMC4c8IoINGGIVR0AQxJdA4vCX5q7oT4Q5LjogLcILEs+FUyOESmEAF2E8AEGWkZJOEYwAEeNvYAoAz7o7qpADfdeW7OAQ5/DkAmOX5S5Mu6OB4EmNcZtYsVl8v9mQnJF8oVluHOOUCWdk+dQBdcZ5bXhFcRVdoFJY4NEWQ6Ihbwgp8lghN0IQpXeAVoAI8Xlwz6GMmHIAmJNInhmLCZRMniaX/yd0t3sq37jBQRAWAANVLvECEn/MIAPgDfgYArFCEg52IZ2pVQWzgRUhfou1khmZKQAZlYzYQIBEXcVFm8IjPhrBon02KjH5GdW0ERBDMjwa60MMLxPKNz1vpTNJlLO5lIuCAB1iC/pQAJhTJh46Idb6MBcQVDeiNZLZXiL4MCoBAaSSkki7po+5BtmaIa6zbp0YfAQifLIZHOSiBCtiC6VPUReXqrvbqukiiDTiLHzKAL0W2CWQIC8UMtOZcAMDnOBQOh0gsrChqUAkJBjotgx5aIuSBUIjGfYwApEXj7qgq2WgAzhksAJCAR+0AAm6IZZwL6ywBo24ISohDy5ZD/wDQ7YahazQ+5J91q5dOBSJgAVUoAjMYwhJAW7UF5cGmi2pxWqdtiKyNCAKO3KCeFkWQawDQBIbQbYGO6+92GKfUT2JWb+l+iAQYXnGORwAYBRZY7n2cRgJVyWVk78uw7lchgIeFku+9i/AeBfmWb4B2CLmmBEoAb0PQF9mFiPSWiGKGiLvO49gJ0CIY0AmWRl7NXWKuad/I0lNliBHXF2qcUk1YcE0YBUoI6IdgcLKxMok4WSn+Y4Zo6KO4gDHwbFkABR4oAootVy7m4osNBVLIFzA2kFu6gAS4AGPB0Wv5jdHa7fCOcYYocFKsPhbHnIyYiChUSSpmaPXW8fkw7v9RKAIiYN+IPckKmCpn1JdT7EUIP4rvlkMEl2wXj+uG4HLWUQIDBvMxr1/+bGEylwj3xuJVWNxPUHObjdhWxW7UdojepotvPopJIIWGwOwWb/GGKHBKGEVKQAXWSU2GiIPSa+GUrN+HfuhzDmyHSMm7fulEMEkAcHRcDe4llx75QwqxBYAliF+HIHBKKHBOX3C5LnDM4c+/NdCG+AIvX3UcL3SHEOaISMkHCAINymNOaNdbN9CVBnDfQEWI4HW6IFUAEDYeHnUAGPVil29EoARSGPUwWALa/sfKEONb74A8aIM1SQJiRmeAd+EbB8mF5oAVECjj7nZvb/aGCHfMUAT/+aP0YfEBAOCI8AaAVzDwhkCFR/h1l6kMe3+IjC5TA42AM3h2ALgBBJbpaUfNhf5eKpHqxb0VW2f4A33436hsskGB/XqCDPRthhh1VQCASbgDJWgZbKkMEbABiKW+SDXXEw6kLmiIFnCBSiZmVSyAQxVC1CmFl675m8d5XJbfnMgJhvgCOMiDK7ebynBsiMjoffNV9+1HAmUCrk7bpeQAACVC4s3jPWYIsXd4NjlLoGmBFzj7G0B8lWcCPWQIBy+NSW2BDpYIkmeI0swXYenHCKQDCnhcClzh7wUTMzAXKjiFU+ARL1j4mx+WiW+Ynr8BlUd8xL+BMPADS3CIUHgE/x6+wp4/CgOFQL3s8IYw0wh0CGGBXAl4RtP4mQbIAMuTghwQD7Gnvpw3EPMGFRRY/JygfYbAg0xgnQ9Y5N+3bYkYU+OXRvuGmEZl7ml5oA5rMtal/mEZxbi2wkaZvOHTL9n/gRYDiFCoNAEoaPAgwoQKF35woQTLwoIUKBjsYPGiQosASpQoWIIFiyJmeBDhUPCAAQQOLFhwcADAn4kyZ8788ycizpwAKCECEEMn0IItXry4AeDGD6NCIIZSRTAoVIUtflhRk8dmwokVO3wsyCJhiQ4AuHYEwKLsSJMFU6pkaWFDEZg259KcezNqzp4E1QBogRenixc2XgAgDEDIF/8ABEkp+usYwBMxc+ZmpdDRYtmDPFhoLEj2q9mvRXhwiPCgYAAEBya83bCBjB67smfffYywTaM8fG1HjGGU6IsfAPAIBNCIN/KsHC6XMFGQx0EWPMiK5fj1K4/sJUwPAGAgwAEGK11bYBDli5o4tGcnP3jmTEEl7RsWNGowhhUAoV4RPNQ+aBtYLUQBBxeBlh0Amz2nSWNicWVWgmaYAUAFpxVEAAEGhOcAhwww0AFSTGAhRht0rPefQXMg0hgATCTnlws2HEUUZH4UNEojiPiHIk5nmIgTgQ5it9lZ0mWnSSOKIIJIIxyZNVpJERg0AIYHHNCAh1kiUNAHLdggRBT/XZwRx1WU8QjAKKMUpAYUvKHQFwCD3VBUmwUNZFwgZ0ZUJpCWbVQWdCwEogglBGnCIAA9KaJII6OQBIBaJxEQgAEOuOaaAwwgcAIAH3j6wQgu3JCEFV+0MZmemqj5lE411IACCiIg5AIALrSAQgst4KdfQUgyqWdEo2jySE8RETiWWNFJ59wolCTJJCJ5koLKKJaEMWWGKDmgwaWZHlABCJ1++mkKMQgBrEJ64FRDD000scYaNRj0gVC4tuDQtQBQa9yv6CLUxyCfTBvKJCwipFV1CEH3HEglrLhoQfwlhFJK215KngKyjruxv8cZRAlOfgHQBABvwNuEvPTC+uZh/2dkokqa/DaSp78JVXHHIJMMXDDNEm00VnMKL/zRRSWArBAIAQRAwAHjXWzBAuF2WrNCaqrpsULXvrHEGyaf3EQPIht0riWq7FRQklhTfZBfTIRhiM6okDLJzHeZ1MFZCWa32cJ5A92wQhIs3XRrl2qAgARSr31QHkcX9IhCO/pxB0Ix2OtXrufqezWjixq8+EGyFvR2JtOSMuwhc92d2c9mZfYRCxxYeJACSrd18QYWvAQ6TppQ0nNBOwLgCQCDwFHQEj8VhKtBmfQKOQBKAgA87zhZMq2wxP6xJKNqe3UQEbErUIAAAhQEgglKK52hhgYYMGn1CBWLZqIHCT+8J/+KOA+AGBAZ5NcWLGEQRVjCEp7wRCYecb/4ReUROepeIyLoFdYBQAIFKV/5BgCCA6gvQ+x73wEUx8CYGQcmC2EFIiDHikzoQV2JSYJBSAGASSCEeAdEYCYGsUAG6uRoEfxhIzgDkrFEQAEHwSAHO4ghDAXABCKsXuN6RQlK3OQPAizIATNxnE94Yn4HERhQbohARAyCh0FBBSoMcpwIEkQVn3ADE+xzkAEMIIlLW2IAHgCCJ1YPa2pK3f1Ykb/hZcKLBZHhJxKyIugp5IaZoJ4ZEzKIUADgFWYzlJoKsoUfvKAF9Jpjd9S3NAkkLpIF8SJP7sdFADgvE587m9kA4AP/99AhjAc8RBlNqZAl3Mggr6hcYMYFSgAcAIO6NIiqDELDg7CihPmbn/BI4QZeGoQwUQDAHGwJyWN+IAYiUsOOfOELAOymMFz65BwNUr5jIgRkV7Qhi7p4kEdkUiG4QkpBDJGTA16RnfNCwQ1ucC41MNIgSohBCkRmPn9GBGuswqIrCyK9x+UEVy6gVUEoF5Es5pKhnRKZErqgkEn0YQsAEA4AjMmQT0Uyk2rKRCJZqT9WruggsSCFjaRy0cK4gGT79AQuPcolv0SBL7Go5EFUIUOE0JGOCNkYS6FIiVUZxxWt8MQsEOG8BzaGksOJyE5fYKsj2BKBgdhhJD0Vgy50/xQhkEujfvR50gLQcaFQ5RjvoNcsALSiFQCYxSwA8IjGHEdNaXyCfcRWq4vSaGR4yWIOt1m9D6DgJ5p4xVGd5Sy0GWQUsTzEHeTzk7viFXTew18rdKHFVyoEo7UqiGFi4NPHINASkl1bl5Tgh1Ec9SA+TFQg+gWAWLpBtCggrad4h4hknjJRmXjukhBCzVm9tjCEiQFZ/2OIKhyBZaATQQxMmpDPHecPgcgTkyhBClX8MhNuqIIPXHBcqIIuuAfJ0fwMuRDXikysPpktjwC8Nh/04UZIkijWGnGI8573EA5mFCW8ysqSCgGhwlzbHxwcPSWhtSCxXIh/YVsQ2S4EDP8l69oawCBghbAhIimIlU5WJmN0RkQ+Hy5hQRw3s7M6uMcO7lcaUfEJQ4RBCDZQbM22h99E6TcojR0KrXywYhMnpGtsSPFCwsCG6SqkBwBIAY0NYq+V5arM800uQq71S9+B7If3bbB/fNzjY5r3E1N0VpI+p4lYxELCSF6sWO9lKykjZLaEwMkb2NBihJzhDVVYcUK8DGZP3WpllL1cmVvwKhGg2U6K+RgQJXgcHgPAxzrqcPX+QDy1TTGCU+2tGA5imIJc1AUx6CRsFb2GiBxaJ702SC7zpROwvenMl850pr3cgxS4wAdqXiqeD7GkYjXGP2dl8rR1dMxD+LVXD2X/LgDO8ITDsI3WtCIK5nzwhoL8+iDt1kkzW8GKZvYzJ+7K7sZg9T9k/4RkW/AEKpyyRq56ricLLvWPs21fU6q6IKEwlKEOkkYXtba6L4hBrdmwbpy8WyGMOIhV+9rMYbsrV28al773fbmfsKEPMkRFAhl17QYnShELVpSSuGfzYwaiFYE926EO4os0VuEwmqOudTHeAnXnpOMJIcQdPDFvV1Cd6nzlqyAX4q4mWBoAMk4IssUW2E9MopWWiNZZp/1jtIW6yfGbmy4AOwvH3aboR0dIUgJzcVxr3NccB0AnRl71wbtCIYa4g5aXUHJY5aqiZY7BEjqRRlJ8Yn8HKSSD/3Wk8+5NVJeqGOcvdKGL09EvYm0oyN0T8gMb2FooTdi4uxHidIW0gvC2r/rVDXJ4+MYg01IRc66azYRM6CIWrQiFGIl3eSYpaVERXFRtTKmEPsxCGQAgRjB0wdyh48XWg3m9Qto9e4McmnisuD36re7XeXuiC1FIArp/7/W+6EoILq9kKD7RTPYfsHmEooSS/JACmYkZjQCzLQErBIMzOIP1+VItAYVA+QTk9V2VEcIbWOD4sdsddEJfAUD6fWDVfcKOxJo5LYS9CJ/zGF/tAZZVzQLVrVIj3BmbxWBBRJaA8BCosMsadIICKoMyEINxiFRQCIESGAUFLoQFAgAGRv/Ex3UbCD6h5a0J2AFf/bkBKRyVCwqS8FjCI8ybA02RqqSJ7xgE8dhW9E2Wp4iApjVBJwCA9cWCJrjBE4ybQfwASiVEES7B7F1gyfza7H1cQdTeBxpE+rFCnnROYwTCA4rY/6AgZvGVJ5xXQeQJg2nRnaVJmlBCP9nQ2aXOGS7OuIxADNzBUgFhQRRXEriIEKxi6imBEHBNRFxgEh4aIThdu4FgQXxgK3wCxGyY5xRENmGBfDzeD1hhLLxC/g0CJTKYGl0iJo5CdGGRGFmCXTAQqLTAFsRUxBTETRmCMMKQfByEEijBD7DB+PEh7LGb+AViLj4hCGqRL4basxSEuFX/2A8ogSX8Eikg30IwySNM0TPiCCJsYibc0NlVIw9pI06owTgqQRI0JABoHC0qYfjBHiEwAiYAYi0aBCW5Y/p5oFUVy3H0oud0TqLQwel9AR6gQiyYzSecHSRB2KFg4ivwxECSYUHekCIMAkLGz5otRCz4Qm/dxwUyAiP0Gi1OZMkoIex9XEZiAgBAJSESokfenrwtyXH0RLZJlPPVj8GoguNEi/zEIEA+Yxc9wjslX/4oIwEK1S/1liVUwRL0wLoZpVGyG0WGH0VKpVT+VUG44M+BZFVa1SRkm2FOG4J5TCME2SDAxyQmRCP841SlicSEwiA0Qlom30H2JOj80hn5/9IvsAImHAFdQuVdfhxSFtoL+ADTdYIpGETc6YJBuCBVDmLVudJh5qZE3VklZQITKJ5BtEEeDFAMziQmgkwXYSb+HBAXcZHzyEb1eGbp4YTVqEIsBAP29YIpMIIP1ECL2SUghicYvAAbYIIpYMIb+AAvsUJgFkRs/qUrtCcIdpEhHaZXgkyQ9cEP/ISXAUAVbIEYxEEgFGcYjgIqUFL/aVXy6d8NFQRnrg2hnE2v5MQUIUIo+IL1EcMv3MJ2+sAOdI1BoGYT+MCvmYKJBl4BeUK3wWZUDN4g9eNWHsQvMYEPYE5/jgwTfAEdxGBASmNPqGVzZp1c3CCE9kSh0A+49f/j9ATCI3ye9QWDdr7mu5jjx5moQpiCbOoC8SxJJljdQshmfBZeO1adITYGBCWJQWRbDMKVLB2Zq8hLQRxBDPwAFIhBHjQKCQHAJwykIiyoIM0bKwhQW65NINwFQTjOQyGEx9xE2l2hL2Dnht5CJ6DnuwDAa76mQdyCQYRecy0KTBWebEZEmIJkK0COZN7ZnT0L9yBEHNmKq9xoDNiAQDFBF6iBHmANPy0KkAqSir5koX5ikm1P1Uznx1CPeUnbfvjCL4yTLmgqhwJiXnogAPxCQYSm2uTZ8KzoQcxC3OWiC7rCqaKquEaQPxLXD9ToGm6dD/jGKkIBFnRBYhSdHwwQQhfpqhgx6CfQazOlzpkEBAAh+QQFBgAAACxzABsAugDVAAAI/wABCBxIsKDBgwgTKlw4kEUChhAjSpxIsaLFixgtOszIsaPHjyBDJnTYRaTJkyhThjSSYIvKlzBjyhzY4aEVKzNz6txpsQOLKDdx8hxKtCiAEiaeBDXKtCnMEj+XOp1K9WMHE1CkVt3KdSJSpTe7ih2b0CfQsGTTpi3RAYtQtXDFsmj7Nq5dql/r3t1rlK1bvXwD65zrVrBhnoQBHzaq2Gnixosjh0xAV7LllAmMRMGCJXJngU2a6ACjo4mRJlcuW8zc5XNkNpwiRYpNWzYBHq5VQ0xQosuXL5ILnRpOnHipCUFy616YgIVSyWCKSx/OhchyiQScM/FcKNX04lTSRP+5DjF768KGARGPRIVI6uJecqQmr9AIgQS/xRwGA4q4FylgAAeeFPPRh5B9CVTBBBSHSUKcIF5YJ1BxOUhxFyalYGJKKaZgggkomAASBmQFdSEDARdAwYQShrFhHBVcgDGQcUNQUYVaz4AjTzw7yjOPj/MEKeSP7bCDDjrgrDJeQSwQEIAaaohREl9YYEKcHO0BsCAWpQxXShle6FBgV7fYY089aKZZDz30qEnPPOeYI6ec5yh3QwcGEACFcndFNxwnWIbxBRYq9jecHGUYMaVY4MzDYzyQRipppHCSIw0vtNCyySY8FMHDpyY0MMEEF3Sx6F1bcKIqJ2mkUcQWWHT/IYYYkZRSCiiCpAFGrGJ9Ic6kBE0qj4/oLLBAA8gaa6wByjagrAGCFSHIIouUIUcaAEDxBBMLykFttWXowKJYZLRjbqTtTKquPLRA4O677iLQALzuXqBQEE6gAUQRMdxAlRnUQqgrFl+0ZgUU3lJbRhlgwAFHV1bcwg475lZ8broYx5PuPAAwQG+8HzeQYkIT4GByCPrldMvKLLO8CgBsfFtGGnLEKsYZUJ5BhiPUeiGHEeN2Zc0566zDTjrpsPnmPEszHaQ96IhiwNRUL8AsAVhjnWc01jzzDDNgh42ByTiU0PIqtpBx0jPpBNmmO3C74yg63kgDsMIzezHGwl4s/yzItIv4DAYUDO60iS2b1CLKJpBwccHjj3NR9DoA+CgQuudSCqc5lVQCSR2V1CH6scgiCwECx1hTDp3lnOO6MBiEgAE366BTe+3seOONONociY455YAzDjjEF981M157zczKtthiTTs+0mNPOu/Yc8891l+fDC2ALyJH32Dy7fe34YGhBgCnpnTLNLXssgssu6Ah7wII0I8AAgYko+aZ/Ndzpjv9M5P13nE965kJewI0kzvQ5A51gEMcwovg8MKxjGY0AxrRyGA0cEELSHjQg3VAAwNG5a5RiUIUkDihCk94jGIc4xy2a8c8AGgmAl7vhviwRzM28S3Ade9bi+geEv/kwIMtpQRs40gHOoQhClhUQhS1qAMDSFe6BhwDH9hDYBYNiMDs3QMfOSwg9sBIRnzkw4z5SOMZwfjFfeTjHWg8oxr1sY99vMOGN+zimdA0jwd+QxyAFIc3jnGMaByDHnCzBw0VuEAApike5YDFD4NIyWlZEohckAMZNhOS9U1jGukQoDukgYtaAIELKpiABRywSgY4YIoLOEY+8kjLWuLwHvOQYT3kkTF1xYNiFYsUkITEpkUmUI1xTGMZsahHe1Rvi81MICPfFA9zCAMNQOxhNrfpBUHIAApJ8Mj6+uEPfuwjGs9oni2GUKMxUGEIDDAAAlxpAQscAH/HsCUOl4n/RTPJEABt2qXFBkrQglpMYxq7mDCHNSx0MVQe65ghDW3JxYpC0x7yuAYapEAzOcjhb38DwDZ7GCbfgCEay8PEjSrCDHXw4x35OEYaAOaImgriWnxIBB/4oIIAEGBqB2CAT2eoSDMBwB5DImY93AEAd9yjHknNpUGnOlWEYoyqwTQXO8pBDhomE5n8vB4zCxgPWCyAAMuCQOk8wNa2sjUHcCUBCbxABjHYApjxSMfwVhY0hdRiHTySRzTIsFM+fFQQOuVDGhLBWD5IYZ70M0AAKoHIAPrvspYVID149CMiFQmroD1oaAdqDnJkYx72+KoaV8va1qKjDhBAq+mORTq1/1aRtgTwQAPQOczO/shH4xjHNDxRCoQcQx1oioYZPJqGhc3MDjnlwx4Ky4cgaIAEE2AAA77hSEdmFrP+M9NDAcCjIk0MAAWdmHqBSTFgjpag6l0HOciBjXYc8Iuqba1+sRGCs1ptAQyopwU2QGAN1HMCaoWA1YYgCmMKkI+dhVs++NGPcdxiUTcYxjzqAQ5rNde5ZdgbdAWyBzkA4FokuG4OSIDapQbwqPUAAHiLag/MYYwdRluveSfmI8s11Krw/WyQ1ytfbnAjHBItqnfNNA+kqYNjbRrIF3VoLLRqt54bqCcrB0zgDYzqrFyoRPbGLMB87AOX8QiS/65n4R8AQP8IGqYHLlq1MCT0bQxIWJgdBOFYj3p0DFLYgApqoY64yfjQMU503OA2kIECtkhFW+/E1nGOYoiikIQkJCD/+EeOedpRv5T0jid9jmscGR2IbKqSV31UgTD11U09ajHuRwB6ClgDWR6wrrPsgDwZABxyXGMeKewPePSDH1INktwEIgYNu8MLHy6DnUM8BPBBdwx7CzG0pWAB7gaUgY1U06KZKuOKqddck0t30dABC7UC2GPOMoCzlEW/Y7nrGO0wWo6JjON1ZOMa1whHPJYaawAavOAIh/VR7SG1PP2U1j7V2gFYSXEGYC0A4MhvGvdBzn/A4x/+8Mc70HGOeJBbCbb/iAc4sr0wbAMATNmGrhxU4IWaeyELQ5iAOJpGTKaxyedKS/U8iJzj2h3pdke6xryqOG9mUbHeS7eiuqe+DnNQ4+rm2LAiC75qg3ddyQC4hNWwtgESOIEKWfCCChAQgAAsYOIOcMBZ8+QOOOpXjffIhz4mzI+XouMb1wAOADbRjlrwbQpjeHkZFO+EvtkBAE5Ie83TrgFIPfTyw/LtkDbb73TjGIYw9N050OCuedOW3qevHxUbYCTf3W5y5yAHNKBBjXW87dVf97ruV10JtU7ACXLYA2MZK5tEUOF+EwDwTxcACWI61YvXU2Yy36EOb0QDAC+YAxjOgYvEe6Hxilf8/xCksPg9lEEKNs8CEjxAVYSuy0ftOJLrXLfu+ZOc5MLw2MdKb7rSrR5Zx2B0viN/JEcNyNAM2ABQSzVuDJh7q4YGG4AEkZd2M9NcixUJkpAIKrAAG1hrDCAKqyZNIqhIu7QO2iAMuLAEboYF2lALewMAehN+LzcGfWNicjAFXjAQUjABdYBClQAMwFAM2qA73+AN3WA0A6Ux7DB/54ANTugN2FAN1XAN2CAn1YA/WhNZqGdvpUcvyCIOoSd/80cOzWAMxsANMqQ0arKG4JZIC5hI4LACSJAFcmAHHmUHdghdYDJ8j+UBEDAqx+BgIyhNUKUNyCAMpvAwAHADiJODiv+3eIv3iOUHAHM4EFOwAZlCC3UABECABqTnASrQAG03ip3TOSdUCbJ1LJ0DCUzXig0AAEwnEKZzOvK0LHmyAJUAAKBHcq5jDuEgDMAYDjIUVZv3JvQAUGzCht+QA+HRUXlohyVWYje3U2UQABOQARPwDYO4jWeCDtJAC4g4CHogEEawCVlgB94XiZAYfo93g44IALygO90QDvPoDfTYDfhIDdJgQc0gDLTAC8CAKcCwDNTADdkQDuFQDlw1X+RwDVf3kLwAkLzgORRJOrDoiqUjCsWwkcXghFGYDe4DDOHADj0SWJjXY8QYJMu4MK1yLSGWbR4VjTd4LTlAP9ulQGD/x1TSZHDzQA7vk4ID8QeDQAYWgmd9IxDrGD7BB4PvGATYoA1QqQ0AAJVGVpW6ozsIGQ7kEA5VWZUJuZAMGZbkwFUKKZZm+ZBXJwwSuYqhEwJMFwKXsAtHWFBW5X6WZ3kMZXgsSYM215c1GHxysDdeMAEIAFC5l3BFRQ/okAx1AAuAUAMEcQY84AQC8Y7rCABSkAPQtgd2kINZ8JlIIAxTCHCkiQ1U6JHYkA1ROY/d0JVGppUAwJBaKZazaZa2yZDiQJa2uZDNAAv9tQB14EIuFA6CZI/iMFrREGJ8M3mS55djUIceNQVZkAMBwAAb1oYMmEiMRg0htAtPkATjggVM//ADSDAFL3eeSVlzAJB4aZAFAEAF8IkEtUB7aFmf1UANDjmFU6gN2eCE2fCf/7aVWamVBLqVBlqgt5mgCXoNu3AJl1AJaCA6QGB6tWg1UxM6oFMHtjAMXxMNRKA3fFlzTpAD0llzUoB+OdhRaTAGKgABkDBMxqiGS/WG88BuGFAJttAGc1AQc2AE6OdcSHme2BaiXjAEmCkFSCAKFgQNFzR7TgoN0hClUnp1AIef/ZmapsYN/pkNVYmPrDmgYHqgYoqgthkODOqguxBwYHoNUmpBxZCJsOCJm4AJPNACRECkk6cCHlBt6kcCzGhzzKV2SFAJeJl5muc2QdIO0AAEGP8AC3oQCIGACAORB3+QB5G3MFlgnos3pF4wBVIgndN5oieaA8tQQc1gqvyYqqpKn9Jgmv3pkNTgpFGKlvdJmqfpkf9pZF46j2Daq1mZDcBwCfBDDdqwq/Z4leFgj1mprFkpDUQqeaApeUigAjnQnB4mbUNQDO6VVQvVUORQBwFQB5sQBVHQBWfQBgXho4mHBEiwnth2c6J6dllABZjpBCNaqqeqqvqqqtJADc1gq7B6qqU6sBWEqksqq/2qjwBApbaKq7naldcQrLAAC9CQmlFJldpgZBnLDRm7q93gDZsQolkgBUOAg345ss1ZcxUIACpQDLaDdOdGUIuJAUAgCjf/kAIt0AIuYAMEoQQnIAXuOaQ0OLInaq9OALROMASUCQA5IAoAkK9Qa7D7Sg0AQJ8At7DQsAzJUKpbq7Vc+7VeS7ADu6oIm7BoGazCSpBSeA36WZqneav+6ax9mQUqYHYpe7KS51xeQALVMCd0Yg7353pH0g1oEK5k8AI56wIxYBBWUASI966eGq9GS5lTkAPtSolKCgDLoLkCUUGaa0FSe0ECQZ9o2Qxde7pgi7phq7pdK7auuwwSewnCAKX6WJ9Xd5/UUKv6WQ2bcLLsdLd9OQUqUCMquzAaIA1iqZAK6bdyQg7AgAFoEAlt8BuccTAGYQRz2KmiKrlG+6lOcLkA/wAJpcq5m8u55lu+zfC06RurF0Sl/pq68Lu68cu68WsMaAsAwMCPTPqksyelCZuwxYCnNwe8MAiDSDABKsCUfDMBy+CryTtf0sCJmwAHdEAHf3DBO2oQgUAGEsi9k2uvADAFwtuuSLABA0u+nZvC5vu5BPGQ0FC1pju/Miy/NMy6yYC2lzCQ+5qq+3tBPty7fhnEQpwFTmCyIOoFDIANHmuEWDmg11AJQHAJhACph1DFgfAHcXAQYGC5RysFHwzCkBfCLNuioiC2mlu+aKzCTwulT3p1MCwQyQDHclzDM0y/XpsMwuCgcRnHO9zHxSDEgKyegdypCHCrAKqaGUuV3f9gDJ5oBz6QBFBgrnDwB4FwEGHABDwwBEjgxV48uQTxqVJwVhdgC7iAC8AoDMbQuudrEE3apE7qr3IMAHEsy7E8y3FMx7i8tXisxwBgDOrbx/oKCR86eXBFwH5pxH2JBAGQu/g5mqP5ttJwCWiwCSOQAiiAszsrBIVzEGdQBJr8xUsrEEOgAiqwAQxwAHFwwXmQB2sACIXgCLWACy20ueWbwvwIw05atbW8z7Tcz7Y8x3bctcbQoJcAAMKQDMCsr8DArkDbqXWbvX3JlCKqAhBtcyWAAv7br2b7kNIQp6LQAjibAtjMswlRxYfAwRIYzgNBziRQdubMADzwqIFQxXn/cAZhsAQ+EAMxYANGYAd1kEISiQxhu6QWJBDIEMdIzc//7M9KDdDLgAwEHZfGkNCqCgkrwMVASwUVnYNBPAQaUG2TF8In0AJE3cP7O3t5XAlfEAUrIgQ/cAM3YAN9dRDrnAPfPBAkwNItvQFBEATaxQCIgAiHEAdi8AQ/EAMgjQIjsNgn4AAaYGBlh2sNwEpvhdgpYAJFUARmYAebEs+mjMrJkNRLPdpNbdDS7KAHTdUWBAzUatcdXKKD/B8Q/ZlTQAQxQAahq6rGAAuXgAlzUMFzEAdtcD4AIHgIkQd00AZNwE7sOq1ytdcEFgRjEFQMAAB4AABWIAQ53QKKvdgj/wACIIBrXdZlDXAAFjABGlAErREFSSAESQDXN5AESSAGcDDTgbAGheAhkdA8ng2MxnDUSc3U/QwAuxB2Uu25CS0KOUCtzP3asd2cnzmdd2ALsIDQwMzbhHDBGg6pFJEEPABXFgDd470CKxAEK+DSRXAIeHA+2yEQLpCz1jze4w1g16UCLLDOwQ0HbXAGYpAfUAIHcTAH60ypdBAHdPCocCAlUKAERkAGZDAGnd3fZojUBR528DPLA5G+Wq6+kLDgdg1X33yiyHxzQRzhSMALWpq/wJzHmDDTJv3mFBEDJyDeMk5gJD4EA9bSLKAI3PwFKuLhF9BlcqUC2kVgJGABef9AxVXcBl2gBHD9A0Lg3kpBMGKgBkAeB2fwBVbQ3jbQAt6dAt5dzThrA0VABu5sB5DgoLCgwwiRvsDg5XAV68zdxdA6BCSafp8pBfFoprCw5rBgBzqtBE8gK5PM5xRxMDxQ5wQGACRO4i4tEH9A18xmAs9tLwLx0uS8AW9wCII9vUxgAy/e3d6tszZwA5JOOCoiBJ0e6uyOAjobA0nQBWoQCIpQ729QCJJAyscgz/OMvpBAzrEe8K69yUd7c6kUeQOcqaJwrNTACX2cDLAwBqF+zS0QAz6wBBYRB0UgV+MtEM1e4td17QxhA4MOAOOtXQmcwAPBIIit2AAgAjAP3jL/jwL9ogR74huDEgVPoARCcAMx4AKg7u47ywRiEAeBfQiQuuF6gAiNoAePmgdRAgiAkNcCX/XfbK/SWcQJnwWbcA39SQ22AAi53ZtFwO6L7e4XccGBsAEmXxDNHgQ5yPYRIQIRIPfLnmUNUN0rUAQEoe4GIQIyPwKLKARPgAVi0AZxMORFvuM9Xr3aEslnMAcmfcUaXvl5oAdxECVdsOQyAPABz7QCP+tHm3YRTsRjUAQnAAIjIAJmYOGpugywQAZw/fOgPgLXnBGHYOxu3+wAEATlTAIAQAIl8BsI8QEngADLThDm3ADNfgePoBAtAADRPxBCkfjRDgCVr/ZI/wdz/6AGBWMqXzAr52rk2Z8HmD4oTCAEcu75cCUQVQ/mKV3EET4FJ7DY4C0CKWAEqqq1nADkANHmzJcuVp4kUaIEwEKGDR0+bDhBQ8MVFVcACAJgA4mNFxRCdIEiAQKIGxg0YACgIplDAAK1hAgxEMQ/f1weUgTgjxosQly0cBEjxo0fSphAwfJFzBk1Z8R8iZLkR4wWHDRsyJF1YVauXbMOQeLEiRQqWYq0aJEiBQoUMcjUwhW3li0wf+j8yVOzJp05cWL+/ctiw4aFFisuHHJBRUUVJsSoYXhmIRYTAUhC1NDgQGEqfADpARw69JMbLgCgGLHww2oRKFoMFZLkKBQmSv+E2BB8dYOKHFu9/h4CViyYQXHUfIFiO0kSK13EtGlDJ69e6jNxihZdRUiODYYPM1ysQoXiOHkc5gFDYAEDwg8tMFhfeEgaMnew3xe9Wv/q1z+SREnqC4JU4GiwjVQA4DfgcgiOjEAeRAQRRQ7Jww0xwgjjsTkU4TDCQx6s6SX87lthMcMYCsKL8UpcoQiHamJhAhUmiEkDCzRbQKUVSBhjDwfpGDHIhvZbKIbJvlCjvD+K8KJAAzdSMEovyJCEDDLMMIMIOJzC4gklfrDBBRuEYMI5OPLAiUMhRSPQOxTLuMAilQKxqSE2iMgBgYkAsJEBBya6EQEEGNDAgzQAKEP/DhfXZPQhLABoQ8k/LFDhSUt5i5KrzBZAYIEGJoBgAh6+wIKJ21oYAYQRRkAhBbSCEuKJLxr9ywgSTLzIIfEKW4EMhw5BxIw0DADUAiSoQMIkPg0wAIIMPCijDACy8IJWayGy1UlLByNhhUwn4BQBAybIIQgGCGigSyEACGm//URgtYVrISqCBB0vEk8xEhywt6KMHHoEDEQBsMCCFeRIIw2EvVihAQIQcJYEDxaaQgoexJj3WjY2cnKhbaH8bQI/J3AgAw2c4MOCAAjgocgU3HU345ja6I2xSknQV4OLMvq3BB0AcAMMORYRxAALgkgY4aTLmKBTAjIggYRqpdCA/wM8ZKa1BAK19fhjTLO60QEDSXCiDFCkCCAAEwCgTYgfbqAqhRFWYwgFrB3iYceOosY53xX+zaiiKtwoQxBQnCA54YUUBiDhMlIiAAIAohaLBMnvXvMEL5DAuWPCPo6aNws0WMACjqnwooxUFkmbA0ihU+MpLKBIwm0bADASc4Zu4KDz3cRDsFJ/MSrsSkEi8cAABIKQgyEqxli8jPYQgJqErArVXcgIkNj6SY2+39ZJCxbgW4XUyzjlFAICaACAOXRiKI++AIAse4eE6Ah4AIA3+O+/S/gbAMZgOEEtgAoMWQF7Dti4FRhgAQGQiPVU4AEawc9+oTnBrThiL+99Tv8jHLtAgTZVPidQQQ6lkIUBCGCAIpjngvdhAYIWAjwEaSBO/yJeEILAh0SooFPQK0za/pWGFYAqAJKzl8Rc90LRVIBvG7EU+DRyqyCs4Co2Eln5cpCoSKRiCCsrQp0u2AETFIEMRiADGOrzhju8IQxE2B8N9TUYlegwI0RIlB32sAcLJMh5DGBARg4FgBw1C3sA8IARmIjB7vnOQFLcCEYKZiMHrIdvt/ICFagQiTKsLyOImEn2ilCGPfAwEadEpSASoUoe8lCVcpBDDgpmMB0SQWFy2OMeD8UAhDUuCFRg3OSYtYAJTAyRF1hkaHiQg6iFUFse9OC0NkAyCzSNAZf/xAoJNCAFcwWAARizXxNIIAU56JEPCItWGspgB1zuAWGnjEQkJBGJ5qVkR0ho5x57OYUFVKtxSmseAFbowAoCAAImAEEyY1IEbt4shNv6nseQ5oWCOaBpaWMPCQo2gXEKwgHqOcEFyeAFhZWSDyflgx1uadI9qDN1iYjnKZHggAAQE5ewTJg6x2ABCJRBYYxrHhIsA4AJ0AgCDZBAQhX6EB6IbYPOhOiBMJJTkgHSADUdGbmGMMBUkICYJ/iA/ThAhTzCkp12QKseTYpSAPABUaiUwwQa0AAEGKp5LvWCFzJggPYtpJcNzBEAGgABcVUAAGFdKhhAAwATSGQDV3nq/zNnmIUc5DQN1doATQlAuhxBYAhkTcPqCBTS7IFgBU44X7TGsFrWrtYLq42WHBJxTi/wQZ1SIAG4CDCEaOXVC1lwgg+ZtYHXFnGgxzVAB5a6EDDkICWNlYgGpKubZ9JxfxrIwRhyWob3OIyYZmyCDIyQgWiBQhaLeOEISoDaaKm2tawNy2thy4c9lCELUhiCE7KQAQREzrdTmAIShkCCYapwoAsY5spYQNrEOkEDDChBBiagt+lK92MeNMAKtOu4lIhrAheYzZd4MIYycEIWnECs/UowBdiW4b2tFYt8YbvHMQzhfEhoALPEggQeC5gEEVBhp5hlAEIS4AImiEMbAP8gGYWeIAcqOEnBKGygCkdRI4shqTrTMIaTCAoCJ1ACFpZyBiYd78RkeMEFJyBjacUkry+WVhoq62IvgCsAGQBLcLKiAjaAoQQrRMBcJxDG6Sx3IUSAMgIm+dhtVdlAJZqPT7e7AsKqkAU/iMJz4jAHMAwBligsxAvNx9o2h2a1C9GuO50wht/mIAMB2F9XcguGvIBhC0UoQl30YuiFmEAFR2XPLC/8WAvvJpOWzSkRlNffBdxAVpGag3RyAEsTp2Kx2Rs1iUv9l9YyBGEquK8TBvww3kQNVBBQ7IMGQR1eMySGEGCARCzggNHp5nP3LvatkO1Tph1VhWvrghrgEO3/mpAhUSaWxfuyd4JRt1c03V6cHFQgliH8GmLmBjYHPhTKhdSk3QA4wV7HxS16z5JPdMR3n0iw7zQISq4BuEAS6BeHOEinJkUYICdQiIlr383Jr3U4EAFz6oUkCr9Z8Sq6QEXMoq4gEI9oxMcdcgIIEIAAEwgLPHNaokl+8IOZ7a8BTJQBAARg2VY3gmQ2nZcHBYINThDEIszbiUG48G5NQALQt32fLGTBpyoSjwcg4ECUFLWoJxCCErrAZKm7AMgEIAEpeShPSVTe8nIoA4I8yFlx9fdhBUYXGODAkEAoohGNmFAgpm04WZxCDxzH2hvIRq2++/Y+SOhNGRwsMXAZ/2BiRSWqBFblmtxJvQj99cAY5GBKylve+ZWPRBqykNsFIJhZnVehClcABnAC4AdCWEIVwuCGPyjClmkw7yoG0fOMtWQBYAGAgIUjBX8CxgtSQFQOPCAx+IyLqKBKABAQgQEEAVWROoNqlh57rd8qAx56vgeEPlajIFgTqAXANTjovoVYlREAijHhgcIBBRQyhEewHxNALUFwghxYgQ5gEPyblvqLCYmRMIcJFYNagKTSDxEAAKX6ODZolgzwO0n7KXSKreaDQMvjpCwgAjaYAyWDCAJUlRE4AbjTOVkohDCwnxMoMU6IBCoggg84gQjIr83JOzfzAmfxgHABFYd5AP8QyEEdPECVeBoWay/YuiVYUpo0YKdEqDxOOELoKwMXEYI0YwiYGcAciDsUkoQXMA3dMYESAwVO4CbWYIExnAIYZIhMyoFQGbxxGbykckPWGMDUOEAr8i0vqBgpUEWyADo9TJqcsgO3AoAHjKkc4IEnKL4hcZcS+DRZSAW7yR4eSANOiEQq4IH9YEH6EyChA4DfcoJPybHIgQAcfJcBjEMAyIMJQK0sSMVVVEUeGwspuEQSu0NEeTMA4MNIGIMcQAJWuwF5gYh3MQEvWAQUkgUZgEPM+UBilEQT0I8CZAEeG0foyaQAmwAHYpaDese0QA0BzMc4ZIPPui9vXMUUJIH/IaBIVUQdbYMe7TqrLKCvNHACG8hFXdSPCqDHVJAFWSCDFNAdEMAjfnQCsKKbhDoBIggLsdDJZ7w+C+yLOBCDUpkKeLzGheAAJKBIAKBI3EPKjKzIKRiLRDEpadmDdewCKPgLEViNAkQCM2NJQsSc8uIETqACmiTFhRCDN+CB/MI9uXqPFWCDPJiOPOCL+QGALijKoguCcHTKvszIHQMLOrys1cIvv/gLhkyVHRKElTwF+/lAUIjEmfyAVjkPveCBtMHMHqCOzcxLh2BHvvTL0JQCwFRKalktasGvN9ADMWqIoGSCoRwxOViFlcyeJeACOYDMLmwNomwIvaAABUCw/wOQAAogTgrYzD9AhIU4BDeogiXwgZI0NOEQC9EUTSfoMSkwzTGglikYgi1Yt7/4STHgAXo8hZUkAyvQnUSBTEEYAh8QAivIQIaoCeLkAA4ozvskzs6ECAZxgluhztCkOADQL/m6RO58Azr5i5qQSzqAu0VYyUKon7sBQU5AGDXAgw55CL34kI3zOJ3o0DXhTfvBsxTMAdD8T2+0ziFYiOxEnSzozkFI0M0kAUGQg5UshSW7GzZIA7njBHXCAixkzd6sT+V8kIaAPVp5jWAEi9E80b5M0UwkTFQcggP90AzVCzJQmJWUhTPYAqzJgzBIA0eIRC8ggiR9iBLogA7ggP80VdP65ADDWghFmASsKQDMYQF2bFK/TNGwQLUxoD/u9M4qfRG9KAIqqMeVFBgvvQOzKcYgQIEP4EEAUAAFYIgOKIFLBYAOYAE1rYAhxZoBqFPMGdE8dco9dYJmjFIDpZMglc/NNNRIeFAfyFHcjEQpMAGtZAgBGACI4IASAAAWAABfvRtdBVVR4k9SpUhTzQJUQy3uvAM1AQy9UL24W0lQuIG7MbhSiEQkuFXEEoAm6tXsCVGsmQQywNNSzQrQ3EmdFDAkeEESoz8XZYNBeIQ5jdZAQAQykANBmM3GxJoUKIIT2laaFI1QfYCFoADdodTseQRFMNew+MuoQcod67H/ig0Od83ObcyBE/CB8BMDP4BRmjiERiCDMViE8lwFRZIZFDADgeUELyDYQkyxhpjUhZAAhX0hunzY6UzWneScIDCCICACPHkyPF1WLxgC4FoBAXSNRoQIEnyER7iDruwiTiiCmb2WltVWSQQrAfjWwwKMB5gVhY2Am7WfM6A5NlABsMjJdRUwMmC7QKDLOQgvSIPY/QkumqSb0JiEUCCFCRhDJ4AjrGlZyOQEJ/gAr1WNr42Jg10IYcWchLWfG0gCMSuCtaxYHhsCMrA5BeWLNuiJqvispN2fpdWP+6iCOxiEBDoADYiau6ECQTgFUGBPxQ0rxgUMFtDdTNVP0WAV/1fxASXQATBAozMyArmkjrmNgy9QghdIgRWQgkggRlCIBB4Ixb3NDje4gEDzEwsoAizMGEEQhFQAhVhSXADA3dwFVt1VrruR3OyB1OEjvh8oE7SNNumgS75wCArggkWYXk6w3tO9jy3AgwswgAPo3iLQBJlZhKqVgxXw2vPFjvflgRJYIqyBU8wxRPl1jRtQgij4gkihOYcQAKzzX8O9WiLBjjMAA7OLD35pmXlpAuk9hZdVgQHA4SCB3GDNnvrMYKyBma2U3xSIgVh5FIewACc44VLghBUYAAEQYNHAg8skAEBaCAZYlGu5AxomyxVYWCEB1oXYVCZ60/ellSDeYP/XAIAwG9uFSAAqcIT/deII/lYJhogzGIQLSJtBsagD6KN5uYNFSIUadoIViABGoWAAuOBkyk9GoRs0jl9ghIgLMFQ5xmE6XghMdgg/mFOM8hPBcgC41WJBrmHuMds12eEdNrQOOOUReeR3YRVJfghKFgRiZOIsKAAc1uWGiOBdZYhDYIOFIIADcACLKmYjCFlaKQRSPtwKMGMwXggeCOOiTN/70I/hAwxatmVOAIAIeIBJLYACkGWGCFUAmIRJgLVh9pNitoBpbpQ8KATZBQBOQIIIeNNGSeRFzstqFg01/osLkAJIhMwxqIDhlABvFo0OeIQEECgEBoBiZgBau5b/RJCDVGBiLmADmGgUyOWB9u3dv+Bn7LgA3ppeUCBo/HxmXt2MhYA1ZgkAiaYVPdBXi+aE7nwETVjOJWCUaR7jj74bMRyDki4DlA4NmKiAlS679UFqaxGWxhSEHOjba3mAMG4ZffZpaxFDLxBqZ8bP7OiCCBAAB0gABzCBBPjhd8Y6AJCDIYAADogABchlX14TBZhmVX4IOg7pq2YIMaSCkk4DlG7k0GgBWWUICrA7a6mmx2IAA/jmXQ4N7H2IQ2YBNAUMvNZkvXaIkdZqyCxfru7qh3gAJYiBVgHGFhhnjSHmeTuXcs4PmHGIAZDcEqiAQ34IHA7nhigAO8bsbh4C/y7430gA7JRuiHF2SQAYV0Zhg092AAYIgFxeE3eBQ7me7FYGgHAuALjG7oWo07zu3Qhgx5IGbsBW5IXA6TNYghiQG1exG7ZYCNOeF9f547ILEsv+2ih8AXCSZo8GgIPugi6IijBBC3Lmbv3MAd/m7Ejw7Pv8iwFgC9cACuPGHUDmq2IWLLOT6zUh1mIVg0YYhVGghJ6WSz2IEIVDT3ZxgRM/7asu0Ug48AQnzrNuiBwO1Reg8Rc4biFZgeUuKAQIADeUGQmQgAUeBU1ohLaDiQhJzoWAjNpYCNRIFcwucBYPQU4YTvyE8YW45IeYVMhmlAqgkcFACUEJ4msBVh7gAf9KUAREOISWQHIkdwiM+QiGEIIw8IPeVQHf1jkmBoAE71SrBoBLLudJXdgoFpI7oBGx2YA/RgCzHXNELnMAUPMjb/MIaYicOOyHKNJrvPOxLAU9d9MKAHVPjfEnLtaFqNkhaZQ3cACCIYx5Wwj9lllEDlcAIPIkh/SNAxYJAYCcAIDTww9WXao7l3ImvtRLbdM1fW1dvm1BZ+3Dwlr8cJ0JMB34uAzGhmvWjuA1kVxN0AQ3T85VXYgkzwlE8PU1AfYLIgEk4HQm5gAFiAB7LvbJBgAsbIEsr25JhesLV401CQQeWIDNEBnrswwLpoBvhmuG0Pf7oAAOaARKaIQ2d4n/zcTXXk/Oct/tDXACKa/hQw5nBXgAe97dtw5nUP14SW3seHx27Ghhq8u+9QmABIB1APhm5zZ3D/mVVQ0Rh6AEW88Y4Z6XkxnLU2DiQybWcH6ACvBVC/bmj5cADjDov+By7JBLYTaw9QEAs75ymc/3EQkRcU/zJP+QP8BX08sJi8eawJaZk2HxUth49NVlj0d6NL1U3aV73f3ih0h57PiDA0gbloa1A0D7a9GL5OSQwif35Iz0nOB1SuB23Ql80bDshyCBTeIEoQcFordtd+/VYy8BFuABMygCM4hh7U54RH4APcbMAzAsQQ2SDpXWXf96JDf8XUe9hWgETUCF7Hl8/5Cm72z3mE0Kwbb/8wHweAq41DetAE0FADP/fMiFUcc9DWvp1NNXgCE9znMPDRDRCw5BPcYHgFFAPQnh9YfvddwnhavRnbK9j97XZEpe+9mlbVDV/EsFdaRffjMvAneehGIHgD4ACAACBxIsaFDgn0AcFnI4FOgggD8SIR6cpOjhwEaKFA3UNMpjI0QbC6IaRfEkSoIKFDxIKeAlzJgxAVygEglUqVOggggcUOABhRIlOlSoUIIFj6RJCwYqKjBUyqgADlGdCgAjxDhfUA6aRIqUpowhPQIwaVaTSEWNBKJCdUgq3IIDfCpAKfNuzJo3c+4UWEBBBA5COVQQjDRpkf8SBCVSGIg1LsS3AiWnFGHZYAwlW9wMKogIUViBaz1q0kgQ1SPIqgcIBCxBQgS5A/C+nFvg9gALNnHq5CkQqFCiFVgc5mGmRIXFfxpH/KM6ZSDKcD9QtywCBAgXEEeZBECpEaXQa9mGfi5VAGuDFChEePBAAe65MNMX8FsggU1OfH0D5sCiBGEdFLdUQYwhNJF5ECFiVYIAWGdQVwDEEotAlBC0lkmauAHACA3aVd9JFMD2HnwAzAZAXQCAWIADTizCW18/BTVUYUcplVhKEjnXoGSHIPLWjh4eJMQVeJT1yoQCcTfQJH4IaVd6Ia43UHsrrVTfXwIdkIEcnHASSRn/K/wV2H+E2ZiUGSxEpaOQHD1ZWQsAQPHFIR5NOOEoqgDQRxUovAmRACBStB5zAhFawWtPoPhXAQcgwIAKQwxBwgUszUiUgEoRuGaQCY43UKd/UvcCQVCooQclo1AYSyYb/nlQoCkROisFHBQkYnsAGLArAw5YYIED/ZXpX3E4chrqc26C+upAH7RA6g0ARHuDDVAMQgqFejJbUKApSkmrrQB0wFC4iAbAqwMO9AocjUcdliZcCDL72JsfAODntNIC8INAYb2yLURQoEQroQLZSq6tHRxAgAEH9JquA2QqJuCAhaLEZpsF5cGsvSiQKlC0AAgRBgBQAUzRF3F8O2u4/xywbKsDAZx7QLrAWiDUUIGAd2MJU+aIrHmHPEIJ0QCIkYSoAqFgQ8j6bgXAvycf1NLGgxJsMLgCyRwAATSny8AEAAIQwRl6NOLRKCzMejHQCaINwBxWxFlvCy5op69AXxj5SndSE/RABAUfRPB6HYyLMMxbM4DAo442cEF7BSSBRRxmUxKHjoSD2naDFlKCSBc/2PukswC8kG+0XeARiiqjfOq3QBFIILh6BHNg+O0dABDuA1vT/Ku6EBiQQAUKtPCDEEp80QYTT2AhRhtVG+rzyYFcBAATN/gp5AcouPCCDfqGLxAprTMIOwAPzL7yrJ8pYrjh4nZAgMxdW6DBBv/AMp5Ae+pL0AEWhAACZ91ACQJDH0FSNgeB/KAFo2vQ9sLXNPKZLzoInB771sMBkaTlffGLWQAedT8LbEBdCEiAe2RnFCGgAAXUoQ4KYnDBjFgIAFi4QYca9AHtnE5fE0TFVX40w+a0jXDw68CPGhGSzxxAZg67nwY0ACwGHMA9/VFCDGzgwhc+cIblmcMZlKBDP30vXwPhm0l0Ri/Y6aiNt2LZEW1kggrxwIm+iqIU03UACbxHfS+oGxdfOETvDIQSimiDnE5iryb0oActEEGzXFC3ewGgBVXwQ2hMopHUDLKNnnQOrY4IgDny4DAm4MDWCOAA/AEvXRF4ZQUe0IL/FgZSkDM8W4YoEQjpHWR7AGgCANbQhBRAcoeSJMgZMlGQtShrkET85HIK14GhqGmOAynl1rhmAAQs4AALIIAQhBCBDkhglg6sJXWGCJrufI5zAOiBQMBACIGsYQ09EMED/bQEgmjCQhppxBqd+UxPvk8oAFCTmgTCAxOsIJUEeOhDJYA8KGDBnFtE5yD7Zsi2fWELAgHmGwDxBjAIpJHHBMA+O7IgAITkdQI9iCcPsRFFhMUEPBiKYkoJQq49NAAHON0PoHCDWV4UnV2EXR7e9h3ODcIQnbgDG5bQhBZQdXst6EETqmCQfwokoC+NzEZAo4mxmmAoB0VOAhCwtYb5/+QFP7iBC1BwTqM6E5feoYS8BmIJgliiDV1IAr8oObcl3IEVr1BFKDbCTJF8NS6f8kh4iKaJwxlGMQSRqyRnadR0DtKu/QyEO1kBAETQQWUiE0gKUPADkqniFaHYKwAsoRFEeLWxBwlLSIg2ilQRjbaB0N1/YlMfLhZ1s4METSEREaQ/wHYgirDEZ2hLB6PtSwgebUsoMnEIS3BXINo9hBtte5JQ7NY7/RyFb2mqClJwoCUiKO5muehM7phkoxBhhSeg+5mCxCEORhLIJDTiCU9AJBOgxZh4D2I+7nwuEIGYBABQoUwlxBW+8eXsDPOQqvo2Iq98VcR+CXKIswFRIP9qiEMgHjFgAhd4EAdOsEEO8Qk9AfGfYSHFIKrggxZa2LgCfURoiOZhgRA4uucDMgA+EQYhAMAHTBBDHAYxYJRkwsVDTvAZzjiKtiRZDUuosC8v3FjP6lI6RA7rgiSDiBqGYsl+8t4PJtcHQzSXIgZ251dRIEYADGLGEiKFG748S4Jc+KjqVKoiWEyQRxiZIJQghUD6sIQUdK+SdkNpFe4gFTPDuNI/UEIXDPEKXwCAFH3YghB84ECBFNrQXlwSJR5hCU+IViCpaXSFeklGF8QgBlhdAhtIhhJL4PmlH7DBC4TwhD6Y5F//+gQeriAEGQKg0F9NVYUm4QlXtKIVn/D/9kybqYmoGcRuvI5BC5oAzKhUudgCRcENkiAGS6CCb2OF2itQYYlTN4uuXwVyfSnB7Va4IhSfcAWIAaCs8pT70qRygbrXTWXwIjjBqrVCqf/FcGyjghSfcBIAbPBI+X5VZ2jrpyVC4Yoke+KfSuSIJigEgD0PxNwAiMELeK1uuFD8k+IVgRgnoQpViIeDHGmEV0o8iDDs826NDcQ6P4IWRKQcAJkAcXRfp1WqxqludsP5zY+w87hY4sCenO5LU8CEQdR7maNVi0TeAuEIC+QMKf2qjzY82hDvfaUFUYIPAKAdSQ7edDn3QcTNU3Yd5SEOXRDCOQdZhbAQPSN9v56O/2QKZFToqc7O/IxDHIzrlNhcIF//YwzELvEEGTgOR3PBCGqJwCznWjSf+wxGPmk9JDdWLfv9fVxekHPB35xUMUD86gsS8eUXZAlvKMgZfBD7+KYEoylZQmfI3RGNOESmA9WR9XpPtFibJiUTLL6lce6CGyTeIBFfQzDVrfqxF0TTADjCvcR8kBdix/oU+USEccdYjVXROERaQFPFOVMgFE2uuY9akEVsMYGqFYTwpZ/O0R/+fRQYsMEbzJNAsIEwNcH8SZz93UEYRNX9oQA+UR+rCQTXUVX++V9BfAR9fQQhKYKPjAQCupvUHEJ43JujhcdAkEIYKMELDh6vWdr3OP8fCI6dupEUAHigQTTh8jmf/XmCIQiERwnEEajghb0ZjxmEhaXAQMQCg9XgdyiREnXQDjbWJ0hWaDDcQKCCGOwLXNWN172ADHFdDHDg8wEACG6gQMwTIXQgRVBhpiHCihGYohFEF65gIIlhLwUSCMQA9g3EbtUgS6nhTCnR913ZBR0CtxVNHJZFQVQBYP3AD+Scw/Wa4LmA873BHxqEFEbFPBnCIi5ibAFAFhJED1DaC7VQQfjJ3AxjMNpAGHzCK4AF2gigGnKiSCgRNLmhLrTCD+6WEApELKiCqwyEKsaA3ehhr0mSD8jiLNJiB3YgG8AFfuXiio3WQfzi6NjLBwz/EEW8WT3C4iG0BQGi4TOqocKthdmB4gy1wi/8AgMCAAT6AiqYlkH8wNe5IlX54TkSRCESYkUWxDmyQitwZDu644B5XiVtD48JoxjOTQshozKa14Yx2D96omj0HA/6DYUEwyxkIkFQCBxoFUSsYq/1WguUoyymRCFKBStwZLcl5VGC5Ir14s3BhVy5YAwIwT6qwiScVzOqxTOyVDMR5CCxDjEAgC8syUDoCU9ShA302g3EQBOYI0rUIkU8H2wlJV3S5UeCZBs8jWosQSf82dm05G5F12cAJDw2B4z5QDKhgi8Qg8xFhSqang0Am1sexEVGYUq8ASNYwlECQF12plKC/6SD6UFURCVBeMIsWN341aBGoNlgYh1LeZJtyVUMbIElYEtYFuZJfJrpxOJQSkVRQoSmsZhnDme3scInrBh0EYRo3mMxDoQveBx4NOMo5IGD+QgHIcISwZ3PNZZsbgEp3OYoiAETeKPIMNlAiFEfmmNGWqQU/iYtEgRxdttA0OVAGCd2coRr6sECYcEwQsQnTIJk0VcNRRdVOGAOtqFthYEqLCapDcQTPAHNEYQYUeRJzJMhCkRvaiQAdEJ8JqVAECcAsAKImVmIud5pOR1b+MIskEIm6BZ9hYInZIJvhR4HvYUiIGhjkUKDSoiIdcEBmacYLQEhXOR6DiIAXCiGZv/okcZWrXWokzIaY7GUwilcWD1EXkYB3hTE0ADmIl5d6EFdwsnkdr4UpFFI3xzEgyqKELABIwyphWIoRNTikKpnbxKYkzopK6yUYPqdlO6XHvCSQLxCK2TC2UgnUzqYBV3EDnql3+ioGVpeTvLoIAjBD6wjIxzEH/6hhUohJjBCm87pH9LanT6pnvKp2y1Iwp0RAN5VDaqcK7ijgVmQMonpmA4RntTQQWyZWJZaJnTCEQTeQAzpQDzfLHrgpXYqAHhqm15qJ3DbwI3qcIZEVKhFwikCrh7CHXRCHoBHDV6EZh7nIl6Eg82a1VlZrc4QnqTEhkXNjopgskYhIS4pQRz/KyN0qr0yQicQmCvMgiv0K7TWJUeO3km83Kd8QhWgYNk0AoPNqCeA64pVJ7kKxOLBpjM9anmhhIWQBTE4g0B0QhP0YZvCqwfOU5uuwRG4wBHIYqeaAgDMgi7MAr/yq7/+a1LyXUpsJQDoCRuo2w0IQRQkrCJQp48cQi7GVnRErNVNhZg6UzaaBa5CxEXUCYUQQzAIBCP4QA9g5qXCa72azjoe6RGkLAC4gi6U7cvCrMzOLLQy2iaCx8tBxFrUkMFKVQz0LBNYQRdsxfNUztFOmdUdLUEoE4GZ60z+yWh4Tlk87TJNBFVAWDAQgzL8QrK+AQfWa5tiQhOwgSlggkBw4S4mdIIbaKbZlq3Lom2/qm2Hjtj4rS7RuFRAsoWkqZsNhBMUUBQUUFW8YYEazEEgKBORAW5pEhixJSACPcR5EdLFGgRoiRhj+YIyUG3HMlIjsexBdIJoeYIibpvZlu7Z7uvpxicrgEdCbtVBvEImPIHYHUEMfFrtBhCP1c0NzAkcwJaMJi1BgKslyGRj1VchFcSNck5YPG5Y9gLLci71AsABH2XZYq9IeEIruCzpvuzLeu/3diaAKq6CBCQQoUIf+ABbZtEPMIHtglkLpUDdMFno7kgjfgJ+WR0iDALxCklAAAAh+QQFBgAAACxuABoAvwDWAAAI/wABCBxIsKDBgwgTKlxY0EgChhAjSpxIsaLFixgzCuxAAIAVKxpDihxJsqRJgiw6fjzJsqXLlyMdelwJs6bNmzdlfgSJs6fPnxl18gRKtKhRgw6x7DzKtKlPGQ6U0nRKtepJoUOtat16ESvXr2Ajeg1LtixBIwFmZjXLlitatW3jfk27VK7dqnSn3t1rNO9avoB7+g1M2OfgwohrHg5MBowZM2PKpEnjiAoJA1sSa1zMV9KpU6U+h/4shwAJI1g0Y0yLpXVgMJ9jyz4VaQgXGX9VR0zbpQthz7Nlc6JChUfr3LoTGunoGjAb2YsEFQI1MBIVL8b1Jl8og4ARKOABA/8/VYYKETFLCBIvEubLdonLYVyxAoUvINC0rxt5AmYgqOtBXBHeewx1xwIWvvE1WileEBdGF7B99p8XRITRHIEJdZHSgQjuVUhs1lFRxBZYgDHahFRccSGGCG3IxIt3NbGgF15woSIUMkpYRhlePHhXKcPYMsyQwzBTZJHMJMnMM9M8w4wpYRiUUgJfKHUXcKUsMlkRV3QhBhugiMZFGnIw8UR9bD3zzDzxADCPm/XQI+ecArXTDjp4ArAOgqkNlAABF3yhxl06LBJJdF6UIYeAMC5i6CJjlmGEGCuCdYs79WQ6Dz3zdOrpp/Ggc45A5ZBzDCdNGJGqDiwk4MEEFyj/cZcZgtQ6RhplgCHGrmJ0IUetglChqA4k9knWMPHE0w4AyzbL7LMC0XMOL7zUMcEEDEwAwbbbGrCAtwiYYGxbvwoix2RlKqEEE/WVK0iichjRRYdlgaPss87my+w86HC7rUAQNICAv9wmsIQQCAUBBBpAEFFFT7fcoqSSQ5piS7mJlvFYGmZoTASw70oGxoD1Llunnczaqe88tPxLkMAAuCxQoAkW9AUOOOPAwcE22ODSMOB0So879hRtjzv0pGMONpsAuyOPUD/t7hCJ6qpGG2V9wQ470Bakr5voNLBAA2QvYPYCE5iNAAEGGEAALtFYM7GSDeAMQDRLqqm33k32/73k307uTfEwt6xyC9zfyCPPpua8U/Q99kBujzm8gKxoGQA8vWMaIHPhRRpGMIFwWbesYzoA6aTjpqcDyVmPPPSYswsCtC8AgNkC2T52AxAYAAw5pZYj/PDAYBACBtSYU47y5lxTTDGQiALJ88UIQ/31xRyT/fbaF1MNOejEM089j99j/vnmv3NN0yCb2377AAibBhnzIucTIJvYkn8HLJgAgAICwcY6AMAOxQFAHgWJh+IW1ylliUMc3vgGBCEojWNY8ILHWMYxKtiMYzRjGRpcRjJAGI1jRGMYJdRe92ghPVG48IXRg4QMZ1iJ6IkiGukYH/mMdjR3ACBTmYrHOf+o4S4AvO+IAPCCHOSgqzOcgShtYIYtagEAYFwCA99qmxbRIA56EKQePwwjGI9mDwBEDh/5eAcA3oGPe7zjje/IBz7mSMd82PGOaLTjHM+XD33A8R74gOMf0Qc5yXFqTkMjIw8XKRBNsekcy6AFEmtlxPcBYEwnsIEQjMCMiBUiSjD5AQCYAY5m0AIWAIAFLUJANrGdrRiPK2MZzUjLWQLAfGjEhzt0KKdNcWpTSBtapjBFPqIt0h1EM+Yi8bFGNtJxj+YrGqbKF7lYFjJy5rul5Io2D2ygIQdO4IL8lkjOcprTMl5oDDPYYScFjmMcz+jFLeAQki/Mq0jjmIc72lH/DBYWYxM0gsAEHMAAAIhNFNiUCDPx0Y7x0UNl+FIZO9lpspOp7KIYzaiyNspRO5WjHfXwIS73eMuSEvKk9mAHLBZAgLHt7mwLCEFMz8a73hGAAVzwQDSSpbhOMbBT9cDHNsYxDVYsIT0QgUMupuGMcbRRcvPAxTC4wAAHOGADWLUAABwAAAagwR5qTAj6bmmPeTSUHpkCQDzYORJn1SllGaUoO9YRDnLM44zPzKte92oOVgZgbAZwJbe0xTuXQoClC8hANKpptJASk5dg3Qc/+DGOXgDgiQqZRj/6wY99nA8c0cCFLYagAga4LQAEOIBVGUCAAHjjTT9lXUHQasZ7/9SjU9FSFte4FpKvGWS3W2NHOcIhDXrYQ45zBMBeD5JcZmqDbH9FgAEcYAELYPW6G9BABrS1LQIQAKHX3OYZyyq08dmjjfaox7gKAg51oPGNz8BFFj5XBj4YKhKJoAJrA4CAA/Q3ABjQYVrBSGAxhpFobmKgAgkY3IME98EEjPBuGbzbig4EuA8+RzfCcY2GvulTaFXmSfMqD1h4669VrW51qesADWBVBRuwwAQA4N1vnDSagNzsZvdh1nbATp/2YEZubIEOeSTrGHZIAwD2sIclAiARiZBEJCIBABUcgAFYdpso0DrgAns5jLRcnEB42o518JbCWxsgs5QF0Ymi+f/BcI7zXNfRjWxgw67CBKKe98znYdqjEtJdgFWpq+INCESr1TX0AdxGAHDkEY905Ic//kHpf8CDs+k4RznOMY9hCMQ9BBlGOuQUDSWT0w5M3gMfoMxqPnhhBRqorga+gUwCf/nWArGHj9+6VtMN0Ne+Poc4wAGOb4DjgLj91KZ8amQzm3mucwZ2866BjYb2GYg/7DMyt20PIHiLAAhggHS9S+7+btWqE2gbASpx3EffUY/3yAc/dDzZd7hDHHbGhBJGN5AfDAN24BhD5mjkBQCMQQ5MRjirBfHkFWyABDlIR62x7WU5ZXuH9WhHmwSy23Wgw+MA+Die0AGMBSCglQH/+xZMzeYtUVRCFFv7OLBnfo5sQIMa5IgHl6/dZwD48OduwkBLWxuABmSXBAwIgNINwABBE/TElSCfHQGQD4G8G95u3Mc+HCcPb2DjTAZxw78BgIs0jIHgWZACjcqwBztkQQ4A4AMfmiwJGW+CToi0OJ2y7cWyoizCy1rHOUY+8nNco2w1FRvtbmdQgRjgdts6BjsIjyePf/wc5oCG5jlNcZ6nFehAT8fYCKACL6gayviNhBdIgICuNn3RCFjAMXYe0kVWU7xFIwcyNHiGQRnEFvEIeBKnMAUvTCEH8wVAGuwAgBwg/Pl8CEIGaiFbgnw42bjNlDy2JhDTxfwc4B9V//jR8C9Xnq31trvdt27XgNsdQ/DgFxWeBn+OcIwQGuvY+cWv7fP+gx4cOeABTuAFc6dqqxYJkpCAibACAOABHvAt2CIO2+Zz28ZtxURGu0QO0jBCmLAFXlIQT7AJ8oALXnB2Q0A1XjAExUcjcmAHkfF8e0AmE6ANBrRxCIFABlQnc1UQk4d5ACB+5kAN3NJ4rTQQrSQ2BkU2FxZ+4GcO4dc8wmAMHeZLALBzruN5e3YMSIAEQyAF5RSDfCBwkgAAkuAFZpMDAjUB39BDFUiB6fWGxVQP6FANwCAMy6AEN+AzMUAQgUAI6DBfNJIFSJBENCIFVFMGdiAHTpCITSYHZf+gAt5gYQbRLCizLAg0V6IyEKaDeebQiZ1YDmiwcmdDENzSfjFDMMcgKpi3ip/YDHXIDR6mbMqWd7QoJ8fgBDmwI+dSTokoB/OVCPjFBwsQAAwgY0MzgRdnYAS2S+UgDLAADMeQBEmwbzdgENKgdl6QfATnBVKAfErEfALXZDGoArRwDNrwDdiQjtqgDTInc8CliaKSjtRTCTVEj7wgDLxAC0fYSt6SfgbVei0Ve2qjRcvghJ24isNlDLsADNxQQAu0OBA5D7Eli57yDTkQGZJBJkq2fAAAd8rnBKumfAtwWAwgYFgYUj80h/QIDJjQBnAQB3FwELUQBMaHBIC4jVP/kHx24HZL1Ihl0ACiUAcGoHQB4C0NMAGXkRbrRo8CIQq30zZ1UAe8AAxTWZUuV0N1AAmVUAcyhRCmuI8oBwGQAADYwwvQAAuXsAvdsA73kixu+ZZw+ZALRAIYuSOBmAV4eXAteC6IyAd2MARsIwomiYXINA/hAAtAUAm44AZwMAd/EAiBYBBm4ARZMAVdKBDbuI0tGIOM6Ii44A0A0A3cMJqiyQ3U8EHNIA3LAADCQAtUWYfL0A2yyQ11VSrkQA7hAADhUFe4eZt19Zu4WQ3SMJzEKQ3C8JpVSY9ZGZWQUAdAQDYhcAnZgA7cF1wZdZ0qEw8kGBlnV5k5iZfg+TkC/5EGTZY5wyiYvZR31/ZQwgAEGLALZOADMXAD/EYQdAAGA8iN2piZ2YiISbR85AQA63gQ2tAN2uAN2jAQ3QAA5OAN3iCbC6qbwIObuqmbuXmhFfqbFWoQ4SAOt/mhvtmbv8kNxoAGIQAAWelyLoQ9z3OgDvqiDro10TBf3YmXUiAFxIeXOZoFkuGIBkcFKhAAxRCREQliiBQP3gAEBIAGtXADLhADULqHBkEHQ6CNhJiZQ4AEiZI5BzcZZocL13ANB4ENYjoQ6Uibo8kNBLGbw7Wbu2mhbnqhGCqnFioQcyqiGaqb3LAMl9CnLIRKURmoIVA7Ark25JYAYdAE13GXlf+JBBOggsR3gt+ZkWUgiDmwAMWwURoXlwskkfJwDrTgXbAACPMSBQtBBFrqBUiAjduYBZdZcNyYkZMhBdJADQAgDQhhq9RQDbaajtgAANmQDQOxm6Qpm6GZp3MKp3G6rMzKrNzQDH0KC9TADd6wm9V6reFQrbIZDumYms0QN5vwnZXpnTlAAiooiB6gAjiKl1JDAkgAAdpgndZ5nWtVDUIHBLUwB3EwB/yqEGRANa7KqvxZmVSAl0jgpWngBVQEAM0gEA1LEJqneQNxDbZqZ8AapthADdRAsWHasdSWjtcQrNiQDWk6mgUKoRtWrQAAms3KDWd5CbDQDCSrDdxgoKX/WbIoK5sOKg3gqaNOQHxTgKPE5wQq0IXfmTFlcIIaUA3hp4oj533BhQ7lAAsEgAGVgAlxkAeQKRCHcBB5AABDMIA5yZ/ZmHZSAABZAABTcCuTUQZOIBAgBACrObdyC7d1q7HSkI4AkI4a+0HLgJrNELjNAA2DCw3SYLjEqbGKu7HV4LEY66vpKLLQ0KeXsAyPC7mYG7nBGqzasAk6WpmkhQRToLajC7Smm7YYiQQ5kAPQsDzDUyqeGLuYZ69LugkvcAM/IARM8DAKUQSrSraBOLoDkbZSEBmTkQVUNLcgtLzMy7yGq6sDobHQkAzUiwzUe73Yi70idL3N+7eCS7jg/xuxmtcMaHkJwlCri7ur6nsN1dC47duxy1C2QBuAotuzOjq0pJs5ZTAGKpABzSAOu+mhICo85KA85IANlYABQCAKL9ACDuzAEJEDVUojv5uNB1G6mYMrYwAJcdvBytu9AHBzIdyxitsM1mu9yQAA1KvCKbzCLpy9MAzDIrS9xlC+u7AM4luc1FCrw7nDi7sJBXu/TiC64oq2OioFGkACUoC6AqcCE5ANKZutzdqby+CedQAGP/ADeegCEcEDYZuNOTCIlYkQS5yTkjEGK1ALKay8csvGzHur1KB5GwsAYjq9yYDCLJzHL6zHLdzHLBzD1OuM0TpCglvI33vI0FAMQf8MnqZrxEbssySgAkdbcCQAAddgoOtIs2mKst5QDVeEBpEAB6LcBmcgBhDBr/+qdsU3xgjhBAVLI0PQAEBgt25cy6spwgKhsQx7mnfsx3v8y74czHwMAAoZrXZIt3MbuN4LuM2wCUs8ruP6nQJhv8S3rnhZcFmQAQSwsWTazZmLDdqwCwxTC3FAB3SQB+iMzhCBzkQwBNcxxmd7tgZRxhPQAOs2EMhcy238t7hqqwQRxycMzMMs0ATdwshgRZdQRSD0QXWLzHLbsMsADA3is0Jrvz17ummbfFkAAQGAvunLq+5bDXwKBJvwBVmrtQDQtRSRpaysEESrVVjWACmswnX/28Y27cEhnNMQS7h4XNADLczAjAzC0KcAsAvG0MENndSrCQCQEASuTHwBeK4Wfb9I8LP2OwRrI74RS5yaJw3NsAt1AAtFAKU2QJ+yUhFFkKVvK88IQQJu7XBYJgrAUBAzbctLzbAH0QzX+9N87dMvXIe7cAloAAvCQMgO7dC8sLpVjaNDYK6ObNFTgAQekAM5+cgkQAAdsMyGXMhWVAl2kAKgnQIogAIYYQRDAABOEM8H0dhYtQJUsAIrkANG8Af9UQh7YAsDgQsjtM93rdPQMBB67ddAPdx6jAwAcNB9igZGjdSHLbd1ENthnNpBK64ZfdGkhXzjitoQ0AEpgAuF/6zZgVvMdiCfDpwCAGDeGEEGEvy2bW1oKrACqArbQ2AEBPEEQhADLwAAN3ADKoAGXJCiovCnogALorAJuLAHm2AHm7AJolALDl6HUWgMyDDhFE7cPl3DOCAQwrB7Sq3UG6ACKiDBVS3dj03NU2DV4yoFJVAE+eO9q4madfvVleAIcHAGX1AlIfG1b8CABeEETjBjhlZlKzAEsF3k9I0QKPAAGgAAWEUCWNUAxQgAJDAB+50CIzACoI3lKdACMSAEOAIImBDmkmALZF4LuHDmEC7hFW7cLzzhVgQAMHvMHT63wJADIL66YFvV0/zIJn6/U6AC0lCt2WAMML7Uc1vDkf9gCHBgzuYsEnMAAGJABALh4287YwShAhdQ5JruPwcxAh1wAQaBZdalAQ7QBKAGAEmQxQLxA08AAHGg0pBJB/w6B3rwB4MwCHkQB2rQK0YACGQACHuQCGRu4GeOC4Gd0EV91LSc1JBw5znQfAQh3Yw83eIKtEPAC1KMDUetzHZ73LCQCIZgzn/wByfxA16cpW5NAgTx4eoO2+9d5EVwEC3w6QVBAhbAAA93ASQQ7wXhewpBBwCQznRAyv0WA1veAjUA2jGwBElQBWdgCINgCWAACFm53End0JEc4s++8XnO3qPbjR6ggmgLtE6A7ddKDbgADYbe0LCwCWLwBW0wB5H/yRIuYAI5kAHqXhAqQAIX8N5BANs5AO+NAIJM/nAD4XBM3u78bhIgIBAjQBBP7wI+8ANKEAZ9MAcD/wVG8OtmAAhdv+CbUAsroPHQbhB6rrZDkAH1SwVqKwW0wMMaROZ/m8/AsAc/4MBPCgA+YxJYEAVPIAM8sOQ6z/M+D6RFTuQIwQEA4HDYVVAqIBBFMPMAQE82cdYEoQiKgAiBkPVVEAXSWALOjucGodZv+/HxA7QrcBpWgAUw3wa2kAwMPbe7sAdNYOVXPhCkbRL6uutate473/OZHgTvDttBUAR6YBAmYGhBLhCOz4BgoAhWAZmIMP16MAcsEPoKodYAIAUF/0t8zecABDAEJ+ACt3sDexC3cpsMkbAJTnrlT18Th4AIRZDzAsHuwO/uK/DzQfDzTWAQANFhA4CBAAwCYMBgxQoAZNochBhR4kSKFS0ezGOwCQkSKnJ8vGjQiRMAU0w6scAgAIESKEaMQFFk06ZENI1UiYIFChMlP0L+DKkokBoeBzdsUEHigoqlC1cECfJ0BREhEE8EKBiRAQCGBskYAhpWbMgSR5GCDDkEiUEpUzQ4WBQgAIIiKACIGAEgxo8kSbqIaTMnzxw4Yw1DfHLDhYkJBJMuhbwix5iFUKGyONgiAYGsEDUg7JpDEJk7hw6fBqpDhdkNJHKEVetEhYNIuf+cyJ1gpIVBFzeSPLHypU2cPMUzoh4bowUKEBOOPmaq4qCXp1BLQC0KwAQBBp0PTki41eCQNIkAHUeePiIRKmYJAnAdNoNzObJWGViJBIxBJUywADgDAOL+UG+sLZaIYTEVVNAAOsikW2GDyiwLggc2WGhAAwsm0qAxhb6jgg8yBimwQB06Yu2gjl67iIQFNJBCjkhk4YSAlaQrMcc5zEgkkki8WPDBCwy64CgKKVxBhQwcMEgDDS14sgEEFmCICifkKEMOMAaZI0fUSiCBNe/ioygpCBhQgQoqyihlFTnwQ4AMLws0Q44eJZEkkjRygCxMszo6kkIHmNRwggUQcgD/PAMMyCADD7Asw4sy5jwNjNZSnMgjiRjUgAHncihDCioEEWSFBQKYgIwoKD3tjiGySARPWSVJAz7Wwpwg0CNXWHOMMtKgwgELNjAAAAhI0KBWALLwYi1WxWLBT/cq0tQgJTcAzzkShgBygyAiscCAF589jIgs7BgjDT44mVWSRHI4KkyOANCVCADKSySRPca4l94FCJgyAxIAGIPfHFTQgdyf3pDCT4K8kyg+Bo+yYIFhj8qBARK8OCWSBktQQuGw7sjBizTsSKMMO/hoN88skqKYXqiICMILPvjIN2eCDUojgwX+9aCjLKSQQkke4hC5IhtYcELao0Li6OINGLB4/yANARgCgFNkkcUJVZMOqQ0ivCBb0jTk2EMOm9uNpAx4NVQhCPbkwDnnnAXpl2AGDCBggoEBcGIIEjLgAT2wIeqAKY7ErGhgJ83qcAGrLZhgiDLG8CKVXEqJ5PCLNiI7CyqyYJZuPnxluV05VrCg9SGctDtnPtL2wqAyMkCAgAUEBuA1DyYAIxDPIQJhWHkxnUgyAIQdtkMEGnAgoQUMUGGFK+XQvBdW8DB8eIOC4NYL0sf3Ygy6Id2jZTlWWwmBCQSRfQ/55RgjCINc/NdvAJL6HQw9ABDe8DpwgcU97D0T2VYQxtCh1lnAAT974O544IIY8OBKgkhFL7SHB+9FRP8FzBIf6aZQNrKlIW1ySIMgWpaGAEipb4mYnfzShjmScAUCDUDVvDwwH0V00FrHMyDEIGKyNFBOWFRbwAEaUIQqKGEJQlBCEbwgB07kQoOy0MP/wLYXKACmCEgIHRWmQDoSls2Ee+CDCWUVCUl4IQMQ4BsJ7IA2SEUKRz573gSCBoD5lOAJPuRBFlZwvIFMSyJEBBaTKnYAG5VAEYgIBB7gcAYxSKcMVdSgacAmBCsAJg50GFvoTALCMppxZWrbAxtzNgG+EcAJZYDl5cQXOAAgoFgNaFQGADCBBKTAhyawwPGcNqaB5SANxzzmQf4VgAUEIQ90iEMbxIAFJZhgCHL/wJ4Gc6GHHiqsC2qIg2D+wIaNhU6EpSxbW0xmhz3A0m5IMFQLpVCwsjnhI2UAGAB2t0sAdAAEHxAB2ApnEBNkQGryelhnSLCCIfgNkfQKE34MoIEiQFOaVlDCDWLAglHVR4OYCJnCBnEIREBSD2xYAbNEZxIplBEAZUNCDlpqsrTBShBpUwErA6ACJ5AtcEnB3aK4Y6wGJEAEH/hA0pqQgwnwgDHOgZKTjGJI+GRtJUH4lUHGkBC+TSADYJhDG86AhSRodDkm8AIGrdiLQuyGXE/4ghrmcAhFKGJbbZmCGNFZzyGMsIRoAwA75RBTCPRtJDElwQQMBTAC3HBRRkVq/0AVBgYkdIoBrYvQBqAEAA0UMqEQUQEOGRCEWk1qDFMygPtKENYzfOEJP1AOc5J6NllYMRf7eRZMWhADHyihCmEgwxDUQrSWvhSdxiXh2ZyQhjFkAQlvNAAEEDsBCGRAAxBAgD4BsBIOvCSpSTNDBhpwWQsEgQTNg5h3YBSEuKUrlkNYQAPENYEmiKG1UBCCDVyQghEg9QTGXIQsNLgKAHzALnMCAQhe8pIUtIAIafCCPYfgBBAid69kSxe/fuoi3Q2uuo7SQO4AQIAEsIAJ+Y0B2IgQ2gZoNkJQompEOrKsY/4KmWUggqFyt4AL3OAHITWIRl2wHBGwgAuL4ISA2f+KggPPCakATbARJBUJTpTBAypAQnEvbOFf5cA1H5GSAbwK4h0eqghzmAPSPMcDFVCNea37bEE+A5EhUAEJyMSzQXIAMPxM4AQtsEFEKImFJwhBozwogyBqq8FCfNfJT/4ACMxwNk5EQhAqYAP4enrhsr3UV0jAUWgRgIAdekADOywBGP5AIAJ5zgQaGG+LExVVg6jXKIO0cTJTdrkFUI0ABvhzDKoCETrQIc3RVAMAHlwf2+7HBY+G8ggWkQYqR0IKRHgEIoqQg01vuWyRes2C5CtmD5jaAxAAQ/cOd4IJjHoCTkqUsJo0Z89EaVE2PkgZVMCddgeABS14gUTysGr/gv/hmWC4ZoCveAVKRXsEZIgEFSOxiBy8QQ+BCEQRhjBTTpMtUhOQzrnF1ajf8TiA3jtBYfs2BKz+qrIObJ1U672AUfONetXz2a9tGYAEoOAFgZ5IwQkOgCKMahFr7cQgBpHsAi14BIBehI8q7QUiHOLiqyYCt5zA8QtP4d0k8MC/PgxHAhjk5J5jJQFUgLZ8yYpdkkhjUiLylp+lNrW5W9Tdf32BF8TABkCOiNCHToYUgmKtq+hSiYbMWyW8gROC4AQnFjEENlx91TyYcA5ehU4Kk40K5SYBdsVMXQJkx4cUWBSo6sZGSbDL9Wssg+A2xAAEMCDMxRq1LX9NdDF0/6EKnaSI4IdOBBQuuhdk+EKJvtCFLoQhDqBIBOTbVnXBB3cKSCBl7cSHNRGSvLDuK2wHmN7BJkzPA/T0VXncDgBOsJ/9rceTHGTDgkEUYQUMIMDuxVUENhwiEIP4AzewCIwjQIILBDbIAWxatFz4o2dLD0XAg9baAk6gIskbgjcwDoLLA43rtlKaMNIJOTgSswaQAF/yIYMogsYigREqmFiCJbqBiPZrv/drPR8BBEkgAyMogh1kg4EbjGhKPouoq7ryP4wDgEMoOkE4uo8COuQgkUKLgR5BMj0hAnAKpzmgg+L4g+DSslLKApM4FBGEgA4wgQQ7QYNYgQZQARaEJf88SybMGYM9SISDkEH3o0EfIQMzULUfbIMgtAgl6CQ/CIRHeIRGOAjCQ7K1arQmQw4UgIGIi7zJO4G9SIJOGo5wooPg6sCyGRq3gIB/MQASNMMzBIA8MIDOE58pIC5mgaV7mRStyhIYMog6nEF2AQAzeKY4KIyf0C3eEgK4OohJOKZFyJ7jYw71EAEzAAAk44Q0IAIRAAEUaDBAE4Io+IIz4IENQAIkoDDSESMpaBq8Q4AOAAAQIEXPoLApGIl1ZMet87hfkQOeOZkyiJWIyJccyAI+DAtoTLCX2C2DYLgEZDYN2gEAYMTDMAJIBIBIGIITKDCAwgtp3C0b4AAHyAD/LNvGdUQCCEiAC2ABcjzHiCiCtgDHdhyJg+G2dSSa8smqSMkC8wGARBiDLEsZL3iDsPqCJAAKSIPGvIAIHjC6XLAiWaCm9DADyWs/ioOIyNKtG3gCDvCUhOAIDwgCE+iAFjBDcwxJ0GJHwGnHIfCIdfRKlSSj8jkZurEZFHICNlADMfijn4A0iBzFQyyDRPyoSQAADjqNiQOFSkMCFtBKpIrGFnABJfiCODCBXoueA0CABIiDL4gCndxKiXiD2DBJkxzLywycvgIAbGonFPKCIegBnRg2uIwsfjxIAACDujyFXKARI6Cr09ABCuzLRSAByTKIvGiBH7CCwKADE5CL/+hqAAIAKzqYTIoggxzgRs1kTpPcxtiYAsxRJykYAhlQAiwQg518MhHgThBwK4iwhLWjokWAijtQN6Agg8hbSOpwtIgIp4H7AweQC7lIAPg8TomAAo1bTpJozuZEAuFaizEKHS+gziKwAnASC+7sztQEAERgM7CsHhXwgvMMiSZoxtpUgRMAqIkwToOggA9VgAT40BGlgPuMCGtCLJHoT838T7UoCRCaAgAoUDHAxFYLiRZIAZfwzoooggbotYuxF8OQhEWYQuoQAQYNPArggCXlAIgg0Q9d0g7ggAh4AAUogCstAAWAAs8pAbXwMohYUef8zwAFISkoiSEoAkwcuP+fOIMuKDSNuoEleEuJuIAD6DWzYIF0CwtDiLjazAEjuIGf+INAOIQiDATBG4ssFZkEEy6xDNPLfE4yJRsznYIhIINPsk+gQLM4iCY3CJCJ2I7ac4DOmhoyODuLaL0phKU5cAMB/AnTMI1TLdHTuFLJpBQOsEyvzMwwjdRlKdMzJQNxWrWwWLVAUIRGeAQAyM6JmIvxah1hIQFTDYk7WAQ56MveeYM4EIMtqIgK+FCD4AApLVRNMohuSo8r9ZIi07yufFR27NWypFRLzcKhA4pVQ4RGmIRDcAMroAj5ZExhiR4JkVaLSITHqzRnhALFSLGIUFKQBIAm7acS6ICJ/db/fvKS7ywQCrDMdnVOFy1LkqhUMqCDgiNWY32ESfgDP4wIEDgAuUCANzuKrqiIPFgEQejLSMgBGViOEdBKg0BXiWCBoC2BErBYVkEBjFWP/5ow/vzKlGTO58waAR0DkEUCMmgEjBvWsLjXSVAEN9iC0oyIB5CLA2AAYYGciyADUJA48mSy/nI0AaCIB5jVgyDadNUtSjEBzePGXU2KpT2sbRzTXhXQCFuWqj2ESZiEZBULRTjZQRADJfCBiQABBZALAjiAQYExCJAAAAg4idCDHFiEm21IFDgqpDIIuKWIK42AiMCMCvCSAniWbVPOjuXPFs2BBvmIj1CBrJECZgGA/7V4GSMQgt9y1bDA10eAg6+liARbiQAg27LdGwMow56FCCNwjahbBA9AAUg7CNQ13YgYgAJ4AIOIgAqoWy+xVS8hkTcgAs37XTHNATLoQQAcpyIggo6AzqIJHAqINMJcWKBg3EkYhDOAXAecCAlon9T6NfywiAzwFNfIgAr4pycDAAHw3gqeiPBdXQroAMzwEiYQmXHCPAAF3JgSWS1cNS18piJIipHoHRVggbhsz5+ghEfwAywQAuWg3rCdz8oNgM2lCA4Aj+jBvzKENNQtMAuuiAKIAHJkgaF1XROtiGTrki0gAh4YAyLIQYND1KwtgiNLNEFIgyCYYAo2jEnwg/8DiQEkLUeW7eEAeIAdPogOKFsiRgABeDIL9t4PQOKKkICiEFpKodAcAWEAgAMszEIUJlmRHIKoA4W+LIMynuGwmARLwIMwgNyfMIEHiOOKYIF/HZR/wWM99l4lDokOKAGn4oGPlGKgsIFqvEZM7FCK0DhH7ss0kOTTyARSIAVNeAQ8cIMuuIgEk+ODaAIEcCCaY8wfHoAB0OPuDYso5gEekNg5sVGwMUEAwM6KEAMeQAJm7EsziMvTONlCrKuTHeaLEOKUiDcEkItmhufTmFtqppRTncwEAN3IC2fuPYxBSFxFOIRitWexeINnBVjdQwAFsNJmlmcPXmWHbWX1qFL/AMDnS+KEvvQCPTZjsTjZujpUej2NgoY5B6I9y5UACaBSBUANCnDoEoDYiEYOB6zSktFnTvCCZn7mg9joivjngF7k0+AB7gBYX/u1kx5R5HhpHoDow7lmVhmAiLgAmr5omy6AeKaInYYIroUk4TuMPADOuYieVirqJ11ph2blM9RLL3lqiIgAqX5kOeBkhQ4JA4uInv5ooUONlci/vZaLeT1q5GBpg6Dmlz7HSTaMtYaIByiZSHhktfVWCgBiiEDsg0gBAy7XrUZU1NiOvc4/f4NPgqsAwjaMl35iKf7eiuhjBQMA2N0UL2DsvhSEJ53bkDhcAADou8ZrzX5jFvjs/2K1bU2YhNkOi8A2iLOO6PbsY6BQAS6gMth+7IodCw7A7dxGDTAwgesGAKEjVEQA1whQ6cOYZ5eGafVY7td+vOeO7oN4UpD2EgM8hHAtAQqo0skeC4d94sge78Mo70eWPAkg0cPg5AiQbeFWD4E+BFQWC8OGCNcFZNHOb7HgqdcGhUX4b6DwA4YDABwFgFdWgAeIAP8e8Ao3jO1G5Sg2TYNQ8KcmWhaQ74poZix9cA9i7sZehPj+a4tw6TNYgv1ijgUzSAD4gQ5/ABAP8bEgVA6QWO9e7bk27BlWAIgtAfyGCNhV6e8GAPqG6RWY8Ueu8RuvCE2QCLd1OJ80CIUecv8i93LanoRQOATvFgAsvwhShlsl1srVLW4HdwEXeIHOpfIYvx8nkHAAsHECr+uJKF0Zxs2DyFIhB3Gx0ARNSGMfQAGGRg4LhucCSIJuMj0AgKa2BAAmgC2IsNIYx7JAH3RCl4gt+IGdlWGsLhBSsAQddwGXKN0c6fAOmGYeoARFMDgA4m7heYgoCBm3egHWhulSb2xOOPWxwONWV3CkDoMlYHUKdnXwZoFcl1hEICmgIPNWLnVOKIXIYwH0ZnaNrvbTiIChZQEOqNICaFuenYhz/4m5/chwndiLCBCwPQg7D8kLcILQfWRlU1IH/wk5t+DTRg4FSHehLYEKSOmqbmb/eJeIcQ4LiJ7Yi19SQj0IczUINetWUrwAKQB4UFC2oT3fsDD4PX52oKCAoZXSiTV5h293eKZ0FKf4n7Dvi5dSDnDvg2iEkmrQ4e6gC6ACgC8FUAgCTpYAgkftlNfplf+JJ+aACqB6qkcEVB7aKZVsq35IhD9ll9d5nm9qn++hgQ4J6FYYf0eyUjj6IHhxK5+Idu9ep3/6AvFWgca4Q3gETTj5g+D6AuNHoHh5nT/CkzPWHjrWsk8PtJ8TtQf3tqf5mrcInJbziPB61BA8AsS4vZ8TDpbYi++hkhKeQECEY71Xg4CkHGF89XCAf79oyH9mOI8IK4V4ya/7Ahc+AyRA/9XX+XsfQpIq1LoyCEOkBLNfaVQ/jAFofcgDBbYnAlL+CYmd0nY39qWEerHI/YLTfI43DCWVWJcm2pIawnLtJuJH1lDwkjRHjQHAZyRrflB4/pxWZ/iWfooYgURPj+xvNd3HOEUAiEkABhIsSJAChYEIOygayEKTplGUKA1EBKAhokYAJlIiZfAjyJAFJSQUaRJkghyCOIEqBYqIgJgCTgKoYNMmBw4dAJCaxCECwRY0hxL8Y/ToUZBHAzE99OekTYQUdg6MSEniKE0ALCKyqJEiKU2DiJJVoOAB2ZMpvbAsVSqIzJknpSK0OfCQIqoAxhJ00SJFWqVIk4o0OkfMk/8bKHyA7MDhZgUOXa1urKwJI4CvA0MFJjugQGeROdi6LZUmLlS6CAkGqjlQkcCBlvwMFOIiNIDBg2kmiQECxIjgNgjqLGH8MYDWEzd+lXiRIEWefHGLFDBgAHWDB0a3NT1ApskKqlfn/kOe6VYAWrNS/xNIN2GiIuaL+D3wQYQKHUoQbNQIayMWDUSRRuoBMMp02YEEnoIzCeABWy2V4sV31oU3XklGrWZUclxd1IgmpIzyCVlMtcYUfAqmRVmBAKACwCEqhsQgdXEdwIAKgiwiSBkryIRdSOKpVpCGCXHIFCKBdNXVh0SZ+OR7u8lo0BmHhDLKQFhiOSBBrxwSBgD/KExJEGrZxXSdAAQsoIEKKmwAwY9BYkgkke4FckhXdx6Cp5JE7bnnk1KOaZAYcQhoUIuK3KHEoGTGpCJoA6VpwAIOTGABA2cC+ZGQdJlkVFN4KoJnVzEOpeefgcbXaJg3APAEAHFo9IqLo6jy4hlLsApAmbhJAMAZADygAAEEGHCAAw4AkKl1n3E63kkcmCiqIoogUm1rTv65Z3IocrhrqwUx8UUcgVBCKwCWgLkrjaFRwEFBBARggAHJJttAs5EWFNWQIeUk7ZLV+ucfIqbShCqpqa46KAovuGrQCwDgQSJPfQCwBbvZvTtQBx08EEAAxiZrgbLXOWvQnCDl1DGp/9UqMvC1aSGZJ558IgXuwwVF3AUembg4ECmW4AFuAQqEBm/HHRsQMsj2MjDBBWahVVDKH3FgHAsluPwywS2mlVFX1S6J1ByNggCACzkTdEMXhmgFbkEzFf3Ar6El7QDIAdx4QAMHLLBAAhG8q5NCVROHNQs8UNII15Q0lF0gAzOeZJRxfLFrDGoP1AVtL8ItqQBFK4RbThXkrbcFqTvAAAMHYM2BIW50gR9JUhl0dQks6M4DDxBpsviUbejxsrWUt9GFbWOi4ILDH2FBm3pesyv60QDAi1ACIBd7QOoWDISscSVUEIYQI6SdhBVfRFD7u4gnrvgo8UsvYxvlWntIG/9Y/CDUlMsDEAMAIjYQJTzvZ4+Dm3WoR5anAGAnHKBL3uqVOg0AYHUA0N1PqtCCD3DwAymIgRAGoob96O59LIifROiwKyFEQQxtmEP+foACDk6pBS/IXABzWBUAcIaBn1MgUY6ik3/lJHtNc8AEK8gABOiuAsPqIBQ/gIIbJKELatBDIygRkfhpIlvgasEPmACAL0RBMTRU0W0AoLmPNMKLn8PNH7iStJ3kjQEO0IAFKJgsAxChBBFQQAEEEEW0ucAGPxACE7rwhTkMLDlvBMAPrNAGRMxBDYlJY3ZQwL+BNE+MWdpKGx/5kZLQBF4D8U9DOnCACDIgdRV0wAWy9sf/mHRweYW8gRCUoAREYgEKnhQlALAwh6s4znJWGAoKetCEHvSgBSIoSBpd4IIYAPCYA0GFVuYHTKqZZD8EmeMqtVcsesmLCCzgwLC+I0VpZk4IueQlFEK4TejEbyOPQEQcaFIDZQKgCWtYQxNS8EwACKUFBh2gGzhDkIxoc54HIeVATMmxOapSnAQAgLwswIMSoLMABWjB8tr5Tib0Up4OHcgjtrg4RHwrJPtsAgDAQAgAvGENYKjB2UAqpoGI0RIGQcQj3HjSkJSEKjvJHQsu2LEHGGAgFw2AA15Big5E4AEenSYuR1rSoRpki7+7pw8/4oMjwBQMbzgrIPq5zGb2/8WkBWlIdLh6kkDkpYFJNQFBTECEpdrRAbojgibcUIXMiXSXSoBCPOVqkEdEZ6VhLYgb7gAmNqzhCGAA6BHU2oS1ukCenitQtRR7sGtlhAdJ5YEJTPsuyHQgcSywxBeUcIMfZFWXUPiCW0VbFSx99VAFOYQnPEGQLfxgIJs97nFp2odPqKIgjMuMbk3SlQBpcSCmPScRV8YCc/rBCkpwmDsPi9vofoSxWFrpRywR3IGwwhJxgMMd7nBW5G4WYwT5xCMK5FvyfmQSj6iWFiVCkSdJFGiHcMMWbkDNMOqSvyCJiHoocc/f+oy9AHhEJoLrifgyghE1bQIb7vCJV8ziwv8x8kQmCvZYBw9EFVoK8FagFKNJkAIVk+jDF5gghNneQAnT3CSLL9xYgwBXuABgBQBQrOGBzOEMZ7gDI8JwBwA0VxMtMjKKByFUFpNCFa+gVfz0MK09FSgUgwgD8pigY4MuD8hB1ko2AwSj9QLgE6zwhCKC+wkSmSgPc5iDlVDBHlKJxGD8vc0W3PCIUcSi0RMZVYwMDQAmWAELSmAzSINskD+AyECUKBidj5yJRwQ3E5QgkUas1RFVkOIQcWgDAPQQMJO8x8EoACAW/qAJVLxC0JqIjUGUsD+QZlrTH/FhNjNR4Tp74hFJLvUnLBKjq7wiFG6QrTxfmIeu+DQkFln/sWIbdgMmnAEPg8gEKm5lKx4CQAgxuE0KdmrsYzP2QPY0SCbyrOH1KmKLA+mDEmIgFPBGAQtqoEMguh0Sp9h6ec1TQhgMEQp08TQGYvrAvENiFDiPwj+faAWSP6EI9e5bw1caiB8CXlCCatIFP4BCoRQOEobzFwW3vsELbv2DMPDFF6PwQxf+N4KMa7zTvzt1K1oBgFm0gtQl90QoPPKRgs6QgyBowbjXFRJLbFm0DbPBCwx6AygM4kWxyFImEEx0wVAkKxLesydmMYsMlzwUSv+ImNgcxQ9gXVchyYSWWYwCsIddCV+YBK2Ofk2pr71O5hXwJzzxCVfMwhOtiHxw/+0unYLk3aAgBUEtQyqSTFhChYLHeQyYAL2NiA0Ak5jEuhtfnkBAPSsdb4RwKW/5pLMiFLwGgCE4T1DPe77qLRfg1rvu9Rtg3Qo+RVdoG+GU/RLdKJZoRSiuBBFK5L7yrki63H0xwKkT3/NSdHgMMmsSS7Q0ujdUQh9IcXattL4R7V/7Hw7Bila4QkRu537SXV8rhB9BuNsLpFH5lZ8m3RA1EQX7gdtJoUBxWYKXddxWRF95yF5u7B72qdTimIglhMIs+EIsGEIVBMXKEd/wed40UZP6EQUiaBkEApMLVIHFJB5FWEtDNMTCzFsmJB3/uYL2ddyAedEvuMIWMMZAeP/eCpafNLXgu73gSZzgHcDBQJxBFFjcSe1cKDTagTwaaV3EzRCd/gUh/2Vf/ExEGzXErVwMABXEQQ2fXxiUNL0AA07TQKzBWbEBQcDURyzBGtgXACwBTmEcdZwRUSjBILwCCQ7IRCwJqfRgkHmCK3xfEPaf9kkYbKhCc4VE8bXAbbCgHVITNZnVG8zUGxQEGBjXR7CB1g1iQHUQUeyUzVUdIopEF3xCLPjCK5yXGt6PkkTJDEbXIVCe3LHC/ildREDERryCKmTCE/iANC3hCnaeNBnUKFKTC7BBKhLCKaZiQVDWKn4EHMjcQBDiCMhiSKAAYMCh3qnjRwhB2ZFgL3L/RHQoAlNUi1MMo255gi7Indx9Hytgke2dyyt8whPsmBrdAM6VX18cICje4RLMVEGAYysCVEEkyEB0Qh/6BjwOhM0BgCHaHBOGyUcSRBXoohcKWBYVSK1phCSSlyf8gi7UJEC6wvRNhJd9QhIypE/6pMA5IUTakAsCAEUShEWKRIiZhJHBoguoo81BpSYBmS0aIkH4ASqQYD1JTkFci3/s47w9wiz8Ak3apCsUjCI8gpeFQhLSVnG5kzv9AG0xYR2+Gyi+Gx8a5SkOxFmZxBt0gnol2foRxBLEQDqe3xmRZByCpEh+5CQ0WixsZYB4jbVkRhvdn4OJJQCQZU16QhZp/0UskEKuMKRcymW7xeVcEpIdXqM0TaReeiNNpcXdhdpJLMFfyBsKGkTeQdFAuIEqaGUaDswBXYTASB9mOtgoCBdZ4lkjKBQqXJtbQpJpnqYQyOUNPOENseYRHKVRxiZ1YN5JdJdCnsROgZTV3UYmNFovYonkSM90+cdx8hcqxAKrhcIkZBGtoAIeMAGjiARcVucPMM8dGhQfeuNRJmVgVOKRgSdIBEIexIEY0ER5muStnYHZoVBmLE57plpDwCc/ypVQuMFAvEIsYBO6zAF/Flc8yhNqBigD2iVMcSdNIWh23BltWsKSIBNBEcQRgNAhnN16siRFaKjkeIVxEp0LgP+J5wyEHliaioKEO53mbFUnFLaAEhpod/bloLAC5glXjj4HAOQBrOkmNaLNEbBB8AFAkEoEzLxnIzGU/RHdB/3AGTSXMvQmFCRBCOVWbVDnIblb5vhFXsqolo5JJSKjJ1iCyyzJoWRL0O0opMbAEljkmvrH8DAJjHBNf8RpxjWMEvgBuuwiT+CBLw3Ek/bpf7oTNfmAH3anq3on3NyPRSwqphZEFMjWARaSEBhCKzQaCrFpnjBJ8WREZcJnxmGdEvjmQJxdQaACbMEKJKFqqgKqQVDkgdLomNxT2GjqcwwrQUCod7VbnZ3dr0qEJ1COkhQMaekjsX6oXE1Rsv4ml1T/RpcE1qTtUmlOawzk5UAQwlEyAgAALKxu6ZceistoxJduhR4MhBgYwggeyK9KXnAVzJ5Q7LVU5la4K1ehgBKoQScWRFwNhC+IH5Y8QYr+aXj9wERapLUCLCNgAsBSJDjKKG6EQsKCxKJibJOQqCpsERc9XYo9icsMRJTMW52KH01sCZVNwhn4UhLo0i7xq4H+KwBgAszCrFHOFCHcgScg4911hiukWK2GBK3GjLMxoioMghscwn+Mgt116ZIdgolsRVfoRpBlJZco7UdsiRfSpCe8wRZUgQv4ncC6qssSwhpw48u6LCYAAEcCgCsAQNKFhtgOBfFk6mcCQCx4whY8/4EVnMEc0B4yVuKSGZmJ6GCKOBizhixNKMKL+EIwDIQpmAIjgJjAFi7AgsELAKL6CezjlljkRu7kpoW2EgUq4QVj/eYsGIKaQUGl6c+4/IEluAKDpouS4Ilw7aOgRJfSDqneIoqYdcXEiR8xyC4jHEEPzOwbNIELvMHsmkLA9tMbACySldhABO9ADC9N4GhLckRmFA+ijEpaagXSKgETIFY8pYANJUEUnAHJ0dnprhfgCWNMOpSAhCzrFoQehJUiUMJ8wm4w6IIpYEIT+IBZjfD7AsAIDwQmEEIVGAIr2G+JzTDkCq/+goTI2SMb3Sx0NNcrdIIuHTBi6RQ7EsQZdKmCvllvwoWaJeTBGJJXFm3E9xrEBj/WnRzILsau7HYCI8yuChdE43YC/MIBIlhCDOvCQMzCPy6dggLh1xJE2OowSEzO2D5OLLRCFQhBEggxFNSivN3GEsTXIAgXU5BcQWSC9mqsKHHavNLrliSJIhsE/JoEK4RNkrWCTRIE8N6vGzuX/5qEtxaEL6iCISyBbSGWEPjxR8RAE4BJH7QBHQTmQPhMcCUy3AQEACH5BAUGAAAALGUAGgDIANYAAAj/AAEIHEiwoMGDCBMqXMhQoBUrDSNKnEixosWLGDNqfKixo8ePIEOKnMhxpMmTKFOqdAhxpcuXMGMaNBLASBSZOHPq/GiEAIwqO4MKHaowCoEtLYkqXbozQEmmUKOudCq1qtWRVK9q3XoxABauYMMyzCq2rFkAZM+q3Zp2rVupbd/KVRp3rt2mNu/qDZog796/IL8y7HtT78PDiBEDDknYcOLHhxd/7KsXi+XDljM/hAJF8mQjlTN36aK5iQ4wUL4m9Xyx8dwuZBhJEiQIwKLbizxMWHGZtca+q10KHtmkFIBSp5ArB+ABggoso31n7GtZLhZJApUnTw5ABRcnVzhL/8dIfS6Y46e2Ly+VhgoAI1aGj5/4hQCLwm6xYDJeSpAcOYWAcopAZbjXxBXyzSeRfVA84RYU5wnECRVUEHGFJAMCUCAVPETRxV9CKMFEaqOViMVDlnUhhhpxqCHGFwbZF91aZ6B3yoY6fFGIchsW4eBdL3ZhBRRMFJmaZkQq8cMPIsYHXUE9JfCFGGspAUYpyC1C4RhRKCEgcu1REUSQr00ZZGbQTckiHGeIQdqQTpZIGhQnGJAAk0yodWVypXhB4RFhAFDIdu0JNGKCah2ZGSagACKJo5hIgsl+k5aCyS1LREHiim20oQMBBGSmFobJCVJGGUQMtGNycpQBwBCiWv93yzPgxNMOAPLIM8+uuvIKQDvtrLMOOugAskSII1rREwFJCpGQm5chmtKmZ1R75p5YepFGGWC4eQUY22mYBgAIBreWPejW40497NIzDz3u7jrPsOicc44553wThWhfJNDAAk244SJCJlrBhJIqtTlnkUaiiYUZi9gGQBoUHxkGGYJEXMa2cmzx4VzxhCwyACPHQ3LI86BjDjW88FIHBxyssAIFK0QgEAQQLMACdCcerMTPTFih4hlqFH1mimJwavTCQJM4GhZJ/mCDDXg6/SaRTDwR3xcRRtwqADogCB3GXp8qh89ztROy2mzburbbKfPybwP/ArAAAAgs0ADOfBv/QDQcbahxxhdQM1GEEWYYQYacBishhA0x3ICsk5c9wXDQKqrRBhxwCA5timoW7SJpT/xMhsSnuorFwUL8wIPE224cBpVbOb7kDyGmZuYtwAJra++/3iqyyXLzzXcDCBjftxBCJAGFk0M+EQIO1IcQxRdnbM65i1+QBl3mcMSxvRiF/yzi85klickwzLQ/DjjgvA+ONdZE44XErZ7qxf78D5R6GWGoVlXiMIc5xKENCjtRfIamBnCwgx29i6AEfZcyulnQgguYwPEWsAACGOEWIARhLkDYCwhQDwchMMWjnvC9p0EhCa2bmuRE1MLymQ9zYjiDLZ7Rjne5QyDvQBe6/9LhDV4IZBEUK8P+/neqgfDPVT7A3aFmpBPcKSEJT4jCZg72gxtMzQaSYwIWxiGseOSqV/PoFRrflY5dGOCNcETAG0EFKgMsAAHFOAc6hsXHPQoDBxjAADaIpcc97tEbiCSWItehx0KawxzigJ/84De/bJSjhz4EALoAcI97ACCI19jEImgjB0GkoTbjGpdAMmYqL5yqW96DTg43F4daqmElzcKd84bWhknZ4peOMAELTEDMRAhrHWob3u+UmStiVQISlXjmM+tQiTpAwprWREMlNiEKJ3Dhm+BUAQaAEAI0XAIWlYCFKGDBAAhoEGcafOcEGDBPBtBzAvh0Jz4nUP8MZPpQiJvUJCftwQ5gsHKUtDkobRBKm22lQQ5g+ALhXtg6L84waN/DwhNg2JFaFlB8ozPYiH5ZC2DA4hJAMAAG4AgqYMjDjLtyF7zcVY93sYtd6OqkPe4BUCHytKcAxelN6xEverjjqO6QFzi+sVRwiOMbT42qOKZajWMcoxlWPUY0jmGPowIVqfDiFTq0UYeFJpSVZ1VoKeXABR5gVKLdOxHWcMgiAtYSALesyBWf8LyHbFQIN2jfN5qxC1gYtg5546BiF8BVoDo2oPnARyfxgQ8hUvaymM1sZiMbWcreQ7OavQdnO5uPIG5yp4/9qWNnyg5sAMMLaWXoKGWbMTn/hCADsDUDGKLBDBAOwoAHdFPjgKa171VEcs7DQg7JAAYy2AJ+x6CFKEQBhCHkwAsX1FsDwLHTTnr3u+CdLD7cwQ530ON3ETSIBG11MpPdKpkiU6O83hXTsHZ1VzjtLmpR60meCtQemvypO9ABjAWQgAQqGAIXKEQhP/mJwQ2WQwYdQAI+iMNWZ5TH+3p7i9VVVIbI7YxERAPCQvCBD4lIBB/KMAY5PDQLFrCnBWbsAAYg7xjh7W54OykQegBAXev6VfAmCDyB3Iog7yWykpW8DlzRI6eh3fGO7UGNEDSAAHYzAAT2Rje9eflfOOugAUiwgGKETFdopAdR1fyObWxj/xy/uAUePicQ2jEEcszgBzMEcWIVpzjF46oNH0gQAAIg4AD2JEAl1igveAnkh+4AMADooY6a1nQe9ZDHeyG45E57eskQfGA5LOkO8YL21JmdByz0RgAO5s2eDpiABfKJMzCLuRaRBihS7bFmIJc6HwDgxzhu0QYh5SkiSgBAOt4RDTP85z9psMMe/uwFPgCAD3tAAgIYIMcDBOAbalYIuwbyQ4HIC80CCbWS1c3udrT706F+IDvQwY1udKMen0W1vi+Ljkpw0NAHcIAFNLCBDZCg4AjfwATqRgADcJenqoWyJmOK350GUR1VwE9D1OCNdHzjoS6O9hgoZgdAS3sPAP+QQw4MPk8EYHqoQ/3xuMkNYDS/1Izplre83a3znvv850l2N891vo5wcCMb6CDIUdMxj3Q4PR3qmK+afcpTbIQgbwio8cBprIGBF5wEF+h6AwCgaB1/l5P34Ic/+rF2klFQHui6BYwmgg564ALap0qDE7Lg4pILYghysEPg07ACBJMAAJWGueJhnmtc3bwdmj4mO9ZBdH/O99zyPePafi5vyq/DHNfABjaOXO5HI7Ugi68HAL4RAANs2wECn7EFNiD72Vsg7A4wANmPkY/e+76z+NhHP+Dxj+LDAx78UAc5zNGNc6RjFUCZO0OYgA5wbMwOYxAXAJxAcjkkYmNySDn/xahAAiSAA16pT3263AYsdsRj8seM/7CEMd36178Sx0iGVfVv1al6Qx7CAgCeB3/HhA7YQA3XQA4+dFMDMXMM4Q7S0HoG0HDcNoF1dGgCB3vzRACF9g348Hsg+IH7sA/80A/9wA8oaA8row3X8AMUoQfmYH12QDFTsDF5NwXRhmJD8FApVwZ8YAEkkA7mNVNEuGZECC+RRg8R9EDAAgCK9ITokA0WdDxZZkEAMHZ2NHYAIA58JIDyNyzmAA1iyA7zsC7pd4Y3BWCtxoEB0IZtyIYUyAA15gAIQAATQADxUA9CBIK/d1nvMIJB5A7VEA7RcGwSoQbmgAsbEztlMIPb/zIEIzdtctBi4jcGSIAGSXV5mthoSGgPmjZ0yDR59vKE9lIJAAABBKGFumc3dyNHd2NB7FBIUEhIALAMzXAN7aBmaLiL7kALGkQADKACU4BifDAGXsAAbsgAGrAAByBHDQAJmFYQuQZQquVV6CANy1ANpmAR1uBKSlQGfRdtLDZyJccHXtB3rbICkJBh7JhG7ohmjfZ+kwd/k1cv9nKP54ANe7NlY3c3rLhYAKlYx8BI+GiP90INyJAM5BAPuriLZ2gPtZADHuAE1ZZikSAJGCkJieAFExAAHuAByEhPouBrSFWSuxZpqlcP6FANy7AM11AjFWE/pyIF2hJtNskxaf8wbYLQYuFXBjlQDES2TG0zPLoCf4a0R8NyL0p5L3WgPMozhfy4j/y4ALGIj/doDuWwDMJgDOYgD0c4U73mkO4gClQwBQAwg3ZgByiWCBjJCRqZAwGwACqgT8dgknZpl7w2D+GADMCgfy9wAxUxDETQiOKCljbZKtGmYuD4HwAwBsegDYjkDZI3gDvXOyETi/aYDdlQDJwJDNXwmZ/JC663AHAUR3OEdf8WkMdgj/jSmuUQDsAADMhgDvGwiZcXL+/ylfASDUGABDmAmNsibWkwBolwkRrpBQYQAPv0DSR5lyZpD/RwjbBAC9AACBaBCGaQBWNgBzZomGg5BXy3B3z/IAc1qSEqMGsHAIc2BgmiAAnmRE2cyZn5B00EQDchEE3QVAdWdkH82Z/+2Z8QcAzXUA1KiS+jVljJYA6QR5TsmGHv6I67Eg0rMAZ5t4iOiJZZUJyRkAhUEAA5swDfcFSpd5eZ5g3VtAu4AADmwhA1ggQt5iotZpMzWAZDoC2ClwZZ4CqnkgXRUG/cgI22eFXFQAuw0DKVgAZoQE2VQAu0AAzQ0A3cEA7kUA7kIKVSSg5YCgDVIA1c2qXAwAtfCqbRZE3VBAkYkF1bpl0WVAdAAABcyWlL5jbMdEbHMKH/41DXB3JlQJMpxgcq0GoNwJxiKaLmIAxICgyYgAdxcBFg/4CDY+AE5CijLMZirjRy3qhEvOAN2sANm6oNUMoN9WZv3RAO9malpWpvUTqlVbqqVrqqWPqqsMqqriqlAEAOtUoO19ClXsqmDUAL1IBIPSd06rZk4lCjFKpEWQAAUqCsjTlyIbcHcoBicoCMLpebuRmWihcP0tCmdQAMeJARZACp45KnhnkqY5AFXmCMSPA/UnAN7ooNoSd68ooNmqmZm0qqn/qpUvqaVRoO/vqvAOuvstqqBDuwseqv2LALKNVlavovBhBNEAuxwhCfvAUOuJCu+5MFUrCxHMuxVDByFCOe4zkEAVAHMAWPmzhT82AOlYABBEALZOADGFFLTkAFrf/CneHIncg6BVOAsakDAFOAC9QwtERLDdVgtAhotAN6DUeXDaD6tNlgqgE7tVT7rwZLsAFbpa51CZcADNfQDADQDNJwDMbApGZbTXWApEgaAgRgAoHAA/yjsRvrBEPgBB3LsdqyiJOYAwhQB74zlPGVK2kEgMuAFmiwCynQEUUAqS7mKo2rPzzLsx/rBS7qKl5QC80ghpoLDbqqq0NbDe9ar5pJr+76rqJnr5waqqJaquHgDVX7uv6aDcLAtcCADd0QmaTqr66ru4jUurnrDdJwP0DLsXQ7ASpgt1KQAzlgtwCQt67imxBQB5QXrEHZDuGABgGAAZUACDLbEUQgBRv/AwA5kDrnGrmRyz9TMAbqiwQtaYtg2wzvC7/yC7/QMLTScLqaiYDyCw2Zy7meW7SgW7rvGnrXUK+b+rSgiqpHhwy0Sw3YoA0QHMESHMGgesCQuQlTUJZ3iwQJtrFIcGBIwLHHWgYJNgS7YA71Yo9POI/BwkjJYLi10AaLqrgUOZzHWr48q6xTIAU96wUUyWJOUAuFGxGZS7QCLBDQkAxKvAzJULjt+8RQ3Azu27/+y6VFa8TuSg0AwLWwAA1LG8ClC6/zOsbNkAUaLAV0i7xOoMYJhrwAkKMsZl1DQAvlUMdUWg6PlMePdC/mgA1kBwSVgAlzABJkIAUjZ65lab4d/4uulOsEvlkHLywRYovF1wANAtEMCfnCkWwRTgzF7SvFUmwMXGwM9SsNV3zKSDug1bAJPLyx4usBOXC3soy36usEyksLVioOWHqlU2rHVQoMgYQGkfAHxOwRigAAIay+XpAF5suzd4uuJNuGu9CSAjHEC1G/1NAMQ5vFlazESuwSs3sJAAAM+yuG/SsNVWzKVkwLicyxOdDGs+zBTsCs6jsGKkACtFBv3lCquwuwWLqtBAAEonADMdC9H0EGIczMzTzLKhCMwCgKnvzECVHE1CCG2wwA2ZyQLxHOXZsMoHzJYRvSYGvJmdsMQ6DByjq38Ty3GbB9UkAF/JMDGSAMEP/MqTWduqLqDdgAC0Ag0C8wEoEAAOEawpHbynd7YAAQBFe4AJUQ0RFdEJyLylqcDLLpEsagsOfUxPAb0pdsiwPxvuzszMs61iuNxoe3sT0MACTQAF4rwPE6xtqQDGgAyEaQuCOBCELtyDws1h07BAe3AkFwjMHo1ITdkuds0UQLDUzszYzd2I59EVfNtZdgDIYNtmHr1V1t2UjA165c1miMvBubrFSQAYom1UhrtM0AC0m6CW2gEgi92Tt8t0C4ATITBGMQBCsAAFywlVuZkIVd2Zsb3Ens2MRd3Mb9zZssEBy9Cx7tvpn91bZIC0HgBDtMt8vb2Z7tylmw3VdWCWL/CADCLYboPLt1YAuLOsgp8dp3604HBwAyA9hKnQMAUASD0FxkYAe0gAu4IAxN7MnzG96KfdwCPuCOHdlAAAvCAMrvC92WDQAaMAQhjMYAMAHXTdYdu30QzrFvnAVDgAAXYAvyC9Jc3QzCgE6bAAB58BJFgARIoMYCsQHu/d64PRArYASHEAdn0AVJsAQGTQZkMAbs2aRgCqZfKgxgqt9Ivt+9jQxMnskETuB8ybWHiwy26L6YTRDAoAI5AOFrTLcRruHYPeEqwLHbnQUesAJgYAtTDNLxq7CwAAAzrOIQzuLtHePvDdga4N7dUQSKEAiKgAjHLBBdUAVJUAIacOhq/w0ACjdjF3BgZEAHf4DXBGEEinPfm5AItZDp+i0MS87kT54MxnBSXCsMVQ6/Vm7qzQAJKiAQXL7G8ZzSUjAEHbys2+0EmzAMQuvcCy6/oQ4LRZATRTAEGXBwMH7nMh4EKvDeKpAHxPwHBtHaCEcQeX54h8cBh3AQMQAAKZC4iQsCKfACUUQQZAAI424Hm8BNmV4LSm4MCcnkHI3gzY3qCg4MMD4Qc+7qs8ys+L6sU+AEkOC6wBviuy7FhvXrOgEGG0BwtG3stU3CMf4eg9DsKV4QE6DoA7Hqig52K1ACj6AQIDACIJAQNwEjXXATUZAESSAQLUAQReDjgADk5rQLpP+u4PJri1kuvgTR6qB9t7DO71IgCv/qDfO71TVfWAafE3mQB0VQcAz/3jkQBEFweLmdA0WQB3SAQAdxARif6A1wASugAipQAmrgBh+hBwtRBRARB4iACIGwBoXACbhwDHE/DPzdvqqu5QVx7/juyAJx4TybA82gu92AC/N76iYFBskmFEYA9k1f21FP4yoQV1CQ+AIBAiZwAQZhAXouEF7QB5MQE9InEHAAAIGACHTgBwTRA2Cv5fKd9y3u6k6gAhTOsWY5BUjABVaFC7awCSmADApe5SVeCEvB+I0P2Lk940FgApyxUQPhAinQAZhvEAwgMwIRBHIgCXcQCKXPFDb/A/bK2/qu3+UcHOGRa8tgEAMvkAI1sO3G8PvLgAyRAAfOrhQmkAEL3/RBQATyrdQyozkAEafNGQAAsMgg4KDgwoIbAKxYsTBRokJ5/jDEmFHjRo4dF5ZQoSLHSJIZhwxB4sSJFJZSpkyRMiHAEEB64pz5AkVYsmTLfOJKZIiOR6JFjQIAg2RPoj0QnT4tEyTiiiAAjAz6k/VPnjkUCDDQaOFhxIJB0iSSdCfPUbZtC2LZsEEkSbomU6p0+TIHgQAEhmw5dAiRIkyYCgECBODMmTiI3D4uekfKED6JACQaM+Sp0yAqnD68qvUPGw0QxAKImxrABAYQq67YMGUiADxD/yHfzlhEQ8GQdEtiPJkyrxdQYxYEWJCGTlY6cTAK8RED9/SMZsaU2RMp0sRETjZDHBukKoAiWgMFeoOERGr2DgG0fpphjKA9iqlPb6LCPQASc33nsEu4HLIoY4UFCCCBjEDyiEONL7C4L0KMyECiMjnkAGC77fjIIaKQIhJPPLJYeCMQwcjIogEL4tJAAwss2I0B+FbwQooLx5CjDAlvI4KKjPz7j6GRhggpAwvSOKU0Elj4QyAxINxxxxzKSMMOPvawMsNEtvPiQ88soEq8hVYAQ5E70kjDgBVfdKABGR2YAAEANCDBjjTkSEPHMYr4Ikq22LhAhY2ArAsAklSYwP+CDIYQZJVFSCDiCSyw6AILKPyMkAg7y+BUjqUSKUOSLSdCwqkNLgixhIceIsOMReRQ80UVvKBCBQscsIABAiYoKMc8ncihBDwwLSoGDuLiiIT/6FIhgxY1SKmMUmTphRNMbBBCCSYmJRY3NpDIs4wxxi2jskTO0vBciDYAUyoxQxxjkUgmwBXNNBYaQiYAFshAhevK8AIJDya4qNuOTtBANY4IHalZBxxgAAIqhqACyVx66YUMbbEQw+DbeAhX3H/LkGMiT5fSsAz9NggziB7vlIMPmaeg0t57DTVgAQMmIAEAL15CAoAMCvY4ow84WA81j5QFsGHWGkBgARNMEGH/VjlSubgXJqD4grE5iC6aKBOyQFPkkTldig88R91OihdJCIIBJ2KWORGZ+ajZZgDKyAAAAgzQQIUpkECi2QkCAQDssE+o1aH9OJKLJAgWOAABDorwwYUWShhCDkFkuXiVL8RoYw6Lwi7qhCnD9YJcTl9PYylBAKhMwzRWIAGBnb24W2ba+RgjjcmIYF3nOQEYYiQSPFD1ENQZ4lzpxzsigYQ4dSbikcDwcJAHKuTghNpeLOkjjjwC0ep5jkqQItwxADj79U65w5C7SPaCGoI07t6jvhydsAABNuAFHRGhAQ0IwEJUUL0JsEB9C4GBaqYHOXYxIGokOM95AlMQMlQM/2sYk4UeGoEI5z1wI0GgkrjgFz/5UelTchgDdxIxhAw0gAAQ2MOF7HAhDDkhAwFggBfulYYFQMAAcqqeBzwAARMCwDmOUxoFPaMBXC0AAXwpj2gKRgJOfbAXOtjCF9wwB8E0kSETcAIBW8fCFu6tZImAoSAmwqEGGIAAKrhTuHyGhBxoYAXBgx8BdNYAOilxAiYAQdiWU5A/FGE/UNRIXEgwhCBMIFEICEAAJsAGi2hlDgVpQg7ksAjQ9eIUKEBBC1yALTMu5FtImMIaW9jCMUQLO3b73ZUmAAECNCALaxwXAJyABAKWLQ0EuKLQlAiBEyTSY6bTYg5IcAFkTXAh1f9sXAAD0IAJdJI5zikID5AwSvEVQgQoGEE6UdBKAHQQCSiZAhvll4W9oS0RghiDHew0hMkFgARS8IIXsvASKQDAZioDgO4gYEkIVAAEH/DYctCXFTAYQDPs8UhcCKSCiCEzAytoQxziQAfbMMR7gvBiIT6w0pW2UgdekEMkBAGsNM7Spq/jgyDIZtAxqMADghzCS14yTDzaqwy6AwA3jZgA1CmiCDw4Dw9wBUWMZmQ9GxgCpxiQMwNkgAHYSoIVunaGjkGPZKXMBRlYClERjMCEkrgTJyKxiJAQ86Y23R+GAFY4EhigAbAkXA5CwkUqrcAAADBAzvjSgRu8oGhQuID/BggAhgC8CAAw2g1qqooaEqwAJTrywgKgZgBmfmAEKWiBdDYyJTmgda0fAIFb1aeDUoBPrmMgwglKgAR52jSHOXjnEDQQJ54JdnmWnMCu7Ki7xBLABHBA3QiIkAMLLqRFmM2sZiWorKqUgQge0NnfOrDWEahyIzzgQkzFB4rYiqCtsn0eJ0AhCE5wYhE5OEENfkACJ9x1lp6iIZ1IAAHdZSADrOmbgXWWWAMEAAE8WAvqPrDbBqzGAp11D3avKUG5cIo/R2zwBR660tO6gCNxKIIXFgGKXFysEDewwQtiYGLVFo0Mp4hEfSNBhSDYQAlnKMKA/Cu/KjmhP4KdwAIW/zABAzuLP7xMbBGLgLjnfYAHQ2DAkldkq2cV5FmZbU9RqRCxJCPnBCwFwTprvBEylGERKY2DGL5gBSagTgaliAQo6puGHCxBDH94hCLI0N8hc6rIImkWgQm5PEYDoARBKMFTTfiBDjhBA27awATY9aL2zKlFDenPBqyHwJzxkgAsiK06zUsUIuAJrX0YRB6WkxU3eEwSoMizfYcABjw8YoSBAEMaazTkOxm5eiSoIxMZ7QENeAAMemCkCU2wAg3IiAS3ehGM2uOQL2OVCnI6bLj5YgIlQGfGJi5KINggSlJeLBWH0MNgFKE4P90415HwAhEm0QhFZDAQJBgob/2bp/8hHDsDvGR2wpVYgke0sgUdmBycqIirbLeoPS7CLEePuBAC3LAIgZ43dNtSBCoIYhFZ68QhFKGIQ8ChCwbTMyj0vIghvEER3ryIEXhLQJsCgECcOnazdZYBJXrgwBAwAkGa+AUOHKcB7OLZArGdbfZcN1cIYG4AEhtpf58HACVkCxnSIIhTtLgXKX9EHsRQBQCsWUKgwLOeIzGEIqhBDSKdw1CygoSf2/SdnBoDz5bp12ZPoI4GkAC6zWhDi14GLZKQBPCCMPUVsahFVmQDGLYABk5qkd5tIYOrs1aIR7ihC0twe4QMUYpFlKK+3lVlDITwhC4ovZ127fkKkTABoxP/mAAHjlNfJMBONhxoAjiqHeQ5IYnlQz4NhbP8rSinh6zoAedZuY8KLoTWO6w9c+jc0SROgWu547etKEDtqgtCBNzP8n0AgMDRdcfQBgfgAQ9tZVUWMAVPbUn5/1++AJQEOfAC3IkaBvA8LaKOKmgCRjm5i5EFMVCC70snCSkEUGg9uUICFhCBtRIBAICvggCuvgM8L/AZ5DIiv9qlhLg//DMjNogaAHECnxEiPsgx5sNBHBRAyAMYQLgD07m+CMONRGKBMqCvrMEENagCH8gcELwPMMC1U9izHHitltII9nOCKciCLWQJJzC8yUksN0mA4QOBRIIoM8qDIkAQDQCm/3/JkyrZA8gDBQDUQciThEiQBDJgAzYAQq4AJ9xAAR5ws1IYvUkYhDjbgiW4D0lwvfI7s9fqCBkgApQYJidQgdHSOgS4AAkYgQ9kJ4xYAQYYgl8aF9ehpXyaCDmkw+azQy9gA5FqgzaIELNIA9BJBQAoBD1QhEZ4hIb7vKNoglMQhFLANS8Igiq0Qo4AgyJAACZigAaAAA7gAR4oCMX7ROhBAioQqIJaCCkgRVoiIFTMweZrvhkqghtQgkuJENXxHE5IgyCQA8DwN8e4DU5oRPvCL2QkCotggExaAAA4AAoAgJK6Roy4gxxYiY0gnIIAqNZxP97JwcgTpjHgAVWygf8dYQHB6hfYIILzEI3bAIRTWDG5GgIW0Mei+AMKUIAE4IGApICXfMmCxIjdUolBmSSMcAlZGoOBGoP+kQPty6EyGAJVEgIoiZAiaIAFYIAVuQAiwDnIWL3W0zPv0pwRgERn4oisCAwO4EoOWAiYBMuulIAIIMsIeKAcGAKVUEvgUIGg6YiXIBA4xJEc8oIcaIEbeAI/QaYDYIDUyAAIw77HkDn5si8VAIMrKDcbiIEWWKcQzMrAgEyP/MiiUIAHkEWDUZ20VMsZbAvCOYlYIhkC1JF3eoEk6JMo4YHEYgAHSBh2CY30OYpCEEbX44QhIANKmARFwAM3sAIlWIIfaAv/wUAEEpqOynwATMnIu7gNz0xLbwyooMkCJxgCIeiC0vETB1tNNgkcBZnMorBHYowEOejIQFi5R5iESTiEYTEK8tzFlWM5CTFOCTEB4CIcznQL5gQA5wwYn5POKLg7gowQf0QAXHkYueC17uwIScCx8nsD6hMNE4Gul9MIryyIlyyBEugAfntPP1EABaCODkCJHPAAt3yM4BKmLdxPetq1OICmKDmATDoAhWjNDXDKp+yIO7Av2qSCjtQKWZsD2zMKr8RQVQGADrgICpVJAACBzCSSlIAME3WCX/KCIWDIHNgC8xFCCXkAGM3OymuAL7i7OfgkjzADuZo5EgAD9PHR/zbAAiFgiw7oAA5QlQ4oCDrdEdOSEBXQzJrcCD7VCCiNpSn1GSnIgTtwT7C7DxAwgUxCAL6kOAcggBNAAWyJAo8wAhVwghy7nynz0Tj4giSIgRRoiwiggA5QFQe6UAkRgAEYAPkErs20T4ZYy4XYTEANqFHMz11Tg18cQhDIJAI4AKU8gMQKgA84P/RrO41gg4dZFC9wgiDIAx89Ayi4gRQAv7bo0Ac4VQBwoB1pgR0RCViN1YLwU3ENrpSQ0lGskSHggRjwAUX0ky3ti76wI2AdMZZqq4xY1odhja16tjlgUyFgzBHAyoUQAIY42IwYgAIoAADggA5gARYg0vtwrP8dmc89hdWMEFeVCK60DFS++5khoBonjJIyVIBMyiQAyCREuteNMIEBvRUZ0cS1+NQYQCerPMONSFiNWFgFKAEWmEYiiJDUu48gw9jNlCZhMleODY6cDJhYmoIhOAGDKUMTeNFMUoAyhMSMMIHVXEqIOQACaAIAeIJqRacOTMadzdmOUACznMZptNP7+EMJ4QG03Fhp0syOPYm9TZ6U+FioVYGp9ZgyBICVute1yogTOAAXsSAZaTAAEFh0almdNQoMBYC3ZQEkTVKGYAGRuAtYTYnAIoMiIN0i+K6QaMsszAKUmAwO8MQHQtzE1bQNIFALyqQf0JybBYEO/FCuvFz/HpBYCeFV3DgBDkBLlCCc5C24IhjTPxgEKgMDCpiuuygczXBB2E1GjDCBhMk2B2hUvniSJxACm0WlVp0ODqgAClCVaWSBuJ2O4Z2OE1gBFuDbISgBE3BTjABLCbiAHEiDMZgSKliB630gx8SICDCS7t0qAkiANRUDK0gCho2Ql3Qg4M3cCEHUHSFcADgBweWIB4gACRDhCxgCeZE5AFCB7JVJEcikRMmVZ+w4E9gKWSOpOYiA47wPmPzd4PUTKmuiAuhQACBhQcgxUMhPAdjZnb1GreslB1iwvgADb4pWsJxgCqhg4HXfHobf+0DiVV1YIFaAEs4zI/YCVt2ItTWh/xftuDWu1yPwPLAUSOqAySue2KLZ4sfoYjMuiAd4gBwg4hP2gg413zNG46JJgkVdY77IpCZIwJSMySqmU/bN4rDBzQjJ40EGgD72gvqSOSqQgDZ4kiToCJZSH0RG2QBgget7Ywmh4B3WXBO6Vre4ZIzQ5BxzPUGQgEcuiC/Iy4IEgwRIAFReiEYOTFaOybetY3ZS4aJgVUwGAAmYFU4GAFyOY42Ys4545edp5PUZvsew0B2e5Gtc5qOAZi4Y42lO32ruCCzoZY2ogAdC0IxIZm+24t8tgWze3Mf4pxWbuQfQZaMYhEHoiDim4ufB59sIYYFk3xLoZp5l2IfO541YAf9zHsxF4IB/BmiGkFCNgGN1JpaD5ogPUGKNqMwOQGazdOiHVgCIjmiGWAEn4GcAWIQS8OjpqFSPgM0d8V22WNuRZggJ5tYSQGmM6NkgVumGbemC4K9FkC+Zpumavo8624h4xg2QxmOiHgAPjdgSwOGCAGIAWOmwLoiwdubNnSSmNuJIWAGM5ghFKNLpIKlojVYJuefjLGuPqMLChSjzBWKTnkaa3mMFuAEAcAGxXmmwBuK7LkjPQusMIQK2JhbZkxQxGCkApY4CUGyj8MBUc6wH6Ga41YMFcQ4sEGUTK+yF6FAPbekVQILG5oTHhmqN0IRJ8IOkRlgkno5UswEmEAP/01GEURgFTWiEQBhOAAgEmxCDjUY3MM5sdmLtxgYA2H6Ms73GDM4I3KaOaEUESghut6bH445WOgBYnKhUxxpsPU7SC3AC+pI5UCAC9J0OUn4eN8gEVCAFSwgDJSBajOhi3CiBRtAESiDu4SQhNY1WaFuIjmnnsfbna0yA9W7qUsgCDLVqni5kP2ECN/gEVVAFUjDEM0hE8jXgguji/j4KCpDT9gWAwSAh4swKE8kIPSirjIBvM0oAP25qAJADCahwt7jw20DiZi6AB/CDTyCFRxiMSQgFDx8ENwiDJbABVEqnggWAEvdpjnhJOI1beRMM5/HhwWgE4y4KyDaYG99k/yPWcTAmSwn58ba45Kx+ADmdUADQBFLQhEPogzBgAh+w1ilH2yrH7iCFU4aQt5UjcLcGgDAP8ztmCDL3kxygAvmSOTlA7zuljiDv2Qi40A6ogHcGgJfs9E5/2HleCD8ncS8uCjpVlZ8NcEU49MFYCEVHdMhw9PuAdEk3KBPnCFT4hLZo86No5sqU03vu9I4G9VCvAFONkjn92VGgBE1wdgBwdRbfxYKghFmfjlqHDBWgaLiLBF3viG7V7PsAYk2/UATHcphE9h0hUhZwdmfXhHgfIXoM84WgxwmOkkmqr1IAAE4IdEtnJ3UP9R73CBQv0nh/du5W+BFK9HrHlNi+Df893fd+/3fbpnWBF/VwJoqX5ABEgHZKoIRGaIRnH4V5n3WRD4VQqO374OMdIQEkGGPXq3jISNWFEALNEdWCBMuBh3iOpgDHIPmQH/kAHwVddGtKSPRQ8BOkjhALgHmZk/krfwwKdaASYjsAQCWdf8mxFGSmH+g/EAwAt3Y6d/aQl3ZrV3o/qfTpwCpb7vcIkHq2IJo4FXtU0ARF6IOC8IFv/UQKkIAHWOlmZlWvZ4jhLghEEHmkHwUAiPZoH6GRT3s/ifvHuACY/05OgPvJZ4sK6PhDD3NSAIBJwBRG51krx/SvLohJAP2CQByhb3yFdwxFoIQlx5SZxw2nZ+pScL3/zJdjh+184l7xw1cEJbdz6vA83DD908+IxQcAkA9zpG9+aHNrUlh9yZ+OL8bsAXAAmL78IMhs5sfpT/f9wCDO4M8g48b2x9jmS7fyjAgDP9AEVHiFxXd+oU90AKj+EQfy4uxQlQYIB0gWcSpVilMQAQAWMmzo8OHCPws5cDh0SBFGRAsP/enoESJIkB5HSgxp8qRJRZpQvUIFgBIlAI1IkTqE8uZDAQpxPqzAgYKEBwAUFFAggIQjTqBACVoxgCfIQBQ5dLioqBHWqyRLQnW4dWTXsABAxAAgBIAYAIoojXo1CsDbQ3eUiD25s26HvHkBSIgQIcECEl7GUMmR4K5Y/6oU85a4irURgK91G379OBklCBQ3HoZxM0iTKgChL4fUWZeq3r0MHRAAMMECbABPE5eorbdEh6yRK5OubJl0SBQubvwA8GLhi+NP/AB4tdAQgCrAc4ZFnbphBwQGDBxw7QBAgeq1WbDgYbu2Rt9ixbSZEyjQbvXTIbZAcbw4w+Ob/VhqGOoRc/M1NBtOHUzFAQAITtQdAAYwsNAEDjygAE8cjEceDzyQx0IHisgXlgs/MIHFQnnEt5WADwn3gg33AVDccQDgMUmKEJmGGEpTLUQBRQwJBQABBjgw5HcUUHCThSVsmGF5RRDBl2SToTAlCjGI2MVCdPBWIwAotJDcDf8svoDfZgBoMkooXDJkWlgGMsRjaq0BKaQDEyx0gQQKWoIHAD9OdGF5GvJgBg8AGIkiaVRS2YJZUQBwRhx5IJpiCy6ImVxyC1kBQCYuKaLmQmxCdSCC1nXwYwAAIHAAAwwcsEACFHSw0CALgQDeAw9UoGSg5RFq6KFgTacosS4w9IUacfwmoAtftriQC5YWNyMApEAGqqhQHbLYrADoxYEBDHXnQKsNGJCAhQu50ZBwNzBhIYYZJmgkBSQJSGx9maFwKwA2KBEFsmdAUSZPU4Lk5UItEnzDFQuhQoomJoIaalccINKIXt7qpUCqBBBwgAULuYqAt7VxEIYPXboQww3/QgihhBBYtFeCXxLUK+y9Xraws6L8AjBCiE9AoUSMOKHQRBM99FCDQztD29B+ab5EicQTMyRBgXohkvFCD6TaoAMhA0AuyUp2q8DKNvzwshAjfiHEB1WKiAV7kXE5Jc86U9lQCzGfIQYWSeBUA9JNrEHIGk3wvdDO9TFqBZ8LUfKI3VY/dGRIqXULACKH6BVAqgiELTbZLJSA4IRqv6yEEli8/QHssX/AqNUtxBAt7lT6rMQXyv4xRxsoodAD0mAQ8gYgbyTOdJeLNq5E5G99ypHlJmHOkKlKCkpegqATUCdssJW+UAS5rq4EFK/LHnv1C62YXLP1GbzQHJNCVAPx/0ivscYbhIABBtKW1jwquYAJZ/gEXDRxFUrAp30nwVxqyiPB7QHJe6MTnwMOwAJv9WV1WOgC3NYHOweyq3Hx6xtDogSRGOTPcGs4AgALJ0OldSkFZ/kEKkahCbVghSskNMnW8rI9QQFAQwcAXQCChIAFuIoAJSACbiogAfSBEAAi/MAPVQS/GChBDHGgQ0TsxxAxhOENSwDDGsCwMhkuRIZIOwIbxGCJlsjkU42gXhaBiIiraIKCEkzQEZPosUE6wDmD+AkHsHCWK+YRIvb5ARTUcDGbnGhZG7HEIAzRB0bcwQc+UBwblOeQwm3hDp9QhSqkppFG+LCRD0HExRqhif9ZaoJDANiggTjAGkESIABOIsUk3PAFRf6Aka6EyA26kAeYUOJalexIQw5hCU94AgCssAQcwlDGNwAgBmh8AzcbcoeFqOITmfBEJi4GzWOCRBONQAQtdwjLDfKoAnro0wUOkIAL3PITeFDDE2KAAhGyMyR6OJMmYPKpZ3JFmtRcCCs45wlLGOIMSbhBC0BQAzYcD5x9WMgsQpGJc1JzpINoYEEb0hIdjmIUlEioLDXRQIu8Z4+gCcUk1CCEaFlRdikFiSxbCpM7htFeAJgmNSN6VABQkxKWaMMwlXC74TGiEwxBBTWrmdWSWoKSP/XDJEjxiljk0ExmcifnLAJLRLD/hVNuUIILvDRQn/4UIo1oaUKbaRPJWOKcEAUA5Zj6iE/0BwB0gGoUkqCEMHjiFa9oRSiy2pCtovOkP1VCF/owCVXEorMMeScAbAJLhpACAFvwQX2MWdeHsKWljWhmUT1iiWk2xBKUq6aZKLcWBsqIIbMgxSe2ChHKepWdKADAE7Dwh1CMBi4LQUQgDqER0WjiDHBV7WofohKWTi49I3EoAgGAwE/hlpqWeC0lpsuQQcABDoOgbEiymgmUGnc4SejCjEahCudADCZiHYVNYkDQ7JrkrkLVa3ykyYpWuKIVnyCsInC7kK0utCFLKA4UAGAIpD4UJFkt7jHxFoOzYMEN/5bYoWNZEgtNrGuuIyQwSgycV8h0JBCW+ESDW+FgV8yCqQ+ZKFtLSwo3LIFxxgJAGO7w3g572BJVM659WmQDADDhUYMgRSwcBoAlgODFML7JmXQIk/QcYsE6bsVCPqGL4D4knZQoLQD6cBYAyM9LMVjCG+5gCENIuM2WoC+UpcyihfigC4fI8kL6oISUfRknMoZp5zxxZh0HN6KfYEV4GbKWHca5m3TuEuxQkALbLYENSTaJJ0Bc0BhM2X39ekLkyEmK/kin0TFuqUubmYlJ69gTmF4zg12B6YXIsiFlofOURuglFxSu1PE9RK3qioJnxdUsXchEaGIyS5fYGietzf/rJHjdCq3qQtIACDYris2QY6d2fcKJARs9TE1VH5PVyaEdSBAR2G6fZLtibgSOz3xp2gYCzQtphboHsQSBftrF7PsSvJGGavla1rhStgETvjCJscpklYFoJb+BiuuhfuLM1HzPexSh1Fk6J2Eqkt2UVhZxiU+c4oD+ocKEcAZLhOYVMYGlIhAB8pDbFa9D1XEoWJEHlKNcEaHQRMuXYAOd4XshsTvuC2Iwc8XdZKuZGMTQq/clH0ABD6jwbHo5p5Z1Ej0knzE6JXB88vcwJBCybIklmDDlqlc9bu/W+hEKt4ZQihLVSM2EH6pQdaiAIDNdsV0XH/EKX8RiFJDRiEb/8Nj2fLcC7gBnBdNRukNVZIIJPzjykRvC0+NqvSw9AAPhOwpONoABImz4AnQ0fIcqJC0FPNEX3hp3XOFh3A2l9UXLQVvTzZukFbPo/IEbkepDoFwmzXGOFXZqHNQ7hKdZ17oLwHm84y0EnOZPIwCOwJAmsEE6cHgD7wPo+5MQy3k8O0nfrLDvlxAbACmvMPNF0yzowm9xl16hnFe9QiY8wUPw1Kchh6W0ngsswfgBAPk1hPm9ARusgUMswTgxBBssQeH0wPw5EkNgEeM0zv2BRAGJAZzFQjNBxuXpwR4FXQA2xCDowi/oAlzoEEwpAvXZnWjwzeIBAE95X+uVxRFU/+D4hRMGZuAGMsQd9NlChGAAkaBDGAz70Bm+5Y0j/YAVHNpCuNRjWB/nAOANNsQv/EIP5pVa7JFohAYU+MAJOY0RGqGxWEo3SWAoMaETQsTshRIj+EHuNUQhskHhHAEKiMAAMUTwFWF9qAgTdMHxERtWmOEZqoX/pWFkHIIrrGEbDtXFLEQmQIsKquD25eEegh8F9k//WOAfmgQhdIKvKZVDFBYAWCHSCNRxnWLjsAsXDt+6QcEgINpLQMY9NcRCoWEAQtcfWMInhhkzQUYshJcvqmC0wA+jlEXrMSFDxGJI3EEnoJmODdsrgeAS1KEvZmHDOYQQhEElHmP/aVoNRv8EJzYCEAYCIpBCKPjgEIZCGJzFC6ijCVkKtcncC/ThKxJC+eEELp6bKzSYLUJEGDzBDdzONQLjAwpjCzCBIbQcDF7iPD6XenEiQzxCRshYaADkQhTHD4TJKeLOytybzPnAQr4iAIDjSRgcQ0xaplHGHJxB4DyNCXYhFvoAFqQJ5ckjSDCjSX4WRjzC2ZFCQP4AfryIVUZLpeCO1t0A7hhHH1ZgQ3YdROgYREakOR5VRuhB8JjFsWkkvq3RESzBIEweQzQTbGnXaG3EUwKAMfolKZyBD1wlXQjOi2AU7nzf7eAOnhEC+TFkTuKEVfFkSPjkG1JS0MHHFyxEDNDO8MX/JbwtwRYg0FLKxCXS4FoxBOYthFO2nQ2kRXMBwCBAgRDcgBLgR2ECQBK8ZDYmIUYegfiJZWTexE+iRLA9AtBhBD6+YfcxSlxmXRNUQR+EBqJRgh4gI2sGXXLaRGu2nXDYQBL0QcsxxBM8gWLlpuAY5g/EgGKWRbTEHmRajlmuVWpqGkYAQBwAABbQxVvq4RowwSfEQmnCBADQIN1xZ+d8yl6mIQh8iYg0hC+MYa08QZWhZ0Mopg00SxNwk2MyBCMAwId2KJcg52hNV32qhQ06hA2wpw8swXRG6F1K1iam1XOFFoqm4XD8gGGCxCt8ChRUqG6+yEKESeu9AAUuhIh+/ygjYAIjMIJjxud8vJN60SeVYgQaksgP4BmNlOZLaFVJ+V90RRdDSNfNER1xMAEcNMRbwMV4ZpkfRAGFKpbLCE7rUWCHJimIEgImAACTOqmITseCvhJ9XgUQ1l0cuIGSUedk+RhTSRbKaYQNlmnIici6MMSamsQhWEGc0oUStEgMOKkFPimI5in/vMGeLmmTOuaHAkBE1sVoKSc+MiMsYUXnmCbAhVfl+dYszEKDMYR82YQ+ql3Y8VsMqIGaPkRLLYQxjidDnF7gNamSLsSHskELsAEb+ABw8mmTMmknRFREuoJYHEIjPAIzTaMzkSQ+2gRWUEKaxILPXWcz6QEdnP/Xgv1kh0kq8zXXW8TEpYKEL1CeJuDBjyrBG5gCISjNG0BrLlYrJpiCKWACJrwB++kpI5hCRO0qr7YqT3hCuXbsUAHgXo5itSxEYAJOG0QBe9ABHeiBJbCC1GjaQtjYvNFb27lUvx5rD7aUgPolKijCE1SswwLAGrxewT6swx5twzLCGxzBEXwoK/AgAe4qj2nsSXis1eYlSa5STDiHKhxCGGBBFERBChwHyn6RjbFCKU4YmPZHVjlZALbVGBbY1OhsLBBDLISCIdwB0AYtxB6tKTSEw0KsD0SBIUwk1Eot1UJEupUr/0lOuYLsrAJAKCAfKYhBF2yKEOCNp9HNHID8WGHhYklVXMilaL/erEzc08rqwXU6UyzMWicU7S0E7d8CLgAc7R2IgT4igieAqy4cLuImLkN8AjOZBDM5ZSOggi+gwiFgARZkWFxxJENgARw8JESQ1J+1neqeq6U6VyPck7yqLvjqQaHy7Cf0QRUAbf+IgAj0AGT+7ex6QiBYqe4aXO8CQNRmLLj6B0zsn0NAxvD270K8AlVaQRRkWCQ+BKPcQBgwhCX8QUn66kQx3x9cy6VequqCaejpwZP5pQBbguJNSZfBTg38Ye9exB5lha/12OESIABkbPAS6E3AsENk2SBcQfOaxfyARBPgGVrgwQN7wqUdFc2mSEAAACH5BAUGAAAALGIAHgDKANIAAAj/AAEIHEiwoMGDCBMqXMiQoJWHVhpKnEixosWLGDNq3Agx4saPIEOKHElyopEERqKUXMmypcuXA40QgFEFps2bOHMiNGIgpc6fQIMKHUq06FCPRpMqXcq0qVObWJ5KnVoyKtWrWDFazcq1q8KtXsOKxYJUrFmsAcieXVsQLMyyCQM8ZEv3qVy4dfMSDdBFr1+jaf8mhOhWsMi7ersoxsKYseIvig2zDKwTb8gnmKFYadz4YWHJICnXxfKmkOnTp8mYuGIZtEa5eRmDWgUgle3bqagskFHTdUgZaT+HxcIGwCncuCMNAdNFuO+KRkSvhcIE1HHkt0sB4MH4+UcjAPqy/xVzBsxtTmnMbKltGxSAIle8gzSARfxZJWDYp/JCxciV/LZx4kURYsi3UQcAnDBeF4XcFokXaRS4hYNeBKHEc9Qp8YMNPyjBxGaLYQEFFE9AYRAcJgAgQxfxmWWFebadQoUXRjABABjXLeIFEQUK1oUYasARRxxqiAEZZz+SZ6SISighREEJ9LRWd9cJQkUaagBglW2l8BeGc2YJ8YMQHmrGWIZCkOmhFT+e4aYYzRlkgAlxwGEWFDgG6IUXOsT3BRunHHfKnleAGVYXtzADDjjjMDrOo5AyKumii97SXIYb+uAAASVEUV9YZ7RRSKClyCFHGlttYV0ppwCQxnp+Mf/jjj321GNrPfTMo+s8t9aDzjnmBFuOOcO4qcYZcGJBwAIm/KgQE9BCYahOSugQySKRmJqGDrD6YMMiAFwrx4320XXGOPKkq+667KZbjjTNNIMLLtfIoEMTRvRQAgILANBACTf8gBATTZL5YbksiWmDDTcIkQQUXXwhRrJQmHEtuGnIEaSQaqixCLaLcCEHGBLrFU887aacLj3mQCCQy/0uEPNAEEDQAAue/tjxkHUW2YUV0DKhGUsdH2tkc46Rp0YbbbABbrZylKFDmWx28fG1VMhhxAs25HVLPO2kKxDKYpctNjqi1Ky22gusXXMDHWh4w9wGW2EEDgDgAMQJS8z/PaYS0kr85pGe6dyGkEO2ccYXIgbNpuC33DLMM8wMY7nltthSxMXjynGEDEboIDoYTy+SNRtZcsV0G8ceWd8Xw7DTTjvxGHSyQfQAM4Hbau++9gI4R/EEwUJjIcbdOCRvBBw+NxbxGUEOWSQWT2j4w/UOC/0QiU7+MPcNzLQzDz0F2eOOOuloI4wgIANQxvsZayvH1eCOXCDCTNUHJMdiYMGEEAuzwQvAsY4CpuOA6QCAO+jBwHq444HuAICvKrEAA1SQXwsggAEIoEF+bXAazwghM0ZYOWYkDweXuJwtIreKW6TiFqZYYeRmSMNbrGKFgHge0+AAB1sMwxrr0BU9/2hFxHsY8R33kIYoQHaxaznCiZEIV7h0BAAjXMhETLmBDWKwsBsArgvQM9rPnpAEW5yjgLOTx8lORjvarVFd7PDGMeZIx2MUw454vGMxzvGrc/jxj+a4xCVgIYw/GvIa2LiGNqqxyEVW4xvi8EYkvQFJSXrDkuIwxzpkl47xPZAgRDRfOpaxiWuZEltRTCW2pLgIOQiCDI75QqiEFJSlGQ0yhbDFJnBRC1hcog4riEC/NmiAZOyKHr1Kpq0eSKsjItGIRsQHPqIpzWpK8x7XhCY0p6lNI9oDmu8IZzi9aQ8AEJEe7dKVA2c1K3POyoG40pU82mEOaNBCEKfMJxP3Of+EAW3hf3NbWIcOFpmWACkOefiDQm8xDWssAxYQhSgaGvC2BvirDvMoJ60EolFzerScAKimPdIRj1ytax7p2pUQG7jMBzKQgaGcVSi/+U1r2tSbEpTpTHfK043GIxy72IQg2Pexou5Tn+9jjRWggIklWG9MDwMjHOZA1TkwDyQxyKoNikAGgYzBFrWARBYg4QEPTMACaJ0AA/xFUXB0861v/SYAUKbAsblxjXjNq173yteTqUyN6DDH+JoJ18LS1JvyWEYIGjCBCZT1sWUlgQck+9ghqCAHORAEH8BgC3awIx3gmMYtMJEsEAmuaMjKiBBuMI1g4AIAiYhtIp7oqoz/2WEKDCDAARhgAQcwwAAG8IY6IBhB4vIUV51koATrMde79vW5t4NuXt3YxnJco6RyxQg+4kELCARgAQ2gKHgZQF7f2YyiEOjXBDYQDZXKA6WAHQczbKjVLjqsRBdhxjT40Y9naJYPAOaDbAEghwDLYQMEQIABdhuASui0p0Rkp1yZe8x5AGB2YMtw7TTcxgx3WLp47fDsZmcOcnDDHO54h01XzGKbmmOiy0JAA9YKAAts4MYC0YAFfNevDIhiiKFkrgPnkWF51GMc25iGKXzgMIj1aCK2MMcBo2FgU5kKtolw3x4ADAAV7BgBCAiANyBM5nsMBL4WvvCI1zxiNbP5/80jBptd2ehhNq8jHOG4BjsiGEr0oS8d6gj0SukhU29WA7zLYoADHCAQCwjEASTo8o137LIciOIe38T0TPfBD37YIx6dzKg9xnGL/m0GAE9eSBeiEWgAmMHKaUiDHdJQBlPFViDjskMZVkACFUyA0Q8mMxE5CgB1nWwe7fAsnEcMX2OHeNnQHrFny5ENbnBDHuYUtra/AYB+KRqt4J60jW28gd4aAAA5AIc+8EGQagKAv/D4xz/80Y99qNMez4jCkyiih2iYzxZWBsAQxiCHMSDBVHuIrRfKUFsvbEAFQxCFtnvq0dulEQCelZ3Gk80OdMwxGt+ApDjEAUmRQzKl6f8CG5s1nvGOIzIb6ADyxCluj2hYMMEH8C1wObhgADigt73NLQAMII5pupsgnOYHp/vRj06rAx0ZxUxF5sCMeoCj1lbOAoEB4IT4CbgMXgDAGMbgBSQ8/LXmS7uE1b5TCQpE2vNsudzXUQcAQIABENidRftl0fD2XW3H4Ljc5W5dAFCjHdmeOYSlcXMCBODxj+cgADR4gAYsmgH9enw65AFkTN8jH6C3ZjT3sY93uEMc4Uj1RIZBj2jEOmqnwnWtsZ4IPqgAAHvywhiCQAJw2AOZvSLuA5MpU2TPDuOyS3YB2bHJ5lPjZWsbCHrVJuO1IX7wGS8gNqBBjXBgW/E0L8b/ARYQAAZMYAgCju0YsnCAAAAAAZhnAJgXAIl6aBsAZqZVrtIRDmMcg2kWMQzzgAsZQ3ayZmXjMnAAwAeCMAVZkHtZkAMZoFIUeEwv9VLrFA8ZBwBoxHzrgA4FFILngBANIDMFITMWZXcQcAwcGIIuWED1FC+CZX8xBX5EVAuNRQVZMAYCFi5RJAkCQQUEAAEkkEHmJ3GKl2304A3NUAy44AMxYBG2IA9ZUIBah4CnMgUEtweCIAdSAIFUoAJkozLN9l7vtSvK54KeVUAg2IbrAAy8E4dqE15zaDMYx4YfyIboQA7LAADNgA45JXwQxHYRlnahRAv9lAVUwHBjwHB2/wBbAiEJfAABBEACLjMBLJiEtIIO1QAMwgAANWARhyAJ6wAhsWcHWDgutqVZXqB1rTgEaBBta6ZhfiUPHYcOv/Irm4SLfMRH6HANMhOMbSOHxOgy7ZCHH9iG53ANwiAM0AB144OBuMJSuKJM62Qr4NBPToBrByhrfJAGY5BlkpAIJBAAkoWJNlgr5QAMhKQlFlET5VCFnZMxBJaKdiBgX5h7UuBbZmUAj1cHkCAKohBWlyAMxWCQxVAMxiBHdmSQolAJogBe4VUJkFAJACmRFoRBwshz/MIvGrRzC8AvxXCLefgr9bQLwPCM8YBSFHiGFfiS8/ANQzAEsYZ1VzYu9f+YBVpXexnQAPAHDsGmbe1ADZUAC7gwCBiRB7ige1GzcKmIgAwIAFMQdl4gBZAgDdIQDcuQDMuwDLxAC7zwlbAABGhQlmhQB2hpkWhAC2wJDM1ADdhQDXIpDLxQDHVZlxSZlxW5WH7Xl37Zlw8ZmBB5kLQwSM1wDs4FXShnhrpCAkjgPmWQMe/zPqaCiqiYBkiwZWUwAeD1DTZID+FQCWgAC6YwB39wEYdgC6LgBeMyBTaJgGMwBXLAhYmwjbmHC5fUDd4QDru5m3j2m8AZDuRQDiYGAOEgEN3QDcNSDgBQDs75nObgnNE5ndJZndEpl9iJnXUJDHZZDJWQl2gAXiH/UAnAEEkjh0my+GGiAJnvQ3Y6+Z5hZ5NpACFpkAUBgADROI3usExs907tIAxAAAS7cAMbAQkLR2udU4+n4gRS4I17AADvmQVIgA3aUKHaYG0Yyg3dgKHJmZzCuaHdAAAhCgDD+ZzDeaLPmaIquqLQaZ3LSZ3lEA7QIBAhsFgSGV4VtCwy43j/WAcWGTm9cAu2gARjB3bvOQUOGKE7GD+4B3YIQAAuSYEYCHz1IA/dAAQEUAm1kAIbsQc7eGWo2DlXVpO0hgROgKRTMATHcA1s2qZtmkjYEKdxmg3VFg7VlqHc0JzESQ58yqd72qd9yqKCyqIl6pzhQA2wAACw0IfC/xkO2ICVkAovxUALwMCWu0ALsEBDZrAn7qmTaToESZoFSRp2p1IGsVmOiVmLjClP50ALBIABsNBVBKoRRiCPuYaAtAaOZLcnSCAFvooEtEANwjqs1FANwmqscnkNyXoN2ZBIdJoNAJCnv9kNwfmbfCqcfYqtgLqt3Nqth5qosIAM2cCb1Vqu5PCbqBcOvJB7rfieTpABkaaTQ5ADSKCTYUdrj6gCdaBsG4dhtHNhKqcNQBAAdWALqocRReCUmMmap0JrYyeqD5gFQ+CrUuAEtNAMkZqxGouVxXoNAMCszwoAzeqmbCqnc1qhdHqh1qab4UCtvlmt51qu15CoAPCJGv+anJfkDR26szjLm9TaDP20J57qqU4AqlkgBTngAUgwBRBKnwyXA5Dgi7g4tS+ofOUAC69aC3FAB3pABxpxmvUaNa5Zk2RHBQShk2ZasUHABc0ADdDQtm4bt3I7t9IgrABgstjwfDPatnAbtxxbt3U7rNdwrNSgrG+Kt8+KodmAqL4EDIVbsoiEtyZroRXKDZDQqVngBDlgtIroqUjwmBE6mUigr8MSLKYbLMDSR8FCDSGAAWjACHkQCCFBBgobmWU7EFIglTq5jU7QuznwtsAbL2/Lt8QLvNz3fB/LpgMxvPHSvM77vNArvH3rt39LDYFLDdAAUQCwC4ZXrNWgrN//+72GS7JsegwQiLYeoAKhqqTv2bSmOgYkwAuNCqjEKZ3RWQ7YUAmuKwpzExJ9saTg2IoEkbsD0YoqYKaaywvGy7cL3MBuW7gz2qYCQQ3N4IfRe8EYnMHP+1CKmqgZa73EGsKEuwnnq3VDcKbs+54V64BiN3YqQAvk+rLBKQ582ocYUAlFUBJkIAURi6QDMQUELBAOOAW9WrQXO7xuC7cMvMRuW7fXMKPJKxDMq8FUXMXxkgwCkajGMLd0Cw0bWwwlnMLsOwUkMAH1uoN7ogG0kKHJebO6qaF5dglkaQZc2gIigQiI8LlSgKYC4asFkaRD8Lk5cLHFG7yGbLxeLMLK/2vBVtzIGZwMwJDFwjC9XFzJ0BC07SrGY5wDKqB1uLcnEwAL3xunkXuy2pAN2gAMZZll+AMSZGCmaEqxBsHDWaACeWcAoiC9hszES3y9xDq4FOzIwhy9fZjFwLAMlpzMtMDDrci0uqvJR8rCn5wFC1ALxIqshZus1bAMl4AGWuu1LPHKDArEQdzHvjoFVIBgAYDBu5zEiAy4Ivx8juyWVUzP0LsMwpCol7ALyJDMlry5TqCDTHt+0My+AvGePGALHxy4kboLdXAJjOASBcIDaUuxBOyrmttrQQB/XIALTpgMxoAMyLAMzXvIDOzFfpvI3Acvw9zSzauokozM/iy3tP9wWY+5x102BAVdtPU6EPLKWdLQxJAq1NIgDINECDZxAk5Q0RatAk5NAhsQBEGwAfKXBGIQB4igCIVACJjACbaAC8cwDMagy28b1NRbtyvt0mq9DLtwCQKxCyRt1jOtATn9mFK5vmIMABOQAz6tk0VwCLUg15WcDG1tBy7wFl1QBHpMsRDw1ACwAQAQBGbLAAdQBHh8CIEQCHpwmoGACAklEHNQCIlQB1xAC7UQlsAADLwQ0saQDCAtDCHdlc1A0mpdxUYtyZRsycXQZeg2k3atg9CMBDngBEMrsWAwDCnpz8BwCY+YE69spgzw1JGGY0FABEhAXgyA2Qq13ad5ECf/cAEbsALizWskYAG9tgIqUAKPQBBGQAbubQebEN+1UAu4wAu4ENJcSdvDTNiCBAu7MNYzDQ2QgN4EEch9LcZI6qkO6AS8YHjJbcnIAAtjwKU6QQbRrQJQLRA4JhBSbd4bwAMT0wZxMAcJ1d0EITA3tgIEUW4YrgIrsAFbcAYnHgMpkAIjUOMAAAI3LgLsDQiAgAmJkDlgNS/HgAuwnd+0vQzs2N/H3LaCLbfCQOAEsbkEgdcGjaROAAm8WdTJ/FB70DdAYQRQfWNkThBBoOHgbQJe9ASPAwBfcBAscAGRJhC9xgC9JhAqIAlhsN4CIbsCEQVJAABRqBB/QAcjzrWD/5AHeuDnAgEGPu7jdjAGkAAJg3TMySwNA357B2HgB3206AahOkkFSCoForCb3bAMgW3JuxAJhiAUb0DmKa7iAyHVsG4BH3DjMTBQB2HHG3DnBOHiAxGOgIDZAnEILKESoBiFBBroRuDjmPDskSDkYBVpmr4Qe+wEZUzcioimkFANi0sNm2ALMj23u8AJhU4HJl7hUD3e4m3mU03mHdACL/ADSYAFb44Qdj7n0tfuAuEFWVYIn20TIDDwBFEDLRADSwAASVAFSZAEKVLtE7GN246kOWAGbwAGRVIFm4CV5M4JrT4UalAELs7u/A4ARJAGGkDmF/ADTGA8Ih7wBCFM+v8+EBpQ8rgXW4BwBwqlFF9QAjMvEVIA3HedA2SACIuOCADQCLYQL2b9UFmGx0Vx3iQv3lLNe73e6yYgBm1gmtxdEPwC2QfB7ypOAlTgCAAACJs9B0UR8nQN9hSxjXftBAaQA9s9EIRgC9G+CYmQw4Ke8EVRBFPP7h1+9SRQBIFwCJid2TsfEx5QBnR9EAzQ7meu1yoQW2SQWkPRBmBQ7W4vEeM8BU7QAAFAAIBQ4gIh4wyfBD5A4Usx8uxeAuMdBOgN7BfgBnlwCIqgCIiA+Jlt7IdABKXgAGAP63q9Amd+5rxGk3tgB3w/FHPAAmFHEL6+EEMAAAgMCovweDlQBHT/AM5YYQRIEPhUHwTA3usdEDAfcgZw0NmP0P4AAAqc0ACQDesboGORL979NJtyACFecO8AAUDgQIIFDR5EiPDPGxIrDpJISDDHkCFeUuUiEIBAhCoRPX4EGXLgHzZBVKxAibIEyiByVqggoUKFCRAoUKRoEUPIkzBu8HA6BYCBhg0bNFiwINCCgwUqNlCRA8BO1CxIisQRmTWkjRIkIB7cEDHH2IlyFsmKFCCAhyIAfmiFG9fgGTVtjJxUmXJFECp4HQLoAOLDCJw6q7iRdCqSHANElzZgMIEBAxUNhGqQIycNgDIANLSVG3rgCBYXvmolG9MLAC+lVkFQOyTGjySi/21/PBHjhhImJvT+RrkhZkoAI2y2sKFEDB4wpzhxkkMAqYUsZax7sUCiQQDLcqyX8eIEQInboU8IP50wrMQcKjIIzwHeS6Qy2xcUSRKl/H6CPNIk4sGI2ZjwC7gVivrNBOSU+CKOQ+4ABRROIvHCAAc0MKiMIBpAAIEFSChjDCqyGMID8vjL6oMSpFAhrvYmK4qEvnIIwosgFggghycAOAPF8ogYYw8+EkmEDzPYMGKI307CawPgTGjwEEUOiTASTgTx4IAJvNgsDS8B2CwDABAgwAMAsnBiiBwAcAgRH0E6YaKsSNhAhRyIamCCooTTQE85BJkAgQyaUAOOOd4MDf8GJ8Yoww4iHzVDyQtQKvBAA4lAJJBACgFlEU4WGYKACSzwMg3riPAyRBLIhIAEJNQUyAhEPxKiA68umDPGVS3Yk1cVvOBElkW8AiOOP6RUZNasUghij0T2kMNZOR5NZIyXDBTOwCLaAKOUCTkpYwIDECChVCo2GIIIzsI1AABRx4LIMmUjais9j7wSbk8HEJjAAQckU4EKL8o4JRdBwBAiYSU6mjckHZwoQ44hnU0kM2r5yAI4FSwwcIUiJPl0MTJKIKCpUgEwIAAkyvAyCAgYCAACAOxt2CA2WqQZoTpfdUgDDRZAYDKgPwwihz9lySWSGFqwqeaQrEu1DIqLnJb/2kQACCKlDSw4KWuW9qo4kkWI+IGHcScwt8MVWGYNgAUMkDmDCR4QwemCTLCzRZFc3aDfo4A+gF8y7jiUjIELBgUTFD5gHAAQ7EboYZa/Y9mOIZ+VY4yqH5UjCJ81YCmIIIjgEoDMpDgBhQ46NGCMVItezdQVCBiTAQ8mgOAExyEHgAcHABgCV5E28GIMB6YjMwAK8CgoPkEuyqWQxRvn3aASoP6u1DQsT0SQZ4WMhFoAnOI4CIjTyEyOqeygaYQG4Eb7y4G8DIvMyBqQwOkiyAikdwaSGh5ENpAFL3nBASsIlEZWoJ/+UEEQp5BFL3LBOApWjyAnAJGpsqc9L9nB/3tE2sPUiIQEFfyLBGMwnR1UWEAUtIAFoiKAFLQHJlMJhAANaAABOlCzEyAhBwy4QACS8jmQ1GkFJBhCqcqwtQlkZAK6M4gKIga9QrSgghYUiAmQYKo0MIplHCxVtIgkCC89ShAq4M4CMjAVLk6uCDFgggHGRQApcpABY5qjCcTQsBMMAQkMWAADwkIUo4RkBU4gnhJz0DcCGCADJjgIDxwYrFzk4gYxWBrTsKgC12nQOpoBYxdNR7E9eIEPguADH3IwgfclkWVjGIMXvIAELHCLTAu4YcCIMAF3ydEAFwBDHhoGghJ4IQMLWMB6PDPIj9BpARqgghI1YABczu1xB/8hg+ug1wk3iAELT1CCBU/ghKhBLZSmcoJ40Hc5KYRQMxmAAAEgAEtZypIKSADDHOjABgSMq58EaOQcDVCEPzjNBFTIwQIaEKNl7kmZOvMKZzQ4BkB2CAImGEFChmAWpOWiE3iYQxzi0IY29MhuHSCgJ79IQw56IQssHRIZMwOAHLyPADmQ5RSmgAQfFiEQetADGDhggID6EgEQAA0PSQgBcgEAKcv8yHpcmaoCVpQAD/CI4Z5XSVDoIQ9/AOsfhHlSJEiBcufU3hdLlcriuXQIGcjhBJzA07n2dBKNUESm2EAyDzUAqZCLU2UAoCcMNTQiYVlTENLqpV3+0wAnaEH/QvKQB6OdpZKdGMRX/6Cp/jktChxAQjoHhla0Wk4OFBmCnZqIgIlQhCwrsIIY/BCIRygiWW9YwiGqxwEIjEuQSeGlQDD0UAAYZbh74eAXVYDMlJUgDGHwSBG8IIhVVFIWYeVsZ51GujQNwQmjJS0YhSQTO6mJTDQlSw5IcIGc+EAISugCAA41ieoVIZ6imoAK/KiBDNxRuA9lJnCTm4YDGAB3BEDAGwCg3YSQITMd/Wh2EaGIRhR0XnfwghyeI4exfDe8HLTDHqaQg7mqF5k0lcntJpAAEYBgBMaJLBbZ8DYD4JQPAIjEQDiRShKqgCgD2RMCxgTQhkgmAOPCZQDY/yASI3BBEJHoqB6yS2FFwKFhhfjTcwSBBBaUAAlc+rCX1JcGO7VnAguAgJgmgDscnoBxIoAzFgGQhxKMi5zOAoAkBAIyPXMiz5IoQxacYpRAjYuacuznoUvGg6wsoQhegnBtpdSIRwziDE94y6zowwkJUSEIIABBBCoSZvTZYWbtUQEEkCmzBixAIBOgiWA+UDcsFoGa5ZoKAK6WZz/rmc8DkUSwy8Ci2xHVl8YmwAqqYOGQoAB4HK1kIQZxCE1UexDQVZYhQCEIToPqBHUTQQmSyMXwmtorJDATmiOzZgBk4AEUnLWc2SSqVw1hDFnIQvHScEpf9xrYfv5zJOiDBP9VU7MIPpULC7ywCOjJIgZLuIIbpu2HHgkhBm+SEKcjkQYifIAgXx6DFDoJRkahz5joFhMB5DYBD2RAbm72OK1lHDMNZMGLagXTdYJ0Y078+tf+lkT4eMBsuRhNEB0lww1+cBhFhEITArEyisAAikhIKBJD+DZBWPBdJFSH5KPejAc0cDugsdzla06AvAkSCDYYgARSaGs9iwcmzeT8O2Mg0p57bpBEIIEMtumAA0ERQVn4YAldcIMiHtEIRLjJR5KguoTk0HGD4NScyV2UdTLggZa7CwIsXzMELnBNtceKBFNYzRQAIAXWS2H1Op073dMaoqvpGcd82ENFyuOfNHT/tBBLEMMf7qoIzqJIBp3yFgCQkPW7LYq0IfLCBFzeajWu+X0J2FHpBxIEJOi09d9Hb1lfj/rV0LAz1dmDIPaABM1FhQgpuA0SBGHZXIChD4dY/CECEVb+gIwTpTAdAPC4gzAfMAMj8BiDNcMdorI+ojIBOtA+giABJ/i+CqQpgbBA1tMpfJOlyoGWzTiTE7ENEygDhqskSRiESagtTeG/8rgDP3MO5VsBGzgIFyOCrlMrL4mlLMiBz7OpNVsABzgAg5ASgqgL3ukj8ajA1gOAuaLAJWTCV/myiOEDOSCg8AiC/cgBQTi6aKOERjiEsBLD2ygEAATAqwMALIgIIkin/3zLqSlwAhJAJho7M0YbCAoQiS+oGVErKyj0QygUD+VzgilwQ9R7KRa4uNsgwUUABeuaBOITwzEMjUAQuFMABQCgAiKgL494Ax7YKQp8ld4KqPtgA+ITCArAw4GYhEEQiT16E3F7wj+URdYTD54qCNUTiBxQAjW8DQeTA987hMmKxBaMiz4AgP97jhxYso+wrTcwAjI4ODZAkv3ZAgoDgEwBAFSMiCuCHA7wLopYvVn0w1oMLYJwvdXIASvYjyKQgkWAslw4hSYQA5GaA33SLLCKiz+QkFSQkDIgAgZjxmv8qTwYhD/AK9tqvEBAxQrggAgcCBGAJCeAiXAUxyUUCP+6OsfVyzcnyAFXLA8yQJ9UOAVB4IEWcIEbSILYaoM4qEcI1Io/6INSiIRSoLoheAM9uA1EOMjG062GdMiB+AAW8CMfisWKBD/la0JzfCmBYEmXvI1foQJP85jBuIkWaIHdYKCXjBBk9BKc9BHbqoCfNIghoEijtMi5akIpWEq1HIhHQBEWkAwHMAopgLcPcLHjiLGQ+AMIeaDnGIIwYJ6PEACQYAGxBAmzhMImRAIMXMt56ZAg5JXAqEvqEQmwgjxk5DD5EsyQiIAdmpUCQJGJQMyzXMyCcD0AUD1ZQZEKQIAD+J+tUQARmMwBBAmwygOxscSr+7vNHIjB/AjyIAL/zywP0PQRP/JD5SNLC8RAKUDLxVxLXASAEyC98pAAApiM49kABzCB2aTNiKADOsiDMkTGSFgT3hQI3xSJwhxOZVlMi2yRIWC9i7RFWxwIJ8C3cBQIFZC5/XiAAAia4/EXDeABWaNMj4iCL1CDOcBNCXGCIMhK23C2g1AX4QyNKDiDQ/GRpLLAVwlEtMwBIiCCDCALO3HOJhyCnVqB6aROtWjNUfmfCxjQ7vQImzhJNlAMb7k6I3C2CC0IGU24bCwPfZqV8hwIJgzEHCADOohENigCdfGjdCIhJCABN/MRCWBRBjgepLgASBIJu3wxFIC8U/CWMQiCvOxRgvBRkKBQ/woVjbF6ExPoALIsTYkwgsCcM9ucLDooAjWRJSloCMF4U7UwgAPwF6TQgMDo0jfTAeRLRjAAACYQCPg7iALNCvUUCJ+0DaLjD1ATwBMoASIYiyAwAR5wgYMAz1NUPk/ZSjsMVI1wzUJdMTP1CMZ5scvsRx6wU2VhVSC1jbxSllmrG7sENRUdCD38uIJYgQFATxS5gIw4gAUIHKICgzC4ApDwUhQ4AeSjuhxQsILIHx8RQQDA1PLIK92SN50YCCRQVYFI1oIQgGWVi8lSi3kFqAAw15AwjhvgAQnxFlPxyjtsmMIcVxRBhHttmDS9gDUBOEyMiHeFV5HIgyZwgHkNAP8HAIN/BYkYSAIxcIK+JM8wYEWCSMVMjSSBsNR5KViA5A9KBQAFAJ4yeA6CKADiRIh3DY0mAAMTCCatEAIsgIMisJM0EAQv8ICQFdmR9ZGTHdiaaQQUSVMAwJXOuERwAYAIiACs+oEXqFmbrR42sID/0QASmIALUFlUNNs3YdUSQFreEYJSDQ2WFYgIkCIAiBBQiAqDeAAFSIIXkFWBGIACUACsqpkSAFAHYAACAAOVPUWzPdvyEEEWYFPDNAj0fNpszAEuqLpjlIOwTIgHwKobcAEeJYgO6AAOWNrd+5+lYAAEuACMRQizZUgOCNcfFYjZjUAffViPyAEqGAi7zYr/vAUAIVgCbDtaxmVcueCBZwVQBjCABDDa6rHDwlxbgxiAvx0AyUUIFcBcgdi26RWJaTsEg71DpPXeiFiCBtCAimKAAyAA5wWJQ0AESni6/QhXDogAhPjbltVfmsXe/ORd7hUEztWKTSQIMWiD74wITU0IReCADNCALE2gtPsI8TVPj1BPyBXcghgABeBggQBNl73e/h2f0xSNSSDgg/iCM8CKgiDGiCADC+gTonAAQ1OA5yVCxxMJh+XahHDZgejhgfhbwAVNmlUAwA1h7FUBJMhcuJCSSdAECkYILDDg7wTPyfrN6bCAC1gKomrdhDiEpg0NHc7dqh0ICuXfhCiA/yM2zCQuCNtNCMc74ZBQggNNUJC4ALB94MlwQBw2iMj9CHhzVx0uCEvtgPvN27wVYoMQ4jMWy9MEQFBwY4Tg43kBAQE4MheVI4BKqoNQ2wxOVEAmiOr9W5d9XHE1XYHQj5mdWQAgTkY2zP99ZK0ogU72gY8QXa1g338KKIDSAUuYBFJAiCKuXrmoy/0EgAeQAApgAR5g5shtgzRMgrfg4B8eY+0LRAC0jerd4YGwiW6Oi/4EKKLKiAA4gET0CGUVY7iYNRcbgRuAgjNwylHQBErg40zxyjg4A2/akRjgYDUWSypYhIHA5tsQ5G426LhIAI0AqHG2S60Q420WCStQg//JygOdnOcJS5aMhl/t6h83DWVXljMHmFO6LQM/Do00NuiD1oqJndcflouHDg2w0knGmzCByGieFIhJnoMveNDxiGTe+TKCIILyjYsgLoCUbhq4MIGlBrVrtYEtKOp0lgspmbDGK1j4ta0pmWQAUATXPQiibhiyVBZVPurjSGqtGFZZu8vhPQRSeOLsCgREiGPqRWeIDolAsC28kt+9bjyuHoiajguw9pEE0D0AKIWB9ohRAAAo1mBVVgC8vGWtoNURiIEq6INffgTOwi6DIIVQUAQ/CAOo9ltthos/yKu8kl8AGAX51QTGu8bXHggwFuHSBEA58GeE6LJzDmIOdgH/vrXKl65muAgFABBguQCr036E+aUEgai2pnWTehZhmhoCP6vt206InwaA3ebgF+Duvg2Jdx3mgqiACjBe450XsNKU+GVtAFhuAKi2gUgW9pbt/s2BxbxEmeSPmZ1mBehu4K7ewK2AWeaA8S7vAtdGFBFDKVnu1W6EptUEBm+8+L7G+b4Nj94PzL3vHLONEugACrjaQ+Zv7/7uUe5MyB3viDBwwa5MMQyEBn86xXYT1l5uwEYULLhf/tCAa8YxwGMBFiAFVOiyEuCAK/ABponskCiAB6AAAS9uj0hxFU+I/WNxnWTvaltwgZhxAKBwEd4AJ3gOxJaLDuhxFvjCMScF/wKGVBGvmRTXCuLTbJvW8gdXbUqgBMWmZ7zSckSxbq0watAUj0sUDdntcWamhDGnALymrzNnbN4p8I/oiUHIBFJw67UTiAbfazvXctsCALdElOD+iN1W5dUjCEDXCkFfZmYeBR5Q20OfskkIBWAuPeO9WpcuCBCIASXYAolLiC/E8nlu8K1GEU//CLLW7wuggiWOC1NnZh6QZ/JARRbXlAWTi+ziDw/P27ouCDhrMRBwW4JABYNo8KZlvKYd7k4XDSF22SIuAFzR8KAQHtwuiA4ogUFf5iKY32wcxhYWCbiOdh956HeFtzgriDM4hHIvCOfun3LvEWINY9HwXIJw2f8CSAAuoNuBwG6CMPVT5wEzkN5sfPZ8hwt+L77SQ4EXyL6CV+zYxutyD4Ml+EnSBQAJuPGWLYAhlAMrWQQvuABhl/dBX3YekF7jBfmQD9/whWu1q4kXsAEb+AEm6IlD+GWBAGZSsARzlwsOKF3T5QAKkIA9eoDAyS81IS6E6HmNZ+aGLPBhlIsuaIM5CASjH3k5s4kbEIilH4j48gNL+PZZEfaI2KGtN9tTBoAhFIrfgdrgnnd6LwKO9/i013et2A2VdHtNWfSasYkXUDq6twGtFQg4coNMaJi+RwjAN10KwNQAEIg7MtyImOUxX/YiYIEnpwB8hFAU0Akm6IIeyYP/MMQik3wB3SgIGhSIw7Ab0R9dgSBd4fTMdjH835EATx4I1192M+jwJ1dguWghq7xKAICC3NdM3kGB3lZ6zAeAzOf8LTiDqsfe5E9+2x1UXkqKBiDdbxUIp1N8HiCCZLZ+FAld7QeIFi5uKAGABQDChAoXMmzoUCGKFi9exADwwuKNGxYBVHFjCZWmhyJHkiTJoQPKlAoNJDyA0AEDAA46lGABgMOhQXDyNGJRxAwLCkKHEqUA4E/JpAknMnXRIuGPJ0qnMozogqKNFy62AtB444lHqmLHIqSQUiVDAgYONDiwAAGDCzRZsCjhpksSK2LyHMrTZk7RoQiRkh2JgqnA/6cAPigunLTF0xdZLbrAeMPKmUwAQily7PkhotAIOZSoWaIDQgIyLVhwMCEmgBJEANR1A0UJEyxQAMQQ8gSLmDZ5/gg9Svizww8WtQJogWKx8s/PP0SHCBmr5IuVAWxxk0kVAEXHkTMUIPaPotCIaPNg0Z6DQgcINQBAsOCCeyJ1OUjo0EUIdQG2QBAUX6gRx3jkMUTdcltxVR1ZKPTQRBM9AICCCNVBVtl1vCW0BR6aoIJKI38kqOBCD0SQFHwIKaIJjJqYwINRCLkEgAX0AcAAA/ntRxOAAQqJYlIBZhVDRje0AKFYElIIwBpvANBECiJciAKWEV3Zgg0I+QEAeP+aDEfkZxTAVwJ7M8YYEkKwLeQAD/qxcJIEMQgZIJlKMfiDErj9UBGTSjnZBBiEvLEGlGDUAMIHWFb1ghV+aAIeAIGYmGdhxZGGWkIm0GZTQha8aUCcHZBWgQIu3InpVNTZAAUUTPxwg50giFXDhE1AGSUhYFCoaw8tpPDcQkq4oVAjlp7IqkiECQUfSguhxIJ8AASAgHw6AnBBnHM+oEABqjLILFUfKAErExm50OVUSizx5Bpr6PokQxY6h5CxmbzionHknkfcaR2AilC0C6llAMIBdKKKJn2AW0ABePpL1Q3oCqHEE1+0odQchvRxRxVsrBFDDPSK1MMSYUwCHiX/iCR76cRKmfhHaIqUMCMA7TEUgEIBbBALKoco4RwK48ZMMaxYaDzcsgwd4oknABgCQCd4vSvvERM2dMQSAGgGgCaiwXx0STMHkp4ijWjCQ851IaQASzzzDOe+W9jgXKBklxSDEl/E4fIjiDS9kCVQI8SKJXT4cQcAfzoHmdYJda3vZlF7csjgejP0COaIHHJII2rHGAjpgSTkwEwJqSGEC0VrPhYTczQCNiUlZg5A4VEDwIrXmXjyxxxndIFQDJDLq+sdn8wC3ie6A+D86yKhMoomgaOXNiUAZA/AIaYjFMjsCB1it8TRT9XIKNRnL/jgT+v+ideNeJJeaHQAIIZC/09VcQfvr7QCf0M8kYlBeM98CemDJUIxIk1QghJpC10gPic+hEwiIWEQQtGMZsCSoG8U2qOE9Zb1NN8B4BOsmJ8nLKEe0QAgD2fAgqykgpBfkAKAIrncIDaIECF0xBKfGBEpPqiICD5ECXbKmw4fwpP0MTB7Y0vI0553OAA8wncrFI3nAjGHNsQhh6pARSuoYokkiqAGPlDCGQyhwFeARHyHWE/2UDEJN/iAWEmcyiE0kT7tNQJzCcqdFD+RCfnR74p+/IPaUBGKQ8wBd2NUiiVuF7MPiKAFZwzDI0jBRoTUTm0JGd4dx0IJJjbQdsfJHdSglglFZEKFVwyNstSmiv9PnAEAFwsD4yCJuSQKqQU/EF8oHPKE7YSSKnr0YCNaBrMRsqIVrGje/FwZmjeqB3MvQsUn7iAEALggBj5Ywhu+YAhDPFIkkZTkxFaFECaE4RAJ8cUo1FCFxhRTKaP0IAMbwb5AWCITYXSFK06oi1bo85WimcSkPkHHrUykZBRiQxVI4rsx8TJAKLjBCwTyA/whJBakGAQWtlnPqTxij6U00dN4B9ASAkAXnzCoehSyUG5ShGS/0lVJdhlK6tiRmAphYwW3MFKlHDOfnvMhQFcKP1eskJrq2R4q+rCE1l2lpi64KSQLqEM8PaUyKgNALEIySlVQaqgluSeMave0pK7/NGqPUATa4ArX9SxEIwwlWTdvitOktFKr5qOOQBiCCoTAcXtmPWv6RlG7TCQVAAANBeL0GbrQydWwCLmBgxqqFYdidSoCtIRf9cbTivygC19TLACqGdrDNkRtpGzEJ9gqxUdMdnZwTeZCfOCgq+A1BkfQ616p8tnVpvM5ShDDIQYLAMU2Ij2koytrR9JBxYJQtlBr7lxFsz3wKEG3maUIb4EbXLGoEgBhEC09ETK9ZOozgumJLkmOycfYAjSMgTBoQiilW25WNQabFa/JACAlNoBhKoa4gw9qYMeSgCBLF2pVQxrYySGGRxHuhO9DOphW2D4zham9ovYAgIpycpOm/739LYCb8AZCfIZCPcCQYRY8Fh/sJiHM5WPoXERhDDtkusm8L0yhy10fxIBDJtYKON/gKwr9tsBKGa9DftWDFDiEWOOCjFgOEouETBYAXUYEXC/MY4YggomaKChMk7kvADCBv/7NKG+KHAM2rPgNbxBZlKSkEBY7RM9PdjGVE4Kl6jwHyxBBIm9qzJDwUXY9aRuz08AnYSCrZ7KdAcAr1szfq2SFoRMBp6FCXeeFGEokLL4zANjABjiQmCE3ffGFxuWo9CJkSSJ5hKbD5zKENFc0yYK0Qj4n7Ct2RsJ6zDQAZLhbvAZ2znUWNbT9TBI7I8QQnUjKr3yaEFoX2nULef/KeRtyaV77etzApm0h1aOI7VFCj7HwKCi/S7KLPGUJ0b43VQjBCISEkXclgXVzDENPKyXEBlbo8UJ6vZ5fA5uTTSylhBHibjC5IV2VuSvJKkKRez97xQgpNUkIwWJPsIKtzhyJkkpS6IRMaMoXKshD4Mrl93ZGzA1/BSklnL30xcIXr4gDFJLwgx9gPOPNoTPHQy0WFl+7FY1FiCv+1xA44EXl6b2pD56QQ4boId285pe5gf0KX8Qise0OySi2/POgK0EIQvhTTUnWnCN0HNoJ4XNS+NxMx7K1789UCCIKaMQqBzwhea2QEEC5ED2ssJDNTW3DF4KHtJMd54ndciz/5sB2ACTBlkKI+2SQXnePLx3vTu/70/nub+gCIA4ISULKBZ3evE4J5sjSA+4D7zkw1+yNcEXnUF3wg0aoYstkp3zmN5+EbW6T6CR7V9JJj/e8M+6fqL9+Uh9BWMIGIg8JEYJGLkTPrZTsIeu7bwTdSc2ahwb4Zv0BFvSQdgAog5MwXH7nl58Qktlg9Hb/+FToGwC0wulhH+rtTth1xuwEgh6owUHQykJURvktAR6s2ZZpTyppX/eUjqO9kaVEXkKIwFdYQR5coC8AwBxEwUPQChuInP+RHkPAIEMIIN8ZIPZpX3gwhAKyXudphwQ2wRJUQTAtRCqlUiYEHgdyT6W4/99INUoMJEEUDMIFXiAA4MHBLYTQ+YDIbWHdAcD05R0h3AHJ2SD2QZ4SOsSjmU4jHURC/FZEMUQrhEIwFSHUgNZzgdkTARsIXITtddRCHAJHJcQNvAEjMMIWcqHS5d3dSVENkqFsnQ1JPBrrSQ5E2VBCON0sBNTzFKEdhsYjfCAIbsexJIRheRAxLIQKLkENsEEhFuIWIoQM6hshYMJC7JsX3uLuNKIjJlUFKcXs0FVn6AEdTI0hvALmIQTjkY4i7B1CpNIGHkLhHKHN8dhT9GGIhU9CGKN6AcAdmIIpEMIRrEErGmJDyCImGOI5YkI6IoQtJsQuop4NvZK4hYc7Xf/aI0APKTYC4yGhDyVEHVYKNHIicZnVE44iJzFEAyGEB8WCKjhTJ3gjI/TAKhYiANZiExzBb63YOjLELOjiLr4UmHkZr/2iDtLPpUEPmwCAHqjk7nnOIViihwWkEfYVj8VALUVYhDVQ8b0CKbBCJ9zCQxKCirXixxUiGLgAGyDEN/qAD7wBLV4bQugCQnSkR9rgEWaYGSZEeoiZJTZEHpAONdlcTPqjANXhNJrVE6DCCSrkKOEkS4JZ2gGNM92CKQAAI1QIIWJCqX2hKWBCXTJlVLZUYFJlVaIeNmbYJPILbCHEmg1PEjyFSLUQ97yRQmjGNHIij72bB7GlYm0m4On/wR+A5SGEgjHypCd44y3Y5RosipMtRF0CQF12zUJIpVROJdQZYCtYFlYiHFiFwguNRBzoASRqJSsthAnNDwHBV9l5UGeypY15GR0oi4m4Vy+y0QmlZkLQ4kh0whcoRBgFJm3OgnhWJVUkpkjQmkKowSB8zSHAFfTAT/NYQtgdlh40kGcipEpK58yEZgQJGe48JDtKCQrsQMzpk5cpgie4QkLowizUZkdmIlsBkG4qhGEdZkN058ExgYwxhFB9jyLco0I8E/x4AiJsXXTdl30uRGdmDx3sp4suExHeQROklwj0AIth5y+QaI65CGOBZ4M+aA0mBA6ShIU+xC+NhA80D8F5dScjIkTzNGOlMEtAAAAh+QQFBgAAACxiABsAyADVAAAI/wABCBxIsKDBgwgTKlzIcKCRKA0jSpxIsaLFixgzagxgRKPHjyBDihw5kUBHkihTqlzJUmCCky1jypxJ06ADGVVq6tzJM2QCAFaC9hxKtGjCn0GtGF3KtCdSoU2jSmWZoITSqVizimTRAYvWr2AvcvUatqxZhWOvnl27toSJJ2rZygXboWvcuXinps3LVy+LKHf7Ch7awQSUwIMFNtEBRkcTMEzIMkXcs8TfxAMLCdq8mZNnTkQkYxYJI8GV0WBKnVrNmrUZKKNJykjQZbSk1rhPyREd+6ORBLz5ggGVu7Wg3iNnb8F8e/WiImDAFGItCCZyj0YIBMcLpjWRLwC6dP93rqP2dewEYA8mvlqOjipKlJBh7ajI6fMaWRCgzHb86u9fdNEFG6xFYh9++RlgHV5RYLIaAILosMVhWPhXChkI5keADPflZWEZWIRoBRRMqLaaGR1mWFEJBrAAHl/snRJhiFh0IcYZn3HymooWRZEAASz0JUMiiywiSBpRYDEiE0kwIUeRi5jxImamrGLKMFgyM8wzzDwzDTjWjGMNOGSaUkWKAjlAQAc/3JCXGYIUOYYOYdgokBhdPFlkGkkkxkw78QQqzzz00FPPofa4o44986BzjjnllHMOEwddsMAFAISI1xhFymEGfDIA4BhjZiwCwCJemNcXOPYk6s6rhdL/M8+stM4TD6ThhMMLL5uY4KuvKyCwAAQQLLBgU7cw0+U0XSo7TDRRNAGlF2mUYW0a1Fqr5yJDqJrXKu3II664gZZLbjzizmMOLxA00G4DDSwg7wLwEkvsBXEkFMQUaABBRBVPtDQMM4PS44497yB8jzv1pCOMI3DuWQYA1lZs7WZFArAcX2fcMm65IIc87jy02GvyuydDgClCSUCAw8tAnNFGSqvgYgsz68xKT6v39HyPwvYkAwmRRWIcp9FGQlkGmnMNEw+g5UIdMsjqpkxsvfbG+9ItudzSyy23YDlMCC/jYEyXz6RtzZhktu22OOaYg87c66CzjjfefIO3OHiT/0MOOu3MczDPPhdOTzI5OOLIqUnH2bhApi4iBxti9GUNO+y0o/nTgHY+9TzpVNKAAQYsIOy8BKSeuunFrFP3Oeucc46jwmAQAgbZyG7Oo9cUA0kllfw+AQQTDE888QwUr/zwxRN/TOCCtyr9wYbS2k44sHCRMeNFd39c5FKKYYcdYM81zjrsCKRzrIQCAHo6tMZzDgAQ0G8yAQ2gUUcdkOwPSy0AxAUsipGMZURjGMso4DGiccBlHOMY4hDHNyIIDgmKg0zfwCCZ0iEPQaWrHoOTnghHeKh6tAMadTAV96DUuM1ACEJpcBMa0JC5dqBjHOB4Btgg0pQT+PCHJXDdOv8K0sFAGWQe7hOcoQ51sBAW7h7viKIU84GPfeTDZ/nQhz7egY98ePEdXvRiF8XYxXvgAx89G+HP7PGzNrLRjXCUXjyAAQEVkEAFKvCAHvfIxz1OIAdxcAMA6iCNdA1qVumyxzbGsY1bME0lm7BFLXZxiUuggXQGSB3prjGPQdVjiYiqhz1EKUIzjvGMqBRjGFeZD+m9w2cjLCUbY9mqT8qqVvFAh8EI98ReFk4ghYvHJQggLwOcDF5Ys9cChmCEL9xiZyIEYT062cGD3eOK47iFD1LCDFtAYxewgMUlENCueZluAUD4Bi1j2caeefEe9BgU5552LpB5TnP4xOfT9nn/z37Os5/sIIc5BsfKghqUlfGABDHjJSwGOMACFtiABTRggeYVKwc+jEbC3Ci9e+xjH/aIRzriMSsQMmMkXEoHOsBZCVHgggshiBe8hkUscPjypmbMqT0Cdyh55POnQA3q5obaOaEatR3nIEc22mGPMR70qatEBxoIgICGPhSiGqCoA65aUQgQMwfeiCIae8kPf8ADHv3ohzvawY55MOML25kIM6YxjoPNQxu1aOkmxqACCDjUARJ1AAMAcIyx3hSViLUHPdpKq3ge9bH55FxRIas5zLFjHX7LBjrmUcJDAaCzr2JiCEcoDgwQcwEQTe0GHKABiUZ0tRNgwFe/oY+D/360H2Y9qz/68Q5xWAMjzHDGOPjRqo2Kw2Zc8EAGsLoB1zIAAQaow+AAENpCrY9QBjsYABZ2yEEBgLLgDS8+LRvQXHWDHe74LHXXm972sve9TUzHAgJAOgQ81wABIIBsCUC6A1hgqw6Abg7QUVuo6oMf/MgiP0CqjmdUhBlp7Qc/pDhWXADAAzkYAgm8ml8DHOAAACBAALSRqFGaWJQoPrGJiQioebQDADUMKuaOmrka/9TGlWUredmBDm5woxvkkEcTSzzkIieKvSW2RzoQwN/UbYAEctgDH/iQiERQwb4GQIBgM4mGgYrypmFEZRrFIYwv8JAhw7DHgveBxkRF4/8ZXvBCFoYwsT1UOQsCIcABSBeAAHzjYPUAgIpRrN72Sq8e6ArUi3W84xrPeB6tYlis2Fcr68G40ZZF3zrCcQ0AcCNnRg41kUcd3wPwFwA5SIMd0jCGVpchDVUWBBU8ULrSMUCdRl5nq+iRjnIsAxeUaggmzIGuccnjGBOTg0D4IGU5VLnKfFjBBDTAgMEygB4CCbS21RtoQw/ZffwEFIzR12jXFUMUojBZA05nzgWUzl6VYKvrLpvpy9YNG9S4xjXYsUtR+5vU4AgBqoeQajvsYQ9RnnIahkAFQcjBA8QrHjjSKxB7CFrXrbrrLgAhkUjEA4Svckc0onxwKU95ynL/oHIiBLGHFTw5AyQQhcW3TXP4rtfiLh7vi+0txJ6TQ6YmO2e9Zvpuex2D53bred3MQQ1oQGOp6wX5q0hNauq6SskHyLAc5GDwkpt8ynsYghzG4IEGFA/SFi+I9C7eqs+iIxm0AIR6GAKIdjDsUNEwg0Astmywn3wPaXDCRLlwDIuH/PCIR3ygAeBTHaNPIHWLvN3mVol2ZS1e80KmvISFzHYlo25zCz3ozxGOZjQDGuGIh6ESD9rEu/4YOSgD17eO8K2THOxS9oIUqr0AaGJ8hADQxv+U8IOGBIIQdmcYOF7N6omNoQxe0NaUszC+rU9MAyQAR6E6O+nuT1rb8cBc/88v66jQhz4b6sYaMt21/sv7lcfml53uAGAMZCSDHO3wvv5j1dlDxQocKpAGcqBq1TIGcXaAY5AGXscHXpADC8AAovRvIfQq7ZAMdQAIwRYRA1UouFAtZTAGSJAFBjgE0Sd7gOcEHjgGWRAEE4AOSVRpMAiDsgIAQjQ350B+slN+jlJ5AlE/Pmg19jIQJnMMo+co8gcA0CAMwoAM+BeDTviE8yAKA+iBB1iFCKiACLcHVOBXgvMq1DV1gBZyiVIP5lAJl3AjEmEF1YBE4FCCADAGQ+AErZYDTkAxZYBwUvCGYwAAXkACEyAoIFNPItNBgyIPPCZ/j+I6j7I7jEgNqv/ziI+YSZLIX5hUiaRTDEY4O7rja7uwC8IQDuxQbILoQaJobONyDNFXgAc4BVWYBVJwgCa4dTGHXd7XeocSD8kABJEQBmcABxEhBscgLuJQMa0mZ8UoghSjamWQAwPhBUgAAZCFY5HVDrFTDcVwjXVAL0AIAMhEECfDjfZTP0J4NZ13TEAABJUADJ8mXkKlAsS4ihqQAweIR1kAi7M3BKJQiJ20j04oD+VghkvgAy5gAxJhC+sQD7UQfQj4fK7mjM/HdcwoEHJmAfzTP0CwPy0lCrVQB5fAkWhwCegmChmZSQtQB7RAC8IgDdVADSzZki75kjAZkzIZk9IADGgQUxf/eY0P5EDXWAzH0JPCUAxBOTADgzbRQAUM2Yo5gAQHmAM58IoHqGoDOAH3tE+BmGjtUAwYYAc/EAMxMBFs8De44AUjKAXPR4xZoAJkqYx1yIdZQAK0wAsnCQu7cJJxKZewcJJ1uSu8AAx9uQzSkA2CmQ3cQA7l4DeG6TeHaZjicJjl0JiM6ZiQ+ZiSWZmJeZnhAA3hdAkhoD/70z/7sz/645kzhAamkAqmYAtVEgnyaIBW+JqwOQZct4yYNmP5hDnlgAaQIAZTkoYWtglIOQZOQJYW02r1qC1y0JZ86ATcEA7dkCvekCvhEJ3SWZ254jfdMJiDWZiLiZje+Z2XuZiO/6mY4FmeiBkO1EBJdEkN3kAO4nCd4UAO8Wmd9Jkr0iCCrjlnTAmbB1iPcZYG1ZID1ZCJiKiDc2MOzYABhAAHcRAHczARcBAJ3CAKZCkQZ2kxH3iWXOcFVCCRU8AL3qANIupj2kCiPnaiJ9oNz8kN2YANLuqi2WCeMjqjNFqe6AkA4bQL0PBjz4k3eKOiPvqj3gCkztkNkFCMrnlH/BlnTpAB8piKZTAE1BAplFkOkBI3WFoO2FAHotAGbRAHeRAIFPEHhBUEe+iaGGotriaVBOEFtaBvcBqnciqn2KAN2KBvd3qn15ArPFqkzvmn02leRaqihFqfgGqo3HAN4BROy/9wDSL6qCP6qNwAqZS6DENQjHEGAE7Aipn6mkhAAlB5lk7gnt8pDt65mMKABmTwAjFAkBWBB3SgqWTpBCSYph/4irJnB6woEFmABNDAktIwkzF5DStJDXqKb3cqkyt5DdSwrCzprMSab806rcQ6p3OanpcQTsaQb9VQrdXardYap7RgoXy4pK/Jh3x4lkNAnXgTqPRZDXWwCTfQAvSKEZHABVOggkx5oWoqBSqQBbIHoCFIBVSABLVwetCAsAjrdAnrdKeHsNQgDdAQp01HDc2wDBdrehhrehzbsRq7sR7bsQ37sCOrsYsKC8AADcEKAMIqk5f6huZ6gOVqhQy5CSb/OqknWqIlyg27AAlRkARJUHyuWhFVUAROIILEiaF8uKvFiARO8LROQAsgG7JUy7HB2gzBKq2/erHL0LVe+7VgG7ZiO7ZhawwAkK10aXoMq7YLy7Bu63TFoIcxW4VL659k2WpvGq54eg0WSAgNGge+mBFz4ARS8IEZWjEU45YA0KG9+rSaugJVG7kcq7LUsAy/6pLQQLaau7mcuwzIoJ6XAAzJMLkiS7Kmm7BHiqkEN7dSQAIk2IrF0LJNBwuJAAd0QAd5kLt5cBG7SwZHSzFyNjHWImdZgGdSMAVTIAVDoKm0SgvNAACSW7XScLW/OhDUAACdm73aiwzAIE50aQyl//uw4puwpvuUVZgDJLCfS+oEKoAErhlnm9B0DyuxbftNdvAFX7q7H3EITwt9BAe89Wi8UIu8y8u8Ugu9AvG8CLzAzyuy09t0v3q52Nu1wKC9Fiy23Jut2SoMHku+pBuyxbCUm+qfM2uudsuk8Wu6pysMkHADL+ACrfoRSkEGIShnM0sFeQi1T3u8tOq0TrAC0NvACGx6Q9zAHYuEbluxmXvBFXzBXjvBwnC22boLG+vBHjy+HAsJKyDCAIC8c9upxLuCwyANWDyymvkCL5ACaiwSbeC0MGvDUqDDOtzFIowEOcAL0BDEeizEfDy50NuwToeEE+zEhOy1xkBJlbQLxv8AskEsvuFLAk45BEjgtMfLqXMLAMWLBHYwDFbMtqa3C2DgAzcQA/WaAvt7CL6ruMwrx1BbyXTIvlLbtRc7xEXcyJIbyIWcy56LyJVUwUf8y0bcDMWwxRk2BJJMyV5shQCgvpicBR+6CSlguSGbsLuQCGdwzZWDBXP3EX9ABJTMyuCMvDlgR0VgC7hwzriwC8CADBhLy32ssR+MhAmky9o7yMKwmeHEwcBMxKRbBwRnzAB9zISLvOXauipABXFWvACwCdkACD3wweQrDJEAB7Z7uykBBsbsw+Csw1IQx/JiAmfgB4OAB2ewBUfgAzFwAmZABmMACVwQkrQgCrxQl7T/AAuiEEmRsAmEAAZkwNOAQAZkAAhjsAmJEEm2cNRHXQvojM7HcM7HAAzAoITCYAz1hwz2V0AFZAzeO8WLbMRFbMTScAGRvLwBLdCVvLQzKxBO0AzXYAp/MLUcawy28AVx8Ae5mxLggdFxuNGr7ATjvAEM0AFRIAZwcAiHgAdq0AVPIAQ34AIucAHYRwKSTQKr1VwboAIcYAiBoAe4mwd0AAdtAAdnEAZf8AW9KDNfOgeq3dl/EAh5EAdt8AVM0pUtgAL0CsMxIARMYAXRAQiFAAh2AAmQQJfI8MtFnLC8QHDFDABlndHIPAV2OxBkIAmD8Ad/MLoemwx7UAU2ogYP/6oSSfAEPMDcGw21diTZ1LYARSCmiqAIiHAIiIAIihAIcXAGHGDZzXVHEHXZJFAErW3drR0Ihh0IcBAGSXADN/ADCt4kSfIFYqAGDFrfX2AFSSAENtACIDACGr7hGp4CLRADPqAEYVDRbaDYQhADRVAEJ5DiLF4ERtDTKuCUxdzcAT3JA42uAsED1d3ZU7sMwmAHS0DKLQDDKwEFWCAGRWDMG41HlH3ZQfCAB8AGegAAZErlAQ4AbEAAT6YC+W3ZeKQCK0AGd3AHAg7fhwAHsm0DLlDbHD4CQ24DNyAE4Q0FdM4EFt4Cbc7htg3DStAFahAI7d3e8X0Ic9AGYkDhjP/9A0kQBVHwBUQw1jTe3MsMAB0tEN3i4GrQBoCAzrWQ01FA2xo+E39ABkquw0ze5BuwAn34ZCUgpgjxAAHwZCQAAPg9AWC+AkBcBpEgCYYwEFCA0mwuAsIuAiBQ7MWOAjFwA0pg5F1Q2lgQBU+gBIwdAy6QAiOw5zbABGIQB4MeCIEA4N5e5ocQCHOgBrzp4EEC6ZFe1jZOuCcAwwmuBElQBVagJFbws4294TORu2SQYU67AueN36keBHb0ZEUwMwahA6mTAxsgEM0lEBZw67gOAGkgCZFABmsgEBZOyimAAiMAAMRe7ATxBEeev7lLB7B9BrwpIlDwBFDQBWcwB4b/Pe4AXvN2/drm3gVQUOFGkN+Wvu6RjgQ8kOdubgO6beRKQiLERxP8ngMrMNm0LvAAgOsRdQEbYAKVQl8Mb9kDIVG4DsRTrwJ2UGV3AACD4OtKAAAusBB5YPM1TxDlHiAC4uA38qV0YPOvfQZwZec2gAIc0OSSzYxA39wmgAIhb+wo8ALKbuRi0AZzkAffXRPyrQizHvUCf9m4zuVNbhAyQFV0+PAPLxAED/YCkQENIAV7MDErQRZDDgBfWXxMYOQOfgZqoPJmFrSkfAJRT9m8P+ODXwQoveYt0PEo4AJxTvJfoAZgqrv6SxOPMAhF8GSX31wSL9nNhfUEAQYIMAFI//BaXA/xE2/pKjAEaYAEZUAGsRoTIvABH0AQHx7nABD7Sm/hKNABZcD70t/7g08E8k3fAAHgCxQlQpQwwdLlTJs4ef4AgBhR4kSKFS1edIPnjxsSJDZ8BLlBhYoVQ7yo2EDiAomJRUjkWJRDA8iJFlZIpCInzRiZDy/+BBoU6JcvXbDY7JhSqceOOYY8hfqUyJ8/gQIBOARA0aE8bsSECSNGzRxFZYWeRSuxUSMjKjyGFDlyBRWUKkkUySOxiKBFQxh8BKDBwmDBDFa4pZJGcZkcGXhQTRtZckOqbC7UXZq5Y8moKooUucBhkMQ4Z8RgeaLkhw0XNoRIhv3TaiALcP8/jrywQjeADYdJ6JFoBlQkJAs+WnDAYAKDHCosIEips0wZL04AmDhzJvb2i5T/5GEBADNTzR9fPiWBYEKGBQaKSFQDAAsTITZacMdfkWoR23FVALiJBN1GKqIRiO7gJBJOhkBgMAty8MILKlZgwAIAEIDAizTKGIMKJEjo4IeD8suPjkCo+oONkcYr762OSLCgAZGCmCAAAuYgMUegUHQJLhVyuwBABw4jaYUuxHBDOAVzWMABDRSDMg0qcmDAAAy96BCJxk64QQkodNyuLEUQOcQMJEaCqMXyJngwBzlyCCAAE8CkcyIeh/BxRd28IKHIFeY0IkFOylgAuiijLIP/PQQIcGIKJIYgYYITnlCoDRzrREsISs8AIwgp0GSJPFH920CDIajwgpM0AAiAhRcwxTSOONro8bYVxQOgjP90WyEIE5TkJIAFbDo0yjEaMCCACbRUwYMIjmSIDljPGgEFFFJowYQV/wu1RZa8UMqL6TjhhIALpyUxBhsiwqJdJkLaFk0AHNgAwCB6HWMRTuQgoNAxoKQrsVXLuLDfkTSYAAw14pgDMnR/+iDiiE+wYFsAQr24vBWSIsGJNAQBoBSICDhBiYdhkxiF1iDCoigeQNp2JY8cIOFem/ckFAEENFSMBAIQCCKiDRpYIIAMMpgAgqoCOcSqky+SOOIJLMa4/1tRkWMJADd1AqWMAK57OrKIUWghhh+e+GJhWeNgSryV6gUpyJvvXYEHCKzkuYwVAgA6Ir8aIKCBCSa4AAsx4GBakbApEiHqCPq8teqMyQOAAYhYUmE6KhZJg4AAVvgCgDgWBwoElc2GQgyG5nCIKiNySOkCmsz7L4gSesXddishgJKnFfLewAADFmgAAgSsbcEFHzQlXaIbbIihhRR4J5Lbi6/Pus9SAZgAeyqccIKKMRggwID4mr8oedesUD0OOlCE/62QVPoxMACCDsL2XmkcAgCeI4qSBoRngAYgwAQgAMEIFIgC9EGkDWo4wxescAJTVQ97GYvIXJwDAAtMQP8p4ilVcxY1pwZWRAhJ6MLC5kCGNOyBDGa4wx00QpUSgEQlALjMSiyUv/vtbwxl2AMfpPAvAC5mgMg6IAii9gERoA9FeaBDE9j0n8hhbykloRerlHUcDajATWVYVHhKSBE3/GEQh0BEGD4GgEhIIhKRAMAL78CCjuSwfisRDERKcL8g/CuIfNhDDggGkcUwQGfCS+ISP+BE+PHAARPQQET6dMG2eQRPVQpAAxrwSBJIYTqRWEQGNMCBMU5ECadEW3yCkAhJuLGVbXRlrryAhI297SOC2R+WABDEPezBDmXQQAYiVDkbGeBnJ1BkxEQwAtJVxiEmmIADLCI5pqwgDQb/AMDuCrUAFThBDoKIRCnGYAIWKLGUEGkBCqrVAhjkYAxekEMZ5JAIPrjSnrCMxB7kkAUOOih/KpADL+0gh186wZgEKB8CjLkAI7zgBS1IpwIXebIxZcUqYBiCA8BQhGjeBChMQcmGiDe8BhQBDGAQAw9yIgdQgIIM5jznCJiIwBGYIAsBlUNOg6gYLwDADvh8ZVCHcIANMMBoQPRlGn4ZIUMO0EoNaMIDvzCf+sQgBg/zUhjKeAhFsGEIKmCAcobk0YrMDwlBSAwSGNAeBEDkVRAZgk44UQoyuCCiTSyhIjngBCwN0g5/3MNi5GkHPgDgnpKQwwqGhyE7+HQnYxiD/xMmQNIGrKAIVMlDHuYgqza0QTvoUifZWmMQIvhlWINbQSTLCpiPBCELilnrQicakSCkQV+liEQXnvCaUi5RBCWYQoSEG6EfpiGgu/zjTubZxkgkIhGRWgABMhBPLFUHUikCgx7gt12HTUumIqCpAk3QPwhUyEEXgRtIgpbYCxmzA8zUy+YWUQpOFIIhD8zrEk1AgiwM17/CLW5A+cAHOfjPuc61gwqQRQAVYMlRTsgBCb7DXfhd5WTJXKQKJjCs8wJmtebh6QIyAIF+mW4iTeCCIFgKikKc6DvSQp8SJQaCE+QAVf8d5nCDO8zkzlOfTjBkv7IgBSQ4YQjNAYNVKP9s4QsnkwUaXsACOOgAB1lIIukFSfdqtIDJtgq+pAEoS0uxikFsF33SU6d4c9BfHP/3yP31HxDjydMpkGDBJHhKDiKcMD3MRsk+eRqGTzBZA7BpCEgowxtz6gTnzMQ2DmhP+SLSARe4oCJkKMNtZWGIMsOvebu9QQzsClzhsrnN1UGCqcVlhzQMAcKHHnEAIODFCEOgAWxYC1acRjqIqlPGH6BAA4RFgjHMMxGwbGUrCwyXDrIVAD8rQhzE0AWK0KEImxNEKXLRiRkCunmzEkNRNCCFU5d7uPJMg1OmQIUhZKB8XrTzAiwHETwA4BHN+0IUkhBqu7bgBICDgAaQIIf/ATsX2cluJYBIoAENEM2YwytC0wAwmooMQcXaXoUe+uzpxVElcWzIAJzNbW55ujoLSOAeASDggQkQjQFBGiMdNhsHOLRBgklQbAP6JAUAOOG1HAIiwoWeBikgCwAQKMKJ8vITIshhEaDIhSzK0rRdL+4QjZjEIM4gA/7meORt/hdPkKAlgEOAeAyAADLx2rztZlbmbEAANzNA7MES1O4CFjrCxzCEiH8nKCbIVySiXgg8HOIRj2iE4hb3iEOooQo/OAEEkEDunn69zdN5yUiQhYAGoH0CCSglhb9TgkJ7QFxlgBLqlapPfcqh2HvghNBjHwky3CEoJ+DCIhYx+Bcs/w9tGVH8ww7hhioIIQYoEAEHcjB28DlBCqq2PGTd4pb2QGBwdzvgbNku+r1NYAo/pE4WxC/+CMmz9Tk1dt5nL4klyMDSFVGBIAQhi1ysQgTLHEHZfKCELZzMCsZHvvsDACKIkCLTsyLbsVPzHwDjiQzwAPZQuaQxgERqINGjCuEJrncavw3cQHEhqNZTjDFIhNjLO9ojghOgCBOQA06gP1nQgftLoGq5qocxvhRQJG8il0VAAhbogBJwNRxbwAg5Ob4aAySYAJZTqKQBPZhiJAtEgBzYMQ7cwDMZgikgP9T7K5wKohHMO0nYg3KSiBJIFajLhZeCQRAom5NpgfuLGv8AOAG54oRFAIAPUCIWyAG+8oLnw7EscIoI0TAPQJYFgIAOOCeI+DPu6h4plMIzgUIOLD+ciqcySARBeCXnmgISkogh0L1cyAVQUCIEUpn9mzhYaQGZUqQ3XEFOEAQiiJoTMDmnMLUgzAIr7Kmjy6YJ6IC3OqdJQLytcLGqyAEpsEJF3MApeD4AUETiihI7EIQ9KINHOSuKKIEVbEEmAq+yEYItcIPgo5OCgJ5SnCge+CZyKYMgUKJ1MoFgdIJUqzz/Gj9BXJQG4IFCjIgqEAM/CIRH4MXEU4ROGkZiFD+IAEh+mgIrlKeA0qd/8QJSkogUYIEy4IRTiDoyQAHTUR7/JRCDaZkERcCDM+gCb7yqphOEBHGCE7CWFHCBJPiCIhgCygvC4ZpFFWgPA7AyiOAAhgSAzyIdsomB5eG/M/ADRQiFHACAKdCzfxxIDkRG8TNG8MmC6dCnp5SCIoCxiDACKVCQqAMD5MPGLtjGScAURFAEfZyEQ+hIatMQcomEIUBBAPgBLLAUOiCDIttDY0QCY0IAmBOKLzmfaVkinlyCKgiDQxOP/0jKDVzKgCzI5qPFAoSw7KKIHOALTkwF6LmBJXgCMRgEXqyTChPLewOAO5CnHOyfiHCfzMoDMgCAIusvppQCKRgC4rksjxtLAKAAtHgATEkmFIiBbFy+ovS5/8Mcv8QkSCkAn9c0NVdTgSSjCDJYwVSIOttrAzc4AzfgKokDE9EDAETog5wChX0hAolABET4xTfggeZbR/AhAzaogNusiC2oQQAQAAEQitDJEUXizR+oAjcoreAUzuHkwKYEn8ZEtayhiCIYA3KJOkwAgEZ4BDwQgy3oggmlE+0EAAJzBHLxAiLov4m4N19kgzAgAyIgAyN4A0XggAoAE2zpzSfAD/zsyf08BDIwuf8E0ICcReMcUDY7uQ+5CE3cvfpTnOGzgiXwARdIgezUzjxALE4YjiEwgveTiD9QhEngxa24OkVoBEQAgECgAPfkjqhRoCTNj6jhTR+QUUp4hP/ftFEcxdEpQM/GLLKzAo6KaDpQaEEDEQgjdQEUiBgQyBELnQMV+85IyAFkEgpepARKSLwUxUk3eFE6GRvlkdErnctUa9PEREY4PU5TA58h2COLKAI5iASok4VCeAQ/gM/oaRzt4w7RW7o7WASWisPwhAj6DIrwCAUA6IBevc9lYqD7DMUnOINDuFI9yIP+JMZ1JE5+AtCe61ThukO+YzKJCAQwoAIFob9OyEkAOFI/bUP8oDAAkBYxAIM3+s40CBr5PIsHwEkACNUXTSCyARPleQLrvFIXAwMVQEAphJQqFD8qENiBRUYdbZTkhLA74EZrVQHdo79SqDcAiJ5fk5j/V227qgSANEDXSKCCE5jPtJAACbjNEiiBd4WIYD2LD6iWFNDFHBGCKijWfIUfMCgtlONA2GwUHYVW5kPPRhku5dQBrLAI54zIqGMDiOjTZOKO1vkOKJoIM5ivBDlUXEULBQBTkg3TlZ1BOnGDQXiErWja7apZlJMCgS3I1wQfrSGCtXWKRzk0nxMu5jPQimiEIkgVFuQE1QSAFqDYJYqNOaCDwJ2DOTgDFz3ZWS1UFaBa+VzciRiAiGCBeeTVmzRZtFjZG/gSTDGKIzkDhgHczKIK80S5nl1HIsALmTsDKLiBE4iAINAzV7uxsUOCElg7izA9KigDKpBccMUwVxWK/yQwHIZQAywQgvtgJiNAXPCMCN+dCJQFgMidxxJoTxLpyzqJHpS8AeBVncFFTTC4AyLggTLgATIgA+2CojloA+JNp4rsAA1YPudbxyNry5+4AOXQgMOACB+IHnVSJNggGxvwEvrQRRAogjj8TnA5i/uIiD3igXlkAQ740vwA3GkBrwXCFteIgi84g82ig6ULBODwic36AiV4AWuRqQ44FUGgC0YUI6DoAAQ4ADaxANXEAzf4SOPbX1OMjMtNHTjISMNFAagtVUMFvdiAXhYogS8F0+2oVjCJGIj40wW6FrOxCCiSOTF4AhtIAXVqIh9MUCflBDNAiwpAAAagMgtggf+vJUuOdIMtKAhRiwzeVEnPxdiMlYNSGI4cSAAmgo0SaODnheAljg09RZcnnkMm+rKfiAAFUIABcORPjAAuuNvvLANAFYoOMAAzHgwH4IHZEEsHvVI/OIMOFYoWEAIsgIPAdYiJeIPkjQkUaNy0YIHIhVclpkcwKQAFgAhGLoACcOQBmE8LkIJU/M73EIofiBPzGgwJ2y6m+eTIiIIzUGWOgwgW2Jd0/Q/u8OMGfmBbxpTKLWRgjYgHIGdedmQAML00cNLhgDlDtogTsJEy3mQHKF8LjIzPZVpvo4BsfbpI8IILUNHIWOIG5gEe9GZ0uUn0iYCQDdkIeABd9oB8Wef/SCji5bUII7ARAjAvB6DnpTOzyOjgfPY221zBllrLCMiPbS7oQBbkk+EAQtQR5hVZJVbiB4AQBWkpQVCAWHZniEiAYuLoTbaApeOODh7XiPhSQh2OueUOgjboCC4hBfDlxxWK+bRqq2ZemqZpm/YCnAYFkJHqAqCIEUDJbEwA4SnjM6ayLaC47RBpFJkIDnBloiQR6C1omr7lq56Iq17cWJYIrf7SC0CCrm4pVZGAiehlqpZYJTgDHhCeA9BkBwEDooYNe56IElDF4SiDeiERCSBoXsXrW75VvvbrnwDswB5scqEvLwhoi2DkB/ADHoiTnwmrtSKAj04LCxzpAQSl/zx21JfGDxYwgYJmgdD+Cb0WbdMG7A1AlYnOgta2iPasAA44gDiZbYQygaMWil/U7oggAj5w0kVYzpvswfw4YpZu6Ygg7Y9N7oo4bRLA3XXmhHW1E6YxPADgAIdWAM+xbjlBTe4SCjKhOgCniGBCAg+BAHvThEdwAybAjwjogFnmAIZGaYsA5vUu7Vs+bQ8YF5NO6CmtCrGUiLCubgI4gAPITXJV5cw6i1DQhI08hAGHa4lgg7CKpgZ4gEkghUEIA97ijgLo1RR96IcGCl9e7/b+a8BuMH1pKUcAZ/yu3Kme6nPejjMwhEdwcRgfcInIAw4w4+TIS7CU2Kq26otwV/8hf20ijwhd1mUAEOsCOHIkt02tfoAlX2dBePKbLIEOkIAH6GU06+Vexg8XeNkw8AMsf/FGiPGJCCuOrhK9rGr1Ru41p4AOSNEIWGgKOGxMJ3KpbnM3v/Ayl3PAvoBTKdXvBBmLeOmSXeRAd+Rethbn3eFqIZtC94ND0IRdlYgLOAAqS45kIRHkroASmOX2VOKXJkRNnw9GBgBPD/UMP6cUNXYKiACBle9BCopAd3VfthYoRpkKPkkfYIIw6ANc31U2gGwY1pnZBgDFTgvShogBiAA/lvCXJqVedZpAQF8xiAKTafdfhvZSCvKbrIALaO7CZu2z0PaF592eFoqoqWD/Wl+XDKqQM2aAAzDx/JjPX85lHtCEUeBBS/fVLq2KPiNPPSiNLkgC+1AgOQcACeAAkt1z5k7Qwg4C6P6JXg5rbReA/k2LZIrBiFCCA0AOerEAA6juA/jlHHmAChhu4uYALh3PpvG08eRSRaCD02CCH4gIer3lXFaAB4D5Bqv54YjXbNd5T8/lAsCwn/fbiTACX7cAwfh1XP1ld4+NXuXmku3VDhhPXfM4q78KRcgs9AUAK5gITdCEhW2eu8/lBiuDljJ7tAh0Rrb8ne55n0eLt9cLNrH4pvoaisD7yHjpWd7zvoeIMTFEZ46IxENNyq7i1iEdq/5lDmdyUHCEsy/y/7Rn9gvX/JSt2NoFAEu4g37x9c0zgAsYhYsYAUuOjB4M+V4dzzERSy6FCOtvUESYcbQA3e6CFdK+6cJOdYoIj3flfV5m3MwPV9gQ/oi47oOKkya4b4oo3pYn/R7E/w4oC6vnf7UAiEZ/BgYCYPAgwoQKAQxsuPAhxIUCJgpwMMRLJFCgOJWJmLBAAQUiFbSgOPEDypQeF6IEMWLEkjCHSGlCFMhEAAI6dQYI8LAEAAphtiyJgWJlwg5KO5SgpAmApqeBFCGqCkCRokYM/wQqiHRlwz9fv5pMIIUKJ42cvCClQOHBA5EPCowQQTGlyrEGP4hw6aJKn0mkJnX9k4BAzv/EARJ8dbNFid6lHZxqGkUJas2qiBQBaNRIEdeuelfmETs6okkHVNCqzYKUBQ8iJTpwiACgxYDcA0TgPc33pZAwg2gqKiz2wYWeAUxcqHB67NJGUTU5tfy0KlbPn7sGevQ8Yp483yVStEDFS1pQkVYU8FgCNo/4PABwcBMXJAoUL5/3bcHETSajEObVQRwYqAAHFVQQyEDjQUTBUtVRchllmjSCnWePcOcgRGLEIR6HBpmkAhVlpBfJAx51AB8PRczHQQehlFBCbWEw4aAPYRgSCimNEHhQV4cIyZ1xYXFIYCCITEjdhVo9RQmGF4oW4kI3KAEFlQCY5IEXZWik3gX/A0C0IotFsKDgggYylaVHQQo55JRbhWXaaAkahIhnlU2oyGUHYQhAnGwaBAKhI7zww3MmKUpCGY6oJYhHLJTJgltu/YGmc4I+dEggb74ZqEFzDgQiRA9EAOOMd2ZFiXVOXfbUhXjapJWme4nQl0sjuDCWor3mwNpGkEL0nnxFEFEpshTUCpGQmlXFKSIPzdkGFkq0cKtCA4Rk6kGjjEIdq+GOAhWUmzWiB2fL4nWrS3pNJKZBBVB0wEUAqMXWQ5LKF18Jybp1kLJUGpnQm8966tEfamDxw7W34vUBRbkhNIgmqKhi0LjjTghAVT6mqy5Kt/YVw1jaAtBeSAAoAFIC/0hQYe9GL+cLXxFmcOBvwEHlPJ6odPpJCVZB2zTWw3l1iId346ICwLgcq7rsXimJ3IIQX4kU70EkhXSAEy9rtMgK8CIkKYvz4ZzQzs/13GBCeGpH1Y+1xoCoQYo8xXRnTkMdNV+3okD3Sv9SIAEAKaocUgEHkMAaJ4I8IIBC+sZnhs7ILkvH2j7X/TYih+yNgg0QhdL03gCse6sNT7QF4VIJEi5BXAoQgMAELlMxBGMJSS6fv1Bj4WFpcy6U1WeKeL4sCi/YoPwLBoWuBBZhuFG66VLfGoMSX6wu2VIGDX4YAggwYIEFGkyEEBE80MxDv5WWHoMQT3RxRhwDt+0ZVv+dQx06AMwb9EIMWvCBqlGveiihGha2x70OHEQpAJgdAgDAAAZMAHII4YG3NOGi9v0LIpp7zgFtcKUvqKF+CzkE8bByPEEl7wbMW97ymoeCFkCmgHtBwQ2gIAY6BA5GDFSIUhAzuwNMkAELQEgH4uMtb1HCfgv5IAhTAoIWWMkKYniIZyZECVqx8AZehOELXAgAF6RACdOjHl5swIQv1M8hC+mgQQxkIAAEsScGQAARJ7iACsDoESwgwhItw6DMyYlNRdPVDZKwkEaw6luUWGGIPjDDG/yAkgBw4QsAiD2MhWJveHEB9NogvDdyII43qxSMIJcYAxzAIAewwA/fQzb/p+ghc6M0ZNEkuRBEBLIRc8iSJFtwSUoSs3/NU8IZbJiSFvzACmoInkcoUEr6JIsDFwBATwhgAJ3c0QAMQMhsKvAeLFhBe3LqGchyuZDqWCiZWXIBAA3ixUqK0SCWgErpUjKCGzxBDHNg24MgBDBUcsAAOdEJEQ+AAJ78ESg0mpECPpACaQEUarn8gELOoIct5uEJwkQKRiPSvP71z4tfvJElUHG3fH4gBklgoxsf4hYfytFAGwrAAXIKgA1IEADbhA0RADCbEkjAgjaMyEUTIgQxhKcNTNiVR5JqkPzAM5MuuKrybgCAJ5whE6To5FEBgAVRxvSN0qQj96oChgcS/2ABDtipBgCwAIMCYD50JKq8whrVoilEDXrwTBy6sNeLYrQFLchkDF5w1auSDApnuKeFoFhAJyJkpmhlClNmowCDiO+tG9CABRyw0FfQR6gVUMADxKZXlqgTIXFoBBP14E7WEjaYh41BDBebQwAt7RGS1asT3cLA2SyQgT1ppQY+awEAHCAAqLCEGJgghBe0AKqrhUhrD2K3DELpISmpQQ3ywxu8GBaeuM0kYqNgkIs18bfXPecfpsk9gzjQIDlxQPmWy4AVkGIQZ4iCCwx7lPdi92EDPkhlvOWZhfwgBimoAQCa0IQI1yAlMzRsC2Y4xjBaAQCfuBig3Evgg/whaP9UKcF84kPHVmLzgQAQ3wEMIEs1BDjDIy5wSlJwgwSCiJ3UUUgczoCFLRjkCGsgxBrW0IMDzjA/GEaBC57ghlC8YlwCEfGNA/EZjkUlg/FhAQcIoBCdOIB9cGCYjW+MYwTCASHSWeKFEEKQg7iBEXZ+g0F6cGEMC1iYZ/jEK1ABNNCouU14yoqeMjiKaGUKm2ImgANYMCMs3abQBQYlTH2WYCbJuSCZAIAnQu2JTjCCDUvowUczzOfg3FOlnmGQpSHiNkZWxiBLOshpmWsAB6ToZlC4QZpjvZAYMMGfZa2OZXwUKgJ5AgCs8IQiPDEIQ3xBdVN9co4ygQpXZ0VUwkb/yLceAdtab1ErBenUIVDFAlL4gQkxEMGBv91XzNnvzY6M1kDuCWpPfMITiMiEqAEQh4PcgGQo8EEVUvqtCxmPkMImhSqqHMjLKNsg6D7IJOSNlODdctNbzLdBQu3szfDbFc0+SBu+oF4lbMESpBAQVSyRiUMMYpDojDXSSPGKWMSCaZbRm5ASUgWNI+zmAJgQE327wmaz4hHRDvWnEWKTOeABD58gBSkeAa1oGSQTmai50W8MAvgBAA6U2DnPX2GhgqxQFZ+uIdE9ePM3V2bBB/HEsxUBcE9E/U6aoQQpPOzfM7RhDpvRN0JmDvayFtpKXzjEKFDBc1VoYhLpWpol/6zgg7gXvePc9c5Bnt2ZUFte6lVh1StC4QYh4FYJXWgDqBBiiVta2rBCYEIX8qCJwKtCFU0LBR6sxfnODwzZW9y7h6Et6kdwHQCHOL3OSeEGyKDgA1RMAhbOgIeIHILxap6hC7woBCjMzxAJcQMTRDD8iKytM5Wp+yNE7gmZB/wqWLkKAKLvByUEMMPgt6RHdF9FWRoOaZX43UAYpIsvjML+bd76UdQoedwkiJryhRrocQZWZJxB7J9W8Vl1mdeEQUQmeF+hUZFJeRET9EFCkALiPaBCrI29UcIj9Jv9QZ1WaIdWBB4AcKAHCtNikUybUNb3naBWXcE9VRlUvJwLQv/gnEzC+1FHKLBCK4RCJliCJ9AKFxnE0tzIbXggVrWAA0bEIITdjcWAScVPH3SSlXkGIoDeEiaEqByCJSSYZXzCJ7SCLnwCwFGFZnCRIdRQD47RYh0BUsABHtAb7b2XCd4ASkWcQXxGIwjgG8LhnFiCkrzfFv1bKHyCJTBfHyaEDRiWQVRXef0gUqzB0LXZIZJhWOHQD2CfH2CMrUWL52AZ54WFHOJJgmWis/gJrSzNEgCbKHahIGIVIT7HIAwCIv6BeAjWalESE5yBBpLWdRQEaNhi3DWEJVhid0xIrEQEKhwCZAgThl2VDy5WGCaEhK3jQuCZCtIc5sSBGCSBC4z/QEh9BV/pBQoIARYMguT53LgMDVUM4BsOhByyAro1i1Vo15vFwitkghKEYheWV/N8YAsAoTquo0ZKmEIswRvcQZsBwBlYgVE8zGBJVVTt4xdows5JXEB2CmdI4iSS2CF4git8wpZ9DENWBs+FQheMY6p9YBde1TFO2EY2ARiwwRocZQgexBKsAZHdQRgsAQCkQD4qRF4QlkfgEBP4geSR1hJdhv54BkEuYSB4Qiu4QihokTfiYHXwHClU2w9UUgtMlFDWGBgypYSBwRvg2UEs5UYmBBuEwUJUn0keBEoghIHlx1Hkx0PsIxZMws4F0s85jWd030yGiiWkpSu4Alt+/+ZbxgIpiMETCIEQzOUNBFgxUpdhbeQR7CUA+OVCrAEYNMFrcqRHbiVf3aMB6RJjOqaAJYREKYEfjIJDAuSPqYpWlOUD2mRn3iRbKgRcnsETJMEPmOZcIgpUAdBV+cAbKOU6skFsxuYbEEJE0OY6VsEdDMJKHAEKpMB45VJj5oeF7VmwjV0VSGYsZAwTbYz9vRo2flsmtMIscGYogMtDoAJ1WqdpNuhcYlUM1Bgb4BmFjmdfyuZKTOgdGEL9ecQxxmdLNOZijuKTAQDouAEpHOfE+SdnXCZzcp4q6MIszCgrsEKfPIQaVOd1NqiDRigARCgYVqiQ9qVBmKdH4FkndP9CK1CgyEXEEthmD1glCkCYiRpmfZJocLrAEmSCKuwnHVqGf27OVswkMRBDMOiCjM6CQTzJ3fTcVhkEj2LnjpqXYQmphRJpeY7FPbFC6DHpQhiCVJraOh7BRFkpSjjmQTxZDORIin6LozJRZ/RJi47pG97BLwQDMShDMPyCLtDErQGALwBAG6gO3cRpJZmmJjWBnV4onn6FX+KdKxhEK7QCALQCK/Rbh+6bIQBqFbCBbU4VY1bpgXmgCB1CxEUFQI6CVngOGx7aixLdEZgCK1xqphLDLyjEK8SB6lQNAQFAnJpmwS0BIayqX1boSmDoQsxqrd5q/TGpIfjBHfyodVX/WkLw2dygaCwIGtJxl9McwmdsBqW+YQ1gwi3cgi4EQzAoAwCQ1kFoq7c+7EF8qxDcgLiSq50a6VjQ6kqwK5OKmiUkUxQ02K58VKJiWAqokSW8Qur92BJZyGbcH1WESoAKGwi4ACMU7CywwtJkat4kAbd6KyVxK48qAVWuqoVaKMY+BIZq7Fe4AscyaUHkQRsIlnYiBJ+5wA/gKyrYIcZk0IU8n9DYxLMOH6GswRscQRiAWCxoQnQpkkFc58MO7Q+Ip9HaKQCMK0TIphSOxnM6La5Cm2YAgB4cBNx5IPak7Np+gnfQoct6Dgrd3yBlJmJanw/4AcMexCNMn2kixHUq/4EQWCdVHi2Ftqp5jm47AkAn3BPTNm3fduazeYLnwKzeuFMmGZYZ4qsqUIIeItu3dJ1AYgWsSW71oEAMnMHS+NxBIKEVKEElzeUSEO2EkmerDql5juu4Xuh4GgSS0urqIkXruoKt8t1U+AkGJgQUsB7FIi51QCfjyp41Oh9mSq4kFe8/+tyNhioqTMIZKEESvAAjEAIAA/Do4inp3m0As2qrglqsnsb3tkK/IV7QYGH+FEQbiAEW+AHv6a4ddhmkIgRndI4Vfl3wLuEHjEAMiMHxHsSNIkTPSV8VYIKdEcL/CrD0Ym+eAvD/GnB5Yi+HtG74fgJDFo9VZEf+fAYqvP+CKoib8UBFIIVC97Jdkzrf2ArbCLRAGNSvQmShQfhCoAGAKZAaDAew9fIwnuEwJsBwGB8wAKjuAvNt3zpwqFGFTvqdqmTFIyxNf5GQGswBI/US3vWdJXQK3yEEzU1xoaVAF6TwCi9El8WCMvjCLMRqJ8DwDB9w9ZanGaMxI1AyIyQpAPQtA7/x6/Jh8/mJ00SLUyysJXjuDVQN7G2axySEIJ8cAABciM3se0FGLITqkixyQkxIK2CqMhDDKzybKWwyAFRy9S5zE7BB9G7yJnfCJ89oJIMy6z7n63ri85Wy6R1dl6KCG/jA8giTEHTBHPCJJhQHIrRg5/TdGtvTCMf/3SeE6tFpzM/5sjfSQShcajA4g6aqgiVMsp0lswyLcTNPqA+Agbgywhe7ApqqKTVbc0T48Chvcy8qBGdQQs9NQlFE6Ay9Ihaw0RyowfBYQiPQ8qeJLwnGmpva2tExzQpTyBYZBHt6gi5cqjP4czB4Qh8QAicDcBPEABtggkEQ9Rs0wRIwgk3PAprKKABAdKxKdEL48N86y8ve30L0nBvYQP999PhZgRVQmkLcUwuCGqjJJOdVJqu89D2rcHdNjE0eLDH4s7V6whts8hkPtSnsdVEbRJLGwYA6dFM79Yw+9XN+8lSLsqj9ia1NiLgpBER29RhdJxRUNtwBwNCtcbSUW7XHrrSlIVqfrHVov/TRafFB5AEdeMIsIGxOO0MwGARD77Vsy7YXO5u/YUVgD7ZBQLRhdyZCvPGSipq/KsRnchEq9EEM9J8P/sCVWDZCaOkbhMFsKcT8Re6yBAQAIfkEBQYAAAAsbQAZAMAA1wAACP8AAQgcSLCgwYMIEypcSNAIiygMI0qcSLGixYsYM2oUyCLAxo8gQ4ocSRIhCwIlU6pcybKkkQQtY8qcSbPgy5o4c+r8eHOnz59AD8pwYCWo0aM5eyJdylSl0qZQo2p8KrWqVYZUr2rdKtBIgKJcw2q18lWs2apkwZ5duzQt27dH3cKd61Mu3bs17eLd21IvXiNBiAxxQqVMGjmCyHThm5EsFsZWeICaTHnyKVAQj2J5vBNLAM54reiIhPAyaMYVPTPGQiRV6VOoMZI1sjcy6dexMRIwkplulyECT8He3KQUAOFgopzOHbEDgOVroRRZFLwQRCw6OB0/BYa5xYd3ZVD/CQ6KCYAkT5poR97b+0IZAMDP7UKE+nFAi790yb4dzBb3EclAAAt0QaFDGcFxcsVAXXxBnXCFLHgXJqakggkmpVyY4S23qFVQFSUAkAB0ZlWRBmnCKUaQEoJUd9Yzz7TTTjrxyDPPjTjmOA8755RjTkIdwTSXGGlwYuQiixEkBoIAcFKIeWFNow497thj5ZVYXlkPOuSQE044mGzxH0FQANCAAUZ88ZYSRaQhyCKJlUkQE160KIgZSW51yzzu0OOnjoDaaA452fAygQeIJjrBBA1A4CgCQq5FpBwA3AnGEWBkimkTZQjiqRkAeFjVE8zEY+pApqaq6qkALMOAo7BC/9BAAwvMWuusBihkhBNoAOFEEjVxCOM0zDxTLDPDDAPIFk1Q4akgY5QhrRfTllHnm6CGBc6q3HILwDzHONporGfeOuuZCrGAw7o4QBnTMO3MU8+V79hzj5X0tHMMFmbUuQilAk0rkBdeVLpItlxt246q7RDEaqrymIMGA+PKOisCAi2g8QIE2AIjMyCDHI01sLCLgzXWfIMyOCy37PLLLY/Dsswzx/xNNOSYYyMA85qzzzv3AHDPPe+8Yw0MTnj6bxoHHWYnwlq1sQ477MjY8NUGQewOLwZ0TYABX3dtQAAEEBCAAQgAY87aPrZdDjUYxK22jz2aIwwkkFQCiSh77/8tyt+AB17J34PvXcnN5qwjT5X2AIBPPvhEDoA9kb9DjRmUvgmAI5VubiecSkPdlBEwGCGDETzwsM7qVafj+uuuy5NOjn6aA0utZs4KgAEba0zrAh4AEbwHaAwPxPFAhKB8CBg0sOiiiB6a6PTTS+/B84ueqY2NVQ6UJZbx7EKCp5236EiLAj1rMBlhgKGiToBsEgktuwhzCRBgl0122Zewsw4A8aAHoAZIj3rUQ3bf+IY4EigOcCTQgRD8BsxcJo4KVrBlEpTgBDeIwQV6MINXCpoIJzc5e/TpW/JYByxUYKfyde6F5BOEF7hwCTQ0ox3gGAczOCSJJPxAJcNgBjT/YEHEOmAAAQtAm9fKZoBKyKsejPueFO31uHxY8YpYzKIWs6gPfnRRH5ALIxgj97gyhtGMQ7sHPtLIxja60Y32ckc76kCFNBxGDnhEDGIAkMc+yoELdQAANAAYj3nIw0bzGMc2xjGNW5CoIiBLBzuAAYtLVKIWkGBA7zZZiSrdC0v3CqW97DW0KuLDHvQwoUD89CdWutKVBizgK13pjirZ8ntQNKABreSOeXiPjPgQmjCFOUIRltIe7UBDrTZmK1o5s2IrcAMA6sAFXkjDl74UyI3kQY938IMf47iFuyjyjGmkw0rzQEYlioELW5TCCw1gwAQYQE9zgSMf7wCmPvcZ/8Z8AKAd3JxHPKxG0IIa9KAEHehAF4ZQqy1URuwoB58at8WKbhEf8gACACxmK4E4ykwghcACTGACUeACHCO8kjvq4Usb2eMdK02CECJyi2lsA5T2OAYmo2ELLtBTAxawwAY2AFQHEIAXkNtn5CwauRx9Kx7//OdBo9qwgzCUqv+EKtaiitWqyqhHEh1aRqwYD2XSCgENAMAEACDUoWogAxlg1AImkINN1EIgxhSavQCwD3soNF7TiINCbAoPf/AjjWS0RztVIAoPBHWoQ7WAAyaAgLGd83skNMgo3ZGOAx7SRvIQCDsw4lWtQnUiVGvHOnxEjnM0bqz5aAcQlskAB/84QANuDaoDAHBbC8gzBHZFqT7xmo9+AMAfAOBHOs5hDuXkaSDMUAc/+vFNfSwVcvcohi02sQBNLvEADOAtAgIQgEvc8rwmTK8tb2mPegB0oAAI7WgZQrX6AmC0VRNtw+aL2oiWoxzkYAeVvjcPdeDIwOkwsJ+gWEt7pOOIGhuIUC1wgdwO1QG+DQEkeAEOfXiYIFbch3H/QeLCqsMUPjDIMNJRtMep48WSRMc5qAELXHDBAzlAAgkYQN6zVXa8AaiGQNwhEPUauXuqxJeM4rGOhd23vlS775NHW6Mqr4qQAjnVae2L3ygPhEcACAc5ygFV9BJZIukFAgLChoA2mw3/AExEwAEEIlkM1AIZ4ACAh/csEH0AIB/62Iefk8uPd4SzIMeYHY5gWctoiAIJTjhMIiKRiDFMAG0L2B0AFgAOMx/5yCWch4yePJCpQbm+6zjHPFymwFYnUIADFG2U+QuA/60uHNz4kjnklZH1ahTO+nMACaZAsCyQYM1yZsAB7NwMb9wD0HuOdp+jrY930OMYagLAD7AwDD7p8tv1eAZw5ECtNEgiEuemtBOIagEIWGAC80jvkAFA5HrTuyBEtseOoFzq1fn737vQmKxktQAkNupcSawVrI5R63/7u9a1PgcArpENbqAj3p7O+KfdgQGw0ZMEWfACHxKRCIGQPBFS/1hrm+MpjirN68wEKWaf4uENQBTEFk8Et0AoZQc88jENeyANpRORhgy8VQWQaFwtl870Wt7b3vmWB6qnJhB0oGMdVse61bNBq4H8LlcFqazvxMVwdADg6mb/X9XLIRCKC5jeG4+7mfHXACSMYQxeoMLdoyUHO5KcDyqAgFodkE2JrNRuAMg2AA4hiXbUg2e6BAAR8niYnu9BDnZgmkD4wIcyUEEDAKiFOoj8+NLzDPLg1mUt4+G/1Z1D7eeQsdVnf45KZGxjm95073K/SY2BmfYyBsA5zpENAFCDGtxoB5UKAsX2tlcgzZ/XvIZsQiBMIORecAIfML+H7u8BAHuQIf8V5KAC502AHgeBOUGqNA9vbKIKBQEDOmIpEHAYBkEEy38Z8liG7wMg83IwAQ4QDb2kI60Ea7SzYL5kdcM3fP/TgBB4DtewUQNBLmklEOdygSA1K8eQahIHgcL3Ns3QDNAQDsr3eAPBdJolfd5jS76SfZhXEN0nEN0nB0NQBhpQcCg4b1D3dO0VD80ACCk2EIFwCOXASjfiBNOSf15AbASTBpmHBJRyfyowAdogUJ+VhVq4hYYUWsO3NuZQDmYnfMxVhthQBwW3SQTQexqDRGy4AN3QgATBXOSwDK3SDOHADgN0IwUxDwiIfqtkQMcAaVJwR5mXBtJiGFAIft2XBVn/wAAh0HwZB3eTMw/k8H4HEQ3ykCrR4AV4l31S4AVZkANDkH+H4QU5wDTSMgYAoA0NlVBLtmSngg5h+F/VAAzFkIu8oIu5GEgf4SiiIBAS9yMAsDbhgAzCIAzI0A3sUCNbeEjxFY2hJY3xZUjfoAJDMAZ21HesSBAEEy0713dOAAG+BHP1Zo4mdEDIYHMGEQW2gA7tUDW4wIQ5kAMhNwT2aIpyEIqJOAZIdwzHUAy4qA3a4A3f4A3a0A0FKQ7eUEHeEI/tgJDAwAuQ4Ch1kDcYqTcamZENgAGwUjEWEysiKS7nIi7iUgdAUAnAIAwWx1BelWUNo1Dd8lmioAJSoIhM/zIwBaOT2shHcuAEorCDB2FA0EcP6LAJojIQRtBa6KANTJh9QxByAEBsThCK2lgGOZCI1rIAolAHvQIEkBACiAIBZmMAykZPDiAuvlMJtAAM0HAN3PBfXTJmc0mXXQJgeEmXeZmX13AN1XB8f0kNgTmYxSAMlQAEEAAEdZAM5nBqUiYRMiIOJJCVq0gwAgEcljmV+odHdgAcKFR4BIGEQEgGN3AQdAAAw9Al1SCVjiiKTAgAOaACIWcYY5AF/YgL5OANXxIO3uAlu/mbu1kNfYkN3dCX14ANxxmXeTmXAKaXdtmcdvmcd8mcdRmd3CAMlYSYIPk7vac3mGALGGIKHP9iC6JQCxaQAdFSBp9YMMamAsQGmyTgBPn3f1AoDqhSVQMRWocUD+awCUOIEImQa9HABY7oBFH5lF4gBTlABU+YBnaXiF6AC90woRTKDRR6od6gmxkqZtyAnMYJlwRBDgUxlwBAol0iEM4JYCgqoiVKlwCgoi9KDtyADLCwCzUqDNKQozqai8bAC7Tgo/QzDLaQLMkypLWQAR5gd3d3EFMwEPiIBPmnjX0XDQaBXwJhNetADfiREE8AALaQDdJAGF6ABDkQigjamuUmB7aZiFOAnNjgpm8ap2+aDdlAkATJDQDgoR+KDcAZZuEQZgbBooJaoihKEV3CDckAADW6C9L/oA0C4Q2A+qcFAakF8SXSsAEksHcFMwU5dhA7CQD6h4i1QIwDEXv9hg7loB1wsBB/sAzF4ATElgVOgH0IyoR25ATRcndZUAvH16u+KpjA+pfXQA3GKQ3HN6zDmg0e+qbHOad0SqfY8KzcwA0VN60WeqHd8CW6CZy7GWbZsAw2WqPNQJwA0A3laq3W2g0WCgDeMKECMaGQAHqaCgBSoAIqYBDzCarfKC1Z8KIC0TYEwTYMt6oMgQnNAGmZWasEMwXyqYgAwIoEgwTQAA0kOLEWe7HQIA0Wa6zUQILHZ3zQQA0UO4Iki7EYq6Mcy7G/eqzBSqzE2pfGl6iKugvI8LLD/3mcOAunzSqntEAC2Xh3mekEnmqZQ6AC+6qeAmGfLBqjbJebgNACEREHcxAJkCAFIecESOCET5kFKpCPSKu1TlALy0CyZFu2Zquxy8CxAECyy5AMydC2b+u2bbsMc1u3dDu3b3u3zXC3equ3bCsMAkFEwhCyKwusvTqYweoBmbqkE5EFiqt/eKetf0qpA5GbtRADE1EFXVAEsFowKiCfZzoYWTAFjggApUgwVEALdri3azu2rPu6rkuCrWuxFQsAcnu7cZu7cGu7uou7cPu7uOu2yAAMl6CosCAMy0CxE1uxJ6uxKCsNtGABU7B3FTG6UToGTkCQAuGo5dqKCSkNYP+wBEowEcoBALMqq7Q6n+w5BVMgBezrvvkXBGLbKgJhh/R7v/Y7thOrv4O0vInqtrwbwAA8wP9bwAJswATMu8ZAvMYLDK4rEM2wtmY7wRNAAg/bjeyrEJmpr0y4CQIhZEJGENhADYlAsBVhBFwAugo7uuzrBFXZvgfahKpbvzSMvzRcsq2SDMu7trZ7wD6cwECMwEJsu8OrqJdwvMjAwwMRwUzMw03cDKIwAaJLtEmKEPPZrzpJMJAAADnKxQIhDVwsDbiQEX9ABp0LqqSbmRnswmzcpENAulkwBHY4xzZcxyQrwSOoxMkADEH8w0Pcx0A8vJVERDS7uhB8yEr8xBD/oAFDAGlUEHIKKrRDm30kgARZ7AXFkLwRLMESDAyAcAYYgQiK4Mii2LUCwcKSbL4u3L6WfLXBSMd0XMexu7d0e8cCAch/nMt+zLvJALiVdAn1Y7+bvMQH0QyVQFek6MLui8UJUTA5EJ8c7AWbMLaHzMTNIAx20AJQixFwUASQBgBxPKsZXBAubL5SEMlOkAOwkLd0K8s1PLZ4q7e3rMu4vMtB3MuwIBBHLAzJMMzDnMhLjAYaUI9D0Mgv3KQMobWOiATAUM1O3Ax2kAIb4QaDYMapPJUIwcZVWa8aUAm4gAu7AAzGwM7u3Cpwy85367YqvdL2TM+5nAzGsAv6DMzI/2DIiEwQmwwMaUXQBY0EhEi6C5F/jigFwQjQ9bsJwPIRiIAIYIAEVtu+CaHR9GomC5AHRXgIh7AGhQAIkrAJmyAKtPCjEzmRyDiRP7pdlVYERWAGRUAGY7AJduDVdlULtfDRH30MwLCSxrDXyNDXK/3XKs27yyDIxgsLDnzTRr22QGDBTlrQBr3MA1FskV1so8sBDV0QEbwMkdAGIvEHf9CpDKHRK6ACvsUBWB0HYvAEPxADL9ACHXABFYapJDDaFWyvK+AFZLAGN3ADPuACKZACIxDcv73bNxAFYgAHh2AJiKAHiIDVhxAIgRAHamAE7gMI1l0ImDBpthAJttDdtv9A17UQjMV7o8KM08QMDJlWjwTh2D79wrRKAiAn1I4YBJibyKtbciORB3nABqRoyQrhws8M3yvAACTAAmoAADMFAC0A3AbQABugAiQAWUM12ytQ4WOQCJLABl1gBVHgQz/wA8Rt3HGA1dDt2SZ+4nkAB2ogBltQBS5uBV9wBnAQCHSgBzbO3HqgCIMABmOwN7SAvHTszxAMDKCXAwfB3gdNMPWIfY6YBTwwCJiQxPlru5FwB3RAB38gEm2gBk0gGP6dEBAOAJgaBKOtAgQiEOZhAyUQAAgQ4RIu5hpQ4XLuBZMGCHcQB3EAB1suBgIhBmqgBnAgtfqt3wKh33TQBmf/0AVQML4Lcdx5oAh/4AZdkAQ34NsoENyYHtxq3dZkAAgmIBBGjhA9/dNYbJmOmANvEAiY0M4mbQwAEAaJx9khoQRMAAVQwAQl0NNHPhATHgReUOZnLhBs8DX3ShBvLucVvgFU4AiJAAaDsHht0AWMjuAz9QRJeRE28EMA4AZ4gAdqoHgx4ALajAKXPgIxcANJoBwccK+hnhA9XZWayZ6yugVZLgnIsNfCgAuRwAbarhJn8O9FoOsDIckWDFkUPtorQAK0AQB6UAIGIMUqMFQCsQEDQeYrAABybgEkAHRkIFhIgQVQIgRKAAWPAQYXAN/trhDvPhBD3R0AAAd/kOdn//AFWwAspckSJv4GpNjISFC0xi7xKlDmZV4EgRAfHiAIfNBWBTFU7b4CQ3ABUhgtPFDpV+Hmsy0RwOHf7CsDNjAQXfocAPAE074SJq7fbMAD+HjxjD3xEo/x9mqvF7ACRSBNaVAKfXcQkQWbAnHbeFSbPHAVJkAFET74ax8RBm0CIhAUJl6EinAHCGHwABD0ObABCG/BRVAKRpIGFlAQGtD57yYQKjB+dlQGSDABh1AVJ0ACgh/hYh7hxc4Q+HgCSKEIAqEIeCAGPLD5Sz/he//rtr0CJSAHpbAInOAF4SUQRT7abMUAGzAB+4eIYzAFEMADiAAA1d8UERD0g4+p3P9vygqRAxwQFWdQBTcQAyYQ5rw+4RQf9AnP/ivwJpwgCBmQaWx1W7M9TxOwAQxAABOQngCRxQkJHgAMHkSYUOFChg0dAjDB4oIKFQw3kKjIMAeZRg89fgS5UMyWJTFMZASwQeXFixdWrFCxIshLKpwWUQFzwIIGDWPS/Pw5xIIBBAgmePHiZAgAMHlCPoWKUMcEExM2UHR4UUWOg1wB5CgSKOpYsgAaKTo0p42FgytZkpgIM+bLIEHSkFmywIIDOWn6+g2KoIEBA0iUqpjQtOxihk0yQGDAACYAEm8tV06ZkWsGA4P+fGYc2mGgQ4cQvWGbciXmCyRW5NhAV+aKQDz/GABAAhTo3wyDA0zIkYNEiTBiRItWw4IAAQRDylCuHP3yRYMYczgJEKDI5z/HvSPkrkdPkYpuWZMAsKJMzLp1VxyYAODnXwBlgJaZgIA5Rg8XbnxnrIgJlrPgJeg8wmwFUOTIjocz2ogDQAC5U6uIFcxriQT0AJiAvfaCgC8Ng8pYYYEVvAAqvgYCyECDCU6IQUKywGCAuQUoUkFD6XZ8K8chBOEkEgIC8E+IJJ6Q8bg81DrjCyZUwBCuylTSQIW6SvgwiNTwC8AAIoBCgoHBIJiggRN+SDKqCxAwAIKrctRxOumsRKIMQQSJZIEuP/hghBZsSDO0M7Bg4oYYToiy/zW3LMjyQw2ykAMABzKgQr40VCBsAQYg6CAJLAIN6YQFDGhAA5h01FBOlgAIQoUynMhhPQMCOKHPFkAN7QcbXEBBhA4ueAtY1VZiVKb2sPSiDD4S4aNSoEggjIAGLojiQVw/KsEACyxIo1VUN3SoMuGAW4GBAFgAoYUY/ruWLCyeEOKGG14wISV73VqpokaJUDYRf/fwAoC+mCOVAB3waNcjEATIQKXXoNOwIcyovCpWACAg4AJ1bxAi4ajmACCONs4Q410WEmLJLQdY/TALPpZllg85suCQKKKMYOKJLjxG6AQAXABAgm1XuwhVyi6LCQAEbgNAijEEWQSUDDIoYf+JJZSAgueniiDjjS3e0COOOJoooS18VdrWWCK8kAPml/kAgAqMDSKggxhu1RoAHSBwwoQSCLBg0dV0XMg1KhhAAAIISDCDC0HkAEUQMorAAw6S8/6IDD4k4TwSfyUhAwwRjz5bg22tJCIHt182yAsIFiAAIhRG+EAErZtAwgsNImg437OLPnrHmkvw7A8wnHicE04KEblkJTrGHKE8uPsjjyH4iIRz7bfX3nM5ZqYCJgcc2HYCA0iIWWYAxnBChdg7QAEEPj/guYchqHCigQXcesmtYcFNyARGtR3uqOB7nABFIdogBisowVDROwgiAjHBCd7BgNzDYAYlwQnOeWH/BRMIAJsm8LJIlSELU8gBBNAlPz5pjQhOSIpRpoQR/xlEJSkRXn4MQAA26GF6fyCDHBbBiVIIYlBJMBTeIDiHQyjCiYggwhCQ4pM02EEOPnnZHjTIQe1JYQIQQEAAPNCXMnhBIDnowAviB4K8lcAwXrBAA+ACpcDdcCEbwOEKkNCAogRgBV8QQxsgVAQvLCJqnAhDFX5wNxRAEAAx8IESqhAGN/whilXsixXlYMUyjGEMnbSPX/YgB+5FYgwegB0BPFBGgSBBBSZIgq5+pjUSDEEKKtBUZbalgZVkpZZfHAwBTOCCGNhACEzQgRQWATlOkEEJu0rBCBw5AmqmQF0//8iAYWiGFFCW4Xt+2eT37JAGT35PEp5LRBrA2CXDOAEJOZhABOAQPR3kADGJYwAJ9rITXuKRIRpSgQaCgxiC1AoEKEjBV5IHCjAsIV4xcmTtQAACap4gm06YQhY0esIpdDSjGv1kGbypSaT4iw9pyAEfA9CAISABCWWKwCAwh4ISqAACIcwAA1yKIsDIwV8/9VxQhRoJojJLCieQn0FKIAdHgCJyZ4BqySA4vw9QdAQnmIA2N8pRj3bVCVLoaBbsM04pyKGMwRkQAVQwBBI0AAIFwdwJSAA7A1wHZtnD6zn1mle+ntOkSBhDEVqIAhOUwRGRAEUk4jAHOtBhDhHCHP+fRGDVFhiBBFrdaFe7KoXggNWj9imDYa6TBRLoxwM2dati8naBwRjAVXtYFlH3Otu8dm6vkcBoIq5IP4OcgAqGLAUnwEC97uRNotRsQSSLcB0pbPWEANBsR13qWY/6pAw5kOJARtUAAUJgBXrAHAgYYIAbjWGTMvuJFdPQSZ+MU6TfMytS0sCHPdjhZf7ywgmUiITHBbcQPwQN5pAbyTBYUgVf3Wp0FdxR6Hb0kwGbwjthJxgINIAHdBCL1k6wwwmAdQhpSBYm4SsicIbze51Mlhz24C8Vy8ELRVAiEeQQiVKAQhJ5AHBxtQZJJYQBD49oBBFUIIXmZnbBR3bwGC7/O4SKtGlTEYDgBQKwABLEyj7i7Ol9RLpl9mo0xZskJzl5EIaDFGHGNV7EBKmHuS6EAQ5OPMQfsgrWBCO5qw3uqBfGcEvh6EdxCHDkDhuQgWSJ1IxG/qhzNUoFKbgTwSIF8XppZpAz8KCQiwguGA5BwQlqDQ9N+gIgIQQBJEiBCnW2s4KzYMYOCZAAAvRZ9MCAgAVMIAue9MKpNRph7CZa0VlotGEy+sk0TEHSbAAAEwyChEUIIrhkaOJZMAevu7WAmEK4QA5KHdZUI9mMGfCA+aQlAUeygdarPnSCXZmDIv8a2E6Ad0ZDPG8yKNsgBnR2jW/wAyVYQQx+yHDCYrBG/4oi9AQRaKlLXQpvjHZ7CkqRAlIycDHydkCaEGTD+SL+645+1deKfrg7wRriMHuBB9CDyJlBcQqrokBdeROBCKhaO982DX/D8UBLG25nJFx21TUjAJQbiXEEOMHdkz7I0bOAP0cP+ycoKsMUIAoAFnghEpiWBQxiPtmJGnfmHzjBASMhCCJY8wQl0HbHdx7dUmt0AQ0gAARMwEZHXgyjin7Irxst8lvbB+pZ4EELLu6EZoNCFmT4utdnzgOxlyEILr/BE5qgbSm4cu2a1agU9LOAWNcdAFFst0YbslWDJJjhRg+xFPzOA2ryKQd3KoUswCBzqmrt6/STMZAiAREXKP/hC4sFgwoMs+0je5EAnPf8QYigVY+QHiEnDDZGAwZin4yBCNRkIw/KgFhZlIL2krWdx25fHznoHgkywEIbJEAB9j9A+GDFs2ZvuYA0Jv8gZIi3x/OO9IREfwp6ro8sEJEguIEWaIEUYIHtWwRZWAUjoKrwE7/EowIgsYkhaII4WD/2az/HQ4LoIjIpGAIeMA77u78gcKdaYrCxeLjpWp/1chonKIHmAQAYoAJHEARZOLyJ2joIbBfamTkQ8AIKjIQciAM60MAjpIAVSLjTg7cS6KEmUoRPsz8wcCkUGoKweoop2DulGIK7MyN3ygGwyQPHioMcaDYcBIQXMMAUmB3/umsXIbABRhKBETCCn1CeRSCCHKMeDeSAIdC2d7qAC2AIH7gbY4oCCBK+htuohfCog9BCeHOpIfBD7EKCppmCliIg7gAAMgCSVJAFUIgDMegCeGGXdolCN2igJdCVHjggmyCCQCCuWNxD9qsADuiADviIH2ACLBjBdjGBKlzEhHi4lpqCuAm2IViBiDiBZWQBDRiCMSikBSkeTaxD7luFQWisOXgsj1GER5iESTgEPHADpkgeTigDIjAIWfwMDUzHPziERpgERZgnBSiAARAAkDjEaykCbWKIh6MIKWgapTABqjqoFvgBEqCCSCCixCIDTTQIMLC6SJCFVAAEAAu4/2vhDtKAA+MoPwr0gjsAAAmSxSN0CF5pIRJUhOWDLkZ8OCJ7uCAQAkJ0ATaEvCfgAC5QyBoDhYoMsHtzhAVMhUKAxc9AhI7AyDGcgzOAghsAGjMQoiAZgjd4hIM4C0WARZL0jnv0mCgyjEpRCEarPDCIx0Fwg0RSgquxgjMoAilCoOBKg2lUPiA5hVMgg+IJhG5sF8dqAywQghZoQzsBhSDJgROYJDcYhEmgBEo4C0Q4hAqggISAMrI4yYQJhLVsJ7ACy9MjAzqAQm98hHB0AzxQhDdgS6cChVK4g54EgLXcMif4oaKMx3EElTj4giSIATa8uO8JzEVQgQQYAABQgP8lqAIx6INB8MYO4AAA0cp2GUowqCmdO71N9CHi+qFQ3AIrCAMV+C3TDMpDmJ6D4IEGcAAGoIjNvEtvBIBeTBKlvAHclDkAOAFBSIPdRIkCKADgVACDeIAI4IASKJvkZIzl9JjP8Aw2MAIyIILQ2UxZREo1sIIfsDYXsLQhqrFVwARNmASjZApSYQDyKQI9gM1HmCdc8csRYCH6eQBBKIPdBBf7LAAFgNEY3U8AVYjfDAkB5ZmMpB4cY1DHgoMuUIKZjB8WqMS2/MQtEAPZBIA3IIAD6FAH0IAm8sZBOINrab35uccVWKbESoPUAIAXjVEYfdEHqICyCVAbjR51jEX/pKRN28RN19u+lUuFU5CBqaO6AGCAvRifIvBMP/gUUBmB7/sArQyCnwwSKkgAhBDTGAUA/kROGiULNIUgNV2zhChR2vOAaDyFVUgFxEOIAwiAA8iA8ZmACQgFUpgEP9gCXPk6rcwCQ0qsHEjUgwDT/IwACrhFDuAAx8wVK4iexgKAH0LCx2QIaZofE0gWTjiFVFgFMhg6iAgAAjCAAxgfB0iMQ8iETECYQDHR7xMArUyDpgoSADKIF42AMjUIXWXH0GgDR1osADDCYaUACZCAB6BHNJ2fDkCCmigFTwSFgwABE4hWAnjSCWCAInCDTCAFUtAEUEGB2RkBewRXQWDR/4WggBJgARbARcdcV8botLqLAHodVgmIgHsdAIn91m/NAasDBWY9BSMwiIXpEgN40n36sUkAMkUIFCRqgZM92RFQAPmkz4XogIz1Tw4YVtGYhLobgPuE0QcgN4ZA2ZQlgTGImmXtVLqTAMKg2fHZiw04BJxFC9X8DsdSA3ulRzZUAEdYUU5Ig4lbiIw1WgBAQgDJUK0RAJ/12Y9IWQGwANVTVk+UBLpTgFDt2gkYHw7IhHgUyTTJgyOUAKlagUiYz0gog5UhWhbggYztgKQNFETAlb791pP1CJ8VAAe4n8D9xJgFgezIDmndIbF8hLF1yO/4A3l9zCAYu0NNgPxciP8S4IHN1di69ZgKkJC+fQr79NkcqImWXYVTiICUHRLXjVYW+EZFEMna/Q55bR1DsokcEMSGCN7NLQHPxZwOiNobFV3kBQmSjQC01QBNTYVUQEcAOFlQdd0DCNvZ3bRKBRDztVoWfYTIjNvxZQGkxcrkS1mGWOCFwFGHQEIJuABGU91FOAi9LYAHwFXGHUr/FQ3cPYhotAlyLWDhJV4SRAjR9Y5hfQC2XNZVKIX8fFYYdVT+7WDtDQ0QplsUCUxBIGGF4AADRuCOReE0kVftpDFPPIVCUAMsiAImUIIew4Pr7V8PPg4dpgAS4IJmQ4IDuM+HuFi55Vj2K2JQkdcVGIP/pnphTPChCcqDQRiEQ/jMOMMxHtWxFR5W4wWAC3ARKIGAA7Bfj0DOEkDf/STiMv7fYb0AJ6iJZZWFSKhFJ6IETTgENbgCJqiCLgikxqKDJOEOCqiAWuyAEnAAJ40MBDgASW0IMu2ACijZp30Aj/hWRI4KeW3hRnZZW7xF/3RlJbgbazLEL5AR6iEN0A2FCoiM8TyAaQ2JkEVaBThZ+/RdB15fWgYJ3F2lJJ5fM9hlQqYAe71ganpYCclI0miEhu0DI3DS8RkVAlDlhlAAXXXleoxmAIjlhNDbqbVmMMbdE6FYJeZmjD3g973XlJ0sT56gsA2FQziDJUiArmWAAxgS/3dOiAZGCKjlgHqtxzFNCLRVXr216H1OCBBeZCkI3FXghKJlAUJ+X/sV3cn0joRWBE3QBFX1AQFYGjGJjCEBZGpmX13NaHpUAKhFCA0kWY/OZ5G2WO4FgNTt1+4T6BJw5fyc2m/lLe+YXUWYBFKwhIZ2AQE4AGrNUwuokWhVZZg+SVaugHqFWtytRdAFgCZGonpUaoUY47olAS8govlNBTPI2KB26fV9YMb4hFFQBVQ4hDBYgp4dAGo12G1xgDAKgHd2iHM92gwcVg5AhCeSIINogy+AgngxCMouY6AOZZI8kRU9hYlMhJWugAegZ8EGECZIWFTg6jBQgnpMAPjw2v+9mJUmfQoFwNiIGOIjtEVEQG7kBoAM86ERrWul8s9H3VWDuIB9VV1Q0NioPVnBnuXjoO1PUAVVQNVBIGjEtda90I8hiYoOCF7ORUJdvsVbVG6DkCCn+IiPrTsFiAD+9E9C7gp+nd9SkOp7ruqQFg0/+ARSeITNnoRTnYRBYJMFsFbEcd2xGF8AKF8+hG/5nu+QRIQ7fgqyTZhopmH+PIi8RiCXTQM9DmyrXuCrZoxDYNhN4zREmARNKIKBXY7lyA7SfQrNDV4AAGohj+9HJY0IQu6LLAsrTpK8xWCEWGTVhmEiIPCX7m4YDw0KKudOe90dzw5A8fGQMGBC1tUi19X/jDwED0cLcsbh41jfMAeABBgy5aFclDBdq0YILPdYdZwgBZgV6r2AekUIasI+hwDyzRXyDUfODg6E5O5wNj9e2abVBTgtP6SI/bTXj/7NwRYNSj0IBejQA7hFhCDogZud3vsUYk3Xom1vACjyXU7z/m105YbrYQZx0eBuRWWOpeEnDCdzggYVT09XUYZUhmCC3yNa4C2IV5dv7C2NYn70JMEx5cz1L32AZV4a8iGfWrTF6DYIMvNkWTwIoCb3srDFlXZ1Zk9unfXwzdbQ56524JSALkGA8w6cUMZ3GiUFXGRzdVxuTpsgXR2LUO5mQlaEc55kSkhu+nb3Rqj1uubu/3vM4AeIVifdlr1YgQRmcQy3XTVd7tIAeS0ni13e5Umm6ZN3eIY/+HdPkhf9DknPYAkYkmnVifGJDI4taoSoRe/w9IQGeRpHiDaNATdsiOgmZBPggYbVhFEAgIZNeQBYeUoAlSd/iGh2UcqWdP3mgBA6ADZZGk1ZgARQ9YUIZZ5XU9L4+WfH74TYQR40iAooWiKQ26QfBalf+klGiHMmhVAIlNElbYRwUaF2+UA2iFyPeYqX1jyF0r1ogAPYeIs1e3XcNEdH7k0Dia3ruqEmU4wtglcAAMU0yrrviIOnBKYHldH94lVeVOBkfQB4WD7h7gFQAAngAK6l2Z1QiVP2iP+xDw2Pb4TSqHyQB6+xgMA+mIRReIVYGIWG/XzTV4TSZ/o7EIKLi/TBZwh1PeoH8Gh6rMeI1+8y3aGiyNN+2hYEmNWE8fd3XMwnsu/FaIEbsAI4CFtSQIVYiAUAEP1GMGyDUII0AQgBAgYoAGDwIEIAHRYuTIiwgMCIEQc8kNChRIAABAwwsKBhA0gLDhI4REihJMqUJf+wbPnHoKJGMhsp0iNGJc6DLgC8UMKki5tBj0apigUAFSpVj3IyxSmwQEGVDDsgpBoBQISCBQZIFKggQoUOPC5kRMDAwUeQGxw4aOq2qUuWBgMpitkoz823Dj98cBHDoJLASbqoyXNo0iv/AEb1Mj6o4IHUqQ45GKyA9UEBiE8rdmDBw0FGAmctgNTgYIGJlysbw42rGlHdOWKSsD74oQUAGwdvCBGi5McNJX5CLa7NuE1KDgw5MKd80LnBDhUkRHig4LoECmKJAMgYeqMBAwQINHHd0nhO8wZhx5ndAkXtDyhc2HhR/77BFz+2+PmUGL1bCpwRWQeUUXAgdFWVsFx2F4nFQwksHOCdRuONd0Ee5qkGoEquHRRHF0q48B5rfLlgH4r4vRBDFQBkwuFbFR14YELKFQjAjCcxdBBDJSy4EAueEVEEEQ5O+N14AYCRB0IbwtihhwBg8cML9uHW2AcA0Gdfbl3q1uKT/249EEGOJyFkIwc5/nEIIm1SNZWPEUbIAw9FmMFBBdU9kIABFJoAhh5h6uUacgDc8ENvStgAAmPynVgfT7rpBsATgrpFJo0loQkAcwCw2eansF0kZ5B08mAGp9YNkJkCAiTQAx6WNhZHS21gYZALSkABhaLwvSUfCi3ckB9++8nqVqYlSRadZIh0AFtdjVAibQkmnMoDCxwooJlAqx7bWBRfqHEGFDf4qoQQvN5wZVPAonADvDegaOgW374lV0Jh9Rjnj1P12BkLmkw7SiyjWBJGqwIBEJG9ernwwxO8vuBrb1AwIcRO7QKAAnyHevyCQVX4sVTD6ZlnY0MO+buQj/+emVAqACVwUIULfPFVcmNCYHGGGFjQZmi6vE7KVJYZxwvcDz8A4IcmqODMlGuf1lWVQm/COScRprJQgnVdMfw0U1/Q+sccbXwh5RdfRNEr0fPxZFB9h/5w6ycAkNII2K1BqwgijWiiySiAs8Djjy1beyoRMm/rtUR5qzSHh3EgUnYXP7Br880I+ZofQjd0YRAqdzvuFk18Aw44JaOkLrCz+5bKgypbq8p446OvFJdBAtMkBhMGYW6zQyvWt1MLfwEQSuiNOGk7SnTx7bfq0ac+fUx7xzTKKK9o0gcTMXxA+9fMN4k7AJScTskcACRxgwso/H5QC37VV+WJvQOgCgD/kywvvkOB9K2I+aRHCUoAIHp1idYf/Nc0VBxMCCPgC/gUxj+DqAd6gUNfG3qmhHU9MHM8icF9qqQEAGjiIIjY3wRNSBNpoW5afUOd6mgCG5Ygommh4J73bga+FB7EQxYUWCAOYQlLwIFcQohBC1KAKy096gVMUEPdDhIIFPKwgJrAG+AKOC0CSu+AJ/zDI0hBiga6L0sIqV0VAaAewF2QZJ74BCssoYYvPMF+mwNAC5SgBk0kZhQAOGEaUfIKp2Even8TIN7q8ocaouKGvjNjIFOyxtSpbilvdAUrWKHGOcDhC1A4YvtaIIQwvAgVlFDEH6mYRjy8SDH/KZ8AT9k3/zCSAgCWiOS9cPdDAnoCk5n0BAA84QlLHMIPlAIAE0iJlBL+8RDnweVBRkhCgjlki9HKXyMNYT9o4sSHbBSYJ1gRzroJs5zlHMSakBc4vq0HEVN8JjeVYAUm+bGA2Cvf8zRBCgaewQcl4dgdcWmeGp4vE55AhEHMqVCDqIIUh4BDG+IQqEBQ1J3qiWSwfFCpOEwie694ReDw5kdSGEIJMRCB5gAKUG6qMS6HiN4oGgFMVIYzk58wpz6jyRsoiCsOkPPfO10CTY7BCwBQWNpSVDFIg7xiEmEQwh1VKlVuutQTh4whKgFwU2GywhWzcEUr/OhIg7QAZD9Iws7ikAdECP8xqPjCZVEN0js1DCIU/yFFGJbAqINIdaoCdYkwDwk4mhjkEBQNYiAsgbyStAA3KEjBw34Ch7UWVqhwHRZCEAWAQRgkFqRwwxIwZpC+qpSqLLGEMAP4NwJmopUI/SMlQoGQv9zxPSgAQfGUgAU4HMQS7xxqXA/imwIy1WkJsW1fTXsITxjUqtgT2COY6z9okdBumkNIYxvrvmDxBiGWgGcggytX0B3kEQt0kR/CoAQftM+vkVyTMJsrMOxRIrqWaFMACUbSSjG2sXjkWGNd4E+D3AEOPoWmC8SLhVgZhCZTPIjTnMZZdMVgpe/9A2qba9XTgZO5nqBkLFQxCH+yC37/2c1usFzggh4YZAlsqAIT0opR4BhEaWIoISo0oQigqqYR5iVKQy3hhotBE74KvWqHhRmKVoT4EAD4QQx28oKM4fHEJ1YxixHCXoh9IaJp1I/SCnsQSrhzLi+R2jRf0dBMuOHCBrUEHFnxiU+crpJKJoUvVGEJRZkYu1YOsIqPUJIjxMAH6eryHJjEv3eF+cZ9pMSDFempNh2wEZNIHf7eG0xLsKIVnm6FVVdHiUl4YsmxmMWLhkZW3Pi3yldWMVOW8AQriMGnih7dfIYFBTzU0mkyQWhdnDldu8zktYFcU3M/3Yq65ZeAfvvPEgbsZ1bHL8CA9stbqhCGMJyBt0fN/9uJgtOFSShVddPCG2wAEIg/wmYmjXCyQIfoCWW74hOHgN5qKaFmSyzBBiVe9ZUa+4L3xE/FVG4CwnPShCq84SZJaB8k3wKCYFk5oAk5EcSsG8Nzw4Stbdqbsd8rREso29OZ8Ph69K1nJvggwCtS8YlNPKKCYxvhNrc5TpZwh4NUYQk9eKBbglVaK6PkREr4nFJ1N5M//pFv7f41VYXY6ZKf/OMAVHMmntDyFthAbkmDcqspnl2DH8HmbAAAG9Zw84Q3wSHGTEgY2p4ClKrEtr6DT8w3FnE83oAJeIjwAKWFNwA8j2TEjvpyS75sT6CShR/9hNb9Eq8af519Voa5iv9jgPA1AOANCUk7GG6eEEPgxAdt9+BofQW8P29M7wdJwQ+sgJBzTwsAhB1g4Ad460ge4hGc9rQrwFpvTwz+IKT4wm/iJTfKf/0vY5+5C5qwhrN7PiWgR/gSWJOCLAkdAMATe3Zbr/csxUAIR8mdu22Pt0cM8LmjQMTuAzmJSYQi+Pb3tCcOkVXQnYEJSvs6cBzKkwEgcDxfY/kA53WeAubEG+wcMOHELfUBQrSdf4HAxI3Wn90RX4AAi1hCYrjQx7UJ3pgPG6lO/AXSK8TCL8zCV92fJwRC8alCm5kfAYZZDSYNEhlcY02fAlYfTnheJxhEK8jZAzaFD6QAQFEb693/UQ30AItJoEFMywGxU+5QEvbQAUuRki4EAzH4AgvOgqfp3yMkBirwFg3W4ADe4A+o2Iq0gA9Q3wK+xdQF3xDeVE6EQRLEABIBHNFZ3BEswYvEwie8WxAdApvERPsVEksZRAwsQSewwi/4QhcCwCyEQiY8QoQZhBCoISdWnl+0Dw96ng+qhOfd0tQpmxDmRCDAgRhEAU+ADEoElOn1gSbNAikIkzt9CguVoCasG0vVABswAiN0gifowi8QQzCQECrEAir4ARP8Rife4KH0hl8Ujyh23hsQwg8yAqdpkuJ94xA6RJsEgh5k0FHBYkLckYC9QSAuXjmdnCKwnxXGlCrx/1ANEAIjYII+dkIntEIkSuIr4EGL2GDSpCEnwgs1at41iqI2qoQDeiM4RmQmuUioIEKgAMDZkBVKlJ8hzEKehYJCMRf7XZXqvBUuoQAYYEI+CqNK8qNBEEP+qAFgbKJBEmBNIooQvED2LWTnNSRK+CQARKRQflrTodL+IUTvjEhC+AATfEIksqBX/RLxmc88JhZzDYIvBhIKEIIpdKU+5iM/FoUvuBIp4AEUPAG6fJ1B3iSi/MCAieIbZGM2pgQQtkJQDqVQughsUNpBFB8AOJyWHMQP9IFHemEwcRUrPII8FlJMCZE53VIkcWVXTmYn3EIK5s5/MKMliAFaml8aev8dAW4iHBJCXDYFpwkhXgrlI/DN1JROVskQABRKjSlBJsRCMIQC3xiWYcEgCRZSKLBVSPpWJNUAI5jCLRinVwHAK0iL+RyEUeCPGlQBWkKjGv5G9i1gaV6jSpxiakak1WVVCH6cTCTEF+CBKvjCKzyCOx0WXSzFPHrCIyxXQsWXcGploXWCMcbCKxBQg5WPfwIAeoYCHihBEhBoYGwiTlpnQ1Yf9WljXGrnAnInXkrop7HCx5lQCLZTg7lTTOCPLkzCjnmKISLCSJagbOXfMCGEMB0CZ0VSCiyBJu1nf0YhCQ2QcxpMiLzYEiwBuiSBix1EaSogIQzpkD5oaTICMFH/aHeW3CdkaMg5RDyOIEMdzE3QAUXd2wCVYD3lnyIYlIq+IC4pgX/IKE7YKIDqJ6ipZJFiI1zKpUEMKSMAACMQaTZyIwAo6ZIqWyY43ZOiRONNgkF8whsswcM8QZfx5jzyJzxCZkIZhCWc4ARlQgo2J3+WafaMZTD8AitggpySJpvC5ZsSgkoihDDeaVe5AmrmackdVJusB+HhRCMYVyewwRFk2QsIQRfMgbQUEpkdRF2g1kEUYSRJKgkJDI2W6QDpAgDAJAAEwyyYQpzSqad6HpHq41diQhCyAgsCAKoGX6rmqVZZnTziHsclRAm9QiZsgc21V2R9QR5Ajx6EnCIw/GowJRS8VdFH/U1CVGo1nVsoNEImGCMxKANM6gIrlOqQ9iSRNoGLvcFKmoImHcQsUCIlehWq3mVqBiVskCvH4p5fMlQfOGEPIFwNcB2ixNgZyEajAgDJLOLsveyx9islkMIv1KzNbiHBBkMwsIIpyOmcDikYuAAbZCMY+IAPxKkr6ILSIsQs6MLEGsTFfus3phzH9uvHRlENNGETHEGC9YZRdQFt6NzKokQUpZE8wixKkKs/ZqrN1qyyDmzBdoIp4OMSNIGoGgSn8uO6zZvTLi3TOi3UPu1BlJxBsAJzmmlK8CuuZO3IglBv9A4WYEEN4BwADEhJJGnZNkxAAAAh+QQFBgAAACxsABkAwQDXAAAI/wABCBxIsKDBgwgTKlxY0IpDhhAjSpxIsaLFixgzDnyosaPHjyBDikTIcaTJkyhTirRSAovKlzBjymwYwMjMmzhzdrRCwKbOn0CDHrSSwKfQo0hvWgFgJErSp1BRLm0atarVnUydXt3KNeJUrV3DiiVIlOrYs2KLgkXL1qratnCrvo1LF+ncunh/3s3Ld+bevoBV/s3rsLDhwoE1DsZ7uPHSpCVxXllM13HjxBmLJsaCpTDnz5ExV0yw+XOXLqARi7aIhXTgLk0WOPEiZ5HtRYLAhOH8eLVXzb3rPnlCpEGaSJyScwLACVShK74pMqnZlzMPKl5KndrOXSCotdEZuv80iheLjiFUFnFfL7BUlODhIYKHy5kIlTLr2QtEDbjNGTGodWYFZ6d1kZBNLMzHFhRQyOCFF5xwBwgYRuA3kEttdQYFE0IIoQQTUGBR4GkCEijGgQSYYCBeZxDhBX7bgSLGF0V4EQl3UDzBlhhn/PdFF1ZsyASIn2nIhBI//PDhgAYZQQALItalRBHYRbjdEk8wQaWVp7Bx4llKhMgMM+CUaWaZ1pxppjXWgDigiAVi0QEBCSRZlw4vcsGdjGKIsSV3YAAAxVgbMsMOAPPQo86i7qhjz6ONOrooOt50M0wSDIbYhRhqtGECnbsphIWQSigxUxdfpIrahkp0+CEUVpT/IUdt25VyxKtF0LodIGzdUs+jwAbrzj32vHPPO+/YQyk31+CSyAxGyGAEDNHqYAECF8gwaEJ9AshZTKW+KiKPPc7IHxayysGdJDOOyoOupxSClhXWzGOvPPbOg+++9+ZbTje0kODBwAR7MMEEBiBgAAAIgNGGGt5mqmmcVhz5gw02eMjEm5xtmMSHRH7BoxoQ/2japmeQ/N+qQw4ZYpFQ5MoFKKWAAgoYBH7RhBwA1FzKc2epMU478sRjNADxII1Q0ckcPEEITkMwAQQQNLDA1QtcAGdnR4ZbRBZZeAFGyj4GOC6nD0PMcqlExsnqxTYo2TaJQQ75xIBfnAHHEHKo/yAIAIKkEYWJYMjhhUCCkMEVgwOi2oU4Rkcu+eSSz1MOAw1QXdACCBCU9chwPHzGF1hEMQEOqAMRxYgVt2pDDDdozHFnWbZsxaadwgGHGiub9sUttwwzDPDEl4LJEjrIUQYVAsnxrhk8pJGGGcv//be5GOYU5tZPtJrkDx5CocMK7ZTfTjznl4++0edPnk4lVMdPtdVYX41AJQN9Y9AlqONwCZvPmAYzphHAADLjGc8Yk/B6cQsGMpB4EFwCrD7DKma0Yx7uIAik6gEAc2xBekMAHABeVAYSlqGEh/sbGchVLtQcqUNCQMkTQpS3NmDihoDgnbd4UAINaAAS7WAHO//YR7kixmMe5kBA/eoHAQIQIAABcOIuoCENa0SDTd+wxjcggQHUUcMc5TCHOc5hjmIIoxhoLMYx1HiMNbaxG97whji88Y042rGO6zgHNa4RDnTEQx6/skdB7oEPYknCDmUYgyAW+SISPuiEXsCNIIqAMfDNLUA5sht8LkI6JgDCFszYBC5gsQth1MEABnCiKlVZB3asYx3suGC+ZklLe7kDHbBgwAKohrUGBEBhSlyAASBAMDQMDAgDwwAQlhmCZnpABRdwmtMKNjCBeUBg1hyYNKm2iWPQohzskEewBAkAcgLgHug8xiJktcjApeGE8DyhHNpJhjZ4y0RnaAMc4sD/T7W17iKoGgYzzNFBasDiEpeoBBoSlspVPhGV3nDlBelB0Yrmq6L0qIdG60EPdLQxGW1cRhuRoUaQFoMWokBpLVLKUlrA4qWVuEQIPBCCYR6MmgSzpk5xarCDheAA9xviPIKFzkISEh/4AEA+jkGFNLTzqVCF6gojlgQh/OAGNojdkrg3kbzt8xbTSEc6ikaOg9ahFptYov1QaYAF0GKccI0rsPCRD33k4650zQdS96rXu74jH8gCLGDfgVR0Glau9nAHR9VUJnE0VhxtjGwz2qjGdBD1UcQKFkfpAQBeQCCqoIUqJCCBC2YADxMmq9uQbscpfs6BIUq4AfiUkIRh/4hVHe5wxzyEgVZbcMIRC2iA1YRLXOGigR6GRedABGnOe5yzqHi9q17vIV271lUf2M2udrcr3etu97vd1St2qztde6ATs+ZNrnoza4962AsAtBhCaOcrCC7UAQ3QKJ885DGOcUxDF7cwRRhax7a7JQRJGLPBmNSRrEeVsxp1iIZvOcGFg1nAAgJhAAMQIFxw5DW8IA7xXdMRD86uD2lGlNx+I1e0/e4Xoxl1xzjXa94aT5dYhi1sUQu7Vx2rtx7CUMEQuOAEKXCBClTgghewQ4VZOVkQm6jEfWO534vyox/bAAcmrIrVrN7gIHOIQxucsQ1/+GMfyCIsUsWxCVFUg/8XFZ6AAy5M5w04gAEEqMNfRcxn6drjiPiaBwDMZ75BD7p8hyY0odE3EPW1QyCFfnT6Jm2+eLADHTWmLp97zOm9AgAZuxRu1TJHtRBAYAEh2CUEQlAHXOBCFNII9CyrXKx3jAMPdNidtwwywCv3ox8iLoYtuFAJCzhgAhZgwJw1sAFjIwCK39hzn0M8kP0STdCKzra2tz1p9Ema29pGxzkwTUjvfvfc2ZVuNXYZXOFyOLinJvWpAbAJR2wiGuoop7Do0eJ8TYNTOgSSQL5sina8Qx/72Id1u4sPe4gCFyoQLlCdCEUDHOAAC3hiACwr444n9uMyLmc5Q17OeaTvj+b/iyW4V85ycKucHWMUI13RTfPvhiO4wkSAsi2A7DkjewJXmwAXoLyJ9Br2nEq9h8mDKA9mxC4JMyQIHGyBDnxhdB4wR4cYo0GLTQwBCU5Igx344AUGVBwBFAfCr0TOXLa7nbkZtMfSg3g+IQpR23bP+91jyfe9873leScjGdEh6PQitbo11245rmYADTtAAxfYQOQj32yeMwADm9hEMdCpZvX6mh/qKMcqYiAETAHgSwD4gy0wmFuQCwsX6HkQbRIhkERkIdkMACoDRAEp13v89x/XN9aD6HdY6j3vR5xlOvrl4uaz71B/P77d10GOcoRxHfSAOzkz6HHm0uOiAJAx/zqsFoADzNnYG9b5+TewgYNx4RjNAAc/vNtdfsDjH/iHxzZycQbV7McR7bB2zPUrMhYNfMAHe4CAe2AHtZcIDigHK6ABPGcBx+B7Fgh8MvYo8jB9xvdKHviBr3QObRQNkdVG4vANKHiC36CC4KAvxCd9sBSD5UAO1WcO8SCAb8d2HRdy5tReGfdLBgBFFkACTgA2WYAEjpdsOSANxgAOdZVwUIhw+3BlZuYP/cAP43ALHEIQeEAI7JBbYAiG0UAEfCAHe3CGCYiAs+KAgsAHAKACJJABGwAOGGiB9RCGrfdnruSBQrQO6OCHgAiI5VAHEKBhE4A5ALAwopY5A1E1Vf9zDCAYia+EDtzADQBADuYgD3W4iRdYDwSQSr+kAU6ABLMCAGMwBl7wTjngABAACdVgDMeAD1IIhbSocHo1hftgD88wH+YAhhvlDuDgZMpziqeYBgm4B2YoB3ZgB2OgAhbABXSoWBt1h4oljRqFhzJWD/EwiedwDh44bugQjuJ4DsBAXDinVljTVlfTAAAgXN6wDgAQjoD4h36oddlQid1AeJy4jyDniahEAl6QBWVAigeYCHxgkJHgBTlwLQgQAsaQL+WUXD0mXUjlDrcABwZRL9N4h2WQBnJAjKf4IKdohnvQkQwIAFmQARNgL9+XKN8HYzBJUXdID+0gbmQ0Rn7/2I3jtpPnkA2MWFztiDUCgY5YIwp5JG7huJNJySzXgA3csA6sh4cXOJWKNUxOQAVZMAQH2IYGyYYOyAdDoJIOIA4Z2H1yVQ/yoA3yYhDDkHz5UgsdGZKHAwBUgATEqIw8Y4qouAIh4GL68pf8Imu1ZC/rIEZgVA46mZiJWQfrKD/zI2qjJm/xI1yQqJiJWQ7XQA17ZImsl1jYuIOtR4CuVw8NkANOMAUIeICpiYaCkAiteYA5MAHigFhx5Q7ycAwv8GUFwQl+dHJjcEKniAQ5IBBSoAJUcJd2oJCylwVAUDSUVmntMznOhw4zSIPhAADagA3VUA2GKUbCwABUkzCc/yNMnHNqRLlEBpBHlilG5AAN7gkNT+mSGzmfv4iNiVUPQsY3Z1iG7xRPJqmafIAE+kabwOIO9GAOZKCbBYEH4ZB34vAixJiVAyEFXoCKvzkrQxA2DwIJdqQNcSQOefeC28YO50AO0gAMvEBqkik/kOmYLvqijlkM4hZz3ShG3LAMyLAMzZAN6yCYg3lRFAWkMikKOZADs4KM0uOf8WSMB7gH1uAoU1mguiUNCmELYkRGopBIqFihAnGKpggAITQGHrk8sjcFG7YAUIQAEyCBDEACyTZalQAJojCnonAMIAU/EFAJsFAM3GB91QcA2UAN1SCohIpGvCAMvHCoolAJcf/aqJBQCSGwosTFolUjZQAgDMaADNeADkSjYs33qYHJL99AAiogdrMCT2NwmqgKACfEpLPSex53h6PZDpwAB3QQBwZRBXbQDTRIDptQoUvmBHoJklmgAk5woXKABBqaBcfgDeHwrOHQlNIwrccgDc1wUonKC8BAC9zqUlQKANXAR346rtVXrtZ3ruN6rtWXrjOoroE6qPBKDclAC0BQNUBAC1+kctvmbfwanX8kD6JgrB7ZnycEACSQA79ZBkXKqiZ5htHQXhuJje51nX/wBwkxDM4aDrXAPGMgnMNKjCgZNmLKM2GDkkHADZXSDSoLRxmbseFADi/7rDSYmdUwENT/EA7tWq69qrPmuq7mmrNA267p2rPZIAwAUAlA0AB1AAlq1LTNakdxZCYv+HftcAwkQAIDq6QCAZxfZ0Ku+qMVxVEmVwsLcQaFQA3YgA2iILIBWaEgSYxumy7KKhBZwAtpe7fYoA16yw3awLd+yw0rG62aabMvu7M0WJ2Gm7g6W51Ae7iO27PkULS7MLmwIAp1cLmXiwb1CplNAAeBgAiHALrjqQI5UE1ZID3vNAZZMAVK2roAoIxpEA1Fw2JVti/x4A1FABG2kAzLQLZZIJdvC5Ii6ZFykAUhiwSaSaiDeg3bybzO+7zXoA3Jm7zQgA3ZcL2VCLgqGw4uC63eu7OF/6u44turkju5uwAA3VC44SAOMeu913ANbHJFACAN0dAM0rCmOYC6wEm6Cdu6idSqdiAH0SCi2rYOuKCgCdECN2ALy0ALQfC7qisFHwuSVDAb6TIEUjAFUuAEtdAM70lF0uCe0zqt1CANJWzCmrkM7kkNANAMAMDC70nCJozCmamZ73vDeJsNd5sNfau9gfus6RsO3VC+5wsA2KCycQRH3LvEzrq9Swyt0pABKtCRSZpIRei/J1Skvzmw0dCN4kiPfUgpaxARm7K7TjAbYDqcwYuKOaACj1RCAHDGTpADzdAMy9DCAuHCeLzHehzCyeDB0CAQOpoMyQAAvHvHAHDHy/+gyIzcwi6so3XswR48wiWcvChsw5oJDLtASruQDNVgvTyst6LMtz2cvXvLt5CQAUOgv1jsn804BK0qPZtwmN3ZneSACxVhC6IwBb+bBcK6xm0bkEZommc8BLSAEDqKyIlsxwOBo4gMDYW8DIVcyIYsENR8zdaczdW8zYJ8yIecyIyMDJMLAOcrDCgcr8wbruF6w+zclMWQAVhbxa3syv6ZBrUgDo6LrtanxxOhB4hgC2f8ICO0xqgINlQwBcwDAMN5xqLAzwaRzM3MzIlsDHsMDdKMzduM0RqtzRud0QaxyQPxwSA8wjOsmZdswnWgAQDAyvM8z7jwrN0Ls+TgDWP/EAMXQQZFJrxvG5AHLcEAMAUKLaBSMASLjMd2LNHLrMw62sLCIAxLbceEzNFS7dFU3dEYjQwCAQsAQEoVAQ2RDAwTkAEv0p8K7QQtvbX+KQ19W8p96w3aQLYtcBFtQARSAMFZkAPHWdBZQAU+PRBTMMdIgATGvMh2/NQQLcgSXdjKPBBFbBBWDQxVPdVXLQwv9VKl9MeInNkHAcl1jAYToAIUeoolRAKw3MpviASomqrqzM5pew3GUAQpkBGHcMZhM8dTIMw9bRAaLJyjCAmHnMzJfNTBDdw4igyEvMgXTcjKvdzM3dzLDQzUrBDUjAyUvdUCIQzRrdmJLMiIfdQM/zABAAB2Iqul8zwFIQScqFgLIy3D0iAMvNIROD0by5nbCCEFEjwEsQndyE3Ywy3chY0MxhDgmWrcye3cBn7gCM7c1F3ZWg0MOSrR2p3ZdayjwMAAKiAQYMfLFdrS/5tID3LheZzHdZwMtPcRZJDBuN3XB3HG9p0DJaDLtVALpbTf/Q3cAC7gOC7gyLDjO57gPu7j1L0Ll3BQl7ALxkDYR73dSn7HR90Mnj0QgX3Gt/3GLf0gTiAKeQzJyZwIgxASLM7XKm4QcrzBJGAAcIAIevBaXyAQZAAIiWAHriYK2jrnvMCtcwoJdTAEQRAEK+ABY5B5Y1AIe7AJnGALthDjrv/mak2NqQPO48b948awyQj1Utjd5Fo+4Zhux8CwACSA4YEd5XUtkvQcTw8yBbSAyP6dDJFgCBaLCB/BA1Euxysux2e8AiqwAEWACIrg6gPxB3BwBmZwIwJxtcMOABtAAhew53weBBuwSMrjBWFQBQIBOz8AAE4RBjxCEGAABm1OBt7+55m3CSsV47WAC9oqDJvM4Lvw4Jdu6ZmetFD+6bGu4SbkBEQIT7IHCfwt3MZgBzXgAgCAwB1RBEPwdbJOELTuBCqw8G6KAEUQCBUrEIEw8ZIQIYuQ0ATBfs0mEHy+AnKggGkwBSYgELG9EMPxBElwVSVP8iwf17ADAC6xBnv/IApDvgv63eSZ3u4G0OnhLe/yLuWyVwYKTUJbygX+nczAMAYp8QYFD3YJT+tDAIcGCwDMvgFFkAcVa7F5UAipcArIkZcFofEaoAK2vgFNKgdpkAXgnRFJkAQB/wICEdcGseuuvgaFIAm4cAx5PwxtJAyPTuPIgAAh1PM+//OhvuHA+SBSAAw0vsi7YAYvwQY5YPBPjwRwSOxU7wUrsAEaAAZ68Ad00AZkkAqpgByCwAMjXxA+tAIXpmwIYKSzoroZ4BH/IRDZsxCGMPGIcKsA0AYEwQENsAFkrwKq/HWFX/hSPt5bmgUn4NQ0HglV0PaRzwOUL8cM3+nIDgArEAQW/7ABAGABqfIFYED6ArEIRPABHXABAuH9ObABK+B4JIAASlSqVkwCZoEReeDPiJAHExEIAAFAoBgAUQSaaLCBxIYVJAAMGYJE4kSKFZ04yZLRy0YeRZAlS7ZsmS07hugIRJlS5UqWLQUiEsgDosQcKhySuEDCIYAVKwAs3MDhiQxQqThFWoSkRYsODjYA0OCABJU0Y9IMUWFgAQICObxQQaJCkUuyZc2WfTCBwUIAFyw4VFFRrlwnUqRkLAKgCBkjgKp0OQPg5FnChIsMqXkzp2IAKnpO2BDZBKhVoAAsotLkShQTCDRssJAjTRo5o0tnaMAVgRMkOUiw0VNY9myBRf8iqF2IU6WKHHN9S7xoZImSJFWq0EZuVodOhT8XO1fh+GfkC5UFRSrDJs+cOG0WWLDgUyDp0aNJbCUwIUcOD2CSv29ZRAUDCwicowyiojkJFRF/yyWjEfgGJMsIhRTTCTrHvNAvMirkiCQNMvL4449AAomAPpXKG80LBiDgSicICBwQBh5IgMACDRCIjC0AvHIOrsb+m2gIMmIjMUeVjHBNoedwik6FIILQoDEAIpFjQgsDOQQRDkgocrwgVqCijPIygAACAyaY4AIAAtNRNh6HYEA/FhV6ysuefmLzJt7+y8GIQMKkUyCb9ltsgyB70nOFuIg4hMkmFVnBAKcAIM3/CwsCYICqDglAYMsGToCizsJYGIIACwhowILIIgPAAsfWFMhLN/ubKwc2LK2ziBZ91ClInnwiQbwiFHkkV0XyKEErBjjcIAAEguAQUgIWSIBVwlbQoAECOHVARU8/C6+nhmCNsbG4KCICBiEMUlbHIj5DMLoLousJ3Z5M+MINPPw4gwdOF+DQixWGqBdSAyAwAotwyTphggz03WCCAxZgYIJore0pt5x+0umCA1dAYggORAAAhH/D5EA/xYIMkliGATDBjUMmeYSMBgxAYALyUCLvKn293NilExZYYN9IVfCCtNKkSINhh2+C+ECHTEDhg5rDPAGJ3Ow891zHqLAW/yUW2FAEEUQYYNkAqgCQYzzyEIjUgB6WbimBnBFoYIIx5IAbbiKomLLqUtuEWIWcTvigb7R1NMHjDaSWWm8VJuBpylmL0OOPInI+T4U0YC7NgK6LOOTvlVJDAGef5TAD7lGF9hFinXDKYQUTXEgBBRQ0z9HV5kCWGKWeghDIpxU4qLAIyyF4dgUvyvDCAQJYJoBm2AG4AYAWFuCUgAdBj5shhklt66bTqSRiDjW+qEKJ5ZGrsMI86PiUvwseTkmDFaZUfEoO2LjDjOO7JgAASCNFAIITlhdDAL+ggwAsgAQI+JwciKC7610re6e7CQ8ElbU5jU825cOgfPTToKes5P99HxxSEDYCtk11jWwA6NwF+Iaxv7UhDnTIQx6KQAAINEAFcDPDaBwAgLpdDyWLOd0GglCIQJRvMBYkDAYxGAgyrOBT6UPTU4RYghCKMA17EEgZirACstkHAiyogMZg50I6lK8InTPADeGGOwsgYQwNvBZOTmeTCyxiEeXjDhILU8QlBqII9HlibqK4AQc4popvEwgWvcCEH5zAkUoTI+zmQCEzsoxtoAsCeEQFRye2JQMNiYsKygAKTmBCD3nojh4JEwgikIEMZigEGMhgAQcwIJBoAkpkqjU3IshhD3vgA9y0eAMbuKAFABjB+MrIxwqxwZILyA94NKABFfzEh3r/2ogTyjAEKlCFE6AoxBzm0IYzfOEJqiwLGfaQiEhIQhLtjEQiEjE5L1TMT0/cwDQ9FYQcTMCXwZQD8b70BSvoMWuBupAewLCyBaRImqXaSa16goQyBHQIfEjEGEogh0V8Uw5nOIMYvgAFIaCTLDdkpztVulKWvnMPcNNJtCzwIRUAlHhe0At34mBBKITBDX84hCIUQYYsbCA9mnyL+nYyI/KUYQp84IQk+DAELyxCEKCIBBh+oAQoQEEJPzApS4zghAyMwQ6CwGgiWrrWlcpBBQ6wHAI8ALcxeGEKQwhC4/4wvhGgoAUusIEQlFAEKXghAwhQEWhqpb4NVlQOdvBl/xowCgpJJGIPZRCEHEhJhhcoAQsECetKQGACJJTGSmmA7B5Gc9oyALOd71QpPL0wAS0RQJReyELFSFAhC4oABCAYQXBNMITCIuxT1BycTVZAGsjagQ9jkKckALDOeEI2EqAAhRm+JYY2hJYlU/KCVZrry1++9LGojewYWgtPee4hA9DrSj0R0x4Kja9v9zVBb6gwhJYdNzJxeexj95CFjVwxEQCQJx/imVmkYBUKX3DhJL2bEiKoICMCwSkANjIG9aLXDuV9KWqzkNY9TGErAXhIa1TQADDkwb73/QAIONAbKUyARQvx1ArKADbI8mE0YwBAFhwrkAMLorJ8EIQgSv/BCTC4AQ5zKOOEUUICKUwhCxrGKYG1jFsub7iiH95DXX2cBRVALwAeqImNj1DE5cH4A4FbzwRwJhUHDAEAzdUwaqebBrs6IbwGTkQZ2GlZJYMCEG54ISWlfAcVOGEKOB3hliWd4i23tjQZgUgOICAsFXhgK5njKwj6BoIHRGcCBdQAEpxwZwH37M57sMPkqHCRwr4trXJQayLssIhSLCIOFKqglN9AAitDWiCS5vKV16PhLZfmIY1GwsDkWipKWDAGxmwBCs6lJQPYebxy6Nl4y1BX3E5BCo4O960rm9klY0IRjWjEWKRcBGITOCXJxveV74Lvnl0lB06wswEaACL/BJzgOMuDQxsImoQfZGACLCOBlWJdBivFTQ7k3shGsjCFuoT3zhhNw6AVDAoyKOEJPt2rvMNaAgtr+crIhnm+CwwViAzMAABAViRhF0M6cAcMNjZAkSrqBV8GuCoZR3q5z71vuMkT1/FMQyQyNoK/BnbCQRhCsXGrkZh3HbcUR0ynUZgaEyARgzLMWQZUPYS3fTigGE96xjdO6+H5Up5Rj8RLI0GG3wJXyiTIgZWxzHWZe53AZaCCBkiAuAU0QALHtKASS1DA9QwPshePe+Y3Ym67ZKSi60TtPMvACb7fV8oQGAKBt054w8u8rhnAEqcS4AJVYnAFAYCAQ8jDYS84/yHwmkd6RmZdF4GclQ92GLcjsAtjKXcgLnUx9xSK3XpJq96wiKPhCXxQ+woFgisQoGgaxp3x1hQW+HI390WyAGQOl8HCypeFEZg/4QpUTCIzoTX1cet780Pg4QsoAfHhvj94g5yBAPWCuxE6v7gbvrqgAgK7KiQpBVkoPb/xLhDgAUEAG3ALAhMoASIYAnRrvbB4NC/oHAKggLCqED3YAujxiptawAXkOPsrrSEohVIABVngBFmQhKSxQO8iAg28DDkoAjGIAACIgHu5i7vCiMKzso2DHhZzA5OKN1zJGSyLwfPbOCmomCIIgsL6phvsBVmQhVUwptZJJu+SLIGIBP8qYIM5qADbUTUpWI9H6zoyOxYwUIOw8gNFCAVSaIAFsL4szLyNa4wifCEVkAJO4IQJzIUxTIVCwAJGioEJ84IkuwwuAINTAgAKkAAJuADiMrc75LgFcIAHAIAlCK0qCINBMAMGMD9CjLsskAKSSYIviAMoK4IcGL0dzIVfTIVOwIM8AhOTMoI0cAROuIwcqC+VKAJVI0Un0I2yUIDlEYItwAMymIBalMWko8UScAEh6II2gDIKIYMhGL1TkIVfzIVF4KMYCi02yCxlXAQi2CuWOAz1czlaPLcViABUnI0HeIAj/BeTmYQMQLdu1LgpyAGBsAI1SLQ/iKEgoAIv4IT/VFjHXKBAZgotMsgsyxAEIniElqAACqCYi0DJi1CBInCDJdi+2RiAAiiAjTmZR3jGWIzBWMwCJyg7ABCDXKQkiWwML7iuVfjFXuiEQyif0CICq1JGLcIDlTuokkQJDriXukmAFEyJH3QJARAAABCAAUAbRaigjZCCigQ+30MCjSsBVfzJclSiw7DIHGTHThiEZkQnFEgDQeioNjSCrUKJR5iESeCAwuQAOvFK2PkDMui89RjEuMs63EKCVQGAQ3gEoVKEQFnKc0zHdeyFXDCle0QnEODLjlqEHHCdv4oBwfIpAOiADmCVsBTLv1G/VcvCjSMClDiOnzoZlBGqQNAD/4q0SIxkRzzgLXQ6gUUAAEZcBBL4SgCIMb9ygUqsRksZgOuEHTJQv9vMLZWIgRjwgSVgRTcYBMG0k6oqBaP8RUswhGDTowdAEubUgOcES6+UTZl0ie9EjuuMSc2JIe1MSODLCClgA3/Zyg+guukMz+PAg3sZA17LyFzoBHT6SifgBDlgzgugT/v0SuwsiycQgmsrjOucyZ3LAzIADrRMOiqQvskELZVwMxGQTgDAvbW8SM+U0ElAouckygj0ggSgTwDgz5gs0TAh0eo00SRUtYuwMruoMikoAQogyJVwM9MzgQBIj68oBeL8xR19TggBAFBYBCdITIGYSZmcSYDUEf8USAGBmFLYKUkKeIBaYQ3gQIIVKMl/VIAhtc8qHbUrfRZehNC6tIRJsATYoU9B4ATTVIEgxU8AGEgOgM0w8Sx0kgCqBAAFuIA3VYnr5NA+hTEQUIDjIQAGoKpIUEd2XIWRtCAjsCNSWoQNcFQFUIAI4IASKIHDpBPRXJ6YpFWB7ETk4ND7+q0AOAADOAC1o4KiwNFO0AQAUDm0AQEZQBJYnc+UUIAHqIASAIAS6AAO0Mow0dHxGVIzTY5Ptc8BMIAAYNcAmICvKAp2zAUkyoILJaU0cAD6VAAK6AAWYAFv7QBMlTJhLVP4QNcOHQB2pdEAENT0lNfYcE9LcbGUeAD/i1wErOKCBJhNgejXfwXYONUcXa0TDiWQg03XA0BZlOUmTkjV9TSEf+HVib0O08wBNE0Jj31NcAVZJCrJOCTYTyURT/1UFBhSmbwAJFhWLpVQUEMbDrgOWPWACODUWwXYb93Z0HoABSgAD2UJ+7SUrR3S63SdsXUBF/CBItDSVDjKedWcEqjWRSWB15QAldhWFnjNDqiAqx3Y+kRXZdFTrc221GwdFJhOIQiDho1QWdCDiA0XInjbRViBQWgJCegAb/XWSw3XvdWcOJWACPgCLIgCIbiBpTBbH6iCM5BLls1IpGTaHMlclbBIzcKOf3SJB6DcEgAjvdVctInTnv3W/08EAChggicQAz8AABRN2mZtXQJ53ZRIg0VVRi64AK5dCdvNWam91N3d3N6tgLutXG9lAQ6ogMIkA8RLTxy9Sx1pXpSAENN0TrEMUpXgAAmoAAnI2mwViLnV3o3p3ZKU1Mr1V3+V0vvFl0F9RMWdWObt3ZTgAAyFVQsYgIJlCW0V3wjY0/7c35rpX0mV1AC2W/vV2gKoM4tsWQnFERLh3sLE1Y/kBEGwAAluCQqugAgA2wxemt6VVFz1V4HgAAveWoFoo+Q94ELIxTqh2gsYnkWVggOI4PhliU+c3wcogLC0Yf713xzG3W7tAPuVyY29AMTLwXUshckJF2bRAMTIAP+gLYstjkMppt4qrhP/fc0SaAR/rdwe1tqNtZOKUkdQSIMgqIDXsRQbYAAGAAC1MACSXYn4VQDxneE8huNw4dd/bYQsxlU57WKVKCQnWIQ0cAI/IQEeYJUTKGSBOAACYOImVon49UoKllKtRVKW6N02AK0ijWSy4AB/5QEW2OU79mE9RgkHUIuEoY4LMAEWWtMEQBwAcACuOABFPlDotMAHoACdHUiXiNMY4rk4KEaUSMNb5mHc5YFx5gFcjdKs1WOlQYkEYBkGcIDPYIiezJEYMIFSjRYUIoAAaGIndgm85VhwlWUKKJ8LAQBEAM4EbgnDNd4MFmdytttctWAqpVj/fYmW4/qfHDmDBGCAY+0idmVifnYJBQhg1wTolIjT7oOJAeFI7+pXci4CIvheOY1lgVBnIQUBLEWAA0gsCzgABOgAnXuPEijkmbIAANhoY43g2egAUQYAu83c/qWAlBYIppVq8lEiJOJlMxjnIshhPGaJmobOBzieA3CAsm4A+jiAix4QNiBrouZpBkBqYD4LXhaI8IVqOdaaqn6J5R2Qq16aB2hoM/jXf+WArP3qlCA1LDUAVGYADZgpBzgAAmFB+hBm8KglFKNVWyYMpmYBANDZBe6AJslrqc5rxs2R4wyXArDdDu7hXP5XTkUJsE5sywEkXZomNX0PMijrCbDs/5URiEeQ2qwF23JtCQ7g7E7E4ZcY7UNoXUSI1l3l1ToZgIGsgG3lAJl8gFslgvA1i+lmVwKoaOpYiAb4abCWjTwwgUKWKQbIGQJIAE0gBVKYhEFwgy0QQCEtAPzVX4GgALoWiCj1Xx6GCa3JHAtpEmgVEFZBbbJ4Y8Ko1fF9TSHN1m31Vpew5QP47rb+lJy4ANxGDjBoV8tZbHZNAF2dhD+cbzcIAyUQwP026c4GgF02zJQYcETQTAN/t+eGbgtH0xD+4bPIVglQ4QfwVVv11hlfCdoViIRVbJlqEYkxgLIDasKIIQx/litn1+xdiVH4BEvoTZKkAIfmbpTAzJTgo/9AEKpqYxVthkeVyO8ef3NIZnDqvtUKuM5spQBcdeSWMGeBeIB2tWdPiQwHWBkF+GbkUABAb9cEyNv1BQDgJYtqFvO71ZqUECrmDgSYoIRRUJYvgMiVoLoW6HFaheVHDekIgPAO2NP8NvISqO68PYt1ZVd3VgucaW95Tg4K2NR2NYHCXGDkqG5e5gFNgDdEaITRhlZozRqt2XRSUJYX+IEkWIk3l0lY9qsW8PGQXu1bjQASpWZcxdvqFtiQblcsDYC4shwCMIHfeg8mMczCvJA/gGoQ/nGz0OVydu54EwhKoIRGyJyUfgROP1RL+a3gmvZSL3WUoNVsczMztd3qztX/I211R9bdlrhSQL/yZ0mAG6C95LgQ5lYJZuJVrT1YPu9sUe6AY2+EZ9UElu93aG12S1ADIZhyAhEB3zp0N/3baqzGM02JmTS9AZjwbe0A/lTtPPfWV/91ssADFih3LL3yN1BpJqlM5rZ6PjKLTyXRqowJUiB2TeD0Udj0sU8JS3CDJ6h5m/etlfjf+p1SrQWAOEfTKRaIIFfhC2b1XC4BhFp6l7hHp396AgCDBIcPG0f2zHnH2eDQ/P52+H6FV+D0fdeETY/8R3CDKhDkOrl5yEuJnPX1ziVIWo17JJ37h+/eCLjPb/fWePdrllhwAAADE+AB2c8D06YNY58T5jb8/yKaA5t3gSVozVF4BQAY/rEXflSw/CroeM2XUbBi4Jzl72oWWU7tecavX/G9z1rVew5gfSXyfgxKCTavk3eDN8xEhD+Igy8YkPtqgRi4gUoJBH4PBVV4hViwf0qo7xjIfDq5eRsAiCcABg7k0KEDh4EUKHBICMAhAAkSHlBUUOCBhIYdFAgYMOAihRIlOlQI9OckypQqTxJs6fIlzJgvAylqZLORIkRtsMjs+fIDChcAYthoGUfRqFi+AGhyE0Ooz6g+lXxxeRBhw4YtIXYAcBAAhQoMJZR4AMBjAQUROLAowaGC2IUpAaxkKfWu1EOKajZCFAfLD7wygbpw8SLGi/8fSgAoUSLmkSpfvlApchNGMOaWKAde/arxKteBJdqOHt3hQQG0DygAGBl3IYW5mWdL5TsQyw0UH2gPJNzChY0XwYU0ZuLmUdJYqF6NAmCId1QoYuhu7ixyZOeuLllw786DpAQFCh6sbc0BNmzZ0Ne3RJQTAGDdu3kHbYHi5Q0mapDGGkXJpibs+fRFHHYBUEFnnHWA3VfbUaJJdyx4VUEEDEGEXnqbCSjgIXq0AYAQ9n0w32z32SccisH90IUfoTBHCSLuHbJhTFi0oeFDCbZ2XXYdxKjIg5po4l+MgTA0GlgERSABejjSuF4cUQhxww8ujEhiZi6g0EJRLa2Ih4v/RO4VyJMwqZEHjgZdVQIPbbrJQo8dPOjfKDEictIjpIQySBhCCEAQRUuWSeMTTzDBhBI2yDfbb1sWdUNwNtzAYigAjPLIQDMOCpN61rn5aZs7dtUBdybwMNKdfyASCiqWuFFFC1d+kEIMm9KYHxSI2hArllHdN9CWLhV1BZgAhNKIrXf9oeBBoDrb0mgs8AAnQgstWMIgAPgg65XJbogoFErcYGWvPf0KAAqSAnDDQEVhASYqAXormHsimdqmd9OGKlprElZ7JJwRWCTAn/M+2QUUViAaw4h3BfvbQIEN9MJAxVZqMF45ATiKkJQkJC2+IrW2kEHnWSsSRDAVjPFs/3HkEccZVuTWsE9btuDSDeyua0WxLAumlyIAUEInJf/JO2S9YGEIcAcRREUw1D5L1YgmNsH3Q6w132xYu0PlXHGYQUs99V5U+zfQkEMXDUBfiqQE27Uc9DmCT1DbTfDYMHHcHCJqPCFxTPUBcFhwBL3ALh4AMIdp3lG5BwAiZqtNNNt9DaQSIpqgMklL3L50N+h3f+TznBw3AnNPLmxNFMWFDSSQ4gAw3rjjAARiEyUtNfcf25E3whKepJDyE7eyAhA68nZjjFxzvS8buOqDFw6A6wC4MdAokzxPu08m/aHIIVYj28h///UV+SHbD/QJTMV361LyoBtstul3HjJI+v9tVLXuDVtTLxz1XOAYeQFAD+rjnkw08Yj0+a58uLNJjNh2QJ8Yr27xW1my6CS0R2TCEwNhxSFeBgA18IR6ALgZQYQQhkygQmh0QeBdUMGxoo3Pgf+xUyM0takLYnBQeSidJijhCQ+6ghWesAQdAoGIEQ5EXCckiCVU0RIywTAqfbAEq2QoNBvi5EcGi9+8GjGKMVatg6w44xAt8ZIPRSEJA1EjQQJxCERQsYo9EYL1sPgKSzGFdzlBhA7nFTqDHUJIM5yEJ9gHgCHChI50yINLGuE9OS7Rjj0RQQ18oAQ3TGI5AGih0Ip0l/dZUip08k8jPIEpD8LEEhEkyCDiMJD/OaBpWXMsZU8+IIKbhSFxwwOAFCkhtlwWD5c9+WGAZugJRFgikax4SYyGNpAzACAwSsCCGODQEktkIhN1NGZvPgAVgcRhEs0bCCgBsASXuI9m4HTJIUIxpBm6x4NG/OD6EEGJX4LoiS6Igc4GQqZmesKb73RJYBQTBTG4AY4AiAUA7oDHzrWzXMY8hAfpFMRGdNASgZCjQKP5yz5MtCUtQKF04oDRgXgikOBMzA9iGlMl6Cd2A+mDEnxQKwBU1KK4bKYlDCm0VEJOLwAYJlNuShAULhVdLshPF57D0gkaM6HVvM0ghveKWOzRJfIp5kEBsFJPyLM5QSyonfZCQ3QO/6RWUIHJloSyhDvAMqzBMpwNkiCGSewxQJS4GAAs0YctCCEGKQArOFfawbLO8BGeyIkihIS2PQ5iMS5561J/44ImNIEgfQCANsGJAooN7gWHe4IfkuLCyImtOcPzgzp3JQJ3GrOZHcTe0IKISJZKNkDDy+kLCoPZl/ymBZwdSBOW8IYz3OEPg/iDS7nXAhSVVghY4OuLlvgeyDViEqRABSo+wacl+OCgiiVI7nZH1JYMDxWD2AL1TnpSE8ZEKMdtyRLYUIU7GGIQR/QESJMFAhQQGK5CuYFp8+OH9gaxkoogE0pm5F3whsIS1ARnR1lJ1iENiaOsBEArlDOj8hIXYv+XBcAR7uuS5LIhDPwlaEEzcYhDJI49BJYvju1DkKBQ7HBK6ALnCGKT90BYJXp5hObeOdZWoDeZQXRsS1Qx4p4wlSCqU3FPWszf/w7REHdYQg1SgAIRYMZmBD5zCnJ8ny0dLjHY4+NQg/a4upzkm6XE6BGZnE9DbrSSwLREompmQhPHAMs+qQIbvmAIQ1jCy1XgLKR70AMxk7knILDPudBlMxzfuCVfsEQLzTcQOVOHzgdVYyJd4QoAuOITkeMwd1tiWUHHdyAtSDFB1sAGNqwBDD7R7x3g8IZHQ7rYnJV0mMe8Y/uIyHhpzjGOB2IcF40akGJboqnNi+pVD8QVLd3/4n+QamWA5uwpUTFuZ3X9hnWz+w28XkNUwsCGJRi73sfuQQ2acLObcetX0JZvrZ4A6qG6B7JBS19dMjM8N8zaVpYImp4JkglAZiomNogpznZ6V2AhFwxscPcbANDuka+b1x7fL0zYAAB72/ukBb5SgW0N7aGwwRBMJkUXAWknyCX8LkrsLilUscdMeMuVz3RJJvhSk9wNpApDkWlgSlrNgMocuR/ftcpdQvJ2M6ITnnjm0R2K3JWzvAlbOnNM9p1jH2zhE7oAcSgmDkiQFmklPrfdRyMX5GQFzRN6bgWTW+EJ8vVEpgMRAuIRHzHM3iwGWAdA1mUyckJ4/YyAb8UZ/5/pwT5cBrn1PkKaNw0TpsqXMZ2IjCpI8YkhDlHGSnzwIbyJ8Lt/tPY/33uZKnX5ywOAffq840R/kPjhV1Mob/WBrneNmU4AgBW7fz7gjWiJO3y5s2RvwhE2PV+XMHXTPngCK37hi1m0YvWsbz1NBgFjg0bF9h+dMfznaGcBKUUXUgQxkz8xRwKCFgBuHD4ABmDx2RoK6BrkRd5dNNNAQB8DGlEneJk6Hdu5LVsLxIAQuMEsEIMukALmFdH5HZEcfWBLRZdL2F78yRH8bYoniF9LqJrvaQJEAYAs/V8A1mDiDYWtxUDIKd9s/F3gMWArqBrmDVEnvAF5pYBPdN9A3P+AEljCK7zCJDyY7VjCJxgR61kCFn4gFvYECr5f/MVfmaTAEajcqgWDSzxCI+zRK8wBY9igG7KLEGCNC/gAuyGgYEQcTAChqp3RIBhCFUzJcJnUjj2dGwwPztERFekFK8DYf8FYM5Eg3p3gF86YHmzKGxACITACK8xCMAQDMdyf4uCBQLihG64LQdBhyGkdZhydTzTgEGULfEzJ6C0bE0YRFD4YCs5YCF4hMzEiCE6RCQLSIbyfnVBcmaBADwBAJjICIYTcLDwUQRwCT0wUKdogQawbTKSiT7AiZuweK1ShHkjhQEDBlMSAOQYXQhVifzwC+EzijPFiFqbREOnQHMH/nzDOUU7MkZ3MH3u0wBowAgAAZEAOJD81Ra7QYDUC4EAo10uEnDZuI3SU3xA5WE7QgRr430AYRvW8kSrEwiT0hTvOmCKwntWwXgcdkVjVxB/9SMEN2R+J45PUACNgwkwKpECC0lLEIEEgpOIdXgAuxkNeo8j5hCWcUUQO4WMNBLKIkixFwWIcBgCpIyqwY0jCH+vlhEOd5MTVxCOEm8H5zpC90qCAgSkQBCZgQidgAiu83Ralkyo8whdAQRIgZAoJIEMORCpe4iX2BPMJiER+WDGKkh405boogcB1pAJVXEhe5RYORAclHe4UjVfeBCLOCwi8gSlkJgCUpSmEny9I/xGyJBUALAUoMcFAJMFi/KQQJMESEEJLBCUmGsw3MpK4EUQEVSIsoYJyCNEIhuRtPdbsyE7ZSGYQzRD5hCbLoMAbMMItmMItsMItEEMwgCayMF3uQFQs6KTirWZjdOcStGZQrptrBiQmlqcyjqeq4QUetgTmVWFwNlIE+dkn2YRJilX8jSQjHdUwQWZXBsnQjJF/QFLegMAcMoIuBIMzqILVMB3aTFY2MoK77ZpeukQz4mVAnmVNMoKGMp+qdWh69qARrR4k2qZYfhIedMEZMNoHniTrEUTQWAI7Ll3RGBKAUgI/js0SrGAsoOF7CgZAjqdrjudrmiWG0iRaPpMuzP+Cks6CKzCph6rnNxoRUkWmAz0O0wHaD9zAft2Bf4lgfsoOdzVCfwbRPI2CKtjojUoN++wRcvpEmyoDQZQleZ6nkLrEx70BTXImAMyCLvRpkibpkjKpk3ZoTwzh6jEO+UimoioqQbiBTrVAvikXf3Xp+a3PIzTQjP7nKKACJejBR1nSK1jNXfAOU/zCQBADQTCfQAapSxQaG/jAEaTYeL6dn9bqnwKqkjaph3IbQQyhEU2cSyzqjDbPJDCBD5xUE0RoE2iZiuYnX4yppo6RJ3gqLtUEbcxCKPyCGTrDQJgqJgAATf7oQsbAGmCCKZirMgbbHwxRENqqn/LprS6pru7QavMl0hC1aUtIpn8oxSs4agxg2hG0G9a5GKNpzBaRKYC+wn8sEy49TmYwKEH8AjE4gzOg6kAwH02+Afbl6bmaQid0pi4s00qmmiu4a5/C68nKq5OG6CL2xLA+1Ch0QXyd3datWxVUwRnMQaIWJ4A2B7K0FCzakXwKBmB1IgCY4bZSLDH8wi10AiOMISPI6WZu5hn1qcjuBdbmRCZ8QskCgLuiLJ/mavmtniLJxBgpRSwcgrGqztkF7MgtwT/FwA9YAQDMQWT1bO8tEp4JaLIEBAAh+QQFBgAAACxhABwAyQDUAAAI/wABCBxIsKDBgwgTKlzIsKAVKw0jSpxIsaLFixgzagTwcKPHjyBDihypsCPJkyhTqkRpJMDKlzBjykxohADEmThz6gRpJEGXnUCDCmXYc8vQo0iF9ryZtKnTl0ufSp06MirVq1gvWs3KtatCGQ6Yeh1LdivZs1zNol07VS3bt0ndwiWLpancuXhzYrmbt29MsAB++h08U0YCwi/rIgbAF22XLlgiR3785fHJJ317XvH7BIoVyZIfRl4MEqxivJGtQGGiJAkTz6GhkPbYeGxkEw2GeEkjp3dvMFBkz9YohkWC03C76BjSoEykRZyic4rEqdBwjZ6NI2fL5EkQKlJKpf8aTz4VgEJGr2PEkuBCXjE8qHhZBKB8+VJRhKuvCCUBAbxMRJGDF16IZ9949YnhVxdfiCFGZaAxKIYaccBxhhiQiVVQf/8l10UJBC5CHnq7nVJfKkrkxcRroGGxmhI/2PCDEkx89lhkwWFmUBsBECAYW1jowIUXZRhoYhVDcnLij28FBwUWzHxjDTjWSPkMM1gOo+WWzNwCGRRKKCGEEDR61qOGZ3VRhnxKnnLKFkZJ4YWS44Exl4tKMNMOAPXQU4879thTj6B/ulNPn+2Uw80wDmIYYUsENBGHG2sxUUQZmLqZSikCdeFEGZycUud2aJ0xDj2BpnqPPfesymqq9sz/Q04212ATSRhfshbjCQQQcAKaBNXYhRhnqAGAsUe1EQdvcoSayilsDOQFACKOFy1cX5Axz7bcduvtPPTQIw8319DiwbnonjsBBAZM4AECLCS02ooszjShGvg6+kSYYfLAGxeiplKImDF6Icciop5inYJrYVEELvPII/HE8Uw8MQATz1MOLRO4m27HEAhkwMgInPCDEEnAhoVqrIlJoxVdnNEGHDSr8SBkWDw2IRwVwmGziy3TiJAQMdpwA8pQSOjoamb0loZ0b7gRB75Ny1HK1QtTFcccc8TRBkGikWFBLenEI5DZCVksjygNQNA2BHC7bcACdNNtgBFR5HxvHHyD/4GDQEBUsSJsj90IRRJE22A0mUzkbHjQLw9bLL4XQjgZsWq00YYabPA23yKCmMHEFTB30TQAgiyyiBFOEX1ya09E8dCLP9ygeAcILFBMO7zH4/vvwAcfzzzHwN2AQHEDMDfdA0WT5Zar3HJLLThUj8MqtgACyBFkPtngGZVnaOOEM/Pt9RlfAL0izA3e8sz7zFyJJTNaSpLE6WXQJwcVAHhhRhpmAEAaqKA6R4DhDEPJFcGQBohCaK8HTdCBG4pQhAtsYAMX0EY72NGOeHTQdx/8XQdDiI46NOCEKGxA3UYWgB4B4xwwjCE6ZigM6wFgHetABw7ZgQ525BAd5kCHOP/AMQ5wENGIRrQGlq4Evy7dAnuAsIUtnhGPegAAVoFyxzzSYY4myKF/1AIApsZIxs85Yihb6xocbjEMLOECGLDYhTDqMLJe2dGOBvgGDtfRjohtKx18OpQ73AGAQQLKHuZYwPIMkLsF9GpkjFzACoIQhCEA4ZJo8AAacoABDIQADZeoBCwqUQtYMOCEEJgAAzrWMVG40pWQEEUsXQmAYgDgGMXwxjnKIYxrlKOP4Lpiq+6Bj2LiIx/2OIYc0jAt+oxxN2UgEqbCWIQyYeELX5hJZ6wwDXWgIx3ooAYsLnGJOqABkga44x2B0I51sGN4furTt+ThLXqsoxrFEEUlKqH/T0jUoRL/NOcC3EUCD+QADSpAg0KBEIJLetIDIaAbK9NF0YpSFGStrAMQyrEOeQzKHlcsZqsA0KpiRmMR0wqj05aZhjSUIQ1hXAQZJvMFmfGsa17D0EiOljJmfDMdZWsHOUWxCVycsm4rRAAjGyAOLDr1qal6BzFFio9hDvMdr4LVIe3hDiOKY4jgGKI4vnGNY5j1GM046yvXKksVWLRjEV0AGtABLizeI6QCMSYvAMAF1aXur4L4K+gGCwAyWIEJQriB7WQUuRsxwSOOmswz0lGoWF3Dlba42gKMl0IU6s4eUl2VaF81WtGWNB+oTa1q9cHa1rr2ta3NB2xl69p9/+hDtbiVKhYH+cexfgMcW3WVU91Bj221gxcQOFjq/OpXwQoWElw4Rpcw4QPXIS1mcOAa1yzyhcMq4QarYMY0+IFV0rKjEsfARSk4wQUPTAAAFrCAAwBwyhMu4K4UUS0+AFmPiEkseGrbVrgEaddWkdYesE1wbFNbVZJOtVXvCK1VJ5zF/kojA4EFLOgAG9gNLwISCmUHB+MxjnFMgxVestH3kDWR2THDGf6IMXnfUUwAFJMWmzhGNdrbsfjG94LyZYABeIHbIhuZwSClZ8QE0sGIoM1saAMAlKX8O4v5Vx4VU7KA6ZEOVRnzy2AOszFXRY4JqODMOUhzmuVDIPnIp/8McuBCJYAAjQ9mLB/82MYtFMdnivDtGergBz/6IWh+FBkcuNiEKNzrAAdMwAEW0IAFNiBfA7QQHLc9sqbzIWUpY1livOPdQUJNalHvaYQe9CCqOz3lKQOgd73LYaCI+VqBbDofY96TCjsbN7dBIARtg0RRcQEJaWh5W0quR6vGMabaTWQOt2jHO1C7j2qjdsz3AEYtNgEBBjAAAQRIZ48McACBtLAOgLqiukHK7nXPw4ogvaI8pNxBeZT63vjGt6pL/WpT9zvfvEMHDN2BWgUb/LX1MOECPFs3+74NAlzYhCM2EY1Zp8pQ8/CdkqfBN5tBpiFRAIQ5gNktLprDHOD/KEc5c+AEJDgBAHvggxQW0EIEKLWFtBBIu3e+7p7r3N4AD7rQ8/3voHOwHTE0RzymffCm68MdQIAAAgCwAAY0+tGOdvS6GhACL0icF+6g8TBnnQ91xAMd7ZCHLeCAoShEZA5rQEegeo7FeYiikkjIghz2kAiB8IEKFmBA1RlwgG+km+c7d+rPNyhi3on48Y3nYOOHZzHg3Vvyjcc35h+/jpMD4BzxQJU60qGOeBJS3VM9Jm1ba49KLAAACIA0Bi84eyBnIAQe2EQteAEOG1N1mP0IPiJvIYTu5EdHEWH34QHljmgkYu982MMefJOI6iciDSTYACt7D9Xuzz1Q8eC8/+TdCXnIuxOJRvzGNwZ8qENxNVbhmgfjN8j48vvQHOU4+TnmcXi6+x/x7lAMDBAACHAADvBtSkUA3mZ1kmYBE8AF1FAMmKYPtqVf/AAP/5CB/jAOt3BNMtMQTIAN9LB87wcOVNAbMccHKqiCvVF9grAHAKACGkACGoAqzPd+u/V+N3hF7tBOe0R+PxiEnXcJmwU3BHE8bnNC/LRWu3ND9idiO3QO4UAO5VAOdKV4iPd/V5RMlpZOBBAAFuAEKCgHduAEOXB1tYANxnAMFFhttsVa+yBo/eAPc0hoHPg1IAgA7zZIhdJVcOY0Y0SGKxhz0ycHY7ABGbAJ/GdIhsRVjP8IKH14SPTQTjN0Dk74QzmUiQJ3CQCQQnaDVHSjVHRzQgKRDOtwQ0L4g+TADeEwhafIbk+1hd/3f8dgRwegAS3HTFmQBmPQG2WABEjAAKKwDLTQDG54jLZVgayVD3GYD/WACT3wAw1hC6HXfodCD7thB2UwBtw4Bl4wBmIkfXuAKS41BkgwAaJAXOEyYOvYJ+sYT+0HKPPADjB0cuaAQzA0Q/oocNSAQlTHcAuBQskAAPuYiTgkcOGQDdwAAOTQDoOyVd4Xi4FyDIxEAlkwBWMwBIKggtbngomQAySgQstQSKeXV19WUlV1D+jgAhIRd9+CCy+1jSkFAFTwcmMAZ3b/AAA5wI0AkAUrwAv0FJTfMpTcUlzy0Hn4V4XnIHAytJToUA7AdhD+KBBT2YmkKAroQJD6SJD5WA7X8JUM6ZBaFZHdVzwqIAVZMAQqKAiJwAcdmQhsCZcqMAHNEG9ZOBCBUg/pEA1MwhDcAGseJE3eOAS6AQBIoALfCI5k6AUqMBBUUAypJjySqXGVdw7kQA6tGA7mUI/nsJmbeQ50pFQNAEkL0EigaF+gCAAQYIqVyJQxFA7UEJsMGXqMqIO2eUgQCSvRQAJDIAUwt5Z84DR2kAYx55FBcAw6R3eIRw/mYAp/IBFMYAs9BIXiIEbdiAQD0j9O8I0zCQAvJxBeAAkA/+AN5OkNX4V5jhd05jCFwAAMlYBKvVYH/tRr9Fmf9tlr67IOMbSfu3QNzQAN0AAAvwQuW9aO7giPj9iIooAEQwBzMeeLLgVTEUqcbSkI1qAOshiRspIHeiARf7AHmol/5lALRCCT/UMg4AmODSpGYrSiXkAFENVCCyBpGYAAE3AAB4AAsaRornQMy2BWyVAMSigKwiAN3EAN1YCk1YBPwsALxcALwNBPlQAJUxoCwPZw9+k2VBpLxdClXUoNwmAMyLAM0BAO7CCUaEqU3xIu33BmBlOIArSNccqLL/WbwfkMqIKDUKWXuLAEFNEGuzCFl7kJ4Ng/U9CdApEFKvCdif86BQNxDJmZmdggDdEADdLQDE/KC5pKC7SwpbAgCs0wENcQDlUooKYqoFWYqqqaqqiKqtqQpEuKpE/apE8KC5CwpXVwSkAAC8KwDOHAR5NZZVmmNkIpCiowBL7RUuCpAlkgQF4wBI4KUykoB7dpm6lCD+RQBCxJEXaQDZm5CdPyrIVpEM0qEGUgEL5JIEHQDd7AruUZDt0QDt7QiuJwmZl5meRwDQKhr9TAkFVIhQBbDgG7qgRbsKhasKwqsNAAC0Cgq8ugDd5Af0c3dKrmO+JgASTwhxF6rmaYUlPAcgIkQNIHAM8gD4YiSI8oKPKAnC/wAhORAjFgC9eQDdkArin/xagG0Y0Dca4EkgW8oA3YELQ0yw3aoA3c0A3dcLRIu7TtGpv9GpvXgK8AO7VUK7UBe7UC+69Zm7VYi5nQAAwCwbCqFDeeNaVE9UTSY1bFgEvR8FXdIAoZ0KDD6VJ1OhAw5Y1iFKEwJwe4UFzd8o7xhw6McBFPIgzJsAyiMC3e+I0HobOKKQeH6gVZ4ARIWrnXUA2X+5Waq7lBiw3ZIA3QQA3SEJvQwA2me7TwGqlTKKhW27qu27oCG7CwCQy7AADtKRDSkLu526Wbigu4YAuJAAj+5E+b5FYE4C7LlJPMhATTIqEhS7fnKhByEJwhRJl+ZG/RMAd0QAcXgQnJAA21//Cd3pgFiAoA3JgFzAtnaWAHSAAeTlALAAqguqu7ouu0oxub1QANZAqg1NAM1xC69eu0mYu5tVIrQuu53JANS4u0qduKmGmvD7y6s1u7AkEN8SoO4YDBEmyvq1uvGoyvkJABSLC+yqqoL+e8zlsGiypAdrBMAAB5+HYOg6sRmGAMwCAFGGmY2XkQOYCY0tSdOSAQoTrEAEDERgwAlgoAxhC/0JAMzdAMyxDFUjzFT1zFVQwN/wm6ueu0AkzAnGvAnvu/YEvB0IANSrvAC9yuSDuvbCyvzYCxZTC3zlquKByyWUACUwBTTqNL+ViQ+hkNACCNGgEIxgAJQdCsU6Abhf86ENxIIJJ7qBfZoC1XjEdcyUV8yQCQDId7xAAQxZ08kp4cyqA8yp88xaYMxVZ8xc2ADLvQyrbbDNSQuZuLDWDcuZ2bDUWrDSGcAySst3WMwoUqoXJQBtWQlPlnj/jnDUaQAingEWAgCk6wnY7Mk+bbjZKbBRfpqFKwqNGcA09cxJYczsIgxOCcyaL8yeh8zupMyutcysgwxrVbu6N7v1zstLBquZhbDcYwARnQy3X6y8/7z3OaBtFwmeKwtVUoDrVQAx+BB+chCgAgBd040daMzVngmxE9BU4gyUOQc9/80ZdcyU+8DGE6kk7MziidzindzuqcycZAwbULDMYQqpj/HL//Gb/zu8XSgAYWoAL+fK4ALaFyurHbKK9GrbrQYATAghGBAAgNmgU8OQRU0MgWjdED4aiSjAS0sAxDDNLhPNKHO8UCwdIrXdYq3clo7dIwPRBEjMk0/dbkXMUd4wQt5VI6iQTPm9cwxZifAr2bQLS4TLREC7R9RxJsEM3fOAWLOr4XadUD4ZsvhwRBQAKo3NVeHdJQvAzJgAzIoMlSHNagTdZnLdqhnMlhCwC7AAvAgAzf7Nbk7NrgDAypRL7kOAY50KBB3T9DsIuY4o3FkKSXG8uYSw22cBIKQgbg6chVrRBSYIY5UAdSPNKpPN1QnAzGcN3X3dmaHcWhvd3e/93d4E3aBQELsIDaxjCScA3bb13FaMAAJOCdBHKT5CjQviwQdMuNxYbToAugtdChKWEETiDR1zwFjn0QUiAFJLAAulcLuGC4XM3V1J3Z2D3hYsrZmuzZ4f3d3L3hGr7dGH641k0Ql7AL593W6X3iT5xKK4rDjhyTKEzfve0FUgAMRlzFonADK/EFQ+AEU9DYCxHNAd6gPEAHeSAQZCAHjmALosAFrkQLUMoLwlAMwgAMnOpKGqUbXIAJWm4Hm5AIC14LYA6lYSqmF17mHg7iaK7ZaP7SlzBOqA0MEI7Jr43iss2bAhHNaNnivjxNG7u4xYjZTywK27oSb+ByAa4QQP/ecjFoAQcABoFQWKnACaWgOhuQfRsAACTw3gCgASuQAyswBCuwAg2gjWVABmdQBT8QA8wMAiDwAQAwAiiAAgRBQWCgPYAwccAL5gzOCw0+5p2tyTZM3uTdyiUe4caOBhCwooke4ORLIC5u20MQk9EUnpY90rUAAjJhBITpcgex7GeW6QBQboyRCqvACYsQCVQwAbR36QOhAkEQ6gDw7kgwfVmQA2GA6j6g6g1hBV+gBnAQCNvrNQDgIAOhH0YABoWg5cIm7LsA5xBu7KkMDO0yENHsnUCe587OTLc9Bi7Vs7ww3csAgzjxBjkAjDhr8dE8BCqQfSTg7itAAiWQMOf/TgVGYAKTRnsDsQEq8OmhzgBO4wU58AaPEAhxcAZdoB8X8QeBcAiB8JwCEQYAAPUCoSBrwOW10KsQP927YACN6Z0Wf+cX3+zSNEZ+ztXgHMWFzTAxoQhvwANcYJjL3nJdTwIX0PJBMC28OemLQAUy8AMnsO7sDmSh/vI54IteQAI8oAeBgAiIgBNV0Je1rj2SwAVoUAdcMEtUCmwreucUv+xSwGZEwosEAgkQDuHAEAmG4PQ6QQRDYPJA3sMFoekrsPKGie5g0AZn0ATqjvMWMPgYSwIMgKwulchgkAd/cPzHDxRPUAXMrwQm4AAIUPezX+kqcDyEiRBxH+Bstrhc/4DKUWwMthAHR1EEDAqMh4npAFD3AFDpA/Hy608CbKAHyX+LGzCDDpDpKrBKB7gAJEAkADFGSo43ev4c/ANA4UKGDR0+hBiRIZYvJhSS2EDiAgASHVUMAYkEyUMnDJ2clDJlShYvm2q9jBQJDiKJNW3edEgmxxAVKjBq5Jhxo4oVK0hwvBAIIZgDFjY4yEBiDAAvQTouQIBgQpYpSFQUyYMQ51iyCpNQZMPBAkeFGzuSIEpixRCRIyWexOtECpmFS5r4AAC47OCyb4L+dCtU4YocQZAWEYvAwuQ0lRmOabBgAQESTnKQMNHli5gzAMQQRt2QCZYiKiZYMHD4wtujK/82LK5rl6ST3HwX3kgdHGegQLcRH1UMQEWQqRlXgKEJQLKDypYBVB8zAQEBAzlUZDjhwsYPJUyEpzbhHcKGDQY0sNVIW+7Ro8pzP0TCW6SR0uf942TDqIwUw0g5FRarjwhEGrmAgQ1UqC4NAMpQqLIcDFgggAlIWOCDFGIA7r/BePBqAqMQ0GDA+GgLIo0D6+Nohboaym2IIkTE8SafVJwNLoUOXOHHA5sIYAEHkMDuQSmuS2OMBSYwwIAJEmhhvCe6yBEnGVSIMgMCGnCKPR472iAIq9hayCcZRQIgNySGMEGILOd8yITbGOqIIaIOBLIEDBFworogEAjAgqkUYqD/AQQ0O+GGs+i8iQMCJiCAAKcscMABC1LkEUj6HKrNTZEsgrRUhVxwiqHZlPtxBccACHIFKBfIoTovGDDAAi8kLAOrLxNQAgsx2jA1ohMmJWBRBzRgYIINJmCAgTBJWAvWT0EFMjdSiy31BOU6TROAFmEFYAgAYGsgwjGYqxAA7jA0Ao44/giE24cugAABAPKFYAjL5BBXWvbesxZNPMlUk4gSXrDXVCJeNbinnubaIEiGEIAwwggBCCA2Cqpg4omGHyJgAQMWzUBCAOTgw4yV03jWAioQNHihtx4kgQWFlBiZTiIEKaO+ByXuSaNnLSZXuVo1rowBkwE4IYYWUOiZ/yEdGjgZgAnkALjlleUwg2tN03DMqJpthqunMAapOssiJiDKC/Y4IvpaACoOwtVYraKwjMrKYIA7AC5oYYQPRAChbQDYQEBKArxgOWyuJwebp1fNhvEij1bwYgs8FMfx7WV78iAjA8ks8G4VLIgVVjOpOIoPKSiNjbsTPvgAdADyYCOABjRIt+s0HoZc8gMXwtxmjjYnIw/d/+OAAQcYIMHpIoz4LE9QN1ir9SCI2JUP8UmIcgEIbs/9+SIMUFQFrsMG3IAN0gA7iDsXMypP+Toigo7n/YveAZo1gQMQQBGDaA1E6qMCB4jLVWai3x74wDXgsYBq/1NIEbKinMmRjf8ARSKCHIbggBwwpCj7k88W/IDB4ChiAg4gAR8SkQgvOAEMYJABB9jzE/jc7Tasex3k+LCHPXDNC0WIAgsziCEDMABsXCOCBxYQhDIEgQFUmBn+8iefohXhNEpEzQmilYMZRkIhZoxJIsrgBZ7sSEwDc10O1iI+rq2RCGAEwBuyggAG0G+CchheGlaQAQuYqSiH3CJtVkCFhYUIj2RBAQoCoIIcjCERkpBETWJihzRQYQUM1BqHaFVEOZRhDF7IARjqxUIsmAxrVHgi/DSlqaIQBZH7Ww4VwICCGNjgkWMZAQpcUIEcSMELE0qEIGaISWZiUiGZfCYAMqmCDXBnAST/4NoYxuAEGykxmCyIUuPKwDVBBOGFk7EA6m55sxx4AQmOIEMLGPbLsfhACWdQwRTkwMnK2IFraTAly6TZzEwyMxKugYABCKACU3YlByVg2/8OBwIQYA0rBkiDGaigqclk5CcePSEJcjDONHhhCnxIA4hERs+biGEQd8jBFJhUBn/KgYhFrI7f7ACACcYEkzNMhBQrRQJ3IiEHEMAg7pQKTgYgwUuERGfFeqIi5yCpjmNAAickIQcjKKELamCpTR7RCDLksyHH9MIYyjBOO9jhpkSUwynlANQJ5qtIdPmMviSq1A+AgANDmEIGJBNVq9RNLmOYnD8nKAmt0hALaohD/1gl0ghFBIIHgFXIManCEs56gSVeWGsaijjEUnpBfGnIgckCkAHvTOACiNCD7viKuBMciAqCTdFkqJm2nviLa21d2TP3cMlE2AEMK5RsRA4SiBy086xZeK4XpFASllxnD/5EghzcqQEIdEwFUozAI/43AopS9K9IoMICHMQp9kyMpm1taxmyMAaVSSISieDDfeVwh4gm1yFxiAMbmksVhVQXAJ3trBM+At0DQ66UdPkICbhDAkXF638xeIELWsCCj7zJSBvQQIg3kIPs+rOtiUAshY5JRPFNCACRaJkQllAF/zZECFAAgwo+e0wGR6Qr1PUsVSozBko6VV+KQoAjQf8XhzaIoQtM4EBzh+ABPjrlSPvcpz9X5tZsZnacww0ufoswgho3JAUpKIGOCXzgBiPYs2+WqZst1FwuESBfFfjfH/KwZzqAIQM9gYCdj5QF+LaVD9fxJ1zHkAWUzJdlM9yDfosggjIv5HBBUHN1oetmTr+5s6D1AiU59KXYYJBegTjEG+BCKYzlIMtaRmyiAWlKL3h2usYcpwzTAFQ5pK/SuGMtVTS7aU8Xu9OcXSvcqMy+DoghIc8jziEasQILaGcBB0pDosdpU26bUpvaNCkA9FJrgM1wrjO8UaUBgDsI6DgLnGUzWYLMkjEMIQNQMsAF4GBqVDeiEREgQeMyAF3/+X4ZrgD9dsIX/e5x+224iZCDpNW97gqQYAh4kUJKiH1sYze4hhAIdAPA0AgM9vsRh1hBQicwBEav7KalVHjMa72QWtN0hgAAarrL3FcQUMcJVNhJSAAghR5HpLpEr/UUMmOAIFCi5NKehCLcgDUEWLySWEY4AGIe83czWi/0lSHEk+kESv8aBERYhCA4EQk5qOABFziQXjjO2SlQkiVTMNkC7nAIFjYi6m7YAqEaAJdsw3wqINH61r9da6403KbJlIIclqRuEKBgDIJQeySo8IYK4PkBH3HCu6fbZk+XCwnvJh8BiuAGMGpiEGFQAqEgkLIhf7tN5lL84j2bhVvv/6qOa9R5mVFwAjmknROLGEJCEPIHI+RnCkMoZtE3a9J3ZyUBBcC+AhTwAGLpzhKH6MMWTIaAIaw15onPPbh3P4WTTOHNY6ACEppXaR8IAQyCWAQnjn/HhvyhCBfvCpliCE9rPANoIIjYvgeQgJ7xg0kgBVKYhM3QF29Lv/RjPPYTCb2YgjIoBVAohUJwnhpzAzwwA+OLBEHgv/4zAnMZwOl7N/ZLAAcYAJu4ASWIgi/oPm55BEVAhAbgjAoEwlNqvDfRABLjBA8EhVxYhf5Kri4IgxLMvDLYu5ogOgTjium6AAHQQpsIphRogRhomMr6A0qxiyBUPM9iPxUgAzDIA/8P8AK1K4VSyIVc6IRBCEHJigEjKL78iwQksISauDiUyLjp4qYE0EIBuAmlIrOROYgiWAAkOCYzlDney4AiCATn8b8coAL9KwWFyIVCWKWwIi8jOD79W4QgMA+G6ACH4ACjOok3yYALKICywJ22oZciaIDQSytJXDxGI4PoWIg/IAN/4YRTkIVcAABZeLawwh0z4AQ50D9B4IAacAgKgIi3S4DUwB0RCCZGJI4SiCn0k0TPcoJfbIhD2DPH8AJQSAVZUIhO4Dtm/ACXUTtOKIMTKLtiwR0Q6MaeOQgysICSMEMqqDUh5AElawgeaKdIKAVZcEc6xANFYCktXAQA4EP/LshGe/mALpynhjmIPSMDJ5iCMXg+cVQ4NmqnWmNBiIiDBFiAQOGEhvTEOxirR8odAXgAR7DI4yOBAZhBsmCbMGCIqTEciehCMKyaP6CApaQur5CC3HMnJ0i6bYGIA9CQCWHHY0xG8aInAQiCE4xGDfDJGTxE/zCc2erCG4ACxVlKa6Su+QJCzyohiUicAFiocWLHhegEVOjKMeCEehQEBcC+WRQAn1wICSiBOQGrtrHGxRi3uHy3jISIWlSIBhgCL4hJdwSAXMCErsy8taMCWdQ+AJjBAlCAibMJ7XuACFjANsmPXdy69dsIS/M1hfgAEwgAhTiADJCCMihGzZSF/0l4JJwEgLXjSe1rAdPEPgXsgFVETYgwzIaQkZP4LPXjCt67gJ90CERct9wptWYpAyoohVTYTABghT8kOQwirwtYO1A4vg0QzNHcvgpoTg54TojYQob4SRXAuEFUCSlAGpsQAAJwF3dBgJFaBJl8x0cIxf8ZAL+UA/cUBAfQvtN8AAqoTw7As2JxzmLJz4dIANYJuiFYgdksiwdgiEf0S2NcCEMYhGXsGf9hCAUoA1AQBFCIBC9IgARcwBIoAQ2tgMZsGw0VUuEoS7I4TVrUzgAIAAW4gFrLS4WQhdiyRYbwHwpYhJg4vrl8gBJgARYogQ4I0qV8JA7ggA69Ce7klv/coSgAmEU3HSk5KIVVYAgm5BYYPQgAoIAScIQjfM+F+FIfbc62LNKwOkQ1BQBENRXyuqCFaAGFuCwviAQWRcZOwIMGLRUYZQgK8M0IPb4VsE+F2FMvBQAOINT7rJoWmJpHXQgl2AIyMCZOaMeFOARNrRoKSANQAJhIKIMA1dMKIFVTbUtUtZcHeIDtE8yF+AGFOAQP6KROfEhLMARM7RksLUXkc4gC4AAJMFMKWM0IKFRihRQKCFUAkABjZU0MvQN/WYRT8EQM4tNrJYE3nVFTrYAIiM/tE9discZyBQAf3dAKWAGpjFJkzFPFKYG/lFCCcYgHqABTxdcCGADs29f/UrFPf/3XDQWAB9gA+AOAVXhIhbBVbumAqYjQHJXMhn3Yc5XY6KxYSOmAxFQImWUIAUCSimwIauVQrBQEiywJiZAAbmVZLdTOlxURjA1TiGggzVqIXLgDOJDRUnlYheiACECCSMg/QbAARWVFCfC8AjhSowWg5gSA9ETThyDIOfXEXEDKhrmDLSEBgkSCA7CJAugArz3XAQjbmkhSsX0IDvDSEmiExDzbhyCBZ93MOSyEkbmCjZ0AhZiABqDb1NzWChhal4WIh6WACDBWv2UIwGUBHuABStAZjIWIIYBGY5zDT6xNU2lUAGAAffnQhhCA9HkAII1YzG2IM23ODjhT/yb7Aib4ARcQWy8VXQDgARYwXdpciAv4ufFcXVmgzGIRI+kBgKeRCERMnxtggs7D14nt28/t3eZEhPINBNjKQYYYgUWcuA74Uh4AgCIgAvqMiNr8gBUoqVNIhTmUBSPIx1J5XQCg2wNQ09ZVWYhF19ZcCDPt3fI9hPKlCUQIBCq1CU3QBIlkKfcN3YWY2rEwgfL7TVkAhTEogsQxFSO4XgQ4gAMotdmtCQnA0EEdVoVg4N41UwBANYa4xNRYvv/50g2e2RuuidpkgSEQz1JYBC9wFfSBFFJgiAZ6XACIjaKtCR/94Q4gU6rl3QxdSuIAAJpQipHl4R62lxIQXTPgAf8zUF4AcDqy+AAOoySjoCYGmF5uUWHCeADRTV7lJdMaHl8z5QB6iUcAEAs6OVg6KQDm1BkAANPEHAU3xp1FUS8HEBMeMGFTOcCFINCyMGP4/VJTBYCYHd+Z7YBDOIQcNmUyNmSJyL7BpGK+VUAzLYEK0Nc0rVncWcCs0JTBuYAiMOD/eBtMiWKnIdBtRdGxCF1P/lHfHV/nbM5GMGUHrtXlMpWRPVbljE+KvYnt81pglQCX3VCadQjt1ELc6RgVXosdUgAROBwcCYQbqRaF0KvwXQjB9MkRIF6HSGZGDtOYPdPAJVsA4EEIVoTl0lkcOWSFuGblxGZtZuXVfNgwLcz/Vx6LcpaAZEGAZcEUrOgAEPjl4CCVL4ldhVKICggEDCaLZGaB5gzT0HXp5BXoL0aEBy5o4jhoHNmzhTjW0VSI0xxNh36IAVCACHjY5lSAwhSOAQABBeAOAUoUaXGAA1hF9j2Pg8jNlAaAQT65hnDf5O1d5H3p0KUEYEQEHjy19CwWOhADK0iC5IxPAEhW5ZQIoWZNWX4ApBYOBfABq7TLKjsX6TmAE7hk/6CAyd1knNjchXDihXDfDuCBfjZjsE5eHrBgkotgiSSORgiFYtkzNcACuH5rBfDCVU3NWAbWu8br4IAoi+AOTWGPC2APCziAwQYgB7hqAIjBcCWLlgZT/w1OXqejBEqwYE2w7AXJ7FDYbFOhCCxQAp5eCIbWZlVFAaVSiBZQwM6bZaIFoEmAX0Sh5NfWCAfoaIQUDvt8OxoW2dT44X+1CBPggUYoX4Ww4C9eCD1QhM220zlxASWAgs6NazcF8J4ezMHUQl4iavrdW+EIBDBwl9YOkw2AO/gEADnxjz+IRy9eiAbdXBSl6IfwUiIwgbAuW6cbBUqAbzDWbAB4vSWg6iy5gScQA98914WW654OcDfNPtaMaLDl2gy/6YfQsyZQCO6QHk6ZjcABACyp8EHWYcJ2XyIoAj0W7hIHAOKGb0VI8UMIAxYvlRhIgi+Ig+YcU849Zjf1af9srudYBtyjduEFFtnlU+U3V4g8uGoCOIDXYA8H8JUc+XHC+N9YRl4eiAWGeGQsX5BQIAUt5/JSEQIsaINAqM9hJdJzfQh9ve7TTnCG0FiGgPM4zwPcZFI+OoDGaRySdme+i28mFw5eioEfYIIvYMJBL1tFoAREP4Q7UIIAnpMoOIM8gHTfvdhmDlUF3lhzxdu71dse5+BNJws6Z1ImrZQoqZQL+CIRSU+UxuHzcIEXsAFuXwg1yANF0ASFQIVRKHdLOIMlQIH/pRMxmAMLD+hQbmaqXQhrtFxj11DBbHNNn+FmJ5Jnt8tK+SAhzxK0ZtbzkKduV3gAiAEQYYIuOIP/BlSFWFAFSwiDFmB3OpkXeJ9ZQQ1owmUIL2UBcjVqfVf2ahwMPPh3gK8UHljMHFkQg1/1bVd4brf5F5iaDxCCPsiEV4gFUuiDMNiCkSlfbJf3f6X3hTBjl1ZelpVYxCYMPMADFkiAZxfdqJ0TReDBJP8B2h4LYaoSm695G3CB6W4BJXADS1CFckcFUrCEz7GXstZ6RbDPHwbTkFeIfX7sQeVceo4I3SaMO0wuVeX2GxB7m5/uFEB7S0CFC/4DRBBOezmIsk7MTtZj0W1kpGdk+PXqDgjjP6CD9P37GqOXhdAw1BAmFzD8sWeYFvgAFFj8UQiFgi7kOz1pDL783H9s/x/9V+Md65mGc0QIhVGQVjdQ8vssjR8AkRfQdZuIJNW/gdW3ecOvvHtifMevfdvXekRIZk9miD3u+EA906VMaIYAAdVPAivAwTlQNyEgD9SPpOj/AcMHjm4HgKlRgjDIhCrHYDEGCAACBxIsaPCgwT+IEDVCxIIHDwAmWJRgQbAEgA4CS3DkQOEjSA4VEZIsafIkSpQolAiBwkRJjJQCUaAA8OLGjR83BN54YbPFkjOWAGhSJPPo0UCKGjV6OLBEBxYWBVrsCPIqhYIcHhQQ4BUp2LBIbQh8GaOmyhYuXsSwcRPAD55sl4SxRCqU2LwkGxltpGmUJgAWTUQEwEMqAP+MWD+a9Or4q97IYZ9giSLQRouUal+8cOt2J88YQuoSlWxa4CEAihRRGjgKMOyJGTuUqCAQJNjHkE/zLvgFgBoxWJLEPImiBefiLmzKVVKXVO/TCwf+pQTbOlO+iBQh+uP9j2ndA6Kb/tNINXAmJzOvjRHThQvkbgE4t4Qq1CPykhUdCgSgUWsAUDIggOdxt1RqAn33CCnQPaDAeB9IKGFKjw1QgAIKPCCGfjI9MopAjcCBRUnHIdcWZ/DZRBYTdd3XoWTfARBIdpQUaKNAiKh2HlIT+ogUhhrCWNIfowRIiX8ktZAZW/MN9BYAmaAC3ZCRfdffjQUOpKN/Ourl44T/KF2YYZUG5aHJXwI2csgfcBhk4gvLdeYTZzcwocYkqpCSX5kx/mGUQAFuKdBS0YH5AUmOFdDnQH/wCcAojTziCaWe+AFAFEn8EBNNxx1HFgCjWaLKKI8kyaiViNi46kCApuYleT8epCiqAByCJlGU5McKKwB4Ah4eZ1iRxECdIsTdqbWG9QisAwk6EI/6yWqQV4sy6l1pgJ3HyicCVeqJJYa4EUYVTfgkUBdSDnTIIQslqyxSgQW2KoC22rrQJDBOO5AAF9b6h6CRAtCtJ94SRKkhdxCUSaANBQJeu+/Cm1K3BbXWWmpKBTbkoQDshuof/v2lSWuUluRJggS1hkh//1ciEkjKE6ekBkGvOIvsh6owLHOtlgAGqY2KMPwJr7x2+4nJBB3iBgBz6JGky5ZYIjHPCCkhBnijxBKLzUayRuogVQCAaNVDWlJwYIBRoognRFcKACuuzOJKwQMxvRMUX6gRh4IhL0TpIYOUXSIASUTxm0CvcI2KKgCE4oYSgw95CKWtjUxJvlOz+zJ3mQxFUOQC3STE4QLREch2Z6MsuOQHtbBTTkxYocYhWgPgyyhnVIFW671RHqUnsBnZSCaHcLfQdgLlK5AfkfMuUAw3RP5FG3kg8vnqvRNEkw04cXbT1Y/EIhAqflyhfW9nZ0JpKPJG+ki7qlKCJq7MAwCaQf9Luhe5GnRgj36x1tKT790ECgBo3PgEsjMA6uV3Q0GbQEgGPwHR7zUgopJAMuO6zLQgBj+wjLc8kYnisWtiIOgUTQSyFub4JAahA0AsQJQ4BTJQLENZn688gabX2OhtAoJULFCBh4HAZzkazJ9aigMAQxhCdd8iYczIQ5MlUbGKS7IJTkJlBUOgIoLaacTyaggWBw5EhyMjWRk9EYpWHBAASxBCDF5wxbUsJ38AOCJB+mCIb/FxhOw6BN8kM0UUdoqKd9QgTpSAOGgBQEdRFGNKdlY3XwVIbY8CQBdncQgl+ACPVwSAighiyINs4WA55CO4dNcEFKRABEepQROasKT/mlAIAFO0IgpcsBMhuCEUrxgeXxrZLL106oTGqtXv4NaKVnBLh5bTVUFm8Ygl4M+OoFThkkJ5lG+F6w1LiCU4e9CDGqQABa40CCxjWRwUgKkmVmyBiXxQhVG9QhMN8RLLeEPIYzJqKJbo1UBaoQtS/MVIz5pFxUwCz1By8AgDWcMawBIGNoCzohYVJzlRUIN0xvKQY/NRCg0Jzw4uoZevIAVfjoca09Rkn1NUVt1cAQBmuqKSaBTUEnyg0CvGQIPxcega2CDUNxCVDUEFw0CWUAVGuIkkFn0qVI+Qgll+9APHvOJIb1AFTzQuR5vrzXJcmktUMWyZAHAFG5eph7TV/+8gLnBPDOqYQY/G544uAMMb2EDUvfKVr0FlAwBKeYeJLsGpULVoT2fpzhKJBgCk8IUqQiFClvlnNSvNyx04eRYUdlA9fcoEK9go01YgrRUig40qbDYQtcDlB6517Q3quNg7gnIJeUVIX/eqV0IAoBMFY0S5UAJOAIDznXg8CAp0esBYtEKylSqeUgCgukwM4pFHeQIcy/k6K/QJEQVzBXhl2jbTNlIgqQWAZ9VSzdbCtiBUdEFEAYsSvjLCE0XzRCc6cQdCsKGwJwFnfKxoEhfwEjq/UAXS+JgaqSk4JeD54UC6tQUh/EAJJJrcISwh2vAKRMOAIsgTQKlLggihxP8lfu0PzgVK/cn3DWIJLVpbgV/9EiKva0CqQBw6kOLSNiU2eAI9SUFTVvDREpRzIrisW5CQ3QtQoWhcFwfRh0DCKBNGCS+HZ0SjZ3GIJwIRwv3i8mUTu7au8GmBcl0cmVbEmMj5ZQRfjRpR4g73ea4jyA/cQIogNuRplkhwpRjsREtkgmoD8U+XFtKuQGkitV0sU7ewDN5QTC0QlyxIXMgs5oFoWoXxmTMA5MsbZs4YznuNaEVt6VYigo6e9gwErEt4yrNhL9Ak+WMj46ea4y1FEUPs0y8EMouzzhTWrNELmXcSn5gQtUwzfgN/6dzRmsjVmgMJRQzX9sc/PhBcyRv/yPpQZhDjNSR+yFsNU4wSiDiAEEYKA0AwCtLcHaGCa0wTyw9KfOaIqhlGzASoQCa6hiM0QapjVWGK2BIn+NhAPY3TFcu2za5uK0Jq4KaUJfKgtKU84p6r4U52mIIIPZQpuQLplS8KIqkuoqIPhUNKiXFS4jgNFVVszCEA7uDNJhDkrdrMoAts4F9M2gjXtjK6aj5nsKTZaikAItDHRc6lP2i85AJhBCN8pQtfECMYqnXsHZhALJiDOVRwFLWokXJzpMjUW0wsJcK3t1oAyDMTNrNnPtd1dG9xxyCAa7qkBkQykqW7Ed/BVq2yDgBMZL3txEi5G0ocmRIPnWf2xbhA/56wqQB/8iCqWBlCEuSJR3zYV94iPVMEv8PXkCwPh0c8qjCx+MV3QvaPBsAktvBCsZQ47QPhbZ+4NTAiF8w/Z+iC6A6JyBeisfQLa5UiHlU3Kwd+ftaxIJJeL6NaMb77A+kq+RKKEMnjZNNmV0LlBcLb9R+EEHeYpGTcRjRmlf4Mw8lgB6tpo4VIDVaqG4glnAf2oNvTVdBroEL2aV+t8NxAmIIpYEInAMAv+MIvFQQqWIIYPIF6KIGYdRrocKB8Ad9AMAIhlCD7AYAI8kavfALRLFCOwFobAIABxYAPvJCNNATboBLTWdmHod4jCB6kYB+sHd7EfEATyB4A3AJBBP9DAv0HpBjEGbAEheVb5BCLFQoE+olgtKEgADAC42EdCRJC1tnXWWGZWDAT3FAK0Tif0/HFHJwBAPgBBqVUDuoguFkW9RVg2oBIFw3h4IBAC/SA4gFAL8Tb1zlhQSGETtyAbbFBFSzBEvjeQLBBjQkEJlxi93lhJ5gCK8yCJ84NKEpaSrCR2xBZK0TL0w2IKs6PzXTVdiDCpKASQbRCfmwHx6meBRHFyD1M73zACKRADDBCsKlWtATK/LxGQZBIYYVhCXIh+0GbqImhQJjC4kEg3OjCLOiCNmbjJ4aipIliQBFZGi5Tt7DGKqriX7wCBSqCGIhBG8AaaBGMQcRNfjj/neoFYYjAGiR9wiu8wnkUo0HIEEFszNWpnzM2IwBAW0Kaiw80wRLUGCNQo0xpI0VuI0V2o9x8I4etHdGEFisEgqDMjwHCECl0geYlgRW4I4wtk/ARDVrpSPXtoQwhwiBsHwDtDECWhOVsTcoRW+114SCuXyWyQQysASZQY41BYhgYAowBgC44ZUVGJTZi4ydmJJYRDdwQDTM5H1HsUCz4QiwMwhNwYE9Ij6/wyjJdpT1aDj7OCKXYZA1xpUlUUso5gzM4JQBQ4xeCIQkS1wuwQUQ+oGCeVbushnd5ApvhJVRK5VRSpSfKDZERzSegFSvwCEHu0O3E0BcwwYnJUXy4/59voWUrUB86JqK3PJCSQRJKqKIExpsyAIAyEAMhOqBeeiEAHMER2GZeTiOv6AIr2OLHHc/6TOawCQRjNqYnwg3chJZZdSX9ECQMBcJYnhhmLIlDiWF+9cd/DEiuICMqUAorpIa4qeYwyQR0xBt63iVsOuUt0OYDLoHsUeNuyqdT/kKvEGBwHshqeMIkgJdxMuYsiCNipmUEPecTks8XaMoNxBzntUAT9FcTWJgagCRRICMm0Q3SEExqts4h5ORqHqYrPOVAqCcA3GUv0OZR7mZBPOUv/IIuWAJMMsWu5Wd+Dqd/bqMr9Iophpe8GKigKMJ0mpgQNOhxrFCFdYEa5A+BdVwoeLGRONoK60RHQAAAIfkEBQYAAAAsYQAbAMkA1QAACP8AAQgcSLCgwYMIEypcyLCgkRNdGkqcSLGixYsYM2rcGIBFlI0gQ4ocSbIkxY4fTapcybKlS4EJjLycSbOmzYQxU97cybOnyJw+gwodyhAo0aNIhRpNyrTpzKVOo0odCXWq1asVq2LdyvWg1q5guX4NS3bq2LJomZ5Ny3bo2rZweb6NS5dmzLp4g87Ny7dkTCxY6srQ0cRIDx2GZfZVebeujhAekDih4iWNHDmCyEQMaWUxgL1cVzjJkar0qdOm2axkUjeAkSiB4erIIeVU6du3T4HZ7BlkgA51iVBZhLt4KjZYOvfeSMBjXB5eqOA+hQkUKNupwGxZvlFGc7pIvCz/wg7mig4qaVLZBsRdYxUj3+EG8eIFO4ArWJpwKXMaAJj2GsGXwBdtNUHZeKVp1wUYlJ0ikCR8DSPhMLZUaAsmq2CIyYWYlHKLJElUgZCAcKUxBn+l3QcFEzp4wZ+DhYRR1zPtyCPPPDjO44479eRYT4/znENOOLaIeFAHBCTQFhiXEaceGWeIIQYYZchRSioAgJJEXIXMY8+XYH7pjj0/lvklOt5cc002Rhp0AQIGyMCWGZehBgATSigBgA6WgaLeKQTCdUuOhM5z46GG5oiONtXQMoEHkEY6wQQGLFCpASygpcNlaTiyyCJsqCFGF1hUYZkcny7CW1pWMBOPjQDY/xjPqzbWaus81UDAAAS89gpBAwsEK+wFcSREhhFkHAvAE0lZVoYgn5LBRBWxhXGqp4so15Y18szq7bfg1gqAORP46iuwwgZ7QUJJhIDDu0C0UdMtwzxj7zTMMPNMvsNgIsZlwy3iiItl0FdGGWlYhq22bIETTzsPgyuxtwDUc4y5vQKLbrCV2Ouxvfy6+y4at5RsssmrmHLLKiefDIiWyzI0zDk6hvkOmO7IE00RclAB7SJyHCz00IJgKwYAgaLVxDjssNMOAPEIJI9BU0s9jzlAGGAAAVprvQACBAQQAAFkX3PO2eicjbYwOGCAgzbooLNO3Oscw4033nSDtzfieP/zDd+A9/1N34SLQzc5wHBjTjzz0FPPl+m8Izk+lOdTjxNy5PBz0AUfbPCznwoS0RlRObKJLbjUMsQFCbDuQAIJkE0AO+vUXmOt9dCDIz28l/l4PLwAAEFBEBCAAADHI69CEEMEEYRkzgOBAQZAhAAAENgDgcQKk3Y/qQcZSBr+94923+sExxQjzDnsyAPmPZJP/mU++NBzWRmfDhT6p44Unb8gN4gBUuiVr2bAAhaXQEMltia7BpKNFrSLVeMKRUEc/Yge6fiGBsUBjm+AQxwaDOEGPzg4cYgjGtE4hjSkAQ1pNOMYLyzGMo5xjBkW4xi0EIUOd8hDUUDCh5CoQwb/vNeABlSDd2MKkxLBhA4VDOFnAEiVFKUoEEHAQQ1EeUY94tG0S3ixDrVYQAN+hS4EwKlSlaDHEte4xHvALx/50Ic+4EhHOepjH/ywoxz3wcd9wFGPgMzjH+FYuTjSkZCSc6OYcte7L93DHo9UJADuQRDdxWoddXBCqqI4xSlWMYHRsMYwbgGIJdzkGRZ0xzyucYlaAMAWnAgBr4qIsQWAw424zKUuc1nIR+qIR2XaUT3GlERIRtKNlMPHLh9pjzj28ZnPnOMhCanIZVpzILiEpDxEUaXLyAEAmBEEtMa5iHECoA5oQIPTvDWOcUzjFqZoE0luwYxp3CxM3oBEMWBZ/wouQGACFgioAxzAgDFCgBb0m6ZCF0o/fEAMRxGDWMQe1o6KVjSiGJ0VxDbqLVvVKlGHAlc70MHMe+DjkCc9aUMpRxBK4gMA9IAFBMR4LozxygN1GIMO0UCOWdUqHumoBz/4MY5b6EQj09iGP/rBj30kknL2qMUmjiEKL4DPAhvI6gYcEFAGGAAA4GCoWA2Jj3nQCqIWvShH15pRjmKUrXB9K8TWcQ50QPIdcQSkXvVKRwAAg6a9EqNBzRUCSOBiE7g4Rpgu2C151OORRRUgRqbBj35Ytqn5wCsdwXFYAEyKAV8zwAEYINAFiC2NF/TdjnYEAHcAwB6vfa09ePQtG/+lVa1xhStu3yrXiN62HWcrhzlOutfiFrcZAEAXAwYaUA1kVQMWKBcDuGAHxEbjmGHyJTrSEY9x4OEiprDrPuboVDhOkpJ+xQUXPJADEuTACSQwLdlEa9oAaION+FViPdKq0d/6978AtihFKfpfp6nNHObw0kBU+kfj6nEfyV0AAbjK1Q0EVKBYjS4EvIDYYiBTmbncx2XT0Q5mXAQQ5WgHBdOR4BvNQxROGAIScnAwOwgiEVI4gAHOGAAEfCO/QCaTRZsWtaaxAyFH/hbUAPC0pwnkaUduh9OcFuCmtWMd5RCuOc6hxiCHyXHqmIc6HPeNYAXgABaAblYv8FysQnf/AiHYBDVEMchDAgAf/YDHP/4Bj21M4wUVAYNdZ0voMIEjGmYQBB8WbQc+XCYRiRDEHnLg2QUQtMteXmLFpkw7KBv505+OhzHJlDvfEXqYvMMRAI4cZU6DWkhZTvHjMo1fcwDAtKJlwAHAJrtcM9cBAOAGGu6R1z32caiWTfY+mHGLiSDCHGRaYzTSsOhqW1sO1F505lSQAQ1A4ksTAfdA6GHk2rF6HU1DN+1ot45rLMBclqLlryBQiUr00BsAUDeoP72OcPibHOVwH63xm46tjY1sYkMACVRAAgAcwHiWZsAxwoGGeox3r+PFxx396NSqMcQKX7jGMAlNTETLYQ/Y/xaaHKoNAGrfTwUbyIEoxNTamrv25jbPOQDmwe65qbt2QA96OdBgrgbACbBF/JpBZQmBcAQd3VAH+jmywQ1uhGPnxRy4EtHxcK4hAKBZ4AOkx56ILHhgx2IEgpeICVuB7PJLubOGPBVyCGboyOb2AIc3h3awE6VhD4vOgrO8wO1owNZ3iB9m4ofZ2nnMLW1no13c5CY3n+9ilkXMfLAyvzF580oUPqf809FBjjVlIxs0m21r1zgQIKtDawfYQBbG4KJF78EydoA0H6TwdTjPOr+yJZM5MDF3hdjCsT+qGABwkfKCeWEMY8iCFIS2h9sjgfZekIIGxKG7CvLu++APf/880LHlcpyjHLWr6+Qnnw2but/9YzzG49df17Nxgxpq4gY6FJxznLtW5wdxABCgAgSTfV7AB9V3cnyQBlOQBWUQXROAaV42D91AEUlgBPtHKOCQMH03BEPwfE6gAtB3MHtgB1PQgFQgBSogDh7VgjZiKIjiYvLQDuYQa+RADvWnNjlYCcJya+kiEOkSLO8HAOsXN2pTDtQADdBADdmwf44zTMIEhavlWvVQMf7XWvWgAiqQBSCIcie3BwBQfdWWOV4AZxIIZDlzDFJSLAzxBF3gDWoVD7hwMABwMFNwfdAXHkKTBnZQBiQwBVIgBTlwDgG2UWz1LVh2g+QgDcBQDD//JAzFEImRKAy78n42VS6Y6IMLUAwAUH9pkzbmQA7QgAzNAA3XgA6MU0GEojvg1zjfx0gagASzdxl2cHLedHIAgIAJiAQh8HtBVg/kAAYxEAM2cAMNMQczs27r8Hx9NwYA4AV1WAZ1mH0HcxlOEIhS4AQAAAnppEA/VAs3REPHkELHQDiAgze8AAy8okDFwAvCoEOVAAnyCAn1Ro8hYFDCY1Oc53m/8kPxCI+RyAu7IAzIkAzUcA6x4oK3QisyCFLzcAw5MAROcCp2kAZlgH304XcJuAdIMHIEwXbFpErH8AMvIFnHuAfhgGAINnvP6ARTcCJDAwAq6CJ8WAZIEIhU/wAJvEALsEALPskLonAJdVAHQcQF8ugBQPArgoUGogALxUAN+BdrWQZwAFcOACCVWBlr2IAN1UAN1dCVX+mVASkM7sgL7QgMtFAJ6FRQQLAL0FAOVMZfF8VbEiMP38BeSGAZFomR9NGXBkOLcmANY4Z4rHVzPJIOhfAFXcAwbWgM4XCD1PB8tCdjMCk0zqiH3TQEgQgATuBvnumZ5CAO4SAOiliaihgOUKkm+McNNjiVWfmarema5VCVsGmD5NANwoBAQFBQP6RDN/SbkjgNzwAOxEmco2lCJtQOorBwB7OXfRkefZkFU5CRclCRZaCKrvh98mANZxAHcTAHczARXf+QCFbnDeHAhdPIjHx3kQIhjRV5k4EYPNzQDfRJn/NZn3qzN+bpDbd5DVCZmtfgmlVJlaZ5g7N5oLEplVSZlbRZDtxgDLsQobDAC7AgCmpZBxc6lNjDBnQQB2dQBUngAxRAABOQAyowAQSQASQwBELjl1OgAQRIH1rYl2PAKdHQLXPpUy8YD+uQCHBQLIEwEXMwCIFgC9hweg14Ikq6njGZmYGYBUigJtggpdewlVa6laeXDdqgDVWHDdLwn1CZDaD5mAVapqZ5oKU5mwSqiGg6m9yQDBG6C8CADNxgpqQ5JHhqmt0QDtFADZCgARkAk35JHzdJH1MQkX6JMGngBev/ZmS/xQ7Y4ALE+AMVoQZtEAfCsAzJIJN1yKlM6jkuAgC1qJlOgAS1AKaoCpb415XXUA1qcg2lSA3SAABLmA2vOqVXmqVVpw1Upw32SZ/muaef+ZjEeoNkiqfhwA3IEKdzig35GQ77Ca3SijfTOqzSoAEr2neGOp3Q6JfPOKh7eQ7mAHnqRzfoUA524AItsK4WoQRMAAjL0Ay1IAUukgW0EY18lwUqIAUtV4cSiQRIAAkspIQEW7BKuEIIu4TUsAzLwEK02gzU0AwSW4oUS7AJu0KymrGo2qpq4qocS6VXOqUQGqfGwISnt6Uoi7JVt7Ir2w1V1w2QED7a6gVT4F7e/zqoWcCFBDMGxSCVKqmS5dAMSaAElGoDLkARLQAAP6AEe5AMwLCZY8Cv+Do0XgCdLkKzOQCwOSBDE9u1Xuu1LdQMpEiwywANDHu2aJu2atsMahuvbPu1FSux0CCxwLALAjGQ0BCWHOuxHvuqfiulxeABJIAEM3uoVjuoz7hwGXmR5XiDdzqg4eCjcQAHGIEFX9CdiZAMtNCA7PmpzwgAOZuzVBCRSDAEtAC3qNu1c7sMYyu3bNu2sBu7shu7ywoLdwsAzeCwA/GlX6qxqPqfMUsCM0sfnzuo0akC0Al9XoALn2men4kLf0AHeTC9eYARefAHf5AIy3CNBCON6wmNOf8biCdIukOgAql7vsjVDMaADPH6sLP7vvALu8ZwQABguwDgtnMbt3NLsLlrsMCQARlABcNrvARMwNLAq1THDVy6pc0ACN9ZvRsRCIFwCJggClLggBepmS2aBaCLjdc4BSHogQAgDBXhuup7tgwRvyqMtskwv7Zrv26ruqibv/lbBxZAAkqKuAW8w15wDF7pqkB8DdIwBi1AjAAgBCBhBWcAB4XABU4we/bqBM7nBdIZiE5wxS4piBFJaRjBtvfLsF+8DAIhxvc7xmZcxmhMxgkhxm2bDLlJv7CQqeibusAwKdc3xVnLw4RKr345BC2EsCukhJuQAi2AAimAAigQEl3/0AaDUARQ65dVnI1YfMVSAMLIOwRcgBGamgzJwMbxSsagfMahnMaiXMqkLBDCYLcHBAvAgLtzDLdoMCnca6iKy8NO4AEf6JeQALYSKwpJ8ALrmgIiEZ6HUMxgMBnfWsWULMnayJmBqAI5kAMQMMoNoanIcM3YzMamPMrcvM3ezLAkLBC2uwvsWxAT68qoOylOdI05S8WUYcu5/JzAALe10AZS8gVYAAUkgb3YK5ENeIKSzMwFoY3aFwSJEAm2IAq4gAvC0MkLkQzYjAzrO9Hru6kAYNEE0c2nrNHajMIC4UWXMJBqPBF1XKIe+ME6q8fdSh/Sd7pfWwvfOQd0QAcr/zG9RbDMzIzFBkHQJGAAfwAHYoAFS+ADJ7ABJLACJFAHRskF9iYKPlkLtuAIiWALdgAIYKCY+WwEWp0sZAAI1QVLFVILC73Qx4ALwCAMwrC+BdnJm6qppMywyFAQrIzRE4EGDOBEHgiwKK3SyZwFu/zScSC917sSBNIGamAEMnaNit3MB7E9KoAARVDMeKAGXSADE7ABKnABme1eJNBtWYUFYgAHHTrTgp0HcwAHcNAGbXAGiikGq43agS29g5AHdKAHtL3aXQAFSlAEvF0EXE0Gm/DVCC1VojAQsCDSBQENCgEMXxeRQwAAAKvXF9zOfnm4VGyv8+y1iWAFYqAGc/8gwYfQElVQBUWQ2Drd2AzHcBaAAGygCIgQCIoQAQawcDBHAvZ9AQ1AAphtBIcQvfzMz+B9CIHQBl2QBDdwAz8gBEmQBE9gBZbb3T/qoV9gBUkgBDbQAiOQAimQ4SPQ4RqeAjFwA0sQBnCAB14NCZuA3MktEMo9EMsABAiA1wMR3dJN3V4wBBqQA9EpfdmNXPe7CTegrpJqxC0hBmdwBkUQ3QiBBFqo3wu3AQvAAtgLAEUwNvRt1Bdg3xamAiugAmZwB8VczAGOCIcAB1/ABEZbyB2+5i3gAsWo4E8ABXLOBBaO4Wt+5xne5jGQBF2gBvCtCI2ACIJ+CHNgz1jABEb/4NuAsOjplAN1kAMIAAEeKGPPXbo0jtI6K4ssnbMu7ePGYAc3YOcdThP8TAYyhgQFweQMl+X2HQTSqAFF8AcAYAABwKL1zeoCgdlc/oyJQAZvMAeH8AjCLutQ4AMAoOYiIAIAIAIgAAIEEeJKAAVY0AVfgM9R8ARKIAQB5AIbvq6S+gRiEAeDLsEAHuDF/AdqEAZd0AUjat8qwADu9dx5ndc0LhmVbOPXXQfF0MnLYAyRsARBfuc28QfTa+oyNhBNzupYngNBAHMWwNsBYACRAAAkgOsVb98NoAIAoPFDkAaCUARKsAVn4AZuIBAWfuwNAdqXSr0dCgCkEyja0gVn/wDsYv7f/z29cSAquZ0EJtAADnDU3OPckz70p37plUwFXJizRODbyRIiVvD0K6InO0HwemDwQ9Be963lF78CXJ9VKIoAORAJcqD1Fv/YXM7lE4A5RfAFcaAIkzAJABDeLRERvEE6gW3zeSDhhy4EJ+AA843ZJOAAeE30Q1+6RW/vJ5iCJ5ACLnADSQAbrj0Hpi0QpHMTinD5RUAE9u3kCg8AWc7lK7ABAKABCzABzPOAWG7fFC8Qd63xG09jWVAEly/gQSr3NyHtBSEGXxAFSfADJ8AABMDqJOBc+r0ChH/8hy8ZTnACbY7gT2C5ahAH1AvBPfGhP6BVnE/xWO76AP+QVRu/CCZq1EZNEFllAQtw9uhRBllAArQ/5UfBBHMOACcAAASAVRd/w6Jv30KP/ABb+ADRQ8kSJUywdDnTJk6ePwAcPoQYUeJEihUjitliQgWJDSQuONwA4AIJFSuCpOEIoEykRV4MdNwQEkBJDRYsvFRZpkwWFTz0/AFqUehQohSL8HAwwQFHjxucrCDBlGSOIVWtXgVglcSbRoHyuBETJowYNXMUFUWbdqKiQ0SgdhwJoOOKkiukxHTIaREVBDFDWmjAwAEDpRMILJgwxksWJDzUKKSjVrLaJkU0TLDAAKTIDVTkiowa+upoq0SA0olz5qGSHzYAuJ4cm+ihNzD/mX4kuQKA7hUaVADwIohM3w0MNJRJ81DFhgkGEACYkMXJEBNCmETBIls7RSIAIJDQ0Hezg5JyPQKQSpK0VTIM88RRAxH2dvoU8+QpEvM2+vIr/P92qIRDELBpAzkORFCOMRhAYAECAJhOBRZGQKGFGOrbDgsxShiCAMMOsCCkmDBTYbmUPjJvJJKyuqqIOOZArQ0xMKRRqD8smKg/3WbaDQAwDljAwDTkAMAMAIhMbgEHEduIBRA+qFE2McQwgQQIAjisJrk20ICBEk1EMSTc4FKvquqSeAKL7KJkcyIe6Iqov9282K0kLjUY4kAziDxSjjRQWgABD0nIoAMQUGhT/y0rlBBiguYM0CwzBAZrQIUcoDpxs7j0i8qEEz74YIQWbPghUVMfejNO3nbzjC7dVGBgSD/LUCEIL/6UwyUICGjAgwlOQOHCU4lq7QQDIDCggedI8ALBDbygQgUVxdQUJI84EAHUUFsY9tQbeITI1d1IkMsCAB1S4cA0VjAggCD89JMwAwyYAIETSu1WqBtiaCEBCBBAoIEFmpVjT95W2ADMaj8rqYRsQQWB23xPNUG/uUqKCiYLduzxpDSCIMCAFYZMzoBAIYDggindmLgifkdIYAGTFyhDopI28ohcaj/7KAcqTGghBRQqFLblRPPjiC6mbNt4R97e/TiHmomU4/8wAiAAwAgsmDCaIn5TaMBkBH7bMysHEt5I2oxFWvi3Itz4ogqHlui6zTzouJTcpffucbcgHAqCCj4L3s2550r44du6L/rCiiQE1WCBMQ4EIAib6FJb7Z13zqIIthRBJJDFowQKKCPOta0j9Bx62qQsJucDAMHlkHleBXxwIYXRIbp7DjYAMCCDBpKjawMLkKBihY8uUJjnh8bgBAw8Avkjst0xLP2PQAIxQoOQTiR3IwAc8NskAMZIw44DBXfA5Ktfvt6h0vMAo0EEIFg3xAyaxjmqTdneTVU4AYpCUG8O8dsOG9igB4Zob3uHQI+IRCK+kRhPN38LAvrksAcAoMT/OQBYwAlAAAIEyk97bJCZkozjPQBoIGckeeHOdoOERSwCFItoSAllQ4ZERCIRP5QEGXgIBiL8JioU3ExNXIcEWclBJ1nYlQFY4AKJlbB0RSDBvAigAS7GJER+Cc20AAihRQiCE5zAxBxYpkO1vKEMfOihJCQRCTnScY519GGCpLACC5CPIxMog7rK4IUpTAACRegCGx0SiPplgQQB+CKX/DJJi52HZybIgSDkAApQgCE+ikSLC4iQgw3K0ZQAoKND6rjKO85xCHI5zAT+VIYxZEEKJOgdKNnAACl4IQMI8J5fgtAUSlpsggAwwQdMIIdIDFAQPgBlWobgBZ0EUg7q/9tDGiYnBz5wkw+RQKUkAIDHRJCgXseipS2HoAIwUC8oOrwAEnr5S47E5C1gLKZMqNABUJXAC2UERSTAEM2inEAFTthDQjfIB4YyVH3pW6gdtJmFNPTQh3zIQXMA4IEpMGadPCgdGw2KPC8gJmcWqOfSHkLJFbAgWyMcgiAEAQpOkIGgRDkBCZzgBZ56QTFj0ElyAIBNhzR0DwqigiASwYcxkEBQBsgBEoaQAxKANKQlpEBUOwodv0RSJqmbZDJBdYITlEBwnCRDGG4qFB6oYAo9hWtc4TqGMThkgwDgA0XtQIUhZGABAWhADko0ARMM4p0INIEGooqEDEDqbDgK5v+WyMWfFUTVC2b4YWZ9KIVNgnOtFilBDt7aU4fwFCI9dQISRuvTDTpRClNFwq4IQBIPIKCd2yshCE6QAcEiiwEMYM4KkIAEJ0jhTz/04RwjsVzmMveHfEDCGEoRPTx8ljs5yAJcH0In4HTXC07IgROA09NApmGd8szBXydQW9sqQg/bE138EkCSKHogB0EAYnP1u1/9JkISOchmGkCRCDrkwboSIQF2e5qF8XLXtHQiZGlJG8gy6HSdu8KaAS6Qh0M84hGNKOEFNIAsA7h1D3D0L3+Za0pJCIKheD1xGZ4rYM8eOCIk6CVpGyxh73pXu8jxggqmuiTnnMAHS3hCGNb/GL8IeGBeGQDqiZEriURokpbpS8Mgk6Mg4KDPDoI4Eh/MO10wbMHGDzFojk0rYQj3GMJxPV+WeasCBykrASIYgajmcz04/IteTkDfTnyKHKpJ9E926JNDsqySNJx4D3RNgxNKAQpAQOnMAMjpah2s3TZ3esfUpJUKMoCsepkABHl2gQ7B0IDDAEAK0wmq+hJEMuTQVTF0msJ2gZqGW9EVFKe4tENM4IHskvbND3Zzsuk0hr7Wy0MSGGEKiha/PLCBAIBVbKxpSVfTZsHb3wb3FF7tkNchRwoqkYIsZGHTS5+gAarlqbcbjGxPdzq75/OOYRBw5wr5QAlfGAQC9bCF/wAsoAETGHRdwT0dJ4Db4VnwzEMYjBxtmlfdZEDUpRMwBOI6weMel8Jold1jAFAFOFlowK4WYIJgCaEKS0YgGQ7TgJ0qBgDyzsIUBIuEhzt8Ch4HQK4VfatmyQIUlr50EHg+1SFMhbgir3d3WQSc9DqnAy64wRLCgIdH6DAQZDBZBhZ884U7oaM9//bPJV5XXme5DOo2QrA7yAczRkIKJoMAAzLwyuxSQbUjX4wvDUCACPjA5W44xCQUaYR58XwxaIc8uKnwarNTAaiu1skQLp5xG4MgOGbMSgICMPoA8IDj0rHsyG+OAJF9oQth8IMiHnEWNr6hQSGPfO7TDvLs1v8VOGnIQiRkwYlgnyANjjhjJHLQBQkkQAEUoAAYeGD2KWja3rc0QBEaoQg8nOEMjwHlIRaQgeLqXvfi9ri30Qeh5AhCFqsAAxSEYOMTaJKmM5EA9PUP/RUUV67cpQKda4Ai0IRDcIMqWAIf4BcbEIIo+IJPih8e0CkpML/cQz//2zWVUAl1K4RLKwKZOiMAIIIK2L/9Cy+zC7zFcLXpuIAOKAEJeAAFKIACAIBQoZAUsJAfMAgxiIPdmcAKjLzq+7jsQo7UGoJFOAVZkAQ9OLM0KKMzKgMyeC/4iog3MAMkgJCP87gV4IAO4AAYlMEBEICKqJAqWhwykIJXiyog9Dn/yhsu6vs5ITsjWSgFJjywODCDGjojL7iDSfAw0Ikvh6gACeAA4VK6C1gBCuiADjiEM1ACHyiAARgKPLseI/g4S2HDAPw4qcqBThyCj6MVJwAoPpDCHPqsf1oEToiEITCCOBiER9AETZgEEJOI/evCDgDDGZREodCW+Hk63IO86ks7KZCqIDCCImADMFgCD8gTTrqhqViBIShF6zI+R1gEh8iBGPA3uQGAxKOICuCALuSACJDBSBwKbQGV6/kDMhAvskM78BqCjvo5JCADRJi92QMcKvCCAaIpEgiMs9kAU1wrGABBAFgEh0kBF4iBG7AObgy4iaCAGJyMdNwdoFAB/+KKPCkQsuqTAh4oMyhQsj+AIEoggyEoA37khDKAFMGwgCI4LIIyAvszSBIoAAWwyZtUgEShyPgBg6hyAirIvVcjgij4gRZQSG2EiBzwgkhwxlOYAMFwgKQAikBAhJsKgkXYJIe4AAGoyZvURaKYwbTYyYr8A+kjLikASocLwFcjAyxIgtxBARKKiBVoFk6YtFTIgQboo6gsgkA4BNmLJgHIAoCKhDFIAAEQAK+UQaKoAACIwXKMRDGciF6Mn9KhgHjKwuJKw1djSzFIghgQmhFAOocAARMAtAEqhVSQgwZhgD6agEboOkogqDJYhGaKBC44zDG0yZo0R/oQQ8RETP8dskwKUIAJiEYtdIIgWAEJkIByHIDflIgTUMozKoVVKAUCOICkGAwymIRQIAWCqjtUygHg1E2vTJRdvB46KDAAKEH+2z9yDMPnHEMACM6H8ADatMtUwEuo7CMTqII7eEhFUgBBYMqZJM8xfMyclDuiaMAvgIj21D/mjMHIlMyHAE6HYAF95IRTSIVVkAL+dAAO8IGXywRQeoBI2KQb0oADbYEIeIAIqIDGXFChGBrdgQjmbE8JIEcKrc+JYAAkWInUNDoAgErC8oEt4DrFY6Mi4IRN0gsLIM8BoMEKKAEW4IESMJVFrJsPoMSHoEEAUIAHYE7mhM/nRE+KeE4SKAP/R/g1/cwB4Bm8E1iCMxgEP2SLErIBM2jSgEqD3BQAKa1JHhDUK22ZcAxHGW0TypQIKbXJxwzLotgAtGzTVXglLDmAG0DSR5gERVCEQKwbCnCIHjzJa7zNBHjOGQzTCrBSQWWBDkCg/ZON+ZSMB0gLB4iu/Bw+AMCSAWACOrXTQxDIloG+ByXQZiq5R1WACFhEDhhUQr0pXHyAR6UIWe2WHBgDG+LQU5BRIegCP5iETQ2dl8wXUH2IYTUjUDBID9DRh1hWVR1UFuCABSVPowGBFQAqUKjOVCAD11CCM0i82TsEdxJXUyHXiCiB5aKpRSCBW3yIF82/VeUBeJ3RxWGB/17a0FRQwlKBvW8FxOyJnxJoUgDQCw0oAUR1iK58gHfF0omtmyEYA6ZMwlJwCJb5VYG9qsUhgj2NhDTYgIJ9CDMtgAioUhaQWJY1GhXQiTZNhTIARwDoALaw2Zutm33sLCq4AAWNCDMdgA6ogEWUAKM1GrugAnxdhVQwg5UNxz+4j/uQ2rqRA724ofHkyokAzgfowgqIADAF226JSC6gAlyVWYh4gAdoA/UsMLYdlmB9iLe1oUXwgD+tiLolxAqI1r0dFgqoABK4VqVNA6wF1AY9gzgw3MQNVg44SZFdBAs4U7pFTENtTsslWAAoRCoY21MoW6H62eccmhjQQQ1pg/988ctG0IQ7qMsmZQBqnVYBeABwxNsvhd0aoQAOqMoL+ElcBQUFOFPEPLU8o5AWUJyWKQKq8jgSOIDVZV0B8MIvxFqKwFwdpdXnFQro6wAWwFKkjYRSsN1U4ADkRUxtEYHtHYGW2YIIeEryOYADQF6JgBLEfID0jQDnlYhb1FKHIMcY4Dz4Zc/oJVoeqBxomVTfg4j+RUdQ+d+JaQHNIB/gQWCLgBJ0tFsOoFwIfggJnmGqnAMxcMtv4d4RkEujjd4qdYgiWAENLQVZOIUak9URRseWOQEUfkoDWGGLOFABwFL1jeBFdNWHqEqHQIT3UA2KODUUSIEf2AKfXSvoA+L/QQ2tkwSFDj2FBK5BJVbUU4kZB+gjALg2aoXjEKZVL8TbGQ5HLAYARNjiLXaItVWLgG1bBIpRIHaIUWCBmaCmNtbP7hhNOR7hYTGCBTiA5wAATyaA50SLAcDSKoVhcaRh2e1CQibkRVJb7FnkiSkBLyTaIObg3ZDU/MXd+cTkJT4VDliAzLAJADiAAChf+kSLCIjkW07fLnRaVY7XQ2BlROjUgSUdxW2TCOAAKwWAo4jYLEaCfRRS4nMI5O3lYYmA1sQMDQCSAAAA8xUKBVjZAPFCQQ5H6HOgaY5luTtVu+0OHjADDo7kjaJN/F2FU8hbiujl0ayRQFgA8sEMmXDn/4RGi/mFiFl25iy+56kk5L90pxIy03lFiz8tgOUNx1qGiEj1gjaNhBWQxARe6ETZJdfEEQaQmQC4A0vwgzPYgiVINYtwZgAgWkHOYtntRuqhyqqsZmw2GuzV2pAuCsQcAAUgRBfsgPUFgAjQKZYQhGiRYYhYaIaujz9ogKRoIQeQGQQIANqLCCUQFimNCBcU6ladYC1dxI6GIKX+6N2Jzy/lzZyE5xBGzDAlRA4ogcWMCHqZgI1ImASYzDheaBGIEnfmFSAZPCxpzK51wRL4BIl4X4foQiula4dwVSzmVNAZZADg1L0W1ocIQxrMybCsSTD9agtFzJImRAkoAYqOiP9ORoDWvJyJQIE8exg5luwo0YwHiYgEiFeKKIF4termdtoS4IFFXFksjeQOoObtdojVtuZTgb4yZVQa7EoFdU6JAM6phlEqlW6JYD0EyE6bwBGJ4JoWGBriHuH/DeAaoWyIMIBhLYp5dtVSdkEeiEVNGAVKoARW/hzQ2WeCddF3lkTenMG/nm1pte3EjABCnGWs9m/sfGj5Zu6ImIRD6IMwYAIfsO/h5mEuPTXoVQALUG5kCkfZAOJZFlQEp4RRAAAe51RC5lRgZepTGdy+zkmsPXLYLsfg/ADgxG0YLoHPlgjRA3E7HowMkIiz8M4SP/EqUHEW5949045AiFcFuID/940vM0aL7nAIQXUIStCEHYfz7UaErnCgrsHJd9bbI99z513f9E5WAKBSk5WIawsAKP4tBlkAx34I3NoeRehOUuDyMKgCIbBvAMAX+gjEQ4AgAPBU+WkDLFACM2RfLBXUo9CERlBwBAeA7Ttt7VFtPN/wdQXD2IaIL8XqAhjsDQfHq56IrtMD0QOYBji4pGCAA3iIoJhK+AoESPfOAjxxAFCr+uh0ifhuBRZr2S0BIhDUWEhwHk/wRmgEaoYvtm4ZMdW/RfxjW+dNAJDhCifsRpZyiOh0LAkZO44JBwgbMPgJiMgeByr3SG9oCKp2V5YNEUCBF2jgEoD0UVAFAIgF/4cQd0VoBO1ha9Xo4VPJv2FdVvZ031s/WTCFzGSNUS+sCNEBg0NnPXznkswoAgPz93//dyqkEXIvZIcAVu1IeBuwASWAAjGAg0OQzUcGgNlr9ocIA7ppGYYAVS0tQRnNWwVV8mil1a5tb4pQACxZea9yAE+OCJnPnvuggy/GkEIuZOrRjhZ4AcVRgraHgi+AA7+cBFJAhVEgBbsHgDtQgq4pHeg21L+fYQBwX1olbEGnUuwVimK+tt/+ogswHq+PebBX2/dgE3N3cJ1/Adf4lhf4ASFo+1IRAjPrA0tAhevRv1RmV9BmV67l2jGVgA7Y0aEYPQJg/EhigHlPdsm/j//fjZK/pL2z4P3YaAHvBYBvMf7ifw1E4RaYMwQA4MaJ0T+DLYF5jghqVoSBZv2rRuyKkIBinn2xOYDB4wGYt3bdTxRDVoQ2iIIbuGC0QAEXWPv4v4H4B4AXQIFsd4hQeAQ/EFb5BYgOAgcKBGDwIABEihRR0uSQEqU5EiIgrFgxAMYABDZuDAAmj8WQBv+ILGkypMJGB2+IOCkSxQsAN2S+uFGzpgsQH1zy7MmTAoUKAAaWIDhwqMGBLHgsZYoIEUg8hyxN0sQhJIuMGjvyoOPzK1iEjfQY/AFgJ1gUKFzUpGnT5lm0Yefy/POHwtUORfVWZFGww9AOSwcL5IC3BAv/wxEedDkTx65dAE0caA1ggi7mumoACLkR44PcnigAtJgJ4CbcFqAzsw4J+dBCRYgA8KjIg0eJpAJZNO3AwTAFvSUqPFAwoEABBQ8eRJAAlEKCBw66tq5u8cyXKEoA2EAR2uVomQB+vG0LwDuAJWcsWWcNOTaihqM0zR9FaZQJ3CWKAuDNYm9FHESgQAECGCjAcQoo94AEzj3XHoRJMAEAFErcoJpP4dX0A3lmnWbQB6OFAaF7dsnWCCL00QdRIyra18iJFQjnW0gKHHTggcgpyJyDJFoHhRBQMCGEC6uB14IL3N2wJIfjvRBTeD6WmFIj91kZSHwrjtIIiopAFghJ/xZVUQNoZRp5YIILStmaGF98AYASNhh5EpIxlXeDhy+00IKHa2Jm1yEAyGYlACw6ZJ8mlKQEGaOPkELKIWH4IIKZZlpkIHJ+ZhZII4HEwRmGJ6HQQkw2xPShaS6gIISmJcLIpYv3acniQgdBliIqmfTBRJGVVirSByO0GlYj9il6BhMx8ESqqTHF5MJbKbAKwCikqDQsWH8odKImBtVHbaFcJlRSpELoVJGZannnq5kpxCAEE1icga1I8xnUyBxdPGFSCwC4EMNbpz0p3nb0soZIoAbJB2634ao021zqSsxupSCUpgQUbxqscLfzRfTpSwa9YKppAivLhBrsbZyZtv+IqPQyJVUCwKVCmEksMYgUpxvDD0ls/MgoQScK5h9ztGFRv0n6y9ZMNhgExbyorNzaH4pUKXPMMb9M1803W6Rzmf3Si4i9MyPyx1SZHDLI0VAYNNOeYvu7JwBnTAIAKVNXd23WVz8MQMJfde3112DLPey3mjRiiScANA5AJl59ikXBpNFd0SiTEK03Zpz2PXPMBikS1miDqwuszsrSK5/HmTTuCSufsLK2JYjQAccXFXpW1ogIER0Z52FRcm/fiiak0iMZmn56SeyOoDq2QI8CQKKMA8DK9SFZQkcbYnCGUOaIYHk2ZMGDhcorUlekCJYM3S1a13Gr1VOZKx9yaKH/kzQuu0iyiW/QIAxCikkcIjKHmA2jzNeT9RxEag2DWLdQoTJRjUpdcbucAk9iL/s8whOeUJkHQ+iJTDwFYhU5QxviAJLxZWIQBQReBksihC/gwSCvOIgmrKYJVJDCENtpSUlG1YIKEnGIMTQJ6xI1Qsh54hOueKIrAPCIEuJNFQjxgRKwIAY40OGAHfRgJjZ3xK8ZBAsAqGEDR+HAM/jgcCFRyxCfJEc9jVEkf1hYoSwBI8d5UBGWYJz/SkKqGyShC23IAyJECLhBhKmOIDKIEH6ghCiIwQ/JM0gsSHEHJYDAJBJjyxyj5EhbBco+CntEIzxYu0CwEksKM0go+mCQ/8ONSlldUIMhGPc4S+ShkXXcyUzIsyR4qUERN8SbDz0pxLU8SVWjtEigPHGoF+kSYbLxX3wOIsuXjAZPVbhDLg8SOEeG6G0lE4IZD3LMCVbEgnVygRufCYA/sEea9GmdBxXyFP89IhSxWIlLXOCCJbChdwDYHqN82SoQCPGCZ6kIXD7Uu2PiTX3sRBI89yRHeULTcdS7Z6G+aIlAjG5mj9DEK0ZhiAlZriQCdUETYloRQwRiEL9LoJRGZRDmHYSZTkPVE/yQt0IlZCGXPIgh3BCGJ/xAoDURJUfp6VFq3Sd/HjzIJyCCUoMwoalLs5wbk3QEmZbEEmF8YULtMgfW6P80LmiJW0+5I7J3dQGTohPUPCvyivSF4hBi2IIS4inPhKkMf5T44uM++gorPuGnBnnpLOWWpJg24SSGOEgm1HaIF3LPCjdIQf188oEhrmsncMTgaKAVTCjgARX/TFRJvYQQRdDnFbHwRSxQcYjKNY9dK/tDJvj4iayGYnpbCiEO0zdOiyiNNAeBKVnnorYzLEE1YAsJaCoY2tPKLTyqVUIY7haLF6FIUI303KFsGwuKnoRiG4umyljRoqBBRBGZhaVyTyJQsIqVsgeJLk+Ce4clGKQHNUgBCigFNtAgeIgMPY87uztLPFUuczO7FgACcRBEPKIh9zSWS3ZCsRQYjD3/lsBeK0JBNlkp6ikNhJNj37hfeBqEspW1cRPGauODVIENX7isS3pgYAQr2Ew1GCJpG3pBCTvXBwd14EFqtVmDHKJKiQpa0PQAEjq5tVKCXdPrMBuIhVECSxhGmkMRcirSQJeyYDgIG9awBjDEVMc7rgIA4PCGKlQ2yD1AcA0iKze4vnGWcAJAKFI6iWvW7H+c6vB9sKwHDbskDEuwgQtGYKYRuIC3rUqsK2p3QJWYmRKLPQjAOOSZjBIaSQexc2XfUJI4rwHHBDbEZcPABgKDxZmimeUPthBcVcQMYQfUp4Y57GEsd8onoajbEnygqhDFgKWamgp7WnGQUGDzXgA4//W+8NSklWS0rUmabEzB8IZ1u4QQBmGDQe6QT0sY4g49XkKfXdKCFHzZIuGJgRL64ApfqCIUJBRf+xCG3kgHzSsugU0/UWFF9jDBBzb4QRRaRc9EViQUHeaSVg9yBSVwyCxCYFXJyXPB/dYYDPBmN1gMgb3rscKDuA7DG/Dt3xpXhG5fbu553ga5V/giFKFArmaf0ghIY3kUZHEJoyC+Q7wBIKluaNXoLNEKbYsFIg1ByLwiaZaZnHxaJc+o0lzg8jfAOyyMQEgUARD3mhtE1zrfsUGOwG9/8SQ8rJqFL36RYkUmBOLLDlojYOiatNqFpI+YBCp4iK1JPLsirfB6w/8MooYnlF3skJzWeDgET4Huad1seDkAZM0TdzcOe1B8fRRnDoA75BzvR1iLc5fm1Bfs93D7ikUwZrH1VtQ8sXr0etMZqVCEMD6tgSjg1Yf1z1nIPe6Qw+Mrou8TDtUJBT4wfVjc3YmZw/71IrkDIdjQZ733y9Uhgaxc8XZDlehBEZ5oBXKXzrqgZWKkih9J8zHeHJyB22hKGGSCLvgCQlBfK9DWKNwWKoBMWPAePK0bzL0bWJSfBsLe9XTC7DUBvg0Ry43GkmHQDVTOorWShjWRJ+jQNI1CKDCO//lSADafBPpJChwBrwFAMByEKmibJvzTK6zVV5BHWQgUG1ig6vn/BOtdzwY+YRRtHSsMQieEQRLcANClGUSBzxRR2kEwjpUx3PSIUyPVIOMZzE7k28z1oA35whDuC1jgiUF8nwUehOq5m0kQwh10wtZVHxRuINcZBO5AwQ8oCwblHkI8gSVY0fAsl+h02AtWRCZEhhmWz9TsxBvgYSYCAOD5gi8QQywoAhb4DGY0QR1aBB6WxNtx3R9CIQAEoviARBewVL8hBCqohCO6jFZh2fBUBFpVIuegQA8QwtsVIyO8Hfi4QQGGBckpYUgsYUgg4yu2oit+wvV4whQ9hR58SnZE0qodhGPNH+BUhMuclBiyE5VV4vJtTAusQU9k0iBYgUg0Secd/4QS0CE0GoSs7aNIdILKUOMTHoQHfYInHNDxFNsciMEoktxMOJkvbtaUCQokNl3yJFYIAaP59IA0YgIAMIIpAIAuIAR7Pc3nlUVJHtoSOGPqVQQhOGM+siJAaqBFeILSeZ1NBkJCWkESPAEcAsAkNCJEbpYu7h8lWI9BuE4TrU0AZlAPHMRHIgQbFkovIsQlJYESWCXJfU/BLEFLXuBK3iEhtGRXslsneIL1GURMmh8AWKNBfMJC2CRcxoyntIEiqM/7FGRQLt0LjgIimBUf6ZLs0EHzHVENeOQtmMIthCQxqML7HITXiUQkEdgSJAFBAUBXWsS64aExhmVYMoIHtv8CFMmdaMJdK2ZPzVkjpNlkSHRLLPwTXs1GSWWC/n3YKLQgE6mSKn3CL1riEXWSDzACK/TgL0ylRTTESHZBFTBCWK5k6vGjrF2muzECRwLAdEqnQbjeLMjkWYZEaJ7maXqCapqEa2oMSJSQ1RzeKBDk6CDlCKnSH6UVR3nCL8RCY5YEcRrELHSCB1omQuzjPqZiWGICJnikdO7nQVDfLCQo9blCdprfdlYE9ljjaT4mQjxm5gHAKL5LxsEBKzHE/tWmbbJnCNWOJ/TSOnLUmZWESowC0SnDdXbk2y1nRWxiSy7BEdDhgJoC7OgCj1YEgioog2rnQRDf48hOVkFEcRL/5yscwoRg4b9gqBjoQZU0XSbg30KIUAipTUGeqDylqEnwzS8AgDIQw0F4YIxyZktaJhu4wBpgQkuygQ+wQRd0wizwqJ3a6QLiZ4IGqQYSqezc35H24lQOD2vWXehhIZvFQBK0wZghnifMQgvaH5Z60CEUJCNx1Gx56Uk0Qij8QoICAJny4PUIaDHyJyE0wQsQo0FggilgggfSJB+FgivcKa2GJPVxooJmpx/GTlvKHZJKpU3Sx0EMAkuZBXkYIpJYQRzYzhzEDuPgH5ZSWeP83zORFEJcqEnoQjCE6S9sa1QaxEdKJyO8AQhSp0XE3T4ZhEK4jhPVKp4eKK426HChdqUrhMLXwaVDIEQXKMHJhZ6qxQA8oUAKQAsU9EEcyOfwFR8LVirgcOkYmRC2noQr/EK3Vqy3GoQyfGt6cOR0hgQrpOtdJUQiNdGs1qm7cuKL7k/cISm+jiHgWNtBiN2SAOyepMALKOod1BwrDF8TYY/KKKWUBAQAIfkEBQYAAAAsawAZAL4A1wAACP8AAQgcSLCgwYMIEypcSNBIAoYQI0qcSLGixYsYMwIwQkCjx48gQ4ocadDIhShWUpJcybKlS48wHABIaeWlzZs4cwaYqTKnz59AM+7sGbSo0aMGhxJFyrQpTqU1nUqduhIq1atYNVrNyrUrxK1ew4odCHasWa5lz6qdmnatW6Rt38oFGneu3Zt17TbRAYavji13QyYwgjLqXR0eOClWnKpxqkJXAn8cXFhykEiOMzcuhAWLUcNMKXsOrIOKZseyTp0aLTnj4M6g5RLh5HjVKUylTqWyjSVKa9dGugi/28OL49VYihhvvOpK5N8XA7CIwnpuGsybO4MBkCp1KtjQLRL/mL7UbfHGskph+YLliBdQ3AGIGR6e4vjOWGKrTSOo8alCTKSkgxecDLTFFp3VNxEBCVShn1pFjHHcFflZMeAiAxXSRX5QKAiRDAScVN5+ZTgmSWddhBGGHP11BxkUHXrIEIgE0PeWDnJEotgiYMBmRRVplLHIkGCI8YVkmJiyipKm2HLLk6tYceRBRgRAQIJymZGGI0OawQQUViRYhpBDkgFjdV49www77bQTTzzyzDMPPXLKWY878pgTDjfRiIEQjTau1YQgcgwpSBhfbIifGWQukgaHT4j1jD2UVmqpO5i6Q8+m7XSDzTXYALJEpDIYoYMOLFzQwAIryDAWJpis/wJrKVEwyuUiXpChq5ZmaOnFkIuY8cUXfoo1TpzyyCNQsswyC0Cc85RDCxoTQGDttRCsugACC3S7UBFFkFFEFTgN8ww46dzpzp311CMPO8O0IQcXwI45phf2lpHGkJF4qYQSYkUB57PNFlzwPOmgwQC22CLA8AJdJMQCDhTjIMRLpgzDTDvzuEOpOvfcg8/I77wzjgxUNGoosCwDS8YZiYoFxpsGJ/vszcrafAzD2C5gbQNAI2BFjAVZUULFIQz05NK39NL00hoz88zU00j9TNXMZM2MNeB0fYw358RDT6Uhj2z2yOaYQUXLGALQciTAJkKhWF/c0mY7ALz5pkB69/8dDwDzoFMH0IQDvQAABBBgJQEGbNL14+WYc845whCAAQaXrKM5O+uwI4443hxzTDOiH1OM6aIXU4worLfuuijFQFMOnGN7XKnH7dLZTjZpFMqyQGy3DONYdrcJrZybJq+uPR67I1ADBEGPOALRX2INNNlwk0003EeTzCWwwMKLNtpnY83poktTejTfiNM+OOLAL3/77X+OzpyW5p//uu6WA4Egv3Nb8IAliEugAQ1dG8YtRHWVL1hDc52bB7KcNRBmzSlw8PvGN8CBDuZlSn/2uIc9SkZCkd0jHyhEIT5SmI99uHAf+ngHCvXBwhSOTIQhDJkIdcjDHvbQHesAggr/hpiDHHjgiEhMIglWwIM6VAINQCCH38Yxjmc0zRRwAAAeVrKJRNgCF2YwwQUukAAyXsAABkADOtwELXq0q122098Ja0jHOtZwhDkMIaVwuMOQWQqH69rUBefhJtuJ7GyITOTZBDIPIBDuWgsAGsMaAIFWQYILvDBH/ugkQXSoYx/juIVImLEJYITvEkA4gLa6hQA0GmAB6MAhCHeYQx2i0B7uqhOc3pSONkmwZszy2y6FScxivgkds/PYCu3ITBa6Aw2EQ0ADHDABC1hgA9jcgAYswIAVkAASuMBFNPLoxxHu4x3qqNMtmJCRq6EDG5W4RCVEUYtrSZJh4DikIhWZ/48b2qMd8qgHPeRhzIIa9KB6c5NC22GOcoQjHSJrpkTz4Q5YRPIADLCAA66pTWs6YKMaDcEmNlGLatAQkfeQYT/g8Q9/9IMft4jYRG7xjHHUwx7z0AYk6PlFKkBgAhPY6EcZ0C1R6JOfdRQIO+AUp4HGw00IjapU79amc0guHOxwxzzUwdWuevWrXHWHOuihDrEeo1sEyOg1OeqADVjzmtQkwSaOQYtl0nEf/MhrP/baj1CiySC3cMY49qhHepD0GKLYQFs3cAFsatQBDDBAAL6RPwBU6o2YapelAOAOvSHrqQotaGhH+9TSUtW0pQUtaO+2jnK4thzpsodlQUjbyv+eFQGMwyhuF5c4AzDgoxMIQS2wQQt72JWGLHRhXvWB13vIgw4HmUYw+uEPfshQhv28RzVswQUPZICbDEhcWn+7AMUBIY61TS9U2fGspwIAb+91r0FIi7e7vZdv76WqftvEjv6yoxzkCLA55iHb2aY3vcfAbeKsFIANkMALEM4CCRpgAAQwYAKiaAYQ0oE/svkQh/OIhzUA4JuBMCMd78grP/SxQnyAWBScyMEQkKCvPewBCZJtpQEUV4kD+1i/oO3vQOr7XjZ1OJBvpBMn6yTBIuONvVD2L+e6wY1whAMAYzOwj2l7DPEiwAE5kMIY+JCIMpuZDzlogIUZEIKbEoT/tgY2Ry1iQBBTmCOdyBvoOswBjmNEIxF8sIMg9iAHOaQB0ImQgwomcIAFVPgYW5ZtgQtyt/7yV8qYZsc5doYtNXcrkqCWJraOkelMr+Mc2cgeN9gxtkinNxqMY4ATvDAGWkM4SL2Tgxf4kAYPALUStpvtm7WMS2wUgiBqAEQHiU2paPDh2WQWBKCfnQYyEzoHJKjmBMBBqYvUox2YBnepObeOwT1MmpSEpKhH3bnOca6/7V4HOa5B726046bddrX+vkGADGRhDAAvgxzsIAcb25gPeyjDrLMNbH3L4xhzKEgU7gxCWxSaDwPvnR2eDeiCEzoNKiABCTaQDnVMmiL0/wA3BNcBAHKzPN7roAbPVlm4T98zW9BbOTpWfupsQIMa17A3vmXrvKJztiBGv9Q3JoAECJeB4B43+B4QbmMv5CADokDvgd1hDjD4wCDWcJ5lxx4NQskhX2UYg8CnzocsFFrXKrCAF5p3dOfVo+54L7rz5sE5dPj9HPDeOc/Lbc9043ySPLPWMQCwDsHv3O/IpAY0Jt8NdsyjXVjO3Rs3z3nOu+MbM5aCoaEepLSrPQ0bJ/QenACJoft4HtK4wQ2EkISB5IEZHSM6AMDRuyDVWu1eyIK9pi4HGgNcChmog6YEyeQ8L5nJApXH3ydnDsY3HvIA2LkwFnatgmBLIBAAQP/iIbD4x1//1ORYRjKW0YxsrKP58I+//ElQxDT0Pu0Qzj+Ex4D6Qu8BF5jiQR/UPJSCKelgC22gBvMxEFFgC/FgdO6AC4Y2JlOQA7SWBSqALzW2B1kgBRFmAXUgJxOULL8ETBIkQe1gVa9VDgLxd+hwDi9YDGjUSjT4StwiEIzDOK60g58GAd6gDUCoDT+oDdggDcYgDMZgDNewDjQTTEyVLE0ITPIgCiqQA/qiL7Wmf1qILxknB9Gwd0yWPJsSfd5wBmcwH1HATgLxBuiwZOBwhfcyBLQ2Bk1XBgAgcHYAclmwh1JQCW8CVQtlWqfVJqXFDg1VDcLAC6LwSJ1meOH/J37jN37Rg3g/0wBAAASwUAzmwCb71Sbe4A3gMA6hOIqh+DniUAwZoAJqdy/5hwQkMGteMAVDAIv6YmjREGKe1SwnKA/tUAs/oARM8ARRQDQAEA59Iw6lB3AAQGtjAgAANwUCMXBZ4AR7OAVcIAqQAAlo4ESsUwvxVAfyRFKsM0/jWAmSVAe0QAvSUA3s2I7u+I7wWA309in0uIKu1VCRY4/lwA3AYEBAwH0/00qfVmFopAZwgAd/kJCI8Ac8oAJD4AEMQH+rCGHLaHUqkAUQNgQk0HT7Z2hpIA6duFDgRg5G8ANJ8AR/ZQud0ya1MCa1NgWrmC9ecJEA0H9DkAUA/zAFTpCOtAALPMkLvNCTPkkLQHkMQAkMvJCItFAMQHcN1IANAKCPUjmVVFmV9tgNybALWgkMuyANXhkNXkkNYSkN1MA91hAN1nCWaWll4SANFqABAJeFXlCRWugESICR+XeF0QCDkAd552cOxzAfKPIFZ5BFAFAFdkAOVnUOuEAEaecEcniH+TIG1CgQBDcFU7CHAHAM4UAOnRlg4vCZnhlg5CAOpEman0Jv9JYN9kgOAPaarumaVjmbUumZy6CVuwAMy6ANAdaZpvmbo9mZVtabwxkOkEACQxCXEIYEYbaFzrmKm2AO0hk50rmY0lkNbGAkVsAEQmADBmEMpLkJzP9IkfkiEKZnhwOXk9WIC+HQDZ/oDd0Qn/LZDeEAn/V5ZWxJDfLYlNcgm7EJYP8ZoLA5oAJaoARaDliplQAADMmADfT5nvPpDfUpoe8Jn/LZDBuQAaaXfzmgAh6ofwSRBXLIjGWQBQEGoLDZUOSACymRhkpwA3RWEJJQZeFQDESgds64igVRngR3l3voBOOjDamGDURapEZ6pNpDDUCnpNdQjGz5pFAapVIqpRI6pVZGZbeJm8hQDUfapV5apDq1AUignBE2Bfl3ECE3puM5pZ7ZlkWQBElAHVNSHUuQBLaADdrAC3PZjMy4o2kXjXawBzk5BVLAC+x4DdWgn4mKqED/t6iJuqhO2QwCQQ0AgD1OealLiqiquamqKY+duqmeSm/smKlMqqRZuQsAsAvCsI6NKo+u+qqI+o7XQAsWQAJkuoUDMZcDIQVDIBBz6ATxCZ8WSmXdoA12kAQBQphtcBCR0gbG0AzAgJNpN2M4WhBWN6aolwZIIAVOAJle+a3gKpbgOq5iuQyUKhDQIA3Q0Azs2q7suq7tuq7w6q70Kq/x2gz2Sq/NIAywgKoAIAzNMK4CK67fKpZiOQEbuaFaSBBn6qu6WpGbQI+gMo/0hgtnIBxdQJgJ8QcAgAkBKwpUMJdZAJN2aK13WWvOeK1IMAS1gK+T97IwG7MvS5bvCg2V/zp5+pqzOruzPOuuyWBK4fOvyyCzk/etMOuVLwsMGfBgAAdhmUmR1qqrDeurm6CkVnu1woAJYdAFT6AEPxCjCiEJAEALQSB8AVeyBBGXvrqHOYAEbksLRBu3Mauu6/eyN9uzeJu3OZuV/QoLC+qyciu3dTABzcmhHjBrDmsQQ5ADODkQWVAM6lq0RpsIG9K1MNoCC/EEVZAIywAJQWCef1oQWTiyUoCZUuC2AJADk8cQMQsASJsMkmqzqzsQklq7enu77roMy2BKu+C3uhm4cgsMFzaLUrCHXrCyjTu1AxFyibsJcisKyAoFwxgpEJEEmwsATgC63DoQo0uoUvC9hP+qAkgAAENAC+9aqegru+m7vji7DAKBrwCAu+4av/r6vgdRuwLxs+ETPsCADLELvDFLLQ5JvMYLtcorEJUJAHxovkS7C7+IkmJwBnEQBxEBB3EQCQDwuQIxBMk5ulTwvSBculOwsuMLCdLAvjebwqtrt/Qbv7MrvzAMrfT6r0Hrt8+6wgA8eQ0wARw8Y91avI0LEcGXBZAQsDILDGQQBU/QBWKgBnEAXRGRBwDwB4zQqyk7BsuYBVTgvdzarbuqAgKhAuo7xjgsu3bbDLrLrgQRw2zcrjQsEJeQm+yqriq8vugKDRaFnBzstkjQrZkZxArBtsAQuTALDJjQBoLJxGr/AABSPBGHUAQf3LR7+MEh3K1eTBCuKAo2m75lbMazq7u6WxBt3Mb/iqrgs6A33LpxCwAK08NuO2Nu6wRAHMQYaMUC8aOrGrPNYAyRADNRkATd6QIuYBF4gAdkULpzScmVfMkAIAUCQQIZAAvJMM3uy8l227qgbBBqvM2jfLvG4K+966+um8PAYABV2MO96sp9XLzQ2Mz017jVWAdDi6/0LAyRcAdfkIbBDAApkAIWcQiN0MdOwMWybMkHwasIwAZvUAgMjQmRYAu2QAuiQJRImYjFAAzAUAy8AAzhFE4QbQd2sAkhHdIjlQibYAsn/dAQDdEkVQsu/dIwXQu4wAsd/93Rx1DTteC3A6GqNwvAwAAB6Dxj6gzLA62ZIbqHPFAG9rquwkAGVRCnT/AEwAyjGvEGsVzJCJy9BbECKmAAPJAHfxAIgXAIg0AHZxABIydyaq0qjKUCJaAGZmgFwPwDN5ACIzAC/dwC/XzXKRADTbAEWNAGdIAIgdAGXRAFdB0DwtwCjO0DJlkFYXAGhmAIgUAHejAIZT0HEwwGgAAIduAIKx3atsAJtpAkppAkXKABi4vO5LvHfBzLmAnPe0gEKVAL7Ievy7AJMRADJgkFTHwGcP0Rb+DD3zsQWk0QIRdyFoAARaAIiHAIeCAGT/ADJuBgDnYBau1W1i0DVQAjTP/gtZdr13eN1y3gAjfwA1EgBnFwCOzd3uwt1nGgBuwBJooMB3kQCAmZ3/kt1oGgB23wBUkQA4z9AjZw3nAaBcQC3GLAAEUkYz28wa4Ny+s8BVSwh1nAA1XwA2SwCXtgBGYg4LydBFCABWKwrHQAxRqRB1vgw8ddEB2a1isQBAtgAYOAB2dgBRfjApi7AQCA3SSgAt60AD+uAjKgrHHQBmc4EEngtXR93k+g3u+N3/qt33kQ3/MBBVFN4k481u2NCM99CH+gBliwBLvdAigw3iOAAijQAjFgA7QnA9d0zhw8EEGtzusswncQCF4eCHDw31agxCiprHPAsSFxBk0Ay9j/SxBDEHIk4ONB4AUrsAElUBDcaQIiBwA8TgI9vtxDZARxkAegDuoEQcEAoIAAcCRqsMhxMAeiLsWibhBfa+aM7QK7LQQBIgZw8Adk7QZdoAQ+IOBnjuZ3rebmLQQPEHIONsAQXuevTMLd+gZSnpB0INZ0AAcKqCgyFRLeLQOILhBIMERp7eMxzlFFIBCH4OWKgNYAsAICcd0AwADrvgJkoAcKcQgCATADcTETAQJ3DQAjMBD/3gI28IsA4AZaJN9PIAS7reNmfuYo8AI3oARPUALZLXI5sOx1HtQA8AZ6EOoeTwdI3gVQkAQ/YAOYuxJicOhC7U0i5+PXvQIwrwFu/1UEUpyQbBAADaDpBdHo3QTzPHAHQYECA4HvA6EIioAQQjB7SjDiTUAFGnndan3xc57xHEwEMtAZxKIGbfDE1Q4zct2dL/EHbNCQFe/yjQ7k3uRYNf8HEUAAl87j2P3MG0A9ME8FfEAGQI8TQg8ANqCGEREIEWckX8ACXI3pja7WP27FGZ8DHCACac7m560EJxkm+dG1NqHfRIBN4Q4AI7fuaJ8DPM7jYA0GiTOThh/3180AdO9NTmAHZFAsY/HjUB/uag3GGJ8DJhDswn7XAm/rI/5XKxHWgbAFIhf6Ww3kY2r7GzAsEYDzZYBt7h7uFrAt8Y4EcjAGZNAIY6EBQ//E+WZv9kC+wQJhAmY+AiAgAiCQ/un/8ACw9EGBB0Vw8VBv+FwN80GgwRtgAhzBACpABQBBZQOJCwBIbAAAYMMGCwYMKLSTpkwWIwktXsSYUeNGjh0zsnCgQiTCCyQSEiRxUCWJHC2LhHmi5EYMFy1apECBIqEQjz19ekypUcWKoSdJrCDBwUCGIQA0ZNQwAYAFCw4MEIAwocwYLzl+fgXb04gJqUiorFAIoOBBtSkHlhzIgEARRXUVBYqj5gsUADzD/v26UOXaoUVXTEBKQoMGKoLSZJCa0AIDEiqiOiAhtwGEDF6yDCmCB/DoryZIQLAAIMgQFSUHGyTpVgWJNAT/AiD4kzvQ7kOIFB0iHZxjEcFvARRGCyDxUJOCOOVYoFAD7TRyrAdRQWABggUTpjhBEkT4eI06chDIQGAD0Qsq3rolmBBhck5UAgQokls/ef4YD1XGqCiLsshhBQNXkIOT5xDQYAMkrLPODOvSeAoBAiaYAAkVPOiPPzE4ACAAAhgQaba2BjPJuBWkkEKOMhAIYAU99Pujw/5yAwCJwZArKggvDjRQkEVIQMACrzCaMI0GLFyAgRyKesFG0tRoYoEGAJhgA5FSQskktWD7kgTwcgjCAgQMaEKMNqSUsoiLiEruuIQcUC6hFXIoggEGxgDAOgDSSEiONB7jLoAJFItA/wQ2ATsjjgsYWMACFYZAarYuNVpooA0yoCKLBQhg4YZFO4TjjIUS4lElhuxUzkAGUpMjISIyWKGMPuXwggEACECABA8KEnXUr2ZKgCrVzuISJYWUPS5TFZAoYxFQMiCBAkWF7c8ETeGEb6H26myVhAP6NCMNFe6jIg0J00AAAgMamACCE7D9qgUUJKCKofaS7ZIkg1ZwwoIJGHBCDsdAEaQEE0CglzwbADChUvdUXUsDAy8KIuMJg9BOvD5rs3CCBhYwIoqGOZoXgBEEsKBBhjJN1jWMctjAAAg4KCIH6zgBhYyT+7vBK013JGgIhBISTzwqANgjDS8yrk5QkA1YYP+BC9T4OaMTFnACAAkcaNDlTGGOL62SAHCAgCDaEGMLHqIVpJRImsiaPwsQOqg1vQ86FGnVsrBVjj3K8EIOCfsUDwEAPoVBiSrqTugEJLzQoNiFGiRqbISGxmiDBgxgoTdF3nDCMZ4xYcIvyDsygw8+yEiEDEDCeGML4hJqL/fWDkpNNfG8SGMPwQHwglzroqOagAqiXN08J7zIYIGxj9Jc82W1VIGBz1fYbTci5FiEk1JkEW31johIg49IIpEkkfXXT6QMwpEw0KuCLk8tCCqQiLppWy1Kg64shAAJtIBhq2PBEKjghSa5ZTpjU0j15pOrkc0lEPopghcW4RxZdML/DebbyBuGkAM7SEIS6zsh+05oQhWyLxLWoYIKnMIQCEjBDnsAgPyywD8LBAAAZ2qABABwQMg1IQdmYeAE3KOBu2UqghJcTxAgYCECvGFG+tGZtHKxCgCYDIQYMYIUtlIdO8iBD2mwg+v24EIWtvGEYzgMryCQBYkQzgtI4I4BBliBERARckHIgQI1sADMMKSJp3pi9YIAqU+tgA55oBEZ4CYLWRSCCV+8iCKIoLM9dFJwruOD8OQnETncUHgpbF8iSDCBBVBtDHZ0whCWxJ0JmACTAMhASybQriwZkip3k89FMqUhziwAP104gxraEIc4zKF0cqAkJoTwAhfcEgAs/5iCF8bAlVei8ZOh7OQe1JhDL5QhEefkgxdYGYA5eiGWOcjAlXjwhVuyoTIQ4FUGGBAEc5pQEsKTAxWcQBQZymcC2mkAARLQAhfEwAZCSIIVvkCGNESCkrJ4AfMwiQIVZNMLHwVpSLdZhkHdEJR8kMMY0ndGFVDRA+/cEBj0YE0AROA0BDCAB5DAB0G4z58/BeoLy/CdVWbABCL4gMpQkIIWvMAEGrRoLgphA42C8AQdLV5ItbrVj77SjCgt3A7jGYAGtEQkC9jPLS8wAYdMoHB8OCcKgTpXup7wnGbgAQtAwFAVcFAWp8DaLU9Agixw1bBOyMHzQFqGMqbhnUOAQP+IKqOCKeLoliPIwJmUqNIxUIEr5URjJ10nCU7Uda6RSAQSUtDQt0WCE7KQ6kwxWYIcePQiWd3qDqWg1TGU0QskGIIUcgABdq4SAREYRI0EG7IJHNEJgyqldYQH0IhMqLdyOCdpfxoJxwzBBDG4wROQsEHYdqJ8IARBCYYAUgBk4SdbZWwaSIAEJOTgoPCq2gUuqNwvniAABlglCUDrIpKStLEQQjCCX1kGM/5pCvIzgQ2S0AWKvpaS1mQJe9/7UYt8lKReKOinIFA1BMg0ENa8gKGoVc6teCYLL4ZxYbs6ygPX0Zt78ELTeCAELLShCFRYxCJgiwk95AGERiCshn3/ouSEAK8MHsgBCRKKAO5E4BF1OcSJv3iBC7n1szF+sXBzIAUwx/ij2VRpGnE8hiwU4QxuYKYK5BDVUxgZhGDIgIyL1+SecDgjZTCJB9zFSgOcIAxnOO8XV8Arj5b5xVNoCZkd/WgpOMEJnQIpi8gghjPAYRCSdG00Zbs6IzAAibcdzTbhuc5dmsAmMaBpBAjggY9O+tFTsDWlLY3rTE+hBEL4wQ+EsIQhBLm8jwChCxIwBCRY2tIsWhpY3JsQJMSLykEEQbb9CMI8FAEBSLB1e3Md4ylU2gm8/qgTslCCGNhrBCgwQYJAkQtZXGG2I6x0fZ0rha8EMiHDxecCKpBt/xFcy5pFaIATJD3ucZd714UlnrpL4O6Cn0AK5JUFGHZQ1bqlQRDOiQQVTjBy2iJhCj4ZQtecMkUDJOoDBTe4NSdgaYbHeCNT+I7C9QxuIqBgBEj9wAeC4JxU5OIUMYecFz7OiUUM4QQFB8EJNIAEfkthCCfnSPGoTIALgODlihoBTRNiBGcfscwXgfFGqGBuMnMY3CpAgdeD/gEWeGF9lCTDtn92Ao8rKBI5mPsHToCADSh8ClfPehak4BB5fR3ptwxEEZw9KVy/GCM218jaK912bb4dBYFParFfmwtJ6GR1JxBEgpheAqRmWwEMcABT+O0RKbD1AicAAdRb4AOxJ/+EDc0ud+WnfXnLawTnD+8quHPQR6AHPd6upfcJTF83HiydE6r5AAhQ0AITOMABDMiApZmckHKz0gRCaLdNHtZ7AOghEEeUdHsBQ4Wco3sMQ9hhTdz9cxEAWRB4n76fAQEiCDIFKQMWWKrwYgHYaxIN6Bop6BT3yoJyQwIyKII5mIM4aIMv6IIuYL+LIINmS7ubM77gYzs9w78cYBsrSIIbqIkU4IEEOQVZEISkSjoh4YRIkIITcIEk+II4aAIR0R4GgID5cjZLq68igKTcgKRDUIQPtIhRCIUMUbfhuwjhQjwAcDhnoy8kGAJmqzwAYDYimAM6wMA4gAMxwAIT8D//QfACEwjAhjGCaFGQRcgBHmuDMswDHrgP2wiAJviDNyADMgCDIgCD/dIPRGiESYBCjAADZpO/jJgClji3fBsCDjCBTCyBIGAJSKw0FcgBNlhCJjTDOCjCg7iT9TsZNQCD1KtDIhCDOHikPzCyB3CIA6gACqiAXKSAXvTFXqwAEOkACmhEjLgD54o2SXQ4EmCBl8u+7XMBGAAubUqDMSACPKCRbPwDHmAABHAAqnCTrCmERZADULg+IngERECE/QLGYPzFd/RFEClGjmADIqAvhaOCfNRCc/OuwBOBEWCqH5CBHKACBTHHRCgybdQPHiCAA4A9CzAC4DiZQCADThAE/1CIhDQogkF4BEYEAEVAhIToHnj0xWBMiAqIAAUogJ8QgAEAoYSsx3s8Qksrgi1YAh+gCZzYvvASAxWwO1AwxzRILoWkRTAIgAOYgG90gHA8mRMKn0jgAiP4ASUIAzf4A0XwyEdoBA6QR4zoyr8QgLDEpD+4IDbYAiLggTTggUGkhEmYBEX4AzcIgypQgiVQAiuIRQ8oA9cyRzkgSiY0gdt4SMzIGud4yhwQAWiMASFQgovQBE1ohP4QS2vSj+QahO5BRCdUhI58hEPAAzfAA+DQS3kDBTlARIVMABFBgFf5PjKAg4aRgfUxxyEJy7AcgAEoAAXQTQBAtA6Qksn8ov+/VMgljAMxAIDHoTXSFAREOIS/TM3b8L6qsIAieAJ6kQFOKEemU4Ha5E6LeAAFeIDfFADKFE4ayQMzVAMruIgSoALSXIQ7cMtGAMnTFBFeiU5wbBgzsMigdIABEMvaXEnd1M2V7BDgHMvypEUzhIMuaMyEEIEV+CieAYVF0IEtEAM/4MhJ0EqQrM/VvE8daJgyyEGMpIIEqM2EqE0FAIABLQACJQ8DvaXcIElfLEV6wogVoAIRBcpIMAKGigEfWIItOAM/OIRHKAKcMgA9+T4ESBlsEQTZPA4HOFEAqE2XHFAVLdDek9EZ7cWaWlGXTIgBuIByktBIgIG5074WiIH/GJjKLbiPN70KH6KXC1iESCiFHPSAKUXRsAxQ8AQACvBN/ojDL1pCjCDGhBCi8ARTi3CABSrTImi+wHu3FoiAN31TEF0CbHkA7JzN7YTRD2jJmoqACiiBeSSNRpkD0mhUHTXHIAC9V4W3AxAAB+CBhAgFbBmAIChNcywDC9BTFMVNBeCAEmABFghUUw0LNg0OB3CCMSjTIKjNV/2AEWiqH8iaFvWCEY0ELzBRGAWA3AxPAMgrFhgVruTKCsiad1vWyYmEHQ0C/+TOsAw63MzNCJBIbJGACAAAkJvQHOjOjIiADiBXHsirYz2ZX+SPfw064ciBbAVKTnjXoIvXlgzW/weQgA7wzZBkE18EAA5wjlKYUA8ogNtc1PXsAA5gAYLNq68EIWBkWY8YzwIVgIZtV14VAGltyRZVgFHF2Jfljy5NiBLgrtlcge/EUo3ggArwTYI1VlO9zZi1CG990SGIFqAsBVuRVoB0AfCUgBI4WZ8dD6CVFU7lhDK4gFzM143wxZRlWrBFVin5zhyoWlAoBTJAgUgNuu2DtYY51A5DmOvzgghIWrf90y5l2lJ924aRABWY21JYBADIiRFgPq0Vgi2gF7FNiDRguhxsDa40WI2QAAlg25VN3IZh3DSw2khICJUc2QHwUd4EAE3wyI39M57BU64sgRIQIo4AVxM43P/SpRcSkB+r5QQhooB8NVrdHNUSoIRGUEc7w5bCmU0N6IAS4AB99QjcjABiLda+BV42YVwdvdOEeMddNFffvItRE5YIeJJ8HAIGKAEK+M7b7AiS7QCl7QDs/V42EbCCpFtQIF+XHVavTdSEMM5FoRGqYE1CSsmR9YmwfAAOONkIcNH97ZD+pds7LdWSxN341d8CeAFVZJPcUNIlZYEfoF+WFIAHCMYKCFcL7hAIzdZS0GBeDEYJzl35/dbcLADJFRY20JOqOAADkIDW/YqwFFauLGIY7pAxneE7vQMb7uDrTV6VfLn1HUwGMIADgFeo7QkIbuEHqOCLQN7dHAAfZuL/jbgAR6VhTiCCXLzh6u0ACfjO5E2IhWUTNkCAA0CABuDj+/jVjFjYwAvLr13ijGjHhChOLEiChJBcyc29NF7jJ3ZjOJ7iCKjj3bxjG5QSDngVBkjKCTgAnPJPmJ3YFZZgJviBow1geVRHdTyxNdmIgpu70n0ALnBYkCWCwcXh+8VkBbgBFIBaTpYSb5wMJtrjhpRaU/ZaCd7dhIAkCjiERpBPak6ImQoEOgALPHjMJ/zABxgCZ/3fXaaAKaZj8CwAEBBLPJaSO0ANB5iAlgEAuSCAUg6LlnyA6i1WdI1Hefxci0AE9QUMGsEkcBZfUBgD8yVW601JMR4AUB1PdrYR/yJ4laTUgO9rpQB42mXeCNwcWB44WQD43A5Qx4zwjRFOq5ORW54B2TTYRYFd2QeY35ul0jteFDJQSgU+k6sg2b/IzaXNK68NVGEk6ZK+CN/QMmHx3lHRS5YGBS/gSrbd5wd4WondZDYJQpzSlVayjQQIAybgvb94AAqQ6txFXJEu6kPojaO+i8tdajaZuXblBD4IAmJV2WLlgI2W2Igm5g7pQwIAbMAOgELQhEfwgzDYAiFogUfOvb62iAgQ3Y9mAcT1Z+bcDQAAjpCcT759axsxgAnIAC80EJQ1A7zKK5UkWQOV6Gz5az9MgCLVBFIIBWS7CJ/jCAko5xKo1WKl7P+EgOWE0I2Q/G3O/uJA/mJeWc182V4eMAMyMIMS+OUWTWGLWG3+MAE/vA8HkIBdfGmz/tyc0Ihyrt5rqlWMUMcso5HM9mbO7uwwPWUv7ohRpjLY+0aU5YEiwKvqbeZfxoifk5JeVACrcABc/EV0TYiuLAGUDE9NtoheHFaI4YGvZM5XRu9AEO62Zm+N2Ogq7eKeGADV9EZ4dgAKQEu8umHPzd3PtZf/9kXcnlGPEEaMyMXqzSsAaASMJeknjMyQ3I0LT2ps4diM6GJ61dmVtGeNEIADuI8DIKSqYAAiYAG8OknuNl+W7YMwYHFifPHReOlrKgHfqItXtotG6A2NVYT/Rvjx9cVtIZ9SlfxWlcRSl3TsD19ypPS+BdDtWgURXixJ7raIUCAFABgEG3Fwc6UAGmlvnwhpAMhdFjhpSvhIbw5zdayLn9HNF7aIp3VRAh1QiyBQqE3y+uRj7tgOA1jZpOXzd7SI7mGTy8bM0wSAbMyDOPiJsy6BRqCEUdCEUUgIyGTryLTxhrnNMQaAnv7WY1/dTi/2i2hJP2xIJlJgAwj0k+TSQ7UsKblskdyNbOQImHu8hBDcYiWCUSB3Xh8FSNcEStBYG49MYMcWiiX2Tt9NFaX3N1dReEVRJf+vAziAsLEAJr8Dba/2lMb2e8XMa/8KmCOisR4EVIgFAHgF/3PPdUqA9I+05pPJWVYuXH2lY6O1CCwN0GKvUn0/ylcxJAdoAKZEUP4q+EC41yxDROEouBh4gjg4BEhHBVUYhVcAgHOXzzN3dywPO03VX47t2ePFCDdv0U8PS33Xjm+8GycvgplaeZa3EZdX66xHb4IHjJdrqB8wmTI8BE1IiIdvXly3iDto0Az3RRz/2uPFZAAITx7e4WIfAKc/gG9kog2A53E5zb8UFqwXbh6P+eD4AIa6gRdggsVngi5oA0TIdZ5HhVHQed7MVHrhWpLE8cKNx6Rn3aWn8z50yG/sRpFc+cBHcwrvjea0+r/4ABSopoS4gSRg/MX/gmXCg0/g+f+6sVixdXCL4IB3tHCNDf60vVKSD+zAVpxYP31hUUTnNfP9Eg4UeIEWeJjEB4AkUAIlYALtVwLF94NbTYg+AADLxZYICPLC9WdzNdcyH3xEwNhgtNgKQP7ADgAsrfrWtxGgv/hsBogzUAAQLGjwIEIAL1yguAHAYcEbP27cQGFji59JBklZwpPwI8iQACiQpFCQJIeQHQBw6IDopaJGMmXqKeEgAM6cCVIC+OPzJ9CgIocODaQoZiMAiOiIYWLjA9GELRgSdGj14YusLqpkjOrVa0mCJVOuBFDiLFqCPAF0WMmiBAAWPHiw6PCAgQMej4Ly7fv1r8GjMRUBEJMkBlT/wARboGhR9eFDii2mFkSlSTHmjz5REmzrua3BsqBZmGUh1zSRoX3/ZFaMNM+ZJC0+JP6KgmDjx1Yporjd+jfIn4cACO7Qsm1LtgXbmqYrt4RpFiYBCHiYxMqXNnNWA/+LSFGephVp1ybqG4Bj3ZBfdG+P8Cfxo4iSahpVP6lo0HOfQ1dukHYKMQjxBBZitJEHUO5FFcccYkTxgw2z0eZVY5O5ANlEVTmUnoLu+RRII/LVVx8lAJR42XeKuEVXEXX1hxB55LVwgxJQfKFGHD51OFQcYnRBEGITenXhCxBBFpmRO7bn00uNIAKAJiSOUiJBl8n0HSWUjPLIfKSYBYAC/wUIUN1/MaIQww9MFKhkSHkogkiPSkgY1Xk2FPmCDUfecKEQbHbHJAAhXgbAlFlqeWiIKWapyCGTjFLQEiDFGGMLefqZ0CP2UaKIQBGOMFRuWCVZ0AscXvrbH4cIduiUL5n46ChJfXeITKoS9AkAT8RwXkKTkndqQvY9qogeX0DRp0gXuhADRaTiecMLMQD7J61HUWkiJY1QQqKV3wVCUCAaAWAJbr199Ou0ITVSH0GU0BHHGSL5dueoBTGRLnB/hFjllMKymuW3SRFEGAC4bmFDb7wS5Gt5+BbUyCgRm4iIT3SEpOxUy+rJ3hNuOPzbUYd8KyWhhBoqcEEaPQrAEv+MJXwQww1/3K8m2cJ3yCB+nPEFqQC4MBnQjUELkRofA/dtTATBWnKJKA8MgCqh+HFwwuYWFLOQRkPJbqAfWuIJ2GAbIkauCqVgtWNn3vBE0Vq3R5jA2mobaFLfVgbAGS039vLVWMucbqYrOxkI2ASx4goAnpBbWBQFMYYbAEqcMYkqADzidmtHBVritYEGOhxBleNxMNAuXw2A324jUt+jlCDytSeGA8BK2GBbYogbTxiEghA/EtRIIKxhntmg2XLueVLCAzBJ3j9Pxjfqfv+dbr8mNhI2QbHjihDoB5GLyqY9KT88cEk5GSjBAByyxQ8/L1Rqmalrnce6ElMC++z/iMSOUCZPEjTHHLrHpUM8SUfk65C2vAQANyghBlnRCq+kN7zAtesRhXuEIvbHiu0p5SODMEggXpKJQ5BwfAcMiQ/CcJDKGe9RoQBAFX7Qgge+QGHSmx71tDQlC8ZOERb8hCtYEQpWFMx/BAnFKwgihBhYCgBxCAT+CHIIE54QITYQQhS64IbLqSKJAEjiJMLQwNJdCGbyw9wjWFezsCkiE+AKBByV4j+NqMJLQpAQCi7EBDHEYRD7I4glDFhFhFyIIkJgghYP8QkvAkCF7suKqaKHtQPq8D6FW5zISOiqgyiwICj41Q3uZYjEGUSQg3TcDwrygx8oAQBd+KBBrqAE/yFkxYaTJN8hLCEsE3nCjbEj1/mMKK8P3IYyS7gDQfyoPioOckarfCYrAeAHL70iFrFARSYGIYYqmJFhVSRXKFiXrUd8bVxKUUS22qUJRiaEby7oQRMQEoc8uO2WALhNKieyyieQDRWWIcUoUGHNV3AQACmIWRUPEbtwRqxmGdzfd7pFJVTggZuOA8kR4nmQM/BxO8xk0w2JGRnICAELH/TitiL2iiSigiB+CMMSIiSCGFWxcJmYEpQowcODbEpgLV3CDUr3kQtlNCFV2MIX3BAHOsAHpOiSpJlcUCRoKcQgKNUhTiuDik8MAqY+cMGnTqhQAGTCE1GKWLYKZ5BHdP8OAD/QCnomQ8gWaFQkcIADHpgqlPbQBgRVY1ge75SVUE4TAODbWsRGYURaTYIU/gyFJfIm1nICoBWkGFGg1EqQTFApia0siAtCuxiExKCuURmEJQIxiOD9IQ9x6AKyMFOhCgUtqndSSO8ywciUJtZi4vOJqtKIisqd0BJutEQrABCKxGaJh4WL0lAuJFeC/KyoXnlDMr9mCURoMwlg9ZV57inexUz3k8ScIVUBwAQ8kCIWOeVtVn8LFKNc7oC5VFwrWhFE6NbMgmX1RDgNUi/xlmq6yzItQhBMkCWsoQp3uIMyWXZPFMzUno4z74RQkIKD9Oa89FJCFyZRzUKdNWL//ltNU8m3uMoijq3idJIwvcKejAGgtAdpAhiaoOMdE0TBBrlDpArSgxqcrcIx29ukFDbeD0ylSGkCQHvfy7qI0RPFpsRcLjOoX8TNR1iaOJ9USjdd0EqXqKZdg0HYsIYdZ1THgOlBD4o8qbMxxkxKPg+RHMIES6DCi2zFKiVYY+Vvyg5x6gtYOhOyRIrcIAbOm65jygwAHxuEEAVR8453vATsZm+UANgCSOB8thq04GxVA8l5HMMeIbihvVNqRBqnLF+/fFN/+i3ISxChyflcC9QGeeaengda9LigqPHkdFTWAIYlsKENhqjdj6vAhouZLiSPG60LfKAEPqsiW9qa//IorPxRrT2i3FsuyCeaJhO2rjQUYWBCKgEgBCHkc5VBBZrP5KrjNbDhDf7+iqWzl7ja2c4QhkDmR2g72oRf9AhsMEQrYkGKSfB6yppgLa2rmMRWzCK5BQlFWwsihlY+c94HWSW+pesDTvsb2USxNMI93ooNEtwTiDh4GKZdkCOkQKiOE/O1qXuEN+DqF6T4RCbWNWXgofiUlQsG1AAwC4K0Ym4GIe4PkLVKhDzTQtLtN0H+TZCAE2V/hj7IzAl+uzvkPFIKxzZCKgSkKnRiFr6I2idcPGVEBCKTGSefD+7ACl9A/SCTCPlXVinaFqyc7JwmhMs/QvaozPwTBT94Ff9i4Oi4yjWS4gVa4Afvi457QluA7jvsMpHavZKvB0uw9NmpzrrMzDu0per35AGQe8kbJPZRYQXtPAGHL2Chxj6jbhl3txhpsUIXwXhFx6sO371YAnZhw1mKh1cDMDCiILELBjF8ETH3xiIOf5FIn6bSBEvn3tKRBwnifE/5xL0kEG1wkBIcEtr9f6QKrGipRhjFtkyZ4iiU9ZFVIF2Z1qBADRACI3QfJmBC97HCLMQCMfwOYGydz+Ce7h2E+4UE2d0aZmzQdzzJk7QNdQ2bQQjBHSzSlvCd6SVWKICN/hwguUyRAn4MCjSBBGICAPggQXTCHXiJMhCE+WHG0LFfB47/3RLyHkG4gvx5xczJkeYUxBy4UhJAi/tcyIYZxCQQBiK4WGKFTfXZ4LjgIPk0oCmsYQ8ygg/eQUtdYEHgwUAoWmwVhBL8AAcqYQfuXqUBwB3EThR+heXB2CYpBRzBCxYsUbRIy0HsCzqV2CiQ4ev8l0Gg4fCIACGYQkFwoil0QidEnHuNgnuFziN8wRMkgVvp0x1CyhsoISwWxPsZhCcQ0SB6Be28ySblWq4lohgcC/oRRBKdTwyi1UN5gg9RFrl4AvblIL58QA103y0UhC7oQiwkkZYgRCxogh88wb3Mm8nhoR6+Yh8CADkGXMuZY0EEHPABB+30Dy/mmmDwoh7k/8H9dUFhWQ6jhCF8KULq+SP++JJ8DQ9t9EYMdJ8rWOPmtBChrIwvvAIpDIIVRAETJMEsWaQQbNo59uErBhwjEAJIQp46Wpon3KIUBh8vJs1BPIIhfkcjDNcrkEvfRWJijULfgU0mAKRNkRIOjtszEtNWRNwrmN4jKs3KGNYh3MEbVIG06dxGsh92eaQEjl1Idl8nQCEAmORQVB5x6JrVfYSTwFpLkcLBAYAa0AE6YZVS/CM57WTsNOMgKcEiDWWWgGWVFATh6UJCuBzZBVwEAoAbAiEjdEItzkL8QSFiZqUU4krp8RriGYRMlEhMKoEPFEQbIAJWMUrY5GRb/tKtsP+CXvmk0bhXXaqLiRCEL8hhSLBcXwYmI5iCG3aCKejC1M2CbRqmYSImVmplK2xP6RnKUFCCQKGCG3yVXCkBFsRBJBIO9jRC9e3PirFCT54SUQ5FUqTTLBReQkweOQLAEXznEhwbJoBiQh5Ebd7mYSZmFG5Q9hjKY7ZLQUxmDDxPC2QdFnxBHPSIQuHkUVCWGxVEJiTICVVnVDTCLPzCLHzCJ/yCLyiDagKmD5IdG7gAG2ACJ2ICIbCBD2zBVVajh+plQZynbaanbiome4KNew5FEr2CG9jAfD6PC9SIFVhBDGzoHTybJfTn/vyn+vxWFaWlQbznx/0CkVLjIhEDMUCTHRF1AoYSwndaGiceBGg+iScA0Yd6aIhKHXrmpm7SziewwuGlaMh1zihgwQ84WtDkEUM0RhMwGzLBARRBmxQRRPZhTl1CV1QQziyAaEH8AgAwKJL+gi6wAiH0oCciBPClCEHojye0wpViKW1q6YhyKWNiC3B6xUQ0WoG5TAuUlo4RQqRgQR88G/Z4wrc0o2hiRkAAACH5BAUGAAAALGsAGQC8ANcAAAj/AAEIHEiwoMGDCBMqXEjQihWGECNKnEixosWLGDE6zMixo8ePIEMudPhQpMmTKFOCNAKjSkmVMGPKnCkwQQkAL2nq3MnT4gUWUXL2HEq0qEAWHbAINcq0KcwSJp4sdUq1qscOUada3cpVIlKlXcOKhcjChMuxaNMSlOEArNq3YmUk2KIVrl2jRhLgvMuXat69fQMX/VtXsGGYAQAfTkiy8eKMiUk+Fti4iQ4wOuhKnlwx8sbFZOQI4kSa00A2Vxxznui58FsZglKlOlgo9WemWLDwTJz78QrZswUCT1Uo9+bVEef2PqxDjmyBpzCBAl6oS263yCEmMHI8cBDqYa5c/0kD/FQUpbezL9xu3LAR57PfdJnPQ/apUljmf1Gf3Mj5wyUAV8oVTzxRBRmn2HddevwhZBMTT0BhGHwAAHJFb0ZwYh8YSi3XYEIXmGAFdnwVARwo1ukGQBGcJJjKHVdAIeOHCiVwwRdi7BeYE8BJct58ADQRWyqnFCfGGY+d0cYZYqToUG5AGkTAXK6NBYYcoIASSQ9bMDGQDmMsIiYZTCihhJdqLQgFE0IIcSYU+c03H3pQHkQAASOqyJcZYi5ixhlMdiHQFWGKCQaTXwiaVhc4AppjF1asyQQTcKpZ5g8/nAkAlF0EQICMUFTpVJzzNSemIDq8mecVXvRpRoz5qf9lJpyMivHodfnhqEYccASqVKiceuqfEkIsVOakEspU6ZyRgmpFF2S4Ssa0RkxrhhkA9JkIFmuqFemkhWCSiinDDMPMudZYAw4445iDjjnmDHOejBHSGoABJrjBpEI5cjspTIliYcq5z0zDzDjgWPONNoUswaeYaaQhhxxjlGFxGXIMZAaOtqaFxTPrpBMPAPPMU487KNtT8srmhOMNN+EUcsYX3JopBAsTTBDihQnlZ2vHlEEphhpw8OprsyPKad2aSvxgQ6aUYjEMOOnM445A79hjzzv5ZH3LlWIKJMjYAAhi0CKCICuqUWKYk7U97tQjNz0r1y0PPeZ4QwstAKz/wMEKE0AAAAQNLLAAAoazQDSvajTJrRFOOAEEEE1aZ8WlNtjgJhN55rZmEmdG3agajQeMibnslOyOPQDcI5Dr99xjjy2FLiLRr2lhMo88vAPA++/AB0/LAg1AIPhAECwwuPHGVyBEErRa/kQROFSPwxNdHEl66Sn6fMstuXxv7jPMkM9Muuuue44515jDjjxXK4SOLTk4EnZEagACxi2FbPGEzZqiyi2CJw/fEQR4ApmHORjAvAYmr4ENaEAJhHYGon3PFtbDAcGeoa70uWsd3viGN8QhjmOY8ITHEIUKVZiznB0DHarTmgxXR4960G0e8TAHLLxgvz758IdoQxsa/+qAhmawIx3rYoYpVgEIl/hMSQCIg0iUED0s/E8ImPqBm24Rj5H5Th5dBCPvukjGeMgjHZVwYASJ14A73ckABACHOc6BjnWggx14XMclQhCCS5zjj+f4RjGEgQZI1AESkBBFMYpxQmkcAxwkBMc3wGFGeZSMHquTodZkx0l7yG6T9VhHHaTghByY8pQ58IAqVzkBAIBBDFwgojTiUbcwAqAe49jGLdqkhI8UCE5fUFIc5jCHOCzJcQ5hRjuWWcYw8m53dashOgxwuMIhIILUNBzx0ICGaHjzGtzIBjasEQ1rkJCE46AHJlf3jna+I3b4yIc85amPfMTTnp/cZOtix//Pfvqzn/ZoBxDWaDwAFI94DjTefLwAiWNkEgBaA8Dq6pGOdMDPHuO4xZmecBE10IxNmHJTEp4QlG817QaZs8Y62BGyilaUbmC0aMmeOQ92YOOE4viGOMAxjxpq8h7u5FrX8rEPe84znkid5zzvgQ9+wi1uN2wHOjJpD3zgAwBWtapE6DFQwkHgmg6YgAU2YAEAbGADGphAA6DQBUjgohqcjJ0nPZmPftiVHyqbR+MgJZEn5GppZcLi89h6pDYYtg1qmJkMwLGOldIUh8G7ZD0gilSm3vOeSpXnJmOXSRvO44sF9N1Mf6eQkcVjHeVAhzromtnWunae80AD8RAAAAf/OGCsGzCrQMgqEAYsoBa1qEZR5VkQfPDDH/BIrj8AkFHHcRQhwDxD0YZZTDjs1QqA2IQtbFGWC0TgArRFgAGEUTK5xU2impTh65gqu3nYgx4J7F0leweAdtQXAKbFr37za1oy7le/ABbIyMpRDm6gg6mvlWdWswrPpt6jHpWY7W0tQGELHIABEx6rBcLq1mJgNh8DyYc+BMKPEg8EH+MYRhuIWRAslOkGWlTCSEPlkCesYhO1gAUsZKtNwwHAAOItRkFgt09+Ltiq9/is3ArY3y7+t5lOzu9+yziQKPN3IMtELQC6gY56RBQjxTCcAYAsXgCQ4MwAYAADEIDh2wIh/xrGqCo+POlPgdjzqhAFgDnAsAQvlcTFTcucDW4wWCyIoXzoAIaOK0GLOjAwoYJr55EnfWTX0aMdK6vHZwVs5SfHox1kBLWouzjqUZsW1Pq17zLbsQ5ykCMc5GDHQzFyjAWMubdj2MMe+MAHAPCaCipYgJoxIAphePnLDJFHM8hwAx/YQCB5yEMx2+A4KBUsHe6IhzAqUQtIcKEME5jwBBjQAAAQDxyWpTSDXydR+D7TkjgUcKk/Te9V2/veq2ZHO/SN73vfFwDnCIfAySEP9dKaAAYIAAOcEIQxACALE7MDxqaQMQsYgAETqMSxWccQd6ADF3SYAxwE4qgvXE4JN/8oxTSm4V4OpiERfIhYFrxABSQ4QNgbdgAcK9HTlamzZBCBbBdxqOp+r3q+vzNj3TJtQ97le98CYUfU1xGObGSDG+ZwL7ItcgwCIMAJUsgCEuSga16bvddDGIIKclYJqga9G4kAlBoGQhIoTCMY/eDHOwBwjEQIIhGAD3wiJrYHACBBvGxOeDFWd5EytgOM9q0vv/Ot7/RBUqcoNGEyUrhCUewbjwDAo+hFD4BsXOP059A6xwXCutbnmSCuF0g0FoCEKeSA7GU/+9nlYEoGtN3gC2kHMMgQgxvcgCBxmAY/7to1AMAc5rwW/ODJLocybIABcAzAN1ifZ9d7v/sQtcf/p5ep73hIPfSjB/01iCcQ4x1OeQIpd+HgL5BjNBb06GcpS81BDWoA4BrrYDXpBTcEqDWZtDoIOEPWoAJDkAZ2QHYAUH1pUDERuGtmNwUZIAputxDuQA6boEU/QBC3oFp7pw7qMA/HwCd8MDEsKAd8EHhe4IAUswIk4AAM4DYDmIM6OH6it0z5N3rrcA51UG4E8X5sNH8GEEEEkQys1lgAsA5PGIXlAA1UeA3oQA9PhTJauIVy04VaaF7uQA+1oAIRlzFjcIYOh4YV44K6hgSisHGtp0ngJw/GQAh4EAdSNBC2kHUmA1HgIAh8sAdlaDEs+Hd8oAJlkAZlMAYqkAMb/6CDkDiAn8dS6/B5T7hSjdVYzcA8EUQ45XaEaxRBosg84VBHdnSK6IAO55ANy9CKVthT6hSLsvhzS1eLx6ACMWgHaQAAZ+gFXsCLZwiMY0B2D4gLsNiFyBg3JzNZ6LAJXVBBBVEI2EaA7oALgSgHuygxU9CAhZgIaSAFFjMGQ7ABuJBPCWiABHgyW6g19WBfmbhSLFVHpthY54AGHSEK7CCPdpSK63MNwiAMxkAN50BL0ERABLQ7wfMNHpADiriLvegEJCAFZ2h7ToCGcvCAcvANK/NFtfhZ8QANRYBSB7EOBQgOMpgxQxCBZZAFElMGDwh4XlAxi4gEtfCFyGhDXf8YizakTnJTU/v4R5goj0IpDI+WPD2mTWOWTT02ZtqUDPuoDd4AldpQDcKwC//YDOYAavS2lVxZavd2DB5wMWnocEigAllwhmWJBGiIMQ8YDZBnZVQGAOgACzcQAzEAAL1EEOKAhSgDDi2YBlnAlhIjjhKzBzDnBBfjBbxwQx05UwUJTTMVhOuzPvIISOeADdpQDIhzlJDWmZ4pisVjPA0wOcAgDSM0Qot0DMtwDIM0SNplCrawRN/DA6Y0AUMQjgIRkw4nEME4BcK4hhQDhPCIR58HQomwJAgRDV6ICxITcRGDkRmDBBgjGn43BRdzDAg5RlC2nVopVeYAAIskDJD/AGmjaDwhUAmQgJ7pmZ7FwAvt+Z7uKQzVMJ/0OZ/YMBDkQA27cAloEAJqdDghQER1MKBoYAeAgAu2UC64MAy4cAw5I5YAsI1ToIYUupsV05LeMJkA90eqiA4CUQ640AbGhCQF0Qa2AIv0gAsTUwYAcJJ/CQAP+IKJgJgW4wX2BgDigKMkxA3eAADGYELRkJomVAkRBgFoIAq8IJ/2eQ0AUA5N6qRQ2qRSGqVUOqVWWqXlQA7YoGi7AADCgA2uFqZiOqZhCmtiapvhOAZeAJFO8JtqaGYVeaFlUA0EZg7lIA52+p3fWQ7S4B8jchBusAfoIEbMWX1D4AUtmKgYKaNe/3AxQ3A4ARAABwABJKACBBCpAQAE6LkJhkSkvLA3xoAN2HAN2RAOdkpgqJqqqrqqrNqqq+pq2VCVsOCl1yBwtnqrLpOr3hAO3WCru8oLEwChDycFbqqGEKmWMlkGxyAO5MCsZPpqonADL0BoCHED4cBvhZoGuZioLLiLF+l3K9mLtUANuPpqZlqmYloO93kNo4oN2UAOqQqvBCav8Eqv86qq9pql+lqv/Jql5BCrsNClwEAN3NANBnuwBluw3LCw2tCwDssN2oCmFjMQFVqhvHmG4RgNBitwuxoOArGrfVp8QuBXB3EDe5iKtTAGEuOi3CoFOYAxupYGTuCLXoAEuP+6qx2Ls7pqq6N6ej4bDv7Kr886tM8Ka0ZrrrgqcN0Qq7sQsAAADezqsz3rs1RbtddQDB4gk8FYrBVLoYsoDQ4bttoQTtewCW5AbQoBB2vQDa52DMC5iNx6kWeoiIlYMVPgi1PACy8DsXz7sA0LsX/bDaP6fz4LM7zKq73aDd6AsAm7sIDbsOIkqpJrtVVLDdfQf9QgDE67C8vQf9WAuaAbuqJbBzmgtQDwi137pm76f9VwDa37uq4LALtQCHHQOHqCELYgcLwQk9hYe83JrXQ7EF6QAzQbBJTrs7ALu7Hbf6fXf6PKvKILutLQf9IgDVRYvdZLhdq7vdDwtALRvd//uwyKNqs+Cg3Ye77om77SIAwOMKGLOAZTwIBci4ZTQAJxqqYAsAnUML38u78AQA3GsAeIwhA/sARgyw1365JwG7eKuJszNwZZMLNeIAXjGr39i737238CYbmW2wz+1wzNsBPJ0LTkawzNYL0UgQYLJwW+CMEkkJKpOwZOoAISib9UUAzmC74FEa03kJcQsQnSkAyi4IsXKTHQOTEN7AVZsMRn6YsSXAs57L3da77S8LQo3L37e8KYG8LQAMI7Ib46JrvC0AzaOxFoQAJIUHtUMHMtHMMX64sAAAnWm70FsQtFUHwSEQVdYAvmWwtn2a1egJF1y8RMHJPD6wQRDMVT/yzF39vIVpzF/AsNHxzCMUHJAADG5DvGZRwRwAABOZB2YLfGDxzDaDgQSMAL3EsQxgAIN5AElCIRc5AHtrAMzYAEfywHw5uIE6jEhJwFU3C3vnioTsA3i7zIjuy92Nu9HizJ1NDFX6y55AsMyZDKCyENaJABaTcEaRzKS6ybpby6EQoEJ7zJArEMkWAItWsRemALyQAMSowxLBoxatrLvvzLwDwGGYAARfS9ZBzC/QwA4zwQ00uFZLy9BwEMEoHQFLEM0AwLl7ALJkzOC4EAn6zNaSwQ3NzGDqcCSKCbA8EFl5DDOiwQnGAIaLs2BNHKjtAMtLDEGCPPvMzE9mzPbP88AUBA0FQIAFWs0wBdxSOdvdyb0wJByZaMEstgDE17CZcAAMCwDNScEJ2czWk81YbHzQ8sBS9syL/oBEQgCnS8yLVwTIpREUkACMlQC1MQmLvcy2k901NABTO8AkyN0wRtveMc1AQNwiDcxV2s137914Ad2II92CMcxmJc0CONEEDwwhZ90YZ30VZNs7v5cDwQA2RAxlLcDLUAYzOWLBhRCMdQC1QAzDK9xG6d1hagAkEQBBtgAP28vXeN133din7d14N927id2w0dsLuQDIgt29eLBhX92EhA3I4d2fgLACXgAy4AxNu7DJuQAi3wAiChB3SAC5swBFKQ1jJ92ir/YAEksAErEARyoAJ1UNuxjdcgTNt6TcvQQNutGN/ynQz0Xd/IgAzGkN//+I/AcAy40KD/7d//PeC4AFybIAqXoGO70NQF3d7IYEIAfgwOUNFpJxAXPdXFXdXcTbNm4AZigAWJ0Az0LQybkAgpkAIA0MMhMQe2wAVc4ATcXc8zrQIqQAJ9s9ppsAIr4AWRAFy1AODC4J5J6p7A0J7A8KmwsF2JsAlvAAbVIgNGkBGBMAcA4AabsgVVoMdn4AeGgAgAEAiIkAcA0AiIEAhijpcA4AIFAQIgkALTiikv/MlIkJIEQdUYjgRgt91ZcAeHgAiHgAmYcAh/QOUAUAVP8Moh/2ErZ2AEpBR2p92mAHABOi7Xq53aRRAIVQ4ASQAAEcDaG6ACkR5/FyAQFiCigWDdAKAHeoAWIyAQMLABNp7NdF7nd27hAOAEZKAHgfAHf0AQvQ4AeZCHKVEEkQN2M50DBDHpArECNK4CRaAIgaAIAlEEsJ5bF2DjKqABuUXjSzAImM4XJRDeApEDc17hBoHhA0EGsRxtRQEGKhA5242BoJ5bOl4Ccg0Aq60CK7ABRTAQgRAI4U0C1y4QoH4AoA4AZNAHh8AXMpADZ5ZblUrhs27KGb4iG4XSJ8HuPBA5SFBWAk8Ck67sQUAEaUDjFwAGmP4HeUDtfaNb174BC3DvUv9ABncQBwv/FixQBg8f6hGfzQiRAybQAijQ6k0xCINABjQe8Nce8sotEFRQBsyuAiwwCHSwJBfAAACgArA+6uHtADouEEMgB2QABltAomNhAi9sVh+v9mZG7uY+EEAv9ERPFYgg7dUO8vUu13o/3jpO4ybw4TIQALTF9dZuZg3w9VnvBHwgCVvwCGMBAxOg77B+EDYOALI+EJXtAijOFU3w6XjP9PdO6ZOuAjDwBBdgACRQVtaOZjaOACG/dlIgB2bw7VzBAwxgAXK99WZW+OIe69lcAnjgUWHhAyaQA/oe8l9/7/geBH0j9UVAAAvniB8f8GflWyFPBdjoBWCAB1b/oQO2bwGuz+y8P/48T+PGowiK4OVhsQQmQOOTbu+UPhBBUAY5MOkkMAFU0Gtmdu3hfVYAsUHDBAQrVmSxIyfNGCpFADyEGFHiRIoVLVIsMaGBBgRIkKxQsYHEBQAkRJI0ObLkkDQTSBT5c1HmTJo15xRRocLgTgArSkAM4mVDT5CRBHl5aHKDQA0bLFhgYIABAw9yyoxxkiFPTa5dJZogwCDDAgtZhpQsmRLlSQA5SfAB5YRIoD8xvd7FKxERCxI6Df5c0ZMoAA0kAARZ4SVNGgYlBVpoMJWBhQ0ICEAAkKaMFykkZOQFXdGIgQUBFiw1aHgtgNUkc1ChkoZTqUid/wblsRta90wyWfjIcWJQcGDEgXMeXoE4h4OlGhiw1JxmiAoCABA0yOAlixMVHG7s3s1hAgEEDiyAND70Isgxi+SAKpXqzhcxZ8Dfn3gHSRk5fBIl4iOL4UBqKzANHipuBaUAkIPBBh9ioAHLAJgCiSFIkOAF/PLSAQLSFkCABIOOU8+iElogQY5FFikFFFle+G5DGc1QTI5EIvnvvzSmGFE4wlQ4DDnE+DMjDYXMyKwM6wBYIIchciDhBBnxYmEBAyR8DqScVGjNMdaiROGEHOQQZDZQGPnggynvYwOJMRIRZI89bNwjx0TKkIInp0hCLAg/xwCADz40yywNwkgLAP8CKDM4oYs1u7rAAAQWYAAJL4zLqcSI3DKhBRQ+6MCJBs0sBAUATH0UNB6mSMMO/wQVJEcbc0wjixwucKrEFZSUY4/f0qAiMzm8YGA8BFTwAAL7UpXpuxOsNGCC87TcUlOIEitCiBhc8NQEKgRpsJReSmU2LzCcaFWzMsqww045bEzDzsVycGoFKZrsr9d3NwOgyAUaMACCDCDgAI9yK1LihhgAOIGAaJ8iwbC+cupSRB4eOcQuLJQooowVQeklFzA0PLgrHqTgT7Mx1m21zv8ETUNQeXNYIQDSPEioQc2kKJSABcKCoAEjsChZIiaEULgFFgIw76kSJ36oyyIUOeT/EIioJkLFSHIJWYiiaYqDDiSkMHJdsxdbzA6X4QTQPztVmODnCRQyO4sgFCKPNIC/jog+E4b4goUKpHUgpIkkXsskBsjQo666HgqEjRwEWQQArjtxg2+L6PiDDCTQNrsMtEdv2c49vCgDTj6cmMAAAjJYWbspxgwCANc9NAEEzQFowwQpNCii6fOAtEhiIFtno/HHH8pDjyK4oFyWXnrBhIndJXI8hxrXXVl00klXW1Z2+dhjiJ8NIEGKLLbLIYe4EbBMAt01732ILCJ8ygIRk0LLMIlICJbrtjAIx0WkLkWgwopywbVC2OB6EAlEIPTzEHV173ug84JiWpUjstmh/wwqgMBlhjAFJ1jIWA6TwAObAAALUcopFmgK/ySGFoiQIAcMIMAK2hCHOUzkD4HIAxk8xgmuiWx+uzuEIhRhBpZYJXSjKxToSui9NLjMTXgiSAA04BEkgNBKCOjAA/NQgiE4wQILYI4GYLiUpczQfxCxAAQsYwIhMMEKX5AIHegQhzYQIQ2RIGLI1PTAKnzBMAoxlAUviDZARbGKccqBWdwnwhwMxEMGMMELFnY9FTyJUk15SlPY2EaRLAUiE8BMAlCAghRU5AxnEMMXJhcJWXBtFQ8cQQpOMAEndO+JdkAbBS9YKAD46oPIap1LPKARBkDAIQ8EABhUQAL4SctJQf8gW55WIMpSKsUCCHDdCdKUponE4AY/UAITjCCFRQiiluM64tdAAIIRJMAJTuAZAFa2SH6izVV7mFjrEAABCBQLM9B8CAc8gIAAtEUikoiIHKiwglGSAIcQEOc4NZqmETzEBkrAghgQ2M4FjotkX/sAPU9wzzLiMwtU7Gcw/QnQnHgARBCYQE5XQAeESulnECABf/4TiUhIwqhHNWpmvBCSBnRgo0/t6EOEEAUx7FCIkVhEETGhOXqOgAiCKJMgpjMEKUxhDDG9YEKc4AES2BQAOcVpBBD6kAUAQGAAWBc+uecrpPZVEokwAw9OMIIRgEAEGgUBCloAkS/sMGxfBWT/EXtYNMK2wAdjACsnIqGQLRCBrI7sZ6ESUgaXWCdaqJwAGLYCTQoErJI56GAx9SUnBvHBr0hNBBnMIIMTpICwinUBRNQAhzlw7g9jikQpuCYLPXzNB0ooBOU4oVkkhIGAbCABEkC7yCjawQsTWOakctoAueZmd88igAY8oAJAySEhaeuVnOaESABx4raSiIRuT3CCGHwUAGqIQ9hw84c2tfOdnbDawZQQBjxwop3TXQQRHFcXIjghSaEdnRdw6iGCAgwMzYXmCUwDgBycdV0ZRHEG16U2fdHNSIm47195YAUxwAEAc8BNBPWQh5G6M2SYADGz4KAIQ5xiEdONBADe/0CXCZfxKr1c5BjcpBkkTKCGADPBXAEQgUSpAHVjSHGKAaC+DK7MvfKV07sAdNT/2IEEmQOAHwKhiEY0gmoRFOIittYLWRQiyI/6whdAcQpOgMLBJLjNhP9QAicI6CyL9MIQugc3Dy3AQxTQshpWcBkvjAHMYc4gAKajXVCLjsVWeeSg7JeDJMToIVUIgxv+oERFkIEPkU3FIu7w5ym1QAeDjgQoIlGGIvCwuHngMQNI0EuWXVBJVxmDpW3nAQOkUMt0KIEBtAdqMTsBttxOsYkTkuazDuEGwX1IZV1gAyEowQpnyBpWBREEM/B6SpIgdCk0mwN00niHPDDPFp0A0//vQZsEDbAdAxIAgEFqOQgImAK4JQ5uAGRhChFv1W+yMAYinPQhIpgnYUeAAhecgARcWEpIePCJVMEAPoXOzApY2YIW2OAEDDgACaTlBLMuUkkWB1HAOhDPufJ4AlPIwsSVjuKK8wzpSBG1E0qA7oiMUwRXB4AIJBAhBjBnAyxIFb5ns+/cqWnkCigW/KLlUpheZX1OqCtphk70ueJEClTgWdKXTvEpPCTiUM+BE4LQAqI/lZwVQMABJtOcN6zp5aAAwCJK0HARoKBYDEBAVAzAgTTgE+nru/gUSFCdBcxdyxRZ9hQuROa9g5pCAOB5qFnoBA6ggO6GfwgBFG8ep5D/4A4yIkMqkivsIWT0IYpFeNwOAM4E5OENJ7snPnUeARaYgLCnrwgL8Cnqv7c+zGP2vOy1y4OoSsTwIgDAAQygeAZowDy+xw8IOEFoQy9iBSAw+0N+YDMATEVCPNCDCMoDNlgCMAiwM8ACJvgB7KuIQCCDe/I+iZsCKQg/qPMIHriBxZqIpwK5APDA8oAhygiM+9CBUyiFUxA2KRCnjtJAMTABm8kbDpgw3CCgP8gDnmLAiygCJHCCCAS3CXQp8UMCNogDimiBFECBwrq6w3oAD1Q8p9kAFbC3vJAE4dM3ACiBymsliJgDCnAADwyAA6gAClC0CcvBmciu7vNBFANC/9bzAo8AgAFaLaP5gRigOSQcgSa0mQOYgIBjAB7AwdAAgxMstEjwghNQrAWMCAqgAA5QAA7gAEaUxEmkREjsAA6IgAdQgAI4wx1EAiqguIqbOIujQDe0sCF4g8aZCDqYgwPsgidAGhEjAN3rOgcwAANogkDYDWAjtEUgAR8QAivAnh+qmggKBEbECwEYgGUcgAIoAAVAKM9pNG4jsRwAABTLAtiADdArxaS7xjIagg+zCBu8wTloRQBIgFl0HYchgABIHt3ogxMEBWEjNjfAAyXCnqrRRw7oCq+RiWZ0RmjUHCLgQTXMoNmJJIuLvoUsoXt6ugziwRxYHooowzljDf8wBEOw20XhI7RIUIEz2IJYMy8AUCJEQIRDuER+7IqGu4gBeCAyGAIe1LsUywIpsEkkIAIeMIGdDAISGIKfHBu9C7y5GMcyRIRGeIgvBEMJQJXQyINBm43NWgFN6i9/hAhNAABNoARKsDOV3BCW5JsdYwMeaEh8skkKLCEyoASKMAII6CQepMBOeseKqEhFeAQAWK0TyDK6w4tCSAUzWYQcOAEQGABlBMhnVIAI6ABFwEoAYIEwwg8BkEwBgCZdfL7AW0geIIM80MWKCAKPECsqQIIggImRHEbHOcpJUAQ42xA9AIW/rL8SmEzKnAhOzMRGxMI1oc3KfAg2CIM3WLL/zryIIBi4QhO2O1BNRbiICZuzR5iEQRADJZCRO0iFU0DBReCCBJhNihAAToRGBXgA3WTAQRgE4ZyJEuACOTDOSAADNxiEuyzKH0rNR4CDLZgSUFgFFnEwC5hNyZwIyeTEhxBIGdnNM6QJD/AC9ZzHRTCCGPCBJagCi2CyJHLOQTgD6dyQJYiPQqQC7dxO7uxOTfzODSnQuUJGi8A0ifAA/jBOQUiTyruISXiERniER6CER/ADLLDK+6hC/YwEDejPEoWIydREAHiA8DRQ8DhRrggqBQUFOTgscrKILjiDQZiEUCCFSfAD+9wQl4NNQ/TQD/BPilATZdwyCeAAFviJ//twyRxMUZoQgKBahHnkBDnYqIuIASGogjuwUkswGAwFDzM4heTSLA+QTDEd0/98CGekgBLgAR54zCQFjQiQAGvjCgEYgjIINkMbg0MFS4pwAR+oAjfIhIdoTPBogjLQN2EbAwcYAERN1IoogAfoAB4ILDXdkArQ1Qp4oGf0CgFwAJaYU0PLgg8FACF9iDx9lDkwgiF4j0MTABRgxlitiAooARZ4VEj1ykeZxINZRryQtE3lBCnoTxBVrBhQgiqdkj/IAJP4xOWAgk1kRma8iBKARAB4VFzdHUkMjQKlTGqliQTIVHENgtkcpE+lCEgcwzcFjeAxjwlggAV4gErNRP8FGFCZ4IAKALt83da54gDIvAiAzQtgHbhNjYQVKMxDJVOLiMRuzQs2MA8HcIAJOIADoEQKkCuakERsfVR7ldQhfQiRDY0LAMX1RNnJRFiIEIIt8INJgIiFdVmveAPxiFnMQ4CbXVKZYMSfyFeQ/dlUuQAvoIL1jABlTMLC6gqozdqu4ICIrVrda1lK5ApG5Flt/Vpm2QAqKIP15ABNTAKP+xowmAwHWIDlY6gDiFtG5NW5RcZ8XdO7XRMSyCDjXISWlYCcfQgXWCWIwFAZ3ZCu2wBpsQAH0DwJmMTF7YqJrVsW6FjIvQ8v29sFTVyGlYgwaFrVPAS62I2MWIqmARH/mzFdCqiAe+2KZrRYrmUBwXFdGYHdeQQFQUjcipCAMRzeqrFB8KCMF3oK0g2ABKBeS8SLZVSAa03etV3e0MgBzXBeQZBbigijCpArBYACRwEPA9AANdpezCMAE4igQ3gETYBPr2DGB6iADuiACkDSf2zT87WIHFgX55UDtaXdhzBgCUjgFNBAQWxHA/DdW9xfk7zSQSjSu5jMlKSAi63NZ1RhZ2RginDgYeWENMDahI0AaFxGetoNPQgAdrxF1zGAAACDRiiBDqjhAL0IhCXS4YVfI56ITXTigCyABW7hBwgqR6DTMYDaPzDfDrBgZ1xGAUhar+CBHWbHdmQaSrBX/0381iM2vDKVzAeAxBOW3giAglZzAW7hFk9p4ahxVnH1AgmeYEyU15SVUtDQhDdox1lM5ACYhBKggAeI4jU+YjIdpxbAgktEYImogEBAhEAIMgW8Y26BCI2C3AhgCePkhCwA5Il4ZC8uzIcI4664A4z0wDewhCL+4slcSY0CuR94AjEQMGQLhEM4SUSgiC+IglZryokYuRRQRAaMAC6IXWEjghmOCEEuAGmlzVXaXNBYgocAgyIoAjMYBUvQxEg21vBdxjbIg0bQBEXQg2I2yXnuZAAwZgDQgzhQA/rlitw1Tb4hWi9YzyAAZNQFgEdWgAFIQsPk5mUGDSX4PQAgBf9LCAMliORpRdaaEF8OyFbWHeIOIOZ7zt1hhghE0ANFaIPdmMiDkVyBXlB7VVsA4McOsFdcLixmbGiHzos+cFpVyFIL3YIluGjdAE8J4NnknQgDZrIIKmnlXJMJxg+iHQPKZV1IzFhehcQScGQ1dskP8OKc1mnQQARFuNKfdoMwWAIbWKXru4uJ1ep81ciIMOBIdJzONMlUMV/sndx5jISs1upLpOCaltfjc8Zszmn8MEZOngRNIAVNOIQ+gAg8VMKaMF0O+AmklmmIuMS5Xmp7Pklmgerd0IAMct5IuACLnVjLxkI17dtNhAgUKGyw3pC6SGz/ZexQcGq8kESadsz/nwBZAx5ik+zfh6Aa0A7t0NgA1GlRwzTeB4iANFXTIoaIFihsBaA5mgtr0FC0xDbPihC5ipDEj32In1hTAzZvRTBJYibuBMPr486L5C4DOpWDyWRGZyTgEiACnxVQAAhIBXiBF2iBTZrtMvwhY3RnUngIg76ISQRuLLzs5H1MWrvrh2iE7nbdCVAMOi2D2WRG8LTWIb7sIa4AC9bEB8hAvswLZHScqKUJBQBUiQhvrX6I5M1WHtDKsTbme65w7DtMFraICaCC9zC0gqVv433uIf5YECdfNSViJvCB3bjZRZwSSfRtR61xG79xfAQAOzs9gBxQ1z7WiUCADAjyYVGB/yIfAPBs1L+GcJom3zWdBPZO8ShnFl1tRANeXSwfBU2ws7HmmwSWVV+NCBU+1n9Nv/VbAFDagCJ/xucGOwiHVDWN1IcYa6cNDaxNUUYsIIj457TVVZo+ajV1Z00YhbXM7aJh4hQGADCHCEL3zwGYRfWbCtItzPp+gEYlAhqvcX2FHAu/C0wnwzKkiEm01PO01w7Qdaw8Sk1g9lEIhEa456KR4tp04lVfdSN+xpRN5OWTDA9dxhZggkbN1yuP64fYdCinRALv9P/U5WoNI2zl2VLPylEAgFKH9mifqyMVSBV2bWwXgAPwQElhvwZwVWb0gTCwBFRQhVHY9Y5d6XVV9/+uCFIzhQjL5lmKsHekpLOSyWiZPuDLtXZCD1AbBkPdyzycK/g074JBIIVYeIU9HwV5h4i8lhF1f/hL7c80V4DppWlNeIVYiAV6fwiu9POiAVAUBgDzjuMIwNxF/U4B8MBZ3GG1c4DuTEyefoWXj/lRCES+sXn8aAEXmFXwhAJgzm1VuJoHolS5NmFJHF6chYhN3OEdRnRKqatnhGNsNQOt14MpLBmbX/euaIEXQAGSuYHD/wEmqLFDYGy0r3cE/5pfloiPvUR+9XgDjgiAh8EDoAz3+5kjTdNHJYNS9/uiAXzdWCUNdDUYOfwbeAElgLU+SHjNQfrLt2qZtkTzhsz/Da5Zr3M/HELTazUDMuCBTmZqaPp60OBmAGiBwwcAGAEA13f9xEoTISBVzQH0ip9rCtZ9fEfHqV88p5BZAyhgnh1iY9SyiM+L5W/+BdQQGIF/jWoBJXADS9CctZcI844IGbfnkAYIRIgSBAiAwIEFDRs0WHBgoASLiCxKcPhjEQDGjBo3cuzo8WNGiyItzgEJEkWLFgBe3PjRcmXGFyg+0EyhxI0lkzp3cpRAgWOHoBqDEu2AsQMiEwUDEGBgYUNDh6NIKcpUosNPnlq1wskT6CvGkX/ifNmaEaULFyxv3ADwQ+OLFzQ/oMg4KpTZvB8p8KXAgSjPEksJEDaw4ACC/zuaRlky5KaL3sgchUT5ogaAHrAi23QR4iJvSrU2WL7I+HblzA+SV+s8pIhoiRI8ZkcEYFQjg8GECzciFWpQGCEgPrPWi6LujSQAxLSZE8hiGyw/WqjeGvrF6Btxscc8Xvy7R0XiATRarGk2esBGSxBkSthghVCoLLmpQr06eK3Hj6dw4QMAFmKocQYUN6S2FQoutECadmqphZFMM+U3IUbiKYLIYpSMkuEolGjCQgdXBVWBAgYUZIADtpFCCnA+zEUhT/vJiMILQgAAhRIy0bSVgmq1tdJ2pOkIY36BICKehxlS4mFGmjQi3iEcSDnllCWgMkl9NexIpE4z7ueCEv8AnCEGFknc4MIIPKW0YAs+lrYdkC3UxeV3TzaiIZ6N6LkYRk8i8lUgVEoZYkb/0bmTnCih1EIMTIgBAEltfGFFmBnV0EMTPWgKAkaLYrQmSm1pt1Jah9YpXnmj9KmnhgB0qAigYB0SZUaZAMCEC/iZ6tFxa7ZwAxRteAWpSHG0UegRTSjLxhpNpCBCSjL6+isAo5a2K2tHiscnRppwuCQihwQi7qzlUoLRIRiBsCW2HX35Qxdx/BkIsSPlAYAbd5zxRhVr+NusCCmkIG2vbbYVV6VTtavXk4oAkKGreHZI3h/lWtwIXpoAoEQMLy7cUQs/OKpHIwJ9JZZFh3hiSWP/hnTCCCHKypxpD9EW/NkLSoTxsWSzBsLqxBmdS0kj41p8CCIaooKRECPMpSvPGClxBsnazlqvRYGs7AnXW3cSRhVszDyzpm26EMPUlpAStWR/NgLA0HCTp2e45QrU29K3dvw02xwhoqef4Y6kddeeoAsAy4bcEQYbS4ydaQ2XLnFHJnn3HZkiRJ+7UcnhGinQ5pMEl5rHl2f0d8OKFC1SJl1nZAkiXLPSCtednME42ZFP/sksr4TiySGD0Gs6T0ve2WdGnQMg0N+qjjIIE3vzTXzyrC5JrCWFZ1SV4Rmx4gorrHRiyBtLgJHs7rHMgkrhnmQyLvU6jTLxnW8rf2R5/6i8osnoT7NL/Z3MQ7RZta51tXoEAIA3rq8cgmXhE98Z2BCGTnxCF69oxSfa17VMCC9+HgnFK2KhKuQJBABIGsUrnlcF6ZXOg96anybOlb3CsSITiuDa+y50pB1+RRGsYJknWvGKC2ZQg4XLiQc7godJcKRkGMHQKFShiT78gHQtjB8i5rchohXQdZZ4BNceIRDXWMiE6PqEEAFwCD805xCtM6LrkriRG1ShLABYm6s01q1XoMJhLPxfEj0EQy5qz2FcQ5oivKVISqDqjhl5wg2E4Kg2/CF7G+lauuR4FrYogQkZIQUqVAGAUMZCE34AgBWhJkctdogSYOzaI3LCNf+MCPJbx/PdxmIQmuREAQBwQGJG4qhJVLIFI2/pZRgGEYpYYAQVfljCuqY3TAA8YjEbouYrbfhGjLQvSdbEyCk1sqazKQELfeAI8KZZrbew05g3UUQsiAEAVfRBCT6IgdNUKUdBbrERGbREI2aZQDiGAo/hPEtKAEATFMTAB1u4pPsGkckk/uo0GYnkFywRC18w03f02YKN1IkRS7CSaKFoxSyKyE0jhmIWzPyIShRKlzahs3AcnOjlQIACtoiqWje4CSk2KsI7oQIVpADmNFUWCmvG0J+6cMUnNKLBk8aCFIbwpEbmhMqnoaQHGzGEIWZoU4n27TgxOFhc3IK4V3D/dBSN0IMeEPEIJooyqdnLxF1gSE1d0K4VrIhqMD1BVQAYolLu8h9dzraRN5yhD4YwYiZu+rEECUkjYlhmLIaaGZGIFHGxC6IW4daIVvzuE65wxSxm9wlWUHUWV7XBmjqVVa4mKAYgMcQg4BjZQRRHp1p1l5s2cghVtNWtisgDZ0UKRFe0ghTf1FMoEGHa01J3FrPwxS+QCgBQbeQ4CzUbANYABpOI9YiGqEITYoqg7Xrntxtx06gAEIZlAkCEozjScy6izllZohXUDS0XtUbd01o3GL5gxUM5ghKOJCpB/nkDId4gYTaMdyNswMhjZ5gJxTlOWT2oQQp2smCZ6jMj/wvSzo+gMMr6ipA8f9LvfrM3YN84j26B6K9/resLX8yCETbICHG2K2QTR6tNL/ABhCWs5AmvISNNCNsXwIrExj0OciFWsHsVisqNxJSm1dJIR+dHN0TAeJiz8sSAXTFKPjU1VpOYhYFngYklPMgjXVbJOF3AhiXzecnMykiTAXCHL1zYyVXuwcBEAIAaHOEj7u3ySlBsI1QU163MK7MmLXGI71HXLiMkGqwCoYhJEFcXmFhhWlgSgxjEpVRDVkla0oJkQmikz332l3wxcoY7LCHQhq5yExSkJoykoE2w9cETABDCFIpZDxf6Q2dlPItOY8S5gyzaqEX5iU6wQUFGBv9AkNXyAmFv12xq+Q+ta50RW0O4E53gyM48MrYRm0VB1wqFL5g9v6qRWaSNyIR/UYva12kxhudqhCgzwbGBmc1XnxKnt2Ot561ImBCM6MTsqA2Ac5rkCCFO6FZ20IQlVGGe9p0fqP/UWVWEQhfWZS5GUpsupjIJAJN4gi73My2Qa+QzEvcPANKdF06nmRXdizdHGh2ZGjQh5vUt6Q4PAW11voIYxPjFLwBg3fABDxEPm19GJrGFnBds5zH11AvM/YILCz0vak4zdY2eE1772gVZ5kkMJMiKELLSrZ9TxNSHuQRL/CIYyiBGMH6hC60rMIujyBsqwgDbspsd5Akdt7n/2UDrCGvl3a3wCNxpN74E10C94jR9R5Cskb7H0kiKSFcHNUmIW+ii8MRQRuJ1YcMLgVkMQqg88GPrIFlv/g1bmd3nTZJm2mFEORgJ8k5csIROwNlVrNQE1+qGVN4msQmmMMUtemH7w5PiEXpCIEf1EL2dn80GN2B15VNtb7Yb3yzJ34qaETcmANjoWuU2yQ90AgihQoeEFibh1Eg9hwd9QA0AAPjdQuEBQL6hgiaoAjOpXwwsyprEwA90oAfegA14G55JXJsU31bcn150D0bAgUbYVlrFlN0938YgkbdoCNi5zo1tBMsEnunQBAiMQArcwPfdAuJYDiqowQ/Yna8w/9RLhEkStNMN5FmstYAPmOCuYFAGLc94AMCxbATmccQZ4MXDvBDKedHWvA7w8GDfPA0I/GAN3NMPxJs8iY5LxECPtMRpOCEAOJ9b6FKsjZueEcLmYUTbwYhfecIjOMzygESr4dmtCE0NahEiWJJnJZBUWYIC9iBifYDBnAFG+EJGhIIfMIFy5GFGKAcq7uFbwJZa6FIV0hojwIwgCmLQwYjRuZgifkQUKEExeZkYwo01qUojqMxIHYlAZYTUEc8mJsgNhAEedYQihAEUeJISCEESWOMeZuM1CoEQ2GFcNMEgYgImMMI4yiItRpi7oWBeYJDR8Z5OdKEn/dhG8JOqjP/LDVUIEAUT4mAa2/iPC9xAF6yNfbXKK3BEFDwBKeohKnIjQ6rFEUAYLIrjOIojOcYiI2iEOuZFBn2C13UE8+wEqwQjJdRN91yIQBkQAAwP9cwFowRkfenR0IyQBD5duiSbRlijECjBD1TjmUBYLY4cALzBOJpCRQ4lALCCdWldZGBQhRxOn5ifnuiQR6iCw2TON1ECfxmODckSRqBkMnrQCMTAFpBCW3VEaL2Usk0CgSRkNV6jW/7AEWxezLCdD7BBDAjlUGLCUbqcy1lXUh7fJ6yWE2WORyRiCW0EHpRFHKSKMIqLJW0lJVqiGvFj37TAFqBCZl3Tw2ym0FhfQRL/Q2aRAh5MY0Li5BM6Wd5hwvc5ICaUjw+sgfF9jy7MJm3OQl8qJW56hNF5QlQdyeZ8RMnkIlwwwRnQQSNsSNFEpiLEkgoazmrRgRpeThdQmvVx5uq5Ctyc5Y7FAiocQhcgZBK05RK0JhuwgWp+H3p+HyawAUtYgSGcFm3GJ1/6pUn81S0eD0i+TXeBCRaowb3EQR7YyvZwz0jx5uxkIvWQpX3ZBUhsjvNkFkfFwie4AUIygRBcmHidZ3qmJwCQXBtoS+u4wuLJ53y6XG56j0D95k7oUVZVCxRYwcYkARaE1UgZUnN+Qn9Zwr1QzydsFNhxi0xep6osSQGOAoRyVHcm59uGbihGbGgbxBXgiAciZAJ8AgCJ9mVSzgJGRBVvyo1ZWI5sgVuvAIAEoYvXoWQC4WjrRGff+ALYYafzmARczSngnAuEAsAv3MItdAImrAEIiEAPWNxG3IIreAKqRKWFiEeIWqmVyqdtJqXRrZYnqOhHsGhGCMH7XYuvuIANNB0AMEIYiEEcRCYA4GhuUSbPxIKDEimcfoQepORX6AEdzOnfaAJbMZMrdEKiRJMI7ECgYoSIKp4l/IHqRGmiCgSVqtmI1ubiSWpg1hxIBE1H8FQHsoUPNB0bMMKqTc5BjZTKSB2bfkdAAAAh+QQFBgAAACxqABwAuwDUAAAI/wABCBxIsKDBgwgTKlw40IpDhhAjSpxIsaLFixgtPszIsaPHjyBDJnRoRaTJkyhTiiSpsqXLlzAJsoxJs6ZNjEYIlLzJs6fPgjl3/hxKFKYVA0aiFF3K1KSVAEKbSp2qESrVq1ghPs3KtWvBklu8is1aMunYs1MTmEXLtqjathJJboT78S1dg3LzzrzL0S5fgXoDM50b0+/fwIL/YmQBI+xfLJCxdOkSmSRkxRlZdMCiODJkK54nX8ZsMYpmxVBSFzqF6dSqVKlWCbxCGmMHE08OY9FxKjZsWb1XnepS++Lpx1bSvAb++xSAVWCYVClO0QQLzne7fGnSG7bwO6BSAf8H8wU79YgsTBC/q0SJcvFgrny5IifVczBhwpyX2IEFlLtiiCFDd6fQdsUVaYh3SiHt7YdeAnxBkdxrqUgCwBcCpdEdKAE6CBELCUSFFhZWyMCJgj3QlqFrqRSyBRMeMsQCAFj819YXZ5jR2ymShGZEKQrqxxYTUHhWIxNK/GDDD0owAZpoCM3YRhtUOQSZdl98QRkUSAphxInCHXEFiUgWwckppZQi2VhWpFZkF2KoAUcccaghhpahBXiGGAYJkQABRhTJVGVItkekZGKcoagYaUgSSSRmhAHnGW2oQUYaj0YCxljlQaGEEEL8IESTEkLG5aejNmnFpItSdoUDBsj/8AWfCLkp2XooXTmpGmrsuSUTwB6KhRmPAqDDpzbYIAQTOqThSCQAbKpiVmfw6utniKrRBp1w2NlFm0w88eZkvzpAQAdLAqCEQYUaKmJCcVbq7ZGGjvtrkskyeSi5JHIZrhEAPJqIG3G0ca0OZUAbCRsA9CrGtzBOhWUXmKRyyzAYD8PMxtaAM47H4KBjjjXDMFnkrIqqkYAB15lHUKVndBrsvuRa0aUNMdwwqpOeWfHEzKvGC0e31145K6+8PowFEcUWcQQYZBhBxtRkJPwoGTco8WaAeLZp41BQrPLMPAC0E4888syTNj301OO22+h40w033dhSBbBPisEDBx4s/1ACvjbcIGoSpfZb6M6rUjp0t3dSdmuccw5tJ731goaFKcM8w4zH44yTTjoiezOrHI8ukkYZcqSeehppCBLJIpGQUV5krLaKRZc+WTGOO/a4PQ898wQfPABkDxQ3LbDQAkkEFzTffAMINGDAAgvwgCeJ2aoBBiBQw/GwzcCWSu6WSYSarM5N3npve6o+087v9qTzjj3v1F9/OmCAUfrr/MMO+/6aCoPNPnWDGCxpWfYy1c9sYoNxpE1tEJSHQCJIvHnU4xgTgAADMshBCCwAAiAEYQNM8D0mhOoGKDwBDlaIgyJgIQom/AEKRaU1LKBsT13Lm7bmRCeDfcEW0TjH7//qYQ/62c9++GCHEYLwv0w5EYCvK0QY5MSteV0pUW3gYRxs8q10oK14Ekwb8YgXxuChQxQg7GAGPxhCECZAUo6Dws+UoEIWGoEOc5gDJm7Bxz5q7BnTYMY0pvEMa3QMHIhEpDnMoQ1tfMMb6zgHO9qRtnq445KXdBvw5MEObJjBC078nyifuIhERGFMWAoQ+U4YOMStySPhy9acJmdCG8TDbGjLpS53WcljtLEBwGzAAgxgAAIYs5jRCOQzopFIRF4CBxiABTrWsY52WFMcx8gmNqqBjW4WoxjVaGQjs0lOcYjjkee8ZBHXyc4i8s5t8aBGFhyxiHra8571LIM+y5D/CDIQ4RJoaIY5wGGNW2CiClnqmr+cBCc10Mki5UMhzs6ntS5Uy2FduIU13/dA4bGtHh/lXe/MUQlgthEC06uDSusAiTpUwxznOAc60CFTc6TDnOZMhznu0TZ23uOnR7RfPvaRj3zg4x7uHMg9DLJUADTVIPO4RgM8MAEPWLUBJxXhAkJQAjzMAQ11kIbwghePeHgskLO4BR7aUEL2UaRaMGsc9uC0LTrZtQ23oCY1y8pXs7UjHWYrqxjlkQ5wfCOk9hDpO+5x1KO+Ax9GLeo+HgtZfeRDH5aFbFE3W1R84KN+7HxnOuJBjyI69aeeTa1qV7vacBAAACGkHgM26AAL/0zgtiBcQYBYOg97FOSS6lDHPNIBgHEMwxSUiSEAbACROMUhD3+IbhzO0AVPKamVSkjCE2RgBBnI4BvrmGQ8IOjRt9UDAL61B2M921nNFrWd6n0nSIO3y3ikgx7jHavaeKlLvqKjHO1wh1NZy17OGpiz5CDABxFwgAlYYAMWsIADHABhEkCYASc4gShwQY+fetipTuWHP/zRj36oAwDPyGMeF4KzGLhYWQzVEiA2sYlaQIILXLjAAhAwTGIuQBuYXGdClppae5Dtd8JLmzz4yuR4AKCsBAkjf9EmkCkvmcnsKAc5uEFcoxKYwAfOhzgU3IDZMkADG0izmtEMYQlzof8WvABHmDfLj36QmMT8GMct7KSGgzwhCQRcUkXPEIdnDAMWiIZFHUSI1ZN+w8OQjjSkj7rUerzPkmQTrKabzOmzWbm+ne6rNc9RDnN0ox3EC25wLfJaAzCgthKGHgIQwIADRFjCDggBJI7x6NSGWbOQ3Yc+3GGNFzCXICqeg/coA5r8ySERAEjDJobABTRw4bYRbuMERCHpSRMYAPUgrkfVFupym/vcTfZrO9YRDnKQIxzoNUh6B+LbeM9bIPZQMAGISYAA+HuDC2DAvg0wYQZ4ABLNwEY6fnfaSX8Y3PJAhzB+gOxAHKJOX/BUKZhhi2c44lmJiEQiJOEIAMihDFL/sG2EHbAAY6JjIJkEHtvcwTZ10MMgX3ygBNG9Ub/e8pY9D7o1nfxzdff8HOFIujnwDd+mO72I+/Y3ATY4hT3wIRFYT4QXGDDMHQNTHPVmqkCeag96VKMWc5DJrMRwi2lsox/2iIYZHJH1rGdqD3KwQxqGQMxaB6ASF1nq2crK0Y0WveiU1O8XhWde4JEV6EJvBzsmvw5uZIMb3GAHEZ/O+XYac+oqGIMXvIB31j0b63zIgQYn4IBHd76d8jBGIag0kDkcApAl5gc/wGGGUvJhD8AH/tVFrk85pMEJFoi6NOgdb3zbu51OtYeo0WbNSQqdHevIZjTIeYxlZFMU4BdF/yXCD/5KSH6S1q/+5NlxjmtcAxvZCPDr548GBJDACwDwghOowAc5AF8O/ZcGpIcEVDUB4DB/7GQOsHADBmEN6vAOqqYOtuAIvxd8pxN8IQcAKqBPAIAEKjABC3CACNhOSNVz4nV+kpeClAcMADBbVAVCAGBSIdQAsNVGx7B+OIiD62AO1NCD4SB/I/h0lUACWeAFSJB3/hd8wfd7Q+AEQ8B1roeA87AMm1ADBmEO8yBgRfQMgvB/aWAHe2CEAICBkSAHQzAGaIgEOZABvRWE61SC5zd58ZCDOsgNJyUQ0kODAwE9C1AQIXCDOkh51JQN0AAN1BAO8bB5Tsc76sSIif/VO48oClKQBWmAhHinOmBodb8nByqgAhAgggjYDrAACAdRDqEFABVYBkgwhgAwBgCgd1YncqKHhl5AApvghu1kaetHTdYUXnS4DoBXg7/UaFmVVdh3jHpFTedADcvQDMvwg21jXtI4jZrENh91DEhwhJWod2WQf6OHfyanhE4wAd8QWu7UdPTgDZtAKwVhDewEDhWId66ohGUwBP6HdQAgBWg4BkMgCufoiPJFRPSQSW5TRPOAfcm4i9SEjHYIAWrkkNoWQg+ZQTcYXsm4Dv8FDcZgDMjQDeygX0lGXiDZUfPwDZ3IOqdTBvj3jSzpBaiDd3vgBIdljTTZeG4jioD/8C4AwAylZVpJ6H9jqIRpQInAl4FOsI/HcEk0uZQg6VH0IA8YSVMxZZF6NU0YiQbUk5XUQ0xcOT1amZVdaQDFsA7eUJZmqQ3UwILCIAzcsA7ohm6ikANjUAanI3r5JwVDwJJF6AVjYInHQF9KFkFJJg/hwAU+QHEGYQvy8Ii28Ionl4RKCHxBiXWRoI+uuAn0FUGfpkvzEA80BVPmEE7HkAzfVJrFwAsLQIzFuJqrGUwn1WhAAASiUAzclwzZZJtrKQzFYAu3kAt9xEc1JgokMAQAoE962YlSMHpDoAJSIBCokzq1gHhDF1iEtw7GQAYU9y5j0A7zhQv+lwZI0I2R/zmeIZcIWTCXYxANhAd5G+UNAOCe3iAO7nlO2KSbkACbkCB+kFAJkLCf4vdNvACgAnqapVkNBnqgCGqg2ZANi9Sg5LAMl1AJsRkCIQQEIQBWK1UHYIUGkcBHtsAMGZNNFqABxemNLekE3zgEOYCio4c6lXiRVgmj3gAJtIcQ5pBL3rkHxZmJ47kHaWByV5cIUzB6AEAFO+ZvH6QCOdBv/uZvDrACCGAAPLYAYJU8ywAA3EAO59CgXNqlXvqlYBqmWgYNu7ALALAL0tBu7rambNqmbioOvKABxNmNAuGEe9mSROqNrFMG2tCgWwqaIiMy5lAMb6AlCXEM6cAO8YALaf/wfzA5ngDgBEeoiXKAogIhCtLQDNKwqdVADe+WdGrKplrWDdeQDd2EDdxQauWwqqqqquZQamEKprA6q6/aqlpGDWVaps3QDe2WdJ8qDqAarOEArMMaDtKgASRQnCo5ep04pHiKp/qUBscgDuZADqtqra5aDtUACQ+jFAfxAntgDjN1DJUIfGPQqJBqcqtzcmkwpAAQBL36bp8qrMLqbtjwfvgKAKy6r/y6r9jarwCLrdY6sFpWsOFwDWd6psuADd3gDeFglnLTsN0wsRRLNxYLCSQwl934jU6QnM86ejmQA6OnscfQq8AqDuQArJ8qDGCQBAyBDdZ6DOeqoyjao3j/ZwfGx5f6lANFmAW8ELEUG7RCO7EO635G634D66ZKu7RsGqry6qu9GqykWqZnagzV8H6neqpYi7VZ600AkAP6ZJcC8bHfmAUaILKtqE+b0LByE7HhQLTVIApJ4K0KYQvckHR8+Z1BGZmqs6xp6wVZUIRO0LVZi6/3eq/vpw3XIA1HSw2Yh3mXF7kLOrmUa6qEa7jud7j4erTuRw3XQKZmugvCYIideg2dWrqni7qea6B1QAL7xJImSrZFKBC0yAvaQLhaCwt0qxBxAgyXxwtlMAaSOZ6rI3osyYEoSgW1cA3UULrN+7zQ24OeSw2GaLQA4LkCQQ3SoL3cu6nau6nb/wu+m1qI5Fu+0DC+5lu+AAALoQsMzdCD28u98hu/0ru9wmABaWu8U7CXsQuOLTm2fHkMpru6z8u8wrAGE1EIzdgMm5AFZWCBpHeJaWC8AhG4LlkGObC/QxC+38vB4gsA3gu/Pci81ysQ0AAA6luIKIzCJ9zCK+zCMPzCMnzCAsG+Z+q+4hu+4tvB4EsNdcAAk/iNUkACPJun3+iNAOCuAOwFxdC90qu90CAKYrC7DLEJmyoMfImuVHCExVu2gRu4GusEWYAEtQDCPbypZny9OtyD2cvG1GDCLDzDchzDdDzHL5wMiHbDy+C9OuzBaywNwjABydqxe0mceBq7TkACq/9oolb8x+ALC1M8ES3gAptQiLSQxXqHhAIIu19chPqEBCBkADmMxqS8w/ALwj1oiG/cwnXcynbsyiq8DLsACwIBDMhgiH/8vboMvmgwATkAAE04iXf6rAOhhlNgolRQDGcsvsgACLlREVEgCc0ADbWQt5e4rF7cyflXBiQQAEAwyuBrxuAsvSicyqscx7D8yurswgAgy2ZatZoKzn0cvsKwACpAEE7gBFOwv2S7kgMBuFkACag8ysmwCVHwzBSBCIFgC8tAzWhofBQM0J38xTlgAUFgAbAgz+I8yt1LvtRLvSg8zSINDSNd0iR90iad0ihdiM3QDMDAvoiGw+O8zNL/AAQTUMwCgQQdu8/9/M+BOwTAIM9RHAVUTBFtIM3QsAmTaLzgONGdrAJBIBAOkNHyXNVQbL7Ue9IrrdJcvdVePc0k3QzCgGiXwL63zMe5LL4IoKTESZw5nc/7PMw8rZdjDATIIM+1UNQVUQVWAAjG0AxIMAVBPHpOHbhSoALJGgRjsAIXgKlVLdQjnb5dPdlfXdksbQyJxr4y7cRorb3CAAE5MARuvchvLQVz7QU54AEeC9BSQAaJYAzgjAtuEBJGgAvCsAlIIMyFnQU5oALEGQRBQAR0Orrn+9ji29LIDdYsvdyU3dyVLdKynGhl+tc77MjUAAtEHNqi7dbFrNNx/+0FzbmXX0wGdEAHe5zDsi0SS2AFttAMkEAFpu3UAJABKrABUb0CwB3VF7ABwvDXxf3YYd3SAe6My7AMyVDgB17gCr7gDN7gC37gEJ4MEo4MFG4Msyzdu5AMxb3LOSwKX7vd220QOq3PzkrYgetCAhHPm9oMtsCOIeFQpoALDRzfX6wCFpCs75rjwA0AjF0CgxBdYFAImJAIXLAJXHBjSM5SdTAEdeABpNgGdOATgPAGhUAImIAJppDlpoDlV14IekAQbA3iIV4QOm3aQ/rFJYACAlEEwIALMh4JRqCTIREIgUAG+SzG+3vPQYDfOo7fwI3YRQBdfzAQFr0BOE4Czf9zADieATrgAjHwA0vAE3GgCAAQCJU+EHiQEDoAAMmq3WI+5jld5vubBUSg5gCAAqiOAimQAjVwAy7bEnmQB28w4h7I41H9riug40EgB5x+AdaTJQAABSaQrBsAAIbeicWe6/kXNVnzBXhA6VjBBCVgYcnq258u2iKez1JABEzxBjyABCRAAnwe1eQuEMBNBFSA6CQAA1ojR0nAAdVu6MUegyuQ60EgBf30BoegCIpwCFeRBCbgBfVN7WF+7QQh2khABHrdE4egBjywAfU+7jpu7sBtAYhdAvFSMASwAchu7BbWgvX+rmc4cnegB4Ew6EyRGkwAAyqQyIZ+AThu7df/LuZkAO1SwQNDUO/lXu4Uz+OAPgfRtQIE4ADUPu84zgAhr4EkkAb99ONMMbc2xAEqsALUDvMez+MGL9o5QAZffhVksOcS3+f5TQX1vgFgoAdvkJrhPhDJSu0OcAARvwIfOAZ2QAabUhRJYENqYAQk0IkXwOnF/vcfP5zXngMlwBWIQAQRv/M5/q5BAC1yvwF5wPdDwAn4KxBFTwIWsABxvwJZkHdjwAO44hNMgAViAAYs4AFyrwIwH/jEDgBWL/OiTQIGAAFxQAcofxXULvE8H9w5EPJEEAhEwAmckO6Ab2FqtvlIvwJegIQqaQLH5hNxQgQbRAUCAfM4nhBsnQMn/wcBKmACLjMVf0AElJgGYH/rt57rK8DxuU4Ei5AKkeAEhm7sa9ZmUbpBOHs6QxwDP5EoAMFjyIEcWQCQAHABIQCGDR0eXDEk1SkVJVC0iGHj4UaOHT1+BAkAUJkxZficLBNkhcogAFYwRLji5YosnMow2EBiwwYVFhwwYGBhgwEAEDKUIZmFxImQTZ12FHKChIEJMlVcAJDzI4kLKuTIESQrVyQwHz48RZv2YxA5AOTYSZSIj1wvMmU6tOtSxYoFOzU4UOEljZchGkgQQEB1zJgsTjSwUBv5Y4sIEwDsVXE1K9eDGxJ2jrhhiBkvgjjJ6pXLrFkAIyS/Dkkky9xIfP8Y7mkol4rdFTv3RpQpdIOFMmncfgUwBEEDoh4aD1FhAvZ0AC1QIGBAQsXnhCQWbiSxggoPEzFUlBF0KlcuTKtBUIfvsIeUtnL2zE0EIBKA4vkFlRlCpuHCa0klKYIwDqk00jADgDSGYAABApIbIgcSwIhPshFOmGADlTLrSiGdustqswsZcsOIIb5KJZdeMLEOowzjK8MOAOyQo7g9BIlkv5MSSSO/RMbobaeVVJAija9sJElJ4wDIwAAJSchBhQnOmFEtCYTKoa6rvswJqxHF9GwQhhABgAwk5FhErF46UWIJJbKE7Q0nkLNjwTRwvC+RSPLjQw7bEhGEjzJyyGn/AQByQE4O44IozjgvGJiAAAhU8AACOpsSQwwdShAOoS+70uyhzABYgAeH8tCDjNIiESsXS/qIA8tN1WoQR+T2XPKt+/7MjyE55AJSAwMWWIAEJ9MoAwAEnVyOqgwguOC9WzcyoYk46ODBAuFy8ozUEBHiKqYsGAhA1Y3ISGMRUNYDIA4xsJjzWqfeQIKKtxxdEEd/97Xj10gkcSuNk/hwYoIpkVpsDBWWJUBRCCZYwAQQrLUXABO80AAMCzTQYCeRGfJsVHIV0muBAMDQgyOv5HCzkyuEuCGGjEMyg9E9vmK213//7bNHQ+2TAwkICDBAhTG88GKKRfkFIDFkE7i5/yHZnGgAp5308ozkrLpiSESGGFjAAAMwjGMjNtYMy8VChHjBuqo7WtsL3PjlFWC9B9vXz0TkGOMrFY6GAIkpqKDCCbYWDEBCCAywGONriUDCiwwQAHcDAbv2GtxyRSUbgQWMSCKKh+bIowgqeHSzEOtQmHujJ0pYEQDc+uX1533LQOI4O/BLxAuSSFA5AymcQAKJHJRUGAEJJUih6iKGkMLyZLXKauuHPNMqvOUpTuwE2DsqooxFOFkvlx5QOCv2h0pwwt8F3cKRfr1xHOPGffeIq6ApLERMDpIHHSpUSkIGgAwAbnCzDDhBCipYgAW8wz2RVZBzXRuCYHJQNgJgBf8kbGnTelbxghSgwDXuA4AIEFC54uQoT7qD4f3msgcn5GBRx1JBlTTggQYQgDkIUFfVTpCDCkFgAQ4YjgNCZkEmNiQIWRjDApwXABZIriOMatuLZlYzFGqMBFOQghSoIJgYlhFgcslBBjKQKQBMYI1FSYzZiuC+EqQRMRMQykEy8zEmWhBBk8qAAZ3SBCQIIoudcEMb1NBFAAivSkhwwhTIeD9K/mwuZcjAdo7WAABkLWoIgEARDhE7E2hgAgYgwASGgAS/ScKVO9tNkSyYhkotoAEIoCIITvgRNRTBC4tYRPo6gQc90AGFRRAEADjhIAsZLnBmhOF90qAdhhjAAwz/sQwCilAEM8WOQ2abwBh+56eBudKc5kzDGIZAAkoFAGkSQkAHYuCCFIzAnh+JAxnMh771DCIPf/iD+/LXEEGQIBBvIIETslBJhgpqDxPwzuMWMoEJsKyLHDBbA5b3O/yc06MejYQXkDABCCCADIioVReUIAQfzNMFHJkDAIiQhki0KBcA0ANAA1q1QqzCNPqhAhnokAeZVo6hMdzZBDyQgaiRgKITC4RD0HSzEyyAABnQQOWGMIV05q8MbznJR8UaCUAkAgx3eEMjFBEIOIihC1XwyBAMGTN/ArRqpWAIKACwCBLYlSFkcMJXv3LU/aVBUzwEgAeeGgFGRiAADcBU/5fyxiei5agkc5EEJz6qWVf2qAx3CMQhDjGInXKkCE5YRFhSM0yARtVehUiFXvXjhSK4tiEFYVYWvhpD+7WxjYqiaAMacAK4onAFAaCoF0rCrIaURLCVddRX08A/PriSs5L4UxaESoc4tOELHyHDGCIRTBfd4RCBQK+9ShFbUHBiESpI20M4MIWSICFwlASQF74yhacigKTMkQAj82A2CDihJPnLQoIVnAWnAWC5X9nZzuyAlDLEBbuJUMEUePCH7n7hCR/5QRHkEAl+yuIRilDEKG9FhlWAohSgCKkJhJAEh3BgAiqgQs9iKAf9Lkix2eQhARxwsS6yQYqBWdqCFf/8PxUodMEMQcpgFcQz+hQnDvKKwg9e2hEQiIAII1ZPLgrRBzwoQhObAkEpTuHivapgfA15AAAYYDz9QpNZXpjY46ZFAAGI4M3uYwMoJemFBANAyUx2spIVbGj+2OckgikDEbqLBbi1ICRyFcQqZLGIIvhACVvYFIvVrJ8xsMAsImDICQ6gMANoIMFHJUkZIACBWzagUhKwIgoXoAJFF3rJU5hCr5d8PIUqFykAUJx3kxCDFtQTJBUYwiIcFYQhmMAFP6iCG2aU5tji9b3tY8gHOuAAB6DqABoI9hj29K90Mi0DivLhBHDNyIcUONi9NrSwFQ1GJ0SykUzrNws8fIP/Zu/yIx3AVId2YoIldMENisiQqFMxW1M7ZAQVKDdQEjMBKQRbeCRhmhekECGzVewDqKa3Q4oARn23/ND9dgIV/i1SJ5RgC0KwAbP/fHAGyFk4PBDDHybRCPhwGxSncC8JRABuhlTAAAw4AAAOgIAIvMEM+QojFRrz7gBICTI7TzkAikDsHCTa5b3mdySzEHJIlgALboXCnLYcEimRO49FUMQjiE4dicPYC1V8SBTOMCFLWTUBecgDG7ZAhiAQIQgcgEAJthnTsG9kEGrqNwmGcHZ9p93jAFfcGa58ZbRI4FhB8UnHLAFx6qz36JyIhNI5IgEFeJAhFABABSqAe4bY/za9ld/ID4wAySk4kPPCTvvaAd72OMyBDjp1CggOEIBVB+UnGwDDIAJR2sjA9hSpKEVIAc+RCnAg9xWYTgEKEPZV3vvsDdk3zD8P8xLgYajQd4oEAjA2b3lLBTnlPrVwvRfjKx/wiNBiCBXLEgUgJUhStHxTsnyDQEPzPOWjvz/4J/wLiTgwgQDYPwZwgP7bAB74p9fAhIkAv5B6A23jiN8LBESAwbSwmaeIM3sRIPfbN2B7MghkMClgiM8jNjKYAw10CjBwJ+oDQZ/oOdjIA9dbs0ggAjxwq45oBLVCMUXoAN5DC6bziAG4GROAJK3bN+iQAgWTOWTrtzCSv7Ubg//jQQIjIC0iBAmicicCOIAFIBtUMoEXMEEUDD8vOAIfmLuNGAVSoAQAIDpE0MIMEYDYKYLkKcNDeyQGY4jeSZ5LHIJVKkOmQbYheAMA9KunYIMj9EACsMNce4o8WIVV4ASki4QgQIFYfIoSML9NacSqUZMw3Lcw8kEiEDs2ULw7IAIeyAEBciApyEQSQITzCsCnMEIPhEaLeY0+mAgA+EPx8cKmkIDy64BbucWqeQMeSJ405MV+QwIy4AE9QDyi6qY/mIAa8gIVGIKqwLtJmIRHeI0vUDUJCDBUfIpTYEVlioQVaIFv7EKGqMGP0AjJMMiqOSgeQB6Y6zcyqK2P8AD//eKE9gIAH/CBJaiCMAA+hriDVfi+P0yAhvQIg2RAOslG93GtN7gDIyCDN9g9CrDJRXSIi5SDjFympRuBFhjEsANITnixSCgBAUDJpljJGWlJAWOIPEA/kODHiyQxUNCr1eDClKuCarzGpPwIBXiAB5AADgiw+GjKymvGjvAA8eJJAEDK1QhJUGBFvBrIAvDKh/hGL6QAFiACFkigkIwPm3QKDyiDquQEOUBKpAxJHViFVEhBLzjJyHiABOIBFsBJwKwawjRMQUjMW+xMRpKETTsF/dgAATjL/GMBVanMbsRM9yFMd2kvzjQLr+zMu4yPMFiE74MxKriAATjNpugA/9YEgMqsRXsJRcD0gDRwBJ7kzMR0iKxsiAFQPwWIgAoITg7gAMF8DSLQr/biKwmIMyEAgPVLC9aszBKgt7R8CnBjjbRITkewSlBATOdsiG/ESqfQzrQwAg2wgCajghyIAAnIT7XYS4YgTsychJCATrV4z/icT/r8iIuIASU4g0FAT/h4A5+wjAmAugFtigR9iAIdThYoztYMt/ZZ0Mg4D9iUT9P0TYewTYeYBEVABNsCgONsClAJQTlDgAPw0MjQzvM00ZtZUQd9AAVQgAL4TafYPp1ST4/gARAcDjkjAAW4SeoQ0QMd0mspUquUg92TAMZipCIgm6jzCZW5ycsEUv/I4AEt3VI66dLDrEktbAMAsIIkWCB7AYNz24DQSQwCmFP4CFIWuNA3zZI4/dIrBQkhWIIs4QCh4E8LkLPpS9P4eIBubFMSDQn141RDDQlErdSnUEDYKALhwKM+RaUAAMX4UL+o9MsS3YgCSNIk5dQl9dTzgM/2kgNFRSESCBn+zIqfIIAAkMPpeFEAYIEOgFWHmE5Z5VRn9VSXKYNctYlQdR+q8BZgZYAeUgDSQsAMGYAHsM4KoD2OWL9ZlVWGcFbyjNaGwFWrrNYfdYoCiEWwa4phJQDUg7cqRa9RhQ+kvNQOqAAxdYgjddZZbYh1bVd3nVZ4LQNrVdOOGIB6lUX/tHAnKUEaVCKKdDwEEJ0RpCwBZR3YGtNC8WwBoEzYJF1YhojTh+XVefXNiaVYtOCBi0UlAPDABDgEM4uMGBUBELjUEiBUDuDGDmiZhviCKFCCPGUIF5g7xXxTDsgB87FKB7HWeeVUiq3YpmABfDXFCQEAMKAEUljWtGjPh7AnKJiDRtCERgiEDkCTqQIA9NKDNpjCpuXDLlxK4OtSq5XXg3zWhtjakHiPCjjCYd0/VUAFf80Qe7oBKKCEURgFSmgENGHcdcwDOoADhmCCtNg9epta2HSQ7PxbjhiAFOhUhjhZewUJEzjJA+gAFryZB+CAQ+SBtl1GuQUAGDwEDGSV/90NBGOajtKdEc2s2i/FzqhsionlVKd1AaBkXY+4GIxxg0yomgjgAOFkiBKAQRRDhMpdxht9QeClk4iljgbVqzQogfXV3o9Qv/FRABd4gfltgRRlSVsNCQrIXvRcXwBo3yuMQRVDsZVNLJqq2jKgToIFCU5tASRVgPl9qbNFoQGI0RDVX+HsX2SFjOz1XjSBuBS7FfN9jeSMBIf1TfKMAAV+CCRVvwZG0uq4z7Cj4AoGAJvkgJDd3tSszMokOhqVW7cNSSV9VnbNycKMzzFwUZDggBSOACR9gRceAKy0X/c5Vo+4UvPc4Ta93URkPQDo4rA72GZN0qYkzIzUKyS2Tf8d7ktCfYAmjtmlk2D3IYVJ6Ca0sGH/1WHVNIFQmNxEbAjGzZCrNVd0fdZZbckyrlovgFqOKIFhbFMz4AFI7gCDVVITMjjY0EAndVIb3YgwUIK95YgrRU9VMQFCZQFN0ITJ9WLWe1IsfVmOQFgGZEBZNWRsKgMzBgAqWOSC5YA8btMigAz2XeKExGRNNmYcFVTeSyC/7IBGoARUHoVA6OGMCVDinc6GAGVa9UIIkAJO8OZFQIJdHk/a9eUiUBXdK7/sjY9Wthf95V+NqUwWeObJxV1E+GI6mU5QfohrXj/ynGXVVT8AoIrAoAIkUIFdLgCxLIFI/mUAIF2bVN6yteP//E3TV5aMDhBaoc3jMztEABgF3b2WmMXfpRTp8ezn6lC/AzCAqcMjC7gA56RlClhoHjDnypxT4k2L0q3oAbVotPhLv0zNVPZoSiBqRajcjElMW03X9etM8gxoZ50Q5wFBcqPg8QTLCBDaSIZk3RNkEabonn4Km4yAI8XfhuhlmZIOed47ADgzRHyIe/5YCJ09BoxZ0yRiq8ZZxMAOcnMA00RSsQyDQyACc2YBdH5lr/7qnUbsj/hMj2hjBR4FACBqZ3Zme45buGZEud6IbqSAsWZWfd4/vZ5qB5DVsNRfN9CEV2Dr82rSUF3sptjpzJZr6VRZhwgFVHiFyKZc8PXh/4bAEn+smuAk15Tcv6gxAHIDCgW4AQGtgBJQhE/QhFB4BPRCZgJ2y86UznwGAGJmiFFQhT5Gry4Og0a9Fr8G5VrE6JANzvZliOJGmuIWnQSoTglYaIceBU1gbXa27lj0TbA80gfIWwB4gi4IAz84hE9ABVIIBY8GgDuoFzpparDsiPWm8IZgzen72gOQ1J9AAAfYRoF9AJkugenePusGiYp9gRv4AYa4gRRniBcwIRuYE9m9mcS8awtnCAqvwhh0iFJEGqHwFpVOgF6mPewl1IbQ75W9CPlN8QVa8QVqcYKDS44wBAAorixBynTlCNbsxqBGZU2gBA/uAA+sJiA/U//5ls4QL9TqNnGGWPL5bXEA4MMVX3E5j96GkG4/gHDa5ogS9eXbFWovJnMhyyMlBIC/xt42bwoUeN751Yj5fQGNUHE7n+KbkfCNKE5f1mETOM8SIPMODxmG+IkHcAP9Veewa4PnY/PIeF75zVPnnd8XZx8T5b4bzuod9ssshozpY4h8DUElZAM0QQV8DLsfGHAsyUDqOFk5l3Q5l3MXsAE+bAEQqPSUQ5NGKAFOj+fgHE5O98vpC+0JMRsASIBAIPbKAzfx/AI1iIMk94iLAAAXiIEoD/BYj5s4bk0F7OhnDlnISM1XBXcAANuwAWl6+7OL0Igo+K4Tr4EaiEWUU13/SwOAi4D3BVpIPgzwN/2DyjVqVJbsM4NmSlAV7AT30KY+Cjj3lBtchtClazvxHmiCmG+CNWgCN1/dWDxZ63ABKM9bidf4P+heRCDqyI7shiDqGn3b7U4AckM/RGjrsFt5ADCLFhDPd28CmJ95QlgDmp94rY2Rk935hpAbTwWoFPveQ5xcegbzuY0q0RKttj+ERyCFypvZie/6F1CChecIF7j6mAeArd/6vu+BHnBzWbwIoGzx573kId3kynXmoT/EKgwtt1fAQ1hrqK9YirUZMRjCjgiDLWCDRsWQN8AQmTf9qyf8EnLaF3henzdUTYbBKpR9RKzCtRqlQ4BBHi96/8yH94bwASxQA1XnCEWwBEPogzsAgDe4AZkHgNM//cGvAXk/2aqPVk0OBKMmuircbQBQwNyX2wTtXIPHeUuLgR/ogjgAxQA8BE+wBADwBADohDaIgipggyN4COfvgYavgR1ogioAiDuZVAEoaPAgwoQKFzJsePAPxIh/GjUCUJFiRUSIDGoEoAkAKYciR45sYbJFDABf6ARqGfHgIU+eAMwsGGiQIUOdGDEi9GYNwiYAdtTYcYTNnVavZpHyhOgQyahSR0pEdJGiQUWKECnCSGkUgE99ppIdieLsDSZt9Gw95BJiwZg1C7LSOtNTGzFWqrx505MQUABNBjdh04fVq/9XrT7JbAy1LOSpES8WrGgRAFeMmsBaiux54Q0xcawqwnzokEQAlmQiVMQ6kKJAeua0wcJkyRtCbAQPfgNA6SxUNBsTRzToM3KFjxD92Vi5EaXLALpCJ4VKk5/k2gty7apVI2qIqz1lOpjpkcxM4L/rgSMGixLeAKoAQKw41EHijfNs76+JkibQUdaIVqWVNgoqnfWn3SEUFdgVanIVNBd6M6mHiCYZZkiJHrOdEYZvBb2iCypzIUTcIcctiNwnqLyCECXRlWaZKqEYwsSKyVEHXYyN/DFeeQUx5lpBliAC4CibfUVJRioWxBR+DTWWY3JnKGjQKJQUWJFwj4SxBJX/yCmC5H+PNMIaTVmhSZ4n/7m55JmhhKQaAHAMsppDnjwWJmQtCCGGR8IB8EqSBYE1yo0AiMCnZ1+NAhYlj2QyZUGPEDlhY4x5El2GnkQJQB9K/ADAE1/AERNDMu3JqFQfoPACE1iIMUd0r8QSi60AhCKGEKx+9miSPVryCSusfDJdmvnp19gkCqGAkCGpkpfJIIH4OpKrLRR0AwBQgPrIK74Q48sobih6LWRIPsrkJK6420ors6CpEHGhfMrQDUmEEW1Cy2ZCrbXoOtuCDS/c8MILNjBhRSCj+OILAIIKXJajmzXySCjvtqILfsc29Mm9BqGgbUFntXDDEmHQu2x6/wBPbNALMRz8ggs3CIGFGx/FUpAqc9L38kh5bAYpk/DSpEsrvy3mMUIgv+jQBwCMDEBKUrJM3mnJgXAW1C248AIANLvww594CBdLjBkCPZW6WRLoCrFhedKKu7O40oqxQoby4iDxOXvQ1Aftdkeyyl6NGlkjn7T4swlF/fVBQiihxiS3ZjldwGuPdIgiGYL1XyOMHesUK+6abvosszDU+MAxNLHGG2zIXsUddzhpuH6G3LFEDymIdBbwJi/eAusFufo1tzfYIIQVZhtKSXeak2RJTKQ86lGk6OnS0kx22123Lr780je3C6EQ9UHawu4T+30R7ge//cpkyR1VrHHEYP+9o7AoQiOzLvzwiGeQbBlsW0wQQ+UixiSNlEZ6IikN3YAFgBg9IhCeaMkhLMGKhAQDYmDqH8lK9oGoPcsFgmlf+3LDCMIVaSFvWAJhYtgE/fGPa8aT2uJKBgABFsQkLijYDX4ABTcIKkkZiY0DGwIVT7xrMwVZYEsA0BLY1CR8BVFC+dKXkLNETVsv2E1BCAGAFKpwhZ1QTU2uZBAZyrAHwDMe+oYnNcAB4AMmKcgLlNAFcEGMSY3YCCIyl8SExIRuAGDKoz5CkUBCZYqBaFYwCsKGGzQuhMWjo0ECM8ZNitEnfSEEIczYiStVQSgJYeMR3jjHAGqreD2oQQ12+AL/lEDhDCEhF4G4YpNBLmRYqsPS9UAXyINAJxaRfMMN7mhCs5jwCJ3kJDTF+ElQ8qQTnbjDCx0ymFQKb4esnKNBYCnOHoytC4fYWUHYspFG8pKQTHRF6g7ZiutNkCJRPIgqZrGFGHzNhy5wwR0BAFCD/POOL2gC+6Kp0E76pRMysSYjQnSEhcjRmxW9JFFg2YMmKMGWsfBFLBrRIa5sRJDtBMAhWBHP3xRknmCxCIFMagkl+ICfyLtBDGKWEmUW5J+CS+gzg6rQgrirWJ6AaOwUIseKiswg2uoBVHfQAx9sYRA729kf9RAIzqH0pAeZxCx0EdZDuoIVrQjF52BamkcA/4AgT9jhP2PAT4S4YK4C9doyAeBMoYoRKHxFyAaJyoqH8iR2YNArDk8SFa+5bjAF+UIoProzSsiEkcP0KgBi8YvN/kIXno2nJdAarOg8giCZqIINnNoQyN0VZmwQ40IXGiKGlJUVEI2ob3wYUHBisocuwF8TwPCGJwwiXAah7PyslUHybLWdvlCGMiLZWc+6AjrAclNimEaSf5rQpweB7V+FWpAzAsAVCPllS1tx1J38gKl/c+pvCwPKLkQWpB7RD0otMZ7kOtAFQuiDLojhDGcQIxibre6RPgKAl4ZiC701X0/52QKw6RW2YYztMw1i3pGU1RNheAJOuytimlE0vv9vaMISDEEQdJLCFfpZ4n49YaQk1vUOMxlwgafzx80U8QxVm0pcl/nFMeYGw5tEyIafdMglqw69KI3DGbrAhPKFsKcJ8VpwmxADJnziqukMHaYsYcHONGZSqwKaCEa2ZUPMIpIH+YpB4qCEvDrVvT014U5NCEojZ/ggSRaJ6lqxFUTkoQ0AiEISwFZl7q7SBYNpgQ/8oAr7ZkkPHcFUTK7EJjEn8QMj8JoP3PAJVdyqILEgRkG6QOH0fa2gObzzQVzgA07uObzjLe+fm8zkXR+SFRrpiGwMDYUf0OwkMXOB4hqbkspZbhR/DMRlaXIIRMgYU8zt9AhHgAJZA6ogEAv/qRpGlb4XjOoH5v6BDQCqzLyCzQW+CSUm/gJKvs52Kr+cxK+doxE9XFmgB2nsD4gIUmCJlJEN9MRaDXIXPfFyhMcziMQUcQUbSFhqNQPAqHolhHPHwJ947PgmGYGJeJNc3ntmiK5TvuSDfCLfgERIHAAAH4ECtIQops+tYgEsSyv3MTJWhBqHE6R2VtkgO1PFJM7gg5qWT3JKePrTAdCrHwDUu2ADo8hHbgqRcz3eoWQEeQ3i5IWk3Cm/pkiM0m4mg3RbbBtlgyFQMfB18XydEypN0IdjUukFztsKQcUhpJyEgpAN6oYfVce/9uOCNGHpuRk5Jjoxcq7XR6XxVLnK/xPScqukvfNpJ1BChBADHyzBE7YClrMD+ZSuFqmBJ2I4L7UVgzDIPSEvPYgVovBWABge6gXhZ8yWIEYwfNEUpngD6X0Ab1MAwPgbFKtYM3/eXc/C1zzyPPYts5C5P0oj0IbKlSwBdIWHpT5n1tyzbvAFgiz4ILc/iHCwoPsrRl0JkhP9b8VYGEwYv/+mAKWs5UYnmIIreJYBflbqXN7KJURdYJ8D9ghDEAqwMMn3odGEIAv5HQvc3I7mxEBHScz7NcTOqIEVPAGO8F58+E0L7EZw+Z8LHl9cVYEhFCAAHKABhlUCUt8CXl/aMUSkLMQhtEFXOJsenAlxTIilaJ6xsP8CfzhQCnTUpBnKE2WJE7WfqSHEH5Tg7hneC/TAYflfQTAfGObRSmiEJ3yCeelCDR4gDirgyn0C9okEk4SeEhyQGHyBEB5hQZzHVjSNjFWbA8XAGbAflhiEgkUHnC2EKjzCF8wfCjafKfAfG4ABIxTELRhE/wFAF8wBdTzI3IyVDUJfDqrOJ/xHpEQHScQIIdbZCyTBHcDPvHiMphnEH5DHIElM+2XJ+x2KFfKiQUDMR0SBQfCfKbDBB4AACIiACPQAbF2i8XXCGTwHRjxIJqChGl6jDeZg500FWMQCKVjBD9hUXd3AESxB7RRJ3iDC0GHavGjOOi5YIlrh80QgQhztxw00wRGAgMPt4weIQA2sgRixwmfpibVghIN04ieuoQ3Wx/VNxc68wh/YXxD9gPL4ABgQxnixAqeZCGOwgrXAnvSgEzzqIpyFIEzB1PU9ykeBFCn0gQ8QzwiIAD86HAigxBsIJGfpgiuIGVQYJIF8h0yk4RoWxCT0IFmgQhckwblR5A/gRuzsBhtUIn0YgokMFsPJWBOuzSv8kUPcHhECQIfQAb/x20kiCK6QgiE4GELs47YlwRnQQS16wixwVmfp1x/o2DQmjbw8glmx1ATFyASJRBUihBAUJsZ9Um54kgtEZSXGj9xMSN4lR0AAACH5BAUGAAAALGoAHgC+ANIAAAj/AAEIHEiwoMGDCBMqXGjQSAKGECNKnEixosWLGDMCMEJAo8ePIEOKHNnQAMmTKFOq/GjFysaHK2PKnDmz5UuaOHPq9NjSSgAsO4MKHXrQJYCfRJMqzWk0wNKnUFM2jUq1Kk+XSK1q3QqxZ1auYMMO9ApUrFmuNp2eXWs1Ldu3Ud3CnZsUC1C1dPPubIkFb9ewRsLceQOGDJhChe4UAlBWL0a7VhJscTxQR4hTqTKnkqX5VJQolC9asQsggRHKUKysKJNqFQBZmGGnOiUmNEYmqU07tqsjRymCsgBsxkzadkUoT0obgaI3dRDWAkEpIVOGk2Ywxi2K+dLFNGi6YsTo/6BifdUpMGG6eBE0HHt2il2+fCHAojFcJUyCpNEMCsuVK1Swl9li702EHwD05cWdDl5YB9sRV9jlhRztbcFEgRFh4VKCdGHxRRmsZQYKY3ZJUQZmqRQShn0YJqQhFATABNcTSshQXWunQPhiGmnEdgoW27W4UBddcJTAEnOpoYYZcpxSCiiSCNRFeGnIEQknWAoJkRhqNEFAR3AJoYQOglgZySJHAMCEEkokwYMcgkQiZ16YYLLKLabccuctwwzDDDPPPMPMMJikV9CBAYD5FndkyLGInImoIZAa2zVqZiRXsMUMOOjII88889BDzzz11KNOPe64Yw864mTDDTe1Ef9kF1ALLDCXXWYMIeciMgwEhV2NxjnnWrfYY6w9qrpTaj2ijgoqqOFcQ40xiRihgw5GyGAECx0s0MC3LFxI1S2ABjrNn9ZYEw0WYAhSxqOLjDFGGmXIIUcZ9DoiZyRfnCUGOPWA+unA8xD8Kaj1lFMHAwtA8O3DCyDQMAQO25pQEEg4gcYJNq00DDvy0OPOPe+8Y0/JJNuDSZWPnlnmy2U6ou+u7oUF5DgAFDwPQQbr/Kk7tEAwgdBED+0txRRbfFAUE+DgdAhJqGTLMeR8Ws+xx95jzz1cR2OGsPCeKfajAOwbCRhd2ByfOQV76vbbb+s8jzlDI203xd/WaoARUbD/iMkttTiNQwi3FG7Ln4E+c66gf0ZjDTiQRz4O5JObY7k236ATLTrt/GwPAFgfW086uIxBdiRlpy4Q6mXvWzNYNygRTzvtxBOPPADgjjvPz9JjDy0RR2yAAbV++aUBCDQAzDnorOO88+yw4w0GIWAQzvPOe3NMMseIwgsvxYAPfvjFiOJ9MccUgz76x7QvDjrIfg461qgyW/A6vAwBwCIC8b9/2fwL2yIWYYcCSuIWYTAKVexyi+e1Ix0QBIA6cpYz3KXjYKMiBy0qAQkOQgJ8wlBf+tpXDXK8z3LmQAenwCEOcaTqhaEzFslmiI935AMf+bDhPfCBD63FsGRbC6LW/3w4xGPJoxgq4AIVvMDEHAzhiVB04hPJwIVLoAENu2BHO8AxjmEAQhJJiMFTbGAHdqyDHfHI2c4SAirfyRBlPMzHDeVIRzrqYx/84Mc+9MHHPvKxjoAEJNeKeCx1iEyGg0zkIHnIyEby0B7XaFgD7gaBid3tNHWoAzBIZY+AgQqC1hjHOG7xmX6NhAybsEMqTWCCC6wgYghA3gIqIY96AOBquIyhsQSytR4qUojK6mSpRPWsgcEtHukAVTyexUxmws1tt4sHOs4xD1XhMJDYzKY5JgmACUiMARNwgAU0sIEMZMADFANDHTaBi1qAzodYU4ex3DEOZkTtI7d4Bi5gwf/PSwBhaHmrlUDr4LsiKlKRjtTaOkrVNmja7qG2e+YxJUrRY9oOALMzRznIYUsAZPOjgFxHwwBgK3Fu4KQntYA4xckBSGyiFrzw6DsYOch39MMfOO3HOFiRposoDh3pwMYlKlGJWtRiCJO02ySHBo4dOvKpCQUAPToXqoA9tKLPLAhWFZJGANSuHQA4hznOEY5lerJZzBxms+ixrGWlAwgNIIDFLLABDVzAAQzYAF316oAJvJQX4LgmNvHYj5v2YxujjENEVrGpY7lDG947xhhyMAG6AuACG8ArwwwgCntAtZEA4NrWfHg1TxVMIA/lGdwwCtHWuva1ECUI7Wi3jnL/2LYc8tClbndrj0osIAAGOAACYpkoBjAgrgZggAPwiob0LYOHA9FHHfexD4+KFh/0GIakEDIMZ0yDHyQr2TvuAQBcRIILK5AiEhYQXOU6AAEBCIA3QiWqz/F2l0GUh+2o6lWMJmS2s53d7ABM4Nn2VyBgBSuC28EOc5CDHOVg2y4rgjVRGAC4XzoAA9KwBz542MNOaICGVVAMWBRDHdVE5EF96A55kAMQSjjIdwvLD32EFx/R4AMAHJGIRAgiEfaygxycEEsCCDe+87hv6OYXxNoNGHcE7m+CwdpMubW1rc4qcIIRrMV1cCMcYGaHOzCCtUogSLlLzIIX0jAGL8xr/wz2ckKtjLsMJmPtnaENoj3m0YyDDCMdNpwpPtShjnYcIw2JAECie6xoH6ehgHJYgQaIiwZe3tcgxwIwO7isZQafo33ROEaozSeKSpjP1KUmtfm0AYBNK3jTrY4eO86RDVeFox1jvgjWeEE8FTAxDUPgwx46/GE+JAIJOdjABCZwjNAKZIgDIS8hzYELSSkQAMdAh7PYqqpoAEDHe7CXvYzd40TUy145UIEHGCAKCr/zc7KOnldlzWAGR28dwpgAOI1LMQPYrW4TqxsE4i1vgch6HeHIxjWuceuMYK0YC0CCmocgB2J7+NuC+PAeckACZjvb2eT9+LQBwSI9DEOX4P/QMR/Eba8qVbzH7qLXZE96jJBLxL67vPcZwUrwTZvRHEgbmtGIl9QG1Cp5QYdAnc8I63UA4IzrQAcAqEENhsejoxbB2jGGgAQv7EEgcli5QOzw6GLzIQsqaDZDjjUPXGyhCgWZgy2SHDpbyAEA9hoDAKrExCD3WA5uHoMUVJADcLjbWLZ8XvNaDXVYm3EdlUBaAwBAsYJUniAOQ5rane70pzvPHNSAhuhvLbJbvvD0qE/96WuxAiTgXcgyl5fsx1AvD+/BDmpXCNbQAYh7EiQJdsitpcFR8ZZn7NFOGEKVALCHjKtAzVnIQQbGUfpljblUyrqy9d2xM3RM8xznGAj/9jzfjW6aX+gEQb9AJtDNokFAIJ2H/zrOQY5mLGMZ0OgGO9qI1ir3rv/PcgwkoAJ7ZwcAUAbywkSzJ3scNmzWMEFjFoEFwXbXcG0D0TdSx2S4wHKAlwVVUgZrRnYVJwhegARSIAVOMAHL5H8sWGXyME1jZTnY0zxSF3VoMDw4ODwCtYM8KFA5WAmbloHPQ1bIYAzGgAzcsA5Y1VBw4zOf4gG+hnexJ3i+loBSEHiPJgdp4G2hwn9shWXsEAlVAHcEoQZxkAfVIDKpYg/1gnf4YgfnpoWANyF2wAd2kANOgIKQcDvPFFGvpV8R1Q7oYDnlcA0hdAyoZmodVAfv14iU/4d5A+GIkqhUd/MtDtMAQFAHsLAMnENgs+MNoOgNkSM54OANLfQNokACObB3ICJ7AJBuWSAvQ6ACUsCAdrAHXgBNz6Qz8dANVZAcBXEGcIAHw8BM34AvciB4cchySIAE9tJhXpCHUoAEpngMxsA+oqY+1ygMotY+IuSNRIU0dVAJ6jM+5liO6Eg+6sgLyKA+1fCO8BiP8ngN79gMtOBPIWBcScVexHN0w8MDcdAGbRAeURAfBvBEEOABJHCAregFACAvABB4AOAEEid755YG4tBpAiaIuJAQNqAEibAOTiYOaSAQY9B1WfhorBiCYbcHU3CCUkACdYAGQJCJdQAJov9AkzUJCTy5CeM4jkRFC7BAC8kgLdwQYYSYlCi0lEzZlE75lChUDuFgDLtQlbsgDNIgDdQQDdSglV1ZDVqZLq7SDd3wYGZJDpBAAkMAIggYjau4gHApL4+2hd5Xl83jdHWpDWiDED9QBV1wPeggPcj4kCkJe7AXZB5mgie4CWfZmGcJAI65UdpQDQu3cNlADhp1W5p5WxoVlUrpmUkZYaIJAOVAmplZDtyQDFYJDNDgDY0pDg8Gm+QQDg9Gm2dJm9KgASTAlhCZblQQlwmogPhSBpvglGIlVuWACxZIEG0wB38wDEhZDQ4pbnPJgXcnbsQ2BCeIBNXgDWD2neAZnuH/SQ4LBwCVeQ2bmZ63BWHq2Z7uWZobZVvdsAyr2QzZEA7eCWb5iZ/86Z3+2Z9p6QS8KS9ZEIvA6QU54AFuNpy4AGHsGZ+2RQ7UYATighBcwgOXSZvyooVjkAXLiHd3ByJyUId88JIUyQvewA3aoKLdsKIq+iow+iorSpbSUqML55g4mqM6uqOzCZlgxg30aZXLcA21hg3YUKRGWmtKaqRMqg3YQAsDOKDAuYAlOAQWSZwAMJ7hIA5gtglL8AMeeQNiYgvc4J2b4AX1MgUCynJ4d4BIsJZ1uAdUkDHJd552eqfniQ1TJw1TV3XUoKTZwKRJCqhIKqhHKqjXgA2JuqiG/2qki7pwqmmVxkANlEmZeGqnlbpwE0ACHtqKU7qAETl7CLgJ4cANZHmqZOkNzUAGWPAdCdECLnADzbBwvBCL9zIvhqmFB+hmbMYjk9WMQ1ALVDesxFqsxTp1zUCs0EB1ogcNWamVWdmVzzqtzSoNzXqt1Hqt2goNzSAMsGCVwrCsXmms5DqswpABKjCgWfCQn6p3cckLihqvjEoNiWBKC8EEHhIJy0oNalYvhamFBsgjbOmQAKACwEoL05qwCvusAKCV3Dquy8qtotcMEkuxFluxGHuxGpuxFQsAzfCxwPCt32oMzbCwCduw09qVdaABUvCQCPiKJPCbUzqRTjB7bv92DOVKDe4EEcJIB39AB7ZQsrXwmyxXBgErZGwJAFlABQU6BVyHbCYbtc/alR/rsALBrRubtR3bZ1zrsR7LrV7btVwrsXX2rVUpDCWLsmrLsHzasNIqDA7gARmjtA9JkewKnACgiuzKRJvgrNE6rbsABpMREWaYB3pgC/jXdec2Ba7nhiBCsFQwBUw7BSqgPzlQDM46EHzatgXBsA0LDXUGDQIRemELtgShtajLsRcLAFi7DMCwC2YrDHXGuQLRttSgudOKBhPgRBkzBQV6tzPrBHvrBVNQDJ77rMlgB0gyETHwA0mABYhLC2pGL2pKL624rpE7Bdr7u1JEC6xbuwb/sbm1y7Dcmgyie7Vfm7rqq7rs+7GuK7KwAAz4p7kN27kom5XCwAAZ8ESul4dMC7ztykRZAAn1i7vQsAlJcAMTgQItEAM+IATQuwy14GYHaL0durTam8GSmwWU+0QEHBFsG3oSe76iu74m3L6mS7YhC7vxiwyiK75uW8D3Kw1oAAHq1YxO4L/r2q7BmQPC0LnS0AybQIbHIQZzoAeHuwxMBCIPWaDZq70weYIFOotIoALnC8IM+7EW+70n3MXsy7oUuwzeyk/firade7vgm7AGMAH824xunMO+u8MQqT82G43FAMTSUAvLKRGHcAiBEAh5kAeRUAtOsK5OrMFQHMW+/zsFJNBxP3zFCgHD9qfFHwvGKOzFqHu1FisMsHsJ/CS/V6yV4Du++LsAq/i0bvzGUvC/8uIEahl4TDQFdYDHteCqGBEHdJAHP0sIQ+C/GSwFUPySUSwFHAwBaDDCzboQbeu+k1zJ6XvJ0JzJltwMyLALAAC7Z9tnfNqVMjzDsGABqygQqTzOefi7YzAFsOwFsQgLkGyttRArGvEr8XEGbQAGXOcEGgzMUQwAMOm0KoAAtmALomBUuIALxyAMybAMFJvMtQu695fQy4AMyMCNBm3QwnDRwmCEGi3RyJAMHu3R9xfSIh3SAHB/9ldnCh3RLIzNwODCBdy2mzutsLAC+v8DAM1o0+OMw/hcoOnsBUQQCNY8ENxqC7b8ET+AH1DAA3T6y8MMk+mmAivAACbQCI2ACHqgCFitCBtAAkGwAl69AurmAXUwBHUQBICwBoCgyz+rB4hQ1VbdBl+gBDdwAz8gBEKQBE8wGl/AJXAQB3FwBl9gBUkgBDbQAiAwAoid2IidAi1gA0cdBoAACIVwi5uQCLhgC5e9CZit2ZxtC3uABlwQzqkszuNs03kouUzERGaQyx250MLgCEQcEkrwK2JwBkWQw9LY1FLw1BtAgBuAAGCAxH8w3H8QCEZAAl6tAiRwASqgAuO0ARdgBH0cCNMdCIhg3YgQB1/wBDbgAi3/gAKKPQKwagNiitdQcN5MQNgtEN6KzcAuEANK0AVqcNVY7dZ6QAcD2QVJkMDO2zdf0AQM0MgEmNM4ndMZA8xT3ARqAAe2kAiYQAgA0AVFHRLNSdxkQKdNXcXKfQHIjXcHwAKD8AcCQdwcMIBbzdxgPQG9jdxgEAVcMgdDEQeIgAh+HAjDHQhIfN0zDgB0IBB7LQYckAEksNWEZ+AFbuA5DAPN299VwCIpYeE4DJMavtyNvJARuQIWwAMwPhBgQAABDtYCweFDToAAEARmoAM+4AMxthNzcAgA4OYiPuIJAQWDfQMPoNxDLuBHftN7jsoncNiJ3dhCQBM3fuH929xU/17lC7kCAEBXFiADaRPhFxAAC8DcKnDiAk7mALACe5AIZtAEZqHeH0ABZcBxYt7IrUfgbgxFQXACT9EIZBAEBNjIp97IAsHoWL4BEXDUTCADiVIGFgAAJ563ecsAAwHWUuBjYODmXPEDMdACItABUL0CeX7qRU7gUFQELgAVg3AGl1Xtit7ht37pFmACVvAFEUAAE8AHQaDoxI7cVr7pJNAAVCAHZGDVWqEE6n0CDjDtmB7uA57KUEQGjaAHUQEHAoHntb7pDE8FREBOFlDPBkDvQaCb707sF9AAmg4AGoCmZVAEgaAV8tEFMsAAUI3oAhHuVZ7qUDQERhDyWgHWW/+N6QzP6HuHUjxgBPsbCUOwAhswEBdA7I3eADY/kfQSfW2Ay1Rxhn9ABgxgAcl96ZeV8oq+1cid7YPAFWTg89WO6wwfBMJ+UixwCCXACXJSBie13MKOWRyf8CQgBVoIgirAAn0DFUmfB0XQTRMgB13d3DSft1W+1XmrAhMABnnAFYFMTgIh+F5v8z5/6UVABafwKF7gACcl7BqQAw4g64yOAJQnc14wBB3QAi/wFLhcBEFQWeNEBWDt91RO9eG+AQwQADwgFkWQ9l5967oP9s0NAERwCllCAgjw83pl8hmwbJavAQTwfm02jRcAAiiwFHDwB2wwBAzwfkQf9Zf++kL/j+qt91tKwxVzUATT/tWNX+bCflnVEQleAAYHcFIaoAE80nIrMAGwtAATQAVOoAIXEKsA8QPAQIIFDR5EmFAhwRsxbJBAEIABgg0rVFy8CIDEwI0aSZBQEQRJEBULCJQAsVDlSpYs25zRIWXFTJozCQYRtAGjnEU8oiCwYCGHnDRyiBpNk6GByQlIhpAwcSMJlpZVrRJEMaICAQYEgM7EmLHjx48bQJJo6mWCgQlX3b49iIXJDx4Wa94FEESnipllxDRZwEBFUaJmAKQ5DKAtgQUXPZjoIqYNXMoHR3wAEWECAQgWgoANa/bCRrIbRq/w4gVUmo+VXbfE8qWL3It3/++qmLABwEwePBoEzXI0DRXEiTMYWBAAAgkPYOL8CfTa9YcPJg4YsKBhQpbPYVWIHqtiNIkyabxwAoWkBQrp7RHGiTMHfpHat8PaBDtxQVHEQRhoCIIoALxgYDMAPFjACCYic++tFEYA4QQGLNigQhV28040j/hagQESzKBiETlA4QSMLQZaosH25gBDjz9e/IOHHGryji8HbLMAgTKISmOFAAJYgTAAEGgAOQgScAEF9lSs6gsrkhDihKAqpNKsDEkY7wIVpDACED0CGWoRTkoRRJFB8ICDydd4ECQRMsy4Aw8jpODLu5qGqOguC7wwCoAxLJggiDSK84ozBEwAIf/REdRM6IzJBpqiiDhMoFADACisUiOLvsOyrJICyWMgMkKUAwBOOsHjUUbhSsMJO/hIJFY3s7iPQ5pUoPCuIASVozzzCJNjDK8MAECCRKmjbtWCHI2DDh6kcIKBEjSw1NIVRstUU7NIEG0tgvLIQwWexlykDTGsUELZq+4oI4syEpEkkUgikTfWMpywbaYNLLB11zH4I+IoMwbdgAADDEgABGTVLUgNOObIgwckskBiAQs62o0jjQCoklssL8pxATbmIKgILxYRhMROrmCiIYZbMkMKQfjYAwA57EhkD3p3tteLGa/lVoOQdnWXKDvKoOIoOYZgDDlEFV5Y3Taa/QP/jByk8KKksTbW6AKNMq2QBCmCgACBBQCQjCBxxSwFgLliGCillxdSYQwA9kiED71j5YMgnulNxKgVNNh3BSk28PXoMrwYNA0HAjjYgA5ueMGF9V7+Y5BDFFGEhCGcUMvDgSwgiLSvua1ShSEmQMAABOAuqIgQU86lkB9aeHDuhU4Yorwyfr8bVr7l2KM4wHl2okLWyVN8DC8y2Ay5g4tQQw0xqALABoaXUAKKMMBQ3YkcEBA9KINM57jKFVhHgIAL5C6IBDkckSUXAJRoyHLdERqBCC+AL8MYxvC78uwBb3qDlSBqJgdZxWoIZlsACQQ4hixMAQkIaB1yivAHcJFs/27rGQEKWsCBHOTAA8iZkAYcgBFLle50FVpBDiBQJAOcACEsCFEk6ocJ62HhCftDiAqcQMAJEpCAgzJgA/mAmETMjA+ra10OxjCFKYgPggDYIIz2dxkRgEAEHsjBZgjgAQBIIVaRkEQaIyGHGL4waGyBQADelxD56TAXuWiWfOIAxIKcAAnlAUAAB2hEQgJyD8Jbohf6loYcNIAADZCCBYeQgxIUgQeBgNGLdHcZZJ1gAmsxQAZykAa8ySuNp0xj8SxSIQAgZwEGIIANE2KCHNavE4PIA4xCxUci/PF3RSykEVPzO1K2iQ9ZCGQWFtC+DAzBmSGhAyYzuT9kUacDFv84WAZI4ASkpMEOfUIlKuXgBQs0oH0QOAH8EEIGOdgxF3jI5B/4CAAkOCENvxRgMI3oBCQMsjywsgPWkOABCHBGdReCQCAUqlA+VvMDETCJKIWYgx0Z5ShlwFskABDONN6rCGBQiewWsQhb4kGa8gSiDnp3T0H6U5/OIyQp91CGHKgALcnxgE3X0ghFHMIgPmVYC0CoMJNAwKYS9CbxDLhUA/bKmwQJJxoBcQc2AOAKJyJIHNjJCVnsUA+51KLuiKAC3wlSn4HUJ/D2YAeblrABAZgAWhBwgTPgAahAjEIS8ncCAgRAAzktg83umZrUHMYOSyWeUQ4JVTXOCxBmYEP/EwCgBjccQqQkzUUnDvElae6PA3+8Zz7TGljSBvNuYyBBDkhQNgCUDQEJiIEPlvBDIMIHDm34gg4CgAAwDtJ5hAXuMAFw2KZ+E2fwOuW80DgGH8RODpxIxR0xwblDLHRuPuhADpyQBcKOtrT69GYZQFISAzQAAAtYAKIWxUddgqsInMnAAH9b2AGlZpKgI6xhaVbcd6mxiVmQ5UBO4ASU1e8Od4jDIB7xiEbMbQRacUKEIzwFL7iUkGjVpx0Uc6EiQTBhIHgwe+NZhPL6ab7B9QIAhiBEFKdmUIc17CFbNQQknKAFBTFBO0txRzLEVghP+IIbXtZFHjjCC4L4XA6Q/xBJC3uXmBrxwATMKeVDJSoF84znH957oRYHFwBTqG+KxUxYZJbnVXsY5+JOcOWCSEFE9TuFokbQAtip6wNGKAPKOBEJKZzgBBz43P+cbMR7ooV1BoDAAow1z4KM2AA56HKkWzygLGQhkv/zpvOccIL1EiTHnOBELmRBBhRg5sEoqLOaqMMmQYB6ETkAgAhE8GckUGHQMP2dCiCwlkQ7gNEGyWQg2LAAJ0AqzJLuMgAqHUkKp4YKkwxwQZwgCDncMRVe7CII6Kws6qRBz5wQRBDkJgITXGBiAZSChQdShilI8XcQmCEBJlABdf462IFYgBSkAAAV5IAKyI60sqeg7/9meyELk5xlGiIR6lFjBgQocIEP0jUIJlEHBpwY6Z6pEO1WZgC/QxB0ISkoQC80oEgQYMGvD1JdGAWiCNBS8RCODXDgVpqKl7avE4hwY4Qg4c25KIWstR0DIWxByBX/gBlOkTKMk0AEBXnCAQIgRFynNTUkMIkBiqBygwTiEZNgMOcaUc+Z0zy4y9Y3dw3uFCIoxAQKZ3gRRABxiYthEGAHQHTasx5JlGIRJAp3vQFwAQMMId2jpWAWWrcAMgSiwVwfiBCUsIUz+EERoSCFxwtudi+jfQpq9wKNiUAHhQyh1as4hRxESPQuuEERk2jEIVD6mi4ooQmgAMDf+czxgXD/YDdOOHwwUyOFgs41ITxnNJ2XUIUwDIIM9eR8lytIcOAqmQykT4jsBJGGMQSBBzeYrd3Brgi9S2cSipDEKSJBokUEASGBAOodDE9h+Tqv0k5YywW8ZpUHzO0DqC46P5gE7dq86EuN6cM5+xqCLaA4hYCAKNOAj2gDNziDyuopUGmPQEAEReAEUwG1Hpk9grirQ3gDHhg4fWM2J8CVC4iAr1MEOMCqlrgBJYgCdYmBH6iCypoEMqCxAiwsJ5A5SaugMiq4gxuCN9CDheCBZXKAoDCCR8ADMdiCLqBCMZAOGLkD3CsFUFgEJ5Csg6CEgXg8RGADEgqCn0kAAPC9hBAA/wFQiVNjGB/IwUMAO0R4PifwQQCoKUobQoKIpCH8PMJyihxggyRUCDAggANwgCZ0gCJwAytYAh9wgRRoARd4DRhJPwAoBYwLAuQriEfQhFEgCEWoABWJmpepLEp4BEX4Kh5cMtAjrCmgAkuLMIKgMSTAxVcURCSAtZXYLQZowqAgAyWQxFL7gEvkoDwYE/SIhDI4gVJ7uEokOiU4gzm4q8dDurkZP0wCFzZQsgmrtGWTMDIwgjtYMDZggyIgAoQDvkrLgSEggvJLCDAIAK6YEAf4DyGIgRYQgWRxjTyggzm4AwAAhS2MBBVAlIRQgAd4gCqovAY0RX98GfLLsiIwA/8kAAAJi7AhIIMvGYhc0oM4kMIYekfgU8EceANEMESEyIMm+BGvYMRGvJxjfI2APIP0W4RNXIQ1VIgC6L+BUICFKAC4kMi5ybJkZIMwIIOlJIMqwCWDmAM1sILbKQEuSANwGwMq4IGtWwl6rEdgDAoKaZA5aAMsEAL0YMYxSEOV8MmBKIChbBDq6DTdQal4GoQXCQQXSQg4qL0k8QDiQA8ubImWrEeJCMbsaJAvSIIY0IEt3MJFuJCVGIAHCEoAeMu4nEv2GoiwUokHWMwUQAESODK0FISq4IF6NIADAMuJcI8nuAHQTAT1Yz+MUYmFLJYIeIAIgDxGCUGFUAAFGID/ARAAsmo1EjGMlsADHiCARDQbWPK1vcsKGNBEZqSCBHBDlqgACSiB7eyADtjNBgEXANCkhQDO4EwAq1w/EvGC62yJH3HPH7Ex6XgBENKBU3CEU+BCDxgAAKDJhKDJB0i5gSgBDuBJ16hMlTuDPWqJAghOAUiAIVA4UCAR9yOI/lSIE3gc9+QB9/AhfcRJ9tMNCz2IpyMIIthQAGCBCqCABrGuebrBqghO4XQAe0pPTliBhShKgkBHMFAE96CDgGwDNuCEU2BGKUiAzFwIDmCBE2WBDqCAFVWW3lyVEILRBp0AWwvMSLiA/QQA9lQJDigBAOip8XSNZMyDPjiFnORC/xKwATariiUdCBbgACj9TqugyTYUgBxdiBgVgD0pg8BchAPt0oJow5WYJsqIJ1BI000sgxU4g7foDRQtgSetU+9cCRF9CwVg0AEQzT+V0EVYyy710oNQgAioAEslCM50i3i6gyFlRifQTZZA1TiNVDml1Do1CDwdCEyFCwnATQUgD1ORUEG4Tj1NiA4g0FJU1VXNJDlY1KazCnkEgFqdVDrFVWV50iclqzSQUE6QAzfkUiyLp9hcv2YsRcpY0g21VWu9VjXJ1gcYiqtkVKCEy5XQBJ5ChF2qjCwrgSFdv0XAEtdIVwCoVnZt1wZ511FyhG71AgkYCN2kzLcMzsskCP9NmAQAQIS8K9Mso4JnXQTdcI0OqNU5NdiDbY9sjQAuKIMapVDyXMgK2E58bVG4OEopAIVy9YIVcFjXUFIeYIF1lUzhLFSTXYlsvQCVzdKWXQkO6M4OqC498EiazbI3GAIqEIRIEAQPKNm36IASYIESqIAIuFWEGMqhxFNdJdqEyNYN+J8sDVOW4ABfZcgIiIA4wECpjacSQAuMuAAOqACmHVDKeIBTzc7f/EmDKICg1FRNHYizTVuEWFvnAdQCXQgK0M3fTFwhYALseYssYwN8dIAJYIAFSJGCCAMh8ESrQNY5BU6KLYjfVNyyHQihHdXHzVayUo1h5T/Yhd0XcFP/t6iukyqBCVjECTgAAgApi+2DKoiBJVGI2iWIB0DWsN1Ug/jJxU3c7AUA2n3cgrjd35FQUJCDc2UJxeVdBQAxuIC9Q6iuImiAYHQAqXsDUjiEM1gCJVGJs9Xf6CVQCniAAUjcgfhbAChFCaDM36TXAkDb7gWAbB2KMujWNCDfzjzf38xTY12JQ9CEUNCERzCbAyDe+A2AO+iDLWiuqoDeNhyAEkBWCTBcKPW9ps3O65mLFxiIB5Mb6MVVFfVfcYFg9ZzghAjb823cC8bghWCCMOgDy/oPBhhdDAqAElCC1L1UDL6BJ4iCLxCDCGBaZG1aZIXaL4kDcxmIGAgxBlZD/w6IgCHgiW6lgpUA2wP+zRbA02pyi0VBARtggvfdgAkICgY4Xg6g4spICSs4gzxABMfTQJ/K2Lx7kTyA2kQOSTGAAiG4Cmndn+1cASQoFQmNBKW9oQGVYwAAgTo+xTvuAAfYABXKjokggA6w4QYpgJ79WRbO2EYGAJbDSw3M2K9Kk419mQeQgAuwNYK82bdNiJ/92gpgSOD8AFM+YpU4xn3RgCmxAHwkgARwA8p0j8FdUhP42jXsWu9k30SGDkRAhM0BF311j2WVDgD2U2NeBIXoABYgAmUm0Adow2c2Zde4gOwISydunwsQxYGI2OCkDC4uAZ8FgKY1CM5BZ/bF2P+M7Sw1cefKCE4NWJzwjYQVCOKGXlIiAOeu/d995uc8fQ3IkbegoCECUIC7MogE2NRwbYnurOXubGhL7YANpC5cdmQpbY9DlY42JI/A2kRBoOk4RYXe4IF7LoEIoF3qWODKSACVXs7l/JEvVJEu/tqupVUWoIRGQOcNxOVGqGiLvmiDENpwrVeCaEN3I0hOKA6D6FkzUEceeICZ1t+hpQxLKIKXhCWsDtWrSGqEAFwWRlGGNgFN0ARKGOseFVNFIFPenGyEiNG2dst6JWpAUk/Ezc2FNoM3eeqIZVC3nmq4MIGXLMwAwAO4qN6FGOeu5QETQNFRoATGvld0FlOxruz/BomnPd3PACaI7GXcLj0AcelkTsDI4V7Iui6Cr+VONVZrhF6TvvoR2lbbJ/1oAPiEQdhmQTVsFq5nJr3tUAxrdO5RswZq91jnXNpTy8ReBAYA7N1eAWDjDrzZG53dl/Vau5bTvyXQWU3gk1WAC5CAbEXwsWUJmD5Wm55tAGiECKeEgoZozuntBhGDOFhnhRBOzAbKD39LATiAUZLnLYVvYR5vM/jvCmDxhBjQWEVjg+jabyYCx26E27Ztsd7As2aSFphBKPgCDh9axSWIyiyASmwBEADhHBCTSPCCNExcYQbTDd1OFldRhWDaS1S5CGds26aECQ9DjBW7C3ePRAGx/1i2bC7VVNc18vlmUGJhAFGyCJleSAk41abmzhZXCCsHZoXIsoFQcMrwWgD4ctv2ctvGWLGWvYGA7IoTOsGb3f0MyrecacTVVAGAnAVQTT+OcjtXUiJQBFLQBMqF3K2tirQ29YNY74WA2WllAUQXxUNvsEbG5Ij8AFnzzQHHU5rO3nocEid24jpX0Z+lgBIIhUdYKKEG9FRviaMUz1VnCRKtTTVkgVBAhVcYiFgXQ0Wg6Fp3D2SRNWk3CO32VcucabaebwDwdQMAdgYQ5lJkYS4O0Eb7c99uuYXydjvV0zaM8igQgzno0VGIhYJAhAaDjkZXF3Efdzq1XBCfdMu8zv8AOADyGQhFY/EOYOZiR2Y+wveZnQ6H+j/LuYGRF4g6nbsfiIJDJognjeHVTYjE7SsAIACZPwAmVNEOcGHdDGc91x2FYt+Ot/VKfAHKuYGCYIIrAICjo6Zwt4En+PfZY3mCKNDt9D26lTp1T8SDuWrpjYC2xvgr73n2Ffvgzfe3WBiRR3MAsOFUA6JwjwElCPKFL9AvNogDBWQKEWgCEGbM9luwnxv4G/vg1VjpQBYlWRLKUXuCSHsgoo4WEAIsUJWVpwDfE2/xdmgxPVHVnBDdwKZslm+C4GFmVxGfD3zBf43Cx98fKPqiR/NB9j8UuAEoEAPsk3wo/eIw7Q2w5nb/2iaW962UazYAGKAt781WINKDQxjriK6u06cOwweAG1D9kif6F3BeRmOCL3iOhV/Rccb9gdjQ3uiAAyCIFNoX4G+CQVAES5iEDoZ2ZfH3NpiDRY7osm+J5q/E7Bn66B8IyrFEkwUIChQ4dCjYgQcAHggRJuThAABEiBo2ALDgwECjUKMsRezo8SPIkCJB3ohiRUwbPYgUHRrpMuKHmClcAHhxA8DNGz90vnCB4iXQoEIj/vkTCFGJDiwUKgSwNKEJhh0XOGDAIEGJoVq3RvyRJArKOXRacoUY8wOKFi8A2PCY0wWIn2XnCi0aSFGjRpQ0jdKkCUAHiAqzgiQQgANh/7qKO56t+eKHEihfULo82xgmWgAuXthY6+JzxBtyF5MWWbSRIrx8KY1qhKjR6kYeCQAwrCBw6cWWY77obVNJlJG7L59tobbzDd+b2wJAMTo3dABFV6oexZoSAL/WIz6wACBAAAcHcEefO1xt7xtMxKgJOdwygJjGj9v0vTZGZxcpypf/Q/31aqMAIOB2EAUSCAccAJDgJPyV9d4HagmBxRyIkOVRCyNAeFZamn2GXmcxQGTDZg7yZ2EgAMBmHYGUUHKUiblBGMMTaiDiYiMpegSFEDG4UEMPQdbQQnHGpWVccy4kl1xvSsTY3x+KQOQiiyoiouOFiDy51Xso2HCGIv99taZlR3nEcUYXYWzBxhIArAFGcxE6N+eRxiXXmZMAoBLKlqUZRSYAlMiGnWxaXggAKdkBkGefIg2Xwg1YBDIKpZoIqqN0Rf3RkiF9hMHIG28A0EMNQ6ZAp3PGuYDnGZag0ih0h7w2ZaAqAnAlAGRRggoqh8LqXnETwpEHlX1RQqamm0bkiSeddAJAFWs0MS1EQcaQwqlp3aBEGJmgQkojmv5Kl1F61YqdoBClFpEqfI4rXEwuKPFFHEU9QqmxOSZLFrOeABAKK5YYckcYbE7bRAw9uNBCDSi4sIQY3pLySCDJFvXuVsqie+6tUrKL8UsxrDdHsntVeqymmALg763//XpiyMBhAHDtfMYJ0a0qr4RiySGDVGzxHyADVZSU2E0p6EoQjaJKokK7RIfF956sr8rMAvAIIsyywkorzBoCgBVJ3BCDzWG4ioomLEOUCQCBHJKs0yM9ooiWLp4r260QvdJg3CMBbbKxiPzB0bLqrsxKJsy24gqubXwRhRBPmI2KdXQT7lEmb1/cN0h7RpRuXgDgBcArowzipAicgwQ0vpY2QlbiK19tCbOyInI77rcHMkceh4RCysSHuI3I5R/5qjpEhnzyUbpSjqLzGT60gPzqcPNl7COXs+xx23Tnnjtr7Q5yxhltxNE78dQH5YMSbvDdEXZ/oWIJo+p7ZHHr/4JawrbVmTyi7u0UYanvGQ0AZ+iRDZSABTHE4S4i6Zn94vOBGEABAHiYhIBIFxFUDCKCIbHeyR7hL6txT1aw0YRrcEcJPpHCDUsgElpc8IMnACAOx4uI5jbHuZjIJU9uUAQqYgEAYsRiDkzw4EfwNzXa+SsT3LvaXijhvRs17SM8hAgTuiASSwBNhyC7Ik6WxIQ4/IUYvgCAHo6IxI6U7HqWEiGzFFG8iKTwRn/5yPScAwBVQeQOIclEJgaRQ4thLIY2YZILhCCGBp0RALHI4BbWmClN5a8RibOEIhJntYio8I4uaQFoqPUSQAoSaKS5jHAcVh/ftA8ivngkayTJxv+iWEI7xvLEJzyhCJf1yxK320tEniCiiExvj6pa2MEiIqqvzbEjmRvkH+LApQ25R5U5sUkXDvGKV2ZwXbLU1CESV0lP/MIVvGTW7R6hiVcAYBBtgghNimnMz7ggBsk8WBOW8IYz9OFrLslEIMYnTBR84CXDictzWvCc+KSlPjfY1hnc9ci86KERefgmLZn1lxD+YhYAyKXL9KKJWPSqCj/oDU0WRkxQLuwI+HxpPtkQSUN0ECg9SMFwrBiTjiiUTiuVC1rUchMA/AAKh1CFIynViIoCao1FOYQlaPeJSraia59wBQBawQqRxuIVh6gfPTUTEXq2wKXUOhgYXroENsj/DCJqG0mQTiUC+EiQmGbh4U+KaSQJghIiOtmCRJWaQowODhGJc0Ur3EiJqh7WFYjdyyt6BQAfgIQmYqWnC2C6BgCISlRvOthaw+BHTxDOXwUTSVxRMNedpmU/ltGjPKen0A8szCYxWIIfVCFEWIYOV06lZVQdOwsxue4TWXOsY0nxClXQb48eSUuJPEQTs04LTm8gRGc5q103NWENS6jCHe5Q06E0gVQMQ9JuYNuRIzmMpT+oQoO6qtSK3uqG1HsqVJeXXI3csiVcm4VymVs/eY7VM2KlLhs6i13tZve6EHnDGtbABvASjA1BwecRfkJQDqk3InUCAJBue4ZXsVOw/4VSmf00ZYlAsAy5SnMd7mDzildYggnS0yuSjNkCH4kVANOScKg4u+AGM5jBhCDEHToBszdUoQkQcTJIMKxhPWJovTWjQQ2WcAdPvEK+lNKDHkTnWw+C8xCswCoAZrFVpbnodnphZyZoWLM5p4DAEGkBGxIcqiBfl8h+3m5WW7EyJTNZlB7B5zAXalcP16wGR2BDJ4KotPmmiCVrZMkhDuEJxwLAsZ7QkphuF6gZf6IKQvgBqnfC45WCcph43vOelVnkP0ekqh951h3YcE8fJ1PRIplzDwCw5S4TSKn+OorbMm2/0j1iEploxSywilVPyEoRL3oNJdj5CSsoIdXeRv/1WjpSohb4ALuw7vOQZ23kkcxC0Gp7g655PS2f3BmPGKrZEd7gCV1ocEDbQWeumOiJQKLYaUF8BbRnoXBXzMK4udMLUkMRhm4LIQkVv/ipdxISNmDX3KKS9Z8/LmyICLojaIbIySFCiDxPy9egIXCdQAnpWejikf62zvJqB9VlDdy+vxKRGz6himCYMdoenUVe8gJZRLmB4qcWghIubnEhnHphL29Bx2GddXUTudZB6RoAnAUqJ+d4PiGJeQy20Anlvoo1lHLXyjyB4oGvmHPkBgC/iUGMYOii3aRwEV8cqQo1MCEJkKG61KX+g6p/5gUtaELWg+yRkH+k5CjvNOb/pd2RrjUrDD4a5lh7DE8dk3sLrnrFX66Hc7eSFiKlvWTBMRaDN5iiE7oIBkSC4YtZxFJvYEtC1C0u/MRPveprgTy6swtydXvE8i+RNnJZ8TUsCOEmoOlxT3C8YyFENLJ+Ub1rCgfV19eOcz1ghCnSbwpd/ILoxFDFq3zxijlAAfjEv//TewSAJRw5+ZTvuh/ZWkRoHgFiXqchlyts1SHkARwAAPWBno7xmHGkgA0wgSXkzCTYEqVcCZkwiy85kwdyTg2g3y2YQgmaAiv8wi8MkTJABBYwQfDd3/AVH9UBQNZFXv8xmJ8RglZwjQEiVyt8AiaJTmUZk2b4yI5BBCnE/8LEAE5f0I0DxZEceQSzxB7GYF36leAt3IInJEoLjkIcWMETAF8MCh8AJMEZJp4QlFvycRa69V+6iRxIFGABmpxjaZWUPBEAzAEAdAEaOhco2UAMxICTzNgk6IXbUcpRKJsUzlH5qQ4IjEAMEAL6dYIfDZEvcBMeYMETFJ6TzGDFnWEa/gDHteF1HRklouLWOZhHpFxIECAQLs/34E5EnAFP7ZgPuEGioMIjmAu+HEuutEQjfgS1qU8kpoAPRJIQfcQrKMIXQIEaCQEASCPx7d8NZhcqMgImMAIAMAIjqCIPPsvi0GHmGWArOhYrfMIUzWJTfcQFZtUk2NEvLqIw6v/SFFLhW+3QCLTAFizhK2BHBrGTR0RBJyLeDBJVKa6iKmICQ2rjNmJCNzpL5nGa5n0EHUafEH5P6EwJaoQESfWitanei2Qa/9ij9sRdK/jcu3zAPlYBn/wjHdkNRCzjSCgBG3yjKqrcKS4kJnRCQ5oCI2xNmikcUVJkHVokYn0C4sQYSLhIungEKqBG0oDfSpSWJ8zNSboM8uwjE3xCV/kF8xhNBukJ/VQBrHmjN+YkHB7ZEbSlD/jAdaEfJqAgv3XE0R0dOVZk9OGSqImEU+JNRODBZKhBIDjhlfwP680N9/QLSFnhuIxACiiBV6KeJ6GL0VymgPjC3s3CHSxBvj3/JFqmJU6unAtYGERgwsq9ZZLRnC60Zl1CxF2mWR2i2R0q5VUi5kgAnicpgQ/EgBBEwRkEAl+4RiCwTdxdpTfJDi5pGgTFDQooQSawE1gWUAHRilMOkTNkZzCwgin4QHe9QUNuow2+QRMcASHM5a1ZQQMxiyu4pmva5VCm2Q8eoCvYJm66BF+wE1LNjDz9JgOpBM+pI93w3HKSFh1wTnRS5l6sRkRsx8YEil60gi9kpzMQwy/cQicwwhFICyWipkvNZfpBhClEBCt0Qh6mRiZtWnu+50cc3UTWJyvko1B0QfUN4jypBwOxHtekhiN+gqbJKMjMGDAxKK18TpFeyYEo/wIpBIMyaGcvlKBPdhcAgAGImqD6jegtYBUr4EXooGiKQpt7tuhQRls6skJQjGUs5AEM/gBOhFGq3UASbIF4bZqAFg4u5coj9o0AfU6B1IpHOCXU2EUACYjeBcOFaiFQmgIb7AAYoF8Wbg375cprJB1eeKmUZIJjsWhEtCaZ3ulLyCREfIEoSiNOeNsNwKWoOEvQLI9bfZSZMlEzYcwjtET8UOdYHk2bddGBIIImqEIm8p0upN8bjAAAgAAIAIAI9EATMMItsJ+h/oIucNFdJF2XGk4mhcKK8ptrBmGM8okngUSfkgmpoto0Ut1DtUn/bUsnxKiZrkwusYIwGmd5BAEEACH5BAUGAAAALG0AGAC/ANgAAAj/AAEIHEiwoMGDCBMqXHjQSAcsDCNKnEixosWLGDNqBCAjgJGNIEOKHEmypEEjBIxEMcmypcuXJAPAnEmzps2CMm/q3MlzY86eQIMKBWDFysCfQ5MqhVn06NKnUEs2FYg0qtWrFKcCqIq1q1eDWrl+Het1qliyaKOaTcsWq1GqbeNCfbtVrt2ka+/q7Zl3r1+bff8Kfkn37ODDIQsj5hHAwxAnVLyUSSMnERiIiLM6HSxjCAQIqUKfGk2azZXMEzHXHbzCixROp0LLFs0Gi2rUClUH6LJw5dcuWHpE9jK7+KlCUHBHbIpSxl4sVrAQ8eIFtsBToDiBEg3oym3lB6ED/0D5US+WLjyolxGYqtCV4aKRfwdf0Pb4lHqtQJGRgzrsVKdcNlxsp0giBn0KMQGFFSwQwIJvckUXxICxScKEFVJQR2AhW1SBIELQWVGCg/Oh1UUXPUhWHYFgAOdEGV6QBsppcWGCSSk24igJJjvemOMtmCxxkBhfdJGAg3dBgYUZcsjBRWypSHLeF140uR2ANKb1TDvtxCPPl/PMU4+YYZY5jznZDJMEWBAdWYJdWEChQ5NyLMIiFEwoQZkckUDJ1iry1OOOPfXUQ2ih99iT6D2J2oMONtRQY8uJBNmmwwULXCBDcm2JcQaTcgyxyKhmYOGpGKCOMeoiTWxBlhjDFP9Kj5lk0lomOtfQUscEHvTa6wTAEgBBAw0gAMYZbCmhhBF7liHIIoLoUIUSTDABqhergpGWNV926+233tJTDQOflVtuAwukq+4FEBoUxBRZeGFEGzphcsu9+N5rShhkNOnFs4KUYcbAA0+WBrajgpGlV0+AM088EEcc8ZcQf4sOueaea4C66V5QIgBP4CAyDiVUQddLz6Qjzzz0DOqyO/KsM0wZcpThLLQ255yzHAizunBXUYzDTpcSF230ysd81kDGHKeLwCbPMCM1M89UHfXIOERD9TTMTDPNM1xzXfXWZI89tdRRV821LbZEYw06Kxuq6D341I3PO+/YUzMVAC//AiOM6lVZ57NgMDFWEQuwozjRRXdbcbfzoFOHAZRXXnkAmAdA+TnmcO6555dgIHrn5pAuDCSVoC6KKJCwvnrrq8cuu+zZlCMMLOSgE8+g9tiDT6OMMoqPPZuE2je0owLgSN8Ag+HGUICQQUYSJ5wggxE68MADBQ1MAAQ766zDjpe0CkSP+fQUao882BC7tPsQBIDAAvMvYIAHQOCvf/5A9N9/CAAcVveAxStf9SoDBkygrwgILA0AARbsWFnvJriouTFqHrjIQRmQxzwOehAMP+AJJpiRiF3AYhfCqAMBCGCAFRIgAC4kQB3aIb54AIAeOLwhAOYxEDMVyh3p+AY4/74hxCIWcYjgSKISl5hEcYBDHE5UohCZSMUqIvGJ3xBHFrX4jQnaAwAVnCAA6jGreayDFh5A3iIAsCo1PouDdeCC1oDkKpcw423mEAcsLnGJOtShfvMzAAJa2MIFNEAcXkykIinou3fk45H6eCQkJamPSuZDH/vIpCb3UclK8qOTkpxkKEeJj0eWspT5qFvwVsnKVYJxIIzqHT2aQQU6CUIOgsilLnepSzQAAQ3kIBo4xjGOaZhiFWsCyTPqAaZ4QOMSoqiFLSAhQPe5z5ALkMY7WsnNVdbNlOsjYxlphUMcsqyc6HSHO9CZzkHJbZH2eBnv1DGoRNntnvjM5yrtsf+OBUDAn+87lzUh4AFItK4OQCAHmOaxsnTYgx/juMXHIjKNdKhDbu5YRyWkaYtSeCAEDJiAAybAAHIBFA2jTKlKQ/m7CDKzSzCNR0xnKtOaEo1xXLKpTmm6U4it4xz1LCUmN9nJoq60HmiA39IM6T4ElMsDgsDFJnBxDN71Tp1hCtSYbiGEidzCa/3I26ISRQtIWAMXVAiBSB1gAQtoYAMbsIAD5ieNldpVksObGENlSlMuwbSvfA1sXwH7V7/69Rycm8c9LjnUTWoSk0WN7D1o8c90MYCtFoirXC0wAQgAYXlTFYXvgqcoReUDiO2Qh0Sm4Q94wKMfdEPlI8GxCUj/8MIDGWgrXHcrVwcYAIbg6N1Yu9mo3gFgnQ+TKcUMy9zmMlew0HWudA2LjnOgo3S+a6xjt+tYS9LCfgcgqQPeuoELXACuckUgFxxRi2KAI7Z2E14//NGPfkyjF22Aw0FMwYx88IMf/eDHPlKKD2DgggsQKCnlXGiAkjpgKwGoA+8A8MUvKiSR8zAsX6fL3KFx2K8e/jCXFreO0nEOHfSApxfPqY55qCMd6vzhMRbwQgdg1gIHoJ8DGNDWC1ggA5ugRjGi8Y7IRhKT/fjHP1y7jVsciCBLqKoj1aGO3rW4Hei4rjk2igYHbEAFKiDBCiAcgANQDnOipTCFVazINWd4/2jrALHiQjxixcWDhzwEgGoNYjTpDm3OczZHOcpROnZYlc2IBscL5ddCzAFABSuYAhVI4OAJcIEbyDiGkTs54MX+97/4YIZq5jCMdLBMneqM54oBYIEgOEEKTnhRZfagAgSg6wDzOwaidz2POYuvHYAOtq+ZmEUicvHYxf6GTIXN7HWQIxyDLkc8dk3tb/x2hQYAwAqy4IQ98IEPdCrDEBggCmjQAhYpZmVkITngfORZIFGwQ6BULUaB9C4aQxgDuOUwBpvxIREAz4IKNBBSB3QRnmtOuJq9KA/wgU98D1ec+Cb+0zpYFl3qWprSiuXPcxXD4RCfMwAcfg5uhOPk5/+YhzsukkhrA8AADkCCzcbA7UR4+9uJgFEOGsAAWLxzkWtOVD3iYQ0lDCQKRmhHqlXtsnuPQQ57iLrUmwTwRPAhDSrYgAdIEFyXHZcgKw/7celt3PCto7oSN7vazw4MjQ8rXRtr2iDT5fYGhGPteEcHObiRDW50Ax0qZ7kXwWHIDXih31mw+bf/zQdBWP3bOZgALFRsby8OHRceGsgczJFqQxlqUODIAmX20CQA2MHbUafMt/fgBRVYgAst+7rYZy97psczHj9FrDnCl+Xe934d2Xh704ZPfKaK4uy+z/LZf5qNa1yj74D/ekUSmY4JWAAJ8Xr64ld/c0Esfgy0WPn/wse/5t7VwxyFAIB+DxEHNUSDnoISFKpt0aQ0jGEM1Dn8esC9B8qkoQxZYAGiwE7sdE4EWE5j0g6cI2idc3bWZV29dw6VkDECVXfEQoHEcgzI13sAgFjnUA6RQg3PB3gtg2omKHsoGHYTpE4TAABI4AR8cHqklwb/pzNpYAfbNw4rV2Hkt2LRQBBiQCS2YENjhE64MBllgH/5t4Q3KAd2MHMChwYM5S0MNYVTSIUrk1UAEG3kQA7mUF0eGIbAwELzU4b0wzEAQHyUoy4GsIEQqHsAAA1ySA3YoDvjFCYHaIAHWA/foAI5kANNYgd2UINJqDM2A3V8sAeCYGGMSGE7/3hV6RAJTXADAHAIlhgIiQA3VzgP4lCD1OEE2OcFWdAf1GF6ckAFNDcFQQAE8tBTOXVTNRWLEKN34UAO0AAMwCAKqaOLBiUMvAAAEACMwFguApExAxGMFAgBxaAN2IAN2sCMzFgN2bAMybAMy0AN55Ba4AImKwM53ViFZSIKfugFpqgz3NZvNiMZkxF1cvAMsUd7TTcP5VAeABAH9hgHbaANzYUL/ZZ/SJADUyCKJIAEYwAAksFvKgBrTpADx3AMwiAMxVAMDZkMxwBF4uANGHmRGpmRxcALlUAsaMALvlgMwNCRxVAJuggLqLOSqdOSLLmSIdAAGJAxxFJSFzgsSv/zS7CADNRgDiEWXRADi0dzDGE2BHJAgzrTeiqgjkPQHzZzg0/4gwhYKD9UKPFwDPg4EE8QBVHwBLawe+iAfNm3hBlCHfCSf2NAg48Ra0PgR/2DBnVgUHBJAh6QAxnAAIJULkzVAGggCrCwDNJwDdAWbYRZmIZ5mIiZmINGDslAC0AQAp8RksXgDRdJmRgZDhg5TJpZmZRpkd6QASRAAgZjiAYpBek4BEOgjjRjB3IQDfTgjXiWVeawBnGglQDwBWdwBmXgDYRZDZGBf1kQkAa5hFkQipPhBS8IisUgDrXYnMzZhc1Zi104nV3YDdIQgiJIDlxYDtrJnYr5neDJhdn/YAy7AAywUAm+NAFLhXEaFwE9EANLUAVGsAAMAEN/6AEBsACh6QRImYRT4ATomDP4F6CHeJTPxTgydQyUSBBzQAd0kAd5MAzSSQ7SoIQCl5qlOJxZMJD3NxkqAIpOgAvh0A2Y6Q0j2g0oOqImepmXeXLagJ2Rop0y6p0y2oU06p04Gp6E2Z3cSQ7ZIAzlWZ7GoA3UWaTSOaHa4HckSg3RsAuhqQI0WINj8IeqaYgz95Q1E5bKB3HAVmJkcAMuwKB5EAiIgAhmcA3e0A3eIA2i+IkBuYT5JwVvOhlTypbNeKd42ozPuKdJ+ozcwA3XAA3UcJ2CenKG+mxFmqiKuqiL/9qj0/mjQQoMyYANJGqolnqpmGqokABmUZozAOAEU0Cg6zFzOSBzSFgG2GBiqrqAxyAGKwEhQnAhXyCEdIgNx8AF8QKnpairkvF/a4kEvBAp1SCsIkgNw3oNx5qszlcNyzCHcngN2OB80hqteYqn2XCt2Jqt2Mp3Soqi3toNAOB34QCoALAL5goMxkANf7qu7BqufveuKOp3acoLG0ACQ9CpVpqvZTAF9mqI1cCjhBaw3sAIAEAHBWE4bfAHhxAIenAM0iCHUlCWbcqrS5iWMPKC/wgN0rCxGyuHHPuxHauxg4oMzSCH0NCs0NAMKruyJduyLZuyJluyJmuyHzuoMP96s9Rwi+ZqrsYQmNUgrcgKtEILrUBrASQApf2przoDAElYpTASDc1ppLUwBwkRCH9wtQ4qDCoLCbkqBTkgsbqaBfGChKCIBENACyybtimbtiursdQosytrjXI7t3Rbt3Z7t3PbDMsAAHJLnjuLQs2wsZFynTaLszBKC0aLBEkrEEo7qkxriF7wrd/qDc0AAAt6EG0QB3OwuXQACFpLC0EQL1MwBGBLnCqQmmk5BqfblGjLtq7LtimLDMagssmgsnh7u7iLu3xLjbfzt8KwDC4LszI7s8QrhxMAmlkAADVIBafbuOuRBQF6f5vQjNCKp9VQBGGaIAsCHU9ABr8bsRT/S5xI8Kb554c5oAKvm75puwzCULvAq7e5G7/yO7fI0LsnhELvq74su7bNIAq8kgNOEC8C4QU5MATOiwQqkAUzd3jHgLPSsAntchAx8ANJEAVY8AVFAgbGALqlu6twKraSJgV+yLr6m7YAkLbGYAzWOLvz28LxiwzAYEIy/Lsl7LrQwCsZMAQveJYD0bgA0JT9poQ5ALcPW7KbMBFnoLkO6qBrAAykm6teQL75J7YA8J+vBop/mAO0kL81fMK2W43V6MJifLvJgAwAcEL3S8M1nLaV0CuligTJycPOW5DpGMWtm7a1UJsSAaFX28eBEAhe8GqfyKHUkbxVHGuIDGsk//CHJLDGKysQelvGyIAMyRDGY3zJu7sMMIzGsAALwMDFjowGEzCQSOCCcSy25Oi8gJMFkADKzVALB0K1EfHHgXAIiKAICxsHBwK+3FbIAEAFConIwny+OUACwODIcZsMKbzMxmDJl+zCmbzJnXwJnjy7yNwMwAABE6DDcNzNpzy2C/y4dewFrcy2onADLfACFHEhZwAHeAAHYcAEQnADEZuryQvMwhxrn4rISLDIOVAJQlq7Jcy3zMzMk1zJYAzG1GiNzvzM0WyendzJ+HvNaLAAp+vN3hxr8CLAMBJmj6uEQ3DMabsJN4ACF6EEXdAGg6AIgRAHZ9AFRVDPvxzM+f/czYh8tB4ABjwQmnUZR5DABbq4OrRAC8dAVbiAC7UQCZuQCHZQBC2QAinQAidQBFRNBoAACIVgI5iwB0u9CV7d1bUQTbUw1rjAC0dNVcDwkA+ZwpMMwyaExuVJsshsANuM0Xat0ahcBi8YxNQhBcDgxV68B8mEEZZ4iYV9CDzABVecz/zczfvsBCTAA2zAAPoZmvV6AZZtfRawA2fQBp79BVVQBUkQAykwAiOAAqgNAqb91DHgA0/QBW6w0n/QBmLQBVGQBD4QAzHgAlA9wRX8BW4AB5wLocRNB3OAj2AACK0j0e0LuyrLv7YrjqhpynZt0xutf00rilvMssiQCAD/gCwa0cd9nAd/wAYFnJzCnJx37QQTYAIXQAAaYLSWfbQrQGkboAEmkAQVDAV4kgQ3cAMx0AKoPeAo0AIuEANCAAViEAeF/ceIQMt/AAdn8AVxYgVdIAZqAAd0YLXi7ce07AZfwAQ38AI3UARWDQiSQAhZrdWJUAdowAU/XQdD4AE/PAQDUd02DaqorIReIApxuwy1AAjqFxLEDaF0QNtNcN6MveT/qAK+pTmTdrRZRwL1ugHjVa8yEAW4mbltcAa1HSdJoAQ/8AP//QNPsOCXyOFXq+Z/kAftV9tQ8ARPYCpqEAe1XNhlaol/oAZYoAS7/dSmLQKmjQI1cOBCkAQc/3AABHBeFwBmR1vABYHjcPxqBpmrY2BgY63UtanHI6EGE24FSfADMKDkSx5rCByaRytIJCAIQ0Dlrl7lrn60ckAGb6AHRQ6hxw0HbaAGRDKrapDhmnvrxd3lXQAFYh7gBW7guh2rViAGcKCwg+AGXaAEuS3gpn3tg44CLnADQkDZX+bocPWkBiHp6C2nYDAIEe4GE/4FJ0MSeHLsUo2a6C3MNh5mcAVmG4AAOcAJcqABAADrVS7fJJAFuEQGgSAQa37nhwAAvEETboAHeKAGX/AEQqDbLtACAo4Cp03iSgADeEnfridmqC5m407uTkAGenDkL80pL+HlFN6VJiDvZf/rBDaO6pgdmkjgBXL1Girw71Tu8xuwAlXuelKwB2SACHpQiQt/CPplODVx8AKhCAJxCLKMBfIMAEKgBAtCAQHQ8wDwpOJ281Ju45GO42TgoBLO7jVxtXlw3GpQBAVs4znwaK5+8+W1AvVttJGwAV8vEACfdWG2AhaQA1lQBFHxB7Tc4LIMABFAAEbr0QywAkFQ35f9pF5f8mY7BDwgEO2+9mtuy0Yw9yTQ9xfw9ZUvZkLPWUPgAKNfr37/7wxQr5B2fVnQgmkRASIl7uOF95RPAjff6H544zc+BCVg0kGB+IegCCzN5//O93xv974P8m3lZVXu/LzFAE+qAR3NAvX/+BVF8AAkVa+hSXCQhvfiP/KWz81ma7YmYPxCofx4IAZPAKYmwPf/DgDQf/Pm31YGsFsAAUCDiiAqVljQQEIDgjJesiDhoUcRAIoVLV7EmFHjRo4UdfBQMcECgg0bSJBQwYDECpYqAJyEefICzBVIhtw00VHnTp4Vq/yI0SLFCBMrKJqcSQKpQSkHLTgoucGCAYETGExQ4aCBAYdThpBBFEhsT7JlMYJsYHJBSaUKJ5RhucIlxZgwTaLMkaOIWb5k3QDYsiSGixYnXJpEevKuwSAWTDKwwGBFmjRyKFtQSGABhClOchgZFOjPn76ldZrIYWCBZg1RSzIIkqXlig0W/+vGNHLI9G6dh+a0+VLFRNvEbU+y3KBigwYLleU8f56GygIE1VUgMSjmjBre3S3CIDEBQYC1Wh1McAA5rlzaFUnQpUkCtHf6Fw8dQqRI0SHHiEkkBUAFlFZAyaQVLLPMDOfSyKABAAiAIIcMIvDhByGYqI+3FRCAgIAGGJBKBSkAyMCB9Qyaiy73VpKCDD0yzHC00cTKowgB20oquQFpGzCHytIogzLL0lABAdYmuACED0ZAAYAYYORLBwIm8LABAlSALogJAIgLxfYugkkFHqCEcrTfzviiiBz8S4qmglQwaAUq0ljBgSCCpGwCAxAAYAIITABByQ8+SIHMsi5YgP866oaQgw85GtsgiC7Zq21FxUowFMo20GQCqJfYPMklxnZcgQEGyJuzMpcmCKABBAT9AIUWbMiUpx8SgEA1AHKQwwwnWrMACS8mNajSl2C6gAMRBq2VPiyYuCGoETq4AFSU/guQgThZqm4CLyhKI4cGFthTghHObeHJZnlKAIEF9JROg9ak4pJL9op9KV+WSFiA2XW9s8EFFEQINCocD4vKgvVY8hYAIVUwQLULgIrBhh+UwOJfnS4IgAEP5FouqoRKihNF+AKUk7oTPtC4uyeEuMGGwVhQIceoAHBtpYU3oEIOIgCIGAED2NDDDTXEEOOvljkqQYMt5835ZnuLPQn/gKSGOOmEQpfebVMxnk3CRqVcI1vhhYNgwAs+SCDAyBLyiKONr5lg4gmuMTpB2BwWcK8kuqp9zyQU28TZC07MYEONLqq4m6w8SKsoDzriiFsNFsj2z6QhNlgviCnG6FkOBlQDA82XZW6h8e+GyMKLIo+laF+7cC7pAh5RuoCKRUAh4z5FwlJdJxmHH14sSaDKnDipdA6i+cnksKOMBXgQwwqYXRjqAxFUzwOMFZxoXQW+XVLovb+Puvm/mpBYRBBQBJFx8uA5Gv4OIsAg4w799QgkDFCkIE5baFcSE62geS55DgDG4AUTKCFaLRjBoFjWuD/kgQVDcAIVvEACbQlI/yDwId8FKmKwIeRAd3LgBCfukIc5xGF+GxGLWP7AA0dIwoaSiAQAHFEGQYQLTgKqjWvkpbDYvAUA0RvDFFjwghagQFDBGw0YroMEKgzhQwphjt9i8hKblcQIeRiCICKRQkC0cFNYSMILL6KfsNyBBIJIxA3lOEccRgI6VEgOeiZAIAj8aIFOUEHAmjgCAEyQa6L5A6aGgB2hgSgrcGIJfGSinLGN6QxEEGMKC3GmL9hNjT4Jgxv+oAgzSGEIALghJ+i4SjmWwTEa0EwGkDgF7MjACkn4Aa0ah4hDiAUrQ9CAAaYEgSCkIRGRiKMN9yAH2eRAJifhQAtcAAAeyCESu/8jwxnQBAUhBOyTAEhBui5GBCmUYQxlCJId9qBAAAiCD3tg5Q0jYQcL6MkAb/GCFHIgJsq1AQBfaJwoD8GGCZwkYhBQQRrskAiGRoKViUiD64awMpaxwAuRcJ8jhKAEKEBBCT/4ZqDOJSsVTEGhdqiMHeSwTJSi06UphZ4NI4FMPuQgVwQggRSQ4Ewe5OGFLrCBEFhQ0IgtgAROSMMygVSG5/AhnjgkgxmKYIITgoITRsCYdrQZ0pEaxglTaJ0XxKpAPKkUeisFwDLN+RyG8iENHjASAnaqAg+YYBDzA8G5QNABC5BrAs4U1hCWOVh1LnOl8GSlQxOxCEcVwQpiaEP/HOZAh0/mdQQt8AFIvpoFznbWs5wV6xjGAKTnGDYLe+DDGIagpwBghQQNAINPgyfBD3SASghAiQdUwNTC7mGdfAAucAeL2kQ4dZWK9YJkHzeaF17WB0oQAxFIMAWwfta6nO1Mdb0wBuilwQlj0OdrA2CA8BAgtvOjbQcMEIAMhASpdgCAOcU63yCl9Z2+HS5wI2FcHDK0DEWgg4zU+Nww/OERRMiBFK67YEDmoLqcZapq84IEoAXAAwu4wIvQK8ESBIAAGsgAEoIk3/nOF7RiDdJhg+sohTYqEXLIi4uIFzwlhAEPj2iEIlQwhAcv2LO03KxnR1uGDNykSBAyABgu/4KIu0kQBA/QDFbQucASz1efOQhrlb0QpD2YdaXP8UIaeNBLRDK3cXDQzyH+8AYVONjHb7buObPQ5vdw6AJMnl8LBimCFRgAAhDY7hgqouUsLFLLh84CU4O7ZTOkOYaBUN0XvgDZOLBBRHDGtGfNmQFnChMBJ1DjLYHyAhNoxiWCzsihVS3WLIAVxWPIgROIEMpR6kd1QZFmDIRQhKNm2tfbzYEG4IqAJL2QDi2Mmxh4sKcspHqsg161iV29XS8gAQkmkGZQlfBYP0B6aYHKKwpSwAILKLh1vn6zWKcwASotYGUgeOFo8jDvIjAbIyXWiKpbPW2xOsEJJnDiuZiUuv/G0fYDFWAABilC3R6ju7NemAIEtiLCT8pILIdAQAOqmwMKU2S+HPlWiffd7PnG2gTL0p4ICKY62gaqKIu0ibX9HeRM2ySsQCMAqCv+h4s3ggwNkAJ1d0wWfHdl2gtEwr8LafBBbW9pBg+UFwThBTmUQQUQKCjHwZfpfWJXaBHowc55fohG+JwBUhgRZ4mObwBQN8te4LjOmW7IljH9BHJoHycE8doPXYXjYNWpua07BXOzjeI7DwTZH3EINfAg6c0uS5UBMHJqe+Emcje4yp/OdB4IYhEpFISeCEAAA7AADDxwghQAyWO1L7gBEJDBNytC9kkowg1W+IEKMhh5ye//u8rWPgG8ly5Bp9ed6UTIO0YdMJ4AHIACoiHCEIIu+OtKQUwZk31Fau+GLQghBix4/NrxTXnRWn4IYyoUCkYAApWrXPjriiDUaSgITkSCChSQAAX0r//REOHxnqUI7DKlN3gEP8i+itCEQQgDJfCBFuCz1NsIz4C8iqAC6mo77JqC0FqgEioEi8C1FFC/92uWbgqKgRmBFCgDR6C/RUCCCqAAAOCA/du/70m9HiM8J0CCwxMCH1CXb7KEQ+iDLWDAGPCqEcmIIRCRyesMf7M2mWtCKZgvm1ABSZiDioiDM+iCl4kWjcGD21OCJfgBH9ABOXCEzxMEIiAzGZKR/Ys1/38DACZ0AqPYiR9gAuy7G1IghUk4BD8Qgy3wqq/SiCygArRTARMwASOQATBgAyLggRwAgKRDOyQgAfa5CMmZA2TTmEeYBD3sQje4A0GgP05YBCL4A90AADUkHjYIAyJgRDIgA0oAAAl4AAUoAI5AAVkhOK55hN9RhEZ4BE14hEGIPicAgKDrrEFUPRPogHD6gShQA8migyJAuxyAO2DKgWu6iOLpxXWxuEOAgz40g0VAIb0jg0YAgN/ppTXUvwpwwYrggJ6greLjGkUoM57Lj0a4AzPAoJlDOyfgAUCRlRt4AjFQrj8IAqTiBFCwKtXLJzKQLQAYHkRoBD1sFks8A/8ouAEXiAEzsKMU8oI3mAQA0AQACEmI7A7amp96JJ48CAREuAMyAANAIAMjcIPg+MJtI8jJepwgoIIySEhQiIQMgAwVMIJs5DlF0MQ/+IIlMJRjawMsEIJBAgG8+7xIGIIryBg8mAgAoIR3pA+UpCDiEUueK0X90EQAOIQuxIND2MU0I4I5+clFsAoHsABMqQgZkcjt24JMiYMvSIIYAMEIOoFFuCZRLAEXuAEhuJC9/ItH8A6wjLexnLG7BCWBmgQi2LK4hAAGcIDOvMsZQcpJGAQxYMBpghKMDEyUg4FF+Dy9ywAAUIDYVADY1LWvlCCxk0yO0MgY8IElqALM9En/hVyEBjiPzpwPiGzJiXwEOOi+HoQRqaStILAjoBQECxiAAohNACiAAhiAAbBNunshGdw/nQBBQbksEqC6uCSAzjyP14TIstTEQTiD0iQT9Yu/2zQcOQDKMkgAisDO2CwAAejOk7zNb9I/nqDF7hwAg1OBMFNPBOBMrbgDivDFR6CEAoTKoCCTEUC5AkWhz1sELqiI/9TO7cTODPFONTpQshgAAXBRF/0A9EQhhZSDPaHL9OCBjBmESQiFPPSDwIiBJoERWJEgAYDNMgRRY9FO2YzNB5AAu/SOAZjNT1rRnWjRF3XR3SoDhQSFGuXMp3CACDBNALiDHbUEPFhAHoSR//Xr0A8w0gcoQ6taBAuwiAKIgDuVAAnggA7ogAx5gAiYHwkwiyvFUgHAEhQqBU6gAghlzwlQFp9wg0zAQ2Csz1vUK5YRAOnUT72zToowUiaoABYQ1RLgAK+sD3YMnikti0IVAAfAkjRQSE7wAgI4AFNhgAYAlIvQRBwjk+pJghtoIhQYUI7Uz0jgz4uQABbggTHpgBh8wQM0jRRdVVZlFETlBCkIgGwdvQAAAVmJASU4gx11TDKhg3KdAzX4AihIUAAwA07Qz0UgxrNYVh4oARlUnSrtC7pzUb5gVQdgFFhN1CHI1oE9ABBIFyHYghurPXokk3mTHDrAP0BlghUURf8lrQhlXVYWcNZnlb0OkMWOAM9oVdAX5YLn4IREDYIDEAADOIDrrAhwFdf9MLP6IJ7xpINPTCFO1Yh5BYAOsFdoxYgXhRFa5M7uTIAhSINFKAWrKoJbDBQhvYjaCwvIiZHR+FkAKAF3tSpBOLyKqAAAwFgeYIGrBdpmkYA7nUUFcAAnwLul5YQV2M5blBWuUccqHYPpjIRh2QixZVayLVsyEU/8u4CSjYRYXYHr3E6iVQAnLQGpFY0ysdqrTQN3FUUn8ErnpIgS4Nn8w9e/hZLApYDcsaaljQQOSNv/xM4I2NNm1Q2qpdnIxVeKXQTz2QhRFdWN5VjPhRHQbdDJVcj/SCgBPq2As60ICuDTUnXBmaWPuq3SD9VZjniACuBTCvhTztXdzw3cDcjMpV2EEvBe7+1TiqiAUuUAF9S/h/SO4RlPixiD3XFXBuiIAiDfCPjPB3iAWOSIkb1engBdEkCnkwWFReCA7w1fAKiACJhFALDfCOhc3lDfdaQIDtiAvCgDKsgBI+2ICNBTClAABa3FjVBQQt3X/d0IGfwD/fPfLVVIQRjgRoDSWLzf7UTc7Fzemh3fPS0BC4gMduMTnYje8qXfEAbhkWVVEs4I3v3fpRWEDiiBsb2IBA1hBa1hi0u8igADWzUVlh1QjmBHDpAABXjRLX5iKA5hLDXiiwDd/xVAJy4VBPDt2ToFgO7EUjHeDVS8OB6lCCMwlfQgFxOg44x4AOR9gAAVUGmlCAkwXwQm2ijG4DOmCCRWYb0TVYyAYhg10hHmjfuIoUNQBE3QBAO0AQKI0OWj1Y0w42b14gD14EM23gKGQQUG0AE4F0d+ZNAdgjVWSD7ggQ4wRQCgXhm+0gnCZNPQhFAARv2YBFKwhDNYAhc4AQQ4AHc5AALIVo1g1Qdo1goY5O7ETid9QbvElOPtgOH9ml8d043YGtljx8DlFS/gUj7ICXeMgEo20kER2t2oMTc4hE8YBVVAhUMIA6ZEgQTgzKtID2o+AJ5AZQngztTNPz6F6IjmU/8mk5wrBCi+ELC7QeXyNd9bhlWrkoMCrtdZJGKKcNNh7otb9AEmiFRUUOYFDFIIjQwdnubm44noHedZ/NMu7lmJjmhEQASHnbfXzWgyGWDwJd8cCJJYLYOvxVoOmOeivVKTNuPSEIGBY+lPUAVVyEP51GO6hIynOJUA+GONiGgGFufwJd/V7QCgRoThaZbJ7I7YvNOjjgBeiWQpGN8S0ATqBeMtxmB7RmmzQAEb2AI/+ARSeIT84FFSIIMbvVEGYL6ewGZR5VNSNVUY1D/y7VOgrkduLOrd8GC6voBDjdUg6FlSjWoxHuGTHmyyWIIwOARS0IQ0FAtEYAPI6MynEBr/auaJAngAURXb4C1Vd8TdPcWzzwZt5S0NF43iBDBtoCSCJibVWeROi8DkQi2NPkjmR4ghiwMAMNDWA6CO9QqAEyDjjVCAZBXbSebTN+7pUqUAr2Qy5V5u9M0I7c7vQi2AoyVD0l0BDhjVqO4I/S6L2daEsFBJAJg3HvCw0dvWAHDBMKAIdZlli4iACmhi2y3V8L3sZkXliuCl0I7rChrq/WZVlGbV2PQAKkhIO7qAQC4BItDYnahqvkBFuGZwChhYas7WBCDgA57FIFU/F8CY1BZuFoBvn55ooD5HNWPuWpE3U07xG1/xB1i+CSgy7LBfDQ9enrhxjJbrR1YA5gsA/xO4X4wogQPOiD3F2OBVa4hGBDl3cpmN8kwxcY3gZu0sUUIW2ksOYwWIAKGJ5qvYgAtQ3S/P7CEu67KQTOYi3/vl6Y1Y9J4e7vC1SyVfbKD+HSeH8qVx2IwwZIwQ4aUTADddXAUYr+rY4z/1XrKw7g/ui0fvRvIls0rviA1n4iYeE4rg207nRXq8c0N5xhO3iOuczQ+mRVqsiBT/gAFw0tFj2QUoaNWNYJ74XlzvCVqfkV66j2+3b50Y1Q5QVhPgW2X15EZw698ZdkP5gSTAgou2iNlcdiZV1ThOcUE/gGyFZkY1kQJWQy4e392gdYpIvG8H93qEG7+MAZEipIp4Uv/bnVdzZwFz92QAyA/9UIR239ARMPKLwM4TpfcThc0pDVAACOMHSAAPy9Zo7swDCIJXP0Vud12Cz02K2I/7cGsFv8unVAIHbL/2C5RvPYM+sIRlNQOxJXdNGAVKSHCNR6RvGwGBvAj7pYiRJ9qKSPYS7U5BN29hkuwFOAADqMtxRtXPHHOazQj8aEnPZnuNULnMcz8QiIEnMHqm9+clw/i3rvl1ofskkPcIfkdBBdCsv3qiNVHgXnkIPwCEcBoGOABSXecGxnMdrwhfVPeMBx6dkHsUeIEYgAKCPIRJGIVXAADTr4ixWBoRaAEhwAJ/cscCHt55V/aSN1Gv9zBbTZj/aTZ78fyXsbQIsiu7svsd00gXAFACJWCCL4CDQKCEUUAF06fU+VmuP3jv4r5arLf3CqBmWj0A5JGK0XFq3y9x4Bfx4c8xPOMLb32BG0j+5GeCLtAmPLAEUhgFACAF/A/L0bh+8QQIDh06AAAgAcADBQoVRJBQAUAAAwYYTNhg0YIDAwUBUOjYcSPIkCJHktz45yTKlCEVsWQZpyRMAB8+vLABwMaLGz9+3LzhQsmWmEKHxoyDcuNAABw8duQQskOeOGrEYGGSRMmBABEPWLC4ASOCjUw/Ei0bMiVaAH9AImrUSNGcL0LMFpwJoCZenDjvouhL969QlQWTcihseKPA/4GIWDZCpKfNFxZatRJo4ACjgwsHOY4FbBYtaJAt43xJ8nfmhxZ6a94s+AKF59gl0wIg+HTgwMS4S7DgwUJTIz2TAxAgYKB4ADB5Tsr2PAf0UdFxuiix4cIsahQuVq9u7l1kWoGDC5Yojzvp7t6+eXTIOrk4gQAX6HwHnASLmDZ0QoOMIwbKD0LEUBZqqV33wl163VUfg2qhFAgiIO3WQQkTDsTbeixU6MBw8bGARYN/xfDDE12cEcdya4VkhRVKMFEdbEOhBsJ1ANyQE2svtBBiiBC2pMhiblV4XnrqdVCYBB1EINEBAgjA42ktxCBEFF+oYVRIPwkBhRI37ChUgf873nCDTXvh9CWU30EIQEsAaDIKAKO8CSRjiFDIAp4DUVAQCxxEoEABTqaJ3QcgqKZElWqEpMSWL9YIU4F+/TAmmQW58Nqg3x3CEgCNvLnRKJTASYkibAIJ4VuKLAWAhhwk5OSTmRI40wgukBiSDUxAwWUMMZaUXV867USpdQjK2lxLiLxJSZyixilnqm2hFYgivJUQwQOBCnqsjKi1IAQWZ4AkxIsv2oDmSJGikNNO7Y7ZgrHcegZkI26OEiqzjTBbEHB0ThtnQQkNEKu83f70BZYgQdbFE0KgG1Kkd8Vwo04ATPrCTwV7FqSnb4bamLNxusVSStQW9AkAT/Tqq8b/MIEQAxNiPMfcRo0EkocaXfxQoF11oQbApTi9YOyYAMzV8l+HpLpsqPyG+vFiiJQ8SUGWAKBEC34hHRMUZ+wXXUGPfHyIXDGkwLNMdsH7QgwYu3DdmE9sDRjHot77rN2UUOKW1CdRqwkAn/ixhQ19aT33SG2kKFinmrwJXBtYJOETCjyj0ELQQ7991w1PKIq4WUrTq/e9edfsVkqTwGk11oazDLpJ0IH09MdztEFVly2MMJMLmK/Wwo47ilHQKI/APtQhBbmlt6j7ArC38n0rAjgAhmzhA/CGHw+e7AVR8jhwKNn+BRQCYg6vXi5c/m0YAKiCCiV6bE8UtYosr+/z/8p32shJxqMCwBmW0LvsvW5+3evUveREiUCkJCpq+EJVJoU5kUwCFaOYBCIQwcD5CYUxzMNfvjTYGGWhIhR4IFz2slbA7UFnLX9Q1uNIdQhLWAIRhxjEH+igBzgAIApKCEkX3AeARzAwEIfoG804OJIPek9fI3TLI0jxPzcoIQaYG9rDlCi7kzjuXsDxhCcA0ApWHOIPRzyEHuYAgOElgQkFeR8AGOi3I9JGiSL5H5zYksHvldAQV/jBpTS3Qg628A/fKx0lwggAVnzCEzOkodUKQp+CWFATSPRbBvljx4IM4n+vWIkGAYAKVFhtCRgbmo42eZYWNuJpmqCE8VghS/8w0tITpSoIKQpyiDi0AUVy/AOENKjJTW4BDwATZZzsJ0pSGMJowANe71S5StDkoYuvzAQAPMGKWtISVKoAABUDBIX8AIAOgQjmJcFmRxT8sAtq3IgFVfGKSbhhCTHoHSoHqcUWdvFjAEBEJrjpCWwCIJehKIgV4XWDJEQBAG2Yg48skQkbqtOOwurh8MQGAF/EIhRUvOfabCLNaabkEI9T4EQD+glXsNQV2KReH4Rwg4I8U0pXC1cc1lS1JG6yBcLayVza8IhYcJQUgwgDEwQUgxiAYKQgkd33RPXKt2xEEdSKZCw2MqCNPJOmI2JCF9pAw4Jkoo7b+8DlCjImBGH/4RCoyOonX0GKR/hBLk4l6R8sEUba7Q2bljBiIIZ40Oq58W2PAkDwgueCGCzhDiApYwthh1a4IRQAX5jEK2Ihp1G8laOqGMRdY4eSGQIgE4d0XL0AcMSw5fJ/TJippQzL1cRmEQCDmFkht/aBjdyoIE/wAyk0C7hDviKzrxhFJpo5UtDQcKCh8Ng14+i9PIbkYdepKTRHEoYvuCEOXyvkH94ZG54VSCQfqNGNbCCELmC2Wc/z2N2ct9ySgjGgnnAlJfwaof/ZdgnnAh5iQ6Ij2m41JGxYwhvc4AdDnBOyaKFDG6xwg7OdhmcgcF3lNoLWnmzED2+Fk75emUBKTNKp/9OipV5hqMBGPMITnzgoKgbh39kGryBppe0RQNIEoUjUhmWcjsPI27Nf9Wx9IsmajdHEhMt+El9RTWAj8hBatByCm4g4JNRSG5MvZQ3A50NTE8Is5jALJRN+AIAPUpACEQi5vBr+2eVipD2aIvZwP7CCG0jxiqkq4hH9HAUipHxXtNBSpUp72t7wx1/rTMxdCaWpl7M75klPGgBNqAIbvmAI5YqkBz2oQQpQwOY2w1mFwOIqqgEQAyVgwRKo2HNjFPE9+JZ4vqOtJUsPgc62yNc6P23XpM6VAsU+8wiUDrOxjy3mjcDhDVXYcUk8HepRo6YGPUCyulK9Pp8qIc+anf8EkN474sAOOiX29URLObURZn1Tre0SArzjPSxI11TZa2DDGtYg5mSPeQnVA8AdwnBgoni6BjVoQvYs56svwQZ4PgiKKlSxtwx2bNxTHm1AM8GKVrAUZcwbRSxeEYorKGFSw9JJvOHdrhqdLwaUvvdI8L0GMDRhCU14AxwMAcZN32ELA4/JvlMAgMrNZM50HjpiGdsHV/hCFaHIBJD8DF8t2/okEg0jx1kaikccMhaxIIUY3FgQlQM15UJYOdB6x28ys4ENQnlDQbRZS0vwvApAR7bQjU6Sht+gCtj8BSlCQctZJ1BqNDSiKhWhazM2txVZd8XW3+R1VJyhYWa/vNn/d/Jlft+77W6HCdw3snHHz3LnbrjDgaGtY2TDRp8ggc2U3NAK97WikWDE8r3okLxsDpTcHEQFuBHxCERYYuMtdUUrROV1VaihYUZ7/tEwX/a3tcDYYOi852MS+oKwAiSzLwjpPWGJO9xhCTaHtph7IHRIH3kjl/PBEyzximDoYhazYKkncL/ASMbdkRzMxKupAil8wiR4wuOxVCuEAlylTPRB3/ONnbyhnHX4AAAQguddYFlsXEk4nhh1XycA3Bv4W/q5XoDZmNG4AQCEXGOckyVUnBdlAv/xXibc0PEsVhhYgp7FgirMAgC4wiw43g/GlRtY3tE44FzAm9GQXYDc/4APbN8bYCDoxV0PlsUPggQjWOAR9AqNAc3RFUQK2MAPfRO4ndM5+ZndhEoYiZ8Uip/vgc7l/IQlKCAx+MIv7KD9pSAq9METMIoR9iEEptwNuB3cwV32RaHoeUb3eUInGMIbYA+AIVZNZYmteFunaJARXdmfZRM2PYLVKJL/HQ+toMARLMEH+kIwBIMvzIIpkgIVlVwfHuEDRl/KIRgAhN4Tft5QdN/3AQYCil8YyI2XxFYgcSHQ3MAPNdEhJOMR4R6cgJEijFUY2ddZFZ0LNAEjMEInzMIpKkNB9MESJAFPwKI4Wky7jEu8scEgFsQbpOP2hUToodtQsNRItNQYef8CItABDwFjgSHWdRwWMimeMobYiPHeM/IfNn0iKNZAC7ABIVwjNgYDNxLDIWzBXDCKELjiOJpcLF7kEhBCOtZiLa4jSH5kOzYHPX5C95XKzbzED2EM+93KNwGOjyWjC45CvThjhMQgGHGQwRFCBb4BNvqCMiiD15GCJZyBElwFvF2FEjSlECTBOF7kD6DjSIbkOl6lSH7kRuyiZ5zkQLEJ1QGA5CxIh73VRigjTeJeI+iVJzzCMxJU/+3e8bQAGDgkI7DCL8whKXyKDsYYl1zMjZjcDzQlYSrBErRdVWKlYiomADDCVpok8jESK9TPSLxEQ4HEJ0GPIyVjhPxZhOz/5FrCZf9tDwrUACNgAiOYQicEAzHQnyvYzyMMlihNAlKe3VpRShOiY1YmpmJ65GI6Zhi5gncgICO15T9lEHJmUEHIDwX9Ey2tFnzlF++5pUSBBBh9glwiDgqAASaYgimwAmsSgy7ogitQnJsAwCehpwkxyqRQim4u5lVa5VUSAn2+gUfSZyeg2/HJ4xSWBT1KZtQkJ3KGG0ywZVviHvXU11vwXySNFey0ACGYwi2ApzM4wy+Mpz22BUhQD/GIZcn9QEfaJ3xm5SCKaEMWREPm536uqHAKZzxGZiNNVHIq07rpjUgoDjoJZOn0ny0940YQVJVtjzWyQoU6QzD8woWa/ydJfFLI0ZMSXGN93ueI+qSJYgJqYkInyBIA2N/93R+LtihM/CdKDl8G3dJIwElWhYQYwME5idu9LAbv9Shc7mRpZefctMASeEJe6sKR/oInBEJYbujzZFZRFQSURqmIDqJv3udpYqlq1t948uCWbqn9+eCX9idIICBKulhjBCpIENUrGNNGLBarAcAc4B6EgBErQJ2Z8p5qIeT2WJWqwqn3kASzUMJbEUNruoIpVOAV+iSiLip96iY2ssJ4HiuySuqkcqmlHh+mttQ2bZMneKq9gMrVJBSaxEASqIGn2KQNudgs9Kh1hlFzCdrxKF4OmZOsCQXz6I0vFERr/gIroPfmodJnlHpkE4BB221BJyCCfiIrwI5nQUgql95fD7bUwdZetBoPSQBOXPmeT2AX8CwUFqgBHSDC6CkCynRfNnVs3NEg7AgTSkRI/sBEuzaCAf4CRBbEL8yCKZwmlF6hfRKCD7BBavbqLJDn7AGUi7FUwB7rRhAslw4sSzESSormhnIodVkMbNnAUg2QlPxAF8CBNi3GhTpe7WUTymSTJdQa4pQU/uSPfNUo8+gCkp4tRDoDMRSEatLrFYLBC7BBd36nK5itLizSYtCJcxpg3SarwIIED9af/Ummi5UEdbUqSMybjbgLUJ7BGViCztKji7GCv3btoAQEACH5BAUGAAAALG8AGAC+ANgAAAj/AAEIHEiwoMGDCBMqXFiwihUrDCNKnEixosWLGDNqfAgRQAAjUTSKHEmypMmTBzlCJAASpcuXMGOe7AiAgIwqMnPq3MlzIM0APYMKHSryJ9GjSJOmFGgkgdKnUIV2bBq1qlWYHWU4uMq1a1GmTr2KHRuxY4mwZNOq9SmQRQcsa+OS7ciCRUi5eLnSfZu3b9WOCVr6HZwUsGDCiKUKDHw3seOdhhs/nox18WHKmGcKBPpYpWeVmTF25Jz4s+mHoS2O7nzadGqKWLAYIU04NsfYuB9CgYL6tUQsXbrIIOAYd3AjPXQ02fIwN03fCpuXII44eJfYRQg04OIljSA5ggSR/8HyHDpC8lESUB/8pD1vHUNIBMgBqj6n+5wiFYJrPiFu9YjlBkUQVFDBBSenpKIgAAqeAgp/cjEzzITD2JIKJhiWUpEVsQE4GG7AFUGFFyOekqCCKKZySl7gxCPPPDDWM4+MM8IoDzrojAOONYDgZBBuAdh0hl/AXadDFiQSUUqKqQjUoFxWjGPPlPbcUyWVWE7pjjvmSEPNeVDMRsAJEMoFBRNMhJmDF15wAUaCp5gxIhWLMLiiWlZAgcmL89Djp0D1uGOPoPYIJKg74TTTjBlNKGdEFwB08YVwBLAkRF5inCFGcETMSYaJqZQCxohemNEgGGmdoekt8rTqqjwuvv8q6zzkAFOQB7h6MMEFBuAagRFf4KVEmlbwwCYVRUhi4ilkHEEFAKWeqpakw8wTz7XYZqutq/GIItAEAEwgLgTiDkSAAesVBAUWX2Q6ZFC78SbpGWqooWlwWOgghxxppLFFKQkWEkYRXgBQBh/LolreVUWwwMU37bQDgMQDXSuQttfKcwwADTTAsccQNGAAAgAgsAACBgAgRkFoKuGEE1KQYURvMX1h83VnKiGEEMPyhlsQ+8phhLIKsjEwAPsWAuobwQoFyCrDjLFJLaI0wYIMRmBtQgQXiDsBA+Kww07EE5dNcdkAZJtOHR4PBEHIJJts8gW33FJFF2LkvakVIQD/gAMOQGQaRxxw3EvebhxahzMTSvxgww89g2gF40pEjreqmk5qXBf67puGEcuCkmYRAsmhtIls7DTNNOOM00466EhzySWw8FIHypXmHmTuBpizzu8CpeOnn33CCMA8ALg6TzEkL+D88yanTEAAAWCDzjo4mkMOONxf8jcOogyzSt11c4jFmUkMmya7mdYrhuaxBde+vZuejyaa64KYsxBA87tFweFpAhauUATPkeE+pShEHGKCCWaowxzqSEc74tEOYFwCDVRjwMkWMDIDoIt3BqiDxNgRDwDU408CadXxYBQjQZmjEgRpAAI8VqmUGWABQKgELGpRi2Q0QxrWsMYl/zCAAwxk4xznuB72vMEOdJhDRzraETOmSL66dSFnjnuc5fD1jGcww4vPGEYVMQGGNOzLDDwQxCIEkYYlgAEMZNhXGYqgRkE0ISa3iJg53EGPepwwHjvEhS1s4byOPc95cltAA8SRpSkFyo9+HN6fAmWPeogDAOIoxjGWcQxRVKISdahDCEwWAhJ4QAVoIAEaPLBKHIQACCFQARCAwIUhcOFtuHxbJUQBCVGIQpPHOIY3xDFMADgRitx7xiAnxIx2IA8A97gHNKl0I16YsQzcCY8cytCvMvArDV4gAwDUCAZilUkkt2DdPvYxpWhaqRrHsMV9cMEAXH6tY7gEwAK85f/OfroTmgCVppX+mY+B6CMf+EhoQqNJJXdwj3viOEY0fgiLilYCEiEYJQJyxdGOelRXuJoAuXaJDW7sAhjhQIc8KFkogSgUH/d4hzu6mQM1QqsMOM1pv8S5RjC8DwuM2xnP0lSRaWzDH/DwRz/ewdSEIrQeooAnJ7iQgQ1sgARW1YAFLOCABehzAeDYx0HzQday4gOhCE2oS/EBgLLaI61nJes687HOuopVH3jlhz7uetCFWqlQ4PhGYCMq0U76kpca+GiuvAYBNFyiHCSkR5Wi2VaC4IOpuJBDgcKziDTglE1s4pcR1igIHVyhSNc53xPQ9ISFHeQZ9uAHP/rRD37/rBOveCUrODaBDVqIywFctcAGNKABq27AATesA26Xy9zm5ras7mAHjCj4qovxqR5Yeqlz8cpXfdiWH2U16zuuVI+HikMbwTTsJ4WxR0JdaaDRdGo+IEGFIXBWEI4Ij36/I4hx9hQ4mWoDHAYXBzXsjXEKkUQ83jHX7u61r8D4pQMmLBAGTNgCGgAAVw0QAANow0rbDXFu7UFBFyFPYiguIdpQbLa0vWoerepTH6cE03vgw644ritZH4yPRtrjHfAdaJaG1w5eQIBOpNUvadfI5PAwIQlC+MENbHCDoSbuOgqJQiLK4UwW2ogd5iiHmKUBAEg4gAEHQEDueHcANFOP/wHgcAcAGnnCGckZAHdmqDvSMbGIWYwgJQx02gYd6AmW+GIVS1ugsfUiWMUDxn3yI5VqHN+XWrrS/XTkPLph3/0m+b51DA8umHEL25wJTVbAmxoGN4fBGeQJRUCHjxspDjQcYAEWyEAOVDAEJ0wAAdQDgAffTA+MODIeY2PHoBOiYhUDOtGCjjahp03BtPk5HutIR3zDG15Le3uh8kADErgghQKBZ7/oXoQc0LALdqSjddO4RRu6MLnKDau1wCGIzm6wxykJxMfuEIcH1sSmLEghDXxIRCKyMIEGHOAABjiAKO5sEUeK7eJka4eyBxKxjnv84yDvOKKlXWKQU/B3fP8+615zfNvlcjsf9qDF2/DZsY51dAh2mBoQ2D22WNWDH9u4xRJ8MGUqVzkJUBBIHNoghmrMo1D+bum/3UFmJHghC1kAZ8IjoXA55GADDPgaLTKipXUIBHsHYbHGe17yiCVb43AfG4pDHnK5/24d5pDHjlnO9xwnI2QNeFshA5/LBuCCE7jYRB2k4WVrOTMf47iFHgpcPwjVexjpqAeeTbh5ObvjGESQg0D2ELR97UHhfPD6BjxggW9QvCJakhiOziG23yn79hdnxzriMdkpDS+SLGzVtUROdxTbXYnnaIfmAeDUvvfdG4hsgIW3Sn1xNWABjsg+LnARDcoaqh7yEB7/PZ5R4HtNTiBQeEISNmHnQHXehNHolx2CZoc9AGD+dkA4H/YwBhVY4GGGMiibRxBSZyj/Zg/0wA7nAABIlBB3tw7Y4FW45Eu7JArp9Q3iIFji4A5+REG594EfiERJhA7xsHwHIWOex3xxVVfssAAdNmHAlVVcBVwTwAXZ5wjH8A3Q1E8CkQ/p4G4/IARJ8ARQEAVJNxB/UAjo0HheFg1mkAYAMAZjAFpeUAZ2gDRyMAb5JwdeoAIeIGO/B0limIJ3hl3uMA94BwBhdg7AAwBmhz1weA5sM3MeQzIcA3gQYIdvwzF1oHvrAIK1JzbnUA7mYA5J9EzGNihAQD0I4ABa/2UBF6ABDmBVGJYBHsAFxaANddBtNfYOs8UPzJAESIc3ANAGA/EFUNANhsZo8hANOUUQBccm3oQ0TpAGU+gEkPBofMJCK+RlBdFHfnQjAEAOxFgO67CAyGhM2HMOwHBIzviMN6RIADBzyQA8D3iN61AO5CBmviNZWTJn4Ah14TgQWFIH1ONBH7Q7lfJwM0gL4QAJYWVXB7VX/vAP/wAP29ALSfAjTGAL6NBxbxcEY1AGAjEFTpAFAJAFQzAFbDIGZuQFTnB1TpADq5gtyWMQ8pBCvdgO5gAA4fCR5GAQ6JBE5/B3uYRLNZeSAmFIK9kxC2hMbqhEd3cOILmNyjdrOP85a2gwPecyPWHnBXyQcHzAcBbGC9cACcewcjiWD++QD/3gD0oVeS9AEIHwB4lADiLoROegDVEILV6ABCQQkVlAAgTnBQ6ZBkhgcE6ABMcQDt4wTBs3d2ZzNheDbADADXiZDeFwDdhgiIZ4DoaYDR20Qdf3PAXRMQcBAcWAPTgyeyOJI+SAlx9ZDvHgjYeSkzlZBxF3ABuwAt3UHXuwB/IHACRQCcBQB8UwZ9HEcmMlW+8wDj9AEGfQBdWwjdsoZpswBgJRcEMgBWwiBU7glVVYBl5AAsDpBCQQAkEyARqQARPQS76UXm1JTOIAkOiQKGOnSDM3c3UACZVAeCcZns//OJ4LcIyPKYIiyA3XkA3ZwA0diV1mOCiX6V6YWQcMoAEq4JCec3BB2Z/7ogIT4AHQoHn0WSUKFV/RlJEEAWW2oJfhQA7iQA4IKRBYl5BIUjACgQQROZwa+jLC9JHYIA0iWgy8QAu1AAkoukrT+FXgiQaiAAvJgA0CkQ3VUKMkSqIXdVEhAJ7h2aOFBwzHiJ5IFGbXQA3XcKRcNiNiGChb0qSDIp9Pepn2IAoToAJZoJtp4AR70J9c2p9TMAHNgJlYAn7WkAcDYS/X0QzagJfd0A1SAC1ZgAQ5MKG7ySa7hpA4pZtOEARIwAsA4A1/+qfh4JGYRKgDcQ1eQg3SUAzL/yAN0AAN1DCo5UAQk6oQ2FCj1XCjnuSdGMWjb8Opv1QMxXCp1PCokHoNkMWEjQeMJ8SqkNSkoqACUoAkYxCaoRmUpLelXLoH0aAOYupI6YAJS+AjApEHeWALP0QN1ZAMCMkmcjoFsFhwaSmLZZADLzMFuJAN2rCteImXANCm3SCoAzFMbimijkoNkQoAk1qp6tqu69qu8BoRNaqsxSAMvAALKHpRb4MGQAAMkAoAJJQxsxJju8iEwyMKSNCbSCAHuSp6BsGw+wcAz+CNOclH5EAGLuACA6EIgTAHZ2ALptoMMMMmUwCtBcEmdTqcBAkzQ3AM11CjRxqzfIkNNCujA//BDd2ADc0ADQDwqF9CjMNYqWLmru4qZkZ7tEibtOuKtOQgo5UABBDQr9KADnJnchUpsMrTKt/AazkwBKU3EFKom6/IsPsysZh5hhuzjwQhBlgAZcCwDIqCBLMaEVSIU9a6lrRgrl4CAF+CrnwrENXQt3xJDXDbDD0LDe3Jpt3wkSD5oMT4uJCrjZI7uUdrm0qrjdmwDLYCC2jAAB1Dgb4kqsXgDdwDl8VHQWTZtWaUfwMBkUgghWUwhaWDf1Fau4RCD8F6EIhQlXMACMKwDMsACUGAJHGalggBkXjKTSqwljmgKM7rvNCws6YqENBAZopqDIXbDMtQqpCKrugas9j/sJ7t2Z5t+pGL67iQm76W+7jaSIzZYAzAIAzAAAzIUAyLygv3GkqhxABC4AMLwAAMsAHT46JUUwzGUAyikAMKjDT9optRWJxropsKbJZIM3/RYA8z0kccKCh+NA/WkBB/YKx5sAfYKwpZwJBZoMB02rpeMAQaEJED2YVDMAQ5QAvLUBCGCwA3jMPOawzJsMPIYLjJAABDTBDPa6qJ6r0yS7PaSr7d4A2MW5OOGw7YIL/zKwzGcA3eQA6OG6HE+KB7KaITlQz4ywuiUAdosAAqsGu12MBTGLYNOQYpnANSWDr88iKPtqpoCAgKMQdM9wV2ALwwMyIGucLCKQXTinUn/8xrQ2DDArHDkHwQhtsMyCAMyAC8xiAQyTDEm0zEnPzJRKzJonzEj5rEyvqyR1qz2YAN1CAMADC/wGAM1ICz4Lq4b+mWUVyTXCwO4SANJLDGOdAvAjGFOfC6YfvAZim23ORZ1Wlo7QArrdIO0RARSfADMWAHyEALQRCcx4uyFlqywEkCM7wCOvzI5lzOBXHD2mvJyNDJnvzOnRzPoCzP8MzJCPG8O5sMJwUAJ2UM0gC+Nbut3IqztAyu3rC4kADM/QKFUZjCQ0DBAhG7xzyQ3FQGx4AjYgOQ7XAORqCxDGEF6mcHxgAJUmCyFJoQx/kyckrDjhzJ6LzD55wMlSwMyf+QyfV80/Sc0/O80/C8DMgADLBgK1fMt96rrEYKszIL0DRLC2usAlOw0Lophck8EK84BlSQA1GYU8dQiICJRNkTDWowEa3WBoBAC4NcMEhgpbs5EG8anC+zlqkLCTfs0nT9yJRsDMaADMZA0zjN0zrd1319wzXNzwKxC7uAvQNhqtVbvSJa1I5dDBmg0MIMtnVMEHnafyqgsmNwDLdZiIRYDt7ACBYRCIEAB2MQnFg3BE5dcADwphnq1i+j2jlAAsD70udM13ud23kN2H/d234NygBQybBg2IYdyzCtEDz7qNILDXXwyyrgTZ5Vx5V9EHWssrEbDVNcjOFgC4FwEU//YM1FADMJCaclSxBIcN7n/dZkmQG78MN1/dLaO9PCMN94/du8bd++LdOuTNwndckU8bzAkAEkQJbDKYVOMARdaTA4RRBhm1NSmAXScNDg6pbHoLYWYQMtkAIo8DLkbdIDgd5IAAAdigQecAFGQAZksEvAwAs0PdcxPd8wTt8EMcTLUMShHMq+fd+evMnwa9j8HNSIPRHPWwdXlQEAwJANGR9TMJAKvuDDjCQ5xSabkMo1iw3JcAIpkBFPoAQ2EN7B6eEGAeIdOgE80AZf0ATTowIqsAIqQJZ1wAW9RAslSgu+tAmbYAdFkOdmQAabsAc8VAu4QN/tvMmEXuM/vMmG/57oiL7oh/7D8EvYAAALABDkEuG8wGABpoTgrY11ZmmWr/jppy2rMcwm9ouuiSoM4iQSh/AHcUAG523erw7r6T0EDvAAVyAEasYAaa3mA97mbb4Ba74CxVwGZAADADACyD4CWT4CAgE5X2CKhYAJhVAImyAJJgro8ZvXg07oja7ojg7UsHAJA2HTOCwQOTwQQ96cKjAQg0yrOfWKCj4GcjqQU+gFzYvPwAAISyASxurHZxAEMxziALCWAg/ru9bmBsACFGAADDC8DrDuAx7xA/7wK1DxGoBzRQACApECHK+7iAAAhwAAH7+7S0cQYAAI0R4JtgDo24cLeK3tem3Yw/893CeVvfh8889bCR5giQbhBFPA6e8e9A1OnF4gBcCgKHC7DLBQCCZxRUpwAzwQ8CEu5rFOmr1OgxqwCJywAhnW5gNu9RdgAQwQ7CswAd1RBDszEX+AEFZQBW5vBV8wJHoAAJbw8QLxBtFeCHbwohW1C0F9yTgf+IqyAOVyEDDD6RQt0dL9WSdMC9qrvclQC919EjHQAiAAAiYg9WIOAAcPAFZFAivgBRYwAWWwCpywCGlNAqQpEBcw4BtgAWpc8SqwTV7AA0RhBUlwAy6Q5720CzQt+DevuWG37ghxrUA/hXILu8SJdXWQ9JRsC3oQCHZvEihw+Ziv+eeN1W1Omq3/D/pBQAIWkAOpcPpjYAHcLxDGlVUIgFULS5yokhSxCQAxsPsozue2sAm0QAsrDgz16sMAYcyYMAgekCABkFDhQidSsmTxMsaLChURy3h5CGlZs2XLjI15cWPhSJIlTSZUIuRGDB45hgxBMkRFQhIXEm6oqWKFCg0WhnByYoYBgJokNgDQsGKnBQ0NDECYcBHhSapVrY5ERAcOACtVlgD4kQSGAwcGAKy4oAKnigtBfMI8eLLhwywSLWLMorHjsk0trv49eUbMly5FAOSgObIoUYoALFiQU0QJC5sANvREcHkCAxIWDCBoMMULEh6ATZ9eGAgAnTMmHhs4ehZnURUH/1wejCt3ysO7GY8tSybMTgrUxQEoOtTmC5QSli0vxnmBBInGjzn4eFHBwVENDMqkkQN+jAoECxYQYOAESQkfxt1fNaGh+9Ho0yle4AxARQ7cuUkimQsivLjABZdNEkkiCZHe++uPhIRwoYUTbnpOugqpWyEIpCxAAYQODgBgOzlGJNGMNIYwjwAD9vOAQRdHIoOMHOQjwAKjAJDOPgCGumm//vxDqD8nptitri/OgOMPOuJ48bQWUBjhAxNyuNGmKqfbYAUqSEjIBAkZeIzEEc0gMQ0SUmyAhAmadLEIKobgTIMAHOASx+nsPICEMnZSSIUfg/zzoIZYWIgONlH7IP/RD0pQ60KjaONTLRhOaMCBHMAzMbzw0uCUAQgQICCDBg51rwQnGNhABRICGOrRHKdzgIEggkBsIRXgCvTPIsQQg1TjnoTyBA02oK8mourT6VEVApBvjDJ3CkJTOSaYAAICGrhANV9NK8EhEvg84Cgui4IV1bNWIIki9XKNKQfDtnVPCR9iaCG+YitDlqIsVbAAgQMwlSMIBubkdMQVFihvATDygPcvE4ZwAtQcCHBgWGJxim4zC9BtbKSZ/Az0JSPCaPi9QOA4IwweVrj3WDtXQGInpTYwoAwARkwDgRC/A28FAs7TuWSrTiAhBwgaUHGDxxx4jFijupsA3Z1mKgn/w/5ecrdXoY2bA+UvokCiUaJyjA6AIKjQSakVhiIzDSKQoCINPtIwQwUDEE6gva1PioAEBDwIAOENGKh4AqaZ2sCBCaiQYmqqSZqOupdeImNvBp9QKQYTGj3KSmQdm0ntDMQsMbwFDPjsBL8sL8naTxGAwAASvADvZjMVr9gLDSl6fKHIUy3aXQCwYN29JxO119GLid1YbaU08IJMMkfkY4W7CYgghuJJMgKB8u4+LA0A+JBjejkUt+CshHiHPPLITdieQUVPAOVi545dPlXng1j75ooMVtHdTsCE+C3kBASIHcJUUDo5kC8ITDtKpDpGk3FhSAUmAEEBjaOoD0hC/xYTUUudbpK/cynlbBpo4MY88DMDEAB+GlTIAe82AQMArERB0EBC0LU+/TzOfdPR0gth+CsyyAIUi0hD7xbitCFEkH9B8AIK9zAt731mBVsZIgAOGABq5UBMaQjCTGKzp6n1kGp1qlOqhJjF0zyhCKs4xSI4kQYOKGRcxzIKxjI0KxyOyA5l0MACGsCDKLDRBQAAlbW80EATOYAoZ0mKF5TysR7a8XckKMIT2FgcMJxiFXKMTBVKE5ub5JFYDtDJ2VbgBD+WIQscMIL2NmmF2IFqkXIgwu7Yohad8M6XM3GfvoywSdSQwQxUiIQgkpmGPLiBBzbBGJfyp4HtBCELG/8Ajx3S4MpabZIOcygCAWZHBDlMjToXQIvTzOjLyMmHP8MkplX+MM8/sIEPksBnPiURCUkkIhHbLENDGreCHKgAfUxTAQFyYAc5lGEMU8jBhNhITyI4YQxlmMBadoJOm1xgeetsjBzsADcjDMJB8aQKPQPBAzsAIJ+cwCdMJSFTmsYUn3JQ1QZOtwA9XcQJKpBABrM4z8pZJAMZYMtGddK5j94qWnyAqh2GIAcw4IFhKDVJILQaiDcgwYsA4ARYxZqQmeqzrGWFaSTKsIDYye6hMunACCbKhhVIwSKqkpl+9FoZC02VD4n46xQRkwgy4AGrJ1FEIxShiBLwxgvfKUP/GaZ4EZGmYQ97EARZz7pPwDZFRR6gApUSIMsh6iEhdr1oZ2SmFqdJx09Q9acgYhuJP+LTDkVQg9YOu5AunAEPHJgAfyq7TZH6EaA8w5lERpSIfgqiDAwwQOBkMoEE6FaDiigCfxwyGtBgyQJOy0EQ/prZRMj2r2MAbCIisQfAUuEHux0JClwgBBNMYDpOcIIX8KLfMfQXAJHlVBoYytBNPQSwY8gB0ggwARVAAAxsVMJhIOaEHCDsABmtGBLGAIDyxtafZZADRpz1V3/KbQ9FICB8E+KCH1QBuEVDQpHoMmMaOzYiAg7PENIwBaI0IAAIIIEBFjbEEZyAwTDRQAsh/7CACyChDOntMB8i4azKXoRnDN0D+fgwhUKqGABKOMMfFoDKHAypJDXOghT4w2PefGcMWEMCCQiw4Mqw0QKq8gDqIOASEss2ERxeJIjt0NI0jEEKQ3qsHLJcBkHsAQxq8PIgHqGIwO1HCjw2CV1Om4McyPghYyj0foYQ5PKAwbRDBEECMkCCPH/mUrAVBFT7m01Fy8EuWZjCXGinaPI5lwxMgm8jEBEIE6yozFJICKYXMuNke5ouF83CfibmPW1lMQEeyAAC7jaE72RZU4Muk830q98sMO7SdbHsf2NNBTpc9bBb/QOjGqJskjB72TWWSEH9RoAVnHqIH0jABEC1AP8kZCGyGhapHchXaP2emQoB4tT4xmcHMpy62puk5zyJ4AEpXLo4DwHAjL0ghaPeLQyWUEQWQSCBCQRAnAW3KI4buuFxZ7rcDQEA7TBbBqhOoRG7jcMc2p0HIqhgSPQ2TY29MIVq/Swhn9BEFjvgYwiQYAg5ELRDE4Jfq6S541QAAI75wGhHQxqrT+htHOJQAo4jPek0xkjTKfCVTbIAaQhYNWQ3nGxOZ6Hrh7Zr2Bc9otIsKJ4taAGLk8CDCQCISB2fAhXAfhW6SCHGD6HhAk5QBWLy4O4Q+K/NRoLzrk8B8AYn0RC8YAIUHFYEIhgBClLQggTcJiZwwa8UJk+Vhzj/gQQFzwLSdkjMLaDOANCTiIvw6/eLjhwCGMQqBz/w+hOE2FlDmAAPeFACq5MeAPQG+UOmcPksGCACYjAsMd8AKrPU3D1eeHjudyMFre9W+h84gSAWIQdO4FINbUAZHSACiAEANRsCTAO5kKOLXLsALIqnR2ihBUiIhjOOcrO8yUGCNCgFUIiEyrE/RQGBIlgEOUqmIJiDPEDBJSkCAJGCq0NAv1NAXHOCIjgprPIZCHC7pDM9JxgCFqgvsOMEUNjAVIAvRYk9IlgEQeCESJCDN9CDjPuDPGAD7bK5QyMCRIAvHjCACXCICsy1DCiC5ZiMHKCCIBRCWSgE+4u9FrgB/zNIQk5YBCpwQgDIOBScQse7t45zAiLwMgBogAlwAirwAtQwvSHALbVDRA+IiCCUhVxYhWFqvXiSPRdIgi8ogzdcBCTIg5OCQo0DEPwCRfxCAtzqw/pqiEE0CfebwDRTAR04g6CjA3rKLgCIBFBIhUYsBCV4AUlsgR/AgjbgADkYwUhYhBXoxE5kAxZIA0GJsyIwArrrQxaYi7Bxu3GDqPwCORn4AljcxHkCAw9wgjLghFOQhXIshDmwriESAisQgzjIgxIQRjkSBBWggHqkAIWwRwqogArQxw7ogJOIvdkjrU3aihzoQqNLRSm4FYyQAhmwgjYQum6kpxUBMU64xf9cOAWUwoPFQoRDKAT9W0JBIAMJyMeStEcO4IAOqKOrGIABKICXVAA2IoPlE5Bxs0lyY0gi0KTVkEh6CgAI4II04IRSWAVcvDgY6oIwcIM/eIRJkIT9W0I5YAN/w8d7/INAUISmPIQziDCqEICv/MqWHIBNmkknqMmbtElcy4EuUwgoBIMAMIAMkAhQIMdcSIWjhKEYsAEhUIIuMINkWkIquINDOITiSJSRAMvE/EpiqiizRMu0zDVXHIk6TACXawBuWwSibMROGAR3g6EPAAEUaIEYEEYlXIQhaMpJ+Dk2SUysIoMJEw3IJBIigAM/IIlAyLgEmLO4pAJxJMdyxAT/PUi5z+SgExhBeQwCJSAZAPjHF1FMsNwkO3ybUBQoNSODOTCJSZg05AgAlzMABsC6zLzITijMf+MgGNA/eeSAxEOJJnnOsYQhk6zHB4gAnRgC/lmBepSABzAJpZQ0NoBLAkAAB8gA+hvHcswFTMgiRfnKFSDGkHSArwxN1kzMlhyieiwJ+ZSACHgABSgAsRQAhXCBGPCBJdgCuPyMofCAMqACW2zEVJiEz6xQL2BCDiyDBFhMCgVLsexDr4TORBEB0ZSAAAAAAT0ACEACLzjQzQSAPoifDwAAxVRS/otDBxgAAYDPbXFJttwee3TO5+zOMA0ARWzR35SFJt0eKH1O/zl40EVQASx1yR41jpJ0EcVsSTElgANAAmH8zVyQhdXcHsV8gPTkBEHYAJcsAAWIADlFDfrU0R290rAUABPgAi+gy3KUhU5AhfhRzAtQJlAoVAt4yQeQAH9kVNOI0y+t0AFAARRwSRQQgQ+4FEHQTD8F1K2Rqyj9ALAMghEEVTlQgAd4gArwx5XcGtzcGzh91JYsgFZ1VuSp1Estx06wHJVICChpSQGgUf7jBC+4AA4ogRJAyQo41QJSzGZ11nSVKw9IAy5wUT/1THhZkoRQgB/40JZUUnFcBCkoARYoAZXkx3vsw5fMUpKAUnhJzAJ4EmBBvNZzARbIwCXN1PKEF/8UTAgKoIM26FAPVULTJAF/Fdd8LNftydavhMlEdQH5Wh0AKAL4u1Q/bRh6Wog8sEcJ4ABlkkcS+FeVFNmRZZ17ZVaYVIChVQBEVYALcII0WIRTGM9B2JZ5Wog/sMcKANdPLdQLIFYO2Mee9dmt4dChPVmi9dCFiAAtsdS6zNTOPBSoHQl9RMkOIAJi/NVgJVUJsFuu7dqGqdkI4Fv+5E8AeEmPuYhSuEhZSD82qcGFoFpwLYEgYMLATIBgFVthJcm8FZp8JNbmBIAIGNp04YIyNNNOONwXSVyFSElxLVvngsMhANyNBdtEjUnL1Vt79MfmYM56JNd0SQMvINxGzMj/tS2JDigBCuhQDRgCKpADKgA9AKBb+ixaCy0A2d0W2v3XcAUAtzUJB9AxiS2EQ4hX9yhd4eUAzi2AgKMWC2AABIBPBZCAfQRcHpVeNhHYeuwAFrDffuWAP8hdkhjLC7CrS00FQVgCp4WXCujQloyVA2AABjidLG1fDtjPAoDO+D0UCgBXFtA+HmABCggEYzUJFSiDSCiFORoCeGITlPxX8r3XA4gVB2gABAiALC2AErDZCM5RCm4SCujXDOYB3AUADx6JD+gAGJMJnHgXX1kCOBWABEAAwnFhGAYRhVCADqBaGw7Rk6CADe1QHK6K+uXh4SVXLKSKD7ibBQATYlEB/6E6FB+AEhBIFCbekfQlgO4s2AcYV869UiwuyQ0dCR6NVNnlAPvlYdzlgOE0CQH4AAn4DBb+rg1YoyaBklh9Y8JhAMNpoRgeiWHV2geQ4IKtSvmsRw7dYi724gz2YasIURP4MQW2gAuQDxMQgUOJEkUxAVYmnH6ZYwPw5Ac24A8lCVA2ScQt3QIqZe0bXn1UCE1YVMDlXxCAywNYgKVJ3w5QYxeBkhEAARCYEKYBEwsoiwA4AE8GABrmAOKN3oQgSWCWz62R2a0RZFPG3quY1O6E5vRdYAdAAIlykS1YghhoVRC4Z8OZAPSdYwIQ5ymm2ize3HRWZ5R0aA1i20PBYP8eKALt09p9XEnbBQBxjtID8E4DOADEUeAEaJJJGAQ3CIMlsAFv9maBBhVwNokHaM7mCNhgvl7mZE5/7ABEGLb4aecmCWQi4AEz8FeVRMm/uNLuBOlGVhpqomYXmQRNIAVNOIQIOIDPMA8Gji5w5ugBkIC2XeeEqN1wTUme7unticJ4fUlfBowCIFV/9FdSZVzT8GjvhKCLsYAoZhCtOoRHkOoSINI5E+zuPIlETQjt+2Fg1unF3mmzxsutQUHsTIiwTVS2pgpFLVV/ZNZgXWaW9GgVoRjE8ajLwKBqPo152iqteoTSKNI5pmex9GT6lAAeJpSwzmmdNmuz7lKBpdf/yq5sDw3cwpZrYlUAOEVUAMhdjS6JAajrOWPk5UEA6HsPKNQqDlCAS56T2GXmyQ5WAJCAPFCEUQAAY77efDRWxs5tnn7svelQ3xZb4ObojWbffaRiSB0A7f6LMM1TpqEmrS5tBoFCHz5aq4iDjKOE8dbgDc7Hf6yjxa6jQ8htGAJbD41J7Y7Jc14IKA1Wm4UCDlhVw6Zr/W4h42sh6Z7uAL9Hhz7qqthHcs3g2k5JnS7rhDgE3AwECDdrqmQdCgdxhYjeH0dMt5YAJVACKIjSsGzJmORtq+gACajr7hRs585m0oXCH/5hFbeKi55oDWbsxcbCGj+pQEAERRDj7fnt/+0G3B/Xbgy/7wioAJutgA/H79yt8pJwbSifswD4bwDvRNUgzBrv4Kv4Vw5AbA3e2S4HgI7UFqzMSgAghe3h8Y0O2rVeiLVOVE1OyVV1yQfQYYXYWjrs89SuTDFlAR1IMRcJ9T//82oD2oKNgNMFADM4bBbocn/8ckUHgEZohFEIhe3hzwvP1rEE8rFl3jSf71ItbkhN1FdXXAz9CzAwAR54g0cX5oy7cVUnTDjogqvYAjewXzNg7duu3oQYc54m80kgBfFmnV4p50X1UOhF8wuX3A2vYU13605fCDr9Cz3QcT5XKRpX9a0Qgr9wgSoIg0NA900FAE1QLI5MiMVSLP9KEG9LKB4m0ekK6NvYJfYKj96hjYD2JW45f3VC+WVnh+iMawTVMOs2sIIfII6reD027AI3wAOERwVVUAVUGAWJ13VE0HVSQAVFcAMAyFXIzgOzXnF05lB6Zd5LB4C6/UcPVXZOt94MNXmfzjifV4RA0AM1sAIhWFmrSBTRdAEmuAHldIMYfYVYiIVRcHtdHwVUeIShjx/dZs5wlXGF+Fu6fXohkACwRfJlD2Rxtfolx3qZTfk2wAIIicSrUBSyT7z5+gI4CIRJGIW1j4VXeAVUmIQ+qIKwtxxTHedaF2uFiAAsiAKVUIIYSAEUSBQ4vXe8NwkvHaKM894ziIIfeIH/lDWNx0880SRyJUgCLPgCPNj1WPCFWJiEM9Cb4vmD2hXrsf7XhWiODlCEPGgDNUgC1n89EQCBEWgBJnADSxgFTTjrkjd8tKanNgAAs3+BhgUM6RNNAHCB4BeCXXyBL3iEV/AFAAAIVIfcACho8CDChAoXJvyDqIPBEix4UOTBggUAiAU7WLQoIYICBQUGkPQRxlAoUo8C/Wnp0iXDmDJnKmxJ5wwUJS92umiBgmbBD0KFonDxAoAQJUpvvBDS5tGoWLFQqSJlCQ/QrDMfGqzo1WKJsAAkUuzAgcPHByEVPIjAgUUJDhTmUtBq9y7COWKY2PgAwKgLFz9pDh3a84UN/wBKlTJRowhVrFeNJmvShPeyQUWaAXz9CregRIxm6c6NQOFshxIdSLNmjfn1wS9JYghtEThwC6CFP7ToHeMGgBuM3TyC/IoSIkWIAsG+vLmRplGVKVGvTLGEwYsdRpPmIFFuhAdtJbQub745TSEuhraw8SKGDcEzdxctCpzpjcaPI1NqhCg5englpwgl0VEyCgDMGTgKJZopEkgghwTS2lglVKDWCAAUwNZ45nk4V4AMtVCYC0L8sNRgMRVWlE/u4fcDFn6E8gqDyf0X4l2NKEIZg6NMVmCPyDXC0ksvIRIKKpa4UcWIfi30YXk4KrSbUlAwoURuKg6Fwgs+5fYCU/8w4jEjg/7dKKVWhygCACIGAnBgZT1OxmaRLz1CCimDhOHDUFpBieZBuwnBBBQ5xaAlUYGh8BOYAIhJJnJ5AIpXIwD8aNCBmfZXUKV/IOSQJqhMsmQNffrp4aQFuTBCn1deGUOKCW1ZH5cF3XCDFWPSSAlzqd41ICKNUIegnMLqWJCnB/1xZ0F7iuAkXuS55qtiNrQwQgxMCJGTtQvNuiiX990Qha6jTEItXn9IeIiOc1pqrKUJNnKIsogUlAkATKwHLbrotfEFFELguq22WcrKm08otADcD8Fh4caMqCTYr10vBRJspRn3t2lBaxq0LCkA0CsECEJRHOAfecRxRhf/K3+BhRIuTIlwbwvf0PAPXeiKCiWSnqyVxRhbuvFk/rFLLwAOFTRJH0zQZurPmL1ER7CIxPGFEAcrbBsAvzWKBR6kxKIKr1EDHbSx/bn7344G3RkyUqxCbXa6LjXCYINqMIHQB1sbFRyY+UH8Co169Eo3Tcm6hLG7wiJyCLv22ovKJ00/PTfiZ7eESI+aUBIHQj/11rV7OylxxoyvWKpH5hXDJGy8sIvcNgB4AhCGECjs1vpdRcYpXaUGPaFE10bh98LpAKiCiiaNsM67VohsXqnaPyoCebwFWb4bv9DPVCQAo4jfX0sFxQE6Flf+AKYSX0wicYM2Sug9UI+0HTwl/282COEkCFqCu+4KQz/N/QE60fFc+Tz1ID3MgWVRwIIYDmKmxxVkOQOcScgs8yb9NchjIXMa9y4IlJfc7YDIWdyACjKHOSBkgsv5Q4QsKEKFGOITAIjMQahTKQR9wg25291dwAUCxPlOfJVRREsOIT+DIAhuBvmPhGAiwxkiRAkEMYgqAOC5A70CFYOoAp+ACBQQgKuMdHvJIX7Xn0M4RIkRYlfInFiQLwBgDpIK2uGoGBQX7A0Od0IF4QAZi1CogXgh1EoZzWi2lgTCEmqsFNIA4AlPhCKLpOjDQQxmPjowkl7J0mNBwnWiKpzhEHDzBYKY4BMBZiWRroyaSyzhif8CwYkSmZgkLkMxi1jMQjGHCmVCxNAGO/6HJaBUFWJ2AiYh0BEAxAAAKvBgBSXEQG7di4krX3myJOKyRwy6ZS5bAYBZYBI4BonVQaIghjjoARGZyCPiyKhIZLoHAEe5ARQGYZDIoCITfaiCEH4JlEUBIJsEpRgjcemJA+LNE6z4hCtm4QtdWGIJMaiZQWSmkPx8oQ0AsETmyFizkfYmRUcJzg2SEEEmHgiQVsHkGA06T2rFUqFAKhMrKClRXbCCEYkpyEhF5IKU3uEOAKCD2RSWSJJ6qQUnvZkVMKm6/PmHOv2ryif8MBN5yhSdqeKmQj8RJ88FQnZ9oKZ8VBWYvyT/hKQAqEIV7hCFM5wMXOfcGlOL8pubVcESVGlesJQjIXudiyYGHalXAcXNguAyE53rjyZe8cFDycwFMdCoWjELgJFidgls2MId4ACAQdgLcpEMkFKD4qS8lvQoMVBCH2ZEig7a6IWflEkZvQSukvarppJs7Filo7qCUPYvmt0scjHr1pkoNBOWOMQZqgArGiRWJj4BwIpiVdLc9MYHPtiCX5lnNCUqh0gz6cMWhBCfRd1mJ7xFVxINotBHhC86kFHFJACmBHMqJEs+eYHMRnoEvBjiDktoAoIT3IMF16AGKUBBCkSAkBqMDmqaNAh3W3AENhhil6r4xCMs8biLJUdd/yI+xCDgqTzVfUJPTPgBU5RZXcX+QZa/xWWw7CuVSaRPCEJgKkNYZJvRoSfBRj4yghfcgyaktqBBXUh37+CJXbYiFAr1hIgVMQhZ4tISedyRJkL2iqocQg1PEMJJEaquezWXXeLzRSw0yFS3Giw3P+lJbzTbBBwh+ciDwStGGRKDJXRCFb6YBSquPMl3HkLRzy0Iux5BneqoYmxnrLEkuTxJ+ioiKlOR7pwta84f/ECgGc0zZpuwBgCAYQlgAMCeEfLZyxi5oJudc0zy44pgHLoVrXBFKz7RXEVP0suRLpDnfuS5RaqL2J7Y0SRURwooXJSpYCJ1wwoC48SIrmYuGP9wE8DAhoS84Q1sYMMa1sCGO3TCEwipAqyzwuRbL5chQrgiKfxjOEuwIqfEBuctdyTpykRHOorwGSxrLEtL2NDXvo7sKyYBRqYOFdsG8bGjYAzUkS65IKvOCiuA3W9PdKIP5V7CTOYd6LXG5Al+xe+DIBQIw10ZAI9wLi4FjmzxiU/Fav4DON0NAF/P4he+qJ0YlLDtGDD9Vti+WbaRYiJS47knLlB1QcYdE0IYRJwFEWe/c9qJTjCCEOZO9xpebZBYXxjKByGFZP3zRtMeQtOZcCeXFfGIRxCc56NAKuJY0mgs+7ogriAFMXxBijPsDduOJ7WjoC71gkz9B3luQQz/Pn7umLxh7A53+NALP3Rhj50R5T69ucEwb5a39z0ABqoLfrA3VZBtXnSnuyIWrQhLZOLujRj4gcaHcLrpCJw2NHwvnTGLvUQ9PRj3MalvYBsUqB0Am1/IGz4q9M9z3yCsYCwAOgEAs5d7DU3QJMtjBRiEjMJ+t7/9JAGgd0vsqDoFZ5DPT5ZFVITiE5/4tSuM09EFQydUXlb4WNZMnYn0hEBdn0ywAvdFIPeF3UGYnvkZzOttllfFgBA8AabY3vuZVmbYj7DQEs+VTetIlS+8wiz0UkH4QjC0AisQgg1I3l3A2A34WE9oHroxRPaBlAQGYfcdRCeEwbhVlmahE+YJ/4FWFQQl0Be9hCC9xF/97RzPQU8KtIAP9MEnqM4zFQQxzMIdvEETuIANQF7zpQep+VgMaN25OSBCvAEjgNT3CaEdfl5BdIIhREHDaFTNZCGRXZgmTIIn4EuCvB9I2VwVeg7PWUUiZs4HjICGDRgA/MIX+oIlHIFgoMAZpiHlIeBCIKCJ+EDWvaHWJYRR9dsdrqKvAZuw/YEafMHeXBYw0VtCPGFjnVjd2ZjN/YgVjoKVIYLQQeIHUFgPcB0AHF1BfJ8PdEkMrKFCgCJCiCL0ueEbLgQyqiIr3iEAPNT3AQAD0VUSdI1xBZgNEM8N6VDQEVsvluDvAGOmiVjrCIWDxf8aAATDMyWexIRBDJBiw1AjUhwEtlEjAvLXNSrED3bjNq5iN/ofm9hLQdDBymBBEkydUrgB3EzCmmgasT2CL94fgjDWLs5jMdZA9olfQbCgKgxX5TzBE1QkQYoijK0hQZ6i9dmkQWTfQSykHQ6dN95dx0zakKyMFSTBE2BBKCCEEjmbJ3iksLxjSMpXo53WzxBFDTQBI1RiMrbgLNhQZEWGVZjZlSSBUggBTMakjykdyh3EGujkQkAgT/akDH4CKxhiCU6aDgUCHcCBJRjacVQQvcylvzWl3lWHdIgPQkzSVCJOonTeL2xlALrCIySHsGRRLCjEU53IYmzmEiAjW57/ntmZXVYiRFwGoU/SpbBxEF5OWmVIRSzoEBQdAgD+Witkwu8ZpvjMgq+FwjcqZvzRjVDEQA90giUGgy644veR15xIzEbdSuCYIk4CgE6O2xtwnWcWRC+54ELw5Gk+VFNOWkJERyysYCPEwQoZRCB4giusZysEy5sE1yv8wmyKk7vh0vD9DLbcwS8oAzHoAle2IOT8B0RahiZcpkGoQcbdChtkn1vGIYMWRIMmRHZy5ThVKEN4Xeh1p7BRh0JEh0GQwhW8ZBRYwUGoZ3u64/3pki4AoCteGVXW1RZYYiXqgn/S6Cwo0X8EjxNqkUHQCB6cGcqVm3QOaU5CqHQSAiEw/wImdIIpAIAuFMSTOimU0qiT/mcLVqh2HgSwBZt35o9MxEIelKXAnNQZxEEeJIf98VzzzMKKrid71qdi6hPdhIIyOMMv3CmN0qgrCKiOKgSCwBl+kd34DamQMijXFSohYEI3xkSUSmmesmmNWumVZmcAoiZQyGISYJtGAQcWtEGw3BT+ZQKbsuh65tRvPaLZ+IIy/EIw3Kmr/gKfMsSciM94Ht2TIiMyPmjWjR8Z3gC86ZND/dqVLkSU5qmx1mikDitd8l1CMMhlXqYHQp/GZVT7xAEiBN+QBIIitCAEuqmvwekw0o0u3GkwlCur6gLbzAT1cOgzBQMABCAAlJ11DqJqdZLhWgbgceqmgyiC8bmphULplB7ro+bUQ3llDkUlAKyU1EUfnqEAB0KBGJxpG9CB4QRCKwidm66nDRWiJ7zozwwCybECjf4CK5QVUKiNJlApMSiDQTDpaFpnuTUBG2QlK/xCsa6o/MnfvirHf+RSt8LrzfpnL9ElBIaCBmGKQfSp1GUNAMSHT+ATFkRB7EFBF0wsDB1fxn4flnWsnEpJQAAAIfkEBQYAAAAscAAZAMMA1wAACP8AAQgcSLCgwYMIEypcmNCKQ4YQI0qcSLGixYsYMxZ0aEWjx48gQ4ocqZAjyZMoU6pE2XGly5cwYyJsGcCIzJs4c2p8CICATZ1Agwo1yNNnlKFIk97kGUCp06cqHxpJALWq1Y9SqV7dylUiRxkOuoode5AjC61k04o12wGL2rdbOSYo4Rau3adyf97dizTvUb6AgfoNTBgnx6aFE8ekqbixS8aOI5/sOFWy5ZBY3ILVWPey5C5dAEy9QjgzFp6ePWIJzYJF572mQX8BnRl16pIEoegGwKLDF8CmTTvMLBv07YlWoABI0EHh661MlCRhAsWKcN26W949DYWJdybWjVv/ND4XcJfZtLFnN80XdProSpRQt879O3Xn5wmwELPXYfXVX4hxhhizBQfbagK2MWAXtdHnHoPdKfSEd0YQUEJ/1xnBQRFFgKFDEx9u8VxaTAghhHxQDDPMKpi0WMUWDoqhRhxqEMjgcARB2FMHPyRhV3DnDWEABFTIEQknjiwiCBmhwTVbcsy0Mw8AUw6UzpXggGONNSqyWIV/63UhoxomEGCCdmpdx8QKVAgJwZGRgMIJJ4tIssQVTZIlBoG3UEmPPe64Y8+ggBYKqDv1zBOOLWFAqIQQP/yAIlUXwkWcmGIUIYUXVJThxSmpnAJqKgCcUgqJZJARSSSJgEMoofcM/3rPrPbESmg6zTSzRxu8LhhcAvolhCJ9IwZlBRNJxCdDDlRQQQQYoqYirbQApHJqUNH9YMMNJ0KxmnvcFSEHH4kksio48qSrrjzztDsPPfTUI+ig5jSzSxAl4MtDETzoIIMRQgRAQAdPjFgbcQCoAUdSCaqhhg5DcMqFEYVEO+20p9wk5oxzwFEjg6eFt+eAX2BBxAQTQADBkCS0o248MMcMMwAyA5AuNCR4oPPOOy+wAAQTXGCCbt/SdqwS2tpwIniZAZW0ENQRQYUXXoABraiRjDGGGaCAmvFLkP5wYhLV+RcdpEKQkUQUYp6hBg8OMCA3AggEgAYA7cist97rVv8DQMooowyBByk3sIABBvgUH3htO1xjgcTtqUYbDosBIXzUFV3sTN0x8YR1X5zRBhxxKGg5FkVMTUURanQtqhNTP+t1E6SpdKN1mEyj+zi8o4OONJfsQosoJFyQAAsHLBD3BAw4sAEJorQjfd7Uw5z33tZX0sD23HNvAAILgG+AEVh07p23XZBhhPpVPGpDDNzKR+xpE35nxcaje+wrcQE6/jEWT4jP4j5nGh2UwVNEOAIZRHUKSSBhamm42ilolxLLHY0Z7tiHPeRxvXaUAxh1qAMtcMEFAiSOAChMYQoNUIx2sIMdL7NePKp3PZjJ4xgqa4DKdng48PnwGcy4hRD/AbEE+UQBCDhIIho8ZqNLyYh0cGBi+eAzLNN051FJ4xbZzrOny3nnc2JKgxzG6IYegCJUpWiCFwCQBjJUTFRsqJ1IvPWFOs7mGfKYocvmka54AAMNI7QFBsJ3OMSpcIXiWIci98iudiGqHvR4Fx8niQ7EGcBnPjNcIQkQgABc4xznQMc6RIkOcoDjEknEwSWEKEQoJAFSNtjW0jR3RQEyTkCOIxnIEOQ2XqlhQUfTwRgjeAUzMBAMSxCjHHggQTYI5DcfaVsb4kDNODDDHPGQR7zmlShYQMIWnMBFJjHpM7ohDgENQEM6bDgPeQnKHZF0VyMjKS95CIMBOoQAIRcg/zATmnAFQABCFrgAi1rgYhnUgEQqr0HKUaLjHOPIkjWe8Qwh5uIWdKimgkpmvvsF6AwLggLSYilLqP0nOU8wwxjH8IMmlEJUoHBDHMowRjC88RRbCENIYnkDSRXsFtPYBj/4AYBa1WpW7DgGOOf0Mx1uL4fcW0ADsPGOWNnqVYSqhz3qwVWuEgod3/BGMYohClFUohIBQMD3wjcBEpAADW5FgwfkioEQYCCgQOACFypRizr4DBKQEEUxjnEMb4TVG74DR0QnGsRV3OIFPVVCwRp2hlsAUYiYKMVHpymuNKSBDWIwwyIEQgYsNEGMESTDS08BBiGABDtY+AIzpuEPeP/8wx/92Ac+drvbfOCjGNU4Bic2obMMWGADFrCAA5gnVcOFAAC+5e2sphurqtoDANStVT70wd3o4sO6g/oGOL4hjmNEgxeiGF4O0IAGDLA3BAHVWQgCR7j68kwDHjBuBsoq2GMUwxveEAditWReFT0jHvN451a3qo50fGMYY0BtGrggh9GWIQ08MIMYy7A+AAhiEWCApkeicwNAoGMf/OhHioe6jxa3uLuQuIY0uBCCsCzXARbQwHGVy4BLiiIfQA6ykH3r3e/OirdEBjJ3l8xk7u5DH0K2qj3AIY4qR+MY6EVDHQY3AZ7pLGdg9kCYdxY4CIiCGsKABTDIsQ5tavX/qLQi1DyOIYcDekoQAKizne0MhiIoaRFsmMMcqNkG/lxEWz6QhDzesY/t5sPFkOYuOERhjjpMAMfJ3YCmNY1jByRuAeAYsqhHPWR8yINKfGTnNqkL6Ujrgx9M9u10B5UlKhN2eKKARJhz5uUuA+4SsCAHDI9qD3xUd7cAwEc+7pGGA+ZAEND2gqekfUAvMMHP0Faa/MBVoh9U5AuAIIeU3IUoesTjhS9sx/DKAQG5nTCFB0guAA4gsEpMaVbY1ceTgxzrIO/bHumQXrqmRz284a0dA5lhIwV1D2Xjo7vbdTGUI67vFi97UO7IUnmjQdZcCw4CIbhEOBDM8GI7HMj3/3gHPuyxiTpz4c92ptqGtyBaaIdNCFs8AxwELeiFSeQGRTDHQNxR1KIPSl7zQMP2EBA4EmyAAXULwDnrRgBRJARe9CC6QBre8H3cg+jSw5seCU72spN9hjOLh83aKavdttrVKO7uO64LyXqI1xxzt6qU995we4giBB5Q0oehTfgxVvjPcoji/8LzUYdNJAlJKIfRiw6AeQ1qHhiwgAq8kIXOSwEAewBAFhhgQgRw8gDamPx1ryuQ1VO+9ZdHNzvMTvuy6xHt0rs9DdM1j2y+a160ajSQeYvkfKjc2NSN81bb1Q5eTIAKgo8+tKUPbTL4gUZiwEKJSErSG0ikY2KIhv86FEx+QonDA05wQhaoxikAkCsRfJiCBhiwAAYc4BtYzT9WjY7xeShyHQAwe+lWewRYe7qHe7hHcDbUDulQfEFGfBBIfPcgEPRgDlxAeBiIgdS3CdEADkEEUhYUQJDCLY9nC/IgL1sVKIGyYO5wDFMgB3uwB+MiB3YQg+UiCHwgBSSgAcyTDvr3g/rnDvMgSgC4Di4key6UhAIoe7NXgE5odjDzQukAXRS3ZKT2gLxFD3VAAirABVLQLBkYhl6ABtKQN/LAO7qQC3SAB9S0eBChBJuQDl3FVSqogtGQBjIYg+PCBzHIRuMig1mgAdCzgkBYiIAyhA8lEC+kSIvIhC//5C7tYj3S44gC+ISTOD2LGA/K9nacaIVCZg+88DM5tEODozM5kANesAmCAAlocAnixi7swg/bkAum0wVRUCI3YAMLMQdggGrvEk9YhwsqtVJaozVpUIMwSFPNlgP7tYLuVCjlF42AIg+gdA7mcA7/l43aqEjmVWvfQIgoCEntkkeTWIlkt4TSw4iKZA+Pxonu+HbaEFUQkE+kOI8q4AiOgAuiAATlMEm9xy72MA63IARPEAVQ8ATJ4loJUTJlGDN9lC536FljIBBUMxARZgdjJG1joIPHgHVYN4eIUofR6A7xYA7mUA4o6VC+01CidA7XAAD2R3/ltD38RVjHIF7f/xAveUSJjtgOo5SNgqIO9LB1m/iOrZYOPVR/KHNj8+gzXICP+SgKrocovecy6XALURA6oxMHDHEDtnAOTUhw4nBhaUA1WfB5oqd+AzFGnpIFU4AE1aAu/giJkOiRc0gPHkQO5BAO4RBKoPRQK+k75lAJzbU9+zRODQA+CzAQDVAJ1AAA/8cO6yCZkjmZklmNosQOlrd6hFJU9CCUDAdkEjcPDZBWzeM8m4ZcDDCPm4CPuBAN0mB8+JZw5zAMBKJzc/AHgaAQ/FEG5GCNvuOXuDAGniIQSKACTiB6JICKALBGcpAGKiAFToAEx4B21mlD2bQusAiJ8rAOewkA3MAN1/9YjZiJjcDQPVFFTuqZSYzJkts4mecgecApD4SymYb4Ku2CVgFwAM6jY6eZmhNgB7VQDdUQDe9wfNQ1VPOgLTEgS5K1EH9QDeSAkhRaDlSgNWskekMwBQKRfhm6RmmQBUiABE4gWMIAYOIwgLZXQ9nZDujADdmADdeQDQBgktY4ntcoDAigTz5Dik8FVejZPQAAmCv5k/9XoeaADvNQn/cJhKLQSaaHQgHAAFyoAlZqAZfGBeFQDHXAD9s1cbt1D/0AD/2wDY8VA2gaAxDRDeGgl3oZDQAwBhmaBQjhBFPgBRFWBiRAokgACQG1AjzmAKKwCbVAWCjqDZcogOYgo7T/sAtKBwGVAAmRWgy8gA33VI+XtKOKKVXlVI9QFZzk+VDYeA582ablsA4J1qSGCAkpxFZB8IJ6SJEqAAHUQAuQ0I4S12L84A//0KtmGkAQ8QPNEJ7a4A3dIA0DkQVDgAQIYaXNyUZekAMAgATFIA6lig3SEA3JwAu0wAWs6AD0yF+CVQxSZVbGIA3VQA3bSguRCgkhQI+eGq8qMwGcikkQkAzkma+kmg3cwJflgA5/Un6q+iqiAD4bgIpy6pZeUC6JIAjmAgC10FehVnFwhw/9cLHj0Atw0AYMYQvQcA3VcA3YwAvNyXk5MAQJgbJ4CgBlIK1BEATdAGAAVqp8uZc2/+s3ACANvLCz3rQM0AANAIANFTq0FEqg1DBWZiWpo7hDP+qpokqe12gO2TCj2ZANwrZN0qhghigKHqABSEA1Y5AFDcuwZAt/fIAG2uBI7DgrkCZk+FAPvZBRHKsQuCANP9sMtEAFJSt6B8F+JdtsZTCtSFCp2IAN2aANxNoN3cANMesNfGmtehkO1eCzP0sN3ICSE1oOelmhmUu0FKoNRou0kVoJTAsBkgpYY1UN2FAN5XAN1PCYL4mqvwgvc0iH0Hi78+IOuJABQzA1zckH78cHOAi8ZWsLriKwcGZU84BRPpcQZxAGwiAQyyAKnee3fVuRYNtsI4oEOfC61JCu1/8QvuFbuNigDeYbnorbDdDQDOvLvtywufCruRM6v55bv0SbegTKC2QVqUCwQ2iwC0D7mOuQnXNJl5H0kV2lgn6XAyOaBTAIvHxgB541wce4B+QiCGnQpPDUDT0VEWVgDMsQwlPAoaKHBCRsEGaJp9qLBEOQA7QAtNIQw9JADTPsvd/7veKLDSGcK80AAPzar6Xqpm4qv0KsuRTaufZbv+RwDcDQv0AgCsLADegwPXujnY1El+0CL6Jwsk6Ah3z4nGkgEBTsWXYAwbhwn+5wQwLxFwsRBXsQwsmAnHQqBSrArAXBfkMQndQ2BifrwsvQw38sED0MAD9byDL8usgAwn//bAzUULmvm8M/rLg0K8TwW8TiwLmYm8mayw3LAAC7UAf9Wwe8ILPoloRUnHsOqZ3fUKVSAIMy6FkAsClsVAZySsbAuwcGWoj1kA6AUAUSgQdwYAsgTL0kbKcZWrJ4nAPrZ5YkAAA5oAJ/3MnS2wzSvMPSDADsCwDCkAwhLAxwDACdvMO58rM1DL4iW7jcUKyOGw7iQMlFTL/zyw3IIAz0DAyOigb4NI8NEFiVMK6GJQ7dYMoKGA+ioALLiZF7MMFxqgIoG8YMTJZlDLwYd7tHNw/W8AcUQQd0YAvIsAxI8IXs96EhHdJu6ZZ0/My0EM7RvNLUTBDU3AzIoM0xDcLI/5AMyFDTMZ0MAqHTAKDT4czD7AsNNYzDImu+6TvJbbqX2UDP2iwMjOwNeynDlCoKIYQGeawCnBQAKjCoJlpeGeBWXoCREsxGFtlsAICybCTByBgNh7Jg4ZgOpjAIF7EJyUC9FLlGI03SbjkQTrCcKkAL0qvS0jvNLJ0MxiDThw0AN63YPN3YO/3YPb3TnczNnczD5Oy94iuyMYpmwKDNwHCu/brOQUwO1nqtAqGzxcCKaAAEbaUBOYCRzxmnHBrGE3xhZE3GYxQNQki7c6gocm0RN+ACm7AMtWDCJcvAI915U5B+yQkATnDVJBDC0h3C4Fzd4EzN0WzYne3Ui83YkP/t2JEd3uA93gXxx5at08KwC8Dw2R+LuNxgrOnLuGw6szRLs7wgiCQg1rDcwhE2xrB8obiNC/94xcwXCUvgyxYRBUlABiQkBes3BQzNfsrN3MxtnMtJAsAw3RrO0tOdyE5tDMZw0zidDCRe4jxNEOQt3t/93TadyJ1tz/YcvTccsiE7vuR7uOkcnvJtrG110BgZxnvr383mBSTQxccoB7hgezMUDj7gAwhuEYjA15vCeWZp0hRe4elnpVu94dON3di9DMlAz2IuDDdt0yZ+5mie5ic+EClO4h6+C3AOAPYMwoYcwzb8uuZc4+eMDVvIhTQIxrQNABLs3yzrBBcmwUj/nqS+Y5nrYA6b0CMfIQZkIAV32nlnKZ0U7tzTSaLplwEZ4AE729HS7eXWDObGIAzAMOYhruas3uquXuI3bQydvQsCsQv0HM4HUcjkPMNDfbStjQR2oNZCLuRk2WyehQvlYJLKbpLRwLF54hHSOQVWfuXpt70jmn5cmAr4KAcbwAV1EFjAwAsZPt2nnurrbc+1kOoiXtOv3u5qDgyxbgy0Pu/qLerVjevUfc3YbNnQgAYW4AEqoN92Nuy1XewHlAbH0M5I7A2MoAciMQI8wOnUnpybbu3VTgWOEAllQAQeoGkAsAEE0e2ABVjrxXlFQCMDAQaAUAiRYAsGhQsfvu7u/57mZW7T6Q3ncf7Z+X7vPC/NL73SDODpOUBTElwGTpAD/T3s0eoFnmVn0cCmNUsO3mALeuDwI2ECKCvxFG/tXG+lDiBGRVAFJpCaHg8AGgAAFrACaq8BTD8GKnAIBNHkS+AD3vbkKl8ImNDyEQvzZB7iNf/q87wLsCD4g6/z0fzziH/4ig8MKIN+eEqcYRwxBJ8GUoCKgFsGm1C15nu+uKASPDAEy0rhXD+iecyFJOAAKkAGHdMDHl/2m0YCaq8CDPCcXiAFTQARMeADSgAAVQB5yOJtAlEEZlAEm0CoEfvZIC7isJ7esND8wGb4iR/9ik/N/j4BKhDL66c1BzToxP9OyxIpp8WA5wR6DbXgfRVUBKDP6aN/1R/fzEOAACbwBVaQBBPg+jqmYxbAhchVZ16ABABRxIcLAAUNHkSY0GCSJAButBgBIIVBI4AwRbJVCxeuXbtgweoI0tiyZc1KnjSZEiVKYA4mZBhS0MmULF7GjCljJ81OnjzL7CzjxQukZs2gGW22iaBCpk2dFiwyZAgSqlVjqji4YQWVFQ5OCIlhYYPBHAyCBGEwIceGCRByjPECgIcQG0/t3sWDKJAePXQA5AGDSRRIkMKSkVSZeKVKNBMmkJDpxIkUmjZx6gSa5idQuEOAkSRpzE7BpXdNM+WRYyrVISogA7gAgMQGEiT/Vqyw8ADABwYaAGiwYEGFiiErGmjQsABBgxxZhhAJdNo0otN59OwtlKjWLmPJFH9HDHpBW4OSzVO2PAaol+acvWT5TDLZLjtJlkjHnxCECdU5sEK+ALKxArRtBQAc6OCFBCwoiASeANjJi+QWMAABqUo4JD8N7WrjDDG+IAMQLuoQRRRagOGlGGGQAW2Zw1zcBYIJsALAPBsno8Kyn7JQwYuf4PKCFtCQsWWOODZEsqATVKCNtgABcFJAAFaYwAIHZDAguBXkSEMOCA/KoAEDAtBAhSD8SjLNhZhoggwyhrjgAg0MeC22BklAIwcMhrADAwggoKrGG8+ToqabykDU/w4gITmGJGH2iA4A6tTMzwTa7sJtAgIYQMCCzdKA8MEylCNggQx4COQPSpOMgYcy5FhrNgsQaJIEOwtUgQECDPjChAYAqErQQSWjzNCfgvJiE/lsuW7VNFd4jSnbvFDBygXK5JJLYKkAFcIJGmggAAaaSNVZDWNgAYkcjnMNAANkKyi22khwbYhFAiCgiEOiomrYYdETKmBejLFlDzTN3bAJ/5waLogcNNgAAQRU4MmLCQKYwItuV4BATASwQDi/GyKoSa0VmCRALMhsnbe2DeSQhYBSz2Bghar8/XcKmrLgYQwAIoohZA3BiESO2Y5+0kmsbttgAwuu9eniBQoCNf+IdxG4IIa6hDbNBCeyGKO4HEhAAGKkW64NCTlOSYOAABQoSAWbcaabhxFA4HpDGSJZBZS1moLMQAaanoABLnciQrWeciAAAQJOQCHovJ/SQbUpKJwAAAbEqjVKl18VJI1wJzgZgOFyQIJu86riAe/J8zthkb4XKePShOaVe4UyVWiA2y57ArVtdxc4YevXmRJjBdQR0BQBB4KzQPemz66tjBwAyMKBBbwIAivvVchBddZ4eAGAFo4/7YQyUilFENptli1K2eZdweHhoFRvp1B3igkB2G5oCPqY8hgDaEo5G3BAWhiQQM6tzAIaIAEEQeUpONGoQXMbVFVyAAYAiEH/gKY5QQ4EUYpFLMILHfhACaBEPdfQ6yzRog1PDpcDA7wLAEaIwgcVcgIIkAACEvthxspgkCBUqUFN04oXBIGEBdymdPFyjWswKJmqQCcPOryLCYSTAyVSoQMg+EAHmAQvW7WrjCpwQEEMpIIFqAAu1yuVu3jQBiwmpALKoRACTNUtM8jBj2kIAucitgAkeIEKC4jebSxYmwtEcThOqAoSyKCHOtqlCA5wgAb8QwIW3MAGMXiBpeAFG9cE6FIaMJATV+C4XSGghgYwwRMqeZAfJAABEDCAcrAiBz74sY9+9JJYEggGMpDAAw24TQ7WSEa00ctmkuTLLJkChgUmMFcL/zBBG9Rwhi9gAQq1kY28xjIWg9hmSgYKAoUasIAFQMAExpMmAFggM1MhAFR9/GU+yxAcB7zhEIfgQANI4LDb3KmZZyRCGOI5zQUygAEZmAACHvCHQKSKon8oAhJoNM6E5M6JQciCAfz4AB8s1CB0MMECMOYWL/2xfl0ShB/RuIAiVHQBDEjDGJxIr4PWRgWNhMF9TIoQMGCSUxIjQAIqighFHCIOX1ACD0yJxM6RYAha+agXLODHMnTgbkMFA4UWQAAv8NIMaVBBDYMgB3x2DwABCAQHBkfQnbYQbRdQzQnON1SEXMCoyhkTGJiqiDmIQQk2aAEKTACx6XWusbcJQv9xpMAlO3jhBB8waR7yMNaxlvWPFghAAIIAU0AWjgArWKDyVAktu7bMTDwAgOv4ahAe3PSoMmODm4zQBCPIAAV3+wAEq9qkpjnANkGgggpeJQe4xHaof4hALgkAAHwCciy/O+sQ2LmABBZotTxtpgpUOFuE5MEEATBAAw7gygiwgQ+SgG8kJJGIRJjBDCzwTwupikQNTGADDmPATxTlhZiYtKJFyKUBDCeHmB4uDWflUpgQ+bwgrPY24G3ZBTqAAhSQNyElQG8uV4AHHsghEfBFMYo5keJIFE0OWUguGoOTHATkYCdjmAISTGBSRSiCDa5EQAAezFYiAzMNGWAncBz/QAWdWphe/qXXcDYAg9J4uCApiMEJHMACE1jiDlwYghwkseIUl9nMKaaWBWrYADd6wQk5KIJJsXAGNxRBj7fsEjCzZYYJ3LRpFjBLhZ38liFYD3VF8KCVE/KEMwTiEZMgQxmQcBM5vGoPvUwEH96r4jNLIhIA+FaFuOgEFXBgoSNAQQuybIBSvWut+UzDAjaQAaom0sI5+BESIsGHIBhB0U15RCP0woMhTCENdqj0seVghz1opgw4wQkvEyHf+NJ3D0gGwAIgKbcrSlMEIADBCEbgqwq5soAZyAAECOAB5FAVggHK3aT1VwY+rDgNb6DkrxOil4qCTwpCuYmPNINs/zns4Y/INnhOvcAH+mZ6DA1wm1o0YKdJYfEDF/+ACMTNgqPeMt3sHNx+NyDlMqqnIEO89JgjQYZB6DshFf3DGyyHPaYAHCcDLzjBa7SHPXiBBGOl06n0oAhpXvzbd2vBCVagnAnkKGWMReLJhjObIewkW2M4MSfoO1+Wuxwhf4h5Dq4nnSkUxCavQrYTxkBqEoypLRyMZ8bDPQJVCwELYCDB13jk3/1KHXxW79JkTSzfROxh2itvudcLAvbE4UcKYj+IwIfonyFAIACuNCm4xa3qJXTBDWTIgRSc4HMEuIyqcnvV74A0Bi9dmr5pOHEiCpFvr+fhD4nLAtmlUvaDqP9nDPTKQQYIAAEDLdQFLUC+DTrvhjcQBwmF8gIDXMbYFaReW718NvZ85PpE2GHaslc8AOZAh/utCideyEAODAj3eHbhCUlQwhPC4IZDlMD5k0krcDagSdb/zuB24AOD8wIpQI8yMLxp8z5J2AMyAAA4SDxFswKFCb0soMAKxA8LvIkMUAFNsaGFooM8CIRDwAM3cAMwyAASUA2NaifpI47fKbidAEAuEYosmALoOzaG6z752oMi2Ct92zHsqcAgpEDTsECbmALHMIAgaASTOoRGeIRBUIMqUIITmBHwaTsC6DO1ccEp8CODY66Ao0ECPDtpSwQxi4Q0EAGvKwEUFML/NjSI3GMKCwQAL5iCjiGAO8iQhXLCQ4hCsEgAdhsOzMG1bCmDLEA7PtCMm1DE96ACAJgCoUgD19sDO5ivONM3EKgAtZgJCqSCNsy9IHQKCqTDCcglNmiWhToEN6gCsEiBBJgAD/i5XFKuV0GUnOA5Z1PERQwYAnzEguODM2Q9InA5VKsAC4ik1JEMnfHEppAC7csCdSuBB1woVWRFFEgAGSHF42jGVxmDS+ulnMrFXAyYLCDAf1MPhkPErpItDxuAASiABPgJLhgDKiABIkicIUhGOYzD1iiUkPqV2bICVhQBEXCABogoA/AAfKQCJIjEbwzHhwQSQ6rBf6tFRPEC//Yjr3YsgAJQAAqQg0UQhEgQBGEsCDAoAdTpxylwgoSoQClAAgqUggbAN/KKgRYYyA+QAHAJALcIHwjxQp8pO4gUxzmkw2LpREMEhVwggw7zMI58AAnIgUUQSZEkAQqwSgooiHRxAiogtZf0xCBUgSKgPb6yyYEUgQeAuACARRVQG53IPsgTSl2cQ5WsCjkABVAohV5QyoiwsvEzA5HkhKLhgKskzAsgliHox69USQVQgAeIAA+rSRQAtzyCAE1SPUWkwbgUx/dwySHwAB/hBLzMBb0kgx/wsA/8Ay8AzEiggjewPbBTlXhJna9sSSe4AI3kyMZ8yoXyAwDYgiX4Af8bqJAKmQD1QBTNjEvORAINcIA1BM1SkIXRlIU78DC9uIOPXAROWIQhgM3uhE0ySJ3EDMIadIIEcIoAiidKeEI4QDBWg4xnQ06hfA8nQDJMIkUuKgNQSIXo7AVZMAQAOIPZmgQwCMnsHEmD8M4/sI4wKANIIhbRkwwSYIABYApxY8qFYqpHKAIKIYDrgc/4DMf5bADmqaYJKAJcy89UyAXpvIMt4Kv5S4QSCkxBsMTYZIoIsA3UURe/asfwAwDYHCsCkAIQhUjOBDFxOQCXOAAyiIoyEAT9XNFckAUl4CsXiIEyWE0voE4AILqm0A0NEQABmC2wKwFWW0kiDdEpIAL/B8CXUjEqC8CoQhshFR3NVYCnovM1wFwEJCgIPMibjJslwixMzEsPNIWLKWAD85SZEnWAO8AD8MTSUqDTXliFofoAGCgIqVyE8SoIhQqZdcQirFQITUGCHAFRL6CKgOGBSYiNRcWk55kD6yADbokE6FzRXiiEC60jjDMD7ZzRFcAs8+EaXQ1VprgAUxk9IpUKuKACHTiDeWK1A1igsQK7Q1CEWU2DRbDV0SyEXb04AAjTMuAEOQhMOTDP03gCsDi+3wpWp5iISrJKABBVhKCSybCJl4zP98iBjSyA0HKbNuWBYHsEStAEIpACLD2F6ORWHfpWgxAAQeAEiI0EKTBP/zFdFYzTOBRIgRuAAnh9igtAzJoQu3zNggSgUAEYgAMwiAA4ACs4g0GYhFAgBQBALnFN2NHMhW5Fn4Y1iAdwBF8VBBKw2Mn50jqSALu4ADG0ubikQBU4WZRNWQEwgDAtgBgQgiq4A5jNBCIAzZvVS52dHJ4tCAFYgUgAWgZBn6OtI7ixixWYDLBJTgosPoOQTHADAQ77ABRwAR+oAjfIBJklAaHQT/7M2RYAVXNpV4cV10UAhaJJALh5zNepgDqi0KeQAAm4gImEW3GswLktiAIoCA4DAA6jO6vdAjx4tEdovqA4hf3E2TsoKa7hy6EVAHH1kkjwggTYUgFChDy0Mv+3LUfKqEGd+anKBdfPPYjESrUYUIKXnYRHIDowsDEvAAVZIFxL6AOumYh25EufjVgAWIQciIAO6ADyAjs1SdzTEIDowUdIyoE4SQiUNR/ko18XwDIhON1H67GKYoMwowIojVJLAIBJmARzEQOQUYAXYMoI+FkDJYES6ABT81HTSF+hEQDQLYgX0OAXqEnmdV7oPYTzLQIukAMqaN1bzYVuc5Y88AsKiIAvMIghioTGlYMV4AAOmNwJ5iuUBd3cZEx39E0/IGBF0IvYDIQR5hLolAW9zIUPXBWwuyIKoAM0iQBy9RJO8IIKGMx51eGFqlwMTogI4ADy5YBDsCiKCgT/8PSjbdXLWFUT2JTXHzUIDphhL9lTCaiAq+zioeLIg+jRgpAACL7hPO7Ov5jVj2RjSzCESNmQ82UKFmhgABAEDWDMB3DMPY6ny0UI4z2ICMbhq3RkACCDg+WEm5XOaNKQUG4KX5WDNOJXMMZkLKqA8SpfAChahBhkQQ3lWR0DUPDaXFDkRrZRhUiD7x1XxoSbAmhHTo5l9OkAFoBmeXqKPNZlhCACJhtcnO0E35UOVU6IJyXXRXCCSk7mP25mZ4ZmHuCBaHYKS44AQX1Ng7hm6nXd/sSEsTQNbz4IBfhZiJ1kW77kByiAMD3n4+EAFpALdZZXCmBkhOjh3HRMCZDi/4MBAK71Akld0VOQAzDAAxW+C4pqCnhkZQa4YA7AYwkQaIIuaK45aBaArYIo3xx2CnHTSMYEGYQggaCQ1FQQhLNgwDmQDm5GCOH4SEGQAoJWgA7AY1seAJVeaYR55pcGAE7l0qYIUxFY5gFAtR4sSQfpIqlbAQbMDw54AAUwXgGQvscgAfXq0aQ+6ZQe2qemlGc+CBaYVwlmijC9uDAN07kziBf4ASN4jMLhuwsI60TTkKYWU4cqCE7h64J4AJOugAhQgIGO6yRhZkw+aLkwCC42tQLOawH4AL4WbbEFNwmQmAU4ALGIExXgAaFCEjvRnAMggAPg5Mg+WsoeaDXZyP/M9mPfJq+WlmouNoguVQi9Hm3kxjiEkIBye57iWgDZ1pATmBqXAADHOYDHhmwJpmwUAG6mGOSCoAAJiNw0IW4sEm6D6IDzLgFRzWzkJm2M41lwQy+J4adqegBfy48PsKWbSqAgCwDFPogHqIACL2tlvosxJt8FH0wBGuYbPfCNlI50fmm7BlPRJu3SFltb3pX1QoDeADTtge3TGAG21SNpdRsBPwg8NjXKbsynUPAFl/FZguKCyGPdqOzKlnC7qACXBoAiuC+8xo8Mj2/TPgB/dZ6muYANuICnWYIHfwrqZgDNeR7aZlnftsobNmmJbgoFTwjyrbg60qwOqICjzfH/HN/xpiiAyGYBIoCtEqBq9QVXIlfudlUAtyGA556eRtqAmpIO1HqeBbISlc3uy7ZxCWaB9QbvMYbpCC7fWo6nQMgDlGZMADjzyv7uAVAAiTa1Eqj0DaHzIjeI/Qgt9NJzpUGAhraLEtgcQAsOBvgVlWUKBUDorGxwXI7gg9ByRl+8WQqENkBgg+hhS4dlhGhMCcBhT/9uuwj1Isc4+sYXA0hSQboATmkCaXwKwbaSCXAJzAsAp5CACmeBW1dv8gWAWr7hLM9DVT8ezdIDOPiCJIiBpahsAADjYv/cpyxwW3bq/Gh2vpZvg1AAfEEvQXcaBqAQqbaLQDCBUlkgbnec/wA4VwBYZlxWaGgmd16fY1PT8nWH8snRrDgQAyZ4iBZIgVSjX+Sz92LnyAiYXJPu9w1px1CXb8wCgQcodXFxKHZyJQIAA49+ivPyV5kh+HMfBDcIAyVQAiaA4assgVEYBWnG6xuG6S8HgAz5JyzKgzg4gyj4gcQaaAotdh3H28j5AaWHAibQa95W5mV29mDFmyPP+V3ZlcACeqegALmXmX+VdYV4BDOuKEqIeqnX+HM/dxnvgEOgjgypqA+iAzHoAiU4eRAQAR62d4H/XH5tTC3W4gJY7tNo/IMoAQ6IgAjn3hEQgc8vCBCQ+6Hf+wu4e7yngDHJeZWV6adgAUtEaP8hBwAJLl9EAH4inhR2nxw1+AImiAHJHEhzNnZiX/OT7oAHiHnZF9WKqihrjVlSmIRB6IMwYAIfUF5xOwhwa/2ch/2xJmsuY4BcPo3cz0rDV6ESMAGXZgFNoAQuZSrqaASiCwUBAggsT360QGEQRYGEABYCUFBAQUMFCh48qCCBQwQBAhhy7NiRAgWPHRVNCkVq0qE+YaqIBHDjRIIAMgPwyNPy5sJAAA514MABQCCdEh5AxLmQB0MWHUoAYMHDqVMTRCgBQIRIkaJHJo1y7coQCpYoSl60KCvxLMMCCyE+iCChAgcJBTR6ZQgypNGgJEN5BaOnrshDhzwGaoNlocb/xBoHDHjYFgDSpgx5mHhqWZMmqo0aPQJACjDolnnytPnSJcqPs2glqgXwYKEECR0mDghtFyTXoF512s4puOUPrzGeRCjBwjgRHsqfmnBKCTMAzgsH9+4dCJEeRYHmqBm68CHEh2ojRCAawWGB2r3vVm/fEpFgRBzVHAZRF0UKAF8WDgr1KtYrozSCCCWjFCjfKDvdIYR7oOnUCFZXldDccRIw5JACbrn1QEJzbbQebg2KWJUigh1i00IfhIZCC0okwcQZgyyEiiqoLFQgVQBMEoYSI9alU4SNaLIcZSywQIGFCz1wkVzpJVYdez42uBkAfwHwAwoqrtjCDTHYwEQX/24M8ggpqjA0yiuPuLGElLthhZUmo2Am5yiWLRRSBR100KFiH47gA2BRtlndIY1w5EKWvaEAwAsv3MBQF2qMuRCAmYThwqBcHXIVgXNS8umQyh3XwUIsDMXhAIox1lIgf7iaaaZznMFRor29AEAMjgKgBK9KiOFZLAsZEgasOB0SYZzPUaJUZZDxUAJTxvVU3msMgWBfsdl69AUTALTgQkFagoaCCy/YAIAN5t6ghBBMiDHIJ6+8AgAqoTzih7YdwQfhcwZS0kgHLBxlJKlL9SToTa6+mq+UmL4A7qK2leWluRU72gUeoaCS4B+IlMQwR7xF56kmzS3U7HEc3BWibf8KLwwyYN8yVNCKiKZ77s03YDxJvYq4DDNHhioiHwAFhuoUAMYlXcLKePnossJAe4SCDZjacEML4nZFbgsV3/zCD134wbMmPkct9XSGDvhc0XQaaWQJBiPcUmMN/oE2Q8H1CIALWnNVFrqOVswQ2Wa/jHbHEf77aYKN/LsZhIo0onLTFHBgHEYOqQoeRUnWVfldEWT7JQBMKBFDxF4hWvEN6l4BQCajhGL43Xgv5OohfwQyIOSLU8kQVlwxCIBiOM3tEehDaf5hw1AwyIQQLcTsQuutX73QJKSE0sjhtt/u8qa+Q77QgIVSN+jPH1Ve3vJ0SWk6FAv17RWLNzzKKAD/r9OrCffeiwT1HzYFOUNFJzrykVy24pAHqN0mdERJVfF89AMoQKFbqPMKl4ITnIX4QROqIAUB/fc/ACqCIWqjSokAMDT/Iek8CoBgBEWUhF2Z7lw4+UDEbpU3jC2EYyI0CgPVFh2qUAIR12nE+WxHFA/1yUdiyMN+rGAUHPKNdS5ZyGdGMYna/RAnLiPav0yIxKoY8YdMfJKUcjTF1JkLVwCAAr7oBQAUdRGIUQvhpz6FxEMEZRJ1LFZnpohD6bmxXEpQgyb2hwg6/tGLHctj0Yr2qZ0EQhF8aeSgDJXIloBAReR6gZf4BgAxZAIACbKKyDCZsD8YioiSnGQgJjEK/xupEmZCiIG3cJUuXBLLRpQYmlVQWcsRyiePmnlcgT44iCpgaphtSuWsxMIgG3wpDKVciHzko5NNpdKZANAd0dTWO03QSBNnUEJ+vNkeAzGEaN8cTB7ioIbSQcGarHrVptS5kMyIczNYcdwoYjGKQ2zBB6nTJ2i42DiG3O2A8WSkRwYDPnd6ExUBAkAiJUdAi/KFCTEgZHU+IFK/qbIRpQQnHwMxmEuKBD68eZVVvNmuMFgiFKp4hS8ZEqxHdIEgNAvNSINKUv/9gSqJzEwmBnEIS3iiqZ6w6StYupAuAIAO13HpN6/azS4apCwtsIEQnnCGQ0i1h3iIn1d7I9SR1v8xgEYzJSUy4QmPzCIWrtgVQ1yAy4XEwarwAQqJLEGHOrKoIAfxVgtiENYwxJEhfsDCRwEHmrUKtYs6mWuCnhNChqjiF2Zi08w4MsMzKFClZPSEJbaKNhYZhFaFnZgNwiAjX3gGAFT1wU/rQtnKEtUS+9wk/xbyCVa0Yha09cQSbLgQkHaEqnOwCSKcqtp81aC6iAWA1rrq1cQqoQ8JAsC8TgKALQBVRbsdKswCCLuObLIVrPjMQljBiLyGViQ/iIJzAeDUJFK3Cf49QsSyxFYAvLYsP9iCJVCBCuhsEhV+BABoBXlekYoECmeYQ1CmK6JUPvWo/NudJl5BCjwsYa//eXUBipvZEij0AQBMdWomYhzjpS5VqYLBg3tq4F//plXAI9XuxJTgBr5oLxOWyApGbYQKV2TiDmFgg4o7MuEBh9YKbchDhjXcnj/4liGYNWVwN2kIdH2LXLnaLqZQLD+OxGAJbzjDHQbh1DnT2amGuEMV/NuDPe+5utVNAX5okDod75jHgMtSa5e73fsxJBR0RqB/fvGKWXhizCKZMoWt5QIldAEOesiyllvGX09gJk7QodckvgCFXMmPuWkVJUckyxFDyLnOc7YEngut613zWtc9Th0hXw2AT5gSAI+ocyaW+lRXqCIWuqAlRzDtNxTg8lcqTSl/7XZNLz+CTqYE/5AmVD0WcDG3I4SMMgCOAJimWsIQb8hzr+Mdb2HXd7k3YAkAzDRs4n7C1k39hElaIa+FuKEKPkDUhGmVghtAQQ15MBHEn0adLuv3EXHKN3g/sZIjCMEGBxVJWcil4haoe90AeLJH5K3yJoAL5GwWMikC9K8yMrXf/vYEwIlNI9j1YQu3TAFvGWIQF/wAC3HQg4mune3qcJEjmSBQsTG6BB/UoNw4oVkzW86QNXCd62DgOgDecIeWlLwrOwYAr9Fd74VUIcGvmLlLBTNnY5dQrnO+yiP8WKNPDKvj5T4ICl6QhP0o3UQU3fJgPLFtTzziEJRARSx8MQoptkSvN/jBD/9uULXl5nK5Kl4DG97AhtCLnvRvIAQjOqH6N4i+618HwBoAAAaRlD3tIkkxQ2Au8wHBB+JMXYglGuFbOmfCVdfJe5mg3ZGDcMldc4B470NdFy7rd/GPcBxD1IAlj2SQI5i33wvyE2zAgYENADA969OffkbcwROq7wQj1D96089/9F1fAxiOsOsoqzmXKP5B290U/wQTxAlGCcGOInQZneUO+DTCgzGEGzDBD3wUftwAFlyZEQWTMNlNEhEXK3zCJ2zSg6XToXCEEJzgCWLeDygXYsUA6HGd+XWE+r3BfLVCKzia+zFC/M0gD5ae6IHBrvXAmslPuYDSDTCBH5CCQD3/jlUU4G8goCXIlX69mCcsEAMxRMzhVCb4wRWcoBIY3VUA0wbazUKgVitwxC/QViboj0jcjwouBAqqIKN1XuyBnlecIStwRCfcASH0IA+ywRoEofSkWaNoHaAsxCtkRoQ0YQE6VVYMH2rBWPpMByI4Tpw0W70cAh7kwSM8DoQcnnv8wTUR20K4AioQgy9Ilf3YT0cIgf1sEBymYOYR0qLcXwwChg2eIUe8Qdj1ICCCwRIA4Y4Jofw8TEssIRNWxXQIht15AlYY2QJ+wiAczrFsBqg8hwfh1E1tjAFBFOLZHQDoYl0Rwy/wiFGg4PCYoCwuBLXZ4i1WRx7eROnhXzAO/yNiPQxItYAPPAG9zEtVXB8wcQQkzhWE3Bq7UdxO4J3jYCMyNQIe4IElbNKgLBXsEJcu+oIv/EIn4Ft1MEgKlsXsgd3oNYgN4gQgNsHXNUEgNkEPgEv/0duN8F6EKEIzepniqVAz7leXFYrkdCJDjgJQFpEYREG2jEJnZMIk2OBdAUAwfEYn+IBi9cY0AcAJtsASuGODxCNOvAHXoWQ9ggGgWB2X7E07BdOb1GQZNtUz1tlShSFngEpmxMksUYL0iQjkecZdLSUA6EKLEQKXSKUsnqAP8OJCAOI7FssdiJ5KqiToNUHndcQPuAFHiKFVSM7clSEIYoWtZcI/LWSpyf+lnNCllWiLZBoXbTGERi6BYbmAR14JYJwgHAYHYS6EHWoLK7hfYo4eSo5kubGmFXxCLAgU/1CmItBZWroCK2gm8WlUHpUaUKIJJXxaXTYIuSxBGGhlfDECMZJLg5zgo7AebY5ktrjXB6LWHeQm6+EWR6xLFeCBKviCzOXRCiFCLobCBw4XK7gCzrXCJ7gXsf2TTzrnc0ZnhoEMFZXcLzCEK3TCEmCKQbAgTrxhKwoBoIAn6InneN7VbTaVIewhI5RYCiQW5iVBF4RCsASlMfFeOLoCi7Yof1qCK/yCK/AngMIlaMoJdugGzHxAQTimJ/yCMiwEOY5S1YjoObri5Xn/hBKAloWa32Fmig3e5gdKqft1QhiE0kI8gXv6gnCWmjFZRYu6aHIqwizowid0po2CZhFJJ9qoSAvMJkNgpAnawA/M0EL0iJ3GYkss6S7CXgwSAgAAqn4BQB6GKYtWR0kOlyfcpotawhcMJRNQ3okayGfm0YAAgKG2wiMgwrG1AnPCZYEApSbkqO2IVA+UnYLOQivA13TwSI9gnhBgnhJskIsAwAwlQY+kI0PwYuwFKiGgXicQqivMwrAWK7EaKrIeqkjk4nA164yyaCsQTTw9wrwIFKVW6qfAx5S61yPohUYF6Jw85yhYlf98wAgcwdgxJbPOKCgCQGO5xK0Ijv34/8DoLcHowelC8KL5nR4jYAIAmIIr6ILAlinBEqwuzALCJuywEivDJiuLTulwKSWLhtB3FRs2YsY1wh2ouSW4gubGNJU3Ss0IuMAW6AIAEEPBIiyxEU0ggRcqHAJVtWEv4muf9iIAYIIpYOrACizP9izPlunOpmzCDu3D4ucnGGoPcURn6AGBZKylBlNQuOVCYqO42sh+iVAKVAEpEMNCCOxe7iUr8AbRACVOOIoPAKqgbmXYoV7O3pXPvi3cxu3B7uzBssKUWmSLhoIamVIYVFAXtAEdKEJzThIBXoU1wqW4qgKLOpolNK4IKcEnnGaCmuxezkLYVsVmXRwABCcpyP8IVd7Ar4Yu2gYq6Qpq+jXBD4SBITTVJDzVB+alXsqt7B6s5UIsslbsTjxBt+AqE3xBG+jB1JLRvrzlxT7nkrmoJ1jFXPlPJsRCMDAlAPyC9EavLpRSJYqE5jLEI4gBDc4X2oru9xJCDB6BD3SCXmLqLIThTCqvUynqoQbsXsLtLBBqxLZCmN4gQ0AbOuIqFIjB0TmOGHZG8QIlLbnoiyJC4w6W7fyHLvzC8z4vU/6CyV5FS1wjeG1uLCSov2KCDjIC6o3urxLmEnQCK/CsBEswibyJCr+JVXzi0Jxl+1okHvan/Ybp/BLDKxxCtwQHOgqBiyiBFfzKp5URqAzoKJzBIbIm56YgJN4gQiYEbIIuhAMnb7tyxCQh4mkGQx52AgdzcAfr4EKQr+o18AmfsC6wgvr60wqv8ZvMLwAg7BvDzg3ibYsiLNfaCPQwRA97Ia5GgRiogQI1gvEWEUIasCfI3Q+1yiCsbifMVdheL1cYEylE8fPO73ydHi/263wBSicI7PRKLyj/AhpHhxqvcSmTqRTvpQTrQissqt3W8ML6AipaKT9O6B6zSxJEARZ8AR1kRgZagi5iapgm7yFsG6wEBAAh+QQFBgAAACxyABwAwQDUAAAI/wABCBxIsKDBgwgTKlzI0EgChhAjSpxIsaLFixgzCrRihcVDjSBDihxJsqRBjh67mFzJsqVLkhxLsIjysqbNmzgHWgGQoEPOn0CDZuQIwAGMKkKTKl1akKgDIzSZSp2Kk2gCqFSzal1JNMDWr2BBcrTiNazZsxE5GimLtq1bghxlOHhL163aj3Xzgr2rt+/WnSw6YPFLWCpgwYUTaxx8cefVqIoj37SKVbLll1gGP2Y8ceflzwszY2ELuvTIL126kDbNOiOWLjICfGlNG2MSJmsReq7N+yAWKCUCMOlNHKKYMwkIFC88DFMqTIC27K7IBIqV5JGZKFEC4AIRM2bIkP8x0kTHFsJYnslbP299unTg4ltjNswUJkylNp7UroRAgCeJHSdGEzlAQEAOckTCCSeLOELGFpy9xQQT4AhUz4X2uGPPhhy64w4988yTTjiQFaSGGDL4p9htTARBBRcQQABAKaDUuCAnYIRBVxdY3GIPAPfcA6RAQQoJAIcbzuMNNLZwZ1BmKf5XmBhidOEiFVQUEQkAp5wiUJen5HcWFKL1UEQRw7SzHnshzkPPhQNpaI881CAjyplFlNfEFQCkBkAAq+WlRHVFUOEFFWSAAeaiXYoJFhRkdkHGGF6U4Qg48cQDQKacdsrpmvOQI4oHKnhAgqkepDrBBQtAYIARflX/iYUOUhxKxBWlMOolmFQVAogYA0GhhBAmTMAAABO0Kk487Ryk6UCfykPOBBMgS5AH1BqwwAIGvDpbXpnpkMOhXhihaJeCGOoFKLziNM0048QLDjrpQNMMLMDQ4gUPF5jAwgUAQNAAAxZYsMEE7bDTTrMLA9AsQZ7GIw8tCzQQY8AyCrQtAgsgwIJeornoBRdgsMFlmADYWgiYfL50yzPv2KOOPBIzS80ldVSCCyQGEODzz0ATYEAlACgsELMCNcyww5tKLE6MUEPdgAECcYxACZgsUVBqRgCBxtcxUAWFdiakkUYZRSghCZhgeOF2Gmt3+dIPq7QTTzoCydNePOUA/4CGKLVwwi233RbkHwFEr7MOOwC0+SY9IIa4ZqbytFNHAxU3oLnmVhMuDDrroBOOfM88YwsAOKQO61RqtAHGGHLE/oURYIIihhdypEHGynK3hEUV6+B9oYcb0tOMKADY4ggkmm/rPAKFV7zAskbXY0897tTTpt6N05M99vQc08BA3RKAgIp/Cg24Mc1EY40555yDDeqpn2MOOOOAEw19q9xyi5M22Q4TiJAGOZQBDEYQBJh0EIMyxI4M7ArTFs5jkltMwxn86EfMihQkeRQDF6BYEBdCYDGLCWxzAKiYKNxxDyQdiUPWu5AMAWC9662jGqKoRB2iJhCqccwAqSIVGv9SlYMVhAADSOQCLpYhDWuU4xzCKIY2tOENb6DjHPkbhzWmMQz/3SJCGkmCEmRQQDmYAQtmOBko2qCGMhbhXKe4gxtIYsF+wOMf8PDHPfDBRz7mIx/eiEY0ALC8CRTskA5gAAMqlsIGgKOPfORgkOzRwkpK8h2YxMckNwSOb3xDHMcoRg5FAQkVAMCUaKiDKv0GgBAAIVUhoNYEICBLWUJCFLgsxjG88Y0qokMc+AMHM5jhxVvgQSBVKp28hklMU6yCDnAwQ+7SAIYiCOKaafjCF8BgNjkYARCgyBUYRnIGcKiDH+gEAD/2wc527kMf+aCFNLIBCWo5wAHVAoAGDGb/gURuqxJ/DKhA8wHJgkKSoADIhz4WCs8/LvSPfWyhPeDTyWNIoxKwgAXRAOABCCAAAh7gaEFIAIBTkeBUqULpBCpxy2IUYx3nuIYwrmGNb6Djez+KGYfm0Y5jAMCAZyvDNQXxNjOYjZppWMQ1j0DBjPxACEI4xzvysU59EMSqAFgoOERxDGAUBQAF24ADNgCADfRzLgFYgDf2gZB8JHSgAk0oPuzRjva4qYaaHEg79eFOdvKjofmYZDo8Ccpj4JKUGeCoSU0lEJJyNIjYgoAoNrGLS1DDHO1wBwDkBKRIBukd7jiGAcswBAAo1QsEKYNqwWAGQSj1mBqxgQ1u8INq/6CjTW2qRzzYAbp1tMNO2qiDIs8nNJ8ZgGCKBBQCzLGPFi70nVjNKkOvCs8WNqxyC8uu3TJlN73JCZPviK5AGPpcwGKSk/ERRzSOQQtcOlak2MLWBBoAC2H4dh5D2iOQhNTHfIBDEAbkwlAF4jbVpsELQjCDUgUREh5lJhrW05CcMkThetBjFx5YwAQ0kAMpOEEFQ2CAAQIgNAMgAFCQ2NALN2ThCFMSHwJhKzvnyriFZSppB8muw7T7KYlBjoUtzCo7AcDW8TLUoQRtYT3SewzDkpIAQFhGPLx3pEr6caDgiJ2AFywHAKjWbQZcgoIFYQYAZsQGMbgBLvC72TZrVv/C9pjHLiyABLe5zQleSAMf+OAE5UAvAAaohWYL4kKBIGnCcS4a4zDyMB3bbbugmoeG9vhHIkt3vPtQaJJdSEki5ZeSHAKSPdARI6EugiBDBbAcXOvaNIJkWDfwgS3i4WIN1cPNcQ5BDvbAaznwgVJ8EEQi+JAGElgAAZj7xpsFMmiIZGge6yja4hQtkUY7TFN2Y9qjN/VoZn1KTSGqoT3cOpA+CsSg+51k9kLUDjSYciAMVqpAGGzaay7C1Q2ugh2atew3E69CduA1r/cscKHyYQ9lUIEGEgmOfrt5IRtyB5sV51t2WJxxi2Y0jpe2NILoOFPrsMc7YCwQuB4koiz/PgZqDaLUU8NbqbgYnTVuYYoqDKciSkDzCcxxaxkOT7PRSMRPBZK7oR88d3aInRdOOgGHO/3hb474PNABgCtSHQCKY8e0MQ4tpAnk4kUL+0AyDpHs7tbi7sCHW/s63YJUGgB8tEc4sKUCFXABS1Q4yFC5cAlycGoe45hGL9rQhm9BRAg3uEE19IZbN82jQl0+m53dNgYA2OGnBSzDGJCQAVxs1kOg9xANNdtzGpr+SNq7evykHW2KY53i6wByC9+kvfbQbGEYvzjZDZIwizdM6+gY90LcGd2AzgNzGdPcCRsQxHFtQhCQQMMl1iGx9dRjH/1ghuEXEoc2nOELw6B+/8Tk4XkAUGrykx/D5eUghTGMIQskKMaHIEd7n8Pp6R6Sh0DMUY6+VR0dVBeAAnFFxmBCkoVLTeZJ4CBptnY92vN1YKcwi+Z7WicQoSMP90BuFMFO+UA044M5zqM5AGBCm+AIjoALooAG4sB43FYPoMUMTFAiCcEEQmAH5kCBCdMOg0QQU5ADTiAQQzAElBc7ZYAEVOAEQ7B4esN4jUd/kGNh9fch7WAOAEAOVngOAICFWBiAAAhFm9M80LMtAiM9CHBYTSYOFpgQYGcOAAg68qBi6aAOkvZiGngQ7UQLKXQAx2IBYFUws4Q5XGCCnIALx8BCEac9dhMiz9B9DPECLv/gAtoAP/EzibigWimDWj7oNkOgAnb2U3KABACABENwDDbmbZRDM6DChI2XceHADVSohZOYhTE1EAuQQgRRi9sCANqCbBjTAMVQda2HdYyjONImiecAOoP2IwUxYd0zaX/UTrwwYgxwTw7Ah/t0TxaQARNQgicoDPagSUHyQrpFL2rAEF+ABVbwBLZgheXAjtXgfpVnZ1nQiVlwiZVyYCQwBDkgCsVQRd6Qg9pldttFOQBAM1eXDdmADX1jDlQIP7KYDVETNV+IQhrjPCPoi1hYdRppgYqDDv33ROZAaz/SbG0GccUTDYdzLBqwARoAMALBkvhUBrhwDccQDfcwcjD/ViTrlA6l8AM/wBBz4Ad7kA3hUJTiEA7R4AWVBwBOgGcEtnJMWStjcDYeEIRDgAYhQAAOoIeQcEtnWEU4qDTsQIXYcA3LQAvAAAlRVA1syZDnsEMmNjVWAwHbYkIDwUMjCAH2tXpcyIVV+JHnIA8SBnWE6XQZAg6AAgDQ0zOH4zMH0IcTQAvhQAvRoFCA1Ud2tA3jgAk9EBpJ4AOiMEXc0A3dwAtlQGA5UFoF4TY5wIn3mAWpOQTFUJThIA3ScAy8QAtdyQUGYAFFwAMHKArJcAzh4A28AACXUwm0wAvCAAkAUAlSI4ICATUYw0N0aZHOAzW/OBAZuYXnwA3cUJTk/4AO+od/hQl17vANf9Iz5xMAFkAC83goTpBIiRQOvMAL5FZk77QP/HBH//AP23ALYXMQw4Fmm1AM0EAN1YANvHB+XlCPBuE2WVBn91gGsbkJ3eCPtBkOR0kORXkNtlkMuQkJlZBKlVAJy2Av19B/5PCR5ZANbEkNvFAMJMo8ChGRF9MqyHB1BQE/5ICQ4RkOt0WS5ol/9vANzvOeKhAEALAHezZsR6cClQANkFAHyqhXbIVO/AAA/dCl43AL5XgQ3tcFtpCizdAMtVArboMQa3qJU2mhQZgD2DCn2aAN3GCn3TCapFmctOmhHloNy0ANAJCg3FCFAkEOhyoQLuqi2v/AlsUADDlEohljEDFSDNXAkPCTqVR4DZxKlLdVf9hjIYNWpBnyDbREAjmgWmXwoJSyB12WO16QA8aCBuD2I0ZCZO6UD5lmD2F6EHkAB2ewRMuwDKKQBfGZBVKwEGt6NqmZA7WgoNRwDdUgrdcwp3MqmnpKmt0gDQJhL9RQqH+ZqIhqqIg6roa6qB/ZqNXwqDk0nVFzS5Xwi8gADQn6rdSHWyDihKAaJxliaO5gDanygwYGinwAAMIWbACwZ0MwAWgwh4P5QnDXWUFSD7cgBkhREFUCBUnwA8AwrMswBVMgEEiQAyGbEMtKWvoICc0ADdLAstJADTAbswpKrZyqDdj/0AzLAAAr2wxBGg7lmqiHaoVVaK4JMa7oWg7cUA3UsAy5WQdo0ABAAAwJmg3ooCYFuSYFKRD4FSIA4IQ+9yHfwABDoC5Z4KR7FmxnK3QExwVslhAwNA/hACwJEQMt0AJFIAzLkAyQwKQPigQQGqGpqZTMCgA5QALLgLOIm7j0uri2+bIwuwzIoLPNgAzRGq3Vig3ZoKe0SRDlaq7jSrQLwaLhcC9AAAFosAvXcIMB2TQ3VpASk7UDgVvRAGJI4GFN6qRd5mWneZoCwWunoxCHKA/HILcI8QRi9ANjYAzJIAoh26YH8aBDQKGat3R1Rws567HYO6w4e7iHe6bQYAx4/3u47JO33eu9jmu514CQ2bCn3VCUnGuF8Du07diiiNqO5dANzQAMwAALaMAADdBS/khtRrNjDMMpebMeopCaSBCyrpo7u6u7qnp512QL9FCSJMli9bAOhLB9BjEH3Xcie6C8ezuPJrumxgoAWUAFJKUCooCzAHC9LzwQMIy9kysMxoAMyYC3AIAMOMzDOJwMyUDDO2ubMcupmIsN4Nm+7kuuTNyO3BC5ACAMwCDFtKBK/at8EAAJmwAJusRLGcp12iUOJFB3TiAHSRdUZZAFY6CqBVYGaeCqdmCTA3FrUbdu1jAdCBEIegwHX2AHwiAKUpCsAyHIBQGhU5CsTrDCkP+QDAKRszEcwzP8woebw8Kww8aQtzucDD68yZzMw0CMwx57ps3QuNBqxJiruQBQlNlgDLsAAPorDNLQvn6KDbbZDLn5NZDABRMAKAZAArgECZegS6JwUiqQBnaQBgThBSDmZYQ7BGvsxnawZ8wGeptVYemACRcLET8QAy5wt7VghAJRuH97wiU7EE15Su9FEI4cyZKct8YwxcagvJosEJ1cz/bsw0AcxKHsvSxLDS/LqdQgxbugv8YADetbRQDgDZsLAGi4oc3gz9Jwy2gAARmgASTwg6PFzJsXsmnsg6p6mrkTDZrlJnN8IfNgDXcggwlhAy2QAiiAAiCwCYecMjP/jcL1WNME0ZQk5cvNgBDr3MiSjAzGIBDgC8X3fNRI3cn5DMTXO9QAMNC7IAzNcLlTZKcDMZoAkKEZmtAMnco+CwkaoAHvprsp89Gq5X5m7UByEA3zUH2xCyLsEAlwAABzDRFPkHMxwM1F8IMmnAUg+4MHcc4lBQuMfBA/LcPJAL7CYMOVTM9J/diP7disDAtQPcVMBLMAoKAAMK1GfLl1CgCimdD4mwGmUo/IfJpBWCkfDcHzaGBy4AUWh2Oc0g7UoBIUcQgCcQY8EshTcMIeBtgI4QRIYCr0RQvKWxCHLclOLRCLPdSQ/dxIvcNCXcmU/dRRnQz87LLc+rKZDbPV/7DZnFqt1ToBFf1uuzsG0fvMqioQq5qPBqZ5k0h1umcOv4IHgWAR34cFe+0EgSzY5iwQ/v2DE0AAubMBHsAFt4SWx/nIwwq+ruzKiy0M0D3h9SzZXiUQuzDQlRzJ5Zvd9Gqb3U0NtDABpuIEp62q6m3WXuYFQvjRY+B/3Gk/0QBGFuECKMAB0QvcBdGUPA7gSGAAKnAKgjDGJLABJ3VSG7ABCA4JtXCftZAIm7AHdkAGZ2IEZGAHkVALuIALzX3DFH7P9AwM8QwAsIDhGX7JkPzIMpzmkivKDuABFg0AyAzBaW2JXuZ+7H3Whqqo/YcNYJDNGDECgl4C0bvjTMnjgv/tBDlgAIIACoJQuARh5BugAhtwASqwAlLAB2TABnTQfd53BgCgTXDQBnAQB3OQB2BQCJiQCLag5Vxuw14O2Y4t3Y1N5hkl5hye5jBcEDgLDOTtAaiFxnU+7APhfpsgEOGQylYYDokQBgACEiCAAiegwAB+6IjelKqpAg7AiYuABDtdUuC+0yS1ARBAKYGA24ggEEkAALEmBOv+7FRyBm3gwd9nBVY+KZsAOLUAz7Fe4Txc6xmFLzqc6wTfzmiQjSTgxqoayCme1qFYspo3BtxaqNqQodxgC35AEo94AgBQ6Nbe4zkgEJZOAonkg3HeWOFO6XVXVhngBWQQCHEAETb/8APvDiljg3gpAAApsPOCLuhFEB6bsAmuDuteLgytXOYZtQvHXfAEvwzAwAAkXlqWiN4kMAV1zt5ScNFnfSi/KKjhbQs6UhKowQNBiATnjO3fDjAksAJUgABhvZLfXuRFvgHjAwAr4ABUMAY5cAZQAAADGhLcnPM6n9dV8AVwgAiKcAiqvuqAk1FknuEdq+uSP8MeiwayVLsEpnlWT+yrKgVbnwXOOaiLuwnrvhJfEAVFEIQD0ZoldQHjflIr4AUWwAAq0E+OleS4b1ZGflKnmQVFAOgrUQWekfiHEAh/AAB/EAh6QAdrUAibkPS4PvnS77FQPwEqgARmbyhlTefM/7zebByrXuWxyHB5pb8SLW0C+lh3JKX2ZOWS74ZPCzBWc68BArECfUgCDLACmucEZEAJAAFA4ECCBQ0eFHgI4cE/DRviiQPGTi1cyJYBuLismcaMAi96XAaMwYQMQ5AgGUglixcvZVwCcBkTpkuWUkQtw5lsl50bSxb+BEpwxIcPJkhs2ABgA4kLAI4ydQpgBQAGHQ4g1WABgYUJDkZyZQBhShYpKgIFCppW7U81A5sYMeNlQo46XOqIosWLFzBeApMlQ4bsL5qwKk6iLLjSy5iYY5BkickyCy2cy5DZOgMg81rOBYmaWLq06dPRSVUIfIBAw4YJJACkkSNwBWsDCP8anATQsPNuzjIAyCmrgQQJrUebAlCRXAUJFUAADOGCAMKEwwBwC3QCYCzLMdpVDGE8hiWkysIS6UHEWz2AESKSh4ZK2nUOAF63Ovj9W85+mAwWACCAhBw0YCOP9Q406AcThpACAgiY28CC/5QCoDSpVEgDggAMAAOCBgw7DKXqAHBCCoFWEm+mmnhZJhlb5kALQd5cMIE+Cy0EIAgqHJgggA2QgE0gM4KEqYEFCHDKAzAMlBHBH4xAwgv6hkhOAwMESuq4LJk7ZZEAAkBggQlMCnHEgUrMIk0VWeLFRUnSa5K3MLqATzSn7FwBCQu4siBIOdIA9E+BSEDAAAIygCD/TgSFYCKHlZCYYIXlEEiKQi2ZImEMTkohIAAeePiuzDILyi4LAFjibpMTfPChCkU7O6MLKIyCrzSoBLKgvglgiy0IC4LwIjYAcpAuAAgSeFU9JrDgAIkpvEDgOwOuUuqoCrFkSoU/S+mRAAVyIFNUcQeagoqxiBhhhGR3e0KIG2JoQbha70xu0KxI+DOuHg2gIrbYRiLgynU7U0MMHQxzIoMj/7NAAwpDq3C4DahwTA4qFgjAAtcEEldUJz5G4mMiBt7tB3hRIIqFIA7aQIXjqt0giCBJMIABKn5LY+QFEACgBZLV+sIKJS74boIGCEBggg0YYJoBB2ZLaktwVchh/4wJDFhqoHA75vgwIkD4eS14hyIqZRXmbZlo2YYbVlgd88tRIAIS+CHstH6wYQENFmjAACMRIGGIMtIIQgWnYWZttRxy4GSpIYg+7rRxu0ZiiCKssDstF1AQoWyiAOiA5QpVWGEFKloWyAE/YRsy0QUmzPynd0+Qrm8AGpiAijT40O/PFXIVqCsSpEhjDCcY8KJwp1xjTnIzDxuCDDpiB6rdG2yIwYUWUAAABE7SMCjbC5IigQGBTpvgz/1gCwJJAiJwg/qFYkDBhJoBCBMB8OUw4zUz1nfNBjSAAMAhgQpeWMAGVkCfgbBtY4ihXPSmJz+ExCEObTiDGLDwBCUIKf8VnLgTae50kNP0aX0TQBIADGCEJ1DQIO9qwQkCACAU9ksg/BvI+gDQMA7c4RBF8EIGGEC6qSDkNKexzkksFyMXEsQhDckDHSwokDecAhSCKEMOSFOpgiBxIJHKwNVUiAATNPEgX4hCEgwQgAZkQH8CAZQXiACo/6VhBQywQAnO8ocJJFAqRTzIcIbznSHkgA1mLMgTFSkQPWCiS9/TYiCj4rCCNEAgRyJAB1oANkQKJIpziIMB/GYABv6JCkwDkn6ooAEGEAAMevjDAsz3x4VIrHlF6GQiFdmQGBXig4JYBBFOgBSCPCU0gBSIFAb0mgaU8QO5HIhDVlAbAmiLf2n/IMGXNlAG/smhDEhBAA/0UAQE5KAMawukIJdTRmgOJBCKPEsgDlHFUwgiEmU4QQtYcBz5EERjAslBEP4DPi+A4JntfGIRDHCk06wvCA1gAPFwFoSFGqAEYGBaEFZGuo0VRJ05KEE7CRJPkh6CDACQBCfsKQcWcA8EXBQIjvakgpUNYQNpGJwXOpAukebmDwot1K66mQaW5AdQQzDSAozwAAZwkaPpJN3NepobRSiiEVW1KhgcIQmBRCIRiTCDGXhQhORI7CAOs8BUNIASmiDhBC/o6Tv/UCiMgU8/Q4rN/8oQJlFGgGkDOWJHG6jOE0x1IF04Ax4soQlLqGAPieDq/0EiC4BI5CcLVEAf8ChKgnN6IQtI4MEXeoqIswC1ZnYdyP7SUBsEBGACXQEecpAjyOUJ8ijsNCwKXCCEKpxhEGTwggrswNXJcsYLTT3SmMrgBSkgIQJ4EKkY4BAIRbzBUH2bwED6tx8iTAcCSNqTA0x1vtnadpDLCalhCeKqQQDADGlijPr2sJ9E8K64xe1qIqRAAAgYAAIrccIQPPCHqfpACVXgwQJYu6GABsFoBMBdAyyAFAeoIHmy5ah5mYMEFqi3lkOQw3z/lAY77EHE54TJa+RQYjkkIr+n6iOEp4AEFUxANz1FQQpo1AAC2iZgKqzoBHKFlAlL6kKS0jAJ8v/0Bj142CBkHQKKupNi/bAYACyeLwC6IwdBAEAQexjCkQBQEkLFSCEiRUELbGCECCiYtTsTpWschhX4kC7DgmzZBojQZCcTBAxzkcJKBlLUn8BmD/nxwhTm64QJtHYBJPDABc4yVXXFQAhd8MMbWKDgDHhAwQNBClaMOcgV2PY7Kx4CIJjUZwAUQQM5eJYXBi1rhEwh0APh5muG4AUqkYAABMiupBuh3iV0wQ1YBcNjckCB7N6JmHmu03DyFBsTpwEJe1A1qwFAAQFJgdCnovVBaPyYQXNzDDlAYgPYuIBD9tmqigDDCpxwwN8NqlrLse0xgwUAPvBh0ZGQxJRZbYL/5Jgq3OE+iBSG4AQ14bp4gcuBhhZwAU2EwsnvDgQRcjDvLGRAYwFM61KGc4HhgHgP/eZdv10iCUkkohDaZoNhFDNo9bgEszlAIQRY4AZLPMLDVQ0EqBYeaBK0huQCRApzlGwHlDc9EWXgA2Sjngg7nLTPTQDXzAWCcOMudwIq+C4EdNBnOFgwDiUgJMMhkEABThgpAT1506Pekn1T9umC4IMXXODk+uUg0N8+0BjGAOnvrkARPvcw3mxwggw85yQRH0mELGCYuDvdC3so3qlIHOKot1gQRhCBk02ggWedqkksYXRt7vAIRTg5BSNAQQdaszgViDIDDghc3PmNcm6W/8HE3szCWLIwhjScPBGH3gNuDSv7IQj/RAhKtIIX0IhD3HiqKABB5xLQmuUcCQKvrjzKD/0nFhfvsgAI9PBDjMX6euEE3Jsq2BKQg5CdCf3OV0vIVjIFBBDACIMgMA/LPhEQge0bjoVpqEPrt0SQNdiwg/0ogynzrCxwgu0oPi9Lg0QQBB5AAfgTKdg7AfChgiwigZGhv1IZr5+YAqpJkxzwr/ZiNQL8gASYDhRagAxYDGrDqf2wgwfsrG+7rClAP1MhMT4Yg8faAx7oKdhrgRtoAjmIBHsSBCKIETbQOCS4NSm4tYP4GFMhFCYLQA+TwQ+oAAbwAAKagApkDCfgpv/5wjxwQxUgpMBSKcJESANBSITs6CkXSIIvCIJFAABOUKkNUCQrRJNC2sKFgAAjwIMJ6rOykYDXgTAVKJFnIbH5+sE4RJWBuCwq+JgpcAk56LcMlIPCMiwqWARB4IQopAAKMAgyCAItdJYUNAgpIAJLg4IvaAsn65zPOIAv8YDvMCcSi0CWCBlNjMOt8ywpYLiVWDEsYgxcMqwyWIRF4IRFoIIVkIBW5EbZwEJaLIgpmIIhEAABIIgfWBYxiAP1ghcQYAAweTQVGByCQr2sQ8aiQpU0Ycax4CY+SIMoAwPDugM5AMRrHIJVMwh5q0BwpAJmJEdz1DaC+IItWIL+QkP/UFwuTWS4e5S1OEyTKVjIlngUImgEnxMDkTIEYLLGKQxDg/iDMCiDldHDj4mpcoRIgxiAAVCvSaCER6CoQrEwOORITRRKyaDAkyiRfgGFSMCEQ3ADzGmnRChILyMD0hIIhzAIDsiBFTAJLUoAm7xJzygb9aIuI6AmbyvKoexITdTHylkcAAAFACgFUFiFQRADn2gnM4jCVZSDO5iEgUCEMzMIBViPg5qqhlCogFEMtSRKjwy+ANOA1hiCNOCEuIzLTtgCIYiBdgJEa4wEKTACgRiER/jLiOwM6xsIbryujWTMZMxHW8uBXMGPIvCAlqhMWcgFWSiE7IEmIwDEQFyE/yDYO4JwA8E0zaBAzdSkgAvgr79TS3CbtUSDFASYpQkggiLIAS+IBFBIBdyUhXY0zCYygUioLC/bAJ0cCBtYgi14FXXpJKwsiFZsswYokdbcRFQBSQaoDapwgAUwgd+azE1ZhVzIhUJogc9pIqLQlEVYSkGwgALISbVQAAUogArNybA8CA9sIt1Izm1bTvr0NvsUR8mYAvwAkB8LgENqhNosA044BdzMBTIwqPDMHARtUTlYyjJIAAotAEUBywh9z5Y0iFa8gGPMAgYZyiNVgWfJgql4AIIIgAMYiDswp+3szlwAAB3oRepBUC9TKYOcUMK0mwiQgCaaA0dEiFZcAf9xXMFdG8qP8SwnOAFOAgAFMIAeJQgyEJxIKAVZwM1TeL0u/ZkufQBHoKxrJIEwjZ1WdKEoEC2goAAHQJNYQ0ahDD4SgFAI7UCDaCEisM0XJdBCMJmTcc91EdQgIE9QUCkLUIAHiABXzBxGlZ8cg1QKkIALoMlKZcsjFYgKxVOB0NBMMyccvVJZMARDcIMtUAIhIJn2IIgbjUtBuIAHkIAOKAHEsxsO4AD5EYFSDYqmqMAkFccV+MpexdM085mBUAgyQIIyiIQXxU0AaIRGmATW84OB2VSd/AAvAAUcjQQviIASYAEWSK/jXIuxXIv5CxkpoNSPtLUL6FEBqFAA0C3/F3CBF9hMgyACLmhRUM2FTjgE6rIqAOjJV2GCH9DUE1BFa1wEFeCAgWWBDthWg90coEDYzniakPmYEtHCC0AWgZDYCh1OoJDHNOBO7zQEAOSlZKGD6XlSJYgAQ11JFbBWgi2BEqgAg40dZLmArvVZgUBPABAA9LzYF3gBi0WIIuDYRYDX3KSDPFikOMmDPGhFOpgDIljFaL0ADqgAmCVYrRWpsB2IXyWI1gOAQCCDAzpaAu2EQYDbJ2qSAHRFtKBMHNWyCyBTgf0UFphZwM0lwiXcg3BFeaSCxZWFTsADuYJP9ehQL5WDa6QCia3TDmCBzc1az22iCIiAgSBMBRDc/4Uo0jTgUz/NTcfdJdYV0oGIhGtE1JyM0Jgd2NDBXQqigAoIqZCqgDJdC9PxAk640o9VWsjljdYtAan1sgkoR+d9AG3l2yedXuqhgNDhAYLlXM7gtjIo3e9t3MddXc5oXSQQRBAShK8ESwGQgArgAAp4ADF937ChgG3tsE8pWLW4VRB7V+KVhV1qXaCYNIPoXn+lAgIGS9CRAA6QAAZu4IF5YIEViPkFgNtdiwpYAW9zURgF2V2KIs44BDgpiA82SHMsYAFYXxN+gNBN4ThpRdodCB6QXoHQBABwX4IA0oF4AA9IAyooBf0N3z+YWwBAU6BohCcuiAQYAkFQRTloNv+xLWAJKGEJKOIjTpYHHtgW7jCB2NbSPAhzdM+cZAAQY1sM1oO5hdu5/eKgOITMuMkEcA2TUAEEsEk1tskC6IA2RmE4RpAHBoA6/hTOKEcEzUkTUFyP7QQ3iKKmbdo4eNTOmFH3za4GkADBLeAhroAIMGJL3o0krmMAUMKCCKkt8N08BoCDKkcA8AD8XdwCVQJHVQMLaoMu6CD1MJ9ZQgAJAIFhBlqwZGMiruWDqIBuPogpxt1WfFlNnmA7BoBnzmMB+BybrAAkIMi2XQURSDMbUAIowAKhWY8DyC4HkNIHoNOBAEsF6AAEPmGg4IAOQOiEHmjUUIAksAH1gNVO6ub/cW7hXe6MThZmczQBKaAC74VRMkAB2MuxH7BnLGCC3SCAA8AjADiAK7Fmghhh9p3lhTjoJgaAbZVZWSWZbgSKBYZQcA4KmWVhXbZohNDQgjBHBB3mFWCJLPbTSJDRdGkBIcACNZgDUOIM2oEo/FmjDUGI9B0AbRVYmUUIhEYIq4QmCogAwtRJPMVQhIgADgipT5HgzpWRsT0BEhDeU/ig5AnpEXABJeiCNjDlLk4LZLEAHgGA7IrSl5binFSAgZ3fcrZjmy6I9GAiM8qDCIhiACgACq3kb/5s6wUAIhCrdSnHEtg4LKIxFTABEBgBG2CCL4iDt31cteAZ2Uzs1iKA/9+V4s8uAbquX4LA6YHQVsBMiE7KA1QmiM/uVQr1baCF7BKm3RLYXdQWAAOYAAhwGqS4gCIAgRuAAjGw7dsOijs4HAeQTQABgOh+bjIlah4ogZnV1tCR3uNGbmiaAzFIoxYA7YKA7nRu1RI+6NCOk3KUANbCI6RQAR74gaou7/5N25XeIQuYJUiG623sAOGe74QuCG1lVA7YYQCoPs0+A6jsmf8uCAhF6rFVgAjo5g7o7GQZ5g1BAH0msg0oAmMTZAlHCDAwgMQWMgfoGwNIgGRF5yFtxdrdXLkuAZm16dBJYAoY8dwwozbAgg7auxZoAV/11Tr1bJguxxePce0lmf9hfgCkOQD1TmwFM4E56HEfL4i5naExupJOQRLKvson2tbNJVj7Foj0mm+BQIvA5GEX+oIkuAGL3R4UEFzQLYCAplb2NXAfFQAQUIANOQAE6E+nabQl4GL+Td6D+MVfExgk+VmDwGNCZ2EJ1vOBCClEgJNDpyAoWHQu70CiePTeHYic/GwYL+EHSGq18Oa0uNBLf4AvCRgct3AHiAAuFt+0WCO5Sc21sFbcsmyyhpOq4mFE4DP5wQIhONvtCWZdb27Qdu4KHfAShuG1kNWJPuirnW/O5lH0TPZfU+9QI7Ii4F931+UE+BITOIAOiOigkPeBZacnFwgWMAFNoARFQAT/iCdxeQ2EYaMgJdhM7QGAztnUwW3uOqVQap3obf4Jnf6JQR8ICVB2A8h3796AA3ilUf+JQ2Bf0IGTggcKmM3kqwWAElC+TKYE47yqJoKCZb0Bik0BXA/zFffsCXXV7JVxiOYNHQgAU8ej1RCNDXilzjBOd9oNuS7qMuIBE1DChpfXiAcARaAEi3MhUCoYk34X3jRi0F5gai1hCqDQ9ZD5hbgDZU/plkeKBuABhDyQNuCMwL7pJTYIHtCEJx42RKAERJrbQICTNhADK0gCMBeI//7sVn2Az+eACSX5tDB5oNCDL/mSmmkYr1AwcfJ65KT8kTL8G/BWoJDnGHiCMOiD/0cghYFweEoQ46EHgN5vIrjd4W1f7uy97l+t0Cdd6xPO+0teizwwAdQXJUO5fgK4A95ohEIHgCbDAh/YDRHwmRjA/eIEgFAYBQB4BYEYBYtXhUNmVgripYiH+EMIY0rYZRZY6ycFiAIKIgCQIOFBgQIDADBs6PAhxIYUKESsmIdFgIwBCHA0QCBAxZANET1yGEUkSgAuVAJQAuALADwPR6lSNemOEhQpd/Jk+OfPIYaKEDWkBEATUhMlCj54EMEgh4QFHA6Y2lMixZ55HGjcyDGABBBXHSpiqIZhC7FjGX5oaMMlQywA9DQC8Mphi7V6H/48pGgoJaSjAFAaVdgEj/+lHCh06MBCQcKFDEcAGFiSYYUKE7M+3My5p4muGcPuBYCIjpiTLVC0LQ0gho0bcBt+GdSQlGvXPxH9RaRpsCZKlEyYAMCCB4ulHUoklkCwoeTca88YMUg6dxeGL1aXbu3whpCWLvs0HCxdb19EjRAFNkwJkWPEPJQyLMGiMYeUn89HPDlCbW4/vPCCC3kB4N1VKKwk0iSqAFAWf2vtRlRZvwnXSCPHGccDACVUwMFy+e21WYQlAvDCiQ0hyFNbBkbkBwDmmShhIA+qpwlhhuEIAA/IGdfYjAyRGORVNrjwQmwurJjSBwq6+BB5o4RC5Fh99WYUQ0YhFRyGLHCwFJX/EHkW5kMuhMeQDTpdBcJKL9yAJJI3ZEcmeoHU1UiNOw5mGGEY8obIT4H+QRSdESmgAIDnucCEEFAAIEQLS4b0QQsFuvXCDwxpgluhV/3xV1BZ9ikqAHWVGipKH7QmAKsJ8fVHpz0poQQUTCgRg6QRNVlgDDfY8FAoMsbaU42BDOUQlgw1MpQiplIZ6Fi5rmUDFLXeqmaqDCmYKQA3OPTKlMOiZ1pFGB5ySCOoxgprttLdYGtLN0SaalsotHDDD/j+gAUeU45ymbh6HUJoQ3euxxueATMp7VVfMOGoSgwfqG0M3XILAG6oJKuwhBAqW+p75/7FcUG6qnpeIHOc9QSu/yI1WSmcEGlcI8kS/oHhQ5Ssdy7ONSupKtD8mRpIG1BUXJGqCp5oA4pMuDHlXYjoUTN6QWGJYSM6A+CXUTImSnVujYyC1FxfzPbQy0fGUDETZ0zC0CgJg13lp1g7q/ONAIQ7d4mCCdWGyS208AJsLyTBkIOaKEIz354SnHPWnDZeYmGD6czuQykAALMNv5anSV2hBoL55CH95CxhhAUGACpTbnF0p0yIQabYWppGOgBYMNGtDRUrMadQWzNeekq7pS7chaOMcpcbS8SALZEoSH8DFGfMMbyJh4xtOaAO/THHHG2IIVdDqAQPwOjsDow98Q1NMhR7F6IOgCVyCR6m9P/2/mCFGnmw3/dvkNII0k0oEHmYQ0hG55D1tS8iqCDFhRpSlsGQAg9PQAv0SqQT6bngd3MJxP+ENrYsZcITn7DETwLxp0ZIDg4MmZrwMKdC9DWQJVs4wyA+gYrEgY6Fd3lJEhbEnRnlDwUxkN0cznWIEEpHbDEKziNYwQpPHOIPllCEJT4huW4xZHYNWSKsZqjA0rWGgz5YQhhyCABVoGIUqHgFbqwgIJUM0URFvAH/6KDEJQbpD4YZG448wQqIqAKOAFiCtrj4kCUOjCGeyMQhbAO2pOUFaKpqwQ9cMohQ3CUW5usWgTb3JP4U0QX7aoMelIgIJpbmJ4Up2CcG6ZD/WcSiFXg4EwAyCBFCWQIAnvDE4xR2MsGpCWjSY4icHIKKQ3wBCuEhph3z18EvxCEQe+zjH5IFRUd6YkqxAEAflOCtMkEEC2eYy4MaQkVJxsqSTRJlMZOWQdy8IhYO+gQewqAEHyyIlEW0ARIRIVCBzqgvMXqlzkroiVnoAgC/8AQiVzJKlBzCE+q0RB46ZckacNRe0GzIMRtyBcTdxiGGCAMuXVNEj94AC/0b6CpNFKhe/iZLjfjlJ8IVTh84pJ+bC8kPwuDIhkByj4ISVBxyA7QaAKAJThXlajw6UfJkaaCNeBtRT7oEG0x0JyvlYBK+cD1QBfM8Bj1KUW5qFAf1/0EI3lIQgVxUIBTlxVINaQIbqnAHPxgCJZno5SH8sIUlpCAFNGCNOxOroqUyxKlNQMv9dnIwSwjUWO1xUCsycYcqjGWlxLxBFNRAFz/9pERnPcofgzMlB+GBCUyr1E8rUiCl3bWxAODseXqg2x5wtAYpQIFhVcXUuz41siIJ1yPgBzCL8mYSrbjLLwDwCZx41QUFEhx28YhKogjKtH/IBADAe9ARcnKZS/CBkboKEUstyAWPBZtjU3IxCQq0lw7JRCAsUcJWAGAWAPgmOF0CO5C2ADY/SO/gYpAELIhhDkctrVmBwpBeZmJHrFujJaqgBCGkSb0OUZqLjvBeqsUXJf+IJItpEJGJVliUqPZ1SCtI4aCK2Cs2Qrjxm5DUq9A6+MH8+cmLfbm6TwaFqwmqlOAKdASHNMEHjnXsEjh7h4iMODeO7ad1e/qDLawRrekaaBZl6UuLtnjCntiYQ2bl1hs3Cgob5uq+AJCHB+NuL30ps2kUoTxfxEITZ+tpr/LVO+MyZCUuQMGInboGALyBIW9o9BrW8IYpG+IObFjCk5/62CrXNiRXxkuSXeAtGAH4QfAjFON+mU7xjlldDIHjJwYRhi5AIQpQ6IISWjCCacaBznVGjxUtKl6imGcUrxulqOeLzBhgt0ybVvQa2ACRRTO6E51oMSEaIu1IRxoMa8j/dKYh8unIWjcvN7jgJ3VWloN9sZe/zIQi/uoQVUuQEqRARSxiAcdJ4AEOTGCNEdvWYx/n5qyqZsUkGsSQfSIbXwxJKbfs2hAnxzfS0g6JJaQoyIiw4eLS7njHGcJtMCyZuFUe3HVjIAQ3PKRZ60nxFxXx7niD16LuDpVfsvab5fmCz6hwQxXQ+4MotIEOdI5wRT3xYlLU8xNbuEGWreumH1zsxg7hFrMLDYAlNwEM2472Tvi7l0df3OR0hG1DxukgvBHFTx7bWlAeicWah3fMKsSQcIKjvFcM5o2k+IQh3OAGax41Qj9RqCxn4Qs4nmF3V6f6o7j4g5QyJFPsbYFT/0MOAIujRMx6ITu1TV4xDxeMoH8iKNzj7glFPILVY04u6/O+c+XpQT1XRcUDcU+Kt63y18A+hEIb4otgkKLxFbG6fOmYAh+EfvPRLjtEPD/2N7BhDWBowhp60FSn+oDQIRkoQwa6R9UnNxN0D2+zHhEYwShvLnow+h8I74Y+HOIT2LQE/gEg9mDMwg1PoPxYTN6J5IXmOR8AQF+QgB4YMJlTPY9PiYTp8YYiKJF9/ZIlNEKQuZzsKU/76UH6BMocnAHEEMlfPIIleILYAUBDiRMA9kS+TN4PtMASPFqjOV8B6kUKigT1fRsbYN+T+UAG7c8n5NvYyA9MNYt+PcQjLf8LhaXfBnIgHYAQwZGJKoTCJKyYQ3TCHfQAvrTgTkBeeIBBo9Ug2FUfnRDCG1gfAFzfojnVEfiUEFTBIDhILLgH8rBdkHHTL/1FJiRXI6hfYFSOYXggnWUUmWQCvsXCLPyQLlhCIbxBD5iSQ3ihfLHBGNbgx3VKJzDEEnybt1kcilQeE3TB3tjhHbKbEuLUX/xF1qzf7FECIR4dmVTKFniCKgTDQ6RhDZgSJfbEDDZEo21bpwySJ3TCG3AWDz7aeykbgO3IHeLNCf6SNAKAK5wQKz6h8vSerxWKCChIE0zZQzACG1SMDfRiQ2QK8j2EJQIjpHVKK/CX/QFAJ7iBONL/4Bs0wdF8QTxGxDOuRyZ8wjQO0ic4IVII4pjN2RTSySX5gCH4AgAQQ0PMQif4AGwcTkp4iwCmmRDUoKMFY6y8oy85Ui8ZAiMwwhtsFQBAATsdz8Ygz8FkwiC5gkwOZCuyHwcqHRUV3rB8wAj4QBg0lEMEAzGU2g84XksIQRIgZSZxSzrCxS86xKMdIKMxWrZtIn+9I1bmIA7Co3QJksZZ2x0kwRMAT1EgT1kKB0xZwjtmAt6tHweSgjT+UiT5Hp2MQAvcgVb2ly44pEP4gBDky5vcgGC2BAAkgZoZ5iGtI0SkoSU2GiEwgv61gitQI2VOJoxlZVaiRA4KEki+oyXA/4ELzRhhBMcdnuXBDJQGuqXyoAKLxWUeiksLPAEpOOQs+Bcr5NQsfMIkfBIq7ONONGZIMOajVWV/1WZ/HSdlzsJkLidzVqb+RSZm3qZ0foLYYeXqaIrlmGXqqA5agt8fYiMqyOQUcRPJtAATfELP6YJ/RaQrlJmwmFhPSNsbPKYpNARQrid+MoR/1eZ+9tdyVqZMWqYrtEI8ShFIyuQsSE4jtMEcwNB2niXemMYhgGeAgiQ3uVqsKMEQ/tBD1GaLKYJw7MQ48cSizecm7sV6Hmd/Gqdxiqf9xZLYDahxMkQXPMHhnBPBYEk/plhd7BxDBOiPAqQ0RpLCZEI9tQJQ2v+nejIXhFgYACzeKMgEAGTKiU1lLlrp5gHAY3ZCxgWoeuoCmIKpCo5FiqpgbU4nK6SgKygeMfwQXCgbsvTjBFbOUXiCZf5oNeIkng3LK7xCJpTpL+hCoDYUb0AEn0CEEmSbDlIlVRJCGLQBCsbSI/wSIkhjLH2ClzJUmIbpmJYpQ4CpKwikgf5obRKDL7hCGODWCzLE7gBOlpQmYUwghqgQngUoK8CbL2FoobyCzCVpMETXL/zCJwjU/GDne0oOZCqqojpEts3nFriBLDWUtCYp+KUYUcQldUqmcm7qpg4oANzmcwqfQ3mCOBrmfJ3JSbxqiKrOzpzLnkam0iEC/hmmoriMjiUwFEP86q8CU7EaKkOUGkNgAmQ+hKIyAhrq1Zo6VJI6lJiNDE+UoIrhlHhKV5rm4PBJJNktgbk+RHgcjhrMgXo8IwAkV6U+hEy2prG8ZqfAyk8MgiFcmwqygnpcRWH4AkSm6HyWJCYAACMILCGg0SAtrEPowiCNTL+yIrn8xT6qp3HG4z7e6bc+Ig1e2p81hEUyGMjWBfJMoMoOaFG9a4QEBAAh+QQFBgAAACx1ABcAwQDZAAAI/wABCBxIsKDBgwgTKlzI8ATDhxAjSpxIsaLFixgJlkiwJaPHjyBDihyJMMEFKCRTqlzJkiSLBC1jypxJ02CCEjVz6tyZ0YoVBzCq8BxKtKhBnw6MRDHKtGlOnwmUOp1KVaXPAFWzav14davXrxK7gh1L9igAmGXTkrVyVq3br1aMoH1Ll6qVjXXzNvXJogMWvYCH+ixh4kngw0+tRF2KuHFMqFIdS7aqOPLkyyGvWsbMGaPYzqAvsg3wN7TpiVhkEGB7uvVDLCwIuJ69EEsC2Y6bNJgwhIiZNDzSGAHjujTCLl1uO75ChEQAFY4iRVrkyNEiSUvCvH3WLl66dubGgf8DZ40Zs2GYVmGSZMWwQiZVAuBGHEQKFRWCUunfr/8UG7WAmONOPfa444499RyojoEGzlNPPfOgQ44tQh31xAkEzBcYD1J4QQUVp/DH3ylbdLTWLQfao+KKLLpzzz0rzpONNNQkdIYO8iHWxBBUeMHFIiGK2B9xaX0zjzxIJpnkPEwySQ897sxDzTKi8MCDDjoYoYN7XcSmoV5BeOEhAEGC4kUZaXAS5BZupDVOPPEAII9ASta5ZDiieKDnnnpOMIEBEEAwwQWBFSGmF0ScEuIpR/TY435NAKAEWUy00x2cmMZjZ53tBBpoA54K2gACDRhAgAE8fJGXDo6mIUmQgLD/KmYZi4IRhqo8rWLHJpuAscQJrBmEBSbtsGNpPN1deimmSs5zzKehNlAqAgtUu0ACFSJEhhFW4FpVGeAKFCQAV8jqhSBBksFYTNMwQx445ngjzSWw0AJMHQaYmiEB1i5AwAWbsLMOO3TKWSemy8pjzgKhelpqtdQiQGhCOFSMwxBLCOFeU0bIIYcgZiwykK1gpJGGHIkEWcgVV7Bknj3pxIwkOZdcgoYokCCgMwL57uszAdcIvI48TTYJIZMHGvhklJXkawDP1gJgAAAEyFcJOuiYMx443zDzDDMBWBxEsBynIYjJZpSJBRQ6eCxH2voV0hIz6ciTjoEFzqNNHaLY/4ILJAw00O8COjvdQB3yPFgPPYs/+WST9BTNJIThQCCt5YJDcKpATxtQCy7NSGONNeacY7rFAXCzjtbgjNO1ebfEfkscNHURhMdpsLCIdIuAIYYaZJwsRxqKplKItyGtwsw02/Czj4ovwthOMbjYUgonXHwqbQMCbb9AA9/Y86L4LJZvvvn0fAOOON8cg0wxlcSPr54kAOEBGh4gsQIQGIQABA64wMUyRPcNYUCiGMU4hje+4Q1xsENr4gGHeYaxitilIgpkO8gwnjENDsruFpioUMmGJwgiLGIRgiCDEoQghCLgjgyCOCEZmJC8afTDH/CARz/4gY8e5uOH+SgGL/+sgQtBcMEDDrBAEjegxAkQTnCiwAcQf9hDfETvili8hxSBqI8pTvEd74CRirYmjmgcQxq0gAUsLuG/EHggBNLykxz95IEJZCADE8CZKESRwGJ4o4HeyJp4xvGMYdjCkMw4h4PMN6AIWYMHHivDuVCYBjP8xpInK0MRTriIN8wBDx9hhjr2wQ9+7NB5+dCHKn/4DlHgAhibmIAFZrmBWjJRAxpwAAMMsABwePGXwPylPdoBJehFT5X7SGYyU5lKZHaxii9yx3i+IY5jWHOPkIBEBvjEzT3h0U8MyKMxyiEMWFzDHOygB4Kg944eajEf73BHNExWhh8JQhBnApc+JQn/wxPqYAkg4UY63jFKZT5zitLYBC8awAAHEM5UBjjALGeJAPnUoZk/VGUXg8nFH8KIHfE4UrKQpSkkwYloBBJfFfeh0S621JlUDKOKpMm1akZjjzjj0xwhgIZLUGMd7ZiHMd0ZvR6+AxxykCQAYojPWeVTDl4gwwkFAQYafuQa8xhQ5IqmNXNozYDHmIAGhpCDHKhgAQaQT74OkNYAFENFANjqgwDgDgDYIx9bfOk9AGAsZCHJUoBNVmAHe6ySlnRp5LuHPpTJWJbqw3n7mKIY67E+cVRzGbyQxjeKySIYvaiKP0Tqx5iKwnsKJKkmm849//MRLERDHQWK7fnmUYcc/wxhCllAwhim4AQvyMEJCCAAz6qGALqeb0V2TS4j52EsY8mDsIElKWGlS9LqJmwemlqkiqr40o0aNYxXFF/0xFu+AUHIHG4EwFRLO1XSxhCFQvgIHOIwjKzGNmmytUc0nJCGPfCBD3vYgxd0K4cAr0ADhDsAAtIB2+M6mEXyYIeEQQrdCk9XsMgaqYapK90ktYNo80iHeLVYxRKbGIsqehI7aEEFkal3ve198VQ/ooQkMCES8UjQfWdqD3DYosD/DTKA9+CxAMshBxuYAAMg8eAmryjCEgZqsSRs4SoDVrqDpa6Gr1zYdaxDpcycookFYmIr3sMdvOCC8O55TxSu9/+9KNxFNNAD0IoIIQlVsAM7DkQgu6ZItHYgchrQJAc7/NfIkVTBLEUBI7s6+XwAiIeXvTzhSkuYr1MGaYYB21wrezq6XsaaPaTY3e56EQBUtIc3IPA9y+2JBLZ1lBeWKogxoAEN5OhO69QTqYh0QQxnMAfjDPSguoJDeGkYg7KXPYYyyAHAuJMkrL9R12o72h7KPa6f44E1dJxjYAKzdKW9TF57OK5ocBoslT1tLEtN+hzywEep541Mg+5jHpZr2PZABSrLbaIWtajDrdlh0qC+YxysCEMGDRKDht9AGiEFcZNwMbwyKBsAUgDAxZVd6GdbPAskmAA44sq4YhObQQD/qIdxrY2gdpju5UKbNKXfXQyGBWqPlRCFNb9BTWrjjXH0iAeV212sTDfXdN2WR5QYt92M0nuxyrRHJUb1PQc4YAJXt8AEPuWBTXBiE7gQhTgKtLgjMeke4zDFQmzwAyVAwRbtzpQ4Bm1xZTtBBVMYgxduy3E7yAEJWcitB7IrOSc5rnGKm2uUAODVcpTDHKHG2jrQMfnK76LfloPY9zCPVobh9BjnELfoBVY6pAv1wfRQR1bt+s6WSr0BBGioBm6JSw2QQAN4rI4jAngMM68oSnWbxzMUggUrYKELdijHzCWMC3Axe8Be0LsKhrBsj41BCkgYggeWxSw7mV1yT5IH/zrKQY7yk+Mc3kZ/tyd/DmpIa3CEg7/ONv8pUcg83BMe2MAc/3j0q/PRLCIQK/Ikx1A1BmB1FmBLtTRLDoBHXOAItVANvHAP7TRed6UO6RAPz0AHCdFwDYcNjudVXoUEzucFUxB9YqJsgbdsZQAALVhWKvBH3lBh1ZUpS4Is5hAOOsgN4fByL+dt3sYNDaM91eI9g7NvCyAMlSdzTIgO4UAOIRgP/weAAcgix5BWBHAASWQBB8AAWqgBE6V1XBAN1AAJGgVEZmZK/WAPuQAAHMhwDmcL5ld+1RB9yiYFOaBxy6aHKTgGJmNWZkU4ARAAefR50UBNM1h0hMUO5MANjv+YDc1QDdggidhQOqVXB8EFf5inPZeDOdsDAZPXbesXauWggzpoDvGQIlR4XFcoHz4ziD4TUVfHANBQDZDwDvsAAI2lSv0AD//wD9swDUlwEFhwfERwDd5gitKgd2MgEBnHbBcnBSoQfWiScSqgAn50Dc2wjbVAC3UACVzABSTgUAtwATjFR8cQDkLEC3UgLd9YCZ4IAd+IeQMRKJpXLbw0OENYDKKINT94DtyQDdnAg+agdKvoYMUQXA6QLwFgAAzQI2KSBUHAAAjAAAxADdcACd/QWAZVSqbkD/3QD8xQEEpwAx64CdWQDdqgDdIgJnwIjcuWBTmQBc2WbNeoArz/kIzJaIri8ITKKA3SIES0ED+VAAR8UwnAAA3QkA38Vw6TWA3VIESwAAmVAAkAMIRXOYSe4kTWYgDroH5I93LlcA1kOZDwpmMHIhD4pYpNxgsHUC0koALgciaJUJd2yQckgACVMAFA4A3pQFdadA+MBVnK9A70QBAvAAAu4AINtwyOaQy0kAV2KBB2CJMpiCZlcJOQsJLa4Ijd8JmgGQ476ZM+SQ7iQA3QQA2qSQ3h0JRQ2JSw6XjVQA1RyQtTWZVwFCgAwD3RUgzY8Js+eA7mwA2reQ3ZcA5S6Dgll3h402f4VT684AEWQAJekAZ2YAdpUJ3gkmxlEGBO4CdAIA5q/2k+nzU+MFIPt1AQTKAENRYJzaCU0PAhAuEEOVCZMLlsgwYAKmBW1XAN/UmW14ANAYoNK+mI2gCa3ZCM3EAjNJKarUl+jld+EBqbFBqbUEkNQgQAVVkJcBQ4N5dzlbAMSamU13AOQVV4TmJ4h6c4DKIiuOABJJAF4OIxvlVgzxZgdpAIe7cBHjB2VFgP3uArPyAQcCAGXQAFVVAFtoAMjgkJVKBxUzAEenifeogmY3CTtACUqkkjqzmb/wmgA6oN2PCe8AkNOjiHEAqFaqqmFdqmFZoNF8oLtIAGDAMEwLAM1IBONtgsS4KiykkPokACTkCTZZAFNhpg/nVoOLqfPv/6aO4gD8cQB20wEErwAzHgAi2AAihQC44pCllABXo3pTAJACdYk5lpVrSwjdsIDWSqlECppdTApRg5Ja3aDAI5kNzwmaZIDk9ofuTHpq8Jm8E6oW0aDtIADLAABAzAU9TgDZ2WZdxXUkhidiAmCkMgBVPgbB0naNtpnYhqB2MADi3yYPVQDpgABwaBqS2wri0ADM2wDFLQIffJbNLoBM04aGZFAnWgqsugqv76r6sKDdIADcIQsMlADWQqq/45oAN5oN0gmmc6h746sRHKf8AaDgS7C8CwC7CABh5aLaIAoghERjSIKd8wfUgwBYVmncl2KC7rh0T2bONQTGvJYyr/Mg/RgDwEEQVJUGNPQAbGsAy1AHjzuocdQo1jQAJKmwHb2K/v2rQAG7XJ4JjbiAzvugxT65haq6rwKasYOaAEmqs6yasSW7bkFw7NAAxqq7a2+qpCWQdwCwQv8AIV0ABaCAk9pXPR8EeW5QEqAABSajJpQJleIJmz5rLaKge4sGM1S3bpAAh1VhBxoAZGagVREAVgIAyiwAXyCgA5AKrQKBBZgFuBlwMwyrROm7pQ+7Ssm7rCwKTLYLVYO7XJQLu2i7Vau7X+KrBcurBh6pkPa4rhwA3NIAwauwsFmw3h0JNka34+eQ2vapuwsAl7VFFYEZcq4AQCYXGHMgXTdyjx/5qCbhMNAKCiDJKW82ANCjEpMdACKbCuRWAMOXC00igFFye6gTcFUxCvUuAEHqABHtC6q6u6rQsA7woMxgC771q7s9vADPzAt/vAjpm1TtuqNAIAqgmmxgAAu6CxwrAM15CrCJqgOsmTZ3rCTygNG3CNOdBs3HsodzcEYuIEsHYohJYGdQI5j7MOmABKCsGu7FoEduAEeUcQgZe//esESrzEGQDA7tqvy2DAUSzAVIy1wgAAyRC0DhzBXLzFXgzBuJu7ubuxwMDBd/q1ZPmb2KCSndmZwEvCJWwB+qkCLqx3JuiyMJwDSIC4ySYO0cUsANAO5PuGCmGSixkDPsAE8f+Kv0i8xI68xHqiAaLQDAZswJS8jQJByVIsEFCcDMjwyciwwVjcxWBcyqR8yrObDOXUwR0MDMiQmqupmrO5sF8Ktr+5kpCAvU5QggOmAnuMx8CcT2VwDOu3bhJmDpgAEWcgBl+AHL9DBk4gBaMbr49czUpMAtskCgWBydx8yZcMAI4JAMYwzp88tViMteCMxaP8xahsylsMAMjKyhprtVzbta8ay7Hcn1EZl57Ly3uXA711KIQbkZc5zCJYeupnDtFAQxuzEEzwAzfwA3eGBEhgzdVc0QDgBEMwATBqBl4gCrDAC8hQyd1syZy8wcJgDCktDO7szudcu+vc0lwM0xz/LM8sDbCWvLusWqZaOgE3qU92TNACjcdDQALyanGbAJuNVw7VAAZDKhEpoKmaagJDMAQW7QQUndVIkNF+kgAx8ANRwAMXoLRckE2iwAsInAyYDADIIAxX7NYpbQzJENPt3MWcDNMyDdMcu9fIq9ZRG7U5rap5co27/MLBHMxmdSjKtgkRK7GRUAU/4AMTIdVTTdEXrdVZzdUIcAJdcAZ0EAhxSQK1dI0rsAIS5QFegAmbYAubkAitvQeEUAiFgAmYwAm28Dm4kNKjXLt1zc5RnM6029Z7rUZ9/dfG7a/AAKNxqU8uCwCH7bKG67K8MMI6iQttgK4W0QIuwHZVXdFK/3wQme0EGmAEXyAGwKYGRaC0KqC0JLACitbERfAESXAD7psCLlADDWcDQlAFVnAGcTAIfvAFT1AEZFDgvAJwub3BvC3T7NzWagQAxH3Tx33caADAJHCCL5yHh/vczj3UXnAMtvybx4AFtIMRxycGRZB9W60QZLUCE9ABLxADNnACMiADpL3e7E0C5UgCLxDVKJACIxDkKDACKNACMXADShAGbTAIhzAHbfAFPHsDJhkD79sCJ0AGgAAIq43bur3gpowMZbxGa6SxUzvhfw0MYqWfSCDNYuK9eMfhuRXQh4IEXquau9AEZzAHf4ART8CeTFAEVS0QKy7oZoXjipYAQ/9+AtKCABMQ2jku2gagAiXQvpStqdodA0IABWIQB4fQ6Z0eCIGACKA+uV+ABfxtBUoeB3MQCIcwCIHwB2sw27XtNwGU0sjgyciqRrDAsQicyZVMEBR+R4BL0dIsmVlwtIcNAEiQP3hcCwBbC8gBEpr6vrY1BFk9BDeptGONvQggASBwG3I8AQSR4xvgAErLAkfasz8A0RH9BJv+6a/+B/I+7/KeB5NrpFDwBE+ABb8TB6zu6YiACIcQCIPgBlawBA1XBGZQBJAA0sSNvIH9zRJfEGieAZ7b3WtOBYH33DD8y4W7d/7qmLUQB2KAEiAR5CNgAmXl3jhOAtu+AUq7AlT/cAAdcAINaVsrQAIAoPOPrgGNvgE8cAdwgK6UKxC/owYEkQdKv/R5QAdtcAZHWqmUvq6MielMYAViAAd/0Opu0AVK4AOUjvIjcAJFwDew4MoRj9PeDABoIO4kUNXWbtnFzvF4HHhO4K5Pmwyc4PRdYFUeAQKAT+QmwN4w//Iur7SAy4Ur0JBpIAVyIBA8v/MCsQG7pLT1SQaBgK4lCQBDGl8DoSpqMF8EkQRCYAMtAAJiL/bvy3ZJ7gZ4gAdqIOBC4IEukAJAbvsvgOWAYAt+cwwJnsmqasm7EE68gfFabR8bD8wdHpFZ4AS0AMXLIAyR4Al/0CYh0XCY6gI/APPc/3/4ou39fys1z+EIchAJchz5hS/alb/eUkAGw7gQN+D5BWH6AIDyBEHkl64EXaAGgaAIAKFIICJEh+a0EYOFiZAfQpI82dJFTJs5RTRYYMBgAwkudTpCghQCwoQcQwAgQZkSpRMpWbJ4gZklRw6YMbNMEdVsmU5RgHw8+QJA6FCiRY0eJdrli5giK0iQ2HgBANShGwCoAICAgJdFoDhtHHoB6gayGxAYIKGhjBceAFIghVtUiZCiKFq4sMFETBwAiAAECvRHMOBAhwwHmqNGzJcvRcgIQmJhwwQGTy2TuECWBAQSQzyrBI3ECRWXXrKoUDHFZhZaOpcts5MiRQy6cf9t24bC5AmUHCo2WhULIKpQFQwWEJAjB9SiBVOlAmAwwYEF6hYMEJgwwYuT292RQukCYM4ho4LN58kTR3EXKCaypHGSdoOFCb+h3kdttaTJk6FTsizNtNVqSWaZZDYpIoUWYgCACe8eNGqEEUygarj7pFohh4wYKCONSNJgQLj5EFAhByRWuIgEBghoYCQnjAgDQhm9ywOAM75QqATUFpgAKsnsA1IFFS0oCQCT/APNiSkCNC0LLoQBJpJNkqBSCCGUmDHLDzq4jaYNoluBijJyQKAsFZIzIzk5xlDBgAUQWACCIXLwK0s744oiiROQyKIB1KByoL77gCTBAQSeMvL/s5SGQJIlAFxyKQ3BDAmEDjrigAMANe6UEQQQJBMKOBKEA+CCFYa4wAEGUBq1TAtM4kMOPswQRA4z0vDAuACyG5VTX4eCIjcliJDCCyKxwkiz34SDijIL8CuyPyQYZTQ0KViawow5zPsDMEQU+XVGFsKaCripsIKKgRwWccIsA6wCwAwA0FQTRK0ggECDN/QI984kosDiixKGcMILEnJY4UuymCX0UCows0wFRofyrGL/nABjkEMAG4y8fiFc0AnfmA1uoxWuCtQLOVQIQIMNhoiVjzSESiPWNNLQAAGtGPCAjY+zTCJgNZqQWIoJCCBhAerKEpFhBhwIAokLLctB/yiUKlYU6yIkgiOPQwT6OcsisEJKhZM1QDsHDwgwgIE0bJWjjA2gfjs5BwCYIAAeezgjbAixmCgOp3KY4LgFNiiOgVNVcPm3jCxYwamoLpNYKKyp9UyDE1BQ8C7anvBbRhniMpuKoVYgggAIDJg3ViIM2PXtNIPA183mQvdODDXioEOPBUhokUUENGBAyN4m8NNlBxpwADUVxJraspMTxToHEz7APnvc7TQB3qNWCCIHzQCwveY0QXx33uTafLOBCxzcPi4xzoDjD0XAWICB1RdYwIAJbk7O24bQvOUp7k/Qmxx+OnM5FbAgex+IH6fEMjlmUSVFWHGAm85Uq5kFAf8AaUgTH1ZgAK0gYHQRhIsQbhADGyjBCMJzEwLKIIe6gfBmcsPIiVYgJKlEL4ES8wwPbrDCFqRgBCi004kutLCySIYEWDELj+ZFq3jJoVZpIqEBGpAAJMKlBSiQEApQ4CY3EeA9AUxTAOXwJQ14IQjomgpVEAixp6iACEVog2JwBIUuZolCFWJiWTYipKdEJwNCkZcg0lSrDZCQAAtoQh+N0oIRPPADBAjASP73wVt1qG4rmI7ZCImZUJXqKQncgBHwwK0/1EiSEMIeBcolot9YxQJxxApW2iYIAPABAIqUgwMeaQAD+OyVQ6GkJT+glcLlgIYfpIJVqJCGIFjAAYj/26FlnmOuCkauCHPIAyuPCaEYxOAEpDqKj56IGvCRCAEnu1kQjta/BfCgb+MUihFF8EB6EsB0M8NZAAKww/lYwGyXISWptjmqIJABnIExDz69cyMsQIFQ0BMKKHMJgCAEgQRlGINWMAmAN12HSxIFgBUAoEIbxKCIF3hkAD4ohw+2iQAT1EAQsnmZbZaqlAAwgtcEYhiUdgeigWDDNYVCx1I6QANki4wTxjCG9unMTRBgAQiKKpQ83sgKSTCBI1eApjQMSgWQ8wLCeFrKnm7ABFZSQhWCslWiOAYMZLhDXu/whkYYRAf1mQpRrGIVDTiABODTAAmmOgYpXEeLDehA/wc8RVfB5OFScSgCCRHQgJuN8DdCGqSQnsdDthIHACZwqRhRQFeikCERiZCEJCIhW9omAgCvvVndskAFKuzQAheZAPhIUBMvlMoELJDsZFnLSsCcZQwacR70TjmWjWiztGHiwQu+iD3WEoUEdkjEbGMrCQCM17znNe8epPPbNsFkDFOIjwu+CACtdpdbgMGfF8ZwkQ1cYJSZEWQcn9JWAKwgu18EAQS7K5Q7SGEIskoEHyIcYT6gV7znjcSHfMOAQ40hCw5WgRGS8AMbLFgogwnEFobwkjFoCHH5EaUgyzLgUlrFBDdwgRG5a2IiOCENZfCkHeSwBxoCuUNAToMd0v8whhmGN8OJoOkEtJiDa+UgA02IQx5N/BfAsEEFTmCxCibgPNEmbMaClGOohkCGJKxQvlsGgI7GkOTkCHnIQ94DkfGcZz2nASavlcMUMtAAAiDACUNQgQfAgJ48zMHEimiEIlhgojAXb4dnHcugqMtEsznhFIVQwxkSAucYeEAFkCIuqolrZCTbgQ95zkLcnJCDBrAuAznYzKIFY+IlACAMYLi1kmCSkT/NZ2GaruXChlAGTpxCEnqwFJyXemomNQlS13YCmCE1hgBWeQgkgJ2fJoCAcO7axHZ5wMGUJAVaT+ciP6oKsgWJhEgsIhWcoENEtwwGErSESY+69rXn5G//SJUBAGP6MhKOgwAPQOAC5f6DtDljIsI9kgFPJQs7MxQ55wkYAG0UhCDqTQYyGIEMdNjyHfqtatMMxSVEcQISlhTwI5Pg0ODO5ALAoIfBCKVO3Z3AU2lNALwdrAzhRW/SYztbpqfXCIMw8Ru+/BJIPcrlWYDLy4VicC+UCOfuI4y3wLXgE/QoacSUkx0EgXSlt928T+ZD1UxMBpu/xNpYF4rWj1J1AHgByLf2wFl0TolHRLoRcDZCdFaHAO2kYQ9rz/CF3a70CCNhDDv/C2uJsPKYFBfvVs+63qcqpHleQAlPCIMbPAZnCGSAmA3oO5397PcZxm0Mfn/bj99G5B9z/5sPMsvCq8HAYxKoJtWf/3x3YDKFCSz+BB9IQQvD0IdDZGLLtd4VSUzz4JvZWc9CFrL69FzkOdthD71UMgD4wtoUcKD4NaE68iFUkzgZIAIiGIELfqCEe8K5AQEgAA0wtRxgMjlQMiQ7MiNbrAW8vb4rv+SwvCIwMRbQACRoCd7ireTrjimYCSoorv4hgM2hDStwA2kTiuOAvaDDvdsLOCkguICDFPgCEP0qAyoYAyJAgfqiqxNIgGpJEiV5kDnpOzIhgBVoAR9Qgi8YhEkwQQAgNAjAG/1iwYDrDSQgDRiMwWuRAtWYKtXIgh3rrtsbA0EoAxU4ARMoASJgFCkQCv/46g4SeKQTEIIqUD0mbEJCa4AFKBgPw8JD0zYsxLopAABskcIymAIqeD4REAHWOoE0cARB4ARB8AAm+II4mAMw4AHRGEQVQALbmILNMgIhCAM8eIRHUIRAaEIIeKT3A8RWhMEpYMMtBICpKoNiMQFFVK6iOgFBWARO4IRFCII24B09CAwjEAop0ES4kAIViAAheII6bAREiLgmhCkE4BNXxMYYdEOhoMGCKYIPUETW4oFFkANfFAQioAOIEwoOyIHRwDu9a8Mh4AErCAM/UARThKgmBAAWYBsAycZsdEM27EYv+EYR0MGiIoKQ44RIEAQyUEcAAIPoMBEAMJ2qo4L/axmCN1AEPDiDM1ADYbREfdxHBIAAf/xHV7xIlvDAMQCAYsHBEQCBFqCrNEgESIyEMtgXVvqDp3GADBCNbAPKbCMDSlAEN6iCJfABlyqxKBDJfWQAF7yJmTtJGExJihxIJ1ChGLiBrYoCM1gEm6SCnGQlAtgQiTwYMyACMmgEShiEMFgCG0imMFIQBjFBFyg7oCwRqcRCgAPElBwNGuQTKZiDOMgyuiqDRejFSBiCQ3jI0xIo/oGdJsCDQGiESeAACXgABSiAARAAARCK7AGBERCjFmiBG8CSCcw2DlyxVuRLQITFbFvJGsS1bhm7omKDNEDMX8yBjTE3oaAAYRKo/wA4gArggMiqgAjQzM3szO4YADgjmBc8yYu8lmy7molxQakpgkBAhMrcKiOQg17kBAAggkmYBFMEAI+hAApQgFSRgKHoAMxMTs68jc6kzwFoTtZCBDLINmw8NKm8lmkhASIgggzwgLSoGiTwAirgAdp8hEn4g7nCJyNQyF8Mgi5wg0F4hKLgAA4gzo+pzwX7A07kDtdEtBV7zRw4OcEAA4GaADHhBFAAhUggg0CAtEkoyqIqAnKMUUFALdo4zaGghPIsgSENF89EKZ00DzBoR4oExGuZgtdUy4JopQQAwAVAAmaDUU4Ag69p0EEQAyXwAYnySuXghDJ4PhCwi6Kwx/9QQAVSAIAI+BX7HIACwCedHAoKeICSMMmAO1EjiAMMJc9G4AG2MZIxiIQsNYMafQQ42ILawCevhMS+SwD67Ez7LAAFUIAHMIRPQC5Z4hQ5vVSJEiffxFMSWAlsgcXpdIILKIBWLYAlqAIx8AMTkCkDWLZIeFFQkIN7nIRBOAMwdYHVGqfv7Ap2OQDOpFSheIAHkIAOYIFnHZdPndNMPdJRTU88LZGfBEokuABkrU9XLQBMCoDhUg6vWIRHIDw/wAIhcKkEG9ZFwNVFUAFKrVRl5QBoZYESOKk7mdYIWL9XGtWiuFYJQM71vIATeD7soddkPQDP9AAXhdFIsARSmAT/P9iCJYgBFNAeSToBxIzXDaBU+ySKZy2BfO0ADviY9DymdCw3pKAAgs3MzbRP+lSmB2pOATiAFk2DXC0FQDCEScgEPwgDME2tVzICxDRXDfhWOh2Kkh3SyAoblZWkM7DEaDsKCYBPmfXWhaVXABCjfYRYUCiFQgCAiSUFTXgEPHCDLpiLPvqAIogEMl2EC6jUVmVWonhaqI1aT+2iGPgBJgAcuEBOreVarr1PACgAB7jSQwUFZ3ODBi08gWhQG8WDLnpbTkgDUPilBJjTS32ACtBbALjXpw2dCuBbFBLN0YwLBZDTrS1czzzcAkiAHHDEFz2FSBAKUzwEFPsWAMhQ/xRCgZ3N3JtMgFZVgAjogBJA2aG4V+QK3aY8CtC8DcJ93eUEAM80XgVQgQ550XuzQ0SAKOY6hJ/DnRcwg0hcSCkQgAT4XH3d0AoY2Xwl0u7agjB9kAd6EK2V064dCiMtABdQAA+ACU4ohVMohZ89MSTtTdxpgy+Qg3r7RRU4Xi5532t1z2flgWhtypoFQwhRAMSV2SO6XqIQgAHQTEwtAYg1YEwAAHBRYH3DHZSD10UAAHmlAL29VqkVCh7gYeSC3mMq4VYVChbwQNs9BRYGAJ574QX+mGnkAEjU3EUggQhYVlLN4aFgAR7O4B+WJEsdCgVwgGVbhAI+BVBQBD3gOf8AWOJpbOKI44AScIRDrWEHcNWhYFYJsGAA6AAtzlcuRqJlxdQv7kHcFNtT4AT4vdMl/pneJIK43VEHEFmhWC3Pvdsd1uIS8OMIutblBQCsLYDtLYNCDk+BpQAFXmRU5EZHjgQvmFQjHQpQDeQ442NOzmS/Sc83Rq6SRVkVGOACLoUSQOQ7TU9TDpfCGAop4ASaigQqaGWjaN05HeIs9uFatuX0dFYAyOBoXYFeNmAiaE9hvtaADZdD+N2TYMgaJgH6NIr6jOQHcFZ9pea9pYDm1eKTUgEpGAMjJgKjyGEKgDgmvpNJCIWhIAExEQQvgADrXeeuVYDIuswPjud+udb/a+5hLimBBxgCRyRjmjoKZk1Plm3ZX5mEPqgCAEiA7EiscZNPpFhY0QVd9YzocNlkDOZhTNbjCMiBDmnc231losjeL6AIS3GlX1kCMTqBjFAVBjCAlT6Kln6A4uQAOI1pTslhiubhYH6A7aUCsU0FzRUKhQaA1v0cwOGdj1EApAaAAwgAS2rqrj1Zff3mqc6Smc5iHt5XAHiADYCJQi4FqR5h7qpUCQkjF7iBJFCpXxGBs3aAxUaAAMiqDi6KkB0AdyZZuMjjozjcWq7qur5qolAAvfYCAu7m/hWAHevM7DFIwe6XsOJJ8hHOjW3rErbPB6hrFqBlAOjnK/7iuT5d/5Tq53G5ZKNwgCIm433+as9UsNNWJoMMlwTICARI6+sIAFcmCgX7ajnNVC3mAVrO7X72zWru7fh5X9Dl7LYwigQ4kzE+hVOQg8NV7uOu2UX8lbbBCOogAKJrWOrGbM+NAM7WYNzOYQ7QToJYPUnS7aLYXxl52nvVbpsmYQHIaeUoYNwtCtMu7eU+yCxJvOlggN9y7Yad3kzFYwrgY5vuZ5QlCILwOVTGpzYQitZN1u443gh4Y2wuAh6QQAfv3+Ha6gIe5Qqv7uWWEE65gw5fbACwppECa6Tw6PTkbEw+8cj6ltpMcZRKAurlX7iAZQpgASLgATMw73XOgL0uha5+gP/5tKTQFM07IYPpAIDpcIAFAMCw9o4c9u+T3VChSF5FIAiBiLS+KAh8eoIbGIGZLVy4YOcC+Fxn/W/hJu6uXgGmRfQLB0c1bwFHlZGIhA4kj3NM6gB2RYHMPop+1m4NlfIUrxNUx6cfMCIQ8FZR38yFptTjrYAKKAG/PooDyGjbjYQVEPWFRm01fwEscXEIQY/gBMD7FqgtHYqMBSMXUAIswG1wRtlLPimURXFV97kpHydKcnV1NorkjOyQZVbQveujuIAJGIKQk4NlnE/lTu0RyItKnJE/OAAAuO98DwADSF6hOM5Rz23g7uE+PilUV3G/+JY/f6UYkBBvNYpQ/WD/SW/pCKiAZo1ruNAijYAKCf71By/teEeBG4ACMUjHGaEA1kH2AFCAWkcKh671Wp/oEuDjfCWIbC8IwFi9SKMEANAEQ+gjmAQB+hTiD4ZoxAWAiDdcZt3QDih6pFCAQkOAp/Fw26DZeL90LFAD9DB5DngAqUiAA+AAHe6Ol4dafKUEAv853uyWFl5LN5Ukb1/EzjTeo/dpoz/uWb+SZoWfuEgAton6xZ4AD9JyOa10CRn2LmgDrZ+Rl9/Qxg/vuDjZWk/e48rmDjD4v7gvRaCEUXD7nwf66xWAUK17Oq3jVkXWyZYAyW96pMAkBDgAqXeAFZD85LVpKsbUAQAjwZZ3/0qMA0ZjY+9ARcM4DFT8/dsY0uPP4Jq2/MvnGO1shFEo21fCMaDvXDp1eNIHYXA1Xopv1scvCirddwY4AGvqcAp4+VovzuPngD4IgyoQgi9qgR+wgjMA6eK3DVQEDKLIx6FQxP4HCBEiABAsWKEDCxYAeDAs0QERxIiIAEAM1GgUAEtuCnLs6PEjSJBnsDwRUmCAggInBbAUQLAAAJUFUj5IOVNChYMKQhYkEIAAgqAHFhxAUAQPz1CkNB3qE2ZLGDFtAv2p+odnx0CBDnnUqgarxyVb7nBgwYNgiUZqGyFiq+gtgEakRmmsAgIs3rwA8uSh0+ZBhJoxVcYsPHgmYv8AgCVI4CABrwECBA4wYDDBgQMIF/Lw1KpoktJJhyxp0vQIkdaCV7EiOuQaAFeuaqDoLfihhRIAhiZ9IqVqVCgAitrCpQQA1SM3VVrUbg7SKl8OHCgEfhAzpeHEMBVHYMxBgXWeCX4aQHDAwoYNFopitao1EB44btz4IU2qeUWIFDlDseEcgEAoAKBEF24Mksl9BGnSSEHIuaFEDMz9NyEAVlVFEUQdcFDBYwDs9JJKNIH3wAPUKRABVgcEYMABlKGXngMM8MBZSFXxRccZUfzQQgxi/dfII40MB8AZAMTwwX8fKPkBCjHEwEQYg0wyyisEvfIKKgD0UUUMLghI4X//Fv5xSEQdmGmmYygqsGaII9YkwZodhqQiAeUxYMGLFsioR3t8xfEFEzaMMOigzh2iFkFFvgACkhMq2UILLrQgBBNiuHHIJADEQkwsk5zhgwteghmmhYeceWoJDgFQAQASBObhA0IoIYQQP4AHQFklcPDReJIZcGeeDkQwCF55tNGFEi6AINBA/8FVJAAoNOrobZG2wAS2BU2iCgC+vHKIG2HkNqpzYpp6akI8mJUQAGgSJMEXWCTxxKTQtlsBBfnqm28A/f7qQHrqLQAGjWCpgYUQLQgEZiB/5taCtNM6tyQKAmKbBAA3dHEIKrF4/MoomgzyFAAukJuXueieVZC6/zx0kGq7JSTEAqsoFoTIah3loWK/P9UZWQDN0YZCs2AiW1DE1CqJwg0DYsvEFwCQ4vEoozSiySjcnlybmMNpaBZB67bMQgntvpyudGXn1bPPkhHAAx1bO/eDyS9IqqTSH5h8ww1JQOHGIx3HUjUlag0pN8oWSqQJQSawa8LYZ8qckMy1jdezZAHAjXhzkb7wQsnSJrlkCy/E0LQSagRONSVWu8W5Xoq3dTXjAFASiCKUlKaJCS+bKXOqCjV3gAH+HrCXmFbB/pELN/xAkA1J17Ykk9Ha4DwAeAhOuOGIKLI8XhYOp1ZpoxgnnO7ma+K9frgLjxUWYqAo3a4dJX9/Vf9ziAHFDV+Si8KsoMCEhOFtekuSFNMA0AWpgYwShSucHtgCvsSN6S0T0UTrjKM7DJoPUTxpiW1u0zQSSYAC9FMN/pL3p0AVkFxKUIIAk9VCvFCvdChowQ8WSAqQWa1wbNHDRCaIsgoRRBG0A4D5kuhABjWCK//50poWgy8K2C+Fx1LCC5Z0sh8wgTYQ0iINKfYCiAEAC1I7jusaoYc1CvE/3oML1hxovtYhyoPNqRgeUdA8jIXPRgcjIBjBxAQsdBEA0ZshTyh2QxSAzkqo6KEi9JCaNroRNQRxIAcviajD3TGPeOQRyvTHv4gh8j9tmMMZxBCFG7SglB8hHR5dgAX/PwQHiY2gxPcoeTL9OFCTa1nLHaPlyTzqZYUxEEEgR4XL733hBimQGEgoBjE9mrEgPaQEIgqmS4YF8XwEWQsiKFFLvQzTk9vESvkIooYk3MBkiWQSpEoHBTwkaI5qCcQ5yVUVJhaEiWzRRJYKMgKwDDOe08wnSC6Ckbi0QQzVjOajIhWDv43TgYXLJULB9Ad8fhOYDApFlWpT0Hj6L6McoR1GsPmHObzzhi54khpA+shb+pCjJp1QVQ71S0RhTRW1y8sNp1kxiJHxphxBRMgwwpYLQbRaEsoEt4yjll7a1Kjl+sPsfmkcbjkRqJBipAs+Z7faKCFq4Csf1nDGVI+0/1NSk/pIVtVqVVLpFJgAVUWmniA6ggZVrJ8rKURH8CQxxCFniGtdyGyXh7VyJA4OjUISmJARrb0HIkZsBFUMO1e8ZNaD3kTFIaoQLWiCJKil+5yosLKkFNwgCmeYg2a3drWqxSWzH7ERHbQ5CbVWJRARqRBjN4uV4AjJoq3rGEaUME3SdmSokLKbO1ULgEcJwYyLjS25LtI6DPJWecC9yvlqqYY2xOG6Y9KPhYQLkhb4QAlh2A0pHlk1rI0iFq+ghBiEOVqeGDSsLwBsUz/wgrIW1rtyy0M6VZpTS4xmEDk93ycK8gMlxA8Oc8BnRdKr3o7U0D+6yZR9X0G1P5jxoP/8tdtzTZeXJQm2UgU28NbQuqCqWAIAngAAKyKcB0rcJxQbIYiEuIgFNbA0w8nbcDKttwTh1Ldbo0CKkewmIAATJAa0ssHnWBlGJbHWtbDVsNwQGzJK5OEQnjgzjnH8iB2Sog8ckVCVhcAR84pJuNTj8KOUcIZHEMQXGAnDgBoJ5zfbgFZQeGHTtnyb6raBzrBDqe1Gg2ZWpBmkCYqBRwZNkC6IYRCWsEQmEGGJzGL3nEu6iycp9gMrDIJbsQAAlkJBLMnGALAoKLShCanpAIvABQSuM+eQul0APMISZ74xK5TyClL4QQlazstYDFHjgmSCKhmlnv9MC6loDegLk7j/koKo9GpZD6gjLcA1FNItZ9VS7wMtJiywEYdg+lLiEccWjtRebQgmJBrIBgVJE5bwBt1kpCCHiDf42p1HJAHYZH6YmlKnijVwj7NkuBYCFLAAhV3jud1dJjKYOZdO2917zfpWgn+YE10gA2DbLRdQE2IOAIGfwc0ZOXgKV3qGJ9Q6ySuuoYAU6REPX6mDU50qQVCBpU8Mog9X0HgUMj6ukLSbdIw2L/j+oNDEHvsToYjFLAwBAFCFNVImC5W5W86jmDehIEveQkHgQGcL+cUKzqw63qtOkKqjIAWkZBKA160gH+6UiZSYRHxjoQpSHAIPbhADpqmOdxD4+gsFFqLW/9FqY08EB+yWyI2kQIL2gkgoBmznyRn88Ac6WCgPcegCIPMu+7wv8u8V64gPOuJARfg2ImqJyFaM0zFf2PcRol353mXfJMlSsirCTilvQPqKG9sgniEZ/VcBcITTY8XNxq4xuLiUAmTOvvzYFurtQzJOBgknIsPxHpm0csuqidhjAcZ7Cs7Z2/LNUROvUMWN+QCVNRfamQxzsF3bcUQCdsQbvBdP9EAP1EAN+N34md9qfVX6uRyQ3YBoZYlxTMQhaEVEkAlEhCAiPIIcVU0PLVRBCEH1MQre6Z/zpQ/j+J8qWMIS5F6mGZTLuZPJmJ7MdQQCDmETsEEV3AEcvEEVLP/gA0KgBFIg+TFJD0SL9e2glbkBSN3MmWVCJlhCRWxFa7TFBqlgI8RNR6DCJxxCGCyBDbjACNyZDPpW7szXlVgCE+ggQYRVDLQhDxLV6Gkf9xUEERLhEtyBIRjCHYQBGyzBIAYiSEAgQRxBClQh6TGHphUORBybJm5hCOYO/5mPHhjWoSAeKqhCKFjCGeQg8jVfTrmGb51PJjBfHtrAD9SihEVIHwqiIzbi9sWcwN0Bmh3iHWzBIjaiMQah9k2iBrYcayDCJm5iRtzSJ2rCqK1GqSjCI4RCKZKCJfSBLOqS8qyFcVTJE/gApOwN9nBELbZTf/0gAhIEEa4BG8zjGtT/4xq8ARx0wiZagjBWARscIxFyhCT+m9oVBB56hCvMQkK6Qit8QsmNYdWEwo1VI/4cAjb+VD7llCfMof2JgbN52PNwBK3QSi3+AC6anR5xXzyyAUewJEe0Ao6xgkwe2yEqIiMCJDIOZKhYYsmEig1MHQBMAkZ9mlYUGyu0AppJI32NQoQBQBeSGv7gDp/J4B8Y25R4TECFZAtmTDqqo0meI6T04iCCAUG4JEfcAQC0AqV1hCu0ZZrV2B28QTEaIwDEnCS6VR76IABUQSZUCeNg1HsEpo2xQu6kT0QWxJnhXM5l1IJ5ncdoTRJoZV7UoqRIChAOYkHM40espXMQwsCx/0E9gkETiGZdAkAP9Bc6EYQThaBWkAlBSCVEmg9BHFsmLGZGheCYcJ6IvYIbPEFk/kctWksjgoFZmiWYuAJPvIFyrsH2neY5It8NKIElqMJ9gRP8uQZ2YmdhLiXjPKNiIlw+acJwfMInVAkqKEcS0Epz2GJPNoFyDhwAsKRcZqZxzmaayY1crkHb9YBbLWMM/IAb3Acq4NIbkWB2YqcYfiIlGNsWHtuRGdWVoAJI+cIvuMEAjWRz8A1BvIDAvSdHwGdZ1mcnpCXnxOU/gkEMKKMGnpt0UicmSsR1Hig2GmbINAKDekImHNt3zpUlTA0xEANBvEF6/oB6ridB3MB7gv9okIZofQJAUy5PXI5df0oIjyxBgMYCKkwCW8BoaxzoocSmWuToM35CcJlUC/TAFqACkBLEljBBegoeVhSp2yXpR7BkkxIETCKOK8gkP3YCl6BYpBAEhXHEgsCoEXnpjC7lKHiPmG7iLFhCqeWTYIWBKvgCR6BCH0DBEwBlR7AnAGBoZnqoR8CnWRICME6QWt4YQahSEryA8zzPE0BZQUiVRCiCF2anUqqgJzyCrWpijtoYEc1VC2zB1wGA1hTEDX4BbWylnP2A88DpnConSHymS4IoZ3KOWgIrRehBGzSUFQDAsiaUoTqjJQQJjUpkJrzFjU7bIXShGRpVFXyCL6j/AnIWxCwEA6egQo0pQWQlwayMpHqOZHp2qJIy4MDdI3x6AkO2AsM2rMPm6X+o5SdQmkOKoRqx1LSJK5d+6Sdu4Vs0qsFlLLyW5ytEWFu2wiwcxyyElFMiRUgS6QsJQXr6qxAIHFgsJwC8ASEM5sP2rM/6LIl6hMTO5ieEk0VhJAAgbRFxaVzQqCZ4QivwqjNqIkF4IWzM1f+BBkOeLAAkZITtkKbQxUN1xBLc6bQCwD2aqiccZVtu7c++LdwybJqh2ZkZF5UUUXlZBPv1E4xyrAoGgsJupCJAo2oSBLHcVJUoQiYgZ8oypEyeoveARdOwwcAV7NlSLiOMaNtuLufG/63nyi3RsgIKYtJCJUgZAUAceISQvF9rbB1bsIIrfIIiOCThcoUnRColvcJweELK9q7vkiDSgYSc0Wnl5uxHFC+OzcIs6ILyAoDyLiTndu7nNuxssoInkCfpxoKliiTGDFkeYFRHlaBFwEYgNKQl6IIuNCztqmqNiSxChSEroC/zMq/zzgJE+NMtfUQY/ADl5mySEq/xGq8+uoL8yu/yHjACP69CKmT0Su/JNqT1TqwnjCFWdsEAfSqoRs33doSQsI/3tAI2oi/EWu+9Ge5NHZwlpOwvFDD6ukJbnBRNEcSrVW0nMAJBeKZn/q+HeiYj3Fi9dgQLz+/8JrACQ2/0QtMsjkVY+mhvLOQBE/wrtMpZuPITB6sr/RZEQ17vveFuG1VlQfwCAIDxL/zCRiYU0r2aL1AoANQwIbQxDleutAJA5sIuAzMuAAQxHhuwHisvHy9k4xbExLZCKGBNBUMxqIpkbpxBHFRVXPCejTEvEjekkx6bNt1mQv5CMAQDJq/wC/OEHRGDMhBDMACAKcgxI7ixGw9c5iqsK2TCJ2Qxjp7ZJ7Sl8uZxEC8v+qYsQeiC8yLnxAbyLEwN8R3CE9cKwIKEVhZJ7tTWVmRC83ZEBKMZJQUEACH5BAUGAAAALHcAFwDBANkAAAj/AAEIHEiwoMGDCBMqXKhwCcOHECNKnEixosWLGAkaAWDkScaPIEOKHEnyoIwAVkqqXMmyZUkjBlzKnEmzpkEjCWzq3MkTJM6eQIMKTYgz5dCjSHfKcGA0qdOnK1mwiAK1qlWQLDpgucq1q8SsW72KHVvQSgcTHsmqFZvSCNW1cK+2fRu3rtO5dvMitZLArd6/Qa0E8Au4sE7BTQ0rlol4sWOXjR9LLhl5ss2wNBNf/Gm580crSz2LvogF5xbNo1MrxMIip+MmBDzkQMLFTBozZshEwaz6IJYEBBZjuUICQgBOoEBF4rScEydAV3oj7AJcMRYsK6hIWZSq+6lT3VOd/wK1W+0XMei7dLl+vcuXL+qxQHnChCGUrQRQ28XCI4sXL6ccJF4hYZDFxIG3PAPON9ZYMwwzw0SISSqmYIJJGF1YoWFCSSgRAAFVFAaFDDl4AQAnARrkHW9cyccEM/HMM089MtJTjzvuAEAjPfPQw+M65QyTkBgyAAAiYGeIQQQA/wEQYClfpOGFHACIh4laZ9xizz32dOmll/VwyWWX6XRzzTW2KEHfgQN9UWQAXwCmBA9U/BeJk6ewEUWdVAj0nUBxetWFNfIcNA8AMibaIz3sXCMNLV7wUAQPOhghgxEw4LQAARvpJUYTVIRahkCpSHKdE0wGeEop9Y21xTjtyP9T6EDx1IrQPNWI4sGuvHoAwAQTANCAAQsswEOgcTEBRRpjlDFEKaqCcWqdAaYCSmBPKCGEEEooAUVCWIRoazwAkFtuQeYKRI5AEDTQAEHFwnsBXQax14VVWPQgx76LfFfqblWUIUcZpVRZ8Ez2diGGGgwnmSEUByrL3nUQK0FGOxjXqvHGtBI0TyUHtRvTAgAUe0ESCFkRBBBoAFHED09h8YUZ+6ZRindNqCeGwHKAAt4p37LkohI/2HADt/dhMowjm9RSyyYlSMWCCTqAUQgoJvBgSzvssCPr17LGE/bGtcpjzgLuNgDB2hAAgECxcFcyzC10062wGnD4CgAOIQD/QK9Q8+lQsxyRFE7GFdrawDNypRy8UhxzwKGGGF1Mw4w145QjDjWwXFIJLJAYQMDoowfwIenIsLPOOuyIPY88PQp0qDv23FgPAO6kc4kBvI9O7KYEmF76Neigs47xxa9zjjF743AJg8xEP8wqtwzEsE3q0SyHF4IsIkgiArUheRr7ytG9IMiG9AO3SUChoRXDpJOOOfLE084ll9ThNAICLYAAAgYAIOkWAASvuc5HPFKUAhNFD7NVohIhQFvaAgDAty3AACyTAhe8AAun4SIZaMBACDBwDHOY4xwoPAcAvOGNb3gDAOxABwDEAY5xAAAc1ogehOp2i/QVJE7jSMei/+oxjiKOAxzRMAUY5EA+LghEEERIAw/IUAQyAIB8VPKeSNajISy45wxquMU40PGleWBDf7awBScimLa0xQtt4nhHl8b0pTracY50rF09FvSNb4jjG8U4hiBpIYpCQgINHgghEIDQtxCs4JF9a1vbfvUrX01AFAKBBCaPEcgVupCF5kAHOI6RjGhYYx0yuh0A7sFKOrrjHDwY2BAEAQBBlGFUt7zlFctAS+/NwQ0fyRATiPYDZgRjG/zgxzvkKMd7tEMU0VAjLqgAAQZYwAIOYEC7FrC2BdACAPgIpzjx0cpymvMe+ABAPtbJznYKRB/whKc69ZGPcL5jTO6ghzhouP9PThYDAJgciN4U0qtgAWsCxVgGLIRhDnbMwx4C2RKX3rFKe+LDFtvjwiK0yCSC5JKWgjBDWjLyni48Yxr+8Ac8+rGPfBBknQDYRDaO4QVgWdMBAHCABjaATQYQCxwDYSdDXKrOfDhTILKq0Y1ox8ouxVMf+4gqAPYxEH4IxKoCgWk6CdKlG4KDhseIhiALKQpI1AEAeoMAAZknD3oAwEsCCadL2YkPXAhCo93znvlqBgCeCWQRZghJHG6Bjn0k87DtZCc4niYKCHjAAdfU6QYm64BsGiAAokisZtWZVc12KVYySlet2pEugWxMVgAoVI9wJNG36gOiT30qO+MZ13r/GvUeOPLRPPoIjq5y9a13lActVNAn7y3iid47n3EBsAjwgaQLmCCjOiCqDgCowx3qkF866LGLWoiCAeA9ALGCRwAEgJcBwQvANxhoo3rcSCDoFGc7udQ6jR0KXaZtBwBIa9pykfa/9iOIuWY1qxlF1JxzHUgr4xrOexDEwatk5Sq7dKh5tIMWvjrfE/+qXFoy1wwsskgcIqFfe9BOIDlCII+AgYYcDMEJME7DHrJAAtPx7rKmu69F6oExjKF2IuT6r3+DzBAA209jsmqHDOHL2YSMU5xNrUczqEAl83lYEFfGMpaZO4ZL4AIcdMtDRZ5QBSOk40YQhehbgWuPeUBi/wppSEMW5JwGPiQiEXIgAQMWcAAKBvQiPMYYO/y7X4zot7+lRYi5Dn3o4m0JH/mIrWZhShBx2uMcDVhAr2STAxd7gU/cM58X0IAGaJA2HkVkRvUgAgWFoQNHb6Vdjmhnj2iUYQ+45gMfAFC+O4MvBxtgwAQY8E2M1IMdXBs0xgjC6P0KumvQRnahQ4IxFaKQqAuJbTzZOY93kayNalMb29a2CU2KAgjAOHXZ5pGPbUzjSgtRQxzI4dY018PE9gAHz/YgB1zvgQ+43peu+SAHYHtAA99Ys5olYg96sE51Axk0QqDd3kSNzX76jXZEuAZDdJxDhuaYxz2wzZCnAgCe9f+ARKYzvYDzQiBY7IJACDbBiVrgAhL08JJuk7qlcawaITb4wTHcS3QcuQMc5RvYGMYgkDH0G+AytoMcxqACCwwBHLLGd6zTnPWuv3UeqludDLuWEOUdo5BiPcaC/giA9to7RzRqNgw5HnEAAOkcJzxHzrs6j+yydo6QxnZs7YGGCx7gppHNaQYskIEJhKAMm1hE08BRzjLKQ4jziIFCvmCLtqrYR7hg4qjG4AWmM6lZ/ZbDnNNQhixoQAXzcAfRZ2/02tu+S+6Yx/FSCMN12N14dg8+OnYhEPC27YIAaJcbKxHQY6ywHb5fyKDLYQ7qt8OtCflSRLtUD3U8FHewYMD/h3A62cle4ALlZ3wIqOCIWhxDGvl4BzlbaQ988OMeFmbG5veQWrDJIxqsNypegARTwCRSgASmZwdXhIBekAUqgAYJtEA88nmzZzv1EA8eZ0LmYHfRNxAyZDzUIEFpUzIxAS8XRDLssgDJIHHR14ECcTzhEA7lQH3xkCMX4SXFQF4HgADZJEAEAF7XxFMTAAnRIA3R8A7wRFfkxA8q1Q/90AtnAABicBAxEA7I1mPtgAt9tXQA4GJMggQqYCJ9pYBSkAVZMAVIUAn1Uzb+BztJBTuKgigWZkIzSH0d+IEA4HHc8C7ugjYmiILwMhDtIhBLdhBAwg0xSA7nEHsfYQ+0/3BZpGM6E0AC/qEdelZZDjAE2WAM3wRVURVVScgP8PAP/wAP/jANc2AQP6AEuBBKxYMOLzR6SzcFTmAiXlCLXCgwY0ACUgBjtMA1WIiFR1YuZCM29bMO5EAOMSiDKYRCAKBCxVMHaDNuayMs7pJ8/XONJdM/yeCChJiHysMN3JANiIgOs5MR9sALvOMACGABU5AFUjAGuiYIALcHVBBsohAOyUAL96APBAGKUVVPhuWE7zAN9CIznCCDdXgMS2KLTCKGHTUF8VgG5JMDMOYEQTBsplMHhVQLwCBI+7RPVxiMSraM0gAMvCAKlQAJxdCS1YAN2AAMbuM/BjAs/BMc/f8zEAhQjQUBAcpDEEumQuVwJtmQDVZ4jgNhgwxHC2/jjrdUekggB4mga4lgB1KCBJk2AbAgI+nAVOIEiklITvlgD9bwBwXhA9QQDspIDpsgELeYA1MAkW45BCRgImkgEEgAY0hAC9LQDM1QDLxACytZB5CQAyqwAhbAADtJVirJSXWwNmhAC7QADMWgkpAACSEgbuI2SQwRLNw0EMRSDD+ZhyokEOfADdSQmmmJSu+FEY44if7BdP32bwO3a1PJB52mlbR2R17SVA33f2LQBgPhAi6wCdrQDciJSSaSBUPgHwbhBUPQdLxmkTCGC8t4neIQgwAQDgBQDdLwnYAJDJL/SUjA0AwAIA3XsC4EoZ4CQQ3V4J6AKQyWCUHuwjbXyJMx908HMZR+CQ3UwA3roFqH8nltZyO4M2u4k6CzVgsAgAT+EZW0WZt88D0DJwcqAAtrVhB1pHDzQA5gEAM2UBBYYAxngg24kAUAQHpyWRBNIhCshwRScIDawA3HeZziiJzIGQ7eoKNqmYjkwA0AQA3XQA0AcA3cWQ4AQA4zqKTqAhHY4J7UEJ/zCQkYgJ88CQkAsAvLsAzNAKDGWChgiiiys0A14iPu5Q6iMARIEJUAwG/8F4C5ZAe1uQe4oJQL0SX/dwMGcSCOAA1+WgtlmKIOyRByAKNOgAS8UA1nsqjY/3ANMIkN2jCj4qgN3pCjQ6qaqcmkSLqeB7EunpqkoOqkQfqevMALdQAEEAAEtIAM2HAOPbZfxUgu9fM1qZVaryMj36ACnbYvdmCVudQsuXRLMlaPz2CnCNEl9FAOpoAQLVADm+CXADAFBdigQ7CiTWeLskmdTgAJ34mpqvmeQ6qo1yCu2JAN1CANqYmuabmMydiuodqk7xqqnoqk8/qpBbEu5RAOzbALlQAEwlIHvHAMLOQN4iBxhUaSR1Y2/QcAKqACY3CXfZVLXjAFwFoGFTubgmCsNqiUJkYP1hAHCeECL9CWAoEqA1itBzGAKkCxuwQAh5oDAmGeAuGnfvqdNv+Lrup6DdCwDNIQpNQADYvqqOVKjtzQDTzKru7aqfc6EMl4r/qapcCwC7SABme1TXBTLJCwCbewCszQkvtUqeKAhc5HAkMQZ3A6KnQ5kVTwYrlUPs+wWgRBO7cjt+2QCD5UEFHQBQxKC0FQgA1orXgJs6XHJC42BENQbAAgszKbENDQl8ZAs9AAANDQDFzanzWLqUNaouVarje6jNuZpNyZEEr6o/u6C6YrDNLgDe2KDTcbmLggCYAgCS1TWQEAAZ3mAQSwABpAAipAkcF6S2NwgM0yBmDoBBUrdWlQpghEdLhDI93gAwvhEViAC8sAYwPBhQXBdC0KAFngBIZ7uMv/kLjhS7nim7gxe76JmwyVu7Pkq74AoL7hu6UAEL6J65fmGbnnqpoDIbQAUJQJEQ7cEL7EtwvCAA2IuELbmZ2hC7o9upbdIA3euQwMAAAk4AR3OSoCMZFLB7xnGLG6xETRUC5fo0CIsg57AL0P4QK4wLfxuHRNsnQu3IBZ0CcAEKMqMAQ5sALza55cusM+3MM9XL/1a57kaxHLoL7JML9CLLkC0bMFQaRByjxZugvAALSSCqQAgKNa3A0s1A0rxJ0vxAskQAI5QJECMSqdlgW/+7tMR5EgjLBlYz/VAEwQkQIpUAt5mQVMh8OlR3pmGCoxmsFSoKs4TAtcOr6IXL7k/7vIzWAMxlC50Oq+khy+k/y+lHzJlpzJ7qvEB0G+xAe1zUCk1SCujPqoQ5sNkSqO4rgMGzDGZhyxDWq8a5xL3dvGcYYLHpc8XbNs7GAOnGCWEfEDT3CLJmu4//HH2mEQB+hiOYBJi5zIzyy+9nvEW4oMlEvNmozJlbzN2tzNmfy+xoChGErFyNC4ThykPkuk7lkNRRq0jloHKlDBEBusGzzLFjvGBJEGuEB9Goh3KIQO5hANcUAHFAEHVvSQMkwFEokQvUjGOUACRAzNEm2+lJsM8Bu/2MzN2bzRGt3RyCAMsCDOVJzEMWu/kGvO3zkQ+psBZGzG9mzPwesEutRXm/9QDkpah3RYDtoACK1CESaAKmY4wwtdEKhSsgcIAEOQAVu6pZTLw07tw+KbDMgw1VMdvxztzR2N1Zg8v8lgDMAQ0uMMDPKrENBK0c0wuXXQynN2xhX70r+aS1u4CUgrDu1KDo7QBC9gESjAA6ii0FJA1BdpvTXsBCSQASxgB6KAC9R7yE1dxPV7xI7syAKBDPGbxEfM1Zh92Zpt2Zyd2Z2t2QLR1Z8c0gRM0hUBDBagAR21hVNgkW4NvL+boqlLqVocDt1wDDegpxeBAjBrEIEd2CV7qBcwEIgABgLBBXXABaIwmbzwyIfc1ZEtDJFtDFNt0dZNv/RLEhZtDLuAoQD/ENLCYNoT0QxoYAEeMARlWHplIAVk29ZrnAUWCawuTK5CC5PJwAbCmREkoqYJcZHBvQIIYAJqAABtEAcOQAIMm+AN2wAOsAFcMAZkQAZmUEVFUATQ+wRdYDUWwjQ2Z3PCUN3WvclafdXvK9reHdLAsMkTAQyNh9R5+Y6C6sH2jAQVDLwCsQmN663UIAyFEBJqwAYurhAwNgQNW3UJcAOryAQmoAIbAADDDQArwOQW0MonMAIjMBApAABZDgA+ECLA1AiBIBBbUAXQewJVRAZjsAmRYHO4AAwfjgzWLRDY/dnb/ckAcAmwsAuUTRHknQFIbbh5WYb+8dpl8Gk2LhBV/9yfZ90MwJAIcBDmIIEFReDiRR3cMGaYY8y7DrAAHQACI9ABBoDgUb4BKiAQJHAAJLABJpACVm7lCQHpAHAIhwDrZ5AhANAFVfAFZwAHgwAAf6DhmBAJaWRzAHAMwEDdSVznAiHSwpDdEQEMwlbq0bmmMPaOekzoFpvBhlwQywAMdhCFI+ECJoDULvvbhikQrXwBK+AFB2ABn24AwpbgTz7GG4AADdsDSpARcBCFVlAF/q4ff6AHAKAIihAIbYAFKDPpEm4Hl7nseQ4Mex4R5C1s0TkQ1O4EUkAFKNrW9WzjE1sH2O2Xy7ALhRAiJGHlJgDoawqGpZ7qTj7GxFV1Hf8AHBvg503+5BQcbLy7AmwQBwOeFFbeH5CQ5+EtEcCwk72NBBZ/8dYOyzgcsdoLAJDg7JSLC4BwtyHRAi7AA8wc5TlPAsOd6vi8AhpgAaKDBPcIADdv6qk+wYcJCHfw80DhAi2Q5SgAAK5+AygDCJiQRrbA3MCQ4mN9xJewAAjeoAax8hiv8SmK1CqgxgLoBZAg8hFtC6nYEk8gBmwQz6289i5/ATuPmBYwAQYgB1RQ6p6f8/7DsCtQBmZwAk6B5ADgPrpOBmAgCEOwU8OW80zuAQ+oAgtQ8Qih+E4A44PbLA+5CUz93HbQ0ywRB38QCEYg9p6f7qG/AWVPApEgCF7/gODe7/1qzz8XoAIagARlcAIgYBVN0jYbkE1q//6t7P2lzhCKLwXWjvz/4QQyORDLUAsAUcQHACsADB5EmFDhQoZWsHQpomIDiQ0ALgCgSOKCChUrhmywYEEOKBUkMF4gQXHDSgsGSHT0UmYIQ5o1bd5EmMREjhwLLEh0AGDi0IwkVmh4iRPJUidOpBz04kUKr2YAli0DNiYFTq44U7iIcSKHRKEaTU7kuELoBg05OJlUuVJFUA0aGBioWGaMlyJd/f5FKMTEFCQAxpKwgKCiwowSU6q9uRRJUylTDCYClJmMEQBLAH9G+OEDCBAmhJZFWbajRwsrNQhisFaDhQYp/xkwmLChQYAJE7xMUQFaeM0fLJBkcQJghUQEZYkS1aA2ZdKDhRdKZirFyCAAefIAmDMctGjyH1pXnIiSYtrlACTa1eB6TBo5ANIoX0HAAAIIEwj37U48AU9Q4bghSBjrAA1Oe44iw8YwSb2OZgKgMOsSkmyINwJR6BABP/tghBZsMGGljC5aj72UNliBgZAWNKi+6gBoAAEDIEBiCDI+FPALDnJAYgIDMlAsJPROO8gCB4LIwUEJVZgJuwsBmEnHRhDhkMfhXADgByWggGgF9MwyiaPV0nLAJ/r4kMMMOdiUIw3dEAigPxUA1PKzOMCYIDgD/tzAgdsYGKs15xhY7f9Eg6ZTS0oqC8uhCCby5PELNeCYowgkHDQIJTM7kuOlFY7KAYA24zTIDPvuW4CABSAgoYQqKAUsDz4XaMCAGh3IQIUglFMyBwswQnIFRRdNSQUgMzRIBRZGoPXDJ56wQgw3IlrMopc+DYK9UamQI84gVgCXvjQmaACAABjIYIUkou0qkD8uWgAABBZAgAr64ozz3JAsYGDU5VAk9qDpgruQAxHg5RGFFFqIwYaVFtPITIMCZVHgUeUIYoEANkhj3xV6C6CBCUxjGCdFFIkg3eYQKENG+kwNeaIGnBi3o4oIJvasxwwy4YOUP/xABBBGGIGFC4ayCKOJhdJY4zIMIGD/AvrcVGEBfBtoAAw6hq5JiCe+uIg/A7KYWdX6wg15AQ28+HW5nQuGq6yUioABbB7L+2A5uFBCbyUALIh6iG/JvY8+FfbTNQK9b2ohgjr7NMjckO9zc2SBO1KBYJN6bvaCIuIA4IzHhTPhBPJEGMEEYxWamMWMBQ4iiJnSIEKQcP/EFwEwvjudoQ8uIAACA7zYFwAiMtggCPqCYKCiUTn3fFFiVwiCiPCCB20ELyJJxAwejEChBZSzdXCoDToat/aY3iyDCI4JQKB4HvQwKEvuDxp+PwLKlUMZ1BUAFaRhZIRTDufE1LTPNXAIPADe/gBTAjskIhKSwGAiyGAGIkws/yNjWp8DRvWrIIzBVOEiQRp0hQAEXAARElwICBJgAI+ZsHKLM0AOFliq5fSwc6BzmkaIAMPPvMELSIjEBTEoCU5gMBJpyAJH1Dex1mCvdkhIgx3iNDXGXcAGRFQICi7gv/m0KQ1HLNDgCpgzBc6tgRVhARj/EggzeCELZUgDH5i4RD5iMIA6dM1smkeEHMQsXGUoAxKo1gCUyfEgQmABDe+1L46t4DyzUYsCdWaWRUkxb45kyB9EKcpA6AFIcthDGhBpBzsIIhFNbGIf/fgSB4SEBARAwiHL4AUnQOACpAHlQdrQhlbVbwX0EdN57HYRTabmcwAIAhKDuZBR/iEQ1/+8wxCmgDx+ycEOe0glIgWBQVj2cQwSwRcEnKDKMUzBCRFY2DQPEogiGEADKggACYIQuyNdLIEDq9tLcgAKWYAhnvIEwDUVeghFEDILUcnCQ2NCH3AGUA5jGAMfErFHJ0ZiCFyjYUyyMIUcZOCg0wzEITTlhZ4oUy4lSY3g0gI4s2wACako6EmDqYhGrIynjxjEEI5jx4gWNaJeKKMWtbgHvfDhguBLRBkm0KoG/GYIJUVoQgNBhiFIwQsqaEBrfOa3Z65FORNxmk0XgVNZZBUAXTgDHiyhiUf4AQxDGAJEjbrXo87nmxUdQxkSMVg5DKF+BPAAEpo0gYGg9BBbUIH/U766gLMIpXPTwcjnQIgfDnBhEWuVBRlSAAJ5ukAIVTjDICwxCEJGhah8he1DA4tKOUSFD0zNgMcWcJjmyHNlhETCNklAWdkYLIjPRI8KvGCEM8gvEjg9BUJd8APUDuIRk3jEEJTrBQDElq9OANJRDWkHfVEBrATIJwkmcJFpumEQb4ASEqQwhAVEr2AIKQlCNDuRIrQhDkXwwiIiIQtZFAKhZ/jDI64UiGwiISoLiShCIgpebRbVC1vMgnbBWicNtBB/wfQBE5aDV3sZwEWBehGM7nvfDTRBDXGYQx5yIIgy4BQTeoigHK2rCCxdkwjBebBCipqQiE5hr8grQ0nG/wIBV+UKDI2Ypg1OQDkSUG0CGRhCEORgQUlEYg/hksKoELISF2OKDn+wTyRKQWA8THPB1xRlCUwSZCJHuM58Rd4YMjCWVhmPvdNcggw8kBKqQaCQfNCoBQEQCYMwetEAGOwuh8CGLbAhxraiwiIEgdNC6E+OCq1mESYwpa7EVi8lUQGTc8UGRaghmEvoggkyYBL6kWA+e0h0Ih69a0f3etFQlQQZ9CKIAZdimtWsZgSEOhknTMEyN4ktUr0wAQ/kCgJ4CmYXrkWkG7UFo+4MICLjtIe/yojXjTZIRyURsk6Dcg508E4eRlnHMjgFr8x+Nk1iO4Ys9MZGQeAOQhUhav/6ZWDPOcgiKsGJaIbzwQ4n3IOp7KDRJSoRqq3sxIflCNc4wPjdYCiDIIi9CL4UgQhClQIV9A1bL1ChAcZbwBsekVVFUAC9g55AIROuSkTisT64ZjgAGg6nMlRwsHvIwRBqPAlHtqAF001CtdpwB0FomhOLUIEaovCDE3BgCE5QOYSNWpmHZqEBHvuVW/EQhAAgIAOjDpleXDt3uiNyX0D/ssS/fNE9jGEVZBCDI1nnMKfbIA2JkAMnOCGIICjBBS1AgQkc8HXLSOEpe+0uSXNAhai0agF3UIRbbRCB4s3ahLsEAN29oF0nqL7uGE0DrhPBhzHIIQuyWASX5Lg61sH/oAxWj8QYdCCEGDw+AQ7AUbN5YpkIGxWvEc0B1cjwQreiID8QgEBgDeJ67qrAq9x3rTu9CoDAuhMJq+AED0jryNXJABRWx7ob4HCGLsCgAeubwNedoM07G3UCCCCDa3IrABge+imV1AO/BKQ7AHAK2cIoJ8glKuABUCIPEEABMgAFQVA8xvMOOpiDloke3JgMITMqKnCnBuCMATQIESA9BMgCBFTAGBypBkSqwJKCIKGO3QsRFJCBSLg6TogEL3gDPRAlMDgAIUGAA3A7pwi77ipBKXCCAFTBgxABFqiabYrBLJxBKXDAMrhBBnAAB4gjORqB8rkBMACFH1wEIsiS/z+IADC8jQP4kxLAt6IyQcsbgiJAhBwbwA+IIxKwjCyUQSjkwhocAwgEwzA8ATn6iiQQA0nIQCAUhCECAFEqAjiMQwMwgTcwg8Joik/MQzCYwoQQjYJxgsgSRO7bQgc8RCS4jTDMADn6ASyYOgD4wUiggiE0iD8wgQkQFDCsETDAsTe4AyLgASIoggkcxYX4gF5stlNsvVRUvSyAQieQLb24wQlIRAfANu6pljiggztQvEVYPDY8CFFqu/rKlQSwJkW4roPwgQIYAAFYRoSIgRYYgVhMPYmSRrobKQZkxQqprzCMnoCTIB5DBEjUwMXTxV38gwMIgAAgAHVJAA+xCf8BwMgB0MhRXALjsMZ+dL1//Mjys7wG2EYHAIOC2B83SDBD8MGXpAI20Lg/oAAKUIAFuAAHkIAPGYACKAB5GgR1+j6QnLsZNDKkqjeneMUwtAAZgCEbEAIlSARQiIQ0nEQACD2H5ICtrAAA6IA86cmd0pTCAL8sWIqinALL+0QolK8swCgvhEAEWMrYgCELbAEyKIWRYMgOuaafKgGw/Mlg+gMyGEHus4xSsaNqzJGkWwq8+jouRI6UCADGMYCggCHRMAIfJMdFSA7PQAjsmgRK0ARNGITAEw8B2Eh58g7CbDbDpIKRgsLN2BBRYgM24AASwCunkIKxQK+IjMgYICL/0VCVqly8FZBHn1QABXgACegAUjCIQ3CDB1AAHlFOxwEjNDOI1cQ3GOQu2HSCIujGldGDvvCCxRO5NEAEMEgAC0iADvgBMBINDByJSBCEBFCIn6QADoijEiiBneSR5XQk7DSImnwAIGHATwQAy9tNE6iBGGgsg7CuSVgpTgAFWySDmaOEYPoAI1A8W1wECkmIAlCACvjLg2ABCuARCUBRR1rRg6AACYgABDlAJFAL+0yIp3PQJdgCHkCCMnA0AJCERmA6DTUDqrTKYVEIBYiArwSAEthPJhUPFZUjZKMJjZxHjKRHhrBLFlA6TgCAUmgiTZgm0ZjK+SwDG1WIEvjK/xLtAA7Ik5okIlGyiQEIDaHB0ju9UwAQAKWrSlscgwfggDZt0cuEAc28ugNciDb9ShZQUzd900ENHj7ECb7hGz3FyMlLgz7lhDJQUg7gzxK9TAwkTkG4gMBciECgACdVUyjVEjjdH9LREgEgD7GgD04AU05lzg5oU0eVIBEYifoIvkWkiZrsAEZtVFpx1eC5gTzBU6UbiTSUg9TySl6VoBHITDWEjAcwCFYFgJqkABYAVxbg1npcCKShFCzF1MQDUznwg5mTJ6tkgOmsCTjlARaoV2qVoLoaDvI4VywtpGcFBTkYBOwCJSoI2EWjAjQdVnqt13HVUH4VnlIUDjpdCP9Zxch/tVUAEIRJmIQrcaQh0DSNzRabqEl75YF6JVf+qVTxeAEUUIg71bmMFQRN6FgsgSE0m4gMQAIqGAK6vAliBYCTFdeUPR2NFAAHUIGYAYWlXQRNgDKblSA31EbcYIAFUNh5LdmT5QFQJdqh8cl5LKQyWFoAWISahTM5PR00UxI4bAACMFWDoNiFKNmgbdiuHZoXjQDpRDixrdBFaNStrMRRepxDiIAFCENBgci4vQkVRVGt5Vq7pRRv9dakTQNbTUNFbVOFEFCGQQQHqEyCpJMDSM2beIAH6ACtZQF8hVwekdwK4ICk9QJQKIU0jAAVDdSu5J47QAAHmAAlNID/iDQAxZ1TEQ3XoV3dR/VW1yWBXbJcTkhO5dRWhoDUPOGAsOLdMPQY0e0KKwVU/lTd4x2O1t1K2G3e55XXYY0WMHARJaklBqCTABjdm0DNAtDVNrVO8BUPyaUA18WIXVraU3De5CRd/8wTHqgl9lUSdZHV8pBfjYwA/RTX6cXfvxBfN13e8iwFAI6AAshSm3hbHimBAw5DGqmfDt7eAYgAFjCBe51g4dBf/u3f2AUFDcbShMBIhLBSSpEA+nERAKhaAiAACRAavxgBG1AAreWB770J4V3dCl6UqLDV6LqAGkaIGz4IKuYREHgA39QPIA4AADCBKw2NmhDRFEZdJXZR/4T44J9VQfE9iByICdmNrgfA4iuWWCvOExCQgIgEYi8+ABOu4pqo3cY9WSUO1PrVVVgVEG8FIzc2iBKA4zLghFMA4Au4UkDGyCHWU3iBSN8MgAcAATzuCsY12a1ViPxE5PpFBD3wNORNVobhygqAYXCFXTnmBBioY4PI5CEGZB4JAyU4gT8+AFAWY8AgVtRlVVT+1E9FBCyBWr3x1vsF4b/1ynBVgb2YYQA2glzW5TvuZQHRhEPogzBgAh9AgREAgfjtCm8t5RLYSl3d1lRm0mZ+ZshV0gfmT4MgAlrG5gy+5TxlxpR5BE0ghVBQBD8Igy0QAnxEmvXjCnZGXYR4Z/95Ngge46njtVIRjV5jPFnlkmRK5oQIwFNm1GRN5pFAkOUO+FQOoIAH2ALPRJqGHoGtWNivFNomLdFDRmSEWBkhdSQ85eaXRU2N/EkJYAEzQGqPtmWRvmTuocn9lWXX/dQOqIC8VQB5VNw2iDfBJVZwRd2//MpUBtyDaIRGIGgJAoF4AmqAZog7TU39PNmIiAo5BoUVUIAc3p8XjmrVlc7kXE4URbanpgCVFlpwNQid3lWFoj5KGAW0FgHRcGs6/cmg1mUs1UgFMGoeMINkzIA49mciqGrp9Emc+GbQQFH9hWrTrklPNYhwDWtE3spRor5RcM79eWxLRU0AMNXz/eb/yC4A0z1Z8SmBC5hrfzbWfOaK0gYNwfbWahLAdV5twhbanW7mQ5AXawqER6Bti9wfO83tgxDR6ZRXJo5sBYDrzU7dC+A8Ww4CWX7n5KaUwA7s7eEKWR7s0z3ZVVVlen6hQIAyALCEM1gCaOEe7wYAeRVvgxBg3DaID7DsAYiBCCiB4E5dAHAA3FS8SCiDEqjJqD7smlBnAZFvOc2DOPiCJIgB0iBwmuCAlC7WQpbnlWlmKHNORTgDJmgBtLZiERXRA0eI6bzkO2WdFhCCFxefg2ChK0u6jqgAyb0JqwYA3RNx7DzbzaUJ0ogBJdgCN3jkJtXVEjABcdVvXe1pnzaI/zOoAhdwWe6JARTYSB4f7YS4agAI8ozET9ZCbyQ3ACWspehA7daNatdVaeT+EFJSKFCzcr+QK1JAhVEA16nmzyspa8ZGBYNQguKToC/AgvOFW3Wec3nE0wFQUiMfQwDY4j1vgDBcrwoYpT9P3kCnlEM/9DwwHdA4rTBoVwB4BQAYhUYQzVHQhFFgbIVwASnnnhcFgJ2c8xAH7yBXzvNO4oM4ACB+RSW5AAqgUrl9ZS1JqUOwbuumgzN4guEQgRTwgVk5iFiIBV4X9lFQd4OYlWJf87w+5KqGcvD2cYPwSVD/7VS1VzOAUgUA3tsICQe4dvk+nW73dm+fAzF4FwERAf8RsAElgKuEUPdYGIWsjHI1hyFU3tWtbPGFmPOrRk58Flpe7U0TO4C1zYDmrqaE95CFN3Em4HjxEA0UwPkY+II28G8x9QUAQIVDuIEcL/Y4PYTqRggmdVNp1mi/9ndV+fGIPIADcN8FUMIWcnm0HVxvRwQTTwJj39ebt4EXAIAkmBQ8EFNiiIVw3gIAuEejb2ZFGPP6PYiuhFHpLF3mtFfDPgj0oh8EsIC6UJJ6kVzBPZ1G4JA2wIKFzpObf4EXUIIkiAI4sPhYoARxvk7ulme6h2ev/HjpPuyaFPh1YYCVnxgHQIAEKPz9QYRGgNXHy/G9+QAXeIEbeAEocINHqPT/gxiFxuZ1g7iDqI3nNv3LOBLXnfZKAChrRJiEUUAFUhiFRxilTqYh02eJ0i/8RAcbMegCISB7AIC8vXm62v+BLtB4AGDsDG19MY1Tz9dVew3aoLXXQD0IJqUESkCFtR8EPOgCjgMIMAEIEEDAwMKGhBYcHKDgkMIfABInUqxo8SJGjDdevJDYAkXGkBY/oHjR4saPLoNCvUIFYBQlSnoaAVB0SCTOnCH/KOrgkwUPoCaCEu1QQmIJoECLsOAQgWKSEwEGLnCAUKEDBH+2btXp9SuKFi5cfPyK8cOHF2SFSCTVEkAjmnBn3jRrV2QgRYgQleAxVKnfoCyM/uRBpAiR/xIcHlAcUGDqVIIONGxYWIRrxLuaLbrgqLbsZgAfALxAcYMiKk0S5eoJFPo1xUCIKGqqDSApURMlSvxkUSRoiQcKBFQkAJkgAQMGCObBDPu1WLVkQWom2QKAC9QUZwNw/Rx2oEOKAFB6SV5RoEaUamui1LMDUMMlKCgoIOD+/QEDIA9ETsCBGG3Q0dV3mo31gg0bZXcXSSC1YAVt5VGCSHMFfjceXO1NRFNtME2ISFyjoDKKJcLhd6IAAxgXmXEHpGADWxZuZoMSPygBgBI2UPfVaA5CAQApFbkHQGYyviaeIorYBlOH5Y2yGlykqBKKG1VUhJ9+AwgA2QEGaInWCP8LGvnVFwECYEWO1/EIwHUtQIEHKbFIVF5cco15pF6KNNLekzC9FJNEs5VH0QgWoaBffllqKQBaaN1pVhyN5JHHGVCc5hVaLbTwQhRuhDIRnZQ04t2joe2ll3rr/UneROM9KRIKsSqaJaONjlaqTn88ohoAenQRI05oUceEp6+oAhd5onKHq6mHpEcToIO2Wh4qdWEUK7YV2dooszj9wSFMiMShk3UuMAEAr6LGFRN63T6HyCF2SjunlK9mhG2sHk20rbsidaXJKKNoGOwHYt0o0SsxxUXeqP0+dwiIIaHyyRn34gtSvhLx6zBGWw0KcCPLZvQBCDEAcIYmLdlbp3v/InN8V3h2WhRkF2JWdHFY1MVq68sZEYiuqLB+kF0YKasySp0bNtJuz6aGdAYTNlOEs6YS7cxt0xZtRVPAmoQcUhI/PAFAJi7BtVege6Gd9XcyDwKAECZh9BG2auaMNdsUbcWdwEFLdIgnlmRiCQBztBFRkOiGrLa1h0BMat5mLbwnAK+Q4gZ2Ys2tKecSmeRo5BVx5SRMDVviCeqssGJJeq8O4kYbceihNtp1hYcI5KGLFGR7g6LyyBc/eH6tpp15BgAKoOsuEVePvAQyIqej7gkrn1QPQCysGFLFEkJAEeAcss0WSGa35758Rq8AoIr6AAzSxQ0O7jh18aRxlPyt/+gzT2DfdlJvfShmAYBZGOINS4hBCjoihCh8IQ50INLPIKY/kWyhLsSIxSv0ELzSYMxQYimepvCmv9G9pHTOA4AnJNIKAPjCFZYwYBMq4oIbJAEAAXKgRAIhG8cN4nwTNE0baHLBVyhCDBBqAQg6OJGqbep+ypsgVwLRp/Y4L4WImAQqfoGKTtxhDTG8WUWwAIDY6eEmipBeJnzIsW0pr2A1aR/2JiKGg4EGBWTRlGdEOMKt5GE9AmtPJshWnljoghWMYAQb3qATJmDhDOE7IwpRR7imsZGNIojBFSQSi4DZ628SER6bbmCDA8XABk+EYvM4CUhPUOJTs7CEDzgYg//5ZcQFMfjB9+Cgh4lIsmc8q2TBhIA5iYxibRI5lidxxAQl3OgHQmjBKVH5h0NMUVSh+JQuLHEEDoblOlLDjr44N0MlRIGXqDvE2/qFt0pe8lyqkJNc9DQR1TzpWJM4hBjO8AUrCCGa0iQcwJg0ile8whJLQF7O2MQmNV2Ec+I0GUVQl85u4Q0EVsPWB1LggzskDllJGs+g5KIJVMipJapRwiwnqLVpoo5PAVufJ95whOtQxwV2HAtpOmMzh4rTIoawBOAcZy0j8aybVqsIEwbBvifFRU9Jg0uSEPGIgL3CFxLRxDBVqrc/SK9D75QIDCVyy46MZUFVkwhOeaqpI2D/5A4oPB0AEGEIfX2HW3ZDQRJ3dDBQ1amvdRoPItbDq02iAo5aZd4hMhG4UIgoFrEIxRbY0ITJThaiFemcmu7IU7ZehA1VuMMdBpFCi/QAADVIAQpEoMeQ2FU0jcrWRdT11yT1FUSCfdXCJnHYiXB1eqEgqS9GIQYhUJaylrWImj4yFhDi9CKcPahE7vAFNoikBz04bWrZuK9GJRF528pYW1r1VwnG9VR68iNuB7RbxEryE63wRSxQEQcsxMAHxW3CWSnSJoZuSrMt4OyjrItd1W6rBhPB32tTEJKlIcImjjvVXnZlHnTpoUi77a0nAugLX6DiDF1gwg1sqlZxNvfA/wu9I1kATBEvTiSGcJjkRMKgGQHXYLLZ2VlewUsR3UpkPJaA1+3gFS9V4ZYr6wXAIaQ3C18EAwBhuMITlCCEWar1Baf5AZZ/MEom8rTEEmnCGxQZ5kQyYq5jmqxEUEtLAFzqIoiYHuoykYm9pIeYG2rOz1SK4ff6QhdPWAITmAAFKvP0lqAEQJZ/cAO1ksWWFqEuWEPyCYr0wa12acIRjLpETcUAWKxqlWLhPNpMOI8S9iJcePKsvyR7ghRM1kUnbPARuqn1BigBpRByLYQsm0ScYiktAL4IAEjjxBUAaMUKP5FCty5hCcIOCabnd9brPMESxyrPshSRCet9Qtkp9P+E83h1EdZpNSKP+MSrO8EIHzjUvzG4taJxretd/yAGxSPLcUPjin1PpBMAuMMbJFvcYFME0wpeaEiGxB1FfGIWqmPFvlkx2opMnGzkVum5f+GLX6jbgAmyNchtnWVEo2Qi86Z3o8nigzUMeyLE1oyxXbHCiRBi2F6c7BFiGG2Eo9UFPjjXVcsbKG3r0DuKQJ2EJ9LJiVwcfdqWyC8swYgxGzrRI7dIriUybyyXtQUvl5GxLaJIAAR8DT1oQkpzQhO11QR3Rf+by+ASOImkMJDoRN+rguGLjocZDD44NE6yDrdd3yDXy43h2CPtroBPtge0tKXYMvEKOfXYIm//m8z/XmKJRggOhbxUY9Pg6AlGECLMb1iDab4So1zHe9cu+GKYL8IIGSF75gDwd7ARuKCywo0ilHiEXOIZ90M8Yl6jeIS2YUz3oUauo7NQ99Tf0IQadMQuJ9+1DyYS+8S7K4UFnLI3F0ojazPMqRhqsMvIK27UKeIRykdhIJdntok8/5BN8LLJPY31k9/g5aanSCcQju3RniuwgkScARYowQ3YWwu8mxvECSooy2wsTHkN1ZBRxCh4QiZw3iRp4EQwX9ZMWuVQRDAU0hvYW5vln/6p4LxBl/aNGQDUnAo9CrKJYHfEgRhEQb3ZCPlJINosTV0IlVCpB68EjAcCQAcGEuoA/0AehA5BCZAArY9VNdkgbAEALJPgXUTrXZ8QfJ3iSYT1lAqytUpc6YEetIEYdAGcxJcPmlePCRWSHUJ5FKG3AYD7URz16A4y6cIsCBAfYo8vGItEQMEy1dDg9R7rYdn1uSBFjN3sAcC+hd2YtILETRpgqY2eoIIqoAKD0Q7b2eE5OQ4RElMGos7SvJ8keUIT5s0jtIIuvOIr9iEfNsIoOJaxZEKlMEESMJMQJEEv/qIvBqMSeKHidUIn8JtESKKFzJzEPYL42NZXAYAbONAz0k5NwNkGqkoJfRvyYUhEAYANZs1szMIv/AIsxqIr0MQjdNSxDFOb2VquNdsSsAEjVv+EDKIQK/ThANFgJaKQ2siFVQGAGEmEGBSODnligyFh+y3JKHgbuCWJRXjCTdxd1iSWLpQjRppjIYGKuLVFOgkPyFHXPWbESLqCLgDASdKfREQhRdSeWVCiCHpCyKjHCHbHj2hdDeVTHBykNSoCehkh6nyCJejFEpINCrHaKjbNNLnCLwRDUz6lLrgGSMWEwBiW1u3aEhBCzW0lRtTc2BngPkpESqpkMs5CzLVk7aWlCjGjJ1hPCvkkBn4BAITNJ/1AEtxlI4UP45BHQAnMm7FCKyRJqFUcq4Ggw2AGXD0lK+SF781L+7xCKODBXm0lV46kRBijK+ijSPwhH/4hJH7l5llOxMyxpcQVJUXowdhQxMgp2g0wQRe0QR7o0Hj0ZXc0HCsIJpx5HlBJ5ES9DGbQgSH8gSGgzh/E3ZwASk3GwrGYAgAckkRUpgzK4Aq5gkO2QmbiBEsOkADFXCSC5rFFUmki50uIwV2CEmsiGpaF2C1BwRfAZiAE1IQcwr55wnhUT26m0E1UnG9iBlfAgWvMS2zZSywQg1jeHgBgwiPS3EQYYGCywitm5qQp26SZJFlahB/2IRRypzK25ScATBwpQmquYF0uYAy8QAwkQRQECB20RoMVoCIw5Ri2grJ5Xn4apowEBAA7\"/></td></tr></table>"
-      ],
-      "text/plain": [
-       "<IPython.core.display.HTML object>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "demo_env = envs.training.EpisodeWrapper(env, \n",
-    "                                        episode_length=1000, \n",
-    "                                        action_repeat=1)\n",
-    "\n",
-    "render_rollout(\n",
-    "  jax.jit(demo_env.reset),\n",
-    "  jax.jit(demo_env.step),\n",
-    "  jax.jit(make_inference_fn(params)),\n",
-    "  demo_env,\n",
-    "  n_steps=200,\n",
-    "  seed=1\n",
-    ")\n",
-    "\n",
-    "model_path = '/tmp/trotting_2hz_policy'\n",
-    "model.save_params(model_path, params)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "**A note on sample efficiency**\n",
-    "\n",
-    "Above, we train using epochs * horizon_length * num_envs = 1.024e6 total simulator steps. Let's see what we get from PPO, using ten times more samples:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 8,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "Text(0, 0.5, 'reward per episode')"
-      ]
-     },
-     "execution_count": 8,
-     "metadata": {},
-     "output_type": "execute_result"
-    },
-    {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "train_fn = functools.partial(\n",
-    "    ppo.train, num_timesteps=10_000_000, num_evals=10, reward_scaling=0.1,\n",
-    "    episode_length=1000, normalize_observations=True, action_repeat=1,\n",
-    "    unroll_length=10, num_minibatches=32, num_updates_per_batch=8,\n",
-    "    discounting=0.97, learning_rate=3e-4, entropy_cost=1e-3, num_envs=1024,\n",
-    "    batch_size=1024, seed=0)\n",
-    "\n",
-    "x_data = []\n",
-    "y_data = []\n",
-    "ydataerr = []\n",
-    "env = envs.get_environment(\"trotting_anymal\", step_k = 13)\n",
-    "\n",
-    "def progress(num_steps, metrics):\n",
-    "  x_data.append(num_steps)\n",
-    "  y_data.append(metrics['eval/episode_reward'])\n",
-    "  ydataerr.append(metrics['eval/episode_reward_std'])\n",
-    "\n",
-    "make_inference_fn, params, _= train_fn(environment=env, progress_fn=progress)\n",
-    "\n",
-    "plt.errorbar(x_data, y_data, yerr=ydataerr)\n",
-    "plt.xlabel('# environment steps')\n",
-    "plt.ylabel('reward per episode')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "We see that PPO takes around 9e6 simulator steps to catch up to APG."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Study 2: Quadruped Locomotion\n",
-    "\n",
-    "As we saw in the imitation learning example, FoPG methods benefit from detailed reward signals. To teach locomotion, we reward the feet based on the Raibert Heuristic. Similarly to [prior work](https://arxiv.org/abs/2403.14864), we use a gait schedule to incentivize opposite pairs of legs to move in sync at a fixed frequency. At the beginning of a new scheduled step, we calculate the target position for the feet at the end of the step. \n",
-    "\n",
-    "For each foot, we calculate:\n",
-    "\n",
-    "$$\n",
-    "p^* = h_0 + \\frac{\\Delta T}{2} v_0\n",
-    "$$\n",
-    "\n",
-    "Where $p^*$ is x, y component of the foot's target position, $h_0$ is the x, y component of the corresponding hip at lift-off, $\\Delta T$ is the scheduled step duration, and $v_0$ is the base velocity at lift-off. \n",
-    "\n",
-    "Due to their limited exploration power, FoPG methods benefit greatly from having an good \"initial guess\" of the policy - familiar terminology in Model Predictive Control and Trajectory Optimization. We formulate the problem as [residual learning](https://arxiv.org/abs/1512.03385). Let $\\phi$ be the parameters of a baseline policy that we already have, and let $f$ and $g$ be the neural networks for the learned and baseline policy. We freeze $\\phi$ and learn parameters $\\theta$, for the policy:\n",
-    "\n",
-    "$$\n",
-    "a_t = f(g(x_t; \\phi), x_t; \\theta) + g(x_t; \\phi)\n",
-    "$$\n",
-    "\n",
-    "We use the in-place trotting policy from last section as $\\phi$ and $x_t$ denotes the state at time t. In this example we track a 0.75 m/s velocity target, but since locomotion is stabler at faster trots, you can experiment with $\\phi$ for faster velocity targets!\n",
-    "\n",
-    "While it might seem more natural to \"hotstart\" the learning by simply initializing the parameters $\\theta$ as $\\phi$, with the policy $a_t = f(x_t; \\theta)$, we find that the residual method trains more stably in practice."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "#### The RL Environment"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 25,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "def axis_angle_to_quaternion(v: jp.ndarray, theta:jp.float_):\n",
-    "    \"\"\" \n",
-    "    axis angle representation: rotation of theta around v. \n",
-    "    \"\"\"    \n",
-    "    return jp.concatenate([jp.cos(0.5*theta).reshape(1), jp.sin(0.5*theta)*v.reshape(3)])\n",
-    "\n",
-    "def get_config():\n",
-    "  \"\"\"Returns reward config for anymal quadruped environment.\"\"\"\n",
-    "\n",
-    "  def get_default_rewards_config():\n",
-    "    default_config = config_dict.ConfigDict(\n",
-    "        dict(\n",
-    "            scales=config_dict.ConfigDict(\n",
-    "                dict(\n",
-    "                    tracking_lin_vel = 1.0,\n",
-    "                    orientation = -1.0, # non-flat base\n",
-    "                    height = 0.5,\n",
-    "                    lin_vel_z=-1.0, # prevents the suicide policy\n",
-    "                    torque = -0.01,\n",
-    "                    feet_pos = -1, # Bad action hard-coding. \n",
-    "                    feet_height = -1, # prevents it from just standing still\n",
-    "                    joint_velocity = -0.001\n",
-    "                    )\n",
-    "            ),\n",
-    "        )\n",
-    "    )\n",
-    "    return default_config\n",
-    "\n",
-    "  default_config = config_dict.ConfigDict(\n",
-    "      dict(rewards=get_default_rewards_config(),))\n",
-    "\n",
-    "  return default_config\n",
-    "\n",
-    "class FwdTrotAnymal(PipelineEnv):\n",
-    "\n",
-    "  def __init__(\n",
-    "      self,\n",
-    "      termination_height: float=0.25,\n",
-    "      **kwargs,\n",
-    "  ):\n",
-    "    \n",
-    "    self.target_vel = kwargs.pop('target_vel', 0.75)\n",
-    "    step_k = kwargs.pop('step_k', 25)\n",
-    "    self.baseline_inference_fn = kwargs.pop(\"baseline_inference_fn\")\n",
-    "    physics_steps_per_control_step = 10\n",
-    "    kwargs['n_frames'] = kwargs.get(\n",
-    "        'n_frames', physics_steps_per_control_step)\n",
-    "    self.termination_height = termination_height\n",
-    "\n",
-    "    mj_model = mujoco.MjModel.from_xml_path(xml_path)\n",
-    "    kp = 230\n",
-    "    mj_model.actuator_gainprm[:, 0] = kp\n",
-    "    mj_model.actuator_biasprm[:, 1] = -kp\n",
-    "    self._init_q = mj_model.keyframe('standing').qpos\n",
-    "    self._default_ap_pose = mj_model.keyframe('standing').qpos[7:]\n",
-    "    self.reward_config = get_config()\n",
-    "\n",
-    "    self.action_loc = self._default_ap_pose\n",
-    "    self.action_scale = jp.array([0.2, 0.8, 0.8] * 4)\n",
-    "    \n",
-    "    self.target_h = self._init_q[2]\n",
-    "\n",
-    "    sys = mjcf.load_model(mj_model)\n",
-    "    super().__init__(sys=sys, **kwargs)\n",
-    "    \n",
-    "    \"\"\"\n",
-    "    Kinematic references are used for gait scheduling.\n",
-    "    \"\"\"\n",
-    "\n",
-    "    kinematic_ref_qpos = make_kinematic_ref(\n",
-    "      cos_wave, step_k, scale=0.3, dt=self.dt)\n",
-    "    self.l_cycle = jp.array(kinematic_ref_qpos.shape[0])\n",
-    "    self.kinematic_ref_qpos = jp.array(kinematic_ref_qpos + self._default_ap_pose)\n",
-    "\n",
-    "    \"\"\"\n",
-    "    Foot tracking\n",
-    "    \"\"\"\n",
-    "    gait_k = step_k * 2\n",
-    "    self.gait_period = gait_k * self.dt\n",
-    "\n",
-    "    self.step_k = step_k\n",
-    "    self.feet_inds = jp.array([21,28,35,42]) # LF, RF, LH, RH\n",
-    "    self.hip_inds = self.feet_inds - 6\n",
-    "\n",
-    "    self.pipeline_step = jax.checkpoint(self.pipeline_step,\n",
-    "      policy=jax.checkpoint_policies.dots_with_no_batch_dims_saveable)\n",
-    "    \n",
-    "  def reset(self, rng: jax.Array) -> State:\n",
-    "    rng, key_xyz, key_ang, key_ax, key_q, key_qd = jax.random.split(rng, 6)\n",
-    "\n",
-    "    qpos = jp.array(self._init_q)\n",
-    "    qvel = jp.zeros(18)\n",
-    "    \n",
-    "    #### Add Randomness ####\n",
-    "  \n",
-    "    r_xyz = 0.2 * (jax.random.uniform(key_xyz, (3,))-0.5)\n",
-    "    r_angle = (jp.pi/12) * (jax.random.uniform(key_ang, (1,)) - 0.5) # 15 deg range\n",
-    "    r_axis = (jax.random.uniform(key_ax, (3,)) - 0.5)\n",
-    "    r_axis = r_axis / jp.linalg.norm(r_axis)\n",
-    "    r_quat = axis_angle_to_quaternion(r_axis, r_angle)\n",
-    "\n",
-    "    r_joint_q = 0.2 * (jax.random.uniform(key_q, (12,)) - 0.5)\n",
-    "    r_joint_qd = 0.1 * (jax.random.uniform(key_qd, (12,)) - 0.5)\n",
-    "  \n",
-    "    qpos = qpos.at[0:3].set(qpos[0:3] + r_xyz)\n",
-    "    qpos = qpos.at[3:7].set(r_quat)\n",
-    "    qpos = qpos.at[7:19].set(qpos[7:19] + r_joint_q)\n",
-    "    qvel = qvel.at[6:18].set(qvel[6:18] + r_joint_qd)\n",
-    "    \n",
-    "    data = self.pipeline_init(qpos, qvel)\n",
-    "\n",
-    "    # Ensure you're not sunken into the ground nor above it.\n",
-    "    pen = jp.min(data.contact.dist)\n",
-    "    qpos = qpos.at[2].set(qpos[2] - pen)\n",
-    "    data = self.pipeline_init(qpos, qvel)\n",
-    "\n",
-    "    state_info = {\n",
-    "        'rng': rng,\n",
-    "        'steps': 0.0,\n",
-    "        'reward_tuple': {\n",
-    "            'tracking_lin_vel': 0.0,\n",
-    "            'orientation': 0.0,\n",
-    "            'height': 0.0,\n",
-    "            'lin_vel_z': 0.0,\n",
-    "            'torque': 0.0,\n",
-    "            'joint_velocity': 0.0,\n",
-    "            'feet_pos': 0.0,\n",
-    "            'feet_height': 0.0\n",
-    "        },\n",
-    "        'last_action': jp.zeros(12), # from MJX tutorial.\n",
-    "        'baseline_action': jp.zeros(12),\n",
-    "        'xy0': jp.zeros((4, 2)),\n",
-    "        'k0': 0.0,\n",
-    "        'xy*': jp.zeros((4, 2))\n",
-    "    }\n",
-    "\n",
-    "    x, xd = data.x, data.xd\n",
-    "    _obs = self._get_obs(data.qpos, x, xd, state_info) # inner obs; to trotter\n",
-    "  \n",
-    "    action_key, key = jax.random.split(state_info['rng'])\n",
-    "    state_info['rng'] = key\n",
-    "    next_action, _ = self.baseline_inference_fn(_obs, action_key)\n",
-    "\n",
-    "    obs = jp.concatenate([_obs, next_action])\n",
-    "\n",
-    "    reward, done = jp.zeros(2)\n",
-    "    metrics = {}\n",
-    "    for k in state_info['reward_tuple']:\n",
-    "      metrics[k] = state_info['reward_tuple'][k]\n",
-    "    state = State(data, obs, reward, done, metrics, state_info)\n",
-    "    return jax.lax.stop_gradient(state)\n",
-    "\n",
-    "  def step(self, state: State, action: jax.Array) -> State:\n",
-    "\n",
-    "    action = jp.clip(action, -1, 1)\n",
-    "\n",
-    "    cur_base = state.obs[-12:]\n",
-    "    action += cur_base\n",
-    "    state.info['baseline_action'] = cur_base\n",
-    "\n",
-    "    action = self.action_loc + (action * self.action_scale)\n",
-    "\n",
-    "    data = self.pipeline_step(state.pipeline_state, action)\n",
-    "    \n",
-    "    # observation data\n",
-    "    x, xd = data.x, data.xd\n",
-    "    obs = self._get_obs(data.qpos, x, xd, state.info)\n",
-    "\n",
-    "    # Terminate if flipped over or fallen down.\n",
-    "    done = 0.0\n",
-    "    done = jp.where(x.pos[0, 2] < self.termination_height, 1.0, done)\n",
-    "    up = jp.array([0.0, 0.0, 1.0])\n",
-    "    done = jp.where(jp.dot(math.rotate(up, x.rot[0]), up) < 0, 1.0, done)\n",
-    "\n",
-    "    #### Foot Position Reference Updating ####\n",
-    "\n",
-    "    # Detect the start of a new step\n",
-    "    s = state.info['steps']\n",
-    "    step_num = s // (self.step_k)\n",
-    "    even_step = step_num % 2 == 0\n",
-    "    new_step = (s % self.step_k) == 0\n",
-    "    new_even_step = jp.logical_and(new_step, even_step)\n",
-    "    new_odd_step = jp.logical_and(new_step, jp.logical_not(even_step))\n",
-    "\n",
-    "    # Apply railbert heuristic to calculate target foot position, after step\n",
-    "    hip_xy = data.geom_xpos[self.hip_inds][:,:2] # 4 x 2\n",
-    "    v_body = data.qvel[0:2]\n",
-    "    step_period = self.gait_period/2\n",
-    "    raibert_xy = hip_xy + (step_period/2) * v_body\n",
-    "\n",
-    "    # Update. \n",
-    "    cur_tars = state.info['xy*']\n",
-    "    i_RFLH = jp.array([1, 2])\n",
-    "    i_LFRH = jp.array([0, 3])\n",
-    "    feet_xy = data.geom_xpos[self.feet_inds][:,:2]\n",
-    "    \n",
-    "    # With the trotting gait, we will move one pair of opposite legs, \n",
-    "    # and keep the other pair fixed in place.\n",
-    "    case_c1 = raibert_xy.at[i_LFRH].set(feet_xy[i_LFRH]) \n",
-    "    case_c2 = raibert_xy.at[i_RFLH].set(feet_xy[i_RFLH])\n",
-    "    xy_tars = jp.where(new_even_step, case_c1, cur_tars)\n",
-    "    xy_tars = jp.where(new_odd_step, case_c2, xy_tars)\n",
-    "    state.info['xy*'] = xy_tars\n",
-    "\n",
-    "    # Save timestep and location at start of step.\n",
-    "    state.info['k0'] = jp.where(new_step,\n",
-    "                                state.info['steps'],\n",
-    "                                state.info['k0'])\n",
-    "    state.info['xy0'] = jp.where(new_step, \n",
-    "                                 feet_xy,\n",
-    "                                 state.info['xy0'])\n",
-    "\n",
-    "    # reward\n",
-    "    reward_tuple = {\n",
-    "        'tracking_lin_vel': (\n",
-    "            self._reward_tracking_lin_vel(jp.array([self.target_vel, 0, 0]), x, xd)\n",
-    "            * self.reward_config.rewards.scales.tracking_lin_vel\n",
-    "        ),\n",
-    "        'orientation': (\n",
-    "          self._reward_orientation(x)\n",
-    "          * self.reward_config.rewards.scales.orientation\n",
-    "        ),\n",
-    "        'lin_vel_z': (\n",
-    "            self._reward_lin_vel_z(xd)\n",
-    "            * self.reward_config.rewards.scales.lin_vel_z\n",
-    "        ),\n",
-    "        'height': (\n",
-    "          self._reward_height(data.qpos) \n",
-    "          * self.reward_config.rewards.scales.height\n",
-    "        ),\n",
-    "        'torque': (\n",
-    "          self._reward_action(data.qfrc_actuator)\n",
-    "          * self.reward_config.rewards.scales.torque\n",
-    "        ),\n",
-    "        'joint_velocity': (\n",
-    "          self._reward_joint_velocity(data.qvel)\n",
-    "          * self.reward_config.rewards.scales.joint_velocity\n",
-    "        ),\n",
-    "        'feet_pos': (\n",
-    "          self._reward_feet_pos(data, state)\n",
-    "          * self.reward_config.rewards.scales.feet_pos\n",
-    "        ),\n",
-    "        'feet_height': (\n",
-    "          self._reward_feet_height(data, state.info)\n",
-    "          * self.reward_config.rewards.scales.feet_height\n",
-    "        )\n",
-    "    }\n",
-    "    \n",
-    "    reward = sum(reward_tuple.values())\n",
-    "\n",
-    "    # state management\n",
-    "    state.info['reward_tuple'] = reward_tuple\n",
-    "    state.info['last_action'] = action\n",
-    "\n",
-    "    for k in state.info['reward_tuple'].keys():\n",
-    "      state.metrics[k] = state.info['reward_tuple'][k]\n",
-    "\n",
-    "    # next action\n",
-    "    action_key, key = jax.random.split(state.info['rng'])\n",
-    "    state.info['rng'] = key\n",
-    "    next_action, _ = self.baseline_inference_fn(obs, action_key)\n",
-    "    obs = jp.concatenate([obs, next_action])\n",
-    "\n",
-    "    state = state.replace(\n",
-    "        pipeline_state=data, obs=obs, reward=reward,\n",
-    "        done=done)\n",
-    "    return state\n",
-    "\n",
-    "  def _get_obs(self, qpos: jax.Array, x: Transform, xd: Motion,\n",
-    "               state_info: Dict[str, Any]) -> jax.Array:\n",
-    "\n",
-    "    inv_base_orientation = math.quat_inv(x.rot[0])\n",
-    "    local_rpyrate = math.rotate(xd.ang[0], inv_base_orientation)\n",
-    "\n",
-    "    obs_list = []\n",
-    "    # yaw rate\n",
-    "    obs_list.append(jp.array([local_rpyrate[2]]) * 0.25)\n",
-    "    # projected gravity\n",
-    "    obs_list.append(\n",
-    "        math.rotate(jp.array([0.0, 0.0, -1.0]), inv_base_orientation))\n",
-    "    # motor angles\n",
-    "    angles = qpos[7:19]\n",
-    "    obs_list.append(angles - self._default_ap_pose)\n",
-    "    # last action\n",
-    "    obs_list.append(state_info['last_action'])\n",
-    "    # gait schedule\n",
-    "    kin_ref = self.kinematic_ref_qpos[jp.array(state_info['steps']%self.l_cycle, int)]\n",
-    "    obs_list.append(kin_ref)\n",
-    "\n",
-    "    obs = jp.clip(jp.concatenate(obs_list), -100.0, 100.0)\n",
-    "\n",
-    "    return obs\n",
-    "\n",
-    "  # ------------ reward functions----------------\n",
-    "  def _reward_tracking_lin_vel(\n",
-    "      self, commands: jax.Array, x: Transform, xd: Motion) -> jax.Array:\n",
-    "    # Tracking of linear velocity commands (xy axes)\n",
-    "    local_vel = math.rotate(xd.vel[0], math.quat_inv(x.rot[0]))\n",
-    "    lin_vel_error = jp.sum(jp.square(commands[:2] - local_vel[:2]))\n",
-    "    lin_vel_reward = jp.exp(-lin_vel_error)\n",
-    "    return lin_vel_reward\n",
-    "  def _reward_orientation(self, x: Transform) -> jax.Array:\n",
-    "    # Penalize non flat base orientation\n",
-    "    up = jp.array([0.0, 0.0, 1.0])\n",
-    "    rot_up = math.rotate(up, x.rot[0])\n",
-    "    return jp.sum(jp.square(rot_up[:2]))\n",
-    "  def _reward_lin_vel_z(self, xd: Motion) -> jax.Array:\n",
-    "    # Penalize z axis base linear velocity\n",
-    "    return jp.clip(jp.square(xd.vel[0, 2]), 0, 10)\n",
-    "  def _reward_joint_velocity(self, qvel):\n",
-    "      return jp.clip(jp.sqrt(jp.sum(jp.square(qvel[6:]))), 0, 100)\n",
-    "  def _reward_height(self, qpos) -> jax.Array:\n",
-    "    return jp.exp(-jp.abs(qpos[2] - self.target_h)) # Not going to be > 1 meter tall.\n",
-    "  def _reward_action(self, action) -> jax.Array:\n",
-    "    return jp.sqrt(jp.sum(jp.square(action)))\n",
-    "  def _reward_feet_pos(self, data, state):        \n",
-    "    dt = (state.info['steps'] - state.info['k0']) * self.dt # scalar\n",
-    "    step_period = self.gait_period / 2\n",
-    "    xyt = state.info['xy0'] + (state.info['xy*'] - state.info['xy0']) * (dt/step_period)\n",
-    "\n",
-    "    feet_pos = data.geom_xpos[self.feet_inds][:, :2]\n",
-    "\n",
-    "    rews = jp.sum(jp.square(feet_pos - xyt), axis=1)   \n",
-    "    rews = jp.clip(rews, 0, 10)\n",
-    "    return jp.sum(rews)\n",
-    "  def _reward_feet_height(self, data, state_info):\n",
-    "    \"\"\" \n",
-    "    Feet height tracks rectified sine waves \n",
-    "    \"\"\"\n",
-    "    h_tar = 0.1\n",
-    "    t = state_info['steps'] * self.dt\n",
-    "    offset = self.gait_period/2\n",
-    "    ref1 = jp.sin((2*jp.pi/self.gait_period)*t) # RF and LH feet\n",
-    "    ref2 = jp.sin((2*jp.pi/self.gait_period)*(t - offset)) # LF and RH\n",
-    "    \n",
-    "    ref1, ref2 = ref1 * h_tar, ref2 * h_tar\n",
-    "    h_tars = jp.array([ref2, ref1, ref1, ref2])\n",
-    "    h_tars = h_tars.clip(min=0, max=None) + 0.02 # offset height of feet.\n",
-    "    \n",
-    "    feet_height = data.geom_xpos[self.feet_inds][:,2]\n",
-    "    errs = jp.clip(jp.square(feet_height - h_tars), 0, 10)\n",
-    "    return jp.sum(errs)\n",
-    "  \n",
-    "envs.register_environment('anymal', FwdTrotAnymal)\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "#### Residual Learning via FoPG's\n",
-    "Takes 15 minutes on a NVIDIA 3060 TI GPU"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 30,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# Reconstruct the trotting inference function\n",
-    "make_networks_factory = functools.partial(\n",
-    "    apg_networks.make_apg_networks,\n",
-    "    hidden_layer_sizes=(256, 128)\n",
-    ")\n",
-    "\n",
-    "nets = make_networks_factory(observation_size=1, # Observation_size argument doesn't matter since it's only used for param init.\n",
-    "                             action_size=12,\n",
-    "                             preprocess_observations_fn=running_statistics.normalize)\n",
-    "\n",
-    "make_inference_fn = apg_networks.make_inference_fn(nets)\n",
-    "\n",
-    "# Configure locomotion training\n",
-    "make_networks_factory = functools.partial(\n",
-    "    apg_networks.make_apg_networks,\n",
-    "    hidden_layer_sizes=(128, 64)\n",
-    ")\n",
-    "\n",
-    "epochs = 499\n",
-    "\n",
-    "train_fn = functools.partial(apg.train,\n",
-    "                             episode_length=1000,\n",
-    "                             policy_updates=epochs,\n",
-    "                             horizon_length=32,\n",
-    "                             num_envs=64,\n",
-    "                             learning_rate=1.5e-4,\n",
-    "                             schedule_decay=0.995,\n",
-    "                             num_eval_envs=64,\n",
-    "                             num_evals=10 + 1,\n",
-    "                             use_float64=True,\n",
-    "                             normalize_observations=True,\n",
-    "                             network_factory=make_networks_factory)\n",
-    "\n",
-    "model_path = '/tmp/trotting_2hz_policy'\n",
-    "params = model.load_params(model_path)\n",
-    "baseline_inference_fn = make_inference_fn(params)\n",
-    "\n",
-    "env_kwargs = dict(target_vel=0.75, step_k=13, \n",
-    "                  baseline_inference_fn=baseline_inference_fn)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 31,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "<ErrorbarContainer object of 3 artists>"
-      ]
-     },
-     "execution_count": 31,
-     "metadata": {},
-     "output_type": "execute_result"
-    },
-    {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "x_data = []\n",
-    "y_data = []\n",
-    "ydataerr = []\n",
-    "times = [datetime.now()]\n",
-    "\n",
-    "def progress(it, metrics):\n",
-    "  times.append(datetime.now())\n",
-    "  x_data.append(it)\n",
-    "  y_data.append(metrics['eval/episode_reward'])\n",
-    "  ydataerr.append(metrics['eval/episode_reward_std'])\n",
-    "\n",
-    "env = envs.get_environment(\"anymal\", **env_kwargs)\n",
-    "eval_env = envs.get_environment(\"anymal\", **env_kwargs)\n",
-    "\n",
-    "make_inference_fn, params, _= train_fn(environment=env,\n",
-    "                                       progress_fn=progress,\n",
-    "                                       eval_env=eval_env)\n",
-    "\n",
-    "plt.errorbar(x_data, y_data, yerr=ydataerr)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 32,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/html": [
-       "<table class=\"show_videos\" style=\"border-spacing:0px;\"><tr><td style=\"padding:1px;\"><img width=\"320\" height=\"240\" style=\"image-rendering:auto; object-fit:cover;\" 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\"/></td></tr></table>"
-      ],
-      "text/plain": [
-       "<IPython.core.display.HTML object>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "demo_env = envs.training.EpisodeWrapper(env, \n",
-    "                                        episode_length=1000, \n",
-    "                                        action_repeat=1)\n",
-    "\n",
-    "render_rollout(\n",
-    "  jax.jit(demo_env.reset),\n",
-    "  jax.jit(demo_env.step),\n",
-    "  jax.jit(make_inference_fn(params)),\n",
-    "  demo_env,\n",
-    "  n_steps=200,\n",
-    "  camera=\"track\"\n",
-    ")"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "**A note on sample efficiency**\n",
-    "\n",
-    "Let's compare with PPO, again using 1e7 samples:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 11,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "Text(0, 0.5, 'reward per episode')"
-      ]
-     },
-     "execution_count": 11,
-     "metadata": {},
-     "output_type": "execute_result"
-    },
-    {
-     "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
-   "source": [
-    "train_fn = functools.partial(\n",
-    "    ppo.train, num_timesteps=10_000_000, num_evals=10, reward_scaling=0.1,\n",
-    "    episode_length=1000, normalize_observations=True, action_repeat=1,\n",
-    "    unroll_length=10, num_minibatches=32, num_updates_per_batch=8,\n",
-    "    discounting=0.97, learning_rate=3e-4, entropy_cost=1e-3, num_envs=1024,\n",
-    "    batch_size=1024, seed=0)\n",
-    "\n",
-    "x_data = []\n",
-    "y_data = []\n",
-    "ydataerr = []\n",
-    "\n",
-    "env = envs.get_environment(\"anymal\", **env_kwargs)\n",
-    "\n",
-    "def progress(num_steps, metrics):\n",
-    "  x_data.append(num_steps)\n",
-    "  y_data.append(metrics['eval/episode_reward'])\n",
-    "  ydataerr.append(metrics['eval/episode_reward_std'])\n",
-    "\n",
-    "make_inference_fn, params, _= train_fn(environment=env, progress_fn=progress)\n",
-    "\n",
-    "plt.errorbar(x_data, y_data, yerr=ydataerr)\n",
-    "plt.xlabel('# environment steps')\n",
-    "plt.ylabel('reward per episode')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "We see that PPO struggles to learn locomotion in this setup, even with over 10x the number of simulator steps. \n",
-    "\n",
-    "Rather than indicating a shortcoming of PPO, this study demonstrates a policy-learning setup that effectively leverages FoPG methods. It involves learning small, accurate perturbations from a good baseline - optimizing to the local minima in a deep valley. FoPG's are precise enough to guide these perturbations using nuanced reward signals, such as our foot placement spline.\n",
-    "\n",
-    "In contrast, RL algorithms such as PPO benefit from [policy-learning setups](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb) that have less structured rewards. Unlike FoPG methods, they [benefit greatly](https://www.science.org/doi/abs/10.1126/scirobotics.adg1462) from sparse, non-differentiable rewards such as a large penalty for falling."
-   ]
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "mujoco",
-   "language": "python",
-   "name": "python3"
-  },
-  "language_info": {
-   "codemirror_mode": {
-    "name": "ipython",
-    "version": 3
-   },
-   "file_extension": ".py",
-   "mimetype": "text/x-python",
-   "name": "python",
-   "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython3",
-   "version": "3.10.13"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 2
-}
diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb
deleted file mode 100644
index 40da8958..00000000
--- a/mjx/tutorial.ipynb
+++ /dev/null
@@ -1,1643 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "MpkYHwCqk7W-"
-   },
-   "source": [
-    "![MuJoCo banner](https://raw.githubusercontent.com/google-deepmind/mujoco/main/banner.png)\n",
-    "\n",
-    "# <h1><center>Tutorial  <a href=\"https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"140\" align=\"center\"/></a></center></h1>\n",
-    "\n",
-    "This notebook provides an introductory tutorial for [**MuJoCo XLA (MJX)**](https://github.com/google-deepmind/mujoco/blob/main/mjx), a JAX-based implementation of MuJoCo useful for RL training workloads.\n",
-    "\n",
-    "**A Colab runtime with GPU acceleration is required.** If you're using a CPU-only runtime, you can switch using the menu \"Runtime > Change runtime type\".\n",
-    "\n",
-    "\n",
-    "\n",
-    "\n",
-    "\n",
-    "\n",
-    "\n",
-    "\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "xBSdkbmGN2K-"
-   },
-   "source": [
-    "### Copyright notice"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "_UbO9uhtBSX5"
-   },
-   "source": [
-    "> <p><small><small>Copyright 2023 DeepMind Technologies Limited.</small></p>\n",
-    "> <p><small><small>Licensed under the Apache License, Version 2.0 (the \"License\"); you may not use this file except in compliance with the License. You may obtain a copy of the License at <a href=\"http://www.apache.org/licenses/LICENSE-2.0\">http://www.apache.org/licenses/LICENSE-2.0</a>.</small></small></p>\n",
-    "> <p><small><small>Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an \"AS IS\" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.</small></small></p>"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "YvyGCsgSCxHQ"
-   },
-   "source": [
-    "# Install MuJoCo, MJX, and Brax"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Xqo7pyX-n72M"
-   },
-   "outputs": [],
-   "source": [
-    "!pip install mujoco\n",
-    "!pip install mujoco_mjx\n",
-    "!pip install brax\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "IbZxYDxzoz5R"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Check if MuJoCo installation was successful\n",
-    "\n",
-    "from google.colab import files\n",
-    "\n",
-    "import distutils.util\n",
-    "import os\n",
-    "import subprocess\n",
-    "if subprocess.run('nvidia-smi').returncode:\n",
-    "  raise RuntimeError(\n",
-    "      'Cannot communicate with GPU. '\n",
-    "      'Make sure you are using a GPU Colab runtime. '\n",
-    "      'Go to the Runtime menu and select Choose runtime type.')\n",
-    "\n",
-    "# Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
-    "# This is usually installed as part of an Nvidia driver package, but the Colab\n",
-    "# kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
-    "# (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
-    "NVIDIA_ICD_CONFIG_PATH = '/usr/share/glvnd/egl_vendor.d/10_nvidia.json'\n",
-    "if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
-    "  with open(NVIDIA_ICD_CONFIG_PATH, 'w') as f:\n",
-    "    f.write(\"\"\"{\n",
-    "    \"file_format_version\" : \"1.0.0\",\n",
-    "    \"ICD\" : {\n",
-    "        \"library_path\" : \"libEGL_nvidia.so.0\"\n",
-    "    }\n",
-    "}\n",
-    "\"\"\")\n",
-    "\n",
-    "# Configure MuJoCo to use the EGL rendering backend (requires GPU)\n",
-    "print('Setting environment variable to use GPU rendering:')\n",
-    "%env MUJOCO_GL=egl\n",
-    "\n",
-    "try:\n",
-    "  print('Checking that the installation succeeded:')\n",
-    "  import mujoco\n",
-    "  mujoco.MjModel.from_xml_string('<mujoco/>')\n",
-    "except Exception as e:\n",
-    "  raise e from RuntimeError(\n",
-    "      'Something went wrong during installation. Check the shell output above '\n",
-    "      'for more information.\\n'\n",
-    "      'If using a hosted Colab runtime, make sure you enable GPU acceleration '\n",
-    "      'by going to the Runtime menu and selecting \"Choose runtime type\".')\n",
-    "\n",
-    "print('Installation successful.')\n",
-    "\n",
-    "# Tell XLA to use Triton GEMM, this improves steps/sec by ~30% on some GPUs\n",
-    "xla_flags = os.environ.get('XLA_FLAGS', '')\n",
-    "xla_flags += ' --xla_gpu_triton_gemm_any=True'\n",
-    "os.environ['XLA_FLAGS'] = xla_flags\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "T5f4w3Kq2X14"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Import packages for plotting and creating graphics\n",
-    "import time\n",
-    "import itertools\n",
-    "import numpy as np\n",
-    "from typing import Callable, NamedTuple, Optional, Union, List\n",
-    "\n",
-    "# Graphics and plotting.\n",
-    "print('Installing mediapy:')\n",
-    "!command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
-    "!pip install -q mediapy\n",
-    "import mediapy as media\n",
-    "import matplotlib.pyplot as plt\n",
-    "\n",
-    "# More legible printing from numpy.\n",
-    "np.set_printoptions(precision=3, suppress=True, linewidth=100)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "ObF1UXrkb0Nd"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Import MuJoCo, MJX, and Brax\n",
-    "from datetime import datetime\n",
-    "from etils import epath\n",
-    "import functools\n",
-    "from IPython.display import HTML\n",
-    "from typing import Any, Dict, Sequence, Tuple, Union\n",
-    "import os\n",
-    "from ml_collections import config_dict\n",
-    "\n",
-    "\n",
-    "import jax\n",
-    "from jax import numpy as jp\n",
-    "import numpy as np\n",
-    "from flax.training import orbax_utils\n",
-    "from flax import struct\n",
-    "from matplotlib import pyplot as plt\n",
-    "import mediapy as media\n",
-    "from orbax import checkpoint as ocp\n",
-    "\n",
-    "import mujoco\n",
-    "from mujoco import mjx\n",
-    "\n",
-    "from brax import base\n",
-    "from brax import envs\n",
-    "from brax import math\n",
-    "from brax.base import Base, Motion, Transform\n",
-    "from brax.base import State as PipelineState\n",
-    "from brax.envs.base import Env, PipelineEnv, State\n",
-    "from brax.mjx.base import State as MjxState\n",
-    "from brax.training.agents.ppo import train as ppo\n",
-    "from brax.training.agents.ppo import networks as ppo_networks\n",
-    "from brax.io import html, mjcf, model\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Nj4-Xmx4DFaq"
-   },
-   "source": [
-    "# Introduction to MJX\n",
-    "\n",
-    "MJX is an implementation of MuJoCo written in [JAX](https://jax.readthedocs.io/en/latest/index.html), enabling large batch training on GPU/TPU. In this notebook, we will demonstrate how to train RL policies with MJX.\n",
-    "\n",
-    "Before we get into hefty RL workloads, let's get started with a simpler example! The entrypoint into MJX is through MuJoCo, so first we load a MuJoCo model:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "bNus3mbbDz6a"
-   },
-   "outputs": [],
-   "source": [
-    "xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <worldbody>\n",
-    "    <light name=\"top\" pos=\"0 0 1\"/>\n",
-    "    <body name=\"box_and_sphere\" euler=\"0 0 -30\">\n",
-    "      <joint name=\"swing\" type=\"hinge\" axis=\"1 -1 0\" pos=\"-.2 -.2 -.2\"/>\n",
-    "      <geom name=\"red_box\" type=\"box\" size=\".2 .2 .2\" rgba=\"1 0 0 1\"/>\n",
-    "      <geom name=\"green_sphere\" pos=\".2 .2 .2\" size=\".1\" rgba=\"0 1 0 1\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "\n",
-    "# Make model, data, and renderer\n",
-    "mj_model = mujoco.MjModel.from_xml_string(xml)\n",
-    "mj_data = mujoco.MjData(mj_model)\n",
-    "renderer = mujoco.Renderer(mj_model)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Po5oykJbFQbj"
-   },
-   "source": [
-    "Next we take the MuJoCo model and data, and place them on the GPU device using MJX."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "TSpoOWqeEC3P"
-   },
-   "outputs": [],
-   "source": [
-    "mjx_model = mjx.put_model(mj_model)\n",
-    "mjx_data = mjx.put_data(mj_model, mj_data)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "6rxMMSs4OJJf"
-   },
-   "source": [
-    "Below, we print the `qpos` from MuJoCo and MJX. Notice that the `qpos` for the mjData is a numpy array living on the CPU, while the `qpos` for `mjx.Data` is a JAX Array living on the GPU device."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "ZOD582pfOLP-"
-   },
-   "outputs": [],
-   "source": [
-    "print(mj_data.qpos, type(mj_data.qpos))\n",
-    "print(mjx_data.qpos, type(mjx_data.qpos), mjx_data.qpos.devices())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "ZShF9-o_JLm3"
-   },
-   "source": [
-    "Let's run the simulation in MuJoCo and render the trajectory. This example is taken from the [MuJoCo tutorial](https://colab.sandbox.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb)."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "HDlPlX05I3m-"
-   },
-   "outputs": [],
-   "source": [
-    "# enable joint visualization option:\n",
-    "scene_option = mujoco.MjvOption()\n",
-    "scene_option.flags[mujoco.mjtVisFlag.mjVIS_JOINT] = True\n",
-    "\n",
-    "duration = 3.8  # (seconds)\n",
-    "framerate = 60  # (Hz)\n",
-    "\n",
-    "frames = []\n",
-    "mujoco.mj_resetData(mj_model, mj_data)\n",
-    "while mj_data.time < duration:\n",
-    "  mujoco.mj_step(mj_model, mj_data)\n",
-    "  if len(frames) < mj_data.time * framerate:\n",
-    "    renderer.update_scene(mj_data, scene_option=scene_option)\n",
-    "    pixels = renderer.render()\n",
-    "    frames.append(pixels)\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "m70b_RxBJOyd"
-   },
-   "source": [
-    "Now let's run the same exact simulation on the GPU device using MJX!\n",
-    "\n",
-    "In the example below, we use `mjx.step` instead of `mujoco.mj_step`, and we also [`jax.jit`](https://jax.readthedocs.io/en/latest/jax-101/02-jitting.html) the `mjx.step` so that it runs efficiently on the GPU. For each frame, we convert the `mjx.Data` back to `mjData` so that we can use the MuJoCo renderer.\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Pr29xq0-JRQv"
-   },
-   "outputs": [],
-   "source": [
-    "\n",
-    "jit_step = jax.jit(mjx.step)\n",
-    "\n",
-    "frames = []\n",
-    "mujoco.mj_resetData(mj_model, mj_data)\n",
-    "mjx_data = mjx.put_data(mj_model, mj_data)\n",
-    "while mjx_data.time < duration:\n",
-    "  mjx_data = jit_step(mjx_model, mjx_data)\n",
-    "  if len(frames) < mjx_data.time * framerate:\n",
-    "    mj_data = mjx.get_data(mj_model, mjx_data)\n",
-    "    renderer.update_scene(mj_data, scene_option=scene_option)\n",
-    "    pixels = renderer.render()\n",
-    "    frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "wXsQ4qO2KO3Q"
-   },
-   "source": [
-    "Running single threaded physics simulation on the GPU is not very [efficient](https://mujoco.readthedocs.io/en/stable/mjx.html#mjx-the-sharp-bits). The advantage with MJX is that we can run environments in parallel on a hardware accelerated device. Let's try it out!\n",
-    "\n",
-    "In the example below, we create 4096 copies of the `mjx.Data` and we run the `mjx.step` over the batched data. Since MJX is implemented in JAX, we take advantage of [`jax.vmap`](https://jax.readthedocs.io/en/latest/_autosummary/jax.vmap.html) to run the `mjx.step` in parallel over all `mjx.Data`."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "rrdrcKRVK6w9"
-   },
-   "outputs": [],
-   "source": [
-    "rng = jax.random.PRNGKey(0)\n",
-    "rng = jax.random.split(rng, 4096)\n",
-    "batch = jax.vmap(lambda rng: mjx_data.replace(qpos=jax.random.uniform(rng, (1,))))(rng)\n",
-    "\n",
-    "jit_step = jax.jit(jax.vmap(mjx.step, in_axes=(None, 0)))\n",
-    "batch = jit_step(mjx_model, batch)\n",
-    "\n",
-    "print(batch.qpos)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "x4lL220cOj0q"
-   },
-   "source": [
-    "We can copy the batched `mjx.Data` back to MuJoCo like we did before:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Jtz7j1PDOnw5"
-   },
-   "outputs": [],
-   "source": [
-    "batched_mj_data = mjx.get_data(mj_model, batch)\n",
-    "print([d.qpos for d in batched_mj_data])"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "RAv6WUVUm78k"
-   },
-   "source": [
-    "# Training a Policy with MJX\n",
-    "\n",
-    "Running large batch physics simulation is useful for training RL policies. Here we demonstrate training RL policies with MJX using the RL library from [Brax](https://github.com/google/brax).\n",
-    "\n",
-    "Below, we implement the classic Humanoid environment using MJX and Brax. We inherit from the `MjxEnv` implementation in Brax so that we can step the physics with MJX while training with Brax RL implementations.\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "mtGMYNLE3QJN"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Humanoid Env\n",
-    "\n",
-    "HUMANOID_ROOT_PATH = epath.Path(epath.resource_path('mujoco')) / 'mjx/test_data/humanoid'\n",
-    "\n",
-    "class Humanoid(PipelineEnv):\n",
-    "\n",
-    "  def __init__(\n",
-    "      self,\n",
-    "      forward_reward_weight=1.25,\n",
-    "      ctrl_cost_weight=0.1,\n",
-    "      healthy_reward=5.0,\n",
-    "      terminate_when_unhealthy=True,\n",
-    "      healthy_z_range=(1.0, 2.0),\n",
-    "      reset_noise_scale=1e-2,\n",
-    "      exclude_current_positions_from_observation=True,\n",
-    "      **kwargs,\n",
-    "  ):\n",
-    "#\n",
-    "    mj_model = mujoco.MjModel.from_xml_path(\n",
-    "        (HUMANOID_ROOT_PATH / 'humanoid.xml').as_posix())\n",
-    "    mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n",
-    "    mj_model.opt.iterations = 6\n",
-    "    mj_model.opt.ls_iterations = 6\n",
-    "\n",
-    "    sys = mjcf.load_model(mj_model)\n",
-    "\n",
-    "    physics_steps_per_control_step = 5\n",
-    "    kwargs['n_frames'] = kwargs.get(\n",
-    "        'n_frames', physics_steps_per_control_step)\n",
-    "    kwargs['backend'] = 'mjx'\n",
-    "\n",
-    "    super().__init__(sys, **kwargs)\n",
-    "\n",
-    "    self._forward_reward_weight = forward_reward_weight\n",
-    "    self._ctrl_cost_weight = ctrl_cost_weight\n",
-    "    self._healthy_reward = healthy_reward\n",
-    "    self._terminate_when_unhealthy = terminate_when_unhealthy\n",
-    "    self._healthy_z_range = healthy_z_range\n",
-    "    self._reset_noise_scale = reset_noise_scale\n",
-    "    self._exclude_current_positions_from_observation = (\n",
-    "        exclude_current_positions_from_observation\n",
-    "    )\n",
-    "\n",
-    "  def reset(self, rng: jp.ndarray) -> State:\n",
-    "    \"\"\"Resets the environment to an initial state.\"\"\"\n",
-    "    rng, rng1, rng2 = jax.random.split(rng, 3)\n",
-    "\n",
-    "    low, hi = -self._reset_noise_scale, self._reset_noise_scale\n",
-    "    qpos = self.sys.qpos0 + jax.random.uniform(\n",
-    "        rng1, (self.sys.nq,), minval=low, maxval=hi\n",
-    "    )\n",
-    "    qvel = jax.random.uniform(\n",
-    "        rng2, (self.sys.nv,), minval=low, maxval=hi\n",
-    "    )\n",
-    "\n",
-    "    data = self.pipeline_init(qpos, qvel)\n",
-    "\n",
-    "    obs = self._get_obs(data, jp.zeros(self.sys.nu))\n",
-    "    reward, done, zero = jp.zeros(3)\n",
-    "    metrics = {\n",
-    "        'forward_reward': zero,\n",
-    "        'reward_linvel': zero,\n",
-    "        'reward_quadctrl': zero,\n",
-    "        'reward_alive': zero,\n",
-    "        'x_position': zero,\n",
-    "        'y_position': zero,\n",
-    "        'distance_from_origin': zero,\n",
-    "        'x_velocity': zero,\n",
-    "        'y_velocity': zero,\n",
-    "    }\n",
-    "    return State(data, obs, reward, done, metrics)\n",
-    "\n",
-    "  def step(self, state: State, action: jp.ndarray) -> State:\n",
-    "    \"\"\"Runs one timestep of the environment's dynamics.\"\"\"\n",
-    "    data0 = state.pipeline_state\n",
-    "    data = self.pipeline_step(data0, action)\n",
-    "\n",
-    "    com_before = data0.subtree_com[1]\n",
-    "    com_after = data.subtree_com[1]\n",
-    "    velocity = (com_after - com_before) / self.dt\n",
-    "    forward_reward = self._forward_reward_weight * velocity[0]\n",
-    "\n",
-    "    min_z, max_z = self._healthy_z_range\n",
-    "    is_healthy = jp.where(data.q[2] < min_z, 0.0, 1.0)\n",
-    "    is_healthy = jp.where(data.q[2] > max_z, 0.0, is_healthy)\n",
-    "    if self._terminate_when_unhealthy:\n",
-    "      healthy_reward = self._healthy_reward\n",
-    "    else:\n",
-    "      healthy_reward = self._healthy_reward * is_healthy\n",
-    "\n",
-    "    ctrl_cost = self._ctrl_cost_weight * jp.sum(jp.square(action))\n",
-    "\n",
-    "    obs = self._get_obs(data, action)\n",
-    "    reward = forward_reward + healthy_reward - ctrl_cost\n",
-    "    done = 1.0 - is_healthy if self._terminate_when_unhealthy else 0.0\n",
-    "    state.metrics.update(\n",
-    "        forward_reward=forward_reward,\n",
-    "        reward_linvel=forward_reward,\n",
-    "        reward_quadctrl=-ctrl_cost,\n",
-    "        reward_alive=healthy_reward,\n",
-    "        x_position=com_after[0],\n",
-    "        y_position=com_after[1],\n",
-    "        distance_from_origin=jp.linalg.norm(com_after),\n",
-    "        x_velocity=velocity[0],\n",
-    "        y_velocity=velocity[1],\n",
-    "    )\n",
-    "\n",
-    "    return state.replace(\n",
-    "        pipeline_state=data, obs=obs, reward=reward, done=done\n",
-    "    )\n",
-    "\n",
-    "  def _get_obs(\n",
-    "      self, data: mjx.Data, action: jp.ndarray\n",
-    "  ) -> jp.ndarray:\n",
-    "    \"\"\"Observes humanoid body position, velocities, and angles.\"\"\"\n",
-    "    position = data.qpos\n",
-    "    if self._exclude_current_positions_from_observation:\n",
-    "      position = position[2:]\n",
-    "\n",
-    "    # external_contact_forces are excluded\n",
-    "    return jp.concatenate([\n",
-    "        position,\n",
-    "        data.qvel,\n",
-    "        data.cinert[1:].ravel(),\n",
-    "        data.cvel[1:].ravel(),\n",
-    "        data.qfrc_actuator,\n",
-    "    ])\n",
-    "\n",
-    "\n",
-    "envs.register_environment('humanoid', Humanoid)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "P1K6IznI2y83"
-   },
-   "source": [
-    "## Visualize a Rollout\n",
-    "\n",
-    "Let's instantiate the environment and visualize a short rollout.\n",
-    "\n",
-    "NOTE: Since episodes terminate early if the torso is below the healthy z-range, the only relevant contacts for this task are between the feet and the plane. We turn off other contacts."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "EhKLFK54C1CH"
-   },
-   "outputs": [],
-   "source": [
-    "# instantiate the environment\n",
-    "env_name = 'humanoid'\n",
-    "env = envs.get_environment(env_name)\n",
-    "\n",
-    "# define the jit reset/step functions\n",
-    "jit_reset = jax.jit(env.reset)\n",
-    "jit_step = jax.jit(env.step)\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Ph8u-v2Q2xLS"
-   },
-   "outputs": [],
-   "source": [
-    "# initialize the state\n",
-    "state = jit_reset(jax.random.PRNGKey(0))\n",
-    "rollout = [state.pipeline_state]\n",
-    "\n",
-    "# grab a trajectory\n",
-    "for i in range(10):\n",
-    "  ctrl = -0.1 * jp.ones(env.sys.nu)\n",
-    "  state = jit_step(state, ctrl)\n",
-    "  rollout.append(state.pipeline_state)\n",
-    "\n",
-    "media.show_video(env.render(rollout, camera='side'), fps=1.0 / env.dt)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "BQDG6NQ1CbZD"
-   },
-   "source": [
-    "## Train Humanoid Policy\n",
-    "\n",
-    "Let's now train a policy with PPO to make the Humanoid run forwards. Training takes about 6 minutes on a Tesla A100 GPU."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "xLiddQYPApBw"
-   },
-   "outputs": [],
-   "source": [
-    "train_fn = functools.partial(\n",
-    "    ppo.train, num_timesteps=20_000_000, num_evals=5, reward_scaling=0.1,\n",
-    "    episode_length=1000, normalize_observations=True, action_repeat=1,\n",
-    "    unroll_length=10, num_minibatches=24, num_updates_per_batch=8,\n",
-    "    discounting=0.97, learning_rate=3e-4, entropy_cost=1e-3, num_envs=3072,\n",
-    "    batch_size=512, seed=0)\n",
-    "\n",
-    "\n",
-    "x_data = []\n",
-    "y_data = []\n",
-    "ydataerr = []\n",
-    "times = [datetime.now()]\n",
-    "\n",
-    "max_y, min_y = 13000, 0\n",
-    "def progress(num_steps, metrics):\n",
-    "  times.append(datetime.now())\n",
-    "  x_data.append(num_steps)\n",
-    "  y_data.append(metrics['eval/episode_reward'])\n",
-    "  ydataerr.append(metrics['eval/episode_reward_std'])\n",
-    "\n",
-    "  plt.xlim([0, train_fn.keywords['num_timesteps'] * 1.25])\n",
-    "  plt.ylim([min_y, max_y])\n",
-    "\n",
-    "  plt.xlabel('# environment steps')\n",
-    "  plt.ylabel('reward per episode')\n",
-    "  plt.title(f'y={y_data[-1]:.3f}')\n",
-    "\n",
-    "  plt.errorbar(\n",
-    "      x_data, y_data, yerr=ydataerr)\n",
-    "  plt.show()\n",
-    "\n",
-    "make_inference_fn, params, _= train_fn(environment=env, progress_fn=progress)\n",
-    "\n",
-    "print(f'time to jit: {times[1] - times[0]}')\n",
-    "print(f'time to train: {times[-1] - times[1]}')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "YYIch0HEApBx"
-   },
-   "source": [
-    "<!-- ## Save and Load Policy -->\n",
-    "\n",
-    "We can save and load the policy using the brax model API."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Z8gI6qH6ApBx"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Save Model\n",
-    "model_path = '/tmp/mjx_brax_policy'\n",
-    "model.save_params(model_path, params)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "h4reaWgxApBx"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Load Model and Define Inference Function\n",
-    "params = model.load_params(model_path)\n",
-    "\n",
-    "inference_fn = make_inference_fn(params)\n",
-    "jit_inference_fn = jax.jit(inference_fn)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "0G357XIfApBy"
-   },
-   "source": [
-    "## Visualize Policy\n",
-    "\n",
-    "Finally we can visualize the policy."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "osYasMw4ApBy"
-   },
-   "outputs": [],
-   "source": [
-    "eval_env = envs.get_environment(env_name)\n",
-    "\n",
-    "jit_reset = jax.jit(eval_env.reset)\n",
-    "jit_step = jax.jit(eval_env.step)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "d-UhypudApBy"
-   },
-   "outputs": [],
-   "source": [
-    "# initialize the state\n",
-    "rng = jax.random.PRNGKey(0)\n",
-    "state = jit_reset(rng)\n",
-    "rollout = [state.pipeline_state]\n",
-    "\n",
-    "# grab a trajectory\n",
-    "n_steps = 500\n",
-    "render_every = 2\n",
-    "\n",
-    "for i in range(n_steps):\n",
-    "  act_rng, rng = jax.random.split(rng)\n",
-    "  ctrl, _ = jit_inference_fn(state.obs, act_rng)\n",
-    "  state = jit_step(state, ctrl)\n",
-    "  rollout.append(state.pipeline_state)\n",
-    "\n",
-    "  if state.done:\n",
-    "    break\n",
-    "\n",
-    "media.show_video(env.render(rollout[::render_every], camera='side'), fps=1.0 / env.dt / render_every)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "zR-heox6LARK"
-   },
-   "source": [
-    "# MJX Policy in MuJoCo\n",
-    "\n",
-    "We can also perform the physics step using the original MuJoCo python bindings to show that the policy trained in MJX works in MuJoCo."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "w6ixFi4dApBy"
-   },
-   "outputs": [],
-   "source": [
-    "mj_model = eval_env.sys.mj_model\n",
-    "mj_data = mujoco.MjData(mj_model)\n",
-    "\n",
-    "renderer = mujoco.Renderer(mj_model)\n",
-    "ctrl = jp.zeros(mj_model.nu)\n",
-    "\n",
-    "images = []\n",
-    "for i in range(n_steps):\n",
-    "  act_rng, rng = jax.random.split(rng)\n",
-    "\n",
-    "  obs = eval_env._get_obs(mjx.put_data(mj_model, mj_data), ctrl)\n",
-    "  ctrl, _ = jit_inference_fn(obs, act_rng)\n",
-    "\n",
-    "  mj_data.ctrl = ctrl\n",
-    "  for _ in range(eval_env._n_frames):\n",
-    "    mujoco.mj_step(mj_model, mj_data)  # Physics step using MuJoCo mj_step.\n",
-    "\n",
-    "  if i % render_every == 0:\n",
-    "    renderer.update_scene(mj_data, camera='side')\n",
-    "    images.append(renderer.render())\n",
-    "\n",
-    "media.show_video(images, fps=1.0 / eval_env.dt / render_every)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "65mIPj6DQNNa"
-   },
-   "source": [
-    "# Training a Policy with Domain Randomization\n",
-    "\n",
-    "We might also want to include randomization over certain `mjModel` parameters while training a policy. In MJX, we can easily create a batch of environments with randomized values populated in `mjx.Model`. Below, we show a function that randomizes friction and actuator gain/bias."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "h8mhzKjHQuoL"
-   },
-   "outputs": [],
-   "source": [
-    "def domain_randomize(sys, rng):\n",
-    "  \"\"\"Randomizes the mjx.Model.\"\"\"\n",
-    "  @jax.vmap\n",
-    "  def rand(rng):\n",
-    "    _, key = jax.random.split(rng, 2)\n",
-    "    # friction\n",
-    "    friction = jax.random.uniform(key, (1,), minval=0.6, maxval=1.4)\n",
-    "    friction = sys.geom_friction.at[:, 0].set(friction)\n",
-    "    # actuator\n",
-    "    _, key = jax.random.split(key, 2)\n",
-    "    gain_range = (-5, 5)\n",
-    "    param = jax.random.uniform(\n",
-    "        key, (1,), minval=gain_range[0], maxval=gain_range[1]\n",
-    "    ) + sys.actuator_gainprm[:, 0]\n",
-    "    gain = sys.actuator_gainprm.at[:, 0].set(param)\n",
-    "    bias = sys.actuator_biasprm.at[:, 1].set(-param)\n",
-    "    return friction, gain, bias\n",
-    "\n",
-    "  friction, gain, bias = rand(rng)\n",
-    "\n",
-    "  in_axes = jax.tree_util.tree_map(lambda x: None, sys)\n",
-    "  in_axes = in_axes.tree_replace({\n",
-    "      'geom_friction': 0,\n",
-    "      'actuator_gainprm': 0,\n",
-    "      'actuator_biasprm': 0,\n",
-    "  })\n",
-    "\n",
-    "  sys = sys.tree_replace({\n",
-    "      'geom_friction': friction,\n",
-    "      'actuator_gainprm': gain,\n",
-    "      'actuator_biasprm': bias,\n",
-    "  })\n",
-    "\n",
-    "  return sys, in_axes"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "gnsZo-GWSYYj"
-   },
-   "source": [
-    "If we wanted 10 environments with randomized friction and actuator params, we can call `domain_randomize`, which returns a batched `mjx.Model` along with a dictionary specifying the axes that are batched."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "1K45Kp2ASV9s"
-   },
-   "outputs": [],
-   "source": [
-    "rng = jax.random.PRNGKey(0)\n",
-    "rng = jax.random.split(rng, 10)\n",
-    "batched_sys, _ = domain_randomize(env.sys, rng)\n",
-    "\n",
-    "print('Single env friction shape: ', env.sys.geom_friction.shape)\n",
-    "print('Batched env friction shape: ', batched_sys.geom_friction.shape)\n",
-    "\n",
-    "print('Friction on geom 0: ', env.sys.geom_friction[0, 0])\n",
-    "print('Random frictions on geom 0: ', batched_sys.geom_friction[:, 0, 0])"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "efnxNOnpQFuC"
-   },
-   "source": [
-    "## Quadruped Env\n",
-    "\n",
-    "Let's define a quadruped environment that takes advantage of the domain randomization function. Here we use the [Barkour vb Quadruped](https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_vb) from [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie). We implement an environment that trains a joystick policy with Brax.\n",
-    "\n",
-    "NOTE: for a full suite of robotic environments, many of which were transferred onto robots, check out [MuJoCo Playground](https://github.com/google-deepmind/mujoco_playground)!\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "VfyK73gtRXid"
-   },
-   "outputs": [],
-   "source": [
-    "!git clone https://github.com/google-deepmind/mujoco_menagerie\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "y79PoJOCIl-O"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Barkour vb Quadruped Env\n",
-    "\n",
-    "BARKOUR_ROOT_PATH = epath.Path('mujoco_menagerie/google_barkour_vb')\n",
-    "\n",
-    "\n",
-    "def get_config():\n",
-    "  \"\"\"Returns reward config for barkour quadruped environment.\"\"\"\n",
-    "\n",
-    "  def get_default_rewards_config():\n",
-    "    default_config = config_dict.ConfigDict(\n",
-    "        dict(\n",
-    "            # The coefficients for all reward terms used for training. All\n",
-    "            # physical quantities are in SI units, if no otherwise specified,\n",
-    "            # i.e. joint positions are in rad, positions are measured in meters,\n",
-    "            # torques in Nm, and time in seconds, and forces in Newtons.\n",
-    "            scales=config_dict.ConfigDict(\n",
-    "                dict(\n",
-    "                    # Tracking rewards are computed using exp(-delta^2/sigma)\n",
-    "                    # sigma can be a hyperparameters to tune.\n",
-    "                    # Track the base x-y velocity (no z-velocity tracking.)\n",
-    "                    tracking_lin_vel=1.5,\n",
-    "                    # Track the angular velocity along z-axis, i.e. yaw rate.\n",
-    "                    tracking_ang_vel=0.8,\n",
-    "                    # Below are regularization terms, we roughly divide the\n",
-    "                    # terms to base state regularizations, joint\n",
-    "                    # regularizations, and other behavior regularizations.\n",
-    "                    # Penalize the base velocity in z direction, L2 penalty.\n",
-    "                    lin_vel_z=-2.0,\n",
-    "                    # Penalize the base roll and pitch rate. L2 penalty.\n",
-    "                    ang_vel_xy=-0.05,\n",
-    "                    # Penalize non-zero roll and pitch angles. L2 penalty.\n",
-    "                    orientation=-5.0,\n",
-    "                    # L2 regularization of joint torques, |tau|^2.\n",
-    "                    torques=-0.0002,\n",
-    "                    # Penalize the change in the action and encourage smooth\n",
-    "                    # actions. L2 regularization |action - last_action|^2\n",
-    "                    action_rate=-0.01,\n",
-    "                    # Encourage long swing steps.  However, it does not\n",
-    "                    # encourage high clearances.\n",
-    "                    feet_air_time=0.2,\n",
-    "                    # Encourage no motion at zero command, L2 regularization\n",
-    "                    # |q - q_default|^2.\n",
-    "                    stand_still=-0.5,\n",
-    "                    # Early termination penalty.\n",
-    "                    termination=-1.0,\n",
-    "                    # Penalizing foot slipping on the ground.\n",
-    "                    foot_slip=-0.1,\n",
-    "                )\n",
-    "            ),\n",
-    "            # Tracking reward = exp(-error^2/sigma).\n",
-    "            tracking_sigma=0.25,\n",
-    "        )\n",
-    "    )\n",
-    "    return default_config\n",
-    "\n",
-    "  default_config = config_dict.ConfigDict(\n",
-    "      dict(\n",
-    "          rewards=get_default_rewards_config(),\n",
-    "      )\n",
-    "  )\n",
-    "\n",
-    "  return default_config\n",
-    "\n",
-    "\n",
-    "class BarkourEnv(PipelineEnv):\n",
-    "  \"\"\"Environment for training the barkour quadruped joystick policy in MJX.\"\"\"\n",
-    "\n",
-    "  def __init__(\n",
-    "      self,\n",
-    "      obs_noise: float = 0.05,\n",
-    "      action_scale: float = 0.3,\n",
-    "      kick_vel: float = 0.05,\n",
-    "      scene_file: str = 'scene_mjx.xml',\n",
-    "      **kwargs,\n",
-    "  ):\n",
-    "    path = BARKOUR_ROOT_PATH / scene_file\n",
-    "    sys = mjcf.load(path.as_posix())\n",
-    "    self._dt = 0.02  # this environment is 50 fps\n",
-    "    sys = sys.tree_replace({'opt.timestep': 0.004})\n",
-    "\n",
-    "    # override menagerie params for smoother policy\n",
-    "    sys = sys.replace(\n",
-    "        dof_damping=sys.dof_damping.at[6:].set(0.5239),\n",
-    "        actuator_gainprm=sys.actuator_gainprm.at[:, 0].set(35.0),\n",
-    "        actuator_biasprm=sys.actuator_biasprm.at[:, 1].set(-35.0),\n",
-    "    )\n",
-    "\n",
-    "    n_frames = kwargs.pop('n_frames', int(self._dt / sys.opt.timestep))\n",
-    "    super().__init__(sys, backend='mjx', n_frames=n_frames)\n",
-    "\n",
-    "    self.reward_config = get_config()\n",
-    "    # set custom from kwargs\n",
-    "    for k, v in kwargs.items():\n",
-    "      if k.endswith('_scale'):\n",
-    "        self.reward_config.rewards.scales[k[:-6]] = v\n",
-    "\n",
-    "    self._torso_idx = mujoco.mj_name2id(\n",
-    "        sys.mj_model, mujoco.mjtObj.mjOBJ_BODY.value, 'torso'\n",
-    "    )\n",
-    "    self._action_scale = action_scale\n",
-    "    self._obs_noise = obs_noise\n",
-    "    self._kick_vel = kick_vel\n",
-    "    self._init_q = jp.array(sys.mj_model.keyframe('home').qpos)\n",
-    "    self._default_pose = sys.mj_model.keyframe('home').qpos[7:]\n",
-    "    self.lowers = jp.array([-0.7, -1.0, 0.05] * 4)\n",
-    "    self.uppers = jp.array([0.52, 2.1, 2.1] * 4)\n",
-    "    feet_site = [\n",
-    "        'foot_front_left',\n",
-    "        'foot_hind_left',\n",
-    "        'foot_front_right',\n",
-    "        'foot_hind_right',\n",
-    "    ]\n",
-    "    feet_site_id = [\n",
-    "        mujoco.mj_name2id(sys.mj_model, mujoco.mjtObj.mjOBJ_SITE.value, f)\n",
-    "        for f in feet_site\n",
-    "    ]\n",
-    "    assert not any(id_ == -1 for id_ in feet_site_id), 'Site not found.'\n",
-    "    self._feet_site_id = np.array(feet_site_id)\n",
-    "    lower_leg_body = [\n",
-    "        'lower_leg_front_left',\n",
-    "        'lower_leg_hind_left',\n",
-    "        'lower_leg_front_right',\n",
-    "        'lower_leg_hind_right',\n",
-    "    ]\n",
-    "    lower_leg_body_id = [\n",
-    "        mujoco.mj_name2id(sys.mj_model, mujoco.mjtObj.mjOBJ_BODY.value, l)\n",
-    "        for l in lower_leg_body\n",
-    "    ]\n",
-    "    assert not any(id_ == -1 for id_ in lower_leg_body_id), 'Body not found.'\n",
-    "    self._lower_leg_body_id = np.array(lower_leg_body_id)\n",
-    "    self._foot_radius = 0.0175\n",
-    "    self._nv = sys.nv\n",
-    "\n",
-    "  def sample_command(self, rng: jax.Array) -> jax.Array:\n",
-    "    lin_vel_x = [-0.6, 1.5]  # min max [m/s]\n",
-    "    lin_vel_y = [-0.8, 0.8]  # min max [m/s]\n",
-    "    ang_vel_yaw = [-0.7, 0.7]  # min max [rad/s]\n",
-    "\n",
-    "    _, key1, key2, key3 = jax.random.split(rng, 4)\n",
-    "    lin_vel_x = jax.random.uniform(\n",
-    "        key1, (1,), minval=lin_vel_x[0], maxval=lin_vel_x[1]\n",
-    "    )\n",
-    "    lin_vel_y = jax.random.uniform(\n",
-    "        key2, (1,), minval=lin_vel_y[0], maxval=lin_vel_y[1]\n",
-    "    )\n",
-    "    ang_vel_yaw = jax.random.uniform(\n",
-    "        key3, (1,), minval=ang_vel_yaw[0], maxval=ang_vel_yaw[1]\n",
-    "    )\n",
-    "    new_cmd = jp.array([lin_vel_x[0], lin_vel_y[0], ang_vel_yaw[0]])\n",
-    "    return new_cmd\n",
-    "\n",
-    "  def reset(self, rng: jax.Array) -> State:  # pytype: disable=signature-mismatch\n",
-    "    rng, key = jax.random.split(rng)\n",
-    "\n",
-    "    pipeline_state = self.pipeline_init(self._init_q, jp.zeros(self._nv))\n",
-    "\n",
-    "    state_info = {\n",
-    "        'rng': rng,\n",
-    "        'last_act': jp.zeros(12),\n",
-    "        'last_vel': jp.zeros(12),\n",
-    "        'command': self.sample_command(key),\n",
-    "        'last_contact': jp.zeros(4, dtype=bool),\n",
-    "        'feet_air_time': jp.zeros(4),\n",
-    "        'rewards': {k: 0.0 for k in self.reward_config.rewards.scales.keys()},\n",
-    "        'kick': jp.array([0.0, 0.0]),\n",
-    "        'step': 0,\n",
-    "    }\n",
-    "\n",
-    "    obs_history = jp.zeros(15 * 31)  # store 15 steps of history\n",
-    "    obs = self._get_obs(pipeline_state, state_info, obs_history)\n",
-    "    reward, done = jp.zeros(2)\n",
-    "    metrics = {'total_dist': 0.0}\n",
-    "    for k in state_info['rewards']:\n",
-    "      metrics[k] = state_info['rewards'][k]\n",
-    "    state = State(pipeline_state, obs, reward, done, metrics, state_info)  # pytype: disable=wrong-arg-types\n",
-    "    return state\n",
-    "\n",
-    "  def step(self, state: State, action: jax.Array) -> State:  # pytype: disable=signature-mismatch\n",
-    "    rng, cmd_rng, kick_noise_2 = jax.random.split(state.info['rng'], 3)\n",
-    "\n",
-    "    # kick\n",
-    "    push_interval = 10\n",
-    "    kick_theta = jax.random.uniform(kick_noise_2, maxval=2 * jp.pi)\n",
-    "    kick = jp.array([jp.cos(kick_theta), jp.sin(kick_theta)])\n",
-    "    kick *= jp.mod(state.info['step'], push_interval) == 0\n",
-    "    qvel = state.pipeline_state.qvel  # pytype: disable=attribute-error\n",
-    "    qvel = qvel.at[:2].set(kick * self._kick_vel + qvel[:2])\n",
-    "    state = state.tree_replace({'pipeline_state.qvel': qvel})\n",
-    "\n",
-    "    # physics step\n",
-    "    motor_targets = self._default_pose + action * self._action_scale\n",
-    "    motor_targets = jp.clip(motor_targets, self.lowers, self.uppers)\n",
-    "    pipeline_state = self.pipeline_step(state.pipeline_state, motor_targets)\n",
-    "    x, xd = pipeline_state.x, pipeline_state.xd\n",
-    "\n",
-    "    # observation data\n",
-    "    obs = self._get_obs(pipeline_state, state.info, state.obs)\n",
-    "    joint_angles = pipeline_state.q[7:]\n",
-    "    joint_vel = pipeline_state.qd[6:]\n",
-    "\n",
-    "    # foot contact data based on z-position\n",
-    "    foot_pos = pipeline_state.site_xpos[self._feet_site_id]  # pytype: disable=attribute-error\n",
-    "    foot_contact_z = foot_pos[:, 2] - self._foot_radius\n",
-    "    contact = foot_contact_z < 1e-3  # a mm or less off the floor\n",
-    "    contact_filt_mm = contact | state.info['last_contact']\n",
-    "    contact_filt_cm = (foot_contact_z < 3e-2) | state.info['last_contact']\n",
-    "    first_contact = (state.info['feet_air_time'] > 0) * contact_filt_mm\n",
-    "    state.info['feet_air_time'] += self.dt\n",
-    "\n",
-    "    # done if joint limits are reached or robot is falling\n",
-    "    up = jp.array([0.0, 0.0, 1.0])\n",
-    "    done = jp.dot(math.rotate(up, x.rot[self._torso_idx - 1]), up) < 0\n",
-    "    done |= jp.any(joint_angles < self.lowers)\n",
-    "    done |= jp.any(joint_angles > self.uppers)\n",
-    "    done |= pipeline_state.x.pos[self._torso_idx - 1, 2] < 0.18\n",
-    "\n",
-    "    # reward\n",
-    "    rewards = {\n",
-    "        'tracking_lin_vel': (\n",
-    "            self._reward_tracking_lin_vel(state.info['command'], x, xd)\n",
-    "        ),\n",
-    "        'tracking_ang_vel': (\n",
-    "            self._reward_tracking_ang_vel(state.info['command'], x, xd)\n",
-    "        ),\n",
-    "        'lin_vel_z': self._reward_lin_vel_z(xd),\n",
-    "        'ang_vel_xy': self._reward_ang_vel_xy(xd),\n",
-    "        'orientation': self._reward_orientation(x),\n",
-    "        'torques': self._reward_torques(pipeline_state.qfrc_actuator),  # pytype: disable=attribute-error\n",
-    "        'action_rate': self._reward_action_rate(action, state.info['last_act']),\n",
-    "        'stand_still': self._reward_stand_still(\n",
-    "            state.info['command'], joint_angles,\n",
-    "        ),\n",
-    "        'feet_air_time': self._reward_feet_air_time(\n",
-    "            state.info['feet_air_time'],\n",
-    "            first_contact,\n",
-    "            state.info['command'],\n",
-    "        ),\n",
-    "        'foot_slip': self._reward_foot_slip(pipeline_state, contact_filt_cm),\n",
-    "        'termination': self._reward_termination(done, state.info['step']),\n",
-    "    }\n",
-    "    rewards = {\n",
-    "        k: v * self.reward_config.rewards.scales[k] for k, v in rewards.items()\n",
-    "    }\n",
-    "    reward = jp.clip(sum(rewards.values()) * self.dt, 0.0, 10000.0)\n",
-    "\n",
-    "    # state management\n",
-    "    state.info['kick'] = kick\n",
-    "    state.info['last_act'] = action\n",
-    "    state.info['last_vel'] = joint_vel\n",
-    "    state.info['feet_air_time'] *= ~contact_filt_mm\n",
-    "    state.info['last_contact'] = contact\n",
-    "    state.info['rewards'] = rewards\n",
-    "    state.info['step'] += 1\n",
-    "    state.info['rng'] = rng\n",
-    "\n",
-    "    # sample new command if more than 500 timesteps achieved\n",
-    "    state.info['command'] = jp.where(\n",
-    "        state.info['step'] > 500,\n",
-    "        self.sample_command(cmd_rng),\n",
-    "        state.info['command'],\n",
-    "    )\n",
-    "    # reset the step counter when done\n",
-    "    state.info['step'] = jp.where(\n",
-    "        done | (state.info['step'] > 500), 0, state.info['step']\n",
-    "    )\n",
-    "\n",
-    "    # log total displacement as a proxy metric\n",
-    "    state.metrics['total_dist'] = math.normalize(x.pos[self._torso_idx - 1])[1]\n",
-    "    state.metrics.update(state.info['rewards'])\n",
-    "\n",
-    "    done = jp.float32(done)\n",
-    "    state = state.replace(\n",
-    "        pipeline_state=pipeline_state, obs=obs, reward=reward, done=done\n",
-    "    )\n",
-    "    return state\n",
-    "\n",
-    "  def _get_obs(\n",
-    "      self,\n",
-    "      pipeline_state: base.State,\n",
-    "      state_info: dict[str, Any],\n",
-    "      obs_history: jax.Array,\n",
-    "  ) -> jax.Array:\n",
-    "    inv_torso_rot = math.quat_inv(pipeline_state.x.rot[0])\n",
-    "    local_rpyrate = math.rotate(pipeline_state.xd.ang[0], inv_torso_rot)\n",
-    "\n",
-    "    obs = jp.concatenate([\n",
-    "        jp.array([local_rpyrate[2]]) * 0.25,                 # yaw rate\n",
-    "        math.rotate(jp.array([0, 0, -1]), inv_torso_rot),    # projected gravity\n",
-    "        state_info['command'] * jp.array([2.0, 2.0, 0.25]),  # command\n",
-    "        pipeline_state.q[7:] - self._default_pose,           # motor angles\n",
-    "        state_info['last_act'],                              # last action\n",
-    "    ])\n",
-    "\n",
-    "    # clip, noise\n",
-    "    obs = jp.clip(obs, -100.0, 100.0) + self._obs_noise * jax.random.uniform(\n",
-    "        state_info['rng'], obs.shape, minval=-1, maxval=1\n",
-    "    )\n",
-    "    # stack observations through time\n",
-    "    obs = jp.roll(obs_history, obs.size).at[:obs.size].set(obs)\n",
-    "\n",
-    "    return obs\n",
-    "\n",
-    "  # ------------ reward functions----------------\n",
-    "  def _reward_lin_vel_z(self, xd: Motion) -> jax.Array:\n",
-    "    # Penalize z axis base linear velocity\n",
-    "    return jp.square(xd.vel[0, 2])\n",
-    "\n",
-    "  def _reward_ang_vel_xy(self, xd: Motion) -> jax.Array:\n",
-    "    # Penalize xy axes base angular velocity\n",
-    "    return jp.sum(jp.square(xd.ang[0, :2]))\n",
-    "\n",
-    "  def _reward_orientation(self, x: Transform) -> jax.Array:\n",
-    "    # Penalize non flat base orientation\n",
-    "    up = jp.array([0.0, 0.0, 1.0])\n",
-    "    rot_up = math.rotate(up, x.rot[0])\n",
-    "    return jp.sum(jp.square(rot_up[:2]))\n",
-    "\n",
-    "  def _reward_torques(self, torques: jax.Array) -> jax.Array:\n",
-    "    # Penalize torques\n",
-    "    return jp.sqrt(jp.sum(jp.square(torques))) + jp.sum(jp.abs(torques))\n",
-    "\n",
-    "  def _reward_action_rate(\n",
-    "      self, act: jax.Array, last_act: jax.Array\n",
-    "  ) -> jax.Array:\n",
-    "    # Penalize changes in actions\n",
-    "    return jp.sum(jp.square(act - last_act))\n",
-    "\n",
-    "  def _reward_tracking_lin_vel(\n",
-    "      self, commands: jax.Array, x: Transform, xd: Motion\n",
-    "  ) -> jax.Array:\n",
-    "    # Tracking of linear velocity commands (xy axes)\n",
-    "    local_vel = math.rotate(xd.vel[0], math.quat_inv(x.rot[0]))\n",
-    "    lin_vel_error = jp.sum(jp.square(commands[:2] - local_vel[:2]))\n",
-    "    lin_vel_reward = jp.exp(\n",
-    "        -lin_vel_error / self.reward_config.rewards.tracking_sigma\n",
-    "    )\n",
-    "    return lin_vel_reward\n",
-    "\n",
-    "  def _reward_tracking_ang_vel(\n",
-    "      self, commands: jax.Array, x: Transform, xd: Motion\n",
-    "  ) -> jax.Array:\n",
-    "    # Tracking of angular velocity commands (yaw)\n",
-    "    base_ang_vel = math.rotate(xd.ang[0], math.quat_inv(x.rot[0]))\n",
-    "    ang_vel_error = jp.square(commands[2] - base_ang_vel[2])\n",
-    "    return jp.exp(-ang_vel_error / self.reward_config.rewards.tracking_sigma)\n",
-    "\n",
-    "  def _reward_feet_air_time(\n",
-    "      self, air_time: jax.Array, first_contact: jax.Array, commands: jax.Array\n",
-    "  ) -> jax.Array:\n",
-    "    # Reward air time.\n",
-    "    rew_air_time = jp.sum((air_time - 0.1) * first_contact)\n",
-    "    rew_air_time *= (\n",
-    "        math.normalize(commands[:2])[1] > 0.05\n",
-    "    )  # no reward for zero command\n",
-    "    return rew_air_time\n",
-    "\n",
-    "  def _reward_stand_still(\n",
-    "      self,\n",
-    "      commands: jax.Array,\n",
-    "      joint_angles: jax.Array,\n",
-    "  ) -> jax.Array:\n",
-    "    # Penalize motion at zero commands\n",
-    "    return jp.sum(jp.abs(joint_angles - self._default_pose)) * (\n",
-    "        math.normalize(commands[:2])[1] < 0.1\n",
-    "    )\n",
-    "\n",
-    "  def _reward_foot_slip(\n",
-    "      self, pipeline_state: base.State, contact_filt: jax.Array\n",
-    "  ) -> jax.Array:\n",
-    "    # get velocities at feet which are offset from lower legs\n",
-    "    # pytype: disable=attribute-error\n",
-    "    pos = pipeline_state.site_xpos[self._feet_site_id]  # feet position\n",
-    "    feet_offset = pos - pipeline_state.xpos[self._lower_leg_body_id]\n",
-    "    # pytype: enable=attribute-error\n",
-    "    offset = base.Transform.create(pos=feet_offset)\n",
-    "    foot_indices = self._lower_leg_body_id - 1  # we got rid of the world body\n",
-    "    foot_vel = offset.vmap().do(pipeline_state.xd.take(foot_indices)).vel\n",
-    "\n",
-    "    # Penalize large feet velocity for feet that are in contact with the ground.\n",
-    "    return jp.sum(jp.square(foot_vel[:, :2]) * contact_filt.reshape((-1, 1)))\n",
-    "\n",
-    "  def _reward_termination(self, done: jax.Array, step: jax.Array) -> jax.Array:\n",
-    "    return done & (step < 500)\n",
-    "\n",
-    "  def render(\n",
-    "      self, trajectory: List[base.State], camera: str | None = None,\n",
-    "      width: int = 240, height: int = 320,\n",
-    "  ) -> Sequence[np.ndarray]:\n",
-    "    camera = camera or 'track'\n",
-    "    return super().render(trajectory, camera=camera, width=width, height=height)\n",
-    "\n",
-    "envs.register_environment('barkour', BarkourEnv)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "pi_yrcz-Qp3W"
-   },
-   "outputs": [],
-   "source": [
-    "env_name = 'barkour'\n",
-    "env = envs.get_environment(env_name)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "nxaNFP9mA23H"
-   },
-   "source": [
-    "## Train Policy\n",
-    "\n",
-    "To train a policy with domain randomization, we pass in the domain randomization function into the brax train function; brax will call the domain randomization function when rolling out episodes. Training the quadruped takes 6 minutes on a Tesla A100 GPU."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "cHJCbESGA7Rk"
-   },
-   "outputs": [],
-   "source": [
-    "ckpt_path = epath.Path('/tmp/quadrupred_joystick/ckpts')\n",
-    "ckpt_path.mkdir(parents=True, exist_ok=True)\n",
-    "\n",
-    "def policy_params_fn(current_step, make_policy, params):\n",
-    "  # save checkpoints\n",
-    "  orbax_checkpointer = ocp.PyTreeCheckpointer()\n",
-    "  save_args = orbax_utils.save_args_from_target(params)\n",
-    "  path = ckpt_path / f'{current_step}'\n",
-    "  orbax_checkpointer.save(path, params, force=True, save_args=save_args)\n",
-    "\n",
-    "\n",
-    "make_networks_factory = functools.partial(\n",
-    "    ppo_networks.make_ppo_networks,\n",
-    "        policy_hidden_layer_sizes=(128, 128, 128, 128))\n",
-    "train_fn = functools.partial(\n",
-    "      ppo.train, num_timesteps=100_000_000, num_evals=10,\n",
-    "      reward_scaling=1, episode_length=1000, normalize_observations=True,\n",
-    "      action_repeat=1, unroll_length=20, num_minibatches=32,\n",
-    "      num_updates_per_batch=4, discounting=0.97, learning_rate=3.0e-4,\n",
-    "      entropy_cost=1e-2, num_envs=8192, batch_size=256,\n",
-    "      network_factory=make_networks_factory,\n",
-    "      randomization_fn=domain_randomize,\n",
-    "      policy_params_fn=policy_params_fn,\n",
-    "      seed=0)\n",
-    "\n",
-    "x_data = []\n",
-    "y_data = []\n",
-    "ydataerr = []\n",
-    "times = [datetime.now()]\n",
-    "max_y, min_y = 40, 0\n",
-    "\n",
-    "# Reset environments since internals may be overwritten by tracers from the\n",
-    "# domain randomization function.\n",
-    "env = envs.get_environment(env_name)\n",
-    "eval_env = envs.get_environment(env_name)\n",
-    "make_inference_fn, params, _= train_fn(environment=env,\n",
-    "                                       progress_fn=progress,\n",
-    "                                       eval_env=eval_env)\n",
-    "\n",
-    "print(f'time to jit: {times[1] - times[0]}')\n",
-    "print(f'time to train: {times[-1] - times[1]}')"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "8Yge-CGP5JoO"
-   },
-   "outputs": [],
-   "source": [
-    "# Save and reload params.\n",
-    "model_path = '/tmp/mjx_brax_quadruped_policy'\n",
-    "model.save_params(model_path, params)\n",
-    "params = model.load_params(model_path)\n",
-    "\n",
-    "inference_fn = make_inference_fn(params)\n",
-    "jit_inference_fn = jax.jit(inference_fn)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "L01IrN4oCIkC"
-   },
-   "source": [
-    "## Visualize Policy\n",
-    "\n",
-    "For the Barkour Quadruped, the joystick commands can be set through `x_vel`, `y_vel`, and `ang_vel`. `x_vel` and `y_vel` define the linear forward and sideways velocities with respect to the quadruped torso. `ang_vel` defines the angular velocity of the torso in the z direction."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "VTbpEtXnEecd"
-   },
-   "outputs": [],
-   "source": [
-    "eval_env = envs.get_environment(env_name)\n",
-    "\n",
-    "jit_reset = jax.jit(eval_env.reset)\n",
-    "jit_step = jax.jit(eval_env.step)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "HRRN-8L-BivZ"
-   },
-   "outputs": [],
-   "source": [
-    "# @markdown Commands **only used for Barkour Env**:\n",
-    "x_vel = 1.0  #@param {type: \"number\"}\n",
-    "y_vel = 0.0  #@param {type: \"number\"}\n",
-    "ang_vel = -0.5  #@param {type: \"number\"}\n",
-    "\n",
-    "the_command = jp.array([x_vel, y_vel, ang_vel])\n",
-    "\n",
-    "# initialize the state\n",
-    "rng = jax.random.PRNGKey(0)\n",
-    "state = jit_reset(rng)\n",
-    "state.info['command'] = the_command\n",
-    "rollout = [state.pipeline_state]\n",
-    "\n",
-    "# grab a trajectory\n",
-    "n_steps = 500\n",
-    "render_every = 2\n",
-    "\n",
-    "for i in range(n_steps):\n",
-    "  act_rng, rng = jax.random.split(rng)\n",
-    "  ctrl, _ = jit_inference_fn(state.obs, act_rng)\n",
-    "  state = jit_step(state, ctrl)\n",
-    "  rollout.append(state.pipeline_state)\n",
-    "\n",
-    "media.show_video(\n",
-    "    eval_env.render(rollout[::render_every], camera='track'),\n",
-    "    fps=1.0 / eval_env.dt / render_every)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "aD6H6WD0915X"
-   },
-   "source": [
-    "We can also render the rollout using the Brax renderer."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "V7jqv08X95u4"
-   },
-   "outputs": [],
-   "source": [
-    "HTML(html.render(eval_env.sys.tree_replace({'opt.timestep': eval_env.dt}), rollout))"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "gNagGnBODotY"
-   },
-   "source": [
-    "## Train Policy with Height Field\n",
-    "\n",
-    "We may also want the quadruped to learn to walk on rought terrain. Let's take the latest checkpoint from the joystick policy above, and finetune it on a height field terrain."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "wlT3xLouKxqT"
-   },
-   "outputs": [],
-   "source": [
-    "# use the height field scene\n",
-    "scene_file = 'scene_hfield_mjx.xml'\n",
-    "\n",
-    "env = envs.get_environment(env_name, scene_file=scene_file)\n",
-    "jit_reset = jax.jit(env.reset)\n",
-    "state = jit_reset(jax.random.PRNGKey(0))\n",
-    "plt.imshow(env.render([state.pipeline_state], camera='track')[0])"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "jOTx-OyPDqPW"
-   },
-   "outputs": [],
-   "source": [
-    "# grab the latest checkpoint from the flat terrain joystick policy\n",
-    "latest_ckpts = list(ckpt_path.glob('*'))\n",
-    "latest_ckpts.sort(key=lambda x: int(x.as_posix().split('/')[-1]))\n",
-    "latest_ckpt = latest_ckpts[-1]\n",
-    "\n",
-    "train_fn = functools.partial(\n",
-    "      ppo.train, num_timesteps=40_000_000, num_evals=5,\n",
-    "      reward_scaling=1, episode_length=1000, normalize_observations=True,\n",
-    "      action_repeat=1, unroll_length=20, num_minibatches=32,\n",
-    "      num_updates_per_batch=4, discounting=0.97, learning_rate=3.0e-4,\n",
-    "      entropy_cost=1e-2, num_envs=8192, batch_size=256,\n",
-    "      network_factory=make_networks_factory,\n",
-    "      randomization_fn=domain_randomize, seed=0,\n",
-    "      restore_checkpoint_path=latest_ckpt)\n",
-    "\n",
-    "x_data = []\n",
-    "y_data = []\n",
-    "ydataerr = []\n",
-    "times = [datetime.now()]\n",
-    "max_y, min_y = 40, 0\n",
-    "\n",
-    "# Reset environments since internals may be overwritten by tracers from the\n",
-    "# domain randomization function.\n",
-    "env = envs.get_environment(env_name, scene_file=scene_file)\n",
-    "eval_env = envs.get_environment(env_name, scene_file=scene_file)\n",
-    "make_inference_fn, params, _= train_fn(environment=env,\n",
-    "                                       progress_fn=progress,\n",
-    "                                       eval_env=eval_env)\n",
-    "\n",
-    "print(f'time to jit: {times[1] - times[0]}')\n",
-    "print(f'time to train: {times[-1] - times[1]}')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "0wHRJyjLFww6"
-   },
-   "source": [
-    "## Visualize Policy with Height Field"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "1X57XkaVFu-v"
-   },
-   "outputs": [],
-   "source": [
-    "eval_env = envs.get_environment(env_name, scene_file=scene_file)\n",
-    "\n",
-    "jit_reset = jax.jit(eval_env.reset)\n",
-    "jit_step = jax.jit(eval_env.step)\n",
-    "inference_fn = make_inference_fn(params)\n",
-    "jit_inference_fn = jax.jit(inference_fn)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "nAxexZcVFu-v"
-   },
-   "outputs": [],
-   "source": [
-    "# @markdown Commands **only used for Barkour Env**:\n",
-    "x_vel = 1.0  #@param {type: \"number\"}\n",
-    "y_vel = 0.0  #@param {type: \"number\"}\n",
-    "ang_vel = -0.5  #@param {type: \"number\"}\n",
-    "\n",
-    "the_command = jp.array([x_vel, y_vel, ang_vel])\n",
-    "\n",
-    "# initialize the state\n",
-    "rng = jax.random.PRNGKey(0)\n",
-    "state = jit_reset(rng)\n",
-    "state.info['command'] = the_command\n",
-    "rollout = [state.pipeline_state]\n",
-    "\n",
-    "# grab a trajectory\n",
-    "n_steps = 500\n",
-    "render_every = 2\n",
-    "\n",
-    "for i in range(n_steps):\n",
-    "  act_rng, rng = jax.random.split(rng)\n",
-    "  ctrl, _ = jit_inference_fn(state.obs, act_rng)\n",
-    "  state = jit_step(state, ctrl)\n",
-    "  rollout.append(state.pipeline_state)\n",
-    "\n",
-    "media.show_video(\n",
-    "    eval_env.render(rollout[::render_every], camera='track'),\n",
-    "    fps=1.0 / eval_env.dt / render_every)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "-Q5gsOOaBYd1"
-   },
-   "source": [
-    "# MuJoCo Playground: Robotics locomotion and manipulation environments + Sim-to-Real!"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "gluTlHURuC6i"
-   },
-   "source": [
-    "By now, we have shown how MJX can be used to train policies for classic control and robotic locomotion. For a full suite of robotic locomotion and manipulation environments we encourage you to check out [MuJoCo Playground](https://github.com/google-deepmind/mujoco_playground). Many of the robotic environments have been transferred onto robots, as described on the [website](https://playground.mujoco.org/) and [technical report](https://playground.mujoco.org/assets/playground_technical_report.pdf).\n"
-   ]
-  }
- ],
- "metadata": {
-  "accelerator": "GPU",
-  "colab": {
-   "gpuClass": "premium",
-   "gpuType": "V100",
-   "machine_shape": "hm",
-   "private_outputs": true
-  },
-  "kernelspec": {
-   "display_name": "Python 3",
-   "name": "python3"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 0
-}
diff --git a/model/CMakeLists.txt b/model/CMakeLists.txt
deleted file mode 100644
index 8e234497..00000000
--- a/model/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Copy the model files to the binary directory to make them available to tests and benchmarks
-
-file(
-  GLOB_RECURSE
-  MUJOCO_MODELS
-  CONFIGURE_DEPENDS
-  "*.xml"
-  "*.png"
-)
-file(COPY ${MUJOCO_MODELS} DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
diff --git a/model/adhesion/README.md b/model/adhesion/README.md
deleted file mode 100644
index b1c66cc3..00000000
--- a/model/adhesion/README.md
+++ /dev/null
@@ -1,8 +0,0 @@
-# 主动吸附示例
-
-本示例模型演示了如何使用吸附执行器（Adhesion Actuator）。
-
-下方视频展示了用户与该模型进行交互的录屏：
-
-
-[![主动吸附示例模型](https://img.youtube.com/vi/BcHZ5BFeTmU/0.jpg)](https://www.youtube.com/watch?v=BcHZ5BFeTmU)
diff --git a/model/adhesion/active_adhesion.xml b/model/adhesion/active_adhesion.xml
deleted file mode 100644
index 8678311c..00000000
--- a/model/adhesion/active_adhesion.xml
+++ /dev/null
@@ -1,148 +0,0 @@
-<mujoco model="Active adhesion example">
-  <!--
-    Adding some fluid viscosity to prevent the hanging sphere from jiggling too much.
-  -->
-  <option viscosity="1"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <headlight diffuse=".2 .2 .2"/>
-  </visual>
-
-  <default>
-    <joint damping=".3" axis="0 1 0"/>
-    <geom type="box" friction=".5"/>
-    <default class="wall">
-      <geom rgba=".5 .5 .5 .4"/>
-    </default>
-    <default class="mechanical">
-      <geom rgba=".5 .5 .8 1"/>
-      <tendon rgba=".5 .5 .8 1"/>
-    </default>
-    <default class="active_adhesion">
-      <!--
-        Geoms in the active_adhesion class have a detection gap of 1cm, leading to a layer of
-        inactive contacts at a 1cm distance from the surface. The contacts can be used by the
-        adhesion actuator, but no contact forces are generated in the gap zone.
-      -->
-      <geom rgba=".8 .5 .5 1" gap=".01"/>
-    </default>
-    <default class="object">
-      <geom rgba=".5 .8 .5 1" density="100"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="0.4 -.15 .6" dir="-1 .5 -1" diffuse=".7 .7 .7"/>
-    <light pos="-.4 -.15 .6" dir="1 .5 -1" diffuse=".7 .7 .7"/>
-
-    <body name="two crates">
-      <joint name="conveyor" type="slide" damping="100" axis="1 0 0"/>
-      <geom size=".2 .1 .01" pos="0 0 -.01"/>
-      <geom size=".01 .08 .031" pos="-.19 0 .03" class="wall"/>
-      <geom size=".01 .08 .031" pos="0  0 .03" class="wall"/>
-      <geom size=".01 .08 .031" pos="0.19 0 .03" class="wall"/>
-      <geom size="0.2 .01 .031" pos="0 -.09 .03" class="wall"/>
-      <geom size="0.2 .01 .031" pos="0 0.09 .03" class="wall"/>
-    </body>
-
-    <body name="arm1" pos="-.1 0 .3" childclass="mechanical">
-      <joint name="arm1"/>
-      <geom type="cylinder" size=".015 .01" zaxis="0 1 0"/>
-      <geom type="capsule" size=".01" fromto="0 0 0 -.12 0 -.07"/>
-      <body name="arm2" pos="-.12 0 -.07">
-        <joint name="arm2"/>
-        <geom type="cylinder" size=".015 .01" zaxis="0 1 0"/>
-        <geom type="capsule" size=".01" fromto="0 0 0 .12 0 -.07"/>
-        <body name="4boxes" pos=".12 0 -.08" childclass="active_adhesion">
-          <site name="force_sensor" group="3"/>
-          <joint name="arm3" damping=".01" pos="0 -.03 0"/>
-          <geom size=".015 .015 .01" pos="0.015 0.015 0"/>
-          <geom size=".015 .015 .01" pos="0.015 -.015 0"/>
-          <geom size=".015 .015 .01" pos="-.015 0.015 0"/>
-          <geom size=".015 .015 .01" pos="-.015 -.015 0"/>
-        </body>
-      </body>
-    </body>
-
-    <body name="box" pos="-.1 0 .05">
-      <freejoint/>
-      <geom size=".05 .05 .05" class="object"/>
-    </body>
-
-    <body name="winch" pos="-.01 0 .35" childclass="mechanical">
-      <joint name="winch" damping="1"/>
-      <geom type="cylinder" size=".015 .01" zaxis="0 1 0"/>
-      <geom type="capsule" size=".01" fromto="0 0 0 .1 0 .05"/>
-      <site name="anchor" pos=".1 0 .04"/>
-    </body>
-    <site name="pulley" pos=".1 0 .32"/>
-    <site name="hook_left" pos=".08 0 .3"/>
-    <site name="hook_right" pos=".12 0 .3"/>
-    <body name="sphere" pos=".1 0 .2" childclass="active_adhesion">
-      <freejoint/>
-      <!--
-        The composite balls in the crate have only 3 linear DoFs with condim=1, effectively
-        frictionless point particles. In order to make them stick to the sphere we give the sphere
-        priority 2, to force condim=3.
-
-        Also note the sphere has a gap of 3cm as opposed to the 1cm of the arm box.
-      -->
-      <geom type="sphere" size=".03" priority="2" gap=".03"/>
-      <site name="pin_left" pos="-.025 0 .025"/>
-      <site name="pin_right" pos=".025 0 .025"/>
-    </body>
-
-    <replicate count="4" offset=".025 0 0">
-      <replicate count="4" offset="0 .025 0">
-        <replicate count="4" offset="0 0 .025">
-          <body pos=".06 -.04 .05">
-            <joint type="slide" axis="1 0 0"/>
-            <joint type="slide" axis="0 1 0"/>
-            <joint type="slide" axis="0 0 1"/>
-            <geom type="sphere" size=".012" rgba=".5 .8 .5 1" solref=".005 1" condim="1"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-
-  <equality>
-    <joint joint1="arm1" joint2="arm2" polycoef="0 -.5 0 0 0"/>
-    <joint joint1="arm3" joint2="arm1"/>
-  </equality>
-
-  <!--
-    By using divisor=3 in the pullies we increase the distance by which the hanging sphere moves
-    relative to the motion of the winch arm. One should imagine a double spindle with two radii that
-    creates a ratio of 1.5 between the motion of tendon before the pullies and after the pullies.
-    (1.5 rather than 3 because the tendon has 2 branches and the length is split between them)
-  -->
-  <tendon>
-    <spatial range="0 .19" limited="true" solreflimit=".01 2" class="mechanical">
-      <site site="anchor"/>
-      <site site="pulley"/>
-      <pulley divisor="3"/>
-      <site site="pulley"/>
-      <site site="hook_left"/>
-      <site site="pin_left"/>
-      <pulley divisor="3"/>
-      <site site="pulley"/>
-      <site site="hook_right"/>
-      <site site="pin_right"/>
-    </spatial>
-  </tendon>
-
-  <actuator>
-    <position name="conveyor" joint="conveyor" ctrlrange="-.2 .2" ctrllimited="true" kp="400"/>
-    <position name="arm" joint="arm2" ctrlrange="-.8 1" ctrllimited="true" kp="10"/>
-    <adhesion name="adhere_arm" body="4boxes" ctrlrange="0 1" gain="5"/>
-    <position name="winch" joint="winch" ctrlrange="-.7 .5" ctrllimited="true" kp="10"/>
-    <adhesion name="adhere_winch" body="sphere" ctrlrange="0 1" gain="5"/>
-  </actuator>
-
-  <sensor>
-    <force site="force_sensor"/>
-  </sensor>
-</mujoco>
diff --git a/model/adhesion/fridge_door.xml b/model/adhesion/fridge_door.xml
deleted file mode 100644
index 70ae0161..00000000
--- a/model/adhesion/fridge_door.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<mujoco model="Magnetic fridge door">
-  <!-- The two dark strips are magnets, modeled with adhesion: within the gap band
-       (the magnet's range) they attract with the summed adhesion of the pair, so a
-       nearly-closed door snaps shut on its own and stays latched; pulling harder
-       than the pull-off force pops it open cleanly. Drag the door with Ctrl+drag
-       after double-clicking it. -->
-
-  <statistic center="0 0 .4" meansize="0.03"/>
-
-  <visual>
-    <global elevation="-20" azimuth="-120"/>
-    <headlight diffuse=".5 .5 .5"/>
-    <map stiffness="30"/>
-  </visual>
-
-  <asset>
-    <texture name="ibl" type="cube" builtin="gradient" rgb1=".5 .6 .7" rgb2=".9 .9 .95" width="32" height="32"/>
-    <texture type="skybox" builtin="gradient" rgb1=".5 .6 .7" rgb2=".9 .9 .95" width="32" height="512"/>
-    <material name="body" rgba=".92 .92 .94 1"/>
-    <material name="inside" rgba=".8 .8 .82 1"/>
-    <material name="magnet" rgba=".2 .2 .22 1"/>
-  </asset>
-
-  <worldbody>
-    <light pos="1.5 -.5 2" dir="-.6 .2 -.75" diffuse=".7 .7 .7" intensity="200000"
-           softness="1"/>
-    <light type="image" texture="ibl" intensity="10000"/>
-    <geom name="floor" type="plane" size="2 2 .01" rgba=".7 .75 .7 1"/>
-
-    <!-- cabinet: interior x [-.35 0], y [-.25 .25], z [0 .8] -->
-    <geom name="left"   type="box" size=".175 .015 .4"  pos="-.175 -.235 .4" material="body"/>
-    <geom name="right"  type="box" size=".175 .015 .4"  pos="-.175 .235 .4"  material="body"/>
-    <geom name="top"    type="box" size=".175 .25 .015" pos="-.175 0 .785"   material="body"/>
-    <geom name="bottom" type="box" size=".175 .25 .015" pos="-.175 0 .03"    material="body"/>
-    <geom name="back"   type="box" size=".015 .25 .4"   pos="-.335 0 .4"     material="body"/>
-    <geom name="shelf"  type="box" size=".155 .21 .008" pos="-.18 0 .4"      material="inside"/>
-
-    <!-- frame magnet strip, just inside the right wall's front edge -->
-    <geom name="magnet1" type="box" size=".005 .01 .3" pos="-.015 .19 .4" material="magnet" adhesion="1.5" gap=".003"/>
-
-    <body name="door" pos="0 -.25 .42">
-      <joint name="hinge" pos="0 0 0" axis="0 0 -1" range="0 135" damping=".08" stiffness="0.05"/>
-      <geom name="hinge" type="cylinder" size=".007" fromto="0 0 -.37 0 0 .37" rgba=".4 .4 .42 1" contype="0" conaffinity="0"/>
-      <geom name="panel" type="box" size=".015 .24 .37" pos=".015 .25 0" material="body" mass="1.5"/>
-      <body name="handle">
-        <geom name="handle" type="capsule" size=".012" fromto=".06 .46 -.12 .06 .46 .12" rgba=".4 .4 .42 1" mass=".1"/>
-      </body>
-      <geom name="magnet2" type="box" size=".005 .01 .3" pos="-.005 .44 0" material="magnet" adhesion="1.5" gap=".003" mass=".05"/>
-    </body>
-  </worldbody>
-
-  <keyframe>
-    <key name="open" qpos="1.6"/>
-    <key name="ajar" qpos=".006"/>
-  </keyframe>
-</mujoco>
diff --git a/model/adhesion/sand_castle.xml b/model/adhesion/sand_castle.xml
deleted file mode 100644
index 43fe99d1..00000000
--- a/model/adhesion/sand_castle.xml
+++ /dev/null
@@ -1,115 +0,0 @@
-<mujoco model="Sand castles">
-  <!-- Adhesion is Mohr-Coulomb cohesion: the shear strength of a contact is
-       mu*(N + adhesion), nonzero even without confining pressure, and contacts
-       resist tension up to the summed adhesion of the two geoms. Three identical
-       cubes of grains differ only in adhesion: dry sand avalanches to its angle
-       of repose, damp sand slumps but holds a mound, wet sand stands as a castle.
-       The small gap is the moisture film: grains within it form tensile bridges. -->
-
-  <option solver="CG" timestep="4e-3"/>
-
-  <statistic center="0 0 .15" extent="1.2"/>
-
-  <visual>
-    <headlight diffuse=".8 .8 .8" ambient=".3 .3 .3"/>
-    <quality shadowsize="8192"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2=".9 .9 .95" width="32" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="6 3" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <geom type="sphere" size=".01" friction="1 .005 .005" solref=".01 1"/>
-    <default class="dry">
-      <geom rgba=".87 .78 .55 1" adhesion=".002" gap=".001"/>
-    </default>
-    <default class="damp">
-      <geom rgba=".72 .58 .38 1" adhesion=".02" gap=".001"/>
-    </default>
-    <default class="wet">
-      <geom rgba=".5 .38 .25 1" adhesion=".05" gap=".001"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos=".5 -1 1.5" dir="-.3 .6 -.8" diffuse=".7 .7 .7"/>
-    <geom name="floor" type="plane" size="1.2 .6 .01" material="grid"/>
-    <geom name="rail-x" type="plane" size=".6 .05 .01" pos="-1.2 0 .05" xyaxes="0 1 0 0 0 1" rgba=".5 .5 .5 .15"/>
-    <geom name="rail+x" type="plane" size=".6 .05 .01" pos="1.2 0 .05" xyaxes="0 -1 0 0 0 1" rgba=".5 .5 .5 .15"/>
-    <geom name="rail-y" type="plane" size="1.2 .05 .01" pos="0 -.6 .05" xyaxes="-1 0 0 0 0 1" rgba=".5 .5 .5 .15"/>
-    <geom name="rail+y" type="plane" size="1.2 .05 .01" pos="0 .6 .05" xyaxes="1 0 0 0 0 1" rgba=".5 .5 .5 .15"/>
-
-    <body name="ramp1" mocap="true" pos="-.4 0 .02" euler="0 18 0">
-      <geom type="box" size=".1 .12 .06" rgba=".35 .42 .28 1"/>
-    </body>
-    <body name="ramp2" mocap="true" pos="0 0 .02" euler="0 18 0">
-      <geom type="box" size=".1 .12 .06" rgba=".35 .42 .28 1"/>
-    </body>
-    <body name="ramp3" mocap="true" pos=".4 0 .02" euler="0 18 0">
-      <geom type="box" size=".1 .12 .06" rgba=".35 .42 .28 1"/>
-    </body>
-
-    <site name="adhesion = 0.002" size="1e-5" pos="-.45 0 .4"/>
-    <replicate count="3" offset="0 0 .02828">
-      <replicate count="6" offset=".02 0 0">
-        <replicate count="6" offset="0 .02 0">
-          <body name="a" pos="-0.45 -.05 .29" childclass="dry">
-            <freejoint/>
-            <geom/>
-          </body>
-        </replicate>
-      </replicate>
-      <replicate count="5" offset=".02 0 0">
-        <replicate count="5" offset="0 .02 0">
-          <body name="a2" pos="-0.44 -.04 .30414" childclass="dry">
-            <freejoint/>
-            <geom/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-
-    <site name="adhesion = 0.02" size="1e-5" pos="-.05 0 .4"/>
-    <replicate count="3" offset="0 0 .02828">
-      <replicate count="6" offset=".02 0 0">
-        <replicate count="6" offset="0 .02 0">
-          <body name="b" pos="-0.05 -.05 .29" childclass="damp">
-            <freejoint/>
-            <geom/>
-          </body>
-        </replicate>
-      </replicate>
-      <replicate count="5" offset=".02 0 0">
-        <replicate count="5" offset="0 .02 0">
-          <body name="b2" pos="-0.04 -.04 .30414" childclass="damp">
-            <freejoint/>
-            <geom/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-
-    <site name="adhesion = 0.05" size="1e-5" pos=".35 0 .4"/>
-    <replicate count="3" offset="0 0 .02828">
-      <replicate count="6" offset=".02 0 0">
-        <replicate count="6" offset="0 .02 0">
-          <body name="c" pos="0.35 -.05 .29" childclass="wet">
-            <freejoint/>
-            <geom/>
-          </body>
-        </replicate>
-      </replicate>
-      <replicate count="5" offset=".02 0 0">
-        <replicate count="5" offset="0 .02 0">
-          <body name="c2" pos="0.36 -.04 .30414" childclass="wet">
-            <freejoint/>
-            <geom/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/balloons/balloons.xml b/model/balloons/balloons.xml
deleted file mode 100644
index 4aab660f..00000000
--- a/model/balloons/balloons.xml
+++ /dev/null
@@ -1,108 +0,0 @@
-<mujoco>
-  <option density="1.204" viscosity="1.8e-5" integrator="implicit"/>
-
-  <visual>
-    <global elevation="-10"/>
-  </visual>
-
-  <default>
-    <tendon limited="true" width="0.003" rgba="1 1 1 1"/>
-    <geom friction=".2"/>
-    <default class="weight">
-      <geom rgba=".8 .4 .8 1"/>
-      <site rgba=".8 .4 .8 1"/>
-    </default>
-    <default class="balloon">
-      <!--
-        0.167 is the MKS density of helium at room temperature.
-        Note this does not take into account the mass of the rubber,
-        which is likely not insignificant.
-      -->
-      <geom density="0.167" fluidshape="ellipsoid"/>
-      <default class="pink">
-        <geom rgba="1 .6 .7 1"/>
-        <site rgba="1 .6 .7 1"/>
-      </default>
-      <default class="blue">
-        <geom rgba=".3 .7 .9 1"/>
-        <site rgba=".3 .7 .9 1"/>
-      </default>
-      <default class="green">
-        <geom rgba=".4 .9 .5 1"/>
-        <site rgba=".4 .9 .5 1"/>
-      </default>
-      <default class="orange">
-        <geom rgba="1 .4 0 1"/>
-        <site rgba="1 .4 0 1"/>
-      </default>
-    </default>
-  </default>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb2="0 0 0" rgb1="1 1 1"/>
-    <material name="grid" texture="grid" texrepeat="2 2" texuniform="true" reflectance=".6"/>
-  </asset>
-
-  <worldbody>
-    <geom name="ground" type="plane" size="5 5 .05" pos="0 0 -.5" material="grid"/>
-    <geom name="ramp" type="box" size=".4 .2 .03" pos="0 0 -.4" euler="0 20 0" rgba="1 1 1 1"/>
-
-    <body name="weight" childclass="weight" pos=".3 0 .2">
-      <freejoint/>
-      <light pos="1 0 3" dir="-1 0 -3" mode="trackcom"/>
-      <light pos="-1 0 3" dir="1 0 -3" mode="trackcom"/>
-      <!-- The mass of the weight was chosen to be slightly bigger than the total buoyancy of the balloons. -->
-      <geom name="weight" type="box" size=".015 .015 .015" mass=".0347"/>
-      <site name="weight1" pos=" .013  .013 .013" size="0.005"/>
-      <site name="weight2" pos="-.013 -.013 .013" size="0.005"/>
-    </body>
-
-    <!-- The gravcomp value of 7.2 is the ratio of air and helium densities at room temperature. -->
-    <body name="pink" gravcomp="7.2" pos="-.2 .1 .2" childclass="pink">
-      <freejoint />
-      <geom name="pink" type="ellipsoid" size=".11 .11 .15"/>
-      <geom name="pink_knot" pos="0 0 -.15" size=".02"/>
-      <site name="pink" pos="0 0 -.17" size="0.01"/>
-    </body>
-
-    <body name="blue" gravcomp="7.2" pos=".1 .1 .2" childclass="blue">
-      <freejoint />
-      <geom name="blue" type="ellipsoid" size=".12 .12 .15"/>
-      <geom name="blue_knot" pos="0 0 -.15" size=".02"/>
-      <site name="blue" pos="0 0 -.17" size="0.01"/>
-    </body>
-
-    <body name="green" gravcomp="7.2" pos=".1 -.1 .2" childclass="green">
-      <freejoint />
-      <geom name="green" type="ellipsoid" size=".12 .12 .14"/>
-      <geom name="green_knot" pos="0 0 -.14" size=".02"/>
-      <site name="green" pos="0 0 -.16" size="0.01"/>
-    </body>
-
-    <body name="orange" gravcomp="7.2" pos="-.12 -.12 .2" childclass="orange">
-      <freejoint />
-      <geom name="orange" type="ellipsoid" size=".12 .12 .13"/>
-      <geom name="orange_knot" pos="0 0 -.13" size=".02"/>
-      <site name="orange" pos="0 0 -.15" size="0.01"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial range="0 0.6">
-      <site site="pink"/>
-      <site site="weight1"/>
-    </spatial>
-    <spatial range="0 0.4">
-      <site site="blue"/>
-      <site site="weight1"/>
-    </spatial>
-    <spatial range="0 0.3">
-      <site site="green"/>
-      <site site="weight2"/>
-    </spatial>
-    <spatial range="0 0.5">
-      <site site="orange"/>
-      <site site="weight2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/model/car/car.xml b/model/car/car.xml
deleted file mode 100644
index 0ab791f0..00000000
--- a/model/car/car.xml
+++ /dev/null
@@ -1,72 +0,0 @@
-<mujoco>
-  <compiler autolimits="true"/>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-    <mesh name="chasis" scale=".01 .006 .0015"
-      vertex=" 9   2   0
-              -10  10  10
-               9  -2   0
-               10  3  -10
-               10 -3  -10
-              -8   10 -10
-              -10 -10  10
-              -8  -10 -10
-              -5   0   20"/>
-  </asset>
-
-  <default>
-    <joint damping=".03" actuatorfrcrange="-0.5 0.5"/>
-    <default class="wheel">
-      <geom type="cylinder" size=".03 .01" rgba=".5 .5 1 1"/>
-    </default>
-    <default class="decor">
-      <site type="box" rgba=".5 1 .5 1"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom type="plane" size="3 3 .01" material="grid"/>
-    <body name="car" pos="0 0 .03">
-      <freejoint/>
-      <light name="top light" pos="0 0 2" mode="trackcom" diffuse=".4 .4 .4"/>
-      <geom name="chasis" type="mesh" mesh="chasis"/>
-      <geom name="front wheel" pos=".08 0 -.015" type="sphere" size=".015" condim="1" priority="1"/>
-      <light name="front light" pos=".1 0 .02" dir="2 0 -1" diffuse="1 1 1"/>
-      <body name="left wheel" pos="-.07 .06 0" zaxis="0 1 0">
-        <joint name="left"/>
-        <geom class="wheel"/>
-        <site class="decor" size=".006 .025 .012"/>
-        <site class="decor" size=".025 .006 .012"/>
-      </body>
-      <body name="right wheel" pos="-.07 -.06 0" zaxis="0 1 0">
-        <joint name="right"/>
-        <geom class="wheel"/>
-        <site class="decor" size=".006 .025 .012"/>
-        <site class="decor" size=".025 .006 .012"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <fixed name="forward">
-      <joint joint="left" coef=".5"/>
-      <joint joint="right" coef=".5"/>
-    </fixed>
-    <fixed name="turn">
-      <joint joint="left" coef="-.5"/>
-      <joint joint="right" coef=".5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="forward" tendon="forward" ctrlrange="-1 1"/>
-    <motor name="turn" tendon="turn" ctrlrange="-1 1"/>
-  </actuator>
-
-  <sensor>
-    <jointactuatorfrc name="right" joint="right"/>
-    <jointactuatorfrc name="left" joint="left"/>
-  </sensor>
-</mujoco>
diff --git a/model/cards/assets/10_of_clubs.png b/model/cards/assets/10_of_clubs.png
deleted file mode 100644
index dd0de41b..00000000
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diff --git a/model/cards/assets/10_of_diamonds.png b/model/cards/assets/10_of_diamonds.png
deleted file mode 100644
index 38e81355..00000000
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diff --git a/model/cards/assets/10_of_hearts.png b/model/cards/assets/10_of_hearts.png
deleted file mode 100644
index f5cd7a93..00000000
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diff --git a/model/cards/assets/10_of_spades.png b/model/cards/assets/10_of_spades.png
deleted file mode 100644
index ce6f1aa9..00000000
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diff --git a/model/cards/assets/2_of_clubs.png b/model/cards/assets/2_of_clubs.png
deleted file mode 100644
index 09c9020e..00000000
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diff --git a/model/cards/assets/2_of_diamonds.png b/model/cards/assets/2_of_diamonds.png
deleted file mode 100644
index a66ad3ec..00000000
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diff --git a/model/cards/assets/2_of_hearts.png b/model/cards/assets/2_of_hearts.png
deleted file mode 100644
index 4887213b..00000000
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diff --git a/model/cards/assets/2_of_spades.png b/model/cards/assets/2_of_spades.png
deleted file mode 100644
index 922e87a5..00000000
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diff --git a/model/cards/assets/3_of_clubs.png b/model/cards/assets/3_of_clubs.png
deleted file mode 100644
index 1c4ca94b..00000000
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diff --git a/model/cards/assets/3_of_diamonds.png b/model/cards/assets/3_of_diamonds.png
deleted file mode 100644
index 08500cc4..00000000
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diff --git a/model/cards/assets/3_of_hearts.png b/model/cards/assets/3_of_hearts.png
deleted file mode 100644
index 89fb22b6..00000000
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diff --git a/model/cards/assets/3_of_spades.png b/model/cards/assets/3_of_spades.png
deleted file mode 100644
index b3fe84bb..00000000
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diff --git a/model/cards/assets/4_of_clubs.png b/model/cards/assets/4_of_clubs.png
deleted file mode 100644
index 90ce93a5..00000000
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diff --git a/model/cards/assets/4_of_diamonds.png b/model/cards/assets/4_of_diamonds.png
deleted file mode 100644
index 1aec8aa8..00000000
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diff --git a/model/cards/assets/4_of_hearts.png b/model/cards/assets/4_of_hearts.png
deleted file mode 100644
index 9caaab0b..00000000
Binary files a/model/cards/assets/4_of_hearts.png and /dev/null differ
diff --git a/model/cards/assets/4_of_spades.png b/model/cards/assets/4_of_spades.png
deleted file mode 100644
index 6ea10e4d..00000000
Binary files a/model/cards/assets/4_of_spades.png and /dev/null differ
diff --git a/model/cards/assets/5_of_clubs.png b/model/cards/assets/5_of_clubs.png
deleted file mode 100644
index 01c392b3..00000000
Binary files a/model/cards/assets/5_of_clubs.png and /dev/null differ
diff --git a/model/cards/assets/5_of_diamonds.png b/model/cards/assets/5_of_diamonds.png
deleted file mode 100644
index adc97528..00000000
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diff --git a/model/cards/assets/5_of_hearts.png b/model/cards/assets/5_of_hearts.png
deleted file mode 100644
index c91e1f98..00000000
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diff --git a/model/cards/assets/5_of_spades.png b/model/cards/assets/5_of_spades.png
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index a26ed7dd..00000000
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diff --git a/model/cards/assets/6_of_clubs.png b/model/cards/assets/6_of_clubs.png
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index 14382a78..00000000
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diff --git a/model/cards/assets/6_of_diamonds.png b/model/cards/assets/6_of_diamonds.png
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index 42b82e71..00000000
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diff --git a/model/cards/assets/6_of_hearts.png b/model/cards/assets/6_of_hearts.png
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index 53ec5c1b..00000000
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diff --git a/model/cards/assets/6_of_spades.png b/model/cards/assets/6_of_spades.png
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index eebfc8ce..00000000
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diff --git a/model/cards/assets/7_of_clubs.png b/model/cards/assets/7_of_clubs.png
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index 6d29388a..00000000
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diff --git a/model/cards/assets/7_of_diamonds.png b/model/cards/assets/7_of_diamonds.png
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index a8274b67..00000000
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diff --git a/model/cards/assets/7_of_hearts.png b/model/cards/assets/7_of_hearts.png
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index 5d4f9dac..00000000
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diff --git a/model/cards/assets/7_of_spades.png b/model/cards/assets/7_of_spades.png
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index f3ab5a54..00000000
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diff --git a/model/cards/assets/8_of_clubs.png b/model/cards/assets/8_of_clubs.png
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index 524206a0..00000000
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diff --git a/model/cards/assets/8_of_diamonds.png b/model/cards/assets/8_of_diamonds.png
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index 8ac3f167..00000000
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diff --git a/model/cards/assets/8_of_hearts.png b/model/cards/assets/8_of_hearts.png
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index 18235cf9..00000000
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diff --git a/model/cards/assets/8_of_spades.png b/model/cards/assets/8_of_spades.png
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index 1b4e68e8..00000000
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diff --git a/model/cards/assets/9_of_clubs.png b/model/cards/assets/9_of_clubs.png
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index a43fea43..00000000
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diff --git a/model/cards/assets/9_of_diamonds.png b/model/cards/assets/9_of_diamonds.png
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index 5482caec..00000000
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diff --git a/model/cards/assets/9_of_hearts.png b/model/cards/assets/9_of_hearts.png
deleted file mode 100644
index e7373e92..00000000
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diff --git a/model/cards/assets/9_of_spades.png b/model/cards/assets/9_of_spades.png
deleted file mode 100644
index 947c7f29..00000000
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diff --git a/model/cards/assets/ace_of_clubs.png b/model/cards/assets/ace_of_clubs.png
deleted file mode 100644
index b3ccb41f..00000000
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diff --git a/model/cards/assets/ace_of_diamonds.png b/model/cards/assets/ace_of_diamonds.png
deleted file mode 100644
index 1d6245a3..00000000
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diff --git a/model/cards/assets/ace_of_hearts.png b/model/cards/assets/ace_of_hearts.png
deleted file mode 100644
index 430b3ad9..00000000
Binary files a/model/cards/assets/ace_of_hearts.png and /dev/null differ
diff --git a/model/cards/assets/ace_of_spades.png b/model/cards/assets/ace_of_spades.png
deleted file mode 100644
index d706ffe2..00000000
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diff --git a/model/cards/assets/black_joker.png b/model/cards/assets/black_joker.png
deleted file mode 100644
index feba1cb2..00000000
Binary files a/model/cards/assets/black_joker.png and /dev/null differ
diff --git a/model/cards/assets/card.obj b/model/cards/assets/card.obj
deleted file mode 100644
index a2d35a25..00000000
--- a/model/cards/assets/card.obj
+++ /dev/null
@@ -1,232 +0,0 @@
-# Blender 3.5.1
-# www.blender.org
-mtllib playing_card_tris.mtl
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-f 13/28/21 15/33/21 14/31/21
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-f 8/17/21 7/15/21 6/13/21
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-f 17/37/21 11/24/21 16/35/21
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diff --git a/model/cards/assets/jack_of_clubs.png b/model/cards/assets/jack_of_clubs.png
deleted file mode 100644
index db008825..00000000
Binary files a/model/cards/assets/jack_of_clubs.png and /dev/null differ
diff --git a/model/cards/assets/jack_of_diamonds.png b/model/cards/assets/jack_of_diamonds.png
deleted file mode 100644
index 89315d59..00000000
Binary files a/model/cards/assets/jack_of_diamonds.png and /dev/null differ
diff --git a/model/cards/assets/jack_of_hearts.png b/model/cards/assets/jack_of_hearts.png
deleted file mode 100644
index e68eaf99..00000000
Binary files a/model/cards/assets/jack_of_hearts.png and /dev/null differ
diff --git a/model/cards/assets/jack_of_spades.png b/model/cards/assets/jack_of_spades.png
deleted file mode 100644
index 116da6fc..00000000
Binary files a/model/cards/assets/jack_of_spades.png and /dev/null differ
diff --git a/model/cards/assets/king_of_clubs.png b/model/cards/assets/king_of_clubs.png
deleted file mode 100644
index babebaa3..00000000
Binary files a/model/cards/assets/king_of_clubs.png and /dev/null differ
diff --git a/model/cards/assets/king_of_diamonds.png b/model/cards/assets/king_of_diamonds.png
deleted file mode 100644
index ff742a58..00000000
Binary files a/model/cards/assets/king_of_diamonds.png and /dev/null differ
diff --git a/model/cards/assets/king_of_hearts.png b/model/cards/assets/king_of_hearts.png
deleted file mode 100644
index 8f5e7cd0..00000000
Binary files a/model/cards/assets/king_of_hearts.png and /dev/null differ
diff --git a/model/cards/assets/king_of_spades.png b/model/cards/assets/king_of_spades.png
deleted file mode 100644
index 8148c985..00000000
Binary files a/model/cards/assets/king_of_spades.png and /dev/null differ
diff --git a/model/cards/assets/queen_of_clubs.png b/model/cards/assets/queen_of_clubs.png
deleted file mode 100644
index 4ead9d6b..00000000
Binary files a/model/cards/assets/queen_of_clubs.png and /dev/null differ
diff --git a/model/cards/assets/queen_of_diamonds.png b/model/cards/assets/queen_of_diamonds.png
deleted file mode 100644
index 6c851a95..00000000
Binary files a/model/cards/assets/queen_of_diamonds.png and /dev/null differ
diff --git a/model/cards/assets/queen_of_hearts.png b/model/cards/assets/queen_of_hearts.png
deleted file mode 100644
index 50ed82e4..00000000
Binary files a/model/cards/assets/queen_of_hearts.png and /dev/null differ
diff --git a/model/cards/assets/queen_of_spades.png b/model/cards/assets/queen_of_spades.png
deleted file mode 100644
index 47a75273..00000000
Binary files a/model/cards/assets/queen_of_spades.png and /dev/null differ
diff --git a/model/cards/assets/red_joker.png b/model/cards/assets/red_joker.png
deleted file mode 100644
index 94dd8ccf..00000000
Binary files a/model/cards/assets/red_joker.png and /dev/null differ
diff --git a/model/cards/cards.xml b/model/cards/cards.xml
deleted file mode 100644
index efaa230f..00000000
--- a/model/cards/cards.xml
+++ /dev/null
@@ -1,519 +0,0 @@
-<mujoco>
-  <compiler assetdir="assets"/>
-
-  <size memory="5M"/>
-
-  <statistic extent="0.5" center="0 -.5 0"/>
-
-  <visual>
-    <global realtime="0.3" cameraid="0"/>
-    <map znear="0.1" zfar="10"/>
-    <quality shadowsize="8192"/>
-  </visual>
-
-  <option density="1.225" viscosity="1.8e-5" timestep="1e-3" integrator="implicitfast"/>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="100" height="100"/>
-    <material name="grid" texture="grid" texrepeat="8 8" texuniform="true" reflectance=".2"/>
-
-    <mesh file="card.obj"/>
-
-    <texture type="2d" file="2_of_clubs.png"/>
-    <material name="2_of_clubs" texture="2_of_clubs"/>
-
-    <texture type="2d" file="2_of_diamonds.png"/>
-    <material name="2_of_diamonds" texture="2_of_diamonds"/>
-
-    <texture type="2d" file="2_of_hearts.png"/>
-    <material name="2_of_hearts" texture="2_of_hearts"/>
-
-    <texture type="2d" file="2_of_spades.png"/>
-    <material name="2_of_spades" texture="2_of_spades"/>
-
-    <texture type="2d" file="3_of_clubs.png"/>
-    <material name="3_of_clubs" texture="3_of_clubs"/>
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-    <texture type="2d" file="3_of_diamonds.png"/>
-    <material name="3_of_diamonds" texture="3_of_diamonds"/>
-
-    <texture type="2d" file="3_of_hearts.png"/>
-    <material name="3_of_hearts" texture="3_of_hearts"/>
-
-    <texture type="2d" file="3_of_spades.png"/>
-    <material name="3_of_spades" texture="3_of_spades"/>
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-    <texture type="2d" file="4_of_clubs.png"/>
-    <material name="4_of_clubs" texture="4_of_clubs"/>
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-    <texture type="2d" file="4_of_diamonds.png"/>
-    <material name="4_of_diamonds" texture="4_of_diamonds"/>
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-    <texture type="2d" file="4_of_hearts.png"/>
-    <material name="4_of_hearts" texture="4_of_hearts"/>
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-    <texture type="2d" file="4_of_spades.png"/>
-    <material name="4_of_spades" texture="4_of_spades"/>
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-    <texture type="2d" file="5_of_clubs.png"/>
-    <material name="5_of_clubs" texture="5_of_clubs"/>
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-    <texture type="2d" file="5_of_diamonds.png"/>
-    <material name="5_of_diamonds" texture="5_of_diamonds"/>
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-    <texture type="2d" file="5_of_hearts.png"/>
-    <material name="5_of_hearts" texture="5_of_hearts"/>
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-    <texture type="2d" file="5_of_spades.png"/>
-    <material name="5_of_spades" texture="5_of_spades"/>
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-    <texture type="2d" file="6_of_clubs.png"/>
-    <material name="6_of_clubs" texture="6_of_clubs"/>
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-    <texture type="2d" file="6_of_diamonds.png"/>
-    <material name="6_of_diamonds" texture="6_of_diamonds"/>
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-    <texture type="2d" file="6_of_hearts.png"/>
-    <material name="6_of_hearts" texture="6_of_hearts"/>
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-    <texture type="2d" file="6_of_spades.png"/>
-    <material name="6_of_spades" texture="6_of_spades"/>
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-    <texture type="2d" file="7_of_clubs.png"/>
-    <material name="7_of_clubs" texture="7_of_clubs"/>
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-    <texture type="2d" file="7_of_diamonds.png"/>
-    <material name="7_of_diamonds" texture="7_of_diamonds"/>
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-    <texture type="2d" file="7_of_hearts.png"/>
-    <material name="7_of_hearts" texture="7_of_hearts"/>
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-    <texture type="2d" file="7_of_spades.png"/>
-    <material name="7_of_spades" texture="7_of_spades"/>
-
-    <texture type="2d" file="8_of_clubs.png"/>
-    <material name="8_of_clubs" texture="8_of_clubs"/>
-
-    <texture type="2d" file="8_of_diamonds.png"/>
-    <material name="8_of_diamonds" texture="8_of_diamonds"/>
-
-    <texture type="2d" file="8_of_hearts.png"/>
-    <material name="8_of_hearts" texture="8_of_hearts"/>
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-    <texture type="2d" file="8_of_spades.png"/>
-    <material name="8_of_spades" texture="8_of_spades"/>
-
-    <texture type="2d" file="9_of_clubs.png"/>
-    <material name="9_of_clubs" texture="9_of_clubs"/>
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-    <texture type="2d" file="9_of_diamonds.png"/>
-    <material name="9_of_diamonds" texture="9_of_diamonds"/>
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-    <texture type="2d" file="9_of_hearts.png"/>
-    <material name="9_of_hearts" texture="9_of_hearts"/>
-
-    <texture type="2d" file="9_of_spades.png"/>
-    <material name="9_of_spades" texture="9_of_spades"/>
-
-    <texture type="2d" file="10_of_clubs.png"/>
-    <material name="10_of_clubs" texture="10_of_clubs"/>
-
-    <texture type="2d" file="10_of_diamonds.png"/>
-    <material name="10_of_diamonds" texture="10_of_diamonds"/>
-
-    <texture type="2d" file="10_of_hearts.png"/>
-    <material name="10_of_hearts" texture="10_of_hearts"/>
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-    <texture type="2d" file="10_of_spades.png"/>
-    <material name="10_of_spades" texture="10_of_spades"/>
-
-    <texture type="2d" file="ace_of_clubs.png"/>
-    <material name="ace_of_clubs" texture="ace_of_clubs"/>
-
-    <texture type="2d" file="ace_of_diamonds.png"/>
-    <material name="ace_of_diamonds" texture="ace_of_diamonds"/>
-
-    <texture type="2d" file="ace_of_hearts.png"/>
-    <material name="ace_of_hearts" texture="ace_of_hearts"/>
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-    <texture type="2d" file="ace_of_spades.png"/>
-    <material name="ace_of_spades" texture="ace_of_spades"/>
-
-    <texture type="2d" file="black_joker.png"/>
-    <material name="black_joker" texture="black_joker"/>
-
-    <texture type="2d" file="jack_of_clubs.png"/>
-    <material name="jack_of_clubs" texture="jack_of_clubs"/>
-
-    <texture type="2d" file="jack_of_diamonds.png"/>
-    <material name="jack_of_diamonds" texture="jack_of_diamonds"/>
-
-    <texture type="2d" file="jack_of_hearts.png"/>
-    <material name="jack_of_hearts" texture="jack_of_hearts"/>
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-    <texture type="2d" file="jack_of_spades.png"/>
-    <material name="jack_of_spades" texture="jack_of_spades"/>
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-    <texture type="2d" file="king_of_clubs.png"/>
-    <material name="king_of_clubs" texture="king_of_clubs"/>
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-    <texture type="2d" file="king_of_diamonds.png"/>
-    <material name="king_of_diamonds" texture="king_of_diamonds"/>
-
-    <texture type="2d" file="king_of_hearts.png"/>
-    <material name="king_of_hearts" texture="king_of_hearts"/>
-
-    <texture type="2d" file="king_of_spades.png"/>
-    <material name="king_of_spades" texture="king_of_spades"/>
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-    <texture type="2d" file="queen_of_clubs.png"/>
-    <material name="queen_of_clubs" texture="queen_of_clubs"/>
-
-    <texture type="2d" file="queen_of_diamonds.png"/>
-    <material name="queen_of_diamonds" texture="queen_of_diamonds"/>
-
-    <texture type="2d" file="queen_of_hearts.png"/>
-    <material name="queen_of_hearts" texture="queen_of_hearts"/>
-
-    <texture type="2d" file="queen_of_spades.png"/>
-    <material name="queen_of_spades" texture="queen_of_spades"/>
-  </asset>
-
-  <default>
-    <geom solref=".5e-4" solimp="0.9 0.99 1e-4" fluidcoef="0.5 0.25 0.5 2.0 1.0"/>
-    <default class="card">
-      <geom type="mesh" mesh="card" mass="1.84e-4" fluidshape="ellipsoid" contype="0" conaffinity="0"/>
-    </default>
-    <default class="collision">
-      <geom type="box" mass="0" size="0.047 0.032 .00035" group="3" friction=".1"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light cutoff="30" pos="0 1 1" dir="0 -1 -2"/>
-    <light cutoff="30" pos="0 -1 1" dir="0 1 -2"/>
-    <camera name="cinematic" pos="0.119 -0.507 0.239" xyaxes="1 0 0 0 0.608 0.794"  mode="trackcom" fovy="40"/>
-
-    <geom type="plane" size="5 5 .01" pos="0 0 -1" material="grid"/>
-    <geom type="capsule" size="0.03" fromto=".1 -.1 -.3 .1 .1 -.3"/>
-
-    <body pos="0.000 -0.040 -0.000" euler="-100 180 0">
-      <freejoint/>
-      <geom class="card" material="2_of_clubs"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.005 -0.037 -0.005" euler="-103 180 0">
-      <freejoint/>
-      <geom class="card" material="2_of_diamonds"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.010 -0.034 -0.010" euler="-106 180 0">
-      <freejoint/>
-      <geom class="card" material="2_of_hearts"/>
-      <geom class="collision"/>
-    </body>
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-    <body pos="0.015 -0.031 -0.015" euler="-109 180 0">
-      <freejoint/>
-      <geom class="card" material="2_of_spades"/>
-      <geom class="collision"/>
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-    <body pos="0.020 -0.029 -0.020" euler="-112 180 0">
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-      <geom class="card" material="3_of_clubs"/>
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-    <body pos="0.025 -0.026 -0.025" euler="-115 180 0">
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-      <geom class="card" material="3_of_diamonds"/>
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-    <body pos="0.030 -0.024 -0.030" euler="-118 180 0">
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-      <geom class="card" material="3_of_hearts"/>
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-    <body pos="0.035 -0.021 -0.035" euler="-121 180 0">
-      <freejoint/>
-      <geom class="card" material="3_of_spades"/>
-      <geom class="collision"/>
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-    <body pos="0.040 -0.019 -0.040" euler="-124 180 0">
-      <freejoint/>
-      <geom class="card" material="4_of_clubs"/>
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-    <body pos="0.045 -0.017 -0.045" euler="-127 180 0">
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-      <geom class="card" material="4_of_diamonds"/>
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-      <geom class="card" material="4_of_hearts"/>
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-      <geom class="card" material="4_of_spades"/>
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-    <body pos="0.060 -0.012 -0.060" euler="-136 180 0">
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-      <geom class="card" material="5_of_clubs"/>
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-    <body pos="0.210 -0.015 -0.210" euler="-226 180 0">
-      <freejoint/>
-      <geom class="card" material="jack_of_diamonds"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.215 -0.017 -0.215" euler="-229 180 0">
-      <freejoint/>
-      <geom class="card" material="jack_of_hearts"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.220 -0.019 -0.220" euler="-232 180 0">
-      <freejoint/>
-      <geom class="card" material="jack_of_spades"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.225 -0.021 -0.225" euler="-235 180 0">
-      <freejoint/>
-      <geom class="card" material="king_of_clubs"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.230 -0.024 -0.230" euler="-238 180 0">
-      <freejoint/>
-      <geom class="card" material="king_of_diamonds"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.235 -0.026 -0.235" euler="-241 180 0">
-      <freejoint/>
-      <geom class="card" material="king_of_hearts"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.240 -0.029 -0.240" euler="-244 180 0">
-      <freejoint/>
-      <geom class="card" material="king_of_spades"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.245 -0.031 -0.245" euler="-247 180 0">
-      <freejoint/>
-      <geom class="card" material="queen_of_clubs"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.250 -0.034 -0.250" euler="-250 180 0">
-      <freejoint/>
-      <geom class="card" material="queen_of_diamonds"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.255 -0.037 -0.255" euler="-253 180 0">
-      <freejoint/>
-      <geom class="card" material="queen_of_hearts"/>
-      <geom class="collision"/>
-    </body>
-
-    <body pos="0.260 -0.040 -0.260" euler="-256 180 0">
-      <freejoint/>
-      <geom class="card" material="queen_of_spades"/>
-      <geom class="collision"/>
-    </body>
-
-  </worldbody>
-</mujoco>
diff --git a/model/cube/README.md b/model/cube/README.md
deleted file mode 100644
index 7b26816e..00000000
--- a/model/cube/README.md
+++ /dev/null
@@ -1,7 +0,0 @@
-# 魔方（Cube）
-
-该模型由 Kevin Zakka 贡献。关于其创建的详细信息，请参阅相关[代码仓库](https://github.com/kevinzakka/mujoco_cube)。
-
-点击下方视频查看用户与魔方交互的演示：
-
-[![3x3x3 魔方示例模型](https://img.youtube.com/vi/ZppeDArq6AU/0.jpg)](https://www.youtube.com/watch?v=ZppeDArq6AU)
diff --git a/model/cube/assets/blue.png b/model/cube/assets/blue.png
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diff --git a/model/cube/assets/blue_orange.png b/model/cube/assets/blue_orange.png
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index 43699ea8..00000000
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diff --git a/model/cube/assets/blue_orange_white.png b/model/cube/assets/blue_orange_white.png
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index b40f9628..00000000
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diff --git a/model/cube/assets/blue_orange_yellow.png b/model/cube/assets/blue_orange_yellow.png
deleted file mode 100644
index 474a5019..00000000
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diff --git a/model/cube/assets/blue_red.png b/model/cube/assets/blue_red.png
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index e33a63c2..00000000
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diff --git a/model/cube/assets/blue_red_white.png b/model/cube/assets/blue_red_white.png
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index 845df7d0..00000000
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diff --git a/model/cube/assets/blue_red_yellow.png b/model/cube/assets/blue_red_yellow.png
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index 2aba36aa..00000000
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diff --git a/model/cube/assets/blue_white.png b/model/cube/assets/blue_white.png
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index 444824b7..00000000
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diff --git a/model/cube/assets/blue_yellow.png b/model/cube/assets/blue_yellow.png
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index e4b61f11..00000000
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diff --git a/model/cube/assets/green.png b/model/cube/assets/green.png
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index 1c51ba77..00000000
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diff --git a/model/cube/assets/green_orange.png b/model/cube/assets/green_orange.png
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index efee6f27..00000000
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diff --git a/model/cube/assets/green_orange_white.png b/model/cube/assets/green_orange_white.png
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index 43d08c1c..00000000
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diff --git a/model/cube/assets/green_orange_yellow.png b/model/cube/assets/green_orange_yellow.png
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index ba41e8e5..00000000
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diff --git a/model/cube/assets/green_red.png b/model/cube/assets/green_red.png
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index 88e526db..00000000
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diff --git a/model/cube/assets/green_red_white.png b/model/cube/assets/green_red_white.png
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index 2884a2e9..00000000
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diff --git a/model/cube/assets/green_red_yellow.png b/model/cube/assets/green_red_yellow.png
deleted file mode 100644
index d4e9d2ea..00000000
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diff --git a/model/cube/assets/green_white.png b/model/cube/assets/green_white.png
deleted file mode 100644
index be1d4f97..00000000
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diff --git a/model/cube/assets/green_yellow.png b/model/cube/assets/green_yellow.png
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index 81bf24d4..00000000
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diff --git a/model/cube/assets/orange.png b/model/cube/assets/orange.png
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index ca119b0c..00000000
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diff --git a/model/cube/assets/orange_red.png b/model/cube/assets/orange_red.png
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index 64b04234..00000000
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diff --git a/model/cube/assets/orange_white.png b/model/cube/assets/orange_white.png
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index 8f5be9e6..00000000
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diff --git a/model/cube/assets/orange_yellow.png b/model/cube/assets/orange_yellow.png
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index c06088c4..00000000
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diff --git a/model/cube/assets/red.png b/model/cube/assets/red.png
deleted file mode 100644
index 53692919..00000000
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diff --git a/model/cube/assets/red_white.png b/model/cube/assets/red_white.png
deleted file mode 100644
index 87ca970e..00000000
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diff --git a/model/cube/assets/red_yellow.png b/model/cube/assets/red_yellow.png
deleted file mode 100644
index 279d8906..00000000
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diff --git a/model/cube/assets/white.png b/model/cube/assets/white.png
deleted file mode 100644
index 32b5738e..00000000
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diff --git a/model/cube/assets/yellow.png b/model/cube/assets/yellow.png
deleted file mode 100644
index 67c542e3..00000000
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diff --git a/model/cube/cube_3x3x3.xml b/model/cube/cube_3x3x3.xml
deleted file mode 100644
index 5cc025cf..00000000
--- a/model/cube/cube_3x3x3.xml
+++ /dev/null
@@ -1,213 +0,0 @@
-<mujoco model="Cube 3x3x3">
-  <compiler autolimits="true" texturedir="assets"/>
-
-  <option timestep="0.01" integrator="implicitfast"/>
-
-  <size memory="600K"/>
-
-  <visual>
-    <global azimuth="180" elevation="-20"/>
-    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0"/>
-  </visual>
-
-  <statistic meansize="0.0087" extent="0.1"/>
-
-  <default>
-    <geom mass="0.00253704"/>
-    <motor ctrlrange="-0.05 0.05"/>
-    <default class="cubelet">
-      <joint type="ball" armature="0.0001" damping="0.0005" frictionloss="0.001"/>
-      <geom type="mesh" condim="1" mesh="cubelet" euler="0 0 90"/>
-    </default>
-    <default class="core">
-      <geom type="sphere" contype="0" conaffinity="0" group="4" size="0.01"/>
-    </default>
-  </default>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" width="512" height="512"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....F......" file="white.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....B......" file="yellow.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....D......" file="red.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....U......" file="orange.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....R......" file="blue.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....L......" file="green.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....DF....." file="red_white.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....UF....." file="orange_white.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RF....." file="blue_white.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LF....." file="green_white.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....DB....." file="red_yellow.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....UB....." file="orange_yellow.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RB....." file="blue_yellow.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LB....." file="green_yellow.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....UD....." file="orange_red.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RD....." file="blue_red.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LD....." file="green_red.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RU....." file="blue_orange.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LU....." file="green_orange.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RDF...." file="blue_red_white.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LDF...." file="green_red_white.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RUF...." file="blue_orange_white.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LUF...." file="green_orange_white.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RDB...." file="blue_red_yellow.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LDB...." file="green_red_yellow.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RUB...." file="blue_orange_yellow.png"/>
-    <texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LUB...." file="green_orange_yellow.png"/>
-    <material name="white" texture="white"/>
-    <material name="yellow" texture="yellow"/>
-    <material name="red" texture="red"/>
-    <material name="orange" texture="orange"/>
-    <material name="blue" texture="blue"/>
-    <material name="green" texture="green"/>
-    <material name="red_white" texture="red_white"/>
-    <material name="orange_white" texture="orange_white"/>
-    <material name="blue_white" texture="blue_white"/>
-    <material name="green_white" texture="green_white"/>
-    <material name="red_yellow" texture="red_yellow"/>
-    <material name="orange_yellow" texture="orange_yellow"/>
-    <material name="blue_yellow" texture="blue_yellow"/>
-    <material name="green_yellow" texture="green_yellow"/>
-    <material name="orange_red" texture="orange_red"/>
-    <material name="blue_red" texture="blue_red"/>
-    <material name="green_red" texture="green_red"/>
-    <material name="blue_orange" texture="blue_orange"/>
-    <material name="green_orange" texture="green_orange"/>
-    <material name="blue_red_white" texture="blue_red_white"/>
-    <material name="green_red_white" texture="green_red_white"/>
-    <material name="blue_orange_white" texture="blue_orange_white"/>
-    <material name="green_orange_white" texture="green_orange_white"/>
-    <material name="blue_red_yellow" texture="blue_red_yellow"/>
-    <material name="green_red_yellow" texture="green_red_yellow"/>
-    <material name="blue_orange_yellow" texture="blue_orange_yellow"/>
-    <material name="green_orange_yellow" texture="green_orange_yellow"/>
-    <mesh name="cubelet" scale="1e-3 1e-3 1e-3"
-          vertex="8.075   9.5    -8.075  -8.075   9.5    -8.075   8.075   9.5     8.075
-                 -8.075   9.5     8.075  -9.5     8.075  -8.075  -9.5    -8.075  -8.075
-                 -9.5     8.075   8.075  -9.5    -8.075   8.075   8.075  -9.5    -8.075
-                  8.075  -9.5     8.075  -8.075  -9.5    -8.075  -8.075  -9.5     8.075
-                  9.5     8.075   8.075   9.5    -8.075   8.075   9.5     8.075  -8.075
-                  9.5    -8.075  -8.075   8.075   8.075   9.5    -8.075   8.075   9.5
-                  8.075  -8.075   9.5    -8.075  -8.075   9.5     8.075  -8.075  -9.5
-                 -8.075  -8.075  -9.5     8.075   8.075  -9.5    -8.075   8.075  -9.5"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <body name="core" childclass="cubelet">
-      <geom class="core"/>
-      <body name="pX">
-        <joint name="pX" type="hinge" axis="1 0 0"/>
-        <geom material="red" pos="0.019 0 0"/>
-      </body>
-      <body name="nX">
-        <joint name="nX" type="hinge" axis="-1 0 0"/>
-        <geom material="orange" pos="-0.019 0 0"/>
-      </body>
-      <body name="pY">
-        <joint name="pY" type="hinge" axis="0 1 0"/>
-        <geom material="blue" pos="0 0.019 0"/>
-      </body>
-      <body name="nY">
-        <joint name="nY" type="hinge" axis="0 -1 0"/>
-        <geom material="green" pos="0 -0.019 0"/>
-      </body>
-      <body name="pZ">
-        <joint name="pZ" type="hinge" axis="0 0 1"/>
-        <geom material="white" pos="0 0 0.019"/>
-      </body>
-      <body name="nZ">
-        <joint name="nZ" type="hinge" axis="0 0 -1"/>
-        <geom material="yellow" pos="0 0 -0.019"/>
-      </body>
-      <body name="pX_pY">
-        <joint name="pX_pY"/>
-        <geom material="blue_red" pos="0.019 0.019 0"/>
-      </body>
-      <body name="nY_pX">
-        <joint name="nY_pX"/>
-        <geom material="green_red" pos="0.019 -0.019 0"/>
-      </body>
-      <body name="pX_pZ">
-        <joint name="pX_pZ"/>
-        <geom material="red_white" pos="0.019 0 0.019"/>
-      </body>
-      <body name="nZ_pX">
-        <joint name="nZ_pX"/>
-        <geom material="red_yellow" pos="0.019 0 -0.019"/>
-      </body>
-      <body name="nX_pY">
-        <joint name="nX_pY"/>
-        <geom material="blue_orange" pos="-0.019 0.019 0"/>
-      </body>
-      <body name="nX_nY">
-        <joint name="nX_nY"/>
-        <geom material="green_orange" pos="-0.019 -0.019 0"/>
-      </body>
-      <body name="nX_pZ">
-        <joint name="nX_pZ"/>
-        <geom material="orange_white" pos="-0.019 0 0.019"/>
-      </body>
-      <body name="nX_nZ">
-        <joint name="nX_nZ"/>
-        <geom material="orange_yellow" pos="-0.019 0 -0.019"/>
-      </body>
-      <body name="pY_pZ">
-        <joint name="pY_pZ"/>
-        <geom material="blue_white" pos="0 0.019 0.019"/>
-      </body>
-      <body name="nZ_pY">
-        <joint name="nZ_pY"/>
-        <geom material="blue_yellow" pos="0 0.019 -0.019"/>
-      </body>
-      <body name="nY_pZ">
-        <joint name="nY_pZ"/>
-        <geom material="green_white" pos="0 -0.019 0.019"/>
-      </body>
-      <body name="nY_nZ">
-        <joint name="nY_nZ"/>
-        <geom material="green_yellow" pos="0 -0.019 -0.019"/>
-      </body>
-      <body name="pX_pY_pZ">
-        <joint name="pX_pY_pZ"/>
-        <geom material="blue_red_white" pos="0.019 0.019 0.019"/>
-      </body>
-      <body name="nZ_pX_pY">
-        <joint name="nZ_pX_pY"/>
-        <geom material="blue_red_yellow" pos="0.019 0.019 -0.019"/>
-      </body>
-      <body name="nY_pX_pZ">
-        <joint name="nY_pX_pZ"/>
-        <geom material="green_red_white" pos="0.019 -0.019 0.019"/>
-      </body>
-      <body name="nY_nZ_pX">
-        <joint name="nY_nZ_pX"/>
-        <geom material="green_red_yellow" pos="0.019 -0.019 -0.019"/>
-      </body>
-      <body name="nX_pY_pZ">
-        <joint name="nX_pY_pZ"/>
-        <geom material="blue_orange_white" pos="-0.019 0.019 0.019"/>
-      </body>
-      <body name="nX_nZ_pY">
-        <joint name="nX_nZ_pY"/>
-        <geom material="blue_orange_yellow" pos="-0.019 0.019 -0.019"/>
-      </body>
-      <body name="nX_nY_pZ">
-        <joint name="nX_nY_pZ"/>
-        <geom material="green_orange_white" pos="-0.019 -0.019 0.019"/>
-      </body>
-      <body name="nX_nY_nZ">
-        <joint name="nX_nY_nZ"/>
-        <geom material="green_orange_yellow" pos="-0.019 -0.019 -0.019"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="red" joint="pX"/>
-    <motor name="orange" joint="nX"/>
-    <motor name="blue" joint="pY"/>
-    <motor name="green" joint="nY"/>
-    <motor name="white" joint="pZ"/>
-    <motor name="yellow" joint="nZ"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/asset/bag.obj b/model/flex/asset/bag.obj
deleted file mode 100644
index 28829e07..00000000
--- a/model/flex/asset/bag.obj
+++ /dev/null
@@ -1,4551 +0,0 @@
-# Blender 4.3.2
-# www.blender.org
-o Bag_latest
-v 0.165337 0.088503 -0.165337
-v 0.218163 0.088470 -0.060140
-v -0.218163 0.088470 -0.060140
-v -0.165337 0.088503 -0.165337
-v -0.060140 0.088470 -0.218163
-v -0.218163 0.088470 0.060140
-v -0.165337 0.088503 0.165337
-v -0.060140 0.088470 0.218163
-v -0.059294 -0.220792 0.059294
-v -0.059309 -0.057770 0.209322
-v -0.209322 -0.057770 0.059309
-v -0.057428 -0.169496 0.160654
-v -0.141250 -0.148973 0.141250
-v -0.160733 -0.055768 0.160733
-v -0.160654 -0.169496 0.057428
-v -0.218314 0.241300 0.060155
-v -0.060155 0.241300 0.218314
-v -0.165416 0.241300 0.165416
-v -0.059294 -0.220792 -0.059294
-v -0.209322 -0.057770 -0.059309
-v -0.059309 -0.057770 -0.209322
-v -0.160654 -0.169496 -0.057428
-v -0.141250 -0.148973 -0.141250
-v -0.160733 -0.055768 -0.160733
-v -0.057428 -0.169496 -0.160654
-v -0.060155 0.241300 -0.218314
-v -0.218314 0.241300 -0.060155
-v -0.165416 0.241300 -0.165416
-v 0.059294 -0.220792 0.059294
-v 0.209322 -0.057770 0.059309
-v 0.059309 -0.057770 0.209322
-v 0.160654 -0.169496 0.057428
-v 0.141250 -0.148973 0.141250
-v 0.160733 -0.055768 0.160733
-v 0.057428 -0.169496 0.160654
-v 0.060155 0.241300 0.218314
-v 0.218314 0.241300 0.060155
-v 0.165416 0.241300 0.165416
-v 0.059294 -0.220792 -0.059294
-v 0.059309 -0.057770 -0.209322
-v 0.209322 -0.057770 -0.059309
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diff --git a/model/flex/asset/bunny.obj b/model/flex/asset/bunny.obj
deleted file mode 100644
index 9baeb363..00000000
--- a/model/flex/asset/bunny.obj
+++ /dev/null
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diff --git a/model/flex/asset/bunny_with_uv.obj b/model/flex/asset/bunny_with_uv.obj
deleted file mode 100644
index ecd2e8f1..00000000
--- a/model/flex/asset/bunny_with_uv.obj
+++ /dev/null
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-f 1886/1886/1886 1884/1884/1884 1883/1883/1883
-f 1878/1878/1878 1886/1886/1886 1883/1883/1883
-f 2632/2632/2632 2577/2577/2577 1339/1339/1339
-f 1525/1525/1525 1879/1879/1879 744/744/744
-f 1885/1885/1885 1887/1887/1887 1876/1876/1876
-f 1876/1876/1876 1887/1887/1887 1881/1881/1881
-f 1382/1382/1382 1681/1681/1681 842/842/842
-f 1881/1881/1881 1886/1886/1886 1878/1878/1878
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-f 1626/1626/1626 1606/1606/1606 664/664/664
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-f 1639/1639/1639 2619/2619/2619 1884/1884/1884
-f 1886/1886/1886 1639/1639/1639 1884/1884/1884
-f 996/996/996 1478/1478/1478 997/997/997
-f 1889/1889/1889 1890/1890/1890 1860/1860/1860
-f 1891/1891/1891 1868/1868/1868 1892/1892/1892
-f 1202/1202/1202 605/605/605 1479/1479/1479
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-f 1526/1526/1526 1525/1525/1525 744/744/744
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-f 1905/1905/1905 1832/1832/1832 1408/1408/1408
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-f 1907/1907/1907 1908/1908/1908 1836/1836/1836
-f 1908/1908/1908 1909/1909/1909 1836/1836/1836
-f 1909/1909/1909 1634/1634/1634 1836/1836/1836
-f 445/445/445 1894/1894/1894 1525/1525/1525
-f 1886/1886/1886 1910/1910/1910 1639/1639/1639
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-f 1920/1920/1920 1921/1921/1921 1922/1922/1922
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-f 1917/1917/1917 1710/1710/1710 1634/1634/1634
-f 1910/1910/1910 1926/1926/1926 2618/2618/2618
-f 1920/1920/1920 121/121/121 1921/1921/1921
-f 1888/1888/1888 784/784/784 1432/1432/1432
-f 1871/1871/1871 1927/1927/1927 1906/1906/1906
-f 1924/1924/1924 1928/1928/1928 1925/1925/1925
-f 1925/1925/1925 1917/1917/1917 1909/1909/1909
-f 816/816/816 1168/1168/1168 1265/1265/1265
-f 1918/1918/1918 1910/1910/1910 1886/1886/1886
-f 664/664/664 665/665/665 855/855/855
-f 77/77/77 1605/1605/1605 1197/1197/1197
-f 1921/1921/1921 121/121/121 1386/1386/1386
-f 1860/1860/1860 1890/1890/1890 1861/1861/1861
-f 1927/1927/1927 1923/1923/1923 1906/1906/1906
-f 1906/1906/1906 1923/1923/1923 1913/1913/1913
-f 1710/1710/1710 1917/1917/1917 1925/1925/1925
-f 1287/1287/1287 1286/1286/1286 2603/2603/2603
-f 1929/1929/1929 1918/1918/1918 1887/1887/1887
-f 1885/1885/1885 1929/1929/1929 1887/1887/1887
-f 1888/1888/1888 1862/1862/1862 784/784/784
-f 1184/1184/1184 1930/1930/1930 1927/1927/1927
-f 1871/1871/1871 1184/1184/1184 1927/1927/1927
-f 1923/1923/1923 1931/1931/1931 1914/1914/1914
-f 1710/1710/1710 1450/1450/1450 1916/1916/1916
-f 1918/1918/1918 1932/1932/1932 1910/1910/1910
-f 1910/1910/1910 1932/1932/1932 1926/1926/1926
-f 1468/1468/1468 831/831/831 833/833/833
-f 1630/1630/1630 1212/1212/1212 1482/1482/1482
-f 1362/1362/1362 1438/1438/1438 419/419/419
-f 99/99/99 101/101/101 1668/1668/1668
-f 288/288/288 1291/1291/1291 287/287/287
-f 1921/1921/1921 1385/1385/1385 1933/1933/1933
-f 1934/1934/1934 1930/1930/1930 1184/1184/1184
-f 1927/1927/1927 1935/1935/1935 1923/1923/1923
-f 1914/1914/1914 1931/1931/1931 1924/1924/1924
-f 1894/1894/1894 1929/1929/1929 1885/1885/1885
-f 2632/2632/2632 1339/1339/1339 1400/1400/1400
-f 857/857/857 876/876/876 821/821/821
-f 1936/1936/1936 1523/1523/1523 1937/1937/1937
-f 1936/1936/1936 859/859/859 1938/1938/1938
-f 1936/1936/1936 1939/1939/1939 859/859/859
-f 1939/1939/1939 1940/1940/1940 859/859/859
-f 1800/1800/1800 1821/1821/1821 1356/1356/1356
-f 1934/1934/1934 1941/1941/1941 1930/1930/1930
-f 1927/1927/1927 1930/1930/1930 1935/1935/1935
-f 1928/1928/1928 1557/1557/1557 1925/1925/1925
-f 216/216/216 1710/1710/1710 1925/1925/1925
-f 1557/1557/1557 216/216/216 1925/1925/1925
-f 1355/1355/1355 1800/1800/1800 1356/1356/1356
-f 1821/1821/1821 1942/1942/1942 1356/1356/1356
-f 1926/1926/1926 2642/2642/2642 2618/2618/2618
-f 1942/1942/1942 1350/1350/1350 1356/1356/1356
-f 1935/1935/1935 1931/1931/1931 1923/1923/1923
-f 1931/1931/1931 1750/1750/1750 1924/1924/1924
-f 1924/1924/1924 1543/1543/1543 1928/1928/1928
-f 1543/1543/1543 1557/1557/1557 1928/1928/1928
-f 1943/1943/1943 1944/1944/1944 1596/1596/1596
-f 1918/1918/1918 1945/1945/1945 1932/1932/1932
-f 1932/1932/1932 2642/2642/2642 1926/1926/1926
-f 1946/1946/1946 2643/2643/2643 2644/2644/2644
-f 1184/1184/1184 1183/1183/1183 1934/1934/1934
-f 1924/1924/1924 1750/1750/1750 1543/1543/1543
-f 1379/1379/1379 472/472/472 471/471/471
-f 1469/1469/1469 1947/1947/1947 1494/1494/1494
-f 1948/1948/1948 1949/1949/1949 1950/1950/1950
-f 446/446/446 1951/1951/1951 444/444/444
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-f 1954/1954/1954 529/529/529 1939/1939/1939
-f 1882/1882/1882 1183/1183/1183 1955/1955/1955
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-f 1957/1957/1957 1288/1288/1288 1304/1304/1304
-f 79/79/79 145/145/145 1605/1605/1605
-f 79/79/79 1357/1357/1357 145/145/145
-f 1161/1161/1161 1958/1958/1958 446/446/446
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-f 1951/1951/1951 1959/1959/1959 445/445/445
-f 1959/1959/1959 1894/1894/1894 445/445/445
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-f 1935/1935/1935 1956/1956/1956 1931/1931/1931
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-f 1960/1960/1960 1945/1945/1945 1929/1929/1929
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-f 1211/1211/1211 1402/1402/1402 1378/1378/1378
-f 831/831/831 1402/1402/1402 1735/1735/1735
-f 1973/1973/1973 2645/2645/2645 1932/1932/1932
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-f 1932/1932/1932 2645/2645/2645 2642/2642/2642
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-f 656/656/656 302/302/302 304/304/304
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-f 64/64/64 1280/1280/1280 1976/1976/1976
-f 304/304/304 1362/1362/1362 1622/1622/1622
-f 1622/1622/1622 1362/1362/1362 419/419/419
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-f 1717/1717/1717 882/882/882 1596/1596/1596
-f 2058/2058/2058 2051/2051/2051 1891/1891/1891
-f 1432/1432/1432 1854/1854/1854 2059/2059/2059
-f 2060/2060/2060 2061/2061/2061 1986/1986/1986
-f 1986/1986/1986 2061/2061/2061 2047/2047/2047
-f 2038/2038/2038 2052/2052/2052 2053/2053/2053
-f 2048/2048/2048 2054/2054/2054 2039/2039/2039
-f 2054/2054/2054 2055/2055/2055 2027/2027/2027
-f 2062/2062/2062 1453/1453/1453 2055/2055/2055
-f 2063/2063/2063 2057/2057/2057 2056/2056/2056
-f 1769/1769/1769 1056/1056/1056 1770/1770/1770
-f 1500/1500/1500 1448/1448/1448 1770/1770/1770
-f 1385/1385/1385 2660/2660/2660 1933/1933/1933
-f 1827/1827/1827 2661/2661/2661 1828/1828/1828
-f 2050/2050/2050 2064/2064/2064 2007/2007/2007
-f 2007/2007/2007 2064/2064/2064 2035/2035/2035
-f 1717/1717/1717 1596/1596/1596 1944/1944/1944
-f 2065/2065/2065 1717/1717/1717 1944/1944/1944
-f 2066/2066/2066 1891/1891/1891 1892/1892/1892
-f 2051/2051/2051 1730/1730/1730 2067/2067/2067
-f 2045/2045/2045 2068/2068/2068 2069/2069/2069
-f 1801/1801/1801 2061/2061/2061 2060/2060/2060
-f 2047/2047/2047 2070/2070/2070 1984/1984/1984
-f 1984/1984/1984 2070/2070/2070 2052/2052/2052
-f 2053/2053/2053 2071/2071/2071 2048/2048/2048
-f 2048/2048/2048 2071/2071/2071 2054/2054/2054
-f 2072/2072/2072 2055/2055/2055 2054/2054/2054
-f 2056/2056/2056 1453/1453/1453 2062/2062/2062
-f 853/853/853 2003/2003/2003 331/331/331
-f 1500/1500/1500 1770/1770/1770 1056/1056/1056
-f 2073/2073/2073 1827/1827/1827 1782/1782/1782
-f 2073/2073/2073 2661/2661/2661 1827/1827/1827
-f 2662/2662/2662 2035/2035/2035 2064/2064/2064
-f 427/427/427 2069/2069/2069 2068/2068/2068
-f 825/825/825 827/827/827 1265/1265/1265
-f 770/770/770 993/993/993 992/992/992
-f 1955/1955/1955 1183/1183/1183 1288/1288/1288
-f 1518/1518/1518 2040/2040/2040 2033/2033/2033
-f 2071/2071/2071 2074/2074/2074 2054/2054/2054
-f 2075/2075/2075 2072/2072/2072 2054/2054/2054
-f 2055/2055/2055 1660/1660/1660 2062/2062/2062
-f 1660/1660/1660 281/281/281 2062/2062/2062
-f 281/281/281 2056/2056/2056 2062/2062/2062
-f 2076/2076/2076 2059/2059/2059 1904/1904/1904
-f 1279/1279/1279 1278/1278/1278 2077/2077/2077
-f 906/906/906 2073/2073/2073 1782/1782/1782
-f 2073/2073/2073 2663/2663/2663 2661/2661/2661
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-f 2079/2079/2079 1892/1892/1892 75/75/75
-f 2079/2079/2079 2080/2080/2080 1892/1892/1892
-f 2080/2080/2080 2066/2066/2066 1892/1892/1892
-f 1891/1891/1891 2066/2066/2066 2058/2058/2058
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-f 2052/2052/2052 1527/1527/1527 2053/2053/2053
-f 2072/2072/2072 1660/1660/1660 2055/2055/2055
-f 2081/2081/2081 2082/2082/2082 2083/2083/2083
-f 2082/2082/2082 2084/2084/2084 2083/2083/2083
-f 2085/2085/2085 2086/2086/2086 1371/1371/1371
-f 1774/1774/1774 1782/1782/1782 1775/1775/1775
-f 2087/2087/2087 2663/2663/2663 2073/2073/2073
-f 1797/1797/1797 2065/2065/2065 2078/2078/2078
-f 1753/1753/1753 2079/2079/2079 75/75/75
-f 998/998/998 2045/2045/2045 2051/2051/2051
-f 2070/2070/2070 2088/2088/2088 2052/2052/2052
-f 2052/2052/2052 2088/2088/2088 1527/1527/1527
-f 2053/2053/2053 1527/1527/1527 2071/2071/2071
-f 2074/2074/2074 2075/2075/2075 2054/2054/2054
-f 2664/2664/2664 1522/1522/1522 396/396/396
-f 2081/2081/2081 396/396/396 1522/1522/1522
-f 2081/2081/2081 1417/1417/1417 2082/2082/2082
-f 119/119/119 1774/1774/1774 221/221/221
-f 2089/2089/2089 1488/1488/1488 1994/1994/1994
-f 905/905/905 2087/2087/2087 2073/2073/2073
-f 2087/2087/2087 2665/2665/2665 2663/2663/2663
-f 2090/2090/2090 2065/2065/2065 1797/1797/1797
-f 2090/2090/2090 1717/1717/1717 2065/2065/2065
-f 2090/2090/2090 1835/1835/1835 1717/1717/1717
-f 1772/1772/1772 2079/2079/2079 1753/1753/1753
-f 1439/1439/1439 1337/1337/1337 1336/1336/1336
-f 127/127/127 1739/1739/1739 128/128/128
-f 1772/1772/1772 2080/2080/2080 2079/2079/2079
-f 998/998/998 1682/1682/1682 2045/2045/2045
-f 2045/2045/2045 1682/1682/1682 2068/2068/2068
-f 283/283/283 2091/2091/2091 2070/2070/2070
-f 2047/2047/2047 283/283/283 2070/2070/2070
-f 2070/2070/2070 2091/2091/2091 2088/2088/2088
-f 2088/2088/2088 41/41/41 1527/1527/1527
-f 234/234/234 2075/2075/2075 2074/2074/2074
-f 2075/2075/2075 1420/1420/1420 2072/2072/2072
-f 1395/1395/1395 1660/1660/1660 2072/2072/2072
-f 281/281/281 280/280/280 2056/2056/2056
-f 280/280/280 2063/2063/2063 2056/2056/2056
-f 222/222/222 2084/2084/2084 2082/2082/2082
-f 222/222/222 221/221/221 2084/2084/2084
-f 119/119/119 1679/1679/1679 1774/1774/1774
-f 1679/1679/1679 906/906/906 1774/1774/1774
-f 906/906/906 905/905/905 2073/2073/2073
-f 1311/1311/1311 2665/2665/2665 2087/2087/2087
-f 996/996/996 2051/2051/2051 2058/2058/2058
-f 996/996/996 998/998/998 2051/2051/2051
-f 2075/2075/2075 234/234/234 1420/1420/1420
-f 2593/2593/2593 1522/1522/1522 2664/2664/2664
-f 905/905/905 1312/1312/1312 2087/2087/2087
-f 1312/1312/1312 1311/1311/1311 2087/2087/2087
-f 2085/2085/2085 2092/2092/2092 2031/2031/2031
-f 1497/1497/1497 842/842/842 1681/1681/1681
-f 37/37/37 36/36/36 2002/2002/2002
-f 1476/1476/1476 2080/2080/2080 1772/1772/1772
-f 1476/1476/1476 2066/2066/2066 2080/2080/2080
-f 1476/1476/1476 2058/2058/2058 2066/2066/2066
-f 1788/1788/1788 85/85/85 1322/1322/1322
-f 2091/2091/2091 41/41/41 2088/2088/2088
-f 2071/2071/2071 223/223/223 2074/2074/2074
-f 223/223/223 234/234/234 2074/2074/2074
-f 1420/1420/1420 823/823/823 2072/2072/2072
-f 823/823/823 1395/1395/1395 2072/2072/2072
-f 279/279/279 281/281/281 1660/1660/1660
-f 1417/1417/1417 222/222/222 2082/2082/2082
-f 212/212/212 1679/1679/1679 119/119/119
-f 200/200/200 161/161/161 1492/1492/1492
-f 656/656/656 304/304/304 1360/1360/1360
-f 1643/1643/1643 1835/1835/1835 2090/2090/2090
-f 303/303/303 1337/1337/1337 1439/1439/1439
-f 1478/1478/1478 2058/2058/2058 1476/1476/1476
-f 2058/2058/2058 1478/1478/1478 996/996/996
-f 997/997/997 1682/1682/1682 998/998/998
-f 214/214/214 1681/1681/1681 1787/1787/1787
-f 214/214/214 1787/1787/1787 215/215/215
-f 215/215/215 1787/1787/1787 1322/1322/1322
-f 283/283/283 2047/2047/2047 284/284/284
-f 1527/1527/1527 186/186/186 2071/2071/2071
-f 2071/2071/2071 186/186/186 223/223/223
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-f 1522/1522/1522 1418/1418/1418 2081/2081/2081
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-f 1864/1864/1864 2024/2024/2024 2093/2093/2093
-f 2024/2024/2024 2094/2094/2094 2093/2093/2093
-f 1981/1981/1981 2095/2095/2095 1994/1994/1994
-f 879/879/879 878/878/878 1424/1424/1424
-f 1779/1779/1779 2031/2031/2031 2030/2030/2030
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-f 1260/1260/1260 1615/1615/1615 1559/1559/1559
-f 2097/2097/2097 2043/2043/2043 1897/1897/1897
-f 2654/2654/2654 2037/2037/2037 1071/1071/1071
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-f 2656/2656/2656 1385/1385/1385 1387/1387/1387
-f 1450/1450/1450 1449/1449/1449 1915/1915/1915
-f 1658/1658/1658 1980/1980/1980 1742/1742/1742
-f 1980/1980/1980 2098/2098/2098 1742/1742/1742
-f 2554/2554/2554 1848/1848/1848 2666/2666/2666
-f 232/232/232 231/231/231 1259/1259/1259
-f 84/84/84 1955/1955/1955 527/527/527
-f 1500/1500/1500 2591/2591/2591 1506/1506/1506
-f 1777/1777/1777 1779/1779/1779 2030/2030/2030
-f 2099/2099/2099 1472/1472/1472 1539/1539/1539
-f 827/827/827 826/826/826 1329/1329/1329
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-f 1742/1742/1742 2098/2098/2098 2100/2100/2100
-f 2025/2025/2025 2024/2024/2024 2101/2101/2101
-f 2086/2086/2086 2085/2085/2085 1779/1779/1779
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-f 911/911/911 371/371/371 2102/2102/2102
-f 2103/2103/2103 2104/2104/2104 2105/2105/2105
-f 1405/1405/1405 2641/2641/2641 2584/2584/2584
-f 2102/2102/2102 1539/1539/1539 911/911/911
-f 1911/1911/1911 1405/1405/1405 1372/1372/1372
-f 2641/2641/2641 1405/1405/1405 1911/1911/1911
-f 2106/2106/2106 2004/2004/2004 2107/2107/2107
-f 1425/1425/1425 974/974/974 1496/1496/1496
-f 2649/2649/2649 2108/2108/2108 1850/1850/1850
-f 2109/2109/2109 1865/1865/1865 2110/2110/2110
-f 2111/2111/2111 2097/2097/2097 1897/1897/1897
-f 95/95/95 1430/1430/1430 71/71/71
-f 2100/2100/2100 2028/2028/2028 1952/1952/1952
-f 2025/2025/2025 2031/2031/2031 2023/2023/2023
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-f 2098/2098/2098 2028/2028/2028 2100/2100/2100
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-f 1865/1865/1865 1778/1778/1778 1651/1651/1651
-f 1851/1851/1851 1850/1850/1850 2108/2108/2108
-f 1387/1387/1387 1864/1864/1864 2657/2657/2657
-f 2030/2030/2030 2025/2025/2025 122/122/122
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-f 528/528/528 1939/1939/1939 529/529/529
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-f 1694/1694/1694 1143/1143/1143 2067/2067/2067
-f 780/780/780 767/767/767 791/791/791
-f 994/994/994 1487/1487/1487 992/992/992
-f 1778/1778/1778 1912/1912/1912 1779/1779/1779
-f 623/623/623 625/625/625 1390/1390/1390
-f 1359/1359/1359 1328/1328/1328 85/85/85
-f 992/992/992 2095/2095/2095 1658/1658/1658
-f 1852/1852/1852 1856/1856/1856 1858/1858/1858
-f 1506/1506/1506 1508/1508/1508 2001/2001/2001
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-f 122/122/122 2025/2025/2025 2101/2101/2101
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-f 307/307/307 1431/1431/1431 1430/1430/1430
-f 2114/2114/2114 2118/2118/2118 2099/2099/2099
-f 2095/2095/2095 2089/2089/2089 1994/1994/1994
-f 1387/1387/1387 1386/1386/1386 1864/1864/1864
-f 2077/2077/2077 1278/1278/1278 2119/2119/2119
-f 2095/2095/2095 1981/1981/1981 1980/1980/1980
-f 2120/2120/2120 2043/2043/2043 2097/2097/2097
-f 2049/2049/2049 2667/2667/2667 2658/2658/2658
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-f 111/111/111 120/120/120 307/307/307
-f 1500/1500/1500 1506/1506/1506 1449/1449/1449
-f 1125/1125/1125 764/764/764 1363/1363/1363
-f 1982/1982/1982 1849/1849/1849 2028/2028/2028
-f 2649/2649/2649 1974/1974/1974 2646/2646/2646
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-f 371/371/371 2117/2117/2117 2102/2102/2102
-f 1811/1811/1811 1952/1952/1952 853/853/853
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-f 254/254/254 1511/1511/1511 271/271/271
-f 1597/1597/1597 1620/1620/1620 1617/1617/1617
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-f 2116/2116/2116 1824/1824/1824 1856/1856/1856
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-f 1904/1904/1904 2041/2041/2041 2042/2042/2042
-f 1430/1430/1430 1432/1432/1432 2059/2059/2059
-f 1253/1253/1253 765/765/765 1125/1125/1125
-f 154/154/154 830/830/830 152/152/152
-f 1643/1643/1643 2090/2090/2090 1797/1797/1797
-f 2121/2121/2121 2614/2614/2614 1620/1620/1620
-f 2122/2122/2122 2121/2121/2121 1620/1620/1620
-f 2121/2121/2121 2669/2669/2669 2614/2614/2614
-f 2101/2101/2101 2024/2024/2024 1864/1864/1864
-f 2028/2028/2028 1860/1860/1860 1952/1952/1952
-f 2028/2028/2028 1889/1889/1889 1860/1860/1860
-f 2077/2077/2077 2119/2119/2119 2123/2123/2123
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-f 1233/1233/1233 51/51/51 510/510/510
-f 2036/2036/2036 1054/1054/1054 2037/2037/2037
-f 2077/2077/2077 2123/2123/2123 2124/2124/2124
-f 786/786/786 2116/2116/2116 1854/1854/1854
-f 477/477/477 1880/1880/1880 478/478/478
-f 1620/1620/1620 1624/1624/1624 2122/2122/2122
-f 2122/2122/2122 2125/2125/2125 2121/2121/2121
-f 2121/2121/2121 2125/2125/2125 2669/2669/2669
-f 1864/1864/1864 2093/2093/2093 2657/2657/2657
-f 1537/1537/1537 205/205/205 1992/1992/1992
-f 2620/2620/2620 1797/1797/1797 2670/2670/2670
-f 1797/1797/1797 2126/2126/2126 2670/2670/2670
-f 2126/2126/2126 2671/2671/2671 2670/2670/2670
-f 2672/2672/2672 835/835/835 2538/2538/2538
-f 2644/2644/2644 2127/2127/2127 1946/1946/1946
-f 1890/1890/1890 1849/1849/1849 1851/1851/1851
-f 527/527/527 1955/1955/1955 528/528/528
-f 1304/1304/1304 860/860/860 1957/1957/1957
-f 2078/2078/2078 2126/2126/2126 1797/1797/1797
-f 417/417/417 226/226/226 835/835/835
-f 1628/1628/1628 2111/2111/2111 2019/2019/2019
-f 2019/2019/2019 2111/2111/2111 2128/2128/2128
-f 2129/2129/2129 71/71/71 2096/2096/2096
-f 1054/1054/1054 2036/2036/2036 1055/1055/1055
-f 1372/1372/1372 1389/1389/1389 1390/1390/1390
-f 1830/1830/1830 2673/2673/2673 2643/2643/2643
-f 1508/1508/1508 1538/1538/1538 1992/1992/1992
-f 2654/2654/2654 1071/1071/1071 1584/1584/1584
-f 1432/1432/1432 786/786/786 1854/1854/1854
-f 1854/1854/1854 2116/2116/2116 1852/1852/1852
-f 1172/1172/1172 2130/2130/2130 1173/1173/1173
-f 2672/2672/2672 2131/2131/2131 835/835/835
-f 835/835/835 2131/2131/2131 417/417/417
-f 2674/2674/2674 1406/1406/1406 1823/1823/1823
-f 1853/1853/1853 2041/2041/2041 1904/1904/1904
-f 2120/2120/2120 2129/2129/2129 2043/2043/2043
-f 1848/1848/1848 1258/1258/1258 437/437/437
-f 237/237/237 967/967/967 244/244/244
-f 1338/1338/1338 343/343/343 657/657/657
-f 371/371/371 2675/2675/2675 2117/2117/2117
-f 2129/2129/2129 2096/2096/2096 2076/2076/2076
-f 1853/1853/1853 2049/2049/2049 2041/2041/2041
-f 1172/1172/1172 424/424/424 1756/1756/1756
-f 1897/1897/1897 2043/2043/2043 2042/2042/2042
-f 62/62/62 1448/1448/1448 1450/1450/1450
-f 2042/2042/2042 2658/2658/2658 2012/2012/2012
-f 344/344/344 1284/1284/1284 407/407/407
-f 205/205/205 204/204/204 1485/1485/1485
-f 260/260/260 262/262/262 1693/1693/1693
-f 1862/1862/1862 1861/1861/1861 785/785/785
-f 1919/1919/1919 1844/1844/1844 785/785/785
-f 1861/1861/1861 1919/1919/1919 785/785/785
-f 417/417/417 2132/2132/2132 226/226/226
-f 226/226/226 2132/2132/2132 2133/2133/2133
-f 2134/2134/2134 2135/2135/2135 2136/2136/2136
-f 418/418/418 2542/2542/2542 2599/2599/2599
-f 1863/1863/1863 1125/1125/1125 1510/1510/1510
-f 1974/1974/1974 1488/1488/1488 1975/1975/1975
-f 2005/2005/2005 2137/2137/2137 2006/2006/2006
-f 1852/1852/1852 2116/2116/2116 1856/1856/1856
-f 1993/1993/1993 1485/1485/1485 1484/1484/1484
-f 1580/1580/1580 2600/2600/2600 1236/1236/1236
-f 205/205/205 1485/1485/1485 1993/1993/1993
-f 681/681/681 680/680/680 1130/1130/1130
-f 1512/1512/1512 2118/2118/2118 2114/2114/2114
-f 911/911/911 1539/1539/1539 1455/1455/1455
-f 1849/1849/1849 1890/1890/1890 1889/1889/1889
-f 1253/1253/1253 1863/1863/1863 1254/1254/1254
-f 405/405/405 1433/1433/1433 679/679/679
-f 1915/1915/1915 2001/2001/2001 1484/1484/1484
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-f 2385/2385/2385 1898/1898/1898 1218/1218/1218
-f 1898/1898/1898 2377/2377/2377 2364/2364/2364
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-f 2360/2360/2360 2371/2371/2371 2361/2361/2361
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-f 2380/2380/2380 2379/2379/2379 2358/2358/2358
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-f 1987/1987/1987 2390/2390/2390 2391/2391/2391
-f 390/390/390 2392/2392/2392 1682/1682/1682
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-f 2359/2359/2359 1136/1136/1136 1230/1230/1230
-f 989/989/989 535/535/535 536/536/536
-f 137/137/137 1330/1330/1330 160/160/160
-f 324/324/324 1126/1126/1126 325/325/325
-f 1282/1282/1282 843/843/843 845/845/845
-f 418/418/418 256/256/256 255/255/255
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-f 2357/2357/2357 2165/2165/2165 2394/2394/2394
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-f 2385/2385/2385 2398/2398/2398 1898/1898/1898
-f 2398/2398/2398 2377/2377/2377 1898/1898/1898
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-f 2398/2398/2398 2400/2400/2400 2377/2377/2377
-f 2715/2715/2715 2381/2381/2381 2708/2708/2708
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-f 1330/1330/1330 1197/1197/1197 160/160/160
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-f 1465/1465/1465 2393/2393/2393 2354/2354/2354
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-f 1240/1240/1240 1237/1237/1237 2333/2333/2333
-f 2123/2123/2123 2169/2169/2169 2402/2402/2402
-f 2006/2006/2006 2137/2137/2137 2251/2251/2251
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-f 2716/2716/2716 2717/2717/2717 2403/2403/2403
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-f 2004/2004/2004 2718/2718/2718 2005/2005/2005
-f 2404/2404/2404 2718/2718/2718 2004/2004/2004
-f 1533/1533/1533 2719/2719/2719 2384/2384/2384
-f 2061/2061/2061 284/284/284 2047/2047/2047
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-f 2396/2396/2396 1987/1987/1987 2391/2391/2391
-f 2391/2391/2391 2405/2405/2405 2396/2396/2396
-f 2396/2396/2396 2405/2405/2405 2401/2401/2401
-f 2359/2359/2359 2380/2380/2380 2394/2394/2394
-f 2719/2719/2719 2404/2404/2404 2384/2384/2384
-f 2107/2107/2107 2386/2386/2386 2106/2106/2106
-f 2406/2406/2406 1902/1902/1902 2407/2407/2407
-f 2405/2405/2405 2408/2408/2408 2401/2401/2401
-f 2401/2401/2401 2408/2408/2408 2403/2403/2403
-f 1464/1464/1464 2381/2381/2381 2715/2715/2715
-f 1464/1464/1464 1465/1465/1465 2381/2381/2381
-f 1140/1140/1140 1139/1139/1139 1147/1147/1147
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-f 2106/2106/2106 2409/2409/2409 1534/1534/1534
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-f 1384/1384/1384 2407/2407/2407 1471/1471/1471
-f 2407/2407/2407 1840/1840/1840 1471/1471/1471
-f 2408/2408/2408 2410/2410/2410 2403/2403/2403
-f 2403/2403/2403 2410/2410/2410 2716/2716/2716
-f 1900/1900/1900 2104/2104/2104 2103/2103/2103
-f 35/35/35 2594/2594/2594 33/33/33
-f 2409/2409/2409 1517/1517/1517 2411/2411/2411
-f 1798/1798/1798 2412/2412/2412 1813/1813/1813
-f 2410/2410/2410 2413/2413/2413 2716/2716/2716
-f 2103/2103/2103 2337/2337/2337 1902/1902/1902
-f 2373/2373/2373 2333/2333/2333 1368/1368/1368
-f 2333/2333/2333 1366/1366/1366 1368/1368/1368
-f 2409/2409/2409 2386/2386/2386 1517/1517/1517
-f 2376/2376/2376 1532/1532/1532 2411/2411/2411
-f 988/988/988 1239/1239/1239 989/989/989
-f 2405/2405/2405 2414/2414/2414 2408/2408/2408
-f 2408/2408/2408 2414/2414/2414 2410/2410/2410
-f 2415/2415/2415 333/333/333 332/332/332
-f 2386/2386/2386 1300/1300/1300 2387/2387/2387
-f 1950/1950/1950 1353/1353/1353 2375/2375/2375
-f 2720/2720/2720 2413/2413/2413 2410/2410/2410
-f 1758/1758/1758 1765/1765/1765 2720/2720/2720
-f 2337/2337/2337 2103/2103/2103 2105/2105/2105
-f 1570/1570/1570 2621/2621/2621 2634/2634/2634
-f 2650/2650/2650 2000/2000/2000 1227/1227/1227
-f 2391/2391/2391 2390/2390/2390 2405/2405/2405
-f 576/576/576 323/323/323 325/325/325
-f 2373/2373/2373 1368/1368/1368 2416/2416/2416
-f 1305/1305/1305 1219/1219/1219 1172/1172/1172
-f 760/760/760 1577/1577/1577 694/694/694
-f 728/728/728 760/760/760 694/694/694
-f 113/113/113 1548/1548/1548 25/25/25
-f 1758/1758/1758 1766/1766/1766 1747/1747/1747
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-f 2721/2721/2721 893/893/893 2417/2417/2417
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-f 2390/2390/2390 2418/2418/2418 2405/2405/2405
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-f 2420/2420/2420 2720/2720/2720 2410/2410/2410
-f 2420/2420/2420 1758/1758/1758 2720/2720/2720
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-f 2421/2421/2421 1949/1949/1949 1948/1948/1948
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-f 1440/1440/1440 1413/1413/1413 184/184/184
-f 1445/1445/1445 365/365/365 367/367/367
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-f 332/332/332 334/334/334 1353/1353/1353
-f 2410/2410/2410 2419/2419/2419 2420/2420/2420
-f 2373/2373/2373 2416/2416/2416 507/507/507
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-f 2411/2411/2411 1517/1517/1517 1519/1519/1519
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-f 2417/2417/2417 893/893/893 892/892/892
-f 1822/1822/1822 2390/2390/2390 1942/1942/1942
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-f 795/795/795 1666/1666/1666 2723/2723/2723
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-f 2722/2722/2722 1809/1809/1809 2376/2376/2376
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-f 2423/2423/2423 2419/2419/2419 2414/2414/2414
-f 2420/2420/2420 1766/1766/1766 1758/1758/1758
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-f 2424/2424/2424 2400/2400/2400 2398/2398/2398
-f 2424/2424/2424 2724/2724/2724 2400/2400/2400
-f 2395/2395/2395 2360/2360/2360 2707/2707/2707
-f 1463/1463/1463 1076/1076/1076 1136/1136/1136
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-f 2420/2420/2420 2351/2351/2351 1766/1766/1766
-f 245/245/245 2541/2541/2541 246/246/246
-f 334/334/334 2425/2425/2425 1354/1354/1354
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-f 295/295/295 947/947/947 649/649/649
-f 1009/1009/1009 1271/1271/1271 114/114/114
-f 283/283/283 282/282/282 1009/1009/1009
-f 1271/1271/1271 2426/2426/2426 1489/1489/1489
-f 1548/1548/1548 1829/1829/1829 1546/1546/1546
-f 1353/1353/1353 1354/1354/1354 1707/1707/1707
-f 989/989/989 536/536/536 2363/2363/2363
-f 2162/2162/2162 2418/2418/2418 2390/2390/2390
-f 2162/2162/2162 2423/2423/2423 2418/2418/2418
-f 2061/2061/2061 2427/2427/2427 284/284/284
-f 2425/2425/2425 2327/2327/2327 1354/1354/1354
-f 1109/1109/1109 1645/1645/1645 1281/1281/1281
-f 282/282/282 2426/2426/2426 1009/1009/1009
-f 113/113/113 1489/1489/1489 1548/1548/1548
-f 1950/1950/1950 332/332/332 1353/1353/1353
-f 2162/2162/2162 2390/2390/2390 1822/1822/1822
-f 990/990/990 989/989/989 2363/2363/2363
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-f 1436/1436/1436 1463/1463/1463 2393/2393/2393
-f 1489/1489/1489 2428/2428/2428 1548/1548/1548
-f 2428/2428/2428 1829/1829/1829 1548/1548/1548
-f 1226/1226/1226 1225/1225/1225 169/169/169
-f 1291/1291/1291 2423/2423/2423 2162/2162/2162
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-f 2379/2379/2379 2362/2362/2362 2358/2358/2358
-f 2372/2372/2372 2371/2371/2371 2369/2369/2369
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-f 284/284/284 2429/2429/2429 282/282/282
-f 2430/2430/2430 2431/2431/2431 282/282/282
-f 282/282/282 2431/2431/2431 2426/2426/2426
-f 1235/1235/1235 495/495/495 1562/1562/1562
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-f 2367/2367/2367 507/507/507 269/269/269
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-f 2337/2337/2337 2336/2336/2336 1903/1903/1903
-f 229/229/229 200/200/200 1843/1843/1843
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-f 2426/2426/2426 2435/2435/2435 1489/1489/1489
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-f 1489/1489/1489 2436/2436/2436 2428/2428/2428
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-f 2432/2432/2432 229/229/229 1843/1843/1843
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-f 428/428/428 2438/2438/2438 2427/2427/2427
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-f 2436/2436/2436 2441/2441/2441 2428/2428/2428
-f 2441/2441/2441 1829/1829/1829 2428/2428/2428
-f 2441/2441/2441 2704/2704/2704 1829/1829/1829
-f 1682/1682/1682 2442/2442/2442 2068/2068/2068
-f 107/107/107 1460/1460/1460 1263/1263/1263
-f 2330/2330/2330 2443/2443/2443 74/74/74
-f 76/76/76 2330/2330/2330 74/74/74
-f 2429/2429/2429 2439/2439/2439 2431/2431/2431
-f 2439/2439/2439 2444/2444/2444 2431/2431/2431
-f 2431/2431/2431 2444/2444/2444 2440/2440/2440
-f 1840/1840/1840 2721/2721/2721 1841/1841/1841
-f 2384/2384/2384 2404/2404/2404 2106/2106/2106
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-f 2437/2437/2437 1480/1480/1480 2432/2432/2432
-f 2432/2432/2432 1480/1480/1480 229/229/229
-f 2576/2576/2576 1317/1317/1317 1316/1316/1316
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-f 1471/1471/1471 2417/2417/2417 1469/1469/1469
-f 2106/2106/2106 2404/2404/2404 2004/2004/2004
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-f 2713/2713/2713 2371/2371/2371 2360/2360/2360
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-f 1302/1302/1302 1707/1707/1707 2040/2040/2040
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-f 1235/1235/1235 1161/1161/1161 568/568/568
-f 2445/2445/2445 2446/2446/2446 2439/2439/2439
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-f 2448/2448/2448 2451/2451/2451 2441/2441/2441
-f 2452/2452/2452 2704/2704/2704 2441/2441/2441
-f 2451/2451/2451 2452/2452/2452 2441/2441/2441
-f 1752/1752/1752 2726/2726/2726 1445/1445/1445
-f 1790/1790/1790 1684/1684/1684 1625/1625/1625
-f 578/578/578 577/577/577 1783/1783/1783
-f 1033/1033/1033 1034/1034/1034 1005/1005/1005
-f 1230/1230/1230 1206/1206/1206 2359/2359/2359
-f 1225/1225/1225 536/536/536 169/169/169
-f 2713/2713/2713 2433/2433/2433 2371/2371/2371
-f 1020/1020/1020 1019/1019/1019 2373/2373/2373
-f 2453/2453/2453 579/579/579 2443/2443/2443
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-f 2453/2453/2453 2347/2347/2347 579/579/579
-f 1436/1436/1436 1077/1077/1077 1463/1463/1463
-f 2435/2435/2435 2454/2454/2454 2448/2448/2448
-f 2727/2727/2727 2713/2713/2713 2455/2455/2455
-f 278/278/278 1813/1813/1813 2342/2342/2342
-f 427/427/427 2438/2438/2438 428/428/428
-f 2446/2446/2446 2447/2447/2447 2444/2444/2444
-f 2440/2440/2440 2450/2450/2450 2454/2454/2454
-f 2440/2440/2440 2454/2454/2454 2435/2435/2435
-f 1149/1149/1149 2728/2728/2728 2533/2533/2533
-f 1354/1354/1354 2327/2327/2327 2321/2321/2321
-f 2107/2107/2107 2004/2004/2004 2006/2006/2006
-f 2068/2068/2068 2442/2442/2442 2438/2438/2438
-f 427/427/427 2068/2068/2068 2438/2438/2438
-f 2438/2438/2438 2442/2442/2442 2445/2445/2445
-f 2726/2726/2726 1446/1446/1446 1445/1445/1445
-f 1905/1905/1905 2017/2017/2017 1857/1857/1857
-f 1662/1662/1662 1661/1661/1661 1615/1615/1615
-f 2416/2416/2416 2398/2398/2398 2385/2385/2385
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diff --git a/model/flex/asset/cap.obj b/model/flex/asset/cap.obj
deleted file mode 100644
index 05cce780..00000000
--- a/model/flex/asset/cap.obj
+++ /dev/null
@@ -1,617 +0,0 @@
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-# 384 faces, 0 coords texture
-
-# End of File
diff --git a/model/flex/asset/sponge.png b/model/flex/asset/sponge.png
deleted file mode 100644
index 0da0db59..00000000
Binary files a/model/flex/asset/sponge.png and /dev/null differ
diff --git a/model/flex/bag.xml b/model/flex/bag.xml
deleted file mode 100644
index 49d54a64..00000000
--- a/model/flex/bag.xml
+++ /dev/null
@@ -1,74 +0,0 @@
-<!-- Copyright 2026 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Bag">
-  <compiler angle="radian" meshdir="asset"/>
-  <option timestep="0.001" jacobian="sparse" integrator="implicitfast" solver="CG"
-          iterations="2000" tolerance="1e-4"/>
-  <statistic extent="2.5" center="0 0 1"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0"
-             width="512" height="512"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-             width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="10 10"
-              texuniform="true"/>
-    <model name="humanoid" file="../humanoid/humanoid.xml"/>
-  </asset>
-
-  <worldbody>
-    <geom name="ground" type="plane" size="0 0 1" material="matplane" condim="1"/>
-
-    <!-- Both lights are directional. A positional light inside the bag's closed volume (as in
-         model/flex/scene.xml, which puts one at z=2) blacks out the cloth around it. -->
-    <light directional="true" diffuse=".7 .7 .7" specular=".1 .1 .1" pos="0 0 4" dir="0 0 -1"/>
-    <light directional="true" diffuse=".4 .4 .4" specular=".1 .1 .1" pos="3 -3 4" dir="-.6 .6 -.6"/>
-
-    <!-- The bag, scaled up so the humanoid fits and held open by pinning the ring of vertices
-         around its mouth. It hangs well above the floor, so the cloth catches the humanoid. -->
-    <body name="bag_container" euler="1.57 0 0" pos="0 0 1.5">
-      <flexcomp name="bag" type="mesh" file="bag.obj" dim="2" scale="3.0 3.09 3.0"
-                radius="0.003" mass="5" rgba="0.6 0.6 0.62 0.6">
-        <elasticity young="3e6" poisson="0.3" thickness="0.002" elastic2d="stretch" damping="5e-3"/>
-        <pin id="193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212
-                 213 214 215 216 239 240 241 242 243 244 245 246 247 248 249 250
-                 251 252 253 254 255 256 257 258 259 260 267 268 269 270 271 272
-                 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660
-                 661 662 663 664 665 666 667 668 671 672 673 675 677 678 679 682
-                 687 688 689 690 711 712 713 714 715 716 717 718 719 720 721 722
-                 723 724 725 726 727 728 729 730 755 756 758 761 762 764 766 770
-                 772 773 803 804 805 806 813 815 819 820 821 822 1003 1005 1006
-                 1009 1010 1013 1014 1015 1017 1019 1021 1024 1025 1051 1052
-                 1054 1056 1059 1061 1063 1065 1066 1069 1070"/>
-        <!-- priority=1: the flex parameters win outright instead of averaging with the
-             humanoid's softer solref/solimp, which let limbs sink ~35mm into the cloth. -->
-        <contact selfcollide="none" contype="1" conaffinity="1" priority="1"
-                 solref="0.004 1" solimp="0.99 0.999 0.001"/>
-      </flexcomp>
-    </body>
-
-    <!-- The humanoid, dropped above the bag's mouth; its torso sits at z=1.282 in its
-         own model. It is the stock 40kg humanoid, hence the heavy, stiff cloth. -->
-    <frame pos="0 0 1.618">
-      <attach model="humanoid" body="torso" prefix="humanoid_"/>
-    </frame>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/basket.xml b/model/flex/basket.xml
deleted file mode 100644
index 56af2b1c..00000000
--- a/model/flex/basket.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<!-- Copyright 2025 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Basket">
-  <include file="scene.xml"/>
-
-  <compiler autolimits="true"/>
-
-  <option solver="CG" tolerance="1e-6" timestep="0.001"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <worldbody>
-    <flexcomp type="box" count="8 8 8" spacing=".1 .1 .1" pos="0 0 1"
-              radius=".01" rgba=".68 .53 .38 1" name="box" dim="2" mass="0.25">
-      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
-      <edge equality="true" damping="1"/>
-      <elasticity young="6e6" poisson="0.2" thickness="8e-3" elastic2d="bend" damping="1e-5"/>
-    </flexcomp>
-
-    <replicate count="3" offset=".2 0 0">
-      <replicate count="3" offset="0 .2 0">
-        <replicate count="5" offset="0 0 .2">
-          <body name="ball" pos="-.2 -.2 1.8">
-            <freejoint/>
-            <geom type="sphere" size="0.1" rgba="1 0 .2 1" mass=".03"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/bunny.xml b/model/flex/bunny.xml
deleted file mode 100644
index 3160530f..00000000
--- a/model/flex/bunny.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Trilinear">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="Euler"/>
-
-  <size memory="100M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <worldbody>
-    <body>
-      <joint name="press" type="slide" axis="0 0 1" damping="500"/>
-      <geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
-    </body>
-    <flexcomp type="mesh" file="bunny.obj" pos="0 0 .1" dim="2" euler="90 0 0"
-              radius=".001" rgba="0 .7 .7 1" mass=".05" name="softbody" dof="trilinear">
-      <elasticity young="1e3" poisson="0.1" damping="0.001" elastic2d="none"/>
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-
-  <actuator>
-    <position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/bunny_multicell.xml b/model/flex/bunny_multicell.xml
deleted file mode 100644
index f9bb927f..00000000
--- a/model/flex/bunny_multicell.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Trilinear">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" integrator="Euler"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <worldbody>
-    <body>
-      <joint name="press" type="slide" axis="0 0 1" damping="500"/>
-      <geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
-    </body>
-    <flexcomp type="mesh" file="bunny.obj" pos="0 0 0" dim="2" euler="90 0 0" cellcount="3 3 3"
-              radius=".001" rgba="0 .7 .7 1" mass=".05" name="softbody" dof="trilinear">
-      <elasticity young="1e3" poisson="0.1" damping="0.01" elastic2d="none"/>
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-
-  <actuator>
-    <position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/bunny_quadratic.xml b/model/flex/bunny_quadratic.xml
deleted file mode 100644
index 105f3b84..00000000
--- a/model/flex/bunny_quadratic.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Trilinear">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".0005" integrator="Euler"/>
-
-  <size memory="100M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <worldbody>
-    <body>
-      <joint name="press" type="slide" axis="0 0 1" damping="500"/>
-      <geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
-    </body>
-    <flexcomp type="mesh" file="bunny.obj" pos="0 0 -.01" dim="2" euler="90 0 0"
-              radius=".002" rgba="0 .7 .7 1" mass=".05" name="softbody" dof="quadratic">
-      <elasticity young="1e3" poisson="0.1" damping="0.0001" elastic2d="none"/>
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-
-  <actuator>
-    <position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/bunny_shell.xml b/model/flex/bunny_shell.xml
deleted file mode 100644
index 31a614af..00000000
--- a/model/flex/bunny_shell.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Trilinear">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" integrator="implicitfast"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <worldbody>
-    <body>
-      <joint name="press" type="slide" axis="0 0 1" damping="500"/>
-      <geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
-    </body>
-    <flexcomp type="mesh" file="bunny.obj" pos="0 0 0" dim="2" euler="90 0 0" cellcount="3 3 3"
-              radius=".001" rgba="0 .7 .7 1" mass=".05" name="softbody" dof="trilinear">
-      <elasticity young="1e3" poisson="0.1" elastic2d="bend" thickness="0.02"/>
-      <edge equality="strain"/>
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-
-  <actuator>
-    <position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/bunny_with_uv.xml b/model/flex/bunny_with_uv.xml
deleted file mode 100644
index 1a29ae7d..00000000
--- a/model/flex/bunny_with_uv.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Trilinear">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="Euler"/>
-
-  <size memory="100M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-
-  <asset>
-    <texture name="texsponge" type="2d" file="sponge.png"/>
-    <material name="matsponge" texture="texsponge" specular="0.3"/>
-  </asset>
-
-  <worldbody>
-    <body>
-      <joint name="press" type="slide" axis="0 0 1" damping="500"/>
-      <geom type="box" size=".02 .2 .2" pos="0 0 .5"/>
-    </body>
-    <flexcomp type="mesh" file="bunny_with_uv.obj" pos="0 0 .1" dim="2" euler="90 0 0"
-              radius=".001" material="matsponge" mass=".05" name="softbody" dof="trilinear">
-      <elasticity young="1e3" poisson="0.1" damping="0.001" elastic2d="none"/>
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-
-  <actuator>
-    <position name="press" joint="press" gear="-1 0 0 0 0 0" ctrlrange="-1 1" kp="1000"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/cloth_sdf.xml b/model/flex/cloth_sdf.xml
deleted file mode 100644
index 96697257..00000000
--- a/model/flex/cloth_sdf.xml
+++ /dev/null
@@ -1,51 +0,0 @@
-<!-- Copyright 2026 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.torus">
-      <instance name="torus">
-        <config key="radius1" value="0.55"/>
-        <config key="radius2" value="0.15"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <asset>
-    <mesh name="torus">
-      <plugin instance="torus"/>
-    </mesh>
-  </asset>
-
-  <include file="scene.xml"/>
-
-  <worldbody>
-    <body pos="0 0 0.3">
-      <geom type="sdf" mesh="torus" rgba=".8 .17 .15 1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body name="flex" pos="0 0 .6">
-      <flexcomp name="test" type="grid" count="8 8 1" spacing=".2 .2 .2" dim="2" rgba="0 .7 .7 1">
-        <edge equality="true"/>
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </body>
-    <body pos="0 0 1.0">
-      <freejoint/>
-      <geom type="sphere" size="0.1" mass=".5" rgba="0 0 1 .2"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/drape.xml b/model/flex/drape.xml
deleted file mode 100644
index fa4a0610..00000000
--- a/model/flex/drape.xml
+++ /dev/null
@@ -1,50 +0,0 @@
-<!-- Copyright 2026 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Drape">
-  <include file="scene.xml"/>
-
-  <!-- Three cloths dropped over a sphere. All contacts are passive (cloth-cloth, self, and
-       cloth-vs-static sphere) with stiffness carried implicitly by the effective metric. -->
-
-  <!-- The metric solve for qacc_smooth is iterative and its blocks do not see the vertex-to-vertex
-       coupling that contact introduces, so a contact-rich scene like this one needs a larger
-       iteration budget than the default to converge it. -->
-  <option timestep="0.002" solver="CG" tolerance="1e-6" iterations="400" integrator="implicitfast"/>
-
-  <size memory="50M"/>
-
-  <worldbody>
-    <geom name="ball" type="sphere" size=".3" pos="0 0 .3" rgba=".45 .45 .5 1"/>
-
-    <flexcomp type="grid" count="13 13 1" spacing=".055 .055 .055" pos="0 0 .68"
-              radius=".004" mass=".25" name="cloth1" dim="2" rgba=".85 .35 .25 1">
-      <contact selfcollide="auto" passive="true" solref="0.01 1" solimp=".95 .99 .0001"/>
-      <elasticity young="2e4" poisson=".2" thickness="1e-3" elastic2d="both" damping="1e-2"/>
-    </flexcomp>
-
-    <flexcomp type="grid" count="13 13 1" spacing=".055 .055 .055" pos=".06 -.04 .78"
-              radius=".004" mass=".25" name="cloth2" dim="2" rgba=".25 .55 .8 1">
-      <contact selfcollide="auto" passive="true" solref="0.01 1" solimp=".95 .99 .0001"/>
-      <elasticity young="2e4" poisson=".2" thickness="1e-3" elastic2d="both" damping="1e-2"/>
-    </flexcomp>
-
-    <flexcomp type="grid" count="13 13 1" spacing=".055 .055 .055" pos="-.05 .05 .88"
-              radius=".004" mass=".25" name="cloth3" dim="2" rgba=".95 .8 .3 1">
-      <contact selfcollide="auto" passive="true" solref="0.01 1" solimp=".95 .99 .0001"/>
-      <elasticity young="2e4" poisson=".2" thickness="1e-3" elastic2d="both" damping="1e-2"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/flag.xml b/model/flex/flag.xml
deleted file mode 100644
index d35e1ead..00000000
--- a/model/flex/flag.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Flag">
-<!-- Degree of Freedom (nv):  340
-     Tendons (ntendon):       288
-     Actuators (nu):          0
-     Constraints (nefc):      0
-     This model of a flag passively flapping in the wind has no constraints and is designed to
-     exert smooth dynamics computations.
--->
-  <statistic center=".4 0 .8" extent="1.3"/>
-
-  <option wind="5 5 0" density="10" solver="CG" tolerance="1e-6">
-  </option>
-
-  <worldbody>
-    <geom name="floor" type="plane" size="0 0 .1"/>
-    <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-    <body name="pin" pos="0 0 1.5">
-      <flexcomp type="grid" count="9 19 1" spacing=".05 .05 .05" mass="10"
-                name="flag" radius="0.001">
-        <edge equality="true" damping="0.001"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect body1="flag_0" anchor="0 0 0"/>
-  </equality>
-</mujoco>
-
diff --git a/model/flex/floppy.xml b/model/flex/floppy.xml
deleted file mode 100644
index dfdb973d..00000000
--- a/model/flex/floppy.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Floppy">
-  <include file="scene.xml"/>
-
-  <compiler autolimits="true"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".001"/>
-
-  <size memory="100M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <worldbody>
-    <flexcomp type="grid" count="24 4 4" spacing=".1 .1 .1" pos=".1 0 1.5"
-              radius=".0" rgba="0 .7 .7 1" name="softbody" dim="3" mass="25">
-      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
-      <elasticity young="5e4" damping="0.002" poisson="0.2"/>
-    </flexcomp>
-
-    <body>
-      <joint name="hinge" pos="0 0 .5" axis="0 1 0" damping="50"/>
-      <geom type="cylinder" size=".4" fromto="0 -.5 .5 0 .5 .5" density="300"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="cylinder" joint="hinge" gear="1 0 0 0 0 0" ctrlrange="-100 100"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/gripper.xml b/model/flex/gripper.xml
deleted file mode 100644
index 1f12a5d2..00000000
--- a/model/flex/gripper.xml
+++ /dev/null
@@ -1,71 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Gripper">
-  <include file="scene.xml"/>
-
-  <option cone="elliptic" impratio="10" integrator="implicitfast"/>
-
-  <worldbody>
-    <body name="hand" pos="0 0 .37">
-      <joint name="lift" type="slide" range="0 1"/>
-      <geom type="box" size=".2 .1 .05" rgba=".2 .2 .2 1"/>
-      <body name="right_gripper">
-        <joint name="right" type="slide" axis="-1 0 0"/>
-        <geom type="box" size=".02 .1 .15" pos=".18 0 -.2" rgba=".2 .2 .2 1"/>
-        <flexcomp type="mesh" file="cap.obj" pos=".16 0 -.25" dim="3" euler="0 -90 0"
-                  origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="left">
-          <edge equality="true" solimp="0.95 0.99 0.001 0.5 2"/>
-          <contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
-          <pin id="0 2 3 4 5 6 7 9 11 13 15 17 19 41 45 46 50 53 57 58 61 176 177 179 180 184 185
-                   187 188 192 193 195 196 200 201 203 204 208 209 211 212 214 215 216 217"/>
-        </flexcomp>
-      </body>
-      <body name="left_gripper">
-        <joint name="left" type="slide" axis="1 0 0"/>
-        <geom type="box" size=".02 .1 .15" pos="-.18 0 -.2" rgba=".2 .2 .2 1"/>
-        <flexcomp type="mesh" file="cap.obj" pos="-.16 0 -.25" dim="3" euler="0 90 0"
-                  origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="right">
-          <edge equality="true" solimp="0.95 0.99 0.001 0.5 2"/>
-          <contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
-          <pin id="0 2 3 4 5 6 7 9 11 13 15 17 19 41 45 46 50 53 57 58 61 176 177 179 180 184 185
-                   187 188 192 193 195 196 200 201 203 204 208 209 211 212 214 215 216 217"/>
-        </flexcomp>
-      </body>
-    </body>
-    <body>
-      <freejoint/>
-      <geom type="box" size=".05 .1 .1" pos="0 0 .1" rgba=".5 .5 0 1" priority="1"
-            contype="2" condim="6"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="right" joint2="left"/>
-  </equality>
-
-  <tendon>
-    <fixed name="grasp">
-      <joint joint="right" coef="1"/>
-      <joint joint="left" coef="1"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <position name="lift" joint="lift" kp="600" dampratio="1" ctrlrange="0 1"/>
-    <position name="grasp" tendon="grasp" kp="200" dampratio="1" ctrlrange="0 1"/>
-  </actuator>
-
-</mujoco>
diff --git a/model/flex/gripper_2d.xml b/model/flex/gripper_2d.xml
deleted file mode 100644
index b6c6c611..00000000
--- a/model/flex/gripper_2d.xml
+++ /dev/null
@@ -1,429 +0,0 @@
-<!-- Copyright 2026 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Gripper 2D Fin Ray">
-  <include file="scene.xml"/>
-
-  <option cone="elliptic" impratio="10" integrator="implicitfast"/>
-
-  <worldbody>
-    <body name="hand" pos="0 0 .37">
-      <joint name="lift" type="slide" range="-.13 .05"/>
-      <geom type="box" size=".12 .06 .03" rgba=".2 .2 .2 1"/>
-
-      <body name="right_arm">
-        <joint name="right" type="slide" axis="-1 0 0"/>
-        <geom type="box" size=".015 .06 .06" pos=".10 0 -.09"
-              rgba=".2 .2 .2 1"/>
-        <body name="right_finger" pos=".1 0 -.15" euler="90 0 0">
-          <!--
-            Fin Ray skeleton mesh (right finger).
-
-            The mesh is the OUTLINE of the fin ray structure:
-            two tapered vertical walls connected by horizontal ribs.
-            Each strut is a thin strip of 2 triangles; the interior
-            between ribs is empty. The radius property inflates the
-            visual geometry to give the skeleton thickness.
-
-            Vertex layout (XY plane, 7 rib levels, 4 verts per level):
-              Level i: L_front, L_back, R_front, R_back
-              Each pair offset by h=0.0015 along Y to create in-plane thickness.
-              Out-of-plane thickness set with radius parameter.
-
-            Side view of skeleton:
-              |===================|    level 0 (base, pinned)
-              |                   |
-              |=================|      level 1
-              |                 |
-              |===============|        level 2
-              |               |
-              |============|           level 3
-              |            |
-              |==========|             level 4
-              |          |
-              |========|               level 5
-              |        |
-              |=====|                  level 6
-          -->
-          <flexcomp name="right_fin" type="direct" dim="2"
-                    radius=".004" rgba="0 .7 .7 1" mass=".3" dof="2d"
-                    point="
-                      -0.0210  0.0015 0.0000
-                      -0.0170  0.0015 0.0000
-                      -0.020538 -0.0015 0.0000
-                      -0.016538 -0.0015 0.0000
-                      0.0170  0.0015 0.0000
-                      0.0210  0.0015 0.0000
-                      0.016538 -0.0015 0.0000
-                      0.020538 -0.0015 0.0000
-                      -0.0190 -0.0115 0.0000
-                      -0.0150 -0.0115 0.0000
-                      -0.018538 -0.0145 0.0000
-                      -0.014538 -0.0145 0.0000
-                      0.0150 -0.0115 0.0000
-                      0.0190 -0.0115 0.0000
-                      0.014538 -0.0145 0.0000
-                      0.018538 -0.0145 0.0000
-                      -0.0170 -0.0245 0.0000
-                      -0.0130 -0.0245 0.0000
-                      -0.016308 -0.0275 0.0000
-                      -0.012308 -0.0275 0.0000
-                      0.0130 -0.0245 0.0000
-                      0.0170 -0.0245 0.0000
-                      0.012308 -0.0275 0.0000
-                      0.016308 -0.0275 0.0000
-                      -0.0140 -0.0375 0.0000
-                      -0.0100 -0.0375 0.0000
-                      -0.013308 -0.0405 0.0000
-                      -0.009308 -0.0405 0.0000
-                      0.0100 -0.0375 0.0000
-                      0.0140 -0.0375 0.0000
-                      0.009308 -0.0405 0.0000
-                      0.013308 -0.0405 0.0000
-                      -0.0110 -0.0505 0.0000
-                      -0.0070 -0.0505 0.0000
-                      -0.010308 -0.0535 0.0000
-                      -0.006308 -0.0535 0.0000
-                      0.0070 -0.0505 0.0000
-                      0.0110 -0.0505 0.0000
-                      0.006308 -0.0535 0.0000
-                      0.010308 -0.0535 0.0000
-                      -0.0080 -0.0635 0.0000
-                      -0.0040 -0.0635 0.0000
-                      -0.007200 -0.0665 0.0000
-                      -0.003200 -0.0665 0.0000
-                      0.0040 -0.0635 0.0000
-                      0.0080 -0.0635 0.0000
-                      0.003200 -0.0665 0.0000
-                      0.007200 -0.0665 0.0000
-                      -0.0040 -0.0785 0.0000
-                      -0.0001 -0.0785 0.0000
-                      -0.003200 -0.0815 0.0000
-                      0.000700 -0.0815 0.0000
-                      0.0001 -0.0785 0.0000
-                      0.0040 -0.0785 0.0000
-                      -0.000700 -0.0815 0.0000
-                      0.003200 -0.0815 0.0000
-                    "
-                    element="
-                        0  2  3
-                        0  3  1
-
-                        4  6  7
-                        4  7  5
-
-                        1  3  6
-                        1  6  4
-
-                        8 10 11
-                        8 11  9
-
-                       12 14 15
-                       12 15 13
-
-                        9 11 14
-                        9 14 12
-
-                       16 18 19
-                       16 19 17
-
-                       20 22 23
-                       20 23 21
-
-                       17 19 22
-                       17 22 20
-
-                       24 26 27
-                       24 27 25
-
-                       28 30 31
-                       28 31 29
-
-                       25 27 30
-                       25 30 28
-
-                       32 34 35
-                       32 35 33
-
-                       36 38 39
-                       36 39 37
-
-                       33 35 38
-                       33 38 36
-
-                       40 42 43
-                       40 43 41
-
-                       44 46 47
-                       44 47 45
-
-                       41 43 46
-                       41 46 44
-
-                       48 50 51
-                       48 51 49
-
-                       52 54 55
-                       52 55 53
-
-                       49 51 54
-                       49 54 52
-
-                        2  8  9
-                        2  9  3
-
-                        6 12 13
-                        6 13  7
-
-                       10 16 17
-                       10 17 11
-
-                       14 20 21
-                       14 21 15
-
-                       18 24 25
-                       18 25 19
-
-                       22 28 29
-                       22 29 23
-
-                       26 32 33
-                       26 33 27
-
-                       30 36 37
-                       30 37 31
-
-                       34 40 41
-                       34 41 35
-
-                       38 44 45
-                       38 45 39
-
-                       42 48 49
-                       42 49 43
-
-                       46 52 53
-                       46 53 47
-                    ">
-            <edge equality="true" damping="0.02"
-                  solimp="0.99 0.999 0.0001 0.5 2" solref="0.001 1"/>
-            <contact selfcollide="none" internal="false"
-                     contype="2" conaffinity="2"/>
-            <pin id="0 1 2 3 4 5 6 7"/>
-          </flexcomp>
-        </body>
-      </body>
-
-      <body name="left_arm">
-        <joint name="left" type="slide" axis="1 0 0"/>
-        <geom type="box" size=".015 .06 .06" pos="-.10 0 -.09"
-              rgba=".2 .2 .2 1"/>
-        <body name="left_finger" pos="-.1 0 -.15" euler="90 0 0">
-          <flexcomp name="left_fin" type="direct" dim="2"
-                    radius=".004" rgba="0 .7 .7 1" mass=".3" dof="2d"
-                    point="
-                      -0.0210  0.0015 0.0000
-                      -0.0170  0.0015 0.0000
-                      -0.020538 -0.0015 0.0000
-                      -0.016538 -0.0015 0.0000
-                      0.0170  0.0015 0.0000
-                      0.0210  0.0015 0.0000
-                      0.016538 -0.0015 0.0000
-                      0.020538 -0.0015 0.0000
-                      -0.0190 -0.0115 0.0000
-                      -0.0150 -0.0115 0.0000
-                      -0.018538 -0.0145 0.0000
-                      -0.014538 -0.0145 0.0000
-                      0.0150 -0.0115 0.0000
-                      0.0190 -0.0115 0.0000
-                      0.014538 -0.0145 0.0000
-                      0.018538 -0.0145 0.0000
-                      -0.0170 -0.0245 0.0000
-                      -0.0130 -0.0245 0.0000
-                      -0.016308 -0.0275 0.0000
-                      -0.012308 -0.0275 0.0000
-                      0.0130 -0.0245 0.0000
-                      0.0170 -0.0245 0.0000
-                      0.012308 -0.0275 0.0000
-                      0.016308 -0.0275 0.0000
-                      -0.0140 -0.0375 0.0000
-                      -0.0100 -0.0375 0.0000
-                      -0.013308 -0.0405 0.0000
-                      -0.009308 -0.0405 0.0000
-                      0.0100 -0.0375 0.0000
-                      0.0140 -0.0375 0.0000
-                      0.009308 -0.0405 0.0000
-                      0.013308 -0.0405 0.0000
-                      -0.0110 -0.0505 0.0000
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-                      0.0070 -0.0505 0.0000
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-                      0.010308 -0.0535 0.0000
-                      -0.0080 -0.0635 0.0000
-                      -0.0040 -0.0635 0.0000
-                      -0.007200 -0.0665 0.0000
-                      -0.003200 -0.0665 0.0000
-                      0.0040 -0.0635 0.0000
-                      0.0080 -0.0635 0.0000
-                      0.003200 -0.0665 0.0000
-                      0.007200 -0.0665 0.0000
-                      -0.0040 -0.0785 0.0000
-                      -0.0001 -0.0785 0.0000
-                      -0.003200 -0.0815 0.0000
-                      0.000700 -0.0815 0.0000
-                      0.0001 -0.0785 0.0000
-                      0.0040 -0.0785 0.0000
-                      -0.000700 -0.0815 0.0000
-                      0.003200 -0.0815 0.0000
-                    "
-                    element="
-                        0  2  3
-                        0  3  1
-
-                        4  6  7
-                        4  7  5
-
-                        1  3  6
-                        1  6  4
-
-                        8 10 11
-                        8 11  9
-
-                       12 14 15
-                       12 15 13
-
-                        9 11 14
-                        9 14 12
-
-                       16 18 19
-                       16 19 17
-
-                       20 22 23
-                       20 23 21
-
-                       17 19 22
-                       17 22 20
-
-                       24 26 27
-                       24 27 25
-
-                       28 30 31
-                       28 31 29
-
-                       25 27 30
-                       25 30 28
-
-                       32 34 35
-                       32 35 33
-
-                       36 38 39
-                       36 39 37
-
-                       33 35 38
-                       33 38 36
-
-                       40 42 43
-                       40 43 41
-
-                       44 46 47
-                       44 47 45
-
-                       41 43 46
-                       41 46 44
-
-                       48 50 51
-                       48 51 49
-
-                       52 54 55
-                       52 55 53
-
-                       49 51 54
-                       49 54 52
-
-                        2  8  9
-                        2  9  3
-
-                        6 12 13
-                        6 13  7
-
-                       10 16 17
-                       10 17 11
-
-                       14 20 21
-                       14 21 15
-
-                       18 24 25
-                       18 25 19
-
-                       22 28 29
-                       22 29 23
-
-                       26 32 33
-                       26 33 27
-
-                       30 36 37
-                       30 37 31
-
-                       34 40 41
-                       34 41 35
-
-                       38 44 45
-                       38 45 39
-
-                       42 48 49
-                       42 49 43
-
-                       46 52 53
-                       46 53 47
-                    ">
-            <edge equality="true" damping="0.02"
-                  solimp="0.99 0.999 0.0001 0.5 2" solref="0.001 1"/>
-            <contact selfcollide="none" internal="false"
-                     contype="2" conaffinity="2"/>
-            <pin id="0 1 2 3 4 5 6 7"/>
-          </flexcomp>
-        </body>
-      </body>
-    </body>
-
-    <body>
-      <freejoint/>
-      <geom type="cylinder" size=".025 .05" pos="0 0 .1" rgba=".5 .5 0 1" euler="90 0 0" mass=".01"
-            priority="1" contype="2" condim="6" friction="2" solref="0.001 1" solimp="0.99 0.999 0.0001 0.5 2"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="right" joint2="left"/>
-  </equality>
-
-  <tendon>
-    <fixed name="grasp">
-      <joint joint="right" coef="1"/>
-      <joint joint="left" coef="1"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <position name="lift" joint="lift" kp="600" dampratio="1"
-              ctrlrange="-1 1"/>
-    <position name="grasp" tendon="grasp" kp="200" dampratio="1"
-              ctrlrange="0 1"/>
-  </actuator>
-
-</mujoco>
diff --git a/model/flex/gripper_trilinear.xml b/model/flex/gripper_trilinear.xml
deleted file mode 100644
index 804c164d..00000000
--- a/model/flex/gripper_trilinear.xml
+++ /dev/null
@@ -1,71 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Gripper">
-  <include file="scene.xml"/>
-
-  <option cone="elliptic" impratio="10" integrator="implicitfast"/>
-
-  <worldbody>
-    <body name="hand" pos="0 0 .37">
-      <joint name="lift" type="slide" range="0 1"/>
-      <geom type="box" size=".2 .1 .05" rgba=".2 .2 .2 1"/>
-      <body name="right_gripper">
-        <joint name="right" type="slide" axis="-1 0 0"/>
-        <geom type="box" size=".02 .1 .15" pos=".18 0 -.2" rgba=".2 .2 .2 1"/>
-        <flexcomp type="mesh" file="cap.obj" pos=".16 0 -.25" dim="3" euler="0 -90 0"
-                  origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="left"
-                  dof="trilinear">
-          <elasticity young="1e4" poisson="0.1" damping=".05"/>
-          <contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
-          <pin id="4 5 6 7"/>
-        </flexcomp>
-      </body>
-      <body name="left_gripper">
-        <joint name="left" type="slide" axis="1 0 0"/>
-        <geom type="box" size=".02 .1 .15" pos="-.18 0 -.2" rgba=".2 .2 .2 1"/>
-        <flexcomp type="mesh" file="cap.obj" pos="-.16 0 -.25" dim="3" euler="0 90 0"
-                  origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="right"
-                  dof="trilinear">
-          <elasticity young="1e4" poisson="0.1" damping=".05"/>
-          <contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
-          <pin id="0 1 2 3"/>
-        </flexcomp>
-      </body>
-    </body>
-    <body>
-      <freejoint/>
-      <geom type="box" size=".05 .1 .1" pos="0 0 .1" rgba=".5 .5 0 1" priority="1"
-            contype="2" condim="6"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="right" joint2="left"/>
-  </equality>
-
-  <tendon>
-    <fixed name="grasp">
-      <joint joint="right" coef="1"/>
-      <joint joint="left" coef="1"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <position name="lift" joint="lift" kp="600" dampratio="1" ctrlrange="0 1"/>
-    <position name="grasp" tendon="grasp" kp="200" dampratio="1" ctrlrange="0 1"/>
-  </actuator>
-
-</mujoco>
diff --git a/model/flex/hollow_vs_solid.xml b/model/flex/hollow_vs_solid.xml
deleted file mode 100644
index 9ea1fbcc..00000000
--- a/model/flex/hollow_vs_solid.xml
+++ /dev/null
@@ -1,102 +0,0 @@
-<!-- Copyright 2026 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <include file="scene.xml"/>
-
-  <option cone="elliptic" solver="CG" />
-
-  <default>
-    <default class="gripper">
-      <geom type="box" size="0.02 0.15 0.02" rgba="0.5 0.5 0.5 1"
-            solref="0.001 1" friction="2 0.1 0.1"/>
-      <joint type="slide" axis="0 0 1" range="-1 1"/>
-      <default class="finger">
-        <geom size="0.01 0.06 0.03"/>
-        <joint type="slide" range="0 0.1"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <body name="gripper_solid" pos="0.2 0.45 0.2">
-      <joint name="lift_solid" class="gripper"/>
-      <geom class="gripper"/>
-      <body name="left_finger_r" pos="0.05 -0.1 0" childclass="finger">
-        <joint name="left_slide_r" axis="0 1 0"/>
-        <geom rgba="0.8 0.2 0.2 1"/>
-      </body>
-      <body name="right_finger_r" pos="0.05 0.1 0" childclass="finger">
-        <joint name="right_slide_r" axis="0 -1 0"/>
-        <geom rgba="0.8 0.2 0.2 1"/>
-      </body>
-    </body>
-
-    <body name="gripper_hollow" pos="0.2 0 0.2">
-      <joint name="lift_hollow" class="gripper"/>
-      <geom class="gripper"/>
-      <body name="left_finger_s" pos="0.05 -0.1 0" childclass="finger">
-        <joint name="left_slide_s" axis="0 1 0"/>
-        <geom rgba="0.2 0.8 0.2 1"/>
-      </body>
-      <body name="right_finger_s" pos="0.05 0.1 0" childclass="finger">
-        <joint name="right_slide_s" axis="0 -1 0"/>
-        <geom rgba="0.2 0.8 0.2 1"/>
-      </body>
-    </body>
-
-    <body name="solid" pos=".32 0 .2">
-      <flexcomp
-        origin="0 0 0" count="8 2 12" cellcount="6 1 6"
-        type="grid" name="soft_mesh" dim="3" spacing=".025 .05 .025"
-        mass="0.43" radius="0.005" dof="trilinear" rgba="0.7 0.9 0.7 1">
-        <edge equality="strain" solref="0.001 1"/>
-        <contact selfcollide="none"
-              internal="false"
-              friction="2.0 0.5 0.01"
-              solref="0.001 1"
-              solimp="0.99 0.999 0.001"/>
-      </flexcomp>
-    </body>
-
-    <body name="hollow" pos=".32 .45 .2">
-      <flexcomp
-        origin="0 0 0" count="8 2 12" cellcount="6 1 6"
-        type="grid" name="soft_mesh_2" dim="3" spacing=".025 .05 .025"
-        mass="0.43" radius="0.005" dof="trilinear" rgba="0.9 0.7 0.7 1">
-        <elasticity young="1e4" poisson="0.3" damping="0" elastic2d="bend" thickness="0.02"/>
-        <edge equality="strain" solref="0.001 1" solimp="0.99 0.999 0.001"/>
-        <contact selfcollide="none"
-              internal="false"
-              friction="2.0 0.5 0.01"
-              solref="0.001 1"
-              solimp="0.99 0.999 0.001"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="right_slide_r" joint2="left_slide_r"/>
-    <joint joint1="right_slide_s" joint2="left_slide_s"/>
-  </equality>
-
-  <actuator>
-    <position name="lift_r" joint="lift_solid" kp="400" dampratio="1" ctrlrange="-1 1"/>
-    <position name="grasp_r" joint="left_slide_r" kp="10" dampratio="1" ctrlrange="0 5"/>
-
-    <position name="lift_s" joint="lift_hollow" kp="400" dampratio="1" ctrlrange="-1 1"/>
-    <position name="grasp_s" joint="left_slide_s" kp="10" dampratio="1" ctrlrange="0 5"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/jelly.xml b/model/flex/jelly.xml
deleted file mode 100644
index 203fa103..00000000
--- a/model/flex/jelly.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Jelly">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="Euler"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
-      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
-    </body>
-    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
-    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
-    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
-    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
-    <flexcomp type="grid" count="8 8 8" spacing=".07 .07 .07" pos="0 0 1" dim="3"
-              radius=".005" rgba="0 .7 .7 1" mass="5" name="softbody">
-      <edge damping="1"/>
-      <contact selfcollide="none"/>
-      <elasticity young="5e4"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/mannequin.xml b/model/flex/mannequin.xml
deleted file mode 100644
index 9237b943..00000000
--- a/model/flex/mannequin.xml
+++ /dev/null
@@ -1,174 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Mannequin">
-  <!-- Static humanoid model with all joints removed -->
-  <option timestep="0.005"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".003 1" material="body"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <body name="torso" pos="0 0 1.282" childclass="body">
-      <light name="top" pos="0 0 2" mode="trackcom"/>
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="neck">
-        <geom type="cylinder" size=".03" fromto="0 0 .07 0 0 .1"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <geom name="upper_arm_right" fromto="0 0 0 0 -.22 0" class="arm_upper"/>
-        <body name="lower_arm_right" pos="0 -.22 0">
-          <geom name="lower_arm_right" fromto=".01 .01 .01 0 -.21 -.05" class="arm_lower"/>
-          <body name="hand_right" pos="0 -.22 -.05">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <geom name="upper_arm_left" fromto="0 0 0 0 .22 0" class="arm_upper"/>
-        <body name="lower_arm_left" pos="0 .22 0">
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 0 .21 -.05" class="arm_lower"/>
-          <body name="hand_left" pos="0 .22 -.05">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-</mujoco>
diff --git a/model/flex/pancake.xml b/model/flex/pancake.xml
deleted file mode 100644
index 455b45c6..00000000
--- a/model/flex/pancake.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Pancake">
-  <include file="scene.xml"/>
-
-  <option timestep="0.001" solver="CG" tolerance="1e-6" integrator="Euler"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <flexcomp type="disc" count="9 9 1" spacing=".1 .1 .1" pos="0 0 .5"
-              radius=".01" mass=".5" name="plate" dim="2">
-      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
-      <edge equality="true" damping="10"/>
-      <elasticity poisson="0" thickness="8e-3" young="3e5" elastic2d="bend"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/pinch.xml b/model/flex/pinch.xml
deleted file mode 100644
index 78d343a6..00000000
--- a/model/flex/pinch.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<mujoco>
-  <include file="scene.xml"/>
-  <option timestep="0.002"/>
-  <worldbody>
-    <body name="gripper" pos="0 0 0.5">
-      <joint name="lift" type="slide" axis="0 0 1" damping="50"/>
-      <geom type="box" size="0.2 0.05 0.02" rgba="0.5 0.5 0.5 1"/> <!-- base -->
-
-      <body name="left_finger" pos="-0.1 0 -0.1">
-        <joint name="left_slide" type="slide" axis="1 0 0" damping="10"/>
-        <geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
-      </body>
-
-      <body name="right_finger" pos="0.1 0 -0.1">
-        <joint name="right_slide" type="slide" axis="-1 0 0" damping="10"/>
-        <geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
-      </body>
-    </body>
-
-    <flexcomp name="cloth" type="grid" dim="2" count="9 9 1" spacing="0.05 0.05 0.05"
-              pos="0 0 0.1" radius="0.01">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-
-  <equality>
-    <joint joint1="right_slide" joint2="left_slide"/>
-  </equality>
-
-  <tendon>
-    <fixed name="grasp">
-      <joint joint="right_slide" coef="1"/>
-      <joint joint="left_slide" coef="1"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <position name="lift" joint="lift" kp="600" dampratio="1" ctrlrange="-1 1"/>
-    <position name="grasp" tendon="grasp" kp="200" dampratio="1" ctrlrange="0 1"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/plate.xml b/model/flex/plate.xml
deleted file mode 100644
index 52c5187c..00000000
--- a/model/flex/plate.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Plate">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" integrator="Euler"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
-      <geom type="capsule" size=".1 .1" group="1"/>
-    </body>
-    <flexcomp type="grid" count="16 16 1" spacing=".05 .05 .05" pos="0 0 1"
-              radius=".001" mass="100" name="plate">
-      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
-      <edge equality="true" damping="0.001"/>
-      <elasticity poisson="0" thickness="1e-2" young="3e7" elastic2d="bend"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/poncho.xml b/model/flex/poncho.xml
deleted file mode 100644
index 72acc750..00000000
--- a/model/flex/poncho.xml
+++ /dev/null
@@ -1,1423 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Poncho">
-  <include file="mannequin.xml"/>
-  <option integrator="implicitfast" solver="CG" tolerance="1e-6">
-    <flag energy="enable"/>
-  </option>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <default>
-    <geom solref="0.003 1"/>
-  </default>
-
-  <worldbody>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
-
-    <flexcomp name="f1" type="direct" rgba=".8 .2 .2 1" radius="0.01" dim="2" pos="0 0 2"
-              mass="1"
-         point="0 0 0
-                -1 1 0
-                -0.875 1 0
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-      <edge equality="vert" damping="0.1"/>
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-</mujoco>
diff --git a/model/flex/poncho_edgeequality.xml b/model/flex/poncho_edgeequality.xml
deleted file mode 100644
index 20ffecc2..00000000
--- a/model/flex/poncho_edgeequality.xml
+++ /dev/null
@@ -1,1423 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Poncho">
-  <include file="mannequin.xml"/>
-  <option integrator="implicitfast" solver="CG" tolerance="1e-6">
-    <flag energy="enable"/>
-  </option>
-
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-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <default>
-    <geom solref="0.003 1"/>
-  </default>
-
-  <worldbody>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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-                316 284 315
-                318 285 286
-                347 318 317
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-                307 285 318
-                307 275 285
-                306 308 276
-                339 306 307
-                338 308 306
-                242 209 217
-                217 187 220
-                375 346 374
-                242 210 209
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-                243 274 276
-                275 306 274
-                246 279 278
-                345 344 373
-                316 315 345
-                346 316 345
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-                280 285 251
-                339 307 318
-                339 338 306
-                250 283 284
-                315 343 344
-                346 317 316
-                283 313 315
-                218 249 219
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-                213 244 236
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-                215 214 245
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-                103 102 125
-                83 101 102
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-                145 146 174
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-                326 355 337
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-                300 332 301
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-                420 435 434
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-                431 444 432
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-                390 409 389
-                360 332 334
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-                335 303 333
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-                400 418 399
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-                419 433 418
-                401 419 400
-                402 420 419
-                325 352 324
-                366 380 353
-                379 400 399
-                380 401 379
-                353 380 354
-                381 402 380
-                402 419 401
-                398 399 418
-                398 376 378">
-      <edge equality="true" damping="0.1"/>
-      <elasticity poisson="0" young="3e5" thickness="8e-3" elastic2d="bend" damping="0.02"/>
-      <contact solref="0.003"/>
-    </flexcomp>
-
-  </worldbody>
-
-</mujoco>
diff --git a/model/flex/press.xml b/model/flex/press.xml
deleted file mode 100644
index 980b18e2..00000000
--- a/model/flex/press.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Press">
-  <include file="scene.xml"/>
-
-  <compiler autolimits="true"/>
-
-  <option solver="Newton" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <worldbody>
-    <flexcomp name="A" type="grid" count="4 4 4" spacing=".2 .2 .2" pos="0 0 .5"
-              radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
-      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
-      <edge damping="1"/>
-      <elasticity young="1e4" poisson="0.4"/>
-    </flexcomp>
-
-    <flexcomp name="B" type="grid" count="4 4 4" spacing=".2 .2 .2" pos="1 0 .5"
-              radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
-      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
-      <edge damping="1"/>
-      <elasticity young="5e4" poisson="0"/>
-    </flexcomp>
-
-    <body>
-      <joint name="soft" type="slide" axis="0 0 1" damping="500"/>
-      <geom type="box" size=".35 .35 0.05" pos=".1 .1 1" density="300"/>
-    </body>
-    <body>
-      <joint name="stiff" type="slide" axis="0 0 1" damping="500"/>
-      <geom type="box" size=".35 .35 0.05" pos="1.1 .1 1" density="300"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="soft" joint="soft" gear="-1 0 0 0 0 0" ctrlrange="-150 300"/>
-    <motor name="stiff" joint="stiff" gear="-1 0 0 0 0 0" ctrlrange="-150 1600"/>
-  </actuator>
-</mujoco>
diff --git a/model/flex/pulley.xml b/model/flex/pulley.xml
deleted file mode 100644
index 38223546..00000000
--- a/model/flex/pulley.xml
+++ /dev/null
@@ -1,57 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Pulley">
-  <include file="scene.xml"/>
-
-  <option>
-    <flag gravity="disable"/>
-  </option>
-
-  <statistic center="0 -.3 1" extent="2.5"/>
-
-  <asset>
-    <texture name="texcyl" type="2d" builtin="checker" rgb1=".3 .3 .3" rgb2=".15 0.15 0.15"
-      width="512" height="512" mark="cross" markrgb=".22 .22 .22"/>
-    <material name="matcyl" reflectance="0.3" texture="texcyl" texrepeat="3 3" texuniform="true"/>
-  </asset>
-
-  <worldbody>
-    <flexcomp name="cable" type="circle" count="40 1 1" spacing=".15 1 1" dim="1"
-              radius="0.02" pos="0 0 1" rgba="1 0 0 1">
-      <edge equality="true"/>
-    </flexcomp>
-    <body name="left" pos="-.7 0 1">
-      <joint name="expand_left" type="slide" axis="-1 0 0" range="0 2" damping="20"/>
-      <joint name="rotate" type="hinge" axis="0 0 1"/>
-      <geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
-    </body>
-    <body name="right" pos=".7 0 1">
-      <joint name="expand_right" type="slide" axis="1 0 0" range="0 2" damping="20"/>
-      <joint type="hinge" axis="0 0 1"/>
-      <geom type="cylinder" size=".2 .2" density="1" material="matcyl"/>
-    </body>
-  </worldbody>
-
-   <actuator>
-    <position name="expand_left" joint="expand_left" ctrlrange="0 2" kp="100"/>
-    <position name="expand_right" joint="expand_right" ctrlrange="0 2" kp="100"/>
-    <velocity name="rotate" joint="rotate" ctrlrange="0 8"/>
-  </actuator>
-
-  <keyframe>
-    <key ctrl=".7 .7 8"/>
-  </keyframe>
-</mujoco>
diff --git a/model/flex/quadratic.xml b/model/flex/quadratic.xml
deleted file mode 100644
index e92be7d7..00000000
--- a/model/flex/quadratic.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Quadratic">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="Euler"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-    <rgba bv="0 0 0 0" bvactive="0 0 0 0"/>
-  </visual>
-
-  <worldbody>
-    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
-      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
-    </body>
-    <flexcomp type="grid" count="8 8 8" spacing=".07 .07 .07" pos="0 0 1" dim="3"
-              radius=".001" rgba="0 .7 .7 1" mass="5" name="softbody" dof="quadratic">
-      <elasticity young="1e4" poisson="0.1" damping="0.0001"/>
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/scene.xml b/model/flex/scene.xml
deleted file mode 100644
index ef314930..00000000
--- a/model/flex/scene.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <compiler meshdir="asset" texturedir="asset"/>
-
-  <statistic meansize=".05"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="10 10" texuniform="true"/>
-  </asset>
-
-  <worldbody>
-    <light diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 2.0" dir="0 0 -1" castshadow="false"/>
-    <light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-
-    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/softbox.xml b/model/flex/softbox.xml
deleted file mode 100644
index 45b46604..00000000
--- a/model/flex/softbox.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Soft box">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6"/>
-
-  <size memory="30M"/>
-
-  <asset>
-    <texture name="texsponge" type="2d" file="sponge.png"/>
-    <material name="matsponge" texture="texsponge" specular="0.3"/>
-  </asset>
-
-  <worldbody>
-    <body pos="0 0 1" name="body">
-      <freejoint/>
-      <geom size=".1" contype="0" conaffinity="0" group="4"/>
-      <flexcomp name="softbox" type="box" count="7 7 7" spacing=".04 .04 .04"
-                radius="0.01" dim="3" material="matsponge" dof="radial">
-        <contact internal="false" selfcollide="none"/>
-        <edge equality="true"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/sphere_full.xml b/model/flex/sphere_full.xml
deleted file mode 100644
index 244201fc..00000000
--- a/model/flex/sphere_full.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Full-flex sphere">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="500"/>
-  </visual>
-
-  <worldbody>
-    <geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
-    <geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
-    <flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 0 1" dim="3"
-              radius=".001" rgba="0 .7 .7 1" mass="5" name="slow">
-      <edge equality="true"/>
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/sphere_radial.xml b/model/flex/sphere_radial.xml
deleted file mode 100644
index 15683019..00000000
--- a/model/flex/sphere_radial.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Radial flex sphere">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="500"/>
-  </visual>
-
-  <worldbody>
-    <geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
-    <geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
-    <body name="body" pos="-.5 0 1">
-      <freejoint/>
-      <geom size=".1" contype="0" conaffinity="0" group="4"/>
-      <flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" dim="3"
-                radius=".001" rgba="0 .7 .7 1" mass="5" name="radial" dof="radial">
-        <edge equality="true" solimp="0 0.9 0.01" solref=".02 1"/>
-        <!-- <elasticity young="6e2" poisson="0.3" damping="0.05"/> -->
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/sphere_trilinear.xml b/model/flex/sphere_trilinear.xml
deleted file mode 100644
index dce7b47c..00000000
--- a/model/flex/sphere_trilinear.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Trilinear flex spheres">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep="1e-3" integrator="Euler"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-    <!-- The trilinear bounding box is visualized by turning on "Flex Tree" (mjVIS_MESHBVH).
-         In order to make the visualization clearer,
-         we make the regular collision BVH visualization invisible: -->
-    <rgba bv="0 0 0 0" bvactive="0 0 0 0"/>
-  </visual>
-
-  <worldbody>
-    <geom type="box" pos="1.5 0 0.25" size=".5 2 .25"/>
-    <geom type="box" pos="0 0 0.25" size="2 2 .05" euler="0 15 0"/>
-    <flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 -.5 1" dim="3"
-              radius=".001" rgba="0 .7 .7 1" mass="5" name="soft" dof="trilinear">
-      <elasticity young="1e3" poisson="0.49" damping="0.1"/>
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-    <flexcomp type="ellipsoid" count="8 8 8" spacing=".07 .07 .07" pos="-.5 .5 1" dim="3"
-              radius=".001" rgba="0 .7 .7 1" mass="5" name="rubber" dof="trilinear">
-      <elasticity young="1e4" poisson="0.4" damping="3e-3"/>
-      <contact selfcollide="none" internal="false" solref="-5000 -10"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/strain.xml b/model/flex/strain.xml
deleted file mode 100644
index f3e8889b..00000000
--- a/model/flex/strain.xml
+++ /dev/null
@@ -1,64 +0,0 @@
-<!-- Copyright 2026 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Gripper">
-  <include file="scene.xml"/>
-
-  <option cone="elliptic" impratio="10" integrator="implicitfast"/>
-
-  <worldbody>
-    <body>
-      <freejoint/>
-      <geom type="box" size=".46 .5 .4" pos="0 0 1.5" rgba=".5 .5 0 1" condim="6"/>
-    </body>
-    <body name="column_00" pos=".7 .4 .5">
-      <geom type="box" size=".1 .1 .5" rgba=".2 .2 .2 1"/>
-      <flexcomp type="box" pos="-.24 0 .1" dim="3" spacing=".03 .01 .01"
-                radius=".001" rgba="0 .7 .7 1" mass=".5" name="left" dof="trilinear">
-        <edge equality="strain"/>
-        <contact selfcollide="none" internal="false" friction="3"/>
-        <pin id="4 5 6 7"/>
-      </flexcomp>
-    </body>
-    <body name="column_01" pos=".7 -.4 .5">
-      <geom type="box" size=".1 .1 .5" rgba=".2 .2 .2 1"/>
-      <flexcomp type="box" pos="-.24 0 .1" dim="3" spacing=".03 .01 .01"
-                radius=".001" rgba="0 .7 .7 1" mass=".5" name="right" dof="trilinear">
-        <edge equality="strain"/>
-        <contact selfcollide="none" internal="false" friction="3"/>
-        <pin id="4 5 6 7"/>
-      </flexcomp>
-    </body>
-    <body name="column_02" pos=" -.7 .4 .5">
-      <geom type="box" size=".1 .1 .5" rgba=".2 .2 .2 1"/>
-      <flexcomp type="box" pos=".24 0 .1" dim="3" spacing=".03 .01 .01"
-                radius=".001" rgba="0 .7 .7 1" mass=".5" name="bottom" dof="trilinear">
-        <edge equality="strain"/>
-        <contact selfcollide="none" internal="false" friction="3"/>
-        <pin id="0 1 2 3"/>
-      </flexcomp>
-    </body>
-    <body name="column_03" pos="-.7 -.4 .5">
-      <geom type="box" size=".1 .1 .5" rgba=".2 .2 .2 1"/>
-      <flexcomp type="box" pos=".24 0 .1" dim="3" spacing=".03 .01 .01"
-                radius=".001" rgba="0 .7 .7 1" mass=".5" name="top" dof="trilinear">
-        <edge equality="strain"/>
-        <contact selfcollide="none" internal="false" friction="3"/>
-        <pin id="0 1 2 3"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-
-</mujoco>
diff --git a/model/flex/trampoline.xml b/model/flex/trampoline.xml
deleted file mode 100644
index 2101be08..00000000
--- a/model/flex/trampoline.xml
+++ /dev/null
@@ -1,46 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Trampoline">
-  <include file="scene.xml"/>
-
-  <option timestep="0.001" solver="CG" tolerance="1e-6" integrator="Euler"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <body pos=".2 0 1.5">
-      <freejoint/>
-      <geom type="sphere" size=".1"/>
-    </body>
-    <flexcomp type="grid" count="16 16 1" spacing=".1 .1 .1" pos="0 0 1"
-              radius=".001" mass="10" name="plate" dim="2">
-      <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
-      <edge equality="false" damping="10"/>
-      <elasticity young="3e5" poisson="0" thickness="1e-2" elastic2d="stretch"/>
-      <pin id="0 15 240 255"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/model/flex/trilinear.xml b/model/flex/trilinear.xml
deleted file mode 100644
index 449ba1c4..00000000
--- a/model/flex/trilinear.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<!-- Copyright 2024 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Trilinear">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="Euler"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-    <rgba bv="0 0 0 0" bvactive="0 0 0 0"/>
-  </visual>
-
-  <worldbody>
-    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
-      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
-    </body>
-    <flexcomp type="grid" count="8 8 8" spacing=".07 .07 .07" pos="0 0 1" dim="3"
-              radius=".001" rgba="0 .7 .7 1" mass="5" name="softbody" dof="trilinear">
-      <elasticity young="1e4" poisson="0.1" damping="0.01"/>
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/model/hammock/hammock.xml b/model/hammock/hammock.xml
deleted file mode 100644
index b00abcfd..00000000
--- a/model/hammock/hammock.xml
+++ /dev/null
@@ -1,62 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Hammock">
-<!-- Degree of Freedom: 312
-     Actuators: 21
-     Equality constraints: 178
-     Tendons: 178
-
-     Simple humanoid on a hammock, implemented as a 2D grid composite, pinned at the corners.
--->
-
-  <option timestep="0.001" solver="CG" iterations="30" tolerance="1e-6"/>
-
-  <size memory="20M"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="2048"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="plane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-             width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <texture name="hammock" type="2d" builtin="checker" rgb1=".1 .5 .1" rgb2=".5 .1 .1"
-             width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
-    <material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true"/>
-    <material name="hammock" texture="hammock"/>
-    <model name="humanoid" file="../humanoid/humanoid.xml"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="plane" condim="3"/>
-    <light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
-    <light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4" dir="0 0 -1"/>
-    <flexcomp name="hammock" type="grid" count="11 9 1" spacing="0.2 0.2 0.2" material="hammock"
-              radius="0.04" dim="2">
-      <pin id="0 8 90 98"/>
-      <edge equality="true" solref="0.002 5"/>
-      <contact selfcollide="none" internal="false" solimp=".99 .999 .00001"/>
-    </flexcomp>
-    <frame euler="0 180 -15" pos="-.4 -.2 2">
-      <attach model="humanoid" body="torso" prefix="humanoid_"/>
-    </frame>
-  </worldbody>
-
-</mujoco>
diff --git a/model/humanoid/100_humanoids.xml b/model/humanoid/100_humanoids.xml
deleted file mode 100644
index ca7c8d60..00000000
--- a/model/humanoid/100_humanoids.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="100 Humanoids">
-  <option timestep="0.005"/>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="floor" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="floor" texture="floor" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-    <model name="humanoid" file="humanoid.xml"/>
-  </asset>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality numslices="16" numstacks="8"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="10 10 .05" type="plane" material="floor" condim="3"/>
-    <light directional="true" diffuse=".9 .9 .9" specular="0.1 0.1 0.1" pos="0 0 5" dir="0 0 -1" castshadow="true"/>
-    <light name="spotlight" mode="targetbodycom" target="world" diffuse="1 1 1" specular="0.3 0.3 0.3" pos="-6 -6 4" cutoff="60"/>
-    <replicate count="10" euler="0 0 36" sep="-">
-      <frame pos="1.2 0 0">
-        <replicate count="10" euler="0 0 17" sep="-" offset="0.6 0 0">
-          <attach model="humanoid" body="torso" prefix="_"/>
-        </replicate>
-      </frame>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/humanoid/22_humanoids.xml b/model/humanoid/22_humanoids.xml
deleted file mode 100644
index 58624198..00000000
--- a/model/humanoid/22_humanoids.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="22 Humanoids">
-  <option timestep="0.005"/>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="floor" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="floor" texture="floor" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-    <model name="humanoid" file="humanoid.xml"/>
-  </asset>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="10 10 .05" type="plane" material="floor" condim="3"/>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
-    <light name="spotlight" mode="targetbodycom" target="world" diffuse="1 1 1" specular="0.3 0.3 0.3" pos="-6 -6 4" cutoff="60"/>
-    <replicate count="22" euler="0 0 16.36" sep="-">
-      <frame pos="0 -4 0">
-        <attach model="humanoid" body="torso" prefix="_"/>
-      </frame>
-    </replicate>
-    <replicate count="5" euler="0 0 72" sep="-">
-      <light pos="0 -4 4"/>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/humanoid/README.md b/model/humanoid/README.md
deleted file mode 100644
index 6b369972..00000000
--- a/model/humanoid/README.md
+++ /dev/null
@@ -1,34 +0,0 @@
-# 人形机器人（Humanoid）
-
-本简化人形机器人模型最初在文献 [1] 中提出，专为双足运动控制行为设计。尽管社区中存在多种变体，但此版本基于 DeepMind Control Suite [2] 中的模型构建，具备较为逼真的执行器增益。
-
-* 自由度（Degrees of Freedom）：27
-* 执行器（Actuators）：21
-
-<p float="left">
-  <img src="humanoid.png" width="400">
-</p>
-
-## 更新日志
-
-* 2024-10-08：将跟踪光源从躯干移动到全局世界（world）。
-* 2024-02-20：将执行器排序调整为与关节相同的顺序。
-* 2024-01-02：添加了更多关键帧。
-* 2023-11-27：将人形机器人的几何体移动到 group 1。
-* 2023-04-05：修复纹理尺寸中的拼写错误。
-* 2022-09-20：为 left_upper_arm geom 使用 default class。
-* 2022-09-17：将人形机器人的离屏渲染缓冲区分辨率提升至 2560x1440。
-* 2022-09-12：
-  * 增大了髋关节最大屈曲角度。
-  * 使肩关节和踝关节对称化。
-  * 添加了腘绳肌肌腱（hamstring tendons），在大角度屈曲时耦合髋部和膝盖。
-  * 将重复的属性值合并到 defaults。
-  * 添加了两个关键帧。
-  * 改进了光照效果。
-  * 修改了命名规范。
-
-## 参考文献
-
-[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization](https://doi.org/10.1109/IROS.2012.6386025).
-
-[2] [DeepMind Control Suite](https://arxiv.org/abs/1801.00690).
diff --git a/model/humanoid/humanoid.png b/model/humanoid/humanoid.png
deleted file mode 100644
index 99df309a..00000000
Binary files a/model/humanoid/humanoid.png and /dev/null differ
diff --git a/model/humanoid/humanoid.xml b/model/humanoid/humanoid.xml
deleted file mode 100644
index a2c4a16f..00000000
--- a/model/humanoid/humanoid.xml
+++ /dev/null
@@ -1,267 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Humanoid">
-  <option timestep="0.005"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <light name="top" pos="0 0 2" mode="trackcom"/>
-    <body name="torso" pos="0 0 1.282" childclass="body">
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-  <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <!--
-    The values below are split into rows for readibility:
-      torso position
-      torso orientation
-      spinal
-      right leg
-      left leg
-      arms
-    -->
-    <key name="squat"
-         qpos="0 0 0.596
-               0.988015 0 0.154359 0
-               0 0.4 0
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               0 0 0 0 0 0"/>
-    <key name="stand_on_left_leg"
-         qpos="0 0 1.21948
-               0.971588 -0.179973 0.135318 -0.0729076
-               -0.0516 -0.202 0.23
-               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
-               0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
-    <key name="prone"
-         qpos="0.4 0 0.0757706
-               0.7325 0 0.680767 0
-               0 0.0729 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.56 -0.62 -1.752
-               0.56 -0.62 -1.752"/>
-    <key name="supine"
-         qpos="-0.4 0 0.08122
-               0.722788 0 -0.69107 0
-               0 -0.25 0
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.186 -0.73 -1.73
-               0.186 -0.73 -1.73"/>
-  </keyframe>
-</mujoco>
diff --git a/model/humanoid/humanoid100.xml b/model/humanoid/humanoid100.xml
deleted file mode 100644
index e7fef05b..00000000
--- a/model/humanoid/humanoid100.xml
+++ /dev/null
@@ -1,150 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Humanoid and 100 objects">
-<!-- Degree of Freedom: 627
-     Actuators: 21
-
-     Humanoid and 100 free primitive objects.
--->
-  <option timestep="0.005"/>
-
-  <size memory="100M"/>
-
-  <default>
-    <geom solimp=".9 .9 .01"/>
-    <default class="capsule">
-      <geom type="capsule" material="capsule" size="0.1 0.05"/>
-    </default>
-    <default class="ellipsoid">
-      <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
-    </default>
-    <default class="box">
-      <geom type="box" material="box" size="0.15 0.1 0.05"/>
-    </default>
-    <default class="cylinder">
-      <geom type="cylinder" material="cylinder" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
-    </default>
-    <default class="sphere">
-      <geom type="sphere" material="sphere" size="0.1"/>
-    </default>
-    <default class="border">
-      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
-    </default>
-    <default class="borderpost">
-      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
-    </default>
-  </default>
-
-  <asset>
-    <model file="humanoid.xml"/>
-    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
-    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
-    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
-    <material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
-    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
-    <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
-    <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
-    <material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
-  </asset>
-
-  <visual>
-    <quality shadowsize="4096" offsamples="8"/>
-    <map znear="0.1" force="0.05"/>
-  </visual>
-
-  <statistic extent="4"/>
-
-  <worldbody>
-    <attach model="Humanoid" body="torso" prefix="humanoid_"/>
-    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
-    <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
-    <geom class="border" fromto="-3 3 0 3 3 0"/>
-    <geom class="border" fromto="-3 -3 0 3 -3 0"/>
-    <geom class="border" fromto="3 3 0 3 -3 0"/>
-    <geom class="border" fromto="-3 3 0 -3 -3 0"/>
-    <geom class="borderpost" pos="3 3 0"/>
-    <geom class="borderpost" pos="-3 3 0"/>
-    <geom class="borderpost" pos="3 -3 0"/>
-    <geom class="borderpost" pos="-3 -3 0"/>
-
-    <frame pos="-2 -2 2.5">
-      <replicate count="5" offset="0 1 0" euler="0 180 0">
-        <frame pos="0 0 -1.5">
-          <replicate count="4" offset="0 0 1" euler="0 0 60">
-            <body euler="30 40 0">
-              <freejoint/>
-              <geom class="capsule"/>
-            </body>
-          </replicate>
-        </frame>
-      </replicate>
-    </frame>
-
-    <frame pos="-1 -2 2.5">
-      <replicate count="5" offset="0 1 0" euler="0 180 0">
-        <frame pos="0 0 -1.5">
-          <replicate count="4" offset="0 0 1" euler="0 0 60">
-            <body euler="20 40 60">
-              <freejoint/>
-              <geom class="ellipsoid"/>
-            </body>
-          </replicate>
-        </frame>
-      </replicate>
-    </frame>
-
-    <frame pos="0 -2 3.5">
-      <replicate count="5" offset="0 1 0" euler="0 180 0">
-        <frame pos="0 0 -1.5">
-          <replicate count="4" offset="0 0 1" euler="0 0 60">
-            <body euler="30 70 110">
-              <freejoint/>
-              <geom class="box"/>
-            </body>
-          </replicate>
-        </frame>
-      </replicate>
-    </frame>
-
-    <frame pos="1 -2 2.5">
-      <replicate count="5" offset="0 1 0" euler="0 180 0">
-        <frame pos="0 0 -1.5">
-          <replicate count="4" offset="0 0 1" euler="0 0 60">
-            <body euler="60 30 0">
-              <freejoint/>
-              <geom class="cylinder"/>
-            </body>
-          </replicate>
-        </frame>
-      </replicate>
-    </frame>
-
-    <frame pos="2 -2 2.5">
-      <replicate count="5" offset="0 1 0">
-        <frame pos="0 0 -1.5">
-          <replicate count="4" offset="0 0 1">
-            <body>
-              <freejoint/>
-              <geom class="sphere"/>
-            </body>
-          </replicate>
-        </frame>
-      </replicate>
-    </frame>
-
-  </worldbody>
-</mujoco>
diff --git a/model/mug/mug.obj b/model/mug/mug.obj
deleted file mode 100644
index 05cf56a3..00000000
--- a/model/mug/mug.obj
+++ /dev/null
@@ -1,61784 +0,0 @@
-####
-#
-# OBJ File Generated by Meshlab
-#
-####
-# Object mug.obj
-#
-# Vertices: 12272
-# Faces: 24544
-#
-####
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diff --git a/model/mug/mug.png b/model/mug/mug.png
deleted file mode 100644
index d0f27cd1..00000000
Binary files a/model/mug/mug.png and /dev/null differ
diff --git a/model/mug/mug.xml b/model/mug/mug.xml
deleted file mode 100644
index a7247c14..00000000
--- a/model/mug/mug.xml
+++ /dev/null
@@ -1,71 +0,0 @@
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-        <geom class="handle" pos="0.00144 -0.0192 0" euler="0 0 274"/>
-        <geom class="handle" pos="0.00703 -0.0179 0" euler="0 0 291"/>
-        <geom class="handle" pos="0.012 -0.0151 0" euler="0 0 309"/>
-        <geom class="handle" pos="0.0159 -0.0108 0" euler="0 0 326"/>
-        <geom class="handle" pos="0.0184 -0.00568 0" euler="0 0 343"/>
-        <geom class="collision" size="0.007 0.0025 0.0055" pos="-0.007 -0.0195 0"/>
-        <geom class="collision" size="0.007 0.0025 0.0055" pos="-0.007 0.0195 0"/>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/actuator/pid.xml b/model/plugin/actuator/pid.xml
deleted file mode 100644
index ab8925a1..00000000
--- a/model/plugin/actuator/pid.xml
+++ /dev/null
@@ -1,68 +0,0 @@
-<mujoco model="PID Controllers">
-  <size memory="10M"/>
-
-  <visual>
-    <headlight diffuse=".2 .2 .2"/>
-    <global elevation="-30" />
-  </visual>
-  <statistic extent="0.50" />
-
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <!-- pure proportional gain, bounces up and down -->
-      <instance name="pid1">
-        <config key="kp" value="4.0"/>
-      </instance>
-      <!-- PD controller - settles below setpoint -->
-      <instance name="pid2">
-        <config key="kp" value="4.0"/>
-        <config key="kd" value="0.4"/>
-      </instance>
-      <!-- PID controller - reaches setpoint -->
-      <instance name="pid3">
-        <config key="kp" value="4.0"/>
-        <config key="ki" value="4"/>
-        <config key="kd" value="0.4"/>
-      </instance>
-      <!-- PID controller with clamped I term. -->
-      <instance name="pid4">
-        <config key="kp" value="4.0"/>
-        <config key="ki" value="4"/>
-        <config key="kd" value="0.4"/>
-        <config key="imax" value=".5"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <default>
-    <geom type="sphere" size="0.01" rgba="1 1 1 1" />
-  </default>
-
-  <worldbody>
-    <light pos="0.4 -.15 .6" dir="-1 .5 -1" diffuse=".7 .7 .7"/>
-    <light pos="-.4 -.15 .6" dir="1 .5 -1" diffuse=".7 .7 .7"/>
-    <geom name="floor" type="plane" pos="0 0 -0.1" size="0 0 100" />
-    <body pos="-0.06 0 0">
-      <joint name="j1" type="slide" axis="0 0 1" />
-      <geom/>
-    </body>
-    <body pos="-0.02 0 0" >
-      <joint name="j2" type="slide" axis="0 0 1" />
-      <geom/>
-    </body>
-    <body pos="0.02 0 0" >
-      <joint name="j3" type="slide" axis="0 0 1" />
-      <geom/>
-    </body>
-    <body pos="0.06 0 0" >
-      <joint name="j4" type="slide" axis="0 0 1" />
-      <geom/>
-    </body>
-  </worldbody>
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" ctrlrange="0 0.15" />
-    <plugin joint="j2" plugin="mujoco.pid" instance="pid2" ctrlrange="0 0.15" />
-    <plugin joint="j3" plugin="mujoco.pid" instance="pid3" ctrlrange="0 0.15" actdim="1" />
-    <plugin joint="j4" plugin="mujoco.pid" instance="pid4" ctrlrange="0 0.15" actdim="1" />
-  </actuator>
-</mujoco>
diff --git a/model/plugin/elasticity/belt.xml b/model/plugin/elasticity/belt.xml
deleted file mode 100644
index e1f0db65..00000000
--- a/model/plugin/elasticity/belt.xml
+++ /dev/null
@@ -1,77 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Belt">
-  <include file="scene.xml"/>
-
-  <extension>
-    <plugin plugin="mujoco.elasticity.cable"/>
-  </extension>
-
-  <statistic center="0 0 .2" extent="1"/>
-
-  <visual>
-    <global elevation="-30"/>
-  </visual>
-
-  <option timestep="0.001">
-    <flag gravity="disable"/>
-  </option>
-  <compiler autolimits="true"/>
-
-  <worldbody>
-    <composite type="cable" offset="-.5 0 .05" initial="none"
-      vertex="
-      0.    0.   0.
-      0.05  0.   0.05
-      0.1   0.   0.1
-      0.15  0.   0.15
-      0.2   0.   0.2
-      0.25  0.   0.25
-      0.3   0.   0.3
-      0.35  0.   0.35
-      0.4   0.   0.4
-      0.45  0.   0.45
-      0.5   0.   0.5
-      0.55  0.   0.45
-      0.6   0.   0.4
-      0.65  0.   0.35
-      0.7   0.   0.3
-      0.75  0.   0.25
-      0.8   0.   0.2
-      0.85  0.   0.15
-      0.9   0.   0.1
-      0.95  0.   0.05
-      1.0   0.   0.  ">
-      <plugin plugin="mujoco.elasticity.cable">
-        <!--Units are in Pa (SI)-->
-        <config key="twist" value="1e8"/>
-        <config key="bend" value="1e7"/>
-        <config key="vmax" value="0.2"/>
-      </plugin>
-      <joint kind="main" damping="0.1"/>
-      <geom type="box" size="0.03535533906 0.02 0.0015" rgba=".8 .2 .1 1" group="3"/>
-      <skin subgrid="3"/>
-    </composite>
-  </worldbody>
-
-  <equality>
-    <connect name="right_boundary" body1="B_last" anchor="0.07 0 0"/>
-  </equality>
-
-  <actuator>
-    <motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.2 .2"/>
-  </actuator>
-</mujoco>
diff --git a/model/plugin/elasticity/cable.xml b/model/plugin/elasticity/cable.xml
deleted file mode 100644
index 2db16b57..00000000
--- a/model/plugin/elasticity/cable.xml
+++ /dev/null
@@ -1,57 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Cable">
-  <include file="scene.xml"/>
-
-  <extension>
-    <plugin plugin="mujoco.elasticity.cable"/>
-  </extension>
-
-  <statistic center="0 0 .3" extent="1"/>
-  <visual>
-    <global elevation="-30"/>
-  </visual>
-
-  <compiler autolimits="true"/>
-
-  <size memory="2M"/>
-
-  <worldbody>
-    <composite type="cable" curve="s" count="41 1 1" size="1" offset="-.3 0 .6" initial="none">
-      <plugin plugin="mujoco.elasticity.cable">
-        <!--Units are in Pa (SI)-->
-        <config key="twist" value="1e7"/>
-        <config key="bend" value="4e6"/>
-        <config key="vmax" value="0.05"/>
-      </plugin>
-      <joint kind="main" damping=".015"/>
-      <geom type="capsule" size=".005" rgba=".8 .2 .1 1" condim="1"/>
-    </composite>
-    <body name="slider" pos=".7 0 .6">
-      <joint type="slide" axis="1 0 0" damping=".1"/>
-      <geom size=".01"/>
-    </body>
-  </worldbody>
-  <equality>
-    <connect name="right_boundary" body1="B_last" body2="slider" anchor=".025 0 0"/>
-  </equality>
-  <contact>
-    <exclude body1="B_last" body2="slider"/>
-  </contact>
-  <actuator>
-    <motor site="S_last" gear="0 0 0 1 0 0" ctrlrange="-.03 .03"/>
-  </actuator>
-</mujoco>
diff --git a/model/plugin/elasticity/coil.xml b/model/plugin/elasticity/coil.xml
deleted file mode 100644
index dff6464f..00000000
--- a/model/plugin/elasticity/coil.xml
+++ /dev/null
@@ -1,106 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing software
-     distributed under the License is distributed on an "AS IS" BASIS
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Coil">
-  <include file="scene.xml"/>
-
-  <extension>
-    <plugin plugin="mujoco.elasticity.cable"/>
-  </extension>
-
-  <statistic center="0 0 .2" extent="1"/>
-
-  <compiler autolimits="true"/>
-
-  <visual>
-    <global elevation="-30"/>
-  </visual>
-
-  <default>
-    <geom solref="0.01 1" solimp=".95 .99 .0001"/>
-  </default>
-
-  <worldbody>
-    <composite prefix="free" type="cable" offset="-.25 0 .3" initial="free"
-      vertex="
-        0.1         0.          0.
-        0.0809017   0.05877853  0.001256637
-        0.0309017   0.09510565  0.002513274
-       -0.0309017   0.09510565  0.003769911
-       -0.0809017   0.05877853  0.005026548
-       -0.1         0.          0.006283185
-       -0.0809017  -0.05877853  0.007539822
-       -0.0309017  -0.09510565  0.008796459
-        0.0309017  -0.09510565  0.010053096
-        0.0809017  -0.05877853  0.011309734
-        0.1        -0.          0.012566371
-        0.0809017   0.05877853  0.01256637
-        0.0309017   0.09510565  0.02513274
-       -0.0309017   0.09510565  0.03769911
-       -0.0809017   0.05877853  0.05026548
-       -0.1         0.          0.06283185
-       -0.0809017  -0.05877853  0.07539822
-       -0.0309017  -0.09510565  0.08796459
-        0.0309017  -0.09510565  0.10053096
-        0.0809017  -0.05877853  0.11309734
-        0.1        -0.          0.12566371
-        0.0809017   0.05877853  0.13823008
-        0.0309017   0.09510565  0.15079645
-       -0.0309017   0.09510565  0.16336282
-       -0.0809017   0.05877853  0.17592919
-       -0.1         0.          0.18849556
-       -0.0809017  -0.05877853  0.20106193
-       -0.0309017  -0.09510565  0.2136283
-        0.0309017  -0.09510565  0.22619467
-        0.0809017  -0.05877853  0.23876104
-        0.1        -0.          0.25132741">
-      <plugin plugin="mujoco.elasticity.cable">
-        <!--Units are in Pa (SI)-->
-        <config key="twist" value="5e8"/>
-        <config key="bend" value="15e8"/>
-        <config key="vmax" value="2"/>
-      </plugin>
-      <joint kind="main" damping="0.12" armature="0.01"/>
-      <geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
-    </composite>
-    <composite prefix="actuated" type="cable" curve="cos(s) sin(s) s" count="41 1 1"
-      size="0.251327412 .1 4" offset="0.25 0 .05" initial="fixed">
-      <plugin plugin="mujoco.elasticity.cable">
-        <!--Units are in Pa (SI)-->
-        <config key="twist" value="5e8"/>
-        <config key="bend" value="15e8"/>
-        <config key="vmax" value="2"/>
-      </plugin>
-      <joint kind="main" damping="0.1" armature="0.01"/>
-      <geom type="capsule" size=".005" rgba=".8 .2 .1 1"/>
-    </composite>
-    <body name="slider" pos="0.35 0 0.301327412">
-      <joint name="slide" type="slide" axis="0 0 1" damping="5"/>
-      <geom size=".01"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect name="right_boundary" body1="actuatedB_last" body2="slider" anchor="0.03 0 0" solref="0.0002 1"/>
-  </equality>
-
-  <contact>
-    <exclude body1="actuatedB_last" body2="slider"/>
-  </contact>
-
-  <actuator>
-    <position joint="slide" name="extend" gear="1 0 0 0 0 0" ctrlrange="-.25 1" kp="100"/>
-  </actuator>
-</mujoco>
diff --git a/model/plugin/elasticity/scene.xml b/model/plugin/elasticity/scene.xml
deleted file mode 100644
index ef314930..00000000
--- a/model/plugin/elasticity/scene.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <compiler meshdir="asset" texturedir="asset"/>
-
-  <statistic meansize=".05"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="10 10" texuniform="true"/>
-  </asset>
-
-  <worldbody>
-    <light diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 2.0" dir="0 0 -1" castshadow="false"/>
-    <light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-
-    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/sdf/asset/README.md b/model/plugin/sdf/asset/README.md
deleted file mode 100644
index 7acf7314..00000000
--- a/model/plugin/sdf/asset/README.md
+++ /dev/null
@@ -1 +0,0 @@
-Spot 相关的三维模型资产来源于 https://www.cs.cmu.edu/~kmcrane/Projects/ModelRepository/ ，并在 CC0 1.0 Universal (CC0 1.0) 公共领域贡献许可协议下发布。
diff --git a/model/plugin/sdf/asset/die.obj b/model/plugin/sdf/asset/die.obj
deleted file mode 100644
index 91964032..00000000
--- a/model/plugin/sdf/asset/die.obj
+++ /dev/null
@@ -1,296 +0,0 @@
-v 0.740000 0.740000 -1.000000
-v 0.740000 1.000000 -0.740000
-v 1.000000 0.740000 -0.740000
-v 0.740000 0.807269 -0.991147
-v 0.740000 0.870021 -0.965154
-v 0.740000 0.923848 -0.923848
-v 0.807269 0.740000 -0.991147
-v 0.809387 0.809958 -0.980606
-v 0.808254 0.870420 -0.954318
-v 0.806858 0.917583 -0.917748
-v 0.870021 0.740000 -0.965154
-v 0.870490 0.808646 -0.954150
-v 0.863847 0.863908 -0.932116
-v 0.858399 0.903670 -0.903688
-v 0.890111 0.890111 -0.890111
-v 0.807269 0.991147 -0.740000
-v 0.870021 0.965154 -0.740000
-v 0.923848 0.923848 -0.740000
-v 0.740000 0.991147 -0.807269
-v 0.809958 0.980606 -0.809387
-v 0.870420 0.954318 -0.808254
-v 0.917583 0.917748 -0.806858
-v 0.740000 0.965154 -0.870021
-v 0.808646 0.954150 -0.870490
-v 0.863908 0.932116 -0.863847
-v 0.903670 0.903688 -0.858399
-v 0.991147 0.740000 -0.807269
-v 0.965154 0.740000 -0.870021
-v 0.923848 0.740000 -0.923848
-v 0.991147 0.807269 -0.740000
-v 0.980606 0.809387 -0.809958
-v 0.954318 0.808254 -0.870420
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-v 0.740000 -1.000000 -0.740000
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-v 0.740000 1.000000 0.740000
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-v 0.740000 0.870021 0.965154
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-v 1.000000 -0.740000 0.740000
-v 0.740000 -0.740000 1.000000
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-v 0.809387 -0.809958 0.980606
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index 87ecce51..00000000
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diff --git a/model/plugin/sdf/asset/spot.png b/model/plugin/sdf/asset/spot.png
deleted file mode 100644
index 63094487..00000000
Binary files a/model/plugin/sdf/asset/spot.png and /dev/null differ
diff --git a/model/plugin/sdf/bowl.xml b/model/plugin/sdf/bowl.xml
deleted file mode 100644
index a50a3c3e..00000000
--- a/model/plugin/sdf/bowl.xml
+++ /dev/null
@@ -1,50 +0,0 @@
-
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.bowl">
-      <instance name="bowl">
-        <config key="height" value="0.4"/>
-        <config key="radius" value="1.0"/>
-        <config key="thickness" value="0.02"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <asset>
-    <mesh name="bowl">
-      <plugin instance="bowl"/>
-    </mesh>
-  </asset>
-
-  <option sdf_iterations="5" sdf_initpoints="20"/>
-
-  <default>
-    <geom solref="0.01 1" solimp=".95 .99 .0001" condim="1"/>
-  </default>
-
-  <statistic meansize=".1"/>
-
-  <include file="scene.xml"/>
-
-  <worldbody>
-    <light name="left" pos="0 0 4"/>
-    <light name="right" pos="-1 -1 2" dir="1 1 -2"/>
-    <body euler="45 -15 0" pos="0 0 1">
-      <geom type="sdf" name="bowl" mesh="bowl" rgba=".2 .8 .8 1">
-        <plugin instance="bowl"/>
-      </geom>
-    </body>
-    <body pos=".6 -.4 2.5">
-      <freejoint/>
-      <geom type="sphere" size=".15" rgba=".8 .17 .15 1"/>
-    </body>
-    <body pos="0 -.4 2.5">
-      <freejoint/>
-      <geom type="sphere" size=".15" rgba=".8 .17 .15 1"/>
-    </body>
-    <body pos=".3 -.4 2.5">
-      <freejoint/>
-      <geom type="sphere" size=".15" rgba=".8 .17 .15 1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/sdf/cow.xml b/model/plugin/sdf/cow.xml
deleted file mode 100644
index 7eb055d4..00000000
--- a/model/plugin/sdf/cow.xml
+++ /dev/null
@@ -1,53 +0,0 @@
-<mujoco>
-  <compiler texturedir="asset"/>
-
-  <extension>
-    <plugin plugin="mujoco.sdf.torus">
-      <instance name="torus">
-        <config key="radius1" value="0.15"/>
-        <config key="radius2" value="0.05"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <asset>
-    <texture name="texspot" type="2d" file="spot.png"/>
-    <material name="matspot" texture="texspot"/>
-    <mesh name="spot" file="asset/spot.obj"/>
-    <mesh name="torus">
-      <plugin instance="torus"/>
-    </mesh>
-  </asset>
-
-  <option sdf_iterations="20" sdf_initpoints="40"/>
-
-  <visual>
-    <map force="1000"/>
-  </visual>
-
-  <default>
-    <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.5"/>
-  </default>
-
-  <statistic meansize="0.2"/>
-
-  <include file="scene.xml"/>
-
-  <worldbody>
-    <body pos="0.1 .25 5.7">
-      <freejoint/>
-      <geom type="sdf" mesh="torus" rgba=".2 .8 .2 1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body euler="90 0 0" pos="0 0 .7">
-      <geom type="sdf" name="cow1" mesh="spot" material="matspot"/>
-    </body>
-    <body pos="0.05 .25 2.2">
-      <freejoint/>
-      <geom type="sdf" name="cow2" mesh="spot" material="matspot"/>
-    </body>
-    <light name="left" pos="0 0 1"/>
-    <light name="right" pos="1 0 1"/>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/sdf/gear.xml b/model/plugin/sdf/gear.xml
deleted file mode 100644
index e5e220d9..00000000
--- a/model/plugin/sdf/gear.xml
+++ /dev/null
@@ -1,55 +0,0 @@
-
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.gear">
-      <instance name="gear1">
-        <config key="alpha" value="0"/>
-      </instance>
-    </plugin>
-    <plugin plugin="mujoco.sdf.gear">
-      <instance name="gear2">
-        <config key="alpha" value="15"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <asset>
-    <mesh name="gear1">
-      <plugin instance="gear1"/>
-    </mesh>
-    <mesh name="gear2">
-      <plugin instance="gear2"/>
-    </mesh>
-  </asset>
-
-  <option sdf_iterations="5" sdf_initpoints="20"/>
-
-  <default>
-    <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.2"/>
-  </default>
-
-  <statistic meansize=".1"/>
-
-  <include file="scene.xml"/>
-
-  <worldbody>
-    <body pos="0 0 .2">
-      <joint name="freewheel" type="hinge" damping="1000" axis="0 0 1"/>
-      <geom type="sdf" name="gear1" mesh="gear1" rgba="0.4 0.4 0.4 1">
-        <plugin instance="gear1"/>
-      </geom>
-    </body>
-    <body pos="2.85 0 .2">
-      <joint name="drive" type="hinge" damping=".1" axis="0 0 1"/>
-      <geom type="sdf" name="gear2" mesh="gear2" rgba="0.7 0.7 0.7 1">
-        <plugin instance="gear2"/>
-      </geom>
-    </body>
-    <light name="left" pos="0 0 1"/>
-    <light name="right" pos="1 0 1"/>
-  </worldbody>
-
-  <actuator>
-    <motor name="drive" joint="drive" ctrlrange="-1 1" gear="1500" ctrllimited="true"/>
-  </actuator>
-</mujoco>
diff --git a/model/plugin/sdf/mesh.xml b/model/plugin/sdf/mesh.xml
deleted file mode 100644
index 87cbc075..00000000
--- a/model/plugin/sdf/mesh.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.torus">
-      <instance name="torus">
-        <config key="radius1" value="0.35"/>
-        <config key="radius2" value="0.15"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <!-- number of starting points per face, faces are larger than the torus -->
-  <option sdf_initpoints="10"/>
-  <asset>
-    <mesh name="torus">
-      <plugin instance="torus"/>
-    </mesh>
-    <mesh name="die" file="asset/die.obj" scale="1 1 1"/>
-  </asset>
-
-  <include file="scene.xml"/>
-
-  <worldbody>
-    <body pos="0 .05 2.5" euler="90 0 0">
-      <freejoint/>
-      <geom type="sdf" mesh="torus" rgba=".8 .17 .15 1" group="1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body>
-      <geom type="mesh" mesh="die" euler="90 0 0" rgba="0 0 1 .2"/>
-    </body>
-    <light pos="1 0 7" dir="0 0 -1" castshadow="false"/>
-    <light pos="-1 0 7" dir="0 0 -1" castshadow="false"/>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/sdf/mug.xml b/model/plugin/sdf/mug.xml
deleted file mode 100644
index def6c527..00000000
--- a/model/plugin/sdf/mug.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.torus">
-      <instance name="torus">
-        <config key="radius1" value="0.35"/>
-        <config key="radius2" value="0.15"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 -9.81"/>
-  <asset>
-    <mesh name="torus">
-      <plugin instance="torus"/>
-    </mesh>
-    <mesh file="../../mug/mug.obj" scale=".2 .2 .2"/>
-  </asset>
-
-  <include file="scene.xml"/>
-
-  <worldbody>
-    <body pos="0 .05 2.5" euler="90 0 0">
-      <freejoint/>
-      <geom type="sdf" mesh="torus" rgba=".8 .17 .15 1" group="1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body>
-      <geom type="sdf" mesh="mug" euler="90 0 0" rgba="0 0 1 .2"/>
-    </body>
-    <light pos="1 0 7" dir="0 0 -1" castshadow="false"/>
-    <light pos="-1 0 7" dir="0 0 -1" castshadow="false"/>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/sdf/nutbolt.xml b/model/plugin/sdf/nutbolt.xml
deleted file mode 100644
index 51e2b554..00000000
--- a/model/plugin/sdf/nutbolt.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.nut">
-      <instance name="nut">
-        <config key="radius" value="0.26"/>
-      </instance>
-    </plugin>
-    <plugin plugin="mujoco.sdf.bolt">
-      <instance name="bolt">
-        <config key="radius" value="0.255"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <compiler autolimits="true"/>
-
-  <include file="scene.xml"/>
-
-  <visual>
-    <map force="0.05"/>
-  </visual>
-
-  <asset>
-    <mesh name="nut">
-      <plugin instance="nut"/>
-    </mesh>
-    <mesh name="bolt">
-      <plugin instance="bolt"/>
-    </mesh>
-  </asset>
-
-  <option sdf_iterations="10" sdf_initpoints="20"/>
-
-  <default>
-    <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.01"/>
-  </default>
-
-  <statistic meansize=".1"/>
-
-  <worldbody>
-    <body pos="-0.0012496 0.00329058 0.830362" quat="-0.000212626 0.999996 -0.00200453 0.00185878">
-      <joint type="free" damping="30"/>
-      <geom type="sdf" name="nut" mesh="nut" rgba="0.83 0.68 0.4 1">
-        <plugin instance="nut"/>
-      </geom>
-    </body>
-    <body euler="180 0 0">
-      <geom type="sdf" name="bolt" mesh="bolt" rgba="0.7 0.7 0.7 1">
-        <plugin instance="bolt"/>
-      </geom>
-    </body>
-    <light name="left" pos="-1 0 2" cutoff="80"/>
-    <light name="right" pos="1 0 2" cutoff="80"/>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/sdf/primitives.xml b/model/plugin/sdf/primitives.xml
deleted file mode 100644
index f7baf63a..00000000
--- a/model/plugin/sdf/primitives.xml
+++ /dev/null
@@ -1,68 +0,0 @@
-
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.torus">
-      <instance name="torus">
-        <config key="radius1" value="0.35"/>
-        <config key="radius2" value="0.15"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <asset>
-    <mesh name="torus">
-      <plugin instance="torus"/>
-    </mesh>
-  </asset>
-
-  <option sdf_iterations="10" sdf_initpoints="20"/>
-
-  <include file="scene.xml"/>
-
-  <default>
-    <geom solref="0.01 1" solimp=".95 .99 .0001"/>
-  </default>
-
-  <worldbody>
-    <body pos="0 0 .175">
-      <freejoint/>
-      <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body pos=".1 .1 1.2">
-      <freejoint/>
-      <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body pos=".1 .1 2.6">
-      <freejoint/>
-      <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body pos="-.1 .2 2">
-      <freejoint/>
-      <geom type="sphere" size="0.3"/>
-    </body>
-    <body pos=".3 -.1 2" euler="0 0 45">
-      <freejoint/>
-      <geom type="ellipsoid" size=".4 .2 .2"/>
-    </body>
-    <body pos="-.1 .1 .5">
-      <freejoint/>
-      <geom type="capsule" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/>
-    </body>
-    <body pos=".2 -.2 .3">
-      <freejoint/>
-      <geom type="cylinder" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/>
-    </body>
-    <body pos=".1 .1 3.5">
-      <freejoint/>
-      <geom type="box" size=".2 .2 .2"/>
-    </body>
-    <light name="left" pos="0 0 1"/>
-    <light name="right" pos="1 0 1"/>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/sdf/scene.xml b/model/plugin/sdf/scene.xml
deleted file mode 100644
index 1591519e..00000000
--- a/model/plugin/sdf/scene.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <compiler texturedir="asset"/>
-
-  <statistic meansize=".05"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1" shadowclip="3"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-  </asset>
-
-  <worldbody>
-    <light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-    <geom name="ground" type="plane" pos="0 0 -.02" size="10 10 .01" material="matplane" condim="1"/>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/sdf/torus.xml b/model/plugin/sdf/torus.xml
deleted file mode 100644
index e482e434..00000000
--- a/model/plugin/sdf/torus.xml
+++ /dev/null
@@ -1,54 +0,0 @@
-
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.torus">
-      <instance name="torus">
-        <config key="radius1" value="0.35"/>
-        <config key="radius2" value="0.15"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <asset>
-    <mesh name="torus">
-      <plugin instance="torus"/>
-    </mesh>
-  </asset>
-
-  <option sdf_iterations="10" sdf_initpoints="40"/>
-
-  <include file="scene.xml"/>
-
-  <default>
-    <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.1"/>
-  </default>
-
-  <worldbody>
-    <body pos="-1 0 3.8">
-      <freejoint/>
-      <geom type="sdf" mesh="torus" rgba=".2 .2 .8 1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body pos="-1 0 3.4">
-      <freejoint/>
-      <geom type="sdf" mesh="torus" rgba=".2 .8 .2 1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body pos="-1 0 3">
-      <freejoint/>
-      <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body pos="0 0 2">
-      <geom type="cylinder" size=".1" fromto="1 0 -1 -1 0 1"/>
-    </body>
-    <body pos="0 0 2">
-      <geom type="cylinder" size=".5" fromto="1.2 0 -1.2 1 0 -1"/>
-    </body>
-    <light name="left" pos="-2 0 7" cutoff="80"/>
-    <light name="right" pos="2 0 7" cutoff="80"/>
-  </worldbody>
-</mujoco>
diff --git a/model/plugin/sensor/a.png b/model/plugin/sensor/a.png
deleted file mode 100644
index c1b629b6..00000000
Binary files a/model/plugin/sensor/a.png and /dev/null differ
diff --git a/model/plugin/sensor/touch_grid.xml b/model/plugin/sensor/touch_grid.xml
deleted file mode 100644
index c11368e9..00000000
--- a/model/plugin/sensor/touch_grid.xml
+++ /dev/null
@@ -1,52 +0,0 @@
-<mujoco model="touchtest">
-  <compiler autolimits="true"/>
-
-  <extension>
-    <plugin plugin="mujoco.sensor.touch_grid"/>
-  </extension>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="3 1" texuniform="true"/>
-    <hfield file="a.png" size="0.2 0.2 0.02 0.015"/>
-  </asset>
-
-  <visual>
-      <headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1"/>
-      <map znear="0.01"/>
-      <scale contactwidth=".02" contactheight=".5"/>
-  </visual>
-
-  <default>
-    <geom friction="0.4" solimp="0 0.95 0.02"/>
-  </default>
-
-  <statistic center="0 0 1" extent="1" meansize=".1"/>
-
-  <worldbody>
-    <light pos="1 0 .3" dir="-1 0 -.3"/>
-    <light pos="-1 0 .3" dir="1 0 -.3"/>
-    <geom name="floor" pos="0 0 -0.01" type="plane" size="1 1 .01"/>
-
-    <geom name="a" type="hfield" hfield="a" rgba=".5 .5 .7 1"/>
-
-    <body name="ball" pos="0 0 1">
-      <joint name="x" type="slide" axis="1 0 0" damping="1"/>
-      <joint name="y" type="slide" axis="0 1 0" damping="1"/>
-      <joint name="z" type="slide" axis="0 0 1"/>
-      <joint name="rx" axis="1 0 0" springdamper="0.2 1"/>
-      <joint name="ry" axis="0 1 0" springdamper="0.2 1"/>
-      <geom type="ellipsoid" size=".3 .5 .1" mass="0.1" rgba=".5 .5 .5 .3"/>
-      <site name="touch" pos="0 0 .1"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <plugin name="touch" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch">
-      <config key="size" value="7 7"/>
-      <config key="fov" value="45 45"/>
-      <config key="gamma" value="0"/>
-      <config key="nchannel" value="3"/>
-    </plugin>
-  </sensor>
-</mujoco>
diff --git a/model/replicate/README.md b/model/replicate/README.md
deleted file mode 100644
index e811bcce..00000000
--- a/model/replicate/README.md
+++ /dev/null
@@ -1,26 +0,0 @@
-# 复制元元素（Replicate）
-
-此目录下的模型提供了 `<replicate>` 元元素的使用示例，详见[官方文档](https://mujoco.readthedocs.io/en/stable/XMLreference.html#replicate-r)。
-
-这些模型涵盖以下几个类别：
-
-1. 构建静态几何体：
-   - cylinder.xml
-   - bowl.xml
-   - helix.xml
-   - container.xml
-
-2. 复制运动刚体：
-   - particle.xml
-   - bunnies.xml
-   - leaves.xml
-   - stonehenge.xml
-
-3. 包含肌腱/绳索（Tendon）的复制：
-   - newton_cradle.xml
-   - tendon.xml
-
-4. 包含多个引用元素的复制：
-   - references.xml
-
-[![Replicate 展示](https://img.youtube.com/vi/5k0_wsIRAFc/0.jpg)](https://www.youtube.com/watch?v=5k0_wsIRAFc)
diff --git a/model/replicate/asset/marble.png b/model/replicate/asset/marble.png
deleted file mode 100644
index 953057e4..00000000
Binary files a/model/replicate/asset/marble.png and /dev/null differ
diff --git a/model/replicate/bowl.xml b/model/replicate/bowl.xml
deleted file mode 100644
index 257c6c07..00000000
--- a/model/replicate/bowl.xml
+++ /dev/null
@@ -1,46 +0,0 @@
-<mujoco model="Bowl">
-  <statistic meansize=".05"/>
-
-  <worldbody>
-    <light pos=".1 0 .6"/>
-    <light pos="-.1 0 .6"/>
-    <geom type="plane" size="1 1 .01"/>
-
-    <body pos="-.1 0 .04" euler="20 10 0">
-      <freejoint/>
-      <geom type="cylinder" size="0.03 0.002" rgba=".8 0 0 1"/>
-      <replicate count="20" euler="0 0 18">
-        <frame pos="-.025 0 .03" euler="0 15 0">
-          <replicate count="6" euler="0 15 0">
-            <geom type="box" size=".0044 .009 .002" pos="0 0 -.03" rgba=".8 0 0 1"/>
-          </replicate>
-        </frame>
-      </replicate>
-    </body>
-
-    <body pos="0 0 .02" euler="20 20 0">
-      <freejoint/>
-      <geom type="cylinder" size="0.01 0.0015" rgba="0 .8 0 1"/>
-      <replicate count="20" euler="0 0 18">
-        <frame pos="-.005 0 .03" euler="0 15 0">
-          <replicate count="6" euler="0 15 0">
-            <geom type="box" size=".0044 .006 .0015" pos="0 0 -.03" rgba="0 .8 0 1"/>
-          </replicate>
-        </frame>
-      </replicate>
-    </body>
-
-    <body pos=".09 0 .04" euler="30 30 0">
-      <freejoint/>
-      <geom type="cylinder" size="0.03 0.002" rgba="0 0 .8 1"/>
-      <replicate count="20" euler="0 0 18">
-        <frame pos="-.025 0 .03" euler="0 15 0">
-          <replicate count="4" euler="0 15 0">
-            <geom type="box" size=".0044 .009 .002" pos="0 0 -.03" rgba="0 0 .8 1"/>
-          </replicate>
-        </frame>
-      </replicate>
-    </body>
-
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/bunnies.xml b/model/replicate/bunnies.xml
deleted file mode 100644
index a18d56bd..00000000
--- a/model/replicate/bunnies.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<mujoco model="Bunnies">
-
-  <include file="container.xml"/>
-
-  <size memory="1G"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".01"/>
-
-  <asset>
-    <mesh file="bunny.obj"/>
-  </asset>
-
-  <worldbody>
-    <replicate count="5" offset=".17 0 0">
-      <replicate count="5" offset="0 .17 0">
-        <replicate count="5" offset="0 0 .17">
-          <body pos="-0.35 -0.35 0.65">
-            <freejoint/>
-            <geom type="mesh" mesh="bunny" rgba="0.8 0.2 0.1 1"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/bunny.obj b/model/replicate/bunny.obj
deleted file mode 100644
index 9baeb363..00000000
--- a/model/replicate/bunny.obj
+++ /dev/null
@@ -1,7474 +0,0 @@
-# OBJ file format with ext .obj
-# vertex count = 2503
-# face count = 4968
-v -3.4101800e-003 1.3031957e-001 2.1754370e-002
-v -8.1719160e-002 1.5250145e-001 2.9656090e-002
-v -3.0543480e-002 1.2477885e-001 1.0983400e-003
-v -2.4901590e-002 1.1211138e-001 3.7560240e-002
-v -1.8405680e-002 1.7843055e-001 -2.4219580e-002
-v 1.9067940e-002 1.2144925e-001 3.1968440e-002
-v 6.0412000e-003 1.2494359e-001 3.2652890e-002
-v -1.3469030e-002 1.6299355e-001 -1.2000020e-002
-v -3.4393240e-002 1.7236688e-001 -9.8213000e-004
-v -8.4314160e-002 1.0957263e-001 3.7097300e-003
-v -4.2233540e-002 1.7211574e-001 -4.1799800e-003
-v -6.3308390e-002 1.5660615e-001 -1.3838790e-002
-v -7.6903950e-002 1.6708033e-001 -2.6931360e-002
-v -7.2253920e-002 1.1539550e-001 5.1670300e-002
-v 1.2981330e-002 1.1366375e-001 3.8302950e-002
-v -3.7857280e-002 1.7010102e-001 1.4236000e-003
-v 4.8689400e-003 3.7962370e-002 4.5867630e-002
-v -5.7180550e-002 4.0918830e-002 4.6301340e-002
-v -4.5209070e-002 3.8839100e-002 4.4503770e-002
-v -3.3761490e-002 1.2617876e-001 1.7132300e-003
-v -5.0242270e-002 1.5773747e-001 9.3944500e-003
-v -2.1216950e-002 1.5887938e-001 -4.6923700e-003
-v -5.6472950e-002 1.5778406e-001 8.1786500e-003
-v -5.2802060e-002 4.1319860e-002 4.6169800e-002
-v -4.9960340e-002 4.3101950e-002 4.4462650e-002
-v -2.9748750e-002 3.6539860e-002 5.2493310e-002
-v -3.5438900e-003 4.2659770e-002 4.7541530e-002
-v 4.9304900e-003 4.1982660e-002 4.5723390e-002
-v -3.9088180e-002 1.6872020e-001 -1.1924680e-002
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-f 1133 1303 1142
-f 2252 2273 2272
-f 891 2252 2272
-f 2419 2405 2429
-f 2405 2430 2429
-f 2429 2430 176
-f 2189 2186 2181
-f 2212 2219 2218
-f 2312 2139 2337
-f 2139 2384 2448
-f 2448 2384 2395
-f 899 855 843
-f 2272 2273 2285
-f 2331 2303 2299
-f 176 2435 2054
-f 1012 176 2054
-f 2177 2185 2176
-f 2218 2219 2225
-f 1216 1220 1215
-f 2378 2139 2312
-f 2384 14 2395
-f 2324 2295 2255
-f 2240 2273 2252
-f 2371 2387 2405
-f 2410 2430 2405
-f 2430 2442 176
-f 2435 2344 2397
-f 2397 2344 2373
-f 2456 1888 2455
-f 2242 2267 2233
-f 2233 2262 2229
-f 2378 2384 2139
-f 2323 2310 2295
-f 2323 2322 2310
-f 2240 2274 2273
-f 974 841 990
-f 2490 1447 2486
-f 2387 2410 2405
-f 2442 2141 176
-f 2344 1778 2373
-f 972 1379 2373
-f 1778 972 2373
-f 1379 972 428
-f 1211 2437 1223
-f 1228 1215 1220
-f 702 2378 2312
-f 17 518 2415
-f 1888 26 1244
-f 2324 2323 2295
-f 2305 2311 2290
-f 2307 2285 2273
-f 2274 2307 2273
-f 2307 2320 2285
-f 2369 531 506
-f 2435 2258 2344
-f 2296 2324 2288
-f 1233 1217 2361
-f 2360 2371 2367
-f 2410 2442 2430
-f 176 2141 2258
-f 176 2258 2435
-f 539 2331 66
-f 2350 2392 2317
-f 2268 2225 2253
-f 1508 1500 2371
-f 2360 1508 2371
-f 2371 1500 2387
-f 972 2366 428
-f 1626 1686 1358
-f 1759 1807 1819
-f 2277 2257 2245
-f 2277 2299 2257
-f 1784 2228 1736
-f 2265 2240 1736
-f 2228 2265 1736
-f 2265 2274 2240
-f 1209 2320 2307
-f 2320 1209 1216
-f 1555 1584 1560
-f 2387 1500 2372
-f 2410 2420 2442
-f 2433 972 1778
-f 2433 2366 972
-f 955 522 1225
-f 2339 2307 2274
-f 2372 1493 2387
-f 2411 2420 2410
-f 2420 954 2442
-f 2442 954 2141
-f 2344 2433 1778
-f 2205 2212 2218
-f 2328 2334 2351
-f 2394 2401 2414
-f 2250 2256 2271
-f 2339 1209 2307
-f 2328 2322 2323
-f 866 845 2425
-f 3 316 893
-f 2387 2411 2410
-f 2441 2141 954
-f 2141 2441 2258
-f 2354 2433 2344
-f 2254 2294 2270
-f 2269 2254 2270
-f 863 2305 846
-f 2441 2354 2258
-f 2258 2354 2344
-f 2319 2355 51
-f 2223 2228 1784
-f 1493 2411 2387
-f 1560 2449 1555
-f 2288 2324 2255
-f 825 2251 2238
-f 2251 2245 2238
-f 1299 84 1312
-f 2246 2265 2228
-f 2313 2274 2265
-f 2313 2339 2274
-f 2251 2277 2245
-f 2319 51 2331
-f 891 1862 2252
-f 2443 954 2420
-f 2443 2441 954
-f 511 2447 2439
-f 2242 2233 2211
-f 188 15 814
-f 2443 2426 2441
-f 2426 2354 2441
-f 2306 2403 2433
-f 2433 2403 2366
-f 539 2303 2331
-f 2246 2228 2223
-f 1030 1819 1807
-f 2354 2306 2433
-f 2413 2412 2376
-f 2438 2455 1888
-f 1848 1857 2176
-f 2207 2208 2223
-f 2208 2246 2223
-f 1209 2339 1217
-f 2339 2361 1217
-f 1221 1210 2388
-f 554 109 78
-f 386 1375 95
-f 2327 2326 2318
-f 2179 2182 1393
-f 2182 2208 1393
-f 1393 2208 2207
-f 2361 2399 2388
-f 2388 2399 1211
-f 2306 2354 2426
-f 2403 2359 2366
-f 2214 2226 2213
-f 2268 2253 2276
-f 889 2200 2179
-f 2200 2182 2179
-f 2200 2221 2182
-f 2221 2208 2182
-f 2314 2265 2246
-f 2314 2313 2265
-f 2339 2374 2361
-f 2478 2434 2379
-f 2205 2217 2199
-f 2208 2259 2246
-f 2259 2275 2246
-f 2314 2321 2313
-f 2313 2347 2339
-f 2347 2374 2339
-f 2374 2399 2361
-f 153 154 2426
-f 154 2306 2426
-f 2385 2359 2403
-f 2221 2259 2208
-f 2306 2357 2403
-f 2357 2385 2403
-f 2237 2256 2231
-f 2172 2180 889
-f 2180 2200 889
-f 2200 2201 2221
-f 2246 2291 2314
-f 2374 2444 2399
-f 571 555 2311
-f 2192 2205 2199
-f 2173 2180 2172
-f 2279 2246 2275
-f 2279 2291 2246
-f 2292 2314 2291
-f 2321 2362 2313
-f 2362 2347 2313
-f 2347 2389 2374
-f 2444 955 2437
-f 2292 2291 2279
-f 2452 2444 2374
-f 2054 2356 1996
-f 2338 2306 154
-f 2186 2192 2191
-f 2193 2201 2200
-f 2259 2221 2201
-f 2247 2259 2201
-f 2452 955 2444
-f 2278 2277 2251
-f 2338 2357 2306
-f 2181 2186 2185
-f 2276 2326 2281
-f 2432 2457 2446
-f 2198 2201 2193
-f 2198 2232 2201
-f 2232 2247 2201
-f 2389 2452 2374
-f 2452 1630 955
-f 1403 1749 1444
-f 1555 1996 1561
-f 2357 2427 2385
-f 2385 2428 230
-f 2409 2415 2424
-f 2304 2331 2299
-f 2193 2200 2180
-f 2445 2452 2389
-f 1565 1759 1927
-f 2380 1544 2370
-f 2338 2427 2357
-f 2427 2428 2385
-f 230 222 253
-f 2202 2198 2193
-f 2202 2209 2198
-f 2209 2241 2198
-f 2241 2232 2198
-f 2266 2275 2259
-f 2365 1340 1128
-f 2415 518 2424
-f 2338 170 2427
-f 170 2428 2427
-f 2181 2185 2177
-f 2196 2195 2189
-f 2183 2193 2180
-f 2453 1630 2452
-f 2197 2214 2189
-f 2401 2409 2414
-f 822 2220 2197
-f 1210 2361 2388
-f 2187 2193 2183
-f 2187 2202 2193
-f 2266 2279 2275
-f 2279 2300 2292
-f 2375 2347 2362
-f 2375 2390 2347
-f 2390 2389 2347
-f 2453 2452 2445
-f 1347 1630 2453
-f 1630 1347 522
-f 2220 2206 2197
-f 2262 2350 2286
-f 170 254 2428
-f 2457 1973 2446
-f 1973 1365 2446
-f 2174 2183 2180
-f 2194 2202 2187
-f 2222 2241 2209
-f 2222 2260 2241
-f 2266 2259 2247
-f 2390 2445 2389
-f 2264 2251 825
-f 2363 2368 2351
-f 2326 2393 2341
-f 1855 1850 1851
-f 2210 2209 2202
-f 2210 2222 2209
-f 2261 2260 2222
-f 2280 2279 2266
-f 2280 2300 2279
-f 251 263 2359
-f 2277 2304 2299
-f 2220 2230 2206
-f 2202 2194 2210
-f 2213 2243 2234
-f 2328 2327 2322
-f 2294 2310 2293
-f 2214 2196 2189
-f 2196 2213 2219
-f 2224 2222 2210
-f 2421 2390 2375
-f 2206 2230 2214
-f 2194 2203 2210
-f 2224 2261 2222
-f 2421 2445 2390
-f 2322 2327 2318
-f 2393 2408 2341
-f 1365 1973 510
-f 2216 2210 2203
-f 2216 2224 2210
-f 2266 2308 2280
-f 2280 2308 2300
-f 2407 2421 2375
-f 2175 2183 2174
-f 2194 2190 2203
-f 2454 2445 2421
-f 522 1347 523
-f 2456 2455 2423
-f 823 2197 2178
-f 2281 2333 2287
-f 2188 2187 2183
-f 2188 2190 2194
-f 2187 2188 2194
-f 2308 2315 2300
-f 2407 2375 2362
-f 2443 2420 2503
-f 2420 2411 2503
-f 2411 1493 2503
-f 1493 1487 2503
-f 1487 1318 2503
-f 1318 1320 2503
-f 1320 2443 2503
diff --git a/model/replicate/container.xml b/model/replicate/container.xml
deleted file mode 100644
index 655d49a4..00000000
--- a/model/replicate/container.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<mujoco model="Container">
-  <statistic extent="1.5" meansize=".05"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <map shadowscale="0.5" zfar="40"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-  </asset>
-
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
-    <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
-
-    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-
-    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
-      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
-    </body>
-  </worldbody>
-
-  <worldbody>
-    <replicate count="4" euler="0 0 90">
-      <geom type="plane" size=".5 .5 .05" zaxis="1 0 0"  pos="-.5 0 -.25"/>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/cylinder.xml b/model/replicate/cylinder.xml
deleted file mode 100644
index fc2f9c74..00000000
--- a/model/replicate/cylinder.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<mujoco model="Cylinder">
-  <statistic meansize=".05"/>
-
-  <worldbody>
-    <light pos=".5 0 3"/>
-    <light pos="-.5 0 3"/>
-    <geom type="plane" size="2 2 .01"/>
-
-    <body pos="-.3 0 .3" euler="80 10 0">
-      <freejoint/>
-      <replicate count="30" euler="0 0 12">
-        <geom type="box" pos="0 -.12 0" size=".01315 .005 .1" rgba=".8 0 0 1"/>
-      </replicate>
-    </body>
-
-    <body pos="0 0 .4" euler="20 20 0">
-      <freejoint/>
-      <replicate count="10" euler="0 0 36">
-        <geom type="box" pos="0 -0.067 0" size=".025 .01 .1" rgba="0 .8 0 1"/>
-      </replicate>
-    </body>
-
-    <body pos=".3 0 .3" euler="30 30 0">
-      <freejoint/>
-      <replicate count="4" euler="0 0 90">
-        <geom type="box" pos="0.005 -0.05 0" size=".05 .005 .08" rgba="0 0 .8 1"/>
-      </replicate>
-    </body>
-
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/helix.xml b/model/replicate/helix.xml
deleted file mode 100644
index 82ff6c85..00000000
--- a/model/replicate/helix.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<mujoco model="Helix">
-  <statistic meansize=".05"/>
-
-  <worldbody>
-    <light pos=".5 0 3"/>
-    <light pos="-.5 0 3"/>
-    <geom type="plane" size="2 2 .01"/>
-
-    <body pos="0 0 .3">
-      <freejoint/>
-      <replicate count="50" offset="0 0 0.01" euler="0 0 25">
-        <geom type="capsule" size=".01 .05" pos="0 -.23 -.2" euler="0 84.5 0" rgba="0 0 1 1"/>
-      </replicate>
-    </body>
-
-
-    <body pos=".6 0 .3" euler="0 0 90">
-      <freejoint/>
-      <replicate count="50" offset="0 0 0.01" euler="0 0 15">
-        <geom type="box" pos=".025 -.2 -.2" size=".032 .04 .005" euler="-24 -12 2" rgba=".8 0 0 1"/>
-      </replicate>
-    </body>
-
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/leaves.xml b/model/replicate/leaves.xml
deleted file mode 100644
index 5594ccc6..00000000
--- a/model/replicate/leaves.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<mujoco model="Leaves">
-
-  <statistic extent="1.5"/>
-
-  <visual>
-    <global realtime="0.2" cameraid="0"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <map shadowscale="0.5" zfar="40"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-  </asset>
-
-  <size memory="1G"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".003" density="1.225" viscosity="1.8e-5" integrator="implicitfast"/>
-
-  <default>
-    <default class="leaf">
-      <geom type="ellipsoid" size=".025 .01 0.001" mass="1e-4" fluidshape="ellipsoid" rgba="0 .4 0 1"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <camera name="Cinematic" pos="0 -1.6 4.5" xyaxes="1 0 0 0 0.6 0.8" mode="trackcom"/>
-
-    <light diffuse="1 1 1" attenuation=".4 .2 0" pos="-1 -1 6" mode="trackcom" dir="1 1 -3"/>
-    <light diffuse="1 1 1" attenuation=".4 .2 0" pos="-.98 -1.02 6" mode="trackcom" dir="1 1 -3"/>
-    <geom name="ground" type="plane" size="5 5 .01" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-    <replicate count="10" offset="0 0 0.07" euler="0 0 30">
-      <replicate count="6" euler="-3 0 0">
-        <frame pos="-.3 -.3 3">
-          <replicate count="5" offset=".05 0 0" euler="50 0 0">
-            <body euler="50 50 0">
-              <freejoint/>
-              <geom class="leaf" pos=".025 0 0" euler="10 0 0"/>
-              <geom class="leaf" pos="-.025 0 0" euler="-14 0 0" mass="1.2e-4"/>
-            </body>
-          </replicate>
-        </frame>
-    </replicate>
-   </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/newton_cradle.xml b/model/replicate/newton_cradle.xml
deleted file mode 100644
index 4ad2653c..00000000
--- a/model/replicate/newton_cradle.xml
+++ /dev/null
@@ -1,69 +0,0 @@
-<mujoco model="Newton's Cradle">
-  <option timestep="1e-4"/>
-
-  <visual>
-    <global realtime="0.2"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.5" texture="texplane" texrepeat="3 3" texuniform="true"/>
-  </asset>
-
-  <default>
-    <geom friction=".5" solref="-1e8 -0" solimp="0 .01 1e-3"/>
-    <tendon limited="true" range="0 0.146" width="0.001" solreflimit="1e-3 1" rgba="0 0 .7 1"/>
-    <default class="steel ball">
-      <geom size=".02" rgba=".7 .7 0 1" density="8000" friction=".4" solref="-1e8 -0" solimp="0 .01 1e-3"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos=".5 0 1" dir="-1 0 -2"/>
-    <light pos="-.5 0 1" dir="1 0 -2"/>
-    <geom type="plane" size="4 4 .1" material="matplane"/>
-
-    <replicate count="5" offset="-.04 0 0">
-      <site name="a" pos="0 -.04 .2"/>
-      <site name="c" pos="0 .04 .2"/>
-      <body name="equilibrium" pos="0 0 .04">
-        <freejoint/>
-        <geom class="steel ball"/>
-        <site name="b" pos="0 -.008 .018"/>
-        <site name="d" pos="0 .008 .018"/>
-      </body>
-    </replicate>
-
-    <replicate count="2" offset=".04 0 0">
-      <site name="e" pos=".04 -.04 .2"/>
-      <site name="g" pos=".04 .04 .2"/>
-      <body name="perturbed" pos=".12 0 .061" euler="0 -34 0">
-        <freejoint/>
-        <geom class="steel ball"/>
-        <site name="f" pos="0 -.008 .018"/>
-        <site name="h" pos="0 .008 .018"/>
-      </body>
-    </replicate>
-  </worldbody>
-
-  <tendon>
-    <spatial>
-      <site site="a"/>
-      <site site="b"/>
-    </spatial>
-    <spatial>
-      <site site="c"/>
-      <site site="d"/>
-    </spatial>
-    <spatial>
-      <site site="e"/>
-      <site site="f"/>
-    </spatial>
-    <spatial>
-      <site site="g"/>
-      <site site="h"/>
-    </spatial>
-  </tendon>
-
-</mujoco>
diff --git a/model/replicate/particle.xml b/model/replicate/particle.xml
deleted file mode 100644
index 6f3bc056..00000000
--- a/model/replicate/particle.xml
+++ /dev/null
@@ -1,54 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Particle">
-<!-- Degree of Freedom: 3000
-     Actuators: 0
--->
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".01"/>
-
-  <size memory="1G"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
-    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
-    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
-    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
-    <replicate count="10" offset=".07 0 0">
-      <replicate count="10" offset="0 .07 0">
-        <replicate count="10" offset="0 0 .07">
-          <body pos="-.315 -.315 1">
-            <joint type="slide" axis="1 0 0"/>
-            <joint type="slide" axis="0 1 0"/>
-            <joint type="slide" axis="0 0 1"/>
-            <geom size=".025" rgba=".8 .2 .1 1" condim="1"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/particle_free.xml b/model/replicate/particle_free.xml
deleted file mode 100644
index 941bdd87..00000000
--- a/model/replicate/particle_free.xml
+++ /dev/null
@@ -1,49 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Particle">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".01"/>
-
-  <size memory="5M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
-    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
-    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
-    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
-    <replicate count="3" offset=".07 0 0">
-      <replicate count="3" offset="0 .07 0">
-        <replicate count="3" offset="0 0 .07">
-          <body pos="-.07 -.07 1">
-            <freejoint/>
-            <geom type="box" size=".025 .025 .025" rgba=".8 .2 .1 1" condim="3"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/particle_free2d.xml b/model/replicate/particle_free2d.xml
deleted file mode 100644
index 65c9eafa..00000000
--- a/model/replicate/particle_free2d.xml
+++ /dev/null
@@ -1,49 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Particle">
-  <include file="scene.xml"/>
-
-  <option solver="CG" tolerance="1e-6" timestep=".01"/>
-
-  <size memory="10M"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
-    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
-    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
-    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
-    <replicate count="15" offset=".06 0 0">
-      <replicate count="15" offset="0 .06 0">
-        <body pos="-.42 -.42 .1">
-          <joint type="slide" axis="1 0 0"/>
-          <joint type="slide" axis="0 1 0"/>
-          <joint type="hinge" axis="0 0 1"/>
-          <geom type="ellipsoid" size=".025 .02 .015" rgba=".8 .2 .1 1"/>
-        </body>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/scene.xml b/model/replicate/scene.xml
deleted file mode 100644
index cb39cea0..00000000
--- a/model/replicate/scene.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <compiler meshdir="asset" texturedir="asset"/>
-  <statistic extent="1.5" meansize=".05"/>
-
-  <option timestep="0.005" jacobian="sparse"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <texture name="texmarble" type="cube" file="marble.png"/>
-
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-    <material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
-  </asset>
-
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
-    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-
-    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-
-    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
-      <geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/stonehenge.xml b/model/replicate/stonehenge.xml
deleted file mode 100644
index a0efa74b..00000000
--- a/model/replicate/stonehenge.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<mujoco model="Stonehenge">
-  <statistic meansize="1"/>
-  <worldbody>
-    <light directional="true" pos="-50 -20 10" dir="5 2 -1" diffuse="1 1 1"/>
-    <geom type="plane" size="30 30 .1" rgba="0 1 0 1"/>
-    <geom type="plane" pos="38 0 5" size="10 30 .1" euler="0 -30 0" rgba="0 .8 0 1"/>
-
-    <body name="wrecking ball" pos="45 0 16">
-      <freejoint/>
-      <geom size="5.5"/>
-    </body>
-
-    <replicate count="30" euler="0 0 12">
-      <body pos="0 -15 2">
-        <freejoint/>
-        <geom type="box" size="1 .5 2"/>
-      </body>
-      <body pos="1.5 -15 4.4" euler="0 0 6">
-        <freejoint/>
-        <geom type="box" size="1.5 .5 .4"/>
-      </body>
-    </replicate>
-
-    <replicate count="5" euler="0 0 45">
-      <body pos="-1.2 -10 3">
-        <freejoint/>
-        <geom type="box" size=".9 .5 3"/>
-      </body>
-      <body pos="1.2 -10 3">
-        <freejoint/>
-        <geom type="box" size=".9 .5 3"/>
-      </body>
-      <body pos="0 -10 6.4">
-        <freejoint/>
-        <geom type="box" size="2.4 .5 .4"/>
-      </body>
-    </replicate>
-
-  </worldbody>
-</mujoco>
diff --git a/model/replicate/tendon.xml b/model/replicate/tendon.xml
deleted file mode 100644
index 0f21e254..00000000
--- a/model/replicate/tendon.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<mujoco model="Tendon">
-  <option solver="PGS"/>
-
-  <default>
-    <site size=".02" rgba="0 .8 0 1"/>
-    <geom condim="1"/>
-  </default>
-
-  <worldbody>
-    <light pos="1 0 4" dir="-1 0 -4"/>
-    <light pos="-1 0 4" dir="1 0 -4"/>
-    <geom type="plane" size="2 2 .01"/>
-    <site name="ceiling" pos="0.01 0.02 2.4"/>
-
-    <body pos="0 0 1.5">
-      <freejoint/>
-      <site name="hook" pos="0 0 .3"/>
-      <site name="bulb"/>
-      <geom name="bulb" size=".3" rgba="0 0 .8 1" density="100" contype="0" conaffinity="0"/>
-    </body>
-
-    <replicate count="18" euler="0 0 20">
-      <body pos=".2 0 1.5">
-        <freejoint/>
-        <site name="a"/>
-        <geom rgba=".8 0 .4 1" size=".03"/>
-      </body>
-      <body pos="1.2 0 1.5">
-        <freejoint/>
-        <site name="b"/>
-        <geom rgba=".8 .4 0 1" size=".1"/>
-      </body>
-    </replicate>
-  </worldbody>
-
-  <tendon>
-    <spatial springlength="0 0.5" stiffness="10000">
-      <site site="ceiling"/>
-      <site site="hook"/>
-    </spatial>
-    <spatial range="0 0.5">
-      <site site="a"/>
-      <geom geom="bulb" sidesite="bulb"/>
-      <site site="b"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/model/sleep/100_humanoids.xml b/model/sleep/100_humanoids.xml
deleted file mode 100644
index 73fd2974..00000000
--- a/model/sleep/100_humanoids.xml
+++ /dev/null
@@ -1,50 +0,0 @@
-<!-- Copyright 2025 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="100 Humanoids">
-  <option timestep="0.005">
-      <!-- modification of model/humanoid/100_humanoids.xml: enable sleep -->
-    <flag sleep="enable"/>
-  </option>
-
-  <size memory="100M"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="floor" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="floor" texture="floor" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-    <model name="humanoid" file="humanoid.xml"/>
-  </asset>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality numslices="16" numstacks="8"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="10 10 .05" type="plane" material="floor" condim="3"/>
-    <light directional="true" diffuse=".9 .9 .9" specular="0.1 0.1 0.1" pos="0 0 5" dir="0 0 -1" castshadow="true"/>
-    <light name="spotlight" mode="targetbodycom" target="world" diffuse="1 1 1" specular="0.3 0.3 0.3" pos="-6 -6 4" cutoff="60"/>
-    <replicate count="10" euler="0 0 36" sep="-">
-      <frame pos="1.2 0 0">
-        <replicate count="10" euler="0 0 17" sep="-" offset="0.6 0 0">
-          <attach model="humanoid" body="torso" prefix="_"/>
-        </replicate>
-      </frame>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/model/sleep/dominos.xml b/model/sleep/dominos.xml
deleted file mode 100644
index b7fdd9b9..00000000
--- a/model/sleep/dominos.xml
+++ /dev/null
@@ -1,92 +0,0 @@
-<!-- Copyright 2025 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="sleeping dominos">
-  <option cone="elliptic" impratio="10" sleep_tolerance="3e-4">
-    <flag sleep="enable"/>
-  </option>
-
-  <default>
-    <default class="domino">
-      <geom type="box" size=".008 .044 .089" rgba=".9 .9 .9 1" mass="0.09"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos=".5 0 3" diffuse="1 1 1"/>
-    <geom type="plane" size="2 2 .01" pos=".5 0 1e-6"/>
-
-    <!-- one domino atilt kicks off the chain reaction -->
-    <body pos="-.1 0 .089" euler="0 7 0">
-      <freejoint/>
-      <geom type="box" class="domino"/>
-    </body>
-
-    <!-- 5 rows of 15 dominoes, arranged in toppling order for consistent ids and colors -->
-
-    <!-- 3 rows of 15 dominoes, left to right -->
-    <replicate count="3" offset="0 1 0">
-      <frame pos="0 -1 0">
-        <replicate count="15" offset=".1 0 0">
-          <body pos="0 0 .089">
-            <freejoint/>
-            <geom type="box" class="domino"/>
-          </body>
-        </replicate>
-      </frame>
-    </replicate>
-
-    <!-- 2 rows of 15 dominoes, right to left -->
-    <replicate count="2" offset="0 1 0">
-      <frame pos="0 -.5 0">
-        <replicate count="15" offset="-.1 0 0">
-          <body pos="1.4 0 .089">
-            <freejoint/>
-            <geom type="box" class="domino"/>
-          </body>
-        </replicate>
-      </frame>
-    </replicate>
-
-    <!-- two "U turns", place blocks not too close in order to break the island chain -->
-    <replicate offset="0 -.55 0" count="2">
-      <frame pos="1.5 .26 0">
-        <replicate count="5" euler="0 0 45">
-          <body pos="0 -.23 .089">
-            <freejoint/>
-            <geom type="box" class="domino"/>
-          </body>
-        </replicate>
-      </frame>
-    </replicate>
-
-    <!-- two more U turns for the outside rows -->
-    <replicate offset="0 1.5 0" count="2">
-      <frame pos="-.1 -.75 0" euler="0 0 180">
-        <replicate count="5" euler="0 0 45">
-          <body pos="0 -.23 .089">
-            <freejoint/>
-            <geom type="box" class="domino"/>
-          </body>
-        </replicate>
-      </frame>
-    </replicate>
-  </worldbody>
-
-  <visual>
-    <global elevation="-25" azimuth="60"/>
-  </visual>
-  <statistic center="1.2 0 0"/>
-</mujoco>
diff --git a/model/sleep/humanoid.xml b/model/sleep/humanoid.xml
deleted file mode 100644
index 8e19de97..00000000
--- a/model/sleep/humanoid.xml
+++ /dev/null
@@ -1,273 +0,0 @@
-<!-- Copyright 2025 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Humanoid">
-  <option timestep="0.005">
-    <!-- modification of model/humanoid/humanoid.xml: enable sleep -->
-    <flag sleep="enable"/>
-  </option>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <light name="top" pos="0 0 2" mode="trackcom"/>
-
-    <!-- modification of model/humanoid/humanoid.xml: initialized asleep -->
-
-    <body name="torso" pos="0 0 1.282" childclass="body" sleep="init">
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-  <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <!--
-    The values below are split into rows for readibility:
-      torso position
-      torso orientation
-      spinal
-      right leg
-      left leg
-      arms
-    -->
-    <key name="squat"
-         qpos="0 0 0.596
-               0.988015 0 0.154359 0
-               0 0.4 0
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               0 0 0 0 0 0"/>
-    <key name="stand_on_left_leg"
-         qpos="0 0 1.21948
-               0.971588 -0.179973 0.135318 -0.0729076
-               -0.0516 -0.202 0.23
-               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
-               0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
-    <key name="prone"
-         qpos="0.4 0 0.0757706
-               0.7325 0 0.680767 0
-               0 0.0729 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.56 -0.62 -1.752
-               0.56 -0.62 -1.752"/>
-    <key name="supine"
-         qpos="-0.4 0 0.08122
-               0.722788 0 -0.69107 0
-               0 -0.25 0
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.186 -0.73 -1.73
-               0.186 -0.73 -1.73"/>
-  </keyframe>
-</mujoco>
diff --git a/model/slider_crank/slider_crank.xml b/model/slider_crank/slider_crank.xml
deleted file mode 100644
index 362f1ac7..00000000
--- a/model/slider_crank/slider_crank.xml
+++ /dev/null
@@ -1,57 +0,0 @@
-<mujoco model="slider-crank">
-  <!-- visual properties associated with the slider-crank mechanism -->
-  <visual>
-    <scale slidercrank=".1"/>
-    <rgba slidercrank="0.5 0.4 0.8 1" crankbroken="0.0 0.6 0.2 1"/>
-  </visual>
-
-  <!-- defining some defaults for readability -->
-  <default>
-    <position ctrllimited="true" ctrlrange="-.1 .1" kp="30"/>
-    <default class="joint">
-      <geom type="cylinder" size=".006" fromto="0 0 0 0 0 .05" rgba=".9 .6 1 1"/>
-    </default>
-    <default class="slidersite">
-      <site type="cylinder" size=".01 .015" rgba="1 0 0 1" />
-    </default>
-    <default class="cranksite">
-      <site size=".012" rgba="0 0 1 1" />
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <geom type="plane" size=".5 .5 .01" pos="0 0 -.05"/>
-    <site name="slidersite" class="slidersite" pos="0 -.1 0" zaxis="1 .5 0"/>
-    <body>
-      <joint damping=".1"/>
-      <geom class="joint"/>
-      <geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
-      <site name="cranksite" class="cranksite" pos=".1 0 0"/>
-      <site name="cranksite2" class="cranksite" pos=".2 0 0"/>
-      <body pos=".15 0 0">
-        <joint damping=".1"/>
-        <geom class="joint"/>
-        <geom type="capsule" size=".01" fromto="0 -.15 0 0 0 0"/>
-        <site name="slidersite2" class="slidersite" pos=".02 -.1 0" zaxis="1 2 0"/>
-      </body>
-    </body>
-    <site name="slidersite3" class="slidersite" pos="0 .1 0" zaxis="1 .2 0"/>
-    <body pos="0 .2 0">
-      <joint  damping=".1"/>
-      <geom class="joint"/>
-      <geom type="capsule" size=".01" fromto="0 0 0 .15 0 0"/>
-      <site name="cranksite3" class="cranksite" pos=".1 0 0" size=".012"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <!-- forward slider-crank: the slider site is attached to the parent -->
-    <position name="forward" cranksite="cranksite" slidersite="slidersite" cranklength=".08"/>
-    <!-- backward slider-crank: the slider site is attached to the child -->
-    <position name="backward" cranksite="cranksite2" slidersite="slidersite2" cranklength=".06"/>
-    <!--  The "broken-crank" actuator is "broken" in the initial state: the crank length is too
-          short to maintain the requested geometric relationship -->
-    <position name="broken" cranksite="cranksite3" slidersite="slidersite3" cranklength=".05"/>
-  </actuator>
-</mujoco>
diff --git a/model/surfacevel/carousel.xml b/model/surfacevel/carousel.xml
deleted file mode 100644
index 6f1d1d1b..00000000
--- a/model/surfacevel/carousel.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<mujoco model="Luggage carousel">
-  <visual>
-    <headlight diffuse=".7 .7 .7" ambient=".25 .25 .25"/>
-    <quality shadowsize="8192"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".35 .5 .65" rgb2=".05 .05 .1" width="32" height="512"/>
-    <texture name="floor" type="2d" builtin="checker" rgb1=".18 .2 .22" rgb2=".24 .27 .3" width="300" height="300"/>
-    <material name="floor" texture="floor" texrepeat="12 12" reflectance=".1"/>
-    <material name="belt" rgba=".3 .45 .7 1"/>
-    <material name="island" rgba=".6 .3 .15 1"/>
-    <mesh name="ring" builtin="supertorus" params="64 .2 .4 1" scale="1.7 1.7 .9"/>
-    <material name="rail" rgba=".55 .55 .58 1"/>
-    <mesh name="bag1" builtin="supersphere" params="32 .3 .4"  scale=".2 .13 .085"/>
-    <mesh name="bag2" builtin="supersphere" params="32 .55 .5" scale=".17 .12 .075"/>
-    <mesh name="bag3" builtin="supersphere" params="32 .25 .3" scale=".19 .14 .1"/>
-    <mesh name="bag4" builtin="supersphere" params="32 .6 .45" scale=".15 .1 .065"/>
-    <mesh name="bag5" builtin="supersphere" params="32 .4 .6"  scale=".16 .11 .07"/>
-    <mesh name="bag6" builtin="supersphere" params="32 .35 .35" scale=".18 .12 .08"/>
-  </asset>
-
-  <worldbody>
-    <light pos="2 -4 5" dir="-.3 .5 -.8" diffuse=".6 .6 .6" intensity="3000000" range="20"/>
-    <light pos="-3 2 4" dir=".5 -.3 -.7" diffuse=".4 .4 .4" intensity="2000000" range="20"/>
-    <light pos="-1 -4.4 4" dir=".05 .05 -1" diffuse=".6 .55 .45" intensity="2500000" range="25" cutoff="30"/>
-    <light pos="0 -2.6 4.5" dir="0 .12 -1" diffuse=".6 .55 .45" intensity="2500000" range="25" cutoff="30"/>
-    <!-- hero downlight over the carousel: tight cone, cool white -->
-    <light pos="0 0 5.2" dir="0 0 -1" diffuse=".55 .6 .68" intensity="4000000" range="25" cutoff="26"/>
-    <!-- high ambience: dim blue night-wash point light, no shadows, lifts the
-         pitch black between the pools without flattening them -->
-    <light type="point" pos="1 0 7.5" diffuse=".25 .3 .4" intensity="600000" range="40" castshadow="false"/>
-    <geom name="floor" type="plane" size="8 8 .1" material="floor"/>
-
-    <!-- carousel ring: square-profile supertorus, surface spinning about +z -->
-    <geom name="carousel" type="mesh" mesh="ring" pos="0 0 .24" material="belt" surfacevel="0 0 0  0 0 .4" friction=".1" priority="1"/>
-
-    <!-- center island: dome closing the ring hole, only the top 45-degree cap shows -->
-    <geom name="island" type="sphere" size="1.85" pos="0 0 -0.7314" material="island"/>
-
-    <!-- guardrail: capsule ring centered on the top-outer corner of the torus,
-         so about three quarters of the tube sticks out -->
-    <replicate count="36" euler="0 0 10">
-      <geom type="capsule" size="0.1" fromto="2.0322 -0.1778 0.42 2.0322 0.1778 0.42" material="rail"/>
-    </replicate>
-
-    <!-- three-belt cascade, one conveyor definition (origin at belt center).
-         C2 (low, knee height) holds the definition and runs toward the carousel;
-         C1 (top, where bags start) and C3 (incline) are attached copies. -->
-    <frame pos="0 -4.2 .29" euler="0 0 90">
-      <frame name="conveyor">
-        <geom name="belt" type="box" size=".74 .3 .06" material="belt" surfacevel=".7 0 0  0 0 0"/>
-        <geom name="belt_rail1" type="box" size=".74 .02 .1" pos="0 -.33 .04" material="rail"/>
-        <geom name="belt_rail2" type="box" size=".74 .02 .1" pos="0 .33 .04" material="rail"/>
-        <geom name="belt_roller1" type="cylinder" size=".06 .3" pos="-.74 0 0" euler="90 0 0" material="belt" surfacevel="0 0 0  0 0 -11.667"/>
-        <geom name="belt_roller2" type="cylinder" size=".06 .3" pos=".74 0 0" euler="90 0 0" material="belt" surfacevel="0 0 0  0 0 -11.667"/>
-      </frame>
-    </frame>
-
-    <!-- C1: top conveyor, perpendicular, discharging onto C2's upstream end -->
-    <frame pos="-1.19 -4.355 .84">
-      <attach frame="conveyor" prefix="top_"/>
-    </frame>
-
-    <!-- C3: incline continuing C2, tilted 20 degrees, discharging over the ring -->
-    <frame pos="0 -2.6 0.5950" euler="0 0 90">
-      <frame euler="0 -24.34 0">
-        <attach frame="conveyor" prefix="up_"/>
-      </frame>
-    </frame>
-
-    <!-- bags, distributed along the cascade as if mid-operation -->
-    <body name="bag1" pos="0 -2.37 .88" euler="24.34 0 0">
-      <freejoint/>
-      <geom type="mesh" mesh="bag1" mass="4" rgba=".65 .2 .15 1"/>
-    </body>
-    <body name="bag2" pos="0 -3.6 .44" euler="0 0 -20">
-      <freejoint/>
-      <geom type="mesh" mesh="bag2" mass="3" rgba=".2 .45 .45 1"/>
-    </body>
-    <body name="bag3" pos="-1.6 -4.355 1.01" euler="0 0 75">
-      <freejoint/>
-      <geom type="mesh" mesh="bag3" mass="4.5" rgba=".4 .3 .2 1"/>
-    </body>
-    <body name="bag4" pos="-.75 -4.355 .97" euler="0 0 -10">
-      <freejoint/>
-      <geom type="mesh" mesh="bag4" mass="2.5" rgba=".25 .25 .3 1"/>
-    </body>
-    <body name="bag5" pos="-1.15 -4.31 .98" euler="0 0 40">
-      <freejoint/>
-      <geom type="mesh" mesh="bag5" mass="2.8" rgba=".6 .5 .2 1"/>
-    </body>
-    <body name="bag6" pos="0 -4.7 .44" euler="0 0 55">
-      <freejoint/>
-      <geom type="mesh" mesh="bag6" mass="3.5" rgba=".4 .25 .45 1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/model/surfacevel/treadmill.xml b/model/surfacevel/treadmill.xml
deleted file mode 100644
index a6c31701..00000000
--- a/model/surfacevel/treadmill.xml
+++ /dev/null
@@ -1,72 +0,0 @@
-<mujoco model="Treadmill">
-  <!-- A treadmill with no degrees of freedom: the deck surface moves via surfacevel,
-       with matched spinning end rollers (w = v/r). Standard running-treadmill
-       dimensions: 0.51 x 1.52 m belt, deck top 0.20 m, console at 1.35 m. The
-       attached humanoid is passive: it collapses and is swept off the back. -->
-
-  <statistic center="0 0 .7" extent="2.5"/>
-
-  <visual>
-    <headlight diffuse=".7 .7 .7" ambient=".3 .3 .3"/>
-    <quality shadowsize="8192"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2=".1 .1 .15"
-             width="32" height="512"/>
-    <texture name="tm_floor" type="2d" builtin="checker" rgb1=".25 .27 .28" rgb2=".3 .32 .34"
-             width="300" height="300"/>
-    <material name="tm_floor" texture="tm_floor" texrepeat="10 10" reflectance=".1"/>
-    <material name="tm_belt" rgba=".3 .45 .7 1"/>
-    <material name="tm_frame" rgba=".2 .2 .22 1"/>
-    <material name="tm_step" rgba=".5 .5 .52 1"/>
-    <model name="humanoid" file="../humanoid/humanoid.xml"/>
-  </asset>
-
-  <worldbody>
-    <!-- soft key (large bulb = soft shadows), shadowless cool fill, dim ambience -->
-    <light pos="-2.5 -1.5 3" dir=".6 .35 -.7" diffuse=".65 .6 .52" intensity="1000000" range="15"
-           bulbradius=".15"/>
-    <light pos="2 1.5 2.5" dir="-.5 -.4 -.6" diffuse=".35 .4 .48" intensity="700000" range="15"
-           castshadow="false"/>
-    <light type="point" pos="0 0 4" diffuse=".3 .3 .33" intensity="300000" range="20"
-           castshadow="false"/>
-    <geom name="floor" type="plane" size="4 4 .1" material="tm_floor"/>
-
-    <!-- deck: belt surface flows front to rear (+x), sweeping the rider off the back;
-         end rollers have radius = deck half-thickness, spin matched: w = 1.4/.05 -->
-    <geom name="deck" type="box" size=".76 .255 .05" pos="0 0 .15" material="tm_belt"
-          surfacevel="1.4 0 0  0 0 0"/>
-    <geom name="roller_front" type="cylinder" size=".05 .255" pos="-.76 0 .15" euler="90 0 0"
-          material="tm_belt" surfacevel="0 0 0  0 0 -28"/>
-    <geom name="roller_rear" type="cylinder" size=".05 .255" pos=".76 0 .15" euler="90 0 0"
-          material="tm_belt" surfacevel="0 0 0  0 0 -28"/>
-
-    <!-- side steps, flush with the belt surface -->
-    <geom name="step_left" type="box" size=".76 .04 .05" pos="0 -.295 .155" material="tm_step"/>
-    <geom name="step_right" type="box" size=".76 .04 .05" pos="0 .295 .155" material="tm_step"/>
-
-    <!-- motor hood over the front roller -->
-    <geom name="hood" type="box" size=".16 .3 .05" pos="-.86 0 .25" euler="0 -10 0"
-          material="tm_frame"/>
-
-    <!-- uprights, handrails and console -->
-    <geom name="upright_left" type="capsule" size=".025" fromto="-.8 -.28 .25 -.95 -.28 1.15"
-          material="tm_frame"/>
-    <geom name="upright_right" type="capsule" size=".025" fromto="-.8 .28 .25 -.95 .28 1.15"
-          material="tm_frame"/>
-    <geom name="rail_left" type="capsule" size=".02" fromto="-.95 -.28 1.15 -.35 -.28 1.05"
-          material="tm_step"/>
-    <geom name="rail_right" type="capsule" size=".02" fromto="-.95 .28 1.15 -.35 .28 1.05"
-          material="tm_step"/>
-    <geom name="console" type="box" size=".04 .3 .12" pos="-1 0 1.3" euler="0 -30 0"
-          material="tm_frame"/>
-    <geom name="screen" type="box" size=".005 .14 .07" pos="-.963 0 1.32" euler="0 -30 0"
-          rgba=".1 .25 .2 1"/>
-
-    <!-- passive rider -->
-    <frame pos="-.3 0 .21" euler="0 0 180">
-      <attach model="humanoid" body="torso" prefix="rider_"/>
-    </frame>
-  </worldbody>
-</mujoco>
diff --git a/model/tactile/tactile.xml b/model/tactile/tactile.xml
deleted file mode 100644
index 358c6aec..00000000
--- a/model/tactile/tactile.xml
+++ /dev/null
@@ -1,66 +0,0 @@
-<mujoco model="touchtest">
-  <compiler autolimits="true"/>
-   <option sdf_initpoints="20"/>
-
-  <extension>
-    <plugin plugin="mujoco.sdf.gear">
-      <instance name="gear">
-        <config key="alpha" value="0"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4"
-             width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="3 1" texuniform="true"/>
-    <mesh name="gear">
-      <plugin instance="gear"/>
-    </mesh>
-    <mesh name="sphere" builtin="wedge" params="37 37 45 45 0" scale=".3 .3 .3"/>
-    <mesh name="box" builtin="plate" params="37 37" scale=".3 .5 .2"/>
-  </asset>
-
-  <visual>
-      <headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1"/>
-      <map znear="0.01"/>
-      <scale contactwidth=".02" contactheight=".5"/>
-  </visual>
-
-  <default>
-    <geom friction="0.4" solimp="0 0.95 0.02"/>
-  </default>
-
-  <statistic center="0 0 1" extent="1" meansize=".1"/>
-
-  <worldbody>
-    <light pos="1 0 .3" dir="-1 0 -.3"/>
-    <light pos="-1 0 .3" dir="1 0 -.3"/>
-    <geom name="floor" pos="0 0 -0.01" type="plane" size="3 3 .01"/>
-
-    <geom type="sdf" name="gear" mesh="gear" rgba="0.4 0.4 0.4 1" pos="-1.3 0 0">
-      <plugin instance="gear"/>
-    </geom>
-
-    <body name="ball" pos="-1 1 1">
-      <joint name="x" type="slide" axis="1 0 0" damping="1"/>
-      <joint name="y" type="slide" axis="0 1 0" damping="1"/>
-      <joint name="z" type="slide" axis="0 0 1"/>
-      <joint name="rx" axis="1 0 0" springdamper="0.2 1"/>
-      <joint name="ry" axis="0 1 0" springdamper="0.2 1"/>
-      <geom type="sphere" size=".3" mass="0.1" rgba=".5 .5 .5 .3"/>
-      <geom name="ball" type="mesh" mesh="sphere" mass="0" contype="0" conaffinity="0" rgba=".5 .5 .5 0"/>
-    </body>
-
-    <body name="finger" pos="0 0 1">
-      <freejoint/>
-      <geom type="box" size=".3 .5 .2" mass="0.1" rgba=".5 .5 .5 .3"/>
-      <geom name="finger" type="mesh" mesh="box" mass="0" contype="0" conaffinity="0" rgba=".5 .5 .5 0"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <tactile geom="ball" mesh="sphere"/>
-    <tactile geom="finger" mesh="box"/>
-  </sensor>
-</mujoco>
diff --git a/model/tendon_arm/arm26.xml b/model/tendon_arm/arm26.xml
deleted file mode 100644
index 0875358a..00000000
--- a/model/tendon_arm/arm26.xml
+++ /dev/null
@@ -1,118 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="2-link 6-muscle arm">
-  <option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
-
-  <visual>
-    <rgba haze=".3 .3 .3 1"/>
-  </visual>
-
-  <default>
-    <joint type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 120" damping="0.1"/>
-    <muscle ctrllimited="true" ctrlrange="0 1"/>
-  </default>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
-
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
-
-    <light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
-
-    <site name="s0" pos="-0.15 0 0" size="0.02"/>
-    <site name="x0" pos="0 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
-
-    <body pos="0 0 0">
-      <geom name="upper arm" type="capsule" size="0.045" fromto="0 0 0  0.5 0 0" rgba=".5 .1 .1 1"/>
-      <joint name="shoulder"/>
-      <geom name="shoulder" type="cylinder" pos="0 0 0" size=".1 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
-
-      <site name="s1" pos="0.15 0.06 0" size="0.02"/>
-      <site name="s2" pos="0.15 -0.06 0" size="0.02"/>
-      <site name="s3" pos="0.4 0.06 0" size="0.02"/>
-      <site name="s4" pos="0.4 -0.06 0" size="0.02"/>
-      <site name="s5" pos="0.25 0.1 0" size="0.02"/>
-      <site name="s6" pos="0.25 -0.1 0" size="0.02"/>
-      <site name="x1" pos="0.5 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
-
-      <body pos="0.5 0 0">
-        <geom name="forearm" type="capsule" size="0.035" fromto="0 0 0  0.5 0 0" rgba=".5 .1 .1 1"/>
-        <joint name="elbow"/>
-        <geom name="elbow" type="cylinder" pos="0 0 0" size=".08 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
-
-        <site name="s7" pos="0.11 0.05 0" size="0.02"/>
-        <site name="s8" pos="0.11 -0.05 0" size="0.02"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial name="SF" width="0.01">
-      <site site="s0"/>
-      <geom geom="shoulder"/>
-      <site site="s1"/>
-    </spatial>
-
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-      <site site="s0"/>
-      <geom geom="shoulder" sidesite="x0"/>
-      <site site="s2"/>
-    </spatial>
-
-    <spatial name="EF" width="0.01">
-      <site site="s3"/>
-      <geom geom="elbow"/>
-      <site site="s7"/>
-    </spatial>
-
-    <spatial name="EE" width="0.01">
-      <site site="s4"/>
-      <geom geom="elbow" sidesite="x1"/>
-      <site site="s8"/>
-    </spatial>
-
-    <spatial name="BF" width="0.009" rgba=".4 .6 .4 1">
-      <site site="s0"/>
-      <geom geom="shoulder"/>
-      <site site="s5"/>
-      <geom geom="elbow"/>
-      <site site="s7"/>
-    </spatial>
-
-    <spatial name="BE" width="0.009" rgba=".4 .6 .4 1">
-      <site site="s0"/>
-      <geom geom="shoulder" sidesite="x0"/>
-      <site site="s6"/>
-      <geom geom="elbow" sidesite="x1"/>
-      <site site="s8"/>
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-  </tendon>
-
-  <actuator>
-    <muscle name="SF" tendon="SF"/>
-    <muscle name="SE" tendon="SE"/>
-    <muscle name="EF" tendon="EF"/>
-    <muscle name="EE" tendon="EE"/>
-    <muscle name="BF" tendon="BF"/>
-    <muscle name="BE" tendon="BE"/>
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diff --git a/wasm/package-lock.json b/package-lock.json
similarity index 89%
rename from wasm/package-lock.json
rename to package-lock.json
index f9ec0335..ae7713c4 100644
--- a/wasm/package-lock.json
+++ b/package-lock.json
@@ -1,19 +1,20 @@
 {
-  "name": "mujoco",
-  "version": "1.0.0-alpha.1",
+  "name": "mujoco-web-platform",
+  "version": "0.6.0",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
-      "name": "mujoco",
-      "version": "1.0.0-alpha.1",
+      "name": "mujoco-web-platform",
+      "version": "0.6.0",
       "license": "Apache-2.0",
       "dependencies": {
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-        "@mujoco/mujoco": "^3.11.0",
+        "@mujoco/mujoco": "3.11.0",
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         "lucide-react": "^0.555.0",
-        "monaco-editor": "^0.55.1",
+        "monaco-editor": "^0.56.0",
+        "onnxruntime-web": "^1.29.0",
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@@ -848,23 +834,6 @@
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-        "strip-ansi-cjs": "npm:strip-ansi@^6.0.1",
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@@ -1030,16 +989,6 @@
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@@ -1056,6 +1005,63 @@
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+      "resolved": "https://registry.npmjs.org/@protobufjs/aspromise/-/aspromise-1.1.2.tgz",
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+    "node_modules/@protobufjs/base64": {
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+      "resolved": "https://registry.npmjs.org/@protobufjs/base64/-/base64-1.1.2.tgz",
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+      "license": "BSD-3-Clause"
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+    "node_modules/@protobufjs/codegen": {
+      "version": "2.0.5",
+      "resolved": "https://registry.npmjs.org/@protobufjs/codegen/-/codegen-2.0.5.tgz",
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+    "node_modules/@protobufjs/eventemitter": {
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+      "resolved": "https://registry.npmjs.org/@protobufjs/eventemitter/-/eventemitter-1.1.1.tgz",
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+      "license": "BSD-3-Clause"
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+    "node_modules/@protobufjs/fetch": {
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+      "resolved": "https://registry.npmjs.org/@protobufjs/fetch/-/fetch-1.1.1.tgz",
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+      "license": "BSD-3-Clause",
+      "dependencies": {
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+    "node_modules/@protobufjs/float": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/@protobufjs/float/-/float-1.0.2.tgz",
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+    "node_modules/@protobufjs/pool": {
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+      "resolved": "https://registry.npmjs.org/@protobufjs/pool/-/pool-1.1.0.tgz",
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+      "license": "BSD-3-Clause"
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+    "node_modules/@protobufjs/utf8": {
+      "version": "1.1.2",
+      "resolved": "https://registry.npmjs.org/@protobufjs/utf8/-/utf8-1.1.2.tgz",
+      "integrity": "sha512-b1UQwcEZ4yCnMCD8DAL1VlbvBJE9/IX4FTIp7BG1xYpf29SLazLSrqUkj4w7Y5y7cCVP6E5tcqqcI0xemPkHug==",
+      "license": "BSD-3-Clause"
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@@ -1518,12 +1500,6 @@
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@@ -2044,18 +2019,6 @@
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@@ -2073,30 +2036,6 @@
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-      "funding": {
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-    "node_modules/strip-ansi-cjs": {
-      "name": "strip-ansi",
-      "version": "6.0.1",
-      "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-6.0.1.tgz",
-      "integrity": "sha512-Y38VPSHcqkFrCpFnQ9vuSXmquuv5oXOKpGeT6aGrr3o3Gc9AlVa6JBfUSOCnbxGGZF+/0ooI7KrPuUSztUdU5A==",
-      "dev": true,
-      "dependencies": {
-        "ansi-regex": "^5.0.1"
-      },
-      "engines": {
-        "node": ">=8"
-      }
-    },
-    "node_modules/strip-ansi-cjs/node_modules/ansi-regex": {
-      "version": "5.0.1",
-      "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-5.0.1.tgz",
-      "integrity": "sha512-quJQXlTSUGL2LH9SUXo8VwsY4soanhgo6LNSm84E1LBcE8s3O0wpdiRzyR9z/ZZJMlMWv37qOOb9pdJlMUEKFQ==",
-      "dev": true,
-      "engines": {
-        "node": ">=8"
-      }
-    },
     "node_modules/strip-indent": {
       "version": "3.0.0",
       "resolved": "https://registry.npmjs.org/strip-indent/-/strip-indent-3.0.0.tgz",
@@ -5127,49 +4817,6 @@
       "dev": true,
       "license": "Apache-2.0"
     },
-    "node_modules/ts-node": {
-      "version": "10.9.2",
-      "resolved": "https://registry.npmjs.org/ts-node/-/ts-node-10.9.2.tgz",
-      "integrity": "sha512-f0FFpIdcHgn8zcPSbf1dRevwt047YMnaiJM3u2w2RewrB+fob/zePZcrOyQoLMMO7aBIddLcQIEK5dYjkLnGrQ==",
-      "dev": true,
-      "dependencies": {
-        "@cspotcode/source-map-support": "^0.8.0",
-        "@tsconfig/node10": "^1.0.7",
-        "@tsconfig/node12": "^1.0.7",
-        "@tsconfig/node14": "^1.0.0",
-        "@tsconfig/node16": "^1.0.2",
-        "acorn": "^8.4.1",
-        "acorn-walk": "^8.1.1",
-        "arg": "^4.1.0",
-        "create-require": "^1.1.0",
-        "diff": "^4.0.1",
-        "make-error": "^1.1.1",
-        "v8-compile-cache-lib": "^3.0.1",
-        "yn": "3.1.1"
-      },
-      "bin": {
-        "ts-node": "dist/bin.js",
-        "ts-node-cwd": "dist/bin-cwd.js",
-        "ts-node-esm": "dist/bin-esm.js",
-        "ts-node-script": "dist/bin-script.js",
-        "ts-node-transpile-only": "dist/bin-transpile.js",
-        "ts-script": "dist/bin-script-deprecated.js"
-      },
-      "peerDependencies": {
-        "@swc/core": ">=1.2.50",
-        "@swc/wasm": ">=1.2.50",
-        "@types/node": "*",
-        "typescript": ">=2.7"
-      },
-      "peerDependenciesMeta": {
-        "@swc/core": {
-          "optional": true
-        },
-        "@swc/wasm": {
-          "optional": true
-        }
-      }
-    },
     "node_modules/tslib": {
       "version": "2.8.1",
       "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.1.tgz",
@@ -5241,8 +4888,7 @@
     "node_modules/undici-types": {
       "version": "7.16.0",
       "resolved": "https://registry.npmjs.org/undici-types/-/undici-types-7.16.0.tgz",
-      "integrity": "sha512-Zz+aZWSj8LE6zoxD+xrjh4VfkIG8Ya6LvYkZqtUQGJPZjYl53ypCaUwWqo7eI0x66KBGeRo+mlBEkMSeSZ38Nw==",
-      "dev": true
+      "integrity": "sha512-Zz+aZWSj8LE6zoxD+xrjh4VfkIG8Ya6LvYkZqtUQGJPZjYl53ypCaUwWqo7eI0x66KBGeRo+mlBEkMSeSZ38Nw=="
     },
     "node_modules/update-browserslist-db": {
       "version": "1.3.1",
@@ -5292,12 +4938,6 @@
       "dev": true,
       "license": "MIT"
     },
-    "node_modules/v8-compile-cache-lib": {
-      "version": "3.0.1",
-      "resolved": "https://registry.npmjs.org/v8-compile-cache-lib/-/v8-compile-cache-lib-3.0.1.tgz",
-      "integrity": "sha512-wa7YjyUGfNZngI/vtK0UHAN+lgDCxBPCylVXGp0zu59Fz5aiGtNXaq3DhIov063MorB+VfufLh3JlF2KdTK3xg==",
-      "dev": true
-    },
     "node_modules/vite": {
       "version": "8.0.16",
       "resolved": "https://registry.npmjs.org/vite/-/vite-8.0.16.tgz",
@@ -5556,97 +5196,6 @@
         "node": ">=0.10.0"
       }
     },
-    "node_modules/wrap-ansi": {
-      "version": "8.1.0",
-      "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-8.1.0.tgz",
-      "integrity": "sha512-si7QWI6zUMq56bESFvagtmzMdGOtoxfR+Sez11Mobfc7tm+VkUckk9bW2UeffTGVUbOksxmSw0AA2gs8g71NCQ==",
-      "dev": true,
-      "dependencies": {
-        "ansi-styles": "^6.1.0",
-        "string-width": "^5.0.1",
-        "strip-ansi": "^7.0.1"
-      },
-      "engines": {
-        "node": ">=12"
-      },
-      "funding": {
-        "url": "https://github.com/chalk/wrap-ansi?sponsor=1"
-      }
-    },
-    "node_modules/wrap-ansi-cjs": {
-      "name": "wrap-ansi",
-      "version": "7.0.0",
-      "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-7.0.0.tgz",
-      "integrity": "sha512-YVGIj2kamLSTxw6NsZjoBxfSwsn0ycdesmc4p+Q21c5zPuZ1pl+NfxVdxPtdHvmNVOQ6XSYG4AUtyt/Fi7D16Q==",
-      "dev": true,
-      "dependencies": {
-        "ansi-styles": "^4.0.0",
-        "string-width": "^4.1.0",
-        "strip-ansi": "^6.0.0"
-      },
-      "engines": {
-        "node": ">=10"
-      },
-      "funding": {
-        "url": "https://github.com/chalk/wrap-ansi?sponsor=1"
-      }
-    },
-    "node_modules/wrap-ansi-cjs/node_modules/ansi-regex": {
-      "version": "5.0.1",
-      "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-5.0.1.tgz",
-      "integrity": "sha512-quJQXlTSUGL2LH9SUXo8VwsY4soanhgo6LNSm84E1LBcE8s3O0wpdiRzyR9z/ZZJMlMWv37qOOb9pdJlMUEKFQ==",
-      "dev": true,
-      "engines": {
-        "node": ">=8"
-      }
-    },
-    "node_modules/wrap-ansi-cjs/node_modules/ansi-styles": {
-      "version": "4.3.0",
-      "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-4.3.0.tgz",
-      "integrity": "sha512-zbB9rCJAT1rbjiVDb2hqKFHNYLxgtk8NURxZ3IZwD3F6NtxbXZQCnnSi1Lkx+IDohdPlFp222wVALIheZJQSEg==",
-      "dev": true,
-      "dependencies": {
-        "color-convert": "^2.0.1"
-      },
-      "engines": {
-        "node": ">=8"
-      },
-      "funding": {
-        "url": "https://github.com/chalk/ansi-styles?sponsor=1"
-      }
-    },
-    "node_modules/wrap-ansi-cjs/node_modules/emoji-regex": {
-      "version": "8.0.0",
-      "resolved": "https://registry.npmjs.org/emoji-regex/-/emoji-regex-8.0.0.tgz",
-      "integrity": "sha512-MSjYzcWNOA0ewAHpz0MxpYFvwg6yjy1NG3xteoqz644VCo/RPgnr1/GGt+ic3iJTzQ8Eu3TdM14SawnVUmGE6A==",
-      "dev": true
-    },
-    "node_modules/wrap-ansi-cjs/node_modules/string-width": {
-      "version": "4.2.3",
-      "resolved": "https://registry.npmjs.org/string-width/-/string-width-4.2.3.tgz",
-      "integrity": "sha512-wKyQRQpjJ0sIp62ErSZdGsjMJWsap5oRNihHhu6G7JVO/9jIB6UyevL+tXuOqrng8j/cxKTWyWUwvSTriiZz/g==",
-      "dev": true,
-      "dependencies": {
-        "emoji-regex": "^8.0.0",
-        "is-fullwidth-code-point": "^3.0.0",
-        "strip-ansi": "^6.0.1"
-      },
-      "engines": {
-        "node": ">=8"
-      }
-    },
-    "node_modules/wrap-ansi-cjs/node_modules/strip-ansi": {
-      "version": "6.0.1",
-      "resolved": "https://registry.npmjs.org/strip-ansi/-/strip-ansi-6.0.1.tgz",
-      "integrity": "sha512-Y38VPSHcqkFrCpFnQ9vuSXmquuv5oXOKpGeT6aGrr3o3Gc9AlVa6JBfUSOCnbxGGZF+/0ooI7KrPuUSztUdU5A==",
-      "dev": true,
-      "dependencies": {
-        "ansi-regex": "^5.0.1"
-      },
-      "engines": {
-        "node": ">=8"
-      }
-    },
     "node_modules/ws": {
       "version": "8.21.3",
       "resolved": "https://registry.npmjs.org/ws/-/ws-8.21.3.tgz",
@@ -5708,15 +5257,6 @@
         "url": "https://github.com/sponsors/eemeli"
       }
     },
-    "node_modules/yn": {
-      "version": "3.1.1",
-      "resolved": "https://registry.npmjs.org/yn/-/yn-3.1.1.tgz",
-      "integrity": "sha512-Ux4ygGWsu2c7isFWe8Yu1YluJmqVhxqK2cLXNQA5AcC3QfbGNpM7fu0Y8b/z16pXLnFxZYvWhd3fhBY9DLmC6Q==",
-      "dev": true,
-      "engines": {
-        "node": ">=6"
-      }
-    },
     "node_modules/yocto-queue": {
       "version": "0.1.0",
       "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz",
diff --git a/package.json b/package.json
new file mode 100644
index 00000000..0af2714e
--- /dev/null
+++ b/package.json
@@ -0,0 +1,59 @@
+{
+  "name": "mujoco-web-platform",
+  "version": "0.6.0",
+  "description": "基于 MuJoCo WebAssembly 的本地机器人仿真与控制平台",
+  "private": true,
+  "type": "module",
+  "scripts": {
+    "dev": "vite --config web_platform/vite.config.ts",
+    "build": "vite build --config web_platform/vite.config.ts",
+    "preview": "vite preview --config web_platform/vite.config.ts",
+    "typecheck": "tsc -p web_platform/tsconfig.json --noEmit",
+    "lint": "eslint web_platform/src web_platform/e2e",
+    "test": "vitest run --config web_platform/vite.config.ts",
+    "test:e2e": "playwright test -c web_platform/playwright.config.ts",
+    "training-server": "python3 training_server/server.py",
+    "test:training-server": "python3 -m unittest discover -s training_server/tests",
+    "check": "npm run typecheck && npm run lint && npm run test && npm run test:training-server && npm run build"
+  },
+  "license": "Apache-2.0",
+  "devDependencies": {
+    "@eslint/js": "^10.0.1",
+    "@playwright/test": "^1.62.1",
+    "@testing-library/jest-dom": "^7.0.1",
+    "@testing-library/react": "^16.3.2",
+    "@types/node": "^24.1.0",
+    "@types/react": "^19.2.18",
+    "@types/react-dom": "^19.2.4",
+    "@types/three": "^0.185.4",
+    "@vitejs/plugin-react": "^6.1.0",
+    "autoprefixer": "^10.5.4",
+    "eslint": "^10.8.1",
+    "eslint-plugin-react-hooks": "^7.1.1",
+    "eslint-plugin-react-refresh": "^0.5.4",
+    "globals": "^17.11.0",
+    "jsdom": "^30.0.1",
+    "postcss": "^8.5.26",
+    "tailwindcss": "^3.4.17",
+    "three": "^0.178.0",
+    "typescript": "5.8.2",
+    "typescript-eslint": "^8.67.0",
+    "vite": "^8.0.16",
+    "vitest": "^4.1.11"
+  },
+  "overrides": {
+    "dompurify": "3.4.14"
+  },
+  "dependencies": {
+    "@monaco-editor/react": "^4.7.0",
+    "@mujoco/mujoco": "3.11.0",
+    "fflate": "^0.8.3",
+    "lucide-react": "^0.555.0",
+    "monaco-editor": "^0.56.0",
+    "onnxruntime-web": "^1.29.0",
+    "pyodide": "^0.29.4",
+    "react": "^19.2.8",
+    "react-dom": "^19.2.8",
+    "zustand": "^5.0.15"
+  }
+}
diff --git a/plugin/actuator/CMakeLists.txt b/plugin/actuator/CMakeLists.txt
deleted file mode 100644
index 6cc79944..00000000
--- a/plugin/actuator/CMakeLists.txt
+++ /dev/null
@@ -1,41 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_ACTUATOR_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/../..
-                            ${CMAKE_CURRENT_SOURCE_DIR}/../../src
-)
-
-set(MUJOCO_ACTUATOR_SRCS
-    pid.cc
-    pid.h
-    register.cc
-)
-
-add_library(actuator SHARED)
-target_sources(actuator PRIVATE ${MUJOCO_ACTUATOR_SRCS})
-target_include_directories(actuator PRIVATE ${MUJOCO_ACTUATOR_INCLUDE})
-target_link_libraries(actuator PRIVATE mujoco)
-target_compile_options(
-  actuator
-  PRIVATE ${AVX_COMPILE_OPTIONS}
-          ${MUJOCO_MACOS_COMPILE_OPTIONS}
-          ${EXTRA_COMPILE_OPTIONS}
-          ${MUJOCO_CXX_FLAGS}
-)
-target_link_options(
-  actuator
-  PRIVATE
-  ${MUJOCO_MACOS_LINK_OPTIONS}
-  ${EXTRA_LINK_OPTIONS}
-)
diff --git a/plugin/actuator/README.md b/plugin/actuator/README.md
deleted file mode 100644
index f09ca531..00000000
--- a/plugin/actuator/README.md
+++ /dev/null
@@ -1,47 +0,0 @@
-# 执行器插件（Actuator plugins）
-
-## PID
-
-`mujoco.pid` 执行器插件实现了一个可配置的 [PID 控制器](https://en.wikipedia.org/wiki/Proportional%E2%80%93integral%E2%80%93derivative_controller)：
-
-$$f(t) = K_\text{p} e(t) + K_\text{i} \int_0^t e(\tau) \mathrm{d}\tau + K_\text{d} \frac{\mathrm{d}e(t)}{\mathrm{d}t},$$
-其中 $e(t) = u(t) - \ell(t)$ 是控制量 $u$ 与执行器长度 $\ell$ 之间的差值。
-
-使用示例如下：
-
-```xml
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid">
-        <config key="kp" value="40.0"/>
-        <config key="ki" value="40"/>
-        <config key="kd" value="4"/>
-        <config key="slewmax" value="3" />
-        <config key="imax" value="1"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <worldbody>
-    <body>
-      <joint name="j" type="slide" axis="0 0 1" />
-      <geom size="0.01" mass="1"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j" plugin="mujoco.pid" instance="pid" />
-  </actuator>
-</mujoco>
-```
-
-可用配置选项如下：
-
-|属性 | 默认值 | 含义 |
-|----------|---------|---------|
-|`kp` | 0 | 控制器的**比例（P）**增益。 |
-|`ki` | 0 | 控制器的**积分（I）**增益。<p/>若非零，将在 `mjData.act` 中添加一个激活变量，用于存储当前的积分项（以力为单位）。 |
-|`kd` | 0 | 控制器的**微分（D）**增益。 |
-|`imax` | 可选 | 若指定，积分项产生的力将被截断至 `[-imax, imax]` 范围内。 |
-|`slewmax` | 可选 | PID 控制器设定点允许的最大变化速率（斜率限制）。<p/>若两个时间步之间请求了更大的变化，它将被截断至 `[ctrl - slewmax * dt, ctrl + slewmax * dt]` 范围。<p/>若指定，将在 `mjData.act` 中添加一个激活变量，用于存储上一个时间步的 `ctrl` 值。 |
diff --git a/plugin/actuator/pid.cc b/plugin/actuator/pid.cc
deleted file mode 100644
index 4176fe4f..00000000
--- a/plugin/actuator/pid.cc
+++ /dev/null
@@ -1,300 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "pid.h"
-
-#include <cstdint>
-#include <cstdlib>
-#include <memory>
-#include <optional>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::plugin::actuator {
-namespace {
-
-constexpr char kAttrPGain[] = "kp";
-constexpr char kAttrIGain[] = "ki";
-constexpr char kAttrDGain[] = "kd";
-constexpr char kAttrIMax[] = "imax";
-constexpr char kAttrSlewMax[] = "slewmax";
-
-std::optional<mjtNum> ReadOptionalDoubleAttr(const mjModel* m, int instance,
-                                             const char* attr) {
-  const char* value = mj_getPluginConfig(m, instance, attr);
-  if (value == nullptr || value[0] == '\0') {
-    return std::nullopt;
-  }
-  return std::strtod(value, nullptr);
-}
-
-// returns the next act given the current act_dot, after clamping, for native
-// mujoco dyntypes.
-// copied from engine_forward.
-mjtNum NextActivation(const mjModel* m, const mjData* d, int actuator_id,
-                      int act_adr, mjtNum act_dot) {
-  mjtNum act = d->act[act_adr];
-
-  if (m->actuator_dyntype[actuator_id] == mjDYN_FILTEREXACT) {
-    // exact filter integration
-    // act_dot(0) = (ctrl-act(0)) / tau
-    // act(h) = act(0) + (ctrl-act(0)) (1 - exp(-h / tau))
-    //        = act(0) + act_dot(0) * tau * (1 - exp(-h / tau))
-    mjtNum tau = mju_max(mjMINVAL, m->actuator_dynprm[actuator_id * mjNDYN]);
-    act = act + act_dot * tau * (1 - mju_exp(-m->opt.timestep / tau));
-  } else {
-    // Euler integration
-    act = act + act_dot * m->opt.timestep;
-  }
-
-  // clamp to actrange
-  if (m->actuator_actlimited[actuator_id]) {
-    mjtNum* actrange = m->actuator_actrange + 2 * actuator_id;
-    act = mju_clip(act, actrange[0], actrange[1]);
-  }
-
-  return act;
-}
-
-bool HasSlew(const mjModel* m, int instance) {
-  return ReadOptionalDoubleAttr(m, instance, kAttrSlewMax).has_value();
-}
-
-}  // namespace
-
-PidConfig PidConfig::FromModel(const mjModel* m, int instance) {
-  PidConfig config;
-  config.p_gain = ReadOptionalDoubleAttr(m, instance, kAttrPGain).value_or(0);
-  config.i_gain = ReadOptionalDoubleAttr(m, instance, kAttrIGain).value_or(0);
-  config.d_gain = ReadOptionalDoubleAttr(m, instance, kAttrDGain).value_or(0);
-
-  // Clamps in the XML are specified in terms of maximum forces. Scale by i_gain
-  // to get the limits on the value of the error integral.
-  std::optional<double> i_clamp_max_force =
-      ReadOptionalDoubleAttr(m, instance, kAttrIMax);
-  if (i_clamp_max_force.has_value() && config.i_gain) {
-    config.i_max = *i_clamp_max_force / config.i_gain;
-  }
-
-  config.slew_max = ReadOptionalDoubleAttr(m, instance, kAttrSlewMax);
-
-  return config;
-}
-
-std::unique_ptr<Pid> Pid::Create(const mjModel* m, int instance) {
-  PidConfig config = PidConfig::FromModel(m, instance);
-
-  if (config.i_max.has_value() && *config.i_max < 0) {
-    mju_warning("negative imax");
-    return nullptr;
-  }
-
-  if (config.slew_max.value_or(0.0) < 0) {
-    mju_warning("slewmax must be non-negative");
-    return nullptr;
-  }
-
-  std::vector<int> actuators;
-  for (int i = 0; i < m->nu; i++) {
-    if (m->actuator_plugin[i] == instance) {
-      actuators.push_back(i);
-    }
-  }
-  if (actuators.empty()) {
-    mju_warning("actuator not found for plugin instance %d", instance);
-    return nullptr;
-  }
-  // Validate actnum values for all actuators:
-  for (int actuator_id : actuators) {
-    int actnum = m->actuator_actnum[actuator_id];
-    int expected_actnum = Pid::ActDim(m, instance, actuator_id);
-    int dyntype = m->actuator_dyntype[actuator_id];
-    if (dyntype == mjDYN_FILTER || dyntype == mjDYN_FILTEREXACT ||
-        dyntype == mjDYN_INTEGRATOR) {
-      expected_actnum++;
-    }
-    if (actnum != expected_actnum) {
-      mju_warning(
-          "actuator %d has actdim %d, expected %d. Add actdim=\"%d\" to the "
-          "actuator plugin element.",
-          actuator_id, actnum, expected_actnum, expected_actnum);
-      return nullptr;
-    }
-  }
-  return std::unique_ptr<Pid>(new Pid(config, std::move(actuators)));
-}
-
-void Pid::Reset(mjtNum* plugin_state) {}
-
-mjtNum Pid::GetCtrl(const mjModel* m, const mjData* d, int actuator_idx,
-                    const State& state,
-                    bool actearly) const {
-  mjtNum ctrl = 0;
-  if (m->actuator_dyntype[actuator_idx] == mjDYN_NONE) {
-    ctrl = d->ctrl[actuator_idx];
-    // clamp ctrl
-    if (m->actuator_ctrllimited[actuator_idx]) {
-      ctrl = mju_clip(ctrl, m->actuator_ctrlrange[2 * actuator_idx],
-                      m->actuator_ctrlrange[2 * actuator_idx + 1]);
-    }
-  } else {
-    // Use of act instead of ctrl, to create integrated-velocity controllers or
-    // to filter the controls.
-    int actadr = m->actuator_actadr[actuator_idx] +
-                 m->actuator_actnum[actuator_idx] - 1;
-    if (actearly) {
-      ctrl = NextActivation(m, d, actuator_idx, actadr, d->act_dot[actadr]);
-    } else {
-      ctrl = d->act[actadr];
-    }
-  }
-  if (config_.slew_max.has_value() && state.previous_ctrl_exists) {
-    mjtNum ctrl_min = state.previous_ctrl - *config_.slew_max * m->opt.timestep;
-    mjtNum ctrl_max = state.previous_ctrl + *config_.slew_max * m->opt.timestep;
-    ctrl = mju_clip(ctrl, ctrl_min, ctrl_max);
-  }
-  return ctrl;
-}
-
-void Pid::ActDot(const mjModel* m, mjData* d, int instance) const {
-  for (int actuator_idx : actuators_) {
-    State state = GetState(m, d, actuator_idx);
-    mjtNum ctrl = GetCtrl(m, d, actuator_idx, state, /*actearly=*/false);
-    mjtNum error = ctrl - d->actuator_length[actuator_idx];
-
-    int state_idx = m->actuator_actadr[actuator_idx];
-    if (config_.i_gain) {
-      mjtNum integral = state.integral + error * m->opt.timestep;
-      if (config_.i_max.has_value()) {
-        integral = mju_clip(integral, -*config_.i_max, *config_.i_max);
-      }
-      d->act_dot[state_idx] = (integral - d->act[state_idx]) / m->opt.timestep;
-      ++state_idx;
-    }
-    if (config_.slew_max.has_value()) {
-      d->act_dot[state_idx] = (ctrl - d->act[state_idx]) / m->opt.timestep;
-      ++state_idx;
-    }
-  }
-}
-
-void Pid::Compute(const mjModel* m, mjData* d, int instance) {
-  for (int i = 0; i < actuators_.size(); i++) {
-    int actuator_idx = actuators_[i];
-    State state = GetState(m, d, actuator_idx);
-    mjtNum ctrl =
-        GetCtrl(m, d, actuator_idx, state, m->actuator_actearly[actuator_idx]);
-
-    mjtNum error = ctrl - d->actuator_length[actuator_idx];
-
-    mjtNum ctrl_dot = m->actuator_dyntype[actuator_idx] == mjDYN_NONE
-                          ? 0
-                          : d->act_dot[m->actuator_actadr[actuator_idx] +
-                                       m->actuator_actnum[actuator_idx] - 1];
-    mjtNum error_dot = ctrl_dot - d->actuator_velocity[actuator_idx];
-
-    mjtNum integral = 0;
-    if (config_.i_gain) {
-      integral = state.integral + error * m->opt.timestep;
-      if (config_.i_max.has_value()) {
-        integral =
-            mju_clip(integral, -*config_.i_max, *config_.i_max);
-      }
-    }
-
-    d->actuator_force[actuator_idx] = config_.p_gain * error +
-                                      config_.d_gain * error_dot +
-                                      config_.i_gain * integral;
-  }
-}
-
-void Pid::Advance(const mjModel* m, mjData* d, int instance) const {
-  // act variables already updated by MuJoCo integrating act_dot
-}
-
-int Pid::StateSize(const mjModel* m, int instance) {
-  return 0;
-}
-
-int Pid::ActDim(const mjModel* m, int instance, int actuator_id) {
-  double i_gain = ReadOptionalDoubleAttr(m, instance, kAttrIGain).value_or(0);
-  return (i_gain ? 1 : 0) + (HasSlew(m, instance) ? 1 : 0);
-}
-
-Pid::State Pid::GetState(const mjModel* m, mjData* d, int actuator_idx) const {
-  State state;
-  int state_idx = m->actuator_actadr[actuator_idx];
-  if (config_.i_gain) {
-    state.integral = d->act[state_idx++];
-  }
-  if (config_.slew_max.has_value()) {
-    state.previous_ctrl = d->act[state_idx++];
-    state.previous_ctrl_exists = d->time > 0;
-  }
-  return state;
-}
-
-void Pid::RegisterPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-  plugin.name = "mujoco.pid";
-  plugin.capabilityflags |= mjPLUGIN_ACTUATOR;
-
-  std::vector<const char*> attributes = {kAttrPGain, kAttrIGain, kAttrDGain,
-                                         kAttrIMax, kAttrSlewMax};
-  plugin.nattribute = attributes.size();
-  plugin.attributes = attributes.data();
-  plugin.nstate = Pid::StateSize;
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    std::unique_ptr<Pid> pid = Pid::Create(m, instance);
-    if (pid == nullptr) {
-      return -1;
-    }
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(pid.release());
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<Pid*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto* pid = reinterpret_cast<Pid*>(plugin_data);
-    pid->Reset(plugin_state);
-  };
-  plugin.actuator_act_dot = +[](const mjModel* m, mjData* d, int instance) {
-    auto* pid = reinterpret_cast<Pid*>(d->plugin_data[instance]);
-    pid->ActDot(m, d, instance);
-  };
-  plugin.compute =
-      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
-        auto* pid = reinterpret_cast<Pid*>(d->plugin_data[instance]);
-        pid->Compute(m, d, instance);
-      };
-  plugin.advance = +[](const mjModel* m, mjData* d, int instance) {
-    auto* pid = reinterpret_cast<Pid*>(d->plugin_data[instance]);
-    pid->Advance(m, d, instance);
-  };
-  // TODO: b/303823996 - allow actuator plugins to compute their derivatives wrt
-  // qvel, for implicit integration
-  mjp_registerPlugin(&plugin);
-}
-
-Pid::Pid(PidConfig config, std::vector<int> actuators)
-    : config_(std::move(config)), actuators_(std::move(actuators)) {}
-
-}  // namespace mujoco::plugin::actuator
diff --git a/plugin/actuator/pid.h b/plugin/actuator/pid.h
deleted file mode 100644
index 0b1e831d..00000000
--- a/plugin/actuator/pid.h
+++ /dev/null
@@ -1,102 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_ACTUATOR_PID_H_
-#define MUJOCO_PLUGIN_ACTUATOR_PID_H_
-
-#include <memory>
-#include <optional>
-#include <vector>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-namespace mujoco::plugin::actuator {
-
-struct PidConfig {
-  double p_gain = 0.0;
-  double i_gain = 0.0;
-  double d_gain = 0.0;
-
-  // Maximum value of the error integral.
-  // NOTE: In the XML definition, the clamp values are specified as limits on
-  // the *force* value, so are scaled by i_gain.
-  std::optional<double> i_max;
-
-  // Maximum speed at which the setpoint can change.
-  std::optional<double> slew_max;
-
-  // Reads plugin attributes to construct PID configuration.
-  static PidConfig FromModel(const mjModel* m, int instance);
-};
-
-// An actuator plugin which implements configurable PID control.
-class Pid {
- public:
-  // Returns an instance of Pid. The result can be null in case of
-  // misconfiguration.
-  static std::unique_ptr<Pid> Create(const mjModel* m, int instance);
-
-  // Returns the number of state variables for the plugin instance
-  static int StateSize(const mjModel* m, int instance);
-
-  // Resets the C++ Pid instance's state.
-  // plugin_state is a C array pointer into mjData->plugin_state, with a size
-  // equal to the value returned from StateSize.
-  void Reset(mjtNum* plugin_state);
-
-  // Computes the rate of change for activation variables
-  void ActDot(const mjModel* m, mjData* d, int instance) const;
-
-  // Idempotent computation which updates d->actuator_force and the internal
-  // state of the class. Called after ActDot.
-  void Compute(const mjModel* m, mjData* d, int instance);
-
-  // Updates plugin state.
-  void Advance(const mjModel* m, mjData* d, int instance) const;
-
-  // Adds the PID plugin to the global registry of MuJoCo plugins.
-  static void RegisterPlugin();
-
- private:
-  Pid(PidConfig config, std::vector<int> actuators);
-
-  // Returns the expected number of activation variables for the instance.
-  static int ActDim(const mjModel* m, int instance, int actuator_id);
-
-  struct State {
-    mjtNum previous_ctrl = 0;
-    // if using slew rate limits, mjData.act will contain an activation variable
-    // with the last ctrl value. If `false`, that value should be ignored,
-    // because it hasn't been set yet.
-    bool previous_ctrl_exists = false;
-    mjtNum integral = 0;
-  };
-  // Reads data from d->act and returns it as a State struct.
-  State GetState(const mjModel* m, mjData* d, int actuator_idx) const;
-
-  // Returns the PID setpoint, which is normally d->ctrl, but can be d->act for
-  // actuators with dyntype != none.
-  mjtNum GetCtrl(const mjModel* m, const mjData* d, int actuator_idx,
-                 const State& state, bool actearly) const;
-
-  PidConfig config_;
-  // set of actuator IDs controlled by this plugin instance.
-  std::vector<int> actuators_;
-};
-
-}  // namespace mujoco::plugin::actuator
-
-#endif  // MUJOCO_PLUGIN_ACTUATOR_PID_H_
diff --git a/plugin/actuator/register.cc b/plugin/actuator/register.cc
deleted file mode 100644
index e3c3e2f5..00000000
--- a/plugin/actuator/register.cc
+++ /dev/null
@@ -1,22 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <mujoco/mjplugin.h>
-#include "pid.h"
-
-namespace mujoco::plugin::actuator {
-
-mjPLUGIN_LIB_INIT(actuator) { Pid::RegisterPlugin(); }
-
-}  // namespace mujoco::plugin::actuator
diff --git a/plugin/elasticity/CMakeLists.txt b/plugin/elasticity/CMakeLists.txt
deleted file mode 100644
index 97b2f412..00000000
--- a/plugin/elasticity/CMakeLists.txt
+++ /dev/null
@@ -1,43 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_ELASTICITY_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/../..
-                              ${CMAKE_CURRENT_SOURCE_DIR}/../../src
-)
-
-set(MUJOCO_ELASTICITY_SRCS
-    cable.cc
-    cable.h
-    elasticity.cc
-    elasticity.h
-    register.cc
-)
-
-add_library(elasticity SHARED)
-target_sources(elasticity PRIVATE ${MUJOCO_ELASTICITY_SRCS})
-target_include_directories(elasticity PRIVATE ${MUJOCO_ELASTICITY_INCLUDE})
-target_link_libraries(elasticity PRIVATE mujoco)
-target_compile_options(
-  elasticity
-  PRIVATE ${AVX_COMPILE_OPTIONS}
-          ${MUJOCO_MACOS_COMPILE_OPTIONS}
-          ${EXTRA_COMPILE_OPTIONS}
-          ${MUJOCO_CXX_FLAGS}
-)
-target_link_options(
-  elasticity
-  PRIVATE
-  ${MUJOCO_MACOS_LINK_OPTIONS}
-  ${EXTRA_LINK_OPTIONS}
-)
diff --git a/plugin/elasticity/README.md b/plugin/elasticity/README.md
deleted file mode 100644
index 65509655..00000000
--- a/plugin/elasticity/README.md
+++ /dev/null
@@ -1,20 +0,0 @@
-<h1>
-  <a href="#"><img alt="MuJoCo" src="../../banner.png" width="100%"/></a>
-</h1>
-
-## 弹性插件（Elasticity plugins）
-
-这些是第一方插件，基于离散连续介质力学模型实现被动力。它们可以应用于 **flexes**（柔性体）和 **bodies**（刚体，通过 **composite** 复合体功能）。示例模型可在[此文件夹](../../model/plugin/elasticity/)中找到。
-
-### 缆绳（Cable）
-
-在 [cable.cc](cable.cc) 中实现。
-
-缆绳插件离散化了一个不可伸长的一维连续介质。它旨在模拟细杆的扭转和弯曲，在这些场景下拉伸形变与其他形变模式相比可以忽略不计。
-
-参数：
-
-   - `twist` [Pa]：扭转刚度。
-   - `bend` [Pa]：弯曲刚度。
-   - `flat` [bool]：若为 true，应力平衡构型为直缆状态；若为 false 或未指定，则为 XML 中定义的初始构型。
-   - `vmax` [N/m^2]：若大于零，缆绳将根据机械应力着色；该值代表颜色标尺中的最大应力。
diff --git a/plugin/elasticity/cable.cc b/plugin/elasticity/cable.cc
deleted file mode 100644
index 5fe190d3..00000000
--- a/plugin/elasticity/cable.cc
+++ /dev/null
@@ -1,314 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <cstddef>
-#include <sstream>
-#include <optional>
-
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "cable.h"
-
-
-namespace mujoco::plugin::elasticity {
-namespace {
-
-// Jet color palette
-void scalar2rgba(float rgba[4], mjtNum stress[3], mjtNum vmin, mjtNum vmax) {
-  // L2 norm of the stress
-  mjtNum v = mju_norm3(stress);
-  v = v < vmin ? vmin : v;
-  v = v > vmax ? vmax : v;
-  mjtNum dv = vmax - vmin;
-
-  if (v < (vmin + 0.25 * dv)) {
-    rgba[0] = 0;
-    rgba[1] = 4 * (v - vmin) / dv;
-    rgba[2] = 1;
-  } else if (v < (vmin + 0.5 * dv)) {
-    rgba[0] = 0;
-    rgba[1] = 1;
-    rgba[2] = 1 + 4 * (vmin + 0.25 * dv - v) / dv;
-  } else if (v < (vmin + 0.75 * dv)) {
-    rgba[0] = 4 * (v - vmin - 0.5 * dv) / dv;
-    rgba[1] = 1;
-    rgba[2] = 0;
-  } else {
-    rgba[0] = 1;
-    rgba[1] = 1 + 4 * (vmin + 0.75 * dv - v) / dv;
-    rgba[2] = 0;
-  }
-}
-
-// compute quaternion difference between two frames in joint coordinates
-void QuatDiff(mjtNum* quat, const mjtNum body_quat[4],
-              const mjtNum joint_quat[4], bool pullback = false) {
-  if (pullback == 0) {
-    // contribution in local coordinates
-    mju_mulQuat(quat, body_quat, joint_quat);
-  } else {
-    // contribution pulled-back in local coordinates of the other body
-    mjtNum invquat[4];
-    mju_mulQuat(invquat, body_quat, joint_quat);
-    mju_negQuat(quat, invquat);
-  }
-}
-
-// compute local stress given material properties, orientation,
-// and reference curvature
-//   inputs:
-//     stiffness   - material parameters
-//     quat        - orientation of the body in local coordinates
-//     omega0      - initial curvature
-//     xquat       - Cartesian orientation of the body (optional)
-//     scl         - scaling of the force
-//   outputs:
-//     stress      - local stress contribution
-void LocalStress(mjtNum stress[3],
-                const mjtNum stiffness[4],
-                const mjtNum quat[4], const mjtNum omega0[3],
-                bool pullback = false) {
-  mjtNum omega[3];
-
-  // compute curvature
-  mju_quat2Vel(omega, quat, 1.0);
-
-  // subtract omega0 in reference configuration
-  mjtNum tmp[] = {
-      - stiffness[0]*(omega[0] - omega0[0]) / stiffness[3],
-      - stiffness[1]*(omega[1] - omega0[1]) / stiffness[3],
-      - stiffness[2]*(omega[2] - omega0[2]) / stiffness[3],
-  };
-
-
-  // pull-back into the other body frame
-  if (pullback) {
-    mjtNum invquat[4];
-    mju_negQuat(invquat, quat);
-    mju_rotVecQuat(stress, tmp, invquat);
-  } else {
-    mju_copy3(stress, tmp);
-  }
-}
-
-// reads numeric attributes
-bool CheckAttr(const char* name, const mjModel* m, int instance) {
-  char *end;
-  std::string value = mj_getPluginConfig(m, instance, name);
-  value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
-  strtod(value.c_str(), &end);
-  return end == value.data() + value.size();
-}
-
-}  // namespace
-
-
-// factory function
-std::optional<Cable> Cable::Create(
-  const mjModel* m, mjData* d, int instance) {
-  if (CheckAttr("twist", m, instance) && CheckAttr("bend", m, instance)) {
-    return Cable(m, d, instance);
-  } else {
-    mju_warning("Invalid parameter specification in cable plugin");
-    return std::nullopt;
-  }
-}
-
-// plugin constructor
-Cable::Cable(const mjModel* m, mjData* d, int instance) {
-  // parameters were validated by the factor function
-  std::string flat = mj_getPluginConfig(m, instance, "flat");
-  mjtNum G = strtod(mj_getPluginConfig(m, instance, "twist"), nullptr);
-  mjtNum E = strtod(mj_getPluginConfig(m, instance, "bend"), nullptr);
-  vmax = strtod(mj_getPluginConfig(m, instance, "vmax"), nullptr);
-  // count plugin bodies
-  n = 0;
-  for (int i = 1; i < m->nbody; i++) {
-    if (m->body_plugin[i] == instance) {
-      if (!n++) {
-        i0 = i;
-      }
-    }
-  }
-
-  // allocate arrays
-  prev.assign(n, 0);         // index of previous body
-  next.assign(n, 0);         // index of next body
-  omega0.assign(3*n, 0);     // reference curvature
-  stress.assign(3*n, 0);     // mechanical stress
-  stiffness.assign(4*n, 0);  // material parameters
-
-  // run forward kinematics to populate xquat (mjData not yet initialized)
-  mju_zero(d->mocap_quat, 4*m->nmocap);
-  mju_copy(d->qpos, m->qpos0, m->nq);
-  mj_kinematics(m, d);
-
-  // compute initial curvature
-  for (int b = 0; b < n; b++) {
-    int i = i0 + b;
-    if (m->body_plugin[i] != instance) {
-      mju_error("This body does not have the requested plugin instance");
-    }
-    bool first = (b == 0), last = (b == n-1);
-    prev[b] = first ? 0 : -1;
-    next[b] =  last ? 0 : +1;
-
-    // compute omega0: curvature at equilibrium
-    if (prev[b] && flat != "true") {
-      int qadr = m->jnt_qposadr[m->body_jntadr[i]] + m->body_dofnum[i]-3;
-      mju_subQuat(omega0.data()+3*b, m->body_quat+4*i, d->qpos+qadr);
-    } else {
-      mju_zero3(omega0.data()+3*b);
-    }
-
-    // compute physical parameters
-    int geom_i = m->body_geomadr[i];
-    mjtNum J = 0, Iy = 0, Iz = 0;
-    if (m->geom_type[geom_i] == mjGEOM_CYLINDER ||
-        m->geom_type[geom_i] == mjGEOM_CAPSULE) {
-      // https://en.wikipedia.org/wiki/Torsion_constant#Circle
-      // https://en.wikipedia.org/wiki/List_of_second_moments_of_area
-      J = mjPI * pow(m->geom_size[3*geom_i+0], 4) / 2;
-      Iy = Iz = mjPI * pow(m->geom_size[3*geom_i+0], 4) / 4.;
-    } else if (m->geom_type[geom_i] == mjGEOM_BOX) {
-      // https://en.wikipedia.org/wiki/Torsion_constant#Rectangle
-      // https://en.wikipedia.org/wiki/List_of_second_moments_of_area
-      mjtNum h = m->geom_size[3*geom_i+1];
-      mjtNum w = m->geom_size[3*geom_i+2];
-      mjtNum a = std::max(h, w);
-      mjtNum b = std::min(h, w);
-      J = a*pow(b, 3)*(16./3.-3.36*b/a*(1-pow(b, 4)/pow(a, 4)/12));
-      Iy = pow(2 * w, 3) * 2 * h / 12.;
-      Iz = pow(2 * h, 3) * 2 * w / 12.;
-    }
-    stiffness[4*b+0] = J * G;
-    stiffness[4*b+1] = Iy * E;
-    stiffness[4*b+2] = Iz * E;
-    stiffness[4*b+3] =
-      prev[b] ? mju_dist3(d->xpos+3*i, d->xpos+3*(i+prev[b])) : 0;
-  }
-}
-
-void Cable::Compute(const mjModel* m, mjData* d, int instance) {
-  for (int b = 0; b < n; b++)  {
-    // index into body array
-    int i = i0 + b;
-    if (m->body_plugin[i] != instance) {
-      mju_error(
-        "This body is not associated with the requested plugin instance");
-    }
-
-    // if no stiffness, skip body
-    if (!stiffness[b*4+0] && !stiffness[b*4+1] && !stiffness[b*4+2]) {
-      continue;
-    }
-
-    // elastic forces
-    mjtNum quat[4] = {0};
-    mjtNum lfrc[3] = {0};
-
-    // local orientation
-    if (prev[b]) {
-      int qadr = m->jnt_qposadr[m->body_jntadr[i]] + m->body_dofnum[i]-3;
-      QuatDiff(quat, m->body_quat+4*i, d->qpos+qadr);
-
-      // contribution of orientation i-1 to xfrc i
-      LocalStress(stress.data() + 3 * b, stiffness.data() + 4 * b, quat,
-                  omega0.data() + 3 * b, true);
-      mju_addToScl3(lfrc, stress.data() + 3 * b, 1.0);
-    }
-
-    if (next[b]) {
-      int bn = b + next[b];
-      int in = i + next[b];
-
-      // local orientation
-      int qadr = m->jnt_qposadr[m->body_jntadr[in]] + m->body_dofnum[in]-3;
-      QuatDiff(quat, m->body_quat+4*in, d->qpos+qadr);
-
-      // contribution of orientation i+1 to xfrc i
-      LocalStress(stress.data() + 3 * bn, stiffness.data() + 4 * bn, quat,
-                  omega0.data() + 3 * bn);
-      mju_addToScl3(lfrc, stress.data() + 3 * bn, -1.0);
-    }
-
-    // convert from global coordinates and apply torque to com
-    mjtNum xfrc[3] = {0};
-    mju_rotVecQuat(xfrc, lfrc, d->xquat+4*i);
-    mj_applyFT(m, d, 0, xfrc, d->xpos+3*i, i, d->qfrc_passive);
-  }
-}
-
-void Cable::Visualize(const mjModel* m, mjData* d, mjvScene* scn,
-                      int instance) {
-  if (!vmax) {
-    return;
-  }
-
-  for (int b = 0; b < n; b++)  {
-    int i = i0 + b;
-    int bn = b + next[b];
-
-    // set geometry color based on stress norm
-    mjtNum stress_m[3] = {0};
-    mjtNum *stress_l = prev[b] ? stress.data()+3*b : stress.data()+3*bn;
-    mjtNum *stress_r = next[b] ? stress.data()+3*bn : stress.data()+3*b;
-    mju_add3(stress_m, stress_l, stress_r);
-    mju_scl3(stress_m, stress_m, 0.5);
-    scalar2rgba(m->geom_rgba + 4*m->body_geomadr[i], stress_m, 0, vmax);
-  }
-}
-
-void Cable::RegisterPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.elasticity.cable";
-  plugin.capabilityflags |= mjPLUGIN_PASSIVE;
-
-  const char* attributes[] = {"twist", "bend", "flat", "vmax"};
-  plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
-  plugin.attributes = attributes;
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto elasticity_or_null = Cable::Create(m, d, instance);
-    if (!elasticity_or_null.has_value()) {
-      return -1;
-    }
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
-        new Cable(std::move(*elasticity_or_null)));
-return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<Cable*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-  plugin.compute =
-      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
-        auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
-        elasticity->Compute(m, d, instance);
-      };
-  plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt, mjvScene* scn,
-                         int instance) {
-    auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
-    elasticity->Visualize(m, d, scn, instance);
-  };
-
-  mjp_registerPlugin(&plugin);
-}
-
-}  // namespace mujoco::plugin::elasticity
diff --git a/plugin/elasticity/cable.h b/plugin/elasticity/cable.h
deleted file mode 100644
index e73d6c97..00000000
--- a/plugin/elasticity/cable.h
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
-#define MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
-
-#include <optional>
-#include <vector>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-
-
-namespace mujoco::plugin::elasticity {
-
-class Cable {
- public:
-  // Creates a new Cable instance (allocated with `new`) or
-  // returns null on failure.
-  static std::optional<Cable> Create(const mjModel* m, mjData* d, int instance);
-  Cable(Cable&&) = default;
-  ~Cable() = default;
-
-  void Compute(const mjModel* m, mjData* d, int instance);
-  void Visualize(const mjModel* m, mjData* d, mjvScene* scn, int instance);
-
-  static void RegisterPlugin();
-
-  int i0;                         // index of first body
-  int n;                          // number of bodies in the cable
-  std::vector<int> prev;          // indices of previous bodies   (n x 1)
-  std::vector<int> next;          // indices of next bodies       (n x 1)
-  std::vector<mjtNum> stiffness;  // stiffness parameters         (n x 4)
-  std::vector<mjtNum> omega0;     // reference curvature          (n x 3)
-  std::vector<mjtNum> stress;     // mechanical stress            (n x 3)
-  mjtNum vmax;                    // max value in colormap
-
- private:
-  Cable(const mjModel* m, mjData* d, int instance);
-};
-
-}  // namespace mujoco::plugin::elasticity
-
-#endif  // MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
diff --git a/plugin/elasticity/elasticity.cc b/plugin/elasticity/elasticity.cc
deleted file mode 100644
index ba15675f..00000000
--- a/plugin/elasticity/elasticity.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "elasticity.h"
-#include <algorithm>
-#include <cassert>
-#include <cctype>
-#include <cstdlib>
-#include <sstream>
-#include <string>
-#include <vector>
-#include <mujoco/mujoco.h>
-
-namespace mujoco::plugin::elasticity {
-
-void String2Vector(const std::string& txt, std::vector<int>& vec) {
-  std::stringstream strm(txt);
-  vec.clear();
-
-  while (!strm.eof()) {
-    int num;
-    strm >> num;
-    if (strm.fail()) {
-      break;
-    } else {
-      vec.push_back(num);
-    }
-  }
-}
-
-bool CheckAttr(const char* name, const mjModel* m, int instance) {
-  char* end;
-  std::string value = mj_getPluginConfig(m, instance, name);
-  value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
-  strtod(value.c_str(), &end);
-  return end == value.data() + value.size();
-}
-
-}  // namespace mujoco::plugin::elasticity
diff --git a/plugin/elasticity/elasticity.h b/plugin/elasticity/elasticity.h
deleted file mode 100644
index 94027b87..00000000
--- a/plugin/elasticity/elasticity.h
+++ /dev/null
@@ -1,69 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
-#define MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
-
-#include <cstddef>
-#include <functional>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::plugin::elasticity {
-
-struct PairHash
-{
-    template <class T1, class T2>
-    std::size_t operator() (const std::pair<T1, T2>& pair) const {
-        return std::hash<T1>()(pair.first) ^ std::hash<T2>()(pair.second);
-    }
-};
-
-struct Stencil2D {
-  static constexpr int kNumEdges = 3;
-  static constexpr int kNumVerts = 3;
-  static constexpr int kNumFaces = 2;
-  static constexpr int edge[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
-  static constexpr int face[kNumVerts][2] = {{1, 2}, {2, 0}, {0, 1}};
-  static constexpr int edge2face[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
-  int vertices[kNumVerts];
-  int edges[kNumEdges];
-};
-
-struct Stencil3D {
-  static constexpr int kNumEdges = 6;
-  static constexpr int kNumVerts = 4;
-  static constexpr int kNumFaces = 3;
-  static constexpr int edge[kNumEdges][2] = {{0, 1}, {1, 2}, {2, 0},
-                                             {2, 3}, {0, 3}, {1, 3}};
-  static constexpr int face[kNumVerts][3] = {{2, 1, 0}, {0, 1, 3},
-                                             {1, 2, 3}, {2, 0, 3}};
-  static constexpr int edge2face[kNumEdges][2] = {{2, 3}, {1, 3}, {2, 1},
-                                                  {1, 0}, {0, 2}, {0, 3}};
-  int vertices[kNumVerts];
-  int edges[kNumEdges];
-};
-
-// copied from mjXUtil
-void String2Vector(const std::string& txt, std::vector<int>& vec);
-
-// reads numeric attributes
-bool CheckAttr(const char* name, const mjModel* m, int instance);
-
-}  // namespace mujoco::plugin::elasticity
-
-#endif  // MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
diff --git a/plugin/elasticity/register.cc b/plugin/elasticity/register.cc
deleted file mode 100644
index b4a68754..00000000
--- a/plugin/elasticity/register.cc
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <mujoco/mjplugin.h>
-#include "cable.h"
-
-namespace mujoco::plugin::elasticity {
-
-mjPLUGIN_LIB_INIT(elasticity) {
-  Cable::RegisterPlugin();
-}
-
-}  // namespace mujoco::plugin::elasticity
diff --git a/plugin/obj_decoder/CMakeLists.txt b/plugin/obj_decoder/CMakeLists.txt
deleted file mode 100644
index 689dfc51..00000000
--- a/plugin/obj_decoder/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#   https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-target_compile_definitions(mujoco PRIVATE TINYOBJLOADER_IMPLEMENTATION)
-target_sources(mujoco PRIVATE
-  obj_decoder.cc
-)
-
-target_link_libraries(mujoco PRIVATE tinyobjloader)
diff --git a/plugin/obj_decoder/obj_decoder.cc b/plugin/obj_decoder/obj_decoder.cc
deleted file mode 100644
index 8390d363..00000000
--- a/plugin/obj_decoder/obj_decoder.cc
+++ /dev/null
@@ -1,166 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstring>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include <tiny_obj_loader.h>
-
-namespace {
-
-mjSpec* Decode(mjResource* resource, const mjVFS* vfs) {
-  const void* bytes = nullptr;
-  int buffer_sz = mju_readResource(resource, &bytes);
-  if (buffer_sz < 0) {
-    mju_warning("obj_decoder: could not read OBJ file '%s'", resource->name);
-    return nullptr;
-  }
-
-  tinyobj::ObjReader obj_reader;
-  const char* buffer = static_cast<const char*>(bytes);
-  obj_reader.ParseFromString(std::string(buffer, buffer_sz), std::string());
-
-  if (!obj_reader.Valid()) {
-    mju_warning("obj_decoder: could not parse OBJ file '%s'", resource->name);
-    return nullptr;
-  }
-
-  mjSpec* spec = mj_makeSpec();
-  mjsMesh* mesh = mjs_addMesh(spec, nullptr);
-
-  const auto& attrib = obj_reader.GetAttrib();
-
-  std::vector<float> usernormal = attrib.normals;
-  std::vector<float> usertexcoord = attrib.texcoords;
-  std::vector<int> userface;
-  std::vector<int> userfacenormal;
-  std::vector<int> userfacetexcoord;
-
-  if (!obj_reader.GetShapes().empty()) {
-    const auto& obj_shape = obj_reader.GetShapes()[0];
-    if (!obj_shape.mesh.indices.empty()) {
-      const auto& obj_mesh = obj_shape.mesh;
-
-      size_t num_face_indices = 0;
-      for (size_t face = 0; face < obj_mesh.num_face_vertices.size(); ++face) {
-        int nfacevert = obj_mesh.num_face_vertices[face];
-        if (nfacevert == 3) {
-          num_face_indices += 3;
-        } else if (nfacevert == 4) {
-          num_face_indices += 6;
-        }
-      }
-
-      std::vector<tinyobj::index_t> face_indices;
-      face_indices.reserve(num_face_indices);
-      userface.reserve(num_face_indices);
-      if (!usernormal.empty()) {
-        userfacenormal.reserve(num_face_indices);
-      }
-      if (!usertexcoord.empty()) {
-        userfacetexcoord.reserve(num_face_indices);
-      }
-
-      for (size_t face = 0, idx = 0; idx < obj_mesh.indices.size();) {
-        int nfacevert = obj_mesh.num_face_vertices[face];
-        if (nfacevert < 3 || nfacevert > 4) {
-          mju_warning(
-              "obj_decoder: only tri or quad meshes are supported (file '%s')",
-              resource->name);
-          mj_deleteSpec(spec);
-          return nullptr;
-        }
-
-        face_indices.push_back(obj_mesh.indices[idx]);
-        face_indices.push_back(obj_mesh.indices[idx + 1]);
-        face_indices.push_back(obj_mesh.indices[idx + 2]);
-
-        if (nfacevert == 4) {
-          face_indices.push_back(obj_mesh.indices[idx]);
-          face_indices.push_back(obj_mesh.indices[idx + 2]);
-          face_indices.push_back(obj_mesh.indices[idx + 3]);
-        }
-        idx += nfacevert;
-        ++face;
-      }
-
-      for (const auto& mesh_index : face_indices) {
-        userface.push_back(mesh_index.vertex_index);
-
-        if (!usernormal.empty()) {
-          userfacenormal.push_back(mesh_index.normal_index);
-        }
-
-        if (!usertexcoord.empty()) {
-          userfacetexcoord.push_back(mesh_index.texcoord_index);
-        }
-      }
-    } else if (!obj_shape.lines.indices.empty()) {
-      // encode line segments as degenerate triangles (i1, i2, i2) in userface,
-      // since mjsMesh has no native edge field; decoded back by flexcomp
-      const auto& obj_lines = obj_shape.lines;
-      userface.reserve(3 * (obj_lines.indices.size() - obj_lines.num_line_vertices.size()));
-      size_t idx = 0;
-      for (size_t l = 0; l < obj_lines.num_line_vertices.size(); l++) {
-        int nlinevert = obj_lines.num_line_vertices[l];
-        for (int v = 0; v < nlinevert - 1; v++) {
-          int i1 = obj_lines.indices[idx + v].vertex_index;
-          int i2 = obj_lines.indices[idx + v + 1].vertex_index;
-          userface.push_back(i1);
-          userface.push_back(i2);
-          userface.push_back(i2);
-        }
-        idx += nlinevert;
-      }
-    }
-  }
-
-  for (size_t i = 0; i < usertexcoord.size() / 2; i++) {
-    usertexcoord[2 * i + 1] = 1 - usertexcoord[2 * i + 1];
-  }
-
-  mjs_setString(mesh->file, resource->name);
-  mjs_setFloat(mesh->uservert, attrib.vertices.data(), attrib.vertices.size());
-  mjs_setFloat(mesh->usernormal, usernormal.data(), usernormal.size());
-  mjs_setFloat(mesh->usertexcoord, usertexcoord.data(), usertexcoord.size());
-  mjs_setInt(mesh->userface, userface.data(), userface.size());
-  mjs_setInt(mesh->userfacenormal, userfacenormal.data(),
-             userfacenormal.size());
-  mjs_setInt(mesh->userfacetexcoord, userfacetexcoord.data(),
-             userfacetexcoord.size());
-
-  return spec;
-}
-
-int CanDecode(const mjResource* resource) {
-  std::string_view name(resource->name);
-  return name.ends_with(".obj") || name.ends_with(".OBJ");
-}
-
-}  // namespace
-
-mjPLUGIN_LIB_INIT(obj_decoder) {
-  mjpDecoder decoder;
-  mjp_defaultDecoder(&decoder);
-  decoder.content_type = "model/obj";
-  decoder.extension = ".obj";
-  decoder.decode = Decode;
-  decoder.can_decode = CanDecode;
-  mjp_registerDecoder(&decoder);
-}
diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
deleted file mode 100644
index f857bdab..00000000
--- a/plugin/sdf/CMakeLists.txt
+++ /dev/null
@@ -1,51 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_SDF_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/../..
-                       ${CMAKE_CURRENT_SOURCE_DIR}/../../src
-)
-
-set(MUJOCO_SDF_SRCS
-    sdf.cc
-    sdf.h
-    bolt.cc
-    bolt.h
-    bowl.cc
-    bowl.h
-    gear.cc
-    gear.h
-    register.cc
-    nut.cc
-    nut.h
-    torus.cc
-    torus.h
-)
-
-add_library(sdf_plugin SHARED)
-target_sources(sdf_plugin PRIVATE ${MUJOCO_SDF_SRCS})
-target_include_directories(sdf_plugin PRIVATE ${MUJOCO_SDF_INCLUDE})
-target_link_libraries(sdf_plugin PRIVATE mujoco)
-target_compile_options(
-  sdf_plugin
-  PRIVATE ${AVX_COMPILE_OPTIONS}
-          ${MUJOCO_MACOS_COMPILE_OPTIONS}
-          ${EXTRA_COMPILE_OPTIONS}
-          ${MUJOCO_CXX_FLAGS}
-)
-target_link_options(
-  sdf_plugin
-  PRIVATE
-  ${MUJOCO_MACOS_LINK_OPTIONS}
-  ${EXTRA_LINK_OPTIONS}
-)
diff --git a/plugin/sdf/README.md b/plugin/sdf/README.md
deleted file mode 100644
index 682513b9..00000000
--- a/plugin/sdf/README.md
+++ /dev/null
@@ -1,98 +0,0 @@
-<h1>
-  <a href="#"><img alt="MuJoCo" src="../../banner.png" width="100%"/></a>
-</h1>
-
-## 符号距离函数（SDF）插件
-
-这些是第一方插件，使用符号距离函数（Signed Distance Functions, SDF）实现隐式几何体。它们可以应用于 **geoms**（几何体）和 **meshes**（网格，在 **asset** 资产部分）。示例模型可在[此文件夹](../../model/plugin/sdf/)中找到。
-
-### 螺栓（Bolt）
-
-在 [bolt.cc](bolt.cc) 中实现。使用示例见 [nutbolt.xml](../../model/plugin/sdf/nutbolt.xml)。
-
-该插件实现了一个带有六角头的螺栓，类似于 https://www.shadertoy.com/view/XtffzX。
-
-参数：
-
-   - `radius` [m]：螺栓半径（默认 `0.26`）。
-
-### 碗（Bowl）
-
-在 [bowl.cc](bowl.cc) 中实现。使用示例见 [bowl.xml](../../model/plugin/sdf/bowl.xml)。
-
-该插件实现了来自 https://www.shadertoy.com/view/7tVXRt 的被切割中空球体。
-
-参数：
-
-   - `height` [m]：切割平面的位置（默认 `0.4`）。
-   - `radius` [m]：球体半径（默认 `1`）。
-   - `thickness` [m]：碗的壁厚（默认 `0.02`）。
-
-### 齿轮（Gear）
-
-在 [gear.cc](gear.cc) 中实现。使用示例见 [gear.xml](../../model/plugin/sdf/gear.xml)。
-
-该插件实现了来自 https://www.shadertoy.com/view/3lG3WR 的 2D 齿轮几何体的 3D 拉伸挤出。
-
-参数：
-
-   - `alpha` [m]：齿轮的初始旋转角度（默认 `0`）。
-   - `diameter` [m]：齿轮直径（默认 `2.8`）。
-   - `teeth` []：齿数（默认 `25`）。
-
-### 螺母（Nut）
-
-在 [nut.cc](nut.cc) 中实现。使用示例见 [nutbolt.xml](../../model/plugin/sdf/nutbolt.xml)。
-
-该插件实现了一个六角螺母，与来自 https://www.shadertoy.com/view/XtffzX 的螺栓头部相同。
-
-参数：
-
-   - `radius` [m]：螺母半径（默认 `0.26`）。
-
-### 圆环体（Torus）
-
-在 [torus.cc](torus.cc) 中实现。使用示例见 [torus.xml](../../model/plugin/sdf/torus.xml)。
-
-该插件实现了一个圆环体。
-
-参数：
-
-   - `radius1` [m]：主半径/大半径（默认 `0.35`）。
-   - `radius1` [m]：次半径/小半径（默认 `0.15`）。
-
-### 如何创建自定义 SDF
-
-在当前 README 所在的 SDF 文件夹中创建您的 `MySDF.h` 和 `MySDF.cc` 文件。使用以下接口实现您的 SDF：
-
-```cpp
-struct MySDFAttribute {
-  static constexpr int nattribute =
-  /* 填入属性数量 */;
-  static constexpr char const* names[nattribute] =
-  /* 与 SDF 类中属性数组顺序相同的属性名称数组 */;
-  static constexpr mjtNum defaults[nattribute] =
-  /* 属性的默认值数组 */;
-};
-
-class MySDF {
- public:
-  // 创建新的 MySDF 实例，失败时返回 null。
-  static std::optional<MySDF> Create(const mjModel* m, mjData* d, int instance);
-  MySDF(MySDF&&) = default;
-  ~MySDF() = default;
-
-  // 在查询点返回 SDF 距离及其梯度的函数
-  mjtNum Distance(const mjtNum point[3]) const;
-  void Gradient(mjtNum grad[3], const mjtNum point[3]) const;
-
-  // 需要在 register.cc 中添加对此函数的调用
-  static void RegisterPlugin();
-
-  // 与上述结构体中顺序相同的属性数组
-  mjtNum attribute[MySDFAttribute::nattribute];
-
- private:
-  MySDF(const mjModel* m, mjData* d, int instance);
-};
-```
diff --git a/plugin/sdf/bolt.cc b/plugin/sdf/bolt.cc
deleted file mode 100644
index c38cffe1..00000000
--- a/plugin/sdf/bolt.cc
+++ /dev/null
@@ -1,196 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cmath>
-#include <cstdint>
-#include <cstdlib>
-#include <optional>
-#include <utility>
-
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "sdf.h"
-#include "bolt.h"
-
-namespace mujoco::plugin::sdf {
-namespace {
-
-static mjtNum distance(const mjtNum p[3], const mjtNum attributes[1]) {
-  // see https://www.shadertoy.com/view/XtffzX
-  mjtNum screw = 12;
-  mjtNum radius = mju_sqrt(p[0]*p[0]+p[1]*p[1]) - attributes[0];
-  mjtNum sqrt12 = mju_sqrt(2.)/2.;
-
-  // a triangle wave spun around Oy, offset by the angle between x and z
-  mjtNum azimuth = mju_atan2(p[1], p[0]);
-  mjtNum triangle = abs(Fract(p[2] * screw - azimuth / mjPI / 2.) - .5);
-  mjtNum thread = (radius - triangle / screw) * sqrt12;
-
-  // clip the top and bottom
-  mjtNum bolt = Subtraction(thread, .5 - abs(p[2] + .5));
-  mjtNum cone = (p[2] - radius) * sqrt12;
-
-  // add a diagonal clipping for more realism
-  bolt = Subtraction(bolt, cone + 1. * sqrt12);
-
-  // create the hexagonal geometry for the head
-  mjtNum point2D[2] = {p[0], p[1]};
-  mjtNum res[2];
-  mjtNum k = 6. / mjPI / 2.;
-  mjtNum angle = -floor((mju_atan2(point2D[1], point2D[0])) * k + .5) / k;
-  mjtNum s[2] = {mju_sin(angle), mju_sin(angle + mjPI * .5)};
-  mjtNum mat[4] = {s[1], -s[0], s[0], s[1]};
-  mju_mulMatVec(res, mat, point2D, 2, 2);
-  mjtNum point3D[3] = {res[0], res[1], p[2]};
-  mjtNum head = point3D[0] - .5;
-
-  // the top is also rounded down with a cone
-  head = Intersection(head, abs(point3D[2] + .25) - .25);
-  head = Intersection(head, (point3D[2] + radius - .22) * sqrt12);
-  return Union(bolt, head);
-}
-
-}  // namespace
-
-// factory function
-std::optional<Bolt> Bolt::Create(
-  const mjModel* m, mjData* d, int instance) {
-  if (CheckAttr("radius", m, instance)) {
-    return Bolt(m, d, instance);
-  } else {
-    mju_warning("Invalid parameter specification in Bolt plugin");
-    return std::nullopt;
-  }
-}
-
-// plugin constructor
-Bolt::Bolt(const mjModel* m, mjData* d, int instance) {
-  SdfDefault<BoltAttribute> defattribute;
-
-  for (int i=0; i < BoltAttribute::nattribute; i++) {
-    attribute[i] = defattribute.GetDefault(
-        BoltAttribute::names[i],
-        mj_getPluginConfig(m, instance, BoltAttribute::names[i]));
-  }
-}
-
-// add new element in the vector storing iteration counts
-void Bolt::Compute(const mjModel* m, mjData* d, int instance) {
-  visualizer_.Next();
-}
-
-// reset visualization counter
-void Bolt::Reset() {
-  visualizer_.Reset();
-}
-
-// plugin visualization
-void Bolt::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
-                     mjvScene* scn, int instance) {
-  visualizer_.Visualize(m, d, opt, scn, instance);
-}
-
-// sdf
-mjtNum Bolt::Distance(const mjtNum point[3]) const {
-  return distance(point, attribute);
-}
-
-// gradient of sdf
-void Bolt::Gradient(mjtNum grad[3], const mjtNum point[3]) const {
-  mjtNum eps = 1e-8;
-  mjtNum dist0 = distance(point, attribute);
-  mjtNum pointX[3] = {point[0]+eps, point[1], point[2]};
-  mjtNum distX = distance(pointX, attribute);
-  mjtNum pointY[3] = {point[0], point[1]+eps, point[2]};
-  mjtNum distY = distance(pointY, attribute);
-  mjtNum pointZ[3] = {point[0], point[1], point[2]+eps};
-  mjtNum distZ = distance(pointZ, attribute);
-
-  grad[0] = (distX - dist0) / eps;
-  grad[1] = (distY - dist0) / eps;
-  grad[2] = (distZ - dist0) / eps;
-}
-
-// plugin registration
-void Bolt::RegisterPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.sdf.bolt";
-  plugin.capabilityflags |= mjPLUGIN_SDF;
-
-  plugin.nattribute = BoltAttribute::nattribute;
-  plugin.attributes = BoltAttribute::names;
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto sdf_or_null = Bolt::Create(m, d, instance);
-    if (!sdf_or_null.has_value()) {
-      return -1;
-    }
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
-        new Bolt(std::move(*sdf_or_null)));
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<Bolt*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto sdf = reinterpret_cast<Bolt*>(plugin_data);
-    sdf->Reset();
-  };
-  plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt,
-                         mjvScene* scn, int instance) {
-    auto* sdf = reinterpret_cast<Bolt*>(d->plugin_data[instance]);
-    sdf->Visualize(m, d, opt, scn, instance);
-  };
-  plugin.compute =
-      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
-        auto* sdf = reinterpret_cast<Bolt*>(d->plugin_data[instance]);
-        sdf->Compute(m, d, instance);
-      };
-  plugin.sdf_distance =
-      +[](const mjtNum point[3], const mjData* d, int instance) {
-        auto* sdf = reinterpret_cast<Bolt*>(d->plugin_data[instance]);
-        return sdf->Distance(point);
-      };
-  plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
-                        const mjData* d, int instance) {
-    auto* sdf = reinterpret_cast<Bolt*>(d->plugin_data[instance]);
-    sdf->visualizer_.AddPoint(point);
-    sdf->Gradient(gradient, point);
-  };
-  plugin.sdf_staticdistance =
-      +[](const mjtNum point[3], const mjtNum* attributes) {
-        return distance(point, attributes);
-      };
-  plugin.sdf_aabb =
-      +[](mjtNum aabb[6], const mjtNum* attributes) {
-        aabb[0] = aabb[1] = aabb[2] = 0;
-        aabb[3] = aabb[4] = .6;
-        aabb[5] = 1;
-      };
-  plugin.sdf_attribute =
-      +[](mjtNum attribute[], const char* name[], const char* value[]) {
-        SdfDefault<BoltAttribute> defattribute;
-        defattribute.GetDefaults(attribute, name, value);
-      };
-
-  mjp_registerPlugin(&plugin);
-}
-
-}  // namespace mujoco::plugin::sdf
diff --git a/plugin/sdf/bolt.h b/plugin/sdf/bolt.h
deleted file mode 100644
index 71517b94..00000000
--- a/plugin/sdf/bolt.h
+++ /dev/null
@@ -1,64 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_SDF_BOLT_H_
-#define MUJOCO_PLUGIN_SDF_BOLT_H_
-
-#include <optional>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-#include "sdf.h"
-
-namespace mujoco::plugin::sdf {
-
-// this plugin implements a modification of the signed distance function
-// from https://www.shadertoy.com/view/XtffzX  of a bolt with a hexagonal head
-
-struct BoltAttribute {
-  static constexpr int nattribute = 1;
-  static constexpr char const* names[nattribute] = {"radius"};
-  static constexpr mjtNum defaults[nattribute] = {0.26};
-};
-
-class Bolt {
- public:
-  // Creates a new Bolt instance (allocated with `new`) or
-  // returns null on failure.
-  static std::optional<Bolt> Create(const mjModel* m, mjData* d, int instance);
-  Bolt(Bolt&&) = default;
-  ~Bolt() = default;
-
-  void Reset();
-  void Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
-                 mjvScene* scn, int instance);
-  void Compute(const mjModel* m, mjData* d, int instance);
-  mjtNum Distance(const mjtNum point[3]) const;
-  void Gradient(mjtNum grad[3], const mjtNum point[3]) const;
-
-  static void RegisterPlugin();
-
-  mjtNum attribute[BoltAttribute::nattribute];
-
- private:
-  Bolt(const mjModel* m, mjData* d, int instance);
-
-  SdfVisualizer visualizer_;
-};
-
-}  // namespace mujoco::plugin::sdf
-
-#endif  // MUJOCO_PLUGIN_SDF_BOLT_H_
diff --git a/plugin/sdf/bowl.cc b/plugin/sdf/bowl.cc
deleted file mode 100644
index 73fb8205..00000000
--- a/plugin/sdf/bowl.cc
+++ /dev/null
@@ -1,195 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstdint>
-#include <optional>
-#include <utility>
-
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "sdf.h"
-#include "bowl.h"
-
-namespace mujoco::plugin::sdf {
-namespace {
-
-static mjtNum distance(const mjtNum point[3], const mjtNum attributes[3]) {
-  mjtNum height = attributes[0];
-  mjtNum radius = attributes[1];
-  mjtNum thick = attributes[2];
-  mjtNum width = mju_sqrt(radius*radius - height*height);
-  // see https://iquilezles.org/articles/distfunctions/
-  mjtNum q[2] = { mju_norm(point, 2), point[2] };
-  mjtNum qdiff[2] = { q[0] - width, q[1] - height };
-  return ((height*q[0] < width*q[1]) ? mju_norm(qdiff, 2)
-                                     : mju_abs(mju_norm(q, 2)-radius))-thick;
-}
-
-}  // namespace
-
-// factory function
-std::optional<Bowl> Bowl::Create(
-  const mjModel* m, mjData* d, int instance) {
-  if (CheckAttr("radius", m, instance) && CheckAttr("height", m, instance) &&
-      CheckAttr("thickness", m, instance)) {
-    return Bowl(m, d, instance);
-  } else {
-    mju_warning("Invalid parameter specification in Bowl plugin");
-    return std::nullopt;
-  }
-}
-
-// plugin constructor
-Bowl::Bowl(const mjModel* m, mjData* d, int instance) {
-  SdfDefault<BowlAttribute> defattribute;
-
-  for (int i=0; i < BowlAttribute::nattribute; i++) {
-    attribute[i] = defattribute.GetDefault(
-        BowlAttribute::names[i],
-        mj_getPluginConfig(m, instance, BowlAttribute::names[i]));
-  }
-
-  mjtNum height = attribute[0];
-  mjtNum radius = attribute[1];
-  width = mju_sqrt(radius*radius - height*height);
-}
-
-// add new element in the vector storing iteration counts
-void Bowl::Compute(const mjModel* m, mjData* d, int instance) {
-  visualizer_.Next();
-}
-
-// reset visualization counter
-void Bowl::Reset() {
-  visualizer_.Reset();
-}
-
-// plugin visualization
-void Bowl::Visualize(const mjModel* m, mjData* d, const mjvOption* opt, mjvScene* scn,
-                     int instance) {
-  visualizer_.Visualize(m, d, opt, scn, instance);
-}
-
-// sdf
-mjtNum Bowl::Distance(const mjtNum point[3]) const {
-  return distance(point, attribute);
-}
-
-// gradient of sdf
-void Bowl::Gradient(mjtNum grad[3], const mjtNum point[3]) const {
-  // mjtNum q[2] = { mju_norm(point, 2), point[2] };
-  // if (height*q[0] < width*q[1]) {
-  //   mjtNum qdiff[2] = { q[0] - width, q[1] - height };
-  //   mjtNum qdiffnorm = mju_norm(qdiff, 2);
-  //   mjtNum grad_qdiff[3] = {qdiff[0] * point[0] / q[0],
-  //                           qdiff[0] * point[1] / q[0],
-  //                           qdiff[1]};
-  //   grad[0] = - grad_qdiff[0] / qdiffnorm;
-  //   grad[1] = - grad_qdiff[1] / qdiffnorm;
-  //   grad[2] = - grad_qdiff[2] / qdiffnorm;
-  // } else {
-  //   mjtNum pnorm = mju_norm3(point);
-  //   mjtNum grad_dist = (pnorm - radius) / mju_abs(pnorm - radius);
-  //   grad[0] = - grad_dist * point[0] / pnorm;
-  //   grad[1] = - grad_dist * point[1] / pnorm;
-  //   grad[2] = - grad_dist * point[2] / pnorm;
-  // }
-  mjtNum eps = 1e-8;
-  mjtNum dist0 = distance(point, attribute);
-
-  mjtNum pointX[3] = {point[0]+eps, point[1], point[2]};
-  mjtNum distX = distance(pointX, attribute);
-  mjtNum pointY[3] = {point[0], point[1]+eps, point[2]};
-  mjtNum distY = distance(pointY, attribute);
-  mjtNum pointZ[3] = {point[0], point[1], point[2]+eps};
-  mjtNum distZ = distance(pointZ, attribute);
-
-  grad[0] = (distX - dist0) / eps;
-  grad[1] = (distY - dist0) / eps;
-  grad[2] = (distZ - dist0) / eps;
-}
-
-// plugin registration
-void Bowl::RegisterPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.sdf.bowl";
-  plugin.capabilityflags |= mjPLUGIN_SDF;
-
-  plugin.nattribute = BowlAttribute::nattribute;
-  plugin.attributes = BowlAttribute::names;
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto sdf_or_null = Bowl::Create(m, d, instance);
-    if (!sdf_or_null.has_value()) {
-      return -1;
-    }
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
-        new Bowl(std::move(*sdf_or_null)));
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<Bowl*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto sdf = reinterpret_cast<Bowl*>(plugin_data);
-    sdf->Reset();
-  };
-  plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt,
-                         mjvScene* scn, int instance) {
-    auto* sdf = reinterpret_cast<Bowl*>(d->plugin_data[instance]);
-    sdf->Visualize(m, d, opt, scn, instance);
-  };
-  plugin.compute =
-      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
-        auto* sdf = reinterpret_cast<Bowl*>(d->plugin_data[instance]);
-        sdf->Compute(m, d, instance);
-      };
-  plugin.sdf_distance =
-      +[](const mjtNum point[3], const mjData* d, int instance) {
-        auto* sdf = reinterpret_cast<Bowl*>(d->plugin_data[instance]);
-        return sdf->Distance(point);
-      };
-  plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
-                        const mjData* d, int instance) {
-    auto* sdf = reinterpret_cast<Bowl*>(d->plugin_data[instance]);
-    sdf->visualizer_.AddPoint(point);
-    sdf->Gradient(gradient, point);
-  };
-  plugin.sdf_staticdistance =
-      +[](const mjtNum point[3], const mjtNum* attributes) {
-        return distance(point, attributes);
-      };
-  plugin.sdf_aabb =
-      +[](mjtNum aabb[6], const mjtNum* attributes) {
-        mjtNum radius = attributes[1];
-        mjtNum thick = attributes[2];
-        aabb[0] = aabb[1] = aabb[2] = 0;
-        aabb[3] = aabb[4] = aabb[5] = radius + thick;
-      };
-  plugin.sdf_attribute =
-      +[](mjtNum attribute[], const char* name[], const char* value[]) {
-        SdfDefault<BowlAttribute> defattribute;
-        defattribute.GetDefaults(attribute, name, value);
-      };
-
-  mjp_registerPlugin(&plugin);
-}
-
-}  // namespace mujoco::plugin::sdf
diff --git a/plugin/sdf/bowl.h b/plugin/sdf/bowl.h
deleted file mode 100644
index 98eacece..00000000
--- a/plugin/sdf/bowl.h
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_SDF_BOWL_H_
-#define MUJOCO_PLUGIN_SDF_BOWL_H_
-
-#include <optional>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-#include "sdf.h"
-
-namespace mujoco::plugin::sdf {
-
-struct BowlAttribute {
-  static constexpr int nattribute = 3;
-  static constexpr char const* names[nattribute] = {"height", "radius",
-                                                    "thickness"};
-  static constexpr mjtNum defaults[nattribute] = {.4, 1., .02};
-};
-
-class Bowl {
- public:
-  // Creates a new Bowl instance (allocated with `new`) or
-  // returns null on failure.
-  static std::optional<Bowl> Create(const mjModel* m, mjData* d, int instance);
-  Bowl(Bowl&&) = default;
-  ~Bowl() = default;
-
-  void Reset();
-  void Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
-                 mjvScene* scn, int instance);
-  void Compute(const mjModel* m, mjData* d, int instance);
-  mjtNum Distance(const mjtNum point[3]) const;
-  void Gradient(mjtNum grad[3], const mjtNum point[3]) const;
-
-  static void RegisterPlugin();
-
-  mjtNum attribute[BowlAttribute::nattribute];
-  mjtNum width;
-
- private:
-  Bowl(const mjModel* m, mjData* d, int instance);
-
-  SdfVisualizer visualizer_;
-};
-
-}  // namespace mujoco::plugin::sdf
-
-#endif  // MUJOCO_PLUGIN_SDF_BOWL_H_
diff --git a/plugin/sdf/gear.cc b/plugin/sdf/gear.cc
deleted file mode 100644
index ce3755fb..00000000
--- a/plugin/sdf/gear.cc
+++ /dev/null
@@ -1,280 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstdint>
-#include <cstdlib>
-#include <optional>
-#include <utility>
-
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "sdf.h"
-#include "gear.h"
-
-namespace mujoco::plugin::sdf {
-namespace {
-
-static mjtNum circle(mjtNum rho, mjtNum r) {
-  return rho - r;
-}
-
-static mjtNum smoothUnion(mjtNum a, mjtNum b, mjtNum k) {
-    mjtNum h = mju_clip(0.5 + 0.5*(b - a) / k, 0.0, 1.0);
-    return b * (1. - h) + a * h - k * h * (1. - h);
-}
-
-static mjtNum smoothIntersection(mjtNum a, mjtNum b, mjtNum k) {
-    return Subtraction(
-        Intersection(a, b),
-        smoothUnion(Subtraction(a, b), Subtraction(b, a), k));
-}
-
-static mjtNum extrusion(const mjtNum p[3], mjtNum sdf_2d, mjtNum h) {
-    mjtNum w[2] = { sdf_2d, abs(p[2]) - h };
-    mjtNum w_abs[2] = { mju_max(w[0], 0), mju_max(w[1], 0) };
-    return mju_min(mju_max(w[0], w[1]), 0.) + mju_norm(w_abs, 2);
-}
-
-static mjtNum mod(mjtNum x, mjtNum y) {
-  return x - y * floor(x/y);
-}
-
-static mjtNum distance2D(const mjtNum p[3],
-                         const mjtNum attributes[GearAttribute::nattribute]) {
-  // see https://www.shadertoy.com/view/3lG3WR
-  mjtNum D = attributes[1];
-  mjtNum N = attributes[2];
-  mjtNum psi = 3.096e-5 * N * N -6.557e-3 * N + 0.551;  // pressure angle
-  mjtNum alpha = attributes[0];
-
-  mjtNum R = D / 2.0;
-  /* The Pitch Circle Diameter is the diameter of a circle which by a pure
-   * rolling action would transmit the same motion as the actual gear wheel. It
-   * should be noted that in the case of wheels which connect non-parallel
-   * shafts, the pitch circle diameter is different for each cross section of
-   * the wheel normal to the axis of rotation.
-   */
-
-  mjtNum rho = mju_norm(p, 2);
-  mjtNum Pd = N / D;  // Diametral Pitch: teeth per unit length of diameter
-  mjtNum P =
-      mjPI / Pd;  // Circular Pitch: the length of arc round the pitch circle
-                  // between corresponding points on adjacent teeth.
-  mjtNum a = 1.0 / Pd;  // Addendum: radial length of a tooth from the pitch
-                        // circle to the tip of the tooth.
-
-  mjtNum Do = D + 2.0 * a;  // Outside Diameter
-  mjtNum Ro = Do / 2.0;
-
-  mjtNum h = 2.2 / Pd;
-
-  mjtNum innerR = Ro - h - 0.14*D;
-  if (attributes[4] >= 0.0) {
-    innerR = attributes[4] / 2.0;
-  }
-
-  // Early exit
-  if (innerR - rho > 0.0)
-      return innerR - rho;
-
-  // Early exit
-  if (Ro - rho < -0.2)
-      return rho - Ro;
-
-  mjtNum Db = D * mju_cos(psi);  // Base Diameter
-  mjtNum Rb = Db / 2.0;
-
-  mjtNum fi = mju_atan2(p[1], p[0]) + alpha;
-  mjtNum alphaStride = P / R;
-
-  mjtNum invAlpha = mju_acos(Rb / R);
-  mjtNum invPhi = mju_tan(invAlpha) - invAlpha;
-
-  mjtNum shift = alphaStride / 2.0 - 2.0 * invPhi;
-
-  mjtNum fia = mod(fi + shift / 2.0, alphaStride) - shift / 2.0;
-  mjtNum fib = mod(-fi - shift + shift / 2.0, alphaStride) - shift / 2.0;
-
-  mjtNum dista = -1.0e6;
-  mjtNum distb = -1.0e6;
-
-  if (Rb < rho) {
-      mjtNum acos_rbRho = mju_acos(Rb/rho);
-
-      mjtNum thetaa = fia + acos_rbRho;
-      mjtNum thetab = fib + acos_rbRho;
-
-      mjtNum ta = mju_sqrt(rho * rho - Rb * Rb);
-
-      // https://math.stackexchange.com/questions/1266689/distance-from-a-point-to-the-involute-of-a-circle
-      dista = ta - Rb * thetaa;
-      distb = ta - Rb * thetab;
-  }
-
-  mjtNum gearOuter = circle(rho, Ro);
-  mjtNum gearLowBase = circle(rho, Ro - h);
-  mjtNum crownBase = circle(rho, innerR);
-  mjtNum cogs = Intersection(dista, distb);
-  mjtNum baseWalls = Intersection(fia - (alphaStride - shift),
-                                   fib - (alphaStride - shift));
-
-  cogs = Intersection(baseWalls, cogs);
-  cogs = smoothIntersection(gearOuter, cogs, 0.0035*D);
-  cogs = smoothUnion(gearLowBase, cogs, Rb - Ro + h);
-  cogs = Subtraction(cogs, crownBase);
-
-  return cogs;
-}
-
-static mjtNum distance(const mjtNum p[3],
-                       const mjtNum attributes[GearAttribute::nattribute]) {
-  return extrusion(p, distance2D(p, attributes), attributes[3]/2.);
-}
-
-}  // namespace
-
-// factory function
-std::optional<Gear> Gear::Create(const mjModel* m, mjData* d, int instance) {
-  if (CheckAttr("alpha", m, instance) && CheckAttr("diameter", m, instance) &&
-      CheckAttr("teeth", m, instance) &&
-      CheckAttr("innerdiameter", m, instance)) {
-      return Gear(m, d, instance);
-  } else {
-      mju_warning("Invalid parameter specification in Gear plugin");
-      return std::nullopt;
-  }
-}
-
-// plugin constructor
-Gear::Gear(const mjModel* m, mjData* d, int instance) {
-  SdfDefault<GearAttribute> defattribute;
-
-  for (int i=0; i < GearAttribute::nattribute; i++) {
-      attribute[i] = defattribute.GetDefault(
-          GearAttribute::names[i],
-          mj_getPluginConfig(m, instance, GearAttribute::names[i]));
-  }
-}
-
-// plugin computation
-void Gear::Compute(const mjModel* m, mjData* d, int instance) {
-  visualizer_.Next();
-}
-
-// plugin reset
-void Gear::Reset() {
-  visualizer_.Reset();
-}
-
-// plugin visualization
-void Gear::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
-                     mjvScene* scn, int instance) {
-  visualizer_.Visualize(m, d, opt, scn, instance);
-}
-
-// sdf
-mjtNum Gear::Distance(const mjtNum point[3]) const {
-  return distance(point, attribute);
-}
-
-// gradient of sdf
-void Gear::Gradient(mjtNum grad[3], const mjtNum point[3]) const {
-  mjtNum eps = 1e-8;
-  mjtNum dist0 = distance(point, attribute);
-
-  mjtNum pointX[3] = {point[0]+eps, point[1], point[2]};
-  mjtNum distX = distance(pointX, attribute);
-  mjtNum pointY[3] = {point[0], point[1]+eps, point[2]};
-  mjtNum distY = distance(pointY, attribute);
-  mjtNum pointZ[3] = {point[0], point[1], point[2]+eps};
-  mjtNum distZ = distance(pointZ, attribute);
-
-  grad[0] = (distX - dist0) / eps;
-  grad[1] = (distY - dist0) / eps;
-  grad[2] = (distZ - dist0) / eps;
-}
-
-// plugin registration
-void Gear::RegisterPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.sdf.gear";
-  plugin.capabilityflags |= mjPLUGIN_SDF;
-
-  plugin.nattribute = GearAttribute::nattribute;
-  plugin.attributes = GearAttribute::names;
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto sdf_or_null = Gear::Create(m, d, instance);
-    if (!sdf_or_null.has_value()) {
-      return -1;
-    }
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
-        new Gear(std::move(*sdf_or_null)));
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<Gear*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto sdf = reinterpret_cast<Gear*>(plugin_data);
-    sdf->Reset();
-  };
-  plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt,
-                         mjvScene* scn, int instance) {
-    auto* sdf = reinterpret_cast<Gear*>(d->plugin_data[instance]);
-    sdf->Visualize(m, d, opt, scn, instance);
-  };
-  plugin.compute =
-      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
-        auto* sdf = reinterpret_cast<Gear*>(d->plugin_data[instance]);
-        sdf->Compute(m, d, instance);
-      };
-  plugin.sdf_distance =
-      +[](const mjtNum point[3], const mjData* d, int instance) {
-        auto* sdf = reinterpret_cast<Gear*>(d->plugin_data[instance]);
-        return sdf->Distance(point);
-      };
-  plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
-                        const mjData* d, int instance) {
-    auto* sdf = reinterpret_cast<Gear*>(d->plugin_data[instance]);
-    sdf->visualizer_.AddPoint(point);
-    sdf->Gradient(gradient, point);
-  };
-  plugin.sdf_staticdistance =
-      +[](const mjtNum point[3], const mjtNum* attributes) {
-        return distance(point, attributes);
-      };
-  plugin.sdf_aabb =
-      +[](mjtNum aabb[6], const mjtNum* attributes) {
-        aabb[0] = aabb[1] = aabb[2] = 0;
-        aabb[3] = aabb[4] = attributes[1] / 2. * 1.25;
-        aabb[5] = attributes[3] / 2. * 1.1;
-  };
-  plugin.sdf_attribute =
-      +[](mjtNum attribute[], const char* name[], const char* value[]) {
-        SdfDefault<GearAttribute> defattribute;
-        defattribute.GetDefaults(attribute, name, value);
-      };
-
-  mjp_registerPlugin(&plugin);
-}
-
-}  // namespace mujoco::plugin::sdf
diff --git a/plugin/sdf/gear.h b/plugin/sdf/gear.h
deleted file mode 100644
index be0e6f89..00000000
--- a/plugin/sdf/gear.h
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_SDF_GEAR_H_
-#define MUJOCO_PLUGIN_SDF_GEAR_H_
-
-#include <optional>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-#include "sdf.h"
-
-namespace mujoco::plugin::sdf {
-
-struct GearAttribute {
-  static constexpr int nattribute = 5;
-  static constexpr char const* names[nattribute] = {"alpha", "diameter",
-                                                    "teeth", "thickness",
-                                                    "innerdiameter"};
-  static constexpr mjtNum defaults[nattribute] = { 0, 2.8, 25, .2 , -1};
-};
-
-class Gear {
- public:
-  // Creates a new Gear instance (allocated with `new`) or
-  // returns null on failure.
-  static std::optional<Gear> Create(const mjModel* m, mjData* d, int instance);
-  Gear(Gear&&) = default;
-  ~Gear() = default;
-
-  void Reset();
-  void Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
-                 mjvScene* scn, int instance);
-  void Compute(const mjModel* m, mjData* d, int instance);
-  mjtNum Distance(const mjtNum point[3]) const;
-  void Gradient(mjtNum grad[3], const mjtNum point[3]) const;
-
-  static void RegisterPlugin();
-
-  mjtNum attribute[GearAttribute::nattribute];
-
- private:
-  Gear(const mjModel* m, mjData* d, int instance);
-
-  SdfVisualizer visualizer_;
-};
-
-}  // namespace mujoco::plugin::sdf
-
-#endif  // MUJOCO_PLUGIN_SDF_GEAR_H_
diff --git a/plugin/sdf/nut.cc b/plugin/sdf/nut.cc
deleted file mode 100644
index 38888fbf..00000000
--- a/plugin/sdf/nut.cc
+++ /dev/null
@@ -1,196 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cmath>
-#include <cstdint>
-#include <cstdlib>
-#include <optional>
-#include <utility>
-
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "sdf.h"
-#include "nut.h"
-
-namespace mujoco::plugin::sdf {
-namespace {
-
-static mjtNum distance(const mjtNum p[3], const mjtNum attributes[1]) {
-  // see https://www.shadertoy.com/view/XtffzX
-  mjtNum screw = 12;
-  mjtNum radius2 = mju_sqrt(p[0]*p[0]+p[1]*p[1]) - attributes[0];
-  mjtNum sqrt12 = mju_sqrt(2.)/2.;
-
-  // a triangle wave spun around Oy, offset by the angle between x and z
-  mjtNum azimuth = mju_atan2(p[1], p[0]);
-  mjtNum triangle = abs(Fract(p[2] * screw - azimuth / mjPI / 2.) - .5);
-  mjtNum thread2 = (radius2 - triangle / screw) * sqrt12;
-
-  // clip the top
-  mjtNum cone2 = (p[2] - radius2) * sqrt12;
-
-  // the hole is the same thing, but substracted from the whole thing
-  mjtNum hole = Subtraction(thread2, cone2 + .5 * sqrt12);
-  hole = Union(hole, -cone2 - .05 * sqrt12);
-
-  // create the hexagonal geometry for the head
-  mjtNum point2D[2] = {p[0], p[1]};
-  mjtNum res[2];
-  mjtNum k = 6. / mjPI / 2.;
-  mjtNum angle = -floor((mju_atan2(point2D[1], point2D[0])) * k + .5) / k;
-  mjtNum s[2] = {mju_sin(angle), mju_sin(angle + mjPI * .5)};
-  mjtNum mat[4] = {s[1], -s[0], s[0], s[1]};
-  mju_mulMatVec(res, mat, point2D, 2, 2);
-  mjtNum point3D[3] = {res[0], res[1], p[2]};
-  mjtNum head = point3D[0] - .5;
-
-  // the top is also rounded down with a cone
-  head = Intersection(head, abs(point3D[2] + .25) - .25);
-  head = Intersection(head, (point3D[2] + radius2 - .22) * sqrt12);
-  return Subtraction(head, hole);
-}
-
-}  // namespace
-
-// factory function
-std::optional<Nut> Nut::Create(
-  const mjModel* m, mjData* d, int instance) {
-  if (CheckAttr("radius", m, instance)) {
-    return Nut(m, d, instance);
-  } else {
-    mju_warning("Invalid parameter specification in Nut plugin");
-    return std::nullopt;
-  }
-}
-
-// plugin constructor
-Nut::Nut(const mjModel* m, mjData* d, int instance) {
-  SdfDefault<NutAttribute> defattribute;
-
-  for (int i=0; i < NutAttribute::nattribute; i++) {
-    attribute[i] = defattribute.GetDefault(
-        NutAttribute::names[i],
-        mj_getPluginConfig(m, instance, NutAttribute::names[i]));
-  }
-}
-
-// plugin computation
-void Nut::Compute(const mjModel* m, mjData* d, int instance) {
-  visualizer_.Next();
-}
-
-// plugin reset
-void Nut::Reset() {
-  visualizer_.Reset();
-}
-
-// plugin visualization
-void Nut::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
-                    mjvScene* scn, int instance) {
-  visualizer_.Visualize(m, d, opt, scn, instance);
-}
-
-// sdf
-mjtNum Nut::Distance(const mjtNum point[3]) const {
-  return distance(point, attribute);
-}
-
-// gradient of sdf
-void Nut::Gradient(mjtNum grad[3], const mjtNum point[3]) const {
-  mjtNum eps = 1e-8;
-  mjtNum dist0 = distance(point, attribute);
-  mjtNum pointX[3] = {point[0]+eps, point[1], point[2]};
-  mjtNum distX = distance(pointX, attribute);
-  mjtNum pointY[3] = {point[0], point[1]+eps, point[2]};
-  mjtNum distY = distance(pointY, attribute);
-  mjtNum pointZ[3] = {point[0], point[1], point[2]+eps};
-  mjtNum distZ = distance(pointZ, attribute);
-
-  grad[0] = (distX - dist0) / eps;
-  grad[1] = (distY - dist0) / eps;
-  grad[2] = (distZ - dist0) / eps;
-}
-
-// plugin registration
-void Nut::RegisterPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.sdf.nut";
-  plugin.capabilityflags |= mjPLUGIN_SDF;
-
-  plugin.nattribute = NutAttribute::nattribute;
-  plugin.attributes = NutAttribute::names;
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto sdf_or_null = Nut::Create(m, d, instance);
-    if (!sdf_or_null.has_value()) {
-      return -1;
-    }
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
-        new Nut(std::move(*sdf_or_null)));
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<Nut*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto sdf = reinterpret_cast<Nut*>(plugin_data);
-    sdf->Reset();
-  };
-  plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt,
-                         mjvScene* scn, int instance) {
-    auto* sdf = reinterpret_cast<Nut*>(d->plugin_data[instance]);
-    sdf->Visualize(m, d, opt, scn, instance);
-  };
-  plugin.compute =
-      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
-        auto* sdf = reinterpret_cast<Nut*>(d->plugin_data[instance]);
-        sdf->Compute(m, d, instance);
-      };
-  plugin.sdf_distance =
-      +[](const mjtNum point[3], const mjData* d, int instance) {
-        auto* sdf = reinterpret_cast<Nut*>(d->plugin_data[instance]);
-        return sdf->Distance(point);
-      };
-  plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
-                        const mjData* d, int instance) {
-    auto* sdf = reinterpret_cast<Nut*>(d->plugin_data[instance]);
-    sdf->visualizer_.AddPoint(point);
-    sdf->Gradient(gradient, point);
-  };
-  plugin.sdf_staticdistance =
-      +[](const mjtNum point[3], const mjtNum* attributes) {
-        return distance(point, attributes);
-      };
-  plugin.sdf_aabb =
-      +[](mjtNum aabb[6], const mjtNum* attributes) {
-        aabb[0] = aabb[1] = aabb[2] = 0;
-        aabb[3] = aabb[4] = .6;
-        aabb[5] = 1;
-      };
-  plugin.sdf_attribute =
-      +[](mjtNum attribute[], const char* name[], const char* value[]) {
-        SdfDefault<NutAttribute> defattribute;
-        defattribute.GetDefaults(attribute, name, value);
-      };
-
-  mjp_registerPlugin(&plugin);
-}
-
-}  // namespace mujoco::plugin::sdf
diff --git a/plugin/sdf/nut.h b/plugin/sdf/nut.h
deleted file mode 100644
index 933fc931..00000000
--- a/plugin/sdf/nut.h
+++ /dev/null
@@ -1,64 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_SDF_NUT_H_
-#define MUJOCO_PLUGIN_SDF_NUT_H_
-
-#include <optional>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-#include "sdf.h"
-
-namespace mujoco::plugin::sdf {
-
-// this plugin implements a modification of the signed distance function
-// from https://www.shadertoy.com/view/XtffzX  of hexagonal nut
-
-struct NutAttribute {
-  static constexpr int nattribute = 1;
-  static constexpr char const* names[nattribute] = {"radius"};
-  static constexpr mjtNum defaults[nattribute] = {0.26};
-};
-
-class Nut {
- public:
-  // Creates a new Nut instance (allocated with `new`) or
-  // returns null on failure.
-  static std::optional<Nut> Create(const mjModel* m, mjData* d, int instance);
-  Nut(Nut&&) = default;
-  ~Nut() = default;
-
-  void Reset();
-  void Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
-                 mjvScene* scn, int instance);
-  void Compute(const mjModel* m, mjData* d, int instance);
-  mjtNum Distance(const mjtNum point[3]) const;
-  void Gradient(mjtNum grad[3], const mjtNum point[3]) const;
-
-  static void RegisterPlugin();
-
-  mjtNum attribute[NutAttribute::nattribute];
-
- private:
-  Nut(const mjModel* m, mjData* d, int instance);
-
-  SdfVisualizer visualizer_;
-};
-
-}  // namespace mujoco::plugin::sdf
-
-#endif  // MUJOCO_PLUGIN_SDF_NUT_H_
diff --git a/plugin/sdf/register.cc b/plugin/sdf/register.cc
deleted file mode 100644
index 97f140da..00000000
--- a/plugin/sdf/register.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <mujoco/mjplugin.h>
-#include "bolt.h"
-#include "bowl.h"
-#include "gear.h"
-#include "nut.h"
-#include "torus.h"
-
-namespace mujoco::plugin::sdf {
-
-mjPLUGIN_LIB_INIT(sdf) {
-  Bolt::RegisterPlugin();
-  Bowl::RegisterPlugin();
-  Gear::RegisterPlugin();
-  Nut::RegisterPlugin();
-  Torus::RegisterPlugin();
-}
-
-}  // namespace mujoco::plugin::sdf
diff --git a/plugin/sdf/sdf.cc b/plugin/sdf/sdf.cc
deleted file mode 100644
index d3e77d0a..00000000
--- a/plugin/sdf/sdf.cc
+++ /dev/null
@@ -1,135 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <cctype>
-#include <cstddef>
-#include <cstdio>
-#include <cstdlib>
-#include <string>
-
-#include <mujoco/mujoco.h>
-#include "sdf.h"
-
-namespace mujoco::plugin::sdf {
-
-bool CheckAttr(const char* name, const mjModel* m, int instance) {
-  char *end;
-  std::string value = mj_getPluginConfig(m, instance, name);
-  value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
-  strtod(value.c_str(), &end);
-  return end == value.data() + value.size();
-}
-
-SdfVisualizer::SdfVisualizer() {
-  points_.assign(10*(mjMAXCONPAIR+1)*(mjMAXCONPAIR+1)*3, 0);
-  npoints_.clear();
-}
-
-void SdfVisualizer::AddPoint(const mjtNum point[3]) {
-  if (!npoints_.empty() && npoints_.back() < points_.size()/3) {
-    points_[3*npoints_.back()+0] = point[0];
-    points_[3*npoints_.back()+1] = point[1];
-    points_[3*npoints_.back()+2] = point[2];
-    npoints_.back()++;
-  }
-}
-
-void SdfVisualizer::Next() {
-  npoints_.push_back(npoints_.empty() ? 0 : npoints_.back());
-}
-
-void SdfVisualizer::Reset() {
-  npoints_.clear();
-}
-
-void SdfVisualizer::Visualize(const mjModel* m, const mjData* d,
-                              const mjvOption* opt, mjvScene* scn,
-                              int instance) {
-  if (!opt->flags[mjVIS_SDFITER]) {
-    return;
-  }
-  if (npoints_.empty()) {
-    return;
-  }
-  int tot = 0, n = 0, g = 0;
-  for (int i = 0; i < m->ngeom; i++) {
-    if (m->geom_plugin[i] == instance) {
-      g = i;
-      break;
-    }
-  }
-  mjtNum* points = points_.data();
-  int* npoints = npoints_.data();
-  int niter = npoints_.size();
-  mjtNum geom_mat[9], offset[3], rotation[9], from[3], to[3];
-  mjtNum* geom_xpos = d->geom_xpos + 3*g;
-  mjtNum* geom_xmat = d->geom_xmat + 9*g;
-  mjtNum* geom_pos = m->geom_pos + 3*g;
-  mjtNum* geom_quat = m->geom_quat + 4*g;
-  mju_quat2Mat(geom_mat, geom_quat);
-  mju_mulMatMatT(rotation, geom_xmat, geom_mat, 3, 3, 3);
-  mju_mulMatVec3(offset, rotation, geom_pos);
-  mju_sub3(offset, geom_xpos, offset);
-
-  for (int i = 0; i < niter; i++) {
-    n = npoints[i] - tot;
-    if (!n) {
-      continue;
-    }
-    for (int k = 0; k < 2; k++) {
-      for (int j = 0; j < (k == 0 ? 2 : n-1); j++) {
-        if (scn->ngeom >= scn->maxgeom) {
-          if (!scn->status) {
-            mju_warning("Pre-allocated visual geom buffer is full. "
-                        "Increase maxgeom above %d.", scn->maxgeom);
-            scn->status = 1;
-          }
-          return;
-        }
-        mjvGeom* thisgeom = scn->geoms + scn->ngeom;
-        mjtNum* p1 = points + (tot + (k == 0 ? (n-1) * j : j))*3;
-        mjtNum* p2 = points + (tot + j + 1)*3;
-        mju_mulMatVec3(from, rotation, p1);
-        mju_addTo3(from, offset);
-        mju_mulMatVec3(to, rotation, p2);
-        mju_addTo3(to, offset);
-        if (k == 0) {
-          float rgba[4] = {static_cast<float>(j > 0), 0,
-                           static_cast<float>(j == 0), 1};
-          mjtNum size = 0.2 * m->stat.meansize;
-          mjv_initGeom(thisgeom, mjGEOM_SPHERE, &size, from, geom_xmat, rgba);
-        } else {
-          mjv_initGeom(thisgeom, mjGEOM_NONE, NULL, NULL, NULL, NULL);
-          thisgeom->objtype = mjOBJ_UNKNOWN;
-          thisgeom->objid = i;
-          thisgeom->category = mjCAT_DECOR;
-          thisgeom->segid = scn->ngeom;
-          to[0] = from[0] + .95*(to[0]-from[0]);
-          to[1] = from[1] + .95*(to[1]-from[1]);
-          to[2] = from[2] + .95*(to[2]-from[2]);
-          mjv_connector(thisgeom, mjGEOM_LINE, 2, from, to);
-          thisgeom->rgba[0] = (j+1.)/(n-1.);
-          thisgeom->rgba[1] = 0;
-          thisgeom->rgba[2] = 1 - (j+1.)/(n-1.);
-          thisgeom->rgba[3] = 1;
-        }
-        scn->ngeom++;
-      }
-    }
-    tot += n;
-  }
-}
-
-}  // namespace mujoco::plugin::sdf
diff --git a/plugin/sdf/sdf.h b/plugin/sdf/sdf.h
deleted file mode 100644
index 6c7a139c..00000000
--- a/plugin/sdf/sdf.h
+++ /dev/null
@@ -1,101 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_SDF_SDF_H_
-#define MUJOCO_PLUGIN_SDF_SDF_H_
-
-#include <map>
-#include <stdexcept>
-#include <string>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::plugin::sdf {
-
-inline mjtNum Union(mjtNum a, mjtNum b) {
-    return mju_min(a, b);
-}
-
-inline mjtNum Intersection(mjtNum a, mjtNum b) {
-    return mju_max(a, b);
-}
-
-inline mjtNum Subtraction(mjtNum a, mjtNum b) {
-    return mju_max(a, -b);
-}
-
-inline mjtNum Fract(mjtNum x) {
-  return x - floor(x);
-}
-
-// reads numeric attributes
-bool CheckAttr(const char* name, const mjModel* m, int instance);
-
-// converts attributes to numeric or returns default if not present
-template <typename T>
-class SdfDefault {
- public:
-  SdfDefault() {
-    for (int i = 0; i < T::nattribute; i++) {
-      default_[T::names[i]] = T::defaults[i];
-    }
-  }
-
-  // get a single default value
-  mjtNum GetDefault(const char* name, const char* value) {
-    if (std::string(value).empty()) {
-      return default_[name];
-    }
-    try {
-      mjtNum num = std::stod(value);
-      return num;
-    } catch (const std::invalid_argument& e) {
-      mju_error("invalid attribute value for '%s'", name);
-      return 0;
-    }
-  }
-
-  // populate attribute array
-  void GetDefaults(mjtNum* attribute, const char* names[],
-                   const char* values[]) {
-    for (int i = 0; i < default_.size(); i++) {
-      attribute[i] = GetDefault(names[i], values[i]);
-    }
-  }
-
- private:
-  std::map<std::string, mjtNum> default_;
-};
-
-// stores the history of gradient descent iterations
-class SdfVisualizer {
- public:
-  SdfVisualizer();
-
-  void Visualize(const mjModel* m, const mjData* d, const mjvOption* opt,
-                 mjvScene* scn, int instance);
-
-  void AddPoint(const mjtNum point[3]);
-  void Reset();
-  void Next();  // adds a new gradient descent trajectory to be visualized
-
- private:
-  std::vector<mjtNum> points_;  // query points
-  std::vector<int> npoints_;    // number of iterations from the starting point
-};
-
-}  // namespace mujoco::plugin::sdf
-
-#endif  // MUJOCO_PLUGIN_SDF_SDF_H_
diff --git a/plugin/sdf/torus.cc b/plugin/sdf/torus.cc
deleted file mode 100644
index 23f13ddd..00000000
--- a/plugin/sdf/torus.cc
+++ /dev/null
@@ -1,135 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstdint>
-#include <optional>
-#include <utility>
-
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "sdf.h"
-#include "torus.h"
-
-namespace mujoco::plugin::sdf {
-namespace {
-
-static mjtNum distance(const mjtNum p[3], const mjtNum radius[2]) {
-  mjtNum q = mju_sqrt(p[0]*p[0] + p[1]*p[1]) - radius[0];
-  return mju_sqrt(q*q + p[2]*p[2]) - radius[1];
-}
-
-}  // namespace
-
-// factory function
-std::optional<Torus> Torus::Create(
-    const mjModel* m, mjData* d, int instance) {
-  if (CheckAttr("radius1", m, instance) && CheckAttr("radius2", m, instance)) {
-    return Torus(m, d, instance);
-  } else {
-    mju_warning("Invalid radius1 or radius2 parameters in Torus plugin");
-    return std::nullopt;
-  }
-}
-
-// plugin constructor
-Torus::Torus(const mjModel* m, mjData* d, int instance) {
-  SdfDefault<TorusAttribute> defattribute;
-
-  for (int i=0; i < TorusAttribute::nattribute; i++) {
-    attribute[i] = defattribute.GetDefault(
-        TorusAttribute::names[i],
-        mj_getPluginConfig(m, instance, TorusAttribute::names[i]));
-  }
-}
-
-// sdf
-mjtNum Torus::Distance(const mjtNum point[3]) const {
-  return distance(point, attribute);
-}
-
-// gradient of sdf
-void Torus::Gradient(mjtNum grad[3], const mjtNum p[3]) const {
-  mjtNum len_xy = mju_sqrt(p[0]*p[0] + p[1]*p[1]);
-  mjtNum q = len_xy - attribute[0];
-  mjtNum grad_q[2] = { p[0] / len_xy, p[1] / len_xy };
-  mjtNum len_qz = mju_sqrt(q*q + p[2]*p[2]);
-  grad[0] = q*grad_q[0] / mjMAX(len_qz, mjMINVAL);
-  grad[1] = q*grad_q[1] / mjMAX(len_qz, mjMINVAL);
-  grad[2] = p[2] / mjMAX(len_qz, mjMINVAL);
-}
-
-// plugin registration
-void Torus::RegisterPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.sdf.torus";
-  plugin.capabilityflags |= mjPLUGIN_SDF;
-
-  plugin.nattribute = TorusAttribute::nattribute;
-  plugin.attributes = TorusAttribute::names;
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto sdf_or_null = Torus::Create(m, d, instance);
-    if (!sdf_or_null.has_value()) {
-      return -1;
-    }
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
-        new Torus(std::move(*sdf_or_null)));
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<Torus*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    // do nothing
-  };
-  plugin.compute =
-      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
-        // do nothing;
-      };
-  plugin.sdf_distance =
-      +[](const mjtNum point[3], const mjData* d, int instance) {
-        auto* sdf = reinterpret_cast<Torus*>(d->plugin_data[instance]);
-        return sdf->Distance(point);
-      };
-  plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
-                        const mjData* d, int instance) {
-    auto* sdf = reinterpret_cast<Torus*>(d->plugin_data[instance]);
-    sdf->Gradient(gradient, point);
-  };
-  plugin.sdf_staticdistance =
-      +[](const mjtNum point[3], const mjtNum* attributes) {
-        return distance(point, attributes);
-      };
-  plugin.sdf_aabb =
-      +[](mjtNum aabb[6], const mjtNum* attributes) {
-        aabb[0] = aabb[1] = aabb[2] = 0;
-        aabb[3] = aabb[4] = attributes[0] + attributes[1];
-        aabb[5] = attributes[1];
-      };
-  plugin.sdf_attribute =
-      +[](mjtNum attribute[], const char* name[], const char* value[]) {
-        SdfDefault<TorusAttribute> defattribute;
-        defattribute.GetDefaults(attribute, name, value);
-      };
-
-  mjp_registerPlugin(&plugin);
-}
-
-}  // namespace mujoco::plugin::sdf
diff --git a/plugin/sdf/torus.h b/plugin/sdf/torus.h
deleted file mode 100644
index 866160a0..00000000
--- a/plugin/sdf/torus.h
+++ /dev/null
@@ -1,53 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_SDF_TORUS_H_
-#define MUJOCO_PLUGIN_SDF_TORUS_H_
-
-#include <optional>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include "sdf.h"
-
-namespace mujoco::plugin::sdf {
-
-struct TorusAttribute {
-  static constexpr int nattribute = 2;
-  static constexpr char const* names[nattribute] = {"radius1", "radius2"};
-  static constexpr mjtNum defaults[nattribute] = { .35, .15 };
-};
-
-class Torus {
- public:
-  // Creates a new Torus instance or returns null on failure.
-  static std::optional<Torus> Create(const mjModel* m, mjData* d, int instance);
-  Torus(Torus&&) = default;
-  ~Torus() = default;
-
-  mjtNum Distance(const mjtNum point[3]) const;
-  void Gradient(mjtNum grad[3], const mjtNum point[3]) const;
-
-  static void RegisterPlugin();
-
-  mjtNum attribute[TorusAttribute::nattribute];
-
- private:
-  Torus(const mjModel* m, mjData* d, int instance);
-};
-
-}  // namespace mujoco::plugin::sdf
-
-#endif  // MUJOCO_PLUGIN_SDF_TORUS_H_
diff --git a/plugin/sensor/CMakeLists.txt b/plugin/sensor/CMakeLists.txt
deleted file mode 100644
index 7095a829..00000000
--- a/plugin/sensor/CMakeLists.txt
+++ /dev/null
@@ -1,42 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_SENSOR_INCLUDE
-    ${CMAKE_CURRENT_SOURCE_DIR}/../..
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../src
-)
-
-set(MUJOCO_SENSOR_SRCS
-    register.cc
-    touch_grid.h
-    touch_grid.cc
-)
-
-add_library(sensor SHARED)
-target_sources(sensor PRIVATE ${MUJOCO_SENSOR_SRCS})
-target_include_directories(sensor PRIVATE ${MUJOCO_SENSOR_INCLUDE})
-target_link_libraries(sensor PRIVATE mujoco)
-target_compile_options(
-  sensor
-  PRIVATE ${AVX_COMPILE_OPTIONS}
-          ${MUJOCO_MACOS_COMPILE_OPTIONS}
-          ${EXTRA_COMPILE_OPTIONS}
-          ${MUJOCO_CXX_FLAGS}
-)
-target_link_options(
-  sensor
-  PRIVATE
-  ${MUJOCO_MACOS_LINK_OPTIONS}
-  ${EXTRA_LINK_OPTIONS}
-)
diff --git a/plugin/sensor/README.md b/plugin/sensor/README.md
deleted file mode 100644
index d383b63d..00000000
--- a/plugin/sensor/README.md
+++ /dev/null
@@ -1,125 +0,0 @@
-# 传感器插件（Sensor Plugins）
-
-通过[引擎插件](https://mujoco.readthedocs.io/en/latest/programming/extension.html#engine-plugins)实现的自定义传感器。
-
-- [触觉网格（Touch Grid）](#touch-grid)
-  - [示例模型](#example-model)
-  - [球坐标系下的视场角图示](#illustration-of-fields-of-view-in-spherical-coordinates)
-  - [中央凹形变图示](#illustration-of-foveal-deformation)
-  - [结合分辨率、视场角和中央凹形变的综合图示](#illustration-combining-resolution-fields-of-view-and-foveal-deformation)
-
-- [触觉应力（Touch Stress）](#touch-stress)
-  - [解析 SDF 示例模型](#example-model-with-analytical-sdf)
-
-## [Touch Grid](touch_grid.h)
-
-该传感器将接触力聚合到“触觉像素（taxels）”中：即类似像素的矩形阵列单元。
-
-`touch_grid` 传感器与一个 site（位姿点）关联，用于感知该 site 所属的父刚体与所有其他刚体之间的接触力和力矩。site 的坐标系决定了传感器的朝向，采用与相机和光源相同的约定：传感器指向坐标系的 **-z（负 z 轴）**方向，因此 x 轴和 y 轴分别对应水平方向和垂直方向。
-
-该传感器的输出是 1 到 6 个“触觉图像（touch images）”的堆叠，对应于传感器坐标系中的力和力矩。力和力矩按照 [z, x, y] 顺序排列，对应于接触坐标系中的顺序：[法向, 切向, 切向] 和 [扭转, 滚动, 滚动]。每个“触觉像素（taxel）”对应于球坐标系中的一个角度分桶（angular bin），并聚合该分桶内发生的所有接触力（发生在传感器 site 所属刚体与任何其他刚体之间）。
-
-该传感器由 6 个参数进行参数化：
-
-1. 通道数（按照上述顺序）：_取值范围为 [1, 6] 的正整数_
-2. 水平分辨率：_正整数_
-3. 垂直分辨率：_正整数_
-4. 水平视场角（FOV）：_角度范围在 (0, 180] 度的正浮点数_
-5. 垂直视场角（FOV）：_角度范围在 (0, 90] 度的正浮点数_
-6. 中央凹形变（Foveal deformation）：_取值范围在 [0, 1] 的正浮点数_
-
-有关视场角和中央凹形变参数的可视化解释，请参见下方的图示。这些参数作为插件的配置属性进行传递：
-
-```xml
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sensor.touch_grid"/>
-  </extension>
-  ...
-  <sensor>
-    <plugin name="touch" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch">
-      <config key="nchannel" value="3"/>
-      <config key="size" value="7 7"/>
-      <config key="fov" value="45 45"/>
-      <config key="gamma" value="0"/>
-    </plugin>
-  </sensor>
-</mujoco>
-```
-
-请注意以下事项：
-
-- 传感器输出的维度为 `nchannel * size_x * size_y`。
-- `objtype="site" objname="touch"` 指定传感器与 site 关联，以及关联的特定 site 名称。
-- 视场角始终以“度”为单位，不受 `<compiler>` 中的 "angle" 指令影响。
-
-### 示例模型
-
-<a href="https://youtu.be/0LOJ3WMnqeA" target="_blank">
- <img src="http://img.youtube.com/vi/0LOJ3WMnqeA/hqdefault.jpg" alt="观看视频" width="560" height="315"/>
-</a>
-
-请查阅 [touch_grid.xml](../../model/plugin/sensor/touch_grid.xml) 来体验上述模型。
-
-### 球坐标系下的视场角图示
-
-<img src="images/30-30.png" style="width: 300px;"/>
-<img src="images/180-30.png" style="width: 300px;"/>
-<img src="images/180-90.png" style="width: 300px;"/>
-
-### 中央凹形变图示
-
-![中央凹形变](images/fovea.png)
-
-### 结合分辨率、视场角和中央凹形变的综合图示
-
-[![touch grid 图示](https://img.youtube.com/vi/YScjmR8LwQI/0.jpg)](https://www.youtube.com/watch?v=YScjmR8LwQI)
-
-## [Touch Stress](touch_stress.h)
-
-该传感器基于与 `touch_grid` 相似的概念和参数化设计，同时克服了它的一些局限性。具体而言，`touch_grid` 只能提供稀疏信息（取决于生成的接触点数量）。而 `touch_stress` 传感器可以生成高分辨率的触觉图像。为了实现这一点，它需要与传感器接触的物体的符号距离函数（Signed Distance Function, SDF）。对于基本几何图元（primitives），这会在内部自动处理；或者必须使用 SDF 插件在模型中显式声明。
-
-与 `touch_grid` 相比有一个重要区别：在此传感器中，力是在局部 taxel 坐标系下计算的，而不是在传感器坐标系下计算的。这使得法向应力和切向应力的物理意义更加直观，如下图所示。
-
-请注意，在这种情况下，传感器报告的应力绝对值与接触力无关。它们纯粹基于几何和运动学考量，即法向应力基于 SDF，切向分量基于滑动速度。
-
-### 解析 SDF 示例模型
-
-```xml
-<extension>
-  <plugin plugin="mujoco.sdf.gear">
-    <instance name="gear">
-      <config key="alpha" value="0"/>
-    </instance>
-  </plugin>
-  <plugin plugin="mujoco.sensor.touch_stress">
-    <instance name="touch_stress">
-      <config key="size" value="37 37"/>
-      <config key="fov" value="45 45"/>
-      <config key="gamma" value="0"/>
-      <config key="nchannel" value="3"/>
-    </instance>
-  </plugin>
-  ...
-  <asset>
-    <mesh name="gear">
-      <plugin instance="gear"/>
-    </mesh>
-  </asset>
-  ...
-  <worldbody>
-    <geom type="sdf" name="gear" mesh="gear">
-      <plugin instance="gear"/>
-    </geom>
-  ...
-  <sensor>
-    <plugin instance="touch_stress" objtype="site" objname="touch_site"/>
-  </sensor>
-</extension>
-```
-
-下图展示了由解析 SDF 描述的齿轮上方的一个静止球体，以及沿 x 轴和 y 轴拖动同一球体时的应力分布：
-
-<img src="images/normal.png" style="width: 300px;"/>
-<img src="images/tangential1.png" style="width: 300px;"/>
-<img src="images/tangential2.png" style="width: 300px;"/>
diff --git a/plugin/sensor/images/180-30.png b/plugin/sensor/images/180-30.png
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index b9f02ecf..00000000
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diff --git a/plugin/sensor/images/180-90.png b/plugin/sensor/images/180-90.png
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diff --git a/plugin/sensor/images/30-30.png b/plugin/sensor/images/30-30.png
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diff --git a/plugin/sensor/images/fovea.png b/plugin/sensor/images/fovea.png
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index bc11c27b..00000000
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diff --git a/plugin/sensor/images/normal.png b/plugin/sensor/images/normal.png
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diff --git a/plugin/sensor/images/tangential1.png b/plugin/sensor/images/tangential1.png
deleted file mode 100644
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diff --git a/plugin/sensor/images/tangential2.png b/plugin/sensor/images/tangential2.png
deleted file mode 100644
index 68018d8e..00000000
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diff --git a/plugin/sensor/register.cc b/plugin/sensor/register.cc
deleted file mode 100644
index b3a587af..00000000
--- a/plugin/sensor/register.cc
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <mujoco/mjplugin.h>
-#include "touch_grid.h"
-
-namespace mujoco::plugin::sensor {
-
-mjPLUGIN_LIB_INIT(sensor) {
-  TouchGrid::RegisterPlugin();
-}
-
-}  // namespace mujoco::plugin::sensor
diff --git a/plugin/sensor/touch_grid.cc b/plugin/sensor/touch_grid.cc
deleted file mode 100644
index 044bccdd..00000000
--- a/plugin/sensor/touch_grid.cc
+++ /dev/null
@@ -1,560 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "touch_grid.h"
-
-#include <algorithm>
-#include <cctype>
-#include <cstdint>
-#include <cstdlib>
-#include <sstream>
-#include <string>
-#include <vector>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco::plugin::sensor {
-
-namespace {
-
-// Checks that a plugin config attribute exists.
-bool CheckAttr(const std::string& input) {
-  char* end;
-  std::string value = input;
-  value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
-  strtod(value.c_str(), &end);
-  return end == value.data() + value.size();
-}
-
-// Converts a string into a numeric vector
-template <typename T>
-void ReadVector(std::vector<T>& output, const std::string& input) {
-  std::stringstream ss(input);
-  std::string item;
-  char delim = ' ';
-  while (getline(ss, item, delim)) {
-    CheckAttr(item);
-    output.push_back(strtod(item.c_str(), nullptr));
-  }
-}
-
-// Returns the index of the first value in `a` that x is less than or n if no
-// such value exists. See: https://stackoverflow.com/a/39100135.
-int LowerBound(const mjtNum a[], int n, mjtNum x) {
-  int l = 0;
-  int h = n;
-  while (l < h) {
-    int mid = (l + h) / 2;
-    if (x <= a[mid]) {
-      h = mid;
-    } else {
-      l = mid + 1;
-    }
-  }
-  return l;
-}
-
-// Two dimensional histogram function.
-void Histogram2D(const mjtNum x_data[], const mjtNum y_data[],
-                 const mjtNum weights[], int n_data, const mjtNum x_edges[],
-                 int n_x_edges, const mjtNum y_edges[], int n_y_edges,
-                 mjtNum* histogram, int* counts) {
-  for (int i = 0; i < n_data; ++i) {
-    mjtNum x = x_data[i];
-    mjtNum y = y_data[i];
-    int x_idx = LowerBound(x_edges, n_x_edges, x);
-    if (x_idx == 0 || x_idx == n_x_edges) {
-      continue;
-    }
-    int y_idx = LowerBound(y_edges, n_y_edges, y);
-    if (y_idx == 0 || y_idx == n_y_edges) {
-      continue;
-    }
-    int index = (y_idx - 1)*(n_x_edges - 1) + (x_idx - 1);
-    histogram[index] += weights[i];
-    if (counts) {
-      counts[index]++;
-    }
-  }
-}
-
-// Evenly spaced numbers over a specified interval.
-void LinSpace(mjtNum lower, mjtNum upper, int n, mjtNum array[]) {
-  mjtNum increment = n > 1 ? (upper - lower) / (n - 1) : 0;
-  for (int i = 0; i < n; ++i) {
-    *array = lower;
-    ++array;
-    lower += increment;
-  }
-}
-
-// Parametrized linear/quintic interpolated nonlinearity.
-mjtNum Fovea(mjtNum x, mjtNum gamma) {
-  // Quick return.
-  if (!gamma) return x;
-
-  // Foveal deformation.
-  mjtNum g = mjMAX(0, mjMIN(1, gamma));
-  return g*mju_pow(x, 5) + (1 - g)*x;
-}
-
-// Make bin edges.
-void BinEdges(mjtNum* x_edges, mjtNum* y_edges, int size[2], mjtNum fov[2],
-              mjtNum gamma) {
-  // Make unit bin edges.
-  LinSpace(-1, 1, size[0] + 1, x_edges);
-  LinSpace(-1, 1, size[1] + 1, y_edges);
-
-  // Apply foveal deformation.
-  for (int i = 0; i < size[0] + 1; i++) {
-    x_edges[i] = Fovea(x_edges[i], gamma);
-  }
-  for (int i = 0; i < size[1] + 1; i++) {
-    y_edges[i] = Fovea(y_edges[i], gamma);
-  }
-
-  // Scale by field-of-view.
-  mju_scl(x_edges, x_edges, fov[0]*mjPI / 180, size[0] + 1);
-  mju_scl(y_edges, y_edges, fov[1]*mjPI / 180, size[1] + 1);
-}
-
-// Permute 3-vector from 0,1,2 to 2,0,1.
-static void xyz2zxy(mjtNum* x) {
-  mjtNum z = x[2];
-  x[2] = x[1];
-  x[1] = x[0];
-  x[0] = z;
-}
-
-// In the functions below transforming Cartesian <-> spherical:
-//  - The frame points down the z-axis, so a=e=0 corresponds to (0, 0, -r).
-//  - azimuth (a) corresponds to positive rotation around -y (towards +x).
-//  - elevation (e) corresponds to positive rotation around +x (towards +y).
-
-// Transform Cartesian (x,y,z) to spherical (azimuth, elevation, radius).
-void CartesianToSpherical(const mjtNum xyz[3], mjtNum aer[3]) {
-  mjtNum x = xyz[0], y = xyz[1], z = xyz[2];
-  aer[0] = mju_atan2(x, -z);
-  aer[1] = mju_atan2(y, mju_sqrt(x*x + z*z));
-  aer[2] = mju_sqrt(x*x + z*z + y*y);
-}
-
-// Transform spherical (azimuth, elevation, radius) to Cartesian (x,y,z).
-void SphericalToCartesian(const mjtNum aer[3], mjtNum xyz[3]) {
-  mjtNum a = aer[0], e = aer[1], r = aer[2];
-  xyz[0] = r * mju_cos(e) * mju_sin(a);
-  xyz[1] = r * mju_sin(e);
-  xyz[2] = -r * mju_cos(e) * mju_cos(a);
-}
-
-}  // namespace
-
-// Creates a TouchGrid instance if all config attributes are defined and
-// within their allowed bounds.
-TouchGrid* TouchGrid::Create(const mjModel* m, mjData* d,
-                                                 int instance) {
-  if (CheckAttr(std::string(mj_getPluginConfig(m, instance, "gamma"))) &&
-      CheckAttr(std::string(mj_getPluginConfig(m, instance, "nchannel")))) {
-    // nchannel
-    int nchannel = strtod(mj_getPluginConfig(m, instance, "nchannel"), nullptr);
-    if (!nchannel) nchannel = 1;
-    if (nchannel < 1 || nchannel > 6) {
-      mju_error("nchannel must be between 1 and 6");
-      return nullptr;
-    }
-
-    // size
-    std::vector<int> size;
-    std::string size_str = std::string(mj_getPluginConfig(m, instance, "size"));
-    ReadVector(size, size_str.c_str());
-    if (size.size()!= 2) {
-      mju_error("Both horizontal and vertical resolutions must be specified");
-      return nullptr;
-    }
-    if (size[0] <= 0 || size[1] <= 0) {
-      mju_error("Horizontal and vertical resolutions must be positive");
-      return nullptr;
-    }
-
-    // field of view
-    std::vector<mjtNum> fov;
-    std::string fov_str = std::string(mj_getPluginConfig(m, instance, "fov"));
-    ReadVector(fov, fov_str.c_str());
-    if (fov.size()!= 2) {
-      mju_error(
-          "Both horizontal and vertical fields of view must be specified");
-      return nullptr;
-    }
-    if (fov[0] <= 0 || fov[0] > 180) {
-      mju_error("`fov[0]` must be a float between (0, 180] degrees");
-      return nullptr;
-    }
-    if (fov[1] <= 0 || fov[1] > 90) {
-      mju_error("`fov[1]` must be a float between (0, 90] degrees");
-      return nullptr;
-    }
-
-    // gamma
-    mjtNum gamma = strtod(mj_getPluginConfig(m, instance, "gamma"), nullptr);
-    if (gamma < 0 || gamma > 1) {
-      mju_error("`gamma` must be a nonnegative float between [0, 1]");
-      return nullptr;
-    }
-
-    return new TouchGrid(m, d, instance, nchannel, size.data(), fov.data(),
-                         gamma);
-  } else {
-    mju_error("Invalid or missing parameters in touch_grid sensor plugin");
-    return nullptr;
-  }
-}
-
-TouchGrid::TouchGrid(const mjModel* m, mjData* d, int instance, int nchannel,
-                     int size[2], mjtNum fov[2], mjtNum gamma)
-    : nchannel_(nchannel),
-      size_{size[0], size[1]},
-      fov_{fov[0], fov[1]},
-      gamma_(gamma) {
-  // Make sure sensor is attached to a site.
-  for (int i = 0; i < m->nsensor; ++i) {
-    if (m->sensor_type[i] == mjSENS_PLUGIN && m->sensor_plugin[i] == instance) {
-      if (m->sensor_objtype[i] != mjOBJ_SITE) {
-        mju_error("Touch Grid sensor must be attached to a site");
-      }
-    }
-  }
-
-  // Allocate distance array.
-  distance_.resize(size[0]*size[1], 0);
-}
-
-void TouchGrid::Reset(const mjModel* m, int instance) {}
-
-void TouchGrid::Compute(const mjModel* m, mjData* d, int instance) {
-  mj_markStack(d);
-
-  // Get sensor id.
-  int id;
-  for (id = 0; id < m->nsensor; ++id) {
-    if (m->sensor_type[id] == mjSENS_PLUGIN &&
-        m->sensor_plugin[id] == instance) {
-      break;
-    }
-  }
-
-  // Clear sensordata and distance matrix.
-  mjtNum* sensordata = d->sensordata + m->sensor_adr[id];
-  mju_zero(sensordata, m->sensor_dim[id]);
-  int frame = size_[0]*size_[1];
-  mju_zero(distance_.data(), frame);
-
-  // Get site id.
-  int site_id = m->sensor_objid[id];
-
-  // Count contacts.
-  int ncon = 0;
-  int parent_body = m->body_weldid[m->site_bodyid[site_id]];
-  int parent_weld = m->body_weldid[parent_body];
-  for (int i = 0; i < d->ncon; i++) {
-    int body1 = m->body_weldid[m->geom_bodyid[d->contact[i].geom1]];
-    int body2 = m->body_weldid[m->geom_bodyid[d->contact[i].geom2]];
-    if (body1 == parent_weld || body2 == parent_weld) {
-      ncon++;
-    }
-  }
-
-  // No contacts, return.
-  if (!ncon) {
-    mj_freeStack(d);
-    return;
-  }
-
-  // Get site frame.
-  mjtNum* site_pos = d->site_xpos + 3*site_id;
-  mjtNum* site_mat = d->site_xmat + 9*site_id;
-
-  // allocate contact forces and positions
-  mjtNum* forces = mj_stackAllocNum(d, ncon*6);
-  mjtNum* positions = mj_stackAllocNum(d, ncon*3);
-
-  // Get forces and positions in spherical coordinates.
-  int contact = 0;
-  for (int i = 0; i < d->ncon; i++) {
-    int body1 = m->geom_bodyid[d->contact[i].geom1];
-    int weld1 = m->body_weldid[body1];
-    int body2 = m->geom_bodyid[d->contact[i].geom2];
-    int weld2 = m->body_weldid[body2];
-
-    if (weld1 == parent_weld || weld2 == parent_weld) {
-      // Get contact force/torque, rotate into world frame, then site frame.
-      // Note that contact.frame is column major.
-      mjtNum tmp_force[6], tmp1[3];
-      mj_contactForce(m, d, i, tmp_force);
-      mju_mulMatTVec3(tmp1, d->contact[i].frame, tmp_force);
-      mju_mulMatTVec3(forces + 6*contact, site_mat, tmp1);
-      mju_mulMatTVec3(tmp1, d->contact[i].frame, tmp_force + 3);
-      mju_mulMatTVec3(forces + 6*contact + 3, site_mat, tmp1);
-
-      // Forces point from the smaller to larger body, so flip sign if
-      // the parent body has smaller id.
-      if (parent_body < mjMAX(body1, body2)) {
-        mju_scl(forces + 6*contact, forces + 6*contact, -1, 6);
-      }
-
-      // Permute forces from x,y,z to z,x,y (normal, tangent, tangent)
-      xyz2zxy(forces + 6*contact);
-      xyz2zxy(forces + 6*contact + 3);
-
-      // Get position, rotate into contact frame.
-      mjtNum tmp2[3];
-      mju_sub3(tmp1, d->contact[i].pos, site_pos);
-      mju_mulMatTVec3(tmp2, site_mat, tmp1);
-
-      // Transform to spherical coordinates, copy into positions array.
-      CartesianToSpherical(tmp2, tmp1);
-      for (int k = 0; k < 3; k++) {
-        positions[k*ncon + contact] = tmp1[k];
-      }
-      contact++;
-    }
-  }
-
-  // Transpose forces.
-  mjtNum* forcesT = mj_stackAllocNum(d, ncon*6);
-  mju_transpose(forcesT, forces, ncon, 6);
-
-  // Allocate bin edges.
-  mjtNum* x_edges = mj_stackAllocNum(d, size_[0] + 1);
-  mjtNum* y_edges = mj_stackAllocNum(d, size_[1] + 1);
-
-  // Make bin edges.
-  BinEdges(x_edges, y_edges, size_, fov_, gamma_);
-
-  // Compute sensor output.
-  for (int i = 0; i < nchannel_; i++) {
-    if (!mju_isZero(forcesT + i*ncon, ncon)) {
-      Histogram2D(positions, positions + ncon, forcesT + i*ncon, ncon,
-                  x_edges, size_[0] + 1, y_edges, size_[1] + 1,
-                  sensordata + i*frame, nullptr);
-    }
-  }
-
-  // Allocate count matrix.
-  int* counts = mj_stackAllocInt(d, frame);
-  for (int i=0; i < frame; i++) counts[i] = 0;
-
-  // Compute distance matrix (unnormalized).
-  Histogram2D(positions, positions + ncon, positions + 2*ncon, ncon, x_edges,
-              size_[0] + 1, y_edges, size_[1] + 1, distance_.data(), counts);
-
-  // Normalize distances
-  for (int i=0; i < frame; i++) {
-    if (counts[i]) {
-      distance_.data()[i] /= counts[i];
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-// Thickness of taxel-visualization boxes relative to contact distance.
-static const mjtNum kRelativeThickness = 0.02;
-
-void TouchGrid::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
-                             mjvScene* scn, int instance) {
-  mj_markStack(d);
-
-  // Get sensor id.
-  int id;
-  for (id=0; id < m->nsensor; ++id) {
-    if (m->sensor_type[id] == mjSENS_PLUGIN &&
-        m->sensor_plugin[id] == instance) {
-      break;
-    }
-  }
-
-  // Get sensor data.
-  mjtNum* sensordata = d->sensordata + m->sensor_adr[id];
-
-  // Get maximum absolute normal force.
-  mjtNum maxval = 0;
-  int frame = size_[0]*size_[1];
-  for (int j=0; j < frame; j++) {
-    maxval = mju_max(maxval, mju_abs(sensordata[j]));
-  }
-
-  // If no normal force readings, quick return.
-  if (!maxval) {
-    mj_freeStack(d);
-    return;
-  }
-
-  // Get site id and frame.
-  int site_id = m->sensor_objid[id];
-  mjtNum* site_pos = d->site_xpos + 3*site_id;
-  mjtNum* site_mat = d->site_xmat + 9*site_id;
-  mjtNum site_quat[4];
-  mju_mat2Quat(site_quat, site_mat);
-
-  // Allocate bin edges.
-  mjtNum* x_edges = mj_stackAllocNum(d, size_[0] + 1);
-  mjtNum* y_edges = mj_stackAllocNum(d, size_[1] + 1);
-
-  // Make bin edges.
-  BinEdges(x_edges, y_edges, size_, fov_, gamma_);
-
-  // Draw geoms.
-  for (int i=0; i < size_[0]; i++) {
-    for (int j=0; j < size_[1]; j++) {
-      mjtNum dist = distance_.data()[j*size_[0] + i];
-      if (!dist) {
-        continue;
-      }
-      if (scn->ngeom >= scn->maxgeom) {
-        if (!scn->status) {
-          mju_warning("Pre-allocated visual geom buffer is full. "
-                      "Increase maxgeom above %d.", scn->maxgeom);
-          scn->status = 1;
-        }
-        mj_freeStack(d);
-        return;
-      } else {
-        // size
-        mjtNum size[3];
-        size[0] = dist*0.5*(x_edges[i+1]-x_edges[i]);
-        size[1] = dist*0.5*(y_edges[j+1]-y_edges[j]);
-        size[2] = dist*kRelativeThickness;
-
-        // position
-        mjtNum pos[3];
-        mjtNum aer[3];
-        aer[0] = 0.5*(x_edges[i+1]+x_edges[i]);
-        aer[1] = 0.5*(y_edges[j+1]+y_edges[j]);
-        aer[2] = dist*(1-kRelativeThickness);
-        SphericalToCartesian(aer, pos);
-        mju_mulMatVec3(pos, site_mat, pos);
-        mju_addTo3(pos, site_pos);
-
-        // orientation
-        mjtNum a_quat[4];
-        mjtNum site_y[3] = {-site_mat[1], -site_mat[4], -site_mat[7]};
-        mju_axisAngle2Quat(a_quat, site_y, aer[0]);
-        mjtNum e_quat[4];
-        mjtNum site_x[3] = {site_mat[0], site_mat[3], site_mat[6]};
-        mju_axisAngle2Quat(e_quat, site_x, aer[1]);
-        mjtNum quat[4];
-        mju_mulQuat(quat, e_quat, site_quat);
-        mju_mulQuat(quat, a_quat, quat);
-        mjtNum mat[9];
-        mju_quat2Mat(mat, quat);
-
-        // color
-        float rgba[4] = {1, 1, 1, 1.0};
-        for (int k=0; k < mjMIN(nchannel_, 3); k++) {
-          rgba[k] = mju_abs(sensordata[k*frame + j*size_[0] + i]) / maxval;
-        }
-
-        // draw box geom
-        mjvGeom* thisgeom = scn->geoms + scn->ngeom;
-        mjv_initGeom(thisgeom, mjGEOM_BOX, size, pos, mat, rgba);
-        thisgeom->objtype = mjOBJ_UNKNOWN;
-        thisgeom->objid = id;
-        thisgeom->category = mjCAT_DECOR;
-        thisgeom->segid = scn->ngeom;
-        scn->ngeom++;
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-void TouchGrid::RegisterPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.sensor.touch_grid";
-  plugin.capabilityflags |= mjPLUGIN_SENSOR;
-
-  // Parameterized by 4 attributes.
-  const char* attributes[] = {"nchannel", "size", "fov", "gamma"};
-  plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
-  plugin.attributes = attributes;
-
-  // Stateless.
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  // Sensor dimension = nchannel * size[0] * size[1]
-  plugin.nsensordata = +[](const mjModel* m, int instance, int sensor_id) {
-    int nchannel = strtod(mj_getPluginConfig(m, instance, "nchannel"), nullptr);
-    if (!nchannel) nchannel = 1;
-    std::vector<int> size;
-    std::string size_str = std::string(mj_getPluginConfig(m, instance, "size"));
-    ReadVector(size, size_str.c_str());
-    return nchannel * size[0] * size[1];
-  };
-
-  // Can only run after forces have been computed.
-  plugin.needstage = mjSTAGE_ACC;
-
-  // Initialization callback.
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto* TouchGrid = TouchGrid::Create(m, d, instance);
-    if (!TouchGrid) {
-      return -1;
-    }
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(TouchGrid);
-    return 0;
-  };
-
-  // Destruction callback.
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<TouchGrid*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-
-  // Reset callback.
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto* TouchGrid = reinterpret_cast<class TouchGrid*>(plugin_data);
-    TouchGrid->Reset(m, instance);
-  };
-
-  // Compute callback.
-  plugin.compute =
-      +[](const mjModel* m, mjData* d, int instance, int capability_bit) {
-        auto* TouchGrid =
-            reinterpret_cast<class TouchGrid*>(d->plugin_data[instance]);
-        TouchGrid->Compute(m, d, instance);
-      };
-
-  // Visualization callback.
-  plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt,
-                         mjvScene* scn, int instance) {
-    auto* TouchGrid =
-        reinterpret_cast<class TouchGrid*>(d->plugin_data[instance]);
-    TouchGrid->Visualize(m, d, opt, scn, instance);
-  };
-
-  // Register the plugin.
-  mjp_registerPlugin(&plugin);
-}
-
-}  // namespace mujoco::plugin::sensor
diff --git a/plugin/sensor/touch_grid.h b/plugin/sensor/touch_grid.h
deleted file mode 100644
index c0029065..00000000
--- a/plugin/sensor/touch_grid.h
+++ /dev/null
@@ -1,73 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_SENSOR_TOUCH_GRID_H_
-#define MUJOCO_PLUGIN_SENSOR_TOUCH_GRID_H_
-
-#include <optional>
-#include <vector>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-
-namespace mujoco::plugin::sensor {
-
-// A touch grid sensor is associated with a site and senses contact forces
-// and torques between the site's parent body and all other bodies. The site's
-// frame determines the orientation of the sensor with the same convention used
-// for cameras and lights: the sensor points in the frame's negative-Z
-// direction, so the X and Y axes correspond to horizontal and vertical
-// directions respectively.
-//
-// The output of the sensor is a stack of 6 "touch images" corresponding to
-// forces and torques in the frame of the sensor. Forces and torques are in the
-// [z, x, y] order, corresponding to the ordering in contact frames:
-// [normal, tangent, tangent] and [torsional, rolling, rolling].
-//
-// The sensor has 6 parameters:
-//  1. (int) Number of channels [1-6]. Defaults to 1.
-//  2. (int) Horizontal resolution.
-//  3. (int) Vertical resolution.
-//  4. (float) Horizontal field-of-view (fov_x), in degrees.
-//  5. (float) Vertical field-of-view (fov_y), in degrees.
-//  6. (float) Foveal deformation. Defaults to 0.
-class TouchGrid {
- public:
-  static TouchGrid* Create(const mjModel* m, mjData* d, int instance);
-  TouchGrid(TouchGrid&&) = default;
-  ~TouchGrid() = default;
-
-  void Reset(const mjModel* m, int instance);
-  void Compute(const mjModel* m, mjData* d, int instance);
-  void Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
-                 mjvScene* scn, int instance);
-
-  static void RegisterPlugin();
-
-  int nchannel_;           // number of channels (1-6)
-  int size_[2];            // horizontal and vertical resolution
-  mjtNum fov_[2];          // horizontal and vertical field of view, in degrees
-  mjtNum gamma_;           // foveal deformation
-
- private:
-  TouchGrid(const mjModel* m, mjData* d, int instance, int nchannel, int* size,
-            mjtNum* fov_x, mjtNum gamma);
-  std::vector<mjtNum> distance_;
-};
-
-}  // namespace mujoco::plugin::sensor
-
-#endif  // MUJOCO_PLUGIN_SENSOR_TOUCH_GRID_H_
diff --git a/plugin/stl_decoder/CMakeLists.txt b/plugin/stl_decoder/CMakeLists.txt
deleted file mode 100644
index 50eef18d..00000000
--- a/plugin/stl_decoder/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#   https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-target_sources(mujoco PRIVATE
-  stl_decoder.cc
-)
diff --git a/plugin/stl_decoder/stl_decoder.cc b/plugin/stl_decoder/stl_decoder.cc
deleted file mode 100644
index 7e1d1a5a..00000000
--- a/plugin/stl_decoder/stl_decoder.cc
+++ /dev/null
@@ -1,143 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cmath>
-#include <cstring>
-#include <map>
-#include <string_view>
-#include <vector>
-
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-
-namespace {
-
-template <typename T>
-void ReadFromBuffer(T* dst, const char* src) {
-  std::memcpy(dst, src, sizeof(T));
-}
-
-struct Vec3Key {
-  int x, y, z;
-  bool operator<(const Vec3Key& o) const {
-    if (x != o.x) return x < o.x;
-    if (y != o.y) return y < o.y;
-    return z < o.z;
-  }
-};
-
-Vec3Key FloatToKey(const float v[3]) {
-  int x, y, z;
-  std::memcpy(&x, &v[0], sizeof(int));
-  std::memcpy(&y, &v[1], sizeof(int));
-  std::memcpy(&z, &v[2], sizeof(int));
-  return {x, y, z};
-}
-
-mjSpec* Decode(mjResource* resource, const mjVFS* vfs) {
-  const void* bytes = nullptr;
-  int buffer_sz = mju_readResource(resource, &bytes);
-  if (buffer_sz < 0) {
-    mju_warning("stl_decoder: could not read STL file '%s'", resource->name);
-    return nullptr;
-  }
-  if (!buffer_sz) {
-    mju_warning("stl_decoder: STL file '%s' is empty", resource->name);
-    return nullptr;
-  }
-
-  const char* buffer = static_cast<const char*>(bytes);
-
-  if (buffer_sz < 84) {
-    mju_warning("stl_decoder: invalid header in STL file '%s'", resource->name);
-    return nullptr;
-  }
-
-  int nfaces = 0;
-  ReadFromBuffer(&nfaces, buffer + 80);
-  if (nfaces < 1 || nfaces > 200000) {
-    mju_warning(
-        "stl_decoder: number of faces should be between 1 and 200000 in STL "
-        "file '%s'; perhaps this is an ASCII file?",
-        resource->name);
-    return nullptr;
-  }
-
-  if (nfaces * 50 != buffer_sz - 84) {
-    mju_warning(
-        "stl_decoder: STL file '%s' has wrong size; perhaps this is an ASCII "
-        "file?",
-        resource->name);
-    return nullptr;
-  }
-
-  const char* stl = buffer + 84;
-
-  std::vector<float> uservert;
-  std::vector<int> userface(3 * nfaces, 0);
-  std::map<Vec3Key, int> vertmap;
-
-  for (int i = 0; i < nfaces; i++) {
-    for (int j = 0; j < 3; j++) {
-      float v[3];
-      ReadFromBuffer(&v, stl + 50 * i + 12 * (j + 1));
-
-      if (std::fabs(v[0]) > std::pow(2, 30) ||
-          std::fabs(v[1]) > std::pow(2, 30) ||
-          std::fabs(v[2]) > std::pow(2, 30)) {
-        mju_warning(
-            "stl_decoder: vertex in STL file '%s' "
-            "exceeds maximum bounds",
-            resource->name);
-        return nullptr;
-      }
-
-      Vec3Key key = FloatToKey(v);
-      auto [it, inserted] = vertmap.emplace(key, uservert.size() / 3);
-      if (inserted) {
-        uservert.push_back(v[0]);
-        uservert.push_back(v[1]);
-        uservert.push_back(v[2]);
-      }
-      userface[3 * i + j] = it->second;
-    }
-  }
-
-  mjSpec* spec = mj_makeSpec();
-  mjsMesh* mesh = mjs_addMesh(spec, nullptr);
-
-  mjs_setString(mesh->file, resource->name);
-  mjs_setFloat(mesh->uservert, uservert.data(), uservert.size());
-  mjs_setInt(mesh->userface, userface.data(), userface.size());
-
-  return spec;
-}
-
-int CanDecode(const mjResource* resource) {
-  std::string_view name(resource->name);
-  return name.ends_with(".stl") || name.ends_with(".STL");
-}
-
-}  // namespace
-
-mjPLUGIN_LIB_INIT(stl_decoder) {
-  mjpDecoder decoder;
-  mjp_defaultDecoder(&decoder);
-  decoder.content_type = "model/stl";
-  decoder.extension = ".stl";
-  decoder.decode = Decode;
-  decoder.can_decode = CanDecode;
-  mjp_registerDecoder(&decoder);
-}
diff --git a/plugin/usd_decoder/CMakeLists.txt b/plugin/usd_decoder/CMakeLists.txt
deleted file mode 100644
index 3181e350..00000000
--- a/plugin/usd_decoder/CMakeLists.txt
+++ /dev/null
@@ -1,51 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#   https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_LIBDIR}")
-set(USD_DECODER_SRCS
-    usd_decoder.cc
-    kinematic_tree.cc
-    kinematic_tree.h
-    material_parsing.cc
-    material_parsing.h
-)
-
-add_library(usd_decoder_plugin SHARED ${USD_DECODER_SRCS})
-target_include_directories(usd_decoder_plugin PRIVATE
-  ${CMAKE_CURRENT_SOURCE_DIR}/../..
-)
-target_link_libraries(usd_decoder_plugin PRIVATE
-  mujoco
-  mjcPhysics
-)
-target_compile_options(usd_decoder_plugin PRIVATE
-  ${AVX_COMPILE_OPTIONS}
-  ${MUJOCO_MACOS_COMPILE_OPTIONS}
-  ${EXTRA_COMPILE_OPTIONS}
-  ${MUJOCO_CXX_FLAGS}
-  -Wno-deprecated # pxr Tf lib uses deprecated header
-)
-target_link_options(usd_decoder_plugin PRIVATE
-  ${MUJOCO_MACOS_LINK_OPTIONS}
-  ${EXTRA_LINK_OPTIONS}
-)
-
-# Install to mujoco_plugin directory in bin location so that it is picked up by simulate
-# on startup.
-install(
-  TARGETS usd_decoder_plugin
-  LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
-)
-
-target_link_libraries(usd_decoder_plugin PRIVATE usd usdGeom usdPhysics usdShade gf tf ar vt kind)
diff --git a/plugin/usd_decoder/kinematic_tree.cc b/plugin/usd_decoder/kinematic_tree.cc
deleted file mode 100644
index e82e2774..00000000
--- a/plugin/usd_decoder/kinematic_tree.cc
+++ /dev/null
@@ -1,317 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "kinematic_tree.h"
-#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
-
-#include <map>
-#include <memory>
-#include <utility>
-#include <vector>
-
-#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
-#include <mujoco/experimental/usd/mjcPhysics/equalityJointAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/keyframe.h>
-#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/tendon.h>
-#include <mujoco/mujoco.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/usd/common.h>
-#include <pxr/usd/usd/primFlags.h>
-#include <pxr/usd/usd/primRange.h>
-#include <pxr/usd/usdGeom/gprim.h>
-#include <pxr/usd/usdGeom/xformCache.h>
-#include <pxr/usd/usdPhysics/articulationRootAPI.h>
-#include <pxr/usd/usdPhysics/collisionAPI.h>
-#include <pxr/usd/usdPhysics/joint.h>
-#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
-#include <pxr/usd/usdPhysics/scene.h>
-
-using mujoco::NewtonTokens;
-
-bool GetJointBodies(const pxr::UsdPhysicsJoint& joint, pxr::SdfPath* from,
-                    pxr::SdfPath* to) {
-  // Grab the default prim path
-  pxr::SdfPath default_prim_path;
-  auto stage = joint.GetPrim().GetStage();
-  if (stage->GetDefaultPrim().IsValid()) {
-    default_prim_path = stage->GetDefaultPrim().GetPath();
-  }
-
-  pxr::SdfPathVector body1_paths;
-  joint.GetBody1Rel().GetTargets(&body1_paths);
-  if (body1_paths.empty()) {
-    mju_warning("Joint %s does not have body1 rel. Skipping.",
-                joint.GetPath().GetAsString().c_str());
-    return false;
-  } else if (body1_paths.size() > 1) {
-    mju_warning("Joint %s has multiple body1 rels. Skipping.",
-                joint.GetPath().GetAsString().c_str());
-    return false;
-  }
-  // body1 pointing to the default prim means it's attached to the worldbody.
-  if (body1_paths[0] == default_prim_path) {
-    *to = pxr::SdfPath();
-  } else {
-    *to = body1_paths[0];
-  }
-
-  pxr::SdfPathVector body0_paths;
-  joint.GetBody0Rel().GetTargets(&body0_paths);
-  if (body0_paths.size() > 1) {
-    mju_warning("Joint %s has multiple body0 rels. Skipping.",
-                joint.GetPath().GetAsString().c_str());
-    return false;
-  }
-  // Empty body0, or body0 pointing to the default prim means we'll attach
-  // to the worldbody.
-  if (body0_paths.empty() || body0_paths[0] == default_prim_path) {
-    *from = pxr::SdfPath();
-  } else {
-    *from = body0_paths[0];
-  }
-  return true;
-}
-
-struct ExtractedPrims {
-  std::vector<std::unique_ptr<Node>> nodes;
-  std::vector<pxr::UsdPhysicsJoint> joints;
-};
-
-ExtractedPrims ExtractPrims(pxr::UsdStageRefPtr stage) {
-  pxr::UsdPhysicsScene physics_scene;
-  std::vector<std::unique_ptr<Node>> nodes;
-  std::vector<pxr::UsdPhysicsJoint> joints;
-  nodes.push_back(std::make_unique<Node>());
-  Node* root = nodes.back().get();
-
-  // =========================================================================
-  // PASS 1: Collect Bodies, Joints, and Geoms/Sites/etc.
-  // =========================================================================
-  // A single DFS pass to find all bodies, joints, and determine
-  // which body owns each geom/site/etc. prim.
-  std::vector<Node*> owner_stack;
-  owner_stack.push_back(root);  // Start with the world as owner.
-
-  const auto range = pxr::UsdPrimRange::PreAndPostVisit(
-      stage->GetPseudoRoot(), pxr::UsdTraverseInstanceProxies());
-
-  pxr::UsdGeomXformCache xform_cache;
-  for (auto it = range.begin(); it != range.end(); ++it) {
-    pxr::UsdPrim prim = *it;
-
-    bool is_body = prim.HasAPI<pxr::UsdPhysicsRigidBodyAPI>() ||
-                   prim.HasAPI<pxr::UsdPhysicsArticulationRootAPI>();
-    bool resets = xform_cache.GetResetXformStack(prim);
-    // Only update (push/pop) the owner stack for bodies (becomes new owner) and
-    // resetXformStack (reset owner to world).
-    bool is_pushed_to_stack = is_body || resets;
-
-    if (it.IsPostVisit()) {
-      if (is_pushed_to_stack) {
-        owner_stack.pop_back();
-      }
-      continue;
-    }
-
-    pxr::SdfPath prim_path = prim.GetPath();
-    Node* current_node = owner_stack.back();
-
-    if (is_body) {
-      auto new_node = std::make_unique<Node>();
-      new_node->body_path = prim_path;
-      nodes.push_back(std::move(new_node));
-      current_node = nodes.back().get();
-    } else if (resets) {
-      current_node = root;  // Reset owner to world.
-    }
-
-    if (is_pushed_to_stack) {
-      owner_stack.push_back(current_node);
-    }
-
-    if (prim.IsA<pxr::UsdPhysicsScene>() && root->physics_scene.IsEmpty()) {
-      root->physics_scene = prim_path;
-    }
-
-    if (prim.IsA<pxr::UsdGeomGprim>()) {
-      bool has_collision_api = prim.HasAPI<pxr::UsdPhysicsCollisionAPI>();
-      if (has_collision_api) {
-        bool collision_enabled = false;
-        pxr::UsdPhysicsCollisionAPI(prim).GetCollisionEnabledAttr().Get(
-            &collision_enabled);
-        if (collision_enabled) {
-          current_node->colliders.push_back(prim_path);
-        } else {
-          current_node->visual_gprims.push_back(prim_path);
-        }
-      } else {
-        current_node->visual_gprims.push_back(prim_path);
-      }
-    }
-
-    if (prim.HasAPI(NewtonTokens->NewtonSiteAPI) ||
-        prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
-      current_node->sites.push_back(prim_path);
-      // Sites should not have children.
-      it.PruneChildren();
-    }
-
-    if (prim.IsA<pxr::UsdPhysicsJoint>()) {
-      // We may not know which body this belongs to yet so we'll add it to a
-      // list and the caller can assign the joints when building the tree.
-      joints.push_back(pxr::UsdPhysicsJoint(prim));
-      // Joints should not have children.
-      it.PruneChildren();
-    }
-
-    if (prim.IsA<pxr::MjcPhysicsActuator>()) {
-      root->actuators.push_back(prim_path);
-      // Joints should not have children.
-      it.PruneChildren();
-    }
-
-    if (prim.IsA<pxr::MjcPhysicsTendon>()) {
-      root->tendons.push_back(prim_path);
-      // Tendons should not have children of interest.
-      it.PruneChildren();
-    }
-
-    if (prim.IsA<pxr::MjcPhysicsKeyframe>()) {
-      root->keyframes.push_back(prim_path);
-      // Keyframes should not have children.
-      it.PruneChildren();
-    }
-  }
-  return {std::move(nodes), std::move(joints)};
-}
-
-std::unique_ptr<Node> BuildKinematicTree(const pxr::UsdStageRefPtr stage) {
-  ExtractedPrims extraction = ExtractPrims(stage);
-
-  std::map<pxr::SdfPath, int> body_index;
-  body_index[pxr::SdfPath()] = 0;
-  for (int i = 0; i < extraction.nodes.size(); ++i) {
-    body_index[extraction.nodes[i]->body_path] = i;
-  }
-
-  // List of direct children for each body.
-  std::vector<std::vector<bool>> children(
-      extraction.nodes.size(), std::vector<bool>(extraction.nodes.size()));
-  // List of joint prim paths associated with a child for each body.
-  std::vector<std::vector<pxr::SdfPath>> parent_joints(extraction.nodes.size());
-  for (const pxr::UsdPhysicsJoint& joint : extraction.joints) {
-    pxr::SdfPath from, to;
-    if (!GetJointBodies(joint, &from, &to)) {
-      continue;
-    }
-
-    // Check if this is a constraint (not participating in kinematic tree).
-    bool excluded_from_articulation = false;
-    joint.GetExcludeFromArticulationAttr().Get(&excluded_from_articulation);
-
-    // Check if bodies exist in body_index (don't use [] which inserts defaults)
-    auto from_it = body_index.find(from);
-    auto to_it = body_index.find(to);
-
-    if (from_it == body_index.end() || to_it == body_index.end()) {
-      // For constraint joints (e.g., site-based welds), body0/body1 may point
-      // to sites which aren't in body_index. Add these to the world node.
-      if (excluded_from_articulation) {
-        extraction.nodes[0]->constraints.push_back(joint.GetPath());
-      }
-      continue;
-    }
-    int from_idx = from_it->second;
-    int to_idx = to_it->second;
-    if (from_idx == to_idx) {
-      mju_error("Cycle detected: self referencing joint at node %s",
-                to.GetString().c_str());
-      return nullptr;
-    }
-
-    // If we encounter a joint that does not participate in articulation, we
-    // should treat it as a constraint instead.
-    // For example, a weld constraint is represented by a fixed joint.
-    if (excluded_from_articulation) {
-      extraction.nodes[to_idx]->constraints.push_back(joint.GetPath());
-      continue;
-    }
-
-    children[from_idx][to_idx] = true;
-    parent_joints[to_idx].push_back(joint.GetPath());
-    // Now that we know all the bodies, we can assign joints to respective
-    // nodes.
-    extraction.nodes[to_idx]->joints.push_back(joint.GetPath());
-
-    // If the joint has NewtonMimicAPI or MjcPhysicsEqualityJointAPI, also add it to constraints
-    // so that ParseConstraint is called to create the equality constraint.
-    if (joint.GetPrim().HasAPI(NewtonTokens->NewtonMimicAPI) ||
-        joint.GetPrim().HasAPI<pxr::MjcPhysicsEqualityJointAPI>()) {
-      extraction.nodes[to_idx]->constraints.push_back(joint.GetPath());
-    }
-  }
-
-  // The world body is represented by an empty SdfPath.
-  auto world_root = std::move(extraction.nodes[0]);
-
-  std::vector<std::pair<int, Node*>> stack;
-  stack.emplace_back(0, world_root.get());
-
-  // A node without any joints from a parent has a free joint.
-  // Add all free joints as children of the world body.
-  for (int i = 1; i < extraction.nodes.size(); ++i) {
-    if (parent_joints[i].empty()) {
-      children[0][i] = true;
-    }
-  }
-
-  std::vector<bool> visited(extraction.nodes.size());
-  while (!stack.empty()) {
-    auto [current_body, parent] = stack.back();
-    stack.pop_back();
-    visited[current_body] = true;
-
-    Node* current_node = nullptr;
-    if (current_body > 0) {
-      parent->children.push_back(std::move(extraction.nodes[current_body]));
-      current_node = parent->children.back().get();
-    } else {
-      current_node = world_root.get();
-    }
-
-    // Process children in reverse to maintain DFS.
-    for (int i = extraction.nodes.size() - 1; i > 0; --i) {
-      if (!children[current_body][i]) {
-        continue;
-      }
-      if (visited[i]) {
-        mju_error("Cycle detected in the kinematic tree at node %s",
-                  current_node->body_path.GetString().c_str());
-        return nullptr;
-      }
-      stack.emplace_back(
-          i, current_body > 0 ? parent->children.back().get() : parent);
-    }
-  }
-
-  for (int i = 1; i < visited.size(); ++i) {
-    if (!visited[i]) {
-      mju_error("Cycle detected: Node %s is not reachable from the world.",
-                extraction.nodes[i]->body_path.GetString().c_str());
-      return nullptr;
-    }
-  }
-  return world_root;
-}
diff --git a/plugin/usd_decoder/kinematic_tree.h b/plugin/usd_decoder/kinematic_tree.h
deleted file mode 100644
index 47fcc87d..00000000
--- a/plugin/usd_decoder/kinematic_tree.h
+++ /dev/null
@@ -1,52 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_USD_DECODER_KINEMATIC_TREE_H_
-#define MUJOCO_PLUGIN_USD_DECODER_KINEMATIC_TREE_H_
-
-#include <memory>
-#include <vector>
-
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/usdPhysics/joint.h>
-
-// A struct to represent a node in the kinematic tree.
-// Using a struct with a vector of children preserves the order of bodies,
-// which is important for things like keyframes and policy compatibility.
-struct Node {
-  pxr::SdfPath body_path;
-  pxr::SdfPath physics_scene;
-  std::vector<pxr::SdfPath> actuators;
-  std::vector<pxr::SdfPath> constraints;
-  std::vector<pxr::SdfPath> joints;
-  std::vector<pxr::SdfPath> visual_gprims;
-  std::vector<pxr::SdfPath> colliders;
-  std::vector<pxr::SdfPath> sites;
-  std::vector<pxr::SdfPath> tendons;
-  std::vector<pxr::SdfPath> keyframes;
-  std::vector<std::unique_ptr<Node>> children;
-};
-
-// A kinematic edge represents a joint.
-using JointVec = std::vector<pxr::UsdPhysicsJoint>;
-
-// Builds a single kinematic tree from a list of directed edges.
-// The DFS order of bodies in the tree is determined by the order of bodies in
-// `all_body_paths`.
-// All bodies, including static and floating-base bodies, are organized under a
-// single world root. An empty 'from' path in an edge represents the world body.
-// Returns the root of the kinematic tree, or `nullptr` for invalid structures.
-std::unique_ptr<Node> BuildKinematicTree(const pxr::UsdStageRefPtr stage);
-
-#endif  // MUJOCO_PLUGIN_USD_DECODER_KINEMATIC_TREE_H_
diff --git a/plugin/usd_decoder/material_parsing.cc b/plugin/usd_decoder/material_parsing.cc
deleted file mode 100644
index 9c8a5089..00000000
--- a/plugin/usd_decoder/material_parsing.cc
+++ /dev/null
@@ -1,285 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "material_parsing.h"
-
-#include <filesystem>
-#include <optional>
-#include <string>
-
-#include <mujoco/mujoco.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/gf/vec4f.h>
-#include <pxr/base/tf/staticData.h>
-#include <pxr/base/tf/staticTokens.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usdShade/input.h>
-#include <pxr/usd/usdShade/material.h>
-#include <pxr/usd/usdShade/shader.h>
-#include <pxr/usd/usdShade/udimUtils.h>
-#include <pxr/usd/usdShade/utils.h>
-
-// Using to satisfy TF_DEFINE_PRIVATE_TOKENS macro below and avoid operating in
-// PXR_NS.
-using pxr::TfToken;
-template <typename T>
-using TfStaticData = pxr::TfStaticData<T>;
-
-// clang-format off
-TF_DEFINE_PRIVATE_TOKENS(kTokens,
-                         ((auto_, "auto"))
-                         ((diffuseColor, "diffuseColor"))
-                         ((file, "file"))
-                         ((metallic, "metallic"))
-                         ((r, "r"))
-                         ((raw, "raw"))
-                         ((rgb, "rgb"))
-                         ((roughness, "roughness"))
-                         ((sourceColorSpace, "sourceColorSpace"))
-                         ((srgb, "sRGB"))
-                         ((UsdPreviewSurface, "UsdPreviewSurface"))
-                         ((UsdUVTexture, "UsdUVTexture"))
-                         );
-// clang-format on
-
-pxr::GfVec3f AsVec3f(pxr::GfVec3f val) { return val; }
-
-pxr::GfVec3f AsVec3f(float val) { return pxr::GfVec3f(val, val, val); }
-
-pxr::GfVec4f AsVec4f(pxr::GfVec4f val) { return val; }
-
-pxr::GfVec4f AsVec4f(float val) { return pxr::GfVec4f(val, val, val, 1.0f); }
-
-pxr::GfVec4f AsVec4f(pxr::GfVec3f vec3) {
-  return pxr::GfVec4f(vec3[0], vec3[1], vec3[2], 1.0f);
-}
-
-pxr::TfToken GetShaderId(const pxr::UsdShadeShader& shader) {
-  pxr::TfToken shader_id;
-  shader.GetShaderId(&shader_id);
-  return shader_id;
-}
-
-// Data read from a shader input.
-template <typename T>
-struct ResolvedShaderInput {
-  // The value of the input if it is a constant.
-  std::optional<T> value;
-
-  // The value of the input if it is a texture.
-  std::optional<mjsTexture*> sampler;
-};
-
-// Attempts to read an input from a USD ShadeInput as a specific type. Returns
-// nullopt if the input is not found or is not of the given type.
-template <typename T>
-std::optional<T> ReadInput(pxr::UsdShadeInput usd_input) {
-  T val;
-  if (!usd_input.Get(&val)) {
-    return std::nullopt;
-  }
-  return val;
-}
-
-// Attempts to read a UsdUVTexture shader and return a sampler.
-template <typename T>
-ResolvedShaderInput<T> ReadUsdUVTexture(mjSpec* spec,
-                                        const pxr::UsdShadeShader shader,
-                                        unsigned nchannels) {
-  ResolvedShaderInput<T> out;
-  mjsTexture* texture = mjs_addTexture(spec);
-  texture->type = mjtTexture::mjTEXTURE_2D;
-  mjs_setName(texture->element, shader.GetPath().GetAsString().c_str());
-
-  pxr::TfToken source_color_space = kTokens->auto_;
-  if (auto color_space_input = shader.GetInput(kTokens->sourceColorSpace)) {
-    color_space_input.Get(&source_color_space);
-  }
-
-  if (source_color_space == kTokens->raw) {
-    texture->colorspace = mjtColorSpace::mjCOLORSPACE_LINEAR;
-  } else if (source_color_space == kTokens->srgb) {
-    texture->colorspace = mjtColorSpace::mjCOLORSPACE_SRGB;
-  } else if (source_color_space == kTokens->auto_) {
-    texture->colorspace = mjtColorSpace::mjCOLORSPACE_AUTO;
-  }
-
-  pxr::SdfAssetPath resolved_texture_asset_path;
-
-  if (auto file_input = shader.GetInput(kTokens->file)) {
-    // Use GetValueProducingAttributes to follow all connections including
-    // material interfaces.
-    auto value_attrs =
-        pxr::UsdShadeUtils::GetValueProducingAttributes(file_input);
-    for (const auto& attr : value_attrs) {
-      if (attr.Get(&resolved_texture_asset_path) &&
-          !resolved_texture_asset_path.GetAssetPath().empty()) {
-        break;
-      }
-    }
-  } else {
-    mju_error("UsdUVTexture missing inputs:file.");
-    return out;
-  }
-
-  // Use the resolved path from USD, fall back to asset path if not resolved
-  std::string resolved_path_str = resolved_texture_asset_path.GetResolvedPath();
-  if (resolved_path_str.empty()) {
-    resolved_path_str = resolved_texture_asset_path.GetAssetPath();
-  }
-
-  if (resolved_path_str.empty()) {
-    mju_warning("UsdUVTexture %s: No texture file path specified.",
-                shader.GetPath().GetAsString().c_str());
-    return out;
-  }
-
-  if (pxr::UsdShadeUdimUtils::IsUdimIdentifier(resolved_path_str)) {
-    mju_error("MuJoCo does not support UDIM textures: %s",
-              resolved_path_str.c_str());
-    return out;
-  }
-
-  if (!std::filesystem::exists(resolved_path_str)) {
-    mju_warning(
-        "USD decoder only supports assets that are available on the file "
-        "system. Could not open: %s",
-        resolved_path_str.c_str());
-    return out;
-  }
-
-  texture->nchannel = nchannels;
-  mjs_setString(texture->file, resolved_path_str.c_str());
-  out.sampler = texture;
-  return out;
-}
-
-// Reads UsdShadeInput as a value of type T or a texture sampler.
-// Uses GetValueProducingAttributes to follow all connections including
-// material interfaces.
-template <typename T>
-ResolvedShaderInput<T> ReadShaderInput(mjSpec* spec, pxr::UsdShadeInput input) {
-  ResolvedShaderInput<T> out;
-  if (!input.GetPrim().IsValid()) {
-    return out;
-  }
-
-  // GetValueProducingAttributes follows connections recursively, including
-  // through material interfaces, and returns the attributes that produce
-  // values.
-  auto value_attrs = pxr::UsdShadeUtils::GetValueProducingAttributes(input);
-
-  for (const auto& attr : value_attrs) {
-    // Check if this attribute belongs to a UsdUVTexture shader (for textures)
-    pxr::UsdPrim prim = attr.GetPrim();
-    pxr::UsdShadeShader shader(prim);
-    if (shader) {
-      pxr::TfToken shader_id = GetShaderId(shader);
-      if (shader_id == kTokens->UsdUVTexture) {
-        // Determine channel count from the output name
-        pxr::TfToken attr_name = attr.GetBaseName();
-        unsigned nchannels = 3;  // default
-        if (attr_name == kTokens->rgb) {
-          nchannels = 3;
-        } else if (attr_name == kTokens->r) {
-          nchannels = 1;
-        }
-        out = ReadUsdUVTexture<T>(spec, shader, nchannels);
-        if (out.sampler.has_value()) {
-          return out;
-        }
-      }
-      // For other shader types, fall through to try reading as a value
-    }
-
-    // Try to read as a direct value
-    out.value = ReadInput<T>(pxr::UsdShadeInput(attr));
-    if (out.value.has_value()) {
-      return out;
-    }
-  }
-
-  // If no value-producing attributes found, try reading the input directly
-  // (for non-connected inputs with authored values)
-  out.value = ReadInput<T>(input);
-  return out;
-}
-
-template <typename T, typename V>
-void AssignShaderInput(mjSpec* spec, mjsMaterial* material, T* val,
-                       mjtTextureRole texrole,
-                       ResolvedShaderInput<V> resolved_input) {
-  if (resolved_input.value.has_value()) {
-    if constexpr (std::is_same_v<T, float>) {
-      *val = resolved_input.value.value();
-    } else if constexpr (std::is_same_v<T, float[3]>) {
-      const pxr::GfVec3f resolved_value = AsVec3f(resolved_input.value.value());
-      (*val)[0] = resolved_value[0];
-      (*val)[1] = resolved_value[1];
-      (*val)[2] = resolved_value[2];
-    } else if constexpr (std::is_same_v<T, float[4]>) {
-      const pxr::GfVec4f resolved_value = AsVec4f(resolved_input.value.value());
-      (*val)[0] = resolved_value[0];
-      (*val)[1] = resolved_value[1];
-      (*val)[2] = resolved_value[2];
-      (*val)[3] = resolved_value[3];
-    }
-  } else if (resolved_input.sampler.has_value()) {
-    mjsTexture* texture = resolved_input.sampler.value();
-    auto name = mjs_getName(texture->element);
-    mjs_setInStringVec(material->textures, texrole, name->c_str());
-  } else {
-    mju_warning("No value or texture for shader input.");
-  }
-}
-
-void ParsePreviewSurface(mjSpec* spec, mjsMaterial* material,
-                         const pxr::UsdShadeShader& shader) {
-  auto diffuse = ReadShaderInput<pxr::GfVec3f>(
-      spec, shader.GetInput(kTokens->diffuseColor));
-  AssignShaderInput(spec, material, &material->rgba, mjTEXROLE_RGB, diffuse);
-
-  auto metallic =
-      ReadShaderInput<float>(spec, shader.GetInput(kTokens->metallic));
-  AssignShaderInput(spec, material, &material->metallic, mjTEXROLE_METALLIC,
-                    metallic);
-
-  auto roughness =
-      ReadShaderInput<float>(spec, shader.GetInput(kTokens->roughness));
-  AssignShaderInput(spec, material, &material->roughness, mjTEXROLE_ROUGHNESS,
-                    roughness);
-}
-
-mjsMaterial* ParseMaterial(mjSpec* spec,
-                           const pxr::UsdShadeMaterial& material) {
-  pxr::UsdShadeShader surface_shader = material.ComputeSurfaceSource();
-  if (!surface_shader.GetPrim().IsValid()) {
-    mju_warning("Material %s has no surface output.",
-                material.GetPath().GetAsString().c_str());
-    return nullptr;
-  }
-
-  pxr::TfToken surface_shader_id = GetShaderId(surface_shader);
-  if (surface_shader_id != kTokens->UsdPreviewSurface) {
-    mju_warning("Mujoco only supports UsdPreviewSurface as surface output.");
-    return nullptr;
-  }
-
-  mjsMaterial* mj_mat = mjs_addMaterial(spec, nullptr);
-  mjs_setName(mj_mat->element, material.GetPath().GetAsString().c_str());
-  ParsePreviewSurface(spec, mj_mat, surface_shader);
-
-  return mj_mat;
-}
diff --git a/plugin/usd_decoder/material_parsing.h b/plugin/usd_decoder/material_parsing.h
deleted file mode 100644
index 16eaf1c4..00000000
--- a/plugin/usd_decoder/material_parsing.h
+++ /dev/null
@@ -1,23 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PLUGIN_USD_DECODER_MATERIAL_PARSING_H_
-#define MUJOCO_PLUGIN_USD_DECODER_MATERIAL_PARSING_H_
-
-#include <mujoco/mujoco.h>
-#include <pxr/usd/usdShade/material.h>
-
-mjsMaterial* ParseMaterial(mjSpec* spec, const pxr::UsdShadeMaterial &material);
-
-#endif  // MUJOCO_PLUGIN_USD_DECODER_MATERIAL_PARSING_H_
diff --git a/plugin/usd_decoder/newton_tokens.cc b/plugin/usd_decoder/newton_tokens.cc
deleted file mode 100644
index 04c6bfad..00000000
--- a/plugin/usd_decoder/newton_tokens.cc
+++ /dev/null
@@ -1,23 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
-#include <pxr/base/tf/staticTokens.h>
-#include <pxr/pxr.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-TF_DEFINE_PUBLIC_TOKENS(NewtonTokens, NEWTON_TOKENS);
-
-PXR_NAMESPACE_CLOSE_SCOPE
diff --git a/plugin/usd_decoder/newton_tokens.h b/plugin/usd_decoder/newton_tokens.h
deleted file mode 100644
index 1cc89a3a..00000000
--- a/plugin/usd_decoder/newton_tokens.h
+++ /dev/null
@@ -1,66 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Shared static tokens for Newton USD Schemas.
-
-#ifndef MUJOCO_PLUGIN_USD_DECODER_NEWTON_TOKENS_H_
-#define MUJOCO_PLUGIN_USD_DECODER_NEWTON_TOKENS_H_
-
-#include <pxr/base/tf/staticTokens.h>
-#include <pxr/pxr.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// clang-format off
-#define NEWTON_TOKENS \
-  ((NewtonMaterialAPI, "NewtonMaterialAPI")) \
-  ((NewtonMeshCollisionAPI, "NewtonMeshCollisionAPI")) \
-  ((NewtonJointAPI, "NewtonJointAPI")) \
-  ((NewtonMassAPI, "NewtonMassAPI")) \
-  ((NewtonSiteAPI, "NewtonSiteAPI")) \
-  ((NewtonMimicAPI, "NewtonMimicAPI")) \
-  ((NewtonCollisionAPI, "NewtonCollisionAPI")) \
-  ((NewtonArticulationRootAPI, "NewtonArticulationRootAPI")) \
-  ((newtonMassModel, "newton:massModel")) \
-  ((newtonMaxSolverIterations, "newton:maxSolverIterations")) \
-  ((newtonTimeStepsPerSecond, "newton:timeStepsPerSecond")) \
-  ((newtonGravityEnabled, "newton:gravityEnabled")) \
-  ((newtonContactMargin, "newton:contactMargin")) \
-  ((newtonContactGap, "newton:contactGap")) \
-  ((newtonMaxHullVertices, "newton:maxHullVertices")) \
-  ((newtonTorsionalFriction, "newton:torsionalFriction")) \
-  ((newtonRollingFriction, "newton:rollingFriction")) \
-  ((newtonArmature, "newton:armature")) \
-  ((newtonDamping, "newton:damping")) \
-  ((newtonFriction, "newton:friction")) \
-  ((newtonMimicJoint, "newton:mimicJoint")) \
-  ((newtonMimicCoef0, "newton:mimicCoef0")) \
-  ((newtonMimicCoef1, "newton:mimicCoef1")) \
-  ((newtonInertia, "newton:inertia")) \
-  ((newtonContactAdhesion, "newton:contactAdhesion")) \
-  ((newtonJointsAddMobility, "newton:jointsAddMobility")) \
-  ((newtonSelfCollisionEnabled, "newton:selfCollisionEnabled"))
-// clang-format on
-
-TF_DECLARE_PUBLIC_TOKENS(NewtonTokens, NEWTON_TOKENS);
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-namespace mujoco {
-
-using pxr::NewtonTokens;
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_PLUGIN_USD_DECODER_NEWTON_TOKENS_H_
diff --git a/plugin/usd_decoder/usd_decoder.cc b/plugin/usd_decoder/usd_decoder.cc
deleted file mode 100644
index a7d5a018..00000000
--- a/plugin/usd_decoder/usd_decoder.cc
+++ /dev/null
@@ -1,2798 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <cmath>
-#include <cstddef>
-#include <map>
-#include <memory>
-#include <numbers>
-#include <optional>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
-#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/equalityAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/equalityJointAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/imageableAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/keyframe.h>
-#include <mujoco/experimental/usd/mjcPhysics/materialAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/tendon.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <mujoco/mujoco.h>
-#include "kinematic_tree.h"
-#include "material_parsing.h"
-#include "third_party/mujoco/plugin/usd_decoder/newton_tokens.h"
-#include <pxr/base/gf/declare.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/matrix4f.h>
-#include <pxr/base/gf/rotation.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/tf/staticData.h>
-#include <pxr/base/tf/staticTokens.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/vt/types.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/usd/common.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/primFlags.h>
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usdGeom/capsule.h>
-#include <pxr/usd/usdGeom/cube.h>
-#include <pxr/usd/usdGeom/cylinder.h>
-#include <pxr/usd/usdGeom/gprim.h>
-#include <pxr/usd/usdGeom/mesh.h>
-#include <pxr/usd/usdGeom/metrics.h>
-#include <pxr/usd/usdGeom/plane.h>
-#include <pxr/usd/usdGeom/primvar.h>
-#include <pxr/usd/usdGeom/primvarsAPI.h>
-#include <pxr/usd/usdGeom/sphere.h>
-#include <pxr/usd/usdGeom/tokens.h>
-#include <pxr/usd/usdGeom/xformCache.h>
-#include <pxr/usd/usdPhysics/collisionAPI.h>
-#include <pxr/usd/usdPhysics/filteredPairsAPI.h>
-#include <pxr/usd/usdPhysics/fixedJoint.h>
-#include <pxr/usd/usdPhysics/joint.h>
-#include <pxr/usd/usdPhysics/massAPI.h>
-#include <pxr/usd/usdPhysics/materialAPI.h>
-#include <pxr/usd/usdPhysics/meshCollisionAPI.h>
-#include <pxr/usd/usdPhysics/prismaticJoint.h>
-#include <pxr/usd/usdPhysics/revoluteJoint.h>
-#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
-#include <pxr/usd/usdPhysics/scene.h>
-#include <pxr/usd/usdPhysics/sphericalJoint.h>
-#include <pxr/usd/usdShade/material.h>
-#include <pxr/usd/usdShade/materialBindingAPI.h>
-
-using pxr::MjcPhysicsTokens;
-using pxr::TfToken;
-using mujoco::NewtonTokens;
-template <typename T>
-using TfStaticData = pxr::TfStaticData<T>;
-
-struct UsdCaches {
-  pxr::UsdGeomXformCache xform_cache;
-  pxr::UsdShadeMaterialBindingAPI::BindingsCache bindings_cache;
-  pxr::UsdShadeMaterialBindingAPI::CollectionQueryCache collection_query_cache;
-  std::map<pxr::SdfPath, mjsMaterial*> parsed_materials;
-};
-
-constexpr const char* kUsdPrimPathKey = "usd_primpath";
-
-void SetUsdPrimPathUserValue(mjsElement* element,
-                             const pxr::SdfPath& prim_path) {
-  // The value is a pointer to a newly allocated SdfPath, which will be deleted
-  // when the mjsElement is deleted.
-  const pxr::SdfPath* usd_primpath = new pxr::SdfPath(prim_path);
-  mjs_setUserValueWithCleanup(
-      element, kUsdPrimPathKey, usd_primpath,
-      [](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
-}
-
-pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element) {
-  const void* user_data = mjs_getUserValue(element, kUsdPrimPathKey);
-  if (user_data) {
-    return *static_cast<const pxr::SdfPath*>(user_data);
-  }
-  return pxr::SdfPath();
-}
-
-void SetDoubleArrFromGfVec3d(double* to, const pxr::GfVec3d& from) {
-  to[0] = from[0];
-  to[1] = from[1];
-  to[2] = from[2];
-}
-
-void SetMjtNumArrFromGfVec3d(mjtNum* to, const pxr::GfVec3d& from) {
-  to[0] = from[0];
-  to[1] = from[1];
-  to[2] = from[2];
-}
-
-void SetDoubleArrFromGfQuatd(double* to, const pxr::GfQuatd& from) {
-  // pxr::GfQuatd uses wxyz stored as a real and an imaginary component.
-  to[0] = from.GetReal();
-  to[1] = from.GetImaginary()[0];
-  to[2] = from.GetImaginary()[1];
-  to[3] = from.GetImaginary()[2];
-}
-
-template <typename T>
-void SetLocalPoseFromPrim(const pxr::UsdPrim& prim,
-                          const pxr::UsdPrim& parent_prim, T* element,
-                          pxr::UsdGeomXformCache& xform_cache) {
-  pxr::GfMatrix4d xform = xform_cache.GetLocalToWorldTransform(prim);
-  pxr::GfMatrix4d parent_xform =
-      xform_cache.GetLocalToWorldTransform(parent_prim);
-  pxr::GfMatrix4d relative_xform = xform * parent_xform.GetInverse();
-
-  pxr::GfVec3d translation = relative_xform.ExtractTranslation();
-  pxr::GfQuatd rotation =
-      relative_xform.RemoveScaleShear().ExtractRotationQuat();
-
-  SetDoubleArrFromGfVec3d(element->pos, translation);
-  SetDoubleArrFromGfQuatd(element->quat, rotation);
-}
-
-pxr::GfVec3d GetScale(const pxr::GfMatrix4d& matrix) {
-  pxr::GfMatrix4d rotation;
-  pxr::GfVec3d scale;
-  pxr::GfMatrix4d u;
-  pxr::GfVec3d translation;
-  pxr::GfMatrix4d p;
-  if (!matrix.Factor(&rotation, &scale, &u, &translation, &p)) {
-    // In the event that we could not factorize, return the identity.
-    mju_error("Could not factorise matrix.");
-    return pxr::GfVec3d(1, 1, 1);
-  }
-  return scale;
-}
-
-bool IsUniformScale(const pxr::GfVec3d& scale) {
-  static const double epsilon = 1e-6;
-  return fabs(scale[0] - scale[1]) < epsilon &&
-         fabs(scale[1] - scale[2]) < epsilon;
-}
-
-template <typename T>
-bool MaybeParseGeomPrimitive(const pxr::UsdPrim& prim, T* element,
-                             pxr::UsdGeomXformCache& xform_cache) {
-  auto world_xform = xform_cache.GetLocalToWorldTransform(prim);
-  auto scale = GetScale(world_xform);
-  if (prim.IsA<pxr::UsdGeomSphere>()) {
-    double radius;
-    if (!pxr::UsdGeomSphere(prim).GetRadiusAttr().Get<double>(&radius)) {
-      mju_error("Could not get sphere radius attr.");
-      return false;
-    }
-    // If scale is uniform (or *very close*) then create a sphere, otherwise
-    // this is an ellipsoid.
-    if (IsUniformScale(scale)) {
-      element->type = mjGEOM_SPHERE;
-      element->size[0] = scale[0] * radius;
-      element->size[1] = scale[0] * radius;
-      element->size[2] = scale[0] * radius;
-    } else {
-      element->type = mjGEOM_ELLIPSOID;
-      element->size[0] = scale[0] * radius;
-      element->size[1] = scale[1] * radius;
-      element->size[2] = scale[2] * radius;
-    }
-  } else if (prim.IsA<pxr::UsdGeomCylinder>()) {
-    auto cylinder = pxr::UsdGeomCylinder(prim);
-    element->type = mjGEOM_CYLINDER;
-    double radius;
-    if (!cylinder.GetRadiusAttr().Get<double>(&radius)) {
-      mju_error("Could not get cylinder radius attr.");
-      return false;
-    }
-
-    double height;
-    if (!cylinder.GetHeightAttr().Get<double>(&height)) {
-      mju_error("Could not get cylinder height attr.");
-      return false;
-    }
-    element->size[0] = scale[0] * radius;
-    element->size[1] = scale[1] * height / 2.0f;
-    element->size[2] = 0;
-  } else if (prim.IsA<pxr::UsdGeomCapsule>()) {
-    auto capsule = pxr::UsdGeomCapsule(prim);
-    element->type = mjGEOM_CAPSULE;
-    double radius;
-    if (!capsule.GetRadiusAttr().Get<double>(&radius)) {
-      mju_error("Could not get capsule radius attr.");
-      return false;
-    }
-
-    double height;
-    if (!capsule.GetHeightAttr().Get<double>(&height)) {
-      mju_error("Could not get capsule height attr.");
-      return false;
-    }
-    element->size[0] = scale[0] * radius;
-    element->size[1] = scale[1] * height / 2.0f;
-    element->size[2] = 0;
-
-    TfToken axis;
-    capsule.GetAxisAttr().Get(&axis);
-
-    // Mujoco (and USD) capsules are aligned with Z by default.
-    // When USD axis is X or Y, we apply a rotation to align with the Z axis.
-    pxr::GfQuatd axis_rot(1.0);
-    if (axis == pxr::UsdGeomTokens->x) {
-      axis_rot = pxr::GfRotation(pxr::GfVec3d::XAxis(), pxr::GfVec3d::ZAxis())
-                     .GetQuat();
-    } else if (axis == pxr::UsdGeomTokens->y) {
-      axis_rot = pxr::GfRotation(pxr::GfVec3d::YAxis(), pxr::GfVec3d::ZAxis())
-                     .GetQuat();
-    }
-
-    pxr::GfQuatd current_rot(element->quat[0], element->quat[1],
-                             element->quat[2], element->quat[3]);
-    pxr::GfQuatd new_rot = current_rot * axis_rot;
-    SetDoubleArrFromGfQuatd(element->quat, new_rot);
-  } else if (prim.IsA<pxr::UsdGeomCube>()) {
-    element->type = mjGEOM_BOX;
-    auto cube = pxr::UsdGeomCube(prim);
-    double size;
-    if (!cube.GetSizeAttr().Get<double>(&size)) {
-      mju_error("Could not get cube size attr.");
-      return false;
-    }
-    // MuJoCo uses half-length for box size.
-    size = size / 2;
-    element->size[0] = scale[0] * size;
-    element->size[1] = scale[1] * size;
-    element->size[2] = scale[2] * size;
-  } else if (prim.IsA<pxr::UsdGeomPlane>()) {
-    element->type = mjGEOM_PLANE;
-
-    pxr::UsdGeomPlane plane(prim);
-    TfToken axis;
-    if (!plane.GetAxisAttr().Get(&axis)) {
-      mju_error("Could not get plane axis attr.");
-      return false;
-    }
-    if (axis != pxr::UsdGeomTokens->z) {
-      mju_error("Only z-axis planes are supported.");
-      return false;
-    }
-
-    double length;
-    if (!plane.GetLengthAttr().Get(&length)) {
-      mju_error("Could not get plane length attr.");
-      return false;
-    }
-    double width;
-    if (!plane.GetWidthAttr().Get(&width)) {
-      mju_error("Could not get plane width attr.");
-      return false;
-    }
-    // MuJoCo uses half-length for plane size.
-    width = width / 2;
-    length = length / 2;
-    // Plane geoms in mjc are always infinite. Scale is used for visualization.
-    element->size[0] = scale[0] * width;
-    element->size[1] = scale[1] * length;
-    element->size[2] = scale[2];
-  } else {
-    return false;
-  }
-
-  return true;
-}
-
-mjsMesh* ParseUsdMesh(mjSpec* spec, const pxr::UsdPrim& prim, mjsGeom* geom,
-                      pxr::UsdGeomXformCache& xform_cache) {
-  if (!prim.IsA<pxr::UsdGeomMesh>()) {
-    return nullptr;
-  }
-  mjsMesh* mesh = mjs_addMesh(spec, nullptr);
-
-  SetUsdPrimPathUserValue(mesh->element, prim.GetPath());
-
-  geom->type = mjGEOM_MESH;
-  pxr::UsdGeomMesh usd_mesh(prim);
-  std::vector<float> uservert;
-  std::vector<int> userface;
-
-  pxr::VtVec3fArray points;
-  usd_mesh.GetPointsAttr().Get(&points);
-
-  pxr::VtVec2fArray uvs;
-  pxr::VtIntArray uv_indices;
-  std::vector<float> texcoord;
-  std::vector<int> userfacetexcoord;
-
-  pxr::UsdGeomPrimvarsAPI primvarsAPI(prim);
-  pxr::UsdGeomPrimvar st_primvar =
-      primvarsAPI.FindPrimvarWithInheritance(pxr::TfToken("st"));
-
-  uservert.reserve(points.size() * 3);
-  for (const auto& pt : points) {
-    uservert.push_back(pt[0]);
-    uservert.push_back(pt[1]);
-    uservert.push_back(pt[2]);
-  }
-
-  bool has_uvs = st_primvar.HasAuthoredValue();
-  bool face_varying_uvs = has_uvs && st_primvar.GetInterpolation() ==
-                                         pxr::UsdGeomTokens->faceVarying;
-  bool st_indexed = st_primvar.IsIndexed();
-  if (has_uvs) {
-    pxr::VtVec2fArray uvs;
-    st_primvar.Get(&uvs);
-
-    if (st_indexed) {
-      st_primvar.GetIndices(&uv_indices);
-    }
-
-    // If the UVs do not vary per point per face, then we need to compute the
-    // effective uv array taking indexing into account as we do not support UV
-    // indexing in mujoco.
-    if (!face_varying_uvs && st_primvar.IsIndexed()) {
-      texcoord.reserve(uv_indices.size() * 2);
-      for (const auto& idx : uv_indices) {
-        auto uv = uvs[idx];
-        texcoord.push_back(uv[0]);
-        // USD origin is bottom left, MuJoCo is top left.
-        texcoord.push_back(1.0f - uv[1]);
-      }
-    } else {
-      texcoord.reserve(uvs.size() * 2);
-      for (const auto& uv : uvs) {
-        texcoord.push_back(uv[0]);
-        // USD origin is bottom left, MuJoCo is top left.
-        texcoord.push_back(1.0f - uv[1]);
-      }
-    }
-    mjs_setFloat(mesh->usertexcoord, texcoord.data(), texcoord.size());
-  }
-
-  pxr::VtIntArray indices;
-  usd_mesh.GetFaceVertexIndicesAttr().Get(&indices);
-  pxr::VtIntArray counts;
-  usd_mesh.GetFaceVertexCountsAttr().Get(&counts);
-
-  userface.reserve(indices.size());
-  int vtx_idx = 0;
-  for (int count : counts) {
-    int k = 1;
-    // If the prim is a triangle create a triangle fan rooted
-    // at the first index.
-    while (k < count - 1) {
-      userface.push_back(indices[vtx_idx]);
-      userface.push_back(indices[vtx_idx + k]);
-      userface.push_back(indices[vtx_idx + k + 1]);
-
-      // If the UVs vary per face, then we need to compute the effective
-      // index array after we've created the triangle fan for non triangular
-      // faces.
-      if (face_varying_uvs) {
-        userfacetexcoord.push_back(st_indexed ? uv_indices[vtx_idx] : vtx_idx);
-        userfacetexcoord.push_back(st_indexed ? uv_indices[vtx_idx + k]
-                                              : vtx_idx + k);
-        userfacetexcoord.push_back(st_indexed ? uv_indices[vtx_idx + k + 1]
-                                              : vtx_idx + k + 1);
-      }
-      k++;
-    }
-    vtx_idx += count;
-  }
-
-  auto world_xform = xform_cache.GetLocalToWorldTransform(prim);
-  auto scale = GetScale(world_xform);
-  mesh->scale[0] = scale[0];
-  mesh->scale[1] = scale[1];
-  mesh->scale[2] = scale[2];
-
-  std::string mesh_name = usd_mesh.GetPath().GetAsString();
-  mjs_setName(mesh->element, mesh_name.c_str());
-  mjs_setFloat(mesh->uservert, uservert.data(), uservert.size());
-  mjs_setInt(mesh->userface, userface.data(), userface.size());
-
-  if (face_varying_uvs) {
-    mjs_setInt(mesh->userfacetexcoord, userfacetexcoord.data(),
-               userfacetexcoord.size());
-  }
-
-  mjs_setString(geom->meshname, mesh_name.c_str());
-  return mesh;
-}
-
-void SetGravityAttributes(
-    mjSpec* spec, const pxr::UsdStageRefPtr stage,
-    std::optional<pxr::GfVec3f> gravity_direction = std::nullopt,
-    std::optional<float> gravity_magnitude = std::nullopt) {
-  // Parse gravity and gravity direction.
-  if (!gravity_direction.has_value()) {
-    TfToken up_axis = pxr::UsdGeomGetStageUpAxis(stage);
-    if (up_axis == pxr::UsdGeomTokens->y) {
-      gravity_direction = pxr::GfVec3f(0, -1, 0);
-    } else if (up_axis == pxr::UsdGeomTokens->z) {
-      gravity_direction = pxr::GfVec3f(0, 0, -1);
-    } else {
-      mju_error("Invalid stage up axis token %s", up_axis.GetString().c_str());
-    }
-  }
-
-  if (!gravity_magnitude.has_value()) {
-    gravity_magnitude = 9.81f / pxr::UsdGeomGetStageMetersPerUnit(stage);
-  }
-
-  pxr::GfVec3f gravity = gravity_direction.value() * gravity_magnitude.value();
-
-  spec->option.gravity[0] = gravity[0];
-  spec->option.gravity[1] = gravity[1];
-  spec->option.gravity[2] = gravity[2];
-}
-
-void ParseUsdPhysicsScene(mjSpec* spec,
-                          const pxr::UsdPhysicsScene& physics_scene) {
-  std::optional<pxr::GfVec3f> gravity_direction = std::nullopt;
-  std::optional<float> gravity_magnitude = std::nullopt;
-  auto stage = physics_scene.GetPrim().GetStage();
-
-  // Parse gravity and gravity direction.
-  auto gravity_direction_attr = physics_scene.GetGravityDirectionAttr();
-  if (gravity_direction_attr.HasAuthoredValue()) {
-    pxr::GfVec3f authored_gravity_dir;
-    gravity_direction_attr.Get(&authored_gravity_dir);
-    gravity_direction = authored_gravity_dir;
-  }
-
-  auto gravity_magnitude_attr = physics_scene.GetGravityMagnitudeAttr();
-  if (gravity_magnitude_attr.HasAuthoredValue()) {
-    float authored_gravity_magnitude;
-    gravity_magnitude_attr.Get(&authored_gravity_magnitude);
-    gravity_magnitude = authored_gravity_magnitude;
-  }
-
-  SetGravityAttributes(spec, stage, gravity_direction, gravity_magnitude);
-
-  // Parse Newton scene attributes if present (works for Newton-only files)
-  pxr::UsdPrim scene_prim = physics_scene.GetPrim();
-  auto newton_iterations = scene_prim.GetAttribute(
-      NewtonTokens->newtonMaxSolverIterations);
-  if (newton_iterations && newton_iterations.HasAuthoredValue()) {
-    int val;
-    newton_iterations.Get(&val);
-    if (val >= 0) spec->option.iterations = val;
-  }
-  auto newton_timesteps = scene_prim.GetAttribute(
-      NewtonTokens->newtonTimeStepsPerSecond);
-  if (newton_timesteps && newton_timesteps.HasAuthoredValue()) {
-    int val;
-    newton_timesteps.Get(&val);
-    if (val > 0) spec->option.timestep = 1.0 / val;
-  }
-  auto newton_gravity = scene_prim.GetAttribute(
-      NewtonTokens->newtonGravityEnabled);
-  if (newton_gravity && newton_gravity.HasAuthoredValue()) {
-    bool enabled;
-    newton_gravity.Get(&enabled);
-    if (!enabled) {
-      spec->option.disableflags |= mjDSBL_GRAVITY;
-    }
-  }
-
-  // Early exit if there's no MjcPhysicsSceneAPI applied.
-  if (!scene_prim.HasAPI<pxr::MjcPhysicsSceneAPI>()) {
-    return;
-  }
-  auto mjc_physics_scene = pxr::MjcPhysicsSceneAPI(scene_prim);
-
-  // MJC values override Newton values only when explicitly authored.
-  auto timestep_attr = mjc_physics_scene.GetTimestepAttr();
-  if (timestep_attr.HasAuthoredValue()) {
-    double timestep;
-    timestep_attr.Get(&timestep);
-    spec->option.timestep = timestep;
-    mju_warning("Scene '%s' uses deprecated mjc:option:timestep. "
-                "Please migrate to newton:timeStepsPerSecond.",
-                scene_prim.GetPath().GetText());
-  }
-
-  double impratio;
-  mjc_physics_scene.GetImpRatioAttr().Get(&impratio);
-  spec->option.impratio = impratio;
-
-  double tolerance;
-  mjc_physics_scene.GetToleranceAttr().Get(&tolerance);
-  spec->option.tolerance = tolerance;
-
-  double ls_tolerance;
-  mjc_physics_scene.GetLSToleranceAttr().Get(&ls_tolerance);
-  spec->option.ls_tolerance = ls_tolerance;
-
-  double noslip_tolerance;
-  mjc_physics_scene.GetNoslipToleranceAttr().Get(&noslip_tolerance);
-  spec->option.noslip_tolerance = noslip_tolerance;
-
-  double ccd_tolerance;
-  mjc_physics_scene.GetCCDToleranceAttr().Get(&ccd_tolerance);
-  spec->option.ccd_tolerance = ccd_tolerance;
-
-  pxr::GfVec3d wind;
-  mjc_physics_scene.GetWindAttr().Get(&wind);
-  SetMjtNumArrFromGfVec3d(spec->option.wind, wind);
-
-  pxr::GfVec3d magnetic;
-  mjc_physics_scene.GetMagneticAttr().Get(&magnetic);
-  SetMjtNumArrFromGfVec3d(spec->option.magnetic, magnetic);
-
-  double density;
-  mjc_physics_scene.GetDensityAttr().Get(&density);
-  spec->option.density = density;
-
-  double viscosity;
-  mjc_physics_scene.GetViscosityAttr().Get(&viscosity);
-  spec->option.viscosity = viscosity;
-
-  double o_margin;
-  mjc_physics_scene.GetOMarginAttr().Get(&o_margin);
-  spec->option.o_margin = o_margin;
-
-  pxr::VtDoubleArray o_solref;
-  mjc_physics_scene.GetOSolRefAttr().Get(&o_solref);
-  if (o_solref.size() != mjNREF) {
-    mju_error("Invalid size for o_solref attribute: %zu expected %d",
-              o_solref.size(), mjNREF);
-    return;
-  }
-  for (int i = 0; i < mjNREF; ++i) {
-    spec->option.o_solref[i] = o_solref[i];
-  }
-
-  pxr::VtDoubleArray o_solimp;
-  mjc_physics_scene.GetOSolImpAttr().Get(&o_solimp);
-  if (o_solimp.size() != mjNIMP) {
-    mju_error("Invalid size for o_solimp attribute: %zu expected %d",
-              o_solimp.size(), mjNIMP);
-    return;
-  }
-  for (int i = 0; i < mjNIMP; ++i) {
-    spec->option.o_solimp[i] = o_solimp[i];
-  }
-
-  pxr::VtDoubleArray o_friction;
-  mjc_physics_scene.GetOFrictionAttr().Get(&o_friction);
-  if (o_friction.size() != 5) {
-    mju_error("Invalid size for o_friction attribute: %zu expected %d",
-              o_friction.size(), 5);
-    return;
-  }
-  for (int i = 0; i < 5; ++i) {
-    spec->option.o_friction[i] = o_friction[i];
-  }
-
-  TfToken integrator;
-  mjc_physics_scene.GetIntegratorAttr().Get(&integrator);
-  if (integrator == MjcPhysicsTokens->euler) {
-    spec->option.integrator = mjINT_EULER;
-  } else if (integrator == MjcPhysicsTokens->rk4) {
-    spec->option.integrator = mjINT_RK4;
-  } else if (integrator == MjcPhysicsTokens->implicit) {
-    spec->option.integrator = mjINT_IMPLICIT;
-  } else if (integrator == MjcPhysicsTokens->implicitfast) {
-    spec->option.integrator = mjINT_IMPLICITFAST;
-  }
-
-  TfToken cone;
-  mjc_physics_scene.GetConeAttr().Get(&cone);
-  if (cone == MjcPhysicsTokens->elliptic) {
-    spec->option.cone = mjCONE_ELLIPTIC;
-  } else if (cone == MjcPhysicsTokens->pyramidal) {
-    spec->option.cone = mjCONE_PYRAMIDAL;
-  }
-
-  TfToken jacobian;
-  mjc_physics_scene.GetJacobianAttr().Get(&jacobian);
-  if (jacobian == MjcPhysicsTokens->auto_) {
-    spec->option.jacobian = mjJAC_AUTO;
-  } else if (jacobian == MjcPhysicsTokens->dense) {
-    spec->option.jacobian = mjJAC_DENSE;
-  } else if (jacobian == MjcPhysicsTokens->sparse) {
-    spec->option.jacobian = mjJAC_SPARSE;
-  }
-
-  TfToken solver;
-  mjc_physics_scene.GetSolverAttr().Get(&solver);
-  if (solver == MjcPhysicsTokens->newton) {
-    spec->option.solver = mjSOL_NEWTON;
-  } else if (solver == MjcPhysicsTokens->cg) {
-    spec->option.solver = mjSOL_CG;
-  } else if (solver == MjcPhysicsTokens->pgs) {
-    spec->option.solver = mjSOL_PGS;
-  }
-
-  auto iterations_attr = mjc_physics_scene.GetIterationsAttr();
-  if (iterations_attr.HasAuthoredValue()) {
-    int iterations;
-    iterations_attr.Get(&iterations);
-    spec->option.iterations = iterations;
-    mju_warning("Scene '%s' uses deprecated mjc:option:iterations. "
-                "Please migrate to newton:maxSolverIterations.",
-                scene_prim.GetPath().GetText());
-  }
-
-  int ls_iterations;
-  mjc_physics_scene.GetLSIterationsAttr().Get(&ls_iterations);
-  spec->option.ls_iterations = ls_iterations;
-
-  int noslip_iterations;
-  mjc_physics_scene.GetNoslipIterationsAttr().Get(&noslip_iterations);
-  spec->option.noslip_iterations = noslip_iterations;
-
-  int ccd_iterations;
-  mjc_physics_scene.GetCCDIterationsAttr().Get(&ccd_iterations);
-  spec->option.ccd_iterations = ccd_iterations;
-
-  int sdf_initpoints;
-  mjc_physics_scene.GetSDFInitPointsAttr().Get(&sdf_initpoints);
-  spec->option.sdf_initpoints = sdf_initpoints;
-
-  int sdf_iterations;
-  mjc_physics_scene.GetSDFIterationsAttr().Get(&sdf_iterations);
-  spec->option.sdf_iterations = sdf_iterations;
-
-  bool constraint_flag;
-  mjc_physics_scene.GetConstraintFlagAttr().Get(&constraint_flag);
-  spec->option.disableflags |= (!constraint_flag ? mjDSBL_CONSTRAINT : 0);
-
-  bool equality_flag;
-  mjc_physics_scene.GetEqualityFlagAttr().Get(&equality_flag);
-  spec->option.disableflags |= (!equality_flag ? mjDSBL_EQUALITY : 0);
-
-  bool frictionloss_flag;
-  mjc_physics_scene.GetFrictionLossFlagAttr().Get(&frictionloss_flag);
-  spec->option.disableflags |= (!frictionloss_flag ? mjDSBL_FRICTIONLOSS : 0);
-
-  bool limit_flag;
-  mjc_physics_scene.GetLimitFlagAttr().Get(&limit_flag);
-  spec->option.disableflags |= (!limit_flag ? mjDSBL_LIMIT : 0);
-
-  bool contact_flag;
-  mjc_physics_scene.GetContactFlagAttr().Get(&contact_flag);
-  spec->option.disableflags |= (!contact_flag ? mjDSBL_CONTACT : 0);
-
-  bool spring_flag;
-  mjc_physics_scene.GetSpringFlagAttr().Get(&spring_flag);
-  spec->option.disableflags |= (!spring_flag ? mjDSBL_SPRING : 0);
-
-  bool damper_flag;
-  mjc_physics_scene.GetDamperFlagAttr().Get(&damper_flag);
-  spec->option.disableflags |= (!damper_flag ? mjDSBL_DAMPER : 0);
-
-  auto gravity_flag_attr = mjc_physics_scene.GetGravityFlagAttr();
-  if (gravity_flag_attr.HasAuthoredValue()) {
-    bool gravity_flag;
-    gravity_flag_attr.Get(&gravity_flag);
-    if (!gravity_flag) {
-      spec->option.disableflags |= mjDSBL_GRAVITY;
-    } else {
-      spec->option.disableflags &= ~mjDSBL_GRAVITY;
-    }
-    mju_warning("Scene '%s' uses deprecated mjc:flag:gravity. "
-                "Please migrate to newton:gravityEnabled.",
-                scene_prim.GetPath().GetText());
-  }
-
-  bool clampctrl_flag;
-  mjc_physics_scene.GetClampCtrlFlagAttr().Get(&clampctrl_flag);
-  spec->option.disableflags |= (!clampctrl_flag ? mjDSBL_CLAMPCTRL : 0);
-
-  bool warmstart_flag;
-  mjc_physics_scene.GetWarmStartFlagAttr().Get(&warmstart_flag);
-  spec->option.disableflags |= (!warmstart_flag ? mjDSBL_WARMSTART : 0);
-
-  bool filterparent_flag;
-  mjc_physics_scene.GetFilterParentFlagAttr().Get(&filterparent_flag);
-  spec->option.disableflags |= (!filterparent_flag ? mjDSBL_FILTERPARENT : 0);
-
-  bool actuation_flag;
-  mjc_physics_scene.GetActuationFlagAttr().Get(&actuation_flag);
-  spec->option.disableflags |= (!actuation_flag ? mjDSBL_ACTUATION : 0);
-
-  bool refsafe_flag;
-  mjc_physics_scene.GetRefSafeFlagAttr().Get(&refsafe_flag);
-  spec->option.disableflags |= (!refsafe_flag ? mjDSBL_REFSAFE : 0);
-
-  bool sensor_flag;
-  mjc_physics_scene.GetSensorFlagAttr().Get(&sensor_flag);
-  spec->option.disableflags |= (!sensor_flag ? mjDSBL_SENSOR : 0);
-
-  bool midphase_flag;
-  mjc_physics_scene.GetMidPhaseFlagAttr().Get(&midphase_flag);
-  spec->option.disableflags |= (!midphase_flag ? mjDSBL_MIDPHASE : 0);
-
-  bool nativeccd_flag;
-  mjc_physics_scene.GetNativeCCDFlagAttr().Get(&nativeccd_flag);
-  spec->option.disableflags |= (!nativeccd_flag ? mjDSBL_NATIVECCD : 0);
-
-  bool eulerdamp_flag;
-  mjc_physics_scene.GetEulerDampFlagAttr().Get(&eulerdamp_flag);
-  spec->option.disableflags |= (!eulerdamp_flag ? mjDSBL_EULERDAMP : 0);
-
-  bool autoreset_flag;
-  mjc_physics_scene.GetAutoResetFlagAttr().Get(&autoreset_flag);
-  spec->option.disableflags |= (!autoreset_flag ? mjDSBL_AUTORESET : 0);
-
-  bool island_flag;
-  mjc_physics_scene.GetIslandFlagAttr().Get(&island_flag);
-  spec->option.disableflags |= (!island_flag ? mjDSBL_ISLAND : 0);
-
-  bool override_flag;
-  mjc_physics_scene.GetOverrideFlagAttr().Get(&override_flag);
-  spec->option.enableflags |= (override_flag ? mjENBL_OVERRIDE : 0);
-
-  bool energy_flag;
-  mjc_physics_scene.GetEnergyFlagAttr().Get(&energy_flag);
-  spec->option.enableflags |= (energy_flag ? mjENBL_ENERGY : 0);
-
-  bool fwdinv_flag;
-  mjc_physics_scene.GetFwdinvFlagAttr().Get(&fwdinv_flag);
-  spec->option.enableflags |= (fwdinv_flag ? mjENBL_FWDINV : 0);
-
-  bool invdiscrete_flag;
-  mjc_physics_scene.GetInvDiscreteFlagAttr().Get(&invdiscrete_flag);
-  spec->option.enableflags |= (invdiscrete_flag ? mjENBL_INVDISCRETE : 0);
-
-  bool multiccd_flag;
-  mjc_physics_scene.GetMultiCCDFlagAttr().Get(&multiccd_flag);
-  spec->option.disableflags |= (!multiccd_flag ? mjDSBL_MULTICCD : 0);
-
-  // Compiler attributes
-  auto auto_limits_attr = mjc_physics_scene.GetAutoLimitsAttr();
-  if (auto_limits_attr.HasAuthoredValue()) {
-    bool autolimits;
-    auto_limits_attr.Get(&autolimits);
-    spec->compiler.autolimits = autolimits;
-  }
-
-  auto use_thread_attr = mjc_physics_scene.GetUseThreadAttr();
-  if (use_thread_attr.HasAuthoredValue()) {
-    bool use_thread;
-    use_thread_attr.Get(&use_thread);
-    spec->compiler.usethread = use_thread;
-  }
-
-  auto balance_inertia_attr = mjc_physics_scene.GetBalanceInertiaAttr();
-  if (balance_inertia_attr.HasAuthoredValue()) {
-    bool balanceinertia;
-    balance_inertia_attr.Get(&balanceinertia);
-    spec->compiler.balanceinertia = balanceinertia;
-  }
-
-  auto angle_attr = mjc_physics_scene.GetAngleAttr();
-  if (angle_attr.HasAuthoredValue()) {
-    pxr::TfToken angle;
-    angle_attr.Get(&angle);
-    spec->compiler.degree = angle == MjcPhysicsTokens->degree;
-  }
-
-  auto fit_aabb_attr = mjc_physics_scene.GetFitAABBAttr();
-  if (fit_aabb_attr.HasAuthoredValue()) {
-    bool fitaabb;
-    fit_aabb_attr.Get(&fitaabb);
-    spec->compiler.fitaabb = fitaabb;
-  }
-
-  auto fuse_static_attr = mjc_physics_scene.GetFuseStaticAttr();
-  if (fuse_static_attr.HasAuthoredValue()) {
-    bool fusestatic;
-    fuse_static_attr.Get(&fusestatic);
-    spec->compiler.fusestatic = fusestatic;
-  }
-
-  auto inertia_from_geom_attr = mjc_physics_scene.GetInertiaFromGeomAttr();
-  if (inertia_from_geom_attr.HasAuthoredValue()) {
-    pxr::TfToken inertiafromgeom;
-    inertia_from_geom_attr.Get(&inertiafromgeom);
-    if (inertiafromgeom == MjcPhysicsTokens->auto_) {
-      spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
-    } else if (inertiafromgeom == MjcPhysicsTokens->false_) {
-      spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_FALSE;
-    } else if (inertiafromgeom == MjcPhysicsTokens->true_) {
-      spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_TRUE;
-    } else {
-      mju_warning("Invalid inertiafromgeom token: %s",
-                  inertiafromgeom.GetText());
-    }
-  }
-
-  auto align_free_attr = mjc_physics_scene.GetAlignFreeAttr();
-  if (align_free_attr.HasAuthoredValue()) {
-    bool alignfree;
-    align_free_attr.Get(&alignfree);
-    spec->compiler.alignfree = alignfree;
-  }
-
-  auto inertia_group_range_min_attr =
-      mjc_physics_scene.GetInertiaGroupRangeMinAttr();
-  auto inertia_group_range_max_attr =
-      mjc_physics_scene.GetInertiaGroupRangeMaxAttr();
-  if (inertia_group_range_min_attr.HasAuthoredValue() &&
-      inertia_group_range_max_attr.HasAuthoredValue()) {
-    int inertiagrouprangemin;
-    inertia_group_range_min_attr.Get(&inertiagrouprangemin);
-    int inertiagrouprangemax;
-    inertia_group_range_max_attr.Get(&inertiagrouprangemax);
-    spec->compiler.inertiagrouprange[0] = inertiagrouprangemin;
-    spec->compiler.inertiagrouprange[1] = inertiagrouprangemax;
-  } else if (inertia_group_range_min_attr.HasAuthoredValue() ||
-             inertia_group_range_max_attr.HasAuthoredValue()) {
-    mju_warning(
-        "Only one of inertiaGroupRangeMin and inertiaGroupRangeMax was "
-        "authored, ignoring both.");
-  }
-
-  auto save_inertial_attr = mjc_physics_scene.GetSaveInertialAttr();
-  if (save_inertial_attr.HasAuthoredValue()) {
-    bool saveinertial;
-    save_inertial_attr.Get(&saveinertial);
-    spec->compiler.saveinertial = saveinertial;
-  }
-
-  mjc_physics_scene.GetBoundMassAttr().Get(&spec->compiler.boundmass);
-  mjc_physics_scene.GetBoundInertiaAttr().Get(&spec->compiler.boundinertia);
-  mjc_physics_scene.GetSetTotalMassAttr().Get(&spec->compiler.settotalmass);
-}
-
-void ParseUsdPhysicsMassAPIForBody(mjsBody* body,
-                                   const pxr::UsdPhysicsMassAPI& mass_api) {
-  auto mass_attr = mass_api.GetMassAttr();
-  if (mass_attr.HasAuthoredValue()) {
-    float mass;
-    mass_attr.Get(&mass);
-    body->mass = mass;
-  }
-
-  auto com_attr = mass_api.GetCenterOfMassAttr();
-  if (com_attr.HasAuthoredValue()) {
-    pxr::GfVec3f com;
-    com_attr.Get(&com);
-    SetDoubleArrFromGfVec3d(body->ipos, com);
-  }
-
-  auto principle_axes_attr = mass_api.GetPrincipalAxesAttr();
-  if (principle_axes_attr.HasAuthoredValue()) {
-    pxr::GfQuatf principle_axes;
-    principle_axes_attr.Get(&principle_axes);
-    SetDoubleArrFromGfQuatd(body->iquat, principle_axes);
-  }
-
-  auto diag_inertia_attr = mass_api.GetDiagonalInertiaAttr();
-  if (diag_inertia_attr.HasAuthoredValue()) {
-    pxr::GfVec3f diag_inertia;
-    diag_inertia_attr.Get(&diag_inertia);
-    SetDoubleArrFromGfVec3d(body->inertia, diag_inertia);
-  }
-
-  auto newton_inertia_attr =
-      mass_api.GetPrim().GetAttribute(NewtonTokens->newtonInertia);
-  if (newton_inertia_attr && newton_inertia_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray inertia;
-    newton_inertia_attr.Get(&inertia);
-    if (inertia.size() == 6) {
-      std::copy(inertia.begin(), inertia.end(), body->fullinertia);
-    }
-  }
-}
-
-void ParseUsdPhysicsMassAPIForGeom(mjsGeom* geom,
-                                   const pxr::UsdPhysicsMassAPI& mass_api) {
-  auto mass_attr = mass_api.GetMassAttr();
-  if (mass_attr.HasAuthoredValue()) {
-    float mass;
-    mass_attr.Get(&mass);
-    geom->mass = mass;
-  }
-
-  auto density_attr = mass_api.GetDensityAttr();
-  if (density_attr.HasAuthoredValue()) {
-    float density;
-    density_attr.Get(&density);
-    geom->density = density;
-  }
-}
-
-void ParseNewtonMassAPIForGeom(mjsGeom* geom, const pxr::UsdPrim& prim) {
-  auto shell_inertia_attr =
-      prim.GetAttribute(MjcPhysicsTokens->mjcShellinertia);
-  auto newton_mass_model_attr =
-      prim.GetAttribute(NewtonTokens->newtonMassModel);
-
-  bool shell_inertia_authored =
-      shell_inertia_attr && shell_inertia_attr.HasAuthoredValue();
-  bool newton_mass_model_authored =
-      newton_mass_model_attr && newton_mass_model_attr.HasAuthoredValue();
-
-  if (shell_inertia_authored) {
-    bool shell_inertia;
-    shell_inertia_attr.Get(&shell_inertia);
-    geom->typeinertia = shell_inertia ? mjtGeomInertia::mjINERTIA_SHELL
-                                      : mjtGeomInertia::mjINERTIA_VOLUME;
-    mju_warning(
-        "Prim '%s' uses deprecated mjc:shellinertia. "
-        "Please migrate to NewtonMassAPI's newton:massModel.",
-        prim.GetPath().GetText());
-  } else if (newton_mass_model_authored) {
-    pxr::TfToken mass_model;
-    newton_mass_model_attr.Get(&mass_model);
-    if (mass_model == MjcPhysicsTokens->shell) {
-      geom->typeinertia = mjtGeomInertia::mjINERTIA_SHELL;
-    } else {
-      geom->typeinertia = mjtGeomInertia::mjINERTIA_VOLUME;
-    }
-  }
-}
-
-void ParseMjcPhysicsCollisionAPI(
-    mjsGeom* geom, const pxr::MjcPhysicsCollisionAPI& collision_api) {
-  ParseNewtonMassAPIForGeom(geom, collision_api.GetPrim());
-
-  auto group_attr = collision_api.GetGroupAttr();
-  if (group_attr.HasAuthoredValue()) {
-    group_attr.Get(&geom->group);
-  }
-
-  auto priority_attr = collision_api.GetPriorityAttr();
-  if (priority_attr.HasAuthoredValue()) {
-    priority_attr.Get(&geom->priority);
-  }
-
-  auto condim_attr = collision_api.GetConDimAttr();
-  if (condim_attr.HasAuthoredValue()) {
-    condim_attr.Get(&geom->condim);
-  }
-
-  auto solmix_attr = collision_api.GetSolMixAttr();
-  if (solmix_attr.HasAuthoredValue()) {
-    solmix_attr.Get(&geom->solmix);
-  }
-
-  auto solref_attr = collision_api.GetSolRefAttr();
-  if (solref_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solref;
-    solref_attr.Get(&solref);
-    if (solref.size() == mjNREF) {
-      for (int i = 0; i < mjNREF; ++i) {
-        geom->solref[i] = solref[i];
-      }
-    } else {
-      mju_warning(
-          "solref attribute for geom %s has incorrect size %zu, "
-          "expected %d.",
-          mjs_getName(geom->element)->c_str(), solref.size(), mjNREF);
-    }
-  }
-
-  auto solimp_attr = collision_api.GetSolImpAttr();
-  if (solimp_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solimp;
-    solimp_attr.Get(&solimp);
-    if (solimp.size() == mjNIMP) {
-      for (int i = 0; i < mjNIMP; ++i) {
-        geom->solimp[i] = solimp[i];
-      }
-    } else {
-      mju_warning(
-          "solimp attribute for geom %s has incorrect size %zu, "
-          "expected %d.",
-          mjs_getName(geom->element)->c_str(), solimp.size(), mjNIMP);
-    }
-  }
-
-  auto margin_attr = collision_api.GetMarginAttr();
-  auto gap_attr = collision_api.GetGapAttr();
-  bool mjc_margin_authored = margin_attr.HasAuthoredValue();
-  bool mjc_gap_authored = gap_attr.HasAuthoredValue();
-
-  if (mjc_margin_authored) {
-    margin_attr.Get(&geom->margin);
-    mju_warning("Prim '%s' uses deprecated mjc:margin. "
-                "Please migrate to newton:contactMargin and newton:contactGap.",
-                collision_api.GetPrim().GetPath().GetText());
-  }
-  if (mjc_gap_authored) {
-    gap_attr.Get(&geom->gap);
-    mju_warning("Prim '%s' uses deprecated mjc:gap. "
-                "Please migrate to newton:contactGap.",
-                collision_api.GetPrim().GetPath().GetText());
-  }
-
-  // Newton collision fallback: newton:contactMargin + newton:contactGap -> margin, gap
-  if (!mjc_margin_authored || !mjc_gap_authored) {
-    pxr::UsdPrim prim = collision_api.GetPrim();
-    auto newton_margin = prim.GetAttribute(NewtonTokens->newtonContactMargin);
-    auto newton_gap = prim.GetAttribute(NewtonTokens->newtonContactGap);
-    float n_margin = 0, n_gap = 0;
-    bool has_newton_margin = newton_margin && newton_margin.HasAuthoredValue();
-    bool has_newton_gap = newton_gap && newton_gap.HasAuthoredValue();
-    if (has_newton_margin) newton_margin.Get(&n_margin);
-    if (has_newton_gap) newton_gap.Get(&n_gap);
-    if (!mjc_gap_authored && has_newton_gap) {
-      geom->gap = n_gap;
-    }
-    if (!mjc_margin_authored && has_newton_margin) {
-      geom->margin = n_margin;
-    }
-  }
-}
-
-void ParseMjcPhysicsMeshCollisionAPI(
-    mjsMesh* mesh, const pxr::MjcPhysicsMeshCollisionAPI& mesh_collision_api) {
-  auto inertia_attr = mesh_collision_api.GetInertiaAttr();
-  auto newton_mass_model_attr =
-      mesh_collision_api.GetPrim().GetAttribute(NewtonTokens->newtonMassModel);
-
-  bool inertia_authored = inertia_attr.HasAuthoredValue();
-  bool newton_mass_model_authored =
-      newton_mass_model_attr && newton_mass_model_attr.HasAuthoredValue();
-
-  if (inertia_authored) {
-    pxr::TfToken inertia;
-    inertia_attr.Get(&inertia);
-    if (inertia == MjcPhysicsTokens->shell) {
-      mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_SHELL;
-    } else if (inertia == MjcPhysicsTokens->exact) {
-      mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_EXACT;
-    } else if (inertia == MjcPhysicsTokens->convex) {
-      mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_CONVEX;
-    } else {
-      mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_LEGACY;
-    }
-    mju_warning(
-        "Prim '%s' uses deprecated mjc:inertia. "
-        "Please migrate to NewtonMassAPI's newton:massModel.",
-        mesh_collision_api.GetPrim().GetPath().GetText());
-  } else {
-    pxr::TfToken mass_model;
-    bool is_shell = false;
-    if (newton_mass_model_authored) {
-      newton_mass_model_attr.Get(&mass_model);
-      if (mass_model == MjcPhysicsTokens->shell) {
-        mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_SHELL;
-        is_shell = true;
-      } else {
-        mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_EXACT;
-      }
-    }
-
-    // MuJoCo does not support shell inertia computation of convex
-    // representation.
-    if (!is_shell) {
-      pxr::UsdPhysicsMeshCollisionAPI usd_mesh_api(
-          mesh_collision_api.GetPrim());
-      pxr::TfToken approx;
-      usd_mesh_api.GetApproximationAttr().Get(&approx);
-      if (approx == pxr::UsdPhysicsTokens->convexHull) {
-        mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_CONVEX;
-      } else {
-        mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_EXACT;
-      }
-    }
-  }
-
-  auto maxhullvert_attr = mesh_collision_api.GetMaxHullVertAttr();
-  auto newton_maxhull = mesh_collision_api.GetPrim().GetAttribute(
-      NewtonTokens->newtonMaxHullVertices);
-  if (maxhullvert_attr.HasAuthoredValue()) {
-    maxhullvert_attr.Get(&mesh->maxhullvert);
-    if (!newton_maxhull || !newton_maxhull.HasAuthoredValue()) {
-      mju_warning("Prim '%s' uses deprecated mjc:maxhullvert. "
-                  "Please migrate to newton:maxHullVertices.",
-                  mesh_collision_api.GetPrim().GetPath().GetText());
-    }
-  } else if (newton_maxhull && newton_maxhull.HasAuthoredValue()) {
-    int val;
-    newton_maxhull.Get(&val);
-    mesh->maxhullvert = val;
-  }
-}
-
-void ParseMjcPhysicsTendon(mjSpec* spec, const pxr::MjcPhysicsTendon& tendon) {
-  pxr::UsdPrim prim = tendon.GetPrim();
-  pxr::UsdStageRefPtr stage = prim.GetStage();
-  mjsTendon* mj_tendon = mjs_addTendon(spec, nullptr);
-  mjs_setName(mj_tendon->element, prim.GetPath().GetAsString().c_str());
-
-  SetUsdPrimPathUserValue(mj_tendon->element, prim.GetPath());
-
-  pxr::TfToken type;
-  tendon.GetTypeAttr().Get(&type);
-
-  pxr::SdfPathVector wrap_targets;
-  tendon.GetMjcPathRel().GetTargets(&wrap_targets);
-
-  pxr::VtIntArray wrap_path_indices;
-  tendon.GetMjcPathIndicesAttr().Get(&wrap_path_indices);
-
-  auto n_targets = wrap_path_indices.empty() ? wrap_targets.size()
-                                             : wrap_path_indices.size();
-
-  pxr::SdfPathVector side_site_paths;
-  tendon.GetMjcSideSitesRel().GetTargets(&side_site_paths);
-
-  pxr::VtIntArray side_site_indices;
-  tendon.GetMjcSideSitesIndicesAttr().Get(&side_site_indices);
-
-  pxr::VtIntArray segments;
-  tendon.GetMjcPathSegmentsAttr().Get(&segments);
-
-  pxr::VtDoubleArray divisors;
-  tendon.GetMjcPathDivisorsAttr().Get(&divisors);
-
-  pxr::VtDoubleArray coefs;
-  tendon.GetMjcPathCoefAttr().Get(&coefs);
-
-  if (type == MjcPhysicsTokens->spatial) {
-    // Check that for N targets we have 0 or N elements in segments.
-    if (!segments.empty() && segments.size() != n_targets) {
-      mju_warning(
-          "Spatial tendon %s has %lu segments but %lu wrap targets, skipping.",
-          prim.GetPath().GetAsString().c_str(), segments.size(), n_targets);
-      return;
-    }
-    // Check that if we have >1 segments that the user has specified how much
-    // each segment contributes to the total segment length.
-    if (!segments.empty() && divisors.empty()) {
-      mju_warning(
-          "Spatial tendon %s has >1 segments (%d) but does not specify "
-          "divisors, skipping.",
-          prim.GetPath().GetAsString().c_str(),
-          *std::max_element(segments.begin(), segments.end()) + 1);
-      return;
-    }
-    // Check that if we side site indices that we have N of them.
-    if (!side_site_indices.empty() && side_site_indices.size() != n_targets) {
-      mju_warning(
-          "Spatial tendon %s has %lu sideSite indices but %lu wrap targets, "
-          "skipping.",
-          prim.GetPath().GetAsString().c_str(), side_site_indices.size(),
-          n_targets);
-      return;
-    }
-
-    if (!side_site_indices.empty() && side_site_paths.empty()) {
-      mju_warning(
-          "Spatial tendon %s has %lu sideSite indices but no side sites, "
-          "skipping.",
-          prim.GetPath().GetAsString().c_str(), side_site_indices.size());
-      return;
-    }
-  } else {  // Fixed tendon.
-    // Check that for N targets we have 0 or N elements in coef:
-    if (!coefs.empty() && coefs.size() != n_targets) {
-      mju_warning(
-          "Spatial tendon %s has %lu coefs but %lu wrap targets, skipping.",
-          prim.GetPath().GetAsString().c_str(), coefs.size(), n_targets);
-    }
-  }
-
-  int last_segment = 0;
-  for (int i = 0; i < n_targets; ++i) {
-    auto index = wrap_path_indices.empty() ? i : wrap_path_indices[i];
-    auto wrap_target = wrap_targets[index];
-    auto wrap_prim = stage->GetPrimAtPath(wrap_target);
-    // Important to check site before Imageable here because some Imageable
-    // prims are sites.
-
-    if (!segments.empty()) {
-      int segment = segments[i];
-      if (segment >= divisors.size()) {
-        mju_warning(
-            "Tendon %s has at least %d segments but only %lu divisors, "
-            "skipping.",
-            prim.GetPath().GetAsString().c_str(), segment + 1, divisors.size());
-        return;
-      }
-
-      if (segment > last_segment) {
-        mjsWrap* pulley_wrap = mjs_wrapPulley(mj_tendon, divisors[segment]);
-        mjs_setString(pulley_wrap->info, ("Pulley between segments: " +
-                                          std::to_string(last_segment) +
-                                          " and " + std::to_string(segment))
-                                             .c_str());
-      }
-      last_segment = segment;
-    }
-
-    mjsWrap* wrap = nullptr;
-    if (wrap_prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
-      wrap = mjs_wrapSite(mj_tendon, wrap_target.GetAsString().c_str());
-    } else if (wrap_prim.IsA<pxr::UsdPhysicsJoint>()) {
-      double coef = 1.0;
-      if (!coefs.empty()) {
-        coef = coefs[i];
-      }
-      wrap = mjs_wrapJoint(mj_tendon, wrap_target.GetAsString().c_str(), coef);
-    } else if (wrap_prim.IsA<pxr::UsdGeomImageable>()) {
-      std::string side_site_name = "";
-      if (!side_site_indices.empty()) {
-        int side_site_index = side_site_indices[i];
-        if (side_site_index > 0 && side_site_index >= side_site_paths.size()) {
-          mju_warning(
-              "Tendon %s has side site index %d but only %lu side sites, "
-              "skipping.",
-              prim.GetPath().GetAsString().c_str(), side_site_index,
-              side_site_paths.size());
-          return;
-        }
-        if (side_site_index >= 0) {
-          side_site_name = side_site_paths[side_site_index].GetAsString();
-        }
-      }
-      wrap = mjs_wrapGeom(mj_tendon, wrap_target.GetAsString().c_str(),
-                          side_site_name.c_str());
-    } else {
-      mju_warning("Tendon %s has an invalid wrap target type, skipping.",
-                  prim.GetPath().GetAsString().c_str());
-      return;
-    }
-    mjs_setString(wrap->info, ("Prim: " + wrap_target.GetAsString()).c_str());
-  }
-
-  auto group_attr = tendon.GetGroupAttr();
-  if (group_attr.HasAuthoredValue()) {
-    group_attr.Get(&mj_tendon->group);
-  }
-
-  auto limited_attr = tendon.GetLimitedAttr();
-  if (limited_attr.HasAuthoredValue()) {
-    pxr::TfToken limited;
-    limited_attr.Get(&limited);
-    if (limited == MjcPhysicsTokens->true_) {
-      mj_tendon->limited = mjLIMITED_TRUE;
-    } else if (limited == MjcPhysicsTokens->false_) {
-      mj_tendon->limited = mjLIMITED_FALSE;
-    } else {
-      mj_tendon->limited = mjLIMITED_AUTO;
-    }
-  }
-
-  auto actuatorfrclimited_attr = tendon.GetActuatorFrcLimitedAttr();
-  if (actuatorfrclimited_attr.HasAuthoredValue()) {
-    pxr::TfToken actuatorfrclimited;
-    actuatorfrclimited_attr.Get(&actuatorfrclimited);
-    if (actuatorfrclimited == MjcPhysicsTokens->true_) {
-      mj_tendon->actfrclimited = mjLIMITED_TRUE;
-    } else if (actuatorfrclimited == MjcPhysicsTokens->false_) {
-      mj_tendon->actfrclimited = mjLIMITED_FALSE;
-    } else {
-      mj_tendon->actfrclimited = mjLIMITED_AUTO;
-    }
-  }
-
-  auto range_min_attr = tendon.GetRangeMinAttr();
-  if (range_min_attr.HasAuthoredValue()) {
-    range_min_attr.Get(&mj_tendon->range[0]);
-  }
-
-  auto range_max_attr = tendon.GetRangeMaxAttr();
-  if (range_max_attr.HasAuthoredValue()) {
-    range_max_attr.Get(&mj_tendon->range[1]);
-  }
-
-  auto actuatorfrcrange_min_attr = tendon.GetActuatorFrcRangeMinAttr();
-  if (actuatorfrcrange_min_attr.HasAuthoredValue()) {
-    actuatorfrcrange_min_attr.Get(&mj_tendon->actfrcrange[0]);
-  }
-
-  auto actuatorfrcrange_max_attr = tendon.GetActuatorFrcRangeMaxAttr();
-  if (actuatorfrcrange_max_attr.HasAuthoredValue()) {
-    actuatorfrcrange_max_attr.Get(&mj_tendon->actfrcrange[1]);
-  }
-
-  auto solreflimit_attr = tendon.GetSolRefLimitAttr();
-  if (solreflimit_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solreflimit;
-    solreflimit_attr.Get(&solreflimit);
-    if (solreflimit.size() == mjNREF) {
-      for (int i = 0; i < mjNREF; ++i) {
-        mj_tendon->solref_limit[i] = solreflimit[i];
-      }
-    } else {
-      mju_warning(
-          "solreflimit attribute for tendon %s has incorrect size %zu, "
-          "expected %d.",
-          prim.GetPath().GetAsString().c_str(), solreflimit.size(), mjNREF);
-    }
-  }
-
-  auto solimplimit_attr = tendon.GetSolImpLimitAttr();
-  if (solimplimit_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solimplimit;
-    solimplimit_attr.Get(&solimplimit);
-    if (solimplimit.size() == mjNIMP) {
-      for (int i = 0; i < mjNIMP; ++i) {
-        mj_tendon->solimp_limit[i] = solimplimit[i];
-      }
-    } else {
-      mju_warning(
-          "solimplimit attribute for tendon %s has incorrect size %zu, "
-          "expected %d.",
-          prim.GetPath().GetAsString().c_str(), solimplimit.size(), mjNIMP);
-    }
-  }
-
-  auto solreffriction_attr = tendon.GetSolRefFrictionAttr();
-  if (solreffriction_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solreffriction;
-    solreffriction_attr.Get(&solreffriction);
-    if (solreffriction.size() == mjNREF) {
-      for (int i = 0; i < mjNREF; ++i) {
-        mj_tendon->solref_friction[i] = solreffriction[i];
-      }
-    } else {
-      mju_warning(
-          "solreffriction attribute for tendon %s has incorrect size %zu, "
-          "expected %d.",
-          prim.GetPath().GetAsString().c_str(), solreffriction.size(), mjNREF);
-    }
-  }
-
-  auto solimpfriction_attr = tendon.GetSolImpFrictionAttr();
-  if (solimpfriction_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solimpfriction;
-    solimpfriction_attr.Get(&solimpfriction);
-    if (solimpfriction.size() == mjNIMP) {
-      for (int i = 0; i < mjNIMP; ++i) {
-        mj_tendon->solimp_friction[i] = solimpfriction[i];
-      }
-    } else {
-      mju_warning(
-          "solimpfriction attribute for tendon %s has incorrect size %zu, "
-          "expected %d.",
-          prim.GetPath().GetAsString().c_str(), solimpfriction.size(), mjNIMP);
-    }
-  }
-
-  auto margin_attr = tendon.GetMarginAttr();
-  if (margin_attr.HasAuthoredValue()) {
-    margin_attr.Get(&mj_tendon->margin);
-  }
-
-  auto frictionloss_attr = tendon.GetFrictionLossAttr();
-  if (frictionloss_attr.HasAuthoredValue()) {
-    frictionloss_attr.Get(&mj_tendon->frictionloss);
-  }
-
-  auto width_attr = tendon.GetWidthAttr();
-  if (width_attr.HasAuthoredValue()) {
-    width_attr.Get(&mj_tendon->width);
-  }
-
-  auto rgba_attr = tendon.GetRgbaAttr();
-  if (rgba_attr.HasAuthoredValue()) {
-    pxr::GfVec4f rgba;
-    rgba_attr.Get(&rgba);
-    mj_tendon->rgba[0] = rgba[0];
-    mj_tendon->rgba[1] = rgba[1];
-    mj_tendon->rgba[2] = rgba[2];
-    mj_tendon->rgba[3] = rgba[3];
-  }
-
-  auto springlength_attr = tendon.GetSpringLengthAttr();
-  if (springlength_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray springlength;
-    springlength_attr.Get(&springlength);
-    if (springlength.size() == 1) {
-      mj_tendon->springlength[0] = springlength[0];
-      mj_tendon->springlength[1] = springlength[0];
-    } else if (springlength.size() == 2) {
-      mj_tendon->springlength[0] = springlength[0];
-      mj_tendon->springlength[1] = springlength[1];
-    } else {
-      mju_warning(
-          "springlength attribute for tendon %s has incorrect size %zu, "
-          "expected 1 or 2.",
-          prim.GetPath().GetAsString().c_str(), springlength.size());
-    }
-  }
-
-  auto stiffness_attr = tendon.GetStiffnessAttr();
-  if (stiffness_attr.HasAuthoredValue()) {
-    stiffness_attr.Get(&mj_tendon->stiffness[0]);
-  }
-
-  auto damping_attr = tendon.GetDampingAttr();
-  if (damping_attr.HasAuthoredValue()) {
-    damping_attr.Get(&mj_tendon->damping[0]);
-  }
-
-  auto armature_attr = tendon.GetArmatureAttr();
-  if (armature_attr.HasAuthoredValue()) {
-    armature_attr.Get(&mj_tendon->armature);
-  }
-}
-
-void ParseMjcPhysicsActuator(mjSpec* spec,
-                             const pxr::MjcPhysicsActuator& tran) {
-  pxr::UsdPrim prim = tran.GetPrim();
-  mjsActuator* mj_act = mjs_addActuator(spec, nullptr);
-  mjs_setName(mj_act->element, prim.GetPath().GetAsString().c_str());
-
-  SetUsdPrimPathUserValue(mj_act->element, prim.GetPath());
-
-  auto group_attr = tran.GetGroupAttr();
-  if (group_attr.HasAuthoredValue()) {
-    group_attr.Get(&mj_act->group);
-  }
-
-  pxr::SdfPathVector targets;
-  tran.GetMjcTargetRel().GetTargets(&targets);
-  if (targets.empty()) {
-    mju_warning("Actuator %s has no target, skipping.",
-                prim.GetPath().GetAsString().c_str());
-    return;
-  }
-  if (targets.size() > 1) {
-    mju_warning("Actuator has more than one target, using the first.");
-  }
-  mjs_setString(mj_act->target, targets[0].GetAsString().c_str());
-
-  auto target_prim = prim.GetStage()->GetPrimAtPath(targets[0]);
-  bool slider_crank = tran.GetMjcSliderSiteRel().HasAuthoredTargets();
-  if (target_prim.IsA<pxr::UsdPhysicsJoint>()) {
-    mj_act->trntype = mjTRN_JOINT;
-  } else if (target_prim.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) {
-    mj_act->trntype = mjTRN_BODY;
-  } else if (target_prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
-    mj_act->trntype = slider_crank ? mjTRN_SLIDERCRANK : mjTRN_SITE;
-  } else if (target_prim.IsA<pxr::MjcPhysicsTendon>()) {
-    mj_act->trntype = mjTRN_TENDON;
-  } else {
-    mju_warning("Actuator %s has an invalid target type, skipping.",
-                prim.GetPath().GetAsString().c_str());
-    return;
-  }
-
-  if (slider_crank) {
-    pxr::SdfPathVector slider_sites;
-    tran.GetMjcSliderSiteRel().GetTargets(&slider_sites);
-    if (slider_sites.size() > 1) {
-      mju_warning(
-          "Slider crank slider site relationship has more than one target, "
-          "using the first.");
-    }
-    mjs_setString(mj_act->slidersite, slider_sites[0].GetAsString().c_str());
-  }
-
-  auto setLimitedField = [](mjsActuator* mj_act,
-                            const pxr::UsdAttribute& usd_attribute,
-                            mjtLimited* mj_limited_field) {
-    if (usd_attribute.HasAuthoredValue()) {
-      pxr::TfToken limited;
-      usd_attribute.Get(&limited);
-      if (limited == MjcPhysicsTokens->true_) {
-        *mj_limited_field = mjLIMITED_TRUE;
-      } else if (limited == MjcPhysicsTokens->false_) {
-        *mj_limited_field = mjLIMITED_FALSE;
-      } else if (limited == MjcPhysicsTokens->auto_) {
-        *mj_limited_field = mjLIMITED_AUTO;
-      }
-    }
-  };
-
-  setLimitedField(mj_act, tran.GetMjcCtrlLimitedAttr(), &mj_act->ctrllimited);
-  setLimitedField(mj_act, tran.GetMjcForceLimitedAttr(), &mj_act->forcelimited);
-  setLimitedField(mj_act, tran.GetMjcActLimitedAttr(), &mj_act->actlimited);
-
-  auto setRangeField =
-      [](mjsActuator* mj_act, const pxr::UsdAttribute& usd_min_attribute,
-         const pxr::UsdAttribute& usd_max_attribute, double* range) {
-        if (usd_min_attribute.HasAuthoredValue()) {
-          double range_min;
-          usd_min_attribute.Get(&range_min);
-          range[0] = range_min;
-        }
-        if (usd_max_attribute.HasAuthoredValue()) {
-          double range_max;
-          usd_max_attribute.Get(&range_max);
-          range[1] = range_max;
-        }
-      };
-
-  setRangeField(mj_act, tran.GetMjcCtrlRangeMinAttr(),
-                tran.GetMjcCtrlRangeMaxAttr(), mj_act->ctrlrange);
-  setRangeField(mj_act, tran.GetMjcForceRangeMinAttr(),
-                tran.GetMjcForceRangeMaxAttr(), mj_act->forcerange);
-  setRangeField(mj_act, tran.GetMjcActRangeMinAttr(),
-                tran.GetMjcActRangeMaxAttr(), mj_act->actrange);
-  setRangeField(mj_act, tran.GetMjcLengthRangeMinAttr(),
-                tran.GetMjcLengthRangeMaxAttr(), mj_act->lengthrange);
-
-  auto gear_attr = tran.GetMjcGearAttr();
-  if (gear_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray gear;
-    gear_attr.Get(&gear);
-    for (int i = 0; i < 6; ++i) {
-      mj_act->gear[i] = gear[i];
-    }
-  }
-
-  auto crank_length_attr = tran.GetMjcCrankLengthAttr();
-  if (crank_length_attr.HasAuthoredValue()) {
-    double crank_length;
-    crank_length_attr.Get(&crank_length);
-    mj_act->cranklength = crank_length;
-  }
-
-  auto dyn_type_attr = tran.GetMjcDynTypeAttr();
-  if (dyn_type_attr.HasAuthoredValue()) {
-    pxr::TfToken dyn_type;
-    dyn_type_attr.Get(&dyn_type);
-    if (dyn_type == MjcPhysicsTokens->none) {
-      mj_act->dyntype = mjtDyn::mjDYN_NONE;
-    } else if (dyn_type == MjcPhysicsTokens->integrator) {
-      mj_act->dyntype = mjtDyn::mjDYN_INTEGRATOR;
-    } else if (dyn_type == MjcPhysicsTokens->filter) {
-      mj_act->dyntype = mjtDyn::mjDYN_FILTER;
-    } else if (dyn_type == MjcPhysicsTokens->filterexact) {
-      mj_act->dyntype = mjtDyn::mjDYN_FILTEREXACT;
-    } else if (dyn_type == MjcPhysicsTokens->muscle) {
-      mj_act->dyntype = mjtDyn::mjDYN_MUSCLE;
-    } else if (dyn_type == MjcPhysicsTokens->user) {
-      mj_act->dyntype = mjtDyn::mjDYN_USER;
-    }
-  }
-
-  auto gain_type_attr = tran.GetMjcGainTypeAttr();
-  if (gain_type_attr.HasAuthoredValue()) {
-    pxr::TfToken gain_type;
-    gain_type_attr.Get(&gain_type);
-    if (gain_type == MjcPhysicsTokens->fixed) {
-      mj_act->gaintype = mjtGain::mjGAIN_FIXED;
-    } else if (gain_type == MjcPhysicsTokens->affine) {
-      mj_act->gaintype = mjtGain::mjGAIN_AFFINE;
-    } else if (gain_type == MjcPhysicsTokens->muscle) {
-      mj_act->gaintype = mjtGain::mjGAIN_MUSCLE;
-    } else if (gain_type == MjcPhysicsTokens->user) {
-      mj_act->gaintype = mjtGain::mjGAIN_USER;
-    }
-  }
-
-  auto biastype_attr = tran.GetMjcBiasTypeAttr();
-  if (biastype_attr.HasAuthoredValue()) {
-    pxr::TfToken biastype;
-    biastype_attr.Get(&biastype);
-    if (biastype == MjcPhysicsTokens->none) {
-      mj_act->biastype = mjtBias::mjBIAS_NONE;
-    } else if (biastype == MjcPhysicsTokens->affine) {
-      mj_act->biastype = mjtBias::mjBIAS_AFFINE;
-    } else if (biastype == MjcPhysicsTokens->muscle) {
-      mj_act->biastype = mjtBias::mjBIAS_MUSCLE;
-    } else if (biastype == MjcPhysicsTokens->user) {
-      mj_act->biastype = mjtBias::mjBIAS_USER;
-    }
-  }
-
-  auto setPrmField = [](mjsActuator* mj_act,
-                        const pxr::UsdAttribute& usd_attribute, double* prm) {
-    if (usd_attribute.HasAuthoredValue()) {
-      pxr::VtDoubleArray usd_prm;
-      usd_attribute.Get(&usd_prm);
-      int n_elems = usd_prm.size() < 10 ? usd_prm.size() : 10;
-      for (int i = 0; i < n_elems; ++i) {
-        prm[i] = usd_prm[i];
-      }
-    }
-  };
-
-  setPrmField(mj_act, tran.GetMjcDynPrmAttr(), mj_act->dynprm);
-  setPrmField(mj_act, tran.GetMjcBiasPrmAttr(), mj_act->biasprm);
-  setPrmField(mj_act, tran.GetMjcGainPrmAttr(), mj_act->gainprm);
-
-  auto act_dim_attr = tran.GetMjcActDimAttr();
-  if (act_dim_attr.HasAuthoredValue()) {
-    int act_dim;
-    act_dim_attr.Get(&act_dim);
-    mj_act->actdim = act_dim;
-  }
-
-  auto act_early_attr = tran.GetMjcActEarlyAttr();
-  if (act_early_attr.HasAuthoredValue()) {
-    bool act_early;
-    act_early_attr.Get(&act_early);
-    mj_act->actearly = (int)act_early;
-  }
-
-  auto inherit_range_attr = tran.GetMjcInheritRangeAttr();
-  if (inherit_range_attr.HasAuthoredValue()) {
-    inherit_range_attr.Get(&mj_act->inheritrange);
-  }
-
-  auto ref_site_rel = tran.GetMjcRefSiteRel();
-  if (ref_site_rel.HasAuthoredTargets()) {
-    pxr::SdfPathVector targets;
-    ref_site_rel.GetTargets(&targets);
-    pxr::SdfPath first_path = targets[0];
-    mjs_setString(mj_act->refsite, first_path.GetString().c_str());
-  }
-}
-
-void ParseMjcPhysicsJointAPI(mjsJoint* mj_joint,
-                             const pxr::MjcPhysicsJointAPI& joint_api) {
-  auto group_attr = joint_api.GetGroupAttr();
-  if (group_attr.HasAuthoredValue()) {
-    group_attr.Get(&mj_joint->group);
-  }
-
-  auto springdamper_attr = joint_api.GetMjcSpringdamperAttr();
-  if (springdamper_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray springdamper;
-    springdamper_attr.Get(&springdamper);
-    if (springdamper.size() == 2) {
-      mj_joint->springdamper[0] = springdamper[0];
-      mj_joint->springdamper[1] = springdamper[1];
-    } else {
-      mju_warning(
-          "springdamper attribute for joint %s has incorrect size %zu, "
-          "expected 2.",
-          mjs_getName(mj_joint->element)->c_str(), springdamper.size());
-    }
-  }
-
-  auto solreflimit_attr = joint_api.GetMjcSolreflimitAttr();
-  if (solreflimit_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solreflimit;
-    solreflimit_attr.Get(&solreflimit);
-    if (solreflimit.size() == mjNREF) {
-      for (int i = 0; i < mjNREF; ++i) {
-        mj_joint->solref_limit[i] = solreflimit[i];
-      }
-    } else {
-      mju_warning(
-          "solreflimit attribute for joint %s has incorrect size %zu, "
-          "expected %d.",
-          mjs_getName(mj_joint->element)->c_str(), solreflimit.size(), mjNREF);
-    }
-  }
-
-  auto solimplimit_attr = joint_api.GetMjcSolimplimitAttr();
-  if (solimplimit_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solimplimit;
-    solimplimit_attr.Get(&solimplimit);
-    if (solimplimit.size() == mjNIMP) {
-      for (int i = 0; i < mjNIMP; ++i) {
-        mj_joint->solimp_limit[i] = solimplimit[i];
-      }
-    } else {
-      mju_warning(
-          "solimplimit attribute for joint %s has incorrect size %zu, "
-          "expected %d.",
-          mjs_getName(mj_joint->element)->c_str(), solimplimit.size(), mjNIMP);
-    }
-  }
-
-  auto solreffriction_attr = joint_api.GetMjcSolreffrictionAttr();
-  if (solreffriction_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solreffriction;
-    solreffriction_attr.Get(&solreffriction);
-    if (solreffriction.size() == mjNREF) {
-      for (int i = 0; i < mjNREF; ++i) {
-        mj_joint->solref_friction[i] = solreffriction[i];
-      }
-    } else {
-      mju_warning(
-          "solreffriction attribute for joint %s has incorrect size %zu, "
-          "expected %d.",
-          mjs_getName(mj_joint->element)->c_str(), solreffriction.size(),
-          mjNREF);
-    }
-  }
-
-  auto solimpfriction_attr = joint_api.GetMjcSolimpfrictionAttr();
-  if (solimpfriction_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solimpfriction;
-    solimpfriction_attr.Get(&solimpfriction);
-    if (solimpfriction.size() == mjNIMP) {
-      for (int i = 0; i < mjNIMP; ++i) {
-        mj_joint->solimp_friction[i] = solimpfriction[i];
-      }
-    } else {
-      mju_warning(
-          "solimpfriction attribute for joint %s has incorrect size %zu, "
-          "expected %d.",
-          mjs_getName(mj_joint->element)->c_str(), solimpfriction.size(),
-          mjNIMP);
-    }
-  }
-
-  auto stiffness_attr = joint_api.GetMjcStiffnessAttr();
-  if (stiffness_attr.HasAuthoredValue()) {
-    double stiffness;
-    stiffness_attr.Get(&stiffness);
-    mj_joint->stiffness[0] = stiffness;
-  }
-
-  auto actuatorfrcrange_min_attr = joint_api.GetMjcActuatorfrcrangeMinAttr();
-  if (actuatorfrcrange_min_attr.HasAuthoredValue()) {
-    double min_val;
-    actuatorfrcrange_min_attr.Get(&min_val);
-    mj_joint->actfrcrange[0] = min_val;
-  }
-  auto actuatorfrcrange_max_attr = joint_api.GetMjcActuatorfrcrangeMaxAttr();
-  if (actuatorfrcrange_max_attr.HasAuthoredValue()) {
-    double max_val;
-    actuatorfrcrange_max_attr.Get(&max_val);
-    mj_joint->actfrcrange[1] = max_val;
-  }
-
-  auto actuatorfrclimited_attr = joint_api.GetMjcActuatorfrclimitedAttr();
-  if (actuatorfrclimited_attr.HasAuthoredValue()) {
-    pxr::TfToken limited;
-    actuatorfrclimited_attr.Get(&limited);
-    if (limited == MjcPhysicsTokens->true_) {
-      mj_joint->actfrclimited = mjLIMITED_TRUE;
-    } else if (limited == MjcPhysicsTokens->false_) {
-      mj_joint->actfrclimited = mjLIMITED_FALSE;
-    } else if (limited == MjcPhysicsTokens->auto_) {
-      mj_joint->actfrclimited = mjLIMITED_AUTO;
-    }
-  }
-
-  auto actuatorgravcomp_attr = joint_api.GetMjcActuatorgravcompAttr();
-  if (actuatorgravcomp_attr.HasAuthoredValue()) {
-    bool gravcomp;
-    actuatorgravcomp_attr.Get(&gravcomp);
-    mj_joint->actgravcomp = gravcomp;
-  }
-
-  auto margin_attr = joint_api.GetMjcMarginAttr();
-  if (margin_attr.HasAuthoredValue()) {
-    double margin;
-    margin_attr.Get(&margin);
-    mj_joint->margin = margin;
-  }
-
-  auto ref_attr = joint_api.GetMjcRefAttr();
-  if (ref_attr.HasAuthoredValue()) {
-    double ref;
-    ref_attr.Get(&ref);
-    mj_joint->ref = ref;
-  }
-
-  auto springref_attr = joint_api.GetMjcSpringrefAttr();
-  if (springref_attr.HasAuthoredValue()) {
-    double springref;
-    springref_attr.Get(&springref);
-    mj_joint->springref = springref;
-  }
-
-  auto mjc_armature_attr =
-      joint_api.GetPrim().GetAttribute(MjcPhysicsTokens->mjcArmature);
-  auto mjc_damping_attr =
-      joint_api.GetPrim().GetAttribute(MjcPhysicsTokens->mjcDamping);
-  auto mjc_frictionloss_attr =
-      joint_api.GetPrim().GetAttribute(MjcPhysicsTokens->mjcFrictionloss);
-
-  auto newton_armature_attr =
-      joint_api.GetPrim().GetAttribute(NewtonTokens->newtonArmature);
-  auto newton_damping_attr =
-      joint_api.GetPrim().GetAttribute(NewtonTokens->newtonDamping);
-  auto newton_friction_attr =
-      joint_api.GetPrim().GetAttribute(NewtonTokens->newtonFriction);
-
-  bool mjc_armature_authored =
-      mjc_armature_attr && mjc_armature_attr.HasAuthoredValue();
-  bool mjc_damping_authored =
-      mjc_damping_attr && mjc_damping_attr.HasAuthoredValue();
-  bool mjc_frictionloss_authored =
-      mjc_frictionloss_attr && mjc_frictionloss_attr.HasAuthoredValue();
-
-  bool newton_armature_authored =
-      newton_armature_attr && newton_armature_attr.HasAuthoredValue();
-  bool newton_damping_authored =
-      newton_damping_attr && newton_damping_attr.HasAuthoredValue();
-  bool newton_friction_authored =
-      newton_friction_attr && newton_friction_attr.HasAuthoredValue();
-
-  if (mjc_armature_authored) {
-    mjc_armature_attr.Get(&mj_joint->armature);
-    mju_warning(
-        "Prim '%s' uses deprecated mjc:armature. "
-        "Please migrate to newton:armature.",
-        joint_api.GetPrim().GetPath().GetText());
-  } else if (newton_armature_authored) {
-    float armature;
-    newton_armature_attr.Get(&armature);
-    mj_joint->armature = armature;
-  }
-
-  if (mjc_damping_authored) {
-    double damping;
-    mjc_damping_attr.Get(&damping);
-    mj_joint->damping[0] = damping;
-    mju_warning(
-        "Prim '%s' uses deprecated mjc:damping. "
-        "Please migrate to newton:damping.",
-        joint_api.GetPrim().GetPath().GetText());
-  } else if (newton_damping_authored) {
-    float damping;
-    newton_damping_attr.Get(&damping);
-    mj_joint->damping[0] = damping;
-  }
-
-  if (mjc_frictionloss_authored) {
-    double frictionloss;
-    mjc_frictionloss_attr.Get(&frictionloss);
-    mj_joint->frictionloss = frictionloss;
-    mju_warning(
-        "Prim '%s' uses deprecated mjc:frictionloss. "
-        "Please migrate to newton:friction.",
-        joint_api.GetPrim().GetPath().GetText());
-  } else if (newton_friction_authored) {
-    float friction;
-    newton_friction_attr.Get(&friction);
-    mj_joint->frictionloss = friction;
-  }
-}
-
-void ParseUsdPhysicsMaterialAPI(
-    mjsGeom* geom, const pxr::UsdPhysicsMaterialAPI& material_api) {
-  auto dynamic_friction_attr = material_api.GetDynamicFrictionAttr();
-  if (dynamic_friction_attr.HasAuthoredValue()) {
-    float dynamic_friction;
-    dynamic_friction_attr.Get(&dynamic_friction);
-    geom->friction[0] = dynamic_friction;
-  }
-
-  auto restitution_attr = material_api.GetRestitutionAttr();
-  if (restitution_attr.HasAuthoredValue()) {
-    mju_warning(
-        "Material %s is trying to set the resitution coefficient, to control "
-        "restitution in MuJoCo use the direct method of setting solref to "
-        "(-stiffness, -damping). See "
-        "https://mujoco.readthedocs.io/en/latest/modeling.html#restitution for "
-        "examples.",
-        material_api.GetPath().GetString().c_str());
-  }
-
-  auto density_attr = material_api.GetDensityAttr();
-  if (density_attr.HasAuthoredValue()) {
-    float density;
-    density_attr.Get(&density);
-    geom->density = density;
-  }
-}
-
-void ParseMjcPhysicsMaterialAPI(
-    mjsGeom* geom, const pxr::UsdPrim& material_prim,
-    const pxr::MjcPhysicsMaterialAPI& material_api) {
-  // Torsional friction: prefer newton:torsionalFriction, fall back to
-  // mjc:torsionalfriction with deprecation warning. If both are authored,
-  // mjc takes precedence for backwards compatibility.
-  auto mjc_torsional = material_api.GetTorsionalFrictionAttr();
-  auto newton_torsional = material_prim.GetAttribute(
-      NewtonTokens->newtonTorsionalFriction);
-  if (mjc_torsional.HasAuthoredValue()) {
-    mjc_torsional.Get(&geom->friction[1]);
-    if (!newton_torsional || !newton_torsional.HasAuthoredValue()) {
-      mju_warning("Prim '%s' uses deprecated mjc:torsionalfriction. "
-                  "Please migrate to newton:torsionalFriction.",
-                  material_prim.GetPath().GetText());
-    }
-  } else if (newton_torsional && newton_torsional.HasAuthoredValue()) {
-    float val;
-    newton_torsional.Get(&val);
-    geom->friction[1] = val;
-  }
-
-  // Rolling friction: same deprecation/fallback pattern.
-  auto mjc_rolling = material_api.GetRollingFrictionAttr();
-  auto newton_rolling = material_prim.GetAttribute(
-      NewtonTokens->newtonRollingFriction);
-  if (mjc_rolling.HasAuthoredValue()) {
-    mjc_rolling.Get(&geom->friction[2]);
-    if (!newton_rolling || !newton_rolling.HasAuthoredValue()) {
-      mju_warning("Prim '%s' uses deprecated mjc:rollingfriction. "
-                  "Please migrate to newton:rollingFriction.",
-                  material_prim.GetPath().GetText());
-    }
-  } else if (newton_rolling && newton_rolling.HasAuthoredValue()) {
-    float val;
-    newton_rolling.Get(&val);
-    geom->friction[2] = val;
-  }
-
-  // Contact adhesion: newton:contactAdhesion -> geom->adhesion
-  auto newton_adhesion = material_prim.GetAttribute(
-      NewtonTokens->newtonContactAdhesion);
-  if (newton_adhesion && newton_adhesion.HasAuthoredValue()) {
-    float val;
-    newton_adhesion.Get(&val);
-    if (val >= 0.0f) {
-      geom->adhesion = val;
-    }
-  }
-}
-
-void ParseDisplayColorAndOpacity(const pxr::UsdPrim& prim, mjsGeom* geom) {
-  // Convert displayColor and displayOpacity to rgba.
-  // We want to support primvar inheritance, hence FindPrimvarWithInheritance.
-  pxr::UsdGeomPrimvarsAPI primvarsAPI(prim);
-  pxr::UsdGeomPrimvar displayColorPrimvar =
-      primvarsAPI.FindPrimvarWithInheritance(
-          pxr::UsdGeomTokens->primvarsDisplayColor);
-  pxr::UsdGeomPrimvar displayOpacityPrimvar =
-      primvarsAPI.FindPrimvarWithInheritance(
-          pxr::UsdGeomTokens->primvarsDisplayOpacity);
-  if (displayColorPrimvar.HasAuthoredValue()) {
-    pxr::VtArray<pxr::GfVec3f> display_color;
-    displayColorPrimvar.Get(&display_color);
-    if (!display_color.empty()) {
-      geom->rgba[0] = display_color[0][0];
-      geom->rgba[1] = display_color[0][1];
-      geom->rgba[2] = display_color[0][2];
-    }
-  }
-  if (displayOpacityPrimvar.HasAuthoredValue()) {
-    pxr::VtArray<float> display_opacity;
-    displayOpacityPrimvar.Get(&display_opacity);
-    if (!display_opacity.empty()) {
-      geom->rgba[3] = display_opacity[0];
-    }
-  }
-}
-
-void ParseUsdGeomGprim(mjSpec* spec, const pxr::UsdPrim& gprim,
-                       const pxr::UsdPrim& body_prim, mjsBody* parent,
-                       UsdCaches& caches) {
-  mjsGeom* geom = mjs_addGeom(parent, nullptr);
-  mjs_setName(geom->element, gprim.GetPath().GetAsString().c_str());
-  geom->contype = 0;
-  geom->conaffinity = 0;
-
-  SetUsdPrimPathUserValue(geom->element, gprim.GetPath());
-
-  ParseDisplayColorAndOpacity(gprim, geom);
-  SetLocalPoseFromPrim(gprim, body_prim, geom, caches.xform_cache);
-  if (!MaybeParseGeomPrimitive(gprim, geom, caches.xform_cache)) {
-    mjsMesh* mesh = ParseUsdMesh(spec, gprim, geom, caches.xform_cache);
-    if (mesh != nullptr &&
-        (gprim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>())) {
-      ParseMjcPhysicsMeshCollisionAPI(mesh,
-                                      pxr::MjcPhysicsMeshCollisionAPI(gprim));
-    }
-  }
-
-  ParseNewtonMassAPIForGeom(geom, gprim);
-
-  pxr::UsdShadeMaterial bound_material =
-      pxr::UsdShadeMaterialBindingAPI(gprim).ComputeBoundMaterial(
-          &caches.bindings_cache, &caches.collection_query_cache);
-  if (bound_material) {
-    pxr::SdfPath material_path = bound_material.GetPrim().GetPath();
-    mjsMaterial* material = nullptr;
-    if (auto iter = caches.parsed_materials.find(material_path);
-        iter != caches.parsed_materials.end()) {
-      material = iter->second;
-    } else {
-      material = ParseMaterial(spec, bound_material);
-      // ParseMaterial may return a nullptr if the material is not supported.
-      if (material) {
-        caches.parsed_materials[material_path] = material;
-      }
-    }
-    if (material) {
-      mjs_setString(geom->material, mjs_getName(material->element)->c_str());
-    }
-  }
-
-  if (gprim.HasAPI<pxr::MjcPhysicsImageableAPI>()) {
-    auto imageable_api = pxr::MjcPhysicsImageableAPI(gprim);
-    auto group_attr = imageable_api.GetGroupAttr();
-    if (group_attr.HasAuthoredValue()) {
-      group_attr.Get(&geom->group);
-    }
-  }
-}
-
-void ParseUsdPhysicsCollider(mjSpec* spec,
-                             const pxr::UsdPhysicsCollisionAPI& collision_api,
-                             const pxr::UsdPrim& body_prim, mjsBody* parent,
-                             UsdCaches& caches) {
-  pxr::UsdPrim prim = collision_api.GetPrim();
-  // UsdPhysicsCollisionAPI can only be applied to gprim primitives.
-  if (!prim.IsA<pxr::UsdGeomGprim>()) {
-    mju_warning(
-        "UsdPhysicsCollisionAPI applied to a non-UsdGeomGprim prim: %s. "
-        "Skipping.",
-        prim.GetPath().GetAsString().c_str());
-    return;
-  }
-
-  mjsGeom* geom = mjs_addGeom(parent, nullptr);
-  mjs_setName(geom->element, prim.GetPath().GetAsString().c_str());
-  geom->contype = 1;
-  geom->conaffinity = 1;
-
-  SetUsdPrimPathUserValue(geom->element, prim.GetPath());
-
-  ParseNewtonMassAPIForGeom(geom, prim);
-  if (prim.HasAPI<pxr::MjcPhysicsCollisionAPI>()) {
-    ParseMjcPhysicsCollisionAPI(geom, pxr::MjcPhysicsCollisionAPI(prim));
-  }
-
-  pxr::UsdShadeMaterial bound_material =
-      pxr::UsdShadeMaterialBindingAPI(prim).ComputeBoundMaterial(
-          &caches.bindings_cache, &caches.collection_query_cache);
-  if (bound_material) {
-    pxr::UsdPrim bound_material_prim = bound_material.GetPrim();
-    if (bound_material_prim.HasAPI<pxr::UsdPhysicsMaterialAPI>() ||
-        bound_material_prim.HasAPI<pxr::MjcPhysicsMaterialAPI>() ||
-        bound_material_prim.HasAPI(NewtonTokens->NewtonMaterialAPI)) {
-      ParseUsdPhysicsMaterialAPI(
-          geom, pxr::UsdPhysicsMaterialAPI(bound_material_prim));
-      ParseMjcPhysicsMaterialAPI(
-          geom, bound_material_prim,
-          pxr::MjcPhysicsMaterialAPI(bound_material_prim));
-    }
-    pxr::SdfPath material_path = bound_material_prim.GetPath();
-    mjsMaterial* material = nullptr;
-    if (auto iter = caches.parsed_materials.find(material_path);
-        iter != caches.parsed_materials.end()) {
-      material = iter->second;
-    } else {
-      material = ParseMaterial(spec, bound_material);
-      // ParseMaterial may return a nullptr if the material is not supported.
-      if (material) {
-        caches.parsed_materials[material_path] = material;
-      }
-    }
-    if (material) {
-      mjs_setString(geom->material, mjs_getName(material->element)->c_str());
-    }
-  }
-
-  // Parse the Mass API after the physics material APIs since the density
-  // attribute from the Mass API is supposed to override the Material API
-  // density attribute. See
-  // https://openusd.org/dev/api/usd_physics_page_front.html
-  if (prim.HasAPI<pxr::UsdPhysicsMassAPI>()) {
-    ParseUsdPhysicsMassAPIForGeom(geom, pxr::UsdPhysicsMassAPI(prim));
-  }
-
-  ParseDisplayColorAndOpacity(prim, geom);
-
-  SetLocalPoseFromPrim(prim, body_prim, geom, caches.xform_cache);
-
-  if (!MaybeParseGeomPrimitive(prim, geom, caches.xform_cache)) {
-    mjsMesh* mesh = ParseUsdMesh(spec, prim, geom, caches.xform_cache);
-    if (mesh != nullptr &&
-        (prim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>() ||
-         prim.HasAPI(NewtonTokens->NewtonMeshCollisionAPI) ||
-         prim.HasAPI(NewtonTokens->NewtonMassAPI))) {
-      ParseMjcPhysicsMeshCollisionAPI(mesh,
-                                      pxr::MjcPhysicsMeshCollisionAPI(prim));
-    }
-  }
-}
-
-void ParseJointEnabled(mjsEquality* eq, const pxr::UsdPhysicsJoint& joint) {
-  bool jointEnabled = true;
-  joint.GetJointEnabledAttr().Get(&jointEnabled);
-  eq->active = jointEnabled ? 1 : 0;
-}
-
-void ParseMjcEqualityAPISolverParams(
-    mjsEquality* eq, const pxr::MjcPhysicsEqualityAPI& equality_api,
-    const pxr::UsdPrim& prim) {
-  auto solref_attr = equality_api.GetSolRefAttr();
-  if (solref_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solref;
-    solref_attr.Get(&solref);
-    if (solref.size() == mjNREF) {
-      for (int i = 0; i < mjNREF; ++i) {
-        eq->solref[i] = solref[i];
-      }
-    } else {
-      mju_warning(
-          "solref attribute for equality %s has incorrect size "
-          "%zu, expected %d.",
-          prim.GetPath().GetAsString().c_str(), solref.size(), mjNREF);
-    }
-  }
-
-  auto solimp_attr = equality_api.GetSolImpAttr();
-  if (solimp_attr.HasAuthoredValue()) {
-    pxr::VtDoubleArray solimp;
-    solimp_attr.Get(&solimp);
-    if (solimp.size() == mjNIMP) {
-      for (int i = 0; i < mjNIMP; ++i) {
-        eq->solimp[i] = solimp[i];
-      }
-    } else {
-      mju_warning(
-          "solimp attribute for equality %s has incorrect size "
-          "%zu, expected %d.",
-          prim.GetPath().GetAsString().c_str(), solimp.size(), mjNIMP);
-    }
-  }
-}
-
-void ParseConstraint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
-                     pxr::UsdGeomXformCache& xform_cache) {
-  if (prim.HasAPI(NewtonTokens->NewtonMimicAPI) ||
-      prim.HasAPI<pxr::MjcPhysicsEqualityJointAPI>()) {
-    pxr::MjcPhysicsEqualityJointAPI eq_joint_api(prim);
-    mjsEquality* eq = mjs_addEquality(spec, nullptr);
-    eq->type = mjEQ_JOINT;
-    mjs_setName(eq->element, prim.GetPath().GetAsString().c_str());
-    SetUsdPrimPathUserValue(eq->element, prim.GetPath());
-
-    // The prim this API is applied to is the constrained joint (joint1).
-    eq->objtype = mjOBJ_JOINT;
-    mjs_setString(eq->name1, prim.GetPath().GetAsString().c_str());
-
-    // Target joint: prefer newton:mimicJoint, fall back to deprecated mjc:target
-    pxr::SdfPathVector targets;
-    auto newton_mimic_rel = prim.GetRelationship(NewtonTokens->newtonMimicJoint);
-    if (newton_mimic_rel && newton_mimic_rel.GetTargets(&targets) && !targets.empty()) {
-      mjs_setString(eq->name2, targets[0].GetAsString().c_str());
-    } else {
-      auto mjc_target_rel = prim.GetRelationship(MjcPhysicsTokens->mjcTarget);
-      if (mjc_target_rel && mjc_target_rel.GetTargets(&targets) && !targets.empty()) {
-        mjs_setString(eq->name2, targets[0].GetAsString().c_str());
-        mju_warning("Prim '%s' uses deprecated mjc:target. "
-                    "Please migrate to newton:mimicJoint.",
-                    prim.GetPath().GetText());
-      }
-    }
-
-    // Coefficients: prefer Newton, fall back to deprecated MJC
-    auto newton_coef0 = prim.GetAttribute(NewtonTokens->newtonMimicCoef0);
-    auto newton_coef1 = prim.GetAttribute(NewtonTokens->newtonMimicCoef1);
-    if (newton_coef0 && newton_coef0.HasAuthoredValue()) {
-      float val;
-      newton_coef0.Get(&val);
-      eq->data[0] = val;
-    } else {
-      eq_joint_api.GetCoef0Attr().Get(&eq->data[0]);
-      if (eq_joint_api.GetCoef0Attr().HasAuthoredValue()) {
-        mju_warning("Prim '%s' uses deprecated mjc:coef0. "
-                    "Please migrate to newton:mimicCoef0.",
-                    prim.GetPath().GetText());
-      }
-    }
-    if (newton_coef1 && newton_coef1.HasAuthoredValue()) {
-      float val;
-      newton_coef1.Get(&val);
-      eq->data[1] = val;
-    } else {
-      eq_joint_api.GetCoef1Attr().Get(&eq->data[1]);
-      if (eq_joint_api.GetCoef1Attr().HasAuthoredValue()) {
-        mju_warning("Prim '%s' uses deprecated mjc:coef1. "
-                    "Please migrate to newton:mimicCoef1.",
-                    prim.GetPath().GetText());
-      }
-    }
-    eq_joint_api.GetCoef2Attr().Get(&eq->data[2]);
-    eq_joint_api.GetCoef3Attr().Get(&eq->data[3]);
-    eq_joint_api.GetCoef4Attr().Get(&eq->data[4]);
-
-    pxr::UsdPhysicsJoint joint(prim);
-    ParseJointEnabled(eq, joint);
-
-    // Solver params are now inline on MjcEqualityJointAPI
-    auto solref_attr = prim.GetAttribute(MjcPhysicsTokens->mjcSolref);
-    if (solref_attr.HasAuthoredValue()) {
-      pxr::VtDoubleArray solref;
-      solref_attr.Get(&solref);
-      if (solref.size() == mjNREF) {
-        for (int i = 0; i < mjNREF; ++i) {
-          eq->solref[i] = solref[i];
-        }
-      }
-    }
-    auto solimp_attr = prim.GetAttribute(MjcPhysicsTokens->mjcSolimp);
-    if (solimp_attr.HasAuthoredValue()) {
-      pxr::VtDoubleArray solimp;
-      solimp_attr.Get(&solimp);
-      if (solimp.size() == mjNIMP) {
-        for (int i = 0; i < mjNIMP; ++i) {
-          eq->solimp[i] = solimp[i];
-        }
-      }
-    }
-  } else if (prim.IsA<pxr::UsdPhysicsFixedJoint>() ||
-             prim.IsA<pxr::UsdPhysicsSphericalJoint>()) {
-    // Handle fixed joints as weld constraints, spherical joints as connect constraints
-    pxr::UsdPhysicsJoint joint(prim);
-    // A fixed joint means the bodies are welded.
-    pxr::UsdRelationship body0_rel = joint.GetBody0Rel();
-    pxr::UsdRelationship body1_rel = joint.GetBody1Rel();
-    pxr::SdfPathVector targets0, targets1;
-    body0_rel.GetTargets(&targets0);
-    body1_rel.GetTargets(&targets1);
-
-    pxr::SdfPath body0_path;
-    if (!targets0.empty()) body0_path = targets0[0];
-    pxr::SdfPath body1_path;
-    if (!targets1.empty()) body1_path = targets1[0];
-
-    auto stage = prim.GetStage();
-
-    // Get the default prim path to identify the world body.
-    pxr::SdfPath default_prim_path;
-    if (stage->GetDefaultPrim().IsValid()) {
-      default_prim_path = stage->GetDefaultPrim().GetPath();
-    }
-
-    // Map default prim to world body (empty path means world in MuJoCo).
-    bool body0_is_world = body0_path.IsEmpty() || body0_path == default_prim_path;
-    bool body1_is_world = body1_path.IsEmpty() || body1_path == default_prim_path;
-
-    auto body0_prim = stage->GetPrimAtPath(body0_path);
-    auto body1_prim = stage->GetPrimAtPath(body1_path);
-
-    bool body0_is_site = false;
-    if (!body0_path.IsEmpty()) {
-      body0_is_site = body0_prim.HasAPI<pxr::MjcPhysicsSiteAPI>();
-    }
-    bool body1_is_site = false;
-    if (!body1_path.IsEmpty()) {
-      body1_is_site = body1_prim.HasAPI<pxr::MjcPhysicsSiteAPI>();
-    }
-
-    if (body0_is_site != body1_is_site) {
-      mju_warning(
-          "Weld constraint %s has mismatch between site and body targets, "
-          "skipping",
-          prim.GetPath().GetAsString().c_str());
-      return;
-    }
-
-    mjsEquality* eq = mjs_addEquality(spec, nullptr);
-    eq->type = mjEQ_WELD;
-    mjs_setName(eq->element, prim.GetPath().GetAsString().c_str());
-    SetUsdPrimPathUserValue(eq->element, prim.GetPath());
-
-    if (body0_is_site) {
-      mjs_setString(eq->name1, body0_path.GetAsString().c_str());
-      mjs_setString(eq->name2, body1_path.GetAsString().c_str());
-      eq->objtype = mjOBJ_SITE;
-    } else {
-      // For body welds, use "world" for the world body, otherwise use the USD path.
-      mjs_setString(eq->name1, body0_is_world ? "world" : body0_path.GetAsString().c_str());
-      mjs_setString(eq->name2, body1_is_world ? "world" : body1_path.GetAsString().c_str());
-      eq->objtype = mjOBJ_BODY;
-    }
-
-    // In USD, joints have a reference frame that is shared between the two
-    // connecting bodies. This reference frame is defined relative to both
-    // bodies, in localPos/Rot 0 and 1.
-    // In MuJoCo this is specified as an equality constraint, with the
-    // anchor point defined relative to body2 (USD body1) and
-    // the relpose attribute defines the position of the anchor relative to
-    // body1 (USD body0) and the orientation of body2 relative to body1.
-
-    // Concretely:
-    // anchor = localPos1
-    // relpose = (localPos0, localRot0 * localRot1.GetConjugate())
-
-    // relpose is float[7], pos(3) + quat(4)
-    // anchor is float[3], pos(3)
-    // in mjsEquality data: anchor 0-2, relpose 3-9.
-
-    auto body0_xform = xform_cache.GetLocalToWorldTransform(body0_prim);
-    auto body1_xform = xform_cache.GetLocalToWorldTransform(body1_prim);
-
-    pxr::GfVec3d body0_scale, body1_scale;
-
-    {
-      pxr::GfMatrix4d scale_orient, rot, persp;
-      pxr::GfVec3d translation;
-      if (!body0_xform.Factor(&scale_orient, &body0_scale, &rot, &translation,
-                              &persp)) {
-        // unable to decompose, emit warning and set scale to identity
-        mju_warning("Unable to decompose matrix for body 0: %s.",
-                    body0_path.GetAsString().c_str());
-        body0_scale = pxr::GfVec3f(1, 1, 1);
-      }
-
-      if (!body1_xform.Factor(&scale_orient, &body1_scale, &rot, &translation,
-                              &persp)) {
-        // unable to decompose, emit warning and set scale to identity
-        mju_warning("Unable to decompose matrix for body 1: %s.",
-                    body1_path.GetAsString().c_str());
-        body1_scale = pxr::GfVec3f(1, 1, 1);
-      }
-    }
-
-    pxr::GfVec3f localPos0;
-    joint.GetLocalPos0Attr().Get(&localPos0);
-    localPos0[0] *= body0_scale[0];
-    localPos0[1] *= body0_scale[1];
-    localPos0[2] *= body0_scale[2];
-
-    pxr::GfVec3f localPos1;
-    joint.GetLocalPos1Attr().Get(&localPos1);
-    localPos1[0] *= body1_scale[0];
-    localPos1[1] *= body1_scale[1];
-    localPos1[2] *= body1_scale[2];
-
-    pxr::GfQuatf localRot0, localRot1;
-    joint.GetLocalRot0Attr().Get(&localRot0);
-    joint.GetLocalRot1Attr().Get(&localRot1);
-
-    auto relpose_quat = localRot0 * localRot1.GetConjugate();
-    relpose_quat.Normalize();
-
-    if (prim.HasAPI<pxr::MjcPhysicsEqualityConnectAPI>()) {
-      eq->type = mjEQ_CONNECT;
-      eq->data[0] = localPos0[0];
-      eq->data[1] = localPos0[1];
-      eq->data[2] = localPos0[2];
-
-      pxr::MjcPhysicsEqualityAPI equality_api(prim);
-      ParseMjcEqualityAPISolverParams(eq, equality_api, prim);
-    } else {
-      eq->data[0] = localPos1[0];
-      eq->data[1] = localPos1[1];
-      eq->data[2] = localPos1[2];
-
-      bool has_relpose = joint.GetLocalPos0Attr().HasAuthoredValue() ||
-                         joint.GetLocalRot0Attr().HasAuthoredValue() ||
-                         joint.GetLocalRot1Attr().HasAuthoredValue();
-
-      if (has_relpose) {
-        eq->data[3] = localPos0[0];
-        eq->data[4] = localPos0[1];
-        eq->data[5] = localPos0[2];
-        eq->data[6] = relpose_quat.GetReal();
-        eq->data[7] = relpose_quat.GetImaginary()[0];
-        eq->data[8] = relpose_quat.GetImaginary()[1];
-        eq->data[9] = relpose_quat.GetImaginary()[2];
-      }
-
-      if (prim.HasAPI<pxr::MjcPhysicsEqualityWeldAPI>()) {
-        pxr::MjcPhysicsEqualityAPI equality_api(prim);
-        ParseMjcEqualityAPISolverParams(eq, equality_api, prim);
-
-        pxr::MjcPhysicsEqualityWeldAPI weld_api(prim);
-        float torque_scale;
-        if (weld_api.GetTorqueScaleAttr().Get(&torque_scale)) {
-          eq->data[10] = torque_scale;
-        }
-      }
-    }
-
-    ParseJointEnabled(eq, joint);
-  }
-}
-
-void ParseUsdPhysicsJoint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
-                          pxr::UsdGeomXformCache& xform_cache) {
-  // A fixed joint means the bodies are welded.
-  if (prim.IsA<pxr::UsdPhysicsFixedJoint>()) {
-    // No joint needed for welded bodies.
-    return;
-  }
-
-  pxr::UsdPhysicsJoint joint(prim);
-
-  mjtJoint type;
-  if (prim.IsA<pxr::UsdPhysicsRevoluteJoint>()) {
-    type = mjJNT_HINGE;
-  } else if (prim.IsA<pxr::UsdPhysicsPrismaticJoint>()) {
-    type = mjJNT_SLIDE;
-  } else {
-    // Unsupported joint type.
-    mju_warning("Unsupported joint type for %s",
-                prim.GetPath().GetAsString().c_str());
-    return;
-  }
-
-  mjsJoint* mj_joint = mjs_addJoint(body, nullptr);
-  mj_joint->type = type;
-  mjs_setName(mj_joint->element, prim.GetPath().GetAsString().c_str());
-
-  SetUsdPrimPathUserValue(mj_joint->element, prim.GetPath());
-
-  if (prim.IsA<pxr::UsdPhysicsRevoluteJoint>()) {
-    pxr::UsdPhysicsRevoluteJoint revolute(prim);
-    TfToken axis;
-    revolute.GetAxisAttr().Get(&axis);
-    if (axis == pxr::UsdGeomTokens->x) {
-      mj_joint->axis[0] = 1;
-      mj_joint->axis[1] = 0;
-      mj_joint->axis[2] = 0;
-    } else if (axis == pxr::UsdGeomTokens->y) {
-      mj_joint->axis[0] = 0;
-      mj_joint->axis[1] = 1;
-      mj_joint->axis[2] = 0;
-    } else {  // Z is default
-      mj_joint->axis[0] = 0;
-      mj_joint->axis[1] = 0;
-      mj_joint->axis[2] = 1;
-    }
-
-    float lower, upper;
-    if (revolute.GetLowerLimitAttr().Get(&lower) &&
-        revolute.GetUpperLimitAttr().Get(&upper)) {
-      mj_joint->limited = mjLIMITED_TRUE;
-      if (spec->compiler.degree) {
-        mj_joint->range[0] = lower;
-        mj_joint->range[1] = upper;
-      } else {
-        mj_joint->range[0] = lower * std::numbers::pi / 180.0;
-        mj_joint->range[1] = upper * std::numbers::pi / 180.0;
-      }
-    }
-  } else if (prim.IsA<pxr::UsdPhysicsPrismaticJoint>()) {
-    pxr::UsdPhysicsPrismaticJoint prismatic(prim);
-    TfToken axis;
-    prismatic.GetAxisAttr().Get(&axis);
-    if (axis == pxr::UsdGeomTokens->x) {
-      mj_joint->axis[0] = 1;
-      mj_joint->axis[1] = 0;
-      mj_joint->axis[2] = 0;
-    } else if (axis == pxr::UsdGeomTokens->y) {
-      mj_joint->axis[0] = 0;
-      mj_joint->axis[1] = 1;
-      mj_joint->axis[2] = 0;
-    } else {  // Z is default
-      mj_joint->axis[0] = 0;
-      mj_joint->axis[1] = 0;
-      mj_joint->axis[2] = 1;
-    }
-    float lower, upper;
-    if (prismatic.GetLowerLimitAttr().Get(&lower) &&
-        prismatic.GetUpperLimitAttr().Get(&upper)) {
-      mj_joint->limited = mjLIMITED_TRUE;
-      mj_joint->range[0] = lower;
-      mj_joint->range[1] = upper;
-    }
-  }
-
-  // localPose1 is joint frame in child body (body1) coordinates.
-  pxr::GfVec3f localPos1;
-  joint.GetLocalPos1Attr().Get(&localPos1);
-  pxr::GfVec3d pos(localPos1);
-
-  pxr::GfQuatf localRot1;
-  joint.GetLocalRot1Attr().Get(&localRot1);
-  pxr::GfQuatd rot(localRot1);
-
-  SetDoubleArrFromGfVec3d(mj_joint->pos, pos);
-
-  // Transform joint axis by localPose1 rotation.
-  if (mj_joint->type == mjJNT_HINGE || mj_joint->type == mjJNT_SLIDE) {
-    pxr::GfVec3d axis_vec(mj_joint->axis[0], mj_joint->axis[1],
-                          mj_joint->axis[2]);
-    pxr::GfVec3d rotated_axis = rot.Transform(axis_vec);
-    SetDoubleArrFromGfVec3d(mj_joint->axis, rotated_axis);
-  }
-
-  if (prim.HasAPI<pxr::MjcPhysicsJointAPI>() ||
-      prim.HasAPI(NewtonTokens->NewtonJointAPI)) {
-    ParseMjcPhysicsJointAPI(mj_joint, pxr::MjcPhysicsJointAPI(prim));
-  }
-}
-
-void ParseSite(mjSpec* spec, const pxr::UsdPrim& prim,
-                         const pxr::UsdPrim& parent_prim, mjsBody* parent,
-                         pxr::UsdGeomXformCache& xform_cache) {
-  mjsSite* site = mjs_addSite(parent, 0);
-  mjs_setName(site->element, prim.GetPath().GetAsString().c_str());
-  SetLocalPoseFromPrim(prim, parent_prim, site, xform_cache);
-
-  SetUsdPrimPathUserValue(site->element, prim.GetPath());
-
-  if (prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
-    auto site_api = pxr::MjcPhysicsSiteAPI(prim);
-    auto group_attr = site_api.GetGroupAttr();
-    if (group_attr.HasAuthoredValue()) {
-      group_attr.Get(&site->group);
-    }
-  }
-
-  // Convert USD type to MuJoCo type.
-  if (!MaybeParseGeomPrimitive(prim, site, xform_cache)) {
-    mju_error("Prim with SiteAPI has unsupported type %s",
-              prim.GetTypeName().GetString().c_str());
-    return;
-  }
-}
-
-void ParseMjcPhysicsKeyframe(mjSpec* spec,
-                             const pxr::MjcPhysicsKeyframe& keyframe) {
-  auto prim = keyframe.GetPrim();
-  auto qpos_attr = keyframe.GetMjcQposAttr();
-  auto qvel_attr = keyframe.GetMjcQvelAttr();
-  auto act_attr = keyframe.GetMjcActAttr();
-  auto ctrl_attr = keyframe.GetMjcCtrlAttr();
-  auto mpos_attr = keyframe.GetMjcMposAttr();
-  auto mquat_attr = keyframe.GetMjcMquatAttr();
-
-  auto setKeyframeData = [](mjsKey* key, const pxr::UsdAttribute& attr,
-                            std::vector<double>** key_data,
-                            double* time = nullptr) {
-    if (attr.HasAuthoredValue()) {
-      pxr::VtDoubleArray data;
-      if (time == nullptr) {
-        attr.Get(&data);
-      } else {
-        attr.Get(&data, *time);
-      }
-      *key_data = new std::vector<double>(data.begin(), data.end());
-    }
-  };
-
-  size_t n_time_samples = 0;
-  if (qpos_attr.HasAuthoredValue()) {
-    n_time_samples = qpos_attr.GetNumTimeSamples();
-  }
-
-  if (n_time_samples == 0) {
-    // If no time samples, we create a single keyframe.
-    mjsKey* key = mjs_addKey(spec);
-
-    SetUsdPrimPathUserValue(key->element, prim.GetPath());
-
-    mjs_setName(key->element, prim.GetName().GetString().c_str());
-    setKeyframeData(key, qpos_attr, &key->qpos);
-    setKeyframeData(key, qvel_attr, &key->qvel);
-    setKeyframeData(key, act_attr, &key->act);
-    setKeyframeData(key, ctrl_attr, &key->ctrl);
-    setKeyframeData(key, mpos_attr, &key->mpos);
-    setKeyframeData(key, mquat_attr, &key->mquat);
-  } else {
-    // If time samples, we create a keyframe for each time sample.
-    std::vector<double> times;
-    qpos_attr.GetTimeSamples(&times);
-    int keyframe_id = 0;
-    for (double time : times) {
-      mjsKey* key = mjs_addKey(spec);
-
-      SetUsdPrimPathUserValue(key->element, prim.GetPath());
-
-      std::string key_name =
-          prim.GetName().GetString() + "_" + std::to_string(keyframe_id++);
-      mjs_setName(key->element, key_name.c_str());
-      key->time = time;
-      setKeyframeData(key, qpos_attr, &key->qpos, &time);
-      setKeyframeData(key, qvel_attr, &key->qvel, &time);
-      setKeyframeData(key, act_attr, &key->act, &time);
-      setKeyframeData(key, ctrl_attr, &key->ctrl, &time);
-      setKeyframeData(key, mpos_attr, &key->mpos, &time);
-      setKeyframeData(key, mquat_attr, &key->mquat, &time);
-    }
-  }
-}
-
-void ParseUsdFilteredPairsAPI(mjSpec* spec, const pxr::UsdPrim& prim) {
-  pxr::SdfPathVector filtered_bodies;
-  pxr::UsdPhysicsFilteredPairsAPI(prim).GetFilteredPairsRel().GetTargets(&filtered_bodies);
-  for (const auto& filtered_body : filtered_bodies) {
-    mjsExclude* exclude = mjs_addExclude(spec);
-    mjs_setString(exclude->bodyname1, prim.GetPath().GetAsString().c_str());
-    mjs_setString(exclude->bodyname2, filtered_body.GetAsString().c_str());
-  }
-}
-
-void ParseNewtonArticulationRootAPI(mjSpec* spec, const pxr::UsdPrim& prim) {
-  auto add_mobility_attr =
-      prim.GetAttribute(NewtonTokens->newtonJointsAddMobility);
-  if (add_mobility_attr && add_mobility_attr.HasAuthoredValue()) {
-    bool add_mobility;
-    add_mobility_attr.Get(&add_mobility);
-    if (!add_mobility) {
-      mju_warning(
-          "Prim '%s' has newton:jointsAddMobility set to false, but MuJoCo "
-          "only supports reduced-coordinate formulations where joints add "
-          "mobility. Joints will be treated as adding mobility.",
-          prim.GetPath().GetText());
-    }
-  }
-}
-
-mjsBody* ParseUsdPhysicsRigidbody(
-    mjSpec* spec, const pxr::UsdPhysicsRigidBodyAPI& rigidbody_api,
-    const pxr::UsdPrim& parent_prim, mjsBody* parent,
-    pxr::UsdGeomXformCache& xform_cache) {
-  pxr::UsdPrim prim = rigidbody_api.GetPrim();
-  mjsBody* body = mjs_addBody(parent, nullptr);
-  mjs_setName(body->element, prim.GetPath().GetAsString().c_str());
-  SetLocalPoseFromPrim(prim, parent_prim, body, xform_cache);
-
-  if (prim.HasAPI<pxr::UsdPhysicsMassAPI>()) {
-    ParseUsdPhysicsMassAPIForBody(body, pxr::UsdPhysicsMassAPI(prim));
-  }
-
-  if (prim.HasAPI(NewtonTokens->NewtonArticulationRootAPI)) {
-    ParseNewtonArticulationRootAPI(spec, prim);
-  }
-
-  // The value is a pointer to a newly allocated SdfPath, which will be deleted
-  // when the mjsElement is deleted.
-  const pxr::SdfPath* usd_primpath = new pxr::SdfPath(prim.GetPath());
-  mjs_setUserValueWithCleanup(
-      body->element, kUsdPrimPathKey, usd_primpath,
-      [](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
-
-  if (prim.HasAPI<pxr::UsdPhysicsFilteredPairsAPI>()) {
-    ParseUsdFilteredPairsAPI(spec, prim);
-  }
-
-  return body;
-}
-
-// There is no common base class for UsdPhysicsRigidBodyAPI and
-// UsdPhysicsCollisionAPI so we need a templated function.
-template <class T>
-bool IsObjectInPhysicsScene(const T& object,
-                            const pxr::UsdPhysicsScene& physics_scene) {
-  pxr::SdfPathVector sim_owners;
-  object.GetSimulationOwnerRel().GetTargets(&sim_owners);
-  for (const auto& sim_owner : sim_owners) {
-    if (physics_scene.GetPath() == sim_owner) {
-      return true;
-    }
-  }
-  return false;
-};
-
-// Helper type to store all the prims that belong to a body.
-using BodyPrimMap = std::map<pxr::SdfPath, std::vector<pxr::SdfPath>>;
-
-// Recursively traverses the kinematic tree, creating bodies, joints, and geoms
-// in the mjSpec.
-void PopulateSpecFromTree(pxr::UsdStageRefPtr stage, mjSpec* spec,
-                          mjsBody* parent_mj_body, const Node* parent_node,
-                          const Node* current_node, UsdCaches& caches) {
-  mjsBody* current_mj_body = nullptr;
-
-  if (!current_node->body_path.IsEmpty()) {
-    // This is *not* the world body.
-    pxr::SdfPath parent_body_path =
-        parent_node ? parent_node->body_path : pxr::SdfPath();
-    pxr::UsdPrim parent_prim_for_xform =
-        parent_body_path.IsEmpty() ? stage->GetPseudoRoot()
-                                   : stage->GetPrimAtPath(parent_body_path);
-
-    current_mj_body = ParseUsdPhysicsRigidbody(
-        spec, pxr::UsdPhysicsRigidBodyAPI::Get(stage, current_node->body_path),
-        parent_prim_for_xform, parent_mj_body, caches.xform_cache);
-  } else {
-    current_mj_body = mjs_findBody(spec, "world");
-  }
-
-  if (!current_node->joints.empty()) {
-    for (const auto& joint_path : current_node->joints) {
-      ParseUsdPhysicsJoint(spec, stage->GetPrimAtPath(joint_path),
-                           current_mj_body, caches.xform_cache);
-    }
-  } else if (parent_mj_body == mjs_findBody(spec, "world")) {
-    // No joint to parent, and parent is world: this is a floating body.
-    mjsJoint* free_joint = mjs_addJoint(current_mj_body, nullptr);
-    free_joint->type = mjJNT_FREE;
-  }
-
-  for (const auto& constraint_path : current_node->constraints) {
-    ParseConstraint(spec, stage->GetPrimAtPath(constraint_path),
-                    current_mj_body, caches.xform_cache);
-  }
-
-  pxr::UsdPrim body_prim_for_xform =
-      current_node->body_path.IsEmpty()
-          ? stage->GetPseudoRoot()
-          : stage->GetPrimAtPath(current_node->body_path);
-
-  for (const auto& gprim_path : current_node->visual_gprims) {
-    auto gprim = stage->GetPrimAtPath(gprim_path);
-    ParseUsdGeomGprim(spec, gprim, body_prim_for_xform, current_mj_body,
-                      caches);
-  }
-
-  for (const auto& collider_path : current_node->colliders) {
-    ParseUsdPhysicsCollider(
-        spec, pxr::UsdPhysicsCollisionAPI(stage->GetPrimAtPath(collider_path)),
-        body_prim_for_xform, current_mj_body, caches);
-  }
-
-  for (const auto& site_path : current_node->sites) {
-    ParseSite(
-        spec, stage->GetPrimAtPath(site_path),
-        body_prim_for_xform, current_mj_body, caches.xform_cache);
-  }
-
-  // Recurse through children.
-  for (const auto& child_node : current_node->children) {
-    PopulateSpecFromTree(stage, spec, current_mj_body, current_node,
-                         child_node.get(), caches);
-  }
-}
-
-mjSpec* ParseStage(const pxr::UsdStageRefPtr stage) {
-  mjSpec* spec = mj_makeSpec();
-
-  std::unique_ptr<Node> root = BuildKinematicTree(stage);
-
-  // First parse the physics scene and other root elements such as keyframes
-  // and actuators.
-  if (!root->physics_scene.IsEmpty()) {
-    ParseUsdPhysicsScene(spec,
-                         pxr::UsdPhysicsScene::Get(stage, root->physics_scene));
-  } else {
-    // If there is no physics scene we still need to infer the gravity vector
-    // from the stage up axis and units per meter metadata.
-    SetGravityAttributes(spec, stage);
-  }
-
-  if (!root->keyframes.empty()) {
-    for (const auto& keyframe : root->keyframes) {
-      ParseMjcPhysicsKeyframe(spec,
-                              pxr::MjcPhysicsKeyframe::Get(stage, keyframe));
-    }
-  }
-
-  if (!root->actuators.empty()) {
-    for (const auto& actuator : root->actuators) {
-      ParseMjcPhysicsActuator(spec,
-                              pxr::MjcPhysicsActuator::Get(stage, actuator));
-    }
-  }
-
-  if (!root->tendons.empty()) {
-    for (const auto& tendon : root->tendons) {
-      ParseMjcPhysicsTendon(spec, pxr::MjcPhysicsTendon::Get(stage, tendon));
-    }
-  }
-
-  // Set of caches to use for all queries when parsing.
-  UsdCaches caches;
-  // Then populate the kinematic tree.
-  PopulateSpecFromTree(stage, spec, /*parent_mj_body=*/nullptr,
-                       /*parent_node=*/nullptr, root.get(), caches);
-
-  return spec;
-}
-
-namespace {
-// load 2D
-mjSpec* Decode(mjResource* resource, const mjVFS* vfs) {
-  auto stage = pxr::UsdStage::Open(resource->name);
-  return ParseStage(stage);
-}
-
-int CanDecode(const mjResource* resource) {
-  std::string_view name(resource->name);
-  return name.ends_with(".usd") || name.ends_with(".usda") ||
-         name.ends_with(".usdc") || name.ends_with(".usdz");
-}
-}  // namespace
-
-// clang-format off
-mjPLUGIN_LIB_INIT(usd_decoder) {
-  mjpDecoder decoder;
-  mjp_defaultDecoder(&decoder);
-  decoder.content_type = "model/usd";
-  decoder.extension = ".usd|.usda|.usdc|.usdz";
-  decoder.decode = Decode;
-  decoder.can_decode = CanDecode;
-  mjp_registerDecoder(&decoder);
-}
diff --git a/python/LQR.ipynb b/python/LQR.ipynb
deleted file mode 100644
index 89767ac9..00000000
--- a/python/LQR.ipynb
+++ /dev/null
@@ -1,952 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "bR2IJtzSilBv"
-   },
-   "source": [
-    "![MuJoCo banner](https://raw.githubusercontent.com/google-deepmind/mujoco/main/banner.png)\n",
-    "\n",
-    "# <h1><center>LQR tutorial  <a href=\"https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/LQR.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"140\" align=\"center\"/></a></center></h1>\n",
-    "\n",
-    "This notebook provides an example of an LQR controller using [**MuJoCo** physics](https://github.com/google-deepmind/mujoco#readme).\n",
-    "\n",
-    "<!-- Copyright 2021 DeepMind Technologies Limited\n",
-    "\n",
-    "     Licensed under the Apache License, Version 2.0 (the \"License\");\n",
-    "     you may not use this file except in compliance with the License.\n",
-    "     You may obtain a copy of the License at\n",
-    "\n",
-    "         http://www.apache.org/licenses/LICENSE-2.0\n",
-    "\n",
-    "     Unless required by applicable law or agreed to in writing, software\n",
-    "     distributed under the License is distributed on an \"AS IS\" BASIS,\n",
-    "     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n",
-    "     See the License for the specific language governing permissions and\n",
-    "     limitations under the License.\n",
-    "-->"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "QPdJNe3k62mx"
-   },
-   "source": [
-    "## All imports\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Xqo7pyX-n72M"
-   },
-   "outputs": [],
-   "source": [
-    "!pip install mujoco\n",
-    "\n",
-    "# Set up GPU rendering.\n",
-    "from google.colab import files\n",
-    "import distutils.util\n",
-    "import os\n",
-    "import subprocess\n",
-    "if subprocess.run('nvidia-smi').returncode:\n",
-    "  raise RuntimeError(\n",
-    "      'Cannot communicate with GPU. '\n",
-    "      'Make sure you are using a GPU Colab runtime. '\n",
-    "      'Go to the Runtime menu and select Choose runtime type.')\n",
-    "\n",
-    "# Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
-    "# This is usually installed as part of an Nvidia driver package, but the Colab\n",
-    "# kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
-    "# (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
-    "NVIDIA_ICD_CONFIG_PATH = '/usr/share/glvnd/egl_vendor.d/10_nvidia.json'\n",
-    "if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
-    "  with open(NVIDIA_ICD_CONFIG_PATH, 'w') as f:\n",
-    "    f.write(\"\"\"{\n",
-    "    \"file_format_version\" : \"1.0.0\",\n",
-    "    \"ICD\" : {\n",
-    "        \"library_path\" : \"libEGL_nvidia.so.0\"\n",
-    "    }\n",
-    "}\n",
-    "\"\"\")\n",
-    "\n",
-    "# Configure MuJoCo to use the EGL rendering backend (requires GPU)\n",
-    "print('Setting environment variable to use GPU rendering:')\n",
-    "%env MUJOCO_GL=egl\n",
-    "\n",
-    "# Check if installation was succesful.\n",
-    "try:\n",
-    "  print('Checking that the installation succeeded:')\n",
-    "  import mujoco\n",
-    "  mujoco.MjModel.from_xml_string('<mujoco/>')\n",
-    "except Exception as e:\n",
-    "  raise e from RuntimeError(\n",
-    "      'Something went wrong during installation. Check the shell output above '\n",
-    "      'for more information.\\n'\n",
-    "      'If using a hosted Colab runtime, make sure you enable GPU acceleration '\n",
-    "      'by going to the Runtime menu and selecting \"Choose runtime type\".')\n",
-    "\n",
-    "print('Installation successful.')\n",
-    "\n",
-    "# Other imports and helper functions\n",
-    "import numpy as np\n",
-    "from typing import Callable, Optional, Union, List\n",
-    "import scipy.linalg\n",
-    "\n",
-    "# Graphics and plotting.\n",
-    "print('Installing mediapy:')\n",
-    "!command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
-    "!pip install -q mediapy\n",
-    "import mediapy as media\n",
-    "import matplotlib.pyplot as plt\n",
-    "\n",
-    "# More legible printing from numpy.\n",
-    "np.set_printoptions(precision=3, suppress=True, linewidth=100)\n",
-    "\n",
-    "from IPython.display import clear_output\n",
-    "clear_output()\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "J5fL6p-Sx5DB"
-   },
-   "source": [
-    "## Load and render the standard humanoid"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "RecFjafkfX4V"
-   },
-   "outputs": [],
-   "source": [
-    "print('Getting MuJoCo humanoid XML description from GitHub:')\n",
-    "!git clone https://github.com/google-deepmind/mujoco\n",
-    "with open('mujoco/model/humanoid/humanoid.xml', 'r') as f:\n",
-    "  xml = f.read()\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "5_2cf2qgy0AX"
-   },
-   "source": [
-    "The XML is used to instantiate an `MjModel`. Given the model, we can create an `MjData` which holds the simulation state, and an instance of the `Renderer` class defined above."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "yftlgN0yznRe"
-   },
-   "outputs": [],
-   "source": [
-    "model = mujoco.MjModel.from_xml_string(xml)\n",
-    "data = mujoco.MjData(model)\n",
-    "renderer = mujoco.Renderer(model)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "9IvE5_N5zznN"
-   },
-   "source": [
-    "The state in the `data` object is in the default configuration. Let's invoke the forward dynamics to populate all the derived quantities (like the positions of geoms in the world), update the scene and render it:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "F6ZhQv2l0OOu"
-   },
-   "outputs": [],
-   "source": [
-    "mujoco.mj_forward(model, data)\n",
-    "renderer.update_scene(data)\n",
-    "media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "GzJsMlpW0_8G"
-   },
-   "source": [
-    "The model comes with some built-in \"keyframes\" which are saved simulation states.\n",
-    "\n",
-    "`mj_resetDataKeyframe` can be used to load them. Let's see what they look like:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "wWzbBpCBgAzE"
-   },
-   "outputs": [],
-   "source": [
-    "for key in range(model.nkey):\n",
-    "  mujoco.mj_resetDataKeyframe(model, data, key)\n",
-    "  mujoco.mj_forward(model, data)\n",
-    "  renderer.update_scene(data)\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "MuJp0smS2yEb"
-   },
-   "source": [
-    "Now let's simulate the physics and render to make a video."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "I75-J4DowklB"
-   },
-   "outputs": [],
-   "source": [
-    "DURATION  = 3   # seconds\n",
-    "FRAMERATE = 60  # Hz\n",
-    "\n",
-    "# Initialize to the standing-on-one-leg pose.\n",
-    "mujoco.mj_resetDataKeyframe(model, data, 1)\n",
-    "\n",
-    "frames = []\n",
-    "while data.time < DURATION:\n",
-    "  # Step the simulation.\n",
-    "  mujoco.mj_step(model, data)\n",
-    "\n",
-    "  # Render and save frames.\n",
-    "  if len(frames) < data.time * FRAMERATE:\n",
-    "    renderer.update_scene(data)\n",
-    "    pixels = renderer.render()\n",
-    "    frames.append(pixels)\n",
-    "\n",
-    "# Display video.\n",
-    "media.show_video(frames, fps=FRAMERATE)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Qr9LpiLj4pSV"
-   },
-   "source": [
-    "The model defines built-in torque actuators which we can use to drive the humanoid's joints by setting the `data.ctrl` vector. Let's see what happens if we inject noise into it.\n",
-    "\n",
-    "While we're here, let's use a custom camera that will track the humanoid's center of mass."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "kFeaLU7n42Iu"
-   },
-   "outputs": [],
-   "source": [
-    "DURATION  = 3   # seconds\n",
-    "FRAMERATE = 60  # Hz\n",
-    "\n",
-    "# Make a new camera, move it to a closer distance.\n",
-    "camera = mujoco.MjvCamera()\n",
-    "mujoco.mjv_defaultFreeCamera(model, camera)\n",
-    "camera.distance = 2\n",
-    "\n",
-    "mujoco.mj_resetDataKeyframe(model, data, 1)\n",
-    "\n",
-    "frames = []\n",
-    "while data.time < DURATION:\n",
-    "  # Set control vector.\n",
-    "  data.ctrl = np.random.randn(model.nu)\n",
-    "\n",
-    "  # Step the simulation.\n",
-    "  mujoco.mj_step(model, data)\n",
-    "\n",
-    "  # Render and save frames.\n",
-    "  if len(frames) < data.time * FRAMERATE:\n",
-    "    # Set the lookat point to the humanoid's center of mass.\n",
-    "    camera.lookat = data.body('torso').subtree_com\n",
-    "\n",
-    "    renderer.update_scene(data, camera)\n",
-    "    pixels = renderer.render()\n",
-    "    frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=FRAMERATE)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "9XVqpSg78SH9"
-   },
-   "source": [
-    "## Stable standing on one leg\n",
-    "\n",
-    "Clearly this initial pose is not stable. We'll try to find a stabilising control law using a [Linear Quadratic Regulator](https://en.wikipedia.org/wiki/Linear%E2%80%93quadratic_regulator)."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "iPZ3TztDDLSg"
-   },
-   "source": [
-    "### Recap of LQR theory\n",
-    "There are many online resources explaining this theory, developed by Rudolph Kalman in the 1960s, but we'll provide a minimal recap.\n",
-    "\n",
-    "Given a dynamical system which is linear in the state $x$ and control $u$,\n",
-    "$$\n",
-    "x_{t+h} = A x_t + B u_t\n",
-    "$$\n",
-    "if the system fulfills a controllability criterion, it is possible to stabilize it (drive $x$ to 0) in an optimal fashion, as follows. Define a quadratic cost function over states and controls $J(x,u)$ using two Symmetric Positive Definite matrices $Q$ and $R$:\n",
-    "$$\n",
-    "J(x,u) = x^T Q x + u^T R u\n",
-    "$$\n",
-    "\n",
-    "The cost-to-go $V^\\pi(x_0)$, also known as the Value function, is the total sum of future costs, letting the state start at $x_0$ and evolve according to the dynamics, while using a control law $u=\\pi(x)$:\n",
-    "$$\n",
-    "V^\\pi(x_0) = \\sum_{t=0}^\\infty J(x_t, \\pi(x_t))\n",
-    "$$\n",
-    "Kalman's central result can now be stated. The optimal control law which minimizes the cost-to-go (over all possible control laws!) is linear\n",
-    "$$\n",
-    "\\pi^*(x) = \\underset{\\pi}{\\text{argmin}}\\; V^\\pi(x)=-Kx\n",
-    "$$\n",
-    "and the optimal cost-to-go is quadratic\n",
-    "$$\n",
-    "V^*(x) =\\underset{\\pi}{\\min}\\; V^\\pi(x) = x^T P x\n",
-    "$$\n",
-    "The matrix $P$ obeys the Riccati equation\n",
-    "$$\n",
-    "P = Q + A^T P A - A^T P B (R+B^T P B)^{-1} B^T P A\n",
-    "$$\n",
-    "and its relationship to the control gain matrix $K$ is\n",
-    "$$\n",
-    "K = (R + B^T  P B)^{-1} B^T P A\n",
-    "$$"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "ek1RjwKBNT3C"
-   },
-   "source": [
-    "### Understanding linearization setpoints\n",
-    "\n",
-    "Of course our humanoid simulation is anything but linear. But while MuJoCo's `mj_step` function computes some non-linear dynamics $x_{t+h} = f(x_t,u_t)$, we can *linearize* this function around any state-control pair. Using shortcuts for the next state $y=x_{t+h}$, the current state $x=x_t$ and the current control $u=u_t$, and using $\\delta$ to mean \"small change in\", we can write\n",
-    "$$\n",
-    "\\delta y = \\frac{\\partial f}{\\partial x}\\delta x+ \\frac{\\partial f}{\\partial u}\\delta u\n",
-    "$$\n",
-    "In other words, the partial derivative matrices decribe a linear relationship between perturbations to $x$ and $u$ and changes to $y$. Comparing to the theory above, we can identify the partial derivative (Jacobian) matrices with the transition matrices $A$ and $B$, when considering the linearized dynamical system:\n",
-    "$$\n",
-    "A = \\frac{\\partial f}{\\partial x} \\quad\n",
-    "B = \\frac{\\partial f}{\\partial u}\n",
-    "$$\n",
-    "In order to perform the linearization, we need to choose some setpoints $x$ and $u$ around which we will linearize. We already know $x$, this is our initial pose of standing on one leg. But what about $u$? How do we find the \"best\" control around which to linearise?\n",
-    "\n",
-    "The answer is inverse dynamics."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "6wPXh8xxWX0y"
-   },
-   "source": [
-    "### Finding the control setpoint using inverse dynamics\n",
-    "\n",
-    "MuJoCo's forward dynamics function `mj_forward`, which we used above in order to propagate derived quantities, computes the acceleration given the state and all the forces in the system, some of which are created by the actuators.\n",
-    "\n",
-    "The inverse dynamics function takes the acceleration as *input*, and computes the forces required to create the acceleration. Uniquely, MuJoCo's [fast inverse dynamics](https://doi.org/10.1109/ICRA.2014.6907751) takes into account all constraints, including contacts. Let's see how it works.\n",
-    "\n",
-    "We'll call the forward dynamics at our desired position setpoint, set the acceleration in `data.qacc` to 0, and call the inverse dynamics:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "8Q6Ceuf7ZHGQ"
-   },
-   "outputs": [],
-   "source": [
-    "mujoco.mj_resetDataKeyframe(model, data, 1)\n",
-    "mujoco.mj_forward(model, data)\n",
-    "data.qacc = 0  # Assert that there is no the acceleration.\n",
-    "mujoco.mj_inverse(model, data)\n",
-    "print(data.qfrc_inverse)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "6tqFzfwNa2i8"
-   },
-   "source": [
-    "Examining the forces found by the inverse dynamics, we see something rather disturbing. There is a very large force applied at the 3rd degree-of-freedom (DoF), the vertical motion DoF of the root joint.\n",
-    "\n",
-    "This means that in order to explain our assertion that the acceleration is zero, the inverse dynamics has to invent a \"magic\" force applied directly to the root joint. Let's see how this force varies as we move our humanoid up and down by just 1mm, in increments of 1$\\mu$m:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "2eN8b1EZ5GO9"
-   },
-   "outputs": [],
-   "source": [
-    "height_offsets = np.linspace(-0.001, 0.001, 2001)\n",
-    "vertical_forces = []\n",
-    "for offset in height_offsets:\n",
-    "  mujoco.mj_resetDataKeyframe(model, data, 1)\n",
-    "  mujoco.mj_forward(model, data)\n",
-    "  data.qacc = 0\n",
-    "  # Offset the height by `offset`.\n",
-    "  data.qpos[2] += offset\n",
-    "  mujoco.mj_inverse(model, data)\n",
-    "  vertical_forces.append(data.qfrc_inverse[2])\n",
-    "\n",
-    "# Find the height-offset at which the vertical force is smallest.\n",
-    "idx = np.argmin(np.abs(vertical_forces))\n",
-    "best_offset = height_offsets[idx]\n",
-    "\n",
-    "# Plot the relationship.\n",
-    "plt.figure(figsize=(10, 6))\n",
-    "plt.plot(height_offsets * 1000, vertical_forces, linewidth=3)\n",
-    "# Red vertical line at offset corresponding to smallest vertical force.\n",
-    "plt.axvline(x=best_offset*1000, color='red', linestyle='--')\n",
-    "# Green horizontal line at the humanoid's weight.\n",
-    "weight = model.body_subtreemass[1]*np.linalg.norm(model.opt.gravity)\n",
-    "plt.axhline(y=weight, color='green', linestyle='--')\n",
-    "plt.xlabel('Height offset (mm)')\n",
-    "plt.ylabel('Vertical force (N)')\n",
-    "plt.grid(which='major', color='#DDDDDD', linewidth=0.8)\n",
-    "plt.grid(which='minor', color='#EEEEEE', linestyle=':', linewidth=0.5)\n",
-    "plt.minorticks_on()\n",
-    "plt.title(f'Smallest vertical force '\n",
-    "          f'found at offset {best_offset*1000:.4f}mm.')\n",
-    "plt.show()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "lpldLvBreQj7"
-   },
-   "source": [
-    "In the plot above we can see the strong non-linear relationship due to foot contacts. On the left, as we push the humanoid into the floor, the only way to explain the fact that it is not jumping out of the floor is a large external force pushing it **down**. On the right, as we move the humanoid away from the floor the only way to explain the zero acceleration is a force holding it **up**, and we can clearly see the height at which the foot no longer touches the ground, and the required force is exactly equal to the humanoid's weight (green line), and remains constant as we keep moving up.\n",
-    "\n",
-    "Near -0.5mm is the perfect height offset (red line), where the zero vertical acceleration can be entirely explained by internal joint forces, without resorting to \"magical\" external forces. Let's correct the height of our initial pose, save it in `qpos0`, and compute to inverse dynamics forces again:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "qaw4gxg46h2G"
-   },
-   "outputs": [],
-   "source": [
-    "mujoco.mj_resetDataKeyframe(model, data, 1)\n",
-    "mujoco.mj_forward(model, data)\n",
-    "data.qacc = 0\n",
-    "data.qpos[2] += best_offset\n",
-    "qpos0 = data.qpos.copy()  # Save the position setpoint.\n",
-    "mujoco.mj_inverse(model, data)\n",
-    "qfrc0 = data.qfrc_inverse.copy()\n",
-    "print('desired forces:', qfrc0)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "y3ofBSh-jdY5"
-   },
-   "source": [
-    "Much better, the forces on the root joint are small. Now that we have forces that can reasonably be produced by the actuators, how do we find the actuator values that will create them? For simple `motor` actuators like the humanoid's, we can simply \"divide\" by the actuation moment arm matrix, i.e. multiply by its pseudo-inverse:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "a1PF_yHdPvLl"
-   },
-   "outputs": [],
-   "source": [
-    "actuator_moment = np.zeros((model.nu, model.nv))\n",
-    "mujoco.mju_sparse2dense(\n",
-    "    actuator_moment,\n",
-    "    data.actuator_moment.reshape(-1),\n",
-    "    data.moment_rownnz,\n",
-    "    data.moment_rowadr,\n",
-    "    data.moment_colind.reshape(-1),\n",
-    ")\n",
-    "ctrl0 = np.atleast_2d(qfrc0) @ np.linalg.pinv(actuator_moment)\n",
-    "ctrl0 = ctrl0.flatten()  # Save the ctrl setpoint.\n",
-    "print('control setpoint:', ctrl0)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "h6bLO26Ekvir"
-   },
-   "source": [
-    "More elaborate actuators would require a different method to recover $\\frac{\\partial \\texttt{ qfrc_actuator}}{\\partial \\texttt{ ctrl}}$, and finite-differencing is always an easy option.\n",
-    "\n",
-    "Let's apply these controls in the forward dynamics and compare the forces they produce with the desired forces printed above:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "dDLihz5hk9Wt"
-   },
-   "outputs": [],
-   "source": [
-    "data.ctrl = ctrl0\n",
-    "mujoco.mj_forward(model, data)\n",
-    "print('actuator forces:', data.qfrc_actuator)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "V2XVaRruloKG"
-   },
-   "source": [
-    "Because the humanoid is fully-actuated (apart from the root joint), and the required forces are all within the actuator limits, we can see a perfect match with the desired forces across all internal joints. There is still some mismatch in the root joint, but it's small. Let's see what the simulation looks like when we apply these controls:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "8cQpEF7MmDPI"
-   },
-   "outputs": [],
-   "source": [
-    "DURATION  = 3   # seconds\n",
-    "FRAMERATE = 60  # Hz\n",
-    "\n",
-    "# Set the state and controls to their setpoints.\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "data.qpos = qpos0\n",
-    "data.ctrl = ctrl0\n",
-    "\n",
-    "frames = []\n",
-    "while data.time < DURATION:\n",
-    "  # Step the simulation.\n",
-    "  mujoco.mj_step(model, data)\n",
-    "\n",
-    "  # Render and save frames.\n",
-    "  if len(frames) < data.time * FRAMERATE:\n",
-    "    # Set the lookat point to the humanoid's center of mass.\n",
-    "    camera.lookat = data.body('torso').subtree_com\n",
-    "    renderer.update_scene(data, camera)\n",
-    "    pixels = renderer.render()\n",
-    "    frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=FRAMERATE)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "rGPdr2_9P2sz"
-   },
-   "source": [
-    "Comparing to the completely passive video we made above, we can see that this is a much better control setpoint. The humanoid still falls down, but it tries to stabilize and succeeds for a short while."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "pWqJ4hqzm7Xq"
-   },
-   "source": [
-    "### Choosing the $Q$ and $R$ matrices\n",
-    "\n",
-    "In order to obtain the LQR feedback control law, we will need to design the $Q$ and $R$ matrices. Due to the linear structure, the solution is invariant to a scaling of both matrices, so without loss of generality we can choose $R$ to be the identity matrix:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "SxOeHSf1nspy"
-   },
-   "outputs": [],
-   "source": [
-    "nu = model.nu  # Alias for the number of actuators.\n",
-    "R = np.eye(nu)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "pEluM4mNRghL"
-   },
-   "source": [
-    "Choosing $Q$ is more elaborate. We will construct it as a sum of two terms.\n",
-    "\n",
-    "First, a balancing cost that will keep the center of mass (CoM) over the foot. In order to describe it, we will use kinematic Jacobians which map between joint space and global Cartesian positions. MuJoCo computes these analytically."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "9LEK4MCHkH15"
-   },
-   "outputs": [],
-   "source": [
-    "nv = model.nv  # Shortcut for the number of DoFs.\n",
-    "\n",
-    "# Get the Jacobian for the root body (torso) CoM.\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "data.qpos = qpos0\n",
-    "mujoco.mj_forward(model, data)\n",
-    "jac_com = np.zeros((3, nv))\n",
-    "mujoco.mj_jacSubtreeCom(model, data, jac_com, model.body('torso').id)\n",
-    "\n",
-    "# Get the Jacobian for the left foot.\n",
-    "jac_foot = np.zeros((3, nv))\n",
-    "mujoco.mj_jacBodyCom(model, data, jac_foot, None, model.body('foot_left').id)\n",
-    "\n",
-    "jac_diff = jac_com - jac_foot\n",
-    "Qbalance = jac_diff.T @ jac_diff"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "daDCbcAskiML"
-   },
-   "source": [
-    "Second, a cost for joints moving away from their initial configuration. We will want different coefficients for different sets of joints:\n",
-    "- The free joint will get a coefficient of 0, as that is already taken care of by the CoM cost term.\n",
-    "- The joints required for balancing on the left leg, i.e. the left leg joints and the horizontal abdominal joints, should stay quite close to their initial values.\n",
-    "- All the other joints should have a smaller coefficient, so that the humanoid will, for example, be able to flail its arms in order to balance.\n",
-    "\n",
-    "Let's get the indices of all these joint sets.\n",
-    "\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "S731eD3Jm1mJ"
-   },
-   "outputs": [],
-   "source": [
-    "# Get all joint names.\n",
-    "joint_names = [model.joint(i).name for i in range(model.njnt)]\n",
-    "\n",
-    "# Get indices into relevant sets of joints.\n",
-    "root_dofs = range(6)\n",
-    "body_dofs = range(6, nv)\n",
-    "abdomen_dofs = [\n",
-    "    model.joint(name).dofadr[0]\n",
-    "    for name in joint_names\n",
-    "    if 'abdomen' in name\n",
-    "    and not 'z' in name\n",
-    "]\n",
-    "left_leg_dofs = [\n",
-    "    model.joint(name).dofadr[0]\n",
-    "    for name in joint_names\n",
-    "    if 'left' in name\n",
-    "    and ('hip' in name or 'knee' in name or 'ankle' in name)\n",
-    "    and not 'z' in name\n",
-    "]\n",
-    "balance_dofs = abdomen_dofs + left_leg_dofs\n",
-    "other_dofs = np.setdiff1d(body_dofs, balance_dofs)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "OeHYWdQdm-vE"
-   },
-   "source": [
-    "We are now ready to construct the Q matrix. Note that the coefficient of the balancing term is quite high. This is due to 3 separate reasons:\n",
-    "- It's the thing we care about most. Balancing means keeping the CoM over the foot.\n",
-    "- We have less control authority over the CoM (relative to body joints).\n",
-    "- In the balancing context, units of length are \"bigger\". If the knee bends by 0.1 radians (≈6°), we can probably still recover. If the CoM position is 10cm sideways from the foot position, we are likely on our way to the floor."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "reIA8___o3Z4"
-   },
-   "outputs": [],
-   "source": [
-    "# Cost coefficients.\n",
-    "BALANCE_COST        = 1000  # Balancing.\n",
-    "BALANCE_JOINT_COST  = 3     # Joints required for balancing.\n",
-    "OTHER_JOINT_COST    = .3    # Other joints.\n",
-    "\n",
-    "# Construct the Qjoint matrix.\n",
-    "Qjoint = np.eye(nv)\n",
-    "Qjoint[root_dofs, root_dofs] *= 0  # Don't penalize free joint directly.\n",
-    "Qjoint[balance_dofs, balance_dofs] *= BALANCE_JOINT_COST\n",
-    "Qjoint[other_dofs, other_dofs] *= OTHER_JOINT_COST\n",
-    "\n",
-    "# Construct the Q matrix for position DoFs.\n",
-    "Qpos = BALANCE_COST * Qbalance + Qjoint\n",
-    "\n",
-    "# No explicit penalty for velocities.\n",
-    "Q = np.block([[Qpos, np.zeros((nv, nv))],\n",
-    "              [np.zeros((nv, 2*nv))]])"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "U9EEBeIsnJVA"
-   },
-   "source": [
-    "### Computing the LQR gain matrix $K$\n",
-    "\n",
-    "Before we solve for the LQR controller, we need the $A$ and $B$ matrices. These are computed by MuJoCo's `mjd_transitionFD` function which computes them using efficient finite-difference derivatives, exploiting the configurable computation pipeline to avoid recomputing quantities which haven't changed."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "NB4ZStYrpx1B"
-   },
-   "outputs": [],
-   "source": [
-    "# Set the initial state and control.\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "data.ctrl = ctrl0\n",
-    "data.qpos = qpos0\n",
-    "\n",
-    "# Allocate the A and B matrices, compute them.\n",
-    "A = np.zeros((2*nv, 2*nv))\n",
-    "B = np.zeros((2*nv, nu))\n",
-    "epsilon = 1e-6\n",
-    "flg_centered = True\n",
-    "mujoco.mjd_transitionFD(model, data, epsilon, flg_centered, A, B, None, None)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "wvYn5_PEpsP6"
-   },
-   "source": [
-    "We are now ready to solve for our stabilizing controller. We will use `scipy`'s `solve_discrete_are` to solve the Riccati equation and get the feedback gain matrix using the formula described in the recap."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "azjsWl4v_K16"
-   },
-   "outputs": [],
-   "source": [
-    "# Solve discrete Riccati equation.\n",
-    "P = scipy.linalg.solve_discrete_are(A, B, Q, R)\n",
-    "\n",
-    "# Compute the feedback gain matrix K.\n",
-    "K = np.linalg.inv(R + B.T @ P @ B) @ B.T @ P @ A"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "JyvEBxrlXkxH"
-   },
-   "source": [
-    "### Stable standing\n",
-    "\n",
-    "We can now try our stabilising controller.\n",
-    "\n",
-    "Note that in order to apply our gain matrix $K$, we need to use `mj_differentiatePos` which computes the difference of two positions. This is important because the root orientation is given by a length-4 quaternion, while the difference of two quaternions (in the tangent space) is length-3. In MuJoCo notation, positions (`qpos`) are of size `nq` while a position differences (and velocities) are of size `nv`.\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Z_57VMUDpGrj"
-   },
-   "outputs": [],
-   "source": [
-    "# Parameters.\n",
-    "DURATION = 5          # seconds\n",
-    "FRAMERATE = 60        # Hz\n",
-    "\n",
-    "# Reset data, set initial pose.\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "data.qpos = qpos0\n",
-    "\n",
-    "# Allocate position difference dq.\n",
-    "dq = np.zeros(model.nv)\n",
-    "\n",
-    "frames = []\n",
-    "while data.time < DURATION:\n",
-    "  # Get state difference dx.\n",
-    "  mujoco.mj_differentiatePos(model, dq, 1, qpos0, data.qpos)\n",
-    "  dx = np.hstack((dq, data.qvel)).T\n",
-    "\n",
-    "  # LQR control law.\n",
-    "  data.ctrl = ctrl0 - K @ dx\n",
-    "\n",
-    "  # Step the simulation.\n",
-    "  mujoco.mj_step(model, data)\n",
-    "\n",
-    "  # Render and save frames.\n",
-    "  if len(frames) < data.time * FRAMERATE:\n",
-    "    renderer.update_scene(data)\n",
-    "    pixels = renderer.render()\n",
-    "    frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=FRAMERATE)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "ONg32ETtrZNl"
-   },
-   "source": [
-    "### Final video\n",
-    "\n",
-    "The video above is a bit disappointing, as the humanoid is basically motionless. Let's fix that and also add a few flourishes for our finale:\n",
-    "- Inject smoothed noise on top of the LQR controller so that the balancing action is more pronounced yet not jerky.\n",
-    "- Add contact force visualization to the scene.\n",
-    "- Smoothly orbit the camera around the humanoid.\n",
-    "- Instantiate a new renderer with higher resolution."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "zJmbOJMurRna"
-   },
-   "outputs": [],
-   "source": [
-    "# Parameters.\n",
-    "DURATION = 12         # seconds\n",
-    "FRAMERATE = 60        # Hz\n",
-    "TOTAL_ROTATION = 15   # degrees\n",
-    "CTRL_RATE = 0.8       # seconds\n",
-    "BALANCE_STD = 0.01    # actuator units\n",
-    "OTHER_STD = 0.08      # actuator units\n",
-    "\n",
-    "# Make new camera, set distance.\n",
-    "camera = mujoco.MjvCamera()\n",
-    "mujoco.mjv_defaultFreeCamera(model, camera)\n",
-    "camera.distance = 2.3\n",
-    "\n",
-    "# Enable contact force visualisation.\n",
-    "scene_option = mujoco.MjvOption()\n",
-    "scene_option.flags[mujoco.mjtVisFlag.mjVIS_CONTACTFORCE] = True\n",
-    "\n",
-    "# Set the scale of visualized contact forces to 1cm/N.\n",
-    "model.vis.map.force = 0.01\n",
-    "\n",
-    "# Define smooth orbiting function.\n",
-    "def unit_smooth(normalised_time: float) -> float:\n",
-    "  return 1 - np.cos(normalised_time*2*np.pi)\n",
-    "def azimuth(time: float) -> float:\n",
-    "  return 100 + unit_smooth(data.time/DURATION) * TOTAL_ROTATION\n",
-    "\n",
-    "# Precompute some noise.\n",
-    "np.random.seed(1)\n",
-    "nsteps = int(np.ceil(DURATION/model.opt.timestep))\n",
-    "perturb = np.random.randn(nsteps, nu)\n",
-    "\n",
-    "# Scaling vector with different STD for \"balance\" and \"other\"\n",
-    "CTRL_STD = np.empty(nu)\n",
-    "for i in range(nu):\n",
-    "  joint = model.actuator(i).trnid[0]\n",
-    "  dof = model.joint(joint).dofadr[0]\n",
-    "  CTRL_STD[i] = BALANCE_STD if dof in balance_dofs else OTHER_STD\n",
-    "\n",
-    "# Smooth the noise.\n",
-    "width = int(nsteps * CTRL_RATE/DURATION)\n",
-    "kernel = np.exp(-0.5*np.linspace(-3, 3, width)**2)\n",
-    "kernel /= np.linalg.norm(kernel)\n",
-    "for i in range(nu):\n",
-    "  perturb[:, i] = np.convolve(perturb[:, i], kernel, mode='same')\n",
-    "\n",
-    "# Reset data, set initial pose.\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "data.qpos = qpos0\n",
-    "\n",
-    "# New renderer instance with higher resolution.\n",
-    "renderer = mujoco.Renderer(model, width=1280, height=720)\n",
-    "\n",
-    "frames = []\n",
-    "step = 0\n",
-    "while data.time < DURATION:\n",
-    "  # Get state difference dx.\n",
-    "  mujoco.mj_differentiatePos(model, dq, 1, qpos0, data.qpos)\n",
-    "  dx = np.hstack((dq, data.qvel)).T\n",
-    "\n",
-    "  # LQR control law.\n",
-    "  data.ctrl = ctrl0 - K @ dx\n",
-    "\n",
-    "  # Add perturbation, increment step.\n",
-    "  data.ctrl += CTRL_STD * perturb[step]\n",
-    "  step += 1\n",
-    "\n",
-    "  # Step the simulation.\n",
-    "  mujoco.mj_step(model, data)\n",
-    "\n",
-    "  # Render and save frames.\n",
-    "  if len(frames) < data.time * FRAMERATE:\n",
-    "    camera.azimuth = azimuth(data.time)\n",
-    "    renderer.update_scene(data, camera, scene_option)\n",
-    "    pixels = renderer.render()\n",
-    "    frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=FRAMERATE)"
-   ]
-  }
- ],
- "metadata": {
-  "accelerator": "GPU",
-  "colab": {
-   "collapsed_sections": [
-    "QPdJNe3k62mx"
-   ],
-   "private_outputs": true
-  },
-  "kernelspec": {
-   "display_name": "Python 3",
-   "name": "python3"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 0
-}
diff --git a/python/MANIFEST.in b/python/MANIFEST.in
deleted file mode 100644
index e7ecd953..00000000
--- a/python/MANIFEST.in
+++ /dev/null
@@ -1,3 +0,0 @@
-include LICENSE *.md
-recursive-include mujoco *.h *.cc *.cc.inc *.mm CMakeLists.txt *.cmake
-recursive-include mujoco/mjpython mjpython.* Info.plist
diff --git a/python/README.md b/python/README.md
deleted file mode 100644
index 3199665d..00000000
--- a/python/README.md
+++ /dev/null
@@ -1,49 +0,0 @@
-# MuJoCo Python 绑定
-
-[![PyPI Python Version][pypi-versions-badge]][pypi]
-[![PyPI version][pypi-badge]][pypi]
-
-[pypi-versions-badge]: https://img.shields.io/pypi/pyversions/mujoco
-[pypi-badge]: https://badge.fury.io/py/mujoco.svg
-[pypi]: https://pypi.org/project/mujoco/
-
-本软件包是 [MuJoCo 物理引擎](https://github.com/google-deepmind/mujoco) 的官方规范 Python 绑定。这些绑定由 Google DeepMind 开发和维护，并与 MuJoCo 本身的最新进展保持同步。
-
-`mujoco` 软件包提供了对底层 MuJoCo C API 函数、结构体、常量和枚举的直接访问。结构体以 Python 类的形式提供，具有符合 Python 习惯的对象初始化和销毁语义。
-
-本软件包的目的并不是提供功能完备的场景/环境/游戏创作 API，因为已有许多优秀的现有软件包做到了这一点。不过，本软件包确实提供了 MuJoCo 本身之外的一些底层组件，这些组件对大多数通过 Python 访问 MuJoCo 的用户很有用。例如，`egl`、`glfw` 和 `osmesa` 子包包含了用于设置 OpenGL 渲染上下文的实用工具。
-
-## 安装
-
-推荐通过 [PyPI](https://pypi.org/project/mujoco/) 安装本软件包：
-
-```sh
-pip install mujoco
-```
-
-MuJoCo 库的副本已作为软件包的一部分提供，**无需**单独下载或安装。
-
-### 源码编译
-
-**重要提示：** 仅当您需要修改 Python 绑定（或尝试在特别老旧的 Linux 系统上运行）时，才需要从源码构建。若非此类情况，我们建议直接安装来自 PyPI 的预编译二进制包。
-
-如果您需要从源码构建 Python 绑定，请查阅[官方文档](https://mujoco.readthedocs.io/en/latest/python.html#building-from-source)。
-
-## 使用说明
-
-安装完成后，可以通过 `import mujoco` 导入该包。有关该包 API 的更多详细信息，请参阅我们的[官方文档](https://mujoco.readthedocs.io/en/stable/python.html)。
-
-我们建议阅读教程 Notebook，其中介绍了使用 Python 操作 MuJoCo 的基础知识：
-[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb)
-
-## 版本规范
-
-版本号的 `major.minor.micro` 部分与绑定所对应的 MuJoCo 版本完全一致。可选地，如果我们针对同一版本的 MuJoCo 发布了 Python 绑定自身的更新，则会添加 `.postN` 后缀，例如 `2.1.2.post2` 表示针对 MuJoCo 2.1.2 的绑定的第二次更新。
-
-## 开源许可证与免责声明
-
-Copyright 2022 DeepMind Technologies Limited
-
-MuJoCo 及其 Python 绑定基于 Apache 许可证 2.0 版（Apache License, Version 2.0）授权。您可在 https://www.apache.org/licenses/LICENSE-2.0 获取许可证副本。
-
-本项目不是 Google 官方支持的产品。
diff --git a/python/build_requirements.txt b/python/build_requirements.txt
deleted file mode 100644
index 39e4bacc..00000000
--- a/python/build_requirements.txt
+++ /dev/null
@@ -1,819 +0,0 @@
-absl-py==2.1.0 \
-    --hash=sha256:526a04eadab8b4ee719ce68f204172ead1027549089702d99b9059f129ff1308
-auditwheel==5.4.0; platform_system == 'Linux' \
-    --hash=sha256:d8410a17523427ba3f7b60c9701d23de28b8f94fa5dab732aa6c30d160df8127
-build==1.2.2.post1 \
-    --hash=sha256:1d61c0887fa860c01971625baae8bdd338e517b836a2f70dd1f7aa3a6b2fc5b5
-etils[epath]==1.10.0; python_version >= '3.10' \
-    --hash=sha256:0777fe60a234b4c65ca53470fc64f2dd2d0c6bca7fcc623fdaa8d7fa5a317098
-glfw==2.9.0 \
-    --hash=sha256:9aa3ae51601601c53838315bd2a03efb1e6bebecd072b2f64ddbd0b2556d511a \
-    --hash=sha256:8e4fbff88e4e953bb969b6813195d5de4641f886530cc8083897e56b00bf2c8e \
-    --hash=sha256:4e11271e49eb9bc53431ade022e284d5a59abeace81fe3b178db1bf3ccc0c449 \
-    --hash=sha256:2123716c8086b80b797e849a534fc6f21aebca300519e57c80618a65ca8135dc \
-    --hash=sha256:7f85b58546880466ac445fc564c5c831ca93c8a99795ab8eaf0a2d521af293d7 \
-    --hash=sha256:fcc430cb21984afba74945b7df38a5e1a02b36c0b4a2a2bab42b4a26d7cc51d6 \
-    --hash=sha256:aef5b555673b9555216e4cd7bc0bdbbb9983f66c620a85ba7310cfcfda5cd38c \
-    --hash=sha256:183da99152f63469e9263146db2eb1b6cc4ee0c4082b280743e57bd1b0a3bd70
-numpy==2.4.4; python_version >= '3.13' \
-    --hash=sha256:08f2e31ed5e6f04b118e49821397f12767934cfdd12a1ce86a058f91e004ee50 \
-    --hash=sha256:0aec54fd785890ecca25a6003fd9a5aed47ad607bbac5cd64f836ad8666f4959 \
-    --hash=sha256:2483e4584a1cb3092da4470b38866634bafb223cbcd551ee047633fd2584599a \
-    --hash=sha256:27a8d92cd10f1382a67d7cf4db7ce18341b66438bdd9f691d7b0e48d104c2a9d \
-    --hash=sha256:2aa0613a5177c264ff5921051a5719d20095ea586ca88cc802c5c218d1c67d3e \
-    --hash=sha256:2d19e6e2095506d1736b7d80595e0f252d76b89f5e715c35e06e937679ea7d7a \
-    --hash=sha256:42c16925aa5a02362f986765f9ebabf20de75cdefdca827d14315c568dcab113 \
-    --hash=sha256:45dbed2ab436a9e826e302fcdcbe9133f9b0006e5af7168afb8963a6520da103 \
-    --hash=sha256:4636de7fd195197b7535f231b5de9e4b36d2c440b6e566d2e4e4746e6af0ca93 \
-    --hash=sha256:4a19d9dba1a76618dd86b164d608566f393f8ec6ac7c44f0cc879011c45e65af \
-    --hash=sha256:4bbc7f303d125971f60ec0aaad5e12c62d0d2c925f0ab1273debd0e4ba37aba5 \
-    --hash=sha256:4d6d57903571f86180eb98f8f0c839fa9ebbfb031356d87f1361be91e433f5b7 \
-    --hash=sha256:4e874c976154687c1f71715b034739b45c7711bec81db01914770373d125e392 \
-    --hash=sha256:5a285b3b96f951841799528cd1f4f01cd70e7e0204b4abebac9463eecfcf2a40 \
-    --hash=sha256:5c70f1cc1c4efbe316a572e2d8b9b9cc44e89b95f79ca3331553fbb63716e2bf \
-    --hash=sha256:6a246d5914aa1c820c9443ddcee9c02bec3e203b0c080349533fae17727dfd1b \
-    --hash=sha256:715d1c092715954784bc79e1174fc2a90093dc4dc84ea15eb14dad8abdcdeb74 \
-    --hash=sha256:874f200b2a981c647340f841730fc3a2b54c9d940566a3c4149099591e2c4c3d \
-    --hash=sha256:8e3ed142f2728df44263aaf5fb1f5b0b99f4070c553a0d7f033be65338329150 \
-    --hash=sha256:93e15038125dc1e5345d9b5b68aa7f996ec33b98118d18c6ca0d0b7d6198b7e8 \
-    --hash=sha256:989824e9faf85f96ec9c7761cd8d29c531ad857bfa1daa930cba85baaecf1a9a \
-    --hash=sha256:99d838547ace2c4aace6c4f76e879ddfe02bb58a80c1549928477862b7a6d6ed \
-    --hash=sha256:a7164afb23be6e37ad90b2f10426149fd75aee07ca55653d2aa41e66c4ef697e \
-    --hash=sha256:ac6b31e35612a26483e20750126d30d0941f949426974cace8e6b5c58a3657b0 \
-    --hash=sha256:ad2e2ef14e0b04e544ea2fa0a36463f847f113d314aa02e5b402fdf910ef309e \
-    --hash=sha256:b268594bccac7d7cf5844c7732e3f20c50921d94e36d7ec9b79e9857694b1b2f \
-    --hash=sha256:c901b15172510173f5cb310eae652908340f8dede90fff9e3bf6c0d8dfd92f83 \
-    --hash=sha256:c9b39d38a9bd2ae1becd7eac1303d031c5c110ad31f2b319c6e7d98b135c934d \
-    --hash=sha256:d2a8490669bfe99a233298348acc2d824d496dee0e66e31b66a6022c2ad74a5c \
-    --hash=sha256:e44319a2953c738205bf3354537979eaa3998ed673395b964c1176083dd46252 \
-    --hash=sha256:e823b8b6edc81e747526f70f71a9c0a07ac4e7ad13020aa736bb7c9d67196115 \
-    --hash=sha256:e892aff75639bbef0d2a2cfd55535510df26ff92f63c92cd84ef8d4ba5a5557f \
-    --hash=sha256:f169b9a863d34f5d11b8698ead99febeaa17a13ca044961aa8e2662a6c7766a0 \
-    --hash=sha256:f8474c4241bc18b750be2abea9d7a9ec84f46ef861dbacf86a4f6e043401f79e
-numpy==2.1.3; python_version >= '3.10' and python_version < '3.13' \
-    --hash=sha256:747641635d3d44bcb380d950679462fae44f54b131be347d5ec2bce47d3df9ed \
-    --hash=sha256:5641516794ca9e5f8a4d17bb45446998c6554704d888f86df9b200e66bdcce56 \
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-    --hash=sha256:016d0f6f5e77b0f0d45d77387ffa4bb89816b57c835580c3ce8e099ef830befe \
-    --hash=sha256:dc258a761a16daa791081d026f0ed4399b582712e6fc887a95af09df10c5ca57 \
-    --hash=sha256:f653490b33e9c3a4c1c01d41bc2aef08f9475af51146e4a7710c450cf9761598 \
-    --hash=sha256:96fe52fcdb9345b7cd82ecd34547fca4321f7656d500eca497eb7ea5a926692f \
-    --hash=sha256:0d30c543f02e84e92c4b1f415b7c6b5326cbe45ee7882b6b77db7195fb971e3a \
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-    --hash=sha256:a6b46587b14b888e95e4a24d7b13ae91fa22386c199ee7b418f449032b2fa3b8 \
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-    --hash=sha256:576a1c1d25e9e02ed7fa5477f30a127fe56debd53b8d2c89d5578f9857d03ca9 \
-    --hash=sha256:c80e4a09b3d95b4e1cac08643f1152fa71a0a821a2d4277334c88d54b2219a41 \
-    --hash=sha256:4d1167c53b93f1f5d8a139a742b3c6f4d429b54e74e6b57d0eff40045187b15d \
-    --hash=sha256:ecc76a9ba2911d8d37ac01de72834d8849e55473457558e12995f4cd53e778e0 \
-    --hash=sha256:78574ac2d1a4a02421f25da9559850d59457bac82f2b8d7a44fe83a64f770098 \
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-    --hash=sha256:c894b4305373b9c5576d7a12b473702afdf48ce5369c074ba304cc5ad8730dff
-pip==26.1 \
-    --hash=sha256:4e8486d821d814b77319acb7b9e8bf5a4ee7590a643e7cb21029f209be8573c1 \
-    --hash=sha256:81e13ebcca3ffa8cc85e4deff5c27e1ee26dea0aa7fc2f294a073ac208806ff3
-PyOpenGL==3.1.7 \
-    --hash=sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a
-pytest==9.0.3 \
-    --hash=sha256:2c5efc453d45394fdd706ade797c0a81091eccd1d6e4bccfcd476e2b8e0ab5d9 \
-    --hash=sha256:b86ada508af81d19edeb213c681b1d48246c1a91d304c6c81a427674c17eb91c
-setuptools==78.1.1 \
-    --hash=sha256:c3a9c4211ff4c309edb8b8c4f1cbfa7ae324c4ba9f91ff254e3d305b9fd54561 \
-    --hash=sha256:fcc17fd9cd898242f6b4adfaca46137a9edef687f43e6f78469692a5e70d851d
-wheel==0.46.2 \
-    --hash=sha256:33ae60725d69eaa249bc1982e739943c23b34b58d51f1cb6253453773aca6e65 \
-    --hash=sha256:3d79e48fde9847618a5a181f3cc35764c349c752e2fe911e65fa17faab9809b0
-
-# Transitive dependencies of auditwheel
-pyelftools==0.31; platform_system == 'Linux' \
-    --hash=sha256:f52de7b3c7e8c64c8abc04a79a1cf37ac5fb0b8a49809827130b858944840607
-
-# Transitive dependencies of build
-colorama==0.4.6; platform_system == 'Windows' \
-    --hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6
-packaging==24.2 \
-    --hash=sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759
-pyproject_hooks==1.2.0 \
-    --hash=sha256:9e5c6bfa8dcc30091c74b0cf803c81fdd29d94f01992a7707bc97babb1141913
-tomli==2.1.0; python_version < '3.11' \
-    --hash=sha256:a5c57c3d1c56f5ccdf89f6523458f60ef716e210fc47c4cfb188c5ba473e0391
-
-# Transitive dependencies of etils[epath]
-fsspec==2024.10.0 \
-    --hash=sha256:03b9a6785766a4de40368b88906366755e2819e758b83705c88cd7cb5fe81871
-importlib-resources==6.4.5 \
-    --hash=sha256:ac29d5f956f01d5e4bb63102a5a19957f1b9175e45649977264a1416783bb717
-typing_extensions==4.12.2 \
-    --hash=sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d
-zipp==3.21.0 \
-    --hash=sha256:ac1bbe05fd2991f160ebce24ffbac5f6d11d83dc90891255885223d42b3cd931
-
-# Transitive dependencies of pytest
-attrs==24.2.0; platform_system == 'Windows' \
-    --hash=sha256:81921eb96de3191c8258c199618104dd27ac608d9366f5e35d011eae1867ede2
-exceptiongroup==1.2.2; python_version < '3.11' \
-    --hash=sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b
-iniconfig==2.0.0 \
-    --hash=sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374
-pluggy==1.5.0 \
-    --hash=sha256:44e1ad92c8ca002de6377e165f3e0f1be63266ab4d554740532335b9d75ea669
-
-# sysid optional-dependency direct deps
-colorama==0.4.6 \
-    --hash=sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44 \
-    --hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6
-imageio==2.37.2 \
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-    --hash=sha256:ad9adfb20335d718c03de457358ed69f141021a333c40a53e57273d8a5bd0b9b
-imageio-ffmpeg==0.6.0 \
-    --hash=sha256:02fa47c83703c37df6bfe4896aab339013f62bf02c5ebf2dce6da56af04ffc0a \
-    --hash=sha256:196faa79366b4a82f95c0f4053191d2013f4714a715780f0ad2a68ff37483cc2 \
-    --hash=sha256:1d47bebd83d2c5fc770720d211855f208af8a596c82d17730aa51e815cdee6dc \
-    --hash=sha256:9d2baaf867088508d4a3458e61eeb30e945c4ad8016025545f66c4b5aaef0a61 \
-    --hash=sha256:b1ae3173414b5fc5f538a726c4e48ea97edc0d2cdc11f103afee655c463fa742 \
-    --hash=sha256:c7e46fcec401dd990405049d2e2f475e2b397779df2519b544b8aab515195282 \
-    --hash=sha256:e2556bed8e005564a9f925bb7afa4002d82770d6b08825078b7697ab88ba1755
-jinja2==3.1.6 \
-    --hash=sha256:0137fb05990d35f1275a587e9aee6d56da821fc83491a0fb838183be43f66d6d \
-    --hash=sha256:85ece4451f492d0c13c5dd7c13a64681a86afae63a5f347908daf103ce6d2f67
-matplotlib==3.10.8 \
-    --hash=sha256:00270d217d6b20d14b584c521f810d60c5c78406dc289859776550df837dcda7 \
-    --hash=sha256:0a33deb84c15ede243aead39f77e990469fff93ad1521163305095b77b72ce4a \
-    --hash=sha256:113bb52413ea508ce954a02c10ffd0d565f9c3bc7f2eddc27dfe1731e71c7b5f \
-    --hash=sha256:12d90df9183093fcd479f4172ac26b322b1248b15729cb57f42f71f24c7e37a3 \
-    --hash=sha256:15d30132718972c2c074cd14638c7f4592bd98719e2308bccea40e0538bc0cb5 \
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-    --hash=sha256:ef28d815f4d2686503e5f4f00edc387ae58dfd7a2f42e348bb53359538f01558 \
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-    --hash=sha256:f3cd947f20fe17013d401b64e857c6b2da83cae567adbb75b9dcba865abc66d8 \
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-    --hash=sha256:fe508b5690e9eaaa9467fc047f833af58f1152ae51a0d0aed67aa5801f4dd7d6
-tabulate==0.9.0 \
-    --hash=sha256:0095b12bf5966de529c0feb1fa08671671b3368eec77d7ef7ab114be2c068b3c \
-    --hash=sha256:024ca478df22e9340661486f85298cff5f6dcdba14f3813e8830015b9ed1948f
-
-# Transitive dependencies of sysid optional deps
-contourpy==1.3.2; python_version == '3.10' \
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-    --hash=sha256:c440093bbc8fc21c637c03bafcbef95ccd963bc6e0514ad887932c18ca2a759a
-contourpy==1.3.3; python_version >= '3.11' \
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-cycler==0.12.1 \
-    --hash=sha256:85cef7cff222d8644161529808465972e51340599459b8ac3ccbac5a854e0d30 \
-    --hash=sha256:88bb128f02ba341da8ef447245a9e138fae777f6a23943da4540077d3601eb1c
-fonttools==4.61.1 \
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-    --hash=sha256:9b79b7a16f7fedff2495d684f2b59b0457c3b493778c9eed31111be64d58279f \
-    --hash=sha256:a320721ab5a1aba0a233739394eb907f8c8da5c98c9181d1161e77a0c8e36f2d \
-    --hash=sha256:a4afe79fb3de0b7097d81da19090f4df4f8d3a2b3adaa8764138aac2e44f3af1 \
-    --hash=sha256:ad2cf8aa28b8c020ab2fc8287b0f823d0a7d8630784c31e9ee5edea20f406287 \
-    --hash=sha256:b8512a91625c9b3da6f127803b166b629725e68af71f8184ae7e7d54686a56d6 \
-    --hash=sha256:bc51efed119bc9cfdf792cdeaa4d67e8f6fcccab66ed4bfdd6bde3e59bfcbb2f \
-    --hash=sha256:bdc919ead48f234740ad807933cdf545180bfbe9342c2bb451556db2ed958581 \
-    --hash=sha256:bdd37121970bfd8be76c5fb069c7751683bdf373db1ed6c010162b2a130248ed \
-    --hash=sha256:be8813b57049a7dc738189df53d69395eba14fb99345e0a5994914a3864c8a4b \
-    --hash=sha256:c0c0b3ade1c0b13b936d7970b1d37a57acde9199dc2aecc4c336773e1d86049c \
-    --hash=sha256:c47a551199eb8eb2121d4f0f15ae0f923d31350ab9280078d1e5f12b249e0026 \
-    --hash=sha256:c4ffb7ebf07cfe8931028e3e4c85f0357459a3f9f9490886198848f4fa002ec8 \
-    --hash=sha256:ccfcd093f13f0f0b7fdd0f198b90053bf7b2f02a3927a30e63f3ccc9df56b676 \
-    --hash=sha256:d2ee202e79d8ed691ceebae8e0486bd9a2cd4794cec4824e1c99b6f5009502f6 \
-    --hash=sha256:d53197da72cc091b024dd97249dfc7794d6a56530370992a5e1a08983ad9230e \
-    --hash=sha256:d6dd0be5b5b189d31db7cda48b91d7e0a9795f31430b7f271219ab30f1d3ac9d \
-    --hash=sha256:d88b440e37a16e651bda4c7c2b930eb586fd15ca7406cb39e211fcff3bf3017d \
-    --hash=sha256:de8a88e63464af587c950061a5e6a67d3632e36df62b986892331d4620a35c01 \
-    --hash=sha256:df2449253ef108a379b8b5d6b43f4b1a8e81a061d6537becd5582fba5f9196d7 \
-    --hash=sha256:e1c1493fb6e50ab01d20a22826e57520f1284df32f2d8601fdd90b6304601419 \
-    --hash=sha256:e1cf1972137e83c5d4c136c43ced9ac51d0e124706ee1c8aa8532c1287fa8795 \
-    --hash=sha256:e2103a929dfa2fcaf9bb4e7c091983a49c9ac3b19c9061b6d5427dd7d14d81a1 \
-    --hash=sha256:e56b7d45a839a697b5eb268c82a71bd8c7f6c94d6fd50c3d577fa39a9f1409f5 \
-    --hash=sha256:e8afc3f2ccfa24215f8cb28dcf43f0113ac3c37c2f0f0806d8c70e4228c5cf4d \
-    --hash=sha256:e8fc20152abba6b83724d7ff268c249fa196d8259ff481f3b1476383f8f24e42 \
-    --hash=sha256:eaa9599de571d72e2daf60164784109f19978b327a3910d3e9de8c97b5b70cfe \
-    --hash=sha256:ec15a59cf5af7be74194f7ab02d0f59a62bdcf1a537677ce67a2537c9b87fcda \
-    --hash=sha256:f190daf01f13c72eac4efd5c430a8de82489d9cff23c364c3ea822545032993e \
-    --hash=sha256:f34c41761022dd093b4b6896d4810782ffbabe30f2d443ff5f083e0cbbb8c737 \
-    --hash=sha256:f3e98bb3798ead92273dc0e5fd0f31ade220f59a266ffd8a4f6065e0a3ce0523 \
-    --hash=sha256:f42d0984e947b8adf7dd6dde396e720934d12c506ce84eea8476409563607591 \
-    --hash=sha256:f71a396b3bf33ecaa1626c255855702aca4d3d9fea5e051b41ac59a9c1c41edc \
-    --hash=sha256:f9e130248f4462aaa8e2552d547f36ddadbeaa573879158d721bbd33dfe4743a \
-    --hash=sha256:fed51ac40f757d41b7c48425901843666a6677e3e8eb0abcff09e4ba6e664f50
-narwhals==2.16.0 \
-    --hash=sha256:155bb45132b370941ba0396d123cf9ed192bf25f39c4cea726f2da422ca4e145 \
-    --hash=sha256:846f1fd7093ac69d63526e50732033e86c30ea0026a44d9b23991010c7d1485d
-pillow==12.2.0 \
-    --hash=sha256:00a2865911330191c0b818c59103b58a5e697cae67042366970a6b6f1b20b7f9 \
-    --hash=sha256:01afa7cf67f74f09523699b4e88c73fb55c13346d212a59a2db1f86b0a63e8c5 \
-    --hash=sha256:03e7e372d5240cc23e9f07deca4d775c0817bffc641b01e9c3af208dbd300987 \
-    --hash=sha256:03f6fab9219220f041c74aeaa2939ff0062bd5c364ba9ce037197f4c6d498cd9 \
-    --hash=sha256:042db20a421b9bafecc4b84a8b6e444686bd9d836c7fd24542db3e7df7baad9b \
-    --hash=sha256:0538bd5e05efec03ae613fd89c4ce0368ecd2ba239cc25b9f9be7ed426b0af1f \
-    --hash=sha256:0a34329707af4f73cf1782a36cd2289c0368880654a2c11f027bcee9052d35dd \
-    --hash=sha256:0c838a5125cee37e68edec915651521191cef1e6aa336b855f495766e77a366e \
-    --hash=sha256:144748b3af2d1b358d41286056d0003f47cb339b8c43a9ea42f5fea4d8c66b6e \
-    --hash=sha256:1610dd6c61621ae1cf811bef44d77e149ce3f7b95afe66a4512f8c59f25d9ebe \
-    --hash=sha256:1e1757442ed87f4912397c6d35a0db6a7b52592156014706f17658ff58bbf795 \
-    --hash=sha256:22db17c68434de69d8ecfc2fe821569195c0c373b25cccb9cbdacf2c6e53c601 \
-    --hash=sha256:25373b66e0dd5905ed63fa3cae13c82fbddf3079f2c8bf15c6fb6a35586324c1 \
-    --hash=sha256:2bb4a8d594eacdfc59d9e5ad972aa8afdd48d584ffd5f13a937a664c3e7db0ed \
-    --hash=sha256:2c727a6d53cb0018aadd8018c2b938376af27914a68a492f59dfcaca650d5eea \
-    --hash=sha256:2d192a155bbcec180f8564f693e6fd9bccff5a7af9b32e2e4bf8c9c69dbad6b5 \
-    --hash=sha256:2e589959f10d9824d39b350472b92f0ce3b443c0a3442ebf41c40cb8361c5b97 \
-    --hash=sha256:2e5a76d03a6c6dcef67edabda7a52494afa4035021a79c8558e14af25313d453 \
-    --hash=sha256:325ca0528c6788d2a6c3d40e3568639398137346c3d6e66bb61db96b96511c98 \
-    --hash=sha256:34c0d99ecccea270c04882cb3b86e7b57296079c9a4aff88cb3b33563d95afaa \
-    --hash=sha256:390ede346628ccc626e5730107cde16c42d3836b89662a115a921f28440e6a3b \
-    --hash=sha256:394167b21da716608eac917c60aa9b969421b5dcbbe02ae7f013e7b85811c69d \
-    --hash=sha256:3997232e10d2920a68d25191392e3a4487d8183039e1c74c2297f00ed1c50705 \
-    --hash=sha256:3adc9215e8be0448ed6e814966ecf3d9952f0ea40eb14e89a102b87f450660d8 \
-    --hash=sha256:3e080565d8d7c671db5802eedfb438e5565ffa40115216eabb8cd52d0ecce024 \
-    --hash=sha256:4a6c9fa44005fa37a91ebfc95d081e8079757d2e904b27103f4f5fa6f0bf78c0 \
-    --hash=sha256:4bfd07bc812fbd20395212969e41931001fd59eb55a60658b0e5710872e95286 \
-    --hash=sha256:4e6c62e9d237e9b65fac06857d511e90d8461a32adcc1b9065ea0c0fa3a28150 \
-    --hash=sha256:50d8520da2a6ce0af445fa6d648c4273c3eeefbc32d7ce049f22e8b5c3daecc2 \
-    --hash=sha256:51c4167c34b0d8ba05b547a3bb23578d0ba17b80a5593f93bd8ecb123dd336a3 \
-    --hash=sha256:56a3f9c60a13133a98ecff6197af34d7824de9b7b38c3654861a725c970c197b \
-    --hash=sha256:56b25336f502b6ed02e889f4ece894a72612fe885889a6e8c4c80239ff6e5f5f \
-    --hash=sha256:57850958fe9c751670e49b2cecf6294acc99e562531f4bd317fa5ddee2068463 \
-    --hash=sha256:58f62cc0f00fd29e64b29f4fd923ffdb3859c9f9e6105bfc37ba1d08994e8940 \
-    --hash=sha256:5c0a9f29ca8e79f09de89293f82fc9b0270bb4af1d58bc98f540cc4aedf03166 \
-    --hash=sha256:5cdfebd752ec52bf5bb4e35d9c64b40826bc5b40a13df7c3cda20a2c03a0f5ed \
-    --hash=sha256:5d04bfa02cc2d23b497d1e90a0f927070043f6cbf303e738300532379a4b4e0f \
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-    --hash=sha256:632ff19b2778e43162304d50da0181ce24ac5bb8180122cbe1bf4673428328c7 \
-    --hash=sha256:6562ace0d3fb5f20ed7290f1f929cae41b25ae29528f2af1722966a0a02e2aa1 \
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-    --hash=sha256:766cef22385fa1091258ad7e6216792b156dc16d8d3fa607e7545b2b72061f1c \
-    --hash=sha256:7b14cc0106cd9aecda615dd6903840a058b4700fcb817687d0ee4fc8b6e389be \
-    --hash=sha256:7f84204dee22a783350679a0333981df803dac21a0190d706a50475e361c93f5 \
-    --hash=sha256:8023abc91fba39036dbce14a7d6535632f99c0b857807cbbbf21ecc9f4717f06 \
-    --hash=sha256:80b2da48193b2f33ed0c32c38140f9d3186583ce7d516526d462645fd98660ae \
-    --hash=sha256:8297651f5b5679c19968abefd6bb84d95fe30ef712eb1b2d9b2d31ca61267f4c \
-    --hash=sha256:88d387ff40b3ff7c274947ed3125dedf5262ec6919d83946753b5f3d7c67ea4c \
-    --hash=sha256:88ddbc66737e277852913bd1e07c150cc7bb124539f94c4e2df5344494e0a612 \
-    --hash=sha256:8bd7903a5f2a4545f6fd5935c90058b89d30045568985a71c79f5fd6edf9b91e \
-    --hash=sha256:8be29e59487a79f173507c30ddf57e733a357f67881430449bb32614075a40ab \
-    --hash=sha256:8c984051042858021a54926eb597d6ee3012393ce9c181814115df4c60b9a808 \
-    --hash=sha256:8cbeb542b2ebc6fcdacabf8aca8c1a97c9b3ad3927d46b8723f9d4f033288a0f \
-    --hash=sha256:8e9c4f5b3c546fa3458a29ab22646c1c6c787ea8f5ef51300e5a60300736905e \
-    --hash=sha256:90e6f81de50ad6b534cab6e5aef77ff6e37722b2f5d908686f4a5c9eba17a909 \
-    --hash=sha256:975385f4776fafde056abb318f612ef6285b10a1f12b8570f3647ad0d74b48ec \
-    --hash=sha256:9a8a34cc89c67a65ea7437ce257cea81a9dad65b29805f3ecee8c8fe8ff25ffe \
-    --hash=sha256:9aba9a17b623ef750a4d11b742cbafffeb48a869821252b30ee21b5e91392c50 \
-    --hash=sha256:9f08483a632889536b8139663db60f6724bfcb443c96f1b18855860d7d5c0fd4 \
-    --hash=sha256:a4e8f36e677d3336f35089648c8955c51c6d386a13cf6ee9c189c5f5bd713a9f \
-    --hash=sha256:a52edc8bfff4429aaabdf4d9ee0daadbbf8562364f940937b941f87a4290f5ff \
-    --hash=sha256:a830b1a40919539d07806aa58e1b114df53ddd43213d9c8b75847eee6c0182b5 \
-    --hash=sha256:aa88ccfe4e32d362816319ed727a004423aab09c5cea43c01a4b435643fa34eb \
-    --hash=sha256:af73337013e0b3b46f175e79492d96845b16126ddf79c438d7ea7ff27783a414 \
-    --hash=sha256:b1c1fbd8a5a1af3412a0810d060a78b5136ec0836c8a4ef9aa11807f2a22f4e1 \
-    --hash=sha256:b85f66ae9eb53e860a873b858b789217ba505e5e405a24b85c0464822fe88032 \
-    --hash=sha256:b86024e52a1b269467a802258c25521e6d742349d760728092e1bc2d135b4d76 \
-    --hash=sha256:bd9c0c7a0c681a347b3194c500cb1e6ca9cab053ea4d82a5cf45b6b754560136 \
-    --hash=sha256:bfa9c230d2fe991bed5318a5f119bd6780cda2915cca595393649fc118ab895e \
-    --hash=sha256:d362d1878f00c142b7e1a16e6e5e780f02be8195123f164edf7eddd911eefe7c \
-    --hash=sha256:d5d38f1411c0ed9f97bcb49b7bd59b6b7c314e0e27420e34d99d844b9ce3b6f3 \
-    --hash=sha256:dac8d77255a37e81a2efcbd1fc05f1c15ee82200e6c240d7e127e25e365c39ea \
-    --hash=sha256:dd025009355c926a84a612fecf58bb315a3f6814b17ead51a8e48d3823d9087f \
-    --hash=sha256:deede7c263feb25dba4e82ea23058a235dcc2fe1f6021025dc71f2b618e26104 \
-    --hash=sha256:e74473c875d78b8e9d5da2a70f7099549f9eb37ded4e2f6a463e60125bccd176 \
-    --hash=sha256:ee3120ae9dff32f121610bb08e4313be87e03efeadfc6c0d18f89127e24d0c24 \
-    --hash=sha256:eedf4b74eda2b5a4b2b2fb4c006d6295df3bf29e459e198c90ea48e130dc75c3 \
-    --hash=sha256:efd8c21c98c5cc60653bcb311bef2ce0401642b7ce9d09e03a7da87c878289d4 \
-    --hash=sha256:f1c943e96e85df3d3478f7b691f229887e143f81fedab9b20205349ab04d73ed \
-    --hash=sha256:f278f034eb75b4e8a13a54a876cc4a5ab39173d2cdd93a638e1b467fc545ac43 \
-    --hash=sha256:f3f40b3c5a968281fd507d519e444c35f0ff171237f4fdde090dd60699458421 \
-    --hash=sha256:f490f9368b6fc026f021db16d7ec2fbf7d89e2edb42e8ec09d2c60505f5729c7 \
-    --hash=sha256:fb043ee2f06b41473269765c2feae53fc2e2fbf96e5e22ca94fb5ad677856f06 \
-    --hash=sha256:fc3d34d4a8fbec3e88a79b92e5465e0f9b842b628675850d860b8bd300b159f5
-    #   imageio
-    #   matplotlib
-psutil==7.2.2 \
-    --hash=sha256:0746f5f8d406af344fd547f1c8daa5f5c33dbc293bb8d6a16d80b4bb88f59372 \
-    --hash=sha256:076a2d2f923fd4821644f5ba89f059523da90dc9014e85f8e45a5774ca5bc6f9 \
-    --hash=sha256:11fe5a4f613759764e79c65cf11ebdf26e33d6dd34336f8a337aa2996d71c841 \
-    --hash=sha256:1a571f2330c966c62aeda00dd24620425d4b0cc86881c89861fbc04549e5dc63 \
-    --hash=sha256:1a7b04c10f32cc88ab39cbf606e117fd74721c831c98a27dc04578deb0c16979 \
-    --hash=sha256:1fa4ecf83bcdf6e6c8f4449aff98eefb5d0604bf88cb883d7da3d8d2d909546a \
-    --hash=sha256:2edccc433cbfa046b980b0df0171cd25bcaeb3a68fe9022db0979e7aa74a826b \
-    --hash=sha256:7b6d09433a10592ce39b13d7be5a54fbac1d1228ed29abc880fb23df7cb694c9 \
-    --hash=sha256:8c233660f575a5a89e6d4cb65d9f938126312bca76d8fe087b947b3a1aaac9ee \
-    --hash=sha256:917e891983ca3c1887b4ef36447b1e0873e70c933afc831c6b6da078ba474312 \
-    --hash=sha256:ab486563df44c17f5173621c7b198955bd6b613fb87c71c161f827d3fb149a9b \
-    --hash=sha256:ae0aefdd8796a7737eccea863f80f81e468a1e4cf14d926bd9b6f5f2d5f90ca9 \
-    --hash=sha256:b0726cecd84f9474419d67252add4ac0cd9811b04d61123054b9fb6f57df6e9e \
-    --hash=sha256:b58fabe35e80b264a4e3bb23e6b96f9e45a3df7fb7eed419ac0e5947c61e47cc \
-    --hash=sha256:c7663d4e37f13e884d13994247449e9f8f574bc4655d509c3b95e9ec9e2b9dc1 \
-    --hash=sha256:e452c464a02e7dc7822a05d25db4cde564444a67e58539a00f929c51eddda0cf \
-    --hash=sha256:e78c8603dcd9a04c7364f1a3e670cea95d51ee865e4efb3556a3a63adef958ea \
-    --hash=sha256:eb7e81434c8d223ec4a219b5fc1c47d0417b12be7ea866e24fb5ad6e84b3d988 \
-    --hash=sha256:ed0cace939114f62738d808fdcecd4c869222507e266e574799e9c0faa17d486 \
-    --hash=sha256:eed63d3b4d62449571547b60578c5b2c4bcccc5387148db46e0c2313dad0ee00 \
-    --hash=sha256:fd04ef36b4a6d599bbdb225dd1d3f51e00105f6d48a28f006da7f9822f2606d8
-pyparsing==3.3.2 \
-    --hash=sha256:850ba148bd908d7e2411587e247a1e4f0327839c40e2e5e6d05a007ecc69911d \
-    --hash=sha256:c777f4d763f140633dcb6d8a3eda953bf7a214dc4eff598413c070bcdc117cbc
-python-dateutil==2.9.0.post0 \
-    --hash=sha256:37dd54208da7e1cd875388217d5e00ebd4179249f90fb72437e91a35459a0ad3 \
-    --hash=sha256:a8b2bc7bffae282281c8140a97d3aa9c14da0b136dfe83f850eea9a5f7470427
-six==1.17.0 \
-    --hash=sha256:4721f391ed90541fddacab5acf947aa0d3dc7d27b2e1e8eda2be8970586c3274 \
-    --hash=sha256:ff70335d468e7eb6ec65b95b99d3a2836546063f63acc5171de367e834932a81
-Pygments==2.20.0 \
-    --hash=sha256:6757cd03768053ff99f3039c1a36d6c0aa0b263438fcab17520b30a303a82b5f \
-    --hash=sha256:81a9e26dd42fd28a23a2d169d86d7ac03b46e2f8b59ed4698fb4785f946d0176
diff --git a/python/build_requirements_usd.txt b/python/build_requirements_usd.txt
deleted file mode 100644
index 03e71f7d..00000000
--- a/python/build_requirements_usd.txt
+++ /dev/null
@@ -1,111 +0,0 @@
-pillow==12.2.0 \
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-    --hash=sha256:01afa7cf67f74f09523699b4e88c73fb55c13346d212a59a2db1f86b0a63e8c5 \
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diff --git a/python/least_squares.ipynb b/python/least_squares.ipynb
deleted file mode 100644
index 3e76d206..00000000
--- a/python/least_squares.ipynb
+++ /dev/null
@@ -1,2336 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "UyPmSlgbWKKV"
-   },
-   "source": [
-    "![MuJoCo banner](https://raw.githubusercontent.com/google-deepmind/mujoco/main/banner.png)\n",
-    "\n",
-    "# <h1><center>Least Squares<br></center></h1>\n",
-    "\n",
-    "This notebook describes a utility function included in the MuJoCo Python library performing box-bounded nonlinear least squares optimization. We provide some theoretical background, describe our implementation and show example usage.\n",
-    "<a href=\"https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"120\" align=\"center\"/></a>\n",
-    "\n",
-    "<!--\n",
-    "\n",
-    "Copyright 2022 DeepMind Technologies Limited\n",
-    "\n",
-    "Licensed under the Apache License, Version 2.0 (the \"License\"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.\n",
-    "\n",
-    "Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an \"AS IS\" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.\n",
-    "\n",
-    "-->"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "zhVv8-0Tvlrl"
-   },
-   "source": [
-    "# All imports"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "zT4UpIXCvsia"
-   },
-   "outputs": [],
-   "source": [
-    "# Install mujoco.\n",
-    "!pip install mujoco\n",
-    "from google.colab import files\n",
-    "import distutils.util\n",
-    "import os\n",
-    "import subprocess\n",
-    "if subprocess.run('nvidia-smi').returncode:\n",
-    "  raise RuntimeError(\n",
-    "      'Cannot communicate with GPU. '\n",
-    "      'Make sure you are using a GPU Colab runtime. '\n",
-    "      'Go to the Runtime menu and select Choose runtime type.')\n",
-    "\n",
-    "# Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
-    "# This is usually installed as part of an Nvidia driver package, but the Colab\n",
-    "# kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
-    "# (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
-    "NVIDIA_ICD_CONFIG_PATH = '/usr/share/glvnd/egl_vendor.d/10_nvidia.json'\n",
-    "if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
-    "  with open(NVIDIA_ICD_CONFIG_PATH, 'w') as f:\n",
-    "    f.write(\"\"\"{\n",
-    "    \"file_format_version\" : \"1.0.0\",\n",
-    "    \"ICD\" : {\n",
-    "        \"library_path\" : \"libEGL_nvidia.so.0\"\n",
-    "    }\n",
-    "}\n",
-    "\"\"\")\n",
-    "#\n",
-    "# Configure MuJoCo to use the EGL rendering backend (requires GPU)\n",
-    "print('Setting environment variable to use GPU rendering:')\n",
-    "%env MUJOCO_GL=egl\n",
-    "\n",
-    "try:\n",
-    "  print('Checking that the installation succeeded:')\n",
-    "  import mujoco\n",
-    "  from mujoco import minimize\n",
-    "  from mujoco import rollout\n",
-    "  mujoco.MjModel.from_xml_string('<mujoco/>')\n",
-    "except Exception as e:\n",
-    "  raise e from RuntimeError(\n",
-    "      'Something went wrong during installation. Check the shell output above '\n",
-    "      'for more information.\\n'\n",
-    "      'If using a hosted Colab runtime, make sure you enable GPU acceleration '\n",
-    "      'by going to the Runtime menu and selecting \"Choose runtime type\".')\n",
-    "print('MuJoCo installation successful.')\n",
-    "\n",
-    "print('Installing mediapy:')\n",
-    "!command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
-    "!pip install -q mediapy\n",
-    "#\n",
-    "from IPython.display import clear_output\n",
-    "clear_output()\n",
-    "\n",
-    "# Other imports.\n",
-    "import mediapy as media\n",
-    "import time\n",
-    "import numpy as np\n",
-    "import matplotlib.pyplot as plt\n",
-    "from matplotlib.patches import Rectangle\n",
-    "from typing import Tuple, Optional, Union\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "N94RGEvkL4z6"
-   },
-   "source": [
-    "# Background\n",
-    "\n",
-    "We begin with a quick primer. If you know this stuff, feel free to skip this section."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "FcrX_sv6kjlh"
-   },
-   "source": [
-    "## Newton's method\n",
-    "Nonlinear optimization (unconstrained, for now) means finding the value of a vector **decision variable** $x \\in \\mathbb R^n$, which minimizes\n",
-    "the **objective** $f(x): \\mathbb R^n \\rightarrow \\mathbb R$, here assumed to be a smooth function. This is often written as $$x^* = \\arg \\min_x f(x).$$\n",
-    "\n",
-    "Second-order optimization, a.k.a Newton's method, is an iterative procedure that finds a sequence of candidates $x_k$ which reduce the value of $f(x_k)$, until convergence to the minimum. At every iteration we measure the local 1st and 2nd derivatives of $f(\\cdot)$, called the **gradient** vector $g = \\nabla f(x_k)$ and the **Hessian** matrix $H =  \\nabla^2 f(x_k)$. With these we have a local quadratic approximation of $f(x_k)$:\n",
-    "$$\n",
-    "f(x_k + \\delta x) \\approx f(x_k) + \\delta x^T g + \\frac{1}{2} \\delta x^T H\\delta x\n",
-    "$$\n",
-    "By differentiating with respect to $\\delta x$, equating to 0 and solving, we hope to jump to the minimium of the quadratic, giving us the next candidate:\n",
-    "$$\n",
-    "x_{k+1} = x_k + \\delta x = x_k - H^{-1}g\n",
-    "$$"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "JU7bHvtJkuKP"
-   },
-   "source": [
-    "## Levenberg-Marquardt regularization\n",
-    "Raw Newton's method, in its form above, is not a good idea. There is no guarantee that the candidates $x_{k}$ will converge or indeed that the objective will be reduced at all. This because\n",
-    "1. The local quadratic approximation can be very bad (valid only for a small neighborhood).\n",
-    "2. Even if the approximation is good, $H$ could be negative-definite (or indefinite) rather than positive-definite. In this case we would be jumping to the *maximum* (or *saddle-point*) rather than the *minimum* of the quadratic, taking the situation from bad to worse.\n",
-    "\n",
-    "Levenberg-Marquardt (LM) regularization solves both these problems by introducing a regularization parameter $\\mu \\ge 0$:\n",
-    "$$\n",
-    "\\delta x_{LM} = - (H + \\mu I)^{-1}g\n",
-    "$$\n",
-    "For $\\mu=0$ we get the classic Newton step. For $\\mu$ so large that $\\mu I \\gg H$, we get $\\delta x \\approx -\\tfrac{1}{\\mu}g$: a small gradient step, which is guaranteed to reduce the objective for a large enough $\\mu$. Run the cell below for a visualization of LM regularization. For the simple 2D quadratic and the initial guess\n",
-    "$$\n",
-    "f(x) = \\frac{1}{2}x^T \\begin{pmatrix} 2 & 0.9\\\\ 0.9 & 1 \\end{pmatrix} x,\n",
-    "\\qquad x_0 = \\begin{pmatrix} -0.9\\\\ 0.5 \\end{pmatrix},\n",
-    "$$\n",
-    "We plot the trajectory of $x_1(\\mu)$, varying the parameter logarithmically: $\\mu = 10^{-4} \\ldots 10^2$"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "S59y7eGbH8sv"
-   },
-   "outputs": [],
-   "source": [
-    "#@title LM curve visualization\n",
-    "\n",
-    "# Problem setup.\n",
-    "H = np.array([[2, 0.9], [0.9, 1]])\n",
-    "x0 = np.array((-0.9, 0.5))\n",
-    "\n",
-    "# Logarithmically spaced mu regularizer values.\n",
-    "lm_values = 10**np.linspace(-4, 2, 40)\n",
-    "\n",
-    "# Sequence of next candidates x1(mu).\n",
-    "g0 = H.dot(x0)\n",
-    "dx = np.asarray([-np.linalg.inv(H + mu*np.eye(2)).dot(g0) for mu in lm_values])\n",
-    "x1 = x0 + dx\n",
-    "\n",
-    "# Grid of function values, contour plot.\n",
-    "res = 400\n",
-    "X,Y = np.meshgrid(np.linspace(-1, 1, res),\n",
-    "                  np.linspace(-1, 1, res))\n",
-    "Z = 0.5 * (H[0,0]*X**2 + H[1,1]*Y**2 + 2*H[1,0]*X*Y)\n",
-    "fig = plt.figure(figsize=(10,10))\n",
-    "contours = np.linspace(0, np.sqrt(Z.max()), 20)**2\n",
-    "plt.contour(X, Y, Z, contours, linewidths=0.5)\n",
-    "\n",
-    "# Draw x0, actual minimum, x1(mu).\n",
-    "point_spec = {'markersize':10, 'markeredgewidth':2, 'fillstyle':'none',\n",
-    "              'marker':'o', 'linestyle':'none'}\n",
-    "curve_spec = {'markersize':1.5, 'linewidth':1, 'color':'red'}\n",
-    "plt.plot(x0[0], x0[1], color='grey', **point_spec)\n",
-    "plt.plot(0, 0, color='pink', **point_spec)\n",
-    "plt.plot(x1[:,0], x1[:,1], '-o', **curve_spec)\n",
-    "\n",
-    "# Finalize figure.\n",
-    "plt.title('Levenberg–Marquardt curve: $x_1(\\mu),\\; \\mu = 10^{-4} \\ldots 10^2$')\n",
-    "plt.xlabel('x')\n",
-    "plt.ylabel('y')\n",
-    "plt.legend(['$x_0$', 'minimum', 'LM trajectory'])\n",
-    "plt.rc('font', family='serif')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "qYlpqaquCNh0"
-   },
-   "source": [
-    "In the plot above we can see the \"LM curve\", starting at the minimum of the quadratic for small $\\mu$ and then, as $\\mu$ grows, curving towards $x_0$, approaching it along the gradient. Powell's dog-leg trajectory can be considered a piecewise-linear approximation of the LM curve.\n",
-    "\n",
-    "Importantly, note how the points clump at the ends of the curve. The range of $\\mu$ values where the curve is \"valuable\", enabling meaningful search, is rather narrow, especially considering that we are varying it by 6 orders of magnitude. This implies that careful control of $\\mu$ is critical for efficiency of convergence."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "NFa0PO1bJg3h"
-   },
-   "source": [
-    "## Box constraints\n",
-    "Additional stabillity and robustness can be achieved by limiting the search space. An important type of constraint is the box constraint:\n",
-    "$$\n",
-    "\\begin{aligned}\n",
-    "x^* &= \\arg \\min_x f(x)\\\\\n",
-    "\\textrm{s.t.} &\\quad l \\preccurlyeq x \\preccurlyeq u\n",
-    "\\end{aligned}\n",
-    "$$\n",
-    "Where $l$ and $u$ are respectively lower and upper bound vectors and the inequalities $l \\preccurlyeq x \\preccurlyeq u$ are read elementwise. Solving for the minimizing $\\delta x$ is now a bit more involved than solving a linear system, and the optimization method is now referred to as [Sequential Quadratic Programming](https://en.wikipedia.org/wiki/Sequential_quadratic_programming) (SQP). Fortunately MuJoCo has an efficient box-constrained QP solver: the [mju_boxQP](https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html#mju-boxqp) function."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Ag4L4GeX4iMV"
-   },
-   "source": [
-    "## Least Squares and the Gauss-Newton Hessian\n",
-    "\n",
-    "Additional simplification is achieved by a structured objective: $f(x) = \\frac{1}{2} r(x)^T\\cdot r(x)$, which is called the *Least Squares* objective. The vector function $r(x): \\mathbb R^n \\rightarrow \\mathbb R^m$, is called the **residual**, and the optimization problem is referred to as *Nonlinear Least Squares*. For readers with a statistics background, the Least Squares problem lends itself to reinterpertation as **Maximum Likelihood Estimation** of a Gaussian posterior $x^* = \\arg \\max_x p(x)$ with $p(x) \\sim e^{-\\frac{1}{2}r(x)^Tr(x)}$. To see why the least-squares structure is beneficial, consider the gradient and Hessian of the objective. Letting $J$ be the $n \\times m$ **Jacobian** matrix of the residual $J = \\nabla r(x)$ we have\n",
-    "$$\n",
-    "\\begin{align}\n",
-    "g &= J^Tr\\\\\n",
-    "H &= J^TJ + \\nabla J \\cdot r\n",
-    "\\end{align}\n",
-    "$$\n",
-    "The *Gauss-Newton* approximation of the Hessian $H$ involves dropping the second term: $H \\approx H_{GN}= J^TJ$. This approximation has two obvious benefits:\n",
-    "1. The approximate Hessian $H_{GN}$, being a matrix square, cannot be negative-definite and is at least semidefinite. For any $\\mu \\gt 0$, the LM-regularized matrix $H_{GN} + \\mu I$ is guaranteed to be Symmetric Positive Definite (SPD).\n",
-    "2. In order to compute $H_{GN}$ we only require the Jacobian $J$. In other words, we get the goodness of 2nd-order optimization with only 1st-order derivatives.\n",
-    "\n",
-    "This completes the background section and allows us to accurately describe the function explored in the rest of the notebook.   "
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "IaaI2ZIY5FIw"
-   },
-   "source": [
-    "## Least Norm Generalization\n",
-    "\n",
-    "The Least Squares problem described above can be generalized as follows. Instead of the quadratic norm $\\frac{1}{2} r(x)^T\\cdot r(x)$, we can use some other smooth, convex norm $f(x) = n(r(x))$. Letting $\\nabla n = \\frac{\\partial n}{\\partial r}$ and $\\nabla^2 n = \\frac{\\partial^2 n}{\\partial r^2}$ be respectively the gradient and Hessian of $n$ with respect to $r$, we have\n",
-    "$$\n",
-    "\\begin{align}\n",
-    "g &= J^T\\cdot\\nabla n\\\\\n",
-    "H_{GN} &= J^T\\cdot \\nabla^2 n \\cdot J\n",
-    "\\end{align}\n",
-    "$$\n",
-    "It is easy to verify that for the quadratic norm, these expression reduce to the ones above as $\\nabla (\\frac{1}{2}r^T\\cdot r) = r$ and $\\nabla^2 (\\frac{1}{2}r^T\\cdot r) = I_m$.\n",
-    "\n",
-    "This completes the background section and allows us to accurately describe the function explored in the rest of the notebook.   "
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "nqqtSIkGe-ay"
-   },
-   "source": [
-    "# `minimize.least_squares`\n",
-    "\n",
-    "The `minimize.least_squares` function in the `mujoco` Python library solves the Box-Constrained Nonlinear Least Squares problem. It uses the Gauss-Newton Hessian approximation, and takes Levenberg-Marquardt search steps, while adjusting the LM parameter $\\mu$."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "jXuA25sJydAy"
-   },
-   "source": [
-    "## Motivation and assumptions\n",
-    "\n",
-    "The `minimize.least_squares()` function is motivated by two problems:\n",
-    "\n",
-    "- The **System Identification** (sysID) problem is the main use case. SysID involves finding the parameters of a simulated model to better match the behaviour of the real system. In the notation of the previous section, this problem can be cast as a Least Squares problem with the decision variable $x$ corresponding to the model parameters one wishes to identify and the residual $r$ corresponding to the difference between measured and simulated sensor values. A full sysID tutorial with examples will be made available soon.\n",
-    "- The **Inverse Kinematics** (IK) problem. In this case the decision variables are joint angles, while the residual is the pose difference between an end-effector and some desired pose. The IK problem was less central to our design choices, yet is solved very efficiently with our code.\n",
-    "\n",
-    "This motivation led us to the following assumptions and design choices.\n",
-    "\n",
-    "1. The dimension of the decision variable is small: $\\dim(x) \\lesssim 100$. While Cholesky factorization (the main cost in the QP solver) scales cubically in $\\dim(x)$, it is very fast at these sizes.\n",
-    "2. The dimension of the residual vector $r$ (corresponding to the number of measured sensor values, in the sysID case) can be much larger.\n",
-    "3. Since each evaluation of the residual involves rolling out the physics to obtain simulated sensor values, computing $r(x)$ is the most expensive part of the optimization.\n",
-    "4. Analytic Jacobians $J = \\frac{\\partial r}{\\partial x}$ are usually not available and must be obtained with **finite-differencing**.\n",
-    "5. Due to the sematics of $x$, box-bounds are usually sufficient (for example, masses and friction coefficients cannot be negative, joint angles should not exceed their limits).\n",
-    "6. The implementation should be efficient yet readable. The [least_squares function](https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/minimize.py) takes up ~250 lines of code.\n",
-    "\n",
-    "Let's look at the function's docstring and then discuss some implementation notes."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "IL1Us09FrXHP"
-   },
-   "outputs": [],
-   "source": [
-    "print(minimize.least_squares.__doc__)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "ppWHo99NqW9U"
-   },
-   "source": [
-    "## Implementation notes\n",
-    "\n",
-    "1. The residual funciton must be vectorized: besides taking a column vector $x$ and returning the residual $r(x)$, it must accept an $n\\times k$ matrix $X$, returning an $m\\times k$ matrix $R$. The vectorized format is used by the internal finite-difference implementation and can be exploited to speed up the minimization by using multi-threading inside the residual function implementation.\n",
-    "1. Bounds must be `None` or fully specified for all dimensions of $x$.\n",
-    "1. The `jacobian` callback can be supplied by the user and is finite-differenced otherwise. Note that this callback is not made available in the case the user knows the analytic Jacobian (this is very rare in the sysID context), but in case the user wants to implement their own multi-threaded fin-diff callback.\n",
-    "1. Automatic forward/backward differencing, chosen to avoid crossing the bounds, with optional central differencing. The fin-diff epsilon `eps` is scaled by the size of the bounds, if provided.\n",
-    "1. The termination criterion is based on small step size $||\\delta x|| < \\textrm{tol}$.\n",
-    "1. We use the simple yet affective $\\mu$-search strategy described in [Bazaraa et-al.](https://onlinelibrary.wiley.com/doi/book/10.1002/0471787779). Backtracking $\\mu$-increases are *careful*, attempting to find the smallest $\\mu$ where sufficient reduction is found. $\\mu$-decreases are *aggressive*, allowing fast quadratic convergence to a local minimum.\n",
-    "1. The user may optionally provide a `norm` different than the quadratic norm (the default), this is covered in more detail below."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "MvnHwh2ZgGT2"
-   },
-   "source": [
-    "# Toy examples"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "ybrntfKZyTaQ"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Plotting utility\n",
-    "def plot_2D(residual, name, plot_range, true_minimum, trace=None, bounds=None):\n",
-    "  n = 400\n",
-    "  x_range, y_range = plot_range\n",
-    "  x_grid = np.linspace(x_range[0], x_range[1], n)\n",
-    "  y_grid = np.linspace(y_range[0], y_range[1], n)\n",
-    "  X, Y = np.meshgrid(x_grid, y_grid)\n",
-    "\n",
-    "  R = residual(np.stack((X, Y)))\n",
-    "  Z = 0.5 * np.sum(R**2, axis=0)\n",
-    "\n",
-    "  fig = plt.figure(figsize=(10, 10))\n",
-    "  cntr_levels = np.linspace(0, np.log1p(Z.max()), 30)\n",
-    "  plt.contour(X, Y, np.log1p(Z), cntr_levels, linewidths=0.5)\n",
-    "  plt.title(name)\n",
-    "  plt.xlabel('x')\n",
-    "  plt.ylabel('y')\n",
-    "  plt.rc('font', family='serif')\n",
-    "\n",
-    "  # Draw bounds.\n",
-    "  hbounds = None\n",
-    "  if bounds is not None:\n",
-    "    lower, upper = bounds\n",
-    "    width = upper[0] - lower[0]\n",
-    "    height = upper[1] - lower[1]\n",
-    "    rect = Rectangle(lower, width, height, edgecolor='blue', facecolor='none',\n",
-    "                     fill=False, lw=1)\n",
-    "    hbounds = fig.axes[0].add_patch(rect)\n",
-    "\n",
-    "  # Draw global minimum, initial point\n",
-    "  point_spec = {'markersize': 10, 'markeredgewidth': 2, 'fillstyle': 'none',\n",
-    "                'marker': 'o', 'linestyle': 'none'}\n",
-    "  curve_spec = {'marker': 'o', 'markersize': 2, 'linewidth': 1.5,\n",
-    "                'color': 'red', 'alpha':0.5}\n",
-    "  final_spec = {'marker': 'o', 'markersize': 4, 'color': 'green',\n",
-    "                'linestyle': 'none'}\n",
-    "  hmin = plt.plot(true_minimum[0], true_minimum[1], color='pink', **point_spec)\n",
-    "\n",
-    "  def add_curve(t):\n",
-    "    x0 = plt.plot(t[0, 0], t[0, 1], color='grey', **point_spec)\n",
-    "    traj = plt.plot(t[:, 0], t[:, 1], **curve_spec)\n",
-    "    final = plt.plot(t[-1, 0], t[-1, 1], **final_spec)\n",
-    "    return x0, traj, final\n",
-    "\n",
-    "  if trace is not None:\n",
-    "    if isinstance(trace, list):\n",
-    "      for t in trace:\n",
-    "        x0, traj, final = add_curve(t)\n",
-    "    else:\n",
-    "      x0, traj, final = add_curve(trace)\n",
-    "\n",
-    "  handles = [x0[0], traj[0], hmin[0], final[0]]\n",
-    "  labels = ['$x_0$', 'optimization trace', 'true minimum', 'solution']\n",
-    "  if hbounds is not None:\n",
-    "    handles.append(hbounds)\n",
-    "    labels.append('box bounds')\n",
-    "  plt.legend(handles, labels)\n",
-    "\n",
-    "  plt.show()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "l64G6VcnWQ2P"
-   },
-   "source": [
-    "## Rosenbrock function\n",
-    "\n",
-    "The classic [Rosenbrock test function](https://en.wikipedia.org/wiki/Rosenbrock_function) can be written in least-squares form:\n",
-    "\n",
-    "$f(x,y)=r^Tr,$ with the residual\n",
-    "$r(x,y)=\\begin{pmatrix} 1-x \\\\ 10\\cdot(y-x^2) \\end{pmatrix}$.\n",
-    "\n",
-    "Note that here in the 2D example section, we use $x, y$ to denote the two coordinates of our decision variable. Let's see `minimize.least_squares` find the minimum:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "OYpX8d2Z60Xq"
-   },
-   "outputs": [],
-   "source": [
-    "# Minimize Rosenbrock function.\n",
-    "def rosenbrock(x):\n",
-    "  return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])\n",
-    "\n",
-    "x0 = np.array((0.0, 0.0))\n",
-    "x, rb_trace = minimize.least_squares(x0, rosenbrock);"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "Cw8ki9WHwB_j"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Visualize Rosenbrock solution\n",
-    "\n",
-    "plot_range = (np.array((-0.5, 1.5)), np.array((-1.5, 2.)))\n",
-    "minimum = (1, 1)\n",
-    "points = np.asarray([t.candidate for t in rb_trace])\n",
-    "plot_2D(rosenbrock, 'Rosenbrock Function', plot_range, minimum, trace=points)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "qvGC6U0T2DE9"
-   },
-   "source": [
-    "## Beale function\n",
-    "\n",
-    "A somewhat more elaborate example is the [Beale function](https://en.wikipedia.org/wiki/Test_functions_for_optimization#Test_functions_for_single-objective_optimization):\n",
-    "\n",
-    "$f(x,y)=r^Tr,$ with the residual\n",
-    "$r(x,y)=\\begin{pmatrix} 1.5-x+xy \\\\ 2.25-x+xy^2 \\\\ 2.625-x+xy^3 \\end{pmatrix}$."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "BQuBr8UeTucX"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Minimize, visualize Beale\n",
-    "def beale(x):\n",
-    "  return np.stack((1.5-x[0, :]+x[0, :]*x[1, :],\n",
-    "                   2.25-x[0, :]+x[0, :]*x[1, :]*x[1, :],\n",
-    "                   2.625-x[0, :]+x[0, :]*x[1, :]*x[1, :]*x[1, :]))\n",
-    "\n",
-    "x0 = np.array((-3.0, -3.0))\n",
-    "x, bl_trace = minimize.least_squares(x0, beale)\n",
-    "\n",
-    "# Visualize solution.\n",
-    "plot_range = (np.array((-4., 4.)), np.array((-4., 4.)))\n",
-    "minimum = (3., 0.5)\n",
-    "points = np.asarray([t.candidate for t in bl_trace])\n",
-    "plot_2D(beale, 'Beale Function', plot_range, minimum, trace=points)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "GmNQKK9GecOz"
-   },
-   "source": [
-    "## Box bounds\n",
-    "\n",
-    "Let's see solutions for these problems with box bounds:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "bBYet9hWkGZv"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Rosenbrock with bounds\n",
-    "\n",
-    "# Choose bounds.\n",
-    "lower = np.array([-.3, -1.])\n",
-    "upper = np.array([0.9, 1.9])\n",
-    "bounds = [lower, upper]\n",
-    "\n",
-    "# Make some initial points, minimize, save taces.\n",
-    "num_points = 4\n",
-    "px = np.linspace(lower[0]+.1, upper[0]-.1, num_points)\n",
-    "py = np.linspace(lower[1]+.1, upper[1]-.1, num_points)\n",
-    "traces = []\n",
-    "for i in range(num_points):\n",
-    "  for j in range(num_points):\n",
-    "    x0 = np.array((px[j], py[num_points-i-1]))\n",
-    "    _, trace = minimize.least_squares(x0, rosenbrock, bounds, verbose=0)\n",
-    "    traces.append(np.asarray([t.candidate for t in trace]))\n",
-    "\n",
-    "# Plot.\n",
-    "plot_range = (np.array((-0.5, 1.5)), np.array((-1.5, 2.5)))\n",
-    "minimum = (1, 1)\n",
-    "plot_2D(rosenbrock, 'Rosenbrock Function', plot_range, minimum, traces, bounds)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "8AGuQmQDxgeV"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Beale with bounds\n",
-    "\n",
-    "# Choose bounds.\n",
-    "lower = np.array([-2, -1.3])\n",
-    "upper = np.array([1.5, 3.])\n",
-    "bounds = [lower, upper]\n",
-    "\n",
-    "# Make some initial points, minimize, save taces.\n",
-    "num_points = 5\n",
-    "p0 = np.linspace(lower[0]+.4, upper[0]-.4, num_points)\n",
-    "p1 = np.linspace(lower[1]+.4, upper[1]-.4, num_points)\n",
-    "traces = []\n",
-    "\n",
-    "for i in range(num_points):\n",
-    "  for j in range(num_points):\n",
-    "    x0 = np.array((p0[j], p1[i]))\n",
-    "    x, trace = minimize.least_squares(x0, beale, bounds, verbose=0)\n",
-    "    traces.append(np.asarray([t.candidate for t in trace]))\n",
-    "\n",
-    "# Plot.\n",
-    "plot_range = (np.array((-3., 3.5)), np.array((-3., 4.)))\n",
-    "minimum = (3., 0.5)\n",
-    "plot_2D(beale, 'Beale Function', plot_range, minimum, traces, bounds)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "X1anTzAVGzDj"
-   },
-   "source": [
-    "## n-dimensional Rosenbrock\n",
-    "\n",
-    "An $n$-dimensional generalization of the 2D rosenbrock function is\n",
-    "$$\n",
-    "f(x) = \\sum_{i=1}^{n-1} \\left[ 100 \\cdot (x_{i+1} - x_{i}^{2})^{2} + \\left(1 - x_{i}\\right)^{2}\\right],\n",
-    "$$\n",
-    "which can also be written in Least Squares form and solved by our optimizer:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "_1B8r9z30Hgc"
-   },
-   "outputs": [],
-   "source": [
-    "n = 20\n",
-    "\n",
-    "def rosenbrock_n(x):\n",
-    "  res0 = [1 - x[i, :] for i in range(n - 1)]\n",
-    "  res1 = [10 * (x[i, :] - x[i + 1, :] ** 2) for i in range(n - 1)]\n",
-    "  return np.asarray(res0 + res1)\n",
-    "\n",
-    "x0 = np.zeros(n)\n",
-    "x, _ = minimize.least_squares(x0, rosenbrock_n);\n",
-    "\n",
-    "# Expected solution is a vector of 1's\n",
-    "assert np.linalg.norm(x-1) < 1e-8"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "hadCo2CTe_T7"
-   },
-   "source": [
-    "# Inverse Kinematics\n",
-    "\n",
-    "Forward kinematics means computing the Cartesian poses of articulated bodies, given joint angles. This computation is easy and well defined. Inverse Kinematics (IK) tries to do the opposite: Given a desired Cartesian pose of an articulated body (usually called the **end effector**), find the joint angles which put the end effector at this pose. The IK problem can easily be over or under determined:\n",
-    "- Over-determined: The end effector cannot reach the desired pose at all, or can match either position or orientation, but not both.\n",
-    "- Under-detemined: The articulated chain has more than the minimum required number of degrees-of-freedom (dofs), so after reaching the target there is still a free subspace (imagine rotating your eblow while your hand and shoulder are fixed).\n",
-    "\n",
-    "We adress both of these situations in our implementation below, but first mention features which are currently **not implemented**, but could be added in the future.\n",
-    "1. We currently support only one end-effector and target pose. Adding mutiple targets would be straightforward.\n",
-    "2. Our implementation currently does not support quaternions in the kinematic chain (ball and free joints). Adding this is possible and would require a small modification to the `least_squares` function (explicit support for non-Cartesian tangent spaces).\n",
-    "3. We only give examples with simple box bounds, which in the IK context means joint range limits. In order to take into account constraints like collision avoidance, one would need to make use of MuJoCo's constraint Jacobians. Please let us know if you'd like to see an example of this.\n",
-    "\n",
-    "## 7-dof arm\n",
-    "\n",
-    "Below, we copy the MuJoCo Menagerie's model of Franka's [Panda](https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda#readme), with the following modifications:\n",
-    "1. Intergrated the [scene](https://github.com/google-deepmind/mujoco_menagerie/blob/main/universal_robots_ur5e/scene.xml) elements into a single XML.\n",
-    "2. Added a \"target\" mocap body and site with 3 colored, non-colliding geoms that overlap with the site frame."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "uWLYJUe38i15"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Panda XML\n",
-    "panda = '''\n",
-    "<mujoco model=\"panda scene\">\n",
-    "  <compiler angle=\"radian\" autolimits=\"true\"/>\n",
-    "\n",
-    "  <option integrator=\"implicitfast\"/>\n",
-    "\n",
-    "  <statistic center=\"0.3 0 0.4\" extent=\"1\"  meansize=\".15\"/>\n",
-    "\n",
-    "  <visual>\n",
-    "    <headlight diffuse=\"0.6 0.6 0.6\" ambient=\"0.3 0.3 0.3\" specular=\"0 0 0\"/>\n",
-    "    <rgba haze=\"0.15 0.25 0.35 1\"/>\n",
-    "    <global azimuth=\"120\" elevation=\"-20\"/>\n",
-    "  </visual>\n",
-    "\n",
-    "  <default>\n",
-    "    <geom condim=\"1\"/>\n",
-    "    <default class=\"panda\">\n",
-    "      <material specular=\"0.5\" shininess=\"0.25\"/>\n",
-    "      <joint armature=\"0.1\" damping=\"1\" axis=\"0 0 1\" range=\"-2.8973 2.8973\"/>\n",
-    "      <general dyntype=\"none\" biastype=\"affine\" ctrlrange=\"-2.8973 2.8973\" forcerange=\"-87 87\"/>\n",
-    "      <default class=\"finger\">\n",
-    "        <joint axis=\"0 1 0\" type=\"slide\" range=\"0 0.04\"/>\n",
-    "      </default>\n",
-    "\n",
-    "      <default class=\"visual\">\n",
-    "        <geom type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"2\"/>\n",
-    "        <default class=\"target\">\n",
-    "          <geom type=\"box\" size=\".015\"/>\n",
-    "        </default>\n",
-    "      </default>\n",
-    "      <default class=\"collision\">\n",
-    "        <geom type=\"mesh\" group=\"3\"/>\n",
-    "        <default class=\"fingertip_pad_collision_1\">\n",
-    "          <geom type=\"box\" size=\"0.0085 0.004 0.0085\" pos=\"0 0.0055 0.0445\"/>\n",
-    "        </default>\n",
-    "        <default class=\"fingertip_pad_collision_2\">\n",
-    "          <geom type=\"box\" size=\"0.003 0.002 0.003\" pos=\"0.0055 0.002 0.05\"/>\n",
-    "        </default>\n",
-    "        <default class=\"fingertip_pad_collision_3\">\n",
-    "          <geom type=\"box\" size=\"0.003 0.002 0.003\" pos=\"-0.0055 0.002 0.05\"/>\n",
-    "        </default>\n",
-    "        <default class=\"fingertip_pad_collision_4\">\n",
-    "          <geom type=\"box\" size=\"0.003 0.002 0.0035\" pos=\"0.0055 0.002 0.0395\"/>\n",
-    "        </default>\n",
-    "        <default class=\"fingertip_pad_collision_5\">\n",
-    "          <geom type=\"box\" size=\"0.003 0.002 0.0035\" pos=\"-0.0055 0.002 0.0395\"/>\n",
-    "        </default>\n",
-    "      </default>\n",
-    "    </default>\n",
-    "  </default>\n",
-    "\n",
-    "  <asset>\n",
-    "    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\"0.3 0.5 0.7\" rgb2=\"0 0 0\" width=\"512\" height=\"3072\"/>\n",
-    "    <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"0.2 0.3 0.4\" rgb2=\"0.1 0.2 0.3\"\n",
-    "      markrgb=\"0.8 0.8 0.8\" width=\"300\" height=\"300\"/>\n",
-    "    <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.2\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <asset>\n",
-    "    <material class=\"panda\" name=\"white\" rgba=\"1 1 1 1\"/>\n",
-    "    <material class=\"panda\" name=\"off_white\" rgba=\"0.901961 0.921569 0.929412 1\"/>\n",
-    "    <material class=\"panda\" name=\"black\" rgba=\"0.25 0.25 0.25 1\"/>\n",
-    "    <material class=\"panda\" name=\"green\" rgba=\"0 1 0 1\"/>\n",
-    "    <material class=\"panda\" name=\"light_blue\" rgba=\"0.039216 0.541176 0.780392 1\"/>\n",
-    "\n",
-    "    <!-- Collision meshes -->\n",
-    "    <mesh name=\"link0_c\" file=\"link0.stl\"/>\n",
-    "    <mesh name=\"link1_c\" file=\"link1.stl\"/>\n",
-    "    <mesh name=\"link2_c\" file=\"link2.stl\"/>\n",
-    "    <mesh name=\"link3_c\" file=\"link3.stl\"/>\n",
-    "    <mesh name=\"link4_c\" file=\"link4.stl\"/>\n",
-    "    <mesh name=\"link5_c0\" file=\"link5_collision_0.obj\"/>\n",
-    "    <mesh name=\"link5_c1\" file=\"link5_collision_1.obj\"/>\n",
-    "    <mesh name=\"link5_c2\" file=\"link5_collision_2.obj\"/>\n",
-    "    <mesh name=\"link6_c\" file=\"link6.stl\"/>\n",
-    "    <mesh name=\"link7_c\" file=\"link7.stl\"/>\n",
-    "    <mesh name=\"hand_c\" file=\"hand.stl\"/>\n",
-    "\n",
-    "    <!-- Visual meshes -->\n",
-    "    <mesh file=\"link0_0.obj\"/>\n",
-    "    <mesh file=\"link0_1.obj\"/>\n",
-    "    <mesh file=\"link0_2.obj\"/>\n",
-    "    <mesh file=\"link0_3.obj\"/>\n",
-    "    <mesh file=\"link0_4.obj\"/>\n",
-    "    <mesh file=\"link0_5.obj\"/>\n",
-    "    <mesh file=\"link0_7.obj\"/>\n",
-    "    <mesh file=\"link0_8.obj\"/>\n",
-    "    <mesh file=\"link0_9.obj\"/>\n",
-    "    <mesh file=\"link0_10.obj\"/>\n",
-    "    <mesh file=\"link0_11.obj\"/>\n",
-    "    <mesh file=\"link1.obj\"/>\n",
-    "    <mesh file=\"link2.obj\"/>\n",
-    "    <mesh file=\"link3_0.obj\"/>\n",
-    "    <mesh file=\"link3_1.obj\"/>\n",
-    "    <mesh file=\"link3_2.obj\"/>\n",
-    "    <mesh file=\"link3_3.obj\"/>\n",
-    "    <mesh file=\"link4_0.obj\"/>\n",
-    "    <mesh file=\"link4_1.obj\"/>\n",
-    "    <mesh file=\"link4_2.obj\"/>\n",
-    "    <mesh file=\"link4_3.obj\"/>\n",
-    "    <mesh file=\"link5_0.obj\"/>\n",
-    "    <mesh file=\"link5_1.obj\"/>\n",
-    "    <mesh file=\"link5_2.obj\"/>\n",
-    "    <mesh file=\"link6_0.obj\"/>\n",
-    "    <mesh file=\"link6_1.obj\"/>\n",
-    "    <mesh file=\"link6_2.obj\"/>\n",
-    "    <mesh file=\"link6_3.obj\"/>\n",
-    "    <mesh file=\"link6_4.obj\"/>\n",
-    "    <mesh file=\"link6_5.obj\"/>\n",
-    "    <mesh file=\"link6_6.obj\"/>\n",
-    "    <mesh file=\"link6_7.obj\"/>\n",
-    "    <mesh file=\"link6_8.obj\"/>\n",
-    "    <mesh file=\"link6_9.obj\"/>\n",
-    "    <mesh file=\"link6_10.obj\"/>\n",
-    "    <mesh file=\"link6_11.obj\"/>\n",
-    "    <mesh file=\"link6_12.obj\"/>\n",
-    "    <mesh file=\"link6_13.obj\"/>\n",
-    "    <mesh file=\"link6_14.obj\"/>\n",
-    "    <mesh file=\"link6_15.obj\"/>\n",
-    "    <mesh file=\"link6_16.obj\"/>\n",
-    "    <mesh file=\"link7_0.obj\"/>\n",
-    "    <mesh file=\"link7_1.obj\"/>\n",
-    "    <mesh file=\"link7_2.obj\"/>\n",
-    "    <mesh file=\"link7_3.obj\"/>\n",
-    "    <mesh file=\"link7_4.obj\"/>\n",
-    "    <mesh file=\"link7_5.obj\"/>\n",
-    "    <mesh file=\"link7_6.obj\"/>\n",
-    "    <mesh file=\"link7_7.obj\"/>\n",
-    "    <mesh file=\"hand_0.obj\"/>\n",
-    "    <mesh file=\"hand_1.obj\"/>\n",
-    "    <mesh file=\"hand_2.obj\"/>\n",
-    "    <mesh file=\"hand_3.obj\"/>\n",
-    "    <mesh file=\"hand_4.obj\"/>\n",
-    "    <mesh file=\"finger_0.obj\"/>\n",
-    "    <mesh file=\"finger_1.obj\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <light pos=\"0 0 1.5\" dir=\"0 0 -1\" directional=\"true\"/>\n",
-    "    <geom name=\"floor\" size=\"0 0 0.05\" type=\"plane\" material=\"groundplane\"/>\n",
-    "\n",
-    "    <light name=\"top\" pos=\"0 0 2\" mode=\"trackcom\"/>\n",
-    "    <body name=\"link0\" childclass=\"panda\">\n",
-    "      <inertial mass=\"0.629769\" pos=\"-0.041018 -0.00014 0.049974\"\n",
-    "        fullinertia=\"0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6\"/>\n",
-    "      <geom mesh=\"link0_0\" material=\"off_white\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_1\" material=\"black\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_2\" material=\"off_white\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_3\" material=\"black\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_4\" material=\"off_white\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_5\" material=\"black\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_7\" material=\"white\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_8\" material=\"white\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_9\" material=\"black\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_10\" material=\"off_white\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_11\" material=\"white\" class=\"visual\"/>\n",
-    "      <geom mesh=\"link0_c\" class=\"collision\"/>\n",
-    "      <body name=\"link1\" pos=\"0 0 0.333\">\n",
-    "        <inertial mass=\"4.970684\" pos=\"0.003875 0.002081 -0.04762\"\n",
-    "          fullinertia=\"0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169\"/>\n",
-    "        <joint name=\"joint1\"/>\n",
-    "        <geom material=\"white\" mesh=\"link1\" class=\"visual\"/>\n",
-    "        <geom mesh=\"link1_c\" class=\"collision\"/>\n",
-    "        <body name=\"link2\" quat=\"1 -1 0 0\">\n",
-    "          <inertial mass=\"0.646926\" pos=\"-0.003141 -0.02872 0.003495\"\n",
-    "            fullinertia=\"0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4\"/>\n",
-    "          <joint name=\"joint2\" range=\"-1.7628 1.7628\"/>\n",
-    "          <geom material=\"white\" mesh=\"link2\" class=\"visual\"/>\n",
-    "          <geom mesh=\"link2_c\" class=\"collision\"/>\n",
-    "          <body name=\"link3\" pos=\"0 -0.316 0\" quat=\"1 1 0 0\">\n",
-    "            <joint name=\"joint3\"/>\n",
-    "            <inertial mass=\"3.228604\" pos=\"2.7518e-2 3.9252e-2 -6.6502e-2\"\n",
-    "              fullinertia=\"3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2\"/>\n",
-    "            <geom mesh=\"link3_0\" material=\"white\" class=\"visual\"/>\n",
-    "            <geom mesh=\"link3_1\" material=\"white\" class=\"visual\"/>\n",
-    "            <geom mesh=\"link3_2\" material=\"white\" class=\"visual\"/>\n",
-    "            <geom mesh=\"link3_3\" material=\"black\" class=\"visual\"/>\n",
-    "            <geom mesh=\"link3_c\" class=\"collision\"/>\n",
-    "            <body name=\"link4\" pos=\"0.0825 0 0\" quat=\"1 1 0 0\">\n",
-    "              <inertial mass=\"3.587895\" pos=\"-5.317e-2 1.04419e-1 2.7454e-2\"\n",
-    "                fullinertia=\"2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3\"/>\n",
-    "              <joint name=\"joint4\" range=\"-3.0718 -0.0698\"/>\n",
-    "              <geom mesh=\"link4_0\" material=\"white\" class=\"visual\"/>\n",
-    "              <geom mesh=\"link4_1\" material=\"white\" class=\"visual\"/>\n",
-    "              <geom mesh=\"link4_2\" material=\"black\" class=\"visual\"/>\n",
-    "              <geom mesh=\"link4_3\" material=\"white\" class=\"visual\"/>\n",
-    "              <geom mesh=\"link4_c\" class=\"collision\"/>\n",
-    "              <body name=\"link5\" pos=\"-0.0825 0.384 0\" quat=\"1 -1 0 0\">\n",
-    "                <inertial mass=\"1.225946\" pos=\"-1.1953e-2 4.1065e-2 -3.8437e-2\"\n",
-    "                  fullinertia=\"3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4\"/>\n",
-    "                <joint name=\"joint5\"/>\n",
-    "                <geom mesh=\"link5_0\" material=\"black\" class=\"visual\"/>\n",
-    "                <geom mesh=\"link5_1\" material=\"white\" class=\"visual\"/>\n",
-    "                <geom mesh=\"link5_2\" material=\"white\" class=\"visual\"/>\n",
-    "                <geom mesh=\"link5_c0\" class=\"collision\"/>\n",
-    "                <geom mesh=\"link5_c1\" class=\"collision\"/>\n",
-    "                <geom mesh=\"link5_c2\" class=\"collision\"/>\n",
-    "                <body name=\"link6\" quat=\"1 1 0 0\">\n",
-    "                  <inertial mass=\"1.666555\" pos=\"6.0149e-2 -1.4117e-2 -1.0517e-2\"\n",
-    "                    fullinertia=\"1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4\"/>\n",
-    "                  <joint name=\"joint6\" range=\"-0.0175 3.7525\"/>\n",
-    "                  <geom mesh=\"link6_0\" material=\"off_white\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_1\" material=\"white\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_2\" material=\"black\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_3\" material=\"white\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_4\" material=\"white\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_5\" material=\"white\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_6\" material=\"white\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_7\" material=\"light_blue\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_8\" material=\"light_blue\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_9\" material=\"black\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_10\" material=\"black\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_11\" material=\"white\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_12\" material=\"green\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_13\" material=\"white\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_14\" material=\"black\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_15\" material=\"black\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_16\" material=\"white\" class=\"visual\"/>\n",
-    "                  <geom mesh=\"link6_c\" class=\"collision\"/>\n",
-    "                  <body name=\"link7\" pos=\"0.088 0 0\" quat=\"1 1 0 0\">\n",
-    "                    <inertial mass=\"7.35522e-01\" pos=\"1.0517e-2 -4.252e-3 6.1597e-2\"\n",
-    "                      fullinertia=\"1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4\"/>\n",
-    "                    <joint name=\"joint7\"/>\n",
-    "                    <geom mesh=\"link7_0\" material=\"white\" class=\"visual\"/>\n",
-    "                    <geom mesh=\"link7_1\" material=\"black\" class=\"visual\"/>\n",
-    "                    <geom mesh=\"link7_2\" material=\"black\" class=\"visual\"/>\n",
-    "                    <geom mesh=\"link7_3\" material=\"black\" class=\"visual\"/>\n",
-    "                    <geom mesh=\"link7_4\" material=\"black\" class=\"visual\"/>\n",
-    "                    <geom mesh=\"link7_5\" material=\"black\" class=\"visual\"/>\n",
-    "                    <geom mesh=\"link7_6\" material=\"black\" class=\"visual\"/>\n",
-    "                    <geom mesh=\"link7_7\" material=\"white\" class=\"visual\"/>\n",
-    "                    <geom mesh=\"link7_c\" class=\"collision\"/>\n",
-    "                    <body name=\"hand\" pos=\"0 0 0.107\" quat=\"0.9238795 0 0 -0.3826834\">\n",
-    "                      <inertial mass=\"0.73\" pos=\"-0.01 0 0.03\" diaginertia=\"0.001 0.0025 0.0017\"/>\n",
-    "                      <geom mesh=\"hand_0\" material=\"off_white\" class=\"visual\"/>\n",
-    "                      <geom mesh=\"hand_1\" material=\"black\" class=\"visual\"/>\n",
-    "                      <geom mesh=\"hand_2\" material=\"black\" class=\"visual\"/>\n",
-    "                      <geom mesh=\"hand_3\" material=\"white\" class=\"visual\"/>\n",
-    "                      <geom mesh=\"hand_4\" material=\"off_white\" class=\"visual\"/>\n",
-    "                      <geom mesh=\"hand_c\" class=\"collision\"/>\n",
-    "                      <site name=\"effector\" pos=\"0 0 0.08\"/>\n",
-    "                    </body>\n",
-    "                  </body>\n",
-    "                </body>\n",
-    "              </body>\n",
-    "            </body>\n",
-    "          </body>\n",
-    "        </body>\n",
-    "      </body>\n",
-    "    </body>\n",
-    "\n",
-    "    <body name=\"target\" pos=\"0 .6 .4\" quat=\".5 -.2 1 0\" mocap=\"true\">\n",
-    "      <site name=\"target\" group=\"2\"/>\n",
-    "      <geom class=\"target\" fromto=\".07 0 0 .15 0 0\" rgba=\"1 0 0 1\"/>\n",
-    "      <geom class=\"target\" fromto=\"0 .07 0 0 .15 0\" rgba=\"0 1 0 1\"/>\n",
-    "      <geom class=\"target\" fromto=\"0 0 .07 0 0 .15\" rgba=\"0 0 1 1\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "\n",
-    "  <actuator>\n",
-    "    <general class=\"panda\" name=\"actuator1\" joint=\"joint1\" gainprm=\"4500\" biasprm=\"0 -4500 -450\"/>\n",
-    "    <general class=\"panda\" name=\"actuator2\" joint=\"joint2\" gainprm=\"4500\" biasprm=\"0 -4500 -450\"\n",
-    "      ctrlrange=\"-1.7628 1.7628\"/>\n",
-    "    <general class=\"panda\" name=\"actuator3\" joint=\"joint3\" gainprm=\"3500\" biasprm=\"0 -3500 -350\"/>\n",
-    "    <general class=\"panda\" name=\"actuator4\" joint=\"joint4\" gainprm=\"3500\" biasprm=\"0 -3500 -350\"\n",
-    "      ctrlrange=\"-3.0718 -0.0698\"/>\n",
-    "    <general class=\"panda\" name=\"actuator5\" joint=\"joint5\" gainprm=\"2000\" biasprm=\"0 -2000 -200\" forcerange=\"-12 12\"/>\n",
-    "    <general class=\"panda\" name=\"actuator6\" joint=\"joint6\" gainprm=\"2000\" biasprm=\"0 -2000 -200\" forcerange=\"-12 12\"\n",
-    "      ctrlrange=\"-0.0175 3.7525\"/>\n",
-    "    <general class=\"panda\" name=\"actuator7\" joint=\"joint7\" gainprm=\"2000\" biasprm=\"0 -2000 -200\" forcerange=\"-12 12\"/>\n",
-    "  </actuator>\n",
-    "\n",
-    "  <keyframe>\n",
-    "    <key name=\"home\" qpos=\"0 0 0 -1.57079 0 1.57079 -0.7853\" ctrl=\"0 0 0 -1.57079 0 1.57079 -0.7853\"/>\n",
-    "  </keyframe>\n",
-    "</mujoco>\n",
-    "'''"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "dK9fIoB9EF1P"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Get Panda assets\n",
-    "!git clone https://github.com/google-deepmind/mujoco_menagerie\n",
-    "from os import walk\n",
-    "from os.path import join\n",
-    "assets_path = 'mujoco_menagerie/franka_emika_panda/assets/'\n",
-    "asset_names = next(walk(assets_path), (None, None, []))[2]\n",
-    "assets = {}\n",
-    "for name in asset_names:\n",
-    "  with open(join(assets_path, name), 'rb') as f:\n",
-    "    assets[name] = f.read()\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "g_5007tHfX9c"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Load model, render {vertical-output: true}\n",
-    "model = mujoco.MjModel.from_xml_string(panda, assets)\n",
-    "data = mujoco.MjData(model)\n",
-    "\n",
-    "# Reset the state to the \"home\" keyframe.\n",
-    "key = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_KEY, 'home')\n",
-    "mujoco.mj_resetDataKeyframe(model, data, key)\n",
-    "mujoco.mj_forward(model, data)\n",
-    "\n",
-    "# If a renderer exists, close it.\n",
-    "if 'renderer' in locals():\n",
-    "  renderer.close()\n",
-    "\n",
-    "# Make a Renderer and a camera.\n",
-    "renderer = mujoco.Renderer(model, height=360, width=480)\n",
-    "camera = mujoco.MjvCamera()\n",
-    "mujoco.mjv_defaultFreeCamera(model, camera)\n",
-    "camera.distance = 1.7\n",
-    "camera.elevation = -15\n",
-    "camera.azimuth = -130\n",
-    "camera.lookat = (0, 0, .3)\n",
-    "\n",
-    "# Visualize site frames and labels\n",
-    "voption = mujoco.MjvOption()\n",
-    "voption.frame = mujoco.mjtFrame.mjFRAME_SITE\n",
-    "voption.label = mujoco.mjtLabel.mjLABEL_SITE\n",
-    "renderer.update_scene(data, camera, voption)\n",
-    "voption.label = mujoco.mjtLabel.mjLABEL_NONE\n",
-    "\n",
-    "media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "IdqEhtvqNlS_"
-   },
-   "source": [
-    "Note how the target site frame has boxes along the axes, to make it visually distinct from the end-effector frame."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "kSLQYCQJfiB6"
-   },
-   "source": [
-    "## Orientation weighting\n",
-    "\n",
-    "A common feature of the IK problem is that matching poses requires matching both positions and orientations. However, these residuals have different units. Position differences are in units of length (say, Meters), while orientation differences (log-map of a quaternion difference) are in unitless Radians. The user needs to provide a conversion factor denoting how much they \"care\" about matching orientation vs. position. Since this factor has units of length we call it `radius`, which can be thought of as the radius of a sphere around the effector frame on the surface of which angular errors are measured."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Bb9vSXf0o0mh"
-   },
-   "source": [
-    "## IK regularization\n",
-    "\n",
-    "Our Panda arm has 7 degrees-of-freedom (dofs), making the IK problem under-determined, since the IK problem has 6 constraints (3 translation + 3 rotation). In order to enforce a single solution, we introduce a fixed regularizer attracting the configuration to some base pose."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "wFowIXLcqaIC"
-   },
-   "source": [
-    "## Problem definition\n",
-    "\n",
-    "We are now in a position to see the problem definition:"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "0cxn1XcnK2Eu"
-   },
-   "source": [
-    "### Bounds, initial guess"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "WIpghcP0qp7D"
-   },
-   "outputs": [],
-   "source": [
-    "# Bounds at the joint limits.\n",
-    "bounds = [model.jnt_range[:, 0], model.jnt_range[:, 1]]\n",
-    "\n",
-    "# Inital guess is the 'home' keyframe.\n",
-    "x0 = model.key('home').qpos"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "NDE6ja_-K-EX"
-   },
-   "source": [
-    "### IK residual"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "NZ3qaI0x6hFH"
-   },
-   "outputs": [],
-   "source": [
-    "def ik(x, pos=None, quat=None, radius=0.04, reg=1e-3, reg_target=None):\n",
-    "  \"\"\"Residual for inverse kinematics.\n",
-    "\n",
-    "  Args:\n",
-    "    x: joint angles.\n",
-    "    pos: target position for the end effector.\n",
-    "    quat: target orientation for the end effector.\n",
-    "    radius: scaling of the 3D cross.\n",
-    "\n",
-    "  Returns:\n",
-    "    The residual of the Inverse Kinematics task.\n",
-    "  \"\"\"\n",
-    "\n",
-    "  # Move the mocap body to the target\n",
-    "  id = model.body('target').mocapid\n",
-    "  data.mocap_pos[id] = model.body('target').pos if pos is None else pos\n",
-    "  data.mocap_quat[id] = model.body('target').quat if quat is None else quat\n",
-    "\n",
-    "  # Set qpos, compute forward kinematics.\n",
-    "  res = []\n",
-    "  for i in range(x.shape[1]):\n",
-    "    data.qpos = x[:, i]\n",
-    "    mujoco.mj_kinematics(model, data)\n",
-    "\n",
-    "    # Position residual.\n",
-    "    res_pos = data.site('effector').xpos - data.site('target').xpos\n",
-    "\n",
-    "    # Effector quat, use mju_mat2quat.\n",
-    "    effector_quat = np.empty(4)\n",
-    "    mujoco.mju_mat2Quat(effector_quat, data.site('effector').xmat)\n",
-    "\n",
-    "    # Target quat, exploit the fact that the site is aligned with the body.\n",
-    "    target_quat = data.body('target').xquat\n",
-    "\n",
-    "    # Orientation residual: quaternion difference.\n",
-    "    res_quat = np.empty(3)\n",
-    "    mujoco.mju_subQuat(res_quat, target_quat, effector_quat)\n",
-    "    res_quat *= radius\n",
-    "\n",
-    "    # Regularization residual.\n",
-    "    reg_target = model.key('home').qpos if reg_target is None else reg_target\n",
-    "    res_reg = reg * (x[:, i] - reg_target)\n",
-    "\n",
-    "    res_i = np.hstack((res_pos, res_quat, res_reg))\n",
-    "    res.append(np.atleast_2d(res_i).T)\n",
-    "\n",
-    "  return np.hstack(res)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "-FD9ib76wXd5"
-   },
-   "source": [
-    "### Analytic Jacobian\n",
-    "\n",
-    "The IK problem is special in another way. Unlike the general case, here analytic Jacobians are computable by MuJoCo. Let's write down this Jacobian and then compare solution timing using finite differencing with timing using the analytic Jacobian."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "-FM8suuv9_-C"
-   },
-   "outputs": [],
-   "source": [
-    "def ik_jac(x, res, pos=None, quat=None, radius=.04, reg=1e-3):\n",
-    "  \"\"\"Analytic Jacobian of inverse kinematics residual\n",
-    "\n",
-    "  Args:\n",
-    "    x: joint angles.\n",
-    "    pos: target position for the end effector.\n",
-    "    quat: target orientation for the end effector.\n",
-    "    radius: scaling of the 3D cross.\n",
-    "\n",
-    "  Returns:\n",
-    "    The Jacobian of the Inverse Kinematics task.\n",
-    "  \"\"\"\n",
-    "  # least_squares() passes the value of the residual at x which is sometimes\n",
-    "  # useful, but we don't need it here.\n",
-    "  del res\n",
-    "\n",
-    "  # Call mj_kinematics and mj_comPos (required for Jacobians).\n",
-    "  mujoco.mj_kinematics(model, data)\n",
-    "  mujoco.mj_comPos(model, data)\n",
-    "\n",
-    "  # Get end-effector site Jacobian.\n",
-    "  jac_pos = np.empty((3, model.nv))\n",
-    "  jac_quat = np.empty((3, model.nv))\n",
-    "  mujoco.mj_jacSite(model, data, jac_pos, jac_quat, data.site('effector').id)\n",
-    "\n",
-    "  # Get Deffector, the 3x3 mju_subquat Jacobian\n",
-    "  effector_quat = np.empty(4)\n",
-    "  mujoco.mju_mat2Quat(effector_quat, data.site('effector').xmat)\n",
-    "  target_quat = data.body('target').xquat\n",
-    "  Deffector = np.empty((3, 3))\n",
-    "  mujoco.mjd_subQuat(target_quat, effector_quat, None, Deffector)\n",
-    "\n",
-    "  # Rotate into target frame, multiply by subQuat Jacobian, scale by radius.\n",
-    "  target_mat = data.site('target').xmat.reshape(3, 3)\n",
-    "  mat = radius * Deffector.T @ target_mat.T\n",
-    "  jac_quat = mat @ jac_quat\n",
-    "\n",
-    "  # Regularization Jacobian.\n",
-    "  jac_reg = reg * np.eye(model.nv)\n",
-    "\n",
-    "  return np.vstack((jac_pos, jac_quat, jac_reg))"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "ez7bek0Yx5BC"
-   },
-   "source": [
-    "Let's compare the performance of the function with finite-differenced and analytic Jacobians:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "YHmIIn-Xvc81"
-   },
-   "outputs": [],
-   "source": [
-    "print('Finite-differenced Jacobian:')\n",
-    "x_fd, _ = minimize.least_squares(x0, ik, bounds, verbose=1);\n",
-    "print('Analytic Jacobian:')\n",
-    "x_analytic, _ = minimize.least_squares(x0, ik, bounds, jacobian=ik_jac,\n",
-    "                                       verbose=1, check_derivatives=True);\n",
-    "\n",
-    "# Assert that we got a nearly identical solution\n",
-    "assert np.linalg.norm(x_fd - x_analytic) < 1e-5"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "UP9UamTWzWM4"
-   },
-   "source": [
-    "Nice speed-up! This will become more pronounced the harder the specific IK problem. We'll do a more comprehensive timing comparison a few cells down (this specific configuration happens to be solved rather slowly).\n",
-    "\n",
-    "Note that we passed `check_derivatives=True` to ask the function to verify that our analytic Jacobian is correct, by making a comparison to the internal finite-difference function at the first timestep."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "x9nNH8fErRqg"
-   },
-   "source": [
-    "## Visualizing solutions\n",
-    "\n",
-    "Let's see what the solution to our problem looks like."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "mfhCxqQiio5l"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Basic solution {vertical-output: true}\n",
-    "\n",
-    "x, _ = minimize.least_squares(x0, ik, bounds, jacobian=ik_jac,\n",
-    "                              verbose=0);\n",
-    "\n",
-    "# Update and visualize\n",
-    "data.qpos = x\n",
-    "mujoco.mj_kinematics(model, data)\n",
-    "mujoco.mj_camlight(model, data)\n",
-    "camera.distance = 1\n",
-    "camera.lookat = data.site('effector').xpos\n",
-    "renderer.update_scene(data, camera, voption)\n",
-    "media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Gr4wMZ6ZuIn4"
-   },
-   "source": [
-    "In order to get a better intuition for the effects of the `radius` argument, let's give the IK solver a more difficult target pose, and vary the radius:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "_anJZK-u1MTt"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Small `radius` {vertical-output: true}\n",
-    "\n",
-    "pos = np.array((.2, .8, .5))\n",
-    "quat = np.array((1, 1, 0, 0))\n",
-    "radius = 0.04\n",
-    "\n",
-    "ik_target = lambda x: ik(x, pos=pos, quat=quat, radius=radius)\n",
-    "jac_target = lambda x, r: ik_jac(x, r, pos=pos, quat=quat,\n",
-    "                                 radius=radius)\n",
-    "\n",
-    "x, _ = minimize.least_squares(x0, ik_target, bounds,\n",
-    "                              jacobian=jac_target,\n",
-    "                              verbose=0);\n",
-    "\n",
-    "# Update and visualize\n",
-    "data.qpos = x\n",
-    "mujoco.mj_kinematics(model, data)\n",
-    "mujoco.mj_camlight(model, data)\n",
-    "camera.distance = 1\n",
-    "camera.lookat = data.site('effector').xpos\n",
-    "camera.azimuth = -150\n",
-    "camera.elevation = -20\n",
-    "renderer.update_scene(data, camera, voption)\n",
-    "media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "LGu94l6NsOHK"
-   },
-   "source": [
-    "We can see that the positions match well, but the orientations are very wrong."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "xAQdrdlQ3cnT"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Large `radius` {vertical-output: true}\n",
-    "\n",
-    "pos = np.array((.2, .8, .5))\n",
-    "quat = np.array((1, 1, 0, 0))\n",
-    "radius = 0.5\n",
-    "\n",
-    "ik_target = lambda x: ik(x, pos=pos, quat=quat, radius=radius)\n",
-    "jac_target = lambda x, r: ik_jac(x, r, pos=pos, quat=quat,\n",
-    "                                 radius=radius)\n",
-    "\n",
-    "x, _ = minimize.least_squares(x0, ik_target, bounds,\n",
-    "                              jacobian=jac_target,\n",
-    "                              verbose=0);\n",
-    "\n",
-    "# Update and visualize\n",
-    "data.qpos = x\n",
-    "mujoco.mj_kinematics(model, data)\n",
-    "mujoco.mj_camlight(model, data)\n",
-    "camera.distance = 1\n",
-    "camera.lookat = data.site('effector').xpos\n",
-    "camera.azimuth = -150\n",
-    "camera.elevation = -20\n",
-    "renderer.update_scene(data, camera, voption)\n",
-    "media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "kpPzK9qy6NAw"
-   },
-   "source": [
-    "Now the orientations are a better match, but the position error is much larger."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "NzoUmgv_EQj1"
-   },
-   "source": [
-    "## Smooth motion\n",
-    "\n",
-    "It is often the case that one wants to smoothly track a given end-effector trajectory. Let's invent some smooth traget trajectory:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "GwHQqUEJEU9X"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Continuous target trajectory {vertical-output: true}\n",
-    "def pose(time):\n",
-    "  pos = (0.4 * np.sin(time),\n",
-    "         0.4 * np.cos(time),\n",
-    "         0.4 + 0.2 * np.sin(3 * time))\n",
-    "  quat = np.array((1.0, np.sin(2 * time), np.sin(time), 0))\n",
-    "  quat /= np.linalg.norm(quat)\n",
-    "  return pos, quat\n",
-    "\n",
-    "# Number of frames\n",
-    "n_frame = 400\n",
-    "\n",
-    "# Reset the camera, make the arm point straight up.\n",
-    "camera.distance = 1.5\n",
-    "camera.elevation = -15\n",
-    "camera.azimuth = -130\n",
-    "camera.lookat = (0, 0, 0.3)\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "\n",
-    "frames = []\n",
-    "for t in np.linspace(0, 2 * np.pi, n_frame):\n",
-    "  # Move the target\n",
-    "  pos, quat = pose(t)\n",
-    "  id = model.body('target').mocapid\n",
-    "  data.mocap_pos[id] = pos\n",
-    "  data.mocap_quat[id] = quat\n",
-    "\n",
-    "  mujoco.mj_kinematics(model, data)\n",
-    "  mujoco.mj_camlight(model, data)\n",
-    "  renderer.update_scene(data, camera, voption)\n",
-    "\n",
-    "  frames.append(renderer.render())\n",
-    "\n",
-    "media.show_video(frames)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "3130-DIkLrp1"
-   },
-   "source": [
-    "Let's see what the arm motion looks like if we solve the IK problem independently for each frame, always starting at our `x0` initial guess. While we're doing this, we'll also time our solution, with and without analytic derivatives, to get a better sense of how long the optimization takes."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "VGabjS76L-3m"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Full IK for every frame {vertical-output: true}\n",
-    "\n",
-    "frames = []\n",
-    "time_fd = []\n",
-    "time_analytic = []\n",
-    "for t in np.linspace(0, 2 * np.pi, n_frame):\n",
-    "  # Get target pose\n",
-    "  pos, quat = pose(t)\n",
-    "\n",
-    "  # Define IK problem\n",
-    "  ik_target = lambda x: ik(x, pos=pos, quat=quat)\n",
-    "  jac_target = lambda x, r: ik_jac(x, r, pos=pos, quat=quat)\n",
-    "\n",
-    "  # Solve while timing, fin-diff Jacobian\n",
-    "  t_start = time.time()\n",
-    "  x, _ = minimize.least_squares(x0, ik_target, bounds,\n",
-    "                                verbose=0);\n",
-    "  time_fd.append(1000*(time.time() - t_start))\n",
-    "\n",
-    "  # Solve while timing, analytic Jacobian\n",
-    "  t_start = time.time()\n",
-    "  x, _ = minimize.least_squares(x0, ik_target, bounds,\n",
-    "                                jacobian=jac_target,\n",
-    "                                verbose=0);\n",
-    "  time_analytic.append(1000*(time.time() - t_start))\n",
-    "\n",
-    "  mujoco.mj_kinematics(model, data)\n",
-    "  mujoco.mj_camlight(model, data)\n",
-    "  renderer.update_scene(data, camera, voption)\n",
-    "\n",
-    "  frames.append(renderer.render())\n",
-    "\n",
-    "media.show_video(frames, loop=False)\n",
-    "\n",
-    "mean_analytic = np.asarray(time_analytic).mean()\n",
-    "mean_fd = np.asarray(time_fd).mean()\n",
-    "prfx = 'Mean solution time using '\n",
-    "print(prfx + f'fin-diff Jacobian: {mean_fd:3.1f}ms')\n",
-    "print(prfx + f'analytic Jacobian: {mean_analytic:3.1f}ms')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "pL0dArCKP-Y-"
-   },
-   "source": [
-    "Yikes! Solutions are being found, but what's with all the \"glitches\"? The IK problem often has multiple local minima and since we are solving from scratch each time, we end up in a different one, somewhat arbitrarily.\n",
-    "\n",
-    "A very easy way to mitigate this is to initialize (\"warmstart\") the solver with the previous solution:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "TgTLDj34oP6g"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Warmstart with previous solution {vertical-output: true}\n",
-    "\n",
-    "frames = []\n",
-    "x = x0\n",
-    "for t in np.linspace(0, 2 * np.pi, n_frame):\n",
-    "  # Get target pose\n",
-    "  pos, quat = pose(t)\n",
-    "\n",
-    "  # Define IK problem\n",
-    "  ik_target = lambda x: ik(x, pos=pos, quat=quat)\n",
-    "  jac_target = lambda x, r: ik_jac(x, r, pos=pos, quat=quat)\n",
-    "\n",
-    "  x, _ = minimize.least_squares(x, ik_target, bounds,\n",
-    "                                jacobian=jac_target,\n",
-    "                                verbose=0);\n",
-    "\n",
-    "  mujoco.mj_kinematics(model, data)\n",
-    "  mujoco.mj_camlight(model, data)\n",
-    "  renderer.update_scene(data, camera, voption)\n",
-    "\n",
-    "  frames.append(renderer.render())\n",
-    "\n",
-    "media.show_video(frames, loop=False)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "fEvXhuv1TrUk"
-   },
-   "source": [
-    "This looks *much* better, but there are still a few \"glitches\". An esy way to mitigate those is to modify the regularization target to also be the previous solution. We are effectively telling the solver not to stray too far."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "mMKc4OZ5pvtd"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Warmstart with and regularize to previous solution {vertical-output: true}\n",
-    "\n",
-    "frames = []\n",
-    "x = x0\n",
-    "for t in np.linspace(0, 2 * np.pi, n_frame):\n",
-    "  # Get target pose\n",
-    "  pos, quat = pose(t)\n",
-    "\n",
-    "  x_prev = x.copy()\n",
-    "\n",
-    "  # Define IK problem\n",
-    "  ik_target = lambda x: ik(x, pos=pos, quat=quat,\n",
-    "                           reg_target=x_prev, reg=.1)\n",
-    "  jac_target = lambda x, r: ik_jac(x, r, pos=pos, quat=quat)\n",
-    "\n",
-    "  x, _ = minimize.least_squares(x, ik_target, bounds,\n",
-    "                                jacobian=jac_target,\n",
-    "                                verbose=0);\n",
-    "\n",
-    "  mujoco.mj_kinematics(model, data)\n",
-    "  mujoco.mj_camlight(model, data)\n",
-    "  renderer.update_scene(data, camera, voption)\n",
-    "\n",
-    "  frames.append(renderer.render())\n",
-    "\n",
-    "media.show_video(frames, loop=False)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "69c7LaZ07VGY"
-   },
-   "source": [
-    "# Non-quadratic norms\n",
-    "\n",
-    "We'll now use `least_squares` to solve a trajectory optimization (control) problem. While this is not its intended purpose, it demonstrates the power and general usability of the function.\n",
-    "\n",
-    "After using regular Least Squares, we'll define a custom **non-quadratic norm** and solve again.\n",
-    "\n",
-    "Below, we copy MuJoCo's [standard humanoid model](https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid.xml), with the following modifications:\n",
-    "1. Added a \"target\" mocap body with a pink spherical site.\n",
-    "2. Changed the color of the right hand to pink.\n",
-    "3. Replaced the torque actuators with position actuators.\n",
-    "4. Added sensors corresponding to the residual."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "1Cg4ABJa7VGd"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Humanoid XML\n",
-    "xml = \"\"\"\n",
-    "<mujoco model=\"Humanoid\">\n",
-    "  <option timestep=\"0.005\"/>\n",
-    "\n",
-    "  <visual>\n",
-    "    <map force=\"0.1\" zfar=\"30\"/>\n",
-    "    <rgba haze=\"0.15 0.25 0.35 1\"/>\n",
-    "    <global offwidth=\"2560\" offheight=\"1440\" elevation=\"-20\" azimuth=\"120\"/>\n",
-    "  </visual>\n",
-    "\n",
-    "  <statistic center=\"0 0 0.7\"/>\n",
-    "\n",
-    "  <asset>\n",
-    "    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\".3 .5 .7\" rgb2=\"0 0 0\" width=\"32\" height=\"512\"/>\n",
-    "    <texture name=\"body\" type=\"cube\" builtin=\"flat\" mark=\"cross\" width=\"128\" height=\"128\" rgb1=\"0.8 0.6 0.4\" rgb2=\"0.8 0.6 0.4\" markrgb=\"1 1 1\" random=\"0.01\"/>\n",
-    "    <material name=\"body\" texture=\"body\" texuniform=\"true\" rgba=\"0.8 0.6 .4 1\"/>\n",
-    "    <texture name=\"grid\" type=\"2d\" builtin=\"checker\" width=\"512\" height=\"512\" rgb1=\".1 .2 .3\" rgb2=\".2 .3 .4\"/>\n",
-    "    <material name=\"grid\" texture=\"grid\" texrepeat=\"1 1\" texuniform=\"true\" reflectance=\".2\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <default>\n",
-    "    <position inheritrange=\"0.95\"/>\n",
-    "    <default class=\"body\">\n",
-    "\n",
-    "      <!-- geoms -->\n",
-    "      <geom type=\"capsule\" condim=\"1\" friction=\".7\" solimp=\"0.9 .99 .003\" solref=\".015 1\" material=\"body\" group=\"1\"/>\n",
-    "      <default class=\"thigh\">\n",
-    "        <geom size=\".06\"/>\n",
-    "      </default>\n",
-    "      <default class=\"shin\">\n",
-    "        <geom fromto=\"0 0 0 0 0 -.3\"  size=\".049\"/>\n",
-    "      </default>\n",
-    "      <default class=\"foot\">\n",
-    "        <geom size=\".027\"/>\n",
-    "        <default class=\"foot1\">\n",
-    "          <geom fromto=\"-.07 -.01 0 .14 -.03 0\"/>\n",
-    "        </default>\n",
-    "        <default class=\"foot2\">\n",
-    "          <geom fromto=\"-.07 .01 0 .14  .03 0\"/>\n",
-    "        </default>\n",
-    "      </default>\n",
-    "      <default class=\"arm_upper\">\n",
-    "        <geom size=\".04\"/>\n",
-    "      </default>\n",
-    "      <default class=\"arm_lower\">\n",
-    "        <geom size=\".031\"/>\n",
-    "      </default>\n",
-    "      <default class=\"hand\">\n",
-    "        <geom type=\"sphere\" size=\".04\"/>\n",
-    "      </default>\n",
-    "\n",
-    "      <!-- joints -->\n",
-    "      <joint type=\"hinge\" damping=\".2\" stiffness=\"1\" armature=\".01\" limited=\"true\" solimplimit=\"0 .99 .01\"/>\n",
-    "      <default class=\"joint_big\">\n",
-    "        <joint damping=\"5\" stiffness=\"10\"/>\n",
-    "        <default class=\"hip_x\">\n",
-    "          <joint range=\"-30 10\"/>\n",
-    "        </default>\n",
-    "        <default class=\"hip_z\">\n",
-    "          <joint range=\"-60 35\"/>\n",
-    "        </default>\n",
-    "        <default class=\"hip_y\">\n",
-    "          <joint axis=\"0 1 0\" range=\"-150 20\"/>\n",
-    "        </default>\n",
-    "        <default class=\"joint_big_stiff\">\n",
-    "          <joint stiffness=\"20\"/>\n",
-    "        </default>\n",
-    "      </default>\n",
-    "      <default class=\"knee\">\n",
-    "        <joint pos=\"0 0 .02\" axis=\"0 -1 0\" range=\"-160 2\"/>\n",
-    "      </default>\n",
-    "      <default class=\"ankle\">\n",
-    "        <joint range=\"-50 50\"/>\n",
-    "        <default class=\"ankle_y\">\n",
-    "          <joint pos=\"0 0 .08\" axis=\"0 1 0\" stiffness=\"6\"/>\n",
-    "        </default>\n",
-    "        <default class=\"ankle_x\">\n",
-    "          <joint pos=\"0 0 .04\" stiffness=\"3\"/>\n",
-    "        </default>\n",
-    "      </default>\n",
-    "      <default class=\"shoulder\">\n",
-    "        <joint range=\"-85 60\"/>\n",
-    "      </default>\n",
-    "      <default class=\"elbow\">\n",
-    "        <joint range=\"-100 50\" stiffness=\"0\"/>\n",
-    "      </default>\n",
-    "    </default>\n",
-    "  </default>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <body name=\"target\" pos=\".2 -.2 1\" mocap=\"true\">\n",
-    "      <site name=\"target\" size=\".05\" rgba=\"1 0 1 .4\"/>\n",
-    "    </body>\n",
-    "    <geom name=\"floor\" size=\"0 0 .05\" type=\"plane\" material=\"grid\" condim=\"3\"/>\n",
-    "    <light name=\"spotlight\" mode=\"targetbodycom\" target=\"torso\" diffuse=\".8 .8 .8\" specular=\"0.3 0.3 0.3\" pos=\"0 -6 4\" cutoff=\"30\"/>\n",
-    "    <body name=\"torso\" pos=\"0 0 1.282\" childclass=\"body\">\n",
-    "      <light name=\"top\" pos=\"0 0 2\" mode=\"trackcom\"/>\n",
-    "      <camera name=\"back\" pos=\"-3 0 1\" xyaxes=\"0 -1 0 1 0 2\" mode=\"trackcom\"/>\n",
-    "      <camera name=\"side\" pos=\"0 -3 1\" xyaxes=\"1 0 0 0 1 2\" mode=\"trackcom\"/>\n",
-    "      <freejoint name=\"root\"/>\n",
-    "      <geom name=\"torso\" fromto=\"0 -.07 0 0 .07 0\" size=\".07\"/>\n",
-    "      <geom name=\"waist_upper\" fromto=\"-.01 -.06 -.12 -.01 .06 -.12\" size=\".06\"/>\n",
-    "      <body name=\"head\" pos=\"0 0 .19\">\n",
-    "        <geom name=\"head\" type=\"sphere\" size=\".09\"/>\n",
-    "        <camera name=\"egocentric\" pos=\".09 0 0\" xyaxes=\"0 -1 0 .1 0 1\" fovy=\"80\"/>\n",
-    "      </body>\n",
-    "      <body name=\"waist_lower\" pos=\"-.01 0 -.26\">\n",
-    "        <geom name=\"waist_lower\" fromto=\"0 -.06 0 0 .06 0\" size=\".06\"/>\n",
-    "        <joint name=\"abdomen_z\" pos=\"0 0 .065\" axis=\"0 0 1\" range=\"-45 45\" class=\"joint_big_stiff\"/>\n",
-    "        <joint name=\"abdomen_y\" pos=\"0 0 .065\" axis=\"0 1 0\" range=\"-75 30\" class=\"joint_big\"/>\n",
-    "        <body name=\"pelvis\" pos=\"0 0 -.165\">\n",
-    "          <joint name=\"abdomen_x\" pos=\"0 0 .1\" axis=\"1 0 0\" range=\"-35 35\" class=\"joint_big\"/>\n",
-    "          <geom name=\"butt\" fromto=\"-.02 -.07 0 -.02 .07 0\" size=\".09\"/>\n",
-    "          <body name=\"thigh_right\" pos=\"0 -.1 -.04\">\n",
-    "            <joint name=\"hip_x_right\" axis=\"1 0 0\" class=\"hip_x\"/>\n",
-    "            <joint name=\"hip_z_right\" axis=\"0 0 1\" class=\"hip_z\"/>\n",
-    "            <joint name=\"hip_y_right\" class=\"hip_y\"/>\n",
-    "            <geom name=\"thigh_right\" fromto=\"0 0 0 0 .01 -.34\" class=\"thigh\"/>\n",
-    "            <body name=\"shin_right\" pos=\"0 .01 -.4\">\n",
-    "              <joint name=\"knee_right\" class=\"knee\"/>\n",
-    "              <geom name=\"shin_right\" class=\"shin\"/>\n",
-    "              <body name=\"foot_right\" pos=\"0 0 -.39\">\n",
-    "                <joint name=\"ankle_y_right\" class=\"ankle_y\"/>\n",
-    "                <joint name=\"ankle_x_right\" class=\"ankle_x\" axis=\"1 0 .5\"/>\n",
-    "                <geom name=\"foot1_right\" class=\"foot1\"/>\n",
-    "                <geom name=\"foot2_right\" class=\"foot2\"/>\n",
-    "              </body>\n",
-    "            </body>\n",
-    "          </body>\n",
-    "          <body name=\"thigh_left\" pos=\"0 .1 -.04\">\n",
-    "            <joint name=\"hip_x_left\" axis=\"-1 0 0\" class=\"hip_x\"/>\n",
-    "            <joint name=\"hip_z_left\" axis=\"0 0 -1\" class=\"hip_z\"/>\n",
-    "            <joint name=\"hip_y_left\" class=\"hip_y\"/>\n",
-    "            <geom name=\"thigh_left\" fromto=\"0 0 0 0 -.01 -.34\" class=\"thigh\"/>\n",
-    "            <body name=\"shin_left\" pos=\"0 -.01 -.4\">\n",
-    "              <joint name=\"knee_left\" class=\"knee\"/>\n",
-    "              <geom name=\"shin_left\" fromto=\"0 0 0 0 0 -.3\" class=\"shin\"/>\n",
-    "              <body name=\"foot_left\" pos=\"0 0 -.39\">\n",
-    "                <joint name=\"ankle_y_left\" class=\"ankle_y\"/>\n",
-    "                <joint name=\"ankle_x_left\" class=\"ankle_x\" axis=\"-1 0 -.5\"/>\n",
-    "                <geom name=\"foot1_left\" class=\"foot1\"/>\n",
-    "                <geom name=\"foot2_left\" class=\"foot2\"/>\n",
-    "              </body>\n",
-    "            </body>\n",
-    "          </body>\n",
-    "        </body>\n",
-    "      </body>\n",
-    "      <body name=\"upper_arm_right\" pos=\"0 -.17 .06\">\n",
-    "        <joint name=\"shoulder1_right\" axis=\"2 1 1\"  class=\"shoulder\"/>\n",
-    "        <joint name=\"shoulder2_right\" axis=\"0 -1 1\" class=\"shoulder\"/>\n",
-    "        <geom name=\"upper_arm_right\" fromto=\"0 0 0 .16 -.16 -.16\" class=\"arm_upper\"/>\n",
-    "        <body name=\"lower_arm_right\" pos=\".18 -.18 -.18\">\n",
-    "          <joint name=\"elbow_right\" axis=\"0 -1 1\" class=\"elbow\"/>\n",
-    "          <geom name=\"lower_arm_right\" fromto=\".01 .01 .01 .17 .17 .17\" class=\"arm_lower\"/>\n",
-    "          <body name=\"hand_right\" pos=\".18 .18 .18\">\n",
-    "            <geom name=\"hand_right\" zaxis=\"1 1 1\" class=\"hand\" rgba=\"1 0 1 1\"/>\n",
-    "          </body>\n",
-    "        </body>\n",
-    "      </body>\n",
-    "      <body name=\"upper_arm_left\" pos=\"0 .17 .06\">\n",
-    "        <joint name=\"shoulder1_left\" axis=\"-2 1 -1\" class=\"shoulder\"/>\n",
-    "        <joint name=\"shoulder2_left\" axis=\"0 -1 -1\"  class=\"shoulder\"/>\n",
-    "        <geom name=\"upper_arm_left\" fromto=\"0 0 0 .16 .16 -.16\" class=\"arm_upper\"/>\n",
-    "        <body name=\"lower_arm_left\" pos=\".18 .18 -.18\">\n",
-    "          <joint name=\"elbow_left\" axis=\"0 -1 -1\" class=\"elbow\"/>\n",
-    "          <geom name=\"lower_arm_left\" fromto=\".01 -.01 .01 .17 -.17 .17\" class=\"arm_lower\"/>\n",
-    "          <body name=\"hand_left\" pos=\".18 -.18 .18\">\n",
-    "            <geom name=\"hand_left\" zaxis=\"1 -1 1\" class=\"hand\"/>\n",
-    "          </body>\n",
-    "        </body>\n",
-    "      </body>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "\n",
-    "  <contact>\n",
-    "    <exclude body1=\"waist_lower\" body2=\"thigh_right\"/>\n",
-    "    <exclude body1=\"waist_lower\" body2=\"thigh_left\"/>\n",
-    "  </contact>\n",
-    "\n",
-    "  <tendon>\n",
-    "    <fixed name=\"hamstring_right\" limited=\"true\" range=\"-0.3 2\">\n",
-    "      <joint joint=\"hip_y_right\" coef=\".5\"/>\n",
-    "      <joint joint=\"knee_right\" coef=\"-.5\"/>\n",
-    "    </fixed>\n",
-    "    <fixed name=\"hamstring_left\" limited=\"true\" range=\"-0.3 2\">\n",
-    "      <joint joint=\"hip_y_left\" coef=\".5\"/>\n",
-    "      <joint joint=\"knee_left\" coef=\"-.5\"/>\n",
-    "    </fixed>\n",
-    "  </tendon>\n",
-    "\n",
-    "  <actuator>\n",
-    "    <position name=\"abdomen_z\"       kp=\"40\"  joint=\"abdomen_z\"/>\n",
-    "    <position name=\"abdomen_y\"       kp=\"40\"  joint=\"abdomen_y\"/>\n",
-    "    <position name=\"abdomen_x\"       kp=\"40\"  joint=\"abdomen_x\"/>\n",
-    "    <position name=\"hip_x_right\"     kp=\"40\"  joint=\"hip_x_right\"/>\n",
-    "    <position name=\"hip_z_right\"     kp=\"40\"  joint=\"hip_z_right\"/>\n",
-    "    <position name=\"hip_y_right\"     kp=\"120\" joint=\"hip_y_right\"/>\n",
-    "    <position name=\"knee_right\"      kp=\"80\"  joint=\"knee_right\"/>\n",
-    "    <position name=\"ankle_y_right\"   kp=\"20\"  joint=\"ankle_y_right\"/>\n",
-    "    <position name=\"ankle_x_right\"   kp=\"20\"  joint=\"ankle_x_right\"/>\n",
-    "    <position name=\"hip_x_left\"      kp=\"40\"  joint=\"hip_x_left\"/>\n",
-    "    <position name=\"hip_z_left\"      kp=\"40\"  joint=\"hip_z_left\"/>\n",
-    "    <position name=\"hip_y_left\"      kp=\"120\" joint=\"hip_y_left\"/>\n",
-    "    <position name=\"knee_left\"       kp=\"80\"  joint=\"knee_left\"/>\n",
-    "    <position name=\"ankle_y_left\"    kp=\"20\"  joint=\"ankle_y_left\"/>\n",
-    "    <position name=\"ankle_x_left\"    kp=\"20\"  joint=\"ankle_x_left\"/>\n",
-    "    <position name=\"shoulder1_right\" kp=\"20\"  joint=\"shoulder1_right\"/>\n",
-    "    <position name=\"shoulder2_right\" kp=\"20\"  joint=\"shoulder2_right\"/>\n",
-    "    <position name=\"elbow_right\"     kp=\"40\"  joint=\"elbow_right\"/>\n",
-    "    <position name=\"shoulder1_left\"  kp=\"20\"  joint=\"shoulder1_left\"/>\n",
-    "    <position name=\"shoulder2_left\"  kp=\"20\"  joint=\"shoulder2_left\"/>\n",
-    "    <position name=\"elbow_left\"      kp=\"40\"  joint=\"elbow_left\"/>\n",
-    "  </actuator>\n",
-    "\n",
-    "  <sensor>\n",
-    "    <framepos objtype=\"geom\" objname=\"hand_right\" reftype=\"xbody\" refname=\"target\"/>\n",
-    "    <actuatorfrc actuator=\"abdomen_z\"/>\n",
-    "    <actuatorfrc actuator=\"abdomen_y\"/>\n",
-    "    <actuatorfrc actuator=\"abdomen_x\"/>\n",
-    "    <actuatorfrc actuator=\"hip_x_right\"/>\n",
-    "    <actuatorfrc actuator=\"hip_z_right\"/>\n",
-    "    <actuatorfrc actuator=\"hip_y_right\"/>\n",
-    "    <actuatorfrc actuator=\"knee_right\"/>\n",
-    "    <actuatorfrc actuator=\"ankle_y_right\"/>\n",
-    "    <actuatorfrc actuator=\"ankle_x_right\"/>\n",
-    "    <actuatorfrc actuator=\"hip_x_left\"/>\n",
-    "    <actuatorfrc actuator=\"hip_z_left\"/>\n",
-    "    <actuatorfrc actuator=\"hip_y_left\"/>\n",
-    "    <actuatorfrc actuator=\"knee_left\"/>\n",
-    "    <actuatorfrc actuator=\"ankle_y_left\"/>\n",
-    "    <actuatorfrc actuator=\"ankle_x_left\"/>\n",
-    "    <actuatorfrc actuator=\"shoulder1_right\"/>\n",
-    "    <actuatorfrc actuator=\"shoulder2_right\"/>\n",
-    "    <actuatorfrc actuator=\"elbow_right\"/>\n",
-    "    <actuatorfrc actuator=\"shoulder1_left\"/>\n",
-    "    <actuatorfrc actuator=\"shoulder2_left\"/>\n",
-    "    <actuatorfrc actuator=\"elbow_left\"/>\n",
-    "  </sensor>\n",
-    "\n",
-    "  <keyframe>\n",
-    "    <!--\n",
-    "    The values below are split into rows for readibility:\n",
-    "      torso position\n",
-    "      torso orientation\n",
-    "      spinal\n",
-    "      right leg\n",
-    "      left leg\n",
-    "      arms\n",
-    "    -->\n",
-    "    <key name=\"squat\"\n",
-    "         qpos=\"0 0 0.596\n",
-    "               0.988015 0 0.154359 0\n",
-    "               0 0.4 0\n",
-    "               -0.25 -0.5 -2.5 -2.65 -0.8 0.56\n",
-    "               -0.25 -0.5 -2.5 -2.65 -0.8 0.56\n",
-    "               0 0 0 0 0 0\"/>\n",
-    "    <key name=\"stand_on_left_leg\"\n",
-    "         qpos=\"0 0 1.21948\n",
-    "               0.971588 -0.179973 0.135318 -0.0729076\n",
-    "               -0.0516 -0.202 0.23\n",
-    "               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415\n",
-    "               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09\n",
-    "               0.109 -0.067 -0.7 -0.05 0.12 0.16\"/>\n",
-    "    <key name=\"prone\"\n",
-    "         qpos=\"0.4 0 0.0757706\n",
-    "               0.7325 0 0.680767 0\n",
-    "               0 0.0729 0\n",
-    "               0.0077 0.0019 -0.026 -0.351 -0.27 0\n",
-    "               0.0077 0.0019 -0.026 -0.351 -0.27 0\n",
-    "               0.56 -0.62 -1.752\n",
-    "               0.56 -0.62 -1.752\"/>\n",
-    "    <key name=\"supine\"\n",
-    "         qpos=\"-0.4 0 0.08122\n",
-    "               0.722788 0 -0.69107 0\n",
-    "               0 -0.25 0\n",
-    "               0.0182 0.0142 0.3 0.042 -0.44 -0.02\n",
-    "               0.0182 0.0142 0.3 0.042 -0.44 -0.02\n",
-    "               0.186 -0.73 -1.73\n",
-    "               0.186 -0.73 -1.73\"/>\n",
-    "  </keyframe>\n",
-    "</mujoco>\n",
-    "\"\"\""
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "goe2DuOv7VGd"
-   },
-   "source": [
-    "Let's load the model and render the initial state for our control problem, chosen to be the \"squat\" [keyframe](https://mujoco.readthedocs.io/en/latest/XMLreference.html#keyframe)."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "xhvrJ9bX7VGd"
-   },
-   "outputs": [],
-   "source": [
-    "# Load model, make data\n",
-    "model = mujoco.MjModel.from_xml_string(xml)\n",
-    "data = mujoco.MjData(model)\n",
-    "\n",
-    "# Set the state to the \"squat\" keyframe, call mj_forward.\n",
-    "key = model.key('squat').id\n",
-    "mujoco.mj_resetDataKeyframe(model, data, key)\n",
-    "mujoco.mj_forward(model, data)\n",
-    "\n",
-    "# If a renderer exists, close it.\n",
-    "if 'renderer' in locals():\n",
-    "  renderer.close()\n",
-    "\n",
-    "# Make a Renderer and a camera.\n",
-    "renderer = mujoco.Renderer(model, height=480, width=640)\n",
-    "camera = mujoco.MjvCamera()\n",
-    "mujoco.mjv_defaultFreeCamera(model, camera)\n",
-    "camera.distance = 3\n",
-    "camera.elevation = -10\n",
-    "\n",
-    "# Point the camera at the humanoid, render.\n",
-    "camera.lookat = data.body('torso').subtree_com\n",
-    "renderer.update_scene(data, camera)\n",
-    "media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "yxIzoZ_O7VGd"
-   },
-   "source": [
-    "### Problem definition\n",
-    "\n",
-    "We define the following optimal control problem defintion:\n",
-    "- A trajectory is rolled out from $t=0\\ldots T$, starting at the \"squat\" keyframe shown above.\n",
-    "- Controls $u_t$ are applied during the rollout which are a linear interpolation of first control $u_0$ and the last one $u_T$. These two vectors are our decision variable $x = \\begin{pmatrix} u_0 & u_T \\end{pmatrix}$.\n",
-    "- The residual is a concatenation, over all time steps, of:\n",
-    "  - The vector from the right hand to the target.\n",
-    "  - The torques applied by the actuators, scaled by some factor (they are numerically much larger than the hand-target distances).\n",
-    "\n",
-    "Our residual uses `mujoco.rollout` to evaluate parallel trajectories:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "cIX95v757VGd"
-   },
-   "outputs": [],
-   "source": [
-    "def reach(ctrl0T, target, T, torque_scale, traj=None):\n",
-    "  \"\"\"Residual for target-reaching task.\n",
-    "\n",
-    "  Args:\n",
-    "    ctrl0T: contatenation of the first and last control vectors.\n",
-    "    target: target to which the right hand should reach.\n",
-    "    T: final time for the rollout.\n",
-    "    torque_scale: coefficient by which to scale the torques.\n",
-    "    traj: optional list of positions to be recorded.\n",
-    "\n",
-    "  Returns:\n",
-    "    The residual of the target-reaching task.\n",
-    "  \"\"\"\n",
-    "  # Extract the initial and final ctrl vectors, transpose to row vectors\n",
-    "  ctrl0 = ctrl0T[:model.nu, :].T\n",
-    "  ctrlT = ctrl0T[model.nu:, :].T\n",
-    "\n",
-    "  # Move the mocap body to the target\n",
-    "  mocapid = model.body('target').mocapid\n",
-    "  data.mocap_pos[mocapid] = target\n",
-    "\n",
-    "  # Append the mocap targets to the controls\n",
-    "  nbatch  = ctrl0.shape[0]\n",
-    "  mocap = np.tile(data.mocap_pos[mocapid], (nbatch, 1))\n",
-    "  ctrl0 = np.hstack((ctrl0, mocap))\n",
-    "  ctrlT = np.hstack((ctrlT, mocap))\n",
-    "\n",
-    "  # Define control spec (ctrl + mocap_pos)\n",
-    "  mjtState = mujoco.mjtState\n",
-    "  control_spec = mjtState.mjSTATE_CTRL | mjtState.mjSTATE_MOCAP_POS\n",
-    "\n",
-    "  # Interpolate and stack the control sequences\n",
-    "  nstep = int(np.round(T / model.opt.timestep))\n",
-    "  control = np.stack(np.linspace(ctrl0, ctrlT, nstep), axis=1)\n",
-    "\n",
-    "  # Reset to the \"squat\" keyframe, get the initial state\n",
-    "  key = model.key('squat').id\n",
-    "  mujoco.mj_resetDataKeyframe(model, data, key)\n",
-    "  spec = mjtState.mjSTATE_FULLPHYSICS\n",
-    "  nstate = mujoco.mj_stateSize(model, spec)\n",
-    "  state = np.empty(nstate)\n",
-    "  mujoco.mj_getState(model, data, state, spec)\n",
-    "\n",
-    "  # Perform rollouts (sensors.shape == nbatch, nstep, nsensordata)\n",
-    "  states, sensors = rollout.rollout(model, data, state, control,\n",
-    "                                    control_spec=control_spec)\n",
-    "\n",
-    "  # If requested, extract qpos into traj\n",
-    "  if traj is not None:\n",
-    "    assert states.shape[0] == 1\n",
-    "    # Skip the first element in state (mjData.time)\n",
-    "    traj.extend(np.split(states[0, :, 1:model.nq+1], nstep))\n",
-    "\n",
-    "  # Scale torque sensors\n",
-    "  sensors[:, :, 3:] *= torque_scale\n",
-    "\n",
-    "  # Reshape to stack the sensor values, transpose to column vectors\n",
-    "  sensors = sensors.reshape((sensors.shape[0], -1)).T\n",
-    "\n",
-    "  # The normalizer keeps objective values similar when changing T or timestep.\n",
-    "  normalizer = 100 * model.opt.timestep / T\n",
-    "  return normalizer * sensors"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Bgugbs987VGe"
-   },
-   "source": [
-    "Now let's give the rest of the problem definition:\n",
-    "1. The trajectory is integrated for 0.7s.\n",
-    "2. Torques are scaled by 0.003.\n",
-    "3. Since our decision variable is two copies of `mjData.ctrl`, the bounds are two concatenated copies of `mjData.actuator_ctrlrange`.\n",
-    "4. Our initial guess $x_0 = \\begin{pmatrix} u_0 & u_T \\end{pmatrix} = \\begin{pmatrix} q_\\textrm{squat} & q_\\textrm{stand} \\end{pmatrix}$ is the joint angles at the squatting position, followed by the angles at the default (standing position). We can use angles to initialize our controls because the position actuators have angle semantics.\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Q_6PshTn7VGe"
-   },
-   "outputs": [],
-   "source": [
-    "T = 0.7               # Rollout length (seconds)\n",
-    "torque_scale = 0.003  # Scaling for the torques\n",
-    "\n",
-    "# Bounds are the stacked control bounds.\n",
-    "lower = np.atleast_2d(model.actuator_ctrlrange[:,0]).T\n",
-    "upper = np.atleast_2d(model.actuator_ctrlrange[:,1]).T\n",
-    "bounds = [np.vstack((lower, lower)), np.vstack((upper, upper))]\n",
-    "\n",
-    "# Initial guess is midpoint of the bounds\n",
-    "x0 = 0.5 * (bounds[1] + bounds[0])"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "DLkrsjeE7VGe"
-   },
-   "source": [
-    "Let's define a utility function for rendering frames and visualize the initial guess:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Ghnvrsyt7VGe"
-   },
-   "outputs": [],
-   "source": [
-    "def render_solution(x, target):\n",
-    "  # Ask reach to save positions to traj.\n",
-    "  traj = []\n",
-    "  reach(x, target, T, torque_scale, traj=traj);\n",
-    "\n",
-    "  frames = []\n",
-    "  counter = 0\n",
-    "  print('Rendering frames:', flush=True, end='')\n",
-    "  for qpos in traj:\n",
-    "    # Set positions, call mj_forward to update kinematics.\n",
-    "    data.qpos = qpos\n",
-    "    mujoco.mj_forward(model, data)\n",
-    "\n",
-    "    # Render and save frames.\n",
-    "    camera.lookat = data.body('torso').subtree_com\n",
-    "    renderer.update_scene(data, camera)\n",
-    "    pixels = renderer.render()\n",
-    "    frames.append(pixels)\n",
-    "    counter += 1\n",
-    "    if counter % 10 == 0:\n",
-    "      print(f' {counter}', flush=True, end='')\n",
-    "  return frames\n",
-    "\n",
-    "# Use default target.\n",
-    "target = data.mocap_pos[model.body('target').mocapid]\n",
-    "\n",
-    "# Visualize the initial guess.\n",
-    "media.show_video(render_solution(x0, target))"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "0L_W3Y5r7VGe"
-   },
-   "source": [
-    "### Solutions to the reach task\n",
-    "\n",
-    "Let's solve once for some target and look at the optimization printout:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "RrEuIHJF7VGe"
-   },
-   "outputs": [],
-   "source": [
-    "target = (.4, -.3, 1.2)\n",
-    "\n",
-    "reach_target = lambda x: reach(x, target, T, torque_scale, traj=None)\n",
-    "\n",
-    "r0 = reach_target(x0)\n",
-    "print(f'The decision variable x has size {x0.size}')\n",
-    "print(f'The residual r(x) has size {r0.size}\\n')\n",
-    "\n",
-    "x, _ = minimize.least_squares(x0, reach_target, bounds);"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "S3r1KWHF7VGe"
-   },
-   "source": [
-    "Let's see what this solution looks like:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "GcRuhJX-7VGe"
-   },
-   "outputs": [],
-   "source": [
-    "media.show_video(render_solution(x, target))"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "zqgKu71p7VGe"
-   },
-   "source": [
-    "Let's rerun this for several target values and make a video of all of them:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "GCsIOtdn7VGe"
-   },
-   "outputs": [],
-   "source": [
-    "targets = [(0.4, 0., 0.), (0.2, -1., 0.5), (-1., -.3, 1.), (0., -.2, 2.2)]\n",
-    "\n",
-    "frames = []\n",
-    "for target in targets:\n",
-    "  res_target = lambda x: reach(x, target, T, torque_scale)\n",
-    "  print(f'Optimizing for target at {target}', flush=True)\n",
-    "  x, trace = minimize.least_squares(x0, res_target, bounds,\n",
-    "                                    verbose=minimize.Verbosity.FINAL)\n",
-    "  frames += render_solution(x, target)\n",
-    "  print('\\n')\n",
-    "\n",
-    "print('Making video', flush=True)\n",
-    "media.show_video(frames)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "d12KzVKU_TFR"
-   },
-   "source": [
-    "### Non-quadratic norms\n",
-    "\n",
-    "As explained in the background section, Least Squares can be generalized to norms other than the quadratic. We are now in a position to show how to define a non-quadratic norm, which is important in the estimation and system-identification contexts, where long-tailed, disturbance-rejecting distributions are proportional to the exponent of a non-quadratic function.\n",
-    "\n",
-    "Let's say that we wish the task residual i.e., the vector from the hand to the target, to be evaluated with the \"Smooth L2\" function $c(r)$ which, for a given smoothing radius $d \\gt 0$ is\n",
-    "$$\n",
-    "c(r) = \\sqrt{r^T\\cdot r + d^2 } - d\n",
-    "$$\n",
-    "This function is quadratic in a $d$-sized neighborhood of the origin, and then grows linearly thereafter, like the L2 norm. The first and second derivatives are\n",
-    "$$\n",
-    "\\begin{align}\n",
-    "s&=\\sqrt{r^T\\cdot r + d^2 }\\\\\n",
-    "g &= \\tfrac{\\partial c}{\\partial r} = \\frac{r}{s} \\\\\n",
-    "H &=\\tfrac{\\partial^2 c}{\\partial r^2} = \\frac{I_{n_r} - g\\cdot g^T}{s}\n",
-    "\\end{align}\n",
-    "$$\n",
-    "There is no particularly good reason to use this norm for this optimization task, it is merely an example.\n",
-    "\n",
-    "Let's read the documentation of the `minimize.Norm` class:\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "TnRn0Mk7QR6Z"
-   },
-   "outputs": [],
-   "source": [
-    "print(minimize.Norm.__doc__)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "3JGpR47DQ9S2"
-   },
-   "source": [
-    "Our sensors are 3 `r_pos` residual values for the hand-to-object vector followed by 21 `r_torque` actuator torques, for a total of `ns = 24` sensors. These are concatenated for the entire trajectory, leading to a residual of size `24*N`, where `N` is the number of timesteps in a trajectory. After reshaping and slicing appropriately, the norm implementation looks as follows:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "f3MDXm4e_Wup"
-   },
-   "outputs": [],
-   "source": [
-    "class SmoothL2(minimize.Norm):\n",
-    "  def __init__(self):\n",
-    "    self.n = model.nsensordata  # Equals 24.\n",
-    "    self.d = 0.1  # The smoothing radius (length).\n",
-    "\n",
-    "  def value(self, r):\n",
-    "    rr = r.reshape((self.n, -1), order='F')\n",
-    "    r_pos = rr[:3, :]\n",
-    "    s = np.sqrt(np.sum(r_pos**2, axis=0) + self.d**2)\n",
-    "    y_pos = (s - self.d).sum()\n",
-    "    r_torque = rr[3:, :]\n",
-    "    y_torque = 0.5 * (r_torque.T**2).sum()\n",
-    "    return y_pos + y_torque\n",
-    "\n",
-    "  def grad_hess(self, r, proj):\n",
-    "    rr = r.reshape((self.n, -1), order='F')\n",
-    "    r_pos = rr[:3, :]\n",
-    "    s = np.sqrt(np.sum(r_pos**2, axis=0) + self.d**2)\n",
-    "    g_pos = r_pos / s\n",
-    "    g_torque = rr[3:, :]\n",
-    "    g = np.vstack((g_pos, g_torque))\n",
-    "    grad = proj.T @ g.reshape((-1, 1), order='F')\n",
-    "    h_proj = proj.copy()  # norm Hessian * projection matrix\n",
-    "    for i in range(g_pos.shape[1]):\n",
-    "      h_i = (np.eye(3) - g_pos[:, i:i+1] @ g_pos[:, i:i+1].T) / s[i]\n",
-    "      j = self.n*i\n",
-    "      h_proj[j:j+3, :] = h_i @ proj[j:j+3, :]\n",
-    "    hess = proj.T @ h_proj\n",
-    "    return grad, hess"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "oJrh-rfL0LQh"
-   },
-   "source": [
-    "Before running the optimization, let's ask `least_squares` to check our norm implementation. We'll do this with a short trajectory simulation time `T`, to avoid creating huge matrices."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "MUCDTV6JV0ix"
-   },
-   "outputs": [],
-   "source": [
-    "target = (.4, -.3, 1.2)\n",
-    "\n",
-    "T_short = 0.02\n",
-    "\n",
-    "reach_target = lambda x: reach(x, target, T=T_short,\n",
-    "                               torque_scale=torque_scale, traj=None)\n",
-    "\n",
-    "x, _ = minimize.least_squares(x0, reach_target, bounds, norm=SmoothL2(),\n",
-    "                              max_iter=1, check_derivatives=True);"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "J0brs9pG0-8Y"
-   },
-   "source": [
-    "Now that we are confident in our implemetation, we can see what the solution looks like:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "AICTHd-9z1rL"
-   },
-   "outputs": [],
-   "source": [
-    "target = (.4, -.3, 1.2)\n",
-    "\n",
-    "reach_target = lambda x: reach(x, target, T, torque_scale, traj=None)\n",
-    "\n",
-    "x, _ = minimize.least_squares(x0, reach_target, bounds, norm=SmoothL2());\n",
-    "\n",
-    "media.show_video(render_solution(x, target))"
-   ]
-  }
- ],
- "metadata": {
-  "accelerator": "GPU",
-  "colab": {
-   "collapsed_sections": [
-    "zhVv8-0Tvlrl"
-   ],
-   "gpuType": "T4",
-   "machine_shape": "hm",
-   "private_outputs": true,
-   "toc_visible": true
-  },
-  "kernelspec": {
-   "display_name": "Python 3",
-   "name": "python3"
-  },
-  "language_info": {
-   "name": "python"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 0
-}
diff --git a/python/make_sdist.sh b/python/make_sdist.sh
deleted file mode 100755
index da4c3260..00000000
--- a/python/make_sdist.sh
+++ /dev/null
@@ -1,66 +0,0 @@
-#!/bin/bash -xe
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-if [[ -z ${VIRTUAL_ENV} ]] && [[ -z ${CONDA_DEFAULT_ENV} ]]; then
-  echo "This script must be run from within a Python virtual environment"
-  exit 1
-fi
-
-# Figure out the path to this script (https://stackoverflow.com/a/246128).
-package_dir="$(cd -- "$(dirname "${BASH_SOURCE[0]}")" >/dev/null 2>&1 && pwd)"
-
-if [[ "$(uname)" == CYGWIN* || "$(uname)" == MINGW* ]]; then
-  package_dir="$(cygpath -m ${package_dir})"
-  readonly tmp_dir="$(TMPDIR="${LOCALAPPDATA//\\/$'/'}/Temp" mktemp -d)"
-else
-  readonly tmp_dir="$(mktemp -d)"
-fi
-
-python -m pip install --upgrade --require-hashes \
-    -r ${package_dir}/make_sdist_requirements.txt
-pushd ${tmp_dir}
-cp -r "${package_dir}"/* .
-
-# Generate header files.
-old_pythonpath="${PYTHONPATH}"
-if [[ "$(uname)" == CYGWIN* || "$(uname)" == MINGW* ]]; then
-  export PYTHONPATH="${old_pythonpath};${package_dir}/mujoco/python/.."
-else
-  export PYTHONPATH="${old_pythonpath}:${package_dir}/mujoco/python/.."
-fi
-python "${package_dir}"/mujoco/codegen/generate_enum_traits.py > \
-    mujoco/enum_traits.h
-python "${package_dir}"/mujoco/codegen/generate_function_traits.py > \
-    mujoco/function_traits.h
-python "${package_dir}"/mujoco/codegen/generate_spec_bindings.py > \
-    mujoco/specs.cc.inc
-export PYTHONPATH="${old_pythonpath}"
-
-# Copy over the LICENSE file.
-cp "${package_dir}"/../LICENSE .
-
-# Copy over CMake scripts.
-mkdir mujoco/cmake
-cp "${package_dir}"/../cmake/*.cmake mujoco/cmake
-
-# Copy over Simulate source code.
-cp -r "${package_dir}"/../simulate mujoco
-
-python -m build . --sdist
-tar -tf dist/mujoco-*.tar.gz
-popd
-
-mkdir -p "${package_dir}"/dist
-mv "${tmp_dir}"/dist/* "${package_dir}"/dist
diff --git a/python/make_sdist_requirements.txt b/python/make_sdist_requirements.txt
deleted file mode 100644
index 609f21af..00000000
--- a/python/make_sdist_requirements.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-absl-py==2.1.0 \
-    --hash=sha256:526a04eadab8b4ee719ce68f204172ead1027549089702d99b9059f129ff1308
-build==1.2.2.post1 \
-    --hash=sha256:1d61c0887fa860c01971625baae8bdd338e517b836a2f70dd1f7aa3a6b2fc5b5
-pip==26.1 \
-    --hash=sha256:4e8486d821d814b77319acb7b9e8bf5a4ee7590a643e7cb21029f209be8573c1 \
-    --hash=sha256:81e13ebcca3ffa8cc85e4deff5c27e1ee26dea0aa7fc2f294a073ac208806ff3
-setuptools==78.1.1 \
-    --hash=sha256:c3a9c4211ff4c309edb8b8c4f1cbfa7ae324c4ba9f91ff254e3d305b9fd54561 \
-    --hash=sha256:fcc17fd9cd898242f6b4adfaca46137a9edef687f43e6f78469692a5e70d851d
-
-# Transitive dependencies of build
-colorama==0.4.6; platform_system == 'Windows' \
-    --hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6
-packaging==24.2 \
-    --hash=sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759
-pyproject_hooks==1.2.0 \
-    --hash=sha256:9e5c6bfa8dcc30091c74b0cf803c81fdd29d94f01992a7707bc97babb1141913
-tomli==2.1.0; python_version < '3.11' \
-    --hash=sha256:a5c57c3d1c56f5ccdf89f6523458f60ef716e210fc47c4cfb188c5ba473e0391
-typing-extensions==4.12.2 \
-    --hash=sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d
-zipp==3.21.0 \
-    --hash=sha256:ac1bbe05fd2991f160ebce24ffbac5f6d11d83dc90891255885223d42b3cd931
diff --git a/python/mjspec.ipynb b/python/mjspec.ipynb
deleted file mode 100644
index 49a27ec1..00000000
--- a/python/mjspec.ipynb
+++ /dev/null
@@ -1,2643 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "klCa_-bdiWv5"
-   },
-   "source": [
-    "![MuJoCo banner](https://raw.githubusercontent.com/google-deepmind/mujoco/main/banner.png)\n",
-    "\n",
-    "# <h1><center>Model Editing  <a href=\"https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"140\" align=\"center\"/></a></center></h1>\n",
-    "\n",
-    "This notebook provides an introductory tutorial for model editing in MuJoCo using the `mjSpec` API. This notebook assumes that the reader is already familiar with MuJoCo basic concepts, as\n",
-    "demonstrated in the [introductory tutorial](https://github.com/google-deepmind/mujoco?tab=readme-ov-file#getting-started). Documentation for this API can be found in the [Model Editing](https://mujoco.readthedocs.io/en/latest/programming/modeledit.html) chapter in the documentation (C API) and in the [Python chapter](https://mujoco.readthedocs.io/en/latest/python.html#model-editing). Here we use the Python API.\n",
-    "\n",
-    "The goal of the API is to allow users to easily interact with and modify MuJoCo\n",
-    "models in Python, similarly to what the JavaScript DOM does for HTML.\n",
-    "\n",
-    "<!-- Copyright 2024 DeepMind Technologies Limited\n",
-    "\n",
-    "     Licensed under the Apache License, Version 2.0 (the \"License\");\n",
-    "     you may not use this file except in compliance with the License.\n",
-    "     You may obtain a copy of the License at\n",
-    "\n",
-    "         http://www.apache.org/licenses/LICENSE-2.0\n",
-    "\n",
-    "     Unless required by applicable law or agreed to in writing, software\n",
-    "     distributed under the License is distributed on an \"AS IS\" BASIS,\n",
-    "     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n",
-    "     See the License for the specific language governing permissions and\n",
-    "     limitations under the License.\n",
-    "-->\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "sJFuNetilv4m"
-   },
-   "source": [
-    "## All imports"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "ArmOx3cBDvFR"
-   },
-   "outputs": [],
-   "source": [
-    "!pip install mujoco\n",
-    "\n",
-    "# Set up GPU rendering.\n",
-    "from google.colab import files\n",
-    "import distutils.util\n",
-    "import os\n",
-    "import subprocess\n",
-    "if subprocess.run('nvidia-smi').returncode:\n",
-    "  raise RuntimeError(\n",
-    "      'Cannot communicate with GPU. '\n",
-    "      'Make sure you are using a GPU Colab runtime. '\n",
-    "      'Go to the Runtime menu and select Choose runtime type.')\n",
-    "\n",
-    "# Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
-    "# This is usually installed as part of an Nvidia driver package, but the Colab\n",
-    "# kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
-    "# (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
-    "NVIDIA_ICD_CONFIG_PATH = '/usr/share/glvnd/egl_vendor.d/10_nvidia.json'\n",
-    "if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
-    "  with open(NVIDIA_ICD_CONFIG_PATH, 'w') as f:\n",
-    "    f.write(\"\"\"{\n",
-    "    \"file_format_version\" : \"1.0.0\",\n",
-    "    \"ICD\" : {\n",
-    "        \"library_path\" : \"libEGL_nvidia.so.0\"\n",
-    "    }\n",
-    "}\n",
-    "\"\"\")\n",
-    "\n",
-    "# Configure MuJoCo to use the EGL rendering backend (requires GPU)\n",
-    "print('Setting environment variable to use GPU rendering:')\n",
-    "%env MUJOCO_GL=egl\n",
-    "\n",
-    "# Check if installation was successful.\n",
-    "try:\n",
-    "  print('Checking that the installation succeeded:')\n",
-    "  import mujoco as mj\n",
-    "  mj.MjModel.from_xml_string('<mujoco/>')\n",
-    "except Exception as e:\n",
-    "  raise e from RuntimeError(\n",
-    "      'Something went wrong during installation. Check the shell output above '\n",
-    "      'for more information.\\n'\n",
-    "      'If using a hosted Colab runtime, make sure you enable GPU acceleration '\n",
-    "      'by going to the Runtime menu and selecting \"Choose runtime type\".')\n",
-    "\n",
-    "print('Installation successful.')\n",
-    "\n",
-    "# Other imports and helper functions\n",
-    "import numpy as np\n",
-    "import random\n",
-    "from scipy.signal import convolve2d\n",
-    "\n",
-    "# Graphics and plotting.\n",
-    "print('Installing mediapy:')\n",
-    "!command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
-    "!pip install -q mediapy\n",
-    "import mediapy as media\n",
-    "import matplotlib.pyplot as plt\n",
-    "import matplotlib.colors as mcolors\n",
-    "\n",
-    "# Printing.\n",
-    "np.set_printoptions(precision=3, suppress=True, linewidth=100)\n",
-    "import pygments\n",
-    "from google.colab import output\n",
-    "\n",
-    "from IPython.display import clear_output, HTML, display\n",
-    "clear_output()\n",
-    "\n",
-    "\n",
-    "is_dark = output.eval_js('document.documentElement.matches(\"[theme=dark]\")')\n",
-    "print_style = 'monokai' if is_dark else 'lovelace'\n",
-    "\n",
-    "def print_xml(xml_string):\n",
-    "  formatter = pygments.formatters.HtmlFormatter(style=print_style)\n",
-    "  lexer = pygments.lexers.XmlLexer()\n",
-    "  highlighted = pygments.highlight(xml_string, lexer, formatter)\n",
-    "  display(HTML(f\"<style>{formatter.get_style_defs()}</style>{highlighted}\"))\n",
-    "\n",
-    "def render(model, data=None, height=300, camera=-1):\n",
-    "  if data is None:\n",
-    "    data = mj.MjData(model)\n",
-    "  with mj.Renderer(model, 480, 640) as renderer:\n",
-    "    mj.mj_forward(model, data)\n",
-    "    renderer.update_scene(data, camera)\n",
-    "    media.show_image(renderer.render(), height=height)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "iJRNczuyHbuc"
-   },
-   "source": [
-    "# Separate parsing and compiling\n",
-    "\n",
-    "Unlike `mj_loadXML` which combines parsing and compiling, when using `mjSpec`, parsing and compiling are separate, allowing for editing steps:\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "oummB7I7EfSq"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Parse, compile, modify, compile: {vertical-output: true}\n",
-    "\n",
-    "static_model = \"\"\"\n",
-    "<mujoco>\n",
-    "  <worldbody>\n",
-    "    <light name=\"top\" pos=\"0 0 1\"/>\n",
-    "    <geom name=\"red_box\" type=\"box\" size=\".2 .2 .2\" rgba=\"1 0 0 1\"/>\n",
-    "    <geom name=\"green_sphere\" pos=\".2 .2 .2\" size=\".1\" rgba=\"0 1 0 1\"/>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "spec = mj.MjSpec.from_string(static_model)\n",
-    "model = spec.compile()\n",
-    "render(model)\n",
-    "\n",
-    "# Change the mjSpec, re-compile and re-render\n",
-    "spec.modelname = \"edited model\"\n",
-    "geoms = spec.worldbody.find_all(mj.mjtObj.mjOBJ_GEOM)\n",
-    "geoms[0].name = 'blue_box'\n",
-    "geoms[0].rgba = [0, 0, 1, 1]\n",
-    "geoms[1].name = 'yellow_sphere'\n",
-    "geoms[1].rgba = [1, 1, 0, 1]\n",
-    "spec.worldbody.add_geom(name='magenta cylinder',\n",
-    "                        type=mj.mjtGeom.mjGEOM_CYLINDER,\n",
-    "                        rgba=[1, 0, 1, 1],\n",
-    "                        pos=[-.2, 0, .2],\n",
-    "                        size=[.1, .1, 0])\n",
-    "\n",
-    "model = spec.compile()\n",
-    "render(model)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Tw_yUwqxKwCI"
-   },
-   "source": [
-    "`mjSpec` can save XML to string, with all modifications:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "_7HAcWqNGwyw"
-   },
-   "outputs": [],
-   "source": [
-    "print_xml(spec.to_xml())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "NolxAaRn9N9r"
-   },
-   "source": [
-    "# Procedural models"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "A6EHNulmFHFI"
-   },
-   "outputs": [],
-   "source": [
-    "#@title {vertical-output: true}\n",
-    "\n",
-    "spec = mj.MjSpec()\n",
-    "spec.worldbody.add_light(name=\"top\", pos=[0, 0, 1])\n",
-    "body = spec.worldbody.add_body(name=\"box_and_sphere\",\n",
-    "                               euler=[0, 0, -30])\n",
-    "body.add_joint(name=\"swing\", type=mj.mjtJoint.mjJNT_HINGE,\n",
-    "               axis=[1, -1, 0], pos=[-.2, -.2, -.2])\n",
-    "body.add_geom(name=\"red_box\", type=mj.mjtGeom.mjGEOM_BOX,\n",
-    "              size=[.2, .2, .2], rgba=[1, 0, 0, 1])\n",
-    "body.add_geom(name=\"green_sphere\", pos=[.2, .2, .2],\n",
-    "              size=[.1, 0, 0], rgba=[0, 1, 0, 1])\n",
-    "model = spec.compile()\n",
-    "\n",
-    "duration = 2    # (seconds)\n",
-    "framerate = 30  # (Hz)\n",
-    "\n",
-    "# enable joint visualization option:\n",
-    "scene_option = mj.MjvOption()\n",
-    "scene_option.flags[mj.mjtVisFlag.mjVIS_JOINT] = True\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "frames = []\n",
-    "data = mj.MjData(model)\n",
-    "mj.mj_resetData(model, data)\n",
-    "with mj.Renderer(model) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    mj.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      renderer.update_scene(data, scene_option=scene_option)\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Y4rV2NDh92Ga"
-   },
-   "source": [
-    "## Tree\n",
-    "\n",
-    "Let's use procedural model creation to make a simple model of a tree.\n",
-    "\n",
-    "We'll start with an \"arena\" xml, containing only a plane and light, and define some utility functions."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "IQ9G54Yu-Cse"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Utilities\n",
-    "def branch_frames(num_samples, phi_lower=np.pi / 8, phi_upper=np.pi / 3):\n",
-    "  \"\"\"Returns branch direction vectors and normalized attachment heights.\"\"\"\n",
-    "  directions = []\n",
-    "  theta_slice = (2 * np.pi) / num_samples\n",
-    "  phi_slice = (phi_upper - phi_lower) / num_samples\n",
-    "  for i in range(num_samples):\n",
-    "    theta = np.random.uniform(i * theta_slice, (i + 1) * theta_slice)\n",
-    "    phi = phi_lower + np.random.uniform(i * phi_slice, (i + 1) * phi_slice)\n",
-    "    x = np.sin(phi) * np.cos(theta)\n",
-    "    y = np.sin(phi) * np.sin(theta)\n",
-    "    z = np.cos(phi)\n",
-    "    directions.append([x, y, z])\n",
-    "\n",
-    "  heights = np.linspace(0.6, 1, num_samples)\n",
-    "\n",
-    "  return directions, heights\n",
-    "\n",
-    "\n",
-    "def add_arrow(scene, from_, to, radius=0.03, rgba=[0.2, 0.2, 0.6, 1]):\n",
-    "  \"\"\"Add an arrow to the scene.\"\"\"\n",
-    "  scene.geoms[scene.ngeom].category = mj.mjtCatBit.mjCAT_STATIC\n",
-    "  mj.mjv_initGeom(\n",
-    "      geom=scene.geoms[scene.ngeom],\n",
-    "      type=mj.mjtGeom.mjGEOM_ARROW,\n",
-    "      size=np.zeros(3),\n",
-    "      pos=np.zeros(3),\n",
-    "      mat=np.zeros(9),\n",
-    "      rgba=np.asarray(rgba).astype(np.float32),\n",
-    "  )\n",
-    "  mj.mjv_connector(\n",
-    "      geom=scene.geoms[scene.ngeom],\n",
-    "      type=mj.mjtGeom.mjGEOM_ARROW,\n",
-    "      width=radius,\n",
-    "      from_=from_,\n",
-    "      to=to,\n",
-    "  )\n",
-    "  scene.ngeom += 1\n",
-    "\n",
-    "\n",
-    "def unit_bump(x, start, end):\n",
-    "  \"\"\"Finite-support unit bump function.\"\"\"\n",
-    "  if x <= start or x >= end:\n",
-    "    return 0.0\n",
-    "  else:\n",
-    "    n = (x - start) / (end - start)\n",
-    "    n = 2 * n - 1\n",
-    "    return np.exp(n * n / (n * n - 1))"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "QAfFHvifGnBx"
-   },
-   "source": [
-    "Our tree creation function is called recursively to add branches and leaves."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Bajncwzn-Lid"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Tree creation\n",
-    "def procedural_tree(\n",
-    "    num_child_branch=5,\n",
-    "    length=0.5,\n",
-    "    thickness=0.04,\n",
-    "    depth=4,\n",
-    "    this_body=None,\n",
-    "    spec=None,\n",
-    "):\n",
-    "  \"\"\"Recursive function that builds a tree of branches and leaves.\"\"\"\n",
-    "  BROWN = np.array([0.4, 0.24, 0.0, 1])\n",
-    "  GREEN = np.array([0.0, 0.7, 0.2, 1])\n",
-    "  SCALE = 0.6\n",
-    "\n",
-    "  # Initialize spec and add tree trunk\n",
-    "  if this_body is None:\n",
-    "    if spec is None:\n",
-    "      spec = mj.MjSpec()\n",
-    "\n",
-    "    # Disable constraints\n",
-    "    spec.option.disableflags |= mj.mjtDisableBit.mjDSBL_CONSTRAINT\n",
-    "\n",
-    "    # Air density\n",
-    "    spec.option.density = 1.294\n",
-    "\n",
-    "    # Defaults for joint and geom\n",
-    "    main = spec.default\n",
-    "    main.geom.type = mj.mjtGeom.mjGEOM_CAPSULE\n",
-    "    main.joint.type = mj.mjtJoint.mjJNT_BALL\n",
-    "    main.joint.springdamper = [0.003, 0.7]\n",
-    "\n",
-    "    # Visual\n",
-    "    spec.stat.center = [0, 0, length]\n",
-    "    spec.stat.extent = 2 * length\n",
-    "\n",
-    "    # Add trunk body\n",
-    "    this_body = spec.worldbody.add_body(name=\"trunk\")\n",
-    "    fromto = [0, 0, 0, 0, 0, length]\n",
-    "    size = [thickness, 0, 0]\n",
-    "    this_body.add_geom(fromto=fromto, size=size, rgba=BROWN)\n",
-    "\n",
-    "  # Sample a random color\n",
-    "  rgba = np.random.uniform(size=4)\n",
-    "  rgba[3] = 1\n",
-    "\n",
-    "  # Add child branches using recursive call\n",
-    "  if depth > 0:\n",
-    "    # Get branch direction vectors and attachment heights\n",
-    "    dirs, heights = branch_frames(num_child_branch)\n",
-    "    heights *= length\n",
-    "\n",
-    "    # Rescale branches with some randomness\n",
-    "    thickness *= SCALE * np.random.uniform(0.9, 1.1)\n",
-    "    length *= SCALE * np.random.uniform(0.9, 1.1)\n",
-    "\n",
-    "    # Branch creation\n",
-    "    for i in range(num_child_branch):\n",
-    "      branch = this_body.add_body(pos=[0, 0, heights[i]], zaxis=dirs[i])\n",
-    "\n",
-    "      fromto = [0, 0, 0, 0, 0, length]\n",
-    "      size = [thickness, 0, 0]\n",
-    "      rgba = (rgba + BROWN) / 2\n",
-    "      branch.add_geom(fromto=fromto, size=size, rgba=rgba)\n",
-    "\n",
-    "      branch.add_joint()\n",
-    "\n",
-    "      # Recurse.\n",
-    "      procedural_tree(\n",
-    "          length=length,\n",
-    "          thickness=thickness,\n",
-    "          depth=depth - 1,\n",
-    "          this_body=branch,\n",
-    "          spec=spec,\n",
-    "      )\n",
-    "\n",
-    "  # Max depth reached, add three leaves at the tip\n",
-    "  else:\n",
-    "    rgba = (rgba + GREEN) / 2\n",
-    "    for i in range(3):\n",
-    "      pos = [0, 0, length + thickness]\n",
-    "      euler = [0, 0, i * 120]\n",
-    "      leaf_frame = this_body.add_frame(pos=pos, euler=euler)\n",
-    "\n",
-    "      size = length * np.array([0.5, 0.15, 0.01])\n",
-    "      pos = length * np.array([0.45, 0, 0])\n",
-    "      ellipsoid = mj.mjtGeom.mjGEOM_ELLIPSOID\n",
-    "      euler = [np.random.uniform(-50, 50), 0, 0]\n",
-    "      leaf = this_body.add_geom(\n",
-    "          type=ellipsoid, size=size, pos=pos, rgba=rgba, euler=euler\n",
-    "      )\n",
-    "\n",
-    "      leaf.set_frame(leaf_frame)\n",
-    "\n",
-    "  return spec"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "xrjW4dK-_RKj"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Make video\n",
-    "arena_xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <visual>\n",
-    "    <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
-    "    <global elevation=\"-10\" offwidth=\"2048\" offheight=\"1536\"/>\n",
-    "    <quality shadowsize=\"8192\"/>\n",
-    "  </visual>\n",
-    "\n",
-    "  <asset>\n",
-    "    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\".5 .5 .5\" rgb2=\"0 0 0\" width=\"10\" height=\"10\"/>\n",
-    "    <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"300\" height=\"300\"/>\n",
-    "    <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.3\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <geom name=\"floor\" size=\"5 5 0.01\" type=\"plane\" material=\"groundplane\"/>\n",
-    "    <light pos=\"0 0 3\" diffuse=\"1 1 1\" specular=\"1 1 1\"/>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "\n",
-    "spec = procedural_tree(spec=mj.MjSpec.from_string(arena_xml))\n",
-    "model = spec.compile()\n",
-    "data = mj.MjData(model)\n",
-    "\n",
-    "duration = 3  # (seconds)\n",
-    "framerate = 60  # (Hz)\n",
-    "frames = []\n",
-    "with mj.Renderer(model, width=1920 // 3, height=1080 // 3) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    # Add rightward wind.\n",
-    "    wind = 40 * unit_bump(data.time, .2 * duration, .7 * duration)\n",
-    "    model.opt.wind[0] = wind\n",
-    "\n",
-    "    # Step and render.\n",
-    "    mj.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      renderer.update_scene(data)\n",
-    "      if wind > 0:\n",
-    "        add_arrow(renderer.scene, [0, 0, 1], [wind/25, 0, 1])\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate / 2)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "0wR6XAnKdB6s"
-   },
-   "source": [
-    "## Height field\n",
-    "\n",
-    "Height fields represent uneven terrain. There are many ways to generate procedural terrain. Here, we will use [Perlin Noise](https://www.youtube.com/watch?v=9x6NvGkxXhU)."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "yXY7HGfVsVlo"
-   },
-   "source": [
-    "### Utilities"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "JWlgTJiHevOg"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Perlin noise generator\n",
-    "\n",
-    "# adapted from https://github.com/pvigier/perlin-numpy\n",
-    "\n",
-    "def interpolant(t):\n",
-    "    return t*t*t*(t*(t*6 - 15) + 10)\n",
-    "\n",
-    "def perlin(shape, res, tileable=(False, False), interpolant=interpolant):\n",
-    "  \"\"\"Generate a 2D numpy array of perlin noise.\n",
-    "\n",
-    "  Args:\n",
-    "      shape: The shape of the generated array (tuple of two ints).\n",
-    "          This must be a multiple of res.\n",
-    "      res: The number of periods of noise to generate along each\n",
-    "          axis (tuple of two ints). Note shape must be a multiple of\n",
-    "          res.\n",
-    "      tileable: If the noise should be tileable along each axis\n",
-    "          (tuple of two bools). Defaults to (False, False).\n",
-    "      interpolant: The interpolation function, defaults to\n",
-    "          t*t*t*(t*(t*6 - 15) + 10).\n",
-    "\n",
-    "  Returns:\n",
-    "      A numpy array of shape shape with the generated noise.\n",
-    "\n",
-    "  Raises:\n",
-    "      ValueError: If shape is not a multiple of res.\n",
-    "  \"\"\"\n",
-    "  delta = (res[0] / shape[0], res[1] / shape[1])\n",
-    "  d = (shape[0] // res[0], shape[1] // res[1])\n",
-    "  grid = np.mgrid[0:res[0]:delta[0], 0:res[1]:delta[1]]\\\n",
-    "            .transpose(1, 2, 0) % 1\n",
-    "  # Gradients\n",
-    "  angles = 2*np.pi*np.random.rand(res[0]+1, res[1]+1)\n",
-    "  gradients = np.dstack((np.cos(angles), np.sin(angles)))\n",
-    "  if tileable[0]:\n",
-    "    gradients[-1,:] = gradients[0,:]\n",
-    "  if tileable[1]:\n",
-    "    gradients[:,-1] = gradients[:,0]\n",
-    "  gradients = gradients.repeat(d[0], 0).repeat(d[1], 1)\n",
-    "  g00 = gradients[    :-d[0],    :-d[1]]\n",
-    "  g10 = gradients[d[0]:     ,    :-d[1]]\n",
-    "  g01 = gradients[    :-d[0],d[1]:     ]\n",
-    "  g11 = gradients[d[0]:     ,d[1]:     ]\n",
-    "  # Ramps\n",
-    "  n00 = np.sum(np.dstack((grid[:,:,0]  , grid[:,:,1]  )) * g00, 2)\n",
-    "  n10 = np.sum(np.dstack((grid[:,:,0]-1, grid[:,:,1]  )) * g10, 2)\n",
-    "  n01 = np.sum(np.dstack((grid[:,:,0]  , grid[:,:,1]-1)) * g01, 2)\n",
-    "  n11 = np.sum(np.dstack((grid[:,:,0]-1, grid[:,:,1]-1)) * g11, 2)\n",
-    "  # Interpolation\n",
-    "  t = interpolant(grid)\n",
-    "  n0 = n00*(1-t[:,:,0]) + t[:,:,0]*n10\n",
-    "  n1 = n01*(1-t[:,:,0]) + t[:,:,0]*n11\n",
-    "  return np.sqrt(2)*((1-t[:,:,1])*n0 + t[:,:,1]*n1)\n",
-    "\n",
-    "noise = perlin((256, 256), (8, 8))\n",
-    "plt.imshow(noise, cmap = 'gray', interpolation = 'lanczos')\n",
-    "plt.title('Perlin noise example')\n",
-    "plt.colorbar();"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "WKoagEORmCz-"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Soft edge slope\n",
-    "def edge_slope(size, border_width=5, blur_iterations=20):\n",
-    "  \"\"\"Creates a grayscale image with a white center and fading black edges using convolution.\"\"\"\n",
-    "  img = np.ones((size, size), dtype=np.float32)\n",
-    "  img[:border_width, :] = 0\n",
-    "  img[-border_width:, :] = 0\n",
-    "  img[:, :border_width] = 0\n",
-    "  img[:, -border_width:] = 0\n",
-    "\n",
-    "  kernel = np.array([[1, 1, 1],\n",
-    "                      [1, 1, 1],\n",
-    "                      [1, 1, 1]]) / 9.0\n",
-    "\n",
-    "  for _ in range(blur_iterations):\n",
-    "    img = convolve2d(img, kernel, mode='same', boundary='symm')\n",
-    "\n",
-    "  return img\n",
-    "\n",
-    "image = edge_slope(256)\n",
-    "plt.imshow(image, cmap='gray')\n",
-    "plt.title('Smooth sloped edges')\n",
-    "plt.show()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "MCSks-w3spoJ"
-   },
-   "source": [
-    "### Textured height-field generator"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "hzroDjVLfxHs"
-   },
-   "outputs": [],
-   "source": [
-    "def add_hfield(spec=None, hsize=10, vsize=4):\n",
-    "  \"\"\" Function that adds a height field with contours\"\"\"\n",
-    "\n",
-    "  # Initialize spec\n",
-    "  if spec is None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Generate Perlin noise\n",
-    "  size = 128\n",
-    "  noise = perlin((size, size), (8, 8))\n",
-    "\n",
-    "  # Remap noise to 0 to 1\n",
-    "  noise = (noise + 1)/2\n",
-    "  noise -= np.min(noise)\n",
-    "  noise /= np.max(noise)\n",
-    "\n",
-    "  # Makes the edges slope down to avoid sharp boundary\n",
-    "  noise *= edge_slope(size)\n",
-    "\n",
-    "  # Create height field\n",
-    "  hfield = spec.add_hfield(name ='hfield',\n",
-    "                           size = [hsize, hsize, vsize, vsize/10],\n",
-    "                           nrow = noise.shape[0],\n",
-    "                           ncol = noise.shape[1],\n",
-    "                           userdata = noise.flatten())\n",
-    "\n",
-    "  # Add texture\n",
-    "  texture = spec.add_texture(name = \"contours\",\n",
-    "                             type = mj.mjtTexture.mjTEXTURE_2D,\n",
-    "                             width = 128, height = 128)\n",
-    "\n",
-    "  # Create texture map, assign to texture\n",
-    "  h = noise\n",
-    "  s = 0.7 * np.ones(h.shape)\n",
-    "  v = 0.7 * np.ones(h.shape)\n",
-    "  hsv = np.stack([h, s, v], axis=-1)\n",
-    "  rgb = mcolors.hsv_to_rgb(hsv)\n",
-    "  rgb = np.flipud((rgb * 255).astype(np.uint8))\n",
-    "  texture.data = rgb.tobytes()\n",
-    "\n",
-    "  # Assign texture to material\n",
-    "  grid = spec.add_material( name = 'contours')\n",
-    "  grid.textures[mj.mjtTextureRole.mjTEXROLE_RGB] = 'contours'\n",
-    "  spec.worldbody.add_geom(type = mj.mjtGeom.mjGEOM_HFIELD,\n",
-    "                          material = 'contours', hfieldname = 'hfield')\n",
-    "\n",
-    "  return spec"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Q2b5BfoZgV79"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Video\n",
-    "\n",
-    "arena_xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <visual>\n",
-    "    <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
-    "    <global offwidth=\"2048\" offheight=\"1536\"/>\n",
-    "    <quality shadowsize=\"8192\"/>\n",
-    "  </visual>\n",
-    "\n",
-    "  <asset>\n",
-    "    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" width=\"10\" height=\"10\"/>\n",
-    "    <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"400\" height=\"400\"/>\n",
-    "    <material name=\"groundplane\" texture=\"groundplane\" texrepeat=\"45 45\" reflectance=\"0\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <geom name=\"floor\" size=\"150 150 0.1\" type=\"plane\" material=\"groundplane\"/>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "\n",
-    "spec = add_hfield(mj.MjSpec.from_string(arena_xml))\n",
-    "\n",
-    "# Add lights\n",
-    "for x in [-15, 15]:\n",
-    "  for y in [-15, 15]:\n",
-    "    spec.worldbody.add_light(pos = [x, y, 10], dir = [-x, -y, -15])\n",
-    "\n",
-    "# Add balls\n",
-    "for x in np.linspace(-8, 8, 8):\n",
-    "  for y in np.linspace(-8, 8, 8):\n",
-    "    pos = [x, y, 4 + np.random.uniform(0, 10)]\n",
-    "    ball = spec.worldbody.add_body(pos=pos)\n",
-    "    ball.add_geom(type = mj.mjtGeom.mjGEOM_SPHERE, size = [0.5, 0, 0],\n",
-    "                  rgba = [np.random.uniform()]*3 + [1])\n",
-    "    ball.add_freejoint()\n",
-    "\n",
-    "model = spec.compile()\n",
-    "data = mj.MjData(model)\n",
-    "\n",
-    "cam = mj.MjvCamera()\n",
-    "mj.mjv_defaultCamera(cam)\n",
-    "cam.lookat = [0, 0, 0]\n",
-    "cam.distance = 30\n",
-    "cam.elevation = -30\n",
-    "\n",
-    "duration = 6  # (seconds)\n",
-    "framerate = 60  # (Hz)\n",
-    "frames = []\n",
-    "with mj.Renderer(model, width=1920 // 3, height=1080 // 3) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    mj.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      cam.azimuth = 20 + 20 * (1 - np.cos(np.pi*data.time / duration))\n",
-    "      renderer.update_scene(data, cam)\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate )"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "92PjTlVCprxn"
-   },
-   "source": [
-    "## Mesh\n",
-    "\n",
-    "Random meshes can be easily created by sampling random vertices on the unit sphere and letting MuJoCo create the corresponding convex hull."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "702z1GBRprxq"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Add \"rock\" mesh\n",
-    "def add_rock(spec=None, scale=1, name=\"rock\", pos=[0, 0, 0]):\n",
-    "  if spec is None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.mesh.scale = np.array([scale]*3 , dtype = np.float64)\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_MESH\n",
-    "\n",
-    "  # Random gray-brown color\n",
-    "  gray = np.array([.5, .5, .5, 1])\n",
-    "  light_brown = np.array([200, 150, 100, 255]) / 255.0\n",
-    "  mix = np.random.uniform()\n",
-    "  rgba = light_brown*mix + gray*(1-mix)\n",
-    "\n",
-    "  # Create mesh vertices\n",
-    "  mesh = np.random.normal(size = (20, 3))\n",
-    "  mesh /= np.linalg.norm(mesh, axis=1, keepdims=True)\n",
-    "\n",
-    "  # Create Body and add mesh to the Geom of the Body\n",
-    "  spec.add_mesh(name=name, uservert=mesh.flatten())\n",
-    "  body = spec.worldbody.add_body(pos=pos, name=name, mass=1)\n",
-    "  body.add_geom(meshname=name, rgba=rgba)\n",
-    "  body.add_freejoint()\n",
-    "\n",
-    "  return body"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "8BR4mlFdprxx"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Video\n",
-    "spec = add_hfield(mj.MjSpec.from_string(arena_xml))\n",
-    "\n",
-    "# Add lights\n",
-    "for x in [-15, 15]:\n",
-    "  for y in [-15, 15]:\n",
-    "    spec.worldbody.add_light(pos = [x, y, 10], dir = [-x, -y, -15])\n",
-    "\n",
-    "# Add rocks\n",
-    "for x in np.linspace(-8, 8, 8):\n",
-    "  for y in np.linspace(-8, 8, 8):\n",
-    "    pos = [x, y, np.random.uniform(4, 14)]\n",
-    "    rock = add_rock(spec = spec,\n",
-    "                      scale = np.random.uniform(.3, 1),\n",
-    "                      name = f\"rock_{x}_{y}\",\n",
-    "                      pos = pos)\n",
-    "model = spec.compile()\n",
-    "data = mj.MjData(model)\n",
-    "\n",
-    "cam = mj.MjvCamera()\n",
-    "mj.mjv_defaultCamera(cam)\n",
-    "cam.lookat = [0, 0, 0]\n",
-    "cam.distance = 30\n",
-    "cam.elevation = -30\n",
-    "\n",
-    "duration = 6  # (seconds)\n",
-    "framerate = 60  # (Hz)\n",
-    "frames = []\n",
-    "with mj.Renderer(model, width=1920 // 3, height=1080 // 3) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    mj.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      cam.azimuth = 20 + 20 * (1 - np.cos(np.pi*data.time / duration))\n",
-    "      renderer.update_scene(data, cam)\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate )"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "bZ-mpAKhSBHw"
-   },
-   "source": [
-    "## Terrain Generation\n",
-    "Here we will create a terrain out of different tiles. We start by creating each sinlge tile. Then we move on to putting tiles side by side to create a complete terrain."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "d9oHHP6ZSZeK"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Utilities\n",
-    "def render_tile(tile_func, direction=None, cam_distance=6, cam_elevation=-30):\n",
-    "  arena_xml = \"\"\"\n",
-    "  <mujoco>\n",
-    "    <visual>\n",
-    "      <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
-    "      <global elevation=\"-10\" offwidth=\"2048\" offheight=\"1536\"/>\n",
-    "      <quality shadowsize=\"8192\"/>\n",
-    "    </visual>\n",
-    "\n",
-    "    <asset>\n",
-    "      <texture type=\"skybox\" builtin=\"gradient\" rgb1=\".5 .5 .5\" rgb2=\"0 0 0\" width=\"10\" height=\"10\"/>\n",
-    "      <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"300\" height=\"300\"/>\n",
-    "      <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.3\"/>\n",
-    "    </asset>\n",
-    "\n",
-    "    <worldbody>\n",
-    "      <light pos=\"0 0 5\" diffuse=\"1 1 1\" specular=\"1 1 1\"/>\n",
-    "    </worldbody>\n",
-    "  </mujoco>\n",
-    "  \"\"\"\n",
-    "\n",
-    "  spec = mj.MjSpec.from_string(arena_xml)\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "\n",
-    "  name = 'base_tile'\n",
-    "\n",
-    "  spec.worldbody.add_body(pos=[-3, 0, 0], name=name)\n",
-    "  if direction:\n",
-    "    tile_func(spec, direction=direction)\n",
-    "  else:\n",
-    "    tile_func(spec)\n",
-    "\n",
-    "  model = spec.compile()\n",
-    "  data = mj.MjData(model)\n",
-    "\n",
-    "  cam = mj.MjvCamera()\n",
-    "  mj.mjv_defaultCamera(cam)\n",
-    "  cam.lookat = [0, 0, 0]\n",
-    "  cam.distance = cam_distance\n",
-    "  cam.elevation = cam_elevation\n",
-    "\n",
-    "  height = 300\n",
-    "\n",
-    "  with mj.Renderer(model, 480, 640) as renderer:\n",
-    "    mj.mj_forward(model, data)\n",
-    "    renderer.update_scene(data,cam)\n",
-    "    media.show_image(renderer.render(), height=height)\n",
-    "\n",
-    "\n",
-    "def interpolant(t):\n",
-    "    return t*t*t*(t*(t*6 - 15) + 10)\n",
-    "\n",
-    "def perlin(shape, res, tileable=(False, False), interpolant=interpolant):\n",
-    "  \"\"\"Generate a 2D numpy array of perlin noise.\n",
-    "\n",
-    "  Args:\n",
-    "      shape: The shape of the generated array (tuple of two ints).\n",
-    "          This must be a multiple of res.\n",
-    "      res: The number of periods of noise to generate along each\n",
-    "          axis (tuple of two ints). Note shape must be a multiple of\n",
-    "          res.\n",
-    "      tileable: If the noise should be tileable along each axis\n",
-    "          (tuple of two bools). Defaults to (False, False).\n",
-    "      interpolant: The interpolation function, defaults to\n",
-    "          t*t*t*(t*(t*6 - 15) + 10).\n",
-    "\n",
-    "  Returns:\n",
-    "      A numpy array of shape shape with the generated noise.\n",
-    "\n",
-    "  Raises:\n",
-    "      ValueError: If shape is not a multiple of res.\n",
-    "  \"\"\"\n",
-    "  delta = (res[0] / shape[0], res[1] / shape[1])\n",
-    "  d = (shape[0] // res[0], shape[1] // res[1])\n",
-    "  grid = np.mgrid[0:res[0]:delta[0], 0:res[1]:delta[1]]\\\n",
-    "            .transpose(1, 2, 0) % 1\n",
-    "  # Gradients\n",
-    "  angles = 2*np.pi*np.random.rand(res[0]+1, res[1]+1)\n",
-    "  gradients = np.dstack((np.cos(angles), np.sin(angles)))\n",
-    "  if tileable[0]:\n",
-    "    gradients[-1,:] = gradients[0,:]\n",
-    "  if tileable[1]:\n",
-    "    gradients[:,-1] = gradients[:,0]\n",
-    "  gradients = gradients.repeat(d[0], 0).repeat(d[1], 1)\n",
-    "  g00 = gradients[    :-d[0],    :-d[1]]\n",
-    "  g10 = gradients[d[0]:     ,    :-d[1]]\n",
-    "  g01 = gradients[    :-d[0],d[1]:     ]\n",
-    "  g11 = gradients[d[0]:     ,d[1]:     ]\n",
-    "  # Ramps\n",
-    "  n00 = np.sum(np.dstack((grid[:,:,0]  , grid[:,:,1]  )) * g00, 2)\n",
-    "  n10 = np.sum(np.dstack((grid[:,:,0]-1, grid[:,:,1]  )) * g10, 2)\n",
-    "  n01 = np.sum(np.dstack((grid[:,:,0]  , grid[:,:,1]-1)) * g01, 2)\n",
-    "  n11 = np.sum(np.dstack((grid[:,:,0]-1, grid[:,:,1]-1)) * g11, 2)\n",
-    "  # Interpolation\n",
-    "  t = interpolant(grid)\n",
-    "  n0 = n00*(1-t[:,:,0]) + t[:,:,0]*n10\n",
-    "  n1 = n01*(1-t[:,:,0]) + t[:,:,0]*n11\n",
-    "  return np.sqrt(2)*((1-t[:,:,1])*n0 + t[:,:,1]*n1)\n",
-    "\n",
-    "def edge_slope(size, border_width=5, blur_iterations=20):\n",
-    "  \"\"\"Creates a grayscale image with a white center and fading black edges using convolution.\"\"\"\n",
-    "  img = np.ones((size, size), dtype=np.float32)\n",
-    "  img[:border_width, :] = 0\n",
-    "  img[-border_width:, :] = 0\n",
-    "  img[:, :border_width] = 0\n",
-    "  img[:, -border_width:] = 0\n",
-    "\n",
-    "  kernel = np.array([[1, 1, 1],\n",
-    "                      [1, 1, 1],\n",
-    "                      [1, 1, 1]]) / 9.0\n",
-    "\n",
-    "  for _ in range(blur_iterations):\n",
-    "    img = convolve2d(img, kernel, mode='same', boundary='symm')\n",
-    "\n",
-    "  return img"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "dtFWSSwWSgeD"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Stairs\n",
-    "def stairs(spec=None, grid_loc=[0, 0] , num_stairs=4, direction=1, name='stair'):\n",
-    "  SQUARE_LENGTH = 2\n",
-    "  V_SIZE = 0.076\n",
-    "  H_SIZE = 0.12\n",
-    "  H_STEP = H_SIZE * 2\n",
-    "  V_STEP = V_SIZE * 2\n",
-    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "\n",
-    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
-    "  # Offset\n",
-    "  x_beginning, y_end = [-SQUARE_LENGTH + H_SIZE] * 2\n",
-    "  x_end, y_beginning = [SQUARE_LENGTH - H_SIZE] * 2\n",
-    "  # Dimension\n",
-    "  size_one = [H_SIZE, SQUARE_LENGTH, V_SIZE]\n",
-    "  size_two =  [SQUARE_LENGTH, H_SIZE, V_SIZE]\n",
-    "  # Geoms positions\n",
-    "  x_pos_l = [x_beginning, 0, direction * V_SIZE]\n",
-    "  x_pos_r = [x_end, 0, direction * V_SIZE]\n",
-    "  y_pos_up = [0, y_beginning, direction * V_SIZE]\n",
-    "  y_pos_down = [0, y_end, direction * V_SIZE]\n",
-    "\n",
-    "  for i in range(num_stairs):\n",
-    "    size_one[1] = SQUARE_LENGTH - H_STEP * i\n",
-    "    size_two[0] = SQUARE_LENGTH - H_STEP * i\n",
-    "\n",
-    "    x_pos_l[2], x_pos_r[2], y_pos_up[2], y_pos_down[2]  = [\n",
-    "      direction * ( V_SIZE + V_STEP * i)] * 4\n",
-    "\n",
-    "    # Left side\n",
-    "    x_pos_l[0] = x_beginning + H_STEP * i\n",
-    "    body.add_geom(pos=x_pos_l, size=size_one, rgba=BROWN)\n",
-    "    # Right side\n",
-    "    x_pos_r[0] = x_end - H_STEP * i\n",
-    "    body.add_geom(pos=x_pos_r, size=size_one, rgba=BROWN)\n",
-    "    # Top\n",
-    "    y_pos_up[1] = y_beginning - H_STEP * i\n",
-    "    body.add_geom(pos=y_pos_up, size=size_two, rgba=BROWN)\n",
-    "    # Bottom\n",
-    "    y_pos_down[1] = y_end + H_STEP * i\n",
-    "    body.add_geom(pos=y_pos_down, size=size_two, rgba=BROWN)\n",
-    "\n",
-    "  # Closing\n",
-    "  size = [SQUARE_LENGTH - H_STEP * num_stairs,\n",
-    "          SQUARE_LENGTH - H_STEP * num_stairs,\n",
-    "          V_SIZE]\n",
-    "  pos = [0, 0,\n",
-    "         direction * (V_SIZE + V_STEP * num_stairs)]\n",
-    "  body.add_geom(pos=pos, size=size, rgba=BROWN)\n",
-    "\n",
-    "render_tile(stairs, direction=random.choice([-1, 1]))"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "YwX50AtzSmnT"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Debris (Geoms)\n",
-    "def debris_with_simple_geoms(spec=None, grid_loc=[0, 0], name='plane'):\n",
-    "  SQUARE_LENGTH = 2\n",
-    "  THICKNESS = 0.05\n",
-    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
-    "  RED = [0.6, 0.12, 0.15, 1.0]\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "\n",
-    "  # Create tile\n",
-    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
-    "  body.add_geom(size=[SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba=BROWN )\n",
-    "\n",
-    "  # Simple Geoms\n",
-    "  x_beginning, y_end = [-SQUARE_LENGTH + THICKNESS] * 2\n",
-    "  x_end, y_beginning = [SQUARE_LENGTH - THICKNESS] * 2\n",
-    "\n",
-    "  x_grid = np.linspace(x_beginning, x_end, 10)\n",
-    "  y_grid = np.linspace(y_beginning, y_end, 10)\n",
-    "\n",
-    "  for i in range(10):\n",
-    "    x = np.random.choice(x_grid)\n",
-    "    y = np.random.choice(y_grid)\n",
-    "\n",
-    "    pos=[grid_loc[0] + x, grid_loc[1] + y, 0.2]\n",
-    "\n",
-    "    g_type = None\n",
-    "    size = None\n",
-    "    if random.randint(0, 1):\n",
-    "      g_type = mj.mjtGeom.mjGEOM_BOX\n",
-    "      size = [0.1, 0.1, 0.02]\n",
-    "    else:\n",
-    "      g_type = mj.mjtGeom.mjGEOM_CYLINDER\n",
-    "      size = [0.1, 0.02, 0]\n",
-    "\n",
-    "    body = spec.worldbody.add_body(pos=pos, name=f'g{i}_{name}', mass=1)\n",
-    "    body.add_geom(type=g_type, size=size, rgba=RED)\n",
-    "    body.add_freejoint()\n",
-    "\n",
-    "render_tile(debris_with_simple_geoms)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Wm_0DHK8S2kQ"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Debris (Mesh)\n",
-    "def debris(spec=None, grid_loc=[0, 0] , name='debris'):\n",
-    "  SQUARE_LENGTH = 2\n",
-    "  THICKNESS = 0.05\n",
-    "  STEP = THICKNESS * 8\n",
-    "  SCALE = 0.1\n",
-    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
-    "  RED = [0.6, 0.12, 0.15, 1.0]\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "  main.mesh.scale = np.array([SCALE]*3, dtype=np.float64)\n",
-    "\n",
-    "  x_beginning = -SQUARE_LENGTH + THICKNESS\n",
-    "  y_beginning = SQUARE_LENGTH - THICKNESS\n",
-    "\n",
-    "  # Create tile\n",
-    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
-    "  body.add_geom(size=[SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba=BROWN)\n",
-    "\n",
-    "  # Place debris on the tile\n",
-    "  for i in range(10):\n",
-    "    for j in range(10):\n",
-    "      # draw on xy plane\n",
-    "      drawing = np.random.normal(size=(4, 2))\n",
-    "      drawing /= np.linalg.norm(drawing, axis=1, keepdims=True)\n",
-    "      z = np.zeros((drawing.shape[0], 1))\n",
-    "      # Add z value to drawing\n",
-    "      base = np.concatenate((drawing, z), axis=1)\n",
-    "      # Extrude drawing\n",
-    "      z_extrusion = np.full((drawing.shape[0], 1), THICKNESS * 4)\n",
-    "      top = np.concatenate((drawing, z_extrusion), axis=1)\n",
-    "      # Combine to get a mesh\n",
-    "      mesh = np.vstack((base, top))\n",
-    "\n",
-    "      # Create body and add the mesh to the geom of the body\n",
-    "      spec.add_mesh(name=f'd{i}_{j}_{name}', uservert=mesh.flatten())\n",
-    "      pos=[grid_loc[0] + x_beginning + i * STEP,\n",
-    "           grid_loc[1] + y_beginning - j * STEP,\n",
-    "           0.2]\n",
-    "\n",
-    "      body = spec.worldbody.add_body(pos=pos, name=f'd{i}_{j}_{name}', mass=1)\n",
-    "      body.add_geom(type=mj.mjtGeom.mjGEOM_MESH, meshname=f'd{i}_{j}_{name}',\n",
-    "                    rgba=RED)\n",
-    "      body.add_freejoint()\n",
-    "\n",
-    "render_tile(debris)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "BqTG_K8uS3v_"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Boxy Terrain\n",
-    "def boxy_terrain(spec=None, grid_loc=[0, 0], name='boxy_terrain'):\n",
-    "  SQUARE_LENGTH = 2\n",
-    "  CUBE_LENGTH = 0.05\n",
-    "  GRID_SIZE = int(SQUARE_LENGTH / CUBE_LENGTH)\n",
-    "  STEP = CUBE_LENGTH * 2\n",
-    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec=mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "\n",
-    "  # Create tile\n",
-    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
-    "\n",
-    "  x_beginning = -SQUARE_LENGTH + CUBE_LENGTH\n",
-    "  y_beginning = SQUARE_LENGTH - CUBE_LENGTH\n",
-    "  for i in range(GRID_SIZE):\n",
-    "    for j in range(GRID_SIZE):\n",
-    "      body.add_geom(\n",
-    "        pos=[x_beginning + i * STEP ,\n",
-    "             y_beginning - j * STEP ,\n",
-    "             random.randint(-1, 1) * CUBE_LENGTH\n",
-    "        ],\n",
-    "        size=[CUBE_LENGTH] * 3,\n",
-    "        rgba=BROWN\n",
-    "      )\n",
-    "\n",
-    "render_tile(boxy_terrain)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "gfQ1CafnS7hs"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Box (Extrusion | Cut)\n",
-    "def box_extrusions(spec=None, grid_loc=[0, 0], complex=False,\n",
-    "                   name='box_extrusions'):\n",
-    "  # Warning! complex sometimes leads to creation of holes\n",
-    "  SQUARE_LENGTH = 2\n",
-    "  CUBE_LENGTH = 0.05\n",
-    "  GRID_SIZE = int(SQUARE_LENGTH / CUBE_LENGTH)\n",
-    "  STEP = CUBE_LENGTH * 2\n",
-    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "\n",
-    "  # Create tile\n",
-    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
-    "\n",
-    "  x_beginning = -SQUARE_LENGTH + CUBE_LENGTH\n",
-    "  y_beginning = SQUARE_LENGTH - CUBE_LENGTH\n",
-    "\n",
-    "  # Create initial grid and store geoms ref\n",
-    "  grid = [[ 0 for _ in range(GRID_SIZE)] for _ in range(GRID_SIZE)]\n",
-    "  for i in range(GRID_SIZE):\n",
-    "    for j in range(GRID_SIZE):\n",
-    "      ref = body.add_geom(\n",
-    "        pos=[x_beginning + i * STEP, y_beginning - j * STEP, 0],\n",
-    "        size=[CUBE_LENGTH] * 3,\n",
-    "        rgba = BROWN\n",
-    "      )\n",
-    "      grid[i][j] = ref\n",
-    "\n",
-    "  # Extrude or Cut operation using the boxes\n",
-    "  for _ in range(random.randint(4, 50)):\n",
-    "    box = None\n",
-    "    while box == None:\n",
-    "      # Create a box\n",
-    "      start = (random.randint(0, GRID_SIZE - 2), random.randint(0, GRID_SIZE - 2))\n",
-    "      dim = (random.randint(0, GRID_SIZE - 2), random.randint(0, GRID_SIZE-2))\n",
-    "      # Make suer box is valid\n",
-    "      if start[0] + dim [0] < len(grid) and start[1] + dim [1] < len(grid):\n",
-    "        box = {\"start\":start, \"dim\":dim}\n",
-    "\n",
-    "    # Use the box to Cut or Extrude\n",
-    "    operation = random.choice([1, -1])\n",
-    "    start = box[\"start\"]\n",
-    "    dim = box[\"dim\"]\n",
-    "    for i in range(start[0], dim[0]):\n",
-    "      for j in range(start[1], dim[1]):\n",
-    "        tile = grid[i][j]\n",
-    "        if complex:\n",
-    "          tile.pos[2] += operation * CUBE_LENGTH\n",
-    "        else:\n",
-    "          tile.pos[2] = operation * CUBE_LENGTH\n",
-    "\n",
-    "render_tile(box_extrusions)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "e1PEGQ37S_ee"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Heightfield\n",
-    "def h_field(spec=None, grid_loc=[0, 0], name='h_field'):\n",
-    "  SQUARE_LENGTH = 2\n",
-    "  HEIGHT = 0.1\n",
-    "  BROWN_RGBA = [0.460, 0.362, 0.216, 1.0]\n",
-    "\n",
-    "  if spec is None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  size = 128\n",
-    "  noise = perlin((size, size), (8, 8))\n",
-    "\n",
-    "  # Remap noise to 0 to 1\n",
-    "  noise = (noise + 1)/2\n",
-    "  noise -= np.min(noise)\n",
-    "  noise /= np.max(noise)\n",
-    "\n",
-    "  # Makes the edges slope down to avoid sharp boundary\n",
-    "  noise *= edge_slope(size)\n",
-    "\n",
-    "  # Create height field\n",
-    "  hfield = spec.add_hfield(name=name,\n",
-    "                           size=[SQUARE_LENGTH, SQUARE_LENGTH,\n",
-    "                                 HEIGHT, HEIGHT/10],\n",
-    "                           nrow=noise.shape[0],\n",
-    "                           ncol=noise.shape[1],\n",
-    "                           userdata=noise.flatten())\n",
-    "\n",
-    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
-    "  body.add_geom(type=mj.mjtGeom.mjGEOM_HFIELD, hfieldname=name,\n",
-    "                rgba=BROWN_RGBA)\n",
-    "\n",
-    "render_tile(h_field)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "UwDVd6aUTRKF"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Floating platform\n",
-    "def floating_platform(spec=None, gird_loc=[0, 0, 0], name='platform'):\n",
-    "  PLATFORM_LENGTH = 0.5\n",
-    "  WIDTH = 0.12\n",
-    "  INWARD_OFFSET = 0.008\n",
-    "  THICKNESS = 0.005\n",
-    "  SIZE = [PLATFORM_LENGTH, WIDTH, THICKNESS]\n",
-    "  TENDON_LENGTH = 0.5\n",
-    "  Z_OFFSET = 0.1\n",
-    "\n",
-    "  GOLD = [0.850, 0.838, 0.119, 1]\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "\n",
-    "  # Platform with sites\n",
-    "  gird_loc[2] += Z_OFFSET\n",
-    "  platform = spec.worldbody.add_body(pos=gird_loc, name=name)\n",
-    "  platform.add_geom(size=SIZE, rgba=GOLD)\n",
-    "  platform.add_freejoint()\n",
-    "\n",
-    "  for x_dir in [-1, 1]:\n",
-    "    for y_dir in [-1, 1]:\n",
-    "      # Add site to world\n",
-    "      vector = np.array([x_dir *  PLATFORM_LENGTH,\n",
-    "                         y_dir * (WIDTH - INWARD_OFFSET)])\n",
-    "      x_w = gird_loc[0] + vector[0]\n",
-    "      y_w = gird_loc[1] + vector[1]\n",
-    "      z_w = gird_loc[2] + TENDON_LENGTH\n",
-    "      # Rotate sites by theta\n",
-    "      spec.worldbody.add_site(name=f'{name}_hook_{x_dir}_{y_dir}',\n",
-    "                              pos=[ x_w, y_w, z_w],\n",
-    "                              size=[0.01, 0, 0])\n",
-    "      # Add site to platform\n",
-    "      x_p = x_dir *  PLATFORM_LENGTH\n",
-    "      y_p = y_dir * (WIDTH - INWARD_OFFSET)\n",
-    "      platform.add_site(name=f'{name}_anchor_{x_dir}_{y_dir}',\n",
-    "                        pos=[ x_p, y_p, THICKNESS * 2],\n",
-    "                        size=[0.01, 0, 0])\n",
-    "\n",
-    "      # Connect tendon to sites\n",
-    "      thread = spec.add_tendon(name=f'{name}_thread_{x_dir}_{y_dir}',\n",
-    "                               limited=True,\n",
-    "                               range=[0, TENDON_LENGTH], width=0.01 )\n",
-    "      thread.wrap_site(f'{name}_hook_{x_dir}_{y_dir}')\n",
-    "      thread.wrap_site(f'{name}_anchor_{x_dir}_{y_dir}')\n",
-    "\n",
-    "render_tile(floating_platform, cam_distance=2, cam_elevation=-20)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Wb4GmZewTSVI"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Simple stairs\n",
-    "def simple_suspended_stair(spec=None, grid_loc=[0, 0], num_stair=20,\n",
-    "                           name=\"simple_suspended_stair\"):\n",
-    "  BROWN= [0.460, 0.362, 0.216, 1.0]\n",
-    "  SQUARE_LENGTH = 2\n",
-    "  THICKNESS = 0.05\n",
-    "  OFFSET_Y = -4/5 * SQUARE_LENGTH\n",
-    "\n",
-    "  V_STEP = 0.076\n",
-    "  H_STEP = 0.12\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "\n",
-    "  # Create tile\n",
-    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
-    "  body.add_geom(size=[SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba=BROWN)\n",
-    "\n",
-    "  # Create Stairs\n",
-    "  for i in range(num_stair):\n",
-    "    floating_platform(spec,[grid_loc[0],\n",
-    "                            OFFSET_Y + grid_loc[1] + i * 2 * H_STEP,\n",
-    "                            i * V_STEP],\n",
-    "                       name =f'{name}_p_{i}')\n",
-    "\n",
-    "render_tile(simple_suspended_stair,cam_distance=7, cam_elevation=-30)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "AaoLjrKeTXu-"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Sinusoidal stairs\n",
-    "def sin_suspended_stair(spec, grid_loc=[0, 0], num_stair=40,\n",
-    "                        name=\"sin_suspended_stair\"):\n",
-    "  BROWN = [0.460, 0.362, 0.216, 1.0]\n",
-    "  SQUARE_LENGTH = 2\n",
-    "  THICKNESS = 0.05\n",
-    "  OFFSET_Y = -4/5 * SQUARE_LENGTH\n",
-    "\n",
-    "  V_STEP = 0.076\n",
-    "  H_STEP = 0.12\n",
-    "  AMPLITUDE = 0.2\n",
-    "  FREQUENCY = 0.5\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "\n",
-    "  # Plane\n",
-    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
-    "  body.add_geom(size=[SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba=BROWN)\n",
-    "\n",
-    "  for i in range(num_stair):\n",
-    "    x_step = AMPLITUDE * np.sin(2 * np.pi * FREQUENCY * (i * H_STEP))\n",
-    "    floating_platform(spec, [grid_loc[0] + x_step,\n",
-    "                            OFFSET_Y + grid_loc[1] + i * 2 * H_STEP,\n",
-    "                            i * V_STEP],\n",
-    "                           name=f'{name}_p_{i}')\n",
-    "\n",
-    "render_tile(sin_suspended_stair,cam_distance=7, cam_elevation=-30)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "2_Ux8h-PTqbW"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Floating platform for circular stair\n",
-    "def floating_platform_for_circular_stair(spec=None, gird_loc=[0, 0, 0] ,theta=0,\n",
-    "                                         name='platform'):\n",
-    "  PLATFORM_LENGTH = 0.5\n",
-    "  TENDON_LENGTH = 0.5\n",
-    "  WIDTH = 0.12/4 # Platform (body) is made of 4 separate geoms\n",
-    "  THICKNESS = 0.005\n",
-    "  SIZE = [PLATFORM_LENGTH, WIDTH, THICKNESS]\n",
-    "  Z_OFFSET = 0.1\n",
-    "\n",
-    "  GOLD = [0.850, 0.838, 0.119, 1]\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "  spec.compiler.degree = False\n",
-    "\n",
-    "  # Platform with sites\n",
-    "  gird_loc[2] += Z_OFFSET\n",
-    "  platform = spec.worldbody.add_body(pos=gird_loc, name=name, euler=[0, 0, theta])\n",
-    "  platform.add_geom(pos=[0, 0, 0] , size=SIZE, euler=[0, 0, 0],rgba=GOLD)\n",
-    "  platform.add_geom(pos=[0, 0.02, 0], size=SIZE, euler=[0, 0, 0.05],rgba=GOLD)\n",
-    "  platform.add_geom(pos=[0, 0.05, 0], size=SIZE, euler=[0, 0, 0.1],rgba=GOLD)\n",
-    "  platform.add_geom(pos=[0, 0.08, 0], size=SIZE, euler=[0, 0, 0.15],rgba=GOLD)\n",
-    "  platform.add_freejoint()\n",
-    "\n",
-    "  for i, x_dir in enumerate([-1, 1]):\n",
-    "    for j, y_dir in enumerate([-1, 1]):\n",
-    "      # Rotate sites by theta\n",
-    "      rotation_matrix = np.array([[np.cos(-theta), -np.sin(-theta)],\n",
-    "                                  [np.sin(-theta), np.cos(-theta)]])\n",
-    "      vector = np.array([x_dir * PLATFORM_LENGTH, y_dir * WIDTH ])\n",
-    "      if i + j == 2:\n",
-    "        vector = np.array([x_dir * PLATFORM_LENGTH, y_dir * 6 * WIDTH ])\n",
-    "      vector = np.dot(vector , rotation_matrix)\n",
-    "      x_w = gird_loc[0] + vector[0]\n",
-    "      y_w = gird_loc[1] + vector[1]\n",
-    "      z_w = gird_loc[2] + TENDON_LENGTH\n",
-    "\n",
-    "      # Add site to world\n",
-    "      spec.worldbody.add_site(name=f'{name}_hook_{x_dir}_{y_dir}',\n",
-    "                              pos=[ x_w, y_w, z_w],\n",
-    "                              size=[0.01, 0, 0])\n",
-    "      # Add site to platform\n",
-    "      x_p = x_dir *  PLATFORM_LENGTH\n",
-    "      y_p = y_dir * WIDTH\n",
-    "      if i + j == 2:\n",
-    "        y_p = y_dir * 6 * WIDTH\n",
-    "      platform.add_site(name=f'{name}_anchor_{x_dir}_{y_dir}',\n",
-    "                        pos=[x_p, y_p, THICKNESS * 2],\n",
-    "                        size=[0.01, 0, 0])\n",
-    "\n",
-    "      # Connect tendon to sites\n",
-    "      thread = spec.add_tendon(name=f'{name}_thread_{x_dir}_{y_dir}', limited=True,\n",
-    "                               range=[0, TENDON_LENGTH], width=0.01 )\n",
-    "      thread.wrap_site(f'{name}_hook_{x_dir}_{y_dir}')\n",
-    "      thread.wrap_site(f'{name}_anchor_{x_dir}_{y_dir}')\n",
-    "\n",
-    "render_tile(floating_platform_for_circular_stair,cam_distance=2, cam_elevation=-40)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "UXSDdVF8TwmQ"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Circular stairs\n",
-    "def circular_stairs(spec, grid_loc=[0, 0], num_stair=60, name=\"circular_stairs\"):\n",
-    "  BROWN_RGBA = [0.460, 0.362, 0.216, 1.0]\n",
-    "  SQUARE_LENGTH = 2\n",
-    "  THICKNESS = 0.05\n",
-    "\n",
-    "  RADIUS = 1.5\n",
-    "  V_STEP = 0.076\n",
-    "\n",
-    "  if spec == None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  # Defaults\n",
-    "  main = spec.default\n",
-    "  main.geom.type = mj.mjtGeom.mjGEOM_BOX\n",
-    "  spec.compiler.degree = False\n",
-    "\n",
-    "  # Plane\n",
-    "  body = spec.worldbody.add_body(pos=grid_loc + [0], name=name)\n",
-    "  body.add_geom(size = [SQUARE_LENGTH, SQUARE_LENGTH, THICKNESS], rgba = BROWN_RGBA )\n",
-    "\n",
-    "  theta_step = 2 * np.pi / num_stair\n",
-    "  for i in range(num_stair):\n",
-    "    theta = i * theta_step\n",
-    "    x = grid_loc[0] + RADIUS * np.cos(theta)\n",
-    "    y = grid_loc[1] + RADIUS * np.sin(theta)\n",
-    "    z = i * V_STEP\n",
-    "\n",
-    "    floating_platform_for_circular_stair(spec, [x, y, z], theta=theta, name=f'{name}_p_{i}')\n",
-    "\n",
-    "render_tile(circular_stairs,cam_distance=12, cam_elevation=-30)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "lsDky1KjT30W"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Tile Generator\n",
-    "def add_tile(spec=None, grid_loc=[0, 0]):\n",
-    "  if spec is None:\n",
-    "    spec = mj.MjSpec()\n",
-    "\n",
-    "  tile_type = random.randint(0, 9)\n",
-    "\n",
-    "  if tile_type == 0:\n",
-    "    debris_with_simple_geoms(spec, grid_loc, name=f\"plane_{grid_loc[0]}_{grid_loc[1]}\")\n",
-    "  elif tile_type == 1:\n",
-    "    stairs(spec, grid_loc, name=f\"stairs_up_{grid_loc[0]}_{grid_loc[1]}\",direction=1)\n",
-    "  elif tile_type == 2:\n",
-    "    stairs(spec, grid_loc, name=f\"stairs_down_{grid_loc[0]}_{grid_loc[1]}\",direction=-1)\n",
-    "  elif tile_type == 3:\n",
-    "    debris(spec, grid_loc, name=f\"debris_{grid_loc[0]}_{grid_loc[1]}\")\n",
-    "  elif tile_type == 4:\n",
-    "    box_extrusions(spec, grid_loc, name=f\"box_extrusions_{grid_loc[0]}_{grid_loc[1]}\")\n",
-    "  elif tile_type == 5:\n",
-    "    boxy_terrain(spec, grid_loc, name=f\"boxy_terrain_{grid_loc[0]}_{grid_loc[1]}\")\n",
-    "  elif tile_type == 6:\n",
-    "    h_field(spec, grid_loc, name=f\"h_field_{grid_loc[0]}_{grid_loc[1]}\")\n",
-    "  elif tile_type == 7:\n",
-    "    simple_suspended_stair(spec, grid_loc, name=f\"sss_{grid_loc[0]}_{grid_loc[1]}\")\n",
-    "  elif tile_type == 8:\n",
-    "    sin_suspended_stair(spec, grid_loc, name=f\"sinss_{grid_loc[0]}_{grid_loc[1]}\")\n",
-    "  elif tile_type == 9:\n",
-    "    circular_stairs(spec, grid_loc, name=f\"circular_s_{grid_loc[0]}_{grid_loc[1]}\")\n",
-    "  return spec"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "P2F0ObC2T8w8"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Generate Terrain\n",
-    "arena_xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <visual>\n",
-    "    <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
-    "    <global elevation=\"-10\" offwidth=\"2048\" offheight=\"1536\"/>\n",
-    "    <quality shadowsize=\"8192\"/>\n",
-    "  </visual>\n",
-    "\n",
-    "  <asset>\n",
-    "    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\".5 .5 .5\" rgb2=\"0 0 0\" width=\"10\" height=\"10\"/>\n",
-    "    <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"300\" height=\"300\"/>\n",
-    "    <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.3\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <worldbody>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "\n",
-    "spec = mj.MjSpec.from_string(arena_xml)\n",
-    "\n",
-    "spec.option.enableflags |= mj.mjtEnableBit.mjENBL_OVERRIDE\n",
-    "spec.option.timestep = 0.0001\n",
-    "spec.compiler.degree = False\n",
-    "\n",
-    "main = spec.default\n",
-    "main.geom.solref = [0.001, 1]\n",
-    "\n",
-    "# Add lights\n",
-    "for x in [-1, 1]:\n",
-    "  for y in [-1, 1]:\n",
-    "    spec.worldbody.add_light(pos=[x, y, 40], dir=[-x, -y, -15])\n",
-    "\n",
-    "SQUARE_LENGTH = 2\n",
-    "for i in range(-2, 2):\n",
-    "  for j in range(-2, 2):\n",
-    "    add_tile(spec=spec, grid_loc=[i * 2 * SQUARE_LENGTH, j * 2 * SQUARE_LENGTH])\n",
-    "\n",
-    "model = spec.compile()\n",
-    "data = mj.MjData(model)\n",
-    "\n",
-    "cam = mj.MjvCamera()\n",
-    "mj.mjv_defaultCamera(cam)\n",
-    "cam.lookat = [-2, 0, -2]\n",
-    "cam.distance = 18\n",
-    "cam.elevation = -30\n",
-    "\n",
-    "with mj.Renderer(model, 720, 1280) as renderer:\n",
-    "  mj.mj_forward(model, data)\n",
-    "  renderer.update_scene(data,cam)\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "IGd0uD64LdEJ"
-   },
-   "source": [
-    "# Model editing"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "223KzKAzLdEJ"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Get resources\n",
-    "\n",
-    "# Get Models\n",
-    "print('Getting MuJoCo humanoid XML description from GitHub:')\n",
-    "!git clone https://github.com/google-deepmind/mujoco\n",
-    "humanoid_file = 'mujoco/model/humanoid/humanoid.xml'\n",
-    "humanoid100_file = 'mujoco/model/humanoid/humanoid100.xml'\n",
-    "print('Getting MuJoCo Fly and Franka XML description from GitHub:')\n",
-    "!git clone https://github.com/google-deepmind/mujoco_menagerie\n",
-    "fly_file = 'mujoco_menagerie/flybody/fruitfly.xml'\n",
-    "franka_file = 'mujoco_menagerie/franka_fr3/fr3.xml'\n",
-    "\n",
-    "# Camera options\n",
-    "cam = mj.MjvCamera()\n",
-    "mj.mjv_defaultCamera(cam)\n",
-    "cam.elevation = -10\n",
-    "cam.lookat = [0, 0, 1]\n",
-    "cam.distance = 4\n",
-    "cam.azimuth = 135\n",
-    "\n",
-    "# Arena\n",
-    "arena_xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <visual>\n",
-    "    <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
-    "    <global offwidth=\"2048\" offheight=\"1536\"/>\n",
-    "    <quality shadowsize=\"8192\"/>\n",
-    "  </visual>\n",
-    "\n",
-    "  <asset>\n",
-    "    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" width=\"10\" height=\"10\"/>\n",
-    "    <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"400\" height=\"400\"/>\n",
-    "    <material name=\"groundplane\" texture=\"groundplane\" texrepeat=\"45 45\" reflectance=\"0\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <geom name=\"floor\" size=\"10 10 0.1\" type=\"plane\" material=\"groundplane\"/>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "eGgXNjQ8LdEK"
-   },
-   "source": [
-    "`mjSpec` elements can be traversed in two ways:\n",
-    "- For elements inside the kinematic tree, the tree can be traversed using the `first` and `next` functions.\n",
-    "- For all other elements, we provide a list.\n",
-    "\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Len0o_idLdEK"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Traversing the spec {vertical-output: true}\n",
-    "\n",
-    "spec = mj.MjSpec.from_file(humanoid_file)\n",
-    "\n",
-    "# Function that recursively prints all body names\n",
-    "def print_bodies(parent, level=0):\n",
-    "  body = parent.first_body()\n",
-    "  while body:\n",
-    "    print(''.join(['-' for i in range(level)]) + body.name)\n",
-    "    print_bodies(body, level + 1)\n",
-    "    body = parent.next_body(body)\n",
-    "\n",
-    "print(\"The spec has the following actuators:\")\n",
-    "for actuator in spec.actuators:\n",
-    "  print(actuator.name)\n",
-    "\n",
-    "print(\"\\nThe spec has the following bodies:\")\n",
-    "print_bodies(spec.worldbody)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "GeiFFBYxLdEK"
-   },
-   "source": [
-    "An `mjSpec` can be compiled multiple times. If the state has to be preserved between different compilations, then the function `recompile()` must be used, which returns a new `mjData` that contains the mapped state, possibly having a different dimension from the origin."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "eiRXgh9OLdEK"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Model re-compilation with state preservation {vertical-output: true}\n",
-    "\n",
-    "spec = mj.MjSpec.from_file(humanoid100_file)\n",
-    "model = spec.compile()\n",
-    "data = mj.MjData(model)\n",
-    "\n",
-    "# Run for 5 seconds\n",
-    "for i in range(1000):\n",
-    "  mj.mj_step(model, data)\n",
-    "\n",
-    "# Show result\n",
-    "render(model, data)\n",
-    "\n",
-    "# Create list of all bodies we want to delete\n",
-    "body = spec.worldbody.first_body()\n",
-    "delete_list = []\n",
-    "while body:\n",
-    "  geom_type = body.first_geom().type\n",
-    "  if (geom_type == mj.mjtGeom.mjGEOM_BOX or\n",
-    "      geom_type == mj.mjtGeom.mjGEOM_ELLIPSOID):\n",
-    "    delete_list.append(body)\n",
-    "  body = spec.worldbody.next_body(body)\n",
-    "\n",
-    "# Remove all bodies in the list from the spec\n",
-    "for body in delete_list:\n",
-    "  spec.delete(body)\n",
-    "\n",
-    "# # Add another humanoid\n",
-    "spec_humanoid = mj.MjSpec.from_file(humanoid_file)\n",
-    "attachment_frame = spec.worldbody.add_frame(pos=[0, -1, 2])\n",
-    "attachment_frame.attach_body(spec_humanoid.body('torso'), 'a', 'b')\n",
-    "\n",
-    "# Recompile preserving the state\n",
-    "new_model, new_data = spec.recompile(model, data)\n",
-    "\n",
-    "# Show result\n",
-    "render(new_model, new_data)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "kuTWD415LdEK"
-   },
-   "source": [
-    "Let us load the humanoid model and inspect it."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "5d1wmQM2LdEK"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Humanoid model {vertical-output: true}\n",
-    "\n",
-    "spec = mj.MjSpec.from_file(humanoid_file)\n",
-    "\n",
-    "model = spec.compile()\n",
-    "render(model)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "38PXB1rWLdEK"
-   },
-   "source": [
-    "We wish to remove the arms and replace them with the legs. This can be done by first storing the arm positions into frames attached to the torso. Then we can detach the arms and self-attach the legs into the frames."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "0eaNq0Q7LdEK"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Humanoid with arms replaced by legs {vertical-output: true}\n",
-    "\n",
-    "spec = mj.MjSpec.from_file(humanoid_file)\n",
-    "spec.copy_during_attach = True\n",
-    "\n",
-    "# Get the torso, arm, and leg bodies\n",
-    "arm_left = spec.body('upper_arm_left')\n",
-    "arm_right = spec.body('upper_arm_right')\n",
-    "leg_left = spec.body('thigh_left')\n",
-    "leg_right = spec.body('thigh_right')\n",
-    "torso = spec.body('torso')\n",
-    "\n",
-    "# Attach frames at the arm positions\n",
-    "shoulder_left = torso.add_frame(pos=arm_left.pos)\n",
-    "shoulder_right = torso.add_frame(pos=arm_right.pos)\n",
-    "\n",
-    "# Remove the arms\n",
-    "spec.delete(arm_left)\n",
-    "spec.delete(arm_right)\n",
-    "\n",
-    "# Add new legs\n",
-    "shoulder_left.attach_body(leg_left, 'shoulder', 'left')\n",
-    "shoulder_right.attach_body(leg_right, 'shoulder', 'right')\n",
-    "\n",
-    "model = spec.compile()\n",
-    "render(model, height=400)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "HfhxL2EqLdEK"
-   },
-   "source": [
-    "Similarly, different models can be attach together. Here, the right arm is detached and a robot arm from a different model is attached in its place."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "uS4LGbI7LdEK"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Humanoid with Franka arm {vertical-output: true}\n",
-    "\n",
-    "spec = mj.MjSpec.from_file(humanoid_file)\n",
-    "franka = mj.MjSpec.from_file(franka_file)\n",
-    "\n",
-    "if hasattr(spec, 'compiler'):\n",
-    "  spec.compiler.degree = False  # MuJoCo dev (next release).\n",
-    "else:\n",
-    "  spec.degree = False  # MuJoCo release\n",
-    "\n",
-    "# Replace right arm with frame\n",
-    "arm_right = spec.body('upper_arm_right')\n",
-    "torso = spec.body('torso')\n",
-    "shoulder_right = torso.add_frame(pos=arm_right.pos, quat=[0, 0.8509035, 0, 0.525322])\n",
-    "spec.delete(arm_right)\n",
-    "\n",
-    "# Attach Franka arm to humanoid\n",
-    "franka_arm = franka.body('fr3_link2')\n",
-    "shoulder_right.attach_body(franka_arm, 'franka', '')\n",
-    "\n",
-    "model = spec.compile()\n",
-    "render(model, height=400)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "CWXYy_1uLdEK"
-   },
-   "source": [
-    "When doing this, the actuators and all other objects referenced by the attached sub-tree are imported in the new model. All assets are currently imported, referenced or not."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "UwWDD-NHLdEK"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Imported actuators {vertical-output: true}\n",
-    "\n",
-    "for actuator in spec.actuators:\n",
-    "  print(actuator.name)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "hDvt3vcxLdEK"
-   },
-   "source": [
-    "Domain randomization can be performed by attaching multiple times the same spec, edited each time with a new instance of randomized parameters."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "oPPFbWawLdEK"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Humanoid with randomized heads and arm poses {vertical-output: true}\n",
-    "\n",
-    "humanoid = mj.MjSpec.from_file(humanoid_file)\n",
-    "spec = mj.MjSpec()\n",
-    "spec.copy_during_attach = True\n",
-    "\n",
-    "# Delete all key frames to avoid name conflicts\n",
-    "while humanoid.keys:\n",
-    "  humanoid.delete(keys[-1])\n",
-    "\n",
-    "# Create a grid of humanoids by attaching humanoid to spec multiple times\n",
-    "for i in range(4):\n",
-    "  for j in range(4):\n",
-    "    humanoid.materials[0].rgba = [\n",
-    "        np.random.uniform(), np.random.uniform(),\n",
-    "        np.random.uniform(), 1]  # Randomize color\n",
-    "    humanoid.body('head').first_geom().size = [\n",
-    "        .18*np.random.uniform(), 0, 0]  # Randomize head size\n",
-    "    humanoid.body('upper_arm_left').quat = [\n",
-    "        np.random.uniform(), np.random.uniform(),\n",
-    "        np.random.uniform(), np.random.uniform()]  # Randomize left arm orientation\n",
-    "    humanoid.body('upper_arm_right').quat = [\n",
-    "        np.random.uniform(), np.random.uniform(),\n",
-    "        np.random.uniform(), np.random.uniform()]  # Randomize right arm orientation\n",
-    "\n",
-    "    # attach randomized humanoid to parent spec\n",
-    "    frame = spec.worldbody.add_frame(pos=[i, j, 0])\n",
-    "    frame.attach_body(humanoid.body('torso'), str(i), str(j))\n",
-    "\n",
-    "spec.worldbody.add_light(mode=mj.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM,\n",
-    "                         targetbody='3torso3', diffuse=[.8, .8, .8],\n",
-    "                         specular=[0.3, 0.3, 0.3], pos=[0, -6, 4], cutoff=30)\n",
-    "model = spec.compile()\n",
-    "render(model, height=400)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "PML2pxYgLdEK"
-   },
-   "source": [
-    "## Model scaling"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "pcUNLmQBLdEK"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Uniformly scale humanoid {vertical-output: true}\n",
-    "\n",
-    "def scale_spec(spec, scale):\n",
-    "  scaled_spec = spec.copy()\n",
-    "  # Traverse the kinematic tree, scaling all geoms\n",
-    "  def scale_bodies(parent, scale=1.0):\n",
-    "    body = parent.first_body()\n",
-    "    while body:\n",
-    "      if body.pos is not None:\n",
-    "        body.pos = body.pos * scale\n",
-    "      for geom in body.geoms:\n",
-    "        geom.fromto = geom.fromto * scale\n",
-    "        geom.size = geom.size * scale\n",
-    "        if geom.pos is not None:\n",
-    "          geom.pos = geom.pos * scale\n",
-    "      scale_bodies(body, scale)\n",
-    "      body = parent.next_body(body)\n",
-    "\n",
-    "  scale_bodies(scaled_spec.body('world'), scale)\n",
-    "  return scaled_spec\n",
-    "\n",
-    "spec = mj.MjSpec.from_string(arena_xml)\n",
-    "humanoid = mj.MjSpec.from_file(humanoid_file)\n",
-    "small_humanoid = scale_spec(humanoid, 0.75)\n",
-    "large_humanoid = scale_spec(humanoid, 1.25)\n",
-    "\n",
-    "# Create a line-up of humanoids\n",
-    "frame = spec.worldbody.add_frame(pos=[-1, 0, 0],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
-    "frame.attach_body(humanoid.body('torso'), str(0))\n",
-    "\n",
-    "frame = spec.worldbody.add_frame(pos=[0, 0, 0],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
-    "frame.attach_body(small_humanoid.body('torso'), str(1))\n",
-    "\n",
-    "frame = spec.worldbody.add_frame(pos=[1, 0, 0],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2]  )\n",
-    "frame.attach_body(large_humanoid.body('torso'), str(2))\n",
-    "\n",
-    "\n",
-    "spec.worldbody.add_light(mode=mj.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM,\n",
-    "                         targetbody='1torso', diffuse=[.8, .8, .8],\n",
-    "                         specular=[0.3, 0.3, 0.3], pos=[0, -6, 4], cutoff=30)\n",
-    "model = spec.compile()\n",
-    "render(model, height=400, camera=cam)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "RYbaTPNmLdEK"
-   },
-   "source": [
-    "We can scale the size of a model by traversing the kinematic tree and applying the scale to the relevant geoms. Above we can see humanoids of three different sizes."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "u-ejx8lKLdEK"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Scaling actuator forces {vertical-output: true}\n",
-    "\n",
-    "def scale_spec(spec, scale, scale_actuators=False):\n",
-    "  scaled_spec = spec.copy()\n",
-    "  # Traverse the kinematic tree, scaling all geoms\n",
-    "  def scale_bodies(parent, scale=1.0):\n",
-    "    body = parent.first_body()\n",
-    "    while body:\n",
-    "      if body.pos is not None:\n",
-    "        body.pos = body.pos * scale\n",
-    "      for geom in body.geoms:\n",
-    "        geom.fromto = geom.fromto * scale\n",
-    "        geom.size = geom.size * scale\n",
-    "        if geom.pos is not None:\n",
-    "          geom.pos = geom.pos * scale\n",
-    "      scale_bodies(body, scale)\n",
-    "      body = parent.next_body(body)\n",
-    "\n",
-    "  if scale_actuators:\n",
-    "    # scale gear\n",
-    "    for actuator in scaled_spec.actuators:\n",
-    "      # scale the actuator gear by (scale ** 2),\n",
-    "      # this is because muscle force-generating capacity\n",
-    "      # scales with the cross-sectional area of the muscle\n",
-    "      actuator.gear = actuator.gear * scale * scale\n",
-    "\n",
-    "  # scale the z-position of the humanoid for all keypoints\n",
-    "  for keypoint in scaled_spec.keys:\n",
-    "    qpos = keypoint.qpos\n",
-    "    qpos[2] = qpos[2] * scale\n",
-    "    keypoint.qpos = qpos\n",
-    "    keypoint.qpos[2] = keypoint.qpos[2] * scale\n",
-    "\n",
-    "  scale_bodies(scaled_spec.body('world'), scale)\n",
-    "  return scaled_spec\n",
-    "\n",
-    "# Create specs\n",
-    "scale = 0.6\n",
-    "spec = mj.MjSpec.from_string(arena_xml)\n",
-    "humanoid = mj.MjSpec.from_file(humanoid_file)\n",
-    "small_humanoid = scale_spec(humanoid, scale)\n",
-    "small_humanoid_actuators_scaled = scale_spec(humanoid, scale, True)\n",
-    "\n",
-    "# Create a line-up of humanoids\n",
-    "squat_qpos = []\n",
-    "\n",
-    "# Add unscaled humanoid\n",
-    "frame = spec.worldbody.add_frame(pos=[-1, 0, 0],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
-    "frame.attach_body(humanoid.body('torso'), str(0))\n",
-    "# Record squat pose\n",
-    "humanoid_squat = humanoid.key('squat').qpos\n",
-    "humanoid_squat[:2] = frame.pos[:2]\n",
-    "humanoid_squat[3:7] = frame.quat\n",
-    "squat_qpos.append(humanoid_squat)\n",
-    "\n",
-    "# Add small humanoid\n",
-    "frame = spec.worldbody.add_frame(pos=[0, 0, 0],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
-    "frame.attach_body(small_humanoid.body('torso'), str(1))\n",
-    "# Record squat pose\n",
-    "humanoid_squat = small_humanoid.key('squat').qpos\n",
-    "humanoid_squat[:2] = frame.pos[:2]\n",
-    "humanoid_squat[3:7] = frame.quat\n",
-    "squat_qpos.append(humanoid_squat)\n",
-    "\n",
-    "# Add small humanoid with scaled actuators\n",
-    "frame = spec.worldbody.add_frame(pos=[1, 0, 0],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2]  )\n",
-    "frame.attach_body(small_humanoid_actuators_scaled.body('torso'), str(2))\n",
-    "# Record squat pose\n",
-    "humanoid_squat = small_humanoid_actuators_scaled.key('squat').qpos\n",
-    "humanoid_squat[:2] = frame.pos[:2]\n",
-    "humanoid_squat[3:7] = frame.quat\n",
-    "squat_qpos.append(humanoid_squat)\n",
-    "squat_qpos = np.concatenate(squat_qpos)\n",
-    "\n",
-    "spec.worldbody.add_light(mode=mj.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM,\n",
-    "                         targetbody='1torso', diffuse=[.8, .8, .8],\n",
-    "                         specular=[0.3, 0.3, 0.3], pos=[0, -6, 4], cutoff=30)\n",
-    "model = spec.compile()\n",
-    "\n",
-    "# Initialize to squat position\n",
-    "data = mj.MjData(model)\n",
-    "data.qpos = squat_qpos\n",
-    "\n",
-    "# jumping motion\n",
-    "u_t = lambda t: 10.0 * t / duration\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "duration = 2    # (seconds)\n",
-    "framerate = 30  # (Hz)\n",
-    "frames = []\n",
-    "\n",
-    "with mj.Renderer(model, 480, 640) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    data.ctrl = u_t(data.time)\n",
-    "    mj.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      renderer.update_scene(data, camera=cam)\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate, height=400)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "uKhDI_IfLdEK"
-   },
-   "source": [
-    "We can also apply scaling to the actuators. In the humanoid case, scaling the geoms without scaling the `gear` parameter for the actuators results in a humanoid that can jump higher proportional to its size."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "ovQIAxn7LdEK"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Long-limbed humanoid {vertical-output: true}\n",
-    "\n",
-    "def scale_spec(spec, scale):\n",
-    "  scaled_spec = spec.copy()\n",
-    "  # Traverse the kinematic tree, scaling all geoms\n",
-    "  def scale_bodies(parent, scale=1.0):\n",
-    "    if parent is not None:\n",
-    "      for geom in parent.geoms:\n",
-    "        # Only scale fromto, not size to scale length of capsules\n",
-    "        geom.fromto = geom.fromto * scale\n",
-    "        if geom.pos is not None:\n",
-    "          geom.pos = geom.pos * scale\n",
-    "    body = parent.first_body()\n",
-    "    while body:\n",
-    "      if body.pos is not None:\n",
-    "        body.pos = body.pos * scale\n",
-    "      scale_bodies(body, scale)\n",
-    "      body = parent.next_body(body)\n",
-    "\n",
-    "  # Scale all the limbs\n",
-    "  scale_bodies(scaled_spec.body('upper_arm_right'), scale)\n",
-    "  scale_bodies(scaled_spec.body('upper_arm_left'), scale)\n",
-    "  scale_bodies(scaled_spec.body('thigh_right'), scale)\n",
-    "  scale_bodies(scaled_spec.body('thigh_left'), scale)\n",
-    "  return scaled_spec\n",
-    "\n",
-    "spec = mj.MjSpec.from_string(arena_xml)\n",
-    "humanoid = mj.MjSpec.from_file(humanoid_file)\n",
-    "small_humanoid = scale_spec(humanoid, 1.25)\n",
-    "large_humanoid = scale_spec(humanoid, 2)\n",
-    "\n",
-    "# Create a line-up of humanoids by attaching\n",
-    "frame = spec.worldbody.add_frame(pos=[-1, 0, 0],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
-    "frame.attach_body(humanoid.body('torso'), str(0), str(0))\n",
-    "\n",
-    "frame = spec.worldbody.add_frame(pos=[0, 0, 0.2],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
-    "frame.attach_body(small_humanoid.body('torso'), str(0), str(1))\n",
-    "\n",
-    "frame = spec.worldbody.add_frame(pos=[1, 0, 0.8],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2]  )\n",
-    "frame.attach_body(large_humanoid.body('torso'), str(0), str(2))\n",
-    "\n",
-    "\n",
-    "spec.worldbody.add_light(mode=mj.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM,\n",
-    "                         targetbody='0torso1', diffuse=[.8, .8, .8],\n",
-    "                         specular=[0.3, 0.3, 0.3], pos=[0, -6, 4], cutoff=30)\n",
-    "model = spec.compile()\n",
-    "\n",
-    "# camera options\n",
-    "render(model, height=400, camera=cam)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "8o1daXIOLdEK"
-   },
-   "source": [
-    "We can also apply scaling to the model non-uniformly. In this instance we scale the humanoid to have long limbs, by only applying the scale to the length of the capsule geoms for the arms, legs and feet."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "UBSo2nfQLdEK"
-   },
-   "outputs": [],
-   "source": [
-    "# @title Meshes {vertical-output: true}\n",
-    "\n",
-    "def scale_spec(spec, scale):\n",
-    "  scaled_spec = spec.copy()\n",
-    "  # scale all meshes\n",
-    "  for mesh in scaled_spec.meshes:\n",
-    "    if mesh.scale is None:\n",
-    "      mesh.scale = np.ones(3)\n",
-    "    mesh.scale = mesh.scale * scale\n",
-    "\n",
-    "  # Traverse the kinematic tree\n",
-    "  def scale_bodies(parent, scale=1.0):\n",
-    "    if parent is not None:\n",
-    "      for geom in parent.geoms:\n",
-    "        if geom.pos is not None:\n",
-    "          geom.pos = geom.pos * scale\n",
-    "    body = parent.first_body()\n",
-    "    while body:\n",
-    "      if body.pos is not None:\n",
-    "        body.pos = body.pos * scale\n",
-    "      scale_bodies(body, scale)\n",
-    "      body = parent.next_body(body)\n",
-    "\n",
-    "  # Scale all the limbs\n",
-    "  scale_bodies(scaled_spec.body('world'), scale)\n",
-    "\n",
-    "  return scaled_spec\n",
-    "\n",
-    "spec = mj.MjSpec.from_string(arena_xml)\n",
-    "fly = mj.MjSpec.from_file(fly_file)\n",
-    "# Remove lights from fly so they are not duplicated in line-up\n",
-    "for light in fly.lights:\n",
-    "  fly.delete(light)\n",
-    "\n",
-    "small_fly = scale_spec(fly, 1.25)\n",
-    "large_fly = scale_spec(fly, 2)\n",
-    "\n",
-    "# Create a line-up of flys by attaching\n",
-    "frame = spec.worldbody.add_frame(pos=[-1, 0, 0.25],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
-    "frame.attach_body(fly.body('thorax'), str(0), str(0))\n",
-    "\n",
-    "frame = spec.worldbody.add_frame(pos=[0, 0, 0.25],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2])\n",
-    "frame.attach_body(small_fly.body('thorax'), str(0), str(1))\n",
-    "\n",
-    "frame = spec.worldbody.add_frame(pos=[1, 0, 0.25],\n",
-    "                                 quat=[-np.sqrt(2)/2, 0, 0, np.sqrt(2) / 2]  )\n",
-    "frame.attach_body(large_fly.body('thorax'), str(0), str(2))\n",
-    "\n",
-    "spec.worldbody.add_light(mode=mj.mjtCamLight.mjCAMLIGHT_TARGETBODYCOM,\n",
-    "                         targetbody='0thorax1', diffuse=[.8, .8, .8],\n",
-    "                         specular=[0.3, 0.3, 0.3], pos=[0, -6, 4], cutoff=30)\n",
-    "model = spec.compile()\n",
-    "render(model, height=400, camera=cam)\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "qhXwxLe3LdEK"
-   },
-   "source": [
-    "# dm_control example"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "enuJ_YIqLdEK"
-   },
-   "source": [
-    "A key feature is the ability to easily attach multiple models into a larger one. Disambiguation of duplicated names from different\n",
-    "models, or multiple instances of the same model is handled via user-defined namespacing.\n",
-    "\n",
-    "One example use case is when we want robots with a variable number of joints, as this is a fundamental change to the kinematic structure. The snippets below follow the lines of the [example in dm_control](https://arxiv.org/abs/2006.12983), an older package with similar capabilities."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "4p3P_dP8LdEK"
-   },
-   "outputs": [],
-   "source": [
-    "leg_model = \"\"\"\n",
-    "<mujoco>\n",
-    "  <compiler angle=\"radian\"/>\n",
-    "\n",
-    "  <default>\n",
-    "    <joint damping=\"2\" type=\"hinge\"/>\n",
-    "    <geom type=\"capsule\"/>\n",
-    "  </default>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <body name=\"thigh\">\n",
-    "      <joint name=\"hip\" axis=\"0 0 1\"/>\n",
-    "      <body name=\"shin\">\n",
-    "        <joint name=\"knee\" axis=\"0 1 0\"/>\n",
-    "      </body>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "\n",
-    "  <actuator>\n",
-    "    <position joint=\"hip\" kp=\"10\" name=\"hip\"/>\n",
-    "    <position joint=\"knee\" kp=\"10\" name=\"knee\"/>\n",
-    "  </actuator>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "\n",
-    "class Leg(object):\n",
-    "  \"\"\"A 2-DoF leg with position actuators.\"\"\"\n",
-    "  def __init__(self, length, rgba):\n",
-    "    self.spec = mj.MjSpec.from_string(leg_model)\n",
-    "\n",
-    "    # Thigh:\n",
-    "    thigh = self.spec.body('thigh')\n",
-    "    thigh.add_geom(fromto=[0, 0, 0, length, 0, 0], size=[length/4, 0, 0], rgba=rgba)\n",
-    "\n",
-    "    # Hip:\n",
-    "    shin = self.spec.body('shin')\n",
-    "    shin.add_geom(fromto=[0, 0, 0, 0, 0, -length], size=[length/5, 0, 0], rgba=rgba)\n",
-    "    shin.pos[0] = length"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Mqr8rXLILdEK"
-   },
-   "source": [
-    "The `Leg` class describes an abstract articulated leg, with two joints and corresponding proportional-derivative actuators.\n",
-    "\n",
-    "Note that:\n",
-    "\n",
-    "- MJCF attributes correspond directly to arguments of the `add_()` methods.\n",
-    "- When referencing elements, e.g. when specifying the joint to which an actuator is attached, the name string of the MJCF elements is used."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "1z2NBpAPLdEK"
-   },
-   "outputs": [],
-   "source": [
-    "BODY_RADIUS = 0.1\n",
-    "random_state = np.random.RandomState(42)\n",
-    "creature_model = \"\"\"\n",
-    "<mujoco>\n",
-    "  <compiler angle=\"radian\"/>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <geom name=\"torso\" type=\"ellipsoid\" size=\"{} {} {}\"/>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\".format(BODY_RADIUS, BODY_RADIUS, BODY_RADIUS / 2)\n",
-    "\n",
-    "def make_creature(num_legs):\n",
-    "  \"\"\"Constructs a creature with `num_legs` legs.\"\"\"\n",
-    "  rgba = random_state.uniform([0, 0, 0, 1], [1, 1, 1, 1])\n",
-    "  spec = mj.MjSpec.from_string(creature_model)\n",
-    "  spec.copy_during_attach = True\n",
-    "\n",
-    "  # Attach legs to equidistant sites on the circumference.\n",
-    "  spec.worldbody.first_geom().rgba = rgba\n",
-    "  leg = Leg(length=BODY_RADIUS, rgba=rgba)\n",
-    "  for i in range(num_legs):\n",
-    "    theta = 2 * i * np.pi / num_legs\n",
-    "    hip_pos = BODY_RADIUS * np.array([np.cos(theta), np.sin(theta), 0])\n",
-    "    hip_site = spec.worldbody.add_site(pos=hip_pos, euler=[0, 0, theta])\n",
-    "    hip_site.attach_body(leg.spec.body('thigh'), '', '-' + str(i))\n",
-    "\n",
-    "  return spec"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "865FGuntLdEL"
-   },
-   "source": [
-    "The `make_creature` function uses the `attach()` method to procedurally attach legs to the torso. Note that at this stage both the torso and hip attachment sites are children of the `worldbody`, since their parent body has yet to be instantiated. We'll now make an arena with a chequered floor and two lights, and place our creatures in a grid."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "2fPaSkgfLdEL"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Six Creatures on a floor {vertical-output: true}\n",
-    "\n",
-    "arena = mj.MjSpec()\n",
-    "\n",
-    "if hasattr(arena, 'compiler'):\n",
-    "  arena.compiler.degree = False  # MuJoCo dev (next release).\n",
-    "else:\n",
-    "  arena.degree = False  # MuJoCo release\n",
-    "\n",
-    "# Make arena with textured floor.\n",
-    "chequered = arena.add_texture(\n",
-    "    name=\"chequered\", type=mj.mjtTexture.mjTEXTURE_2D,\n",
-    "    builtin=mj.mjtBuiltin.mjBUILTIN_CHECKER,\n",
-    "    width=300, height=300, rgb1=[.2, .3, .4], rgb2=[.3, .4, .5])\n",
-    "grid = arena.add_material(\n",
-    "    name='grid', texrepeat=[5, 5], reflectance=.2\n",
-    "    ).textures[mj.mjtTextureRole.mjTEXROLE_RGB] = 'chequered'\n",
-    "arena.worldbody.add_geom(\n",
-    "    type=mj.mjtGeom.mjGEOM_PLANE, size=[2, 2, .1], material='grid')\n",
-    "for x in [-2, 2]:\n",
-    "  arena.worldbody.add_light(pos=[x, -1, 3], dir=[-x, 1, -2])\n",
-    "\n",
-    "# Instantiate 6 creatures with 3 to 8 legs.\n",
-    "creatures = [make_creature(num_legs=num_legs) for num_legs in range(3, 9)]\n",
-    "\n",
-    "# Place them on a grid in the arena.\n",
-    "height = .15\n",
-    "grid = 5 * BODY_RADIUS\n",
-    "xpos, ypos, zpos = np.meshgrid([-grid, 0, grid], [0, grid], [height])\n",
-    "for i, spec in enumerate(creatures):\n",
-    "  # Place spawn sites on a grid.\n",
-    "  spawn_pos = (xpos.flat[i], ypos.flat[i], zpos.flat[i])\n",
-    "  spawn_site = arena.worldbody.add_site(pos=spawn_pos, group=3)\n",
-    "  # Attach to the arena at the spawn sites, with a free joint.\n",
-    "  spawn_body = spawn_site.attach_body(spec.worldbody, '', '-' + str(i))\n",
-    "  spawn_body.add_freejoint()\n",
-    "\n",
-    "# Instantiate the physics and render.\n",
-    "model = arena.compile()\n",
-    "render(model)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "tq5mKlc_LdEL"
-   },
-   "source": [
-    "Multi-legged creatures, ready to roam! Let's inject some controls and watch them move. We'll generate a sinusoidal open-loop control signal of fixed frequency and random phase, recording both video frames and the horizontal positions of the torso geoms, in order to plot the movement trajectories."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "i37FpwCeLdEL"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Video of the movement {vertical-output: true}\n",
-    "\n",
-    "data = mj.MjData(model)\n",
-    "duration = 10   # (Seconds)\n",
-    "framerate = 30  # (Hz)\n",
-    "video = []\n",
-    "pos_x = []\n",
-    "pos_y = []\n",
-    "geoms = arena.worldbody.find_all(mj.mjtObj.mjOBJ_GEOM)\n",
-    "torsos_data = [data.bind(geom) for geom in geoms if 'torso' in geom.name]\n",
-    "torsos_model = [model.bind(geom) for geom in geoms if 'torso' in geom.name]\n",
-    "actuators = [data.bind(actuator) for actuator in arena.actuators]\n",
-    "\n",
-    "# Control signal frequency, phase, amplitude.\n",
-    "freq = 5\n",
-    "phase = 2 * np.pi * random_state.rand(len(arena.actuators))\n",
-    "amp = 0.9\n",
-    "\n",
-    "# Simulate, saving video frames and torso locations.\n",
-    "mj.mj_resetData(model, data)\n",
-    "with mj.Renderer(model) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    # Inject controls and step the physics.\n",
-    "    for i, actuator in enumerate(actuators):\n",
-    "      actuator.ctrl = amp * np.sin(freq * data.time + phase[i])\n",
-    "    mj.mj_step(model, data)\n",
-    "\n",
-    "    # Save torso horizontal positions using name indexing.\n",
-    "    pos_x.append([torso.xpos[0] for torso in torsos_data])\n",
-    "    pos_y.append([torso.xpos[1] for torso in torsos_data])\n",
-    "\n",
-    "    # Save video frames.\n",
-    "    if len(video) < data.time * framerate:\n",
-    "      renderer.update_scene(data)\n",
-    "      pixels = renderer.render()\n",
-    "      video.append(pixels.copy())\n",
-    "\n",
-    "media.show_video(video, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "uFrvaih4LdEL"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Movement trajectories {vertical-output: true}\n",
-    "\n",
-    "creature_colors = [torso.rgba[:3] for torso in torsos_model]\n",
-    "fig, ax = plt.subplots(figsize=(4, 4))\n",
-    "ax.set_prop_cycle(color=creature_colors)\n",
-    "_ = ax.plot(pos_x, pos_y, linewidth=4)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "FMW4l-fSLdEL"
-   },
-   "source": [
-    "The plot above shows the corresponding movement trajectories of creature positions. Note how `mjSpec` attribute `id` were used to access both `xpos` and `rgba` values. This attribute is valid only after a model is compiled."
-   ]
-  }
- ],
- "metadata": {
-  "accelerator": "GPU",
-  "colab": {
-   "collapsed_sections": [
-    "sJFuNetilv4m"
-   ],
-   "gpuClass": "premium",
-   "private_outputs": true,
-   "toc_visible": true
-  },
-  "gpuClass": "premium",
-  "kernelspec": {
-   "display_name": "Python 3",
-   "name": "python3"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 0
-}
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
deleted file mode 100644
index a5c1c169..00000000
--- a/python/mujoco/CMakeLists.txt
+++ /dev/null
@@ -1,646 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-project(mujoco_python)
-cmake_minimum_required(VERSION 3.15)
-
-# Support new IN_LIST if() operator.
-set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
-# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
-set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
-
-enable_language(C)
-enable_language(CXX)
-if(APPLE)
-  enable_language(OBJCXX)
-endif()
-
-if(MSVC AND MSVC_VERSION GREATER_EQUAL 1927)
-  set(CMAKE_CXX_STANDARD 20) # For forceinline lambdas.
-else()
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-set(CMAKE_C_VISIBILITY_PRESET hidden)
-set(CMAKE_CXX_VISIBILITY_PRESET hidden)
-set(CMAKE_VISIBILITY_INLINES_HIDDEN ON)
-
-# TODO(stunya) Figure out why this is required.
-separate_arguments(CMDLINE_LINK_OPTIONS UNIX_COMMAND ${CMAKE_SHARED_LINKER_FLAGS})
-add_link_options(${CMDLINE_LINK_OPTIONS})
-
-if(MSVC)
-  add_compile_options(/Gy /Gw /Oi)
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-fdata-sections -ffunction-sections)
-endif()
-
-include(MujocoLinkOptions)
-get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
-list(FILTER EXTRA_LINK_OPTIONS EXCLUDE REGEX "STACK")
-list(FILTER EXTRA_LINK_OPTIONS EXCLUDE REGEX "stack")
-add_link_options(${EXTRA_LINK_OPTIONS})
-
-include(MujocoMacOS)
-enforce_mujoco_macosx_min_version()
-
-if(WIN32)
-  add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
-endif()
-
-include(MujocoHarden)
-add_compile_options("${MUJOCO_HARDEN_COMPILE_OPTIONS}")
-add_link_options("${MUJOCO_HARDEN_LINK_OPTIONS}")
-
-find_package(Python3 COMPONENTS Interpreter Development)
-
-# Detect free-threaded Python and enable Py_GIL_DISABLED.
-# This is needed because we have some STATIC libraries that do not automatically
-# get the Py_GIL_DISABLED macro definition through pybind11.
-execute_process(
-  COMMAND ${Python3_EXECUTABLE} -c "import sysconfig; print(sysconfig.get_config_var('Py_GIL_DISABLED') or 0)"
-  OUTPUT_VARIABLE PYTHON_GIL_DISABLED
-  OUTPUT_STRIP_TRAILING_WHITESPACE
-)
-if(PYTHON_GIL_DISABLED EQUAL "1")
-  message(STATUS "Free-threaded Python detected, enabling Py_GIL_DISABLED")
-  add_compile_definitions(Py_GIL_DISABLED)
-endif()
-
-include(FindOrFetch)
-
-# ==================== MUJOCO LIBRARY ==========================================
-if(NOT TARGET mujoco)
-  add_library(
-    mujoco
-    SHARED
-    IMPORTED
-    GLOBAL
-  )
-  if(APPLE)
-    # On macOS, check if we are using mujoco.framework first.
-    # Framework headers are searched differently from normal headers.
-    # We need to use -F instead of the usual target_include_directories.
-    find_path(MUJOCO_FRAMEWORK mujoco.Framework HINTS ${MUJOCO_FRAMEWORK_DIR})
-    if(MUJOCO_FRAMEWORK)
-      message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework")
-      set(MUJOCO_LIBRARY
-          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.12.0.dylib
-      )
-      target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
-      set(MUJOCO_INCLUDE "${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/Headers")
-    endif()
-  endif()
-
-  if(NOT MUJOCO_FRAMEWORK)
-    find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.12.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
-    )
-    find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
-    message("MuJoCo is at ${MUJOCO_LIBRARY}")
-    message("MuJoCo headers are at ${MUJOCO_INCLUDE}")
-    target_include_directories(mujoco INTERFACE "${MUJOCO_INCLUDE}")
-  endif()
-
-  if(WIN32)
-    set_target_properties(mujoco PROPERTIES IMPORTED_IMPLIB "${MUJOCO_LIBRARY}")
-  else()
-    set_target_properties(mujoco PROPERTIES IMPORTED_LOCATION "${MUJOCO_LIBRARY}")
-  endif()
-
-  if(APPLE)
-    execute_process(
-      COMMAND otool -XD ${MUJOCO_LIBRARY}
-      COMMAND head -n 1
-      COMMAND xargs dirname
-      COMMAND xargs echo -n
-      OUTPUT_VARIABLE MUJOCO_INSTALL_NAME_DIR
-    )
-    set_target_properties(mujoco PROPERTIES INSTALL_NAME_DIR "${MUJOCO_INSTALL_NAME_DIR}")
-  elseif(UNIX)
-    execute_process(
-      COMMAND objdump -p ${MUJOCO_LIBRARY}
-      COMMAND grep SONAME
-      COMMAND grep -Po [^\\s]+$
-      COMMAND xargs echo -n
-      OUTPUT_VARIABLE MUJOCO_SONAME
-    )
-    set_target_properties(mujoco PROPERTIES IMPORTED_SONAME "${MUJOCO_SONAME}")
-  endif()
-  add_library(mujoco::mujoco ALIAS mujoco)
-endif()
-
-# =================== MUJOCO PLATFORM STATIC LIBRARY ==========================
-if(NOT TARGET mujoco::platform)
-  set(MUJOCO_PLATFORM_HINTS ${MUJOCO_LIBRARY_DIR})
-  if(MUJOCO_FRAMEWORK)
-    list(APPEND MUJOCO_PLATFORM_HINTS "${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A")
-  endif()
-  find_library(
-    MUJOCO_PLATFORM_LIBRARY mujoco_platform HINTS ${MUJOCO_PLATFORM_HINTS}
-  )
-  if(MUJOCO_PLATFORM_LIBRARY)
-    message(STATUS "Found mujoco_platform library at ${MUJOCO_PLATFORM_LIBRARY}")
-    add_library(mujoco_platform STATIC IMPORTED GLOBAL)
-    set_target_properties(mujoco_platform PROPERTIES IMPORTED_LOCATION "${MUJOCO_PLATFORM_LIBRARY}")
-    add_library(mujoco::platform ALIAS mujoco_platform)
-
-    set(PLATFORM_INCLUDES "${MUJOCO_INCLUDE}" "${MUJOCO_INCLUDE}/mujoco" "${MUJOCO_INCLUDE}/SDL2")
-    set_target_properties(mujoco_platform PROPERTIES
-      INTERFACE_INCLUDE_DIRECTORIES "${PLATFORM_INCLUDES}"
-    )
-    target_compile_features(mujoco_platform INTERFACE cxx_std_20)
-
-    set(PLATFORM_DEPS)
-    set(dep_libs
-      mujoco_filament
-      dear_imgui
-      dear_imgui_stdlib
-      implot
-      filament
-      backend
-      glfw3
-      image
-      ktxreader
-      utils
-      math
-      bluegl
-      bluevk
-      filabridge
-      filaflat
-      filamat
-      matlang
-      shaders
-      smol-v
-      glslang
-      SPIRV
-      SPIRV-Tools
-      SPIRV-Tools-opt
-      basis_encoder
-      basis_transcoder
-      zstd
-      webp
-      sharpyuv
-      z
-    )
-
-   set(platform_system_libs)
-    if(WIN32)
-      list(APPEND dep_libs SDL2-static)
-      set(platform_system_libs winmm setupapi version imm32 opengl32)
-    else()
-      list(APPEND dep_libs SDL2)
-      if(UNIX AND NOT APPLE)
-        set(platform_system_libs pthread dl rt)
-      elseif(APPLE)
-        set(platform_system_libs
-          "-framework Cocoa"
-          "-framework IOKit"
-          "-framework Carbon"
-          "-framework ForceFeedback"
-          "-framework CoreVideo"
-          "-framework CoreAudio"
-          "-framework AudioToolbox"
-          "-framework Metal"
-          "-framework GameController"
-          "-framework CoreHaptics"
-          "-framework AVFoundation"
-          "-framework QuartzCore"
-        )
-      endif()
-    endif()
-
-    foreach(dep_lib IN LISTS dep_libs)
-      find_library(DEP_PATH_${dep_lib} ${dep_lib} HINTS ${MUJOCO_PLATFORM_HINTS})
-      if(DEP_PATH_${dep_lib})
-        add_library(mujoco::dep::${dep_lib} STATIC IMPORTED GLOBAL)
-        set_target_properties(mujoco::dep::${dep_lib} PROPERTIES
-          IMPORTED_LOCATION "${DEP_PATH_${dep_lib}}"
-          INTERFACE_INCLUDE_DIRECTORIES "${MUJOCO_INCLUDE}"
-        )
-        list(APPEND PLATFORM_DEPS mujoco::dep::${dep_lib})
-      endif()
-    endforeach()
-
-    list(APPEND PLATFORM_DEPS ${platform_system_libs})
-
-    set_target_properties(mujoco_platform PROPERTIES INTERFACE_LINK_LIBRARIES "${PLATFORM_DEPS}")
-  endif()
-endif()
-
-# ==================== ABSEIL ==================================================
-set(MUJOCO_PYTHON_ABSL_TARGETS absl::core_headers absl::flat_hash_map absl::span)
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  OFF
-  PACKAGE_NAME
-  absl
-  LIBRARY_NAME
-  abseil-cpp
-  GIT_REPO
-  https://github.com/abseil/abseil-cpp
-  GIT_TAG
-  5650e9cf76d3be4318d5fa3af38ee483ddfd5e4a # LTS 20260526.0
-  TARGETS
-  ${MUJOCO_PYTHON_ABSL_TARGETS}
-  EXCLUDE_FROM_ALL
-)
-foreach(absl_target IN ITEMS ${MUJOCO_PYTHON_ABSL_TARGETS})
-  get_target_property(absl_target_aliased ${absl_target} ALIASED_TARGET)
-  if(absl_target_aliased)
-    set(absl_target ${absl_target_aliased})
-  endif()
-  get_target_property(absl_target_type ${absl_target} TYPE)
-  if(NOT
-     ${absl_target_type}
-     STREQUAL
-     "INTERFACE_LIBRARY"
-  )
-    target_compile_options(${absl_target} PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-    target_link_options(${absl_target} PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-  endif()
-endforeach()
-
-# ==================== EIGEN ===================================================
-add_compile_definitions(EIGEN_MPL2_ONLY)
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  OFF
-  PACKAGE_NAME
-  Eigen3
-  LIBRARY_NAME
-  eigen
-  GIT_REPO
-  https://gitlab.com/libeigen/eigen
-  GIT_TAG
-  ea13a98decd497a8c5588fb5de71b57bcf10d864
-  TARGETS
-  Eigen3::Eigen
-  EXCLUDE_FROM_ALL
-)
-
-# ==================== PYBIND11 ================================================
-option(MUJOCO_PYTHON_USE_SYSTEM_PYBIND11 "Use installed pybind11 version." OFF)
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  MUJOCO_PYTHON_USE_SYSTEM_PYBIND11
-  PACKAGE_NAME
-  pybind11
-  LIBRARY_NAME
-  pybind11
-  GIT_REPO
-  https://github.com/pybind/pybind11
-  GIT_TAG
-  97bf890db679505a14dfe547a5e77bb2bd05dc90 # v3.1.0
-  TARGETS
-  pybind11::pybind11_headers
-  EXCLUDE_FROM_ALL
-)
-
-# ==================== MUJOCO PYTHON BINDINGS ==================================
-set(SIMULATE_BUILD_EXECUTABLE OFF)
-set(SIMULATE_GLFW_DYNAMIC_SYMBOLS ON)
-add_subdirectory(simulate)
-
-add_subdirectory(util)
-
-add_library(mujoco_private_api_header INTERFACE)
-target_sources(mujoco_private_api_header INTERFACE private.h)
-set_target_properties(mujoco_private_api_header PROPERTIES PUBLIC_HEADER private.h)
-target_link_libraries(mujoco_private_api_header INTERFACE mujoco)
-
-if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/enum_traits.h)
-  add_library(enum_traits INTERFACE)
-  target_sources(enum_traits INTERFACE enum_traits.h)
-else()
-  add_custom_command(
-    OUTPUT enum_traits.h
-    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco/python/mujoco ${Python3_EXECUTABLE}
-            ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_enum_traits.py > enum_traits.h
-    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_enum_traits.py
-  )
-  add_library(enum_traits INTERFACE)
-  target_sources(enum_traits INTERFACE enum_traits.h)
-  target_include_directories(
-    enum_traits INTERFACE ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
-  )
-endif()
-target_link_libraries(enum_traits INTERFACE mujoco absl::core_headers)
-
-if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/function_traits.h)
-  add_library(function_traits INTERFACE)
-  target_sources(function_traits INTERFACE function_traits.h)
-else()
-  add_custom_command(
-    OUTPUT function_traits.h
-    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco/python/mujoco ${Python3_EXECUTABLE}
-            ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_function_traits.py > function_traits.h
-    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_function_traits.py
-  )
-  add_library(function_traits INTERFACE)
-  target_sources(function_traits INTERFACE function_traits.h)
-  target_include_directories(
-    function_traits INTERFACE ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
-  )
-endif()
-target_link_libraries(function_traits INTERFACE mujoco absl::core_headers)
-
-add_library(errors_header INTERFACE)
-target_sources(errors_header INTERFACE errors.h)
-set_target_properties(errors_header PROPERTIES PUBLIC_HEADER errors.h)
-target_link_libraries(
-  errors_header
-  INTERFACE crossplatform
-            func_wrap
-            mujoco
-            mujoco_private_api_header
-)
-
-add_library(raw INTERFACE)
-target_sources(raw INTERFACE raw.h)
-set_target_properties(raw PROPERTIES PUBLIC_HEADER raw.h)
-target_link_libraries(raw INTERFACE mujoco)
-
-add_library(structs_header INTERFACE)
-target_sources(
-  structs_header
-  INTERFACE indexer_xmacro.h
-            indexers.h
-            structs.h
-)
-set_target_properties(structs_header PROPERTIES PUBLIC_HEADER structs.h)
-target_include_directories(structs_header INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
-target_link_libraries(
-  structs_header
-  INTERFACE absl::flat_hash_map
-            absl::span
-            crossplatform
-            mujoco
-            raw
-)
-
-add_library(structs_wrappers STATIC
-  structs_wrappers.cc
-  serialization.h
-  indexers.cc
-)
-target_include_directories(structs_wrappers PRIVATE ${Python3_INCLUDE_DIRS})
-target_link_libraries(
-  structs_wrappers
-  PRIVATE absl::flat_hash_map
-          absl::span
-          crossplatform
-          mujoco
-          raw
-          structs_header
-          pybind11::headers
-          Eigen3::Eigen
-)
-
-
-add_library(functions_header INTERFACE)
-target_sources(functions_header INTERFACE functions.h)
-set_target_properties(functions_header PROPERTIES PUBLIC_HEADER functions.h)
-target_link_libraries(
-  functions_header
-  INTERFACE array_traits
-            crossplatform
-            Eigen3::Eigen
-            errors_header
-            func_wrap
-            structs_header
-            tuple_tools
-)
-
-include(CheckAvxSupport)
-get_avx_compile_options(AVX_COMPILE_OPTIONS)
-
-macro(mujoco_pybind11_module name)
-  pybind11_add_module(${name} ${ARGN})
-  target_compile_options(${name} PRIVATE ${AVX_COMPILE_OPTIONS})
-  if(NOT MSVC)
-    target_compile_options(
-      ${name}
-      PRIVATE -Werror
-              -Wall
-              -Wimplicit-fallthrough
-              -Wunused
-              -Wno-int-in-bool-context
-              -Wno-sign-compare
-    )
-    if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-      # Only allow fallthrough annotation via __attribute__.
-      target_compile_options(${name} PRIVATE -Wimplicit-fallthrough=5)
-
-      # https://gcc.gnu.org/bugzilla/show_bug.cgi?id=109561
-      if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11)
-        target_compile_options(${name} PRIVATE -Wno-maybe-uninitialized)
-      endif()
-    endif()
-  endif()
-  set_target_properties(${name} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
-  if(APPLE)
-    add_custom_command(
-      TARGET ${name}
-      POST_BUILD
-      COMMAND
-        install_name_tool -change
-        $<TARGET_PROPERTY:mujoco,INSTALL_NAME_DIR>/$<TARGET_FILE_NAME:mujoco>
-        @rpath/$<TARGET_FILE_NAME:mujoco> -add_rpath @loader_path $<TARGET_FILE:${name}>
-    )
-  elseif(NOT WIN32)
-    set_target_properties(${name} PROPERTIES INSTALL_RPATH $ORIGIN BUILD_WITH_INSTALL_RPATH TRUE)
-  endif()
-endmacro()
-
-mujoco_pybind11_module(_callbacks callbacks.cc)
-target_link_libraries(
-  _callbacks
-  PRIVATE errors_header
-          mujoco
-          raw
-          structs_header
-)
-
-mujoco_pybind11_module(_constants constants.cc)
-target_link_libraries(_constants PRIVATE mujoco)
-
-mujoco_pybind11_module(_enums enums.cc)
-target_link_libraries(
-  _enums
-  PRIVATE crossplatform
-          enum_traits
-          mujoco
-          tuple_tools
-)
-
-mujoco_pybind11_module(_errors errors.cc)
-target_link_libraries(_errors PRIVATE errors_header)
-
-mujoco_pybind11_module(_functions functions.cc)
-target_link_libraries(
-  _functions
-  PRIVATE Eigen3::Eigen
-          functions_header
-          function_traits
-          mujoco
-          raw
-)
-if(APPLE)
-  # C++17 aligned allocation is not available until macOS 10.14.
-  target_compile_options(_functions PRIVATE -fno-aligned-allocation)
-endif()
-
-mujoco_pybind11_module(_render render.cc)
-target_link_libraries(
-  _render
-  PRIVATE Eigen3::Eigen
-          errors_header
-          functions_header
-          function_traits
-          mujoco
-          raw
-          structs_header
-)
-
-mujoco_pybind11_module(_rollout rollout.cc threadpool.cc)
-target_link_libraries(_rollout PRIVATE functions_header mujoco raw)
-
-mujoco_pybind11_module(
-  _structs
-  indexers.cc
-  serialization.h
-  structs.cc
-)
-target_link_libraries(
-  _structs
-  PRIVATE absl::flat_hash_map
-          crossplatform
-          mujoco
-          mujoco_private_api_header
-          raw
-          errors_header
-          func_wrap
-          function_traits
-          structs_header
-          structs_wrappers
-)
-
-if(APPLE)
-  set_target_properties(_structs PROPERTIES INTERPROCEDURAL_OPTIMIZATION FALSE)
-endif()
-
-if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/specs.cc.inc)
-  add_custom_command(
-    OUTPUT specs.cc.inc
-    COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${mujoco_SOURCE_DIR}/mujoco/python ${Python3_EXECUTABLE}
-            ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_spec_bindings.py > specs.cc.inc
-    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/codegen/generate_spec_bindings.py
-  )
-endif()
-
-mujoco_pybind11_module(
-  _specs
-  specs.cc
-  specs_wrapper.h
-  specs_wrapper.cc
-  specs.cc.inc
-)
-target_link_libraries(
-  _specs
-  PRIVATE mujoco
-          Eigen3::Eigen
-          errors_header
-          raw
-          structs_header
-)
-
-mujoco_pybind11_module(_simulate simulate.cc)
-target_link_libraries(
-  _simulate
-  PRIVATE mujoco
-          mujoco::libmujoco_simulate
-          glfw
-          errors_header
-          raw
-          structs_header
-)
-
-add_subdirectory(experimental/studio)
-
-set(LIBRARIES_FOR_WHEEL
-    "$<TARGET_FILE:_callbacks>"
-    "$<TARGET_FILE:_constants>"
-    "$<TARGET_FILE:_enums>"
-    "$<TARGET_FILE:_errors>"
-    "$<TARGET_FILE:_functions>"
-    "$<TARGET_FILE:_render>"
-    "$<TARGET_FILE:_rollout>"
-    "$<TARGET_FILE:_simulate>"
-    "$<TARGET_FILE:_specs>"
-    "$<TARGET_FILE:_structs>"
-    "$<TARGET_FILE:mujoco>"
-)
-
-if(MUJOCO_STUDIO_TARGETS)
-  foreach(target IN LISTS MUJOCO_STUDIO_TARGETS)
-    list(APPEND LIBRARIES_FOR_WHEEL "$<TARGET_FILE:${target}>")
-  endforeach()
-endif()
-
-if(APPLE)
-  add_executable(mjpython mjpython/mjpython.mm)
-  target_include_directories(mjpython PRIVATE "${Python3_INCLUDE_DIRS}")
-  target_link_libraries(mjpython PRIVATE "-framework Cocoa")
-  set(LIBRARIES_FOR_WHEEL "${LIBRARIES_FOR_WHEEL}" "$<TARGET_FILE:mjpython>")
-endif()
-
-if(MUJOCO_PYTHON_MAKE_WHEEL)
-  add_custom_target(
-    wheel ALL
-    COMMAND "${CMAKE_COMMAND}" -E rm -rf "${CMAKE_CURRENT_BINARY_DIR}/dist"
-    COMMAND "${CMAKE_COMMAND}" -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/.."
-            "${CMAKE_CURRENT_BINARY_DIR}/dist"
-    COMMAND "${CMAKE_COMMAND}" -E copy "${CMAKE_CURRENT_SOURCE_DIR}/../../LICENSE"
-            "${CMAKE_CURRENT_BINARY_DIR}/dist/LICENSE"
-    COMMAND "${CMAKE_COMMAND}" -E copy ${LIBRARIES_FOR_WHEEL}
-            "${CMAKE_CURRENT_BINARY_DIR}/dist/mujoco"
-    COMMAND "${Python3_EXECUTABLE}" -m pip wheel --wheel-dir "${CMAKE_BINARY_DIR}" --no-deps -vvv
-            "${CMAKE_CURRENT_BINARY_DIR}/dist"
-  )
-
-  add_dependencies(
-    wheel
-    _callbacks
-    _constants
-    _enums
-    _errors
-    _functions
-    _render
-    _rollout
-    _simulate
-    _specs
-    _structs
-    mujoco
-  )
-  if(MUJOCO_STUDIO_TARGETS)
-    add_dependencies(wheel ${MUJOCO_STUDIO_TARGETS})
-  endif()
-  if(APPLE)
-    add_dependencies(wheel mjpython)
-  endif()
-endif()
diff --git a/python/mujoco/__init__.py b/python/mujoco/__init__.py
deleted file mode 100644
index 1147be58..00000000
--- a/python/mujoco/__init__.py
+++ /dev/null
@@ -1,256 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Python bindings for MuJoCo."""
-
-import ctypes
-import ctypes.util
-import os
-import platform
-import subprocess
-from typing import Any, IO, Union, Sequence
-from typing_extensions import TypeAlias
-import warnings
-import zipfile
-
-# Extend the path to enable multiple directories to contribute to the same
-# package. Without this line, the `mujoco-mjx` package would not be able to
-# be discovered by import. For more information, see: https://packaging.python.org/guides/packaging-namespace-packages/#pkgutil-style-namespace-packages
-# NOTE: As per the Python Packaging User Guide linked above, the preferable way
-# of declaring the namespace package is to use the native namespace packages.
-# This seems non-trivial at the current state of the project, however.
-# For more information, see: https://github.com/google-deepmind/mujoco/issues/2119
-__path__ = __import__('pkgutil').extend_path(__path__, __name__)
-
-_SYSTEM = platform.system()
-if _SYSTEM == 'Windows':
-  ctypes.WinDLL(os.path.join(os.path.dirname(__file__), 'mujoco.dll'))
-elif _SYSTEM == 'Darwin':
-  proc_translated = subprocess.run(
-      ['sysctl', '-n', 'sysctl.proc_translated'], capture_output=True).stdout
-  try:
-    is_rosetta = bool(int(proc_translated))
-  except ValueError:
-    is_rosetta = False
-  if is_rosetta and platform.machine() == 'x86_64':
-    raise ImportError(
-        'You are running an x86_64 build of Python on an Apple Silicon '
-        'machine. This is not supported by MuJoCo. Please install and run a '
-        'native, arm64 build of Python.')
-
-from mujoco import _specs
-from mujoco import _structs
-from mujoco._callbacks import *
-from mujoco._constants import *
-from mujoco._enums import *
-from mujoco._errors import *
-from mujoco._functions import *
-from mujoco._specs import *
-from mujoco._structs import *
-
-import numpy as np
-MJTNUM_DTYPE = np.float32 if MJTNUM_BYTES == 4 else np.float64  # pylint: disable=undefined-variable
-
-try:
-  from mujoco._render import *  # pytype: disable=import-error
-except ImportError:
-  pass
-
-try:
-  from mujoco.rendering.classic.renderer import Renderer  # pytype: disable=import-error
-except ImportError:
-  pass
-
-try:
-  from mujoco.rendering.classic.gl_context import *  # pytype: disable=import-error
-except ImportError:
-  pass
-
-MjStruct: TypeAlias = Union[
-    _specs.MjsBody,
-    _specs.MjsFrame,
-    _specs.MjsGeom,
-    _specs.MjsJoint,
-    _specs.MjsLight,
-    _specs.MjsMaterial,
-    _specs.MjsSite,
-    _specs.MjsMesh,
-    _specs.MjsSkin,
-    _specs.MjsTexture,
-    _specs.MjsText,
-    _specs.MjsTuple,
-    _specs.MjsCamera,
-    _specs.MjsFlex,
-    _specs.MjsHField,
-    _specs.MjsKey,
-    _specs.MjsNumeric,
-    _specs.MjsPair,
-    _specs.MjsExclude,
-    _specs.MjsEquality,
-    _specs.MjsTendon,
-    _specs.MjsSensor,
-    _specs.MjsActuator,
-    _specs.MjsPlugin,
-]
-
-
-def to_zip(spec: _specs.MjSpec, file: Union[str, IO[bytes]]) -> None:
-  """Converts an MjSpec to a zip file.
-
-  Args:
-    spec: The mjSpec to save to a file.
-    file: The path to the file to save to or the file object to write to.
-  """
-  files_to_zip = spec.assets
-  files_to_zip[spec.modelname + '.xml'] = spec.to_xml()
-  if isinstance(file, str):
-    directory = os.path.dirname(file)
-    os.makedirs(directory, exist_ok=True)
-    file = open(file, 'wb')
-  with zipfile.ZipFile(file, 'w') as zip_file:
-    for filename, contents in files_to_zip.items():
-      zip_info = zipfile.ZipInfo(filename)
-      zip_file.writestr(zip_info, contents)
-
-
-def from_zip(file: Union[str, IO[bytes]]) -> _specs.MjSpec:
-  """Reads a zip file and returns an MjSpec.
-
-  Args:
-    file: The path to the file to read from or the file object to read from.
-  Returns:
-    An MjSpec object.
-  """
-  assets = {}
-  xml_string = None
-  if isinstance(file, str):
-    file = open(file, 'rb')
-  if not zipfile.is_zipfile(file):
-    raise ValueError(f'File {file} is not a zip file.')
-  with zipfile.ZipFile(file, 'r') as zip_file:
-    xml_dir = None
-    for zip_info in zip_file.infolist():
-      if not zip_info.filename.endswith(os.path.sep):
-        with zip_file.open(zip_info.filename) as f:
-          if zip_info.filename.endswith('.xml'):
-            xml_string = f.read()
-            xml_dir = os.path.dirname(zip_info.filename)
-          else:
-            assets[zip_info.filename] = f.read()
-
-  if not xml_string:
-    raise ValueError('No XML file found in zip file.')
-
-  relative_assets = {}
-  for key, value in assets.items():
-    new_key = os.path.relpath(key, xml_dir)
-    relative_assets[new_key] = value
-  assets = relative_assets
-
-  return _specs.MjSpec.from_string(xml_string, assets=assets)
-
-
-class _MjBindModel:
-  """Wrapper for MjModel that allows binding multiple specs."""
-
-  def __init__(self, elements: Sequence[Any]):
-    object.__setattr__(self, 'elements', elements)
-
-  def __getattr__(self, key: str):
-    items = []
-    for e in self.elements:
-      items.extend(getattr(e, key))
-    return items
-
-  def __setattr__(self, key: str, value: Any):
-    raise AttributeError(f'Cannot set {key} on MjModel.')
-
-
-class _MjBindData:
-  """Wrapper for MjData that allows binding multiple specs."""
-
-  def __init__(self, elements: Sequence[Any]):
-    object.__setattr__(self, 'elements', elements)
-
-  def __getattr__(self, key: str):
-    items = []
-    for e in self.elements:
-      items.extend(getattr(e, key))
-    return items
-
-  def __setattr__(self, key: str, value: Any):
-    value_it = iter(value)
-    for element in self.elements:
-      setattr(element, key, next(value_it))
-
-
-def _bind_model(
-    model: _structs.MjModel, specs: Union[Sequence[MjStruct], MjStruct]
-):
-  """Bind a Mujoco spec to a mjModel.
-
-  Args:
-    model: The mjModel to bind to.
-    specs: The mjSpec elements to use for binding, can be a single element or a
-      sequence.
-  Returns:
-    A MjModelGroupedViews object or a list of the same type.
-  """
-  if isinstance(specs, Sequence):
-    return _MjBindModel([model.bind_scalar(s) for s in specs])
-  else:
-    return model.bind_scalar(specs)
-
-
-def _bind_data(
-    data: _structs.MjData, specs: Union[Sequence[MjStruct], MjStruct]
-):
-  """Bind a Mujoco spec to a mjData.
-
-  Args:
-    data: The mjData to bind to.
-    specs: The mjSpec elements to use for binding, can be a single element or a
-      sequence.
-  Returns:
-    A MjDataGroupedViews object or a list of the same type.
-  """
-  if isinstance(specs, Sequence):
-    return _MjBindData([data.bind_scalar(s) for s in specs])
-  else:
-    return data.bind_scalar(specs)
-
-_specs.MjSpec.from_zip = from_zip
-_specs.MjSpec.to_zip = to_zip
-_structs.MjData.bind = _bind_data  # pyrefly: ignore[bad-assignment]
-_structs.MjModel.bind = _bind_model  # pyrefly: ignore[bad-assignment]
-
-HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include/mujoco')
-PLUGINS_DIR = os.path.join(os.path.dirname(__file__), 'plugin')
-
-PLUGIN_HANDLES = []
-
-def _load_all_bundled_plugins():
-  for directory, _, filenames in os.walk(PLUGINS_DIR):
-    for filename in filenames:
-      if os.path.splitext(filename)[-1] in [".dll", ".dylib", ".so"]:
-        PLUGIN_HANDLES.append(ctypes.CDLL(os.path.join(directory, filename)))
-      elif filename == "__init__.py":
-        pass
-      else:
-        warnings.warn('Ignoring non-library in plugin directory: '
-                      f'{os.path.join(directory, filename)}', ImportWarning)
-
-_load_all_bundled_plugins()
-
-__version__ = mj_versionString()  # pylint: disable=undefined-variable
diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
deleted file mode 100644
index d576f123..00000000
--- a/python/mujoco/bindings_test.py
+++ /dev/null
@@ -1,2038 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for MuJoCo Python bindings."""
-
-import contextlib
-import copy
-from etils import epath
-import os
-import pickle
-import sys
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import mujoco
-import numpy as np
-
-DTYPE = mujoco.MJTNUM_DTYPE
-
-TEST_XML = r"""
-<mujoco model="test">
-  <compiler coordinate="local" angle="radian" eulerseq="xyz"/>
-  <size nkey="2"/>
-  <option timestep="0.002" gravity="0 0 -9.81"/>
-  <visual>
-    <global fovy="50" />
-    <quality shadowsize="51" />
-  </visual>
-  <worldbody>
-    <geom name="myplane" type="plane" size="10 10 1"/>
-    <body name="mybox" pos="0 0 0.1">
-      <geom name="mybox" type="box" size="0.1 0.1 0.1" mass="0.25"/>
-      <freejoint name="myfree"/>
-    </body>
-    <body>
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <site pos="0 0 -1" name="mysite" type="sphere"/>
-      <joint name="myhinge" type="hinge" axis="0 1 0" damping="1"/>
-    </body>
-    <body>
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint name="myball" type="ball"/>
-    </body>
-    <body mocap="true" pos="42 0 42">
-      <geom type="sphere" size="0.1"/>
-    </body>
-  </worldbody>
-  <actuator>
-    <position name="myactuator" joint="myhinge"/>
-  </actuator>
-  <sensor>
-    <jointvel name="myjointvel" joint="myhinge"/>
-    <accelerometer name="myaccelerometer" site="mysite"/>
-  </sensor>
-</mujoco>
-"""
-
-TEST_XML_SENSOR = r"""
-<mujoco model="test">
-  <worldbody>
-    <geom name="myplane" type="plane" size="10 10 1"/>
-  </worldbody>
-  <sensor>
-    <user objtype="geom" objname="myplane"
-          datatype="real" needstage="vel" dim="1"/>
-  </sensor>
-</mujoco>
-"""
-
-TEST_XML_PLUGIN = r"""
-<mujoco>
-  <option gravity="0 0 0"/>
-  <extension>
-    <plugin plugin="mujoco.elasticity.cable"/>
-  </extension>
-  <worldbody>
-    <composite type="cable" curve="s" count="41 1 1" size="1" offset="0 0 1" initial="none">
-      <plugin plugin="mujoco.elasticity.cable">
-        <config key="twist" value="1e6"/>
-        <config key="bend" value="1e9"/>
-      </plugin>
-      <joint kind="main" damping="2"/>
-      <geom type="capsule" size=".005" density="1"/>
-    </composite>
-  </worldbody>
-</mujoco>
-"""
-
-TEST_XML_TEXTURE = r"""
-<mujoco>
-  <asset>
-    <texture name="tex" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="mat" reflectance="0.3" texture="tex" texrepeat="1 1" texuniform="true"/>
-  </asset>
-  <worldbody>
-    <geom type="plane" size="1 1 1" material="mat"/>
-  </worldbody>
-</mujoco>
-"""
-
-
-@contextlib.contextmanager
-def temporary_callback(setter, callback):
-  setter(callback)
-  yield
-  setter(None)
-
-
-class MuJoCoBindingsTest(parameterized.TestCase):
-
-  def setUp(self):
-    super().setUp()
-    self.model: mujoco.MjModel = mujoco.MjModel.from_xml_string(TEST_XML)
-    self.data = mujoco.MjData(self.model)
-
-  def test_load_xml_can_handle_name_clash(self):
-    xml_1 = r"""
-<mujoco>
-  <worldbody>
-    <geom name="plane" type="plane" size="1 1 1"/>
-    <include file="model_.xml"/>
-    <include file="model__.xml"/>
-  </worldbody>
-</mujoco>"""
-    xml_2 = rb"""<mujoco><geom name="box" type="box" size="1 1 1"/></mujoco>"""
-    xml_3 = rb"""<mujoco><geom name="ball" type="sphere" size="1"/></mujoco>"""
-    model = mujoco.MjModel.from_xml_string(
-        xml_1, {'model_.xml': xml_2, 'model__.xml': xml_3}
-    )
-    self.assertEqual(
-        mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, 'plane'), 0
-    )
-    self.assertEqual(
-        mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, 'box'), 1
-    )
-    self.assertEqual(
-        mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, 'ball'), 2
-    )
-
-  def test_load_xml_repeated_asset_name(self):
-    # Assets aren't allowed to have the same filename (even if they have
-    # different paths).
-    with self.assertRaisesRegex(ValueError, r'Repeated.*'):
-      mujoco.MjModel.from_xml_string(
-          '<mujoco/>', {'asset.xml': b'asset1', 'path/asset.xml': b'asset2'}
-      )
-
-  def test_can_read_array(self):
-    np.testing.assert_allclose(
-        self.model.body_pos,
-        [[0, 0, 0], [0, 0, 0.1], [0, 0, 0], [0, 0, 0], [42.0, 0, 42.0]],
-    )
-
-  def test_can_set_array(self):
-    self.data.qpos = 0.12345
-    np.testing.assert_allclose(
-        self.data.qpos, [0.12345] * len(self.data.qpos)
-    )
-
-  def test_flg_gravcomp_and_surfacevel_properties(self):
-    self.assertFalse(self.model.flg_gravcomp)
-    self.assertFalse(self.model.flg_surfacevel)
-    self.assertEqual(self.model.ngravcomp, 0)
-
-    self.model.flg_gravcomp = True
-    self.assertTrue(self.model.flg_gravcomp)
-    self.assertEqual(self.model.ngravcomp, 1)
-
-    self.model.flg_surfacevel = True
-    self.assertTrue(self.model.flg_surfacevel)
-
-    self.model.flg_gravcomp = False
-    self.assertFalse(self.model.flg_gravcomp)
-    self.assertEqual(self.model.ngravcomp, 0)
-
-    self.model.flg_surfacevel = False
-    self.assertFalse(self.model.flg_surfacevel)
-
-  def test_array_is_a_view(self):
-    qpos_ref = self.data.qpos
-    self.data.qpos = 0.789
-    np.testing.assert_allclose(qpos_ref, [0.789] * len(self.data.qpos))
-
-  # This test is disabled on PyPy as it uses sys.getrefcount
-  # However PyPy is not officially supported by MuJoCo
-  @absltest.skipIf(
-      sys.implementation.name == 'pypy', reason='requires sys.getrefcount'
-  )
-  def test_array_keeps_struct_alive(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    qpos0 = model.qpos0
-    qpos_spring = model.qpos_spring
-
-    # This only fails reliably under ASAN, which detects heap-use-after-free.
-    # However, often the assertEqual is enough since the memory block is
-    # already reused between mjModel deallocation and the subsequent read.
-    qpos0[:] = 1
-    del model
-    self.assertEqual(qpos0[0], 1)
-
-    # When running under test coverage tools, the refcount of objects can be
-    # higher than normal. To take this into account, we first measure the
-    # refcount of a dummy object with no other referrer.
-    dummy = []
-    base_refcount = sys.getrefcount(dummy) - 1
-
-    # Here `base` is actually a PyCapsule that holds the raw mjModel* rather
-    # than the actual MjModel wrapper object itself.
-    capsule = qpos0.base
-    self.assertEqual(sys.getrefcount(capsule) - base_refcount, 3)
-    del qpos0
-    self.assertEqual(sys.getrefcount(capsule) - base_refcount, 2)
-    del qpos_spring
-    self.assertEqual(sys.getrefcount(capsule) - base_refcount, 1)
-
-  def test_named_indexing_actuator_ctrl(self):
-    actuator_id = mujoco.mj_name2id(
-        self.model, mujoco.mjtObj.mjOBJ_ACTUATOR, 'myactuator'
-    )
-    self.assertIs(
-        self.data.actuator('myactuator'), self.data.actuator(actuator_id)
-    )
-    self.assertIs(
-        self.data.actuator('myactuator').ctrl,
-        self.data.actuator(actuator_id).ctrl,
-    )
-    self.assertEqual(self.data.actuator('myactuator').ctrl.shape, (1,))
-
-    # Test that the indexer is returning a view into the underlying struct.
-    ctrl_from_indexer = self.data.actuator('myactuator').ctrl
-    self.data.ctrl[actuator_id] = 5
-    np.testing.assert_array_equal(ctrl_from_indexer, [5])
-    self.data.actuator('myactuator').ctrl = 7
-    np.testing.assert_array_equal(self.data.ctrl[actuator_id], [7])
-
-  def test_named_indexing_invalid_names_in_model(self):
-    with self.assertRaisesRegex(
-        KeyError,
-        r"Invalid name 'badgeom'\. Valid names: \['mybox', 'myplane'\]",
-    ):
-      self.model.geom('badgeom')
-
-  def test_named_indexing_no_name_argument_in_model(self):
-    with self.assertRaisesRegex(
-        KeyError,
-        r"Invalid name ''\. Valid names: \['myball', 'myfree', 'myhinge'\]",
-    ):
-      self.model.joint()
-
-  def test_named_indexing_invalid_names_in_data(self):
-    with self.assertRaisesRegex(
-        KeyError,
-        r"Invalid name 'badgeom'\. Valid names: \['mybox', 'myplane'\]",
-    ):
-      self.data.geom('badgeom')
-
-  def test_named_indexing_no_name_argument_in_data(self):
-    with self.assertRaisesRegex(
-        KeyError,
-        r"Invalid name ''\. Valid names: \['myball', 'myfree', 'myhinge'\]",
-    ):
-      self.data.jnt()
-
-  def test_named_indexing_invalid_index_in_model(self):
-    with self.assertRaisesRegex(
-        IndexError, r'Invalid index 3\. Valid indices from 0 to 2'
-    ):
-      self.model.geom(3)
-    with self.assertRaisesRegex(
-        IndexError, r'Invalid index -1\. Valid indices from 0 to 2'
-    ):
-      self.model.geom(-1)
-
-  def test_named_indexing_invalid_index_in_data(self):
-    with self.assertRaisesRegex(
-        IndexError, r'Invalid index 3\. Valid indices from 0 to 2'
-    ):
-      self.data.geom(3)
-    with self.assertRaisesRegex(
-        IndexError, r'Invalid index -1\. Valid indices from 0 to 2'
-    ):
-      self.data.geom(-1)
-
-  def test_named_indexing_geom_size(self):
-    box_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_GEOM, 'mybox')
-    self.assertIs(self.model.geom('mybox'), self.model.geom(box_id))
-    self.assertIs(self.model.geom('mybox').size, self.model.geom(box_id).size)
-    self.assertEqual(self.model.geom('mybox').size.shape, (3,))
-
-    # Test that the indexer is returning a view into the underlying struct.
-    size_from_indexer = self.model.geom('mybox').size
-    self.model.geom_size[box_id] = [7, 11, 13]
-    np.testing.assert_array_equal(size_from_indexer, [7, 11, 13])
-    self.model.geom('mybox').size = [5, 3, 2]
-    np.testing.assert_array_equal(self.model.geom_size[box_id], [5, 3, 2])
-
-  def test_named_indexing_geom_quat(self):
-    box_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_GEOM, 'mybox')
-    self.assertIs(self.model.geom('mybox'), self.model.geom(box_id))
-    self.assertIs(self.model.geom('mybox').quat, self.model.geom(box_id).quat)
-    self.assertEqual(self.model.geom('mybox').quat.shape, (4,))
-
-    # Test that the indexer is returning a view into the underlying struct.
-    quat_from_indexer = self.model.geom('mybox').quat
-    self.model.geom_quat[box_id] = [5, 10, 15, 20]
-    np.testing.assert_array_equal(quat_from_indexer, [5, 10, 15, 20])
-    self.model.geom('mybox').quat = [12, 9, 6, 3]
-    np.testing.assert_array_equal(self.model.geom_quat[box_id], [12, 9, 6, 3])
-
-  def test_named_indexing_ragged_qpos(self):
-    balljoint_id = mujoco.mj_name2id(
-        self.model, mujoco.mjtObj.mjOBJ_JOINT, 'myball'
-    )
-    self.assertIs(self.data.joint('myball'), self.data.joint(balljoint_id))
-    self.assertIs(
-        self.data.joint('myball').qpos, self.data.joint(balljoint_id).qpos
-    )
-    self.assertEqual(self.data.joint('myball').qpos.shape, (4,))
-
-    # Test that the indexer is returning a view into the underlying struct.
-    qpos_from_indexer = self.data.joint('myball').qpos
-    qpos_idx = self.model.jnt_qposadr[balljoint_id]
-    self.data.qpos[qpos_idx : qpos_idx + 4] = [4, 5, 6, 7]
-    np.testing.assert_array_equal(qpos_from_indexer, [4, 5, 6, 7])
-    self.data.joint('myball').qpos = [9, 8, 7, 6]
-    np.testing.assert_array_equal(
-        self.data.qpos[qpos_idx : qpos_idx + 4], [9, 8, 7, 6]
-    )
-
-  def test_named_indexing_ragged2d_cdof(self):
-    freejoint_id = mujoco.mj_name2id(
-        self.model, mujoco.mjtObj.mjOBJ_JOINT, 'myfree'
-    )
-    self.assertIs(self.data.joint('myfree'), self.data.joint(freejoint_id))
-    self.assertIs(
-        self.data.joint('myfree').cdof, self.data.joint(freejoint_id).cdof
-    )
-    self.assertEqual(self.data.joint('myfree').cdof.shape, (6, 6))
-
-    # Test that the indexer is returning a view into the underlying struct.
-    cdof_from_indexer = self.data.joint('myfree').cdof
-    dof_idx = self.model.jnt_dofadr[freejoint_id]
-    self.data.cdof[dof_idx : dof_idx + 6, :] = np.reshape(range(36), (6, 6))
-    np.testing.assert_array_equal(
-        cdof_from_indexer, np.reshape(range(36), (6, 6))
-    )
-    self.data.joint('myfree').cdof = 42
-    np.testing.assert_array_equal(
-        self.data.cdof[dof_idx : dof_idx + 6], [[42] * 6] * 6
-    )
-
-  def test_named_indexing_repr_in_data(self):
-    view_repr = repr(self.data.geom('mybox'))
-    self.assertStartsWith(view_repr, '<_MjDataGeomViews')
-    self.assertIn("name: 'mybox'", view_repr)
-    self.assertIn('xpos:', view_repr)
-    self.assertEndsWith(view_repr, '>')
-
-  def test_named_indexing_body_repr_in_data(self):
-    view_repr = repr(self.data.body('mybox'))
-    self.assertStartsWith(view_repr, '<_MjDataBodyViews')
-    self.assertIn('xpos:', view_repr)
-    self.assertEndsWith(view_repr, '>')
-
-  def test_named_indexing_repr_in_model(self):
-    view_repr = repr(self.model.geom('mybox'))
-    self.assertStartsWith(view_repr, '<_MjModelGeomViews')
-    self.assertIn('size:', view_repr)
-    self.assertEndsWith(view_repr, '>')
-
-  def test_addresses_differ_between_structs(self):
-    model2 = mujoco.MjModel.from_xml_string(TEST_XML)
-    data2 = mujoco.MjData(model2)
-
-    self.assertGreater(self.model._address, 0)
-    self.assertGreater(self.data._address, 0)
-    self.assertGreater(model2._address, 0)
-    self.assertGreater(data2._address, 0)
-    self.assertLen(
-        {
-            self.model._address,
-            self.data._address,
-            model2._address,
-            data2._address,
-        },
-        4,
-    )
-
-  def test_mjvisual_repr(self):
-    # Regression test for issue #2488.
-    vis_repr = repr(self.model.vis)
-    self.assertNotEmpty(vis_repr)
-    self.assertIn('MjVisual', vis_repr)
-
-  def test_mjmodel_can_read_and_write_opt(self):
-    np.testing.assert_allclose(self.model.opt.timestep, 0.002)
-    np.testing.assert_allclose(self.model.opt.gravity, [0, 0, -9.81])
-
-    opt = self.model.opt
-    self.model.opt.timestep = 0.001
-    np.testing.assert_allclose(opt.timestep, 0.001)
-
-    gravity = opt.gravity
-    self.model.opt.gravity[1] = 0.1
-    np.testing.assert_allclose(gravity, [0, 0.1, -9.81])
-    self.model.opt.gravity = 0.2
-    np.testing.assert_allclose(gravity, [0.2, 0.2, 0.2])
-
-  def test_mjmodel_can_read_and_write_stat(self):
-    self.assertNotEqual(self.model.stat.meanmass, 0)
-
-    stat = self.model.stat
-    self.model.stat.meanmass = 1.2
-    np.testing.assert_allclose(stat.meanmass, 1.2)
-
-  def test_mjmodel_can_read_and_write_vis(self):
-    self.assertEqual(self.model.vis.quality.shadowsize, 51)
-
-    self.model.vis.quality.shadowsize = 100
-    self.assertEqual(self.model.vis.quality.shadowsize, 100)
-
-  def test_mjmodel_can_access_names_directly(self):
-    # mjModel offers direct access to names array, to allow usecases other than
-    # id2name
-    model_name = str(
-        self.model.names[0 : self.model.names.find(b'\0')], 'utf-8'
-    )
-    self.assertEqual(model_name, 'test')
-
-    start_index = self.model.name_geomadr[0]
-    end_index = self.model.names.find(b'\0', start_index)
-    geom_name = str(self.model.names[start_index:end_index], 'utf-8')
-    self.assertEqual(geom_name, 'myplane')
-
-  def test_mjmodel_names_doesnt_copy(self):
-    names = self.model.names
-    self.assertIs(names, self.model.names)
-
-  def test_vis_global_exposed_as_global_(self):
-    self.assertEqual(self.model.vis.global_.fovy, 50)
-    self.model.vis.global_.fovy = 100
-    self.assertEqual(self.model.vis.global_.fovy, 100)
-
-  def test_mjoption_can_make_default(self):
-    opt = mujoco.MjOption()
-    np.testing.assert_allclose(opt.timestep, 0.002)
-    np.testing.assert_allclose(opt.gravity, [0, 0, -9.81])
-
-  def test_mjoption_can_copy(self):
-    opt1 = mujoco.MjOption()
-    opt1.timestep = 0.001
-    opt1.gravity = 2
-
-    opt2 = copy.copy(opt1)
-    np.testing.assert_allclose(opt2.timestep, 0.001)
-    np.testing.assert_allclose(opt2.gravity, [2, 2, 2])
-
-    # Make sure opt2 is actually a copy.
-    opt1.timestep = 0.005
-    opt1.gravity = 5
-    np.testing.assert_allclose(opt2.timestep, 0.001)
-    np.testing.assert_allclose(opt2.gravity, [2, 2, 2])
-
-  def test_mjmodel_can_copy(self):
-    model_copy = copy.copy(self.model)
-
-    self.assertEqual(
-        mujoco.mj_id2name(model_copy, mujoco.mjtObj.mjOBJ_JOINT, 0), 'myfree'
-    )
-
-    self.assertEqual(
-        mujoco.mj_id2name(model_copy, mujoco.mjtObj.mjOBJ_GEOM, 0), 'myplane'
-    )
-    self.assertEqual(
-        mujoco.mj_id2name(model_copy, mujoco.mjtObj.mjOBJ_GEOM, 1), 'mybox'
-    )
-
-    # Make sure it's a copy.
-    self.model.geom_size[1] = 0.5
-    np.testing.assert_allclose(self.model.geom_size[1], [0.5, 0.5, 0.5])
-    np.testing.assert_allclose(model_copy.geom_size[1], [0.1, 0.1, 0.1])
-
-  def test_mjdata_can_copy(self):
-    self.data.qpos = [0, 0, 0.1*np.sqrt(2) - 0.001,
-                      np.cos(np.pi/8), np.sin(np.pi/8), 0, 0, 0,
-                      1, 0, 0, 0]  # fmt: skip
-    mujoco.mj_forward(self.model, self.data)
-
-    data_copy = copy.copy(self.data)
-    self.assertEqual(data_copy.ncon, 2)
-
-    # Make sure contact details are copied.
-    self.assertEqual(data_copy.contact[0].dist, self.data.contact[0].dist)
-
-    # Make sure it's a copy.
-    mujoco.mj_resetData(self.model, self.data)
-    mujoco.mj_forward(self.model, self.data)
-    mujoco.mj_forward(self.model, data_copy)
-    self.assertEqual(self.data.ncon, 4)
-    self.assertEqual(data_copy.ncon, 2)
-
-    mujoco.mj_resetData(self.model, data_copy)
-    mujoco.mj_forward(self.model, data_copy)
-    self.assertEqual(data_copy.ncon, 4)
-
-    # Test copying into existing data.
-    data_copy.qpos[1] = 1.234
-    data_copy.geom_xpos[2] = 5.678
-    self.assertFalse(np.array_equal(self.data.qpos, data_copy.qpos))
-    self.assertFalse(np.array_equal(self.data.geom_xpos, data_copy.geom_xpos))
-    mujoco.mj_copyData(self.data, self.model, data_copy)
-    np.testing.assert_array_equal(self.data.qpos, data_copy.qpos)
-    np.testing.assert_array_equal(self.data.geom_xpos, data_copy.geom_xpos)
-
-  def test_mjdata_can_read_warning_array(self):
-    warnings = self.data.warning
-    self.assertLen(warnings, mujoco.mjtWarning.mjNWARNING)
-    self.data.qpos[0] = float('NaN')
-    mujoco.mj_checkPos(self.model, self.data)
-    self.assertEqual(warnings[mujoco.mjtWarning.mjWARN_BADQPOS].number, 1)
-
-  def test_mju_user_warning_callback_receives_warnings(self):
-    """Regression test: C warnings must reach Python mju_user_warning callbacks.
-
-    The unified logging API routes all messages through a TLS log handler.
-    This test verifies that non-error messages are forwarded to the global
-    handler chain, where legacy mju_user_warning callbacks are invoked.
-    """
-    warning_messages = []
-    def warning_cb(msg):
-      warning_messages.append(msg)
-    old_cb = mujoco.get_mju_user_warning()
-    try:
-      mujoco.set_mju_user_warning(warning_cb)
-      # Trigger a C-level warning by setting qpos to NaN and calling mj_step.
-      model = mujoco.MjModel.from_xml_string(TEST_XML)
-      data = mujoco.MjData(model)
-      data.qpos[0] = float('NaN')
-      mujoco.mj_checkPos(model, data)
-      self.assertNotEmpty(warning_messages)
-      # The warning message should mention the bad QPOS value.
-      self.assertTrue(
-          any('QPOS' in msg for msg in warning_messages), warning_messages
-      )
-    finally:
-      mujoco.set_mju_user_warning(old_cb)
-
-  def test_mjtopic_time_cmp_logs_compile_time(self):
-    """Verifies MjLogConfig.get/set and info topic logging."""
-    old_cfg = mujoco.MjLogConfig.get()
-    log_path = os.path.join(
-        absltest.get_default_test_tmpdir(), 'test_compile.log'
-    )
-    os.makedirs(os.path.dirname(log_path), exist_ok=True)
-    try:
-      cfg = mujoco.MjLogConfig.get()
-      cfg.logto_file = True
-      cfg.logfile = log_path
-      cfg.topics |= (1 << (mujoco.mjtLogTopic.mjTOPIC_TIME_CMP - 1))
-      cfg.set()
-
-      mujoco.MjModel.from_xml_string(TEST_XML)
-
-      with open(log_path, 'r') as f:
-        output = f.read()
-      self.assertIn('compile time', output)
-    finally:
-      old_cfg.set()
-
-  def test_mjcontact_can_copy(self):
-    mujoco.mj_forward(self.model, self.data)
-
-    contact_copy = []
-    for i in range(4):
-      contact_copy.append(copy.copy(self.data.contact[i]))
-    # Sort contacts in anticlockwise order
-    contact_copy = sorted(
-        contact_copy, key=lambda x: np.arctan2(x.pos[1], x.pos[0])
-    )
-    np.testing.assert_allclose(contact_copy[0].pos[:2], [-0.1, -0.1])
-    np.testing.assert_allclose(contact_copy[1].pos[:2], [0.1, -0.1])
-    np.testing.assert_allclose(contact_copy[2].pos[:2], [0.1, 0.1])
-    np.testing.assert_allclose(contact_copy[3].pos[:2], [-0.1, 0.1])
-
-    # Make sure they're actually copies.
-    for i in range(4):
-      self.data.contact[i].pos[:2] = 55
-    np.testing.assert_allclose(self.data.contact[0].pos[:2], [55, 55])
-    np.testing.assert_allclose(self.data.contact[1].pos[:2], [55, 55])
-    np.testing.assert_allclose(self.data.contact[2].pos[:2], [55, 55])
-    np.testing.assert_allclose(self.data.contact[3].pos[:2], [55, 55])
-    np.testing.assert_allclose(contact_copy[0].pos[:2], [-0.1, -0.1])
-    np.testing.assert_allclose(contact_copy[1].pos[:2], [0.1, -0.1])
-    np.testing.assert_allclose(contact_copy[2].pos[:2], [0.1, 0.1])
-    np.testing.assert_allclose(contact_copy[3].pos[:2], [-0.1, 0.1])
-
-  def test_mj_step(self):
-    displacement = 0.25
-    self.data.qpos[2] += displacement
-    mujoco.mj_forward(self.model, self.data)
-
-    gravity = -self.model.opt.gravity[2]
-    expected_contact_time = np.sqrt(2 * displacement / gravity)
-
-    # Grab a reference to the contacts upfront so that we know that they're
-    # a view into mjData rather than a copy.
-    contact = self.data.contact
-
-    self.model.opt.timestep = 2**-9  # 0.001953125; allows exact comparisons
-    self.assertEqual(self.data.time, 0)
-    while self.data.time < expected_contact_time:
-      self.assertEqual(self.data.ncon, 0)
-      self.assertEmpty(self.data.efc_type)
-      self.assertTrue(self.data.efc_type.flags['OWNDATA'])
-      prev_time = self.data.time
-      mujoco.mj_step(self.model, self.data)
-      self.assertEqual(self.data.time, prev_time + self.model.opt.timestep)
-
-    mujoco.mj_forward(self.model, self.data)
-    self.assertEqual(self.data.ncon, 4)
-    self.assertLen(self.data.efc_type, 16)
-    self.assertFalse(self.data.efc_type.flags['OWNDATA'])
-
-    # Sort contacts in anticlockwise order
-    sorted_contact = sorted(
-        contact, key=lambda x: np.arctan2(x.pos[1], x.pos[0])
-    )
-    np.testing.assert_allclose(sorted_contact[0].pos[:2], [-0.1, -0.1])
-    np.testing.assert_allclose(sorted_contact[1].pos[:2], [0.1, -0.1])
-    np.testing.assert_allclose(sorted_contact[2].pos[:2], [0.1, 0.1])
-    np.testing.assert_allclose(sorted_contact[3].pos[:2], [-0.1, 0.1])
-
-    mujoco.mj_resetData(self.model, self.data)
-    self.assertEqual(self.data.ncon, 0)
-    self.assertEmpty(self.data.efc_type)
-    self.assertTrue(self.data.efc_type.flags['OWNDATA'])
-
-  def test_mj_step_multiple(self):
-    self.model.opt.timestep = 2**-9  # 0.001953125; allows exact comparisons
-    self.assertEqual(self.data.time, 0)
-    for _ in range(10):
-      prev_time = self.data.time
-      mujoco.mj_step(self.model, self.data, nstep=7)
-      self.assertEqual(self.data.time, prev_time + 7 * self.model.opt.timestep)
-    self.assertIn('Optionally, repeat nstep times.', mujoco.mj_step.__doc__)
-
-  def test_mj_contact_list(self):
-    self.assertEmpty(self.data.contact)
-
-    expected_ncon = 4
-    mujoco.mj_forward(self.model, self.data)
-    self.assertLen(self.data.contact, expected_ncon)
-    np.testing.assert_array_equal(self.data.contact.geom, [[0, 1]] * 4)
-
-    expected_pos = []
-    for contact in self.data.contact:
-      expected_pos.append(np.array(np.random.uniform(size=3), dtype=DTYPE))
-      contact.pos = expected_pos[-1]
-    self.assertLen(expected_pos, expected_ncon)
-    np.testing.assert_array_equal(self.data.contact.pos, expected_pos)
-
-    expected_friction = []
-    for contact in self.data.contact:
-      expected_friction.append(np.array(np.random.uniform(size=5), dtype=DTYPE))
-      contact.friction = expected_friction[-1]
-    self.assertLen(expected_friction, expected_ncon)
-    np.testing.assert_array_equal(self.data.contact.friction, expected_friction)
-
-    expected_H = []  # pylint: disable=invalid-name
-    for contact in self.data.contact:
-      expected_H.append(np.array(np.random.uniform(size=36), dtype=DTYPE))
-      contact.H = expected_H[-1]
-    self.assertLen(expected_H, expected_ncon)
-    np.testing.assert_array_equal(self.data.contact.H, expected_H)
-
-    expected_geom = []
-    for i, contact in enumerate(self.data.contact):
-      expected_geom.append([i, i + 1])
-      contact.geom = expected_geom[-1]
-    self.assertLen(expected_geom, expected_ncon)
-    np.testing.assert_array_equal(self.data.contact.geom, expected_geom)
-
-  def test_realloc_con_efc(self):
-    self.assertEmpty(self.data.contact)
-
-    ncon = 9
-    nefc = 11
-    mujoco._functions._realloc_con_efc(self.data, ncon, nefc)
-
-    ncon = 13
-    nefc = 17
-    nj = 21
-    mujoco._functions._realloc_con_efc(self.data, ncon=ncon, nefc=nefc, nJ=nj)
-
-    self.assertLen(self.data.contact, ncon)
-    self.assertEqual(self.data.efc_id.shape, (nefc,))
-    self.assertEqual(self.data.efc_J.shape, (nj,))
-    self.assertEqual(self.data.efc_KBIP.shape, (nefc, 4))
-
-    expected_error = (
-        r'Insufficient arena memory, currently allocated memory=' +
-        r'"[0-9]+[A-Z]?". Increase using <size memory="X"/>.'
-    )
-    with self.assertRaisesRegex(mujoco.FatalError, expected_error):
-      mujoco._functions._realloc_con_efc(self.data, 100000000, 100000000)
-    self.assertEmpty(self.data.contact)
-    self.assertEmpty(self.data.efc_id)
-
-  def test_realloc_island(self):
-    # Test allocation on fresh data (on its own)
-    nisland = 2
-    nidof = 4
-    mujoco._functions._realloc_island(self.data, nisland=nisland, nidof=nidof)
-    self.assertEqual(self.data.nisland, nisland)
-    self.assertEqual(self.data.nidof, nidof)
-    self.assertEqual(self.data.island_nv.shape, (nisland,))
-    self.assertEqual(self.data.ifrc_smooth.shape, (nidof,))
-
-    # Test allocation after _realloc_con_efc
-    nefc = 10
-    mujoco._functions._realloc_con_efc(self.data, ncon=0, nefc=nefc)
-
-    nisland = 3
-    nidof = 5
-    mujoco._functions._realloc_island(self.data, nisland=nisland, nidof=nidof)
-
-    self.assertEqual(self.data.nisland, nisland)
-    self.assertEqual(self.data.nidof, nidof)
-    self.assertEqual(self.data.island_nv.shape, (nisland,))
-    self.assertEqual(self.data.ifrc_smooth.shape, (nidof,))
-
-    # Test re-allocation (calling it again with different sizes)
-    nisland2 = 4
-    nidof2 = 6
-    mujoco._functions._realloc_island(self.data, nisland=nisland2, nidof=nidof2)
-
-    self.assertEqual(self.data.nisland, nisland2)
-    self.assertEqual(self.data.nidof, nidof2)
-    self.assertEqual(self.data.island_nv.shape, (nisland2,))
-    self.assertEqual(self.data.ifrc_smooth.shape, (nidof2,))
-
-    # Test insufficient memory handling
-    expected_error = (
-        r'Insufficient arena memory, currently allocated memory=' +
-        r'"[0-9]+[A-Z]?". Increase using <size memory="X"/>.'
-    )
-    with self.assertRaisesRegex(mujoco.FatalError, expected_error):
-      mujoco._functions._realloc_island(self.data, 100000000, 100000000)
-    self.assertEqual(self.data.nisland, 0)
-    self.assertEqual(self.data.nidof, 0)
-
-  def test_mj_struct_list_equality(self):
-    model2 = mujoco.MjModel.from_xml_string(TEST_XML)
-    data2 = mujoco.MjData(model2)
-
-    mujoco.mj_forward(self.model, self.data)
-    self.assertEqual(self.data.ncon, 4)
-    mujoco.mj_forward(model2, data2)
-    self.assertEqual(data2.ncon, 4)
-    self.assertEqual(data2.contact, self.data.contact)
-
-    self.data.qpos[3:7] = [np.cos(np.pi / 8), np.sin(np.pi / 8), 0, 0]
-    self.data.qpos[2] *= (np.sqrt(2) - 1) * 0.1 - 1e-6
-    mujoco.mj_forward(self.model, self.data)
-    self.assertEqual(self.data.ncon, 2)
-    self.assertNotEqual(data2.contact, self.data.contact)
-
-    # Check that we can compare slices of different lengths
-    self.assertNotEqual(data2.contact, self.data.contact)
-
-    # Check that comparing things of different types do not raise an error
-    self.assertNotEqual(self.data.contact, self.data.warning)
-    self.assertNotEqual(self.data.contact, 5)
-
-  @parameterized.named_parameters([
-      ('MjOption', mujoco.MjOption, 'tolerance'),
-      ('MjWarningStat', mujoco.MjWarningStat, 'number'),
-      ('MjTimerStat', mujoco.MjTimerStat, 'number'),
-      ('MjSolverStat', mujoco.MjSolverStat, 'neval'),
-      ('MjContact', mujoco.MjContact, 'dist'),
-      ('MjStatistic', mujoco.MjStatistic, 'extent'),
-      ('MjLROpt', mujoco.MjLROpt, 'maxforce'),
-      ('MjvPerturb', mujoco.MjvPerturb, 'select'),
-      ('MjvCamera', mujoco.MjvCamera, 'fixedcamid'),
-  ])
-  def test_mj_struct_equality(self, cls, attr):
-    struct = cls()
-    struct2 = cls()
-    setattr(struct, attr, 1)
-    self.assertNotEqual(struct, struct2)
-    setattr(struct2, attr, 1)
-    self.assertEqual(struct, struct2)
-
-    self.assertNotEqual(struct, 3)
-    self.assertIsNotNone(struct)
-
-    # mutable structs shouldn't declare __hash__
-    with self.assertRaises(TypeError):
-      hash(struct)
-
-  def test_mj_struct_equality_array(self):
-    contact1 = mujoco.MjContact()
-    contact2 = mujoco.MjContact()
-    contact1.H[3] = 1
-    self.assertNotEqual(contact1, contact2)
-    contact2.H[3] = 1
-    self.assertEqual(contact1, contact2)
-
-  @parameterized.named_parameters([
-      ('MjOption', mujoco.MjOption, 'tolerance'),
-      ('MjWarningStat', mujoco.MjWarningStat, 'number'),
-      ('MjTimerStat', mujoco.MjTimerStat, 'number'),
-      ('MjSolverStat', mujoco.MjSolverStat, 'neval'),
-      ('MjContact', mujoco.MjContact, 'dist'),
-      ('MjStatistic', mujoco.MjStatistic, 'extent'),
-      ('MjLROpt', mujoco.MjLROpt, 'maxforce'),
-      ('MjvPerturb', mujoco.MjvPerturb, 'select'),
-      ('MjvCamera', mujoco.MjvCamera, 'fixedcamid'),
-  ])
-  def test_mj_struct_repr(self, cls, attr):
-    struct = cls()
-    setattr(struct, attr, 1)
-    representation = repr(struct)
-    self.assertStartsWith(representation, f'<{cls.__name__}')
-    self.assertIn(f'{attr}: 1', representation)
-    self.assertEqual(str(struct), repr(struct))
-
-  def test_mj_struct_repr_for_subclass(self):
-    class MjWarningStatSubclass(mujoco.MjWarningStat):
-      # ptr attribute could cause an infinite recursion, if the repr
-      # implementation simply looked at all attributes.
-
-      @property
-      def ptr(self):
-        return self
-
-    # repr should include name of subclass.
-    expected_repr = """<MjWarningStatSubclass
-  lastinfo: 0
-  number: 0
->"""
-
-    self.assertEqual(repr(MjWarningStatSubclass()), expected_repr)
-
-  def test_mju_rotVecQuat(self):  # pylint: disable=invalid-name
-    vec = [1, 0, 0]
-    quat = [np.cos(np.pi / 8), 0, 0, np.sin(np.pi / 8)]
-    expected = np.array([1, 1, 0]) / np.sqrt(2)
-
-    # Check that the output argument works, and that the binding returns None.
-    res = np.empty(3, DTYPE)
-    self.assertIsNone(mujoco.mju_rotVecQuat(res, vec, quat))
-    np.testing.assert_allclose(res, expected)
-
-    # Check that the function can be called via keyword arguments.
-    mujoco.mju_rotVecQuat(vec=vec, quat=quat, res=res)
-    np.testing.assert_allclose(res, expected)
-
-    # Check that the res argument must have the right size.
-    with self.assertRaises(TypeError):
-      mujoco.mju_rotVecQuat(np.zeros(4, DTYPE), vec, quat)
-
-    # Check that the vec argument must have the right size.
-    with self.assertRaises(TypeError):
-      mujoco.mju_rotVecQuat(res, [1, 2, 3, 4], quat)
-
-    # Check that the quat argument must have the right size.
-    with self.assertRaises(TypeError):
-      mujoco.mju_rotVecQuat(res, vec, [1, 2, 3])
-
-    # The following check needs to be done with a fully initialized array,
-    # since pybind11 prints out the array's contents when generating TypeErrors.
-    # Using `np.empty` here results in msan errors.
-
-    # Check that the output argument must have the correct dtype.
-    with self.assertRaises(TypeError):
-      res = np.zeros(3, np.int32)
-      mujoco.mju_rotVecQuat(res, vec, quat)
-
-  def test_getsetstate(self):  # pylint: disable=invalid-name
-    mujoco.mj_step(self.model, self.data)
-
-    # Test for invalid state signature
-    invalid_sig = 2**mujoco.mjtState.mjNSTATE.value
-    expected_message = (
-        f'mj_stateSize: invalid state signature {invalid_sig} >= 2^mjNSTATE'
-    )
-    with self.assertRaisesWithLiteralMatch(mujoco.FatalError, expected_message):
-      mujoco.mj_stateSize(self.model, invalid_sig)
-
-    sig = mujoco.mjtState.mjSTATE_INTEGRATION
-    size = mujoco.mj_stateSize(self.model, sig)
-
-    state_bad_size = np.empty(size + 1, DTYPE)
-    expected_message = 'state size should equal mj_stateSize(m, sig)'
-    with self.assertRaisesWithLiteralMatch(TypeError, expected_message):
-      mujoco.mj_getState(self.model, self.data, state_bad_size, sig)
-
-    # Get initial state.
-    state0 = np.empty(size, DTYPE)
-    mujoco.mj_getState(self.model, self.data, state0, sig)
-
-    # Step, get next state.
-    mujoco.mj_step(self.model, self.data)
-    state1a = np.empty(size, DTYPE)
-    mujoco.mj_getState(self.model, self.data, state1a, sig)
-
-    # Reset to initial state, step again, get state again.
-    mujoco.mj_setState(self.model, self.data, state0, sig)
-    mujoco.mj_step(self.model, self.data)
-    state1b = np.empty(size, DTYPE)
-    mujoco.mj_getState(self.model, self.data, state1b, sig)
-
-    # Expect next states to be equal.
-    np.testing.assert_array_equal(state1a, state1b)
-
-    # Test mj_copyState
-    data2 = mujoco.MjData(self.model)
-    mujoco.mj_copyState(self.model, self.data, data2, sig)
-    state1c = np.empty(size, DTYPE)
-    mujoco.mj_getState(self.model, data2, state1c, sig)
-    np.testing.assert_array_equal(state1a, state1c)
-
-  def test_mj_setKeyframe(self):  # pylint: disable=invalid-name
-    mujoco.mj_step(self.model, self.data)
-
-    # Test for invalid keyframe
-    invalid_key = 2
-    expected_message = (
-        f'mj_setKeyframe: index must be smaller than {invalid_key} (keyframes'
-        ' allocated in model)'
-    )
-    with self.assertRaisesWithLiteralMatch(mujoco.FatalError, expected_message):
-      mujoco.mj_setKeyframe(self.model, self.data, invalid_key)
-
-    valid_key = 1
-    time = self.data.time
-    qpos = self.data.qpos.copy()
-    qvel = self.data.qvel.copy()
-    act = self.data.act.copy()
-    mujoco.mj_setKeyframe(self.model, self.data, valid_key)
-
-    # Step, assert that time has changed.
-    mujoco.mj_step(self.model, self.data)
-    self.assertNotEqual(time, self.data.time)
-
-    # Reset to keyframe, assert that time, qpos, qvel, act are the same.
-    mujoco.mj_resetDataKeyframe(self.model, self.data, valid_key)
-    self.assertEqual(time, self.data.time)
-    np.testing.assert_array_equal(qpos, self.data.qpos)
-    np.testing.assert_array_equal(qvel, self.data.qvel)
-    np.testing.assert_array_equal(act, self.data.act)
-
-  def test_mj_angmomMat(self):  # pylint: disable=invalid-name
-    self.data.qvel = np.ones(self.model.nv, DTYPE)
-    mujoco.mj_forward(self.model, self.data)
-    mujoco.mj_subtreeVel(self.model, self.data)
-
-    mat = np.empty((3, 10), DTYPE)
-    mujoco.mj_angmomMat(self.model, self.data, mat, 0)
-    np.testing.assert_allclose(
-        mat @ self.data.qvel, self.data.subtree_angmom[0, :], atol=1e-5
-    )
-
-  def test_mj_jacSite(self):  # pylint: disable=invalid-name
-    mujoco.mj_forward(self.model, self.data)
-    site_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SITE, 'mysite')
-
-    # Call mj_jacSite with only jacp.
-    jacp = np.empty((3, 10), DTYPE)
-    mujoco.mj_jacSite(self.model, self.data, jacp, None, site_id)
-
-    expected_jacp = np.array([
-        [0, 0, 0, 0, 0, 0, -1, 0, 0, 0],
-        [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
-        [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
-    ])
-    np.testing.assert_array_equal(jacp, expected_jacp)
-
-    # Call mj_jacSite with only jacr.
-    jacr = np.empty((3, 10), DTYPE)
-    mujoco.mj_jacSite(self.model, self.data, None, jacr, site_id)
-
-    expected_jacr = np.array([
-        [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
-        [0, 0, 0, 0, 0, 0, 1, 0, 0, 0],
-        [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
-    ])
-    np.testing.assert_array_equal(jacr, expected_jacr)
-
-    # Call mj_jacSite with both jacp and jacr.
-    jacp[:] = 0
-    jacr[:] = 0
-    mujoco.mj_jacSite(self.model, self.data, jacp, jacr, site_id)
-    np.testing.assert_array_equal(jacp, expected_jacp)
-    np.testing.assert_array_equal(jacr, expected_jacr)
-
-    # Check that the jacp argument must have the right size.
-    with self.assertRaises(TypeError):
-      mujoco.mj_jacSite(
-          self.model, self.data, np.empty((3, 6), jacp.dtype), None, site_id
-      )
-
-    # Check that the jacr argument must have the right size.
-    with self.assertRaises(TypeError):
-      mujoco.mj_jacSite(
-          self.model, self.data, None, np.empty((4, 7), jacr.dtype), site_id
-      )
-
-    # The following two checks need to be done with fully initialized arrays,
-    # since pybind11 prints out the array's contents when generating TypeErrors.
-    # Using `np.empty` here results in msan errors.
-
-    # Check that the jacp argument must have the right dtype.
-    with self.assertRaises(TypeError):
-      mujoco.mj_jacSite(
-          self.model, self.data, np.zeros(jacp.shape, int), None, site_id
-      )
-
-    # Check that the jacr argument must have the right dtype.
-    with self.assertRaises(TypeError):
-      mujoco.mj_jacSite(
-          self.model, self.data, None, np.zeros(jacr.shape, int), site_id
-      )
-
-  def test_docstrings(self):  # pylint: disable=invalid-name
-    self.assertEqual(
-        mujoco.mj_versionString.__doc__,
-        """mj_versionString() -> str
-
-Return the current version of MuJoCo as a null-terminated string.
-""",
-    )
-    self.assertEqual(
-        mujoco.mj_Euler.__doc__,
-        """mj_Euler(m: mujoco._structs.MjModel, d: mujoco._structs.MjData) -> None
-
-Euler integrator, semi-implicit in velocity.
-""",
-    )
-
-  def test_float_constant(self):
-    np.testing.assert_allclose(mujoco.mjMAXVAL, 1e10, rtol=1e-6)
-    np.testing.assert_allclose(mujoco.mjMINVAL, 1e-15, rtol=1e-6)
-
-  def test_string_constants(self):
-    self.assertLen(mujoco.mjDISABLESTRING, mujoco.mjtDisableBit.mjNDISABLE)
-    self.assertLen(mujoco.mjENABLESTRING, mujoco.mjtEnableBit.mjNENABLE)
-    self.assertLen(mujoco.mjTIMERSTRING, mujoco.mjtTimer.mjNTIMER)
-    self.assertLen(mujoco.mjLABELSTRING, mujoco.mjtLabel.mjNLABEL)
-    self.assertLen(mujoco.mjFRAMESTRING, mujoco.mjtFrame.mjNFRAME)
-    self.assertLen(mujoco.mjVISSTRING, mujoco.mjtVisFlag.mjNVISFLAG)
-    self.assertLen(mujoco.mjRNDSTRING, mujoco.mjtRndFlag.mjNRNDFLAG)
-    self.assertEqual(mujoco.mjDISABLESTRING[11], 'Actuation')
-    self.assertEqual(
-        mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA],
-        ('Inertia', '0', 'I'),
-    )
-
-  def test_enum_values(self):
-    self.assertEqual(mujoco.mjtJoint.mjJNT_FREE, 0)
-    self.assertEqual(mujoco.mjtJoint.mjJNT_BALL, 1)
-    self.assertEqual(mujoco.mjtJoint.mjJNT_SLIDE, 2)
-    self.assertEqual(mujoco.mjtJoint.mjJNT_HINGE, 3)
-    self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1 << 0)
-    self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1 << 1)
-    self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1 << 2)
-    self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW, 100)
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW1, 101)
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW2, 102)
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_TRIANGLE, 108)
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_NONE, 1001)
-
-  def test_enum_from_int(self):
-    self.assertEqual(mujoco.mjtJoint.mjJNT_FREE, mujoco.mjtJoint(0))
-    self.assertEqual(mujoco.mjtGeom.mjGEOM_ARROW, mujoco.mjtGeom(value=100))
-    with self.assertRaises(ValueError):
-      mujoco.mjtJoint(1000)
-    with self.assertRaises(ValueError):
-      mujoco.mjtJoint(-1)
-
-  def test_enum_as_index(self):
-    x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k']
-    self.assertEqual(x[mujoco.mjtFrame.mjFRAME_WORLD], 'h')
-    self.assertEqual(
-        x[mujoco.mjtFrame.mjFRAME_GEOM : mujoco.mjtFrame.mjFRAME_CAMERA],
-        ['c', 'd'],
-    )
-
-  def test_enum_ops(self):
-    # Note: when modifying this test, make sure the enum value is an odd number
-    #       so that the division tests are correctly exercised.
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7)
-    self.assertEqual(7, mujoco.mjtFrame.mjFRAME_WORLD)
-    self.assertEqual(
-        mujoco.mjtFrame.mjFRAME_WORLD, mujoco.mjtFrame.mjFRAME_WORLD
-    )
-    self.assertNotEqual(
-        mujoco.mjtFrame.mjFRAME_WORLD, mujoco.mjtFrame.mjFRAME_NONE
-    )
-
-    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD, -7)
-    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD, int)
-
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1, 8)
-    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD + 1, int)
-    self.assertEqual(2 + mujoco.mjtFrame.mjFRAME_WORLD, 9)
-    self.assertIsInstance(2 + mujoco.mjtFrame.mjFRAME_WORLD, int)
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1.75, 8.75)
-    self.assertEqual(2.75 + mujoco.mjtFrame.mjFRAME_WORLD, 9.75)
-
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2, 5)
-    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD - 2, int)
-    self.assertEqual(8 - mujoco.mjtFrame.mjFRAME_WORLD, 1)
-    self.assertIsInstance(8 - mujoco.mjtFrame.mjFRAME_WORLD, int)
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2.25, 4.75)
-    self.assertEqual(8.25 - mujoco.mjtFrame.mjFRAME_WORLD, 1.25)
-
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3, 21)
-    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD * 3, int)
-    self.assertEqual(3 * mujoco.mjtFrame.mjFRAME_WORLD, 21)
-    self.assertIsInstance(3 * mujoco.mjtFrame.mjFRAME_WORLD, int)
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3.5, 24.5)
-    self.assertEqual(3.5 * mujoco.mjtFrame.mjFRAME_WORLD, 24.5)
-
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD / 2, 3.5)
-    self.assertEqual(17.5 / mujoco.mjtFrame.mjFRAME_WORLD, 2.5)
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2, 3)
-    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
-    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2, -4)
-    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
-    self.assertEqual(20 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
-    self.assertIsInstance(20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
-    self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
-    self.assertIsInstance(-20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, 3)
-    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
-    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, -4)
-    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
-    self.assertEqual(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
-    self.assertIsInstance(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
-    self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
-    self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
-
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % 4, 3)
-    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
-    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % -4, -3)
-    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
-    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % 4, 1)
-    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
-    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % -4, -1)
-    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
-    self.assertEqual(9 % mujoco.mjtFrame.mjFRAME_WORLD, 2)
-    self.assertIsInstance(9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
-    self.assertEqual(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, -2)
-    self.assertIsInstance(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
-    self.assertEqual(-9 % mujoco.mjtFrame.mjFRAME_WORLD, 5)
-    self.assertIsInstance(-9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
-    self.assertEqual(9 % -mujoco.mjtFrame.mjFRAME_WORLD, -5)
-    self.assertIsInstance(9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
-
-    with self.assertRaises(ZeroDivisionError):
-      _ = mujoco.mjtFrame.mjFRAME_WORLD / 0
-    with self.assertRaises(ZeroDivisionError):
-      _ = 1 / mujoco.mjtFrame.mjFRAME_NONE
-    with self.assertRaises(ZeroDivisionError):
-      _ = mujoco.mjtFrame.mjFRAME_WORLD // 0
-    with self.assertRaises(ZeroDivisionError):
-      _ = 1 // mujoco.mjtFrame.mjFRAME_NONE
-    with self.assertRaises(ZeroDivisionError):
-      _ = mujoco.mjtFrame.mjFRAME_WORLD % 0
-    with self.assertRaises(ZeroDivisionError):
-      _ = 1 % mujoco.mjtFrame.mjFRAME_NONE
-
-    self.assertEqual(
-        mujoco.mjtDisableBit.mjDSBL_GRAVITY | mujoco.mjtDisableBit.mjDSBL_LIMIT,
-        136,
-    )
-    self.assertEqual(mujoco.mjtDisableBit.mjDSBL_SPRING | 33, 33)
-    self.assertEqual(mujoco.mjtDisableBit.mjDSBL_SPRING & 33, 32)
-    self.assertEqual(mujoco.mjtDisableBit.mjDSBL_SPRING ^ 33, 1)
-    self.assertEqual(33 | mujoco.mjtDisableBit.mjDSBL_SPRING, 33)
-    self.assertEqual(33 & mujoco.mjtDisableBit.mjDSBL_SPRING, 32)
-    self.assertEqual(33 ^ mujoco.mjtDisableBit.mjDSBL_SPRING, 1)
-    self.assertEqual(
-        mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL << 1,
-        mujoco.mjtDisableBit.mjDSBL_WARMSTART,
-    )
-    self.assertEqual(
-        mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL >> 4,
-        mujoco.mjtDisableBit.mjDSBL_CONTACT,
-    )
-
-  def test_can_raise_error(self):
-    self.data.pstack = self.data.narena
-    with self.assertRaisesRegex(
-        mujoco.FatalError, r'\Amj_stackAlloc: out of memory, stack overflow'
-    ):
-      mujoco.mj_forward(self.model, self.data)
-
-  def test_timer_installed_by_default(self):
-    timer_step = mujoco.mjtTimer.mjTIMER_STEP
-    self.assertEqual(self.data.timer[timer_step].number, 0)
-    self.assertEqual(self.data.timer[timer_step].duration, 0.0)
-
-    mujoco.mj_step(self.model, self.data)
-    self.assertEqual(self.data.timer[timer_step].number, 1)
-    duration_1 = self.data.timer[timer_step].duration
-    self.assertGreater(duration_1, 0.0)
-
-    mujoco.mj_step(self.model, self.data, 5)
-    self.assertEqual(self.data.timer[timer_step].number, 6)
-    self.assertGreater(self.data.timer[timer_step].duration, duration_1)
-
-  def test_mjcb_time(self):
-
-    class CallCounter:
-
-      def __init__(self):
-        self.count = 0
-
-      def __call__(self):
-        self.count += 1
-        return self.count - 1
-
-    call_counter = CallCounter()
-    with temporary_callback(mujoco.set_mjcb_time, call_counter):
-      self.assertIs(mujoco.get_mjcb_time(), call_counter)
-
-      # Check that the callback setter and getter aren't callin g the function.
-      self.assertEqual(call_counter.count, 0)
-
-      mujoco.mj_forward(self.model, self.data)
-      self.assertGreater(call_counter.count, 0)
-
-    self.assertIsNone(mujoco.get_mjcb_time())
-
-  def test_mjcb_time_exception(self):
-
-    class TestError(RuntimeError):
-      pass
-
-    def raises_exception():
-      raise TestError('string', (1, 2, 3), {'a': 1, 'b': 2})
-
-    with temporary_callback(mujoco.set_mjcb_time, raises_exception):
-      with self.assertRaises(TestError) as e:
-        mujoco.mj_forward(self.model, self.data)
-      self.assertEqual(
-          e.exception.args, ('string', (1, 2, 3), {'a': 1, 'b': 2})
-      )
-
-    # Should not raise now that we've cleared the callback.
-    mujoco.mj_forward(self.model, self.data)
-
-  def test_mjcb_time_wrong_return_type(self):
-    with temporary_callback(mujoco.set_mjcb_time, lambda: 'string'):
-      with self.assertRaisesWithLiteralMatch(
-          TypeError, 'mjcb_time callback did not return a number'
-      ):
-        mujoco.mj_forward(self.model, self.data)
-
-  def test_mjcb_time_not_callable(self):
-    with self.assertRaisesWithLiteralMatch(
-        TypeError, 'callback is not an Optional[Callable]'
-    ):
-      mujoco.set_mjcb_time(1)
-
-  def test_mjcb_sensor(self):
-
-    class SensorCallback:
-
-      def __init__(self, test, expected_model, expected_data):
-        self.test = test
-        self.expected_model = expected_model
-        self.expected_data = expected_data
-        self.count = 0
-
-      def __call__(self, m, d, stage):
-        self.test.assertIs(m, self.expected_model)
-        self.test.assertIs(d, self.expected_data)
-        self.test.assertEqual(stage, mujoco.mjtStage.mjSTAGE_VEL)
-        d.sensordata[0] = 17
-        self.count += 1
-
-    model_with_sensor = mujoco.MjModel.from_xml_string(TEST_XML_SENSOR)
-    data_with_sensor = mujoco.MjData(model_with_sensor)
-    sensor_callback = SensorCallback(self, model_with_sensor, data_with_sensor)
-    self.assertEqual(sensor_callback.count, 0)
-
-    with temporary_callback(mujoco.set_mjcb_sensor, sensor_callback):
-      mujoco.mj_forward(model_with_sensor, data_with_sensor)
-
-    self.assertEqual(sensor_callback.count, 1)
-    self.assertEqual(data_with_sensor.sensordata[0], 17)
-
-  # This test is disabled on PyPy as it uses sys.getrefcount
-  # However PyPy is not officially supported by MuJoCo
-  @absltest.skipIf(
-      sys.implementation.name == 'pypy', reason='requires sys.getrefcount'
-  )
-  def test_mjcb_control_not_leak_memory(self):
-    model_instances = []
-    data_instances = []
-    for _ in range(10):
-      mujoco.set_mjcb_control(None)
-      model_instances.append(mujoco.MjModel.from_xml_string('<mujoco/>'))
-      data_instances.append(mujoco.MjData(model_instances[-1]))
-      mujoco.set_mjcb_control(lambda m, d: None)
-      mujoco.mj_step(model_instances[-1], data_instances[-1])
-    mujoco.set_mjcb_control(None)
-    # Reference counting changed in Python 3.14.
-    expected_refcount = 2 if sys.version_info < (3, 14) else 1
-    while data_instances:
-      d = data_instances.pop()
-      self.assertEqual(sys.getrefcount(d), expected_refcount)
-      del d
-    while model_instances:
-      m = model_instances.pop()
-      self.assertEqual(sys.getrefcount(m), expected_refcount)
-
-  # This test is disabled on PyPy as it uses sys.getrefcount
-  # However PyPy is not officially supported by MuJoCo
-  @absltest.skipIf(
-      sys.implementation.name == 'pypy', reason='requires sys.getrefcount'
-  )
-  def test_mjdata_holds_ref_to_model(self):
-    data = mujoco.MjData(mujoco.MjModel.from_xml_string('<mujoco/>'))
-    model = data.model
-    # references: one in `data.model, one in `model`, one in the temporary ref
-    # passed to getrefcount.
-    self.assertEqual(sys.getrefcount(data.model), 3)
-    del data
-    # Reference counting changed in Python 3.14.
-    expected_refcount = 2 if sys.version_info < (3, 14) else 1
-    self.assertEqual(sys.getrefcount(model), expected_refcount)
-
-  def test_can_initialize_mjv_structs(self):
-    self.assertIsInstance(mujoco.MjvScene(), mujoco.MjvScene)
-    self.assertIsInstance(mujoco.MjvCamera(), mujoco.MjvCamera)
-    self.assertIsInstance(mujoco.MjvGLCamera(), mujoco.MjvGLCamera)
-    self.assertIsInstance(mujoco.MjvGeom(), mujoco.MjvGeom)
-    self.assertIsInstance(mujoco.MjvLight(), mujoco.MjvLight)
-    self.assertIsInstance(mujoco.MjvOption(), mujoco.MjvOption)
-    self.assertIsInstance(mujoco.MjvScene(), mujoco.MjvScene)
-    self.assertIsInstance(mujoco.MjvScene(self.model, 100), mujoco.MjvScene)
-    self.assertIsInstance(mujoco.MjvFigure(), mujoco.MjvFigure)
-
-  def test_mjv_camera(self):
-    camera = mujoco.MjvCamera()
-    camera.type = mujoco.mjtCamera.mjCAMERA_TRACKING
-    # IDs should be integers
-    camera.fixedcamid = 2**31 - 1
-    self.assertEqual(camera.fixedcamid, 2**31 - 1)
-    with self.assertRaises(TypeError):
-      camera.fixedcamid = 0.5
-
-  def test_mjv_scene(self):
-    scene = mujoco.MjvScene(model=self.model, maxgeom=100)
-    # scene.geoms is a fixed-length tuple of length maxgeom.
-    self.assertEqual(scene.ngeom, 0)
-    self.assertEqual(scene.maxgeom, 100)
-    self.assertLen(scene.geoms, scene.maxgeom)
-    # When the scene is updated, geoms are added to the scene
-    # (ngeom is incremented)
-    mujoco.mj_forward(self.model, self.data)
-    mujoco.mjv_updateScene(
-        self.model,
-        self.data,
-        mujoco.MjvOption(),
-        None,
-        mujoco.MjvCamera(),
-        mujoco.mjtCatBit.mjCAT_ALL,
-        scene,
-    )
-    self.assertGreater(scene.ngeom, 0)
-
-  def test_mjv_scene_without_model(self):
-    scene = mujoco.MjvScene()
-    self.assertEqual(scene.scale, 1.0)
-    self.assertEqual(scene.maxgeom, 0)
-
-  def test_mj_ray(self):
-    # mj_ray has tricky argument types
-    geomid = np.zeros(1, np.int32)
-    mujoco.mj_forward(self.model, self.data)
-    mujoco.mj_ray(
-        self.model, self.data, [0, 0, 0], [0, 0, 1], None, 0, 0, geomid, None
-    )
-    # Check the normal argument is optional
-    mujoco.mj_ray(
-        self.model,
-        self.data,
-        [0, 0, 0],
-        [0, 0, 1],
-        [0, 0, 0, 0, 0, 0],
-        0,
-        0,
-        geomid,
-    )
-    # Check that named arguments work
-    normal = np.zeros(3, DTYPE)
-    mujoco.mj_ray(
-        m=self.model,
-        d=self.data,
-        pnt=[0, 0, 0],
-        vec=[0, 0, 1],
-        geomgroup=None,
-        flg_static=0,
-        bodyexclude=0,
-        geomid=geomid,
-        normal=normal,
-    )
-
-  def test_mju_ray_geom(self):
-    # Test mju_rayGeom with a plane at origin
-    pos = np.zeros(3, DTYPE)
-    mat = np.eye(3, dtype=DTYPE).flatten()
-    size = np.array([10.0, 10.0, 1.0], dtype=DTYPE)
-    pnt = np.array([5.0, 5.0, 5.0], dtype=DTYPE)
-    # Normalize direction for Euclidean distance
-    vec = np.array([-1.0, -1.0, -1.0], dtype=DTYPE)
-    vec = vec / np.linalg.norm(vec)
-    normal = np.zeros(3, DTYPE)
-
-    # Call with normal argument
-    dist = mujoco.mju_rayGeom(
-        pos, mat, size, pnt, vec, mujoco.mjtGeom.mjGEOM_PLANE, normal
-    )
-    expected_dist = np.sqrt(3 * 5 * 5)
-    np.testing.assert_allclose(dist, expected_dist)
-    np.testing.assert_allclose(normal, [0, 0, 1])
-
-    # Call without normal argument (should still work)
-    dist2 = mujoco.mju_rayGeom(
-        pos, mat, size, pnt, vec, mujoco.mjtGeom.mjGEOM_PLANE
-    )
-    np.testing.assert_allclose(dist2, expected_dist)
-
-  def test_mj_multi_ray(self):
-    nray = 3
-    geom1 = np.zeros(1, np.int32)
-    pnt = np.array([-0.3, 0, 0.1], DTYPE)
-    vec = np.array([[1, 0, 0], [0, 0, 1], [0, 0, -1]], DTYPE)
-    dist_ex = np.array([0.2, -1, 0.1])
-    geom_ex = np.array([1, -1, 0])
-    geomid = np.zeros(nray, np.int32)
-    dist = np.zeros(nray, DTYPE)
-
-    mujoco.mj_forward(self.model, self.data)
-    mujoco.mj_multiRay(
-        m=self.model,
-        d=self.data,
-        pnt=pnt,
-        vec=vec.flatten(),
-        geomgroup=None,
-        flg_static=1,
-        bodyexclude=-1,
-        geomid=geomid,
-        dist=dist,
-        normal=None,
-        nray=nray,
-        cutoff=mujoco.mjMAXVAL,
-    )
-
-    for i in range(0, 3):
-      self.assertEqual(
-          dist[i],
-          mujoco.mj_ray(
-              self.model, self.data, pnt, vec[i], None, 1, -1, geom1, None
-          ),
-      )
-      self.assertEqual(geomid[i], geom1)
-      self.assertEqual(geomid[i], geom_ex[i])
-      self.assertAlmostEqual(dist[i], dist_ex[i])
-
-  def test_inverse_fd_none(self):
-    eps = 1e-6
-    flg_centered = 0
-    mujoco.mjd_inverseFD(
-        self.model,
-        self.data,
-        eps,
-        flg_centered,
-        None,
-        None,
-        None,
-        None,
-        None,
-        None,
-        None,
-    )
-
-  def test_geom_distance(self):
-    mujoco.mj_forward(self.model, self.data)
-    fromto = np.empty(6, DTYPE)
-    dist = mujoco.mj_geomDistance(self.model, self.data, 0, 2, 200, fromto)
-    np.testing.assert_allclose(dist, 41.9, atol=1e-5)
-    np.testing.assert_allclose(
-        fromto, np.array((42.0, 0.0, 0.0, 42.0, 0.0, 41.9)), atol=1e-5
-    )
-
-  def test_inverse_fd(self):
-    eps = 1e-6
-    flg_centered = 0
-    df_dq = np.zeros((self.model.nv, self.model.nv), dtype=DTYPE)
-    df_dv = np.zeros((self.model.nv, self.model.nv), dtype=DTYPE)
-    df_da = np.zeros((self.model.nv, self.model.nv), dtype=DTYPE)
-    ds_dq = np.zeros((self.model.nv, self.model.nsensordata), dtype=DTYPE)
-    ds_dv = np.zeros((self.model.nv, self.model.nsensordata), dtype=DTYPE)
-    ds_da = np.zeros((self.model.nv, self.model.nsensordata), dtype=DTYPE)
-    dm_dq = np.zeros((self.model.nv, self.model.nC), dtype=DTYPE)
-    mujoco.mjd_inverseFD(
-        self.model,
-        self.data,
-        eps,
-        flg_centered,
-        df_dq,
-        df_dv,
-        df_da,
-        ds_dq,
-        ds_dv,
-        ds_da,
-        dm_dq,
-    )
-    self.assertGreater(np.linalg.norm(df_dq), eps)
-    self.assertGreater(np.linalg.norm(df_dv), eps)
-    self.assertGreater(np.linalg.norm(df_da), eps)
-    self.assertGreater(np.linalg.norm(ds_dq), eps)
-    self.assertGreater(np.linalg.norm(ds_dv), eps)
-    self.assertGreater(np.linalg.norm(ds_da), eps)
-
-  def test_mjd_sub_quat(self):
-    quat1 = np.array((0.2, 0.3, 0.3, 0.4))
-    quat2 = np.array((0.1, 0.2, 0.4, 0.5))
-    d1 = np.empty(9, DTYPE)
-    d2 = np.empty(9, DTYPE)
-    mujoco.mjd_subQuat(quat1, quat2, d1, d2)
-    d3 = np.empty((3, 3), DTYPE)
-    d4 = np.empty((3, 3), DTYPE)
-    mujoco.mjd_subQuat(quat1, quat2, None, d3)
-    mujoco.mjd_subQuat(quat1, quat2, d4, None)
-    np.testing.assert_array_equal(d2, d3.flatten())
-    np.testing.assert_array_equal(d1, d4.flatten())
-
-  def test_mjd_quat_integrate(self):
-    scale = 0.1
-    vel = np.array((0.2, 0.3, 0.3))
-    d_quat = np.empty(9, DTYPE)
-    d_vel = np.empty(9, DTYPE)
-    d_h = np.empty(3, DTYPE)
-    mujoco.mjd_quatIntegrate(vel, scale, d_quat, d_vel, d_h)
-
-  def test_banded(self):
-    n_total = 4
-    n_band = 1
-    n_dense = 1
-    dense = np.array([
-        [1.0, 0, 0, 0.1],
-        [0, 2.0, 0, 0.2],
-        [0, 0, 3.0, 0.3],
-        [0.1, 0.2, 0.3, 4.0],
-    ], dtype=DTYPE)
-    band = np.zeros(n_band * (n_total - n_dense) + n_dense * n_total, dtype=DTYPE)
-    mujoco.mju_dense2Band(band, dense, n_total, n_band, n_dense)
-    for i in range(4):
-      index = mujoco.mju_bandDiag(i, n_total, n_band, n_dense)
-      self.assertEqual(band[index], i + 1)
-    dense2 = np.zeros((n_total, n_total), dtype=DTYPE)
-    flg_sym = 1
-    mujoco.mju_band2Dense(dense2, band, n_total, n_band, n_dense, flg_sym)
-    np.testing.assert_array_equal(dense, dense2)
-    vec = np.array([[2.0], [2.0], [3.0], [4.0]], dtype=DTYPE)
-    res = np.zeros_like(vec)
-    n_vec = 1
-    mujoco.mju_bandMulMatVec(
-        res, band, vec, n_total, n_band, n_dense, n_vec, flg_sym
-    )
-    np.testing.assert_allclose(res, dense @ vec)
-    diag_add = 0
-    diag_mul = 0
-    mujoco.mju_cholFactorBand(
-        band, n_total, n_band, n_dense, diag_add, diag_mul
-    )
-    mujoco.mju_cholSolveBand(res, band, vec, n_total, n_band, n_dense)
-    np.testing.assert_almost_equal(res, np.linalg.solve(dense, vec))
-
-  def test_mju_box_qp(self):
-    n = 5
-    res = np.zeros(n, DTYPE)
-    r = np.zeros((n, n + 7), DTYPE)
-    index = np.zeros(n, np.int32)
-    h = np.eye(n, dtype=DTYPE)
-    g = np.ones((n,), dtype=DTYPE)
-    lower = -np.ones((n,), dtype=DTYPE)
-    upper = np.ones((n,), dtype=DTYPE)
-    rank = mujoco.mju_boxQP(res, r, index, h, g, lower, upper)
-    self.assertGreater(rank, -1)
-
-  def test_mju_fill(self):
-    res = np.empty(3, DTYPE)
-    mujoco.mju_fill(res, 1.5)
-    np.testing.assert_allclose(res, np.full(3, 1.5))
-
-  def test_mju_eye(self):
-    eye4 = np.empty((4, 4), DTYPE)
-    mujoco.mju_eye(eye4)
-    np.testing.assert_array_equal(eye4, np.eye(4))
-
-  def test_mju_symmetrize(self):
-    mat = np.linspace(0, 1, 16, dtype=DTYPE).reshape(4, 4)
-    res = np.empty((4, 4), DTYPE)
-    mujoco.mju_symmetrize(res, mat)
-    np.testing.assert_allclose(res, 0.5 * (mat + mat.T))
-
-  def test_mju_clip(self):
-    self.assertEqual(mujoco.mju_clip(1.5, 1.0, 2.0), 1.5)
-    self.assertEqual(mujoco.mju_clip(1.5, 2.0, 3.0), 2.0)
-    self.assertEqual(mujoco.mju_clip(1.5, 0.0, 1.0), 1.0)
-
-  def test_mju_mul_vec_mat_vec(self):
-    vec1 = np.array([1.0, 2.0, 3.0])
-    vec2 = np.array([3.0, 2.0, 1.0])
-    mat = np.array([[1.0, 2.0, 3.0], [4.0, 5.0, 6.0], [7.0, 8.0, 9.0]])
-    self.assertEqual(mujoco.mju_mulVecMatVec(vec1, mat, vec2), 204.0)
-
-  def test_mju_dense_to_sparse(self):
-    mat = np.array([[0.0, 1.0, 0.0], [2.0, 0.0, 3.0]], dtype=DTYPE)
-    expected_vals = np.array([1.0, 2.0, 3.0])
-    expected_rownnz = np.array([1, 2])
-    expected_rowadr = np.array([0, 1])
-    expected_colind = np.array([1, 0, 2])
-    vals = np.zeros(3, DTYPE)
-    row_nnz = np.zeros(2, np.int32)
-    row_adr = np.zeros(2, np.int32)
-    col_ind = np.zeros(3, np.int32)
-    status = mujoco.mju_dense2sparse(vals, mat, row_nnz, row_adr, col_ind)
-    np.testing.assert_equal(status, 0)
-    np.testing.assert_array_equal(vals, expected_vals)
-    np.testing.assert_array_equal(row_nnz, expected_rownnz)
-    np.testing.assert_array_equal(row_adr, expected_rowadr)
-    np.testing.assert_array_equal(col_ind, expected_colind)
-
-  def test_mju_sparse_to_dense(self):
-    expected = np.array([[0.0, 1.0, 0.0], [2.0, 0.0, 3.0]])
-    mat = np.array((1.0, 2.0, 3.0), dtype=DTYPE)
-    rownnz = np.array([1, 2])
-    rowadr = np.array([0, 1])
-    colind = np.array([1, 0, 2])
-    res = np.zeros((2, 3), dtype=DTYPE)
-    mujoco.mju_sparse2dense(res, mat, rownnz, rowadr, colind)
-    np.testing.assert_array_equal(res, expected)
-
-  def test_mju_euler_to_quat(self):
-    quat = np.zeros(4, DTYPE)
-    euler = np.array([0, np.pi / 2, 0], DTYPE)
-    seq = 'xyz'
-    mujoco.mju_euler2Quat(quat, euler, seq)
-    expected_quat = np.array([np.sqrt(0.5), 0, np.sqrt(0.5), 0.0])
-    np.testing.assert_almost_equal(quat, expected_quat, decimal=5)
-
-    error = 'mju_euler2Quat: seq must contain exactly 3 characters'
-    with self.assertRaisesWithLiteralMatch(mujoco.FatalError, error):
-      mujoco.mju_euler2Quat(quat, euler, 'xy')
-    with self.assertRaisesWithLiteralMatch(mujoco.FatalError, error):
-      mujoco.mju_euler2Quat(quat, euler, 'xyzy')
-    error = "mju_euler2Quat: seq[2] is 'p', should be one of x, y, z, X, Y, Z"
-    with self.assertRaisesWithLiteralMatch(mujoco.FatalError, error):
-      mujoco.mju_euler2Quat(quat, euler, 'xYp')
-
-  @parameterized.product(flg_html=(False, True), flg_pad=(False, True))
-  def test_mj_printSchema(self, flg_html, flg_pad):  # pylint: disable=invalid-name
-    # Make sure that mj_printSchema doesn't raise an exception
-    # (e.g. because the internal output buffer is too small)
-    self.assertIn('mujoco', mujoco.mj_printSchema(flg_html, flg_pad))
-
-  def test_pickle_mjdata_clean(self):
-    data2 = pickle.loads(pickle.dumps(self.data))
-    attr_to_compare = ('time', 'qpos', 'qvel', 'mocap_pos')
-    self._assert_attributes_equal(data2, self.data, attr_to_compare)
-
-  def test_pickle_mjdata(self):
-    mujoco.mj_step(self.model, self.data)
-    data2 = pickle.loads(pickle.dumps(self.data))
-    attr_to_compare = (
-        'time',
-        'qpos',
-        'qvel',
-        'qacc',
-        'xpos',
-        'mocap_pos',
-        'warning',
-        'energy',
-        'contact',
-        'efc_J',
-    )
-    self._assert_attributes_equal(data2, self.data, attr_to_compare)
-    for _ in range(10):
-      mujoco.mj_step(self.model, self.data)
-      mujoco.mj_step(self.model, data2)
-    self._assert_attributes_equal(data2, self.data, attr_to_compare)
-
-  def test_pickle_mjdata_sparse(self):
-    self.model.opt.jacobian = mujoco.mjtJacobian.mjJAC_SPARSE
-    mujoco.mj_step(self.model, self.data)
-    data2 = pickle.loads(pickle.dumps(self.data))
-    attr_to_compare = (
-        'time',
-        'qpos',
-        'qvel',
-        'qacc',
-        'xpos',
-        'mocap_pos',
-        'warning',
-        'energy',
-        'contact',
-        'efc_J',
-    )
-    self._assert_attributes_equal(data2, self.data, attr_to_compare)
-    for _ in range(10):
-      mujoco.mj_step(self.model, self.data)
-      mujoco.mj_step(self.model, data2)
-    self._assert_attributes_equal(data2, self.data, attr_to_compare)
-
-  def test_pickle_mjmodel(self):
-    model2 = pickle.loads(pickle.dumps(self.model))
-    attr_to_compare = (
-        'nq',
-        'nmat',
-        'body_pos',
-        'names',
-    )
-    self._assert_attributes_equal(model2, self.model, attr_to_compare)
-
-  def test_indexer_name_id(self):
-    xml = r"""
-<mujoco>
-  <worldbody>
-    <geom name="mygeom" size="1" pos="0 0 1"/>
-    <geom size="2" pos="0 0 2"/>
-    <geom size="3" pos="0 0 3"/>
-    <geom name="myothergeom" size="4" pos="0 0 4"/>
-    <geom size="5" pos="0 0 5"/>
-  </worldbody>
-</mujoco>
-"""
-
-    model = mujoco.MjModel.from_xml_string(xml)
-    self.assertEqual(model.geom('mygeom').id, 0)
-    self.assertEqual(model.geom('myothergeom').id, 3)
-    self.assertEqual(model.geom(0).name, 'mygeom')
-    self.assertEqual(model.geom(1).name, '')
-    self.assertEqual(model.geom(2).name, '')
-    self.assertEqual(model.geom(3).name, 'myothergeom')
-    self.assertEqual(model.geom(4).name, '')
-    self.assertEqual(model.geom(0).size[0], 1)
-    self.assertEqual(model.geom(1).size[0], 2)
-    self.assertEqual(model.geom(2).size[0], 3)
-    self.assertEqual(model.geom(3).size[0], 4)
-    self.assertEqual(model.geom(4).size[0], 5)
-
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-    self.assertEqual(data.geom('mygeom').id, 0)
-    self.assertEqual(data.geom('myothergeom').id, 3)
-    self.assertEqual(data.geom(0).name, 'mygeom')
-    self.assertEqual(data.geom(1).name, '')
-    self.assertEqual(data.geom(2).name, '')
-    self.assertEqual(data.geom(3).name, 'myothergeom')
-    self.assertEqual(data.geom(4).name, '')
-    self.assertEqual(data.geom(0).xpos[2], 1)
-    self.assertEqual(data.geom(1).xpos[2], 2)
-    self.assertEqual(data.geom(2).xpos[2], 3)
-    self.assertEqual(data.geom(3).xpos[2], 4)
-    self.assertEqual(data.geom(4).xpos[2], 5)
-
-  def test_load_plugin(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML_PLUGIN)
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-
-  def test_copy_mjdata_with_plugin(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML_PLUGIN)
-    data1 = mujoco.MjData(model)
-    self.assertIs(data1.model, model)
-    mujoco.mj_step(model, data1)
-    data2 = copy.copy(data1)
-    mujoco.mj_step(model, data1)
-    mujoco.mj_step(model, data2)
-    np.testing.assert_array_equal(data1.qpos, data2.qpos)
-    self.assertIs(data1.model, data2.model)
-
-  def test_deepcopy_mjdata_with_plugin(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML_PLUGIN)
-    data1 = mujoco.MjData(model)
-    self.assertIs(data1.model, model)
-    mujoco.mj_step(model, data1)
-    data2 = copy.deepcopy(data1)
-    mujoco.mj_step(model, data1)
-    mujoco.mj_step(model, data2)
-    np.testing.assert_array_equal(data1.qpos, data2.qpos)
-    self.assertIsNot(data1.model, data2.model)
-    self.assertNotEqual(data1.model._address, data2.model._address)
-
-  def test_texture_size(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML_TEXTURE)
-    self.assertEqual(model.tex('tex').data.shape, (512, 512, 3))
-
-  def test_xml_dependencies(self):
-    model_path = str(epath.resource_path("mujoco") / "testdata" / "msh.xml")
-    msh_path =str(epath.resource_path("mujoco") / "testdata" / "abdomen_1_body.msh")
-
-    model_path = model_path.replace('\\', '/')
-    msh_path = msh_path.replace('\\', '/')
-    dependencies = mujoco.mju_getXMLDependencies(model_path)
-    self.assertIn(model_path, dependencies)
-    self.assertIn(msh_path, dependencies)
-
-  def test_mj_read_ctrl_and_init_ctrl_delay(self):
-    xml = r"""
-<mujoco>
-  <worldbody>
-    <body>
-      <geom type="sphere" size="0.1"/>
-      <joint name="hinge" type="hinge"/>
-    </body>
-  </worldbody>
-  <actuator>
-    <position name="actuator" joint="hinge" delay="0.01" nsample="4"/>
-  </actuator>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-
-    # Initialize the delay buffer with known values
-    # actuator_history[i, 0] = nsample, actuator_history[i, 1] = interp
-    nhistory = model.actuator_history[0, 0]
-    self.assertEqual(nhistory, 4)
-    times = np.array([0.0, 0.01, 0.02, 0.03])
-    values = np.array([1.0, 2.0, 3.0, 4.0])
-    mujoco.mj_initCtrlHistory(model, data, 0, times, values)
-
-    # Read back a value using zero-order hold
-    # mj_readCtrl auto-subtracts delay: lookup_time = read_time - delay
-    # delay = 0.01, so:
-    #   read_time=0.02 -> lookup at 0.01 -> value 2.0
-    #   read_time=0.03 -> lookup at 0.02 -> value 3.0
-    result = mujoco.mj_readCtrl(model, data, 0, 0.02, interp=0)
-    self.assertEqual(result, 2.0)  # ZOH returns value at t=0.01
-
-    # Test with times=None (uses existing timestamps)
-    new_values = np.array([5.0, 6.0, 7.0, 8.0])
-    mujoco.mj_initCtrlHistory(model, data, 0, None, new_values)
-    # read_time=0.02 -> lookup at 0.01 -> value 6.0
-    result = mujoco.mj_readCtrl(model, data, 0, 0.02, interp=0)
-    self.assertEqual(result, 6.0)
-
-    # Test dimension validation errors
-    with self.assertRaises(TypeError):
-      # wrong times
-      mujoco.mj_initCtrlHistory(model, data, 0, np.zeros(3), values)
-    with self.assertRaises(TypeError):
-      # wrong values
-      mujoco.mj_initCtrlHistory(model, data, 0, times, np.zeros(5))
-
-  def test_mj_read_sensor_and_init_sensor_delay(self):
-    xml = r"""
-<mujoco>
-  <worldbody>
-    <body>
-      <geom type="sphere" size="0.1"/>
-      <joint name="hinge" type="hinge"/>
-      <site name="site"/>
-    </body>
-  </worldbody>
-  <sensor>
-    <accelerometer name="accel" site="site" delay="0.01" nsample="3"/>
-  </sensor>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-
-    # Initialize the delay buffer with known values
-    # sensor_history[i, 0] = nsample, sensor_history[i, 1] = interp
-    nhistory = model.sensor_history[0, 0]
-    dim = model.sensor_dim[0]
-    self.assertEqual(nhistory, 3)
-    self.assertEqual(dim, 3)  # accelerometer has dim=3
-    times = np.array([0.0, 0.01, 0.02])
-    values = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]], dtype=DTYPE)
-    mujoco.mj_initSensorHistory(model, data, 0, times, values, phase=0.0)
-
-    # Read back a value using zero-order hold
-    # mj_readSensor auto-subtracts delay: lookup_time = read_time - delay
-    # delay = 0.01, so:
-    #   read_time=0.02 -> lookup at 0.01 -> value [4, 5, 6]
-    result = np.zeros(dim, DTYPE)
-    mujoco.mj_readSensor(model, data, 0, 0.02, result, interp=0)
-    # ZOH returns value at t=0.01
-    np.testing.assert_array_equal(result, [4, 5, 6])
-
-    # Test with times=None (uses existing timestamps)
-    new_values = np.array([
-        [10, 11, 12], [13, 14, 15], [16, 17, 18]], dtype=DTYPE)
-    mujoco.mj_initSensorHistory(model, data, 0, None, new_values, phase=0.0)
-    # read_time=0.02 -> lookup at 0.01 -> value [13, 14, 15]
-    mujoco.mj_readSensor(model, data, 0, 0.02, result, interp=0)
-    np.testing.assert_array_equal(result, [13, 14, 15])
-
-    # Test dimension validation errors
-    with self.assertRaises(TypeError):
-      # wrong result size
-      mujoco.mj_readSensor(model, data, 0, 0.02, np.zeros(2), interp=0)
-    with self.assertRaises(TypeError):
-      # wrong times size
-      mujoco.mj_initSensorHistory(model, data, 0, np.zeros(2), values, 0.0)
-    with self.assertRaises(TypeError):
-      # wrong values rows
-      mujoco.mj_initSensorHistory(model, data, 0, times, np.zeros((4, 3)), 0.0)
-    with self.assertRaises(TypeError):
-      # wrong values cols
-      mujoco.mj_initSensorHistory(model, data, 0, times, np.zeros((3, 2)), 0.0)
-
-  def test_init_sensor_history_pedagogical(self):
-    # A framequat sensor reports body orientation as a unit quaternion.
-    # Quaternions are never zero: the identity quaternion is [1, 0, 0, 0].
-    # This test demonstrates why mj_initSensorHistory is needed: after
-    # mj_makeData, the history buffer is filled with zeros, which is invalid.
-    xml = r"""
-<mujoco>
-  <worldbody>
-    <body name="body">
-      <freejoint/>
-      <geom type="sphere" size="0.1"/>
-    </body>
-  </worldbody>
-  <sensor>
-    <framequat name="quat" objtype="body" objname="body" delay="0.01" nsample="5"/>
-  </sensor>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    dim = model.sensor_dim[0]
-    nsample = model.sensor_history[0, 0]
-    delay = model.sensor_delay[0]
-    self.assertEqual(dim, 4)
-    self.assertEqual(nsample, 5)
-    self.assertEqual(delay, 0.01)
-
-    # After mj_makeData, reading from the delay buffer gives all zeros.
-    # For a quaternion sensor, this is invalid data.
-    result = np.zeros(dim, DTYPE)
-    mujoco.mj_readSensor(model, data, 0, delay, result, interp=0)
-    np.testing.assert_array_equal(result, [0, 0, 0, 0])
-
-    # To get valid sensor values, we temporarily set delay to 0 so that
-    # mj_forward populates sensordata directly (without using the delay
-    # buffer), then restore the original delay value.
-    saved_delay = model.sensor_delay.copy()
-    model.sensor_delay[:] = 0
-    mujoco.mj_forward(model, data)
-    model.sensor_delay[:] = saved_delay
-
-    # Now sensordata contains the valid identity quaternion.
-    np.testing.assert_array_equal(data.sensordata, [1, 0, 0, 0])
-
-    # Use mj_initSensorHistory to fill the buffer with valid quaternion values.
-    # Passing None for times keeps the existing timestamps in the buffer.
-    values = np.tile(data.sensordata, (nsample, 1))
-    mujoco.mj_initSensorHistory(model, data, 0, None, values, phase=0.0)
-
-    # Now reading from the delay buffer gives the valid identity quaternion.
-    mujoco.mj_readSensor(model, data, 0, delay, result, interp=0)
-    np.testing.assert_allclose(result, [1, 0, 0, 0])
-
-  def test_poly_stiffness(self):
-    xml = r"""
-<mujoco>
-  <worldbody>
-    <body>
-      <geom type="sphere" size="0.1"/>
-      <joint name="slide" type="slide" stiffness="1 2 3"/>
-    </body>
-  </worldbody>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    self.assertEqual(model.jnt_stiffness[0], 1)
-    np.testing.assert_array_equal(
-        model.jnt_stiffnesspoly[0], [2, 3])
-
-    x = 0.5
-    data.qpos[0] = x
-    mujoco.mj_forward(model, data)
-    expected = -(1*x + 2*x*abs(x) + 3*x**3)
-    np.testing.assert_allclose(data.qfrc_spring[0], expected)
-
-  def _assert_attributes_equal(self, actual_obj, expected_obj, attr_to_compare):
-    for name in attr_to_compare:
-      actual_value = getattr(actual_obj, name)
-      expected_value = getattr(expected_obj, name)
-      try:
-        if isinstance(expected_value, np.ndarray):
-          np.testing.assert_array_equal(actual_value, expected_value)
-        else:
-          self.assertEqual(actual_value, expected_value)
-      except AssertionError as e:
-        self.fail(
-            "Attribute '{}' differs from expected value: {}".format(
-                name, str(e)
-            )
-        )
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/callbacks.cc b/python/mujoco/callbacks.cc
deleted file mode 100644
index 82ef1032..00000000
--- a/python/mujoco/callbacks.cc
+++ /dev/null
@@ -1,521 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstddef>
-#include <cstdint>
-#include <exception>
-#include <limits>
-#include <sstream>
-#include <type_traits>
-#include <utility>
-
-#include <mujoco/mujoco.h>
-#include "errors.h"
-#include "gil.h"
-#include "structs.h"
-#include "raw.h"
-#include <pybind11/eval.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-
-namespace mujoco::python {
-namespace {
-namespace py = ::pybind11;
-
-
-[[noreturn]] static void EscapeWithPythonException() {
-  mju_error("Python exception raised");
-  std::terminate();  // not actually reachable, mju_error doesn't return
-}
-
-template <typename T, typename U>
-using enable_if_not_const_t =
-    std::enable_if_t<std::is_same_v<std::remove_const_t<T>, T>, U>;
-
-// MuJoCo passes raw mjModel* and mjData* as arguments to callbacks, but Python
-// callables expect the corresponding MjWrapper objects. To avoid creating new
-// wrappers each time we enter callbacks, we instead maintain a global lookup
-// table that associates raw MuJoCo struct pointers back to the pointers to
-// their corresponding wrappers.
-template <typename Raw>
-static enable_if_not_const_t<Raw, py::handle> MjWrapperLookup(Raw* ptr) {
-  using LookupFnType = MjWrapper<Raw>* (Raw*);
-  static LookupFnType* const lookup = []() -> LookupFnType* {
-    py::gil_scoped_acquire gil;
-    auto m = py::module_::import("mujoco._structs");
-    pybind11::handle builtins(PyEval_GetBuiltins());
-    if (!builtins.contains(MjWrapper<Raw>::kFromRawPointer)) {
-      return nullptr;
-    } else {
-      try {
-        return reinterpret_cast<LookupFnType*>(
-            builtins[MjWrapper<Raw>::kFromRawPointer]
-                .template cast<std::uintptr_t>());
-      } catch (const py::cast_error&) {
-        return nullptr;
-      }
-    }
-  }();
-
-  MjWrapper<Raw>* wrapper = nullptr;
-  if (lookup) {
-    wrapper = lookup(ptr);
-  } else {
-    {
-      py::gil_scoped_acquire gil;
-      PyErr_SetString(
-          UnexpectedError::GetPyExc(),
-          "_structs module did not register its raw pointer lookup functions");
-    }
-  }
-
-  if (!wrapper) {
-    {
-      py::gil_scoped_acquire gil;
-      PyErr_SetString(
-          UnexpectedError::GetPyExc(),
-          "cannot find the corresponding wrapper for the raw mjStruct");
-    }
-  }
-
-  // Now we find the existing Python instance of our wrapper.
-  // TODO(stunya): Figure out a way to do this without invoking py::detail.
-  {
-    py::gil_scoped_acquire gil;
-    auto* type = py::detail::get_type_info(typeid(MjWrapper<Raw>));
-    if (type) {
-      py::object instance = py::reinterpret_steal<py::object>(
-          py::detail::find_registered_python_instance(wrapper, type));
-      if (!instance) {
-        if (!PyErr_Occurred()) {
-          PyErr_SetString(
-              UnexpectedError::GetPyExc(),
-              "cannot find the Python instance of the MjWrapper");
-        }
-      } else {
-        return std::move(instance);
-      }
-    } else {
-      if (!PyErr_Occurred()) {
-        PyErr_SetString(
-            UnexpectedError::GetPyExc(),
-            "MjWrapper type isn't registered with pybind11");
-      }
-    }
-  }
-
-  EscapeWithPythonException();
-}
-
-template <typename Raw>
-static const py::handle MjWrapperLookup(const Raw* ptr) {
-  return MjWrapperLookup(const_cast<Raw*>(ptr));
-}
-
-// CallPyCallback takes ownership of py_callback: it will Py_XDECREF it before
-// returning or escaping.  This is necessary because EscapeWithPythonException()
-// calls mju_error which uses longjmp, bypassing C++ stack unwinding and any
-// trailing Py_XDECREF in callers.
-template <typename Return, typename... Args>
-static Return
-CallPyCallback(const char* name, PyObject* py_callback, Args... args) {
-  {
-    py::gil_scoped_acquire gil;
-    if (!py_callback) {
-      std::ostringstream msg;
-      msg << "py_" << name << " is null";
-      PyErr_SetString(UnexpectedError::GetPyExc(), msg.str().c_str());
-    } else {
-      py::handle callback(py_callback);
-      try {
-        if constexpr (std::is_void_v<Return>) {
-          callback(args...);
-          Py_XDECREF(py_callback);
-          return;
-        } else {
-          auto result = callback(args...).template cast<Return>();
-          Py_XDECREF(py_callback);
-          return result;
-        }
-      } catch (py::error_already_set& e) {
-        e.restore();
-      } catch (const py::cast_error&) {
-        std::ostringstream msg;
-        msg << name << " callback did not return ";
-        if constexpr (std::is_integral_v<Return>) {
-          msg << "an integer";
-        } else if constexpr (std::is_floating_point_v<Return>) {
-          msg << "a number";
-        } else {
-          msg << "the correct type";
-        }
-        PyErr_SetString(PyExc_TypeError, msg.str().c_str());
-      }
-    }
-    // Error path: DECREF before escaping (longjmp won't unwind the stack).
-    Py_XDECREF(py_callback);
-  }
-  EscapeWithPythonException();
-}
-
-static PyObject* py_mju_user_warning = nullptr;
-static void PyMjuUserWarning(const char* msg) {
-  PyObject* cb;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    cb = py_mju_user_warning;
-    Py_XINCREF(cb);
-  }
-  // CallPyCallback takes ownership of cb (will XDECREF it).
-  CallPyCallback<void>("mju_user_warning", cb, msg);
-}
-
-// We only support ctypes function pointers for these.
-// The PyObject* are only here so that we can return the ctypes pointers back
-// through the getters.
-static PyObject* py_mju_user_malloc = nullptr;
-static PyObject* py_mju_user_free = nullptr;
-
-static PyObject* py_mjcb_passive = nullptr;
-static void PyMjcbPassive(const raw::MjModel* m, raw::MjData* d) {
-  PyObject* cb;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    cb = py_mjcb_passive;
-    Py_XINCREF(cb);
-  }
-  CallPyCallback<void>("mjcb_passive", cb,
-                       MjWrapperLookup(m), MjWrapperLookup(d));
-}
-
-static PyObject* py_mjcb_control = nullptr;
-static void PyMjcbControl(const raw::MjModel* m, raw::MjData* d) {
-  PyObject* cb;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    cb = py_mjcb_control;
-    Py_XINCREF(cb);
-  }
-  CallPyCallback<void>("mjcb_control", cb,
-                       MjWrapperLookup(m), MjWrapperLookup(d));
-}
-
-static PyObject* py_mjcb_contactfilter = nullptr;
-static int PyMjcbContactfilter(
-    const raw::MjModel* m, raw::MjData* d, int geom1, int geom2) {
-  PyObject* cb;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    cb = py_mjcb_contactfilter;
-    Py_XINCREF(cb);
-  }
-  return CallPyCallback<int>("mjcb_contactfilter", cb,
-                             MjWrapperLookup(m), MjWrapperLookup(d),
-                             geom1, geom2);
-}
-
-static PyObject* py_mjcb_sensor = nullptr;
-static void
-PyMjcbSensor(const raw::MjModel* m, raw::MjData* d, int stage) {
-  PyObject* cb;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    cb = py_mjcb_sensor;
-    Py_XINCREF(cb);
-  }
-  CallPyCallback<void>("mjcb_sensor", cb,
-                       MjWrapperLookup(m), MjWrapperLookup(d), stage);
-}
-
-static PyObject* py_mjcb_time = nullptr;
-static mjtNum PyMjcbTime() {
-  PyObject* cb;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    cb = py_mjcb_time;
-    Py_XINCREF(cb);
-  }
-  return CallPyCallback<mjtNum>("mjcb_time", cb);
-}
-
-static PyObject* py_mjcb_act_dyn = nullptr;
-static mjtNum
-PyMjcbActDyn(const raw::MjModel* m, const raw::MjData* d, int id) {
-  PyObject* cb;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    cb = py_mjcb_act_dyn;
-    Py_XINCREF(cb);
-  }
-  return CallPyCallback<mjtNum>("mjcb_act_dyn", cb,
-                                MjWrapperLookup(m),
-                                MjWrapperLookup(d), id);
-}
-
-static PyObject* py_mjcb_act_gain = nullptr;
-static mjtNum
-PyMjcbActGain(const raw::MjModel* m, const raw::MjData* d, int id) {
-  PyObject* cb;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    cb = py_mjcb_act_gain;
-    Py_XINCREF(cb);
-  }
-  return CallPyCallback<mjtNum>("mjcb_act_gain", cb,
-                                MjWrapperLookup(m),
-                                MjWrapperLookup(d), id);
-}
-
-static PyObject* py_mjcb_act_bias = nullptr;
-static mjtNum
-PyMjcbActBias(const raw::MjModel* m, const raw::MjData* d, int id) {
-  PyObject* cb;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    cb = py_mjcb_act_bias;
-    Py_XINCREF(cb);
-  }
-  return CallPyCallback<mjtNum>("mjcb_act_bias", cb,
-                                MjWrapperLookup(m),
-                                MjWrapperLookup(d), id);
-}
-
-// If the Python object is a ctypes function pointer, returns the corresponding
-// C function pointer. Otherwise, returns a null pointer.
-template <typename FuncPtr>
-static FuncPtr GetCFuncPtr(py::handle h) {
-  struct CTypes { PyObject* cfuncptr; PyObject* cast; PyObject* c_void_p; };
-  static const CTypes ctypes = []() -> CTypes {
-    try {
-      auto m = py::module_::import("ctypes");
-      PyObject* cfuncptr = m.attr("_CFuncPtr").ptr();
-      PyObject* cast = m.attr("cast").ptr();
-      PyObject* c_void_p = m.attr("c_void_p").ptr();
-      Py_XINCREF(cfuncptr);
-      Py_XINCREF(cast);
-      Py_XINCREF(c_void_p);
-      return {cfuncptr, cast, c_void_p};
-    } catch (const py::error_already_set&) {
-      return {nullptr, nullptr, nullptr};
-    }
-  }();
-
-  if (!ctypes.cfuncptr) {
-    throw UnexpectedError("cannot find `ctypes._CFuncPtr`");
-  }
-  const int is_cfuncptr = PyObject_IsInstance(h.ptr(), ctypes.cfuncptr);
-  if (is_cfuncptr == -1) {
-    throw py::error_already_set();
-  } else if (is_cfuncptr) {
-    if (!ctypes.cast) {
-      throw UnexpectedError("cannot find `ctypes.cast`");
-    }
-    if (!ctypes.c_void_p) {
-      throw UnexpectedError("cannot find `ctypes.c_void_p`");
-    }
-    const uintptr_t func_address =
-        py::handle(ctypes.cast)(h, py::handle(ctypes.c_void_p))
-            .attr("value")
-            .template cast<std::uintptr_t>();
-    return reinterpret_cast<FuncPtr>(func_address);
-  } else {
-    return nullptr;
-  }
-}
-
-static bool IsCallable(py::handle h) {
-  static PyObject* const is_callable = []() -> PyObject* {
-    try{
-      PyObject* o = py::eval("callable").ptr();
-      Py_XINCREF(o);
-      return o;
-    } catch (const py::error_already_set&) {
-      return nullptr;
-    }
-  }();
-
-  if (!is_callable) {
-    throw UnexpectedError("cannot find `callable`");
-  }
-
-  return py::handle(is_callable)(h).cast<bool>();
-}
-
-template <typename CFuncPtr>
-void SetCallback(py::handle h, CFuncPtr py_trampoline,
-                 PyObject** py_callback, CFuncPtr* mj_callback) {
-  CFuncPtr cfuncptr = GetCFuncPtr<CFuncPtr>(h);
-  PyObject* old = nullptr;
-  if (h.is_none()) {
-    {
-      MutexLockIfGilDisabled lock(GetCallbackMutex());
-      old = *py_callback;
-      *py_callback = nullptr;
-      *mj_callback = nullptr;
-    }
-  } else if (cfuncptr) {
-    Py_INCREF(h.ptr());
-    {
-      MutexLockIfGilDisabled lock(GetCallbackMutex());
-      old = *py_callback;
-      *py_callback = h.ptr();
-      *mj_callback = cfuncptr;
-    }
-  } else if (IsCallable(h)) {
-    Py_INCREF(h.ptr());
-    {
-      MutexLockIfGilDisabled lock(GetCallbackMutex());
-      old = *py_callback;
-      *py_callback = h.ptr();
-      *mj_callback = py_trampoline;
-    }
-  } else {
-    throw py::type_error("callback is not an Optional[Callable]");
-  }
-  // XDECREF outside mutex: __del__ may re-enter callback setters/getters.
-  Py_XDECREF(old);
-}
-
-py::object GetCallback(PyObject** py_callback) {
-  MutexLockIfGilDisabled lock(GetCallbackMutex());
-  if (!*py_callback) {
-    return py::none();
-  }
-  return py::reinterpret_borrow<py::object>(*py_callback);
-}
-
-PYBIND11_MODULE(_callbacks, pymodule, pybind11::mod_gil_not_used()) {
-  // Setters
-  pymodule.def("set_mju_user_warning", [](py::handle h) {
-    SetCallback(h, PyMjuUserWarning, &py_mju_user_warning,
-               &::mju_user_warning);
-  });
-  pymodule.def("set_mju_user_malloc", [](py::handle h) {
-    PyObject* old = nullptr;
-    if (h.is_none()) {
-      {
-        MutexLockIfGilDisabled lock(GetCallbackMutex());
-        old = py_mju_user_malloc;
-        py_mju_user_malloc = nullptr;
-      }
-    } else {
-      auto* cfuncptr = GetCFuncPtr<decltype(::mju_user_malloc)>(h);
-      if (!cfuncptr) {
-        throw py::type_error("mju_user_malloc must be a C function pointer");
-      }
-      Py_XINCREF(h.ptr());
-      {
-        MutexLockIfGilDisabled lock(GetCallbackMutex());
-        old = py_mju_user_malloc;
-        py_mju_user_malloc = h.ptr();
-        ::mju_user_malloc = cfuncptr;
-      }
-    }
-    Py_XDECREF(old);
-  });
-  pymodule.def("set_mju_user_free", [](py::handle h) {
-    PyObject* old = nullptr;
-    if (h.is_none()) {
-      {
-        MutexLockIfGilDisabled lock(GetCallbackMutex());
-        old = py_mju_user_free;
-        py_mju_user_free = nullptr;
-      }
-    } else {
-      auto* cfuncptr = GetCFuncPtr<decltype(::mju_user_free)>(h);
-      if (!cfuncptr) {
-        throw py::type_error("mju_user_free must be a C function pointer");
-      }
-      Py_XINCREF(h.ptr());
-      {
-        MutexLockIfGilDisabled lock(GetCallbackMutex());
-        old = py_mju_user_free;
-        py_mju_user_free = h.ptr();
-        ::mju_user_free = cfuncptr;
-      }
-    }
-    Py_XDECREF(old);
-  });
-  pymodule.def("set_mjcb_passive", [](py::handle h) {
-    SetCallback(h, PyMjcbPassive, &py_mjcb_passive, &::mjcb_passive);
-  });
-  pymodule.def("set_mjcb_control", [](py::handle h) {
-    SetCallback(h, PyMjcbControl, &py_mjcb_control, &::mjcb_control);
-  });
-  pymodule.def("set_mjcb_contactfilter", [](py::handle h) {
-    SetCallback(h, PyMjcbContactfilter,
-                &py_mjcb_contactfilter, &::mjcb_contactfilter);
-  });
-  pymodule.def("set_mjcb_sensor", [](py::handle h) {
-    SetCallback(h, PyMjcbSensor, &py_mjcb_sensor, &::mjcb_sensor);
-  });
-  pymodule.def("set_mjcb_time", [](py::handle h) {
-    SetCallback(h, PyMjcbTime, &py_mjcb_time, &::mjcb_time);
-  });
-  pymodule.def("set_mjcb_act_dyn", [](py::handle h) {
-    SetCallback(h, PyMjcbActDyn, &py_mjcb_act_dyn, &::mjcb_act_dyn);
-  });
-  pymodule.def("set_mjcb_act_gain", [](py::handle h) {
-    SetCallback(h, PyMjcbActGain, &py_mjcb_act_gain, &::mjcb_act_gain);
-  });
-  pymodule.def("set_mjcb_act_bias", [](py::handle h) {
-    SetCallback(h, PyMjcbActBias, &py_mjcb_act_bias, &::mjcb_act_bias);
-  });
-
-  // Getters
-  pymodule.def("get_mju_user_warning", []() {
-    return GetCallback(&py_mju_user_warning);
-  });
-  pymodule.def("get_mju_user_malloc", []() {
-    return GetCallback(&py_mju_user_malloc);
-  });
-  pymodule.def("get_mju_user_free", []() {
-    return GetCallback(&py_mju_user_free);
-  });
-  pymodule.def("get_mjcb_passive", []() {
-    return GetCallback(&py_mjcb_passive);
-  });
-  pymodule.def("get_mjcb_control", []() {
-    return GetCallback(&py_mjcb_control);
-  });
-  pymodule.def("get_mjcb_contactfilter", []() {
-    return GetCallback(&py_mjcb_contactfilter);
-  });
-  pymodule.def("get_mjcb_sensor", []() {
-    return GetCallback(&py_mjcb_sensor);
-  });
-  pymodule.def("get_mjcb_time", []() {
-    return GetCallback(&py_mjcb_time);
-  });
-  pymodule.def("get_mjcb_act_dyn", []() {
-    return GetCallback(&py_mjcb_act_dyn);
-  });
-  pymodule.def("get_mjcb_act_gain", []() {
-    return GetCallback(&py_mjcb_act_gain);
-  });
-  pymodule.def("get_mjcb_act_bias", []() {
-    return GetCallback(&py_mjcb_act_bias);
-  });
-}  // PYBIND11_MODULE
-}  // namespace
-}  // namespace mujoco::python
diff --git a/python/mujoco/cgl/__init__.py b/python/mujoco/cgl/__init__.py
deleted file mode 100644
index 36037116..00000000
--- a/python/mujoco/cgl/__init__.py
+++ /dev/null
@@ -1,74 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""An Apple CGL context for offscreen rendering on macOS."""
-
-import atexit
-import ctypes
-import os
-
-from mujoco.cgl import cgl
-
-_ATTRIB = cgl.CGLPixelFormatAttribute
-_PROFILE = cgl.CGLOpenGLProfile
-
-
-class GLContext:
-  """An EGL context for headless accelerated OpenGL rendering on GPU devices."""
-
-  def __init__(self, max_width, max_height):
-    del max_width, max_height  # unused
-    attrib_values = (
-        _ATTRIB.CGLPFAOpenGLProfile, _PROFILE.CGLOGLPVersion_Legacy,
-        _ATTRIB.CGLPFAColorSize, 24,
-        _ATTRIB.CGLPFAAlphaSize, 8,
-        _ATTRIB.CGLPFADepthSize, 24,
-        _ATTRIB.CGLPFAStencilSize, 8,
-        _ATTRIB.CGLPFAMultisample,
-        _ATTRIB.CGLPFASampleBuffers, 1,
-        _ATTRIB.CGLPFASample, 4,
-        _ATTRIB.CGLPFAAccelerated,
-        0,
-    )
-    attribs = (ctypes.c_int * len(attrib_values))(*attrib_values)
-    self._pix = cgl.CGLPixelFormatObj()
-    npix = cgl.GLint()
-    cgl.CGLChoosePixelFormat(
-        attribs, ctypes.byref(self._pix), ctypes.byref(npix)
-    )
-
-    self._context = cgl.CGLContextObj()
-    cgl.CGLCreateContext(self._pix, 0, ctypes.byref(self._context))
-
-  def make_current(self):
-    cgl.CGLSetCurrentContext(self._context)
-    cgl.CGLLockContext(self._context)
-
-  def free(self):
-    """Frees resources associated with this context."""
-    try:
-      if self._context:
-        cgl.CGLUnlockContext(self._context)
-        cgl.CGLSetCurrentContext(None)
-        cgl.CGLReleaseContext(self._context)
-      self._context = None
-
-      if self._pix:
-        cgl.CGLReleasePixelFormat(self._pix)
-      self._pix = None
-    except Exception:  # pylint: disable=broad-exception-caught
-      pass
-
-  def __del__(self):
-    self.free()
diff --git a/python/mujoco/cgl/cgl.py b/python/mujoco/cgl/cgl.py
deleted file mode 100644
index 3a821b9a..00000000
--- a/python/mujoco/cgl/cgl.py
+++ /dev/null
@@ -1,142 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Bindings for Apple CGL."""
-
-import ctypes
-import enum
-
-_CGL = ctypes.CDLL('/System/Library/Frameworks/OpenGL.framework/OpenGL')
-
-CGLContextObj = ctypes.c_void_p
-CGLPixelFormatObj = ctypes.c_void_p
-GLint = ctypes.c_int
-
-_CGLChoosePixelFormat = _CGL.CGLChoosePixelFormat
-_CGLChoosePixelFormat.argtypes = (
-    ctypes.POINTER(ctypes.c_int),
-    ctypes.POINTER(CGLPixelFormatObj),
-    ctypes.POINTER(GLint),
-)
-
-_CGLCreateContext = _CGL.CGLCreateContext
-_CGLCreateContext.argtypes = (
-    CGLPixelFormatObj,
-    ctypes.c_int,
-    CGLContextObj,
-)
-
-_CGLErrorString = _CGL.CGLErrorString
-_CGLErrorString.restype = ctypes.c_char_p
-_CGLErrorString.argtype = (ctypes.c_int,)
-
-_CGLLockContext = _CGL.CGLLockContext
-_CGLLockContext.argtypes = (CGLContextObj,)
-
-_CGLReleaseContext = _CGL.CGLReleaseContext
-_CGLReleaseContext.restype = None
-_CGLReleaseContext.argtypes = (CGLContextObj,)
-
-_CGLReleasePixelFormat = _CGL.CGLReleasePixelFormat
-_CGLReleasePixelFormat.restype = None
-_CGLReleasePixelFormat.argtypes = (CGLPixelFormatObj,)
-
-_CGLSetCurrentContext = _CGL.CGLSetCurrentContext
-_CGLSetCurrentContext.argtypes = (CGLContextObj,)
-
-_CGLUnlockContext = _CGL.CGLUnlockContext
-_CGLUnlockContext.argtypes = (CGLContextObj,)
-
-
-# pylint: disable=invalid-name
-
-
-class CGLOpenGLProfile(enum.IntEnum):
-  CGLOGLPVersion_Legacy = 0x1000  # renderer compatible with GL1.0
-  CGLOGLPVersion_3_2_Core = 0x3200  # renderer capable of GL3.2 or later
-  CGLOGLPVersion_GL3_Core = 0x3200  # renderer capable of GL3.2 or later
-  CGLOGLPVersion_GL4_Core = 0x4100  # renderer capable of GL4.1 or later
-
-
-class CGLPixelFormatAttribute(enum.IntEnum):
-  """CGLPixelFormatAttribute enum values."""
-  CGLPFAAllRenderers = 1  # choose from all available renderers
-  CGLPFATripleBuffer = 3  # choose a triple buffered pixel format
-  CGLPFADoubleBuffer = 5  # choose a double buffered pixel format
-  CGLPFAColorSize = 8  # number of color buffer bits
-  CGLPFAAlphaSize = 11  # number of alpha component bits
-  CGLPFADepthSize = 12  # number of depth buffer bits
-  CGLPFAStencilSize = 13  # number of stencil buffer bits
-  CGLPFAMinimumPolicy = 51  # never choose smaller buffers than requested
-  CGLPFAMaximumPolicy = 52  # choose largest buffers of type requested
-  CGLPFASampleBuffers = 55  # number of multi sample buffers
-  CGLPFASample = 56  # number of samples per multi sample buffer
-  CGLPFAColorFloat = 58  # color buffers store floating point pixels
-  CGLPFAMultisample = 59  # choose multisampling
-  CGLPFASupersample = 60  # choose supersampling
-  CGLPFASampleAlpha = 61  # request alpha filtering
-  CGLPFARendererID = 70  # request renderer by ID
-  CGLPFANoRecovery = 72  # disable all failure recovery systems
-  CGLPFAAccelerated = 73  # choose a hardware accelerated renderer
-  CGLPFAClosestPolicy = 74  # choose the closest color buffer to request
-  CGLPFABackingStore = 76  # back buffer contents are valid after swap
-  CGLPFABackingVolatile = 77  # back buffer contents are volatile after swap
-  CGLPFADisplayMask = 84  # mask limiting supported displays
-  CGLPFAAllowOfflineRenderers = 96  # show offline renderers in pixel formats
-  CGLPFAAcceleratedCompute = 97  # choose a hardware accelerated compute device
-  CGLPFAOpenGLProfile = 99  # specify an OpenGL Profile to use
-  CGLPFASupportsAutomaticGraphicsSwitching = 101  # responds to display changes
-  CGLPFAVirtualScreenCount = 128  # number of virtual screens in this format
-
-  # Note: the following attributes are deprecated in Core Profile
-  CGLPFAAuxBuffers = 7  # number of aux buffers
-  CGLPFAAccumSize = 14  # number of accum buffer bits
-  CGLPFAAuxDepthStencil = 57  # each aux buffer has its own depth stencil
-
-  CGLPFAStereo = 6
-  CGLPFAOffScreen = 53
-  CGLPFAWindow = 80
-  CGLPFACompliant = 83
-  CGLPFAPBuffer = 90
-  CGLPFARemotePBuffer = 91
-
-  CGLPFASingleRenderer = 71
-  CGLPFARobust = 75
-  CGLPFAMPSafe = 78
-  CGLPFAMultiScreen = 81
-  CGLPFAFullScreen = 54
-
-
-# pylint: enable=invalid-name
-
-
-class CGLError(RuntimeError):  # pylint: disable=g-bad-exception-name
-  pass
-
-
-def _make_checked(func):
-  def checked_func(*args):
-    err = func(*args)
-    if err:
-      raise CGLError(_CGLErrorString(err).decode())
-  return checked_func
-
-
-CGLChoosePixelFormat = _make_checked(_CGLChoosePixelFormat)
-CGLCreateContext = _make_checked(_CGLCreateContext)
-CGLLockContext = _make_checked(_CGLLockContext)
-CGLReleaseContext = _CGLReleaseContext
-CGLReleasePixelFormat = _CGLReleasePixelFormat
-CGLSetCurrentContext = _make_checked(_CGLSetCurrentContext)
-CGLUnlockContext = _make_checked(_CGLUnlockContext)
diff --git a/python/mujoco/codegen/code_builder.py b/python/mujoco/codegen/code_builder.py
deleted file mode 100644
index db4ebf5b..00000000
--- a/python/mujoco/codegen/code_builder.py
+++ /dev/null
@@ -1,103 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Helper class to build code string line by line with indentation."""
-
-INDENT = "  "
-
-
-class CodeBuilder:
-  """Helper class to build code string line by line with indentation."""
-
-  def __init__(self, indent_str: str = INDENT):
-    self._lines = []
-    self._indent_level = 0
-    self._indent_str = indent_str
-
-  def line(self, line_content: str) -> None:
-    """Adds a line with indentation, special-casing "private:" and "public:"."""
-    indent = self._indent_str * self._indent_level
-    content = line_content.strip()
-    if content == "private:" or content == "public:":
-      self._lines.append(indent[:-1] + line_content)
-    elif content:
-      self._lines.append(indent + line_content)
-    else:
-      self._lines.append("")
-
-  def newline(self) -> None:
-    """Adds a newline."""
-    self.line("")
-
-  def to_string(self) -> str:
-    """Returns the complete code string."""
-    return "\n".join(self._lines)
-
-  class IndentBlock:
-    """Helper class to manage indentation within a `with` statement."""
-
-    def __init__(self, builder: "CodeBuilder", header_line="", braces=True):
-      self._builder = builder
-      self._header_line = header_line
-      self._braces = braces
-
-    def __enter__(self):
-      line = self._header_line
-      if self._braces:
-        line += " {" if line else "{"
-      self._builder.line(line)
-      self._builder._indent_level += 1
-      self._line_count_enter = len(self._builder._lines)
-      return self._builder
-
-    def __exit__(self, exc_type, exc_val, exc_tb):
-      if self._builder._indent_level > 0:
-        self._builder._indent_level -= 1
-      if self._line_count_enter == len(self._builder._lines):
-        self._builder._lines[-1] += "}"
-      else:
-        if self._braces:
-          self._builder.line("}")
-
-  def block(self, header_line="", braces=True) -> IndentBlock:
-    """Creates a block including braces and an optional header before the opening brace.
-
-    Use via a `with` statement.
-
-    Args:
-        header_line: Optional header line to add before the opening brace.
-        braces: Whether to include opening and closing braces.
-
-    Returns:
-        An IndentBlock instance that manages the indentation.
-    """
-    return self.IndentBlock(self, header_line, braces)
-
-  def function(self, signature="") -> IndentBlock:
-    """Creates a function."""
-    return self.block(signature)
-
-  def struct(self, name="") -> IndentBlock:
-    """Creates a struct."""
-    return self.block(f"struct {name}")
-
-  def private(self) -> None:
-    """Creates a private section."""
-    self.newline()
-    self.line("private:")
-
-  def public(self) -> None:
-    """Creates a public section."""
-    self.newline()
-    self.line("public:")
diff --git a/python/mujoco/codegen/generate_cs_bindings.py b/python/mujoco/codegen/generate_cs_bindings.py
deleted file mode 100644
index 627b3932..00000000
--- a/python/mujoco/codegen/generate_cs_bindings.py
+++ /dev/null
@@ -1,752 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates C# bindings for MuJoCo from introspect modules."""
-
-import re
-import sys
-import ctypes
-
-from absl import app
-from absl import flags
-from introspect import ast_nodes
-from introspect import enums as introspect_enums
-from introspect import functions as introspect_functions
-from introspect import structs as introspect_structs
-
-_HEADER_FILES = flags.DEFINE_string(
-    'header_file_list', '', 'Space-separated list of MuJoCo header files.'
-)
-
-_BOILERPLATE_IMPORTS = [
-    'using System;',
-    'using System.Runtime.InteropServices;',
-    'using System.Text;',
-    'using System.Collections.Generic;',
-    'using SizeDict = System.Collections.Generic.Dictionary<string, string[]>;',
-    (
-        'using NestedDictionary = System.Collections.Generic'
-        '.Dictionary<string, System.Collections.Generic'
-        '.Dictionary<string, string[]>>;'
-    ),
-]
-
-_CS_RESERVED_KEYWORDS = {
-    'abstract',
-    'as',
-    'base',
-    'bool',
-    'break',
-    'byte',
-    'case',
-    'catch',
-    'char',
-    'checked',
-    'class',
-    'const',
-    'continue',
-    'decimal',
-    'default',
-    'delegate',
-    'do',
-    'double',
-    'else',
-    'enum',
-    'event',
-    'explicit',
-    'extern',
-    'false',
-    'finally',
-    'fixed',
-    'float',
-    'for',
-    'foreach',
-    'goto',
-    'if',
-    'implicit',
-    'in',
-    'int',
-    'interface',
-    'internal',
-    'is',
-    'lock',
-    'long',
-    'namespace',
-    'new',
-    'null',
-    'object',
-    'operator',
-    'out',
-    'override',
-    'params',
-    'private',
-    'protected',
-    'public',
-    'readonly',
-    'ref',
-    'return',
-    'sbyte',
-    'sealed',
-    'short',
-    'sizeof',
-    'stackalloc',
-    'static',
-    'string',
-    'struct',
-    'switch',
-    'this',
-    'throw',
-    'true',
-    'try',
-    'typeof',
-    'uint',
-    'ulong',
-    'unchecked',
-    'unsafe',
-    'ushort',
-    'using',
-    'virtual',
-    'void',
-    'volatile',
-    'while',
-}
-
-C_TO_CS_TYPE = {
-    'int': 'int',
-    'unsigned int': 'uint',
-    'float': 'float',
-    'double': 'double',
-    'char': 'char',
-    'unsigned char': 'byte',
-    'size_t': 'UIntPtr',
-    'int64_t': 'Int64',
-    'uint64_t': 'UInt64',
-    'uintptr_t': 'UIntPtr',
-    'void': 'void',
-    'mjtNum': 'double',
-    'mjtByte': 'byte',
-    'mjtBool': 'byte',
-    'mjtSize': 'UInt64' if ctypes.sizeof(ctypes.c_size_t) == 8 else 'UInt32',
-}
-
-PYTHON_TYPE_TO_CS_TYPE = {
-    'float': 'double',
-}
-
-PYTHON_VALUE_TO_CS_VALUE = {
-    True: 'true',
-    False: 'false',
-}
-
-_BLITTABLE_TYPES = {
-    'Byte',
-    'byte',
-    'SByte',
-    'sbyte',
-    'Int16',
-    'short',
-    'UInt16',
-    'ushort',
-    'Int32',
-    'int',
-    'UInt32',
-    'uint',
-    'Int64',
-    'long',
-    'UInt64',
-    'ulong',
-    'IntPtr',
-    'UIntPtr',
-    'Single',
-    'float',
-    'double',
-    'void',
-    'char',
-}
-
-_ALLOWED_FIXED_ARRAYS = {
-    'bool',
-    'byte',
-    'short',
-    'int',
-    'long',
-    'char',
-    'sbyte',
-    'ushort',
-    'uint',
-    'ulong',
-    'float',
-    'double',
-}
-
-_FUNCTION_POINTER_TYPES = {
-    'mjfItemEnable',
-    'mjfLogHandler',
-}
-
-_STRUCT_NAME_OVERRIDES = {}
-
-_STUB_STRUCTS = [
-    '_mjVFS',
-    'mjuiItemSingle_',
-    'mjuiItemMulti_',
-    'mjuiItemSlider_',
-    'mjuiItemEdit_',
-]
-
-_OPAQUE_STRUCTS = [
-    'mjVFS',
-    'mjSDF',
-    'mjTask',
-    'mjThreadPool',
-    'mjpDecoder',
-    'mjpEncoder',
-    'mjpResourceProvider',
-    'mjsElement',
-    'mjString',
-    'mjStringVec',
-    'mjIntVec',
-    'mjIntVecVec',
-    'mjFloatVec',
-    'mjFloatVecVec',
-    'mjDoubleVec',
-    'mjByteVec',
-    'mjSpec',
-    'mjsOrientation',
-    'mjsPlugin',
-    'mjsBody',
-    'mjsFrame',
-    'mjsJoint',
-    'mjsGeom',
-    'mjsSite',
-    'mjsCamera',
-    'mjsLight',
-    'mjsFlex',
-    'mjsMesh',
-    'mjsHField',
-    'mjsSkin',
-    'mjsTexture',
-    'mjsMaterial',
-    'mjsPair',
-    'mjsExclude',
-    'mjsEquality',
-    'mjsTendon',
-    'mjsWrap',
-    'mjsActuator',
-    'mjsSensor',
-    'mjsNumeric',
-    'mjsText',
-    'mjsTuple',
-    'mjsKey',
-    'mjsDefault',
-]
-
-_OMITTED_FUNCTIONS = [
-    'mj_loadAllPluginLibraries',
-    'mjc_distance',
-    'mjc_getSDF',
-    'mjc_gradient',
-    'mjp_',
-    'mju_decodeResource',
-    'mju_defaultTask',
-    'mju_task',
-    'mju_thread',
-    'mju_openResource',
-    'mju_closeResource',
-    'mju_readResource',
-    'mju_writeResource',
-    'mju_getResourceDir',
-    'mju_isModifiedResource',
-    'mj_compile',
-    'mj_copyBack',
-    'mj_copySpec',
-    'mj_deleteSpec',
-    'mj_makeSpec',
-    'mj_parse',
-    'mj_parseXML',
-    'mj_parseXMLString',
-    'mj_recompile',
-    'mj_saveXML',
-    'mj_saveXMLString',
-    'mj_mountVFS',
-    'mj_unmountVFS',
-    'mjs_',
-]
-
-
-def _mangle_name(name):
-  while name in _CS_RESERVED_KEYWORDS:
-    name += '_'
-  return name
-
-
-def _strip_struct_prefix(name):
-  if name.startswith('struct '):
-    return name[len('struct ') :]
-  return name
-
-
-def _resolve_type_name(raw_name):
-  name = _strip_struct_prefix(raw_name)
-  if name in _FUNCTION_POINTER_TYPES:
-    return 'IntPtr'
-  if name in C_TO_CS_TYPE:
-    return C_TO_CS_TYPE[name]
-  if name in _STRUCT_NAME_OVERRIDES:
-    return _STRUCT_NAME_OVERRIDES[name]
-  if name in introspect_enums.ENUMS:
-    return name
-  if name.endswith('_'):
-    return name
-  return name + '_'
-
-
-def _is_opaque_type(raw_name):
-  name = _strip_struct_prefix(raw_name)
-  bare = name.rstrip('_')
-  return bare in _OPAQUE_STRUCTS
-
-
-def _resolve_cs_type(type_node):
-  if isinstance(type_node, ast_nodes.ValueType):
-    return _resolve_type_name(type_node.name)
-  elif isinstance(type_node, ast_nodes.PointerType):
-    if isinstance(
-        type_node.inner_type, ast_nodes.ValueType
-    ) and _is_opaque_type(type_node.inner_type.name):
-      return 'void*'
-    inner_cs = _resolve_cs_type(type_node.inner_type)
-    return inner_cs + '*'
-  elif isinstance(type_node, ast_nodes.ArrayType):
-    inner_cs = _resolve_cs_type(type_node.inner_type)
-    return inner_cs
-  return 'void'
-
-
-def _get_struct_typename(struct_decl):
-  name = _strip_struct_prefix(struct_decl.declname)
-  if name in _STRUCT_NAME_OVERRIDES:
-    return _STRUCT_NAME_OVERRIDES[name]
-  return name
-
-
-def _is_struct_type(type_name):
-  return type_name.endswith('_') and type_name not in (
-      set(C_TO_CS_TYPE.values()) | _BLITTABLE_TYPES
-  )
-
-
-def _is_omitted_struct(struct_name):
-  for omitted in _OPAQUE_STRUCTS:
-    if struct_name.startswith(omitted):
-      return True
-  return False
-
-
-def _is_omitted_function(func_name):
-  for omitted in _OMITTED_FUNCTIONS:
-    if func_name.startswith(omitted):
-      return True
-  return False
-
-
-def _parse_constants_from_headers(header_files):
-  """Parses #define constants from MuJoCo header files."""
-  constants = {}
-  define_with_value = re.compile(
-      r'^[ \t]*#[ \t]*define[ \t]+(\w+)[ \t]+(\S.+?)(?:[ \t]*//.*)?$',
-      re.MULTILINE,
-  )
-  define_no_value = re.compile(
-      r'^[ \t]*#[ \t]*define[ \t]+(\w+)[ \t]*$', re.MULTILINE
-  )
-
-  for header_file in header_files:
-    try:
-      with open(header_file, 'r') as f:
-        content = f.read()
-    except (IOError, OSError):
-      continue
-
-    for match in define_no_value.finditer(content):
-      name = match.group(1)
-      if name.startswith('_'):
-        continue
-      constants[name] = True
-
-    for match in define_with_value.finditer(content):
-      name = match.group(1)
-      value_str = match.group(2).strip()
-
-      if name.startswith('_'):
-        continue
-      if '(' in name:
-        continue
-
-      if value_str.startswith('(') and value_str.endswith(')'):
-        value_str = value_str[1:-1].strip()
-
-      clean_val = value_str.rstrip('UuFf')
-
-      try:
-        value = float(clean_val)
-        if (
-            value == int(value)
-            and '.' not in clean_val
-            and 'e' not in clean_val.lower()
-        ):
-          constants[name] = int(value)
-        else:
-          constants[name] = value
-        continue
-      except ValueError:
-        pass
-
-      try:
-        constants[name] = int(clean_val, 0)
-        continue
-      except ValueError:
-        pass
-
-      try:
-        evaled = eval(clean_val, {'__builtins__': {}}, constants)  # pylint: disable=eval-used
-        if isinstance(evaled, (int, float)):
-          constants[name] = evaled
-      except Exception:  # pylint: disable=broad-except
-        pass
-
-  return constants
-
-
-_COPYRIGHT_HEADER = """// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-// ==============================================================================
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-"""
-
-
-def _write_header(output):
-  """Writes the file header including copyright and imports."""
-  output.write(_COPYRIGHT_HEADER)
-  output.write(
-      '\n'.join(
-          _BOILERPLATE_IMPORTS
-          + ['namespace Mujoco {', 'public static class MujocoLib {\n']
-      )
-  )
-
-
-def _write_footer(output):
-  output.write('}\n}\n')
-
-
-def _write_constants(output, constants):
-  output.write('\n// ' + '-' * 34 + 'Constants' + '-' * 34 + '\n\n')
-  for name, value in constants.items():
-    const_type = type(value).__name__
-    const_type = PYTHON_TYPE_TO_CS_TYPE.get(const_type, const_type)
-    const_value = PYTHON_VALUE_TO_CS_VALUE.get(value, value)
-    if name == 'mjVERSION_HEADER':
-      output.write('// copy' + 'bara:strip_begin\n')
-      output.write(f'public const {const_type} {name} = {const_value};\n')
-      output.write('/* copy' + 'bara:strip_end_and_replace\n')
-      output.write(
-          f'public const {const_type} {name} = __COPYBARA'
-          + '_MUJOCO_VERSION_NUMERIC__;\n'
-      )
-      output.write('*/\n')
-    else:
-      output.write(f'public const {const_type} {name} = {const_value};\n')
-  output.write('\n')
-
-
-def _write_enums(output):
-  output.write('\n// ' + '-' * 36 + 'Enums' + '-' * 36 + '\n')
-  for enum_name, enum_decl in introspect_enums.ENUMS.items():
-    output.write(f'public enum {enum_name} : int{{\n')
-    for member_name, member_value in enum_decl.values.items():
-      output.write(f'  {member_name} = {member_value},\n')
-    output.write('}\n')
-
-
-def _field_to_cs_member(field, known_structs):
-  if isinstance(field, ast_nodes.AnonymousUnionDecl):
-    return _anonymous_union_to_cs(field, known_structs)
-  if isinstance(field, ast_nodes.AnonymousStructDecl):
-    return _anonymous_struct_to_cs(field, known_structs)
-
-  name = _mangle_name(field.name)
-  field_type = field.type
-
-  if isinstance(
-      field_type, (ast_nodes.AnonymousStructDecl, ast_nodes.AnonymousUnionDecl)
-  ):
-    return f'  public {field.name} {name};\n'
-
-  if isinstance(field_type, ast_nodes.ValueType):
-    cs_type = _resolve_type_name(field_type.name)
-    return f'  public {cs_type} {name};\n'
-
-  elif isinstance(field_type, ast_nodes.ArrayType):
-    inner_type = field_type.inner_type
-    if isinstance(inner_type, ast_nodes.ValueType):
-      cs_type = _resolve_type_name(inner_type.name)
-    elif isinstance(inner_type, ast_nodes.PointerType):
-      cs_type = _resolve_cs_type(inner_type)
-    else:
-      cs_type = 'int'
-
-    extents = field_type.extents
-    total_size = ' * '.join(str(e) for e in extents)
-
-    if cs_type in _ALLOWED_FIXED_ARRAYS:
-      return f'  public fixed {cs_type} {name}[{total_size}];\n'
-    elif cs_type in known_structs or cs_type in _BLITTABLE_TYPES:
-      result = ''
-      cs_display = cs_type if cs_type != 'void' else 'IntPtr'
-      if len(extents) == 1:
-        for i in range(extents[0]):
-          result += f'  public {cs_display} {name}{i};\n'
-      elif len(extents) == 2:
-        for i in range(extents[0]):
-          for j in range(extents[1]):
-            result += f'  public {cs_display} {name}{i}_{j};\n'
-      return result
-    else:
-      return f'  public fixed {cs_type} {name}[{total_size}];\n'
-
-  elif isinstance(field_type, ast_nodes.PointerType):
-    inner = field_type.inner_type
-    if isinstance(inner, ast_nodes.ValueType):
-      if _is_opaque_type(inner.name):
-        return f'  public void* {name};\n'
-      cs_type = _resolve_type_name(inner.name)
-      if inner.name == 'char' and not field_type.is_const:
-        return f'  public char* {name};\n'
-      return f'  public {cs_type}* {name};\n'
-    elif isinstance(inner, ast_nodes.PointerType):
-      inner_cs = _resolve_cs_type(inner)
-      return f'  public {inner_cs}* {name};\n'
-    else:
-      return f'  public void* {name};\n'
-
-  return f'  public int {name};\n'
-
-
-def _anonymous_union_to_cs(union_decl, known_structs):
-  result = ''
-  for sub_field in union_decl.fields:
-    result += _field_to_cs_member(sub_field, known_structs)
-  return result
-
-
-def _anonymous_struct_to_cs(struct_decl, known_structs):
-  result = ''
-  for sub_field in struct_decl.fields:
-    result += _field_to_cs_member(sub_field, known_structs)
-  return result
-
-
-def _emit_anonymous_sub_structs(output, struct_decl, known_structs):
-  """Emits separate struct declarations for anonymous sub-structs."""
-  for field in struct_decl.fields:
-    if not isinstance(field, ast_nodes.StructFieldDecl):
-      continue
-    if not isinstance(
-        field.type,
-        (ast_nodes.AnonymousStructDecl, ast_nodes.AnonymousUnionDecl),
-    ):
-      continue
-    sub_type_name = field.name
-    output.write('\n[StructLayout(LayoutKind.Sequential)]\n')
-    output.write(f'public unsafe struct {sub_type_name} {{\n')
-    for sub_field in field.type.fields:
-      if isinstance(sub_field, ast_nodes.StructFieldDecl):
-        output.write(_field_to_cs_member(sub_field, known_structs))
-      elif isinstance(
-          sub_field,
-          (ast_nodes.AnonymousUnionDecl, ast_nodes.AnonymousStructDecl),
-      ):
-        for inner_field in sub_field.fields:
-          output.write(_field_to_cs_member(inner_field, known_structs))
-    output.write('}\n')
-    known_structs.add(sub_type_name)
-
-
-def _write_structs(output, known_structs):
-  """Writes struct declarations to a file."""
-  output.write('\n// ' + '-' * 31 + 'struct declarations' + '-' * 27 + '\n')
-  for struct_name, struct_decl in introspect_structs.STRUCTS.items():
-    if _is_omitted_struct(struct_name):
-      continue
-
-    typename = _get_struct_typename(struct_decl)
-
-    _emit_anonymous_sub_structs(output, struct_decl, known_structs)
-
-    output.write('\n[StructLayout(LayoutKind.Sequential)]\n')
-    output.write(f'public unsafe struct {typename} {{\n')
-
-    for field in struct_decl.fields:
-      if isinstance(field, ast_nodes.StructFieldDecl):
-        if field.array_extent is not None:
-          cs_type = _resolve_cs_type(field.type)
-          name = _mangle_name(field.name)
-          output.write(f'  public {cs_type} {name};\n')
-        else:
-          output.write(_field_to_cs_member(field, known_structs))
-      elif isinstance(
-          field, (ast_nodes.AnonymousUnionDecl, ast_nodes.AnonymousStructDecl)
-      ):
-        for sub_field in field.fields:
-          output.write(_field_to_cs_member(sub_field, known_structs))
-
-    output.write('}\n')
-    known_structs.add(typename)
-
-  for stub in _STUB_STRUCTS:
-    if stub not in known_structs:
-      output.write(f'\n[StructLayout(LayoutKind.Sequential)]\n')
-      output.write(f'public unsafe struct {stub} {{}}\n')
-      known_structs.add(stub)
-
-
-def _func_param_to_cs(param):
-  param_type = param.type
-  param_name = _mangle_name(param.name)
-
-  if isinstance(param_type, ast_nodes.ValueType):
-    cs_type = _resolve_type_name(param_type.name)
-    return cs_type, param_name, None
-
-  elif isinstance(param_type, ast_nodes.PointerType):
-    inner = param_type.inner_type
-    if isinstance(inner, ast_nodes.ValueType):
-      if inner.name == 'char':
-        if param_type.is_const or (
-            hasattr(inner, 'is_const') and inner.is_const
-        ):
-          return 'string', param_name, 'MarshalAs(UnmanagedType.LPStr)'
-        else:
-          return 'StringBuilder', param_name, None
-      if _is_opaque_type(inner.name):
-        return 'void*', param_name, None
-      cs_type = _resolve_type_name(inner.name)
-      return cs_type + '*', param_name, None
-    elif isinstance(inner, ast_nodes.PointerType):
-      inner_cs = _resolve_cs_type(inner)
-      return inner_cs + '*', param_name, None
-    elif isinstance(inner, ast_nodes.ArrayType):
-      inner_cs = _resolve_cs_type(inner.inner_type)
-      return inner_cs + '*', param_name, None
-    else:
-      return 'void*', param_name, None
-
-  elif isinstance(param_type, ast_nodes.ArrayType):
-    inner_cs = _resolve_cs_type(param_type.inner_type)
-    return inner_cs + '*', param_name, None
-
-  return 'int', param_name, None
-
-
-def _func_return_to_cs(return_type):
-  if isinstance(return_type, ast_nodes.ValueType):
-    cs_type = _resolve_type_name(return_type.name)
-    return cs_type, None
-
-  elif isinstance(return_type, ast_nodes.PointerType):
-    inner = return_type.inner_type
-    if isinstance(inner, ast_nodes.ValueType):
-      if inner.name == 'char':
-        return 'IntPtr', None
-      if _is_opaque_type(inner.name):
-        return 'void*', None
-      cs_type = _resolve_type_name(inner.name)
-      return cs_type + '*', None
-    elif isinstance(inner, ast_nodes.PointerType):
-      inner_cs = _resolve_cs_type(inner)
-      return inner_cs + '*', None
-    return 'void*', None
-
-  return 'void', None
-
-
-def _write_functions(output):
-  output.write('\n// ' + '-' * 30 + 'Function declarations' + '-' * 26 + '\n')
-  for func_name, func_decl in introspect_functions.FUNCTIONS.items():
-    if _is_omitted_function(func_name):
-      continue
-
-    name = _mangle_name(func_name)
-
-    args = []
-    for param in func_decl.parameters:
-      cs_type, param_name, annotation = _func_param_to_cs(param)
-      if annotation:
-        args.append(f'[{annotation}]{cs_type} {param_name}')
-      else:
-        args.append(f'{cs_type} {param_name}')
-    args_str = ', '.join(args)
-
-    return_type, return_annotation = _func_return_to_cs(func_decl.return_type)
-
-    output.write(
-        '\n[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]\n'
-    )
-    if return_annotation:
-      output.write(f'[{return_annotation}]\n')
-    output.write(
-        f'public static unsafe extern {return_type} {name}({args_str});\n'
-    )
-
-
-def main(argv):
-  del argv
-
-  constants = {}
-  if _HEADER_FILES.value:
-    header_files = _HEADER_FILES.value.split()
-    constants = _parse_constants_from_headers(header_files)
-
-  known_structs = set()
-  for struct_name, struct_decl in introspect_structs.STRUCTS.items():
-    if not _is_omitted_struct(struct_name):
-      known_structs.add(_get_struct_typename(struct_decl))
-
-  output = sys.stdout
-
-  _write_header(output)
-  if constants:
-    _write_constants(output, constants)
-  _write_enums(output)
-  _write_structs(output, known_structs)
-  _write_functions(output)
-  _write_footer(output)
-
-
-if __name__ == '__main__':
-  app.run(main)
diff --git a/python/mujoco/codegen/generate_enum_traits.py b/python/mujoco/codegen/generate_enum_traits.py
deleted file mode 100644
index 279978af..00000000
--- a/python/mujoco/codegen/generate_enum_traits.py
+++ /dev/null
@@ -1,89 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Code generator for function_traits.h."""
-
-from typing import Mapping, Sequence
-
-from absl import app
-
-from introspect import ast_nodes
-from introspect import enums
-
-ENUMS: Mapping[str, ast_nodes.EnumDecl] = enums.ENUMS
-
-
-def main(argv: Sequence[str]) -> None:
-  if len(argv) > 1:
-    raise app.UsageError('Too many command-line arguments.')
-
-  struct_decls = []
-  for enum in ENUMS.values():
-    value_decls = []
-    for k in enum.values:
-      value_decls.append(f'std::make_pair("{k}", ::{enum.name}::{k})')
-    if len(value_decls) < 2:
-      value_decls = ''.join(value_decls)
-    else:
-      value_decls = '\n    ' + ',\n    '.join(value_decls)
-    struct_decls.append(f"""
-struct {enum.name} {{
-  static constexpr char name[] = "{enum.name}";
-  using type = ::{enum.name};
-  static constexpr auto values = std::array{{{value_decls}}};
-}};
-""".strip())
-
-  all_structs = '\n\n'.join(struct_decls)
-
-  all_enum_inits = '\n    ' + '{},\n    '.join(ENUMS.keys()) + '{}'
-
-  print(f"""
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_CODEGEN_ENUM_TRAITS_H_
-#define MUJOCO_PYTHON_CODEGEN_ENUM_TRAITS_H_
-
-#include <array>
-#include <tuple>
-#include <utility>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::python_traits {{
-
-{all_structs}
-
-static constexpr auto kAllEnums = std::make_tuple({all_enum_inits});
-
-}}  // namespace mujoco::python_traits
-
-#endif  // MUJOCO_PYTHON_CODEGEN_ENUM_TRAITS_H_
-""".lstrip())
-
-
-if __name__ == '__main__':
-  app.run(main)
diff --git a/python/mujoco/codegen/generate_function_traits.py b/python/mujoco/codegen/generate_function_traits.py
deleted file mode 100644
index a2fa4fe5..00000000
--- a/python/mujoco/codegen/generate_function_traits.py
+++ /dev/null
@@ -1,120 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Code generator for function_traits.h."""
-
-import keyword
-from typing import Mapping, Sequence
-
-from absl import app
-
-from introspect import ast_nodes
-from introspect import functions
-
-FUNCTIONS: Mapping[str, ast_nodes.FunctionDecl] = functions.FUNCTIONS
-
-
-def _sanitize_keyword(s: str) -> str:
-  if keyword.iskeyword(s):
-    return s + '_'
-  return s
-
-
-def main(argv: Sequence[str]) -> None:
-  if len(argv) > 1:
-    raise app.UsageError('Too many command-line arguments.')
-
-  struct_decls = []
-  for func in FUNCTIONS.values():
-    # Skip variadic functions as Introspect currently doesn't support them.
-    if func.name in ('mju_error', 'mju_warning', 'mju_info'):
-      continue
-
-    # Modify some parameter types.
-    parameters = []
-    modified = False
-    for p in func.parameters:
-      # Expose array parameters as pointer-to-arrays so that we can determine
-      # array extents in C++ templates.
-      if isinstance(p.type, ast_nodes.ArrayType):
-        parameters.append(ast_nodes.FunctionParameterDecl(
-            name=p.name, type=ast_nodes.PointerType(
-                ast_nodes.ArrayType(
-                    inner_type=p.type.inner_type, extents=p.type.extents))))
-        modified = True
-      else:
-        parameters.append(p)
-
-    if modified:
-      func = ast_nodes.FunctionDecl(
-          name=func.name, return_type=func.return_type,
-          parameters=parameters, doc=func.doc)
-      getfunc = f'*reinterpret_cast<type*>(&::{func.name})'
-    else:
-      getfunc = f'::{func.name}'
-
-    param_names = ', '.join(
-        f'"{_sanitize_keyword(p.name)}"' for p in parameters
-    )
-
-    struct_decls.append(f"""
-struct {func.name} {{
-  static constexpr char name[] = "{func.name}";
-  static constexpr char doc[] = "{func.doc}";
-  using type = {func.decltype};
-  static constexpr auto param_names = std::make_tuple({param_names});
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {{
-    return {getfunc};
-  }}
-}};
-""".strip())
-
-  all_structs = '\n\n'.join(struct_decls)
-
-  print(f"""
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_CODEGEN_FUNCTION_TRAITS_H_
-#define MUJOCO_PYTHON_CODEGEN_FUNCTION_TRAITS_H_
-
-#include <tuple>
-
-#include <mujoco/mujoco.h>
-#include "util/crossplatform.h"
-
-namespace mujoco::python_traits {{
-
-{all_structs}
-
-}}  // namespace mujoco::python_traits
-
-#endif  // MUJOCO_PYTHON_CODEGEN_FUNCTION_TRAITS_H_
-""".lstrip())
-
-
-if __name__ == '__main__':
-  app.run(main)
diff --git a/python/mujoco/codegen/generate_spec_bindings.py b/python/mujoco/codegen/generate_spec_bindings.py
deleted file mode 100644
index c3d23423..00000000
--- a/python/mujoco/codegen/generate_spec_bindings.py
+++ /dev/null
@@ -1,1012 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates the bindings for the MuJoCo specs."""
-
-from collections.abc import Sequence
-
-from absl import app
-
-from introspect import ast_nodes
-from introspect import enums
-from introspect import structs
-
-
-SCALAR_TYPES = {'int', 'double', 'float', 'mjtByte', 'mjtBool', 'mjtNum'}
-
-# pylint: disable=bad-whitespace
-# key, parent, default, listname, objtype
-SPECS = [
-    ('mjsBody',     'Body', True,  'bodies',     'mjOBJ_BODY'),
-    ('mjsSite',     'Body', True,  'sites',      'mjOBJ_SITE'),
-    ('mjsGeom',     'Body', True,  'geoms',      'mjOBJ_GEOM'),
-    ('mjsJoint',    'Body', True,  'joints',     'mjOBJ_JOINT'),
-    ('mjsCamera',   'Body', True,  'cameras',    'mjOBJ_CAMERA'),
-    ('mjsFrame',    'Body', True,  'frames',     'mjOBJ_FRAME'),
-    ('mjsLight',    'Body', True,  'lights',     'mjOBJ_LIGHT'),
-    ('mjsFlex',     'Spec', False, 'flexes',     'mjOBJ_FLEX'),
-    ('mjsMesh',     'Spec', True,  'meshes',     'mjOBJ_MESH'),
-    ('mjsSkin',     'Spec', False, 'skins',      'mjOBJ_SKIN'),
-    ('mjsHField',   'Spec', False, 'hfields',    'mjOBJ_HFIELD'),
-    ('mjsTexture',  'Spec', False, 'textures',   'mjOBJ_TEXTURE'),
-    ('mjsMaterial', 'Spec', True,  'materials',  'mjOBJ_MATERIAL'),
-    ('mjsPair',     'Spec', True,  'pairs',      'mjOBJ_PAIR'),
-    ('mjsEquality', 'Spec', True,  'equalities', 'mjOBJ_EQUALITY'),
-    ('mjsTendon',   'Spec', True,  'tendons',    'mjOBJ_TENDON'),
-    ('mjsActuator', 'Spec', True,  'actuators',  'mjOBJ_ACTUATOR'),
-    ('mjsSensor',   'Spec', False, 'sensors',    'mjOBJ_SENSOR'),
-    ('mjsNumeric',  'Spec', False, 'numerics',   'mjOBJ_NUMERIC'),
-    ('mjsText',     'Spec', False, 'texts',      'mjOBJ_TEXT'),
-    ('mjsTuple',    'Spec', False, 'tuples',     'mjOBJ_TUPLE'),
-    ('mjsKey',      'Spec', False, 'keys',       'mjOBJ_KEY'),
-    ('mjsExclude',  'Spec', False, 'excludes',   'mjOBJ_EXCLUDE'),
-    ('mjsPlugin',   'Spec', False, 'plugins',    'mjOBJ_PLUGIN'),
-]
-SPECS_ADD = SPECS + [
-    ('mjsBody',     'Frame', True, 'bodies',     'mjOBJ_BODY'),
-    ('mjsSite',     'Frame', True, 'sites',      'mjOBJ_SITE'),
-    ('mjsGeom',     'Frame', True, 'geoms',      'mjOBJ_GEOM'),
-    ('mjsJoint',    'Frame', True, 'joints',     'mjOBJ_JOINT'),
-    ('mjsCamera',   'Frame', True, 'cameras',    'mjOBJ_CAMERA'),
-    ('mjsFrame',    'Frame', True, 'frames',     'mjOBJ_FRAME'),
-    ('mjsLight',    'Frame', True, 'lights',     'mjOBJ_LIGHT'),
-]
-# pylint: enable=bad-whitespace
-
-
-def _value_binding_code(
-    field: ast_nodes.ValueType, classname: str = '', varname: str = ''
-) -> str:
-  """Creates a string that defines Python bindings for a value type."""
-  fulltype = field.name
-  if field.name not in SCALAR_TYPES:
-    fulltype += '&'
-  fullvarname = varname
-  rawclassname = classname.replace('mjs', 'raw::Mjs')
-  if classname == 'mjSpec':  # raw mjSpec has a wrapper
-    rawclassname = classname.replace('mjS', 'MjS')
-    fullvarname = 'ptr->' + varname
-  if field.name.startswith('mjs'):  # all other mjs are raw structs
-    fulltype = field.name.replace('mjs', 'raw::Mjs')
-    if (
-        field.name == 'mjsPlugin'
-        or field.name == 'mjsOrientation'
-        or field.name == 'mjsCompiler'
-        or field.name == 'mjsAuthored'
-    ):
-      # plugin, orientation, compiler, authored aren't pointers
-      fulltype = fulltype + '&'
-    else:
-      fulltype = fulltype + '*'
-  # non-mjs structs
-  rawclassname = rawclassname.replace('mjOption', 'raw::MjOption')
-  rawclassname = rawclassname.replace('mjVisual', 'raw::MjVisual')
-  rawclassname = rawclassname.replace('mjStatistic', 'raw::MjStatistic')
-  fulltype = fulltype.replace('mjOption', 'raw::MjOption')
-  fulltype = fulltype.replace('mjVisual', 'raw::MjVisual')
-  fulltype = fulltype.replace('mjStatistic', 'raw::MjStatistic')
-  element = ''
-  is_enum = field.name in enums.ENUMS
-
-  if field.name == 'mjsPlugin':
-    setter = f"""[]({rawclassname}& self, {fulltype} {varname}) {{
-      if (self.{fullvarname}.name && {varname}.name) *self.{fullvarname}.name = *{varname}.name;
-      if (self.{fullvarname}.plugin_name && {varname}.plugin_name) *self.{fullvarname}.plugin_name = *{varname}.plugin_name;
-      self.{fullvarname}.active = {varname}.active;
-      if (self.{fullvarname}.info && {varname}.info) *self.{fullvarname}.info = *{varname}.info;
-    }}"""
-  elif is_enum:
-    setter = f"""[]({rawclassname}& self, int {varname}) {{
-      self.{fullvarname}{element} = static_cast<{field.name}>({varname}){element};
-    }}"""
-  else:
-    setter = f"""[]({rawclassname}& self, {fulltype} {varname}) {{
-      self.{fullvarname}{element} = {varname}{element};
-    }}"""
-
-  def_property_args = (
-      f'"{varname}"',
-      f"""[]({rawclassname}& self) -> {field.name if is_enum else fulltype} {{
-        return self.{fullvarname};
-      }}""",
-      setter,
-  )
-
-  if field.name not in SCALAR_TYPES and not is_enum:
-    def_property_args += ('py::return_value_policy::reference_internal',)
-
-  return f'{classname}.def_property({",".join(def_property_args)});'
-
-
-def _struct_binding_code(
-    field: ast_nodes.AnonymousStructDecl, classname: str = '', varname: str = ''
-) -> str:
-  """Creates a string that declares Python bindings for an anonymous struct."""
-  code = ''
-  name = classname + varname.title()
-  # explicitly generate for nested fields with arrays
-  if any(
-      isinstance(f, ast_nodes.StructFieldDecl)
-      and isinstance(f.type, ast_nodes.ArrayType)
-      for f in field.fields
-  ):
-    for subfield in field.fields:
-      code += _binding_code(subfield, name)  # pyrefly: ignore[bad-argument-type]
-  # generate for the struct itself
-  field = ast_nodes.ValueType(name=name)  # pyrefly: ignore[bad-assignment]
-  code += _value_binding_code(field, classname, varname)  # pyrefly: ignore[bad-argument-type]
-  return code
-
-
-def _array_binding_code(
-    field: ast_nodes.ArrayType, classname: str = '', varname: str = ''
-) -> str:
-  """Creates a string that declares Python bindings for an array type."""
-  if len(field.extents) > 1:
-    raise NotImplementedError()
-  innertype = field.inner_type.decl()
-  rawclassname = classname.replace('mjs', 'raw::Mjs')
-  rawclassname = rawclassname.replace('mjOption', 'raw::MjOption')
-  rawclassname = rawclassname.replace('mjVisual', 'raw::MjVisual')
-  rawclassname = rawclassname.replace('mjStatistic', 'raw::MjStatistic')
-  fullvarname = varname
-  if classname == 'mjSpec':  # raw mjSpec has a wrapper
-    rawclassname = classname.replace('mjS', 'MjS')
-    fullvarname = 'ptr->' + varname
-  if innertype == 'mjtNum':
-    innertype = 'MjNum'  # custom Eigen type for mjtNum fields
-  elif innertype == 'double':
-    innertype = 'MjDouble'  # custom Eigen type for double fields
-  elif innertype == 'float':
-    innertype = 'MjFloat'  # custom Eigen type
-  elif innertype == 'int':
-    innertype = 'MjInt'  # custom Eigen type
-  elif innertype == 'char':
-    # char array special case
-    return f"""\
-  {classname}.def_property(
-    "{varname}",
-    []({rawclassname}& self) -> MjTypeVec<char> {{
-      return MjTypeVec<char>(self.{fullvarname}, {field.extents[0]});
-    }},
-    []({rawclassname}& self, py::object rhs) {{
-      int i = 0;
-      for (auto val : rhs) {{
-        self.{fullvarname}[i++] = py::cast<char>(val);
-      }}
-    }}, py::return_value_policy::move);"""
-  # all other array types
-  return f"""\
-  {classname}.def_property(
-      "{varname}",
-      []({rawclassname}& self) -> {innertype}{field.extents[0]} {{
-        return {innertype}{field.extents[0]}(self.{fullvarname});
-    }},
-      []({rawclassname}& self, {innertype}Ref{field.extents[0]} {varname}) {{
-        {innertype}{field.extents[0]}(self.{fullvarname}) = {varname};
-    }}, py::return_value_policy::reference_internal);"""
-
-
-def _ptr_binding_code(
-    field: ast_nodes.PointerType, classname: str = '', varname: str = ''
-) -> str:
-  """Creates a string that declares Python bindings for a pointer type."""
-  vartype = field.inner_type.decl()
-  rawclassname = classname.replace('mjs', 'raw::Mjs')
-  fullvarname = varname
-  if classname == 'mjSpec':  # raw mjSpec has a wrapper
-    rawclassname = classname.replace('mjS', 'MjS')
-    fullvarname = 'ptr->' + varname
-  if vartype == 'mjsElement':  # this is ignored by the caller
-    return 'mjsElement'
-  if vartype.startswith('mjs'):  # for structs, use the value case
-    return _value_binding_code(field.inner_type, classname, varname)  # pyrefly: ignore[bad-argument-type]
-  elif vartype == 'mjString':  # C++ string -> Python string
-    return f"""\
-  {classname}.def_property(
-      "{varname}",
-      []({rawclassname}& self) -> std::string_view {{
-        return *self.{fullvarname};
-      }},
-      []({rawclassname}& self, std::string_view {varname}) {{
-        *(self.{fullvarname}) = {varname};
-    }});"""
-  elif (  # C++ vectors of values -> custom array
-      vartype == 'mjDoubleVec'
-      or vartype == 'mjFloatVec'
-      or vartype == 'mjIntVec'
-  ):
-    vartype = vartype.replace('mj', '').replace('Vec', '').lower()
-    return f"""\
-  {classname}.def_property(
-    "{varname}",
-    []({rawclassname}& self) -> MjTypeVec<{vartype}> {{
-        return MjTypeVec<{vartype}>(self.{fullvarname}->data(),
-                                    self.{fullvarname}->size());
-      }},
-    []({rawclassname}& self, py::object rhs) {{
-        self.{fullvarname}->clear();
-        self.{fullvarname}->reserve(py::len(rhs));
-        for (auto val : rhs) {{
-          self.{fullvarname}->push_back(py::cast<{vartype}>(val));
-      }}
-    }}, py::return_value_policy::move);"""
-  elif vartype == 'mjByteVec':
-    return f"""\
-  {classname}.def_property(
-    "{varname}",
-    []({rawclassname}& self) -> py::bytes {{
-      return py::bytes(reinterpret_cast<const char*>(self.{fullvarname}->data()),
-                                                     self.{fullvarname}->size());
-    }},
-    []({rawclassname}& self, py::bytes rhs) {{
-      self.{fullvarname}->clear();
-      std::string_view rhs_view = py::cast<std::string_view>(rhs);
-      self.{fullvarname}->reserve(rhs_view.length());
-      for (char val : rhs_view) {{
-        self.{fullvarname}->push_back(static_cast<std::byte>(val));
-      }}
-    }}, py::return_value_policy::move);"""
-  elif vartype == 'mjStringVec':
-    # Special case for material.textures: must be exactly mjNTEXROLE size
-    if classname == 'mjsMaterial' and varname == 'textures':
-      return f"""\
-  {classname}.def_property(
-    "{varname}",
-    []({rawclassname}& self) -> MjTypeVec<std::string> {{
-        return MjTypeVec<std::string>(self.{fullvarname}->data(),
-                                      self.{fullvarname}->size());
-      }},
-    []({rawclassname}& self, py::object rhs) {{
-        if (py::len(rhs) != mjNTEXROLE) {{
-          throw pybind11::value_error(
-              "material.textures must have exactly " + std::to_string(mjNTEXROLE) +
-              " elements, got " + std::to_string(py::len(rhs)) + ". " +
-              "Assign a list of " + std::to_string(mjNTEXROLE) + " texture names " +
-              "(use empty strings '' for unused slots).");
-        }}
-        self.{fullvarname}->clear();
-        self.{fullvarname}->reserve(mjNTEXROLE);
-        for (auto val : rhs) {{
-          self.{fullvarname}->push_back(py::cast<std::string>(val));
-      }}
-    }}, py::return_value_policy::move);"""
-    # Default case for other mjStringVec properties
-    return f"""\
-  {classname}.def_property(
-    "{varname}",
-    []({rawclassname}& self) -> MjTypeVec<std::string> {{
-        return MjTypeVec<std::string>(self.{fullvarname}->data(),
-                                      self.{fullvarname}->size());
-      }},
-    []({rawclassname}& self, py::object rhs) {{
-        self.{fullvarname}->clear();
-        self.{fullvarname}->reserve(py::len(rhs));
-        for (auto val : rhs) {{
-          self.{fullvarname}->push_back(py::cast<std::string>(val));
-      }}
-    }}, py::return_value_policy::move);"""
-  elif 'VecVec' in vartype:  # C++ vector of vectors -> Python list of lists
-    vartype = vartype.replace('mj', '').replace('VecVec', '').lower()
-    return f"""\
-  {classname}.def_property(
-    "{varname}",
-    []({rawclassname}& self) -> py::list {{
-        py::list list;
-        for (auto inner_vec : *self.{fullvarname}) {{
-          py::list inner_list;
-          for (auto val : inner_vec) {{
-            inner_list.append(val);
-          }}
-          list.append(inner_list);
-        }}
-        return list;
-      }},
-    []({rawclassname}& self, py::object rhs) {{
-        self.{fullvarname}->clear();
-        self.{fullvarname}->reserve(py::len(rhs));
-        for (auto inner_list : rhs) {{
-          auto inner_vec = py::cast<std::vector<{vartype}>>(inner_list);
-          self.{fullvarname}->push_back(inner_vec);
-        }}
-    }}, py::return_value_policy::reference_internal);"""
-
-  raise NotImplementedError(
-      'Unsupported array type: ' + vartype + ' in ' + classname
-  )
-
-
-def _binding_code(field: ast_nodes.StructFieldDecl, key: str) -> str:
-  if isinstance(field.type, ast_nodes.ValueType):
-    return _value_binding_code(field.type, key, field.name)
-  elif isinstance(field.type, ast_nodes.AnonymousStructDecl):
-    return _struct_binding_code(field.type, key, field.name)
-  elif isinstance(field.type, ast_nodes.PointerType):
-    return _ptr_binding_code(field.type, key, field.name)
-  elif isinstance(field.type, ast_nodes.ArrayType):
-    return _array_binding_code(field.type, key, field.name)
-  return ''
-
-
-def generate() -> None:
-  for key in structs.STRUCTS.keys():
-    if (
-        key.startswith('mjs')
-        or key in ['mjSpec', 'mjOption', 'mjVisual', 'mjStatistic']
-    ) and key != 'mjsElement':
-      print('\n  // ' + key)
-      for field in structs.STRUCTS[key].fields:
-        code = _binding_code(field, key)  # pyrefly: ignore[bad-argument-type]
-        if code != 'mjsElement':
-          print(code)
-
-
-def generate_add() -> None:
-  """Generate add constructors with optional keyword arguments."""
-  for key, parent, default, listname, objtype in SPECS_ADD:
-
-    def _field(f: ast_nodes.StructFieldDecl):
-      if f.type == ast_nodes.PointerType(
-          inner_type=ast_nodes.ValueType(name='mjsElement')
-      ):
-        return '', '', '', '', '', ''
-      elif f.type == ast_nodes.ValueType(name='mjsPlugin'):
-        return (
-            f'set_plugin(out->{f.name}, plugin);',
-            'plugin',
-            f.name,
-            'MjsPlugin',
-            'std::optional<raw::MjsPlugin>& plugin',
-            'py::arg("plugin") = py::none()',
-        )
-      elif f.type == ast_nodes.ValueType(name='mjsOrientation'):
-        return (
-            (
-                f'set_orientation(out->{f.name},'
-                f' {"iaxisangle" if f.name == "ialt" else "axisangle"},'
-                f' {"ixyaxes" if f.name == "ialt" else "xyaxes"},'
-                f' {"izaxis" if f.name == "ialt" else "zaxis"},'
-                f' {"ieuler" if f.name == "ialt" else "euler"},'
-                f' "{"iaxisangle" if f.name == "ialt" else "axisangle"}",'
-                f' "{"ixyaxes" if f.name == "ialt" else "xyaxes"}",'
-                f' "{"izaxis" if f.name == "ialt" else "zaxis"}",'
-                f' "{"ieuler" if f.name == "ialt" else "euler"}");'
-            ),
-            'orientation',
-            ['iaxisangle', 'ixyaxes', 'izaxis', 'ieuler']
-            if f.name == 'ialt'
-            else ['axisangle', 'xyaxes', 'zaxis', 'euler'],
-            'list[float]',
-            [
-                f'std::optional<std::vector<double>>& {n}'
-                for n in (
-                    ['iaxisangle', 'ixyaxes', 'izaxis', 'ieuler']
-                    if f.name == 'ialt'
-                    else ['axisangle', 'xyaxes', 'zaxis', 'euler']
-                )
-            ],
-            [
-                f'py::arg("{n}") = py::none()'
-                for n in (
-                    ['iaxisangle', 'ixyaxes', 'izaxis', 'ieuler']
-                    if f.name == 'ialt'
-                    else ['axisangle', 'xyaxes', 'zaxis', 'euler']
-                )
-            ],
-        )
-      elif f.type == ast_nodes.PointerType(
-          inner_type=ast_nodes.ValueType(name='mjString')
-      ):
-        return (
-            f'set_string(out->{f.name}, {f.name});',
-            'string',
-            f.name,
-            'str',
-            f'std::optional<std::string>& {f.name}',
-            f'py::arg("{f.name}") = py::none()',
-        )
-      elif f.type == ast_nodes.PointerType(
-          inner_type=ast_nodes.ValueType(name='mjStringVec')
-      ):
-        return (
-            f'set_str_vec(out->{f.name}, {f.name});',
-            'str_vec',
-            f.name,
-            'list[str]',
-            f'std::optional<std::vector<std::string>>& {f.name}',
-            f'py::arg("{f.name}") = py::none()',
-        )
-
-      # Handle other vector types
-      inner_name = (
-          f.type.inner_type.name
-          if isinstance(f.type, ast_nodes.PointerType)
-          and isinstance(f.type.inner_type, ast_nodes.ValueType)
-          else ''
-      )
-
-      if inner_name in ('mjIntVec', 'mjByteVec'):
-        return (
-            f'set_int_vec(out->{f.name}, {f.name});',
-            'int_vec',
-            f.name,
-            'list[int]',
-            f'std::optional<std::vector<int>>& {f.name}',
-            f'py::arg("{f.name}") = py::none()',
-        )
-      elif inner_name in ('mjFloatVec', 'mjDoubleVec'):
-        return (
-            f'set_vec(out->{f.name}, {f.name});',
-            'vec',
-            f.name,
-            'list[float]',
-            f'std::optional<std::vector<double>>& {f.name}',
-            f'py::arg("{f.name}") = py::none()',
-        )
-      elif inner_name == 'mjIntVecVec':
-        return (
-            f'set_int_vec_vec(out->{f.name}, {f.name});',
-            'int_vec_vec',
-            f.name,
-            'list[list[int]]',
-            f'std::optional<std::vector<std::vector<int>>>& {f.name}',
-            f'py::arg("{f.name}") = py::none()',
-        )
-      elif inner_name == 'mjFloatVecVec':
-        return (
-            f'set_float_vec_vec(out->{f.name}, {f.name});',
-            'float_vec_vec',
-            f.name,
-            'list[list[float]]',
-            f'std::optional<std::vector<std::vector<double>>>& {f.name}',
-            f'py::arg("{f.name}") = py::none()',
-        )
-
-      elif isinstance(f.type, ast_nodes.PointerType):
-        return (
-            f'set_vec(out->{f.name}, {f.name});',
-            'vec',
-            f.name,
-            'list[float]',
-            f'std::optional<std::vector<double>>& {f.name}',
-            f'py::arg("{f.name}") = py::none()',
-        )
-      elif isinstance(f.type, ast_nodes.ArrayType):
-        inner_type = f.type.inner_type.decl()
-        if inner_type == 'char':
-          return (
-              (
-                  f'set_char_array(out->{f.name}, {f.name},'
-                  f' {f.type.extents[0]}, "{f.name}");'
-              ),
-              'char_array',
-              f.name,
-              'str | list[str]',
-              f'py::object& {f.name}',
-              f'py::arg("{f.name}") = py::none()',
-          )
-        if (
-            f.name == 'size'
-            and f.type.extents[0] == 3
-            or f.name in ('stiffness', 'damping')
-        ):
-          return (
-              (
-                  f'set_array_padded(out->{f.name}, {f.name},'
-                  f' {f.type.extents[0]}, "{f.name}");'
-              ),
-              'array_padded',
-              f.name,
-              'Optional[list[float]]',
-              f'std::optional<py::object>& {f.name}',
-              f'py::arg("{f.name}") = py::none()',
-          )
-        return (
-            (
-                f'set_array(out->{f.name}, {f.name}, {f.type.extents[0]},'
-                f' "{f.name}");'
-            ),
-            'array',
-            f.name,
-            'list[float]',
-            f'std::optional<std::vector<double>>& {f.name}',
-            f'py::arg("{f.name}") = py::none()',
-        )
-      elif isinstance(f.type, ast_nodes.ValueType):
-        type_name = 'float'
-        cpp_type = 'double'
-        if f.type.name in ('int', 'mjtByte') or f.type.name.startswith('mjt'):
-          type_name = 'int'
-          cpp_type = 'int'
-        return (
-            f'set_value(out->{f.name}, {f.name});',
-            'value',
-            f.name,
-            type_name,
-            f'std::optional<{cpp_type}>& {f.name}',
-            f'py::arg("{f.name}") = py::none()',
-        )
-      else:
-        return '', '', '', '', '', ''
-
-    if key == 'mjsPlugin':
-      code_field = ''
-      set_types = []
-      names = []
-      types = []
-      cpp_args = []
-      py_args = []
-    else:
-      code_field = 'set_name(out->element, name);'
-      set_types = ['name']
-      names = ['name']
-      types = ['str']
-      cpp_args = ['std::optional<std::string>& name']
-      py_args = ['py::arg("name") = py::none()']
-
-    for field in structs.STRUCTS[key].fields:
-      line, set_type, name, type_name, cpp_arg, py_arg = _field(field)  # pyrefly: ignore[bad-argument-type]
-      if line:
-        code_field = code_field + '\n        ' + line
-        set_types.append(set_type)
-        if set_type == 'orientation':
-          names.extend(name)
-          types.extend([type_name] * len(name))
-          cpp_args.extend(cpp_arg)
-          py_args.extend(py_arg)
-        else:
-          names.append(name)
-          types.append(type_name)
-          cpp_args.append(cpp_arg)
-          py_args.append(py_arg)
-
-    # assemble
-    elem = key.removeprefix('mjs')
-    elemlower = elem.lower()
-    titlecase = 'Mjs' + elem
-
-    docstring = f'Add {elemlower} to spec.\n\n      Args:\n'
-    for i, name in enumerate(names):
-      if i > 0:
-        docstring += '\n'
-      docstring += f'        {name}: {types[i]}'
-
-    # functions arguments
-    args = ', '.join(cpp_args)
-    if args:
-      args = ', ' + args
-
-    # py::arg definitions
-    pyargs = ', '.join(py_args)
-
-    # function definition and call to mjs_add_
-    if parent == 'Spec':
-      if default:
-        code = f"""
-          {'mj' + parent}.def("add_{elemlower}", []({'Mj' + parent}& self,
-            raw::MjsDefault* default_{args}) -> raw::{titlecase}* {{
-            auto out = mjs_add{elem}(self.ptr, default_);
-        """
-      else:
-        code = f"""
-          {'mj' + parent}.def("add_{elemlower}", []({'Mj' + parent}& self{args}) -> raw::{titlecase}* {{
-            auto out = mjs_add{elem}(self.ptr);
-        """
-    elif parent == 'Body':
-      if key == 'mjsFrame':
-        code = f"""
-          {'mjs' + parent}.def("add_{elemlower}", []({'raw::Mjs' + parent}& self,
-            raw::MjsFrame* parentframe_{args}) -> raw::{titlecase}* {{
-            auto out = mjs_add{elem}(&self, parentframe_);
-        """
-      else:
-        code = f"""
-          {'mjs' + parent}.def("add_{elemlower}", []({'raw::Mjs' + parent}& self,
-            raw::MjsDefault* default_{args}) -> raw::{titlecase}* {{
-            auto out = mjs_add{elem}(&self, default_);
-        """
-    elif parent == 'Frame':
-      if key == 'mjsFrame':
-        code = f"""
-          {'mjs' + parent}.def("add_{elemlower}", []({'raw::Mjs' + parent}& self,
-            raw::MjsFrame* parentframe_{args}) -> raw::{titlecase}* {{
-            raw::MjsBody* body = mjs_getParent(self.element);
-            auto out = mjs_add{elem}(body, &self);
-        """
-      else:
-        code = f"""
-          {'mjs' + parent}.def("add_{elemlower}", []({'raw::Mjs' + parent}& self,
-            raw::MjsDefault* default_{args}) -> raw::{titlecase}* {{
-            raw::MjsBody* body = mjs_getParent(self.element);
-            auto out = mjs_add{elem}(body, default_);
-            mjs_setFrame(out->element, &self);
-        """
-    else:
-      raise NotImplementedError(f'{parent} parent is not implement.')
-
-    # include helper functions
-    if set_types:
-      for t in set(set_types):
-        if t == 'orientation':
-          code += """\n
-           auto set_orientation = [](raw::MjsOrientation& orientation,
-            const std::optional<std::vector<double>>& axisangle,
-            const std::optional<std::vector<double>>& xyaxes,
-            const std::optional<std::vector<double>>& zaxis,
-            const std::optional<std::vector<double>>& euler,
-            const char* name_axisangle,
-            const char* name_xyaxes,
-            const char* name_zaxis,
-            const char* name_euler) {
-            int nrepresentation = 0;
-            nrepresentation += axisangle.has_value();
-            nrepresentation += xyaxes.has_value();
-            nrepresentation += zaxis.has_value();
-            nrepresentation += euler.has_value();
-
-            if (nrepresentation == 0) {
-              return;
-            } else if (nrepresentation > 1) {
-              std::string msg = std::string("Only one of: ") + name_axisangle + ", " + name_xyaxes + ", " + name_zaxis + ", or " + name_euler + " can be set.";
-              throw pybind11::value_error(msg);
-            }
-
-            auto set_array = [](const std::vector<double>& array, double* des, int size, const char* name) {
-              if (array.size() != size) {
-                std::string msg = std::string(name) + " should be a list/array of size " + std::to_string(size) + ".";
-                throw pybind11::value_error(msg);
-              }
-              int idx = 0;
-              for (auto val : array) {
-                des[idx++] = val;
-              }
-            };
-            if (axisangle.has_value()) {
-              set_array(axisangle.value(), orientation.axisangle, 4, name_axisangle);
-              orientation.type = mjORIENTATION_AXISANGLE;
-            } else if (xyaxes.has_value()) {
-              set_array(xyaxes.value(), orientation.xyaxes, 6, name_xyaxes);
-              orientation.type = mjORIENTATION_XYAXES;
-            } else if (zaxis.has_value()) {
-              set_array(zaxis.value(), orientation.zaxis, 3, name_zaxis);
-              orientation.type = mjORIENTATION_ZAXIS;
-            } else if (euler.has_value()) {
-              set_array(euler.value(), orientation.euler, 3, name_euler);
-              orientation.type = mjORIENTATION_EULER;
-            }
-          };
-          """
-        elif t == 'plugin':
-          code += """\n
-          auto set_plugin = [](raw::MjsPlugin& plugin, const std::optional<raw::MjsPlugin>& input) {
-            if (input.has_value()) {
-              plugin.name = input->name;
-              plugin.plugin_name = input->plugin_name;
-              plugin.active = input->active;
-              plugin.info = input->info;
-            }
-          };
-          """
-        elif t == 'string':
-          code += """\n
-          auto set_string = [](std::basic_string<char>* des, const std::optional<std::string>& str) {
-            if (str.has_value()) {
-              *des = str.value();
-            }
-          };
-          """
-        elif t == 'str_vec':
-          code += """\n
-          auto set_str_vec = [](auto&& des, const std::optional<std::vector<std::string>>& vec) {
-            if (vec.has_value()) {
-              des->clear();
-              des->reserve(vec->size());
-              for (const auto& val : vec.value()) {
-                des->push_back(val);
-              }
-            }
-          };
-          """
-
-        elif t == 'int_vec':
-          code += """\n
-          auto set_int_vec = [](auto&& des, const std::optional<std::vector<int>>& vec) {
-            if (vec.has_value()) {
-              using T = typename std::decay_t<decltype(*des)>::value_type;
-              des->clear();
-              des->reserve(vec->size());
-              for (auto val : vec.value()) {
-                des->push_back(static_cast<T>(val));
-              }
-            }
-          };
-          """
-        elif t == 'int_vec_vec':
-          code += """\n
-          auto set_int_vec_vec = [](auto&& des, const std::optional<std::vector<std::vector<int>>>& vec) {
-            if (vec.has_value()) {
-               des->clear();
-               des->reserve(vec->size());
-               for (const auto& inner : vec.value()) {
-                 using InnerT = typename std::decay_t<decltype(*des)>::value_type;
-                 InnerT inner_res;
-                 inner_res.reserve(inner.size());
-                 using ValT = typename InnerT::value_type;
-                 for (auto val : inner) {
-                   inner_res.push_back(static_cast<ValT>(val));
-                 }
-                 des->push_back(inner_res);
-               }
-            }
-          };
-          """
-        elif t == 'float_vec_vec':
-          code += """\n
-          auto set_float_vec_vec = [](auto&& des, const std::optional<std::vector<std::vector<double>>>& vec) {
-            if (vec.has_value()) {
-               des->clear();
-               des->reserve(vec->size());
-               for (const auto& inner : vec.value()) {
-                 using InnerT = typename std::decay_t<decltype(*des)>::value_type;
-                 InnerT inner_res;
-                 inner_res.reserve(inner.size());
-                 using ValT = typename InnerT::value_type;
-                 for (auto val : inner) {
-                   inner_res.push_back(static_cast<ValT>(val));
-                 }
-                 des->push_back(inner_res);
-               }
-            }
-          };
-          """
-
-        elif t == 'vec':
-          code += """\n
-          auto set_vec = [](auto&& des, const std::optional<std::vector<double>>& vec) {
-            if (vec.has_value()) {
-              using T = typename std::decay_t<decltype(*des)>::value_type;
-              des->clear();
-              des->reserve(vec->size());
-              for (auto val : vec.value()) {
-                des->push_back(static_cast<T>(val));
-              }
-            }
-          };
-          """
-        elif t == 'array':
-          code += """\n
-          auto set_array = [](auto&& des, const std::optional<std::vector<double>>& array, int size, const char* name) {
-            if (array.has_value()) {
-              if (array->size() != size) {
-                std::string msg = std::string(name) + " should be a list/array of size " + std::to_string(size) + ".";
-                throw pybind11::value_error(msg);
-              }
-              int idx = 0;
-              for (auto val : array.value()) {
-                des[idx++] = val;
-              }
-            }
-          };
-          """
-        elif t == 'array_padded':
-          code += """\n
-          auto set_array_padded = [](auto&& des, const std::optional<py::object>& obj, int size, const char* name) {
-            if (obj.has_value() && !obj->is_none()) {
-              std::vector<double> array;
-              if (py::isinstance<py::int_>(*obj) || py::isinstance<py::float_>(*obj)) {
-                array.push_back(py::cast<double>(*obj));
-              } else if (py::isinstance<py::str>(*obj)) {
-                throw pybind11::type_error(
-                    std::string(name) + " should be a numeric scalar or list.");
-              } else {
-                try {
-                  array = py::cast<std::vector<double>>(*obj);
-                } catch (const py::cast_error&) {
-                  throw pybind11::type_error(
-                      std::string(name) + " should be a numeric scalar or list.");
-                }
-              }
-              if (array.empty() || array.size() > static_cast<size_t>(size)) {
-                std::string msg = std::string(name) + " should be a list/array of size 1 to " + std::to_string(size) + ".";
-                throw pybind11::value_error(msg);
-              }
-              for (int i = 0; i < size; i++) {
-                des[i] = (i < static_cast<int>(array.size())) ? array[i] : 0;
-              }
-            }
-          };
-          """
-        elif t == 'char_array':
-          code += """\n
-          auto set_char_array = [](auto&& des, py::object& obj, int size, const char* name) {
-            if (obj.is_none()) {
-              return;
-            }
-            std::string chars;
-            if (py::isinstance<py::str>(obj)) {
-              chars = py::cast<std::string>(obj);
-            } else if (py::isinstance<py::list>(obj)) {
-              py::list list = py::cast<py::list>(obj);
-              chars.reserve(py::len(list));
-              for (auto item : list) {
-                std::string s = py::cast<std::string>(item);
-                if (s.size() != 1) {
-                  throw pybind11::value_error(std::string(name) + " list elements must be single characters.");
-                }
-                chars.push_back(s[0]);
-              }
-            } else {
-              throw pybind11::type_error(std::string(name) + " must be a string or a list of single-character strings.");
-            }
-            if (chars.size() != size) {
-              std::string msg = std::string(name) + " should have length " + std::to_string(size) + ", got " + std::to_string(chars.size()) + ".";
-              throw pybind11::value_error(msg);
-            }
-            int idx = 0;
-            for (char val : chars) {
-              des[idx++] = val;
-            }
-          };
-          """
-        elif t == 'value':
-          code += """\n
-          auto set_value = [](auto&& des, auto&& val) {
-            if (val.has_value()) {
-              using T = std::decay_t<decltype(des)>;
-              des = static_cast<T>(val.value());
-            }
-          };
-          """
-        elif t == 'name':
-          code += """\n
-          auto set_name = [](raw::MjsElement* el, const std::optional<std::string>& name) {
-            if (name.has_value()) {
-              if (mjs_setName(el, name->c_str())) {
-                throw pybind11::value_error(mjs_getError(mjs_getSpec(el)));
-              }
-            }
-          };
-          """
-        else:
-          raise NotImplementedError(f'Unsupported set type: {t} in {key}')
-
-    code += code_field
-    code += f"""\n
-        return out;
-      }},
-      {'py::arg_v("default", nullptr)' + (', ' if pyargs else '') if default else ''}
-      {pyargs}{', ' if pyargs else ''}
-      R"mydelimiter(
-      {docstring}
-      )mydelimiter",
-      py::return_value_policy::reference_internal);
-    """
-
-    code += f"""\n
-      mjSpec.def_property_readonly(
-        "{listname}",
-        [](MjSpec& self) -> py::list {{
-          py::list list;
-          raw::MjsElement* el = mjs_firstElement(self.ptr, {objtype});
-          while (el) {{
-            list.append(mjs_as{key[3:]}(el));
-            el = mjs_nextElement(self.ptr, el);
-          }}
-          return list;
-        }},
-        py::return_value_policy::reference_internal);
-    """
-
-    print(code)
-
-
-def generate_find() -> None:
-  """Generate find functions."""
-  for key, _, _, _, objtype in SPECS:
-    elem = key.removeprefix('mjs')
-    elemlower = elem.lower()
-    titlecase = 'Mjs' + elem
-    code = f"""\n
-      mjSpec.def("{elemlower}",
-      [](MjSpec& self, std::string& name) -> raw::{titlecase}* {{
-        return mjs_as{elem}(
-            mjs_findElement(self.ptr, {objtype}, name.c_str()));
-      }}, py::return_value_policy::reference_internal);
-    """
-    print(code)
-
-
-def generate_signature() -> None:
-  """Generate signature functions."""
-  for key, _, _, _, _ in SPECS:
-    elem = key.removeprefix('mjs')
-    titlecase = 'Mjs' + elem
-    code = f"""\n
-      {key}.def_property_readonly("signature",
-      [](raw::{titlecase}& self) -> uint64_t {{
-        return mjs_getSpec(self.element)->element->signature;
-      }});
-    """
-    print(code)
-
-
-def generate_id() -> None:
-  """Generate id functions."""
-  for key, _, _, _, _ in SPECS:
-    if key == 'mjsPlugin':
-      continue
-    elem = key.removeprefix('mjs')
-    titlecase = 'Mjs' + elem
-    code = f"""\n
-      {key}.def_property_readonly("id",
-      [](raw::{titlecase}& self) -> int {{
-        return mjs_getId(self.element);
-      }});
-    """
-    print(code)
-
-
-def generate_name() -> None:
-  """Generate name functions."""
-  for key, _, _, _, _ in SPECS + [('mjsDefault', '', '', '', '')]:
-    if key == 'mjsPlugin':
-      continue
-    elem = key.removeprefix('mjs')
-    titlecase = 'Mjs' + elem
-    code = f"""\n
-      {key}.def_property("name",
-      [](raw::{titlecase}& self) -> std::string* {{
-        return mjs_getName(self.element);
-      }},
-      [](raw::{titlecase}& self, std::string& name) -> void {{
-        if (mjs_setName(self.element, name.c_str())) {{
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
-        }}
-      }}, py::return_value_policy::reference_internal);
-    """
-    print(code)
-
-
-def generate_compiler() -> None:
-  """Generate compiler property for all spec element types."""
-  for key, _, _, _, _ in SPECS:
-    elem = key.removeprefix('mjs')
-    titlecase = 'Mjs' + elem
-    code = f"""\n
-      {key}.def_property_readonly("compiler",
-      [](raw::{titlecase}& self) -> raw::MjsCompiler& {{
-        ::mjsCompiler* compiler = mjs_getCompiler(self.element);
-        if (!compiler) {{
-          throw pybind11::value_error("Element is not attached to a spec.");
-        }}
-        return *compiler;
-      }}, py::return_value_policy::reference_internal);
-    """
-    print(code)
-
-
-def main(argv: Sequence[str]) -> None:
-  if len(argv) > 1:
-    raise app.UsageError('Too many command-line arguments.')
-  generate()
-  generate_add()
-  generate_find()
-  generate_signature()
-  generate_id()
-  generate_name()
-  generate_compiler()
-
-
-if __name__ == '__main__':
-  app.run(main)
diff --git a/python/mujoco/constants.cc b/python/mujoco/constants.cc
deleted file mode 100644
index a07bc61e..00000000
--- a/python/mujoco/constants.cc
+++ /dev/null
@@ -1,101 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <utility>
-#include <vector>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include <pybind11/cast.h>
-#include <pybind11/pybind11.h>
-
-namespace mujoco::python {
-namespace {
-
-namespace py = ::pybind11;
-
-template <auto N>
-py::tuple MakeTuple(
-    const char* (&strings)[N]) {
-  py::list result;
-  for (int i = 0; i < N; i++) {
-    result.append(py::str(strings[i]));
-  }
-  return std::move(result);
-}
-
-template <auto N>
-py::tuple MakeTuple(const char* (&strings)[N][3]) {
-  py::list result;
-  for (int i = 0; i < N; i++) {
-    result.append(py::make_tuple(
-        py::str(strings[i][0]),
-        py::str(strings[i][1]),
-        py::str(strings[i][2])));
-  }
-  return std::move(result);
-}
-
-PYBIND11_MODULE(_constants, pymodule, pybind11::mod_gil_not_used()) {
-  #define X(var) pymodule.attr(#var) = var
-
-  // from mjmodel.h
-  X(mjPI);
-  X(mjMAXVAL);
-  X(mjMINMU);
-  X(mjMINIMP);
-  X(mjMAXIMP);
-  X(mjMAXCONPAIR);
-  X(mjMAXTREEDEPTH);
-  X(mjMAXFLEXNODES);
-  X(mjMINAWAKE);
-  X(mjNEQDATA);
-  X(mjNDYN);
-  X(mjNGAIN);
-  X(mjNBIAS);
-  X(mjNFLUID);
-  X(mjNREF);
-  X(mjNIMP);
-  X(mjNSENS);
-  X(mjNSOLVER);
-  X(mjNISLAND);
-  X(mjNPOLY);
-
-  // from mjvisualize.h
-  X(mjNGROUP);
-  X(mjMAXLIGHT);
-  X(mjMAXOVERLAY);
-  X(mjMAXLINE);
-  X(mjMAXLINEPNT);
-  X(mjMAXPLANEGRID);
-
-  // from mujoco.h
-  X(mjVERSION_HEADER);
-
-  // from mjtype.h
-  X(mjMINVAL);
-
-  #undef X
-  pymodule.attr("mjDISABLESTRING") = MakeTuple(mjDISABLESTRING);
-  pymodule.attr("mjENABLESTRING") = MakeTuple(mjENABLESTRING);
-  pymodule.attr("mjTIMERSTRING") = MakeTuple(mjTIMERSTRING);
-  pymodule.attr("mjLABELSTRING") = MakeTuple(mjLABELSTRING);
-  pymodule.attr("mjFRAMESTRING") = MakeTuple(mjFRAMESTRING);
-  pymodule.attr("mjVISSTRING") = MakeTuple(mjVISSTRING);
-  pymodule.attr("mjRNDSTRING") = MakeTuple(mjRNDSTRING);
-  pymodule.attr("MJTNUM_BYTES") = sizeof(mjtNum);
-}
-}  // namespace
-}  // namespace mujoco::python
diff --git a/python/mujoco/egl/__init__.py b/python/mujoco/egl/__init__.py
deleted file mode 100644
index 832c1108..00000000
--- a/python/mujoco/egl/__init__.py
+++ /dev/null
@@ -1,138 +0,0 @@
-# Copyright 2018 The dm_control Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""An EGL context for headless accelerated OpenGL rendering on GPU devices."""
-
-import atexit
-import ctypes
-import os
-
-PYOPENGL_PLATFORM = os.environ.get('PYOPENGL_PLATFORM')
-
-if not PYOPENGL_PLATFORM:
-  os.environ['PYOPENGL_PLATFORM'] = 'egl'
-elif PYOPENGL_PLATFORM.lower() != 'egl':
-  raise ImportError(
-      'Cannot use EGL rendering platform. '
-      'The PYOPENGL_PLATFORM environment variable is set to {!r} '
-      '(should be either unset or \'egl\').')
-
-from mujoco.egl import egl_ext as EGL
-from OpenGL import error
-
-
-def create_initialized_egl_device_display():
-  """Creates an initialized EGL display directly on a device."""
-  all_devices = EGL.eglQueryDevicesEXT()
-  selected_device = os.environ.get('MUJOCO_EGL_DEVICE_ID', None)
-  if selected_device is None:
-    candidates = all_devices
-  else:
-    device_idx = int(selected_device)
-    if not 0 <= device_idx < len(all_devices):
-      raise RuntimeError(
-          f'The MUJOCO_EGL_DEVICE_ID environment variable must be an integer '
-          f'between 0 and {len(all_devices)-1} (inclusive), got {device_idx}.')
-    candidates = all_devices[device_idx:device_idx + 1]
-  for device in candidates:
-    display = EGL.eglGetPlatformDisplayEXT(
-        EGL.EGL_PLATFORM_DEVICE_EXT, device, None)
-    if display != EGL.EGL_NO_DISPLAY and EGL.eglGetError() == EGL.EGL_SUCCESS:
-      # `eglInitialize` may or may not raise an exception on failure depending
-      # on how PyOpenGL is configured. We therefore catch a `GLError` and also
-      # manually check the output of `eglGetError()` here.
-      try:
-        initialized = EGL.eglInitialize(display, None, None)
-      except error.GLError:
-        pass
-      else:
-        if initialized == EGL.EGL_TRUE and EGL.eglGetError() == EGL.EGL_SUCCESS:
-          return display
-  return EGL.EGL_NO_DISPLAY
-
-
-EGL_DISPLAY = None
-
-
-EGL_ATTRIBUTES = (
-    EGL.EGL_RED_SIZE, 8,
-    EGL.EGL_GREEN_SIZE, 8,
-    EGL.EGL_BLUE_SIZE, 8,
-    EGL.EGL_ALPHA_SIZE, 8,
-    EGL.EGL_DEPTH_SIZE, 24,
-    EGL.EGL_STENCIL_SIZE, 8,
-    EGL.EGL_COLOR_BUFFER_TYPE, EGL.EGL_RGB_BUFFER,
-    EGL.EGL_SURFACE_TYPE, EGL.EGL_PBUFFER_BIT,
-    EGL.EGL_RENDERABLE_TYPE, EGL.EGL_OPENGL_BIT,
-    EGL.EGL_NONE
-)
-
-
-class GLContext:
-  """An EGL context for headless accelerated OpenGL rendering on GPU devices."""
-
-  def __init__(self, max_width, max_height):
-    del max_width, max_height  # unused
-    num_configs = ctypes.c_long()
-    config_size = 1
-    # ctypes syntax for making an array of length config_size.
-    configs = (EGL.EGLConfig * config_size)()
-    EGL.eglReleaseThread()
-    global EGL_DISPLAY
-    if EGL_DISPLAY is None:
-      # only initialize for the first time
-      EGL_DISPLAY = create_initialized_egl_device_display()
-      if EGL_DISPLAY == EGL.EGL_NO_DISPLAY:
-        raise ImportError(
-          "Cannot initialize a EGL device display. This likely means that your EGL "
-          "driver does not support the PLATFORM_DEVICE extension, which is "
-          "required for creating a headless rendering context."
-        )
-      atexit.register(EGL.eglTerminate, EGL_DISPLAY)
-    EGL.eglChooseConfig(
-        EGL_DISPLAY,
-        EGL_ATTRIBUTES,
-        configs,
-        config_size,
-        num_configs)
-    if num_configs.value < 1:
-      raise RuntimeError(
-          'EGL failed to find a framebuffer configuration that matches the '
-          'desired attributes: {}'.format(EGL_ATTRIBUTES))
-    EGL.eglBindAPI(EGL.EGL_OPENGL_API)
-    self._context = EGL.eglCreateContext(
-        EGL_DISPLAY, configs[0], EGL.EGL_NO_CONTEXT, None)
-    if not self._context:
-      raise RuntimeError('Cannot create an EGL context.')
-
-  def make_current(self):
-    global EGL_DISPLAY
-    if not EGL.eglMakeCurrent(
-        EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, self._context):
-      raise RuntimeError('Failed to make the EGL context current.')
-
-  def free(self):
-    """Frees resources associated with this context."""
-    global EGL_DISPLAY
-    if self._context:
-      current_context = EGL.eglGetCurrentContext()
-      if current_context and self._context.address == current_context.address:
-        EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE,
-                           EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
-      EGL.eglDestroyContext(EGL_DISPLAY, self._context)
-      EGL.eglReleaseThread()
-    self._context = None
-
-  def __del__(self):
-    self.free()
diff --git a/python/mujoco/egl/egl_ext.py b/python/mujoco/egl/egl_ext.py
deleted file mode 100644
index 52e3df4e..00000000
--- a/python/mujoco/egl/egl_ext.py
+++ /dev/null
@@ -1,71 +0,0 @@
-# Copyright 2018 The dm_control Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Extends OpenGL.EGL with definitions necessary for headless rendering."""
-
-import ctypes
-from OpenGL.platform import ctypesloader  # pylint: disable=g-bad-import-order
-try:
-  # Nvidia driver seems to need libOpenGL.so (as opposed to libGL.so)
-  # for multithreading to work properly. We load this in before everything else.
-  ctypesloader.loadLibrary(ctypes.cdll, 'OpenGL', mode=ctypes.RTLD_GLOBAL)
-except OSError:
-  pass
-
-# pylint: disable=g-import-not-at-top
-from OpenGL import EGL
-from OpenGL import error
-
-# From the EGL_EXT_device_enumeration extension.
-PFNEGLQUERYDEVICESEXTPROC = ctypes.CFUNCTYPE(
-    EGL.EGLBoolean,
-    EGL.EGLint,
-    ctypes.POINTER(EGL.EGLDeviceEXT),
-    ctypes.POINTER(EGL.EGLint),
-)
-try:
-  _eglQueryDevicesEXT = PFNEGLQUERYDEVICESEXTPROC(  # pylint: disable=invalid-name
-      EGL.eglGetProcAddress('eglQueryDevicesEXT'))
-except TypeError as e:
-  raise ImportError('eglQueryDevicesEXT is not available.') from e
-
-
-# From the EGL_EXT_platform_device extension.
-EGL_PLATFORM_DEVICE_EXT = 0x313F
-PFNEGLGETPLATFORMDISPLAYEXTPROC = ctypes.CFUNCTYPE(
-    EGL.EGLDisplay, EGL.EGLenum, ctypes.c_void_p, ctypes.POINTER(EGL.EGLint))
-try:
-  eglGetPlatformDisplayEXT = PFNEGLGETPLATFORMDISPLAYEXTPROC(  # pylint: disable=invalid-name
-      EGL.eglGetProcAddress('eglGetPlatformDisplayEXT'))
-except TypeError as e:
-  raise ImportError('eglGetPlatformDisplayEXT is not available.') from e
-
-
-# Wrap raw _eglQueryDevicesEXT function into something more Pythonic.
-def eglQueryDevicesEXT(max_devices=10):  # pylint: disable=invalid-name
-  devices = (EGL.EGLDeviceEXT * max_devices)()
-  num_devices = EGL.EGLint()
-  success = _eglQueryDevicesEXT(max_devices, devices, num_devices)
-  if success == EGL.EGL_TRUE:
-    return [devices[i] for i in range(num_devices.value)]
-  else:
-    raise error.GLError(err=EGL.eglGetError(),
-                        baseOperation=eglQueryDevicesEXT,
-                        result=success)
-
-
-# Expose everything from upstream so that
-# we can use this as a drop-in replacement for OpenGL.EGL.
-# pylint: disable=wildcard-import,g-bad-import-order
-from OpenGL.EGL import *
diff --git a/python/mujoco/enums.cc b/python/mujoco/enums.cc
deleted file mode 100644
index 23a81010..00000000
--- a/python/mujoco/enums.cc
+++ /dev/null
@@ -1,151 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cmath>
-#include <cstdint>
-#include <sstream>
-#include <type_traits>
-
-#include <Python.h>
-
-#include "util/crossplatform.h"
-#include "enum_traits.h"
-#include "util/tuple_tools.h"
-#include <pybind11/operators.h>
-#include <pybind11/pybind11.h>
-
-namespace mujoco::python {
-namespace {
-namespace py = ::pybind11;
-
-inline void ZeroDenominatorCheck(double b) {
-  if (b == 0) {
-    PyErr_SetString(PyExc_ZeroDivisionError, "division by zero");
-    throw py::error_already_set();
-  }
-}
-
-template <typename T>
-inline T FloorDiv(T a, T b) {
-  ZeroDenominatorCheck(b);
-  return std::floor(static_cast<double>(a) / static_cast<double>(b));
-}
-
-template <typename Trait>
-void DefEnum(py::module_& m) {
-  py::enum_<typename Trait::type> e(m, Trait::name);
-  for (const auto& [name, enumerator] : Trait::values) {
-    e.value(name, enumerator);
-  }
-
-  e.def(py::init([](int value) {
-          for (const auto& [name, enumerator] : Trait::values) {
-            if (value == enumerator) {
-              return static_cast<typename Trait::type>(value);
-            }
-          }
-          std::ostringstream err;
-          err << "Invalid int value for " << Trait::name << ": " << value;
-          throw py::value_error(err.str());
-        }),
-        py::arg("value"), py::prepend());
-
-  // Arithmetic operators
-  e.def(-py::self);
-  e.def(py::self + std::int64_t());
-  e.def(py::self + double());
-  e.def(std::int64_t() + py::self);
-  e.def(double() + py::self);
-
-  e.def(py::self - std::int64_t());
-  e.def(py::self - double());
-  e.def(std::int64_t() - py::self);
-  e.def(double() - py::self);
-
-  e.def(py::self * std::int64_t());
-  e.def(py::self * double());
-  e.def(std::int64_t() * py::self);
-  e.def(double() * py::self);
-
-  e.def("__truediv__",
-        [](const typename Trait::type& a, double b) -> double {
-          ZeroDenominatorCheck(b);
-          return static_cast<double>(a) / b;
-        });
-  e.def("__rtruediv__",
-        [](const typename Trait::type& b, double a) -> double {
-          ZeroDenominatorCheck(b);
-          return a / static_cast<double>(b);
-        });
-  e.def("__floordiv__",
-        [](const typename Trait::type& a, std::int64_t b) -> std::int64_t {
-          return FloorDiv<std::int64_t>(a, b);
-        });
-  e.def("__floordiv__",
-        [](const typename Trait::type& a, double b) -> double {
-          return FloorDiv<double>(a, b);
-        });
-  e.def("__rfloordiv__",
-        [](const typename Trait::type& b, std::int64_t a) -> std::int64_t {
-          return FloorDiv<std::int64_t>(a, b);
-        });
-  e.def("__rfloordiv__",
-        [](const typename Trait::type& b, double a) -> double {
-          return FloorDiv<double>(a, b);
-        });
-  e.def("__mod__",
-        [](const typename Trait::type& a, std::int64_t b) -> std::int64_t {
-          return static_cast<std::int64_t>(a) - FloorDiv<std::int64_t>(static_cast<std::int64_t>(a), b) * b;
-        });
-  e.def("__mod__",
-        [](const typename Trait::type& a, double b) -> double {
-          return static_cast<double>(a) - FloorDiv<double>(static_cast<double>(a), b) * b;
-        });
-  e.def("__rmod__",
-        [](const typename Trait::type& b, std::int64_t a) -> std::int64_t {
-          return a - FloorDiv<std::int64_t>(a, static_cast<std::int64_t>(b)) * static_cast<std::int64_t>(b);
-        });
-  e.def("__rmod__",
-        [](const typename Trait::type& b, double a) -> double {
-          return a - FloorDiv<double>(a, static_cast<double>(b)) * static_cast<double>(b);
-        });
-
-  // Bitwise operators
-  e.def(py::self & std::int64_t());
-  e.def(std::int64_t() & py::self);
-  e.def(py::self | std::int64_t());
-  e.def(std::int64_t() | py::self);
-  e.def(py::self ^ std::int64_t());
-  e.def(std::int64_t() ^ py::self);
-
-  // Bit shifts
-  e.def(py::self << std::int64_t());
-  e.def(py::self >> std::int64_t());
-}
-
-template <typename Tuple>
-void DefAllEnums(py::module_& m, Tuple&& tuple) {
-  using TupleNoRef = std::remove_reference_t<Tuple>;
-  if constexpr (std::tuple_size_v<TupleNoRef> != 0) {
-    using Trait = std::remove_reference_t<std::tuple_element_t<0, TupleNoRef>>;
-    DefEnum<Trait>(m);
-    DefAllEnums(m, util::tuple_slice<1, void>(tuple));
-  }
-}
-
-PYBIND11_MODULE(_enums, pymodule, pybind11::mod_gil_not_used()) {
-  DefAllEnums(pymodule, python_traits::kAllEnums);
-}
-}  // namespace
-}  // namespace mujoco::python
diff --git a/python/mujoco/errors.cc b/python/mujoco/errors.cc
deleted file mode 100644
index 1cbc411c..00000000
--- a/python/mujoco/errors.cc
+++ /dev/null
@@ -1,25 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "errors.h"
-#include <pybind11/pybind11.h>
-
-namespace mujoco::python {
-namespace {
-PYBIND11_MODULE(_errors, m, pybind11::mod_gil_not_used()) {
-  m.attr("FatalError") = FatalError::GetPyExc();
-  m.attr("UnexpectedError") = UnexpectedError::GetPyExc();
-}
-}  // namespace
-}  // namespace mujoco::python
diff --git a/python/mujoco/errors.h b/python/mujoco/errors.h
deleted file mode 100644
index 528ebd15..00000000
--- a/python/mujoco/errors.h
+++ /dev/null
@@ -1,229 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_ERRORS_H_
-#define MUJOCO_PYTHON_ERRORS_H_
-
-#include <array>
-#include <csetjmp>
-#include <cstdio>
-#include <cstring>
-#include <stdexcept>
-#include <string>
-#include <type_traits>
-
-#include <mujoco/mjtype.h>
-#include "private.h"
-#include "util/crossplatform.h"
-#include "util/func_wrap.h"
-#include <pybind11/pybind11.h>
-
-// When building for Linux and statically linking against a "hermetic" libc++abi
-// (i.e. where libc++/libc++abi symbols all have "hidden" visibility), exception
-// types do not propagate correctly across shared library boundaries.
-//
-// This occurs even when PYBIND11_EXPORT_EXCEPTION is used, or when the virtual
-// destructor is defined in errors.cc rather than than defined inline in the
-// class definition (following the FAQ comment about "key functions" on
-// https://libcxxabi.llvm.org/). For some reason, the type_info address is
-// different across different shared objects (DSO), even when the symbols for
-// typeinfo, type name, and vtable are left undefined in all but one DSO.
-// Since libc++abi matches exception types by comparing type_info addresses,
-// this breaks exception handling across DSO boundaries.
-//
-// Instead, we manually create and store exception types in PyEval_GetBuiltins,
-// then effectively register separate pybind11 exception translators in each
-// module that all translate to the same exception type (which is what's
-// happening with pybind11's built-in exceptions under this setup).
-//
-// Effectively, we are doing almost the same thing as what a pybind11 is doing
-// with its "internals" struct, but we store the exception types directly in
-// the builtin context rather than in a PyCapsule.
-namespace mujoco::python {
-namespace _impl {
-template <typename T>
-class ErrorBase : public pybind11::builtin_exception {
- public:
-  virtual ~ErrorBase() = default;
-
-  static PyObject* GetPyExc() {
-    static PyObject* const e = []() {
-      pybind11::gil_scoped_acquire gil;
-      std::string unique_identifier = "__MUJOCO_ERROR_";
-      unique_identifier += T::kName;
-      pybind11::str py_builtin_identifier(unique_identifier);
-
-      // We can end up here while handling another Python exception.
-      // Temporarily clear the Python error indicator since we need to interact
-      // with the interpreter.
-      struct PyErrCache {
-        PyErrCache() { PyErr_Fetch(&type, &value, &traceback); }
-        ~PyErrCache() { if (type) PyErr_Restore(type, value, traceback); }
-        PyObject* type;
-        PyObject* value;
-        PyObject* traceback;
-      };
-      PyErrCache err_cache;
-
-      pybind11::handle builtins(PyEval_GetBuiltins());
-      if (!builtins.contains(py_builtin_identifier)) {
-        std::string full_name = "mujoco.";
-        full_name += T::kName;
-        auto ret =
-            PyErr_NewException(full_name.c_str(), PyExc_Exception, nullptr);
-        builtins[py_builtin_identifier] = pybind11::handle(ret);
-        return ret;
-      } else {
-        return builtins[py_builtin_identifier].ptr();
-      }
-    }();
-    return e;
-  }
-
-  void set_error() const override { PyErr_SetString(T::GetPyExc(), what()); }
-
- protected:
-  using builtin_exception::builtin_exception;
-};
-
-// We shouldn't throw a C++ exception from a function that's a callback
-// from C. (Usually it would work, but it would be undefined behavior since
-// there'd be no guarantee that C++ can unwind the stack correctly through the
-// C functions. On Windows, longjmp actually uses the same mechanism as
-// C++ exceptions.)
-// Instead, we call setjmp before entering MuJoCo, and do a longjmp from
-// mju_user_error back to C++ to throw an exception.
-static thread_local std::jmp_buf mju_error_jmp_buf;
-static thread_local std::array<char, 2048> mju_error_msg{0};
-
-// The handler to forward non-error messages to.  Set by WrapFunc before each
-// call into MuJoCo C code, pointing to either the previously installed TLS
-// handler or the active global handler.
-static thread_local mjfLogHandler mju_forward_handler = nullptr;
-
-static inline void MjErrorHandler(const mjLogMessage* msg) {
-  if (msg->level != mjLOG_ERROR) {
-    // Forward warnings, info, and debug messages to the previous handler so
-    // that legacy mju_user_warning callbacks and console output continue to
-    // work.
-    if (mju_forward_handler != nullptr) {
-      mju_forward_handler(msg);
-    }
-    return;
-  }
-  if (msg->func != nullptr) {
-    std::snprintf(mju_error_msg.data(), mju_error_msg.size(), "%s: %s",
-                  msg->func, msg->subject);
-  } else {
-    std::snprintf(mju_error_msg.data(), mju_error_msg.size(), "%s",
-                  msg->subject);
-  }
-  std::longjmp(mju_error_jmp_buf, 1);
-}
-
-template <typename InterceptAsType>
-struct MjErrorIntercepter {
-  template <typename Return, typename... Args, typename Callable>
-  MUJOCO_ALWAYS_INLINE
-  static constexpr auto WrapFunc(Callable&& callable) {
-#if defined(__GNUC__) && !defined(__clang__)
-    // GCC can't inline functions that call setjmp
-    return [callable](Args... args) mutable {
-#else
-    return [callable](Args... args) MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE {
-#endif
-      mjfLogHandler prev_handler = _mjPRIVATE_setTlsLogHandler(&MjErrorHandler);
-
-      // Determine the handler to forward non-error messages to.
-      // If there was a previously installed TLS handler, forward to it.
-      // Otherwise, probe the global handler via mju_setLogHandler.
-      mjfLogHandler old_forward = mju_forward_handler;
-      if (prev_handler != nullptr) {
-        mju_forward_handler = prev_handler;
-      } else {
-        mju_forward_handler = _mjPRIVATE_getGlobalLogHandler();
-      }
-
-      // DON'T MIX RAII WITH SETJMP!
-      // From https://en.cppreference.com/w/cpp/utility/program/longjmp:
-      //   If replacing of std::longjmp with `throw` and setjmp with `catch`
-      //   would execute a non-trivial destructor for any automatic object, the
-      //   behavior of such std::longjmp is undefined.
-      if (setjmp(mju_error_jmp_buf) == 0) {
-        if constexpr (std::is_void_v<decltype(callable(args...))>) {
-          callable(args...);
-          mju_forward_handler = old_forward;
-          _mjPRIVATE_setTlsLogHandler(prev_handler);
-        } else {
-          auto ret = callable(args...);
-          static_assert(std::is_trivially_destructible_v<decltype(ret)>);
-          mju_forward_handler = old_forward;
-          _mjPRIVATE_setTlsLogHandler(prev_handler);
-          return ret;
-        }
-      } else {
-        // This branch is entered via a longjmp back from our mju_error handler.
-        mju_forward_handler = old_forward;
-        _mjPRIVATE_setTlsLogHandler(prev_handler);
-        {
-          // Check if a Python callback has thrown an exception.
-          // We cannot use a py::gil_scoped_acquire here: on Windows its
-          // destructor isn't triggered before pybind returns control to the
-          // interpreter.
-          auto gil = PyGILState_Ensure();
-          if (PyErr_Occurred()) {
-            // We must hold the GIL when we create the py::error_already_set,
-            // since its constructor calls PyErr_Fetch.
-            pybind11::error_already_set err;
-
-            // But the GIL must be released before we throw, otherwise a
-            // deadlock ensues!
-            PyGILState_Release(gil);
-            throw err;
-          }
-          PyGILState_Release(gil);
-        }
-        throw InterceptAsType(std::string(mju_error_msg.data()));
-      }
-    };
-  }
-};
-}  // namespace _impl
-
-class FatalError : public _impl::ErrorBase<FatalError> {
- public:
-  static constexpr char kName[] = "FatalError";
-  using ErrorBase<FatalError>::ErrorBase;
-  virtual ~FatalError() = default;
-};
-
-class UnexpectedError : public _impl::ErrorBase<UnexpectedError> {
- public:
-  static constexpr char kName[] = "UnexpectedError";
-  UnexpectedError(const std::string& msg)
-      : ErrorBase(msg +
-                  " (this error not expected to ever occur,"
-                  " please report it to MuJoCo developers!)") {}
-  virtual ~UnexpectedError() = default;
-};
-
-template <typename Callable>
-MUJOCO_ALWAYS_INLINE
-static constexpr auto InterceptMjErrors(Callable&& callable) {
-  return util::_impl::WrapFunc<_impl::MjErrorIntercepter<FatalError>>(
-      std::forward<Callable>(callable));
-}
-}  // namespace mujoco::python
-
-#endif  // MUJOCO_PYTHON_ERRORS_H_
diff --git a/python/mujoco/experimental/dear_imgui/dear_imgui.cc b/python/mujoco/experimental/dear_imgui/dear_imgui.cc
deleted file mode 100644
index 50045cb0..00000000
--- a/python/mujoco/experimental/dear_imgui/dear_imgui.cc
+++ /dev/null
@@ -1,1270 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cfloat>
-#include <cstdint>
-#include <tuple>
-#define NAMESPACE ImGui
-#include "dear_imgui_macros.h"
-#include <imgui.h>
-#include <imgui_internal.h>
-#include <misc/cpp/imgui_stdlib.h>
-#include <pybind11/eval.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-// NOLINTBEGIN(whitespace/line_length)
-
-namespace py = pybind11;
-using ImString = const char*;
-static constexpr const ImVec2 ImVec2_Zero = ImVec2(0.0f, 0.0f);
-static constexpr const ImVec2 ImVec2_One = ImVec2(1.0f, 1.0f);
-static constexpr const ImVec2 ImVec2_Min_Zero = ImVec2(-FLT_MIN, 0.0f);
-static constexpr const ImVec4 ImVec4_Zero = ImVec4(0.0f, 0.0f, 0.0f, 0.0f);
-static constexpr const ImVec4 ImVec4_One = ImVec4(1.0f, 1.0f, 1.0f, 1.0f);
-
-
-PYBIND11_MODULE(dear_imgui, m) {
-  // Types.
-
-  py::class_<ImVec2>(m, "Vec2")
-      .def(py::init<>())
-      .def(py::init<float, float>(), py::arg("_x"), py::arg("_y"))
-      .def_readwrite("x", &ImVec2::x)
-      .def_readwrite("y", &ImVec2::y);
-
-  py::class_<ImVec4>(m, "Vec4")
-      .def(py::init<>())
-      .def(py::init<float, float, float, float>(), py::arg("_x"), py::arg("_y"), py::arg("_z"), py::arg("_w"))
-      .def_readwrite("x", &ImVec4::x)
-      .def_readwrite("y", &ImVec4::y)
-      .def_readwrite("z", &ImVec4::z)
-      .def_readwrite("w", &ImVec4::w);
-
-  py::class_<ImGuiStyle>(m, "Style")
-      .def_readwrite("FramePadding", &ImGuiStyle::FramePadding)
-      .def_readwrite("ItemSpacing", &ImGuiStyle::ItemSpacing)
-      .def_readwrite("WindowPadding", &ImGuiStyle::WindowPadding);
-
-  m.def("GetStyle", &ImGui::GetStyle, py::return_value_policy::reference);
-
-  py::class_<ImGuiIO>(m, "IO")
-      .def_readwrite("ConfigFlags", &ImGuiIO::ConfigFlags)
-      .def_readonly("DisplaySize", &ImGuiIO::DisplaySize)
-      .def_readonly("FontGlobalScale", &ImGuiIO::FontGlobalScale)
-      .def_readonly("DeltaTime", &ImGuiIO::DeltaTime)
-      .def_readonly("Framerate", &ImGuiIO::Framerate)
-      .def_readonly("WantCaptureMouse", &ImGuiIO::WantCaptureMouse)
-      .def_readonly("WantCaptureKeyboard", &ImGuiIO::WantCaptureKeyboard)
-      .def_readonly("KeyShift", &ImGuiIO::KeyShift)
-      .def_readonly("KeyCtrl", &ImGuiIO::KeyCtrl)
-      .def_readonly("KeyAlt", &ImGuiIO::KeyAlt)
-      .def_readonly("KeySuper", &ImGuiIO::KeySuper)
-      .def_readonly("MousePos", &ImGuiIO::MousePos)
-      .def_readonly("MouseWheel", &ImGuiIO::MouseWheel)
-      .def_readonly("MouseDelta", &ImGuiIO::MouseDelta);
-
-  m.def("GetIO", []() -> ImGuiIO& { return ImGui::GetIO(); }, py::return_value_policy::reference);
-
-  m.def("GetCurrentContext", []() {
-    return reinterpret_cast<uintptr_t>(ImGui::GetCurrentContext());
-  });
-  m.def("SetCurrentContext", [](uintptr_t ptr) {
-    ImGui::SetCurrentContext(reinterpret_cast<ImGuiContext*>(ptr));
-  });
-
-  py::class_<ImGuiListClipper>(m, "ListClipper")
-      .def(py::init<>())
-      .def("Begin", &ImGuiListClipper::Begin, py::arg("items_count"), py::arg("items_height") = -1.0f)
-      .def("End", &ImGuiListClipper::End)
-      .def("Step", &ImGuiListClipper::Step)
-      .def("IncludeItemsByIndex", &ImGuiListClipper::IncludeItemsByIndex, py::arg("item_begin"), py::arg("item_end"))
-      .def("IncludeItemByIndex", &ImGuiListClipper::IncludeItemByIndex, py::arg("item_index"))
-      .def("SeekCursorForItem", &ImGuiListClipper::SeekCursorForItem, py::arg("item_index"))
-      .def_readonly("DisplayStart", &ImGuiListClipper::DisplayStart)
-      .def_readonly("DisplayEnd", &ImGuiListClipper::DisplayEnd);
-
-  // Enumerations.
-
-  py::enum_<ImGuiWindowFlags_>(m, "WindowFlags")
-      .value("None", ImGuiWindowFlags_None)
-      .value("NoTitleBar", ImGuiWindowFlags_NoTitleBar)
-      .value("NoResize", ImGuiWindowFlags_NoResize)
-      .value("NoMove", ImGuiWindowFlags_NoMove)
-      .value("NoScrollbar", ImGuiWindowFlags_NoScrollbar)
-      .value("NoScrollWithMouse", ImGuiWindowFlags_NoScrollWithMouse)
-      .value("NoCollapse", ImGuiWindowFlags_NoCollapse)
-      .value("AlwaysAutoResize", ImGuiWindowFlags_AlwaysAutoResize)
-      .value("NoBackground", ImGuiWindowFlags_NoBackground)
-      .value("NoSavedSettings", ImGuiWindowFlags_NoSavedSettings)
-      .value("NoMouseInputs", ImGuiWindowFlags_NoMouseInputs)
-      .value("MenuBar", ImGuiWindowFlags_MenuBar)
-      .value("HorizontalScrollbar", ImGuiWindowFlags_HorizontalScrollbar)
-      .value("NoFocusOnAppearing", ImGuiWindowFlags_NoFocusOnAppearing)
-      .value("NoBringToFrontOnFocus", ImGuiWindowFlags_NoBringToFrontOnFocus)
-      .value("AlwaysVerticalScrollbar", ImGuiWindowFlags_AlwaysVerticalScrollbar)
-      .value("AlwaysHorizontalScrollbar", ImGuiWindowFlags_AlwaysHorizontalScrollbar)
-      .value("NoNavInputs", ImGuiWindowFlags_NoNavInputs)
-      .value("NoNavFocus", ImGuiWindowFlags_NoNavFocus)
-      .value("UnsavedDocument", ImGuiWindowFlags_UnsavedDocument)
-      .value("NoDocking", ImGuiWindowFlags_NoDocking)
-      .value("NoNav", ImGuiWindowFlags_NoNav)
-      .value("NoDecoration", ImGuiWindowFlags_NoDecoration)
-      .value("NoInputs", ImGuiWindowFlags_NoInputs)
-      .value("ChildWindow", ImGuiWindowFlags_ChildWindow)
-      .value("Tooltip", ImGuiWindowFlags_Tooltip)
-      .value("Popup", ImGuiWindowFlags_Popup)
-      .value("Modal", ImGuiWindowFlags_Modal)
-      .value("ChildMenu", ImGuiWindowFlags_ChildMenu)
-      .value("DockNodeHost", ImGuiWindowFlags_DockNodeHost);
-
-  py::enum_<ImGuiChildFlags_>(m, "ChildFlags")
-      .value("None", ImGuiChildFlags_None)
-      .value("Borders", ImGuiChildFlags_Borders)
-      .value("AlwaysUseWindowPadding", ImGuiChildFlags_AlwaysUseWindowPadding)
-      .value("ResizeX", ImGuiChildFlags_ResizeX)
-      .value("ResizeY", ImGuiChildFlags_ResizeY)
-      .value("AutoResizeX", ImGuiChildFlags_AutoResizeX)
-      .value("AutoResizeY", ImGuiChildFlags_AutoResizeY)
-      .value("AlwaysAutoResize", ImGuiChildFlags_AlwaysAutoResize)
-      .value("FrameStyle", ImGuiChildFlags_FrameStyle)
-      .value("NavFlattened", ImGuiChildFlags_NavFlattened);
-
-  py::enum_<ImGuiInputTextFlags_>(m, "InputTextFlags")
-      .value("None", ImGuiInputTextFlags_None)
-      .value("CharsDecimal", ImGuiInputTextFlags_CharsDecimal)
-      .value("CharsHexadecimal", ImGuiInputTextFlags_CharsHexadecimal)
-      .value("CharsScientific", ImGuiInputTextFlags_CharsScientific)
-      .value("CharsUppercase", ImGuiInputTextFlags_CharsUppercase)
-      .value("CharsNoBlank", ImGuiInputTextFlags_CharsNoBlank)
-      .value("AllowTabInput", ImGuiInputTextFlags_AllowTabInput)
-      .value("EnterReturnsTrue", ImGuiInputTextFlags_EnterReturnsTrue)
-      .value("EscapeClearsAll", ImGuiInputTextFlags_EscapeClearsAll)
-      .value("CtrlEnterForNewLine", ImGuiInputTextFlags_CtrlEnterForNewLine)
-      .value("ReadOnly", ImGuiInputTextFlags_ReadOnly)
-      .value("Password", ImGuiInputTextFlags_Password)
-      .value("AlwaysOverwrite", ImGuiInputTextFlags_AlwaysOverwrite)
-      .value("AutoSelectAll", ImGuiInputTextFlags_AutoSelectAll)
-      .value("ParseEmptyRefVal", ImGuiInputTextFlags_ParseEmptyRefVal)
-      .value("DisplayEmptyRefVal", ImGuiInputTextFlags_DisplayEmptyRefVal)
-      .value("NoHorizontalScroll", ImGuiInputTextFlags_NoHorizontalScroll)
-      .value("NoUndoRedo", ImGuiInputTextFlags_NoUndoRedo)
-      .value("CallbackCompletion", ImGuiInputTextFlags_CallbackCompletion)
-      .value("CallbackHistory", ImGuiInputTextFlags_CallbackHistory)
-      .value("CallbackAlways", ImGuiInputTextFlags_CallbackAlways)
-      .value("CallbackCharFilter", ImGuiInputTextFlags_CallbackCharFilter)
-      .value("CallbackResize", ImGuiInputTextFlags_CallbackResize)
-      .value("CallbackEdit", ImGuiInputTextFlags_CallbackEdit)
-      .value("WordWrap", ImGuiInputTextFlags_WordWrap);
-
-  py::enum_<ImGuiTreeNodeFlags_>(m, "TreeNodeFlags")
-      .value("None", ImGuiTreeNodeFlags_None)
-      .value("Selected", ImGuiTreeNodeFlags_Selected)
-      .value("Framed", ImGuiTreeNodeFlags_Framed)
-      .value("AllowOverlap", ImGuiTreeNodeFlags_AllowOverlap)
-      .value("NoTreePushOnOpen", ImGuiTreeNodeFlags_NoTreePushOnOpen)
-      .value("NoAutoOpenOnLog", ImGuiTreeNodeFlags_NoAutoOpenOnLog)
-      .value("DefaultOpen", ImGuiTreeNodeFlags_DefaultOpen)
-      .value("OpenOnDoubleClick", ImGuiTreeNodeFlags_OpenOnDoubleClick)
-      .value("OpenOnArrow", ImGuiTreeNodeFlags_OpenOnArrow)
-      .value("Leaf", ImGuiTreeNodeFlags_Leaf)
-      .value("Bullet", ImGuiTreeNodeFlags_Bullet)
-      .value("FramePadding", ImGuiTreeNodeFlags_FramePadding)
-      .value("SpanAvailWidth", ImGuiTreeNodeFlags_SpanAvailWidth)
-      .value("SpanFullWidth", ImGuiTreeNodeFlags_SpanFullWidth)
-      .value("SpanTextWidth", ImGuiTreeNodeFlags_SpanTextWidth)
-      .value("SpanAllColumns", ImGuiTreeNodeFlags_SpanAllColumns)
-      .value("NavLeftJumpsBackHere", ImGuiTreeNodeFlags_NavLeftJumpsBackHere)
-      .value("CollapsingHeader", ImGuiTreeNodeFlags_CollapsingHeader);
-
-  py::enum_<ImGuiPopupFlags_>(m, "PopupFlags")
-      .value("None", ImGuiPopupFlags_None)
-      .value("MouseButtonLeft", ImGuiPopupFlags_MouseButtonLeft)
-      .value("MouseButtonRight", ImGuiPopupFlags_MouseButtonRight)
-      .value("MouseButtonMiddle", ImGuiPopupFlags_MouseButtonMiddle)
-      .value("MouseButtonMask", ImGuiPopupFlags_MouseButtonMask_)
-      .value("NoReopen", ImGuiPopupFlags_NoReopen)
-      .value("NoOpenOverExistingPopup", ImGuiPopupFlags_NoOpenOverExistingPopup)
-      .value("NoOpenOverItems", ImGuiPopupFlags_NoOpenOverItems)
-      .value("AnyPopupId", ImGuiPopupFlags_AnyPopupId)
-      .value("AnyPopupLevel", ImGuiPopupFlags_AnyPopupLevel)
-      .value("AnyPopup", ImGuiPopupFlags_AnyPopup);
-
-  py::enum_<ImGuiSelectableFlags_>(m, "SelectableFlags")
-      .value("None", ImGuiSelectableFlags_None)
-      .value("DontClosePopups", ImGuiSelectableFlags_DontClosePopups)
-      .value("SpanAllColumns", ImGuiSelectableFlags_SpanAllColumns)
-      .value("AllowDoubleClick", ImGuiSelectableFlags_AllowDoubleClick)
-      .value("Disabled", ImGuiSelectableFlags_Disabled)
-      .value("AllowOverlap", ImGuiSelectableFlags_AllowOverlap);
-
-  py::enum_<ImGuiComboFlags_>(m, "ComboFlags")
-      .value("None", ImGuiComboFlags_None)
-      .value("PopupAlignLeft", ImGuiComboFlags_PopupAlignLeft)
-      .value("HeightSmall", ImGuiComboFlags_HeightSmall)
-      .value("HeightRegular", ImGuiComboFlags_HeightRegular)
-      .value("HeightLarge", ImGuiComboFlags_HeightLarge)
-      .value("HeightLargest", ImGuiComboFlags_HeightLargest)
-      .value("NoArrowButton", ImGuiComboFlags_NoArrowButton)
-      .value("NoPreview", ImGuiComboFlags_NoPreview)
-      .value("WidthFitPreview", ImGuiComboFlags_WidthFitPreview)
-      .value("HeightMask", ImGuiComboFlags_HeightMask_);
-
-  py::enum_<ImGuiTabBarFlags_>(m, "TabBarFlags")
-      .value("None", ImGuiTabBarFlags_None)
-      .value("Reorderable", ImGuiTabBarFlags_Reorderable)
-      .value("AutoSelectNewTabs", ImGuiTabBarFlags_AutoSelectNewTabs)
-      .value("TabListPopupButton", ImGuiTabBarFlags_TabListPopupButton)
-      .value("NoCloseWithMiddleMouseButton", ImGuiTabBarFlags_NoCloseWithMiddleMouseButton)
-      .value("NoTabListScrollingButtons", ImGuiTabBarFlags_NoTabListScrollingButtons)
-      .value("NoTooltip", ImGuiTabBarFlags_NoTooltip)
-      .value("DrawSelectedOverline", ImGuiTabBarFlags_DrawSelectedOverline)
-      .value("FittingPolicyResizeDown", ImGuiTabBarFlags_FittingPolicyResizeDown)
-      .value("FittingPolicyScroll", ImGuiTabBarFlags_FittingPolicyScroll)
-      .value("FittingPolicyMask", ImGuiTabBarFlags_FittingPolicyMask_)
-      .value("FittingPolicyDefault", ImGuiTabBarFlags_FittingPolicyDefault_);
-
-  py::enum_<ImGuiTabItemFlags_>(m, "TabItemFlags")
-      .value("None", ImGuiTabItemFlags_None)
-      .value("UnsavedDocument", ImGuiTabItemFlags_UnsavedDocument)
-      .value("SetSelected", ImGuiTabItemFlags_SetSelected)
-      .value("NoCloseWithMiddleMouseButton", ImGuiTabItemFlags_NoCloseWithMiddleMouseButton)
-      .value("NoPushId", ImGuiTabItemFlags_NoPushId)
-      .value("NoTooltip", ImGuiTabItemFlags_NoTooltip)
-      .value("NoReorder", ImGuiTabItemFlags_NoReorder)
-      .value("Leading", ImGuiTabItemFlags_Leading)
-      .value("Trailing", ImGuiTabItemFlags_Trailing)
-      .value("NoAssumedClosure", ImGuiTabItemFlags_NoAssumedClosure);
-
-  py::enum_<ImGuiFocusedFlags_>(m, "FocusedFlags")
-      .value("None", ImGuiFocusedFlags_None)
-      .value("ChildWindows", ImGuiFocusedFlags_ChildWindows)
-      .value("RootWindow", ImGuiFocusedFlags_RootWindow)
-      .value("AnyWindow", ImGuiFocusedFlags_AnyWindow)
-      .value("NoPopupHierarchy", ImGuiFocusedFlags_NoPopupHierarchy)
-      .value("DockHierarchy", ImGuiFocusedFlags_DockHierarchy)
-      .value("RootAndChildWindows", ImGuiFocusedFlags_RootAndChildWindows);
-
-  py::enum_<ImGuiHoveredFlags_>(m, "HoveredFlags")
-      .value("None", ImGuiHoveredFlags_None)
-      .value("ChildWindows", ImGuiHoveredFlags_ChildWindows)
-      .value("RootWindow", ImGuiHoveredFlags_RootWindow)
-      .value("AnyWindow", ImGuiHoveredFlags_AnyWindow)
-      .value("NoPopupHierarchy", ImGuiHoveredFlags_NoPopupHierarchy)
-      .value("DockHierarchy", ImGuiHoveredFlags_DockHierarchy)
-      .value("AllowWhenBlockedByPopup", ImGuiHoveredFlags_AllowWhenBlockedByPopup)
-      .value("AllowWhenBlockedByActiveItem", ImGuiHoveredFlags_AllowWhenBlockedByActiveItem)
-      .value("AllowWhenOverlappedByItem", ImGuiHoveredFlags_AllowWhenOverlappedByItem)
-      .value("AllowWhenOverlappedByWindow", ImGuiHoveredFlags_AllowWhenOverlappedByWindow)
-      .value("AllowWhenDisabled", ImGuiHoveredFlags_AllowWhenDisabled)
-      .value("NoNavOverride", ImGuiHoveredFlags_NoNavOverride)
-      .value("AllowWhenOverlapped", ImGuiHoveredFlags_AllowWhenOverlapped)
-      .value("RectOnly", ImGuiHoveredFlags_RectOnly)
-      .value("RootAndChildWindows", ImGuiHoveredFlags_RootAndChildWindows)
-      .value("ForTooltip", ImGuiHoveredFlags_ForTooltip)
-      .value("Stationary", ImGuiHoveredFlags_Stationary)
-      .value("DelayNone", ImGuiHoveredFlags_DelayNone)
-      .value("DelayShort", ImGuiHoveredFlags_DelayShort)
-      .value("DelayNormal", ImGuiHoveredFlags_DelayNormal)
-      .value("NoSharedDelay", ImGuiHoveredFlags_NoSharedDelay);
-
-  py::enum_<ImGuiDockNodeFlags_>(m, "DockNodeFlags")
-      .value("None", ImGuiDockNodeFlags_None)
-      .value("KeepAliveOnly", ImGuiDockNodeFlags_KeepAliveOnly)
-      .value("NoDockingOverCentralNode", ImGuiDockNodeFlags_NoDockingOverCentralNode)
-      .value("PassthruCentralNode", ImGuiDockNodeFlags_PassthruCentralNode)
-      .value("NoDockingSplit", ImGuiDockNodeFlags_NoDockingSplit)
-      .value("NoResize", ImGuiDockNodeFlags_NoResize)
-      .value("AutoHideTabBar", ImGuiDockNodeFlags_AutoHideTabBar)
-      .value("NoUndocking", ImGuiDockNodeFlags_NoUndocking);
-
-  py::enum_<ImGuiDragDropFlags_>(m, "DragDropFlags")
-      .value("None", ImGuiDragDropFlags_None)
-      .value("SourceNoPreviewTooltip", ImGuiDragDropFlags_SourceNoPreviewTooltip)
-      .value("SourceNoDisableHover", ImGuiDragDropFlags_SourceNoDisableHover)
-      .value("SourceNoHoldToOpenOthers", ImGuiDragDropFlags_SourceNoHoldToOpenOthers)
-      .value("SourceAllowNullID", ImGuiDragDropFlags_SourceAllowNullID)
-      .value("SourceExtern", ImGuiDragDropFlags_SourceExtern)
-      .value("PayloadAutoExpire", ImGuiDragDropFlags_PayloadAutoExpire)
-      .value("PayloadNoCrossContext", ImGuiDragDropFlags_PayloadNoCrossContext)
-      .value("PayloadNoCrossProcess", ImGuiDragDropFlags_PayloadNoCrossProcess)
-      .value("AcceptBeforeDelivery", ImGuiDragDropFlags_AcceptBeforeDelivery)
-      .value("AcceptNoDrawDefaultRect", ImGuiDragDropFlags_AcceptNoDrawDefaultRect)
-      .value("AcceptNoPreviewTooltip", ImGuiDragDropFlags_AcceptNoPreviewTooltip)
-      .value("AcceptPeekOnly", ImGuiDragDropFlags_AcceptPeekOnly);
-
-  py::enum_<ImGuiDataType_>(m, "DataType")
-      .value("S8", ImGuiDataType_S8)
-      .value("U8", ImGuiDataType_U8)
-      .value("S16", ImGuiDataType_S16)
-      .value("U16", ImGuiDataType_U16)
-      .value("S32", ImGuiDataType_S32)
-      .value("U32", ImGuiDataType_U32)
-      .value("S64", ImGuiDataType_S64)
-      .value("U64", ImGuiDataType_U64)
-      .value("Float", ImGuiDataType_Float)
-      .value("Double", ImGuiDataType_Double);
-
-  py::enum_<ImGuiDir>(m, "Dir")
-      .value("None", ImGuiDir_None)
-      .value("Left", ImGuiDir_Left)
-      .value("Right", ImGuiDir_Right)
-      .value("Up", ImGuiDir_Up)
-      .value("Down", ImGuiDir_Down);
-
-  py::enum_<ImGuiSortDirection>(m, "SortDirection")
-      .value("None", ImGuiSortDirection_None)
-      .value("Ascending", ImGuiSortDirection_Ascending)
-      .value("Descending", ImGuiSortDirection_Descending);
-
-  py::enum_<ImGuiInputFlags_>(m, "InputFlags")
-      .value("None", ImGuiInputFlags_None)
-      .value("Repeat", ImGuiInputFlags_Repeat)
-      .value("RouteActive", ImGuiInputFlags_RouteActive)
-      .value("RouteFocused", ImGuiInputFlags_RouteFocused)
-      .value("RouteGlobal", ImGuiInputFlags_RouteGlobal)
-      .value("RouteAlways", ImGuiInputFlags_RouteAlways)
-      .value("RouteOverFocused", ImGuiInputFlags_RouteOverFocused)
-      .value("RouteOverActive", ImGuiInputFlags_RouteOverActive)
-      .value("RouteUnlessBgFocused", ImGuiInputFlags_RouteUnlessBgFocused)
-      .value("RouteFromRootWindow", ImGuiInputFlags_RouteFromRootWindow)
-      .value("Tooltip", ImGuiInputFlags_Tooltip);
-
-  py::enum_<ImGuiConfigFlags_>(m, "ConfigFlags")
-      .value("None", ImGuiConfigFlags_None)
-      .value("NavEnableKeyboard", ImGuiConfigFlags_NavEnableKeyboard)
-      .value("NavEnableGamepad", ImGuiConfigFlags_NavEnableGamepad)
-      .value("NavEnableSetMousePos", ImGuiConfigFlags_NavEnableSetMousePos)
-      .value("NavNoCaptureKeyboard", ImGuiConfigFlags_NavNoCaptureKeyboard)
-      .value("NoMouse", ImGuiConfigFlags_NoMouse)
-      .value("NoMouseCursorChange", ImGuiConfigFlags_NoMouseCursorChange)
-      .value("NoKeyboard", ImGuiConfigFlags_NoKeyboard)
-      .value("DockingEnable", ImGuiConfigFlags_DockingEnable)
-      .value("ViewportsEnable", ImGuiConfigFlags_ViewportsEnable)
-      .value("DpiEnableScaleViewports", ImGuiConfigFlags_DpiEnableScaleViewports)
-      .value("DpiEnableScaleFonts", ImGuiConfigFlags_DpiEnableScaleFonts)
-      .value("IsSRGB", ImGuiConfigFlags_IsSRGB)
-      .value("IsTouchScreen", ImGuiConfigFlags_IsTouchScreen);
-
-  py::enum_<ImGuiBackendFlags_>(m, "BackendFlags")
-      .value("None", ImGuiBackendFlags_None)
-      .value("HasGamepad", ImGuiBackendFlags_HasGamepad)
-      .value("HasMouseCursors", ImGuiBackendFlags_HasMouseCursors)
-      .value("HasSetMousePos", ImGuiBackendFlags_HasSetMousePos)
-      .value("RendererHasVtxOffset", ImGuiBackendFlags_RendererHasVtxOffset)
-      .value("PlatformHasViewports", ImGuiBackendFlags_PlatformHasViewports)
-      .value("HasMouseHoveredViewport", ImGuiBackendFlags_HasMouseHoveredViewport)
-      .value("RendererHasViewports", ImGuiBackendFlags_RendererHasViewports);
-
-  py::enum_<ImGuiCol_>(m, "Col")
-      .value("Text", ImGuiCol_Text)
-      .value("TextDisabled", ImGuiCol_TextDisabled)
-      .value("WindowBg", ImGuiCol_WindowBg)
-      .value("ChildBg", ImGuiCol_ChildBg)
-      .value("PopupBg", ImGuiCol_PopupBg)
-      .value("Border", ImGuiCol_Border)
-      .value("BorderShadow", ImGuiCol_BorderShadow)
-      .value("FrameBg", ImGuiCol_FrameBg)
-      .value("FrameBgHovered", ImGuiCol_FrameBgHovered)
-      .value("FrameBgActive", ImGuiCol_FrameBgActive)
-      .value("TitleBg", ImGuiCol_TitleBg)
-      .value("TitleBgActive", ImGuiCol_TitleBgActive)
-      .value("TitleBgCollapsed", ImGuiCol_TitleBgCollapsed)
-      .value("MenuBarBg", ImGuiCol_MenuBarBg)
-      .value("ScrollbarBg", ImGuiCol_ScrollbarBg)
-      .value("ScrollbarGrab", ImGuiCol_ScrollbarGrab)
-      .value("ScrollbarGrabHovered", ImGuiCol_ScrollbarGrabHovered)
-      .value("ScrollbarGrabActive", ImGuiCol_ScrollbarGrabActive)
-      .value("CheckMark", ImGuiCol_CheckMark)
-      .value("SliderGrab", ImGuiCol_SliderGrab)
-      .value("SliderGrabActive", ImGuiCol_SliderGrabActive)
-      .value("Button", ImGuiCol_Button)
-      .value("ButtonHovered", ImGuiCol_ButtonHovered)
-      .value("ButtonActive", ImGuiCol_ButtonActive)
-      .value("Header", ImGuiCol_Header)
-      .value("HeaderHovered", ImGuiCol_HeaderHovered)
-      .value("HeaderActive", ImGuiCol_HeaderActive)
-      .value("Separator", ImGuiCol_Separator)
-      .value("SeparatorHovered", ImGuiCol_SeparatorHovered)
-      .value("SeparatorActive", ImGuiCol_SeparatorActive)
-      .value("ResizeGrip", ImGuiCol_ResizeGrip)
-      .value("ResizeGripHovered", ImGuiCol_ResizeGripHovered)
-      .value("ResizeGripActive", ImGuiCol_ResizeGripActive)
-      .value("TabHovered", ImGuiCol_TabHovered)
-      .value("Tab", ImGuiCol_Tab)
-      .value("TabSelected", ImGuiCol_TabSelected)
-      .value("TabSelectedOverline", ImGuiCol_TabSelectedOverline)
-      .value("TabDimmed", ImGuiCol_TabDimmed)
-      .value("TabDimmedSelected", ImGuiCol_TabDimmedSelected)
-      .value("TabDimmedSelectedOverline", ImGuiCol_TabDimmedSelectedOverline)
-      .value("DockingPreview", ImGuiCol_DockingPreview)
-      .value("DockingEmptyBg", ImGuiCol_DockingEmptyBg)
-      .value("PlotLines", ImGuiCol_PlotLines)
-      .value("PlotLinesHovered", ImGuiCol_PlotLinesHovered)
-      .value("PlotHistogram", ImGuiCol_PlotHistogram)
-      .value("PlotHistogramHovered", ImGuiCol_PlotHistogramHovered)
-      .value("TableHeaderBg", ImGuiCol_TableHeaderBg)
-      .value("TableBorderStrong", ImGuiCol_TableBorderStrong)
-      .value("TableBorderLight", ImGuiCol_TableBorderLight)
-      .value("TableRowBg", ImGuiCol_TableRowBg)
-      .value("TableRowBgAlt", ImGuiCol_TableRowBgAlt)
-      .value("TextLink", ImGuiCol_TextLink)
-      .value("TextSelectedBg", ImGuiCol_TextSelectedBg)
-      .value("DragDropTarget", ImGuiCol_DragDropTarget)
-      .value("NavHighlight", ImGuiCol_NavHighlight)
-      .value("NavWindowingHighlight", ImGuiCol_NavWindowingHighlight)
-      .value("NavWindowingDimBg", ImGuiCol_NavWindowingDimBg)
-      .value("ModalWindowDimBg", ImGuiCol_ModalWindowDimBg);
-
-  py::enum_<ImGuiStyleVar_>(m, "StyleVar")
-      .value("Alpha", ImGuiStyleVar_Alpha)
-      .value("DisabledAlpha", ImGuiStyleVar_DisabledAlpha)
-      .value("WindowPadding", ImGuiStyleVar_WindowPadding)
-      .value("WindowRounding", ImGuiStyleVar_WindowRounding)
-      .value("WindowBorderSize", ImGuiStyleVar_WindowBorderSize)
-      .value("WindowMinSize", ImGuiStyleVar_WindowMinSize)
-      .value("WindowTitleAlign", ImGuiStyleVar_WindowTitleAlign)
-      .value("ChildRounding", ImGuiStyleVar_ChildRounding)
-      .value("ChildBorderSize", ImGuiStyleVar_ChildBorderSize)
-      .value("PopupRounding", ImGuiStyleVar_PopupRounding)
-      .value("PopupBorderSize", ImGuiStyleVar_PopupBorderSize)
-      .value("FramePadding", ImGuiStyleVar_FramePadding)
-      .value("FrameRounding", ImGuiStyleVar_FrameRounding)
-      .value("FrameBorderSize", ImGuiStyleVar_FrameBorderSize)
-      .value("ItemSpacing", ImGuiStyleVar_ItemSpacing)
-      .value("ItemInnerSpacing", ImGuiStyleVar_ItemInnerSpacing)
-      .value("IndentSpacing", ImGuiStyleVar_IndentSpacing)
-      .value("CellPadding", ImGuiStyleVar_CellPadding)
-      .value("ScrollbarSize", ImGuiStyleVar_ScrollbarSize)
-      .value("ScrollbarRounding", ImGuiStyleVar_ScrollbarRounding)
-      .value("GrabMinSize", ImGuiStyleVar_GrabMinSize)
-      .value("GrabRounding", ImGuiStyleVar_GrabRounding)
-      .value("TabRounding", ImGuiStyleVar_TabRounding)
-      .value("TabBorderSize", ImGuiStyleVar_TabBorderSize)
-      .value("TabBarBorderSize", ImGuiStyleVar_TabBarBorderSize)
-      .value("TableAngledHeadersAngle", ImGuiStyleVar_TableAngledHeadersAngle)
-      .value("TableAngledHeadersTextAlign", ImGuiStyleVar_TableAngledHeadersTextAlign)
-      .value("ButtonTextAlign", ImGuiStyleVar_ButtonTextAlign)
-      .value("SelectableTextAlign", ImGuiStyleVar_SelectableTextAlign)
-      .value("SeparatorTextBorderSize", ImGuiStyleVar_SeparatorTextBorderSize)
-      .value("SeparatorTextAlign", ImGuiStyleVar_SeparatorTextAlign)
-      .value("SeparatorTextPadding", ImGuiStyleVar_SeparatorTextPadding)
-      .value("DockingSeparatorSize", ImGuiStyleVar_DockingSeparatorSize);
-
-  py::enum_<ImGuiButtonFlags_>(m, "ButtonFlags")
-      .value("None", ImGuiButtonFlags_None)
-      .value("MouseButtonLeft", ImGuiButtonFlags_MouseButtonLeft)
-      .value("MouseButtonRight", ImGuiButtonFlags_MouseButtonRight)
-      .value("MouseButtonMiddle", ImGuiButtonFlags_MouseButtonMiddle)
-      .value("MouseButtonMask", ImGuiButtonFlags_MouseButtonMask_);
-
-  py::enum_<ImGuiColorEditFlags_>(m, "ColorEditFlags")
-      .value("None", ImGuiColorEditFlags_None)
-      .value("NoAlpha", ImGuiColorEditFlags_NoAlpha)
-      .value("NoPicker", ImGuiColorEditFlags_NoPicker)
-      .value("NoOptions", ImGuiColorEditFlags_NoOptions)
-      .value("NoSmallPreview", ImGuiColorEditFlags_NoSmallPreview)
-      .value("NoInputs", ImGuiColorEditFlags_NoInputs)
-      .value("NoTooltip", ImGuiColorEditFlags_NoTooltip)
-      .value("NoLabel", ImGuiColorEditFlags_NoLabel)
-      .value("NoSidePreview", ImGuiColorEditFlags_NoSidePreview)
-      .value("NoDragDrop", ImGuiColorEditFlags_NoDragDrop)
-      .value("NoBorder", ImGuiColorEditFlags_NoBorder)
-      .value("AlphaBar", ImGuiColorEditFlags_AlphaBar)
-      .value("AlphaPreview", ImGuiColorEditFlags_AlphaPreview)
-      .value("AlphaPreviewHalf", ImGuiColorEditFlags_AlphaPreviewHalf)
-      .value("HDR", ImGuiColorEditFlags_HDR)
-      .value("DisplayRGB", ImGuiColorEditFlags_DisplayRGB)
-      .value("DisplayHSV", ImGuiColorEditFlags_DisplayHSV)
-      .value("DisplayHex", ImGuiColorEditFlags_DisplayHex)
-      .value("Uint8", ImGuiColorEditFlags_Uint8)
-      .value("Float", ImGuiColorEditFlags_Float)
-      .value("PickerHueBar", ImGuiColorEditFlags_PickerHueBar)
-      .value("PickerHueWheel", ImGuiColorEditFlags_PickerHueWheel)
-      .value("InputRGB", ImGuiColorEditFlags_InputRGB)
-      .value("InputHSV", ImGuiColorEditFlags_InputHSV)
-      .value("DefaultOptions", ImGuiColorEditFlags_DefaultOptions_)
-      .value("DisplayMask", ImGuiColorEditFlags_DisplayMask_)
-      .value("DataTypeMask", ImGuiColorEditFlags_DataTypeMask_)
-      .value("PickerMask", ImGuiColorEditFlags_PickerMask_)
-      .value("InputMask", ImGuiColorEditFlags_InputMask_);
-
-  py::enum_<ImGuiSliderFlags_>(m, "SliderFlags")
-      .value("None", ImGuiSliderFlags_None)
-      .value("AlwaysClamp", ImGuiSliderFlags_AlwaysClamp)
-      .value("Logarithmic", ImGuiSliderFlags_Logarithmic)
-      .value("NoRoundToFormat", ImGuiSliderFlags_NoRoundToFormat)
-      .value("NoInput", ImGuiSliderFlags_NoInput)
-      .value("WrapAround", ImGuiSliderFlags_WrapAround)
-      .value("InvalidMask", ImGuiSliderFlags_InvalidMask_);
-
-  py::enum_<ImGuiMouseButton_>(m, "MouseButton")
-      .value("Left", ImGuiMouseButton_Left)
-      .value("Right", ImGuiMouseButton_Right)
-      .value("Middle", ImGuiMouseButton_Middle);
-
-  py::enum_<ImGuiMouseCursor_>(m, "MouseCursor")
-      .value("None", ImGuiMouseCursor_None)
-      .value("Arrow", ImGuiMouseCursor_Arrow)
-      .value("TextInput", ImGuiMouseCursor_TextInput)
-      .value("ResizeAll", ImGuiMouseCursor_ResizeAll)
-      .value("ResizeNS", ImGuiMouseCursor_ResizeNS)
-      .value("ResizeEW", ImGuiMouseCursor_ResizeEW)
-      .value("ResizeNESW", ImGuiMouseCursor_ResizeNESW)
-      .value("ResizeNWSE", ImGuiMouseCursor_ResizeNWSE)
-      .value("Hand", ImGuiMouseCursor_Hand)
-      .value("NotAllowed", ImGuiMouseCursor_NotAllowed);
-
-  py::enum_<ImGuiMouseSource>(m, "MouseSource")
-      .value("Mouse", ImGuiMouseSource_Mouse)
-      .value("TouchScreen", ImGuiMouseSource_TouchScreen)
-      .value("Pen", ImGuiMouseSource_Pen);
-
-  py::enum_<ImGuiCond_>(m, "Cond")
-      .value("None", ImGuiCond_None)
-      .value("Always", ImGuiCond_Always)
-      .value("Once", ImGuiCond_Once)
-      .value("FirstUseEver", ImGuiCond_FirstUseEver)
-      .value("Appearing", ImGuiCond_Appearing);
-
-  py::enum_<ImGuiTableFlags_>(m, "TableFlags")
-      .value("None", ImGuiTableFlags_None)
-      .value("Resizable", ImGuiTableFlags_Resizable)
-      .value("Reorderable", ImGuiTableFlags_Reorderable)
-      .value("Hideable", ImGuiTableFlags_Hideable)
-      .value("Sortable", ImGuiTableFlags_Sortable)
-      .value("NoSavedSettings", ImGuiTableFlags_NoSavedSettings)
-      .value("ContextMenuInBody", ImGuiTableFlags_ContextMenuInBody)
-      .value("RowBg", ImGuiTableFlags_RowBg)
-      .value("BordersInnerH", ImGuiTableFlags_BordersInnerH)
-      .value("BordersOuterH", ImGuiTableFlags_BordersOuterH)
-      .value("BordersInnerV", ImGuiTableFlags_BordersInnerV)
-      .value("BordersOuterV", ImGuiTableFlags_BordersOuterV)
-      .value("BordersH", ImGuiTableFlags_BordersH)
-      .value("BordersV", ImGuiTableFlags_BordersV)
-      .value("BordersInner", ImGuiTableFlags_BordersInner)
-      .value("BordersOuter", ImGuiTableFlags_BordersOuter)
-      .value("Borders", ImGuiTableFlags_Borders)
-      .value("NoBordersInBody", ImGuiTableFlags_NoBordersInBody)
-      .value("NoBordersInBodyUntilResize", ImGuiTableFlags_NoBordersInBodyUntilResize)
-      .value("SizingFixedFit", ImGuiTableFlags_SizingFixedFit)
-      .value("SizingFixedSame", ImGuiTableFlags_SizingFixedSame)
-      .value("SizingStretchProp", ImGuiTableFlags_SizingStretchProp)
-      .value("SizingStretchSame", ImGuiTableFlags_SizingStretchSame)
-      .value("NoHostExtendX", ImGuiTableFlags_NoHostExtendX)
-      .value("NoHostExtendY", ImGuiTableFlags_NoHostExtendY)
-      .value("NoKeepColumnsVisible", ImGuiTableFlags_NoKeepColumnsVisible)
-      .value("PreciseWidths", ImGuiTableFlags_PreciseWidths)
-      .value("NoClip", ImGuiTableFlags_NoClip)
-      .value("PadOuterX", ImGuiTableFlags_PadOuterX)
-      .value("NoPadOuterX", ImGuiTableFlags_NoPadOuterX)
-      .value("NoPadInnerX", ImGuiTableFlags_NoPadInnerX)
-      .value("ScrollX", ImGuiTableFlags_ScrollX)
-      .value("ScrollY", ImGuiTableFlags_ScrollY)
-      .value("SortMulti", ImGuiTableFlags_SortMulti)
-      .value("SortTristate", ImGuiTableFlags_SortTristate)
-      .value("HighlightHoveredColumn", ImGuiTableFlags_HighlightHoveredColumn)
-      .value("SizingMask", ImGuiTableFlags_SizingMask_);
-
-  py::enum_<ImGuiTableColumnFlags_>(m, "TableColumnFlags")
-      .value("None", ImGuiTableColumnFlags_None)
-      .value("Disabled", ImGuiTableColumnFlags_Disabled)
-      .value("DefaultHide", ImGuiTableColumnFlags_DefaultHide)
-      .value("DefaultSort", ImGuiTableColumnFlags_DefaultSort)
-      .value("WidthStretch", ImGuiTableColumnFlags_WidthStretch)
-      .value("WidthFixed", ImGuiTableColumnFlags_WidthFixed)
-      .value("NoResize", ImGuiTableColumnFlags_NoResize)
-      .value("NoReorder", ImGuiTableColumnFlags_NoReorder)
-      .value("NoHide", ImGuiTableColumnFlags_NoHide)
-      .value("NoClip", ImGuiTableColumnFlags_NoClip)
-      .value("NoSort", ImGuiTableColumnFlags_NoSort)
-      .value("NoSortAscending", ImGuiTableColumnFlags_NoSortAscending)
-      .value("NoSortDescending", ImGuiTableColumnFlags_NoSortDescending)
-      .value("NoHeaderLabel", ImGuiTableColumnFlags_NoHeaderLabel)
-      .value("NoHeaderWidth", ImGuiTableColumnFlags_NoHeaderWidth)
-      .value("PreferSortAscending", ImGuiTableColumnFlags_PreferSortAscending)
-      .value("PreferSortDescending", ImGuiTableColumnFlags_PreferSortDescending)
-      .value("IndentEnable", ImGuiTableColumnFlags_IndentEnable)
-      .value("IndentDisable", ImGuiTableColumnFlags_IndentDisable)
-      .value("AngledHeader", ImGuiTableColumnFlags_AngledHeader)
-      .value("IsEnabled", ImGuiTableColumnFlags_IsEnabled)
-      .value("IsVisible", ImGuiTableColumnFlags_IsVisible)
-      .value("IsSorted", ImGuiTableColumnFlags_IsSorted)
-      .value("IsHovered", ImGuiTableColumnFlags_IsHovered)
-      .value("WidthMask", ImGuiTableColumnFlags_WidthMask_)
-      .value("IndentMask", ImGuiTableColumnFlags_IndentMask_)
-      .value("StatusMask", ImGuiTableColumnFlags_StatusMask_)
-      .value("NoDirectResize", ImGuiTableColumnFlags_NoDirectResize_);
-
-  py::enum_<ImGuiTableRowFlags_>(m, "TableRowFlags")
-      .value("None", ImGuiTableRowFlags_None)
-      .value("Headers", ImGuiTableRowFlags_Headers);
-
-  py::enum_<ImGuiTableBgTarget_>(m, "TableBgTarget")
-      .value("None", ImGuiTableBgTarget_None)
-      .value("RowBg0", ImGuiTableBgTarget_RowBg0)
-      .value("RowBg1", ImGuiTableBgTarget_RowBg1)
-      .value("CellBg", ImGuiTableBgTarget_CellBg);
-
-  py::enum_<ImGuiKey>(m, "Key")
-      .value("None", ImGuiKey_None)
-      .value("Tab", ImGuiKey_Tab)
-      .value("LeftArrow", ImGuiKey_LeftArrow)
-      .value("RightArrow", ImGuiKey_RightArrow)
-      .value("UpArrow", ImGuiKey_UpArrow)
-      .value("DownArrow", ImGuiKey_DownArrow)
-      .value("PageUp", ImGuiKey_PageUp)
-      .value("PageDown", ImGuiKey_PageDown)
-      .value("Home", ImGuiKey_Home)
-      .value("End", ImGuiKey_End)
-      .value("Insert", ImGuiKey_Insert)
-      .value("Delete", ImGuiKey_Delete)
-      .value("Backspace", ImGuiKey_Backspace)
-      .value("Space", ImGuiKey_Space)
-      .value("Enter", ImGuiKey_Enter)
-      .value("Escape", ImGuiKey_Escape)
-      .value("LeftCtrl", ImGuiKey_LeftCtrl)
-      .value("LeftShift", ImGuiKey_LeftShift)
-      .value("LeftAlt", ImGuiKey_LeftAlt)
-      .value("LeftSuper", ImGuiKey_LeftSuper)
-      .value("RightCtrl", ImGuiKey_RightCtrl)
-      .value("RightShift", ImGuiKey_RightShift)
-      .value("RightAlt", ImGuiKey_RightAlt)
-      .value("RightSuper", ImGuiKey_RightSuper)
-      .value("Menu", ImGuiKey_Menu)
-      // "N" prefix ensures "imgui.Key.N0" parses correctly in Python
-      // (numbers are not valid identifier prefixes).
-      .value("N0", ImGuiKey_0)
-      .value("N1", ImGuiKey_1)
-      .value("N2", ImGuiKey_2)
-      .value("N3", ImGuiKey_3)
-      .value("N4", ImGuiKey_4)
-      .value("N5", ImGuiKey_5)
-      .value("N6", ImGuiKey_6)
-      .value("N7", ImGuiKey_7)
-      .value("N8", ImGuiKey_8)
-      .value("N9", ImGuiKey_9)
-      .value("A", ImGuiKey_A)
-      .value("B", ImGuiKey_B)
-      .value("C", ImGuiKey_C)
-      .value("D", ImGuiKey_D)
-      .value("E", ImGuiKey_E)
-      .value("F", ImGuiKey_F)
-      .value("G", ImGuiKey_G)
-      .value("H", ImGuiKey_H)
-      .value("I", ImGuiKey_I)
-      .value("J", ImGuiKey_J)
-      .value("K", ImGuiKey_K)
-      .value("L", ImGuiKey_L)
-      .value("M", ImGuiKey_M)
-      .value("N", ImGuiKey_N)
-      .value("O", ImGuiKey_O)
-      .value("P", ImGuiKey_P)
-      .value("Q", ImGuiKey_Q)
-      .value("R", ImGuiKey_R)
-      .value("S", ImGuiKey_S)
-      .value("T", ImGuiKey_T)
-      .value("U", ImGuiKey_U)
-      .value("V", ImGuiKey_V)
-      .value("W", ImGuiKey_W)
-      .value("X", ImGuiKey_X)
-      .value("Y", ImGuiKey_Y)
-      .value("Z", ImGuiKey_Z)
-      .value("F1", ImGuiKey_F1)
-      .value("F2", ImGuiKey_F2)
-      .value("F3", ImGuiKey_F3)
-      .value("F4", ImGuiKey_F4)
-      .value("F5", ImGuiKey_F5)
-      .value("F6", ImGuiKey_F6)
-      .value("F7", ImGuiKey_F7)
-      .value("F8", ImGuiKey_F8)
-      .value("F9", ImGuiKey_F9)
-      .value("F10", ImGuiKey_F10)
-      .value("F11", ImGuiKey_F11)
-      .value("F12", ImGuiKey_F12)
-      .value("F13", ImGuiKey_F13)
-      .value("F14", ImGuiKey_F14)
-      .value("F15", ImGuiKey_F15)
-      .value("F16", ImGuiKey_F16)
-      .value("F17", ImGuiKey_F17)
-      .value("F18", ImGuiKey_F18)
-      .value("F19", ImGuiKey_F19)
-      .value("F20", ImGuiKey_F20)
-      .value("F21", ImGuiKey_F21)
-      .value("F22", ImGuiKey_F22)
-      .value("F23", ImGuiKey_F23)
-      .value("F24", ImGuiKey_F24)
-      .value("Apostrophe", ImGuiKey_Apostrophe)
-      .value("Comma", ImGuiKey_Comma)
-      .value("Minus", ImGuiKey_Minus)
-      .value("Period", ImGuiKey_Period)
-      .value("Slash", ImGuiKey_Slash)
-      .value("Semicolon", ImGuiKey_Semicolon)
-      .value("Equal", ImGuiKey_Equal)
-      .value("LeftBracket", ImGuiKey_LeftBracket)
-      .value("Backslash", ImGuiKey_Backslash)
-      .value("RightBracket", ImGuiKey_RightBracket)
-      .value("GraveAccent", ImGuiKey_GraveAccent)
-      .value("CapsLock", ImGuiKey_CapsLock)
-      .value("ScrollLock", ImGuiKey_ScrollLock)
-      .value("NumLock", ImGuiKey_NumLock)
-      .value("PrintScreen", ImGuiKey_PrintScreen)
-      .value("Pause", ImGuiKey_Pause)
-      .value("Keypad0", ImGuiKey_Keypad0)
-      .value("Keypad1", ImGuiKey_Keypad1)
-      .value("Keypad2", ImGuiKey_Keypad2)
-      .value("Keypad3", ImGuiKey_Keypad3)
-      .value("Keypad4", ImGuiKey_Keypad4)
-      .value("Keypad5", ImGuiKey_Keypad5)
-      .value("Keypad6", ImGuiKey_Keypad6)
-      .value("Keypad7", ImGuiKey_Keypad7)
-      .value("Keypad8", ImGuiKey_Keypad8)
-      .value("Keypad9", ImGuiKey_Keypad9)
-      .value("KeypadDecimal", ImGuiKey_KeypadDecimal)
-      .value("KeypadDivide", ImGuiKey_KeypadDivide)
-      .value("KeypadMultiply", ImGuiKey_KeypadMultiply)
-      .value("KeypadSubtract", ImGuiKey_KeypadSubtract)
-      .value("KeypadAdd", ImGuiKey_KeypadAdd)
-      .value("KeypadEnter", ImGuiKey_KeypadEnter)
-      .value("KeypadEqual", ImGuiKey_KeypadEqual)
-      .value("AppBack", ImGuiKey_AppBack)
-      .value("AppForward", ImGuiKey_AppForward)
-      .value("GamepadStart", ImGuiKey_GamepadStart)
-      .value("GamepadBack", ImGuiKey_GamepadBack)
-      .value("GamepadFaceLeft", ImGuiKey_GamepadFaceLeft)
-      .value("GamepadFaceRight", ImGuiKey_GamepadFaceRight)
-      .value("GamepadFaceUp", ImGuiKey_GamepadFaceUp)
-      .value("GamepadFaceDown", ImGuiKey_GamepadFaceDown)
-      .value("GamepadDpadLeft", ImGuiKey_GamepadDpadLeft)
-      .value("GamepadDpadRight", ImGuiKey_GamepadDpadRight)
-      .value("GamepadDpadUp", ImGuiKey_GamepadDpadUp)
-      .value("GamepadDpadDown", ImGuiKey_GamepadDpadDown)
-      .value("GamepadL1", ImGuiKey_GamepadL1)
-      .value("GamepadR1", ImGuiKey_GamepadR1)
-      .value("GamepadL2", ImGuiKey_GamepadL2)
-      .value("GamepadR2", ImGuiKey_GamepadR2)
-      .value("GamepadL3", ImGuiKey_GamepadL3)
-      .value("GamepadR3", ImGuiKey_GamepadR3)
-      .value("GamepadLStickLeft", ImGuiKey_GamepadLStickLeft)
-      .value("GamepadLStickRight", ImGuiKey_GamepadLStickRight)
-      .value("GamepadLStickUp", ImGuiKey_GamepadLStickUp)
-      .value("GamepadLStickDown", ImGuiKey_GamepadLStickDown)
-      .value("GamepadRStickLeft", ImGuiKey_GamepadRStickLeft)
-      .value("GamepadRStickRight", ImGuiKey_GamepadRStickRight)
-      .value("GamepadRStickUp", ImGuiKey_GamepadRStickUp)
-      .value("GamepadRStickDown", ImGuiKey_GamepadRStickDown)
-      .value("MouseLeft", ImGuiKey_MouseLeft)
-      .value("MouseRight", ImGuiKey_MouseRight)
-      .value("MouseMiddle", ImGuiKey_MouseMiddle)
-      .value("MouseX1", ImGuiKey_MouseX1)
-      .value("MouseX2", ImGuiKey_MouseX2)
-      .value("MouseWheelX", ImGuiKey_MouseWheelX)
-      .value("MouseWheelY", ImGuiKey_MouseWheelY)
-      .value("ReservedForModCtrl", ImGuiKey_ReservedForModCtrl)
-      .value("ReservedForModShift", ImGuiKey_ReservedForModShift)
-      .value("ReservedForModAlt", ImGuiKey_ReservedForModAlt)
-      .value("ReservedForModSuper", ImGuiKey_ReservedForModSuper)
-      .value("Ctrl", ImGuiMod_Ctrl)
-      .value("Shift", ImGuiMod_Shift)
-      .value("Alt", ImGuiMod_Alt)
-      .value("Super", ImGuiMod_Super)
-      .value("Mask", ImGuiMod_Mask_);
-
-  // Functions.
-  //
-  // Most functions can be bound directly with no custom implementation. A few
-  // overloaded functions are bound with unique names to prevent ambiguities
-  // on the python side. Which function is given an alternative name is more
-  // or less arbitrary.
-  //
-  // Functions that take pointers require custom implementations. Pointers are
-  // usually used as either in/out parameters or lists. For in/out parameters,
-  // we return a tuple containing the return value of the function and the
-  // updated value stored in the pointer. For lists, we accept a std::vector
-  // of the corresponding type and pass the raw array into the ImGui functions.
-  //
-  // Any printf-like function (that took a format + va_list) instead simply
-  // takes a string argument, on the assumption that the formatting will be done
-  // in python.
-  //
-  // Note: this list of functions isn't guaranteed to be complete. We ignore all
-  // rendering specific functions as well as debug functions and anything else
-  // that we feel isn't worth the effort to support.
-
-  DEF0_F(ShowDemoWindow, {
-    bool open = true;
-    ImGui::ShowDemoWindow(&open);
-    return open;
-  });
-
-  DEF3_F(Begin, (ImString, name, ), (bool*, p_open, = nullptr), (ImGuiWindowFlags, flags, = 0), {
-    const auto result = ImGui::Begin(name, p_open, flags);
-    return std::make_tuple(result, *p_open);
-  });
-  DEF0(End);
-  DEF4(BeginChild, (ImString, str_id, ), (const ImVec2&, size, = ImVec2_Zero), (ImGuiChildFlags, child_flags, = 0), (ImGuiWindowFlags, window_flags, = 0));
-  DEF4_AS(BeginChild, BeginChildId, (ImGuiID, id, ), (const ImVec2&, size, = ImVec2_Zero), (ImGuiChildFlags, child_flags, = 0), (ImGuiWindowFlags, window_flags, = 0));
-  DEF0(EndChild);
-  DEF0(IsWindowAppearing);
-  DEF0(IsWindowCollapsed);
-  DEF1(IsWindowFocused, (ImGuiFocusedFlags, flags, = 0));
-  DEF1(IsWindowHovered, (ImGuiHoveredFlags, flags, = 0));
-  DEF0(GetWindowDpiScale);
-  DEF0(GetWindowPos);
-  DEF0(GetWindowSize);
-  DEF0(GetWindowWidth);
-  DEF0(GetWindowHeight);
-  DEF3(SetNextWindowPos, (const ImVec2&, pos, ), (ImGuiCond, cond, = 0), (const ImVec2&, pivot, = ImVec2_Zero));
-  DEF2(SetNextWindowSize, (const ImVec2&, size, ), (ImGuiCond, cond, = 0));
-  DEF2_F(SetNextWindowSizeConstraints, (const ImVec2&, size_min, ), (const ImVec2&, size_max, ), {
-    ImGui::SetNextWindowSizeConstraints(size_min, size_max);
-  });
-  DEF1(SetNextWindowContentSize, (const ImVec2&, size, ));
-  DEF2(SetNextWindowCollapsed, (bool, collapsed, ), (ImGuiCond, cond, = 0));
-  DEF0(SetNextWindowFocus);
-  DEF1(SetNextWindowScroll, (const ImVec2&, scroll, ));
-  DEF1(SetNextWindowBgAlpha, (float, alpha, ));
-  DEF1(SetNextWindowViewport, (ImGuiID, viewport_id, ));
-  DEF2(SetWindowPos, (const ImVec2&, pos, ), (ImGuiCond, cond, = 0));
-  DEF2(SetWindowSize, (const ImVec2&, size, ), (ImGuiCond, cond, = 0));
-  DEF2(SetWindowCollapsed, (bool, collapsed, ), (ImGuiCond, cond, = 0));
-  DEF0(SetWindowFocus);
-  DEF1(SetWindowFontScale, (float, scale, ));
-  DEF3(SetWindowPos, (ImString, name, ), (const ImVec2&, pos, ), (ImGuiCond, cond, = 0));
-  DEF3(SetWindowSize, (ImString, name, ), (const ImVec2&, size, ), (ImGuiCond, cond, = 0));
-  DEF3(SetWindowCollapsed, (ImString, name, ), (bool, collapsed, ), (ImGuiCond, cond, = 0));
-  DEF1(SetWindowFocus, (ImString, name, ));
-  DEF0(GetContentRegionAvail);
-  DEF0(GetContentRegionMax);
-  DEF0(GetWindowContentRegionMin);
-  DEF0(GetWindowContentRegionMax);
-  DEF0(GetScrollX);
-  DEF0(GetScrollY);
-  DEF1(SetScrollX, (float, scroll_x, ));
-  DEF1(SetScrollY, (float, scroll_y, ));
-  DEF0(GetScrollMaxX);
-  DEF0(GetScrollMaxY);
-  DEF1(SetScrollHereX, (float, center_x_ratio, = 0.5f));
-  DEF1(SetScrollHereY, (float, center_y_ratio, = 0.5f));
-  DEF2(SetScrollFromPosX, (float, local_x, ), (float, center_x_ratio, = 0.5f));
-  DEF2(SetScrollFromPosY, (float, local_y, ), (float, center_y_ratio, = 0.5f));
-  DEF0(PopFont);
-  DEF2(PushStyleColor, (ImGuiCol, idx, ), (ImU32, col, ));
-  DEF2(PushStyleColor, (ImGuiCol, idx, ), (const ImVec4&, col, ));
-  DEF1(PopStyleColor, (int, count, = 1));
-  DEF2(PushStyleVar, (ImGuiStyleVar, idx, ), (float, val, ));
-  DEF2(PushStyleVar, (ImGuiStyleVar, idx, ), (const ImVec2&, val, ));
-  DEF1(PopStyleVar, (int, count, = 1));
-  DEF1(PushTabStop, (bool, tab_stop, ));
-  DEF0(PopTabStop);
-  DEF1(PushButtonRepeat, (bool, repeat, ));
-  DEF0(PopButtonRepeat);
-  DEF1(PushItemWidth, (float, item_width, ));
-  DEF0(PopItemWidth);
-  DEF1(SetNextItemWidth, (float, item_width, ));
-  DEF0(CalcItemWidth);
-  DEF1(PushTextWrapPos, (float, wrap_local_pos_x, = 0.0f));
-  DEF0(PopTextWrapPos);
-  DEF0(GetFontSize);
-  DEF0(GetFontTexUvWhitePixel);
-  DEF2(GetColorU32, (ImGuiCol, idx, ), (float, alpha_mul, = 1.0f));
-  DEF1(GetColorU32, (const ImVec4&, col, ));
-  DEF2(GetColorU32, (ImU32, col, ), (float, alpha_mul, = 1.0f));
-  DEF1(GetStyleColorVec4, (ImGuiCol, idx, ));
-  DEF0(GetCursorScreenPos);
-  DEF1(SetCursorScreenPos, (const ImVec2&, pos, ));
-  DEF0(GetCursorPos);
-  DEF0(GetCursorPosX);
-  DEF0(GetCursorPosY);
-  DEF1(SetCursorPos, (const ImVec2&, local_pos, ));
-  DEF1(SetCursorPosX, (float, local_x, ));
-  DEF1(SetCursorPosY, (float, local_y, ));
-  DEF0(GetCursorStartPos);
-  DEF0(Separator);
-  DEF2(SameLine, (float, offset_from_start_x, = 0.0f), (float, spacing, = -1.0f));
-  DEF0(NewLine);
-  DEF0(Spacing);
-  DEF1(Dummy, (const ImVec2&, size, ));
-  DEF1(Indent, (float, indent_w, = 0.0f));
-  DEF1(Unindent, (float, indent_w, = 0.0f));
-  DEF0(BeginGroup);
-  DEF0(EndGroup);
-  DEF0(AlignTextToFramePadding);
-  DEF0(GetTextLineHeight);
-  DEF0(GetTextLineHeightWithSpacing);
-  DEF0(GetFrameHeight);
-  DEF0(GetFrameHeightWithSpacing);
-  DEF1(PushID, (ImString, str_id, ));
-  DEF2(PushID, (ImString, str_id_begin, ), (ImString, str_id_end, ));
-  DEF1(PushID, (int, int_id, ));
-  DEF0(PopID);
-  DEF1(GetID, (ImString, str_id, ));
-  DEF2(GetID, (ImString, str_id_begin, ), (ImString, str_id_end, ));
-  DEF2_F(DockSpaceOverMainViewport, (ImGuiID, id, = 0), (ImGuiDockNodeFlags, flags, = 0), {
-    return ImGui::DockSpaceOverViewport(id, nullptr, flags);
-  });
-  DEF3_F(DockSpace, (ImGuiID, id, ), (const ImVec2&, size, = ImVec2_Zero), (ImGuiDockNodeFlags, flags, = 0), {
-    return ImGui::DockSpace(id, size, flags);
-  });
-  DEF1_F(DockBuilderRemoveNode, (ImGuiID, node_id, ), {
-    ImGui::DockBuilderRemoveNode(node_id);
-  });
-  DEF2_F(DockBuilderAddNode, (ImGuiID, node_id, = 0), (ImGuiDockNodeFlags, flags, = 0), {
-    return ImGui::DockBuilderAddNode(node_id, flags);
-  });
-  DEF2_F(DockBuilderSetNodeSize, (ImGuiID, node_id, ), (const ImVec2&, size, ), {
-    ImGui::DockBuilderSetNodeSize(node_id, size);
-  });
-  DEF3_F(DockBuilderSplitNode, (ImGuiID, id, ), (ImGuiDir, split_dir, ), (float, size_ratio_for_node_at_dir, ), {
-    ImGuiID id_at_dir = 0;
-    ImGuiID id_at_opp = 0;
-    ImGui::DockBuilderSplitNode(id, split_dir, size_ratio_for_node_at_dir, &id_at_dir, &id_at_opp);
-    return std::make_tuple(id_at_dir, id_at_opp);
-  });
-  DEF2_F(DockBuilderDockWindow, (ImString, window_name, ), (ImGuiID, node_id, ), {
-    ImGui::DockBuilderDockWindow(window_name, node_id);
-  });
-  DEF1_F(DockBuilderFinish, (ImGuiID, node_id, ), {
-    ImGui::DockBuilderFinish(node_id);
-  });
-  DEF1_F(DockBuilderGetNode, (ImGuiID, node_id, ), {
-    return ImGui::DockBuilderGetNode(node_id) != nullptr;
-  });
-  DEF1_F(TextUnformatted, (ImString, txt, ), {
-    ImGui::TextUnformatted(txt);
-  });
-  DEF1_F(Text, (ImString, txt, ), {
-    return ImGui::Text("%s", txt);
-  });
-  DEF2_F(TextColored, (const ImVec4&, col, ), (ImString, txt, ), {
-    return ImGui::TextColored(col, "%s", txt);
-  });
-  DEF1_F(TextDisabled, (ImString, txt, ), {
-    return ImGui::TextDisabled("%s", txt);
-  });
-  DEF1_F(TextWrapped, (ImString, txt, ), {
-    return ImGui::TextWrapped("%s", txt);
-  });
-  DEF2_F(LabelText, (ImString, label, ), (ImString, txt, ), {
-    return ImGui::LabelText(label, "%s", txt);
-  });
-  DEF1_F(BulletText, (ImString, txt, ), {
-    return ImGui::BulletText("%s", txt);
-  });
-  DEF1(SeparatorText, (ImString, label, ));
-  DEF2(Button, (ImString, label, ), (const ImVec2&, size, = ImVec2_Zero));
-  DEF1(SmallButton, (ImString, label, ));
-  DEF3(InvisibleButton, (ImString, str_id, ), (const ImVec2&, size, ), (ImGuiButtonFlags, flags, = 0));
-  DEF2(ArrowButton, (ImString, str_id, ), (ImGuiDir, dir, ));
-  DEF2_F(Checkbox, (ImString, label, ), (bool*, v, ), {
-    auto result = ImGui::Checkbox(label, v);
-    return std::make_tuple(result, *v);
-  });
-  DEF2(RadioButton, (ImString, label, ), (bool, active, ));
-  DEF3(ProgressBar, (float, fraction, ), (const ImVec2&, size_arg, = ImVec2_Min_Zero), (ImString, overlay, = nullptr));
-  DEF0(Bullet);
-  DEF1(TextLink, (ImString, label, ));
-  DEF2(TextLinkOpenURL, (ImString, label, ), (ImString, url, = nullptr));
-  DEF6_F(Image, (long, user_texture_id, ), (const ImVec2&, image_size, ), (const ImVec2&, uv0, = ImVec2_Zero), (const ImVec2&, uv1, = ImVec2_One), (const ImVec4&, tint_col, = ImVec4_One), (const ImVec4&, border_col, = ImVec4_Zero), {
-    return ImGui::Image(reinterpret_cast<void*>(user_texture_id), image_size, uv0, uv1, tint_col, border_col);
-  });
-
-  DEF7_F(ImageButton, (ImString, str_id, ), (long, user_texture_id, ), (const ImVec2&, image_size, ), (const ImVec2&, uv0, = ImVec2_Zero), (const ImVec2&, uv1, = ImVec2_One), (const ImVec4&, bg_col, = ImVec4_Zero), (const ImVec4&, tint_col, = ImVec4_One), {
-    return ImGui::ImageButton(str_id, reinterpret_cast<void*>(user_texture_id), image_size, uv0, uv1, bg_col, tint_col);
-  });
-  DEF3(BeginCombo, (ImString, label, ), (ImString, preview_value, ), (ImGuiComboFlags, flags, = 0));
-  DEF0(EndCombo);
-  m.def(
-      "Combo",
-      [](const char* label, int current_item, std::vector<std::string> items,
-         int popup_max_height_in_items) {
-        std::vector<const char*> items_ptr;
-        items_ptr.reserve(items.size());
-        for (const auto& item : items) {
-          items_ptr.push_back(item.c_str());
-        }
-        const auto result =
-            ImGui::Combo(label, &current_item, items_ptr.data(),
-                         items_ptr.size(), popup_max_height_in_items);
-        return std::make_tuple(result, current_item);
-      },
-      py::arg("label"), py::arg("current_item"), py::arg("items"),
-      py::arg("popup_max_height_in_items") = -1);
-  m.def(
-      "ComboStr",
-      [](const char* label, int current_item,
-         const char* items_separated_by_zeros, int popup_max_height_in_items) {
-        const auto result =
-            ImGui::Combo(label, &current_item, items_separated_by_zeros,
-                         popup_max_height_in_items);
-        return std::make_tuple(result, current_item);
-      },
-      py::arg("label"), py::arg("current_item"),
-      py::arg("items_separated_by_zeros"),
-      py::arg("popup_max_height_in_items") = -1);
-  DEF7_F(DragFloat, (ImString, label, ), (float*, v,   ), (float, v_speed, = 1.0f), (float, v_min, = 0.0f), (float, v_max, = 0.0f), (ImString, format, = "%.3f"), (ImGuiSliderFlags, flags, = 0), {
-    const auto result = ImGui::DragFloat(label, v, v_speed, v_min, v_max, format, flags);
-    return std::make_tuple(result, *v);
-  });
-  DEF7_F(DragFloatN, (ImString, label, ), (std::vector<float>, v, ), (float, v_speed, = 1.0f), (float, v_min, = 0.0f), (float, v_max, = 0.0f), (ImString, format, = "%.3f"), (ImGuiSliderFlags, flags, = 0), {
-    const auto result = ImGui::DragScalarN(label, ImGuiDataType_Float, v.data(), v.size(), v_speed, &v_min, &v_max, format, flags);
-    return std::make_tuple(result, v);
-  });
-  DEF7_F(DragInt, (ImString, label, ), (int*, v, ), (float, v_speed, = 1.0f), (int, v_min, = 0), (int, v_max, = 0), (ImString, format, = "%d"), (ImGuiSliderFlags, flags, = 0), {
-    const auto result = ImGui::DragInt(label, v, v_speed, v_min, v_max, format, flags);
-    return std::make_tuple(result, *v);
-  });
-  DEF7_F(DragIntN, (ImString, label, ), (std::vector<int>, v, ), (float, v_speed, = 1.0f), (int, v_min, = 0), (int, v_max, = 0), (ImString, format, = "%d"), (ImGuiSliderFlags, flags, = 0), {
-    const auto result = ImGui::DragScalarN(label, ImGuiDataType_S32, v.data(), v.size(), v_speed, &v_min, &v_max, format, flags);
-    return std::make_tuple(result, v);
-  });
-  DEF6_F(SliderFloat, (ImString, label, ), (float*, v, ), (float, v_min, ), (float, v_max, ), (ImString, format, = "%.3f"), (ImGuiSliderFlags, flags, = 0), {
-    const auto result = ImGui::SliderFloat(label, v, v_min, v_max, format, flags);
-    return std::make_tuple(result, *v);
-  });
-  DEF6_F(SliderFloatN, (ImString, label, ), (std::vector<float>, v, ), (float, v_min, ), (float, v_max, ), (ImString, format, = "%.3f"), (ImGuiSliderFlags, flags, = 0), {
-    const auto result = ImGui::SliderScalarN(label, ImGuiDataType_Float, v.data(), v.size(), &v_min, &v_max, format, flags);
-    return std::make_tuple(result, v);
-  });
-  DEF6_F(SliderAngle, (ImString, label, ), (float*, v_rad, ), (float, v_degrees_min, = -360.0f), (float, v_degrees_max, = +360.0f), (ImString, format, = "%.0f deg"), (ImGuiSliderFlags, flags, = 0), {
-    const auto result = ImGui::SliderAngle(label, v_rad, v_degrees_min, v_degrees_max, format, flags);
-    return std::make_tuple(result, *v_rad);
-  });
-  DEF6_F(SliderInt, (ImString, label, ), (int*, v, ), (int, v_min, ), (int, v_max, ), (ImString, format, = "%d"), (ImGuiSliderFlags, flags, = 0), {
-    const auto result = ImGui::SliderInt(label, v, v_min, v_max, format, flags);
-    return std::make_tuple(result, *v);
-  });
-  DEF6_F(SliderIntN, (ImString, label, ), (std::vector<int>, v, ), (int, v_min, ), (int, v_max, ), (ImString, format, = "%d"), (ImGuiSliderFlags, flags, = 0), {
-    const auto result = ImGui::SliderScalarN(label, ImGuiDataType_S32, v.data(), v.size(), &v_min, &v_max, format, flags);
-    return std::make_tuple(result, v);
-  });
-  DEF6_F(InputFloat, (ImString, label, ), (float*, v, ), (float, step, = 0.0f), (float, step_fast, = 0.0f), (ImString, format, = "%.3f"), (ImGuiInputTextFlags, flags, = 0), {
-    const auto result = ImGui::InputFloat(label, v, step, step_fast, format, flags);
-    return std::make_tuple(result, *v);
-  });
-  DEF4_F(InputFloatN, (ImString, label, ), (std::vector<float>, v, ), (ImString, format, = "%.3f"), (ImGuiInputTextFlags, flags, = 0), {
-    const auto result = ImGui::InputScalarN(label, ImGuiDataType_Float, v.data(), v.size(), NULL, NULL, format, flags);
-    return std::make_tuple(result, v);
-  });
-  DEF5_F(InputInt, (ImString, label, ), (int*, v, ), (int, step, = 1), (int, step_fast, = 100), (ImGuiInputTextFlags, flags, = 0), {
-    const auto result = ImGui::InputInt(label, v, step, step_fast, flags);
-    return std::make_tuple(result, *v);
-  });
-  DEF3_F(InputIntN, (ImString, label, ), (std::vector<int>, v, ), (ImGuiInputTextFlags, flags, = 0), {
-    const auto result = ImGui::InputScalarN(label, ImGuiDataType_S32, v.data(), v.size(), NULL, NULL, "%d", flags);
-    return std::make_tuple(result, v);
-  });
-  DEF6_F(InputDouble, (ImString, label, ), (double*, v, ), (double, step, = 0.0), (double, step_fast, = 0.0), (ImString, format, = "%.6f"), (ImGuiInputTextFlags, flags, = 0), {
-    const auto result = ImGui::InputDouble(label, v, step, step_fast, format, flags);
-    return std::make_tuple(result, *v);
-  });
-  DEF3_F(InputText, (ImString, label, ), (std::string, text, ), (ImGuiInputTextFlags, flags, = 0), {
-    const auto result = ImGui::InputText(label, &text, flags);
-    return std::make_tuple(result, text);
-  });
-  DEF4_F(InputTextMultiline, (ImString, label, ), (std::string, text, ), (const ImVec2&, size, = ImVec2_Zero), (ImGuiInputTextFlags, flags, = 0), {
-    const auto result = ImGui::InputTextMultiline(label, &text, size, flags);
-    return std::make_tuple(result, text);
-  });
-  DEF4_F(InputTextWithHint, (ImString, label, ), (ImString, hint, ), (std::string, text, ), (ImGuiInputTextFlags, flags, = 0), {
-    const auto result = ImGui::InputTextWithHint(label, hint, &text, flags);
-    return std::make_tuple(result, text);
-  });
-  DEF3_F(ColorEdit3, (ImString, label, ), (std::vector<float>, col, ), (ImGuiColorEditFlags, flags, = 0), {
-    const auto result = ImGui::ColorEdit3(label, col.data(), flags);
-    return std::make_tuple(result, col);
-  });
-  DEF3_F(ColorEdit4, (ImString, label, ), (std::vector<float>, col, ), (ImGuiColorEditFlags, flags, = 0), {
-    const auto result = ImGui::ColorEdit4(label, col.data(), flags);
-    return std::make_tuple(result, col);
-  });
-  DEF3_F(ColorPicker3, (ImString, label, ), (std::vector<float>, col, ), (ImGuiColorEditFlags, flags, = 0), {
-    const auto result = ImGui::ColorPicker3(label, col.data(), flags);
-    return std::make_tuple(result, col);
-  });
-  DEF4_F(ColorPicker4, (ImString, label, ), (std::vector<float>, col, ), (ImGuiColorEditFlags, flags, = 0), (const float*, ref_col, = nullptr), {
-    const auto result = ImGui::ColorPicker4(label, col.data(), flags, ref_col);
-    return std::make_tuple(result, col);
-  });
-  DEF4(ColorButton, (ImString, desc_id, ), (const ImVec4&, col, ), (ImGuiColorEditFlags, flags, = 0), (const ImVec2&, size, = ImVec2_Zero));
-  DEF1(SetColorEditOptions, (ImGuiColorEditFlags, flags, ));
-  DEF1(TreeNode, (ImString, label, ));
-  DEF2_F(TreeNode, (ImString, str_id, ), (ImString, txt, ), {
-    return ImGui::TreeNode(str_id, "%s", txt);
-  });
-  DEF2(TreeNodeEx, (ImString, label, ), (ImGuiTreeNodeFlags, flags, = 0));
-  DEF3_F(TreeNodeEx, (ImString, str_id, ), (ImGuiTreeNodeFlags, flags, ), (ImString, txt, ), {
-    return ImGui::TreeNodeEx(str_id, flags, "%s", txt);
-  });
-  DEF1(TreePush, (ImString, str_id, ));
-  DEF0(TreePop);
-  DEF0(GetTreeNodeToLabelSpacing);
-  DEF2(CollapsingHeader, (ImString, label, ), (ImGuiTreeNodeFlags, flags, = 0));
-  DEF3_F(CollapsingHeader2, (ImString, label, ), (bool*, p_visible, ), (ImGuiTreeNodeFlags, flags, = 0), {
-    const auto result = ImGui::CollapsingHeader(label, p_visible, flags);
-    return std::make_tuple(result, *p_visible);
-  });
-  DEF2(SetNextItemOpen, (bool, is_open, ), (ImGuiCond, cond, = 0));
-  DEF4(Selectable, (ImString, label, ), (bool, selected, = false), (ImGuiSelectableFlags, flags, = 0), (const ImVec2&, size, = ImVec2_Zero));
-  DEF4_F(Selectable2, (ImString, label, ), (bool*, p_selected, ), (ImGuiSelectableFlags, flags, = 0), (const ImVec2&, size, = ImVec2_Zero), {
-    const auto result = ImGui::Selectable(label, p_selected, flags, size);
-    return std::make_tuple(result, *p_selected);
-  });
-  DEF2(BeginListBox, (ImString, label, ), (const ImVec2&, size, = ImVec2_Zero));
-  DEF0(EndListBox);
-  DEF2(Value, (ImString, prefix, ), (bool, b, ));
-  DEF2(Value, (ImString, prefix, ), (int, v, ));
-  DEF2(Value, (ImString, prefix, ), (unsigned int, v, ));
-  DEF3(Value, (ImString, prefix, ), (float, v, ), (ImString, float_format, = nullptr));
-  DEF0(BeginMenuBar);
-  DEF0(EndMenuBar);
-  DEF0(BeginMainMenuBar);
-  DEF0(EndMainMenuBar);
-  DEF2(BeginMenu, (ImString, label, ), (bool, enabled, = true));
-  DEF0(EndMenu);
-  DEF4(MenuItem, (ImString, label, ), (ImString, shortcut, = nullptr), (bool, selected, = false), (bool, enabled, = true));
-  DEF4_F(MenuItem, (ImString, label, ), (ImString, shortcut, ), (bool*, p_selected, ), (bool, enabled, = true), {
-    const auto result = ImGui::MenuItem(label, shortcut, p_selected, enabled);
-    return std::make_tuple(result, *p_selected);
-  });
-  DEF0(BeginTooltip);
-  DEF0(EndTooltip);
-  DEF1_F(SetTooltip, (ImString, txt, ), {
-    return ImGui::SetTooltip("%s", txt);
-  });
-  DEF0(BeginItemTooltip);
-  DEF1_F(SetItemTooltip, (ImString, txt, ), {
-    return ImGui::SetItemTooltip("%s", txt);
-  });
-  DEF2(BeginPopup, (ImString, str_id, ), (ImGuiWindowFlags, flags, = 0));
-  DEF3_F(BeginPopupModal, (ImString, name, ), (bool*, p_open, = nullptr), (ImGuiWindowFlags, flags, = 0), {
-    const auto result = ImGui::BeginPopupModal(name, p_open, flags);
-    return std::make_tuple(result, *p_open);
-  });
-  DEF0(EndPopup);
-  DEF2(OpenPopup, (ImString, str_id, ), (ImGuiPopupFlags, popup_flags, = 0));
-  DEF2(OpenPopup, (ImGuiID, id, ), (ImGuiPopupFlags, popup_flags, = 0));
-  DEF2(OpenPopupOnItemClick, (ImString, str_id, = nullptr), (ImGuiPopupFlags, popup_flags, = 0));
-  DEF0(CloseCurrentPopup);
-  DEF2(BeginPopupContextItem, (ImString, str_id, = nullptr), (ImGuiPopupFlags, popup_flags, = 0));
-  DEF2(BeginPopupContextWindow, (ImString, str_id, = nullptr), (ImGuiPopupFlags, popup_flags, = 0));
-  DEF2(BeginPopupContextVoid, (ImString, str_id, = nullptr), (ImGuiPopupFlags, popup_flags, = 0));
-  DEF2(IsPopupOpen, (ImString, str_id, ), (ImGuiPopupFlags, flags, = 0));
-  DEF5(BeginTable, (ImString, str_id, ), (int, columns, ), (ImGuiTableFlags, flags, = 0), (const ImVec2&, outer_size, = ImVec2_Zero), (float, inner_width, = 0.0f));
-  DEF0(EndTable);
-  DEF2(TableNextRow, (ImGuiTableRowFlags, row_flags, = 0), (float, min_row_height, = 0.0f));
-  DEF0(TableNextColumn);
-  DEF1(TableSetColumnIndex, (int, column_n, ));
-  DEF4(TableSetupColumn, (ImString, label, ), (ImGuiTableColumnFlags, flags, = 0), (float, init_width_or_weight, = 0.0f), (ImGuiID, user_id, = 0));
-  DEF2(TableSetupScrollFreeze, (int, cols, ), (int, rows, ));
-  DEF1(TableHeader, (ImString, label, ));
-  DEF0(TableHeadersRow);
-  DEF0(TableAngledHeadersRow);
-  DEF0(TableGetColumnCount);
-  DEF0(TableGetColumnIndex);
-  DEF0(TableGetRowIndex);
-  DEF1(TableGetColumnName, (int, column_n, = -1));
-  DEF1(TableGetColumnFlags, (int, column_n, = -1));
-  DEF2(TableSetColumnEnabled, (int, column_n, ), (bool, v, ));
-  DEF0(TableGetHoveredColumn);
-  DEF3(TableSetBgColor, (ImGuiTableBgTarget, target, ), (ImU32, color, ), (int, column_n, = -1));
-  DEF3(Columns, (int, count, = 1), (ImString, id, = nullptr), (bool, border, = true));
-  DEF0(NextColumn);
-  DEF0(GetColumnIndex);
-  DEF1(GetColumnWidth, (int, column_index, = -1));
-  DEF2(SetColumnWidth, (int, column_index, ), (float, width, ));
-  DEF1(GetColumnOffset, (int, column_index, = -1));
-  DEF2(SetColumnOffset, (int, column_index, ), (float, offset_x, ));
-  DEF0(GetColumnsCount);
-  DEF2(BeginTabBar, (ImString, str_id, ), (ImGuiTabBarFlags, flags, = 0));
-  DEF0(EndTabBar);
-  DEF3_F(BeginTabItem, (ImString, label, ), (bool*, p_open, ), (ImGuiTabItemFlags, flags, = 0), {
-    const auto result = ImGui::BeginTabItem(label, p_open, flags);
-    return std::make_tuple(result, p_open ? *p_open : true);
-  });
-  // Convenience overload for non-closable tab items.
-  // This function returns a boolean so you can call it directly in an if condition.
-  DEF2_F(BeginTabItem, (ImString, label, ), (ImGuiTabItemFlags, flags, = 0), {
-    return ImGui::BeginTabItem(label, nullptr, flags);
-  });
-  DEF0(EndTabItem);
-  DEF2(TabItemButton, (ImString, label, ), (ImGuiTabItemFlags, flags, = 0));
-  DEF1(SetTabItemClosed, (ImString, tab_or_docked_window_label, ));
-  DEF2(SetNextWindowDockID, (ImGuiID, dock_id, ), (ImGuiCond, cond, = 0));
-  DEF0(GetWindowDockID);
-  DEF0(IsWindowDocked);
-  DEF1(BeginDisabled, (bool, disabled, = true));
-  DEF0(EndDisabled);
-  DEF3(PushClipRect, (const ImVec2&, clip_rect_min, ), (const ImVec2&, clip_rect_max, ), (bool, intersect_with_current_clip_rect, ));
-  DEF0(PopClipRect);
-  DEF0(SetItemDefaultFocus);
-  DEF1(SetKeyboardFocusHere, (int, offset, = 0));
-  DEF0(SetNextItemAllowOverlap);
-  DEF1(IsItemHovered, (ImGuiHoveredFlags, flags, = 0));
-  DEF0(IsItemActive);
-  DEF0(IsItemFocused);
-  DEF1(IsItemClicked, (ImGuiMouseButton, mouse_button, = 0));
-  DEF0(IsItemVisible);
-  DEF0(IsItemEdited);
-  DEF0(IsItemActivated);
-  DEF0(IsItemDeactivated);
-  DEF0(IsItemDeactivatedAfterEdit);
-  DEF0(IsItemToggledOpen);
-  DEF0(IsAnyItemHovered);
-  DEF0(IsAnyItemActive);
-  DEF0(IsAnyItemFocused);
-  DEF0(GetItemID);
-  DEF0(GetItemRectMin);
-  DEF0(GetItemRectMax);
-  DEF0(GetItemRectSize);
-  DEF1(IsRectVisible, (const ImVec2&, size, ));
-  DEF2(IsRectVisible, (const ImVec2&, rect_min, ), (const ImVec2&, rect_max, ));
-  DEF0(GetTime);
-  DEF0(GetFrameCount);
-  DEF4(CalcTextSize, (ImString, text, ), (ImString, text_end, = nullptr), (bool, hide_text_after_double_hash, = false), (float, wrap_width, = -1.0f));
-  DEF1(ColorConvertU32ToFloat4, (ImU32, in, ));
-  DEF1(ColorConvertFloat4ToU32, (const ImVec4&, in, ));
-  DEF6(ColorConvertRGBtoHSV, (float, r, ), (float, g, ), (float, b, ), (float&, out_h, ), (float&, out_s, ), (float&, out_v, ));
-  DEF6(ColorConvertHSVtoRGB, (float, h, ), (float, s, ), (float, v, ), (float&, out_r, ), (float&, out_g, ), (float&, out_b, ));
-  DEF1(IsKeyDown, (ImGuiKey, key, ));
-  DEF2(IsKeyPressed, (ImGuiKey, key, ), (bool, repeat, = true));
-  DEF1(IsKeyReleased, (ImGuiKey, key, ));
-  DEF1(IsKeyChordPressed, (ImGuiKeyChord, key_chord, ));
-  DEF3(GetKeyPressedAmount, (ImGuiKey, key, ), (float, repeat_delay, ), (float, rate, ));
-  DEF1(GetKeyName, (ImGuiKey, key, ));
-  DEF1(SetNextFrameWantCaptureKeyboard, (bool, want_capture_keyboard, ));
-  DEF2(Shortcut, (ImGuiKeyChord, key_chord, ), (ImGuiInputFlags, flags, = 0));
-  DEF2(SetNextItemShortcut, (ImGuiKeyChord, key_chord, ), (ImGuiInputFlags, flags, = 0));
-  DEF1(IsMouseDown, (ImGuiMouseButton, button, ));
-  DEF2(IsMouseClicked, (ImGuiMouseButton, button, ), (bool, repeat, = false));
-  DEF1(IsMouseReleased, (ImGuiMouseButton, button, ));
-  DEF1(IsMouseDoubleClicked, (ImGuiMouseButton, button, ));
-  DEF1(GetMouseClickedCount, (ImGuiMouseButton, button, ));
-  DEF3(IsMouseHoveringRect, (const ImVec2&, r_min, ), (const ImVec2&, r_max, ), (bool, clip, = true));
-  DEF1(IsMousePosValid, (const ImVec2*, mouse_pos, = nullptr));
-  DEF0(IsAnyMouseDown);
-  DEF0(GetMousePos);
-  DEF0(GetMousePosOnOpeningCurrentPopup);
-  DEF2(IsMouseDragging, (ImGuiMouseButton, button, ), (float, lock_threshold, = -1.0f));
-  DEF2(GetMouseDragDelta, (ImGuiMouseButton, button, = 0), (float, lock_threshold, = -1.0f));
-  DEF1(ResetMouseDragDelta, (ImGuiMouseButton, button, = 0));
-  DEF0(GetMouseCursor);
-  DEF1(SetMouseCursor, (ImGuiMouseCursor, cursor_type, ));
-  DEF1(SetNextFrameWantCaptureMouse, (bool, want_capture_mouse, ));
-  DEF0(GetClipboardText);
-  DEF1(SetClipboardText, (ImString, text, ));
-}
-
-// NOLINTEND(whitespace/line_length)
diff --git a/python/mujoco/experimental/dear_imgui/dear_imgui_macros.h b/python/mujoco/experimental/dear_imgui/dear_imgui_macros.h
deleted file mode 100644
index 159b81e5..00000000
--- a/python/mujoco/experimental/dear_imgui/dear_imgui_macros.h
+++ /dev/null
@@ -1,326 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_EXPERIMENTAL_DEAR_IMGUI_DEAR_IMGUI_MACROS_H_
-#define MUJOCO_PYTHON_EXPERIMENTAL_DEAR_IMGUI_DEAR_IMGUI_MACROS_H_
-
-// WARNING: This file is intended for internal use by dear_imgui libraries ONLY!
-//
-// The macros defined here use short, generic names (DEF0, ARG_ID, etc.) and
-// are NOT #undef'd. Including this header elsewhere may cause naming conflicts.
-//
-// Define NAMESPACE to be the ImGui library you're binding before including this
-// header, e.g. #define NAMESPACE ImGui
-//
-// ============================================================================
-// Quick Reference
-// ============================================================================
-//
-// DEFn(Name, Args...)  // Binds NAMESPACE::Name as Name in Python
-// DEFn_AS(CppName, PyName, Args...)  // Binds NAMESPACE::CppName as PyName
-// DEFn_F(PyName, Args..., { CppBody })  // Custom implementation
-//
-// Where 'n' is the number of arguments (0-9).
-//
-// ============================================================================
-// Argument Format
-// ============================================================================
-//
-// Each argument is a tuple: (Type, name, DefaultValue)
-//
-//   - No default value:   (ImString, label, )  // trailing comma required
-//   - With default value: (int, flags, = 0)  // include the '='
-//   - Complex defaults:   (const ImVec2&, size, = ImVec2_Zero)
-//
-// NOTE: Default values cannot contain commas. Use predefined constants like
-// ImVec2_Zero, ImVec4_One, etc.
-//
-// ============================================================================
-// Examples (from dear_imgui.cc)
-// ============================================================================
-//
-// Simple binding - NAMESPACE::End() exposed as End():
-//   DEF0(End);
-//
-// Binding with arguments:
-//   DEF4(BeginChild,
-//        (ImString, str_id, ),
-//        (const ImVec2&, size, = ImVec2_Zero),
-//        (ImGuiChildFlags, child_flags, = 0),
-//        (ImGuiWindowFlags, window_flags, = 0));
-//
-// Overloaded function - NAMESPACE::BeginChild(ImGuiID) exposed as BeginChildId():
-//   DEF4_AS(BeginChild, BeginChildId,
-//           (ImGuiID, id, ),
-//           (const ImVec2&, size, = ImVec2_Zero),
-//           (ImGuiChildFlags, child_flags, = 0),
-//           (ImGuiWindowFlags, window_flags, = 0));
-//
-// Custom implementation using DEFn_F is needed when:
-//
-//   1. Variadic functions (e.g., Text, TextColored)
-//
-//      C++ variadic functions (those with "...") cannot be bound directly
-//      because the type/count of arguments is unknown at compile time. Use a
-//      wrapper that calls the function with a fixed format. Also note that
-//      user-controlled format strings are a security risk (format string
-//      attacks). Always use "%s":
-//
-//        DEF1_F(Text, (ImString, txt, ), {
-//          return NAMESPACE::Text("%s", txt);
-//        });
-//
-//   2. Output pointer parameters (e.g., Checkbox, SliderFloat)
-//
-//      Python doesn't have output pointers, so return modified values as a
-//      tuple:
-//
-//        DEF2_F(Checkbox, (ImString, label, ), (bool*, v, ), {
-//          auto result = NAMESPACE::Checkbox(label, v);
-//          return std::make_tuple(result, *v);
-//        });
-//
-//   3. Type conversions (e.g., Image, ImageButton)
-//
-//      Some C++ types don't have Python equivalents. For example, ImTextureID
-//      is a void* (opaque pointer), which pybind11 can't automatically convert.
-//      Accept a Python-friendly type (like long) and cast it:
-//
-//        DEF2_F(Image, (long, tex_id, ), (const ImVec2&, size, ), {
-//          return NAMESPACE::Image(reinterpret_cast<void*>(tex_id), size);
-//        });
-
-// ============================================================================
-// Internal helper macros (not intended to be called directly by binding code)
-// ============================================================================
-
-// Extracts the type and name of an argument tuple.
-// Example: ARG_DECL((float, alpha, = 1.0f)) -> float alpha
-#define ARG_DECL_X(T_, N_, V_) T_ N_
-#define ARG_DECL(A_) ARG_DECL_X A_
-
-// Extracts the identifier of an argument tuple.
-// Example: ARG_ID((float, alpha, = 1.0f)) -> alpha
-#define ARG_ID_X(T_, N_, V_) N_
-#define ARG_ID(A_) ARG_ID_X A_
-
-// Extracts the name of an argument tuple as a quoted string literal.
-// Example: ARG_NAME((float, alpha, = 1.0f)) -> "alpha"
-#define ARG_NAME_X(T_, N_, V_) #N_
-#define ARG_NAME(A_) ARG_NAME_X A_
-
-// Extracts the default value of an argument tuple.
-// Example: ARG_DEFVAL((float, alpha, = 1.0f)) -> = 1.0f
-#define ARG_DEFVAL_X(T_, N_, V_) V_
-#define ARG_DEFVAL(A_) ARG_DEFVAL_X A_
-
-// ============================================================================
-// Public macros for binding code
-// ============================================================================
-
-//
-#define DEF0_F(N, FN)                      \
-  m.def(#N, [](                            \
-  ) FN                                     \
-  );
-
-#define DEF1_F(N, A1, FN)                  \
-  m.def(#N, [](                            \
-    ARG_DECL(A1)                           \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1)   \
-  );
-
-#define DEF2_F(N, A1, A2, FN)              \
-  m.def(#N, [](                            \
-    ARG_DECL(A1),                          \
-    ARG_DECL(A2)                           \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1),  \
-    py::arg(ARG_NAME(A2)) ARG_DEFVAL(A2)   \
-  );
-
-#define DEF3_F(N, A1, A2, A3, FN)          \
-  m.def(#N, [](                            \
-    ARG_DECL(A1),                          \
-    ARG_DECL(A2),                          \
-    ARG_DECL(A3)                           \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1),  \
-    py::arg(ARG_NAME(A2)) ARG_DEFVAL(A2),  \
-    py::arg(ARG_NAME(A3)) ARG_DEFVAL(A3)   \
-  );
-
-#define DEF4_F(N, A1, A2, A3, A4, FN)      \
-  m.def(#N, [](                            \
-    ARG_DECL(A1),                          \
-    ARG_DECL(A2),                          \
-    ARG_DECL(A3),                          \
-    ARG_DECL(A4)                           \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1),  \
-    py::arg(ARG_NAME(A2)) ARG_DEFVAL(A2),  \
-    py::arg(ARG_NAME(A3)) ARG_DEFVAL(A3),  \
-    py::arg(ARG_NAME(A4)) ARG_DEFVAL(A4)   \
-  );
-
-#define DEF5_F(N, A1, A2, A3, A4, A5, FN)  \
-  m.def(#N, [](                            \
-    ARG_DECL(A1),                          \
-    ARG_DECL(A2),                          \
-    ARG_DECL(A3),                          \
-    ARG_DECL(A4),                          \
-    ARG_DECL(A5)                           \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1),  \
-    py::arg(ARG_NAME(A2)) ARG_DEFVAL(A2),  \
-    py::arg(ARG_NAME(A3)) ARG_DEFVAL(A3),  \
-    py::arg(ARG_NAME(A4)) ARG_DEFVAL(A4),  \
-    py::arg(ARG_NAME(A5)) ARG_DEFVAL(A5)   \
-  );
-
-#define DEF6_F(N, A1, A2, A3, A4, A5, A6, FN)  \
-  m.def(#N, [](                            \
-    ARG_DECL(A1),                          \
-    ARG_DECL(A2),                          \
-    ARG_DECL(A3),                          \
-    ARG_DECL(A4),                          \
-    ARG_DECL(A5),                          \
-    ARG_DECL(A6)                           \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1),  \
-    py::arg(ARG_NAME(A2)) ARG_DEFVAL(A2),  \
-    py::arg(ARG_NAME(A3)) ARG_DEFVAL(A3),  \
-    py::arg(ARG_NAME(A4)) ARG_DEFVAL(A4),  \
-    py::arg(ARG_NAME(A5)) ARG_DEFVAL(A5),  \
-    py::arg(ARG_NAME(A6)) ARG_DEFVAL(A6)   \
-  );
-
-#define DEF7_F(N, A1, A2, A3, A4, A5, A6, A7, FN)  \
-  m.def(#N, [](                            \
-    ARG_DECL(A1),                          \
-    ARG_DECL(A2),                          \
-    ARG_DECL(A3),                          \
-    ARG_DECL(A4),                          \
-    ARG_DECL(A5),                          \
-    ARG_DECL(A6),                          \
-    ARG_DECL(A7)                           \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1),  \
-    py::arg(ARG_NAME(A2)) ARG_DEFVAL(A2),  \
-    py::arg(ARG_NAME(A3)) ARG_DEFVAL(A3),  \
-    py::arg(ARG_NAME(A4)) ARG_DEFVAL(A4),  \
-    py::arg(ARG_NAME(A5)) ARG_DEFVAL(A5),  \
-    py::arg(ARG_NAME(A6)) ARG_DEFVAL(A6),  \
-    py::arg(ARG_NAME(A7)) ARG_DEFVAL(A7)   \
-  );
-
-#define DEF8_F(N, A1, A2, A3, A4, A5, A6, A7, A8, FN)  \
-  m.def(#N, [](                            \
-    ARG_DECL(A1),                          \
-    ARG_DECL(A2),                          \
-    ARG_DECL(A3),                          \
-    ARG_DECL(A4),                          \
-    ARG_DECL(A5),                          \
-    ARG_DECL(A6),                          \
-    ARG_DECL(A7),                          \
-    ARG_DECL(A8)                           \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1),  \
-    py::arg(ARG_NAME(A2)) ARG_DEFVAL(A2),  \
-    py::arg(ARG_NAME(A3)) ARG_DEFVAL(A3),  \
-    py::arg(ARG_NAME(A4)) ARG_DEFVAL(A4),  \
-    py::arg(ARG_NAME(A5)) ARG_DEFVAL(A5),  \
-    py::arg(ARG_NAME(A6)) ARG_DEFVAL(A6),  \
-    py::arg(ARG_NAME(A7)) ARG_DEFVAL(A7),  \
-    py::arg(ARG_NAME(A8)) ARG_DEFVAL(A8)   \
-  );
-
-#define DEF9_F(N, A1, A2, A3, A4, A5, A6, A7, A8, A9, FN)  \
-  m.def(#N, [](                            \
-    ARG_DECL(A1),                          \
-    ARG_DECL(A2),                          \
-    ARG_DECL(A3),                          \
-    ARG_DECL(A4),                          \
-    ARG_DECL(A5),                          \
-    ARG_DECL(A6),                          \
-    ARG_DECL(A7),                          \
-    ARG_DECL(A8),                          \
-    ARG_DECL(A9)                           \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1),  \
-    py::arg(ARG_NAME(A2)) ARG_DEFVAL(A2),  \
-    py::arg(ARG_NAME(A3)) ARG_DEFVAL(A3),  \
-    py::arg(ARG_NAME(A4)) ARG_DEFVAL(A4),  \
-    py::arg(ARG_NAME(A5)) ARG_DEFVAL(A5),  \
-    py::arg(ARG_NAME(A6)) ARG_DEFVAL(A6),  \
-    py::arg(ARG_NAME(A7)) ARG_DEFVAL(A7),  \
-    py::arg(ARG_NAME(A8)) ARG_DEFVAL(A8),  \
-    py::arg(ARG_NAME(A9)) ARG_DEFVAL(A9)   \
-  );
-
-#define DEF10_F(N, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, FN)  \
-  m.def(#N, [](                            \
-    ARG_DECL(A1),                          \
-    ARG_DECL(A2),                          \
-    ARG_DECL(A3),                          \
-    ARG_DECL(A4),                          \
-    ARG_DECL(A5),                          \
-    ARG_DECL(A6),                          \
-    ARG_DECL(A7),                          \
-    ARG_DECL(A8),                          \
-    ARG_DECL(A9),                          \
-    ARG_DECL(A10)                          \
-  ) FN,                                    \
-    py::arg(ARG_NAME(A1)) ARG_DEFVAL(A1),  \
-    py::arg(ARG_NAME(A2)) ARG_DEFVAL(A2),  \
-    py::arg(ARG_NAME(A3)) ARG_DEFVAL(A3),  \
-    py::arg(ARG_NAME(A4)) ARG_DEFVAL(A4),  \
-    py::arg(ARG_NAME(A5)) ARG_DEFVAL(A5),  \
-    py::arg(ARG_NAME(A6)) ARG_DEFVAL(A6),  \
-    py::arg(ARG_NAME(A7)) ARG_DEFVAL(A7),  \
-    py::arg(ARG_NAME(A8)) ARG_DEFVAL(A8),  \
-    py::arg(ARG_NAME(A9)) ARG_DEFVAL(A9),  \
-    py::arg(ARG_NAME(A10)) ARG_DEFVAL(A10) \
-  );
-
-// NOLINTBEGIN(whitespace/line_length)
-
-#define DEF0_AS(N, AS) DEF0_F(AS, { return NAMESPACE::N(); } )
-#define DEF1_AS(N, AS, A1) DEF1_F(AS, A1, { return NAMESPACE::N(ARG_ID(A1)); } )
-#define DEF2_AS(N, AS, A1, A2) DEF2_F(AS, A1, A2, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2)); } )
-#define DEF3_AS(N, AS, A1, A2, A3) DEF3_F(AS, A1, A2, A3, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3)); } )
-#define DEF4_AS(N, AS, A1, A2, A3, A4) DEF4_F(AS, A1, A2, A3, A4, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4)); } )
-#define DEF5_AS(N, AS, A1, A2, A3, A4, A5) DEF5_F(AS, A1, A2, A3, A4, A5, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5)); } )
-#define DEF6_AS(N, AS, A1, A2, A3, A4, A5, A6) DEF6_F(AS, A1, A2, A3, A4, A5, A6, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6)); } )
-#define DEF7_AS(N, AS, A1, A2, A3, A4, A5, A6, A7) DEF7_F(AS, A1, A2, A3, A4, A5, A6, A7, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6), ARG_ID(A7)); } )
-#define DEF8_AS(N, AS, A1, A2, A3, A4, A5, A6, A7, A8) DEF8_F(AS, A1, A2, A3, A4, A5, A6, A7, A8, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6), ARG_ID(A7), ARG_ID(A8)); } )
-#define DEF9_AS(N, AS, A1, A2, A3, A4, A5, A6, A7, A8, A9) DEF9_F(AS, A1, A2, A3, A4, A5, A6, A7, A8, A9, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6), ARG_ID(A7), ARG_ID(A8), ARG_ID(A9)); } )
-#define DEF10_AS(N, AS, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10) DEF10_F(AS, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6), ARG_ID(A7), ARG_ID(A8), ARG_ID(A9), ARG_ID(A10)); } )
-
-#define DEF0(N) DEF0_F(N, { return NAMESPACE::N(); } )
-#define DEF1(N, A1) DEF1_F(N, A1, { return NAMESPACE::N(ARG_ID(A1)); } )
-#define DEF2(N, A1, A2) DEF2_F(N, A1, A2, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2)); } )
-#define DEF3(N, A1, A2, A3) DEF3_F(N, A1, A2, A3, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3)); } )
-#define DEF4(N, A1, A2, A3, A4) DEF4_F(N, A1, A2, A3, A4, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4)); } )
-#define DEF5(N, A1, A2, A3, A4, A5) DEF5_F(N, A1, A2, A3, A4, A5, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5)); } )
-#define DEF6(N, A1, A2, A3, A4, A5, A6) DEF6_F(N, A1, A2, A3, A4, A5, A6, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6)); } )
-#define DEF7(N, A1, A2, A3, A4, A5, A6, A7) DEF7_F(N, A1, A2, A3, A4, A5, A6, A7, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6), ARG_ID(A7)); } )
-#define DEF8(N, A1, A2, A3, A4, A5, A6, A7, A8) DEF8_F(N, A1, A2, A3, A4, A5, A6, A7, A8, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6), ARG_ID(A7), ARG_ID(A8)); } )
-#define DEF9(N, A1, A2, A3, A4, A5, A6, A7, A8, A9) DEF9_F(N, A1, A2, A3, A4, A5, A6, A7, A8, A9, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6), ARG_ID(A7), ARG_ID(A8), ARG_ID(A9)); } )
-#define DEF10(N, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10) DEF10_F(N, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, { return NAMESPACE::N(ARG_ID(A1), ARG_ID(A2), ARG_ID(A3), ARG_ID(A4), ARG_ID(A5), ARG_ID(A6), ARG_ID(A7), ARG_ID(A8), ARG_ID(A9), ARG_ID(A10)); } )
-
-// NOLINTEND(whitespace/line_length)
-
-#endif  // MUJOCO_PYTHON_EXPERIMENTAL_DEAR_IMGUI_DEAR_IMGUI_MACROS_H_
diff --git a/python/mujoco/experimental/implot/implot.cc b/python/mujoco/experimental/implot/implot.cc
deleted file mode 100644
index ed7eca3c..00000000
--- a/python/mujoco/experimental/implot/implot.cc
+++ /dev/null
@@ -1,449 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#define NAMESPACE ImPlot
-#include "dear_imgui_macros.h"
-#include <implot.h>
-#include <pybind11/eval.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-// NOLINTBEGIN(whitespace/line_length)
-
-namespace py = pybind11;
-using ImString = const char*;
-static constexpr const ImVec2 ImVec2_Zero = ImVec2(0.0f, 0.0f);
-static constexpr const ImVec2 ImVec2_One = ImVec2(1.0f, 1.0f);
-static constexpr const ImVec2 ImVec2_NegOne_Zero = ImVec2(-1.0f, 0.0f);
-static constexpr const ImVec4 ImVec4_One = ImVec4(1.0f, 1.0f, 1.0f, 1.0f);
-
-PYBIND11_MODULE(implot, m) {
-  // Import dear_imgui to make types like ImVec2 available.
-  py::module_::import("mujoco.experimental.dear_imgui.dear_imgui");
-
-  // Each pybind module holds its own ImGui/ImPlot context globals
-  m.def(
-      "set_imgui_context",
-      [](intptr_t ptr) {
-        ImGui::SetCurrentContext(reinterpret_cast<ImGuiContext*>(ptr));
-      },
-      py::arg("ptr"), "Set ImGui context pointer.");
-  m.def(
-      "set_implot_context",
-      [](intptr_t ptr) {
-        ImPlot::SetCurrentContext(reinterpret_cast<ImPlotContext*>(ptr));
-      },
-      py::arg("ptr"), "Set ImPlot context pointer.");
-
-  // Types.
-  py::class_<ImPlotPoint>(m, "Point")
-      .def(py::init<>())
-      .def(py::init<double, double>(), py::arg("_x"), py::arg("_y"))
-      .def_readwrite("x", &ImPlotPoint::x)
-      .def_readwrite("y", &ImPlotPoint::y);
-
-  py::class_<ImPlotRange>(m, "Range")
-      .def(py::init<>())
-      .def(py::init<double, double>(), py::arg("_min"), py::arg("_max"))
-      .def_readwrite("min", &ImPlotRange::Min)
-      .def_readwrite("max", &ImPlotRange::Max);
-
-//   py::class_<ImPlotRect>(m, "Rect")
-//       .def(py::init<>())
-//       .def(py::init<ImPlotRange, ImPlotRange>(), py::arg("_x"), py::arg("_y"))
-//       .def_readwrite("x", &ImPlotRect::X)
-//       .def_readwrite("y", &ImPlotRect::Y);
-
-  // Enumerations.
-
-  py::enum_<ImAxis_>(m, "Axis")
-      .value("X1", ImAxis_X1)
-      .value("X2", ImAxis_X2)
-      .value("X3", ImAxis_X3)
-      .value("Y1", ImAxis_Y1)
-      .value("Y2", ImAxis_Y2)
-      .value("Y3", ImAxis_Y3);
-
-  py::enum_<ImPlotFlags_>(m, "Flags")
-      .value("None", ImPlotFlags_None)
-      .value("NoTitle", ImPlotFlags_NoTitle)
-      .value("NoLegend", ImPlotFlags_NoLegend)
-      .value("NoMouseText", ImPlotFlags_NoMouseText)
-      .value("NoInputs", ImPlotFlags_NoInputs)
-      .value("NoMenus", ImPlotFlags_NoMenus)
-      .value("NoBoxSelect", ImPlotFlags_NoBoxSelect)
-      .value("NoFrame", ImPlotFlags_NoFrame)
-      .value("Equal", ImPlotFlags_Equal)
-      .value("Crosshairs", ImPlotFlags_Crosshairs)
-      .value("CanvasOnly", ImPlotFlags_CanvasOnly);
-
-  py::enum_<ImPlotAxisFlags_>(m, "AxisFlags")
-      .value("None", ImPlotAxisFlags_None)
-      .value("NoLabel", ImPlotAxisFlags_NoLabel)
-      .value("NoGridLines", ImPlotAxisFlags_NoGridLines)
-      .value("NoTickMarks", ImPlotAxisFlags_NoTickMarks)
-      .value("NoTickLabels", ImPlotAxisFlags_NoTickLabels)
-      .value("NoInitialFit", ImPlotAxisFlags_NoInitialFit)
-      .value("NoMenus", ImPlotAxisFlags_NoMenus)
-      .value("NoSideSwitch", ImPlotAxisFlags_NoSideSwitch)
-      .value("NoHighlight", ImPlotAxisFlags_NoHighlight)
-      .value("Opposite", ImPlotAxisFlags_Opposite)
-      .value("Foreground", ImPlotAxisFlags_Foreground)
-      .value("Invert", ImPlotAxisFlags_Invert)
-      .value("AutoFit", ImPlotAxisFlags_AutoFit)
-      .value("RangeFit", ImPlotAxisFlags_RangeFit)
-      .value("PanStretch", ImPlotAxisFlags_PanStretch)
-      .value("LockMin", ImPlotAxisFlags_LockMin)
-      .value("LockMax", ImPlotAxisFlags_LockMax)
-      .value("Lock", ImPlotAxisFlags_Lock)
-      .value("NoDecorations", ImPlotAxisFlags_NoDecorations)
-      .value("AuxDefault", ImPlotAxisFlags_AuxDefault);
-
-  py::enum_<ImPlotSubplotFlags_>(m, "SubplotFlags")
-      .value("None", ImPlotSubplotFlags_None)
-      .value("NoTitle", ImPlotSubplotFlags_NoTitle)
-      .value("NoLegend", ImPlotSubplotFlags_NoLegend)
-      .value("NoMenus", ImPlotSubplotFlags_NoMenus)
-      .value("NoResize", ImPlotSubplotFlags_NoResize)
-      .value("NoAlign", ImPlotSubplotFlags_NoAlign)
-      .value("ShareItems", ImPlotSubplotFlags_ShareItems)
-      .value("LinkRows", ImPlotSubplotFlags_LinkRows)
-      .value("LinkCols", ImPlotSubplotFlags_LinkCols)
-      .value("LinkAllX", ImPlotSubplotFlags_LinkAllX)
-      .value("LinkAllY", ImPlotSubplotFlags_LinkAllY)
-      .value("ColMajor", ImPlotSubplotFlags_ColMajor);
-
-  py::enum_<ImPlotLegendFlags_>(m, "LegendFlags")
-      .value("None", ImPlotLegendFlags_None)
-      .value("NoButtons", ImPlotLegendFlags_NoButtons)
-      .value("NoHighlightItem", ImPlotLegendFlags_NoHighlightItem)
-      .value("NoHighlightAxis", ImPlotLegendFlags_NoHighlightAxis)
-      .value("NoMenus", ImPlotLegendFlags_NoMenus)
-      .value("Outside", ImPlotLegendFlags_Outside)
-      .value("Horizontal", ImPlotLegendFlags_Horizontal)
-      .value("Sort", ImPlotLegendFlags_Sort)
-      .value("Reverse", ImPlotLegendFlags_Reverse);
-
-  py::enum_<ImPlotMouseTextFlags_>(m, "MouseTextFlags")
-      .value("None", ImPlotMouseTextFlags_None)
-      .value("NoAuxAxes", ImPlotMouseTextFlags_NoAuxAxes)
-      .value("NoFormat", ImPlotMouseTextFlags_NoFormat)
-      .value("ShowAlways", ImPlotMouseTextFlags_ShowAlways);
-
-  py::enum_<ImPlotDragToolFlags_>(m, "DragToolFlags")
-      .value("None", ImPlotDragToolFlags_None)
-      .value("NoCursors", ImPlotDragToolFlags_NoCursors)
-      .value("NoFit", ImPlotDragToolFlags_NoFit)
-      .value("NoInputs", ImPlotDragToolFlags_NoInputs)
-      .value("Delayed", ImPlotDragToolFlags_Delayed);
-
-  py::enum_<ImPlotColormapScaleFlags_>(m, "ColormapScaleFlags")
-      .value("None", ImPlotColormapScaleFlags_None)
-      .value("NoLabel", ImPlotColormapScaleFlags_NoLabel)
-      .value("Opposite", ImPlotColormapScaleFlags_Opposite)
-      .value("Invert", ImPlotColormapScaleFlags_Invert);
-
-  py::enum_<ImPlotItemFlags_>(m, "ItemFlags")
-      .value("None", ImPlotItemFlags_None)
-      .value("NoLegend", ImPlotItemFlags_NoLegend)
-      .value("NoFit", ImPlotItemFlags_NoFit);
-
-  py::enum_<ImPlotLineFlags_>(m, "LineFlags")
-      .value("None", ImPlotLineFlags_None)
-      .value("Segments", ImPlotLineFlags_Segments)
-      .value("Loop", ImPlotLineFlags_Loop)
-      .value("SkipNaN", ImPlotLineFlags_SkipNaN)
-      .value("NoClip", ImPlotLineFlags_NoClip)
-      .value("Shaded", ImPlotLineFlags_Shaded);
-
-  py::enum_<ImPlotScatterFlags_>(m, "ScatterFlags")
-      .value("None", ImPlotScatterFlags_None)
-      .value("NoClip", ImPlotScatterFlags_NoClip);
-
-  py::enum_<ImPlotStairsFlags_>(m, "StairsFlags")
-      .value("None", ImPlotStairsFlags_None)
-      .value("PreStep", ImPlotStairsFlags_PreStep)
-      .value("Shaded", ImPlotStairsFlags_Shaded);
-
-  py::enum_<ImPlotShadedFlags_>(m, "ShadedFlags")
-      .value("None", ImPlotShadedFlags_None);
-
-  py::enum_<ImPlotBarsFlags_>(m, "BarsFlags")
-      .value("None", ImPlotBarsFlags_None)
-      .value("Horizontal", ImPlotBarsFlags_Horizontal);
-
-  py::enum_<ImPlotBarGroupsFlags_>(m, "BarGroupsFlags")
-      .value("None", ImPlotBarGroupsFlags_None)
-      .value("Horizontal", ImPlotBarGroupsFlags_Horizontal)
-      .value("Stacked", ImPlotBarGroupsFlags_Stacked);
-
-  py::enum_<ImPlotErrorBarsFlags_>(m, "ErrorBarsFlags")
-      .value("None", ImPlotErrorBarsFlags_None)
-      .value("Horizontal", ImPlotErrorBarsFlags_Horizontal);
-
-  py::enum_<ImPlotStemsFlags_>(m, "StemsFlags")
-      .value("None", ImPlotStemsFlags_None)
-      .value("Horizontal", ImPlotStemsFlags_Horizontal);
-
-  py::enum_<ImPlotInfLinesFlags_>(m, "InfLinesFlags")
-      .value("None", ImPlotInfLinesFlags_None)
-      .value("Horizontal", ImPlotInfLinesFlags_Horizontal);
-
-  py::enum_<ImPlotPieChartFlags_>(m, "PieChartFlags")
-      .value("None", ImPlotPieChartFlags_None)
-      .value("Normalize", ImPlotPieChartFlags_Normalize)
-      .value("IgnoreHidden", ImPlotPieChartFlags_IgnoreHidden)
-      .value("Exploding", ImPlotPieChartFlags_Exploding);
-
-  py::enum_<ImPlotHeatmapFlags_>(m, "HeatmapFlags")
-      .value("None", ImPlotHeatmapFlags_None)
-      .value("ColMajor", ImPlotHeatmapFlags_ColMajor);
-
-  py::enum_<ImPlotHistogramFlags_>(m, "HistogramFlags")
-      .value("None", ImPlotHistogramFlags_None)
-      .value("Horizontal", ImPlotHistogramFlags_Horizontal)
-      .value("Cumulative", ImPlotHistogramFlags_Cumulative)
-      .value("Density", ImPlotHistogramFlags_Density)
-      .value("NoOutliers", ImPlotHistogramFlags_NoOutliers)
-      .value("ColMajor", ImPlotHistogramFlags_ColMajor);
-
-  py::enum_<ImPlotDigitalFlags_>(m, "DigitalFlags")
-      .value("ImPlotNone", ImPlotDigitalFlags_None);
-
-  py::enum_<ImPlotImageFlags_>(m, "ImageFlags")
-      .value("None", ImPlotImageFlags_None);
-
-  py::enum_<ImPlotTextFlags_>(m, "TextFlags")
-      .value("None", ImPlotTextFlags_None)
-      .value("Vertical", ImPlotTextFlags_Vertical);
-
-  py::enum_<ImPlotDummyFlags_>(m, "DummyFlags")
-      .value("None", ImPlotDummyFlags_None);
-
-  py::enum_<ImPlotCond_>(m, "Cond")
-      .value("None", ImPlotCond_None)
-      .value("Always", ImPlotCond_Always)
-      .value("Once", ImPlotCond_Once);
-
-  py::enum_<ImPlotCol_>(m, "Col")
-      .value("Line", ImPlotCol_Line)
-      .value("Fill", ImPlotCol_Fill)
-      .value("MarkerOutline", ImPlotCol_MarkerOutline)
-      .value("MarkerFill", ImPlotCol_MarkerFill)
-      .value("ErrorBar", ImPlotCol_ErrorBar)
-      .value("FrameBg", ImPlotCol_FrameBg)
-      .value("PlotBg", ImPlotCol_PlotBg)
-      .value("PlotBorder", ImPlotCol_PlotBorder)
-      .value("LegendBg", ImPlotCol_LegendBg)
-      .value("LegendBorder", ImPlotCol_LegendBorder)
-      .value("LegendText", ImPlotCol_LegendText)
-      .value("TitleText", ImPlotCol_TitleText)
-      .value("InlayText", ImPlotCol_InlayText)
-      .value("AxisText", ImPlotCol_AxisText)
-      .value("AxisGrid", ImPlotCol_AxisGrid)
-      .value("AxisTick", ImPlotCol_AxisTick)
-      .value("AxisBg", ImPlotCol_AxisBg)
-      .value("AxisBgHovered", ImPlotCol_AxisBgHovered)
-      .value("AxisBgActive", ImPlotCol_AxisBgActive)
-      .value("Selection", ImPlotCol_Selection)
-      .value("Crosshairs", ImPlotCol_Crosshairs);
-
-  py::enum_<ImPlotStyleVar_>(m, "StyleVar")
-      .value("LineWeight", ImPlotStyleVar_LineWeight)
-      .value("Marker", ImPlotStyleVar_Marker)
-      .value("MarkerSize", ImPlotStyleVar_MarkerSize)
-      .value("MarkerWeight", ImPlotStyleVar_MarkerWeight)
-      .value("FillAlpha", ImPlotStyleVar_FillAlpha)
-      .value("ErrorBarSize", ImPlotStyleVar_ErrorBarSize)
-      .value("ErrorBarWeight", ImPlotStyleVar_ErrorBarWeight)
-      .value("DigitalBitHeight", ImPlotStyleVar_DigitalBitHeight)
-      .value("DigitalBitGap", ImPlotStyleVar_DigitalBitGap)
-      .value("PlotBorderSize", ImPlotStyleVar_PlotBorderSize)
-      .value("MinorAlpha", ImPlotStyleVar_MinorAlpha)
-      .value("MajorTickLen", ImPlotStyleVar_MajorTickLen)
-      .value("MinorTickLen", ImPlotStyleVar_MinorTickLen)
-      .value("MajorTickSize", ImPlotStyleVar_MajorTickSize)
-      .value("MinorTickSize", ImPlotStyleVar_MinorTickSize)
-      .value("MajorGridSize", ImPlotStyleVar_MajorGridSize)
-      .value("MinorGridSize", ImPlotStyleVar_MinorGridSize)
-      .value("PlotPadding", ImPlotStyleVar_PlotPadding)
-      .value("LabelPadding", ImPlotStyleVar_LabelPadding)
-      .value("LegendPadding", ImPlotStyleVar_LegendPadding)
-      .value("LegendInnerPadding", ImPlotStyleVar_LegendInnerPadding)
-      .value("LegendSpacing", ImPlotStyleVar_LegendSpacing)
-      .value("MousePosPadding", ImPlotStyleVar_MousePosPadding)
-      .value("AnnotationPadding", ImPlotStyleVar_AnnotationPadding)
-      .value("FitPadding", ImPlotStyleVar_FitPadding)
-      .value("PlotDefaultSize", ImPlotStyleVar_PlotDefaultSize)
-      .value("PlotMinSize", ImPlotStyleVar_PlotMinSize);
-
-  py::enum_<ImPlotScale_>(m, "Scale")
-      .value("ImPlotScale_Linear", ImPlotScale_Linear)
-      .value("ImPlotScale_Time", ImPlotScale_Time)
-      .value("ImPlotScale_Log10", ImPlotScale_Log10)
-      .value("ImPlotScale_SymLog", ImPlotScale_SymLog);
-
-  py::enum_<ImPlotMarker_>(m, "Marker")
-      .value("None", ImPlotMarker_None)
-      .value("Circle", ImPlotMarker_Circle)
-      .value("Square", ImPlotMarker_Square)
-      .value("Diamond", ImPlotMarker_Diamond)
-      .value("Up", ImPlotMarker_Up)
-      .value("Down", ImPlotMarker_Down)
-      .value("Left", ImPlotMarker_Left)
-      .value("Right", ImPlotMarker_Right)
-      .value("Cross", ImPlotMarker_Cross)
-      .value("Plus", ImPlotMarker_Plus)
-      .value("Asterisk", ImPlotMarker_Asterisk);
-
-  py::enum_<ImPlotLocation_>(m, "Location")
-      .value("Center", ImPlotLocation_Center)
-      .value("North", ImPlotLocation_North)
-      .value("South", ImPlotLocation_South)
-      .value("West", ImPlotLocation_West)
-      .value("East", ImPlotLocation_East)
-      .value("NorthWest", ImPlotLocation_NorthWest)
-      .value("NorthEast", ImPlotLocation_NorthEast)
-      .value("SouthWest", ImPlotLocation_SouthWest)
-      .value("SouthEast", ImPlotLocation_SouthEast);
-
-  // Functions.
-
-  DEF3(BeginPlot, (ImString, title_id, ), (const ImVec2&, size, = ImVec2_NegOne_Zero), (ImPlotFlags, flags, = 0));
-  DEF0(EndPlot);
-  DEF7(BeginSubplots, (ImString, title_id, ), (int, rows, ), (int, cols, ), (const ImVec2&, size, ), (ImPlotSubplotFlags, flags, = 0), (float*, row_ratios, = nullptr), (float*, col_ratios, = nullptr));
-  DEF0(EndSubplots);
-  DEF3(SetupAxis, (ImAxis, axis, ), (ImString, label, = nullptr), (ImPlotAxisFlags, flags, = 0));
-  DEF4(SetupAxisLimits, (ImAxis, axis, ), (double, v_min, ), (double, v_max, ), (ImPlotCond, cond, = ImPlotCond_Once));
-  DEF4_F(SetupAxisTicks, (ImAxis, axis, ), (std::vector<double>, values, ), (std::vector<std::string>, labels, ), (bool, keep_default, = false), {
-    std::vector<const char*> c_labels;
-    c_labels.reserve(labels.size());
-    for (const auto& l : labels) {
-      c_labels.push_back(l.c_str());
-    }
-    ImPlot::SetupAxisTicks(axis, values.data(), values.size(), c_labels.empty() ? nullptr : c_labels.data(), keep_default);
-  });
-  DEF3(SetupAxisLinks, (ImAxis, axis, ), (double*, link_min, ), (double*, link_max, ));
-  DEF2(SetupAxisFormat, (ImAxis, axis, ), (ImString, fmt, ));
-  DEF2(SetupAxisScale, (ImAxis, axis, ), (ImPlotScale, scale, ));
-  DEF3(SetupAxisLimitsConstraints, (ImAxis, axis, ), (double, v_min, ), (double, v_max, ));
-  DEF3(SetupAxisZoomConstraints, (ImAxis, axis, ), (double, z_min, ), (double, z_max, ));
-  DEF4(SetupAxes, (ImString, x_label, ), (ImString, y_label, ), (ImPlotAxisFlags, x_flags, = 0), (ImPlotAxisFlags, y_flags, = 0));
-  DEF5(SetupAxesLimits, (double, x_min, ), (double, x_max, ), (double, y_min, ), (double, y_max, ), (ImPlotCond, cond, = ImPlotCond_Once));
-  DEF2(SetupLegend, (ImPlotLocation, location, ), (ImPlotLegendFlags, flags, = 0));
-  DEF2(SetupMouseText, (ImPlotLocation, location, ), (ImPlotMouseTextFlags, flags, = 0));
-  DEF0(SetupFinish);
-  DEF4(SetNextAxisLimits, (ImAxis, axis, ), (double, v_min, ), (double, v_max, ), (ImPlotCond, cond, = ImPlotCond_Once));
-  DEF3(SetNextAxisLinks, (ImAxis, axis, ), (double*, link_min, ), (double*, link_max, ));
-  DEF1(SetNextAxisToFit, (ImAxis, axis, ));
-  DEF5(SetNextAxesLimits, (double, x_min, ), (double, x_max, ), (double, y_min, ), (double, y_max, ), (ImPlotCond, cond, = ImPlotCond_Once));
-  DEF0_F(SetNextAxesToFit, {
-    return ImPlot::SetNextAxesToFit();
-  });
-  DEF6_F(PlotLine, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys, ), (ImPlotLineFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotLine(label_id, xs.data(), ys.data(), xs.size(), flags, offset, stride);
-  });
-  DEF6_F(PlotScatter, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys, ), (ImPlotScatterFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotScatter(label_id, xs.data(), ys.data(), xs.size(), flags, offset, stride);
-  });
-  DEF6_F(PlotStairs, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys, ), (ImPlotStairsFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotStairs(label_id, xs.data(), ys.data(), xs.size(), flags, offset, stride);
-  });
-  DEF7_F(PlotShaded, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys, ), (double, yref, = 0), (ImPlotShadedFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotShaded(label_id, xs.data(), ys.data(), xs.size(), yref, flags, offset, stride);
-  });
-  DEF7_F(PlotShaded, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys1, ), (std::vector<double>, ys2, ), (ImPlotShadedFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotShaded(label_id, xs.data(), ys1.data(), ys2.data(), xs.size(), flags, offset, stride);
-  });
-  DEF7_F(PlotBars, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys, ), (double, bar_size, ), (ImPlotBarsFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotBars(label_id, xs.data(), ys.data(), xs.size(), bar_size, flags, offset, stride);
-  });
-  DEF7_F(PlotErrorBars, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys, ), (std::vector<double>, err, ), (ImPlotErrorBarsFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotErrorBars(label_id, xs.data(), ys.data(), err.data(), xs.size(), flags, offset, stride);
-  });
-  DEF8_F(PlotErrorBars, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys, ), (std::vector<double>, neg, ), (std::vector<double>, pos, ), (ImPlotErrorBarsFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotErrorBars(label_id, xs.data(), ys.data(), neg.data(), pos.data(), xs.size(), flags, offset, stride);
-  });
-  DEF7_F(PlotStems, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys, ), (double, ref, = 0), (ImPlotStemsFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotStems(label_id, xs.data(), ys.data(), xs.size(), ref, flags, offset, stride);
-  });
-  DEF6_F(PlotDigital, (ImString, label_id, ), (std::vector<double>, xs, ), (std::vector<double>, ys, ), (ImPlotDigitalFlags, flags, = 0), (int, offset, = 0), (int, stride, = sizeof(double)), {
-    return ImPlot::PlotDigital(label_id, xs.data(), ys.data(), xs.size(), flags, offset, stride);
-  });
-  DEF8(PlotImage, (ImString, label_id, ), (ImTextureRef, tex_ref, ), (const ImPlotPoint&, bounds_min, ), (const ImPlotPoint&, bounds_max, ), (const ImVec2&, uv0, = ImVec2_Zero), (const ImVec2&, uv1, = ImVec2_One), (const ImVec4&, tint_col, = ImVec4_One), (ImPlotImageFlags, flags, = 0));
-  DEF5(PlotText, (ImString, text, ), (double, x, ), (double, y, ), (const ImVec2&, pix_offset, = ImVec2_Zero), (ImPlotTextFlags, flags, = 0));
-  DEF2(PlotDummy, (ImString, label_id, ), (ImPlotDummyFlags, flags, = 0));
-  DEF9(DragPoint, (int, id, ), (double*, x, ), (double*, y, ), (const ImVec4&, col, ), (float, size, = 4), (ImPlotDragToolFlags, flags, = 0), (bool*, out_clicked, = nullptr), (bool*, out_hovered, = nullptr), (bool*, out_held, = nullptr));
-  DEF8(DragLineX, (int, id, ), (double*, x, ), (const ImVec4&, col, ), (float, thickness, = 1), (ImPlotDragToolFlags, flags, = 0), (bool*, out_clicked, = nullptr), (bool*, out_hovered, = nullptr), (bool*, out_held, = nullptr));
-  DEF8(DragLineY, (int, id, ), (double*, y, ), (const ImVec4&, col, ), (float, thickness, = 1), (ImPlotDragToolFlags, flags, = 0), (bool*, out_clicked, = nullptr), (bool*, out_hovered, = nullptr), (bool*, out_held, = nullptr));
-  DEF10(DragRect, (int, id, ), (double*, x1, ), (double*, y1, ), (double*, x2, ), (double*, y2, ), (const ImVec4&, col, ), (ImPlotDragToolFlags, flags, = 0), (bool*, out_clicked, = nullptr), (bool*, out_hovered, = nullptr), (bool*, out_held, = nullptr));
-  DEF6(Annotation, (double, x, ), (double, y, ), (const ImVec4&, col, ), (const ImVec2&, pix_offset, ), (bool, clamp, ), (bool, round, = false));
-  DEF6_F(Annotation, (double, x, ), (double, y, ), (const ImVec4&, col, ), (const ImVec2&, pix_offset, ), (bool, clamp, ), (ImString, txt, ), {
-    return ImPlot::Annotation(x, y, col, pix_offset, clamp, "%s", txt);
-  });
-  DEF3(TagX, (double, x, ), (const ImVec4&, col, ), (bool, round, = false));
-  DEF3_F(TagX, (double, x, ), (const ImVec4&, col, ), (ImString, txt, ), {
-    return ImPlot::TagX(x, col, "%s", txt);
-  });
-  DEF3(TagY, (double, y, ), (const ImVec4&, col, ), (bool, round, = false));
-  DEF3_F(TagY, (double, y, ), (const ImVec4&, col, ), (ImString, txt, ), {
-    return ImPlot::TagY(y, col, "%s", txt);
-  });
-  DEF1(SetAxis, (ImAxis, axis, ));
-  DEF2(SetAxes, (ImAxis, x_axis, ), (ImAxis, y_axis, ));
-  DEF3(PixelsToPlot, (const ImVec2&, pix, ), (ImAxis, x_axis, = IMPLOT_AUTO), (ImAxis, y_axis, = IMPLOT_AUTO));
-  DEF4(PixelsToPlot, (float, x, ), (float, y, ), (ImAxis, x_axis, = IMPLOT_AUTO), (ImAxis, y_axis, = IMPLOT_AUTO));
-  DEF3(PlotToPixels, (const ImPlotPoint&, plt, ), (ImAxis, x_axis, = IMPLOT_AUTO), (ImAxis, y_axis, = IMPLOT_AUTO));
-  DEF4(PlotToPixels, (double, x, ), (double, y, ), (ImAxis, x_axis, = IMPLOT_AUTO), (ImAxis, y_axis, = IMPLOT_AUTO));
-  DEF0(GetPlotPos);
-  DEF0(GetPlotSize);
-  DEF2(GetPlotMousePos, (ImAxis, x_axis, = IMPLOT_AUTO), (ImAxis, y_axis, = IMPLOT_AUTO));
-  DEF2(GetPlotLimits, (ImAxis, x_axis, = IMPLOT_AUTO), (ImAxis, y_axis, = IMPLOT_AUTO));
-  DEF0(IsPlotHovered);
-  DEF1(IsAxisHovered, (ImAxis, axis, ));
-  DEF0(IsSubplotsHovered);
-  DEF0(IsPlotSelected);
-  DEF2(GetPlotSelection, (ImAxis, x_axis, = IMPLOT_AUTO), (ImAxis, y_axis, = IMPLOT_AUTO));
-  DEF0(CancelPlotSelection);
-  DEF2(HideNextItem, (bool, hidden, = true), (ImPlotCond, cond, = ImPlotCond_Once));
-  DEF2(BeginAlignedPlots, (ImString, group_id, ), (bool, vertical, = true));
-  DEF0(EndAlignedPlots);
-  DEF2(BeginLegendPopup, (ImString, label_id, ), (ImGuiMouseButton, mouse_button, = 1));
-  DEF0(EndLegendPopup);
-  DEF1(IsLegendEntryHovered, (ImString, label_id, ));
-  DEF0(BeginDragDropTargetPlot);
-  DEF1(BeginDragDropTargetAxis, (ImAxis, axis, ));
-  DEF0(BeginDragDropTargetLegend);
-  DEF0(EndDragDropTarget);
-  DEF1(BeginDragDropSourcePlot, (ImGuiDragDropFlags, flags, = 0));
-  DEF2(BeginDragDropSourceAxis, (ImAxis, axis, ), (ImGuiDragDropFlags, flags, = 0));
-  DEF2(BeginDragDropSourceItem, (ImString, label_id, ), (ImGuiDragDropFlags, flags, = 0));
-  DEF0(EndDragDropSource);
-  DEF2(PushStyleColor, (ImPlotCol, idx, ), (ImU32, col, ));
-  DEF2(PushStyleColor, (ImPlotCol, idx, ), (const ImVec4&, col, ));
-  DEF1(PopStyleColor, (int, count, = 1));
-  DEF2(PushStyleVar, (ImPlotStyleVar, idx, ), (float, val, ));
-  DEF2(PushStyleVar, (ImPlotStyleVar, idx, ), (int, val, ));
-  DEF2(PushStyleVar, (ImPlotStyleVar, idx, ), (const ImVec2&, val, ));
-  DEF1(PopStyleVar, (int, count, = 1));
-  DEF2(SetNextLineStyle, (const ImVec4&, col, = IMPLOT_AUTO_COL), (float, weight, = IMPLOT_AUTO));
-  DEF2(SetNextFillStyle, (const ImVec4&, col, = IMPLOT_AUTO_COL), (float, alpha_mod, = IMPLOT_AUTO));
-  DEF5(SetNextMarkerStyle, (ImPlotMarker, marker, = IMPLOT_AUTO), (float, size, = IMPLOT_AUTO), (const ImVec4&, fill, = IMPLOT_AUTO_COL), (float, weight, = IMPLOT_AUTO), (const ImVec4&, outline, = IMPLOT_AUTO_COL));
-  DEF3(SetNextErrorBarStyle, (const ImVec4&, col, = IMPLOT_AUTO_COL), (float, size, = IMPLOT_AUTO), (float, weight, = IMPLOT_AUTO));
-  DEF1(PushPlotClipRect, (float, expand, = 0));
-  DEF0(PopPlotClipRect);
-}
-
-// NOLINTEND(whitespace/line_length)
diff --git a/python/mujoco/experimental/netimgui/.clang-format b/python/mujoco/experimental/netimgui/.clang-format
deleted file mode 100644
index 5846b1ec..00000000
--- a/python/mujoco/experimental/netimgui/.clang-format
+++ /dev/null
@@ -1,3 +0,0 @@
-# Disable clang-format for third-party code to keep diffs minimal during Copybara updates.
-DisableFormat: true
-SortIncludes: Never
diff --git a/python/mujoco/experimental/netimgui/CMakeLists.txt b/python/mujoco/experimental/netimgui/CMakeLists.txt
deleted file mode 100644
index b5295215..00000000
--- a/python/mujoco/experimental/netimgui/CMakeLists.txt
+++ /dev/null
@@ -1,75 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# NetImgui client library (vendored, MIT licensed — see LICENSE).
-#
-# This CMakeLists is included from two different build contexts:
-#  1. The main MuJoCo tree under Emscripten (for the web viewer WASM client),
-#     where the `dear_imgui` target exists.
-#  2. The Python bindings build (for the headless_ui pybind module), where Dear
-#     ImGui is an imported archive named `mujoco::dep::dear_imgui`.
-
-if(TARGET netimgui)
-  return()
-endif()
-
-# Resolve the Dear ImGui target for the current build context. Check the
-# imported archive first: in the Python bindings build a pybind module named
-# `dear_imgui` is also defined (the Python ImGui bindings), which must not be
-# confused with the C++ library.
-if(TARGET mujoco::dep::dear_imgui)
-  set(NETIMGUI_IMGUI_TARGET mujoco::dep::dear_imgui)
-elseif(TARGET dear_imgui)
-  set(NETIMGUI_IMGUI_TARGET dear_imgui)
-else()
-  message(WARNING "No Dear ImGui target found. netimgui will not be built.")
-  return()
-endif()
-
-add_library(netimgui STATIC
-  Code/Client/Private/NetImgui_Api.cpp
-  Code/Client/Private/NetImgui_Client.cpp
-  Code/Client/Private/NetImgui_CmdPackets_DrawFrame.cpp
-)
-
-if(EMSCRIPTEN)
-  # WebSocket-based networking for the browser (WASM) build.
-  target_sources(netimgui PRIVATE google/NetImgui_NetworkWASM.cpp)
-  # emscripten_websocket_* requires the JS websocket library.
-  target_link_options(netimgui PUBLIC -lwebsocket.js)
-elseif(WIN32)
-  # Winsock2 networking for Windows.
-  target_sources(netimgui PRIVATE Code/Client/Private/NetImgui_NetworkWin32.cpp)
-  # The source self-links ws2_32 via `#pragma comment(lib, ...)` under MSVC;
-  # link it explicitly so non-MSVC toolchains (e.g. clang-cl) resolve it too.
-  target_link_libraries(netimgui PUBLIC ws2_32)
-elseif(UNIX)
-  # BSD-socket networking for Linux and macOS (both are UNIX).
-  target_sources(netimgui PRIVATE Code/Client/Private/NetImgui_NetworkPosix.cpp)
-else()
-  message(WARNING "NetImgui networking is not available on this platform. "
-                  "netimgui will not be built.")
-  return()
-endif()
-
-target_include_directories(netimgui
-  PUBLIC
-    ${CMAKE_CURRENT_SOURCE_DIR}                      # google/logging.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/Code/Client          # NetImgui_Api.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/Code/Client/Private  # NetImgui_CmdPackets.h etc.
-)
-
-target_link_libraries(netimgui PUBLIC ${NETIMGUI_IMGUI_TARGET})
-
-set_target_properties(netimgui PROPERTIES POSITION_INDEPENDENT_CODE ON)
diff --git a/python/mujoco/experimental/netimgui/Code/Client/NetImgui_Api.h b/python/mujoco/experimental/netimgui/Code/Client/NetImgui_Api.h
deleted file mode 100644
index 838c3b43..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/NetImgui_Api.h
+++ /dev/null
@@ -1,353 +0,0 @@
-#pragma once
-
-//=================================================================================================
-//! @Name		: NetImgui
-//=================================================================================================
-//! @author		: Sammy Fatnassi
-//! @date		: 2026/01/04
-//!	@version	: v1.13.0
-//! @Details	: For integration info :
-//! https://github.com/sammyfreg/netImgui/wiki
-//=================================================================================================
-#define NETIMGUI_VERSION "1.13.0"  // Release of v 1.13
-#define NETIMGUI_VERSION_NUM 11300
-
-//-------------------------------------------------------------------------------------------------
-// Deactivate a few warnings to allow Imgui header include
-// without generating warnings in maximum level '-Wall'
-//-------------------------------------------------------------------------------------------------
-#if defined(__clang__)
-#pragma clang diagnostic push
-// ImGui.h warnings(s)
-#pragma clang diagnostic ignored "-Wunknown-warning-option"
-#pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
-#pragma clang diagnostic ignored \
-    "-Wreserved-identifier"  // Enum values using '__' or member starting with
-                             // '_' in imgui.h
-// NetImgui_Api.h Warning(s)
-#pragma clang diagnostic ignored \
-    "-Wzero-as-null-pointer-constant"  // Not using nullptr in case this file is
-                                       // used in pre C++11
-#elif defined(_MSC_VER)
-#pragma warning(push)
-// ImGui.h warnings(s)
-#pragma warning( \
-    disable : 4514)  // 'xxx': unreferenced inline function has been removed
-#pragma warning(disable : 4710)  // 'xxx': function not inlined
-#pragma warning( \
-    disable      \
-    : 4820)  // 'xxx': 'yyy' bytes padding added after data member 'zzz'
-#pragma warning(disable : 5045)  // Compiler will insert Spectre mitigation for
-                                 // memory load if /Qspectre switch specified
-#endif
-
-//=================================================================================================
-// Include the user config file. It should contain the include for :
-// 'imgui.h' : always
-// 'imgui_internal.h' when 'NETIMGUI_INTERNAL_INCLUDE' is defined
-//=================================================================================================
-#ifdef NETIMGUI_IMPLEMENTATION
-#define NETIMGUI_INTERNAL_INCLUDE
-#include "NetImgui_Config.h"
-#undef NETIMGUI_INTERNAL_INCLUDE
-#else
-#include "NetImgui_Config.h"
-#endif
-
-//-------------------------------------------------------------------------------------------------
-// If 'NETIMGUI_ENABLED' hasn't been defined yet (in project settings or
-// NetImgui_Config.h') we define this library as 'Disabled'
-//-------------------------------------------------------------------------------------------------
-#ifndef NETIMGUI_ENABLED
-#define NETIMGUI_ENABLED 0
-#endif
-
-//-------------------------------------------------------------------------------------------------
-// NetImgui needs to detect Dear ImGui to be active, otherwise we disable it
-// When including this header, make sure imgui.h is included first
-// (either always included in NetImgui_config.h or have it included after
-// Imgui.h in your cpp)
-//-------------------------------------------------------------------------------------------------
-#if !defined(IMGUI_VERSION)
-#undef NETIMGUI_ENABLED
-#define NETIMGUI_ENABLED 0
-#endif
-
-//-------------------------------------------------------------------------------------------------
-// Control support for native Dear ImGui texture backend support
-// At the moment, meant to always be active on recent Dear Imgui version (1.92+)
-//-------------------------------------------------------------------------------------------------
-#ifndef NETIMGUI_IMGUI_TEXTURES_ENABLED
-#ifdef IMGUI_HAS_TEXTURES
-#define NETIMGUI_IMGUI_TEXTURES_ENABLED 1
-#else
-#define NETIMGUI_IMGUI_TEXTURES_ENABLED 0
-#endif
-#endif
-
-#if NETIMGUI_ENABLED
-
-#include <stdint.h>
-
-//=================================================================================================
-// Default Build settings defines values
-// Assign default values when not set in user NetImgui_Config.h
-//=================================================================================================
-//-------------------------------------------------------------------------------------------------
-// Prepended to functions signature, for dll export/import
-//-------------------------------------------------------------------------------------------------
-#ifndef NETIMGUI_API
-#define NETIMGUI_API \
-  IMGUI_API  // Use same value as defined by Dear ImGui by default
-#endif
-
-//-------------------------------------------------------------------------------------------------
-// Enable TCP socket 'reuse port' option when opening it as a 'listener'.
-// Note:	Can help when unable to open a socket because it wasn't properly
-// released after a crash.
-//-------------------------------------------------------------------------------------------------
-#ifndef NETIMGUI_FORCE_TCP_LISTEN_BINDING
-#define NETIMGUI_FORCE_TCP_LISTEN_BINDING \
-  0  // Doesn't seem to be needed on Window/Linux
-#endif
-
-//-------------------------------------------------------------------------------------------------
-// Enable Dear ImGui Callbacks support for BeginFrame/Render automatic
-// interception. Note:	Avoid having to replace ImGui::BeginFrame/ImGui::Render
-// with in library user code, by
-//			'NetImgui::NewFrame/NetImgui::EndFrame'. But prevent
-//benefit of skipping frame draw 			when unneeded, that 'NetImgui::NewFrame' can
-//provide. 			For more info, consult 'SampleNewFrame.cpp'. 			Needs Dear ImGui 1.81+
-//-------------------------------------------------------------------------------------------------
-#ifndef NETIMGUI_IMGUI_CALLBACK_ENABLED
-#define NETIMGUI_IMGUI_CALLBACK_ENABLED \
-  (IMGUI_VERSION_NUM >= 18100)  // Not supported pre Dear ImGui 1.81
-#endif
-
-namespace NetImgui {
-
-//=================================================================================================
-// List of texture format supported
-//=================================================================================================
-enum eTexFormat {
-  // Match Dear Imgui 1.92 'ImTextureFormat'
-  kTexFmtRGBA8,
-  kTexFmtA8,
-
-  // Support of 'user defined' texture format.
-  // Implementation must be added on both client and Server code.
-  // Search for TEXTURE_CUSTOM_SAMPLE for example implementation.
-  kTexFmtCustom,
-
-  //
-  kTexFmt_Count,
-  kTexFmt_Invalid = kTexFmt_Count
-};
-
-//=================================================================================================
-// Data Compression wanted status
-//=================================================================================================
-enum eCompressionMode {
-  kForceDisable,     // Disable data compression for communications
-  kForceEnable,      // Enable data compression for communications
-  kUseServerSetting  // Use Server setting for compression (default)
-};
-
-//-------------------------------------------------------------------------------------------------
-// Function typedefs
-//-------------------------------------------------------------------------------------------------
-typedef void (*ThreadFunctPtr)(void threadedFunction(void* pClientInfo),
-                               void* pClientInfo);
-typedef void (*FontCreateFuncPtr)(float PreviousDPIScale, float NewDPIScale);
-
-//=================================================================================================
-// Initialize the Network Library
-//=================================================================================================
-NETIMGUI_API bool Startup(void);
-
-//=================================================================================================
-// Free Resources
-// Wait until all communication threads have terminated before returning
-//=================================================================================================
-NETIMGUI_API void Shutdown();
-
-//=================================================================================================
-// Establish a connection between the NetImgui server application and this
-// client.
-//
-// Can connect with NetImgui Server application by either reaching it directly
-// using 'ConnectToApp' or waiting for Server to reach us after Client called
-// 'ConnectFromApp'.
-//
-// Note:	Start a new communication thread using std::Thread by default,
-// but can receive custom
-//			thread start function instead (Look at ClientExample
-//'CustomCommunicationThread').
-//-------------------------------------------------------------------------------------------------
-// clientName			: Client name displayed in the Server's clients
-// list serverHost			: NetImgui Server Application address
-// (Ex1: 127.0.0.2, Ex2: localhost) serverPort			: PortID of the
-// NetImgui Server application to connect to clientPort			: PortID
-// this Client should wait for connection from Server application threadFunction
-// : User provided function to launch new networking thread.
-//						  Use
-//'DefaultStartCommunicationThread' by default (uses 'std::thread').
-// fontCreateFunction	: User provided function to call when the Server expect
-// an update of
-//						  the font atlas, because of a
-//monitor DPI change. When left to nullptr, 						  uses 'ImGuiIO.FontGlobalScale'
-//instead to increase text size, 						  with blurier results. 						  NOTE: Not used by Dear
-//ImGui 1.92+, unneeded with font update support.
-//=================================================================================================
-NETIMGUI_API bool ConnectToApp(const char* clientName, const char* serverHost,
-                               uint32_t serverPort = kDefaultServerPort,
-                               ThreadFunctPtr threadFunction = 0,
-                               FontCreateFuncPtr FontCreateFunction = 0);
-NETIMGUI_API bool ConnectFromApp(const char* clientName,
-                                 uint32_t clientPort = kDefaultClientPort,
-                                 ThreadFunctPtr threadFunction = 0,
-                                 FontCreateFuncPtr fontCreateFunction = 0);
-
-//=================================================================================================
-// Request a disconnect from the NetImguiServer application
-//=================================================================================================
-NETIMGUI_API void Disconnect(void);
-
-//=================================================================================================
-// True if connected to the NetImguiServer application
-//=================================================================================================
-NETIMGUI_API bool IsConnected(void);
-
-//=================================================================================================
-// True if connection request is waiting to be completed. For example, while
-// waiting for Server to reach ud after having called 'ConnectFromApp()'
-//=================================================================================================
-NETIMGUI_API bool IsConnectionPending(void);
-
-//=================================================================================================
-// True when Dear ImGui is currently expecting draw commands
-// This means that we are between NewFrame() and EndFrame()
-//=================================================================================================
-NETIMGUI_API bool IsDrawing(void);
-
-//=================================================================================================
-// True when we are currently drawing on the NetImguiServer application
-// Means that we are between NewFrame() and EndFrame() of drawing for remote
-// application
-//=================================================================================================
-NETIMGUI_API bool IsDrawingRemote(void);
-
-//=================================================================================================
-// Send an updated texture used by imgui, to the NetImguiServer application
-// Note: To remove a texture, set pData to nullptr
-// Note: User needs to provide a valid 'dataSize' when using format
-// 'kTexFmtCustom',
-//		 can be ignored otherwise
-// Note: Can now rely on native Dear ImGui managed texture support to let the
-// system handle their
-//		 creation/update/destruction automatically, without needing to
-//call this function 		 (since Dear ImGui 1.92+. See 'SampleTextures').
-//=================================================================================================
-NETIMGUI_API void SendDataTexture(ImTextureID textureId, void* pData,
-                                  uint16_t width, uint16_t height,
-                                  eTexFormat format, uint32_t dataSize = 0);
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-NETIMGUI_API void SendDataTexture(const ImTextureRef& textureRef, void* pData,
-                                  uint16_t width, uint16_t height,
-                                  eTexFormat format, uint32_t dataSize = 0);
-#endif
-
-//=================================================================================================
-// Start a new Imgui Frame and wait for Draws commands, using ImContext that was
-// active on connect. Returns true if we are awaiting a new ImGui frame.
-//
-// All ImGui drawing should be skipped when return is false.
-//
-// Note: This code can be used instead, to know if you should be drawing or not
-// :
-//			'if( !NetImgui::IsDrawing() )'
-//
-// Note: If your code cannot handle skipping a ImGui frame, leave
-// 'bSupportFrameSkip=false',
-//		 and this function will always call 'ImGui::NewFrame()'
-//internally and return true
-//
-// Note: With Dear ImGui 1.81+, you can keep using the
-// ImGui::BeginFrame()/Imgui::Render()
-//		 without having to use NetImgui::NewFrame()/NetImgui::EndFrame()
-//		 (unless wanting to support frame skip)
-//=================================================================================================
-NETIMGUI_API bool NewFrame(bool bSupportFrameSkip = false);
-
-//=================================================================================================
-// Process all receives draws, send them to remote connection and restore the
-// ImGui Context
-//=================================================================================================
-NETIMGUI_API void EndFrame(void);
-
-//=================================================================================================
-// Return the context associated to this remote connection. Null when not
-// connected.
-//=================================================================================================
-NETIMGUI_API ImGuiContext* GetContext();
-
-//=================================================================================================
-// Set the remote client background color and texture
-// Note: If no TextureID is specified, will use the default server texture
-//=================================================================================================
-NETIMGUI_API void SetBackground(const ImVec4& bgColor);
-NETIMGUI_API void SetBackground(const ImVec4& bgColor,
-                                const ImVec4& textureTint);
-NETIMGUI_API void SetBackground(const ImVec4& bgColor,
-                                const ImVec4& textureTint,
-                                ImTextureID bgTextureID);
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-NETIMGUI_API void SetBackground(const ImVec4& bgColor,
-                                const ImVec4& textureTint,
-                                const ImTextureRef& bgTextureRef);
-#endif
-
-//=================================================================================================
-// Control the data compression for communications between Client/Server
-//=================================================================================================
-NETIMGUI_API void SetCompressionMode(eCompressionMode eMode);
-NETIMGUI_API eCompressionMode GetCompressionMode();
-
-//=================================================================================================
-// Helper functions
-//=================================================================================================
-NETIMGUI_API uint8_t GetTexture_BitsPerPixel(eTexFormat eFormat);
-NETIMGUI_API uint32_t GetTexture_BytePerLine(eTexFormat eFormat,
-                                             uint32_t pixelWidth);
-NETIMGUI_API uint32_t GetTexture_BytePerImage(eTexFormat eFormat,
-                                              uint32_t pixelWidth,
-                                              uint32_t pixelHeight);
-}  // namespace NetImgui
-
-//=================================================================================================
-// Optional single include compiling option
-// Note: User wanting to avoid adding the few NetImgui sources files to their
-// project,
-//		 can instead define 'NETIMGUI_IMPLEMENTATION' *once* before
-//including 'NetImgui_Api.h' 		 to pull all the needed cpp files alongside for
-//compilation
-//=================================================================================================
-#if defined(NETIMGUI_IMPLEMENTATION)
-#include "Private/NetImgui_Api.cpp"
-#include "Private/NetImgui_Client.cpp"
-#include "Private/NetImgui_CmdPackets_DrawFrame.cpp"
-#include "Private/NetImgui_NetworkPosix.cpp"
-#include "Private/NetImgui_NetworkUE4.cpp"
-#include "Private/NetImgui_NetworkWin32.cpp"
-#endif
-
-#endif  // NETIMGUI_ENABLED
-
-//-------------------------------------------------------------------------------------------------
-// Re-Enable the Deactivated warnings
-//-------------------------------------------------------------------------------------------------
-#if defined(__clang__)
-#pragma clang diagnostic pop
-#elif defined(_MSC_VER)
-#pragma warning(pop)
-#endif
diff --git a/python/mujoco/experimental/netimgui/Code/Client/NetImgui_Config.h b/python/mujoco/experimental/netimgui/Code/Client/NetImgui_Config.h
deleted file mode 100644
index c5621528..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/NetImgui_Config.h
+++ /dev/null
@@ -1,71 +0,0 @@
-#pragma once
-
-//=================================================================================================
-// Enable code compilation for this library
-// Note: Useful to disable 'netImgui' on unsupported builds while keeping
-// functions declared
-//=================================================================================================
-#ifndef NETIMGUI_ENABLED
-#define NETIMGUI_ENABLED 1
-#endif
-
-#if NETIMGUI_ENABLED
-
-#include <imgui.h>
-
-#ifdef NETIMGUI_INTERNAL_INCLUDE
-#include <imgui_internal.h>  // Only needed when compiling NetImgui, not when using the NetImgui Api
-
-#include "Private/NetImgui_WarningDisableImgui.h"  // Disable some extra warning generated by imgui_internal in '-Wall'
-#include "Private/NetImgui_WarningReenable.h"
-#endif
-
-#endif  // NETIMGUI_ENABLED
-
-//=================================================================================================
-// Default Ports used to reach the Server or the Client (listen port for
-// incoming connection)
-//=================================================================================================
-namespace NetImgui {
-enum Constants {
-  kDefaultServerPort = 8888,  //!< Default port Server waits for a connection
-  kDefaultClientPort = 8889   //!< Default port Client waits for a connection
-};
-}
-
-//=================================================================================================
-// Enable default Win32/Posix networking code
-// Note:	By default, netImgui uses Winsock on Windows and Posix sockets
-// on other platforms
-//
-//			The use your own code, turn off both
-//NETIMGUI_WINSOCKET_ENABLED, 			NETIMGUI_POSIX_SOCKETS_ENABLED and provide your
-//own implementation of the functions 			declared in 'NetImgui_Network.h'.
-//
-//			As an example, 'SampleCompression' disable default com
-//implementation and use its own
-//=================================================================================================
-#if !defined(NETIMGUI_WINSOCKET_ENABLED) && !defined(__UNREAL__)
-#ifdef _WIN32
-#define NETIMGUI_WINSOCKET_ENABLED \
-  1  // Project needs 'ws2_32.lib' added to input libraries
-#else
-#define NETIMGUI_WINSOCKET_ENABLED 0
-#endif
-#endif
-
-#if !defined(NETIMGUI_POSIX_SOCKETS_ENABLED) && !defined(__UNREAL__)
-#define NETIMGUI_POSIX_SOCKETS_ENABLED !(NETIMGUI_WINSOCKET_ENABLED)
-#endif
-
-//=================================================================================================
-// Various build settings define
-// Note: for more information, please look in 'NetImgui_Api.h' for description
-// and default values
-//=================================================================================================
-// #define NETIMGUI_IMGUI_CALLBACK_ENABLED		(IMGUI_VERSION_NUM >=
-// 18100)	// Not supported pre Dear ImGui 1.81 #define
-// NETIMGUI_FORCE_TCP_LISTEN_BINDING		0
-// // Doesn't seem to be needed on Window/Linux #define NETIMGUI_API
-// IMGUI_API						// Use same value as
-// defined by Dear ImGui by default
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Api.cpp b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Api.cpp
deleted file mode 100644
index aeb8f310..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Api.cpp
+++ /dev/null
@@ -1,948 +0,0 @@
-// Google modifications:
-//  - Adding missing headers.
-//  - Added logging for network events.
-#include "NetImgui_Shared.h"
-#include "NetImgui_WarningDisable.h"
-
-#if NETIMGUI_ENABLED
-#include <stdio.h>
-#include <string.h>
-#include <sys/time.h>
-#include <time.h>
-
-#include <algorithm>
-#include <thread>
-
-#include "NetImgui_Client.h"
-#include "NetImgui_CmdPackets.h"
-#include "NetImgui_Network.h"
-#include "google/logging.h"
-
-using namespace NetImgui::Internal;
-
-namespace NetImgui {
-
-static Client::ClientInfo* gpClientInfo = nullptr;
-
-bool ProcessInputData(Client::ClientInfo& client);
-
-//=================================================================================================
-void DefaultStartCommunicationThread(void ComFunctPtr(void*), void* pClient)
-//=================================================================================================
-{
-// Visual Studio 2017 generate this warning on std::thread, avoid the warning
-// preventing build
-#if defined(_MSC_VER) && (_MSC_VER < 1920)
-#pragma warning(push)
-#pragma warning(disable \
-                : 4625)  // 'std::_LaunchPad<_Target>' : copy constructor was
-                         // implicitly defined as deleted
-#pragma warning(disable : 4626)  // 'std::_LaunchPad<_Target>' : assignment
-                                 // operator was implicitly defined as deleted
-#endif
-
-  std::thread(ComFunctPtr, pClient).detach();
-
-#if defined(_MSC_VER) && (_MSC_VER < 1920)
-#pragma warning(pop)
-#endif
-}
-
-//=================================================================================================
-bool ConnectToApp(const char* clientName, const char* ServerHost,
-                  uint32_t serverPort, ThreadFunctPtr threadFunction,
-                  FontCreateFuncPtr FontCreateFunction)
-//=================================================================================================
-{
-  if (!gpClientInfo) return false;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  Disconnect();
-
-  while (client.IsActive()) std::this_thread::yield();
-
-  client.ContextRestore();      // Restore context setting override, after a
-                                // disconnect
-  client.ContextRemoveHooks();  // Remove hooks callback only when completely
-                                // disconnected
-
-  StringCopy(
-      client.mName,
-      (clientName == nullptr || clientName[0] == 0 ? "Unnamed" : clientName));
-  client.mpSocketPending = Network::Connect(ServerHost, serverPort);
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-  IM_UNUSED(FontCreateFunction);
-#else
-  client.mFontCreationFunction = FontCreateFunction;
-#endif
-  if (client.mpSocketPending.load() != nullptr) {
-    client.ContextInitialize();
-    threadFunction = threadFunction == nullptr ? DefaultStartCommunicationThread
-                                               : threadFunction;
-    threadFunction(Client::CommunicationsConnect, &client);
-  }
-
-  return client.IsActive();
-}
-
-//=================================================================================================
-bool ConnectFromApp(const char* clientName, uint32_t serverPort,
-                    ThreadFunctPtr threadFunction,
-                    FontCreateFuncPtr FontCreateFunction)
-//=================================================================================================
-{
-  if (!gpClientInfo) return false;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  Disconnect();
-
-  while (client.IsActive()) std::this_thread::yield();
-
-  client.ContextRestore();      // Restore context setting override, after a
-                                // disconnect
-  client.ContextRemoveHooks();  // Remove hooks callback only when completly
-                                // disconnected
-
-  StringCopy(
-      client.mName,
-      (clientName == nullptr || clientName[0] == 0 ? "Unnamed" : clientName));
-  client.mpSocketPending = Network::ListenStart(serverPort);
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-  IM_UNUSED(FontCreateFunction);
-#else
-  client.mFontCreationFunction = FontCreateFunction;
-#endif
-  client.mThreadFunction = (threadFunction == nullptr)
-                               ? DefaultStartCommunicationThread
-                               : threadFunction;
-  if (client.mpSocketPending.load() != nullptr) {
-    client.ContextInitialize();
-    client.mSocketListenPort = serverPort;
-    client.mThreadFunction(Client::CommunicationsHost, &client);
-  }
-
-  return client.IsActive();
-}
-
-//=================================================================================================
-void Disconnect(void)
-//=================================================================================================
-{
-  if (!gpClientInfo) return;
-
-  // Attempt fake connection on local socket waiting for a Server connection,
-  // so the blocking operation can terminate and release the communication
-  // thread
-  Client::ClientInfo& client = *gpClientInfo;
-  client.mbDisconnectPending = true;
-  client.mbDisconnectListen = true;
-  if (client.mpSocketListen.load() != nullptr &&
-      client.mSocketListenPort != 0) {
-    Network::SocketInfo* pFakeSocket =
-        Network::Connect("127.0.0.1", client.mSocketListenPort);
-    client.mSocketListenPort = 0;
-    client.mbDisconnectPending = true;
-
-    if (pFakeSocket) {
-      Network::Disconnect(pFakeSocket);
-    }
-  }
-
-  // Wait for connection attempt to complete and fail
-  while (client.mbComInitActive || client.mbClientThreadActive);
-
-  // If fake connection to exit Listening failed, force disconnect socket
-  // directly even though it might potentially cause a race condition
-  Network::SocketInfo* pListenSocket = client.mpSocketListen.exchange(nullptr);
-  if (pListenSocket) {
-    Network::Disconnect(pListenSocket);
-  }
-
-  Network::SocketInfo* pPendingSocket =
-      client.mpSocketPending.exchange(nullptr);
-  if (pPendingSocket) {
-    Network::Disconnect(pPendingSocket);
-  }
-}
-
-//=================================================================================================
-bool IsConnected(void)
-//=================================================================================================
-{
-  if (!gpClientInfo) return false;
-
-  Client::ClientInfo& client = *gpClientInfo;
-
-  // If disconnected in middle of a remote frame drawing,
-  // want to behave like it is still connected to finish frame properly
-  return client.IsConnected() || IsDrawingRemote();
-}
-
-//=================================================================================================
-bool IsConnectionPending(void)
-//=================================================================================================
-{
-  if (!gpClientInfo) return false;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  return client.IsConnectPending();
-}
-
-//=================================================================================================
-bool IsDrawing(void)
-//=================================================================================================
-{
-  if (!gpClientInfo) return false;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  return client.mbIsDrawing;
-}
-
-//=================================================================================================
-bool IsDrawingRemote(void)
-//=================================================================================================
-{
-  if (!gpClientInfo) return false;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  return IsDrawing() && client.mbIsRemoteDrawing;
-}
-
-//=================================================================================================
-bool NewFrame(bool bSupportFrameSkip)
-//=================================================================================================
-{
-  if (!gpClientInfo || gpClientInfo->mbIsDrawing) return false;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  ScopedBool scopedInside(client.mbInsideNewEnd, true);
-
-  // ImGui Newframe handled by remote connection settings
-  if (NetImgui::IsConnected()) {
-    ImGui::SetCurrentContext(client.mpContext);
-
-    // Save current context settings and override settings to fit our netImgui
-    // usage
-    if (!client.IsContextOverriden()) {
-      client.ContextOverride();
-    }
-
-    auto elapsedCheck =
-        std::chrono::steady_clock::now() - client.mLastOutgoingDrawCheckTime;
-    auto elapsedDraw =
-        std::chrono::steady_clock::now() - client.mLastOutgoingDrawTime;
-    auto elapsedCheckMs =
-        static_cast<float>(
-            std::chrono::duration_cast<std::chrono::microseconds>(elapsedCheck)
-                .count()) /
-        1000.f;
-    auto elapsedDrawMs =
-        static_cast<float>(
-            std::chrono::duration_cast<std::chrono::microseconds>(elapsedDraw)
-                .count()) /
-        1000.f;
-    client.mLastOutgoingDrawCheckTime = std::chrono::steady_clock::now();
-
-    // Update input and see if remote netImgui expect a new frame
-    client.mbValidDrawFrame = false;
-
-    // Take into account delay until next method call, for more precise fps
-    bool shouldDraw =
-        client.mDesiredFps > 0.f &&
-        (elapsedDrawMs + elapsedCheckMs / 2.f) > (1000.f / client.mDesiredFps);
-
-    VLOG(2,
-         "NewFrame: elapsedDrawMs=%.2f, elapsedCheckMs=%.2f, shouldDraw=%s, "
-         "mDesiredFps=%.1f (target=%.1f)",
-         elapsedDrawMs, elapsedCheckMs, shouldDraw ? "Y" : "N",
-         client.mDesiredFps, 1000.f / client.mDesiredFps);
-
-    if (shouldDraw) {
-      VLOG(2, "NewFrame: shouldDraw=Y, triggering draw!");
-
-      client.mLastOutgoingDrawTime = std::chrono::steady_clock::now();
-      client.mbValidDrawFrame = true;
-      client.mSavedDisplaySize = ImGui::GetIO().DisplaySize;
-
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-      client.mFontSavedScaling = ImGui::GetStyle().FontScaleDpi;
-      ImGui::GetStyle().FontScaleDpi = client.mFontServerScale;
-#else
-      // We are about to start drawing for remote context, check for font data
-      // update
-      const ImFontAtlas* pFonts = ImGui::GetIO().Fonts;
-      if (pFonts->TexPixelsAlpha8 &&
-          (pFonts->TexPixelsAlpha8 != client.mpFontTextureData ||
-           client.mFontTextureID != ConvertToClientTexID(pFonts->TexID))) {
-        uint8_t* pPixelData(nullptr);
-        int width(0), height(0);
-        ImGui::GetIO().Fonts->GetTexDataAsAlpha8(&pPixelData, &width, &height);
-        SendDataTexture(pFonts->TexID, pPixelData, static_cast<uint16_t>(width),
-                        static_cast<uint16_t>(height), eTexFormat::kTexFmtA8);
-      }
-      // No font texture has been sent to the netImgui server, you can either
-      // 1. Leave font data available in ImGui (not call ImGui::ClearTexData)
-      // for netImgui to auto send it
-      // 2. Manually call 'NetImgui::SendDataTexture' with font texture data
-      assert(client.mbFontUploaded);
-#endif
-    }
-
-    ProcessInputData(client);
-
-    // Update current active content with our time
-    ImGui::GetIO().DeltaTime =
-        std::max<float>(1.f / 1000.f, elapsedCheckMs / 1000.f);
-
-    // NetImgui isn't waiting for a new frame, try to skip drawing when caller
-    // supports it
-    if (!client.mbValidDrawFrame && bSupportFrameSkip) {
-      return false;
-    }
-  }
-  // Regular Imgui NewFrame
-  else {
-    // Restore context setting override, after a disconnect
-    client.ContextRestore();
-
-    // Remove hooks callback only when completly disconnected
-    if (!client.IsConnectPending()) {
-      client.ContextRemoveHooks();
-    }
-  }
-
-  // A new frame is expected, update the current time of the drawing context,
-  // and let Imgui know to prepare a new drawing frame
-  client.mbIsRemoteDrawing = NetImgui::IsConnected();
-  client.mbIsDrawing = true;
-
-  // Reset Dear ImGui managed Textures status if not handled by backend, to not
-  // re-process the same elements (active on 1.92+)
-  client.TextureTrackingClear();
-
-  // This function can be called from a 'NewFrame' ImGui hook, we should not
-  // start a new frame again
-  if (!client.mbInsideHook) {
-    ImGui::NewFrame();
-  }
-
-  return true;
-}
-
-//=================================================================================================
-void EndFrame(void)
-//=================================================================================================
-{
-  if (!gpClientInfo) return;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  ScopedBool scopedInside(client.mbInsideNewEnd, true);
-
-  if (client.mbIsDrawing) {
-    // Must be fetched before 'Render'
-    ImGuiMouseCursor Cursor = ImGui::GetMouseCursor();
-
-    // This function can be called from a 'EndFrame' ImGui hook, in which case
-    // no need to call this again
-    if (!client.mbInsideHook) {
-      ImGui::Render();
-    }
-
-    // Detect all DearImgui ImGui managed Textures waiting for updates before
-    // backend process them (active on 1.92+)
-    client.TextureTrackingUpdate();
-
-    // Prepare the Dear Imgui DrawData for later transmission to Server
-    ImDrawData* imDrawData = ImGui::GetDrawData();
-    client.ProcessDrawData(imDrawData, Cursor);
-
-    // Detect change to background settings by user, and forward them to server
-    if (client.mBGSetting != client.mBGSettingSent) {
-      CmdBackground* pCmdBackground = netImguiNew<CmdBackground>();
-      *pCmdBackground = client.mBGSetting;
-      client.mBGSettingSent = client.mBGSetting;
-      client.mPendingBackgroundOut.Assign(pCmdBackground);
-    }
-
-    if (client.mbIsRemoteDrawing) {
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-      // Clear the ImGui Draw Data while leaving the texture updates intact
-      // This allows the backend to process the texture updates/status normally
-      // (usually done in Render backend implementation) while not displaying
-      // anything.
-      if (imDrawData) {
-        imDrawData->CmdLists.resize(0);
-        imDrawData->CmdListsCount = 0;
-        imDrawData->TotalIdxCount = 0;
-        imDrawData->TotalVtxCount = 0;
-      }
-      ImGui::GetStyle().FontScaleDpi = client.mFontSavedScaling;
-#endif
-      // Restore display size, so we never lose original setting
-      // that may get updated after initial connection
-      ImGui::GetIO().DisplaySize = client.mSavedDisplaySize;
-    }
-  }
-
-  VLOG(2, "EndFrame: mbIsDrawing was %s, mbIsRemoteDrawing was %s",
-       client.mbIsDrawing ? "Y" : "N", client.mbIsRemoteDrawing ? "Y" : "N");
-
-  client.mbIsRemoteDrawing = false;
-  client.mbIsDrawing = false;
-  client.mbValidDrawFrame = false;
-}
-
-//=================================================================================================
-ImGuiContext* GetContext()
-//=================================================================================================
-{
-  if (!gpClientInfo) return nullptr;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  return client.mpContext;
-}
-
-//=================================================================================================
-void SendDataTexture(ImTextureID textureId, void* pData, uint16_t width,
-                     uint16_t height, eTexFormat format, uint32_t dataSize)
-//=================================================================================================
-{
-  if (!gpClientInfo) return;
-  Client::ClientInfo& client = *gpClientInfo;
-  ClientTextureID clientTexID = ConvertToClientTexID(textureId);
-
-  // Add/Update a texture
-  if (pData != nullptr) {
-    CmdTexture* pCmdTexture =
-        client.TextureCmdAllocate(clientTexID, width, height, format, dataSize);
-    if (pCmdTexture) {
-      memcpy(pCmdTexture->mpTextureData.Get(), pData, dataSize);
-      pCmdTexture->mpTextureData.ToOffset();
-      client.TextureTrackingAdd(*pCmdTexture);
-
-      // Detects when user is sending the font texture
-#if !NETIMGUI_IMGUI_TEXTURES_ENABLED
-      ScopedImguiContext scopedCtx(
-          client.mpContext ? client.mpContext : ImGui::GetCurrentContext());
-      if (ImGui::GetIO().Fonts && ImGui::GetIO().Fonts->TexID == textureId) {
-        client.mbFontUploaded |= true;
-        client.mpFontTextureData = ImGui::GetIO().Fonts->TexPixelsAlpha8;
-        client.mFontTextureID = clientTexID;
-      }
-#endif
-    }
-  }
-  // Texture to remove
-  else {
-    client.TextureTrackingRem(clientTexID);
-  }
-}
-
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-//=================================================================================================
-void SendDataTexture(const ImTextureRef& textureRef, void* pData,
-                     uint16_t width, uint16_t height, eTexFormat format,
-                     uint32_t dataSize)
-//=================================================================================================
-{
-  if (!gpClientInfo) return;
-  Client::ClientInfo& client = *gpClientInfo;
-  ClientTextureID clientTexID = ConvertToClientTexID(textureRef);
-
-  // Add/Update a texture
-  if (pData != nullptr) {
-    CmdTexture* pCmdTexture =
-        client.TextureCmdAllocate(clientTexID, width, height, format, dataSize);
-    if (pCmdTexture) {
-      memcpy(pCmdTexture->mpTextureData.Get(), pData, dataSize);
-      pCmdTexture->mpTextureData.ToOffset();
-      client.TextureTrackingAdd(*pCmdTexture);
-    }
-  }
-  // Texture to remove
-  else {
-    client.TextureTrackingRem(clientTexID);
-  }
-}
-#endif  // NETIMGUI_IMGUI_TEXTURES_ENABLED
-
-//=================================================================================================
-void SetBackground(const ImVec4& bgColor)
-//=================================================================================================
-{
-  if (!gpClientInfo) return;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  client.mBGSetting = NetImgui::Internal::CmdBackground();
-  client.mBGSetting.mClearColor[0] = bgColor.x;
-  client.mBGSetting.mClearColor[1] = bgColor.y;
-  client.mBGSetting.mClearColor[2] = bgColor.z;
-  client.mBGSetting.mClearColor[3] = bgColor.w;
-}
-
-//=================================================================================================
-void SetBackground(const ImVec4& bgColor, const ImVec4& textureTint)
-//=================================================================================================
-{
-  if (!gpClientInfo) return;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  client.mBGSetting.mClearColor[0] = bgColor.x;
-  client.mBGSetting.mClearColor[1] = bgColor.y;
-  client.mBGSetting.mClearColor[2] = bgColor.z;
-  client.mBGSetting.mClearColor[3] = bgColor.w;
-  client.mBGSetting.mTextureTint[0] = textureTint.x;
-  client.mBGSetting.mTextureTint[1] = textureTint.y;
-  client.mBGSetting.mTextureTint[2] = textureTint.z;
-  client.mBGSetting.mTextureTint[3] = textureTint.w;
-  client.mBGSetting.mTextureId =
-      NetImgui::Internal::CmdBackground::kDefaultTexture;
-}
-
-//=================================================================================================
-void SetBackground(const ImVec4& bgColor, const ImVec4& textureTint,
-                   ImTextureID bgTextureID)
-//=================================================================================================
-{
-  if (!gpClientInfo) return;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  client.mBGSetting.mClearColor[0] = bgColor.x;
-  client.mBGSetting.mClearColor[1] = bgColor.y;
-  client.mBGSetting.mClearColor[2] = bgColor.z;
-  client.mBGSetting.mClearColor[3] = bgColor.w;
-  client.mBGSetting.mTextureTint[0] = textureTint.x;
-  client.mBGSetting.mTextureTint[1] = textureTint.y;
-  client.mBGSetting.mTextureTint[2] = textureTint.z;
-  client.mBGSetting.mTextureTint[3] = textureTint.w;
-
-  uint64_t texId64(0);
-  reinterpret_cast<ImTextureID*>(&texId64)[0] = bgTextureID;
-  client.mBGSetting.mTextureId = texId64;
-}
-
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-//=================================================================================================
-void SetBackground(const ImVec4& bgColor, const ImVec4& textureTint,
-                   const ImTextureRef& bgTextureRef)
-//=================================================================================================
-{
-  SetBackground(bgColor, textureTint, ConvertToClientTexID(bgTextureRef));
-}
-#endif
-
-//=================================================================================================
-void SetCompressionMode(eCompressionMode eMode)
-//=================================================================================================
-{
-  if (!gpClientInfo) return;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  client.mClientCompressionMode = static_cast<uint8_t>(eMode);
-}
-//=================================================================================================
-eCompressionMode GetCompressionMode()
-//=================================================================================================
-{
-  if (!gpClientInfo) return eCompressionMode::kUseServerSetting;
-
-  Client::ClientInfo& client = *gpClientInfo;
-  return static_cast<eCompressionMode>(client.mClientCompressionMode);
-}
-
-//=================================================================================================
-bool Startup(void)
-//=================================================================================================
-{
-  if (!gpClientInfo) {
-    gpClientInfo = netImguiNew<Client::ClientInfo>();
-  }
-
-  return Network::Startup();
-}
-
-//=================================================================================================
-void Shutdown()
-//=================================================================================================
-{
-  if (!gpClientInfo) return;
-
-  Disconnect();
-  while (gpClientInfo->IsActive()) std::this_thread::yield();
-  Network::Shutdown();
-
-  netImguiDeleteSafe(gpClientInfo);
-}
-
-//=================================================================================================
-ImGuiContext* CloneContext(ImGuiContext* pSourceContext)
-//=================================================================================================
-{
-  // Create a context duplicate
-  ScopedImguiContext scopedSourceCtx(pSourceContext);
-  ImGuiContext* pContextClone = ImGui::CreateContext(ImGui::GetIO().Fonts);
-  ImGuiIO& sourceIO = ImGui::GetIO();
-  ImGuiStyle& sourceStyle = ImGui::GetStyle();
-  {
-    ScopedImguiContext scopedCloneCtx(pContextClone);
-    ImGuiIO& newIO = ImGui::GetIO();
-    ImGuiStyle& newStyle = ImGui::GetStyle();
-
-    // Import the style/options settings of current context, into this one
-    memcpy(&newStyle, &sourceStyle, sizeof(newStyle));
-    memcpy(&newIO, &sourceIO, sizeof(newIO));
-    // memcpy(newIO.KeyMap, sourceIO.KeyMap, sizeof(newIO.KeyMap));
-    newIO.InputQueueCharacters.Data = nullptr;
-    newIO.InputQueueCharacters.Size = 0;
-    newIO.InputQueueCharacters.Capacity = 0;
-  }
-  return pContextClone;
-}
-
-//=================================================================================================
-uint8_t GetTexture_BitsPerPixel(eTexFormat eFormat)
-//=================================================================================================
-{
-  switch (eFormat) {
-    case eTexFormat::kTexFmtA8:
-      return 8 * 1;
-    case eTexFormat::kTexFmtRGBA8:
-      return 8 * 4;
-    case eTexFormat::kTexFmtCustom:
-      return 0;
-    case eTexFormat::kTexFmt_Invalid:
-      return 0;
-  }
-  return 0;
-}
-
-//=================================================================================================
-uint32_t GetTexture_BytePerLine(eTexFormat eFormat, uint32_t pixelWidth)
-//=================================================================================================
-{
-  uint32_t bitsPerPixel =
-      static_cast<uint32_t>(GetTexture_BitsPerPixel(eFormat));
-  return pixelWidth * bitsPerPixel / 8;
-  // Note: If adding support to BC compression format, have to take into account
-  // 4x4 size alignment
-}
-
-//=================================================================================================
-uint32_t GetTexture_BytePerImage(eTexFormat eFormat, uint32_t pixelWidth,
-                                 uint32_t pixelHeight)
-//=================================================================================================
-{
-  return GetTexture_BytePerLine(eFormat, pixelWidth) * pixelHeight;
-  // Note: If adding support to BC compression format, have to take into account
-  // 4x4 size alignement
-}
-
-static inline void AddKeyEvent(const Client::ClientInfo& client,
-                               const CmdInput* pCmdInput,
-                               CmdInput::NetImguiKeys netimguiKey,
-                               ImGuiKey imguiKey) {
-  uint32_t valIndex = netimguiKey / 64;
-  uint64_t valMask = 0x0000000000000001ull << (netimguiKey % 64);
-#if IMGUI_VERSION_NUM < 18700
-  IM_UNUSED(client);
-  ImGui::GetIO().KeysDown[imguiKey] =
-      (pCmdInput->mInputDownMask[valIndex] & valMask) != 0;
-#else
-  bool bChanged = (pCmdInput->mInputDownMask[valIndex] ^
-                   client.mPreviousInputState.mInputDownMask[valIndex]) &
-                  valMask;
-  if (bChanged) {
-    ImGui::GetIO().AddKeyEvent(imguiKey,
-                               pCmdInput->mInputDownMask[valIndex] & valMask);
-  }
-#endif
-}
-
-static inline void AddKeyAnalogEvent(const Client::ClientInfo& client,
-                                     const CmdInput* pCmdInput,
-                                     CmdInput::NetImguiKeys netimguiKey,
-                                     ImGuiKey imguiKey) {
-  uint32_t valIndex = netimguiKey / 64;
-  uint64_t valMask = 0x0000000000000001ull << (netimguiKey % 64);
-  assert(CmdInput::kAnalog_First <= static_cast<uint32_t>(netimguiKey) &&
-         static_cast<uint32_t>(netimguiKey) <= CmdInput::kAnalog_Last);
-#if IMGUI_VERSION_NUM < 18700
-  IM_UNUSED(client);
-  IM_UNUSED(pCmdInput);
-  IM_UNUSED(netimguiKey);
-  IM_UNUSED(imguiKey);
-#else
-  int indexAnalog = netimguiKey - CmdInput::kAnalog_First;
-  indexAnalog = indexAnalog >= static_cast<int>(CmdInput::kAnalog_Count)
-                    ? CmdInput::kAnalog_Count - 1
-                    : indexAnalog;
-  float analogValue = pCmdInput->mInputAnalog[indexAnalog];
-  bool bChanged = (pCmdInput->mInputDownMask[valIndex] ^
-                   client.mPreviousInputState.mInputDownMask[valIndex]) &
-                  valMask;
-  bChanged |= abs(client.mPreviousInputState.mInputAnalog[indexAnalog] -
-                  analogValue) > 0.001f;
-  if (bChanged) {
-    ImGui::GetIO().AddKeyAnalogEvent(
-        imguiKey, pCmdInput->mInputDownMask[valIndex] & valMask, analogValue);
-  }
-#endif
-}
-
-//=================================================================================================
-bool ProcessInputData(Client::ClientInfo& client)
-//=================================================================================================
-{
-  // Update the current clipboard data received from Server
-  CmdClipboard* pCmdClipboardNew = client.mPendingClipboardIn.Release();
-  if (pCmdClipboardNew) {
-    netImguiDeleteSafe(client.mpCmdClipboard);
-    client.mpCmdClipboard = pCmdClipboardNew;
-  }
-
-  // Update the keyboard/mouse/gamepad inputs
-  CmdInput* pCmdInputNew = client.mPendingInputIn.Release();
-  bool hasNewInput = pCmdInputNew != nullptr;
-  CmdInput* pCmdInput = hasNewInput ? pCmdInputNew : client.mpCmdInputPending;
-  ImGuiIO& io = ImGui::GetIO();
-
-  if (pCmdInput) {
-    const float wheelY = pCmdInput->mMouseWheelVert -
-                         client.mPreviousInputState.mMouseWheelVertPrev;
-    const float wheelX = pCmdInput->mMouseWheelHoriz -
-                         client.mPreviousInputState.mMouseWheelHorizPrev;
-    io.DisplaySize =
-        ImVec2(pCmdInput->mScreenSize[0], pCmdInput->mScreenSize[1]);
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-    client.mFontServerScale = pCmdInput->mFontDPIScaling;
-#else
-    // User assigned a function callback handling FontScaling,
-    // use it to request a Font update on DPI scaling change on the server
-    if (gpClientInfo->mFontCreationFunction != nullptr) {
-      io.FontGlobalScale = 1.f;
-      if (abs(gpClientInfo->mFontServerScale - pCmdInput->mFontDPIScaling) >
-          0.01f) {
-        gpClientInfo->mFontCreationFunction(gpClientInfo->mFontSavedScaling,
-                                            pCmdInput->mFontDPIScaling);
-        client.mFontServerScale = pCmdInput->mFontDPIScaling;
-      }
-    }
-    // Client doesn't support regenerating the font at new DPI
-    // Use FontGlobalScale to affect rendering size, resulting in blurrier
-    // result
-    else {
-      io.FontGlobalScale = pCmdInput->mFontDPIScaling;
-    }
-#endif
-
-#if IMGUI_VERSION_NUM < 18700
-    io.MousePos = ImVec2(pCmdInput->mMousePos[0], pCmdInput->mMousePos[1]);
-    io.MouseWheel = wheelY;
-    io.MouseWheelH = wheelX;
-    for (uint32_t i(0);
-         i < CmdInput::NetImguiMouseButton::ImGuiMouseButton_COUNT; ++i) {
-      io.MouseDown[i] =
-          (pCmdInput->mMouseDownMask & (0x0000000000000001ull << i)) != 0;
-    }
-
-#define AddInputDown(KEYNAME) \
-  AddKeyEvent(client, pCmdInput, CmdInput::KEYNAME, ImGuiKey_::KEYNAME);
-    AddInputDown(ImGuiKey_Tab) AddInputDown(ImGuiKey_LeftArrow) AddInputDown(
-        ImGuiKey_RightArrow) AddInputDown(ImGuiKey_UpArrow)
-        AddInputDown(ImGuiKey_DownArrow) AddInputDown(ImGuiKey_PageUp)
-            AddInputDown(ImGuiKey_PageDown) AddInputDown(ImGuiKey_Home)
-                AddInputDown(ImGuiKey_End) AddInputDown(ImGuiKey_Insert)
-                    AddInputDown(ImGuiKey_Delete) AddInputDown(
-                        ImGuiKey_Backspace) AddInputDown(ImGuiKey_Space)
-                        AddInputDown(ImGuiKey_Enter)
-                            AddInputDown(ImGuiKey_Escape) AddInputDown(
-                                ImGuiKey_A)  // for text edit CTRL+A: select all
-        AddInputDown(ImGuiKey_C)             // for text edit CTRL+C: copy
-        AddInputDown(ImGuiKey_V)             // for text edit CTRL+V: paste
-        AddInputDown(ImGuiKey_X)             // for text edit CTRL+X: cut
-        AddInputDown(ImGuiKey_Y)             // for text edit CTRL+Y: redo
-        AddInputDown(ImGuiKey_Z)             // for text edit CTRL+Z: undo
-
-        io.KeyShift = pCmdInput->IsKeyDown(
-        CmdInput::NetImguiKeys::ImGuiKey_ReservedForModShift);
-    io.KeyCtrl = pCmdInput->IsKeyDown(
-        CmdInput::NetImguiKeys::ImGuiKey_ReservedForModCtrl);
-    io.KeyAlt = pCmdInput->IsKeyDown(
-        CmdInput::NetImguiKeys::ImGuiKey_ReservedForModAlt);
-    io.KeySuper = pCmdInput->IsKeyDown(
-        CmdInput::NetImguiKeys::ImGuiKey_ReservedForModSuper);
-#else
-#if IMGUI_VERSION_NUM < 18837
-#define ImGuiKey ImGuiKey_
-#endif
-// At the moment All Dear Imgui version share the same ImGuiKey_ enum (with a
-// 512 value offset), but could change in the future, so convert from our own
-// enum version, to Dear ImGui.
-#define AddInputDown(KEYNAME) \
-  AddKeyEvent(client, pCmdInput, CmdInput::KEYNAME, ImGuiKey::KEYNAME);
-#define AddAnalogInputDown(KEYNAME) \
-  AddKeyAnalogEvent(client, pCmdInput, CmdInput::KEYNAME, ImGuiKey::KEYNAME);
-    AddInputDown(ImGuiKey_Tab) AddInputDown(ImGuiKey_LeftArrow) AddInputDown(
-        ImGuiKey_RightArrow) AddInputDown(ImGuiKey_UpArrow) AddInputDown(ImGuiKey_DownArrow)
-        AddInputDown(ImGuiKey_PageUp) AddInputDown(ImGuiKey_PageDown) AddInputDown(
-            ImGuiKey_Home) AddInputDown(ImGuiKey_End) AddInputDown(ImGuiKey_Insert)
-            AddInputDown(ImGuiKey_Delete) AddInputDown(ImGuiKey_Backspace) AddInputDown(
-                ImGuiKey_Space) AddInputDown(ImGuiKey_Enter) AddInputDown(ImGuiKey_Escape)
-
-                AddInputDown(ImGuiKey_LeftCtrl) AddInputDown(ImGuiKey_LeftShift) AddInputDown(
-                    ImGuiKey_LeftAlt) AddInputDown(ImGuiKey_LeftSuper) AddInputDown(ImGuiKey_RightCtrl)
-                    AddInputDown(ImGuiKey_RightShift) AddInputDown(ImGuiKey_RightAlt) AddInputDown(
-                        ImGuiKey_RightSuper) AddInputDown(ImGuiKey_Menu) AddInputDown(ImGuiKey_0)
-                        AddInputDown(ImGuiKey_1) AddInputDown(ImGuiKey_2) AddInputDown(ImGuiKey_3) AddInputDown(
-                            ImGuiKey_4) AddInputDown(ImGuiKey_5) AddInputDown(ImGuiKey_6)
-                            AddInputDown(ImGuiKey_7) AddInputDown(ImGuiKey_8) AddInputDown(
-                                ImGuiKey_9) AddInputDown(ImGuiKey_A) AddInputDown(ImGuiKey_B)
-                                AddInputDown(ImGuiKey_C) AddInputDown(ImGuiKey_D) AddInputDown(
-                                    ImGuiKey_E) AddInputDown(ImGuiKey_F) AddInputDown(ImGuiKey_G)
-                                    AddInputDown(ImGuiKey_H) AddInputDown(ImGuiKey_I) AddInputDown(
-                                        ImGuiKey_J) AddInputDown(ImGuiKey_K) AddInputDown(ImGuiKey_L)
-                                        AddInputDown(ImGuiKey_M) AddInputDown(ImGuiKey_N) AddInputDown(
-                                            ImGuiKey_O) AddInputDown(ImGuiKey_P) AddInputDown(ImGuiKey_Q)
-                                            AddInputDown(ImGuiKey_R) AddInputDown(ImGuiKey_S) AddInputDown(
-                                                ImGuiKey_T) AddInputDown(ImGuiKey_U) AddInputDown(ImGuiKey_V)
-                                                AddInputDown(ImGuiKey_W) AddInputDown(ImGuiKey_X) AddInputDown(
-                                                    ImGuiKey_Y) AddInputDown(ImGuiKey_Z)
-                                                    AddInputDown(ImGuiKey_F1) AddInputDown(
-                                                        ImGuiKey_F2) AddInputDown(ImGuiKey_F3)
-                                                        AddInputDown(ImGuiKey_F4) AddInputDown(
-                                                            ImGuiKey_F5) AddInputDown(ImGuiKey_F6)
-                                                            AddInputDown(ImGuiKey_F7) AddInputDown(
-                                                                ImGuiKey_F8) AddInputDown(ImGuiKey_F9)
-                                                                AddInputDown(ImGuiKey_F10) AddInputDown(
-                                                                    ImGuiKey_F11) AddInputDown(ImGuiKey_F12)
-
-                                                                    AddInputDown(ImGuiKey_Apostrophe) AddInputDown(
-                                                                        ImGuiKey_Comma) AddInputDown(ImGuiKey_Minus)
-                                                                        AddInputDown(ImGuiKey_Period) AddInputDown(
-                                                                            ImGuiKey_Slash) AddInputDown(ImGuiKey_Semicolon)
-                                                                            AddInputDown(
-                                                                                ImGuiKey_Equal)
-                                                                                AddInputDown(
-                                                                                    ImGuiKey_LeftBracket)
-                                                                                    AddInputDown(
-                                                                                        ImGuiKey_Backslash)
-                                                                                        AddInputDown(ImGuiKey_RightBracket) AddInputDown(ImGuiKey_GraveAccent) AddInputDown(ImGuiKey_CapsLock) AddInputDown(ImGuiKey_ScrollLock) AddInputDown(ImGuiKey_NumLock) AddInputDown(ImGuiKey_PrintScreen) AddInputDown(ImGuiKey_Pause) AddInputDown(ImGuiKey_Keypad0) AddInputDown(ImGuiKey_Keypad1) AddInputDown(ImGuiKey_Keypad2) AddInputDown(ImGuiKey_Keypad3) AddInputDown(ImGuiKey_Keypad4) AddInputDown(ImGuiKey_Keypad5) AddInputDown(ImGuiKey_Keypad6) AddInputDown(ImGuiKey_Keypad7)
-                                                                                            AddInputDown(ImGuiKey_Keypad8) AddInputDown(ImGuiKey_Keypad9) AddInputDown(ImGuiKey_KeypadDecimal) AddInputDown(ImGuiKey_KeypadDivide) AddInputDown(ImGuiKey_KeypadMultiply) AddInputDown(ImGuiKey_KeypadSubtract) AddInputDown(ImGuiKey_KeypadAdd) AddInputDown(ImGuiKey_KeypadEnter)
-                                                                                                AddInputDown(
-                                                                                                    ImGuiKey_KeypadEqual)
-
-#if IMGUI_VERSION_NUM >= 19000
-                                                                                                    AddInputDown(
-                                                                                                        ImGuiKey_F13)
-                                                                                                        AddInputDown(
-                                                                                                            ImGuiKey_F14)
-                                                                                                            AddInputDown(
-                                                                                                                ImGuiKey_F15) AddInputDown(ImGuiKey_F16) AddInputDown(ImGuiKey_F17) AddInputDown(ImGuiKey_F18) AddInputDown(ImGuiKey_F19) AddInputDown(ImGuiKey_F20) AddInputDown(ImGuiKey_F21) AddInputDown(ImGuiKey_F22) AddInputDown(ImGuiKey_F23) AddInputDown(ImGuiKey_F24)
-                                                                                                                AddInputDown(
-                                                                                                                    ImGuiKey_AppBack)
-                                                                                                                    AddInputDown(
-                                                                                                                        ImGuiKey_AppForward)
-#endif
-        // Gamepad
-        AddInputDown(ImGuiKey_GamepadStart) AddInputDown(
-            ImGuiKey_GamepadBack) AddInputDown(ImGuiKey_GamepadFaceUp)
-            AddInputDown(ImGuiKey_GamepadFaceDown) AddInputDown(
-                ImGuiKey_GamepadFaceLeft) AddInputDown(ImGuiKey_GamepadFaceRight)
-                AddInputDown(ImGuiKey_GamepadDpadUp) AddInputDown(
-                    ImGuiKey_GamepadDpadDown) AddInputDown(ImGuiKey_GamepadDpadLeft)
-                    AddInputDown(ImGuiKey_GamepadDpadRight) AddInputDown(
-                        ImGuiKey_GamepadL1) AddInputDown(ImGuiKey_GamepadR1)
-                        AddInputDown(ImGuiKey_GamepadL2) AddInputDown(
-                            ImGuiKey_GamepadR2) AddInputDown(ImGuiKey_GamepadL3)
-                            AddInputDown(ImGuiKey_GamepadR3) AddAnalogInputDown(
-                                ImGuiKey_GamepadLStickUp)
-                                AddAnalogInputDown(ImGuiKey_GamepadLStickDown) AddAnalogInputDown(
-                                    ImGuiKey_GamepadLStickLeft)
-                                    AddAnalogInputDown(
-                                        ImGuiKey_GamepadLStickRight)
-                                        AddAnalogInputDown(
-                                            ImGuiKey_GamepadRStickUp)
-                                            AddAnalogInputDown(
-                                                ImGuiKey_GamepadRStickDown)
-                                                AddAnalogInputDown(
-                                                    ImGuiKey_GamepadRStickLeft)
-                                                    AddAnalogInputDown(
-                                                        ImGuiKey_GamepadRStickRight)
-
-#undef AddInputDown
-#undef AddAnalogInputDown
-#if IMGUI_VERSION_NUM < 18837
-#undef ImGuiKey
-#endif
-
-#if IMGUI_VERSION_NUM < 18837
-#define ImGuiMod_Ctrl ImGuiKey_ModCtrl
-#define ImGuiMod_Shift ImGuiKey_ModShift
-#define ImGuiMod_Alt ImGuiKey_ModAlt
-#define ImGuiMod_Super ImGuiKey_ModSuper
-#endif
-                                                        io.AddKeyEvent(
-                                                            ImGuiMod_Ctrl,
-                                                            pCmdInput->IsKeyDown(
-                                                                CmdInput::NetImguiKeys::
-                                                                    ImGuiKey_ReservedForModCtrl));
-    io.AddKeyEvent(ImGuiMod_Shift,
-                   pCmdInput->IsKeyDown(
-                       CmdInput::NetImguiKeys::ImGuiKey_ReservedForModShift));
-    io.AddKeyEvent(ImGuiMod_Alt,
-                   pCmdInput->IsKeyDown(
-                       CmdInput::NetImguiKeys::ImGuiKey_ReservedForModAlt));
-    io.AddKeyEvent(ImGuiMod_Super,
-                   pCmdInput->IsKeyDown(
-                       CmdInput::NetImguiKeys::ImGuiKey_ReservedForModSuper));
-
-    // Mouse
-    io.AddMouseWheelEvent(wheelX, wheelY);
-    io.AddMousePosEvent(pCmdInput->mMousePos[0], pCmdInput->mMousePos[1]);
-    for (int i(0); i < CmdInput::NetImguiMouseButton::ImGuiMouseButton_COUNT;
-         ++i) {
-      uint64_t valMask = 0x0000000000000001ull << i;
-      if ((pCmdInput->mMouseDownMask ^
-           client.mPreviousInputState.mMouseDownMask) &
-          valMask) {
-        io.AddMouseButtonEvent(i, pCmdInput->mMouseDownMask & valMask);
-      }
-    }
-#endif
-    uint16_t character;
-    io.InputQueueCharacters.resize(0);
-    while (client.mPendingKeyIn.ReadData(&character)) {
-      ImWchar ConvertedKey = static_cast<ImWchar>(character);
-      io.AddInputCharacter(ConvertedKey);
-    }
-
-    static_assert(sizeof(client.mPreviousInputState.mInputDownMask) ==
-                      sizeof(pCmdInput->mInputDownMask),
-                  "Array size should match");
-    static_assert(sizeof(client.mPreviousInputState.mInputAnalog) ==
-                      sizeof(pCmdInput->mInputAnalog),
-                  "Array size should match");
-    memcpy(client.mPreviousInputState.mInputDownMask, pCmdInput->mInputDownMask,
-           sizeof(client.mPreviousInputState.mInputDownMask));
-    memcpy(client.mPreviousInputState.mInputAnalog, pCmdInput->mInputAnalog,
-           sizeof(client.mPreviousInputState.mInputAnalog));
-    client.mPreviousInputState.mMouseDownMask = pCmdInput->mMouseDownMask;
-    client.mPreviousInputState.mMouseWheelVertPrev = pCmdInput->mMouseWheelVert;
-    client.mPreviousInputState.mMouseWheelHorizPrev =
-        pCmdInput->mMouseWheelHoriz;
-    client.mServerCompressionEnabled = pCmdInput->mCompressionUse;
-    client.mServerCompressionSkip |= pCmdInput->mCompressionSkip;
-  }
-
-  if (hasNewInput) {
-    netImguiDeleteSafe(client.mpCmdInputPending);
-    client.mpCmdInputPending = pCmdInputNew;
-  }
-  return hasNewInput;
-}
-
-}  // namespace NetImgui
-
-#endif  // NETIMGUI_ENABLED
-
-#include "NetImgui_WarningReenable.h"
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Client.cpp b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Client.cpp
deleted file mode 100644
index e4628558..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Client.cpp
+++ /dev/null
@@ -1,1046 +0,0 @@
-// Google modifications:
-//  - Replaced yield() with sleep_for(1ms) in handshake wait loop to reduce
-//    CPU usage, and added a 5-second timeout to prevent infinite hangs when
-//    the server is unreachable.
-//  - Added cmdTexture.mpNext = nullptr in TexturePendingServerAdd to
-//    terminate the linked list when appending a new texture command.
-//  - Added logging for network events.
-#include "NetImgui_Shared.h"
-#include "google/logging.h"
-
-#if NETIMGUI_ENABLED
-#include <stdio.h>
-#include <string.h>
-#include <sys/time.h>
-#include <time.h>
-
-#include <chrono>
-#include <thread>
-
-#include "NetImgui_Client.h"
-#include "NetImgui_CmdPackets.h"
-#include "NetImgui_Network.h"
-#include "NetImgui_WarningDisable.h"
-
-namespace NetImgui {
-namespace Internal {
-namespace Client {
-
-//=================================================================================================
-// SAVED IMGUI CONTEXT
-// Because we overwrite some Imgui context IO values, we save them before makign
-// any change and restore them after detecting a disconnection
-//=================================================================================================
-void SavedImguiContext::Save(ImGuiContext* copyFrom) {
-  ScopedImguiContext scopedContext(copyFrom);
-  ImGuiIO& sourceIO = ImGui::GetIO();
-  mSavedContext = true;
-  mConfigFlags = sourceIO.ConfigFlags;
-  mBackendFlags = sourceIO.BackendFlags;
-  mBackendPlatformName = sourceIO.BackendPlatformName;
-  mBackendRendererName = sourceIO.BackendRendererName;
-  mDrawMouse = sourceIO.MouseDrawCursor;
-#if !NETIMGUI_IMGUI_TEXTURES_ENABLED
-  mFontGeneratedSize =
-      sourceIO.Fonts->Fonts.Size > 0
-          ? sourceIO.Fonts->Fonts[0]->FontSize
-          : 13.f;  // Save size to restore the font to original size
-  mFontGlobalScale = sourceIO.FontGlobalScale;
-#endif
-
-#if IMGUI_VERSION_NUM < 18700
-  memcpy(mKeyMap, sourceIO.KeyMap, sizeof(mKeyMap));
-#endif
-#if IMGUI_VERSION_NUM < 19110
-  mGetClipboardTextFn = sourceIO.GetClipboardTextFn;
-  mSetClipboardTextFn = sourceIO.SetClipboardTextFn;
-  mClipboardUserData = sourceIO.ClipboardUserData;
-#else
-  ImGuiPlatformIO& plaformIO = ImGui::GetPlatformIO();
-  mGetClipboardTextFn = plaformIO.Platform_GetClipboardTextFn;
-  mSetClipboardTextFn = plaformIO.Platform_SetClipboardTextFn;
-  mClipboardUserData = plaformIO.Platform_ClipboardUserData;
-#endif
-}
-
-void SavedImguiContext::Restore(ImGuiContext* copyTo) {
-  ScopedImguiContext scopedContext(copyTo);
-  ImGuiIO& destIO = ImGui::GetIO();
-  mSavedContext = false;
-  destIO.ConfigFlags = mConfigFlags;
-  destIO.BackendFlags = mBackendFlags;
-  destIO.BackendPlatformName = mBackendPlatformName;
-  destIO.BackendRendererName = mBackendRendererName;
-  destIO.MouseDrawCursor = mDrawMouse;
-#if !NETIMGUI_IMGUI_TEXTURES_ENABLED
-  destIO.FontGlobalScale = mFontGlobalScale;
-#endif
-#if IMGUI_VERSION_NUM < 18700
-  memcpy(destIO.KeyMap, mKeyMap, sizeof(destIO.KeyMap));
-#endif
-#if IMGUI_VERSION_NUM < 19110
-  destIO.GetClipboardTextFn = mGetClipboardTextFn;
-  destIO.SetClipboardTextFn = mSetClipboardTextFn;
-  destIO.ClipboardUserData = mClipboardUserData;
-#else
-  ImGuiPlatformIO& plaformIO = ImGui::GetPlatformIO();
-  plaformIO.Platform_GetClipboardTextFn = mGetClipboardTextFn;
-  plaformIO.Platform_SetClipboardTextFn = mSetClipboardTextFn;
-  plaformIO.Platform_ClipboardUserData = mClipboardUserData;
-#endif
-}
-
-//=================================================================================================
-// GET CLIPBOARD
-// Content received from the Server
-//=================================================================================================
-#if IMGUI_VERSION_NUM < 19110
-static const char* GetClipboardTextFn_NetImguiImpl(void* user_data_ctx) {
-  const ClientInfo* pClient =
-      reinterpret_cast<const ClientInfo*>(user_data_ctx);
-  return pClient && pClient->mpCmdClipboard
-             ? pClient->mpCmdClipboard->mContentUTF8.Get()
-             : nullptr;
-}
-#else
-static const char* GetClipboardTextFn_NetImguiImpl(ImGuiContext* ctx) {
-  ScopedImguiContext scopedContext(ctx);
-  const ClientInfo* pClient = reinterpret_cast<const ClientInfo*>(
-      ImGui::GetPlatformIO().Platform_ClipboardUserData);
-  return pClient && pClient->mpCmdClipboard
-             ? pClient->mpCmdClipboard->mContentUTF8.Get()
-             : nullptr;
-}
-#endif
-
-//=================================================================================================
-// SET CLIPBOARD
-//=================================================================================================
-#if IMGUI_VERSION_NUM < 19110
-static void SetClipboardTextFn_NetImguiImpl(void* user_data_ctx,
-                                            const char* text) {
-  if (user_data_ctx) {
-    ClientInfo* pClient = reinterpret_cast<ClientInfo*>(user_data_ctx);
-    CmdClipboard* pClipboardOut = CmdClipboard::Create(text);
-    pClient->mPendingClipboardOut.Assign(pClipboardOut);
-  }
-}
-#else
-static void SetClipboardTextFn_NetImguiImpl(ImGuiContext* ctx,
-                                            const char* text) {
-  ScopedImguiContext scopedContext(ctx);
-  ClientInfo* pClient = reinterpret_cast<ClientInfo*>(
-      ImGui::GetPlatformIO().Platform_ClipboardUserData);
-  CmdClipboard* pClipboardOut = CmdClipboard::Create(text);
-  pClient->mPendingClipboardOut.Assign(pClipboardOut);
-}
-#endif
-
-//=================================================================================================
-// INCOM: INPUT
-// Receive new keyboard/mouse/screen resolution input to pass on to dearImgui
-//=================================================================================================
-void Communications_Incoming_Input(ClientInfo& client) {
-  auto pCmdInput = static_cast<CmdInput*>(client.mPendingRcv.pCommand);
-  client.mPendingRcv.bAutoFree = false;  // Taking ownership of the data
-  client.mDesiredFps =
-      pCmdInput->mDesiredFps > 0.f ? pCmdInput->mDesiredFps : 0.f;
-  size_t keyCount(pCmdInput->mKeyCharCount);
-  client.mPendingKeyIn.AddData(pCmdInput->mKeyChars, keyCount);
-
-  VLOG(2, "CmdInput: mDesiredFps=%.1f, screen=%dx%d, mouse=%d,%d",
-       pCmdInput->mDesiredFps, pCmdInput->mScreenSize[0],
-       pCmdInput->mScreenSize[1], pCmdInput->mMousePos[0],
-       pCmdInput->mMousePos[1]);
-
-  client.mPendingInputIn.Assign(pCmdInput);
-}
-
-//=================================================================================================
-// INCOM: CLIPBOARD
-// Receive server new clipboard content, updating internal cache
-//=================================================================================================
-void Communications_Incoming_Clipboard(ClientInfo& client) {
-  auto pCmdClipboard = static_cast<CmdClipboard*>(client.mPendingRcv.pCommand);
-  client.mPendingRcv.bAutoFree = false;  // Taking ownership of the data
-  pCmdClipboard->ToPointers();
-  client.mPendingClipboardIn.Assign(pCmdClipboard);
-}
-
-//=================================================================================================
-// OUTCOM: TEXTURE
-// Transmit the next pending texture command
-//=================================================================================================
-void Communications_Outgoing_Textures(ClientInfo& client) {
-  if (client.mPendingTextures) {
-    std::lock_guard<std::mutex> guard(client.mPendingTexturesLock);
-    if (client.mPendingTextures) {
-      // Get oldest texture command to sent to server
-      CmdTexture* pPendingTexture = client.mPendingTextures;
-      client.mPendingTextures = client.mPendingTextures->mpNext;
-      pPendingTexture->mpNext = nullptr;
-      client.mPendingSend.pCommand = pPendingTexture;
-      client.mPendingSend.bAutoFree =
-          false;  // free handled by main update thread
-    }
-  }
-}
-
-//=================================================================================================
-// OUTCOM: BACKGROUND
-// Transmit the current client background settings
-//=================================================================================================
-void Communications_Outgoing_Background(ClientInfo& client) {
-  CmdBackground* pPendingBackground = client.mPendingBackgroundOut.Release();
-  if (pPendingBackground) {
-    client.mPendingSend.pCommand = pPendingBackground;
-    client.mPendingSend.bAutoFree = false;
-  }
-}
-
-//=================================================================================================
-// OUTCOM: FRAME
-// Transmit a new dearImgui frame to render
-//=================================================================================================
-void Communications_Outgoing_Frame(ClientInfo& client) {
-  CmdDrawFrame* pPendingDraw = client.mPendingFrameOut.Release();
-  if (pPendingDraw) {
-    pPendingDraw->mFrameIndex = client.mFrameIndex++;
-    //---------------------------------------------------------------------
-    // Apply delta compression to DrawCommand, when requested
-    if (pPendingDraw->mCompressed) {
-      // Create a new Compressed DrawFrame Command
-      if (client.mpCmdDrawLast && !client.mServerCompressionSkip) {
-        client.mpCmdDrawLast->ToPointers();
-        CmdDrawFrame* pDrawCompressed =
-            CompressCmdDrawFrame(client.mpCmdDrawLast, pPendingDraw);
-        netImguiDeleteSafe(client.mpCmdDrawLast);
-        client.mpCmdDrawLast = pPendingDraw;  // Keep original new command for
-                                              // next frame delta compression
-        pPendingDraw =
-            pDrawCompressed;  // Request compressed copy to be sent to server
-      }
-      // Save DrawCmd for next frame delta compression
-      else {
-        pPendingDraw->mCompressed = false;
-        client.mpCmdDrawLast = pPendingDraw;
-      }
-    }
-    client.mServerCompressionSkip = false;
-
-    //---------------------------------------------------------------------
-    // Ready to send command to server
-    pPendingDraw->ToOffsets();
-    client.mPendingSend.pCommand = pPendingDraw;
-    client.mPendingSend.bAutoFree = client.mpCmdDrawLast != pPendingDraw;
-  }
-}
-
-//=================================================================================================
-// OUTCOM: Clipboard
-// Send client 'Copy' clipboard content to Server
-//=================================================================================================
-void Communications_Outgoing_Clipboard(ClientInfo& client) {
-  CmdClipboard* pPendingClipboard = client.mPendingClipboardOut.Release();
-  if (pPendingClipboard) {
-    pPendingClipboard->ToOffsets();
-    client.mPendingSend.pCommand = pPendingClipboard;
-    client.mPendingSend.bAutoFree = true;
-  }
-}
-
-//=================================================================================================
-// INCOMING COMMUNICATIONS
-//=================================================================================================
-void Communications_Incoming(ClientInfo& client) {
-  if (Network::DataReceivePending(client.mpSocketComs)) {
-    //-----------------------------------------------------------------------------------------
-    // 1. Ready to receive new command, starts the process by reading Header
-    //-----------------------------------------------------------------------------------------
-    if (client.mPendingRcv.IsReady()) {
-      client.mCmdPendingRead = CmdPendingRead();
-      client.mPendingRcv.pCommand = &client.mCmdPendingRead;
-      client.mPendingRcv.bAutoFree = false;
-    }
-
-    //-----------------------------------------------------------------------------------------
-    // 2. Read incoming command from server
-    //-----------------------------------------------------------------------------------------
-    if (client.mPendingRcv.IsPending()) {
-      Network::DataReceive(client.mpSocketComs, client.mPendingRcv);
-
-      // Detected a new command bigger than header, allocate memory for it
-      if (client.mPendingRcv.pCommand->mSize > sizeof(CmdPendingRead) &&
-          client.mPendingRcv.pCommand == &client.mCmdPendingRead) {
-        CmdPendingRead* pCmdHeader = reinterpret_cast<CmdPendingRead*>(
-            netImguiSizedNew<uint8_t>(client.mPendingRcv.pCommand->mSize));
-        *pCmdHeader = client.mCmdPendingRead;
-        client.mPendingRcv.pCommand = pCmdHeader;
-        client.mPendingRcv.bAutoFree = true;
-      }
-    }
-
-    //-----------------------------------------------------------------------------------------
-    // 3. Command fully received from Server, process it
-    //-----------------------------------------------------------------------------------------
-    if (client.mPendingRcv.IsDone()) {
-      if (!client.mPendingRcv.IsError()) {
-        switch (client.mPendingRcv.pCommand->mType) {
-          case CmdHeader::eCommands::Input:
-            Communications_Incoming_Input(client);
-            break;
-          case CmdHeader::eCommands::Clipboard:
-            Communications_Incoming_Clipboard(client);
-            break;
-          // Commands not received in main loop, by Client
-          case CmdHeader::eCommands::Version:
-          case CmdHeader::eCommands::Texture:
-          case CmdHeader::eCommands::DrawFrame:
-          case CmdHeader::eCommands::Background:
-          case CmdHeader::eCommands::Count:
-            break;
-        }
-      }
-
-      // Cleanup after read completion
-      if (client.mPendingRcv.IsError()) {
-        // Routine on any disconnect (server restart, browser handover), so
-        // logged as Info rather than Error.
-        VLOG(1,
-             "Communications_Incoming: receive error, triggering disconnect");
-        client.mbDisconnectPending = true;
-      }
-      if (client.mPendingRcv.bAutoFree) {
-        netImguiDeleteSafe(client.mPendingRcv.pCommand);
-      }
-      client.mPendingRcv = PendingCom();
-    }
-  }
-  // Prevent high CPU usage when waiting for new data
-  else {
-    // std::this_thread::yield();
-    std::this_thread::sleep_for(std::chrono::microseconds(250));
-  }
-}
-
-//=================================================================================================
-// OUTGOING COMMUNICATIONS
-//=================================================================================================
-void Communications_Outgoing(ClientInfo& client) {
-  //---------------------------------------------------------------------------------------------
-  // Try finishing sending a pending command to Server
-  //---------------------------------------------------------------------------------------------
-  if (client.mPendingSend.IsPending()) {
-    Network::DataSend(client.mpSocketComs, client.mPendingSend);
-
-    // Free allocated memory for command
-    if (client.mPendingSend.IsDone()) {
-      VLOG(2, "Outgoing: send DONE type=%d, size=%u, error=%s",
-           static_cast<int>(client.mPendingSend.pCommand->mType),
-           client.mPendingSend.pCommand->mSize,
-           client.mPendingSend.IsError() ? "Y" : "N");
-      client.mPendingSend.pCommand->mSent = true;
-      if (client.mPendingSend.IsError()) {
-        client.mbDisconnectPending = true;
-      }
-      if (client.mPendingSend.bAutoFree) {
-        netImguiDeleteSafe(client.mPendingSend.pCommand);
-      }
-      client.mPendingSend = PendingCom();
-    }
-  }
-  //---------------------------------------------------------------------------------------------
-  // Initiate sending next command to Server, when none are in flight
-  // Note: The cmd order is important, textures must always be sent before
-  // DrawFrame
-  // @sammyfreg todo Could add a frame number awareness to avoid sending only
-  // textures with no stop
-  //---------------------------------------------------------------------------------------------
-  constexpr CmdHeader::eCommands kCommandsOrder[] = {
-      CmdHeader::eCommands::Texture, CmdHeader::eCommands::Background,
-      CmdHeader::eCommands::Clipboard, CmdHeader::eCommands::DrawFrame};
-  constexpr uint32_t kCommandCounts = IM_ARRAYSIZE(kCommandsOrder);
-
-  uint32_t Index(0);
-  while (client.mPendingSend.IsReady() && Index < kCommandCounts) {
-    CmdHeader::eCommands NextCmd = kCommandsOrder[Index++];
-    switch (NextCmd) {
-      case CmdHeader::eCommands::Texture:
-        Communications_Outgoing_Textures(client);
-        break;
-      case CmdHeader::eCommands::Background:
-        Communications_Outgoing_Background(client);
-        break;
-      case CmdHeader::eCommands::Clipboard:
-        Communications_Outgoing_Clipboard(client);
-        break;
-      case CmdHeader::eCommands::DrawFrame:
-        Communications_Outgoing_Frame(client);
-        break;
-      // Commands not sent in main loop, by Client
-      case CmdHeader::eCommands::Input:
-      case CmdHeader::eCommands::Version:
-      case CmdHeader::eCommands::Count:
-        break;
-    }
-  }
-
-  // Log new send if one was started
-  VLOG(2, "Outgoing: ready=%s, pending=%s, frameOut=%s",
-       client.mPendingSend.IsReady() ? "Y" : "N",
-       client.mPendingSend.IsPending() ? "Y" : "N",
-       client.mPendingFrameOut.IsNull() ? "empty" : "HAS_DATA");
-  if (client.mPendingSend.IsPending()) {
-    VLOG(2, "Outgoing: started type=%d, size=%u",
-         static_cast<int>(client.mPendingSend.pCommand->mType),
-         client.mPendingSend.pCommand->mSize);
-  }
-}
-
-//=================================================================================================
-// COMMUNICATIONS INITIALIZE
-// Initialize a new connection to a RemoteImgui server
-//=================================================================================================
-bool Communications_Initialize(ClientInfo& client) {
-  CmdVersion cmdVersionSend, cmdVersionRcv;
-  PendingCom PendingRcv, PendingSend;
-
-  client.mbComInitActive = true;
-
-  //---------------------------------------------------------------------
-  // Handshake confirming connection validity
-  //---------------------------------------------------------------------
-  PendingRcv.pCommand = reinterpret_cast<CmdPendingRead*>(&cmdVersionRcv);
-  while (!PendingRcv.IsDone() &&
-         cmdVersionRcv.mType == CmdHeader::eCommands::Version) {
-    auto start_time = std::chrono::steady_clock::now();
-    while (!client.mbDisconnectPending &&
-           !Network::DataReceivePending(client.mpSocketPending)) {
-      std::this_thread::sleep_for(std::chrono::milliseconds(
-          1));  // Idle until we receive the remote data
-      if (std::chrono::steady_clock::now() - start_time >
-          std::chrono::seconds(5)) {
-        LOG(Error, "Communications_Initialize: Timeout waiting for data");
-        client.mbDisconnectPending = true;
-        break;
-      }
-    }
-    if (client.mbDisconnectPending) break;
-    Network::DataReceive(client.mpSocketPending, PendingRcv);
-  }
-
-  bool bForceConnect =
-      client.mServerForceConnectEnabled &&
-      (cmdVersionRcv.mFlags &
-       static_cast<uint8_t>(CmdVersion::eFlags::ConnectForce)) != 0;
-  bool bCanConnect = !PendingRcv.IsError() &&
-                     cmdVersionRcv.mType == cmdVersionSend.mType &&
-                     cmdVersionRcv.mVersion == cmdVersionSend.mVersion &&
-                     cmdVersionRcv.mWCharSize == cmdVersionSend.mWCharSize &&
-                     (!client.IsConnected() || bForceConnect);
-
-  StringCopy(cmdVersionSend.mClientName, client.mName);
-  cmdVersionSend.mFlags =
-      client.IsConnected() && !bCanConnect
-          ? static_cast<uint8_t>(CmdVersion::eFlags::IsConnected)
-          : 0;
-  cmdVersionSend.mFlags |=
-      client.IsConnected() && !client.mServerForceConnectEnabled
-          ? static_cast<uint8_t>(CmdVersion::eFlags::IsUnavailable)
-          : 0;
-
-  PendingSend.pCommand = reinterpret_cast<CmdPendingRead*>(&cmdVersionSend);
-  while (!PendingSend.IsDone()) {
-    Network::DataSend(client.mpSocketPending, PendingSend);
-  }
-
-  //---------------------------------------------------------------------
-  // Connection established, init client
-  //---------------------------------------------------------------------
-  if (bCanConnect && !PendingSend.IsError() &&
-      (!client.IsConnected() || bForceConnect)) {
-    Network::SocketInfo* pNewComSocket =
-        client.mpSocketPending.exchange(nullptr);
-
-    // If we detect an active connection with Server and 'ForceConnect was
-    // requested, close it first
-    if (client.IsConnected()) {
-      client.mbDisconnectPending = true;
-      while (client.IsConnected());
-    }
-
-    client.mpSocketComs = pNewComSocket;  // Take ownerhip of socket
-    client.mBGSettingSent.mTextureId =
-        client.mBGSetting.mTextureId -
-        1u;  // Force sending the Background settings (by making different than
-             // current settings)
-    client.mFrameIndex = 0;
-    client.mClientTextureIDNext = 0;
-    client.mServerForceConnectEnabled =
-        (cmdVersionRcv.mFlags &
-         static_cast<uint8_t>(CmdVersion::eFlags::ConnectExclusive)) == 0;
-    client.mPendingRcv = PendingCom();
-    client.mPendingSend = PendingCom();
-  }
-
-  // Disconnect pending socket if init failed
-  Network::SocketInfo* SocketPending = client.mpSocketPending.exchange(nullptr);
-  bool bValidConnection = SocketPending == nullptr;
-  if (SocketPending) {
-    NetImgui::Internal::Network::Disconnect(SocketPending);
-  }
-
-  client.mbComInitActive = false;
-  return bValidConnection;
-}
-
-//=================================================================================================
-// COMMUNICATIONS MAIN LOOP
-//=================================================================================================
-void Communications_Loop(void* pClientVoid) {
-  IM_ASSERT(pClientVoid != nullptr);
-  ClientInfo* pClient = reinterpret_cast<ClientInfo*>(pClientVoid);
-  pClient->mbDisconnectPending = false;
-  pClient->mbClientThreadActive = true;
-
-  VLOG(1, "Communications_Loop: entering loop");
-  while (!pClient->mbDisconnectPending) {
-    Communications_Outgoing(*pClient);
-    Communications_Incoming(*pClient);
-    VLOG(2, "Communications_Loop spin, disconnectPending=%s",
-         pClient->mbDisconnectPending ? "Y" : "N");
-  }
-  VLOG(1, "Communications_Loop: exiting loop");
-
-  Network::SocketInfo* pSocket = pClient->mpSocketComs.exchange(nullptr);
-  if (pSocket) {
-    NetImgui::Internal::Network::Disconnect(pSocket);
-  }
-
-  pClient->mbClientThreadActive = false;
-}
-
-//=================================================================================================
-// COMMUNICATIONS CONNECT THREAD : Reach out and connect to a NetImGuiServer
-//=================================================================================================
-void CommunicationsConnect(void* pClientVoid) {
-  IM_ASSERT(pClientVoid != nullptr);
-  ClientInfo* pClient = reinterpret_cast<ClientInfo*>(pClientVoid);
-  if (Communications_Initialize(*pClient)) {
-    Communications_Loop(pClientVoid);
-  }
-}
-
-//=================================================================================================
-// COMMUNICATIONS HOST THREAD : Waiting NetImGuiServer reaching out to us.
-//								Launch a new com
-//loop when connection is established
-//=================================================================================================
-void CommunicationsHost(void* pClientVoid) {
-  ClientInfo* pClient = reinterpret_cast<ClientInfo*>(pClientVoid);
-  pClient->mbListenThreadActive = true;
-  pClient->mbDisconnectListen = false;
-  pClient->mpSocketListen = pClient->mpSocketPending.exchange(nullptr);
-
-  while (pClient->mpSocketListen.load() != nullptr &&
-         !pClient->mbDisconnectListen) {
-    pClient->mpSocketPending = Network::ListenConnect(pClient->mpSocketListen);
-    if (pClient->mpSocketPending.load() != nullptr &&
-        Communications_Initialize(*pClient)) {
-      pClient->mThreadFunction(Client::Communications_Loop, pClient);
-    }
-    std::this_thread::sleep_for(std::chrono::milliseconds(
-        16));  // Prevents this thread from taking entire core, waiting on
-               // server connection requests
-  }
-
-  Network::SocketInfo* pSocket = pClient->mpSocketListen.exchange(nullptr);
-  NetImgui::Internal::Network::Disconnect(pSocket);
-  pClient->mbListenThreadActive = false;
-}
-
-//=================================================================================================
-// Support of the Dear ImGui hooks
-// (automatic call to NetImgui::BeginFrame()/EndFrame() on
-// ImGui::BeginFrame()/Imgui::Render()
-//=================================================================================================
-#if NETIMGUI_IMGUI_CALLBACK_ENABLED
-void HookBeginFrame(ImGuiContext*, ImGuiContextHook* hook) {
-  Client::ClientInfo& client =
-      *reinterpret_cast<Client::ClientInfo*>(hook->UserData);
-  if (!client.mbInsideNewEnd) {
-    ScopedBool scopedInside(client.mbInsideHook, true);
-    NetImgui::NewFrame(false);
-  }
-}
-
-void HookEndFrame(ImGuiContext*, ImGuiContextHook* hook) {
-  Client::ClientInfo& client =
-      *reinterpret_cast<Client::ClientInfo*>(hook->UserData);
-  if (!client.mbInsideNewEnd) {
-    ScopedBool scopedInside(client.mbInsideHook, true);
-    NetImgui::EndFrame();
-  }
-}
-
-#endif  // NETIMGUI_IMGUI_CALLBACK_ENABLED
-
-//=================================================================================================
-// CLIENT INFO Constructor
-//=================================================================================================
-ClientInfo::ClientInfo()
-    : mpSocketPending(nullptr),
-      mpSocketComs(nullptr),
-      mpSocketListen(nullptr),
-      mbClientThreadActive(false),
-      mbListenThreadActive(false),
-      mbComInitActive(false) {}
-
-//=================================================================================================
-// CLIENT INFO Constructor
-//=================================================================================================
-ClientInfo::~ClientInfo() {
-  ContextRemoveHooks();
-
-  // Free all tracked textures
-  for (auto cmdTexture : mTrackedTextures) {
-    netImguiDelete(cmdTexture);
-  }
-  mTrackedTextures.clear();
-
-  netImguiDeleteSafe(mpCmdInputPending);
-  netImguiDeleteSafe(mpCmdDrawLast);
-  netImguiDeleteSafe(mpCmdClipboard);
-}
-
-//=================================================================================================
-// Initialize the associated ImguiContext
-//=================================================================================================
-void ClientInfo::ContextInitialize() {
-  mpContext = ImGui::GetCurrentContext();
-#if NETIMGUI_IMGUI_CALLBACK_ENABLED
-  ImGuiContextHook hookNewframe, hookEndframe;
-  ContextRemoveHooks();
-  hookNewframe.HookId = 0;
-  hookNewframe.Type = ImGuiContextHookType_NewFramePre;
-  hookNewframe.Callback = HookBeginFrame;
-  hookNewframe.UserData = this;
-  mhImguiHookNewframe = ImGui::AddContextHook(mpContext, &hookNewframe);
-  hookEndframe.HookId = 0;
-  hookEndframe.Type = ImGuiContextHookType_RenderPost;
-  hookEndframe.Callback = HookEndFrame;
-  hookEndframe.UserData = this;
-  mhImguiHookEndframe = ImGui::AddContextHook(mpContext, &hookEndframe);
-#endif
-#if !NETIMGUI_IMGUI_TEXTURES_ENABLED
-  mbFontUploaded = false;
-#endif
-}
-
-//=================================================================================================
-// Take over a Dear ImGui context for use with NetImgui
-//=================================================================================================
-void ClientInfo::ContextOverride() {
-  ScopedImguiContext scopedSourceCtx(mpContext);
-
-  // Keep a copy of original settings of this context
-  mSavedContextValues.Save(mpContext);
-  mLastOutgoingDrawCheckTime = std::chrono::steady_clock::now();
-
-  // Override some settings
-  // Note: Make sure every setting overwritten here, are handled in
-  // 'SavedImguiContext::Save(...)'
-  {
-    ImGuiIO& newIO = ImGui::GetIO();
-    newIO.MouseDrawCursor = false;
-    newIO.BackendPlatformName = "NetImgui";
-    newIO.BackendRendererName = "DirectX11";
-#if IMGUI_VERSION_NUM < 18700
-    for (uint32_t i(0); i < ImGuiKey_COUNT; ++i) {
-      newIO.KeyMap[i] = i;
-    }
-#endif
-#if IMGUI_VERSION_NUM < 19110
-    newIO.GetClipboardTextFn = GetClipboardTextFn_NetImguiImpl;
-    newIO.SetClipboardTextFn = SetClipboardTextFn_NetImguiImpl;
-    newIO.ClipboardUserData = this;
-#else
-    ImGuiPlatformIO& platformIO = ImGui::GetPlatformIO();
-    platformIO.Platform_GetClipboardTextFn = GetClipboardTextFn_NetImguiImpl;
-    platformIO.Platform_SetClipboardTextFn = SetClipboardTextFn_NetImguiImpl;
-    platformIO.Platform_ClipboardUserData = this;
-#endif
-#if defined(IMGUI_HAS_VIEWPORT)
-    newIO.ConfigFlags &=
-        ~(ImGuiConfigFlags_ViewportsEnable);  // Viewport unsupported at the
-                                              // moment
-#endif
-
-    // Resend every tracked textures
-    for (auto textureCmd : mTrackedTextures) {
-      if (textureCmd->mStatus == CmdTexture::eType::Create) {
-        TexturePendingServerAdd(*textureCmd);
-      }
-    }
-
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-    mFontSavedScaling = ImGui::GetStyle().FontScaleDpi;
-    newIO.BackendFlags |= ImGuiBackendFlags_RendererHasTextures;
-    TextureTrackingUpdate(
-        true);  // Force resend all Dear Imgui managed textures
-#else
-    if (mFontCreationFunction != nullptr) {
-      newIO.FontGlobalScale = 1;
-      mFontServerScale = -1;
-    }
-#endif
-  }
-}
-
-//=================================================================================================
-// Restore a Dear ImGui context to initial state before we modified it
-//=================================================================================================
-void ClientInfo::ContextRestore() {
-  // Note: only happens if context overriden is same as current one, to prevent
-  // trying to restore to a deleted context
-  if (IsContextOverriden() && ImGui::GetCurrentContext() == mpContext) {
-#ifdef IMGUI_HAS_VIEWPORT
-    ImGui::UpdatePlatformWindows();  // Prevents issue with mismatched frame
-                                     // tracking, when restoring enabled
-                                     // viewport feature
-#endif
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-    // Remove all auto managed texture from our tracking,
-    // leaving only the manually managed textures.
-    // Auto-Managed will automatically get re-added on reconnect.
-    ImVector<ImTextureData*>& Textures = ImGui::GetPlatformIO().Textures;
-    ImTextureRef ClientTextureRef;
-    for (auto TexData : Textures) {
-      ImTextureStatus TexStatus =
-          TexData != nullptr ? TexData->Status : ImTextureStatus_Destroyed;
-      if (TexStatus != ImTextureStatus_Destroyed &&
-          TexStatus != ImTextureStatus_WantDestroy) {
-        ClientTextureRef._TexData = TexData;
-        TextureTrackingRem(ClientTextureRef.GetTexID());
-      }
-    }
-    ImGui::GetStyle().FontScaleDpi = mFontSavedScaling;
-#else
-    if (mFontCreationFunction && ImGui::GetIO().Fonts &&
-        ImGui::GetIO().Fonts->Fonts.size() > 0) {
-      float noScaleSize =
-          ImGui::GetIO().Fonts->Fonts[0]->FontSize / mFontServerScale;
-      float originalScale =
-          mSavedContextValues.mFontGeneratedSize / noScaleSize;
-      mFontCreationFunction(mFontSavedScaling, originalScale);
-    }
-#endif
-    mSavedContextValues.Restore(mpContext);
-  }
-}
-
-//=================================================================================================
-// Remove callback hooks, once we detect a disconnection
-//=================================================================================================
-void ClientInfo::ContextRemoveHooks() {
-#if NETIMGUI_IMGUI_CALLBACK_ENABLED
-  if (mpContext && mhImguiHookNewframe != 0) {
-    ImGui::RemoveContextHook(mpContext, mhImguiHookNewframe);
-    ImGui::RemoveContextHook(mpContext, mhImguiHookEndframe);
-    mhImguiHookNewframe = mhImguiHookNewframe = 0;
-  }
-#endif
-}
-
-//=================================================================================================
-// If backend doesn't support Dear ImGui managed texture (used by font) as
-// indicated with 'ImGuiBackendFlags_RendererHasTextures', we still want to
-// handle it with our RemoteServer so we take it upon ourselves to clear the
-// list of texture updates. Otherwise, we'd be constantly re applying the same
-// updates
-//=================================================================================================
-void ClientInfo::TextureTrackingClear() {
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-  if (IsConnected() && (mSavedContextValues.mBackendFlags &
-                        ImGuiBackendFlags_RendererHasTextures) == 0) {
-    // This is basically a stripped version of 'ImGui_ImplDX11_UpdateTexture'
-    // where we only care about the TexID and status values
-    ImVector<ImTextureData*>& Textures = ImGui::GetPlatformIO().Textures;
-    for (auto TexData : Textures) {
-      if (TexData->Status == ImTextureStatus_WantCreate) {
-        IM_ASSERT(TexData->TexID == ImTextureID_Invalid &&
-                  TexData->BackendUserData == nullptr);
-        static ImTextureID sUniqueID(1);
-        TexData->SetTexID(static_cast<ImTextureID>(sUniqueID++));
-        TexData->SetStatus(ImTextureStatus_OK);
-      } else if (TexData->Status == ImTextureStatus_WantUpdates) {
-        TexData->SetStatus(ImTextureStatus_OK);
-      } else if (TexData->Status == ImTextureStatus_WantDestroy &&
-                 TexData->UnusedFrames > 0) {
-        TexData->SetTexID(ImTextureID_Invalid);
-        TexData->SetStatus(ImTextureStatus_Destroyed);
-      }
-    }
-  }
-
-  // Remove all Dear ImGui Managed textures on disconnect,
-  // they will be resent on reconnect
-  if (!IsConnected() && mDearImguiTextureCount > 0) {
-    for (auto pCmdTexture : mTrackedTextures) {
-      if (pCmdTexture->mIsDearImGuiManaged) {
-        mbTrackedTexturesPending |=
-            TextureTrackingRem(pCmdTexture->mTextureClientID);
-      }
-    }
-  }
-#endif
-}
-
-//=================================================================================================
-// Process backend texture updates and forward it to NetImguiServer
-// Note: This is mostly used by the Font Atlas Texture added in Dear ImGui 1.92+
-//=================================================================================================
-void ClientInfo::TextureTrackingUpdate(bool bResendAll) {
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-  if (IsConnected()) {
-    ImVector<ImTextureData*>& Textures = ImGui::GetPlatformIO().Textures;
-    ImTextureRef ClientTextureRef;
-
-    //------------------------------------------------------------------------
-    // Find and send all Dear ImGui managed textures creation/update to
-    // remote NetImgui Server
-    //------------------------------------------------------------------------
-    for (auto TexData : Textures) {
-      ClientTextureRef._TexData = TexData;
-      ImTextureStatus TexStatus =
-          TexData != nullptr ? TexData->Status : ImTextureStatus_OK;
-      eTexFormat TexFormat =
-          NetImgui::Internal::ConvertTextureFormat(TexData->Format);
-      uint32_t dataSize = 0;
-      uint16_t w = static_cast<uint16_t>(TexData->Width);
-      uint16_t h = static_cast<uint16_t>(TexData->Height);
-
-      if ((TexStatus == ImTextureStatus_WantCreate) ||
-          (bResendAll && TexStatus != ImTextureStatus_Destroyed &&
-           TexStatus != ImTextureStatus_WantDestroy)) {
-        // @sammyfreg todo 	UserID and mClientTextureIDNext used for dear
-        // imgui managed's textures
-        //					could potentially collide when
-        //generating ClientTextureID. Needs something more robust.
-        TexData->UniqueID = ++mClientTextureIDNext;
-        CmdTexture* pCmdTexture = TextureCmdAllocate(
-            ConvertToClientTexID(ClientTextureRef), w, h, TexFormat, dataSize);
-        if (pCmdTexture) {
-          memcpy(pCmdTexture->mpTextureData.Get(), TexData->GetPixels(),
-                 dataSize);
-          pCmdTexture->mUpdatable = true;
-          pCmdTexture->mpTextureData.ToOffset();
-          pCmdTexture->mIsDearImGuiManaged = true;
-          TextureTrackingAdd(
-              *pCmdTexture);  // Add texture to our list and request it to be
-                              // sent over to Server
-          mbTrackedTexturesPending = true;
-        }
-      } else if (TexStatus == ImTextureStatus_WantUpdates) {
-        uint16_t dstW = static_cast<uint16_t>(TexData->UpdateRect.w);
-        uint16_t dstH = static_cast<uint16_t>(TexData->UpdateRect.h);
-        CmdTexture* pCmdTexture =
-            TextureCmdAllocate(ConvertToClientTexID(ClientTextureRef), dstW,
-                               dstH, TexFormat, dataSize);
-        if (pCmdTexture) {
-          size_t SrcLineBytes = static_cast<size_t>(TexData->GetPitch());
-          size_t DstLineBytes = static_cast<size_t>(TexData->BytesPerPixel *
-                                                    TexData->UpdateRect.w);
-          size_t OffsetBytes = static_cast<size_t>(
-              TexData->GetPitch() * TexData->UpdateRect.y +
-              TexData->BytesPerPixel * TexData->UpdateRect.x);
-          const uint8_t* pDataSrc =
-              reinterpret_cast<uint8_t*>(TexData->GetPixels());
-          uint8_t* pDataDst = pCmdTexture->mpTextureData.Get();
-          for (uint64_t y(0); y < TexData->UpdateRect.h; ++y) {
-            memcpy(&pDataDst[y * DstLineBytes],
-                   &pDataSrc[OffsetBytes + (y * SrcLineBytes)], DstLineBytes);
-          }
-          pCmdTexture->mStatus = CmdTexture::eType::Update;
-          pCmdTexture->mOffsetX = TexData->UpdateRect.x;
-          pCmdTexture->mOffsetY = TexData->UpdateRect.y;
-          pCmdTexture->mUpdatable = true;
-          pCmdTexture->mIsDearImGuiManaged = true;
-          pCmdTexture->mpTextureData.ToOffset();
-          TexturePendingServerAdd(
-              *pCmdTexture);  // Request texture to be sent over to Server
-          mbTrackedTexturesPending = true;
-        }
-      }
-    }
-
-    //------------------------------------------------------------------------
-    // Detects Textures changes that have not been tracked
-    // (caused by internal font atlas changes)
-    // This is not ideal with large texture count but should be ok for most
-    // cases. Using a unordered_map for 'mTrackedTextures' could help for
-    // high count, but adds a std dependency
-    //------------------------------------------------------------------------
-    if (mDearImguiTextureCount != Textures.Size) {
-      for (auto pCmdTexture : mTrackedTextures) {
-        if (pCmdTexture->mIsDearImGuiManaged) {
-          bool bFound(false);
-          for (int i(0); !bFound && i < Textures.Size; ++i) {
-            ClientTextureRef._TexData = Textures[i];
-            bFound = pCmdTexture->mTextureClientID ==
-                     ConvertToClientTexID(ClientTextureRef);
-          }
-          if (!bFound) {
-            mbTrackedTexturesPending |=
-                TextureTrackingRem(pCmdTexture->mTextureClientID);
-          }
-        }
-      }
-    }
-  }
-#endif
-
-  //----------------------------------------
-  if (mbTrackedTexturesPending) {
-    int TrackedCount(mTrackedTextures.Size);
-    mbTrackedTexturesPending = false;
-    for (int i(0); i < TrackedCount; ++i) {
-      mbTrackedTexturesPending |=
-          !mTrackedTextures[i]->mSent &&
-          mTrackedTextures[i]->mStatus != CmdTexture::eType::Create;
-      // As soon as we detect a command to be un-needed, release it
-      if (mTrackedTextures[i]->mSent &&
-          mTrackedTextures[i]->mStatus != CmdTexture::eType::Create) {
-        netImguiDelete(mTrackedTextures[i]);
-        mTrackedTextures[i] =
-            mTrackedTextures[--TrackedCount];  // Erase swap with last element
-        --i;  // re-process same index after its entry was swapped with last
-              // valid element
-      }
-    }
-    mTrackedTextures.resize(TrackedCount);
-  }
-}
-
-CmdTexture* ClientInfo::TextureCmdAllocate(ClientTextureID clientTexID,
-                                           uint16_t width, uint16_t height,
-                                           eTexFormat format,
-                                           uint32_t& dataSizeInOut) {
-  if (format != eTexFormat::kTexFmtCustom) {
-    dataSizeInOut = GetTexture_BytePerImage(format, width, height);
-  }
-
-  uint32_t SizeNeeded = dataSizeInOut + sizeof(CmdTexture);
-  CmdTexture* pCmdTexture = netImguiSizedNew<CmdTexture>(SizeNeeded);
-  if (pCmdTexture) {
-    pCmdTexture->mpTextureData.SetPtr(
-        reinterpret_cast<uint8_t*>(&pCmdTexture[1]));
-    pCmdTexture->mStatus = CmdTexture::eType::Create;
-    pCmdTexture->mSize = SizeNeeded;
-    pCmdTexture->mWidth = width;
-    pCmdTexture->mHeight = height;
-    pCmdTexture->mTextureClientID = clientTexID;
-    pCmdTexture->mFormat = static_cast<uint8_t>(format);
-    pCmdTexture->mUpdatable = false;
-  }
-  return pCmdTexture;
-}
-
-// Start tracking this client texture
-bool ClientInfo::TextureTrackingAdd(CmdTexture& cmdTexture) {
-  if (cmdTexture.mStatus != CmdTexture::eType::Create) {
-    return false;
-  }
-
-  TextureTrackingRem(cmdTexture.mTextureClientID);
-  mTrackedTextures.push_back(
-      &cmdTexture);  // Add the new entry needing to be tracked
-  TexturePendingServerAdd(
-      cmdTexture);  // Request texture to be sent over to Server
-  mDearImguiTextureCount += cmdTexture.mIsDearImGuiManaged ? 1 : 0;
-  return true;
-}
-
-bool ClientInfo::TextureTrackingRem(ClientTextureID clientTextureID) {
-  // If texture has been sent to server, re-purpose existing command
-  // as a 'destroy' and re-send it to server
-  for (int i(0); i < mTrackedTextures.Size; ++i) {
-    CmdTexture* pCmdTexture = mTrackedTextures[i];
-    if (pCmdTexture && pCmdTexture->mTextureClientID == clientTextureID &&
-        pCmdTexture->mStatus == CmdTexture::eType::Create) {
-      pCmdTexture->mSent = false;
-      pCmdTexture->mStatus =
-          CmdTexture::eType::Destroy;  // Re-purpose create cmd to destroy the
-                                       // texture
-      TexturePendingServerAdd(*pCmdTexture);
-
-      // Remove item from our list
-      mDearImguiTextureCount -= pCmdTexture->mIsDearImGuiManaged ? 1 : 0;
-      mTrackedTextures[i] = mTrackedTextures.back();
-      mTrackedTextures.pop_back();
-      return true;
-    }
-  }
-  return false;
-}
-
-void ClientInfo::TexturePendingServerAdd(CmdTexture& cmdTexture) {
-  std::lock_guard<std::mutex> guard(mPendingTexturesLock);
-  if (IsConnected()) {
-    // Find last added entry
-    CmdTexture** ppNextTexture = &mPendingTextures;
-    CmdTexture* pendingTexture = mPendingTextures;
-    while (pendingTexture != nullptr) {
-      // Remove all unprocessed texture commands with same id
-      // (only need the latest action for create/destroy, but can have multiple
-      // update queued)
-      if (cmdTexture.mStatus != CmdTexture::eType::Update &&
-          cmdTexture.mSent == false &&
-          cmdTexture.mTextureClientID == pendingTexture->mTextureClientID) {
-        // Mark as sent and un-needed (which gets it removed from tracking array
-        // and deleted later)
-        pendingTexture->mSent = true;
-        pendingTexture->mStatus = CmdTexture::eType::Destroy;
-        *ppNextTexture = pendingTexture->mpNext;
-      }
-      ppNextTexture = &pendingTexture->mpNext;
-      pendingTexture = pendingTexture->mpNext;
-    }
-
-    // Add as last element and ready to be sent
-    cmdTexture.mSent = false;
-    cmdTexture.mpNext = nullptr;
-    *ppNextTexture = &cmdTexture;
-  }
-}
-
-//=================================================================================================
-// Create a new Draw Command from Dear Imgui draw data.
-// 1. New ImGui frame has been completed, create a new draw command from draw
-// data (Main Thread)
-// 2. We see a pending Draw Command, take ownership of it and send it to Server
-// (Com thread)
-//=================================================================================================
-void ClientInfo::ProcessDrawData(const ImDrawData* pDearImguiData,
-                                 ImGuiMouseCursor mouseCursor) {
-  if (!mbValidDrawFrame) return;
-
-  VLOG(2, "ProcessDrawData: %s (mbValidDrawFrame=%s, mDesiredFps=%.1f)",
-       mbValidDrawFrame ? "SENDING" : "SKIPPED",
-       mbValidDrawFrame ? "true" : "false", mDesiredFps);
-
-  CmdDrawFrame* pDrawFrameNew =
-      ConvertToCmdDrawFrame(pDearImguiData, mouseCursor);
-  pDrawFrameNew->mCompressed =
-      mClientCompressionMode == eCompressionMode::kForceEnable ||
-      (mClientCompressionMode == eCompressionMode::kUseServerSetting &&
-       mServerCompressionEnabled);
-  mPendingFrameOut.Assign(pDrawFrameNew);
-}
-
-}  // namespace Client
-}  // namespace Internal
-}  // namespace NetImgui
-
-#include "NetImgui_WarningReenable.h"
-#endif  // #if NETIMGUI_ENABLED
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Client.h b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Client.h
deleted file mode 100644
index 83ad7c50..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Client.h
+++ /dev/null
@@ -1,236 +0,0 @@
-#pragma once
-
-#include <mutex>
-
-#include "NetImgui_CmdPackets.h"
-#include "NetImgui_Shared.h"
-
-//=============================================================================
-// Forward Declares
-//=============================================================================
-namespace NetImgui {
-namespace Internal {
-namespace Network {
-struct SocketInfo;
-}
-}  // namespace Internal
-}  // namespace NetImgui
-
-namespace NetImgui {
-namespace Internal {
-namespace Client {
-
-//=============================================================================
-// Keeps a list of ImGui context values NetImgui overrides (to restore)
-//=============================================================================
-struct SavedImguiContext {
-  void Save(ImGuiContext* copyFrom);
-  void Restore(ImGuiContext* copyTo);
-  const char* mBackendPlatformName = nullptr;
-  const char* mBackendRendererName = nullptr;
-  void* mImeWindowHandle = nullptr;
-  ImGuiBackendFlags mBackendFlags = 0;
-  ImGuiConfigFlags mConfigFlags = 0;
-  bool mDrawMouse = false;
-  bool mSavedContext = false;
-  char mPadding1[2] = {};
-  void* mClipboardUserData = nullptr;
-#if IMGUI_VERSION_NUM < 19110
-  const char* (*mGetClipboardTextFn)(void*) = nullptr;
-  void (*mSetClipboardTextFn)(void*, const char*) = nullptr;
-#else
-  const char* (*mGetClipboardTextFn)(ImGuiContext*) = nullptr;
-  void (*mSetClipboardTextFn)(ImGuiContext*, const char*) = nullptr;
-#endif
-#if IMGUI_VERSION_NUM < 18700
-  int mKeyMap[ImGuiKey_COUNT] = {};
-  char mPadding2[8 - (sizeof(mKeyMap) % 8)] = {};
-#endif
-#if !NETIMGUI_IMGUI_TEXTURES_ENABLED
-  float mFontGlobalScale = 1.f;
-  float mFontGeneratedSize = 0.f;
-#endif
-};
-
-//=============================================================================
-// Keep all Client infos needed for communication with server
-//=============================================================================
-struct ClientInfo {
-  using BufferKeys = Ringbuffer<uint16_t, 1024>;
-  using TimePoint = std::chrono::time_point<std::chrono::steady_clock>;
-
-  struct InputState {
-    uint64_t mInputDownMask[(CmdInput::ImGuiKey_COUNT + 63) / 64] = {};
-    float mInputAnalog[CmdInput::kAnalog_Count] = {};
-    uint64_t mMouseDownMask = 0;
-    float mMouseWheelVertPrev = 0.f;
-    float mMouseWheelHorizPrev = 0.f;
-  };
-  ClientInfo();
-  ~ClientInfo();
-  void ContextInitialize();
-  void ContextOverride();
-  void ContextRestore();
-  void ContextRemoveHooks();
-  inline bool IsContextOverriden() const;
-  inline bool IsConnected() const;
-  inline bool IsConnectPending() const;
-  inline bool IsActive() const;
-
-  bool TextureTrackingAdd(CmdTexture& cmdTexture);
-  bool TextureTrackingRem(ClientTextureID cmdTexture);
-  void TextureTrackingClear();
-  void TextureTrackingUpdate(
-      bool bResendAll = false);  // Process Backend ImGui textures
-  CmdTexture* TextureCmdAllocate(ClientTextureID clientTexID, uint16_t width,
-                                 uint16_t height, eTexFormat format,
-                                 uint32_t& dataSizeInOut);
-
-  void TexturePendingServerAdd(
-      CmdTexture& cmdTexture);  // Add CmdTexture to list of command waiting for
-                                // send off to Server
-
-  void ProcessDrawData(const ImDrawData* pDearImguiData,
-                       ImGuiMouseCursor mouseCursor);
-
-  std::atomic<Network::SocketInfo*>
-      mpSocketPending;  // Hold socket info until communication is established
-  std::atomic<Network::SocketInfo*>
-      mpSocketComs;  // Socket used for communications with server
-  std::atomic<Network::SocketInfo*>
-      mpSocketListen;  // Socket used to wait for communication request from
-                       // server
-  std::atomic_bool mbDisconnectPending;  // Terminate Client/Server coms
-  std::atomic_bool
-      mbDisconnectListen;          // Terminate waiting connection from Server
-  uint32_t mSocketListenPort = 0;  // Socket Port number used to wait for
-                                   // communication request from server
-  char mName[64] = {};
-  uint64_t mFrameIndex =
-      0;  // Incremented every time we send a DrawFrame Command
-  std::mutex mPendingTexturesLock;  // Lock to prevent thread contention on the
-                                    // list of texure cmd waiting to be sent to
-                                    // the NetImgui Server
-  CmdTexture* mPendingTextures =
-      nullptr;  // List of texture commands waiting to be send to Sever (single
-                // linked list with oldest item at the head)
-  ImVector<CmdTexture*>
-      mTrackedTextures;  // List of texture commands to create textures used by
-                         // this client (note for large texture count, should be
-                         // replace with a unordered_map for fast operations)
-  ExchangePtr<CmdDrawFrame> mPendingFrameOut;
-  ExchangePtr<CmdBackground> mPendingBackgroundOut;
-  ExchangePtr<CmdInput> mPendingInputIn;
-  ExchangePtr<CmdClipboard>
-      mPendingClipboardIn;  // Clipboard content received from Server and
-                            // waiting to be taken by client
-  ExchangePtr<CmdClipboard>
-      mPendingClipboardOut;  // Clipboard content copied on Client and waiting
-                             // to be sent to Server
-  ImGuiContext* mpContext =
-      nullptr;  // Context that the remote drawing should use (the one active
-                // when connection request happened)
-  PendingCom mPendingRcv;          // Data being currently received from Server
-  PendingCom mPendingSend;         // Data being currently sent to Server
-  CmdPendingRead mCmdPendingRead;  // Used to get info on the next incoming
-                                   // command from Server
-  CmdInput* mpCmdInputPending = nullptr;   // Last Input Command from server,
-                                           // waiting to be processed by client
-  CmdClipboard* mpCmdClipboard = nullptr;  // Last received clipboad command
-  CmdDrawFrame* mpCmdDrawLast =
-      nullptr;  // Last sent Draw Command. Used by data compression, to generate
-                // delta between previous and current frame
-  CmdBackground
-      mBGSetting;  // Current value assigned to background appearance by user
-  CmdBackground mBGSettingSent;  // Last sent value to remote server
-  BufferKeys
-      mPendingKeyIn;  // Keys pressed received. Results of 2 CmdInputs are
-                      // concatenated if received before being processed
-  TimePoint mLastOutgoingDrawCheckTime;  // When we last checked if we have a
-                                         // pending draw command to send
-  TimePoint mLastOutgoingDrawTime;  // When we last sent an updated draw command
-                                    // to the server
-  ImVec2 mSavedDisplaySize = {
-      0, 0};  // Save original display size on 'NewFrame' and restore it on
-              // 'EndFrame' (making sure size is still valid after a disconnect)
-  SavedImguiContext mSavedContextValues;  // Oiginal ImGui context values that
-                                          // will be restored on disconnect
-  std::atomic_bool mbClientThreadActive;  // True when connected and
-                                          // communicating with Server
-  std::atomic_bool mbListenThreadActive;  // True when listening from connection
-                                          // request from Server
-  std::atomic_bool
-      mbComInitActive;  // True when attempting to initialize a new connection
-  bool mbTrackedTexturesPending =
-      false;  // True if there are some pending tracked textures waiting to be
-              // removed
-  bool mbIsDrawing =
-      false;  // We are inside a 'NetImgui::NewFrame' / 'NetImgui::EndFrame'
-              // (even if not for a remote draw)
-  bool mbIsRemoteDrawing =
-      false;  // True if the rendering it meant for the remote netImgui server
-  bool mbRestorePending =
-      false;  // Original context has had some settings overridden, original
-              // values stored in mRestoreXXX
-  bool mbInsideHook = false;  // Currently inside ImGui hook callback
-  bool mbInsideNewEnd =
-      false;  // Currently inside NetImgui::NewFrame() or NetImgui::EndFrame()
-              // (prevents recusrive hook call)
-  bool mbValidDrawFrame = false;  // If we should forward the drawdata to the
-                                  // server at the end of ImGui::Render()
-  uint8_t mClientCompressionMode = eCompressionMode::kUseServerSetting;
-  bool mServerCompressionEnabled =
-      false;  // If Server would like compression to be enabled
-              // (mClientCompressionMode value can override this value)
-  bool mServerCompressionSkip =
-      false;  // Force ignore compression setting for 1 frame
-  bool mServerForceConnectEnabled =
-      true;  // If another NetImguiServer can take connection away from the one
-             // currently active
-  ThreadFunctPtr mThreadFunction =
-      nullptr;                    // Function to use when laucnhing new threads
-  float mFontSavedScaling = 0.f;  // Original Font scaling before our override
-                                  // between NewFrame / EndFrame
-  float mFontServerScale =
-      1.f;                   // Desired Font DPI Scaling by the NetImgui Server
-  float mDesiredFps = 30.f;  // How often we should update the remote drawing.
-                             // Received from server
-  InputState mPreviousInputState;  // Keeping track of last keyboard/mouse state
-  ImGuiID mhImguiHookNewframe = 0;
-  ImGuiID mhImguiHookEndframe = 0;
-  int mClientTextureIDNext =
-      0;  // Next available ID to assign to new Dear ImGui managed textures
-  int mDearImguiTextureCount =
-      0;  // Keep track of number of Dear ImGui managed texture added (to detect
-          // when DearImgui released some)
-#if !NETIMGUI_IMGUI_TEXTURES_ENABLED
-  const void* mpFontTextureData =
-      nullptr;  // Last font texture data send to server (used to detect if font
-                // was changed)
-  uint64_t mFontTextureID =
-      0;  // Used to detect textureID change [Before ImGui 1.92, old Font Atlas]
-  FontCreateFuncPtr mFontCreationFunction =
-      nullptr;  // Method to call to generate the remote ImGui font. By default,
-                // re-use the local font, but this doesn't handle native DPI
-                // scaling on remote server. //NOTE: Unused by Dear imGui 1.92+
-  bool mbFontUploaded = false;  // Auto detect if font was sent to server
-#endif
-
-  // Prevent warnings about implicitly created copy
- protected:
-  ClientInfo(const ClientInfo&) = delete;
-  ClientInfo(const ClientInfo&&) = delete;
-  void operator=(const ClientInfo&) = delete;
-};
-
-//=============================================================================
-// Main communication loop threads that are run in separate threads
-//=============================================================================
-void CommunicationsConnect(void* pClientVoid);
-void CommunicationsHost(void* pClientVoid);
-
-}  // namespace Client
-}  // namespace Internal
-}  // namespace NetImgui
-
-#include "NetImgui_Client.inl"
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Client.inl b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Client.inl
deleted file mode 100644
index e6ee7da5..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Client.inl
+++ /dev/null
@@ -1,26 +0,0 @@
-
-#include "NetImgui_Network.h"
-
-namespace NetImgui { namespace Internal { namespace Client {
-
-bool ClientInfo::IsConnected()const
-{
-	return mpSocketComs.load() != nullptr;
-}
-
-bool ClientInfo::IsConnectPending()const
-{
-	return mbComInitActive || mpSocketPending.load() != nullptr || mpSocketListen.load() != nullptr;
-}
-
-bool ClientInfo::IsActive()const
-{
-	return mbClientThreadActive || mbListenThreadActive;
-}
-
-bool ClientInfo::IsContextOverriden()const
-{
-	return mSavedContextValues.mSavedContext;
-}
-
-}}} // namespace NetImgui::Internal::Client
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets.h b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets.h
deleted file mode 100644
index 7cdbca57..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets.h
+++ /dev/null
@@ -1,426 +0,0 @@
-#pragma once
-
-#include "NetImgui_CmdPackets_DrawFrame.h"
-#include "NetImgui_Shared.h"
-
-namespace NetImgui {
-namespace Internal {
-
-// Note: If updating any of these commands data structure, increase
-// 'CmdVersion::eVersion'
-struct alignas(8) CmdHeader {
-  enum class eCommands : uint8_t {
-    Version,
-    Texture,
-    Input,
-    DrawFrame,
-    Background,
-    Clipboard,
-    Count
-  };
-  CmdHeader(eCommands CmdType, uint16_t Size) : mSize(Size), mType(CmdType) {}
-  uint32_t mSize = 0;
-  eCommands mType = eCommands::Count;
-  uint8_t mSent =
-      false;  // True when command finished being sent to client or server
-  uint8_t mPadding[2] = {};
-};
-
-// Used as step 1 of 2 of reading incoming transmission between Client/Server,
-// to get header whose size we know
-struct alignas(8) CmdPendingRead : public CmdHeader {
-  CmdPendingRead() : CmdHeader(eCommands::Count, sizeof(CmdPendingRead)) {}
-};
-
-struct alignas(8) CmdVersion : public CmdHeader {
-  enum class eVersion : uint32_t {
-    Initial = 1,
-    NewTextureFormat = 2,
-    ImguiVersionInfo =
-        3,  // Added Dear Imgui/ NetImgui version info to 'CmdVersion'
-    ServerRefactor = 4,  // Change to 'CmdInput' and 'CmdVersion' store size of
-                         // 'ImWchar' to make sure they are compatible
-    BackgroundCmd = 5,   // Added new command to control background appearance
-    ClientName =
-        6,  // Increase maximum allowed client name that a program can set
-    DataCompression = 7,   // Adding support for data compression between
-                           // client/server. Simple low cost delta compressor
-                           // (only send difference from previous frame)
-    DataCompression2 = 8,  // Improvement to data compression (save corner
-                           // position and use SoA for vertices data)
-    VertexUVRange = 9,     // Changed vertices UV value range to [0,1] for
-                           // increased precision on large font texture
-    Imgui_1_87 = 10,       // Added Dear ImGui Input refactor
-    OffetPointer =
-        11,  // Updated the handling of OffsetPoint. Moved flag bit from last
-             // bit to first bit. Addresses and data are always at least 4 bytes
-             // aligned, so should never conflict with potential address space
-    CustomTexture = 12,  // Added a 'custom' texture format to let user
-                         // potentially handle their how format
-    DPIScale = 13,       // Server now handle monitor DPI
-    Clipboard = 14,      // Added clipboard support between server/client
-    ForceReconnect =
-        15,  // Server can now take over the connection from another server
-    UpdatedComs = 16,      // Faster protocol by removing blocking coms
-    RemDisconnect = 17,    // Removed Disconnect command
-    ManagedTextures = 18,  // Adding support for Dear Imgui Managed Textures
-                           // (introduced in 1.92))
-    // Insert new version here
-
-    //--------------------------------
-    _count,
-    _current = _count - 1
-  };
-  enum class eFlags : uint8_t {
-    IsUnavailable = 0x01,  // Client telling Server it cannot be used
-    IsConnected =
-        0x02,  // Client telling Server there's already a valid connection (can
-               // potentially be taken over if !IsUnavailable)
-    ConnectForce = 0x04,      // Server telling Client it want to take over
-                              // connection if there's already one
-    ConnectExclusive = 0x08,  // Server telling Client that once connected,
-                              // others servers should be denied access
-  };
-  CmdVersion() : CmdHeader(CmdHeader::eCommands::Version, sizeof(CmdVersion)) {}
-  char mClientName[64] = {};
-  char mImguiVerName[16] = {IMGUI_VERSION};
-  char mNetImguiVerName[16] = {NETIMGUI_VERSION};
-  eVersion mVersion = eVersion::_current;
-  uint32_t mImguiVerID = IMGUI_VERSION_NUM;
-  uint32_t mNetImguiVerID = NETIMGUI_VERSION_NUM;
-  uint8_t mWCharSize = static_cast<uint8_t>(sizeof(ImWchar));
-  uint8_t mFlags = 0;
-  uint8_t PADDING[2] = {};
-};
-
-struct alignas(8) CmdInput : public CmdHeader {
-  // Identify a mouse button.
-  // Those values are guaranteed to be stable and we frequently use 0/1
-  // directly. Named enums provided for convenience.
-  enum NetImguiMouseButton {
-    ImGuiMouseButton_Left = 0,
-    ImGuiMouseButton_Right = 1,
-    ImGuiMouseButton_Middle = 2,
-    ImGuiMouseButton_Extra1 = 3,  // Additional entry
-    ImGuiMouseButton_Extra2 = 4,  // Additional entry
-    ImGuiMouseButton_COUNT = 5
-  };
-
-  // Copy of Dear ImGui key enum
-  // We keep our own internal version, to make sure Client key is the same as
-  // Server Key (since they can have different Imgui version)
-  enum NetImguiKeys {
-    // Keyboard
-    ImGuiKey_Tab,
-    ImGuiKey_LeftArrow,
-    ImGuiKey_RightArrow,
-    ImGuiKey_UpArrow,
-    ImGuiKey_DownArrow,
-    ImGuiKey_PageUp,
-    ImGuiKey_PageDown,
-    ImGuiKey_Home,
-    ImGuiKey_End,
-    ImGuiKey_Insert,
-    ImGuiKey_Delete,
-    ImGuiKey_Backspace,
-    ImGuiKey_Space,
-    ImGuiKey_Enter,
-    ImGuiKey_Escape,
-    ImGuiKey_LeftCtrl,
-    ImGuiKey_LeftShift,
-    ImGuiKey_LeftAlt,
-    ImGuiKey_LeftSuper,
-    ImGuiKey_RightCtrl,
-    ImGuiKey_RightShift,
-    ImGuiKey_RightAlt,
-    ImGuiKey_RightSuper,
-    ImGuiKey_Menu,
-    ImGuiKey_0,
-    ImGuiKey_1,
-    ImGuiKey_2,
-    ImGuiKey_3,
-    ImGuiKey_4,
-    ImGuiKey_5,
-    ImGuiKey_6,
-    ImGuiKey_7,
-    ImGuiKey_8,
-    ImGuiKey_9,
-    ImGuiKey_A,
-    ImGuiKey_B,
-    ImGuiKey_C,
-    ImGuiKey_D,
-    ImGuiKey_E,
-    ImGuiKey_F,
-    ImGuiKey_G,
-    ImGuiKey_H,
-    ImGuiKey_I,
-    ImGuiKey_J,
-    ImGuiKey_K,
-    ImGuiKey_L,
-    ImGuiKey_M,
-    ImGuiKey_N,
-    ImGuiKey_O,
-    ImGuiKey_P,
-    ImGuiKey_Q,
-    ImGuiKey_R,
-    ImGuiKey_S,
-    ImGuiKey_T,
-    ImGuiKey_U,
-    ImGuiKey_V,
-    ImGuiKey_W,
-    ImGuiKey_X,
-    ImGuiKey_Y,
-    ImGuiKey_Z,
-    ImGuiKey_F1,
-    ImGuiKey_F2,
-    ImGuiKey_F3,
-    ImGuiKey_F4,
-    ImGuiKey_F5,
-    ImGuiKey_F6,
-    ImGuiKey_F7,
-    ImGuiKey_F8,
-    ImGuiKey_F9,
-    ImGuiKey_F10,
-    ImGuiKey_F11,
-    ImGuiKey_F12,
-    ImGuiKey_F13,
-    ImGuiKey_F14,
-    ImGuiKey_F15,
-    ImGuiKey_F16,
-    ImGuiKey_F17,
-    ImGuiKey_F18,
-    ImGuiKey_F19,
-    ImGuiKey_F20,
-    ImGuiKey_F21,
-    ImGuiKey_F22,
-    ImGuiKey_F23,
-    ImGuiKey_F24,
-    ImGuiKey_Apostrophe,    // '
-    ImGuiKey_Comma,         // ,
-    ImGuiKey_Minus,         // -
-    ImGuiKey_Period,        // .
-    ImGuiKey_Slash,         // /
-    ImGuiKey_Semicolon,     // ;
-    ImGuiKey_Equal,         // =
-    ImGuiKey_LeftBracket,   // [
-    ImGuiKey_Backslash,     // \ (this text inhibit multiline comment caused by
-                            // backslash)
-    ImGuiKey_RightBracket,  // ]
-    ImGuiKey_GraveAccent,   // `
-    ImGuiKey_CapsLock,
-    ImGuiKey_ScrollLock,
-    ImGuiKey_NumLock,
-    ImGuiKey_PrintScreen,
-    ImGuiKey_Pause,
-    ImGuiKey_Keypad0,
-    ImGuiKey_Keypad1,
-    ImGuiKey_Keypad2,
-    ImGuiKey_Keypad3,
-    ImGuiKey_Keypad4,
-    ImGuiKey_Keypad5,
-    ImGuiKey_Keypad6,
-    ImGuiKey_Keypad7,
-    ImGuiKey_Keypad8,
-    ImGuiKey_Keypad9,
-    ImGuiKey_KeypadDecimal,
-    ImGuiKey_KeypadDivide,
-    ImGuiKey_KeypadMultiply,
-    ImGuiKey_KeypadSubtract,
-    ImGuiKey_KeypadAdd,
-    ImGuiKey_KeypadEnter,
-    ImGuiKey_KeypadEqual,
-    ImGuiKey_AppBack,  // Available on some keyboard/mouses. Often referred as
-                       // "Browser Back"
-    ImGuiKey_AppForward,
-    ImGuiKey_Oem102,  // Non-US backslash.
-
-    //                              // XBOX        | SWITCH  | PLAYSTA. | ->
-    //                              ACTION
-    ImGuiKey_GamepadStart,     // Menu        | +       | Options  |
-    ImGuiKey_GamepadBack,      // View        | -       | Share    |
-    ImGuiKey_GamepadFaceLeft,  // X           | Y       | Square   | Tap: Toggle
-                               // Menu. Hold: Windowing mode (Focus/Move/Resize
-                               // windows)
-    ImGuiKey_GamepadFaceRight,  // B           | A       | Circle   | Cancel /
-                                // Close / Exit
-    ImGuiKey_GamepadFaceUp,  // Y           | X       | Triangle | Text Input /
-                             // On-screen Keyboard
-    ImGuiKey_GamepadFaceDown,   // A           | B       | Cross    | Activate /
-                                // Open / Toggle / Tweak
-    ImGuiKey_GamepadDpadLeft,   // D-pad Left  | "       | "        | Move /
-                                // Tweak / Resize Window (in Windowing mode)
-    ImGuiKey_GamepadDpadRight,  // D-pad Right | "       | "        | Move /
-                                // Tweak / Resize Window (in Windowing mode)
-    ImGuiKey_GamepadDpadUp,  // D-pad Up    | "       | "        | Move / Tweak
-                             // / Resize Window (in Windowing mode)
-    ImGuiKey_GamepadDpadDown,  // D-pad Down  | "       | "        | Move /
-                               // Tweak / Resize Window (in Windowing mode)
-    ImGuiKey_GamepadL1,  // L Bumper    | L       | L1       | Tweak Slower /
-                         // Focus Previous (in Windowing mode)
-    ImGuiKey_GamepadR1,  // R Bumper    | R       | R1       | Tweak Faster /
-                         // Focus Next (in Windowing mode)
-    ImGuiKey_GamepadL2,  // L Trigger   | ZL      | L2       | [Analog]
-    ImGuiKey_GamepadR2,  // R Trigger   | ZR      | R2       | [Analog]
-    ImGuiKey_GamepadL3,  // L Stick     | L3      | L3       |
-    ImGuiKey_GamepadR3,  // R Stick     | R3      | R3       |
-    ImGuiKey_GamepadLStickLeft,   //             |         |          | [Analog]
-                                  //             Move Window (in Windowing mode)
-    ImGuiKey_GamepadLStickRight,  //             |         |          | [Analog]
-                                  //             Move Window (in Windowing mode)
-    ImGuiKey_GamepadLStickUp,     //             |         |          | [Analog]
-                                  //             Move Window (in Windowing mode)
-    ImGuiKey_GamepadLStickDown,   //             |         |          | [Analog]
-                                  //             Move Window (in Windowing mode)
-    ImGuiKey_GamepadRStickLeft,   //             |         |          | [Analog]
-    ImGuiKey_GamepadRStickRight,  //             |         |          | [Analog]
-    ImGuiKey_GamepadRStickUp,     //             |         |          | [Analog]
-    ImGuiKey_GamepadRStickDown,   //             |         |          | [Analog]
-
-    // Mouse Buttons (auto-submitted from AddMouseButtonEvent() calls)
-    // - This is mirroring the data also written to io.MouseDown[],
-    // io.MouseWheel, in a format allowing them to be accessed via standard key
-    // API.
-    ImGuiKey_MouseLeft,
-    ImGuiKey_MouseRight,
-    ImGuiKey_MouseMiddle,
-    ImGuiKey_MouseX1,
-    ImGuiKey_MouseX2,
-    ImGuiKey_MouseWheelX,
-    ImGuiKey_MouseWheelY,
-
-    // Keyboard Modifiers (explicitly submitted by backend via AddKeyEvent()
-    // calls)
-    // - This is mirroring the data also written to io.KeyCtrl, io.KeyShift,
-    // io.KeyAlt, io.KeySuper, in a format allowing
-    //   them to be accessed via standard key API, allowing calls such as
-    //   IsKeyPressed(), IsKeyReleased(), querying duration etc.
-    // - Code polling every keys (e.g. an interface to detect a key press for
-    // input mapping) might want to ignore those
-    //   and prefer using the real keys (e.g. ImGuiKey_LeftCtrl,
-    //   ImGuiKey_RightCtrl instead of ImGuiKey_ModCtrl).
-    // - In theory the value of keyboard modifiers should be roughly equivalent
-    // to a logical or of the equivalent left/right keys.
-    //   In practice: it's complicated; mods are often provided from different
-    //   sources. Keyboard layout, IME, sticky keys and backends tend to
-    //   interfere and break that equivalence. The safer decision is to relay
-    //   that ambiguity down to the end-user...
-    ImGuiKey_ReservedForModCtrl,
-    ImGuiKey_ReservedForModShift,
-    ImGuiKey_ReservedForModAlt,
-    ImGuiKey_ReservedForModSuper,
-
-    // End of list
-    ImGuiKey_COUNT,  // No valid ImGuiKey is ever greater than this value
-  };
-
-  static constexpr uint32_t kAnalog_First = ImGuiKey_GamepadLStickLeft;
-  static constexpr uint32_t kAnalog_Last = ImGuiKey_GamepadRStickDown;
-  static constexpr uint32_t kAnalog_Count = kAnalog_Last - kAnalog_First + 1;
-
-  CmdInput() : CmdHeader(CmdHeader::eCommands::Input, sizeof(CmdInput)) {}
-  uint16_t mScreenSize[2] = {};
-  int16_t mMousePos[2] = {};
-  float mMouseWheelVert = 0.f;
-  float mMouseWheelHoriz = 0.f;
-  uint16_t mKeyChars[256] = {};  // Input characters
-  uint16_t mKeyCharCount = 0;    // Number of valid input characters
-  bool mCompressionUse =
-      false;  // Server would like client to compress the communication data
-  bool mCompressionSkip =
-      false;  // Server forcing next client's frame data to be uncompressed
-  float mFontDPIScaling =
-      1.f;  // Font scaling request by Server accounting for monitor DPI
-  float mDesiredFps = 30.f;  // Requested redraw speed
-  uint64_t mMouseDownMask = 0;
-  uint64_t mInputDownMask[(ImGuiKey_COUNT + 63) / 64] = {};
-  float mInputAnalog[kAnalog_Count] = {};
-  inline bool IsKeyDown(NetImguiKeys netimguiKey) const;
-};
-
-struct alignas(8) CmdTexture : public CmdHeader {
-  enum class eType : uint8_t { Create, Update, Destroy };
-  CmdTexture() : CmdHeader(CmdHeader::eCommands::Texture, sizeof(CmdTexture)) {}
-  ClientTextureID mTextureClientID = 0;
-  eType mStatus = eType::Create;
-  uint8_t mFormat = eTexFormat::kTexFmt_Invalid;  // eTexFormat
-  uint8_t mUpdatable = false;  // Set to true on Create, for updatable textures
-  uint8_t mIsDearImGuiManaged =
-      false;  // True if this is not an user created/managed texture
-  uint16_t mWidth =
-      0;  // Either the texture width on create, or the update area width
-  uint16_t mHeight =
-      0;  // Either the texture height on create, or the update area height
-  uint16_t mOffsetX = 0;  // Used by partial update
-  uint16_t mOffsetY = 0;  // Used by partial update
-  uint8_t PADDING[4] = {};
-  alignas(8) CmdTexture* mpNext =
-      nullptr;  // Used for single linked list of pending textures (alignas
-                // needed to keep class size the same between win32/x64)
-  OffsetPointer<uint8_t> mpTextureData;
-};
-
-struct alignas(8) CmdDrawFrame : public CmdHeader {
-  CmdDrawFrame()
-      : CmdHeader(CmdHeader::eCommands::DrawFrame, sizeof(CmdDrawFrame)) {}
-  uint64_t mFrameIndex = 0;
-  uint32_t mMouseCursor = 0;  // ImGuiMouseCursor value
-  float mDisplayArea[4] = {};
-  uint32_t mIndiceByteSize = 0;
-  uint32_t mDrawGroupCount = 0;
-  uint32_t mTotalVerticeCount = 0;
-  uint32_t mTotalIndiceCount = 0;
-  uint32_t mTotalDrawCount = 0;
-  uint32_t mUncompressedSize = 0;
-  uint8_t mCompressed = false;
-  uint8_t PADDING[3] = {};
-  OffsetPointer<ImguiDrawGroup> mpDrawGroups;
-  inline void ToPointers();
-  inline void ToOffsets();
-};
-
-struct alignas(8) CmdBackground : public CmdHeader {
-  CmdBackground()
-      : CmdHeader(CmdHeader::eCommands::Background, sizeof(CmdBackground)) {}
-  static constexpr uint64_t kDefaultTexture = ~0u;
-  float mClearColor[4] = {0.2f, 0.2f, 0.2f, 1.f};  // Background color
-  float mTextureTint[4] = {1.f, 1.f, 1.f,
-                           0.5f};         // Tint/alpha applied to texture
-  uint64_t mTextureId = kDefaultTexture;  // Texture rendered in background, use
-                                          // server texture by default
-  inline bool operator==(const CmdBackground& cmp) const;
-  inline bool operator!=(const CmdBackground& cmp) const;
-};
-
-struct alignas(8) CmdClipboard : public CmdHeader {
-  CmdClipboard()
-      : CmdHeader(CmdHeader::eCommands::Clipboard, sizeof(CmdClipboard)) {}
-  size_t mByteSize = 0;
-  OffsetPointer<char> mContentUTF8;
-  inline void ToPointers();
-  inline void ToOffsets();
-  inline static CmdClipboard* Create(const char* clipboard);
-};
-
-//=============================================================================
-// Keeping track of partial incoming/outgoing transmissions
-//=============================================================================
-struct PendingCom {
-  size_t SizeCurrent = 0;  // Amount of data sent or received so far
-  bool bAutoFree = false;  // Need to free data buffer at the end of processing
-  bool bError = false;     // If an error occurs during coms
-  CmdHeader* pCommand =
-      nullptr;  // Where to store incoming data or read to send data
-  inline bool IsError() const { return bError; }
-  inline bool IsDone() const {
-    return IsError() || (pCommand && pCommand->mSize == SizeCurrent);
-  }
-  inline bool IsReady() const { return !IsError() && pCommand == nullptr; }
-  inline bool IsPending() const {
-    return !IsError() && !IsDone() && !IsReady();
-  }
-};
-
-}  // namespace Internal
-}  // namespace NetImgui
-
-#include "NetImgui_CmdPackets.inl"
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets.inl b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets.inl
deleted file mode 100644
index e03b6222..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets.inl
+++ /dev/null
@@ -1,101 +0,0 @@
-#include "NetImgui_CmdPackets.h"
-
-namespace NetImgui { namespace Internal
-{
-
-void CmdDrawFrame::ToPointers()
-{
-	if( !mpDrawGroups.IsPointer() )
-	{
-		mpDrawGroups.ToPointer();
-		for (uint32_t i(0); i < mDrawGroupCount; ++i) {
-			mpDrawGroups[i].ToPointers();
-		}
-	}
-}
-
-void CmdDrawFrame::ToOffsets()
-{
-	if( !mpDrawGroups.IsOffset() )
-	{
-		for (uint32_t i(0); i < mDrawGroupCount; ++i) {
-			mpDrawGroups[i].ToOffsets();
-		}
-		mpDrawGroups.ToOffset();
-	}
-}
-
-void ImguiDrawGroup::ToPointers()
-{
-	if( !mpIndices.IsPointer() ) //Safer to test the first element after CmdHeader
-	{
-		mpIndices.ToPointer();
-		mpVertices.ToPointer();
-		mpDraws.ToPointer();
-	}
-}
-
-void ImguiDrawGroup::ToOffsets()
-{
-	if( !mpIndices.IsOffset() ) //Safer to test the first element after CmdHeader
-	{
-		mpIndices.ToOffset();
-		mpVertices.ToOffset();
-		mpDraws.ToOffset();
-	}
-}
-
-bool CmdInput::IsKeyDown( CmdInput::NetImguiKeys netimguiKey) const
-{
-	uint32_t valIndex	= netimguiKey/64;
-	uint64_t valMask	= 0x0000000000000001ull << (netimguiKey%64);
-	return mInputDownMask[valIndex] & valMask;
-}
-
-bool CmdBackground::operator==(const CmdBackground& cmp)const
-{
-	bool sameValue(true);
-	for(size_t i(0); i<sizeof(CmdBackground)/8; i++){
-		sameValue &= reinterpret_cast<const uint64_t*>(this)[i] == reinterpret_cast<const uint64_t*>(&cmp)[i];
-	}
-	return sameValue;
-}
-
-bool CmdBackground::operator!=(const CmdBackground& cmp)const
-{
-	return (*this == cmp) == false;
-}
-
-
-void CmdClipboard::ToPointers()
-{
-	if( !mContentUTF8.IsPointer() ){
-		mContentUTF8.ToPointer();
-	}
-}
-
-void CmdClipboard::ToOffsets()
-{
-	if( !mContentUTF8.IsOffset() ){
-		mContentUTF8.ToOffset();
-	}
-}
-
-CmdClipboard* CmdClipboard::Create(const char* clipboard)
-{
-	if( clipboard )
-	{
-		size_t clipboardByteSize(0);
-		while(clipboard[clipboardByteSize++] != 0);
-		size_t totalDataCount			= sizeof(CmdClipboard) + DivUp<size_t>(clipboardByteSize, ComDataSize);
-		auto pNewClipboard				= NetImgui::Internal::netImguiSizedNew<CmdClipboard>(totalDataCount*ComDataSize);
-		pNewClipboard->mSize			= static_cast<uint32_t>(totalDataCount*ComDataSize);
-		pNewClipboard->mByteSize		= clipboardByteSize;
-		pNewClipboard->mContentUTF8.SetPtr(reinterpret_cast<char*>(&pNewClipboard[1]));
-		memcpy(pNewClipboard->mContentUTF8.Get(), clipboard, clipboardByteSize);
-		return pNewClipboard;
-	}
-	return nullptr;
-}
-
-}} // namespace NetImgui::Internal
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets_DrawFrame.cpp b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets_DrawFrame.cpp
deleted file mode 100644
index 0ce41750..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets_DrawFrame.cpp
+++ /dev/null
@@ -1,477 +0,0 @@
-#include "NetImgui_Shared.h"
-
-#if NETIMGUI_ENABLED
-#include "NetImgui_CmdPackets.h"
-#include "NetImgui_WarningDisable.h"
-
-namespace NetImgui {
-namespace Internal {
-
-template <typename TType>
-inline void SetAndIncreaseDataPointer(OffsetPointer<TType>& dataPointer,
-                                      uint32_t dataSize,
-                                      ComDataType*& pDataOutput) {
-  dataPointer.SetComDataPtr(pDataOutput);
-  const size_t dataCount = DivUp<size_t>(dataSize, ComDataSize);
-  pDataOutput[dataCount - 1] = 0;
-  pDataOutput += dataCount;
-}
-
-//=============================================================================
-// Safely convert a pointer to a int value, even if int storage size > pointer
-//=============================================================================
-template <typename TInt, typename TPointer>
-TInt PointerCast(TPointer* pointer) {
-  union CastHelperUnion {
-    TInt ValueInt;
-    TPointer* ValuePointer;
-  };
-  CastHelperUnion helperObject = {};
-  helperObject.ValuePointer = pointer;
-  return helperObject.ValueInt;
-}
-
-//=================================================================================================
-//
-//=================================================================================================
-inline void ImGui_ExtractIndices(const ImDrawList& cmdList,
-                                 ImguiDrawGroup& drawGroupOut,
-                                 ComDataType*& pDataOutput) {
-  bool is16Bit =
-      sizeof(ImDrawIdx) == 2 ||
-      cmdList.VtxBuffer.size() <=
-          0xFFFF;  // When Dear Imgui is compiled with ImDrawIdx = uint16, we
-                   // know for certain that there won't be any drawcall with
-                   // index > 65k, even if Vertex buffer is bigger than 65k.
-  drawGroupOut.mBytePerIndex = is16Bit ? 2 : 4;
-  drawGroupOut.mIndiceCount = static_cast<uint32_t>(cmdList.IdxBuffer.size());
-  uint32_t sizeNeeded = drawGroupOut.mIndiceCount * drawGroupOut.mBytePerIndex;
-  SetAndIncreaseDataPointer(drawGroupOut.mpIndices, sizeNeeded, pDataOutput);
-
-  // No conversion needed, straight copy
-  if (drawGroupOut.mBytePerIndex == sizeof(ImDrawIdx)) {
-    memcpy(drawGroupOut.mpIndices.Get(), &cmdList.IdxBuffer.front(),
-           sizeNeeded);
-  }
-  // From 32bits to 16bits
-  else if (is16Bit) {
-    for (int i(0); i < static_cast<int>(drawGroupOut.mIndiceCount); ++i)
-      reinterpret_cast<uint16_t*>(drawGroupOut.mpIndices.Get())[i] =
-          static_cast<uint16_t>(cmdList.IdxBuffer[i]);
-  }
-  // From 16bits to 32bits
-  else {
-    for (int i(0); i < static_cast<int>(drawGroupOut.mIndiceCount); ++i)
-      reinterpret_cast<uint32_t*>(drawGroupOut.mpIndices.Get())[i] =
-          static_cast<uint32_t>(cmdList.IdxBuffer[i]);
-  }
-}
-
-//=================================================================================================
-//
-//=================================================================================================
-inline void ImGui_ExtractVertices(const ImDrawList& cmdList,
-                                  ImguiDrawGroup& drawGroupOut,
-                                  ComDataType*& pDataOutput) {
-  drawGroupOut.mVerticeCount = static_cast<uint32_t>(cmdList.VtxBuffer.size());
-  drawGroupOut.mReferenceCoord[0] =
-      drawGroupOut.mVerticeCount > 0 ? cmdList.VtxBuffer[0].pos.x : 0.f;
-  drawGroupOut.mReferenceCoord[1] =
-      drawGroupOut.mVerticeCount > 0 ? cmdList.VtxBuffer[0].pos.y : 0.f;
-  SetAndIncreaseDataPointer(drawGroupOut.mpVertices,
-                            drawGroupOut.mVerticeCount * sizeof(ImguiVert),
-                            pDataOutput);
-  ImguiVert* pVertices = drawGroupOut.mpVertices.Get();
-  for (int i(0); i < static_cast<int>(drawGroupOut.mVerticeCount); ++i) {
-    const auto& Vtx = cmdList.VtxBuffer[i];
-    pVertices[i].mColor = Vtx.col;
-    pVertices[i].mUV[0] = static_cast<uint16_t>(
-        (Vtx.uv.x - static_cast<float>(ImguiVert::kUvRange_Min) +
-         0.5f / 65535.f) *
-        0xFFFF / (ImguiVert::kUvRange_Max - ImguiVert::kUvRange_Min));
-    pVertices[i].mUV[1] = static_cast<uint16_t>(
-        (Vtx.uv.y - static_cast<float>(ImguiVert::kUvRange_Min) +
-         0.5f / 65535.f) *
-        0xFFFF / (ImguiVert::kUvRange_Max - ImguiVert::kUvRange_Min));
-    pVertices[i].mPos[0] = static_cast<uint16_t>(
-        (Vtx.pos.x - drawGroupOut.mReferenceCoord[0] -
-         static_cast<float>(ImguiVert::kPosRange_Min)) *
-        0xFFFF / (ImguiVert::kPosRange_Max - ImguiVert::kPosRange_Min));
-    pVertices[i].mPos[1] = static_cast<uint16_t>(
-        (Vtx.pos.y - drawGroupOut.mReferenceCoord[1] -
-         static_cast<float>(ImguiVert::kPosRange_Min)) *
-        0xFFFF / (ImguiVert::kPosRange_Max - ImguiVert::kPosRange_Min));
-  }
-}
-
-//=================================================================================================
-//
-//=================================================================================================
-inline void ImGui_ExtractDraws(const ImDrawList& cmdList,
-                               ImguiDrawGroup& drawGroupOut,
-                               ComDataType*& pDataOutput) {
-  int maxDrawCount = static_cast<int>(cmdList.CmdBuffer.size());
-  uint32_t drawCount = 0;
-  ImguiDraw* pOutDraws = reinterpret_cast<ImguiDraw*>(pDataOutput);
-  for (int cmd_i = 0; cmd_i < maxDrawCount; ++cmd_i) {
-    const ImDrawCmd* pCmd = &cmdList.CmdBuffer[cmd_i];
-    if (pCmd->UserCallback == nullptr) {
-#if IMGUI_VERSION_NUM >= 17100
-      pOutDraws[drawCount].mVtxOffset = pCmd->VtxOffset;
-      pOutDraws[drawCount].mIdxOffset = pCmd->IdxOffset;
-#else
-      pOutDraws[drawCount].mVtxOffset = 0;
-      pOutDraws[drawCount].mIdxOffset = 0;
-#endif
-
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-      ClientTextureID texClientID = ConvertToClientTexID(pCmd->TexRef);
-#else
-      ClientTextureID texClientID = ConvertToClientTexID(pCmd->TextureId);
-#endif
-      pOutDraws[drawCount].mClientTexId = texClientID;
-      pOutDraws[drawCount].mIdxCount = pCmd->ElemCount;
-      pOutDraws[drawCount].mClipRect[0] = pCmd->ClipRect.x;
-      pOutDraws[drawCount].mClipRect[1] = pCmd->ClipRect.y;
-      pOutDraws[drawCount].mClipRect[2] = pCmd->ClipRect.z;
-      pOutDraws[drawCount].mClipRect[3] = pCmd->ClipRect.w;
-      ++drawCount;
-    }
-  }
-  drawGroupOut.mDrawCount = drawCount;
-  static_assert(sizeof(ImguiDraw) % ComDataSize == 0,
-                "Need to support zero-ing the pending bytes, when not a size "
-                "multiple of DataComType");
-  drawGroupOut.mpDraws.SetComDataPtr(pDataOutput);
-  pDataOutput += drawGroupOut.mDrawCount * sizeof(ImguiDraw) / ComDataSize;
-}
-
-//=================================================================================================
-// Delta comress data.
-// Take 2 data stream and output a stream with only the data difference from
-// each other
-//=================================================================================================
-void CompressData(const ComDataType* pDataPrev, size_t dataSizePrev,
-                  const ComDataType* pDataNew, size_t dataSizeNew,
-                  ComDataType*& pCommandMemoryInOut) {
-  static_assert(sizeof(uint32_t) * 2 <= ComDataSize,
-                "Need to adjust compression algorithm pointer calculation");
-  const size_t elemCountPrev =
-      static_cast<size_t>(DivUp(dataSizePrev, sizeof(uint64_t)));
-  const size_t elemCountNew =
-      static_cast<size_t>(DivUp(dataSizeNew, sizeof(uint64_t)));
-  const size_t elemCount =
-      elemCountPrev < elemCountNew ? elemCountPrev : elemCountNew;
-  size_t n = 0;
-
-  if (pDataPrev) {
-    while (n < elemCount) {
-      uint32_t* pBlockInfo = reinterpret_cast<uint32_t*>(
-          pCommandMemoryInOut++);  // Add a new block info to output
-
-      // Find number of elements with same value as last frame
-      size_t startN = n;
-      while (n < elemCount && pDataPrev[n] == pDataNew[n]) ++n;
-      pBlockInfo[0] = static_cast<uint32_t>(n - startN);
-
-      // Find number of elements with different value as last frame, and save
-      // new value
-      while (n < elemCount && pDataPrev[n] != pDataNew[n]) {
-        *pCommandMemoryInOut = pDataNew[n++];
-        ++pCommandMemoryInOut;
-      }
-      pBlockInfo[1] =
-          static_cast<uint32_t>(pCommandMemoryInOut -
-                                reinterpret_cast<ComDataType*>(pBlockInfo)) -
-          1;
-    }
-  }
-
-  // New frame has more element than previous frame, add the remaining entries
-  if (elemCount < elemCountNew) {
-    uint32_t* pBlockInfo = reinterpret_cast<uint32_t*>(
-        pCommandMemoryInOut++);  // Add a new block info to output
-    while (n < elemCountNew) {
-      *pCommandMemoryInOut = pDataNew[n++];
-      ++pCommandMemoryInOut;
-    }
-    pBlockInfo[0] = 0;
-    pBlockInfo[1] =
-        static_cast<uint32_t>(pCommandMemoryInOut -
-                              reinterpret_cast<uint64_t*>(pBlockInfo)) -
-        1;
-  }
-}
-
-//=================================================================================================
-// Unpack a delta data compressed stream
-//=================================================================================================
-void DecompressData(const ComDataType* pDataPrev, size_t dataSizePrev,
-                    const ComDataType* pDataPack, size_t dataUnpackSize,
-                    ComDataType*& pCommandMemoryInOut) {
-  const size_t elemCountPrev = DivUp(dataSizePrev, ComDataSize);
-  const size_t elemCountUnpack = DivUp(dataUnpackSize, ComDataSize);
-  const size_t elemCountCopy =
-      elemCountPrev < elemCountUnpack ? elemCountPrev : elemCountUnpack;
-  uint64_t* pCommandMemoryEnd = &pCommandMemoryInOut[elemCountUnpack];
-  if (pDataPrev) {
-    memcpy(pCommandMemoryInOut, pDataPrev, elemCountCopy * ComDataSize);
-  }
-  while (pCommandMemoryInOut < pCommandMemoryEnd) {
-    const uint32_t* pBlockInfo = reinterpret_cast<const uint32_t*>(
-        pDataPack++);  // Add a new block info to output
-    pCommandMemoryInOut += pBlockInfo[0];
-    memcpy(pCommandMemoryInOut, pDataPack, pBlockInfo[1] * sizeof(uint64_t));
-    pCommandMemoryInOut += pBlockInfo[1];
-    pDataPack += pBlockInfo[1];
-  }
-}
-
-//=================================================================================================
-// Take a regular NetImgui DrawFrame command and create a new compressed command
-// It uses a basic delta compression method that works really well with Imgui
-// data
-//	- Most of the drawing data do not change between 2 frames
-//  - Even if 1 window content changes, the others windows probably won't be
-//  changing at all
-//  - This means that for each window, we can only send the data that changed
-//  - This requires little cpu usage and generate good results
-//    - In 'SampleBasic' with 3 windows open (Main Window, ImGui Demo, ImGui
-//    Metric) at 30fps
-//		- Compression Off: 1650KB/sec of transfert
-//      - Compression On : 12KB/sec of transfert (130x less data)
-//=================================================================================================
-CmdDrawFrame* CompressCmdDrawFrame(const CmdDrawFrame* pDrawFramePrev,
-                                   const CmdDrawFrame* pDrawFrameNew) {
-  //-----------------------------------------------------------------------------------------
-  // Allocate memory for the new compressed command
-  //-----------------------------------------------------------------------------------------
-  // Allocate memory for worst case scenario (no compression possible)
-  // New DrawFrame size + 2 'compression block info' per data stream
-  size_t neededDataCount =
-      DivUp<size_t>(pDrawFrameNew->mSize, ComDataSize) +
-      6 * static_cast<size_t>(pDrawFrameNew->mDrawGroupCount);
-  CmdDrawFrame* pDrawFramePacked =
-      netImguiSizedNew<CmdDrawFrame>(neededDataCount * ComDataSize);
-  *pDrawFramePacked = *pDrawFrameNew;
-  pDrawFramePacked->mCompressed = true;
-
-  ComDataType* pDataOutput =
-      reinterpret_cast<ComDataType*>(&pDrawFramePacked[1]);
-  SetAndIncreaseDataPointer(
-      pDrawFramePacked->mpDrawGroups,
-      pDrawFramePacked->mDrawGroupCount * sizeof(ImguiDrawGroup), pDataOutput);
-
-  //-----------------------------------------------------------------------------------------
-  // Copy draw data (vertices, indices, drawcall info, ...)
-  //-----------------------------------------------------------------------------------------
-  const uint32_t groupCountPrev = pDrawFramePrev->mDrawGroupCount;
-  for (uint32_t n = 0; n < pDrawFramePacked->mDrawGroupCount; n++) {
-    // Look for the same drawgroup in previous frame
-    // Can usually avoid a search by checking same index in previous frame
-    // (drawgroup ordering shouldn't change often)
-    const ImguiDrawGroup& drawGroupNew = pDrawFrameNew->mpDrawGroups[n];
-    ImguiDrawGroup& drawGroup = pDrawFramePacked->mpDrawGroups[n];
-    drawGroup = drawGroupNew;
-    drawGroup.mDrawGroupIdxPrev =
-        (n < groupCountPrev &&
-         drawGroup.mGroupID == pDrawFramePrev->mpDrawGroups[n].mGroupID)
-            ? n
-            : ImguiDrawGroup::kInvalidDrawGroup;
-    for (uint32_t j(0);
-         j < groupCountPrev &&
-         drawGroup.mDrawGroupIdxPrev == ImguiDrawGroup::kInvalidDrawGroup;
-         ++j) {
-      drawGroup.mDrawGroupIdxPrev =
-          (drawGroup.mGroupID == pDrawFramePrev->mpDrawGroups[j].mGroupID)
-              ? j
-              : ImguiDrawGroup::kInvalidDrawGroup;
-    }
-
-    // Delta compress the 3 data streams
-    const uint64_t *pVerticePrev(nullptr), *pIndicePrev(nullptr),
-        *pDrawsPrev(nullptr);
-    size_t verticeSizePrev(0), indiceSizePrev(0), drawSizePrev(0);
-    if (drawGroup.mDrawGroupIdxPrev < pDrawFramePrev->mDrawGroupCount) {
-      const ImguiDrawGroup& drawGroupPrev =
-          pDrawFramePrev->mpDrawGroups[drawGroup.mDrawGroupIdxPrev];
-      pVerticePrev =
-          reinterpret_cast<const uint64_t*>(drawGroupPrev.mpVertices.Get());
-      pIndicePrev =
-          reinterpret_cast<const uint64_t*>(drawGroupPrev.mpIndices.Get());
-      pDrawsPrev =
-          reinterpret_cast<const uint64_t*>(drawGroupPrev.mpDraws.Get());
-      verticeSizePrev = drawGroupPrev.mVerticeCount * sizeof(ImguiVert);
-      indiceSizePrev = drawGroupPrev.mIndiceCount *
-                       static_cast<size_t>(drawGroupPrev.mBytePerIndex);
-      drawSizePrev = drawGroupPrev.mDrawCount * sizeof(ImguiDraw);
-    }
-
-    drawGroup.mpIndices.SetComDataPtr(pDataOutput);
-    CompressData(pIndicePrev, indiceSizePrev,
-                 drawGroupNew.mpIndices.GetComData(),
-                 drawGroupNew.mIndiceCount *
-                     static_cast<size_t>(drawGroupNew.mBytePerIndex),
-                 pDataOutput);
-
-    drawGroup.mpVertices.SetComDataPtr(pDataOutput);
-    CompressData(pVerticePrev, verticeSizePrev,
-                 drawGroupNew.mpVertices.GetComData(),
-                 drawGroupNew.mVerticeCount * sizeof(ImguiVert), pDataOutput);
-
-    drawGroup.mpDraws.SetComDataPtr(pDataOutput);
-    CompressData(pDrawsPrev, drawSizePrev, drawGroupNew.mpDraws.GetComData(),
-                 drawGroupNew.mDrawCount * sizeof(ImguiDraw), pDataOutput);
-  }
-
-  // Adjust data transfert amount to memory that has been actually needed
-  pDrawFramePacked->mSize =
-      static_cast<uint32_t>(
-          (pDataOutput - reinterpret_cast<ComDataType*>(pDrawFramePacked))) *
-      static_cast<uint32_t>(sizeof(uint64_t));
-  return pDrawFramePacked;
-}
-
-//=================================================================================================
-//
-//=================================================================================================
-CmdDrawFrame* DecompressCmdDrawFrame(const CmdDrawFrame* pDrawFramePrev,
-                                     const CmdDrawFrame* pDrawFramePacked) {
-  //-----------------------------------------------------------------------------------------
-  // Allocate memory for the new uncompressed compressed command
-  //-----------------------------------------------------------------------------------------
-  CmdDrawFrame* pDrawFrameNew =
-      netImguiSizedNew<CmdDrawFrame>(pDrawFramePacked->mUncompressedSize);
-  *pDrawFrameNew = *pDrawFramePacked;
-  pDrawFrameNew->mCompressed = false;
-  ComDataType* pDataOutput = reinterpret_cast<ComDataType*>(&pDrawFrameNew[1]);
-  SetAndIncreaseDataPointer(
-      pDrawFrameNew->mpDrawGroups,
-      pDrawFrameNew->mDrawGroupCount * sizeof(ImguiDrawGroup), pDataOutput);
-
-  for (uint32_t n = 0; n < pDrawFrameNew->mDrawGroupCount; n++) {
-    const ImguiDrawGroup& drawGroupPack = pDrawFramePacked->mpDrawGroups[n];
-    ImguiDrawGroup& drawGroup = pDrawFrameNew->mpDrawGroups[n];
-    drawGroup = drawGroupPack;
-
-    // Uncompress the 3 data streams
-    const ComDataType* pVerticePrev = nullptr;
-    const ComDataType* pIndicePrev = nullptr;
-    const ComDataType* pDrawsPrev = nullptr;
-    size_t verticeSizePrev(0), indiceSizePrev(0), drawSizePrev(0);
-    if (drawGroup.mDrawGroupIdxPrev < pDrawFramePrev->mDrawGroupCount) {
-      const ImguiDrawGroup& drawGroupPrev =
-          pDrawFramePrev->mpDrawGroups[drawGroup.mDrawGroupIdxPrev];
-      pVerticePrev =
-          reinterpret_cast<const ComDataType*>(drawGroupPrev.mpVertices.Get());
-      pIndicePrev =
-          reinterpret_cast<const ComDataType*>(drawGroupPrev.mpIndices.Get());
-      pDrawsPrev =
-          reinterpret_cast<const ComDataType*>(drawGroupPrev.mpDraws.Get());
-      verticeSizePrev = drawGroupPrev.mVerticeCount * sizeof(ImguiVert);
-      indiceSizePrev = drawGroupPrev.mIndiceCount *
-                       static_cast<size_t>(drawGroupPrev.mBytePerIndex);
-      drawSizePrev = drawGroupPrev.mDrawCount * sizeof(ImguiDraw);
-    }
-
-    drawGroup.mpIndices.SetComDataPtr(pDataOutput);
-    DecompressData(pIndicePrev, indiceSizePrev,
-                   drawGroupPack.mpIndices.GetComData(),
-                   drawGroupPack.mIndiceCount *
-                       static_cast<size_t>(drawGroupPack.mBytePerIndex),
-                   pDataOutput);
-
-    drawGroup.mpVertices.SetComDataPtr(pDataOutput);
-    DecompressData(
-        pVerticePrev, verticeSizePrev, drawGroupPack.mpVertices.GetComData(),
-        drawGroupPack.mVerticeCount * sizeof(ImguiVert), pDataOutput);
-
-    drawGroup.mpDraws.SetComDataPtr(pDataOutput);
-    DecompressData(pDrawsPrev, drawSizePrev, drawGroupPack.mpDraws.GetComData(),
-                   drawGroupPack.mDrawCount * sizeof(ImguiDraw), pDataOutput);
-  }
-  return pDrawFrameNew;
-}
-
-//=================================================================================================
-// Take a regular Dear Imgui Draw Data, and convert it to a NetImgui DrawFrame
-// Command It involves saving each window draw group vertex/indices/draw buffers
-// and packing their data a little bit, to reduce the bandwidth usage
-//=================================================================================================
-CmdDrawFrame* ConvertToCmdDrawFrame(const ImDrawData* pDearImguiData,
-                                    ImGuiMouseCursor mouseCursor) {
-  //-----------------------------------------------------------------------------------------
-  // Find memory needed for entire DrawFrame Command
-  //-----------------------------------------------------------------------------------------
-  static_assert(sizeof(CmdDrawFrame) % ComDataSize == 0,
-                "Make sure Command Data is aligned to com data type size");
-  size_t neededDataCount = DivUp(sizeof(CmdDrawFrame), ComDataSize);
-  neededDataCount += DivUp(static_cast<size_t>(pDearImguiData->CmdListsCount) *
-                               sizeof(ImguiDrawGroup),
-                           ComDataSize);
-  for (int n = 0; n < pDearImguiData->CmdListsCount; n++) {
-    const ImDrawList* pCmdList = pDearImguiData->CmdLists[n];
-    bool is16Bit = pCmdList->VtxBuffer.size() <= 0xFFFF;
-    neededDataCount += DivUp(
-        static_cast<size_t>(pCmdList->VtxBuffer.size()) * sizeof(ImguiVert),
-        ComDataSize);
-    neededDataCount += DivUp(
-        static_cast<size_t>(pCmdList->IdxBuffer.size()) * (is16Bit ? 2 : 4),
-        ComDataSize);
-    neededDataCount += DivUp(
-        static_cast<size_t>(pCmdList->CmdBuffer.size()) * sizeof(ImguiDraw),
-        ComDataSize);
-  }
-
-  //-----------------------------------------------------------------------------------------
-  // Allocate Data and initialize general frame information
-  //-----------------------------------------------------------------------------------------
-  CmdDrawFrame* pDrawFrame =
-      netImguiSizedNew<CmdDrawFrame>(neededDataCount * ComDataSize);
-  ComDataType* pDataOutput = reinterpret_cast<ComDataType*>(&pDrawFrame[1]);
-  pDrawFrame->mMouseCursor = static_cast<uint32_t>(mouseCursor);
-  pDrawFrame->mDisplayArea[0] = pDearImguiData->DisplayPos.x;
-  pDrawFrame->mDisplayArea[1] = pDearImguiData->DisplayPos.y;
-  pDrawFrame->mDisplayArea[2] =
-      pDearImguiData->DisplayPos.x + pDearImguiData->DisplaySize.x;
-  pDrawFrame->mDisplayArea[3] =
-      pDearImguiData->DisplayPos.y + pDearImguiData->DisplaySize.y;
-  pDrawFrame->mDrawGroupCount =
-      static_cast<uint32_t>(pDearImguiData->CmdListsCount);
-  SetAndIncreaseDataPointer(pDrawFrame->mpDrawGroups,
-                            static_cast<uint32_t>(pDrawFrame->mDrawGroupCount *
-                                                  sizeof(ImguiDrawGroup)),
-                            pDataOutput);
-
-  //-----------------------------------------------------------------------------------------
-  // Copy draw data (vertices, indices, drawcall info, ...)
-  //-----------------------------------------------------------------------------------------
-  for (size_t n = 0; n < pDrawFrame->mDrawGroupCount; n++) {
-    ImguiDrawGroup& drawGroup = pDrawFrame->mpDrawGroups[n];
-    const ImDrawList* pCmdList = pDearImguiData->CmdLists[static_cast<int>(n)];
-    drawGroup = ImguiDrawGroup();
-    drawGroup.mGroupID = PointerCast<uint64_t>(
-        pCmdList->_OwnerName);  // Use the name string pointer as a unique ID
-                                // (seems to remain the same between frame)
-    ImGui_ExtractIndices(*pCmdList, drawGroup, pDataOutput);
-    ImGui_ExtractVertices(*pCmdList, drawGroup, pDataOutput);
-    ImGui_ExtractDraws(*pCmdList, drawGroup, pDataOutput);
-    pDrawFrame->mTotalVerticeCount += drawGroup.mVerticeCount;
-    pDrawFrame->mTotalIndiceCount += drawGroup.mIndiceCount;
-    pDrawFrame->mTotalDrawCount += drawGroup.mDrawCount;
-  }
-
-  pDrawFrame->mSize =
-      static_cast<uint32_t>(pDataOutput -
-                            reinterpret_cast<const ComDataType*>(pDrawFrame)) *
-      ComDataSize;
-  pDrawFrame->mUncompressedSize =
-      pDrawFrame->mSize;  // No compression with this item, so same value
-  return pDrawFrame;
-}
-
-}  // namespace Internal
-}  // namespace NetImgui
-
-#include "NetImgui_WarningReenable.h"
-#endif  // #if NETIMGUI_ENABLED
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets_DrawFrame.h b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets_DrawFrame.h
deleted file mode 100644
index 15ae1bdc..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_CmdPackets_DrawFrame.h
+++ /dev/null
@@ -1,63 +0,0 @@
-#pragma once
-
-#include "NetImgui_Shared.h"
-
-namespace NetImgui {
-namespace Internal {
-
-struct ImguiVert {
-  // Note: If updating this, increase 'CmdVersion::eVersion'
-  enum Constants {
-    kUvRange_Min = 0,
-    kUvRange_Max = 1,
-    kPosRange_Min = -8192,
-    kPosRange_Max = 8192
-  };
-  uint16_t mPos[2];
-  uint16_t mUV[2];
-  uint32_t mColor;
-};
-
-struct ImguiDraw {
-  ClientTextureID
-      mClientTexId;     // TextureID used by client to identify the texture
-  uint32_t mIdxCount;   // Drawcall number of indices (3 indices per triangles)
-  uint32_t mVtxOffset;  // Drawcall start position in vertices buffer
-                        // (considered index 0)
-  uint32_t mIdxOffset;  // Drawcall start position in indices buffer
-  float mClipRect[4];
-  uint8_t PADDING[4] = {};
-};
-
-// Each DearImgui window has its own vertex/index buffers with multiple
-// drawcalls
-struct alignas(8) ImguiDrawGroup {
-  static constexpr uint32_t kInvalidDrawGroup = 0xFFFFFFFF;
-  uint64_t mGroupID = 0;  // Unique ID to recognize DrawGroup between 2 frames
-  uint32_t mVerticeCount = 0;
-  uint32_t mIndiceCount = 0;
-  uint32_t mDrawCount = 0;
-  uint32_t mDrawGroupIdxPrev =
-      kInvalidDrawGroup;      // Group index in previous DrawFrame
-                              // (kInvalidDrawGroup when not using delta
-                              // compression)
-  uint8_t mBytePerIndex = 2;  // 2, 4 bytes
-  uint8_t PADDING[7] = {};
-  float mReferenceCoord[2] = {};  // Reference position for the encoded vertices
-                                  // offsets (1st vertice top/left position)
-  OffsetPointer<uint8_t> mpIndices;
-  OffsetPointer<ImguiVert> mpVertices;
-  OffsetPointer<ImguiDraw> mpDraws;
-  inline void ToPointers();
-  inline void ToOffsets();
-};
-
-struct CmdDrawFrame* ConvertToCmdDrawFrame(const ImDrawData* pDearImguiData,
-                                           ImGuiMouseCursor cursor);
-struct CmdDrawFrame* CompressCmdDrawFrame(const CmdDrawFrame* pDrawFramePrev,
-                                          const CmdDrawFrame* pDrawFrameNew);
-struct CmdDrawFrame* DecompressCmdDrawFrame(
-    const CmdDrawFrame* pDrawFramePrev, const CmdDrawFrame* pDrawFramePacked);
-
-}  // namespace Internal
-}  // namespace NetImgui
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Network.h b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Network.h
deleted file mode 100644
index c50f9b01..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Network.h
+++ /dev/null
@@ -1,44 +0,0 @@
-// Google modifications:
-// - Added #include <cstdint> for uint32_t (not implicitly available in Google)
-#pragma once
-
-#include <cstdint>
-namespace NetImgui {
-namespace Internal {
-struct PendingCom;
-}
-}  // namespace NetImgui
-
-namespace NetImgui {
-namespace Internal {
-namespace Network {
-
-struct SocketInfo;
-
-bool Startup(void);
-void Shutdown(void);
-
-SocketInfo* Connect(
-    const char* ServerHost,
-    uint32_t ServerPort);  // Communication Socket expected to be blocking
-SocketInfo* ListenConnect(
-    SocketInfo* ListenSocket);  // Communication Socket expected to be blocking
-SocketInfo* ListenStart(
-    uint32_t ListenPort);  // Listening Socket expected to be non blocking
-void Disconnect(SocketInfo* pClientSocket);
-
-bool DataReceivePending(
-    SocketInfo* pClientSocket);  // True if some new data if waiting to be
-                                 // processed from remote connection
-void DataReceive(
-    SocketInfo* pClientSocket,
-    PendingCom& PendingComRcv);  // Try reading X amount of bytes from remote
-                                 // connection, but can fall short.
-void DataSend(
-    SocketInfo* pClientSocket,
-    PendingCom& PendingComSend);  // Try sending X amount of bytes to remote
-                                  // connection, but can fall short.
-
-}  // namespace Network
-}  // namespace Internal
-}  // namespace NetImgui
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_NetworkPosix.cpp b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_NetworkPosix.cpp
deleted file mode 100644
index e3d3b24d..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_NetworkPosix.cpp
+++ /dev/null
@@ -1,391 +0,0 @@
-// Google modifications:
-//  - Replaced select() with poll() to avoid FD_SETSIZE (1024) limit and
-//    a SIGSEGV caused by Linux select() writing to a const timeval placed
-//    in read-only memory by the compiler.
-//  - Added logging for network events.
-#include "NetImgui_Shared.h"
-#include "google/logging.h"
-
-#if defined(_MSC_VER)
-#pragma warning(disable : 4221)
-#endif
-
-#if NETIMGUI_ENABLED && NETIMGUI_POSIX_SOCKETS_ENABLED
-#include <fcntl.h>
-#include <netdb.h>
-#include <netinet/tcp.h>  // Required for TCP_NODELAY
-#include <poll.h>         // Preferred over select() (no FD_SETSIZE limit)
-#include <stdio.h>
-#include <sys/socket.h>
-#include <sys/types.h>
-
-#include <string>  // Required for std::string / std::to_string with GCC
-#include <time.h>
-#include <unistd.h>
-
-#include <cstdint>
-
-#include "NetImgui_CmdPackets.h"
-
-// NOTE: Removed static_assert(0) as requested changes are implemented below
-
-namespace NetImgui {
-namespace Internal {
-namespace Network {
-
-//=================================================================================================
-// Wrapper around native socket object and init some socket options
-//=================================================================================================
-struct SocketInfo {
-  SocketInfo(int socket) : mSocket(socket) {
-    if (mSocket != -1) {
-      // Set Non-Blocking
-      int flags = fcntl(mSocket, F_GETFL, 0);
-      fcntl(mSocket, F_SETFL, flags | O_NONBLOCK);
-
-      // Set TCP No Delay
-      int flag = 1;
-      setsockopt(mSocket, IPPROTO_TCP, TCP_NODELAY, (char*)&flag, sizeof(int));
-
-      // Optional: Set Send Buffer Size (Mirroring Win32's attempt)
-      // int kComsSendBuffer = 2 * mSendSizeMax;
-      // setsockopt(mSocket, SOL_SOCKET, SO_SNDBUF, (char*)&kComsSendBuffer,
-      // sizeof(kComsSendBuffer));
-    }
-  }
-
-  int mSocket = -1;
-  int mSendSizeMax = 1024 * 1024;  // Limit tx data to avoid socket error on
-                                   // large amount (texture) [cite: 258]
-};
-
-bool Startup() {
-  // No specific startup needed for POSIX sockets like WSAStartup in Winsock
-  return true;
-}
-
-void Shutdown() {
-  // No specific cleanup needed for POSIX sockets like WSACleanup in Winsock
-}
-
-//=================================================================================================
-// Try establishing a connection to a remote client at given address
-// (Non-Blocking)
-//=================================================================================================
-SocketInfo* Connect(const char* ServerHost, uint32_t ServerPort) {
-  int ClientSocket = -1;
-  addrinfo hints, *pResults = nullptr, *pResultCur = nullptr;
-  SocketInfo* pSocketInfo = nullptr;
-  char zPortName[32];
-  sprintf(zPortName, "%u", ServerPort);
-
-  memset(&hints, 0, sizeof hints);
-  hints.ai_family = AF_UNSPEC;  // Allow IPv4 or IPv6
-  hints.ai_socktype = SOCK_STREAM;
-
-  if (getaddrinfo(ServerHost, zPortName, &hints, &pResults) != 0) {
-    return nullptr;  // Failed to resolve host
-  }
-
-  for (pResultCur = pResults; pResultCur != nullptr && pSocketInfo == nullptr;
-       pResultCur = pResultCur->ai_next) {
-    ClientSocket = socket(pResultCur->ai_family, pResultCur->ai_socktype,
-                          pResultCur->ai_protocol);
-    if (ClientSocket == -1) {
-      continue;  // Failed to create socket for this address
-    }
-
-    // Set non-blocking *before* connect for non-blocking connect
-    int flags = fcntl(ClientSocket, F_GETFL, 0);
-    fcntl(ClientSocket, F_SETFL, flags | O_NONBLOCK);
-
-    int Result =
-        connect(ClientSocket, pResultCur->ai_addr, pResultCur->ai_addrlen);
-    bool Connected = (Result == 0);
-
-    if (Result == -1 && errno == EINPROGRESS) {
-      // Connection attempt is in progress, use poll to wait
-      struct pollfd pfd = {ClientSocket, POLLOUT, 0};
-      Result = poll(&pfd, 1, 1000);  // 1 second timeout
-
-      if (Result > 0) {
-        // Select indicated socket is writable, check for connection errors
-        int optVal;
-        socklen_t optLen = sizeof(optVal);
-        if (getsockopt(ClientSocket, SOL_SOCKET, SO_ERROR, &optVal, &optLen) ==
-                0 &&
-            optVal == 0) {
-          Connected = true;
-        } else {
-          // Connection failed
-          Connected = false;
-        }
-      } else {
-        // Select timed out or error
-        Connected = false;
-      }
-    } else if (Result == -1) {
-      // Immediate connection error
-      Connected = false;
-    }
-
-    if (Connected) {
-      pSocketInfo = netImguiNew<SocketInfo>(ClientSocket);
-      // Socket is already non-blocking from the SocketInfo constructor
-    } else if (ClientSocket != -1) {
-      close(ClientSocket);  // Close socket if connection failed
-      ClientSocket = -1;
-    }
-  }
-
-  freeaddrinfo(pResults);
-
-  if (!pSocketInfo && ClientSocket != -1) {
-    close(ClientSocket);  // Clean up socket if loop finished without success
-  }
-
-  return pSocketInfo;
-}
-
-//=================================================================================================
-// Start waiting for connection request on this socket
-//=================================================================================================
-SocketInfo* ListenStart(uint32_t ListenPort) {
-  addrinfo hints, *addrInfo;
-  int ListenSocket = -1;
-
-  memset(&hints, 0, sizeof hints);
-  hints.ai_family = AF_INET;  // Typically listen on IPv4 for simplicity, or
-                              // AF_UNSPEC for both
-  hints.ai_socktype = SOCK_STREAM;
-  hints.ai_flags = AI_PASSIVE;  // Use my IP
-
-  std::string portStr = std::to_string(ListenPort);
-  if (getaddrinfo(nullptr, portStr.c_str(), &hints, &addrInfo) != 0) {
-    return nullptr;
-  }
-
-  ListenSocket =
-      socket(addrInfo->ai_family, addrInfo->ai_socktype, addrInfo->ai_protocol);
-  if (ListenSocket != -1) {
-#if NETIMGUI_FORCE_TCP_LISTEN_BINDING
-    int flag = 1;
-    setsockopt(ListenSocket, SOL_SOCKET, SO_REUSEADDR, &flag, sizeof(flag));
-#ifdef SO_REUSEPORT  // SO_REUSEPORT might not be available on all POSIX systems
-    setsockopt(ListenSocket, SOL_SOCKET, SO_REUSEPORT, &flag, sizeof(flag));
-#endif
-#endif
-
-    if (bind(ListenSocket, addrInfo->ai_addr, addrInfo->ai_addrlen) != -1 &&
-        listen(ListenSocket, SOMAXCONN) != -1)  // Use SOMAXCONN for backlog
-    {
-      // Keep listening socket blocking for accept() simplicity,
-      // the *accepted* socket will be non-blocking via SocketInfo ctor
-      int flags = fcntl(ListenSocket, F_GETFL, 0);
-      fcntl(ListenSocket, F_SETFL, flags & (~O_NONBLOCK));  // Ensure blocking
-
-      freeaddrinfo(addrInfo);
-      // Note: We create SocketInfo wrapper here just for consistency,
-      // but it doesn't set options on the *listening* socket.
-      return netImguiNew<SocketInfo>(ListenSocket);
-    }
-    close(ListenSocket);
-  }
-
-  freeaddrinfo(addrInfo);
-  return nullptr;
-}
-
-//=================================================================================================
-// Accept a new connection (blocking call on ListenSocket)
-//=================================================================================================
-SocketInfo* ListenConnect(SocketInfo* pListenSocket) {
-  if (pListenSocket && pListenSocket->mSocket != -1) {
-    sockaddr_storage ClientAddress;
-    socklen_t Size = sizeof(ClientAddress);
-    // ListenSocket should be blocking (set in ListenStart)
-    int ServerSocket =
-        accept(pListenSocket->mSocket, (sockaddr*)&ClientAddress, &Size);
-    if (ServerSocket != -1) {
-      VLOG(1, "TCP connection accepted (fd=%d)", ServerSocket);
-      // Create SocketInfo wrapper, which sets the new socket to non-blocking
-      return netImguiNew<SocketInfo>(ServerSocket);
-    }
-  }
-  return nullptr;
-}
-
-//=================================================================================================
-// Close a connection and free allocated object
-//=================================================================================================
-void Disconnect(SocketInfo* pClientSocket) {
-  if (pClientSocket && pClientSocket->mSocket != -1) {
-    // Set SO_LINGER option to force close and discard pending data
-    // to ensure the socket is closed immediately and exits the CLOSE_WAIT state
-    // more reliably
-    struct linger sl;
-    sl.l_onoff = 1;   // Enable linger
-    sl.l_linger = 0;  // Set timeout to 0 seconds (force RST)
-    setsockopt(pClientSocket->mSocket, SOL_SOCKET, SO_LINGER, &sl, sizeof(sl));
-
-    shutdown(pClientSocket->mSocket, SHUT_RDWR);
-    close(pClientSocket->mSocket);
-    pClientSocket->mSocket = -1;  // Mark as closed
-  }
-  netImguiDelete(pClientSocket);
-}
-
-//=================================================================================================
-// Return true if data has been received, or there's a connection error
-//=================================================================================================
-bool DataReceivePending(SocketInfo* pClientSocket) {
-  if (!pClientSocket || pClientSocket->mSocket == -1) {
-    return true;  // Error condition
-  }
-
-  // Use poll() instead of select() to avoid FD_SETSIZE limitation.
-  struct pollfd pfd = {pClientSocket->mSocket, POLLIN, 0};
-  int result = poll(&pfd, 1, 0);  // 0ms timeout = non-blocking check
-
-  // poll() syscall error (e.g. EINTR) — treat as "no data" and retry next
-  // frame rather than speculatively calling recv() on unknown socket state.
-  if (result < 0) {
-    return false;
-  }
-
-  // No events on the socket.
-  if (result == 0) {
-    return false;
-  }
-
-  // result > 0: the socket has events.
-  if (pfd.revents & POLLERR) {
-    // Report as data-pending so the caller's recv() surfaces the error
-    // through its own error-handling path. Info, not Error: this is routine
-    // when the peer tears the connection down (e.g. viewer shutdown).
-    VLOG(1, "DataReceivePending: POLLERR revents=%d", pfd.revents);
-    return true;
-  }
-
-  if (pfd.revents & POLLHUP) {
-    // Peer hung up. The persistent TCP proxy keeps connections alive across
-    // browser refreshes, so a transient POLLHUP does not mean the session is
-    // over — ignore it.
-    VLOG(1, "DataReceivePending: POLLHUP revents=%d", pfd.revents);
-  }
-
-  // Only signal data-pending when the kernel has bytes ready to read.
-  return (pfd.revents & POLLIN) != 0;
-}
-
-//=================================================================================================
-// Receive as much as possible into PendingCom buffer (Non-Blocking)
-//=================================================================================================
-void DataReceive(SocketInfo* pClientSocket,
-                 NetImgui::Internal::PendingCom& PendingComRcv) {
-  // Invalid command or socket state
-  if (!pClientSocket || pClientSocket->mSocket == -1 ||
-      !PendingComRcv.pCommand) {
-    PendingComRcv.bError = true;
-    return;
-  }
-
-  size_t BytesToRead =
-      PendingComRcv.pCommand->mSize - PendingComRcv.SizeCurrent;
-  if (BytesToRead == 0) {
-    return;  // Already fully received
-  }
-
-  // Receive data from remote connection (non-blocking)
-  ssize_t resultRcv =
-      recv(pClientSocket->mSocket,
-           &reinterpret_cast<uint8_t*>(
-               PendingComRcv.pCommand)[PendingComRcv.SizeCurrent],
-           BytesToRead,
-           0);  // No flags, non-blocking behavior comes from socket setting
-
-  if (resultRcv > 0) {
-    // Successfully received some data
-    PendingComRcv.SizeCurrent += static_cast<size_t>(resultRcv);
-    PendingComRcv.bError = false;  // Reset error flag on successful read
-  } else if (resultRcv == 0) {
-    // Connection closed gracefully by peer
-    PendingComRcv.bError = true;
-    VLOG(1, "DataReceive: Connection closed gracefully");
-  } else {  // resultRcv < 0
-    // Error occurred
-    if (errno == EWOULDBLOCK || errno == EAGAIN) {
-      // Not an error, just no data available right now on non-blocking socket
-      PendingComRcv.bError = false;
-    } else {
-      // Actual socket error
-      PendingComRcv.bError = true;
-    }
-  }
-}
-
-//=================================================================================================
-// Send as much as possible from PendingCom buffer (Non-Blocking)
-//=================================================================================================
-void DataSend(SocketInfo* pClientSocket,
-              NetImgui::Internal::PendingCom& PendingComSend) {
-  // Invalid command or socket state
-  if (!pClientSocket || pClientSocket->mSocket == -1 ||
-      !PendingComSend.pCommand) {
-    PendingComSend.bError = true;
-    return;
-  }
-
-  size_t BytesRemaining =
-      PendingComSend.pCommand->mSize - PendingComSend.SizeCurrent;
-  if (BytesRemaining == 0) {
-    return;  // Already fully sent
-  }
-
-  // Limit send size per call [cite: 281]
-  size_t BytesToSend =
-      BytesRemaining > static_cast<size_t>(pClientSocket->mSendSizeMax)
-          ? static_cast<size_t>(pClientSocket->mSendSizeMax)
-          : BytesRemaining;
-
-  // Send data to remote connection (non-blocking)
-  ssize_t resultSent =
-      send(pClientSocket->mSocket,
-           &reinterpret_cast<const uint8_t*>(
-               PendingComSend.pCommand)[PendingComSend.SizeCurrent],
-           BytesToSend,
-           MSG_NOSIGNAL);  // Use MSG_NOSIGNAL to prevent SIGPIPE on Linux if
-                           // connection is broken
-
-  if (resultSent > 0) {
-    // Successfully sent some data
-    PendingComSend.SizeCurrent += static_cast<size_t>(resultSent);
-    PendingComSend.bError = false;  // Reset error flag on successful send
-  } else if (resultSent == 0) {
-    // This shouldn't typically happen with TCP unless BytesToSend was 0
-    PendingComSend.bError = false;  // Treat as non-error for now
-  } else {                          // resultSent < 0
-    // Error occurred
-    if (errno == EWOULDBLOCK || errno == EAGAIN) {
-      // Not an error, socket buffer is full, try again later
-      PendingComSend.bError = false;
-    } else {
-      // Actual socket error (e.g., EPIPE if connection broken and MSG_NOSIGNAL
-      // not used/supported)
-      PendingComSend.bError = true;
-    }
-  }
-}
-
-}  // namespace Network
-}  // namespace Internal
-}  // namespace NetImgui
-#else
-
-// Prevents Linker warning LNK4221 in Visual Studio (This object file does not
-// define any previously undefined public symbols, so it will not be used by any
-// link operation that consumes this library)
-extern int sSuppresstLNK4221_NetImgui_NetworkPosix;
-int sSuppresstLNK4221_NetImgui_NetworkPosix(0);
-
-#endif  // #if NETIMGUI_ENABLED && NETIMGUI_POSIX_SOCKETS_ENABLED
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_NetworkWin32.cpp b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_NetworkWin32.cpp
deleted file mode 100644
index 27fbdc4f..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_NetworkWin32.cpp
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "NetImgui_Shared.h"
-
-#if NETIMGUI_ENABLED && NETIMGUI_WINSOCKET_ENABLED
-#include <WS2tcpip.h>
-#include <WinSock2.h>
-
-#include "NetImgui_WarningDisableStd.h"
-
-#if defined(_MSC_VER)
-#pragma comment(lib, "ws2_32")
-#endif
-
-#include "NetImgui_CmdPackets.h"
-
-namespace NetImgui {
-namespace Internal {
-namespace Network {
-//=================================================================================================
-// Wrapper around native socket object and init some socket options
-//=================================================================================================
-struct SocketInfo {
-  SocketInfo(SOCKET socket) : mSocket(socket) {
-    u_long kNonBlocking = true;
-    ioctlsocket(mSocket, static_cast<long>(FIONBIO), &kNonBlocking);
-
-    constexpr DWORD kComsNoDelay = 1;
-    setsockopt(mSocket, SOL_SOCKET, TCP_NODELAY,
-               reinterpret_cast<const char*>(&kComsNoDelay),
-               sizeof(kComsNoDelay));
-
-    const int kComsSendBuffer = 2 * mSendSizeMax;
-    setsockopt(mSocket, SOL_SOCKET, SO_SNDBUF,
-               reinterpret_cast<const char*>(&kComsSendBuffer),
-               sizeof(kComsSendBuffer));
-
-    // constexpr int	kComsRcvBuffer = 1014*1024;
-    // setsockopt(mSocket, SOL_SOCKET, SO_RCVBUF, reinterpret_cast<const
-    // char*>(&kComsRcvBuffer), sizeof(kComsRcvBuffer));
-  }
-
-  SOCKET mSocket;
-  int mSendSizeMax =
-      1024 *
-      1024;  // Limit tx data to avoid socket error on large amount (texture)
-};
-
-bool Startup() {
-  WSADATA wsa;
-  if (WSAStartup(MAKEWORD(2, 2), &wsa) != 0) return false;
-
-  return true;
-}
-
-void Shutdown() { WSACleanup(); }
-
-//=================================================================================================
-// Try establishing a connection to a remote client at given address
-//=================================================================================================
-SocketInfo* Connect(const char* ServerHost, uint32_t ServerPort) {
-  const timeval kConnectTimeout = {
-      1, 0};  // Waiting 1 seconds before failing connection attempt
-  u_long kNonBlocking = true;
-
-  SOCKET ClientSocket = socket(AF_INET, SOCK_STREAM, 0);
-  if (ClientSocket == INVALID_SOCKET) return nullptr;
-
-  char zPortName[32] = {};
-  addrinfo* pResults = nullptr;
-  SocketInfo* pSocketInfo = nullptr;
-  NetImgui::Internal::StringFormat(zPortName, "%i", ServerPort);
-  getaddrinfo(ServerHost, zPortName, nullptr, &pResults);
-  addrinfo* pResultCur = pResults;
-  fd_set SocketSet;
-
-  ioctlsocket(ClientSocket, static_cast<long>(FIONBIO), &kNonBlocking);
-  while (pResultCur && !pSocketInfo) {
-    int Result = connect(ClientSocket, pResultCur->ai_addr,
-                         static_cast<int>(pResultCur->ai_addrlen));
-    bool Connected = Result != SOCKET_ERROR;
-
-    // Not connected yet, wait some time before bailing out
-    if (Result == SOCKET_ERROR && WSAGetLastError() == WSAEWOULDBLOCK) {
-      FD_ZERO(&SocketSet);
-      FD_SET(ClientSocket, &SocketSet);
-      Result = select(0, nullptr, &SocketSet, nullptr, &kConnectTimeout);
-      Connected =
-          Result == 1;  // when 1 socket ready for write, otherwise it's -1 or 0
-    }
-
-    if (Connected) {
-      pSocketInfo = netImguiNew<SocketInfo>(ClientSocket);
-    }
-
-    pResultCur = pResultCur->ai_next;
-  }
-  freeaddrinfo(pResults);
-  if (!pSocketInfo) {
-    closesocket(ClientSocket);
-  }
-  return pSocketInfo;
-}
-
-//=================================================================================================
-// Start waiting for connection request on this socket
-//=================================================================================================
-SocketInfo* ListenStart(uint32_t ListenPort) {
-  SOCKET ListenSocket = INVALID_SOCKET;
-  if ((ListenSocket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP)) !=
-      INVALID_SOCKET) {
-    sockaddr_in server;
-    server.sin_family = AF_INET;
-    server.sin_addr.s_addr = INADDR_ANY;
-    server.sin_port = htons(static_cast<USHORT>(ListenPort));
-
-#if NETIMGUI_FORCE_TCP_LISTEN_BINDING
-    constexpr BOOL ReUseAdrValue(true);
-    setsockopt(ListenSocket, SOL_SOCKET, SO_REUSEADDR,
-               reinterpret_cast<const char*>(&ReUseAdrValue),
-               sizeof(ReUseAdrValue));
-#endif
-    if (bind(ListenSocket, reinterpret_cast<sockaddr*>(&server),
-             sizeof(server)) != SOCKET_ERROR &&
-        listen(ListenSocket, 0) != SOCKET_ERROR) {
-      u_long kIsNonBlocking = false;
-      ioctlsocket(ListenSocket, static_cast<long>(FIONBIO), &kIsNonBlocking);
-      return netImguiNew<SocketInfo>(ListenSocket);
-    }
-    closesocket(ListenSocket);
-  }
-  return nullptr;
-}
-
-//=================================================================================================
-// Establish a new connection to a remote request
-//=================================================================================================
-SocketInfo* ListenConnect(SocketInfo* ListenSocket) {
-  if (ListenSocket) {
-    sockaddr ClientAddress;
-    int Size(sizeof(ClientAddress));
-    SOCKET ClientSocket = accept(ListenSocket->mSocket, &ClientAddress, &Size);
-    if (ClientSocket != INVALID_SOCKET) {
-      return netImguiNew<SocketInfo>(ClientSocket);
-    }
-  }
-  return nullptr;
-}
-
-//=================================================================================================
-// Close a connection and free allocated object
-//=================================================================================================
-void Disconnect(SocketInfo* pClientSocket) {
-  if (pClientSocket) {
-    shutdown(pClientSocket->mSocket, SD_BOTH);
-    closesocket(pClientSocket->mSocket);
-    netImguiDelete(pClientSocket);
-  }
-}
-
-//=================================================================================================
-// Return true if data has been received, or there's a connection error
-//=================================================================================================
-bool DataReceivePending(SocketInfo* pClientSocket) {
-  const timeval kConnectTimeout = {0, 0};  // No wait time
-  if (pClientSocket) {
-    fd_set fdSetRead;
-    fd_set fdSetErr;
-    FD_ZERO(&fdSetRead);
-    FD_ZERO(&fdSetErr);
-    FD_SET(pClientSocket->mSocket, &fdSetRead);
-    FD_SET(pClientSocket->mSocket, &fdSetErr);
-
-    // Note: return true if data ready or connection error (to exit parent loop
-    // waiting on data)
-    int result = select(0, &fdSetRead, nullptr, &fdSetErr, &kConnectTimeout);
-    return result != 0;
-  }
-  return true;
-}
-
-//=================================================================================================
-// Receive as much as possible a command and keep track of transfer status
-//=================================================================================================
-void DataReceive(SocketInfo* pClientSocket,
-                 NetImgui::Internal::PendingCom& PendingComRcv) {
-  // Invalid command
-  if (!pClientSocket || !PendingComRcv.pCommand || !pClientSocket->mSocket) {
-    PendingComRcv.bError = true;
-    return;
-  }
-
-  // Receive data from remote connection
-  int resultRcv = recv(pClientSocket->mSocket,
-                       &reinterpret_cast<char*>(
-                           PendingComRcv.pCommand)[PendingComRcv.SizeCurrent],
-                       static_cast<int>(PendingComRcv.pCommand->mSize -
-                                        PendingComRcv.SizeCurrent),
-                       0);
-
-  // Note: 'DataReceive' is called after pending data has been confirm.
-  //		 0 received data means connection lost
-  if (resultRcv != SOCKET_ERROR) {
-    PendingComRcv.SizeCurrent += static_cast<size_t>(resultRcv);
-    PendingComRcv.bError |=
-        resultRcv <= 0;  // Error if no data read since DataReceivePending()
-                         // said there was some available
-  }
-  // Connection error, abort transmission
-  else if (WSAGetLastError() != WSAEWOULDBLOCK) {
-    PendingComRcv.bError = true;
-  }
-}
-
-//=================================================================================================
-// Receive as much as possible a command and keep track of transfer status
-//=================================================================================================
-void DataSend(SocketInfo* pClientSocket,
-              NetImgui::Internal::PendingCom& PendingComSend) {
-  // Invalid command
-  if (!pClientSocket || !PendingComSend.pCommand || !pClientSocket->mSocket) {
-    PendingComSend.bError = true;
-    return;
-  }
-
-  // Send data to remote connection
-  int sizeToSend = static_cast<int>(PendingComSend.pCommand->mSize -
-                                    PendingComSend.SizeCurrent);
-  sizeToSend = sizeToSend > pClientSocket->mSendSizeMax
-                   ? pClientSocket->mSendSizeMax
-                   : sizeToSend;
-  int resultSent =
-      send(pClientSocket->mSocket,
-           &reinterpret_cast<char*>(
-               PendingComSend.pCommand)[PendingComSend.SizeCurrent],
-           sizeToSend, 0);
-
-  if (resultSent != SOCKET_ERROR) {
-    PendingComSend.SizeCurrent += static_cast<size_t>(resultSent);
-  }
-  // Connection error, abort transmission
-  else if (WSAGetLastError() != WSAEWOULDBLOCK) {
-    PendingComSend.bError = true;
-  }
-}
-
-}  // namespace Network
-}  // namespace Internal
-}  // namespace NetImgui
-
-#include "NetImgui_WarningReenable.h"
-#else
-
-// Prevents Linker warning LNK4221 in Visual Studio (This object file does not
-// define any previously undefined public symbols, so it will not be used by any
-// link operation that consumes this library)
-extern int sSuppresstLNK4221_NetImgui_NetworkWin23;
-int sSuppresstLNK4221_NetImgui_NetworkWin23(0);
-
-#endif  // #if NETIMGUI_ENABLED && NETIMGUI_WINSOCKET_ENABLED
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Shared.h b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Shared.h
deleted file mode 100644
index aa197efe..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Shared.h
+++ /dev/null
@@ -1,205 +0,0 @@
-#pragma once
-
-//=================================================================================================
-// Include NetImgui_Api.h with almost no warning suppression.
-// this is to make sure library user does not need to suppress any
-#if defined(_MSC_VER)
-#pragma warning(disable \
-                : 4464)  // warning C4464: relative include path contains '..'
-#endif
-
-#ifndef NETIMGUI_INTERNAL_INCLUDE
-#define NETIMGUI_INTERNAL_INCLUDE 1
-#include "NetImgui_Api.h"
-#undef NETIMGUI_INTERNAL_INCLUDE
-#else
-#include "NetImgui_Api.h"
-#endif
-
-#if NETIMGUI_ENABLED
-
-//=================================================================================================
-// Include a few standard c++ header, with additional warning suppression
-#include <atomic>
-#include <chrono>
-#include <thread>
-#include <vector>
-
-#include "NetImgui_WarningDisableStd.h"
-#include "NetImgui_WarningReenable.h"
-//=================================================================================================
-
-//=================================================================================================
-#include "NetImgui_WarningDisable.h"
-namespace NetImgui {
-namespace Internal {
-
-using ComDataType = uint64_t;
-constexpr size_t ComDataSize = sizeof(ComDataType);
-using ClientTextureID = uint64_t;
-
-//=============================================================================
-// All allocations made by netImgui goes through here.
-// Relies in ImGui allocator
-//=============================================================================
-template <typename TType, typename... Args>
-TType* netImguiNew(Args... args);
-template <typename TType>
-TType* netImguiSizedNew(size_t placementSize);
-template <typename TType>
-void netImguiDelete(TType* pData);
-template <typename TType>
-void netImguiDeleteSafe(TType*& pData);
-
-class ScopedImguiContext {
- public:
-  ScopedImguiContext(ImGuiContext* pNewContext)
-      : mpSavedContext(ImGui::GetCurrentContext()) {
-    ImGui::SetCurrentContext(pNewContext);
-  }
-  ~ScopedImguiContext() { ImGui::SetCurrentContext(mpSavedContext); }
-
- protected:
-  ImGuiContext* mpSavedContext;
-};
-
-template <typename TType>
-class ScopedValue {
- public:
-  ScopedValue(TType& ValueRef, TType Value)
-      : mValueRef(ValueRef), mValueRestore(ValueRef) {
-    mValueRef = Value;
-  }
-  ~ScopedValue() { mValueRef = mValueRestore; }
-
- protected:
-  TType& mValueRef;
-  TType mValueRestore;
-  uint8_t mPadding[sizeof(void*) - (sizeof(TType) % 8)] = {};
-
-  // Prevents warning about implicitly delete functions
-  ScopedValue(const ScopedValue&) = delete;
-  ScopedValue(const ScopedValue&&) = delete;
-  void operator=(const ScopedValue&) = delete;
-};
-
-using ScopedBool = ScopedValue<bool>;
-
-//=============================================================================
-// Class to safely exchange a pointer between two threads
-//=============================================================================
-template <typename TType>
-class ExchangePtr {
- public:
-  ExchangePtr() : mpData(nullptr) {}
-  ~ExchangePtr();
-  inline TType* Release();
-  inline void Assign(TType*& pNewData);
-  inline void Free();
-  inline bool IsNull() const { return mpData.load() == nullptr; }
-
- private:
-  std::atomic<TType*> mpData;
-
-  // Prevents warning about implicitly delete functions
- private:
-  ExchangePtr(const ExchangePtr&) = delete;
-  ExchangePtr(const ExchangePtr&&) = delete;
-  void operator=(const ExchangePtr&) = delete;
-};
-
-//=============================================================================
-// Make data serialization easier
-//=============================================================================
-template <typename TType>
-struct OffsetPointer {
-  inline OffsetPointer();
-  inline explicit OffsetPointer(TType* pPointer);
-  inline explicit OffsetPointer(uint64_t offset);
-
-  inline bool IsPointer() const;
-  inline bool IsOffset() const;
-
-  inline TType* ToPointer();
-  inline uint64_t ToOffset();
-  inline TType* operator->();
-  inline const TType* operator->() const;
-  inline TType& operator[](size_t index);
-  inline const TType& operator[](size_t index) const;
-
-  inline TType* Get();
-  inline const TType* Get() const;
-  inline const ComDataType* GetComData() const;
-  inline uint64_t GetOff() const;
-  inline void SetPtr(TType* pPointer);
-  inline void SetComDataPtr(ComDataType* pPointer);
-  inline void SetOff(uint64_t offset);
-
- private:
-  union {
-    uint64_t mOffset;
-    TType* mPointer;
-  };
-};
-
-//=============================================================================
-//=============================================================================
-template <typename TType, size_t TCount>
-class Ringbuffer {
- public:
-  Ringbuffer() : mPosCur(0), mPosLast(0) {}
-  void AddData(const TType* pData, size_t& count);
-  bool ReadData(TType* pData);
-
- private:
-  TType mBuffer[TCount] = {0};
-  std::atomic_uint64_t mPosCur;
-  std::atomic_uint64_t mPosLast;
-
-  // Prevents warning about implicitly delete functions
- private:
-  Ringbuffer(const Ringbuffer&) = delete;
-  Ringbuffer(const Ringbuffer&&) = delete;
-  void operator=(const Ringbuffer&) = delete;
-};
-
-template <typename T, std::size_t N>
-constexpr std::size_t ArrayCount(T const (&)[N]) noexcept {
-  return N;
-}
-
-//=============================================================================
-//=============================================================================
-template <size_t charCount>
-inline void StringCopy(char (&output)[charCount], const char* pSrc,
-                       size_t srcCharCount = 0xFFFFFFFE);
-
-template <size_t charCount>
-int StringFormat(char (&output)[charCount], char const* const format, ...);
-
-//=============================================================================
-// Get the (value / Denominator) rounded up to the next int value big enough
-//=============================================================================
-template <typename IntType>
-IntType DivUp(IntType Value, IntType Denominator);
-
-//=============================================================================
-// Get the rounded up value
-//=============================================================================
-template <typename IntType>
-IntType RoundUp(IntType Value, IntType Round);
-
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-inline NetImgui::eTexFormat ConvertTextureFormat(ImTextureFormat ImFormat);
-inline ClientTextureID ConvertToClientTexID(const ImTextureRef& textureRef);
-#endif
-inline ClientTextureID ConvertToClientTexID(ImTextureID textureID);
-inline ImTextureID ConvertFromClientTexID(ClientTextureID textureID);
-
-}  // namespace Internal
-}  // namespace NetImgui
-
-#include "NetImgui_Shared.inl"
-#include "NetImgui_WarningReenable.h"
-
-#endif  // NETIMGUI_ENABLED
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Shared.inl b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Shared.inl
deleted file mode 100644
index 15d65edb..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_Shared.inl
+++ /dev/null
@@ -1,341 +0,0 @@
-#pragma once
-
-#include <assert.h>
-#include <string.h>
-
-namespace NetImgui { namespace Internal
-{
-
-template <typename TType, typename... Args> 
-TType* netImguiNew(Args... args)
-{
-	return new( ImGui::MemAlloc(sizeof(TType)) ) TType(args...);
-}
-
-template <typename TType> 
-TType* netImguiSizedNew(size_t placementSize)
-{
-	return new( ImGui::MemAlloc(placementSize > sizeof(TType) ? placementSize : sizeof(TType)) ) TType();
-}
-
-template <typename TType> 
-void netImguiDelete(TType* pData)
-{
-	if( pData )
-	{
-		pData->~TType();
-		ImGui::MemFree(pData);
-	}
-}
-
-template <typename TType> 
-void netImguiDeleteSafe(TType*& pData)
-{
-	netImguiDelete(pData);
-	pData = nullptr;
-}
-
-//=============================================================================
-// Acquire ownership of the resource
-//=============================================================================
-template <typename TType>
-TType* ExchangePtr<TType>::Release()
-{
-	return mpData.exchange(nullptr);
-}
-
-//-----------------------------------------------------------------------------
-// Take ownership of the provided data.
-// If there's a previous unclaimed pointer to some data, release it
-//-----------------------------------------------------------------------------
-template <typename TType>
-void ExchangePtr<TType>::Assign(TType*& pNewData)
-{
-	netImguiDelete( mpData.exchange(pNewData) );
-	pNewData = nullptr;
-}
-
-template <typename TType>
-void ExchangePtr<TType>::Free()
-{
-	TType* pNull(nullptr);
-	Assign(pNull);
-}
-
-template <typename TType>
-ExchangePtr<TType>::~ExchangePtr()	
-{ 
-	Free();
-}
-
-//=============================================================================
-//
-//=============================================================================
-template <typename TType>
-OffsetPointer<TType>::OffsetPointer()
-: mOffset(0)
-{
-	SetOff(0);
-}
-
-template <typename TType>
-OffsetPointer<TType>::OffsetPointer(TType* pPointer)
-{
-	SetPtr(pPointer);
-}
-
-template <typename TType>
-OffsetPointer<TType>::OffsetPointer(uint64_t offset)
-{
-	SetOff(offset);
-}
-
-template <typename TType>
-void OffsetPointer<TType>::SetPtr(TType* pPointer)
-{
-	mOffset		= 0; // Remove 'offset flag' that can be left active on non 64bits pointer
-	mPointer	= pPointer;
-}
-
-template <typename TType>
-void OffsetPointer<TType>::SetComDataPtr(ComDataType* pPointer)
-{
-	SetPtr(reinterpret_cast<TType*>(pPointer));
-}
-
-template <typename TType>
-void OffsetPointer<TType>::SetOff(uint64_t offset)
-{
-	mOffset = offset | 0x0000000000000001u;
-}
-
-template <typename TType>
-uint64_t OffsetPointer<TType>::GetOff()const
-{
-	return mOffset & ~0x0000000000000001u;
-}
-
-template <typename TType>
-bool OffsetPointer<TType>::IsOffset()const
-{
-	return (mOffset & 0x0000000000000001u) != 0;
-}
-
-template <typename TType>
-bool OffsetPointer<TType>::IsPointer()const
-{
-	return !IsOffset();
-}
-
-template <typename TType>
-TType* OffsetPointer<TType>::ToPointer()
-{
-	assert(IsOffset());
-	SetPtr( reinterpret_cast<TType*>( reinterpret_cast<uint64_t>(&mPointer) + GetOff() ) );
-	return mPointer;
-}
-
-template <typename TType>
-uint64_t OffsetPointer<TType>::ToOffset()
-{
-	assert(IsPointer());
-	SetOff( reinterpret_cast<uint64_t>(mPointer) - reinterpret_cast<uint64_t>(&mPointer) );
-	return mOffset;
-}
-
-template <typename TType>
-TType* OffsetPointer<TType>::operator->()
-{
-	assert(IsPointer());
-	return mPointer;
-}
-
-template <typename TType>
-const TType* OffsetPointer<TType>::operator->()const
-{
-	assert(IsPointer());
-	return mPointer;
-}
-
-template <typename TType>
-TType* OffsetPointer<TType>::Get()
-{
-	assert(IsPointer());
-	return mPointer;
-}
-
-template <typename TType>
-const TType* OffsetPointer<TType>::Get()const
-{
-	assert(IsPointer());
-	return mPointer;
-}
-
-template <typename TType>
-const ComDataType* OffsetPointer<TType>::GetComData()const
-{
-	return reinterpret_cast<const ComDataType*>(Get());
-}
-
-template <typename TType>
-TType& OffsetPointer<TType>::operator[](size_t index)
-{
-	assert(IsPointer());
-	return mPointer[index];
-}
-
-template <typename TType>
-const TType& OffsetPointer<TType>::operator[](size_t index)const
-{
-	assert(IsPointer());
-	return mPointer[index];
-}
-
-//=============================================================================
-template <typename TType, size_t TCount>
-void Ringbuffer<TType,TCount>::AddData(const TType* pData, size_t& count)
-//=============================================================================
-{
-	size_t i(0);
-	while (i < count && (mPosLast - mPosCur < TCount)) {
-		mBuffer[mPosLast % TCount] = pData[i];
-		mPosLast++;
-		i++;
-	}
-	count = i;
-}
-
-//=============================================================================
-template <typename TType, size_t TCount>
-bool Ringbuffer<TType,TCount>::ReadData(TType* pData)
-//=============================================================================
-{
-	if (mPosCur < mPosLast) 
-	{
-		*pData = mBuffer[mPosCur % TCount];
-		mPosCur++;
-		return true;
-	}
-	return false;
-}
-
-
-//=============================================================================
-// The _s string functions are a mess. There's really no way to do this right
-// in a cross-platform way. Best solution I've found is to set just use
-// strncpy, infer the buffer length, and null terminate. Still need to suppress
-// the warning on Windows.
-// See https://randomascii.wordpress.com/2013/04/03/stop-using-strncpy-already/
-// and many other discussions online on the topic.
-//=============================================================================
-template <size_t charCount>
-void StringCopy(char (&output)[charCount], const char* pSrc, size_t srcCharCount)
-{
-#if defined(__clang__)
-	#pragma clang diagnostic push
-	#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(_MSC_VER)
-	#pragma warning (push)
-	#pragma warning (disable: 4996)	// warning C4996: 'strncpy': This function or variable may be unsafe.
-#endif
-
-	size_t charToCopyCount = charCount < srcCharCount + 1 ? charCount : srcCharCount + 1;
-	strncpy(output, pSrc, charToCopyCount - 1);
-	output[charCount - 1] = 0;
-
-#if defined(_MSC_VER) && defined(__clang__)
-	#pragma clang diagnostic pop
-#elif defined(_MSC_VER)
-	#pragma warning (pop)
-#endif
-}
-
-template <size_t charCount>
-int StringFormat(char(&output)[charCount], char const* const format, ...)
-{
-#if defined(__clang__)
-	#pragma clang diagnostic push
-	#pragma clang diagnostic ignored "-Wformat-nonliteral"	
-#endif
-
-	va_list args;
-    va_start(args, format);
-	int w = vsnprintf(output, charCount, format, args);
-	va_end(args);
-	output[charCount - 1] = 0;
-	return w;
-
-#if defined(__clang__)
-	#pragma clang diagnostic pop
-#endif
-}
-
-//=============================================================================
-//=============================================================================
-template <typename IntType>
-IntType DivUp(IntType Value, IntType Denominator)
-{
-	return (Value + Denominator - 1) / Denominator;
-}
-
-template <typename IntType>
-IntType RoundUp(IntType Value, IntType Round)
-{
-	return DivUp(Value, Round) * Round;
-}
-
-union TextureCastHelperUnion
-{
-	const void*		TexData;
-	ImTextureID 	TexID;
-	ClientTextureID	TexClientID;
-};
-
-#if NETIMGUI_IMGUI_TEXTURES_ENABLED
-NetImgui::eTexFormat ConvertTextureFormat(ImTextureFormat ImFormat)
-{
-	switch(ImFormat)
-	{
-		case ImTextureFormat_RGBA32: return eTexFormat::kTexFmtRGBA8;
-		case ImTextureFormat_Alpha8: return eTexFormat::kTexFmtA8;
-	}
-	return eTexFormat::kTexFmtRGBA8;
-}
-
-ClientTextureID ConvertToClientTexID(const ImTextureRef& textureRef)
-{
-	static_assert(sizeof(uint64_t) >= sizeof(ImTextureID), "ImTextureID is bigger than 64bits, CmdTexture::mTextureId needs to be updated to support it");
-	TextureCastHelperUnion textureUnion;
-	textureUnion.TexClientID = 0;
-	if( textureRef._TexData ){
-		//Note: Cannot rely on textureRef.GetTexID() because it uses a pointer to
-		//		a texture object that might not have been created by the backend yet.
-		//		Instead, use a stable value that remain valid for texture lifetime,
-		//		to id it with the NetImgui Server
-		textureUnion.TexClientID = static_cast<ClientTextureID>(textureRef._TexData->UniqueID);
-	}
-	else{
-		textureUnion.TexID 	= textureRef._TexID;
-	}
-	return textureUnion.TexClientID;
-}
-#endif
-
-ClientTextureID ConvertToClientTexID(ImTextureID textureID)
-{
-	static_assert(sizeof(uint64_t) >= sizeof(ImTextureID), "ImTextureID is bigger than 64bits, CmdTexture::mTextureId needs to be updated to support it");
-	TextureCastHelperUnion textureUnion;
-	textureUnion.TexClientID	= 0;
-	textureUnion.TexID			= textureID;
-	return textureUnion.TexClientID;
-	
-}
-
-ImTextureID ConvertFromClientTexID(ClientTextureID clientTexID)
-{
-	TextureCastHelperUnion textureUnion;
-	textureUnion.TexClientID = clientTexID;
-	return textureUnion.TexID;
-}
-
-}} //namespace NetImgui::Internal
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningDisable.h b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningDisable.h
deleted file mode 100644
index d185eb80..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningDisable.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#pragma once
-//
-// Deactivate a few warnings to allow internal netImgui code to compile
-// with 'Warning as error' and '-Wall' compile actions enabled
-//
-
-//=================================================================================================
-// Clang
-//=================================================================================================
-#if defined(__clang__)
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wunknown-warning-option"
-#pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
-#pragma clang diagnostic ignored "-Wmissing-prototypes"
-#pragma clang diagnostic ignored "-Wold-style-cast"  // For ImTextureID_Invalid
-#pragma clang diagnostic ignored "-Wunsafe-buffer-usage"
-#pragma clang diagnostic ignored "-Wswitch-default"
-#pragma clang diagnostic ignored \
-    "-Wnontrivial-memcall"  // For ImGui::IO memcpy warning
-
-//=================================================================================================
-// Visual Studio warnings
-//=================================================================================================
-#elif defined(_MSC_VER)
-#pragma warning(disable : 5032)  // detected #pragma warning(push) with no
-                                 // corresponding #pragma warning(pop)
-
-#pragma warning(push)
-#pragma warning(disable : 4365)  // conversion from 'long' to 'unsigned int',
-                                 // signed/unsigned mismatch for <atomic>
-#pragma warning(disable : 4464)  // relative include path contains '..'
-#pragma warning(disable \
-                : 4514)  // unreferenced inline function has been removed
-#pragma warning( \
-    disable      \
-    : 4577)  // 'noexcept' used with no exception handling mode specified;
-             // termination on exception is not guaranteed. Specify
-#pragma warning(disable : 4710)  // 'xxx': function not inlined
-#pragma warning( \
-    disable : 4711)  // function 'xxx' selected for automatic inline expansion
-#pragma warning( \
-    disable      \
-    : 4826)  // Conversion from 'TType *' to 'uint64_t' is sign-extended. This
-             // may cause unexpected runtime behavior.
-#pragma warning(disable \
-                : 5031)  // #pragma warning(pop): likely mismatch, popping
-                         // warning state pushed in different file
-#pragma warning(disable : 5045)  // Compiler will insert Spectre mitigation for
-                                 // memory load if / Qspectre switch specified
-#pragma warning(disable : 5264)  // 'xxx': 'const' variable is not used
-
-#endif
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningDisableImgui.h b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningDisableImgui.h
deleted file mode 100644
index bb803219..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningDisableImgui.h
+++ /dev/null
@@ -1,48 +0,0 @@
-#pragma once
-//
-// Deactivate a few warnings to allow Imgui header includes,
-// without generating warnings in '-Wall' compile actions enabled
-//
-
-//=================================================================================================
-// Clang
-//=================================================================================================
-#if defined(__clang__)
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wunknown-warning-option"
-#pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
-#pragma clang diagnostic ignored \
-    "-Wnonportable-include-path"  // Sharpmake convert include path to
-                                  // lowercase, avoid warning
-#pragma clang diagnostic ignored \
-    "-Wreserved-identifier"  // Enum values using '__' or member starting with
-                             // '_' in imgui.h
-
-//=================================================================================================
-// Visual Studio warnings
-//=================================================================================================
-#elif defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning( \
-    disable : 4514)  // 'xxx': unreferenced inline function has been removed
-#pragma warning(disable : 4365)  // '=': conversion from 'ImGuiTabItemFlags' to
-                                 // 'ImGuiID', signed/unsigned mismatch
-#pragma warning(disable : 4710)  // 'xxx': function not inlined
-#pragma warning( \
-    disable      \
-    : 4820)  // 'xxx': 'yyy' bytes padding added after data member 'zzz'
-#pragma warning(disable \
-                : 5031)  // #pragma warning(pop): likely mismatch, popping
-                         // warning state pushed in different file
-#pragma warning(disable : 5045)  // Compiler will insert Spectre mitigation for
-                                 // memory load if /Qspectre switch specified
-#if _MSC_VER >= 1920
-#pragma warning(disable : 5219)  // implicit conversion from 'int' to 'float',
-                                 // possible loss of data
-#endif
-#pragma warning( \
-    disable      \
-    : 26495)  // Code Analysis warning : Variable
-              // 'ImGuiStorage::ImGuiStoragePair::<unnamed-tag>::val_p' is
-              // uninitialized. Always initialize a member variable (type.6).
-#endif
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningDisableStd.h b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningDisableStd.h
deleted file mode 100644
index 1ae15f10..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningDisableStd.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-//
-// Deactivate a few more warnings to allow standard header includes,
-// without generating warnings in '-Wall' compile actions enabled
-//
-
-#include "NetImgui_WarningDisable.h"
-
-//=================================================================================================
-// Clang
-//=================================================================================================
-#if defined(__clang__)
-
-//=================================================================================================
-// Visual Studio warnings
-//=================================================================================================
-#elif defined(_MSC_VER)
-#pragma warning(disable \
-                : 4061)  // enumerator xxx in switch of enum yyy is not
-                         // explicitly handled by a case label (d3d11.h)
-#pragma warning(disable \
-                : 4548)  // expression before comma has no effect; expected
-                         // expression with side - effect (malloc.h VS2017)
-#pragma warning(disable \
-                : 4668)  // xxx is not defined as a preprocessor macro,
-                         // replacing with '0' for '#if/#elif' (winsock2.h)
-#pragma warning(disable : 4574)  // xxx is defined to be '0': did you mean to
-                                 // use yyy (winsock2.h VS2017)
-#pragma warning( \
-    disable : 4820)  // xxx : yyy bytes padding added after data member zzz
-
-#endif
diff --git a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningReenable.h b/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningReenable.h
deleted file mode 100644
index ff200586..00000000
--- a/python/mujoco/experimental/netimgui/Code/Client/Private/NetImgui_WarningReenable.h
+++ /dev/null
@@ -1,15 +0,0 @@
-
-#pragma once
-
-//=================================================================================================
-// Clang
-//=================================================================================================
-#if defined(__clang__)
-#pragma clang diagnostic pop
-
-//=================================================================================================
-// Visual Studio warnings
-//=================================================================================================
-#elif defined(_MSC_VER)
-#pragma warning(pop)
-#endif
diff --git a/python/mujoco/experimental/netimgui/Code/Sample/Common/Sample.cpp b/python/mujoco/experimental/netimgui/Code/Sample/Common/Sample.cpp
deleted file mode 100644
index f59fb71b..00000000
--- a/python/mujoco/experimental/netimgui/Code/Sample/Common/Sample.cpp
+++ /dev/null
@@ -1,195 +0,0 @@
-//=================================================================================================
-// SAMPLE
-//-------------------------------------------------------------------------------------------------
-// Common code shared by all samples
-//=================================================================================================
-
-#include "Sample.h"
-
-#include <NetImgui_Api.h>
-#include <math.h>
-
-#include "../../ServerApp/Source/Fonts/Roboto_Medium.cpp"
-
-namespace Sample {
-//=================================================================================================
-// Constructor
-//-------------------------------------------------------------------------------------------------
-//
-//=================================================================================================
-Base::Base(const char* sampleName) : mSampleName(sampleName) {
-#if NETIMGUI_ENABLED
-  mConnect_PortClient = NetImgui::kDefaultClientPort;
-  mConnect_PortServer = NetImgui::kDefaultServerPort;
-#endif
-}
-
-//=================================================================================================
-// Startup
-//-------------------------------------------------------------------------------------------------
-//
-//=================================================================================================
-bool Base::Startup() {
-#if NETIMGUI_ENABLED
-  if (!NetImgui::Startup()) return false;
-#endif
-  AddFont();
-  return true;
-}
-
-//=================================================================================================
-// Shutdown
-//-------------------------------------------------------------------------------------------------
-//
-//=================================================================================================
-void Base::Shutdown() {
-#if NETIMGUI_ENABLED
-  NetImgui::Shutdown();
-#endif
-}
-
-//=================================================================================================
-// AddFont
-//-------------------------------------------------------------------------------------------------
-// Add and configure the fonts wanted in the demo.
-// Method can be overriden to use different font, byt default to Roboto 18pts
-//
-// Note:	Since Dear ImGui 1.92+, we do not need to manage font
-// scaling/dpi at all,
-//			It is automatically done, and NetImgui Server also
-//assign desired DPI behind the scene.
-//=================================================================================================
-void Base::AddFont() {
-  constexpr float kFontPixelSize = 16.f;
-  ImFontConfig FontConfig = {};
-// Using Roboto Font for prettier results
-#if 1
-  // Note: Using memcpy to avoid warnings related to OS string copy variations,
-  //		and cannot rely on 'NetImgui::Internal::StringCopy' that can
-  //handle this problem 		because 'SampleDisabled' couln't compile properly
-  const char FontName[] = "Roboto Medium";
-  memcpy(FontConfig.Name, FontName, sizeof(FontName));
-  ImGui::GetIO().Fonts->AddFontFromMemoryCompressedTTF(
-      Roboto_Medium_compressed_data, Roboto_Medium_compressed_size,
-      kFontPixelSize, &FontConfig);
-
-// But can as easily rely on the default font
-#else
-  FontConfig.SizePixels = kFontPixelSize;
-  FontAtlas->AddFontDefault(&FontConfig);
-#endif
-}
-
-//=================================================================================================
-// Draw_Connect
-//-------------------------------------------------------------------------------------------------
-// Function called by all samples, to display the Connection Options, and some
-// other default MainMenu entries.
-//=================================================================================================
-void Base::Draw_Connect() {
-#if NETIMGUI_ENABLED
-  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(3, 6));
-  if (ImGui::BeginMainMenuBar()) {
-    ImGui::AlignTextToFramePadding();
-    ImGui::TextColored(ImVec4(0.1, 1, 0.1, 1), "%s", mSampleName);
-    ImGui::SameLine(0, 32);
-
-    //-----------------------------------------------------------------------------------------
-    if (NetImgui::IsConnected())
-    //-----------------------------------------------------------------------------------------
-    {
-      ImGui::TextUnformatted("Status: Connected");
-      ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(3, 3));
-      ImGui::SetCursorPosY(3);
-      if (ImGui::Button(" Disconnect ")) {
-        NetImgui::Disconnect();
-      }
-      ImGui::PopStyleVar();
-    }
-
-    //-----------------------------------------------------------------------------------------
-    else if (NetImgui::IsConnectionPending())
-    //-----------------------------------------------------------------------------------------
-    {
-      ImGui::TextUnformatted("Status: Waiting Server");
-      ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(3, 3));
-      ImGui::SetCursorPosY(3);
-      if (ImGui::Button(" Cancel ")) {
-        NetImgui::Disconnect();
-      }
-      ImGui::PopStyleVar();
-    }
-
-    //-----------------------------------------------------------------------------------------
-    else  // No connection
-    //-----------------------------------------------------------------------------------------
-    {
-      //-------------------------------------------------------------------------------------
-      if (ImGui::BeginMenu("[ Connect To ]"))
-      //-------------------------------------------------------------------------------------
-      {
-        ImGui::TextColored(ImVec4(0.1, 1, 0.1, 1), "Server Settings");
-        ImGui::InputText("Hostname", mConnect_HostnameServer,
-                         sizeof(mConnect_HostnameServer));
-        if (ImGui::IsItemHovered())
-          ImGui::SetTooltip(
-              "Address of PC running the netImgui server application. Can be "
-              "an IP like 127.0.0.1");
-        ImGui::InputInt("Port", &mConnect_PortServer);
-        ImGui::NewLine();
-        ImGui::Separator();
-        if (ImGui::Button("Connect",
-                          ImVec2(ImGui::GetContentRegionAvail().x, 0))) {
-          NetImgui::ConnectToApp(mSampleName, mConnect_HostnameServer,
-                                 mConnect_PortServer, mCallback_ThreadLaunch);
-        }
-        ImGui::EndMenu();
-      }
-
-      if (ImGui::IsItemHovered())
-        ImGui::SetTooltip(
-            "Attempt a connection to a remote netImgui server at the provided "
-            "address.");
-
-      //-------------------------------------------------------------------------------------
-      if (ImGui::BeginMenu("[  Wait For  ]"))
-      //-------------------------------------------------------------------------------------
-      {
-        ImGui::TextColored(ImVec4(0.1, 1, 0.1, 1), "Client Settings");
-        ImGui::InputInt("Port", &mConnect_PortClient);
-        ImGui::NewLine();
-        ImGui::Separator();
-        if (ImGui::Button("Listen",
-                          ImVec2(ImGui::GetContentRegionAvail().x, 0))) {
-          NetImgui::ConnectFromApp(mSampleName, mConnect_PortClient,
-                                   mCallback_ThreadLaunch);
-        }
-        ImGui::EndMenu();
-      }
-      if (ImGui::IsItemHovered())
-        ImGui::SetTooltip(
-            "Start listening for a connection request by a remote netImgui "
-            "server, on the provided Port.");
-    }
-
-    ImGui::SameLine(0, 40);
-    ImGui::PushStyleColor(ImGuiCol_Border, ImVec4(0.8, 0.8, 0.8, 0.9));
-    ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(3, 3));
-    ImGui::PushStyleVar(ImGuiStyleVar_FrameBorderSize,
-                        mbShowDemoWindow ? 1.f : 0.f);
-    ImGui::SetCursorPosY(3);
-    if (ImGui::Button(" Show ImGui Demo ")) {
-      mbShowDemoWindow = !mbShowDemoWindow;
-    }
-    ImGui::PopStyleColor();
-    ImGui::PopStyleVar(2);
-    ImGui::EndMainMenuBar();
-  }
-  ImGui::PopStyleVar();
-#endif  // #if NETIMGUI_ENABLED
-  if (mbShowDemoWindow) {
-    ImGui::ShowDemoWindow(&mbShowDemoWindow);
-  }
-}
-
-};  // namespace Sample
\ No newline at end of file
diff --git a/python/mujoco/experimental/netimgui/Code/Sample/Common/Sample.h b/python/mujoco/experimental/netimgui/Code/Sample/Common/Sample.h
deleted file mode 100644
index 17120486..00000000
--- a/python/mujoco/experimental/netimgui/Code/Sample/Common/Sample.h
+++ /dev/null
@@ -1,55 +0,0 @@
-#pragma once
-
-#include <NetImgui_Api.h>
-
-// Reusing internal NetImgui functions for TextureID conversion and String copy.
-// Normally, you wouldn't include this file
-#include <Private/NetImgui_Shared.h>
-
-// Forward declares when NetImgui is not enabled
-// When NetImgui is disabled, it doesn't include these needed headers
-#if !NETIMGUI_ENABLED
-#include "imgui.h"
-#endif
-
-namespace Sample {
-
-class Base {
- public:
-  Base(const char* sampleName);  //!< Constructor receiving pointer to constant
-                                 //!< string that must remains valid
-  virtual bool Startup();        //!< Called once when starting
-  virtual void Shutdown();       //!< Called once when exiting
-  virtual void Draw() = 0;       //!< Each sample should have their Dear ImGui
-                                 //!< drawing routines in this overloaded method
-  virtual void AddFont();        //!< Called on startup to add the wanted font
-
- protected:
-  void Draw_Connect();  //!< Display UI for initiating a connection to the
-                        //!< remote NetImgui server application
-  const char* mSampleName =
-      nullptr;  //!< Name displayed in the Main Menu bar (must receive string
-                //!< pointer in constructor that remains valid)
-  bool mbShowDemoWindow =
-      !NETIMGUI_ENABLED;  //!< If we should show the Dear ImGui demo window
-
-#if NETIMGUI_ENABLED
-  NetImgui::ThreadFunctPtr mCallback_ThreadLaunch =
-      nullptr;  //!< [Optional] Thread launcher callback assigned on NetImgui
-                //!< connection. Used to start a new thread for coms with
-                //!< NetImgui server
-  char mConnect_HostnameServer[128] = {
-      "localhost"};  //!< IP/Hostname used to send a connection request when
-                     //!< when trying to reach the server
-  int mConnect_PortServer = 0;  //!< Port used to send a connection request when
-                                //!< when trying to reach the server
-  int mConnect_PortClient =
-      0;  //!< Port opened when waiting for a server connection request
-#endif
-};
-};  // namespace Sample
-
-Sample::Base& GetSample();  // Each Sample must implement this function and
-                            // return a valid sample object
-
-#include <Client/Private/NetImgui_WarningDisable.h>
diff --git a/python/mujoco/experimental/netimgui/Code/Sample/Common/main.cpp b/python/mujoco/experimental/netimgui/Code/Sample/Common/main.cpp
deleted file mode 100644
index 2612c78f..00000000
--- a/python/mujoco/experimental/netimgui/Code/Sample/Common/main.cpp
+++ /dev/null
@@ -1,423 +0,0 @@
-// Dear ImGui: standalone example application for DirectX 11
-
-// Learn about Dear ImGui:
-// - FAQ                  https://dearimgui.com/faq
-// - Getting Started      https://dearimgui.com/getting-started
-// - Documentation        https://dearimgui.com/docs (same as your local docs/
-// folder).
-// - Introduction, links and more at the top of imgui.cpp
-//=================================================================================================
-// @SAMPLE_EDIT
-#include <chrono>
-#include <thread>
-
-#include "Sample.h"
-//=================================================================================================
-
-#include <d3d11.h>
-#include <tchar.h>
-
-#include "imgui.h"
-#include "imgui_impl_dx11.h"
-#include "imgui_impl_win32.h"
-
-// Data
-ID3D11Device* g_pd3dDevice = nullptr;  // @SAMPLE_EDIT (removed static)
-static ID3D11DeviceContext* g_pd3dDeviceContext = nullptr;
-static IDXGISwapChain* g_pSwapChain = nullptr;
-static bool g_SwapChainOccluded = false;
-static UINT g_ResizeWidth = 0, g_ResizeHeight = 0;
-static ID3D11RenderTargetView* g_mainRenderTargetView = nullptr;
-
-// Forward declarations of helper functions
-bool CreateDeviceD3D(HWND hWnd);
-void CleanupDeviceD3D();
-void CreateRenderTarget();
-void CleanupRenderTarget();
-LRESULT WINAPI WndProc(HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam);
-
-// Main code
-int main(int, char**) {
-  // Make process DPI aware and obtain main monitor scale
-  ImGui_ImplWin32_EnableDpiAwareness();
-  float main_scale = ImGui_ImplWin32_GetDpiScaleForMonitor(
-      ::MonitorFromPoint(POINT{0, 0}, MONITOR_DEFAULTTOPRIMARY));
-
-  // Create application window
-  WNDCLASSEXW wc = {sizeof(wc),
-                    CS_CLASSDC,
-                    WndProc,
-                    0L,
-                    0L,
-                    GetModuleHandle(nullptr),
-                    nullptr,
-                    nullptr,
-                    nullptr,
-                    nullptr,
-                    L"ImGui Example",
-                    nullptr};
-  ::RegisterClassExW(&wc);
-  HWND hwnd = ::CreateWindowW(wc.lpszClassName, L"Dear ImGui DirectX11 Example",
-                              WS_OVERLAPPEDWINDOW, 100, 100,
-                              (int)(1280 * main_scale), (int)(800 * main_scale),
-                              nullptr, nullptr, wc.hInstance, nullptr);
-
-  // Initialize Direct3D
-  if (!CreateDeviceD3D(hwnd)) {
-    CleanupDeviceD3D();
-    ::UnregisterClassW(wc.lpszClassName, wc.hInstance);
-    return 1;
-  }
-
-  // Show the window
-  ::ShowWindow(hwnd, SW_SHOWDEFAULT);
-  ::UpdateWindow(hwnd);
-
-  // Setup Dear ImGui context
-  IMGUI_CHECKVERSION();
-  ImGui::CreateContext();
-  ImGuiIO& io = ImGui::GetIO();
-  (void)io;
-  io.ConfigFlags |=
-      ImGuiConfigFlags_NavEnableKeyboard;  // Enable Keyboard Controls
-  io.ConfigFlags |=
-      ImGuiConfigFlags_NavEnableGamepad;             // Enable Gamepad Controls
-  io.ConfigFlags |= ImGuiConfigFlags_DockingEnable;  // Enable Docking
-  // io.ConfigFlags |= ImGuiConfigFlags_ViewportsEnable;         // Enable
-  // Multi-Viewport / Platform Windows // @SAMPLE_EDIT disabled temporarily
-  // io.ConfigViewportsNoAutoMerge = true;
-  // io.ConfigViewportsNoTaskBarIcon = true;
-  // io.ConfigViewportsNoDefaultParent = true;
-  // io.ConfigDockingAlwaysTabBar = true;
-  // io.ConfigDockingTransparentPayload = true;
-
-  // Setup Dear ImGui style
-  ImGui::StyleColorsDark();
-  // ImGui::StyleColorsLight();
-
-  // Setup scaling
-  ImGuiStyle& style = ImGui::GetStyle();
-  style.ScaleAllSizes(
-      main_scale);  // Bake a fixed style scale. (until we have a solution for
-                    // dynamic style scaling, changing this requires resetting
-                    // Style + calling this again)
-  style.FontScaleDpi =
-      main_scale;  // Set initial font scale. (using io.ConfigDpiScaleFonts=true
-                   // makes this unnecessary. We leave both here for
-                   // documentation purpose)
-  io.ConfigDpiScaleFonts =
-      true;  // [Experimental] Automatically overwrite style.FontScaleDpi in
-             // Begin() when Monitor DPI changes. This will scale fonts but
-             // _NOT_ scale sizes/padding for now.
-  io.ConfigDpiScaleViewports =
-      true;  // [Experimental] Scale Dear ImGui and Platform Windows when
-             // Monitor DPI changes.
-
-  // When viewports are enabled we tweak WindowRounding/WindowBg so platform
-  // windows can look identical to regular ones.
-  if (io.ConfigFlags & ImGuiConfigFlags_ViewportsEnable) {
-    style.WindowRounding = 0.0f;
-    style.Colors[ImGuiCol_WindowBg].w = 1.0f;
-  }
-
-  // Setup Platform/Renderer backends
-  ImGui_ImplWin32_Init(hwnd);
-  ImGui_ImplDX11_Init(g_pd3dDevice, g_pd3dDeviceContext);
-
-  // Load Fonts
-  // - If no fonts are loaded, dear imgui will use the default font. You can
-  // also load multiple fonts and use ImGui::PushFont()/PopFont() to select
-  // them.
-  // - AddFontFromFileTTF() will return the ImFont* so you can store it if you
-  // need to select the font among multiple.
-  // - If the file cannot be loaded, the function will return a nullptr. Please
-  // handle those errors in your application (e.g. use an assertion, or display
-  // an error and quit).
-  // - Use '#define IMGUI_ENABLE_FREETYPE' in your imconfig file to use Freetype
-  // for higher quality font rendering.
-  // - Read 'docs/FONTS.md' for more instructions and details.
-  // - Remember that in C/C++ if you want to include a backslash \ in a string
-  // literal you need to write a double backslash \\ !
-  // style.FontSizeBase = 20.0f;
-  // io.Fonts->AddFontDefault();
-  // io.Fonts->AddFontFromFileTTF("c:\\Windows\\Fonts\\segoeui.ttf");
-  // io.Fonts->AddFontFromFileTTF("../../misc/fonts/DroidSans.ttf");
-  // io.Fonts->AddFontFromFileTTF("../../misc/fonts/Roboto-Medium.ttf");
-  // io.Fonts->AddFontFromFileTTF("../../misc/fonts/Cousine-Regular.ttf");
-  // ImFont* font =
-  // io.Fonts->AddFontFromFileTTF("c:\\Windows\\Fonts\\ArialUni.ttf");
-  // IM_ASSERT(font != nullptr);
-
-  // Our state
-  bool show_demo_window = true;
-  bool show_another_window = false;
-  ImVec4 clear_color = ImVec4(0.45f, 0.55f, 0.60f, 1.00f);
-
-  // Main loop
-  bool done = false;
-  Sample::Base& sample = GetSample();  // @SAMPLE_EDIT
-  done = !sample.Startup();            // @SAMPLE_EDIT
-  while (!done) {
-    // Poll and handle messages (inputs, window resize, etc.)
-    // See the WndProc() function below for our to dispatch events to the Win32
-    // backend.
-    MSG msg;
-    while (::PeekMessage(&msg, nullptr, 0U, 0U, PM_REMOVE)) {
-      ::TranslateMessage(&msg);
-      ::DispatchMessage(&msg);
-      if (msg.message == WM_QUIT) done = true;
-    }
-    if (done) break;
-
-    // Handle window being minimized or screen locked
-    if (g_SwapChainOccluded &&
-        g_pSwapChain->Present(0, DXGI_PRESENT_TEST) == DXGI_STATUS_OCCLUDED) {
-      ::Sleep(10);
-      continue;
-    }
-    g_SwapChainOccluded = false;
-
-    // Handle window resize (we don't resize directly in the WM_SIZE handler)
-    if (g_ResizeWidth != 0 && g_ResizeHeight != 0) {
-      CleanupRenderTarget();
-      g_pSwapChain->ResizeBuffers(0, g_ResizeWidth, g_ResizeHeight,
-                                  DXGI_FORMAT_UNKNOWN, 0);
-      g_ResizeWidth = g_ResizeHeight = 0;
-      CreateRenderTarget();
-    }
-
-    // Start the Dear ImGui frame
-    ImGui_ImplDX11_NewFrame();
-    ImGui_ImplWin32_NewFrame();
-
-#if 0   // @SAMPLE_EDIT
-        ImGui::NewFrame();
-
-        // 1. Show the big demo window (Most of the sample code is in ImGui::ShowDemoWindow()! You can browse its code to learn more about Dear ImGui!).
-        if (show_demo_window)
-            ImGui::ShowDemoWindow(&show_demo_window);
-
-        // 2. Show a simple window that we create ourselves. We use a Begin/End pair to create a named window.
-        {
-            static float f = 0.0f;
-            static int counter = 0;
-
-            ImGui::Begin("Hello, world!");                          // Create a window called "Hello, world!" and append into it.
-
-            ImGui::Text("This is some useful text.");               // Display some text (you can use a format strings too)
-            ImGui::Checkbox("Demo Window", &show_demo_window);      // Edit bools storing our window open/close state
-            ImGui::Checkbox("Another Window", &show_another_window);
-
-            ImGui::SliderFloat("float", &f, 0.0f, 1.0f);            // Edit 1 float using a slider from 0.0f to 1.0f
-            ImGui::ColorEdit3("clear color", (float*)&clear_color); // Edit 3 floats representing a color
-
-            if (ImGui::Button("Button"))                            // Buttons return true when clicked (most widgets return true when edited/activated)
-                counter++;
-            ImGui::SameLine();
-            ImGui::Text("counter = %d", counter);
-
-            ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / io.Framerate, io.Framerate);
-            ImGui::End();
-        }
-
-        // 3. Show another simple window.
-        if (show_another_window)
-        {
-            ImGui::Begin("Another Window", &show_another_window);   // Pass a pointer to our bool variable (the window will have a closing button that will clear the bool when clicked)
-            ImGui::Text("Hello from another window!");
-            if (ImGui::Button("Close Me"))
-                show_another_window = false;
-            ImGui::End();
-        }
-
-        // Rendering
-        ImGui::Render();
-        const float clear_color_with_alpha[4] = { clear_color.x * clear_color.w, clear_color.y * clear_color.w, clear_color.z * clear_color.w, clear_color.w };
-        g_pd3dDeviceContext->OMSetRenderTargets(1, &g_mainRenderTargetView, nullptr);
-        g_pd3dDeviceContext->ClearRenderTargetView(g_mainRenderTargetView, clear_color_with_alpha);
-        ImGui_ImplDX11_RenderDrawData(ImGui::GetDrawData());
-
-        // Update and Render additional Platform Windows
-        if (io.ConfigFlags & ImGuiConfigFlags_ViewportsEnable)
-        {
-            ImGui::UpdatePlatformWindows();
-            ImGui::RenderPlatformWindowsDefault();
-        }
-#endif  // @SAMPLE_EDIT
-
-    //=========================================================================================
-    // @SAMPLE_EDIT EDIT TO ORIGINAL IMGUI main.cpp
-
-    IM_UNUSED(show_demo_window);
-    IM_UNUSED(show_another_window);
-
-    // Avoids high CPU/GPU usage by releasing this thread until enough time has
-    // passed
-    static auto sLastTime = std::chrono::steady_clock::now();
-    std::chrono::duration<float> elapsedSec =
-        std::chrono::steady_clock::now() - sLastTime;
-    if (elapsedSec.count() < 1.f / 120.f) {
-      std::this_thread::sleep_for(std::chrono::microseconds(250));
-      continue;
-    }
-
-    // Draw the Local Imgui UI and remote imgui UI
-    sLastTime = std::chrono::steady_clock::now();
-    const float clear_color_with_alpha[4] = {
-        clear_color.x * clear_color.w, clear_color.y * clear_color.w,
-        clear_color.z * clear_color.w, clear_color.w};
-    g_pd3dDeviceContext->OMSetRenderTargets(1, &g_mainRenderTargetView, NULL);
-    g_pd3dDeviceContext->ClearRenderTargetView(g_mainRenderTargetView,
-                                               clear_color_with_alpha);
-    sample.Draw();
-    if (ImGui::GetDrawData()) {
-      ImGui_ImplDX11_RenderDrawData(ImGui::GetDrawData());
-    }
-    // Update and render additional Platform Windows
-    static int sLastFrame = -1;
-    int newFrame = ImGui::GetFrameCount();
-
-    if (sLastFrame != newFrame &&
-        io.ConfigFlags & ImGuiConfigFlags_ViewportsEnable) {
-      sLastFrame = newFrame;
-      ImGui::UpdatePlatformWindows();
-      ImGui::RenderPlatformWindowsDefault();
-    }
-    //=========================================================================================
-
-    // Present
-    // HRESULT hr = g_pSwapChain->Present(1, 0);   // Present with vsync
-    HRESULT hr = g_pSwapChain->Present(0, 0);  // Present without vsync
-    g_SwapChainOccluded = (hr == DXGI_STATUS_OCCLUDED);
-  }
-
-  // Cleanup
-  ImGui_ImplDX11_Shutdown();
-  ImGui_ImplWin32_Shutdown();
-  sample.Shutdown();  // @SAMPLE_EDIT
-  ImGui::DestroyContext();
-
-  CleanupDeviceD3D();
-  ::DestroyWindow(hwnd);
-  ::UnregisterClassW(wc.lpszClassName, wc.hInstance);
-
-  return 0;
-}
-
-// Helper functions
-bool CreateDeviceD3D(HWND hWnd) {
-  // Setup swap chain
-  DXGI_SWAP_CHAIN_DESC sd;
-  ZeroMemory(&sd, sizeof(sd));
-  sd.BufferCount = 2;
-  sd.BufferDesc.Width = 0;
-  sd.BufferDesc.Height = 0;
-  sd.BufferDesc.Format = DXGI_FORMAT_R8G8B8A8_UNORM;
-  sd.BufferDesc.RefreshRate.Numerator = 60;
-  sd.BufferDesc.RefreshRate.Denominator = 1;
-  sd.Flags = DXGI_SWAP_CHAIN_FLAG_ALLOW_MODE_SWITCH;
-  sd.BufferUsage = DXGI_USAGE_RENDER_TARGET_OUTPUT;
-  sd.OutputWindow = hWnd;
-  sd.SampleDesc.Count = 1;
-  sd.SampleDesc.Quality = 0;
-  sd.Windowed = TRUE;
-  sd.SwapEffect = DXGI_SWAP_EFFECT_DISCARD;
-
-  UINT createDeviceFlags = 0;
-  // createDeviceFlags |= D3D11_CREATE_DEVICE_DEBUG;
-  D3D_FEATURE_LEVEL featureLevel;
-  const D3D_FEATURE_LEVEL featureLevelArray[2] = {
-      D3D_FEATURE_LEVEL_11_0,
-      D3D_FEATURE_LEVEL_10_0,
-  };
-  HRESULT res = D3D11CreateDeviceAndSwapChain(
-      nullptr, D3D_DRIVER_TYPE_HARDWARE, nullptr, createDeviceFlags,
-      featureLevelArray, 2, D3D11_SDK_VERSION, &sd, &g_pSwapChain,
-      &g_pd3dDevice, &featureLevel, &g_pd3dDeviceContext);
-  if (res == DXGI_ERROR_UNSUPPORTED)  // Try high-performance WARP software
-                                      // driver if hardware is not available.
-    res = D3D11CreateDeviceAndSwapChain(
-        nullptr, D3D_DRIVER_TYPE_WARP, nullptr, createDeviceFlags,
-        featureLevelArray, 2, D3D11_SDK_VERSION, &sd, &g_pSwapChain,
-        &g_pd3dDevice, &featureLevel, &g_pd3dDeviceContext);
-  if (res != S_OK) return false;
-
-  CreateRenderTarget();
-  return true;
-}
-
-void CleanupDeviceD3D() {
-  CleanupRenderTarget();
-  if (g_pSwapChain) {
-    g_pSwapChain->Release();
-    g_pSwapChain = nullptr;
-  }
-  if (g_pd3dDeviceContext) {
-    g_pd3dDeviceContext->Release();
-    g_pd3dDeviceContext = nullptr;
-  }
-  if (g_pd3dDevice) {
-    g_pd3dDevice->Release();
-    g_pd3dDevice = nullptr;
-  }
-}
-
-void CreateRenderTarget() {
-  ID3D11Texture2D* pBackBuffer;
-  g_pSwapChain->GetBuffer(0, IID_PPV_ARGS(&pBackBuffer));
-  g_pd3dDevice->CreateRenderTargetView(pBackBuffer, nullptr,
-                                       &g_mainRenderTargetView);
-  pBackBuffer->Release();
-}
-
-void CleanupRenderTarget() {
-  if (g_mainRenderTargetView) {
-    g_mainRenderTargetView->Release();
-    g_mainRenderTargetView = nullptr;
-  }
-}
-
-// Forward declare message handler from imgui_impl_win32.cpp
-extern IMGUI_IMPL_API LRESULT ImGui_ImplWin32_WndProcHandler(HWND hWnd,
-                                                             UINT msg,
-                                                             WPARAM wParam,
-                                                             LPARAM lParam);
-
-// Win32 message handler
-// You can read the io.WantCaptureMouse, io.WantCaptureKeyboard flags to tell if
-// dear imgui wants to use your inputs.
-// - When io.WantCaptureMouse is true, do not dispatch mouse input data to your
-// main application, or clear/overwrite your copy of the mouse data.
-// - When io.WantCaptureKeyboard is true, do not dispatch keyboard input data to
-// your main application, or clear/overwrite your copy of the keyboard data.
-// Generally you may always pass all inputs to dear imgui, and hide them from
-// your application based on those two flags.
-LRESULT WINAPI WndProc(HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam) {
-  if (ImGui_ImplWin32_WndProcHandler(hWnd, msg, wParam, lParam)) return true;
-
-  switch (msg) {
-    case WM_SIZE:
-      if (wParam == SIZE_MINIMIZED) return 0;
-      g_ResizeWidth = (UINT)LOWORD(lParam);  // Queue resize
-      g_ResizeHeight = (UINT)HIWORD(lParam);
-      return 0;
-    case WM_SYSCOMMAND:
-      if ((wParam & 0xfff0) == SC_KEYMENU)  // Disable ALT application menu
-        return 0;
-      break;
-    case WM_DESTROY:
-      ::PostQuitMessage(0);
-      return 0;
-  }
-  return ::DefWindowProcW(hWnd, msg, wParam, lParam);
-}
-
-int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
-                   LPSTR lpCmdLine, int nShowCmd) {
-  IM_UNUSED(hInstance);
-  IM_UNUSED(hPrevInstance);
-  IM_UNUSED(lpCmdLine);
-  IM_UNUSED(nShowCmd);
-  return main(0, nullptr);
-}
-//=================================================================================================
diff --git a/python/mujoco/experimental/netimgui/Code/Sample/SampleNoBackend/SampleNoBackend.cpp b/python/mujoco/experimental/netimgui/Code/Sample/SampleNoBackend/SampleNoBackend.cpp
deleted file mode 100644
index 41226a5a..00000000
--- a/python/mujoco/experimental/netimgui/Code/Sample/SampleNoBackend/SampleNoBackend.cpp
+++ /dev/null
@@ -1,198 +0,0 @@
-// Adapted for Google: removed NETIMGUI_IMPLEMENTATION (sources compiled
-// separately), updated include paths for third_party layout.
-
-//=================================================================================================
-// SAMPLE NO BACKEND
-//-------------------------------------------------------------------------------------------------
-// Demonstration of using Dear ImGui without any Backend support.
-// This way, user can use DearImgui without any code needed for drawing / input
-// management, since it is all handled by the NetImgui remote server instead.
-// Useful when this code is running on hardward without any display and/or
-// convenient input.
-//
-// Because we are not using any Backend code, this Sample is a little bit
-// different from the others. All of its code is included in this file (except
-// for Dear ImGui sources) and does not rely on some shared sample source file.
-//
-// This sample compile both 'Dear Imgui' and 'NetImgui' sources directly
-// (not using their project version in the solution)
-//
-// NOTE:	This sample is also use in backward compatibility test with
-// older Dear ImGui versions,
-//			making it easier to compile Dear Imgui without any OS
-//specific code (Backends)
-//
-// NOTE:	This is also an excellent example of own little is needed to add
-// NetImgui support
-//			to a project. It doesn't handle Font DPI regeneration,
-//keeping things simple.
-//=================================================================================================
-
-#include <stdio.h>
-
-#include <chrono>
-#include <thread>
-
-#include "NetImgui_Api.h"
-#include "Source/Fonts/Roboto_Medium.cpp"
-
-namespace SampleNoBackend {
-
-enum eSampleState : uint8_t {
-  Start,
-  Disconnected,
-  Connected,
-};
-
-//=================================================================================================
-// Initialize the Dear Imgui Context and the NetImgui library
-//=================================================================================================
-bool Client_Startup() {
-  IMGUI_CHECKVERSION();
-  ImGui::CreateContext();
-  ImGuiIO& io = ImGui::GetIO();
-  io.BackendFlags |=
-      ImGuiBackendFlags_HasGamepad;  // Enable NetImgui Gamepad support
-  io.DisplaySize = ImVec2(8, 8);
-
-  ImFontConfig FontConfig = {};
-  const char FontName[] = "Roboto Medium";
-  memcpy(FontConfig.Name, FontName, sizeof(FontName));
-  io.Fonts->AddFontFromMemoryCompressedTTF(Roboto_Medium_compressed_data,
-                                           Roboto_Medium_compressed_size, 16.f,
-                                           &FontConfig);
-#if !NETIMGUI_IMGUI_TEXTURES_ENABLED
-  io.Fonts->Build();
-  io.Fonts->SetTexID(0);
-#endif
-
-  ImGui::StyleColorsDark();
-
-  if (!NetImgui::Startup()) return false;
-
-  return true;
-}
-
-//=================================================================================================
-// Release resources
-//=================================================================================================
-void Client_Shutdown() {
-  NetImgui::Shutdown();
-  ImGui::DestroyContext(ImGui::GetCurrentContext());
-}
-
-//=================================================================================================
-// Manage connection to NetImguiServer
-//=================================================================================================
-void Client_Connect(eSampleState& sampleState) {
-  constexpr char zClientName[] = "SampleNoBackend (ImGui " IMGUI_VERSION ")";
-  if (sampleState == eSampleState::Start) {
-    printf("- Connecting to NetImguiServer to (127.0.0.1:%i)... ",
-           NetImgui::kDefaultServerPort);
-    NetImgui::ConnectToApp(zClientName, "localhost");
-    while (NetImgui::IsConnectionPending());
-    bool bSuccess = NetImgui::IsConnected();
-    sampleState =
-        bSuccess ? eSampleState::Connected : eSampleState::Disconnected;
-    printf(bSuccess ? "Success\n" : "Failed\n");
-    if (!bSuccess) {
-      printf("- Waiting for a connection from NetImguiServer on port %i... ",
-             NetImgui::kDefaultClientPort);
-      NetImgui::ConnectFromApp(zClientName);
-    }
-  } else if (sampleState == eSampleState::Disconnected &&
-             NetImgui::IsConnected()) {
-    sampleState = eSampleState::Connected;
-    printf("CONNECTED\n");
-  } else if (sampleState == eSampleState::Connected &&
-             !NetImgui::IsConnected()) {
-    sampleState = eSampleState::Disconnected;
-    printf("DISCONNECTED\n");
-    printf("- Waiting for a connection from NetImguiServer on port %i... ",
-           NetImgui::kDefaultClientPort);
-    NetImgui::ConnectFromApp(zClientName);
-  }
-}
-
-//=================================================================================================
-// Render all of our Dear ImGui Content (when appropriate)
-//=================================================================================================
-void Client_Draw(bool& bQuit) {
-  if (NetImgui::IsConnected() && NetImgui::NewFrame(true)) {
-    ImGui::ShowDemoWindow();
-
-    ImGui::SetNextWindowPos(ImVec2(32, 48), ImGuiCond_Once);
-    ImGui::SetNextWindowSize(ImVec2(400, 400), ImGuiCond_Once);
-    if (ImGui::Begin("Sample No Backend", nullptr)) {
-      ImGui::TextColored(ImVec4(0.1, 1, 0.1, 1), "Client:");
-      ImGui::TextUnformatted(" DearImgui Version: " IMGUI_VERSION);
-      ImGui::TextUnformatted(" NetImgui Version:  " NETIMGUI_VERSION);
-      ImGui::TextUnformatted("");
-      ImGui::SameLine();
-      bQuit = ImGui::Button("  Quit  ");
-      if (ImGui::IsItemHovered()) ImGui::SetTooltip("Terminate this sample.");
-      ImGui::NewLine();
-      ImGui::TextColored(ImVec4(0.1, 1, 0.1, 1), "Description:");
-      ImGui::TextWrapped(
-          "This sample demonstate the ability to use Dear ImGui without any "
-          "Backend. "
-          "Rely instead on NetImgui to remotely handle drawing and inputs. "
-          "This avoids the need for rendering/input/window management code on "
-          "the client itself.");
-    }
-    ImGui::End();
-
-    NetImgui::EndFrame();
-  }
-}
-
-}  // namespace SampleNoBackend
-
-int main(int, char**) {
-  printf(
-      "========================================================================"
-      "========\n");
-  printf("  NetImgui Sample: No Backend\n");
-  printf(
-      "========================================================================"
-      "========\n");
-  printf(
-      " Demonstrate 'Dear ImGui' + 'NetImgui' for a UI displayed on a remote "
-      "server.\n");
-  printf(" Dear ImGui : " IMGUI_VERSION "\n");
-  printf(" NetImgui   : " NETIMGUI_VERSION "\n");
-  printf(" ['Ctrl + C' to quit]\n");
-  printf(
-      "------------------------------------------------------------------------"
-      "--------\n");
-  if (!SampleNoBackend::Client_Startup()) {
-    printf("Failed initializing NetImgui.");
-    SampleNoBackend::Client_Shutdown();
-    return -1;
-  }
-
-  // Main loop
-  bool bQuit = false;
-  SampleNoBackend::eSampleState sampleState =
-      SampleNoBackend::eSampleState::Start;
-  while (!bQuit) {
-    // Avoids high CPU/GPU usage by releasing this thread until enough time has
-    // passed
-    static auto sLastTime = std::chrono::steady_clock::now();
-    std::chrono::duration<float> elapsedSec =
-        std::chrono::steady_clock::now() - sLastTime;
-    if (elapsedSec.count() < 1.f / 120.f) {
-      std::this_thread::sleep_for(std::chrono::microseconds(250));
-      continue;
-    }
-    sLastTime = std::chrono::steady_clock::now();
-
-    // Sample Update
-    SampleNoBackend::Client_Connect(sampleState);
-    SampleNoBackend::Client_Draw(bQuit);
-  }
-
-  // Cleanup
-  SampleNoBackend::Client_Shutdown();
-  return 0;
-}
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/Fonts/Roboto_Medium.cpp b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/Fonts/Roboto_Medium.cpp
deleted file mode 100644
index 8423be9f..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/Fonts/Roboto_Medium.cpp
+++ /dev/null
@@ -1,4828 +0,0 @@
-// File: 'Roboto-Medium.ttf' (162588 bytes)
-// Exported using binary_to_compressed_c.cpp
-const unsigned int Roboto_Medium_compressed_size = 115741;
-const unsigned int Roboto_Medium_compressed_data[115744 / 4] = {
-    0x0000bc57, 0x00000000, 0x1c7b0200, 0x00000400, 0x00010025, 0x82110000,
-    0x042e0804, 0x50471000, 0xaa7d534f, 0x02008c71, 0x0000a808, 0x53470c59,
-    0x9c4c4255, 0x0200e028, 0x0000b461, 0x534f6819, 0x0ba1322f, 0x0000b6b1,
-    0x35829801, 0x6d63603c, 0x26407061, 0x00007248, 0x00006c1a, 0x7663c812,
-    0x97042074, 0x00004a2b, 0x1f82bc2f, 0x7066562c, 0xf97b6d67, 0x0000ab61,
-    0x3382342d, 0x6167bc28, 0x08007073, 0x5f821300, 0x1f829c20, 0x670c2808,
-    0xae66796c, 0x00e9629e, 0x00dc3900, 0x68cccb01, 0x3d786d64, 0x00203c3f,
-    0x00801500, 0x68ec0400, 0xf8646165, 0x8208ab7b, 0x821c203b, 0x6836212f,
-    0x0a231082, 0x829b0aef, 0x8254200f, 0x6824280f, 0x2478746d, 0x82f544f3,
-    0x00f83b0f, 0x6c881300, 0xdd61636f, 0x00ad66de, 0x00143000, 0x6dc60900,
-    0x07707861, 0x1f830212, 0x2f827820, 0x616e202b, 0x633d656d, 0x02004c6f,
-    0x29df8205, 0x6f70d402, 0x6dff7473, 0x8f826400, 0x1f837c20, 0x6572702b,
-    0xf8b11b70, 0x2e000036, 0x220f82f0, 0x820100cc, 0x00022c05, 0xa4401100,
-    0x3c0f5f6d, 0x821b00f5, 0x0000268a, 0x11f0c400, 0x2c06822e, 0x4edbd000,
-    0xfd24fa94, 0x085c09d5, 0x230f8273, 0x00020009, 0x01260085, 0x6c070000,
-    0x83820cfe, 0x24fa6b26, 0x5c0941fe, 0x1b854984, 0x04210584, 0x821183e2,
-    0x008f2605, 0x004e0016, 0x211f8605, 0x4282000e, 0x00160223, 0x240f8206,
-    0x01950403, 0x241982f4, 0x059a0500, 0x20e18233, 0x2607851f, 0x6600d103,
-    0x88000002, 0x00002d6a, 0xff0a00e0, 0x7f210050, 0x21000000, 0x00380382,
-    0x474f4f47, 0x00004000, 0x0006fdff, 0x660000fe, 0x00029a07, 0x9f010020,
-    0x04231b83, 0x82b0053a, 0x0020240c, 0x828c0302, 0x821283f7, 0x82012003,
-    0x27038326, 0x8f002502, 0x65009802, 0x60219782, 0x081f8204, 0x00e0052b,
-    0x001d0563, 0x005a0156, 0x00ca0252, 0x00d20280, 0x00890328, 0x0075041b,
-    0x00c20144, 0x00a0021c, 0x003c0247, 0x002a0387, 0x202f8202, 0x20038269,
-    0x200382a8, 0x20038251, 0x2003824f, 0x20038234, 0x20038281, 0x20038275,
-    0x20038245, 0x08038268, 0x1f025d2e, 0xe7018200, 0x11042e00, 0x7a043f00,
-    0x2a049100, 0xe4038000, 0x28073c00, 0x53055b00, 0x0c051200, 0x39059400,
-    0x3a056600, 0x86049400, 0x65200382, 0x72300f82, 0xaf056a00, 0x42029400,
-    0x7104a300, 0x0b052d00, 0x54241782, 0x01079400, 0xae201b82, 0x86200382,
-    0x1d202f82, 0x60220784, 0x1b82fe04, 0x4a00d424, 0x2782db04, 0x7d00373e,
-    0x12002d05, 0x30000a07, 0x29001005, 0x0700e004, 0x5000d104, 0x84003102,
-    0x14005803, 0x0c3a0782, 0x35006b03, 0x03009c03, 0x31009402, 0x5a005404,
-    0x7c008104, 0x4f003004, 0x03828404, 0x53004b2a, 0x2d00d602, 0x52008904,
-    0x792a7782, 0x7d000b02, 0xb5ff0102, 0x07822d04, 0x8c000b24, 0x2b82f606,
-    0x79007324, 0x2b828e04, 0x8b243783, 0xd0024f00, 0x213a1382, 0xa9024b00,
-    0x72040800, 0xf5037700, 0xf2051600, 0x06042100, 0xe5031f00, 0x07820c00,
-    0xaf025228, 0x02023800, 0x0782ae00, 0x51051b34, 0x1e027500, 0x7d048600,
-    0xb5046400, 0x9d055e00, 0xa7825d00, 0xfc01193c, 0xf8048800, 0x85035a00,
-    0x44065d00, 0x91035700, 0xe2038d00, 0x6d045700, 0x0f847f00, 0x8700db2e,
-    0x7f000a03, 0x5f004a04, 0x3c00f602, 0x37340382, 0x70009b02, 0x9200bb04,
-    0x4500ed03, 0x8e004202, 0x6d001002, 0x80221782, 0x8782a703, 0x00e23408,
-    0x00d0055d, 0x002b0659, 0x00570650, 0x00e40367, 0xff850742, 0x004404f6,
-    0x0084054d, 0x00ca0469, 0x00e70494, 0x00c10688, 0x00a70448, 0x00910467,
-    0x82880443, 0x00973ad7, 0x00b00582, 0x001a021f, 0x0098048f, 0x0064048e,
-    0x004f0222, 0x00930521, 0x081f8290, 0xb4077e36, 0x3a076400, 0x0c025b00,
-    0x88058b00, 0xd0025100, 0x8a05e4ff, 0x9e045800, 0xa4054f00, 0xf2047d00,
-    0x26027700, 0x3c04b5ff, 0xe6035900, 0xb0039400, 0xdc037200, 0x7c20bb82,
-    0x0b3ef782, 0xb2028100, 0x4d027800, 0xd8032900, 0x1f037a00, 0x6c024900,
-    0x00008200, 0x00008efc, 0x07825efd, 0x07827320, 0x07823e20, 0x07820c20,
-    0x5d021c24, 0x4782c600, 0xdb836720, 0x00750437, 0x00bf059b, 0x007a0519,
-    0x0038055b, 0x00900420, 0x00b1056c, 0x3607829b, 0x00ef0547, 0x00aa054a,
-    0x005b0544, 0x0084046b, 0x00c60456, 0x820e0496, 0x00882a23, 0x00600454,
-    0x001a0460, 0x33bb8361, 0x7300a104, 0xa900aa02, 0x16006a04, 0x64001304,
-    0x2d00f304, 0x80261782, 0x52003704, 0x03829004, 0x3f002d22, 0x80222f82,
-    0x4b82d005, 0x00c92608, 0x0094064f, 0x00b30466, 0xff7b0476, 0x007106e1,
-    0x00fe0533, 0x00590522, 0x00880868, 0x008f082d, 0x005b069b, 0x2a778231,
-    0x00080592, 0x00060690, 0x82a20724, 0xd6280857, 0xa8054900, 0xa9059400,
-    0x0a052d00, 0x5f063900, 0xf9054f00, 0x89059200, 0x9b078e00, 0xf9079800,
-    0x1a069800, 0xf9061800, 0x3408cf82, 0x05900007, 0x076b0050, 0x04a00054,
-    0x042000f7, 0x045b007d, 0x038f008f, 0x0485005a, 0x062700f6, 0x041e0076,
-    0x044d0016, 0x04860098, 0x048f006e, 0x0621009a, 0x20078203, 0x820f8297,
-    0xf5032513, 0xd3052300, 0xd320e382, 0x66300f82, 0x8e065f00, 0xec068600,
-    0x17057e00, 0x6f061f00, 0x68202782, 0x3c380382, 0x84065100, 0x70049100,
-    0x71042700, 0x3c04dbff, 0xd1065400, 0xe4061e00, 0x89223382, 0x5b83eeff,
-    0x0049072d, 0x004f0688, 0xff670470, 0x822807e0, 0x00013e9f, 0x000c0586,
-    0x0060041c, 0x0042070a, 0x003606ac, 0x00ed069d, 0x00e60580, 0x00320982,
-    0x2ec382a3, 0x0020048f, 0x00f00328, 0x007a0533, 0x8288045f, 0x001a26e3,
-    0x000e0410, 0x210f8720, 0x53824507, 0x74004422, 0x052f5b87, 0x0466001a,
-    0x045c004a, 0x006d00ff, 0x4166fc00, 0x7b2806eb, 0xa5fd0000, 0x24fa0000,
-    0x4d200382, 0x05337f83, 0x04940013, 0x047c0086, 0x038f006a, 0x047e00a1,
-    0x829b00b7, 0x7e24086b, 0x90002c05, 0x8e00ab04, 0x34009506, 0x3d00a405,
-    0x9400d007, 0x7e00aa05, 0x9b004708, 0x7e00f506, 0x67002a06, 0x613e5b82,
-    0x2d003107, 0x26007005, 0x80007405, 0x74007304, 0x85008705, 0x16002406,
-    0xcbffc304, 0x43822105, 0x8e007824, 0x5382af05, 0x7e00882a, 0x51008805,
-    0x5b00a604, 0x5d260382, 0x3400c704, 0x3b825303, 0x52000738, 0x6800f106,
-    0x5e00dd06, 0x3c005306, 0x2f002805, 0x48007b04, 0xcb823e04, 0x00be2408,
-    0x009d0642, 0x00fd0740, 0x009e0694, 0x00040577, 0x002c045d, 0x00aa0555,
-    0x001d0521, 0x00550544, 0x822c0381, 0x00142787, 0x00290800, 0x07860400,
-    0x00b90229, 0x000a0200, 0x825c0100, 0x007f2413, 0x82300200, 0x00a2240b,
-    0x82d10000, 0x23028203, 0x4700a102, 0x05250383, 0x069d0029, 0x08438230,
-    0x04009d74, 0x6300c001, 0x3300bc01, 0x3200ce01, 0x4a00a801, 0x6c001403,
-    0x40001b03, 0x32000803, 0x40005d04, 0x5c009904, 0x8800cb02, 0x8a00fa03,
-    0x8a00a605, 0x47006c01, 0x4a00a707, 0x6c007202, 0x54006902, 0x2d009c03,
-    0x3500f602, 0x69005c03, 0x5f00b504, 0x21007006, 0x9800b806, 0x94009308,
-    0x35008807, 0x7c008c06, 0x5e008c04, 0x2100f505, 0x28003404, 0xc382a204,
-    0x005e3408, 0x007d054f, 0x00e40528, 0x00e20370, 0x002e084c, 0x00090590,
-    0x0014056d, 0x00350696, 0x00dd0659, 0x00d10654, 0x00a2065b, 0x00910458,
-    0x00960562, 0x82d904a6, 0x8328088b, 0xb2049e00, 0x45083b00, 0x2d025e00,
-    0x8e04afff, 0x7a046500, 0x11049100, 0x2a043c00, 0x0c048000, 0x5b022400,
-    0x9802a100, 0xf130d382, 0x1b054500, 0xa8042d00, 0xbc041800, 0x23072d00,
-    0x05280385, 0x062d0011, 0x004b00b7, 0x083b0082, 0x08590030, 0x045c0035,
-    0x043a0033, 0x024f0093, 0x01b0ff10, 0x035c00b3, 0x877500a1, 0x0b042303,
-    0x03857500, 0x824cff21, 0x837a2007, 0x05022f17, 0x9e049400, 0x60040900,
-    0x80047600, 0x83824f00, 0xe0037626, 0xc5037600, 0xa6300f82, 0xde045400,
-    0xfc017600, 0xd5038500, 0x5b042400, 0xb9241782, 0x06067600, 0xdd201b82,
-    0xc0200382, 0x6d202f82, 0x4c220784, 0x07825c04, 0x3e003424, 0x27823b04,
-    0x67008432, 0x09007b04, 0x28000706, 0x15005e04, 0x05003c04, 0x4124d382,
-    0x4b00f602, 0x80200382, 0x22088b45, 0x823500f6, 0x824f200b, 0x824d2003,
-    0x86362003, 0x0346281f, 0x029000b9, 0x829600b2, 0x040a324b, 0x055600bb,
-    0x059b0044, 0x049b0028, 0x05810030, 0x23078239, 0x0481002d, 0x66266b83,
-    0x4d043800, 0x2f820e00, 0x6f837620, 0x8f830420, 0x03257782, 0x04420098,
-    0x308f82d8, 0x05440019, 0x0550009d, 0x04500054, 0x055f00e4, 0x829b8291,
-    0x540729e3, 0x57072400, 0x97057600, 0xd7200f82, 0x71202782, 0x59280b82,
-    0x3a062700, 0x46041a00, 0xe4203b82, 0x5c201382, 0xcb200382, 0x46241f82,
-    0x5d051f00, 0x8c280b82, 0x84064100, 0x0a077600, 0x5a242b82, 0x20060a00,
-    0x67201382, 0x80240382, 0x92063c00, 0x88240782, 0x22044300, 0x92201782,
-    0x9d204382, 0x1a202382, 0x6e300382, 0xf0052400, 0x5a044f00, 0xc4040500,
-    0x95061500, 0x47824f82, 0x828c0421, 0x00fe241b, 0x82d2040a, 0x836f831b,
-    0x25cb82b7, 0x4600f703, 0x4b823608, 0x2800eb28, 0x7c008804, 0xb7823d04,
-    0x4f00982c, 0x5b00a403, 0x4c00a104, 0x13829404, 0x33829f20, 0x53004b2c,
-    0x51008904, 0x6b007a05, 0x0382a205, 0x9b008624, 0x0782e005, 0x6b00e22c,
-    0x97001b04, 0x6e008204, 0x4782b903, 0x0f005726, 0x3500be04, 0x41065741,
-    0x0428146b, 0x0466006b, 0x0643002e, 0x042b6782, 0x047300b4, 0x026200eb,
-    0x84b5ff26, 0x001b2703, 0xff1b028f, 0x078202fb, 0x0060042f, 0x00fe0176,
-    0x00a00200, 0xff580547, 0x2f0383f7, 0xd4ff8f04, 0x2d00db04, 0xe8ffa902,
-    0x12005305, 0x39200398, 0x86236382, 0x8a049400, 0x42022703, 0x4202c8ff,
-    0x0782a300, 0x0382cb20, 0xae05bf28, 0x86059400, 0x03906600, 0x7d003723,
-    0x27038a05, 0x0700e004, 0x5a005404, 0x30200398, 0x23061f41, 0x0453004b,
-    0x02250386, 0x02b4ff1a, 0x22cb821a, 0x82b7ff1a, 0x04ab210b, 0x20078f48,
-    0x8b2b828e, 0x00722303, 0x038a0477, 0x00e50323, 0x8303830c, 0x906f83d7,
-    0x82d78307, 0x9705206f, 0x823a2007, 0x821a20d3, 0x83f78363, 0x27079e8b,
-    0x6a007205, 0x52008904, 0xaf2a0798, 0x71049400, 0x42027900, 0xc782b3ff,
-    0x07829f20, 0x0782b920, 0x0782a520, 0x0782df20, 0x4202cb34, 0x0b021700,
-    0x42020000, 0xb3069d00, 0x0c04a300, 0x2f827d00, 0x26022d26, 0x0b05b5ff,
-    0x2d203b82, 0x54220f82, 0x23829400, 0xcf828a20, 0x55200783, 0xa1220784,
-    0x07848c00, 0x8c00e724, 0x2782ae05, 0x79007322, 0x042b078f, 0x05a5ff73,
-    0x04660086, 0x8f4f008e, 0xfe042107, 0xd0225382, 0x07867c00, 0x07864f20,
-    0xd4043828, 0x21044a00, 0x07a04b00, 0x2d00db26, 0x0800a902, 0x86054b42,
-    0x00d12407, 0x82370508, 0x007222af, 0x2f07a777, 0x30000a07, 0x2100f205,
-    0x0700e004, 0x0c00e503, 0x04270783, 0x045000d1, 0x8f520006, 0x85073307,
-    0xc106f6ff, 0x84054800, 0x88046900, 0x7a044f00, 0x0384a6ff, 0x24003b26,
-    0x09009e04, 0x80250398, 0xe0034f00, 0x05234500, 0x01270786, 0x01a6fffc,
-    0x828300fc, 0x82a92007, 0x049d2103, 0x20071b45, 0x8b5782c0, 0x00842303,
-    0x038b0467, 0x05003c22, 0x5b82678c, 0x038b0420, 0x6a007a22, 0x0f836b8f,
-    0x00a60423, 0x22038c54, 0x827600de, 0x82912077, 0x82972003, 0x82bd2003,
-    0x8215208b, 0x457c2003, 0x03210bb3, 0x05bb45b9, 0x9f840783, 0xa78fa383,
-    0xf7445c20, 0x23078306, 0x043e0034, 0x3b23038b, 0x87042400, 0x86c78f03,
-    0x0706240f, 0x83042800, 0x06ef45d3, 0x002a0423, 0x3f038341, 0x12005305,
-    0x4affea04, 0x53ff1306, 0x56ffa602, 0xa7ff9a05, 0xe1fe4405, 0xb2ff6f05,
-    0x87ffaa02, 0x05211f83, 0x061f440c, 0x5000d122, 0x2107c74c, 0xbf4c0b05,
-    0xdb042f11, 0xe0042d00, 0x10050700, 0x42022900, 0x0b83bfff, 0x0084042f,
-    0x00600456, 0x00880460, 0x00aa027e, 0x340b82a9, 0x00980480, 0x008e048e,
-    0x00bb044f, 0x00f50392, 0x00060416, 0x206b821f, 0x831b84cc, 0x00602417,
-    0x44940680, 0x75260697, 0xd4049b00, 0x8f444a00, 0x04bf2806, 0x052d0071,
-    0x839b0028, 0x0a05237f, 0x9f883900, 0x86242783, 0xa8059400, 0xaf209786,
-    0x2006b344, 0x202b82b1, 0x200b821d, 0x824f8239, 0x279b839f, 0x5a005404,
-    0x53004b04, 0x86208782, 0x334d8784, 0x4c032006, 0x1f2005df, 0x03371b83,
-    0x0485005a, 0x024b0021, 0x027d000b, 0x02abff1a, 0x04b5ff01, 0x838f006e,
-    0x07cb4223, 0xdb42078f, 0x5a013b07, 0x98025200, 0x4a046500, 0x26028f00,
-    0xbc01b1ff, 0x01073300, 0xf6069400, 0xaf837c00, 0xab867f84, 0x05258787,
-    0x054400aa, 0x07774ac9, 0x08f1ff27, 0x094f0073, 0x26b3826b, 0x044900d6,
-    0x444d0016, 0x638307c7, 0x000e042f, 0x00420220, 0x00a207a3, 0x00760616,
-    0x440b831e, 0x43430fff, 0x44042007, 0x052706d7, 0x04510088, 0x8359003c,
-    0x20378703, 0x275b8704, 0x049400a8, 0x05860098, 0x4b440787, 0x070b4b07,
-    0x50220787, 0x3f826b00, 0x0a055128, 0xe5033900, 0x07900c00, 0x8e008938,
-    0x5f006604, 0x9b00f906, 0x8f006f06, 0x29001005, 0x1f000604, 0xd7828404,
-    0x2d00a926, 0x21009a04, 0x0f8aa78f, 0x54041024, 0x1f9a9aff, 0xe7451220,
-    0x00532114, 0xef87178c, 0xff250799, 0xff4b04d5, 0x271f978e, 0xa3004202,
-    0x8f001a02, 0x94240782, 0x78000b02, 0x8a0f4f45, 0x0427240f, 0x98a3ff8e,
-    0x07434e1f, 0x4745079f, 0x06734e0f, 0x97077b4e, 0x0b474507, 0x4f450320,
-    0x23078406, 0x044f00a2, 0x05370382, 0x049b0028, 0x058f006e, 0x049400af,
-    0x04860097, 0x032d00db, 0x412300f5, 0x05200793, 0x8706ab41, 0x75042707,
-    0x5a039b00, 0x1b428500, 0x07634c07, 0x00710427, 0xff070579, 0x2f0383d0,
-    0xf0ff7504, 0xe2ff5a03, 0xe3ff3c05, 0xaeff4404, 0x86082f42, 0x01072563,
-    0x03069400, 0xeb417382, 0x07ab4206, 0x042b7387, 0x04600060, 0x06020065,
-    0x51810030, 0xa0261067, 0xb4045d00, 0x5f477d00, 0x07eb4608, 0x3005df41,
-    0x0086040d, 0x004b0448, 0xfe420201, 0xfe1a02f6, 0x067741e2, 0xfe041636,
-    0xd0023200, 0x37056eff, 0x72047100, 0xdf040f00, 0x0c05acfe, 0x8124f382,
-    0x3a057c00, 0x84220782, 0x07884f00, 0x4706a347, 0x7747076f, 0x4378200e,
-    0x7b8708a3, 0x47851d20, 0x20063347, 0x082b4772, 0x27061347, 0x12002d05,
-    0x1600f503, 0xe3460787, 0x06d74608, 0xfecc053f, 0x009e041c, 0xff1c0409,
-    0xff1a052a, 0xff380237, 0xffca0439, 0xfe780493, 0xffee04e8, 0x201b84a4,
-    0x05af4660, 0x002a0423, 0x07cf4b41, 0x4b5b0421, 0xc34b06c7, 0x003b2e07,
-    0x003c0424, 0x005e0405, 0xfffc0115, 0x210b839d, 0x3346e003, 0x34042705,
-    0xfc013e00, 0x17838500, 0x23075346, 0x1f004604, 0xb9205b88, 0xe4205f86,
-    0xde235386, 0x83047600, 0x82d82057, 0x826d2007, 0x00802303, 0x5f83044f,
-    0x37825b82, 0x83834220, 0x13830420, 0x05246f82, 0x040a00fe, 0x17823782,
-    0x9d051f24, 0xbb445000, 0x0421080b, 0x0253004b, 0x0078001a, 0x00010000,
-    0x09e40400, 0x0000040b, 0x03020202, 0x06070506, 0x04030302, 0x20048405,
-    0x21008705, 0x09820202, 0x06080422, 0x05270082, 0x03060605, 0x84050605,
-    0x8306200c, 0x8208200d, 0x04022505, 0x03040402, 0x05822e84, 0x05020224,
-    0x0c830802, 0x0305032c, 0x05070405, 0x02030504, 0x43820603, 0x0205062a,
-    0x04070406, 0x04070504, 0x03201a82, 0x18821c82, 0x07040426, 0x08040707,
-    0x06205382, 0x28833484, 0x09238882, 0x82060208, 0x82062006, 0x8204200e,
-    0x21908300, 0xb0820304, 0x03200282, 0x06225682, 0x31820606, 0x05820720,
-    0x05207584, 0x0f821282, 0x4d820b83, 0x07050526, 0x0a0a0607, 0x07221d82,
-    0x29820509, 0x09220d82, 0xb2820709, 0xab820820, 0x07060422, 0x05202684,
-    0x05209a83, 0x07221582, 0x02820505, 0x08080526, 0x07080505, 0xdc820282,
-    0x07080727, 0x0405090a, 0x85528206, 0x8209820d, 0x21028278, 0x37820605,
-    0x052af682, 0x06090607, 0x06070809, 0x1b820608, 0x28840720, 0x33821a82,
-    0x14820820, 0x09050525, 0x82070907, 0x06063418, 0x05090504, 0x02020309,
-    0x01020205, 0x06030300, 0x82020407, 0x04032200, 0x24b28203, 0x09020604,
-    0x240a8203, 0x08070504, 0x237b820a, 0x06050507, 0x09202082, 0x08200482,
-    0x4f830e82, 0x05020922, 0x03220083, 0x0d820203, 0x06080827, 0x09090008,
-    0x224b8205, 0x83040404, 0x84042017, 0x210b831e, 0xcf840402, 0xd0852d84,
-    0x00880320, 0x06206c83, 0x31848d82, 0x3a820482, 0x00820620, 0x4f820520,
-    0x06050525, 0x82060507, 0x41062013, 0x1082090a, 0x05211482, 0x22468507,
-    0x84090405, 0x830520d8, 0x24358200, 0x05050707, 0x85bc8204, 0x2023835d,
-    0x83d08206, 0x820320e0, 0x82052063, 0x82248204, 0x82b68502, 0x860e85f1,
-    0x0a534211, 0x0d883282, 0x6b410420, 0x05714106, 0x06200582, 0x5a411a88,
-    0x22138206, 0x86020305, 0x05082301, 0x21820205, 0x02050224, 0x71820305,
-    0x04842284, 0x06050623, 0x89018303, 0x8720833d, 0x215d8522, 0xbf830708,
-    0x08212184, 0x22678a08, 0x82040505, 0x8acb8300, 0x820a873d, 0x04042119,
-    0xec840c84, 0x2b840420, 0x12822792, 0x16840720, 0x07060625, 0x82060603,
-    0x0506218b, 0x08209383, 0x0621ff84, 0x841b8303, 0x82042004, 0x05052898,
-    0x05050507, 0x82050303, 0x8306201c, 0x06554327, 0x04219486, 0x82a88205,
-    0x0405236e, 0x01830708, 0x02040526, 0x02020503, 0x8205b541, 0x06072855,
-    0x050b0a05, 0x82050605, 0x82092043, 0x2109826d, 0x0f840808, 0x83070921,
-    0x084c4106, 0x04060522, 0x05220184, 0x2c820708, 0x5b41168a, 0x061e420a,
-    0x0323d28c, 0x99020302, 0x4119822d, 0x042009da, 0x0420aa82, 0x37437485,
-    0x04052407, 0x82070709, 0x87062012, 0x847d8410, 0x052241ae, 0x84083443,
-    0x8e032065, 0x8405209a, 0x216482e8, 0xdf820503, 0x0820bf83, 0x20059142,
-    0x43108206, 0x02210585, 0x28488505, 0x04040502, 0x04020205, 0x21008205,
-    0xdf430404, 0x24c88605, 0x06050607, 0x240b8206, 0x00000002, 0x24038603,
-    0x0003001c, 0x830b8201, 0x000a2807, 0x00880600, 0x826c0604, 0x00ea260f,
-    0x00060080, 0x0809826a, 0x0d0002e7, 0xa0007e00, 0xad00ac00, 0xc600bf00,
-    0xe600cf00, 0xfe00ef00, 0x11010f01, 0x27012501, 0x53013001, 0x67015f01,
-    0x7f017e01, 0x92018f01, 0xb001a101, 0xff01f001, 0x37021b02, 0xbc025902,
-    0xc902c702, 0xf302dd02, 0x03030103, 0x0f030903, 0x8a032303, 0x92038c03,
-    0xb003a103, 0xc903b903, 0xd203ce03, 0x2504d603, 0x45042f04, 0x62044f04,
-    0x79046f04, 0xce048604, 0xe104d704, 0x0105f504, 0x13051005, 0x3f1e011e,
-    0xf11e851e, 0xf91ef31e, 0x0b204d1f, 0x15201120, 0x22201e20, 0x30202720,
-    0x3a203320, 0x44203c20, 0x7f207420, 0xaa20a420, 0xb120ac20, 0xbd20ba20,
-    0x13210521, 0x22211621, 0x2e212621, 0x02225e21, 0x0f220622, 0x1a221222,
-    0x2b221e22, 0x60224822, 0xca256522, 0xc3f602ee, 0xfffe04fb, 0xfffffdff,
-    0x83008300, 0x822020eb, 0x82a120eb, 0x00ae3ceb, 0x00c700c0, 0x00e700d0,
-    0x01ff00f0, 0x01120110, 0x01280126, 0x01540131, 0x86680160, 0x01a022eb,
-    0x22eb82af, 0x861802fa, 0x82c620eb, 0x82d820eb, 0x880020eb, 0x828420eb,
-    0x038e2ceb, 0x03a30393, 0x03ba03b1, 0x82d103ca, 0x002808eb, 0x30042604,
-    0x50044604, 0x70046304, 0x88047a04, 0xd804cf04, 0xf604e204, 0x11050205,
-    0x3e1e001e, 0xa01e801e, 0xf41ef21e, 0x002aeb82, 0x13201020, 0x20201720,
-    0xeb822520, 0x39203222, 0xa324eb88, 0xab20a620, 0xb922eb82, 0xeb8cbc20,
-    0xeb865b20, 0xeb8a1120, 0xeb826420, 0xeb820120, 0xeb820120, 0xeb82fc20,
-    0x00000132, 0xe4fff6ff, 0xc2ffa401, 0xc1ff9801, 0x8b010000, 0x86200382,
-    0x82200382, 0x80200382, 0x7e200382, 0x76200382, 0x782d0382, 0x06ff15ff,
-    0xf7fe04ff, 0xba01eafe, 0x37008200, 0x43fe64fe, 0xd7fdef00, 0xc8fdd6fd,
-    0xa7fdb3fd, 0xa1fda6fd, 0x89fd9cfd, 0xca225182, 0x2082c9ff, 0x09fd0022,
-    0xaa280b82, 0xfafcfdfc, 0xb9fc0000, 0xb1200382, 0xa6200382, 0xa0240382,
-    0xf4fe0000, 0xf1200382, 0x2e080b82, 0xe5000049, 0xe56ee5ae, 0xe44ee51f,
-    0xe54ce5b3, 0xe15be15c, 0xe1000057, 0xe153e154, 0xe349e151, 0xe341e175,
-    0xe138e16d, 0x00ffe009, 0x82dae000, 0xd5340803, 0xcde0cee0, 0x79e086e0,
-    0x6ce077e0, 0x61e093df, 0x92df35e0, 0x86dfabde, 0x7edf85df, 0x6fdf7bdf,
-    0x3cdf53df, 0xd5db39df, 0xdf0a9f13, 0xab02a306, 0x0100af01, 0x038c8f83,
-    0x00214982, 0x20d782e4, 0x2003820e, 0x20038a28, 0x24258c6a, 0x016a0100,
-    0x89118d74, 0x6201210d, 0x21820b83, 0x00008624, 0x0b839e01, 0xb6200782,
-    0xfe240382, 0x26020000, 0x48200382, 0x58200382, 0xe2200382, 0xf2240382,
-    0x06030000, 0x058b2385, 0x8bf80221, 0x240b870d, 0x0000e802, 0x87038202,
-    0x0a07ab0f, 0x024b02b6, 0x024d024c, 0x024f024e, 0x02810050, 0x025b0247,
-    0x025d025c, 0x025f025e, 0x00820060, 0x02610283, 0x02630262, 0x00650264,
-    0x02850084, 0x02670266, 0x02690268, 0x006b026a, 0x02870086, 0x02770276,
-    0x02790278, 0x007b027a, 0x02890088, 0x027d027c, 0x027f027e, 0x028a0080,
-    0x00460446, 0x0048028b, 0x02af028c, 0x02b102b0, 0x02b302b2, 0x028d00b4,
-    0x02b602b5, 0x02b802b7, 0x02ba02b9, 0x00bc02bb, 0x028f008e, 0x02be02bd,
-    0x02c002bf, 0x02c202c1, 0x009000c3, 0x02c40291, 0x02c602c5, 0x02c802c7,
-    0x009200c9, 0x02d80293, 0x02dc02d9, 0x02de02dd, 0x024902df, 0x0251024a,
-    0x02f7026c, 0x02f902f8, 0x02d602fa, 0x02da02d7, 0x00ad00db, 0x005203ae,
-    0x035303af, 0x00550354, 0x03b100b0, 0x035d035c, 0x03b2005e, 0x0060035f,
-    0x036103b3, 0x03b40062, 0x03b50063, 0x03b60064, 0x00660365, 0x006703b7,
-    0x03b900b8, 0x03690368, 0x036b036a, 0x036d036c, 0x006f036e, 0x037103c3,
-    0x03c40072, 0x00c50070, 0x00c700c6, 0x00c900c8, 0x03cb00ca, 0x00cc0073,
-    0x03b003cd, 0x03d10079, 0x03d2007a, 0x037c037b, 0x007e037d, 0x00d400d3,
-    0x038003d5, 0x008103b1, 0x008203d6, 0x038303d7, 0x03d80084, 0x00d90085,
-    0x03db00da, 0x007f0386, 0x038703dc, 0x03890388, 0x038b038a, 0x008d038c,
-    0x03de00dd, 0x008f038e, 0x00ea00e9, 0x03ec00eb, 0x00ed0090, 0x03ef00ee,
-    0x00f00091, 0x00f200f1, 0x009203f3, 0x039303f4, 0x03f50094, 0x03f60095,
-    0x03b20396, 0x03010197, 0x03020198, 0x039a0399, 0x019c039b, 0x01040103,
-    0x039d0305, 0x019e03b3, 0x01070106, 0x035c0408, 0x01b503b4, 0x01170116,
-    0x03190118, 0x03b703b6, 0x01b803b9, 0x04280127, 0x04620461, 0x0129015b,
-    0x012b012a, 0x042d012c, 0x015e045d, 0x042f012e, 0x03570456, 0x04bb03ba,
-    0x01490448, 0x04310130, 0x0160045f, 0x04330132, 0x014b044a, 0x01350134,
-    0x01370136, 0x03390138, 0x04bd03bc, 0x034d044c, 0x04bf03be, 0x046a0469,
-    0x014f044e, 0x043b013a, 0x01510450, 0x013d013c, 0x015a043e, 0x0440013f,
-    0x03590458, 0x03c103c0, 0x014101c2, 0x04670442, 0x01430168, 0x04630444,
-    0x04520464, 0x04650453, 0x03450166, 0x03cc03cd, 0x03cf03ce, 0x03d103d0,
-    0x014601d2, 0x04540447, 0x03e70355, 0x014801e8, 0x03e90349, 0x046b04ea,
-    0x034a016c, 0x036d04eb, 0x01ed03ec, 0x046a0169, 0x016e046f, 0x0147047f,
-    0x000c0085, 0x0c210082, 0x82048240, 0x04012102, 0x02870482, 0x08820120,
-    0x83075e5f, 0x000d2407, 0x820d0000, 0x82032003, 0x82202003, 0x827e2003,
-    0x82042003, 0x85a02003, 0x44022103, 0xa1200782, 0xac200382, 0x63200382,
-    0xad200382, 0x02210385, 0x20078245, 0x200382ae, 0x200382bf, 0x2003826f,
-    0x240382c0, 0x020000c5, 0x2007824b, 0x200386c6, 0x20078281, 0x200382c7,
-    0x201782cf, 0x20078252, 0x210385d0, 0x07824702, 0x0382d120, 0x1782d620,
-    0x07825b20, 0x0382d720, 0x0382d820, 0x03828220, 0x0382d920, 0x1782dd20,
-    0x07826120, 0x0382de20, 0x0382df20, 0x03828420, 0x0382e020, 0x1782e520,
-    0x07826620, 0x0386e620, 0x07828620, 0x0382e720, 0x1782ef20, 0x07826d20,
-    0x0386f020, 0x07828720, 0x0382f120, 0x1782f620, 0x07827620, 0x0382f720,
-    0x0382f820, 0x03828820, 0x0382f920, 0x1782fd20, 0x07827c20, 0x0386fe20,
-    0x07828a20, 0x0000ff24, 0x17820f01, 0x0121b382, 0x820b8210, 0x46022103,
-    0x11200782, 0x04200385, 0x12200b83, 0x25200b82, 0x92202382, 0x26200782,
-    0x00210385, 0x2007828b, 0x21038527, 0xf7444802, 0x82302006, 0x82a62023,
-    0x8531200b, 0x8c002103, 0x32200782, 0x37200382, 0xaf201782, 0x38200782,
-    0x00210385, 0x2007828d, 0x20038239, 0x20178240, 0x200782b5, 0x20038241,
-    0x208b8242, 0x2007828e, 0x20038243, 0x20178249, 0x200782bd, 0x2003824a,
-    0x2017824b, 0x20078290, 0x2003824c, 0x20178251, 0x200782c4, 0x20038252,
-    0x20178253, 0x20078292, 0x20038254, 0x2017825f, 0x200782ca, 0x20038260,
-    0x200b8261, 0x200782d8, 0x20038262, 0x200b8265, 0x200782dc, 0x20038266,
-    0x200b8267, 0x20078249, 0x20038268, 0x200b827e, 0x200782e0, 0x2103857f,
-    0x07829400, 0x03858f20, 0x82950021, 0x82578307, 0x96002103, 0xa0200b82,
-    0xa1200382, 0x97206b82, 0xc3830782, 0x0b82b020, 0x0b829920, 0x0385f020,
-    0x82aa0321, 0x85fa2007, 0x51022103, 0xfb200782, 0x02210385, 0x2007826c,
-    0x200382fc, 0x206b82ff, 0x200382f7, 0x20038218, 0x20038219, 0x200382d6,
-    0x2003821a, 0x2003821b, 0x200382da, 0x21038537, 0x07829b00, 0x03855920,
-    0x829c0021, 0x85bc2007, 0xab032103, 0xc6200782, 0xc7200382, 0x9d207782,
-    0xc9200782, 0x00210385, 0x21e7859f, 0xaf42dd02, 0x82f32006, 0x2403820f,
-    0x0000a600, 0x21128203, 0x04820103, 0x0b82a720, 0x03850320, 0x82a90021,
-    0x85092007, 0x82002003, 0x0f0321b3, 0x03820b82, 0x82ab0021, 0x85232007,
-    0xac002103, 0x84200782, 0x85200382, 0x2105eb42, 0x0b828603, 0x52200383,
-    0x87200782, 0x00210385, 0x200782af, 0x20038288, 0x2003828a, 0x20038253,
-    0x2003868c, 0x20078256, 0x2003828e, 0x20038292, 0x20038257, 0x20038293,
-    0x20478294, 0x200782b0, 0x20038295, 0x20038297, 0x2003825c, 0x21038598,
-    0x0782b200, 0x03829920, 0x03829a20, 0x03825f20, 0x03859b20, 0x82b30021,
-    0x21ff8207, 0x07829d03, 0x03826120, 0x03859e20, 0x82b40021, 0x869f2007,
-    0x82632003, 0x85a02007, 0xb5002103, 0xa1200782, 0x64200386, 0xa3200782,
-    0x00210385, 0x200782b6, 0x200382a4, 0x200382a5, 0x20038265, 0x210385a6,
-    0x0782b700, 0x0386a720, 0x07826720, 0x0382a820, 0xa782a920, 0x0782b820,
-    0x0382aa20, 0x0382b020, 0x03826820, 0x0382b120, 0x1782b920, 0x0782ba20,
-    0x6f200387, 0xbb200b82, 0x00210385, 0x200782c3, 0x200382bc, 0x200382bd,
-    0x20038271, 0x210385be, 0x0782c400, 0x0386bf20, 0x07827020, 0x0382c020,
-    0x2344c620, 0xc7032105, 0x03830b82, 0x07827320, 0x0382c820, 0x1782c920,
-    0x0782cc20, 0x0382ca20, 0x0382ce20, 0x03827420, 0x0382d120, 0x1782d220,
-    0xd6200f83, 0x03820b82, 0x00d00024, 0x12820400, 0x03200383, 0x04219f82,
-    0x820f8201, 0x79032103, 0x02200782, 0x00200385, 0x04213782, 0x820b8203,
-    0x7a032103, 0x2c820782, 0x03820420, 0x82d20021, 0x8205200b, 0x82082003,
-    0x827b204b, 0x82092007, 0x000b2403, 0x82d30000, 0x850c2007, 0x80032103,
-    0x0d200782, 0x03200385, 0x0421f782, 0x820b820e, 0x81032103, 0x0f200782,
-    0x00200385, 0x042d8782, 0x04000010, 0x03000010, 0x04000082, 0x21038511,
-    0x0782d700, 0x00001224, 0x17821304, 0x07828320, 0x03851420, 0x82d80021,
-    0x85152007, 0x85032103, 0x16200782, 0x18200382, 0x2105e744, 0x0b821904,
-    0x03210382, 0x20078286, 0x2103851a, 0x07827f03, 0x03851b20, 0x82dc0021,
-    0x821c2007, 0x42222003, 0x04210573, 0x200b8223, 0x203b8224, 0x200782dd,
-    0x21038525, 0x07828e03, 0x03822620, 0x17822f20, 0x0782df20, 0x03853020,
-    0x828f0321, 0x82312007, 0x82342003, 0x82e92017, 0x85352007, 0x90032103,
-    0x36200782, 0x38200382, 0xed201782, 0x39200782, 0x03210385, 0x20078291,
-    0x2003823a, 0x0543453d, 0x823e0421, 0x2103820b, 0x07829203, 0x03853f20,
-    0x82f40021, 0x82402007, 0x82412003, 0x8293208f, 0x85422007, 0xf5002103,
-    0x43200782, 0x03210385, 0x20078295, 0x21038544, 0x0782f600, 0x03854520,
-    0x82960321, 0x82462007, 0x824f2003, 0x82f7205f, 0x85502007, 0xb2032103,
-    0x51200782, 0x03210385, 0x20078297, 0x21038552, 0x07820101, 0x03855320,
-    0x82980321, 0x85542007, 0x02012103, 0x55200782, 0x58200382, 0x99208382,
-    0x59200782, 0x5b240382, 0x03010000, 0x5c200782, 0x03210385, 0x2007829d,
-    0x2103855d, 0x0782b303, 0x03855e20, 0x829e0321, 0x825f2007, 0x82612003,
-    0x8206202f, 0x86622007, 0x825c2003, 0x82632007, 0x006f2403, 0x82090100,
-    0x82702007, 0x82712003, 0x82b4205f, 0x82722007, 0x82752003, 0x82162017,
-    0x82762007, 0x82772003, 0x82b62017, 0x85782007, 0xb9032103, 0x79200782,
-    0x03210385, 0x200782b8, 0x2003827a, 0x202f8286, 0x2007821a, 0x20038288,
-    0x200b8289, 0x20078227, 0x2003828a, 0x217b858b, 0x07828c04, 0xb7820383,
-    0x828d0421, 0x8291200b, 0x82292023, 0x82922007, 0x85932003, 0x940421b7,
-    0x95200782, 0x2e201782, 0x96200782, 0x97200382, 0x56200382, 0x98200382,
-    0xf7820382, 0x82ba0321, 0x829a2007, 0x829b2003, 0x82482003, 0x829c2003,
-    0x21f78203, 0x07823001, 0x03829e20, 0xeb869f20, 0x0782a020, 0x4782a120,
-    0x07823220, 0x0382a220, 0x0382a320, 0x03824a20, 0x0382a420, 0x1782a920,
-    0x07823420, 0x0382aa20, 0xc743ab20, 0xac042105, 0xad200b82, 0x4c200382,
-    0xae200382, 0xaf200382, 0xbe201782, 0xb0200782, 0xb1200382, 0x69200382,
-    0xb2200382, 0xb3200382, 0x4e200382, 0xb4200382, 0xb5200382, 0x3a204782,
-    0xb6200782, 0xb7200382, 0x2105d741, 0x0782b804, 0x1782ba20, 0x07823c20,
-    0x0386bb20, 0x07825a20, 0x0382bc20, 0x1782bd20, 0x07823f20, 0x0382be20,
-    0xcb41bf20, 0xc0042105, 0xc2200782, 0xc0206b82, 0xc3200782, 0xc4200382,
-    0x21050f47, 0x0b82c504, 0x0382c620, 0x03826720, 0x0382c720, 0x1782c820,
-    0x07824320, 0x0382c920, 0xb741ca20, 0x82cb2006, 0x42cc2007, 0x04210537,
-    0x200782cd, 0x200382ce, 0x20038265, 0x200382cf, 0x835382d7, 0x82d8204f,
-    0x2103820b, 0x07824501, 0x0385d920, 0x82cd0321, 0x85da2007, 0xcc032103,
-    0xdb200782, 0xdf200382, 0xce202f82, 0xe0200782, 0xe1200382, 0x46206b82,
-    0xe2200782, 0xf5200382, 0xd3201782, 0xf6200782, 0xf7200382, 0x21058b42,
-    0x0782f804, 0x1782f920, 0x0782e720, 0x0382fa20, 0x2f82fb20, 0x07824820,
-    0x0382fc20, 0x1782fd20, 0x0782e920, 0x0382fe20, 0x0382ff20, 0x00006b24,
-    0x03850005, 0x824a0121, 0x85012007, 0xeb032103, 0x02200782, 0x10200382,
-    0x2105e347, 0x0b821105, 0x04210382, 0x2007826d, 0x20038212, 0x24478213,
-    0x1e0000ec, 0x82038200, 0xae032133, 0x3e200782, 0x3f200382, 0xac201782,
-    0x80200782, 0x85200382, 0x21050f46, 0x0b82a01e, 0x0b82f120, 0x0782ee20,
-    0x0382f220, 0x0b82f320, 0x0782a520, 0x0382f420, 0x0000f928, 0x00004004,
-    0x03854d1f, 0x00a90424, 0x53822000, 0x820b2021, 0x825b2077, 0x8210200b,
-    0x48112003, 0x2021051f, 0x200b8213, 0x200b8214, 0x20078269, 0x21038515,
-    0x07826f04, 0x03821720, 0x01218882, 0x8207826b, 0x2220213c, 0x73202382,
-    0x25200b82, 0x27200382, 0x76200b82, 0x30200782, 0x01210385, 0x20078279,
-    0x20038232, 0x05634633, 0x82392021, 0x823a200b, 0x827a2023, 0x853c2007,
-    0x83032003, 0x82442083, 0x2103820b, 0x07827c01, 0x03857420, 0x827d0121,
-    0x857f2007, 0x7e012103, 0xa3200782, 0x04210385, 0x2007826e, 0x200385a4,
-    0x201f8301, 0x200b82a6, 0x245382aa, 0x20000080, 0x210385ab, 0x07824704,
-    0x0385ac20, 0x82850121, 0x85b12007, 0x86012103, 0xb9200782, 0xba200382,
-    0x87202f82, 0xbc200782, 0xbd200382, 0x89240b82, 0x05210000, 0x01210385,
-    0x8207828b, 0x822120fb, 0x8c012103, 0x16200b82, 0x01210385, 0x8207828d,
-    0x822120eb, 0x8e012103, 0x26200b82, 0x00200385, 0x21214f82, 0x820b822e,
-    0x8f012103, 0x5b200782, 0x5e200382, 0x90245382, 0x02220000, 0x01210385,
-    0x20078294, 0x20038506, 0x218b8200, 0x0b820f22, 0x01210382, 0x20078295,
-    0x24038211, 0x01000012, 0x20078296, 0x2103851a, 0x07829801, 0x03851e20,
-    0x82990121, 0x852b2007, 0x9a012103, 0x48200782, 0x01210385, 0x2007829b,
-    0x21038560, 0x07829c01, 0x03826420, 0x47826520, 0x00009d24, 0x0385ca25,
-    0x009f0125, 0x8201ee00, 0x25878203, 0x0000a001, 0x0385c3f6, 0x00a20124,
-    0x1782fb00, 0x0004fb29, 0x00a40100, 0x85fffe00, 0xaa012503, 0xfcff0000,
-    0xfd200382, 0x4b081782, 0x2c00b0ab, 0x5009b04b, 0x0101b158, 0x01b8598e,
-    0x84b085ff, 0x0309b11d, 0xb02d5e5f, 0x20202c01, 0xb0446945, 0xb02d6001,
-    0x01b02c02, 0xb02d212a, 0x46202c03, 0x462503b0, 0x59235852, 0x8a208a20,
-    0x208a6449, 0x61682046, 0x2504b064, 0x18820784, 0x598a6529, 0x00b0202f,
-    0x82695853, 0x58542605, 0x5940b021, 0x260a881b, 0x3a595965, 0x8304b02d,
-    0x82318246, 0x598a212d, 0x6a204082, 0x07824086, 0x29081284, 0xb02dfd2f,
-    0x204b2c05, 0x502603b0, 0xb0585158, 0xb01b4480, 0x1b594440, 0x45202121,
-    0x5850c0b0, 0x1b44c0b0, 0x2d595921, 0xa38806b0, 0x7d22ab82, 0xad851869,
-    0xb02c0727, 0xb02d2a06, 0x29418508, 0x40b05853, 0x5900b01b, 0x4f838a8a,
-    0x23585329, 0x8a80b021, 0x828a1b8a, 0x845f82c1, 0x8dc0200f, 0x01b8220f,
-    0x20108f00, 0x27108b40, 0x452503b0, 0x508001b8, 0x06824a82, 0x1b212322,
-    0x23231083, 0x82212321, 0x445929a1, 0x2c09b02d, 0x4558534b, 0x2120a282,
-    0x0a2aa282, 0x4529b02c, 0x2c0bb02d, 0x06822ab0, 0xb12c0c3f, 0x20880127,
-    0xb958538a, 0x00040040, 0x0008b863, 0xb9585488, 0xe8032900, 0xb01b5970,
-    0x24ac8223, 0x10b88820, 0x83138800, 0x2c0d34e5, 0xb88840b0, 0x585a0020,
-    0x44002ab1, 0x2a00b91b, 0x8244e803, 0x2b0c2e5a, 0x002b00b0, 0x020d01b2,
-    0x0eb2012b, 0x31058201, 0x303a0eb7, 0x00101b25, 0xb7002b08, 0x242e3801,
-    0x0a82111a, 0x4e02b726, 0x15233240, 0x03250983, 0x212e3b48, 0x20098314,
-    0x25138804, 0x1f283005, 0x13830e16, 0x51630625, 0x831b2d3f, 0x40072209,
-    0x253b8634, 0x3a4a5b08, 0x13831929, 0x64830925, 0x83233a4e, 0x770a2509,
-    0x21364c62, 0x0b230983, 0x855c7791, 0x760c2513, 0x1d364b60, 0x0d251383,
-    0x141c242c, 0x2409820c, 0x0d0fb200, 0x31a28207, 0x697d4520, 0xb0b24418,
-    0xb2730113, 0x74011350, 0x048380b2, 0x01137026, 0x1f0fb275, 0x6f2b1382,
-    0x0075011f, 0x00cc002a, 0x829e0091, 0xec460803, 0xb2007200, 0x56007d00,
-    0x4e005f00, 0x04016000, 0x0000c400, 0x60fe1400, 0x9b021400, 0x39ff1000,
-    0x97fe0d00, 0x21031200, 0x3a040b00, 0x8d041400, 0xb0051000, 0x18061400,
-    0xc0061500, 0x5b021000, 0x04071200, 0x33820500, 0x60210285, 0x0a018700,
-    0xc4009aaa, 0xbf014001, 0xf4025802, 0x3a030e03, 0x9c036903, 0xe303c103,
-    0x2004f903, 0x8b043704, 0x0a05b904, 0xc1057d05, 0x8f062706, 0x3a07bc06,
-    0xb007a407, 0xdb07bc07, 0x21080208, 0x33098708, 0xdd097309, 0x790a300a,
-    0xef0ab90a, 0x8b0b4e0b, 0xd90ba60b, 0x440c200c, 0xd90c9d0c, 0x7e0d330d,
-    0x370ede0d, 0xcf0ea50e, 0x3e0f0d0f, 0xd80f8d0f, 0x41100910, 0x7c106510,
-    0xc810a110, 0x0411e310, 0xe3118311, 0x94123712, 0x51130813, 0x0b14cb13,
-    0x90144514, 0xf214d714, 0xa6155d15, 0x5816f415, 0xf516b816, 0xae176317,
-    0x2418f417, 0xbb187218, 0x3419fc18, 0x8e197719, 0x131acf19, 0xb21a501a,
-    0x761b151b, 0xf81bd91b, 0xc41c931c, 0xe31d651d, 0x0c1eef1d, 0xd21ebc1e,
-    0x541f111f, 0x1920a71f, 0x8a203920, 0xd620b620, 0x39210b21, 0x8f218321,
-    0xc321a921, 0x4622dd21, 0xe822aa22, 0xb4236323, 0xde242024, 0xab255625,
-    0x7c261d26, 0xf526da26, 0x8a274127, 0x1e28c727, 0xfd287928, 0xc9299929,
-    0x922a2c2a, 0x632bff2a, 0x112cb72b, 0xa52c422c, 0x042ddc2c, 0x3b2d0c2d,
-    0x962d5e2d, 0x052ec22d, 0x7e2e3a2e, 0xbe2e9e2e, 0xf52ec72e, 0x432f272f,
-    0xa12f5c2f, 0xcf2fa92f, 0x7530fc2f, 0xe330a330, 0x4d311131, 0x1c32c231,
-    0xf8328532, 0x9b336833, 0x8d340f34, 0x3035e734, 0xd035a335, 0x98362836,
-    0x4237e936, 0xf5379f37, 0x78383938, 0x3639e438, 0x0e3a9639, 0xd33a5e3a,
-    0xa33b343b, 0x8c3c183c, 0x193ddd3c, 0xcd3d713d, 0xb83e393e, 0x3a3ff13e,
-    0xec3f803f, 0x63402240, 0xe940a040, 0xa6414241, 0x6842f241, 0x4143e742,
-    0x1344a943, 0x8e443944, 0x7945fb44, 0x0346b245, 0x94464a46, 0x1847ea46,
-    0xce474447, 0x46480448, 0xc7488348, 0x7d491b49, 0x384ac749, 0x094bb04a,
-    0xef4b814b, 0xd34c634c, 0x734d374d, 0x314ed24d, 0x1d4f984e, 0xeb4f9e4f,
-    0xa5503950, 0x84511251, 0x7e52f551, 0xa4530653, 0xa5543754, 0x53550f55,
-    0x04569955, 0x2b576b56, 0x5c58e357, 0x3059db58, 0xb8598359, 0x075ad459,
-    0x335a1d5a, 0x725b045b, 0x315cda5b, 0xcc5ca05c, 0x4a5df55c, 0xeb5d955d,
-    0x8d5e3d5e, 0x415fe25e, 0xed5f8f5f, 0xd2604360, 0xa2615c61, 0x3762e561,
-    0xc9628662, 0xb7633863, 0x6c641764, 0x2565ca64, 0xee658c65, 0x57664866,
-    0xb6666766, 0xa5671e67, 0x80681768, 0x4a69e668, 0x1f6ab569, 0xf06a836a,
-    0x9d6b4b6b, 0x406cef6b, 0xe16cb66c, 0xb8090198, 0x6cf16ce9, 0x6d056dfb,
-    0x6d436d20, 0x6d856d65, 0x6db06da4, 0x6eee6dbc, 0x6e8d6e2c, 0x6ebd6eb1,
-    0x6fe66ecd, 0x6fd06fb4, 0x70ff6fec, 0x705a7013, 0x727e71dc, 0x7216720a,
-    0x734b73e6, 0x747e74c9, 0x755e75e4, 0x762476b6, 0x772277c1, 0x781678b8,
-    0x78927878, 0x78c678ac, 0x794b79e0, 0x79a97971, 0x7af379bf, 0x7bc77a85,
-    0x7b857b46, 0x7ba37b94, 0x7cef7bdc, 0x7c317c18, 0x7ca07c3d, 0x7e8e7df5,
-    0x7f8f7e18, 0x80487f48, 0x816181f8, 0x820b828e, 0x8252823c, 0x831b83c1,
-    0x84d98368, 0x8475842f, 0x850a85bc, 0x856b852d, 0x864486ef, 0x87cc868c,
-    0x87608702, 0x88d587ba, 0x88438800, 0x88b98867, 0x894689f2, 0x8aea898f,
-    0x8aab8a42, 0x8b0e8bd5, 0x8b898b3f, 0x8c038cd2, 0x8c838c3b, 0x8dfe8cac,
-    0x8eb38d71, 0x8e6e8e12, 0x8f1f8f9b, 0x8f958f7f, 0x909690e8, 0x916291ff,
-    0x92f191ab, 0x92749233, 0x935393ea, 0x94f393c9, 0x949b9428, 0x951895ce,
-    0x958d954a, 0x964c96fb, 0x970c97af, 0x98f89785, 0x99d89888, 0x996c9917,
-    0x9a3d9ac2, 0x9bf79abb, 0x9b989b4f, 0x9c149cdb, 0x9c8d9c55, 0x9d219dcb,
-    0x9d799d2d, 0x9e7e9eef, 0x9f139fd1, 0xa0f99f94, 0xa1c1a05f, 0xa15ca150,
-    0xa2f9a1ad, 0xa288a247, 0xa35ca3f7, 0xa430a4ba, 0xa547a5c2, 0xa653a6de,
-    0xa705a7b2, 0xa76da765, 0xa81ea8b9, 0xa9f2a881, 0xaac0a96d, 0xaa6daa22,
-    0xab2aabc9, 0xababab54, 0xac2eacd7, 0xac8aac76, 0xacb0ac9e, 0xacd6acc4,
-    0xad01aded, 0xae85ad5f, 0xae66ae02, 0xaec0aeb8, 0xaed0aec8, 0xafe3aedb,
-    0x0d018249, 0xc1af515d, 0x92b031b0, 0x37b1d4b0, 0x65b14eb1, 0x8eb17cb1,
-    0xb9b1a6b1, 0xd1b1c5b1, 0xffb1e8b1, 0x2eb216b2, 0x5cb245b2, 0x8bb273b2,
-    0xb4b29db2, 0xe2b2cbb2, 0x11b3f9b2, 0x3ab328b3, 0x69b351b3, 0x97b380b3,
-    0xbfb3a9b3, 0xecb3d5b3, 0x10b404b4, 0x33b41cb4, 0x5bb445b4, 0x88b472b4,
-    0xb5b49eb4, 0xdeb4cdb4, 0x07b5f5b4, 0x2eb51db5, 0x5db546b5, 0x85b56fb5,
-    0xaeb59cb5, 0xdcb5c5b5, 0x04b6edb5, 0x85b61bb6, 0x39b727b7, 0x62b74bb7,
-    0x8fb778b7, 0xb8b7a6b7, 0xdbb7c9b7, 0x02b8ebb7, 0x2ab813b8, 0x57b840b8,
-    0xdbb86eb8, 0x89b972b9, 0xb1b99ab9, 0xdeb9c7b9, 0x0bbaf4b9, 0x2eba22ba,
-    0x57ba40ba, 0x80ba69ba, 0xa9ba92ba, 0xd7bac0ba, 0xf9baeeba, 0x1bbb04bb,
-    0x33bb27bb, 0x61bb4abb, 0x79bb6dbb, 0xa7bb90bb, 0xbfbbb3bb, 0xe9bbd4bb,
-    0x01bcf5bb, 0x2abc18bc, 0x42bc36bc, 0x6abc59bc, 0x96bc7fbc, 0xbebca7bc,
-    0xedbcd5bc, 0x17bd05bd, 0x35bd29bd, 0x53bd41bd, 0x76bd64bd, 0x9fbd88bd,
-    0xc1bdb5bd, 0xd9bdcdbd, 0xf7bde5bd, 0x14be08be, 0x2cbe20be, 0x4fbe38be,
-    0x72be5bbe, 0x9abe88be, 0xc7beb0be, 0xf1bedebe, 0x1cbf04bf, 0x8dbf2fbf,
-    0x06c0efbf, 0x34c01dc0, 0x62c04ac0, 0x90c079c0, 0xbec0a7c0, 0xe1c0d0c0,
-    0x0ac1f8c0, 0x38c121c1, 0x98c168c1, 0xbfc1a8c1, 0xecc1d6c1, 0x15c2fdc1,
-    0x39c22dc2, 0x5cc245c2, 0x89c273c2, 0xb7c2a0c2, 0xe4c2cdc2, 0x0ec3fcc2,
-    0x37c325c3, 0x5ec34dc3, 0x8dc376c3, 0xbac3a4c3, 0xe9c3d2c3, 0x16c4ffc3,
-    0x8fc47dc4, 0xbcc4a5c4, 0xdec4cdc4, 0x0ac5f4c4, 0x8ec521c5, 0xbac5a4c5,
-    0xe8c5d1c5, 0x0ac6f4c5, 0x33c61cc6, 0x55c64ac6, 0x82c66bc6, 0xa4c68ec6,
-    0xc5c6b0c6, 0xe8c6d1c6, 0x0bc7f4c6, 0x33c71cc7, 0x58c746c7, 0x75c764c7,
-    0x9dc787c7, 0xbac7a9c7, 0xdcc7c6c7, 0xfec7e8c7, 0x26c80fc8, 0x4cc839c8,
-    0xc4c8adc8, 0xf1c8dac8, 0x1fc908c9, 0x40c935c9, 0x58c94cc9, 0x70c964c9,
-    0x88c97cc9, 0xabc9a3c9, 0xbbc9b3c9, 0xcbc9c3c9, 0xdbc9d3c9, 0xebc9e3c9,
-    0xfbc9f3c9, 0x0bca03ca, 0x2bca13ca, 0x55ca43ca, 0x79ca67ca, 0xa4ca8aca,
-    0xb4caacca, 0xc4cabcca, 0xe4caccca, 0x0dcbfbca, 0x31cb1fcb, 0x60cb49cb,
-    0xd6cbcecb, 0xf6cbeecb, 0x15ccfecb, 0x34cc2ccc, 0x44cc3ccc, 0x63cc4ccc,
-    0x73cc6bcc, 0x83cc7bcc, 0x93cc8bcc, 0xa3cc9bcc, 0xb3ccabcc, 0xd2cccacc,
-    0x2ecddacc, 0x3ecd36cd, 0x6ccd55cd, 0x7ccd74cd, 0x9ccd94cd, 0xc9cdb3cd,
-    0xf7cde0cd, 0x25ce0ece, 0x4bce38ce, 0x73ce62ce, 0xa6ce87ce, 0xc4ceb2ce,
-    0xe3ceccce, 0x01cff5ce, 0x24cf0dcf, 0x52cf3bcf, 0x71cf69cf, 0x91cf79cf,
-    0xb5cfa9cf, 0xcdcfc1cf, 0xe5cfd9cf, 0xf9cff1cf, 0x09d001d0, 0x37d020d0,
-    0x56d03fd0, 0x85d06dd0, 0xa4d09cd0, 0xc3d0acd0, 0xf1d0d9d0, 0x10d1f9d0,
-    0x40d128d1, 0x6fd158d1, 0x9cd186d1, 0xccd1b4d1, 0xfcd1e4d1, 0x0cd204d2,
-    0x3bd224d2, 0x6ad253d2, 0x8dd27cd2, 0xbcd2a5d2, 0xecd2d4d2, 0x1bd304d3,
-    0x53d337d3, 0x6bd35fd3, 0x7fd373d3, 0x97d38bd3, 0xb5d3a3d3, 0xe0d3c7d3,
-    0x0bd4f2d3, 0x30d41dd4, 0x55d442d4, 0x77d467d4, 0x99d486d4, 0xbed4abd4,
-    0xe3d4d0d4, 0x08d5f5d4, 0x2ad51ad5, 0x46d53ad5, 0x64d552d5, 0x88d576d5,
-    0xb2d599d5, 0xddd5c4d5, 0x02d6efd5, 0x27d614d6, 0x49d639d6, 0x6ad658d6,
-    0x88d67cd6, 0xa0d694d6, 0xbed6acd6, 0xe3d6d0d6, 0x08d7f5d6, 0x2dd71ad7,
-    0x52d73fd7, 0x74d764d7, 0x8fd783d7, 0xadd7a1d7, 0xcbd7bfd7, 0xe9d7ddd7,
-    0x06d8fad7, 0x1ed812d8, 0x3cd82ad8, 0x60d84ed8, 0x84d872d8, 0xa8d896d8,
-    0xccd8bad8, 0xe9d8ddd8, 0x01d9f5d8, 0x1fd90dd9, 0x43d931d9, 0xced954d9,
-    0xf4d9e8d9, 0x0cda00da, 0x24da18da, 0x3cda30da, 0x54da48da, 0x6cda60da,
-    0x84da78da, 0x9cda90da, 0xb4daa8da, 0xc8dac0da, 0x92db2ddb, 0x0fdcd0db,
-    0xccdc6ddc, 0x02dde7dc, 0x1add0edd, 0x32dd26dd, 0x4add3edd, 0xe4dd95dd,
-    0x96de3ede, 0xaade9ede, 0xbcdeb4de, 0xccdec4de, 0xdcded4de, 0xf6dee4de,
-    0x1fdf08df, 0x4edf36df, 0x7edf66df, 0xaedf96df, 0xdedfc6df, 0x0ee0f6df,
-    0x3ee026e0, 0x62e056e0, 0x7ae06ee0, 0x92e086e0, 0xaae09ee0, 0xc2e0b6e0,
-    0xe6e0d4e0, 0xfee0f2e0, 0x16e10ae1, 0x2ee122e1, 0x46e13ae1, 0x6ae158e1,
-    0x82e176e1, 0x9ae18ee1, 0xb2e1a6e1, 0xd5e1c4e1, 0xede1e1e1, 0x05e2f9e1,
-    0x1de211e2, 0x35e229e2, 0x4de241e2, 0x65e259e2, 0x7de271e2, 0x8de285e2,
-    0x9de295e2, 0xade2a5e2, 0xbde2b5e2, 0xcde2c5e2, 0xdde2d5e2, 0xfde2e5e2,
-    0x2be314e3, 0x45e33de3, 0x65e34de3, 0x7fe36de3, 0x9de395e3, 0xade3a5e3,
-    0xcce3b5e3, 0xdce3d4e3, 0xece3e4e3, 0xfce3f4e3, 0x0ce404e4, 0x0ae599e4,
-    0x73e56be5, 0x91e57fe5, 0xaae5a2e5, 0xc2e5b6e5, 0xdae5cee5, 0x0000e6e5,
-    0x64000500, 0x28030000, 0x0300b005, 0x09000600, 0x0f000c00, 0x0cb26f00,
-    0x12111110, 0x100cb039, 0x83d000b0, 0x84062005, 0x84092005, 0xd00d2f05,
-    0x4500b000, 0x2f02b058, 0x1f02b11b, 0x0c84593e, 0x0c820020, 0x3e0f0027,
-    0x0204b259, 0x21398200, 0x068505b2, 0x06850720, 0x06840820, 0xdc0ab024,
-    0x09840cb2, 0x840db221, 0xb04a0806, 0x0eb01002, 0x213130dc, 0x03211121,
-    0x11010111, 0x01210301, 0x03210135, 0x023cfd28, 0xeefe36c4, 0x0c01bafe,
-    0xfe0302e4, 0xfd0201fe, 0xfab005fd, 0xfd0705a4, 0xfb77027d, 0xfd780211,
-    0x885e025e, 0x02005e02, 0xf2ff8f00, 0xbf84a301, 0x3b000d26, 0x0f0e06b2,
-    0xb0247f82, 0x01b01006, 0x0c20a793, 0x0c20a782, 0x0629a783, 0x582b0a0d,
-    0xf41bd821, 0x08288259, 0x2f01b02d, 0x23013130, 0x34012103, 0x15163236,
-    0x26220614, 0x17d17e01, 0xf9fe0001, 0x484a804a, 0xad014884, 0xc3fa0304,
-    0x394b4b39, 0x824a4a37, 0x03652c73, 0x064002f4, 0x00040000, 0x41250009,
-    0x0320050e, 0x03385982, 0xb0593e21, 0x02b0d002, 0xd007b02f, 0xb02f07b0,
-    0x08b01003, 0x2f08b0d0, 0x03245d82, 0x05331123, 0x01260483, 0xae8b2313,
-    0x04822d01, 0xfe770526, 0x890c027d, 0x53820483, 0x4e826020, 0xc782bc20,
-    0x1f001b24, 0x53858d00, 0x6241ad84, 0x82102007, 0x87102060, 0x8202200c,
-    0x8202200c, 0x00b025c7, 0x1ab05845, 0x1a200c82, 0xb2230c82, 0x83020c1d,
-    0x2f1d24fc, 0x880300b2, 0xd00426de, 0xb0101db0, 0x26058406, 0x0bb0d00b,
-    0x8908b22f, 0x100b231c, 0x13820eb0, 0x12b01028, 0x1008b0d0, 0x258414b0,
-    0xb0d01626, 0x18b01000, 0x1e211184, 0x26bb82d0, 0x13230323, 0x84213523,
-    0x03332303, 0x03821333, 0x03231523, 0x82038233, 0x23133205, 0x4ce0cf02,
-    0x01e74ca8, 0x01f33a05, 0x4ea74e11, 0x380382e1, 0xdd3aeed0, 0x76a74cfb,
-    0x01e03ae0, 0x0166fe9a, 0x39019e9a, 0xfea0019f, 0x3b038360, 0x9ec7fe9f,
-    0x380266fe, 0x01003901, 0x2dff6400, 0x9b062604, 0x7d002c00, 0x2e2d2ab2,
-    0xfc92c082, 0xe2820920, 0xfc870920, 0x0c822320, 0xfc872320, 0x0c822020,
-    0x0c822020, 0x0c19b223, 0x253b8220, 0xb21019b0, 0xfc870102, 0x090fb223,
-    0x05c84223, 0x8913b221, 0x23272214, 0x23148309, 0x2ab21023, 0xe5821488,
-    0x26348b08, 0x35262726, 0x35373634, 0x16161533, 0x26342315, 0x15062223,
-    0x1e041614, 0x06141502, 0x35231507, 0x33352626, 0x32331614, 0x6c330336,
-    0xcae946fc, 0xbeaea0ad, 0x606171f2, 0x00016b6c, 0xcf366492, 0xd5c69fb9,
-    0x72747ff3, 0x557c0177, 0x7d26596f, 0x14d6a6f5, 0xf519dcda, 0x68917ec4,
-    0x5e695761, 0x5a866750, 0xc313d2a9, 0xc6f016c2, 0x006e8a7e, 0x63000500,
-    0x8905ecff, 0x0d00c505, 0x27001a00, 0x39003500, 0x05b28900, 0x9f833b3a,
-    0xb0100525, 0x82b0d013, 0x841b2005, 0x84282005, 0xd0362e05, 0x2f36b000,
-    0xb02f38b0, 0xb0584500, 0x20fc8203, 0x07164103, 0x0c822520, 0x3e0f252f,
-    0x1003b059, 0xb0d00ab0, 0x11b22f0a, 0x08054202, 0xb2100323, 0x2c0d8918,
-    0x1eb01025, 0x2f1eb0d0, 0xb21025b0, 0x2316892b, 0x32b2101e, 0x30280d88,
-    0x36341331, 0x15163233, 0x2324fc82, 0x17352622, 0x3527f984, 0x22263435,
-    0x88011506, 0x8b20201a, 0x82232019, 0x057b081a, 0x63170127, 0xa98c8aaa,
-    0xaf878aa9, 0x3e3f4daa, 0x4b7e4d4c, 0x87ae1202, 0xfea7ad88, 0x4faaabe8,
-    0x4e49403e, 0xfe4d3e3d, 0xc7027d02, 0x8498047d, 0x4889a9a9, 0x8ca5a883,
-    0x55554506, 0x56454949, 0xd0fc4757, 0x8da6a686, 0xa7a98247, 0x57440589,
-    0x464b4b53, 0xf44a5454, 0x48720448, 0x56000300, 0x1105ecff, 0x1c00c405,
-    0x31002500, 0x2eb29800, 0x12113332, 0x102eb039, 0x83d010b0, 0x431e2005,
-    0x324206f7, 0x2f1b240c, 0x421bb11b, 0x18200732, 0x18200c82, 0xb2230c82,
-    0x82091b20, 0x28b2233a, 0x06831b09, 0x28200322, 0x10220683, 0x06832028,
-    0x1b851320, 0x18131122, 0x19220d83, 0x06831318, 0x19111622, 0xb0240682,
-    0x1db2101b, 0x23083942, 0x111d1fb2, 0x09231483, 0x882fb210, 0x31302814,
-    0x37363413, 0x41352626, 0x8e080527, 0x07070614, 0x33353601, 0x21170710,
-    0x24200627, 0x01373205, 0x14150607, 0x17140316, 0x35363737, 0x22232634,
-    0xa26e5606, 0xb0d04355, 0x695ccb9f, 0x3d190163, 0xfed67ed3, 0xfe9c52e6,
-    0x01fdfe50, 0xfe6b7be2, 0x82781fc2, 0x1f6f6719, 0x4742563e, 0x65890154,
-    0x966b74a9, 0xbbc7ab46, 0x4c995b8a, 0x78b4fe48, 0xacf3fe93, 0xe57561fd,
-    0x77015223, 0x65755b16, 0x54aa037e, 0x37194c7f, 0x60513956, 0x00010000,
-    0x01fc0352, 0x0000060b, 0x44160004, 0x230813b1, 0x03013130, 0x01331123,
-    0xb99f1a0b, 0x79fe8305, 0x01000402, 0x31fe8000, 0x5f06a202, 0x10001000,
-    0x121107b2, 0x0026e682, 0xb02f04b0, 0xdf832f0d, 0x12123708, 0x02061737,
-    0x12100703, 0x02260717, 0xf07c8002, 0xaf8d3086, 0x9aab0108, 0x7bf18630,
-    0x01e75002, 0x4247019f, 0x49fe6b8e, 0xfe56e5fe, 0x7c25fed1, 0x49014287,
-    0x57829d01, 0x57822820, 0x57825120, 0x57831220, 0x87141321, 0x820e2057,
-    0x013f0857, 0x07020214, 0x11123627, 0x27021035, 0x12163727, 0x51021712,
-    0x3087f87a, 0x8e98af96, 0xf080301f, 0x40020880, 0xfe63fede, 0x748741ad,
-    0x3201dd01, 0x01160117, 0x881c8ac9, 0xfec4fe3e, 0x8200d079, 0x021b2a5d,
-    0x0574034d, 0x000e00b0, 0x31e98520, 0xb11b2f04, 0x593e1f04, 0x19d000b0,
-    0x182f00b0, 0x078209b0, 0x182f0922, 0x3508f382, 0x03053725, 0x17250333,
-    0x03071305, 0x4c012703, 0x0137cffe, 0x0fb30f2e, 0xfe362901, 0xb491c8ca,
-    0xcc0392b2, 0x0175a958, 0x73a2fe58, 0xf6fe58ac, 0xfe20016a, 0x658366e9,
-    0x9200442e, 0xb6042a04, 0x1a000b00, 0x2f09b000, 0xb0245b82, 0x06b21009,
-    0x22080242, 0x82d003b0, 0x2120085f, 0x23112115, 0x21352111, 0xae023311,
-    0x84fe7c01, 0x0182feec, 0x2103ec7e, 0x014ffede, 0x9501deb1, 0x1c37af82,
-    0x5d01b8fe, 0x0900eb00, 0x09b21800, 0x12110b0a, 0x0ab00039, 0x4605b22f,
-    0x303e08a2, 0x36271331, 0x33353736, 0x9f060607, 0x012b3a83, 0x690101db,
-    0x5b4eb8fe, 0xafbd4687, 0x8d83d56a, 0x09024730, 0xcd025402, 0x11000300,
-    0x2f02b000, 0x878801b2, 0x352a8483, 0xfd540221, 0x020d02f3, 0x6f82c409,
-    0xf5ff872e, 0x0001a201, 0x22000a00, 0x0c0b00b2, 0x29087145, 0xb11b2f06,
-    0x593e0f06, 0x798a00b2, 0x16320122, 0x33050044, 0x14013634, 0x444a4a44,
-    0x014a4c41, 0x393a4d00, 0x4d744a4b, 0x02267983, 0xfe0283ff, 0x7982b005,
-    0xb0001323, 0x05974400, 0x1b480220, 0x30220806, 0x01231731, 0x02bfc133,
-    0x067dbf3d, 0x0200002d, 0xecff6900, 0xc4052204, 0x1b000d00, 0x03b24600,
-    0x7d821d1c, 0x1003b024, 0xb54311b0, 0x820a2006, 0x1f0a2139, 0x20065548,
-    0x200c8203, 0x24908203, 0xb2100ab0, 0x82d08811, 0x18b2212e, 0x52080d88,
-    0x10013130, 0x02222302, 0x12103503, 0x13123233, 0x23263427, 0x11070622,
-    0x32331614, 0x22043736, 0xefecf0eb, 0xeff1eb03, 0x70f303eb, 0x0370777a,
-    0x70757a72, 0xfe650203, 0x01c1fec6, 0xfc310137, 0x3a013a01, 0xcffecefe,
-    0xb5bfcd14, 0xccb6fec0, 0x83c5b9c8, 0x00a82ad5, 0x05ff0200, 0x000600b5,
-    0x05434239, 0x8b820520, 0xee480520, 0x05002111, 0x0423c083, 0x8803b22f,
-    0x02b22291, 0x35148303, 0x23213130, 0x25350511, 0xf2ff0233, 0x38029bfe,
-    0x7a91041f, 0x5b83d1cd, 0x0000512e, 0xc4054004, 0x4e001900, 0x1b1a11b2,
-    0x20087f41, 0x20628211, 0x22629011, 0x82001103, 0x11b02421, 0x8909b210,
-    0x85162062, 0x10002114, 0x240c0941, 0x01352121, 0x064d4436, 0x23154108,
-    0x33363634, 0x14151632, 0x21010706, 0x2dfc4004, 0x5969e501, 0x82766375,
-    0x93e179f3, 0x8c7bf5d4, 0xa4029cfe, 0x751102a7, 0x80684f9d, 0xd5857d90,
-    0x6dbcd576, 0x83fe98ef, 0x4f000100, 0x1504ecff, 0x2926a182, 0x07b26e00,
-    0xa1882b2a, 0xa1820f20, 0xa1870f20, 0x22075345, 0x830f01b2, 0x01b02ec3,
-    0x011fb22f, 0x9fb27101, 0xb25d0101, 0x2409823f, 0xb2100fb0, 0x09b64107,
-    0xb2100123, 0x230d8828, 0x012815b2, 0x20064a45, 0x23148822, 0x33013130,
-    0x1620bf93, 0x0423c582, 0x47242223, 0x5408067d, 0x23263435, 0x94860123,
-    0x706d8370, 0x77f37e62, 0xf9da84d5, 0x7d78637d, 0xd2dbf3fe, 0x81f3f4fe,
-    0x8882716d, 0x47038f86, 0x686c7201, 0x705b7173, 0xc3db67b8, 0x292cad62,
-    0xe8c47ab0, 0x7860bae0, 0x7c737278, 0x00020000, 0x04000034, 0x00b00558,
-    0x000e000a, 0x05e54149, 0x200c3446, 0x27ed8204, 0x593e0f04, 0x040901b2,
-    0xe082ab83, 0x2c095a48, 0xb0d006b0, 0x0bb01001, 0x0608b2d0, 0x211d820b,
-    0x24840db2, 0x3408c283, 0x23112315, 0x01272111, 0x11210133, 0xb5a30307,
-    0x8bfdf3b5, 0xfb740207, 0x7d0190fd, 0xc3070212, 0x4401bcfe, 0xfcd80394,
-    0x20600257, 0x00010000, 0x04ecff81, 0x2687823a, 0xb26a001d, 0x411f1e1a,
-    0x0120086d, 0x01207f82, 0x20076d41, 0x200c820d, 0x828c820d, 0x0b6b4274,
-    0x0d010722, 0xb0242f82, 0x1ab22f07, 0x23084641, 0x1a0705b2, 0x0d231483,
-    0x8914b210, 0x14112114, 0xb2231483, 0x82141a1d, 0x3130371b, 0x15211313,
-    0x33360321, 0x14151232, 0x24222300, 0x16163327, 0x3c423233, 0x073a0806,
-    0x0e034fae, 0x6528bcfd, 0xffe7d07f, 0xfec8df00, 0x0eeb0bf9, 0x7d70647c,
-    0x5c42798a, 0x02d20236, 0xa4fed2de, 0xe1f6fe3a, 0xe3f9fede, 0xa0716aba,
-    0x239b858a, 0x02000033, 0xcb827500, 0xb705372c, 0x1f001400, 0x15b26200,
-    0x6c822120, 0x1015b023, 0x07354cb0, 0xc6820020, 0xd3900020, 0x44100021,
-    0xb2220ab0, 0xd3870007, 0x83070521, 0x15b22109, 0xb024c588, 0x1bb2100d,
-    0x30270d88, 0x23150131, 0x88070606, 0x005c08c5, 0x00103511, 0x06220321,
-    0x16141507, 0x26103632, 0xcc1e6103, 0xb67517f4, 0xfbfedfc1, 0xf1fedad4,
-    0x5e017501, 0x1f8550ec, 0x807ed888, 0x03c9b705, 0xfe7bc8da, 0xfeded7f0,
-    0x014201ed, 0x7f015305, 0x49fdb201, 0xa24a4b5a, 0x0801a2bf, 0x010000a6,
-    0x00004500, 0xb0053604, 0x32000600, 0x20120744, 0x26cd8201, 0x593e0f01,
-    0x411005b0, 0x00200b94, 0x3d060044, 0x01230101, 0x04213521, 0xffbafd36,
-    0x0ffd4502, 0x2905f103, 0xed04d7fa, 0x030000c3, 0x09456800, 0x00172a06,
-    0x002b0021, 0x2c09b274, 0x0546482d, 0xd01ab027, 0xb01009b0, 0x06114524,
-    0x63821520, 0x31411520, 0x82092007, 0x8209200c, 0x29b22370, 0x2d831509,
-    0xb22f2926, 0x7101291f, 0x220bfc41, 0x82291a03, 0x0fb22319, 0x4e851a29,
-    0x411fb221, 0xb024082f, 0x25b21015, 0x30250d88, 0x06140131, 0x085b4307,
-    0x290aaf48, 0x22263403, 0x16141506, 0x09893632, 0x02045508, 0x7b725f6e,
-    0xd9d8fcfe, 0x707cfbfe, 0xccf06d5e, 0x81d3f0cd, 0xdc7d7fd4, 0xba6e1f7b,
-    0x6dba6d6c, 0xa76b3004, 0x74b83530, 0xbfe2e1c0, 0x3032ba75, 0xdaba6ba7,
-    0x6caffcda, 0x6b6d8485, 0xfd027c80, 0x65757b5f, 0x00767664, 0x5d000200,
-    0x1204faff, 0x1500c405, 0x6424fb82, 0x232209b2, 0xb021aa85, 0x13bb4916,
-    0xf3821120, 0xf3831120, 0x09111622, 0x7c242782, 0x182f16b0, 0x210be34b,
-    0x16830200, 0x1011b024, 0xdb8812b2, 0x4909b021, 0xe9820ba2, 0x22230639,
-    0x36343502, 0x00323336, 0x00101511, 0x33352305, 0x32033636, 0x86353736,
-    0x035508eb, 0xc0a37a1e, 0x8dd674e4, 0xfe0201dc, 0x1d9ffe9c, 0xdce6d723,
-    0x84238049, 0x027e7dd2, 0x0d018161, 0x82ea90db, 0xedfeb8fe, 0xfe76fe44,
-    0x03c90362, 0x540f01c9, 0xc4a15f4a, 0xa88984ad, 0x00ffff00, 0x01f5ff82,
-    0x0051049d, 0xfb120026, 0x00070000, 0x03fbff12, 0x24178251, 0x01b8fe2e,
-    0x20178288, 0x32118227, 0x005103e6, 0x12100006, 0x00010000, 0x03a4003f,
-    0x824e0484, 0xb217240f, 0x43080700, 0x052008f5, 0x0523ee82, 0x82593e1b,
-    0x052308b4, 0x01350115, 0x02360115, 0x03bbfc4e, 0xe0770245, 0xc17501f3,
-    0x00f37401, 0x01910002, 0x03ef0364, 0x820300d6, 0x00252c69, 0xb02f07b0,
-    0x03b0d003, 0x4100b22f, 0x07230902, 0x4804b210, 0x11290e05, 0x03213521,
-    0x03a2fcef, 0x2503835e, 0xfdca0c03, 0x8b83c98e, 0xa5008024, 0x8b92e003,
-    0x8b820220, 0x8b850220, 0x89832520, 0xea023532, 0x600396fd, 0x7c02a0fc,
-    0x8cfeefe3, 0xef8cfec1, 0x3c308b82, 0x9803f4ff, 0x1800c405, 0x5e002300,
-    0x252409b2, 0x2006cd41, 0x06cd411c, 0x200cb94e, 0x25528222, 0x593e0f22,
-    0x64481cb2, 0x00b02908, 0x2f00b0d0, 0x100004b2, 0x10203883, 0x220ce846,
-    0x8200100c, 0x15b22114, 0x30251b84, 0x36340131, 0x072f4b36, 0x46231521,
-    0x072406e0, 0x03070607, 0x0807684b, 0x01262236, 0x1ac3425e, 0x565a5d28,
-    0xed02f369, 0x98e1c9c3, 0xf402427b, 0x4a403f4a, 0x01478448, 0xbd9e85ac,
-    0x5e473d28, 0xb1536163, 0xa3b7ccce, 0x904b799e, 0x493bc9fe, 0x3007d94f,
-    0x063bfe5b, 0x009005d9, 0x00420036, 0x433bb27c, 0x247d8244, 0xb0103bb0,
-    0x23cb8223, 0x33b02f2a, 0x4c0a774d, 0x0820074e, 0x0820d182, 0xb2230c82,
-    0x82083305, 0x0fb2212d, 0xb0270684, 0x08b02f0f, 0x4d3ab210, 0xb027084f,
-    0x33b0d015, 0x891bb210, 0x102a2310, 0x0d8923b2, 0xb2100f23, 0x820d8840,
-    0x062108e9, 0x27222302, 0x22230606, 0x12363726, 0x16323336, 0x33060317,
-    0x12373632, 0x04222100, 0x12060702, 0x200d8304, 0x2d218317, 0x13262724,
-    0x33241212, 0x01120432, 0x16831606, 0x26139d08, 0x06062223, 0xbede0ccd,
-    0x87333db5, 0x1297924a, 0x6ec37f10, 0x34578154, 0x83668513, 0xc1fe1106,
-    0xfec4c0fe, 0x0c09b2d1, 0xcf1f018b, 0x2640b754, 0xfe69cf3d, 0x5e5b94fe,
-    0x01de0c0b, 0x01f9f681, 0x03fcb267, 0x36514a0d, 0x322d1e60, 0x028c6f2f,
-    0xdffefa06, 0xf04c4c9a, 0x0601a3c9, 0xfd422a8f, 0xaedbc6cd, 0x88017101,
-    0xed8dfec4, 0xb6a3fef1, 0x28892228, 0xd3ccd731, 0x12012601, 0xdbf2b501,
-    0x8cfe65fe, 0x535f8d88, 0xd113ed01, 0x12000200, 0x42050000, 0x0700b005,
-    0x46000a00, 0x520f954b, 0x5141074d, 0x08884a07, 0x02040927, 0xb0391211,
-    0x0bd74209, 0x840ab221, 0x31302914, 0x21032101, 0x21013301, 0x26080782,
-    0xccfdc303, 0x02f9fe76, 0x2702e326, 0x9cfdf8fe, 0x01d3a601, 0x05adfe53,
-    0x0250fab0, 0x005c021f, 0x00940003, 0x82a30400, 0x000e287f, 0x001f0016,
-    0x4602b26d, 0x02250599, 0xd011b010, 0x200582b0, 0x06ab421e, 0x520c7347,
-    0x172208d5, 0x87830100, 0xb22f1728, 0x7101171f, 0x56430fb2, 0x08b22308,
-    0x1983170f, 0xb2100023, 0x0ce94810, 0x0d881e20, 0x33313027, 0x04322111,
-    0x086b4515, 0x0e820120, 0x34353624, 0x6e472527, 0x23450806, 0xf7f30194,
-    0x686c0201, 0xf9fe8176, 0x01eafef5, 0xe8867719, 0x76f8d2fe, 0xf6827b85,
-    0xc4c6b005, 0x202ca064, 0xdccd7cb1, 0x39fe9102, 0x05e36976, 0x6c626bba,
-    0x00010060, 0x04ecff66, 0x00c405eb, 0xb240001d, 0x0a374803, 0x4b0c3652,
-    0x0c210843, 0x0a035110, 0x1003b022, 0x350a3346, 0x06013130, 0x24222300,
-    0x34352702, 0x32332412, 0x26231700, 0x45472326, 0x08a48205, 0xeb043756,
-    0xf9d4fe16, 0x90f7feae, 0x11019203, 0x2601f1b3, 0x9312fc18, 0x02b1a58e,
-    0x9695a3a9, 0xe9da0114, 0x01a5fbfe, 0xce88c930, 0xfeaa3a01, 0x8b9deffa,
-    0xec81e9f1, 0x009c86f8, 0x94000200, 0xd2040000, 0x0b00b005, 0x46001500,
-    0x171602b2, 0xb0391211, 0x15b01002, 0x241b7141, 0xb21001b0, 0x0842410c,
-    0x1000b024, 0x50410db2, 0x1512280f, 0x04021415, 0x83110323, 0x352b08a1,
-    0x94232634, 0x01c1ae01, 0xfea5a42b, 0xa5a6c5cf, 0xce02d5c7, 0xacb005c4,
-    0x49ccc4fe, 0xaac6fecf, 0xe6fbe404, 0xed51e9f9, 0x840100fa, 0x844c2091,
-    0x424e2091, 0x06240589, 0x06b11b2f, 0x49076247, 0x0b2208f5, 0xaa830406,
-    0x54450b20, 0x5204200c, 0xb0240b5e, 0x08b21006, 0x230c6245, 0x21152111,
-    0x03370385, 0x02aafde7, 0x0348fcbb, 0x024cfdb1, 0xfe8a0256, 0xb005ca40,
-    0x866efecc, 0x8231207f, 0x0009227f, 0x1a094340, 0xfc42b220, 0x04b02113,
-    0x250b624e, 0x21013130, 0x6f862311, 0xb6fddb2d, 0xfd9d03fd, 0x024a0260,
-    0x8397fd69, 0x824f206b, 0xff6a2e6b, 0x05f004ec, 0x001e00c4, 0x1f0bb255,
-    0x08654620, 0xf2820b20, 0xf2870b20, 0x20082342, 0x19674d0b, 0x0b1eb223,
-    0x223d8203, 0x492f1eb0, 0x25220c80, 0x38420406, 0x10510805, 0x04322100,
-    0x21022317, 0x15070622, 0x32331214, 0x35211137, 0x4ff00421, 0xb7b2e8fe,
-    0x0399e6fe, 0x1b013c01, 0x1d1e01f3, 0xf9fe2af8, 0xc703b1aa, 0xfe52c2b1,
-    0xbd2802d4, 0x01a66a67, 0x0172ce35, 0xf073014a, 0xf50701e2, 0xfeec70ed,
-    0x1d0158fb, 0x052941c0, 0x05180527, 0x000b00b0, 0x12a9414c, 0x430c2b4e,
-    0xb02407ab, 0xb0584500, 0x2208c341, 0x44000609, 0xb94b0640, 0x31302909,
-    0x21112321, 0x33112311, 0x33340582, 0xfdfc1805, 0x02fdfd75, 0x8702fc8b,
-    0xb00579fd, 0x5e02a2fd, 0xa3247982, 0x9f010000, 0x03227982, 0xee561d00,
-    0x244a841a, 0xfc9f0133, 0x822a82fc, 0xff2d2435, 0x82e403ec, 0x000f260a,
-    0x1005b22f, 0x086d4111, 0x270cf54a, 0xb11b2f05, 0x593e0f05, 0x290ae042,
-    0x33013130, 0x23041411, 0xe24c2622, 0xe8022b07, 0xd6fbfefc, 0x73fcf8e4,
-    0x9582666d, 0xd103fc29, 0x74cde6f6, 0x41778775, 0x0c220a15, 0x3f425300,
-    0x82082012, 0x5608205e, 0x0b201427, 0x0b201982, 0x00227883, 0x9a820204,
-    0x006ab428, 0x5d02007a, 0x0d8506b2, 0x75066525, 0x825d0206, 0x072b0889,
-    0x33112311, 0x21013711, 0x02210101, 0xfdfda536, 0x01aa018c, 0x02e3fd32,
-    0x02d4fe3c, 0x3afeaf75, 0x55fdb005, 0xfdfe01ad, 0x85d5fc7b, 0x2604218d,
-    0x0522f382, 0x8d922800, 0x73820220, 0x73840220, 0x2e0a2743, 0x21152125,
-    0x91013311, 0x6efc9502, 0x41cacafd, 0x9424053b, 0x6a060000, 0x0e220a82,
-    0x47856e00, 0x580c3441, 0xde410c6d, 0x00b02407, 0x84b05845, 0x073946ef,
-    0x2208df57, 0x83040001, 0x016523e2, 0xe2820175, 0x0d850720, 0x7a076a23,
-    0x200d8207, 0x220d860a, 0x830a7a0a, 0x020922f0, 0x24f18221, 0x01230113,
-    0x08078213, 0x01dc0124, 0x01a301a4, 0xfe19fc47, 0x53feb552, 0xb005fc19,
-    0x5c04a4fb, 0xe00150fa, 0x9efb8202, 0x7ffd6104, 0xb18820fe, 0x82170521,
-    0x0009240a, 0x5101b24c, 0x918306b7, 0x410c2a50, 0xa4420c8e, 0x0775430c,
-    0x0502b223, 0x21ab8200, 0x068407b2, 0x21313024, 0x87820123, 0x11013331,
-    0xfd170533, 0xfdfd77fd, 0x04fb8b02, 0x82f7fb09, 0x04f33688, 0x0002000d,
-    0x05ecff66, 0x00c4051e, 0x001e0010, 0x1f04b246, 0x243d8220, 0xb01004b0,
-    0x06514514, 0x410cff45, 0x0c20082b, 0x820b0d4e, 0x0cc6432e, 0x02140122,
-    0x2c06c743, 0x20241234, 0x07171204, 0x22230234, 0x05c94302, 0x35124008,
-    0xfe941e05, 0xfeb1b3ed, 0x970197eb, 0x64011301, 0x01961301, 0xa4a8b7fd,
-    0xa6bb02b9, 0xb202b5a8, 0xadbdfed6, 0xd14001ad, 0x4601d552, 0xbffeabad,
-    0x01f205d5, 0xebfffe02, 0xfafef054, 0x46f60001, 0xd42c0605, 0x0a00b005,
-    0x4d001300, 0x15140ab2, 0x0a23b383, 0x860cb010, 0x0cc956b3, 0x564d0120,
-    0x0bb22306, 0x82450301, 0x46032011, 0x30240bc8, 0x23110131, 0x08055f47,
-    0x2523042f, 0x35363221, 0x21272634, 0x02fd9101, 0x1f01f42d, 0xfefde7fe,
-    0x873001d3, 0xfe7e908e, 0xfd1d02c9, 0xfeb005e3, 0xcbeed6d1, 0x8d76787f,
-    0x2e958202, 0x0504ff60, 0x00c4051a, 0x00230015, 0x4a08b246, 0x082305b9,
-    0x8620b010, 0x0c915195, 0x23086842, 0x19b21011, 0x2408cd42, 0xb21008b0,
-    0x0c534d20, 0x17070225, 0x47062507, 0x04250a4e, 0x34071712, 0x0b4e4126,
-    0x76831929, 0xcafea4fa, 0x41b0463d, 0xb1390652, 0x961301b4, 0xa8b8fe01,
-    0xb902b9a3, 0x02b5a9a7, 0xd1fecfb2, 0xf594c359, 0x0d56410d, 0xfefef628,
-    0xec55eaff, 0x5541f6fe, 0x05de2c09, 0x000e00b0, 0xb25a0017, 0x58191805,
-    0x10200637, 0x0420bf86, 0x4908f854, 0xb2230a62, 0x8304020f, 0x540f2027,
-    0xb2230b25, 0x470f010b, 0x0e260698, 0x1004b0d0, 0xd74617b2, 0x0663410d,
-    0x01070625, 0x41012115, 0x41080766, 0xe6feab02, 0xfc0002fd, 0x7e8d1201,
-    0xf1fe4701, 0x0401c2fd, 0x84859080, 0x3102f5fe, 0xb005cffd, 0xc592d6e2,
-    0x0da1fd35, 0x7081fc02, 0x00028075, 0x4a000100, 0x8a04ecff, 0x2700c405,
-    0x11b26300, 0x21452928, 0x0c785108, 0xb6821d20, 0x3e0f1d27, 0x1d02b259,
-    0x23218209, 0x1d090eb2, 0xb0210682, 0x0c9d4609, 0xa38b0220, 0x8422b221,
-    0x1db02129, 0x290ee04e, 0x27242634, 0x24343526, 0xd1593233, 0x07f44e0c,
-    0x0808cf59, 0xfe878d41, 0x01c768a0, 0xee98e51f, 0x858ffc88, 0x0194897c,
-    0xfe60ce54, 0xfe9eefe9, 0xa4fd93f7, 0x01858499, 0x6a686077, 0xb0c97d41,
-    0x7ecf70e4, 0x5f6a8172, 0x81656b50, 0xd7b670a7, 0x7c89ce75, 0x82006b88,
-    0x002d2adb, 0x05b00400, 0x000700b0, 0x12ad462e, 0x09450220, 0x06b02206,
-    0x0ba54d10, 0x47d00421, 0x353107c5, 0xfeb00421, 0x3efefb3a, 0xe4048304,
-    0xe4041cfb, 0x245382cc, 0x04ecff7d, 0x245382bd, 0xb23c0010, 0x06815704,
-    0x58450023, 0x0c2f41b0, 0x460c604d, 0x314908fb, 0x0131080b, 0x23001411,
-    0x11350022, 0x16141133, 0x11112033, 0xd7febd04, 0xdafefaf7, 0x019094fc,
-    0xfcb00524, 0xf1fee833, 0x03ed0b01, 0x9232fccc, 0x0334019a, 0x247b82c6,
-    0x05000012, 0x227b821d, 0x4e380006, 0x234b0ca1, 0x0cec440c, 0x2508d244,
-    0x11030100, 0xd9823912, 0x01210138, 0x02210123, 0x01720195, 0xf5f4fd16,
-    0x1501f6fd, 0x73043d01, 0x578250fa, 0x30000126, 0xe5060000, 0x0c260982,
-    0x05b26000, 0xf9520e0d, 0x0c414515, 0x2415b748, 0xb0584500, 0x08bd5606,
-    0xb2217b84, 0x20068505, 0x8206840a, 0x33132189, 0x02828982, 0x13332608,
-    0x0a053301, 0xb0fefbe0, 0xfeebfef2, 0xb0fef3e5, 0x1601e2fb, 0x046801d4,
-    0x0450fa48, 0x05d9fb27, 0x04bafbb0, 0x24ff8246, 0x04000029, 0x209d82e9,
-    0x0767470b, 0x7d48f88c, 0x0c91460c, 0x89820720, 0x3e0f0727, 0x0100b259,
-    0x21d28204, 0x068506b2, 0x06000322, 0x92480d83, 0x051a4105, 0x01210122,
-    0x28080284, 0x32018902, 0x48fe2401, 0xd9fec201, 0xc6fec7fe, 0xc301dafe,
-    0x240147fe, 0x0e02a203, 0x22fd2efd, 0xeafd1602, 0xd202de02, 0x20958200,
-    0x20958207, 0x229582d6, 0x42310008, 0x958c0565, 0xca4a7b84, 0x85888510,
-    0x23113d73, 0x02210111, 0x014f016f, 0xfe18fe18, 0x190117fe, 0xb202fe02,
-    0xe8fd68fc, 0x98031802, 0x50246183, 0x8c040000, 0x09226182, 0x61854400,
-    0xd147548c, 0x04b22312, 0xda820200, 0x1007b024, 0x364405b2, 0x09b22308,
-    0x14820705, 0x2531303e, 0x35211521, 0x21352101, 0x03820115, 0x02c4fb0a,
-    0x0414fdf1, 0xa4caca1f, 0xa0cc4004, 0x84306f83, 0x1c02bcfe, 0x07008e06,
-    0xb0002200, 0x07b02f04, 0x570f714b, 0xc282095b, 0x33112335, 0x21112115,
-    0xa5a51c02, 0x980168fe, 0xa9f9d005, 0x83d207bd, 0xff142447, 0x82640383,
-    0x000325b7, 0x02b00013, 0x2005a94f, 0x066f5400, 0x13313036, 0x14230133,
-    0xf06002f0, 0xd3f9b005, 0x0c000100, 0xa601bcfe, 0x25207584, 0x01232d84,
-    0x8b02b02f, 0x01b021bf, 0x200d6a4b, 0x31748213, 0x23113335, 0xfe9a010c,
-    0x06a7a766, 0xbd2ef88e, 0x77835706, 0xd9023524, 0x77823503, 0x27000622,
-    0x460c2743, 0xd02409d3, 0x030701b2, 0x22054256, 0x82d005b0, 0x230322c4,
-    0x318e8201, 0xceb2b501, 0x01ab2b01, 0xa604cd2a, 0xd70233fe, 0x978229fd,
-    0x41ff032a, 0x00009803, 0x1b000300, 0x43057d41, 0xce5d0a54, 0x31302d07,
-    0x21352105, 0x6bfc9803, 0xbfbf9503, 0x31258383, 0x0902d104, 0x29358306,
-    0x01b00024, 0x010fb22f, 0x12525d01, 0x0fb42905, 0x02031f03, 0x0100b25d,
-    0x19248183, 0x182f00b0, 0x22088082, 0x02210123, 0xf2feca09, 0xd1041501,
-    0x00002f01, 0xff5a0002, 0x04fb03ec, 0x001e004e, 0xb2850029, 0x832b2a17,
-    0x471720af, 0x1725090b, 0x17b11b2f, 0x0699591b, 0x4f0cef42, 0x02220826,
-    0x34820417, 0x840bb221, 0x0bb02506, 0x1017b02f, 0x220b2b4f, 0x820f0b12,
-    0x09402e1e, 0x121c120c, 0x123c122c, 0x04b05d04, 0x0b9e5410, 0xb2100b24,
-    0xe3890723, 0x27262131, 0x26222306, 0x33243435, 0x26343533, 0x58062223,
-    0x172907d4, 0x15171411, 0x37363225, 0x05a25f35, 0x03033e08, 0xa8740c10,
-    0x0101cea3, 0x605e95ef, 0x76f36a53, 0xe2be7dcb, 0xfdfd2903, 0x83207f48,
-    0x1f5d8887, 0x89ba7946, 0x5447b9ad, 0x59405365, 0xadbf589b, 0x579218fe,
-    0x3b46af11, 0x46565ecc, 0x2efd8253, 0x04ecff7c, 0x00000632, 0x001b000f,
-    0x5a13b264, 0x13200597, 0x20059f48, 0x054a4209, 0x1b2f0c24, 0x00410cb1,
-    0x08324d07, 0x220c7a44, 0x82030c05, 0x0ab221e1, 0xb0200684, 0x5a10714f,
-    0x142f0cb5, 0x27222302, 0x33112307, 0x32333611, 0x83271112, 0x110723e0,
-    0xd5823316, 0x32042f08, 0x6abec5e1, 0x69f3dc0c, 0xf3e2c6b2, 0x409e767c,
-    0x7c729f41, 0xfc120202, 0x7589d6fe, 0xd2fd0006, 0xfedafe7c, 0xb0b007f8,
-    0x8d42fe8a, 0xb159acaa, 0xf5032b05, 0x1c004e04, 0x00b24b00, 0x49451e1d,
-    0x820f2008, 0x870f20b4, 0x08a952b4, 0x23092554, 0x0f0803b2, 0xb2232c82,
-    0x82080f13, 0x0fb02406, 0x4316b210, 0x302208c1, 0x8c822531, 0x820e3321,
-    0x110027a8, 0x33003435, 0x18501632, 0x0246080a, 0x04785b39, 0xca7604e5,
-    0xf6fee375, 0xc1e40801, 0x04e506f3, 0x80765c77, 0x6aae7f01, 0x66af654e,
-    0x03012601, 0x2901f719, 0x785db7e1, 0xb027aeab, 0x020000ad, 0xecff4f00,
-    0x00060304, 0x19000e00, 0x17b26400, 0x75831b1a, 0xb0101727, 0xb000d003,
-    0x05674106, 0xb2820320, 0xb2870320, 0x0c820c20, 0xdd4b0c20, 0x22bf8807,
-    0x820c0305, 0x0ab22137, 0xb0210684, 0x0cf9550c, 0xbb480320, 0x1344080d,
-    0x32331234, 0x11331117, 0x23062723, 0x14370222, 0x37323316, 0x22232611,
-    0xc3e84f06, 0xdcf36aac, 0xbeb66d0c, 0x757ff3eb, 0x95434595, 0x25028076,
-    0x782f01fa, 0x00fa2a02, 0x32018470, 0x85b9a5f2, 0xbb82ce01, 0x5320b983,
-    0x0b2cb982, 0x15004e04, 0x83001d00, 0x1f1e16b2, 0xb0248182, 0x08b01016,
-    0x84066b49, 0x43b6879c, 0x1a220812, 0x27830800, 0xb42f1a33, 0x1acf1abf,
-    0x5fb45d02, 0x021a6f1a, 0x1a1fb471, 0x2206832f, 0x82ff1aef, 0x8cb22606,
-    0xb25d011a, 0x08fa420c, 0x4e52b020, 0x12b2280c, 0x12110008, 0x4108b039,
-    0x05230d9b, 0x56350022, 0x122405d1, 0x16211511, 0x4008d683, 0x03060617,
-    0x21070622, 0x02262635, 0xe1fee759, 0xdd8be27d, 0x0b3dfdf1, 0x69a7779d,
-    0xa4d94183, 0x01117b64, 0x147208cf, 0x1ef22301, 0xfe8effa2, 0x62fefee6,
-    0x7d879c86, 0x9f036b61, 0x7a127d8c, 0x06c5487d, 0x06d6022b, 0x00140015,
-    0x1507b253, 0x08494216, 0x2120df84, 0x8f0bff43, 0x04b025ec, 0xd010b010,
-    0x210b6552, 0xb583d001, 0x220dba51, 0x82333523, 0x333c08b6, 0x26071732,
-    0x15152223, 0x11231533, 0xc8a5a5d2, 0x064840b4, 0xdcae3528, 0xb48603dc,
-    0x12c4b463, 0x60b308be, 0x007afcb4, 0x52000200, 0x0c0456fe, 0x19004e04,
-    0x83002400, 0x262522b2, 0xb0249382, 0x0bb01022, 0x870b3b4c, 0x2f06248c,
-    0x8706b11b, 0x820b200c, 0x110b210c, 0x1720b386, 0x17270c82, 0xb2593e0f,
-    0x83170305, 0x0cec5041, 0x110fb222, 0xb2211483, 0x201b8515, 0x0b3e5817,
-    0x1003b023, 0x0ba45cb2, 0x20055242, 0x06b14f37, 0x16372727, 0x35363233,
-    0x0e5d4235, 0xed524b08, 0x0b6ab9c4, 0xe1f7fedb, 0x733be377, 0x8c79a470,
-    0xf1beaf69, 0x937685f2, 0x78934547, 0xfc250285, 0x6d812d01, 0xf6d5e7fb,
-    0x85925063, 0x75497f83, 0xa3f62e01, 0xdc017ebb, 0x0100be7b, 0x00007900,
-    0x0006f803, 0x42001000, 0xf7490ab2, 0x43102006, 0x0220051f, 0x25069457,
-    0x584500b0, 0x165c0db0, 0x0b874407, 0x1002b024, 0xc6430ab2, 0x3601270a,
-    0x11132033, 0x62441123, 0x11233e05, 0x776c0133, 0x055a01b6, 0x925e61f3,
-    0x03f3f348, 0x75fe8ac4, 0xba023dfd, 0xfc825d70, 0x2f7482fb, 0x7d000200,
-    0x90010000, 0x0300d505, 0x3e000d00, 0x41175567, 0x01200766, 0x8206af4d,
-    0x0cb02677, 0x2f0cb0d0, 0x095e67b2, 0x67062251, 0x7f3e0958, 0xfefef3f3,
-    0x48488447, 0x3a044784, 0x4a381901, 0x4937384a, 0x02000049, 0x4bfeb5ff,
-    0x73828501, 0x16000c28, 0x03b24900, 0x1b601817, 0x07cd4c06, 0x200c8045,
-    0x23738204, 0x593e1104, 0x2a0a155f, 0xb0100cb0, 0x15b0d015, 0x580fb22f,
-    0x302f085b, 0x14110131, 0x27222306, 0x32331635, 0x89031137, 0xa57a2987,
-    0x263e439f, 0x15037930, 0xfb298c87, 0x11afa666, 0x048409c0, 0x299689a3,
-    0x007d0001, 0x06360400, 0x6d510000, 0x0708430d, 0x670cf543, 0x6d510c95,
-    0x51082009, 0x0d850c6d, 0x08146d51, 0x6cdc012a, 0x014cf3f3, 0xfe24012b,
-    0xfebd016e, 0x6fd001e7, 0x00069ffe, 0x015f8afc, 0xfd3dfe51, 0x00010089,
-    0x0100008c, 0x0000067f, 0x870d9752, 0x0776448d, 0x22067441, 0x82f3f37f,
-    0x2c35822a, 0x0600007c, 0x004e0479, 0xb277001d, 0x0a295604, 0x240c6a45,
-    0xb11b2f07, 0x0cd34307, 0x3d650c87, 0x8215200c, 0x51152026, 0x0328116f,
-    0x3912111b, 0x150705b2, 0x5706084a, 0x18280a0e, 0x013130d0, 0x32333617,
-    0x16210383, 0x06884217, 0x07063e08, 0x26112313, 0x11072223, 0x61011123,
-    0xd9c67207, 0xb3d67650, 0x5af302af, 0x15695368, 0xbe05f301, 0x04f33d92,
-    0xa685713a, 0xfdc1c6a6, 0x67c00239, 0xfd485960, 0xbfc8021a, 0x04f0fc77,
-    0x0723433a, 0x1024d582, 0x0bb25300, 0x8c0a1b4d, 0x820020d5, 0x870020ae,
-    0x820e20c8, 0x870e200c, 0x08a64bbb, 0x030e0122, 0x21056942, 0x34430bb2,
-    0x43ad820b, 0x012c0c35, 0xc378075e, 0xf3065201, 0x48936559, 0x7d2c9982,
-    0xfd7dfe91, 0x67bd0235, 0xfefc8563, 0xdd469082, 0x823d2006, 0x000f2891,
-    0xb243001a, 0x681c1b0c, 0xb021057c, 0x0b8f4f18, 0x5c0fda46, 0x04200bb6,
-    0x200dd061, 0x05b15c13, 0x1417172d, 0x22230606, 0x14173500, 0x49363216,
-    0x2d08050a, 0x94e47e4f, 0x0b1101db, 0x96e57b01, 0xf3edfee5, 0x8d89f68a,
-    0x028c7779, 0x89ff9f27, 0x39e9e6fe, 0x018afca0, 0xa709fe31, 0xa4b9c0bd,
-    0x9b82bdc0, 0x60fe7c24, 0x9b863004, 0x13b26e22, 0xe1489b85, 0x45002306,
-    0x5d43b058, 0x2f09240c, 0x4509b11b, 0x45450c52, 0x088d4a07, 0x2430eb48,
-    0x33112311, 0x0feb4817, 0x30042e08, 0x6bb2c0e4, 0x6b0ae0f3, 0xf2e1c6b8,
-    0x41957881, 0x83749642, 0xfefb1202, 0xfffd75d5, 0x826eda05, 0xfafed9fe,
-    0x7bbea206, 0xbb7e20fe, 0x20c78200, 0x20c7824f, 0x24c78202, 0x0019000e,
-    0x0e41486b, 0x8c081369, 0x0cfe48ba, 0x2954c787, 0x0c4b4808, 0x480b8b41,
-    0x37211448, 0x45c68233, 0x2a080eea, 0xb5c6e84f, 0xf3d80e6a, 0xeac2aa6a,
-    0x907483f3, 0x748e4646, 0xfe260285, 0x6b7f2a01, 0xfc0126fa, 0xf62f0170,
-    0x017bbda6, 0x43ba76ec, 0x0221058b, 0x26bf82b4, 0xb246000d, 0x470f0e09,
-    0xb8460d5f, 0x200c870c, 0x06305605, 0x6a0bb021, 0x09220cdb, 0x3c82050b,
-    0x01313022, 0x3d064443, 0x33361733, 0xb3021732, 0x3aa73330, 0x5806e8f3,
-    0x0322349c, 0xfd80085c, 0x793a041c, 0x79820e8d, 0xecff4b24, 0x7982ca03,
-    0x69002626, 0x282709b2, 0x870d7b51, 0x821c206c, 0x0f1c276c, 0x02b2593e,
-    0x2182091c, 0x1002b027, 0xb0d016b0, 0x0bdf5a09, 0x160db223, 0x2b1a8210,
-    0x1c0d0cb4, 0xb05d020d, 0x24b2101c, 0x23083743, 0x022421b2, 0x03251b83,
-    0x02211321, 0x0a556b5d, 0x6b323321, 0x16200b52, 0x21065466, 0x76623526,
-    0x023d0805, 0x53f86bdb, 0xc2b6ecb6, 0x5668f3ef, 0x015e6550, 0xf24fa31e,
-    0x74d085c4, 0x637805ec, 0x26016460, 0x28344441, 0xbc8ca758, 0x5d4699c0,
-    0x3e383e4a, 0x577a573f, 0xa860b592, 0x495d5661, 0x2cdb8200, 0x02ecff08,
-    0x00410572, 0xb2520014, 0x0ab54800, 0xce821320, 0xdb871320, 0x26082c47,
-    0x01b01013, 0x8200b0d0, 0xb02f2202, 0x0b265f01, 0x590db021, 0xd0480bd1,
-    0x08c48205, 0x15331134, 0x16141123, 0x15373233, 0x11202306, 0x33352311,
-    0xbfad0111, 0x2a3f31bf, 0xfe4d532b, 0x05b2b2e8, 0xb4f9fe41, 0x373ea4fd,
-    0x0117bc0a, 0xb4650235, 0x95820701, 0xecff772a, 0x3a04f703, 0x53001000,
-    0x2308c547, 0xb0584500, 0x840c6a45, 0x46a28795, 0x0f200c42, 0x0f27bc82,
-    0xb2593e0f, 0x410d0200, 0xd647058b, 0x0625290c, 0x35262223, 0x14113311,
-    0x06829882, 0x0c03233a, 0xb5b0c56b, 0x3eb1abf3, 0x7e6ae5f3, 0xbd02c3ce,
-    0x7fce46fd, 0xc6fb0903, 0x16248b82, 0xda030000, 0xcd518b82, 0x0c6a4214,
-    0x220fe34c, 0x510500b2, 0x133506cd, 0x01230133, 0xe5fa0133, 0xd389fefb,
-    0x01fc86fe, 0xfb060334, 0x825482c6, 0x0021245f, 0x82cc0500, 0x14cb510a,
-    0x420c8243, 0x504d14e4, 0x0b002115, 0xb2217983, 0x20068505, 0x2206840a,
-    0x83013130, 0x03032187, 0x23088a82, 0x04331313, 0xfeedac33, 0xe4e8c8d9,
-    0xedd8fec8, 0x01b7deaf, 0xfbeb024f, 0xfde702c6, 0xfd3a0419, 0x00e3021d,
-    0x1f209b82, 0xe820fb82, 0xc9519b82, 0x2487870d, 0xb11b2f0a, 0x14d94e0a,
-    0xc9510720, 0x040a2608, 0xb2391211, 0x51068506, 0x13260fc9, 0x21010121,
-    0x05830303, 0xce01022e, 0xb5fe0e01, 0xf4fe5601, 0xf2fed7d8, 0xb6320782,
-    0xd6020c01, 0xebfd6401, 0x7201dbfd, 0x25028efe, 0x91821502, 0x4bfe0c24,
-    0x9182d603, 0x3f000f24, 0x295a00b2, 0x0caf4d0a, 0x7e820520, 0x3e110527,
-    0x0500b259, 0x059d4d0f, 0xd001b024, 0x206105b0, 0x3130220b, 0x087d8201,
-    0x22230230, 0x32173527, 0x01373736, 0xdcf70121, 0x52fe0301, 0x4035ed63,
-    0x1b5d5c2e, 0x0184fe23, 0x025c0106, 0xfe22fbde, 0x03bc12ef, 0x045d4f43,
-    0x81820035, 0x00005224, 0x8182c003, 0x420de551, 0xaa540f87, 0x28e5510a,
-    0x40028031, 0x250292fc, 0x4f03e5fd, 0x029fc2c2, 0x839ac4d7, 0xfe382e6f,
-    0x06910298, 0x0017003d, 0x1812b236, 0x22cf8219, 0x4a0cb000, 0x002005d1,
-    0x0021e782, 0x22e78217, 0x820c0006, 0x06b02417, 0x4d05b22f, 0xb223080c,
-    0x44060512, 0x240805e7, 0x34350324, 0x35323523, 0x37363635, 0x15070617,
-    0x15160714, 0x02171615, 0x079ffe61, 0xb503c1c1, 0x06ad30b0, 0x370282ad,
-    0x016398fe, 0xb2e1d560, 0xdeb4d4e2, 0xfa388c32, 0x5c5be1d8, 0x38fad5e3,
-    0xae248583, 0x5501f2fe, 0x2b18ad6a, 0x33112301, 0xa7a75501, 0xbe06f2fe,
-    0x1b202d83, 0x7520b382, 0x1820b382, 0x0522b382, 0xb3841a19, 0xb3850b20,
-    0xb3821820, 0xb3831820, 0x0b181122, 0xb0241782, 0x12b22f11, 0x0522b389,
-    0xb3841112, 0x3736172c, 0x26373435, 0x27263535, 0xad821637, 0x33143d08,
-    0x15152215, 0x1b070614, 0xb6b604b0, 0xb630b004, 0xb3c2c2b2, 0xff39dbb5,
-    0x5656e7d0, 0x39ffcfea, 0xb9e5338c, 0xe1b2e1c8, 0x33e5bbc5, 0x75000100,
-    0xdc048301, 0x17002f03, 0x11b23f00, 0x25063541, 0x03b22f0f, 0x5f820f18,
-    0x2f03b024, 0xb0440fb0, 0x1003260c, 0xb0d00bb0, 0x0cea5903, 0xb0100f2d,
-    0x3130d017, 0x23061401, 0x51022e22, 0x3f080645, 0x021e3233, 0x35363233,
-    0x8ebedc04, 0x439a7d4a, 0xc14d4326, 0x854a94b6, 0x43274391, 0xb0120354,
-    0x218938df, 0xdbab5468, 0x7022843b, 0x00020054, 0x0194fe86, 0x004d0499,
-    0x000f0003, 0x1007b23e, 0xb024de83, 0x00b01007, 0x4406d948, 0x032c0cc4,
-    0x03b11b2f, 0xb0593e17, 0x07b2100d, 0x250ee663, 0x33133130, 0x8c842113,
-    0x35263408, 0x32333634, 0x18d1aa16, 0x0701fffe, 0x48424148, 0x48414248,
-    0xfefb9602, 0x4b383705, 0x4b37384b, 0x0001004b, 0x040bff64, 0x0026050a,
-    0xb25d0020, 0x6b22211b, 0xc2430d2d, 0x0d665c0c, 0x0a03b222, 0x0a22a484,
-    0x8c73b010, 0x10112b05, 0xb0d014b0, 0x18b22f14, 0x45820a11, 0x1011b022,
-    0x250c025b, 0x37363225, 0xe7710633, 0x35022405, 0x72123435, 0x41080507,
-    0x26262317, 0x07032223, 0x4f021614, 0xe4067859, 0xc892c504, 0xb7ccccb7,
-    0x04b99ec8, 0x5b7607e4, 0x7f0110e6, 0x885068ae, 0xeaea1ccd, 0xdc1f0122,
-    0x2001d51c, 0x1ce0e122, 0x75609cd8, 0xb048c8fe, 0xc38200ad, 0x00005e2e,
-    0xc3057c04, 0x65001f00, 0x21201ab2, 0x1224c388, 0x12b11b2f, 0x5e07ad55,
-    0x04200817, 0x26084d47, 0xb2d008b0, 0x5f12051e, 0x1f200677, 0x0c291789,
-    0x101eb0d0, 0xb2d00fb0, 0x201d8516, 0x0b925a12, 0x01313035, 0x21071417,
-    0x33352107, 0x27353636, 0x27333523, 0x47203634, 0x4908087e, 0x01152117,
-    0x024007fd, 0xe7fb01b8, 0x072b2752, 0xfa089ba1, 0xf5e89601, 0x67595e69,
-    0x02370109, 0x5587b056, 0x6f09caca, 0xf2c7b95b, 0xb8daeaca, 0x6882695f,
-    0x0200c7f2, 0xe5ff5d00, 0xf1044f05, 0x28001b00, 0x02b23f00, 0x93462a29,
-    0x1fb02105, 0x2d0b6975, 0xb0593e0f, 0x10b0d010, 0x1002b02f, 0x114320b2,
-    0x10b02408, 0x8826b210, 0x3082080d, 0x23062531, 0x27072722, 0x34352637,
-    0x17372737, 0x17323336, 0x16071737, 0x17071415, 0x16140107, 0x36363216,
-    0x22262634, 0x3d040606, 0x9ecacb9f, 0x64878d81, 0x8e8d906d, 0x9bc2c09b,
-    0x6b948e91, 0xfc8e8b62, 0xdcbe6e78, 0xbd6d6dbe, 0x6b6dbede, 0x90847e7f,
-    0xc8c59c89, 0x919093a5, 0x91947573, 0xc1ca9f97, 0x02918d9c, 0x75ce787b,
-    0xcceece76, 0x00cc7575, 0x19000100, 0xc0040000, 0x1600b005, 0x5b557200,
-    0x2f162405, 0x4116b11b, 0x124a0780, 0x0c002208, 0x06dc5116, 0xb2d00123,
-    0x330c850f, 0x13b02f0f, 0x2f13b0d0, 0x1f130fb4, 0xb05d0213, 0x04b0d004,
-    0x10231282, 0x540412b2, 0xb02407b1, 0x0fb0d006, 0x23076d42, 0x0eb2100f,
-    0x0a211989, 0x057c57d0, 0x84152121, 0x05127001, 0x3521353a, 0x02210121,
-    0x013b016d, 0x0177fe18, 0x01a3fe0d, 0xfca3fe5d, 0x62019efe, 0x19200382,
-    0x193a1282, 0x7c023403, 0x8a9836fd, 0x01d3fe97, 0x988a972d, 0x0200ca02,
-    0xf2fe8800, 0xc5826d01, 0x07000324, 0xc7821800, 0x20059044, 0x06c46206,
-    0x0105b22a, 0x31302b03, 0x11331113, 0x332e6682, 0xe5e5e588, 0x1b03f2fe,
-    0xc803e5fc, 0x3d82f602, 0x26fe5a30, 0xc4058c04, 0x3d002f00, 0x20b28200,
-    0xea833f3e, 0xb0102027, 0xb000d030, 0x204a8507, 0x274a8220, 0x593e1f20,
-    0x072039b2, 0x39201d83, 0x230b715d, 0x133902b2, 0x2006e34d, 0x0890420e,
-    0x0e0bb222, 0xb2211483, 0x23308532, 0x2cb21032, 0x1a221b89, 0x63852c32,
-    0x8927b221, 0x2c242214, 0x2f148227, 0x14013130, 0x14151607, 0x24222304,
-    0x16143735, 0x2d051265, 0x35022e27, 0x26263734, 0x33243435, 0x89750432,
-    0x16162d0a, 0x06272625, 0x1f161415, 0x34353602, 0x8108c782, 0xf2fe87ab,
-    0xe0fef6ea, 0x79889cf2, 0xbcbb868d, 0x41a95dbe, 0xe6130144, 0xf30c01f0,
-    0x8b7b7891, 0xc2830178, 0x51cdfd5a, 0x95636c4c, 0x88732eb3, 0x59b8c701,
-    0xc6adb964, 0x6e01cfd9, 0x4d4f5f78, 0x6e33375b, 0x5ab86d9a, 0xaa648832,
-    0x6acce1cc, 0x54525f80, 0x99716857, 0x281c156e, 0x2f56517c, 0x752f1035,
-    0x02006151, 0xdf045d00, 0xcc052303, 0x11000800, 0xb0002200, 0x0fb22f07,
-    0xb25d0107, 0xfc410502, 0xd00b2408, 0x421007b0, 0x302b05fa, 0x36341331,
-    0x06141632, 0x87252622, 0x435d2908, 0x76444476, 0x44c80143, 0x44290783,
-    0x44325605, 0x44446444, 0x3e068531, 0x57000300, 0xe205ecff, 0x1a00c405,
-    0x36002800, 0x1fb28e00, 0x12113837, 0x101fb039, 0x83d009b0, 0x43332005,
-    0x33310665, 0x33b11b2f, 0xb0593e0f, 0x2db0d02d, 0x3302b22f, 0x2c26832d,
-    0x0fb42f02, 0x02021f02, 0x2d09b25d, 0x26108333, 0x00b42f09, 0x82091009,
-    0x090d2210, 0x21108202, 0x5c6810b2, 0x02b02408, 0x8817b210, 0x1ab2230d,
-    0x1f820902, 0x102db025, 0x88081fb2, 0x103323cd, 0x0d8825b2, 0x01313027,
-    0x26200614, 0x05af4535, 0x20078f41, 0x05ae4115, 0x02342535, 0x04222324,
-    0x04121002, 0x25122420, 0x20241234, 0x60101204, 0x7c08054e, 0xfeaf5e04,
-    0x9ebfbdc0, 0x5c9cada3, 0x68675c58, 0x015a595b, 0xeefe96a6, 0xeffe9fa3,
-    0x11019b9c, 0x13014001, 0xbbeffa98, 0x80014b01, 0xbbbb4a01, 0xc1c2b8fe,
-    0x02bcb7fe, 0xd5a29854, 0xd5ae71b4, 0x536095a5, 0x76757688, 0x85625186,
-    0xab1d01a6, 0xfee0fea4, 0xa7e0feac, 0xa72001aa, 0xc75a01ca, 0xfea6fec7,
-    0xc9a6fe6c, 0x005a01c8, 0x028d0002, 0x051103b3, 0x001a00c4, 0xb28f0024,
-    0x0527540d, 0xb0100d23, 0x0639411c, 0x1b2f142b, 0x3e1f14b1, 0x2503b259,
-    0x063d4714, 0xb0d00027, 0x01b22f00, 0x210f8303, 0x06840ab2, 0x2f0ab027,
-    0xb21014b0, 0x0920410d, 0x0d0a1022, 0x21082e82, 0x0110ccb2, 0x0c13405d,
-    0x2c101c10, 0x4c103c10, 0x6c105c10, 0x8c107c10, 0xb25d0910, 0x710110ba,
-    0xdc6903b0, 0x100a230c, 0x42881fb2, 0x01313033, 0x22230627, 0x36343526,
-    0x34353333, 0x15062223, 0x080a8227, 0x15163271, 0x25171411, 0x35373632,
-    0x15060623, 0x11600214, 0x83767c4d, 0x7466ada8, 0xafad4941, 0x1a9a8988,
-    0x5428a0fe, 0x564c6a1b, 0x5244c102, 0x796e697b, 0x30337f33, 0x9181680e,
-    0x61c4fe84, 0x19248251, 0x313c0189, 0x00ffff58, 0x038a0057, 0x00a90385,
-    0xeb7a0126, 0x01070000, 0x0052017a, 0x00010000, 0x0376017f, 0x002503c2,
-    0x001a0005, 0x7a2f04b0, 0xb02105ec, 0x0b484e04, 0x23329c82, 0x21352111,
-    0xfdc8c203, 0x01430385, 0xab040176, 0x8f420400, 0x000d3508, 0x0031001b,
-    0xb29d003a, 0x113c3b0a, 0x0ab03912, 0xd012b010, 0x31200583, 0x97420584,
-    0x0cc16107, 0x1b2f0a2c, 0x3e0f0ab1, 0x1003b059, 0x474212b2, 0x21348208,
-    0x0d8818b2, 0x0a1db223, 0x06ae7a03, 0x0a031f22, 0x1f2c0983, 0x1f00b42f,
-    0x5d021f10, 0x1f1d32b2, 0x32231083, 0x891cb22f, 0x1c25222f, 0x282f8432,
-    0xd02cb010, 0xb2101fb0, 0x221a883a, 0x42133130, 0x93420c77, 0x8211200e,
-    0x163231df, 0x16071415, 0x17161416, 0x35262315, 0x27232634, 0x21066b44,
-    0x7e425723, 0x1105210f, 0x380fa242, 0x019725fd, 0x78ac9919, 0x0a073441,
-    0x4d420d9b, 0x5d458f9e, 0x028d5d47, 0x0e8442d9, 0xa442cb20, 0x5b2c080e,
-    0x5203affe, 0x3f757d87, 0x44a36f1d, 0xa0221017, 0x3e86434c, 0x013b4636,
-    0x87000100, 0x5e031205, 0x0300b005, 0xb0001100, 0x02b22f01, 0x7508957b,
-    0x033a05b1, 0x0229fd5e, 0x9e1205d7, 0x7f000200, 0x8b02af03, 0x0900c405,
-    0x39001300, 0x3d6300b2, 0x06d64206, 0x26082765, 0x0ab0d00a, 0x4205b22f,
-    0xb0220875, 0xf5431000, 0x0855820a, 0x14163233, 0x26222306, 0x32133634,
-    0x26343536, 0x16140622, 0x9a6a8701, 0x9b6d6c98, 0x45356b9d, 0x49486a45,
-    0xdc9ec405, 0x9edc9b9b, 0x354778fe, 0x684c4c34, 0x2c7d8248, 0x0301005f,
-    0x00fc04f3, 0x000f000b, 0x05eb7646, 0x250b7956, 0x00b01009, 0xfb76b0d0,
-    0x0db0230f, 0x1f46b210, 0x0e052c0a, 0x39121106, 0x1b050bb4, 0x775d0205,
-    0x20080d17, 0x21352101, 0x57019c02, 0xfed8a9fe, 0xd865019b, 0xaffc3201,
-    0x83035103, 0x017cfec7, 0x7901c784, 0x2ff882fb, 0x3c000100, 0xb2029b02,
-    0x1700bb05, 0x08b25900, 0x2006094b, 0x74878200, 0x00290c93, 0x00b11b2f,
-    0xb2593e13, 0x08054116, 0x0002b223, 0x237a8216, 0x000f03b2, 0x2105434d,
-    0x1b8908b2, 0x14840c20, 0x8413b221, 0x23968306, 0x35360135, 0x08086a5c,
-    0x1632332f, 0x020f1415, 0xfdb20221, 0x711d019c, 0x423a3436, 0x8f87a9ba,
-    0x8c626a9c, 0x9b027301, 0x6705017d, 0x42352a43, 0x80997436, 0x57666b73,
-    0x2ea58271, 0x028f0237, 0x00ba05a9, 0xb27d0024, 0x4926251e, 0x0d2008e9,
-    0x0d209882, 0x20076848, 0x200c8217, 0x22a58317, 0x820d1701, 0xb07c3721,
-    0xb6182f01, 0x01500140, 0x71030160, 0x010190b2, 0x100db05d, 0xa68906b2,
-    0x83010921, 0x01b02127, 0x230b306e, 0x012312b2, 0xb2213c82, 0x2443841b,
-    0xb21017b0, 0x8230881e, 0x323321c9, 0x0720c78e, 0x68067251, 0x36080761,
-    0x01232734, 0x3684510c, 0xba41303e, 0xa38f82a5, 0x8fb19587, 0x45baab87,
-    0x863d3f3c, 0x616c045c, 0x23273523, 0x69797c63, 0x8e293377, 0x717f7e6a,
-    0x2a373526, 0x82000165, 0x047031e3, 0x064802d1, 0x00030000, 0x02b00023,
-    0x020fb22f, 0x0036b082, 0x2f00b0d0, 0x1f000fb4, 0xb05d0200, 0x03b01002,
-    0x03b019d0, 0x8982182f, 0x2301212d, 0x15013301, 0x06c3ebfe, 0x82d1fe00,
-    0xfe922c3f, 0x041f0460, 0x0012003a, 0x790db260, 0x002206fd, 0x3f825845,
-    0x55b11b21, 0x072108aa, 0x0a8d562f, 0x0c821020, 0x59111021, 0xf25806c7,
-    0x0868440c, 0xc6510d20, 0x0bb2220b, 0x057b600d, 0x16110123, 0x061c5116,
-    0x06272808, 0x11272223, 0x84011123, 0xa86a5902, 0x07dff33b, 0x4d79935c,
-    0xfd3a04f2, 0x79828d84, 0xc6fb1203, 0xfe376b56, 0x73da053e, 0x032905f5,
-    0x00b00556, 0xb22b000a, 0x0a217902, 0x5b0c8a62, 0x260808e3, 0x11080001,
-    0x31303912, 0x22231121, 0x24343524, 0x02112133, 0xfee65084, 0xe60a01f7,
-    0x08022101, 0xffd5d6fe, 0x820050fa, 0x028e2657, 0x03a90145, 0x22578252,
-    0x8608b216, 0x2f022d57, 0x2b0a08b1, 0xdc1bd858, 0x13313059, 0x33069f58,
-    0x8e262223, 0x4e4b864a, 0x024c4140, 0x4e4e3aca, 0x4a4a3b3a, 0x6d2e3f82,
-    0xc90141fe, 0x0e000300, 0x09b23400, 0x7582100f, 0x5608355d, 0x062308da,
-    0x8607b110, 0x0db2234f, 0x23820e07, 0x0d01b222, 0x30220683, 0x03422531,
-    0x27200805, 0x34353632, 0x01372726, 0xac960b3e, 0x4742079b, 0x03205047,
-    0x69921b36, 0x2a2f8976, 0x8b05232d, 0x802c6982, 0x0202a002, 0x0600b305,
-    0x01b23900, 0x780f9d72, 0x13260ca3, 0x04b2593e, 0x83680005, 0x03b22105,
-    0x2c0b8342, 0x35071123, 0x02023325, 0x6f01c9b9, 0x35508213, 0x7792303a,
-    0x77000200, 0x2c03b202, 0x0c00c405, 0x40001a00, 0x895609b2, 0x10092205,
-    0x07e759b0, 0x3d7a0220, 0x201a8206, 0x05ca4802, 0x2518bc48, 0x34133130,
-    0xa37e2036, 0x4237200e, 0x3f0806f9, 0x3601bf77, 0x9e9dbcc0, 0x505dafbe,
-    0x5d015b4e, 0x045d4e4f, 0xc2c3a061, 0xc39f48a6, 0x6205a3c4, 0x50616c6e,
-    0x666d6e61, 0x00ffff00, 0x038a005d, 0x00a90399, 0x097b0126, 0x01070000,
-    0x007e017b, 0x592e1783, 0x83050000, 0x2700ab05, 0xd9ffd501, 0x07829802,
-    0x1b017c2e, 0x07010800, 0xc502d801, 0x10000000, 0x250d1576, 0xffff3130,
-    0x33825000, 0xae05cc22, 0x00232b83, 0x840800f0, 0x02d0223b, 0x2233829b,
-    0x891a03d6, 0x82092033, 0x1f0923e6, 0x3384593e, 0x33826720, 0xbb05fc22,
-    0xa8205f84, 0xd82c3384, 0x00003e03, 0xd7010701, 0x9b023000, 0x994b6787,
-    0x31303507, 0x42000200, 0xa5037ffe, 0x19004e04, 0x61002300, 0x252410b2,
-    0x21053e73, 0x18461db0, 0x82212006, 0x4f212060, 0x10200721, 0x10280c82,
-    0xb0593e17, 0x1db21021, 0x230e934f, 0x100003b2, 0x22187a73, 0x82001016,
-    0x3130271b, 0x07060601, 0xf4490607, 0x06332106, 0x0805ce48, 0x36373725,
-    0x14133737, 0x35262206, 0x16323634, 0x35027602, 0x625a6749, 0xf36a5859,
-    0xcec2ef02, 0x4e5c9be2, 0x5bf7020a, 0x02360560, 0x4f917c95, 0x5e6a616a,
-    0xb153645d, 0xa5b8c9d0, 0x73485da3, 0xea4f0135, 0x02002f08, 0x0000f6ff,
-    0xb0055707, 0x12000f00, 0x43677700, 0x0c3f6b12, 0x2008e866, 0x05e46d11,
-    0xb22f1123, 0x09966902, 0x17510620, 0x0bb2210b, 0x0b212285, 0x0a746d2f,
-    0x4600b021, 0x12200ca1, 0x30242284, 0x03212131, 0x01240182, 0x13211521,
-    0x46080384, 0x07032101, 0x0f7efc57, 0xfeb80afe, 0x034303de, 0x117afde0,
-    0xe4fd2402, 0xfa970214, 0x1b7901ed, 0xacfe5401, 0xfec5b005, 0x36fec568,
-    0x88026701, 0x00010000, 0x03d6004d, 0x008604ec, 0x0038000b, 0xb22f03b0,
-    0x42030c09, 0x0a2106c8, 0x23098309, 0x090304b2, 0xb2231082, 0x82040a01,
-    0x03b02906, 0xd005b010, 0x0a0407b2, 0x103e2484, 0x30d00bb0, 0x01011331,
-    0x17010137, 0x01070101, 0x3c014d01, 0x0194c4fe, 0x943c013b, 0x0484c4fe,
-    0x01c5fe2a, 0x0142016c, 0xbefe9642, 0xfe3b0484, 0x410196be, 0x0000bffe,
-    0xff690003, 0x052205a1, 0x001700ee, 0x00290020, 0x6310b266, 0x102505c9,
-    0xd01db010, 0x200582b0, 0x13957526, 0x21084b41, 0x9183101a, 0x8423b221,
-    0x23b02406, 0x831bb010, 0xee401834, 0x1ab02a0a, 0xd024b010, 0xb21004b0,
-    0x0df56a26, 0x22230428, 0x37230727, 0x43721126, 0x176c0805, 0x16073337,
-    0x17140513, 0x22232601, 0x34050702, 0x33160127, 0x05351232, 0xedfe9422,
-    0x5b84a4b4, 0x96c391a9, 0xc5b21401, 0x93a7578f, 0x44fc019d, 0x57f60147,
-    0x02b9a487, 0xfe2cbf02, 0xa9694e17, 0xd6b202b5, 0x4badbdfe, 0x01c3ee96,
-    0x01d54367, 0x8f65af44, 0xc3fec1f3, 0x0380cf4b, 0xfffe553a, 0x72a608eb,
-    0x0136dcfc, 0x0000f600, 0x2d056572, 0x00b0057e, 0x0014000c, 0x1502b257,
-    0x65721116, 0x490f2005, 0x00230f24, 0x46b05845, 0xb2230734, 0x83000a01,
-    0x2f012327, 0x09850eb2, 0x5e2f0e21, 0x01200b4f, 0x2d0d7672, 0x32331101,
-    0x04141504, 0x23112323, 0x0c821311, 0x2634363e, 0xf1870127, 0xfe1201f4,
-    0xf3f2f3ee, 0x917df6f3, 0xb0057a8c, 0xc8eee8fe, 0xd4feefc7, 0x25390982,
-    0xde821afe, 0x00000284, 0xff880001, 0x069b04ec, 0x002c0015, 0x2d23b25b,
-    0x0819482e, 0x1b2f0524, 0xc05d05b1, 0x0c5c5d07, 0x22086046, 0x7b15050e,
-    0xb2210546, 0x0873411c, 0x1522b223, 0x05ed6b05, 0x4418b220, 0x21220bc5,
-    0x584c1123, 0x0e142505, 0x1e141502, 0x06260382, 0x27262223, 0x5a4f1637,
-    0x022e2305, 0xe0483435, 0x075b0805, 0xe5f27a01, 0x1bd7bbce, 0xb2411645,
-    0x50c6d951, 0x2d3126ab, 0x5a61367f, 0x7e51ae46, 0x04b8505c, 0xeed65104,
-    0x623ea9bb, 0x2c274171, 0x4b899454, 0x1927b9ab, 0x56251cc3, 0x885b3143,
-    0xc9585088, 0xf761514d, 0x00030000, 0x06ecff48, 0x00500484, 0x00340029,
-    0xb2ca003c, 0x413e3d02, 0x2d26067b, 0x1002b0d0, 0x814138b0, 0x0c3f6606,
-    0x2808d25a, 0x00b0d000, 0x050cb22f, 0x28338317, 0x8fb22f0c, 0xb05d010c,
-    0x0b6d5a17, 0xb0290d82, 0x1bb0d01b, 0x0038b22f, 0x2c25831b, 0x1fb42f38,
-    0x02382f38, 0x38efb471, 0x220683ff, 0x836f385f, 0x38bf2a06, 0x5d0238cf,
-    0x01388cb2, 0x0b78525d, 0xb2100023, 0x08354123, 0x1005b022, 0x240a2e41,
-    0xb2100cb0, 0x0894522f, 0x101bb024, 0x298835b2, 0x05313022, 0x20067e77,
-    0x05b44d35, 0xb54d2620, 0x36172508, 0x15123217, 0x23067363, 0x06061737,
-    0x0809c14d, 0x2201167d, 0x35210706, 0xe6042634, 0xd6418cfd, 0xeec8b086,
-    0x585fbfe9, 0xfdf2735b, 0x836fdfc5, 0xfdeed4c8, 0x86980949, 0x493d6b89,
-    0x98fcd146, 0xc42d883a, 0x035d7868, 0x107f632b, 0x146dc401, 0xb0544da1,
-    0x47ac9e9c, 0x4259675b, 0x85b99213, 0xfdfe0287, 0x9e8b89eb, 0x38a6223a,
-    0x2b3bb840, 0x465f02d1, 0xe7024f41, 0x711e7f8a, 0x0002007a, 0x04ecff67,
-    0x002c0640, 0x002b001d, 0x7c07b265, 0x07230541, 0x4128b010, 0x19240673,
-    0x19b11b2f, 0x20075b42, 0x310c8207, 0x593e0f07, 0x19070fb2, 0xb0391211,
-    0x11b22f0f, 0x0983070f, 0x755e1920, 0x0fb0210b, 0x220bed62, 0x7f1007b0,
-    0x25080ab5, 0x12013130, 0x02141511, 0x26222306, 0x36343526, 0x17323336,
-    0x27072726, 0x37272637, 0x17371716, 0x26262703, 0x24462223, 0x03580807,
-    0xe57efe42, 0x7ee28a8c, 0x9284ce71, 0xcc7e3171, 0xa27eac4e, 0xb4b1ee4b,
-    0x20018f4e, 0x8b7e4e7b, 0x896f6e8d, 0xf7fe1705, 0xa6526ffe, 0x7e92f9fe,
-    0xe79588e2, 0x7aa95b7d, 0x52726d87, 0x8732c32a, 0x19fd6d78, 0xa8383012,
-    0xc8a87e95, 0x030000ad, 0x93004300, 0xcc043704, 0x0d260982, 0x52001900,
-    0x3f6604b2, 0x10042505, 0xb0d000b0, 0x11200582, 0x047bf782, 0x1003230d,
-    0x0d4909b1, 0x46042007, 0x10220af6, 0x168711b1, 0x16881720, 0x2123de82,
-    0x4d012135, 0x03200826, 0x83064a43, 0x37042dee, 0xf4030cfc, 0x4a4409fe,
-    0x4a43444a, 0x43200082, 0x02330985, 0xb201d446, 0x4b4b724c, 0x4afc4c72,
-    0x3a4c4c3a, 0x824a4a39, 0xff4f329f, 0x043d0477, 0x001500bb, 0x0025001d,
-    0x2604b266, 0x05214927, 0x841bb021, 0x602320a9, 0xef5b1311, 0x04182208,
-    0x212d820f, 0x068420b2, 0x1020b024, 0x348319b0, 0x270aae56, 0xb01018b0,
-    0x0fb0d021, 0x210bdb42, 0x2e603130, 0x37172705, 0x11160733, 0xb5820614,
-    0x23072725, 0x45132637, 0x06200583, 0x08068245, 0x7e4f3656, 0x586a94e4,
-    0xc4669147, 0x5d96e57b, 0x6691485a, 0x0140f3ce, 0x77392f2b, 0x3a09028c,
-    0x332bd8fe, 0x2702897b, 0x2289ff9f, 0xfe99d08f, 0x8afca0c0, 0x96cf931e,
-    0x629c3601, 0xbd166102, 0xfd5d94a7, 0x00c011a7, 0x82000200, 0x370460fe,
-    0x0f000006, 0x64001a00, 0x690e5160, 0x06241333, 0x06b11b2f, 0x69454760,
-    0x042e1033, 0xb2c2e337, 0x6af3f36b, 0xf3e3c5b0, 0x46607683, 0xfef73107,
-    0xfffd75d1, 0xd7fda007, 0xfedafe77, 0xbaa605fa, 0x2c084760, 0x0500001f,
-    0x00b0059d, 0x00170013, 0x056b486b, 0x680c4a4e, 0x142b086c, 0x12110f08,
-    0x2f14b039, 0x841410b2, 0x2f102909, 0xb0d000b0, 0x17b21010, 0x2b093b44,
-    0x08b0d003, 0xd005b010, 0xb21014b0, 0x0af34218, 0xb0101723, 0x282a830a,
-    0xb0d00db0, 0x12b0100f, 0x1f4218d0, 0x11420809, 0x35231123, 0x11331133,
-    0x01331121, 0x05213521, 0xfc7f7f1e, 0x7cfc75fd, 0x8b02fc7c, 0x0279fcfc,
-    0x0475fd8b, 0xf4fba2ae, 0x79fd8702, 0x01a20c04, 0x01fefe02, 0xbaa2fd02,
-    0x8f000100, 0x82010000, 0x05643a04, 0x0cbb630e, 0x593e0f22, 0x22060564,
-    0x82f3f382, 0x2435822a, 0x0400008e, 0x220a826b, 0x855f000c, 0x2f0424ef,
-    0x8704b11b, 0x22c96435, 0x38720620, 0x2f062d05, 0x2f061fb4, 0xb2710206,
-    0x5d01068f, 0x0bb94118, 0x06010a22, 0x82052b4a, 0x82d982db, 0x012008d7,
-    0xef012101, 0x55f2f26f, 0x2c015001, 0xb90161fe, 0xac01cbfe, 0x3a0454fe,
-    0xb00150fe, 0xd3fdf3fd, 0x22209782, 0x36269782, 0x0d00b005, 0x4b185b00,
-    0xd76f12fa, 0x0c012108, 0xb02a5c83, 0x00b02f01, 0x1001b0d0, 0x7d4102b2,
-    0x4d06200c, 0x3c080bff, 0xb01003b0, 0x09b0d008, 0x1000b0d0, 0xb0d00bb0,
-    0x3130d00a, 0x07153701, 0x21152111, 0x37350711, 0xa1013311, 0x9502eaea,
-    0x82826efc, 0x476703fd, 0xf6fd4793, 0x278702ca, 0x96022793, 0x05cb5e00,
-    0x062e0227, 0x000b0000, 0x2491854a, 0xb11b2f0a, 0x0cfc680a, 0x593e0f24,
-    0xb14901b2, 0x22919705, 0x8407b0d0, 0xd0092180, 0x80868c82, 0x7e862320,
-    0x94949a34, 0xf38686f3, 0x92357903, 0x0219fd35, 0x2f922f90, 0x7982de02,
-    0x4bfe902e, 0xb0050905, 0x67001300, 0x151406b2, 0x71154178, 0xd56211ef,
-    0x00b0240f, 0x4eb05845, 0x04200812, 0x230b315e, 0x0c000db2, 0xb2225682,
-    0xd74b0e12, 0x051f6706, 0x33163725, 0x76353532, 0x24080679, 0xa9be0905,
-    0x280e3c46, 0x81fd7b3a, 0x7f02fcfc, 0x18fab005, 0xc711c6b7, 0x0431b80c,
-    0x05ebfb15, 0x04ecfbb0, 0x2ead8214, 0x044bfe7e, 0x004e0406, 0xb261001a,
-    0x881c1b15, 0x198165ad, 0x1b2f0a24, 0xad870ab1, 0x08884b18, 0x03180122,
-    0xb0223b82, 0x2e6e100a, 0x03b0220a, 0xf8431810, 0x0641660a, 0x8a171621,
-    0x08cf68ad, 0x5c013d08, 0xb0c4730d, 0xa6bb01b5, 0x280e3a45, 0x695d7c3b,
-    0x04f34b91, 0xd6aa963a, 0xb41bfdd2, 0x0cc611c2, 0x78d902b0, 0xe0fc6770,
-    0x02003a04, 0xecff6400, 0xc4052d07, 0x23001700, 0x01b29100, 0x2305374d,
-    0x1ab01001, 0x20133f77, 0x20b0820e, 0x07f04e0e, 0x490ca460, 0xb021079e,
-    0x0c1c630e, 0x0e001222, 0x1221cb83, 0x21bd8a2f, 0x946c00b0, 0x6ed9830b,
-    0xb022090a, 0x5e4b100c, 0x3130230a, 0x3b762121, 0x34112805, 0x32332412,
-    0x7c152117, 0x05200650, 0x0806b66c, 0x1411075c, 0xfc2d0716, 0xa779a79d,
-    0x0294f7fe, 0xa80b0191, 0x5c03a77b, 0x56024cfd, 0xbb02aafd, 0x68637dfb,
-    0xafa15b72, 0x9314b201, 0x01aa0d01, 0x1201ac3a, 0xfecc1496, 0x40fec86e,
-    0x38040d1c, 0xfebccf0e, 0x00d1c1ca, 0x5b000300, 0xf206ecff, 0x1e004f04,
-    0x32002a00, 0x19b29b00, 0x0d483433, 0x24b02705, 0x1019b0d0, 0x5f6b2eb0,
-    0x0c264413, 0x1b2f1724, 0x4f6717b1, 0x821b2007, 0x821b200c, 0x05b2230c,
-    0x47821708, 0x172fb223, 0x2c068208, 0xb42f2fb0, 0x2f2f2f1f, 0x8cb27102,
-    0x0de56c2f, 0x210ce649, 0x358419b2, 0xd022b024, 0x724803b0, 0x2bb02b0b,
-    0x133130d0, 0x32330034, 0x77493617, 0x3736270a, 0x23060617, 0x03822722,
-    0x17110023, 0xba461814, 0x49252009, 0x68080680, 0xe00f015b, 0xb74186f9,
-    0xfdeed66d, 0x75910b56, 0x4f478f59, 0xf778cd47, 0xe3f6868c, 0x86f2f2fe,
-    0x87867779, 0x03887578, 0x147855e1, 0x0271b501, 0x2f01f827, 0x015e54b1,
-    0x88ecfdfe, 0x322a9e8b, 0xae413f9e, 0x012d01ae, 0xbaaa0902, 0xbea6c0b9,
-    0x7989baba, 0x007a6f19, 0x8b000100, 0x95020000, 0x0c001506, 0x03b23200,
-    0x09b5740d, 0x1b2f0424, 0x8a6904b1, 0x43b0200f, 0x30250c7c, 0x34113331,
-    0x07fc6c36, 0xc28b1138, 0x19593fb0, 0x04a3322a, 0x15c3b69c, 0xfbba0bb9,
-    0x00020068, 0xdf79ff51, 0x00162605, 0xb25b001e, 0x05df7900, 0x8c411720,
-    0x0ca34606, 0x28078242, 0x000f05b2, 0xb0391211, 0x0f0f6005, 0x210d7742,
-    0xf47f1005, 0x20052f0c, 0x21351100, 0x22232626, 0x37270707, 0x0e823336,
-    0x14155108, 0x32270402, 0x15213736, 0xb8021614, 0xbdfedcfe, 0xdf05d003,
-    0x3497a7cc, 0xdab02131, 0x6b013a01, 0xa9e5fea2, 0xfd12be96, 0x0114ba2f,
-    0x89490160, 0x1334f0e0, 0xfe480fc6, 0x6bb7fe8b, 0xafc3fec3, 0x1fbddad4,
-    0x0100bfb9, 0x4bfee4ff, 0x1506d302, 0x7122c382, 0x797e14b2, 0x2f15240a,
-    0x4115b11b, 0x10200725, 0x10200c82, 0x20078146, 0x200c821d, 0x0c89641d,
-    0x593e1124, 0x2e771db0, 0x69c2820c, 0xb02a09a4, 0x0eb01000, 0xd00fb0d0,
-    0xd98d15b0, 0x44230121, 0x16250726, 0x11353233, 0x0b726e23, 0x15074b08,
-    0xc9840233, 0x3648a4b5, 0x1244070f, 0xc2a5a578, 0x195b3db1, 0x019d3b26,
-    0xfc8603c9, 0x11c0b035, 0xae0a03bf, 0x62b4ca03, 0xbc15c3b6, 0x0067ad0a,
-    0xff580002, 0x06aa05ec, 0x0018002e, 0xb25b0026, 0x11282704, 0x04b03912,
-    0xc549b010, 0x550d2007, 0x4b4f0bdd, 0x0d0f2208, 0x06674b04, 0xa9581620,
-    0x0db02208, 0x0ac44d10, 0x9c4c4382, 0x3130210a, 0x2a0c867b, 0x36173233,
-    0x14333536, 0x7a160706, 0x10240f3f, 0xb4edfe94, 0x30083b7a, 0x4c4fa2ff,
-    0x577c79bb, 0xa8b8fd04, 0xb902b9a4, 0x073b4fa8, 0x4001ad22, 0x3205927b,
-    0x82830da8, 0xa723d1a4, 0xfef612df, 0x54ebfffe, 0x4ff6feec, 0x4f2a0637,
-    0xbb04ecff, 0x1700a804, 0xd9822200, 0x24231422, 0x1420b183, 0x4809f573,
-    0x14200c22, 0x1427e682, 0xb2593e0f, 0x63140406, 0x0d2006a7, 0x1420d989,
-    0x830b8341, 0x0b167bd9, 0x88069a4a, 0x141522d0, 0x07ba4306, 0x3536323c,
-    0x22232634, 0xe47d4f06, 0x358ae194, 0x6758a730, 0xe77b023f, 0xecfee395,
-    0xd56a8af2, 0xa12c0807, 0x139589fd, 0xb386726a, 0x1d9e7d25, 0x018afca0,
-    0x0901012e, 0xb9c0bda7, 0x00bdbda7, 0x7d000100, 0x3d06ecff, 0x18000106,
-    0x0cb25400, 0x2406a963, 0xb0584500, 0x20b28218, 0x07be4518, 0x0c821120,
-    0x08604d18, 0x2208ed5f, 0x50180c01, 0x08200604, 0x0c20cc89, 0x200e7c46,
-    0x79b98615, 0x6d261147, 0xc5bbb55e, 0x4c79d7fe, 0x0adc280a, 0xd6e4a182,
-    0x79a5fd09, 0x772d1253, 0x2805ecff, 0x19009304, 0x07b26100, 0xfb4d181a,
-    0x0c3f6309, 0x1808697c, 0x290bcb40, 0xb0100db0, 0x15b2d013, 0xad830813,
-    0xb22f1523, 0x22ad8803, 0x841506b2, 0x46082014, 0x30270b88, 0x06140131,
-    0x5c231107, 0x11200578, 0x82072568, 0x373727c8, 0xa28f2805, 0x2c6806e5,
-    0x41482a08, 0x93040205, 0xfc0ba5b2, 0x0b3668cf, 0x42078831, 0x01004c4c,
-    0x4bfeb5ff, 0x3a049301, 0x82000c00, 0x0aef4474, 0x200c316c, 0x118f6f04,
-    0x37088182, 0x23060611, 0x16372722, 0x11353233, 0xb8019301, 0x0f3846a7,
-    0x047c3a27, 0xb285fb3a, 0x0dbf11c2, 0x006c04c0, 0x59000200, 0xf803ecff,
-    0x16004f04, 0x5e001e00, 0x201f08b2, 0x0822e283, 0xf444b010, 0x0cc46d07,
-    0x2108984b, 0xf584000c, 0x732f0c21, 0xb0210d2f, 0x0c6c4708, 0xb2100c23,
-    0x08294a1a, 0x322a9282, 0x14151500, 0x22270606, 0xfc443502, 0x07062505,
-    0x13363627, 0x0807f444, 0x01e40033, 0x86da7b14, 0xaa02efd5, 0x56778f0b,
-    0x464f4e8b, 0x785691d2, 0x714bfe13, 0xd4fe4f04, 0xfb9a1ff6, 0x0101018d,
-    0xa18888ed, 0x3e9e3527, 0x8e60fc43, 0x06174674, 0xe0049435, 0x01064303,
-    0x45000800, 0x2f04b000, 0x01040fb2, 0x8350b25d, 0x82702004, 0x02b02f04,
-    0x2f02b0d0, 0x19d001b0, 0x182f01b0, 0x286204b0, 0x0fb42a06, 0x02071f07,
-    0x0703b25d, 0x23f48304, 0x05b01001, 0x05222182, 0xaa82182f, 0x2723153d,
-    0x01352307, 0xc3430333, 0x01c19596, 0xeb048f0f, 0x0d9c9c0b, 0x00001401,
-    0x82720001, 0x8434206d, 0x8825206d, 0x05de5d6d, 0x010fb424, 0x5282011f,
-    0x01040022, 0x08245283, 0x2f08b0d0, 0x373d4d82, 0x23011533, 0x01333501,
-    0xfed092d2, 0xebfe96e9, 0x9b6605ce, 0x01e9fe0a, 0xff000918, 0x088f5cff,
-    0x70000623, 0x2d5f8300, 0x02cc0475, 0x00e605fb, 0x002f000b, 0xcd8203b0,
-    0x5d010332, 0xb0d006b0, 0x0fb42f06, 0x02061f06, 0x1003b05d, 0x270a4a5b,
-    0xb01006b0, 0x0bb0d00b, 0x143e6983, 0x35262006, 0x32161433, 0xfb023536,
-    0xb0dafeb0, 0x4a844bb6, 0x9c7ee605, 0x49427e9c, 0x5d834249, 0xdf04812e,
-    0xd5058701, 0x1d000900, 0x0b0a03b2, 0x0020a782, 0xb222a582, 0x5461080f,
-    0x0910590c, 0x81262225, 0x82447e44, 0x59053302, 0x35474735, 0x00464634,
-    0x78000200, 0x33028d04, 0x45822a06, 0x2a001425, 0x8205b000, 0x820520a5,
-    0xd01327a5, 0xb22f13b0, 0xcd600a00, 0x10052308, 0x0d880db2, 0x200b085d,
-    0x07394807, 0x06223208, 0x805d5601, 0x7d61607d, 0x2e42117f, 0x623f412f,
-    0x7b2a063f, 0xaa7878aa, 0x412fd07b, 0x432e3040, 0x00010043, 0x0152fe29,
-    0x003c00a1, 0xb222000f, 0x0ab5690f, 0xd54a0a20, 0x05b22106, 0x280ac45d,
-    0x15060621, 0x37323314, 0x062a5717, 0x8c013908, 0x2c474a57, 0x5c49152e,
-    0x38f4745f, 0x1744315e, 0x5b6e2c8e, 0x01006cb5, 0xdb047a00, 0xf5055703,
-    0x40001500, 0x2f03b000, 0xb0d008b0, 0x0fb62f08, 0x2f081f08, 0xb05d0308,
-    0x2005d567, 0x2217820b, 0x880fb210, 0x21168261, 0x0d8912b2, 0xb0100f23,
-    0x0de66715, 0x08056260, 0x36323334, 0x7f570335, 0x69392760, 0x35261a2b,
-    0x395f7f95, 0x362634a1, 0x926ee905, 0x390c3c11, 0x966e082e, 0x002f395a,
-    0x49000200, 0x5603d104, 0x0300ff05, 0x87830700, 0x2b1ed95b, 0xb01000b0,
-    0x05b0d005, 0x1002b02f, 0x82051742, 0xb0230890, 0xb019d007, 0x30182f07,
-    0x01330131, 0x03330323, 0xee680223, 0x90c5f6fe, 0x05b9dee9, 0x01d2feff,
-    0x82d2fe2e, 0xfe823369, 0xffec016a, 0x000b00be, 0x003d0017, 0xb02f18b0,
-    0xf782d003, 0x000f403a, 0x20031003, 0x40033003, 0x60035003, 0xb05d0703,
-    0x0fb0d00f, 0x0909b22f, 0x2308ca41, 0x15b21003, 0x30220d88, 0xa2511731,
-    0x083f640a, 0x22232f08, 0x4e698206, 0x496a6a49, 0x3065694e, 0x2d2d2122,
-    0xee302221, 0x4b616349, 0x48605e4a, 0x222d2e21, 0x00303024, 0x8efc0100,
-    0x66fed104, 0xc95c0006, 0x07357b05, 0x07245618, 0x43100121, 0x586305b2,
-    0x05347b06, 0x7b66fe21, 0x01260934, 0xd1045efd, 0x3f8736ff, 0x24072f41,
-    0x01b0d001, 0x0683432f, 0x2110095d, 0x095d21fe, 0xff230808, 0x0473fcff,
-    0x0550ffdb, 0x000700f5, 0x00f9fba4, 0xfd010000, 0xfee6043e, 0x007f0699,
-    0x0025000e, 0x412f00b0, 0xb2210558, 0x053a7e01, 0xf1450720, 0x010d2109,
-    0x0806bd4d, 0x36362731, 0x37233435, 0x14151632, 0xfd150706, 0x41490751,
-    0xaba90796, 0xe604484e, 0x231c0592, 0x58687b48, 0x450a4e3c, 0xfc020000,
-    0xffe4040c, 0x82ee0534, 0x000723ed, 0xa4820037, 0x080f5718, 0xca41ea82,
-    0xd0062d05, 0xb62f06b0, 0x061f060f, 0x5d03062f, 0x2a059541, 0xb01000b0,
-    0xb019d004, 0x41182f04, 0x01370503, 0xfe330323, 0xd5fed007, 0x22020601,
-    0x04faf5c3, 0xfe0a01e4, 0x830a01f6, 0xfe1c31bf, 0xff2ffe94, 0x0008008b,
-    0x02b00011, 0x0506b22f, 0x2207b941, 0x65053130, 0xfd21070b, 0x05115a1c,
-    0x4735f126, 0x46466a47, 0x00273782, 0x01e904c6, 0x824106e2, 0x8317209b,
-    0x83998237, 0x0c475efd, 0x2303332b, 0x8cdf0301, 0xfe410690, 0x262782a8,
-    0x03df0467, 0x82af06ba, 0x000c2809, 0x003b0015, 0x452f14b0, 0x80410862,
-    0x14b02114, 0x8a06a144, 0x0fb02294, 0x82d382d0, 0x659b8859, 0x012e08b0,
-    0x9282e5ee, 0x7644a8fe, 0x44764343, 0xbe655602, 0xaf062405, 0x652fd6fe,
-    0xff220cb9, 0xd55d00ff, 0x06022406, 0x83007800, 0x009b2acb, 0x05370400,
-    0x000500b0, 0x0a67512b, 0x10924718, 0xd84a0420, 0x0442180b, 0x37042a07,
-    0x03fc60fd, 0xfbe4049c, 0x2641821c, 0x00190002, 0x82a00500, 0x00032409,
-    0x182f0006, 0x23171747, 0xb2593e0f, 0x2209346a, 0x420206b2, 0x2308061b,
-    0x25210133, 0x6f020121, 0xfa3e02f3, 0x02550179, 0x0598fee0, 0xca50fab0,
-    0x0300bb03, 0xecff5b00, 0xc4051305, 0x14260982, 0x76002200, 0xfb4908b2,
-    0x10082505, 0xb0d001b0, 0xd5690582, 0x0c6c5007, 0x35087b47, 0x11100802,
-    0xb07c3912, 0xb4182f02, 0x02700260, 0x30b45d02, 0x06824002, 0x0200b224,
-    0x13527101, 0x10b0210a, 0x200c5c56, 0x0bf07d08, 0x20056f55, 0x7b461805,
-    0x033c081d, 0x0140fea3, 0x947001c0, 0xb0b3edfe, 0x0399eefe, 0x01140196,
-    0x96130164, 0xa9b7fc01, 0xbb02b9a4, 0x02b5a9a6, 0xd689c279, 0xaaadbdfe,
-    0x5dcd3c01, 0xaf4401d5, 0xd5bffeab, 0x0501ef05, 0x0a834618, 0x2000012a,
-    0x12050000, 0x0600b005, 0x07394118, 0x200cb264, 0x07c47801, 0x08c24718,
-    0x593e0f26, 0x010300b2, 0x08c84218, 0x01332008, 0xfe980221, 0x01f1fe97,
-    0xff01f5fe, 0x4404f0fe, 0xb005bcfb, 0x000050fa, 0x006c0003, 0x822e0400,
-    0x0003265b, 0x000b0007, 0x05a9414b, 0x180c2e60, 0x22133741, 0x4d020805,
-    0x5a1805b6, 0x08210b37, 0x0ce57110, 0x5c213721, 0x03200589, 0x6c3a0782,
-    0x3efcc203, 0xfdf60264, 0x9903570a, 0xcaca67fc, 0x03c64d03, 0x0100cc29,
-    0xdb829b00, 0x7f821420, 0x38000722, 0x06207b85, 0x20060e6a, 0x085961b0,
-    0x7f07a74f, 0x062108bb, 0x0a305d10, 0x21313026, 0x11211123, 0x05270382,
-    0x7ffdfc14, 0x427904fc, 0x01220683, 0xdb824700, 0x5b824d20, 0x3c000c22,
-    0x0320d792, 0x03206882, 0xf3415b82, 0xd005220b, 0x21c58cb0, 0xff6a07b0,
-    0x21152505, 0x35010135, 0x2508c882, 0xfe1c0301, 0xfbbc0275, 0xfec901fa,
-    0xfde20337, 0x0288016b, 0xcafafdd0, 0x02420297, 0xfdcc983f, 0x030000ff,
-    0xd3824a00, 0x7782ae20, 0x1c001528, 0x6c002300, 0xa9510bb2, 0x100b2505,
-    0xb0d019b0, 0x47180582, 0x142007a5, 0x14208182, 0x5b075e43, 0x132f08db,
-    0x12110a14, 0x2f13b039, 0xb2d000b0, 0x83140a09, 0x2f09290c, 0xb0d00cb0,
-    0x21b21009, 0x8308e759, 0x4c13204b, 0x20200cb9, 0x1626ab83, 0x14151604,
-    0x0e6e0706, 0x24610805, 0x24361026, 0x01333537, 0x11171614, 0x34050606,
-    0x36112726, 0xa17c0336, 0x888e0301, 0xfda9857c, 0x8ffcfea2, 0xa403018e,
-    0xaac6fdfd, 0x03a79693, 0x9194a674, 0x03ff04a9, 0x9a9efe8f, 0x034d48f6,
-    0x8c01a9a9, 0xff3e01fa, 0xfdb1038f, 0x02b0a01f, 0xb704ae02, 0x04b6a09f,
-    0xb30252fd, 0x00010000, 0x20e98244, 0x24e9825c, 0xb25c0017, 0x0adb6400,
-    0x6c0cb04c, 0x47180cab, 0x6a7a0cd9, 0x0b152208, 0x051c4c16, 0xd000b024,
-    0x4f1815b0, 0x09200c42, 0x362ed583, 0x33113536, 0x07000611, 0x26112311,
-    0x0b822700, 0xd1821620, 0x03333108, 0xfd90834c, 0xf6e9fe03, 0xe8fef0fc,
-    0x8f01fc04, 0x4302fc80, 0x01a7be17, 0xf606fef1, 0xfe19cffe, 0x1775018a,
-    0x01f53001, 0x9d0bfeff, 0x6c0318c2, 0x6b28b383, 0xdd040000, 0x2500c305,
-    0x0722b382, 0x77822726, 0x24051c42, 0xb11b2f1a, 0x078d411a, 0x0c820f20,
-    0x78420f20, 0x82242007, 0x8324200c, 0x100f210c, 0x0bce5b18, 0x83d00e21,
-    0x571a20ad, 0x11260c37, 0xd022b010, 0xb38223b0, 0x12362522, 0x2a07cf61,
-    0x17121415, 0x33352115, 0x5e350226, 0x5f080563, 0x15151204, 0x33070214,
-    0xdf022115, 0x9d017b74, 0x7f9b8e90, 0xd807fe77, 0x018e786b, 0x01a5a405,
-    0x6b779006, 0xcf10fed4, 0xe7100120, 0xd9daca6d, 0xfeeb64cd, 0xcbcf1eeb,
-    0x9e1f0167, 0x1d01b662, 0xe2fe9e9f, 0xfe9765b5, 0x00cb67dc, 0x56000200,
-    0x7904ebff, 0x16004e04, 0x79002100, 0x23221fb2, 0xb024d382, 0x13b0101f,
-    0x76067a51, 0x924c0c4b, 0xa540180c, 0x42032015, 0xb2230864, 0x820c130a,
-    0x15b2214c, 0xb0210684, 0x0c6f420c, 0x12451320, 0x1611210e, 0x2306344a,
-    0x22230627, 0x1027ea82, 0x17323312, 0x18140137, 0x0808b840, 0x03fd033a,
-    0x180a1146, 0x35a24c33, 0xe3c3c166, 0x67b5c4e4, 0x7a1cfe13, 0x46468c76,
-    0x047f738a, 0x7bfafc3a, 0xa31eb404, 0xf81d01a2, 0x010a010d, 0xfd839736,
-    0x88ad9ebf, 0xc58ec701, 0x962ee582, 0x6a0477fe, 0x1400c405, 0x65002800,
-    0xc56f27b2, 0x10272305, 0xe58200b0, 0x45180f20, 0xb0200d34, 0x2508177a,
-    0xb2593e0f, 0xc3830027, 0x2f27b024, 0xd88924b2, 0x27240622, 0xb021d882,
-    0x0ce44500, 0x1e20df82, 0x30222288, 0x9c480131, 0x16162305, 0xd1821415,
-    0x2311272d, 0x36363411, 0x23263401, 0x83150622, 0x365c08ec, 0x27263435,
-    0x32333523, 0xf2cf6902, 0x82795863, 0x7aa5d1f2, 0x01d97cf2, 0x605d714c,
-    0x719d5881, 0x7b677a89, 0xc405d448, 0x9b5fb2d8, 0x82bd2c30, 0xfe53eccd,
-    0x73a90538, 0x6dfe70c1, 0x687e765a, 0x8952e5fc, 0x01916d6e, 0x010000b9,
-    0x5ffe2000, 0x3a04f503, 0x38000800, 0x0a0900b2, 0x0d534818, 0x66075d52,
-    0xba4e0c5d, 0x07002208, 0x05ec4504, 0x01331322, 0x2a08a582, 0x0e023301,
-    0x8ffefbec, 0xfb8ffef3, 0xff023b01, 0x35fef0fb, 0x0b04d001, 0x00020000,
-    0x04ecff54, 0x00200638, 0x002b001f, 0x5d16b262, 0x16200579, 0x24091152,
-    0xb11b2f03, 0x07e55203, 0x0c821620, 0x0d6b1620, 0x41092006, 0xb2230818,
-    0x8203160e, 0x0eb0246e, 0x8929b22f, 0x291d2214, 0x057b700e, 0x310c1852,
-    0x33363413, 0x15171632, 0x06222326, 0x16171415, 0x40511712, 0x36342607,
-    0x26262737, 0x083a6f13, 0x06224f08, 0x49b7d4d0, 0x69974f71, 0xe0bc5a4e,
-    0xe17a02de, 0xeefee295, 0x5b0289b8, 0x79897668, 0x6d918777, 0xea048979,
-    0x1b16a591, 0x343d35c3, 0xfe4f425d, 0x9b1cccea, 0x230187f6, 0xffa50301,
-    0x89280522, 0xbca27dfd, 0xcb78b6bc, 0x0100be17, 0xe7826000, 0x4d040c28,
-    0x8b002700, 0x4b1816b2, 0x4d410faf, 0x82252007, 0x822520df, 0x17b223df,
-    0xbc822509, 0x17b07c2f, 0x40b4182f, 0x02175017, 0x17d0b45d, 0x210682e0,
-    0x824f18b2, 0x03b22308, 0x24821718, 0x210f527a, 0x14821017, 0x0d1cb226,
-    0x0bb25d01, 0xb0230482, 0x42b21025, 0xb2230943, 0x82181e21, 0x04b4261e,
-    0x02211421, 0x5c63185d, 0x4223200e, 0x14250549, 0x15333316, 0x08a06423,
-    0x04143f08, 0x60242223, 0x61576269, 0xffbfd2f8, 0x5e597af2, 0xc7696072,
-    0x667dd2d1, 0xfef28262, 0xfed5cbfc, 0x5c3201f8, 0x7924207f, 0xb5a59648,
-    0x4d4f3c91, 0xad4b3c3f, 0x573f9303, 0xba9b4259, 0xfb8200b2, 0x7efe612a,
-    0xb005ca03, 0x4a001e00, 0x21069350, 0x2143b000, 0x09b46113, 0x230bdb53,
-    0x001c01b2, 0xb021b382, 0x23541815, 0x0115220e, 0x08a48306, 0x16171752,
-    0x06141516, 0x35362707, 0x26272736, 0x10352627, 0x35213701, 0x60feca03,
-    0x4b3d4656, 0x7a4f61dd, 0x025d7d52, 0x4ac4686e, 0xdc250139, 0xb005c4fd,
-    0x6d0afe91, 0x5a546bba, 0x621f4218, 0x3eba4751, 0x3d466765, 0x69321b21,
-    0x20018b50, 0xc3fd5101, 0x7e2eb383, 0x060461fe, 0x11004e04, 0x0cb25300,
-    0x91591312, 0x2f072422, 0x5907b11b, 0x815e0791, 0x03012208, 0x213b820f,
-    0x434603b0, 0x3130220b, 0x0cc17f01, 0x11073608, 0x5c011123, 0xb6c1770c,
-    0x5ef303ad, 0xf3469668, 0x97833a04, 0x9cfbc5c4, 0x696e5304, 0x04effc7a,
-    0x0003003a, 0x04ecff73, 0x00c4052c, 0x0016000d, 0xb279001e, 0x05dd5103,
-    0xb0100324, 0x5f82d013, 0x181bb021, 0x231bf961, 0x0a030eb2, 0x7c2f8782,
-    0x182f0eb0, 0x700e60b4, 0xb45d020e, 0x82400e30, 0x00b22706, 0xb071010e,
-    0x4418100a, 0x0e200b6e, 0x820c8544, 0x431b20bb, 0x62180857, 0x05210f26,
-    0x05745421, 0x05153308, 0x16141521, 0x04373632, 0xdfe3f82c, 0xe6f605fa,
-    0xfd05f6e2, 0x7ad4013a, 0x017a6f71, 0x7b2cfed4, 0x020277e0, 0xfec4fe72,
-    0x014101b6, 0x3501e92d, 0x0c824c01, 0x3023d335, 0xcecbcbce, 0xd1d02aef,
-    0x0000caca, 0xffa90001, 0x826102f4, 0x000c22ef, 0x0aa54b28, 0x24072043,
-    0xb11b2f09, 0x0da54b09, 0x517c9082, 0x9c01360b, 0x2b2a3e32, 0xe8fe564a,
-    0xf6fc3a04, 0xbc0a363d, 0x03350117, 0x2c598211, 0x04eeff16, 0x00fb054a,
-    0xb2500019, 0x07315403, 0x4705a745, 0xb02507f7, 0xb0584500, 0x20638210,
-    0x21638210, 0x49470bb0, 0x0fb2260b, 0x12110b00, 0x057c5e39, 0x5400b021,
-    0x50080ed5, 0x01171632, 0x37171716, 0x22230617, 0x03032726, 0x26270121,
-    0x27072327, 0x6c120136, 0xab011f78, 0x11203124, 0x6d342a04, 0xf6ca2b75,
-    0x8101f7fe, 0x2249225b, 0x053b031b, 0xfb5055fb, 0x010756bf, 0x580ac001,
-    0xfd14026f, 0xda0f0437, 0xb602034b, 0x2caf8210, 0x0376fe64, 0x00c405d4,
-    0xb256002c, 0x06e76403, 0xaf851620, 0xa2822a20, 0x3e1f2a23, 0x0a764a59,
-    0x2d08b223, 0x219f832a, 0x78652f08, 0x1db2210a, 0x1d201485, 0x220ca067,
-    0x7e080924, 0x063108ef, 0x33211415, 0x11202315, 0x16041614, 0x06151617,
-    0x2ab48206, 0x26343536, 0x26262724, 0x74363435, 0x4f08073c, 0x8a830317,
-    0x01887a57, 0xfe8c891c, 0x1901819e, 0x0251236f, 0x3583507b, 0xfdfe3f2e,
-    0xa3767f4c, 0x017c6e90, 0x7d99e302, 0x5624da04, 0xfec6b84b, 0x428862e3,
-    0x6d381825, 0x643bbb48, 0x23295039, 0x3520442d, 0xc49194b7, 0x618e282d,
-    0x002cc5a6, 0x2d2edf82, 0xcf04f4ff, 0x14003a04, 0x0bb25c00, 0x61431615,
-    0x0c1d4808, 0x2007854a, 0x08a16eb0, 0x593e0f27, 0xb21013b0, 0x08074500,
-    0x180ab021, 0x2a0c6d4c, 0x0db01000, 0xd00eb0d0, 0x60d011b0, 0x707e0526,
-    0x213d080c, 0x23112311, 0xa9042135, 0x263f319f, 0xfe564a2f, 0xf3b4fee8,
-    0x037c04ab, 0x3eb6fd7c, 0x17bc0a37, 0x53023501, 0x7c0384fc, 0x000200be,
-    0x0460fe80, 0x004e0431, 0x001a000e, 0x1b11b257, 0x21a3821c, 0xe14711b0,
-    0x080d4c05, 0x430c3979, 0x226407fe, 0x00092208, 0x49348207, 0x495a0ba5,
-    0x31302b0c, 0x11123201, 0x23021415, 0x99822722, 0x03003422, 0x0809805b,
-    0x56021538, 0xc1e0fbe0, 0x01f36ab3, 0x95431003, 0x727c7d76, 0x4e047766,
-    0xeffecbfe, 0xe5fef20f, 0x03fdfd77, 0x2101f2db, 0xad75d5fc, 0xc1c5b8b3,
-    0x010000a0, 0x8afe5200, 0xb182e903, 0x4d002226, 0x24231bb2, 0x870df55e,
-    0x2f1427a9, 0x1714b11b, 0x8f50593e, 0x61058205, 0xb2230a68, 0x8200231c,
-    0x1cb02135, 0x210eb167, 0xad741632, 0x1604240a, 0x42141716, 0x57080728,
-    0x27262627, 0x36363435, 0xedc43802, 0x71606de4, 0x2e019483, 0x7f013160,
-    0x2a337f4c, 0xedee413c, 0x04dc7801, 0x61bbdd4e, 0x1aaabc74, 0x39569b83,
-    0xbf484253, 0x4e376538, 0x0f2a282c, 0x27d1fe37, 0x0089fa9d, 0x52000200,
-    0x7e04ecff, 0x0f003a04, 0x4c001b00, 0x1d1c07b2, 0x4a051a77, 0x0e200833,
-    0x0e20b482, 0x200c7548, 0x20c1820f, 0x0bfa4f0e, 0x4407b021, 0x00290cc4,
-    0xd019b010, 0x21013130, 0x07e24716, 0x00343525, 0x5c012137, 0x3b080ae3,
-    0xf5fe7e04, 0x91de7aba, 0x01f0fee2, 0x4102df0c, 0x7a85c7fc, 0x75838175,
-    0x76038776, 0xec8efb92, 0x012c0183, 0x01ee0c03, 0xd8fd0223, 0xbdbcbba9,
-    0x00b0b39c, 0x3f000100, 0xec03ecff, 0x1024ab82, 0x01b24900, 0x0a2f4518,
-    0x420c737e, 0x0f2008b9, 0xac42a38c, 0x44a68315, 0x280805c5, 0x20230617,
-    0x35211103, 0xfeec0321, 0x27332b98, 0x6c502637, 0xfe05ecfe, 0x03ad03ae,
-    0x3bb0fd79, 0x2cb1163b, 0x54023901, 0x248782c1, 0x04ebff80, 0x24878208,
-    0xb2380012, 0x17ff6f0e, 0x1b2f0e28, 0x3e0f0eb1, 0x454bb259, 0x00b02409,
-    0x5608b010, 0x460806cc, 0x32331011, 0x03263536, 0x10111633, 0x26222300,
-    0x72011127, 0x039171a1, 0xfe73f16e, 0xd1cbe7fc, 0xfd3a0401, 0xe9fdfe76,
-    0x1d01e7a0, 0xfee2fee6, 0xe2c1fef4, 0x009502d8, 0xfe440002, 0x04850522,
-    0x001a0041, 0x6d5f0023, 0x1b240a35, 0x19b000d0, 0x2005a744, 0x207b8211,
-    0x07b44111, 0x4a180620, 0x705d0b50, 0xd34a1808, 0x29958309, 0x0db0d018,
-    0xd01bb010, 0x5a4e11b0, 0x31303e0b, 0x35002405, 0x17371234, 0x14070606,
-    0x34111716, 0x16323336, 0x00141516, 0x13231105, 0x08be8236, 0x2223264c,
-    0xfe650215, 0x7ee3fefc, 0x4c489873, 0x9e949a02, 0x87ec937c, 0xf5fedefe,
-    0xa595f3f3, 0x37748d02, 0x37011c0e, 0x0501a4ff, 0xbc469253, 0x1ecda168,
-    0x92778002, 0xf392fb8d, 0xfe1ad7fe, 0x19940231, 0xbf9797c1, 0x0100003e,
-    0xd7824f00, 0x3a047e28, 0x44001800, 0x015b00b2, 0x850d2006, 0x821420cf,
-    0x871420c2, 0x08e247cf, 0x1c471720, 0x01b02608, 0x1014b0d0, 0x2bc582b0,
-    0x0fb0d006, 0xd00cb010, 0x11013130, 0x5f41a083, 0x36ae8205, 0x03002411,
-    0x10113311, 0x52031105, 0x7005a793, 0xe1fe79ee, 0x82f3f3fe, 0x01f531ba,
-    0x041d01f3, 0x1b7dfc3a, 0x01e2a4ce, 0xedfee314, 0xca331482, 0x0132fe1a,
-    0x33011ed0, 0xed010a01, 0xa2fe18fe, 0x8282033c, 0xff6624a3, 0x822d06ec,
-    0x002024a3, 0x7d1ab256, 0x4c4d0acb, 0x8218200c, 0x4e1820ad, 0x44180733,
-    0x5218088e, 0x00340b58, 0x3912111c, 0xb0d00eb0, 0x13b01000, 0x2f13b0d0,
-    0x18051ab2, 0x20051b46, 0x06d15702, 0x1621ab82, 0x07224216, 0x02105708,
-    0x06272223, 0x10022223, 0x86e50137, 0x5b586107, 0x5f02fb60, 0x0761585a,
-    0xd58df185, 0x5c5ce8cb, 0x8dd6cbe6, 0xe9fe3a04, 0x9dcbbded, 0xfe460194,
-    0xcb988eaf, 0x1501efbd, 0xfec8fde8, 0x01deded2, 0xe838022e, 0x76000200,
-    0x9804ecff, 0x2000c405, 0x6b002900, 0x596d0fb2, 0x100f2305, 0xc34821b0,
-    0x0cfb4e06, 0x54180620, 0x24220790, 0x9c82061a, 0x2f24b022, 0x230bab48,
-    0x0bb2d002, 0x06201785, 0x290cf562, 0x1eb01024, 0x101ab0d0, 0x9e4127b2,
-    0x31302608, 0x15070601, 0x24c08214, 0x37113500, 0x05084411, 0x26357108,
-    0x34352700, 0x16323336, 0x37361115, 0x17161401, 0x22232611, 0x3a980406,
-    0xd3d5fa44, 0x82ecfefe, 0xd16d626e, 0xc50300ff, 0x4bbca7a5, 0x7daafd2a,
-    0x346d046b, 0x14570243, 0xfdda750b, 0x01d40501, 0xdefe021d, 0x83868f7d,
-    0x1301267c, 0xcca91bc0, 0xcefebbd0, 0x23010b0c, 0x0120a26c, 0x00499a45,
-    0xe1ff0100, 0x9e040000, 0x1a00c305, 0x00b24200, 0x500adf63, 0x0d200c7d,
-    0x0d27e782, 0xb2593e0f, 0x5f0d0400, 0xca470517, 0x12b0280a, 0x1004b0d0,
-    0x82d017b0, 0x361321c4, 0x2507f960, 0x23110107, 0xaf820111, 0x82270721,
-    0x164a0812, 0xd23f0217, 0x46607a2b, 0x280d2642, 0xd9fe1f41, 0x21dbfefc,
-    0x240a2b40, 0x7d674a3c, 0x0107032c, 0x1a6064f8, 0xfd4505c2, 0x02eefd6b,
-    0x45970210, 0x641bc105, 0x0200006c, 0xecff3300, 0x3a045406, 0x26001200,
-    0x08b27000, 0x7f832827, 0xb0100823, 0x068f411e, 0x4211c843, 0xe6440757,
-    0x44112008, 0xb2230be6, 0x83061108, 0xd00f2d42, 0xb0d010b0, 0x16b0d015,
-    0x100ab0d0, 0x230a7769, 0x0a101fb2, 0x24202083, 0x2322cf83, 0x59421516,
-    0x34112a08, 0x21352337, 0x21272601, 0x05814206, 0x35375b08, 0x16161533,
-    0x06363233, 0xca378054, 0x5c5ceebc, 0x36c8bdee, 0xfe21066f, 0xfc3d04c5,
-    0x53043cc6, 0x01665c4b, 0x5d6302fa, 0x8303534b, 0xe2feaf9e, 0xe2e2d4fe,
-    0x1c012e01, 0xfdb79cb1, 0xb1ada0fc, 0x97cabe9c, 0x8feee895, 0x0100ca97,
-    0xf2ff2200, 0xb005bc05, 0x6e001800, 0xdf5e11b2, 0x2f17240a, 0x1817b11b,
-    0x250f1d68, 0x584500b0, 0x198213b0, 0xee831320, 0xe18c1720, 0x09170422,
-    0x0423c083, 0x5409b02f, 0xb0210b67, 0x0c736d04, 0x85100021, 0x31302dfd,
-    0x36112101, 0x10043233, 0x32272304, 0x0805b144, 0x23110733, 0x21352111,
-    0x13fe9004, 0x01fb7294, 0xfeeefe18, 0x018c8901, 0x78868f8f, 0x047cfefd,
-    0xfee4046e, 0xfef02674, 0x79bfec50, 0x20877784, 0xe40474fd, 0x2cc182cc,
-    0x04ecff68, 0x00c405ef, 0xb271001f, 0x03411803, 0xad5c180a, 0x0860650c,
-    0x727e0c20, 0x0c17220c, 0x08574e03, 0x40173029, 0xb45d0217, 0x4e701760,
-    0x00230a5e, 0x18710117, 0x210a0a6d, 0x894d03b0, 0xde62180b, 0x6d212018,
-    0x540805c3, 0xee043736, 0xf8d4fe16, 0x91f5feaf, 0x11019201, 0x2501f3b4,
-    0x9412fc18, 0x08b0a18e, 0x04fefb01, 0x939dab07, 0xd9011496, 0xa5fbfee8,
-    0x7bcf3601, 0xaa3a01cf, 0x9cecf6fe, 0xcad2e58e, 0x9d87e5dd, 0x00020000,
-    0x0800002d, 0x00b00541, 0x00220019, 0x2309b274, 0x05e24e24, 0x60085366,
-    0xdf5f0c87, 0x07b74b0c, 0x1800b223, 0x23348308, 0x18b02f00, 0x200c9941,
-    0xde521810, 0x5200200c, 0x12270c3b, 0xd01bb010, 0x82d01cb0, 0x216408e2,
-    0x1415021e, 0x11210704, 0x02020321, 0x35232306, 0x37023e37, 0x11112113,
-    0x35363221, 0x05272634, 0x9931010d, 0xebfe7feb, 0xfecafde5, 0x630f1a42,
-    0x28409ebc, 0x0a315f57, 0x01ab031c, 0x8f917e29, 0x01a1037a, 0xce87d475,
-    0xe40405fd, 0xf8fecdfd, 0xca86ddfe, 0xd76a0803, 0xfdc902d1, 0x93f4fd26,
-    0x028f7375, 0x9b20e982, 0x4720e982, 0x1328e982, 0x87001c00, 0x1e1d01b2,
-    0x2006b65e, 0x05421814, 0x0791420b, 0x1b2f1324, 0x0c8713b1, 0x1808a14c,
-    0x230bb850, 0x131000b2, 0xb228f685, 0x5d01009f, 0x020d04b2, 0x82069f42,
-    0x686518e9, 0x04b02109, 0x0cd34418, 0xc84c0d20, 0x1121220e, 0x2de78233,
-    0x14151616, 0x11212304, 0x11231121, 0xf8860133, 0x97012335, 0x01fc8002,
-    0x7fee9c2b, 0xfdf3e3fe, 0xfc80fde0, 0x827c03fc, 0x922308f1, 0x45037c94,
-    0xd2fd6b02, 0xcd85cb6e, 0xfd7a02f7, 0xfdb00586, 0x8618fe08, 0x00836f70,
-    0x00310001, 0x82c80500, 0x001522e7, 0x05d14d56, 0x410c6656, 0xb02114c2,
-    0x0d6a4314, 0x85141021, 0xbc6418ca, 0x00b0280a, 0xd012b010, 0x43d013b0,
-    0x20220659, 0xac821504, 0x07985118, 0x35212a08, 0xfe920421, 0x018f8311,
-    0xfc07010c, 0x868c9a7d, 0x048afefc, 0xfee40461, 0xe5ec1b9b, 0xca0137fe,
-    0xfd1c7a8b, 0xcce4044d, 0x24a18200, 0x0598fe92, 0x22a1820d, 0x7b48000b,
-    0x0c7c0895, 0x083a6208, 0x46077d41, 0xb020078e, 0x25571983, 0x0a317508,
-    0x93820320, 0x11331324, 0x03831121, 0x11232008, 0x02fd9221, 0x4bfefd81,
-    0x0537fefd, 0x041afbb0, 0xfe50fae6, 0x00680198, 0x00900002, 0x82c10400,
-    0x000d2877, 0xb25b0016, 0x76181710, 0xb021053b, 0x133f6903, 0x20086845,
-    0x0c1b410c, 0x0a0c0222, 0x02223583, 0x247cb22f, 0x0dff6909, 0x01313023,
-    0x07d34121, 0x09820720, 0x3007cf41, 0xfd2c0427, 0xa02a0161, 0xebfe7cee,
-    0x03d3fdef, 0x3a0d829c, 0x8c8f8029, 0xfee4047c, 0x85ca6e9f, 0x0502f8cc,
-    0xfe08fdb0, 0x6e738b12, 0x82000280, 0xfe2424af, 0x82dc059a, 0x000e28af,
-    0xb2650014, 0x83161512, 0x10122379, 0xaf860bb0, 0x1b2f0b23, 0x0b6518b1,
-    0x82042008, 0x1704210c, 0x59066a7a, 0xb02807b3, 0x01b01004, 0x1002b0d0,
-    0x4d0ba759, 0x2a4605ae, 0x100b2105, 0x820a2b4d, 0x234908b9, 0x23112111,
-    0x12363303, 0x11211337, 0x11212133, 0x05020321, 0x41fcf0cf, 0x577508f4,
-    0x03260f68, 0xdbfbb996, 0x57fe7002, 0x9afe1b18, 0x9afe6601, 0x01543002,
-    0x8602cb41, 0x1a041afb, 0x65fe66fe, 0x00010000, 0x07000016, 0x22b7829b,
-    0x427d0015, 0x5d180581, 0x73660cf4, 0x0c28580c, 0x5418b588, 0x0c830c13,
-    0x2808c065, 0x11020910, 0x10b03912, 0xdf49182f, 0x04b0260a, 0x1008b2d0,
-    0x27178400, 0xd00bb010, 0x100013b2, 0xcd840c82, 0x23112325, 0x82012101,
-    0x6d332002, 0x210808d6, 0xfca3ff04, 0xfe9bfeaa, 0xfed501c5, 0x0132014a,
-    0x96fc9d5c, 0x31015901, 0xd1014efe, 0x7402c6fe, 0x03838cfd, 0x02070327,
-    0x02a0fda9, 0x22038460, 0x83f7fc59, 0xff492ed7, 0x057f04ed, 0x002900c3,
-    0x2a25b286, 0x08ed4d2b, 0x200c8741, 0x075a6a17, 0x6f180b20, 0x28220c5a,
-    0x2f82170b, 0x28b07c34, 0x10b2182f, 0xb45d0128, 0x28402830, 0x60b45d02,
-    0x06837028, 0xb028a022, 0xb2230682, 0x82032806, 0x25b22125, 0x23084249,
-    0x282511b2, 0xb0211182, 0x0b6b5717, 0x251cb223, 0x7de0851f, 0x362208f1,
-    0x69183233, 0x22220aa9, 0x2d7d2626, 0x26440808, 0x33352323, 0x946c0320,
-    0xfc926d7f, 0xfa8dea84, 0x6c781501, 0xd4fe817a, 0x7df99afa, 0x86789cfc,
-    0xab8a8fa3, 0x040c01a2, 0x73746223, 0x67ba775b, 0xa663c4da, 0x7fab2a30,
-    0xbe6ee7c4, 0x7e815e7b, 0xc86f7b65, 0x942afd83, 0x0d050000, 0x0900b005,
-    0xcf5d4500, 0x82072012, 0x5e0720f6, 0x925c102a, 0x0004220c, 0x21b58202,
-    0x068409b2, 0x0131303f, 0x11231133, 0x33112301, 0xfd100411, 0xfd81fdfd,
-    0xfab005fd, 0xfb0d0450, 0xfbb005f3, 0x207183f2, 0x2471862d, 0xb24d0011,
-    0x0a135404, 0x5c0c2b44, 0x09200cfe, 0x2106af52, 0x7c4100b0, 0x09b0220b,
-    0x21531810, 0x4678820d, 0x05220c6c, 0x5946fc0d, 0x4689840d, 0x002e0f4c,
-    0xff390001, 0x05dd04eb, 0x000f00b0, 0x4c18b249, 0xb04410fd, 0x00b2220f,
-    0x0594490f, 0xde641020, 0x06b02105, 0x230b1e47, 0x0f060db2, 0x0808a15d,
-    0x23060744, 0x33163727, 0x01373732, 0x01a00221, 0xfe190124, 0xe0642e05,
-    0x3d180268, 0xfe342c6c, 0x0214010e, 0xfbf902b7, 0x06b25b48, 0x7b5c04c8,
-    0x03002404, 0xc4ff4f00, 0xec051806, 0x1f001600, 0x55002800, 0x11590ab2,
-    0x100a2505, 0xb0d01eb0, 0x202c0582, 0x0ab000d0, 0x2f15b02f, 0x0a1514b2,
-    0xb0296982, 0x00b02f14, 0x0a0bb2d0, 0x240c8315, 0x08b02f0b, 0x0b4e5cd0,
-    0x14203482, 0x080b6442, 0xd020b024, 0x32013130, 0x14151204, 0x15230402,
-    0x26233523, 0x34350224, 0x35332412, 0x06220133, 0x17161415, 0x01821133,
-    0x36324c08, 0x23263435, 0x01bbae03, 0xfe999916, 0x17f3bceb, 0x98ecfea9,
-    0xbe14019a, 0xaafbfef3, 0x17abbbc1, 0xbfab11f3, 0x2605adbf, 0xacf0fe98,
-    0x97f1feaa, 0x9601bebe, 0xadaa0d01, 0xc6971201, 0xbccf6ffe, 0x0302cdb4,
-    0xcff2fc0e, 0x46d0b9b6, 0xa128051d, 0xb005bd05, 0x3b000b00, 0x46221d46,
-    0x06201310, 0x21091046, 0x10460333, 0x14b02407, 0x46d1fbe8, 0xfb250510,
-    0x01d5fd1c, 0x246b835f, 0x0400008e, 0x226b82ee, 0x423f0011, 0xb64412d3,
-    0x0767420c, 0x010eb22a, 0x39121109, 0xb22f0eb0, 0x2909da4d, 0x11013130,
-    0x23061123, 0x9b5c2420, 0x33250805, 0x04113732, 0xb0a2fcee, 0xf4fefbfe,
-    0x7e01fc01, 0x05a4ae97, 0x0250fab0, 0xe8e6293d, 0x30fece01, 0x022a768b,
-    0x248183a7, 0x07000098, 0x20ed8403, 0x5f819248, 0x62430ce8, 0x0899550c,
-    0x2b440120, 0x05b02308, 0xfa83b0d0, 0x0a470120, 0x82332006, 0x96012907,
-    0x01fcbc01, 0x95f9fcb9, 0x1a24fa86, 0x50fae604, 0x01266f82, 0xa2fe9800,
-    0x0982ad07, 0x54000f25, 0x5b0bb000, 0x7c991240, 0x394d0d20, 0x2a7c8f07,
-    0xb0d009b0, 0x02b0d00a, 0x893130d0, 0x03332285, 0x24898a23, 0xf9de14aa,
-    0x258c89dd, 0xe0fd12fb, 0x86825e01, 0x00020027, 0x05000018, 0x069f47d4,
-    0x01b25e22, 0x23059f47, 0x0eb01001, 0x221c0b7b, 0x470a0002, 0xb0240591,
-    0x0cb21000, 0x20090d41, 0x0b845502, 0x200fa247, 0x15a24713, 0x8702182e,
-    0xeea02a01, 0xeee9fe7d, 0x75fed4fd, 0x29320d82, 0x7c8c8f80, 0xd3fdb005,
-    0xcd86c96e, 0xed0402f7, 0xa147cbfd, 0x00032608, 0x0600009b, 0x22b18258,
-    0x820f000b, 0xb26d24bd, 0x841a1902, 0xb010258b, 0x02b0d00d, 0x4609076a,
-    0x99710c21, 0x0c8f490c, 0x2208da6b, 0x4a0b0800, 0x1020065b, 0x0820d089,
-    0x230eab47, 0x16163221, 0x2105394b, 0x374a0133, 0x0127220a, 0x09654898,
-    0xc004fd27, 0x40fbfcfc, 0x21c68401, 0x66488303, 0x50fa2107, 0x490b6a48,
-    0x0b260919, 0x4d001400, 0x69480eb2, 0x100e2305, 0x694801b0, 0x087a4213,
-    0x87090021, 0x0a7641a5, 0xc9540920, 0x4ba58a0e, 0x012108d2, 0x8fa18a8d,
-    0x0902499b, 0x6b00012c, 0xf104ecff, 0x1f00c405, 0x7b4d7f00, 0x0c9e4b0c,
-    0x35086a51, 0x111c1309, 0xb07c3912, 0xb4182f09, 0x09700960, 0xd0b45d02,
-    0x0683e009, 0x40093022, 0xb2240682, 0x71010900, 0x200b0949, 0x0ca2471c,
-    0x03060022, 0xb0213e82, 0x0b454213, 0x090fb223, 0x05a5450c, 0x16166508,
-    0x37363233, 0x26213521, 0x06222326, 0x00362307, 0x12043233, 0x02141517,
-    0x00222304, 0x14680127, 0xab9c9397, 0x02fefd06, 0xa0b10802, 0xfc12958c,
-    0xf2250118, 0x931001b3, 0xf4fe8f01, 0xd4fef8b0, 0x9ed90116, 0xccd7e486,
-    0x9e8ce4d8, 0xa80801ee, 0x7bcdc8fe, 0xa8c7fecf, 0x00e80501, 0xa0000200,
-    0x0707ecff, 0x1728eb82, 0x7e002500, 0x272612b2, 0x2006ed49, 0x0bc55f1d,
-    0x49076346, 0x18630c44, 0x0c214b08, 0x0d0a0e22, 0x815a4182, 0xf36f180b,
-    0x5ae5830a, 0xb0220964, 0x5e181004, 0xce6f0c28, 0x11232908, 0x11331123,
-    0x24123633, 0x6b18ec84, 0x07340d5c, 0xedfe9407, 0xf8fea7b3, 0xfcb60e9e,
-    0x9a06b3fc, 0xb2ad0f01, 0x13616b18, 0x1c01982d, 0x05a3fdbd, 0xc971fdb0,
-    0x18a53501, 0x8212666b, 0x002030fd, 0x055f0400, 0x000c00b0, 0xb2610015,
-    0x49171610, 0x0a2006ce, 0x1813655b, 0x630c4e41, 0x112208c7, 0x3483000a,
-    0x6a181120, 0x05220c1e, 0x14831101, 0x8b4e0a20, 0x3044080b, 0x21112131,
-    0x26012101, 0x37243411, 0x14011121, 0x11333316, 0x03062223, 0xfee6fe62,
-    0x01f1fee7, 0x1301fe45, 0xfdef01f6, 0xeb8a8a04, 0x02888ceb, 0x02e0fd20,
-    0x1101786b, 0xfa02e9d1, 0x7be90350, 0x8600028a, 0x5b2eb382, 0x3c04ebff,
-    0x1a001306, 0x54002600, 0xc5510eb2, 0x100e2105, 0x2408195c, 0xb11b2f11,
-    0x10c57c11, 0x07110022, 0x2006db43, 0x05ac5819, 0x200a8741, 0x0d865507,
-    0x12320136, 0x00141515, 0x11002223, 0x37121035, 0x33353636, 0x07060614,
-    0x36210282, 0x08ad7c17, 0x26345a08, 0xf6cc7a02, 0xdfe5f5fe, 0xf6f8eefe,
-    0x42c4518a, 0x9f98a688, 0x7693911b, 0x797a8486, 0xfe038585, 0x0ceaeffe,
-    0x01defeea, 0x46000128, 0x98015e01, 0x363f1c33, 0x234f7e65, 0x9591a420,
-    0x9ca59fc3, 0x8cb0afae, 0x000300a3, 0x0400008f, 0x003a043a, 0x0015000e,
-    0xb278001c, 0x05234f02, 0xb0100223, 0x0ccd4415, 0xd7820120, 0xb4790120,
-    0x16b2230f, 0xd7820001, 0x16b07c2f, 0x40b4182f, 0x02165016, 0x16d0b45d,
-    0x210682e0, 0x3b5a0fb2, 0x08b22308, 0x7418160f, 0x03411476, 0x31302409,
-    0x61211133, 0x01200b78, 0x3e080e82, 0x25233435, 0x34353233, 0x018f2327,
-    0x5de8deb7, 0xdf7c6a5b, 0x01f8fed1, 0xfebebb0a, 0xc4cfc8f9, 0x9b3a04d3,
-    0x20774b91, 0x975b8616, 0xfecd019e, 0xae8786f3, 0x0004807a, 0x00850001,
-    0x824d0300, 0x0dd368d3, 0x714cbc87, 0x14d36808, 0xfe4d032a, 0xc802f22a,
-    0x8afc7603, 0x02264182, 0xbefe2700, 0x0982c504, 0x14000e24, 0x8f4d5b00,
-    0xd004210a, 0x08115618, 0x7a2f0421, 0x9b480a99, 0x45002008, 0x062909c4,
-    0xd007b0d0, 0xb0100cb0, 0x21088209, 0x854db010, 0x45042005, 0x3e080dd9,
-    0x37363637, 0x33112113, 0x21112311, 0x21132311, 0x07211121, 0x45658102,
-    0xef020e07, 0x4afdf296, 0x760101f6, 0xeffe9f01, 0x71c20e07, 0x9e019ecb,
-    0xfcfd88fc, 0xbefe4201, 0xa7020402, 0x82d6fecf, 0x001e24f5, 0x825c0600,
-    0x001522a9, 0x0a814d82, 0x0c4e5a18, 0x6a540c87, 0x23814d0c, 0x11021122,
-    0x2305814d, 0x5d01108f, 0x2729864d, 0x01012103, 0x11331321, 0x13200182,
-    0x043e0a83, 0x80f38135, 0x01d6fef9, 0x01acfe67, 0xf372f529, 0x2901f673,
-    0x6901adfe, 0xb301d2fe, 0x03834dfe, 0x02330227, 0x0157fe07, 0x240383a9,
-    0xcafdfcfd, 0x2cd98200, 0x03ecff4d, 0x004d04c4, 0xb28d0027, 0x0ad7611e,
-    0x1b2f2524, 0x127c25b1, 0x3e0f260c, 0x2519b259, 0x2fac8208, 0x2f19b07c,
-    0x1940b418, 0x5d021950, 0xe019d0b4, 0xb2210682, 0x09934216, 0x19160322,
-    0x21057e55, 0x148910b2, 0x10160d22, 0xb42b1482, 0x0d130d03, 0x25b05d02,
-    0x891eb210, 0x1921221b, 0x2b1b821e, 0x210b0940, 0x212b211b, 0x5d04213b,
-    0x6405b372, 0x7b4d0527, 0x1836200f, 0x080ccf4a, 0x57b00338, 0xcbf2ba4f,
-    0xf272cc7c, 0x69595a76, 0xb4ae605c, 0x50525ea3, 0xb9f0f26e, 0x1203e0c9,
-    0x41247948, 0x53b195ba, 0x59426999, 0x464f4353, 0x428402af, 0x8f3c4f4a,
-    0xfb82a4b7, 0x00008626, 0x3a041204, 0x5b0e814d, 0xd8420ca4, 0x0d814d10,
-    0x814d0720, 0x4d068405, 0x03340b81, 0xfef2f220, 0x04f2f258, 0x02c6fb3a,
-    0x042efdd2, 0x002efd3a, 0x8f207182, 0x65207182, 0x0c227182, 0x47426800,
-    0x0cdf4205, 0x420c5279, 0x0b3e0c3a, 0x0bb11b2f, 0xb2593e0f, 0x11040206,
-    0xb07c3912, 0xb4182f06, 0x06e306d3, 0x43b45d02, 0x06825306, 0x0613b222,
-    0x210c6e6b, 0x827d0ab2, 0x7bfd2f14, 0x016bf3f3, 0xfe2c012b, 0xfea80179,
-    0x827d01c4, 0xfdfa2209, 0x20a183cc, 0x20a18221, 0x24a18214, 0xb24d000f,
-    0x0ad97004, 0x4e0c9959, 0x71490c23, 0x0c234e09, 0x4b0cf769, 0x213a05cf,
-    0x23060203, 0x36372723, 0x04133736, 0xcefef314, 0xb0ab1314, 0x5032014b,
-    0x72820a49, 0x03c6fb2f, 0xfe87fe76, 0x05caedf0, 0x01e5ad0b, 0x062f41ce,
-    0x826f0521, 0x000c228d, 0x052f4159, 0x240c2a45, 0xb11b2f0b, 0x07a1410b,
-    0x50083156, 0x5f4910ec, 0x445c1809, 0x8408200c, 0x2799820d, 0x23112101,
-    0x01230111, 0x213d0582, 0x4001ff02, 0xfef33001, 0xd5fea5d6, 0x013201f3,
-    0xfb0f032b, 0xfdcc02c6, 0xfdd00234, 0x053d7f30, 0x00008624, 0x0a821104,
-    0x7e000b22, 0x185c9385, 0x435c180c, 0x0c57470c, 0x20080e78, 0x05574709,
-    0x2f092408, 0xcf09bfb4, 0xb25d0209, 0x710109bf, 0x3f092fb4, 0xb2720209,
-    0x7201095f, 0xff09efb4, 0xb4710209, 0x822f091f, 0x8fb22806, 0xb45d0109,
-    0x839f098f, 0x09a6531e, 0x3808a76b, 0x11211133, 0xf3110433, 0xf3f35bfe,
-    0x01f3a501, 0x044bfeb5, 0x013dfe3a, 0x0ae142c3, 0x460d0d6c, 0x77180f6a,
-    0xb0200c2a, 0x27160d6c, 0xfef31204, 0x8c03f35a, 0x2a06bd45, 0x00230001,
-    0x04d00300, 0x6d07003a, 0x07410745, 0xe570180c, 0x05b02118, 0x3405f254,
-    0x35211123, 0xfed00321, 0xa5fef3a1, 0x7903ad03, 0x790387fc, 0x335282c1,
-    0x60fe5400, 0x00067f05, 0x24001a00, 0x7f002f00, 0x313007b2, 0x27064b5f,
-    0x07b0d020, 0xd02ab010, 0x15216a18, 0x240c7941, 0xb11b2f13, 0x07cd6013,
-    0x520c6f56, 0x0a21084f, 0x0a586610, 0x1810b021, 0x260c1d46, 0x1eb0d028,
-    0x822db010, 0x10132da9, 0x17323312, 0x36113311, 0x11123233, 0x2507e860,
-    0x02222306, 0x6b182527, 0x936908a9, 0x545c080a, 0x3e4cbbd1, 0xba5640f2,
-    0x53b7d4d3, 0x4f3df245, 0x0409d1af, 0x2d6a7437, 0xdc332125, 0x6a6cbafc,
-    0x2a22212d, 0x0e027068, 0x37010901, 0xfece011c, 0xcbfe202e, 0xfef3e0fe,
-    0x56fe1ee6, 0x011aa601, 0xb63ce303, 0x3afd0dc7, 0xa24b010a, 0xc9020aa9,
-    0x0100c10a, 0xbffe8600, 0x3a04a504, 0x2005c34f, 0x0a5b4e08, 0x0cad5e18,
-    0x200cca61, 0x0c5e630f, 0xc34fb020, 0xf386360f, 0x93f3a601, 0xd2fcdd14,
-    0x88fc3a04, 0x88fc7803, 0x4101fdfd, 0x2a6b8200, 0x0300005f, 0x003b04e0,
-    0x52480011, 0x09220c25, 0x64181b2f, 0xaf7b090a, 0x08ca4f0c, 0x09010d2a,
-    0x7c391211, 0x182f0db0, 0x250a8770, 0x23213130, 0x60180611, 0x200807a2,
-    0x37323316, 0xe0033311, 0xde685ef3, 0x6c69f3ea, 0x01f36462, 0xc7d51669,
-    0xb4fe4c01, 0x02176276, 0x2483830c, 0x06000086, 0x4fef8403, 0xea430bc5,
-    0x14a6450c, 0x2827c54f, 0xf3520179, 0xfaf25301, 0x23fc8783, 0xc6fb7803,
-    0x01266f82, 0xbffe7e00, 0x0982b406, 0x4b000f22, 0x44088448, 0x03240cfb,
-    0x03b11b2f, 0xc54f7c94, 0x4f092016, 0x712013bc, 0xb9248085, 0xbbfadd14,
-    0x84418389, 0x267d8205, 0x001f0002, 0x82ea0400, 0x000d2609, 0xb25b0015,
-    0x05bf4b00, 0x7907b84f, 0x8a710c70, 0x0c002a08, 0x39121108, 0xb02f00b0,
-    0x0c375a0c, 0x0cde4c18, 0x5e08b021, 0x3e080b65, 0x33013130, 0x15161632,
-    0x21070614, 0x21352111, 0x32331111, 0x27263436, 0x85ee4a02, 0xc4ec67c6,
-    0xc8fe1dfe, 0x59ed2b02, 0x02566567, 0x6ea65ce2, 0x0301caa7, 0xe5fdc476,
-    0xa459a3fe, 0x4a00015f, 0x052105e3, 0x2aa782c9, 0x000f000b, 0xb26d0017,
-    0x43191807, 0x0d2406ad, 0x1007b0d0, 0x088b7818, 0x630c9d43, 0xb14f0c0c,
-    0x860e2016, 0x4fb220cc, 0xbb891ab1, 0x8506b14f, 0x820121bd, 0xf326bd87,
-    0xf3f34704, 0xc08cb9fb, 0xfb3a0425, 0x893a04c6, 0x000226c3, 0x0400008f,
-    0x26c38422, 0xb24d0013, 0x8315140e, 0x0aad4fc1, 0x6e41bb8c, 0x870a2009,
-    0x0aad4fa1, 0xad4f0820, 0x41a18a0e, 0x9d8a075b, 0x9389978e, 0x5100012e,
-    0xe803ecff, 0x20004e04, 0x10b27d00, 0x480a2161, 0xd8440c23, 0x4b768208,
-    0xb2230913, 0x8210081e, 0xb07c2fc1, 0xb4182f1e, 0x1e501e40, 0x03b25d02,
-    0x1282001e, 0x031cb226, 0x0bb25d01, 0x1b200483, 0x73087e49, 0xb2230d98,
-    0x82181b15, 0x04b43129, 0x02151415, 0x0131305d, 0x23150622, 0x33363634,
-    0x20062e7b, 0x090b5723, 0x0805bc4f, 0x5501023d, 0xca74e576, 0x0b01dc72,
-    0x7b91dc79, 0x76e56ec8, 0x0c7e6656, 0x5301acfe, 0x8b037e0e, 0xaf644f69,
-    0xfcd2fe68, 0x88fc9b19, 0x5d75ba67, 0xa8899977, 0x00008f84, 0xff910002,
-    0x823806ec, 0x001426e1, 0xb285001f, 0x21881815, 0x0c1a4910, 0x240c5467,
-    0xb11b2f11, 0x796a1811, 0x13112111, 0x0120f584, 0xd029f582, 0x0201e001,
-    0x0140b45d, 0x18068250, 0x200b4b44, 0x0c127c0c, 0x43180420, 0x01280d71,
-    0x33243633, 0x17170032, 0x2605937e, 0x23112327, 0x18013311, 0x08096a69,
-    0xcc840132, 0xcb0a011b, 0x0b1101db, 0x96e57b01, 0x15f3fed2, 0x01f3f3ca,
-    0x88f68ab9, 0x8c77788d, 0xf8cf8702, 0x39e9e6fe, 0x018afca0, 0x3cfed404,
-    0xd8fd3a04, 0x3008997e, 0x00270002, 0x04df0300, 0x000d003a, 0xb2610016,
-    0x058d5314, 0xb0101423, 0x06914f04, 0x490c6544, 0x05200c61, 0x0520ef82,
-    0xb223ef82, 0x82010012, 0x12b022e2, 0x0a0c652f, 0x0307b223, 0x20148312,
-    0x0b285f00, 0x2a056f49, 0x13230323, 0x34352626, 0x4f033736, 0x3a080892,
-    0xe7e3f2df, 0x6b64fffc, 0x65bcc6e9, 0x59e0ef4f, 0xfb3a046a, 0xfe8d01c6,
-    0x2ab50173, 0xc197659c, 0x44a0fe02, 0x5a380155, 0xff010000, 0x034bfedb,
-    0x000006f8, 0xb28b0021, 0x82232215, 0xb0002265, 0x057c461e, 0x200c9c41,
-    0x06f57a0a, 0x687fb020, 0x2fac8208, 0xaf1e9fb6, 0x031ebf1e, 0x1e2fb25d,
-    0x0fb25d01, 0x21220483, 0x44821e18, 0x2f21b022, 0x230afe68, 0x041802b2,
-    0x11f34518, 0xd75d0420, 0x00b0280b, 0xd01ab010, 0x5e1021b0, 0x152406e0,
-    0x13203336, 0x07d84118, 0x35323322, 0x08ff4518, 0x35234c08, 0x15333533,
-    0xfe770221, 0x01b677f5, 0xa6b9055a, 0x270f3a46, 0x5e617b3b, 0x9ef34892,
-    0x0b01f39e, 0x8ae9ad04, 0xfefc75fe, 0xbf11c4b2, 0xed02bf0d, 0xfc825d70,
-    0xabad04fb, 0x0100a8a8, 0xecff5400, 0x4e04f903, 0x7a001d00, 0x181e16b2,
-    0x67097f8b, 0xff430c17, 0x08844e09, 0x0f19b222, 0x2609164d, 0x192f191f,
-    0x43b27102, 0xb223095f, 0x821b0003, 0x04b426e0, 0x02031403, 0x5973185d,
-    0x13b2230d, 0x1b821619, 0x131cb226, 0x0bb25d01, 0x30210482, 0x6a731831,
-    0x214c0818, 0x02122115, 0x0678593e, 0xca7803e4, 0xf8fee474, 0xc0e40801,
-    0x07e404f5, 0x7d6e5b76, 0xfe5b010a, 0x68ae19a6, 0x64b06650, 0x02012701,
-    0x2901f719, 0x7560b6e2, 0xfea88d94, 0x020000ec, 0x00001e00, 0x3a049a06,
-    0x1f001600, 0x09b27900, 0x20056d43, 0x09515509, 0x450c7d42, 0x27660c92,
-    0x7f012008, 0x01230566, 0x4600b02f, 0xc5730c5f, 0x4301200d, 0x08200c61,
-    0x0dc76c18, 0x33110122, 0x23086d46, 0x07060203, 0x82060c4c, 0x32440816,
-    0x26343536, 0xf8fa0327, 0xc3e9e5c3, 0xe6fe19fe, 0xafa81315, 0x5232024e,
-    0x02140a47, 0x6858edf3, 0x3a045664, 0xbc0387fe, 0x02c1a09f, 0x87fe7603,
-    0x01eef2fe, 0xaf0b05ca, 0xfdce01e3, 0x58c1fec5, 0x0151484d, 0x8620e782,
-    0xb120e782, 0x1226e782, 0x82001b00, 0x876901b2, 0x73012005, 0x022409bb,
-    0x02b11b2f, 0x6d14ab4f, 0xf4890c44, 0x110b1129, 0x01b03912, 0x8504b22f,
-    0x2f042209, 0x0e5218b0, 0x04b0210c, 0x210b7843, 0x9e600bb0, 0x3130250b,
-    0x33112101, 0x1123f38a, 0x87331123, 0x012325ec, 0xf3a50179, 0x5b2def87,
-    0x9802f3f3, 0x64665aed, 0x019f025b, 0x25e8879b, 0x23fedd01, 0xdf833a04,
-    0x464b5a32, 0x01000054, 0x0000eeff, 0x0006f803, 0x79001800, 0x08df4218,
-    0x93431520, 0x82072012, 0x450720e7, 0xcd880723, 0x0115bf25, 0x832fb25d,
-    0x830f2004, 0x0f182204, 0x20dc8315, 0x0d8f4318, 0x83070421, 0x46d68214,
-    0x00270ad7, 0xd011b010, 0x601018b0, 0x814306b0, 0x43232005, 0x8b241078,
-    0xb677e1fe, 0x08507218, 0xf38b8b29, 0xb5041f01, 0x18fe8af1, 0x34095572,
-    0xa1aab504, 0x000100a1, 0x049afe86, 0x003a0412, 0x0045000b, 0x13d14ab0,
-    0x180c6749, 0x22092652, 0x49b05845, 0x1e5912e4, 0x11232d09, 0x79011121,
-    0xfef3a601, 0xb2fef3b5, 0x25055a49, 0x9afec6fb, 0xbd4d6601, 0xff882c05,
-    0x05c106eb, 0x001e00b0, 0x1806b260, 0x5d0a8d46, 0x8a640c03, 0x778d180c,
-    0x2f04240c, 0x1804b11b, 0x22108676, 0x6d040006, 0x1a210e25, 0x219283d0,
-    0x6f680614, 0x35262405, 0x67113311, 0x9e8205ae, 0x38080886, 0xd2f9c106,
-    0xe9716de5, 0x67fdf3cf, 0x0172695e, 0x61636d01, 0xfbb0056e, 0xa5eed6ff,
-    0x04d5efa5, 0x75fcfb01, 0x04778182, 0x74fcfb03, 0x04797f83, 0x00010003,
-    0x05ebff70, 0x94c882ed, 0x07d542bd, 0x840c1d4a, 0x0c254cbd, 0x1520bd91,
-    0x0620bd95, 0xc688bd92, 0xed052608, 0xc7bdda01, 0xb8cb6660, 0x4654f3d5,
-    0x5cf46653, 0x045b4a4f, 0xc14efd3a, 0xdd8e8edc, 0xfdaf02c3, 0x6c6c7251,
-    0x31078972, 0xe0ff0200, 0x21040000, 0x12001806, 0x71001b00, 0x9b4315b2,
-    0x10152105, 0x24082f62, 0xb11b2f0f, 0x07df550f, 0x2208e541, 0x46090f12,
-    0x336f06f4, 0x02b22109, 0x02291485, 0x1000b02f, 0xb0d00bb0, 0x06215a12,
-    0x4513b221, 0xb0210895, 0x118a4309, 0x26077c44, 0x11333523, 0x43211133,
-    0x4108078a, 0xfea30227, 0xe5c4f7de, 0x12fec0e5, 0x01f3aeae, 0xeddefe22,
-    0x5763655b, 0xc9fe3a04, 0xadaece03, 0x3a0404d3, 0xfe3301ab, 0xfe5bfdcd,
-    0x55596582, 0x01000269, 0xedff9800, 0xc505cd06, 0x8e002500, 0xf7780eb2,
-    0x8224200a, 0x182420c5, 0x870ccb67, 0x0758590c, 0x4500b025, 0x8222b058,
-    0x0f222726, 0x00b2593e, 0xdf832422, 0xb22f002a, 0x7101001f, 0x1c2408b2,
-    0x05200e83, 0x820c7b5b, 0xd00f21e4, 0x605eea82, 0xd012230b, 0x25471cb0,
-    0x18b2210b, 0x30223984, 0x5f580131, 0x17002205, 0x055a5923, 0x2608dd66,
-    0x23000633, 0x48022422, 0x580806d7, 0x960bb594, 0xf1ab0901, 0xfc182601,
-    0xa18e9312, 0xe9010bab, 0xa80216fe, 0x149695a2, 0xd3fe16fc, 0xf8feacf8,
-    0xfcb40393, 0xbe4f03fc, 0xfe9b1d01, 0x8b9deffa, 0xe1c3ccdd, 0xe99c86f2,
-    0x01a1fbfe, 0x74fdca34, 0x0000b005, 0xff860001, 0x04ba05ec, 0x0023004e,
-    0x240db292, 0x08c76125, 0x200c2448, 0x20ef8223, 0x07884223, 0x07224c18,
-    0x4500b025, 0x8220b058, 0x0f202719, 0x0eb2593e, 0x61591b04, 0x0e402a08,
-    0x5d020e50, 0xb0d000b0, 0x0b6c6004, 0x0e08b223, 0x2223820b, 0x57100eb0,
-    0xb0210a05, 0x0c24681b, 0x0f131622, 0x0f262283, 0xd01eb010, 0xd4493130,
-    0x41162005, 0x0320050c, 0x24090b41, 0x2223020e, 0x060a4124, 0x149d7926,
-    0xc1d20401, 0x28054c47, 0x7c011adb, 0x7d0a85fe, 0x076a476e, 0xfed32d08,
-    0xf39e14fd, 0xde7102f3, 0x60b6e2ff, 0xabe6fe75, 0x50688e8a, 0xfe64b066,
-    0x043afedc, 0x0200003a, 0x00001c00, 0xb0051705, 0x0e000b00, 0x20072566,
-    0x20d58208, 0x07f94108, 0x650ccc53, 0x0d221580, 0xb5830208, 0x89630d20,
-    0x840e200f, 0x077c6317, 0x21032008, 0x21013301, 0x03032101, 0x73e17e83,
-    0x02fafe8f, 0x0002f506, 0xe0fdfafe, 0x01a85301, 0x8356feaa, 0xb0052703,
-    0x680250fa, 0x9983f801, 0x00000a24, 0xa4824504, 0x10000b22, 0xd854998c,
-    0x21999614, 0x99860802, 0x230a9e5e, 0x0fb2d004, 0x2320998d, 0x03829982,
-    0x07270339, 0xc35de402, 0x01f7685b, 0xab01e7a9, 0xf85cfef7, 0x01191964,
-    0x83e9fe17, 0x3a043903, 0xc401c6fb, 0x64640601, 0xac000200, 0x30070000,
-    0x1300b005, 0x7c001600, 0x18054b53, 0x180cde87, 0x450c156b, 0xb0201479,
-    0x840b987a, 0x0845690c, 0x04021522, 0x200c027d, 0x09184406, 0xb0d00a29,
-    0x0eb01006, 0x8416b2d0, 0x31302323, 0xbb822101, 0x23032123, 0x22018211,
-    0x68132103, 0x23080536, 0xa8010321, 0x2b016801, 0xfe0002f5, 0xe27e8efa,
-    0xfafe8f72, 0xfcdbfe98, 0x016202fc, 0x6702a953, 0x50fa4903, 0x2a077141,
-    0x55feab01, 0xb8fcb005, 0x8200f901, 0x009d26d7, 0x04180600, 0x22d7823a,
-    0x8a7f0018, 0x077341d7, 0x9345d784, 0x21d79a1c, 0xee4b1000, 0xb02f2305,
-    0x3367d001, 0xd00b300b, 0xb0d007b0, 0x14b01001, 0xd015b0d0, 0x831217b2,
-    0x24da82fe, 0x01331333, 0x21da8623, 0xd24c1323, 0x33210805, 0x01072703,
-    0xe7f8fe90, 0x6af7ab01, 0x685bc35d, 0xf3ba6df7, 0xf8ed01f3, 0x01191964,
-    0xfb7602c4, 0x07af41c6, 0x2105b341, 0xb1418afd, 0x82802006, 0x056e34d9,
-    0x001a00b0, 0xb27a001d, 0x111f1e1b, 0x1bb03912, 0x180db010, 0x180b6758,
-    0x910f7582, 0x6c1320cc, 0xb2220692, 0xa5831900, 0x2f00b022, 0x2c0b296e,
-    0x0fb0d00e, 0x1000b0d0, 0xb2d018b0, 0x2020851b, 0x0ec66b19, 0x1716162a,
-    0x26112311, 0x07232326, 0x23220782, 0x06830622, 0x36363f08, 0x01210121,
-    0x7a042113, 0xfc05f1fe, 0x688f7602, 0x8f7efc06, 0x03fc0375, 0xfe0f01fa,
-    0xfde40485, 0x2ffee98e, 0xd9042803, 0x018dfed8, 0x0b6f816c, 0x5c02affd,
-    0x90fe7e6e, 0xdbe16c01, 0xe5828802, 0x0200a92a, 0x00008200, 0x3a046405,
-    0xd76ae390, 0x82052007, 0x550520bc, 0x414a1442, 0x2ee3880c, 0x11000504,
-    0x04b03912, 0xd007b02f, 0x591004b0, 0x5a6d0a14, 0x1bb22105, 0x05202085,
-    0x3324e38d, 0x37363635, 0xea82cf82, 0x35231525, 0x88272626, 0x821520ea,
-    0x823908e3, 0xfeccc502, 0xfef403eb, 0x02bec6ea, 0x725e01f3, 0x2df2012f,
-    0x01036079, 0xd6fe9585, 0x0dd2ceb2, 0x24fedb01, 0xb3c7d311, 0x02727fb1,
-    0x015ffe03, 0xba7c6ea4, 0x22016902, 0x30e18200, 0x080000a3, 0x00b005b3,
-    0x00230020, 0x241cb297, 0x229f8325, 0x18b0101c, 0x6307c54e, 0x6a610c18,
-    0x0cd0560c, 0x4f0c9449, 0x192a0c93, 0x19b11b2f, 0xb2593e0f, 0xfb840709,
-    0xb04e0920, 0x09b0300b, 0xd00db010, 0xb01003b0, 0x17b0d01c, 0x8521b2d0,
-    0x5f0b2023, 0x212a0d32, 0x21373411, 0x33112311, 0x04412111, 0x0fef4105,
-    0x21130131, 0xfe3bc502, 0x03fcfc9f, 0x0487fe30, 0x4184fee5, 0x053807f5,
-    0x73917ffc, 0xe9080203, 0x60012efe, 0x9afd65a1, 0x7bfdb005, 0x78fd8502,
-    0x3708f841, 0x02adfd09, 0xfe7c715c, 0x01390391, 0x020000aa, 0x00008f00,
-    0x3a047607, 0x20061141, 0x0511411d, 0x11411d20, 0xae74180e, 0x30114114,
-    0x11410b20, 0x09815108, 0x850f1141, 0x0f114123, 0x41363521, 0x16420d11,
-    0x95023712, 0xb7fe3501, 0xa502f3f3, 0xf403ecfe, 0xbec5eafe, 0x5e01f202,
-    0x1c422e73, 0x94b02f0a, 0x0458fe64, 0x0127fe3a, 0x1124fed9, 0x2142c6d4,
-    0xfe283014, 0x07aa0340, 0x00270088, 0xb2a70030, 0x63323102, 0x28240685,
-    0x2cb000d0, 0x24056d4c, 0xb11b2f05, 0xc8661805, 0x076e570c, 0x20080a42,
-    0x0c0e6205, 0x11052622, 0x7c2b4582, 0x182f26b0, 0x012610b2, 0x8240b25d,
-    0x60b42604, 0x02267026, 0x0ae37e5d, 0x230cb223, 0x22278226, 0x181011b0,
-    0x320a0d55, 0x012c0fb2, 0x102cb05d, 0xb0d029b0, 0x0fb42f29, 0x82291f29,
-    0x2c282234, 0x33298329, 0x30b0d030, 0x0131302f, 0x21232634, 0x04322135,
-    0x07061415, 0x04380482, 0x15062323, 0x26071714, 0x36342726, 0x36363337,
-    0x23213435, 0x03203335, 0x07ff4c18, 0x96024c08, 0xe5fe7a85, 0x01ed1501,
-    0x016e7d0b, 0xe8f7fe0c, 0x52987a35, 0xb102a284, 0x89723fa4, 0x8989cffe,
-    0x93941001, 0x97eafecf, 0x04ceebfe, 0xc76a5e21, 0xa370b5cf, 0xc5fe572c,
-    0x6b6303e8, 0xb7289941, 0x028b867f, 0xf3657d01, 0x189f03c7, 0x2e07404d,
-    0xfe330002, 0x06880348, 0x0027001c, 0x41950030, 0x4e421a3b, 0x2f172407,
-    0x4117b11b, 0x1220073b, 0x12250c82, 0xb0593e0f, 0xc6661805, 0x1225220c,
-    0x29e98205, 0x2f25b07c, 0x2540b418, 0xfc822550, 0x3e422420, 0x0cb22108,
-    0x2005af42, 0x0b314112, 0x21112c41, 0x2c412c29, 0x09294105, 0x14151624,
-    0x04830706, 0x200d2941, 0x06294132, 0x29413220, 0x74640809, 0xe4fe6973,
-    0xf8dc1701, 0xf6d95761, 0x907e36d0, 0x02968251, 0x6c35a1a9, 0x91f9fe77,
-    0x92a0e295, 0x96e9fed0, 0x02cdebfe, 0xb9473cfe, 0x774f8da5, 0x96ac4224,
-    0x6b6204af, 0xb6309141, 0x01877d70, 0xa9943f50, 0x0b9b1203, 0x1701eafe,
-    0x0300000a, 0xecff5f00, 0xc4051705, 0x17001000, 0x66001e00, 0x201f04b2,
-    0x04259e83, 0xd011b010, 0x200582b0, 0x06514618, 0x480c8a4d, 0x0c200803,
-    0x230be05f, 0x0c0414b2, 0x7c243b82, 0x182f14b0, 0xfe713a82, 0x1014230b,
-    0x27411cb2, 0x56531808, 0x0420330e, 0x22011712, 0x26210706, 0x36320326,
-    0x16162137, 0x48181705, 0xfd33115b, 0x08b6a0a4, 0xb408bc02, 0x0ab39fa0,
-    0xb80a44fd, 0x18d6b202, 0x2b0f6048, 0xd9f0ef01, 0xcafbeedb, 0xead9dee5,
-    0x4f30db83, 0x3d04ecff, 0x0f004e04, 0x1d001600, 0x04b26700, 0x82052747,
-    0x841020d5, 0xcd5018db, 0x0c1f4b07, 0x5608ab66, 0xb22109ef, 0x2bd8861b,
-    0xb4182f1b, 0x1b501b40, 0x13b25d02, 0xea83ce88, 0x2509ba77, 0x34133130,
-    0xbd543636, 0x0111210a, 0x1320d485, 0x4608e285, 0x94e47d4f, 0x0b1301da,
-    0x95e77b01, 0x01ecfee3, 0x10856bf7, 0x8410fffd, 0x10856a6b, 0x85100002,
-    0xfda12702, 0xeae7fe89, 0x8afca039, 0x01012e01, 0x899293fe, 0xdd029388,
-    0x95828295, 0x00010000, 0x04000010, 0x82c205f3, 0xb24622d3, 0x0a175e02,
-    0x0c5e4818, 0x1b2f0f24, 0x73180fb1, 0x01271045, 0x12110f0c, 0x1806b039,
-    0x220eff40, 0x82133717, 0x172c08b0, 0x07062307, 0x21012301, 0x1b1b6102,
-    0x7a9c35e4, 0x5418022d, 0xf498fe27, 0x0d010efe, 0x6f728b01, 0x97acf702,
-    0x7c02d701, 0xb00594fb, 0x20208782, 0x18258782, 0x11004e04, 0x6c878200,
-    0x05200ac3, 0x610b9547, 0x407a0c83, 0x05012208, 0x06594d0e, 0x0b4a0a20,
-    0x31302208, 0x27878201, 0x17323312, 0x22232607, 0x3a088984, 0x14e30133,
-    0xcf5a7a14, 0x0c172743, 0x0d3b2220, 0xfed3f6fe, 0x6e01fb92, 0xbe016161,
-    0xc0162201, 0xfc2a3606, 0x003a04e2, 0xff5f0002, 0x06170576, 0x0013002e,
-    0xb2550027, 0x85292805, 0x0805785e, 0x5e0c5466, 0x0626089f, 0x100db0d0,
-    0x058310b0, 0x881ab221, 0x17b02488, 0x1803b0d0, 0x820b407d, 0x369c8245,
-    0x15070010, 0x00263523, 0x00103503, 0x15333537, 0x27110016, 0x82272634,
-    0x06062613, 0x16141515, 0x08138217, 0x3536364b, 0xf3fe1705, 0xfee8c6e9,
-    0x120103ef, 0x01eac6e9, 0x7882fd0d, 0x848579c6, 0x8079c67b, 0xdafeb202,
-    0x7e238bfe, 0x7301237e, 0x01551d01, 0x237a0124, 0xfe237271, 0x06d9fe86,
-    0x6023f5ce, 0xcff52361, 0x25fdc74c, 0xf6235f60, 0x26d582cf, 0x0488ff4f,
-    0x82b4043d, 0x002526d5, 0x2603b258, 0x20d58327, 0x09c95903, 0x580c9851,
-    0x20820881, 0x1024d882, 0xd00db010, 0x200e4b5d, 0x20d88414, 0x26e9891d,
-    0x3130d01a, 0x84123413, 0x821220ce, 0x840220c4, 0x350222e2, 0x88c88201,
-    0x08da84db, 0xbddd4f55, 0xdfddbfb8, 0xddbbb8bf, 0x5a525002, 0x4fb8505a,
-    0xb84f5658, 0x01da2702, 0x6d6e1f26, 0xddd8fe1f, 0xd9fedb11, 0x1f6c6b1d,
-    0xfedd2601, 0x97b51ea7, 0x601fb282, 0x95b22160, 0x6821ae83, 0x00030000,
-    0x06ebff88, 0x003f07b5, 0x003d002a, 0xb2ba0046, 0x83484730, 0x103025cf,
-    0xb0d009b0, 0x45200582, 0x51066744, 0x784c0cff, 0x0c49530c, 0x1b2f0b22,
-    0x7f058861, 0xb0210518, 0x0ffc5312, 0x2309d141, 0x120b1eb2, 0x23276a83,
-    0x1013b0d0, 0x82d02ab0, 0x36b02e2b, 0x2f36b0d0, 0xb0d02cb0, 0x2bb22f2c,
-    0x114f1808, 0x2cb02a07, 0xd032b010, 0xb22f32b0, 0x2e138c39, 0x42b0d042,
-    0xd046b02f, 0x302f46b0, 0x18320131, 0x2c07f35c, 0x26222306, 0x36341127,
-    0x06221533, 0x07565215, 0x11333f08, 0x32331616, 0x34113536, 0x15132326,
-    0x022e2223, 0x15152223, 0x33343523, 0x01021e32, 0x33353736, 0x07061415,
-    0xf2cef404, 0xe3d0f101, 0xcee37272, 0xcff304f0, 0x5f66665f, 0x01f57269,
-    0x09836871, 0x216a5a08, 0x30bf8a53, 0xeb866814, 0x6fc94625, 0x034129fe,
-    0x053b60a9, 0xfdddfab0, 0x9efbddea, 0x02d5f69e, 0xccfddd20, 0xedfd808e,
-    0x77818e80, 0x79fe8201, 0x808e8073, 0x8e801302, 0x2386e301, 0x10680a4b,
-    0x4f0fdc22, 0x5287fe1a, 0x3167683c, 0x00001f78, 0xff740003, 0x05d105eb,
-    0x067f41e3, 0x09b2af22, 0x25057f41, 0x3ab01009, 0x0582b0d0, 0x7f414620,
-    0x0c134d06, 0x3408484b, 0x00b01012, 0x2f00b0d0, 0xb0100bb0, 0x09b2d007,
-    0x12110b12, 0x35744139, 0xb0d02d23, 0x0c74412d, 0x74412d20, 0x10362612,
-    0xb0d041b0, 0x0c744141, 0xc5531520, 0x08744108, 0x16141526, 0x37363233,
-    0x2107d979, 0x74413535, 0x3a4d081d, 0xd401dcba, 0x6361c5b5, 0x04d3b2c2,
-    0x5b49bbdc, 0x5e504353, 0x5e01ec01, 0x5b544251, 0x5324bd49, 0x152cc18a,
-    0x25eb8768, 0xfe70c546, 0xa9034130, 0x47043b60, 0xccf8cce5, 0xe09191e7,
-    0xcd0301c5, 0x7c75c3e7, 0x70757cf5, 0x6acaca6a, 0x2e0a8470, 0x2386e701,
-    0x1068094c, 0x4e0fdc22, 0x4185fe1b, 0x02300770, 0xebff8800, 0x1107c106,
-    0x26001e00, 0x06b27d00, 0x20054369, 0x09c94a06, 0x570c9344, 0x042508e7,
-    0x0806b2d0, 0x06b5650d, 0xaa431120, 0x100d2c09, 0xb0d015b0, 0x11b02f15,
-    0x821ab010, 0xb0102708, 0x1eb0d01e, 0x1782b02f, 0xb0d0252c, 0x26b02f25,
-    0x2f26b0d0, 0xb64220b2, 0x83262009, 0x23b0226a, 0x20fe542f, 0x21352527,
-    0x23152117, 0x14065535, 0x0339fc27, 0xa6fe0155, 0x1b0e55b5, 0x7a7ae726,
-    0x02007f7f, 0x21051355, 0xf184b105, 0xf18a8920, 0x59422520, 0x49f18406,
-    0x0e55076c, 0x2f1e240c, 0x4f1eb11b, 0xb2231c87, 0x55150806, 0xfd8910d9,
-    0xb0d01f23, 0x20fd8c1f, 0xae4c181f, 0x11012108, 0x871c3e55, 0x144655fd,
-    0x039dfc27, 0xb2fe0438, 0x1b4e55b5, 0x7b7bfc22, 0x012efd82, 0x8cfe6600,
-    0xc505b604, 0x53001800, 0x0f7c17b2, 0x180a200a, 0x200b3fa9, 0x200c8200,
-    0x10cb7600, 0xb0100a26, 0x0ab0d00e, 0x200cef7b, 0x0bbd5902, 0x01313032,
-    0x00261123, 0x12341135, 0x00203324, 0x21102315, 0x08057144, 0x03331730,
-    0xffd3fb34, 0x01018d00, 0x010001a3, 0xddfefc1f, 0x8aa9a98c, 0x018cfe9f,
-    0x47012066, 0xaf1101f9, 0xfe9b1801, 0x2601e9f7, 0xedfebcdf, 0x2482dfb6,
-    0xfe5c0029, 0x04f30389, 0x821a004e, 0x7e1920a9, 0x5d5f0a43, 0x20a9980c,
-    0x18a9840f, 0x820ad8a3, 0x7c9718a9, 0x28a98509, 0x34353502, 0x32333636,
-    0xec431816, 0x1737080b, 0xf3d50233, 0xdb79d3b3, 0x6fc67c92, 0x715874e5,
-    0x98707e82, 0x6a0189fe, 0xdc230120, 0x89fc9b1c, 0x5b76bb67, 0x1ba8bd7a,
-    0x0002bba1, 0x006d0001, 0x05930400, 0x8213003e, 0x0eb02101, 0x220a5859,
-    0x82593e0f, 0x07052865, 0x13230325, 0x84053725, 0x03332103, 0x49080f82,
-    0x21015b02, 0xb5ddfe48, 0xdffee1af, 0xca250147, 0x0149defe, 0xe4acb923,
-    0xfe4c2501, 0xacc101e0, 0xc1feaa80, 0x80ab8e01, 0xab6801ab, 0x4601ab82,
-    0x7fab6bfe, 0xfc0100aa, 0xffa20466, 0x00fd0539, 0x00110007, 0xb22f00b0,
-    0x0f460603, 0x37678207, 0x21372715, 0xfd151727, 0x0201b117, 0x05b10122,
-    0xee017e20, 0x00dc016c, 0x73363782, 0x6dff1705, 0x0f001506, 0xb0002e00,
-    0x07b02f0b, 0x2f07b0d0, 0x824300b2, 0x100b2c09, 0xb0d004b0, 0x0bb02f04,
-    0x880cb210, 0x08548216, 0x15153227, 0x23343523, 0x23070422, 0x24363335,
-    0x88ee7ffe, 0xe2fe366a, 0x7927298b, 0x15061801, 0x681022dc, 0x01860177,
-    0x35658277, 0x16057bfd, 0x600672fe, 0x0c000500, 0x2f01b000, 0xb0d005b0,
-    0x43822f05, 0x07333534, 0x7bfd0717, 0x523b01bd, 0x9684dc05, 0x01004470,
-    0x2b82a5fd, 0x2b879c20, 0x452f0321, 0x2b8205b2, 0x2737273a, 0xf7fd1533,
-    0xbd013b52, 0x70441605, 0x08008496, 0xc4fe24fa, 0xaf05bf01, 0x1a385582,
-    0x35002700, 0x4f004200, 0x6a005c00, 0xb0007a00, 0x53b02f45, 0x2f60b02f,
-    0x07d4b018, 0x18070b54, 0x2a0bf557, 0x10b01045, 0x1045b0d0, 0x47094cb2,
-    0x1726083d, 0x1053b0d0, 0x05831eb0, 0x895ab221, 0xd0252616, 0xb01060b0,
-    0x2105832b, 0x168967b2, 0xb0d03226, 0x3fb21038, 0xa7821088, 0x32363422,
-    0x23083142, 0x33363401, 0x13200d89, 0x22200d88, 0x08ebb018, 0x26342323,
-    0x8c0d8523, 0x860c8c35, 0x89268242, 0x3f348341, 0xbe7311fd, 0x30337074,
-    0xde01332e, 0x755f5d74, 0x2c2e3571, 0x5d754833, 0x3570745f, 0xcbfe335c,
-    0x09821382, 0x332d2e24, 0x28874ffd, 0x744dfd22, 0xfe213286, 0x202887de,
-    0x83088235, 0x332d333b, 0x6854f304, 0x372e5468, 0xebfe3035, 0x55676854,
-    0x09823431, 0x6755092a, 0x34315468, 0xf9fd2e37, 0x09831d83, 0x85e4fe21,
-    0x2e372327, 0x31881a05, 0x5521278a, 0x083b8567, 0xfa08002d, 0x0163fe4d,
-    0x00c6058c, 0x00090004, 0x0013000e, 0x001d0018, 0x00270022, 0x21b0002f,
-    0x2f16b02f, 0xb02f12b0, 0x1bb02f0b, 0x4326b02f, 0x2e52051e, 0x0239080c,
-    0x02b11b2f, 0x30593e11, 0x03170531, 0x27031323, 0x01033313, 0x25150537,
-    0x35250705, 0x25370105, 0x07010517, 0x03252705, 0x13370327, 0x07131701,
-    0x0b50fe03, 0x3a46607a, 0x0804820c, 0x0d1d023c, 0xa6fe4d01, 0xfe0d75fb,
-    0x035a01b3, 0x4001029c, 0xfcdbfe44, 0xc0fe02f3, 0x2b260145, 0xc6419411,
-    0x94116003, 0x0e3cc442, 0x6101adfe, 0x010ea204, 0xfea0fe52, 0x627c0c11,
-    0x04833b47, 0x10ae013c, 0xfcc84499, 0x4599118e, 0x02e402c8, 0xfe454601,
-    0x02e3fcd5, 0x0147bbfe, 0x815a002b, 0x00622608, 0x001b0012, 0x12815a74,
-    0x7b0c1d47, 0x8e5a0c4b, 0x11b02107, 0x0bbb4918, 0x0d02b223, 0x082c7509,
-    0xd00bb027, 0xb0d00cb0, 0x0c124a02, 0x221d845a, 0x5a153335, 0x05232084,
-    0x5afefd05, 0x05260584, 0xb2b2ab05, 0x825a90fc, 0x02002b07, 0x00009400,
-    0xb005d904, 0xcf820e00, 0x04b24d22, 0x2005515b, 0x09d55f04, 0x670c7276,
-    0x162708a6, 0x12110103, 0x5816b039, 0x03200c6a, 0x340e2d5b, 0x21112311,
-    0x14150432, 0x27071707, 0x36132306, 0x27263435, 0x3c128221, 0x01372737,
-    0x2d02fd91, 0x751f01f4, 0x79886d7a, 0x901cf9aa, 0x01c9fe7e, 0x733a4f30,
-    0x5a9d186e, 0x77c13207, 0x37966487, 0x4a354301, 0xfe028d76, 0x64801604,
-    0x18ad8200, 0x2807798c, 0x00220013, 0x2317b26e, 0x05897b24, 0x4710b021,
-    0x546806a9, 0x0cb6470c, 0x61620a20, 0x5e07200b, 0xb22306da, 0x82071009,
-    0x0eb22141, 0xb0210684, 0x0c786010, 0x4d550720, 0x8601200d, 0x272221c7,
-    0x3322d782, 0x95183617, 0xd3820d69, 0x0436172c, 0x6f6a6e30, 0xb2705968,
-    0x8c18f36b, 0x462e0c85, 0x596e6a32, 0xf4120222, 0x78637a97, 0x8c187536,
-    0x2136108c, 0x5867647b, 0x8f000100, 0x34040000, 0x07001007, 0x01b23200,
-    0x055b0908, 0x10085a0d, 0x31142071, 0x34043311, 0x02fd58fd, 0xe404f3b2,
-    0xb0051cfb, 0x57826001, 0x00007e26, 0x73055b03, 0x2b205782, 0x7112336e,
-    0x11291d71, 0xfe5b0333, 0xeb01f316, 0x05b66bf2, 0x00390122, 0x9b2e5182,
-    0x9d04c6fe, 0x1400b005, 0x0fb25b00, 0xa9841615, 0xcb430920, 0x0c087605,
-    0x2008c853, 0x0cb27f13, 0x83130321, 0x03b027dc, 0x1009b02f, 0x8f500ab2,
-    0x10032109, 0x600a6965, 0x3a0805fa, 0x10110020, 0x32272300, 0x25023536,
-    0x11231123, 0xfd370421, 0x2201a860, 0xf6fe3c01, 0x888301f3, 0xbcabfe02,
-    0x049c03fc, 0xfe5ffee4, 0xfeecfecd, 0xbad6fef4, 0x7b01c2b3, 0x8287fd09,
-    0x0001309f, 0x03e2fe7e, 0x003a04db, 0xb24a0015, 0x8417160b, 0x850a20a9,
-    0xcb4818a9, 0x0836530c, 0xa98d1420, 0x820a1421, 0x20a98232, 0x095451b2,
-    0x152e9883, 0x15002033, 0x07060614, 0x34353627, 0x99842326, 0x46032208,
-    0x01492bfe, 0x5e200101, 0xde5573ab, 0xf34e8e9b, 0x7603c802, 0xddfafee5,
-    0x1d8dc260, 0x81d44aae, 0x05ed5b97, 0x90000126, 0x36050000, 0x14229f82,
-    0x637a6100, 0x0cb15212, 0x720cf85b, 0x0f2208bf, 0x97830c0a, 0xb22f0f26,
-    0x5d010f9f, 0x230a4676, 0x0f0801b2, 0x05311983, 0x100fb0d0, 0x30d012b0,
-    0x21020931, 0x23152301, 0x08a38335, 0x33113327, 0x33153335, 0xfe0d0501,
-    0xfead017c, 0x41d3fec1, 0xfdfd59a3, 0x0137a359, 0xfdb0051b, 0x02f5fc5b,
-    0xfde9e96d, 0x330b8293, 0x02fefe9a, 0x01000066, 0x00008e00, 0x3a04ae04,
-    0x5c001400, 0x5743ab85, 0x0c44410c, 0x0cab4e18, 0x59180320, 0xf67607cd,
-    0x18b02005, 0x220c1075, 0x510901b2, 0xd022054a, 0xa6880eb0, 0xa68e0320,
-    0x04132608, 0x01c4fe94, 0xd8cbfe56, 0xf2579b2f, 0x279b57f2, 0xfd3a04cf,
-    0x01c8fdfe, 0xfeb2b2ac, 0xfe3a0454, 0x01c7c750, 0x28a382b0, 0x06000034,
-    0x00b005a2, 0x074f410e, 0x4a0c5452, 0x4f410cc9, 0x2bca840c, 0xb2593e0f,
-    0x11020608, 0x08b03912, 0x200ba976, 0x086e18b0, 0x0cb2230c, 0x40180801,
-    0x2b0809c3, 0x11213521, 0x01210133, 0xb6032101, 0x27fefcad, 0x018bd502,
-    0xfe3601ad, 0xfe1f020c, 0xfd7002d0, 0xc4ec0490, 0x64029cfd, 0x09fd47fd,
-    0x3d269f82, 0xa8050000, 0x9f823a04, 0x43416b20, 0x0ce96e05, 0x950cbf4a,
-    0x0a09219f, 0x09299f84, 0x092fb22f, 0x8cb27101, 0x0de87309, 0x0021a98e,
-    0x08a99409, 0xf27b4020, 0x88026afe, 0x012a016c, 0x0178fe2d, 0x01c5fea8,
-    0x0354feac, 0x50fec476, 0xf9fdb001, 0xa982cdfd, 0x0000942a, 0xb0058307,
-    0x87000d00, 0x42124f5d, 0xeb5d0c99, 0x02012215, 0x06ee6406, 0x82019f21,
-    0x016f21a4, 0xdf20ae82, 0x0f240483, 0xb2720101, 0x71221382, 0x0e823fb2,
-    0x012fb428, 0x7202013f, 0x24827cb2, 0x5602b021, 0xb0210baa, 0x0ee65301,
-    0x21112124, 0x79752115, 0x33113905, 0x8b029101, 0x95fd6703, 0xfd75fdfc,
-    0x025203fd, 0x13fbc35e, 0x79fd8702, 0x26054760, 0x0500007e, 0x823a0466,
-    0x5d6620bd, 0xd6621235, 0x20bd960c, 0x25bd830c, 0x2f01b07c, 0xfb69b418,
-    0x329cac05, 0x02a50171, 0xf3a3fe50, 0xf3f35bfe, 0xc3017702, 0x718afcc4,
-    0x0027054d, 0xfe9b0001, 0x82ef07c4, 0x00162ca6, 0x1710b268, 0x39121118,
-    0x4407b000, 0x20640589, 0x6d49180c, 0x45002208, 0x8a531858, 0x01b22308,
-    0x56410715, 0x07b02405, 0x4508b210, 0x49660932, 0x5615200d, 0x30230bd5,
-    0x45330131, 0x1126103e, 0x05211123, 0x40457d14, 0xfc91280c, 0x04fc7ffd,
-    0x45410379, 0x89200e41, 0x82054346, 0xfe7e2cbb, 0x04ba06e6, 0x0018003a,
-    0x4e12b257, 0x72650623, 0x8c771806, 0xbf56180c, 0x45bb8209, 0xb2230752,
-    0x85081701, 0x0add45bb, 0x6a17b021, 0x50450e6d, 0x09514509, 0x042fac83,
-    0x07017d0a, 0xab5d2c01, 0x69755573, 0x727f9aa5, 0x02310543, 0xdefbfe94,
-    0x1d8ebf61, 0x678f28ad, 0x36fe9782, 0x05127803, 0x00020033, 0x05ebff67,
-    0x00c505d7, 0x00320025, 0x3316b285, 0x227b8334, 0x18b01016, 0x4907ad7a,
-    0x1d240ca1, 0x1db11b2f, 0x27116e5e, 0x2f00b0d0, 0x1d0402b2, 0x18069949,
-    0x200c8082, 0x0f596ab0, 0x4418b220, 0xb027091c, 0x29b01002, 0x181db0d0,
-    0x2b0dc0bb, 0x06272205, 0x02242223, 0x12343527, 0x27057353, 0x33121415,
-    0x11263732, 0x332d1082, 0x15111232, 0x33160710, 0x17161401, 0x08118236,
-    0x2223266e, 0xd7051506, 0xb794b3df, 0xa9d4febb, 0x8ce17d03, 0xb2db7e66,
-    0xede22931, 0xbbf3c2b8, 0x8efd6a5c, 0x60a26365, 0x155e5458, 0x01ae4747,
-    0xafc9bf36, 0xd4a11e01, 0xd7b8bde1, 0xcb07f9fe, 0xf0cb4401, 0xbffe3501,
-    0xfec6fafe, 0x0214cada, 0x48d58419, 0xd509018f, 0xa1afabae, 0x61000200,
-    0xc904ebff, 0x22004e04, 0x8c002e00, 0x302f04b2, 0x5d063359, 0x0b2207b9,
-    0x11751b2f, 0x821a2009, 0x501a200c, 0x002014de, 0x00271982, 0xb2593e0f,
-    0x411a0402, 0x0b200624, 0x680c6f64, 0x00240dd3, 0x0322b210, 0x29086e4d,
-    0x25b01002, 0x101ab0d0, 0x27522bb2, 0x31302108, 0x26052441, 0x34351100,
-    0x56153312, 0x3322059a, 0x88182637, 0x15280728, 0x33160714, 0x36171401,
-    0x5e081082, 0x06222326, 0xbac90415, 0xe5907a93, 0xaadbd4fe, 0x7d9a4b40,
-    0x94b68f25, 0x4d81bd96, 0x780efe58, 0x32313d63, 0x3936123b, 0x04014201,
-    0x0c01cf42, 0x7b9404ca, 0x02cca649, 0xbb7ae295, 0x77cdffea, 0x011194d3,
-    0x636caa8f, 0x876b7ba9, 0x01006a78, 0xa1fe2d00, 0xb005b706, 0x4f000f00,
-    0x430db000, 0x7c630592, 0x07254211, 0x080b7318, 0x52180220, 0x05240cd6,
-    0x100eb0d0, 0x080bca7e, 0x30d00a2b, 0x35210131, 0x11211521, 0x11331121,
-    0x11230333, 0xfe8d0121, 0xfebe03a0, 0xfc81029f, 0xfbe714b0, 0xc4ec04d1,
-    0x04defbc4, 0xff4218e6, 0xfe262609, 0x043a05bf, 0x208b823a, 0x578b884b,
-    0x0f200c2f, 0x07075f18, 0x34450320, 0xd000230c, 0x7e8c0fb0, 0xb0100328,
-    0x06b0d008, 0x8784b010, 0x87822320, 0x87887f82, 0x02f51b25, 0x7301dbc3,
-    0x032606bf, 0xfdc3c377, 0xc173034b, 0x00802c0a, 0x05e10400, 0x001800b0,
-    0x4305b24f, 0x551806ef, 0x084108ef, 0x0cd75f07, 0x29071541, 0x000e05b2,
-    0xb0391211, 0x7e832f05, 0x4b180520, 0x11290c6a, 0x013130d0, 0x16171611,
-    0x21878217, 0x04823736, 0x06112323, 0x05845e07, 0x01113e08, 0x354f027d,
-    0x646ca36e, 0x7060fdfd, 0x01faf6a3, 0x2cfeb005, 0x05273998, 0xdcfe2b01,
-    0xa702190a, 0x3c0250fa, 0xe5eb0a18, 0x01dfea06, 0x000100cd, 0x03000074,
-    0x003b04f5, 0xb2510016, 0x064f4506, 0xa053a383, 0x0cf2450c, 0x2108be4c,
-    0xee5b010f, 0x2f0f2205, 0xf9551818, 0x04b0210a, 0x20083349, 0x20988a21,
-    0x86b18233, 0x032708af, 0x3145f3f5, 0x01beb6a3, 0xa38201f2, 0x01f33b3b,
-    0x8a050e69, 0xb1d0138b, 0xb0fe5001, 0x0b011fac, 0x0e06effe, 0x82000c02,
-    0x00852c9d, 0x05e50400, 0x001100b0, 0x5a05b246, 0x83840a65, 0x5f074141,
-    0x1f4e0cfa, 0x05b22207, 0x06414101, 0x220a9c63, 0x83333130, 0x20332283,
-    0x06b66204, 0x1107222a, 0xb2a0fc85, 0x0c010501, 0x08cd4418, 0xc3fd2208,
-    0xfee9e629, 0x8bd00133, 0x59fd2a76, 0x00020000, 0x05e9ff16, 0x00c405bc,
-    0x0024001c, 0x2516b264, 0x060b4526, 0x2307ed43, 0xb11b2f0e, 0x08927418,
-    0x2208d343, 0x830e001e, 0x2f1e2227, 0x0a2d53b2, 0xb0d00428, 0x0ab0101e,
-    0x5718b0d0, 0xb0210cbe, 0x0d74610e, 0x0020052e, 0x26263511, 0x17143335,
-    0x17241234, 0x6b080d82, 0x14152115, 0x37323316, 0x01060617, 0x26343521,
-    0x03062223, 0xfed2fedc, 0xb5a79baa, 0x0801948d, 0x0108019e, 0xcb98fc22,
-    0x31acb1bd, 0x05fed843, 0x949a6c02, 0x0117b08e, 0x3c2b0154, 0xb6aad418,
-    0x1c01ae2a, 0x9cfe01a0, 0x3584b9fe, 0xc546d7ca, 0x6c032e28, 0xddc0b81f,
-    0xcbff0200, 0x8b04ecff, 0x1a004e04, 0x8c002100, 0x232220b2, 0x2020b583,
-    0x4a09675a, 0xdd880ca8, 0x0d001c22, 0x1c332783, 0x1cbfb42f, 0x5d021ccf,
-    0x6f1c5fb4, 0xb471021c, 0x822f1c1f, 0x8fb22806, 0xb45d011c, 0x83ff1cef,
-    0x4711200b, 0xfe820967, 0xfe871c20, 0xb6441520, 0x17b22108, 0x0d214c85,
-    0xb9ab1810, 0x2205240c, 0x41272724, 0x36280505, 0x12323324, 0x16211511,
-    0x08090341, 0x22262631, 0xd4d80206, 0x0314e6fe, 0x68a98682, 0xbb07011f,
-    0x3dfdf1dd, 0xa8779d0b, 0xda418467, 0xcf016dfe, 0x7aca7208, 0x32d1fb14,
-    0x9593c11d, 0x18f3c530, 0x360a5ea1, 0x7a129602, 0x00008c7d, 0xfe900001,
-    0x05ed04bf, 0x001600b0, 0x4215b266, 0x102006ff, 0x1805bc44, 0x440c5453,
-    0x0f3a11c9, 0x07b2593e, 0x12110204, 0x07b07c39, 0x00b4182f, 0x02071007,
-    0xd00ab05d, 0x3f4810b0, 0x07b0240b, 0x8816b210, 0x313022ea, 0x8a791801,
-    0x16400809, 0x00101500, 0x11202723, 0x01212502, 0xfdfd0895, 0x01b20171,
-    0xe922fe32, 0xf0fe0001, 0x090101f4, 0xfeaefe02, 0xfd7102f8, 0xfdb0058f,
-    0xfd5c02a4, 0xd7fe1f8a, 0xfef3fef9, 0x6f01c2d3, 0x00067a01, 0x8e26bf82,
-    0x4304eafe, 0xbf823a04, 0x0db25922, 0x0f49bf86, 0x0c7d5d06, 0x6e0ccf43,
-    0x14220887, 0xbf840f15, 0xbf821420, 0x50144025, 0x435d0214, 0xb2230a2d,
-    0x4b0e1400, 0x16210501, 0x06a54d16, 0x26342723, 0x08bf8827, 0xafcd0222,
-    0x73aa5ebc, 0x8d02e055, 0xf2f2ae8b, 0x01410155, 0x2961022d, 0xba60ade3,
-    0x47ad1c88, 0x098576ca, 0x21055e4c, 0xa983b001, 0x4bfe9b2c, 0xb0051305,
-    0x74001400, 0x5b180ab2, 0xf15b0aa7, 0x0c28510c, 0x18084d4e, 0x260856b0,
-    0xb2593e11, 0x84120002, 0xe96818b3, 0xdaa21810, 0x02b0210d, 0x6e0b5057,
-    0x14200798, 0x09fe7018, 0x11212508, 0x97011123, 0xbefd7f02, 0x0e3c45a9,
-    0xfd7b3e24, 0xb005fc81, 0x7d0283fd, 0xc6b718fa, 0xba0cc711, 0x97fd9802,
-    0x2506114b, 0x09044bfe, 0xbb823a04, 0x0bb26d22, 0x0e79bb8f, 0x20bb9614,
-    0x25bb8903, 0x02500240, 0xb4a35d02, 0xb48e0620, 0xa501713f, 0xa6ba01f3,
-    0x270f3a45, 0x5bfe7c3b, 0xfe3a04f3, 0xfbc3013d, 0x11c1b385, 0x01c00dbf,
-    0x2cac82e7, 0x0200003a, 0xebff5100, 0xc4051e05, 0xc5711800, 0x0745451c,
-    0x1b2f0829, 0x3e0f08b1, 0x720db259, 0x0d23055e, 0x5800b02f, 0x71180c92,
-    0x0d220dc5, 0x625db210, 0x31302a09, 0x11002001, 0x04021415, 0x18078227,
-    0x350ac276, 0x37363201, 0x16141521, 0x40017102, 0xfea06d01, 0xdcfea9e3,
-    0x7618bdfe, 0x3e0808c2, 0x2901a61b, 0xfd12be96, 0xc405ba2f, 0xb6fe8cfe,
-    0xc2fec16b, 0x600101b1, 0xe0894901, 0xc61334f0, 0xfcfa4a0d, 0xb91fbdda,
-    0x010000bf, 0xebff5b00, 0xb0054b04, 0x6b001b00, 0x1d1c0bb2, 0x4d391211,
-    0xb15c125a, 0x0c564808, 0x0204b223, 0x232f8200, 0x020b1bb2, 0x7c290682,
-    0x182f1bb0, 0xb2d005b0, 0x210e8410, 0x434b0bb0, 0x1bb0240b, 0x4419b210,
-    0x7b4808b0, 0x01172705, 0x14151616, 0x72772304, 0x35330809, 0x23232634,
-    0xfdff0235, 0x01910392, 0xdac886fe, 0x8beae5fe, 0x87fc7ee2, 0x99907968,
-    0xe4048c91, 0x4ffea3cc, 0xc5c2ea18, 0x83bf67e8, 0x647f805f, 0x83ac8594,
-    0xfe5d26c3, 0x04460475, 0x20c3823a, 0x20c3885c, 0x056d440b, 0x1b2f0227,
-    0x3e1b02b1, 0x79421859, 0x04b2220a, 0x86af8300, 0xc4b582b6, 0xf45208b4,
-    0x8c039bfd, 0xcb88fe01, 0xebeafed7, 0xf37be489, 0x947a6c89, 0x038f939a,
-    0xfe9bc476, 0xbfe91943, 0xbf68eac2, 0x80856081, 0xab839669, 0x3400ffff,
-    0x89044bfe, 0x2600b005, 0x0052b000, 0xde012600, 0x070029a4, 0x3501af01,
-    0xffff0000, 0x49fe2d00, 0xd182a203, 0xeb00262c, 0x27000055, 0x9dffde01,
-    0x1f847aff, 0xfeff0b25, 0x82000200, 0x83042132, 0x0b283d82, 0x50001400,
-    0x161504b2, 0x7b06294b, 0xc9470742, 0x08ec500c, 0x03010022, 0x20058b6f,
-    0xf06218b0, 0x00b0210c, 0x2b0ed679, 0x21113311, 0x35262622, 0x01372434,
-    0x2d080982, 0x16141506, 0xfd860317, 0xee9ddafd, 0xeb150180, 0xd7fe3401,
-    0x798b927c, 0x15029b03, 0xd47450fa, 0x03fccc88, 0x06022ffd, 0x91747589,
-    0x9d820003, 0x00006824, 0x9d82b006, 0x21001826, 0x07b26000, 0x2405fb46,
-    0x19b01007, 0x586b18d0, 0x08fb4612, 0x00080727, 0xb0391211, 0x0e807507,
-    0x8511b221, 0xd0192317, 0x1d4307b0, 0x19b02a0b, 0xd021b010, 0x22213130,
-    0x20a88324, 0x2eb48221, 0x37363633, 0x33272636, 0x06071616, 0x87250706,
-    0x720224ba, 0x84e2feec, 0xfc3308b7, 0x056c5e4b, 0xf51d2102, 0x0402261f,
-    0xb1feccf3, 0x907dd6fe, 0xd3fd7a8e, 0x0203face, 0x021afb15, 0xd94a7d8a,
-    0x45cc5e4c, 0xca03fcd4, 0x748a0602, 0x82019275, 0xff5e31cf, 0x067f06e7,
-    0x001f0018, 0xb283002b, 0x112d2c19, 0x7e82a782, 0xcf862a20, 0x1b2f0624,
-    0xd97106b1, 0x0c104b07, 0x5b181820, 0x032115e4, 0x20418318, 0x0cfa6f18,
-    0x14841020, 0x841ab221, 0x03b02106, 0x220bba48, 0x18101cb0, 0x200c9d84,
-    0x07b57f13, 0x84160621, 0x332733f2, 0x0e071617, 0x27042302, 0x02222306,
-    0x23260127, 0xd8480622, 0x27610805, 0xa3c3e45e, 0x4e02f365, 0x04827443,
-    0x17ec4004, 0x7d02032f, 0xfffe8ce2, 0xb9cb6b55, 0xae020be0, 0x7f738347,
-    0x458d767a, 0x010e0206, 0x7836010a, 0x4ffb4202, 0xb702694f, 0x59d5bea9,
-    0xf9a883b7, 0xb3b70485, 0x01de0501, 0xcdc16851, 0x4472aa9e, 0x3c000100,
-    0xe305e7ff, 0x2900b005, 0x23b26300, 0xd752182a, 0xff4e1809, 0x08ff710c,
-    0x092a0122, 0x20065f4f, 0x08ae4700, 0x1809b021, 0x200ebb63, 0x22228301,
-    0x48b21022, 0x1a210abc, 0x23378322, 0x35133130, 0x2a05db68, 0x16213521,
-    0x07141504, 0x88151316, 0x841620f5, 0x26063bf5, 0x26343527, 0x93a7e623,
-    0xfef3fe84, 0xfa6401a5, 0xf6ff0601, 0x333c0105, 0xf3827265, 0x1af53108,
-    0x7a02022b, 0xb2a78ada, 0x02677c08, 0x6d01cd62, 0x01cdd175, 0x64e6ccd3,
-    0x4dfefe3f, 0xb6024939, 0x62d5bea3, 0xf8a967ca, 0xaaa70485, 0x007e6e3e,
-    0x2f2de382, 0xfe04e2ff, 0x24003a04, 0x0fb26000, 0xdf901825, 0x2f1d2409,
-    0x461db11b, 0x564c0799, 0xb6421808, 0x07b22309, 0xcb821d0e, 0x2516b222,
-    0xb0240683, 0x14b22f16, 0x2108f544, 0x5b181db0, 0x22220c62, 0x29821614,
-    0x25313023, 0x06c34106, 0x0622cd82, 0xcd842306, 0x27232326, 0x34353633,
-    0x45080682, 0x10161621, 0x03171607, 0x5a4e0201, 0x41040360, 0x01182dec,
-    0x9ebce904, 0xe6a208a0, 0xcbb9c202, 0x140106ff, 0xb9b0e4cb, 0x0258eb06,
-    0xa9967f8f, 0xcc398086, 0x837103f2, 0x04bd7f48, 0x02c39683, 0x4acafea6,
-    0xd182ac30, 0xbafe482e, 0xb0053704, 0x5f002200, 0x24230bb2, 0x00227a82,
-    0x234517b0, 0x0cb84105, 0xe1821b20, 0x3e0f1b27, 0x0901b259, 0x26b8411b,
-    0x4b101b21, 0x30220a8b, 0xbb821331, 0x2122bc82, 0xb1412721, 0x15332908,
-    0x27070614, 0x23373636, 0x0805ab41, 0xce01973b, 0xebfe8191, 0x0103eafe,
-    0x0301ef2e, 0xcd03e3e4, 0x24835a64, 0x3ca30838, 0x02747e03, 0x7301c35c,
-    0x03c3eb6f, 0x66dfc9dc, 0x86f6fe47, 0x4bd863ac, 0x4977394d, 0x7184b131,
-    0x26cb8285, 0x04a9fe74, 0x843a041a, 0x860620cb, 0x8a1820cb, 0x07a041cb,
-    0x08ea4d18, 0x1c090122, 0x8e41cb87, 0x0d844209, 0x01001022, 0x1c202283,
-    0x840bb546, 0x353224cb, 0x82232634, 0x173228cb, 0x07141516, 0x8d151716,
-    0x233808cc, 0xd2e101b3, 0xe1fe636b, 0xe3200104, 0xb1ad6a78, 0x5568bb02,
-    0x06382683, 0xc3012ba6, 0x8eb39b01, 0x64c1534a, 0x4f9e9259, 0xac24c33c,
-    0x4d47da65, 0x1e4f7e3d, 0x00a65483, 0x4226c782, 0x7f07ebff, 0xc782b005,
-    0x00b26222, 0x5a18c786, 0x41480834, 0x2f1f2807, 0x0f1fb11b, 0x18b0593e,
-    0x200cf945, 0x0cdf4f0d, 0x210c7c68, 0x8f411fb0, 0x17b2230b, 0xd8820d1f,
-    0x01313030, 0x02020321, 0x35230706, 0x13363637, 0x59652113, 0x36372305,
-    0x45433327, 0x22460805, 0x07043526, 0x0e1861fe, 0x4a9cb961, 0x0f687a28,
-    0x4c8e031c, 0x047f6e3f, 0x1cf64104, 0x7f020229, 0xc6c38ce0, 0xe0fde304,
-    0xd3fef6fe, 0x03ca028a, 0x1c01df09, 0xbcfbdf02, 0xa7b46452, 0xc766d8bb,
-    0x84fba766, 0xd582bdc1, 0xebff402a, 0x3a045a06, 0x62002100, 0x4506f74c,
-    0xee4e05f5, 0x821e200c, 0x871e20d5, 0x7e0520d5, 0xb0210601, 0x20d58c0c,
-    0x2b6f1805, 0x4b1e200c, 0xb2230bfe, 0x880c1e16, 0x20d482d5, 0x20d48227,
-    0x24d48237, 0x32331616, 0x45d48336, 0x45080510, 0x03272622, 0x13f7fe17,
-    0x53ada811, 0x49503202, 0xe102140a, 0x58455101, 0x40040467, 0x033016ec,
-    0x7dc77002, 0x0301c7c2, 0xfe9afe74, 0xca03f4e9, 0xe5ad0b05, 0x2bfdce01,
-    0x99a06452, 0xb150c8b5, 0x7ce69b7c, 0xd382b9be, 0xe7ff942d, 0xb0058607,
-    0x65001d00, 0x7d1e14b2, 0x654b093b, 0x8219200c, 0x6e1920c6, 0xe0870c33,
-    0x19821120, 0x0c821120, 0x4504b221, 0xb2230803, 0x82170009, 0x1cb221c1,
-    0xb0210684, 0x4783181c, 0x3130240b, 0x45141101, 0x06240dda, 0x21352726,
-    0x08053070, 0x0a051131, 0x7e703e4d, 0xf6410404, 0x02032f17, 0xbb8ee27c,
-    0x82fd09c3, 0x7e02fcfc, 0xbcfbb005, 0xb3026056, 0x59d8bba6, 0xf7a883b7,
-    0xc3c00487, 0x4b97fdff, 0x0020057f, 0x772ec782, 0x5c06e3ff, 0x1c003a04,
-    0x1bb27800, 0xc55b1e1d, 0x0f4b180d, 0x200c870c, 0x20ba8202, 0x20c78702,
-    0x200c821a, 0x220c821a, 0x4d0807b2, 0xd02909a1, 0x0207e007, 0x0740b45d,
-    0x49068250, 0xb0210a67, 0x0b56481a, 0x8412b221, 0x87da8232, 0x113321c6,
-    0x080ec845, 0x03030439, 0xf350fe1a, 0xf3b001f3, 0x5e465202, 0x40040364,
-    0x022b1aeb, 0x7ec77002, 0x01138afe, 0x0446feba, 0x0143fe3a, 0x522dfdbd,
-    0x91a60266, 0xbf5dceaf, 0x7ce69b61, 0x82840108, 0xff5d2ed9, 0x05bb04eb,
-    0x002100c5, 0x2200b247, 0xf5a71823, 0x10d3500d, 0x4d100921, 0x6a180a91,
-    0xb2210d2f, 0x06a1581a, 0x24220528, 0x34112702, 0x3e6b2412, 0x41152007,
-    0x3f080e94, 0xfeacbb02, 0x9a029beb, 0xdfad1701, 0xa2863f88, 0x9ec4c59d,
-    0x0303837d, 0x1327f535, 0xea810201, 0x18019c15, 0xaf0f01ad, 0x599e1d01,
-    0xbce744b8, 0xe9b600ff, 0x95748502, 0x5858b1cc, 0x006ecd8b, 0x552eb582,
-    0xe703ebff, 0x1e004e04, 0x13b24400, 0xb588201f, 0x0c104218, 0x47089569,
-    0xb2230941, 0x82130b05, 0x13b0212c, 0x2d0d807e, 0x37363625, 0x16332734,
-    0x23060607, 0x2f640022, 0x05fb6b06, 0x15153608, 0x5a021614, 0x13024551,
-    0x04021deb, 0xfee7b5d2, 0x92e27ce2, 0x632e60bb, 0x948b728a, 0x474302af,
-    0x528c6777, 0x3101b0a0, 0xfa971ef8, 0x3abd428b, 0x9a20a4bd, 0x2ca382bf,
-    0x05e7ff21, 0x00b0055a, 0xb24d0019, 0x996b1805, 0x58452207, 0x0ccc76b0,
-    0x08fb6f18, 0x270c214c, 0xb0d004b0, 0x16b0d005, 0x0c988718, 0x02160e22,
-    0x2306ba43, 0x21152135, 0x44095341, 0x062a0587, 0xe3012726, 0x80043efe,
-    0xe5423efe, 0xf5200806, 0x02032b1b, 0xbb8ce27d, 0xe30409c3, 0x87fccdcd,
-    0xb6026054, 0x62d8bba3, 0xf9a867ca, 0xc3c00485, 0x4428a382, 0xcb04e3ff,
-    0x17003a04, 0x1821a383, 0x0dc54c19, 0x230c1d67, 0xb0593e0f, 0x1520a393,
-    0x1520a38d, 0x3308a398, 0x04230606, 0xfe890103, 0xfe8b03bb, 0x5e4552ad,
-    0x40040363, 0x01192ceb, 0xfec2f104, 0x77031389, 0xf0fdc3c3, 0x84026454,
-    0x7c9e9374, 0xf2cc377e, 0x00840108, 0x812ea182, 0xff04ebff, 0x2800c505,
-    0x26b27300, 0xa1882a29, 0x1b2f1622, 0x099aa118, 0x2008e941, 0x09274403,
-    0x0b162422, 0x7c2b2c82, 0x182f24b0, 0x012473b2, 0x8360b25d, 0x09d65704,
-    0x0306b223, 0x23208225, 0x242510b2, 0x18054053, 0x230af749, 0x1e241bb2,
-    0x35056b41, 0x32331614, 0x14333536, 0x20230406, 0x25343524, 0x34352626,
-    0x4b662124, 0x1458080a, 0x23153321, 0x7f010622, 0xae8699b7, 0xfdfe8dfc,
-    0xfef3fea0, 0x760e01bf, 0x012f0182, 0x8bfa9709, 0x907ca3fd, 0xb63301aa,
-    0x01a39dbf, 0x817e6598, 0x69be825e, 0x57fdc4e9, 0xc562a631, 0x77ba69db,
-    0x63737559, 0x0070c8d9, 0x67000200, 0xd6026f04, 0x0500d705, 0x1b000d00,
-    0x2709c565, 0xb0d001b0, 0x0bb02f01, 0x0806c065, 0x0131303b, 0x03153313,
-    0x15330123, 0x26071716, 0x70930135, 0xfe5de6d3, 0x4c03b1d4, 0x9804b050,
-    0xfe153f01, 0x5f5401c1, 0x5a48467b, 0xffff00be, 0x09024700, 0xcd025402,
-    0x11000600, 0x2f0f9300, 0x046d029d, 0x00310399, 0xe0970146, 0x40cd4c00,
-    0x81242383, 0xd1056d02, 0x85231385, 0x84666600, 0x04210813, 0x99033ffe,
-    0x27000000, 0x01004300, 0x0601fefe, 0x00014300, 0xb6001c00, 0x02100200,
-    0x5d030220, 0x270683b4, 0x80b67102, 0xa0029002, 0x30330f82, 0x00010031,
-    0x01200463, 0x001a0696, 0xb21d0008, 0x410a0908, 0x002708bf, 0x00b11b2f,
-    0x66593e21, 0xd3820594, 0x07061739, 0x36352315, 0x7c1a0136, 0x01d5035b,
-    0x4d1a0667, 0x8a989085, 0x8200d160, 0x04332645, 0x06650100, 0x20459000,
-    0x20458204, 0x3d458304, 0x00b0d000, 0x1331302f, 0x35373627, 0x06141533,
-    0x035a7caf, 0x000469d5, 0x9e92834d, 0x4384678a, 0xd6fe3226, 0xca006401,
-    0x18204382, 0x09248988, 0x0d04b22f, 0x86096067, 0x0606323e, 0x03557bad,
-    0xfe6601da, 0x947f4ed6, 0xd05d8593, 0x20838200, 0x2083824a, 0x2083847c,
-    0x0a8e4d16, 0x3808c28b, 0x07171615, 0x35352626, 0x5a031f01, 0x06694d7c,
-    0x868f9e00, 0x67d13e4d, 0x00ffff8a, 0x0220046c, 0x001a06ef, 0x096c0126,
-    0x01070000, 0x0059016c, 0x00ffff00, 0x02000440, 0x235582c0, 0x0d6d0126,
-    0x24081783, 0x005b016d, 0x00020000, 0x02c2fe32, 0x00ff00aa, 0x00120009,
-    0x130bb221, 0x39121114, 0xb0100bb0, 0xb000d005, 0x22b58b13, 0x88d00eb0,
-    0x070623f7, 0x01411706, 0x7fb12107, 0x3739c283, 0x587ff831, 0xfe66da04,
-    0x9d894ec2, 0x726cbac9, 0x8e4e4164, 0x63b6cb96, 0x27d182dd, 0x04000040,
-    0x00b0051e, 0x15917a18, 0x2022ce5e, 0x0c77480a, 0x82d00421, 0xaebe189d,
-    0x33113a09, 0x1e042111, 0xfef388fe, 0xf373018d, 0x72037801, 0x72038efc,
-    0xfe7601c8, 0x247b828a, 0x0460fe5c, 0x207b8239, 0x07e37b13, 0x5f0c865e,
-    0x4a180c3d, 0x02250c17, 0x02b11b2f, 0x06d64911, 0x180c6b57, 0x2008494f,
-    0x08044406, 0x100eb022, 0x2a0a4661, 0xb0d009b0, 0x11b0d010, 0x1806b0d0,
-    0x27086563, 0x23112121, 0x21352111, 0xb0820384, 0x09821520, 0x83390421,
-    0x018e23b4, 0x0382fe72, 0xfe2bb882, 0xfe780188, 0xc2a00160, 0x83c4b402,
-    0xfdc423bd, 0xc182004c, 0x06028839, 0xdb034402, 0x16000d00, 0x0f0e03b2,
-    0x00391211, 0xb12f03b0, 0x182b0a0a, 0x2109ad9b, 0x9a183233, 0x2d08077c,
-    0x64798827, 0x67777867, 0x03027963, 0x79795f03, 0x775e2562, 0xff005d73,
-    0xff8a00ff, 0x016f03f5, 0x00260000, 0x00000312, 0x01120007, 0x178600cd,
-    0x88280521, 0x85272017, 0x221f8317, 0x83008603, 0x02472e7f, 0x02210109,
-    0x000300cd, 0x0400b218, 0x487f8605, 0x29080a48, 0x23013130, 0x21013335,
-    0x0902dada, 0x060000c4, 0xecff4a00, 0xc4055f07, 0x23001500, 0x34002700,
-    0x4e004100, 0x28b2b800, 0x3b82504f, 0x1028b025, 0x83d002b0, 0x841b2005,
-    0x84262005, 0x84352005, 0xd0472505, 0x2f24b000, 0x4907d867, 0x58540cae,
-    0xd0032108, 0xb223fc82, 0x83120305, 0xd007314b, 0xb02f07b0, 0x0eb01012,
-    0x2f0eb0d0, 0x031210b2, 0x2306f94f, 0x20b0d020, 0xb2221883, 0x7543022b,
-    0x03b02407, 0x8932b210, 0x102b290d, 0xb0d038b0, 0x3fb01032, 0x10222a82,
-    0x198945b2, 0xb2101923, 0x820d884c, 0x183420db, 0x200732b4, 0x098b6f15,
-    0x69013521, 0x1184059a, 0x01352626, 0x03170127, 0x2605c245, 0x22263435,
-    0x8b051506, 0x8b01200c, 0x032b080c, 0x9688ac2f, 0x86954e4e, 0x978aa9af,
-    0x8a944e4e, 0xa81bfdac, 0xabab8a85, 0x01aa8588, 0xc7027d77, 0x3e4fb07d,
-    0x7c4e4a40, 0x86c7014d, 0xfb340808, 0x3e3f4d4e, 0x4b7e4d4c, 0xaa826501,
-    0x8ca76f6f, 0x6eaa8147, 0x0386aa6e, 0xaaaa837b, 0xa9824689, 0x1bfc89a9,
-    0x48720448, 0x574438fc, 0x464b4c52, 0x4a4a5454, 0x21080988, 0x5545ea02,
-    0x46484955, 0x00495756, 0x6c000100, 0x33028a00, 0x0600a903, 0xb0001000,
-    0x02b22f05, 0x835d0507, 0x37e98205, 0x35012313, 0x3c013301, 0xe0fea7f7,
-    0x02a72001, 0x0171fe19, 0x86011386, 0x54203783, 0x1b203782, 0x00233787,
-    0x7b03b22f, 0x033d0537, 0x1331302f, 0x23011501, 0x01fb0313, 0xa7e0fe20,
-    0xa903f7f7, 0xfe137afe, 0x018f017a, 0x306f8290, 0x036d002d, 0x00270571,
-    0x00090003, 0xb02f00b0, 0x24308202, 0x17012737, 0x20ea83aa, 0x34b5836d,
-    0x00ffff00, 0x02930235, 0x03a805be, 0x00d80107, 0x00930200, 0x05f94413,
-    0x2308f94e, 0x3130d00d, 0x692c8583, 0xff028c02, 0x0f00ba05, 0x0ab25300,
-    0x4b0a0776, 0x4d570ce7, 0x2f0d250c, 0x130db11b, 0x2006c743, 0x200c8207,
-    0x230c8207, 0x0d0301b2, 0x0323f583, 0x5e0ab210, 0x302e085a, 0x36170131,
-    0x11112033, 0x23261123, 0x06820722, 0x2001013c, 0x0301904b, 0x637d05c5,
-    0xac05c527, 0xc9fe8779, 0xda0109fe, 0xd2fd59ad, 0xdb822003, 0x00005f2e,
-    0xc3057c04, 0x8e002700, 0x29281fb2, 0x20087346, 0x20668217, 0x07d34a17,
-    0x0c820620, 0x3e0f0627, 0x0627b259, 0x24218217, 0xb22f27b0, 0x085e420d,
-    0xd001b025, 0x181006b0, 0x270a7a60, 0xb0d009b0, 0x10b01027, 0x232f0584,
-    0x2f23b0d0, 0x1f230fb6, 0x03232f23, 0x8925b25d, 0x82112036, 0xb0102619,
-    0x17b0d014, 0x0c4e4810, 0x481e2321, 0x2127054e, 0x21071417, 0x18352107,
-    0x220879ab, 0x18333523, 0x080f7dab, 0x21172137, 0xd0fe3203, 0xb8024002,
-    0x52e7fb01, 0xa5022b27, 0x979c04a0, 0x9601fa05, 0x5f69f5e8, 0x01066758,
-    0x05c6fe3f, 0xd4013501, 0xca55872e, 0x5b6f09ca, 0x90799137, 0x8cab18a1,
-    0x90a13c07, 0x00050079, 0x06000021, 0x00b0054f, 0x001f001b, 0x00260023,
-    0xb2bd0029, 0x822b2a0a, 0x0ab02586, 0xd01fb010, 0x21200583, 0x26200584,
-    0x28210584, 0x9f7d18d0, 0x0c304112, 0x1b2f0c24, 0xd14c0cb1, 0x82092007,
-    0x8209200c, 0x05b2230c, 0x1a5e1a09, 0xd0012b06, 0xb22f01b0, 0x5d01010f,
-    0xbc4103b2, 0x05b02408, 0x8907b210, 0x8225200d, 0xb0d0236b, 0x1682d00e,
-    0xd01db023, 0x2c8082b0, 0x03b0d011, 0xd01eb010, 0xb0d022b0, 0x3c418212,
-    0xd019b010, 0xb0d027b0, 0x09b0d015, 0xd024b010, 0xb01017b0, 0x3130d029,
-    0x23153301, 0x2a038215, 0x21012311, 0x23112311, 0x82353335, 0x33112103,
-    0x33210d82, 0x2c0b8201, 0x23273305, 0x01233501, 0x77052733, 0x260082d8,
-    0xfec9fefd, 0x82d3fcad, 0x01fc3e00, 0xfb570135, 0xf39471fe, 0x5fee67fe,
-    0x2f8c028f, 0x2b2ba3fd, 0x97a0c503, 0x0112fea0, 0x820383ee, 0x0122080a,
-    0x0115feeb, 0x97defceb, 0x7efe9797, 0x44d7014b, 0x98000200, 0x3a06ecff,
-    0x1e00b005, 0xa2002500, 0xf37621b2, 0x10212105, 0x2408996a, 0xb11b2f15,
-    0x074f4215, 0x0c821920, 0x8e181920, 0x416714ab, 0x8213200c, 0x0f132426,
-    0x18b0593e, 0x180db88e, 0x2a154073, 0x151320b2, 0xb0391211, 0x73b22f20,
-    0x1d290a7e, 0xd01cb010, 0xb02f1cb0, 0x0b197815, 0x01313022, 0x0c137618,
-    0x0606232d, 0x23112307, 0x16322111, 0x82113317, 0x015c0801, 0x34113233,
-    0x33062327, 0x263f32bf, 0xfe4d532f, 0xf41c78e8, 0x01fa9eca, 0x18fdd48c,
-    0xfbbff275, 0xe6f4925f, 0xfd8603a0, 0x0a383da4, 0x350117bc, 0xbbad6502,
-    0x05e5fd03, 0x01b3c3b0, 0xfef9fe07, 0xf70001ad, 0xffff0006, 0xecff9400,
-    0xb0053c08, 0x36002600, 0x07000000, 0x72045700, 0x35200784, 0x53200c82,
-    0x1f321782, 0x27002300, 0x2e002b00, 0x34003100, 0x32b2eb00, 0xc5833635,
-    0xb0103225, 0x82b0d01e, 0x84222005, 0x84272005, 0x842a2005, 0x842e2005,
-    0x18302005, 0x2413236c, 0xb11b2f1f, 0x0764411f, 0x0c821b20, 0x0c871b20,
-    0x51086578, 0x0f2608fb, 0x09b2593e, 0x6c830210, 0x9c700920, 0x0fb22706,
-    0xb05d0105, 0x8842d001, 0x4409200e, 0x21080b61, 0xb0d02db0, 0x30b0d00e,
-    0xd012b0d0, 0xb01009b0, 0x29b0d025, 0xd021b0d0, 0xb0d015b0, 0x26b01007,
-    0xa582b0d0, 0x1638b482, 0x1001b0d0, 0xb0d01db0, 0x10b0d019, 0xd02fb010,
-    0xb0d02cb0, 0x32b0101f, 0x34321784, 0x013130d0, 0x03331321, 0x07231533,
-    0x03211533, 0x03840323, 0x27333524, 0x15823523, 0x1b821320, 0x37330124,
-    0x03840523, 0x01232722, 0x4e080a82, 0x07012337, 0x01980433, 0x62fb5731,
-    0xe425bf9a, 0xf37ef7fe, 0x92f2fe90, 0xfdfe7ff2, 0x94b925de, 0x0158fb62,
-    0xfdd46c34, 0xea2a9fce, 0x219f0e03, 0xbaa6fee9, 0xb001652a, 0x32fd5626,
-    0xa701552f, 0x07041008, 0x57fea901, 0xfda0a2a0, 0x832502db, 0x830a8203,
-    0xa9012411, 0x83a215fd, 0xfe200800, 0xb9b9be00, 0x001f0102, 0x007c0002,
-    0x04100600, 0x000d003a, 0xb26b001b, 0x111d1c08, 0x08b03912, 0x1809cf42,
-    0x240ced4d, 0xb11b2f16, 0x07cf4216, 0x2308c85a, 0xb0584500, 0x4208bf55,
-    0x00200a93, 0x220c064e, 0x82091105, 0x10b2235a, 0xf6441109, 0x16322905,
-    0x11231117, 0x21232634, 0x01270682, 0x21113311, 0x82373632, 0x06450806,
-    0x0c032306, 0xf302aebb, 0xaefe695a, 0xf39901f3, 0x596a5001, 0xef01f401,
-    0xc03a04dc, 0x01b5fecb, 0xfc636d42, 0xfb3a048a, 0xfdd602c6, 0x026861ed,
-    0xbc57fdae, 0x000100d5, 0x04edff5e, 0x00c30530, 0xb28a0023, 0x5b481815,
-    0x0c154e0a, 0x2108a344, 0x8e831623, 0x2f23b024, 0xaa4500b2, 0x63092009,
-    0x10280d6a, 0xb0d00cb0, 0x0eb01023, 0x132e0584, 0x2f13b0d0, 0x1f130fb6,
-    0x03132f13, 0xad18b25d, 0x16200a1c, 0x2e0b8c56, 0xb01013b0, 0x10b0d01e,
-    0xd020b010, 0x60013130, 0x23230710, 0x44030020, 0x362106a0, 0x08447c00,
-    0x82152121, 0x03550801, 0x069cfe6a, 0x5f6e98a3, 0xff80781c, 0x08dafe00,
-    0xadacacac, 0xfd2c010d, 0x661c856a, 0x09a29765, 0x9cfe6301, 0x0f026401,
-    0xcc21acae, 0x0120011d, 0x8d808d02, 0x1f1b01ff, 0xa4ac22cd, 0x0000808d,
-    0x00210004, 0x05d40500, 0x001a00b0, 0x0024001f, 0xb2e30029, 0x05d7450c,
-    0xb0100c25, 0x82b0d01c, 0x84232005, 0x07d14505, 0x290cd263, 0xb11b2f01,
-    0x593e0f01, 0x3b440bb0, 0x38be820b, 0x402f20b0, 0x10200013, 0x30202020,
-    0x50204020, 0x70206020, 0x09208020, 0x3ae0835d, 0xb0b62f1e, 0xd01ec01e,
-    0x405d031e, 0x101e000b, 0x301e201e, 0x051e401e, 0x4526b25d, 0x273509db,
-    0x2f27b0d0, 0x27300f40, 0x27502740, 0x27702760, 0x27902780, 0xbb5e1807,
-    0x1026320c, 0xb0d003b0, 0x06b0101e, 0x1020b0d0, 0xb2d00fb0, 0x823f8912,
-    0xd01d23bb, 0x198407b0, 0x25840a20, 0xb0d01422, 0x17243182, 0x013130d0,
-    0x280af245, 0x17043221, 0x17231533, 0x2d048207, 0x01230606, 0x21152127,
-    0x27262125, 0x08820121, 0xd6013224, 0x0082b8fd, 0x2d025308, 0x3c0101ad,
-    0x0102bde4, 0xfa36e1bc, 0x031501bd, 0x4302befd, 0xf001bdfd, 0xc8fe7246,
-    0x0cfef401, 0x027b3101, 0x03e3fd1d, 0xa048a01f, 0x81880901, 0xa02226a0,
-    0xc201857d, 0x3be84828, 0x373bfe02, 0x28000100, 0x0c040000, 0x1a00b005,
-    0x16b26d00, 0x47481c1b, 0x0c014b08, 0x20081647, 0x0b535219, 0xd001b026,
-    0xb01019b0, 0x1421c182, 0x22f3832f, 0x7fb21014, 0xfe820aa3, 0x4b101421,
-    0x0920061c, 0x22085957, 0x60090db2, 0x233606e1, 0x07331716, 0x07060623,
-    0x01211501, 0x36323327, 0x21372137, 0x04822326, 0xd9033508, 0xca0f33da,
-    0xdc169732, 0xfed201c9, 0x0103fee1, 0x168370fd, 0x0133e6fd, 0xfed831e3,
-    0xae0336f3, 0x654bf904, 0x11afa5b6, 0x020ddffd, 0x4c5d9951, 0x00cc9bb6,
-    0x2124cb82, 0x5104ecff, 0x1e24cb82, 0x1bb29100, 0x240a3153, 0xb11b2f11,
-    0x974c1811, 0x3e0f260c, 0x1113b259, 0x2fed8205, 0xb02f13b0, 0x17b0d017,
-    0x1700b22f, 0x18b25d01, 0x2609574d, 0x08b0d019, 0x8209b0d0, 0xb0102c1b,
-    0x0bb0d016, 0xd00ab0d0, 0x181013b0, 0x270a50de, 0xb0d015b0, 0x0db0d00c,
-    0xb0251683, 0x0fb0d012, 0x21ef83d0, 0xa75f1005, 0x1eb2220a, 0x061f4405,
-    0x0206152b, 0x27222304, 0x37350711, 0x25038235, 0x37153311, 0x03830715,
-    0x3636112e, 0x51043535, 0xedfe9602, 0xdc8c6bb2, 0xfc210082, 0x080082e1,
-    0x02b2aa22, 0xfed259ff, 0x0214abc3, 0x57c7575d, 0x57c85789, 0x5ad73b01,
-    0x5a895ac8, 0xfbfd59c8, 0x4df8fc02, 0x4f29f383, 0x0f050000, 0x17003a04,
-    0x37871800, 0x0cde6a0d, 0x440c4546, 0x5e570ce7, 0x15b22307, 0x4a18170b,
-    0x0c200c34, 0x27090841, 0x3130d009, 0x13001601, 0x2406f066, 0x06061123,
-    0x080b8215, 0x37001236, 0x28033335, 0x040301e0, 0x728101f3, 0xf38271f3,
-    0xdf040103, 0x296a03f3, 0xecfe92fe, 0xefc5b8bf, 0x026afd2a, 0xc7f32a95,
-    0x1401bab1, 0xd12b7001, 0x28000200, 0x332caf82, 0x1600b005, 0x78001f00,
-    0x212018b2, 0x18207583, 0x09474918, 0x200c224f, 0x06605602, 0x0206b223,
-    0x2127830c, 0xae4a2f06, 0xd0012f0b, 0xb01006b0, 0x0ab0d00a, 0x0a0fb22f,
-    0x49185d01, 0x14200b49, 0x15201b84, 0x10281b82, 0xb0d017b0, 0x1fb2100c,
-    0x3023d088, 0x82212531, 0x06bd44bf, 0x3221112d, 0x04141504, 0x21152107,
-    0x73322101, 0x032505ec, 0xfcbefe33, 0x080082cd, 0xf12d0242, 0xeefe2001,
-    0x01c4fef4, 0x01befe42, 0x8d90882d, 0xe7c4fe7c, 0x6bcbe7e7, 0xfbc802cb,
-    0x03f1d4d0, 0x7e36016b, 0x038e707d, 0x70000400, 0x8905ecff, 0x1900c505,
-    0x34002600, 0x94003800, 0x3a391ab2, 0x1a25b783, 0xd000b010, 0x200582b0,
-    0x27058427, 0xb000d037, 0x37b02f35, 0x2012625b, 0x27f18224, 0x593e0f24,
-    0xb01009b0, 0x22056e4e, 0x8303090d, 0x10092142, 0x230ba145, 0x16b21003,
-    0x2308e645, 0x090319b2, 0x242c2283, 0xd01db010, 0xb02f1db0, 0x2ab21024,
-    0xb0241d88, 0x31b2101d, 0xb2180d88, 0xf98218c7, 0x2309574e, 0x17352620,
-    0x0808384e, 0x06222323, 0x01270515, 0x9fb10217, 0x9ea200ff, 0xaaa18082,
-    0x42343641, 0x01406a43, 0x8887ae18, 0xe8fea7ad, 0xd2e818ab, 0xfbfd3d08,
-    0x7ec7027e, 0x92732504, 0x82478aa7, 0x357394ab, 0x4a4a5440, 0x31435545,
-    0xa68640fd, 0x16d1e818, 0x4c000232, 0x9003ebff, 0x1700f905, 0x5a002100,
-    0x232201b2, 0x0124cf83, 0xd018b010, 0x0d8a5c18, 0x593e0f26, 0x000c06b2,
-    0x44070b42, 0xb0210856, 0x0fdf6713, 0x3c830620, 0x3a0ff741, 0x35262205,
-    0x32352306, 0x36361137, 0x15163233, 0x07021415, 0x33161415, 0x6b363603,
-    0x4e08059f, 0xe1db0207, 0x616061ed, 0x9ab20360, 0xb2d7ac88, 0x4dd46c68,
-    0x56202b57, 0xe5eb1503, 0x0118bb13, 0xb4d6bfe9, 0xfead269b, 0x8e4d67a9,
-    0x4b44027a, 0x3f2966cc, 0x0000b240, 0x00900004, 0x05c20700, 0x000300c0,
-    0x001d000f, 0xb2a60027, 0x8329281e, 0x101e25a7, 0xb0d001b0, 0x88680582,
-    0x82102005, 0x450028d1, 0x2f26b058, 0x4426b11b, 0x24200793, 0x0b385118,
-    0x8c180620, 0x21200bb6, 0x21200c82, 0x5b07904c, 0xdc8208ee, 0xb0d00d31,
-    0x02b02f0d, 0x2f02b0d0, 0x010200b2, 0x4101b25d, 0xb02408e3, 0x13b2100d,
-    0x06230d89, 0x881ab210, 0x20b2230d, 0x95822124, 0x1f25b223, 0x08685726,
-    0x36340128, 0x15151620, 0xf6410614, 0x21012510, 0x11231101, 0x5a080482,
-    0xfd970733, 0xfd61029f, 0x3801be76, 0xc2febabf, 0x515cafbd, 0x505c5b4f,
-    0xc7fe5c4f, 0x0dfef4fe, 0x010b01f4, 0x9c01f2f6, 0x9f2f0295, 0x4ea6c0c1,
-    0xa2c2c29c, 0x6c6c6006, 0x6d5f5163, 0xa3fb626d, 0xf6fb0a04, 0xf3fbb005,
-    0x00000d04, 0x036d0002, 0x05570494, 0x000c00b0, 0x4d6d0014, 0xf48c0592,
-    0x18087a4f, 0x2608c479, 0xb2593e1f, 0x82061501, 0x01b021b2, 0x0921ef82,
-    0x22098201, 0x840103b2, 0xd0042510, 0x090108b2, 0x10291a84, 0xb0d00bb0,
-    0x0db11006, 0x059f520a, 0x1001b034, 0xb0d00fb0, 0x11b0100d, 0xd012b0d0,
-    0x03013130, 0xd1820323, 0x13133327, 0x01231133, 0x080a8223, 0x2135232b,
-    0x3e7ce803, 0x81896f7c, 0xfe6f8585, 0x8d758a11, 0x09058c01, 0x74018bfe,
-    0x1c028cfe, 0x7d0183fe, 0xbd01e4fd, 0xbb0145fe, 0x2cbb835f, 0x04ecff96,
-    0x004e0491, 0x001c0015, 0xd7681862, 0x4116200a, 0xd55306d7, 0x08bf440c,
-    0x020a1922, 0x1924a083, 0x0a0fb22f, 0x24081452, 0x13b21002, 0x210d870c,
-    0x228515b2, 0xb2100a23, 0x08228816, 0x25313065, 0x26222306, 0x12343502,
-    0x16323336, 0x21151716, 0x32331611, 0x07220137, 0x26112111, 0xbbb71404,
-    0x9087f491, 0xe38584f8, 0x00fd0384, 0xacc49a77, 0x7a9790fe, 0x5e731c02,
-    0x01019d72, 0x03018f93, 0x90f38b9f, 0x6eb8fe3e, 0x7a2a037a, 0x1e01ebfe,
-    0x00ffff71, 0x05f5ff59, 0x009905cb, 0xffd50127, 0x828602d9, 0x007c2e07,
-    0x010000fb, 0x03dc0107, 0x00000021, 0x0d934110, 0x82313021, 0xff542633,
-    0x056806f5, 0x242b82b4, 0x021d00d7, 0x22078294, 0x86a8017c, 0x89be2033,
-    0x2f0d2733, 0x1f0db11b, 0x3384593e, 0x33825b20, 0xa8055c22, 0xd9242b82,
-    0x93020c00, 0x8c203384, 0xb2203386, 0x01203389, 0x01203382, 0x58203387,
-    0x1a223382, 0x2b82a305, 0x2200db24, 0x33848e02, 0x33863320, 0xae187020,
-    0x003c136d, 0xff620002, 0x054304eb, 0x001900f5, 0xb25b0026, 0x11282713,
-    0x13b03912, 0xd020b010, 0x088e7018, 0x2107924e, 0x1c5b00b2, 0x2f002305,
-    0x098502b2, 0x02510b20, 0x6400200c, 0x13210c46, 0x0c1e6b10, 0x17320127,
-    0x22232626, 0x299e1807, 0x064a5b09, 0x63171221, 0x59080654, 0x26353536,
-    0xae380226, 0x84c51a77, 0x3c1d8b7c, 0x0d018f6e, 0xe37a2701, 0xf3fee394,
-    0x857bf4fe, 0x85797a84, 0x04048b16, 0x35e5c27d, 0xfe2c19b7, 0x3572fe4e,
-    0xa7d3fec1, 0x0df72401, 0xc21201df, 0xb09aa4a7, 0x4c55c5d0, 0x0001005f,
-    0x041bffa6, 0x00b005f4, 0x00270007, 0x2b4604b0, 0x08264305, 0xb0100425,
-    0x18b0d001, 0x240eb064, 0x21112305, 0x2e038211, 0xfdf4f404, 0x4e04f399,
-    0xfad405e5, 0x8295062c, 0xfe40244b, 0x82c104f3, 0x000c254b, 0x03b00035,
-    0x08204b85, 0x07a65318, 0xb2100322, 0x2009a562, 0xb89018b0, 0xfd8f3e22,
-    0xfb4403ee, 0xfd4f027f, 0xfc4704b1, 0x021202f6, 0xc373fd43, 0x02c80297,
-    0xfdc398c6, 0x276f8273, 0x036d029e, 0x003103ef, 0x178beb18, 0xfcef0328,
-    0x025103af, 0x2b82c46d, 0x00003b24, 0x9b829204, 0x3c000824, 0x3d5900b2,
-    0x064f6b06, 0x20071942, 0xd5c618b0, 0x3e0f2308, 0xaa66b259, 0x70072006,
-    0x303f0b36, 0x33010131, 0x23032301, 0x41022135, 0xfed97801, 0xd1d8c517,
-    0x2b016701, 0x50fa8504, 0x82c54102, 0xff5e3b89, 0x04df07ec, 0x001a004e,
-    0x0039002a, 0x3a07b272, 0x3912113b, 0xb01007b0, 0x0583d022, 0xc1433220,
-    0x18042006, 0x200be858, 0x06035209, 0x1004b02c, 0xb0d016b0, 0x07b22f16,
-    0x36830416, 0xb0d01226, 0x14b22f12, 0x16200c85, 0x820b0953, 0x18b2202a,
-    0x2809b980, 0xb0d02eb0, 0x37b0101e, 0x08a182d0, 0x06061429, 0x27262223,
-    0x26222102, 0x34353526, 0x20333612, 0x32211213, 0x07171616, 0x22232634,
-    0x15070607, 0x33161716, 0x55353632, 0x372405c3, 0x27263537, 0x78081882,
-    0x80df0706, 0xe98d90e6, 0xdffeaa55, 0x8181e58f, 0x24018ee4, 0x2401a9a9,
-    0x0181e48e, 0xa47a92ef, 0x0f0f286e, 0x799f6b2e, 0x925dfa95, 0x2bac697b,
-    0x6e280f07, 0x029279a4, 0x90fd9811, 0xb6fea7a3, 0x1599ff8e, 0x8f000198,
-    0x4701b9fe, 0x0497fd8f, 0x4ac9c69a, 0x55452442, 0x05a2c3c3, 0x90b3c39d,
-    0x4a42241a, 0x0000c3c9, 0xfeafff01, 0x06a8024b, 0x00150015, 0x1602b23d,
-    0x080d4c17, 0x1b2f0e24, 0xc5660eb1, 0x3e11220c, 0x0b765859, 0x1b630e20,
-    0x6b05200d, 0x372308f5, 0x4e363411, 0x2d08061e, 0xb6900115, 0x123f42aa,
-    0x028a252c, 0x593fb2c0, 0xa3322a19, 0x13b6b04f, 0x049d0dbd, 0x15c3b3f4,
-    0x00b80bb9, 0x65000200, 0x15040101, 0x8382fa03, 0x78002b24, 0x516710b2,
-    0x10102805, 0x00d01cb0, 0x492f19b0, 0xb0240515, 0x08b0d008, 0x10220b82,
-    0x08820ab0, 0x210b4b60, 0xe16203b0, 0x0db0280b, 0xd015b010, 0x4d1019b0,
-    0x088305e1, 0xb0d02023, 0xf166181e, 0x6719200c, 0xb03e0b40, 0x2bb01023,
-    0x133130d0, 0x36333636, 0x33161717, 0x06153732, 0x27272223, 0x06220726,
-    0x15941507, 0x30653a08, 0x4c524284, 0x8451469c, 0x517f6665, 0x544f9846,
-    0x30308742, 0x4f544280, 0x87514698, 0x51836665, 0x524c9c46, 0x03308442,
-    0x0238328e, 0x7e204e22, 0x4c206ad9, 0x3c420224, 0x210f82cb, 0x0f844c24,
-    0x82224e21, 0x0100300f, 0x80009100, 0xc304ef03, 0x37001300, 0x7e13b000,
-    0x04260ca7, 0x1013b0d0, 0x058407b0, 0xb0d00f24, 0xdb7b2f0f, 0x08b0210a,
-    0x10221082, 0xba820bb0, 0x07210129, 0x35233727, 0x82213721, 0x17490803,
-    0x21153307, 0xef032107, 0x6d80e2fd, 0x2101b05d, 0x0261fe7e, 0x636e8610,
-    0x7dd1febd, 0x6401ac01, 0xc9a63ee4, 0x3eedcadf, 0xffdfcaaf, 0x003c00ff,
-    0x048d0313, 0x0067006b, 0x00000020, 0x3900408b, 0x0107009a, 0xfd9eff97,
-    0x201d82a6, 0x201d8280, 0x201d84e0, 0x3b1d8c22, 0x00a6fde2, 0x00240002,
-    0x05eb0300, 0x000500b0, 0xb2380009, 0x110b0a06, 0x06b03912, 0x0ee56118,
-    0x6a07f148, 0x06220877, 0x27820300, 0x8408b221, 0x302b0806, 0x01330131,
-    0x01012301, 0x01131303, 0x8301c4a4, 0xfec580fe, 0xede1017e, 0xb005ecf2,
-    0x29fd27fd, 0xd601d702, 0x29fe2afe, 0x8200d701, 0x00a1308f, 0x05bc01ab,
-    0x00270007, 0x001a0012, 0x830701b6, 0x07042107, 0x2406ed57, 0x3130dc11,
-    0x30978200, 0x027f0263, 0x0039043e, 0x00070003, 0x0800b22a, 0x256f8209,
-    0x00d005b0, 0x534502b0, 0x3e1b220a, 0x201a8259, 0x06026b02, 0x82d00421,
-    0x11232389, 0x03830133, 0x9d9d003c, 0x9d9d3e01, 0xba017f02, 0xba0146fe,
-    0x45000100, 0x5a0167ff, 0x08000601, 0x99450c00, 0xb0d02505, 0x31302f00,
-    0x3006965c, 0x80c50606, 0x01c90349, 0x734d9953, 0x5d4f647b, 0x32a982ba,
-    0x0500002d, 0x0015061a, 0x004a0026, 0x00070000, 0x8244024a, 0x00022607,
-    0x04000018, 0x26178217, 0x001b0017, 0x5209b273, 0x092005ad, 0x24090d6b,
-    0xb11b2f09, 0x07774309, 0x0c820420, 0xad520420, 0x0ce27607, 0x19821720,
-    0x254a1720, 0x82192007, 0x8319200c, 0x1004240c, 0x71d013b0, 0xb0270a09,
-    0x09b0d001, 0x4d0fb210, 0x33370a08, 0x33352311, 0x33023e35, 0x07171632,
-    0x06222326, 0x15331515, 0x82211123, 0xbd2a08f7, 0x6a01a5a5, 0x935088c2,
-    0x728a254f, 0xd5d5646f, 0xf3f36702, 0x4ab48603, 0x225cb67f, 0x6130c91a,
-    0xfcb44461, 0x003a047a, 0xdd820001, 0x822c0421, 0x001624c5, 0x7412b263,
-    0x12200ad1, 0x12208982, 0xe15cbd87, 0x0856450c, 0x58450023, 0x081f62b0,
-    0x88461220, 0x100e270c, 0xb0d005b0, 0x7b18100e, 0xb0250a70, 0x3130d008,
-    0x85a78201, 0x052257a6, 0x3336362e, 0x23110532, 0x4a663903, 0xf3dcdcc4,
-    0xd72ab682, 0x44017ac4, 0x0e3f05f3, 0xa2825bb8, 0x6127b382, 0xfa30c3b7,
-    0x8302001b, 0x930621a9, 0x282fa982, 0xb5002c00, 0x2e2d14b2, 0xb0391211,
-    0x6bb01014, 0x082007ad, 0x0820b182, 0x9784b187, 0x2b200c87, 0x2b201982,
-    0x20077c41, 0x200c8221, 0x710c8721, 0xa3410cf4, 0x8228200c, 0x41282026,
-    0x25200796, 0x25200c82, 0x2a200c87, 0x2a200c82, 0x21210c83, 0x2e751810,
-    0x26b0240a, 0x4401b0d0, 0x16200fcf, 0x0dce4118, 0x4505b141, 0x15210953,
-    0x11be4121, 0x21112329, 0x11232111, 0x18a5d233, 0x210854d4, 0xcc417401,
-    0x88263806, 0xd5646f73, 0x8cfef3d5, 0xf3f3ce04, 0x63b48603, 0xbe12c4b4,
-    0x4160b308, 0x03210dd7, 0x09db4186, 0x06930629, 0x00270015, 0x5a13b2a5,
-    0xa6180a67, 0x36410cc3, 0x0c02410c, 0x0cd84218, 0xf5821f20, 0x36411f20,
-    0x82272007, 0x4127200c, 0x2420070f, 0x2307f64e, 0xb0584500, 0x200ac042,
-    0x775b18b2, 0x4508200a, 0x15200ce6, 0x2a0b1641, 0xb01001b0, 0x22b0d026,
-    0x413130d0, 0x2042121f, 0x42112006, 0x21210a37, 0x0d1b4111, 0x42053142,
-    0xfe210540, 0x0a15418c, 0x42053942, 0xfc31094a, 0x0001007a, 0x04ecff2d,
-    0x001506d1, 0xb2850024, 0x0a016c13, 0x0c2d6518, 0x200ca043, 0x025e1823,
-    0x082b590b, 0x18102321, 0x200a0d66, 0x151e59b0, 0x2482b020, 0x1809ba50,
-    0x260be45f, 0x18b0100e, 0x4419b0d0, 0x142005aa, 0x2606a946, 0x23111120,
-    0x83353335, 0x431120ea, 0x342b051e, 0x16323336, 0x04331117, 0x5931bfcb,
-    0xb2330613, 0xa36c45b2, 0xc2a5a5f3, 0x72f165b0, 0xfd8603bf, 0x59373ea4,
-    0xb42f060d, 0xfbb920f8, 0xb4860367, 0x38c3b662, 0x828efe31, 0xff4b31ed,
-    0x068006ec, 0x004c0018, 0x4d46b2a7, 0x3912114e, 0x20051e4c, 0x20d38247,
-    0x071e4347, 0x0c824020, 0xda414020, 0x0c074107, 0x19824b20, 0x92184b20,
-    0xb0250f05, 0xb0584500, 0x2519822c, 0x593e0f2c, 0x07414bb0, 0x10b4560c,
-    0xb0d00d27, 0x47b0d00e, 0x0b2f6d10, 0xb2104023, 0x09fd4f20, 0xb2102c23,
-    0x250d8834, 0x23013130, 0xb8471411, 0x27262f06, 0x33352311, 0x23263435,
-    0x14150622, 0xc518021e, 0x415f0c49, 0x35262705, 0x33161633, 0x24823632,
-    0x26272628, 0x33363435, 0x06851732, 0x1515163f, 0xbf790633, 0x532f2671,
-    0x0190874d, 0x5860acac, 0x211d584f, 0x5668f41c, 0x015e6550, 0xa0cf181e,
-    0x6b2b080c, 0xecb653f8, 0x2d4d5bb6, 0xdec9aed9, 0xfd8603bf, 0xbc0a88b7,
-    0x02a2aa17, 0x6258b44e, 0x3a455469, 0x4d796669, 0x3e4a5d46, 0x183f3e38,
-    0x080ab9cf, 0x44413b55, 0xa7582834, 0x6c17bc8c, 0xcaa5814f, 0x16004fc5,
-    0x72fe5900, 0xae05ec07, 0x1a000d00, 0x37002800, 0x43003d00, 0x4f004900,
-    0x5a005600, 0x62005e00, 0x6a006600, 0x76006e00, 0x7e007a00, 0x86008200,
-    0x8e008a00, 0x10b2c001, 0x1211908f, 0x1010b039, 0x83d000b0, 0x841b2005,
-    0x84302005, 0x843c2005, 0x843e2005, 0x84462005, 0x844a2005, 0x84502005,
-    0x84572005, 0x845b2005, 0x84612005, 0x84632005, 0x84672005, 0x846d2005,
-    0x84702005, 0x84772005, 0x847b2005, 0x847f2005, 0x84842005, 0x84882005,
-    0xd08c2405, 0x473db000, 0x462f0554, 0x46b11b2f, 0xb2593e1f, 0x2b03447d,
-    0x82797cb2, 0x81782104, 0x80210482, 0x22048239, 0x833d460a, 0x2f0a21a9,
-    0x2806cc49, 0x0eb0d00e, 0x100ab02f, 0x05d548b0, 0x0f0e6f22, 0x7c271e82,
-    0x182f6fb0, 0x4f0b50b2, 0x50210920, 0x2235846f, 0x881eb210, 0x03b02414,
-    0x8925b210, 0x100f320d, 0xb0d029b0, 0x0eb02f29, 0xd02eb010, 0xb22f2eb0,
-    0x281c8934, 0x6bb0103d, 0xd067b0d0, 0x23dc82b0, 0x3fb2d03e, 0x36087a4f,
-    0xb0d065b0, 0x6db0d069, 0xd03cb0d0, 0xb01039b0, 0x46b0d041, 0x8947b210,
-    0xd05b261f, 0xb0d057b0, 0x3016834a, 0xb0d060b0, 0x58b0d05c, 0xd04bb0d0,
-    0xb01044b0, 0x22ba824e, 0x8951b210, 0x10472965, 0xb0d05fb0, 0x76b2100f,
-    0x21081389, 0x84b01078, 0x1079b0d0, 0xb0d085b0, 0x88b0107c, 0x107db0d0,
-    0xb0d089b0, 0x8cb01080, 0x1081b0d0, 0x1d4c8db0, 0x22232405, 0x43352726,
-    0x132805af, 0x16323311, 0x16071415, 0x23210482, 0x05be4201, 0x1614152b,
-    0x35363233, 0x14113301, 0x222a8206, 0x84143335, 0x1120080e, 0x15331533,
-    0x35333521, 0x11011133, 0x15231521, 0x11213525, 0x15013523, 0x34353233,
-    0x21351327, 0x03851c82, 0x0b8a0120, 0x1d831320, 0x23232623, 0x07065501,
-    0x25200782, 0x4c080b8a, 0x64813703, 0x7e028066, 0x02806568, 0x7262bc43,
-    0xd0343254, 0x414a8ffe, 0x424a4a40, 0xba034940, 0x5852695c, 0x29685d6d,
-    0x71c4f936, 0xc72805c4, 0x016df86f, 0xec05c435, 0xfc6f3601, 0x62677e5c,
-    0xfd1601cb, 0xfd15015b, 0x0214015c, 0x280b890a, 0x3a765dbc, 0xf1fc5d3c,
-    0x22008471, 0x846f2207, 0xd4013d00, 0x5e787962, 0x787c5f75, 0x02b3fe5e,
-    0x544d4925, 0x2d460d20, 0x4548019b, 0x70454e4e, 0x28080483, 0x86fe4f01,
-    0x53515d4e, 0xfc2c365b, 0xca3b01c9, 0xfeca7171, 0x011f06c5, 0xa9a9741d,
-    0xa9e3fe74, 0x53a9b6fc, 0x4a030452, 0x21008474, 0x5e8438f9, 0xc403712e,
-    0xfe1e2950, 0xfa7efcd3, 0x7ef915fc, 0x25080685, 0x5c000500, 0xd707d5fd,
-    0x03007308, 0x20001c00, 0x28002400, 0xb0004c00, 0x25b02f21, 0xd000b02f,
-    0xb02f00b0, 0x59531021, 0x02202206, 0x059b5e00, 0x28065955, 0x04b0d004,
-    0x000db22f, 0x21158302, 0xfb582f0d, 0x07b22305, 0x0f821404, 0x1419b223,
-    0x29068204, 0x03093130, 0x37363405, 0x75443636, 0x33072105, 0x2c056b54,
-    0x06060714, 0x15231715, 0x15330333, 0x08038323, 0x03180452, 0xfc41fcbf,
-    0x1e0f0444, 0xa75c4a24, 0x02a09095, 0x2b3a02cb, 0x5b5d3839, 0xcacaca2f,
-    0x0204044b, 0x52060404, 0x31fc31fc, 0x3af1cf03, 0x8727183a, 0x8b97804a,
-    0x4034337f, 0x413c5f34, 0xaa5b4c5c, 0x0a044cfd, 0x0100049e, 0x00003a00,
-    0xb005ea03, 0x3ca3f518, 0xea032408, 0x02f4d4fd, 0x0344fd2c, 0xfa2905b0,
-    0xc3ed04d7, 0x00020000, 0x0456fe4f, 0x004e0417, 0x0026001b, 0x511fb283,
-    0x1f23055b, 0x4f0cb010, 0x72180b2d, 0x0c241414, 0x0cb11b2f, 0x2007c566,
-    0x06ec7418, 0x0406b228, 0x39121118, 0xa54d0cb0, 0x10b2220b, 0x21148312,
-    0x1b8516b2, 0xac571820, 0x04b0210b, 0x390bc45b, 0x34133130, 0x32333636,
-    0x11333717, 0x22230014, 0x16372726, 0x35363233, 0x0b820635, 0x14372622,
-    0x53080c82, 0x23261137, 0x6d4f0622, 0x69bf85cd, 0xfbfed110, 0x49b955ef,
-    0x8e908235, 0x7fae6a83, 0x8ff372cc, 0x45469578, 0x028d7c94, 0x8dfba026,
-    0x1cfc7286, 0x2ff6fef6, 0x9c4cb02d, 0x8c77169b, 0xc09f9dfc, 0x7bd90181,
-    0x010000c1, 0x4bfeb0ff, 0xcd008e01, 0x2e000d00, 0x2008fb66, 0x05dd440e,
-    0xcd820520, 0xda820520, 0x4b0ab221, 0xb02e084b, 0x0db0100e, 0x2f0db0d0,
-    0x11253130, 0x8f820714, 0x35389a84, 0x708e0111, 0x3846955b, 0x7c3d240e,
-    0xc8f7fecd, 0xc6114f62, 0x0501b20c, 0x002e6182, 0x019afe5c, 0x00b5004f,
-    0x00120003, 0xa51804b0, 0x3b080cbb, 0x23013130, 0x4f013311, 0x9afef3f3,
-    0x02001b02, 0xd0047500, 0xdc06f702, 0x20000c00, 0xb0007b00, 0x06b02f03,
-    0x2f06b0d0, 0x060f0b40, 0x062f061f, 0x064f063f, 0x03b05d05, 0x0609b210,
-    0x26086054, 0x0cb01006, 0x820cb0d0, 0xb0102e2a, 0x10b0d010, 0xd013b02f,
-    0x402f13b0, 0x05f45d0d, 0x4f133f29, 0x06135f13, 0x5010b05d, 0xb02406db,
-    0x1ab21013, 0x08365118, 0xb2211682, 0x200d891d, 0x06005e1a, 0x20061422,
-    0x08128818, 0x82141321, 0x264008e7, 0x15062223, 0x33363427, 0x32331632,
-    0xf7023536, 0xb0defeb0, 0x48464caf, 0x475f904a, 0x1f2a8138, 0x4561682a,
-    0x1e2c882f, 0x65b0052c, 0x35657b7b, 0x01333c3a, 0x476b4b0f, 0x4d1b2532,
-    0x2432476c, 0xd52add84, 0x0807f602, 0x1c000d00, 0xdd845900, 0xb0d00723,
-    0x28dd8307, 0x2f071f07, 0x4f073f07, 0x20dd8507, 0x20dd890a, 0x06704107,
-    0x0882b020, 0x2d054146, 0x14b0d014, 0x0e0fb22f, 0x39121114, 0xbf4515b2,
-    0x1bb22308, 0x11820f0e, 0x01313022, 0x3521ae84, 0x05474533, 0x18272721,
-    0x080b37a8, 0xf602072e, 0xaf9291af, 0x454450ad, 0x4808df4d, 0x9e07923f,
-    0x01444e9f, 0x7962b005, 0x39346279, 0x7619333a, 0x361a1702, 0x2f445060,
-    0x003a083a, 0xd324b384, 0x7e060003, 0x1122b382, 0x91415d00, 0x57b38a1b,
-    0x088208b8, 0x84059141, 0x0f403cb9, 0x0e1f0e0f, 0x0e3f0e2f, 0x0e5f0e4f,
-    0x5d070e6f, 0xb01010b0, 0xb019d011, 0x90182f11, 0x07333db7, 0xaf000323,
-    0xb1b19596, 0x4c47494c, 0x80a9b665, 0x7c61b005, 0x3c34637a, 0xc0ce343c,
-    0xe72d9984, 0xd1065c03, 0x1a000600, 0xb0008d00, 0x07674701, 0x50820420,
-    0x182f0423, 0xdea918b0, 0x10033f07, 0xb0d005b0, 0x09402f05, 0x051f050f,
-    0x053f052f, 0x02b25d04, 0x12110305, 0xd00ab039, 0x18820ab0, 0x4f0a3f29,
-    0x6f0a5f0a, 0x425d040a, 0xa98205dd, 0x0d1f0d2c, 0x0d3f0d2f, 0x0d5f0d4f,
-    0xa9820d6f, 0x5c420a20, 0x100d2307, 0x9e4114b2, 0x100a2309, 0x0d8917b2,
-    0xb0101424, 0xc982d01a, 0x07272326, 0x37332523, 0x08123742, 0xc15c0329,
-    0x01c1b2b3, 0x59ba932a, 0x247b313d, 0x595a291b, 0x267f2a3c, 0xe7042c1a,
-    0xdfed8e8e, 0x2c425f3e, 0x6040181b, 0x851c2d41, 0x0a0423e1, 0xe182cb06,
-    0x60001522, 0x0321e1b0, 0x27e18305, 0x07b01001, 0x2f07b0d0, 0xb223d885,
-    0x820d0708, 0x0eb22115, 0xb223b388, 0x42070814, 0xb4850536, 0x2f421720,
-    0x08af860d, 0xb9bb1628, 0x81383f07, 0x498c8907, 0xe7040138, 0x74faa2a2,
-    0x1d18057d, 0x4b59693e, 0x3b074137, 0x4cff0200, 0x5c03da04, 0xab828306,
-    0x5b000a27, 0x2f03b000, 0x128741b0, 0xb0d00123, 0x07d24301, 0xd2430920,
-    0x5d042507, 0x060302b2, 0x52052c68, 0x072206f1, 0xb28219d0, 0x08b01823,
-    0x05a14110, 0x0a0fb628, 0x0a2f0a1f, 0x5b415d03, 0x05230808, 0x03330323,
-    0x9f9fd55c, 0xa12301d4, 0xd79d87fe, 0x8eda04dd, 0x015cfa8e, 0x0002000b,
-    0x04e7047a, 0x8a90068b, 0xd005248b, 0x462f05b0, 0x403005f6, 0x1f000f09,
-    0x3f002f00, 0xb05d0400, 0x02b01003, 0x02266b82, 0x04b2182f, 0x83830003,
-    0x0e820620, 0x182f0622, 0x09241983, 0x2f09b0d0, 0x2a053d41, 0x1f070fb6,
-    0x03072f07, 0x8309b05d, 0xb0192492, 0x82182f0a, 0x3320088b, 0x07272305,
-    0x03330123, 0xa19d0123, 0x9fd42301, 0x3303d59f, 0x059dd8de, 0x8e8efae1,
-    0xf5fea901, 0x20054143, 0x3c4143d4, 0xb0d01124, 0x62602f11, 0x12414305,
-    0xb0101123, 0x20b28210, 0x11414310, 0x17332522, 0x260b4143, 0x72b794fe,
-    0x43b10580, 0xcd2c0742, 0x010000c0, 0x69049400, 0x2b06a901, 0x6f108d6f,
-    0x073513d3, 0x36343523, 0x3f832601, 0x55d30102, 0x6d532b06, 0x5985867c,
-    0x27e183b6, 0x04000009, 0x008d0494, 0x0ff3f718, 0x146a1d20, 0x0c417506,
-    0xad690620, 0x04092707, 0x39121102, 0xfd5309b0, 0x0ab2210b, 0x2b081484,
-    0x21253130, 0x33012307, 0x21012301, 0xfe3f0303, 0x01f55f1e, 0xd501dfd7,
-    0x0106fef6, 0xf9f9aa54, 0x73fb8d04, 0xba01b201, 0x76000300, 0x0a207b82,
-    0x0e2a7b82, 0x1f001600, 0x1eb2a400, 0x55832120, 0xb0101e25, 0x82b0d002,
-    0x47112005, 0x012006c1, 0x01207682, 0xde849087, 0x593e0f26, 0x000117b2,
-    0x22082d83, 0xafb42f17, 0x0217bf17, 0x176fb45d, 0x7102177f, 0x0117ffb2,
-    0x170fb271, 0x8fb47201, 0x02179f17, 0x825fb272, 0xcfb2210b, 0x3f201583,
-    0xb4230482, 0x832f171f, 0x17bf222d, 0x521c83cf, 0xb223096b, 0x83170f08,
-    0x18002050, 0x210ce140, 0x426a1001, 0xaf83180a, 0x11032710, 0x35363233,
-    0x347a2734, 0x26440805, 0x01762323, 0x59ebdeaf, 0xe270605b, 0x66e4e2dd,
-    0xd4fab464, 0x6567635b, 0xa58d04c6, 0x23834f9c, 0xa3638f17, 0xfefb01ab,
-    0x9e4155c7, 0x4802aa05, 0x00464f45, 0x4f000100, 0x4304f0ff, 0x1b009d04,
-    0x03b24e00, 0x0ac54018, 0xf7820b20, 0xf7870b20, 0x22088f54, 0x83030b0f,
-    0x560b20a6, 0x03200c45, 0x230bf662, 0x0b031bb2, 0x33051744, 0x22230406,
-    0x34351100, 0x32333636, 0x26231704, 0x11202326, 0x0805a44b, 0x42043746,
-    0xd9f7fe11, 0x7eecfeec, 0x01d69cec, 0x0cf31404, 0xedfe727d, 0x7c788786,
-    0xbf84010d, 0x012c01d5, 0xffa9440b, 0x70c2da8a, 0x488efe69, 0x7062b5b9,
-    0x76000200, 0x2a040000, 0x0b008d04, 0x46001300, 0x151413b2, 0xb0246682,
-    0x02b01013, 0x221ba941, 0x181001b0, 0x7f0bab8a, 0x33280eaf, 0x04322111,
-    0x14151716, 0x2f08ab82, 0x20331103, 0x25103513, 0xa47b0176, 0x02900301,
-    0xa8f9fe8f, 0x47018283, 0x04c9fe06, 0x9ffb8a8d, 0x8bfea33d, 0xf9fcc903,
-    0x01435c01, 0x01000860, 0x03218f83, 0x208f84b5, 0x0a115c4e, 0x20073241,
-    0x06275904, 0x060bb223, 0x20a88304, 0x0bae420b, 0x5304b021, 0x847a0ccb,
-    0x3130260c, 0x21112101, 0x37038615, 0x0afe5f03, 0xc1fc4c02, 0xb7fd3c03,
-    0xf801f601, 0x04c2cafe, 0xf2fec48d, 0x9e207f86, 0x09227f82, 0x7f854000,
-    0x3b437284, 0x43b2200f, 0x7f83132e, 0x9c490620, 0x20718408, 0x2e738523,
-    0x0efe5b03, 0xfd2803f3, 0x01f201cb, 0x8325fedb, 0x82d5206b, 0xff542c6b,
-    0x044804f0, 0x001c009d, 0x781ab25c, 0x0a200afd, 0x0a20e582, 0x22102542,
-    0x830a030e, 0x100a23f2, 0x648811b2, 0x1803b021, 0x210b8655, 0x22851bb2,
-    0x182f1b21, 0x2c0cdc42, 0x21060725, 0x35110022, 0x32330010, 0x09324216,
-    0x37203a08, 0x21352335, 0x96174804, 0xfef8d5fe, 0xf41601dc, 0xed19fad7,
-    0xfe6c7912, 0x2801a0e4, 0xeb01f946, 0x018b1893, 0x4109012e, 0x2c010901,
-    0x5c64c0c3, 0xb74089fe, 0xb1c839ba, 0x05274100, 0x04680427, 0x000b008d,
-    0x12a74186, 0xdf43c18c, 0x18b02007, 0x26081c95, 0xb2593e0f, 0x44000609,
-    0xb42d0570, 0x09bf09af, 0x3fb25d02, 0xb2710109, 0x820483cf, 0xb2722209,
-    0x2e0983ff, 0x7201090f, 0x7f096fb4, 0xb4710209, 0x83ef09df, 0x835f2026,
-    0x091c2212, 0x5c0b832c, 0x30220942, 0x885c2131, 0x11332e05, 0x04331121,
-    0xf4fdf368, 0x0c02f3f3, 0x056e41f3, 0x0111fe23, 0x20b382ef, 0x20b88285,
-    0x22b38277, 0x851d0003, 0x2f0224b3, 0x4402b11b, 0x4a840f86, 0x77013324,
-    0x2a82f2f2, 0x24243582, 0x6403f0ff, 0x0e260a82, 0x05b22200, 0x8b52100f,
-    0x82052008, 0x8305203c, 0x410b20c9, 0x3021088e, 0x0e284f31, 0xf3710235,
-    0xe1cab2e3, 0x574bb7f4, 0xe0fc8d04, 0xafc0cfae, 0x415d5ead, 0x0c220b3f,
-    0x67424b00, 0x82082012, 0x4208205b, 0xb0250f74, 0xb0584500, 0x1263180b,
-    0x02062207, 0x298a8204, 0xb01006b0, 0x0ab2d001, 0x1e440601, 0x11072105,
-    0x0945f818, 0x87f0013f, 0x016ef3f3, 0xfe2c014f, 0xfed30143, 0x83db01de,
-    0x8d04a8fe, 0x0186fdfd, 0xfdf7fd7d, 0x05c5417c, 0x82940321, 0x000522db,
-    0x20859228, 0x206b8202, 0x05fd5c02, 0x3007df4b, 0x21253130, 0x33112115,
-    0x2b026901, 0xc2f3e2fc, 0x052341c2, 0x00007624, 0x0a828f05, 0x60000e24,
-    0x234101b2, 0x8200200a, 0x8c002041, 0x0fc943c7, 0xee84d484, 0x18079755,
-    0x22089a67, 0x82040001, 0x07b221d4, 0x0a200685, 0x30220684, 0xf8180931,
-    0x23080d37, 0x015101b2, 0xf23e014e, 0xa8a0fe19, 0xf219a1fe, 0xb5fc8d04,
-    0x73fb4b03, 0x3a023b01, 0x70038bfc, 0xc5fecbfd, 0x0421a388, 0x220a8267,
-    0x85450009, 0x820520eb, 0x8705209c, 0x0c71418f, 0x450cb142, 0x022208a6,
-    0xf8180005, 0x04221530, 0x6e42f267, 0x03f22405, 0x82e5fc1b, 0x03e43781,
-    0x0200001c, 0xf0ff4f00, 0x9d046f04, 0x1c000e00, 0x03b24600, 0x56491e1d,
-    0x45122006, 0x0d46065b, 0x46b02014, 0x5f181006, 0x10210c78, 0x05ff4500,
-    0x33361226, 0x27110032, 0x080ca551, 0xfe6f0433, 0xfeeceddf, 0x9bf085da,
-    0xf22001f0, 0x98868896, 0x94888799, 0xf8fe2c02, 0x3501ccfe, 0xac2e0c01,
-    0xfe8b0701, 0x08f5fec7, 0xb7c0c0b7, 0xc3c7b235, 0x2ea783b6, 0x04000076,
-    0x008d042c, 0x0013000a, 0x4604b24d, 0x04200503, 0x24096f4f, 0xb11b2f03,
-    0x07284103, 0xe96a0120, 0x18b22006, 0x181725f8, 0x6a09074d, 0x212b055f,
-    0x14151632, 0x33270706, 0x82353632, 0x232008ae, 0x01f36901, 0xf1fdd4e5,
-    0x68f2fed4, 0xf3657977, 0x67fe9901, 0xadd58d04, 0xc403c6a9, 0x69575458,
-    0x4c2c9183, 0x6c0430ff, 0x14009d04, 0x46002200, 0x0a23b318, 0x39411f20,
-    0x82112006, 0x41112084, 0x0f240cba, 0x11b0593e, 0x200c296a, 0x0d7f6708,
-    0x06140125, 0x62071707, 0x272205db, 0x3f413435, 0x6c3b0814, 0x9dcf636e,
-    0x3432f6fe, 0x0184f29a, 0xef9cf182, 0x97f12201, 0x97978689, 0x02958988,
-    0x48f1a32c, 0x09c98898, 0xaa01018b, 0x0501ab39, 0xfec8fe8e, 0xc0b708f4,
-    0xb033b6c3, 0x47b6c3c9, 0x3934064b, 0x0d008d04, 0x61001600, 0x181705b2,
-    0xb0391211, 0x0fb01005, 0x430bb750, 0xf3420c0d, 0x820d2007, 0x820d20cf,
-    0x0eb2230c, 0x34830402, 0xd7460e20, 0x0ab2230b, 0x14830e00, 0x0c4b5318,
-    0x01313023, 0x05857023, 0x07141526, 0x01211501, 0x08075e41, 0xdf480239,
-    0xdac801f3, 0x1201e1f0, 0x34fefcfe, 0x696c6cd5, 0xa901d56f, 0x8d0457fe,
-    0x5bebaab7, 0x020b25fe, 0x514e5f6b, 0x00010060, 0x03f0ff3e, 0x009d04ef,
-    0xb2630025, 0x44272609, 0x092008d9, 0x09208d82, 0x4218a787, 0x032208b4,
-    0x2182091c, 0x090db223, 0x1806821c, 0x210d47ac, 0x451803b0, 0x21200c2b,
-    0xb0212984, 0x0bf25e1c, 0x3423af82, 0x56262426, 0x232007e4, 0x2305b842,
-    0x16171614, 0x0a778a18, 0x32214b08, 0x68020336, 0x53b0cffe, 0xfed2c3f6,
-    0x5f6578f3, 0xdd8f716e, 0x8accf8c0, 0x01f47ee5, 0x016f6100, 0x4c4f4232,
-    0x925c8362, 0x51a0c8bb, 0x3a404d5d, 0xb236234c, 0x5dae998e, 0x4ac071aa,
-    0x24000100, 0x16040000, 0x07008d04, 0x95462e00, 0x07cf4412, 0x1006b022,
-    0x220ace77, 0x47d004b0, 0x353107ab, 0xfe160421, 0x83fef37e, 0xc903f203,
-    0xc90337fc, 0x245382c4, 0x04f0ff67, 0x2653821e, 0xb235000f, 0x4111100c,
-    0x31440825, 0x0898480c, 0x230ac36a, 0x0fb01008, 0x11245a83, 0x24200414,
-    0x07937a18, 0x11372008, 0xfffe1e04, 0x00ff4afe, 0xe56c7ef1, 0xfd8d0404,
-    0xdde0be01, 0xfdff02c1, 0xd4687300, 0x82000703, 0x82092071, 0x827220c5,
-    0x6bf61871, 0x0c804308, 0x1b2f0724, 0x9d4107b1, 0x08844607, 0x05030122,
-    0x3e050146, 0x21013717, 0x21012301, 0x12132a02, 0x01012201, 0xfef646fe,
-    0x01010147, 0x034b4d38, 0x4573fb57, 0x2824050b, 0xe5050000, 0x0c200a82,
-    0x0ce98918, 0x870c5043, 0x15a4440c, 0x58450023, 0x083b4cb0, 0x03010022,
-    0xb2217b82, 0x20068505, 0xfaf7180a, 0x1803200b, 0x3e072ee6, 0xfeecaf4a,
-    0xdbd8ebe6, 0xece6feeb, 0x01d6d8b1, 0xfb62032b, 0xfc410373, 0xfc8d04bf,
-    0x8264039c, 0x821520f5, 0x824a20f5, 0x000b2293, 0x05bb4153, 0x480c244c,
-    0x2e630c51, 0x1807200c, 0x2207a05e, 0x83040100, 0x85062086, 0x00032206,
-    0x480d8306, 0x30220566, 0xe6180131, 0x23080b2d, 0x1c01f227, 0x8c0189fe,
-    0xfaffe0fe, 0x8101e4fe, 0x1a0188fe, 0x9301fa02, 0xb5fdbefd, 0x67fe9901,
-    0x42024b02, 0x05209182, 0x36209182, 0x8c0b8741, 0x0c874191, 0x8508ff41,
-    0x686f8284, 0x013b05c7, 0x011d0221, 0xfe0b010e, 0x64fef25d, 0x7a020b01,
-    0x07fd1302, 0xa1016cfe, 0x8200ec02, 0x00412461, 0x82f30300, 0x18092061,
-    0x440cf3f7, 0xac420f22, 0x18b2200a, 0x0827f3f7, 0x7b027826, 0x6c024efc,
-    0xa00395fd, 0x038dc2c2, 0x008ac43c, 0x4b000200, 0xaa02f5ff, 0x0d002003,
-    0x46001700, 0x191803b2, 0x20069146, 0x06a14410, 0x1b2f0a25, 0x4e190ab1,
-    0x03200628, 0x03210c82, 0x200c820f, 0x0f076c0a, 0xdb6b1520, 0x2223230d,
-    0x43583526, 0x152c0805, 0x22233427, 0x33141507, 0xaa023732, 0x9f92909e,
-    0xa090919e, 0x037275bb, 0x01046f77, 0xaaaa9f3e, 0xae9d989e, 0xa90c9ead,
-    0x9aa9b89f, 0x8020ff82, 0x02239482, 0x18001303, 0x20081bb8, 0x20738205,
-    0x20808705, 0x066a4601, 0x1005b023, 0x050557b0, 0x788a0320, 0x11232132,
-    0x33253507, 0xc9b90202, 0x02136f01, 0x7792303a, 0x3c205182, 0xb2205182,
-    0x1721e182, 0xafda1800, 0x47588712, 0xd06c07df, 0x1602280b, 0x39121100,
-    0x830f03b2, 0x0fb02206, 0x64bf1810, 0x0cb2230a, 0x1b830f00, 0x06841520,
-    0x21313024, 0xda183521, 0x7d2128af, 0xadda1801, 0xf5ff2312, 0xa382a902,
-    0x7f002424, 0xcb5d1eb2, 0x820d200a, 0x870d20ef, 0x611720a3, 0xb223065f,
-    0x820d1700, 0xb07c347c, 0xb4182f00, 0x00600050, 0x80b67102, 0xa0009000,
-    0x185d0300, 0x220eafda, 0x4e06000a, 0x242006ee, 0x22082741, 0x842412b2,
-    0x101723d0, 0x14891eb2, 0x08874118, 0x25059159, 0x23150622, 0xfd593634,
-    0x54152006, 0x34270cb1, 0x0c012327, 0x18368451, 0x2114afda, 0xda18d201,
-    0x022a18af, 0x00003500, 0x1503be02, 0x0f190a00, 0xe0870ee7, 0x22083243,
-    0x83040901, 0x2f0123b6, 0xa18802b2, 0xd006b02c, 0xb01001b0, 0x08b2d00b,
-    0x7646060b, 0x05e85805, 0x33013208, 0x23152315, 0x01272135, 0x35330133,
-    0x5f5f0207, 0x9afebb5f, 0xbd6d0109, 0x0eba8bfe, 0xa3973a01, 0xf90179a3,
-    0x16f225fe, 0x00010000, 0x02f5ff4f, 0x248382ae, 0xb26a001a, 0x0a69720d,
-    0x1b2f0224, 0x888702b1, 0x7c470d20, 0x02b02206, 0x48d91810, 0x07b2230a,
-    0x78820d02, 0x2f07b024, 0x968818b2, 0x1805b223, 0x6c148307, 0xb2230ced,
-    0x82181311, 0x1ab22314, 0x06821318, 0x13313027, 0x21152113, 0x054e4107,
-    0x22230626, 0x16332726, 0x08066641, 0x3462072f, 0xacfeec01, 0x83473e14,
-    0x818ca38c, 0x05b902ad, 0x42437572, 0x7f013543, 0x94969601, 0x787a861b,
-    0x52638499, 0x2844387d, 0x00020000, 0x2cbd824d, 0x002203b9, 0x001e0013,
-    0x1f14b25b, 0x06396220, 0x6f180c20, 0xc5870b45, 0x21082f73, 0x976d1000,
-    0x0ab96e0a, 0xc5881420, 0x6d0cb021, 0x30250b9e, 0x22150131, 0x25af8a06,
-    0x36343535, 0x12820333, 0x14153808, 0x35363233, 0x91320234, 0x6b470d89,
-    0x86a88775, 0xdef0ab93, 0x0f422d96, 0x0344357f, 0x625f9922, 0x777a8e45,
-    0x319ba799, 0x57fee8d2, 0x91241724, 0x00743646, 0x82360001, 0x03ae22bc,
-    0x0e195a15, 0x8547a887, 0x10052308, 0x938804b2, 0x6a7fb220, 0x3a8c8205,
-    0x21012301, 0xae022135, 0x01c4adfe, 0x024cfe53, 0xfdac0278, 0x967f0254,
-    0x44030000, 0x132b08bf, 0x24001c00, 0x07b29600, 0x69112625, 0x1426054f,
-    0x1007b0d0, 0x1f4a22b0, 0x2070870b, 0x07204607, 0x11072222, 0x7c382d82,
-    0x182f22b0, 0x902280b6, 0x0322a022, 0x2250b45d, 0x71022260, 0x102200b4,
-    0x40290683, 0x02225022, 0x22d0b45d, 0x210d82e0, 0x9e8919b2, 0x19220222,
-    0xb2233b82, 0x8522190c, 0x41b22070, 0x11210a4e, 0x74e21810, 0x0714210d,
-    0x2206d348, 0x48373435, 0x5d0806f0, 0x34363201, 0x14062226, 0x22341316,
-    0x32161415, 0x71970236, 0x8c8ea184, 0x9b7184a4, 0xfe9b8281, 0x414035e4,
-    0x9740406a, 0x316033c4, 0x37744102, 0x7a6a803d, 0x3d806b79, 0x76697437,
-    0x33e0fd76, 0x5a30305a, 0x56ab0133, 0x30302756, 0x46000200, 0xa302f7ff,
-    0x13002003, 0x60001f00, 0x655314b2, 0x10142305, 0x501808b0, 0xff870bd1,
-    0x08a47d18, 0x08100222, 0x0227ff84, 0x10b0182f, 0x8811b210, 0x02b022dd,
-    0x20cf8b10, 0x0e1e4208, 0x22230622, 0x172bc686, 0x07061415, 0x36323523,
-    0x5c373227, 0xcc82056a, 0xe7013708, 0x877e5a42, 0xa28b84aa, 0x13e0dc02,
-    0x4e63798f, 0x33344223, 0x36013c41, 0x787d8a39, 0x3b97a6a4, 0x9301d9d7,
-    0x4534ac52, 0x394e4148, 0x01004437, 0x87029000, 0xab6b2d03, 0xfd2d311b,
-    0x029d0263, 0x0300aa87, 0x48049600, 0x9506a202, 0x0f310982, 0x4e001b00,
-    0x2f0db000, 0xb0d019b0, 0x07b22f19, 0x08765a09, 0xb0d00223, 0x07525602,
-    0x52560f20, 0x004f2707, 0x006f005f, 0xde825d07, 0xd003b025, 0x8203b019,
-    0x100d23f7, 0x368813b2, 0x01313026, 0x07230733, 0x8306fa44, 0x593720e6,
-    0x2e0805a7, 0x22232634, 0xe6bc0106, 0x6e8295f5, 0x696c4c4e, 0x636b514f,
-    0x30242534, 0x34252430, 0xdec29506, 0x4d65644e, 0x4b62634a, 0x25313125,
-    0x82333327, 0xfe0a329b, 0x041b044a, 0x0029004e, 0x00430036, 0x4408b29b,
-    0x06057a45, 0xb0d03026, 0x3ab01008, 0x200b8371, 0x0661471b, 0x1b2f1625,
-    0x821116b1, 0x1026260c, 0xb0d028b0, 0x411e1928, 0x08b2230b, 0x41842616,
-    0x0fb22f24, 0x09830816, 0xb22f0f23, 0x086a5035, 0x351bb223, 0x2214820f,
-    0x84081fb2, 0x10162325, 0x175c30b2, 0x10082309, 0x0d893ab2, 0xb2102623,
-    0x820d8841, 0x162325f2, 0x06141515, 0x2727ed82, 0x17141506, 0x85161633,
-    0x4224200d, 0x372105ad, 0x06cc4726, 0x01211723, 0x28208206, 0x36323316,
-    0x25273435, 0x089c7303, 0x06227d08, 0x8a1b0415, 0x80ce733a, 0x73254551,
-    0x8fcac3c2, 0xfed99afa, 0x7532b6f5, 0xc7fc645a, 0x71014b55, 0x312430fd,
-    0xac867288, 0x40eafe93, 0x7758597a, 0x0375b875, 0x166955a0, 0x125fa964,
-    0x034a2f23, 0x588e9a01, 0x799b62a6, 0x483259a5, 0x9e315177, 0xcaa2165f,
-    0x13e5fb14, 0x4d423048, 0x096b405e, 0x4bb30202, 0x124e6766, 0x4d66664a,
-    0x56000200, 0x5f04ebff, 0x10004e04, 0x6e001d00, 0x0a077f18, 0x53410920,
-    0x2f092406, 0x4109b11b, 0x4d180753, 0x6b440cd6, 0x1f621808, 0x0900270c,
-    0x39121102, 0x06840bb2, 0x7702b021, 0x09230c5e, 0x411bb210, 0x53080a2c,
-    0x22230625, 0x10353502, 0x17323312, 0x13033337, 0x16140123, 0x37363233,
-    0x23262635, 0x63030622, 0xe6c7f26e, 0x71e9c7e8, 0x736cdd1c, 0x7cc7fddd,
-    0x177c6074, 0x73637d11, 0x01d9c47f, 0x010ff420, 0xd736010a, 0xfde2fdc3,
-    0xa0f901e4, 0x2fa6abac, 0x00c5b9a5, 0x9b2ed182, 0xf2040000, 0x1600b005,
-    0x61001e00, 0xd94518b2, 0x6a182005, 0x411809b7, 0x06490cd2, 0x20c48308,
-    0x27eb820f, 0x593e0f0f, 0x010317b2, 0x4a052c57, 0x09220b1d, 0xd1491700,
-    0xcd7b1805, 0x0a854f0a, 0x16074e08, 0x17141513, 0x27262115, 0x23263435,
-    0x36322125, 0x21213435, 0x02fc9701, 0xf7fff529, 0xfe4705e5, 0x7b043bfc,
-    0x01d3fe70, 0xfe819014, 0x02e3fef8, 0x05aafd56, 0xe3cdd9b0, 0xf6fe4565,
-    0x1a3da973, 0x7479b831, 0x6d71ca80, 0x010000e6, 0x21c58200, 0xc5823005,
-    0x58000c22, 0x1805b14b, 0x52214b5b, 0x2f2215c3, 0x97181fb2, 0x023d234f,
-    0xfcfcac43, 0x01ac018b, 0x020cfe36, 0x02d0fe20, 0x0590fd70, 0x029cfdb0,
-    0xfd47fd64, 0x28918309, 0x04000081, 0x00000635, 0x07434c0c, 0x0c1cd018,
-    0x0ccd8f18, 0x530c1a42, 0x07270855, 0x12110208, 0x4f07b039, 0x945b0e7f,
-    0x23112807, 0x33113311, 0x82012101, 0x6fe23c02, 0x0169f2f2, 0xfe1c010f,
-    0xfe8f019f, 0xfed901e6, 0xfc000627, 0xfe9e019c, 0x41b5fd11, 0x1226061d,
-    0x0b00b005, 0x1d414c00, 0x0cd44105, 0xa6180720, 0xe1410b71, 0xb768180c,
-    0x03002208, 0x218b8201, 0x068505b2, 0x4d000921, 0x838b06e0, 0xfcfc973b,
-    0x01190206, 0x02a5fd38, 0x02c8fe7f, 0x0566fd9a, 0x027ffdb0, 0xfd35fd81,
-    0x070f411b, 0x18062224, 0x838c0a00, 0x20074067, 0x63b31806, 0x20838c0b,
-    0x06827009, 0x0600b222, 0x06858385, 0x838c0820, 0x3a050641, 0x01f2f273,
-    0xfe2a0159, 0xfedc0150, 0xfeeb01db, 0xfc180615, 0xfe9e0184, 0x83bafd0c,
-    0xff3e2e81, 0x05ef0313, 0x002a0073, 0x2b13b26f, 0x1563502c, 0x089d5518,
-    0x09220322, 0x23055c50, 0xb0d00cb0, 0x210c0159, 0xed6f09b0, 0x10b2230b,
-    0x28831318, 0xb0102226, 0x22b0d01f, 0x230b4d6f, 0x280326b2, 0x6f501a82,
-    0x3537230a, 0x72181533, 0x725009a4, 0x15072807, 0x26263523, 0x50143335,
-    0xcf240974, 0xcba6a0a9, 0x24087550, 0xbda0aec3, 0x0c7550e3, 0x10b48627,
-    0xc015dcd9, 0x0979508d, 0x11ac8629, 0xc713e1e1, 0x834ac09a, 0x00382eeb,
-    0x041a0400, 0x001f009d, 0x201bb26e, 0x3d4f1821, 0x10b14f0d, 0x05131f22,
-    0xb0212182, 0x0c3d7f1f, 0x7f180520, 0xb0340bc4, 0x08b0d007, 0x1000b0d0,
-    0xb0d00cb0, 0x0eb0101f, 0x1013b0d0, 0x220be87b, 0x851a1f17, 0x162130ea,
-    0x21072107, 0x36363335, 0x35232727, 0x18262733, 0x080a5671, 0x2117173c,
-    0x85fe4703, 0x98025006, 0x0a65fc01, 0x01032b29, 0x06039ba0, 0xd9c2bfd8,
-    0x4d5057f3, 0x01040557, 0xb2e50180, 0x0bc3c370, 0x93077d93, 0xd4eece69,
-    0x7e6a61bc, 0x01006979, 0xd1820e00, 0x8d043f29, 0x95001800, 0x831900b2,
-    0x05ca426c, 0x240c084f, 0xb11b2f18, 0x55de8718, 0x002208bd, 0x9b82180c,
-    0x0c09b223, 0x22068201, 0x4d2f09b0, 0x403a05c1, 0x1f040f0d, 0x3f042f04,
-    0x5f044f04, 0xb65d0604, 0x04df04cf, 0x5d0304ef, 0x401806b2, 0x0a200c42,
-    0xf5820d89, 0xee5f0920, 0x10062507, 0xb0d013b0, 0x4f071773, 0x33250565,
-    0x15072115, 0x22018221, 0x82213523, 0x27200801, 0x01333521, 0x01250221,
-    0xfe0b010f, 0xdafed5be, 0xfe360110, 0xcafef2ca, 0xfe093601, 0xbefedcd3,
-    0x2d06854f, 0x2a1d93b7, 0x91d9d991, 0x02931136, 0xeb820049, 0x00007624,
-    0xeb829703, 0x32000526, 0x070601b2, 0x0d8b5218, 0x820f8d59, 0x114a1883,
-    0x11212f0d, 0x03211123, 0xf3d2fd97, 0xc9032103, 0x488237fc, 0x00020022,
-    0x2807c951, 0x00080003, 0x0905b23c, 0x0611540a, 0xb9460220, 0x14805806,
-    0x0005b223, 0x18278202, 0x080a6d63, 0x21313021, 0x03330121, 0x21030727,
-    0x97fb7204, 0x69f6b901, 0x01de1312, 0xfe8d04e3, 0xfd4d4bc9, 0x5603006f,
-    0x0329086b, 0x20001200, 0x07b27600, 0x06a84a21, 0xd001b026, 0xb01007b0,
-    0x24072b78, 0xb11b2f0f, 0x20cd870f, 0x260c8207, 0x593e0f07, 0x830f03b2,
-    0xb07c2fef, 0xb4182f03, 0x03700360, 0x30b45d02, 0x06824003, 0x0300b224,
-    0xe98a7101, 0x0419b020, 0x58820caa, 0x230d6846, 0x05213521, 0x271ba156,
-    0x5afe3803, 0x3701a601, 0x2314a756, 0x76c3df01, 0x201ca956, 0x084f4101,
-    0x38000826, 0x0a0907b2, 0x4108a341, 0x6f5a1447, 0x0207220d, 0x412e8200,
-    0x25080549, 0x27012101, 0xfe0a0107, 0xf6b901ff, 0xfffeba01, 0x1312defe,
-    0x73fb8d04, 0x4d4b5603, 0x42000300, 0x55030000, 0x09828d04, 0x0b000728,
-    0x04b25e00, 0x7f550d0c, 0x00b02405, 0x4b04b0d0, 0x93520965, 0x0853500c,
-    0x2209945a, 0x830a07b2, 0x07b02473, 0x4804b22f, 0xb0220853, 0xc474100a,
-    0x268f830a, 0x21032135, 0x82132135, 0x55032b03, 0x1303edfc, 0x027efd49,
-    0x09834982, 0x3801c326, 0xc40a01c4, 0x21069d42, 0x93826204, 0x3f000722,
-    0x0cef7018, 0x1b2f0624, 0x545906b1, 0x08d04514, 0x5b0eb177, 0x21280628,
-    0xfdf46204, 0xec03f3fb, 0x2207ad42, 0x82440001, 0x82e620f7, 0x000c2563,
-    0x0d00b24b, 0x0961d718, 0x590ce954, 0x0120080e, 0xf953d288, 0x08b02306,
-    0x9c66b210, 0x2efc8209, 0x39121108, 0x01013130, 0x35211521, 0x82350101,
-    0x01280806, 0xe6fe9002, 0x5efc7002, 0xc1fe3f01, 0xbafd7c03, 0x45021601,
-    0x98c47ffe, 0xa601b701, 0x8ffec498, 0x50000300, 0x4d050000, 0x11288582,
-    0x1c001600, 0x08b26f00, 0x24053759, 0x14b01008, 0x216282d0, 0x3b431ab0,
-    0x82102006, 0x541020f9, 0x0f250cb2, 0x0fb2593e, 0x29758310, 0xb02f0fb0,
-    0x09b2d000, 0x7c441008, 0xd0062206, 0x1b7418b0, 0x0fb0210c, 0x820bb156,
-    0x14b02553, 0xd01bb010, 0x5b08ad82, 0x14150416, 0x23150704, 0x35242635,
-    0x35372434, 0x05020133, 0x34050411, 0x24112726, 0x01f04903, 0xede9fe14,
-    0xeafef0f3, 0xf3ef1701, 0x0104f9fd, 0x03ecfe18, 0x01829019, 0x0f150412,
-    0xfad0caf6, 0x0f6c6d0f, 0xf7cdd0f9, 0xb7fd780d, 0x0215fdfe, 0x85fb152a,
-    0xd6fd0a81, 0x01000015, 0x0320db84, 0x1822db82, 0x4f454b00, 0x8212200c,
-    0x451220cb, 0x16221042, 0xbe83120c, 0xcb831620, 0x1012b02a, 0xb0d017b0,
-    0x16b0d004, 0x200c9370, 0x2fb3830a, 0x11353636, 0x07061133, 0x23110706,
-    0x03022611, 0x34080c82, 0x11171614, 0x7f230333, 0x6801f36e, 0xe3f3fa7d,
-    0x70f302fb, 0xdd01f37d, 0x01a7c218, 0xe3cdfe2f, 0xfe1daf93, 0x161701e8,
-    0x00012a01, 0xd1fe3601, 0x0218c0a8, 0x2ca182af, 0x0400005f, 0x009d0484,
-    0xb25c0023, 0x01461807, 0x8219200a, 0x871920a1, 0x4a0f20a1, 0xb0240684,
-    0xb0584500, 0x2207bc47, 0x5e100fb0, 0x0e260b99, 0xd000b0d0, 0x591819b0,
-    0x11260c33, 0xd020b010, 0xb28221b0, 0xb2822520, 0x2006404e, 0x24aa8215,
-    0x33352115, 0x06d56026, 0x15004008, 0x07061415, 0x02211533, 0x946c78ad,
-    0x76948a8d, 0xb030fe74, 0x9cf283bd, 0x632a01ea, 0x2ffeb659, 0xb0c922c8,
-    0xa9ac9e2b, 0xc7b128a4, 0x9bc4c823, 0x91162701, 0xe3fe84ec, 0xdf8d19ed,
-    0x8200c44a, 0xff242cc5, 0x045205ec, 0x0019008d, 0x1816b26b, 0x870f2356,
-    0x820e20c5, 0x590e20c5, 0x18200781, 0x18200c82, 0x168c5518, 0x0208b223,
-    0x058a4d0e, 0x100eb024, 0xf56f0fb2, 0x08b02108, 0x2c0b4442, 0x21013130,
-    0x21152135, 0x32333615, 0x21c28216, 0xf05a3523, 0x222a0805, 0x01231107,
-    0x03a6fe7e, 0x8aa0fead, 0xf0f0da8d, 0x747673eb, 0xf3858175, 0xc4c4c903,
-    0xc6d427ee, 0x54bdc0bc, 0x26677269, 0x3962e7fd, 0x001d240a, 0x1803b28f,
-    0x570ad959, 0xb2201486, 0x21133962, 0x4e6215b2, 0x2f152d05, 0x0115ffb2,
-    0x150fb271, 0x3fb27201, 0xcf200983, 0xb42f0482, 0x157f156f, 0xafb47102,
-    0x0215bf15, 0x835fb25d, 0x838f201c, 0xbd661804, 0x03b02109, 0x200c6448,
-    0x197a621d, 0x82032221, 0x161624ef, 0x62363233, 0xfb28147c, 0xfe800116,
-    0x837e0a80, 0x37138162, 0x9f94c4cf, 0x02007062, 0x00002400, 0x8d041507,
-    0x20001700, 0x04b27600, 0x2405b746, 0x18b01004, 0x056b48d0, 0x560c1b43,
-    0x00210893, 0x090b5f45, 0x7d12b021, 0x0b200c4f, 0x0b4c5918, 0x1214b229,
-    0x39121103, 0x182f14b0, 0x820b6745, 0x0c555de1, 0x07061437, 0x03211121,
-    0x23060206, 0x36373723, 0x21133736, 0x16323311, 0x050c6425, 0x23264008,
-    0xcff91507, 0xa4fe15fe, 0xac580b0e, 0x26013491, 0x150c4e60, 0xdaec3b03,
-    0xf140fdfa, 0x66767567, 0xd2ab7f01, 0xfec90302, 0xfffeef9c, 0x0702cd75,
-    0x2b02ed9f, 0x0cd06cfe, 0x536b8efe, 0x5c006351, 0x0721051b, 0x25e58218,
-    0x001c0013, 0xb718b2c1, 0x132411bf, 0x13b11b2f, 0x870cf857, 0x8210200c,
-    0x5c102019, 0x00221028, 0xd6831310, 0xb42f002f, 0x00bf00af, 0x3fb25d02,
-    0xb2710100, 0x820483cf, 0xb2722709, 0x7201005f, 0x0e83ffb2, 0x09820f20,
-    0x006fb42a, 0x7102007f, 0xef00dfb4, 0xb4232b82, 0x822f001f, 0x9fb22106,
-    0xb2231982, 0x83020d04, 0x2f042448, 0x771000b0, 0xb0210aa7, 0x0c164f04,
-    0xe9420d20, 0x33112d0f, 0x16323311, 0x06141516, 0x21112123, 0x0d699718,
-    0x01692108, 0x8cf2f3fd, 0xd2ff6fd2, 0x03fe1ffe, 0xf002f3f3, 0x767567f1,
-    0x019e0266, 0x5f6cfeef, 0xd0af70ab, 0x21059661, 0x1f41a8fd, 0x00012e07,
-    0x05000024, 0x008d0452, 0xb2570015, 0x0a057c12, 0x240cfa5a, 0xb11b2f14,
-    0x0f0a4114, 0x1003b022, 0x250b5e47, 0x08b2d000, 0xae430314, 0x0a8f4405,
-    0x200c9d43, 0x22af8217, 0x43232634, 0x86270b99, 0x04ebde8e, 0x437474f3,
-    0xed350697, 0xfecbcf26, 0x7c5a0198, 0xe7fd2669, 0x00010000, 0x049ffe76,
-    0x269f8261, 0xb24f000b, 0x820d0c03, 0x0dcc795f, 0x4807ad41, 0x89481413,
-    0x4708200d, 0xb0260838, 0x3130d009, 0x8d822121, 0x62112121, 0x612c05b8,
-    0xfef38afe, 0x0502f37e, 0x019ffef3, 0xfc236f82, 0x42ca0336, 0x0421053d,
-    0x267d8428, 0xb25e0014, 0x84161508, 0x09a15fdf, 0x4d61758c, 0x46561808,
-    0x03b2230c, 0x3583080a, 0xb02f0323, 0x0cbd6508, 0x080cbc7c, 0x0131303d,
-    0x16331521, 0x23061016, 0x01211121, 0x34353632, 0x11232726, 0xb7fdb203,
-    0xf8f4cffc, 0x031ffed9, 0x68a8fe3c, 0xf6667073, 0x03e0cb03, 0xcca8fec4,
-    0x36fc8d04, 0x5d4f5463, 0x829cfe01, 0xfe2724a9, 0x821505af, 0x000f28a9,
-    0xb25b0015, 0x66171613, 0x0524064f, 0x0db000d0, 0x5c0ac96e, 0x63620c5e,
-    0x06f64c0d, 0xb0100d24, 0xab82d00a, 0xd010b027, 0xb0d011b0, 0x0b1d6705,
-    0x37313025, 0x1837023e, 0x081065aa, 0x424a8233, 0x030c0523, 0xfcf2963d,
-    0x0101f3f7, 0xfef00174, 0xc30d07a1, 0x7eb48651, 0x36fcc101, 0x5101ecfd,
-    0x1402affe, 0xfefc0603, 0x000100ae, 0x0600001a, 0x24ab821f, 0xb29e0015,
-    0x0a734201, 0x240c5d60, 0xb11b2f0e, 0x14dd410e, 0x0c157518, 0x200c9844,
-    0x20338215, 0x22d48315, 0x830e030c, 0x2f0c2dff, 0x010c3fb2, 0x0c5fb271,
-    0xcfb27201, 0xb4300982, 0x0cbf0caf, 0x8fb45d02, 0x020c9f0c, 0xd00fb072,
-    0x250b7478, 0x08b2d004, 0x3782040f, 0x0113b223, 0x0542490f, 0x82112321,
-    0x21032101, 0x0d83aa18, 0x5ff50338, 0xfefc60f3, 0xfe5c01d3, 0xf71e01c4,
-    0xf754f354, 0xc2fe1e01, 0x12825e01, 0x2bfed523, 0x27038201, 0x39025402,
-    0xe00120fe, 0xfd240383, 0x00a3fdd0, 0x422cf582, 0xe703f0ff, 0x27009d04,
-    0x26b28a00, 0x420a5d79, 0x1f7b0c43, 0x4e0a2008, 0xb2230b90, 0x82160a06,
-    0x26b22190, 0xb0250684, 0xcfb22f26, 0x20d68226, 0x2804823f, 0xbf26afb4,
-    0xb25d0226, 0x220b82ff, 0x82260fb2, 0x835f20e7, 0x42232004, 0xb22308eb,
-    0x83262310, 0x161c223b, 0x175c180a, 0x31302110, 0x20066e74, 0x078a5523,
-    0x1616072d, 0x23041415, 0x26272622, 0x54163335, 0x3f080582, 0x36333523,
-    0x6b70e202, 0xf3f3665b, 0x6ef4d8c3, 0xfe6e6f5d, 0xaf5ddcfe, 0x0bf37c3f,
-    0xe07477ca, 0x03c79a94, 0x464f4643, 0xa7b3943c, 0x278a5b96, 0x9f5b9124,
-    0x5b2f2db5, 0x4857939f, 0x04b003a6, 0x2b05e34d, 0x8d046e04, 0x4c000900,
-    0x0b0a00b2, 0x0d355b18, 0x4f0c4b4a, 0xb0200fae, 0x0c0e4218, 0x00030422,
-    0xb2233b82, 0x41080509, 0x333c059f, 0x01112311, 0x11331123, 0xf3f37b03,
-    0xf3f3eefd, 0x73fb8d04, 0xddfc2303, 0xe0fc8d04, 0x40207786, 0x0c227782,
-    0x594b7700, 0x0c8f6419, 0x4f0c9e52, 0x06220854, 0x70820502, 0x2f06b02e,
-    0x01063fb2, 0x065fb271, 0xcfb27201, 0xb42d0982, 0x06bf06af, 0x8fb45d02,
-    0x02069f06, 0x0a4c4272, 0x1966b220, 0x52232008, 0xd33c0b37, 0x63f3f36a,
-    0x1d013801, 0xad0172fe, 0xd501d1fe, 0x8d042bfe, 0xe00120fe, 0xaefdc5fd,
-    0x20064761, 0x26af8255, 0xb24d0010, 0x41121104, 0x31521527, 0x00b02114,
-    0x200cc150, 0x0b6a4409, 0x24068954, 0x06020603, 0x06664707, 0x55042508,
-    0x0fa4fef3, 0x8caa570c, 0x6227013a, 0x04160c4a, 0x0373fb8d, 0xed9ffec9,
-    0x0178fefe, 0xa00b04cd, 0x002b02e6, 0x1f249182, 0x3904ecff, 0x0f249182,
-    0x00b24300, 0x4e0a8561, 0x064e0ccf, 0x0706450c, 0x0801b223, 0x7dc0820f,
-    0x87820ad2, 0x13172008, 0x020e0121, 0x17372723, 0x21013732, 0xf3132902,
-    0x70fe0a01, 0x5a7e5a38, 0x60570166, 0x825bfe33, 0x374b2e1d, 0x7efc7902,
-    0x0538697e, 0x036104c0, 0x2485837f, 0x05affe76, 0x24858224, 0xb242000b,
-    0x06054609, 0xd5440320, 0x0c0e6005, 0x610c4b43, 0xf84508a3, 0xd000280a,
-    0x33253130, 0x45112303, 0x623407f8, 0xfcdd14c2, 0x0502f343, 0xecfdc3f4,
-    0x8d045101, 0xca0336fc, 0x4121f782, 0x05d16200, 0x46001122, 0x111fa818,
-    0x650c2248, 0x0d2210a0, 0xf7820901, 0x4e0db021, 0x30200b7d, 0x071da818,
-    0x33112723, 0x05ba7411, 0x1604333c, 0xea8186f3, 0x6ff301f0, 0xf3858279,
-    0xd226aa01, 0xfe6601d1, 0x266c779e, 0xbb421f02, 0x0e062105, 0x4122f384,
-    0xf38607b2, 0x90080c43, 0x0ae84e74, 0xb0100324, 0x2f4fd006, 0x06b02405,
-    0x460ab010, 0x332005eb, 0x062af287, 0xf368fa0e, 0x01f35f01, 0xed85f360,
-    0x7624f186, 0xd106affe, 0x0f246f82, 0x0bb24100, 0x4106e941, 0x3f5e1363,
-    0x44002008, 0xb0270863, 0x09b0d00d, 0x8307b0d0, 0x0eb0216c, 0x830e6241,
-    0x0f062677, 0xfadd14c2, 0x41768596, 0x7b840b69, 0x0a000226, 0x1b050000,
-    0x0c287b82, 0x5e001500, 0x171608b2, 0x20066747, 0x068b4a14, 0x450ce441,
-    0x072008f2, 0x230b7e4a, 0x03070ab2, 0x0a233583, 0x4d03b02f, 0xc0540da9,
-    0x3130220b, 0x05734a01, 0x11213525, 0x47163233, 0x05330868, 0xfecff91b,
-    0x02a2fe15, 0xf9dbeb52, 0x756632fe, 0x4af96271, 0xc430065c, 0xfed06cfe,
-    0x4f536b9a, 0x8efe0263, 0x7600ffff, 0xa920ab82, 0x262aab82, 0x00000802,
-    0xc2010700, 0x07823204, 0x4805d16d, 0x4d22072b, 0x2b4803b2, 0x48032005,
-    0x3150092b, 0x07b22314, 0xf8560604, 0x41132006, 0x034a094e, 0x20b2840c,
-    0x83ae8223, 0x2ab189b0, 0xd2ff2804, 0xf2f31ffe, 0x886fd28c, 0xd0af29af,
-    0x6cfe8d04, 0xd4feab5f, 0x002eae86, 0x3c000100, 0x3004f0ff, 0x1d009d04,
-    0xd94c8700, 0x0cdf4b0c, 0x1b2f1a2b, 0x3e0f1ab1, 0x1a00b259, 0x218f8212,
-    0x8c8803b2, 0x1209b223, 0x05cc4f1a, 0x2008246c, 0x071a6c71, 0x6c06416c,
-    0xb2240832, 0x7201095f, 0x0b5f7818, 0x41181220, 0xb2210bd1, 0x8249840e,
-    0x05ba4ccf, 0x21352128, 0x06222302, 0xa6182307, 0x42080b8f, 0x2f012724,
-    0x82787c0d, 0x7ffe0a80, 0xfb168001, 0xf30c7d72, 0xd6040114, 0x0c1701e2,
-    0x9bea7b01, 0x0ff8fedc, 0x62708401, 0x01c4949f, 0xc2706931, 0xf0e8feda,
-    0x88ffa975, 0x0000bada, 0xff760002, 0x824106f0, 0x001328eb, 0xb2af0021,
-    0x83232204, 0x180420b9, 0x50096343, 0xda4d0cbb, 0x0c176b14, 0x080db223,
-    0x05ca430b, 0xafb42008, 0x020dbf0d, 0x0d6fb45d, 0x71020d7f, 0x010dffb2,
-    0x0d0fb271, 0x8fb47201, 0x020d9f0d, 0x825fb272, 0xcfb2210b, 0x3f201583,
-    0xb4230482, 0x822f0d1f, 0x4110832d, 0x10230c0e, 0x4117b210, 0xb0210858,
-    0x0d107103, 0x00100125, 0x18002223, 0x21070074, 0x676a0036, 0x41063011,
-    0xdeeddffe, 0xbc13e2fe, 0x14bcf2f2, 0x6adc1d01, 0x102a126d, 0x041efee2,
-    0xe918fe8d, 0x706a0f01, 0x0002260e, 0x04000043, 0x06654312, 0x06b25a22,
-    0x21056543, 0x59181006, 0x654308ff, 0x088a580c, 0x07091128, 0xb0391211,
-    0x64522f11, 0x0a01220b, 0x09305811, 0x224a0720, 0x3343080d, 0x34352601,
-    0x11213336, 0x03231123, 0x33161413, 0x22231133, 0x16014306, 0x01d3f0d6,
-    0xe6f1f3cc, 0xdd6b612e, 0x026b61dd, 0xa3d1560a, 0x0173fbb9, 0x0344febc,
-    0x01594a22, 0x0000574a, 0x000a0001, 0x82ff0300, 0x000d26a5, 0x0e01b250,
-    0x15f7670f, 0x1b2f022b, 0x3e0f02b1, 0x0207b259, 0x063f4308, 0x1f500420,
-    0xd0012309, 0x794208b0, 0x07b0260b, 0xd00cb010, 0x05ba6930, 0x3335233f,
-    0x21152111, 0xa7023311, 0xd4d4f3d6, 0xd2fd2103, 0xfee601d6, 0xaae6011a,
-    0xfec4fd01, 0x248383c7, 0x06affe1a, 0x2483826d, 0xb2a40019, 0x06c75008,
-    0x4a060b45, 0x62460ca4, 0x00b02407, 0x18b05845, 0x6a0ce844, 0x17220859,
-    0xa0831109, 0xb22f1726, 0x7101173f, 0x73094273, 0x5a73076b, 0x42072006,
-    0xb2230817, 0x56170700, 0x4f4805ae, 0x25c1830a, 0x0fb2d00b, 0x4c840717,
-    0x12b0102b, 0x1011b0d0, 0xb0d014b0, 0x26d78318, 0x23113313, 0x4a032311,
-    0x042611ae, 0xd0beeec1, 0xb04afdab, 0x5d022812, 0xedfd65fe, 0x4a015101,
-    0x002f12b2, 0xfe760001, 0x047c04af, 0x0010008d, 0x4800b288, 0x04200689,
-    0x24057147, 0xb11b2f0c, 0x0c92520c, 0x01410c87, 0x08a6680c, 0x0c090d22,
-    0x24054443, 0x010d3fb2, 0x092a4371, 0x43075343, 0xa5470642, 0x00b22309,
-    0x31830d08, 0x41100621, 0x30230a01, 0x84010131, 0x490120e5, 0x02280851,
-    0xc8210193, 0xc2fe9bd0, 0x23075549, 0x70fe5202, 0x5749d387, 0x05474705,
-    0x82fe0421, 0x001426c9, 0x1505b280, 0x084f4216, 0xc6821420, 0xb9871420,
-    0x200c9c45, 0x20198211, 0x07ee4e11, 0x2109165c, 0xf94f1411, 0x05f24f05,
-    0x01005f28, 0x00cfb272, 0x08507101, 0x8fb42a06, 0x02009f00, 0xd004b072,
-    0x0df774b0, 0xb2d00c25, 0x4a000c08, 0x352306af, 0x5b331533, 0x232305bf,
-    0x84352315, 0x012508c9, 0x37a34769, 0x1c013801, 0xae0172fe, 0xc2fed1fe,
-    0xf347a33e, 0xdead02f3, 0xfde001de, 0x01affdc4, 0xfecbcbd5, 0x053f6a2b,
-    0x00002424, 0x0a824e05, 0x85000e24, 0xef6f09b2, 0x0cb9430a, 0x4a0c0449,
-    0x5a180ccf, 0x082208e9, 0x90820702, 0x2f08b02a, 0x01083fb2, 0x085fb271,
-    0x0982cb83, 0x08afb42b, 0x5d0208bf, 0x9f088fb4, 0x0ccf4a08, 0x4f07b021,
-    0x84180bec, 0x02271767, 0xfef36ae1, 0x4a5302a0, 0x03240ee2, 0x20fec3ca,
-    0x0033cc85, 0xff4f0002, 0x049805eb, 0x002300a5, 0xb28c002e, 0x83302f15,
-    0x10152189, 0x08013419, 0x1b2f1b24, 0xa64e1bb1, 0x1466570c, 0x2109f757,
-    0x7f181b04, 0x134d25dd, 0x02b02a09, 0xd026b010, 0xb2101bb0, 0x0876432c,
-    0x05313038, 0x23062722, 0x35030020, 0x15330034, 0x15150622, 0x33331614,
-    0x0f822637, 0x3233122d, 0x10151712, 0x01331607, 0x63361710, 0x56080581,
-    0xe3980511, 0xfea991ae, 0x04acfeda, 0x71db0801, 0x1bc0cb7f, 0xdc02c01b,
-    0x01ddc6bf, 0xfd5c5fa3, 0x01a2be94, 0x10b35b53, 0x3c013e39, 0xfe3a1801,
-    0xb4cc2e01, 0xcdcb26b1, 0x1e01aa02, 0x0d01ea2c, 0x48ecfcfe, 0x0badfffe,
-    0xf4fed201, 0x35f3786f, 0xd2fe90a0, 0x6a00ffff, 0x263c07fb, 0x0000d201,
-    0xde010700, 0xd5fe3b00, 0x15000100, 0x8b04affe, 0x0f008d04, 0x0ab25a00,
-    0x20069d49, 0x058f4307, 0x4b0c145c, 0x0b200c97, 0x4406b472, 0xb2260c9e,
-    0x110b0f00, 0xbb513912, 0x0ab2230a, 0x9f420f0b, 0x21132105, 0x21066443,
-    0x09820303, 0x6b022121, 0x092306b0, 0x6b92cfc4, 0xfe250fb1, 0x01edfd77,
-    0x0ab56b51, 0xaffe2424, 0xa1842e06, 0x09b25c22, 0x0220a186, 0x0a7e5018,
-    0x410cfe55, 0xea5a0fd2, 0x1808200b, 0x240bec4f, 0xb0d00ab0, 0x078b5d0b,
-    0x4bd00d21, 0x250808bd, 0x15213521, 0x11211121, 0xc46a0533, 0x44fcde14,
-    0xa203a4fe, 0x0602acfe, 0xecfdc3f2, 0xc9035101, 0xfafcc4c4, 0xeb6bca03,
-    0x16042106, 0x17249782, 0x04b24f00, 0x0a136c18, 0x240cc644, 0xb11b2f16,
-    0x10544b16, 0x0c011029, 0xb0391211, 0x45b22f10, 0xb027099e, 0x10b0d004,
-    0x8213b010, 0x2321298a, 0x15070611, 0x26263523, 0x0805d54b, 0x3335172d,
-    0x11373615, 0xf3160433, 0xcca3564c, 0x54f302cf, 0x584aa356, 0x16aa01f3,
-    0x0dc8cc0a, 0x6a01bfd1, 0x696b9ffe, 0x09f2f30c, 0x831f0218, 0x0076249b,
-    0x824b0400, 0x0f654c9b, 0x540cd241, 0x96470c88, 0x10042208, 0x239b8301,
-    0x0db22f04, 0x260ac342, 0x36113313, 0x18163233, 0x080a65cb, 0x86f3762f,
-    0xf3efed80, 0x85817475, 0xfe8d04f3, 0xd1d62656, 0x61019efe, 0xfd26697c,
-    0x000200e0, 0x05f0ff0a, 0x00a304a8, 0x0023001b, 0x240db264, 0x23548325,
-    0x1db0100d, 0x5106794b, 0x73430c86, 0x0e202208, 0x20278300, 0x7d7f1820,
-    0xd003290c, 0xb01020b0, 0x00b0d00a, 0x200ce359, 0xd44a180e, 0x0548080d,
-    0x26270020, 0x14333526, 0x023e1716, 0x11002033, 0x21122115, 0x17373732,
-    0x22030606, 0x35210706, 0xc9032634, 0xc0fefafe, 0xc1bfae0c, 0x8f095854,
-    0x000191f1, 0xc0fc1701, 0x864f0112, 0x3b412f73, 0xa080a1c5, 0x954c0208,
-    0xea3dff82, 0x5dbbdd0b, 0xe4920c76, 0xfee5fe7e, 0xd0fe95f7, 0x21ba122b,
-    0xa5ee032c, 0x9586168c, 0x24dd8200, 0x04f0ff4f, 0x24dd8281, 0x001e0016,
-    0x69ed185e, 0x0c7f5017, 0x3ba37b18, 0x14151725, 0x82230606, 0x354b08d2,
-    0x23262621, 0x27070722, 0x32133636, 0x15213736, 0x39021614, 0x3b010b01,
-    0x96f98c02, 0xebfefefe, 0xb3073f03, 0x2d7686a6, 0x98c94041, 0xfd0a9e81,
-    0xa30494b4, 0x7af9dcfe, 0x0188f99b, 0x9508011c, 0x112c9a96, 0xfc2b22ba,
-    0x848ea312, 0x00012ec9, 0x03ecff42, 0x008d04e8, 0xb2690019, 0x17595912,
-    0x2008ef43, 0x0b687102, 0x0204b22a, 0x39121100, 0x020b19b2, 0xb0270682,
-    0x05b02f19, 0x850fb2d0, 0x0df4740c, 0xb2101923, 0x08454918, 0x01313025,
-    0x18213521, 0x22099d7b, 0x52163335, 0x2e080510, 0x02352323, 0x03defd8d,
-    0xc6fe0152, 0x00ffc2a2, 0xf3f7d0df, 0x73657104, 0x037df173, 0xfe9bc4c9,
-    0x8bbf14c0, 0xa1b9c0a8, 0x535a5049, 0x5f00bbb0, 0x0e260923, 0x1c001500,
-    0x91757e00, 0xd00f230a, 0x235f03b0, 0x15904b09, 0x5a7ca282, 0x0b13220a,
-    0x2fc48203, 0x2f13b07c, 0x1360b418, 0x5d021370, 0x401330b4, 0xb2290682,
-    0x5d0113f0, 0x011300b2, 0x18528271, 0x220b094f, 0x58b21013, 0x275f0c73,
-    0x2201230d, 0x9f180706, 0xc975091b, 0xf0fd300d, 0x020e9479, 0x78930e36,
-    0xfd0e9179, 0x75950fcc, 0x012b12d1, 0x95959d7f, 0x9ddbfc9d, 0x629d9393,
-    0x27240b8b, 0x25b2ae00, 0x240ae553, 0xb11b2f1d, 0x10695c1d, 0x0c1d0622,
-    0xb03dcd82, 0x0fb22f06, 0xb05d0106, 0x01b0d001, 0x01cfb22f, 0x09405d01,
-    0x012f011f, 0x014f013f, 0x82d48204, 0x02b22110, 0x23099961, 0x07b21006,
-    0x5d0c546c, 0xb03609fd, 0x0fb0d00e, 0x1007b0d0, 0xb0d011b0, 0x13b01006,
-    0x1002b0d0, 0x578216b0, 0x18b01028, 0x101db0d0, 0x2d4424b2, 0x21b22308,
-    0x7d820124, 0x210cb22c, 0x31305d01, 0x21152101, 0x04821517, 0xd2620620,
-    0x23372406, 0x62353335, 0x012c11d5, 0xfe8301c4, 0x7b010382, 0x261273fe,
-    0x0805da62, 0x9612343c, 0x999e03a1, 0xbfd80601, 0x54f3d7c4, 0x05574d53,
-    0x4292ba02, 0x35459316, 0x6c0ec3c3, 0x924a0e93, 0xd0eece27, 0x7e675ab6,
-    0x01000079, 0xf0ff4600, 0x9e04b003, 0xa0002200, 0x76180ab2, 0x84450aef,
-    0x08e8440c, 0x09162222, 0xb030a582, 0x0fb22f22, 0xb45d0122, 0x22202210,
-    0x00b25d02, 0x500cb662, 0x00290afd, 0xd00cb010, 0xb01022b0, 0x3105840e,
-    0x13b0d013, 0x13cfb22f, 0x1fb65d01, 0x3f132f13, 0x3b820313, 0xb2200d82,
-    0x1b036318, 0xb0d01d26, 0x1fb01010, 0x0c036318, 0x27242226, 0x35333523,
-    0x362b0382, 0x17323336, 0x22232607, 0x82152107, 0x034c0801, 0x1183fe4e,
-    0x79506f7b, 0xd46e761b, 0x971afffe, 0x1a989292, 0x7a6cd3ff, 0xd6755b16,
-    0xfe7c0122, 0x0183017d, 0x1c686a84, 0xc4d01fbf, 0xc3935c92, 0x1cbf20d6,
-    0x005c93d6, 0x76000400, 0xc7070000, 0x03009e04, 0x1d000f00, 0xaa002700,
-    0x23495c18, 0x24074542, 0xb11b2f24, 0x14c04a24, 0x5c182120, 0xb6282249,
-    0x02100200, 0x5d030220, 0x200ab56e, 0x0c5f6fb0, 0x6c06b021, 0x5c180b8f,
-    0x25230f4d, 0x18213521, 0x49114d5c, 0x0624051b, 0x01230115, 0x3b069b5a,
-    0xc5fd8807, 0x8afd3b02, 0xc03601bf, 0xc1cafebe, 0x50535aaf, 0x4f5d0258,
-    0xa6fe5d4e, 0x3807be79, 0xf20195c8, 0x9cb8b996, 0xb8b89648, 0x6557059b,
-    0x57535462, 0xfc5b6364, 0x0dd779b4, 0x0000282e, 0x8d04aa04, 0x1e001500,
-    0x0db28c00, 0x2305bd69, 0x17b0100d, 0x4706ab46, 0x2f610cd1, 0x03062108,
-    0x20076343, 0x08fa4205, 0x1801b021, 0x18094f60, 0x31085643, 0x9f0a8fb6,
-    0x030aaf0a, 0x0a1fb45d, 0x71020a2f, 0x2f8909b2, 0x2f841320, 0xb0d01429,
-    0x16b0100a, 0x4f0cb0d0, 0x25210dba, 0x63601821, 0x1016240c, 0x78210706,
-    0xf6240b1a, 0xd0f3f5fe, 0x33080082, 0xf6d1eb01, 0xf6fec8ed, 0xf5fe0b01,
-    0x757361f8, 0x9999f95e, 0xb74db699, 0xfed33a02, 0x4d05cdb4, 0x55670401,
-    0x02006556, 0xecff7c00, 0x00064604, 0x1a000f00, 0x246b0019, 0x300c0559,
-    0xb11b2f06, 0x593e0f06, 0x030c05b2, 0xb2391211, 0x8306840a, 0x0a6252b3,
-    0x280ce467, 0x14013130, 0x27222302, 0x9f291907, 0x04320813, 0xc0c7f346,
-    0xf3d2116d, 0xf0ccb269, 0x9a7b8bf3, 0x7a994744, 0xf411028a, 0x7a8ecffe,
-    0xd2fd0006, 0xfed6fe7c, 0xbba608fa, 0x8737fe85, 0x010000bc, 0xbd825000,
-    0x4e040028, 0x4b001d00, 0x4b5f17b2, 0x2052180a, 0x0826560c, 0x23094654,
-    0x100803b2, 0x1420b083, 0x51054b62, 0xb6180c2d, 0x35250b32, 0x36363435,
-    0x06537f33, 0x0805a84b, 0x5a420233, 0x04e4067a, 0xe674ca7a, 0xe17af2fe,
-    0x06f4c398, 0x5c7807e4, 0xae858579, 0xb0664f69, 0xfe2b0164, 0x87fb9e19,
-    0x765fb4e4, 0xad1bb2b3, 0x000200b0, 0x2aa5824f, 0x00000617, 0x001c0011,
-    0x621ab264, 0x1a2005ed, 0x4b050b6c, 0x52180659, 0xd14f0cde, 0x0d4c4b07,
-    0x0d040622, 0x0b20b283, 0xb0200684, 0x210cae5d, 0xcf5f04b0, 0x3130220b,
-    0x2cb58413, 0x11331117, 0x23062723, 0x35262622, 0xc44a1837, 0x703c080a,
-    0x6aac82cd, 0x6c11d3f3, 0x74cb7ebb, 0x947b8df3, 0x7d924646, 0x9f26028d,
-    0x02778cfd, 0x7500fa29, 0x9bfd8c89, 0x81c29d01, 0xc17dd701, 0x00ffff00,
-    0x0200005b, 0x00b505b2, 0xb3150006, 0x2e05bb7b, 0x045504ec, 0x000f004e,
-    0xb2430019, 0x821b1a04, 0x43828297, 0xcc8c081d, 0x7c08d958, 0x2b820935,
-    0x870a9d52, 0x150024ae, 0x82061415, 0x003e08ad, 0x16141735, 0x34353632,
-    0x4c062226, 0xe696eb82, 0xed7f2001, 0xe1fee698, 0x93fc95f2, 0x0295f897,
-    0x8bfd9f27, 0x0dfccdfe, 0x018dfc9d, 0xa009fe31, 0x9fb5c4c4, 0x0200c6c5,
-    0x60fe7c00, 0x97824404, 0x1b001028, 0x19b26e00, 0x97831d1c, 0x18101921,
-    0x24084dad, 0xb11b2f0d, 0x07456e0d, 0x0c525f18, 0x19820720, 0x6f110721,
-    0x765606b3, 0x0d062208, 0x21418204, 0x06840bb2, 0x5f0db021, 0x04200c2e,
-    0x840eeb47, 0x274508ba, 0x33112311, 0x32333617, 0x34071712, 0x07222326,
-    0x32331611, 0x6f440436, 0x6cb181c8, 0x6c0ed9f3, 0x0aefc1ba, 0x927c91f1,
-    0x78934544, 0x9e110293, 0xfe748afd, 0x71da0500, 0xecebfe85, 0x78c29f27,
-    0xc37817fe, 0x20c98200, 0x20c9824f, 0x20c98616, 0x20c98a6b, 0x0b677c04,
-    0x141f4d18, 0xc9820920, 0xc9870920, 0x42081a52, 0xb2210c3b, 0x0cff5514,
-    0x180bb248, 0x2609074d, 0x23061123, 0x42270222, 0x2c080b37, 0xb786cd6f,
-    0xf3d2116b, 0xf6beaa6a, 0x7893f20b, 0x8c484690, 0x26028f7e, 0x828afca2,
-    0x0126fa6e, 0x1c0170fc, 0xc59e27e2, 0x73f40176, 0x24c583c6, 0x04ecff53,
-    0x24c5820b, 0x001e0016, 0x12134b7c, 0x4b0cad6d, 0x1b3a08f1, 0x12110008,
-    0x2f1bb039, 0xcf1bbfb4, 0xb45d021b, 0x1b6f1b5f, 0x1fb47102, 0x06822f1b,
-    0x1b8fb228, 0xefb45d01, 0x0b83ff1b, 0x424a0c20, 0x0e095108, 0xfe540820,
-    0x3130220b, 0x9a7a1805, 0x15122808, 0x16162115, 0x4c363233, 0x35080b05,
-    0xfef27602, 0x8be27dcf, 0x3efdf1dd, 0x558da90f, 0x3f3a3192, 0x7c66a7bd,
-    0x73d00110, 0xf7280114, 0x8bf99e21, 0x7bf7f4fe, 0x202f9d85, 0x033932a6,
-    0x1a7c8d9f, 0xe1837f70, 0x56fe5124, 0xe1820404, 0x24001926, 0x22b28300,
-    0x2105ab74, 0x2b191022, 0x00208241, 0x0dc64e18, 0xc8410220, 0x514d080a,
-    0x6bbdc3e7, 0xfafed011, 0x37af57ed, 0x8e837535, 0xbeae6a82, 0x7381f2ea,
-    0x94444397, 0x26028076, 0x862b01fd, 0xf210fc72, 0x212efefe, 0x94963fb0,
-    0x2f017622, 0x85b7a8f6, 0xb57fd101, 0x00010000, 0x05ebff6b, 0x00c50526,
-    0xb240001d, 0x0a75450c, 0x1b2f0c24, 0x5b180cb1, 0x0d460f8b, 0x421a2011,
-    0x3020087e, 0x151f3f19, 0x15024208, 0x33121415, 0x05373632, 0xd2fe1724,
-    0xdcfeb6f9, 0x019e01a0, 0x01fbb720, 0x16fd1734, 0xccac90a3, 0x9b91acd2,
-    0xe9da0116, 0x01b4fafe, 0xd53cd245, 0xfeb44a01, 0x9298e9f3, 0x34efe6fe,
-    0x8fe4feeb, 0x26a58a96, 0xb2550020, 0x5322210c, 0xa598088d, 0x640aa044,
-    0xb2210c3d, 0x05d64620, 0x6b2f2021, 0x25350c0a, 0x22230406, 0x35270224,
-    0x33241234, 0x23170432, 0x02222102, 0x08b98607, 0x35211143, 0x46260521,
-    0xc0b0dcfe, 0x02adcefe, 0xb723019f, 0x1f2b01f8, 0xe9fe2ef9, 0xe803d3aa,
-    0x1f9b64bc, 0x1f02ddfe, 0xb2725fbc, 0x31d14801, 0xb64f01d9, 0x0701e3f0,
-    0x33e9e5fe, 0x30dffeec, 0xc01b0124, 0x05457200, 0x0517052b, 0x000b00b0,
-    0xb2460015, 0x05475703, 0x40180320, 0x0124096f, 0x01b11b2f, 0x106b7e18,
-    0xfd610120, 0x5a00200c, 0x40080ba3, 0x11333130, 0x12043221, 0x02141517,
-    0x11030704, 0x35123233, 0x23023435, 0xc8be019b, 0x03b24101, 0xccc0feb0,
-    0xf8dcaec4, 0xb005daf1, 0xc8c3feb1, 0xbffecc38, 0xe40403b2, 0x0e01e6fb,
-    0x01ea26f0, 0x2a95830c, 0x05ebff6b, 0x00c50572, 0x82200011, 0x09cf6595,
-    0x2007c94f, 0x2095820d, 0x7d95870d, 0xb14608c9, 0x421d2010, 0x8e820b07,
-    0x220b4d41, 0x82071712, 0x02222695, 0x16141515, 0x08a48216, 0x72053740,
-    0xb4d8fea6, 0xaad8feb2, 0x2a01a501, 0x2601b2b4, 0xdcfb04a8, 0x66dfa9ad,
-    0xd8a46eb6, 0xcec3020a, 0xbabab0fe, 0x31c94e01, 0xc04d01cb, 0xc6b9feb7,
-    0x2201e412, 0x25e8dbfe, 0x0186f193, 0xb785da09, 0xb7840320, 0x23001422,
-    0x0820b782, 0x23058150, 0x20b01008, 0x20065545, 0x20b78210, 0x63b78710,
-    0x10210863, 0x0b576610, 0xb2100823, 0x24b78d20, 0x25071707, 0x21bb8806,
-    0xba8f0420, 0x72053538, 0xa5ef8997, 0x3e43d5fe, 0xaadafeb3, 0x2801a702,
-    0x27016801, 0xbe8201a8, 0xdeaa3008, 0xae6fb566, 0xcac602d9, 0xc062bdfe,
-    0xb70df594, 0x2ecb4d01, 0xbb5201d0, 0xceaffeb7, 0x1f01ec05, 0x1defddfe,
-    0x0184f297, 0x0000f520, 0x82970001, 0x04ef26c6, 0x0006008c, 0x053a6732,
-    0x450c5160, 0x04280842, 0x12110500, 0x2f04b039, 0x350a5d5b, 0x23213130,
-    0x25350511, 0xf3ef0233, 0x39029bfe, 0x7a69031f, 0x5382d0cd, 0x00006e2c,
-    0x9e042c04, 0x59001900, 0xef4f09b2, 0x0c7e580a, 0x18205a88, 0xb223fc88,
-    0x82001802, 0x03b22365, 0x06821100, 0x1011b022, 0x210ac54a, 0x14840cb2,
-    0x1117b222, 0x25058e56, 0x01352121, 0x0e6a3636, 0x23380806, 0x33363634,
-    0x14151632, 0x21010706, 0x60fc2c04, 0x3946fb01, 0x7b675a69, 0x85d779f3,
-    0x6e57eaca, 0x4902b1fe, 0x3fba019f, 0x5a484063, 0xbc736078, 0x5a9cb76a,
-    0xd6fe669f, 0x2a06c752, 0xc4059703, 0x32000700, 0x180803b2, 0x5709159e,
-    0x2c590c56, 0x10062108, 0x0a846418, 0x31302108, 0x21113301, 0x21112311,
-    0xfdf3a402, 0x2e02f3d2, 0x05fec405, 0x8d0437fc, 0x0f000100, 0xf203a3fe,
-    0x19220982, 0xf5505900, 0x2f0c2e08, 0x584500b0, 0x1b2f02b0, 0x3e1d02b1,
-    0x0a395459, 0x2306a47f, 0x020c05b2, 0x0524fb83, 0x100cb02f, 0x240a8a66,
-    0xb21005b0, 0x9f6f1817, 0x19b22208, 0x06d87317, 0x21352125, 0x83160115,
-    0x230424f9, 0x50372722, 0x400805e4, 0x35232326, 0xbafd9e02, 0x9dfe7703,
-    0xfe90dbab, 0xcec7b0f2, 0xa4ad9d39, 0x48b7aac4, 0x8fc4c903, 0xf71a80fe,
-    0x84f3a3b0, 0xb858b667, 0x7b929692, 0x00020000, 0x04c4fe35, 0x008c048b,
-    0x000e000a, 0x05094252, 0x0cd24318, 0x4b0c8b57, 0xff4a08a5, 0x06b02c09,
-    0xd005b010, 0xb22f05b0, 0x83000608, 0x100028c1, 0xb2d00cb0, 0x8202090d,
-    0x303d080c, 0x15332531, 0x11231123, 0x33012721, 0x07112101, 0xb6b6d503,
-    0x0658fdf2, 0xfdfaa602, 0x17aa0164, 0xc5fec3c2, 0x03943b01, 0x0236fcf9,
-    0xff002a80, 0x024b00ff, 0x05aa028d, 0x010703b8, 0x209e82d4, 0xed781898,
-    0x2f0a2c07, 0x1f0ab11b, 0x10b0593e, 0x833130d0, 0x02352627, 0x05be0298,
-    0x202782ad, 0x18278bd8, 0x820d1579, 0x824f204f, 0x84ae204f, 0x84d92027,
-    0x85102027, 0x07ee44e3, 0x82313021, 0x824d2023, 0x05b92223, 0x204b82ba,
-    0x204b8bda, 0x20738200, 0x20738300, 0x20738614, 0x85738236, 0x8bdb204b,
-    0x8205204b, 0x82052027, 0x894b8427, 0x84dc20bf, 0x85192023, 0x1811206f,
-    0x2307e26f, 0x11b0d019, 0x8305a64f, 0x024624c5, 0x84a3028f, 0x8bdd20ed,
-    0x82082079, 0x8208202d, 0x1ab02151, 0x00377983, 0xfe660001, 0x041e04a0,
-    0x001c008c, 0x1d19b25d, 0x3912111e, 0x570eb000, 0xc4180d49, 0x01210c78,
-    0x2222820e, 0x522f07b0, 0xb2230a45, 0x83190705, 0x09651814, 0x11b2220c,
-    0x22148313, 0x7e191cb2, 0x03240a8e, 0x12363736, 0x4205414b, 0x36080959,
-    0x87070622, 0xfd29035a, 0x86652d9a, 0xf585edcf, 0x4ab5e4a5, 0xab8fbd84,
-    0x6653788e, 0x0375011b, 0xaafed217, 0xfe020232, 0xf398e4f7, 0x63b27582,
-    0xa28794b3, 0x82003b35, 0xfe4324bb, 0x821004c4, 0x000625bb, 0x01b00025,
-    0x8b0dd667, 0x180020b4, 0x7d079544, 0x230805d4, 0xb6fd1004, 0xfd3e02f3,
-    0x04cd0332, 0x05befa06, 0x0200c305, 0xf0ff4f00, 0x9d046d06, 0x1e001400,
-    0x16b29100, 0x20054d4f, 0x09254916, 0x530c465a, 0x00240c9a, 0x00b11b2f,
-    0x42071f5b, 0x0b2008d4, 0x230bd146, 0x0b0010b2, 0x20063a57, 0x089b4411,
-    0x1000b022, 0x0bd45e18, 0x26560220, 0x180a200c, 0x2c0dc284, 0x22052121,
-    0x34351100, 0x05333612, 0x3f4e1821, 0x37052307, 0xef4d2711, 0x06390805,
-    0xfe47fd6d, 0xdafeecad, 0x019bf085, 0xfdb80253, 0xfef601b7, 0xfb4c020a,
-    0x86cfcdf4, 0x01109998, 0x2e0c0135, 0x8b0701ac, 0xf2fec410, 0x0fcafec3,
-    0x09140308, 0xb235b7c0, 0x2ef982c7, 0x04b4fe73, 0x00a00454, 0x00240018,
-    0x4a1fb253, 0x1f20051f, 0x2005a961, 0x0ee35c14, 0x49551420, 0x1419220c,
-    0x24d5820c, 0x2f19b07c, 0x9d701818, 0x7270180b, 0x3205270e, 0x23063736,
-    0xa64e0222, 0x11002405, 0x44021415, 0x13210559, 0x071f5132, 0x16144108,
-    0xbd98e901, 0xd1aa7219, 0x87da7bf7, 0x911401f1, 0x9eb2f3fe, 0xd17d2f84,
-    0x7f8852b0, 0x898a876d, 0x015abec8, 0xed99e512, 0xfed1fe80, 0xfee5cef6,
-    0xb63cb2b2, 0x78e9012f, 0xb1b4a5ac, 0x00b08a92, 0x6224c782, 0x8504ebff,
-    0x0d28c782, 0x46001a00, 0x1c1b03b2, 0xb0219b82, 0x090f5103, 0x500cc141,
-    0x4e180822, 0x816e10c8, 0x31303309, 0x23001001, 0x35022622, 0x32330010,
-    0x34071216, 0x075b2026, 0x08d18205, 0xfe850442, 0xf39ef3e3, 0xf21f0182,
-    0xf281f29f, 0x99f6fe9b, 0x9785869a, 0xfe3e0202, 0x8ec4fee9, 0x01c70c01,
-    0x8e3e0116, 0xb8a7f3fe, 0x2cbac8c7, 0xb4c5cdb5, 0xb5ffffff, 0x93014bfe,
-    0x06023a04, 0x00009b00, 0x002b0f91, 0x0100008f, 0x003a0482, 0x848c0006,
-    0xfefb221f, 0x200f845c, 0x820f8326, 0xd2a32415, 0x8dffff0a, 0x01002325,
-    0xf9827600, 0x9c04162a, 0x65002100, 0x232201b2, 0x2408454a, 0xb11b2f15,
-    0x07125315, 0x0c821f20, 0xa6421f20, 0x6d102007, 0x1f2007cd, 0x230b7c46,
-    0x151f0ab2, 0x23063464, 0x08b2d019, 0x21081c46, 0x9e4915b0, 0x4625200d,
-    0x4d080914, 0x22232613, 0x11231115, 0x32333636, 0x16031716, 0x06141516,
-    0x01272223, 0x4d484beb, 0x54747c5c, 0xb15146ca, 0xcfd101ef, 0xf968cd78,
-    0xafd9aaa1, 0x31db6c7c, 0x47585265, 0x390101a3, 0x021cfdf9, 0x61d5d7f0,
-    0x17d4fe6f, 0xcaaf81a4, 0xdb820036, 0x02472008, 0x02540209, 0x000602cd,
-    0x00000011, 0x00f7ff02, 0x05f00400, 0x000f00b0, 0xb282001d, 0x831f1e10,
-    0x101023a0, 0x0f4906b0, 0x92b81806, 0x0801480c, 0x5c480320, 0x2f032d05,
-    0x0103cfb2, 0x033fb25d, 0x6fb27101, 0x1f200483, 0x9f200483, 0x0f251383,
-    0xb2720103, 0x099c4d02, 0xb0d01123, 0x0bb96100, 0x7d05b021, 0xb02b0b83,
-    0x1db01003, 0x333130d0, 0x4a352311, 0x1530059d, 0x04021415, 0x11231323,
-    0x35363233, 0x23263435, 0x2e080982, 0x01bbbbb2, 0x2b01c1ae, 0xcffea5a4,
-    0xa3e53fc5, 0xc4ced5cb, 0x8c02e5b1, 0xac7a02aa, 0x49ccc4fe, 0xaac6fecf,
-    0x3efe8c02, 0xed46f0fd, 0x4052fefa, 0x012ee1df, 0x0000d4ff, 0x00061604,
-    0x74001800, 0xbb790cb2, 0xbbc61806, 0x152f2529, 0x0fb25d01, 0x18290483,
-    0x1211150f, 0x2f18b039, 0x11c418b2, 0x0f04210b, 0x04201483, 0x270e4b4c,
-    0xb0d011b0, 0x13b01018, 0x2305e362, 0x13203336, 0x0809696f, 0x35231132,
-    0x15333533, 0xe7710233, 0x5a01b677, 0x5e61f305, 0xc3f34892, 0x04e7f3c3,
-    0x8afdfec7, 0x3dfd75fe, 0x5d70ba02, 0x04fbfc82, 0x8f8faac7, 0x2d000100,
-    0xb024c182, 0x0f00b005, 0x4807bd7c, 0x78490831, 0x3e0f2608, 0x0a0fb259,
-    0x208b8302, 0x28a08b0f, 0xb0d004b0, 0x06b0100f, 0x0d6e77d0, 0x080e7d63,
-    0x1521352f, 0x03331121, 0xd3fbcfb9, 0x043efed3, 0xcf3afe83, 0xeefc1203,
-    0x01aa1203, 0xfecccc28, 0xff0100d8, 0x02ecffe8, 0x00410585, 0xb272001c,
-    0x06a54700, 0x1b247d83, 0x1bb11b2f, 0x61076351, 0x1b2608a8, 0xd001b010,
-    0x134c1bb0, 0x8304200c, 0x17b02510, 0x2f17b0d0, 0x21055549, 0x641817b0,
-    0x08230c56, 0x4111b0d0, 0x1b2f0c46, 0xd01cb010, 0x302f1cb0, 0x33110131,
-    0x82152315, 0x14112103, 0x0d6b6518, 0x35234408, 0xad011133, 0xd8d8bfbf,
-    0x2b2a3f31, 0xe8fe4d53, 0xb2b2d2d2, 0xf9fe4105, 0xfeaaa5b4, 0x0a373ef3,
-    0x350117bc, 0xa5aa1601, 0xff0701b4, 0x001200ff, 0x07420500, 0x00260236,
-    0x01000025, 0x01440007, 0x49360123, 0x04200787, 0x0426ca82, 0xb0593e1f,
-    0x8749dc0c, 0x222d8f05, 0x89c20175, 0x08f6432d, 0x2d8c0d20, 0x5b883720,
-    0xc3009d22, 0x0f205b92, 0x2c202d8c, 0xa42c2d88, 0x3701c500, 0xb0000900,
-    0x16b02f04, 0x0220238c, 0x6a222388, 0x5182ee00, 0x75491620, 0x26ad8805,
-    0x1bb0dc12, 0x883130d0, 0x889420dd, 0x01a2262f, 0x006a0158, 0x2353840c,
-    0x15b0dc10, 0xb120258b, 0x00272585, 0x01df0107, 0x821c015e, 0xfe66263d,
-    0x05eb043c, 0x2a1782c4, 0x00000027, 0x01790007, 0x82fbffc9, 0x00942617,
-    0x074c0400, 0x2017823d, 0x05334129, 0x01e80023, 0x0733413d, 0x1b2f0628,
-    0x3e1f06b1, 0x0541b059, 0x222d8f07, 0x92870175, 0x860e202d, 0x202d85e1,
-    0x225b883e, 0x9288009d, 0x8c10202d, 0x8809202d, 0x006a222d, 0x412d82b3,
-    0x8988060f, 0xb0dc1323, 0x21e9841c, 0xaf82c8ff, 0xb984a020, 0xb9852d20,
-    0x8997ff21, 0x8202205d, 0x830220b9, 0x860520b9, 0x00a3245d, 0x8a7d0200,
-    0x0075222d, 0x202d8935, 0x202d8203, 0x202d8303, 0x212d8506, 0x2d82cbff,
-    0x83077a21, 0x225b85b9, 0x9237ff9d, 0x8608205b, 0x82bf202d, 0x0785212d,
-    0x2d85b983, 0x62ff6a22, 0x8988b989, 0xb0dc0b23, 0x27b98414, 0x00009400,
-    0x2c071705, 0x3220e982, 0xa422b984, 0x1d42ee00, 0x2f052305, 0x538515b0,
-    0xff660027, 0x071e05ec, 0x20238236, 0x22238433, 0x423a0144, 0xbe51096f,
-    0x96202008, 0x0175222d, 0x202d89d9, 0x20dd820d, 0x20dd830d, 0x202d8c21,
-    0x225b8837, 0x92da009d, 0x8c23205b, 0x85ad832d, 0x00a42289, 0x20ad82dc,
-    0x05a74213, 0x22205b88, 0x02202d8c, 0x6a225b88, 0xd5420501, 0x23b78809,
-    0x2fb0dc26, 0x24050b41, 0x04ecff7d, 0x20e784bd, 0x20e78639, 0x4d8b8911,
-    0x12200813, 0x2d8f5d86, 0xb0017522, 0x09202d82, 0x2f228b82, 0x238c13b0,
-    0x5185dd83, 0xb1009d22, 0x67415192, 0x83518507, 0x202d85af, 0x21dd826a,
-    0x75420036, 0x237f8806, 0x21b0dc18, 0x0724af85, 0xd6040000, 0x3d20af84,
-    0x7522af84, 0x5d898701, 0x20088a52, 0x2a8b860b, 0x03ecff5a, 0x020006fb,
-    0x84450026, 0x0044242d, 0x430000ad, 0x1729075d, 0x17b11b2f, 0xb0593e1b,
-    0x222d962b, 0x824c0175, 0x23dd822d, 0x2cb02f17, 0x0120238c, 0x06235186,
-    0x914d9d00, 0x8b2e204f, 0xf605212b, 0xa4222b88, 0x7b90014f, 0x2b8c2d20,
-    0x2b88cc20, 0x00786a22, 0x88070541, 0xdc3123a7, 0x05413ab0, 0x20d78505,
-    0x24d7885e, 0x00e200a2, 0x232f9034, 0x37b0dc2f, 0x7c202f8b, 0x00312f85,
-    0x00df0107, 0xffe7ffe8, 0xfe4f00ff, 0x04f5033c, 0x2017824e, 0x26e98247,
-    0x01790007, 0x82fbff3d, 0xff532617, 0x060b04ec, 0x20178200, 0x06374149,
-    0x3741a120, 0x2f082909, 0x1b08b11b, 0x1fb0593e, 0x2d8fbb86, 0x40017522,
-    0x22053741, 0x43b02f08, 0x23850721, 0x51860120, 0x9d000623, 0x08374141,
-    0xc3424f88, 0x212b8407, 0x2b88cc05, 0x416c6a21, 0x2b88080b, 0xb0dc2523,
-    0x21db842e, 0xa182b4ff, 0xf9058c22, 0x8c202d82, 0x06240982, 0xf9834400,
-    0x20076541, 0x20a98202, 0x44a98302, 0x8f240785, 0x69020000, 0x75212b8a,
-    0x202b8821, 0x202b8203, 0x442b8303, 0xb7200783, 0x66222b82, 0x5786fa05,
-    0x9d000725, 0x88ff23ff, 0x4459882d, 0xab200783, 0x71222d82, 0x2d88c505,
-    0x4eff6a22, 0xc7422d82, 0x442d8806, 0x79260983, 0xf8030000, 0x2f82f605,
-    0xb5845220, 0x0155a42a, 0xb0000900, 0x1cb02f03, 0x26065541, 0x04ecff4f,
-    0x8200063d, 0x41532021, 0xb6200683, 0x5a098341, 0x2d9708de, 0x55017522,
-    0xf1462d82, 0x8c1d2005, 0x86012051, 0x00062351, 0x8341569d, 0x414f8808,
-    0x7d8407d3, 0x7d839f84, 0xa4000623, 0x239f8458, 0x26b02f04, 0x05214d8b,
-    0x229f88cc, 0x8281006a, 0x0b3f4771, 0x593e1b32, 0xb0dc22b0, 0x3130d02b,
-    0x7700ffff, 0xf703ecff, 0x5920cf84, 0xaf20cf86, 0x0724cf89, 0x07b11b2f,
-    0x69442f83, 0x222d8f07, 0x854e0175, 0x440620cf, 0x23850969, 0x5183cf83,
-    0x4f20cf82, 0x4f88cf88, 0x84076744, 0x85ad842b, 0x7a6a212b, 0x88085342,
-    0x0965442b, 0x4bfe0c24, 0xab84d603, 0xab845d20, 0x16017522, 0x01227d85,
-    0xa187b02f, 0x51842384, 0x06232383, 0x88426a00, 0x820f2051, 0x830f20cd,
-    0xdc1723cd, 0x174820b0, 0xea06210a, 0x24083d48, 0x01be0070, 0x181b493a,
-    0xecff5a26, 0xb405fb03, 0x23080d44, 0x00044870, 0x20058744, 0x0cbd482a,
-    0x4f881c20, 0xf600a022, 0x48120f49, 0x4f850709, 0x2f44e620, 0x00a02208,
-    0x12074580, 0x5b832d20, 0x00020033, 0x0552fe12, 0x00b00542, 0x00190016,
-    0x1a19b274, 0x06c35c1b, 0x934d1620, 0x82162006, 0x561620de, 0x2d7b07a3,
-    0x8201200c, 0x4e012019, 0x0c200784, 0x0c240c82, 0xb2593e11, 0x0a428a18,
-    0xb010012b, 0x11b0d011, 0x1417b22f, 0x21558316, 0x23512f17, 0x19b2230a,
-    0x14821416, 0x01313038, 0x06062301, 0x32331415, 0x23061737, 0x34352622,
-    0x03210337, 0x04820121, 0x1b033508, 0x573e2702, 0x2e2c474a, 0x5f5c4915,
-    0xfd739574, 0xf9fe76cc, 0x01622602, 0xb005d3a6, 0x5e3850fa, 0x8e174431,
-    0x8d5b6e2c, 0xfe490162, 0xfcb005ad, 0x005c026f, 0x5a30d382, 0xfb0352fe,
-    0x2d004e04, 0xa6003800, 0x3a3917b2, 0x10227d84, 0xd3862fb0, 0x24086445,
-    0xb0584500, 0x20b98229, 0x0f8a5d29, 0x1983b020, 0x19821e20, 0xe0841e20,
-    0x00b0d026, 0x1702b22f, 0x84059d5d, 0x0bb02606, 0x1017b02f, 0x0abe65b2,
-    0x0f0b1222, 0x40306682, 0x1c120c09, 0x3c122c12, 0xb05d0412, 0x24b21029,
-    0x2309784f, 0x2eb21004, 0x23093052, 0x32b2100b, 0x30240d88, 0x27262531,
-    0x1b224b19, 0x310e2241, 0x37363203, 0x06222335, 0x02161415, 0x740d0bff,
-    0x4b19a3a8, 0x2a201031, 0x3e093841, 0x207f4876, 0x5d888783, 0x79451907,
-    0xb9ad89ba, 0x53655447, 0x589b5940, 0x18feadbf, 0x41115792, 0x8c330846,
-    0x3b460801, 0x46565ecc, 0x00ffff53, 0x04ecff66, 0x4a4b07eb, 0x012c05c3,
-    0x01750007, 0x004b01c0, 0x0cb00009, 0x2609e745, 0x03ecff4f, 0x460006f5,
-    0x23840551, 0x00002928, 0xb0000900, 0x2f462f0f, 0x20478508, 0x2247884c,
-    0x82c1009d, 0x48132047, 0x5b4905d1, 0x20518510, 0x23518601, 0x2a9d0006,
-    0x4308e543, 0xb5440867, 0x20598507, 0x24598829, 0x01a701a1, 0x07654354,
-    0xc1445988, 0xf503230a, 0xab88de05, 0x1001a122, 0x8786a982, 0x25205b88,
-    0x82095949, 0x22b589fd, 0x88d8009e, 0x07b946fd, 0x9e21ab8f, 0x49fb8741,
-    0x942607fb, 0xd2040000, 0x73823e07, 0x0000282a, 0x9e000701, 0x3d016700,
-    0xb0247582, 0x1ab02f01, 0x27095945, 0x02065b05, 0x48002600, 0x012d2383,
-    0x040104a2, 0x000600fc, 0x302f1eb0, 0x07334c31, 0x4bf10621, 0x702408a9,
-    0x41018300, 0x4718334c, 0xb420054d, 0x22084d47, 0x83043c70, 0x2f08236f,
-    0xf94b1eb0, 0x8823200c, 0x00a0224f, 0x096d4bbb, 0x4d08f94b, 0x4f85075b,
-    0x4f88e620, 0x4774a021, 0xed8b11c9, 0x1b074c22, 0xa1245988, 0x46016e01,
-    0x1420a990, 0x210b4748, 0x7548de05, 0x01a12208, 0x098f4127, 0x2008f947,
-    0x312d8326, 0x94000100, 0x4c0452fe, 0x1b00b005, 0x11b28000, 0x15531d1c,
-    0x0c9d4408, 0x1b2f0f24, 0xc9430fb1, 0x07b74414, 0x441ab221, 0x1a210589,
-    0x0a7e712f, 0x5314b021, 0xb0260b37, 0x0fb0d003, 0x9018b210, 0xb02109d4,
-    0x0dbe5516, 0x11210124, 0x8f431521, 0x1837200e, 0x25070564, 0x02aafde7,
-    0x7a436fbb, 0xfd872d09, 0xfdb10393, 0x0256024c, 0xca40fe8a, 0x3b086943,
-    0xb0055f86, 0x006efecc, 0x53000200, 0x0b046dfe, 0x23004e04, 0xa5002b00,
-    0x2d2c11b2, 0x7005db5a, 0x19200833, 0x1920d482, 0x0c895018, 0x2250e187,
-    0x02b22307, 0x34831911, 0x45100c21, 0xb2230a7c, 0x83111928, 0x2f283814,
-    0x2f281fb4, 0xb4710228, 0x28cf28bf, 0x8fb25d02, 0xb45d0128, 0x836f285f,
-    0x28ef2212, 0x210682ff, 0x38531db2, 0x1810200a, 0x210aa1d4, 0x438523b2,
-    0x5a691920, 0x3130240b, 0x45070625, 0x26220eb0, 0x10562700, 0x6aab1805,
-    0x22012b08, 0x35210706, 0xfa032626, 0x0d417149, 0xcf502409, 0x6006fbfe,
-    0x3d3105f7, 0xa7779d0b, 0x64c5fe69, 0xcf01117b, 0x6ab87208, 0x081c4133,
-    0x0d526638, 0x3ad71301, 0xfe8effa2, 0x62fefee6, 0x02879c86, 0x127d8c56,
-    0x414f7d7a, 0x09e54e08, 0x9f009e22, 0x2012bd42, 0x0cab4a11, 0x2909874a,
-    0x0000589e, 0x08b00009, 0xc343b02f, 0xff6a3207, 0x07f004ec, 0x0026024c,
-    0x0100002b, 0x009d0007, 0x099d44be, 0x1b2f0b24, 0xcb4d0bb1, 0xfe52250b,
-    0x060c0456, 0x4b204f83, 0x06232d82, 0x43409d00, 0x514a080d, 0x86272008,
-    0x2059857b, 0x22598831, 0x92f100a0, 0x84878759, 0xe6052159, 0x59852d82,
-    0x9173a021, 0x8c282059, 0x88292059, 0x01a12259, 0x09f744a4, 0x8787b388,
-    0xde205985, 0x07245986, 0x2601a100, 0x88096743, 0x872d20b5, 0xf9fd255b,
-    0xc405f004, 0x002a5b85, 0x01a20107, 0xff92febb, 0x458400ff, 0x87a90621,
-    0xb9012545, 0x7e002701, 0x2006c34a, 0x09594429, 0x07180523, 0x2123823e,
-    0x4b41002c, 0x41e22005, 0x0720099b, 0x079c5018, 0x26078150, 0x03000079,
-    0x825e07f8, 0x864c202d, 0x0117222d, 0x2051835d, 0x08f34910, 0x00b3ff27,
-    0x07900200, 0x4f238233, 0xa42405eb, 0x3e0139ff, 0x50075144, 0x07200847,
-    0xff217f85, 0x222d829f, 0x4bef057c, 0xa4240895, 0xfaff25ff, 0x02225183,
-    0xcf44b02f, 0xb9ff2106, 0x90222382, 0x5188f106, 0x32ff7022, 0x50094d45,
-    0xff210fc7, 0x205184a5, 0x245188ad, 0xff1eff70, 0x176f4cfd, 0x82dfff21,
-    0x0765222d, 0x225b8823, 0x896affa0, 0x875b88ff, 0x82cb20ad, 0x0551222d,
-    0x225b88df, 0x4c56ffa0, 0x2d861271, 0xfe170027, 0x059f0158, 0x2f5b85b0,
-    0xa3000600, 0xffff06ee, 0x52fe0000, 0xd5059001, 0x4d281582, 0x06000000,
-    0x00d7a300, 0x9d261582, 0xa3010000, 0x87881b07, 0x1c00a122, 0x88098745,
-    0x07995387, 0xecffa32a, 0xb0052606, 0x2d002600, 0x07254382, 0x42022e00,
-    0x23458300, 0x034bfe7d, 0x17825b82, 0x07245b83, 0x0b024e00, 0x2d2a1784,
-    0xab04ecff, 0x26023707, 0xb7412e00, 0x68012105, 0x5d098b4a, 0x9341090b,
-    0xfeb52406, 0x846b024b, 0x859b20e5, 0x28ff232d, 0xa347deff, 0x3e1b230c,
-    0xaf43b059, 0xfd942407, 0x841805f9, 0x832f20e5, 0xa2012f8b, 0x92fe9d01,
-    0x7d00ffff, 0x3604f9fd, 0x73820006, 0x17864f20, 0x17842d20, 0x00009426,
-    0x36072604, 0x30201782, 0x75225d84, 0x8b892900, 0x4d085554, 0x002706b5,
-    0x0200008a, 0x82910762, 0x8650202d, 0x011a222d, 0x0c4d4291, 0x8b822120,
-    0x2006114e, 0x218b8200, 0x8b842604, 0x00215b82, 0x208b8207, 0x2473846d,
-    0x01f9fd55, 0x828b847f, 0x21178345, 0x8b891000, 0x82b10521, 0x268b845d,
-    0x0a02a201, 0x5e00ab04, 0x65560647, 0x31302107, 0x8c20cd82, 0xe7258782,
-    0x26000206, 0x82878400, 0x048d2259, 0x242987fc, 0xb11b2f08, 0x47878208,
-    0x838a08fb, 0x01a10025, 0x86d4fdca, 0x06eb2241, 0x21418500, 0x17820700,
-    0xaffd6422, 0x23051d45, 0x36071705, 0x2208eb52, 0x41eb0175, 0x2d5e090f,
-    0x07f94108, 0x00007926, 0x0006f803, 0x2406954e, 0x01750007, 0x05f74c52,
-    0x81430320, 0x94002708, 0x1705f9fd, 0x5185b005, 0x0121ed83, 0x26ed84dc,
-    0x03f9fd79, 0x854e04f8, 0x2017843b, 0x53178441, 0x3720056d, 0x9e228188,
-    0x81890301, 0x85105d48, 0x4f012081, 0x9e220817, 0x5344006a, 0x06c94d06,
-    0x00a5ff22, 0x0320a383, 0x07262186, 0x60ffa201, 0x2b41fd04, 0x2f152407,
-    0x4115b11b, 0x6626072b, 0x1e05ecff, 0x0b53ea06, 0x00702208, 0x09734dd5,
-    0x2313674a, 0xb4053d04, 0x22081d4f, 0x56045170, 0x1b200631, 0x200c5b53,
-    0x224f881c, 0x890d01a0, 0x454f88c9, 0x414f07bf, 0x4fe62005, 0xa022081f,
-    0x734d8900, 0x086f4f09, 0x84078349, 0x350721ab, 0xa5225b88, 0xb7536301,
-    0x08e55309, 0xb0dc2123, 0x054f4e25, 0xff205d85, 0xa5225d88, 0x7d4fdf00,
-    0x531d2012, 0x94260837, 0xde040000, 0x2f823607, 0xe9423620, 0x71012105,
-    0x1f505f82, 0x07774a05, 0x00007c23, 0x05bb4b02, 0x23855620, 0x82ad0021,
-    0x22238253, 0x56b02f0b, 0xfd250825, 0x05de04f9, 0x314785b0, 0xa2010700,
-    0x92fe6e01, 0x4f00ffff, 0xb402f9fd, 0x17824e04, 0x17833b82, 0x430a0021,
-    0xde220803, 0x77883707, 0x89009e22, 0x1c207788, 0x20065741, 0x22778238,
-    0x850106fa, 0x0601263b, 0x00c69e00, 0x20758500, 0x24218612, 0x04ecff4a,
-    0x20bd848a, 0x21998537, 0x45858e01, 0xb02f0923, 0x2623862a, 0x03ecff4b,
-    0x820006ca, 0x86572045, 0x853a2023, 0x462382bd, 0x4785078f, 0x47858d83,
-    0x8f009d22, 0x8d129b54, 0x83978351, 0x00062351, 0x81473b9d, 0x0c5a1808,
-    0x25598808, 0x8a0441fe, 0x7d82c405, 0x00315982, 0x01790007, 0xff00009d,
-    0xfe4b00ff, 0x04ca0338, 0x8495854e, 0xff442217, 0x221782f7, 0x8bf9fd4a,
-    0xa201252f, 0x92fe8901, 0x4b221782, 0x2f8bf9fd, 0x30201782, 0xb98f1784,
-    0xa6009e22, 0x54080141, 0x0141079b, 0x26af8905, 0x0000529e, 0x82b00009,
-    0x07e154ff, 0x75822d20, 0xb005b022, 0x38248d82, 0x07000000, 0x77205d82,
-    0x08265d84, 0x7202f9fd, 0x17824105, 0x17855820, 0x84c80021, 0xfe2d2317,
-    0x2f8a0444, 0x8b22d582, 0xa5820300, 0x41fe0824, 0x2f89a502, 0x00790023,
-    0x26ed84dc, 0x0400002d, 0x853707b0, 0x0701255f, 0x98009e00, 0x2012eb43,
-    0x06b1410d, 0xecff0829, 0x83062703, 0x86002600, 0xcd012675, 0xffff7d05,
-    0x05135600, 0x26022c2c, 0x00003900, 0xa4000701, 0xf156b300, 0x08206709,
-    0x5107354c, 0xf62005d9, 0x59202d82, 0x06232d82, 0x5551a400, 0x0d200865,
-    0x87076c6d, 0x2159842b, 0x5988ea06, 0xac007025, 0x56003a01, 0x714605bf,
-    0x204f8507, 0x224f88b4, 0x4c044a70, 0xa5520cb1, 0x214f840b, 0x4f881c07,
-    0xe400a022, 0x8d124f42, 0x86e620a9, 0x00072459, 0x538200a0, 0xab8c1201,
-    0x88940721, 0x01a2225b, 0x056f5a46, 0xb02f0023, 0x08955a16, 0x0621ad84,
-    0x2953885e, 0x00e400a2, 0x000c0034, 0x258b06b0, 0x3520a785, 0xa5224b88,
-    0x5d443a01, 0x08514109, 0xb0dc1323, 0x08ab5317, 0x052e0423, 0x225588ff,
-    0x82d800a5, 0x825585a9, 0x82152025, 0x01003025, 0x89fe7d00, 0xb005bd04,
-    0x57001f00, 0x18201cb2, 0x24098958, 0xb11b2f18, 0x071f5218, 0x08329b18,
-    0x087c9818, 0x593e172b, 0x181304b2, 0xb2391211, 0x090a5109, 0x38791320,
-    0x18b0210b, 0x2205e964, 0x4c141101, 0x20311059, 0x33113500, 0x33161411,
-    0x04111120, 0x3d7e85bd, 0x070d524f, 0x00ff3633, 0x94fcdbfe, 0x05240190,
-    0x9832fcb0, 0x59293de4, 0x050d5237, 0x0145552e, 0xcd03eb0c, 0x9a9232fc,
-    0xc6033401, 0x7726bb82, 0xf70352fe, 0xbb823a04, 0x1ab26622, 0x0752bb8a,
-    0x8212200c, 0x181220c8, 0x8310a390, 0x820a20c8, 0x110a2119, 0x0520c882,
-    0x1f29c189, 0xd00fb010, 0xb02f0fb0, 0x0b097112, 0x6017b021, 0x21200559,
-    0x510e204d, 0xc98305db, 0x37323322, 0x03210682, 0x09144de2, 0x6b05922a,
-    0xf3b5b0c5, 0xf33eb1ab, 0x0808024d, 0x62618c25, 0x02c3ce7e, 0xce46fdbd,
-    0xfb09037f, 0x00ffffc6, 0x06000030, 0x023707e5, 0x003b0026, 0x00070100,
-    0x46a8019d, 0xe74a128f, 0x21002706, 0xcc050000, 0x2d820106, 0x2d865b20,
-    0x7d420a20, 0x820b2009, 0x490b20cf, 0x67590b77, 0x595b8305, 0x9d220567,
-    0x67598800, 0xfe0c241a, 0x84d6034b, 0x050b555b, 0x51179d21, 0xd74211a3,
-    0x20598507, 0x85878202, 0x006a2259, 0x098b42b3, 0x23089148, 0x19b0dc10,
-    0x26058b42, 0x04000050, 0x8236078c, 0x843e202f, 0x017522b7, 0x4c898983,
-    0xc1480843, 0x00522607, 0x06c00300, 0x202d8200, 0x202d865e, 0x1263431b,
-    0x5b852d87, 0x5b881420, 0x6a01a124, 0xed433f01, 0x465b8807, 0x5b840785,
-    0x88de0521, 0x01a1225b, 0x09374d02, 0x87084556, 0x205b852d, 0x225b8837,
-    0x459b009e, 0x072305b1, 0x450eb02f, 0x51840601, 0x86010621, 0x00062451,
-    0x8200339e, 0x89b02051, 0xf6ff2721, 0x57070000, 0x21824207, 0xcf858120,
-    0x01bb0223, 0x0c8f4442, 0x593e1f22, 0x2408b55c, 0x06ecff48, 0x204f8484,
-    0x222d8686, 0x56010071, 0x3f200639, 0x692a7386, 0x2205a1ff, 0x26028007,
-    0x23858300, 0x01e00123, 0x44518780, 0x5346080b, 0xff4f2607, 0x053d0477,
-    0x202d82fe, 0x222d8689, 0x56feff30, 0x1b200cb7, 0x874e7f82, 0xa6ff2b06,
-    0x2a040000, 0x26028d04, 0x2d83bd01, 0xffde012f, 0x006eff16, 0x1fb20046,
-    0xb2710117, 0x1804836f, 0x29086677, 0xbf17afb6, 0x0317cf17, 0x1282b272,
-    0x5fb27226, 0xb6720117, 0xdf251083, 0xb2710317, 0x2a2a823f, 0xef17dfb4,
-    0xb45d0217, 0x822f171f, 0x31302306, 0x5fdfffff, 0x82240021, 0x841620bf,
-    0x82cd20bf, 0x01062cbf, 0x00be32de, 0x00b20008, 0x835d010b, 0x0900217f,
-    0x94221f82, 0xdf821e06, 0x1f82ba20, 0x44000726, 0x1e00c700, 0x200c0d41,
-    0x0ae1601d, 0x75222d8f, 0x2d896601, 0x4708356d, 0x2d85070d, 0x5b861f20,
-    0x9d000623, 0x43599167, 0x2b8507cb, 0x2b881420, 0x1f69a422, 0x840edd60,
-    0xea052121, 0x6a22a988, 0x7b829200, 0x830b9d59, 0x09dd60a9, 0x06212f84,
-    0x252f887c, 0x00fc00a2, 0x2f8f0052, 0xb0dc1023, 0x05954318, 0x99202f85,
-    0x00312f85, 0x01df0107, 0xff040002, 0xfe4f00ff, 0x04430441, 0x3417829d,
-    0x000000bc, 0x01790007, 0xff00006b, 0x007600ff, 0x06b50300, 0x2017821e,
-    0x063941be, 0x0b419620, 0x08386d09, 0x8f070b41, 0x0175222d, 0x182d8935,
-    0x4308fe43, 0x2d850745, 0x5b861f20, 0x9d000623, 0x08394136, 0xbf4a5988,
-    0x212b8407, 0x2b88ea05, 0x1e616a22, 0x2b88e587, 0x2009e360, 0x20ab82a6,
-    0x20b5847e, 0x21b585c2, 0x878975ff, 0x936d0220, 0x05b02106, 0x24065943,
-    0x02000083, 0x232d885b, 0x13750006, 0x03208788, 0x03212b82, 0x094b4e1d,
-    0x82a9ff21, 0x0658212b, 0x5985b383, 0x15ff9d22, 0xa74e5992, 0x9dff2106,
-    0x63202d82, 0x2d85b584, 0x40ff6a22, 0x8809cd41, 0x095d5c87, 0x00007626,
-    0x14066704, 0xc720e582, 0xa428b784, 0x1f008800, 0xb0000900, 0x240ae160,
-    0x04f0ff4f, 0x20ad846f, 0x222384c8, 0x89d50044, 0x08016b81, 0x8f079f4c,
-    0x0175222d, 0x4b2d8274, 0x335c05a5, 0x83518309, 0x235183d3, 0x759d0006,
-    0x4f88ff88, 0xe3562120, 0x832b8308, 0x212b85a1, 0x9f8477a4, 0xb02f0b22,
-    0x20064b44, 0x84718400, 0x229f85f3, 0x89a0006a, 0x234f88f3, 0x2db0dc24,
-    0x20059142, 0x20cf8267, 0x20cf841e, 0x20cf86ce, 0x25cf89b5, 0xb11b2f08,
-    0x57501d08, 0x222d8f0a, 0x89540175, 0x5644182d, 0x07cb4508, 0xd9832d85,
-    0x5b82ce20, 0x5520d982, 0x5988d988, 0x8407df46, 0x85b7842b, 0x006a2287,
-    0x88b78980, 0x09195c2d, 0x00000524, 0xb7843604, 0x754dd220, 0x2d012105,
-    0x43188989, 0xd160081a, 0x82092007, 0x0594222d, 0x08f943d2, 0x22627022,
-    0x201e7f44, 0x08d34304, 0x9a00a022, 0x04275989, 0x04b11b2f, 0x46593e1d,
-    0x002f058b, 0xfe090002, 0x04940452, 0x0016008d, 0x5b710019, 0x771812f5,
-    0x3d570c65, 0x00b02407, 0x5bb05845, 0xb22325f5, 0x5b001417, 0x002012f2,
-    0x2c17f25b, 0x23072127, 0x03210301, 0xd501bf02, 0x091b4936, 0xfe599d2f,
-    0x01f55f1e, 0x54013cd7, 0xfb8d04aa, 0x08204973, 0xeb619234, 0xfd8d04f9,
-    0x00ba0125, 0x4f00ffff, 0x4304f0ff, 0x87441e06, 0x07012505, 0x63017500,
-    0x4208af42, 0x43220bd3, 0x23861f06, 0x9d000623, 0x11af4264, 0xaf422020,
-    0x0543220a, 0x244f88fc, 0x004a01a1, 0x07794127, 0x660a8d42, 0x7d8505db,
-    0x9e225989, 0xd14e1e7b, 0x244f8706, 0x0400006a, 0x277b842a, 0x010000bd,
-    0xf89e0006, 0x01232184, 0x8618b02f, 0x05a94471, 0xa944d220, 0x31702108,
-    0x4508e941, 0x0420162f, 0xa0212b88, 0x88c98869, 0x073b462b, 0xc9835785,
-    0x22058945, 0x891c01a1, 0x202d88c9, 0x06655914, 0x52fe7626, 0x8d04b503,
-    0x18156559, 0x590c164b, 0x1b221d65, 0x51790416, 0x0ac17205, 0x254b6559,
-    0x020afe5f, 0x26425e4c, 0xfd872309, 0x7d1803fb, 0x24420977, 0x5f862608,
-    0xfec48d04, 0x099146f2, 0x21093546, 0x33414d9e, 0x07134e11, 0xf0ff5425,
-    0x83064804, 0x00c0272b, 0x00060100, 0x2b88689d, 0x1b2f0a28, 0x3e1d0ab1,
-    0xd944b059, 0x232b8507, 0x01260204, 0x07242b83, 0x9b00a000, 0x88097543,
-    0x0707422d, 0x05212d84, 0x222d88fc, 0x414e01a1, 0x2d88098d, 0x2607835c,
-    0x04f9fd54, 0x859d0448, 0x0700272d, 0x6a01a201, 0x5d4792fe, 0x68042105,
-    0xc1209f84, 0x7b209f85, 0x2d479f88, 0x42102008, 0xff270557, 0x02000091,
-    0x8214066e, 0x054b4643, 0x17ffa422, 0x57051b46, 0x97200a13, 0x05212383,
-    0x232388d2, 0x0010ff70, 0x46087d42, 0xff210ff7, 0x212d82bd, 0xf1830643,
-    0xa0225185, 0xf18948ff, 0xb7562d88, 0xfe152607, 0x048d0152, 0x255b858d,
-    0xa3000600, 0xc18200ec, 0xb7827c20, 0xfc058222, 0x01241585, 0xfba10006,
-    0x88085d43, 0x07b54b41, 0xf0ff2424, 0xed843704, 0x3582c320, 0x9d000724,
-    0x6f89f400, 0x2008a644, 0x25ef8513, 0xf9fd7600, 0x6f846804, 0x0000c428,
-    0xa2010700, 0x33411201, 0x49032007, 0xc52005cb, 0x06234582, 0x410a7500,
-    0x9b490833, 0x067f4708, 0x03214383, 0x82438494, 0x5543842b, 0x762605e1,
-    0x94030000, 0xb5829004, 0x01201782, 0x95225b83, 0xe1558a03, 0x3e1d240c,
-    0x41313059, 0x418b05a1, 0x01a10025, 0x8546fd72, 0x67042317, 0xa9471e06,
-    0x01752208, 0x12b54685, 0x7620f987, 0x6720cb82, 0xc7208784, 0x7820cb86,
-    0x2208ff41, 0x881f0667, 0x009e2245, 0x4445899d, 0x59471001, 0x82d22005,
-    0x84c8202d, 0x707022f9, 0x069d4422, 0x9d471d20, 0x8604200c, 0x00072421,
-    0x48a800a0, 0x1b45121b, 0x066f220b, 0x222d881d, 0x82fe00a5, 0x000c262d,
-    0xb02f0bb0, 0x0881541f, 0x00007624, 0xe9843904, 0x7582cb20, 0x75000724,
-    0x91451701, 0x2f042305, 0xab4119b0, 0x8439200a, 0x252382df, 0xa2010700,
-    0xdf881801, 0xdf843920, 0x01251782, 0x2f9e0006, 0x0e9b551e, 0xf0ff3e24,
-    0x5d84ef03, 0x5d86cc20, 0x5d854120, 0x51480920, 0x20238509, 0x83a7821f,
-    0x00062323, 0xf141429d, 0x08b97608, 0x2607fb53, 0x0341fe3e, 0x859d04ef,
-    0x07002a2b, 0x4f017900, 0xffff0000, 0x21438f00, 0x8984599e, 0x230a8754,
-    0x04f9fd24, 0x8408434c, 0x842520c3, 0x822420c3, 0x841620ff, 0x82cd20c3,
-    0x20c382a1, 0x116f4447, 0x07410d20, 0xfe242206, 0x82438b47, 0x0039227d,
-    0x267d8206, 0x04f0ff67, 0x8214061e, 0x84ce2095, 0x57a42243, 0x0783461f,
-    0x4208b348, 0x2b8407f7, 0x88d20521, 0x5070232b, 0xe9520022, 0x06094405,
-    0x21840020, 0x86040621, 0x00072421, 0x418800a0, 0xa94809e5, 0x214f8c08,
-    0x2d887c06, 0xea00a22f, 0x0c005200, 0x2f00b000, 0xb0dc15b0, 0x0985491a,
-    0x1d063422, 0xa5222588, 0x0b42de00, 0x20258205, 0x05816b12, 0x00010029,
-    0x0482fe67, 0x828d041e, 0xb2612419, 0x5f201f1b, 0x172408bb, 0x17b11b2f,
-    0x48075546, 0x0d200c70, 0x0d281982, 0xb0593e17, 0xb0584500, 0x23079751,
-    0x001204b2, 0xb0223b82, 0xcd72100d, 0x7112200b, 0x30260bd8, 0x06110131,
-    0x4d640706, 0x2626220d, 0x05425227, 0x11373228, 0x7d011e04, 0x42527f77,
-    0xcd403107, 0x7ef102f2, 0x0404e56c, 0x81fcfc8d, 0x5a5632bd, 0x37054052,
-    0xd606495d, 0xfd0503bb, 0xd4687300, 0xffff0703, 0x00002800, 0x1f06e505,
-    0xd021e782, 0x057b5100, 0xb5491920, 0x07734712, 0x8305e349, 0x82d2202d,
-    0x0006232d, 0xfb412e9d, 0x08674108, 0x8407fb41, 0xea05212b, 0x2b855982,
-    0x4c596a21, 0x2b8808a1, 0x26091d51, 0x03000041, 0x821e06f3, 0x84d3202d,
-    0x01752287, 0x12c34130, 0x84073f44, 0xfc05212d, 0xa1222d88, 0x6d461701,
-    0x08294609, 0x8407f54a, 0x83e3842d, 0x0006235b, 0x5546489e, 0x0c716f11,
-    0x66410621, 0x003c058f, 0xbfad0006, 0xffffff00, 0x0400004a, 0x004106b0,
-    0x64290026, 0x00070000, 0x0084fead, 0x53241783, 0x7c050000, 0x2c201784,
-    0x8d201786, 0x562a1784, 0x03020000, 0x26004306, 0x17862d00, 0x0200902a,
-    0xa7ffffff, 0x3205ecff, 0x33212f84, 0x20478514, 0x202f83e1, 0x210582fe,
-    0x17843a05, 0x2f863d20, 0x17831b20, 0x82b2ff21, 0x84f12077, 0x86b92017,
-    0x84ec202f, 0xff873617, 0x06da02f4, 0x0026029a, 0x010000c2, 0xffae0007,
-    0x00ebff20, 0x0a79641c, 0x593e1b2c, 0xb0dc18b0, 0x18b0d010, 0x736cb010,
-    0x00122a06, 0x05420500, 0x000602b0, 0x25458325, 0x00009400, 0x0f84a304,
-    0x0f882620, 0x0f844c20, 0x0f842920, 0x1f825020, 0x0f848c20, 0x0f843e20,
-    0x05212f82, 0x200f8418, 0x200f842c, 0x207b82a3, 0x200f849f, 0x201f8e2d,
-    0x210f872f, 0x1f846a06, 0x1f883120, 0x0f841720, 0x0f843220, 0xecff6626,
-    0xc4051e05, 0x33208f82, 0xd4207f88, 0x34201f84, 0x84098557, 0x8438200f,
-    0x8207200f, 0x84d6208f, 0x843d200f, 0x21a5820f, 0x0f84e904, 0x0f833c20,
-    0x3f6fff20, 0x2fc1532f, 0xebff5629, 0x41067904, 0x51002602, 0xad2c0535,
-    0x00005001, 0xb0000900, 0x24b02f13, 0x2406f144, 0x04ecff60, 0x4a23840c,
-    0xad220595, 0xbd591901, 0x07934508, 0x61fe7e24, 0x23840604, 0x22055949,
-    0x5c2301ad, 0x1420089d, 0xa9264786, 0x6102f4ff, 0xe1412c06, 0x00062406,
-    0x44eb0fad, 0xa94206f5, 0x82802007, 0x0608228d, 0x282182a2, 0x010000ca,
-    0x1dae0006, 0x070142f3, 0x0842af18, 0xb0dc1e29, 0x1eb0d015, 0x4427b010,
-    0x8e2b05d5, 0x6b040000, 0x06023a04, 0x4c008d00, 0xec24055d, 0x4e043d04,
-    0x53200f82, 0x92240f84, 0x1f0460fe, 0x76201f84, 0x16240f84, 0xda030000,
-    0x5a200f84, 0x1f200f84, 0xe8200f82, 0x5c200f84, 0xff210f83, 0x22a582cc,
-    0x42b70592, 0x6a240887, 0xebff6fff, 0x18078750, 0x23085b74, 0x1db0dc14,
-    0xb3847f85, 0x88bf0521, 0x6c6a22b3, 0x882d87f3, 0xdc1a23b3, 0x1b5c23b0,
-    0x4106210a, 0x9d822d82, 0x00070125, 0x412201ad, 0x04220527, 0xe147b02f,
-    0x21518407, 0x51863406, 0x0d222383, 0x2941f3ff, 0x0a037106, 0x062d0623,
-    0x23238232, 0x010000cd, 0x02232382, 0x86f1ff2c, 0x66232023, 0x35720c3b,
-    0x9b002728, 0x37040000, 0x53823d07, 0x5384b020, 0x82017522, 0x73091161,
-    0x08200875, 0x2c067d4c, 0x04ecff4a, 0x00c4058a, 0xb2630027, 0x5f4e1811,
-    0x2f09250a, 0x1f09b11b, 0x20060d46, 0x2e0c821d, 0x593e0f1d, 0x091d02b2,
-    0xb2391211, 0x821d090e, 0x09b02106, 0x210c0d7f, 0x47181002, 0xb2210aee,
-    0x24298422, 0xb2101db0, 0x0a706925, 0x26340124, 0x7a192724, 0xff226551,
-    0x054400ff, 0x3085430e, 0xecff2d34, 0xb005e403, 0x2e000602, 0xffff0000,
-    0x00009b00, 0x0f833005, 0x44e30121, 0x18260835, 0x26023607, 0x69412f00,
-    0x576e2006, 0x09610937, 0x07154308, 0xebff3926, 0x2307dd04, 0xdd202d82,
-    0xa0222d84, 0x9741d900, 0x2f0f2709, 0x1f0fb11b, 0xe371593e, 0x1f114508,
-    0x04218b82, 0x209b8437, 0x142145b0, 0xab829420, 0x6d840d20, 0x6d85db20,
-    0x891d0121, 0x0803586d, 0x82071147, 0x100f452d, 0x450b4f45, 0x7d820f0f,
-    0x84140521, 0x45b5207d, 0x2f82141f, 0x05eb0427, 0x000602c4, 0x142f4527,
-    0x270e1f45, 0xecff5a00, 0x4e04fb03, 0x45202f82, 0x53242f84, 0x0b04ecff,
-    0x49200f84, 0x862a0f84, 0x12040000, 0x2602d905, 0xcd85ef00, 0xff970023,
-    0x079749f3, 0x1b20cd84, 0x200ac375, 0x443d824f, 0x7c240b3b, 0x300460fe,
-    0x54214d84, 0x203e8200, 0x231f8200, 0x4e04f503, 0x9ded7519, 0x00ffff2d,
-    0x034bfe0c, 0x023a04d6, 0x445d0006, 0x002013e3, 0x332cc571, 0x00008500,
-    0xf3054d03, 0xeb002602, 0x07010000, 0xc2007500, 0x61094341, 0x0820082d,
-    0x26067544, 0x03ecff4b, 0x824e04ca, 0x8457207b, 0x827d207b, 0x05902233,
-    0x200f82d5, 0x200f834d, 0x2e8d71ff, 0xfeb5ff25, 0x8485014b, 0x844e203f,
-    0x008f264f, 0x05650400, 0x208d82f2, 0x825982f0, 0x4401238d, 0x6753f2ff,
-    0x3e1b220c, 0x07416659, 0x21050941, 0x2d82e605, 0x2105fd5a, 0xfd5a4aa0,
-    0x07454b11, 0x2005b35b, 0x08b35b36, 0x08024422, 0x67099543, 0xd95608a9,
-    0x05b35b07, 0xb35b0020, 0x01442208, 0x12b35b6a, 0x5b8f2d87, 0xa7027522,
-    0x0c255b89, 0x0cb11b2f, 0x8fb58a1f, 0x0275225b, 0x465b8909, 0x1f440883,
-    0x205b8507, 0x22b78802, 0x82d3016a, 0x000c295b, 0xb02f01b0, 0x0db0dc16,
-    0x84057946, 0xcc052153, 0x6a22af88, 0x53823501, 0x3f48258f, 0x5c362005,
-    0x44220801, 0xa789e800, 0x2008fd43, 0x06eb410a, 0x240d8b71, 0x77440006,
-    0x062f6d00, 0x2a07c74c, 0x01fc0352, 0x0300060b, 0x630b0006, 0x21200e03,
-    0x0121ef82, 0x29a382d0, 0xffff3130, 0xf4036500, 0x27844002, 0x27820620,
-    0x44182c20, 0x78180ab3, 0x791807ab, 0x092808c8, 0xd006b010, 0xb02f06b0,
-    0x8f2a3d89, 0xc803f2ff, 0x2600b005, 0x3d820500, 0x0500072e, 0x00002502,
-    0xb1ffffff, 0x73024bfe, 0x240acf66, 0xff3fff9e, 0x0e5360de, 0x0004332a,
-    0x00066501, 0x6d010602, 0x2509e149, 0x26023607, 0x5f423100, 0x90022105,
-    0x20090141, 0x073b7902, 0x01411120, 0x007c2406, 0x82790600, 0x0026223d,
-    0x202d8651, 0x08f748a0, 0x2607834f, 0x056dfe12, 0x4bb00542, 0x0730067f,
-    0x7a01a600, 0xffff0300, 0x71fe5a00, 0x4e04fb03, 0x45201782, 0xa624b584,
-    0x0700ad00, 0x2333777a, 0x3d070d05, 0xaf454582, 0x01442205, 0x12af454a,
-    0x7607a356, 0x44210f0f, 0x1b3d7600, 0x20053d45, 0x083d45f3, 0xc4004422,
-    0x87123d45, 0x0044245b, 0x825c0500, 0x000632e7, 0xff0000b8, 0xfe4f00ff,
-    0x047e0522, 0x0006023a, 0x340f84cc, 0x04000010, 0x02fc06f3, 0x00180126,
-    0x00070100, 0x014904ab, 0x072b490e, 0x2008c746, 0x07af7b11, 0x82f1ff21,
-    0x0518262f, 0x012602d0, 0x232f8519, 0xe2ffe503, 0x11282f87, 0x11b11b2f,
-    0xb0593e1b, 0x32091961, 0x084bfe4f, 0x004e0464, 0x00530026, 0x00070000,
-    0x848e045d, 0xfe662677, 0x055c094b, 0x201782c4, 0x20178533, 0x2dd78205,
-    0x4900ffff, 0x7f043afe, 0x2602c305, 0x1783da00, 0x01b00125, 0x82a0ff92,
-    0xfe4d2617, 0x04c4033b, 0x2017824d, 0x221786ee, 0x82a1ff39, 0xfe662317,
-    0x277c043e, 0x222f820a, 0x84a4ffd6, 0x773e20e7, 0x17820ba9, 0x17844a20,
-    0x220fdb4b, 0x825ffe20, 0x023a2427, 0x4cbc0006, 0x1620146b, 0x9b22b482,
-    0x77822307, 0xef84d920, 0x4702a021, 0x0d200a79, 0x0d21ef82, 0x51ef821f,
-    0x1e26078f, 0x5c060000, 0x2d82d905, 0x2d85ed20, 0x41870121, 0x5d63099b,
-    0x482d8708, 0x0f7e0ed1, 0x741c2006, 0x8d7d51a3, 0x29bd7d08, 0xecff5a25,
-    0x7905fb03, 0x755f265f, 0xb0053105, 0x81000602, 0xffff0000, 0xecff4800,
-    0x50048406, 0xd5410f82, 0x00942505, 0x074c0400, 0x34533171, 0x05ebff51,
-    0x02db061e, 0x00450126, 0x00070100, 0x01c2006a, 0x0ceb4b0f, 0x593e1f23,
-    0x09bf7bb0, 0xd7825920, 0x4f04f822, 0x9c209982, 0x0f84a984, 0x02cd0524,
-    0x0f820026, 0x00060125, 0x8c01696a, 0x8c1b203d, 0x050d423d, 0x0d420920,
-    0x026a2208, 0x09397d15, 0x0d420d20, 0xdc1d2307, 0xdf4526b0, 0x050f4205,
-    0x0f42bf20, 0x016a2308, 0x894cff7f, 0x080f4208, 0x49262f89, 0x7f04edff,
-    0xfd421707, 0x22cd8405, 0x874b01a3, 0x08ed468f, 0x2009d77a, 0x22cd824d,
-    0x43cc05c4, 0xbd830515, 0x53774e20, 0x82252008, 0x8325208d, 0xdc2f23bd,
-    0xc77d38b0, 0x060d2209, 0x089544f1, 0xe5007022, 0x4609b96d, 0x39440847,
-    0x05674407, 0x6744a720, 0x00062406, 0x47f75f70, 0xbb6107d1, 0x4a2b8708,
-    0x0920059f, 0x6a215988, 0x0a174101, 0x11205988, 0x8508f552, 0x44bf205b,
-    0x6a2208c3, 0x17418f00, 0x08014a09, 0x66252f89, 0x1e05ecff, 0x29a57d07,
-    0xecff4f25, 0x79053d04, 0x5f20296b, 0x17265f82, 0x0602c405, 0xaf4e1601,
-    0x1701210d, 0x1f840f84, 0x02060723, 0x271f8326, 0x6a000701, 0x3a011301,
-    0x420c7f4e, 0x7f880d65, 0x01243f83, 0x736a0006, 0x49089741, 0x917b089b,
-    0x6b002108, 0xf126ad82, 0x26021807, 0xc342e600, 0x01e32206, 0x245d874c,
-    0xb11b2f13, 0x235d8313, 0x30b0dc27, 0x2405c741, 0x03ecff51, 0x20dd84e8,
-    0x822f82fe, 0x8859205d, 0x083b415d, 0xb0dc2823, 0x262d8531, 0x04ebff39,
-    0x4cf106dd, 0x702408a9, 0x4101a100, 0x260e1148, 0x034bfe0c, 0x49b405d6,
-    0x70220891, 0x218e0412, 0x07214584, 0x22458809, 0x42d1006a, 0x274609f9,
-    0x09a55d08, 0x852ded79, 0x883c205d, 0x01a5225d, 0x235d922f, 0x12b0dc16,
-    0x5d83d385, 0xff05f622, 0x0724af86, 0xa000a500, 0x8409c948, 0x3e1b238d,
-    0x2f89b059, 0x00008e24, 0xbd84ee04, 0x6141e020, 0x0f012105, 0x44185f89,
-    0x192308bf, 0x8522b0dc, 0x005f265f, 0x05e00300, 0x205f82bf, 0x056141f8,
-    0xb5436720, 0x08c96a08, 0x9b322d89, 0x58060000, 0x26000a07, 0x000be500,
-    0x2d002700, 0x3582b904, 0x6a000726, 0x3e01c201, 0x2310bd43, 0x29b0dc20,
-    0x8f266585, 0xc9050000, 0x3782bf05, 0xbd82fd20, 0x8c002724, 0x37864704,
-    0x0d437420, 0x08696609, 0xb0dc1f23, 0x2a378528, 0x054bfe29, 0x02b00551,
-    0x823c0026, 0x01073037, 0x00c303af, 0x00ffff00, 0x044bfe1f, 0x823a0456,
-    0x855c2017, 0xc8022117, 0x2608cd42, 0x02000603, 0x84480006, 0x822d200f,
-    0x84fd203f, 0x85dc203f, 0x6f042127, 0x21201784, 0x07201782, 0xf1203f84,
-    0x03211785, 0x22178479, 0x4997fe12, 0xac220c2b, 0x2b490d05, 0x499b2006,
-    0xac230c2b, 0x18004004, 0x2009d744, 0x08c746bb, 0x0505aa24, 0x7f583c01,
-    0x07314406, 0xecff5a26, 0x8506fb03, 0x2408617b, 0x008f04aa, 0x06796506,
-    0x220bb37b, 0x87b1074a, 0xb7012747, 0x2101bf00, 0x874a1700, 0x07914f05,
-    0x090eb124, 0x4e18b0f4, 0x55820737, 0x06d40423, 0x2c55867c, 0x49b70106,
-    0x000c00ec, 0xb02f17b0, 0x080f432c, 0x00001026, 0xae074205, 0xb6245588,
-    0x2b01c400, 0x04275587, 0x04b11b2f, 0x84593e1f, 0xd0132855, 0xff003130,
-    0x849affff, 0x887920ab, 0x4eb62255, 0x205586f6, 0x2055882a, 0x20558412,
-    0x245588de, 0x01c300b5, 0x23258313, 0x0bb02f04, 0x8308b742, 0x0657229f,
-    0x224988a9, 0x96de4db5, 0x88d62049, 0x82b42049, 0x9305209f, 0xfb032349,
-    0x4988a106, 0xd04eb422, 0xfe254991, 0x07420597, 0x23498537, 0x9d002700,
-    0x36239382, 0x41000700, 0x06210cbf, 0x25438501, 0x9d002600, 0x1d83004d,
-    0x410cc541, 0xb3240927, 0x3001ef00, 0x0e208786, 0x41086d68, 0x1b4105c7,
-    0x79b32209, 0x208786fb, 0x0877462d, 0x89051b41, 0xa4b82049, 0x97b82049,
-    0x3e082149, 0x24081b41, 0x01ee00b2, 0x21939536, 0x1b410807, 0x78b22208,
-    0x21939500, 0x49881808, 0xf100b124, 0x49863c01, 0xb5651420, 0x20dd8508,
-    0x224988e2, 0x86067bb1, 0xdc332149, 0x072b4218, 0x97fe1225, 0x49074205,
-    0x002506b5, 0x00a00027, 0x419382f6, 0x05210e65, 0x844385e6, 0x0080211f,
-    0x260b6741, 0x049efe94, 0x82b0054c, 0x8629201f, 0x00cb2c17, 0x00ffff0a,
-    0x0494fe53, 0x824e040b, 0x86492017, 0x518f2017, 0x4c22089d, 0x237ac207,
-    0x04aa2b08, 0x004301ca, 0x06b00009, 0xb758b02f, 0xff532607, 0x060b04ec,
-    0x253b8585, 0xaa000701, 0x5d438304, 0x10c57a05, 0x47883320, 0x8a00a424,
-    0x47863e01, 0xfd771720, 0xf605210b, 0x06244786, 0x0143a400, 0x7606fd77,
-    0x0f220bb1, 0x4587b807, 0x00b70125, 0x43280184, 0x072d074d, 0x07b11b2f,
-    0xb1593e1f, 0xb0f4090f, 0x054d4315, 0x9b830020, 0x7c06c822, 0x01275387,
-    0x00ec3db7, 0x82b0000c, 0x71202099, 0xff2707ad, 0x040000d5, 0x88b5074c,
-    0x00b62455, 0x87320189, 0x82062055, 0x87062055, 0x06f94355, 0x848eff21,
-    0x887920f1, 0x42b62255, 0x205586f6, 0x2155871e, 0x55829400, 0xe5079222,
-    0xb5245588, 0x1a018800, 0x2306fb6d, 0x13b0dc0c, 0x83055d45, 0x064b229f,
-    0x224988a9, 0x94de41b5, 0x074c2249, 0x204988dd, 0x209f82b4, 0x2249940c,
-    0x88a1060b, 0x42b42249, 0x214991d0, 0xe9829efe, 0x49853e20, 0x00270023,
-    0x2593829d, 0x0007003d, 0x054204ac, 0x0106210a, 0x00244385, 0x419d0026,
-    0x42053b42, 0xa326050b, 0x11020000, 0xa776c207, 0x03aa2208, 0x050b4278,
-    0xb02f0223, 0x06c34104, 0x01232982, 0x827e06fd, 0x008c2e23, 0x00070100,
-    0xff6403aa, 0x000900ff, 0x24238ab0, 0x019afe94, 0x081b77a7, 0xac000726,
-    0x06007803, 0x78222582, 0x1d779efe, 0x2217830a, 0x820a005c, 0xfe662617,
-    0x051e0594, 0x4d5382c4, 0xac2305bd, 0x4e001d05, 0x9224055d, 0x4e043d04,
-    0xed4d1782, 0x04ac2405, 0x7ffeff9d, 0x05230509, 0x73bb071e, 0xaa2408ad,
-    0x3c011c05, 0x14208383, 0x2609e57e, 0x04ecff4f, 0x5785063d, 0xaa220885,
-    0xb3429804, 0x2f042305, 0x51741bb0, 0x0761220a, 0x294787b1, 0xd600b701,
-    0x0c002101, 0x4782b000, 0x754b2120, 0x22498308, 0x867c06dd, 0x01062449,
-    0x43ec52b7, 0x1d2006d9, 0x2208e147, 0x82ecff27, 0x88ae2091, 0x00b62449,
-    0x862b01db, 0x871f2049, 0xa3ff2149, 0x79209384, 0xb6224988, 0x4986f657,
-    0x49881b20, 0x20059b4a, 0x224988de, 0x45da00b5, 0xdb8405f9, 0x8307094c,
-    0x06602293, 0x224988a9, 0x96de56b5, 0x88d62049, 0x82b42049, 0x8f052093,
-    0x41002093, 0xa1200527, 0xb4224988, 0x4991d057, 0x8294fe21, 0x853720dd,
-    0x27002349, 0x93829d00, 0x4105f945, 0x06210aa7, 0x24438501, 0x9d002600,
-    0x05554256, 0x2b05ad41, 0x05ecff58, 0x023307aa, 0x00970026, 0x75261783,
-    0x3301d301, 0x7984ffff, 0x0006bb22, 0x98281782, 0x07010000, 0x58017500,
-    0x2008735a, 0x06a14125, 0x44223b8f, 0x3b943401, 0xb9004422, 0x23203b88,
-    0xb8203b8c, 0xaa247788, 0x39011605, 0x85207788, 0xaa227788, 0x19429b04,
-    0x2f092205, 0x203b8db0, 0x243b8829, 0x01d600a4, 0x213b8734, 0x3b86f605,
-    0xa4000625, 0x7300015b, 0x2e2005e3, 0xfe257587, 0x06aa0594, 0x2339882e,
-    0x000605ac, 0x2405cb42, 0x04bb048b, 0x313985a8, 0xac000700, 0xf7ff9a04,
-    0x7d00ffff, 0xbd0494fe, 0x1b72b005, 0x20178405, 0x262f84f2, 0x0394fe77,
-    0x723a04f7, 0x17840503, 0x17844120, 0x20054b72, 0x252f85bb, 0xaa000701,
-    0xfb42f304, 0x2f002105, 0x7208b579, 0xe1830595, 0x00005922, 0x91202384,
-    0x0620e185, 0x47822389, 0x073d0623, 0x20478242, 0x24238499, 0x01d70175,
-    0x0ed56142, 0x05234782, 0x82ec0528, 0x869a2023, 0xff572223, 0x065b53ec,
-    0x4a181c20, 0x478c096f, 0x38014422, 0x99504788, 0x22478f07, 0x88b80044,
-    0x8c1a2047, 0x88c72047, 0x05aa248f, 0x8648011a, 0x21478c8f, 0x8f887106,
-    0x9a04aa24, 0x8f86f2ff, 0x3820478d, 0xa4224788, 0xc344da00, 0x5c042005,
-    0x8f8509ed, 0x4786e220, 0xa4000624, 0x4586ed5a, 0x26077742, 0x068bfe7d,
-    0x8501063d, 0x07003145, 0x1905ac00, 0xfffff7ff, 0x94fe7700, 0x93042805,
-    0x17833985, 0x0045042d, 0x00ffff00, 0x04a4fe07, 0x55b005d6, 0x17840553,
-    0x1000c622, 0x0c261782, 0xd6030ffe, 0x594c3a04, 0x22478405, 0x827bff46,
-    0x00072617, 0x07d60400, 0x088355bb, 0xca04aa22, 0x2305c541, 0x09b02f01,
-    0x200c7955, 0x08954c85, 0x5904aa22, 0x8205c541, 0x077b5523, 0x2c204785,
-    0xa4244788, 0x37018a00, 0x20066b4d, 0x21478b14, 0x8d4df605, 0x19a42208,
-    0x20218601, 0x3121831b, 0x4f000200, 0xb204ecff, 0x16000006, 0x8c002100,
-    0x4d191fb2, 0x1024089d, 0x13b000d0, 0x0aa35618, 0x07f44018, 0x0c147f18,
-    0x1b2f022e, 0x3e0f02b1, 0x132fb259, 0x0fb25d01, 0x16270483, 0x12111302,
-    0x1816b039, 0x220c4d52, 0x82060c04, 0x0eb22114, 0xb02a0684, 0x16b0d00f,
-    0xd011b010, 0xad7306b0, 0xdc56180c, 0x2301370e, 0x06272311, 0x11022223,
-    0x32331234, 0x35233517, 0x15333533, 0x64180133, 0x3b0809ca, 0xdcafb204,
-    0xbeb66d0c, 0xacc3e8eb, 0xf3fbfb6a, 0x7f90fcaf, 0x43459575, 0x04807695,
-    0x7037fbc9, 0x01320184, 0x2f01fa07, 0x8daaf378, 0xa59dfc8d, 0xce0185b9,
-    0xffffbb82, 0xaefe4f00, 0x263af384, 0x00004800, 0xde012700, 0x42028501,
-    0x43000701, 0x6dff9900, 0xb2001200, 0xce821c2f, 0x011c1f25, 0x829fb271,
-    0x31302109, 0x9b2a3382, 0x7e059afe, 0x2602b005, 0x3382e301, 0xb0010734,
-    0x00002f04, 0x8f00ffff, 0xc2049afe, 0x26023a04, 0x1785f000, 0x84730321,
-    0x82942017, 0x83db202f, 0x2c00212f, 0x04211785, 0x2017848c, 0x202f8286,
-    0x202f84d5, 0x201785f3, 0x05d75203, 0x17822d20, 0x230aef77, 0x4d02b001,
-    0x23242f84, 0xd0039afe, 0xf5202f84, 0x01212f85, 0x201784e6, 0x205f8229,
-    0x0ab94d22, 0xd303b022, 0x1f201784, 0x27204782, 0x220ab94d, 0x84d802b0,
-    0x828e2017, 0x84ad202f, 0x85e0202f, 0x5e042147, 0x5f201784, 0xa4222f82,
-    0x9f4e3b04, 0x82002005, 0x550321d7, 0x2f821784, 0x8bee0421, 0xcf02212f,
-    0x2f821784, 0x8be00321, 0xc601212f, 0x9b201784, 0x37204782, 0xb0202f84,
-    0x01215f85, 0x20178407, 0x20bf8285, 0x208f844d, 0x211785eb, 0x1784ec00,
-    0x9afe1624, 0x2f840508, 0x1785d920, 0x84b60621, 0xfe1e2417, 0x84b4069a,
-    0x85ed202f, 0x65052117, 0x162a1784, 0xbc0543fe, 0x2602c405, 0x17853f01,
-    0xffed022d, 0xffffffa9, 0x0446fecb, 0x824e048b, 0x85402017, 0xf5012617,
-    0xffffacff, 0x05cd7c00, 0x06020024, 0x17824c00, 0xd0ff0236, 0xc1040000,
-    0x1300b005, 0x6e001c00, 0x1e1d00b2, 0xb0391211, 0x07564918, 0x0cfa5f18,
-    0x08887518, 0x0a101322, 0x13202483, 0x200cca42, 0x2d148502, 0x00b02f02,
-    0xd00cb010, 0xb01013b0, 0x9418d00e, 0x0a200e63, 0x0b705a18, 0x0131302d,
-    0x32211523, 0x14151616, 0x18210704, 0x08072455, 0x21110338, 0x34353632,
-    0x6d022726, 0xa02a01e0, 0xebfe7cee, 0xc0d3fdef, 0xe0e0fdc0, 0x8f802901,
-    0x47047c8c, 0x85ca6ec4, 0x0402f8cc, 0xbfbfaa47, 0x12fec7fd, 0x806e738b,
-    0xc9400002, 0xff012cc9, 0x040000f0, 0x00b00537, 0x4f49000d, 0x08240589,
-    0x08b11b2f, 0x44075c60, 0x0d27085c, 0x12110208, 0x410db039, 0xb0280b87,
-    0x0db0d004, 0xd006b010, 0x0d948c18, 0x107a7918, 0xfcf68d3f, 0x9c03abab,
-    0x02f660fd, 0x0261fd9f, 0x6702aa9f, 0x0065fecc, 0x00e2ff01, 0x044d0300,
-    0x447b8e3a, 0x7bb607e5, 0x23112129, 0x33352311, 0x82152111, 0x7f023801,
-    0xa3f2f8fe, 0xfec802a3, 0x0108012a, 0x012ffed1, 0xbf01aad1, 0x8200fbc4,
-    0x00e3247d, 0x82440500, 0x001422f9, 0x42f99274, 0x5c180c8e, 0xc81808f7,
-    0x0f2408b8, 0x0eb2593e, 0x20051341, 0x3a47180e, 0x07b2210b, 0x8e181485,
-    0x07310d8e, 0xd00ab010, 0xb01004b0, 0x12b2d00c, 0x12110e01, 0x09244139,
-    0x15333535, 0x15231533, 0x01210133, 0x57022101, 0xccccfcac, 0x18d5d5fc,
-    0x2c0e8195, 0xc7aa3f04, 0x02f3aac7, 0xfd47fd64, 0x27bb8209, 0x040000ae,
-    0x00000649, 0xc75bbb8d, 0x41bb8407, 0xb0200f46, 0x1021bb8d, 0x20858202,
-    0x20bb8fb0, 0x5f7b1810, 0x20bba111, 0x2abb8511, 0xf26ff601, 0xc4f2e7e7,
-    0x180169c4, 0x350cb095, 0x9baabb04, 0xe1fdaa9b, 0x11fe9e01, 0xff00b5fd,
-    0xfe9400ff, 0x6d61057e, 0x00db3205, 0x00270000, 0x011d01a0, 0x0007013d,
-    0xff800410, 0x0c3960c6, 0x0bfd5518, 0x7efe8625, 0x6005e404, 0x35830667,
-    0xff970023, 0x213583f3, 0x358e8703, 0x830b6f60, 0x46e9206b, 0x63820903,
-    0xc6ff8c22, 0x4d838382, 0x0346e320, 0x10002309, 0x17848603, 0x07212f82,
-    0x202f8432, 0x829b8231, 0xd5052193, 0x8f241784, 0x41067efe, 0xf2202f84,
-    0x04211785, 0x201784e4, 0x20cb822d, 0x097d53dc, 0x7f205f82, 0x21201784,
-    0xe620ad82, 0x82097d53, 0x8289205f, 0x00012fa5, 0x04000007, 0x00b005d6,
-    0xb256000e, 0xaa180f0a, 0x764309e9, 0x2f0b240c, 0x430bb11b, 0x062a1083,
-    0x12110802, 0x2f06b039, 0x481805b2, 0x0123099f, 0x420ab2d0, 0x06230572,
-    0x180eb010, 0x220af77c, 0x82012101, 0x03332c02, 0xcafed5c3, 0x0167fe7a,
-    0x824f0119, 0xfe183601, 0x04028667, 0x0402fcfd, 0xfd0203aa, 0xfcb2024e,
-    0x010000fe, 0x06375b00, 0x63209582, 0x49429591, 0x08bb5407, 0x58450024,
-    0xa28202b0, 0x1fcbde18, 0xb223a588, 0x83000b0a, 0xd00d21ba, 0x0521a284,
-    0x05a34323, 0x33012308, 0x01331313, 0xdc600333, 0xfea2cef3, 0xecf3fbbb,
-    0xafbcfefb, 0x0160fe01, 0x9103aaa0, 0xff0201fd, 0x9d836ffc, 0x23069162,
-    0x63001100, 0x4105a943, 0x0e200c1f, 0x0e208982, 0x200f2c41, 0x18a383b0,
-    0x22081484, 0x83020b11, 0x4611207e, 0x04200c45, 0x07291485, 0x1011b0d0,
-    0xb2d009b0, 0x230f840d, 0x23013130, 0x21053a41, 0xd7423523, 0x03333706,
-    0x950187db, 0xc7fed9fe, 0xdafec6fe, 0x73819601, 0x240182fe, 0x01823201,
-    0x83fe2439, 0xfd950279, 0xfd16026b, 0xaa9502ea, 0xf2fd7102, 0x8ffd0e02,
-    0x66000100, 0xb38e06f3, 0x18074a41, 0x440c34c3, 0xb3890c5d, 0xb3930e20,
-    0xb3891485, 0xb3850f84, 0x21030323, 0x08b38401, 0x21131359, 0x57033301,
-    0xfe260195, 0xfed7d8f4, 0x8a2501f2, 0x01effe82, 0x01ceca0c, 0x8ceefe0e,
-    0x29fed701, 0x8efe7201, 0x01aad701, 0x019cfeb9, 0xff47fe64, 0xff6000ff,
-    0x040c04ec, 0x0006024d, 0xff0000be, 0x000200ff, 0x05310400, 0x002602b0,
-    0x0000002a, 0xffde0107, 0x8269fe72, 0x02812317, 0xe318056d, 0x51200f5d,
-    0x40222b82, 0x3b82c405, 0x20096f59, 0x590f8415, 0x3420056f, 0x58201f82,
-    0x06224b82, 0x5b841800, 0x6b828120, 0x0f843a20, 0x0f841920, 0xfaff5d29,
-    0xc4051204, 0x4e000600, 0x7d2005cf, 0x36201f82, 0x14210f84, 0x208b8314,
-    0x220f826a, 0x184b07f0, 0x2408df49, 0x01bd0175, 0x06b36f4b, 0x654b2120,
-    0xfe522606, 0x060c0456, 0xd5491800, 0x01752208, 0x0825603f, 0xad672720,
-    0x0d461809, 0x0144220c, 0x0977604c, 0x87520620, 0x56b02006, 0x461807d3,
-    0x44220f0d, 0x5182b300, 0x81421320, 0x08776805, 0x52181220, 0x21200c91,
-    0x24082557, 0x017704ab, 0x0c417a33, 0x593e1f27, 0xb0dc0cb0, 0x05975210,
-    0xecff0d26, 0xec05fb03, 0x24083157, 0xff0104ab, 0x202f87fe, 0x9b571817,
-    0xa9581809, 0x00482607, 0x074c0400, 0x08df5328, 0x3c04ab22, 0x8809b35a,
-    0xdc0d23bb, 0x5f8511b0, 0xecff0124, 0x5f840b04, 0x00004928, 0xab000701,
-    0x5f89f503, 0x2008575a, 0x0735691f, 0x00f6fe25, 0x841e0200, 0x852d205f,
-    0xea02212f, 0x93615f89, 0xdc052308, 0x5f8409b0, 0x82e2fe21, 0x050a222f,
-    0x088752e4, 0xd602ab24, 0xbf87f6ff, 0x1b202f84, 0x2f88ef82, 0x57510020,
-    0x52212005, 0xab220833, 0x1f418e04, 0x089d6309, 0xb0dc2023, 0x215f8424,
-    0xbf821600, 0xbf843d20, 0x8f855320, 0x890a0421, 0x2f0424bf, 0x8304b11b,
-    0x181c205f, 0x25086154, 0x04000032, 0x5f8307de, 0x2f863620, 0x7f412620,
-    0x6a192012, 0xff210753, 0x20bf826e, 0x205f84b4, 0x212f8556, 0x5f896203,
-    0x2008115d, 0x0847540f, 0x8f827120, 0x5f84bd20, 0x2f853920, 0x89650421,
-    0x0890695f, 0xb0dc1223, 0x24bf8516, 0x03ecff0f, 0x505f84f7, 0xab220503,
-    0x5f920304, 0xfe322f88, 0x050000ac, 0x00410602, 0x64cf0026, 0x00070000,
-    0x634cfdad, 0xfe942b05, 0x05a3049e, 0x002602b0, 0x17830026, 0xb904ac32,
-    0xffff0a00, 0x8bfe7c00, 0x00063204, 0x46002602, 0xcb221786, 0x1782f7ff,
-    0xd2202f83, 0x28202f84, 0x94201786, 0x4f242f84, 0x030494fe, 0x48202f84,
-    0xb4291786, 0xffff0000, 0xf9fd9400, 0x252f8a04, 0x4801a201, 0x178292fe,
-    0x17824f20, 0x17822f8a, 0x17846820, 0x05215f82, 0x0a4f4718, 0x2605ac22,
-    0x79245f84, 0xf8039efe, 0x4c205f84, 0xa1205f86, 0x94201784, 0x8769d782,
-    0x00092311, 0x4c1804b0, 0x00270883, 0x0400007d, 0x823d0736, 0x004f2bcb,
-    0x00070100, 0x016b0175, 0x238d003d, 0xdffe9422, 0x2f207786, 0xe9225f86,
-    0xa7824b00, 0xcafe7d22, 0x0b094b18, 0x04ac0025, 0x41360079, 0x26200607,
-    0x3020a784, 0x240c3741, 0x019efe78, 0x20a7848b, 0x21178550, 0xa7855c03,
-    0x069efe23, 0x0af7476a, 0xd605ac22, 0x7c201784, 0x79221782, 0x9b824e04,
-    0x2f855120, 0x84d90521, 0xfe942217, 0x074a189a, 0xac00250b, 0x06002805,
-    0x79227782, 0x4a189efe, 0x8f820b07, 0x2f858d20, 0x04000025, 0x824207d4,
-    0x86342047, 0x517220e3, 0x032005a7, 0x09935f18, 0x60fe7c26, 0xf7053004,
-    0x54202382, 0x9d272386, 0x0900f7ff, 0x6c0cb000, 0x942209b9, 0x48189efe,
-    0x5f820b81, 0x5f84ba20, 0x9efe7222, 0x0b814818, 0x03ac0023, 0x22178456,
-    0x1894fe4a, 0x2a0c9947, 0x00d504ac, 0x00ffff00, 0x188bfe4b, 0x820b6947,
-    0xff7c2247, 0x221782f7, 0x1897fe2d, 0x240cf346, 0x00c304ac, 0x22178203,
-    0x1894fe08, 0x820b2347, 0x8414202f, 0x00122647, 0x071d0500, 0x20b38238,
-    0x22b3843a, 0x51b000a4, 0x581805ef, 0x16260a2b, 0xda030000, 0x2382ed05,
-    0x23825a20, 0xa4000624, 0x0151f818, 0x083d4506, 0x059efe25, 0x85b0051d,
-    0x07002145, 0xef205d82, 0x1626bd84, 0xda039efe, 0x39853a04, 0x57201784,
-    0x30241784, 0xe5069efe, 0x3b202f84, 0x20069541, 0x201784e6, 0x20478221,
-    0x202f84cc, 0x2017865b, 0x2417844e, 0x049efe50, 0x202f848c, 0x2117853e,
-    0x1784c104, 0x5f825220, 0x2f84c020, 0x17865e20, 0x17836320, 0xff1cfe33,
-    0x056405ec, 0x002600d7, 0x00004633, 0xfd5a0107, 0x2aed84b5, 0x04000009,
-    0x021e0594, 0x84ba0126, 0xffad282f, 0xffddfe76, 0x822affff, 0x05f127e1,
-    0x01260021, 0x2f823cbe, 0xfead0025, 0x82e0fe64, 0x82372017, 0x05a4222f,
-    0x2017821c, 0x221786c1, 0x82dbfe71, 0x00392417, 0x84b30100, 0x86c2202f,
-    0x84732017, 0xff93262f, 0x057904f0, 0x212f821e, 0x47850ac8, 0x5f83cd20,
-    0x82e8fe21, 0x84722047, 0x86d22017, 0x8422202f, 0x82a42077, 0x848e2017,
-    0x86f32017, 0x83de202f, 0x84002017, 0x8d0423a7, 0xa7830602, 0x20066777,
-    0x200f840a, 0x20c784bb, 0x20af8276, 0x200f84b5, 0x200f84be, 0x200f8241,
-    0x500f84f3, 0x1f8205c1, 0x84680421, 0x84c1200f, 0x8285201f, 0x847720af,
-    0x84c2200f, 0x201f890f, 0x210f87c4, 0x1f848f05, 0x20058950, 0x22c7824f,
-    0x829d046f, 0x05b35e7f, 0x2c202f83, 0xc9201f84, 0x24202f84, 0x1620b782,
-    0xcd200f84, 0x05200f84, 0x36200f82, 0xd2200f84, 0x15200f84, 0x4a200f82,
-    0xd1200f84, 0x40180f83, 0x4f843001, 0x18284574, 0x202c1541, 0x272d8300,
-    0x021e0697, 0x00ea0126, 0x2005ad44, 0x056b7723, 0xb02f0422, 0x2407a16b,
-    0x03f0ff3e, 0x20ff84ef, 0x133f41cc, 0x2420cfb0, 0x64254f82, 0x06028d04,
-    0x051b6001, 0x04218382, 0x20838468, 0x104d78c4, 0x91480f20, 0xff1f2a06,
-    0x063904ec, 0x02260204, 0x23238201, 0x7aa00006, 0x7708bf74, 0x2f42102d,
-    0x84972023, 0x42f3827f, 0x0320054f, 0x830b3f42, 0x836e208f, 0xfe01216b,
-    0xa0228f84, 0x8775ba00, 0x7d0d2012, 0x2d4209db, 0x0f6d420c, 0x20133d42,
-    0x207d8462, 0x087d42ef, 0x830b4d42, 0x0443262f, 0x0106029d, 0x145d42bc,
-    0x370c4d42, 0x42000100, 0xe70339fe, 0x28009d04, 0x27b2a400, 0x12112a29,
-    0x17b00039, 0x20056755, 0x07cf7c0a, 0x0cb0cc18, 0x0fa09318, 0x32821920,
-    0x1927b223, 0x2e06820a, 0xb22f27b0, 0x7201275f, 0x01273fb2, 0x83cfb271,
-    0x83ff2004, 0x820f2004, 0x6fb42f13, 0x02277f27, 0x27afb471, 0x5d0227bf,
-    0x12828fb2, 0x83bfb221, 0x71242004, 0xb2230876, 0x18272410, 0x21085f5c,
-    0x52851db2, 0xb5181920, 0x34230e55, 0x18222326, 0x2b093dae, 0x16160706,
-    0x07061415, 0x26112311, 0x1cb89318, 0xf3acbb24, 0x9318b09b, 0x862918b6,
-    0x41fe18ae, 0xac18c201, 0xba931887, 0x01003007, 0x9afe7600, 0x8d042c05,
-    0xa8000f00, 0x181003b2, 0x220987b3, 0x181b2f0c, 0x1809068a, 0x200ce770,
-    0x20198201, 0x07997801, 0x180c9856, 0x2208947d, 0x8309060a, 0x2f0a2fe2,
-    0xbf0aafb4, 0xb25d020a, 0x71010a3f, 0x0483cfb2, 0x72220982, 0x0983ffb2,
-    0x010a0f2e, 0x0a6fb472, 0x71020a7f, 0xef0adfb4, 0xb4232682, 0x822f0a1f,
-    0x5fb22106, 0xb2211982, 0x4a8d1805, 0x4e0e200c, 0x47510859, 0x5ff41806,
-    0x05333c09, 0xfdc4f32c, 0x02f3f3f4, 0xfec4f30c, 0x0166019a, 0x0425fedb,
-    0x0111fe8d, 0x8228fcef, 0xfe4f2ae1, 0x04430443, 0x001e009d, 0x0c7b795e,
-    0xc7820e20, 0x08829618, 0x0c820420, 0xd17f0420, 0x26c78707, 0xb2d006b0,
-    0x83030e12, 0x180e20ca, 0x200ccd6e, 0x0b717903, 0x031eb223, 0x05df510e,
-    0xa2410620, 0x27022305, 0xbe183435, 0x0c281448, 0xb5f3a9c6, 0xec7e01cf,
-    0x1148be18, 0x1bd09f2d, 0xb90149fe, 0xdd1f0124, 0x18ffa94f, 0x180b4dbe,
-    0x22093588, 0x45010602, 0x0a34052b, 0xa8053afe, 0x2602a304, 0x00001702,
-    0xb0010700, 0xa0ffe602, 0x2505a343, 0xd2056e04, 0x93432602, 0x00702c06,
-    0x00220082, 0x00b00009, 0x440ab02f, 0x23830b23, 0x21062344, 0x21844270,
-    0x50180220, 0x502609f1, 0x4d050000, 0x6d828d04, 0x0000f128, 0x1200ffff,
-    0x3d6455fe, 0x01a3240c, 0x82030082, 0xfe5a2217, 0x0c3d6459, 0xb500a324,
-    0x17820700, 0x5cfe9422, 0x240c0f61, 0x004001a3, 0x2217820a, 0x6152fe53,
-    0xa3220c0f, 0x5f840401, 0x9efe7826, 0x3a048b01, 0x2705574c, 0xac000700,
-    0x0a005c03, 0x0f28d782, 0x0300ba00, 0x09040100, 0x5e200b82, 0x0b850382,
-    0x1a000124, 0x17865e00, 0x0e000224, 0x0b867800, 0x178a0320, 0x0b8a0420,
-    0x2c000524, 0x23868600, 0x17820620, 0x0b86b220, 0x40000724, 0x0b86cc00,
-    0x0c000924, 0x0b860c01, 0x14000b24, 0x0b861801, 0x26000c24, 0x0b862c01,
-    0x5c000d24, 0x0b865201, 0x54000e24, 0x0b86ae01, 0x0c001024, 0x0b860202,
-    0x0b821120, 0x43000e3a, 0x70006f00, 0x72007900, 0x67006900, 0x74006800,
-    0x32002000, 0x31003000, 0x20220182, 0x1d824700, 0x17826f20, 0x65006c22,
-    0x49261782, 0x63006e00, 0x09822e00, 0x6c004122, 0x20220182, 0x35885200,
-    0x15827320, 0x25825220, 0x03827320, 0x76007222, 0x64200582, 0x52202982,
-    0x62203f82, 0x74200382, 0x20220382, 0x15844d00, 0x75006924, 0x39826d00,
-    0x57826520, 0x45827520, 0x7b826120, 0x35845620, 0x4d827320, 0x63826f20,
-    0x2e208183, 0x85858382, 0x8f823520, 0x95883b20, 0x39823420, 0x87006f21,
-    0x8e2d2053, 0x20198953, 0x834b8220, 0x82612093, 0x82742039, 0x00612261,
-    0x21638264, 0x6d83006d, 0x13826b20, 0x66006f22, 0xdf8b0582, 0xed8c2e20,
-    0x6320198d, 0x6d24bf82, 0x68004300, 0x69244982, 0x74007300, 0x61205d82,
-    0xe185a984, 0x17826520, 0x17827420, 0x4c20bd83, 0x63201b82, 0x6e206b82,
-    0x65200f82, 0x20207582, 0x6e20ef82, 0x72207d84, 0x68208b84, 0x20241b82,
-    0x70004100, 0x63208b82, 0x65205182, 0x338d1582, 0x11822c20, 0x20151141,
-    0x20798268, 0x22398274, 0x822f003a, 0x00772101, 0x2e200183, 0x4b894782,
-    0xa9822e20, 0x67007222, 0x6c201d82, 0x7320878c, 0x4c221182, 0xc3824900,
-    0x4e00452e, 0x45005300, 0x32002d00, 0x30002e00, 0x410c4f41, 0x03210ba1,
-    0x21008400, 0xbb826aff, 0x048e0984, 0x0200012c, 0x02000800, 0x0f00ffff,
-    0x1b820100, 0x000a2008, 0x00ac005c, 0x4c464404, 0x631a0054, 0x006c7279,
-    0x65726728, 0x6c36006b, 0x006e7461, 0x82040044, 0x82002023, 0x0002242d,
-    0x8a040000, 0x0001220d, 0x220d8a05, 0x8a060002, 0x00032a0d, 0x63080007,
-    0x00707370, 0x20058432, 0x20058438, 0x2605843e, 0x72656b44, 0x914a006e,
-    0x205f8205, 0x22918401, 0x84030001, 0x8402200b, 0x21048205, 0x5b820100,
-    0x0c000522, 0x01210185, 0x202586de, 0x20078208, 0x2285820a, 0x82480024,
-    0x82de2009, 0x25ec09d5, 0x27002600, 0x29002800, 0x2b002a00, 0x2d002c00,
-    0x2f002e00, 0x31003000, 0x33003200, 0x35003400, 0x37003600, 0x39003800,
-    0x3b003a00, 0x3d003c00, 0x65003e00, 0x92006700, 0xb100b000, 0xb300b200,
-    0xb500b400, 0xb700b600, 0xb900b800, 0xd200d100, 0xd400d300, 0xd600d500,
-    0xd800d700, 0xda00d900, 0xdc00db00, 0xde00dd00, 0xe000df00, 0xe200e100,
-    0xe400e300, 0xe600e500, 0xe800e700, 0x30012c01, 0x38013201, 0x3c013a01,
-    0x3f013e01, 0x46014501, 0x85017f01, 0x8d018a01, 0x47024602, 0x4b024902,
-    0x4d024c02, 0x4f024e02, 0x51025002, 0x53025202, 0x55025402, 0x57025602,
-    0x59025802, 0x5b025a02, 0x5d025c02, 0x5f025e02, 0x61026002, 0x63026202,
-    0x65026402, 0x84028202, 0x88028602, 0x8c028a02, 0x90028e02, 0x94029202,
-    0x98029602, 0x9c029a02, 0xa0029e02, 0xa402a202, 0xa802a602, 0xac02aa02,
-    0xb102ae02, 0xb502b302, 0xb902b702, 0xbd02bb02, 0xc102bf02, 0xc602c402,
-    0xca02c802, 0xce02cc02, 0xd202d002, 0xd802d402, 0xdc02da02, 0xe002de02,
-    0xe402e202, 0xe802e602, 0xec02ea02, 0xf002ee02, 0xf302f102, 0x5203f502,
-    0x54035303, 0x56035503, 0x58035703, 0x5b035a03, 0x5d035c03, 0x5f035e03,
-    0x61036003, 0x64036303, 0x66036503, 0x68036703, 0x79036903, 0x7b037a03,
-    0x7d037c03, 0x7f037e03, 0x81038003, 0x83038203, 0x85038403, 0x87038603,
-    0x89038803, 0x8b038a03, 0x8d038c03, 0xba038e03, 0xbe03bc03, 0xd903d303,
-    0x4804df03, 0x4e044a04, 0x58045604, 0x69045d04, 0x00000200, 0x0a000200,
-    0x0100ba3b, 0x04006c03, 0xb1010000, 0x9e36b206, 0xdc069e36, 0x40373207,
-    0xca364c36, 0xd8378a3b, 0xde3a3807, 0x1e38de3a, 0xea358c3a, 0x35080983,
-    0x56368a3b, 0xf40a720a, 0x1e383e38, 0x7836a436, 0x003b3239, 0x5e0b2a36,
-    0xdc36b637, 0xa00bee37, 0xd40cca0c, 0x96399639, 0xdc36f837, 0xca0d1836,
-    0x2c0e2438, 0x05829039, 0xdc364628, 0xca39880e, 0x55824037, 0x0f403608,
-    0x10fc0f02, 0x12d811fa, 0x12243876, 0x1596397c, 0x1814173a, 0x18401826,
-    0x1a4c1846, 0x1a4c1a46, 0x1bb41a82, 0x1ea81c32, 0x3a18205a, 0x224e21de,
-    0x253239e0, 0x217f832e, 0x0583f636, 0xf8253308, 0xa0399227, 0x32297028,
-    0x1e2ac029, 0x2839f82a, 0x9039822b, 0x762c4c2c, 0xdc36dc2d, 0xa0306230,
-    0x9033d231, 0x5432dc36, 0x0433da32, 0x90335a33, 0x91824037, 0x2438a423,
-    0x2da78233, 0x2839ca39, 0x8c3a8c3a, 0x9e362839, 0xf383e033, 0x359e3631,
-    0x35783552, 0x358c3582, 0x35bc35aa, 0x83e035ce, 0x8a3b21fd, 0x38210183,
-    0x203b823e, 0x23038940, 0xd837ca36, 0x89830185, 0x29850385, 0x1e212d84,
-    0x23018438, 0xb637003b, 0xee21018c, 0x23018437, 0xf8379639, 0x38230187,
-    0x82243824, 0x87b62057, 0xca362103, 0x3b210185, 0x205f828a, 0x23038fee,
-    0x9639de3a, 0x91417189, 0xea352105, 0x19850183, 0x39231d83, 0x82963996,
-    0x87f8203d, 0x18362103, 0x38210183, 0x8401843e, 0x299d8597, 0x003b7836,
-    0x003b2438, 0x01832a36, 0xd8207f82, 0x8205db41, 0x364026b5, 0x36d8374c,
-    0x2069842a, 0x2915858c, 0x3e385636, 0x3239003b, 0x0582de3a, 0xb582bf82,
-    0xd837f824, 0x1942ca39, 0x8c3a2407, 0x8237f636, 0xca392237, 0x29478637,
-    0xca365636, 0x32393e38, 0xf582b637, 0xdc36f82e, 0x90392438, 0x2839ee37,
-    0x78362438, 0x7d830183, 0x83057741, 0x24ff84bb, 0x36ee37d8, 0x201f82a4,
-    0x821b83ca, 0x39322415, 0x41de3a90, 0x1d82081d, 0xee214982, 0x83158239,
-    0x823720db, 0xf6362153, 0x03862d82, 0x2b881783, 0x75824020, 0x538303a3,
-    0xfb85039a, 0x4b413720, 0x0b574108, 0x38238385, 0x411e381e, 0x38210547,
-    0x22b58424, 0x83de3a8c, 0x903925f5, 0x2839ca39, 0x39269383, 0x39a03996,
-    0x47413aca, 0x3b002805, 0x0002008a, 0x8204008b, 0x00002201, 0x24018206,
-    0x000b0001, 0x2213820c, 0x82130013, 0x00252813, 0x0005002a, 0x8236002c,
-    0x00383215, 0x0016003f, 0x00460045, 0x0049001e, 0x0020004a, 0x2201824c,
-    0x824f0022, 0x00232801, 0x00540051, 0x82560024, 0x00282201, 0x24018258,
-    0x005a0029, 0x263d825d, 0x005f005f, 0x828a002e, 0x002f2201, 0x2a01829c,
-    0x00b00030, 0x003100b4, 0x82b800b6, 0x00ba2655, 0x003900ba, 0x280182bc,
-    0x00bf003a, 0x003b00c0, 0x220182c2, 0x82c4003d, 0x003e2801, 0x00cd00c6,
-    0x82d1003f, 0x00472801, 0x00dd00d3, 0x82df0048, 0x00532401, 0x82e300e1,
-    0x00e5266d, 0x005700ee, 0x0a0182f0, 0xf500618a, 0x6200f700, 0xfb00fa00,
-    0xfd006500, 0x6700ff00, 0x04010201, 0x09016a00, 0x6d000901, 0x0c010c01,
-    0x17016e00, 0x6f001901, 0x21012101, 0x2b017200, 0x73002d01, 0x30013001,
-    0x32017600, 0x77003201, 0x49014901, 0x6c017800, 0x79006d01, 0x71016f01,
-    0xba017b00, 0x7e00ba01, 0xbd01bd01, 0xc4017f00, 0x8000c501, 0xc801c801,
-    0xca018200, 0x8300cb01, 0xcd01cd01, 0x28028500, 0x86002802, 0x2b022a02,
-    0x46028700, 0x89004702, 0x49024902, 0x4b028b00, 0x8c006c02, 0x71026e02,
-    0x7602ae00, 0xb2007b02, 0x88028002, 0x8a02b800, 0xc1008a02, 0x8c028c02,
-    0x8e02c200, 0xc3008e02, 0x90029002, 0x9202c400, 0xc5009b02, 0xa602a402,
-    0xa802cf00, 0xd200a802, 0xaa02aa02, 0xac02d300, 0xd400ac02, 0xae02ae02,
-    0xb102d500, 0xd600b102, 0xb302b302, 0xb502d700, 0xd800b502, 0xb702b702,
-    0xb902d900, 0xda00b902, 0xbb02bb02, 0xbd02db00, 0xdc00c902, 0xcb02cb02,
-    0xcd02e900, 0xea00cd02, 0xcf02cf02, 0xda02eb00, 0xec00da02, 0xdc02dc02,
-    0xde02ed00, 0xee00de02, 0xe002e002, 0xe202ef00, 0xf000e202, 0xe402e402,
-    0xe602f100, 0xf200e602, 0xe802e802, 0xea02f300, 0xf400ea02, 0xec02ec02,
-    0xee02f500, 0xf600f102, 0xf302f302, 0xf502fa00, 0xfb00f502, 0x57035203,
-    0x5a03fc00, 0x02016903, 0x6c036c03, 0x70031201, 0x13017003, 0x72037203,
-    0x76031401, 0x15017603, 0x7a037903, 0x7c031601, 0x18018503, 0x89038703,
-    0x8b032201, 0x25019003, 0x93039203, 0x95032b01, 0x2d019803, 0x9f039e03,
-    0xa1033101, 0x3301a103, 0xa303a303, 0xa5033401, 0x3501a803, 0xb003ab03,
-    0xb2033901, 0x3f01b203, 0xb703b603, 0xbc034001, 0x4201bc03, 0xc703be03,
-    0xca034301, 0x4d01cb03, 0xd003cd03, 0xd7034f01, 0x5301d803, 0xdc03dc03,
-    0xde035501, 0x5601e403, 0xea03e903, 0xee035d01, 0x5f011604, 0x18041804,
-    0x1a048801, 0x89012704, 0x2f042f04, 0x32049701, 0x98013204, 0x34043404,
-    0x40049901, 0x9a014504, 0x48044804, 0x4a04a001, 0xa1014a04, 0x4c044c04,
-    0x4e04a201, 0xa3014f04, 0x57045404, 0x5a04a501, 0xa9015a04, 0x5d045c04,
-    0x5f04aa01, 0xac015f04, 0x63046304, 0x6504ad01, 0xae016504, 0x69046904,
-    0xa904af01, 0xb001a904, 0x38000a00, 0xd100c4ff, 0xd5240382, 0x3201c4ff,
-    0x3a240382, 0xda02c4ff, 0xdc200382, 0xde280382, 0x8d03c4ff, 0x4c04c4ff,
-    0x153a1f82, 0x14003a00, 0x26003b00, 0x16003d00, 0x14001801, 0x16006502,
-    0x2600ec02, 0x0782ee02, 0x1600f024, 0x03825703, 0x03826620, 0x03826920,
-    0x26009f24, 0x0382a103, 0x0382a320, 0x0f82a520, 0x1400b628, 0x1600be03,
-    0x03824004, 0x03824220, 0x03824420, 0x002d2782, 0xff130001, 0x00ce0008,
-    0x00eefe10, 0x28038212, 0x0040ff25, 0x0030ff2e, 0x286b8238, 0x00deff45,
-    0x00ebff47, 0x20038248, 0x20038249, 0x2003824b, 0x20038253, 0x2c038255,
-    0x00e6ff56, 0x00eaff59, 0x00e8ff5a, 0x2003825d, 0x20138293, 0x20038298,
-    0x2013829a, 0x204382b1, 0x200382b3, 0x200f82ba, 0x201b82bc, 0x200782c7,
-    0x200382c8, 0x201b82ca, 0x205782d1, 0x240382d5, 0x01ebfff6, 0x24038202,
-    0x0140ff0c, 0x24078217, 0x01e8ff19, 0x2007821d, 0x24038221, 0x01140032,
-    0x20078239, 0x8207823a, 0x4c012173, 0x56200b82, 0x6e240382, 0x7201eefe,
-    0x76200382, 0x77200382, 0xba280382, 0x4b02c0ff, 0x4c0240ff, 0x4d200382,
-    0x4e200382, 0x4f200382, 0x50200382, 0x51200382, 0x66240382, 0x6702deff,
-    0x68200382, 0x69200382, 0x6a200382, 0x6b200382, 0x6c200382, 0x6d240382,
-    0x6e02ebff, 0x6f200382, 0x70200382, 0x71200382, 0x77200382, 0x78200382,
-    0x79200382, 0x7a200382, 0x7b200382, 0x7c240382, 0x7d02eaff, 0x7e200382,
-    0x7f200382, 0x80240382, 0x8102e8ff, 0x82200382, 0x83205f82, 0x84204782,
-    0x85200782, 0x86200782, 0x87200782, 0x89200782, 0x8b203382, 0x8d200382,
-    0x8f200382, 0x91200382, 0x93200382, 0x95200382, 0x97200382, 0x99200382,
-    0x9b200382, 0x9d200382, 0x9f200382, 0xa1200382, 0xa3200382, 0xb1240382,
-    0xc50230ff, 0xc7200782, 0xc9200382, 0xda240382, 0xdc021400, 0xde200382,
-    0xe1200382, 0xe3207782, 0xe5200382, 0xe7200382, 0xe9200382, 0xeb200382,
-    0xef280382, 0x5203e8ff, 0x5a0340ff, 0x6a270382, 0x6e03ebff, 0x8203eaff,
-    0x720321cb, 0x75201782, 0x76200b82, 0x77201382, 0x7e230782, 0x820330ff,
-    0x8d0329af, 0x8f031400, 0x9003deff, 0x92201782, 0x94200382, 0x95200382,
-    0x97202b82, 0x9e200782, 0xa6200782, 0xae200382, 0xaf204b82, 0xb2202382,
-    0xb7201382, 0xb8200f82, 0xbd200782, 0xbf200382, 0xc4200b82, 0xc5201b82,
-    0xc6201b82, 0xc7200782, 0xcb200782, 0xcd201782, 0xce200382, 0xd8200382,
-    0xda200382, 0xdc200382, 0xe0200382, 0xe2202b82, 0xe4200382, 0xeb200382,
-    0xee200f82, 0xef202f82, 0xf0202f82, 0xf1200782, 0xf2200782, 0xf3200782,
-    0xf4200782, 0xf5200782, 0xf6200782, 0xf7200782, 0xf8200782, 0xf9200782,
-    0xfa200782, 0xfb200782, 0xfc200782, 0xfd200782, 0xfe200782, 0xff280782,
-    0x0004deff, 0x010440ff, 0x02200782, 0x03200782, 0x04200782, 0x05200782,
-    0x07240782, 0x0904ebff, 0x0b200382, 0x0d200382, 0x0f200382, 0x11200382,
-    0x13200382, 0x15200382, 0x1b200382, 0x1d200382, 0x1f200382, 0x21200382,
-    0x23200382, 0x25200382, 0x27200382, 0x29200382, 0x2b200382, 0x2d200382,
-    0x2f200382, 0x31200382, 0x33240382, 0x3504eaff, 0x37200382, 0x39200382,
-    0x3b200382, 0x3d200382, 0x3f200382, 0x41240382, 0x4304e8ff, 0x45200382,
-    0x4c360382, 0x20001400, 0xdfff3800, 0xe4ff3a00, 0xecff3b00, 0xddff3d00,
-    0x0f82d100, 0xdfffd528, 0xe4ff1801, 0x07823201, 0x03823a20, 0x0e00ba2c,
-    0xddff6502, 0xdfffda02, 0x0382dc02, 0x0382de20, 0xecffec24, 0x1382ee02,
-    0xddfff024, 0x03825703, 0x03826620, 0x03826920, 0xdfff8d28, 0xecff9f03,
-    0x0382a103, 0x0382a320, 0x1382a520, 0xe4ffb628, 0xddffbe03, 0x03824004,
-    0x03824220, 0x03824420, 0xdfff4c23, 0x212f8204, 0x81821a00, 0x8182ce20,
-    0x7d82ed20, 0x7d82d020, 0xd500ce24, 0x7d82ceff, 0x7d82ed20, 0x3a01ce24,
-    0x7982ceff, 0x7982d020, 0x7982ce20, 0xde02ce22, 0xee260f82, 0xf002d0ff,
-    0x7582d0ff, 0x6603d022, 0x69200782, 0x8d240382, 0xa503ceff, 0xb6220782,
-    0x6982edff, 0x6982d020, 0x4204d026, 0x4404d0ff, 0x4c220382, 0x6982ceff,
-    0x1000d02c, 0xeeff2e00, 0xeeff3900, 0x03826102, 0x03826220, 0x03826320,
-    0x03826420, 0x0382b120, 0x0382e020, 0x0382e220, 0x0382e420, 0x0382e620,
-    0x0382e820, 0xeeffea28, 0xeeff7e03, 0x03823204, 0x3b823420, 0x06004a22,
-    0x0b204582, 0x0d2c0382, 0x41001400, 0x47001200, 0x4800e8ff, 0x49200382,
-    0x4b200382, 0x55200382, 0x61240382, 0x93001300, 0x98200782, 0xba200382,
-    0xc7200382, 0xc8200382, 0xf6240382, 0x0201e8ff, 0x1d200382, 0x21200382,
-    0x39200382, 0x33820382, 0x824c0121, 0x82562007, 0x006c2403, 0x826d0110,
-    0x826f2003, 0x82702003, 0x00712803, 0xff6d0210, 0x826e02e8, 0x826f2003,
-    0x82702003, 0x82712003, 0x82892003, 0x828b2003, 0x828d2003, 0x828f2003,
-    0x82912003, 0x216f8203, 0x07829502, 0x03829720, 0x03829920, 0x03829b20,
-    0x03829d20, 0x03829f20, 0x0382a120, 0xe8ffa324, 0x03826a03, 0x03829020,
-    0x03829420, 0x03829720, 0x1000a724, 0x0382a803, 0x0382ab20, 0x0f82b220,
-    0x0382b820, 0x0382bd20, 0x0382cb20, 0x0382cd20, 0x0382ce20, 0x0382da20,
-    0xe8ffeb24, 0x03820704, 0x03820920, 0x03820b20, 0x03820d20, 0x03820f20,
-    0x03821120, 0x03821320, 0x03821520, 0x03822920, 0x03822b20, 0x03822d20,
-    0xeb823120, 0xf5000230, 0x6d01d6ff, 0x3d0098ff, 0xecff4700, 0x03824800,
-    0x03824920, 0x03824b20, 0x03825520, 0x03829320, 0x03829820, 0x0382ba20,
-    0x0382c720, 0x0382c820, 0xecfff624, 0x03820201, 0x03821d20, 0x03822120,
-    0x03823920, 0x01212f82, 0x2407824c, 0x02ecff56, 0x2003826d, 0x2003826e,
-    0x2003826f, 0x20038270, 0x20038271, 0x20038289, 0x2003828b, 0x2003828d,
-    0x2003828f, 0x82038291, 0x9502215b, 0x97200782, 0x99200382, 0x9b200382,
-    0x9d200382, 0x9f200382, 0xa1200382, 0xa3240382, 0x6a03ecff, 0x90200382,
-    0x94200382, 0x97200382, 0xb2200382, 0xb8200382, 0xbd200382, 0xcb200382,
-    0xcd200382, 0xce200382, 0xda200382, 0xeb220382, 0xff82ecff, 0x0904ec22,
-    0x0b200782, 0x0d200382, 0x0f200382, 0x11200382, 0x13200382, 0x15200382,
-    0x29200382, 0x2b200382, 0x2d200382, 0x31200382, 0x1826cb82, 0xe2ff5300,
-    0x03821701, 0x18006d28, 0xe2ff7702, 0x03827802, 0x03827920, 0x03827a20,
-    0x03827b20, 0x0382c520, 0x0382c720, 0xe2ffc924, 0x03827003, 0x03827620,
-    0x03829220, 0x0382d820, 0xe2ffdc24, 0x03821b04, 0x03821d20, 0x03821f20,
-    0x03822120, 0x03822320, 0x03822520, 0x03822720, 0xe2ff2f2e, 0x10000600,
-    0x120084ff, 0x6e0184ff, 0x72200382, 0x76200382, 0x77200382, 0x10221382,
-    0x81822e00, 0xe9823920, 0x03826120, 0x03826220, 0x03826320, 0x03826420,
-    0x0382b120, 0x0382e020, 0x0382e220, 0x0382e420, 0x0382e620, 0x0382e820,
-    0xe582ea20, 0xb9827e20, 0x03823220, 0x3b823420, 0x06001e26, 0x0b00f2ff,
-    0x5a240382, 0x5d00f3ff, 0xbc200382, 0xf52c0382, 0x1901f5ff, 0x6c01f3ff,
-    0x6d01f2ff, 0x6f200382, 0x70200382, 0x71280382, 0x8002f2ff, 0x8102f3ff,
-    0xef240382, 0x7203f3ff, 0x95200382, 0x9e200382, 0xa6200382, 0xa7240382,
-    0xa803f2ff, 0xab200382, 0xb7200382, 0xbf200f82, 0xe0200382, 0xe2200382,
-    0xe4240382, 0x4104f3ff, 0x43200382, 0x45200382, 0x3e226382, 0x05822700,
-    0x03822b20, 0x03823320, 0x03823520, 0x03828320, 0x03829220, 0x03829720,
-    0x0382b220, 0x0d00c324, 0x8582d200, 0x03820720, 0x03821620, 0x03821a20,
-    0x03821c20, 0x03821e20, 0x03822020, 0x03823820, 0x89825520, 0x03822820,
-    0x03822920, 0x02214b82, 0x2007822c, 0x20038252, 0x8203825c, 0x5e0221cd,
-    0x5f200782, 0x60200382, 0x88200382, 0x8a200382, 0x8c200382, 0x8e200382,
-    0x9c200382, 0xb9820382, 0x82a00221, 0x82a22007, 0x82c42003, 0x82c62003,
-    0x82c82003, 0x82f92003, 0x825620b1, 0x82632003, 0x82892003, 0x21338203,
-    0x0782b903, 0x0382bc20, 0x0382d720, 0x0382d920, 0xc982db20, 0x03821a20,
-    0x03821c20, 0x03821e20, 0x03822020, 0x03822220, 0x03822420, 0x03822620,
-    0x03822820, 0x03822a20, 0x03822c20, 0x03822e20, 0x03823020, 0xd782a920,
-    0xf9823f20, 0x2b00e626, 0x3300e6ff, 0x35200382, 0x83200382, 0x92200382,
-    0x97200382, 0xb2200382, 0xb7260382, 0xc300c2ff, 0xfd821000, 0x0701e626,
-    0x1601e6ff, 0x1a200382, 0x1c200382, 0x1e200382, 0x20200382, 0x38200382,
-    0x55240382, 0x2802e6ff, 0x29200382, 0x4f820382, 0xe622fd82, 0x0b825202,
-    0x03825c20, 0x03825d20, 0x03825e20, 0x03825f20, 0x03826020, 0x03828820,
-    0x03828a20, 0x03828c20, 0x03828e20, 0x03829c20, 0x03829e20, 0x0382a020,
-    0x0382a220, 0x0382c420, 0x0382c620, 0x0382c820, 0xe6fff924, 0x03825603,
-    0x03826320, 0x03828920, 0xfd823382, 0xbc03e622, 0xd7200b82, 0xd9200382,
-    0xdb240382, 0x1a04e6ff, 0x1c200382, 0x1e200382, 0x20200382, 0x22200382,
-    0x24200382, 0x26200382, 0x28200382, 0x2a200382, 0x2c200382, 0x2e200382,
-    0x30200382, 0xa9200382, 0x372edb82, 0xe4ff2500, 0xd2ff3c00, 0xd3ff3d00,
-    0x0b82b100, 0x0382b320, 0xe2ffc32c, 0xd2ffd900, 0xe4ff0c01, 0x03824b02,
-    0x03824c20, 0x03824d20, 0x03824e20, 0x03824f20, 0x03825020, 0x03825120,
-    0xd3ff6524, 0x07828202, 0x03828420, 0x03828620, 0x0f82ee20, 0xd3fff028,
-    0xe4ff5203, 0x07825703, 0x07825a20, 0x07826620, 0xd2ff6724, 0x07826903,
-    0x0f828220, 0x0b828e20, 0x0b82a520, 0x0b82ae20, 0x0782be20, 0x0f82c120,
-    0x0b82c420, 0x0382c620, 0x0b82cf20, 0x0382e920, 0x0b82ee20, 0x0382f020,
-    0x0382f220, 0x0382f420, 0x0382f620, 0x0382f820, 0x0382fa20, 0x0382fc20,
-    0xe4fffe24, 0x03820004, 0x03820220, 0x03820420, 0xd3ff4024, 0x03824204,
-    0x03824420, 0xd2ff4e24, 0x03825604, 0x00276f82, 0xff100027, 0x82120046,
-    0xff252203, 0x22dd82cd, 0x82b300cd, 0xffc62207, 0x26d982f2, 0xff6e01cd,
-    0x82720146, 0x82762003, 0xff772203, 0x26e98246, 0xff4c02cd, 0x824d02cd,
-    0x824e2003, 0x824f2003, 0x82502003, 0x82512003, 0x82822003, 0x82842003,
-    0xff862203, 0x22dd82cd, 0x825a03cd, 0x82822007, 0x82ae2003, 0x82c42003,
-    0x82c62003, 0x82ee2003, 0x82f02003, 0x82f22003, 0x82f42003, 0x82f62003,
-    0x82f82003, 0x82fa2003, 0x82fc2003, 0xfffe2403, 0x820004cd, 0x82022003,
-    0x82042003, 0x00012c87, 0x000e00c3, 0xff4700af, 0x824800dc, 0x82492003,
-    0x824b2003, 0xff512403, 0x825200c1, 0xff532403, 0x825400d6, 0x82552007,
-    0xff592813, 0xff5a00dd, 0x825d00e1, 0x82932003, 0x8298200f, 0x829a2003,
-    0x82ba2013, 0x82bc2007, 0xffbe2413, 0x82c000e6, 0xffc1302b, 0xffc200eb,
-    0xffc400e9, 0xffc500f0, 0x82c700e7, 0x82c8201f, 0xffc92403, 0x82ca00e3,
-    0xffcb2c2f, 0xffcc00ce, 0xffcd00d4, 0x82eb00db, 0x82ef202f, 0x82f02003,
-    0x82f22003, 0x82f32003, 0x82f42003, 0x82f62003, 0x82f7202f, 0x82f92007,
-    0x82fa2003, 0x82fd2003, 0xffff2803, 0xff0201c1, 0x820401dc, 0xff172807,
-    0xff1901d6, 0x821d01e1, 0x8221200f, 0x82352003, 0x82392013, 0x82442007,
-    0x82492007, 0x824b2003, 0x824c200b, 0xff562403, 0x826d02dc, 0x826e2003,
-    0x826f2003, 0x82702003, 0x82712003, 0xff762803, 0xff7702c1, 0x827802d6,
-    0x82792003, 0x827a2003, 0x827b2003, 0xff7c2403, 0x827d02dd, 0x827e2003,
-    0x827f2003, 0xff802403, 0x828102e1, 0x82892003, 0x828b2033, 0x828d2003,
-    0x828f2003, 0x82912003, 0x82932003, 0x82952003, 0x82972003, 0x82992003,
-    0x829b2003, 0x829d2003, 0x829f2003, 0x82a12003, 0x82a32003, 0x82be2003,
-    0x82c02067, 0x82c22003, 0x82c32003, 0x82c52003, 0x82c72063, 0x82c92003,
-    0x82e12003, 0x82e3205f, 0x82e52003, 0x82e72003, 0x82e92003, 0x82eb2003,
-    0xffef3403, 0xff6a03e1, 0xff6c03dc, 0xff6e03c1, 0xff7003dd, 0x827203d6,
-    0x82752013, 0x8276200b, 0x8277200b, 0x82902007, 0x8291201f, 0x8292201f,
-    0x8293200f, 0x82942007, 0x8295200f, 0x82972023, 0x82982007, 0x829d200f,
-    0x829e2003, 0x82a6200f, 0x82ad2003, 0x82b2200b, 0x82b32017, 0x82b72007,
-    0x82b8200f, 0x82bd200b, 0x82bf2003, 0x82cb200b, 0x82cd2007, 0x82ce2003,
-    0x82d42003, 0x82d6201f, 0x82d82003, 0x82da2053, 0x82dc200f, 0x82e02007,
-    0x82e22023, 0x82e42003, 0x82e82003, 0xffeb241b, 0x820704dc, 0x82092003,
-    0x820b2003, 0x820d2003, 0x820f2003, 0x82112003, 0x82132003, 0x82152003,
-    0xff1b2403, 0x821d04d6, 0x821f2003, 0x82212003, 0x82232003, 0x82252003,
-    0x82272003, 0x82292003, 0x822b201f, 0x822d2003, 0x822f2003, 0x8231200f,
-    0xff332407, 0x823504dd, 0x82372003, 0x82392003, 0x823b2003, 0x823d2003,
-    0x823f2003, 0xff412403, 0x824304e1, 0x82452003, 0xff492403, 0x824b04c1,
-    0x82552003, 0x82622003, 0x82642003, 0xff662a03, 0x007600c1, 0x00daff06,
-    0x2403820b, 0x00f0ff47, 0x20038248, 0x20038249, 0x2003824b, 0x28038255,
-    0x00efff59, 0x00dcff5a, 0x2003825d, 0x200f8293, 0x20038298, 0x2013829a,
-    0x200782ba, 0x2c1382bc, 0x00ecffc1, 0x000f00c3, 0x00eaffc5, 0x201382c7,
-    0x240382c8, 0x00ceffc9, 0x282382ca, 0x00e7ffcb, 0x01f0fff6, 0x24038202,
-    0x01dcff19, 0x2007821d, 0x20038221, 0x82038239, 0x4c01215f, 0x56200782,
-    0x6c240382, 0x6d01daff, 0x6f200382, 0x70200382, 0x71280382, 0x6d02daff,
-    0x6e02f0ff, 0x6f200382, 0x70200382, 0x71200382, 0x7c240382, 0x7d02efff,
-    0x7e200382, 0x7f200382, 0x80240382, 0x8102dcff, 0x89200382, 0x8b201b82,
-    0x8d200382, 0x8f200382, 0x91200382, 0xab820382, 0x82950221, 0x82972007,
-    0x82992003, 0x829b2003, 0x829d2003, 0x829f2003, 0x82a12003, 0x82a32003,
-    0x82e12003, 0x82e32043, 0x82e52003, 0x82e72003, 0x82e92003, 0x82eb2003,
-    0xffef2c03, 0xff6a03dc, 0xff6e03f0, 0x827203ef, 0x8275200b, 0x82772007,
-    0x82902003, 0x82942013, 0x82952003, 0x82972013, 0x829e2007, 0x82a62007,
-    0xffa72403, 0x82a803da, 0x82ab2003, 0x82b22003, 0x82b72017, 0x82b82013,
-    0x82bd2007, 0x82bf2003, 0x82cb200b, 0x82cd2007, 0x82ce2003, 0x82da2003,
-    0x82e02003, 0x82e22013, 0x82e42003, 0xffeb2403, 0x820704f0, 0x82092003,
-    0x820b2003, 0x820d2003, 0x820f2003, 0x82112003, 0x82132003, 0x82152003,
-    0x82292003, 0x822b2003, 0x822d2003, 0x82312003, 0xff332403, 0x823504ef,
-    0x82372003, 0x82392003, 0x823b2003, 0x823d2003, 0x823f2003, 0xff412403,
-    0x824304dc, 0xff452a03, 0x004400dc, 0x000c0010, 0x24038212, 0x00e7ff47,
-    0x20038248, 0x20038249, 0x2003824b, 0x20038255, 0x20038293, 0x20038298,
-    0x240382ba, 0x000f00c3, 0x200782c7, 0x240382c8, 0x01e7fff6, 0x20038202,
-    0x2003821d, 0x20038221, 0x82038239, 0x4c012133, 0x56200782, 0x6e240382,
-    0x72010c00, 0x76200382, 0x77280382, 0x6d020c00, 0x6e02e7ff, 0x6f200382,
-    0x70200382, 0x71200382, 0x89200382, 0x8b200382, 0x8d200382, 0x8f200382,
-    0x91200382, 0x6f820382, 0x82950221, 0x82972007, 0x82992003, 0x829b2003,
-    0x829d2003, 0x829f2003, 0x82a12003, 0xffa32403, 0x826a03e7, 0x82902003,
-    0x82942003, 0x82972003, 0x82b22003, 0x82b82003, 0x82bd2003, 0x82cb2003,
-    0x82cd2003, 0x82ce2003, 0x82da2003, 0xffeb2403, 0x820704e7, 0x82092003,
-    0x820b2003, 0x820d2003, 0x820f2003, 0x82112003, 0x82132003, 0x82152003,
-    0x82292003, 0x822b2003, 0x822d2003, 0x82312003, 0x00063adb, 0x00eaffc9,
-    0x00eeffec, 0x00d5fff5, 0x01edfffd, 0x01ecff33, 0x00ecff58, 0x20118201,
-    0x2a0582c0, 0x002000c9, 0x0006007e, 0x820b000c, 0x0ba34c03, 0x0f824a20,
-    0xe8ff4b24, 0x41825300, 0x07825520, 0x21825a20, 0x03825d20, 0x200baf4c,
-    0x240f82bc, 0x0090ffc3, 0x200782c5, 0x202382c7, 0x200382c8, 0x203782c9,
-    0x06bf4cf6, 0xeaff1727, 0x0b001901, 0x19c74c01, 0x6d010c26, 0x6f010c00,
-    0x70200382, 0x71200382, 0xba280382, 0xbc01bfff, 0xc001eeff, 0xc820a982,
-    0xca20b182, 0xcc2e0782, 0xcd01f5ff, 0xcf010e00, 0xd2010d00, 0xeb4c0d00,
-    0xff772414, 0x827802ea, 0x82792003, 0x827a2003, 0x827b2003, 0x00802403,
-    0x8281020b, 0x36074d03, 0x82c50221, 0x82c72043, 0x82c92003, 0x00ef2c03,
-    0xff6a030b, 0xff7003e8, 0x827203ea, 0x8276200b, 0x82902007, 0x8292200f,
-    0x82942007, 0x82952007, 0x82972013, 0x829e2007, 0x82a62007, 0x00a72403,
-    0x82a8030c, 0x82ab2003, 0x82b22003, 0x82b72017, 0x07374d13, 0x0b82bf20,
-    0x200b3b4d, 0x204382d8, 0x202382da, 0x200782dc, 0x201b82e0, 0x200382e2,
-    0x4d0382e4, 0x1b24234f, 0x1d04eaff, 0x1f200382, 0x21200382, 0x23200382,
-    0x25200382, 0x27200382, 0x6b4d0382, 0x822f200b, 0xff31280f, 0x004104e8,
-    0x8243040b, 0x00453003, 0x0001000b, 0x00e2fff5, 0xff5c000d, 0x825e00ed,
-    0x82ed2003, 0xfff52803, 0xfff202c0, 0x82f402ed, 0xfff62403, 0x829603ed,
-    0x82c22003, 0x82d02003, 0xffea2403, 0x824f04ed, 0x82572003, 0x820c2027,
-    0x82f22035, 0x00f22435, 0x82f2ffed, 0x82f22031, 0x02f22431, 0x82f2fff6,
-    0x03f22231, 0x200782c2, 0x220382d0, 0x82f2ffea, 0x04f22a31, 0x00f2ff57,
-    0xff5a001f, 0x203584f4, 0x2407825d, 0x00f3ff5e, 0x820782bc, 0x1901253d,
-    0x8002f4ff, 0x81200382, 0xef200382, 0xf2220382, 0x4d82f3ff, 0x4d82f320,
-    0x7203f326, 0x9503f4ff, 0x96200382, 0x9e204d82, 0xa6200782, 0xb7200382,
-    0xbf200382, 0x65870382, 0x0b82e020, 0x0382e220, 0x0382e420, 0x7182ea20,
-    0xf4ff4124, 0x03824304, 0x03824520, 0x0f824f20, 0x5d267d83, 0xcaff0600,
-    0x03820b00, 0xd2ff3828, 0xd4ff3a00, 0x7d823c00, 0xd3ff3d22, 0xe6209582,
-    0xef249582, 0xe6ff5d00, 0xe6229182, 0x1f82d100, 0x0382d520, 0x1f82d920,
-    0xe982dd20, 0xe1ffe024, 0x2f82e500, 0xefffed32, 0xc9fff500, 0xd1fffd00,
-    0xe5ff0801, 0xd4ff1801, 0xe62eb982, 0xe3ff1f01, 0xd2ff3201, 0xc4ff3301,
-    0x07823a01, 0xe1ff3c24, 0x1b824d01, 0xf5ff4e34, 0xe7ff4f01, 0x64ff5701,
-    0xc9ff5801, 0xcaff6c01, 0x03826d01, 0x03826f20, 0x03827020, 0xcaff7126,
-    0xd3ff6502, 0xe62af982, 0xe6ff8102, 0xd2ffda02, 0x0382dc02, 0x0382de20,
-    0x1782ee20, 0x1382ef20, 0xd3fff024, 0x03825703, 0x2205934a, 0x826903f4,
-    0xff722c0b, 0xff8103e6, 0xff8d03ed, 0x828e03d2, 0x829520f1, 0xff96240f,
-    0x829e03ef, 0x82a52007, 0x82a6201f, 0xffa72407, 0x82a803ca, 0x82ab2003,
-    0xffb62403, 0x82b703d4, 0x82be2013, 0x82bf201b, 0x82c12007, 0x82c22033,
-    0x82cf202f, 0x82d02007, 0x82df2007, 0x82e0204b, 0x82e12017, 0x82e22007,
-    0x82e32007, 0x82e42007, 0xffe52407, 0x82e903e1, 0xffea2c23, 0xff4004ef,
-    0xff4104d3, 0x824204e6, 0x82432007, 0x82442007, 0x82452007, 0xff4c2807,
-    0xff4e04d2, 0x824f04f4, 0xff502423, 0x825204e1, 0x82562003, 0x8257200f,
-    0x27ab820f, 0x06006c00, 0x0b00c0ff, 0x38340382, 0x3a009dff, 0x3c00c7ff,
-    0x3d00f0ff, 0x5100abff, 0x5200d2ff, 0x54200382, 0xc0200382, 0xd1200382,
-    0xd3241f82, 0xd500f5ff, 0xd9200782, 0xdc202382, 0xdd2c0b82, 0xe000eaff,
-    0xe500e5ff, 0xeb00c1ff, 0xef202382, 0xf0200382, 0xf2200382, 0xf3200382,
-    0xf4200382, 0xf5240382, 0xf700cdff, 0xf9200782, 0xfa200382, 0xfd200382,
-    0xff240382, 0x0401d2ff, 0x182c0382, 0x3201c7ff, 0x33019dff, 0x3501ccff,
-    0x3a200f82, 0x3c280b82, 0x3f01e5ff, 0x4401dfff, 0x49200f82, 0x4d300382,
-    0x4f01ceff, 0x5101eaff, 0x5701f5ff, 0x58019eff, 0x6c240f82, 0x6d01c0ff,
-    0x6f200382, 0x70200382, 0x712c0382, 0x6502c0ff, 0x7602abff, 0xbe02d2ff,
-    0xc0200382, 0xc2200382, 0xc3200382, 0xda240382, 0xdc029dff, 0xde200382,
-    0xee200382, 0xf0242382, 0x5703abff, 0x66200382, 0x67240382, 0x6903f0ff,
-    0x6c2c0782, 0x8103d2ff, 0x8d03eaff, 0x8e039dff, 0x91201382, 0x93200f82,
-    0x98200382, 0x9d200382, 0xa5200382, 0xa7242382, 0xa803c0ff, 0xab200382,
-    0xad200382, 0xb3201382, 0xb6240382, 0xbe03c7ff, 0xc1201b82, 0xcf203382,
-    0xd4200382, 0xd6201382, 0xdf200382, 0xe1204b82, 0xe3200382, 0xe5240382,
-    0xe803e5ff, 0xe9201382, 0xec281f82, 0x4004f5ff, 0x4204abff, 0x44200382,
-    0xdf820382, 0xff4b0431, 0xff4c04d2, 0xff4e049d, 0xff5004f0, 0x825204e5,
-    0x82552003, 0x82562013, 0x8262200f, 0x82642007, 0x82662003, 0x82672003,
-    0x27ab823b, 0x06006f00, 0x0b00b1ff, 0x38340382, 0x3a009eff, 0x3c00c5ff,
-    0x3d00f2ff, 0x5100a8ff, 0x5200cfff, 0x54200382, 0x5c240382, 0xc000efff,
-    0xd1200782, 0xd5202382, 0xd9200382, 0xdd232382, 0x4300ecff, 0xc222052b,
-    0x1b82eb00, 0x2382ed20, 0x0782ef20, 0x0382f020, 0x0382f220, 0x0382f320,
-    0x0382f420, 0xc6fff524, 0x0782f700, 0x0382f920, 0x0382fa20, 0x0382fd20,
-    0xcfffff24, 0x03820401, 0xc5ff182c, 0x9eff3201, 0xc0ff3301, 0x0f823501,
-    0x0b823a20, 0xe1ff3c22, 0x2206b141, 0x824901cf, 0xff4d3413, 0xff4f01cd,
-    0xff5701e8, 0xff58019f, 0xff6c01c6, 0x826d01b1, 0x826f2003, 0x82702003,
-    0xff712c03, 0xff6502b1, 0xff7602a8, 0x82be02cf, 0x82c02003, 0x82c22003,
-    0x82c32003, 0xffda2403, 0x82dc029e, 0x82de2003, 0x82ee2003, 0xfff02423,
-    0x825703a8, 0x82662003, 0xff672403, 0x826903f2, 0xff6c2c07, 0xff8103cf,
-    0xff8d03ec, 0x828e039e, 0x82912013, 0x8293200f, 0xff962403, 0x829803ef,
-    0x829d2007, 0x82a52003, 0xffa72427, 0x82a803b1, 0x82ab2003, 0x82ad2003,
-    0x82b32013, 0xffb62403, 0x82be03c5, 0x82c1201b, 0x05634337, 0xd003f222,
-    0xd4203782, 0xd6201b82, 0xdf200382, 0xe1205782, 0xe3200382, 0xe5240382,
-    0xe803e1ff, 0xe9201382, 0x63432b82, 0x04a82605, 0x04a8ff42, 0x82038244,
-    0x4b042be7, 0x4c04cfff, 0x4e049eff, 0x5f43f2ff, 0x8255200c, 0x82562017,
-    0xff572413, 0x826204ef, 0x8264200b, 0x82662003, 0x2bbb8203, 0x38004d00,
-    0x5100beff, 0x5200e1ff, 0x54200382, 0x5a240382, 0x5d00efff, 0xbc200382,
-    0xc0200382, 0xd1200f82, 0xd5201f82, 0xe5240382, 0xeb00c9ff, 0xef200f82,
-    0xf0200382, 0xf2200382, 0xf3200382, 0xf4200382, 0xf5240382, 0xf700dfff,
-    0xf9200782, 0xfa200382, 0xfd200382, 0xff240382, 0x0401e1ff, 0x08340382,
-    0x1901edff, 0x1f01efff, 0x3201ebff, 0x3301beff, 0x3501dfff, 0x3a201782,
-    0x3f240b82, 0x4401e9ff, 0x49200b82, 0x4e300382, 0x5801f5ff, 0x7602e0ff,
-    0x8002e1ff, 0x8102efff, 0xbe200382, 0xc0200b82, 0xc2200382, 0xc3200382,
-    0xda240382, 0xdc02beff, 0xde200382, 0xef280382, 0x6c03efff, 0x7203e1ff,
-    0x8d240782, 0x9103beff, 0x93200b82, 0x95200382, 0x98200f82, 0x9d200782,
-    0x9e200382, 0xa6200b82, 0xad200382, 0xb3200b82, 0xb7200382, 0xbf200b82,
-    0xd4200382, 0xd6200b82, 0xe0200382, 0xe2200b82, 0xe4200382, 0xe8280382,
-    0x4104e1ff, 0x4304efff, 0x45200382, 0x93820382, 0x824b0421, 0xff4c2413,
-    0x825504be, 0x82622007, 0x82642003, 0x82662003, 0x006428db, 0x00e6ff38,
-    0x42e7ff3a, 0xe72606eb, 0xd6ff5100, 0x03825200, 0x03825420, 0xf1ff5c24,
-    0x0782c000, 0x2382d120, 0x0382d520, 0x2605eb42, 0xffe000ee, 0x82e500e8,
-    0x82eb200f, 0x82ed201b, 0x82ef2023, 0x82f02007, 0x82f22003, 0x82f32003,
-    0x82f42003, 0xfff52403, 0x82f700d0, 0x82f92007, 0x82fa2003, 0x82fd2003,
-    0xffff2403, 0x820401d6, 0xff182c03, 0xff3201e7, 0xff3301e6, 0x823501ce,
-    0x823a200f, 0xff3c240b, 0x824401e8, 0x8249200b, 0x824d2003, 0xff4f241f,
-    0x825701ed, 0xff582c17, 0xff6502d0, 0xff7602e7, 0x82be02d6, 0x82c02003,
-    0x82c22003, 0x82c32003, 0xffda2403, 0x82dc02e6, 0x82de2003, 0x82ee2003,
-    0xfff02423, 0x825703e7, 0x82662003, 0x05d34203, 0x6c03e72c, 0x8103d6ff,
-    0x8d03eeff, 0xd342e6ff, 0x03d62206, 0x24138293, 0x03f1ff96, 0x20078298,
-    0x2003829d, 0x202f82a5, 0x200782ad, 0x200382b3, 0x200b82b6, 0x420382be,
-    0xf12605c7, 0xf2ffcf03, 0x2b82d003, 0x1b82d420, 0x0382d620, 0x4b82df20,
-    0x0382e120, 0x0382e320, 0xe8ffe524, 0x1382e803, 0x2605c742, 0xff4004f1,
-    0x824204e7, 0x82442003, 0x27c78203, 0xd6ff4b04, 0xe6ff4c04, 0x2606c742,
-    0xff5004f1, 0x825204e8, 0x82552003, 0x05c74217, 0x6204f122, 0x64200b82,
-    0x66200382, 0x692e0382, 0x9300e7ff, 0x10002500, 0xe8ff2700, 0x03822b00,
-    0x03823320, 0x03823520, 0xe0ff3824, 0x03823a00, 0xdfff3d24, 0x0f828300,
-    0x03829220, 0x03829720, 0x2b82b120, 0x0782b220, 0x0782b320, 0x1f82d120,
-    0x0b82d220, 0x0b82d320, 0x0b82d520, 0x1400d824, 0x0b82dc00, 0x26059944,
-    0x00ec00e0, 0x82f10013, 0xfff82c0f, 0x000301e0, 0xff070110, 0x820c01e8,
-    0x82162007, 0x82182007, 0x821a2013, 0x821c2007, 0x821e2003, 0x82202003,
-    0x82322003, 0x82382013, 0x823a2007, 0xff3c2407, 0x823d01e1, 0x82402007,
-    0xff452c07, 0xff4d01e9, 0xff4f01df, 0x825101de, 0x8255203f, 0x82572023,
-    0xff59280f, 0xff2802f2, 0x822902e8, 0x21bb8203, 0x07822c02, 0x10004b24,
-    0x03824c02, 0x03824d20, 0x03824e20, 0x03824f20, 0x03825020, 0x02213782,
-    0x201f8252, 0x2003825c, 0x2003825d, 0x2003825e, 0x2003825f, 0x24038260,
-    0x02dfff65, 0x20238282, 0x20038284, 0x20038286, 0x20138288, 0x2003828a,
-    0x2003828c, 0x2003828e, 0x2003829c, 0x2003829e, 0x200382a0, 0x200382a2,
-    0x200382c4, 0x200382c6, 0x240382c8, 0x02e0ffda, 0x200382dc, 0x200382de,
-    0x204782ee, 0x280382f0, 0x03e8fff9, 0x03100052, 0x82078256, 0x5a0321a7,
-    0x63200b82, 0x66240b82, 0x6903dfff, 0x6b820382, 0x82890321, 0x255f820f,
-    0xe0ff8d03, 0x1382a503, 0x2382ae20, 0x0b82b620, 0x1782b920, 0x0382bc20,
-    0x1382be20, 0x1382c420, 0x0382c620, 0x0f82d720, 0x0382d920, 0x0382db20,
-    0xe1ffe524, 0x2782e603, 0x1782ec20, 0x0382ed20, 0x0382ee20, 0x0382f020,
-    0x0382f220, 0x0382f420, 0x0382f620, 0x0382f820, 0x0382fa20, 0x0382fc20,
-    0x1000fe24, 0x03820004, 0x03820220, 0x03820420, 0xe8ff1a24, 0x03821c04,
-    0x03821e20, 0x03822020, 0x03822220, 0x03822420, 0x03822620, 0x03822820,
-    0x03822a20, 0x03822c20, 0x03822e20, 0x03823020, 0xdfff4024, 0x03824204,
-    0x03824420, 0xe0ff4c28, 0xe1ff5004, 0x07825104, 0x07825220, 0x07825320,
-    0x53826720, 0x03826820, 0x0431d782, 0x00e8ffa9, 0xff1b0032, 0xff3800f2,
-    0xff3a00f1, 0x06f749f4, 0xd100f022, 0x71480f82, 0x00f12205, 0x481782d9,
-    0xf32a0571, 0xf1ffe500, 0xf4ff1801, 0x07823201, 0x03823a20, 0xf2ff4d24,
-    0x03824f01, 0x2a052148, 0xff6502f2, 0xffda02f0, 0x82dc02f1, 0x82de2003,
-    0x82ee2003, 0xfff0240f, 0x825703f0, 0x82662003, 0xff672403, 0x826903f4,
-    0xff812807, 0xff8d03f3, 0x828e03f1, 0x82a5200f, 0x82b6200f, 0x82be2007,
-    0x82c12007, 0x82cf2007, 0x82df2003, 0x82e1201f, 0x82e32003, 0x82e92003,
-    0x05bd470f, 0xd982f020, 0x4404f02e, 0x4c04f0ff, 0x4e04f1ff, 0x5604f4ff,
-    0x67230382, 0x8204f5ff, 0x66002553, 0x0f002500, 0xe620c982, 0xe62ac982,
-    0x0e003c00, 0xe6ff3d00, 0x1382b100, 0x0382b320, 0x0b82d120, 0x1382d320,
-    0x0782d520, 0x1300d824, 0x0b82d900, 0x0382dc20, 0x0b00dd22, 0x2a064749,
-    0xffe600e6, 0x00ec00f4, 0x82f10012, 0xfff5302f, 0xfff800e7, 0xfffd00e8,
-    0x000301e7, 0x820c010f, 0xff182203, 0x069544e6, 0x3a01e722, 0x3c280b82,
-    0x3d01e5ff, 0x4d01e8ff, 0x4f200b82, 0x51220382, 0x91440e00, 0x02e72606,
-    0x020f004b, 0x2003824c, 0x2003824d, 0x2003824e, 0x2003824f, 0x20038250,
-    0x24038251, 0x02e6ff65, 0x20078282, 0x20038284, 0x44038286, 0xe62a0da5,
-    0xe6fff002, 0x0f005203, 0x07825703, 0x07825a20, 0x07826620, 0x0e006724,
-    0x07826903, 0x0b008123, 0x213b8203, 0x0b828d03, 0x13828e20, 0x0782a520,
-    0x2382ae20, 0x0782b620, 0x0382be20, 0x1382c120, 0x0f82c420, 0x0382c620,
-    0x0b82cf20, 0x2f82df20, 0x0382e120, 0x0382e320, 0xe5ffe528, 0xe8ffe603,
-    0x1782e903, 0x0382ec20, 0x2382ed20, 0x0382ee20, 0x0382f020, 0x0382f220,
-    0x0382f420, 0x0382f620, 0x0382f820, 0x0382fa20, 0x0382fc20, 0x0f00fe24,
-    0x03820004, 0x03820220, 0x03820420, 0xe6ff4024, 0x03824204, 0x03824420,
-    0x03824c20, 0x0e004e2c, 0xe5ff5004, 0xe8ff5104, 0x07825204, 0x07825320,
-    0x13825620, 0x0421af82, 0x822f8268, 0x370027b3, 0xbfff0600, 0x03820b00,
-    0x9fff382c, 0xc9ff3a00, 0xadff3d00, 0x0b82d100, 0x0382d520, 0x3a051b49,
-    0xffe500e6, 0xfff500c4, 0xfffd00cd, 0xff1801d5, 0xff3201c9, 0xff33019f,
-    0x823a01cc, 0xff3c3c07, 0xff3f01e6, 0xff4d01df, 0xff4f01d1, 0xff5701ec,
-    0xff5801a1, 0xff6c01cf, 0x826d01bf, 0x826f2003, 0x82702003, 0xff712c03,
-    0xff6502bf, 0xffda02ad, 0x82dc029f, 0x82de2003, 0x82ee2003, 0xfff0240f,
-    0x825703ad, 0x82662003, 0x82692003, 0xff812803, 0xff8d03ec, 0x82a5039f,
-    0xffa7240b, 0x82a803bf, 0x82ab2003, 0xffb62403, 0x82be03c9, 0x0d8b4813,
-    0x4004e624, 0xf582adff, 0x4404ad22, 0x4c220782, 0xf1829fff, 0xed82e620,
-    0x8204e621, 0x3000294b, 0xe3ff3800, 0xe5ff3c00, 0xe420d582, 0xe322d582,
-    0x0b82d300, 0x1382d520, 0xe2ffd824, 0x0b82d900, 0x0382dc20, 0xe9ffdd28,
-    0xeafff100, 0x03820301, 0xe3ff3222, 0xe328d582, 0xe5ff5101, 0xe4ff5701,
-    0xe420b182, 0xe320b182, 0xe326b182, 0xe3ffde02, 0x1382ee02, 0xe4fff023,
-    0x211b8203, 0x07826603, 0xe5ff6724, 0x07826903, 0xe9ff8122, 0xe322b582,
-    0x0f828e03, 0x0f82a520, 0x0382be20, 0x0b82c120, 0x0382cf20, 0x1b82df20,
-    0x0382e120, 0x0382e320, 0x0f82e920, 0x0382ec20, 0xeaffed22, 0xe424b982,
-    0xe4ff4204, 0xe42ab982, 0xe3ff4c04, 0xe5ff4e04, 0x03825604, 0x04215382,
-    0x821f8268, 0x23002157, 0xe220c182, 0xbd83c182, 0xbd82e220, 0xd500e422,
-    0xd822b982, 0xbd82e1ff, 0xdc00e425, 0x8300e4ff, 0x82ec20bd, 0xfff12207,
-    0x24c182eb, 0xff3201eb, 0x20c182e2, 0x83c182e2, 0x02e224b9, 0x82e2ffdc,
-    0x03e222b9, 0x20a58867, 0x22a582e2, 0x82c103e4, 0x82cf200f, 0x219d8d03,
-    0x4b8203e4, 0xffed0323, 0x209182eb, 0x209182e2, 0x219182e4, 0x3b8204e4,
-    0xeb229182, 0x8d821700, 0x3d00eb28, 0xd100f3ff, 0x8982ebff, 0xeb206d83,
-    0xeb286d82, 0xf3ff6502, 0xebffda02, 0xeb206d82, 0xeb226d82, 0x0f82ee02,
-    0xf3fff024, 0x03825703, 0x03826620, 0x03826920, 0xebff8d24, 0x0782a503,
-    0xf3ffbe22, 0xf320fb82, 0xf320fb82, 0xf320fb82, 0xeb216982, 0x271f8204,
-    0x51003600, 0x5200efff, 0x54200382, 0x5c240382, 0xc000f0ff, 0xeb200782,
-    0xec240382, 0xed00eeff, 0xef200f82, 0xf0200b82, 0xf2200382, 0xf3200382,
-    0xf4200382, 0xf5200382, 0xf7201b82, 0xf9200782, 0xfa200382, 0xfd200382,
-    0xff240382, 0x0401efff, 0x08280382, 0x1f01f4ff, 0x3301f1ff, 0x35200b82,
-    0x44200382, 0x49200382, 0x58240382, 0x7602efff, 0xbe200382, 0xc0200382,
-    0xc2200382, 0xc3240382, 0x6c03efff, 0x91200382, 0x93200382, 0x96240382,
-    0x9803f0ff, 0x9d200782, 0xad200382, 0xb3200382, 0xc2200382, 0xd0201382,
-    0xd4200382, 0xd6200b82, 0xe8200382, 0xea230382, 0x8204f0ff, 0x4b042553,
-    0x4f04efff, 0x55200b82, 0x57200782, 0x62200782, 0x64200782, 0x66200382,
-    0x22208f82, 0x260a6f5c, 0xff5d00f5, 0x82bc00f5, 0xfff52403, 0x82fd00f4,
-    0xff0824a1, 0x821901f5, 0x82332003, 0x82582003, 0x157f5c03, 0x8102f52a,
-    0xef02f5ff, 0x7203f5ff, 0x95200382, 0x9e200382, 0xa6200382, 0x7f5c0382,
-    0x03f5220d, 0x201382bf, 0x200382e0, 0x240382e2, 0x04f5ffe4, 0x20038241,
-    0x20038243, 0x26738245, 0xff510032, 0x825200ee, 0x82542003, 0x82c02003,
-    0x82eb2003, 0x00ec2403, 0x82ef0014, 0x82f02007, 0x82f22003, 0x82f32003,
-    0x82f42003, 0xfff52403, 0x82f700ed, 0x82f82007, 0x82f92007, 0x82fa2007,
-    0xfffb2203, 0x26b582d0, 0xffff00ee, 0x820401ee, 0xff332403, 0x823501ed,
-    0x823d2007, 0x82442007, 0x82492007, 0xff582803, 0xff7602ed, 0x82be02ee,
-    0x82c02003, 0x82c22003, 0xffc32403, 0x826c03ee, 0x82912003, 0x82932003,
-    0x82982003, 0x829d2003, 0x82ad2003, 0x82b32003, 0x82d42003, 0x82d62003,
-    0xffe62703, 0xffe803ed, 0x478204ee, 0x824b0421, 0xff512407, 0x825304ed,
-    0x82552003, 0x8262200b, 0x82642003, 0x82662003, 0x000a2287, 0x24cf8206,
-    0x01f5ff0b, 0x2003826c, 0x2003826d, 0x2003826f, 0x24038270, 0x03f5ff71,
-    0x200382a7, 0x200382a8, 0x212382ab, 0x33570059, 0xff53280f, 0xff5500c7,
-    0x829300f0, 0x82982003, 0x82ba2003, 0x57c72003, 0xf6210617, 0x050b57ff,
-    0xc7ff1726, 0xebff1b01, 0x20180f57, 0x241b82bc, 0x01e9ffc0, 0x220782c8,
-    0x57ebffca, 0x7724140b, 0x7802c7ff, 0x79200382, 0x7a200382, 0x7b200382,
-    0x07570382, 0x82c52037, 0x82c7203b, 0xffc92803, 0xff6a03c7, 0x827003f0,
-    0x82762007, 0x82902003, 0x8292200b, 0x82942007, 0x82972007, 0x82b22003,
-    0x07d75603, 0x200bd356, 0x202382d8, 0x201b82da, 0x560782dc, 0x1b2423cf,
-    0x1d04c7ff, 0x1f200382, 0x21200382, 0x23200382, 0x25200382, 0x27200382,
-    0xeb560382, 0x822f200b, 0xff312a0f, 0x00a100f0, 0x000d0006, 0x2003820b,
-    0x240d8245, 0x00c0ff47, 0x20038248, 0x20038249, 0x2013824a, 0x2407824b,
-    0x00e2ff53, 0x55078255, 0xc0220993, 0x0f829800, 0x0382ba20, 0x3982bc20,
-    0xd6ffc624, 0x0b82c700, 0x0382c820, 0xd5ffcb30, 0xc8ffec00, 0xd7fff100,
-    0xc0fff600, 0x03820201, 0xd7ff0330, 0xe2ff1701, 0x0b001901, 0xecff1b01,
-    0x13821d01, 0x0c001f24, 0x07822101, 0x03823920, 0x01216382, 0x2007824c,
-    0x201f824e, 0x20038250, 0x240b8256, 0x010d006c, 0x2003826d, 0x2003826f,
-    0x20038270, 0x55038271, 0x662423ab, 0x6702f0ff, 0x68200382, 0x69200382,
-    0x6a200382, 0x6b200382, 0x6c200382, 0x6d240382, 0x6e02c0ff, 0x6f200382,
-    0x70200382, 0x71200382, 0x01610382, 0x07c75513, 0x33828320, 0x03828520,
-    0x03828720, 0x2b828920, 0x03828b20, 0x03828d20, 0x03828f20, 0x03829120,
-    0x03829320, 0x03829520, 0x03829720, 0x03829920, 0x03829b20, 0x03829d20,
-    0x03829f20, 0x0382a120, 0x0382a320, 0x200a4d61, 0x05d35502, 0x7003c024,
-    0xd355e2ff, 0x03e22a06, 0x03f0ff8f, 0x03c0ff90, 0x20138292, 0x55078294,
-    0xc02105d7, 0x09d75503, 0xa8030d26, 0xab030d00, 0xaf200382, 0xb2202b82,
-    0xdb552382, 0x03c02205, 0x240b82bd, 0x030b00bf, 0x201782c5, 0x200382c7,
-    0x200f82cb, 0x200382cd, 0x200382ce, 0x204f82d8, 0x200782da, 0x550782dc,
-    0xc0260de3, 0xd7ffed03, 0x2f82ef03, 0x0382f120, 0x0382f320, 0x0382f520,
-    0x0382f720, 0x0382f920, 0x0382fb20, 0x0382fd20, 0xf0ffff24, 0x03820104,
-    0x03820320, 0x03820520, 0xc0ff0724, 0x03820904, 0x03820b20, 0x03820d20,
-    0x03820f20, 0x03821120, 0x03821320, 0x03821520, 0x201b1562, 0x201f8229,
-    0x2003822b, 0x2403822d, 0x04e2ff2f, 0x56078231, 0x042e0a17, 0x00d7ff68,
-    0x00ec000f, 0x00f10014, 0x8d820010, 0xfff80024, 0x858200f0, 0x00000131,
-    0x00030116, 0xff330110, 0xff3d01e6, 0x825801dc, 0x82e62099, 0x00ed2403,
-    0x82510410, 0x82532095, 0x82682003, 0x004c2633, 0x00eeff47, 0x20038248,
-    0x20038249, 0x2003824b, 0x20038255, 0x20038293, 0x20038298, 0x200382ba,
-    0x200382c7, 0x220382c8, 0x821200ec, 0x820e2065, 0x00e32265, 0x260f82f6,
-    0x00e3fff8, 0x82b8fffb, 0x01e3246d, 0x82eeff02, 0x010e226d, 0x2007821d,
-    0x24038221, 0x01baff33, 0x23078239, 0x01d9ff3d, 0x01215382, 0x200b824c,
-    0x28038256, 0x02e3ff58, 0x02eeff6d, 0x2003826e, 0x2003826f, 0x20038270,
-    0x20038271, 0x20038289, 0x2003828b, 0x2003828d, 0x2003828f, 0x82038291,
-    0x95022183, 0x97200782, 0x99200382, 0x9b200382, 0x9d200382, 0x9f200382,
-    0xa1200382, 0xa3240382, 0x6a03eeff, 0x90200382, 0x94200382, 0x97200382,
-    0xb2200382, 0xb8200382, 0xbd200382, 0xcb200382, 0xcd200382, 0xce200382,
-    0xda200382, 0xe6240382, 0xeb03e3ff, 0xed280782, 0x07040e00, 0x0904eeff,
-    0x0b200382, 0x0d200382, 0x0f200382, 0x11200382, 0x13200382, 0x15200382,
-    0x29200382, 0x2b200382, 0x2d200382, 0x31200382, 0x51240382, 0x5304e3ff,
-    0x682a0382, 0x20000e00, 0xc0ff5a00, 0x03825d00, 0x0382bc20, 0x80fff53c,
-    0xeefff800, 0xf0fffd00, 0xdbff0801, 0xc0ff1901, 0xdcff1f01, 0x47ff3301,
-    0xf1823d01, 0x07004e30, 0xf4ff5001, 0x7fff5801, 0xc0ff8002, 0x03828102,
-    0xc0ffef24, 0x03827203, 0x03829520, 0x03829e20, 0x0382a620, 0x0382b720,
-    0x0382bf20, 0x0382e020, 0x0382e220, 0x0382e420, 0x7982e620, 0xc0ff4124,
-    0x03824304, 0x03824520, 0x0f825120, 0x6b825320, 0x9f572120, 0x82f02006,
-    0x00f43085, 0x00f4ffbc, 0x00efffec, 0x00f0ffed, 0x82f3fff1, 0x01ee2489,
-    0x57f3ff03, 0x9f570fab, 0x03f0210a, 0x25119f57, 0xffd003f0, 0x9f5703f0,
-    0x03f0250d, 0x04f3ffed, 0x260da357, 0xff5704f0, 0x826804f0, 0x000a2a67,
-    0x00d6ff06, 0x01d6ff0b, 0x2003826c, 0x2003826d, 0x2003826f, 0x24038270,
-    0x03d6ff71, 0x200382a7, 0x200382a8, 0x242382ab, 0xff5c0015, 0x289f82e0,
-    0xfff500e0, 0xfff80076, 0x08a382c2, 0x0801d322, 0x1f01d9ff, 0x3301dbff,
-    0x3d011eff, 0x4e01edff, 0x5001f0ff, 0x5801f2ff, 0x960356ff, 0xc203e0ff,
-    0xd0200382, 0xe6280382, 0xea03c2ff, 0x4f04e0ff, 0x51240382, 0x5304c2ff,
-    0x57200382, 0x0d204f82, 0x64204d82, 0xd2204d82, 0xd9204d82, 0xe6244d9c,
-    0x5104d2ff, 0x53240382, 0x0900d2ff, 0x6a203582, 0xc6203182, 0x0020319b,
-    0xd720db83, 0xd720db82, 0xd726db82, 0xd7ff6d01, 0x03826f01, 0x03827020,
-    0xd7ff7122, 0xd722db82, 0x0782a803, 0xd7ffab2a, 0x47005c00, 0x480098ff,
-    0x49200382, 0x4b200382, 0x53240382, 0x550070ff, 0x57280782, 0x5b0018ff,
-    0x93000b00, 0x98200b82, 0xba200382, 0xc7200382, 0xc8200382, 0xf6240382,
-    0x020198ff, 0x17240382, 0x1d0170ff, 0x21200782, 0x39200382, 0x3f820382,
-    0x824c0121, 0xff562407, 0x826d0298, 0x826e2003, 0x826f2003, 0x82702003,
-    0x82712003, 0xff772403, 0x82780270, 0x82792003, 0x827a2003, 0x827b2003,
-    0x82892003, 0x828b2017, 0x828d2003, 0x828f2003, 0x82912003, 0x21738203,
-    0x07829502, 0x03829720, 0x03829920, 0x03829b20, 0x03829d20, 0x03829f20,
-    0x0382a120, 0x0382a320, 0x3b82c520, 0x0382c720, 0x0382c920, 0x18ffd124,
-    0x0382d302, 0x0382d520, 0x0382d720, 0x18ffd92c, 0x98ff6a03, 0x70ff7003,
-    0x03827603, 0x0b829020, 0x07829220, 0x07829420, 0x03829720, 0x1f829920,
-    0x0782b220, 0x0382b820, 0x0382bd20, 0x0382cb20, 0x0382cd20, 0x0382ce20,
-    0x2782d820, 0x0782da20, 0x0782dc20, 0x98ffeb24, 0x03820704, 0x03820920,
-    0x03820b20, 0x03820d20, 0x03820f20, 0x03821120, 0x03821320, 0x03821520,
-    0x70ff1b24, 0x03821d04, 0x03821f20, 0x03822120, 0x03822320, 0x03822520,
-    0x03822720, 0x1f822920, 0x03822b20, 0x03822d20, 0x0f822f20, 0x98ff312a,
-    0xbc010900, 0xc001f2ff, 0xc8200382, 0xca200382, 0xcd340382, 0xce01c0ff,
-    0xcf01ecff, 0xd001c7ff, 0xd201d8ff, 0x0200bfff, 0xee200d82, 0xf5200d82,
-    0xaf480982, 0x07002d06, 0xefffc801, 0xf0ffca01, 0xbbffcd01, 0xb7203186,
-    0xd5202382, 0xb4223182, 0x15820400, 0x3582ee20, 0xd101f122, 0xd2224b82,
-    0x1184eaff, 0x1182e920, 0x2382eb20, 0x2382f120, 0x1184e520, 0x2384f220,
-    0xf5ffd022, 0xee201182, 0xeb5c5d82, 0x0b002906, 0xccff5b00, 0x1300ba01,
-    0xf3209f82, 0xf1209f82, 0xf2206d82, 0xf2206d82, 0xbd235782, 0x83ffce01,
-    0x82b8205b, 0x82d72049, 0x00b73437, 0x004a0004, 0x00580014, 0x005b0032,
-    0x006d0111, 0x82080010, 0x00e5283f, 0x00cbffb7, 0x82e4ffcc, 0x820d2047,
-    0x82ed2047, 0x82eb2047, 0x82ec2047, 0x82ec2047, 0x0010266b, 0xff57010b,
-    0x082b82e6, 0x0e005830, 0xd7fe8100, 0x98ffc300, 0xc7ffc600, 0x12ffd800,
-    0x52ffec00, 0xcfff4a01, 0x80ffba01, 0x0d000900, 0x41000f00, 0x56000c00,
-    0x6100ebff, 0x15820e00, 0x5182cb20, 0x5182e920, 0x5182e720, 0x5182e720,
-    0x0100e722, 0x0b207d82, 0x14202b84, 0x11202b82, 0xe2202b82, 0x13202b82,
-    0xb4202b82, 0xd9202b82, 0xd9202b82, 0xd9202b82, 0xd9202b82, 0x0d20b182,
-    0x412b7982, 0x6100f4ff, 0x4001efff, 0x5e00edff, 0xd6200bb5, 0x200cb55e,
-    0x288f8212, 0x00e500ae, 0xffea0012, 0x3e9782e0, 0xffee00ad, 0xfffc00d6,
-    0xff0001df, 0xff0601d2, 0xff1b01e0, 0xff2b01ce, 0xff2d01dd, 0x823101e2,
-    0x8237200f, 0xff3d2203, 0x205782e9, 0x22c382da, 0x825401bd, 0x00573e2b,
-    0x001d0011, 0x00afff23, 0x00efff58, 0x00dfff5b, 0x00eeff99, 0x00e5ffb7,
-    0x00d1ffb8, 0x2e1d82c3, 0x00c8ffc9, 0x001300d8, 0x00c5ffe5, 0x82cafff5,
-    0x01d03083, 0x0181ff33, 0x0165ff3c, 0x0185ff3d, 0x8266ff3f, 0x01dd3451,
-    0x01f2ff45, 0x01b1ff4d, 0x01caff4f, 0x01a9ff57, 0x82c8ff58, 0x82f520db,
-    0x01f52edb, 0x01c7ffcd, 0x01f1ffce, 0x01cdffcf, 0x249182d0, 0x00c4ffd2,
-    0x474d8208, 0x08200547, 0x1f221982, 0x5582f3ff, 0x4e01f122, 0x50200782,
-    0x58260382, 0x0500f1ff, 0x8b824a00, 0xeaff5b22, 0xf0203782, 0xed263782,
-    0xf0ffd201, 0x37820200, 0x6d01f526, 0x0900c0ff, 0x2006d15f, 0x241182b8,
-    0xff0801e2, 0x06954df0, 0x4582eb20, 0x7f82f520, 0x2582ec20, 0x0100903a,
-    0xebffba01, 0x4a000600, 0xc5000d00, 0xc6000b00, 0xc900eaff, 0xec000c00,
-    0x1b209f82, 0x3a226582, 0x8d820400, 0xbfff5622, 0x2408fd82, 0xff6d00d1,
-    0xff7c006c, 0xff81006e, 0xff860043, 0xff8900ac, 0xffb700a1, 0xffbe00b8,
-    0xffc2007e, 0xffc5007b, 0x2041829b, 0x22798279, 0x82cb00b2, 0xffcc3613,
-    0xffcd007d, 0xffd8007c, 0x00e500af, 0xffe9000f, 0xffea00e4, 0x245d82a0,
-    0xffee0074, 0x22998280, 0x82fc00b2, 0xfffd3223, 0xfffe00b2, 0xff000180,
-    0x00010179, 0xff060128, 0x32b1827d, 0xff1b017f, 0xff1f0166, 0xff2b01da,
-    0xff2d0181, 0x82310198, 0xff333a17, 0xff3701b3, 0xff3d01a0, 0xff3f017c,
-    0xff40019a, 0xff45016c, 0xff4a01e6, 0x34d9826b, 0xff500192, 0xff5401ad,
-    0x0057017b, 0xff58010f, 0xff590191, 0x26e382f2, 0xffbc01af, 0x82c001b9,
-    0x82c82003, 0x82ca2003, 0xffcc2803, 0xffcd01bc, 0x82d001f1, 0xffd12403,
-    0x820200ed, 0x82682095, 0x00ee2871, 0xffb70017, 0x82c100d4, 0x05e14113,
-    0xcb82e020, 0xcc00e724, 0xcb82e5ff, 0xd800ee24, 0xc7821200, 0xbb82e920,
-    0x3301d724, 0x8782d7ff, 0x8782d320, 0x8782d620, 0x8782c520, 0x4d01e728,
-    0x4f010d00, 0x7b820c00, 0x7b84d620, 0x42ffbc21, 0xe9220bf1, 0x63820100,
-    0x6d82f120, 0xd6fff52c, 0x88ff6d01, 0xe5000a00, 0x4d82c3ff, 0xfd00cf24,
-    0x5182d4ff, 0x3c01ce24, 0xdd51e7ff, 0x82a0200e, 0x00d13e4d, 0xff560030,
-    0xff5b007e, 0xfe6d009d, 0xfe7c00f1, 0xfe8100f4, 0xff8600ab, 0xff89005e,
-    0x34b3824b, 0xffbe0072, 0xffc2000f, 0xffc5000a, 0xffc60041, 0xffc90007,
-    0x20bb8268, 0x20bb820f, 0x28bb820e, 0xffd8000c, 0x00e50063, 0x2cbf8205,
-    0xffea00bd, 0xfeec0049, 0xffee00fe, 0x247d8213, 0xfffc0068, 0x0881820e,
-    0xfe006826, 0x000113ff, 0x010107ff, 0x06013000, 0x08010eff, 0x1b0111ff,
-    0x1f01e7fe, 0x2b01acff, 0x2d0115ff, 0x31013cff, 0x34081782, 0x016aff33,
-    0x0149ff37, 0x010cff3d, 0x013fff3f, 0x01f1fe40, 0x01c0ff45, 0x01effe4a,
-    0x0131ff4e, 0x015fff50, 0x010aff54, 0x01050057, 0x0130ff58, 0x00d5ff59,
-    0x24bd8214, 0xffb700c1, 0x209982c5, 0x208582b4, 0x207982d7, 0x207582b9,
-    0x2c6582e9, 0xff1b01b2, 0xff1f01d2, 0xff3301c8, 0x205582a0, 0x204d82c5,
-    0x204982e4, 0x204982cc, 0x204182cc, 0x284182cb, 0xffbc01ef, 0xffc001e8,
-    0x083f44e6, 0xd800082c, 0xec001500, 0x3c011500, 0x3582e4ff, 0x8b82e520,
-    0x4d01e434, 0x4f01e3ff, 0x5701e2ff, 0x2200e4ff, 0xe2ff0a00, 0x7b820d00,
-    0xcfff0e30, 0x12004100, 0xeaff4a00, 0xd8ff5600, 0x07825800, 0x13006136,
-    0xaeff6d00, 0xcdff7c00, 0xa0ff8100, 0xc1ff8600, 0xc0ff8900, 0xd022a382,
-    0x1f82bb00, 0xc6ffbe24, 0x3d82bf00, 0xe9ffc12e, 0xd6ffc200, 0xe8ffc500,
-    0xbaffc600, 0xe934bf82, 0xcbffcb00, 0xdaffcc00, 0xc7ffcd00, 0xd3ff7501,
-    0xabffba01, 0xcd209f82, 0xcb209f82, 0xcb2a9f82, 0xcbffca01, 0xf3ffcd01,
-    0x0382d001, 0xefffd132, 0x81000900, 0xb400dfff, 0xb600f3ff, 0xc300f0ff,
-    0xd8205d82, 0xe5220f82, 0xa782e0ff, 0x3d82e020, 0x01ed2508, 0x00f5ffd1,
-    0x008a0702, 0x0a000004, 0x0036125e, 0x001d0021, 0xffdbff00, 0xffceff88,
-    0xffecffc5, 0x00a4ffa5, 0xfe2100aa, 0x8c2caae3, 0x88ff212a, 0xff230e85,
-    0x82f4ffd0, 0x82eb2081, 0xffef3281, 0xffd9ffb3, 0xfff5ff6a, 0x000c00ce,
-    0x00c9ff11, 0x85bd8212, 0x21059a26, 0x3f82e5ff, 0x0382e820, 0x248dc920,
-    0x8df3ff21, 0x200d910f, 0x21bdaaff, 0x3f8bebff, 0x00abff25, 0x82eaff00,
-    0x85d52003, 0xe1ff2115, 0x00270785, 0xff86ff00, 0x87e9ffea, 0x2407870d,
-    0x0000edff, 0x820382ff, 0x8214200f, 0x23028403, 0xe6ffefff, 0x04990884,
-    0x1a8b1220, 0xff21ad87, 0x201586e4, 0x20098211, 0x82fd8311, 0x8211200f,
-    0x83028a03, 0xae0e8a9b, 0x8397830a, 0x25d58957, 0xe9ff0000, 0x4687d8ff,
-    0x88a3ff21, 0x875c2009, 0xe0fe2309, 0x0b871300, 0xff000031, 0xff33ffc0,
-    0xff32ffe8, 0xffe9fea3, 0x8985fff2, 0x25099319, 0xf5ff4eff, 0x3582f3ff,
-    0x2011b141, 0x2015820f, 0x2003826f, 0x253783a7, 0xcdff6cfe, 0x0d82dcff,
-    0x0d834820, 0xff250383, 0xff58ff88, 0x260182a7, 0xffb4ff30, 0x821000e4,
-    0x00103613, 0xff10000f, 0xffaeffbf, 0x00cbffc4, 0xff7eff00, 0xfe00007c,
-    0x281982fe, 0xfff0fe00, 0xfff0ff28, 0x290b83b3, 0xd2ffb5ff, 0x0000d4ff,
-    0x778dd2ff, 0xffe4ff23, 0x871f83f5, 0x29ff2103, 0xff210983, 0x85058363,
-    0xd5ff2703, 0xe1ffdfff, 0x1d410000, 0x850e2006, 0x08df4115, 0x00220e87,
-    0x0a8371ff, 0x83c4ff21, 0x25038905, 0x0000e6ff, 0x0382ebff, 0x1384e720,
-    0xff213d84, 0x204b84eb, 0x22118211, 0x82d1ff11, 0x21028405, 0x068464ff,
-    0xff230484, 0x82c1ff6a, 0x82d820d3, 0xffc63203, 0xff1100e3, 0x001200a0,
-    0xff120011, 0xffecffd9, 0x842284e2, 0x19ff2904, 0x00000d00, 0xa0ff68ff,
-    0x8542e782, 0x200f8305, 0x831382eb, 0x0a6f4203, 0x42edff21, 0x37840639,
-    0xff210491, 0x871391ef, 0xf1ff2111, 0x07930987, 0x211b5543, 0x3b85f5ff,
-    0x8ff2ff21, 0x41178339, 0x218f0d79, 0x4f910f9b, 0x07442d89, 0xb0ff211d,
-    0x09ad2989, 0x99a8ff21, 0xf1ff232f, 0x1d83f0ff, 0x09830585, 0xff210387,
-    0x260982eb, 0xff000010, 0x82edffe2, 0x82dc2005, 0x43028d0d, 0x53200df3,
-    0x00211c8d, 0x2033820f, 0x41d183f1, 0xff211983, 0x213383d7, 0x058359ff,
-    0xff23038f, 0x430000ec, 0x1d8f09c7, 0xc9830f9b, 0x319bcd91, 0xff251b83,
-    0xff5fff33, 0x26018255, 0xff6bff66, 0x820700bd, 0x00073713, 0xff070005,
-    0xff61ff7e, 0x0092ff86, 0xff0fff00, 0xfe00000c, 0x00820036, 0x821efe21,
-    0xffd1220f, 0x2005826a, 0x8a0e82c0, 0x9fff2102, 0xc8201382, 0xad200382,
-    0xff211487, 0x200983e7, 0x0d9545ff, 0x1384c920, 0xafffa526, 0xaeffbdff,
-    0xd2230382, 0x4100e9ff, 0x0786074f, 0x00caff25, 0x82bbff00, 0xfe002217,
-    0x202d8477, 0x89058339, 0xecff2403, 0x82ff0000, 0x8b118903, 0x153b4109,
-    0x8b79ff21, 0x210b8d23, 0x0f87b5ff, 0x820f1743, 0x000224bb, 0x82060078,
-    0x00002201, 0x2201820b, 0x82100001, 0x82022001, 0x001232b1, 0x00250003,
-    0x00040029, 0x0034002c, 0x00380009, 0x2615823e, 0x00470045, 0x82490019,
-    0x001c2201, 0x2801824c, 0x0051001d, 0x001e0054, 0x22018256, 0x825a0022,
-    0x00232801, 0x005e005c, 0x828a0024, 0x00272801, 0x00b300b0, 0x82bc0028,
-    0x002c2201, 0x220182c0, 0x82c6002d, 0x002e2801, 0x00d400d3, 0x82d6002f,
-    0x00312201, 0x280182d9, 0x00db0032, 0x003300dd, 0x220182df, 0x82e10036,
-    0x00372201, 0x220182e3, 0x82e50038, 0x00392201, 0x220182eb, 0x82ed003a,
-    0x003b2201, 0x220182f6, 0x82fb003c, 0x3d1c0a01, 0xfe00fd00, 0x03013e00,
-    0x40000401, 0x09010901, 0x0c014200, 0x43000c01, 0x19011701, 0x2b014400,
-    0x47002d01, 0x30013001, 0x32014a00, 0x4b003201, 0x49014901, 0x6c014c00,
-    0x4d007201, 0x77017601, 0x28025400, 0x56002802, 0x2b022a02, 0x46025700,
-    0x59004702, 0x49024902, 0x4b025b00, 0x5c007102, 0x7b027602, 0x80028300,
-    0x89009002, 0x9b029202, 0xa4029a00, 0xa400a602, 0xa802a802, 0xaa02a700,
-    0xa800aa02, 0xac02ac02, 0xae02a900, 0xaa00ae02, 0xb102b102, 0xb302ab00,
-    0xac00b302, 0xb502b502, 0xb702ad00, 0xae00b702, 0xb902b902, 0xbb02af00,
-    0xb000bb02, 0xc902bd02, 0xcb02b100, 0xbe00cb02, 0xcd02cd02, 0xcf02bf00,
-    0xc000cf02, 0xda02da02, 0xdc02c100, 0xc200dc02, 0xde02de02, 0xe002c300,
-    0xc400e002, 0xe202e202, 0xe402c500, 0xc600e402, 0xe602e602, 0xe802c700,
-    0xc800e802, 0xea02ea02, 0xec02c900, 0xca00ec02, 0xf602ee02, 0x5203cb00,
-    0xd4005703, 0x69035a03, 0x6c03da00, 0xea006c03, 0x70037003, 0x7203eb00,
-    0xec007203, 0x76037603, 0x7903ed00, 0xee007a03, 0x85037c03, 0x8703f000,
-    0xfa008903, 0x90038b03, 0x9203fd00, 0x03019803, 0x9f039e03, 0xa1030a01,
-    0x0c01a103, 0xa303a303, 0xa5030d01, 0x0e01a803, 0xb003ab03, 0xb2031201,
-    0x1801b203, 0xb703b603, 0xbc031901, 0x1b01c703, 0xcb03ca03, 0xcd032701,
-    0x2901d003, 0xd803d703, 0xdc032d01, 0x2f01dc03, 0xe403de03, 0xe9033001,
-    0x3701ea03, 0x1604ee03, 0x18043901, 0x62011804, 0x27041a04, 0x2f046301,
-    0x71012f04, 0x32043204, 0x34047201, 0x73013404, 0x45044004, 0x48047401,
-    0x7a014804, 0x4a044a04, 0x4c047b01, 0x7c014c04, 0x4f044e04, 0x54047d01,
-    0x7f015704, 0x5a045a04, 0x5c048301, 0x84015d04, 0x5f045f04, 0x63048601,
-    0x87016304, 0x65046504, 0x69048801, 0x89016904, 0xa904a904, 0x02008a01,
-    0x10004e01, 0x01220182, 0x01821200, 0x25000122, 0x02220182, 0x01822600,
-    0x27000322, 0x04220182, 0x01822800, 0x29000522, 0x06280182, 0x2d002c00,
-    0x2e000700, 0x08220182, 0x01822f00, 0x30000922, 0x0a240182, 0x32003100,
-    0x33261782, 0x05003300, 0x01823400, 0x38000b22, 0x0c220182, 0x01823900,
-    0x3a000822, 0x0d220182, 0x01823b00, 0x3c000e22, 0x0f220182, 0x01823d00,
-    0x3e001022, 0x11220182, 0x01824500, 0x46001222, 0x13220182, 0x01824700,
-    0x49001422, 0x15220182, 0x01824c00, 0x51001628, 0x16005200, 0x01825300,
-    0x54001722, 0x13220182, 0x01825600, 0x5a001822, 0x19220182, 0x01825c00,
-    0x5d001a22, 0x19220182, 0x01825e00, 0x8a001b22, 0x13220182, 0x0182b000,
-    0xb1001c22, 0x02220182, 0x0182b200, 0xb3000522, 0x02220182, 0x0182bc00,
-    0xc0001922, 0x16220182, 0x0182c600, 0xd3001328, 0x1d00d400, 0x0182d600,
-    0xd9000722, 0x0f240182, 0xdc00db00, 0xdd26cb82, 0x1e00dd00, 0x0182df00,
-    0xe1000722, 0x07220182, 0x0182e300, 0xe5001d22, 0x1d220182, 0x0182eb00,
-    0xed001f22, 0x1a220182, 0x0182f600, 0xfb001322, 0x20220182, 0x0182fd00,
-    0xfe002022, 0x132a0182, 0x04010301, 0x09012000, 0x05820901, 0x010c3208,
-    0x0102000c, 0x00170117, 0x01180117, 0x010d0018, 0x00190119, 0x012b0119,
-    0x0113002b, 0x002c012c, 0x012d011c, 0x011f002d, 0x00300130, 0x01320109,
-    0x22058232, 0x82490149, 0x016e2811, 0x0101006e, 0x82720172, 0x01763405,
-    0x02010077, 0x00280228, 0x022a0204, 0x0205002b, 0x82470246, 0x02492e05,
-    0x020c0049, 0x0051024b, 0x02520202, 0x2e1d8252, 0x00560253, 0x02570206,
-    0x0207005b, 0x8260025c, 0x61320823, 0x08006402, 0x65026502, 0x66021000,
-    0x12006c02, 0x6d026d02, 0x6e021400, 0x15007102, 0x76027602, 0x77021600,
-    0x17007b02, 0x81028002, 0x82021900, 0x4d828202, 0x83028322, 0x84222982,
-    0x0b828402, 0x85028522, 0x86220b82, 0x0b828602, 0x87028722, 0x88220b82,
-    0x6b828802, 0x89028922, 0x8a224782, 0x0b828a02, 0x8b028b22, 0x8c220b82,
-    0x0b828c02, 0x8d028d22, 0x8e220b82, 0x0b828e02, 0x8f028f22, 0x90220b82,
-    0x89829002, 0x92029222, 0x93229b82, 0x77829302, 0x94029422, 0x95220b82,
-    0x0b829502, 0x96029622, 0x97220b82, 0x0b829702, 0x98029822, 0x99220b82,
-    0x0b829902, 0x9a029a22, 0x9b220b82, 0x0b829b02, 0xa402a422, 0xa522d182,
-    0xad82a502, 0xa602a622, 0xa8220b82, 0x0582a802, 0xaa02aa22, 0xac220582,
-    0x0582ac02, 0xae02ae22, 0xb1220582, 0xef82b102, 0xb302b32e, 0xb5020900,
-    0x0a00b502, 0xb702b702, 0xb9220582, 0x0582b902, 0xbb02bb22, 0xbd220582,
-    0x2982bd02, 0xbe02be22, 0xbf224d82, 0x0b82bf02, 0xc002c022, 0xc1220b82,
-    0x0b82c102, 0xc302c222, 0xc4220b82, 0xb382c402, 0xc502c528, 0xc6021700,
-    0x0b82c602, 0xc702c722, 0xc8220b82, 0x0b82c802, 0xc902c922, 0xcb280b82,
-    0x1800cb02, 0xcd02cd02, 0xcf220582, 0x0582cf02, 0xda02da28, 0xdc020c00,
-    0x0582dc02, 0xde02de22, 0xe0220582, 0x8f82e002, 0xe202e222, 0xe4220582,
-    0x0582e402, 0xe602e622, 0xe8220582, 0x0582e802, 0xea02ea22, 0xec340582,
-    0x0e00ec02, 0xee02ee02, 0xef021000, 0x1900ef02, 0xf002f002, 0xf12e0b82,
-    0x1100f102, 0xf202f202, 0xf3021b00, 0x0b82f302, 0xf402f422, 0xf5220b82,
-    0x0b82f502, 0x02f62608, 0x031b00f6, 0x00520352, 0x03530302, 0x03060053,
-    0x00550354, 0x03560307, 0x03050056, 0x00570357, 0x035a0310, 0x281d825a,
-    0x005b035b, 0x035c0303, 0x2823825c, 0x005d035d, 0x035e0311, 0x2829825f,
-    0x00600360, 0x03610309, 0x220b8262, 0x82630363, 0x03642e35, 0x030b0064,
-    0x00650365, 0x0366030c, 0x28418266, 0x00670367, 0x0368030f, 0x22238268,
-    0x82690369, 0x036c3411, 0x0316006c, 0x00700370, 0x03720317, 0x03190072,
-    0x82760376, 0x0379220b, 0x285f8279, 0x007a037a, 0x037c031c, 0x282f827d,
-    0x007e037e, 0x037f0308, 0x28658280, 0x00810381, 0x0382031e, 0x288f8282,
-    0x00830383, 0x03840303, 0x22298284, 0x82850385, 0x03872235, 0x222f8288,
-    0x82890389, 0x038b2283, 0x2883828b, 0x008c038c, 0x038d0304, 0x2289828d,
-    0x828e038e, 0x038f2e83, 0x0312008f, 0x00900390, 0x03920315, 0x2e718292,
-    0x00930393, 0x03940313, 0x03140094, 0x82950395, 0x03962889, 0x031a0096,
-    0x82970397, 0x03982823, 0x031f0098, 0x829e039e, 0x039f2817, 0x030e009f,
-    0x82a103a1, 0x03a32205, 0x220582a3, 0x82a503a5, 0x03a622cb, 0x221d82a6,
-    0x82ac03ac, 0x03ad227d, 0x22d782ad, 0x82ae03ae, 0x03af22a1, 0x226b82af,
-    0x82b003b0, 0x03b2229b, 0x284d82b2, 0x00b603b6, 0x03b7030d, 0x222f82b7,
-    0x82bc03bc, 0x03bd229b, 0x227782bd, 0x82be03be, 0x03bf2247, 0x221782bf,
-    0x82c003c0, 0x03c12247, 0x22ad82c1, 0x82c203c2, 0x03c32289, 0x221182c3,
-    0x82c403c4, 0x03c52253, 0x225382c5, 0x82c603c6, 0x03c7220b, 0x220b82c7,
-    0x82ca03ca, 0x03cb225f, 0x225f82cb, 0x82ce03cd, 0x03cf2205, 0x223b82cf,
-    0x82d003d0, 0x03d7283b, 0x030500d7, 0x82d803d8, 0x03dc22e9, 0x220582dc,
-    0x82de03de, 0x03df28ef, 0x031e00df, 0x82e003e0, 0x03e12271, 0x220b82e1,
-    0x82e203e2, 0x03e3220b, 0x220b82e3, 0x82e403e4, 0x03e9220b, 0x224782e9,
-    0x82ea03ea, 0x03ee2247, 0x227182ee, 0x82ef03ef, 0x03f02271, 0x220b82f0,
-    0x82f103f1, 0x03f2220b, 0x220b82f2, 0x82f303f3, 0x03f4220b, 0x220b82f4,
-    0x82f503f5, 0x03f6220b, 0x220b82f6, 0x82f703f7, 0x03f8220b, 0x220b82f8,
-    0x82f903f9, 0x03fa220b, 0x220b82fa, 0x82fb03fb, 0x03fc220b, 0x220b82fc,
-    0x82fd03fd, 0x03fe220b, 0x2e0b82fe, 0x00ff03ff, 0x04000412, 0x04020000,
-    0x82010401, 0x0402220b, 0x220b8202, 0x82030403, 0x0404220b, 0x220b8204,
-    0x82050405, 0x04062e0b, 0x04060006, 0x00070407, 0x04080415, 0x220b8208,
-    0x82090409, 0x040a220b, 0x220b820a, 0x820b040b, 0x040c220b, 0x220b820c,
-    0x820d040d, 0x040e220b, 0x220b820e, 0x820f040f, 0x0410220b, 0x220b8210,
-    0x82110411, 0x0412220b, 0x220b8212, 0x82130413, 0x0414220b, 0x220b8214,
-    0x82150415, 0x0416280b, 0x04070016, 0x82180418, 0x041a2e05, 0x0405001a,
-    0x001b041b, 0x041c0417, 0x220b821c, 0x821d041d, 0x041e220b, 0x220b821e,
-    0x821f041f, 0x0420220b, 0x220b8220, 0x82210421, 0x0422220b, 0x220b8222,
-    0x82230423, 0x0424220b, 0x220b8224, 0x82250425, 0x0426220b, 0x220b8226,
-    0x82270427, 0x042f220b, 0x2805822f, 0x00320432, 0x04340408, 0x2e058234,
-    0x00400440, 0x04410410, 0x04190041, 0x82420442, 0x0443220b, 0x220b8243,
-    0x82440444, 0x0445220b, 0x280b8245, 0x00480448, 0x044a0409, 0x0895824a,
-    0x4c044c20, 0x4e040c00, 0x0f004e04, 0x4f044f04, 0x54041a00, 0x1c005404,
-    0x55045504, 0x56041f00, 0x17825604, 0x57045722, 0x5a2e1782, 0x16005a04,
-    0x5c045c04, 0x5d041d00, 0x23825d04, 0x5f045f22, 0x63224782, 0x47826304,
-    0x65046522, 0x69220582, 0x65826904, 0xa904a92a, 0x02000500, 0x06006d01,
-    0x01200182, 0x220aab4a, 0x82110016, 0x00192201, 0x21018212, 0xe9470016,
-    0x00272605, 0x00080027, 0x2201822b, 0x822e0008, 0x001a2201, 0x22018233,
-    0x82350008, 0x00082201, 0x22018237, 0x8238001b, 0x00092201, 0x22018239,
-    0x823a000a, 0x000b2201, 0x2201823b, 0x823c000c, 0x00172201, 0x2201823d,
-    0x823e000d, 0x00182201, 0x28018245, 0x00470003, 0x00040049, 0x2401824b,
-    0x00510004, 0x228d8252, 0x82530053, 0x0054228b, 0x220b8254, 0x82550055,
-    0x0057261d, 0x00070057, 0x22018259, 0x825a000e, 0x000f2201, 0x2201825c,
-    0x825d001c, 0x000f2201, 0x2201825e, 0x82830010, 0x00082201, 0x22018292,
-    0x82930008, 0x00042201, 0x22018297, 0x82980008, 0x00042201, 0x2101829a,
-    0xe347000e, 0x47082009, 0xba2206e3, 0x5f82ba00, 0xbc00bc26, 0xc0000f00,
-    0x05240182, 0xc800c700, 0xca261182, 0x0e00ca00, 0x0182d100, 0xd2000922,
-    0x08220182, 0x0182d300, 0xd5001122, 0x09220182, 0x0182d900, 0xdc001722,
-    0x11220182, 0x0182dd00, 0xe0001522, 0x12220182, 0x0182eb00, 0xed000522,
-    0x1c240182, 0xf000ef00, 0xf128bf82, 0x1300f100, 0xf400f200, 0xf6220b82,
-    0x5982f600, 0xf700f722, 0xf8280b82, 0x1400f800, 0xfa00f900, 0xfd220b82,
-    0x0582fd00, 0xff00ff34, 0x02010500, 0x04000201, 0x03010301, 0x04011300,
-    0x11820401, 0x0701072e, 0x0c010800, 0x02000c01, 0x16011601, 0x17340b82,
-    0x06001701, 0x18011801, 0x19010b00, 0x0f001901, 0x1a011a01, 0x1c221782,
-    0x05821c01, 0x1d011d22, 0x1e224182, 0x0b821e01, 0x20012022, 0x21220582,
-    0x11822101, 0x22052548, 0x82350135, 0x01382253, 0x22178238, 0x82390139,
-    0x013a2817, 0x0109003a, 0x82440144, 0x01492217, 0x22058249, 0x824c014b,
-    0x01512817, 0x01110051, 0x82550155, 0x01562229, 0x34118256, 0x006a0169,
-    0x016c0119, 0x0101006d, 0x006e016e, 0x016f0116, 0x220b8271, 0x82720172,
-    0x01762e0b, 0x02160077, 0x00290228, 0x022b0208, 0x2405822c, 0x00450245,
-    0x0a674819, 0x5c020824, 0x17826002, 0x02612e08, 0x020a0064, 0x00650265,
-    0x0266020d, 0x0203006c, 0x0071026d, 0x02760204, 0x02050076, 0x007b0277,
-    0x027c0206, 0x020e007f, 0x00810280, 0x0a5b480f, 0x48020321, 0x0321095b,
-    0x095b4802, 0x88020324, 0x59828802, 0x89028922, 0x8a224782, 0x0b828a02,
-    0x8b028b22, 0x8c220b82, 0x0b828c02, 0x8d028d22, 0x8e220b82, 0x0b828e02,
-    0x8f028f22, 0x91220b82, 0x05829102, 0x93029322, 0x95220582, 0x05829502,
-    0x97029722, 0x99220582, 0x05829902, 0x9b029b22, 0x9c220582, 0x2f829c02,
-    0x9d029d22, 0x9e220b82, 0x0b829e02, 0x9f029f22, 0xa0220b82, 0x0b82a002,
-    0xa102a122, 0xa2220b82, 0x0b82a202, 0xa302a322, 0xb1280b82, 0x1a00b102,
-    0xbe02be02, 0xc022c582, 0x0582c002, 0xc302c222, 0xc4220582, 0x2382c402,
-    0xc502c522, 0xc622d782, 0x0b82c602, 0xc702c722, 0xc8220b82, 0x0b82c802,
-    0xc902c922, 0xd02e0b82, 0x1b00d002, 0xd102d102, 0xd2020700, 0x0b82d202,
-    0xd302d322, 0xd4220b82, 0x0b82d402, 0xd502d522, 0xd6220b82, 0x0b82d602,
-    0xd702d722, 0xd8220b82, 0x0b82d802, 0xd902d922, 0xda280b82, 0x0900da02,
-    0xdc02dc02, 0xde220582, 0x0582de02, 0xe002e02e, 0xe1020a00, 0x0e00e102,
-    0xe202e202, 0xe3220b82, 0x0b82e302, 0xe402e422, 0xe5220b82, 0x0b82e502,
-    0xe602e622, 0xe7220b82, 0x0b82e702, 0xe802e822, 0xe9220b82, 0x0b82e902,
-    0xea02ea22, 0xeb220b82, 0x0b82eb02, 0xec02ec34, 0xee020c00, 0x0d00ee02,
-    0xef02ef02, 0xf0020f00, 0x0b82f002, 0xf102f12e, 0xf2021800, 0x1000f202,
-    0xf302f302, 0xf4220b82, 0x0b82f402, 0xf502f522, 0xf6220b82, 0x0b82f602,
-    0xf902f924, 0x67480800, 0x03562206, 0x240b8256, 0x00570357, 0x065b480d,
-    0x5d035d28, 0x63031800, 0x17826303, 0x66036622, 0x67281782, 0x17006703,
-    0x69036903, 0x20080b82, 0x006a036a, 0x036c0304, 0x0305006c, 0x006e036e,
-    0x0370030e, 0x03060070, 0x00720372, 0x0375030f, 0x22118275, 0x82760376,
-    0x03772211, 0x2a0b8277, 0x007e037e, 0x0381031a, 0x48150081, 0x8922062b,
-    0x59828903, 0x8c038c22, 0x8d280582, 0x09008d03, 0x8e038e03, 0x8f285f82,
-    0x03008f03, 0x90039003, 0x91225f82, 0x5f829103, 0x92039222, 0x93224782,
-    0x0b829303, 0x94039422, 0x95221782, 0x65829503, 0x96039628, 0x97031c00,
-    0x11829703, 0x98039822, 0x99281d82, 0x07009903, 0x9d039d03, 0x9e220b82,
-    0x23829e03, 0x9f039f28, 0xa1030c00, 0x0582a103, 0xa303a322, 0xa5220582,
-    0xbf82a503, 0xa603a622, 0xa7281d82, 0x0100a803, 0xab03ab03, 0xad220582,
-    0x3582ad03, 0x24092548, 0x03b20303, 0x225982b2, 0x82b303b3, 0x03b62817,
-    0x030b00b6, 0x82b703b7, 0x03b82235, 0x221782b8, 0x82b903b9, 0x03bc22b9,
-    0x220582bc, 0x82bd03bd, 0x03be2211, 0x225982be, 0x82bf03bf, 0x03c12223,
-    0x22cb82c1, 0x82c203c2, 0x092548a1, 0x48030321, 0x03240925, 0xcb03cb03,
-    0xcd223582, 0x0582ce03, 0xcf03cf22, 0xd0222f82, 0x2f82d003, 0xd403d422,
-    0xd6227182, 0x0582d603, 0xd703d722, 0xd8285f82, 0x0600d803, 0xd903d903,
-    0xda220b82, 0x2f82da03, 0xdb03db22, 0xdc220b82, 0x1782dc03, 0xdf03df28,
-    0xe0031500, 0x7782e003, 0xe103e122, 0xe2220b82, 0x0b82e203, 0xe303e322,
-    0xe4220b82, 0x0b82e403, 0xe503e52e, 0xe6031200, 0x1400e603, 0xe803e803,
-    0xe9225982, 0x7182e903, 0xea03ea22, 0xeb227182, 0x5382eb03, 0xec03ec2b,
-    0xed031100, 0x1300ed03, 0x095b4803, 0x48030321, 0x0321095b, 0x095b4803,
-    0x48030321, 0x0321095b, 0x095b4803, 0x48030321, 0x0321095b, 0x095b4803,
-    0x48030321, 0x0321095b, 0x095b4803, 0x5b480320, 0x0403210a, 0x21095b48,
-    0x5b480403, 0x04032a09, 0x00070407, 0x04090404, 0x22058209, 0x820b040b,
-    0x040d2205, 0x2205820d, 0x820f040f, 0x04112205, 0x22058211, 0x82130413,
-    0x04152205, 0x2e058215, 0x001a041a, 0x041b0408, 0x0406001b, 0x821c041c,
-    0x041d220b, 0x220b821d, 0x821e041e, 0x041f220b, 0x220b821f, 0x82200420,
-    0x0421220b, 0x220b8221, 0x82220422, 0x0423220b, 0x220b8223, 0x82240424,
-    0x0425220b, 0x220b8225, 0x82260426, 0x0427220b, 0x220b8227, 0x82280428,
-    0x0429220b, 0x225f8229, 0x822a042a, 0x042b220b, 0x220b822b, 0x822c042c,
-    0x042d220b, 0x220b822d, 0x822e042e, 0x042f220b, 0x222f822f, 0x82300430,
-    0x0431220b, 0x2e178231, 0x00320432, 0x0433040a, 0x040e0033, 0x82340434,
-    0x0435220b, 0x220b8235, 0x82370437, 0x04392205, 0x22058239, 0x823b043b,
-    0x043d2205, 0x2205823d, 0x823f043f, 0x04402e05, 0x040d0040, 0x00410441,
-    0x0442040f, 0x220b8242, 0x82430443, 0x0444220b, 0x220b8244, 0x82450445,
-    0x0449280b, 0x04050049, 0x824b044b, 0x4c200805, 0x09004c04, 0x4e044e04,
-    0x4f041700, 0x1c004f04, 0x50045004, 0x51041200, 0x14005104, 0x52045204,
-    0x53220b82, 0x0b825304, 0x55045522, 0x56222f82, 0x29825604, 0x57045722,
-    0x62222982, 0x11826204, 0x64046422, 0x66220582, 0x05826604, 0x6704672e,
-    0x68041100, 0x13006804, 0x69046904, 0x6f347182, 0x19006f04, 0xa904a904,
-    0x01000800, 0x0a000000, 0x10080602, 0x0c0b5918, 0x7267482e, 0x76006b65,
-    0x6e74616c, 0x0400a400, 0x00242382, 0x1200ffff, 0x20080782, 0x0014000a,
-    0x0028001e, 0x00410034, 0x0055004b, 0x0069005f, 0x007d0073, 0x00910087,
-    0x00a5009b, 0x082d8aaf, 0x0b000122, 0x1f001500, 0x35002900, 0x4c004200,
-    0x60005600, 0x74006a00, 0x88007e00, 0x9c009200, 0xb000a600, 0x22082d8a,
-    0x000c0002, 0x00200016, 0x0036002a, 0x004d0043, 0x00610057, 0x0075006b,
-    0x0089007f, 0x009d0093, 0x82b100a7, 0x06250877, 0x20455a41, 0x52435400,
-    0x7e002054, 0x204c4f4d, 0x414ea800, 0xd4002056, 0x204d4f52, 0x55540001,
-    0x2c012052, 0x08ad8300, 0x03001326, 0x17000d00, 0x2b002100, 0x37003200,
-    0x4e004400, 0x62005800, 0x76006c00, 0x8a008000, 0x9e009400, 0xb200a800,
-    0x12202b84, 0x20088782, 0x0018000e, 0x002c0022, 0x00450038, 0x0059004f,
-    0x006d0063, 0x00810077, 0x0095008b, 0x00a9009f, 0x082986b3, 0x0f000522,
-    0x23001900, 0x39002d00, 0x50004600, 0x64005a00, 0x78006e00, 0x8c008200,
-    0xa0009600, 0xb400aa00, 0x26082984, 0x00060013, 0x001a0010, 0x002e0024,
-    0x003e003a, 0x00510047, 0x0065005b, 0x0079006f, 0x008d0083, 0x00a10097,
-    0x86b500ab, 0x0724082b, 0x1b001100, 0x2f002500, 0x3f003b00, 0x52004800,
-    0x66005c00, 0x7a007000, 0x8e008400, 0xa2009800, 0xb600ac00, 0x24082b86,
-    0x00120008, 0x0026001c, 0x003c0030, 0x00490040, 0x005d0053, 0x00710067,
-    0x0085007b, 0x0099008f, 0x00ad00a3, 0x082b86b7, 0x1300092c, 0x27001d00,
-    0x33003100, 0x4a003d00, 0x5e005400, 0x72006800, 0x86007c00, 0x9a009000,
-    0xae00a400, 0xb900b800, 0x63733263, 0x05845804, 0x05845e20, 0x05846420,
-    0x05a46a20, 0x706d6325, 0xb4637004, 0x6c642505, 0x78046769, 0x7e200584,
-    0x84200584, 0x8a200584, 0x6e2505a4, 0x90046d6f, 0x20058364, 0x20058496,
-    0x2005849c, 0x2505a3a2, 0x63617266, 0x05b5a804, 0x6122b282, 0x0584b204,
-    0x6e6cba26, 0xc0046d75, 0xc6200584, 0xcc200584, 0xd2200584, 0x6f2505a4,
-    0xd8046c63, 0x2005836c, 0x200584de, 0x224c82e4, 0x84ea0472, 0x84f02005,
-    0x84f62005, 0xa3fc2005, 0x826f2005, 0x02052124, 0x08200584, 0x0e200584,
-    0x14200584, 0x702005a3, 0x1a203b83, 0x20200584, 0x26200584, 0x2c200584,
-    0x732505a3, 0x0570636d, 0x20058432, 0x20058438, 0x2005843e, 0x2505a444,
-    0x05313073, 0x0583734a, 0x05845020, 0x05845620, 0x05a65c20, 0x62053222,
-    0x32222982, 0x05846805, 0x05846e20, 0x05a67420, 0x7a053322, 0x33222982,
-    0x05848005, 0x05848620, 0x05a68c20, 0x92053422, 0x34222982, 0x05849805,
-    0x05849e20, 0x05a6a420, 0xaa053522, 0x35222982, 0x0584b005, 0x0584b620,
-    0x05a6bc20, 0xc2053622, 0x36222982, 0x0584c805, 0x0584ce20, 0x05a6d420,
-    0xda053722, 0x37222982, 0x0584e005, 0x0584e620, 0x05a3ec20, 0x756e7425,
-    0x84f2056d, 0x84f82005, 0x83fe2005, 0x04062105, 0x002205a3, 0x5e180000,
-    0x022417db, 0x09000800, 0x0e201f84, 0x10200584, 0x0f200584, 0x0d200584,
-    0x43200584, 0x45200584, 0x44200584, 0x42200584, 0x03260582, 0x40003f00,
-    0x09824100, 0x11000224, 0x17841200, 0x3c200585, 0x3e200b84, 0x3d200584,
-    0x3b200584, 0x0a200584, 0x0c200584, 0x0b200584, 0x47200584, 0x49200584,
-    0x48200584, 0x46200584, 0x30200584, 0x32200584, 0x31200584, 0x2f200584,
-    0x38200584, 0x3a200584, 0x39200584, 0x37200584, 0x05200584, 0x07200584,
-    0x06200584, 0x04200584, 0x14200584, 0x16200584, 0x15200584, 0x13200584,
-    0x18200584, 0x1a200584, 0x19200584, 0x17200584, 0x1c200584, 0x1e200584,
-    0x1d200584, 0x1b200584, 0x20200584, 0x22200584, 0x21200584, 0x1f200584,
-    0x24200584, 0x26200584, 0x25200584, 0x23200584, 0x28200584, 0x2a200584,
-    0x29200584, 0x27200584, 0x2c200584, 0x2e200584, 0x2d200584, 0x2b200584,
-    0x34200584, 0x36200584, 0x35200584, 0x33240584, 0x98004b00, 0x04210185,
-    0x25018526, 0xc0071407, 0x0182500e, 0x880e6622, 0xbe240186, 0x120fe40e,
-    0x26210186, 0x2101850f, 0x01850f3a, 0x850f4e21, 0x0f602101, 0x7a210185,
-    0x2101850f, 0x01850fbc, 0x850fda21, 0x0ff82101, 0x10210184, 0x2101862a,
-    0x0185105c, 0xa2108e26, 0xcc10da10, 0xda200186, 0x03820b82, 0x00061123,
-    0x089f8401, 0x0200086f, 0xdf00c401, 0xba01e701, 0xbc01bb01, 0xbe01bd01,
-    0xc001bf01, 0xc201c101, 0xc401c301, 0xc601c501, 0xc801c701, 0xca01c901,
-    0xcc01cb01, 0xce01cd01, 0xd001cf01, 0xd201d101, 0xe801d301, 0x4302e901,
-    0xea013b02, 0xec01eb01, 0xee01ed01, 0xf001ef01, 0xf201f101, 0xf401f301,
-    0xf601f501, 0xf801f701, 0xfa01f901, 0xfc01fb01, 0xfe01fd01, 0x096e8202,
-    0x02dc0455, 0x02030202, 0x02050204, 0x02070206, 0x02090208, 0x020b020a,
-    0x020f022f, 0x02110210, 0x02150214, 0x02170216, 0x02190218, 0x021c021b,
-    0x021d021e, 0x02fc02fb, 0x02fe02fd, 0x030003ff, 0x03020301, 0x03040303,
-    0x03060305, 0x03080307, 0x030a0309, 0x030c030b, 0x030e030d, 0x0310030f,
-    0x03120311, 0x03140313, 0x03160315, 0x03180317, 0x031a0319, 0x031c031b,
-    0x031e031d, 0x0320031f, 0x03220321, 0x03240323, 0x03260325, 0x03280327,
-    0x032a0329, 0x032c032b, 0x032e032d, 0x0330032f, 0x03320331, 0x03340333,
-    0x03360335, 0x03380337, 0x033a0339, 0x033c033b, 0x033e033d, 0x0340033f,
-    0x03420341, 0x03450343, 0x03460344, 0x03480347, 0x034a0349, 0x034c034b,
-    0x034e034d, 0x0350034f, 0x04aa0451, 0x04ac04ab, 0x04ae04ad, 0x04b004af,
-    0x04b204b1, 0x04b404b3, 0x04b604b5, 0x04b804b7, 0x04ba04b9, 0x04bc04bb,
-    0x04be04bd, 0x04c004bf, 0x04c204c1, 0x04c404c3, 0x04ff01c5, 0x04c704c6,
-    0x04c904c8, 0x04cb04ca, 0x04cd04cc, 0x04cf04ce, 0x04d104d0, 0x04d304d2,
-    0x04d504d4, 0x04d804d7, 0x041a02da, 0x040e02db, 0x021302d6, 0x02d9040d,
-    0x0012020c, 0x18df0001, 0x223ab562, 0x10920085, 0x8001b762, 0x22098d43,
-    0x43b70074, 0x022b338b, 0x022f03fc, 0x04fa013b, 0x43ca04c9, 0x012b076d,
-    0x040002ff, 0x04ce04cd, 0x43d304d0, 0xa5431575, 0x0c81430b, 0x19021722,
-    0x20387143, 0x2c73434e, 0x433b7143, 0xc82e056f, 0xcc04cb04, 0xd104cf04,
-    0x0102d204, 0x5343d404, 0xc604230b, 0x3743c704, 0x18022105, 0x20063943,
-    0x0a3b43fb, 0x3d431620, 0xb7820906, 0x46004500, 0x48004700, 0x4a004900,
-    0x4c004b00, 0x4e004d00, 0x50004f00, 0x52005100, 0x54005300, 0x56005500,
-    0x58005700, 0x5a005900, 0x5c005b00, 0x5e005d00, 0x8c008700, 0xe9009300,
-    0xeb00ea00, 0xed00ec00, 0xef00ee00, 0xf100f000, 0xf300f200, 0xf500f400,
-    0xf700f600, 0xf900f800, 0xfb00fa00, 0xfd00fc00, 0xff00fe00, 0x01010001,
-    0x03010201, 0x05010401, 0x2d010601, 0x33013101, 0x3b013901, 0x40013d01,
-    0x4a024701, 0x67026602, 0x69026802, 0x6b026a02, 0x6d026c02, 0x6f026e02,
-    0x71027002, 0x73027202, 0x75027402, 0x77027602, 0x79027802, 0x7b027a02,
-    0x7d027c02, 0x7f027e02, 0x81028002, 0x85028302, 0x89028702, 0x8d028b02,
-    0x91028f02, 0x95029302, 0x99029702, 0x9d029b02, 0xa1029f02, 0xa502a302,
-    0xa902a702, 0xad02ab02, 0xb402b202, 0xb802b602, 0xbc02ba02, 0xc002be02,
-    0xc502c202, 0xc902c702, 0xcd02cb02, 0xd102cf02, 0xd502d302, 0xdb02d902,
-    0xdf02dd02, 0xe302e102, 0xe702e502, 0xeb02e902, 0xef02ed02, 0xf402f202,
-    0x8f03f602, 0x91039003, 0x93039203, 0x95039403, 0x97039603, 0x99039803,
-    0x9b039a03, 0x9d039c03, 0xbb039e03, 0xbf03bd03, 0xd403cd03, 0xe003da03,
-    0x49044604, 0x4f044b04, 0x59045704, 0x5e045a04, 0x06006a04, 0x06000000,
-    0x2a001200, 0x5a004200, 0x8a007200, 0x11820300, 0x11820120, 0x90000124,
-    0x0b820100, 0x05824a20, 0x4d000122, 0x7820178a, 0x4e20178a, 0x6020178a,
-    0x02211789, 0x20178aad, 0x21178948, 0x178a9a03, 0x178a3020, 0x178a9c20,
-    0x17891820, 0x00190423, 0x220d8202, 0x82ab00a7, 0x82042089, 0x00012803,
-    0x06010008, 0x8236001e, 0x05df4dab, 0x00ca7208, 0x010e01fc, 0x014a0118,
-    0x017e0164, 0x01ba0190, 0x02f601ec, 0x02320218, 0x02760244, 0x02a20288,
-    0x03de02cc, 0x031a0310, 0x03360324, 0x03720368, 0x0386037c, 0x03ba03a0,
-    0x04f603cc, 0x04320428, 0x046e0454, 0x04b20480, 0x05de04c4, 0x051a0508,
-    0x052e0524, 0x05420538, 0x0596056c, 0x06ea05c0, 0x00060014, 0x0014000e,
-    0x0020001a, 0x022c0026, 0x2293824b, 0x824c02a7, 0x02a82205, 0x2205824e,
-    0x82f003a9, 0x04aa2205, 0x2205827a, 0x82ee03ab, 0x00ac2605, 0x04040001,
-    0x21098787, 0x09828802, 0x0382a820, 0x0c000624, 0x07828904, 0x8b04ac26,
-    0xa2010200, 0x5320578e, 0x54205784, 0xa8220582, 0x05820a04, 0x0804a922,
-    0x7c205784, 0xab220582, 0x4d840604, 0x33820220, 0x76040c22, 0xa2207b84,
-    0x69834384, 0x1b848d20, 0x5720a58d, 0x58204d84, 0xa6202984, 0x16204d84,
-    0x7e204d84, 0x18204d84, 0x03223184, 0xd9830800, 0x848f0421, 0x82912073,
-    0x02ac2205, 0x865584b3, 0xb5022119, 0x93201984, 0xb7201984, 0x81841984,
-    0x84ac0321, 0x84952017, 0x00052c45, 0x0012000c, 0x001e0018, 0x84780424,
-    0x84bd2075, 0x845b2075, 0x84972075, 0x92bf203b, 0x845c20ef, 0x845d202b,
-    0x845f202b, 0x841c202b, 0x848020a1, 0x411a20a1, 0x99200847, 0xa82c0982,
-    0x0a000400, 0x16001000, 0xca021c00, 0x82207b84, 0x9b202584, 0xcc205d84,
-    0xd020b38c, 0x9d201f84, 0xd6201984, 0x0421b389, 0x2011849f, 0x208992da,
-    0x20898461, 0x20898462, 0x208984e0, 0x20898434, 0x20638484, 0x0a794132,
-    0x1d84a120, 0x3d41a320, 0x8303200b, 0x03a72257, 0x207584a1, 0x0f1141a5,
-    0x11830320, 0x6502a722, 0x44201d84, 0x42203d84, 0x40205b84, 0x02215589,
-    0x201d84f1, 0x12c541a7, 0x99846620, 0x99846720, 0x05826920, 0x8303a921,
-    0x04aa222b, 0x220b827b, 0x41ef03ab, 0x88200823, 0x20086b42, 0x0a6b4289,
-    0x0b828a20, 0x8c04ac22, 0x6e20f192, 0x6f205784, 0x0b207784, 0x09209584,
-    0x7d209584, 0x0720f184, 0x77205788, 0x01244d84, 0x8e040400, 0x19201388,
-    0x200c3b42, 0x20438490, 0x22058292, 0x41b402ac, 0xb6200c87, 0x94201984,
-    0xb8201984, 0x21098741, 0x1784ad03, 0x29419620, 0x7904210f, 0xbe209384,
-    0x7620eb84, 0x98209384, 0xc0203b84, 0x9783bf92, 0x7802a722, 0x7a202b84,
-    0x1d202b84, 0x8120bf84, 0x1b20bf84, 0x9a20ab88, 0x200e3b42, 0x207b84cb,
-    0x20258483, 0x205d849c, 0x20b38ccd, 0x201f84d1, 0x2019849e, 0x21b389d7,
-    0x1184a004, 0x8992db20, 0xb5847c20, 0x89847d20, 0x8984e120, 0x89843520,
-    0x63848520, 0xe5413320, 0xa2042109, 0xa4201d84, 0x200c3b42, 0x220d82a0,
-    0x84a203a7, 0x41a62075, 0x03200f11, 0xa7221183, 0x1d848002, 0x3d844520,
-    0x5b844320, 0x55894120, 0x84f20221, 0x41a8201d, 0xf72008ff, 0x0124f184,
-    0xf9020400, 0xf8200988, 0xfa200988, 0xb1430984, 0x7202210a, 0x7320bf84,
-    0xa720bf84, 0x17206384, 0x7f206384, 0xab210582, 0x21298a00, 0x11822a04,
-    0x2804a722, 0x2e206f84, 0x2c202984, 0x30202984, 0x0421b78f, 0x2029842b,
-    0x20298429, 0x2029842f, 0x2029842d, 0x20299031, 0x20298438, 0x20298436,
-    0x2029843c, 0x2029843a, 0x2029903e, 0x20298439, 0x20298437, 0x2029843d,
-    0x2029843b, 0x08eb413f, 0xdb848620, 0x1100022c, 0x29002500, 0x2b000000,
-    0xbf822d00, 0x002f3008, 0x00080034, 0x003b0036, 0x003d000e, 0x0014003e,
-    0x00490045, 0x004b0016, 0x001b004d, 0x0054004f, 0x0056001e, 0x0024005b,
-    0x005e005d, 0x8281002a, 0x002c2201, 0x22018283, 0x8286002d, 0x002e2201,
-    0x22018289, 0x828c002f, 0x00302801, 0x009a0097, 0x82cf0031, 0x00352101,
-    0x2207294a, 0x82060001, 0x00012679, 0x02d40202, 0x201588d5, 0x286f8202,
-    0x04dd0404, 0x04df04de, 0x291582e0, 0x02860204, 0x02980287, 0xc7460099,
-    0x26002108, 0x0a223782, 0x19461c00, 0xa3012105, 0x4a220782, 0x0582a801,
-    0x01005826, 0xa9010400, 0x02240986, 0x57004a00, 0x4420358a, 0x14203584,
-    0xa4202384, 0x4d200b82, 0xa6200984, 0x5b890984, 0x258a1e20, 0x0b82a520,
-    0x25845020, 0x0986a720, 0x6f825382, 0x0121c18a, 0x221f8295, 0x884b0001,
-    0x21d582bf, 0x13842701, 0x138cba20, 0x1384ac20, 0x13883620, 0xbf830220,
-    0x01e30123, 0x26118ae4, 0x0102000a, 0x82e601e5, 0x00022411, 0x8a4f002f,
-    0x001e3a19, 0x0228020c, 0x0229022a, 0x022c022b, 0x0220021f, 0x02ae0121,
-    0x02240223, 0x2a258225, 0x0027000c, 0x002b0028, 0x4a350033, 0x4b210605,
-    0x05f34900, 0x2908954b, 0x03000c00, 0x27022602, 0x2f822702, 0x49000326,
-    0xae014b00, 0x66325f8a, 0x3d020800, 0x2e022d02, 0x31023002, 0x3a023902,
-    0x1d8a3c02, 0x08001632, 0x15001b00, 0x17001600, 0x19001800, 0x14001d00,
-    0x08301d82, 0x2202ad01, 0x71047004, 0x73047204, 0x75047404, 0x0421318d,
-    0x231d8975, 0x7404ad01, 0x08201d82, 0x45893782, 0x47821b20, 0x63839f89,
-    0x63841b8d, 0x0221938d, 0x0c53413d, 0x0d826920, 0x13000128, 0x00000600,
-    0xa3820100, 0x05820320, 0x03821220, 0x0f845220, 0x4a00002a, 0x02000200,
-    0x7c017c01, 0xd4221e82, 0x7952dd01, 0x82082008, 0x01282209, 0x384b88c0,
-    0x001a0002, 0x0032020a, 0x0073007a, 0x02330274, 0x02350234, 0x02370236,
-    0x203f8238, 0x51b38201, 0x44820581, 0x24086382, 0x00260002, 0x01d40110,
-    0x01d601d5, 0x01d801d7, 0x01da01d9, 0x01dc01db, 0x024002dd, 0x0241023e,
-    0x043f0242, 0x205982e1, 0x24eb8c10, 0x001b001a, 0x2aef821c, 0x024e004d,
-    0x039a03ad, 0x0519049c, 0x4bd158fa, 0x00000034,
-};
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_App.cpp b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_App.cpp
deleted file mode 100644
index 5f44b202..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_App.cpp
+++ /dev/null
@@ -1,417 +0,0 @@
-#include "NetImguiServer_App.h"
-
-#include "Fonts/Roboto_Medium.cpp"
-#include "NetImguiServer_Config.h"
-#include "NetImguiServer_Network.h"
-#include "NetImguiServer_RemoteClient.h"
-#include "NetImguiServer_UI.h"
-
-namespace NetImguiServer {
-namespace App {
-
-constexpr uint32_t kClientCountMax =
-    32;  //! @sammyfreg todo: support unlimited client count
-ImVector<ServerTexture*>
-    gServerTextures;  // List of ALL server created textures (used by server and
-                      // clients)
-ServerTexture* gServerTextureEmpty =
-    nullptr;  // Empty texture used when no valid texture found
-bool gLoadedConfigOnce = false;
-
-void UpdateServerTextures();
-
-bool Startup(const char* CmdLine) {
-  //---------------------------------------------------------------------------------------------
-  // Load Settings savefile and parse for auto connect commandline option
-  //---------------------------------------------------------------------------------------------
-  if (!gLoadedConfigOnce) {
-    NetImguiServer::Config::Client::LoadAll();
-    gLoadedConfigOnce = true;
-  }
-  AddTransientClientConfigFromString(CmdLine);
-
-  //---------------------------------------------------------------------------------------------
-  // Perform application initialization:
-  //---------------------------------------------------------------------------------------------
-  if (RemoteClient::Client::Startup(kClientCountMax) &&
-      NetImguiServer::Network::Startup() && NetImguiServer::UI::Startup()) {
-    NetImgui::Internal::CmdTexture cmdTexture;
-    uint32_t EmptyData[4 * 4] = {
-        0xFF0000FF, 0xFF0000FF, 0xFF0000FF, 0xFF0000FF, 0xFF0000FF, 0xFF0000FF,
-        0xFF0000FF, 0xFF0000FF, 0xFF0000FF, 0xFF0000FF, 0xFF0000FF, 0xFF0000FF,
-        0xFF0000FF, 0xFF0000FF, 0xFF0000FF, 0xFF0000FF};
-    cmdTexture.mTextureClientID = 0;
-    cmdTexture.mFormat = ImTextureFormat::ImTextureFormat_RGBA32;
-    cmdTexture.mWidth = cmdTexture.mHeight = 4;
-    cmdTexture.mpTextureData.SetPtr((uint8_t*)EmptyData);
-    gServerTextureEmpty = CreateTexture(cmdTexture, sizeof(EmptyData));
-
-    LoadFonts();
-    ImGui::GetIO().IniFilename =
-        nullptr;  // Disable server ImGui ini settings (not really needed, and
-                  // avoid imgui.ini filename conflicts)
-    ImGui::GetIO().LogFilename = nullptr;
-    return HAL_Startup(CmdLine);
-  }
-  return false;
-}
-
-void Shutdown() {
-  // Mark all texture resources as wanting deletion
-  for (ServerTexture* texServer : gServerTextures) {
-    if (texServer && texServer->IsValid()) {
-      if (!texServer->mIsCustom) {
-        texServer->mTexData.SetStatus(ImTextureStatus_WantDestroy);
-        texServer->mTexData.UnusedFrames = 1;
-      } else {
-#if TEXTURE_CUSTOM_SAMPLE
-        if (texServer && texServer->mIsCustom) {
-          0  // TODO
-        }
-#endif
-      }
-    }
-  }
-
-  // Allow Dear ImGui to delete the textures
-  ImGui::NewFrame();
-  ImGui::Render();
-  HAL_RenderDrawData(ImGui::GetDrawData());
-  if (ImGui::GetIO().ConfigFlags & ImGuiConfigFlags_ViewportsEnable) {
-    ImGui::UpdatePlatformWindows();
-    ImGui::RenderPlatformWindowsDefault();
-  }
-
-  // Finish removing them from Dear ImGui user textures and delete objects
-  UpdateServerTextures();
-
-  // Update Dear ImGui texture list (so it doesn't have deleted items in it)
-  ImGui::NewFrame();
-  ImGui::Render();
-  if (ImGui::GetIO().ConfigFlags & ImGuiConfigFlags_ViewportsEnable) {
-    ImGui::UpdatePlatformWindows();
-    ImGui::RenderPlatformWindowsDefault();
-  }
-
-  // Remove deleted textures from clients
-  for (uint32_t i(0); i < RemoteClient::Client::GetCountMax(); ++i) {
-    RemoteClient::Client& client = RemoteClient::Client::Get(i);
-    client.mTextureTable.clear();
-  }
-
-  NetImguiServer::Network::Shutdown();
-  NetImguiServer::UI::Shutdown();
-  NetImguiServer::Config::Client::Clear();
-  RemoteClient::Client::Shutdown();
-  HAL_Shutdown();
-}
-
-//=================================================================================================
-// INIT CLIENT CONFIG FROM STRING
-// Take a commandline string, and create a ClientConfig from it.
-// Simple format of (Hostname);(HostPort)
-bool AddTransientClientConfigFromString(const char* string)
-//=================================================================================================
-{
-  NetImguiServer::Config::Client cmdlineClient;
-  const char* zEntryStart = string;
-  const char* zEntryCur = string;
-  int paramIndex = 0;
-  cmdlineClient.mConfigType =
-      NetImguiServer::Config::Client::eConfigType::Transient;
-  NetImgui::Internal::StringCopy(cmdlineClient.mClientName, "Commandline");
-
-  while (*zEntryCur != 0) {
-    zEntryCur++;
-    // Skip commandline preamble holding path to executable
-    if (*zEntryCur == ' ' && *(zEntryCur + 1) != 0) {
-      zEntryStart = zEntryCur + 1;
-    }
-    if ((*zEntryCur == ';' || *zEntryCur == 0)) {
-      if (paramIndex == 0)
-        NetImgui::Internal::StringCopy(cmdlineClient.mHostName, zEntryStart,
-                                       zEntryCur - zEntryStart);
-      else if (paramIndex == 1)
-        cmdlineClient.mHostPort = static_cast<uint32_t>(atoi(zEntryStart));
-
-      cmdlineClient.mConnectAuto =
-          paramIndex >=
-          1;  // Mark valid for connexion as soon as we have a HostAddress
-      zEntryStart = zEntryCur + 1;
-      paramIndex++;
-    }
-  }
-
-  if (cmdlineClient.mConnectAuto) {
-    NetImguiServer::Config::Client::SetConfig(cmdlineClient);
-    return true;
-  }
-
-  return false;
-}
-
-//=================================================================================================
-// DRAW CLIENT BACKGROUND
-// Create a separate Dear ImGui drawing context, to generate a commandlist that
-// will fill the RenderTarget with a specific background picture
-void DrawClientBackground(RemoteClient::Client& client)
-//=================================================================================================
-{
-  NetImgui::Internal::CmdBackground* pBGUpdate =
-      client.mPendingBackgroundIn.Release();
-  if (pBGUpdate) {
-    client.mBGSettings = *pBGUpdate;
-    client.mBGNeedUpdate = true;
-    netImguiDeleteSafe(pBGUpdate);
-  }
-
-  if (client.mpBGContext == nullptr) {
-    client.mpBGContext = ImGui::CreateContext(ImGui::GetIO().Fonts);
-    client.mpBGContext->IO.DeltaTime = 1 / 30.f;
-    client.mpBGContext->IO.IniFilename =
-        nullptr;  // Disable server ImGui ini settings (not really needed, and
-                  // avoid imgui.ini filename conflicts)
-    client.mpBGContext->IO.LogFilename = nullptr;
-    client.mpBGContext->IO.BackendFlags |=
-        ImGuiBackendFlags_RendererHasTextures;
-  }
-
-  // Detect when the main font textures was updated,
-  // in which case we need to re-generate the BG DrawData
-  const ImVector<ImTextureData*>& MainTextures =
-      ImGui::GetPlatformIO().Textures;
-  NetImgui::Internal::ScopedImguiContext scopedCtx(client.mpBGContext);
-  const ImVector<ImTextureData*>& BGTextures = ImGui::GetPlatformIO().Textures;
-  for (ImTextureData* texData : BGTextures) {
-    client.mBGNeedUpdate |= MainTextures.contains(texData) == false;
-  }
-
-  // Update the BG DrawData
-  // Note: Maybe we should try rendering it directly in client windows every
-  // frame instead, to keep things simpler
-  if (client.mBGNeedUpdate) {
-    ImGui::GetIO().DisplaySize = ImVec2(client.mAreaSizeX, client.mAreaSizeY);
-    ImGui::NewFrame();
-    ImGui::SetNextWindowPos(ImVec2(0, 0));
-    ImGui::SetNextWindowSize(ImVec2(client.mAreaSizeX, client.mAreaSizeY));
-    ImGui::Begin("Background", nullptr,
-                 ImGuiWindowFlags_NoDecoration | ImGuiWindowFlags_NoInputs |
-                     ImGuiWindowFlags_NoNav | ImGuiWindowFlags_NoBackground |
-                     ImGuiWindowFlags_NoSavedSettings);
-    // Look for the desired texture (and use default if not found)
-    auto texIt = client.mTextureTable.find(client.mBGSettings.mTextureId);
-    const ServerTexture* pTexture = texIt == client.mTextureTable.end()
-                                        ? UI::GetBackgroundTexture()
-                                        : texIt->second;
-    UI::DrawCenteredBackground(pTexture,
-                               ImVec4(client.mBGSettings.mTextureTint[0],
-                                      client.mBGSettings.mTextureTint[1],
-                                      client.mBGSettings.mTextureTint[2],
-                                      client.mBGSettings.mTextureTint[3]));
-    ImGui::End();
-    ImGui::Render();
-    client.mBGNeedUpdate = false;
-  }
-}
-
-//=================================================================================================
-void UpdateServerTextures()
-//=================================================================================================
-{
-  for (int i(gServerTextures.size() - 1); i >= 0; --i) {
-    if (gServerTextures[i]) {
-      ServerTexture& ServerTex = *gServerTextures[i];
-
-      // Release un-needed pixel data once it has been processed by backend
-      if (ServerTex.mIsUpdatable == false &&
-          ServerTex.mTexData.Pixels != nullptr &&
-          ServerTex.mTexData.Status == ImTextureStatus_OK) {
-        ServerTex.mTexData.DestroyPixels();
-      }
-
-      // Backend deleted the texture, remove it from our list
-      else if (ServerTex.mTexData.Status == ImTextureStatus_Destroyed) {
-        ImGui::UnregisterUserTexture(&ServerTex.mTexData);
-        delete gServerTextures[i];
-        gServerTextures[i] = nullptr;
-      }
-
-      // Send deletion request to backend
-      else if (ServerTex.mTexData.WantDestroyNextFrame) {
-        const RemoteClient::Client* Client =
-            ServerTex.mOwnerClientIndex >= 0
-                ? &RemoteClient::Client::Get(ServerTex.mOwnerClientIndex)
-                : nullptr;
-        if (!Client || !Client->mpImguiDrawData ||
-            Client->mpImguiDrawData->mFrameIndex > ServerTex.mLastFrameUsed) {
-          if (ServerTex.mTexData.UnusedFrames++ > 0) {
-            ServerTex.mTexData.Status = ImTextureStatus_WantDestroy;
-          }
-        }
-      }
-    }
-
-    // Remove release textures (null) from our list
-    if (gServerTextures[i] == nullptr) {
-      ImSwap(gServerTextures[i], gServerTextures[gServerTextures.Size - 1]);
-      gServerTextures.pop_back();
-    }
-  }
-}
-
-//=================================================================================================
-// Default texture creation behavior, relying on Dear ImGui backend to do
-// the heavy lifting of texture creation and management
-bool CreateTexture_Default(ServerTexture& serverTexture,
-                           const NetImgui::Internal::CmdTexture& cmdTexture,
-                           uint32_t customDataSize)
-//=================================================================================================
-{
-  if (!serverTexture.mIsCustom && cmdTexture.mpTextureData.Get() != nullptr) {
-    serverTexture.mIsUpdatable = cmdTexture.mUpdatable;
-    serverTexture.mTexData.Create(ImTextureFormat::ImTextureFormat_RGBA32,
-                                  cmdTexture.mWidth, cmdTexture.mHeight);
-    if (cmdTexture.mFormat == ImTextureFormat::ImTextureFormat_RGBA32) {
-      memcpy(serverTexture.mTexData.Pixels, cmdTexture.mpTextureData.Get(),
-             customDataSize);
-    } else if (cmdTexture.mFormat == ImTextureFormat::ImTextureFormat_Alpha8) {
-      const uint8_t* pSrcCur = cmdTexture.mpTextureData.Get();
-      uint32_t* pDestCur =
-          reinterpret_cast<uint32_t*>(serverTexture.mTexData.GetPixels());
-      uint32_t* pDestEnd = &pDestCur[cmdTexture.mHeight * cmdTexture.mWidth];
-      while (pDestCur < pDestEnd) {
-        *pDestCur++ = 0x00FFFFFF | (uint64_t(*pSrcCur++) << 24);
-      }
-    } else {
-      IM_ASSERT_USER_ERROR(0, "Unsupported format");
-    }
-
-    serverTexture.mTexData.Status = ImTextureStatus_WantCreate;
-    serverTexture.mTexData.UseColors =
-        cmdTexture.mFormat == ImTextureFormat::ImTextureFormat_RGBA32;
-    ImGui::RegisterUserTexture(&serverTexture.mTexData);
-    return true;
-  }
-  return false;
-}
-
-//=================================================================================================
-ServerTexture* CreateTexture(const NetImgui::Internal::CmdTexture& cmdTexture,
-                             uint32_t textureDataSize)
-//=================================================================================================
-{
-  ServerTexture* serverTex(new ServerTexture);
-  if (serverTex) {
-    serverTex->mIsCustom =
-        cmdTexture.mFormat == NetImgui::eTexFormat::kTexFmtCustom;
-    serverTex->mClientTexID = cmdTexture.mTextureClientID;
-    serverTex->mIsUpdatable = false;
-    if (CreateTexture_Custom(*serverTex, cmdTexture, textureDataSize) ||
-        CreateTexture_Default(*serverTex, cmdTexture, textureDataSize)) {
-      gServerTextures.push_back(serverTex);
-    } else {
-      delete serverTex;
-      serverTex = NULL;
-    }
-  }
-  return serverTex;
-}
-
-//=================================================================================================
-// Initialize all needed fonts by the NetImguiServer application
-void LoadFonts()
-//=================================================================================================
-{
-  ImFontConfig fontConfig;
-  ImFontAtlas* pFontAtlas = ImGui::GetIO().Fonts;
-
-  // Add Fonts here...
-  // Using a different default font (provided with Dear ImGui)
-  NetImgui::Internal::StringCopy(fontConfig.Name, "Roboto Medium");
-  if (!pFontAtlas->AddFontFromMemoryCompressedTTF(Roboto_Medium_compressed_data,
-                                                  Roboto_Medium_compressed_size,
-                                                  0.f, &fontConfig)) {
-    pFontAtlas->AddFontDefault(&fontConfig);
-  }
-}
-
-//=================================================================================================
-void UpdateWindowPlacement(int x, int y, int w, int h, bool isMaximized)
-//=================================================================================================
-{
-  NetImguiServer::Config::Server::sWindowPlacement[0] = x;
-  NetImguiServer::Config::Server::sWindowPlacement[1] = y;
-  NetImguiServer::Config::Server::sWindowPlacement[2] = w;
-  NetImguiServer::Config::Server::sWindowPlacement[3] = h;
-  NetImguiServer::Config::Server::sWindowMaximized = isMaximized;
-  NetImguiServer::Config::Client::SaveAll();
-}
-
-//=================================================================================================
-WindowPlacement GetWindowPlacement()
-//=================================================================================================
-{
-  if (!gLoadedConfigOnce) {
-    NetImguiServer::Config::Client::LoadAll();
-    gLoadedConfigOnce = true;
-  }
-
-  WindowPlacement wp;
-  wp.x = NetImguiServer::Config::Server::sWindowPlacement[0];
-  wp.y = NetImguiServer::Config::Server::sWindowPlacement[1];
-  wp.w = ImMax(100, NetImguiServer::Config::Server::sWindowPlacement[2]);
-  wp.h = ImMax(100, NetImguiServer::Config::Server::sWindowPlacement[3]);
-  wp.isMaximized = NetImguiServer::Config::Server::sWindowMaximized;
-  return wp;
-}
-//=================================================================================================
-// UPDATE REMOTE CONTENT
-// Create a render target for each connected remote client once, and update it
-// every frame with the last drawing commands received from it. This Render
-// Target will then be used normally as the background image of each client
-// window renderered by this Server
-void UpdateClientDraw()
-//=================================================================================================
-{
-  for (uint32_t i(0); i < RemoteClient::Client::GetCountMax(); ++i) {
-    RemoteClient::Client& client = RemoteClient::Client::Get(i);
-    if (client.mbIsConnected) {
-      if (client.mbIsReleased) {
-        client.Uninitialize();
-      } else {
-        client.ProcessPendingTextureCmds();
-        if (client.mbIsVisible) {
-          // Update the RenderTarget destination of each client, of size was
-          // updated
-          if (client.mAreaSizeX > 0 && client.mAreaSizeY > 0 &&
-              (!client.mpHAL_AreaRT ||
-               client.mAreaRTSizeX != client.mAreaSizeX ||
-               client.mAreaRTSizeY != client.mAreaSizeY)) {
-            if (HAL_CreateRenderTarget(client.mAreaSizeX, client.mAreaSizeY,
-                                       client.mpHAL_AreaRT,
-                                       client.mHAL_AreaTexture)) {
-              client.mAreaRTSizeX = client.mAreaSizeX;
-              client.mAreaRTSizeY = client.mAreaSizeY;
-              client.mLastUpdateTime =
-                  std::chrono::steady_clock::now() -
-                  std::chrono::hours(1);  // Will redraw the client
-              client.mBGNeedUpdate = true;
-            }
-          }
-
-          // Render the remote results
-          ImDrawData* pDrawData =
-              client.GetImguiDrawData(gServerTextureEmpty->mTexData.GetTexID());
-          if (pDrawData) {
-            DrawClientBackground(client);
-            HAL_RenderDrawData(client, pDrawData);
-          }
-        }
-      }
-    }
-  }
-
-  UpdateServerTextures();
-}
-}  // namespace App
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_App.h b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_App.h
deleted file mode 100644
index cb767b87..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_App.h
+++ /dev/null
@@ -1,144 +0,0 @@
-// Google modifications:
-//  - Added #ifndef guards around HAL_API_PLATFORM_* defines so they can be
-//    overridden from BUILD-level defines (-D flags).
-#pragma once
-
-#include <Private/NetImgui_Network.h>
-#include <Private/NetImgui_Shared.h>
-
-//=============================================================================================
-// SELECT RENDERING/OS API HERE
-//=============================================================================================
-#ifndef HAL_API_PLATFORM_WIN32_DX11
-#define HAL_API_PLATFORM_WIN32_DX11 1
-#endif
-#ifndef HAL_API_PLATFORM_GLFW_GL3
-#define HAL_API_PLATFORM_GLFW_GL3 0  // Note: Currently doesn't work on VS2026
-#endif
-#ifndef HAL_API_PLATFORM_SOKOL
-#define HAL_API_PLATFORM_SOKOL \
-  0  // Sokol Lib needs to be updated to latest Dear ImGui 1.92 support for this
-     // to work
-#endif
-#define HAL_API_RENDERTARGET_INVERT_Y \
-  (HAL_API_PLATFORM_GLFW_GL3 ||       \
-   HAL_API_PLATFORM_SOKOL)  // Invert client render target Y axis (since OpenGL
-                            // start texture UV from BottomLeft instead of
-                            // DirectX TopLeft)
-//=============================================================================================
-
-// Forward declare
-namespace NetImguiServer {
-namespace RemoteClient {
-struct Client;
-}
-}  // namespace NetImguiServer
-namespace NetImgui {
-namespace Internal {
-struct CmdTexture;
-}
-}  // namespace NetImgui
-
-namespace NetImguiServer {
-namespace App {
-struct WindowPlacement {
-  int x = 0;
-  int y = 0;
-  int w = 0;
-  int h = 0;
-  bool isMaximized = false;
-};
-
-//=============================================================================================
-// Code specific to 'NetImgui Server' application and needed inside platform
-// specific code
-//=============================================================================================
-// Additional initialisation needed by 'NetImGui Server' and not part of default
-// ImGui sample code
-bool Startup(const char* CmdLine);
-// Prepare for shutdown of application
-void Shutdown();
-// Receive rendering request of each Remote client and output it to their own
-// RenderTarget
-void UpdateClientDraw();
-// Save server window placement (to restore it on next start)
-void UpdateWindowPlacement(int x, int y, int w, int h, bool isMaximized);
-// Get last server window placement
-WindowPlacement GetWindowPlacement();
-// Add a new remote client config to our list (to attempt connexion)
-bool AddTransientClientConfigFromString(const char* string);
-// Initialize the font atlas used by the Serve
-void LoadFonts();
-
-// Descriptor of each textures by Server. Format always RGBA8
-struct ServerTexture {
-  inline ServerTexture() {
-    mTexData.Status = ImTextureStatus_Destroyed;
-    mTexData.RefCount = 1;
-  }
-  inline bool IsValid() const {
-    return mTexData.Status != ImTextureStatus_WantCreate &&
-           mTexData.Status != ImTextureStatus_Destroyed;
-  }
-  inline void MarkForDelete() {
-    mTexData.WantDestroyNextFrame = true;
-    mTexData.UnusedFrames = 0;
-  }
-  ImTextureData mTexData;          // Struct used by backend for texture support
-  ImTextureID mClientTexID;        // Client UserID associated with this texture
-  uint64_t mCustomData = 0u;       // Memory available to custom command
-  uint64_t mLastFrameUsed = 0u;    // Last draw frame this texture was used
-                                   // (needed for resources release)
-  int32_t mOwnerClientIndex = -1;  // Client that created this texture (if any)
-  uint8_t mIsCustom = 0u;  // Format handled by custom version of NetImguiServer
-                           // modified by library user
-  uint8_t mIsUpdatable = 0u;  // True when textures can be updated (font)
-  uint8_t mPadding[6] = {};
-};
-
-//=============================================================================================
-// Handling of texture data
-//=============================================================================================
-ServerTexture* CreateTexture(const NetImgui::Internal::CmdTexture& cmdTexture,
-                             uint32_t customDataSize);
-
-// Library users can implement their own texture format (on client/server).
-// Useful for vidoe streaming, new format, etc.
-bool CreateTexture_Custom(ServerTexture& serverTexture,
-                          const NetImgui::Internal::CmdTexture& cmdTexture,
-                          uint32_t customDataSize);
-bool DestroyTexture_Custom(ServerTexture& serverTexture,
-                           const NetImgui::Internal::CmdTexture& cmdTexture,
-                           uint32_t customDataSize);
-
-//=============================================================================================
-// Note (H)ardware (A)bstraction (L)ayer
-//		When porting the 'NetImgui Server' application to other
-//platform, 		theses are the few functions needed to be supported by each specific
-//API that 		are not already supported by de 'Dear ImGui' provided backends
-//=============================================================================================
-// Additional initialisation that are platform specific
-bool HAL_Startup(const char* CmdLine);
-// Prepare for shutdown of application, with platform specific code
-void HAL_Shutdown();
-// Receive a platform specific socket, and return us with info on the connection
-bool HAL_GetSocketInfo(NetImgui::Internal::Network::SocketInfo* pClientSocket,
-                       char* pOutHostname, size_t HostNameLen, int& outPort);
-// Provide the current user setting folder (used to save the shared config file)
-const char* HAL_GetUserSettingFolder();
-// Return true when new content should be retrieved from Clipboard (avoid
-// constantly reading/converting content)
-bool HAL_GetClipboardUpdated();
-// Receive a ImDrawData drawlist and render it to backbuffer
-void HAL_RenderDrawData(ImDrawData* pDrawData);
-// Receive a ImDrawData drawlist and request Dear ImGui's backend to output it
-// into a texture
-void HAL_RenderDrawData(RemoteClient::Client& client, ImDrawData* pDrawData);
-// Allocate a RenderTarget that each client will use to output their ImGui
-// drawing into.
-bool HAL_CreateRenderTarget(uint16_t Width, uint16_t Height, void*& pOutRT,
-                            ImTextureData& OutTexture);
-// Free a RenderTarget resource
-void HAL_DestroyRenderTarget(void*& pOutRT, ImTextureData& OutTexture);
-}  // namespace App
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Config.cpp b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Config.cpp
deleted file mode 100644
index c61b1b73..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Config.cpp
+++ /dev/null
@@ -1,441 +0,0 @@
-// Google modifications:
-//  - Updated nlohmann/json include path for Google third_party layout.
-#include "NetImguiServer_Config.h"
-
-#include <NetImgui_Api.h>
-
-#include <fstream>
-#include <mutex>
-#include <nlohmann/json.hpp>
-
-#include "NetImguiServer_RemoteClient.h"
-
-namespace NetImguiServer {
-namespace Config {
-
-static ImVector<Client*> gConfigList;
-static std::mutex gConfigLock;
-static Client::RuntimeID gRuntimeID = static_cast<Client::RuntimeID>(1);
-
-static constexpr char kConfigField_ServerPort[] = "ServerPort";
-static constexpr char kConfigField_ServerRefreshActive[] = "RefreshFPSActive";
-static constexpr char kConfigField_ServerRefreshInactive[] =
-    "RefreshFPSInactive";
-static constexpr char kConfigField_ServerDPIScaleRatio[] = "DPIScaleRatio";
-static constexpr char kConfigField_ServerCompressionEnable[] =
-    "CompressionEnable";
-static constexpr char kConfigField_ServerFontSize[] = "ServerFontSize";
-static constexpr char kConfigField_ServerWindowPlacementX[] =
-    "ServerWindowPlacementX";
-static constexpr char kConfigField_ServerWindowPlacementY[] =
-    "ServerWindowPlacementY";
-static constexpr char kConfigField_ServerWindowPlacementW[] =
-    "ServerWindowPlacementW";
-static constexpr char kConfigField_ServerWindowPlacementH[] =
-    "ServerWindowPlacementH";
-static constexpr char kConfigField_ServerWindowMaximized[] =
-    "ServerWindowMaximized";
-
-static constexpr char kConfigField_Note[] = "Note";
-static constexpr char kConfigField_Version[] = "Version";
-static constexpr char kConfigField_Configs[] = "Configs";
-static constexpr char kConfigField_Name[] = "Name";
-static constexpr char kConfigField_Hostname[] = "Hostname";
-static constexpr char kConfigField_Hostport[] = "HostPort";
-static constexpr char kConfigField_AutoConnect[] = "Auto";
-static constexpr char kConfigField_BlockTakeover[] = "BlockTakeover";
-static constexpr char kConfigField_DPIScaleEnabled[] = "DPIScaleEnabled";
-
-uint32_t Server::sPort = NetImgui::kDefaultServerPort;
-float Server::sRefreshFPSActive = 30.f;
-float Server::sRefreshFPSInactive = 30.f;
-float Server::sDPIScaleRatio = 1.f;
-bool Server::sCompressionEnable = true;
-float Server::sFontSize = 16.f;
-int Server::sWindowPlacement[4] = {100, 100, 1280, 1024};
-bool Server::sWindowMaximized = false;
-
-//=================================================================================================
-// The user config is created when the main config file is readonly
-// Allows having a distributed config file that cannot be touched by users
-static const char* GetConfigFilename(Client::eConfigType configFileType)
-//=================================================================================================
-{
-  if (configFileType == Client::eConfigType::Local) {
-    return "netImgui.cfg";
-  } else if (configFileType == Client::eConfigType::Local2nd) {
-    return "netImgui_2.cfg";
-  } else {
-    static char sUserSettingFile[1024];
-    const char* userSettingFolder =
-        NetImguiServer::App::HAL_GetUserSettingFolder();
-    NetImgui::Internal::StringFormat(
-        sUserSettingFile,
-        (userSettingFolder ? "%s\\netImgui.cfg" : "netImgui_2.cfg"),
-        userSettingFolder);
-    return sUserSettingFile;
-  }
-}
-
-//=================================================================================================
-// Find entry index with same configId. (-1 if not found)
-// Note: 'gConfigLock' should have already locked before calling this
-static int FindClientIndex(uint32_t configID)
-//=================================================================================================
-{
-  if (configID != Client::kInvalidRuntimeID) {
-    for (int i(0); i < gConfigList.size(); ++i) {
-      if (gConfigList[i] && gConfigList[i]->mRuntimeID == configID) return i;
-    }
-  }
-  return -1;
-}
-
-//=================================================================================================
-template <typename TType>
-TType GetPropertyValue(const nlohmann::json& config, const char* zPropertyName,
-                       const TType& valueDefault)
-//=================================================================================================
-{
-  const auto& valueNode = config.find(zPropertyName);
-  return valueNode != config.end() ? valueNode->get<TType>() : valueDefault;
-}
-
-//=================================================================================================
-Client::Client()
-    //=================================================================================================
-    : mHostPort(NetImgui::kDefaultClientPort),
-      mRuntimeID(kInvalidRuntimeID),
-      mConfigType(NetImguiServer::Config::Client::eConfigType::Pending),
-      mDPIScaleEnabled(true),
-      mBlockTakeover(false),
-      mReadOnly(false),
-      mConnectAuto(false),
-      mConnectRequest(false),
-      mConnectForce(false),
-      mConnectStatus(eStatus::Disconnected) {
-  NetImgui::Internal::StringCopy(mClientName, "New Client");
-  NetImgui::Internal::StringCopy(mHostName, "localhost");
-}
-
-//=================================================================================================
-void Client::SetConfig(const Client& config)
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-
-  // Only allow 1 transient connection to keep things clean
-  for (int i = 0; config.IsTransient() && i < gConfigList.size(); ++i) {
-    if (gConfigList[i] && gConfigList[i]->IsTransient()) {
-      NetImgui::Internal::netImguiDelete(gConfigList[i]);
-      gConfigList.erase(&gConfigList[i]);
-    }
-  }
-
-  int index = FindClientIndex(config.mRuntimeID);
-  // Config not found, add it to our list
-  if (index == -1) {
-    index = gConfigList.size();
-    gConfigList.push_back(
-        NetImgui::Internal::netImguiNew<NetImguiServer::Config::Client>());
-  }
-
-  // Update the entry
-  *gConfigList[index] = config;
-  gConfigList[index]->mRuntimeID =
-      (config.mRuntimeID == kInvalidRuntimeID ? gRuntimeID++
-                                              : config.mRuntimeID);
-}
-
-//=================================================================================================
-void Client::DelConfig(uint32_t configID)
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  int index = FindClientIndex(configID);
-  if (index != -1) {
-    NetImgui::Internal::netImguiDelete(gConfigList[index]);
-    gConfigList.erase(&gConfigList[index]);
-  }
-}
-
-//=================================================================================================
-bool Client::GetConfigByID(uint32_t configID, Client& config)
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  int index = FindClientIndex(configID);
-  if (index != -1) {
-    config = *gConfigList[index];
-    return true;
-  }
-  return false;
-}
-
-//=================================================================================================
-bool Client::GetConfigByIndex(uint32_t index, Client& config)
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  if (index < static_cast<uint32_t>(gConfigList.size())) {
-    config = *gConfigList[index];
-    return true;
-  }
-  return false;
-}
-
-//=================================================================================================
-uint32_t Client::GetConfigCount()
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  return gConfigList.size();
-}
-
-//=================================================================================================
-bool Client::GetProperty_BlockTakeover(uint32_t configID)
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  int index = FindClientIndex(configID);
-  if (index != -1) {
-    return gConfigList[index]->mBlockTakeover;
-  }
-  return false;
-}
-
-//=================================================================================================
-void Client::SetProperty_Status(uint32_t configID, eStatus Status)
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  int index = FindClientIndex(configID);
-  if (index != -1) {
-    gConfigList[index]->mConnectStatus = Status;
-  }
-}
-
-//=================================================================================================
-void Client::SetProperty_ConnectAuto(uint32_t configID, bool value)
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  int index = FindClientIndex(configID);
-  if (index != -1) {
-    gConfigList[index]->mConnectAuto = value;
-  }
-}
-
-//=================================================================================================
-void Client::SetProperty_ConnectRequest(uint32_t configID, bool value,
-                                        bool force)
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  int index = FindClientIndex(configID);
-  if (index != -1) {
-    gConfigList[index]->mConnectRequest = value && !force;
-    gConfigList[index]->mConnectForce = value && force;
-    gConfigList[index]->mConnectLastTime = std::chrono::steady_clock::now();
-  }
-}
-
-//=================================================================================================
-bool Client::ShouldSave(eConfigType fileConfigType) const
-//=================================================================================================
-{
-  return mConfigType == fileConfigType || mConfigType == eConfigType::Pending;
-}
-
-//=================================================================================================
-void Client::SaveAll()
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  std::ofstream localFile(GetConfigFilename(eConfigType::Local));
-  bool localIsWritable = localFile.is_open();
-  localFile.close();
-
-  std::ifstream local2ndFileExist(GetConfigFilename(eConfigType::Local2nd));
-  bool local2ndExist = local2ndFileExist.is_open();
-  bool local2ndIsWritable = false;
-  local2ndFileExist.close();
-
-  // Try saving into default config file
-  SaveConfigFile(eConfigType::Local, localIsWritable);
-  // And then in 2nd workingdir user file when 1st one is read only
-  if (!localIsWritable || local2ndExist) {
-    std::ofstream local2ndFile(GetConfigFilename(eConfigType::Local2nd));
-    SaveConfigFile(eConfigType::Local2nd,
-                   !localIsWritable && local2ndIsWritable);
-  }
-
-  // Finally saved the shared config into user folder
-  SaveConfigFile(eConfigType::Shared, !localIsWritable && !local2ndIsWritable);
-}
-
-//=================================================================================================
-void Client::SaveConfigFile(eConfigType configFileType,
-                            bool writeServerSettings)
-//=================================================================================================
-{
-  nlohmann::json configRoot;
-  configRoot[kConfigField_Version] = eVersion::_Latest;
-  configRoot[kConfigField_Note] =
-      configFileType == eConfigType::Local
-          ? "NetImgui Server's list of Clients (Using JSON format) Local File."
-      : configFileType == eConfigType::Local
-          ? "NetImgui Server's list of Clients (Using JSON format) 2nd Local "
-            "File."
-          : "NetImgui Server's list of Clients (Using JSON format) Shared "
-            "File.";
-  if (writeServerSettings) {
-    configRoot[kConfigField_ServerPort] = Server::sPort;
-    configRoot[kConfigField_ServerRefreshActive] = Server::sRefreshFPSActive;
-    configRoot[kConfigField_ServerRefreshInactive] =
-        Server::sRefreshFPSInactive;
-    configRoot[kConfigField_ServerDPIScaleRatio] = Server::sDPIScaleRatio;
-    configRoot[kConfigField_ServerCompressionEnable] =
-        Server::sCompressionEnable;
-    configRoot[kConfigField_ServerFontSize] = Server::sFontSize;
-    configRoot[kConfigField_ServerWindowPlacementX] =
-        Server::sWindowPlacement[0];
-    configRoot[kConfigField_ServerWindowPlacementY] =
-        Server::sWindowPlacement[1];
-    configRoot[kConfigField_ServerWindowPlacementW] =
-        Server::sWindowPlacement[2];
-    configRoot[kConfigField_ServerWindowPlacementH] =
-        Server::sWindowPlacement[3];
-    configRoot[kConfigField_ServerWindowMaximized] = Server::sWindowMaximized;
-  }
-
-  int clientToSaveCount(0);
-  for (int i(0); i < gConfigList.size(); ++i) {
-    Client* pConfig = gConfigList[i];
-    if (pConfig && pConfig->ShouldSave(configFileType)) {
-      auto& config = configRoot[kConfigField_Configs][clientToSaveCount++] =
-          nullptr;
-      config[kConfigField_Name] = pConfig->mClientName;
-      config[kConfigField_Hostname] = pConfig->mHostName;
-      config[kConfigField_Hostport] = pConfig->mHostPort;
-      config[kConfigField_AutoConnect] = pConfig->mConnectAuto;
-      config[kConfigField_BlockTakeover] = pConfig->mBlockTakeover;
-      config[kConfigField_DPIScaleEnabled] = pConfig->mDPIScaleEnabled;
-    }
-  }
-
-  std::ofstream outputFile(GetConfigFilename(configFileType));
-  if (outputFile.is_open()) {
-    outputFile << configRoot.dump(4);
-    for (int i(0); clientToSaveCount > 0 && i < gConfigList.size(); ++i) {
-      Client* pConfig = gConfigList[i];
-      if (pConfig && pConfig->ShouldSave(configFileType)) {
-        pConfig->mReadOnly = false;
-        pConfig->mConfigType = configFileType;
-      }
-    }
-  }
-}
-
-//=================================================================================================
-void Client::LoadAll()
-//=================================================================================================
-{
-  Clear();
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  LoadConfigFile(eConfigType::Local);
-  LoadConfigFile(eConfigType::Local2nd);
-  LoadConfigFile(eConfigType::Shared);
-}
-
-//=================================================================================================
-void Client::LoadConfigFile(eConfigType configFileType)
-//=================================================================================================
-{
-  nlohmann::json configRoot;
-  const char* filename = GetConfigFilename(configFileType);
-  std::ifstream inputFile(filename);
-  if (!inputFile.is_open() || inputFile.eof()) return;
-
-  configRoot = nlohmann::json::parse(inputFile, nullptr, false);
-  inputFile.close();
-
-  std::ofstream outputFile(filename, std::ios_base::app);
-  bool isWritable = outputFile.is_open() && !outputFile.eof();
-  outputFile.close();
-
-  uint32_t configVersion =
-      GetPropertyValue(configRoot, kConfigField_Version, 0u);
-  Server::sPort = GetPropertyValue(configRoot, kConfigField_ServerPort,
-                                   NetImgui::kDefaultServerPort);
-  Server::sRefreshFPSActive = GetPropertyValue(
-      configRoot, kConfigField_ServerRefreshActive, Server::sRefreshFPSActive);
-  Server::sRefreshFPSInactive =
-      GetPropertyValue(configRoot, kConfigField_ServerRefreshInactive,
-                       Server::sRefreshFPSInactive);
-  Server::sDPIScaleRatio = GetPropertyValue(
-      configRoot, kConfigField_ServerDPIScaleRatio, Server::sDPIScaleRatio);
-  Server::sCompressionEnable =
-      GetPropertyValue(configRoot, kConfigField_ServerCompressionEnable,
-                       Server::sCompressionEnable);
-  Server::sFontSize = GetPropertyValue(configRoot, kConfigField_ServerFontSize,
-                                       Server::sFontSize);
-  Server::sWindowPlacement[0] =
-      GetPropertyValue(configRoot, kConfigField_ServerWindowPlacementX,
-                       Server::sWindowPlacement[0]);
-  Server::sWindowPlacement[1] =
-      GetPropertyValue(configRoot, kConfigField_ServerWindowPlacementY,
-                       Server::sWindowPlacement[1]);
-  Server::sWindowPlacement[2] =
-      GetPropertyValue(configRoot, kConfigField_ServerWindowPlacementW,
-                       Server::sWindowPlacement[2]);
-  Server::sWindowPlacement[3] =
-      GetPropertyValue(configRoot, kConfigField_ServerWindowPlacementH,
-                       Server::sWindowPlacement[3]);
-  Server::sWindowMaximized = GetPropertyValue(
-      configRoot, kConfigField_ServerWindowMaximized, Server::sWindowMaximized);
-
-  if (configVersion >= static_cast<uint32_t>(eVersion::Initial)) {
-    for (const auto& config : configRoot[kConfigField_Configs]) {
-      gConfigList.push_back(
-          NetImgui::Internal::netImguiNew<NetImguiServer::Config::Client>());
-      Client* pConfig = gConfigList.back();
-      pConfig->mRuntimeID = gRuntimeID++;
-
-      if (config.find(kConfigField_Name) != config.end())
-        NetImgui::Internal::StringCopy(
-            pConfig->mClientName,
-            config[kConfigField_Name].get<std::string>().c_str());
-
-      if (config.find(kConfigField_Hostname) != config.end())
-        NetImgui::Internal::StringCopy(
-            pConfig->mHostName,
-            config[kConfigField_Hostname].get<std::string>().c_str());
-
-      pConfig->mHostPort =
-          GetPropertyValue(config, kConfigField_Hostport, pConfig->mHostPort);
-      pConfig->mConnectAuto = GetPropertyValue(config, kConfigField_AutoConnect,
-                                               pConfig->mConnectAuto);
-      pConfig->mDPIScaleEnabled = GetPropertyValue(
-          config, kConfigField_DPIScaleEnabled, pConfig->mDPIScaleEnabled);
-      pConfig->mBlockTakeover = GetPropertyValue(
-          config, kConfigField_BlockTakeover, pConfig->mBlockTakeover);
-      pConfig->mConfigType = configFileType;
-      pConfig->mReadOnly = !isWritable;
-    }
-  }
-}
-
-//=================================================================================================
-void Client::Clear()
-//=================================================================================================
-{
-  std::lock_guard<std::mutex> guard(gConfigLock);
-  while (gConfigList.size()) {
-    NetImgui::Internal::netImguiDelete(gConfigList.back());
-    gConfigList.pop_back();
-  }
-}
-
-}  // namespace Config
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Config.h b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Config.h
deleted file mode 100644
index 30dee020..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Config.h
+++ /dev/null
@@ -1,160 +0,0 @@
-// Google modifications:
-// - Added #include <chrono> for std::chrono::steady_clock::time_point
-
-#pragma once
-
-#include <chrono>
-#include <stdint.h>
-
-namespace NetImguiServer {
-namespace Config {
-
-//=================================================================================================
-// Client Configs are used by this server to reach remote netImgui Clients.
-//
-// Note:For multihreading safety, we are always working with copies of the
-// original data.
-//
-// Note:It is also possible for a remote netImgui client to connect to Server
-// directly,
-//		in which case they don't need to have an associated config.
-//=================================================================================================
-class Client {
- public:
-  using RuntimeID = uint32_t;
-  using TimeStamp = std::chrono::steady_clock::time_point;
-  static constexpr RuntimeID kInvalidRuntimeID = static_cast<RuntimeID>(0);
-
-  enum class eVersion : uint32_t {
-    Initial = 1,          // First version save file deployed
-    Refresh = 2,          // Added refresh rate support
-    DPIScale = 3,         // Added DPI scaling
-    BlockTakeOver = 4,    // Added Takeover Block
-    WindowPlacement = 5,  // Added saving of main window location and size
-    _Count,
-    _Latest = _Count - 1
-  };
-  enum class eConfigType : uint8_t {
-    Pending,   // New config, will try saving it in the local config
-    Local,     // Config fetched from local config file, in the current working
-               // directory
-    Local2nd,  // Config fetched from a second local config file, in the current
-               // working directory. Used when 'Local' file is read only
-    Shared,    // Config fetched from the shared user folder
-    Transient,  // Config created from connection request (command line, OS
-                // pipes), cannot be saved
-  };
-  enum class eStatus : uint8_t {
-    Disconnected,  // No connection detected on client
-    Connecting,    // This server is connecting to client
-    Connected,     // This server is connect to client
-    Available,     // Client already taken, but this server can take over
-    ErrorBusy,     // Client already taken
-    ErrorVer,      // Server/Client network api mismatch
-  };
-
-  // Config settings
-  char mClientName[128];    //!< Client display name
-  char mHostName[128];      //!< Client IP or remote host address to attempt
-                            //!< connection at
-  uint32_t mHostPort;       //!< Client Port to attempt connection at
-  RuntimeID mRuntimeID;     //!< Unique RuntimeID used to find this Config
-  eConfigType mConfigType;  //!< Type of the configuration
-  bool mDPIScaleEnabled;    //!< Enable support of Font DPI scaling requests by
-                            //!< Server
-  bool mBlockTakeover;  //!< If another NetImguiServer is allowed to forcefully
-                        //!< disconnect this client to connect to it
-  bool mReadOnly;       //!< Config comes from read only file, can't be modified
-  bool mConnectAuto;    //!< Try automatically connecting to client
-
-  // Transient values used while running
-  mutable bool
-      mConnectRequest;  //!< Attempt connecting to Client, after user request
-  mutable bool mConnectForce;      //!< Attempt connecting to Client, after user
-                                   //!< request, even if already connected
-  mutable eStatus mConnectStatus;  //!< Connection status of associated client
-  mutable TimeStamp mConnectLastTime;  //!< Last connection attempt time (avoid
-                                       //!< quickly retrying same client)
-
-  // Access methods
- public:
-  Client();
-
-  inline bool IsReadOnly() const { return mReadOnly; };
-  inline bool IsTransient() const {
-    return mConfigType == eConfigType::Transient;
-  };
-  inline bool IsConnected() const {
-    return mConnectStatus == eStatus::Connected;
-  }
-  inline bool IsConnecting() const {
-    return mConnectStatus == eStatus::Connecting || mConnectRequest ||
-           mConnectForce;
-  }
-  inline bool IsConnectReady() const {
-    bool bAvailable = mConnectStatus != eStatus::Connected &&
-                      mConnectStatus != eStatus::Connecting;
-    return bAvailable && (mConnectRequest || mConnectForce);
-  }
-  inline bool IsAutoConnectReady() const {
-    bool bAvailable = mConnectStatus != eStatus::Connected &&
-                      mConnectStatus != eStatus::Connecting;
-    auto elapsedTime = std::chrono::steady_clock::now() - mConnectLastTime;
-    int durationSec = static_cast<int>(
-        std::chrono::duration_cast<std::chrono::seconds>(elapsedTime).count());
-    bool elapseOk =
-        durationSec > (mConnectStatus == eStatus::Disconnected ? 5 : 30);
-    return bAvailable && mConnectAuto && elapseOk;
-  }
-
-  // Add/Edit/Remove config
-  static void SetConfig(
-      const Client& config);  //!< Add or replace a client configuration info
-  static void DelConfig(uint32_t configID);  //!< Remove a client configuration
-  static bool GetConfigByID(
-      uint32_t configID,
-      Client& outConfig);  //!< Find client configuration with this id (return
-                           //!< true if found)
-  static bool GetConfigByIndex(
-      uint32_t index,
-      Client& outConfig);  //!< Find client configuration at the x position
-  static uint32_t GetConfigCount();
-
-  // Set property value directly (without having to copy entire structure)
-  static bool GetProperty_BlockTakeover(uint32_t configID);
-  static void SetProperty_Status(uint32_t configID, eStatus Status);
-  static void SetProperty_ConnectAuto(uint32_t configID, bool value);
-  static void SetProperty_ConnectRequest(uint32_t configID, bool value,
-                                         bool force);
-
-  // Client Config list management
-  static void SaveAll();
-  static void LoadAll();
-  static void Clear();
-
- protected:
-  static void SaveConfigFile(eConfigType fileConfigType,
-                             bool writeServerSettings);
-  static void LoadConfigFile(eConfigType fileConfigType);
-  inline bool ShouldSave(eConfigType fileConfigType) const;
-};
-
-struct Server {
-  static uint32_t sPort;  //!< Port that Server should use for connection.
-                          //!< (Note: not really a 'Client' setting, but easier
-                          //!< to just bundle the value here for the moment)
-  static float sRefreshFPSActive;    //!< Refresh rate of active Window
-  static float sRefreshFPSInactive;  //!< Refresh rate of inactive Window
-  static float
-      sDPIScaleRatio;  //!< Ratio of DPI scale applied to Font size (helps with
-                       //!< high resolution monitor, default 1.0)
-  static bool sCompressionEnable;  //!< Ask the clients to compress their data
-                                   //!< before transmission
-  static float sFontSize;          //!< Font size used for Server UI
-  static int sWindowPlacement[4];  //!< Main window position and size
-                                   //!< (x,y,width,height)
-  static bool sWindowMaximized;
-};
-
-}  // namespace Config
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Network.cpp b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Network.cpp
deleted file mode 100644
index 5828433f..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Network.cpp
+++ /dev/null
@@ -1,577 +0,0 @@
-#include "NetImguiServer_Network.h"
-
-#include <Private/NetImgui_CmdPackets.h>
-#include <Private/NetImgui_Network.h>
-
-#include <thread>
-
-#include "NetImguiServer_App.h"
-#include "NetImguiServer_Config.h"
-#include "NetImguiServer_RemoteClient.h"
-#include "Private/NetImgui_WarningDisableStd.h"
-
-using namespace NetImgui::Internal;
-
-namespace NetImguiServer {
-namespace Network {
-using atomic_SocketInfo = std::atomic<::Network::SocketInfo*>;
-static bool gbShutdown(false);  // Set to true when NetImguiServer exiting
-static atomic_SocketInfo gListenSocket(
-    nullptr);  // Need global access to kill socket on shutdown
-static std::atomic_uint32_t gActiveClientThreadCount(
-    0);  // How many active client connection currently running
-static std::atomic_bool gActiveThreadConnectOut(
-    false);  // True while Server is still trying to connect to new clients
-static std::atomic_bool gActiveThreadConnectIn(
-    false);  // True while Server is still trying to receive connection from new
-             // clients
-static std::atomic_uint64_t gStatsDataSent(0);
-static std::atomic_uint64_t gStatsDataRcvd(0);
-
-//=================================================================================================
-// (IN) COMMAND TEXTURE
-//=================================================================================================
-void Communications_Incoming_CmdTexture(RemoteClient::Client& Client) {
-  auto pCmdTexture = reinterpret_cast<NetImgui::Internal::CmdTexture*>(
-      Client.mPendingRcv.pCommand);
-  Client.mPendingRcv.bAutoFree = false;  // Taking ownership of the data
-  pCmdTexture->mpTextureData.ToPointer();
-
-  // For debug tracking
-  uint32_t idx =
-      Client.mTextureHistoryIndex % IM_ARRAYSIZE(Client.mTextureHistory);
-  Client.mTextureHistory[idx].UpdateId = Client.mTextureHistoryIndex++;
-  Client.mTextureHistory[idx].Frame = Client.mLastDrawFrameIndex;
-  Client.mTextureHistory[idx].ClientId = pCmdTexture->mTextureClientID;
-  Client.mTextureHistory[idx].Format = pCmdTexture->mFormat;
-  Client.mTextureHistory[idx].isCreate =
-      pCmdTexture->mStatus == CmdTexture::eType::Create;
-  Client.mTextureHistory[idx].isDestroy =
-      pCmdTexture->mStatus == CmdTexture::eType::Destroy;
-  Client.mTextureHistory[idx].isUpdate =
-      pCmdTexture->mStatus == CmdTexture::eType::Update;
-  Client.mTextureHistory[idx].isDearImguiManaged =
-      pCmdTexture->mIsDearImGuiManaged != 0;
-  Client.mTextureHistory[idx].x = pCmdTexture->mOffsetX;
-  Client.mTextureHistory[idx].y = pCmdTexture->mOffsetY;
-  Client.mTextureHistory[idx].w = pCmdTexture->mWidth;
-  Client.mTextureHistory[idx].h = pCmdTexture->mHeight;
-  Client.ReceiveTexture(pCmdTexture);
-}
-
-//=================================================================================================
-// (IN) COMMAND BACKGROUND
-//=================================================================================================
-void Communications_Incoming_CmdBackground(RemoteClient::Client& Client) {
-  auto pCmdBackground = reinterpret_cast<NetImgui::Internal::CmdBackground*>(
-      Client.mPendingRcv.pCommand);
-  Client.mPendingRcv.bAutoFree = false;  // Taking ownership of the data
-  Client.mPendingBackgroundIn.Assign(pCmdBackground);
-}
-
-//=================================================================================================
-// (IN) COMMAND DRAW FRAME
-//=================================================================================================
-void Communications_Incoming_CmdDrawFrame(RemoteClient::Client& Client) {
-  auto pCmdDraw = reinterpret_cast<NetImgui::Internal::CmdDrawFrame*>(
-      Client.mPendingRcv.pCommand);
-  Client.mPendingRcv.bAutoFree = false;  // Taking ownership of the data
-  pCmdDraw->ToPointers();
-  Client.ReceiveDrawFrame(pCmdDraw);
-}
-
-//=================================================================================================
-// (IN) COMMAND CLIPBOARD
-//=================================================================================================
-void Communications_Incoming_CmdClipboard(RemoteClient::Client& Client) {
-  auto pCmdClipboard = reinterpret_cast<NetImgui::Internal::CmdClipboard*>(
-      Client.mPendingRcv.pCommand);
-  Client.mPendingRcv.bAutoFree = false;  // Taking ownership of the data
-  pCmdClipboard->ToPointers();
-  Client.mPendingClipboardIn.Assign(pCmdClipboard);
-}
-
-//=================================================================================================
-// Receive every commands sent by remote client and process them
-//=================================================================================================
-void Communications_Incoming(RemoteClient::Client& Client) {
-  if (::Network::DataReceivePending(Client.mpSocket)) {
-    //-----------------------------------------------------------------------------------------
-    // 1. Ready to receive new command, starts the process by reading Header
-    //-----------------------------------------------------------------------------------------
-    if (Client.mPendingRcv.IsReady()) {
-      Client.mCmdPendingRead = NetImgui::Internal::CmdPendingRead();
-      Client.mPendingRcv.pCommand = &Client.mCmdPendingRead;
-      Client.mPendingRcv.bAutoFree = false;
-    }
-
-    //-----------------------------------------------------------------------------------------
-    // 2. Read incoming command from server
-    //-----------------------------------------------------------------------------------------
-    if (Client.mPendingRcv.IsPending()) {
-      ::Network::DataReceive(Client.mpSocket, Client.mPendingRcv);
-
-      // Detected a new command bigger than header, allocate memory for it
-      if (Client.mPendingRcv.pCommand->mSize >
-              sizeof(NetImgui::Internal::CmdPendingRead) &&
-          Client.mPendingRcv.pCommand == &Client.mCmdPendingRead) {
-        CmdPendingRead* pCmdHeader =
-            reinterpret_cast<NetImgui::Internal::CmdPendingRead*>(
-                netImguiSizedNew<uint8_t>(Client.mPendingRcv.pCommand->mSize));
-        *pCmdHeader = Client.mCmdPendingRead;
-        Client.mPendingRcv.pCommand = pCmdHeader;
-        Client.mPendingRcv.bAutoFree = true;
-      }
-    }
-
-    //-----------------------------------------------------------------------------------------
-    // 3. Command fully received from Server, process it
-    //-----------------------------------------------------------------------------------------
-    if (Client.mPendingRcv.IsDone()) {
-      if (!Client.mPendingRcv.IsError()) {
-        Client.mStatsDataRcvd += Client.mPendingRcv.pCommand->mSize;
-        Client.mLastIncomingComTime = std::chrono::steady_clock::now();
-        switch (Client.mPendingRcv.pCommand->mType) {
-          case NetImgui::Internal::CmdHeader::eCommands::Texture:
-            Communications_Incoming_CmdTexture(Client);
-            break;
-          case NetImgui::Internal::CmdHeader::eCommands::Background:
-            Communications_Incoming_CmdBackground(Client);
-            break;
-          case NetImgui::Internal::CmdHeader::eCommands::DrawFrame:
-            Communications_Incoming_CmdDrawFrame(Client);
-            break;
-          case NetImgui::Internal::CmdHeader::eCommands::Clipboard:
-            Communications_Incoming_CmdClipboard(Client);
-            break;
-            // Commands not received in main loop, by Server
-          case NetImgui::Internal::CmdHeader::eCommands::Version:
-          case NetImgui::Internal::CmdHeader::eCommands::Input:
-          case NetImgui::Internal::CmdHeader::eCommands::Count:
-            break;
-        }
-      }
-
-      // Reset pending read
-      if (Client.mPendingRcv.IsError()) {
-        Client.mbDisconnectPending = true;
-      }
-      if (Client.mPendingRcv.bAutoFree) {
-        netImguiDeleteSafe(Client.mPendingRcv.pCommand);
-      }
-      Client.mPendingRcv = PendingCom();
-    }
-  }
-  // Prevent high CPU usage when waiting for new data
-  else {
-    // std::this_thread::yield();
-    std::this_thread::sleep_for(std::chrono::microseconds(250));
-  }
-}
-
-//=================================================================================================
-// Send the updates to RemoteClient
-// Ends with a Ping Command (signal a end of commands)
-//=================================================================================================
-void Communications_Outgoing(RemoteClient::Client& Client) {
-  //---------------------------------------------------------------------------------------------
-  // Try finishing sending a pending command to Server
-  //---------------------------------------------------------------------------------------------
-  if (Client.mPendingSend.IsPending()) {
-    ::Network::DataSend(Client.mpSocket, Client.mPendingSend);
-
-    // Free allocated memory for command
-    if (Client.mPendingSend.IsDone()) {
-      if (Client.mPendingSend.IsError()) {
-        Client.mbDisconnectPending = true;
-      }
-      Client.mStatsDataSent += Client.mPendingSend.pCommand->mSize;
-      if (Client.mPendingSend.bAutoFree) {
-        netImguiDeleteSafe(Client.mPendingSend.pCommand);
-      }
-      Client.mPendingSend = PendingCom();
-    }
-  }
-
-  if (Client.mPendingSend.IsReady()) {
-    NetImgui::Internal::CmdClipboard* pClipboardCmd =
-        Client.TakePendingClipboard();
-    if (pClipboardCmd) {
-      pClipboardCmd->ToOffsets();
-      Client.mPendingSend.pCommand = pClipboardCmd;
-      Client.mPendingSend.bAutoFree = true;
-    }
-  }
-
-  if (Client.mPendingSend.IsReady()) {
-    NetImgui::Internal::CmdInput* pInputCmd = Client.TakePendingInput();
-    Client.mPendingSend.pCommand = pInputCmd;
-    Client.mPendingSend.bAutoFree = true;
-  }
-}
-
-//=================================================================================================
-// Update communications stats of a client, after a frame
-//=================================================================================================
-void Communications_UpdateClientStats(RemoteClient::Client& Client) {
-  // Update data transfer stats
-  auto elapsedTime = std::chrono::steady_clock::now() - Client.mStatsTime;
-  if (std::chrono::duration_cast<std::chrono::milliseconds>(elapsedTime)
-          .count() >= 250) {
-    constexpr uint64_t kHysteresis = 10;  // out of 100
-    uint64_t newDataRcvd = Client.mStatsDataRcvd - Client.mStatsDataRcvdPrev;
-    uint64_t newDataSent = Client.mStatsDataSent - Client.mStatsDataSentPrev;
-    uint64_t tmMicrosS =
-        std::chrono::duration_cast<std::chrono::microseconds>(elapsedTime)
-            .count();
-    uint32_t newDataRcvdBps =
-        static_cast<uint32_t>(newDataRcvd * 1000000u / tmMicrosS);
-    uint32_t newDataSentBps =
-        static_cast<uint32_t>(newDataSent * 1000000u / tmMicrosS);
-    Client.mStatsRcvdBps = (Client.mStatsRcvdBps * (100u - kHysteresis) +
-                            newDataRcvdBps * kHysteresis) /
-                           100u;
-    Client.mStatsSentBps = (Client.mStatsSentBps * (100u - kHysteresis) +
-                            newDataSentBps * kHysteresis) /
-                           100u;
-    gStatsDataRcvd += newDataRcvd;
-    gStatsDataSent += newDataSent;
-
-    Client.mStatsTime = std::chrono::steady_clock::now();
-    Client.mStatsDataRcvdPrev = Client.mStatsDataRcvd;
-    Client.mStatsDataSentPrev = Client.mStatsDataSent;
-  }
-}
-
-//=================================================================================================
-// Keep sending/receiving commands to Remote Client, until disconnection occurs
-//=================================================================================================
-void Communications_ClientExchangeLoop(RemoteClient::Client* pClient) {
-  gActiveClientThreadCount++;
-
-  NetImguiServer::Config::Client::SetProperty_Status(
-      pClient->mClientConfigID,
-      NetImguiServer::Config::Client::eStatus::Connected);
-  pClient->mbDisconnectPending = false;
-  pClient->mbIsConnected = true;
-  while (!gbShutdown && !pClient->mbDisconnectPending) {
-    Communications_Outgoing(*pClient);
-    Communications_Incoming(*pClient);
-    Communications_UpdateClientStats(*pClient);
-  }
-  NetImguiServer::Config::Client::SetProperty_Status(
-      pClient->mClientConfigID,
-      NetImguiServer::Config::Client::eStatus::Disconnected);
-  NetImgui::Internal::Network::Disconnect(pClient->mpSocket);
-  pClient->Release();
-  gActiveClientThreadCount--;
-}
-
-//=================================================================================================
-// Establish connection with Remote Client
-// Makes sure that Server/Client are compatible
-//=================================================================================================
-bool Communications_InitializeClient(
-    NetImgui::Internal::Network::SocketInfo* pClientSocket,
-    RemoteClient::Client* pClient, bool ConnectForce) {
-  NetImgui::Internal::CmdVersion cmdVersionSend, cmdVersionRcv;
-  NetImgui::Internal::PendingCom PendingRcv, PendingSend;
-
-  //---------------------------------------------------------------------
-  // Handshake confirming connection validity
-  //---------------------------------------------------------------------
-  NetImgui::Internal::StringCopy(cmdVersionSend.mClientName, "Server");
-  const bool ConnectExclusive =
-      NetImguiServer::Config::Client::GetProperty_BlockTakeover(
-          pClient->mClientConfigID);
-  cmdVersionSend.mFlags |=
-      ConnectExclusive
-          ? static_cast<uint8_t>(
-                NetImgui::Internal::CmdVersion::eFlags::ConnectExclusive)
-          : 0;
-  cmdVersionSend.mFlags |=
-      ConnectForce ? static_cast<uint8_t>(
-                         NetImgui::Internal::CmdVersion::eFlags::ConnectForce)
-                   : 0;
-  PendingSend.pCommand = reinterpret_cast<CmdPendingRead*>(&cmdVersionSend);
-  while (!gbShutdown && !PendingSend.IsDone()) {
-    ::Network::DataSend(pClientSocket, PendingSend);
-  }
-
-  if (!PendingSend.IsError()) {
-    PendingRcv.pCommand = reinterpret_cast<CmdPendingRead*>(&cmdVersionRcv);
-    while (!PendingRcv.IsDone() &&
-           cmdVersionRcv.mType == CmdHeader::eCommands::Version) {
-      while (!gbShutdown && !::Network::DataReceivePending(pClientSocket)) {
-        std::this_thread::yield();  // Idle until we receive the remote data
-      }
-      ::Network::DataReceive(pClientSocket, PendingRcv);
-    }
-
-    if (!gbShutdown && !PendingRcv.IsError()) {
-      //---------------------------------------------------------------------
-      // Connection accepted, initialize client
-      //---------------------------------------------------------------------
-      if (cmdVersionRcv.mType !=
-              NetImgui::Internal::CmdHeader::eCommands::Version ||
-          cmdVersionRcv.mVersion !=
-              NetImgui::Internal::CmdVersion::eVersion::_current) {
-        NetImguiServer::Config::Client::SetProperty_Status(
-            pClient->mClientConfigID,
-            NetImguiServer::Config::Client::eStatus::ErrorVer);
-        return false;
-      } else if (cmdVersionRcv.mFlags &
-                 static_cast<uint8_t>(
-                     NetImgui::Internal::CmdVersion::eFlags::IsConnected)) {
-        bool bAvailable =
-            (cmdVersionRcv.mFlags &
-             static_cast<uint8_t>(
-                 NetImgui::Internal::CmdVersion::eFlags::IsUnavailable)) == 0;
-        NetImguiServer::Config::Client::SetProperty_Status(
-            pClient->mClientConfigID,
-            bAvailable ? NetImguiServer::Config::Client::eStatus::Available
-                       : NetImguiServer::Config::Client::eStatus::ErrorBusy);
-        return false;
-      }
-
-      pClient->Initialize();
-      pClient->mInfoImguiVerID = cmdVersionRcv.mImguiVerID;
-      pClient->mInfoNetImguiVerID = cmdVersionRcv.mNetImguiVerID;
-      pClient->mPendingRcv = PendingCom();
-      pClient->mPendingSend = PendingCom();
-      NetImgui::Internal::StringCopy(pClient->mInfoName,
-                                     cmdVersionRcv.mClientName);
-      NetImgui::Internal::StringCopy(pClient->mInfoImguiVerName,
-                                     cmdVersionRcv.mImguiVerName);
-      NetImgui::Internal::StringCopy(pClient->mInfoNetImguiVerName,
-                                     cmdVersionRcv.mNetImguiVerName);
-
-      NetImguiServer::Config::Client clientConfig;
-      if (NetImguiServer::Config::Client::GetConfigByID(
-              pClient->mClientConfigID, clientConfig)) {
-        NetImgui::Internal::StringFormat(
-            pClient->mWindowID, "%s (%s)##%i", pClient->mInfoName,
-            clientConfig.mClientName,
-            static_cast<int>(pClient->mClientIndex));  // Using ClientIndex as a
-                                                       // window unique ID
-      } else {
-        NetImgui::Internal::StringFormat(
-            pClient->mWindowID, "%s##%i", pClient->mInfoName,
-            static_cast<int>(pClient->mClientIndex));  // Using ClientIndex as a
-                                                       // window unique ID
-      }
-      return true;
-    }
-  }
-
-  NetImguiServer::Config::Client::SetProperty_Status(
-      pClient->mClientConfigID,
-      NetImguiServer::Config::Client::eStatus::Disconnected);
-  return false;
-}
-
-//=================================================================================================
-// New connection Init request.
-// Start new communication thread if handshake sucessfull
-//=================================================================================================
-void NetworkConnectionNew(
-    NetImgui::Internal::Network::SocketInfo* pClientSocket,
-    RemoteClient::Client* pNewClient, bool ConnectForce) {
-  const char* zErrorMsg(nullptr);
-  if (pNewClient == nullptr) {
-    zErrorMsg = "Too many connection on server already";
-  } else {
-    NetImguiServer::Config::Client::SetProperty_Status(
-        pNewClient->mClientConfigID,
-        NetImguiServer::Config::Client::eStatus::Connecting);
-    if (zErrorMsg == nullptr && !gbShutdown &&
-        Communications_InitializeClient(pClientSocket, pNewClient,
-                                        ConnectForce) == false) {
-      zErrorMsg = "Initialization failed. Wrong communication version?";
-    }
-  }
-
-  if (zErrorMsg == nullptr && !gbShutdown) {
-    pNewClient->mpSocket = pClientSocket;
-    std::thread(Communications_ClientExchangeLoop, pNewClient).detach();
-  } else {
-    NetImgui::Internal::Network::Disconnect(pClientSocket);
-    if (!gbShutdown) {
-      if (pNewClient) {
-        pNewClient->mbIsFree = true;
-        printf("Error connecting to client '%s:%i' (%s)\n",
-               pNewClient->mConnectHost, pNewClient->mConnectPort, zErrorMsg);
-      } else {
-        printf("Error connecting to client (%s)\n", zErrorMsg);
-      }
-    }
-  }
-}
-
-//=================================================================================================
-// Thread waiting on new Client Connection request
-//=================================================================================================
-void NetworkConnectRequest_Receive() {
-  uint32_t serverPort(0);
-
-  gActiveThreadConnectIn = true;
-  while (!gbShutdown) {
-    // Open (and update when needed) listening socket
-    if (gListenSocket == nullptr ||
-        serverPort != NetImguiServer::Config::Server::sPort) {
-      serverPort = NetImguiServer::Config::Server::sPort;
-      gListenSocket = NetImgui::Internal::Network::ListenStart(serverPort);
-      if (gListenSocket.load() == nullptr) {
-        printf("Failed to start connection listen on port : %i", serverPort);
-        std::this_thread::sleep_for(std::chrono::milliseconds(
-            500));  // Reduce Server listening socket open attempt frequency
-      }
-    }
-
-    // Detect connection request from Clients
-    if (gListenSocket.load() != nullptr) {
-      NetImgui::Internal::Network::SocketInfo* pClientSocket =
-          NetImgui::Internal::Network::ListenConnect(gListenSocket.load());
-      if (pClientSocket) {
-        uint32_t freeIndex = RemoteClient::Client::GetFreeIndex();
-        if (freeIndex != RemoteClient::Client::kInvalidClient) {
-          RemoteClient::Client& newClient =
-              RemoteClient::Client::Get(freeIndex);
-          newClient.mClientConfigID =
-              NetImguiServer::Config::Client::kInvalidRuntimeID;
-          newClient.mClientIndex = freeIndex;
-          NetImguiServer::App::HAL_GetSocketInfo(
-              pClientSocket, newClient.mConnectHost,
-              sizeof(newClient.mConnectHost), newClient.mConnectPort);
-          NetworkConnectionNew(pClientSocket, &newClient, false);
-        } else {
-          NetImgui::Internal::Network::Disconnect(pClientSocket);
-        }
-      }
-    }
-    std::this_thread::sleep_for(std::chrono::milliseconds(16));
-  }
-  NetImgui::Internal::Network::SocketInfo* socketDisconnect =
-      gListenSocket.exchange(nullptr);
-  NetImgui::Internal::Network::Disconnect(socketDisconnect);
-  gActiveThreadConnectIn = false;
-}
-
-//=================================================================================================
-// Thread trying to reach out new Clients with a connection
-//=================================================================================================
-void NetworkConnectRequest_Send() {
-  uint64_t loopIndex(0);
-  NetImguiServer::Config::Client clientConfig;
-  gActiveThreadConnectOut = true;
-  while (!gbShutdown) {
-    uint32_t clientConfigID(NetImguiServer::Config::Client::kInvalidRuntimeID);
-    NetImgui::Internal::Network::SocketInfo* pClientSocket = nullptr;
-
-    // Find next client configuration to attempt connection to
-    bool ConnectForce = false;
-    uint64_t configCount =
-        static_cast<uint64_t>(NetImguiServer::Config::Client::GetConfigCount());
-    uint32_t configIdx =
-        configCount ? static_cast<uint32_t>(loopIndex++ % configCount) : 0;
-    if (NetImguiServer::Config::Client::GetConfigByIndex(configIdx,
-                                                         clientConfig)) {
-      ConnectForce = clientConfig.mConnectForce;
-      if ((clientConfig.IsConnectReady() ||
-           clientConfig.IsAutoConnectReady()) &&
-          clientConfig.mHostPort != NetImguiServer::Config::Server::sPort) {
-        NetImguiServer::Config::Client::SetProperty_ConnectRequest(
-            clientConfig.mRuntimeID, false,
-            false);  // Reset the Connection request, we are processing it
-        NetImguiServer::Config::Client::SetProperty_Status(
-            clientConfig.mRuntimeID,
-            NetImguiServer::Config::Client::eStatus::Disconnected);
-        clientConfigID =
-            clientConfig.mRuntimeID;  // Keep track of ClientConfig we are
-                                      // attempting to connect to
-        pClientSocket = NetImgui::Internal::Network::Connect(
-            clientConfig.mHostName, clientConfig.mHostPort);
-      }
-    }
-
-    // Connection successful, find an available client slot
-    if (pClientSocket) {
-      uint32_t freeIndex = RemoteClient::Client::GetFreeIndex();
-      if (freeIndex != RemoteClient::Client::kInvalidClient) {
-        RemoteClient::Client& newClient = RemoteClient::Client::Get(freeIndex);
-        if (NetImguiServer::Config::Client::GetConfigByID(clientConfigID,
-                                                          clientConfig)) {
-          NetImgui::Internal::StringCopy(newClient.mInfoName,
-                                         clientConfig.mClientName);
-          newClient.mConnectPort = clientConfig.mHostPort;
-          newClient.mClientConfigID = clientConfigID;
-          newClient.mClientIndex = freeIndex;
-        }
-        NetImguiServer::App::HAL_GetSocketInfo(
-            pClientSocket, newClient.mConnectHost,
-            sizeof(newClient.mConnectHost), newClient.mConnectPort);
-        NetworkConnectionNew(pClientSocket, &newClient, ConnectForce);
-      } else {
-        NetImgui::Internal::Network::Disconnect(pClientSocket);
-        NetImguiServer::Config::Client::SetProperty_Status(
-            clientConfigID,
-            NetImguiServer::Config::Client::eStatus::Disconnected);
-      }
-    }
-    std::this_thread::sleep_for(std::chrono::milliseconds(
-        500));  // There's already a wait time in Connect attempt, so no need to
-                // sleep for too long here
-  }
-  gActiveThreadConnectOut = false;
-}
-
-//=================================================================================================
-// Initialize Networking and start listening thread
-//=================================================================================================
-bool Startup() {
-  // Relying on shared network implementation for Winsock Init
-  if (!NetImgui::Internal::Network::Startup()) {
-    return false;
-  }
-
-  gbShutdown = false;
-  gActiveClientThreadCount = 0;
-  std::thread(NetworkConnectRequest_Receive).detach();
-  std::thread(NetworkConnectRequest_Send).detach();
-  return true;
-}
-
-//=================================================================================================
-// Send signal to terminate all communications and wait until all client have
-// been released
-//=================================================================================================
-void Shutdown() {
-  gbShutdown = true;
-  NetImgui::Internal::Network::SocketInfo* socketDisconnect =
-      gListenSocket.exchange(nullptr);
-  NetImgui::Internal::Network::Disconnect(socketDisconnect);
-  while (gActiveClientThreadCount > 0 || gActiveThreadConnectIn ||
-         gActiveThreadConnectOut) {
-    std::this_thread::yield();
-  }
-
-  NetImgui::Internal::Network::Shutdown();
-}
-
-//=================================================================================================
-// True when we are listening for client's connection requests
-//=================================================================================================
-bool IsWaitingForConnection() { return gListenSocket.load() != nullptr; }
-
-//=================================================================================================
-// Total amount of data sent to clients since start
-//=================================================================================================
-uint64_t GetStatsDataSent() { return gStatsDataSent; }
-
-//=================================================================================================
-// Total amount of data received from clients since start
-//=================================================================================================
-uint64_t GetStatsDataRcvd() { return gStatsDataRcvd; }
-
-}  // namespace Network
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Network.h b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Network.h
deleted file mode 100644
index 96fe2815..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_Network.h
+++ /dev/null
@@ -1,28 +0,0 @@
-// Google modifications:
-//  - Added #include <cstdint> for uint32_t (not implicitly available in
-//  Google).
-#pragma once
-
-#include <cstdint>
-
-namespace NetImguiServer {
-namespace Network {
-// Initialize application's networking
-bool Startup();
-
-// Shutdown application's networking
-void Shutdown();
-
-// True if this application is actively waiting for clients to reach it
-// Note: False when unable to open listen socket (probably because port number
-// alreay in use)
-bool IsWaitingForConnection();
-
-// Total amount of data sent to clients since start
-uint64_t GetStatsDataSent();
-
-// Total amount of data received from clients since start
-uint64_t GetStatsDataRcvd();
-
-}  // namespace Network
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_RemoteClient.cpp b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_RemoteClient.cpp
deleted file mode 100644
index 7c471181..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_RemoteClient.cpp
+++ /dev/null
@@ -1,664 +0,0 @@
-#include "NetImguiServer_RemoteClient.h"
-
-#include <Private/NetImgui_CmdPackets.h>
-
-#include <algorithm>
-
-#include "NetImguiServer_App.h"
-#include "NetImguiServer_Config.h"
-#include "NetImguiServer_UI.h"
-
-namespace NetImguiServer {
-namespace RemoteClient {
-
-static Client* gpClients =
-    nullptr;  // Table of all potentially connected clients to this server
-static uint32_t gClientCountMax = 0;
-
-NetImguiImDrawData::NetImguiImDrawData() : mCommandList(nullptr) {
-  CmdListsCount = 1;  // All draws collapsed in same CmdList
-  CmdLists.push_back(&mCommandList);
-}
-
-Client::Client()
-    : mPendingTextureReadIndex(0),
-      mPendingTextureWriteIndex(0),
-      mbIsFree(true),
-      mbCompressionSkipOncePending(false),
-      mbDisconnectPending(false),
-      mClientConfigID(NetImguiServer::Config::Client::kInvalidRuntimeID) {}
-
-Client::~Client() { Uninitialize(); }
-
-void Client::ReceiveDrawFrame(NetImgui::Internal::CmdDrawFrame* pFrameData) {
-  if (pFrameData->mCompressed) {
-    if (mpFrameDrawPrev != nullptr &&
-        (mpFrameDrawPrev->mFrameIndex + 1) == pFrameData->mFrameIndex) {
-      NetImgui::Internal::CmdDrawFrame* pUncompressedFrame =
-          NetImgui::Internal::DecompressCmdDrawFrame(mpFrameDrawPrev,
-                                                     pFrameData);
-      netImguiDeleteSafe(pFrameData);
-      pFrameData = pUncompressedFrame;
-    }
-    // Missing previous frame data
-    // ignore this drawframe and request a new uncompressed one to be able to
-    // resume display
-    else {
-      mbCompressionSkipOncePending = true;
-      netImguiDeleteSafe(pFrameData);
-    }
-  }
-
-  netImguiDeleteSafe(mpFrameDrawPrev);
-  if (pFrameData) {
-    // Convert DrawFrame command to Dear Imgui DrawData,
-    // and make it available for main thread to use in rendering
-    ProcessCmdDrawFrame(pFrameData);
-
-    // Update framerate
-    constexpr float kHysteresis = 0.025f;  // Between 0 to 1.0
-    auto elapsedTime = std::chrono::steady_clock::now() - mLastDrawFrame;
-    float elapsedMs =
-        static_cast<float>(
-            std::chrono::duration_cast<std::chrono::microseconds>(elapsedTime)
-                .count()) /
-        1000.f;
-    mStatsDrawElapsedMs =
-        mStatsDrawElapsedMs * (1.f - kHysteresis) + elapsedMs * kHysteresis;
-    mLastDrawFrame = std::chrono::steady_clock::now();
-  }
-}
-
-void Client::ReceiveTexture(NetImgui::Internal::CmdTexture* pTextureCmd) {
-  if (pTextureCmd) {
-    // Wait for a free spot in the ring buffer
-    while (mPendingTextureWriteIndex - mPendingTextureReadIndex >=
-           IM_ARRAYSIZE(mpPendingTextures)) {
-      std::this_thread::yield();
-    }
-
-    uint64_t writeIndex =
-        mPendingTextureWriteIndex % IM_ARRAYSIZE(mpPendingTextures);
-    mpPendingTextures[writeIndex] = pTextureCmd;
-    mPendingTextureWriteIndex = mPendingTextureWriteIndex + 1;
-  }
-}
-
-//=================================================================================================
-// Process pending texture commands received from Client
-//=================================================================================================
-void Client::ProcessPendingTextureCmds() {
-  while (mPendingTextureReadIndex != mPendingTextureWriteIndex) {
-    uint64_t readIndex =
-        mPendingTextureReadIndex % IM_ARRAYSIZE(mpPendingTextures);
-    NetImgui::Internal::CmdTexture* pTextureCmd = mpPendingTextures[readIndex];
-    auto texIt = mTextureTable.find(pTextureCmd->mTextureClientID);
-    NetImguiServer::App::ServerTexture* serverTex =
-        texIt != mTextureTable.end() ? texIt->second : nullptr;
-
-    bool isCreate =
-        pTextureCmd->mStatus == NetImgui::Internal::CmdTexture::eType::Create &&
-        pTextureCmd->mFormat != NetImgui::eTexFormat::kTexFmt_Invalid;
-    bool isUpdate =
-        pTextureCmd->mStatus == NetImgui::Internal::CmdTexture::eType::Update &&
-        pTextureCmd->mFormat != NetImgui::eTexFormat::kTexFmtCustom;
-    uint32_t texDataSize =
-        pTextureCmd->mSize - sizeof(NetImgui::Internal::CmdTexture);
-
-    // Delete a texture on request or when creating new one with same
-    // ClientTextureID
-    if (!isUpdate && serverTex) {
-      serverTex->MarkForDelete();
-      mTextureTable.erase(texIt);
-    }
-
-    // Add a texture
-    if (isCreate) {
-      serverTex = NetImguiServer::App::CreateTexture(*pTextureCmd, texDataSize);
-      if (serverTex) {
-        serverTex->mOwnerClientIndex = static_cast<int32_t>(mClientIndex);
-        mTextureTable.insert({pTextureCmd->mTextureClientID, serverTex});
-      }
-    }
-    // Update a Texture
-    else if (isUpdate && serverTex &&
-             serverTex->mTexData.Status !=
-                 ImTextureStatus::ImTextureStatus_WantDestroy &&
-             serverTex->mTexData.Status !=
-                 ImTextureStatus::ImTextureStatus_Destroyed) {
-      auto TexFormat = static_cast<NetImgui::eTexFormat>(pTextureCmd->mFormat);
-      if (serverTex->mTexData.Width <
-              (int)(pTextureCmd->mWidth + pTextureCmd->mOffsetX) ||
-          serverTex->mTexData.Height <
-              (int)(pTextureCmd->mHeight + pTextureCmd->mOffsetY)) {
-        // Update bigger than texture should not happen, but left here as a
-        // precaution to avoid memory corruption. Could happen if there's an
-        // error with client/server re-using a texture ID somehow
-      } else {
-        size_t SrcLineBytes = NetImgui::GetTexture_BytePerLine(
-            TexFormat, static_cast<uint32_t>(pTextureCmd->mWidth));
-        size_t DstLineBytes = NetImgui::GetTexture_BytePerLine(
-            TexFormat, static_cast<uint32_t>(serverTex->mTexData.Width));
-        size_t OffsetBytes =
-            (pTextureCmd->mOffsetY * DstLineBytes) +
-            NetImgui::GetTexture_BytePerLine(TexFormat, pTextureCmd->mOffsetX);
-        const uint8_t* pDataSrc = pTextureCmd->mpTextureData.Get();
-        uint8_t* pDataDst =
-            reinterpret_cast<uint8_t*>(serverTex->mTexData.GetPixels());
-        for (uint64_t y(0); y < pTextureCmd->mHeight; ++y) {
-          memcpy(&pDataDst[OffsetBytes + (y * DstLineBytes)],
-                 &pDataSrc[y * SrcLineBytes], SrcLineBytes);
-        }
-
-        // No need to queue if status is _WantCreate
-        if (serverTex->mTexData.Status != ImTextureStatus_WantCreate) {
-          // Following code mostly copied from
-          // ImFontAtlasTextureBlockQueueUpload
-          ImTextureData* tex = &serverTex->mTexData;
-          ImTextureRect req = {(unsigned short)pTextureCmd->mOffsetX,
-                               (unsigned short)pTextureCmd->mOffsetY,
-                               (unsigned short)pTextureCmd->mWidth,
-                               (unsigned short)pTextureCmd->mHeight};
-          int new_x1 = ImMax(tex->UpdateRect.w == 0
-                                 ? 0
-                                 : tex->UpdateRect.x + tex->UpdateRect.w,
-                             req.x + req.w);
-          int new_y1 = ImMax(tex->UpdateRect.h == 0
-                                 ? 0
-                                 : tex->UpdateRect.y + tex->UpdateRect.h,
-                             req.y + req.h);
-          tex->UpdateRect.x = ImMin(tex->UpdateRect.x, req.x);
-          tex->UpdateRect.y = ImMin(tex->UpdateRect.y, req.y);
-          tex->UpdateRect.w = (unsigned short)(new_x1 - tex->UpdateRect.x);
-          tex->UpdateRect.h = (unsigned short)(new_y1 - tex->UpdateRect.y);
-          tex->UsedRect.x = ImMin(tex->UsedRect.x, req.x);
-          tex->UsedRect.y = ImMin(tex->UsedRect.y, req.y);
-          tex->UsedRect.w =
-              (unsigned short)(ImMax(tex->UsedRect.x + tex->UsedRect.w,
-                                     req.x + req.w) -
-                               tex->UsedRect.x);
-          tex->UsedRect.h =
-              (unsigned short)(ImMax(tex->UsedRect.y + tex->UsedRect.h,
-                                     req.y + req.h) -
-                               tex->UsedRect.y);
-          tex->Status = ImTextureStatus_WantUpdates;
-          tex->Updates.push_back(req);
-        }
-      }
-    }
-    NetImgui::Internal::netImguiDeleteSafe(pTextureCmd);
-    mPendingTextureReadIndex = mPendingTextureReadIndex + 1;
-  }
-}
-
-void Client::Initialize() {
-  mConnectedTime = std::chrono::steady_clock::now();
-  mLastUpdateTime = std::chrono::steady_clock::now() - std::chrono::hours(1);
-  mLastDrawFrame = std::chrono::steady_clock::now();
-  mLastIncomingComTime = std::chrono::steady_clock::now();
-  mLastDrawFrameIndex = 0;
-  mStatsIndex = 0;
-  mStatsRcvdBps = 0;
-  mStatsSentBps = 0;
-  mStatsDrawElapsedMs = 0.f;
-  mStatsDataRcvd = 0;
-  mStatsDataSent = 0;
-  mStatsDataRcvdPrev = 0;
-  mStatsDataSentPrev = 0;
-  mbIsReleased = false;
-  mStatsTime = std::chrono::steady_clock::now();
-  mBGSettings =
-      NetImgui::Internal::CmdBackground();  // Assign background default value,
-                                            // until we receive first update
-                                            // from client
-  mPendingRcv = NetImgui::Internal::PendingCom();
-  mPendingSend = NetImgui::Internal::PendingCom();
-  NetImgui::Internal::netImguiDeleteSafe(mpImguiDrawData);
-  NetImgui::Internal::netImguiDeleteSafe(mpFrameDrawPrev);
-}
-
-void Client::Uninitialize() {
-  NetImguiServer::App::HAL_DestroyRenderTarget(mpHAL_AreaRT, mHAL_AreaTexture);
-
-  for (auto serverTexIt : mTextureTable) {
-    if (serverTexIt.second) {
-      serverTexIt.second->MarkForDelete();
-    }
-  }
-  mTextureTable.clear();
-
-  mPendingImguiDrawDataIn.Free();
-  mPendingBackgroundIn.Free();
-  mPendingInputOut.Free();
-  mPendingClipboardOut.Free();
-
-  NetImgui::Internal::netImguiDeleteSafe(mpImguiDrawData);
-  NetImgui::Internal::netImguiDeleteSafe(mpFrameDrawPrev);
-  if (mpBGContext) {
-    ImGui::DestroyContext(mpBGContext);
-    mpBGContext = nullptr;
-  }
-
-  mInfoName[0] = 0;
-  mClientIndex = 0;
-  mClientConfigID = NetImguiServer::Config::Client::kInvalidRuntimeID;
-  mbCompressionSkipOncePending = false;
-  mbDisconnectPending = false;
-  mbIsConnected = false;
-  mbIsFree = true;
-  mBGNeedUpdate = true;
-}
-
-// Used on communication thread to let main thread know this client resources
-// should be deleted
-void Client::Release() { mbIsReleased = true; }
-
-bool Client::Startup(uint32_t clientCountMax) {
-  gClientCountMax = clientCountMax;
-  gpClients = new Client[clientCountMax];
-  return gpClients != nullptr;
-}
-
-void Client::Shutdown() {
-  gClientCountMax = 0;
-  if (gpClients) {
-    delete[] gpClients;
-    gpClients = nullptr;
-  }
-}
-
-uint32_t Client::GetCountMax() { return gClientCountMax; }
-
-Client& Client::Get(uint32_t index) {
-  bool bValid = gpClients && index < gClientCountMax;
-  static Client sInvalidClient;
-  assert(bValid);
-  return bValid ? gpClients[index] : sInvalidClient;
-}
-
-uint32_t Client::GetFreeIndex() {
-  for (uint32_t i(0); i < gClientCountMax; ++i) {
-    if (gpClients[i].mbIsFree.exchange(false) == true) return i;
-  }
-  return kInvalidClient;
-}
-
-//=================================================================================================
-// Get the current Dear Imgui drawdata to use for this client rendering content
-//=================================================================================================
-NetImguiImDrawData* Client::GetImguiDrawData(ImTextureID EmtpyTextureID) {
-  // DrawData's textures should now have been created, safe to use it
-  if (mpPendingDrawData) {
-    NetImgui::Internal::netImguiDeleteSafe(mpImguiDrawData);
-    mpImguiDrawData = mpPendingDrawData;
-    mLastDrawFrameIndex = mpImguiDrawData->mFrameIndex;
-    mpPendingDrawData = nullptr;
-  }
-
-  // Check if a new frame has been added. If yes, then take ownership of it.
-  NetImguiImDrawData* pPendingDrawData = mPendingImguiDrawDataIn.Release();
-  if (pPendingDrawData) {
-    bool bHasPendingTextureUpdate(false);
-
-    // When a new drawdata is available, need to convert the textureid from
-    // NetImgui Id to the backend renderer format (texture view pointer). Done
-    // here (in main thread) instead of when first received on the (com thread),
-    // since 'mvTextures' can only be safely accessed on (main thread).
-    for (int i(0); i < pPendingDrawData->CmdListsCount; ++i) {
-      ImDrawList* pCmdList = pPendingDrawData->CmdLists[i];
-      for (int drawIdx(0), drawCount(pCmdList->CmdBuffer.size());
-           drawIdx < drawCount; ++drawIdx) {
-        uint64_t clientTexUserID = pCmdList->CmdBuffer[drawIdx].TexRef._TexID;
-        auto texIt = mTextureTable.find(clientTexUserID);
-        ImTextureRef serverTexRef = EmtpyTextureID;
-        if (texIt != mTextureTable.end() && texIt->second) {
-          ImTextureData* texData = &texIt->second->mTexData;
-          serverTexRef = texData->GetTexRef();
-          texIt->second->mLastFrameUsed =
-              pPendingDrawData->mFrameIndex;  // Needed to know when it is safe
-                                              // to release the texture resource
-          bHasPendingTextureUpdate |=
-              texData->Status != ImTextureStatus::ImTextureStatus_OK;
-        }
-        pCmdList->CmdBuffer[drawIdx].TexRef = serverTexRef;
-      }
-    }
-
-    // DrawData contains textures with pending updates,
-    // wait 1 frame to display it
-    if (bHasPendingTextureUpdate) {
-      mpPendingDrawData = pPendingDrawData;
-    }
-    // New valid DrawData, use it for display
-    else {
-      NetImgui::Internal::netImguiDeleteSafe(mpImguiDrawData);
-      mpImguiDrawData = pPendingDrawData;
-      mLastDrawFrameIndex = mpImguiDrawData->mFrameIndex;
-    }
-  }
-
-  return mpImguiDrawData;
-}
-
-//=================================================================================================
-// Create a new Dear Imgui DrawData ready to be submitted for rendering
-//=================================================================================================
-void Client::ProcessCmdDrawFrame(
-    NetImgui::Internal::CmdDrawFrame* pCmdDrawFrame) {
-  constexpr float kPosRangeMin =
-      static_cast<float>(NetImgui::Internal::ImguiVert::kPosRange_Min);
-  constexpr float kPosRangeMax =
-      static_cast<float>(NetImgui::Internal::ImguiVert::kPosRange_Max);
-  constexpr float kUVRangeMin =
-      static_cast<float>(NetImgui::Internal::ImguiVert::kUvRange_Min);
-  constexpr float kUVRangeMax =
-      static_cast<float>(NetImgui::Internal::ImguiVert::kUvRange_Max);
-
-  if (!pCmdDrawFrame) {
-    return;
-  }
-  mMouseCursor = static_cast<ImGuiMouseCursor>(pCmdDrawFrame->mMouseCursor);
-
-  NetImguiImDrawData* pDrawData =
-      NetImgui::Internal::netImguiNew<NetImguiImDrawData>();
-  pDrawData->mFrameIndex = pCmdDrawFrame->mFrameIndex;
-  pDrawData->Valid = true;
-  pDrawData->TotalVtxCount =
-      static_cast<int>(pCmdDrawFrame->mTotalVerticeCount);
-  pDrawData->TotalIdxCount = static_cast<int>(pCmdDrawFrame->mTotalIndiceCount);
-  pDrawData->DisplayPos.x = pCmdDrawFrame->mDisplayArea[0];
-  pDrawData->DisplayPos.y = pCmdDrawFrame->mDisplayArea[1];
-  pDrawData->DisplaySize.x =
-      pCmdDrawFrame->mDisplayArea[2] - pCmdDrawFrame->mDisplayArea[0];
-  pDrawData->DisplaySize.y =
-      pCmdDrawFrame->mDisplayArea[3] - pCmdDrawFrame->mDisplayArea[1];
-  pDrawData->FramebufferScale =
-      ImVec2(1, 1);  //! @sammyfreg Currently untested, so force set to 1
-  pDrawData->OwnerViewport = nullptr;
-
-  ImDrawList* pCmdList = pDrawData->CmdLists[0];
-  pCmdList->IdxBuffer.resize(pCmdDrawFrame->mTotalIndiceCount);
-  pCmdList->VtxBuffer.resize(pCmdDrawFrame->mTotalVerticeCount);
-  pCmdList->CmdBuffer.resize(pCmdDrawFrame->mTotalDrawCount);
-  pCmdList->Flags =
-      ImDrawListFlags_AllowVtxOffset | ImDrawListFlags_AntiAliasedLines |
-      ImDrawListFlags_AntiAliasedFill | ImDrawListFlags_AntiAliasedLinesUseTex;
-
-  if (pCmdDrawFrame->mTotalDrawCount != 0) {
-    uint32_t indexOffset(0), vertexOffset(0);
-    ImDrawIdx* pIndexDst = &pCmdList->IdxBuffer[0];
-    ImDrawVert* pVertexDst = &pCmdList->VtxBuffer[0];
-    ImDrawCmd* pCommandDst = &pCmdList->CmdBuffer[0];
-
-    for (uint32_t i(0); i < pCmdDrawFrame->mDrawGroupCount; ++i) {
-      const NetImgui::Internal::ImguiDrawGroup& drawGroup =
-          pCmdDrawFrame->mpDrawGroups[i];
-
-      // Copy/Convert Indices from network command to Dear ImGui indices format
-      const uint16_t* pIndices =
-          reinterpret_cast<const uint16_t*>(drawGroup.mpIndices.Get());
-      if (drawGroup.mBytePerIndex == sizeof(ImDrawIdx)) {
-        memcpy(pIndexDst, pIndices, drawGroup.mIndiceCount * sizeof(ImDrawIdx));
-      } else {
-        for (uint32_t indexIdx(0); indexIdx < drawGroup.mIndiceCount;
-             ++indexIdx) {
-          pIndexDst[indexIdx] = static_cast<ImDrawIdx>(pIndices[indexIdx]);
-        }
-      }
-
-      // Convert the Vertices from network command to Dear Imgui Format
-      const NetImgui::Internal::ImguiVert* pVertexSrc =
-          drawGroup.mpVertices.Get();
-      for (uint32_t vtxIdx(0); vtxIdx < drawGroup.mVerticeCount; ++vtxIdx) {
-        pVertexDst[vtxIdx].pos.x =
-            (static_cast<float>(pVertexSrc[vtxIdx].mPos[0]) *
-             (kPosRangeMax - kPosRangeMin)) /
-                static_cast<float>(0xFFFF) +
-            kPosRangeMin + drawGroup.mReferenceCoord[0];
-        pVertexDst[vtxIdx].pos.y =
-            (static_cast<float>(pVertexSrc[vtxIdx].mPos[1]) *
-             (kPosRangeMax - kPosRangeMin)) /
-                static_cast<float>(0xFFFF) +
-            kPosRangeMin + drawGroup.mReferenceCoord[1];
-        pVertexDst[vtxIdx].uv.x =
-            (static_cast<float>(pVertexSrc[vtxIdx].mUV[0]) *
-             (kUVRangeMax - kUVRangeMin)) /
-                static_cast<float>(0xFFFF) +
-            kUVRangeMin;
-        pVertexDst[vtxIdx].uv.y =
-            (static_cast<float>(pVertexSrc[vtxIdx].mUV[1]) *
-             (kUVRangeMax - kUVRangeMin)) /
-                static_cast<float>(0xFFFF) +
-            kUVRangeMin;
-        pVertexDst[vtxIdx].col = pVertexSrc[vtxIdx].mColor;
-      }
-
-      // Convert the Draws from network command to Dear Imgui Format
-      const NetImgui::Internal::ImguiDraw* pDrawSrc = drawGroup.mpDraws.Get();
-      for (uint32_t drawIdx(0); drawIdx < drawGroup.mDrawCount; ++drawIdx) {
-        pCommandDst[drawIdx].ClipRect.x = pDrawSrc[drawIdx].mClipRect[0];
-        pCommandDst[drawIdx].ClipRect.y = pDrawSrc[drawIdx].mClipRect[1];
-        pCommandDst[drawIdx].ClipRect.z = pDrawSrc[drawIdx].mClipRect[2];
-        pCommandDst[drawIdx].ClipRect.w = pDrawSrc[drawIdx].mClipRect[3];
-        pCommandDst[drawIdx].VtxOffset =
-            pDrawSrc[drawIdx].mVtxOffset + vertexOffset;
-        pCommandDst[drawIdx].IdxOffset =
-            pDrawSrc[drawIdx].mIdxOffset + indexOffset;
-        pCommandDst[drawIdx].ElemCount = pDrawSrc[drawIdx].mIdxCount;
-        pCommandDst[drawIdx].UserCallback = nullptr;
-        pCommandDst[drawIdx].UserCallbackData = nullptr;
-        pCommandDst[drawIdx].TexRef._TexID =
-            NetImgui::Internal::ConvertFromClientTexID(
-                pDrawSrc[drawIdx].mClientTexId);
-      }
-
-      pIndexDst += drawGroup.mIndiceCount;
-      pVertexDst += drawGroup.mVerticeCount;
-      pCommandDst += drawGroup.mDrawCount;
-      indexOffset += drawGroup.mIndiceCount;
-      vertexOffset += drawGroup.mVerticeCount;
-    }
-  }
-  mpFrameDrawPrev = pCmdDrawFrame;
-  mPendingImguiDrawDataIn.Assign(pDrawData);
-}
-
-//=================================================================================================
-// Note: Caller must take ownership of item and delete the object
-//=================================================================================================
-NetImgui::Internal::CmdInput* Client::TakePendingInput() {
-  return mPendingInputOut.Release();
-}
-
-NetImgui::Internal::CmdClipboard* Client::TakePendingClipboard() {
-  return mPendingClipboardOut.Release();
-}
-
-//=================================================================================================
-// Capture current received Dear ImGui input, and forward it to the active
-// client Note:	Even if a client is not focused, we are still sending it the
-// mouse position,
-//			so it can update its UI.
-// Note:	Sending an input command, will trigger a redraw on the client,
-//			which we receive on the server afterward
-//=================================================================================================
-void Client::CaptureImguiInput() {
-  // Capture input from Dear ImGui (when this Client is in focus)
-  const ImGuiIO& io = ImGui::GetIO();
-  if (mbIsVisible) {
-    if (ImGui::IsWindowFocused()) {
-      const size_t initialSize = mPendingInputChars.size();
-      const size_t addedChar = io.InputQueueCharacters.size();
-      if (addedChar) {
-        mPendingInputChars.resize(initialSize + addedChar);
-        memcpy(&mPendingInputChars[initialSize], io.InputQueueCharacters.Data,
-               addedChar * sizeof(ImWchar));
-      }
-
-      mMouseWheelPos[0] += io.MouseWheel;
-      mMouseWheelPos[1] += io.MouseWheelH;
-    }
-
-    // Update persistent mouse status
-    if (ImGui::IsMousePosValid(&io.MousePos)) {
-      mMousePos[0] = io.MousePos.x - ImGui::GetCursorScreenPos().x;
-      mMousePos[1] = io.MousePos.y - ImGui::GetCursorScreenPos().y;
-    }
-  }
-
-  // This method is tied to the Server VSync setting, which might not match our
-  // client desired refresh setting When client refresh drops too much, take
-  // into consideration the lenght of the Server frame, to evaluate if we should
-  // update or not
-  bool wasActive = mbIsActive;
-  mbIsActive = ImGui::IsWindowFocused();
-  float clientFPS = !mbIsVisible ? 0.f
-                    : !mbIsActive
-                        ? NetImguiServer::Config::Server::sRefreshFPSInactive
-                        : NetImguiServer::Config::Server::sRefreshFPSActive;
-  float elapsedMs =
-      static_cast<float>(std::chrono::duration_cast<std::chrono::microseconds>(
-                             std::chrono::steady_clock::now() - mLastUpdateTime)
-                             .count()) /
-      1000.f;
-  bool bRefresh = (wasActive != mbIsActive) || elapsedMs > 1000.f / 60.f;
-
-  if (!bRefresh) {
-    return;
-  }
-
-  // Try to re-acquire unsent input command, or create a new one if none pending
-  NetImgui::Internal::CmdInput* pNewInput = TakePendingInput();
-  pNewInput =
-      pNewInput
-          ? pNewInput
-          : NetImgui::Internal::netImguiNew<NetImgui::Internal::CmdInput>();
-
-  // Create new Input command to send to client
-  NetImguiServer::Config::Client config;
-  NetImguiServer::Config::Client::GetConfigByID(mClientConfigID, config);
-  pNewInput->mScreenSize[0] =
-      static_cast<uint16_t>(ImGui::GetContentRegionAvail().x);
-  pNewInput->mScreenSize[1] =
-      static_cast<uint16_t>(ImGui::GetContentRegionAvail().y);
-  pNewInput->mMousePos[0] = static_cast<int16_t>(mMousePos[0]);
-  pNewInput->mMousePos[1] = static_cast<int16_t>(mMousePos[1]);
-  pNewInput->mMouseWheelVert = mMouseWheelPos[0];
-  pNewInput->mMouseWheelHoriz = mMouseWheelPos[1];
-  pNewInput->mCompressionUse =
-      NetImguiServer::Config::Server::sCompressionEnable;
-  pNewInput->mCompressionSkip = mbCompressionSkipOncePending;
-  pNewInput->mFontDPIScaling = 1.f;
-  pNewInput->mDesiredFps = clientFPS;
-
-  if (config.mDPIScaleEnabled) {
-    float scale = ImGui::GetMainViewport()->DpiScale;
-    scale = scale > 1.f ? scale : 1.f;
-    pNewInput->mFontDPIScaling =
-        1.f + (scale - 1.f) * NetImguiServer::Config::Server::sDPIScaleRatio;
-  }
-
-  mbCompressionSkipOncePending = false;
-
-  if ((mbIsVisible && mbIsActive) && ImGui::IsWindowFocused()) {
-    // Mouse Buttons Inputs
-    // If Dear ImGui Update this enum, must also adjust our enum copy
-    static_assert(
-        static_cast<int>(NetImgui::Internal::CmdInput::NetImguiMouseButton::
-                             ImGuiMouseButton_COUNT) ==
-            static_cast<int>(ImGuiMouseButton_::ImGuiMouseButton_COUNT),
-        "Update the NetImgui enum to match the updated Dear ImGui enum");
-    pNewInput->mMouseDownMask = 0;
-    pNewInput->mMouseDownMask |=
-        ImGui::IsMouseDown(ImGuiMouseButton_::ImGuiMouseButton_Left)
-            ? 1 << NetImgui::Internal::CmdInput::ImGuiMouseButton_Left
-            : 0;
-    pNewInput->mMouseDownMask |=
-        ImGui::IsMouseDown(ImGuiMouseButton_::ImGuiMouseButton_Right)
-            ? 1 << NetImgui::Internal::CmdInput::ImGuiMouseButton_Right
-            : 0;
-    pNewInput->mMouseDownMask |=
-        ImGui::IsMouseDown(ImGuiMouseButton_::ImGuiMouseButton_Middle)
-            ? 1 << NetImgui::Internal::CmdInput::ImGuiMouseButton_Middle
-            : 0;
-    pNewInput->mMouseDownMask |=
-        ImGui::IsMouseDown(3)
-            ? 1 << NetImgui::Internal::CmdInput::ImGuiMouseButton_Extra1
-            : 0;
-    pNewInput->mMouseDownMask |=
-        ImGui::IsMouseDown(4)
-            ? 1 << NetImgui::Internal::CmdInput::ImGuiMouseButton_Extra2
-            : 0;
-
-// Keyboard / Gamepads Inputs
-// If Dear ImGui Update their enum, must also adjust our enum copy,
-// so adding a few check to detect a change
-#define EnumKeynameTest(KEYNAME)                                               \
-  static_cast<int>(NetImgui::Internal::CmdInput::NetImguiKeys::KEYNAME) ==     \
-      static_cast<int>(ImGuiKey::KEYNAME - ImGuiKey::ImGuiKey_NamedKey_BEGIN), \
-      "Update the NetImgui enum to match the updated Dear ImGui enum"
-    static_assert(
-        NetImgui::Internal::CmdInput::NetImguiKeys::ImGuiKey_COUNT ==
-            (ImGuiKey_NamedKey_END - ImGuiKey_NamedKey_BEGIN),
-        "Update the NetImgui enum to match the updated Dear ImGui enum");
-    static_assert(EnumKeynameTest(ImGuiKey_Tab));
-    static_assert(EnumKeynameTest(ImGuiKey_Escape));
-    static_assert(EnumKeynameTest(ImGuiKey_RightSuper));
-    static_assert(EnumKeynameTest(ImGuiKey_Apostrophe));
-    static_assert(EnumKeynameTest(ImGuiKey_Keypad0));
-    static_assert(EnumKeynameTest(ImGuiKey_CapsLock));
-    static_assert(EnumKeynameTest(ImGuiKey_GamepadStart));
-    static_assert(EnumKeynameTest(ImGuiKey_GamepadLStickUp));
-    static_assert(EnumKeynameTest(ImGuiKey_ReservedForModCtrl));
-    static_assert(EnumKeynameTest(ImGuiKey_ReservedForModShift));
-    static_assert(EnumKeynameTest(ImGuiKey_ReservedForModAlt));
-    static_assert(EnumKeynameTest(ImGuiKey_ReservedForModSuper));
-    static_assert(EnumKeynameTest(ImGuiKey_GamepadStart));
-    static_assert(EnumKeynameTest(ImGuiKey_GamepadR3));
-    static_assert(EnumKeynameTest(ImGuiKey_GamepadLStickUp));
-    static_assert(EnumKeynameTest(ImGuiKey_GamepadRStickRight));
-
-    // Save every keydown status to out bitmask
-    uint64_t valueMask(0);
-    for (uint32_t i(0); i < ImGuiKey::ImGuiKey_NamedKey_COUNT; ++i) {
-      valueMask |=
-          ImGui::IsKeyDown(static_cast<ImGuiKey>(ImGuiKey_NamedKey_BEGIN + i))
-              ? 0x0000000000000001ull << (i % 64)
-              : 0;
-      if (((i % 64) == 63) || i == (ImGuiKey::ImGuiKey_NamedKey_COUNT - 1)) {
-        pNewInput->mInputDownMask[i / 64] = valueMask;
-        valueMask = 0;
-      }
-    }
-    // Save analog keys (gamepad)
-    for (uint32_t i(0); i < NetImgui::Internal::CmdInput::kAnalog_Count; ++i) {
-      pNewInput->mInputAnalog[i] =
-          ImGui::GetIO()
-              .KeysData[NetImgui::Internal::CmdInput::kAnalog_First + i]
-              .AnalogValue;
-    }
-  }
-
-  // Copy waiting characters inputs
-  size_t addedKeyCount =
-      std::min<size_t>(NetImgui::Internal::ArrayCount(pNewInput->mKeyChars) -
-                           pNewInput->mKeyCharCount,
-                       mPendingInputChars.size());
-  if (addedKeyCount) {
-    memcpy(&pNewInput->mKeyChars[pNewInput->mKeyCharCount],
-           &mPendingInputChars[0], addedKeyCount * sizeof(ImWchar));
-    pNewInput->mKeyCharCount += static_cast<uint16_t>(addedKeyCount);
-    size_t charRemainCount = mPendingInputChars.size() - addedKeyCount;
-    if (charRemainCount > 0) {
-      memcpy(&mPendingInputChars[0], &mPendingInputChars[addedKeyCount],
-             mPendingInputChars.size() - addedKeyCount);
-    }
-    mPendingInputChars.resize(charRemainCount);
-  }
-
-  mPendingInputOut.Assign(pNewInput);
-  mLastUpdateTime = std::chrono::steady_clock::now();
-}
-
-}  // namespace RemoteClient
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_RemoteClient.h b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_RemoteClient.h
deleted file mode 100644
index a18e6732..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_RemoteClient.h
+++ /dev/null
@@ -1,199 +0,0 @@
-#pragma once
-
-#include <Private/NetImgui_CmdPackets.h>
-
-#include <chrono>
-#include <unordered_map>
-#include <vector>
-
-#include "NetImguiServer_App.h"
-
-namespace NetImguiServer {
-namespace RemoteClient {
-
-//=================================================================================================
-// ImDrawData wrapper
-//
-// Allocate a single ImDrawList and assign it to itself.
-//
-// This child class leave the original ImDrawData behavior intact, but add the
-// proper memory freeing of the ImDrawList member.
-//=================================================================================================
-struct NetImguiImDrawData : ImDrawData {
-  NetImguiImDrawData();
-  ImDrawList mCommandList;
-  uint64_t mFrameIndex = 0;
-};
-
-//=================================================================================================
-// All info needed by the server to communicate with a remote client, and render
-// its content
-//=================================================================================================
-struct Client {
-  static constexpr uint32_t kInvalidClient = static_cast<uint32_t>(-1);
-  using ExchPtrInput =
-      NetImgui::Internal::ExchangePtr<NetImgui::Internal::CmdInput>;
-  using ExchPtrClipboard =
-      NetImgui::Internal::ExchangePtr<NetImgui::Internal::CmdClipboard>;
-  using ExchPtrBackground =
-      NetImgui::Internal::ExchangePtr<NetImgui::Internal::CmdBackground>;
-  using ExchPtrImguiDraw = NetImgui::Internal::ExchangePtr<NetImguiImDrawData>;
-  using TextureTable = std::unordered_map<uint64_t, App::ServerTexture*>;
-  struct TexUpdateInfo {
-    uint64_t ClientId;
-    uint64_t Frame;
-    uint32_t UpdateId;
-    uint32_t Format;
-    uint32_t x;
-    uint32_t y;
-    uint32_t w;
-    uint32_t h;
-    uint32_t isCreate : 1;
-    uint32_t isDestroy : 1;
-    uint32_t isUpdate : 1;
-    uint32_t isDearImguiManaged : 1;
-  };
-  Client();
-  ~Client();
-  Client(const Client&) = delete;
-  Client(const Client&&) = delete;
-  void operator=(const Client&) = delete;
-  void Initialize();
-  void Uninitialize();
-  void Release();
-  bool IsValid() const;
-
-  void ReceiveTexture(NetImgui::Internal::CmdTexture*);
-  void ReceiveDrawFrame(NetImgui::Internal::CmdDrawFrame*);
-  void ProcessCmdDrawFrame(NetImgui::Internal::CmdDrawFrame* pCmdDrawFrame);
-  NetImguiImDrawData* GetImguiDrawData(
-      ImTextureID EmtpyTextureID);  // Get current active Imgui draw data
-
-  void CaptureImguiInput();
-  NetImgui::Internal::CmdInput* TakePendingInput();
-  NetImgui::Internal::CmdClipboard* TakePendingClipboard();
-  void ProcessPendingTextureCmds();
-
-  static bool Startup(uint32_t clientCountMax);
-  static void Shutdown();
-  static uint32_t GetCountMax();
-  static uint32_t GetFreeIndex();
-  static Client& Get(uint32_t index);
-
-  void* mpHAL_AreaRT = nullptr;
-  ImTextureData mHAL_AreaTexture;
-  uint16_t mAreaRTSizeX = 0;  //!< Currently allocated RenderTarget size
-  uint16_t mAreaRTSizeY = 0;  //!< Currently allocated RenderTarget size
-  uint16_t mAreaSizeX = 0;  //!< Available area size available to remote client
-  uint16_t mAreaSizeY = 0;  //!< Available area size available to remote client
-  char mInfoName[128] = {};
-  char mWindowID[128 + 16] = {};
-  char mInfoImguiVerName[16] = {};
-  char mInfoNetImguiVerName[16] = {};
-  uint32_t mInfoImguiVerID = 0;
-  uint32_t mInfoNetImguiVerID = 0;
-  char mConnectHost[64] = {};  //!< Connected Hostname of this remote client
-  int mConnectPort = 0;        //!< Connected Port of this remote client
-
-  NetImguiImDrawData* mpImguiDrawData =
-      nullptr;  //!< Current Imgui Data that this client is the owner of
-  NetImguiImDrawData* mpPendingDrawData =
-      nullptr;  //!< Pending Imgui Data that has to have 1 frame display delay,
-                //!< to avoid issue with textures with pending updates
-  NetImgui::Internal::CmdDrawFrame* mpFrameDrawPrev =
-      nullptr;  //!< Last valid DrawDrame (used by com thread, to uncompress
-                //!< data)
-  TextureTable mTextureTable;  //!< Table matching client TextureUserID to
-                               //!< textures allocated on Server for it
-  ExchPtrImguiDraw
-      mPendingImguiDrawDataIn;  //!< Pending received Imgui DrawData, waiting to
-                                //!< be taken ownership of
-  ExchPtrBackground mPendingBackgroundIn;  //!< Background settings received and
-                                           //!< waiting to update client setting
-  ExchPtrClipboard mPendingClipboardIn;  //!< Clipboard received from Client and
-                                         //!< waiting to be processed on Server
-  ExchPtrInput
-      mPendingInputOut;  //!< Input command waiting to be sent out to client
-  ExchPtrClipboard mPendingClipboardOut;  //!< Clipboard command waiting to be
-                                          //!< sent out to client
-  std::vector<ImWchar>
-      mPendingInputChars;  //!< Captured Imgui characters input waiting to be
-                           //!< added to new InputCmd
-  NetImgui::Internal::CmdTexture* mpPendingTextures[1024] =
-      {};  //!< Textures commands waiting to be processed in main update loop
-  std::atomic_uint64_t mPendingTextureReadIndex;
-  std::atomic_uint64_t mPendingTextureWriteIndex;
-  bool mbIsVisible = false;   //!< If currently shown
-  bool mbIsActive = false;    //!< Is the current active window (will receive
-                              //!< input, only one is true at a time)
-  bool mbIsReleased = false;  //!< If released in com thread and main thread
-                              //!< should delete resources
-  bool mbIsConnected =
-      false;  //!< If connected to a remote client. Set to false in Unitialize,
-              //!< after mIsRelease is set to unload resources
-  std::atomic_bool
-      mbIsFree;  //!< If available to use for a new connected client
-  std::atomic_bool
-      mbCompressionSkipOncePending;  //!< When we detect invalid previous
-                                     //!< DrawFrame command, cancel compression
-                                     //!< for 1 frame, to get good data
-  std::atomic_bool mbDisconnectPending;  //!< Terminate Client/Server coms
-  std::chrono::steady_clock::time_point
-      mConnectedTime;  //!< When the connection was established with this remote
-                       //!< client
-  std::chrono::steady_clock::time_point
-      mLastUpdateTime;  //!< When the client last send a content refresh request
-  std::chrono::steady_clock::time_point
-      mLastDrawFrame;  //!< When we last receive a new drawframe commant
-  std::chrono::steady_clock::time_point
-      mLastIncomingComTime;  //!< When we last received a valid command from
-                             //!< client (to detect timeout)
-  uint32_t mClientConfigID =
-      0;  //!< ID of ClientConfig that connected (if connection came from our
-          //!< list of ClientConfigs)
-  uint32_t mClientIndex = 0;  //!< Entry idx into table of connected clients
-  uint64_t mStatsDataRcvd =
-      0;  //!< Current amount of Bytes received since connected
-  uint64_t mStatsDataSent =
-      0;  //!< Current amount of Bytes sent to client since connected
-  uint64_t mStatsDataRcvdPrev =
-      0;  //!< Last amount of Bytes received since connected
-  uint64_t mStatsDataSentPrev =
-      0;  //!< Last amount of Bytes sent to client since connected
-  std::chrono::steady_clock::time_point
-      mStatsTime;  //!< Time when info was collected (with history of last x
-                   //!< values)
-  uint32_t mStatsRcvdBps = 0;  //!< Average Bytes received per second
-  uint32_t mStatsSentBps = 0;  //!< Average Bytes sent per second
-  float mStatsDrawElapsedMs =
-      0.f;  //!< Average milliseconds between 2 draw requests
-  uint32_t mStatsIndex = 0;
-  float mMousePos[2] = {0, 0};
-  float mMouseWheelPos[2] = {0, 0};
-  ImGuiMouseCursor mMouseCursor =
-      ImGuiMouseCursor_None;  // Last mosue cursor remote client requested
-  ImGuiContext* mpBGContext =
-      nullptr;  // Special Imgui Context used to render the background (only
-                // updated when needed)
-  bool mBGNeedUpdate = true;  // Let engine know that we should regenerate the
-                              // background draw commands
-  NetImgui::Internal::Network::SocketInfo* mpSocket =
-      nullptr;  //!< Socket used for communications
-  NetImgui::Internal::CmdBackground
-      mBGSettings;  //!< Settings for client background drawing settings
-  NetImgui::Internal::CmdPendingRead
-      mCmdPendingRead;  //!< Used to get info on the next incoming command from
-                        //!< Client
-  NetImgui::Internal::PendingCom
-      mPendingRcv;  //!< Data being currently received from Client
-  NetImgui::Internal::PendingCom
-      mPendingSend;  //!< Data being currently sent to Client
-  TexUpdateInfo mTextureHistory[256] =
-      {};  //!< Keeps track of texture changes (for debug info)
-  uint32_t mTextureHistoryIndex = 0;
-  uint64_t mLastDrawFrameIndex =
-      0;  //!< Last frame index of valid drawdata drawn
-};
-
-}  // namespace RemoteClient
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_UI.cpp b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_UI.cpp
deleted file mode 100644
index a8b81e75..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_UI.cpp
+++ /dev/null
@@ -1,1178 +0,0 @@
-// Google modifications:
-//  - Updated stb_image include path for Google third_party layout.
-#include "NetImguiServer_UI.h"
-
-#include <NetImgui_Api.h>
-#include <Private/NetImgui_CmdPackets.h>
-#include <stdio.h>
-
-#include <algorithm>
-
-#include "NetImguiServer_App.h"
-#include "NetImguiServer_Config.h"
-#include "NetImguiServer_Network.h"
-#include "NetImguiServer_RemoteClient.h"
-
-#define STB_IMAGE_IMPLEMENTATION
-#include "third_party/stblib/stb_image.h"
-#undef STB_IMAGE_IMPLEMENTATION
-
-namespace NetImguiServer {
-namespace UI {
-
-constexpr uint32_t kClientRemoteInvalid = 0xFFFFFFFF;
-constexpr char kNetImguiURL[] = "https://github.com/sammyfreg/netImgui";
-const char* kDataSizeUnits[] = {"B", "KB", "MB", "GB"};
-static const ImVec4 kColorBGClear = ImVec4(
-    0.8f, 0.8f, 0.8f, 1.f);  // Background color of the main Server window
-static const ImVec4 kColorBGTint = ImVec4(
-    1.f, 1.f, 1.f, 1.f);  // Tint applied to the main server window bg logo
-static const ImVec4 kColorTitle =
-    ImVec4(0.3f, 1.0f, 0.3f, 1.f);  // Various Server title content color
-static const ImVec4 kColorContent =
-    ImVec4(0.7f, 0.75f, 0.7f, 1.f);  // Various Server text content color
-static ImGuiID gMainDockID = 0;
-static float gDisplayFPS = 30.f;
-static auto gLastUIUpdate = std::chrono::steady_clock::now();
-static App::ServerTexture* gpBackgroundTexture;
-
-static uint32_t gPopup_ConfirmDisconnect_ClientIdx = kClientRemoteInvalid;
-static uint32_t gPopup_ConfirmDelete_ConfigIdx =
-    NetImguiServer::Config::Client::kInvalidRuntimeID;
-static bool gPopup_AboutNetImgui_Show = false;
-static bool gPopup_ServerConfig_Show = false;
-static NetImguiServer::Config::Client* gPopup_ClientConfig_pConfig = nullptr;
-
-//=================================================================================================
-// Convert a memory size to a displayable value
-//=================================================================================================
-uint8_t ConvertDataAmount(uint64_t& dataSize) {
-  uint8_t outUnitIdx = 0;
-  for (size_t i(0); i < IM_ARRAYSIZE(kDataSizeUnits); ++i) {
-    outUnitIdx += dataSize >= 1024 * 100 ? 1 : 0;
-    dataSize /= outUnitIdx > i ? 1024 : 1;
-  }
-  return outUnitIdx;
-}
-
-const App::ServerTexture* GetBackgroundTexture() { return gpBackgroundTexture; }
-
-//=================================================================================================
-// Fill current window with our main background picture
-//=================================================================================================
-void DrawCenteredBackground(const App::ServerTexture* Texture,
-                            const ImVec4& Tint) {
-  if (Texture && Texture->IsValid()) {
-    const ImVec2 savedPos = ImGui::GetCursorPos();
-    const ImVec2 areaSize = ImGui::GetContentRegionAvail();
-    const float ratioH =
-        static_cast<float>(Texture->mTexData.Width) / areaSize.x;
-    const float ratioV =
-        static_cast<float>(Texture->mTexData.Height) / areaSize.y;
-    float bgSizeX = ratioH > ratioV
-                        ? areaSize.x
-                        : areaSize.y *
-                              static_cast<float>(Texture->mTexData.Width) /
-                              static_cast<float>(Texture->mTexData.Height);
-    float bgSizeY = ratioH < ratioV
-                        ? areaSize.y
-                        : areaSize.x *
-                              static_cast<float>(Texture->mTexData.Height) /
-                              static_cast<float>(Texture->mTexData.Width);
-    float uvOffsetX = (areaSize.x - bgSizeX) / 2.f;
-    float uvOffsetY = (areaSize.y - bgSizeY) / 2.f;
-    ImTextureRef texRef =
-        const_cast<ImTextureData&>(Texture->mTexData)
-            .GetTexRef();  // Note: method does not modify object, but wasn't
-                           // marked 'const'
-    ImGui::SetCursorPos(ImVec2(savedPos.x + uvOffsetX, savedPos.y + uvOffsetY));
-    ImGui::ImageWithBg(texRef, ImVec2(bgSizeX, bgSizeY), ImVec2(0, 0),
-                       ImVec2(1, 1), ImVec4(0, 0, 0, 0), Tint);
-    ImGui::SetCursorPos(savedPos);
-  }
-}
-
-//=================================================================================================
-// If last Imgui item is hovered, display info on the provided remote client
-//=================================================================================================
-void ClientInfoTooltip(const RemoteClient::Client& Client) {
-  if (ImGui::IsItemHovered()) {
-    NetImguiServer::Config::Client config;
-    float width = ImGui::CalcTextSize("Config  ").x;
-    auto elapsedTime = std::chrono::steady_clock::now() - Client.mConnectedTime;
-    int tmSec = static_cast<int>(
-        std::chrono::duration_cast<std::chrono::seconds>(elapsedTime).count() %
-        60);
-    int tmMin = static_cast<int>(
-        std::chrono::duration_cast<std::chrono::minutes>(elapsedTime).count() %
-        60);
-    int tmHour = static_cast<int>(
-        std::chrono::duration_cast<std::chrono::hours>(elapsedTime).count());
-    bool validConfig = NetImguiServer::Config::Client::GetConfigByID(
-        Client.mClientConfigID, config);
-
-    uint64_t rxData(Client.mStatsDataRcvdPrev);
-    uint64_t txData(Client.mStatsDataSentPrev);
-    uint8_t txUnitIdx = ConvertDataAmount(txData);
-    uint8_t rxUnitIdx = ConvertDataAmount(rxData);
-
-    ImGui::BeginTooltip();
-    ImGui::TextUnformatted("Name");
-    ImGui::SameLine(width);
-    ImGui::TextColored(kColorContent, ": %s", Client.mInfoName);
-    ImGui::TextUnformatted("Config");
-    ImGui::SameLine(width);
-    ImGui::TextColored(kColorContent, ": %s",
-                       validConfig ? config.mClientName : "None");
-    ImGui::TextUnformatted("Host");
-    ImGui::SameLine(width);
-    ImGui::TextColored(kColorContent, ": %s", Client.mConnectHost);
-    ImGui::TextUnformatted("Port");
-    ImGui::SameLine(width);
-    ImGui::TextColored(kColorContent, ": %i", Client.mConnectPort);
-    ImGui::TextUnformatted("ImGui");
-    ImGui::SameLine(width);
-    ImGui::TextColored(kColorContent, ": %s", Client.mInfoImguiVerName);
-    ImGui::TextUnformatted("Time");
-    ImGui::SameLine(width);
-    ImGui::TextColored(kColorContent, ": %03ih%02i:%02i", tmHour, tmMin, tmSec);
-    ImGui::TextUnformatted("Fps");
-    ImGui::SameLine(width);
-    ImGui::TextColored(
-        kColorContent, ": %04.1f",
-        Client.mbIsVisible ? 1000.f / Client.mStatsDrawElapsedMs : 0.f);
-    ImGui::TextUnformatted("Data");
-    ImGui::SameLine(width);
-    ImGui::TextColored(kColorContent, ": (Rx) %7i KB/s \t(Tx) %7i KB/s",
-                       Client.mStatsRcvdBps / 1024,
-                       Client.mStatsSentBps / 1024);
-    ImGui::NewLine();
-    ImGui::SameLine(width);
-    ImGui::TextColored(kColorContent, ": (Rx) %7i %s   \t(Tx) %7i %s",
-                       static_cast<int>(rxData), kDataSizeUnits[rxUnitIdx],
-                       static_cast<int>(txData), kDataSizeUnits[txUnitIdx]);
-    ImGui::EndTooltip();
-  }
-}
-
-//=================================================================================================
-// When a Remote Client request is made, first makes sure to confirm with user
-//=================================================================================================
-void Popup_ConfirmDisconnect() {
-  bool pendingDisconnectOpen(gPopup_ConfirmDisconnect_ClientIdx !=
-                             kClientRemoteInvalid);
-  if (pendingDisconnectOpen) {
-    RemoteClient::Client& client =
-        RemoteClient::Client::Get(gPopup_ConfirmDisconnect_ClientIdx);
-    bool wantExit = ImGui::IsKeyPressed(ImGuiKey_Escape);
-    static ImVec2 sPopupSize = ImVec2(250.f, 200.f);
-
-    ImGuiWindowClass windowClass;
-    windowClass.ViewportFlagsOverrideSet = ImGuiViewportFlags_TopMost;
-    ImGui::SetNextWindowClass(&windowClass);
-
-    ImGuiViewport* pViewport = ImGui::GetWindowViewport();
-    ImVec2 popupPos = pViewport->Pos;
-    popupPos.x += pViewport->Size.x / 2.f - sPopupSize.x / 2.f;
-    popupPos.y += pViewport->Size.y / 2.f - sPopupSize.y / 2.f;
-    ImGui::SetNextWindowPos(popupPos, ImGuiCond_Appearing);
-
-    ImGui::OpenPopup("Confirmation##DEL");
-    if (ImGui::BeginPopupModal("Confirmation##DEL", &pendingDisconnectOpen,
-                               ImGuiWindowFlags_AlwaysAutoResize)) {
-      ImGui::NewLine();
-      ImGui::TextUnformatted(
-          "Are you certain you want to disconnect\nfrom this client "
-          "configuration ?");
-      ImGui::SetNextItemWidth(-1.0f);
-
-      if (ImGui::BeginListBox(
-              "##", ImVec2(0, ImGui::GetTextLineHeightWithSpacing() * 2.f))) {
-        ImGui::TextUnformatted(client.mInfoName);
-        ImGui::EndListBox();
-      }
-
-      ImGui::NewLine();
-      ImGui::Separator();
-      if (ImGui::Button("Cancel",
-                        ImVec2(ImGui::GetContentRegionAvail().x / 2.f, 0)) ||
-          wantExit) {
-        pendingDisconnectOpen = false;
-      }
-      ImGui::SetItemDefaultFocus();
-
-      ImGui::SameLine();
-      if (ImGui::Button("Yes", ImVec2(ImGui::GetContentRegionAvail().x, 0)) &&
-          gPopup_ConfirmDisconnect_ClientIdx != kClientRemoteInvalid) {
-        client.mbDisconnectPending = true;
-        pendingDisconnectOpen = false;
-      }
-      sPopupSize = ImGui::GetWindowSize();
-      ImGui::EndPopup();
-    }
-  }
-
-  if (!pendingDisconnectOpen) {
-    gPopup_ConfirmDisconnect_ClientIdx = kClientRemoteInvalid;
-  }
-}
-
-//=================================================================================================
-// Display information about NetImgui Server application
-//=================================================================================================
-void Popup_AboutNetImgui() {
-  if (gPopup_AboutNetImgui_Show) {
-    static ImVec2 sPopupSize = ImVec2(250.f, 200.f);
-    ImGuiWindowClass windowClass;
-    windowClass.ViewportFlagsOverrideSet = ImGuiViewportFlags_TopMost;
-    ImGui::SetNextWindowClass(&windowClass);
-
-    ImGuiViewport* pViewport = ImGui::GetWindowViewport();
-    ImVec2 popupPos = pViewport->Pos;
-    popupPos.x += pViewport->Size.x / 2.f - sPopupSize.x / 2.f;
-    popupPos.y += pViewport->Size.y / 2.f - sPopupSize.y / 2.f;
-    ImGui::SetNextWindowPos(popupPos, ImGuiCond_Appearing);
-    ImGui::OpenPopup("About NetImgui...");
-    if (ImGui::BeginPopupModal("About NetImgui...", &gPopup_AboutNetImgui_Show,
-                               ImGuiWindowFlags_AlwaysAutoResize)) {
-      ImGui::NewLine();
-      ImGui::Text("Version : %s", NETIMGUI_VERSION);
-      ImGui::NewLine();
-      ImGui::Text("For more informations : ");
-
-      ImGui::TextColored(ImColor(0.5f, 0.5f, 1.f, 1.f), kNetImguiURL);
-
-      ImGui::NewLine();
-      ImGui::TextUnformatted(
-          "Note: Commandline can be used to connect to a Client.");
-      ImGui::TextColored(kColorContent, "Syntax : (HostName);(HostPort)");
-      ImGui::TextColored(kColorContent,
-                         "Example: netImgui_Server.exe 127.0.0.1;8889");
-      ImGui::NewLine();
-      ImGui::Separator();
-
-      bool wantExit = ImGui::IsKeyPressed(ImGuiKey_Escape);
-      wantExit |= ImGui::IsKeyPressed(ImGuiKey_Enter);
-      if (ImGui::Button("Close", ImVec2(ImGui::GetContentRegionAvail().x, 0)) ||
-          wantExit)
-        gPopup_AboutNetImgui_Show = false;
-      sPopupSize = ImGui::GetWindowSize();
-      ImGui::EndPopup();
-    }
-  }
-}
-
-//=================================================================================================
-// Edit the Server configuration
-//=================================================================================================
-void Popup_ServerConfig() {
-  static int sEditPort = -1;
-  static float sEditRefreshFPSActive = 0;
-  static float sEditRefreshFPSInactive = 0;
-  static bool sEditCompressionEnable = true;
-  static int sEditServerFontSize = 0;
-  static float sSavedDPIScalePourcentage = 0.f;
-  if (gPopup_ServerConfig_Show) {
-    if (sEditPort == -1) {
-      sEditPort = static_cast<int>(NetImguiServer::Config::Server::sPort);
-      sEditRefreshFPSActive = NetImguiServer::Config::Server::sRefreshFPSActive;
-      sEditRefreshFPSInactive =
-          NetImguiServer::Config::Server::sRefreshFPSInactive;
-      sEditCompressionEnable =
-          NetImguiServer::Config::Server::sCompressionEnable;
-      sEditServerFontSize = (int)NetImguiServer::Config::Server::sFontSize;
-      sSavedDPIScalePourcentage =
-          NetImguiServer::Config::Server::sDPIScaleRatio;
-    }
-
-    static ImVec2 sPopupSize = ImVec2(250.f, 200.f);
-    ImGuiWindowClass windowClass;
-    windowClass.ViewportFlagsOverrideSet = ImGuiViewportFlags_TopMost;
-    ImGui::SetNextWindowClass(&windowClass);
-
-    ImGuiViewport* pViewport = ImGui::GetWindowViewport();
-    ImVec2 popupPos = pViewport->Pos;
-    popupPos.x += pViewport->Size.x / 2.f - sPopupSize.x / 2.f;
-    popupPos.y += pViewport->Size.y / 2.f - sPopupSize.y / 2.f;
-    ImGui::SetNextWindowPos(popupPos, ImGuiCond_Appearing);
-    ImGui::OpenPopup("Server Configuration");
-    if (ImGui::BeginPopupModal("Server Configuration",
-                               &gPopup_ServerConfig_Show,
-                               ImGuiWindowFlags_AlwaysAutoResize)) {
-      ImGui::NewLine();
-
-      // --- Port ---
-      ImGui::TextUnformatted("Port waiting for connection requests");
-      if (ImGui::InputInt("Port", &sEditPort, 1, 100, 0)) {
-        sEditPort = std::min<int>(0xFFFF, std::max<int>(1, sEditPort));
-      }
-      ImGui::SameLine();
-      if (ImGui::Button("Default")) {
-        sEditPort = NetImgui::kDefaultServerPort;
-      }
-
-      // --- Refresh ---
-      ImGui::SliderFloat("Active Window", &sEditRefreshFPSActive, 0.f, 60.f,
-                         "%2.f Fps");
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip(
-            "How often we refresh content of *visible* and *focused* "
-            "clients.\nNote: Lowering this will reduce network traffic.");
-      }
-
-      ImGui::SliderFloat("Inactive Window", &sEditRefreshFPSInactive, 0.f, 60.f,
-                         "%2.f Fps");
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip(
-            "How often we refresh content of *visible* and *unfocused* "
-            "clients.\nNote: Lowering this will reduce network traffic.");
-      }
-
-      // --- Font Size ---
-      ImGui::SliderInt("Server UI Font size", &sEditServerFontSize, 8, 32,
-                       "%2i pts");
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip(
-            "Font size for Server UI elements. This does not control the size "
-            "of text of remote client content.");
-      }
-
-      // --- DPI Scale ---
-      constexpr float kStepSize = 5.f;
-      float scalePourcentage =
-          NetImguiServer::Config::Server::sDPIScaleRatio * 100.f;
-      ImGui::SliderFloat("DPI Scale Factor", &scalePourcentage, 0.f, 200.f,
-                         "%4.f %%");
-      scalePourcentage = round(scalePourcentage / kStepSize) * kStepSize;
-      NetImguiServer::Config::Server::sDPIScaleRatio = scalePourcentage / 100.f;
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip(
-            "Amount of Font scaling applied on high resolution "
-            "monitors.\n(Helps with tiny text)");
-      }
-
-      // --- Data Compression ---
-      ImGui::Checkbox("Use Compression", &sEditCompressionEnable);
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip(
-            "Enable data compression between Client/Server communications.\n"
-            "Greatly reduce bandwidth for a small CPU overhead on the client.\n"
-            "Note: This setting can be overridden on client side.");
-      }
-
-      // --- Save/Cancel ---
-      ImGui::NewLine();
-      ImGui::Separator();
-      bool wantExit = ImGui::IsKeyPressed(ImGuiKey_Escape);
-      gPopup_ServerConfig_Show &=
-          !ImGui::Button("Cancel",
-                         ImVec2(ImGui::GetContentRegionAvail().x / 2.f, 0)) &&
-          !wantExit;
-      ImGui::SetItemDefaultFocus();
-      ImGui::SameLine();
-      // Save settings
-      if (ImGui::Button("Save", ImVec2(ImGui::GetContentRegionAvail().x, 0))) {
-        NetImguiServer::Config::Server::sPort =
-            static_cast<uint32_t>(sEditPort);
-        NetImguiServer::Config::Server::sRefreshFPSActive =
-            sEditRefreshFPSActive;
-        NetImguiServer::Config::Server::sRefreshFPSInactive =
-            sEditRefreshFPSInactive;
-        NetImguiServer::Config::Server::sCompressionEnable =
-            sEditCompressionEnable;
-        NetImguiServer::Config::Server::sFontSize = (float)sEditServerFontSize;
-        NetImguiServer::Config::Client::SaveAll();
-        gPopup_ServerConfig_Show = false;
-      }
-      // Restore settings
-      else if (!gPopup_ServerConfig_Show) {
-        NetImguiServer::Config::Server::sDPIScaleRatio =
-            sSavedDPIScalePourcentage;
-      }
-
-      sPopupSize = ImGui::GetWindowSize();
-      ImGui::EndPopup();
-    }
-  }
-
-  if (!gPopup_ServerConfig_Show) {
-    sEditPort = -1;
-  }
-}
-
-//=================================================================================================
-// Edit a new or existing client settings
-//=================================================================================================
-void Popup_ClientConfigEdit() {
-  bool bOpenEdit(gPopup_ClientConfig_pConfig != nullptr);
-  if (bOpenEdit) {
-    static ImVec2 sPopupSize = ImVec2(250.f, 200.f);
-    static bool sAnyItemWasActive =
-        false;  // Keep track if any item was in 'edit' mode the previous frame
-    bool bSkipEscapeKey = false;  // Ignore 'Esc key' when it was used to revert
-                                  // field change/stop editing a field
-
-    ImGuiWindowClass windowClass;
-    windowClass.ViewportFlagsOverrideSet = ImGuiViewportFlags_TopMost;
-    ImGui::SetNextWindowClass(&windowClass);
-    ImGuiViewport* pViewport = ImGui::GetWindowViewport();
-    ImVec2 popupPos =
-        ImVec2(pViewport->Pos.x + pViewport->Size.x / 2.f - sPopupSize.x / 2.f,
-               pViewport->Pos.y + pViewport->Size.y / 2.f - sPopupSize.y / 2.f);
-    ImGui::SetNextWindowPos(popupPos, ImGuiCond_Appearing);
-    ImGui::OpenPopup("Edit Client Info");
-    if (ImGui::BeginPopupModal("Edit Client Info", &bOpenEdit,
-                               ImGuiWindowFlags_AlwaysAutoResize)) {
-      ImGui::NewLine();
-      // --- Name ---
-      ImGui::InputText("Display Name", gPopup_ClientConfig_pConfig->mClientName,
-                       sizeof(gPopup_ClientConfig_pConfig->mClientName));
-
-      // --- IP Address ---
-      ImGui::InputText("Host Name", gPopup_ClientConfig_pConfig->mHostName,
-                       sizeof(gPopup_ClientConfig_pConfig->mHostName));
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip("IP address or name of the host to reach");
-      }
-
-      // --- Port ---
-      int port = static_cast<int>(gPopup_ClientConfig_pConfig->mHostPort);
-      if (ImGui::InputInt("Host Port", &port, 1, 100,
-                          ImGuiInputTextFlags_None)) {
-        gPopup_ClientConfig_pConfig->mHostPort =
-            std::min<int>(0xFFFF, std::max<int>(1, port));
-      }
-      ImGui::SameLine();
-      if (ImGui::Button("Default")) {
-        gPopup_ClientConfig_pConfig->mHostPort = NetImgui::kDefaultClientPort;
-      }
-
-      // --- Auto ---
-      ImGui::Checkbox("Auto Connect",
-                      &gPopup_ClientConfig_pConfig->mConnectAuto);
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip(
-            "Server automatically detect when this client is available and "
-            "connect to it.");
-      }
-
-      // --- DPI Scale ---
-      ImGui::Checkbox("DPI Scale",
-                      &gPopup_ClientConfig_pConfig->mDPIScaleEnabled);
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip(
-            "Text content will be scaled up on high resolution monitors for "
-            "increased readability.");
-      }
-
-      // --- Takeover Config ---
-      ImGui::Checkbox("Block Takeover",
-                      &gPopup_ClientConfig_pConfig->mBlockTakeover);
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip(
-            "Enabled this if you want to prevent other NetImguiServers to "
-            "forcefully disconnect this client and take over the connection.");
-      }
-
-      // --- Shared Config ---
-      if (NetImguiServer::App::HAL_GetUserSettingFolder() != nullptr) {
-        bool isShared = gPopup_ClientConfig_pConfig->mConfigType ==
-                        NetImguiServer::Config::Client::eConfigType::Shared;
-        if (ImGui::Checkbox("Shared Config", &isShared)) {
-          gPopup_ClientConfig_pConfig->mConfigType =
-              isShared ? NetImguiServer::Config::Client::eConfigType::Shared
-                       : NetImguiServer::Config::Client::eConfigType::Pending;
-        }
-        if (ImGui::IsItemHovered()) {
-          ImGui::SetTooltip(
-              "Client's settings are saved in 'Working Directory' by "
-              "default.\nEnabling this option saves their settings in the "
-              "'User Directory', making it available no matter which folder "
-              "the Server Application is launched from.");
-        }
-      }
-
-      // --- Save/Cancel ---
-      ImGui::NewLine();
-      ImGui::Separator();
-      bOpenEdit &= !ImGui::Button(
-          "Cancel", ImVec2(ImGui::GetContentRegionAvail().x / 2.f, 0));
-      ImGui::SetItemDefaultFocus();
-      ImGui::SameLine();
-      if (ImGui::Button("Save", ImVec2(ImGui::GetContentRegionAvail().x, 0))) {
-        NetImguiServer::Config::Client::SetConfig(*gPopup_ClientConfig_pConfig);
-        NetImguiServer::Config::Client::SaveAll();
-        bOpenEdit = false;
-      }
-
-      bSkipEscapeKey = sAnyItemWasActive != ImGui::IsAnyItemActive();
-      sAnyItemWasActive = ImGui::IsAnyItemActive();
-      sPopupSize = ImGui::GetWindowSize();
-      ImGui::EndPopup();
-    }
-
-    bool wantExit = !bSkipEscapeKey && ImGui::IsKeyPressed(ImGuiKey_Escape);
-    bOpenEdit &= !wantExit;
-  }
-
-  if (!bOpenEdit) {
-    NetImgui::Internal::netImguiDeleteSafe(gPopup_ClientConfig_pConfig);
-  }
-}
-
-//=================================================================================================
-// Client Config Delete Confirmation
-//=================================================================================================
-void Popup_ClientConfigDelete() {
-  NetImguiServer::Config::Client config;
-  bool bOpenDelConfirm(NetImguiServer::Config::Client::GetConfigByID(
-      gPopup_ConfirmDelete_ConfigIdx, config));
-  if (bOpenDelConfirm) {
-    static ImVec2 sPopupSize = ImVec2(250.f, 200.f);
-    ImGuiWindowClass windowClass;
-    windowClass.ViewportFlagsOverrideSet = ImGuiViewportFlags_TopMost;
-    ImGui::SetNextWindowClass(&windowClass);
-
-    ImGuiViewport* pViewport = ImGui::GetWindowViewport();
-    ImVec2 popupPos = pViewport->Pos;
-    popupPos.x += pViewport->Size.x / 2.f - sPopupSize.x / 2.f;
-    popupPos.y += pViewport->Size.y / 2.f - sPopupSize.y / 2.f;
-    ImGui::SetNextWindowPos(popupPos, ImGuiCond_Appearing);
-    ImGui::OpenPopup("Confirmation##DEL");
-    if (ImGui::BeginPopupModal("Confirmation##DEL", &bOpenDelConfirm,
-                               ImGuiWindowFlags_AlwaysAutoResize)) {
-      ImGui::NewLine();
-      ImGui::TextUnformatted(
-          "Are you certain you want to remove\nthis client configuration ?");
-      ImGui::SetNextItemWidth(-1.0f);
-      if (ImGui::BeginListBox(
-              "##", ImVec2(0, ImGui::GetTextLineHeightWithSpacing() * 2.f))) {
-        ImGui::TextUnformatted(config.mClientName);
-        ImGui::EndListBox();
-      }
-
-      ImGui::NewLine();
-      ImGui::Separator();
-      bOpenDelConfirm &= !ImGui::Button(
-          "Cancel", ImVec2(ImGui::GetContentRegionAvail().x / 2.f, 0));
-      ImGui::SetItemDefaultFocus();
-
-      ImGui::SameLine();
-      if (ImGui::Button("Yes", ImVec2(ImGui::GetContentRegionAvail().x, 0))) {
-        NetImguiServer::Config::Client::DelConfig(
-            gPopup_ConfirmDelete_ConfigIdx);
-        NetImguiServer::Config::Client::SaveAll();
-        bOpenDelConfirm = false;
-      }
-      sPopupSize = ImGui::GetWindowSize();
-      ImGui::EndPopup();
-    }
-
-    bool wantExit = ImGui::IsKeyPressed(ImGuiKey_Escape);
-    bOpenDelConfirm &= !wantExit;
-    if (!bOpenDelConfirm) {
-      gPopup_ConfirmDelete_ConfigIdx =
-          NetImguiServer::Config::Client::kInvalidRuntimeID;
-    }
-  }
-}
-
-//=================================================================================================
-// Setuping the docking of our application
-//=================================================================================================
-void DrawImguiContent_SetupDocking() {
-  if (gMainDockID == 0) {
-    gMainDockID = ImGui::GetID("MainDockID");
-  }
-
-  // We are using the ImGuiWindowFlags_NoDocking flag to make the parent window
-  // not dockable into,
-  // because it would be confusing to have two docking targets within each
-  // others.
-  ImGuiViewport* viewport = ImGui::GetMainViewport();
-  ImGuiWindowFlags window_flags =
-      ImGuiWindowFlags_NoDocking | ImGuiWindowFlags_NoBackground;
-  window_flags |= ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoCollapse |
-                  ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove;
-  window_flags |=
-      ImGuiWindowFlags_NoBringToFrontOnFocus | ImGuiWindowFlags_NoNavFocus;
-  ImGui::SetNextWindowPos(viewport->WorkPos);
-  ImGui::SetNextWindowSize(viewport->WorkSize);
-  ImGui::SetNextWindowViewport(viewport->ID);
-
-  // Important: note that we proceed even if Begin() returns false (aka window
-  // is collapsed).
-  // This is because we want to keep our DockSpace() active. If a DockSpace() is
-  // inactive, all active windows docked into it will lose their parent and
-  // become undocked. We cannot preserve the docking relationship between an
-  // active window and an inactive docking, otherwise any change of
-  // dockspace/settings would lead to windows being stuck in limbo and never
-  // being visible.
-  ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 0.0f);
-  ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
-  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.f, 4.f));
-  ImGui::Begin("DockSpace", nullptr, window_flags);
-  ImGui::PopStyleVar(3);
-  DrawCenteredBackground(gpBackgroundTexture, kColorBGTint);
-  if (ImGui::GetIO().ConfigFlags & ImGuiConfigFlags_DockingEnable) {
-    ImGui::DockSpace(gMainDockID, ImVec2(0.0f, 0.0f),
-                     ImGuiDockNodeFlags_PassthruCentralNode);
-  }
-
-  ImGui::End();
-}
-
-//=================================================================================================
-// Display the dockable window of each connected client we can interact with
-//=================================================================================================
-void DrawImguiContent_Clients() {
-  ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 4.0f);
-  ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 1.0f);
-  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(0.f, 0.f));
-
-  //---------------------------------------------------------------------------------------------
-  // Display each connected client window
-  //---------------------------------------------------------------------------------------------
-  bool hasConnection(false), hasClipboardSet(false);
-  for (uint32_t i(0); i < RemoteClient::Client::GetCountMax(); ++i) {
-    RemoteClient::Client& client = RemoteClient::Client::Get(i);
-    if (client.mbIsConnected) {
-      ImGui::PushID(i);
-      ImGui::SetNextWindowBgAlpha(1.0);
-      ImGui::SetNextWindowDockID(gMainDockID, ImGuiCond_Once);
-      bool bOpened = true;
-      hasConnection = true;
-      client.mbIsVisible = ImGui::Begin(
-          client.mWindowID, &bOpened,
-          ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoScrollWithMouse);
-      ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(8.f, 8.f));
-      ClientInfoTooltip(client);
-      ImGui::PopStyleVar(1);
-
-      // Capture input to forward to remote client, and update drawing area size
-      ImVec2 areaSize = ImGui::GetContentRegionAvail();
-      client.mAreaSizeX = static_cast<uint16_t>(std::max<float>(
-          8.f, areaSize.x));  // Prevents issue with render target of size 0
-      client.mAreaSizeY =
-          static_cast<uint16_t>(std::max<float>(8.f, areaSize.y));
-      client.CaptureImguiInput();
-
-      if (client.mbIsVisible) {
-        // Display remote client drawing results
-        if (client.mHAL_AreaTexture.Status ==
-                ImTextureStatus::ImTextureStatus_OK &&
-            areaSize.x > 0 && areaSize.y > 0) {
-          // Add fake button to discard mouse input (prevent window moving when
-          // draging inside client area)
-          ImVec2 savedPos = ImGui::GetCursorPos();
-          ImGui::InvisibleButton("canvas", areaSize,
-                                 ImGuiButtonFlags_MouseButtonLeft |
-                                     ImGuiButtonFlags_MouseButtonRight |
-                                     ImGuiButtonFlags_MouseButtonMiddle);
-          ImGui::SetCursorPos(savedPos);
-
-          // Display Client Context
-          ImTextureRef clientFrameTexRef;
-          clientFrameTexRef._TexData = &client.mHAL_AreaTexture;
-          ImGui::Image(clientFrameTexRef, areaSize,
-                       ImVec2(0, HAL_API_RENDERTARGET_INVERT_Y ? 1 : 0),
-                       ImVec2(1, HAL_API_RENDERTARGET_INVERT_Y ? 0 : 1));
-
-          if (ImGui::IsItemHovered()) {
-            ImGui::SetMouseCursor(client.mMouseCursor);
-          }
-        }
-      }
-      ImGui::End();
-      if (!bOpened && client.mbIsConnected) {
-        gPopup_ConfirmDisconnect_ClientIdx = i;
-      }
-      ImGui::PopID();
-
-      // Clipboard Received from Client
-      NetImgui::Internal::CmdClipboard* pClientIncomingClipboard =
-          client.mPendingClipboardIn.Release();
-      if (pClientIncomingClipboard) {
-        ImGui::SetClipboardText(pClientIncomingClipboard->mContentUTF8.Get());
-        netImguiDeleteSafe(pClientIncomingClipboard);
-        hasClipboardSet = true;
-      }
-    }
-  }
-
-  //---------------------------------------------------------------------------------------------
-  // Retrieve Server Clipboard content and Update Clients Clipboard
-  //---------------------------------------------------------------------------------------------
-  if (hasConnection) {
-    // Fetch OS clipboard (when supported by Dear ImGui backend)
-    static ImVector<char> sSavedServerClipboard;
-    if (sSavedServerClipboard.empty()) {
-      sSavedServerClipboard.push_back(static_cast<char>(0));
-    }
-    bool clipboardContentUpdated(false);
-    if (NetImguiServer::App::HAL_GetClipboardUpdated() || hasClipboardSet) {
-      const char* serverClipboard = ImGui::GetClipboardText();
-      serverClipboard = serverClipboard ? serverClipboard : "";
-      clipboardContentUpdated =
-          strncmp(&sSavedServerClipboard[0], serverClipboard,
-                  sSavedServerClipboard.size()) != 0;
-      if (clipboardContentUpdated) {
-        sSavedServerClipboard.resize(0);
-        while (*serverClipboard != 0) {
-          sSavedServerClipboard.push_back(*serverClipboard++);
-        }
-        sSavedServerClipboard.push_back(0);
-      }
-    }
-    // Forward Server Clipboard content to Clients
-    for (uint32_t i(0); i < RemoteClient::Client::GetCountMax(); ++i) {
-      RemoteClient::Client& client = RemoteClient::Client::Get(i);
-      const bool bFirstTimeDisplay = client.mpHAL_AreaRT == nullptr;
-      if (client.mbIsConnected &&
-          (clipboardContentUpdated || bFirstTimeDisplay)) {
-        NetImgui::Internal::CmdClipboard* pClipboard =
-            NetImgui::Internal::CmdClipboard::Create(&sSavedServerClipboard[0]);
-        client.mPendingClipboardOut.Assign(pClipboard);
-      }
-    }
-  }
-
-  //---------------------------------------------------------------------------------------------
-  // Display some instruction when no connection detected
-  //---------------------------------------------------------------------------------------------
-  if (!hasConnection) {
-    ImGui::SetNextWindowBgAlpha(1.0);
-    ImGui::SetNextWindowDockID(gMainDockID, ImGuiCond_Always);
-    ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(24.f, 24.f));
-    if (ImGui::Begin("Information", nullptr, 0)) {
-      DrawCenteredBackground(gpBackgroundTexture, ImVec4(1.f, 1.f, 1.f, 0.15f));
-
-      ImGui::TextColored(kColorTitle, "%s", "Purpose:");
-      ImGui::PushStyleColor(ImGuiCol_Text, kColorContent);
-      ImGui::TextWrapped(
-          "This 'NetImgui Server' application allows connection to clients "
-          "running with the 'NetImGui Library.");
-      ImGui::PopStyleColor();
-      ImGui::NewLine();
-
-      ImGui::TextColored(kColorTitle, "%s", "Instructions:");
-      ImGui::PushStyleColor(ImGuiCol_Text, kColorContent);
-      ImGui::TextWrapped(
-          "There are 2 ways of establishing a connection between this Server "
-          "and a Client.");
-      ImGui::TextWrapped(
-          " (A) The client can connect directly to this server, using "
-          "'NetImgui::ConnectToApp(...)' on port %i",
-          NetImguiServer::Config::Server::sPort);
-      ImGui::TextWrapped(
-          " (B) The client can wait for a Server connection using "
-          "'NetImgui::ConnectFrom(...)' and adding the Client configuration on "
-          "the Server.");
-      ImGui::PopStyleColor();
-      ImGui::NewLine();
-
-      ImGui::TextColored(kColorTitle, "%s", "Note:");
-      ImGui::PushStyleColor(ImGuiCol_Text, kColorContent);
-      ImGui::TextWrapped(
-          "'Multiple clients can be connected to this server. Each client "
-          "window can be undocked and moved around independently.");
-      ImGui::PopStyleColor();
-    }
-    ImGui::End();
-    ImGui::PopStyleVar();
-  }
-
-  ImGui::PopStyleVar(3);
-}
-
-//=================================================================================================
-// Main Menu client table entry detail (1 line in clients table)
-//=================================================================================================
-void DrawImguiContent_MainMenu_Clients_Entry(
-    RemoteClient::Client* pClient,
-    NetImguiServer::Config::Client* pClientConfig) {
-  ImGui::TableNextRow();
-  ImGui::TableSetColumnIndex(0);
-
-  // Name / Status
-  auto ConfigStatus =
-      pClientConfig ? pClientConfig->mConnectStatus
-                    : NetImguiServer::Config::Client::eStatus::Disconnected;
-  ImVec4 StatusColor =
-      pClient && pClient->mbIsConnected ? ImVec4(0.7f, 1.f, 0.25f, 1.f)
-      : ConfigStatus == NetImguiServer::Config::Client::eStatus::ErrorVer
-          ? ImVec4(1.f, 0.7f, 0.25f, 1.f)
-      : ConfigStatus == NetImguiServer::Config::Client::eStatus::ErrorBusy
-          ? ImVec4(1.f, 0.7f, 0.25f, 1.f)
-      : ConfigStatus == NetImguiServer::Config::Client::eStatus::Available
-          ? ImVec4(1.f, 0.9f, 0.1f, 1.f)
-          : ImVec4(0.0f, 0.0f, 0.0f, 0.f);
-  ImGui::PushStyleColor(ImGuiCol_CheckMark, StatusColor);
-  ImGui::BeginDisabled(pClientConfig && pClientConfig->IsReadOnly());
-  ImGui::RadioButton("##Connected", true);
-  ImGui::PopStyleColor();
-  if (pClient && pClient->mbIsConnected) {
-    bool selected(false);
-    ImGui::SameLine();
-    if (ImGui::Selectable(
-            pClient->mInfoName, &selected, ImGuiSelectableFlags_NoAutoClosePopups /* | ImGuiSelectableFlags_SpanAllColumns*/)) {
-      ImGui::SetWindowCollapsed(pClient->mWindowID, false);
-      ImGui::SetWindowFocus(pClient->mWindowID);
-    }
-    ClientInfoTooltip(*pClient);
-  }
-
-  ImGui::SameLine();
-  ImGui::Text("(%s)", pClientConfig ? pClientConfig->mClientName : "No Config");
-  ImGui::TableNextColumn();
-
-  // Hostname info IP/Port
-  ImGui::Text("%s : %i",
-              pClientConfig ? pClientConfig->mHostName
-              : pClient     ? pClient->mConnectHost
-                            : "",
-              pClientConfig ? pClientConfig->mHostPort
-              : pClient     ? pClient->mConnectPort
-                            : 0);
-  if (ImGui::IsItemHovered() && pClient) {
-    ImGui::SetTooltip("Communications assigned port: %i",
-                      pClient->mConnectPort);
-  }
-  ImGui::TableNextColumn();
-
-  // Config: AutoConnect
-  if (pClientConfig) {
-    if (ImGui::Checkbox("##auto", &pClientConfig->mConnectAuto)) {
-      NetImguiServer::Config::Client::SetProperty_ConnectAuto(
-          pClientConfig->mRuntimeID, pClientConfig->mConnectAuto);
-      NetImguiServer::Config::Client::SaveAll();
-    }
-    if (ImGui::IsItemHovered()) {
-      ImGui::SetTooltip("Toggle auto connection attempt on this client");
-    }
-
-    ImGui::TableNextColumn();
-
-    if (ImGui::Button(" - ")) {
-      gPopup_ConfirmDelete_ConfigIdx = pClientConfig->mRuntimeID;
-    }
-    ImGui::SameLine();
-    if (ImGui::Button(" ... ") &&
-        !gPopup_ClientConfig_pConfig)  // Only 1 config edit at a time,
-                                       // otherwise need to handle properly to
-                                       // avoid mem leak
-    {
-      gPopup_ClientConfig_pConfig =
-          NetImgui::Internal::netImguiNew<NetImguiServer::Config::Client>(
-              *pClientConfig);
-    }
-    ImGui::TableNextColumn();
-  } else {
-    ImGui::TableNextColumn();
-    ImGui::TableNextColumn();
-  }
-  ImGui::EndDisabled();
-
-  // Config: Connection
-  float kButtonWidth =
-      ImGui::GetFont()
-          ->CalcTextSizeA(ImGui::GetFontSize(), 500.f, 0.f, " Disconnect ")
-          .x;
-  if (pClient && !pClient->mbDisconnectPending &&
-      ImGui::Button("Disconnect", ImVec2(kButtonWidth, 0))) {
-    gPopup_ConfirmDisconnect_ClientIdx = pClient->mClientIndex;
-  } else if (pClientConfig) {
-    if (pClientConfig->IsConnecting()) {
-      ImGui::SetNextItemWidth(kButtonWidth);
-      ImGui::TextUnformatted("(Connecting)");
-    } else if (pClientConfig->IsTransient()) {
-      ImGui::SetNextItemWidth(kButtonWidth);
-      ImGui::TextUnformatted("(Request)");
-    } else if (!pClientConfig->IsConnected() &&
-               !pClientConfig->mConnectRequest &&
-               !pClientConfig->mConnectForce) {
-      if (ConfigStatus ==
-          NetImguiServer::Config::Client::eStatus::Disconnected) {
-        if (ImGui::Button("Connect", ImVec2(kButtonWidth, 0))) {
-          NetImguiServer::Config::Client::SetProperty_ConnectRequest(
-              pClientConfig->mRuntimeID, true, false);
-        }
-      } else if (ConfigStatus ==
-                 NetImguiServer::Config::Client::eStatus::Available) {
-        if (ImGui::Button("Takeover", ImVec2(kButtonWidth, 0))) {
-          NetImguiServer::Config::Client::SetProperty_ConnectRequest(
-              pClientConfig->mRuntimeID, true, true);
-        }
-        ImGui::SetItemTooltip(
-            "Client already connected to another NetImguiServer, disconnect it "
-            "and force connect this Server");
-      } else if (ConfigStatus ==
-                 NetImguiServer::Config::Client::eStatus::ErrorBusy) {
-        ImGui::SetNextItemWidth(kButtonWidth);
-        ImGui::TextUnformatted("(In Use)");
-        ImGui::SetItemTooltip(
-            "Client already connected to another NetImguiServer and doesn't "
-            "allow taking over the connection");
-      } else if (ConfigStatus ==
-                 NetImguiServer::Config::Client::eStatus::ErrorVer) {
-        ImGui::SetNextItemWidth(kButtonWidth);
-        ImGui::TextUnformatted("(Version)");
-        ImGui::SetItemTooltip(
-            "Client is using a different network protocol than this "
-            "NetImguiServer. Update the client code to match the Server.");
-      }
-    }
-  }
-}
-
-//=================================================================================================
-// MainMenu Entry : Client
-// Display the list of connected and unconnected clients
-//=================================================================================================
-void DrawImguiContent_MainMenu_Clients() {
-  int connectedClient(0);
-  constexpr ImGuiTableFlags flags =
-      ImGuiTableFlags_RowBg | ImGuiTableFlags_Resizable |
-      ImGuiTableFlags_Reorderable | ImGuiTableFlags_Hideable;
-  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(4, 4));
-  ImGui::PushStyleVar(ImGuiStyleVar_ItemInnerSpacing, ImVec2(4.f, 4.f));
-  if (ImGui::BeginTable("##TableClient", 5, flags)) {
-    ImGui::TableSetupColumn("Name", ImGuiTableColumnFlags_WidthStretch);
-    ImGui::TableSetupColumn("HostName (IP)",
-                            ImGuiTableColumnFlags_WidthStretch);
-    ImGui::TableSetupColumn("Auto", ImGuiTableColumnFlags_WidthFixed |
-                                        ImGuiTableColumnFlags_NoResize);
-    ImGui::TableSetupColumn("###Config", ImGuiTableColumnFlags_WidthFixed |
-                                             ImGuiTableColumnFlags_NoResize |
-                                             ImGuiTableColumnFlags_NoResize |
-                                             ImGuiTableColumnFlags_NoReorder);
-    ImGui::TableSetupColumn(
-        "###Connection",
-        ImGuiTableColumnFlags_WidthFixed | ImGuiTableColumnFlags_NoResize |
-            ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_NoReorder);
-    ImGui::TableHeadersRow();
-
-    // First, display all connected clients without a config
-    ImGui::PushID("Connected");
-    for (uint32_t i(0); i < RemoteClient::Client::GetCountMax(); ++i) {
-      RemoteClient::Client& client = RemoteClient::Client::Get(i);
-      if (client.mbIsConnected &&
-          client.mClientConfigID ==
-              NetImguiServer::Config::Client::kInvalidRuntimeID) {
-        ImGui::PushID(i);
-        DrawImguiContent_MainMenu_Clients_Entry(&client, nullptr);
-        ImGui::PopID();
-        ++connectedClient;
-      }
-    }
-    ImGui::PopID();
-
-    // Next, display all connected clients with a config
-    NetImguiServer::Config::Client clientConfig;
-    ImGui::PushID("ConfigConnected");
-    for (uint32_t i(0); i < RemoteClient::Client::GetCountMax(); ++i) {
-      RemoteClient::Client& client = RemoteClient::Client::Get(i);
-      if (client.mbIsConnected && NetImguiServer::Config::Client::GetConfigByID(
-                                      client.mClientConfigID, clientConfig)) {
-        ImGui::PushID(i);
-        DrawImguiContent_MainMenu_Clients_Entry(&client, &clientConfig);
-        ImGui::PopID();
-        ++connectedClient;
-      }
-    }
-    ImGui::PopID();
-
-    // Finally, display unconnected client configs
-    ImGui::PushID("ConfigUnconnected");
-    for (int i = 0;
-         NetImguiServer::Config::Client::GetConfigByIndex(i, clientConfig);
-         ++i) {
-      if (!clientConfig.IsConnected()) {
-        ImGui::PushID(i);
-        DrawImguiContent_MainMenu_Clients_Entry(nullptr, &clientConfig);
-        ImGui::PopID();
-      }
-    }
-    ImGui::PopID();
-
-    // Info about Server waiting on connection
-    {
-      ImGui::TableNextRow();
-      ImGui::TableSetColumnIndex(0);
-      ImGui::PushStyleColor(ImGuiCol_CheckMark, ImVec4(1.f, 0.35f, 0.35f, 1.f));
-      ImGui::RadioButton("##ServerPortStatus",
-                         !NetImguiServer::Network::IsWaitingForConnection());
-      ImGui::PopStyleColor();
-      ImGui::SameLine();
-      if (NetImguiServer::Network::IsWaitingForConnection()) {
-        ImGui::Text("Waiting for clients on port: %i",
-                    static_cast<int>(NetImguiServer::Config::Server::sPort));
-      } else {
-        ImGui::Text("Unable to accept clients on port: %i",
-                    static_cast<int>(NetImguiServer::Config::Server::sPort));
-      }
-    }
-    ImGui::EndTable();
-  }
-  ImGui::PopStyleVar(2);
-
-  // Button to create new client configs
-  {
-    ImGui::NewLine();
-    if (ImGui::Button("Add Client Config") && !gPopup_ClientConfig_pConfig) {
-      gPopup_ClientConfig_pConfig =
-          NetImgui::Internal::netImguiNew<NetImguiServer::Config::Client>();
-    }
-    if (ImGui::IsItemHovered()) {
-      ImGui::SetTooltip(
-          "Clients configurations let this 'NetImgui Server' attempt "
-          "connection to waiting clients (Server -> Client).\n"
-          "Clients without configuration can also connect directly to this "
-          "server on port : %i (Server <- Client).",
-          static_cast<int>(NetImguiServer::Config::Server::sPort));
-    }
-
-    ImGui::SameLine(0.f, 16.f);
-    ImGui::TextUnformatted("Note:");
-    ImGui::SameLine();
-    ImGui::TextColored(ImVec4(0.75f, 0.75f, 0.75f, 1.f),
-                       "%i connected client(s)", connectedClient);
-    if (connectedClient == 0 && ImGui::IsItemHovered()) {
-      ImGui::SetTooltip(
-          "Make sure your remote client either:"
-          "\n -Attempts connection to this server on port (%i)"
-          "\n -Waits connection from the server (after being added to client "
-          "configs list)",
-          NetImguiServer::Config::Server::sPort);
-    }
-  }
-}
-
-//=================================================================================================
-// Display some relevenant stats in the MainMenu bar
-//=================================================================================================
-void DrawImguiContent_MainMenu_Stats() {
-  uint32_t txKBs(0), rxKBs(0), connected(0);
-  for (uint32_t i(0); i < RemoteClient::Client::GetCountMax(); ++i) {
-    RemoteClient::Client& client = RemoteClient::Client::Get(i);
-    txKBs += client.mbIsConnected ? client.mStatsSentBps / 1024 : 0;
-    rxKBs += client.mbIsConnected ? client.mStatsRcvdBps / 1024 : 0;
-    connected += client.mbIsConnected ? 1 : 0;
-  }
-
-  float textWidth = ImGui::CalcTextSize("(Rx)0000KB/s  (Tx) 0000KB/s").x;
-  ImGui::SameLine(0.f, ImGui::GetContentRegionAvail().x - textWidth);
-  ImGui::TextColored(kColorContent, "(Rx) %4iKB/s  (Tx) %4iKB/s", rxKBs, txKBs);
-  if (ImGui::IsItemHovered()) {
-    uint64_t txData(NetImguiServer::Network::GetStatsDataSent());
-    uint64_t rxData(NetImguiServer::Network::GetStatsDataRcvd());
-    uint8_t txUnitIdx = ConvertDataAmount(txData);
-    uint8_t rxUnitIdx = ConvertDataAmount(rxData);
-    ImGui::BeginTooltip();
-    {
-      float width = ImGui::CalcTextSize("Data Received  ").x;
-      ImGui::TextUnformatted("Connections");
-      ImGui::SameLine(width);
-      ImGui::TextColored(kColorContent, ": %i", connected);
-      ImGui::TextUnformatted("Data Received");
-      ImGui::SameLine(width);
-      ImGui::TextColored(kColorContent, ": %i %s", static_cast<int>(rxData),
-                         kDataSizeUnits[rxUnitIdx]);
-      ImGui::TextUnformatted("Data Sent");
-      ImGui::SameLine(width);
-      ImGui::TextColored(kColorContent, ": %i %s", static_cast<int>(txData),
-                         kDataSizeUnits[txUnitIdx]);
-    }
-    ImGui::EndTooltip();
-  }
-}
-
-//=================================================================================================
-// Generate the entries for the main menubar
-//=================================================================================================
-void DrawImguiContent_MainMenu() {
-  if (ImGui::BeginMainMenuBar()) {
-    ImGui::SetNextWindowSize(
-        ImVec2(ImGui::GetContentRegionAvail().x,
-               0));  // Will let Menu popup content fill the screen width
-    if (ImGui::BeginMenu("Clients")) {
-      DrawImguiContent_MainMenu_Clients();
-      ImGui::EndMenu();
-    }
-
-    gPopup_ServerConfig_Show ^= ImGui::MenuItem("Settings");
-    gPopup_AboutNetImgui_Show ^= ImGui::MenuItem("About");
-    DrawImguiContent_MainMenu_Stats();
-    ImGui::EndMainMenuBar();
-  }
-}
-
-//=================================================================================================
-// Main entry point for rendering all of our NetImguiServer UI
-//=================================================================================================
-ImVec4 DrawImguiContent() {
-  constexpr float kHysteresis = 0.05f;
-  float elapsedMicroS =
-      static_cast<float>(std::chrono::duration_cast<std::chrono::microseconds>(
-                             std::chrono::steady_clock::now() - gLastUIUpdate)
-                             .count());
-  gLastUIUpdate = std::chrono::steady_clock::now();
-  gDisplayFPS = gDisplayFPS * (1.f - kHysteresis) +
-                (1000000.f / elapsedMicroS) * kHysteresis;
-
-  ImGui::PushFont(nullptr, NetImguiServer::Config::Server::sFontSize);
-  Popup_ServerConfig();
-  Popup_ClientConfigEdit();
-  Popup_ClientConfigDelete();
-  Popup_ConfirmDisconnect();
-  Popup_AboutNetImgui();
-
-  DrawImguiContent_MainMenu();
-  DrawImguiContent_SetupDocking();
-  DrawImguiContent_Clients();
-  // ImGui::ShowDemoWindow();
-  ImGui::PopFont();
-
-  return kColorBGClear;
-}
-
-//=================================================================================================
-// Startup : Initialize resources used by out server UI
-//=================================================================================================
-bool Startup() {
-  int Width(0), Height(0), Channel(0);
-  stbi_uc* pBGPixels =
-      stbi_load("Background.png", &Width, &Height, &Channel, 0);
-  if (pBGPixels) {
-    // @Sammyfreg TODO : Support multiple format for Background
-    NetImgui::Internal::CmdTexture cmdTexture;
-    constexpr NetImgui::eTexFormat format = NetImgui::eTexFormat::kTexFmtRGBA8;
-    const uint32_t textureBytes =
-        NetImgui::GetTexture_BytePerImage(format, Width, Height);
-    cmdTexture.mTextureClientID = 0;
-    cmdTexture.mFormat = format;
-    cmdTexture.mWidth = static_cast<uint16_t>(Width);
-    cmdTexture.mHeight = static_cast<uint16_t>(Height);
-    cmdTexture.mpTextureData.SetPtr((uint8_t*)pBGPixels);
-    gpBackgroundTexture = App::CreateTexture(cmdTexture, textureBytes);
-    stbi_image_free(pBGPixels);
-  }
-
-  ImGui::GetStyle().WindowMenuButtonPosition = ImGuiDir_Right;
-  ImGui::GetStyle().TabBorderSize = 1.f;
-  return true;
-}
-
-//=================================================================================================
-// Shutdown : Free resources
-//=================================================================================================
-void Shutdown() {}
-
-//=================================================================================================
-// Return the current average FPS of UI refreshed (tied to GPU VSync setting of
-// backend)
-//=================================================================================================
-float GetDisplayFPS() { return gDisplayFPS; }
-
-}  // namespace UI
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_UI.h b/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_UI.h
deleted file mode 100644
index 6ee156bb..00000000
--- a/python/mujoco/experimental/netimgui/Code/ServerApp/Source/NetImguiServer_UI.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// Google modifications:
-// - Added #include <cstdint> for uint32_t (not implicitly available in Google)
-
-#pragma once
-
-#include <cstdint>
-#include <imgui.h>
-
-namespace NetImguiServer {
-namespace App {
-struct ServerTexture;
-}
-}  // namespace NetImguiServer
-
-namespace NetImguiServer {
-namespace UI {
-constexpr uint32_t kWindowDPIDefault = 96;
-bool Startup();
-void Shutdown();
-ImVec4 DrawImguiContent();
-void DrawCenteredBackground(const App::ServerTexture* Texture,
-                            const ImVec4& tint = ImVec4(1.f, 1.f, 1.f, 1.f));
-float GetDisplayFPS();
-const App::ServerTexture* GetBackgroundTexture();
-}  // namespace UI
-}  // namespace NetImguiServer
diff --git a/python/mujoco/experimental/netimgui/LICENSE b/python/mujoco/experimental/netimgui/LICENSE
deleted file mode 100644
index 3974d916..00000000
--- a/python/mujoco/experimental/netimgui/LICENSE
+++ /dev/null
@@ -1,240 +0,0 @@
-MIT License
-
-Copyright (c) 2021 Sammy Fatnassi (Github: @Sammyfreg)
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-=============
-Code in the google subdirectory is licensed under the Apache License:
-
-                                 Apache License
-                           Version 2.0, January 2004
-                        https://www.apache.org/licenses/
-
-   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
-   1. Definitions.
-
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-      the conditions stated in this License.
-
-   5. Submission of Contributions. Unless You explicitly state otherwise,
-      any Contribution intentionally submitted for inclusion in the Work
-      by You to the Licensor shall be under the terms and conditions of
-      this License, without any additional terms or conditions.
-      Notwithstanding the above, nothing herein shall supersede or modify
-      the terms of any separate license agreement you may have executed
-      with Licensor regarding such Contributions.
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-   6. Trademarks. This License does not grant permission to use the trade
-      names, trademarks, service marks, or product names of the Licensor,
-      except as required for reasonable and customary use in describing the
-      origin of the Work and reproducing the content of the NOTICE file.
-
-   7. Disclaimer of Warranty. Unless required by applicable law or
-      agreed to in writing, Licensor provides the Work (and each
-      Contributor provides its Contributions) on an "AS IS" BASIS,
-      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
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-      PARTICULAR PURPOSE. You are solely responsible for determining the
-      appropriateness of using or redistributing the Work and assume any
-      risks associated with Your exercise of permissions under this License.
-
-   8. Limitation of Liability. In no event and under no legal theory,
-      whether in tort (including negligence), contract, or otherwise,
-      unless required by applicable law (such as deliberate and grossly
-      negligent acts) or agreed to in writing, shall any Contributor be
-      liable to You for damages, including any direct, indirect, special,
-      incidental, or consequential damages of any character arising as a
-      result of this License or out of the use or inability to use the
-      Work (including but not limited to damages for loss of goodwill,
-      work stoppage, computer failure or malfunction, or any and all
-      other commercial damages or losses), even if such Contributor
-      has been advised of the possibility of such damages.
-
-   9. Accepting Warranty or Additional Liability. While redistributing
-      the Work or Derivative Works thereof, You may choose to offer,
-      and charge a fee for, acceptance of support, warranty, indemnity,
-      or other liability obligations and/or rights consistent with this
-      License. However, in accepting such obligations, You may act only
-      on Your own behalf and on Your sole responsibility, not on behalf
-      of any other Contributor, and only if You agree to indemnify,
-      defend, and hold each Contributor harmless for any liability
-      incurred by, or claims asserted against, such Contributor by reason
-      of your accepting any such warranty or additional liability.
-
-   END OF TERMS AND CONDITIONS
-
-   APPENDIX: How to apply the Apache License to your work.
-
-      To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "[]"
-      replaced with your own identifying information. (Don't include
-      the brackets!)  The text should be enclosed in the appropriate
-      comment syntax for the file format. We also recommend that a
-      file or class name and description of purpose be included on the
-      same "printed page" as the copyright notice for easier
-      identification within third-party archives.
-
-   Copyright [yyyy] [name of copyright owner]
-
-   Licensed under the Apache License, Version 2.0 (the "License");
-   you may not use this file except in compliance with the License.
-   You may obtain a copy of the License at
-
-       https://www.apache.org/licenses/LICENSE-2.0
-
-   Unless required by applicable law or agreed to in writing, software
-   distributed under the License is distributed on an "AS IS" BASIS,
-   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-   See the License for the specific language governing permissions and
-   limitations under the License.
-
-   Copyright 2026 DeepMind Technologies Limited
-
-   Licensed under the Apache License, Version 2.0 (the "License");
-   you may not use this file except in compliance with the License.
-   You may obtain a copy of the License at
-
-       https://www.apache.org/licenses/LICENSE-2.0
-
-   Unless required by applicable law or agreed to in writing, software
-   distributed under the License is distributed on an "AS IS" BASIS,
-   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-   See the License for the specific language governing permissions and
-   limitations under the License.
\ No newline at end of file
diff --git a/python/mujoco/experimental/netimgui/google/NetImgui_NetworkWASM.cpp b/python/mujoco/experimental/netimgui/google/NetImgui_NetworkWASM.cpp
deleted file mode 100644
index db831cff..00000000
--- a/python/mujoco/experimental/netimgui/google/NetImgui_NetworkWASM.cpp
+++ /dev/null
@@ -1,324 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// WASM networking backend for NetImgui.
-//
-// Implements the NetImgui::Internal::Network interface using Emscripten
-// WebSockets. This file is compiled only under the Emscripten toolchain and
-// provides the browser-side transport layer for netimgui draw data.
-#include "NetImgui_Shared.h"
-
-#ifndef __EMSCRIPTEN__
-#error "This file must be compiled with emscripten."
-#endif
-
-#include <emscripten/console.h>
-#include <emscripten/websocket.h>
-
-#include <algorithm>
-#include <atomic>
-#include <cstring>
-#include <mutex>
-#include <vector>
-
-#include "NetImgui_CmdPackets.h"
-#include "google/logging.h"
-#include "google/network_status.h"
-
-namespace NetImgui {
-namespace Internal {
-namespace Network {
-
-struct SocketInfo {
-  EMSCRIPTEN_WEBSOCKET_T mSocket = 0;
-  std::atomic<bool> mConnected{false};
-  std::atomic<bool> mError{false};
-  std::atomic<bool> mClosed{false};
-  std::atomic<int> mCloseCode{0};
-
-  std::vector<uint8_t> mBuffer;
-  std::mutex mBufferMutex;
-  int mSendSizeMax =
-      1024 * 1024;  // Interface compatibility with other backends
-};
-
-// --- WebSocket event callbacks ---
-
-static EM_BOOL OnWebSocketOpen(int /*event_type*/,
-                               const EmscriptenWebSocketOpenEvent* /*event*/,
-                               void* user_data) {
-  auto* socket = static_cast<SocketInfo*>(user_data);
-  if (socket) {
-    socket->mConnected = true;
-  }
-  return EM_TRUE;
-}
-
-static EM_BOOL OnWebSocketMessage(int /*event_type*/,
-                                  const EmscriptenWebSocketMessageEvent* event,
-                                  void* user_data) {
-  auto* socket = static_cast<SocketInfo*>(user_data);
-  if (socket && !event->isText) {
-    std::lock_guard<std::mutex> lock(socket->mBufferMutex);
-    size_t old_size = socket->mBuffer.size();
-    socket->mBuffer.insert(socket->mBuffer.end(), event->data,
-                           event->data + event->numBytes);
-    static int msg_count = 0;
-    ++msg_count;
-    VLOG(1, "onmessage #%d: %d bytes, buffer: %zu -> %zu", msg_count,
-         event->numBytes, old_size, socket->mBuffer.size());
-  } else if (socket && event->isText) {
-    VLOG(1, "onmessage: TEXT frame (%d bytes), IGNORED", event->numBytes);
-  }
-  return EM_TRUE;
-}
-
-static EM_BOOL OnWebSocketClose(int /*event_type*/,
-                                const EmscriptenWebSocketCloseEvent* event,
-                                void* user_data) {
-  auto* socket = static_cast<SocketInfo*>(user_data);
-  if (socket) {
-    socket->mClosed = true;
-    socket->mCloseCode = event->code;
-  }
-  return EM_TRUE;
-}
-
-static EM_BOOL OnWebSocketError(int /*event_type*/,
-                                const EmscriptenWebSocketErrorEvent* /*event*/,
-                                void* user_data) {
-  auto* socket = static_cast<SocketInfo*>(user_data);
-  if (socket) {
-    socket->mError = true;
-  }
-  return EM_TRUE;
-}
-
-// --- Network interface implementation ---
-
-bool Startup() { return emscripten_websocket_is_supported(); }
-
-void Shutdown() {}
-
-SocketInfo* Connect(const char* server_host, uint32_t /*server_port*/) {
-  if (!emscripten_websocket_is_supported()) return nullptr;
-
-  SocketInfo* socket_info = netImguiNew<SocketInfo>();
-
-  EmscriptenWebSocketCreateAttributes attr;
-  emscripten_websocket_init_create_attributes(&attr);
-
-  // The web viewer always passes a complete WebSocket URL (e.g.
-  // "ws://host:8080/ui", built from the page origin by WsUrl), so it is used
-  // verbatim and server_port is ignored — a browser reaches the viewer's
-  // paths on the page's own shared port, not a dedicated NetImgui port.
-  const std::string url(server_host);
-  attr.url = url.c_str();
-  attr.createOnMainThread = EM_TRUE;
-  LOG(Info, "Connecting WebSocket to: %s", url.c_str());
-
-  socket_info->mSocket = emscripten_websocket_new(&attr);
-  if (socket_info->mSocket <= 0) {
-    netImguiDelete(socket_info);
-    return nullptr;
-  }
-
-  emscripten_websocket_set_onopen_callback(socket_info->mSocket, socket_info,
-                                           OnWebSocketOpen);
-  emscripten_websocket_set_onmessage_callback(socket_info->mSocket, socket_info,
-                                              OnWebSocketMessage);
-  emscripten_websocket_set_onclose_callback(socket_info->mSocket, socket_info,
-                                            OnWebSocketClose);
-  emscripten_websocket_set_onerror_callback(socket_info->mSocket, socket_info,
-                                            OnWebSocketError);
-
-  return socket_info;
-}
-
-// Abandoned sockets are not freed immediately: with -pthread, websocket
-// events are queued across threads, so an already-queued close/error event
-// can still dereference the SocketInfo after emscripten_websocket_delete().
-// When the freed block was recycled for the next socket, such a late event
-// stamped a stale mClosed flag onto a healthy connection, which the
-// reconnect logic then tore down — a self-sustaining reconnect loop. Keep
-// abandoned sockets in a small ring and free them several disconnects
-// later, when any queued events are long gone.
-static SocketInfo* s_socket_graveyard[8] = {};
-static int s_socket_graveyard_idx = 0;
-
-void Disconnect(SocketInfo* client_socket) {
-  if (!client_socket) return;
-  client_socket->mClosed = true;
-  // Detach this socket from future events; queued events may already hold
-  // the pointer (the graveyard above covers those).
-  emscripten_websocket_set_onopen_callback(client_socket->mSocket, nullptr,
-                                           OnWebSocketOpen);
-  emscripten_websocket_set_onmessage_callback(client_socket->mSocket, nullptr,
-                                              OnWebSocketMessage);
-  emscripten_websocket_set_onclose_callback(client_socket->mSocket, nullptr,
-                                            OnWebSocketClose);
-  emscripten_websocket_set_onerror_callback(client_socket->mSocket, nullptr,
-                                            OnWebSocketError);
-  emscripten_websocket_close(client_socket->mSocket, 1000,
-                             "Normal Disconnection");
-  emscripten_websocket_delete(client_socket->mSocket);
-  {
-    // Release the receive buffer now; only the flags must stay valid.
-    std::lock_guard<std::mutex> lock(client_socket->mBufferMutex);
-    client_socket->mBuffer.clear();
-    client_socket->mBuffer.shrink_to_fit();
-  }
-  if (s_socket_graveyard[s_socket_graveyard_idx]) {
-    netImguiDelete(s_socket_graveyard[s_socket_graveyard_idx]);
-  }
-  s_socket_graveyard[s_socket_graveyard_idx] = client_socket;
-  s_socket_graveyard_idx = (s_socket_graveyard_idx + 1) % 8;
-}
-
-bool DataReceivePending(SocketInfo* client_socket) {
-  if (!client_socket) return false;
-
-  if (client_socket->mError || client_socket->mClosed) {
-    // Connection is dead — flush any buffered data so we stop processing
-    // stale commands that arrived before the close.
-    std::lock_guard<std::mutex> lock(client_socket->mBufferMutex);
-    if (!client_socket->mBuffer.empty()) {
-      LOG(Warning, "Connection closed/error. Discarding %zu buffered bytes.",
-          client_socket->mBuffer.size());
-      client_socket->mBuffer.clear();
-    }
-    return false;
-  }
-
-  std::lock_guard<std::mutex> lock(client_socket->mBufferMutex);
-  return !client_socket->mBuffer.empty();
-}
-
-void DataReceive(SocketInfo* client_socket, PendingCom& pending_rcv) {
-  if (!client_socket || !pending_rcv.pCommand) {
-    pending_rcv.bError = true;
-    return;
-  }
-
-  if (!client_socket->mConnected) {
-    pending_rcv.bError = false;  // Not ready yet, caller will retry.
-    return;
-  }
-
-  // The size field comes off the wire; a value smaller than what has already
-  // been read (e.g. a command header claiming < 8 bytes, from a corrupted or
-  // desynced stream) would underflow the subtraction below into a huge
-  // size_t and memcpy past the destination command buffer.
-  if (pending_rcv.pCommand->mSize < pending_rcv.SizeCurrent) {
-    LOG(Error, "DataReceive: wire size %u < %zu bytes already read; stream "
-        "is corrupt",
-        pending_rcv.pCommand->mSize,
-        static_cast<size_t>(pending_rcv.SizeCurrent));
-    pending_rcv.bError = true;
-    return;
-  }
-
-  size_t bytes_to_read = pending_rcv.pCommand->mSize - pending_rcv.SizeCurrent;
-  if (bytes_to_read == 0) return;
-
-  std::lock_guard<std::mutex> lock(client_socket->mBufferMutex);
-
-  VLOG(1, "DataReceive: want=%zu, have=%zu, cmd_size=%u, progress=%zu",
-       bytes_to_read, client_socket->mBuffer.size(),
-       pending_rcv.pCommand->mSize, pending_rcv.SizeCurrent);
-
-  if (client_socket->mBuffer.empty()) {
-    if (client_socket->mError || client_socket->mClosed) {
-      pending_rcv.bError = true;
-    }
-    return;
-  }
-
-  size_t bytes_to_consume =
-      std::min(bytes_to_read, client_socket->mBuffer.size());
-  if (bytes_to_consume > 0) {
-    memcpy(reinterpret_cast<uint8_t*>(pending_rcv.pCommand) +
-               pending_rcv.SizeCurrent,
-           client_socket->mBuffer.data(), bytes_to_consume);
-    client_socket->mBuffer.erase(
-        client_socket->mBuffer.begin(),
-        client_socket->mBuffer.begin() + bytes_to_consume);
-    pending_rcv.SizeCurrent += bytes_to_consume;
-    pending_rcv.bError = false;
-  }
-}
-
-void DataSend(SocketInfo* client_socket, PendingCom& pending_send) {
-  if (!client_socket || client_socket->mClosed || client_socket->mError ||
-      !pending_send.pCommand) {
-    pending_send.bError = true;
-    return;
-  }
-
-  if (!client_socket->mConnected) {
-    pending_send.bError = false;  // Not ready yet, caller will retry.
-    return;
-  }
-
-  size_t bytes_remaining =
-      pending_send.pCommand->mSize - pending_send.SizeCurrent;
-  if (bytes_remaining == 0) return;
-
-  EMSCRIPTEN_RESULT result = emscripten_websocket_send_binary(
-      client_socket->mSocket,
-      reinterpret_cast<uint8_t*>(pending_send.pCommand) +
-          pending_send.SizeCurrent,
-      bytes_remaining);
-
-  if (result == EMSCRIPTEN_RESULT_SUCCESS) {
-    pending_send.SizeCurrent += bytes_remaining;
-    pending_send.bError = false;
-  } else {
-    pending_send.bError = true;
-  }
-}
-
-SocketInfo* ListenStart(uint32_t /*listen_port*/) {
-  return nullptr;  // Browsers cannot open listening ports.
-}
-
-SocketInfo* ListenConnect(SocketInfo* /*listen_socket*/) { return nullptr; }
-
-int GetCloseCode(SocketInfo* client_socket) {
-  return client_socket ? client_socket->mCloseCode.load() : 0;
-}
-
-ReadyState GetReadyState(SocketInfo* client_socket) {
-  if (!client_socket) return ReadyState::kDisconnected;
-  if (client_socket->mError) return ReadyState::kError;
-  if (client_socket->mClosed) return ReadyState::kClosed;
-
-  uint16_t ready_state = 0;
-  emscripten_websocket_get_ready_state(client_socket->mSocket, &ready_state);
-  switch (ready_state) {
-    case 0:
-      return ReadyState::kConnecting;
-    case 1:
-      return ReadyState::kOpen;
-    case 2:
-      return ReadyState::kClosing;
-    case 3:
-      return ReadyState::kClosed;
-  }
-  return ReadyState::kError;
-}
-
-}  // namespace Network
-}  // namespace Internal
-}  // namespace NetImgui
diff --git a/python/mujoco/experimental/netimgui/google/logging.h b/python/mujoco/experimental/netimgui/google/logging.h
deleted file mode 100644
index 4d307756..00000000
--- a/python/mujoco/experimental/netimgui/google/logging.h
+++ /dev/null
@@ -1,100 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef THIRD_PARTY_NETIMGUI_GOOGLE_LOGGING_H_
-#define THIRD_PARTY_NETIMGUI_GOOGLE_LOGGING_H_
-
-#include <time.h>
-
-#include <chrono>
-#include <cstdarg>
-#include <cstdio>
-#include <cstring>
-
-#if defined(__EMSCRIPTEN__)
-#include <emscripten/console.h>
-#endif
-
-namespace NetImgui {
-
-enum class LogSeverity { kInfo, kWarning, kError };
-
-// Set to 1 or higher to enable VLOG messages at runtime.
-constexpr int kLogVerbosity = 0;
-
-__attribute__((format(printf, 4, 5))) inline void NetImGuiLog(
-    LogSeverity severity, const char* file, int line, const char* fmt, ...) {
-  char buf[1024];
-  const char* basename = strrchr(file, '/');
-  basename = basename ? basename + 1 : file;
-
-  auto now_tp = std::chrono::system_clock::now();
-  time_t now = std::chrono::system_clock::to_time_t(now_tp);
-  auto now_usec = std::chrono::duration_cast<std::chrono::microseconds>(
-                      now_tp.time_since_epoch())
-                      .count() %
-                  1000000;
-  struct tm tm_info;
-  localtime_r(&now, &tm_info);
-
-  const char severity_char = severity == LogSeverity::kError     ? 'E'
-                             : severity == LogSeverity::kWarning ? 'W'
-                                                                 : 'I';
-
-  int prefix_len = snprintf(
-      buf, sizeof(buf), "%c%02d%02d %02d:%02d:%02d.%06d %s:%d] ", severity_char,
-      tm_info.tm_mon + 1, tm_info.tm_mday, tm_info.tm_hour, tm_info.tm_min,
-      tm_info.tm_sec, static_cast<int>(now_usec), basename, line);
-  if (prefix_len < 0 || prefix_len >= static_cast<int>(sizeof(buf))) {
-    prefix_len = 0;  // overwrite prefix on error or truncation
-  }
-
-  va_list args;
-  va_start(args, fmt);
-  vsnprintf(buf + prefix_len, sizeof(buf) - prefix_len, fmt, args);
-  va_end(args);
-
-  if (severity == LogSeverity::kInfo) {
-#if defined(__EMSCRIPTEN__)
-    emscripten_out(buf);
-#else
-    fputs(buf, stdout);
-    fputc('\n', stdout);
-    fflush(stdout);
-#endif
-  } else {
-#if defined(__EMSCRIPTEN__)
-    emscripten_err(buf);
-#else
-    fputs(buf, stderr);
-    fputc('\n', stderr);
-    fflush(stderr);
-#endif
-  }
-}
-
-}  // namespace NetImgui
-
-#define LOG(severity, fmt, ...)                                           \
-  ::NetImgui::NetImGuiLog(::NetImgui::LogSeverity::k##severity, __FILE__, \
-                          __LINE__, fmt, ##__VA_ARGS__)
-
-#define VLOG(level, fmt, ...)                                           \
-  do {                                                                  \
-    if (::NetImgui::kLogVerbosity >= (level))                           \
-      ::NetImgui::NetImGuiLog(::NetImgui::LogSeverity::kInfo, __FILE__, \
-                              __LINE__, fmt, ##__VA_ARGS__);            \
-  } while (0)
-
-#endif  // THIRD_PARTY_NETIMGUI_GOOGLE_LOGGING_H_
diff --git a/python/mujoco/experimental/netimgui/google/network_status.h b/python/mujoco/experimental/netimgui/google/network_status.h
deleted file mode 100644
index ce801f1c..00000000
--- a/python/mujoco/experimental/netimgui/google/network_status.h
+++ /dev/null
@@ -1,75 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Connection-state query for the WASM WebSocket network backend.
-//
-// Stock NetImgui has no such query and does not need one: its Connect()
-// implementations block until the connection is established, so a non-null
-// SocketInfo is always usable and later failures surface as DataSend /
-// DataReceive errors inside the client thread. In the browser,
-// emscripten_websocket_new() returns a socket handle immediately while the
-// connection completes (or fails) asynchronously, and no client state
-// machine is watching it. Callers poll this state to hold back traffic
-// until the socket is actually open and to detect closure for reconnecting.
-
-#ifndef THIRD_PARTY_NETIMGUI_GOOGLE_NETWORK_STATUS_H_
-#define THIRD_PARTY_NETIMGUI_GOOGLE_NETWORK_STATUS_H_
-
-namespace NetImgui {
-namespace Internal {
-namespace Network {
-
-struct SocketInfo;
-
-enum class ReadyState {
-  kDisconnected,  // Null socket.
-  kConnecting,
-  kOpen,
-  kClosing,
-  kClosed,
-  kError,
-};
-
-// Implemented in NetImgui_NetworkWASM.cpp (Emscripten builds only).
-ReadyState GetReadyState(SocketInfo* client_socket);
-
-// The WebSocket close code once the socket has closed, else 0. Lets callers
-// distinguish a deliberate server-side rejection (e.g. 4001 = driver slot
-// taken) from an ordinary drop. Implemented in NetImgui_NetworkWASM.cpp.
-int GetCloseCode(SocketInfo* client_socket);
-
-// Human-readable state name, for status overlays and logs.
-inline const char* ReadyStateName(ReadyState state) {
-  switch (state) {
-    case ReadyState::kDisconnected:
-      return "Disconnected";
-    case ReadyState::kConnecting:
-      return "Connecting";
-    case ReadyState::kOpen:
-      return "Open";
-    case ReadyState::kClosing:
-      return "Closing";
-    case ReadyState::kClosed:
-      return "Closed";
-    case ReadyState::kError:
-      return "Error";
-  }
-  return "Unknown";
-}
-
-}  // namespace Network
-}  // namespace Internal
-}  // namespace NetImgui
-
-#endif  // THIRD_PARTY_NETIMGUI_GOOGLE_NETWORK_STATUS_H_
diff --git a/python/mujoco/experimental/studio/CMakeLists.txt b/python/mujoco/experimental/studio/CMakeLists.txt
deleted file mode 100644
index eb732520..00000000
--- a/python/mujoco/experimental/studio/CMakeLists.txt
+++ /dev/null
@@ -1,102 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-if(NOT TARGET mujoco::platform)
-  message(WARNING "mujoco::platform target not found. experimental/studio bindings will not be built.")
-  return()
-endif()
-
-set(STUDIO_COMMON_LIBS
-  mujoco::platform
-  structs_header
-  structs_wrappers
-)
-
-mujoco_pybind11_module(native_viewer_cc native_viewer.cc)
-target_link_libraries(native_viewer_cc PRIVATE ${STUDIO_COMMON_LIBS})
-
-mujoco_pybind11_module(renderer renderer.cc)
-target_link_libraries(renderer PRIVATE ${STUDIO_COMMON_LIBS})
-
-mujoco_pybind11_module(ux ux.cc)
-target_link_libraries(ux PRIVATE ${STUDIO_COMMON_LIBS})
-
-mujoco_pybind11_module(sim sim.cc)
-target_link_libraries(sim PRIVATE ${STUDIO_COMMON_LIBS})
-
-set(MUJOCO_STUDIO_TARGETS
-    native_viewer_cc
-    renderer
-    ux
-    sim
-    PARENT_SCOPE
-)
-
-# dear_imgui bindings
-mujoco_pybind11_module(dear_imgui ../dear_imgui/dear_imgui.cc)
-target_link_libraries(dear_imgui PRIVATE
-  mujoco::dep::dear_imgui
-  mujoco::dep::dear_imgui_stdlib
-)
-target_include_directories(dear_imgui PRIVATE ../dear_imgui)
-set_target_properties(dear_imgui PROPERTIES
-  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../dear_imgui"
-)
-
-# implot bindings
-mujoco_pybind11_module(implot ../implot/implot.cc)
-target_link_libraries(implot PRIVATE
-  mujoco::dep::implot
-  mujoco::dep::dear_imgui
-)
-target_include_directories(implot PRIVATE ../dear_imgui)
-set_target_properties(implot PROPERTIES
-  LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../implot"
-)
-
-# Workaround for duplicate symbol error (wp_fractional_scale_manager_v1_interface)
-# when linking both GLFW (via Filament) and SDL2 statically on Linux.
-if(UNIX AND NOT APPLE)
-  set(STUDIO_PY_MODULES
-      native_viewer_cc
-      renderer
-      ux
-      sim
-  )
-  foreach(target ${STUDIO_PY_MODULES})
-    target_link_options(${target} PRIVATE "-Wl,--allow-multiple-definition")
-  endforeach()
-endif()
-
-if(APPLE)
-  set(STUDIO_PY_MODULES
-      native_viewer_cc
-      renderer
-      ux
-      sim
-      dear_imgui
-      implot
-  )
-  foreach(target ${STUDIO_PY_MODULES})
-    if(TARGET ${target})
-      add_custom_command(
-        TARGET ${target}
-        POST_BUILD
-        COMMAND
-          install_name_tool -add_rpath @loader_path/../../ $<TARGET_FILE:${target}>
-      )
-    endif()
-  endforeach()
-endif()
-
diff --git a/python/mujoco/experimental/studio/endpoints.py b/python/mujoco/experimental/studio/endpoints.py
deleted file mode 100644
index 35e6b207..00000000
--- a/python/mujoco/experimental/studio/endpoints.py
+++ /dev/null
@@ -1,148 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Endpoints route messages to the right channel."""
-
-from mujoco.experimental.studio import messages as vp
-
-
-class ViewerEndpoint:
-  """Viewer endpoint to route Messages to the Sim using the right Channel.
-
-  The viewer has an outgoing EventChannel but no outgoing SnapshotChannel.
-  The viewer has an incoming EventChannel and SnapshotChannel.
-  """
-
-  def __init__(
-      self,
-      *,
-      s2v_snapshot: vp.SnapshotChannel,
-      s2v_events: vp.EventChannel,
-      v2s_events: vp.EventChannel,
-      v2s_snapshot: vp.SnapshotChannel,
-  ):
-    self._s2v_snapshot = s2v_snapshot
-    self._s2v_events = s2v_events
-    self._v2s_events = v2s_events
-    self._v2s_snapshot = v2s_snapshot
-    self._is_closed = False
-
-  def send_to_sim(self, message: vp.Message) -> None:
-    if self._is_closed:
-      raise RuntimeError('ViewerEndpoint is closed')
-    if isinstance(message, vp.Event):
-      self._v2s_events.put(message)
-    elif isinstance(message, vp.Snapshot):
-      self._v2s_snapshot.put(message)
-    else:
-      name = type(message).__name__
-      raise TypeError(f'expected Event or Snapshot, got {name}')
-
-  def get_sim_events(self) -> list[vp.Event]:
-    """Returns all pending events from the simulation."""
-    if self._is_closed:
-      raise RuntimeError('ViewerEndpoint is closed')
-    return self._s2v_events.get()
-
-  def get_sim_snapshots(self) -> list[vp.Snapshot]:
-    """Returns all pending latest snapshots from the simulation, one per type."""
-    if self._is_closed:
-      raise RuntimeError('ViewerEndpoint is closed')
-    return self._s2v_snapshot.get()
-
-  def close(self) -> None:
-    """Close all channels owned by this endpoint (idempotent)."""
-    if not self._is_closed:
-      self._is_closed = True
-      self._v2s_events.close()
-      self._v2s_snapshot.close()
-      self._s2v_events.close()
-      self._s2v_snapshot.close()
-
-
-class SimEndpoint:
-  """Sim endpoint to route Messages to the Viewer using the right Channel.
-
-  The simulation has an outgoing SnapshotChannel and EventChannel.
-  The simulation has an incoming EventChannel but no incoming SnapshotChannel.
-  """
-
-  def __init__(
-      self,
-      *,
-      s2v_snapshot: vp.SnapshotChannel,
-      s2v_events: vp.EventChannel,
-      v2s_events: vp.EventChannel,
-      v2s_snapshot: vp.SnapshotChannel,
-  ):
-    self._s2v_snapshot = s2v_snapshot
-    self._s2v_events = s2v_events
-    self._v2s_events = v2s_events
-    self._v2s_snapshot = v2s_snapshot
-    self._is_closed = False
-
-  def send_to_viewer(self, message: vp.Message) -> None:
-    if self._is_closed:
-      raise RuntimeError('SimEndpoint is closed')
-    if isinstance(message, vp.Event):
-      self._s2v_events.put(message)
-    elif isinstance(message, vp.Snapshot):
-      self._s2v_snapshot.put(message)
-    else:
-      raise TypeError(
-          f'expected Snapshot or Event, got {type(message).__name__}'
-      )
-
-  def get_viewer_events(self) -> list[vp.Event]:
-    """Returns all pending events from the viewer."""
-    if self._is_closed:
-      raise RuntimeError('SimEndpoint is closed')
-    return self._v2s_events.get()
-
-  def get_viewer_snapshots(self) -> list[vp.Snapshot]:
-    """Returns all pending latest snapshots from the viewer, one per type."""
-    if self._is_closed:
-      raise RuntimeError('SimEndpoint is closed')
-    return self._v2s_snapshot.get()
-
-  def close(self) -> None:
-    """Close all channels owned by this endpoint."""
-    if not self._is_closed:
-      self._is_closed = True
-      self._s2v_snapshot.close()
-      self._s2v_events.close()
-      self._v2s_events.close()
-      self._v2s_snapshot.close()
-
-
-def make_endpoints(
-    *,
-    s2v_snapshot: vp.SnapshotChannel,
-    s2v_events: vp.EventChannel,
-    v2s_events: vp.EventChannel,
-    v2s_snapshot: vp.SnapshotChannel,
-) -> tuple[ViewerEndpoint, SimEndpoint]:
-  """Returns viewer and simulation endpoints."""
-  viewer_endpoint = ViewerEndpoint(
-      s2v_snapshot=s2v_snapshot,
-      s2v_events=s2v_events,
-      v2s_events=v2s_events,
-      v2s_snapshot=v2s_snapshot,
-  )
-  sim_endpoint = SimEndpoint(
-      s2v_snapshot=s2v_snapshot,
-      s2v_events=s2v_events,
-      v2s_events=v2s_events,
-      v2s_snapshot=v2s_snapshot,
-  )
-  return viewer_endpoint, sim_endpoint
diff --git a/python/mujoco/experimental/studio/launch_passive.py b/python/mujoco/experimental/studio/launch_passive.py
deleted file mode 100644
index a891baa9..00000000
--- a/python/mujoco/experimental/studio/launch_passive.py
+++ /dev/null
@@ -1,148 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Non-blocking viewer launcher.
-
-Launches the viewer in a daemon thread and returns a ``ViewerHandle``
-that the calling thread uses to push simulation state into the viewer.
-"""
-
-import queue
-import threading
-from typing import Any
-
-from mujoco.experimental.studio import endpoints
-from mujoco.experimental.studio import messages
-from mujoco.experimental.studio import viewer_handle
-from mujoco.experimental.studio import viewer_protocol
-
-
-class _PassiveSnapshotChannel(messages.SnapshotChannel):
-  """SnapshotChannel for passive mode.
-
-  Stores per-type snapshot by reference and wakes the viewer thread when put.
-  """
-
-  def __init__(self) -> None:
-    self._pending_snapshots: dict[
-        type[messages.Snapshot], messages.Snapshot
-    ] = {}
-    self._lock = threading.Lock()
-    self._wakeup = threading.Event()
-
-  def put(self, snapshot: messages.Snapshot) -> None:
-    with self._lock:
-      self._pending_snapshots[type(snapshot)] = snapshot
-    self._wakeup.set()
-
-  def get(self) -> list[messages.Snapshot]:
-    self._wakeup.clear()
-    with self._lock:
-      out = list(self._pending_snapshots.values())
-      self._pending_snapshots.clear()
-      return out
-
-  def close(self) -> None:
-    pass
-
-
-class _PassiveEventChannel(messages.EventChannel):
-  """EventChannel for passive mode using a thread-safe queue."""
-
-  def __init__(self) -> None:
-    self._events: queue.Queue[messages.Event] = queue.Queue()
-
-  def put(self, event: messages.Event) -> None:
-    self._events.put(event)
-
-  def get(self) -> list[messages.Event]:
-    out = []
-    while True:
-      try:
-        out.append(self._events.get_nowait())
-      except queue.Empty:
-        break
-    return out
-
-  def close(self) -> None:
-    pass
-
-
-def run_viewer_target(
-    config: viewer_protocol.ViewerConfig,
-    endpoint: endpoints.ViewerEndpoint,
-    plugins: list[Any] | None = None,
-) -> None:
-  """Creates the appropriate viewer and runs the viewer loop.
-
-  Args:
-    config: Configuration specifying the viewer window settings.
-    endpoint: Endpoint for communicating with the simulation side.
-    plugins: Optional list of viewer-side plugin instances, which are classes
-      with methods decorated with ``@handler``.
-  """
-  if config.gfx in ('web', 'webgl'):  # In future we may add 'webgpu' here too.
-    from mujoco.experimental.studio import web_viewer  # pylint: disable=g-import-not-at-top
-
-    viewer = web_viewer.WebViewer(config, endpoint, plugins=plugins)
-  else:
-    from mujoco.experimental.studio import native_viewer  # pylint: disable=g-import-not-at-top
-
-    viewer = native_viewer.NativeViewer(config, endpoint, plugins=plugins)
-
-  viewer_protocol.run_viewer_loop(viewer)
-
-
-def launch_passive(
-    config: viewer_protocol.ViewerConfig,
-    *,
-    viewer_plugins: list[Any] | None = None,
-    sim_plugins: list[Any] | None = None,
-) -> viewer_handle.ViewerHandle:
-  """Launches the viewer in a daemon thread without blocking.
-
-  The viewer runs on the rendering thread and renders the scene along with any
-  GUI built by registered plugins (such as ``ViewerApp``). The caller keeps
-  running and pushes state via ``handle.sync()``.
-
-  Args:
-    config: Viewer window configuration.
-    viewer_plugins: Optional list of viewer-side plugin instances, which are
-      classes with methods decorated with ``@handler``.
-    sim_plugins: Optional list of sim-side plugin instances, which are classes
-      with methods decorated with ``@handler``.
-
-  Returns:
-    A ViewerHandle for interacting with the viewer.
-  """
-  viewer_endpoint, sim_endpoint = endpoints.make_endpoints(
-      s2v_snapshot=_PassiveSnapshotChannel(),
-      s2v_events=_PassiveEventChannel(),
-      v2s_events=_PassiveEventChannel(),
-      v2s_snapshot=_PassiveSnapshotChannel(),
-  )
-
-  thread = threading.Thread(
-      target=run_viewer_target,
-      args=(config, viewer_endpoint, viewer_plugins),
-      daemon=True,
-  )
-  thread.start()
-
-  handle = viewer_handle.ViewerHandle(
-      sim_endpoint,
-      is_alive_fn=thread.is_alive,
-      shutdown_fn=thread.join,
-      plugins=sim_plugins,
-  )
-  return handle
diff --git a/python/mujoco/experimental/studio/messages.py b/python/mujoco/experimental/studio/messages.py
deleted file mode 100644
index fbefc0f8..00000000
--- a/python/mujoco/experimental/studio/messages.py
+++ /dev/null
@@ -1,262 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Messages and Channels for Studio."""
-
-import dataclasses
-import enum
-import inspect
-from typing import Any, Callable, Protocol, get_type_hints, runtime_checkable
-
-import mujoco
-from mujoco.experimental.studio import sim
-import numpy as np
-
-# -----------------------------------------------------------------------------
-# Message and Channel types for passing data between the sim and the viewer.
-# Concrete messages are defined later in this file, there is one per Event;
-# add more if needed in your script.
-# Concrete Channel implementations live in the launch_* modules.
-# -----------------------------------------------------------------------------
-
-
-class Message:
-  """Base class for data sent between the sim and the viewer.
-
-  Derive from Snapshot or Event, depending on the desired delivery semantics.
-  """
-
-
-class Snapshot(Message):
-  """Base class for latest-wins, droppable messages.
-
-  Each new snapshot replaces the previous one, so the receiver always sees the
-  most recent value. Intermediate values may be silently dropped, making
-  snapshots suitable for frequently updated state where only the latest value
-  matters.
-  """
-
-
-class Event(Message):
-  """Base class for reliable, ordered, never dropped messages.
-
-  Events are queued in order and every event is delivered exactly once. Use
-  events for discrete actions that must not be lost.
-  """
-
-
-@runtime_checkable
-class SnapshotChannel(Protocol):
-  """Channel to transport Snapshot messages with latest-wins semantics."""
-
-  def put(self, value: Snapshot) -> None:
-    """Overwrites the latest snapshot of the same type.
-
-    After calling put() it is the caller's responsibility to ensure it no longer
-    holds a reference to the snapshot.
-
-    Args:
-      value: The snapshot to put into the channel.
-    """
-    ...
-
-  def get(self) -> list[Snapshot]:
-    """Returns the latest pending snapshots of each type."""
-    ...
-
-  def close(self) -> None:
-    """Releases resources held by the channel."""
-    ...
-
-
-@runtime_checkable
-class EventChannel(Protocol):
-  """Channel to transport Event messages in an ordered stream, nothing dropped."""
-
-  def put(self, value: Event) -> None:
-    """Puts an event into the channel, appending to the stream."""
-    ...
-
-  def get(self) -> list[Event]:
-    """Returns all pending events, in order."""
-    ...
-
-  def close(self) -> None:
-    """Releases resources held by the channel."""
-    ...
-
-
-# -----------------------------------------------------------------------------
-# Concrete Event and Snapshot types.
-# -----------------------------------------------------------------------------
-
-
-@dataclasses.dataclass(frozen=True)
-class StateSnapshot(Snapshot):
-  """A snapshot message that transports a MuJoCo state."""
-
-  state: np.ndarray
-  state_sig: int
-
-
-@dataclasses.dataclass(frozen=True)
-class ResetEvent(Event):
-  """An event requesting to reset the simulation."""
-
-
-@dataclasses.dataclass(frozen=True)
-class ModelEvent(Event):
-  """An event that transports a MuJoCo model.
-
-  Attributes:
-    model: The compiled MuJoCo model.
-    path: Optional file path the model was loaded from.
-  """
-
-  model: mujoco.MjModel
-  path: str = ''
-
-
-@dataclasses.dataclass(frozen=True)
-class BuildGuiEvent(Event):
-  """Lifecycle event dispatched on every frame on the viewer side to build ImGui elements."""
-
-
-@dataclasses.dataclass(frozen=True)
-class UpdateEvent(Event):
-  """Lifecycle event dispatched on every frame on the viewer side before building GUI."""
-
-
-@dataclasses.dataclass(frozen=True)
-class MjOptionSnapshot(Snapshot):
-  """A snapshot sending mjOption state from viewer to sim each frame."""
-
-  opt: mujoco.MjOption
-
-
-@dataclasses.dataclass(frozen=True)
-class PerturbEvent(Event):
-  """Carries perturbation forces from the viewer to the simulation."""
-
-  state: np.ndarray
-  state_sig: int
-
-
-@dataclasses.dataclass(frozen=True)
-class StepControlSnapshot(Snapshot):
-  """A snapshot sending step control state from viewer to sim each frame."""
-
-  pause_state: sim.PauseState
-  speed: float
-  noise_scale: float
-  noise_rate: float
-
-
-@dataclasses.dataclass(frozen=True)
-class ExitEvent(Event):
-  """An event requesting to exit."""
-
-
-# ---------------------------------------------------------------------------
-# Message handling decorator.
-# ---------------------------------------------------------------------------
-
-_HANDLER_INFO_ATTR = '_studio_handler_info'
-
-
-@dataclasses.dataclass(frozen=True)
-class _HandlerInfo:
-  """Metadata stamped on a decorated method."""
-
-  priority: int
-  message_type: type[Message]
-
-
-class Priority(enum.IntEnum):
-  """Execution priority levels for message handlers.
-
-  Handlers with higher values execute first. When multiple handlers share the
-  same priority, their relative order is undefined.
-  """
-
-  INTERNAL = 1  # For built-in handlers.
-  LIBRARY = 10  # For library extensions.
-  USER = 100  # For user extensions. Default when no priority is specified.
-  CRITICAL = 1000  # For handlers that must run before everything else.
-
-
-def handler(
-    fn: Callable[..., Any] | None = None, *, priority: int = Priority.USER
-) -> Callable[..., Any]:
-  """Decorator to mark a class method as a message handler.
-
-  The class method must accept exactly two arguments: self and a message event.
-  e.g., ``@handler`` or ``@handler(priority=...)``.
-
-  Args:
-    fn: The method to stamp with handler metadata.
-    priority: The priority of the handler.
-
-  Returns:
-    The stamped method.
-  """
-
-  def stamp(target: Callable[..., Any]) -> Callable[..., Any]:
-    fn_name = getattr(target, '__name__', str(target))
-    params = list(inspect.signature(target).parameters.values())
-    if len(params) != 2:
-      raise TypeError(
-          f'{fn_name} must accept exactly two arguments, got {len(params)}'
-      )
-
-    message_type = params[1].annotation
-
-    # When `from __future__ import annotations` is enabled or string forward
-    # references are used, annotations are stored as strings rather than code
-    # objects. In this case, resolve the string into its actual class type.
-    if isinstance(message_type, str):
-      try:
-        hints = get_type_hints(target)
-        param_name = params[1].name
-        if param_name in hints:
-          message_type = hints[param_name]
-      except Exception:  # pylint: disable=broad-except
-        pass
-
-    # Verify we got a type annotation.
-    if message_type is inspect.Parameter.empty:
-      raise TypeError(
-          f'{fn_name}: second parameter must have a type annotation'
-      )
-
-    # Verify that the annotation resolved to an actual Python class and that the
-    # class is a valid subclass of Message. This also catches cases where a
-    # string forward reference failed to resolve via get_type_hints above.
-    if not (
-        isinstance(message_type, type) and issubclass(message_type, Message)
-    ):
-      raise TypeError(
-          f'{fn_name}: second parameter type annotation {message_type} is not'
-          ' a Message subclass'
-      )
-
-    info = _HandlerInfo(priority=priority, message_type=message_type)
-    setattr(target, _HANDLER_INFO_ATTR, info)
-    return target
-
-  # Used without parens: e.g., @handler
-  if fn is not None:
-    return stamp(fn)
-
-  # Used with parens: e.g., @handler() or @handler(priority=...)
-  return stamp
diff --git a/python/mujoco/experimental/studio/native_viewer.cc b/python/mujoco/experimental/studio/native_viewer.cc
deleted file mode 100644
index fe444dad..00000000
--- a/python/mujoco/experimental/studio/native_viewer.cc
+++ /dev/null
@@ -1,236 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstddef>
-#include <cstdint>
-#include <cstdlib>
-#include <cstring>
-#include <filesystem>  // NOLINT(build/c++17)
-#include <memory>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <fstream>
-#include <imgui.h>
-#include <implot.h>
-#include <mujoco/mujoco.h>
-#include <mujoco/experimental/platform/hal/filament_renderer.h>
-#include <mujoco/experimental/platform/hal/graphics_mode.h>
-#include <mujoco/experimental/platform/hal/window.h>
-#include <mujoco/experimental/platform/sys_utils.h>
-#include "structs.h"
-#include <pybind11/eval.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-static bool IsCuda() {
-#ifdef CUDA
-  return true;
-#else
-  return false;
-#endif
-}
-
-static bool IsCrd() {
-  const char* display = getenv("DISPLAY");
-  return display ? strcmp(display, ":20") == 0 : false;
-}
-
-static std::vector<std::byte> LoadAsset(std::string_view path) {
-  std::string_view subpath = path.substr(path.find(':') + 1);
-  static const std::string asset_dir = []() {
-    std::string module_dir =
-        mujoco::platform::GetModuleDir((void*)&LoadAsset);
-    return module_dir.empty()
-               ? "assets"
-               : (std::filesystem::path(module_dir) / "assets").string();
-  }();
-  std::string file_path = asset_dir + "/" + std::string(subpath);
-
-  std::ifstream file(file_path, std::ios::binary | std::ios::ate);
-  if (!file.is_open()) {
-    return {};
-  }
-  auto file_size = file.tellg();
-  file.seekg(0, std::ios::beg);
-  std::vector<std::byte> buffer(file_size);
-  if (!file.read(reinterpret_cast<char*>(buffer.data()), file_size)) {
-    return {};
-  }
-  return buffer;
-}
-
-// Holds loaded resource data for the MuJoCo resource provider.
-struct ResourceData {
-  std::vector<std::byte> bytes;
-};
-
-class Viewer {
- public:
-  Viewer(const std::string& title, int width, int height,
-         std::string graphics_mode_str) {
-    py::gil_scoped_release no_gil;
-    // Register resource providers for font and filament assets.
-    mjpResourceProvider resource_provider;
-    mjp_defaultResourceProvider(&resource_provider);
-
-    resource_provider.open = [](mjResource* resource) {
-      auto* data = new ResourceData();
-      data->bytes = LoadAsset(resource->name);
-      if (data->bytes.empty()) {
-        delete data;
-        return 0;
-      }
-      resource->data = data;
-      return static_cast<int>(data->bytes.size());
-    };
-    resource_provider.read = [](mjResource* resource, const void** buffer) {
-      auto* data = static_cast<ResourceData*>(resource->data);
-      *buffer = data->bytes.data();
-      return static_cast<int>(data->bytes.size());
-    };
-    resource_provider.close = [](mjResource* resource) {
-      delete static_cast<ResourceData*>(resource->data);
-      resource->data = nullptr;
-    };
-    resource_provider.prefix = "font";
-    mjp_registerResourceProvider(&resource_provider);
-    resource_provider.prefix = "filament";
-    mjp_registerResourceProvider(&resource_provider);
-
-    mujoco::platform::Window::Config config;
-    using GraphicsMode = mujoco::platform::GraphicsMode;
-    config.gfx_mode = mujoco::platform::GraphicsModeFromString(
-        graphics_mode_str, GraphicsMode::FilamentOpenGl);
-    window_ = std::make_unique<mujoco::platform::Window>("PyStudio " + title,
-                                                         width, height, config);
-    ImPlot::CreateContext();
-
-    renderer_ = std::make_unique<mujoco::platform::FilamentRenderer>(
-        window_->GetNativeWindowHandle(), config.gfx_mode);
-  }
-
-  void InitRenderer(const mujoco::python::MjModelWrapper& model) {
-    py::gil_scoped_release no_gil;
-    renderer_->Init(model.get());
-  }
-
-  bool NewFrame() {
-    py::gil_scoped_release no_gil;
-    const mujoco::platform::Window::Status status = window_->NewFrame();
-    return status == mujoco::platform::Window::Status::kRunning;
-  }
-
-  intptr_t UploadImage(intptr_t tex_id, const std::string img, int width,
-                       int height, int bpp) {
-    py::gil_scoped_release no_gil;
-    return renderer_->UploadImage(tex_id, (const std::byte*)img.data(), width,
-                                  height, bpp);
-  }
-
-  int RenderToTexture(const mujoco::python::MjModelWrapper& model,
-                      mujoco::python::MjDataWrapper& data,
-                      mujoco::python::MjvCameraWrapper& cam, int width,
-                      int height, int tex_id) {
-    py::gil_scoped_release no_gil;
-    const int bytes_per_pixel = 3;
-    std::vector<std::byte> bytes(width * height * bytes_per_pixel);
-    renderer_->RenderToTexture(model.get(), data.get(), cam.get(), width,
-                               height, bytes.data());
-    return renderer_->UploadImage(tex_id, bytes.data(), width, height,
-                                  bytes_per_pixel);
-  }
-
-  std::string GetDropFile() { return window_->GetDropFile(); }
-
-  void Present(
-      const mujoco::python::MjModelWrapper& model,
-      mujoco::python::MjDataWrapper& data,
-      mujoco::python::MjvPerturbWrapper& perturb,
-      mujoco::python::MjvCameraWrapper& camera,
-      mujoco::python::MjvOptionWrapper& vis_options,
-      const std::vector<uint8_t>& render_flags,
-      const std::vector<mujoco::python::MjvGeomWrapper>& extra_geoms = {}) {
-    std::vector<mjvGeom> geoms;
-    geoms.reserve(extra_geoms.size());
-    for (const auto& geom_wrapper : extra_geoms) {
-      if (geom_wrapper.get()) {
-        geoms.push_back(*geom_wrapper.get());
-      }
-    }
-
-    py::gil_scoped_release no_gil;
-
-    const float width = window_->GetWidth();
-    const float height = window_->GetHeight();
-    const float scale = window_->GetScale();
-
-    if (mujoco::platform::IsHeadless(window_->GetGraphicsMode())) {
-      pixels_.resize(width * height * 3);
-    } else {
-      pixels_.clear();
-    }
-
-    // Update render flags before rendering.
-    mjtByte* flags = renderer_->GetRenderFlags();
-    for (size_t i = 0; i < mjNRNDFLAG && i < render_flags.size(); ++i) {
-      flags[i] = render_flags[i];
-    }
-
-    renderer_->Render(model.get(), data.get(), perturb.get(), camera.get(),
-                      vis_options.get(), width * scale, height * scale, pixels_,
-                      geoms);
-
-    window_->EndFrame();
-    window_->Present(pixels_);
-  }
-
-  intptr_t GetImGuiContext() {
-    return reinterpret_cast<intptr_t>(ImGui::GetCurrentContext());
-  }
-
-  // See ux.set_implot_context: extension modules each hold their own copy of
-  // the ImPlot globals, so the context pointer must be shared explicitly.
-  intptr_t GetImPlotContext() {
-    return reinterpret_cast<intptr_t>(ImPlot::GetCurrentContext());
-  }
-
- private:
-  std::unique_ptr<mujoco::platform::Window> window_;
-  std::unique_ptr<mujoco::platform::Renderer> renderer_;
-  std::vector<std::byte> pixels_;
-};
-
-PYBIND11_MODULE(native_viewer_cc, m, pybind11::mod_gil_not_used()) {
-  pybind11::module_::import("mujoco._structs");
-  pybind11::class_<Viewer>(m, "Viewer")
-      .def(pybind11::init<const std::string&, int, int, const std::string&>())
-      .def("InitRenderer", &Viewer::InitRenderer)
-      .def("NewFrame", &Viewer::NewFrame)
-      .def("Present", &Viewer::Present, pybind11::arg("model"),
-           pybind11::arg("data"), pybind11::arg("perturb"),
-           pybind11::arg("camera"), pybind11::arg("vis_options"),
-           pybind11::arg("render_flags"),
-           pybind11::arg("extra_geoms") =
-               std::vector<mujoco::python::MjvGeomWrapper>())
-      .def("UploadImage", &Viewer::UploadImage)
-      .def("RenderToTexture", &Viewer::RenderToTexture)
-      .def("GetDropFile", &Viewer::GetDropFile)
-      .def("GetImGuiContext", &Viewer::GetImGuiContext)
-      .def("GetImPlotContext", &Viewer::GetImPlotContext);
-  m.def("IsCrd", &IsCrd);
-  m.def("IsCuda", &IsCuda);
-}
diff --git a/python/mujoco/experimental/studio/native_viewer.py b/python/mujoco/experimental/studio/native_viewer.py
deleted file mode 100644
index b0c27db7..00000000
--- a/python/mujoco/experimental/studio/native_viewer.py
+++ /dev/null
@@ -1,182 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Simulation-agnostic native viewer for MuJoCo models.
-
-See the documentation for viewer_app.py for more details on the architecture
-separating the viewer and simulation.
-"""
-
-from typing import Any
-
-import mujoco
-from mujoco.experimental.studio import endpoints
-from mujoco.experimental.studio import native_viewer_cc as _viewer
-from mujoco.experimental.studio import ux
-from mujoco.experimental.studio import viewer_protocol
-
-from mujoco.experimental.dear_imgui import dear_imgui as imgui
-from mujoco.experimental.implot import implot
-
-
-class NativeViewer(viewer_protocol.Viewer):
-  """Simulation-agnostic native viewer for MuJoCo models."""
-
-  def __init__(
-      self,
-      config: viewer_protocol.ViewerConfig,
-      endpoint: endpoints.ViewerEndpoint,
-      *,
-      model: mujoco.MjModel | None = None,
-      model_path: str = '',
-      plugins: list[Any] | None = None,
-      camera: mujoco.MjvCamera | None = None,
-      vis_options: mujoco.MjvOption | None = None,
-      perturb: mujoco.MjvPerturb | None = None,
-      render_flags: ux.RenderFlags | None = None,
-      extra_geoms: list[mujoco.MjvGeom] | None = None,
-  ) -> None:
-    """Initializes the NativeViewer.
-
-    Args:
-      config: Viewer window configuration.
-      endpoint: The viewer endpoint for communication with the sim side.
-      model: Optional initial MjModel. Forwarded to the base Viewer.
-      model_path: Optional path to the model file.
-      plugins: Optional list of plugin instances.
-      camera: Camera parameters. Internal object is created if None.
-      vis_options: Visualization options. Internal object is created if None.
-      perturb: Perturbation parameters. Internal object is created if None.
-      render_flags: Render flags. Internal object is created if None.
-      extra_geoms: List of extra geoms. Internal list is created if None.
-    """
-    super().__init__(
-        config,
-        endpoint,
-        model=model,
-        model_path=model_path,
-        plugins=plugins,
-        camera=camera,
-        vis_options=vis_options,
-        perturb=perturb,
-        render_flags=render_flags,
-        extra_geoms=extra_geoms,
-    )
-
-    # Create the renderer.
-    self._viewer = _viewer.Viewer(
-        config.title, config.width, config.height, config.gfx or ''
-    )
-
-    # Track the python object id of the model currently loaded in the renderer
-    # so we can detect when the model changes and re-initialize.
-    self._renderer_model_id = id(None)
-
-    ctx = self._viewer.GetImGuiContext()
-    imgui.SetCurrentContext(ctx)
-    ux.set_imgui_context(ctx)
-    ux.set_implot_context(self._viewer.GetImPlotContext())
-    implot.set_imgui_context(ctx)
-    implot.set_implot_context(self._viewer.GetImPlotContext())
-
-    # Dispatch lifecycle event so handlers can cache the viewer reference.
-    self.dispatch(viewer_protocol.ViewerInitEvent(viewer=self))
-
-  def _sync_renderer(self, model: mujoco.MjModel) -> None:
-    """Re-initializes the renderer if the model object has changed."""
-    if id(model) != self._renderer_model_id:
-      self._viewer.InitRenderer(model)
-      self._renderer_model_id = id(model)
-
-  def prepare_next_frame(self) -> bool:
-    """Advances to the next frame; returns False when the window is closed."""
-    if not self._viewer.NewFrame():
-      self._is_running = False
-      return False
-    return True
-
-  def sync(self) -> None:
-    """Render the scene and present it to the window."""
-    self._sync_renderer(self.model)
-    self._viewer.Present(
-        self.model,
-        self.data,
-        self.perturb,
-        self.camera,
-        self.vis_options,
-        self.render_flags.flags,
-        self.extra_geoms,
-    )
-
-  # TODO(matijak): Remove stop() and rename callers to close().
-  def stop(self) -> None:
-    """Stop the viewer."""
-    self.close()
-
-  def get_drop_file(self) -> str:
-    """Returns the path of the file dropped into the window, or empty string."""
-    return self._viewer.GetDropFile()
-
-  def upload_image(
-      self, tex_id: int, img: str | bytes, width: int, height: int, bpp: int
-  ) -> int:
-    """Uploads an image to the backend for GUI rendering.
-
-    The ID can be used in subsequent calls to update the texture data. An empty
-    `img` argument will free the texture if it exists. A `tex_id` of 0 will
-    create a new texture.
-
-    Args:
-      tex_id: The texture ID.
-      img: The image data as string or bytes.
-      width: Width of the image.
-      height: Height of the image.
-      bpp: Bytes per pixel.
-
-    Returns:
-      The texture ID.
-    """
-    return self._viewer.UploadImage(tex_id, img, width, height, bpp)
-
-  def render_to_texture(
-      self,
-      model: mujoco.MjModel,
-      data: mujoco.MjData,
-      tex_id: int,
-      width: int,
-      height: int,
-  ) -> int:
-    """Renders the scene to a texture.
-
-    This function renders the scene from the current camera view into a texture.
-    It handles buffer allocation internally.
-
-    Args:
-      model: The MuJoCo model provided by the simulation.
-      data: The MuJoCo data provided by the simulation.
-      tex_id: The texture ID to render into (0 to create a new one).
-      width: Width of the texture.
-      height: Height of the texture.
-
-    Returns:
-      The texture ID.
-    """
-    self._sync_renderer(model)
-    return self._viewer.RenderToTexture(
-        model,
-        data,
-        self.camera,
-        width,
-        height,
-        tex_id,
-    )
diff --git a/python/mujoco/experimental/studio/parser.py b/python/mujoco/experimental/studio/parser.py
deleted file mode 100644
index 54d7ba88..00000000
--- a/python/mujoco/experimental/studio/parser.py
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Loads and compiles MuJoCo models for the studio viewer."""
-
-import mujoco
-
-
-def parse(filepath: str) -> mujoco.MjData:
-  if filepath.endswith('.mjb'):
-    model = mujoco.MjModel.from_binary_path(filepath)
-  elif filepath.endswith(('.mjz', '.zip')):
-    # .mjz archives mount assets into a VFS during parsing; the same VFS must
-    # be passed to compile() so the assets remain accessible.
-    with mujoco.MjVfs() as vfs:
-      spec = mujoco.MjSpec.from_file(filepath, vfs=vfs)
-      model = spec.compile(vfs=vfs)
-  else:
-    model = mujoco.MjSpec.from_file(filepath).compile()
-  return mujoco.MjData(model)
diff --git a/python/mujoco/experimental/studio/plugin_registry.py b/python/mujoco/experimental/studio/plugin_registry.py
deleted file mode 100644
index 3eeba21b..00000000
--- a/python/mujoco/experimental/studio/plugin_registry.py
+++ /dev/null
@@ -1,62 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Plugin registry, handler discovery, and runtime dispatching."""
-
-import collections
-from typing import Any, Callable
-from mujoco.experimental.studio import messages
-
-
-def _discover_handlers(
-    plugin: Any,
-) -> list[tuple[messages._HandlerInfo, Callable[..., Any]]]:
-  """Scan an object for methods marked with handler decorators."""
-  handlers = []
-  for name in dir(type(plugin)):
-    unbound = getattr(type(plugin), name, None)
-    if unbound is None:
-      continue
-    info = getattr(unbound, messages._HANDLER_INFO_ATTR, None)  # pylint: disable=protected-access
-    if info is None:
-      continue
-    bound = getattr(plugin, name)
-    handlers.append((info, bound))
-  return handlers
-
-
-class PluginRegistry:
-  """Runtime registry of discovered handlers from plugin instances."""
-
-  def __init__(self, plugins: list[Any] | None = None) -> None:
-    self.handlers: dict[
-        type[messages.Message], list[tuple[int, Callable[..., Any]]]
-    ] = collections.defaultdict(list)
-    for obj in plugins or []:
-      for info, bound_method in _discover_handlers(obj):
-        self.handlers[info.message_type].append((info.priority, bound_method))
-
-  def dispatch(self, message: Any) -> None:
-    """Dispatches a message to registered handlers in priority order."""
-    # Collect all matching handlers for the given message class and all its
-    # ancestors/superclasses.
-    message_handlers = []
-    for message_type in type(message).__mro__:
-      message_handlers.extend(self.handlers.get(message_type, []))
-
-    # Sort by priority; higher values execute first.
-    message_handlers.sort(key=lambda item: item[0], reverse=True)
-    for _, handler in message_handlers:
-      if handler(message):
-        # Handler returned True to consume the message; stop dispatching.
-        return
diff --git a/python/mujoco/experimental/studio/renderer.cc b/python/mujoco/experimental/studio/renderer.cc
deleted file mode 100644
index e51c2fab..00000000
--- a/python/mujoco/experimental/studio/renderer.cc
+++ /dev/null
@@ -1,87 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <mujoco/experimental/platform/hal/filament_renderer.h>
-
-#include <cstddef>
-#include <memory>
-#include <optional>
-#include <string>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include <mujoco/experimental/platform/hal/graphics_mode.h>
-#include "structs.h"
-#include <pybind11/eval.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-namespace mujoco::python {
-
-class Renderer {
- public:
-  using RendererImpl = mujoco::platform::FilamentRenderer;
-  using GraphicsMode = mujoco::platform::GraphicsMode;
-
-  Renderer(const std::string& graphics_mode_str) {
-    py::gil_scoped_release no_gil;
-    const GraphicsMode mode = mujoco::platform::GraphicsModeFromString(
-        graphics_mode_str, GraphicsMode::FilamentOpenGl);
-    impl_ = std::make_unique<RendererImpl>(nullptr, mode);
-  }
-
-  void Init(const MjModelWrapper& model) {
-    py::gil_scoped_release no_gil;
-    impl_->Init(model.get());
-  }
-
-  pybind11::bytes Render(const MjModelWrapper& model, MjDataWrapper& data,
-                         std::optional<MjvPerturbWrapper>& perturb,
-                         std::optional<MjvCameraWrapper>& camera,
-                         std::optional<MjvOptionWrapper>& vis_option, int width,
-                         int height) {
-    std::vector<std::byte> pixels(width * height * 3);
-    {
-      py::gil_scoped_release no_gil;
-      impl_->Render(model.get(), data.get(),
-                    perturb ? perturb.value().get() : nullptr,
-                    camera ? camera.value().get() : nullptr,
-                    vis_option ? vis_option.value().get() : nullptr, width,
-                    height, pixels);
-    }
-    return pybind11::bytes((const char*)pixels.data(), pixels.size());
-  }
-
-  pybind11::memoryview GetRenderFlags() {
-    return pybind11::memoryview::from_buffer(
-        impl_->GetRenderFlags(), {static_cast<pybind11::ssize_t>(mjNRNDFLAG)},
-        {sizeof(mjtByte)});
-  }
-
- private:
-  std::unique_ptr<RendererImpl> impl_;
-};
-
-}  // namespace mujoco::python
-
-PYBIND11_MODULE(renderer, m, pybind11::mod_gil_not_used()) {
-  pybind11::module_::import("mujoco._structs");
-  pybind11::class_<mujoco::python::Renderer>(m, "Renderer")
-      .def(pybind11::init<const std::string&>())
-      .def("Init", &mujoco::python::Renderer::Init)
-      .def("Render", &mujoco::python::Renderer::Render)
-      .def("get_render_flags", &mujoco::python::Renderer::GetRenderFlags,
-           pybind11::keep_alive<0, 1>());
-}
diff --git a/python/mujoco/experimental/studio/sample/ghost.py b/python/mujoco/experimental/studio/sample/ghost.py
deleted file mode 100644
index 3937d938..00000000
--- a/python/mujoco/experimental/studio/sample/ghost.py
+++ /dev/null
@@ -1,205 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Example to run studio with a time-delayed ghost overlay of model geoms.
-
-This script runs a Studio viewer that renders time-delayed semi-transparent
-ghosts of the primitive mjvGeoms in the model.
-"""
-
-import collections
-import os
-import sys
-
-from absl import app as _app
-from absl import flags as _flags
-import mujoco
-from mujoco.experimental.studio import launch_passive
-from mujoco.experimental.studio import messages
-from mujoco.experimental.studio import parser
-from mujoco.experimental.studio import sim
-from mujoco.experimental.studio import studio_app_events
-from mujoco.experimental.studio import ux
-from mujoco.experimental.studio import viewer_protocol
-from mujoco.experimental.studio import viewer_utils
-import numpy as np
-
-from mujoco.experimental.dear_imgui import dear_imgui as imgui
-
-vp = viewer_protocol
-
-_MODEL = _flags.DEFINE_string('model', None, 'Path to model file.')
-_GFX = _flags.DEFINE_enum(
-    'gfx', None, vp.GFX_MODES, 'Graphics mode ("web" launches Web Viewer).'
-)
-_PORT = _flags.DEFINE_integer(
-    'port', 0, 'Web Viewer port (0 picks first free port >= 8080).'
-)
-_WIDTH = _flags.DEFINE_integer('width', 1200, 'Width of the output image.')
-_HEIGHT = _flags.DEFINE_integer('height', 800, 'Height of the output image')
-
-
-class GhostRenderer:
-  """Handler that renders time-delayed semi-transparent ghost geoms."""
-
-  def __init__(self) -> None:
-    self._viewer: viewer_protocol.Viewer | None = None
-    self._delay: float = 0.5
-    self._ghost_rgba: list[float] = [0.4, 0.5, 0.9, 0.5]
-    self._history: collections.deque[tuple[float, np.ndarray, np.ndarray]] = (
-        collections.deque()
-    )
-    self._last_time: float | None = None
-
-  def _is_fixed_body(self, body_id: int) -> bool:
-    """Check if a body is fixed (welded to world, not attached to mocap)."""
-    assert self._viewer is not None
-    model = self._viewer.model
-    is_weld = model.body_weldid[body_id] == 0
-    root_id = model.body_rootid[body_id]
-    return bool(is_weld and model.body_mocapid[root_id] < 0)
-
-  @messages.handler
-  def on_viewer_init(self, event: viewer_protocol.ViewerInitEvent) -> None:
-    """Caches the Viewer reference for later access to model/data."""
-    self._viewer = event.viewer
-
-  @messages.handler
-  def on_model(self, event: messages.ModelEvent) -> bool:
-    """Resets ghost-specific state when the model changes."""
-    del event  # Model/data are accessed via self._viewer.
-    self._history.clear()
-    self._last_time = None
-    return False
-
-  @messages.handler
-  def on_build_gui(self, _: messages.BuildGuiEvent) -> None:
-    """Renders the ghost configuration GUI panel."""
-    if imgui.Begin('Ghost', flags=int(imgui.WindowFlags.AlwaysAutoResize)):
-      changed_delay, delay = imgui.InputFloat(
-          'Delay (s)', self._delay, 0.05, 0.5, '%.2f'
-      )
-      if changed_delay:
-        self._delay = max(0.0, delay)
-
-      changed_color, rgba = imgui.ColorEdit4('Color', self._ghost_rgba)
-      if changed_color:
-        self._ghost_rgba = rgba
-    imgui.End()
-
-  @messages.handler
-  def on_update(self, _: messages.UpdateEvent) -> None:
-    """Handles mouse events, applies perturbations, and updates ghost geoms."""
-    assert self._viewer is not None
-    model = self._viewer.model
-    data = self._viewer.data
-
-    studio_app_events.handle_mouse_events(
-        model,
-        data,
-        self._viewer.camera,
-        self._viewer.vis_options,
-        self._viewer.perturb,
-        ux.UxState(),
-    )
-    viewer_utils.apply_perturb(self._viewer, model, data)
-
-    self._viewer.extra_geoms.clear()
-    if self._last_time is None or data.time < self._last_time:
-      self._history.clear()
-    if not self._history or data.time > self._last_time:  # pyrefly: ignore[unsupported-operation]
-      self._history.append((
-          data.time,
-          data.geom_xpos.copy(),
-          data.geom_xmat.copy(),
-      ))
-      self._last_time = data.time
-
-    target_time = data.time - self._delay
-    while len(self._history) > 1 and self._history[1][0] <= target_time:
-      self._history.popleft()
-
-    _, xpos, xmat = self._history[0]  # pyrefly: ignore[bad-assignment]
-    if len(xpos) != model.ngeom or len(xmat) != model.ngeom:
-      return
-
-    ghost_rgba = np.array(self._ghost_rgba, dtype=np.float32)
-    for i in range(model.ngeom):
-      if (
-          self._is_fixed_body(model.geom_bodyid[i])
-          or model.geom_rgba[i, 3] == 0
-          or model.geom_group[i] > 2
-      ):
-        continue
-
-      geom = mujoco.MjvGeom()
-      mujoco.mjv_initGeom(
-          geom,
-          int(model.geom_type[i]),
-          model.geom_size[i],
-          xpos[i],
-          xmat[i].flatten(),
-          ghost_rgba,
-      )
-      geom.dataid = model.geom_dataid[i]
-      geom.objtype = int(mujoco.mjtObj.mjOBJ_GEOM)
-      geom.objid = i
-      self._viewer.extra_geoms.append(geom)
-
-
-def main(argv: list[str]) -> None:
-  model_path = _MODEL.value or (
-      argv[1] if len(argv) > 1 and not argv[1].startswith('--') else None
-  )
-  if not model_path:
-    raise _app.UsageError(
-        'Please provide a model path argument or --model flag.'
-    )
-
-  data = None
-  try:
-    if (data := parser.parse(model_path)) is None:
-      raise ValueError('parser returned None')
-  except Exception as ex:  # pylint: disable=broad-except
-    print(f'Failed to load model from {model_path!r}: {ex}')
-    sys.exit(1)
-  model = data.model
-
-  config = viewer_protocol.ViewerConfig(
-      title=os.path.basename(sys.argv[0]),
-      width=_WIDTH.value,
-      height=_HEIGHT.value,
-      gfx=_GFX.value or '',
-      http_port=_PORT.value,
-  )
-
-  ghost_renderer = GhostRenderer()
-
-  with launch_passive.launch_passive(
-      config,
-      viewer_plugins=[ghost_renderer],
-  ) as handle:
-    handle.send_to_viewer(messages.ModelEvent(model=model))
-
-    step_control = sim.StepControl()
-    try:
-      while handle.is_running():
-        step_control.advance(model, data)
-        model, data, step_control = handle.sync(model, data, step_control)
-    except KeyboardInterrupt:
-      # Ctrl+C is the documented way to quit; exit cleanly, no traceback.
-      print('\nShutting down.', flush=True)
-
-
-if __name__ == '__main__':
-  _app.run(main)
diff --git a/python/mujoco/experimental/studio/sample/implot.py b/python/mujoco/experimental/studio/sample/implot.py
deleted file mode 100644
index 7b74f20c..00000000
--- a/python/mujoco/experimental/studio/sample/implot.py
+++ /dev/null
@@ -1,256 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Example to run studio in the native viewer with responsive ImPlot UI.
-
-This script runs a Studio viewer and adds an 'Inspect Body' window using ImGui
-and ImPlot bindings to visualize selected body data. The example demonstrates
-how responsive UI layout rules are easily implemented.
-
-Provide a model file via the --model flag or positional argument to launch.
-"""
-
-import math
-import os
-import sys
-
-from absl import app as _app
-from absl import flags as _flags
-import mujoco
-from mujoco.experimental.studio import launch_passive
-from mujoco.experimental.studio import messages
-from mujoco.experimental.studio import parser
-from mujoco.experimental.studio import sim
-from mujoco.experimental.studio import viewer_app
-from mujoco.experimental.studio import viewer_protocol
-import numpy as np
-
-from mujoco.experimental.dear_imgui import dear_imgui as imgui
-from mujoco.experimental.implot import implot
-
-vp = viewer_protocol
-
-_MODEL = _flags.DEFINE_string('model', None, 'Path to model file.')
-_GFX = _flags.DEFINE_enum(
-    'gfx', None, vp.GFX_MODES, 'Graphics mode ("web" launches Web Viewer).'
-)
-_PORT = _flags.DEFINE_integer(
-    'port', 0, 'Web Viewer port (0 picks first free port >= 8080).'
-)
-_WIDTH = _flags.DEFINE_integer('width', 1200, 'Width of the output image.')
-_HEIGHT = _flags.DEFINE_integer('height', 800, 'Height of the output image')
-
-
-_N_HISTORY = 100
-
-_PLOT_FLAGS = (
-    implot.Flags.NoInputs.value  # Disable pan/zoom mouse interaction.
-    | implot.Flags.NoMenus.value  # Disable right-click context menu.
-    | implot.Flags.NoBoxSelect.value  # Disable drag-to-select regions.
-)
-
-_AXIS_FLAGS = (
-    implot.AxisFlags.NoGridLines.value  # Hide background grid lines.
-    | implot.AxisFlags.NoTickMarks.value  # Hide small tick marks on the axis.
-)
-
-
-def _setup_plot_flags(plot_size: imgui.Vec2) -> int:
-  flags = _PLOT_FLAGS
-  if min(plot_size.x, plot_size.y) < 300:
-    flags |= implot.Flags.NoTitle.value
-  if min(plot_size.x, plot_size.y) < 200:
-    flags |= implot.Flags.NoLegend.value
-  return flags
-
-
-def _setup_time_axis(plot_size: imgui.Vec2) -> None:
-  flags = _AXIS_FLAGS
-  if plot_size.x < 300:
-    flags |= implot.AxisFlags.NoTickLabels.value
-  implot.SetupAxis(implot.Axis.X1, '', flags)
-  implot.SetupAxisLimits(implot.Axis.X1, 0, _N_HISTORY)
-
-
-def _setup_xpos_axis(centroid: list[np.ndarray], plot_size: imgui.Vec2) -> None:
-  flags = _AXIS_FLAGS
-  if plot_size.y < 300:
-    flags |= implot.AxisFlags.NoTickLabels.value
-  implot.SetupAxis(implot.Axis.Y1, '', flags)
-  min_y = min(c[1] for c in centroid)
-  max_y = max(c[1] for c in centroid)
-  margin = max((max_y - min_y) * 0.1, 0.05)
-  implot.SetupAxisLimits(
-      implot.Axis.Y1,
-      min_y - margin,
-      max_y + margin,
-      cond=implot.Cond.Always,
-  )
-
-
-def _setup_angle_axis(plot_size: imgui.Vec2) -> None:
-  flags = _AXIS_FLAGS
-  if plot_size.y < 300:
-    flags |= implot.AxisFlags.NoTickLabels.value
-  implot.SetupAxis(implot.Axis.Y1, '', flags)
-  implot.SetupAxisLimits(implot.Axis.Y1, -185.0, 185.0)
-  implot.SetupAxisTicks(
-      implot.Axis.Y1,
-      [-180.0, -90.0, 0.0, 90.0, 180.0],
-      ['-180', '-90', '0', '90', '180'],
-  )
-
-
-class BodyInspector:
-  """Handler that draws body-inspection plots using ImGui/ImPlot."""
-
-  def __init__(self) -> None:
-    self._app: viewer_app.ViewerApp | None = None
-    self._centroid: list[np.ndarray] = [np.zeros(3) for _ in range(_N_HISTORY)]
-    self._euler: list[np.ndarray] = [np.zeros(3) for _ in range(_N_HISTORY)]
-    self._body_id: int = -1
-
-  @messages.handler
-  def on_viewer_app_init(self, event: viewer_app.ViewerAppInitEvent) -> None:
-    """Caches the ViewerApp reference on startup."""
-    assert isinstance(event.viewer_app, viewer_app.ViewerApp)
-    self._app = event.viewer_app
-
-  @messages.handler
-  def inspect_body(self, _: messages.BuildGuiEvent) -> None:
-    """Renders the body-inspection charts in ImGui/ImPlot."""
-    app = self._app
-    if app is None:
-      return
-    if app.viewer.perturb.select > 0:
-      self._body_id = app.viewer.perturb.select
-
-    # Display selected body information.
-    if self._body_id > 0:
-      body_name = mujoco.mj_id2name(
-          app.model, int(mujoco.mjtObj.mjOBJ_BODY), self._body_id
-      )
-
-      io = imgui.GetIO()
-      imgui.SetNextWindowPos(
-          imgui.Vec2(io.DisplaySize.x * 0.5, io.DisplaySize.y * 0.5),
-          imgui.Cond.FirstUseEver,
-          imgui.Vec2(0.5, 0.5),
-      )
-      imgui.SetNextWindowSize(imgui.Vec2(1200, 600), imgui.Cond.FirstUseEver)
-
-      # Note: The window title uses the special "###" markup to ensure the imgui
-      # ID for the window is constant for all body names.  This is needed for
-      # the window to retain its state for all bodies.
-      window_title = (
-          f'Inspect Body {body_name or "(???)"!r} ({self._body_id})###Plot'
-      )
-      if imgui.Begin(window_title):
-        avail = imgui.GetContentRegionAvail()
-        wide = avail.x > avail.y
-
-        # Add a small padding factor to prevent scrollbars.
-        plot_size = imgui.Vec2(
-            avail.x * 0.5 - 4 if wide else avail.x,
-            avail.y if wide else avail.y * 0.5 - 4,
-        )
-
-        plot_flags = _setup_plot_flags(plot_size)
-        if implot.BeginPlot('Centroid vs Time', plot_size, flags=plot_flags):
-          _setup_time_axis(plot_size)
-          _setup_xpos_axis(self._centroid, plot_size)
-          implot.PlotLine(
-              'x', range(_N_HISTORY), [c[0] for c in self._centroid]
-          )
-          implot.PlotLine(
-              'y', range(_N_HISTORY), [c[1] for c in self._centroid]
-          )
-          implot.PlotLine(
-              'z', range(_N_HISTORY), [c[2] for c in self._centroid]
-          )
-          implot.EndPlot()
-
-        if wide:
-          imgui.SameLine()
-
-        if implot.BeginPlot('Euler Angle vs Time', plot_size, flags=plot_flags):
-          _setup_time_axis(plot_size)
-          _setup_angle_axis(plot_size)
-          implot.PlotLine(
-              'roll', range(_N_HISTORY), [e[0] for e in self._euler]
-          )
-          implot.PlotLine(
-              'pitch', range(_N_HISTORY), [e[1] for e in self._euler]
-          )
-          implot.PlotLine('yaw', range(_N_HISTORY), [e[2] for e in self._euler])
-          implot.EndPlot()
-      imgui.End()
-
-    self._centroid.pop(0)
-    self._euler.pop(0)
-    if self._body_id > 0 and self._body_id < app.model.nbody:
-      self._centroid.append(app.data.xpos[self._body_id].copy())
-      quat = app.data.xquat[self._body_id]
-      mat = np.zeros(9)
-      mujoco.mju_quat2Mat(mat, quat)
-      # mat is row-major 3x3: R[i,j] = mat[3*i + j].
-      roll = math.atan2(mat[7], mat[8])
-      pitch = math.atan2(-mat[6], math.sqrt(mat[7] ** 2 + mat[8] ** 2))
-      yaw = math.atan2(mat[3], mat[0])
-      self._euler.append(np.degrees(np.array([roll, pitch, yaw])))
-    else:
-      self._centroid.append(np.zeros(3))
-      self._euler.append(np.zeros(3))
-
-
-def main(argv: list[str]) -> None:
-  model_path = _MODEL.value or (
-      argv[1] if len(argv) > 1 and not argv[1].startswith('--') else None
-  )
-  if not model_path:
-    print('Usage: implot --model=<model_path.xml>')
-    sys.exit(1)
-
-  if (data := parser.parse(model_path)) is None:
-    print(f'Error loading model from {model_path!r}')
-    sys.exit(1)
-  model = data.model
-
-  title = os.path.basename(sys.argv[0])
-
-  config = viewer_protocol.ViewerConfig(
-      title=title,
-      width=_WIDTH.value,
-      height=_HEIGHT.value,
-      gfx=_GFX.value or '',
-      http_port=_PORT.value,
-  )
-
-  with launch_passive.launch_passive(
-      config,
-      viewer_plugins=[viewer_app.ViewerApp(), BodyInspector()],
-  ) as handle:
-    handle.send_to_viewer(messages.ModelEvent(model=model))
-
-    step_control = sim.StepControl()
-    try:
-      while handle.is_running():
-        step_control.advance(model, data)
-        model, data, step_control = handle.sync(model, data, step_control)
-    except KeyboardInterrupt:
-      # Ctrl+C is the documented way to quit; exit cleanly, no traceback.
-      print('\nShutting down.', flush=True)
-
-
-if __name__ == '__main__':
-  _app.run(main)
diff --git a/python/mujoco/experimental/studio/sample/render.py b/python/mujoco/experimental/studio/sample/render.py
deleted file mode 100644
index f3fd6b81..00000000
--- a/python/mujoco/experimental/studio/sample/render.py
+++ /dev/null
@@ -1,77 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Render a MuJoCo model to an image."""
-
-import os
-import sys
-
-from absl import app as _app
-from absl import flags as _flags
-import mujoco
-from mujoco.experimental.studio import parser
-from mujoco.experimental.studio import renderer
-from mujoco.experimental.studio import viewer_protocol
-from PIL import Image
-
-_MODEL = _flags.DEFINE_string('model', None, 'Path to model file.')
-_OUTPUT = _flags.DEFINE_string('output', '', 'Output file to save.')
-_GFX = _flags.DEFINE_enum(
-    'gfx', None, viewer_protocol.GFX_MODES, 'Rendering graphics mode.'
-)
-_WIDTH = _flags.DEFINE_integer('width', 320, 'Width of the output image.')
-_HEIGHT = _flags.DEFINE_integer('height', 240, 'Height of the output image.')
-_STEPS = _flags.DEFINE_integer('steps', 1, 'Number of steps before render.')
-
-
-def main(argv: list[str]) -> None:
-  model_path = _MODEL.value or (
-      argv[1] if len(argv) > 1 and not argv[1].startswith('--') else None
-  )
-  if not model_path:
-    raise _app.UsageError('Please provide a model path argument or --model flag.')
-  if not _OUTPUT.value:
-    raise _app.UsageError('`output` flag is required.')
-
-  try:
-    data = parser.parse(model_path)
-    model = data.model
-  except Exception as ex:  # pylint: disable=broad-except
-    print(f'Error loading model from `{model_path}`: {ex}')
-    sys.exit(-1)
-
-  for _ in range(_STEPS.value):
-    mujoco.mj_step(model, data)
-
-  try:
-    r = renderer.Renderer(_GFX.value or '')
-    r.Init(model)
-    pixels = r.Render(
-        model, data, None, None, None, _WIDTH.value, _HEIGHT.value
-    )
-  except Exception as ex:  # pylint: disable=broad-except
-    print(f'Error rendering model: {ex}')
-    sys.exit(-2)
-
-  try:
-    img = Image.frombytes('RGB', (_WIDTH.value, _HEIGHT.value), pixels)
-    img.save(_OUTPUT.value, format=os.path.splitext(_OUTPUT.value)[1][1:])
-  except Exception as ex:  # pylint: disable=broad-except
-    print(f'Error saving image to `{_OUTPUT.value}`: {ex}')
-    sys.exit(-3)
-
-  return 0  # pyrefly: ignore[bad-return]
-
-
-if __name__ == '__main__':
-  _app.run(main)
diff --git a/python/mujoco/experimental/studio/sim.cc b/python/mujoco/experimental/studio/sim.cc
deleted file mode 100644
index cc2c7ba1..00000000
--- a/python/mujoco/experimental/studio/sim.cc
+++ /dev/null
@@ -1,101 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Python bindings for MuJoCo platform simulation components.
-
-#include <tuple>
-
-#include <mujoco/mujoco.h>
-#include <mujoco/experimental/platform/sim/sim_history.h>
-#include <mujoco/experimental/platform/sim/step_control.h>
-#include "structs.h"
-#include <pybind11/pybind11.h>
-
-namespace py = pybind11;
-
-using StepControl = mujoco::platform::StepControl;
-
-PYBIND11_MODULE(sim, m, pybind11::mod_gil_not_used()) {
-  py::module_::import("mujoco._structs");
-  m.doc() = "MuJoCo platform simulation bindings for Link.";
-
-  py::enum_<StepControl::Status>(m, "StepStatus")
-      .value("OK", StepControl::Status::kOk)
-      .value("PAUSED", StepControl::Status::kPaused)
-      .value("AUTO_RESET", StepControl::Status::kAutoReset)
-      .value("DIVERGED", StepControl::Status::kDiverged);
-
-  py::enum_<StepControl::PauseState>(m, "PauseState")
-      .value("UNPAUSED", StepControl::PauseState::kUnpaused)
-      .value("NORMAL_PAUSED", StepControl::PauseState::kNormalPaused);
-
-  py::class_<StepControl>(m, "StepControl")
-      .def(py::init<>())
-      .def(
-          "advance",
-          [](StepControl& self, py::object model_obj, py::object data_obj) {
-            mjModel* m = nullptr;
-            mjData* d = nullptr;
-            if (!model_obj.is_none()) {
-              m = py::cast<mujoco::python::MjModelWrapper&>(model_obj).get();
-            }
-            if (!data_obj.is_none()) {
-              d = py::cast<mujoco::python::MjDataWrapper&>(data_obj).get();
-            }
-            py::gil_scoped_release no_gil;
-            return self.Advance(m, d);
-          },
-          py::arg("model"), py::arg("data"),
-          "Step physics forward, respecting speed settings and refresh budget.")
-      .def("force_sync", &StepControl::ForceSync,
-           "Ensures the next Advance() will synchronize time and step once.")
-      .def("get_speed", &StepControl::GetSpeed,
-           "Returns the desired simulation speed as a percentage of real time.")
-      .def("get_speed_measured", &StepControl::GetSpeedMeasured,
-           "Returns the measured simulation speed.")
-      .def("set_speed", &StepControl::SetSpeed, py::arg("speed"),
-           "Sets the desired speed (clamped to [0.1%, 100%]).")
-      .def("set_pause_state", &StepControl::SetPauseState, py::arg("state"),
-           "Sets the pause state of the simulation.")
-      .def("get_pause_state", &StepControl::GetPauseState,
-           "Returns the current pause state.")
-      .def("request_single_step", &StepControl::RequestSingleStep,
-           "Request a single step if paused.")
-      .def(
-          "get_noise_parameters",
-          [](const StepControl& self) {
-            float noise_scale, noise_rate;
-            self.GetNoiseParameters(noise_scale, noise_rate);
-            return std::make_tuple(noise_scale, noise_rate);
-          },
-          "Returns the noise parameters.")
-      .def("set_noise_parameters", &StepControl::SetNoiseParameters,
-           py::arg("noise_scale"), py::arg("noise_rate"),
-           "Sets the noise parameters.");
-
-  using SimHistory = mujoco::platform::SimHistory;
-  constexpr int max_history = 2048;
-  constexpr int max_bytes = 128 * 1024 * 1024;  // 128 MiB
-  py::class_<SimHistory>(m, "SimHistory")
-      .def(py::init<>())
-      .def("init", &SimHistory::Init, py::arg("state_size"),
-           py::arg("max_history") = max_history,
-           py::arg("max_bytes") = max_bytes,
-           "Clears and initializes the history buffer to hold `state_size` "
-           "mjtNum states.")
-      .def("get_index", &SimHistory::GetIndex,
-           "Returns the current history offset (0 is the most recent state).")
-      .def("size", &SimHistory::Size,
-           "Returns the number of recorded states.");
-}
diff --git a/python/mujoco/experimental/studio/studio_app.py b/python/mujoco/experimental/studio/studio_app.py
deleted file mode 100644
index 7b0e9ad0..00000000
--- a/python/mujoco/experimental/studio/studio_app.py
+++ /dev/null
@@ -1,489 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Viewer-agnostic Python implementation of Studio.
-
-Architecture:
-  StudioApp owns the simulation state (model, data) and the UI logic.
-  Viewer classes (e.g., NativeViewer) own the window (if required), renderer,
-  camera, and visualization options.  The viewer never stores references to
-  model or data. Instead, the caller passes them each frame via
-  viewer.sync(model, data). This ensures the viewer always renders the current
-  model, even if StudioApp.load_model_from_file() swaps it.
-
-The class can be used to implement the full Studio application in Python. By
-using the more granular member functions it can also build simple apps that only
-use a subset of the Studio UI. This configuration is fully dynamic, there is
-nothing to configure in advance, you can change your app by changing the
-functions that get called each frame. This class is also viewer-agnostic and as
-such does not own camera, vis_options or perturb objects (these are provided by
-the viewer).
-
-See the sample/ folder for usage examples.
-"""
-
-import os
-import sys
-import typing
-
-import mujoco
-from mujoco.experimental.studio import parser
-from mujoco.experimental.studio import sim
-from mujoco.experimental.studio import studio_app_events
-from mujoco.experimental.studio import ux
-from mujoco.experimental.studio import viewer_protocol
-import numpy as np
-
-from mujoco.experimental.dear_imgui import dear_imgui as imgui
-
-# Type alias for a custom physics step function.
-StepFn = typing.Callable[[mujoco.MjModel, mujoco.MjData], None]
-
-
-def load_model_from_file(
-    model_path: str,
-) -> tuple[mujoco.MjModel, mujoco.MjData] | None:
-  """Loads a model and data from a file path."""
-  try:
-    data = parser.parse(model_path)
-    return data.model, data
-  except Exception as ex:  # pylint: disable=broad-except
-    print(f'Error loading model from {model_path!r}: {ex}')
-    return None
-
-
-class StudioApp:
-  """Viewer-agnostic Python implementation of Studio."""
-
-  @classmethod
-  def from_argv(cls, argv: list[str]) -> 'StudioApp':
-    """Constructs a StudioApp by parsing a model path from command-line args."""
-    if len(argv) < 2:
-      model = mujoco.MjSpec().compile()
-      data = mujoco.MjData(model)
-      app = cls(model, data)
-      app.step_control.set_pause_state(sim.PauseState.NORMAL_PAUSED)
-      return app
-
-    model_path = argv[1]
-
-    res = load_model_from_file(model_path)
-    if res is None:
-      sys.exit(-1)
-    model, data = res
-
-    app = cls(model, data)
-    app.model_path = model_path
-    return app
-
-  def load_model_from_file(
-      self, model_path: str
-  ) -> tuple[mujoco.MjModel, mujoco.MjData] | None:
-    """Loads a new model from a file, replacing the current model and data."""
-    res = load_model_from_file(model_path)
-    if res is None:
-      self.status = f'Error loading model from {model_path!r}'
-      return None
-
-    model, data = res
-    self.model = model
-    self.data = data
-    self.model_path = model_path
-    self.step_control = sim.StepControl()
-    self.ux_state = ux.UxState()
-    self._setup_history()
-    self.status = f'Loaded: {os.path.basename(model_path)!r}'
-
-    return model, data
-
-  def __init__(
-      self,
-      model: mujoco.MjModel,
-      data: mujoco.MjData,
-  ):
-    """Initializes the Studio application."""
-    self.model = model
-    self.data = data
-    self.model_path = ''
-
-    self.step_control = sim.StepControl()
-    self.ux_state = ux.UxState()
-    self.sim_history = sim.SimHistory()
-    self._setup_history()
-    self.theme = ux.GuiTheme.LIGHT
-    self.show_info = False
-    self.show_solver = False
-    self.should_quit = False
-    self.status = 'Ready'
-    # TODO(matijak): This should be part of the viewer, also making a struct to
-    # pass it around with the camera would be convenient.
-    self._cam_speed = 0.001
-
-  def handle_vis_options_keyboard_events(
-      self,
-      vis_options: mujoco.MjvOption,
-      is_freecam_wasd: bool,
-  ) -> bool:
-    """Toggles visualization flags based on keyboard shortcuts.
-
-    Args:
-      vis_options: The visualization options to modify.
-      is_freecam_wasd: If True, keys Q/E/A/D are reserved for camera movement
-        and will not toggle visualization flags.
-
-    Returns:
-      True if a key was handled, False otherwise.
-    """
-    return studio_app_events.handle_vis_options_keyboard_events(
-        vis_options, is_freecam_wasd
-    )
-
-  def handle_step_control_keyboard_events(self) -> bool:
-    """Handles keyboard shortcuts for simulation stepping control.
-
-    Returns:
-      True if a key was handled, False otherwise.
-    """
-    return studio_app_events.handle_step_control_keyboard_events(
-        self.step_control, self.ux_state
-    )
-
-  def handle_freecam_wasd_keyboard_events(
-      self,
-      camera: mujoco.MjvCamera,
-  ) -> bool:
-    """Handles keyboard shortcuts for free camera movement."""
-    handled, self._cam_speed = (
-        studio_app_events.handle_freecam_wasd_keyboard_events(
-            self.model, self.data, camera, self._cam_speed
-        )
-    )
-    return handled
-
-  def handle_keyboard_events(
-      self,
-      camera: mujoco.MjvCamera,
-      vis_options: mujoco.MjvOption,
-  ) -> bool:
-    """Handle keyboard events according to Studio's bindings."""
-    handled, self._cam_speed = studio_app_events.handle_keyboard_events(
-        self.model,
-        self.data,
-        camera,
-        vis_options,
-        self.step_control,
-        self.ux_state,
-        self._cam_speed,
-    )
-    return handled
-
-  def handle_camera_tracking_mouse_events(
-      self,
-      camera: mujoco.MjvCamera,
-      vis_options: mujoco.MjvOption,
-  ) -> None:
-    """Handles mouse events for camera tracking."""
-    studio_app_events.handle_camera_tracking_mouse_events(
-        self.model, self.data, camera, vis_options, self.ux_state
-    )
-
-  def handle_mouse_events(
-      self,
-      camera: mujoco.MjvCamera,
-      vis_options: mujoco.MjvOption,
-      perturb: mujoco.MjvPerturb,
-  ) -> None:
-    """Handles mouse events."""
-    studio_app_events.handle_mouse_events(
-        self.model, self.data, camera, vis_options, perturb, self.ux_state
-    )
-
-  def reset_physics(self) -> None:
-    """Reset the physics."""
-    mujoco.mj_resetData(self.model, self.data)
-    mujoco.mj_forward(self.model, self.data)
-    self._setup_history()
-
-  def _setup_history(self) -> None:
-    """(Re)initialize simulation history recording for the current model."""
-    ux.setup_history(
-        self.step_control, self.sim_history, self.ux_state, self.model,
-        self.data,
-    )
-
-  def reload_model(self) -> None:
-    """Reload the current model from its file."""
-    if self.model_path:
-      self.load_model_from_file(self.model_path)
-
-  def align_camera(self, camera: mujoco.MjvCamera) -> None:
-    """Recenter the camera on the model's home camera, else the free camera."""
-    cam_id = self.model.vis.global_.cameraid
-    if 0 <= cam_id < self.model.ncam:
-      self.ux_state.camera_index = ux.set_camera(self.model, camera, cam_id)
-    else:
-      mujoco.mjv_defaultFreeCamera(self.model, camera)
-
-  def apply_perturb(self, perturb: mujoco.MjvPerturb) -> None:
-    """Apply perturbation the model."""
-    if self.step_control.get_pause_state() != sim.PauseState.NORMAL_PAUSED:
-      sig = mujoco.mjtState.mjSTATE_XFRC_APPLIED.value
-      size = mujoco.mj_stateSize(self.model, sig)
-      zero_state = np.zeros(size, np.float64)
-      mujoco.mj_setState(self.model, self.data, zero_state, sig)
-      mujoco.mjv_applyPerturbPose(self.model, self.data, perturb, 0)
-      mujoco.mjv_applyPerturbForce(self.model, self.data, perturb)
-    else:
-      mujoco.mjv_applyPerturbPose(self.model, self.data, perturb, 1)
-
-  def update_physics(
-      self,
-      perturb: mujoco.MjvPerturb,
-      *,
-      step_fn: StepFn | None = None,
-  ) -> None:
-    """Applies the perturbations and advances the physics.
-
-    Args:
-      perturb: The MuJoCo perturbation object.
-      step_fn: Optional custom physics step function.  When provided, it is
-        called instead of ``step_control.advance``.  The function receives
-        ``(model, data)`` and should step the simulation in-place.
-    """
-    if self.ux_state.update_threadpool:
-      mujoco.mju_threadpool(self.data, self.ux_state.nthread)
-      self.ux_state.update_threadpool = False
-
-    self.apply_perturb(perturb)
-
-    if step_fn is not None:
-      step_fn(self.model, self.data)
-    else:
-      advance_status = self.step_control.advance(self.model, self.data)
-      if advance_status == sim.StepStatus.AUTO_RESET:
-        self.reset_physics()
-
-  def reset_physics_gui(self) -> None:
-    """GUI to Reset the physics i.e., the reset button."""
-    button_size = imgui.GetFrameHeight()
-    square_size = imgui.Vec2(button_size, button_size)
-    icon_reset_model = '\uf0e2'  # FontAwesome "undo" icon.
-    if imgui.Button(icon_reset_model, square_size):
-      self.reset_physics()
-    imgui.SetItemTooltip('Reset')
-
-  def is_running(self) -> bool:
-    """Returns True if the application should continue running (called by update())."""
-    return not self.should_quit
-
-  def update(
-      self,
-      camera: mujoco.MjvCamera,
-      vis_options: mujoco.MjvOption,
-      perturb: mujoco.MjvPerturb,
-      *,
-      drop_file: str = '',
-      step_fn: StepFn | None = None,
-  ) -> bool:
-    """Update the simulation and handle user input.
-
-    Handles mouse input to compute perturbations or camera motion.
-    Handles keyboard input e.g., for keybindings or camera motion.
-    Applies the perturbations and advances the physics.
-    The argument objects are provided by the viewer.
-
-    Args:
-      camera: The MuJoCo camera object.
-      vis_options: The MuJoCo visualization options.
-      perturb: The MuJoCo perturbation object.
-      drop_file: Path of a file dropped into the viewer window. If non-empty the
-        current model is replaced with the dropped file.
-      step_fn: Optional custom physics step function.  When provided, it is
-        called instead of ``step_control.advance``.
-
-    Returns:
-      Whether the application should continue running, this is a
-      convenience to allow this function to be used in a while loop.
-    """
-    if drop_file:
-      self.load_model_from_file(drop_file)
-
-    self.handle_mouse_events(camera, vis_options, perturb)
-    self.handle_keyboard_events(camera, vis_options)
-    self.update_physics(perturb, step_fn=step_fn)
-    return self.is_running()
-
-  def update_from_viewer(
-      self,
-      viewer: viewer_protocol.Viewer,
-      *,
-      step_fn: StepFn | None = None,
-  ) -> bool:
-    """Convenience wrapper around update() that unpacks viewer attributes.
-
-    Args:
-      viewer: A viewer conforming to the Viewer protocol.
-      step_fn: Optional custom physics step function.  When provided, it is
-        called instead of ``step_control.advance``.
-
-    Returns:
-      Whether the application should continue running.
-    """
-    return self.update(
-        viewer.camera,
-        viewer.vis_options,
-        viewer.perturb,
-        drop_file=viewer.get_drop_file(),
-        step_fn=step_fn,
-    )
-
-  def build_gui(
-      self,
-      camera: mujoco.MjvCamera,
-      vis_options: mujoco.MjvOption,
-      render_flags: ux.RenderFlags,
-  ) -> None:
-    """Emit full Studio UI."""
-    ux.setup_theme(self.theme)
-    ux.configure_docking_layout()
-
-    # -- Main menu bar --------------------------------------------------------
-    if imgui.BeginMainMenuBar():
-      if imgui.BeginMenu('File'):
-        if imgui.MenuItem('Quit'):
-          self.should_quit = True
-        imgui.EndMenu()
-      if imgui.BeginMenu('Simulation'):
-        imgui.EndMenu()
-      if imgui.BeginMenu('Charts'):
-        if imgui.MenuItem('Solver', '', self.show_solver):
-          self.show_solver = not self.show_solver
-        if imgui.MenuItem('Info', '', self.show_info):
-          self.show_info = not self.show_info
-        imgui.EndMenu()
-      if imgui.BeginMenu('Help'):
-        if imgui.MenuItem('Info', '', self.show_info):
-          self.show_info = not self.show_info
-        imgui.Separator()
-        version = f'Version {mujoco.mj_versionString()}'
-        imgui.MenuItem(version)
-        imgui.EndMenu()
-      imgui.EndMainMenuBar()
-
-    # -- Tool Bar -------------------------------------------------------------
-    if imgui.Begin('ToolBar'):
-      imgui.PushStyleVar(imgui.StyleVar.CellPadding, imgui.Vec2(0, 0))
-      if imgui.BeginTable('##ToolBarTable', 2):
-        imgui.TableSetupColumn('', int(imgui.TableColumnFlags.WidthStretch))
-        imgui.TableSetupColumn('', int(imgui.TableColumnFlags.WidthFixed))
-
-        imgui.TableNextColumn()
-        self.reset_physics_gui()
-
-        imgui.SameLine()
-        ux.step_control_gui(self.step_control, self.ux_state)
-
-        imgui.TableNextColumn()
-        ux.camera_selection_gui(self.model, self.data, camera, self.ux_state)
-
-        imgui.SameLine()
-        ux.label_selection_gui(vis_options)
-
-        imgui.SameLine()
-        ux.frame_selection_gui(vis_options)
-
-        imgui.SameLine()
-        changed, self.theme = ux.theme_select_gui(self.theme)
-        if changed:
-          ux.setup_theme(self.theme)
-
-        imgui.EndTable()
-      imgui.PopStyleVar()
-    imgui.End()
-
-    # -- Left pane: Options ---------------------------------------------------
-    node_flags = int(imgui.TreeNodeFlags.SpanAvailWidth) | int(
-        imgui.TreeNodeFlags.Framed
-    )
-
-    imgui.Begin('Options')
-    # The Simulation panel draws its own collapsible section header.
-    ux.simulation_gui(
-        self.model,
-        self.data,
-        self.step_control,
-        self.sim_history,
-        self.ux_state,
-        self.reset_physics,
-        self.reload_model,
-        lambda: self.align_camera(camera),
-    )
-    if imgui.TreeNodeEx('Physics Settings', node_flags):
-      ux.physics_gui(self.model)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Rendering Settings', node_flags):
-      ux.rendering_gui(self.model, vis_options, render_flags)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Visibility Groups', node_flags):
-      ux.groups_gui(self.model, vis_options)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Visualization', node_flags):
-      ux.visualization_gui(self.model, vis_options, camera)
-      imgui.TreePop()
-    imgui.End()
-
-    # -- Right pane: Inspector ------------------------------------------------
-    imgui.Begin('Inspector')
-    if imgui.TreeNodeEx('Noise', node_flags):
-      ux.noise_gui(self.step_control)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Joints', node_flags):
-      ux.joints_gui(self.model, self.data, vis_options)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Controls', node_flags):
-      ux.controls_gui(self.model, self.data, vis_options)
-      imgui.TreePop()
-    if imgui.TreeNodeEx(
-        'Sensors', node_flags | int(imgui.TreeNodeFlags.DefaultOpen)
-    ):
-      ux.sensor_gui(self.model, self.data)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Watch', node_flags):
-      ux.watch_gui(self.model, self.data, self.ux_state)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('State', node_flags):
-      ux.state_gui(self.model, self.data, self.ux_state)
-      imgui.TreePop()
-    imgui.End()
-
-    # -- Floating windows -----------------------------------------------------
-    if self.show_solver:
-      _, self.show_solver = imgui.Begin('Solver', self.show_solver)
-      ux.counts_gui(self.model, self.data)
-      ux.convergence_gui(self.model, self.data)
-      imgui.End()
-
-    if self.show_info:
-      _, self.show_info = imgui.Begin('Info', self.show_info)
-      paused = self.step_control.get_pause_state() != sim.PauseState.UNPAUSED
-      ux.info_gui(self.model, self.data, paused, 0.0)
-      imgui.End()
-
-    # -- Status bar -----------------------------------------------------------
-    imgui.PushStyleVar(imgui.StyleVar.CellPadding, imgui.Vec2(0, 0))
-    imgui.PushStyleVar(imgui.StyleVar.FramePadding, imgui.Vec2(0, 0))
-    imgui.PushStyleVar(imgui.StyleVar.WindowPadding, imgui.Vec2(0, 0))
-    if imgui.Begin('StatusBar'):
-      imgui.Text(self.status)
-    imgui.End()
-    imgui.PopStyleVar(3)
diff --git a/python/mujoco/experimental/studio/studio_app_events.py b/python/mujoco/experimental/studio/studio_app_events.py
deleted file mode 100644
index 97602f69..00000000
--- a/python/mujoco/experimental/studio/studio_app_events.py
+++ /dev/null
@@ -1,600 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Temporary event handling functions for StudioApp."""
-
-# TODO(matijak): These free functions implement the keyboard and mouse event
-# handling for Studio. They are separated from the main StudioApp class to keep
-# clarify the long-term API and avoid cluttering it with a large amount of
-# temporary code. When studio/platform has a proper API for registering key
-# bindings and mouse behaviour, the event handling functions will delegate to
-# code shared with the C++ studio application.
-
-import mujoco
-from mujoco.experimental.studio import sim
-from mujoco.experimental.studio import ux
-import numpy as np
-
-from mujoco.experimental.dear_imgui import dear_imgui as imgui
-
-
-def handle_vis_options_keyboard_events(
-    vis_options: mujoco.MjvOption,
-    is_freecam_wasd: bool,
-) -> bool:
-  """Toggles visualization flags based on keyboard shortcuts.
-
-  Args:
-    vis_options: The visualization options to modify.
-    is_freecam_wasd: If True, keys Q/E/A/D are reserved for camera movement and
-      will not toggle visualization flags.
-
-  Returns:
-    True if a key was handled, False otherwise.
-  """
-  if imgui.GetIO().WantCaptureKeyboard:
-    return False
-
-  pressed = imgui.IsKeyChordPressed
-
-  # Frame and label cycling.
-  if pressed(imgui.Key.F6):
-    vis_options.frame = (vis_options.frame + 1) % mujoco.mjtFrame.mjNFRAME.value
-  elif pressed(imgui.Key.F7):
-    vis_options.label = (vis_options.label + 1) % mujoco.mjtLabel.mjNLABEL.value
-
-  # Visualization flag toggles (single-key shortcuts).
-  elif pressed(imgui.Key.H):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_CONVEXHULL] ^= 1
-  elif pressed(imgui.Key.X):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_TEXTURE] ^= 1
-  elif pressed(imgui.Key.J):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_JOINT] ^= 1
-  elif not is_freecam_wasd and pressed(imgui.Key.Q):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_CAMERA] ^= 1
-  elif pressed(imgui.Key.U):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_ACTUATOR] ^= 1
-  elif pressed(imgui.Key.Comma):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_ACTIVATION] ^= 1
-  elif pressed(imgui.Key.Z):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_LIGHT] ^= 1
-  elif pressed(imgui.Key.V):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_TENDON] ^= 1
-  elif pressed(imgui.Key.Y):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_RANGEFINDER] ^= 1
-  elif not is_freecam_wasd and pressed(imgui.Key.E):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_CONSTRAINT] ^= 1
-  elif pressed(imgui.Key.I):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_INERTIA] ^= 1
-  elif pressed(imgui.Key.Apostrophe):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_SCLINERTIA] ^= 1
-  elif pressed(imgui.Key.B):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_PERTFORCE] ^= 1
-  elif pressed(imgui.Key.O):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_PERTOBJ] ^= 1
-  elif pressed(imgui.Key.C):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] ^= 1
-  elif pressed(imgui.Key.N):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_ISLAND] ^= 1
-  elif pressed(imgui.Key.F):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_CONTACTFORCE] ^= 1
-  elif pressed(imgui.Key.P):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_CONTACTSPLIT] ^= 1
-  elif pressed(imgui.Key.T):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_TRANSPARENT] ^= 1
-  elif not is_freecam_wasd and pressed(imgui.Key.A):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_AUTOCONNECT] ^= 1
-  elif pressed(imgui.Key.M):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_COM] ^= 1
-  elif not is_freecam_wasd and pressed(imgui.Key.D):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_STATIC] ^= 1
-  elif pressed(imgui.Key.Semicolon):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_SKIN] ^= 1
-  elif pressed(imgui.Key.GraveAccent):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_BODYBVH] ^= 1
-  elif pressed(imgui.Key.Backslash):
-    vis_options.flags[mujoco.mjtVisFlag.mjVIS_MESHBVH] ^= 1
-
-  # Site group toggles (Shift + 0-5).
-  elif pressed(int(imgui.Key.N0) | int(imgui.Key.Shift)):
-    vis_options.sitegroup[0] ^= 1
-  elif pressed(int(imgui.Key.N1) | int(imgui.Key.Shift)):
-    vis_options.sitegroup[1] ^= 1
-  elif pressed(int(imgui.Key.N2) | int(imgui.Key.Shift)):
-    vis_options.sitegroup[2] ^= 1
-  elif pressed(int(imgui.Key.N3) | int(imgui.Key.Shift)):
-    vis_options.sitegroup[3] ^= 1
-  elif pressed(int(imgui.Key.N4) | int(imgui.Key.Shift)):
-    vis_options.sitegroup[4] ^= 1
-  elif pressed(int(imgui.Key.N5) | int(imgui.Key.Shift)):
-    vis_options.sitegroup[5] ^= 1
-
-  # Geom group toggles (0-5).
-  elif pressed(imgui.Key.N0):
-    vis_options.geomgroup[0] ^= 1
-  elif pressed(imgui.Key.N1):
-    vis_options.geomgroup[1] ^= 1
-  elif pressed(imgui.Key.N2):
-    vis_options.geomgroup[2] ^= 1
-  elif pressed(imgui.Key.N3):
-    vis_options.geomgroup[3] ^= 1
-  elif pressed(imgui.Key.N4):
-    vis_options.geomgroup[4] ^= 1
-  elif pressed(imgui.Key.N5):
-    vis_options.geomgroup[5] ^= 1
-
-  else:
-    return False
-
-  return True
-
-
-def handle_step_control_keyboard_events(
-    step_control: sim.StepControl,
-    ux_state: ux.UxState,
-) -> bool:
-  """Handles keyboard shortcuts for simulation stepping control.
-
-  Args:
-    step_control: The simulation step control object.
-    ux_state: The UX state object.
-
-  Returns:
-    True if a key was handled, False otherwise.
-  """
-  if imgui.GetIO().WantCaptureKeyboard:
-    return False
-
-  pressed = imgui.IsKeyChordPressed
-
-  if pressed(imgui.Key.Space):
-    if step_control.get_pause_state() == sim.PauseState.UNPAUSED:
-      step_control.set_pause_state(sim.PauseState.NORMAL_PAUSED)
-    else:
-      step_control.set_pause_state(sim.PauseState.UNPAUSED)
-    return True
-  elif pressed(imgui.Key.Minus):
-    ux_state.speed_index = ux.set_speed_index(
-        step_control, ux_state.speed_index, ux_state.speed_index + 1
-    )
-    return True
-  elif pressed(imgui.Key.Equal):
-    ux_state.speed_index = ux.set_speed_index(
-        step_control, ux_state.speed_index, ux_state.speed_index - 1
-    )
-    return True
-
-  return False
-
-
-def handle_reset_keyboard_events(
-    model: mujoco.MjModel, data: mujoco.MjData
-) -> bool:
-  """Handles keyboard shortcuts for simulation reset."""
-  if imgui.GetIO().WantCaptureKeyboard:
-    return False
-
-  if imgui.IsKeyChordPressed(imgui.Key.Backspace):
-    if model is not None and data is not None:
-      mujoco.mj_resetData(model, data)
-      mujoco.mj_forward(model, data)
-      return True
-
-  return False
-
-
-def handle_camera_select_keyboard_events(
-    model: mujoco.MjModel,
-    camera: mujoco.MjvCamera,
-    ux_state: ux.UxState,
-) -> bool:
-  """Handles keyboard shortcuts for camera selection.
-
-  Args:
-    model: The MuJoCo model.
-    camera: The MuJoCo camera object.
-    ux_state: The UX state object.
-
-  Returns:
-    True if a key was handled, False otherwise.
-  """
-  if imgui.GetIO().WantCaptureKeyboard:
-    return False
-
-  pressed = imgui.IsKeyChordPressed
-
-  if pressed(imgui.Key.Escape):
-    ux_state.camera_index = ux.set_camera(model, camera, ux.TUMBLE_CAMERA_IDX)
-    return True
-  elif pressed(imgui.Key.LeftBracket):
-    ux_state.camera_index = ux.set_camera(
-        model, camera, ux_state.camera_index - 1
-    )
-    return True
-  elif pressed(imgui.Key.RightBracket):
-    ux_state.camera_index = ux.set_camera(
-        model, camera, ux_state.camera_index + 1
-    )
-    return True
-
-  return False
-
-
-def handle_freecam_wasd_keyboard_events(
-    model: mujoco.MjModel,
-    data: mujoco.MjData,
-    camera: mujoco.MjvCamera,
-    cam_speed: float,
-) -> tuple[bool, float]:
-  """Handles keyboard shortcuts for free camera movement.
-
-  Args:
-    model: The MuJoCo model.
-    data: The MuJoCo data.
-    camera: The MuJoCo camera object.
-    cam_speed: The current camera speed.
-
-  Returns:
-    A tuple of (handled, updated_cam_speed).
-  """
-  if imgui.GetIO().WantCaptureKeyboard:
-    return False, cam_speed
-
-  if (
-      imgui.IsKeyDown(imgui.Key.W)
-      or imgui.IsKeyDown(imgui.Key.S)
-      or imgui.IsKeyDown(imgui.Key.A)
-      or imgui.IsKeyDown(imgui.Key.D)
-      or imgui.IsKeyDown(imgui.Key.Q)
-      or imgui.IsKeyDown(imgui.Key.E)
-  ):
-    moved = False
-
-    # Move (dolly) forward/backward using W and S keys.
-    if imgui.IsKeyDown(imgui.Key.W):
-      ux.MoveCamera(
-          model,
-          data,
-          camera,
-          ux.CameraMotion.TRUCK_DOLLY,
-          0,
-          cam_speed,
-      )
-      moved = True
-    elif imgui.IsKeyDown(imgui.Key.S):
-      ux.MoveCamera(
-          model,
-          data,
-          camera,
-          ux.CameraMotion.TRUCK_DOLLY,
-          0,
-          -cam_speed,
-      )
-      moved = True
-
-    # Strafe (truck) left/right using A and D keys.
-    if imgui.IsKeyDown(imgui.Key.A):
-      ux.MoveCamera(
-          model,
-          data,
-          camera,
-          ux.CameraMotion.TRUCK_DOLLY,
-          -cam_speed,
-          0,
-      )
-      moved = True
-    elif imgui.IsKeyDown(imgui.Key.D):
-      ux.MoveCamera(
-          model,
-          data,
-          camera,
-          ux.CameraMotion.TRUCK_DOLLY,
-          cam_speed,
-          0,
-      )
-      moved = True
-
-    # Move (pedestal) up/down using Q and E keys.
-    if imgui.IsKeyDown(imgui.Key.Q):
-      ux.MoveCamera(
-          model,
-          data,
-          camera,
-          ux.CameraMotion.TRUCK_PEDESTAL,
-          0,
-          cam_speed,
-      )
-      moved = True
-    elif imgui.IsKeyDown(imgui.Key.E):
-      ux.MoveCamera(
-          model,
-          data,
-          camera,
-          ux.CameraMotion.TRUCK_PEDESTAL,
-          0,
-          -cam_speed,
-      )
-      moved = True
-
-    if moved:
-      cam_speed += 0.001
-      max_speed = 0.1 if imgui.GetIO().KeyShift else 0.01
-      if cam_speed > max_speed:
-        cam_speed = max_speed
-    else:
-      cam_speed = 0.001
-
-    return True, cam_speed
-
-  return False, cam_speed
-
-
-def handle_keyboard_events(
-    model: mujoco.MjModel,
-    data: mujoco.MjData,
-    camera: mujoco.MjvCamera,
-    vis_options: mujoco.MjvOption,
-    step_control: sim.StepControl,
-    ux_state: ux.UxState,
-    cam_speed: float,
-) -> tuple[bool, float]:
-  """Handle keyboard events according to Studio's bindings.
-
-  Args:
-    model: The MuJoCo model.
-    data: The MuJoCo data.
-    camera: The MuJoCo camera object.
-    vis_options: The MuJoCo visualization options.
-    step_control: The simulation step control object.
-    ux_state: The UX state object.
-    cam_speed: The current camera speed.
-
-  Returns:
-    A tuple of (handled, updated_cam_speed).
-  """
-  if imgui.GetIO().WantCaptureKeyboard:
-    return False, cam_speed
-
-  is_freecam_wasd = ux_state.camera_index == ux.FREE_CAMERA_IDX
-  if handle_step_control_keyboard_events(step_control, ux_state):
-    return True, cam_speed
-
-  if handle_reset_keyboard_events(model, data):
-    return True, cam_speed
-
-  if handle_camera_select_keyboard_events(model, camera, ux_state):
-    return True, cam_speed
-
-  if handle_vis_options_keyboard_events(vis_options, is_freecam_wasd):
-    return True, cam_speed
-
-  if is_freecam_wasd:
-    handled, cam_speed = handle_freecam_wasd_keyboard_events(
-        model, data, camera, cam_speed
-    )
-    if handled:
-      return True, cam_speed
-
-  return False, cam_speed
-
-
-def handle_camera_tracking_mouse_events(
-    model: mujoco.MjModel,
-    data: mujoco.MjData,
-    camera: mujoco.MjvCamera,
-    vis_options: mujoco.MjvOption,
-    ux_state: ux.UxState,
-) -> None:
-  """Handles mouse events for camera tracking."""
-  io = imgui.GetIO()
-  if imgui.GetIO().WantCaptureMouse:
-    return
-
-  if io.DisplaySize.x <= 0 or io.DisplaySize.y <= 0:
-    return
-
-  mouse_x = io.MousePos.x / io.DisplaySize.x
-  mouse_y = io.MousePos.y / io.DisplaySize.y
-  aspect_ratio = io.DisplaySize.x / io.DisplaySize.y
-
-  # Right double click.
-  if imgui.IsMouseDoubleClicked(imgui.MouseButton.Right):
-    picked = ux.Pick(
-        model,
-        data,
-        camera,
-        mouse_x,
-        mouse_y,
-        aspect_ratio,
-        vis_options,
-    )
-    if picked.body > 0 and io.KeyCtrl:
-      # Switch camera to tracking mode and track the selected body.
-      camera.type = int(mujoco.mjtCamera.mjCAMERA_TRACKING)
-      camera.trackbodyid = picked.body
-      camera.fixedcamid = -1
-      ux_state.camera_index = ux.TRACKING_CAMERA_IDX
-
-
-def handle_mouse_events(
-    model: mujoco.MjModel,
-    data: mujoco.MjData,
-    camera: mujoco.MjvCamera,
-    vis_options: mujoco.MjvOption,
-    perturb: mujoco.MjvPerturb,
-    ux_state: ux.UxState,
-) -> None:
-  """Handles mouse events."""
-  io = imgui.GetIO()
-  if io.WantCaptureMouse:
-    return
-
-  if io.DisplaySize.x <= 0 or io.DisplaySize.y <= 0:
-    return
-
-  mouse_x = io.MousePos.x / io.DisplaySize.x
-  mouse_y = io.MousePos.y / io.DisplaySize.y
-  mouse_dx = io.MouseDelta.x / io.DisplaySize.x
-  mouse_dy = io.MouseDelta.y / io.DisplaySize.y
-  mouse_scroll = io.MouseWheel / 50.0
-
-  is_mouse_moving = mouse_dx != 0.0 or mouse_dy != 0.0
-  is_any_mouse_down = (
-      imgui.IsMouseDown(imgui.MouseButton.Left)
-      or imgui.IsMouseDown(imgui.MouseButton.Right)
-      or imgui.IsMouseDown(imgui.MouseButton.Middle)
-  )
-  is_mouse_dragging = is_mouse_moving and is_any_mouse_down
-
-  # If no mouse buttons are down, end any active perturbations.
-  if not is_any_mouse_down:
-    perturb.active = 0
-
-  # Handle perturbation mouse actions.
-  if is_mouse_dragging and io.KeyCtrl:
-    if perturb.select > 0:
-      action = int(mujoco.mjtMouse.mjMOUSE_NONE)
-      if imgui.IsMouseDown(imgui.MouseButton.Left):
-        if io.KeyAlt:
-          action = int(
-              mujoco.mjtMouse.mjMOUSE_MOVE_H
-              if io.KeyShift
-              else mujoco.mjtMouse.mjMOUSE_MOVE_V
-          )
-        else:
-          action = int(
-              mujoco.mjtMouse.mjMOUSE_ROTATE_H
-              if io.KeyShift
-              else mujoco.mjtMouse.mjMOUSE_ROTATE_V
-          )
-      elif imgui.IsMouseDown(imgui.MouseButton.Right):
-        action = int(
-            mujoco.mjtMouse.mjMOUSE_MOVE_H
-            if io.KeyShift
-            else mujoco.mjtMouse.mjMOUSE_MOVE_V
-        )
-      elif imgui.IsMouseDown(imgui.MouseButton.Middle):
-        action = int(mujoco.mjtMouse.mjMOUSE_ZOOM)
-
-      active = int(
-          mujoco.mjtPertBit.mjPERT_TRANSLATE
-          if action
-          in (
-              int(mujoco.mjtMouse.mjMOUSE_MOVE_V),
-              int(mujoco.mjtMouse.mjMOUSE_MOVE_H),
-          )
-          else mujoco.mjtPertBit.mjPERT_ROTATE
-      )
-      if active != perturb.active:
-        ux.InitPerturb(model, data, camera, perturb, active)
-      ux.MovePerturb(
-          model,
-          data,
-          camera,
-          perturb,
-          action,
-          mouse_dx,
-          mouse_dy,
-      )
-  elif is_mouse_dragging:
-    if ux_state.camera_index == ux.FREE_CAMERA_IDX:
-      if imgui.IsMouseDown(imgui.MouseButton.Left):
-        ux.MoveCamera(
-            model,
-            data,
-            camera,
-            ux.CameraMotion.PAN_TILT,
-            mouse_dx,
-            mouse_dy,
-        )
-    else:
-      if imgui.IsMouseDown(imgui.MouseButton.Left):
-        ux.MoveCamera(
-            model,
-            data,
-            camera,
-            ux.CameraMotion.ORBIT,
-            mouse_dx,
-            mouse_dy,
-        )
-      elif imgui.IsMouseDown(imgui.MouseButton.Middle):
-        ux.MoveCamera(
-            model,
-            data,
-            camera,
-            ux.CameraMotion.ZOOM,
-            mouse_dx,
-            mouse_dy,
-        )
-
-    # Right mouse movement is relative to the horizontal and vertical planes.
-    if imgui.IsMouseDown(imgui.MouseButton.Right) and io.KeyShift:
-      ux.MoveCamera(
-          model,
-          data,
-          camera,
-          ux.CameraMotion.PLANAR_MOVE_H,
-          mouse_dx,
-          mouse_dy,
-      )
-    elif imgui.IsMouseDown(imgui.MouseButton.Right):
-      ux.MoveCamera(
-          model,
-          data,
-          camera,
-          ux.CameraMotion.PLANAR_MOVE_V,
-          mouse_dx,
-          mouse_dy,
-      )
-
-  # Mouse scroll.
-  if mouse_scroll != 0.0 and ux_state.camera_index != ux.FREE_CAMERA_IDX:
-    ux.MoveCamera(
-        model,
-        data,
-        camera,
-        ux.CameraMotion.ZOOM,
-        0,
-        -mouse_scroll,
-    )
-
-  aspect_ratio = io.DisplaySize.x / io.DisplaySize.y
-
-  # Left double click.
-  if imgui.IsMouseDoubleClicked(imgui.MouseButton.Left):
-    picked = ux.Pick(
-        model,
-        data,
-        camera,
-        mouse_x,
-        mouse_y,
-        aspect_ratio,
-        vis_options,
-    )
-    if picked.body >= 0:
-      perturb.select = picked.body
-      perturb.flexselect = picked.flex
-      perturb.skinselect = picked.skin
-
-      # Compute the local position of the selected object in the world.
-      tmp = np.array(picked.point, dtype=np.float64) - data.xpos[picked.body]
-      xmat = np.array(data.xmat[picked.body], dtype=np.float64).reshape(3, 3)
-      perturb.localpos = xmat.T @ tmp
-    else:
-      perturb.select = 0
-      perturb.flexselect = -1
-      perturb.skinselect = -1
-
-  handle_camera_tracking_mouse_events(
-      model, data, camera, vis_options, ux_state
-  )
diff --git a/python/mujoco/experimental/studio/ux.cc b/python/mujoco/experimental/studio/ux.cc
deleted file mode 100644
index 8804ae0d..00000000
--- a/python/mujoco/experimental/studio/ux.cc
+++ /dev/null
@@ -1,517 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Python bindings for MuJoCo platform UX components.
-
-#include <array>
-#include <span>
-#include <string>
-#include <tuple>
-#include <vector>
-
-#include <imgui.h>
-#include <implot.h>
-#include <mujoco/mujoco.h>
-#include <mujoco/experimental/platform/helpers.h>
-#include <mujoco/experimental/platform/sim/sim_history.h>
-#include <mujoco/experimental/platform/sim/step_control.h>
-#include <mujoco/experimental/platform/ux/gui.h>
-#include <mujoco/experimental/platform/ux/interaction.h>
-#include "structs.h"
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-
-namespace py = pybind11;
-
-struct UxState {
-  // Read/edited by step_control_gui
-  int speed_index = 0;
-
-  // Read/edited by state_gui
-  std::vector<mjtNum> state;
-  int state_sig = 0;
-
-  // Read/edited by watch_gui
-  char watch_field_name[256] = {0};
-  int watch_field_index = 0;
-
-  // Read/edited by camera_selection_gui
-  int camera_index = mujoco::platform::kTumbleCameraIdx;
-
-  // Read/edited by simulation_gui.
-  int key_idx = 0;
-  int nthread = 0;
-  bool update_threadpool = false;
-  mujoco::platform::SimulationTimelineState timeline;
-};
-
-struct RenderFlags {
-  std::array<uint8_t, mjNRNDFLAG> flags = {0};
-};
-
-PYBIND11_MODULE(ux, m, pybind11::mod_gil_not_used()) {
-  py::module_::import("mujoco._structs");
-  py::class_<RenderFlags>(m, "RenderFlags")
-      .def(py::init<>())
-      .def_readwrite("flags", &RenderFlags::flags);
-
-  m.doc() = "MuJoCo platform UX components.";
-
-  py::enum_<mujoco::platform::GuiTheme>(m, "GuiTheme")
-      .value("LIGHT", mujoco::platform::GuiTheme::kLight)
-      .value("DARK", mujoco::platform::GuiTheme::kDark)
-      .value("CLASSIC", mujoco::platform::GuiTheme::kClassic);
-
-  py::class_<UxState>(m, "UxState")
-      .def(py::init<>())
-      .def_readwrite("speed_index", &UxState::speed_index)
-      .def_readwrite("state", &UxState::state)
-      .def_readwrite("state_sig", &UxState::state_sig)
-      .def_readwrite("watch_field_index", &UxState::watch_field_index)
-      .def_readwrite("camera_index", &UxState::camera_index)
-      .def_readwrite("key_idx", &UxState::key_idx)
-      .def_readwrite("nthread", &UxState::nthread)
-      .def_readwrite("update_threadpool", &UxState::update_threadpool)
-      .def_property(
-          "watch_field_name",
-          [](const UxState& self) {
-            return std::string(self.watch_field_name);
-          },
-          [](UxState& self, const std::string& val) {
-            std::snprintf(self.watch_field_name, sizeof(self.watch_field_name),
-                          "%s", val.c_str());
-          });
-
-  m.def(
-      "setup_theme",
-      [](mujoco::platform::GuiTheme theme) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::SetupTheme(theme);
-      },
-      py::arg("theme"), "Set up Dear ImGui visual theme.");
-
-  m.def(
-      "set_imgui_context",
-      [](intptr_t ptr) {
-        ImGui::SetCurrentContext(reinterpret_cast<ImGuiContext*>(ptr));
-      },
-      py::arg("ptr"), "Set ImGui context pointer.");
-
-  // Each pybind extension module holds its own copy of the ImGui/ImPlot
-  // globals (extension modules are loaded RTLD_LOCAL), so the viewer that
-  // owns the contexts must share the pointers with this module. Without
-  // this, the plotting GUIs would dereference a null ImPlot context.
-  m.def(
-      "set_implot_context",
-      [](intptr_t ptr) {
-        ImPlot::SetCurrentContext(reinterpret_cast<ImPlotContext*>(ptr));
-      },
-      py::arg("ptr"), "Set ImPlot context pointer.");
-
-  m.def(
-      "configure_docking_layout",
-      []() {
-        py::gil_scoped_release no_gil;
-        ImVec4 r = mujoco::platform::ConfigureDockingLayout(true, true);
-        return std::make_tuple(r.x, r.y, r.z, r.w);
-      },
-      "Configure the docking layout with Options (left) and Inspector (right) "
-      "panes. Returns (x, y, w, h) of the central workspace area.");
-
-  m.def(
-      "step_control_gui",
-      [](mujoco::platform::StepControl* step_control, UxState& ux_state) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::StepControlGui(step_control, ux_state.speed_index);
-      },
-      py::arg("step_control"), py::arg("ux_state"),
-      "Render the simulation stepping control GUI. Modifies "
-      "ux_state.speed_index.");
-
-  m.def(
-      "setup_history",
-      [](mujoco::platform::StepControl* step_control,
-         mujoco::platform::SimHistory* history, UxState& ux_state,
-         py::object model_obj, py::object data_obj) {
-        mjModel* model =
-            py::cast<mujoco::python::MjModelWrapper&>(model_obj).get();
-        mjData* data = py::cast<mujoco::python::MjDataWrapper&>(data_obj).get();
-        mujoco::platform::SimulationTimelineState* timeline =
-            &ux_state.timeline;
-        py::gil_scoped_release no_gil;
-        // Record every simulation step into the history buffer (in C++, so no
-        // Python is called per step). Matches the native Studio app.
-        history->Init(mj_stateSize(model, mjSTATE_INTEGRATION));
-        step_control->SetPostStepCallback(
-            [history, timeline](const mjModel* m, mjData* d) {
-              std::span<mjtNum> state = history->AddToHistory();
-              if (!state.empty()) {
-                mj_getState(m, d, state.data(), mjSTATE_INTEGRATION);
-                timeline->sim_head_time = d->time;
-              }
-            });
-        // Record the initial state and reset the scrubber.
-        std::span<mjtNum> state = history->AddToHistory();
-        if (!state.empty()) {
-          mj_getState(model, data, state.data(), mjSTATE_INTEGRATION);
-        }
-        *timeline = {};
-        timeline->sim_head_time = data->time;
-      },
-      py::arg("step_control"), py::arg("history"), py::arg("ux_state"),
-      py::arg("model"), py::arg("data"),
-      "Wire history recording: (re)initialize the buffer, install a per-step "
-      "recorder on step_control, record the current state and reset the "
-      "timeline. Call on model load and after a reset.");
-
-  m.def(
-      "simulation_gui",
-      [](py::object model_obj, py::object data_obj,
-         mujoco::platform::StepControl* step_control,
-         mujoco::platform::SimHistory* history, UxState& ux_state,
-         py::function reset, py::function reload, py::function align) {
-        mjModel* model =
-            py::cast<mujoco::python::MjModelWrapper&>(model_obj).get();
-        mjData* data = py::cast<mujoco::python::MjDataWrapper&>(data_obj).get();
-        // The GIL is held throughout: the callbacks call back into Python.
-        mujoco::platform::SimulationGuiContext ctx;
-        ctx.model = model;
-        ctx.data = data;
-        ctx.step_control = step_control;
-        ctx.history = history;
-        ctx.timeline = &ux_state.timeline;
-        ctx.speed_index = &ux_state.speed_index;
-        ctx.key_idx = &ux_state.key_idx;
-        ctx.nthread = &ux_state.nthread;
-        ctx.update_threadpool = &ux_state.update_threadpool;
-        ctx.reset = [&reset]() { reset(); };
-        ctx.reload = [&reload]() { reload(); };
-        ctx.align = [&align]() { align(); };
-        mujoco::platform::SimulationGui(ctx);
-      },
-      py::arg("model"), py::arg("data"), py::arg("step_control"),
-      py::arg("history"), py::arg("ux_state"), py::arg("reset"),
-      py::arg("reload"), py::arg("align"),
-      "Render the full Simulation panel: reset/reload/align, run/pause, speed, "
-      "the history scrubber, keyframes and thread count. The three callbacks "
-      "are invoked for the corresponding buttons.");
-
-  m.def(
-      "theme_select_gui",
-      [](mujoco::platform::GuiTheme theme) {
-        py::gil_scoped_release no_gil;
-        bool changed = mujoco::platform::ThemeSelectGui(&theme);
-        return std::make_tuple(changed, theme);
-      },
-      py::arg("theme"),
-      "Render the GUI theme selector. Returns (changed, theme).");
-
-  m.def(
-      "label_selection_gui",
-      [](mujoco::python::MjvOptionWrapper& vis_options) {
-        py::gil_scoped_release no_gil;
-        return mujoco::platform::LabelSelectionGui(vis_options.get());
-      },
-      py::arg("vis_options"), "Render the visualization label selection GUI.");
-
-  m.def(
-      "frame_selection_gui",
-      [](mujoco::python::MjvOptionWrapper& vis_options) {
-        py::gil_scoped_release no_gil;
-        return mujoco::platform::FrameSelectionGui(vis_options.get());
-      },
-      py::arg("vis_options"), "Render the visualization frame selection GUI.");
-
-  m.def(
-      "camera_selection_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjDataWrapper& data,
-         mujoco::python::MjvCameraWrapper& camera, UxState& ux_state) {
-        py::gil_scoped_release no_gil;
-        bool changed = mujoco::platform::CameraSelectionGui(
-            model.get(), data.get(), *camera.get(), ux_state.camera_index);
-        return changed;
-      },
-      py::arg("model"), py::arg("data"), py::arg("camera"), py::arg("ux_state"),
-      "Render the camera selection GUI. Modifies ux_state.camera_index. "
-      "Returns true if camera changed.");
-
-  m.def(
-      "set_camera",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjvCameraWrapper& camera, int request_idx) {
-        py::gil_scoped_release no_gil;
-        return mujoco::platform::SetCamera(model.get(), camera.get(),
-                                           request_idx);
-      },
-      py::arg("model"), py::arg("camera"), py::arg("request_idx"),
-      "Set the camera index and update the camera object.");
-
-  m.def(
-      "set_speed_index",
-      [](mujoco::platform::StepControl* step_control, int speed_index,
-         int request_idx) {
-        {
-          py::gil_scoped_release no_gil;
-          mujoco::platform::SetSpeedIndex(step_control, speed_index,
-                                          request_idx);
-        }
-        return speed_index;
-      },
-      py::arg("step_control"), py::arg("speed_index"), py::arg("request_idx"),
-      "Set the simulation speed index. Returns new_speed_index.");
-
-  m.def(
-      "physics_gui",
-      [](mujoco::python::MjModelWrapper& model, float min_width) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::PhysicsGui(model.get(), min_width);
-      },
-      py::arg("model"), py::arg("min_width") = 150.0f,
-      "Render the physics settings UI.");
-
-  m.def(
-      "rendering_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjvOptionWrapper& vis_options,
-         RenderFlags& render_flags) {
-        py::gil_scoped_release no_gil;
-        mjtByte flags[mjNRNDFLAG] = {0};
-        for (int i = 0; i < mjNRNDFLAG; ++i) {
-          flags[i] = render_flags.flags[i];
-        }
-        mujoco::platform::RenderingGui(model.get(), vis_options.get(), flags,
-                                       150.0f);
-        for (int i = 0; i < mjNRNDFLAG; ++i) {
-          render_flags.flags[i] = flags[i];
-        }
-      },
-      py::arg("model"), py::arg("vis_options"), py::arg("render_flags"),
-      "Render the rendering settings UI. Modifies render_flags in place.");
-
-  m.def(
-      "groups_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjvOptionWrapper& vis_options, float min_width) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::GroupsGui(model.get(), vis_options.get(), min_width);
-      },
-      py::arg("model"), py::arg("vis_options"), py::arg("min_width") = 150.0f,
-      "Render the visibility groups UI.");
-
-  m.def(
-      "visualization_gui",
-      [](mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjvOptionWrapper& vis_options,
-         mujoco::python::MjvCameraWrapper& camera, float min_width) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::VisualizationGui(model.get(), vis_options.get(),
-                                           camera.get(), min_width);
-      },
-      py::arg("model"), py::arg("vis_options"), py::arg("camera"),
-      py::arg("min_width") = 150.0f, "Render the visualization settings UI.");
-
-  m.def(
-      "controls_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjDataWrapper& data,
-         mujoco::python::MjvOptionWrapper& vis_options) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::ControlsGui(model.get(), data.get(),
-                                      vis_options.get());
-      },
-      py::arg("model"), py::arg("data"), py::arg("vis_options"),
-      "Render the actuator controls UI.");
-
-  m.def(
-      "joints_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjDataWrapper& data,
-         mujoco::python::MjvOptionWrapper& vis_options) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::JointsGui(model.get(), data.get(), vis_options.get());
-      },
-      py::arg("model"), py::arg("data"), py::arg("vis_options"),
-      "Render the joints UI.");
-
-  m.def(
-      "sensor_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjDataWrapper& data) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::SensorGui(model.get(), data.get());
-      },
-      py::arg("model"), py::arg("data"), "Render the sensor data plot.");
-
-  m.def(
-      "state_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjDataWrapper& data, UxState& ux_state,
-         float min_width) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::StateGui(model.get(), data.get(), ux_state.state,
-                                   ux_state.state_sig, min_width);
-      },
-      py::arg("model"), py::arg("data"), py::arg("ux_state"),
-      py::arg("min_width") = 150.0f,
-      "Render the state UI. Modifies ux_state.state and ux_state.state_sig.");
-
-  m.def(
-      "watch_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjDataWrapper& data, UxState& ux_state) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::WatchGui(
-            model.get(), data.get(), ux_state.watch_field_name,
-            sizeof(ux_state.watch_field_name), ux_state.watch_field_index);
-      },
-      py::arg("model"), py::arg("data"), py::arg("ux_state"),
-      "Render the watch UI. Modifies ux_state.watch_field_name and "
-      "ux_state.watch_field_index.");
-
-  m.def(
-      "noise_gui",
-      [](mujoco::platform::StepControl* step_control) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::NoiseGui(step_control);
-      },
-      py::arg("step_control"), "Render the noise UI.");
-
-  m.def(
-      "convergence_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjDataWrapper& data) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::ConvergenceGui(model.get(), data.get());
-      },
-      py::arg("model"), py::arg("data"),
-      "Render the solver convergence chart.");
-
-  m.def(
-      "counts_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjDataWrapper& data) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::CountsGui(model.get(), data.get());
-      },
-      py::arg("model"), py::arg("data"), "Render the solver counts chart.");
-
-  m.def(
-      "info_gui",
-      [](const mujoco::python::MjModelWrapper& model,
-         mujoco::python::MjDataWrapper& data, bool paused, float fps) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::InfoGui(model.get(), data.get(), paused, fps);
-      },
-      py::arg("model"), py::arg("data"), py::arg("paused"), py::arg("fps"),
-      "Render the simulation info UI.");
-
-  m.attr("FREE_CAMERA_IDX") = mujoco::platform::kFreeCameraIdx;
-  m.attr("TUMBLE_CAMERA_IDX") = mujoco::platform::kTumbleCameraIdx;
-  m.attr("TRACKING_CAMERA_IDX") = mujoco::platform::kTrackingCameraIdx;
-
-  py::enum_<mujoco::platform::CameraMotion>(m, "CameraMotion")
-      .value("ZOOM", mujoco::platform::CameraMotion::ZOOM)
-      .value("ORBIT", mujoco::platform::CameraMotion::ORBIT)
-      .value("TRUCK_PEDESTAL", mujoco::platform::CameraMotion::TRUCK_PEDESTAL)
-      .value("TRUCK_DOLLY", mujoco::platform::CameraMotion::TRUCK_DOLLY)
-      .value("PAN_TILT", mujoco::platform::CameraMotion::PAN_TILT)
-      .value("PLANAR_MOVE_H", mujoco::platform::CameraMotion::PLANAR_MOVE_H)
-      .value("PLANAR_MOVE_V", mujoco::platform::CameraMotion::PLANAR_MOVE_V)
-      .export_values();
-
-  m.def(
-      "MoveCamera",
-      [](const mujoco::python::MjModelWrapper& model,
-         const mujoco::python::MjDataWrapper& data,
-         mujoco::python::MjvCameraWrapper& cam,
-         mujoco::platform::CameraMotion motion, mjtNum dx, mjtNum dy) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::MoveCamera(model.get(), data.get(), cam.get(), motion,
-                                     dx, dy);
-      },
-      py::arg("model"), py::arg("data"), py::arg("cam"), py::arg("motion"),
-      py::arg("dx"), py::arg("dy"), "Moves the given camera.");
-
-  m.def(
-      "InitPerturb",
-      [](const mujoco::python::MjModelWrapper& model,
-         const mujoco::python::MjDataWrapper& data,
-         const mujoco::python::MjvCameraWrapper& cam,
-         mujoco::python::MjvPerturbWrapper& pert, int active) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::InitPerturb(model.get(), data.get(), cam.get(),
-                                      pert.get(),
-                                      static_cast<mjtPertBit>(active));
-      },
-      py::arg("model"), py::arg("data"), py::arg("cam"), py::arg("pert"),
-      py::arg("active"), "Initializes mouse perturbation.");
-
-  m.def(
-      "MovePerturb",
-      [](const mujoco::python::MjModelWrapper& model,
-         const mujoco::python::MjDataWrapper& data,
-         const mujoco::python::MjvCameraWrapper& cam,
-         mujoco::python::MjvPerturbWrapper& pert, int action, mjtNum reldx,
-         mjtNum reldy) {
-        py::gil_scoped_release no_gil;
-        mujoco::platform::MovePerturb(model.get(), data.get(), cam.get(),
-                                      pert.get(), static_cast<mjtMouse>(action),
-                                      reldx, reldy);
-      },
-      py::arg("model"), py::arg("data"), py::arg("cam"), py::arg("pert"),
-      py::arg("action"), py::arg("reldx"), py::arg("reldy"),
-      "Moves mouse perturbation.");
-
-  py::class_<mujoco::platform::PickResult>(m, "PickResult")
-      .def_readwrite("dist", &mujoco::platform::PickResult::dist)
-      .def_readwrite("body", &mujoco::platform::PickResult::body)
-      .def_readwrite("geom", &mujoco::platform::PickResult::geom)
-      .def_readwrite("flex", &mujoco::platform::PickResult::flex)
-      .def_readwrite("skin", &mujoco::platform::PickResult::skin)
-      .def_property(
-          "point",
-          [](const mujoco::platform::PickResult& res) {
-            return py::make_tuple(res.point[0], res.point[1], res.point[2]);
-          },
-          [](mujoco::platform::PickResult& res, const py::tuple& t) {
-            res.point[0] = t[0].cast<mjtNum>();
-            res.point[1] = t[1].cast<mjtNum>();
-            res.point[2] = t[2].cast<mjtNum>();
-          });
-
-  m.def(
-      "Pick",
-      [](const mujoco::python::MjModelWrapper& model,
-         const mujoco::python::MjDataWrapper& data,
-         const mujoco::python::MjvCameraWrapper& cam, float x, float y,
-         float aspect_ratio, const mujoco::python::MjvOptionWrapper& opt) {
-        py::gil_scoped_release no_gil;
-        return mujoco::platform::Pick(model.get(), data.get(), cam.get(), x, y,
-                                      aspect_ratio, opt.get());
-      },
-      py::arg("model"), py::arg("data"), py::arg("cam"), py::arg("x"),
-      py::arg("y"), py::arg("aspect_ratio"), py::arg("opt"),
-      "Picks object under cursor.");
-
-  m.def(
-      "camera_to_string",
-      [](const mujoco::python::MjDataWrapper& data,
-         const mujoco::python::MjvCameraWrapper& camera) {
-        py::gil_scoped_release no_gil;
-        return mujoco::platform::CameraToString(data.get(), camera.get());
-      },
-      py::arg("data"), py::arg("camera"),
-      "Returns an XML string representation of the camera.");
-}
diff --git a/python/mujoco/experimental/studio/viewer.py b/python/mujoco/experimental/studio/viewer.py
deleted file mode 100644
index c3983e21..00000000
--- a/python/mujoco/experimental/studio/viewer.py
+++ /dev/null
@@ -1,75 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Interactive Studio GUI viewer for MuJoCo."""
-
-from absl import app as _app
-from absl import flags as _flags
-from mujoco.experimental.studio import launch_passive
-from mujoco.experimental.studio import messages
-from mujoco.experimental.studio import parser
-from mujoco.experimental.studio import sim
-from mujoco.experimental.studio import viewer_app
-from mujoco.experimental.studio import viewer_protocol
-
-vp = viewer_protocol
-
-_MODEL = _flags.DEFINE_string('model', None, 'Path to model file.')
-_GFX = _flags.DEFINE_enum(
-    'gfx', None, vp.GFX_MODES, 'Graphics mode ("web" launches Web Viewer).'
-)
-_PORT = _flags.DEFINE_integer(
-    'port', 0, 'Web Viewer port (0 picks first free port >= 8080).'
-)
-_WIDTH = _flags.DEFINE_integer('width', 1200, 'Width of the output image.')
-_HEIGHT = _flags.DEFINE_integer('height', 800, 'Height of the output image')
-
-
-def main(argv: list[str]) -> None:
-  config = vp.ViewerConfig(
-      width=_WIDTH.value,
-      height=_HEIGHT.value,
-      gfx=_GFX.value or '',
-      http_port=_PORT.value,
-  )
-
-  # Resolve model path, if provided.
-  model_path = _MODEL.value or (
-      argv[1] if len(argv) > 1 and not argv[1].startswith('--') else None
-  )
-
-  # Load model if path was provided.
-  data, model = None, None
-  if model_path and (data := parser.parse(model_path)):
-    model = data.model
-
-  with launch_passive.launch_passive(
-      config,
-      viewer_plugins=[viewer_app.ViewerApp()],
-  ) as handle:
-    # Send the model to the viewer, if we have a model.
-    if model is not None:
-      handle.send_to_viewer(messages.ModelEvent(model=model, path=model_path))  # pyrefly: ignore[bad-argument-type]
-
-    # Run the simulation.
-    step_control = sim.StepControl()
-    try:
-      while handle.is_running():
-        step_control.advance(model, data)
-        model, data, step_control = handle.sync(model, data, step_control)
-    except KeyboardInterrupt:
-      # Ctrl+C is the documented way to quit; exit cleanly, no traceback.
-      print('\nShutting down.', flush=True)
-
-
-_app.run(main)
diff --git a/python/mujoco/experimental/studio/viewer_app.py b/python/mujoco/experimental/studio/viewer_app.py
deleted file mode 100644
index 8a0396a9..00000000
--- a/python/mujoco/experimental/studio/viewer_app.py
+++ /dev/null
@@ -1,402 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Python implementation of the default Studio Viewer application UI.
-
-The class can be used as a plugin to run the full Studio Viewer application in
-Python.
-
-Architecture:
-  ViewerApp provides the full default UI/UX as a viewer-side plugin. This class
-  is viewer-agnostic and as such does not own camera, vis_options, or perturb
-  objects (these are provided by the viewer).
-
-  Viewer classes (NativeViewer and WebViewer) own the renderer, camera,
-  vis_options, and local deep-copied model/data used for rendering. The sim side
-  owns the physical simulation and pushes state snapshots to the viewer via
-  ViewerHandle.sync().
-"""
-
-import copy
-import dataclasses
-
-import mujoco
-from mujoco.experimental.studio import messages
-from mujoco.experimental.studio import parser
-from mujoco.experimental.studio import sim
-from mujoco.experimental.studio import studio_app_events
-from mujoco.experimental.studio import ux
-from mujoco.experimental.studio import viewer_protocol
-from mujoco.experimental.studio import viewer_utils
-
-from mujoco.experimental.dear_imgui import dear_imgui as imgui
-
-
-@dataclasses.dataclass(frozen=True)
-class ViewerAppInitEvent(messages.Event):
-  """Lifecycle event dispatched once when the ViewerApp is initialised.
-
-  Plugins that need access to the ViewerApp should handle this event and cache
-  the reference.
-  """
-
-  viewer_app: 'ViewerApp'
-
-
-class ViewerApp:
-  """ViewerApp wraps a Viewer and adds Studio UI/UX."""
-
-  @property
-  def viewer(self) -> viewer_protocol.Viewer:
-    assert self._viewer is not None
-    return self._viewer
-
-  @viewer.setter
-  def viewer(self, value: viewer_protocol.Viewer | None) -> None:
-    self._viewer = value
-
-  @property
-  def model(self) -> mujoco.MjModel:
-    return self.viewer.model
-
-  @model.setter
-  def model(self, value: mujoco.MjModel) -> None:
-    self.viewer.model = value
-
-  @property
-  def model_path(self) -> str:
-    return self.viewer.model_path
-
-  @model_path.setter
-  def model_path(self, value: str) -> None:
-    self.viewer.model_path = value
-
-  @property
-  def data(self) -> mujoco.MjData:
-    return self.viewer.data
-
-  @data.setter
-  def data(self, value: mujoco.MjData) -> None:
-    self.viewer.data = value
-
-  def __init__(self) -> None:
-    self._viewer: viewer_protocol.Viewer | None = None
-    self.theme = ux.GuiTheme.LIGHT
-    self.show_stats = False
-    self.show_solver = False
-    self.status = 'Ready'
-    self._reset_app_state()
-
-  @messages.handler(priority=messages.Priority.CRITICAL)
-  def _on_viewer_init(self, event: viewer_protocol.ViewerInitEvent) -> None:
-    self.viewer = event.viewer
-    self.viewer.dispatch(ViewerAppInitEvent(viewer_app=self))
-
-  def _reset_app_state(self) -> None:
-    """Resets ViewerApp-specific state (step control, ux)."""
-    self.step_control_state = sim.StepControl()
-    self.ux_state = ux.UxState()
-
-  def close(self) -> None:
-    self.viewer.close()
-
-  def handle_keyboard_events(self) -> None:
-    """Handles keyboard events."""
-
-    is_freecam_wasd = self.ux_state.camera_index == ux.FREE_CAMERA_IDX
-    if studio_app_events.handle_step_control_keyboard_events(
-        self.step_control_state, self.ux_state
-    ):
-      return
-
-    if studio_app_events.handle_reset_keyboard_events(self.model, self.data):
-      self.reset_physics()
-      return
-
-    if studio_app_events.handle_camera_select_keyboard_events(
-        self.model, self.viewer.camera, self.ux_state
-    ):
-      return
-
-    if studio_app_events.handle_vis_options_keyboard_events(
-        self.viewer.vis_options, is_freecam_wasd
-    ):
-      return
-
-    if is_freecam_wasd:
-      handled, cam_speed = (
-          studio_app_events.handle_freecam_wasd_keyboard_events(
-              self.model, self.data, self.viewer.camera, self.viewer.cam_speed
-          )
-      )
-      if handled:
-        self.viewer.cam_speed = cam_speed
-        return
-
-  def handle_camera_tracking_mouse_events(self) -> None:
-    """Handles mouse events for camera tracking."""
-    return studio_app_events.handle_camera_tracking_mouse_events(
-        self.model,
-        self.data,
-        self.viewer.camera,
-        self.viewer.vis_options,
-        self.ux_state,
-    )
-
-  def handle_mouse_events(
-      self,
-  ) -> None:
-    """Handles mouse events."""
-    return studio_app_events.handle_mouse_events(
-        self.model,
-        self.data,
-        self.viewer.camera,
-        self.viewer.vis_options,
-        self.viewer.perturb,
-        self.ux_state,
-    )
-
-  def reset_physics(self) -> None:
-    """Reset the physics."""
-    mujoco.mj_resetData(self.model, self.data)
-    mujoco.mj_forward(self.model, self.data)
-    self.viewer.send_to_sim(messages.ResetEvent())
-    # Discard any pre-reset snapshots so we don't overwrite the reset state.
-    self.viewer.get_sim_snapshots()
-
-  def apply_perturb(self) -> None:
-    """Apply perturbation the model."""
-    is_paused = (
-        self.step_control_state.get_pause_state()
-        == sim.PauseState.NORMAL_PAUSED
-    )
-    viewer_utils.apply_perturb(self.viewer, self.model, self.data, is_paused)
-
-  def reset_physics_gui(self) -> None:
-    """GUI to Reset the physics i.e., the reset button."""
-    button_size = imgui.GetFrameHeight()
-    square_size = imgui.Vec2(button_size, button_size)
-    icon_reset_model = '\uf0e2'  # FontAwesome "undo" icon.
-    if imgui.Button(icon_reset_model, square_size):
-      self.reset_physics()
-    imgui.SetItemTooltip('Reset')
-
-  def is_running(self) -> bool:
-    """Returns True if the application should continue running."""
-    return self.viewer.is_running()
-
-  def update(self) -> None:
-    """Update the simulation and handle user input.
-
-    Handles mouse input to compute perturbations or camera motion.
-    Handles keyboard input e.g., for keybindings or camera motion.
-    Applies the perturbations and advances the physics.
-    """
-    drop_file = self.viewer.get_drop_file()
-    # Handle file drop: update viewer model/data, reset app state, notify sim.
-    if drop_file:
-      try:
-        data = parser.parse(drop_file)
-        if data is not None:
-          # Notify all handlers on the sim side
-          self.viewer.send_to_sim(
-              messages.ModelEvent(model=data.model, path=drop_file)
-          )
-          # Notify all handlers on the viewer side.
-          self.viewer.dispatch(
-              messages.ModelEvent(model=data.model, path=drop_file)
-          )
-          # Discard all snapshots, including any stale state snapshots
-          self.viewer.get_sim_snapshots()
-      except Exception as ex:  # pylint: disable=broad-except
-        print(f'Error loading model from {drop_file!r}: {ex}')
-
-    # Handle user input.
-    self.handle_mouse_events()
-    self.handle_keyboard_events()
-
-    # Apply perturbation forces from the viewer.
-    self.apply_perturb()
-
-    # Send viewer-to-sim snapshots (step control, model options) each frame.
-    noise_scale, noise_rate = self.step_control_state.get_noise_parameters()
-    self.viewer.send_to_sim(
-        messages.StepControlSnapshot(
-            pause_state=self.step_control_state.get_pause_state(),
-            speed=self.step_control_state.get_speed(),
-            noise_scale=noise_scale,
-            noise_rate=noise_rate,
-        )
-    )
-    self.viewer.send_to_sim(
-        messages.MjOptionSnapshot(opt=copy.deepcopy(self.model.opt))
-    )
-
-  def build_gui(self) -> None:
-    """Emit full Studio UI."""
-    ux.setup_theme(self.theme)
-    ux.configure_docking_layout()
-
-    # -- Main menu bar --------------------------------------------------------
-    if imgui.BeginMainMenuBar():
-      if imgui.BeginMenu('File'):
-        if imgui.MenuItem('Quit'):
-          self.close()
-        imgui.EndMenu()
-      if imgui.BeginMenu('Simulation'):
-        imgui.EndMenu()
-      if imgui.BeginMenu('Charts'):
-        if imgui.MenuItem('Solver', '', self.show_solver):
-          self.show_solver = not self.show_solver
-        if imgui.MenuItem('Stats', '', self.show_stats):
-          self.show_stats = not self.show_stats
-        imgui.EndMenu()
-      if imgui.BeginMenu('Help'):
-        if imgui.MenuItem('Stats', '', self.show_stats):
-          self.show_stats = not self.show_stats
-        imgui.Separator()
-        version = f'Version {mujoco.mj_versionString()}'
-        imgui.MenuItem(version)
-        imgui.EndMenu()
-      imgui.EndMainMenuBar()
-
-    # -- Tool Bar -------------------------------------------------------------
-    if imgui.Begin('ToolBar'):
-      imgui.PushStyleVar(imgui.StyleVar.CellPadding, imgui.Vec2(0, 0))
-      if imgui.BeginTable('##ToolBarTable', 2):
-        imgui.TableSetupColumn('', int(imgui.TableColumnFlags.WidthStretch))
-        imgui.TableSetupColumn('', int(imgui.TableColumnFlags.WidthFixed))
-
-        imgui.TableNextColumn()
-        self.reset_physics_gui()
-
-        imgui.SameLine()
-        ux.step_control_gui(self.step_control_state, self.ux_state)
-
-        imgui.TableNextColumn()
-        ux.camera_selection_gui(
-            self.model,
-            self.data,
-            self.viewer.camera,
-            self.ux_state,
-        )
-
-        imgui.SameLine()
-        ux.label_selection_gui(self.viewer.vis_options)
-
-        imgui.SameLine()
-        ux.frame_selection_gui(self.viewer.vis_options)
-
-        imgui.SameLine()
-        changed, self.theme = ux.theme_select_gui(self.theme)
-        if changed:
-          ux.setup_theme(self.theme)
-
-        imgui.EndTable()
-      imgui.PopStyleVar()
-    imgui.End()
-
-    # -- Left pane: Options ---------------------------------------------------
-    node_flags = int(imgui.TreeNodeFlags.SpanAvailWidth) | int(
-        imgui.TreeNodeFlags.Framed
-    )
-
-    imgui.Begin('Options')
-    if imgui.TreeNodeEx('Physics Settings', node_flags):
-      ux.physics_gui(self.model)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Rendering Settings', node_flags):
-      ux.rendering_gui(
-          self.model,
-          self.viewer.vis_options,
-          self.viewer.render_flags,
-      )
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Visibility Groups', node_flags):
-      ux.groups_gui(self.model, self.viewer.vis_options)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Visualization', node_flags):
-      ux.visualization_gui(
-          self.model,
-          self.viewer.vis_options,
-          self.viewer.camera,
-      )
-      imgui.TreePop()
-    imgui.End()
-
-    # -- Right pane: Inspector ------------------------------------------------
-    imgui.Begin('Inspector')
-    if imgui.TreeNodeEx('Noise', node_flags):
-      ux.noise_gui(self.step_control_state)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Joints', node_flags):
-      ux.joints_gui(self.model, self.data, self.viewer.vis_options)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Controls', node_flags):
-      ux.controls_gui(self.model, self.data, self.viewer.vis_options)
-      imgui.TreePop()
-    if imgui.TreeNodeEx(
-        'Sensors', node_flags | int(imgui.TreeNodeFlags.DefaultOpen)
-    ):
-      ux.sensor_gui(self.model, self.data)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('Watch', node_flags):
-      ux.watch_gui(self.model, self.data, self.ux_state)
-      imgui.TreePop()
-    if imgui.TreeNodeEx('State', node_flags):
-      ux.state_gui(self.model, self.data, self.ux_state)
-      imgui.TreePop()
-    imgui.End()
-
-    # -- Floating windows -----------------------------------------------------
-    if self.show_solver:
-      _, self.show_solver = imgui.Begin('Solver', self.show_solver)
-      ux.counts_gui(self.model, self.data)
-      ux.convergence_gui(self.model, self.data)
-      imgui.End()
-
-    if self.show_stats:
-      _, self.show_stats = imgui.Begin('Stats', self.show_stats)
-      paused = (
-          self.step_control_state.get_pause_state() != sim.PauseState.UNPAUSED
-      )
-      ux.info_gui(self.model, self.data, paused, 0.0)
-      imgui.End()
-
-    # -- Status bar -----------------------------------------------------------
-    imgui.PushStyleVar(imgui.StyleVar.CellPadding, imgui.Vec2(0, 0))
-    imgui.PushStyleVar(imgui.StyleVar.FramePadding, imgui.Vec2(0, 0))
-    imgui.PushStyleVar(imgui.StyleVar.WindowPadding, imgui.Vec2(0, 0))
-    if imgui.Begin('StatusBar'):
-      imgui.Text(self.status)
-    imgui.End()
-    imgui.PopStyleVar(3)
-
-  @messages.handler(priority=messages.Priority.CRITICAL)
-  def _on_model(self, event: messages.ModelEvent) -> bool:
-    del event  # Model/data are owned by the Viewer.
-    self._reset_app_state()
-    return False  # Do not consume to allow other handlers to receive the event.
-
-  @messages.handler(priority=messages.Priority.INTERNAL)
-  def _on_exit(self, _: messages.ExitEvent) -> bool:
-    self.close()
-    return True
-
-  @messages.handler(priority=messages.Priority.INTERNAL)
-  def _on_update(self, _: messages.UpdateEvent) -> None:
-    self.update()
-
-  @messages.handler(priority=messages.Priority.INTERNAL)
-  def _on_build_gui(self, _: messages.BuildGuiEvent) -> None:
-    self.build_gui()
diff --git a/python/mujoco/experimental/studio/viewer_handle.py b/python/mujoco/experimental/studio/viewer_handle.py
deleted file mode 100644
index 79a439a9..00000000
--- a/python/mujoco/experimental/studio/viewer_handle.py
+++ /dev/null
@@ -1,211 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Viewer handle and event handlers for the simulation side."""
-
-from typing import Any, Callable
-import mujoco
-from mujoco.experimental.studio import endpoints
-from mujoco.experimental.studio import messages
-from mujoco.experimental.studio import plugin_registry
-from mujoco.experimental.studio import sim as _sim
-import numpy as np
-
-# Launcher-owned liveness check: returns True while the viewer is still alive.
-# This enables the handle to notice a viewer died without sending ExitEvent.
-IsAliveFn = Callable[[], bool]
-
-# Launcher-owned shutdown function: waits up to the given timeout (seconds) for
-# the viewer to finish after close() has sent the ExitEvent. Waiting lets the
-# viewer release its resources before the interpreter tears itself down.
-ShutdownFn = Callable[[float], None]
-
-
-class ViewerHandle:
-  """A handle for interacting with a running viewer application from the sim."""
-
-  def __init__(
-      self,
-      sim_endpoint: endpoints.SimEndpoint,
-      *,
-      plugins: list[Any] | None = None,
-      is_alive_fn: IsAliveFn | None = None,
-      shutdown_fn: ShutdownFn | None = None,
-  ) -> None:
-    """Initializes the ViewerHandle.
-
-    Args:
-      sim_endpoint: The endpoint to use for communication with the viewer.
-      plugins: Optional list of plugin instances for sim-side processing, which
-        are classes with methods decorated with ``@handler``.
-      is_alive_fn: Optional liveness check; without one the viewer is assumed to
-        be running until ``close()`` is called.
-      shutdown_fn: Optional launcher-owned shutdown hook, called by ``close()``.
-    """
-
-    self._sim_endpoint = sim_endpoint
-    self._is_running = True
-    self._is_alive_fn = is_alive_fn
-    self._shutdown_fn = shutdown_fn
-    self.model: mujoco.MjModel | None = None
-    self.data: mujoco.MjData | None = None
-    self.step_control: _sim.StepControl | None = None
-
-    # Instantiate handlers from user plugins + framework defaults.
-    all_plugins: list[Any] = list(plugins or [])
-    all_plugins.append(self)
-    self._plugins = plugin_registry.PluginRegistry(all_plugins)
-
-  def close(self) -> None:
-    """Signals the viewer to exit and waits for it to shut down."""
-    if self._is_running:
-      self._is_running = False
-      try:
-        self.send_to_viewer(messages.ExitEvent())
-      except Exception:  # pylint: disable=broad-exception-caught
-        pass  # Ignore exceptions, the viewer may have already closed.
-      if self._shutdown_fn is not None:
-        self._shutdown_fn(5.0)
-    self._sim_endpoint.close()
-
-  def __enter__(self) -> 'ViewerHandle':
-    return self
-
-  def __exit__(
-      self,
-      exc_type: type[BaseException] | None,
-      exc_val: BaseException | None,
-      exc_tb: Any,
-  ) -> None:
-    self.close()
-
-  def is_running(self) -> bool:
-    """Returns True while the viewer is open."""
-    if self._is_alive_fn is not None and not self._is_alive_fn():
-      self.close()
-    return self._is_running
-
-  def send_to_viewer(self, message: messages.Message) -> None:
-    """Sends an event or snapshot message to the viewer process.
-
-    Args:
-      message: The message to send.
-    """
-    self._sim_endpoint.send_to_viewer(message)
-
-  def sync(
-      self,
-      model: mujoco.MjModel | None,
-      data: mujoco.MjData | None,
-      step_control: _sim.StepControl,
-  ) -> tuple[mujoco.MjModel | None, mujoco.MjData | None, _sim.StepControl]:
-    """Syncs the simulation with the viewer and returns the updated sim state.
-
-    This method processes incoming events from the viewer, updates the sim state
-    accordingly, and sends the current simulation state to the viewer as a
-    snapshot.
-
-    Args:
-      model: The current model.
-      data: The current data.
-      step_control: The current step control state.
-
-    Returns:
-      The updated model, data, and step control state.
-    """
-
-    self.model, self.data, self.step_control = model, data, step_control
-
-    # Process incoming events from the viewer.
-    for event in self._sim_endpoint.get_viewer_events():
-      self._plugins.dispatch(event)
-
-    # Process incoming snapshots from the viewer.
-    for snapshot in self._sim_endpoint.get_viewer_snapshots():
-      self._plugins.dispatch(snapshot)
-
-    model, data, step_control = self.model, self.data, self.step_control
-
-    # Send the simulation state to the viewer process as a snapshot.
-    if model is not None:
-      assert data is not None
-      integration_sig = int(mujoco.mjtState.mjSTATE_INTEGRATION)
-      integration_size = mujoco.mj_stateSize(model, integration_sig)
-      integration_state = np.empty(integration_size, np.float64)
-      mujoco.mj_getState(
-          model,
-          data,
-          integration_state,
-          integration_sig,
-      )
-      self._sim_endpoint.send_to_viewer(
-          messages.StateSnapshot(
-              state=integration_state, state_sig=integration_sig
-          ),
-      )
-
-    return model, data, step_control
-
-  @messages.handler(priority=messages.Priority.INTERNAL)
-  def _on_model(self, event: messages.ModelEvent) -> bool:
-    self.model = event.model
-    self.data = mujoco.MjData(event.model)
-    mujoco.mj_forward(self.model, self.data)
-    self.step_control = _sim.StepControl()
-    return True
-
-  @messages.handler(priority=messages.Priority.INTERNAL)
-  def _on_perturb(self, event: messages.PerturbEvent) -> bool:
-    model = self.model
-    data = self.data
-    if model is not None and data is not None:
-      state_size = mujoco.mj_stateSize(model, event.state_sig)
-      if len(event.state) == state_size:
-        mujoco.mj_setState(model, data, event.state, event.state_sig)
-    return True
-
-  @messages.handler(priority=messages.Priority.INTERNAL)
-  def _on_reset(self, _: messages.ResetEvent) -> bool:
-    model = self.model
-    data = self.data
-    if model is not None:
-      assert data is not None
-      mujoco.mj_resetData(model, data)
-      mujoco.mj_forward(model, data)
-    return True
-
-  @messages.handler(priority=messages.Priority.INTERNAL)
-  def _on_exit(self, _: messages.ExitEvent) -> bool:
-    self._is_running = False  # pylint: disable=protected-access
-    return True
-
-  @messages.handler(priority=messages.Priority.INTERNAL)
-  def _on_step_control(self, event: messages.StepControlSnapshot) -> bool:
-    sc = self.step_control
-    if sc is not None:
-      sc.set_pause_state(event.pause_state)
-      sc.set_speed(event.speed)
-      sc.set_noise_parameters(event.noise_scale, event.noise_rate)
-    return True
-
-  @messages.handler(priority=messages.Priority.INTERNAL)
-  def _on_mjoption(self, event: messages.MjOptionSnapshot) -> bool:
-    model = self.model
-    if model is not None:
-      for field in model.opt._all_fields:  # pylint: disable=protected-access
-        val = getattr(event.opt, field)
-        try:
-          getattr(model.opt, field)[:] = val
-        except (TypeError, AttributeError):
-          setattr(model.opt, field, val)
-    return True
diff --git a/python/mujoco/experimental/studio/viewer_protocol.py b/python/mujoco/experimental/studio/viewer_protocol.py
deleted file mode 100644
index 8c133003..00000000
--- a/python/mujoco/experimental/studio/viewer_protocol.py
+++ /dev/null
@@ -1,288 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Base class and configuration for any viewer."""
-
-import abc
-import copy
-import dataclasses
-import enum
-from typing import Any
-import mujoco
-from mujoco.experimental.studio import endpoints
-from mujoco.experimental.studio import messages
-from mujoco.experimental.studio import plugin_registry
-from mujoco.experimental.studio import ux
-import numpy as np
-
-GFX_MODES = (
-    'classic',
-    'classic_headless',
-    'opengl',
-    'opengl_headless',
-    'opengl_software',
-    'vulkan',
-    'vulkan_software',
-    'web',
-    'webgl',
-)
-
-
-# -----------------------------------------------------------------------------
-# Viewer configuration.
-# -----------------------------------------------------------------------------
-
-
-@dataclasses.dataclass
-class ViewerConfig:
-  """Common configuration for creating a viewer window."""
-
-  title: str = ''
-  width: int = 1200
-  height: int = 800
-  gfx: str = ''  # Graphics mode ('web' launches Web Viewer).
-  http_port: int = 0  # Web Viewer port (0 picks first free port >= 8080).
-
-
-# Legacy message types kept for backward compatibility.
-# Will be removed when callers are migrated.
-
-
-@dataclasses.dataclass
-class SimToView:
-  """A message sent from the simulation to the viewer."""
-
-  model: mujoco.MjModel | None = None
-  state: np.ndarray | None = None
-  state_sig: int = 0
-  user_data: dict[str, Any] = dataclasses.field(default_factory=dict)
-
-
-@dataclasses.dataclass
-class ViewToSim:
-  """A message sent from the viewer to the simulation."""
-
-  state: np.ndarray | None = None
-  state_sig: int = 0
-  reset: bool = False
-  send_rate: float = 60.0
-  user_data: dict[str, Any] = dataclasses.field(default_factory=dict)
-
-
-# -----------------------------------------------------------------------------
-# Base class for any viewer.
-# -----------------------------------------------------------------------------
-
-
-@dataclasses.dataclass(frozen=True)
-class ViewerInitEvent(messages.Event):
-  """Lifecycle event dispatched once when the concrete Viewer is initialized.
-
-  Plugins that need access to the Viewer should handle this event
-  and cache the reference.
-  """
-
-  viewer: 'Viewer'
-
-
-class Viewer(abc.ABC):
-  """Base class for any viewer.
-
-  Owns the communication endpoint, plugin registry and core visualization
-  objects. The application is rendered by calling ``sync()``.
-  """
-
-  def __init__(
-      self,
-      config: ViewerConfig,
-      endpoint: endpoints.ViewerEndpoint,
-      *,
-      model: mujoco.MjModel | None = None,
-      model_path: str = '',
-      plugins: list[Any] | None = None,
-      camera: mujoco.MjvCamera | None = None,
-      vis_options: mujoco.MjvOption | None = None,
-      perturb: mujoco.MjvPerturb | None = None,
-      render_flags: ux.RenderFlags | None = None,
-      extra_geoms: list[mujoco.MjvGeom] | None = None,
-  ) -> None:
-    """Initializes the Viewer.
-
-    Args:
-      config: Viewer window configuration.
-      endpoint: The viewer endpoint for communication with the sim side.
-      model: Optional initial MjModel. If None, an empty model is created from
-        an empty MjSpec. The Viewer deep-copies this model and creates its own
-        MjData.
-      model_path: Optional path to the model file.
-      plugins: Optional list of plugin instances for viewer-side processing.
-      camera: Camera parameters. Internal object is created if None.
-      vis_options: Visualization options. Internal object is created if None.
-      perturb: Perturbation parameters. Internal object is created if None.
-      render_flags: Render flags. Internal object is created if None.
-      extra_geoms: List of extra geoms. Internal list is created if None.
-    """
-    self.config = config
-    self._endpoint = endpoint
-    self._is_running = True
-    self._closed = False
-
-    # Viewer-owned model and data.
-    if model is None:
-      model = mujoco.MjSpec().compile()
-    self.model: mujoco.MjModel
-    self.data: mujoco.MjData
-    self.model_path: str = ''
-    self.load_model(model, model_path)
-
-    # Visual state.
-    self.camera = camera or mujoco.MjvCamera()
-    self.cam_speed = 0.001
-    self.perturb = perturb or mujoco.MjvPerturb()
-    self.vis_options = vis_options or mujoco.MjvOption()
-    self.extra_geoms = extra_geoms or []
-    if render_flags is not None:
-      self.render_flags = render_flags
-    else:
-      self.render_flags = ux.RenderFlags()
-      # Initted to match mujoco/src/engine/engine_vis_init.c
-      self.render_flags.flags = [1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1]
-
-    # Plugin infrastructure.
-    all_plugins = [self] + list(plugins or [])
-    self.plugins = plugin_registry.PluginRegistry(all_plugins)
-
-  def close(self) -> None:
-    """Closes the viewer, sends an exit event and shuts down the endpoint."""
-    if self._closed:
-      return
-    self._closed = True
-    self._is_running = False
-    try:
-      self.send_to_sim(messages.ExitEvent())
-    except Exception:  # pylint: disable=broad-exception-caught
-      pass  # Ignore exceptions, the sim may have already closed.
-    self._endpoint.close()
-
-  @messages.handler(priority=messages.Priority.CRITICAL)
-  def _on_exit(self, _: messages.ExitEvent) -> bool:
-    """Stops the viewer loop when the sim side requests an exit."""
-    self._is_running = False
-    return False  # Do not consume; app handlers may want cleanup too.
-
-  def is_running(self) -> bool:
-    """Returns True while the viewer has not been closed."""
-    return self._is_running
-
-  def send_to_sim(self, message: messages.Message) -> None:
-    """Sends a message to the simulation process."""
-    self._endpoint.send_to_sim(message)
-
-  def get_sim_events(self) -> list[messages.Event]:
-    """Returns all pending events from the simulation."""
-    return self._endpoint.get_sim_events()
-
-  def get_sim_snapshots(self) -> list[messages.Snapshot]:
-    """Returns all pending latest snapshots from the simulation, one per type."""
-    return self._endpoint.get_sim_snapshots()
-
-  def dispatch(self, message: messages.Message) -> None:
-    """Dispatches a message to registered handlers in priority order."""
-    self.plugins.dispatch(message)
-
-  def load_model(self, model: mujoco.MjModel, model_path: str = '') -> None:
-    """Deep-copies a model and creates fresh data for the viewer."""
-    self.model_path = model_path
-    self.model = copy.deepcopy(model)
-    self.data = mujoco.MjData(self.model)
-    assert id(self.model) != id(model)
-    mujoco.mj_forward(self.model, self.data)
-
-  @messages.handler(priority=messages.Priority.CRITICAL)
-  def _on_model(self, event: messages.ModelEvent) -> bool:
-    """Deep-copies the incoming model so the Viewer owns its data."""
-    self.load_model(event.model, event.path)
-    self.extra_geoms.clear()
-    return False  # Do not consume; let other handlers see the event.
-
-  @messages.handler(priority=messages.Priority.CRITICAL)
-  def _on_state(self, event: messages.StateSnapshot) -> bool:
-    """Applies incoming simulation state to the viewer's model/data."""
-    state_size = mujoco.mj_stateSize(self.model, event.state_sig)
-    if len(event.state) == state_size:
-      mujoco.mj_setState(self.model, self.data, event.state, event.state_sig)
-      mujoco.mj_forward(self.model, self.data)
-    return False  # Do not consume; let other handlers see the event.
-
-  @abc.abstractmethod
-  def prepare_next_frame(self) -> bool:
-    """Advances to the next frame; returns whether one is ready to render."""
-    ...
-
-  @abc.abstractmethod
-  def sync(self) -> None:
-    """Renders the scene using the viewer's current model and data."""
-    ...
-
-  @abc.abstractmethod
-  def get_drop_file(self) -> str:
-    ...
-
-  @abc.abstractmethod
-  def upload_image(
-      self, tex_id: int, img: str | bytes, width: int, height: int, bpp: int
-  ) -> int:
-    ...
-
-
-# -----------------------------------------------------------------------------
-# Standalone viewer loop.
-# -----------------------------------------------------------------------------
-
-
-def run_viewer_loop(viewer: Viewer) -> None:
-  """Minimal viewer loop: process sim messages, dispatch lifecycle events, sync.
-
-  Runs until the viewer window is closed or an exit event is received.
-  On exit, closes the viewer (which sends an ExitEvent to the sim side).
-
-  Args:
-    viewer: A Viewer that owns the endpoint and plugin registry.
-  """
-  while True:
-    # Get the next frame; this also gets the frame's mouse/keyboard events.
-    frame = viewer.prepare_next_frame()
-
-    # Process incoming simulation events.
-    for event in viewer.get_sim_events():
-      viewer.dispatch(event)
-
-    # Stop the loop if the viewer is not running (endpoint will be closed).
-    if not viewer.is_running():
-      break
-
-    # Process incoming simulation snapshots.
-    for snapshot in viewer.get_sim_snapshots():
-      viewer.dispatch(snapshot)
-
-    # Skip rendering when prepare_next_frame returned no active frame.
-    # e.g., no browser is connected to the web viewer.
-    if frame:
-      # Dispatch lifecycle events.
-      viewer.dispatch(messages.UpdateEvent())
-      viewer.dispatch(messages.BuildGuiEvent())
-
-      # Render the scene.
-      viewer.sync()
-
-  viewer.close()
diff --git a/python/mujoco/experimental/studio/viewer_utils.py b/python/mujoco/experimental/studio/viewer_utils.py
deleted file mode 100644
index 24d1b012..00000000
--- a/python/mujoco/experimental/studio/viewer_utils.py
+++ /dev/null
@@ -1,49 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Utility functions for Studio viewer implementations."""
-
-import mujoco
-from mujoco.experimental.studio import messages
-from mujoco.experimental.studio import viewer_protocol
-import numpy as np
-
-
-def apply_perturb(
-    viewer: viewer_protocol.Viewer,
-    model: mujoco.MjModel | None,
-    data: mujoco.MjData | None,
-    is_paused: bool = False,
-) -> None:
-  """Apply perturbation to the model and send updated forces to the sim thread."""
-  if model is None or data is None:
-    return
-  perturb = viewer.perturb
-  if not is_paused:
-    sig = int(mujoco.mjtState.mjSTATE_XFRC_APPLIED)
-    size = mujoco.mj_stateSize(model, sig)
-    zero_state = np.zeros(size, np.float64)
-    mujoco.mj_setState(model, data, zero_state, sig)
-    mujoco.mjv_applyPerturbPose(model, data, perturb, 0)
-    mujoco.mjv_applyPerturbForce(model, data, perturb)
-  else:
-    mujoco.mjv_applyPerturbPose(model, data, perturb, 1)
-
-  xfrc_sig: int = int(mujoco.mjtState.mjSTATE_XFRC_APPLIED)
-  xfrc_size: int = mujoco.mj_stateSize(model, xfrc_sig)
-  xfrc_state: np.ndarray = np.zeros(xfrc_size, np.float64)
-
-  mujoco.mj_getState(model, data, xfrc_state, xfrc_sig)
-  viewer.send_to_sim(
-      messages.PerturbEvent(state=xfrc_state, state_sig=xfrc_sig)
-  )
diff --git a/python/mujoco/experimental/studio/web/headless_ui.cc b/python/mujoco/experimental/studio/web/headless_ui.cc
deleted file mode 100644
index 86aab132..00000000
--- a/python/mujoco/experimental/studio/web/headless_ui.cc
+++ /dev/null
@@ -1,302 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// The web viewer's headless Studio UI.
-//
-// This pybind11 module provides a HeadlessUi class that:
-// 1. Creates a headless ImGui context (no window, no renderer).
-// 2. Connects as a netimgui client, streaming ImGui draw data to a remote
-//    viewer (the browser's web_client, bridged through web_server.py).
-// 3. Receives input events from the remote viewer and injects them into
-//    the ImGui context.
-
-#include <chrono>
-#include <cstdint>
-#include <string>
-#include <string_view>
-#include <thread>
-#include <vector>
-
-#include <imgui.h>
-#include <implot.h>
-#include <mujoco/experimental/platform/ux/fonts.h>
-#include <NetImgui_Api.h>
-#include "google/logging.h"
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-
-namespace py = pybind11;
-
-// Headless ImGui + netimgui viewer for the MuJoCo web viewer.
-//
-// This class manages a headless ImGui context that streams its draw data
-// via the netimgui protocol to a remote viewer. Unlike the NativeViewer's
-// Viewer class (native_viewer.cc), this does NOT create a window, initialize
-// a renderer, or handle mouse/keyboard input directly. All rendering and
-// input handling happens on the remote client (web_client.cc in the browser).
-//
-// The lifecycle follows the SampleNoBackend pattern:
-//   Client_Startup()   — create context, load fonts, init NetImgui
-//   Client_Connect()   — manage connection state (called each frame)
-//   Client_Shutdown()  — release resources
-
-// Initialize the Dear ImGui Context and the NetImgui library.
-// Based on SampleNoBackend::Client_Startup() from
-// netimgui/Code/Sample/SampleNoBackend/SampleNoBackend.cpp
-static bool Client_Startup(ImGuiContext*& context,
-                           const std::string& assets_dir) {
-  IMGUI_CHECKVERSION();
-  context = ImGui::CreateContext();
-  ImGui::SetCurrentContext(context);
-  ImPlot::CreateContext();
-
-  ImGuiIO& io = ImGui::GetIO();
-  io.ConfigFlags |= ImGuiConfigFlags_DockingEnable;
-  io.BackendFlags |= ImGuiBackendFlags_HasGamepad;
-  io.IniFilename = nullptr;
-  io.ConfigDpiScaleFonts = true;
-  io.ConfigDpiScaleViewports = true;
-  io.DisplaySize = ImVec2(1400, 720);
-
-  // Disable ImGui auto-repeat in headless mode since the browser handles key
-  // repeat at the OS level, avoiding the frame amplification issue where many
-  // frames with identical key-down states trigger unwanted repeats.
-  io.KeyRepeatDelay = 9999.0f;
-
-  // Initialize the main viewport's DPI scale. Without this, the headless
-  // context leaves DpiScale at 0.0f (no platform backend sets it), which
-  // triggers an assertion in ImGui::SetCurrentViewport() when
-  // BeginMainMenuBar() is called.
-  ImGuiViewport* main_vp = ImGui::GetMainViewport();
-  if (main_vp) {
-    main_vp->DpiScale = 1.0f;
-  }
-
-  ImGui::StyleColorsLight();
-
-  // The Studio font set shared with the native viewer and the browser client.
-  mujoco::platform::AddStudioFonts([&assets_dir](std::string_view filename) {
-    return mujoco::platform::LoadFontAsset(assets_dir, filename);
-  });
-
-  if (!NetImgui::Startup()) {
-    LOG(Error, "NetImgui::Startup() failed");
-    return false;
-  }
-
-  return true;
-}
-
-// Release resources.
-// Based on SampleNoBackend::Client_Shutdown() from
-// netimgui/Code/Sample/SampleNoBackend/SampleNoBackend.cpp
-static void Client_Shutdown(ImGuiContext*& context) {
-  NetImgui::Shutdown();
-  ImPlot::DestroyContext();
-  if (context) {
-    ImGui::DestroyContext(context);
-    context = nullptr;
-  }
-}
-
-// Manage connection to the netimgui proxy.
-// Based on SampleNoBackend::Client_Connect() from
-// netimgui/Code/Sample/SampleNoBackend/SampleNoBackend.cpp
-static void Client_Connect(const char* title, int port) {
-  bool connected = NetImgui::IsConnected();
-  bool pending = NetImgui::IsConnectionPending();
-
-  if (!connected && !pending) {
-    static std::chrono::steady_clock::time_point last_reconnect_time =
-        std::chrono::steady_clock::now();
-    const std::chrono::steady_clock::time_point now =
-        std::chrono::steady_clock::now();
-    if (now - last_reconnect_time > std::chrono::seconds(1)) {
-      last_reconnect_time = now;
-      VLOG(1, "Retrying ConnectToApp...");
-      NetImgui::ConnectToApp(title, "127.0.0.1", port);
-    }
-  }
-
-  static bool last_connected = false;
-  if (connected != last_connected) {
-    VLOG(1, "Status change: Connected=%s", connected ? "true" : "false");
-    last_connected = connected;
-  }
-}
-
-class HeadlessUi {
- public:
-  HeadlessUi(const std::string& title, int port, const std::string& assets_dir)
-      : title_(title), port_(port) {
-    if (!Client_Startup(context_, assets_dir)) {
-      return;
-    }
-
-    VLOG(1, "Calling ConnectToApp('%s', '127.0.0.1', %d)", title_.c_str(),
-         port_);
-    bool connect_result =
-        NetImgui::ConnectToApp(title_.c_str(), "127.0.0.1", port_);
-    VLOG(1, "ConnectToApp returned: %s", connect_result ? "true" : "false");
-    VLOG(1, "IsConnected: %s, IsConnectionPending: %s",
-         NetImgui::IsConnected() ? "true" : "false",
-         NetImgui::IsConnectionPending() ? "true" : "false");
-  }
-
-  ~HeadlessUi() { Client_Shutdown(context_); }
-
-  bool NewFrame() {
-    py::gil_scoped_release no_gil;
-    ImGui::SetCurrentContext(context_);
-    static int frame_count = 0;
-    frame_count++;
-
-    // Returns true with an active ImGui frame once a browser is connected and
-    // ready. Returns false (no frame) while no browser is connected so the
-    // caller's loop keeps running and can drain messages (e.g., to respond to
-    // an ExitEvent for shutdown).
-    std::chrono::steady_clock::time_point last_signal_check =
-        std::chrono::steady_clock::now();
-    while (true) {
-      // While no browser is connected, periodically check for
-      // Python signals so Ctrl+C interrupts the wait instead of hanging.
-      const std::chrono::steady_clock::time_point now =
-          std::chrono::steady_clock::now();
-      if (now - last_signal_check > std::chrono::milliseconds(200)) {
-        last_signal_check = now;
-        py::gil_scoped_acquire acquire;
-        if (PyErr_CheckSignals() != 0) {
-          throw py::error_already_set();
-        }
-      }
-
-      Client_Connect(title_.c_str(), port_);
-
-      if (!NetImgui::IsConnected()) {
-        // Not connected; return false so the caller's loop is not blocked.
-        is_drawing_remote_ = false;
-        std::this_thread::sleep_for(std::chrono::milliseconds(10));
-        return false;
-      }
-
-      bool new_frame_result = NetImgui::NewFrame(false);
-      is_drawing_remote_ = new_frame_result;
-      if (!new_frame_result) {
-        // Connected but NetImgui not ready for a draw — wait and retry.
-        std::this_thread::sleep_for(std::chrono::milliseconds(1));
-        continue;
-      }
-
-      break;
-    }
-
-    VLOG(1, "Frame %d: DrawingRemote=%s", frame_count,
-         is_drawing_remote_ ? "Y" : "N");
-    return true;
-  }
-
-  void EndFrame() {
-    py::gil_scoped_release no_gil;
-    ImGui::SetCurrentContext(context_);
-    static int end_frame_count = 0;
-    end_frame_count++;
-    if (!is_drawing_remote_) {
-      // No frame was started — nothing to end.
-      return;
-    }
-    VLOG(1, "EndFrame %d: sending remote draw data", end_frame_count);
-    NetImgui::EndFrame();
-  }
-
-  // Uploads an RGB/RGBA image to the browser over the NetImgui texture
-  // channel so handlers can display it with imgui.Image(). Returns the
-  // texture id to use (allocates one when tex_id == 0). This is the UI-link
-  // counterpart of the native renderer's UploadImage.
-  uintptr_t UploadImage(uintptr_t tex_id, const py::bytes& pixels, int width,
-                        int height, int bpp) {
-    if (tex_id == 0) {
-      tex_id = next_tex_id_++;
-    }
-    std::string data = pixels;
-    if (width <= 0 || height <= 0 ||
-        data.size() < static_cast<size_t>(width) * height * bpp) {
-      LOG(Error, "UploadImage: bad dimensions %dx%dx%d for %zu bytes", width,
-          height, bpp, data.size());
-      return tex_id;
-    }
-
-    // NetImgui transfers RGBA8; expand RGB if needed.
-    std::vector<uint8_t> rgba;
-    const void* upload_data = data.data();
-    if (bpp == 3) {
-      rgba.resize(static_cast<size_t>(width) * height * 4);
-      for (size_t p = 0; p < static_cast<size_t>(width) * height; ++p) {
-        rgba[p * 4 + 0] = data[p * 3 + 0];
-        rgba[p * 4 + 1] = data[p * 3 + 1];
-        rgba[p * 4 + 2] = data[p * 3 + 2];
-        rgba[p * 4 + 3] = 255;
-      }
-      upload_data = rgba.data();
-    } else if (bpp != 4) {
-      LOG(Error, "UploadImage: unsupported bpp %d (expected 3 or 4)", bpp);
-      return tex_id;
-    }
-
-    py::gil_scoped_release no_gil;
-    ImGui::SetCurrentContext(context_);
-    NetImgui::SendDataTexture(
-        static_cast<ImTextureID>(tex_id), const_cast<void*>(upload_data),
-        static_cast<uint16_t>(width), static_cast<uint16_t>(height),
-        NetImgui::eTexFormat::kTexFmtRGBA8);
-    return tex_id;
-  }
-
-  intptr_t GetContext() const { return reinterpret_cast<intptr_t>(context_); }
-
-  // The ImPlot context created alongside the ImGui context. Python must pass
-  // this to ux.set_implot_context: extension modules each hold their own copy
-  // of the ImPlot globals, so the context pointer has to be shared explicitly
-  // (same pattern as get_context/set_imgui_context).
-  intptr_t GetImPlotContext() const {
-    return reinterpret_cast<intptr_t>(ImPlot::GetCurrentContext());
-  }
-
- private:
-  std::string title_;
-  int port_;
-  ImGuiContext* context_ = nullptr;
-  bool is_drawing_remote_ = false;
-  // User texture ids start well above the ids ImGui's managed texture system
-  // (font atlas) hands out, so the two can never collide in the browser's
-  // texture map.
-  uintptr_t next_tex_id_ = 0x10000;
-};
-
-PYBIND11_MODULE(headless_ui, m, pybind11::mod_gil_not_used()) {
-  m.doc() = "MuJoCo web viewer headless Studio UI, streamed via NetImgui";
-
-  py::class_<HeadlessUi>(m, "HeadlessUi")
-      .def(py::init<const std::string&, int, const std::string&>(),
-           py::arg("title"), py::arg("port") = 8888, py::arg("assets_dir") = "")
-      .def("new_frame", &HeadlessUi::NewFrame,
-           "Starts a headless ImGui frame, returning True once the frame is "
-           "active. When a browser is viewing the page (via the URL printed "
-           "at startup), this returns at the browser's requested frame rate. "
-           "When no browser is viewing, it returns False (no frame) after a "
-           "short wait, so the caller's loop keeps running and can shut down.")
-      .def("end_frame", &HeadlessUi::EndFrame)
-      .def("get_context", &HeadlessUi::GetContext)
-      .def("get_implot_context", &HeadlessUi::GetImPlotContext)
-      .def("upload_image", &HeadlessUi::UploadImage);
-}
diff --git a/python/mujoco/experimental/studio/web/index.html b/python/mujoco/experimental/studio/web/index.html
deleted file mode 100644
index 44013b07..00000000
--- a/python/mujoco/experimental/studio/web/index.html
+++ /dev/null
@@ -1,396 +0,0 @@
-<!doctype html>
-<!--
-Copyright 2026 DeepMind Technologies Limited
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
-    https://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-<html>
-  <head>
-    <meta charset="utf-8" />
-    <title>MuJoCo Web Viewer</title>
-    <link rel="icon" href="favicon.ico" sizes="16x16 32x32 48x48" />
-    <style>
-      body {
-        margin: 0;
-        overflow: hidden;
-        background: #1a1a2e;
-      }
-      canvas {
-        width: 100vw;
-        height: 100vh;
-        display: block;
-      }
-    </style>
-  </head>
-  <body>
-    <canvas id="canvas" oncontextmenu="event.preventDefault()"></canvas>
-    <script>
-      // Standard WebSocket close codes.
-      const WS_CLOSE_POLICY_VIOLATION = 1008;
-      const WS_CLOSE_MESSAGE_TOO_BIG = 1009;
-
-      // Our custom WebSocket close codes in range 4xxx.
-      const WS_CLOSE_CONTROLLER_TAKEN = 4001;
-      const WS_CLOSE_SESSION_FULL = 4002;
-      const WS_CLOSE_INACTIVE = 4003;
-      const WS_CLOSE_NOT_CONTROLLER = 4004;
-
-      // Parallel chunked model download.
-      //
-      // Fetches /model in up to PARALLEL concurrent 64 MiB requests
-      // and streams the chunks directly into a WASM linear heap buffer
-      // allocated via allocModelBuffer(totalSize). Each chunk is retried up
-      // to MAX_RETRIES times on transient errors (proxy resets, HTTP2
-      // protocol errors, etc.). Returns { ptr, size } on success, or null
-      // on failure.
-      async function fetchModelChunked() {
-        const CHUNK = 64 * 1024 * 1024; // 64 MiB per request
-        const PARALLEL = 6; // concurrent fetches
-        const MAX_RETRIES = 3; // per-chunk retry limit
-        const RETRY_DELAY = 500; // ms between retries
-        let ptr = 0;
-        try {
-          const totalSizeResp = await fetch("/model?total_bytes");
-          if (!totalSizeResp.ok) return null;
-          const totalSizeData = await totalSizeResp.json();
-          const totalSize = totalSizeData.total_bytes;
-          if (!totalSize || totalSize <= 0) return null;
-
-          ptr = Module.allocModelBuffer(totalSize);
-          if (!ptr) {
-            console.error("[model] failed to allocate WASM buffer of size:", totalSize);
-            return null;
-          }
-          const chunks = [];
-          for (let offset = 0; offset < totalSize; offset += CHUNK) {
-            chunks.push({ offset: offset, size: Math.min(CHUNK, totalSize - offset) });
-          }
-
-          if (Module.updateModelDownloadProgress) {
-            Module.updateModelDownloadProgress(0, totalSize, 0);
-          }
-          let bytesDownloaded = 0;
-          let maxRetry = 0;
-          // Bounded-parallelism worker pool with per-chunk retries.
-          let nextIndex = 0;
-          let errors = 0;
-          async function worker() {
-            while (nextIndex < chunks.length) {
-              const index = nextIndex++;
-              const chunk = chunks[index];
-              const url = "/model?offset_bytes=" + chunk.offset + "&size_bytes=" + chunk.size;
-              let ok = false;
-              for (let attempt = 0; attempt <= MAX_RETRIES; attempt++) {
-                try {
-                  if (attempt > 0) {
-                    if (attempt > maxRetry) maxRetry = attempt;
-                    if (Module.updateModelDownloadProgress) {
-                      Module.updateModelDownloadProgress(bytesDownloaded, totalSize, maxRetry);
-                    }
-                    console.log("[model] chunk", index, "retry", attempt);
-                    await new Promise((r) => setTimeout(r, RETRY_DELAY * attempt));
-                  }
-                  const resp = await fetch(url);
-                  if (!resp.ok) continue;
-                  const buffer = await resp.arrayBuffer();
-                  HEAPU8.set(new Uint8Array(buffer), ptr + chunk.offset);
-                  bytesDownloaded += chunk.size;
-                  if (Module.updateModelDownloadProgress) {
-                    Module.updateModelDownloadProgress(bytesDownloaded, totalSize, maxRetry);
-                  }
-                  ok = true;
-                  break;
-                } catch (e) {
-                  console.warn("[model] chunk", index, "attempt", attempt, e);
-                }
-              }
-              if (!ok) {
-                console.error("[model] chunk", index, "failed after", MAX_RETRIES, "retries");
-                errors++;
-              }
-            }
-          }
-          const workers = [];
-          for (let i = 0; i < Math.min(PARALLEL, chunks.length); i++) {
-            workers.push(worker());
-          }
-          await Promise.all(workers);
-          if (errors > 0) return null;  // finally frees ptr
-          if (Module.updateModelDownloadProgress) {
-            Module.updateModelDownloadProgress(totalSize, totalSize, 0);
-          }
-          // Allow ~4 frames (60ms) to elapse so the 100% progress bar paints
-          // before C++ synchronous parsing blocks the thread.
-          await new Promise((resolve) => setTimeout(resolve, 60));
-          const result = { ptr: ptr, size: totalSize };
-          ptr = 0;  // transfer ownership to caller
-          return result;
-        } catch (e) {
-          console.error("[model] chunked fetch failed:", e);
-          return null;  // finally frees ptr
-        } finally {
-          if (ptr) Module.freeModelBuffer(ptr);
-        }
-      }
-
-      // Single-fetch fallback if chunked download using fetchModelChunked() fails.
-      async function fetchModelSingle() {
-        let ptr = 0;
-        try {
-          const resp = await fetch("/model");
-          if (!resp.ok) return null;
-          const buffer = await resp.arrayBuffer();
-          const totalSize = buffer.byteLength;
-          if (Module.updateModelDownloadProgress) {
-            Module.updateModelDownloadProgress(0, totalSize, 0);
-          }
-          ptr = Module.allocModelBuffer(totalSize);
-          if (!ptr) return null;
-          HEAPU8.set(new Uint8Array(buffer), ptr);
-          if (Module.updateModelDownloadProgress) {
-            Module.updateModelDownloadProgress(totalSize, totalSize, 0);
-          }
-          // Allow ~4 frames (60ms) to elapse so the 100% progress bar paints
-          // before C++ synchronous parsing blocks the thread.
-          await new Promise((resolve) => setTimeout(resolve, 60));
-          const result = { ptr: ptr, size: totalSize };
-          ptr = 0;  // transfer ownership to caller
-          return result;
-        } catch (e) {
-          console.error("[model] single fetch failed:", e);
-          return null;  // finally frees ptr
-        } finally {
-          if (ptr) Module.freeModelBuffer(ptr);
-        }
-      }
-
-      // Called from C++ (via EM_ASM) when the Python side swaps the model.
-      async function reloadModel() {
-        // Retry the chunked download up to 3 times with increasing delay.
-        // Falling back to a single-fetch for large models hits the same
-        // proxy errors, so retrying chunks is the only viable path.
-        for (let attempt = 0; attempt < 3; attempt++) {
-          if (attempt > 0) {
-            console.log("[model] retrying chunked download, attempt", attempt + 1);
-            await new Promise((r) => setTimeout(r, 1000 * attempt));
-          }
-          const modelRes = await fetchModelChunked();
-          if (modelRes) {
-            Module.parseModelBuffer(modelRes.ptr, modelRes.size);
-            Module.freeModelBuffer(modelRes.ptr);
-            return;
-          }
-        }
-        console.error("[model] all chunked download attempts failed; trying single-fetch");
-        const modelRes = await fetchModelSingle();
-        if (modelRes) {
-          Module.parseModelBuffer(modelRes.ptr, modelRes.size);
-          Module.freeModelBuffer(modelRes.ptr);
-        }
-      }
-
-      var Module = {
-        canvas: (() => {
-          const canvas = document.getElementById("canvas");
-          return canvas;
-        })(),
-        locateFile: function (path, prefix) {
-          if (path.endsWith(".data")) {
-            return "web_client.data";
-          }
-          if (path.includes("assets/")) {
-            const filename = path.substring(path.lastIndexOf("/") + 1);
-            return "assets/" + filename;
-          }
-          return prefix + path;
-        },
-        onRuntimeInitialized: async () => {
-          const assetsToPrefetch = [
-            "AtkinsonHyperlegibleNext[wght].ttf",
-            "AtkinsonHyperlegibleMono-Regular.ttf",
-            "fontawesome-webfont.ttf",
-            "ibl.ktx",
-            "pbr.filamat",
-            "pbr_reflect.filamat",
-            "pbr_packed_reflect.filamat",
-            "pbr_transparent.filamat",
-            "pbr_packed.filamat",
-            "pbr_packed_transparent.filamat",
-            "phong_2d.filamat",
-            "phong_2d_fade.filamat",
-            "phong_2d_uv.filamat",
-            "phong_2d_uv_fade.filamat",
-            "phong_2d_uv_reflect.filamat",
-            "phong_color.filamat",
-            "phong_color_fade.filamat",
-            "phong_color_reflect.filamat",
-            "phong_cube.filamat",
-            "phong_cube_fade.filamat",
-            "phong_cube_reflect.filamat",
-            "outline_composite.filamat",
-            "outline_flatten.filamat",
-            "outline_jumpflood.filamat",
-            "decor.filamat",
-            "unlit_depth.filamat",
-            "unlit_segmentation.filamat",
-            "unlit_ui.filamat",
-          ];
-
-          const PARALLEL = 4;
-          const failedAssets = [];
-          let nextIndex = 0;
-
-          async function prefetchWorker() {
-            while (nextIndex < assetsToPrefetch.length) {
-              const filename = assetsToPrefetch[nextIndex++];
-              let loaded = false;
-              for (let attempt = 0; attempt < 3; attempt++) {
-                try {
-                  if (attempt > 0) {
-                    await new Promise((r) => setTimeout(r, 500 * attempt));
-                  }
-                  const response = await fetch("assets/" + filename);
-                  if (!response.ok) continue;
-                  const buffer = await response.arrayBuffer();
-                  Module.registerAsset(filename, new Uint8Array(buffer));
-                  loaded = true;
-                  break;
-                } catch (error) {
-                  console.warn(`Attempt ${attempt + 1} failed for ${filename}:`, error);
-                }
-              }
-              if (!loaded) {
-                console.error(`Error prefetching asset ${filename} after 3 attempts`);
-                failedAssets.push(filename);
-              }
-            }
-          }
-
-          const workers = [];
-          for (let i = 0; i < Math.min(PARALLEL, assetsToPrefetch.length); i++) {
-            workers.push(prefetchWorker());
-          }
-          await Promise.all(workers);
-
-          if (failedAssets.length > 0) {
-            const msg = `Failed to load required assets (${failedAssets.join(", ")}). Please check server runfiles or connection and reload.`;
-            console.error(msg);
-            const errDiv = document.createElement("div");
-            errDiv.style.cssText =
-              "position:absolute;top:20px;left:20px;right:20px;padding:16px;background:#7a1a1a;color:#fff;font-family:sans-serif;font-size:14px;border-radius:8px;z-index:9999;box-shadow:0 4px 12px rgba(0,0,0,0.5);";
-            errDiv.textContent = msg;
-            document.body.appendChild(errDiv);
-            return;
-          }
-
-          Module.startApp();
-          reloadModel();
-        },
-      };
-      // Set only the CSS size; SDL owns canvas.width/height. Use whole
-      // pixels: a fractional size (100vw/100vh under display scaling) makes
-      // the streamed UI relayout — and visibly flicker — every frame.
-      function fitCanvas() {
-        Module.canvas.style.width = Math.floor(window.innerWidth) + "px";
-        Module.canvas.style.height = Math.floor(window.innerHeight) + "px";
-      }
-      fitCanvas();
-      window.addEventListener("resize", fitCanvas);
-
-      // Drag & drop: upload dropped model files to the viewer over the
-      // /drop WebSocket. Each file is one binary frame ([u32 path length]
-      // [relative path utf-8][file bytes], little-endian), an empty frame
-      // marks the end of the drop, and the server closes once it has
-      // everything (parsed by web_server.py's drop_handler). Folders are
-      // walked recursively so models with separate asset files work; the
-      // viewer picks the root model file (see web_viewer._pick_drop_root).
-      // Loading a model changes the session for everyone, so only the
-      // controller may drop; the server rejects drops from other pages and the
-      // spectator check below just skips the pointless upload.
-      window.addEventListener("dragover", (e) => e.preventDefault());
-      window.addEventListener("drop", async (e) => {
-        e.preventDefault();
-        if (window.Module && Module.isSpectator) {
-          console.warn("Model drop ignored: only the controlling page can load models.");
-          return;
-        }
-        // Capture entries synchronously: DataTransferItems are invalidated
-        // as soon as this handler awaits.
-        const items = e.dataTransfer ? [...e.dataTransfer.items] : [];
-        const entries = items
-          .map((i) => i.webkitGetAsEntry && i.webkitGetAsEntry())
-          .filter(Boolean);
-        const files = []; // {path, file}
-        async function walk(entry, prefix) {
-          if (entry.isFile) {
-            const file = await new Promise((ok, err) => entry.file(ok, err));
-            files.push({ path: prefix + entry.name, file });
-          } else if (entry.isDirectory) {
-            const reader = entry.createReader();
-            for (;;) {
-              // readEntries returns batches (<=100); loop until empty.
-              const batch = await new Promise((ok, err) => reader.readEntries(ok, err));
-              if (!batch.length) break;
-              for (const child of batch) {
-                await walk(child, prefix + entry.name + "/");
-              }
-            }
-          }
-        }
-        for (const entry of entries) await walk(entry, "");
-        if (!files.length) return;
-        // The server limits each WebSocket message size. If any file exceeds the limit, the server
-        // closes the connection with WS_CLOSE_MESSAGE_TOO_BIG mid-upload and the entire drop is
-        // discarded. Check client-side first to give a clear message, not a silent failure.
-        const MAX_DROP_FILE_BYTES = 64 * 1024 * 1024;
-        const tooBig = files.find((f) => f.file.size > MAX_DROP_FILE_BYTES);
-        if (tooBig) {
-          console.warn(
-            `Model drop rejected: "${tooBig.path}" is larger than ` +
-              `${MAX_DROP_FILE_BYTES / (1024 * 1024)} MiB.`,
-          );
-          return;
-        }
-        const frames = [];
-        for (const { path, file } of files) {
-          const bytes = new Uint8Array(await file.arrayBuffer());
-          const name = new TextEncoder().encode(path);
-          const frame = new Uint8Array(4 + name.length + bytes.length);
-          new DataView(frame.buffer).setUint32(0, name.length, true);
-          frame.set(name, 4);
-          frame.set(bytes, 4 + name.length);
-          frames.push(frame);
-        }
-        const proto = location.protocol === "https:" ? "wss://" : "ws://";
-        // The session id tells the server which page is dropping; it only
-        // accepts drops from the controller.
-        const sid = (window.Module && Module.session_id) || "";
-        const dropUrl = proto + location.host + "/drop?sid=" + encodeURIComponent(sid);
-        const ws = new WebSocket(dropUrl);
-        ws.binaryType = "arraybuffer";
-        ws.onopen = () => {
-          for (const frame of frames) ws.send(frame);
-          ws.send(new Uint8Array(0)); // End marker; the server closes.
-        };
-        ws.onclose = (ev) => {
-          if (ev.code === WS_CLOSE_NOT_CONTROLLER) {
-            console.warn("Model drop rejected: only the controlling page can load models.");
-          } else if (ev.code === WS_CLOSE_MESSAGE_TOO_BIG) {
-            console.warn("Model drop rejected: a file exceeded the server's size limit.");
-          }
-        };
-      });
-    </script>
-    <script async src="web_client.js"></script>
-  </body>
-</html>
diff --git a/python/mujoco/experimental/studio/web/state_payload.cc b/python/mujoco/experimental/studio/web/state_payload.cc
deleted file mode 100644
index f5896778..00000000
--- a/python/mujoco/experimental/studio/web/state_payload.cc
+++ /dev/null
@@ -1,198 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Wire-format implementation for the web viewer's state payload (see
-// state_payload.h). Compiled into BOTH sides of the wire: the state_payload
-// pybind module (serializer, via state_payload_py.cc) and the wasm
-// web_client (parser, via web_client_session.cc). It must therefore stay
-// free of python- or browser-specific dependencies.
-
-#include "state_payload.h"
-
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::studio {
-namespace {
-
-// Appends raw bytes to the payload buffer.
-void AppendBytes(std::vector<std::byte>& buffer, const void* data,
-                 size_t size) {
-  const std::byte* bytes = static_cast<const std::byte*>(data);
-  buffer.insert(buffer.end(), bytes, bytes + size);
-}
-
-// Appends a complete [u32 tag][u32 size][payload] block.
-void AppendStateBlock(std::vector<std::byte>& buffer, uint32_t tag,
-                      const void* data, size_t size) {
-  StateBlockHeader block_header{tag, static_cast<uint32_t>(size)};
-  AppendBytes(buffer, &block_header, sizeof(block_header));
-  AppendBytes(buffer, data, size);
-}
-
-// Serializes the render state (exactly kRenderStateSize bytes) into `ptr`.
-// Must copy the same fields in the same order as ParseRenderState.
-void SerializeRenderStateInto(std::byte* ptr, const mjvCamera& camera,
-                              const mjvPerturb& perturb,
-                              const mjvOption& vis_options, const mjOption& opt,
-                              const mjVisual& vis, const mjStatistic& stat,
-                              const std::vector<uint8_t>& render_flags) {
-  memcpy(ptr, &camera, sizeof(mjvCamera));
-  ptr += sizeof(mjvCamera);
-
-  memcpy(ptr, &perturb, sizeof(mjvPerturb));
-  ptr += sizeof(mjvPerturb);
-
-  memcpy(ptr, &vis_options, sizeof(mjvOption));
-  ptr += sizeof(mjvOption);
-
-  memcpy(ptr, &opt, sizeof(mjOption));
-  ptr += sizeof(mjOption);
-
-  memcpy(ptr, &vis, sizeof(mjVisual));
-  ptr += sizeof(mjVisual);
-
-  memcpy(ptr, &stat, sizeof(mjStatistic));
-  ptr += sizeof(mjStatistic);
-
-  // Pack render flags (mjNRNDFLAG bytes).
-  memset(ptr, 0, mjNRNDFLAG);
-  for (size_t i = 0; i < mjNRNDFLAG && i < render_flags.size(); ++i) {
-    ptr[i] = static_cast<std::byte>(render_flags[i]);
-  }
-}
-
-}  // namespace
-
-// Parses a render state block produced by SerializeStatePayload.
-// Must copy the same fields in the same order as SerializeRenderStateInto.
-void ParseRenderState(const std::byte* data, RenderStateView* out) {
-  const std::byte* ptr = data;
-
-  memcpy(&out->camera, ptr, sizeof(mjvCamera));
-  ptr += sizeof(mjvCamera);
-
-  memcpy(&out->perturb, ptr, sizeof(mjvPerturb));
-  ptr += sizeof(mjvPerturb);
-
-  memcpy(&out->vis_options, ptr, sizeof(mjvOption));
-  ptr += sizeof(mjvOption);
-
-  memcpy(&out->opt, ptr, sizeof(mjOption));
-  ptr += sizeof(mjOption);
-
-  memcpy(&out->vis, ptr, sizeof(mjVisual));
-  ptr += sizeof(mjVisual);
-
-  memcpy(&out->stat, ptr, sizeof(mjStatistic));
-  ptr += sizeof(mjStatistic);
-
-  memcpy(out->render_flags, ptr, mjNRNDFLAG);
-}
-
-size_t MaxStatePayloadSize(size_t physics_bytes) {
-  return sizeof(StatePayloadHeader) + 3 * sizeof(StateBlockHeader) +
-         (sizeof(int32_t) + physics_bytes) + kRenderStateSize +
-         kMaxExtraGeoms * sizeof(mjvGeom);
-}
-
-std::vector<std::byte> SerializeStatePayload(
-    uint32_t model_crc32, int32_t physics_spec, const void* physics,
-    size_t physics_bytes, const mjvCamera& camera, const mjvPerturb& perturb,
-    const mjvOption& vis_options, const mjOption& opt, const mjVisual& vis,
-    const mjStatistic& stat, const std::vector<uint8_t>& render_flags,
-    const mjvGeom* extra_geoms, size_t extra_geom_count) {
-  extra_geom_count =
-      extra_geom_count > kMaxExtraGeoms ? kMaxExtraGeoms : extra_geom_count;
-  std::vector<std::byte> buffer;
-  buffer.reserve(MaxStatePayloadSize(physics_bytes));
-
-  StatePayloadHeader header;
-  header.nblocks = extra_geom_count > 0 ? 3 : 2;
-  header.model_crc32 = model_crc32;
-  AppendBytes(buffer, &header, sizeof(header));
-
-  // Physics state: [i32 spec][mjtNum values...].
-  StateBlockHeader physics_header{
-      kTagPhysicsState, static_cast<uint32_t>(sizeof(int32_t) + physics_bytes)};
-  AppendBytes(buffer, &physics_header, sizeof(physics_header));
-  AppendBytes(buffer, &physics_spec, sizeof(int32_t));
-  AppendBytes(buffer, physics, physics_bytes);
-
-  // Render state, serialized into place.
-  StateBlockHeader render_header{kTagRenderState,
-                                 static_cast<uint32_t>(kRenderStateSize)};
-  AppendBytes(buffer, &render_header, sizeof(render_header));
-  const size_t render_offset = buffer.size();
-  buffer.resize(render_offset + kRenderStateSize);
-  SerializeRenderStateInto(buffer.data() + render_offset, camera, perturb,
-                           vis_options, opt, vis, stat, render_flags);
-
-  // Extra geoms (only when present).
-  if (extra_geom_count > 0) {
-    AppendStateBlock(buffer, kTagExtraGeoms, extra_geoms,
-                     extra_geom_count * sizeof(mjvGeom));
-  }
-
-  return buffer;
-}
-
-bool ParseStatePayload(const void* data, size_t size, StatePayloadView* out) {
-  const std::byte* bytes = static_cast<const std::byte*>(data);
-  if (size < sizeof(StatePayloadHeader)) return false;
-
-  StatePayloadHeader header;
-  memcpy(&header, bytes, sizeof(header));
-  if (header.magic != kStatePayloadMagic) return false;
-  if (header.version != kStatePayloadVersion) return false;
-  out->model_crc32 = header.model_crc32;
-
-  size_t offset = sizeof(StatePayloadHeader);
-  for (uint16_t i = 0; i < header.nblocks; ++i) {
-    if (offset + sizeof(StateBlockHeader) > size) return false;
-    StateBlockHeader block;
-    memcpy(&block, bytes + offset, sizeof(block));
-    offset += sizeof(StateBlockHeader);
-    if (offset + block.size > size) return false;
-    const std::byte* payload = bytes + offset;
-
-    switch (block.tag) {
-      case kTagPhysicsState:
-        if (block.size < sizeof(int32_t)) return false;
-        memcpy(&out->physics_spec, payload, sizeof(int32_t));
-        out->physics = payload + sizeof(int32_t);
-        out->physics_bytes = block.size - sizeof(int32_t);
-        break;
-      case kTagRenderState:
-        if (block.size != kRenderStateSize) return false;
-        out->render_state = payload;
-        break;
-      case kTagExtraGeoms:
-        if (block.size % sizeof(mjvGeom) != 0) return false;
-        out->extra_geoms = payload;
-        out->extra_geom_count = block.size / sizeof(mjvGeom);
-        break;
-      default:
-        break;  // Unknown tag: skip.
-    }
-    offset += block.size;
-  }
-  return true;
-}
-
-}  // namespace mujoco::studio
diff --git a/python/mujoco/experimental/studio/web/state_payload.h b/python/mujoco/experimental/studio/web/state_payload.h
deleted file mode 100644
index 0165cfa8..00000000
--- a/python/mujoco/experimental/studio/web/state_payload.h
+++ /dev/null
@@ -1,143 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// This file defines the serialization format for the web viewer's browser
-// client render payload containing the data needed so that the browser can
-// render the scene using the following call:
-//
-// Render(model, data, perturb, camera, vis_options, width, height, extra_geoms)
-//
-// The arguments come from the Python process:
-//
-//   * model       : fetched once over HTTP as /model; its runtime-mutable
-//                   parts (opt/vis/stat) are re-sent in the render state block.
-//   * data        : streamed as the physics state vector (mjSTATE_INTEGRATION);
-//                   the browser recomputes the rest via mj_setState/mj_forward.
-//   * width/height: the browser canvas size.
-//   * extra_geoms : optional variable-size kTagExtraGeoms block.
-//   * ...         : the rest of the arguments are sent as a fixed-size block
-//
-// The payload (SerializeStatePayload) is a sequence of tagged blocks:
-//
-//   [StatePayloadHeader][u32 tag][u32 size][payload]...
-//
-// The payload is serialized by Python, sent over the /state WebSocket, and
-// parsed by the browser.
-//
-// TODO(matijak): Try shrinking the physics block: float32 (or quantized) values
-// instead of doubles, and/or delta-encoding against the client's last-acked
-// payload. The /state ack (web_server.py) tells the server which snapshot each
-// client last applied, which is the baseline that delta compression needs. For
-// 100humanoids.xml the payload is ~181 KB of doubles and dominates slow links.
-
-#ifndef MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_STATE_PAYLOAD_H_
-#define MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_STATE_PAYLOAD_H_
-
-#include <cstddef>
-#include <cstdint>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::studio {
-
-// "MJWS" as little-endian bytes. This magic constant identifies the
-// StateServer WebSocket payload header and helps detect malformed or
-// misrouted messages.
-constexpr uint32_t kStatePayloadMagic =
-    'M' | ('J' << 8) | ('W' << 16) | ('S' << 24);
-constexpr uint16_t kStatePayloadVersion = 1;
-
-struct StatePayloadHeader {
-  uint32_t magic = kStatePayloadMagic;
-  uint16_t version = kStatePayloadVersion;
-  uint16_t nblocks = 0;
-  // CRC32 of the model's MJB bytes. When this changes, the browser must
-  // refetch /model before applying any further state.
-  uint32_t model_crc32 = 0;
-};
-static_assert(sizeof(StatePayloadHeader) == 12);
-
-// Block tags. Readers must skip unknown tags.
-enum StateBlockTag : uint32_t {
-  kTagPhysicsState = 1,  // [i32 mjtState spec signature][mjtNum values...]
-  kTagRenderState = 2,   // fixed-size block of kRenderStateSize bytes
-  kTagExtraGeoms = 3,    // n x mjvGeom (n = size / sizeof(mjvGeom))
-};
-
-struct StateBlockHeader {
-  uint32_t tag = 0;
-  uint32_t size = 0;
-};
-static_assert(sizeof(StateBlockHeader) == 8);
-
-// Fixed byte size of the render state block appended after physics state.
-// These are plain C structs of int/float/double members whose total size is
-// fixed, independent of the model and generally negligible compared to the size
-// of the physics state
-constexpr size_t kRenderStateSize =
-    sizeof(mjvCamera) + sizeof(mjvPerturb) + sizeof(mjvOption) +
-    sizeof(mjOption) + sizeof(mjVisual) + sizeof(mjStatistic) + mjNRNDFLAG;
-
-// Maximum number of extra geoms serialized per frame. Bounds the shared
-// memory buffer the StateServer allocates; WebViewer truncates longer lists.
-constexpr uint32_t kMaxExtraGeoms = 1024;
-
-// Upper bound of a serialized payload, used to size the StateServer's shared
-// memory buffer. `physics_bytes` is mj_stateSize(...) * sizeof(mjtNum).
-size_t MaxStatePayloadSize(size_t physics_bytes);
-
-// Serialize the complete state payload sent over the state WebSocket.
-std::vector<std::byte> SerializeStatePayload(
-    uint32_t model_crc32, int32_t physics_spec, const void* physics,
-    size_t physics_bytes, const mjvCamera& camera, const mjvPerturb& perturb,
-    const mjvOption& vis_options, const mjOption& opt, const mjVisual& vis,
-    const mjStatistic& stat, const std::vector<uint8_t>& render_flags,
-    const mjvGeom* extra_geoms, size_t extra_geom_count);
-
-// Parsed view into a serialized payload. Pointers alias the input buffer and
-// are NOT guaranteed to be aligned; so you must memcpy the data out before use.
-struct StatePayloadView {
-  uint32_t model_crc32 = 0;
-  int32_t physics_spec = 0;
-  const std::byte* physics = nullptr;
-  size_t physics_bytes = 0;
-  const std::byte* render_state = nullptr;  // kRenderStateSize bytes when non-null
-  const std::byte* extra_geoms = nullptr;   // extra_geom_count * sizeof(mjvGeom)
-  size_t extra_geom_count = 0;
-};
-
-// Parses a payload produced by SerializeStatePayload. Returns false if the
-// buffer is malformed (bad magic/version or out-of-bounds block). Blocks
-// with unknown tags are skipped.
-bool ParseStatePayload(const void* data, size_t size, StatePayloadView* out);
-
-// A decoded render state block.
-struct RenderStateView {
-  mjvCamera camera;
-  mjvPerturb perturb;
-  mjvOption vis_options;
-  mjOption opt;
-  mjVisual vis;
-  mjStatistic stat;
-  uint8_t render_flags[mjNRNDFLAG];
-};
-
-// Decodes a render state block produced by the serializer. `data` must hold
-// kRenderStateSize bytes (e.g. StatePayloadView::render_state).
-void ParseRenderState(const std::byte* data, RenderStateView* out);
-
-}  // namespace mujoco::studio
-
-#endif  // MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_STATE_PAYLOAD_H_
diff --git a/python/mujoco/experimental/studio/web/state_payload_py.cc b/python/mujoco/experimental/studio/web/state_payload_py.cc
deleted file mode 100644
index 9be00030..00000000
--- a/python/mujoco/experimental/studio/web/state_payload_py.cc
+++ /dev/null
@@ -1,72 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Python bindings for the state payload wire format (state_payload.h).
-//
-// WebViewer serializes the /state WebSocket payload with this module each
-// frame; the browser parses it with the same header (web_client_session).
-
-#include <cstddef>
-#include <cstdint>
-#include <string>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "state_payload.h"
-#include "structs.h"
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-
-namespace py = pybind11;
-
-// Serialize the complete state WebSocket payload (see state_payload.h):
-// physics state, render state and extra geoms as tagged blocks.
-static py::bytes SerializeStatePayload(
-    uint32_t model_crc32, int physics_spec, const py::bytes& physics_state,
-    const mujoco::python::MjvCameraWrapper& camera,
-    const mujoco::python::MjvPerturbWrapper& perturb,
-    const mujoco::python::MjvOptionWrapper& vis_options,
-    const mujoco::python::MjModelWrapper& model,
-    const std::vector<uint8_t>& render_flags,
-    const std::vector<mujoco::python::MjvGeomWrapper>& extra_geoms) {
-  std::vector<mjvGeom> geoms;
-  geoms.reserve(extra_geoms.size());
-  for (const mujoco::python::MjvGeomWrapper& geom_wrapper : extra_geoms) {
-    if (geom_wrapper.get()) {
-      geoms.push_back(*geom_wrapper.get());
-    }
-  }
-
-  std::string physics = physics_state;
-  const std::vector<std::byte> buffer = mujoco::studio::SerializeStatePayload(
-      model_crc32, physics_spec, physics.data(), physics.size(), *camera.get(),
-      *perturb.get(), *vis_options.get(), model.get()->opt, model.get()->vis,
-      model.get()->stat, render_flags, geoms.data(), geoms.size());
-  return py::bytes(reinterpret_cast<const char*>(buffer.data()), buffer.size());
-}
-
-// Upper bound of a serialized payload for a model whose physics state is
-// `physics_bytes` long. Used to size the StateServer's shared memory.
-static size_t MaxStatePayloadSize(size_t physics_bytes) {
-  return mujoco::studio::MaxStatePayloadSize(physics_bytes);
-}
-
-PYBIND11_MODULE(state_payload, m, pybind11::mod_gil_not_used()) {
-  py::module_::import("mujoco._structs");
-  m.doc() = "MuJoCo web viewer state payload serialization";
-
-  m.def("serialize_state_payload", &SerializeStatePayload);
-  m.def("max_state_payload_size", &MaxStatePayloadSize);
-  m.attr("MAX_EXTRA_GEOMS") = mujoco::studio::kMaxExtraGeoms;
-}
diff --git a/python/mujoco/experimental/studio/web/web_client.cc b/python/mujoco/experimental/studio/web/web_client.cc
deleted file mode 100644
index 53d5f945..00000000
--- a/python/mujoco/experimental/studio/web/web_client.cc
+++ /dev/null
@@ -1,828 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// This file implements the Web Viewer Browser Client. NetImgui is used to
-// transmit remote ImGui draw data in a browser and the filament renderer is
-// used to render the UI and the 3D scene.
-
-#include <emscripten.h>
-#include <emscripten/bind.h>
-#include <emscripten/fetch.h>
-#include <stdint.h>
-#include <stdio.h>
-
-#include <algorithm>
-#include <cfloat>
-#include <cinttypes>
-#include <cmath>
-#include <cstddef>
-#include <cstring>
-#include <fstream>
-#include <initializer_list>
-#include <memory>
-#include <new>
-#include <span>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <vector>
-
-#include <SDL.h>
-#include <SDL_opengl.h>
-#include <imgui.h>
-#include <implot.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/filament_renderer.h"
-#include "experimental/platform/hal/window.h"
-#include "experimental/platform/sim/model_holder.h"
-#include "experimental/platform/ux/interaction.h"
-#include <NetImgui_Api.h>
-#include "google/logging.h"
-#include "state_payload.h"
-#include "web_client_local_ui.h"
-#include "web_client_remote_ui.h"
-#include "web_client_session.h"
-
-#if !defined(__EMSCRIPTEN__)
-#error "web_client.cc is only supported for Emscripten builds"
-#endif
-
-// No-op wrapper for glGetError(), installed via -Wl,--wrap=glGetError.
-// Filament's GL backend calls glGetError() hundreds of times per frame
-// through GLUtils::checkGLError/assertGLError. In WebGL each call forces a
-// synchronous GPU pipeline flush across the JS-WASM bridge (~0.2ms each).
-// This stub eliminates that cost entirely.
-extern "C" GLenum __wrap_glGetError(void) { return GL_NO_ERROR; }
-
-using mujoco::studio::DisconnectNotice;
-using mujoco::studio::RemoteUi;
-using mujoco::studio::RemoteUiState;
-using mujoco::studio::RoleWindow;
-using mujoco::studio::Session;
-using mujoco::studio::SessionRole;
-using mujoco::studio::SessionView;
-using mujoco::studio::StatePayloadView;
-
-// How a spectating page drives its camera. The free modes control the local
-// camera directly; kSpecCamFollow mirrors the controller's camera from the
-// state broadcast.
-enum SpectatorCamMode {
-  kSpecCamTumble = 0,  // Orbit around the lookat point with the mouse.
-  kSpecCamWasd,        // Fly camera: WASD/QE moves, mouse drag turns.
-  kSpecCamFollow,      // Follow the controller's camera.
-};
-
-// Byte-rate telemetry shown in the role window.
-struct Telemetry {
-  double last_rate_time = 0;
-  uint64_t gui_bytes_per_sec = 0;
-  uint64_t sim_bytes_per_sec = 0;
-};
-
-struct ModelDownloadStatus {
-  bool is_downloading = true;
-  size_t bytes_downloaded = 0;
-  size_t total_bytes = 0;
-  int retry_count = 0;
-};
-
-// The implementation of every interface needed by the session and remote UI.
-class AppCallbacks final : public RemoteUi::Callbacks,
-                           public Session::Callbacks {
- public:
-  // RemoteUi::Callbacks
-  uintptr_t UploadTexture(uintptr_t current, const std::byte* rgba,
-                          uint32_t width, uint32_t height) override;
-  bool GpuReady() override;
-
-  // Session::Callbacks
-  bool ReadyForPayload() override;
-  void OnPayload(const StatePayloadView& view) override;
-  void OnModelChanged() override;
-  void ConnectRemoteUi() override;
-  void ShutdownRemoteUi() override;
-  void SetCameraMode(int mode) override;
-};
-
-struct App {
-  std::unique_ptr<mujoco::platform::Window> window;
-  std::unique_ptr<mujoco::platform::ModelHolder> model_holder;
-  mujoco::platform::Renderer* renderer = nullptr;
-  mjvPerturb perturb;
-  mjvCamera camera;
-  mjvOption vis_options;
-
-  // Spectator camera
-  int spectator_cam_mode = kSpecCamTumble;
-  float spectator_cam_speed = 0.001f;  // WASD speed; accelerates while held.
-
-  Telemetry telemetry;
-
-  // Main loop frame counters (MainLoopImpl): reconnect pacing for the state
-  // WebSocket. (The session paces its own /ui claims by time.)
-  int frame_count = 0;
-  int last_state_retry_frame = 0;
-
-  // Backend state received from the Python simulation via WebSocket.
-  std::vector<mjtNum> backend_state;
-  int backend_state_sig = 0;
-  bool backend_state_dirty = false;
-
-  // User-injected geoms received with the state payload.
-  std::vector<mjvGeom> extra_geoms;
-
-  ModelDownloadStatus download_status;
-
-  AppCallbacks callbacks;
-  RemoteUi remote_ui{callbacks};
-  Session session{callbacks};
-  DisconnectNotice disconnect_notice;
-  RoleWindow role_window;
-};
-App g_app;
-
-// WebSocket base URL matching the page origin, e.g. "ws://host:8080" or
-// "wss://tunnel.example.com" behind an HTTPS tunnel. All viewer WebSockets
-// are served as paths (/ui, /state) on the same host and port as the page
-// itself, so exposing or tunneling that single port exposes the whole
-// viewer.
-std::string GetWsBaseUrl() {
-  char* base = emscripten_run_script_string(
-      "(window.location.protocol === 'https:' ? 'wss://' : 'ws://') + "
-      "window.location.host");
-  std::string url = base != nullptr ? base : "";
-  if (url == "ws://" || url == "wss://" || url.empty()) {
-    // No host in the page URL (e.g. file://) — assume a local server.
-    return "ws://localhost:8080";
-  }
-  return url;
-}
-
-// Stable per-tab id sent with every WebSocket connect (?sid=...), letting the
-// server tie this page's /ui and /state connections together. It lives in
-// sessionStorage so it survives page reloads: on a model change every page
-// reloads and the server restarts with the controller slot reserved for the
-// previous controller's sid, a reload-stable id is what lets the controller
-// keep control.
-std::string GetSessionId() {
-  static const std::string sid = emscripten_run_script_string(
-      "(function() {"
-      "  Module.session_id = Module.session_id ||"
-      "      sessionStorage.getItem('mjwv_sid') ||"
-      "      (Date.now().toString(36) + Math.random().toString(36).slice(2));"
-      "  sessionStorage.setItem('mjwv_sid', Module.session_id);"
-      "  return Module.session_id;"
-      "})()");
-  return sid;
-}
-
-std::string WsUrl(const char* path) {
-  return GetWsBaseUrl() + path + "?sid=" + GetSessionId();
-}
-
-// Returns true if the Filament rendering context is initialized and ready for
-// GPU texture uploads. The Renderer object is created in main() and is always
-// non-null, but the Filament context is only initialized when Renderer::Init()
-// is called from SetupScene after the async model fetch completes.
-bool IsFilamentReady() {
-  return g_app.renderer && g_app.model_holder && g_app.model_holder->ok();
-}
-
-// Applies a parsed state payload to the app. Called via AppCallbacks::OnPayload
-// after Session validates model CRC and payload readiness.
-void ApplyStatePayload(const StatePayloadView& view) {
-  mjModel* model = g_app.model_holder->model();
-
-  // Physics state. Guard against a size mismatch (e.g. a stale packet from
-  // before a model change).
-  if (view.physics != nullptr) {
-    const size_t expected_bytes =
-        mj_stateSize(model, view.physics_spec) * sizeof(mjtNum);
-    if (view.physics_bytes == expected_bytes) {
-      g_app.backend_state.resize(view.physics_bytes / sizeof(mjtNum));
-      memcpy(g_app.backend_state.data(), view.physics, view.physics_bytes);
-      g_app.backend_state_sig = view.physics_spec;
-      g_app.backend_state_dirty = true;
-    } else {
-      LOG(Warning, "Physics state size mismatch (%zu != %zu); dropping",
-          view.physics_bytes, expected_bytes);
-    }
-  }
-
-  // Render state. The headless viewer owns the camera and perturbation state
-  // (all input is forwarded to it and handled by the same code as the native
-  // viewer); the browser just renders them.
-  if (view.render_state != nullptr) {
-    mujoco::studio::RenderStateView rs;
-    mujoco::studio::ParseRenderState(view.render_state, &rs);
-
-    // Spectators in a free camera mode keep their own local camera; everyone
-    // else (the controller, and spectators in Follow Controller) mirrors the
-    // controller's camera.
-    if (g_app.session.Role() != SessionRole::kSpectating ||
-        g_app.spectator_cam_mode == kSpecCamFollow) {
-      g_app.camera = rs.camera;
-    }
-
-    g_app.perturb = rs.perturb;
-    g_app.vis_options = rs.vis_options;
-    model->opt = rs.opt;
-    model->vis = rs.vis;
-    model->stat = rs.stat;
-
-    // Apply render flags to the renderer's scene if available.
-    if (g_app.renderer) {
-      memcpy(g_app.renderer->GetRenderFlags(), rs.render_flags, mjNRNDFLAG);
-    }
-  }
-
-  // Extra geoms. memcpy since the payload data is not guaranteed to be aligned.
-  g_app.extra_geoms.resize(view.extra_geom_count);
-  if (view.extra_geom_count > 0) {
-    memcpy(g_app.extra_geoms.data(), view.extra_geoms,
-           view.extra_geom_count * sizeof(mjvGeom));
-  }
-}
-
-void SetSpectatorCameraMode(int mode) {
-  if (mode == g_app.spectator_cam_mode) {
-    return;
-  }
-  g_app.spectator_cam_mode = mode;
-  if (!g_app.model_holder || !g_app.model_holder->ok()) {
-    return;
-  }
-  const mjModel* model = g_app.model_holder->model();
-  if (mode == kSpecCamTumble) {
-    mujoco::platform::SetCamera(model, &g_app.camera,
-                                mujoco::platform::kTumbleCameraIdx);
-  } else if (mode == kSpecCamWasd) {
-    mujoco::platform::SetCamera(model, &g_app.camera,
-                                mujoco::platform::kFreeCameraIdx);
-  }
-  // kSpecCamFollow: the next state payload restores the controller's camera.
-}
-
-// Local camera control for a spectating page in a free camera mode. The
-// controller's input goes to the headless viewer instead (CaptureAndSendInput),
-// which streams its camera back over the state WebSocket.
-// TODO(matijak): Share the camera handling code with the studio app (e.g. in
-// platform/ux/interaction.cc) instead of duplicating it here.
-void HandleSpectatorCameraInput() {
-  if (g_app.spectator_cam_mode == kSpecCamFollow) {
-    return;
-  }
-  if (!g_app.model_holder || !g_app.model_holder->ok()) {
-    return;
-  }
-  const mjModel* model = g_app.model_holder->model();
-  ImGuiIO& io = ImGui::GetIO();
-  const bool wasd = g_app.spectator_cam_mode == kSpecCamWasd;
-
-  // The camera can be fixed on entry (SetupScene honours the model's
-  // vis.global.cameraid, and Follow Controller mirrors whatever camera the
-  // controller uses), and mjv_moveCamera ignores fixed cameras. Coerce to a
-  // free camera so the free modes always respond to input.
-  if (g_app.camera.type == mjCAMERA_FIXED) {
-    mjv_defaultFreeCamera(model, &g_app.camera);
-    if (wasd) {
-      mujoco::platform::SetCamera(model, &g_app.camera,
-                                  mujoco::platform::kFreeCameraIdx);
-    }
-  }
-
-  if (!io.WantCaptureMouse && io.DisplaySize.x > 0 && io.DisplaySize.y > 0) {
-    const float mouse_dx = io.MouseDelta.x / io.DisplaySize.x;
-    const float mouse_dy = io.MouseDelta.y / io.DisplaySize.y;
-    const bool is_mouse_dragging =
-        (mouse_dx != 0.0f || mouse_dy != 0.0f) &&
-        (ImGui::IsMouseDown(ImGuiMouseButton_Left) ||
-         ImGui::IsMouseDown(ImGuiMouseButton_Right) ||
-         ImGui::IsMouseDown(ImGuiMouseButton_Middle));
-    if (is_mouse_dragging) {
-      if (ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
-        if (wasd) {
-          mjv_moveCamera(model, mjMOUSE_TURN_H, mouse_dx, 0.f, &g_app.camera);
-          mjv_moveCamera(model, mjMOUSE_TURN_V, 0.f, mouse_dy, &g_app.camera);
-        } else {
-          mjv_moveCamera(model, mjMOUSE_ROTATE_H, mouse_dx, 0.f, &g_app.camera);
-          mjv_moveCamera(model, mjMOUSE_ROTATE_V, 0.f, mouse_dy, &g_app.camera);
-        }
-      } else if (ImGui::IsMouseDown(ImGuiMouseButton_Middle) && !wasd) {
-        mjv_moveCamera(model, mjMOUSE_ZOOM, 0.f, mouse_dy, &g_app.camera);
-      }
-      if (ImGui::IsMouseDown(ImGuiMouseButton_Right)) {
-        mjv_moveCamera(model, io.KeyShift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V,
-                       mouse_dx, mouse_dy, &g_app.camera);
-      }
-    }
-    // Mouse scroll zooms towards/away from the lookat point; ignored by the
-    // user-centered WASD camera which has no lookat point.
-    const float mouse_scroll = io.MouseWheel / 50.0f;
-    if (mouse_scroll != 0.0f && !wasd) {
-      mjv_moveCamera(model, mjMOUSE_ZOOM, 0.f, -mouse_scroll, &g_app.camera);
-    }
-  }
-
-  // WASD/QE flying, with the same accelerating speed as the studio app.
-  if (wasd && !io.WantCaptureKeyboard) {
-    bool moved = false;
-    const float speed = g_app.spectator_cam_speed;
-    if (ImGui::IsKeyDown(ImGuiKey_W)) {
-      mjv_moveCamera(model, mjMOUSE_MOVE_H_REL, 0, speed, &g_app.camera);
-      moved = true;
-    } else if (ImGui::IsKeyDown(ImGuiKey_S)) {
-      mjv_moveCamera(model, mjMOUSE_MOVE_H_REL, 0, -speed, &g_app.camera);
-      moved = true;
-    }
-    if (ImGui::IsKeyDown(ImGuiKey_A)) {
-      mjv_moveCamera(model, mjMOUSE_MOVE_H_REL, -speed, 0, &g_app.camera);
-      moved = true;
-    } else if (ImGui::IsKeyDown(ImGuiKey_D)) {
-      mjv_moveCamera(model, mjMOUSE_MOVE_H_REL, speed, 0, &g_app.camera);
-      moved = true;
-    }
-    if (ImGui::IsKeyDown(ImGuiKey_Q)) {
-      mjv_moveCamera(model, mjMOUSE_MOVE_V_REL, 0, speed, &g_app.camera);
-      moved = true;
-    } else if (ImGui::IsKeyDown(ImGuiKey_E)) {
-      mjv_moveCamera(model, mjMOUSE_MOVE_V_REL, 0, -speed, &g_app.camera);
-      moved = true;
-    }
-    if (moved) {
-      const float max_speed = io.KeyShift ? 0.1f : 0.01f;
-      g_app.spectator_cam_speed =
-          std::min(g_app.spectator_cam_speed + 0.001f, max_speed);
-    } else {
-      g_app.spectator_cam_speed = 0.001f;
-    }
-  }
-}
-
-// --- AppCallbacks method bodies (see the class declaration above App). ---
-
-uintptr_t AppCallbacks::UploadTexture(uintptr_t current, const std::byte* rgba,
-                                      uint32_t width, uint32_t height) {
-  return g_app.renderer->UploadImage(current, rgba, width, height,
-                                     rgba ? 4 : 0);
-}
-
-bool AppCallbacks::GpuReady() { return IsFilamentReady(); }
-
-bool AppCallbacks::ReadyForPayload() {
-  return g_app.model_holder && g_app.model_holder->ok();
-}
-
-void AppCallbacks::OnPayload(const StatePayloadView& view) {
-  ApplyStatePayload(view);
-}
-
-void AppCallbacks::OnModelChanged() {
-  // Mark downloading immediately so the main loop stops applying state updates
-  // to the old model while the new one downloads asynchronously.
-  g_app.download_status.is_downloading = true;
-  EM_ASM({ reloadModel(); });
-}
-
-void AppCallbacks::ConnectRemoteUi() { g_app.remote_ui.Connect(WsUrl("/ui")); }
-
-void AppCallbacks::ShutdownRemoteUi() { g_app.remote_ui.Shutdown(); }
-
-void AppCallbacks::SetCameraMode(int mode) { SetSpectatorCameraMode(mode); }
-
-void BuildBrowserGui() {
-  // Refresh the byte-rate telemetry the role window shows.
-  const double now = ImGui::GetTime();
-  if (now - g_app.telemetry.last_rate_time >= 1.0) {
-    g_app.telemetry.gui_bytes_per_sec = g_app.remote_ui.ConsumeByteCount();
-    g_app.telemetry.sim_bytes_per_sec = g_app.session.ConsumeByteCount();
-    g_app.telemetry.last_rate_time = now;
-  }
-
-  const double last_msg = g_app.session.LastMessageTime();
-  const double stale_sec =
-      last_msg > 0 ? emscripten_get_now() / 1000.0 - last_msg : -1.0;
-  g_app.disconnect_notice.Draw(g_app.session.ServerCloseCode(), stale_sec,
-                               g_app.download_status.is_downloading);
-
-  SessionView view;
-  g_app.session.FillView(&view);
-  view.gui_bytes_per_sec = g_app.telemetry.gui_bytes_per_sec;
-  view.sim_bytes_per_sec = g_app.telemetry.sim_bytes_per_sec;
-  view.have_remote_frame = g_app.remote_ui.RemoteDrawData() != nullptr;
-  view.camera_mode = g_app.spectator_cam_mode;
-  view.is_downloading = g_app.download_status.is_downloading;
-  view.bytes_downloaded = g_app.download_status.bytes_downloaded;
-  view.total_bytes = g_app.download_status.total_bytes;
-  view.retry_count = g_app.download_status.retry_count;
-  // The session is the SessionActions implementation: the role window's
-  // intents land there directly.
-  g_app.role_window.Draw(view, g_app.session);
-}
-
-//=================================================================================================
-// Main loop — called once per frame.
-//=================================================================================================
-void MainLoopImpl();
-
-void MainLoop() {
-  // An exception escaping the requestAnimationFrame callback kills the main
-  // loop silently causing the canvas to freeze on the last rendered frame and
-  // input capture to stop with only an opaque "Uncaught <ptr>" in the console.
-  // Here we catch, log, and stop explicitly instead.
-  try {
-    MainLoopImpl();
-  } catch (const std::exception& e) {
-    LOG(Error, "FATAL: uncaught exception in MainLoop: %s", e.what());
-    emscripten_cancel_main_loop();
-  } catch (...) {
-    LOG(Error, "FATAL: uncaught non-std exception in MainLoop");
-    emscripten_cancel_main_loop();
-  }
-}
-
-void MainLoopImpl() {
-  g_app.frame_count++;
-
-  // Session upkeep (the liveness heartbeat).
-  g_app.session.Update();
-
-  // Reconnect the state WebSocket if it dropped. Receiving a payload with a
-  // different model identity then triggers a page reload (Session). Deliberate
-  // server closes (session full, inactivity) are transient; retry them too,
-  // using a gentler pace.
-  const int state_retry_interval =
-      g_app.session.ServerCloseCode() != 0 ? 300 : 60;
-  if (!g_app.session.HasSocket() && g_app.model_holder &&
-      g_app.model_holder->ok() && !g_app.download_status.is_downloading &&
-      g_app.frame_count - g_app.last_state_retry_frame > state_retry_interval) {
-    g_app.last_state_retry_frame = g_app.frame_count;
-    LOG(Info, "State WebSocket down; reconnecting...");
-    g_app.session.Connect(WsUrl("/state"));
-  }
-
-  // Pass the remote UI (/ui) WebSocket state to the session state machine.
-  // The session uses this to manage attempts to claim the single controller
-  // slot, handle retry pacing if a claim is rejected or dropped, and drive role
-  // transitions (Controlling vs Spectating).
-  RemoteUiState ui_state = RemoteUiState::kNoSocket;
-  if (g_app.remote_ui.HasSocket()) {
-    switch (g_app.remote_ui.ConnectionState()) {
-      case RemoteUi::ReadyState::kOpen:
-        ui_state = RemoteUiState::kOpen;
-        break;
-      case RemoteUi::ReadyState::kClosed:
-      case RemoteUi::ReadyState::kError:
-        ui_state = RemoteUiState::kClosedOrError;
-        break;
-      default:
-        ui_state = RemoteUiState::kConnecting;
-        break;
-    }
-  }
-  g_app.session.HandleRemoteUiState(ui_state, g_app.remote_ui.CloseCode());
-
-  // Process incoming UI data BEFORE the ImGui frame: textures and draw
-  // frames must be ready before we start the local ImGui frame and render.
-  if (g_app.window) {
-    g_app.remote_ui.SetMaxClip(static_cast<float>(g_app.window->GetWidth()),
-                               static_cast<float>(g_app.window->GetHeight()));
-  }
-  g_app.remote_ui.ReceiveAndProcessCommands(g_app.frame_count);
-
-  // Event loop and ImGui NewFrame via window abstraction.
-  mujoco::platform::Window::Status status = g_app.window->NewFrame();
-  if (status == mujoco::platform::Window::kQuitting) {
-    // NewFrame() started an ImGui frame; end it before bailing out.
-    ImGui::EndFrame();
-    emscripten_cancel_main_loop();
-    return;
-  }
-
-  // For the controller, all scene interaction (camera orbit/zoom, perturbation,
-  // picking) is handled by the headless viewer: CaptureAndSendInput()
-  // forwards this frame's input over NetImgui, and the resulting camera/perturb
-  // state streams back over the state WebSocket (see ApplyStatePayload).
-  // Spectators have no input channel; in a free camera mode they drive their
-  // local camera directly.
-  g_app.remote_ui.CaptureAndSendInput();
-  if (g_app.session.Role() == SessionRole::kSpectating) {
-    HandleSpectatorCameraInput();
-  }
-
-  BuildBrowserGui();
-
-  // Finalize the local ImGui draw data. ImguiBridge::Update() (called inside
-  // Filament's Render) will call ImGui::Render() again, but that is a no-op
-  // once the frame has already been rendered.
-  ImGui::Render();
-
-  // Inject remote draw lists into the local ImDrawData so that Filament's
-  // ImguiBridge renders them alongside the local UI. Remote lists are inserted
-  // first (background) and local lists are re-added after (foreground), so the
-  // local UI always renders on top of remote content. Note that
-  // ImGui::GetDrawData() is only valid after ImGui::Render() and until the next
-  // call to ImGui::NewFrame().
-  ImDrawData* remote_draw_data = g_app.remote_ui.RemoteDrawData();
-  if (remote_draw_data && remote_draw_data->Valid &&
-      g_app.session.Role() == SessionRole::kControlling) {
-    ImDrawData* local_draw_data = ImGui::GetDrawData();
-    if (local_draw_data) {
-      // Save local draw lists.
-      ImVector<ImDrawList*> local_lists;
-      local_lists.reserve(local_draw_data->CmdListsCount);
-      for (int i = 0; i < local_draw_data->CmdListsCount; ++i) {
-        local_lists.push_back(local_draw_data->CmdLists[i]);
-      }
-
-      // Clear and rebuild: remote first, then local.
-      local_draw_data->CmdLists.resize(0);
-      local_draw_data->CmdListsCount = 0;
-      local_draw_data->TotalVtxCount = 0;
-      local_draw_data->TotalIdxCount = 0;
-
-      // Remote draw lists (background).
-      for (int i = 0; i < remote_draw_data->CmdListsCount; ++i) {
-        local_draw_data->AddDrawList(remote_draw_data->CmdLists[i]);
-      }
-
-      // Local draw lists (foreground).
-      for (int i = 0; i < local_lists.Size; ++i) {
-        local_draw_data->AddDrawList(local_lists[i]);
-      }
-    }
-  }
-
-  // Render the scene and all ImGui UI (local and remote).
-  if (g_app.renderer && g_app.model_holder && g_app.model_holder->ok()) {
-    // Apply backend state if available.
-    if (g_app.backend_state_dirty && !g_app.download_status.is_downloading) {
-      mjModel* model = g_app.model_holder->model();
-      mjData* data = g_app.model_holder->data();
-      mj_setState(model, data, g_app.backend_state.data(),
-                  g_app.backend_state_sig);
-      mj_forward(model, data);
-      g_app.backend_state_dirty = false;
-    }
-
-    int width =
-        static_cast<int>(g_app.window->GetWidth() * g_app.window->GetScale());
-    int height =
-        static_cast<int>(g_app.window->GetHeight() * g_app.window->GetScale());
-    if (width > 0 && height > 0) {
-      g_app.renderer->Render(g_app.model_holder->model(),
-                             g_app.model_holder->data(), &g_app.perturb,
-                             &g_app.camera, &g_app.vis_options, width, height,
-                             /*pixels=*/{}, std::span(g_app.extra_geoms));
-    }
-  }
-
-  g_app.window->Present();
-}
-
-void SetupScene(const mjModel* m) {
-  g_app.renderer->Init(m);
-
-  // Invalidate all texture caches (ImGui font atlas + NetImgui streamed
-  // textures) and re-upload them on the new Filament context.
-  g_app.remote_ui.UpdateTextures();
-
-  mjv_defaultPerturb(&g_app.perturb);
-  mjv_defaultCamera(&g_app.camera);
-  mjv_defaultOption(&g_app.vis_options);
-
-  const int model_cam = m->vis.global.cameraid;
-  if (model_cam >= 0 && model_cam < m->ncam) {
-    mujoco::platform::SetCamera(m, &g_app.camera, model_cam);
-  } else {
-    mjv_defaultFreeCamera(m, &g_app.camera);
-  }
-}
-
-// Standard CRC-32 (ISO-HDLC, poly 0xEDB88320), matching Python's zlib.crc32
-// so the fetched model's checksum can be compared against the crc the Python
-// side stamps into each state payload.
-uint32_t Crc32(const uint8_t* data, size_t len) {
-  uint32_t crc = 0xFFFFFFFFu;
-  for (size_t i = 0; i < len; ++i) {
-    crc ^= data[i];
-    for (int bit = 0; bit < 8; ++bit) {
-      crc = (crc >> 1) ^ (0xEDB88320u & (~(crc & 1u) + 1u));
-    }
-  }
-  return crc ^ 0xFFFFFFFFu;
-}
-
-bool ParseModelBufferImpl(const char* data, size_t size) {
-  LOG(Info, "Fetched model.mjb, size: %zu", size);
-  g_app.model_holder = mujoco::platform::ModelHolder::FromBuffer(
-      std::span<const std::byte>(reinterpret_cast<const std::byte*>(data),
-                                 size),
-      "application/mjb", "model.mjb");
-  if (g_app.model_holder && g_app.model_holder->ok()) {
-    g_app.session.SetModelCrc32(
-        Crc32(reinterpret_cast<const uint8_t*>(data), size));
-    LOG(Info, "Model parsed successfully!");
-    return true;
-  }
-  LOG(Error, "Failed to load model: %s",
-      g_app.model_holder ? g_app.model_holder->error().data()
-                         : "Unknown error");
-  return false;
-}
-
-void UpdateModelDownloadProgress(size_t bytes_downloaded, size_t total_bytes,
-                                 int retry_count) {
-  g_app.download_status.is_downloading = true;
-  g_app.download_status.bytes_downloaded = bytes_downloaded;
-  g_app.download_status.total_bytes = total_bytes;
-  g_app.download_status.retry_count = retry_count;
-}
-
-void FinishModelLoad() {
-  mj_forward(g_app.model_holder->model(), g_app.model_holder->data());
-  if (g_app.window) {
-    SetupScene(g_app.model_holder->model());
-  }
-  // Connect the state WebSocket to receive simulation state from Python.
-  if (!g_app.session.HasSocket()) {
-    g_app.session.Connect(WsUrl("/state"));
-  }
-  g_app.download_status.is_downloading = false;
-  LOG(Info, "Model loaded and scene initialized successfully!");
-}
-
-// Allocates a buffer in WASM linear memory for zero-copy streaming chunk
-// downloads. The caller owns the returned pointer and must free it via
-// FreeModelBuffer when done.
-uintptr_t AllocModelBuffer(size_t size) {
-  char* ptr = new (std::nothrow) char[size];
-  if (!ptr) {
-    LOG(Error, "Failed to allocate WASM model buffer of size %zu", size);
-    return 0;
-  }
-  return reinterpret_cast<uintptr_t>(ptr);
-}
-
-// Frees a buffer previously returned by AllocModelBuffer.
-void FreeModelBuffer(uintptr_t ptr_val) {
-  if (ptr_val) {
-    delete[] reinterpret_cast<char*>(ptr_val);
-  }
-}
-
-// Parses an MJB model from a buffer.
-void ParseModelBuffer(uintptr_t ptr_val, size_t size) {
-  if (ParseModelBufferImpl(reinterpret_cast<char*>(ptr_val), size)) {
-    FinishModelLoad();
-  }
-}
-
-// Holds assets (Filament assets and local ImGui fonts) that the page fetches
-// and pushes in via the registerAsset() binding before startApp() runs, so the
-// resource providers below can resolve them without a filesystem.
-class AssetRegistry {
- public:
-  static AssetRegistry& Instance() {
-    static AssetRegistry instance;
-    return instance;
-  }
-
-  void RegisterAsset(std::string filename, std::string contents) {
-    assets_[std::move(filename)] = std::move(contents);
-  }
-
-  const std::string& Get(std::string_view filename) const {
-    filename = filename.substr(filename.find_first_of(':') + 1);
-    static std::string empty;
-    auto it = assets_.find(std::string(filename));
-    return it != assets_.end() ? it->second : empty;
-  }
-
- private:
-  std::unordered_map<std::string, std::string> assets_;
-};
-
-// Exposed to JS (see EMSCRIPTEN_BINDINGS): the page calls this once per asset.
-void RegisterAsset(std::string filename, emscripten::val contents) {
-  std::string data;
-  if (contents.typeOf().as<std::string>() == "string") {
-    data = contents.as<std::string>();
-  } else if (contents.instanceof(emscripten::val::global("Uint8Array")) ||
-             contents.hasOwnProperty("length")) {
-    size_t len = contents["length"].as<size_t>();
-    data.resize(len);
-    if (len > 0) {
-      emscripten::val memory_view =
-          emscripten::val(emscripten::typed_memory_view(len, data.data()));
-      memory_view.call<void>("set", contents);
-    }
-  } else if (contents.instanceof(emscripten::val::global("ArrayBuffer"))) {
-    emscripten::val u8 = emscripten::val::global("Uint8Array").new_(contents);
-    size_t len = u8["length"].as<size_t>();
-    data.resize(len);
-    if (len > 0) {
-      emscripten::val memory_view =
-          emscripten::val(emscripten::typed_memory_view(len, data.data()));
-      memory_view.call<void>("set", u8);
-    }
-  }
-  AssetRegistry::Instance().RegisterAsset(std::move(filename), std::move(data));
-}
-
-// Registers resource providers so that "filament:" and "font:" asset requests
-// resolve from the AssetRegistry populated by registerAsset().
-static void RegisterAssetProviders() {
-  mjpResourceProvider resource_provider;
-  mjp_defaultResourceProvider(&resource_provider);
-
-  resource_provider.open = [](mjResource* resource) {
-    AssetRegistry& r = AssetRegistry::Instance();
-    return static_cast<int>(r.Get(resource->name).size());
-  };
-  resource_provider.read = [](mjResource* resource, const void** buffer) {
-    AssetRegistry& r = AssetRegistry::Instance();
-    const std::string& contents = r.Get(resource->name);
-    *buffer = contents.data();
-    return static_cast<int>(contents.size());
-  };
-  resource_provider.close = [](mjResource* resource) {};
-  for (const char* prefix : {"filament", "font"}) {
-    resource_provider.prefix = prefix;
-    mjp_registerResourceProvider(&resource_provider);
-  }
-}
-
-// Starts the viewer once the page has registered every asset. Exposed to JS
-// and called from index.html after the fetches complete.
-void StartApp() {
-  mujoco::platform::Window::Config config;
-  config.gfx_mode = mujoco::platform::GraphicsMode::FilamentWebGl;
-  // Load the Studio UI fonts for the browser's local ImGui (the role window);
-  // the "font:" resource provider above resolves them from the AssetRegistry.
-  // (The streamed/remote UI carries its own font atlas separately.)
-  config.load_fonts = true;
-
-  g_app.window = std::make_unique<mujoco::platform::Window>("MuJoCo Web Viewer",
-                                                            1400, 720, config);
-  ImPlot::CreateContext();  // Needed if the server app uses ImPlot.
-
-  g_app.renderer = new mujoco::platform::FilamentRenderer(
-      g_app.window->GetNativeWindowHandle(), config.gfx_mode);
-
-  // Initialize an empty dummy scene so Filament and ImGui are ready to render
-  // the "DOWNLOADING..." progress bar while /model downloads asynchronously
-  g_app.model_holder = mujoco::platform::ModelHolder::FromSpec(mj_makeSpec());
-  if (g_app.model_holder && g_app.model_holder->ok()) {
-    SetupScene(g_app.model_holder->model());
-  }
-
-  NetImgui::Internal::Network::Startup();
-  SDL_StartTextInput();
-
-  // The UI stream is a path on the page's own host and port.
-  g_app.remote_ui.Connect(WsUrl("/ui"));
-
-  emscripten_set_main_loop(MainLoop, 0, 0);
-}
-
-int main(int argc, char** argv) {
-  RegisterAssetProviders();
-  return 0;
-}
-
-EMSCRIPTEN_BINDINGS(web_client_bindings) {
-  // Registers staged static files fetched by index.html into the C++ in-memory
-  // AssetRegistry before startApp() runs.
-  emscripten::function("registerAsset", &RegisterAsset);
-
-  // Allocates a buffer in WASM linear memory for zero-copy streaming model
-  // chunk downloads. The caller must free it via freeModelBuffer when done.
-  emscripten::function("allocModelBuffer", &AllocModelBuffer);
-
-  // Frees a buffer previously allocated by allocModelBuffer.
-  emscripten::function("freeModelBuffer", &FreeModelBuffer);
-
-  // Parses a completed MJB model buffer and reinitializes the Filament scene.
-  emscripten::function("parseModelBuffer", &ParseModelBuffer);
-
-  // Initializes the Filament window, ImGui context, WebSocket connections, and
-  // starts the Emscripten main simulation loop.
-  emscripten::function("startApp", &StartApp);
-
-  // Updates the model download progress in C++ so the ImGui role window can
-  // display a real-time progress bar and status while downloading.
-  emscripten::function("updateModelDownloadProgress",
-                       &UpdateModelDownloadProgress);
-}
diff --git a/python/mujoco/experimental/studio/web/web_client_local_ui.cc b/python/mujoco/experimental/studio/web/web_client_local_ui.cc
deleted file mode 100644
index 197451c6..00000000
--- a/python/mujoco/experimental/studio/web/web_client_local_ui.cc
+++ /dev/null
@@ -1,417 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "web_client_local_ui.h"
-
-#include <algorithm>
-#include <cfloat>
-#include <cinttypes>
-#include <cmath>
-#include <cstdint>
-#include <cstdio>
-#include <initializer_list>
-
-#include <imgui.h>
-#include "experimental/platform/ux/imgui_widgets.h"
-#include "google/logging.h"
-#include "web_client_session.h"
-
-namespace mujoco::studio {
-namespace {
-
-const ImVec2 kFullWidth(-FLT_MIN, 0.0f);
-const ImVec4 kSpectatingColor(1.0f, 0.75f, 0.2f, 1.0f);
-const ImVec4 kControllingColor(0.3f, 0.9f, 0.4f, 1.0f);
-const ImVec4 kQueueColor(1.0f, 0.62f, 0.15f, 1.0f);
-const ImVec4 kConnectingColor(0.6f, 0.6f, 0.6f, 1.0f);
-
-// Draws one screen-centered DISCONNECTED window.
-void DrawDisconnectWindow(const char* window_id,
-                          std::initializer_list<const char*> lines) {
-  const ImGuiIO& io = ImGui::GetIO();
-  ImGui::SetNextWindowPos(
-      ImVec2(io.DisplaySize.x * 0.5f, io.DisplaySize.y * 0.5f),
-      ImGuiCond_Always, ImVec2(0.5f, 0.5f));
-  ImGui::Begin(window_id, nullptr,
-               ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize |
-                   ImGuiWindowFlags_NoMove | ImGuiWindowFlags_AlwaysAutoResize);
-  platform::CenteredBanner("DISCONNECTED", ImVec4(1.0f, 0.3f, 0.3f, 1.0f));
-  for (const char* line : lines) {
-    platform::CenteredLine(line, nullptr);
-  }
-  ImGui::End();
-}
-
-}  // namespace
-
-void DisconnectNotice::Draw(int server_close_code,
-                            double seconds_since_last_payload,
-                            bool is_downloading) {
-  if (server_close_code != 0) {
-    const char* reason = "Disconnected by the viewer.";
-    if (server_close_code == kWsCloseSessionFull) {
-      reason = "Session is full: too many viewers connected.";
-    } else if (server_close_code == kWsCloseInactive) {
-      reason = "Disconnected after inactivity.";
-    }
-    DrawDisconnectWindow("##disconnected_by_server",
-                         {reason, "Retrying; reconnects automatically."});
-  }
-
-  // The silence notice keys on state-stream staleness rather than socket
-  // state: a killed, suspended (Ctrl+Z), or unreachable server all go
-  // silent, but only a killed one closes its sockets. Clears itself when
-  // traffic resumes. Suppressed before the first payload (negative
-  // staleness), after a deliberate server-side close (its own notice
-  // above), and while a new model is downloading.
-  const bool link_stale =
-      seconds_since_last_payload > kServerSilenceNoticeSec &&
-      server_close_code == 0 && !is_downloading;
-  if (!link_stale) {
-    logged_ = false;
-    return;
-  }
-  if (!logged_) {
-    LOG(Info, "Showing server-not-reachable notice");
-    logged_ = true;
-  }
-  DrawDisconnectWindow(
-      "##disconnected",
-      {"Viewer server is not reachable: the Python script may",
-       "have stopped. This page reconnects automatically if the",
-       "viewer comes back."});
-}
-
-void RoleWindow::Draw(const SessionView& view, SessionActions& actions) {
-  ComputeAnchorPositions();
-  // While anchored, the window is re-pinned every frame (so it follows
-  // canvas resizes) for both the collapsed pill and the expanded window
-  // (same ImGui window, so one call covers whichever Begin runs this
-  // frame) — except while it is being dragged.
-  if (anchor_ != kAnchorFree && !dragging_) {
-    ImGui::SetNextWindowPos(anchor_pos_[anchor_ - kAnchorTopLeft],
-                            ImGuiCond_Always,
-                            kAnchorPivot[anchor_ - kAnchorTopLeft]);
-  }
-
-  // While someone waits for control, the window background pulses toward
-  // a dark orange (the queue size itself is shown in the expanded form).
-  const bool pulse =
-      view.role == SessionRole::kControlling && view.queue_len > 0;
-  if (pulse) {
-    const float phase =
-        0.5f + 0.5f * sinf(static_cast<float>(ImGui::GetTime()) * 2.5f);
-    ImVec4 bg = ImGui::GetStyleColorVec4(ImGuiCol_WindowBg);
-    const ImVec4 orange(0.45f, 0.22f, 0.02f, bg.w);
-    const float blend = 0.6f * phase;
-    bg.x += (orange.x - bg.x) * blend;
-    bg.y += (orange.y - bg.y) * blend;
-    bg.z += (orange.z - bg.z) * blend;
-    ImGui::PushStyleColor(ImGuiCol_WindowBg, bg);
-  }
-
-  if (mode_ == Mode::kCollapsed) {
-    DrawCollapsed(view);
-  } else {
-    DrawExpanded(view, actions);
-  }
-
-  if (pulse) {
-    ImGui::PopStyleColor();
-  }
-}
-
-void RoleWindow::ComputeAnchorPositions() {
-  const ImVec2 canvas = ImGui::GetIO().DisplaySize;
-  anchor_pos_[0] = ImVec2(kEdgeMargin, kEdgeMargin);
-  anchor_pos_[1] = ImVec2(canvas.x * 0.5f, kEdgeMargin);
-  anchor_pos_[2] = ImVec2(canvas.x - kEdgeMargin, kEdgeMargin);
-  anchor_pos_[3] = ImVec2(kEdgeMargin, canvas.y - kEdgeMargin);
-  anchor_pos_[4] = ImVec2(canvas.x * 0.5f, canvas.y - kEdgeMargin);
-  anchor_pos_[5] = ImVec2(canvas.x - kEdgeMargin, canvas.y - kEdgeMargin);
-}
-
-// Tracks a drag of the window and snaps on release: if the window was
-// dropped within max(20% of its size, 100px) of where an anchor would
-// place it, adopt that anchor; otherwise it floats Free where it was
-// dropped. Call between Begin and End of whichever form is visible.
-void RoleWindow::UpdateSnap() {
-  if (ImGui::IsMouseClicked(ImGuiMouseButton_Left) &&
-      ImGui::IsWindowHovered(ImGuiHoveredFlags_AllowWhenBlockedByActiveItem)) {
-    dragging_ = true;
-  } else if (dragging_ && !ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
-    dragging_ = false;
-    const ImVec2 pos = ImGui::GetWindowPos();
-    const ImVec2 size = ImGui::GetWindowSize();
-    const float threshold = std::max(0.2f * std::max(size.x, size.y), 100.0f);
-    int best = -1;
-    float best_d2 = threshold * threshold;
-    for (int i = 0; i < 6; ++i) {
-      // Per-axis distance to where this anchor would place the window,
-      // clamped to zero on the anchor's off-screen side: a window dropped
-      // past an edge or corner (mostly off-screen) still snaps to that
-      // anchor instead of being left stranded outside the canvas.
-      float dx = pos.x - (anchor_pos_[i].x - kAnchorPivot[i].x * size.x);
-      if (kAnchorPivot[i].x == 0.0f) {
-        dx = std::max(dx, 0.0f);  // Dropped past the left edge.
-      } else if (kAnchorPivot[i].x == 1.0f) {
-        dx = std::min(dx, 0.0f);  // Dropped past the right edge.
-      }
-      float dy = pos.y - (anchor_pos_[i].y - kAnchorPivot[i].y * size.y);
-      if (kAnchorPivot[i].y == 0.0f) {
-        dy = std::max(dy, 0.0f);  // Dropped past the top edge.
-      } else {
-        dy = std::min(dy, 0.0f);  // Dropped past the bottom edge.
-      }
-      const float d2 = dx * dx + dy * dy;
-      if (d2 <= best_d2) {
-        best_d2 = d2;
-        best = i;
-      }
-    }
-    anchor_ =
-        best >= 0 ? static_cast<Anchor>(kAnchorTopLeft + best) : kAnchorFree;
-  }
-}
-
-// Data rates, shown to both roles (spectators receive no GUI stream, so
-// that line reads 0 for them). With more than one viewer, the number in
-// parentheses is the host's total outgoing sim bandwidth: every connected
-// browser receives the same sim stream.
-void RoleWindow::DataRateLines(const SessionView& view) {
-  ImGui::Text("GUI Data Rate: %" PRIu64 " KiB/s",
-              static_cast<uint64_t>(view.gui_bytes_per_sec / 1024));
-  if (view.role == SessionRole::kSpectating) {
-    ImGui::SetItemTooltip("The UI is not streamed to spectators.");
-  } else if (!view.have_remote_frame) {
-    ImGui::SameLine();
-    ImGui::TextColored(ImVec4(1.0f, 0.0f, 0.0f, 1.0f), "(Waiting...)");
-  }
-  ImGui::Text("Sim Data Rate: %" PRIu64 " KiB/s",
-              static_cast<uint64_t>(view.sim_bytes_per_sec / 1024));
-  if (view.viewers > 1) {
-    ImGui::SameLine();
-    ImGui::Text(
-        "(%" PRIu64 " KiB/s)",
-        static_cast<uint64_t>(view.sim_bytes_per_sec * view.viewers / 1024));
-    ImGui::SetItemTooltip("Total sim data sent across all viewers.");
-  }
-}
-
-void RoleWindow::DrawCollapsed(const SessionView& view) {
-  ImGui::PushStyleVar(ImGuiStyleVar_WindowPadding, ImVec2(6.0f, 6.0f));
-  ImGui::PushStyleVar(ImGuiStyleVar_WindowMinSize, ImVec2(16.0f, 16.0f));
-
-  ImGui::Begin("Role", nullptr,
-               ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize |
-                   ImGuiWindowFlags_AlwaysAutoResize);
-  if (view.is_downloading) {
-    bool done_downloading =
-        view.total_bytes > 0 && view.bytes_downloaded >= view.total_bytes;
-    ImGui::TextColored(kConnectingColor,
-                       done_downloading ? "PARSING..." : "DOWNLOADING...");
-  } else if (view.role == SessionRole::kSpectating) {
-    ImGui::TextColored(kSpectatingColor, "SPECTATING");
-  } else if (view.role == SessionRole::kControlling) {
-    ImGui::TextColored(kControllingColor, "CONTROLLING");
-  } else {
-    ImGui::TextColored(kConnectingColor, "CONNECTING...");
-  }
-  // Keep the window expanded while focused or being dragged, so dragging out
-  // of the collapsed bounds doesn't instantly collapse it midway through
-  // a move (which drops drag capture in ImGui).
-  if (ImGui::IsWindowFocused() ||
-      ImGui::IsWindowHovered(ImGuiHoveredFlags_AllowWhenBlockedByActiveItem)) {
-    mode_ = Mode::kExpanded;
-  }
-  UpdateSnap();
-  ImGui::End();
-
-  ImGui::PopStyleVar(2);
-}
-
-void RoleWindow::DrawExpanded(const SessionView& view,
-                              SessionActions& actions) {
-  // No title bar; the window is still movable by dragging empty space
-  // (ImGui's default when ConfigWindowsMoveFromTitleBarOnly is off).
-  ImGui::Begin("Role", nullptr,
-               ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoTitleBar);
-
-  if (view.is_downloading) {
-    bool done_downloading =
-        view.total_bytes > 0 && view.bytes_downloaded >= view.total_bytes;
-    platform::CenteredBanner(done_downloading ? "PARSING..." : "DOWNLOADING...",
-                             kConnectingColor);
-    if (!done_downloading) {
-      float progress = view.total_bytes > 0
-                           ? static_cast<float>(view.bytes_downloaded) /
-                                 static_cast<float>(view.total_bytes)
-                           : 0.0f;
-      char buf[128];
-      if (view.total_bytes > 0) {
-        snprintf(buf, sizeof(buf), "%.1f / %.1f MB (%.0f%%)",
-                 view.bytes_downloaded / (1024.0 * 1024.0),
-                 view.total_bytes / (1024.0 * 1024.0), progress * 100.0f);
-      } else {
-        snprintf(buf, sizeof(buf), "Connecting...");
-      }
-      ImGui::ProgressBar(progress, ImVec2(-1, 0), buf);
-      if (view.retry_count > 0) {
-        ImGui::TextColored(ImVec4(1.0f, 0.8f, 0.2f, 1.0f),
-                           "Retrying chunk (%d)...", view.retry_count);
-      }
-    }
-  } else if (view.role == SessionRole::kClaiming) {
-    // The first roster or /ui claim outcome resolves this within a few
-    // hundred milliseconds of page load.
-    platform::CenteredBanner("CONNECTING...", kConnectingColor);
-    ImGui::Separator();
-    DataRateLines(view);
-  } else if (view.role == SessionRole::kSpectating) {
-    DrawSpectatorContents(view, actions);
-  } else {
-    DrawControllerContents(view, actions);
-  }
-
-  UpdateSnap();
-  UpdateCollapse();
-  ImGui::End();
-}
-
-void RoleWindow::DrawSpectatorContents(const SessionView& view,
-                                       SessionActions& actions) {
-  // Control group.
-  platform::CenteredBanner("SPECTATING", kSpectatingColor);
-  char queue_text[64];
-  if (view.queue_pos > 0) {
-    snprintf(queue_text, sizeof(queue_text), "Control Queue: Position %d of %d",
-             view.queue_pos, view.queue_len);
-  } else if (view.queue_len > 0) {
-    snprintf(queue_text, sizeof(queue_text), "Control Queue: %d waiting",
-             view.queue_len);
-  } else {
-    snprintf(queue_text, sizeof(queue_text), "Control Queue: (empty)");
-  }
-  platform::CenteredLine(queue_text, nullptr);
-  if (view.queue_pos == 0) {
-    if (ImGui::Button("Request control", kFullWidth)) {
-      actions.RequestControl();
-    }
-  } else {
-    const float half_width =
-        (ImGui::GetContentRegionAvail().x - ImGui::GetStyle().ItemSpacing.x) *
-        0.5f;
-    if (ImGui::Button("Leave Queue", ImVec2(half_width, 0.0f))) {
-      actions.LeaveQueue();
-    }
-    ImGui::SetItemTooltip("Abandons the control request.");
-    ImGui::SameLine();
-    ImGui::PushStyleColor(ImGuiCol_Button, ImVec4(0.65f, 0.15f, 0.15f, 1.0f));
-    ImGui::PushStyleColor(ImGuiCol_ButtonHovered,
-                          ImVec4(0.80f, 0.20f, 0.20f, 1.0f));
-    ImGui::PushStyleColor(ImGuiCol_ButtonActive,
-                          ImVec4(0.50f, 0.10f, 0.10f, 1.0f));
-    if (ImGui::Button("Steal Control", ImVec2(half_width, 0.0f))) {
-      actions.StealControl();
-    }
-    ImGui::PopStyleColor(3);
-    ImGui::SetItemTooltip("Takes control immediately, jumping the queue.");
-  }
-
-  // Data rate group.
-  ImGui::Separator();
-  DataRateLines(view);
-
-  // Camera group.
-  ImGui::Separator();
-  // TODO(matijak): Use the studio camera-selection UI here in future, so
-  // a spectator can also pick any camera defined in the model.
-  // Sized to its longest option; the default width would stretch the
-  // window past the CONTROLLING layout's size.
-  ImGui::SetNextItemWidth(ImGui::CalcTextSize("Follow Controller").x +
-                          ImGui::GetFrameHeight() * 2.0f);
-  int cam_mode = view.camera_mode;
-  if (ImGui::Combo("Camera", &cam_mode,
-                   "Free: tumble\0Free: wasd\0Follow Controller\0")) {
-    actions.SetCameraMode(cam_mode);
-  }
-}
-
-void RoleWindow::DrawControllerContents(const SessionView& view,
-                                        SessionActions& actions) {
-  // Control group.
-  platform::CenteredBanner("CONTROLLING", kControllingColor);
-  if (view.queue_len > 0) {
-    char queue_text[64];
-    snprintf(queue_text, sizeof(queue_text), ">> Control Queue: %d waiting <<",
-             view.queue_len);
-    platform::CenteredLine(queue_text, &kQueueColor);
-  } else {
-    platform::CenteredLine("Control Queue: (empty)", nullptr);
-  }
-  if (ImGui::Button("Release control", kFullWidth)) {
-    actions.ReleaseControl();
-  }
-
-  // Data rate group.
-  ImGui::Separator();
-  DataRateLines(view);
-
-  // Session settings group.
-  ImGui::Separator();
-  // Local edits win for a grace period (the roster round trip takes a
-  // few frames and typing takes longer); afterwards the server's value
-  // is the truth.
-  if (max_spectators_edit_ < 0 ||
-      ImGui::GetTime() - max_spectators_edit_time_ > 1.5) {
-    max_spectators_edit_ = view.max_spectators;
-  }
-  ImGui::SetNextItemWidth(100.0f);
-  if (ImGui::InputInt("Max Spectators", &max_spectators_edit_)) {
-    max_spectators_edit_time_ = ImGui::GetTime();
-    max_spectators_edit_ = std::clamp(max_spectators_edit_, 0, 32);
-    actions.SetMaxSpectators(max_spectators_edit_);
-  }
-  if (ImGui::IsItemActive()) {
-    max_spectators_edit_time_ = ImGui::GetTime();
-  }
-}
-
-// Collapse when the mouse leaves the window, with a short grace period.
-// A popup (e.g. the camera combo's dropdown) is a separate window, so
-// moving the mouse into it unhovers this one; keep the window expanded
-// while one of its popups is open, and give brief excursions time to
-// come back before snapping shut. On page load the window instead stays
-// expanded for a few seconds (the intro); the first hover ends the
-// intro, so a quick swipe over the window dismisses it early.
-void RoleWindow::UpdateCollapse() {
-  const bool popup_open = ImGui::IsPopupOpen(
-      "", ImGuiPopupFlags_AnyPopupId | ImGuiPopupFlags_AnyPopupLevel);
-  if (popup_open || dragging_ ||
-      ImGui::IsWindowFocused(ImGuiFocusedFlags_RootAndChildWindows) ||
-      ImGui::IsWindowHovered(ImGuiHoveredFlags_AllowWhenBlockedByActiveItem)) {
-    mode_ = Mode::kExpanded;  // The first hover ends the intro.
-    hover_time_ = ImGui::GetTime();
-  } else if (mode_ == Mode::kIntro) {
-    if (intro_start_ == 0) {
-      intro_start_ = ImGui::GetTime();
-    } else if (ImGui::GetTime() - intro_start_ > kIntroExpandedSec) {
-      mode_ = Mode::kCollapsed;
-    }
-  } else if (ImGui::GetTime() - hover_time_ > kCollapseGraceSec) {
-    mode_ = Mode::kCollapsed;
-  }
-}
-
-}  // namespace mujoco::studio
diff --git a/python/mujoco/experimental/studio/web/web_client_local_ui.h b/python/mujoco/experimental/studio/web/web_client_local_ui.h
deleted file mode 100644
index 7b1882f9..00000000
--- a/python/mujoco/experimental/studio/web/web_client_local_ui.h
+++ /dev/null
@@ -1,113 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// The web viewer's local (browser-drawn) UI: the role window and the
-// DISCONNECTED notices. Deliberately decoupled from the app: it reads a
-// SessionView snapshot and reports user intent through the SessionActions
-// interface (both defined in web_client_session.h), so drawing depends
-// only on ImGui.
-
-#ifndef MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_WEB_CLIENT_LOCAL_UI_H_
-#define MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_WEB_CLIENT_LOCAL_UI_H_
-
-#include <imgui.h>
-#include "web_client_session.h"
-
-namespace mujoco::studio {
-
-// The screen-centered DISCONNECTED notices: a big red banner over white
-// explanation lines, shown for deliberate server closes (session full,
-// inactivity) and for server silence. The two never show at the same time:
-// a close code suppresses the silence notice.
-class DisconnectNotice {
- public:
-  // seconds_since_last_payload is negative before the first payload.
-  void Draw(int server_close_code, double seconds_since_last_payload,
-            bool is_downloading);
-
- private:
-  // How long the state stream (~60Hz while the Python side is alive) may go
-  // silent before the notice appears. A model-change restart resumes
-  // traffic in about a second and should not flash the notice.
-  static constexpr double kServerSilenceNoticeSec = 3.0;
-
-  // True while the server-not-reachable notice is up (log once per outage).
-  bool logged_ = false;
-};
-
-// The role window: a collapsed role pill that expands on hover into the
-// session panel (role banner, control queue, data rates, per-role
-// settings). Owns its presentation state — mode, intro/hover timers, drag
-// and snap anchoring, edit grace.
-class RoleWindow {
- public:
-  void Draw(const SessionView& view, SessionActions& actions);
-
- private:
-  // Presentation state machine: the window starts in the intro (expanded
-  // for a few seconds so new users see it exists and learn it expands on
-  // hover); the first hover ends the intro.
-  enum class Mode {
-    kIntro = 0,  // Expanded on page load, until the timer or first hover.
-    kExpanded,   // Expanded while hovered (plus a short leave grace).
-    kCollapsed,  // The role pill; expands on hover.
-  };
-
-  // Where the window is anchored on the page. It is always draggable;
-  // releasing a drag near an anchor snaps to it, anywhere else leaves the
-  // window Free at its dropped position.
-  enum Anchor {
-    kAnchorFree = 0,
-    kAnchorTopLeft,  // The anchors must stay contiguous from here on.
-    kAnchorTopMid,
-    kAnchorTopRight,
-    kAnchorBottomLeft,
-    kAnchorBottomMid,
-    kAnchorBottomRight,
-  };
-
-  static constexpr double kCollapseGraceSec = 0.2;
-  static constexpr double kIntroExpandedSec = 5.0;
-  static constexpr float kEdgeMargin = 10.0f;
-  // Pivots keeping the whole window on-screen kEdgeMargin off the
-  // anchoring edges; indexed by Anchor - kAnchorTopLeft, like anchor_pos_.
-  static constexpr ImVec2 kAnchorPivot[6] = {
-      {0.0f, 0.0f}, {0.5f, 0.0f}, {1.0f, 0.0f},
-      {0.0f, 1.0f}, {0.5f, 1.0f}, {1.0f, 1.0f},
-  };
-
-  void ComputeAnchorPositions();
-  void UpdateSnap();
-  void UpdateCollapse();
-  static void DataRateLines(const SessionView& view);
-  void DrawCollapsed(const SessionView& view);
-  void DrawExpanded(const SessionView& view, SessionActions& actions);
-  void DrawSpectatorContents(const SessionView& view, SessionActions& actions);
-  void DrawControllerContents(const SessionView& view, SessionActions& actions);
-
-  Mode mode_ = Mode::kIntro;
-  Anchor anchor_ = kAnchorTopMid;
-  ImVec2 anchor_pos_[6];    // Recomputed each frame (canvas resizes).
-  double intro_start_ = 0;  // 0 until the expanded window first draws.
-  double hover_time_ = 0;   // Feeds the collapse grace period.
-  bool dragging_ = false;
-  // Max Spectators edit grace: the local value wins over the roster until
-  // max_spectators_edit_time_ is old enough (see the InputInt).
-  int max_spectators_edit_ = -1;
-  double max_spectators_edit_time_ = -1e9;
-};
-
-}  // namespace mujoco::studio
-
-#endif  // MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_WEB_CLIENT_LOCAL_UI_H_
diff --git a/python/mujoco/experimental/studio/web/web_client_remote_ui.cc b/python/mujoco/experimental/studio/web/web_client_remote_ui.cc
deleted file mode 100644
index 36224107..00000000
--- a/python/mujoco/experimental/studio/web/web_client_remote_ui.cc
+++ /dev/null
@@ -1,784 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "web_client_remote_ui.h"
-
-#include <algorithm>
-#include <cstring>
-#include <string>
-
-#include "google/logging.h"
-
-namespace mujoco::studio {
-
-using namespace NetImgui::Internal;
-
-namespace {
-
-// Delta-compress the GUI stream (relayed to the client via CmdInput).
-constexpr bool kUseCompression = true;
-
-void LogUnmappedTexture(
-    RemoteUi::ClientTextureID client_tex_id, size_t map_size, uint32_t draw_idx,
-    const std::unordered_map<RemoteUi::ClientTextureID, uintptr_t>& tex_map) {
-  VLOG(1, "DrawFrame: UNMAPPED client_tex_id=%lu, map_size=%zu, draw#=%u",
-       static_cast<unsigned long>(client_tex_id), map_size, draw_idx);
-  std::string keys_str = "";
-  for (auto& kv : tex_map) {
-    keys_str += " " + std::to_string(kv.first) +
-                "(fil=" + std::to_string(kv.second) + ")";
-  }
-  VLOG(1, "  map keys:%s", keys_str.c_str());
-}
-
-void LogCmdReceived(CmdHeader::eCommands cmd_type, uint32_t cmd_size,
-                    int draw_frames, int textures,
-                    const PendingCom& pending_receive) {
-  if (cmd_type == CmdHeader::eCommands::Version) {
-    const CmdVersion* ver =
-        reinterpret_cast<const CmdVersion*>(pending_receive.pCommand);
-    LOG(Info,
-        "Received CmdVersion from client: name='%s', version=%d, wchar_size=%d",
-        ver->mClientName, static_cast<int>(ver->mVersion), ver->mWCharSize);
-  } else if (cmd_type == CmdHeader::eCommands::DrawFrame) {
-    VLOG(2, "Received DrawFrame #%d (size=%u)", draw_frames, cmd_size);
-  } else if (cmd_type == CmdHeader::eCommands::Texture) {
-    VLOG(2, "Received Texture #%d (size=%u)", textures, cmd_size);
-  } else if (cmd_type == CmdHeader::eCommands::Background) {
-    VLOG(2, "Received Background cmd (size=%u)", cmd_size);
-  } else if (cmd_type != CmdHeader::eCommands::Count &&
-             cmd_type != CmdHeader::eCommands::Clipboard &&
-             cmd_type != CmdHeader::eCommands::Input) {
-    VLOG(2, "Received UNKNOWN cmd: type=%d, size=%u",
-         static_cast<int>(cmd_type), cmd_size);
-  }
-}
-
-}  // namespace
-
-void RemoteUi::Connect(const std::string& url) {
-  if (socket_) {
-    Network::Disconnect(socket_);
-    socket_ = nullptr;
-  }
-
-  // The port argument is unused when a full URL is passed.
-  LOG(Info, "Connecting to WebSocket at %s", url.c_str());
-  socket_ = Network::Connect(url.c_str(), 0);
-  LOG(Info, "Network::Connect returned: socket=%p",
-      static_cast<void*>(socket_));
-}
-
-RemoteUi::ReadyState RemoteUi::ConnectionState() const {
-  return Network::GetReadyState(socket_);
-}
-
-int RemoteUi::CloseCode() const { return Network::GetCloseCode(socket_); }
-
-void RemoteUi::ReceiveAndProcessCommands(int frame) {
-  if (!socket_) return;
-
-  const ReadyState state = ConnectionState();
-  if (last_state_ != state) {
-    LOG(Info, "WebSocket status changed: '%s' -> '%s' (frame %d)",
-        Network::ReadyStateName(last_state_), Network::ReadyStateName(state),
-        frame);
-    last_state_ = state;
-  }
-  VLOG(1,
-       "Frame %d: status='%s', handshake=%s, cmds=%d, draws=%d, textures=%d, "
-       "has_draw_data=%s",
-       frame, Network::ReadyStateName(state),
-       handshake_sent_ ? "sent" : "not_sent", total_cmds_received_,
-       draw_frames_received_, textures_received_,
-       remote_draw_data_ != nullptr ? "yes" : "no");
-
-  if (state == ReadyState::kOpen) {
-    if (!handshake_sent_) {
-      CmdVersion cmd_version;
-      StringCopy(cmd_version.mClientName, "MuJoCo Web Viewer");
-      LOG(Info,
-          "Sending CmdVersion handshake: size=%u, type=%d, version=%d, "
-          "wchar_size=%d, name='%s'",
-          cmd_version.mSize, static_cast<int>(cmd_version.mType),
-          static_cast<int>(cmd_version.mVersion), cmd_version.mWCharSize,
-          cmd_version.mClientName);
-
-      PendingCom pending_send;
-      pending_send.pCommand = &cmd_version;
-      pending_send.SizeCurrent = 0;
-
-      int send_attempts = 0;
-      while (!pending_send.IsDone() && !pending_send.IsError()) {
-        const size_t before = pending_send.SizeCurrent;
-        Network::DataSend(socket_, pending_send);
-        send_attempts++;
-        if (pending_send.SizeCurrent == before) {
-          // No progress: the socket already reads OPEN (from emscripten's
-          // ready state) but the send backend is not ready yet, because the
-          // open callback that sets mConnected has not run. DataSend then
-          // returns with neither progress nor error, so this loop would spin
-          // the browser's main thread forever. Stop and retry on a later
-          // frame instead (handshake_sent_ stays false below).
-          break;
-        }
-      }
-      LOG(Info,
-          "CmdVersion send: done=%s, error=%s, attempts=%d, bytes_sent=%zu",
-          pending_send.IsDone() ? "true" : "false",
-          pending_send.IsError() ? "true" : "false", send_attempts,
-          static_cast<size_t>(pending_send.SizeCurrent));
-      if (pending_send.IsDone()) {
-        handshake_sent_ = true;
-        // Fresh connection: the client may resume delta compression against
-        // a frame from a previous session; ask for an uncompressed keyframe.
-        request_keyframe_ = true;
-      }
-    }
-  } else {
-    if (handshake_sent_) {
-      LOG(Info, "Resetting handshake (status='%s')",
-          Network::ReadyStateName(state));
-    }
-    handshake_sent_ = false;
-  }
-
-  // Network receive — drain all available data in one frame.
-  const bool is_connected = (state == ReadyState::kOpen);
-
-  // If the connection has closed, discard any buffered data immediately
-  // rather than churning through stale commands for several seconds.
-  if (was_connected_ && !is_connected) {
-    LOG(Info, "Connection lost (status='%s'). Discarding buffered data.",
-        Network::ReadyStateName(state));
-    // Reset any in-progress receive.
-    if (pending_receive_.bAutoFree)
-      netImguiDeleteSafe(pending_receive_.pCommand);
-    pending_receive_ = PendingCom();
-    was_connected_ = false;
-  }
-  if (is_connected) was_connected_ = true;
-
-  int max_commands_per_frame = 64;
-  int cmds_this_frame = 0;
-  bool had_pending_data = Network::DataReceivePending(socket_);
-  if (had_pending_data) {
-    VLOG(1, "Frame %d: data pending on socket", frame);
-  }
-
-  while (is_connected && max_commands_per_frame-- > 0) {
-    if (pending_receive_.IsReady()) {
-      cmd_pending_read_ = CmdPendingRead();
-      pending_receive_.pCommand = &cmd_pending_read_;
-      pending_receive_.bAutoFree = false;
-    }
-
-    if (!Network::DataReceivePending(socket_)) break;
-
-    Network::DataReceive(socket_, pending_receive_);
-
-    if (pending_receive_.pCommand->mSize > sizeof(CmdPendingRead) &&
-        pending_receive_.pCommand == &cmd_pending_read_) {
-      VLOG(2, "Allocating %u bytes for incoming cmd type=%d",
-           pending_receive_.pCommand->mSize,
-           static_cast<int>(pending_receive_.pCommand->mType));
-      CmdPendingRead* cmd_header = reinterpret_cast<CmdPendingRead*>(
-          netImguiSizedNew<uint8_t>(pending_receive_.pCommand->mSize));
-      *cmd_header = cmd_pending_read_;
-      pending_receive_.pCommand = cmd_header;
-      pending_receive_.bAutoFree = true;
-    }
-
-    if (!pending_receive_.IsDone()) {
-      if (pending_receive_.IsError()) {
-        LOG(Error, "Receive ERROR: cmd_size=%u, got=%zu, type=%d",
-            pending_receive_.pCommand->mSize,
-            static_cast<size_t>(pending_receive_.SizeCurrent),
-            static_cast<int>(pending_receive_.pCommand->mType));
-        if (pending_receive_.bAutoFree)
-          netImguiDeleteSafe(pending_receive_.pCommand);
-        pending_receive_ = PendingCom();
-      }
-      continue;
-    }
-
-    // Command fully received — dispatch.
-    bytes_accum_ += pending_receive_.pCommand->mSize;
-    cmds_this_frame++;
-    total_cmds_received_++;
-    CmdHeader::eCommands cmd_type = pending_receive_.pCommand->mType;
-    LogCmdReceived(cmd_type, pending_receive_.pCommand->mSize,
-                   draw_frames_received_, textures_received_, pending_receive_);
-
-    if (cmd_type == CmdHeader::eCommands::Count) {
-      // CmdPendingRead sentinel — skip silently.
-    } else if (cmd_type == CmdHeader::eCommands::DrawFrame) {
-      draw_frames_received_++;
-      ProcessCmdDrawFrame(
-          reinterpret_cast<CmdDrawFrame*>(pending_receive_.pCommand));
-    } else if (cmd_type == CmdHeader::eCommands::Texture) {
-      textures_received_++;
-      ProcessCmdTexture(
-          reinterpret_cast<CmdTexture*>(pending_receive_.pCommand));
-    }
-
-    if (pending_receive_.bAutoFree)
-      netImguiDeleteSafe(pending_receive_.pCommand);
-    pending_receive_ = PendingCom();
-  }
-
-  VLOG(2, "Frame %d: processed %d commands", frame, cmds_this_frame);
-}
-
-void RemoteUi::UpdateTextures() {
-  // Clear cached GPU texture IDs so all textures are re-uploaded.
-  for (auto& [tex_id, local_tex] : texture_map_) {
-    local_tex = 0;
-  }
-
-  // Reset the ImGui font atlas so it gets re-created on the new context.
-  if (ImGui::GetCurrentContext() && ImGui::GetIO().Fonts &&
-      ImGui::GetIO().Fonts->TexData) {
-    ImGui::GetIO().Fonts->TexData->SetStatus(ImTextureStatus_WantCreate);
-  }
-
-  // Re-upload all CPU-buffered textures (font atlas, streamed UI images).
-  for (auto& [tex_id, entry] : texture_cpu_) {
-    uintptr_t& local_tex = texture_map_[tex_id];
-    if (local_tex == 0 && !entry.pixels.empty()) {
-      local_tex = callbacks_.UploadTexture(
-          local_tex, reinterpret_cast<const std::byte*>(entry.pixels.data()),
-          entry.width, entry.height);
-      LOG(Info, "UpdateTextures: uploaded tex_id=%lu -> filament=%lu",
-          static_cast<unsigned long>(tex_id),
-          static_cast<unsigned long>(local_tex));
-    }
-  }
-}
-
-void RemoteUi::ProcessCmdTexture(CmdTexture* cmd_texture) {
-  if (!cmd_texture) return;
-
-  if (!cmd_texture->mpTextureData.IsPointer()) {
-    cmd_texture->mpTextureData.ToPointer();
-  }
-
-  ClientTextureID tex_id = cmd_texture->mTextureClientID;
-  VLOG(
-      1,
-      "ProcessCmdTexture: client_tex_id=%lu, status=%d, size=%ux%u, format=%d, "
-      "offset=%u,%u, map_size=%zu",
-      static_cast<unsigned long>(tex_id),
-      static_cast<int>(cmd_texture->mStatus),
-      static_cast<uint32_t>(cmd_texture->mWidth),
-      static_cast<uint32_t>(cmd_texture->mHeight),
-      static_cast<int>(cmd_texture->mFormat),
-      static_cast<uint32_t>(cmd_texture->mOffsetX),
-      static_cast<uint32_t>(cmd_texture->mOffsetY), texture_map_.size());
-
-  uintptr_t& local_tex = texture_map_[tex_id];
-
-  if (cmd_texture->mStatus == CmdTexture::eType::Destroy) {
-    if (local_tex != 0 && callbacks_.GpuReady()) {
-      // Pass nullptr pixels to destroy the GPU texture.
-      callbacks_.UploadTexture(local_tex, nullptr, 0, 0);
-    }
-    local_tex = 0;
-    texture_cpu_.erase(tex_id);
-    return;
-  }
-
-  uint8_t* pixels = cmd_texture->mpTextureData.Get();
-  if (!pixels) return;
-
-  // All of width/height/size come off the wire, so compute in size_t (no
-  // 32-bit overflow) and verify the command actually carries the pixel
-  // bytes before reading them — a short or corrupt command must not make
-  // the memcpy/expand below read past the command buffer.
-  const uint32_t patch_w = cmd_texture->mWidth;
-  const uint32_t patch_h = cmd_texture->mHeight;
-  const size_t pixel_count = static_cast<size_t>(patch_w) * patch_h;
-  const size_t data_size = cmd_texture->mSize >= sizeof(CmdTexture)
-                               ? cmd_texture->mSize - sizeof(CmdTexture)
-                               : 0;
-  const size_t expected_rgba = pixel_count * 4;
-
-  // Detect actual format by data size, not format tag (which can be wrong).
-  const bool is_a8 = (cmd_texture->mFormat == 1) ||
-                     (data_size == pixel_count && data_size != expected_rgba);
-  const size_t needed = is_a8 ? pixel_count : expected_rgba;
-  if (pixel_count == 0 || data_size < needed) {
-    LOG(Warning,
-        "ProcessCmdTexture: tex_id=%lu declares %ux%u but carries only %zu "
-        "bytes; dropping",
-        static_cast<unsigned long>(tex_id), patch_w, patch_h, data_size);
-    return;
-  }
-
-  // Convert incoming pixels to RGBA (Filament requires RGBA).
-  // For A8 font atlas data, expand each byte to (255, 255, 255, alpha).
-  std::vector<uint8_t> rgba_pixels(pixel_count * 4);
-  if (is_a8) {
-    for (size_t p = 0; p < pixel_count; ++p) {
-      rgba_pixels[p * 4 + 0] = 255;
-      rgba_pixels[p * 4 + 1] = 255;
-      rgba_pixels[p * 4 + 2] = 255;
-      rgba_pixels[p * 4 + 3] = pixels[p];
-    }
-  } else {
-    memcpy(rgba_pixels.data(), pixels, expected_rgba);
-  }
-
-  TextureEntry& entry = texture_cpu_[tex_id];
-
-  if (cmd_texture->mStatus == CmdTexture::eType::Create) {
-    // Full texture creation — store the CPU-side mirror.
-    entry.width = patch_w;
-    entry.height = patch_h;
-    entry.pixels = std::move(rgba_pixels);
-  } else {
-    // Partial update — patch the sub-region into the existing CPU mirror.
-    // If no CPU mirror exists (e.g. we missed the Create), skip.
-    if (entry.pixels.empty()) {
-      LOG(Warning,
-          "ProcessCmdTexture: partial update for tex_id=%lu "
-          "but no CPU mirror exists, skipping",
-          static_cast<unsigned long>(tex_id));
-      return;
-    }
-    const uint32_t off_x = cmd_texture->mOffsetX;
-    const uint32_t off_y = cmd_texture->mOffsetY;
-    // The patch rectangle is wire-supplied; reject one that would write past
-    // the stored mirror (e.g. dims desynced from a stale entry after a
-    // reconnect) rather than corrupting the heap.
-    if (static_cast<size_t>(off_x) + patch_w > entry.width ||
-        static_cast<size_t>(off_y) + patch_h > entry.height) {
-      LOG(Warning,
-          "ProcessCmdTexture: patch %ux%u at (%u,%u) exceeds mirror %ux%u "
-          "for tex_id=%lu; dropping",
-          patch_w, patch_h, off_x, off_y, entry.width, entry.height,
-          static_cast<unsigned long>(tex_id));
-      return;
-    }
-    for (uint32_t row = 0; row < patch_h; ++row) {
-      size_t dst_offset =
-          (static_cast<size_t>(off_y + row) * entry.width + off_x) * 4;
-      size_t src_offset = static_cast<size_t>(row) * patch_w * 4;
-      memcpy(&entry.pixels[dst_offset], &rgba_pixels[src_offset],
-             static_cast<size_t>(patch_w) * 4);
-    }
-  }
-
-  // Upload the full CPU-side texture to the GPU if the context is ready.
-  // If it isn't yet (model still loading), the texture stays in texture_cpu_
-  // and will be flushed by UpdateTextures() later.
-  if (callbacks_.GpuReady()) {
-    local_tex = callbacks_.UploadTexture(
-        local_tex, reinterpret_cast<const std::byte*>(entry.pixels.data()),
-        entry.width, entry.height);
-    VLOG(1, "uploadGuiImage for client_tex_id=%lu -> filament=%lu",
-         static_cast<unsigned long>(tex_id),
-         static_cast<unsigned long>(local_tex));
-  } else {
-    VLOG(1, "ProcessCmdTexture: buffered tex_id=%lu, deferring GPU upload",
-         static_cast<unsigned long>(tex_id));
-  }
-}
-// Keep in sync with ProcessCmdDrawFrame in the vendored
-// netimgui/Code/ServerApp/Source/NetImguiServer_RemoteClient.cpp
-void RemoteUi::ProcessCmdDrawFrame(CmdDrawFrame* cmd_draw_frame) {
-  if (!cmd_draw_frame) return;
-
-  // Take ownership to prevent pending_receive_ from deleting it prematurely.
-  pending_receive_.bAutoFree = false;
-  cmd_draw_frame->ToPointers();
-
-  if (cmd_draw_frame->mCompressed) {
-    if (last_uncompressed_frame_ != nullptr &&
-        (last_uncompressed_frame_->mFrameIndex + 1) ==
-            cmd_draw_frame->mFrameIndex) {
-      CmdDrawFrame* uncompressed_frame = DecompressCmdDrawFrame(
-          last_uncompressed_frame_.get(), cmd_draw_frame);
-      netImguiDeleteSafe(cmd_draw_frame);
-      cmd_draw_frame = uncompressed_frame;
-    } else {
-      // Missing previous / reference frame data. Ignore this delta-encoded
-      // drawframe and ask the client for a fresh uncompressed keyframe.
-      request_keyframe_ = true;
-      netImguiDeleteSafe(cmd_draw_frame);
-      return;
-    }
-  }
-
-  // Release previous cached frame and store current for the next delta
-  // decompression.
-  last_uncompressed_frame_.reset(cmd_draw_frame);
-
-  cmd_draw_frame->ToPointers();
-
-  RemoteDrawFrame* frame = netImguiNew<RemoteDrawFrame>();
-  frame->frame_index = cmd_draw_frame->mFrameIndex;
-  ImDrawData* draw_data = &frame->draw_data;
-  draw_data->Valid = true;
-  draw_data->TotalVtxCount =
-      static_cast<int>(cmd_draw_frame->mTotalVerticeCount);
-  draw_data->TotalIdxCount =
-      static_cast<int>(cmd_draw_frame->mTotalIndiceCount);
-
-  draw_data->DisplayPos.x = cmd_draw_frame->mDisplayArea[0];
-  draw_data->DisplayPos.y = cmd_draw_frame->mDisplayArea[1];
-  draw_data->DisplaySize.x =
-      cmd_draw_frame->mDisplayArea[2] - cmd_draw_frame->mDisplayArea[0];
-  draw_data->DisplaySize.y =
-      cmd_draw_frame->mDisplayArea[3] - cmd_draw_frame->mDisplayArea[1];
-  draw_data->FramebufferScale = ImGui::GetIO().DisplayFramebufferScale;
-
-  ImDrawList* cmd_list = draw_data->CmdLists[0];
-  cmd_list->IdxBuffer.resize(cmd_draw_frame->mTotalIndiceCount);
-  cmd_list->VtxBuffer.resize(cmd_draw_frame->mTotalVerticeCount);
-  cmd_list->CmdBuffer.resize(cmd_draw_frame->mTotalDrawCount);
-  // ImVector::resize() doesn't call constructors. Zero-init to ensure
-  // TexRef._TexData is NULL, not garbage.
-  memset(cmd_list->CmdBuffer.Data, 0,
-         cmd_list->CmdBuffer.Size * sizeof(ImDrawCmd));
-  cmd_list->Flags =
-      ImDrawListFlags_AllowVtxOffset | ImDrawListFlags_AntiAliasedLines |
-      ImDrawListFlags_AntiAliasedFill | ImDrawListFlags_AntiAliasedLinesUseTex;
-
-  constexpr float kPosRangeMin = static_cast<float>(ImguiVert::kPosRange_Min);
-  constexpr float kPosRangeMax = static_cast<float>(ImguiVert::kPosRange_Max);
-  constexpr float kUVRangeMin = static_cast<float>(ImguiVert::kUvRange_Min);
-  constexpr float kUVRangeMax = static_cast<float>(ImguiVert::kUvRange_Max);
-
-  if (cmd_draw_frame->mTotalDrawCount != 0) {
-    // WebGL 1.0/2.0 often uses uint16_t for ImDrawIdx. Check for potential
-    // overflow if the total vertex count exceeds the limit for 16-bit indices.
-    if (sizeof(ImDrawIdx) == 2 && cmd_draw_frame->mTotalVerticeCount > 65536) {
-      fprintf(stderr,
-              "WARNING: NetImgui WASM Viewer received a draw frame with %u "
-              "vertices. This exceeds the maximum of 65536 for 16-bit "
-              "ImDrawIdx, potentially causing rendering artifacts due to index "
-              "wrapping.\n",
-              cmd_draw_frame->mTotalVerticeCount);
-    }
-    uint32_t index_offset(0), vertex_offset(0);
-    ImDrawIdx* index_dst = &cmd_list->IdxBuffer[0];
-    ImDrawVert* vertex_dst = &cmd_list->VtxBuffer[0];
-    ImDrawCmd* command_dst = &cmd_list->CmdBuffer[0];
-
-    for (uint32_t i(0); i < cmd_draw_frame->mDrawGroupCount; ++i) {
-      const ImguiDrawGroup& draw_group = cmd_draw_frame->mpDrawGroups[i];
-
-      // Indices
-      const uint16_t* indices =
-          reinterpret_cast<const uint16_t*>(draw_group.mpIndices.Get());
-      if (draw_group.mBytePerIndex == sizeof(ImDrawIdx)) {
-        memcpy(index_dst, indices, draw_group.mIndiceCount * sizeof(ImDrawIdx));
-      } else {
-        for (uint32_t index_idx(0); index_idx < draw_group.mIndiceCount;
-             ++index_idx) {
-          index_dst[index_idx] = static_cast<ImDrawIdx>(indices[index_idx]);
-        }
-      }
-
-      // Vertices — unpack quantized positions and UVs.
-      const ImguiVert* vertex_src = draw_group.mpVertices.Get();
-      for (uint32_t vtx_idx(0); vtx_idx < draw_group.mVerticeCount; ++vtx_idx) {
-        vertex_dst[vtx_idx].pos.x =
-            (static_cast<float>(vertex_src[vtx_idx].mPos[0]) *
-             (kPosRangeMax - kPosRangeMin)) /
-                static_cast<float>(0xFFFF) +
-            kPosRangeMin + draw_group.mReferenceCoord[0];
-        vertex_dst[vtx_idx].pos.y =
-            (static_cast<float>(vertex_src[vtx_idx].mPos[1]) *
-             (kPosRangeMax - kPosRangeMin)) /
-                static_cast<float>(0xFFFF) +
-            kPosRangeMin + draw_group.mReferenceCoord[1];
-        vertex_dst[vtx_idx].uv.x =
-            (static_cast<float>(vertex_src[vtx_idx].mUV[0]) *
-             (kUVRangeMax - kUVRangeMin)) /
-                static_cast<float>(0xFFFF) +
-            kUVRangeMin;
-        vertex_dst[vtx_idx].uv.y =
-            (static_cast<float>(vertex_src[vtx_idx].mUV[1]) *
-             (kUVRangeMax - kUVRangeMin)) /
-                static_cast<float>(0xFFFF) +
-            kUVRangeMin;
-        vertex_dst[vtx_idx].col = vertex_src[vtx_idx].mColor;
-      }
-
-      // Draw commands.
-      // NOTE: WebGL lacks glDrawElementsBaseVertex, so the backend's
-      // glDrawElements ignores VtxOffset. We bake the offset directly
-      // into the index values.
-      const ImguiDraw* draw_src = draw_group.mpDraws.Get();
-      for (uint32_t draw_idx(0); draw_idx < draw_group.mDrawCount; ++draw_idx) {
-        uint32_t vtx_off = draw_src[draw_idx].mVtxOffset + vertex_offset;
-        uint32_t idx_off = draw_src[draw_idx].mIdxOffset + index_offset;
-        uint32_t elem_count = draw_src[draw_idx].mIdxCount;
-
-        // Bake vertex offset into index values.
-        for (uint32_t ei = 0; ei < elem_count; ++ei) {
-          cmd_list->IdxBuffer[idx_off + ei] += static_cast<ImDrawIdx>(vtx_off);
-        }
-
-        float cx = std::max(
-            0.f, std::min(max_clip_[0], draw_src[draw_idx].mClipRect[0]));
-        float cy = std::max(
-            0.f, std::min(max_clip_[1], draw_src[draw_idx].mClipRect[1]));
-        float cz = std::max(
-            cx, std::min(max_clip_[0], draw_src[draw_idx].mClipRect[2]));
-        float cw = std::max(
-            cy, std::min(max_clip_[1], draw_src[draw_idx].mClipRect[3]));
-
-        command_dst[draw_idx].ClipRect.x = cx;
-        command_dst[draw_idx].ClipRect.y = cy;
-        command_dst[draw_idx].ClipRect.z = cz;
-        command_dst[draw_idx].ClipRect.w = cw;
-        command_dst[draw_idx].VtxOffset = 0;  // Baked into indices
-        command_dst[draw_idx].IdxOffset = idx_off;
-        command_dst[draw_idx].ElemCount = elem_count;
-        command_dst[draw_idx].UserCallback = nullptr;
-        command_dst[draw_idx].UserCallbackData = nullptr;
-
-        // Map remote ClientTextureID -> local GL handle.
-        ClientTextureID client_tex_id = draw_src[draw_idx].mClientTexId;
-        auto it = texture_map_.find(client_tex_id);
-        if (it != texture_map_.end() && it->second != 0) {
-          command_dst[draw_idx].TexRef._TexData = nullptr;
-          command_dst[draw_idx].TexRef._TexID =
-              static_cast<ImTextureID>(it->second);
-        } else {
-          LogUnmappedTexture(client_tex_id, texture_map_.size(), draw_idx,
-                             texture_map_);
-          // Skip draw commands with unmapped textures.
-          command_dst[draw_idx].ElemCount = 0;
-        }
-      }
-
-      index_dst += draw_group.mIndiceCount;
-      vertex_dst += draw_group.mVerticeCount;
-      command_dst += draw_group.mDrawCount;
-      index_offset += draw_group.mIndiceCount;
-      vertex_offset += draw_group.mVerticeCount;
-    }
-  }
-
-  // Update internal write pointers to satisfy ImGui's draw list sanity checks.
-  // AddDrawListToDrawDataEx asserts that _VtxWritePtr/_IdxWritePtr point to the
-  // end of their respective buffers. Since we populated them via
-  // resize()+memcpy (bypassing ImGui's PrimReserve API), we must fix up these
-  // pointers manually.
-  cmd_list->_VtxWritePtr = cmd_list->VtxBuffer.Data + cmd_list->VtxBuffer.Size;
-  cmd_list->_IdxWritePtr = cmd_list->IdxBuffer.Data + cmd_list->IdxBuffer.Size;
-  cmd_list->_VtxCurrentIdx = cmd_list->VtxBuffer.Size;
-
-  if (remote_draw_data_ == nullptr) {
-    LOG(Info, "First remote draw frame applied (%d cmds, %d vtx)",
-        draw_data->CmdLists[0]->CmdBuffer.Size, draw_data->TotalVtxCount);
-  }
-  remote_draw_data_.reset(frame);
-}
-
-// Keep in sync with CaptureImguiInput in the vendored
-// netimgui/Code/ServerApp/Source/NetImguiServer_RemoteClient.cpp
-void RemoteUi::CaptureAndSendInput() {
-  if (!socket_) return;
-
-  if (ConnectionState() != ReadyState::kOpen) return;
-
-  // Capture input from Dear ImGui.
-  const ImGuiIO& io = ImGui::GetIO();
-
-  // When the local UI wants to capture mouse or keyboard, suppress the
-  // corresponding input from being forwarded to the remote client. This
-  // prevents clicks/keys meant for the local status overlay (or any other
-  // local window) from leaking through to the UI server.
-  const bool local_wants_mouse = io.WantCaptureMouse;
-  const bool local_wants_keyboard = io.WantCaptureKeyboard;
-
-  {
-    // Only accumulate characters when the local UI is NOT capturing keyboard.
-    if (!local_wants_keyboard) {
-      const size_t initial_size = pending_input_chars_.size();
-      const size_t added_char = io.InputQueueCharacters.size();
-      if (added_char) {
-        pending_input_chars_.resize(initial_size + added_char);
-        memcpy(&pending_input_chars_[initial_size],
-               io.InputQueueCharacters.Data, added_char * sizeof(ImWchar));
-      }
-    }
-
-    // Gate scroll ACCUMULATION on local capture, the totals themselves are
-    // still sent every frame. This implements the "FREEZING" mentioned in the
-    // CmdInput wheel comment below.
-    if (!local_wants_mouse) {
-      mouse_wheel_pos_[0] += io.MouseWheel;
-      mouse_wheel_pos_[1] += io.MouseWheelH;
-    }
-  }
-
-  CmdInput cmd_input;
-  cmd_input.mScreenSize[0] = static_cast<uint16_t>(io.DisplaySize.x);
-  cmd_input.mScreenSize[1] = static_cast<uint16_t>(io.DisplaySize.y);
-  // An unstable screen size forces the remote UI to relayout every frame
-  // (visible as UI flicker), so make changes loud.
-  if (cmd_input.mScreenSize[0] != last_screen_size_[0] ||
-      cmd_input.mScreenSize[1] != last_screen_size_[1]) {
-    LOG(Info, "Screen size sent to client changed: %ux%u -> %ux%u",
-        last_screen_size_[0], last_screen_size_[1], cmd_input.mScreenSize[0],
-        cmd_input.mScreenSize[1]);
-    last_screen_size_[0] = cmd_input.mScreenSize[0];
-    last_screen_size_[1] = cmd_input.mScreenSize[1];
-  }
-  cmd_input.mFontDPIScaling = 1.f;
-  cmd_input.mDesiredFps = 60.0f;
-  cmd_input.mCompressionUse = kUseCompression;
-  cmd_input.mCompressionSkip = request_keyframe_;
-
-  // NetImgui wheel fields are lifetime running totals, not per-frame deltas:
-  // the receiving side derives each frame's scroll as the difference between
-  // the current total and the previous total. So scroll is suppressed during
-  // local UI capture by FREEZING the totals (accumulation above is gated on
-  // !local_wants_mouse), while still sending them every frame. Sending 0
-  // instead would rewind the receiver's baseline and produce two huge spurious
-  // deltas: -total when capture starts (wild zoom out as the local window
-  // expands) and +total when it ends (snap back on collapse). Note the
-  // deliberate asymmetry with the mouse position below, which IS per-frame
-  // absolute and can simply be parked while captured.
-  cmd_input.mMouseWheelVert = mouse_wheel_pos_[0];
-  cmd_input.mMouseWheelHoriz = mouse_wheel_pos_[1];
-  if (!local_wants_mouse) {
-    cmd_input.mMousePos[0] = static_cast<int16_t>(io.MousePos.x);
-    cmd_input.mMousePos[1] = static_cast<int16_t>(io.MousePos.y);
-  } else {
-    // Park the mouse off-screen so the remote side doesn't think we're
-    // hovering over anything.
-    cmd_input.mMousePos[0] = -1;
-    cmd_input.mMousePos[1] = -1;
-  }
-
-  // Mouse button inputs. This static_assert detects when a Dear ImGui update
-  // changes ImGuiMouseButton, which requires updating NetImgui's enum copy.
-  static_assert(
-      static_cast<int>(CmdInput::NetImguiMouseButton::ImGuiMouseButton_COUNT) ==
-          static_cast<int>(ImGuiMouseButton_::ImGuiMouseButton_COUNT),
-      "Update the NetImgui enum to match the updated Dear ImGui enum");
-  cmd_input.mMouseDownMask = 0;
-  if (!local_wants_mouse) {
-    cmd_input.mMouseDownMask |=
-        ImGui::IsMouseDown(ImGuiMouseButton_::ImGuiMouseButton_Left)
-            ? 1 << CmdInput::ImGuiMouseButton_Left
-            : 0;
-    cmd_input.mMouseDownMask |=
-        ImGui::IsMouseDown(ImGuiMouseButton_::ImGuiMouseButton_Right)
-            ? 1 << CmdInput::ImGuiMouseButton_Right
-            : 0;
-    cmd_input.mMouseDownMask |=
-        ImGui::IsMouseDown(ImGuiMouseButton_::ImGuiMouseButton_Middle)
-            ? 1 << CmdInput::ImGuiMouseButton_Middle
-            : 0;
-    cmd_input.mMouseDownMask |=
-        ImGui::IsMouseDown(3) ? 1 << CmdInput::ImGuiMouseButton_Extra1 : 0;
-    cmd_input.mMouseDownMask |=
-        ImGui::IsMouseDown(4) ? 1 << CmdInput::ImGuiMouseButton_Extra2 : 0;
-  }
-
-// Keyboard inputs. These static_asserts detect when a Dear ImGui update
-// changes ImGuiKey, which requires updating NetImgui's enum copy to match.
-#define EnumKeynameTest(KEYNAME)                                               \
-  static_cast<int>(CmdInput::NetImguiKeys::KEYNAME) ==                         \
-      static_cast<int>(ImGuiKey::KEYNAME - ImGuiKey::ImGuiKey_NamedKey_BEGIN), \
-      "Update the NetImgui enum to match the updated Dear ImGui enum"
-  static_assert(
-      CmdInput::NetImguiKeys::ImGuiKey_COUNT ==
-          (ImGuiKey_NamedKey_END - ImGuiKey_NamedKey_BEGIN),
-      "Update the NetImgui enum to match the updated Dear ImGui enum");
-  static_assert(EnumKeynameTest(ImGuiKey_Tab));
-  static_assert(EnumKeynameTest(ImGuiKey_Escape));
-  static_assert(EnumKeynameTest(ImGuiKey_RightSuper));
-  static_assert(EnumKeynameTest(ImGuiKey_Apostrophe));
-  static_assert(EnumKeynameTest(ImGuiKey_Keypad0));
-  static_assert(EnumKeynameTest(ImGuiKey_CapsLock));
-  static_assert(EnumKeynameTest(ImGuiKey_ReservedForModCtrl));
-  static_assert(EnumKeynameTest(ImGuiKey_ReservedForModShift));
-  static_assert(EnumKeynameTest(ImGuiKey_ReservedForModAlt));
-  static_assert(EnumKeynameTest(ImGuiKey_ReservedForModSuper));
-#undef EnumKeynameTest
-
-  // Save every keydown status to out bitmask — only when local UI is not
-  // capturing keyboard.
-  if (!local_wants_keyboard) {
-    uint64_t value_mask(0);
-    for (uint32_t i(0); i < ImGuiKey::ImGuiKey_NamedKey_COUNT; ++i) {
-      value_mask |=
-          ImGui::IsKeyDown(static_cast<ImGuiKey>(ImGuiKey_NamedKey_BEGIN + i))
-              ? 0x0000000000000001ull << (i % 64)
-              : 0;
-      if (((i % 64) == 63) || i == (ImGuiKey::ImGuiKey_NamedKey_COUNT - 1)) {
-        cmd_input.mInputDownMask[i / 64] = value_mask;
-        value_mask = 0;
-      }
-    }
-  }
-  // When local UI captures keyboard, mInputDownMask and mInputAnalog stay
-  // zero-initialized from the CmdInput constructor.
-
-  // Copy waiting characters inputs — only when local UI is not capturing
-  // keyboard. When captured, pending chars are discarded to avoid buffering
-  // stale input that would replay when focus returns to remote.
-  if (!local_wants_keyboard) {
-    size_t added_key_count = std::min<size_t>(
-        ArrayCount(cmd_input.mKeyChars) - cmd_input.mKeyCharCount,
-        pending_input_chars_.size());
-    if (added_key_count) {
-      memcpy(&cmd_input.mKeyChars[cmd_input.mKeyCharCount],
-             &pending_input_chars_[0], added_key_count * sizeof(ImWchar));
-      cmd_input.mKeyCharCount += static_cast<uint16_t>(added_key_count);
-      size_t char_remain_count = pending_input_chars_.size() - added_key_count;
-      if (char_remain_count > 0) {
-        memcpy(&pending_input_chars_[0], &pending_input_chars_[added_key_count],
-               char_remain_count * sizeof(ImWchar));
-      }
-      pending_input_chars_.resize(char_remain_count);
-    }
-    if (cmd_input.mKeyCharCount > 0) {
-      VLOG(1, "[web_client_remote_ui.cc] Queued %u characters to send\n",
-           cmd_input.mKeyCharCount);
-    }
-  } else {
-    // Discard any pending characters that were accumulated while local UI
-    // had keyboard focus.
-    pending_input_chars_.clear();
-  }
-
-  PendingCom pending_send;
-  pending_send.pCommand = &cmd_input;
-  pending_send.SizeCurrent = 0;
-  Network::DataSend(socket_, pending_send);
-  if (pending_send.IsDone() && cmd_input.mCompressionSkip) {
-    request_keyframe_ = false;
-  }
-}
-
-void RemoteUi::Shutdown() {
-  remote_draw_data_.reset();
-  last_uncompressed_frame_.reset();
-  if (socket_) {
-    Network::Disconnect(socket_);
-    socket_ = nullptr;
-  }
-}
-
-}  // namespace mujoco::studio
diff --git a/python/mujoco/experimental/studio/web/web_client_remote_ui.h b/python/mujoco/experimental/studio/web/web_client_remote_ui.h
deleted file mode 100644
index 0c9e06ac..00000000
--- a/python/mujoco/experimental/studio/web/web_client_remote_ui.h
+++ /dev/null
@@ -1,193 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// The NetImgui client side of the web viewer. Receives the headless Studio UI
-// (draw frames/textures) over the /ui WebSocket and replies with browser input.
-
-#ifndef MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_WEB_CLIENT_REMOTE_UI_H_
-#define MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_WEB_CLIENT_REMOTE_UI_H_
-
-#include <cstddef>
-#include <cstdint>
-#include <memory>
-#include <string>
-#include <unordered_map>
-#include <vector>
-
-#include <imgui.h>
-#include <NetImgui_Api.h>
-#include <NetImgui_CmdPackets.h>
-#include <NetImgui_Network.h>
-#include "google/network_status.h"
-
-namespace mujoco::studio {
-
-// Deleter for objects allocated by NetImgui.
-struct NetImguiDeleter {
-  template <typename T>
-  void operator()(T* ptr) const {
-    NetImgui::Internal::netImguiDelete(ptr);
-  }
-};
-
-// The browser side of the streamed ImGui UI: connects to the UI WebSocket,
-// receives NetImgui draw frames and textures from the Python side, assembles
-// them into ImGui draw data for rendering, and sends the browser's input back.
-class RemoteUi {
- public:
-  using SocketInfo = NetImgui::Internal::Network::SocketInfo;
-  using ReadyState = NetImgui::Internal::Network::ReadyState;
-  using ClientTextureID = NetImgui::Internal::ClientTextureID;
-
-  // The renderer-facing callbacks of the link; the app implements them once.
-  // The link reaches the GPU only through it, so the protocol logic stays
-  // renderer-agnostic.
-  class Callbacks {
-   public:
-    virtual ~Callbacks() = default;
-
-    // Uploads a full RGBA texture and returns the GPU handle; nullptr
-    // pixels destroy the texture backing `current`.
-    virtual uintptr_t UploadTexture(uintptr_t current, const std::byte* rgba,
-                                    uint32_t width, uint32_t height) = 0;
-
-    // True once the GPU context can accept texture uploads.
-    virtual bool GpuReady() = 0;
-  };
-
-  explicit RemoteUi(Callbacks& callbacks) : callbacks_(callbacks) {}
-  ~RemoteUi() { Shutdown(); }
-
-  // (Re)connects to the UI WebSocket. Disconnects any existing socket first.
-  void Connect(const std::string& url);
-
-  bool HasSocket() const { return socket_ != nullptr; }
-
-  // Current socket state; browser WebSockets connect and close
-  // asynchronously, so this can differ from HasSocket() (see
-  // google/network_status.h).
-  ReadyState ConnectionState() const;
-
-  // The WebSocket close code once the socket has closed, else 0.
-  int CloseCode() const;
-
-  // Remote clip rects are clamped to this (logical pixels); set each frame
-  // before ReceiveAndProcessCommands().
-  void SetMaxClip(float width, float height) {
-    max_clip_[0] = width;
-    max_clip_[1] = height;
-  }
-
-  // Sends the CmdVersion handshake when the socket is newly open, then drains
-  // all incoming commands (draw frames, textures) for this frame.
-  void ReceiveAndProcessCommands(int frame);
-
-  // Captures ImGui input and sends it to the remote client. Must run before
-  // ImGui::EndFrame(), because EndFrame() clears the io.InputQueueCharacters
-  // queue this reads (note that ImGui::Render() calls EndFrame() implicitly).
-  void CaptureAndSendInput();
-
-  // Invalidates cached GPU texture IDs and re-uploads all CPU-buffered
-  // textures (font atlas, streamed UI images) after a Filament context reset.
-  void UpdateTextures();
-
-  void Shutdown();
-
-  // The latest assembled remote draw data, or nullptr before the first frame.
-  ImDrawData* RemoteDrawData() {
-    return remote_draw_data_ ? &remote_draw_data_->draw_data : nullptr;
-  }
-
-  // Returns the bytes received since the last call and resets the counter.
-  uint64_t ConsumeByteCount() {
-    uint64_t bytes = bytes_accum_;
-    bytes_accum_ = 0;
-    return bytes;
-  }
-
-  void ProcessCmdDrawFrame(NetImgui::Internal::CmdDrawFrame* cmd);
-  void ProcessCmdTexture(NetImgui::Internal::CmdTexture* cmd);
-
- private:
-  // An assembled remote frame: an ImDrawData plus the single command list it
-  // points at (a plain ImDrawData only references externally-owned lists).
-  struct RemoteDrawFrame {
-    RemoteDrawFrame()
-        : command_list(ImGui::GetCurrentContext()
-                           ? ImGui::GetDrawListSharedData()
-                           : nullptr) {
-      draw_data.CmdLists.push_back(&command_list);
-      draw_data.CmdListsCount = 1;
-    }
-
-    ImDrawData draw_data;
-    ImDrawList command_list;
-    uint64_t frame_index = 0;
-  };
-
-  Callbacks& callbacks_;
-
-  float max_clip_[2] = {0.0f, 0.0f};
-
-  // --- Connection-scoped state, reset on every (re)connect. ----------------
-
-  SocketInfo* socket_ = nullptr;
-  bool handshake_sent_ = false;
-  bool was_connected_ = false;
-  ReadyState last_state_ = ReadyState::kDisconnected;
-  NetImgui::Internal::PendingCom pending_receive_;
-  NetImgui::Internal::CmdPendingRead cmd_pending_read_;
-
-  // When true, the next CmdInput asks the client to send one uncompressed
-  // draw frame (CmdInput::mCompressionSkip). Set on (re)connect and whenever
-  // a delta frame arrives whose reference frame we don't have — without it,
-  // a browser joining mid-stream drops every delta-compressed frame forever
-  // and the remote UI never appears. Mirrors mbCompressionSkipOncePending in
-  // NetImguiServer RemoteClient.
-  bool request_keyframe_ = true;
-
-  std::unique_ptr<NetImgui::Internal::CmdDrawFrame, NetImguiDeleter>
-      last_uncompressed_frame_;
-
-  // --- Session state. -------------------------------------------------------
-
-  std::unique_ptr<RemoteDrawFrame, NetImguiDeleter> remote_draw_data_;
-  std::unordered_map<ClientTextureID, uintptr_t> texture_map_;
-
-  // CPU-side texture cache so partial updates from NetImgui can be patched into
-  // these buffers before re-uploading the full texture (partial updates into
-  // GPU textures are not supported by Filament).
-  struct TextureEntry {
-    std::vector<uint8_t> pixels;  // Full RGBA pixel data
-    uint32_t width = 0;
-    uint32_t height = 0;
-  };
-  std::unordered_map<ClientTextureID, TextureEntry> texture_cpu_;
-
-  // Persistent input state for character accumulation across frames.
-  std::vector<ImWchar> pending_input_chars_;
-  float mouse_wheel_pos_[2] = {0.0f, 0.0f};
-  uint16_t last_screen_size_[2] = {0, 0};
-
-  // --- Telemetry. -----------------------------------------------------------
-
-  uint64_t bytes_accum_ = 0;
-  int total_cmds_received_ = 0;
-  int draw_frames_received_ = 0;
-  int textures_received_ = 0;
-};
-
-}  // namespace mujoco::studio
-
-#endif  // MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_WEB_CLIENT_REMOTE_UI_H_
diff --git a/python/mujoco/experimental/studio/web/web_client_session.cc b/python/mujoco/experimental/studio/web/web_client_session.cc
deleted file mode 100644
index 517cf2eb..00000000
--- a/python/mujoco/experimental/studio/web/web_client_session.cc
+++ /dev/null
@@ -1,314 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "web_client_session.h"
-
-#include <emscripten.h>
-
-#include <cstdio>
-#include <cstring>
-
-#include "google/logging.h"
-
-namespace mujoco::studio {
-
-// Session-channel messages sent/received as text frames on the state WebSocket.
-constexpr char kMsgRequestControl[] = "request_control";
-constexpr char kMsgLeaveQueue[] = "leave_queue";
-constexpr char kMsgForceControl[] = "force_control";
-constexpr char kMsgHeartbeat[] = "heartbeat";
-constexpr char kMsgStateAck[] = "state_ack";
-constexpr char kMsgGrant[] = "grant";
-constexpr char kMsgMaxSpectatorsPrefix[] = "max_spectators=";
-
-// Liveness heartbeat period. A hidden tab's rendering loop stops, so Update()
-// and the heartbeat stop with it. The server kicks spectators (and releases a
-// controller with a waiting queue) on silence.
-constexpr double kHeartbeatSec = 30.0;
-
-// Minimum time between /ui claim retries (and between role machine steps).
-constexpr double kUiRetrySec = 1.0;
-
-// After this many consecutive rejected claims the page stops claiming and
-// settles into spectating.
-constexpr int kMaxUiRejects = 3;
-
-EM_BOOL Session::OnWsMessage(int event_type,
-                             const EmscriptenWebSocketMessageEvent* event,
-                             void* user_data) {
-  auto* session = static_cast<Session*>(user_data);
-  session->server_close_code_ = 0;  // Accepted; hide the disconnect notice.
-  if (event->isText) {
-    // Text frames carry session metadata; emscripten null-terminates them.
-    session->OnSessionText(reinterpret_cast<const char*>(event->data));
-  } else {
-    session->HandleMessage(event->data, event->numBytes);
-    // Flow control: the server keeps at most one state payload in flight and
-    // sends the next (freshest) one only after this ack. Without it, a slow
-    // link buffers seconds of stale payloads in the socket and the whole viewer
-    // lags by that queue.
-    session->SendText(kMsgStateAck);
-  }
-  return EM_TRUE;
-}
-
-EM_BOOL Session::OnWsOpen(int event_type,
-                          const EmscriptenWebSocketOpenEvent* event,
-                          void* user_data) {
-  auto* session = static_cast<Session*>(user_data);
-  session->connected_ = true;
-  // server_close_code_ is NOT cleared here: a rejected connection also fires
-  // open before the server's closing code arrives. It clears on the first
-  // received message, which proves the server accepted us.
-  LOG(Info, "State WebSocket connected");
-  return EM_TRUE;
-}
-
-EM_BOOL Session::OnWsError(int event_type,
-                           const EmscriptenWebSocketErrorEvent* event,
-                           void* user_data) {
-  LOG(Error, "State WebSocket error");
-  return EM_TRUE;
-}
-
-EM_BOOL Session::OnWsClose(int event_type,
-                           const EmscriptenWebSocketCloseEvent* event,
-                           void* user_data) {
-  auto* session = static_cast<Session*>(user_data);
-  LOG(Info, "State WebSocket closed (code=%d)", event->code);
-  session->connected_ = false;
-
-  // Codes 4xxx are deliberate server-side closes (e.g. kWsCloseSessionFull).
-  // These conditions pass, so the GUI shows a notice while the reconnect loop
-  // retries at a slower pace.
-  if (event->code >= 4000 && event->code <= 4999) {
-    session->server_close_code_ = event->code;
-    LOG(Info, "Server ended this connection (code=%d); retrying slowly.",
-        event->code);
-  }
-
-  // Free the handle; without this, every closed socket (including each failed
-  // reconnect) leaks its handle and callback registrations in Emscripten's
-  // socket table. Session (this) is a stable global, so the user_data of any
-  // already-queued event stays valid; detaching the callbacks first stops them
-  // firing on the freed handle.
-  session->CloseSocket();
-
-  return EM_TRUE;
-}
-
-void Session::CloseSocket() {
-  if (socket_ <= 0) return;
-  emscripten_websocket_set_onopen_callback(socket_, nullptr, nullptr);
-  emscripten_websocket_set_onmessage_callback(socket_, nullptr, nullptr);
-  emscripten_websocket_set_onerror_callback(socket_, nullptr, nullptr);
-  emscripten_websocket_set_onclose_callback(socket_, nullptr, nullptr);
-  emscripten_websocket_delete(socket_);
-  socket_ = 0;
-  connected_ = false;
-}
-
-void Session::Connect(const std::string& url) {
-  // Drop any lingering socket first so a reconnect cannot leak the old one.
-  CloseSocket();
-
-  EmscriptenWebSocketCreateAttributes attr;
-  emscripten_websocket_init_create_attributes(&attr);
-  attr.url = url.c_str();
-  attr.protocols = nullptr;
-  attr.createOnMainThread = EM_TRUE;
-
-  socket_ = emscripten_websocket_new(&attr);
-  if (socket_ <= 0) {
-    LOG(Error, "Failed to create state WebSocket");
-    return;
-  }
-  emscripten_websocket_set_onopen_callback(socket_, this, OnWsOpen);
-  emscripten_websocket_set_onmessage_callback(socket_, this, OnWsMessage);
-  emscripten_websocket_set_onerror_callback(socket_, this, OnWsError);
-  emscripten_websocket_set_onclose_callback(socket_, this, OnWsClose);
-  LOG(Info, "State WebSocket connecting to %s", url.c_str());
-}
-
-void Session::SendText(const char* text) {
-  if (socket_ && connected_) {
-    emscripten_websocket_send_utf8_text(socket_, text);
-  }
-}
-
-void Session::SetRole(SessionRole role) {
-  role_ = role;
-  // Warning: clang-format splits `!==` into `!= =`, so avoid that syntax!
-  EM_ASM(
-      { Module.isSpectator = !!$0; },
-      role == SessionRole::kControlling ? 0 : 1);
-}
-
-bool ParseRoster(const char* text, Roster* roster) {
-  Roster parsed;
-  char role[16] = {0};
-  if (sscanf(text,
-             "viewers=%d;role=%15[^;];queue_pos=%d;queue_len=%d;"
-             "max_spectators=%d",
-             &parsed.viewers, role, &parsed.queue_pos, &parsed.queue_len,
-             &parsed.max_spectators) != 5) {
-    return false;
-  }
-  parsed.spectator = strcmp(role, "spectator") == 0;
-  *roster = parsed;
-  return true;
-}
-
-void Session::OnSessionText(const char* text) {
-  Roster roster;
-  if (ParseRoster(text, &roster)) {
-    if (roster.viewers != roster_.viewers ||
-        roster.queue_pos != roster_.queue_pos ||
-        roster.queue_len != roster_.queue_len) {
-      LOG(Info, "Session roster: %s", text);
-    }
-    roster_ = roster;
-    // The roster is authoritative about this page's role. Settling on it
-    // (rather than after several rejected /ui retries) makes the SPECTATING
-    // banner appear within the first roster (~200ms). Only while claiming with
-    // /ui closed: an in-flight claim must not be aborted, and an established
-    // controller is never demoted here (the kWsCloseControllerTaken close path
-    // handles that).
-    if (role_ == SessionRole::kClaiming && roster.spectator) {
-      if (remote_ui_state_ == RemoteUiState::kNoSocket ||
-          remote_ui_state_ == RemoteUiState::kClosedOrError) {
-        LOG(Info, "Roster says spectator; settling");
-        SetRole(SessionRole::kSpectating);
-        callbacks_.ShutdownRemoteUi();
-      }
-    }
-  } else if (strcmp(text, kMsgGrant) == 0) {
-    // The controller slot is reserved for this page. The role flips to
-    // kControlling when the claim's socket opens.
-    LOG(Info, "Control granted; claiming the controller slot");
-    SetRole(SessionRole::kClaiming);
-    ui_reject_count_ = 0;
-    callbacks_.ConnectRemoteUi();
-    // Mark the claim in flight now: the roster broadcast right after the grant
-    // arrives before the next frame refreshes remote_ui_state_, and the settle
-    // rule above must not shut down the fresh claim.
-    remote_ui_state_ = RemoteUiState::kConnecting;
-  }
-}
-
-void Session::FillView(SessionView* view) const {
-  view->role = role_;
-  view->viewers = roster_.viewers;
-  view->queue_pos = roster_.queue_pos;
-  view->queue_len = roster_.queue_len;
-  view->max_spectators = roster_.max_spectators;
-}
-
-void Session::Update() {
-  const double now = emscripten_get_now() / 1000.0;
-  if (now - last_heartbeat_time_ >= kHeartbeatSec) {
-    last_heartbeat_time_ = now;
-    SendText(kMsgHeartbeat);
-  }
-}
-
-void Session::HandleRemoteUiState(RemoteUiState state, int close_code) {
-  remote_ui_state_ = state;
-  // No stream to manage, nothing left to claim (settled spectator), or the
-  // session itself is down — the /state policies rule then.
-  if (state == RemoteUiState::kNoSocket || role_ == SessionRole::kSpectating ||
-      server_close_code_ != 0) {
-    return;
-  }
-  const double now = emscripten_get_now() / 1000.0;
-  if (now - last_ui_retry_time_ < kUiRetrySec) {
-    return;
-  }
-  if (state == RemoteUiState::kOpen) {
-    ui_reject_count_ = 0;
-    if (role_ != SessionRole::kControlling) {
-      SetRole(SessionRole::kControlling);  // The claim succeeded.
-    }
-  } else if (state == RemoteUiState::kClosedOrError) {
-    last_ui_retry_time_ = now;
-    // A kWsCloseControllerTaken close while kControlling means another page
-    // took the slot (Steal Control): settle instantly. A rejected claim
-    // (kClaiming) retries a few times first, because a reloading controller
-    // briefly races its own slot.
-    const bool ousted = close_code == kWsCloseControllerTaken &&
-                        role_ == SessionRole::kControlling;
-    if (ousted || (close_code == kWsCloseControllerTaken &&
-                   ++ui_reject_count_ >= kMaxUiRejects)) {
-      LOG(Info, "Controller slot taken; spectating");
-      SetRole(SessionRole::kSpectating);
-      // Also drops the last received UI frame: a page forced out of the
-      // controller slot must not keep showing a frozen Studio UI.
-      callbacks_.ShutdownRemoteUi();
-    } else {
-      LOG(Info, "UI WebSocket closed; reconnecting...");
-      callbacks_.ConnectRemoteUi();
-      remote_ui_state_ = RemoteUiState::kConnecting;  // As on the grant path.
-    }
-  }
-}
-
-void Session::HandleMessage(const uint8_t* data, uint32_t num_bytes) {
-  last_message_time_ = emscripten_get_now() / 1000.0;
-  if (!callbacks_.ReadyForPayload()) {
-    return;
-  }
-  bytes_accum_ += num_bytes;
-
-  StatePayloadView view;
-  if (!ParseStatePayload(data, num_bytes, &view)) {
-    LOG(Error, "Malformed state payload (%u bytes); dropping", num_bytes);
-    return;
-  }
-
-  if (!model_crc32_.has_value()) {
-    model_crc32_ = view.model_crc32;
-  } else if (view.model_crc32 != *model_crc32_) {
-    LOG(Info, "Model changed on the Python side (ident %u -> %u); reloading",
-        *model_crc32_, view.model_crc32);
-    // Set the new CRC so subsequent payloads don't re-trigger while the new
-    // model is being fetched.
-    model_crc32_ = view.model_crc32;
-    callbacks_.OnModelChanged();
-    return;
-  }
-
-  callbacks_.OnPayload(view);
-}
-
-void Session::RequestControl() { SendText(kMsgRequestControl); }
-
-void Session::LeaveQueue() { SendText(kMsgLeaveQueue); }
-
-void Session::StealControl() { SendText(kMsgForceControl); }
-
-void Session::ReleaseControl() {
-  // Become a spectator; the server grants the slot down the queue.
-  callbacks_.ShutdownRemoteUi();
-  SetRole(SessionRole::kSpectating);
-}
-
-void Session::SetCameraMode(int mode) { callbacks_.SetCameraMode(mode); }
-
-void Session::SetMaxSpectators(int count) {
-  char msg[48];
-  snprintf(msg, sizeof(msg), "%s%d", kMsgMaxSpectatorsPrefix, count);
-  SendText(msg);
-}
-
-}  // namespace mujoco::studio
diff --git a/python/mujoco/experimental/studio/web/web_client_session.h b/python/mujoco/experimental/studio/web/web_client_session.h
deleted file mode 100644
index c66e8dab..00000000
--- a/python/mujoco/experimental/studio/web/web_client_session.h
+++ /dev/null
@@ -1,251 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// The session: this page's relationship with the Python-side viewer.
-//
-// Owns the /state WebSocket (simulation payloads in, control messages out),
-// the session wire protocol (roster, grants, heartbeats, acks), the role
-// state machine (claiming -> controlling / spectating), and the
-// model-change / page-reload / close-code policies. Everything outside the
-// session goes through the Callbacks interface: applying a payload to the
-// scene, and driving the remote UI stream on role transitions. The session
-// also implements SessionActions, so the role window's intents land here
-// directly.
-
-#ifndef MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_WEB_CLIENT_SESSION_H_
-#define MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_WEB_CLIENT_SESSION_H_
-
-#include <emscripten/websocket.h>
-
-#include <cstddef>
-#include <cstdint>
-#include <optional>
-#include <string>
-
-#include "state_payload.h"
-
-namespace mujoco::studio {
-
-// Our custom WebSocket close codes in range 4xxx. The client shows a notice
-// and retries slowly.
-constexpr int kWsCloseControllerTaken = 4001;  // /ui: another browser controls.
-constexpr int kWsCloseSessionFull = 4002;      // /state: spectator limit hit.
-constexpr int kWsCloseInactive = 4003;         // /state: hidden tab kicked.
-constexpr int kWsCloseNotController = 4004;    // /drop: only controller may
-                                               //   load models.
-
-// The page's role in the collaborative session. Every page starts by
-// claiming the controller slot; the claim either succeeds (kControlling)
-// or the page settles into spectating. A control grant puts a spectator
-// back into kClaiming while it reconnects to /ui.
-enum class SessionRole {
-  kClaiming = 0,  // /ui claim in flight; the role is not yet resolved.
-  kControlling,   // This page holds the open /ui connection.
-  kSpectating,    // Another page controls; scene + local role window only.
-};
-
-// Read-only snapshot of the session, passed to the local UI each frame.
-struct SessionView {
-  SessionRole role = SessionRole::kClaiming;
-  int viewers = 0;
-  int queue_pos = 0;  // 1-based position in the control queue; 0 = unqueued.
-  int queue_len = 0;
-  int max_spectators = 0;
-  uint64_t gui_bytes_per_sec = 0;
-  uint64_t sim_bytes_per_sec = 0;
-  bool have_remote_frame = false;
-  int camera_mode = 0;  // [SpectatorCamMode].
-  bool is_downloading = true;
-  size_t bytes_downloaded = 0;
-  size_t total_bytes = 0;
-  int retry_count = 0;
-};
-
-// User intent reported by the role window. Session implements this; the
-// interface is the complete list of effects the local UI can cause.
-class SessionActions {
- public:
-  virtual ~SessionActions() = default;
-  virtual void RequestControl() = 0;
-  virtual void LeaveQueue() = 0;
-  virtual void StealControl() = 0;
-  virtual void ReleaseControl() = 0;
-  virtual void SetCameraMode(int mode) = 0;      // mode is [SpectatorCamMode].
-  virtual void SetMaxSpectators(int count) = 0;  // Already clamped by the UI.
-};
-
-// The roster: the server's membership broadcast, sent as a text frame on
-// /state whenever the session changes (a viewer joins or leaves, queues
-// for control, or control moves). It tells this page how many viewers are
-// connected, which role the server currently assigns it, and where it
-// stands in the control queue.
-struct Roster {
-  int viewers = 0;
-  bool spectator = false;  // The server's view: true = not the controller.
-  int queue_pos = 0;  // 1-based position in the control queue; 0 = unqueued.
-  int queue_len = 0;
-  int max_spectators = 8;  // Runtime spectator limit.
-};
-
-// Parses a roster line; returns false when text is not a roster.
-bool ParseRoster(const char* text, Roster* roster);
-
-// The remote UI stream's connection state, reported to the role state
-// machine by the app once per frame.
-enum class RemoteUiState {
-  kNoSocket = 0,   // No connection attempt exists.
-  kConnecting,     // In flight (or closing); the machine waits.
-  kOpen,           // The claim succeeded: this page controls.
-  kClosedOrError,  // Rejected or dropped; the machine retries or settles.
-};
-
-class Session : public SessionActions {
- public:
-  // Everything the session needs from the rest of the application.
-  class Callbacks {
-   public:
-    virtual ~Callbacks() = default;
-    // Payloads are dropped until this returns true (model loaded).
-    virtual bool ReadyForPayload() = 0;
-    // Applies a parsed payload to the application.
-    virtual void OnPayload(const StatePayloadView& view) = 0;
-    // Server swapped models; fetch and load the new one in-place.
-    virtual void OnModelChanged() = 0;
-    // Role transition: claim the controller slot.
-    virtual void ConnectRemoteUi() = 0;
-    // Role transition: drop the stream when spectating
-    virtual void ShutdownRemoteUi() = 0;
-    // Spectator camera mode change.
-    virtual void SetCameraMode(int mode) = 0;
-  };
-
-  explicit Session(Callbacks& callbacks) : callbacks_(callbacks) {}
-
-  void Connect(const std::string& url);
-
-  // Records the CRC32 of the model this page actually loaded.
-  // Must match zlib.crc32 (used to compute model_crc32 in web_viewer.py).
-  void SetModelCrc32(uint32_t crc) { model_crc32_ = crc; }
-
-  // True while a connect attempt exists; used to pace reconnects.
-  // emscripten_websocket_new returns a handle immediately, so this is NOT the
-  // same as Connected().
-  bool HasSocket() const { return socket_ != 0; }
-
-  // True only while the WebSocket is actually open.
-  bool Connected() const { return connected_; }
-
-  // The close code from the server deliberately ending this connection (codes
-  // 4000-4999, e.g. kWsCloseSessionFull), else 0. Such conditions are transient
-  // (a slot frees up, the user returns to the tab), so the page shows a notice
-  // and retries slowly; the code clears when a connection opens again.
-  int ServerCloseCode() const { return server_close_code_; }
-
-  // Returns the bytes received since the last call and resets the counter.
-  uint64_t ConsumeByteCount() {
-    uint64_t bytes = bytes_accum_;
-    bytes_accum_ = 0;
-    return bytes;
-  }
-
-  // Wall-clock seconds of the last received message, or 0 before the first one.
-  // Payloads stream at ~60Hz while the Python side is alive, so staleness here
-  // means the server is gone, even if the socket still looks open (a suspended
-  // process keeps its sockets established).
-  double LastMessageTime() const { return last_message_time_; }
-
-  SessionRole Role() const { return role_; }
-
-  // Fills the role and roster fields of the view.
-  void FillView(SessionView* view) const;
-
-  // Periodic session upkeep (the ~30s liveness heartbeat); call once per frame.
-  void Update();
-
-  // Feeds the role state machine the remote UI stream's connection state; call
-  // once per frame. Owns claim retry pacing, promotion to kControlling when a
-  // claim opens, instant settling when an open stream closes with
-  // kWsCloseControllerTaken (ousted by Steal Control), and the retries then
-  // settle rule for rejected claims.
-  void HandleRemoteUiState(RemoteUiState state, int close_code);
-
-  // Parses one WebSocket message and applies the model-change/reload policy.
-  void HandleMessage(const uint8_t* data, uint32_t num_bytes);
-
-  // SessionActions (used to implement the role window UI).
-  void RequestControl() override;
-  void LeaveQueue() override;
-  void StealControl() override;
-  void ReleaseControl() override;
-  void SetCameraMode(int mode) override;
-  void SetMaxSpectators(int count) override;
-
- private:
-  // Detaches callbacks and frees socket_ (if any), resetting to disconnected.
-  void CloseSocket();
-
-  // Sends a session message (control requests, acks, activity reports) to the
-  // server as a text frame. Dropped silently while not connected.
-  void SendText(const char* text);
-
-  // Updates the role and mirrors it into JS (Module.isSpectator), which gates
-  // controller-only page behavior (model drag-and-drop upload).
-  void SetRole(SessionRole role);
-
-  // Routes a session text frame: roster updates, control grants.
-  void OnSessionText(const char* text);
-
-  static EM_BOOL OnWsMessage(int event_type,
-                             const EmscriptenWebSocketMessageEvent* event,
-                             void* user_data);
-  static EM_BOOL OnWsOpen(int event_type,
-                          const EmscriptenWebSocketOpenEvent* event,
-                          void* user_data);
-  static EM_BOOL OnWsError(int event_type,
-                           const EmscriptenWebSocketErrorEvent* event,
-                           void* user_data);
-  static EM_BOOL OnWsClose(int event_type,
-                           const EmscriptenWebSocketCloseEvent* event,
-                           void* user_data);
-
-  Callbacks& callbacks_;
-
-  EMSCRIPTEN_WEBSOCKET_T socket_ = 0;
-  bool connected_ = false;
-
-  // CRC32 of the model this page loaded. When the payload's CRC changes, the
-  // Python side has swapped models so we trigger an in-place reload that
-  // refetches /model and reinitializes the scene.
-  std::optional<uint32_t> model_crc32_;
-
-  int server_close_code_ = 0;
-
-  uint64_t bytes_accum_ = 0;
-  double last_message_time_ = 0;
-
-  // Role state machine and roster.
-  SessionRole role_ = SessionRole::kClaiming;
-  Roster roster_;
-
-  // Consecutive rejected /ui claims; the page eventually stops claiming and
-  // settles into spectating.
-  int ui_reject_count_ = 0;
-  RemoteUiState remote_ui_state_ = RemoteUiState::kNoSocket;
-  double last_ui_retry_time_ = 0;
-  double last_heartbeat_time_ = 0;
-};
-
-}  // namespace mujoco::studio
-
-#endif  // MUJOCO_PYTHON_EXPERIMENTAL_STUDIO_WEB_WEB_CLIENT_SESSION_H_
diff --git a/python/mujoco/experimental/studio/web/web_server.py b/python/mujoco/experimental/studio/web/web_server.py
deleted file mode 100644
index 80eb532c..00000000
--- a/python/mujoco/experimental/studio/web/web_server.py
+++ /dev/null
@@ -1,1296 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Python web server for the MuJoCo Web Viewer.
-
-This server runs in a child process with one asyncio loop on a single public
-port:
-
-  * Plain HTTP GET   serves static files (index.html, WASM, assets), /model.
-  * WebSocket /ui    serves the bridge to the headless NetImgui client, which
-                     connects over loopback TCP (see headless_ui.cc).
-  * WebSocket /state serves the latest-wins state payload broadcast at ~60Hz
-                     (see state_payload.h) as binary frames, and session roster
-                     updates as text frames.
-  * WebSocket /drop  receives models dragged onto the page (one binary frame per
-                     file, controller only; see drop_handler).
-
-Because everything is served through one port, one firewall rule, port-forward,
-or HTTPS tunnel exposes the whole viewer. The browser derives its WebSocket URLs
-from the page origin so no client configuration is needed.
-
-One browser at a time controls the interactive session (it owns the /ui bridge);
-later browsers are rejected from /ui with WebSocket close code
-_WS_CLOSE_CONTROLLER_TAKEN and can take the controller slot once it frees up.
-/state connections beyond the spectator limit are closed with close code
-_WS_CLOSE_SESSION_FULL.
-"""
-
-import asyncio
-import ctypes
-import datetime
-import enum
-import json
-import logging
-import multiprocessing
-import multiprocessing.queues
-import multiprocessing.sharedctypes
-import os
-import signal
-import socket
-import struct
-import sys
-import threading
-import urllib.parse
-from typing import Any, Awaitable, Callable, Optional, cast
-
-from websockets.asyncio.server import serve
-from websockets.asyncio.server import ServerConnection
-from websockets.datastructures import Headers
-from websockets.exceptions import ConnectionClosed
-from websockets.frames import CloseCode
-from websockets.http11 import Request
-from websockets.http11 import Response
-
-# Our custom WebSocket close codes in range 4xxx. The client shows a notice
-# and retries slowly (see web_client_session.cc / web_client.cc).
-_WS_CLOSE_CONTROLLER_TAKEN = 4001  # /ui:    another browser is controlling.
-_WS_CLOSE_SESSION_FULL = 4002  # /state: the spectator limit is reached.
-_WS_CLOSE_INACTIVE = 4003  # /state: hidden tab kicked to free a slot.
-_WS_CLOSE_NOT_CONTROLLER = 4004  # /drop: only the controller may load models.
-
-# Upper bound on the runtime-editable spectator limit.
-_MAX_SPECTATOR_HARD_CAP = 32
-
-# How many browsers may watch in addition to the controller; the controller can
-# change it at runtime (up to _MAX_SPECTATOR_HARD_CAP). The limit is about
-# session behaviour — keeping the crowd and the control-request queue at a
-# manageable size — not about resources: a state payload is a few KB at
-# 60Hz, serialized once and sent per viewer, so even a full session costs
-# only a few Mbit/s of upload. There is deliberately no config or CLI
-# option (spectating exposes nothing that controlling does not).
-_MAX_SPECTATORS_DEFAULT = 8
-
-# Controller-only message prefix carrying the new spectator limit.
-_MAX_SPECTATORS_PREFIX = "max_spectators="
-# Sent to the page whose control claim the controller slot is reserved for.
-_GRANT_MESSAGE = "grant"
-# Sent by the browser after applying each state payload (keep in sync:
-# web_client_session.cc). Flow control for the /state stream: at most one
-# payload is in flight per client, so a slow link carries the freshest state
-# it can instead of buffering seconds of stale payloads in the socket.
-_STATE_ACK_MESSAGE = "state_ack"
-
-# A lost ack must not stall the stream forever; after this long the next
-# payload is sent unacked.
-_STATE_ACK_TIMEOUT_SEC = 2.0
-
-# A control grant must arrive within this window, else it moves down the queue.
-_GRANT_EXPIRY_SEC = 5.0
-
-# After a model-change restart, the controller slot stays reserved for the page
-# that was controlling until it has had time to reload and reconnect; unclaimed,
-# the slot then opens to everyone.
-_RESTART_RESERVE_SEC = 10.0
-
-# A controller whose tab stops running (hidden or closed without a clean
-# disconnect) is released once someone is waiting for control. Detected by
-# silence: a live controller tab sends input packets every frame.
-_CONTROLLER_SILENT_KICK_SEC = 90.0
-
-# Spectators are kicked after this much heartbeat silence (their tab is hidden
-# or gone), freeing a viewer slot. Live tabs heartbeat every ~30s.
-_SPECTATOR_SILENT_KICK_SEC = 300.0
-
-# Default public port, and how many consecutive ports to try when it is taken
-# (e.g. by another running viewer).
-_DEFAULT_HTTP_PORT = 8080
-_PORT_SCAN_COUNT = 20
-
-# NetImgui's CmdVersion handshake packet is always 120 bytes.
-_NETIMGUI_CMD_VERSION_SIZE = 120
-
-# How long a browser holding the controller slot waits for the headless NetImgui
-# client to (re)connect over loopback before the slot is released. The client
-# reconnects within ~1s in the normal case; this only bounds the pathological
-# one where it never appears (e.g., the headless UI failed to start), so a stuck
-# controller cannot lock every other browser out forever.
-_UI_TCP_WAIT_SEC = 30.0
-
-# Content types for the static files the HTTP handler serves.
-_CONTENT_TYPES = {
-    ".html": "text/html; charset=utf-8",
-    ".js": "text/javascript",
-    ".wasm": "application/wasm",
-    ".data": "application/octet-stream",
-    ".json": "application/json",
-    ".png": "image/png",
-    ".ico": "image/x-icon",
-}
-
-
-class _SessionMessage(enum.StrEnum):
-  """Text messages browsers send on /state."""
-
-  REQUEST_CONTROL = "request_control"
-  LEAVE_QUEUE = "leave_queue"
-  FORCE_CONTROL = "force_control"
-  HEARTBEAT = "heartbeat"
-
-
-def _roster_line(
-    viewers: int,
-    is_controller: bool,
-    queue_pos: int,
-    queue_len: int,
-    max_spectators: int,
-) -> str:
-  """Builds a roster line, the membership broadcast every browser receives.
-
-  The roster is sent as a text frame on /state whenever the session changes (a
-  viewer joins or leaves, queues for control, or control moves). It tells each
-  browser how many viewers are connected, which role the server has currently
-  assigned it, and where it stands in the control queue.
-
-  Args:
-    viewers: The number of viewers connected to the server.
-    is_controller: Whether the browser is the controller.
-    queue_pos: The browser's position in the control queue (0 if not queued).
-    queue_len: The number of browsers in the queue.
-    max_spectators: The maximum number of spectators allowed.
-
-  Returns:
-    A string representing the roster line.
-  """
-  role = "controller" if is_controller else "spectator"
-  return (
-      f"viewers={viewers};role={role};queue_pos={queue_pos};"
-      f"queue_len={queue_len};max_spectators={max_spectators}"
-  )
-
-
-class _WebServerFormatter(logging.Formatter):
-
-  def format(self, record: logging.LogRecord) -> str:
-    level_char = record.levelname[0]
-    dt = datetime.datetime.fromtimestamp(record.created)
-    date_str = dt.strftime("%m%d")
-    time_str = dt.strftime("%H:%M:%S.%f")
-    filename = os.path.basename(record.pathname)
-    line = record.lineno
-    msg = record.getMessage()
-    return f"{level_char}{date_str} {time_str} {filename}:{line}] {msg}"
-
-
-logger = logging.getLogger("WebServer")
-
-
-class _HandshakeNoiseFilter(logging.Filter):
-  """Removes handshake-failure logs from connections that simply went away.
-
-  Handshake failure are produced by two routine cases:
-
-  1. browsers speculatively open spare connections and close them unused
-  2. a page reload races the model-change server restart, tearing connections
-     down mid-handshake.
-
-  The websockets library logs each as an opening-handshake failure as at ERROR
-  level with a full traceback. Raising the log level would hide real handshake
-  errors too, hence a filter matching exactly these signatures.
-  """
-
-  def filter(self, record: logging.LogRecord) -> bool:
-    if record.getMessage() != "opening handshake failed":
-      return True
-    exc = record.exc_info[1] if record.exc_info else None
-    if exc is None:
-      return True
-    if isinstance(exc, (ConnectionClosed, EOFError, OSError)):
-      return False  # The connection died; nothing wrong with the request.
-    return "did not receive a valid HTTP request" not in str(exc)
-
-
-def _configure_logging() -> None:
-  """Configures this module's logger and reins in the websockets library's.
-
-  Called once at import time; a no-op if already configured (re-import).
-  """
-  if logger.handlers:
-    return
-  # Info is a curated, always-on channel (browser connect/disconnect);
-  # connection plumbing is logged at DEBUG.
-  logger.setLevel(logging.INFO)
-  handler = logging.StreamHandler(sys.stdout)
-  handler.setFormatter(_WebServerFormatter())
-  logger.addHandler(handler)
-  logger.propagate = False
-  # The websockets library logs its own lifecycle chatter at INFO ("server
-  # listening", "connection rejected (200 OK)" for every HTTP request); keep
-  # it to warnings and errors.
-  logging.getLogger("websockets").setLevel(logging.WARNING)
-  # Filters do not inherit down the logger tree, so it must be attached to
-  # "websockets.server" itself.
-  logging.getLogger("websockets.server").addFilter(_HandshakeNoiseFilter())
-
-
-_configure_logging()
-
-
-def bind_public_socket(host: str, port: int = 0) -> socket.socket:
-  """Binds (but does not listen on) the public HTTP listening socket.
-
-  The socket is bound in the viewer process and inherited by each server child,
-  so the port stays stable across server restarts (model changes) and bind
-  conflicts surface here, synchronously, instead of inside the child.
-
-  Args:
-    host: Interface to bind. "::" (the default) binds a dual-stack socket that
-      accepts both IPv6 and IPv4 connections, falling back to IPv4-only when the
-      machine has no IPv6 support.
-    port: A specific port, or 0 to take the first free port starting at
-      _DEFAULT_HTTP_PORT (so several viewers can run side by side).
-
-  Returns:
-    The bound socket.
-
-  Raises:
-    RuntimeError: If the requested port (or every scanned port) is taken.
-  """
-  if host == "::":
-    try:
-      socket.socket(socket.AF_INET6, socket.SOCK_STREAM).close()
-    except OSError:
-      host = "0.0.0.0"
-  family = socket.AF_INET6 if ":" in host else socket.AF_INET
-
-  candidates = (
-      [port]
-      if port
-      else range(_DEFAULT_HTTP_PORT, _DEFAULT_HTTP_PORT + _PORT_SCAN_COUNT)
-  )
-  for candidate in candidates:
-    sock = socket.socket(family, socket.SOCK_STREAM)
-    sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-    if family == socket.AF_INET6:
-      # Dual-stack: also accept IPv4 connections (as IPv4-mapped addresses).
-      sock.setsockopt(socket.IPPROTO_IPV6, socket.IPV6_V6ONLY, 0)
-    try:
-      sock.bind((host, candidate))
-      return sock
-    except OSError:
-      sock.close()
-  if port:
-    raise RuntimeError(
-        f"Port {port} is already in use, is another web viewer running? "
-        "Pass a different --port, or 0 to pick one automatically."
-    )
-  raise RuntimeError(
-      f"Ports {_DEFAULT_HTTP_PORT}-{_DEFAULT_HTTP_PORT + _PORT_SCAN_COUNT - 1} "
-      "are all in use, are that many web viewers running?"
-  )
-
-
-def bind_loopback_socket(port: int = 0) -> socket.socket:
-  """Binds the loopback socket the headless NetImgui client connects to.
-
-  Defaults to an OS-assigned ephemeral port: both endpoints live in this process
-  tree, so no fixed number is needed and collisions between viewer instances are
-  impossible.
-
-  Args:
-    port: A specific port, or 0 to take the first free port.
-
-  Returns:
-    The bound socket.
-  """
-  sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-  sock.bind(("127.0.0.1", port))
-  return sock
-
-
-def _session_id(ws: ServerConnection) -> str:
-  """The page's session id (?sid=...), tying its /ui and /state together."""
-  path = ws.request.path if ws.request else ""
-  query = path.split("?", 1)[1] if "?" in path else ""
-  for part in query.split("&"):
-    if part.startswith("sid="):
-      return part[4:]
-  return f"anon-{id(ws)}"
-
-
-def _terminate_process(
-    proc: multiprocessing.process.BaseProcess, timeout: float = 2.0
-) -> None:
-  """Terminates a server process, escalating to SIGKILL if it hangs.
-
-  A wedged child that outlives stop() keeps its sockets alive, which prevents
-  the C++ NetImgui client from ever noticing the disconnect and reconnecting to
-  the replacement server.
-
-  Args:
-    proc: The process to terminate.
-    timeout: The timeout for each termination step.
-  """
-  # Grace period first: the child normally exits on its own (lifeline EOF),
-  # and signalling a process mid-exit makes it print noise on stderr.
-  proc.join(timeout=timeout)
-  if proc.is_alive():
-    proc.terminate()
-    proc.join(timeout=timeout)
-  if proc.is_alive():
-    logger.warning("[Http] Process %s ignored SIGTERM; killing.", proc.pid)
-    proc.kill()
-    proc.join(timeout=timeout)
-
-
-def _find_static_files_dir() -> Optional[str]:
-  """Locate the web viewer static files.
-
-  The `dist` directory next to this file is populated by the Emscripten build
-  of the `web_client` target. This is the default for packaged installations.
-
-  Development option: Set MUJOCO_WEB_VIEWER_DIST to serve from a different
-  directory (e.g. a local Emscripten build tree). This allows rapid iteration
-  on web_client changes without rebuilding and reinstalling the package.
-  """
-  env_dir = os.environ.get("MUJOCO_WEB_VIEWER_DIST")
-  if env_dir:
-    if os.path.isdir(env_dir):
-      return env_dir
-    logger.warning(
-        "[Http] MUJOCO_WEB_VIEWER_DIST is not a directory: %s", env_dir
-    )
-
-  dist_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "dist")
-  if os.path.isdir(dist_dir):
-    return dist_dir
-
-  return None
-
-
-def _run_cancellable(main_loop_func: Callable[[], Awaitable[None]]) -> None:
-  """Runs an asyncio loop with SIGINT/SIGTERM structured task cancellation."""
-
-  async def _wrapped() -> None:
-    loop = asyncio.get_running_loop()
-    main_task = asyncio.current_task()
-
-    def _cancel() -> None:
-      if main_task:
-        main_task.cancel()
-
-    loop.add_signal_handler(signal.SIGINT, _cancel)
-    loop.add_signal_handler(signal.SIGTERM, _cancel)
-    try:
-      await main_loop_func()
-    except asyncio.CancelledError:
-      pass
-    finally:
-      # Detach the handlers (and asyncio's signal wakeup pipe) before the loop
-      # closes: a signal landing afterwards would try to write to the closed
-      # pipe and print "Exception ignored ... BrokenPipeError".
-      loop.remove_signal_handler(signal.SIGINT)
-      loop.remove_signal_handler(signal.SIGTERM)
-
-  try:
-    asyncio.run(_wrapped())
-  except Exception as e:  # pylint: disable=broad-exception-caught
-    func_name = getattr(main_loop_func, "__name__", "main_loop_func")
-    logger.error("[%s] Unexpected error: %s", func_name, e)
-
-
-def _run_server(
-    http_sock: socket.socket,
-    tcp_sock: socket.socket,
-    lifeline_r: int,
-    lifeline_w: int,
-    static_dir: Optional[str],
-    mjb_data: Optional[bytes],
-    shm_array: Optional[ctypes.Array],
-    shm_capacity: int,
-    generation: multiprocessing.sharedctypes.Synchronized,
-    drop_queue: Optional[multiprocessing.queues.Queue[Any]],
-    controller_sid_shared: Optional[Any],
-) -> None:
-  """The server process: HTTP + /ui + /state on one port, one event loop."""
-
-  # Close the inherited write end of the lifeline pipe: the read end must see
-  # EOF the moment the parent (the only writer) goes away — for ANY reason,
-  # including SIGKILL, which no signal handler or getppid poll can cover.
-  os.close(lifeline_w)
-
-  static_root = os.path.realpath(static_dir) if static_dir else None
-
-  def _http_headers(
-      content_type: str, content_length: int, cacheable: bool
-  ) -> Headers:
-    headers = Headers()
-    headers["Content-Type"] = content_type
-    headers["Content-Length"] = str(content_length)
-    # The WASM is a pthread build: SharedArrayBuffer requires cross-origin
-    # isolation on every response.
-    headers["Cross-Origin-Opener-Policy"] = "same-origin"
-    headers["Cross-Origin-Embedder-Policy"] = "require-corp"
-    if not cacheable:
-      headers["Access-Control-Allow-Origin"] = "*"
-      headers["Cache-Control"] = "no-store"
-    return headers
-
-  def _serve_http(path: str) -> Response:
-    """Builds the HTTP response for a non-WebSocket GET request."""
-    if path == "/model":
-      if not mjb_data:
-        return Response(404, "Not Found", Headers(), b"no model\n")
-      # The model changes on hot-swap; never serve a cached copy.
-      headers = _http_headers(
-          "application/octet-stream", len(mjb_data), cacheable=False
-      )
-      return Response(200, "OK", headers, mjb_data)
-
-    if static_root is None:
-      return Response(503, "Service Unavailable", Headers(), b"no dist dir\n")
-
-    rel = path.lstrip("/") or "index.html"
-    norm_static_root = os.path.normpath(static_root)
-    full = os.path.normpath(os.path.join(norm_static_root, rel))
-    if full != norm_static_root and not full.startswith(
-        norm_static_root + os.sep
-    ):
-      return Response(403, "Forbidden", Headers(), b"forbidden\n")
-    if not os.path.isfile(full):
-      wasm_full = os.path.normpath(os.path.join(norm_static_root, "wasm", rel))
-      if os.path.isfile(wasm_full):
-        full = wasm_full
-      else:
-        return Response(404, "Not Found", Headers(), b"not found\n")
-
-    with open(full, "rb") as f:
-      body = f.read()
-    content_type = _CONTENT_TYPES.get(
-        os.path.splitext(full)[1], "application/octet-stream"
-    )
-    cacheable = not rel.endswith("index.html")
-    return Response(
-        200,
-        "OK",
-        _http_headers(content_type, len(body), cacheable=cacheable),
-        body,
-    )
-
-  async def main_loop() -> None:
-    # The NetImgui client connection (from HeadlessUi, loopback TCP). The client
-    # retries every second, so after a teardown a fresh connection is fast.
-    tcp_reader = None
-    tcp_writer = None
-    tcp_connected = asyncio.Event()
-
-    # The browser controlling the UI (single slot) and all browsers receiving
-    # the state broadcast (controller + spectators), keyed by session id.
-    active_ui_ws = None
-    controller_sid: Optional[str] = None
-    state_clients: dict[str, ServerConnection] = {}
-
-    # Control handoff: spectators queue for the controller slot; when it frees,
-    # the head of the queue is granted a short exclusive claim window.
-    control_queue: list[str] = []
-    pending_grant_sid: Optional[str] = None
-    broadcast_roster: Any = None
-    grant_next: Any = None
-
-    # Strong references to fire-and-forget tasks (the grant-expiry watchdog):
-    # asyncio holds only a weak reference, so without this a task can be
-    # garbage-collected mid-sleep and never run.
-    background_tasks: set[asyncio.Task[Any]] = set()
-    max_spectators = _MAX_SPECTATORS_DEFAULT
-
-    # Liveness by absence of traffic: a hidden tab's rendering loop stops,
-    # so it cannot report anything — silence is the signal.
-    last_heartbeat: dict[str, float] = {}
-    last_controller_input = [0.0]
-    loop_time = asyncio.get_event_loop().time
-
-    def remember_controller(sid: str) -> None:
-      """Records the controlling page's sid in viewer-owned shared memory.
-
-      Written on every claim (never cleared: teardown paths must not wipe it) so
-      that the next server, after a model-change restart, can reserve the slot
-      for the page that was controlling.
-      """
-      if controller_sid_shared is not None:
-        controller_sid_shared.value = sid.encode("utf-8", "replace")[:63]
-
-    # Reserve the controller slot for the previous controller across a restart.
-    # Session ids survive page reloads (sessionStorage, see web_client.cc), so
-    # the reloaded controller page claims /ui with the same sid; other pages are
-    # rejected until then via pending_grant_sid.
-    if controller_sid_shared is not None and controller_sid_shared.value:
-      pending_grant_sid = controller_sid_shared.value.decode("utf-8")
-      logger.debug(
-          "[Session] Controller slot reserved for the previous controller"
-      )
-
-      async def expire_restart_reserve(reserved: str) -> None:
-        nonlocal pending_grant_sid, grant_next, broadcast_roster
-        # grant_next/broadcast_roster are defined below; by the time this timer
-        # fires they exist.
-        await asyncio.sleep(_RESTART_RESERVE_SEC)
-        if pending_grant_sid == reserved and active_ui_ws is None:
-          logger.debug("[Session] Restart reservation expired; slot open")
-          pending_grant_sid = None
-          if grant_next and broadcast_roster:
-            await grant_next()
-            await broadcast_roster()
-
-      reserve_task = asyncio.create_task(
-          expire_restart_reserve(pending_grant_sid)
-      )
-      background_tasks.add(reserve_task)
-      reserve_task.add_done_callback(background_tasks.discard)
-
-    async def broadcast_roster() -> None:
-      """Sends every browser the counts, its role and its queue position."""
-      count = len(state_clients)
-      for sid, client in list(state_clients.items()):
-        try:
-          pos = control_queue.index(sid) + 1
-        except ValueError:
-          pos = 0
-        try:
-          await client.send(
-              _roster_line(
-                  viewers=count,
-                  is_controller=sid == controller_sid,
-                  queue_pos=pos,
-                  queue_len=len(control_queue),
-                  max_spectators=max_spectators,
-              )
-          )
-        except (ConnectionClosed, ConnectionError):
-          pass
-
-    async def grant_next() -> None:
-      """Offers the free controller slot to the pending or next queued page."""
-      nonlocal pending_grant_sid
-      if active_ui_ws is not None:
-        return
-
-      if pending_grant_sid is None:
-        while control_queue:
-          candidate = control_queue.pop(0)
-          if candidate in state_clients:
-            pending_grant_sid = candidate
-            break
-      if pending_grant_sid is None:
-        return
-
-      client = state_clients.get(pending_grant_sid)
-      if client is None:
-        pending_grant_sid = None
-        await grant_next()
-        return
-
-      try:
-        await client.send(_GRANT_MESSAGE)
-      except (ConnectionClosed, ConnectionError):
-        pending_grant_sid = None
-        await grant_next()
-        return
-      logger.info("[Session] Control granted to %s", pending_grant_sid)
-      await broadcast_roster()
-
-      async def expire(granted: str) -> None:
-        nonlocal pending_grant_sid
-        await asyncio.sleep(_GRANT_EXPIRY_SEC)
-        if pending_grant_sid == granted and active_ui_ws is None:
-          pending_grant_sid = None
-          await grant_next()
-
-      task = asyncio.create_task(expire(pending_grant_sid))
-      background_tasks.add(task)
-      task.add_done_callback(background_tasks.discard)
-
-    async def handle_session_message(sid: str, text: str) -> None:
-      """A control or heartbeat message from one browser (/state text)."""
-      nonlocal pending_grant_sid, max_spectators
-      last_heartbeat[sid] = loop_time()
-      if text == _SessionMessage.REQUEST_CONTROL:
-        if sid != controller_sid and sid not in control_queue:
-          control_queue.append(sid)
-          await grant_next()
-          await broadcast_roster()
-      elif text == _SessionMessage.LEAVE_QUEUE:
-        if sid in control_queue:
-          control_queue.remove(sid)
-          await broadcast_roster()
-      elif text == _SessionMessage.FORCE_CONTROL:
-        if sid != controller_sid:
-          logger.info("[Session] %s forces control", sid)
-          if sid in control_queue:
-            control_queue.remove(sid)
-          pending_grant_sid = sid
-          if active_ui_ws is not None:
-            # The bridge teardown frees the slot and grant_next honors the
-            # pending claim; the ousted page settles into spectating.
-            await active_ui_ws.close(
-                _WS_CLOSE_CONTROLLER_TAKEN, "control taken"
-            )
-          else:
-            await grant_next()
-      elif text == _SessionMessage.HEARTBEAT:
-        pass  # last_heartbeat is updated for every message.
-      elif text.startswith(_MAX_SPECTATORS_PREFIX):
-        if sid != controller_sid:
-          return  # Only the controller sets the limit.
-        try:
-          value = int(text[len(_MAX_SPECTATORS_PREFIX) :])
-        except ValueError:
-          return
-        max_spectators = max(0, min(_MAX_SPECTATOR_HARD_CAP, value))
-        logger.info("[Session] Spectator limit set to %s", max_spectators)
-        # Enforce the new limit immediately, kicking the newest spectators
-        # first. A kicked page shows the session-full notice and retries,
-        # so it walks back in when a slot frees up.
-        excess = len(state_clients) - (max_spectators + 1)
-        for kick_sid in reversed(list(state_clients)):
-          if excess <= 0:
-            break
-          if kick_sid == controller_sid:
-            continue
-          client = state_clients.get(kick_sid)
-          if client is not None:
-            logger.info("[Session] Kicking spectator over the new limit")
-            try:
-              await client.close(_WS_CLOSE_SESSION_FULL, "session full")
-            except (ConnectionClosed, ConnectionError):
-              pass
-          excess -= 1
-        await broadcast_roster()
-
-    async def enforce_activity() -> None:
-      """Releases a silent controller when someone waits; kicks silent tabs."""
-      while True:
-        await asyncio.sleep(5.0)
-        now = loop_time()
-        if (
-            active_ui_ws is not None
-            and last_controller_input[0] > 0
-            and now - last_controller_input[0] > _CONTROLLER_SILENT_KICK_SEC
-            and (control_queue or pending_grant_sid)
-        ):
-          logger.info("[Session] Releasing control from an inactive controller")
-          await active_ui_ws.close(_WS_CLOSE_CONTROLLER_TAKEN, "inactive")
-        for sid, client in list(state_clients.items()):
-          if sid == controller_sid:
-            continue
-          seen = last_heartbeat.get(sid, now)
-          if now - seen > _SPECTATOR_SILENT_KICK_SEC:
-            logger.info("[Session] Kicking inactive spectator %s", sid)
-            try:
-              await client.close(_WS_CLOSE_INACTIVE, "inactive")
-            except (ConnectionClosed, ConnectionError):
-              pass
-
-    async def handle_tcp_client(
-        reader: asyncio.StreamReader, writer: asyncio.StreamWriter
-    ) -> None:
-      nonlocal tcp_reader, tcp_writer
-      if tcp_writer is not None:
-        logger.debug("[UiBridge] Replacing previous NetImgui TCP connection")
-        tcp_writer.close()
-      tcp_reader = reader
-      tcp_writer = writer
-      # Disable Nagle's algorithm so small packets (CmdInput ~80 bytes) are
-      # sent immediately instead of being buffered for up to 200ms.
-      sock = writer.get_extra_info("socket")
-      if sock:
-        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
-      tcp_connected.set()
-      logger.debug("[UiBridge] NetImgui TCP connection accepted")
-
-    # --- /ui: bridge the browser to the NetImgui client ----------------------
-
-    async def ui_handler(ws: ServerConnection) -> None:
-      nonlocal active_ui_ws, controller_sid, pending_grant_sid
-      nonlocal tcp_reader, tcp_writer
-      if active_ui_ws is not None:
-        # One controller at a time. The rejected browser spectates and may retry
-        # via its "Take control" button once the controller leaves.
-        logger.debug("[UiBridge] Controller slot taken; rejecting new browser")
-        await ws.close(_WS_CLOSE_CONTROLLER_TAKEN, "controller slot taken")
-        return
-      sid = _session_id(ws)
-      if pending_grant_sid is not None and sid != pending_grant_sid:
-        # The slot is reserved for a granted page (queue fairness).
-        await ws.close(_WS_CLOSE_CONTROLLER_TAKEN, "controller slot reserved")
-        return
-      if sid == pending_grant_sid:
-        pending_grant_sid = None
-      if sid in control_queue:
-        control_queue.remove(sid)
-      active_ui_ws = ws
-      controller_sid = sid
-      remember_controller(sid)
-      last_controller_input[0] = loop_time()
-      await broadcast_roster()
-
-      # Each browser needs a fresh NetImgui session (full handshake, textures
-      # and draw state). Drop any connection used by a previous bridge and
-      # wait for the client's automatic reconnect.
-      if tcp_writer is not None:
-        tcp_writer.close()
-        tcp_reader = None
-        tcp_writer = None
-        tcp_connected.clear()
-      logger.debug("[UiBridge] Waiting for NetImgui TCP connection...")
-
-      async def wait_for_tcp() -> None:
-        # Loop: the connection can be replaced (and the event cleared)
-        # between the event firing and this task waking up.
-        while tcp_writer is None:
-          await tcp_connected.wait()
-
-      # Wait for the client, but not forever and not blind to the browser: if
-      # the client never appears (bounded by _UI_TCP_WAIT_SEC) or the browser
-      # leaves first, release the controller slot instead of holding it
-      # against every future browser.
-      tcp_task = asyncio.create_task(wait_for_tcp())
-      close_task = asyncio.create_task(ws.wait_closed())
-      done, still_pending = await asyncio.wait(
-          [tcp_task, close_task],
-          timeout=_UI_TCP_WAIT_SEC,
-          return_when=asyncio.FIRST_COMPLETED,
-      )
-      for task in still_pending:
-        task.cancel()
-      if tcp_task not in done or tcp_task.cancelled():
-        logger.debug("[UiBridge] No NetImgui connection; releasing slot")
-        if active_ui_ws is ws:
-          active_ui_ws = None
-          controller_sid = None
-          await grant_next()
-          await broadcast_roster()
-        await ws.close(_WS_CLOSE_CONTROLLER_TAKEN, "controller unavailable")
-        return
-      if tcp_reader is None or tcp_writer is None:
-        logger.debug("[UiBridge] NetImgui reader/writer None; releasing slot")
-        if active_ui_ws is ws:
-          active_ui_ws = None
-          controller_sid = None
-          await grant_next()
-          await broadcast_roster()
-        await ws.close(_WS_CLOSE_CONTROLLER_TAKEN, "controller unavailable")
-        return
-      my_reader = cast(asyncio.StreamReader, tcp_reader)
-      my_writer = cast(asyncio.StreamWriter, tcp_writer)
-
-      try:
-        # Handshake: browser CmdVersion -> client; client CmdVersion -> browser.
-        browser_version = await ws.recv()
-        my_writer.write(browser_version)  # pyrefly: ignore[bad-argument-type]
-        await my_writer.drain()
-        server_version = await my_reader.readexactly(_NETIMGUI_CMD_VERSION_SIZE)
-        await ws.send(server_version)
-        logger.debug("[UiBridge] Handshake complete. Bridging.")
-
-        async def ws_to_tcp() -> None:
-          async for message in ws:
-            if isinstance(message, bytes):
-              last_controller_input[0] = loop_time()
-              my_writer.write(message)
-              await my_writer.drain()
-
-        async def tcp_to_ws() -> None:
-          while True:
-            data = await my_reader.read(65536)
-            if not data:
-              break
-            await ws.send(data)
-
-        done, pending = await asyncio.wait(
-            [
-                asyncio.create_task(ws_to_tcp()),
-                asyncio.create_task(tcp_to_ws()),
-            ],
-            return_when=asyncio.FIRST_COMPLETED,
-        )
-        for task in pending:
-          task.cancel()
-        for task in done:
-          task.exception()  # Retrieve to avoid "exception never retrieved".
-      except (ConnectionClosed, ConnectionError, asyncio.IncompleteReadError):
-        pass
-      finally:
-        logger.debug("[UiBridge] Bridge closed.")
-        # Tear down this bridge's TCP connection so the NetImgui client
-        # reconnects and re-sends everything to the next browser.
-        if my_writer is not None:
-          my_writer.close()
-        if tcp_writer is my_writer:
-          tcp_reader = None
-          tcp_writer = None
-          tcp_connected.clear()
-        if active_ui_ws is ws:
-          active_ui_ws = None
-          controller_sid = None
-          await grant_next()
-          await broadcast_roster()
-
-    # --- /state: latest-wins payload broadcast --------------------------------
-
-    async def state_handler(ws: ServerConnection) -> None:
-      sid = _session_id(ws)
-      # A page reconnecting after a network blip keeps its sid; its stale entry
-      # (dead socket, not yet cleaned up) must not count against the limit,
-      # since installing the new socket merely replaces it. Only a genuinely new
-      # sid consumes a slot.
-      if sid not in state_clients and len(state_clients) > max_spectators:
-        logger.info("[StateWS] Session full; rejecting browser")
-        await ws.close(_WS_CLOSE_SESSION_FULL, "session full")
-        return
-      state_clients[sid] = ws
-      last_heartbeat[sid] = loop_time()
-      logger.info("[StateWS] Browser connected (%d total)", len(state_clients))
-      await broadcast_roster()
-
-      def read_state() -> Optional[tuple[int, bytes]]:
-        # Seqlock read against update_state()'s memmove: an even generation
-        # unchanged across the copy means the buffer held still, so the
-        # payload is a single complete frame. An odd generation (write in
-        # flight) or a changed generation is a torn read; a few retries cover
-        # the microsecond-wide memmove, and skipping the tick is harmless
-        # under latest-wins. Returns the (generation, payload) actually read.
-        for _ in range(8):
-          gen_before = generation.value
-          if gen_before & 1:
-            continue
-          (used,) = struct.unpack("<I", bytes(shm_array[:4]))  # pyrefly: ignore[unsupported-operation]
-          if used == 0 or used > shm_capacity:
-            return None
-          data = bytes(shm_array[4 : 4 + used])  # pyrefly: ignore[unsupported-operation]
-          if generation.value == gen_before:
-            return gen_before, data
-        return None
-
-      # See _STATE_ACK_MESSAGE: one payload in flight at a time, so the latest
-      # wins read below always ships the freshest state a slow link can carry
-      # (the camera rides this stream, so socket buffering shows up directly as
-      # input latency).
-      payload_acked = asyncio.Event()
-      payload_acked.set()
-
-      async def send_payloads() -> None:
-        last_gen = 0
-        while True:
-          await asyncio.sleep(1.0 / 60.0)
-          if generation.value == last_gen:
-            continue
-          try:
-            await asyncio.wait_for(
-                payload_acked.wait(), timeout=_STATE_ACK_TIMEOUT_SEC
-            )
-          except asyncio.TimeoutError:
-            pass  # Lost ack; send anyway rather than stalling forever.
-          result = read_state()
-          if result is None:
-            continue
-          last_gen, data = result
-          payload_acked.clear()
-          await ws.send(data)
-
-      async def recv_messages() -> None:
-        async for message in ws:
-          if isinstance(message, str):
-            if message == _STATE_ACK_MESSAGE:
-              # Deliberately does NOT count as liveness: acks keep flowing from
-              # hidden tabs (WebSocket events are not requestAnimationFrame
-              # gated), and the inactivity policy must still see those tabs as
-              # silent.
-              payload_acked.set()
-              continue
-            await handle_session_message(sid, message)
-
-      try:
-        done, pending = await asyncio.wait(
-            [
-                asyncio.create_task(send_payloads()),
-                asyncio.create_task(recv_messages()),
-            ],
-            return_when=asyncio.FIRST_COMPLETED,
-        )
-        for task in pending:
-          task.cancel()
-        for task in done:
-          task.exception()  # Retrieve to avoid "exception never retrieved".
-      except (ConnectionClosed, ConnectionError):
-        pass
-      finally:
-        # Only tear down if this socket is still the one registered for sid: a
-        # reconnect may have already replaced it, and that newer connection now
-        # owns the queue and heartbeat entries.
-        if state_clients.get(sid) is ws:
-          del state_clients[sid]
-          if sid in control_queue:
-            control_queue.remove(sid)
-          last_heartbeat.pop(sid, None)
-          logger.info(
-              "[StateWS] Browser disconnected (%d total)", len(state_clients)
-          )
-          await broadcast_roster()
-
-    # --- Dispatch ----------------------------------------------------------
-
-    def process_request(
-        connection: ServerConnection, request: Request
-    ) -> Optional[Response]:
-      del connection
-
-      # Split path and query string.
-      if "?" in request.path:
-        path, query_string = request.path.split("?", 1)
-      else:
-        path, query_string = request.path, ""
-      if path in ("/ui", "/state", "/drop"):
-        return None  # Proceed with the WebSocket handshake.
-
-      # Chunked model endpoint: the client fetches /model in parallel chunks
-      #
-      #   GET /model?total_bytes                 -> {"total_bytes": <n>}
-      #   GET /model?offset_bytes=X&size_bytes=Y -> bytes [X, X+Y)
-      #
-      # Full model endpoint: the client fetches /model in a single request
-      #
-      #   GET /model  -> full model bytes
-      if path == "/model" and mjb_data and query_string:
-        params = urllib.parse.parse_qs(query_string)
-        if "total_bytes" in params or query_string == "total_bytes":
-          body = json.dumps({"total_bytes": len(mjb_data)}).encode()
-          headers = _http_headers(
-              "application/json", len(body), cacheable=False
-          )
-          return Response(200, "OK", headers, body)
-        try:
-          offset = int(params.get("offset_bytes", [0])[0])
-          size = int(params.get("size_bytes", [0])[0])
-        except (ValueError, TypeError):
-          return Response(400, "Bad Request", Headers(), b"bad params\n")
-        if size <= 0 or offset < 0 or offset >= len(mjb_data):
-          return Response(400, "Bad Request", Headers(), b"bad range\n")
-        chunk = mjb_data[offset : min(offset + size, len(mjb_data))]
-        headers = _http_headers(
-            "application/octet-stream", len(chunk), cacheable=False
-        )
-        return Response(200, "OK", headers, chunk)
-
-      return _serve_http(path)
-
-    def process_response(
-        connection: ServerConnection, request: Request, response: Response
-    ) -> Optional[Response]:
-      """Adds cross-origin headers to the WebSocket upgrade (101) response.
-
-      The page serves Cross-Origin-Opener-Policy: same-origin and
-      Cross-Origin-Embedder-Policy: require-corp so the WASM pthread build
-      can use SharedArrayBuffer. When accessed through an HTTPS reverse proxy,
-      the browser's cross-origin isolation policy blocks WebSocket connections
-      unless the upgrade response carries matching headers. Without them, the
-      handshake fails with close code CloseCode.ABNORMAL_CLOSURE.
-
-      Args:
-        connection: The WebSocket server connection (unused).
-        request: The initial HTTP upgrade request (unused).
-        response: The HTTP upgrade response to attach CORS headers to.
-
-      Returns:
-        None to allow the WebSocket upgrade handshake to proceed.
-      """
-      del connection
-      del request
-      response.headers["Cross-Origin-Opener-Policy"] = "same-origin"
-      response.headers["Cross-Origin-Embedder-Policy"] = "require-corp"
-      response.headers["Access-Control-Allow-Origin"] = "*"
-      response.headers["Cross-Origin-Resource-Policy"] = "cross-origin"
-      return None
-
-    # --- /drop: receive a file dropped onto the browser page ---------------
-
-    async def drop_handler(ws: ServerConnection) -> None:
-      """Receives dropped files and forwards them to the viewer process.
-
-      The browser opens this socket on demand and sends one binary frame per
-      file ([u32 path length][relative path utf-8][file bytes], see
-      index.html), then an empty frame as an end marker; this server closes
-      once it has everything. The files cross to the viewer process via
-      drop_queue as a dict of relative path -> bytes; WebViewer.get_drop_file()
-      writes them to a temporary directory for the regular drop-loading flow.
-
-      Loading a model changes the session for every connected page, so only
-      the controller may do it; drops from other pages are rejected.
-
-      Args:
-        ws: The WebSocket connection to receive from.
-      """
-      if controller_sid is None or _session_id(ws) != controller_sid:
-        logger.info("[Drop] Ignored a model drop from a non-controller page")
-        await ws.close(_WS_CLOSE_NOT_CONTROLLER, "not the controller")
-        return
-
-      files: dict[str, bytes] = {}
-      complete = False
-      try:
-        async for message in ws:
-          if not isinstance(message, bytes):
-            continue
-          if not message:
-            complete = True  # End-of-drop marker.
-            break
-          if len(message) < 4:
-            continue
-          (name_len,) = struct.unpack_from("<I", message)
-          if 4 + name_len > len(message):
-            continue
-          name = message[4 : 4 + name_len].decode("utf-8", "replace")
-          files[name] = message[4 + name_len :]
-      except (ConnectionClosed, ConnectionError):
-        pass
-
-      # Only forward a drop that arrived in full. A connection that dies before
-      # the end marker (e.g. a file frame exceeding the websocket size cap
-      # closes it with CloseCode.MESSAGE_TOO_BIG) leaves a partial file set that
-      # would load as a broken model, so discard it instead.
-      if not complete:
-        if files:
-          logger.info(
-              "[Drop] Incomplete drop (%d file(s) before the"
-              " connection closed); discarding.",
-              len(files),
-          )
-      elif files and drop_queue is not None:
-        total = sum(len(data) for data in files.values())
-        logger.info("[Drop] Received %d file(s), %d bytes", len(files), total)
-        drop_queue.put(files)
-
-      await ws.close()
-
-    async def ws_handler(ws: ServerConnection) -> None:
-      req = ws.request
-      if req is None:
-        await ws.close(CloseCode.POLICY_VIOLATION, "missing request")
-        return
-      path = req.path.split("?")[0]
-      if path == "/ui":
-        await ui_handler(ws)
-      elif path == "/state":
-        await state_handler(ws)
-      elif path == "/drop":
-        await drop_handler(ws)
-      else:
-        await ws.close(CloseCode.POLICY_VIOLATION, "unknown endpoint")
-
-    # Block until the lifeline pipe hits EOF, which happens exactly when the
-    # viewer process is gone (clean stop() close, crash, or SIGKILL). An
-    # orphaned server would otherwise keep serving a stale model and fight any
-    # replacement server for browsers.
-    async def watch_lifeline() -> None:
-      # A dedicated daemon thread rather than run_in_executor: executor threads
-      # are non-daemonic and are joined at interpreter exit, so a blocked
-      # os.read would keep this process alive for as long as the viewer holds
-      # the lifeline open — e.g. when the viewer is still tearing down after
-      # Ctrl+C hit both processes.
-      loop = asyncio.get_running_loop()
-      eof = asyncio.Event()
-
-      def wait_for_eof() -> None:
-        try:
-          os.read(lifeline_r, 1)
-          loop.call_soon_threadsafe(eof.set)
-        except (OSError, RuntimeError):
-          pass  # fd or loop already closed, so the process is exiting anyway.
-
-      threading.Thread(target=wait_for_eof, daemon=True).start()
-      await eof.wait()
-      logger.debug("[Http] Viewer process exited; shutting down.")
-
-    tcp_server = await asyncio.start_server(handle_tcp_client, sock=tcp_sock)
-
-    # NetImgui does its own delta compression and the state payload is small;
-    # permessage-deflate would only add latency at 60Hz.
-    ws_server = await serve(
-        ws_handler,
-        sock=http_sock,
-        process_request=process_request,
-        process_response=process_response,
-        compression=None,
-        ping_interval=None,
-        ping_timeout=None,
-        open_timeout=None,
-        close_timeout=None,
-        # Big enough for model files uploaded via /drop.
-        max_size=2**26,
-    )
-    http_host, http_port = http_sock.getsockname()[:2]
-    tcp_port = tcp_sock.getsockname()[1]
-    logger.debug(
-        "[Http] Serving on http://%s:%d "
-        "(/, /model, /ui, /state; NetImgui TCP on 127.0.0.1:%d)",
-        http_host,
-        http_port,
-        tcp_port,
-    )
-
-    enforcer = asyncio.create_task(enforce_activity())
-    try:
-      await watch_lifeline()
-    finally:
-      enforcer.cancel()
-      # Close listeners explicitly to prevent hanging on open client sockets.
-      ws_server.close()
-      tcp_server.close()
-
-  _run_cancellable(main_loop)
-
-
-class WebServer:
-  """The Web Viewer's single-port server.
-
-  Serves the browser page, WASM, and model over HTTP; bridges the NetImgui UI
-  stream at /ui; and broadcasts the state payload at /state on a single public
-  port from a child process. State payloads are handed over through shared
-  memory with latest-wins semantics: update_state() may be called at any rate
-  from the viewer thread; browsers only ever see the newest payload.
-
-  Run the simulation with the web viewer, then visit the printed URL.
-  """
-
-  def __init__(
-      self,
-      http_sock: socket.socket,
-      tcp_sock: socket.socket,
-      static_files_dir: Optional[str] = None,
-      mjb_data: Optional[bytes] = None,
-      max_payload_size: int = 0,
-      drop_queue: Optional[multiprocessing.queues.Queue[Any]] = None,
-      controller_sid_shared: Optional[Any] = None,
-  ) -> None:
-    """Initializes the server around pre-bound listening sockets.
-
-    The sockets are bound by the viewer (see bind_public_socket /
-    bind_loopback_socket) and shared with the server child, so ports stay
-    stable across restarts and bind failures can't occur here.
-
-    Args:
-      http_sock: The listening socket for HTTP and WebSocket traffic.
-      tcp_sock: The listening socket for NetImgui traffic.
-      static_files_dir: The directory containing the static files to serve.
-      mjb_data: The model data to serve from /model.
-      max_payload_size: The maximum size of the state payload.
-      drop_queue: The queue to put dropped files onto.
-      controller_sid_shared: The shared value containing the controller's
-        session id.
-    """
-    self.http_sock = http_sock
-    self.tcp_sock = tcp_sock
-    self.static_files_dir = static_files_dir or _find_static_files_dir()
-    self.mjb_data = mjb_data
-
-    # Owned by the viewer (it outlives server restarts); dropped-file bytes
-    # travel from the server child back to the viewer process through it.
-    self.drop_queue = drop_queue
-
-    # Also viewer-owned: the controlling page's session id, so a fresh
-    # server can reserve the controller slot for the page that was
-    # controlling before a model-change restart.
-    self.controller_sid_shared = controller_sid_shared
-    self._process = None
-    self._lifeline_w = None
-
-    # Shared memory for zero-copy payload transfer to the server process:
-    # [u32 length][payload bytes], so payloads can vary in size up to
-    # max_payload_size (see state_payload.max_state_payload_size).
-    self._shm_capacity = max_payload_size
-    self._shm_array = (
-        multiprocessing.RawArray(ctypes.c_char, 4 + self._shm_capacity)
-        if self._shm_capacity > 0
-        else None
-    )
-    self._generation = multiprocessing.Value("Q", 0)  # uint64 counter
-
-  def update_state(self, payload: bytes) -> None:
-    """Publishes the latest state payload. Called from the viewer thread."""
-    if self._shm_array is None:
-      return
-
-    if len(payload) > self._shm_capacity:
-      logger.error(
-          "[StateWS] Payload of %d bytes exceeds capacity %d; dropping.",
-          len(payload),
-          self._shm_capacity,
-      )
-      return
-
-    # Seqlock: bump the generation to odd before writing and back to even after,
-    # so a reader that copies the buffer while this memmove is in flight can
-    # detect the torn read (see send_payloads) and retry. Without it a reader
-    # could splice two frames and ship an invalid physics block.
-    with self._generation.get_lock():
-      self._generation.value += 1
-    ctypes.memmove(
-        self._shm_array,
-        struct.pack("<I", len(payload)) + payload,
-        4 + len(payload),
-    )
-    with self._generation.get_lock():
-      self._generation.value += 1
-
-  def start(self) -> None:
-    """Starts the server in a background process."""
-    if not self.static_files_dir:
-      logger.warning("[Http] WARNING: Could not find web viewer static files.")
-      return
-
-    logger.debug("[Http] Serving web viewer from: %s", self.static_files_dir)
-
-    # Lifeline pipe: the child holds the read end and exits on EOF, which
-    # happens when this process closes the write end (stop()) or dies for any
-    # reason at all, preventing orphaned servers.
-    lifeline_r, self._lifeline_w = os.pipe()
-
-    # Sockets and pipe fds must be inherited, so fork explicitly (the default
-    # start method is fork on Linux today, but is changing upstream).
-    self._process = multiprocessing.get_context("fork").Process(
-        target=_run_server,
-        args=(
-            self.http_sock,
-            self.tcp_sock,
-            lifeline_r,
-            self._lifeline_w,
-            self.static_files_dir,
-            self.mjb_data,
-            self._shm_array,
-            self._shm_capacity,
-            self._generation,
-            self.drop_queue,
-            self.controller_sid_shared,
-        ),
-        daemon=True,
-    )
-    self._process.start()
-    os.close(lifeline_r)
-
-  def stop(self) -> None:
-    """Stops the server, escalating to SIGKILL if it hangs."""
-    if self._lifeline_w is not None:
-      os.close(self._lifeline_w)  # EOF on the child's lifeline: clean exit.
-      self._lifeline_w = None
-    if self._process:
-      _terminate_process(self._process)
-      self._process = None
diff --git a/python/mujoco/experimental/studio/web_viewer.py b/python/mujoco/experimental/studio/web_viewer.py
deleted file mode 100644
index 304b50c7..00000000
--- a/python/mujoco/experimental/studio/web_viewer.py
+++ /dev/null
@@ -1,405 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""Simulation-agnostic web viewer for MuJoCo models.
-
-See the documentation for viewer_app.py for more details on the architecture
-separating the viewer and simulation.
-
-The WebViewer streams UI and simulation state to a browser:
-
-  * The ImGui UI is built into a headless ImGui context and streamed to the
-    browser with the NetImgui protocol through a WebSocket-to-TCP proxy.
-    Input captured in the browser flows back over the same connection and is
-    injected into the headless context, so all viewer-side plugins work
-    unmodified.
-  * Physics state and render function state are streamed to the browser over
-    a WebSocket with latest-wins semantics. Note that Message types are only
-    streamed between the Python simulation and viewer; the data streamed to
-    the browser is fixed and independent of the user's custom message types.
-  * The browser runs the ``web_client`` WASM app, which renders the MuJoCo
-    scene with Filament and overlays the remote ImGui draw data.
-  * Everything is served through one public port (default 8080): the page and
-    model over HTTP, the UI stream at path /ui and the state stream at /state.
-    Exposing or tunneling that single port exposes the whole viewer; the other
-    ports are loopback-internal.
-"""
-
-import multiprocessing
-import os
-import queue
-import shutil
-import socket
-import tempfile
-from typing import Any
-import zlib
-
-import mujoco
-from mujoco.experimental.studio import endpoints
-from mujoco.experimental.studio import messages
-from mujoco.experimental.studio import ux
-from mujoco.experimental.studio import viewer_protocol
-from mujoco.experimental.studio.web import headless_ui
-from mujoco.experimental.studio.web import state_payload
-from mujoco.experimental.studio.web import web_server
-import numpy as np
-
-from mujoco.experimental.dear_imgui import dear_imgui as imgui
-from mujoco.experimental.implot import implot
-
-# File extensions a dropped file may load as a model.
-_MODEL_EXTENSIONS = ('.xml', '.urdf', '.mjb', '.mjz', '.zip')
-
-
-def _find_assets_dir() -> str:
-  """Locates the Studio assets directory inside the mujoco package."""
-  env_dir = os.environ.get('MUJOCO_STUDIO_ASSETS_DIR')
-  if env_dir and os.path.isdir(env_dir):
-    return env_dir
-  package_dir = os.path.dirname(os.path.abspath(mujoco.__file__))
-  assets_dir = os.path.join(package_dir, 'experimental', 'studio', 'assets')
-  if os.path.isdir(assets_dir):
-    return assets_dir
-  return ''
-
-
-def _print_url_banner(host: str, port: int) -> None:
-  """Prints a prominent boxed banner with the URLs browsers can use."""
-  rows = []
-  if host in ('::', '0.0.0.0'):
-    fqdn = socket.getfqdn()
-    rows.append(('Remote:', f'http://{fqdn}:{port}/'))
-  rows.append(('Local:', f'http://localhost:{port}/'))
-
-  label_width = max(len(label) for label, _ in rows)
-  lines_plain = ['MuJoCo Web Viewer running at:', '']
-  lines_plain += [f'  {label.ljust(label_width)}  {url}' for label, url in rows]
-  lines_plain += ['', 'Ctrl+C to quit']
-
-  width = max(len(line) for line in lines_plain)
-
-  def _hyperlink(url: str) -> str:
-    return f'\033]8;;{url}\033\\{url}\033]8;;\033\\'
-
-  lines_formatted = ['MuJoCo Web Viewer running at:', '']
-  lines_formatted += [
-      f'  {label.ljust(label_width)}  {_hyperlink(url)}' for label, url in rows
-  ]
-  lines_formatted += ['', 'Ctrl+C to quit']
-
-  banner = ['+' + '-' * (width + 2) + '+']
-  for plain, formatted in zip(lines_plain, lines_formatted):
-    padding = ' ' * (width - len(plain))
-    banner.append(f'| {formatted}{padding} |')
-  banner.append('+' + '-' * (width + 2) + '+')
-  print('\n'.join(banner), flush=True)
-
-
-def _pick_drop_root(paths: list[str]) -> str | None:
-  """Picks the model file to load from a dropped set of files.
-
-  Rules, in order: the only loadable file wins; otherwise, among the loadable
-  files at the shallowest directory depth, prefer one named after its folder
-  (the mjz convention, e.g. cards/cards.xml), then scene.xml (the
-  mujoco_menagerie convention), then the alphabetically first.
-
-  Args:
-    paths: A list of relative file paths.
-
-  Returns:
-    The path to the model file to load, or None if no model file was found.
-  """
-  candidates = [p for p in paths if p.lower().endswith(_MODEL_EXTENSIONS)]
-
-  if not candidates:
-    return None
-
-  if len(candidates) == 1:
-    return candidates[0]
-
-  depth = min(p.count('/') for p in candidates)
-  shallow = sorted(p for p in candidates if p.count('/') == depth)
-  for path in shallow:
-    parts = path.split('/')
-    stem = os.path.splitext(parts[-1])[0]
-    if len(parts) > 1 and stem == parts[-2]:
-      return path
-
-  for path in shallow:
-    if os.path.basename(path) == 'scene.xml':
-      return path
-
-  return shallow[0]
-
-
-class WebViewer(viewer_protocol.Viewer):
-  """Simulation-agnostic web viewer for MuJoCo models."""
-
-  def __init__(
-      self,
-      config: viewer_protocol.ViewerConfig,
-      endpoint: endpoints.ViewerEndpoint,
-      *,
-      model: mujoco.MjModel | None = None,
-      model_path: str = '',
-      plugins: list[Any] | None = None,
-      camera: mujoco.MjvCamera | None = None,
-      vis_options: mujoco.MjvOption | None = None,
-      perturb: mujoco.MjvPerturb | None = None,
-      render_flags: ux.RenderFlags | None = None,
-      extra_geoms: list[mujoco.MjvGeom] | None = None,
-      host: str = '::',
-      http_port: int | None = None,
-      ui_tcp_port: int = 0,
-  ) -> None:
-    """Initializes the WebViewer.
-
-    Args:
-      config: Viewer window configuration.
-      endpoint: The viewer endpoint for communication with the sim side.
-      model: Optional initial MjModel. Forwarded to the base Viewer.
-      model_path: Optional path to the model file.
-      plugins: Optional list of plugin instances.
-      camera: Camera parameters. Internal object is created if None.
-      vis_options: Visualization options. Internal object is created if None.
-      perturb: Perturbation parameters. Internal object is created if None.
-      render_flags: Render flags. Internal object is created if None.
-      extra_geoms: List of extra geoms. Internal list is created if None.
-      host: Public interface the server binds to. The default "::" accepts both
-        IPv6 and IPv4 connections (IPv4-only where IPv6 is unavailable).
-      http_port: The single public port: page, WASM, /model, and the /ui and
-        /state WebSocket paths. None falls back to config.http_port; 0 picks the
-        first free port starting at 8080, so several viewers can run side by
-        side.
-      ui_tcp_port: Loopback TCP port the headless NetImgui client connects to. 0
-        (the default) uses an OS-assigned ephemeral port — both endpoints live
-        in this process tree, so no fixed number is needed.
-    """
-    super().__init__(
-        config,
-        endpoint,
-        model=model,
-        model_path=model_path,
-        plugins=plugins,
-        camera=camera,
-        vis_options=vis_options,
-        perturb=perturb,
-        render_flags=render_flags,
-        extra_geoms=extra_geoms,
-    )
-
-    self._host = host
-    # Bind both listening sockets up front, in this process: bind conflicts
-    # surface here as one clear error, the public port stays stable across
-    # server restarts, and the loopback port is OS-assigned so viewer instances
-    # can never collide on it.
-    requested_port = config.http_port if http_port is None else http_port
-    self._http_sock = web_server.bind_public_socket(host, requested_port)
-    self._http_port = self._http_sock.getsockname()[1]
-    self._tcp_sock = web_server.bind_loopback_socket(ui_tcp_port)
-    self._ui_tcp_port = self._tcp_sock.getsockname()[1]
-
-    # Headless ImGui context streaming UI draw data via NetImgui.
-    self._headless_ui = headless_ui.HeadlessUi(
-        config.title or 'MuJoCo Web Viewer',
-        self._ui_tcp_port,
-        _find_assets_dir(),
-    )
-
-    # Point the Python Dear ImGui bindings at the headless context so that
-    # viewer-side handlers build their GUI into it. The ImPlot context must be
-    # shared in the same way.
-    ctx = self._headless_ui.get_context()
-    imgui.SetCurrentContext(ctx)
-    ux.set_imgui_context(ctx)
-    ux.set_implot_context(self._headless_ui.get_implot_context())
-    implot.set_imgui_context(ctx)
-    implot.set_implot_context(self._headless_ui.get_implot_context())
-
-    # The single-port server (HTTP + /ui + /state + /drop). This is restarted
-    # whenever the model changes.
-    self._web_server: web_server.WebServer | None = None
-    self._model_crc32 = 0
-
-    # Files dropped onto the browser page arrive here from the server child as a
-    # dict of relative path -> bytes; owned by the viewer so it survives server
-    # restarts.
-    self._drop_queue = multiprocessing.get_context('fork').Queue()
-
-    # The controlling page's session id, written by the server child. Owned by
-    # the viewer so a fresh server (model change restarts it) can reserve the
-    # controller slot for the same page instead of letting whichever page
-    # reconnects first win it.
-    self._controller_sid = multiprocessing.get_context('fork').Array('c', 64)
-
-    # Temp dir holding the most recent drop's files; removed when the next drop
-    # supersedes it (its model is already parsed) and on close.
-    self._drop_dir = None
-    self._start_servers()
-    _print_url_banner(self._host, self._http_port)
-
-    # Dispatch lifecycle event so handlers can cache the viewer reference.
-    self.dispatch(viewer_protocol.ViewerInitEvent(viewer=self))
-
-  # ---------------------------------------------------------------------------
-  # Server lifecycle.
-  # ---------------------------------------------------------------------------
-
-  def _start_servers(self) -> None:
-    """Starts (or restarts) the web server, serving the current model."""
-    self._stop_servers()
-
-    # Serialize the compiled model to MJB bytes (served as /model).
-    buffer = np.empty(mujoco.mj_sizeModel(self.model), np.uint8)
-    mujoco.mj_saveModel(self.model, None, buffer)
-    mjb_data = buffer.tobytes()
-
-    # Identity of the served model, included in every state payload. When it
-    # changes, the browser refetches /model by reloading the page.
-    self._model_crc32 = zlib.crc32(mjb_data)
-
-    state_sig = int(mujoco.mjtState.mjSTATE_INTEGRATION)
-    state_size = mujoco.mj_stateSize(self.model, state_sig)
-    max_payload = state_payload.max_state_payload_size(
-        state_size * np.float64().itemsize
-    )
-
-    self._web_server = web_server.WebServer(
-        http_sock=self._http_sock,
-        tcp_sock=self._tcp_sock,
-        mjb_data=mjb_data,
-        max_payload_size=max_payload,
-        drop_queue=self._drop_queue,
-        controller_sid_shared=self._controller_sid,
-    )
-    self._web_server.start()
-
-  def _stop_servers(self) -> None:
-    if self._web_server is not None:
-      self._web_server.stop()
-      self._web_server = None
-
-  # ---------------------------------------------------------------------------
-  # Message handlers.
-  # ---------------------------------------------------------------------------
-
-  @messages.handler(priority=messages.Priority.CRITICAL)
-  def _on_model(self, event: messages.ModelEvent) -> bool:
-    """Loads the new model, then restarts the servers to serve it.
-
-    The plugin registry discovers handlers by name, so this override replaces
-    the base Viewer's _on_model and must call it explicitly to load the model
-    before the servers serialize it. The browser reconnects to the new state
-    server, notices the changed model identity in the payload, and reloads
-    itself to fetch the new model.
-    """
-    super()._on_model(event)
-    self._start_servers()
-    print('Model changed: the browser page reloads automatically.', flush=True)
-    return False  # Do not consume; let other handlers see the event.
-
-  # ---------------------------------------------------------------------------
-  # Viewer interface.
-  # ---------------------------------------------------------------------------
-
-  def prepare_next_frame(self) -> bool:
-    """Advances to the next headless frame; returns False when disconnected."""
-    return self._headless_ui.new_frame()
-
-  def sync(self) -> None:
-    """Streams state to the browser and ends the headless ImGui frame."""
-    if self._web_server is not None:
-      state_sig = int(mujoco.mjtState.mjSTATE_INTEGRATION)
-      state_size = mujoco.mj_stateSize(self.model, state_sig)
-      state = np.empty(state_size, np.float64)
-      mujoco.mj_getState(self.model, self.data, state, state_sig)
-      payload = state_payload.serialize_state_payload(
-          self._model_crc32,
-          state_sig,
-          state.tobytes(),
-          self.camera,
-          self.perturb,
-          self.vis_options,
-          self.model,
-          list(self.render_flags.flags),
-          self.extra_geoms[: state_payload.MAX_EXTRA_GEOMS],
-      )
-      self._web_server.update_state(payload)
-
-    # Finish the ImGui frame; NetImgui sends the draw data to the browser.
-    self._headless_ui.end_frame()
-
-  def close(self) -> None:
-    self._stop_servers()
-    self._http_sock.close()
-    self._tcp_sock.close()
-    if self._drop_dir is not None:
-      shutil.rmtree(self._drop_dir, ignore_errors=True)
-      self._drop_dir = None
-    super().close()
-
-  def get_drop_file(self) -> str:
-    """Returns the path of a model file dropped onto the browser page, or ''.
-
-    The browser uploads the dropped files' bytes over the /drop WebSocket
-    (so drops work even when the browser runs on another machine). They are
-    written to a temporary directory here, preserving names and relative
-    paths — a dropped folder's asset references resolve, and the mjz/zip
-    decoder can locate an archive's root XML by the archive's own name —
-    and the regular drop-loading flow (ViewerApp -> parser.parse) applies.
-    """
-    try:
-      files = self._drop_queue.get_nowait()
-    except queue.Empty:
-      return ''
-
-    # TODO(matijak): This could work without disk access: mjVFS can hold the
-    # dropped files in memory (mj_addBufferVFS) and mj_parse resolves
-    # includes/assets from it (ModelHolder::InitFromBuffer already covers
-    # the single-buffer XML/MJB/ZIP cases). Needs a buffer-based parser
-    # entry point and a viewer drop interface that isn't a file path.
-    # The previous drop's model has already been parsed, so its temp dir can
-    # go now; keeping only the newest avoids leaking one dir per drop.
-    if self._drop_dir is not None:
-      shutil.rmtree(self._drop_dir, ignore_errors=True)
-    self._drop_dir = tempfile.mkdtemp(prefix='mujoco_drop_')
-    drop_dir = self._drop_dir
-    written = []
-    for name, payload in files.items():
-      rel = name.replace('\\', '/').lstrip('/')
-      parts = [p for p in rel.split('/') if p not in ('', '.', '..')]
-      if not parts:
-        continue
-      rel = '/'.join(parts)
-      path = os.path.join(drop_dir, *parts)
-      os.makedirs(os.path.dirname(path), exist_ok=True)
-      with open(path, 'wb') as f:
-        f.write(payload)
-      written.append(rel)
-    root = _pick_drop_root(written)
-    if root is None:
-      print(
-          'Dropped file(s) contain no loadable model '
-          f'({", ".join(_MODEL_EXTENSIONS)}).',
-          flush=True,
-      )
-      return ''
-    return os.path.join(drop_dir, *root.split('/'))
-
-  def upload_image(
-      self, tex_id: int, img: str | bytes, width: int, height: int, bpp: int
-  ) -> int:
-    """Uploads an image to the browser over the NetImgui texture channel."""
-    if isinstance(img, str):
-      img = img.encode('latin-1')
-    return self._headless_ui.upload_image(tex_id, img, width, height, bpp)
diff --git a/python/mujoco/experimental/studio/window.cc b/python/mujoco/experimental/studio/window.cc
deleted file mode 100644
index e0b8507f..00000000
--- a/python/mujoco/experimental/studio/window.cc
+++ /dev/null
@@ -1,110 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstddef>
-#include <cstdint>
-#include <cstdlib>
-#include <cstring>
-#include <memory>
-#include <string>
-#include <string_view>
-
-#include <imgui.h>
-#include <implot.h>
-#include <mujoco/experimental/platform/hal/graphics_mode.h>
-#include <mujoco/experimental/platform/hal/window.h>
-#include <mujoco/experimental/platform/resources.h>
-#include <pybind11/eval.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-static bool IsCuda() {
-#ifdef CUDA
-  return true;
-#else
-  return false;
-#endif
-}
-
-static bool IsCrd() {
-  const char* display = getenv("DISPLAY");
-  return display ? strcmp(display, ":20") == 0 : false;
-}
-
-static intptr_t GetImGuiContext() {
-  return reinterpret_cast<intptr_t>(ImGui::GetCurrentContext());
-}
-
-static intptr_t GetImPlotContext() {
-  return reinterpret_cast<intptr_t>(ImPlot::GetCurrentContext());
-}
-
-class Window {
- public:
-  Window(const std::string& title, int width, int height,
-         std::string graphics_mode_str) {
-    pybind11::gil_scoped_release no_gil;
-
-    mujoco::platform::RegisterResourceProviders();
-
-    mujoco::platform::Window::Config config;
-    config.gfx_mode = mujoco::platform::GraphicsModeFromString(
-        graphics_mode_str, mujoco::platform::GraphicsMode::FilamentOpenGl);
-    window_ = std::make_unique<mujoco::platform::Window>(
-        title, width, height, config);
-    ImPlot::CreateContext();
-  }
-
-  bool NewFrame() {
-    pybind11::gil_scoped_release no_gil;
-    const mujoco::platform::Window::Status window_status = window_->NewFrame();
-    return window_status == mujoco::platform::Window::Status::kRunning;
-  }
-
-  void Present(pybind11::bytes pixels) {
-    pybind11::gil_scoped_release no_gil;
-    std::string_view sv(pixels);
-    window_->EndFrame();
-    window_->Present({(std::byte*)sv.data(), sv.size()});
-  }
-
-  int GetWidth() { return window_->GetWidth(); }
-  int GetHeight() { return window_->GetHeight(); }
-
-  uint64_t GetNativeWindowHandle() {
-    return reinterpret_cast<uint64_t>(window_->GetNativeWindowHandle());
-  }
-
-  std::string GetDropFile() { return window_->GetDropFile(); }
-
- private:
-  std::unique_ptr<mujoco::platform::Window> window_;
-};
-
-PYBIND11_MODULE(window, m, pybind11::mod_gil_not_used()) {
-  m.def("IsCrd", &IsCrd);
-  m.def("IsCuda", &IsCuda);
-  m.def("GetImGuiContext", &GetImGuiContext);
-  m.def("GetImPlotContext", &GetImPlotContext);
-
-  pybind11::class_<Window> cls(m, "Window");
-  cls.def(pybind11::init<const std::string&, int, int, const std::string&>());
-  cls.def("NewFrame", &Window::NewFrame);
-  cls.def("Present", &Window::Present);
-  cls.def("GetWidth", &Window::GetWidth);
-  cls.def("GetHeight", &Window::GetHeight);
-  cls.def("GetDropFile", &Window::GetDropFile);
-  cls.def("GetNativeWindowHandle", &Window::GetNativeWindowHandle);
-}
diff --git a/python/mujoco/functions.cc b/python/mujoco/functions.cc
deleted file mode 100644
index c07bc60c..00000000
--- a/python/mujoco/functions.cc
+++ /dev/null
@@ -1,1822 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <stdalign.h>
-
-#include <array>
-#include <cstdint>
-#include <cstdio>
-#include <memory>
-#include <string>
-#include <optional>
-
-#include <Eigen/Core>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "errors.h"
-#include "function_traits.h"
-#include "functions.h"
-#include "private.h"
-#include "raw.h"
-#include "structs.h"
-#include "util/func_wrap.h"
-#include <pybind11/eigen.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-
-namespace mujoco::python {
-namespace {
-PYBIND11_MODULE(_functions, pymodule, pybind11::mod_gil_not_used()) {
-  namespace py = ::pybind11;
-  namespace traits = python_traits;
-
-  using EigenVectorI = Eigen::Vector<int, Eigen::Dynamic>;
-  using EigenVectorX = Eigen::Vector<mjtNum, Eigen::Dynamic>;
-  using EigenArrayXX = Eigen::Array<
-      mjtNum, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
-
-
-  // Import the _structs module so that pybind11 knows about Python bindings
-  // for MjWrapper types and therefore generates prettier docstrings.
-  py::module::import("mujoco._structs");
-
-  // Virtual file system
-  // Skipped entire section
-
-  // Asset cache
-  Def<traits::mj_getCacheSize>(pymodule, [](void* cache) {
-        return mj_getCacheSize(static_cast<mjCache*>(cache));
-      });
-
-  Def<traits::mj_getCacheCapacity>(pymodule, [](void* cache) {
-        return mj_getCacheCapacity(static_cast<mjCache*>(cache));
-      });
-
-  Def<traits::mj_setCacheCapacity>(pymodule, [](void* cache, std::size_t size) {
-        return mj_setCacheCapacity(static_cast<mjCache*>(cache), size);
-      });
-
-  Def<traits::mj_getCache>(pymodule, []() {
-        return static_cast<void*>(mj_getCache());
-      });
-
-  Def<traits::mj_clearCache>(pymodule, [](void* cache) {
-        return mj_clearCache(static_cast<mjCache*>(cache));
-      });
-
-  // Parse and compile
-  // Skipped: mj_loadXML (have MjModel.from_xml_string)
-  DEF_WITH_OMITTED_PY_ARGS(traits::mj_saveLastXML, "error", "error_sz")(
-      pymodule,
-      [](const char* filename, const mjModel* m) {
-        std::array<char, 1024> error;
-        int success = InterceptMjErrors(::mj_saveLastXML)(
-            filename, m, error.data(), error.size());
-        if (!success) {
-          throw FatalError(std::string(error.data()));
-        }
-      });
-  // Skipped: mj_freeLastXML
-  DEF_WITH_OMITTED_PY_ARGS(traits::mj_printSchema,
-                           "filename", "buffer", "buffer_sz")(
-      pymodule, [](bool flg_html, bool flg_pad) {
-        constexpr int kBufferSize = 60000;
-        auto buffer = std::unique_ptr<char[]>(new char[kBufferSize]);
-        const int out_length = InterceptMjErrors(::mj_printSchema)(
-            nullptr, buffer.get(), kBufferSize, flg_html, flg_pad);
-        if (out_length >= kBufferSize) {
-          throw UnexpectedError("output buffer too small");
-        }
-        return std::string(buffer.get(), out_length);
-      });
-
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_getXMLDependencies,
-                           "dependencies")(
-      pymodule, [](const char* filename){
-        mjStringVec dependencies;
-        InterceptMjErrors(::mju_getXMLDependencies)(filename, &dependencies);
-        return dependencies;
-      });
-
-  // Main simulation
-  pymodule.def(
-      "mj_step",
-      InterceptMjErrors(
-          [](const MjModelWrapper& m, MjDataWrapper& d, int nstep) {
-            const raw::MjModel* const m_ptr = m.get();
-            raw::MjData* const d_ptr = d.get();
-            for (int i = 0; i < nstep; ++i) {
-              ::mj_step(m_ptr, d_ptr);
-            }
-          }),
-      py::arg("m"), py::arg("d"), py::arg_v("nstep", 1),
-      py::doc((std::string(traits::mj_step::doc) +
-               std::string(" Optionally, repeat nstep times.")).c_str()),
-      py::call_guard<py::gil_scoped_release>());
-  Def<traits::mj_step1>(pymodule);
-  Def<traits::mj_step2>(pymodule);
-  Def<traits::mj_forward>(pymodule);
-  Def<traits::mj_inverse>(pymodule);
-  Def<traits::mj_forwardSkip>(pymodule);
-  Def<traits::mj_inverseSkip>(pymodule);
-
-  // Initialization
-  Def<traits::mj_defaultLROpt>(pymodule);
-  Def<traits::mj_defaultSolRefImp>(pymodule);
-  Def<traits::mj_defaultOption>(pymodule);
-  Def<traits::mj_defaultVisual>(pymodule);
-  // Skipped: mj_copyModel (have MjModel.__copy__, memory managed by MjModel)
-  pymodule.def(
-      "mj_saveModel",
-      [](const MjModelWrapper& m,
-         const std::optional<std::string>& filename = std::nullopt,
-         std::optional<Eigen::Ref<Eigen::Vector<std::uint8_t, Eigen::Dynamic>>>
-             buffer = std::nullopt) {
-        void* buffer_ptr = nullptr;
-        int buffer_sz = 0;
-        if (buffer.has_value()) {
-          buffer_ptr = buffer->data();
-          buffer_sz = buffer->size();
-        }
-        return InterceptMjErrors(::mj_saveModel)(
-            m.get(), filename.has_value() ? filename->c_str() : nullptr,
-            buffer_ptr, buffer_sz);
-      },
-      py::arg("m"), py::arg_v("filename", std::nullopt),
-      py::arg_v("buffer", std::nullopt), py::doc(traits::mj_saveModel::doc),
-      py::call_guard<py::gil_scoped_release>());
-  // Skipped: mj_loadModel (have MjModel.from_binary_path)
-  // Skipped: mj_deleteModel (have MjModel.__del__)
-  Def<traits::mj_sizeModel>(pymodule);
-  // Skipped: mj_makeData (have MjData.__init__)
-  DEF_WITH_OMITTED_PY_ARGS(traits::mj_copyData)(
-      pymodule,
-      [](raw::MjData* dest, const raw::MjModel* m, const raw::MjData* src) {
-        InterceptMjErrors(::mj_copyData)(dest, m, src);
-      });
-  Def<traits::mj_resetData>(pymodule);
-  Def<traits::mj_resetCtrl>(pymodule);
-  Def<traits::mj_resetDataDebug>(pymodule);
-  Def<traits::mj_resetDataKeyframe>(pymodule);
-  // Skipped: mj_stackAllocByte (doesn't make sense in Python)
-  // Skipped: mj_deleteData (have MjData.__del__)
-  Def<traits::mj_resetCallbacks>(pymodule);
-  Def<traits::mj_setConst>(pymodule);
-  DEF_WITH_OMITTED_PY_ARGS(traits::mj_setLengthRange, "error", "error_sz")(
-      pymodule,
-      [](raw::MjModel* m, raw::MjData* d, int index, const raw::MjLROpt* opt) {
-        std::array<char, 1024> error;
-        int success = InterceptMjErrors(::mj_setLengthRange)(
-            m, d, index, opt, error.data(), error.size());
-        if (!success) {
-          throw FatalError(std::string(error.data()));
-        }
-      });
-
-  // Printing
-  Def<traits::mj_printFormattedModel>(pymodule);
-  Def<traits::mj_printModel>(pymodule);
-  Def<traits::mj_printFormattedData>(pymodule);
-  Def<traits::mj_printData>(pymodule);
-  Def<traits::mj_printFormattedScene>(pymodule);
-  Def<traits::mj_printScene>(pymodule);
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_printMat, "nr", "nc")(
-      pymodule,
-      [](Eigen::Ref<const EigenArrayXX> mat) {
-        return ::mju_printMat(mat.data(), mat.rows(), mat.cols());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_printMatSparse, "nr")(
-      pymodule,
-      [](Eigen::Ref<const EigenVectorX> mat,
-         Eigen::Ref<const Eigen::Vector<int, Eigen::Dynamic>> rownnz,
-         Eigen::Ref<const Eigen::Vector<int, Eigen::Dynamic>> rowadr,
-         Eigen::Ref<const Eigen::Vector<int, Eigen::Dynamic>> colind) {
-        if (rownnz.size() != rowadr.size()) {
-          throw py::type_error("size of rownnz should equal size of rowadr");
-        }
-        const int nnz = rowadr[rowadr.size() - 1] + rownnz[rownnz.size() - 1];
-        if (mat.size() != nnz) {
-          throw py::type_error(
-              "size of mat should equal rownnz[-1] + rowadr[-1]");
-        }
-        if (colind.size() != nnz) {
-          throw py::type_error(
-              "size of colind should equal rownnz[-1] + rowadr[-1]");
-        }
-        return InterceptMjErrors(::mju_printMatSparse)(
-            mat.data(), rowadr.size(), rownnz.data(),
-            rowadr.data(), colind.data());
-      });
-
-  // Components
-  Def<traits::mj_fwdKinematics>(pymodule);
-  Def<traits::mj_fwdPosition>(pymodule);
-  Def<traits::mj_fwdVelocity>(pymodule);
-  Def<traits::mj_fwdActuation>(pymodule);
-  Def<traits::mj_fwdAcceleration>(pymodule);
-  Def<traits::mj_fwdConstraint>(pymodule);
-  Def<traits::mj_Euler>(pymodule);
-  Def<traits::mj_RungeKutta>(pymodule);
-  Def<traits::mj_implicit>(pymodule);
-  Def<traits::mj_invPosition>(pymodule);
-  Def<traits::mj_invVelocity>(pymodule);
-  Def<traits::mj_invConstraint>(pymodule);
-  Def<traits::mj_compareFwdInv>(pymodule);
-
-  // Sub components
-  Def<traits::mj_sensorPos>(pymodule);
-  Def<traits::mj_sensorVel>(pymodule);
-  Def<traits::mj_sensorAcc>(pymodule);
-  Def<traits::mj_energyPos>(pymodule);
-  Def<traits::mj_energyVel>(pymodule);
-  Def<traits::mj_checkPos>(pymodule);
-  Def<traits::mj_checkVel>(pymodule);
-  Def<traits::mj_checkAcc>(pymodule);
-  Def<traits::mj_kinematics>(pymodule);
-  Def<traits::mj_comPos>(pymodule);
-  Def<traits::mj_camlight>(pymodule);
-  Def<traits::mj_flex>(pymodule);
-  Def<traits::mj_tendon>(pymodule);
-  Def<traits::mj_transmission>(pymodule);
-  Def<traits::mj_crb>(pymodule);
-  Def<traits::mj_makeM>(pymodule);
-  Def<traits::mj_factorM>(pymodule);
-  DEF_WITH_OMITTED_PY_ARGS(traits::mj_solveM, "n")(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenArrayXX> x,
-         Eigen::Ref<const EigenArrayXX> y) {
-        if (x.rows() != y.rows()) {
-          throw py::type_error(
-              "the first dimension of x and y should be of the same size");
-        }
-        if (x.cols() != m->nv) {
-          throw py::type_error(
-              "the last dimension of x should be of size nv");
-        }
-        if (y.cols() != m->nv) {
-          throw py::type_error(
-              "the last dimension of y should be of size nv");
-        }
-        return InterceptMjErrors(::mj_solveM)(
-            m, d, x.data(), y.data(), y.rows());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mj_solveM2, "n")(
-      pymodule, [](const raw::MjModel* m, raw::MjData* d,
-                   Eigen::Ref<EigenArrayXX> x, Eigen::Ref<const EigenArrayXX> y,
-                   Eigen::Ref<const EigenArrayXX> sqrtInvD) {
-        if (x.rows() != y.rows()) {
-          throw py::type_error(
-              "the first dimension of x and y should be of the same size");
-        }
-        if (x.cols() != m->nv) {
-          throw py::type_error("the last dimension of x should be of size nv");
-        }
-        if (y.cols() != m->nv) {
-          throw py::type_error("the last dimension of y should be of size nv");
-        }
-        if (sqrtInvD.size() != m->nv) {
-          throw py::type_error("the size of sqrtInvD should be nv");
-        }
-        return InterceptMjErrors(::mj_solveM2)(m, d, x.data(), y.data(),
-                                               sqrtInvD.data(), y.rows());
-      });
-  Def<traits::mj_comVel>(pymodule);
-  Def<traits::mj_passive>(pymodule);
-  Def<traits::mj_subtreeVel>(pymodule);
-  Def<traits::mj_rne>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d, int flg_acc,
-         Eigen::Ref<EigenVectorX> result) {
-        if (result.size() != m->nv) {
-          throw py::type_error("result should have length nv");
-        }
-        return InterceptMjErrors(::mj_rne)(
-            m, d, flg_acc, result.data());
-      });
-  Def<traits::mj_rnePostConstraint>(pymodule);
-  Def<traits::mj_maxContact>(pymodule);
-  Def<traits::mj_collision>(pymodule);
-  Def<traits::mj_makeConstraint>(pymodule);
-  Def<traits::mj_island>(pymodule);
-  Def<traits::mj_projectConstraint>(pymodule);
-  Def<traits::mj_referenceConstraint>(pymodule);
-  Def<traits::mj_constraintUpdate>(
-      pymodule, [](const raw::MjModel* m, raw::MjData* d,
-                   Eigen::Ref<const EigenVectorX> jar,
-                   std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 1>>> cost,
-                   int flg_coneHessian) {
-        if (jar.size() != d->nefc) {
-          throw py::type_error("size of jar should equal nefc");
-        }
-        return InterceptMjErrors(::mj_constraintUpdate)(
-            m, d, jar.data(), cost.has_value() ? cost->data() : nullptr,
-            flg_coneHessian);
-      });
-
-  // Support
-  Def<traits::mj_stateSize>(pymodule);
-  Def<traits::mj_getState>(
-      pymodule,
-      [](const raw::MjModel* m, const raw::MjData* d,
-         Eigen::Ref<EigenVectorX> state, unsigned int sig) {
-        if (state.size() != mj_stateSize(m, sig)) {
-          throw py::type_error("state size should equal mj_stateSize(m, sig)");
-        }
-        return InterceptMjErrors(::mj_getState)(m, d, state.data(), sig);
-      });
-  Def<traits::mj_extractState>(
-    pymodule,
-    [](const raw::MjModel* m,
-       Eigen::Ref<const EigenVectorX> src, unsigned int srcsig,
-       Eigen::Ref<EigenVectorX> dst, unsigned int dstsig) {
-        if (src.size() != mj_stateSize(m, srcsig)) {
-          throw py::type_error("src size should equal mj_stateSize(m, srcsig)");
-        }
-        if (dst.size() != mj_stateSize(m, dstsig)) {
-          throw py::type_error("dst size should equal mj_stateSize(m, dstsig)");
-        }
-        return InterceptMjErrors(::mj_extractState)(m, src.data(), srcsig,
-                                                    dst.data(), dstsig);
-      });
-  Def<traits::mj_setState>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         Eigen::Ref<const EigenVectorX> state, unsigned int sig) {
-        if (state.size() != mj_stateSize(m, sig)) {
-          throw py::type_error("state size should equal mj_stateSize(m, sig)");
-        }
-        return InterceptMjErrors(::mj_setState)(m, d, state.data(), sig);
-      });
-  Def<traits::mj_copyState>(pymodule);
-  Def<traits::mj_readCtrl>(pymodule);
-  Def<traits::mj_readSensor>(
-      pymodule,
-      [](const raw::MjModel* m, const raw::MjData* d, int id, mjtNum time,
-         Eigen::Ref<EigenVectorX> result, int order) {
-        int dim = m->sensor_dim[id];
-        if (result.size() != dim) {
-          throw py::type_error("result should have length sensor_dim[id]");
-        }
-        const mjtNum* ptr = InterceptMjErrors(::mj_readSensor)(
-            m, d, id, time, result.data(), order);
-        if (ptr && ptr != result.data()) {
-          for (int i = 0; i < dim; ++i) {
-            result[i] = ptr[i];
-          }
-        }
-        return result;
-      });
-  Def<traits::mj_initCtrlHistory>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d, int id,
-         std::optional<Eigen::Ref<const EigenVectorX>> times,
-         Eigen::Ref<const EigenVectorX> values) {
-        int nhistory = m->actuator_history[2*id];
-        if (times.has_value() && times->size() != nhistory) {
-          throw py::type_error(
-              "times should have length actuator_history[2*id]");
-        }
-        if (values.size() != nhistory) {
-          throw py::type_error(
-              "values should have length actuator_history[2*id]");
-        }
-        return InterceptMjErrors(::mj_initCtrlHistory)(
-            m, d, id,
-            times.has_value() ? times->data() : nullptr, values.data());
-      });
-  Def<traits::mj_initSensorHistory>(
-      pymodule, [](const raw::MjModel* m, raw::MjData* d, int id,
-                   std::optional<Eigen::Ref<const EigenVectorX>> times,
-                   Eigen::Ref<const EigenArrayXX> values, mjtNum phase) {
-        int nhistory = m->sensor_history[2 * id];
-        int dim = m->sensor_dim[id];
-        if (times.has_value() && times->size() != nhistory) {
-          throw py::type_error("times should have length sensor_history[2*id]");
-        }
-        if (values.rows() != nhistory || values.cols() != dim) {
-          throw py::type_error(
-              "values should have shape (sensor_history[2*id], "
-              "sensor_dim[id])");
-        }
-        return InterceptMjErrors(::mj_initSensorHistory)(
-            m, d, id, times.has_value() ? times->data() : nullptr,
-            values.data(), phase);
-      });
-  Def<traits::mj_setKeyframe>(pymodule);
-  Def<traits::mj_addContact>(pymodule);
-  Def<traits::mj_isPyramidal>(pymodule);
-  Def<traits::mj_isSparse>(pymodule);
-  Def<traits::mj_isDual>(pymodule);
-  Def<traits::mj_mulJacVec>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != d->nefc) {
-          throw py::type_error("res should be of length nefc");
-        }
-        if (vec.size() != m->nv) {
-          throw py::type_error("vec should be of length nv");
-        }
-        return InterceptMjErrors(::mj_mulJacVec)(m, d, res.data(), vec.data());
-      });
-  Def<traits::mj_mulJacTVec>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != m->nv) {
-          throw py::type_error("res should be of length nv");
-        }
-        if (vec.size() != d->nefc) {
-          throw py::type_error("vec should be of length nefc");
-        }
-        return InterceptMjErrors(::mj_mulJacTVec)(m, d, res.data(), vec.data());
-      });
-  Def<traits::mj_jac>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacp,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacr,
-         const mjtNum (*point)[3], int body) {
-        if (jacp.has_value() &&
-            (jacp->rows() != 3 || jacp->cols() != m->nv)) {
-          throw py::type_error("jacp should be of shape (3, nv)");
-        }
-        if (jacr.has_value() &&
-            (jacr->rows() != 3 || jacr->cols() != m->nv)) {
-          throw py::type_error("jacr should be of shape (3, nv)");
-        }
-        return InterceptMjErrors(::mj_jac)(
-            m, d,
-            jacp.has_value() ? jacp->data() : nullptr,
-            jacr.has_value() ? jacr->data() : nullptr,
-            &(*point)[0], body);
-      });
-  Def<traits::mj_jacBody>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacp,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacr, int body) {
-        if (jacp.has_value() &&
-            (jacp->rows() != 3 || jacp->cols() != m->nv)) {
-          throw py::type_error("jacp should be of shape (3, nv)");
-        }
-        if (jacr.has_value() &&
-            (jacr->rows() != 3 || jacr->cols() != m->nv)) {
-          throw py::type_error("jacr should be of shape (3, nv)");
-        }
-        return InterceptMjErrors(::mj_jacBody)(
-            m, d, jacp.has_value() ? jacp->data() : nullptr,
-            jacr.has_value() ? jacr->data() : nullptr, body);
-      });
-  Def<traits::mj_jacBodyCom>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacp,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacr, int body) {
-        if (jacp.has_value() &&
-            (jacp->rows() != 3 || jacp->cols() != m->nv)) {
-          throw py::type_error("jacp should be of shape (3, nv)");
-        }
-        if (jacr.has_value() &&
-            (jacr->rows() != 3 || jacr->cols() != m->nv)) {
-          throw py::type_error("jacr should be of shape (3, nv)");
-        }
-        return InterceptMjErrors(::mj_jacBodyCom)(
-            m, d, jacp.has_value() ? jacp->data() : nullptr,
-            jacr.has_value() ? jacr->data() : nullptr, body);
-      });
-  Def<traits::mj_jacSubtreeCom>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacp, int body) {
-        if (jacp.has_value() &&
-            (jacp->rows() != 3 || jacp->cols() != m->nv)) {
-          throw py::type_error("jacp should be of shape (3, nv)");
-        }
-        return InterceptMjErrors(::mj_jacSubtreeCom)(
-            m, d, jacp.has_value() ? jacp->data() : nullptr, body);
-      });
-  Def<traits::mj_jacGeom>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacp,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacr, int geom) {
-        if (jacp.has_value() &&
-            (jacp->rows() != 3 || jacp->cols() != m->nv)) {
-          throw py::type_error("jacp should be of shape (3, nv)");
-        }
-        if (jacr.has_value() &&
-            (jacr->rows() != 3 || jacr->cols() != m->nv)) {
-          throw py::type_error("jacr should be of shape (3, nv)");
-        }
-        return InterceptMjErrors(::mj_jacGeom)(
-            m, d, jacp.has_value() ? jacp->data() : nullptr,
-            jacr.has_value() ? jacr->data() : nullptr, geom);
-      });
-  Def<traits::mj_jacSite>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacp,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacr, int site) {
-        if (jacp.has_value() &&
-            (jacp->rows() != 3 || jacp->cols() != m->nv)) {
-          throw py::type_error("jacp should be of shape (3, nv)");
-        }
-        if (jacr.has_value() &&
-            (jacr->rows() != 3 || jacr->cols() != m->nv)) {
-          throw py::type_error("jacr should be of shape (3, nv)");
-        }
-        return InterceptMjErrors(::mj_jacSite)(
-            m, d, jacp.has_value() ? jacp->data() : nullptr,
-            jacr.has_value() ? jacr->data() : nullptr, site);
-      });
-  Def<traits::mj_jacPointAxis>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacp,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacr,
-         const mjtNum (*point)[3], const mjtNum (*axis)[3], int body) {
-        if (jacp.has_value() &&
-            (jacp->rows() != 3 || jacp->cols() != m->nv)) {
-          throw py::type_error("jacp should be of shape (3, nv)");
-        }
-        if (jacr.has_value() &&
-            (jacr->rows() != 3 || jacr->cols() != m->nv)) {
-          throw py::type_error("jacr should be of shape (3, nv)");
-        }
-        return InterceptMjErrors(::mj_jacPointAxis)(
-            m, d, jacp.has_value() ? jacp->data() : nullptr,
-            jacr.has_value() ? jacr->data() : nullptr,
-            &(*point)[0], &(*axis)[0], body);
-      });
-  Def<traits::mj_jacDot>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacp,
-         std::optional<Eigen::Ref<EigenArrayXX>> jacr,
-         const mjtNum (*point)[3], int body) {
-        if (jacp.has_value() &&
-            (jacp->rows() != 3 || jacp->cols() != m->nv)) {
-          throw py::type_error("jacp should be of shape (3, nv)");
-        }
-        if (jacr.has_value() &&
-            (jacr->rows() != 3 || jacr->cols() != m->nv)) {
-          throw py::type_error("jacr should be of shape (3, nv)");
-        }
-        return InterceptMjErrors(::mj_jacDot)(
-            m, d,
-            jacp.has_value() ? jacp->data() : nullptr,
-            jacr.has_value() ? jacr->data() : nullptr,
-            &(*point)[0], body);
-      });
-  Def<traits::mj_angmomMat>(
-      pymodule, [](const raw::MjModel* m, raw::MjData* d,
-                   Eigen::Ref<EigenArrayXX> mat, int body) {
-        if (mat.rows() != 3 || mat.cols() != m->nv) {
-          throw py::type_error("mat should be of shape (3, nv)");
-        }
-        return InterceptMjErrors(::mj_angmomMat)(m, d, mat.data(), body);
-      });
-  Def<traits::mj_name2id>(pymodule);
-  Def<traits::mj_id2name>(pymodule);
-  Def<traits::mj_actuatorInputName>(pymodule);
-  Def<traits::mj_fullM>(
-      pymodule,
-      [](const raw::MjModel* m, const raw::MjData* d,
-         Eigen::Ref<EigenArrayXX> dst) {
-        if (dst.cols() != m->nv || dst.rows() != m->nv) {
-          throw py::type_error("dst should be of shape (nv, nv)");
-        }
-        return ::mj_fullM(m, d, dst.data());
-      });
-  Def<traits::mj_mulM>(
-      pymodule,
-      [](const raw::MjModel* m, const raw::MjData* d,
-         Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != m->nv) {
-          throw py::type_error("res should be of size nv");
-        }
-        if (vec.size() != m->nv) {
-          throw py::type_error("vec should be of size nv");
-        }
-        return InterceptMjErrors(::mj_mulM)(m, d, res.data(), vec.data());
-      });
-  Def<traits::mj_mulM2>(
-      pymodule,
-      [](const raw::MjModel* m, const raw::MjData* d,
-         Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != m->nv) {
-          throw py::type_error("res should be of size nv");
-        }
-        if (vec.size() != m->nv) {
-          throw py::type_error("vec should be of size nv");
-        }
-        return InterceptMjErrors(::mj_mulM2)(m, d, res.data(), vec.data());
-      });
-  Def<traits::mj_addM>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenVectorX> dst,
-         Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>> rownnz,
-         Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>> rowadr,
-         Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>> colind) {
-        if (dst.size() != m->nM) {
-          throw py::type_error("dst should be of size nM");
-        }
-        if (rownnz.size() != m->nv) {
-          throw py::type_error("rownnz should be of size nv");
-        }
-        if (rowadr.size() != m->nv) {
-          throw py::type_error("rowadr should be of size nv");
-        }
-        if (colind.size() != m->nM) {
-          throw py::type_error("colind should be of size nM");
-        }
-        return InterceptMjErrors(::mj_addM)(
-            m, d, dst.data(), rownnz.data(), rowadr.data(), colind.data());
-      });
-  Def<traits::mj_applyFT>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         const mjtNum (*force)[3], const mjtNum (*torque)[3],
-         const mjtNum (*point)[3], int body,
-         Eigen::Ref<EigenVectorX> qfrc_target) {
-        if (qfrc_target.size() != m->nv) {
-          throw py::type_error("qfrc_target should be of size nv");
-        }
-        return InterceptMjErrors(::mj_applyFT)(
-            m, d, &(*force)[0], &(*torque)[0], &(*point)[0],
-            body, qfrc_target.data());
-      });
-  Def<traits::mj_objectVelocity>(pymodule);
-  Def<traits::mj_objectAcceleration>(pymodule);
-  Def<traits::mj_contactForce>(pymodule);
-  Def<traits::mj_geomDistance>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         int geom1, int geom2, mjtNum distmax,
-         std::optional<Eigen::Ref<EigenArrayXX>> fromto) {
-        if (fromto.has_value() && fromto->size() != 6) {
-          throw py::type_error("fromto should be of size 6");
-        }
-        return InterceptMjErrors(::mj_geomDistance)(
-            m, d, geom1, geom2, distmax,
-            fromto.has_value() ? fromto->data() : nullptr);
-      });
-  Def<traits::mj_differentiatePos>(
-      pymodule,
-      [](const raw::MjModel* m, Eigen::Ref<EigenVectorX> qvel,
-         mjtNum dt, Eigen::Ref<const EigenVectorX> qpos1,
-         Eigen::Ref<const EigenVectorX> qpos2) {
-        if (qvel.size() != m->nv) {
-          throw py::type_error("qvel should be of size nv");
-        }
-        if (qpos1.size() != m->nq) {
-          throw py::type_error("qpos1 should be of size nq");
-        }
-        if (qpos2.size() != m->nq) {
-          throw py::type_error("qpos2 should be of size nq");
-        }
-        return InterceptMjErrors(::mj_differentiatePos)(
-            m, qvel.data(), dt, qpos1.data(), qpos2.data());
-      });
-  Def<traits::mj_integratePos>(
-      pymodule,
-      [](const raw::MjModel* m, Eigen::Ref<EigenVectorX> qpos,
-         Eigen::Ref<const EigenVectorX> qvel, mjtNum dt) {
-        if (qpos.size() != m->nq) {
-          throw py::type_error("qpos should be of size nq");
-        }
-        if (qvel.size() != m->nv) {
-          throw py::type_error("qvel should be of size nv");
-        }
-        return InterceptMjErrors(::mj_integratePos)(
-            m, qpos.data(), qvel.data(), dt);
-      });
-  Def<traits::mj_normalizeQuat>(
-      pymodule,
-      [](const raw::MjModel* m, Eigen::Ref<EigenVectorX> qpos) {
-        if (qpos.size() != m->nq) {
-          throw py::type_error("qpos should be of size nq");
-        }
-        return InterceptMjErrors(::mj_normalizeQuat)(m, qpos.data());
-      });
-  Def<traits::mj_local2Global>(pymodule);
-  Def<traits::mj_getTotalmass>(pymodule);
-  Def<traits::mj_setTotalmass>(pymodule);
-  Def<traits::mj_loadPluginLibrary>(pymodule);
-  DEF_WITH_OMITTED_PY_ARGS(traits::mj_loadAllPluginLibraries, "callback")(
-      pymodule,
-      [](const std::string& directory) {
-        InterceptMjErrors(::mj_loadAllPluginLibraries)(
-            directory.c_str(), nullptr);
-      });
-  Def<traits::mj_version>(pymodule);
-  Def<traits::mj_versionString>(pymodule);
-
-  // Thread pool
-  Def<traits::mju_threadpool>(pymodule);
-
-  // Ray collision
-  Def<traits::mj_multiRay>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d, const mjtNum(*pnt)[3],
-         Eigen::Ref<const EigenVectorX> vec,
-         std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
-             geomgroup,
-         mjtBool flg_static, int bodyexclude, Eigen::Ref<EigenVectorI> geomid,
-         Eigen::Ref<EigenVectorX> dist,
-         std::optional<Eigen::Ref<EigenVectorX>> normal,
-         int nray, mjtNum cutoff) {
-        if (dist.size() != nray || geomid.size() != nray) {
-          throw py::type_error("dist and geomid should be of size nray");
-        }
-        if (vec.size() != 3 * nray) {
-          throw py::type_error("vec should be of size 3*nray");
-        }
-        if (normal.has_value() && normal->size() != 3 * nray) {
-          throw py::type_error("normal should be of size 3*nray");
-        }
-        InterceptMjErrors(::mj_multiRay)(
-            m, d, &(*pnt)[0], vec.data(),
-            geomgroup.has_value() ? geomgroup->data() : nullptr, flg_static,
-            bodyexclude, geomid.data(), dist.data(),
-            normal.has_value() ? normal->data() : nullptr, nray, cutoff);
-      });
-  pymodule.def(
-      "mj_ray",
-      util::UnwrapArgs(
-          [](const raw::MjModel* m, const raw::MjData* d, const mjtNum(*pnt)[3],
-             const mjtNum(*vec)[3],
-             std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
-                 geomgroup,
-             mjtBool flg_static, int bodyexclude,
-             std::optional<Eigen::Ref<Eigen::Vector<int, 1>>> geomid,
-             std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 3>>> normal) {
-            return mj_ray(m, d, &(*pnt)[0], &(*vec)[0],
-                          geomgroup.has_value() ? geomgroup->data() : nullptr,
-                          flg_static, bodyexclude,
-                          geomid.has_value() ? geomid->data() : nullptr,
-                          normal.has_value() ? normal->data() : nullptr);
-          }),
-      py::arg("m"), py::arg("d"), py::arg("pnt"), py::arg("vec"),
-      py::arg("geomgroup"), py::arg("flg_static"), py::arg("bodyexclude"),
-      py::arg("geomid"), py::arg("normal") = std::nullopt,
-      py::doc(traits::mj_ray::doc),
-      py::call_guard<py::gil_scoped_release>());
-  pymodule.def(
-      "mj_rayHfield",
-      util::UnwrapArgs(
-          [](const raw::MjModel* m, const raw::MjData* d, int geomid,
-             const mjtNum(*pnt)[3], const mjtNum(*vec)[3],
-             std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 3>>> normal) {
-            return mj_rayHfield(m, d, geomid, &(*pnt)[0], &(*vec)[0],
-                                normal.has_value() ? normal->data() : nullptr);
-          }),
-      py::arg("m"), py::arg("d"), py::arg("geomid"), py::arg("pnt"),
-      py::arg("vec"), py::arg("normal") = std::nullopt,
-      py::doc(traits::mj_rayHfield::doc),
-      py::call_guard<py::gil_scoped_release>());
-  pymodule.def(
-      "mj_rayMesh",
-      util::UnwrapArgs(
-          [](const raw::MjModel* m, const raw::MjData* d, int geomid,
-             const mjtNum(*pnt)[3], const mjtNum(*vec)[3],
-             std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 3>>> normal) {
-            return mj_rayMesh(m, d, geomid, &(*pnt)[0], &(*vec)[0],
-                              normal.has_value() ? normal->data() : nullptr);
-          }),
-      py::arg("m"), py::arg("d"), py::arg("geomid"), py::arg("pnt"),
-      py::arg("vec"), py::arg("normal") = std::nullopt,
-      py::doc(traits::mj_rayMesh::doc),
-      py::call_guard<py::gil_scoped_release>());
-  pymodule.def(
-      "mju_rayGeom",
-      util::UnwrapArgs(
-          [](const mjtNum(*pos)[3], const mjtNum(*mat)[9],
-             const mjtNum(*size)[3], const mjtNum(*pnt)[3],
-             const mjtNum(*vec)[3], int geomtype,
-             std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 3>>> normal) {
-            return mju_rayGeom(&(*pos)[0], &(*mat)[0], &(*size)[0], &(*pnt)[0],
-                               &(*vec)[0], geomtype,
-                               normal.has_value() ? normal->data() : nullptr);
-          }),
-      py::arg("pos"), py::arg("mat"), py::arg("size"), py::arg("pnt"),
-      py::arg("vec"), py::arg("geomtype"), py::arg("normal") = std::nullopt,
-      py::doc(traits::mju_rayGeom::doc),
-      py::call_guard<py::gil_scoped_release>());
-  pymodule.def(
-      "mj_rayFlex",
-      util::UnwrapArgs(
-          [](const raw::MjModel* m, const raw::MjData* d, int flex_layer,
-             mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
-             mjtBool flg_skin, int flexid, const mjtNum(*pnt)[3],
-             const mjtNum(*vec)[3],
-             std::optional<Eigen::Ref<Eigen::Vector<int, 1>>> vertid,
-             std::optional<Eigen::Ref<Eigen::Vector<mjtNum, 3>>> normal) {
-            return mj_rayFlex(m, d, flex_layer, flg_vert, flg_edge, flg_face,
-                              flg_skin, flexid, &(*pnt)[0], &(*vec)[0],
-                              vertid.has_value() ? vertid->data() : nullptr,
-                              normal.has_value() ? normal->data() : nullptr);
-          }),
-      py::arg("m"), py::arg("d"), py::arg("flex_layer"), py::arg("flg_vert"),
-      py::arg("flg_edge"), py::arg("flg_face"), py::arg("flg_skin"),
-      py::arg("flexid"), py::arg("pnt"), py::arg("vec"),
-      py::arg("vertid") = std::nullopt, py::arg("normal") = std::nullopt,
-      py::doc(traits::mj_rayFlex::doc),
-      py::call_guard<py::gil_scoped_release>());
-  Def<traits::mju_raySkin>(pymodule);
-
-  // Interaction
-  Def<traits::mjv_defaultCamera>(pymodule);
-  Def<traits::mjv_defaultFreeCamera>(pymodule);
-  Def<traits::mjv_defaultPerturb>(pymodule);
-  Def<traits::mjv_room2model>(pymodule);
-  Def<traits::mjv_model2room>(pymodule);
-  Def<traits::mjv_cameraInModel>(pymodule);
-  Def<traits::mjv_cameraInRoom>(pymodule);
-  Def<traits::mjv_frustumHeight>(pymodule);
-  Def<traits::mjv_alignToCamera>(pymodule);
-  Def<traits::mjv_moveCamera>(pymodule);
-  Def<traits::mjv_movePerturb>(pymodule);
-  Def<traits::mjv_moveModel>(pymodule);
-  Def<traits::mjv_initPerturb>(pymodule);
-  Def<traits::mjv_applyPerturbPose>(pymodule);
-  Def<traits::mjv_applyPerturbForce>(pymodule);
-  // Skipped: mjv_averageCamera (defined in structs.cc due to the return type)
-  // Skipped: mjv_camera2GLCamera (defined in structs.cc due to the return type)
-  Def<traits::mjv_select>(pymodule);
-
-  // Visualization
-  Def<traits::mjv_defaultOption>(pymodule);
-  Def<traits::mjv_defaultFigure>(pymodule);
-  Def<traits::mjv_initGeom>(pymodule);
-  Def<traits::mjv_connector>(pymodule);
-  // Skipped: mjv_defaultScene (have MjvScene.__init__, memory managed by
-  // MjvScene).
-  // Skipped: mjv_makeScene (have MjvScene.__init__)
-  // Skipped: mjv_freeScene (have MjvScene.__del__)
-  Def<traits::mjv_updateScene>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d, const raw::MjvOption* opt,
-         const std::optional<raw::MjvPerturb*> pert, raw::MjvCamera* cam,
-         int catmask, raw::MjvScene* scn) {
-        const raw::MjvPerturb* pert_ptr = pert.has_value() ? *pert : nullptr;
-        return mjv_updateScene(m, d, opt, pert_ptr, cam, catmask, scn);
-      });
-  Def<traits::mjv_addGeoms>(pymodule);
-  Def<traits::mjv_makeLights>(pymodule);
-  Def<traits::mjv_updateCamera>(pymodule);
-  Def<traits::mjv_updateSkin>(pymodule);
-  Def<traits::mjv_cameraFrame>(pymodule);
-  Def<traits::mjv_cameraFrustum>(pymodule);
-
-  // UI framework
-  // Skipped: entire section (can add this if there's demand)
-
-  // Error and memory
-  // Skipped: everything other than the function below (Python has exceptions)
-  Def<traits::mju_writeLog>(pymodule);
-
-  // Standard math
-  // This section consists only of preprocessor macros.
-
-  // Vector math
-  Def<traits::mju_zero3>(pymodule);
-  Def<traits::mju_copy3>(pymodule);
-  Def<traits::mju_scl3>(pymodule);
-  Def<traits::mju_add3>(pymodule);
-  Def<traits::mju_sub3>(pymodule);
-  Def<traits::mju_addTo3>(pymodule);
-  Def<traits::mju_subFrom3>(pymodule);
-  Def<traits::mju_addToScl3>(pymodule);
-  Def<traits::mju_addScl3>(pymodule);
-  Def<traits::mju_normalize3>(pymodule);
-  Def<traits::mju_norm3>(pymodule);
-  Def<traits::mju_dot3>(pymodule);
-  Def<traits::mju_dist3>(pymodule);
-  Def<traits::mju_mulMatVec3>(pymodule);
-  Def<traits::mju_mulMatTVec3>(pymodule);
-  Def<traits::mju_cross>(pymodule);
-  Def<traits::mju_zero4>(pymodule);
-  Def<traits::mju_unit4>(pymodule);
-  Def<traits::mju_copy4>(pymodule);
-  Def<traits::mju_normalize4>(pymodule);
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_zero, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res) {
-        return InterceptMjErrors(::mju_zero)(res.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_fill, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res, mjtNum val) {
-        return InterceptMjErrors(::mju_fill)(res.data(), val, res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_copy, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> data) {
-        if (res.size() != data.size()) {
-          throw py::type_error("res and data should have the same size");
-        }
-        return InterceptMjErrors(::mju_copy)(
-            res.data(), data.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_sum, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> vec) {
-        return ::mju_sum(vec.data(), vec.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_L1, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> vec) {
-        return InterceptMjErrors(::mju_L1)(vec.data(), vec.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_scl, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> vec, mjtNum scl) {
-        if (res.size() != vec.size()) {
-          throw py::type_error("res and vec should have the same size");
-        }
-        return InterceptMjErrors(::mju_scl)(
-            res.data(), vec.data(), scl, res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_add, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> vec1,
-         Eigen::Ref<const EigenVectorX> vec2) {
-        if (res.size() != vec1.size()) {
-          throw py::type_error("res and vec1 should have the same size");
-        }
-        if (res.size() != vec2.size()) {
-          throw py::type_error("res and vec2 should have the same size");
-        }
-        return ::mju_add(res.data(), vec1.data(), vec2.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_sub, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> vec1,
-         Eigen::Ref<const EigenVectorX> vec2) {
-        if (res.size() != vec1.size()) {
-          throw py::type_error("res and vec1 should have the same size");
-        }
-        if (res.size() != vec2.size()) {
-          throw py::type_error("res and vec2 should have the same size");
-        }
-        return InterceptMjErrors(::mju_sub)(
-            res.data(), vec1.data(), vec2.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_addTo, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != vec.size()) {
-          throw py::type_error("res and vec should have the same size");
-        }
-        return InterceptMjErrors(::mju_addTo)(
-            res.data(), vec.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_subFrom, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != vec.size()) {
-          throw py::type_error("res and vec should have the same size");
-        }
-        return InterceptMjErrors(::mju_subFrom)(
-            res.data(), vec.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_addToScl, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> vec, mjtNum scl) {
-        if (res.size() != vec.size()) {
-          throw py::type_error("res and vec should have the same size");
-        }
-        return ::mju_addToScl(res.data(), vec.data(), scl, res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_addScl, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenVectorX> vec1,
-         Eigen::Ref<const EigenVectorX> vec2, mjtNum scl) {
-        if (res.size() != vec1.size()) {
-          throw py::type_error("res and vec1 should have the same size");
-        }
-        if (res.size() != vec2.size()) {
-          throw py::type_error("res and vec2 should have the same size");
-        }
-        return InterceptMjErrors(::mju_addScl)(
-            res.data(), vec1.data(), vec2.data(), scl, res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_normalize, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> vec) {
-        return InterceptMjErrors(::mju_normalize)(vec.data(), vec.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_norm, "n")(
-      pymodule,
-      [](Eigen::Ref<const EigenVectorX> vec) {
-        return InterceptMjErrors(::mju_norm)(vec.data(), vec.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_dot, "n")(
-      pymodule,
-      [](Eigen::Ref<const EigenVectorX> vec1,
-         Eigen::Ref<const EigenVectorX> vec2) {
-        if (vec1.size() != vec2.size()) {
-          throw py::type_error("vec1 and vec2 should have the same size");
-        }
-        return InterceptMjErrors(::mju_dot)(
-            vec1.data(), vec2.data(), vec1.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatVec, "nr", "nc")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenArrayXX> mat,
-         Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != mat.rows()) {
-          throw py::type_error(
-              "size of res should equal the number of rows in mat");
-        }
-        if (vec.size() != mat.cols()) {
-          throw py::type_error(
-              "size of vec should equal the number of columns in mat");
-        }
-        return InterceptMjErrors(::mju_mulMatVec)(
-            res.data(), mat.data(), vec.data(), mat.rows(), mat.cols());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatTVec, "nr", "nc")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenArrayXX> mat,
-         Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != mat.cols()) {
-          throw py::type_error(
-              "size of res should equal the number of columns in mat");
-        }
-        if (vec.size() != mat.rows()) {
-          throw py::type_error(
-              "size of vec should equal the number of rows in mat");
-        }
-        return InterceptMjErrors(::mju_mulMatTVec)(
-            res.data(), mat.data(), vec.data(), mat.rows(), mat.cols());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulVecMatVec, "n")(
-      pymodule,
-      [](Eigen::Ref<const EigenVectorX> vec1,
-         Eigen::Ref<const EigenArrayXX> mat,
-         Eigen::Ref<const EigenVectorX> vec2) {
-        if (vec1.size() != vec2.size()) {
-          throw py::type_error(
-              "size of vec1 should equal the size of vec2");
-        }
-        if (vec1.size() != mat.cols()) {
-          throw py::type_error(
-              "size of vectors should equal the number of columns in mat");
-        }
-        if (vec1.size() != mat.rows()) {
-          throw py::type_error(
-              "size of vectors should equal the number of rows in mat");
-        }
-        return InterceptMjErrors(::mju_mulVecMatVec)(
-            vec1.data(), mat.data(), vec2.data(), vec1.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_transpose, "nr", "nc")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> res,
-         Eigen::Ref<const EigenArrayXX> mat) {
-        if (res.cols() != mat.rows()) {
-          throw py::type_error("#columns in res should equal #rows in mat");
-        }
-        if (res.rows() != mat.cols()) {
-          throw py::type_error("#rows in res should equal #columns in mat");
-        }
-        return InterceptMjErrors(::mju_transpose)(
-            res.data(), mat.data(), mat.rows(), mat.cols());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_symmetrize, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> res,
-         Eigen::Ref<const EigenArrayXX> mat) {
-        if (mat.cols() != mat.rows()) {
-          throw py::type_error("mat should be square");
-        }
-        if (res.cols() != mat.cols() || res.rows() != mat.rows()) {
-          throw py::type_error("res and mat should have the same shape");
-        }
-        return InterceptMjErrors(::mju_symmetrize)(
-            res.data(), mat.data(), mat.rows());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_eye, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> mat) {
-        if (mat.cols() != mat.rows()) {
-          throw py::type_error("mat should be square");
-        }
-        return InterceptMjErrors(::mju_eye)(mat.data(), mat.rows());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatMat, "r1", "c1", "c2")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> res,
-         Eigen::Ref<const EigenArrayXX> mat1,
-         Eigen::Ref<const EigenArrayXX> mat2) {
-        if (res.rows() != mat1.rows()) {
-          throw py::type_error("#rows in res should equal #rows in mat1");
-        }
-        if (res.cols() != mat2.cols()) {
-          throw py::type_error(
-              "#columns in res should equal #columns in mat2");
-        }
-        if (mat1.cols() != mat2.rows()) {
-          throw py::type_error("#columns in mat1 should equal #rows in mat2");
-        }
-        return InterceptMjErrors(::mju_mulMatMat)(
-            res.data(), mat1.data(), mat2.data(),
-            mat1.rows(), mat1.cols(), mat2.cols());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatMatT, "r1", "c1", "r2")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> res,
-         Eigen::Ref<const EigenArrayXX> mat1,
-         Eigen::Ref<const EigenArrayXX> mat2) {
-        if (res.rows() != mat1.rows()) {
-          throw py::type_error("#rows in res should equal #rows in mat1");
-        }
-        if (res.cols() != mat2.rows()) {
-          throw py::type_error("#columns in res should equal #rows in mat2");
-        }
-        if (mat1.cols() != mat2.cols()) {
-          throw py::type_error(
-              "#columns in mat1 should equal #columns in mat2");
-        }
-        return InterceptMjErrors(::mju_mulMatMatT)(
-            res.data(), mat1.data(), mat2.data(),
-            mat1.rows(), mat1.cols(), mat2.rows());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_mulMatTMat, "r1", "c1", "c2")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> res,
-         Eigen::Ref<const EigenArrayXX> mat1,
-         Eigen::Ref<const EigenArrayXX> mat2) {
-        if (res.rows() != mat1.cols()) {
-          throw py::type_error("#rows in res should equal #columns in mat1");
-        }
-        if (res.cols() != mat2.cols()) {
-          throw py::type_error(
-              "#columns in res should equal #columns in mat2");
-        }
-        if (mat1.rows() != mat2.rows()) {
-          throw py::type_error("#rows in mat1 should equal #rows in mat2");
-        }
-        return ::mju_mulMatTMat(res.data(), mat1.data(), mat2.data(),
-                                mat1.rows(), mat1.cols(), mat2.cols());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_sqrMatTD, "nr", "nc")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> res,
-         Eigen::Ref<const EigenArrayXX> mat,
-         std::optional<Eigen::Ref<EigenVectorX>> diag) {
-        if (res.rows() != mat.cols()) {
-          throw py::type_error("#rows in res should equal #columns in mat");
-        }
-        if (res.cols() != mat.cols()) {
-          throw py::type_error("#rows in res should equal #columns in mat");
-        }
-        if (diag.has_value() && diag->size() != mat.rows()) {
-          throw py::type_error(
-              "size of diag should equal the number of rows in mat");
-        }
-        return InterceptMjErrors(::mju_sqrMatTD)(
-            res.data(), mat.data(),
-            diag.has_value() ? diag->data() : nullptr,
-            mat.rows(), mat.cols());
-      });
-  Def<traits::mju_transformSpatial>(pymodule);
-
-  // Sparse math
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_dense2sparse, "nr", "nc", "nnz")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenArrayXX> mat,
-         Eigen::Ref<EigenVectorI> rownnz, Eigen::Ref<EigenVectorI> rowadr,
-         Eigen::Ref<EigenVectorI> colind) {
-        if (mat.rows() != rownnz.size()) {
-          throw py::type_error("#rows in mat should equal size of rownnz");
-        }
-        if (mat.rows() != rowadr.size()) {
-          throw py::type_error("#rows in mat should equal size of rowadr");
-        }
-        if (res.size() != colind.size()) {
-          throw py::type_error("#size of res should equal size of colind");
-        }
-        return ::mju_dense2sparse(res.data(), mat.data(), mat.rows(),
-                                  mat.cols(), rownnz.data(), rowadr.data(),
-                                  colind.data(), res.size());
-      });
-
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_sparse2dense, "nr", "nc")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> res,
-         Eigen::Ref<const EigenVectorX> mat,
-         Eigen::Ref<const EigenVectorI> rownnz,
-         Eigen::Ref<const EigenVectorI> rowadr,
-         Eigen::Ref<const EigenVectorI> colind) {
-        if (res.rows() != rownnz.size()) {
-          throw py::type_error("#rows in res should equal size of rownnz");
-        }
-        if (res.rows() != rowadr.size()) {
-          throw py::type_error("#rows in res should equal size of rowadr");
-        }
-        return ::mju_sparse2dense(res.data(), mat.data(), res.rows(),
-                                  res.cols(), rownnz.data(), rowadr.data(),
-                                  colind.data());
-      });
-
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_sym2dense, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> res,
-         Eigen::Ref<const EigenVectorX> mat,
-         Eigen::Ref<const EigenVectorI> rownnz,
-         Eigen::Ref<const EigenVectorI> rowadr,
-         Eigen::Ref<const EigenVectorI> colind) {
-        if (res.rows() != res.cols()) {
-          throw py::type_error("res should be a square matrix");
-        }
-        if (res.rows() != rownnz.size()) {
-          throw py::type_error("#rows in res should equal size of rownnz");
-        }
-        if (res.rows() != rowadr.size()) {
-          throw py::type_error("#rows in res should equal size of rowadr");
-        }
-        if (res.rows() > 0) {
-          int nnz = rowadr.array().tail(1)[0] + rownnz.array().tail(1)[0];
-          if (mat.size() < nnz) {
-            throw py::type_error("mat size is too small for the given sparse "
-                                 "structure");
-          }
-          if (colind.size() < nnz) {
-            throw py::type_error("colind size is too small for the given "
-                                 "sparse structure");
-          }
-        }
-        return ::mju_sym2dense(res.data(), mat.data(), res.rows(),
-                               rownnz.data(), rowadr.data(), colind.data());
-      });
-
-  // Quaternions
-  Def<traits::mju_rotVecQuat>(pymodule);
-  Def<traits::mju_negQuat>(pymodule);
-  Def<traits::mju_mulQuat>(pymodule);
-  Def<traits::mju_mulQuatAxis>(pymodule);
-  Def<traits::mju_axisAngle2Quat>(pymodule);
-  Def<traits::mju_quat2Vel>(pymodule);
-  Def<traits::mju_subQuat>(pymodule);
-  Def<traits::mju_quat2Mat>(pymodule);
-  Def<traits::mju_mat2Quat>(pymodule);
-  Def<traits::mju_derivQuat>(pymodule);
-  Def<traits::mju_quatIntegrate>(pymodule);
-  Def<traits::mju_quatZ2Vec>(pymodule);
-  Def<traits::mju_mat2Rot>(pymodule);
-  Def<traits::mju_euler2Quat>(pymodule);
-
-  // Poses
-  Def<traits::mju_mulPose>(pymodule);
-  Def<traits::mju_negPose>(pymodule);
-  Def<traits::mju_trnVecPose>(pymodule);
-
-  // Decompositions
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_cholFactor, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> mat, mjtNum mindiag) {
-        if (mat.rows() != mat.cols()) {
-          throw py::type_error("mat should be a square matrix");
-        }
-        return InterceptMjErrors(::mju_cholFactor)(
-            mat.data(), mat.rows(), mindiag);
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_cholSolve, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const EigenArrayXX> mat,
-         Eigen::Ref<const EigenVectorX> vec) {
-        if (mat.rows() != mat.cols()) {
-          throw py::type_error("mat should be a square matrix");
-        }
-        if (res.size() != mat.rows()) {
-          throw py::type_error(
-              "size of res should equal the number of rows in mat");
-        }
-        if (vec.size() != mat.cols()) {
-          throw py::type_error(
-              "size of vec should equal the number of rows in mat");
-        }
-        return InterceptMjErrors(::mju_cholSolve)(
-            res.data(), mat.data(), vec.data(), mat.rows());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_cholUpdate, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> mat, Eigen::Ref<EigenVectorX> x,
-         int flg_plus) {
-        if (mat.rows() != mat.cols()) {
-          throw py::type_error("mat should be a square matrix");
-        }
-        if (x.size() != mat.rows()) {
-          throw py::type_error(
-              "size of x should equal the number of rows in mat");
-        }
-        return InterceptMjErrors(::mju_cholUpdate)(
-            mat.data(), x.data(), mat.rows(), flg_plus);
-      });
-  Def<traits::mju_cholFactorBand>(
-      pymodule, [](Eigen::Ref<EigenVectorX> mat, int ntotal, int nband,
-                   int ndense, mjtNum diagadd, mjtNum diagmul) {
-        int nMat = (ntotal - ndense) * nband + ndense * ntotal;
-        if (mat.size() != nMat) {
-          throw py::type_error(
-              "mat must have size (ntotal-ndense)*nband + ndense*ntotal");
-        }
-        return InterceptMjErrors(::mju_cholFactorBand)(
-            mat.data(), ntotal, nband, ndense, diagadd, diagmul);
-      });
-  Def<traits::mju_cholSolveBand>(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenVectorX> mat,
-         Eigen::Ref<const EigenVectorX> vec, int ntotal, int nband,
-         int ndense) {
-        int nMat = (ntotal - ndense) * nband + ndense * ntotal;
-        if (mat.size() != nMat) {
-          throw py::type_error(
-              "mat must have (ntotal-ndense)*nband + "
-              "ndense*ntotal elements");
-        }
-        if (res.size() != ntotal) {
-          throw py::type_error("size of res should equal ntotal");
-        }
-        if (vec.size() != ntotal) {
-          throw py::type_error("size of vec should equal ntotal");
-        }
-        return InterceptMjErrors(::mju_cholSolveBand)(
-            res.data(), mat.data(), vec.data(), ntotal, nband, ndense);
-      });
-  Def<traits::mju_band2Dense>(
-      pymodule,
-      [](Eigen::Ref<EigenArrayXX> res, Eigen::Ref<const EigenVectorX> mat,
-         int ntotal, int nband, int ndense, mjtBool flg_sym) {
-        int nMat = (ntotal - ndense) * nband + ndense * ntotal;
-        if (mat.size() != nMat) {
-          throw py::type_error(
-              "mat must have size (ntotal-ndense)*nband + ndense*ntotal");
-        }
-        if (res.rows() != ntotal) {
-          throw py::type_error("res should have ntotal rows");
-        }
-        if (res.cols() != ntotal) {
-          throw py::type_error("res should have ntotal columns");
-        }
-        return InterceptMjErrors(::mju_band2Dense)(
-            res.data(), mat.data(), ntotal, nband, ndense, flg_sym);
-      });
-  Def<traits::mju_dense2Band>(pymodule, [](Eigen::Ref<EigenVectorX> res,
-                                           Eigen::Ref<const EigenArrayXX> mat,
-                                           int ntotal, int nband, int ndense) {
-    int nRes = (ntotal - ndense) * nband + ndense * ntotal;
-    if (res.size() != nRes) {
-      throw py::type_error(
-          "res must have size (ntotal-ndense)*nband + ndense*ntotal");
-    }
-    if (mat.rows() != ntotal) {
-      throw py::type_error("mat should have ntotal rows");
-    }
-    if (mat.cols() != ntotal) {
-      throw py::type_error("mat should have ntotal columns");
-    }
-    return InterceptMjErrors(::mju_dense2Band)(res.data(), mat.data(), ntotal,
-                                               nband, ndense);
-  });
-  Def<traits::mju_bandMulMatVec>(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res, Eigen::Ref<const EigenArrayXX> mat,
-         Eigen::Ref<const EigenArrayXX> vec, int ntotal, int nband, int ndense,
-         int nVec, mjtBool flg_sym) {
-        int nMat = (ntotal - ndense) * nband + ndense * ntotal;
-        if (mat.size() != nMat) {
-          throw py::type_error(
-              "mat must have size (ntotal-ndense)*nband + ndense*ntotal");
-        }
-        if (res.rows() != ntotal) {
-          throw py::type_error("res should have ntotal rows");
-        }
-        if (res.cols() != nVec) {
-          throw py::type_error("res should have nVec columns");
-        }
-        if (vec.rows() != ntotal) {
-          throw py::type_error("vec should have ntotal rows");
-        }
-        if (vec.cols() != nVec) {
-          throw py::type_error("vec should have nVec columns");
-        }
-        return InterceptMjErrors(::mju_bandMulMatVec)(res.data(), mat.data(),
-                                                      vec.data(), ntotal, nband,
-                                                      ndense, nVec, flg_sym);
-      });
-  Def<traits::mju_bandDiag>(pymodule);
-  Def<traits::mju_eig3>(pymodule);
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_boxQP, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<EigenArrayXX> R,
-         std::optional<Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>>> index,
-         Eigen::Ref<const EigenArrayXX> H,
-         Eigen::Ref<const EigenVectorX> g,
-         std::optional<Eigen::Ref<const EigenVectorX>> lower,
-         std::optional<Eigen::Ref<const EigenVectorX>> upper) {
-        int n = res.size();
-        if (R.size() != n*(n+7)) {
-          throw py::type_error("size of R should be n*(n+7)");
-        }
-        if (index.has_value() && (index->size() != n)) {
-          throw py::type_error("size of index should equal n");
-        }
-        if (H.rows() != n || H.cols() != n) {
-          throw py::type_error("H should be of shape (n, n)");
-        }
-        if (g.size() != n) {
-          throw py::type_error("size of g should equal n");
-        }
-        if (lower.has_value() && (lower->size() != n)) {
-          throw py::type_error("size of lower should equal n");
-        }
-        if (upper.has_value() && (upper->size() != n)) {
-          throw py::type_error("size of upper should equal n");
-        }
-        return InterceptMjErrors(::mju_boxQP)(
-            res.data(), R.data(),
-            index.has_value() ? index->data() : nullptr,
-            H.data(), g.data(), n,
-            lower.has_value() ? lower->data() : nullptr,
-            upper.has_value() ? upper->data() : nullptr);
-      });
-  // Miscellaneous
-  Def<traits::mju_muscleGain>(pymodule);
-  Def<traits::mju_muscleBias>(pymodule);
-  Def<traits::mju_muscleDynamics>(pymodule);
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_encodePyramid, "dim")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> pyramid, Eigen::Ref<const EigenVectorX> force,
-         Eigen::Ref<const EigenVectorX> mu) {
-        if (pyramid.size() != 2*mu.size()) {
-          throw py::type_error(
-              "size of pyramid should be twice as large as size of mu");
-        }
-        if (force.size() != mu.size() + 1) {
-          throw py::type_error(
-              "size of force should be exactly one larger than size of mu");
-        }
-        return InterceptMjErrors(::mju_encodePyramid)(
-            pyramid.data(), force.data(), mu.data(), mu.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_decodePyramid, "dim")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> force, Eigen::Ref<const EigenVectorX> pyramid,
-         Eigen::Ref<const EigenVectorX> mu) {
-        if (pyramid.size() != 2*mu.size()) {
-          throw py::type_error(
-              "size of pyramid should be twice as large as size of mu");
-        }
-        if (force.size() != mu.size() + 1) {
-          throw py::type_error(
-              "size of force should be exactly one larger than size of mu");
-        }
-        return InterceptMjErrors(::mju_decodePyramid)(
-            force.data(), pyramid.data(), mu.data(), mu.size());
-      });
-  Def<traits::mju_springDamper>(pymodule);
-  Def<traits::mju_min>(pymodule);
-  Def<traits::mju_max>(pymodule);
-  Def<traits::mju_clip>(pymodule);
-  Def<traits::mju_sign>(pymodule);
-  Def<traits::mju_round>(pymodule);
-  Def<traits::mju_type2Str>(pymodule);
-  Def<traits::mju_str2Type>(pymodule);
-  Def<traits::mju_writeNumBytes>(pymodule);
-  Def<traits::mju_warningText>(pymodule);
-  Def<traits::mju_isBad>(pymodule);
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_isZero, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> vec) {
-        return InterceptMjErrors(::mju_isZero)(vec.data(), vec.size());
-      });
-  Def<traits::mju_standardNormal>(
-      pymodule,
-      [](std::optional<mjtNum> num2) {
-        return InterceptMjErrors(::mju_standardNormal)(
-            num2.has_value() ? &*num2 : nullptr);
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_f2n, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const Eigen::Vector<float, Eigen::Dynamic>> vec) {
-        if (res.size() != vec.size()) {
-          throw py::type_error("res and vec should have the same size");
-        }
-        return InterceptMjErrors(::mju_f2n)(res.data(), vec.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_n2f, "n")(
-      pymodule,
-      [](Eigen::Ref<Eigen::Vector<float, Eigen::Dynamic>> res,
-         Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != vec.size()) {
-          throw py::type_error("res and vec should have the same size");
-        }
-        return InterceptMjErrors(::mju_n2f)(res.data(), vec.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_d2n, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res,
-         Eigen::Ref<const Eigen::Vector<double, Eigen::Dynamic>> vec) {
-        if (res.size() != vec.size()) {
-          throw py::type_error("res and vec should have the same size");
-        }
-        return InterceptMjErrors(::mju_d2n)(res.data(), vec.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_n2d, "n")(
-      pymodule,
-      [](Eigen::Ref<Eigen::Vector<double, Eigen::Dynamic>> res,
-         Eigen::Ref<const EigenVectorX> vec) {
-        if (res.size() != vec.size()) {
-          throw py::type_error("res and vec should have the same size");
-        }
-        return InterceptMjErrors(::mju_n2d)(res.data(), vec.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_insertionSort, "n")(
-      pymodule,
-      [](Eigen::Ref<EigenVectorX> res) {
-        return InterceptMjErrors(::mju_insertionSort)(res.data(), res.size());
-      });
-  DEF_WITH_OMITTED_PY_ARGS(traits::mju_insertionSortInt, "n")(
-      pymodule,
-      [](Eigen::Ref<Eigen::Vector<int, Eigen::Dynamic>> res) {
-        return InterceptMjErrors(::mju_insertionSortInt)(
-            res.data(), res.size());
-      });
-  Def<traits::mju_Halton>(pymodule);
-  // Skipped: mju_strncpy (doesn't make sense in Python)
-  Def<traits::mju_sigmoid>(pymodule);
-
-  // Derivatives
-  Def<traits::mjd_transitionFD>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         mjtNum eps, mjtBool flg_centered,
-         std::optional<Eigen::Ref<EigenArrayXX>> A,
-         std::optional<Eigen::Ref<EigenArrayXX>> B,
-         std::optional<Eigen::Ref<EigenArrayXX>> C,
-         std::optional<Eigen::Ref<EigenArrayXX>> D) {
-        if (A.has_value() &&
-            (A->rows() != 2*m->nv+m->na || A->cols() != 2*m->nv+m->na)) {
-          throw py::type_error("A should be of shape (2*nv+na, 2*nv+na)");
-        }
-        if (B.has_value() &&
-            (B->rows() != 2*m->nv+m->na || B->cols() != m->nu)) {
-          throw py::type_error("B should be of shape (2*nv+na, nu)");
-        }
-        if (C.has_value() &&
-            (C->rows() != m->nsensordata || C->cols() != 2*m->nv+m->na)) {
-          throw py::type_error("C should be of shape (nsensordata, 2*nv+na)");
-        }
-        if (D.has_value() &&
-            (D->rows() != m->nsensordata || D->cols() != m->nu)) {
-          throw py::type_error("D should be of shape (nsensordata, nu)");
-        }
-        return InterceptMjErrors(::mjd_transitionFD)(
-            m, d, eps, flg_centered,
-            A.has_value() ? A->data() : nullptr,
-            B.has_value() ? B->data() : nullptr,
-            C.has_value() ? C->data() : nullptr,
-            D.has_value() ? D->data() : nullptr);
-      });
-  Def<traits::mjd_inverseFD>(
-      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d,
-         mjtNum eps, mjtBool flg_actuation,
-         std::optional<Eigen::Ref<EigenArrayXX>> DfDq,
-         std::optional<Eigen::Ref<EigenArrayXX>> DfDv,
-         std::optional<Eigen::Ref<EigenArrayXX>> DfDa,
-         std::optional<Eigen::Ref<EigenArrayXX>> DsDq,
-         std::optional<Eigen::Ref<EigenArrayXX>> DsDv,
-         std::optional<Eigen::Ref<EigenArrayXX>> DsDa,
-         std::optional<Eigen::Ref<EigenArrayXX>> DmDq) {
-        if (DfDq.has_value() &&
-            (DfDq->rows() != m->nv || DfDq->cols() != m->nv)) {
-          throw py::type_error("DfDq should be of shape (nv, nv)");
-        }
-        if (DfDv.has_value() &&
-            (DfDv->rows() != m->nv || DfDv->cols() != m->nv)) {
-          throw py::type_error("DfDv should be of shape (nv, nv)");
-        }
-        if (DfDa.has_value() &&
-            (DfDa->rows() != m->nv || DfDa->cols() != m->nv)) {
-          throw py::type_error("DfDa should be of shape (nv, nv)");
-        }
-        if (DsDq.has_value() &&
-            (DsDq->rows() != m->nv || DsDq->cols() != m->nsensordata)) {
-          throw py::type_error("DsDq should be of shape (nv, nsensordata)");
-        }
-        if (DsDv.has_value() &&
-            (DsDv->rows() != m->nv || DsDv->cols() != m->nsensordata)) {
-          throw py::type_error("DsDv should be of shape (nv, nsensordata)");
-        }
-        if (DsDa.has_value() &&
-            (DsDa->rows() != m->nv || DsDa->cols() != m->nsensordata)) {
-          throw py::type_error("DsDa should be of shape (nv, nsensordata)");
-        }
-        if (DmDq.has_value() &&
-            (DmDq->rows() != m->nv || DmDq->cols() != m->nC)) {
-          throw py::type_error("DmDq should be of shape (nv, nC)");
-        }
-        return InterceptMjErrors(::mjd_inverseFD)(
-            m, d, eps, flg_actuation,
-            DfDq.has_value() ? DfDq->data() : nullptr,
-            DfDv.has_value() ? DfDv->data() : nullptr,
-            DfDa.has_value() ? DfDa->data() : nullptr,
-            DsDq.has_value() ? DsDq->data() : nullptr,
-            DsDv.has_value() ? DsDv->data() : nullptr,
-            DsDa.has_value() ? DsDa->data() : nullptr,
-            DmDq.has_value() ? DmDq->data() : nullptr);
-      });
-  Def<traits::mjd_subQuat>(
-      pymodule,
-      [](Eigen::Ref<const EigenVectorX> qa, Eigen::Ref<const EigenVectorX> qb,
-         std::optional<Eigen::Ref<EigenArrayXX>> Da,
-         std::optional<Eigen::Ref<EigenArrayXX>> Db) {
-        if (qa.size() != 4) {
-          throw py::type_error("qa must have size 4");
-        }
-        if (qb.size() != 4) {
-          throw py::type_error("qb must have size 4");
-        }
-        if (Da.has_value() && Da->size() != 9) {
-          throw py::type_error("Da must have size 9");
-        }
-        if (Db.has_value() && Db->size() != 9) {
-          throw py::type_error("Db must have size 9");
-        }
-        return InterceptMjErrors(::mjd_subQuat)(
-            qa.data(), qb.data(),
-            Da.has_value() ? Da->data() : nullptr,
-            Db.has_value() ? Db->data() : nullptr);
-      });
-  Def<traits::mjd_quatIntegrate>(pymodule);
-
-  pymodule.def(
-      "_realloc_con_efc",
-      [](MjDataWrapper& d, int ncon, int nefc, int nJ) {
-        raw::MjData* data = d.get();
-
-        auto cleanup = [](raw::MjData* data, int nJ) {
-#ifdef ADDRESS_SANITIZER
-        ASAN_POISON_MEMORY_REGION(
-            static_cast<char*>(data->arena),
-            data->narena - data->pstack);
-#endif
-          data->parena = 0;
-          data->ncon = 0;
-          data->nefc = 0;
-          if (nJ > -1) data->nJ = 0;
-          data->contact = static_cast<raw::MjContact*>(data->arena);
-#define X(type, name, nr, nc) data->name = nullptr;
-          MJDATA_ARENA_POINTERS_SOLVER
-          MJDATA_ARENA_POINTERS_DUAL
-          MJDATA_ARENA_POINTERS_ISLAND
-          MJDATA_ARENA_POINTERS_EFM
-#undef X
-        };
-
-        char error_msg[128];
-        error_msg[0] = '\0';
-        const char* error_msg_fmt =
-            "Insufficient arena memory, currently allocated memory=\"%s\". "
-            "Increase using <size memory=\"X\"/>.";
-        cleanup(data, nJ);
-        data->ncon = ncon;
-        data->nefc = nefc;
-        if (nJ > -1) data->nJ = nJ;
-        data->contact =
-            static_cast<raw::MjContact*>(InterceptMjErrors(::mj_arenaAllocByte)(
-                data, ncon * sizeof(raw::MjContact), alignof(raw::MjContact)));
-        if (!data->contact) {
-          cleanup(data, nJ);
-          std::snprintf(error_msg, sizeof(error_msg), error_msg_fmt,
-                        mju_writeNumBytes(data->narena));
-          throw FatalError(error_msg);
-        }
-
-#undef MJ_M
-#define MJ_M(x) d.model().get()->x
-#undef MJ_D
-#define MJ_D(x) data->x
-#define X(type, name, nr, nc)                                             \
-  data->name = static_cast<type*>(InterceptMjErrors(::mj_arenaAllocByte)( \
-      data, sizeof(type) * (nr) * (nc), alignof(type)));                  \
-  if (!data->name) {                                                      \
-    cleanup(data, nJ);                                                    \
-    std::snprintf(error_msg, sizeof(error_msg), error_msg_fmt,            \
-                  mju_writeNumBytes(data->narena));                       \
-    throw FatalError(error_msg);                                          \
-  }
-
-        MJDATA_ARENA_POINTERS_SOLVER
-        if (mj_isDual(d.model().get())) {
-          MJDATA_ARENA_POINTERS_DUAL
-        }
-#undef X
-#undef MJ_D
-#define MJ_D(x) x
-#undef MJ_M
-#define MJ_M(x) x
-      },
-      py::arg("d"), py::arg("ncon"), py::arg("nefc"), py::arg("nJ") = -1,
-      py::call_guard<py::gil_scoped_release>());
-
-  pymodule.def(
-      "_realloc_island",
-      [](MjDataWrapper& d, int nisland, int nidof) {
-        raw::MjData* data = d.get();
-
-        size_t parena_start = data->parena;
-        // Find island block start in arena to reclaim memory on re-allocation.
-        char* min_ptr = nullptr;
-#define X(type, name, nr, nc)                                                   \
-        if (data->name &&                                                       \
-            (!min_ptr || reinterpret_cast<char*>(data->name) < min_ptr)) {      \
-          min_ptr = reinterpret_cast<char*>(data->name);                        \
-        }
-        MJDATA_ARENA_POINTERS_ISLAND
-#undef X
-        if (min_ptr && data->arena) {
-          parena_start = min_ptr - static_cast<char*>(data->arena);
-        }
-
-        auto cleanup = [](raw::MjData* data, size_t target_parena) {
-#define X(type, name, nr, nc) data->name = nullptr;
-          MJDATA_ARENA_POINTERS_ISLAND
-#undef X
-          data->nisland = 0;
-          data->nidof = 0;
-          data->parena = target_parena;
-#ifdef ADDRESS_SANITIZER
-          ASAN_POISON_MEMORY_REGION(
-              static_cast<char*>(data->arena) + target_parena,
-              data->narena - data->pstack - target_parena);
-#endif
-        };
-
-        cleanup(data, parena_start);
-
-        char error_msg[128];
-        error_msg[0] = '\0';
-        const char* error_msg_fmt =
-            "Insufficient arena memory, currently allocated memory=\"%s\". "
-            "Increase using <size memory=\"X\"/>.";
-
-        data->nisland = nisland;
-        data->nidof = nidof;
-
-#undef MJ_M
-#define MJ_M(x) d.model().get()->x
-#undef MJ_D
-#define MJ_D(x) data->x
-#define X(type, name, nr, nc)                                                   \
-        data->name = static_cast<type*>(InterceptMjErrors(::mj_arenaAllocByte)( \
-            data, sizeof(type) * (nr) * (nc), alignof(type)));                  \
-        if (!data->name) {                                                      \
-          cleanup(data, parena_start);                                          \
-          std::snprintf(error_msg, sizeof(error_msg), error_msg_fmt,            \
-                        mju_writeNumBytes(data->narena));                       \
-          throw FatalError(error_msg);                                          \
-        }
-
-        MJDATA_ARENA_POINTERS_ISLAND
-#undef X
-#undef MJ_D
-#define MJ_D(x) x
-#undef MJ_M
-#define MJ_M(x) x
-      },
-      py::arg("d"), py::arg("nisland"), py::arg("nidof"),
-      py::call_guard<py::gil_scoped_release>());
-}  // PYBIND11_MODULE NOLINT(readability/fn_size)
-}  // namespace
-}  // namespace mujoco::python
diff --git a/python/mujoco/functions.h b/python/mujoco/functions.h
deleted file mode 100644
index c2e79a99..00000000
--- a/python/mujoco/functions.h
+++ /dev/null
@@ -1,214 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_FUNCTIONS_H_
-#define MUJOCO_PYTHON_FUNCTIONS_H_
-
-#include <array>
-#include <optional>
-#include <string>
-#include <string_view>
-#include <tuple>
-#include <type_traits>
-
-#include <Eigen/Core>
-#include <mujoco/mujoco.h>
-#include "errors.h"
-#include "structs.h"
-#include "util/array_traits.h"
-#include "util/crossplatform.h"
-#include "util/func_wrap.h"
-#include "util/tuple_tools.h"
-#include <pybind11/eigen.h>
-#include <pybind11/pybind11.h>
-
-// Performs a compile-time check that the omitted argument name list is a
-// subset of the underlying function parameter names, and returns a helper that
-// defines a pybind11 function whose argument names obtained by removing
-// __VA_ARGS__ from the param_names tuple in the given MjTraits.
-// (This has to be implemented as a a macro because we cannot perform a
-// constexpr comparison of a tuple that is passed as a function argument.)
-#define DEF_WITH_OMITTED_PY_ARGS(MJTRAITS, ...)                                \
-  static_assert(                                                               \
-      util::is_subset_strings(std::make_tuple(__VA_ARGS__),                    \
-                              MJTRAITS::param_names),                          \
-      "omitted argument names is not a subset of function parameter names");   \
-  DefWithOmittedPyArgsImpl<MJTRAITS, decltype(std::make_tuple(__VA_ARGS__))> { \
-    std::make_tuple(__VA_ARGS__)                                               \
-  }
-
-namespace mujoco::util {
-template <typename RawMj>
-struct wrapped<RawMj*, python::enable_if_mj_struct_t<RawMj>> {
-  MUJOCO_ALWAYS_INLINE
-  static constexpr RawMj* unwrap(python::MjWrapper<RawMj>& wrapper) {
-    return wrapper.get();
-  }
-};
-
-// We use std::optional on pointer arguments to indicate that Python callers
-// can pass None.
-template <typename RawMj>
-struct wrapped<std::optional<RawMj*>, python::enable_if_mj_struct_t<RawMj>> {
-  MUJOCO_ALWAYS_INLINE
-  static constexpr std::optional<RawMj*> unwrap(
-      std::optional<python::MjWrapper<RawMj>*> wrapper) {
-    if (wrapper.has_value()) {
-      return (*wrapper)->get();
-    }
-    return std::nullopt;
-  }
-};
-
-template <typename Arr>
-using enable_if_arithmetic_array_t = std::enable_if_t<
-    std::is_array_v<Arr> &&
-    std::is_arithmetic_v<std::remove_all_extents_t<Arr>>>;
-
-template <typename Arr>
-struct wrapped<Arr*, enable_if_arithmetic_array_t<Arr>> {
-  MUJOCO_ALWAYS_INLINE
-  static constexpr Arr* unwrap(Eigen::Ref<array_eigen_t<Arr>> wrapper) {
-    return reinterpret_cast<Arr*>(wrapper.data());
-  }
-};
-}  // namespace mujoco::util
-
-namespace mujoco::python {
-namespace _impl {
-template <typename, typename>
-struct py_arg_helper {};
-
-template <typename... PyArg, typename... OmittedArg>
-struct py_arg_helper<std::tuple<PyArg...>, std::tuple<OmittedArg...>> {
-  std::tuple<PyArg...> py_args;
-  std::tuple<OmittedArg...> omitted_args;
-
-  static constexpr int n_py_args = std::tuple_size_v<decltype(py_args)>;
-  static constexpr int n_omitted_args =
-      std::tuple_size_v<decltype(omitted_args)>;
-
-  template <typename... T>
-  MUJOCO_ALWAYS_INLINE
-  constexpr void def(::pybind11::module_& m, T&&... t) {
-    constexpr int NExtras = std::tuple_size_v<std::tuple<T...>>;
-    unpack_tuple_as_py_args<0, NExtras>(m, std::forward<T>(t)...);
-  }
-
-  template <int ArgIdx, int NExtras, typename... T>
-  MUJOCO_ALWAYS_INLINE
-  constexpr void unpack_tuple_as_py_args(::pybind11::module_& m, T&&... t) {
-    if constexpr (ArgIdx == n_py_args) {
-      if constexpr (std::tuple_size_v<std::tuple<T...>> ==
-                    NExtras + n_py_args - n_omitted_args) {
-        m.def(std::forward<T>(t)...);
-      } else {
-        // This should ideally be a static_assert, but we need C++20 consteval
-        // to do that. When using the DEF_WITH_OMITTED_PY_ARGS macro, the
-        // static_assert in that macro would trigger first, rendering this
-        // branch unreachable.
-        throw UnexpectedError(
-            "omitted argument names do not match the underlying function "
-            "parameter names");
-      }
-    } else if (is_omitted<ArgIdx>()) {
-      unpack_tuple_as_py_args<ArgIdx+1, NExtras>(m, std::forward<T>(t)...);
-    } else {
-      unpack_tuple_as_py_args<ArgIdx+1, NExtras>(
-          m, std::forward<T>(t)..., ::pybind11::arg(std::get<ArgIdx>(py_args)));
-    }
-  }
-
-  template <int ArgIdx, int OmittedIdx = 0>
-  MUJOCO_ALWAYS_INLINE
-  constexpr bool is_omitted() {
-    if constexpr (OmittedIdx == n_omitted_args) {
-      return false;
-    // string_view comparison can be constexpr
-    } else if (std::string_view(std::get<ArgIdx>(py_args)) ==
-               std::string_view(std::get<OmittedIdx>(omitted_args))) {
-      return true;
-    } else {
-      return is_omitted<ArgIdx, OmittedIdx + 1>();
-    }
-  }
-};
-}  // namespace _impl
-
-template <typename Tuple>
-MUJOCO_ALWAYS_INLINE
-static constexpr auto WithNamedArgs(Tuple&& py_args) {
-  using ArgTuple = std::remove_cv_t<std::remove_reference_t<Tuple>>;
-  return _impl::py_arg_helper<ArgTuple, std::tuple<>>{
-    std::forward<Tuple>(py_args), std::tuple<>()};
-}
-
-template <typename Tuple1, typename Tuple2>
-MUJOCO_ALWAYS_INLINE
-static constexpr auto WithNamedArgs(Tuple1&& py_args, Tuple2&& omitted_args) {
-  using ArgTuple = std::remove_cv_t<std::remove_reference_t<Tuple1>>;
-  using OmittedTuple = std::remove_cv_t<std::remove_reference_t<Tuple2>>;
-  return _impl::py_arg_helper<ArgTuple, OmittedTuple>{
-    std::forward<Tuple1>(py_args), std::forward<Tuple2>(omitted_args)};
-}
-
-template <typename MjTraits>
-MUJOCO_ALWAYS_INLINE
-static constexpr void Def(::pybind11::module_& m) {
-  WithNamedArgs(MjTraits::param_names).def(
-      m, MjTraits::name,
-      util::UnwrapArgs(InterceptMjErrors(MjTraits::GetFunc())),
-      ::pybind11::doc(MjTraits::doc),
-      ::pybind11::call_guard<::pybind11::gil_scoped_release>());
-}
-
-template <typename MjTraits, typename Func>
-MUJOCO_ALWAYS_INLINE
-static constexpr void Def(::pybind11::module_& m, Func&& func) {
-  WithNamedArgs(MjTraits::param_names).def(
-      m, MjTraits::name, util::UnwrapArgs(std::forward<Func>(func)),
-      ::pybind11::doc(MjTraits::doc),
-      ::pybind11::call_guard<::pybind11::gil_scoped_release>());
-}
-
-template <typename MjTraits, typename OmittedArgs, typename Func>
-MUJOCO_ALWAYS_INLINE
-static constexpr void Def(
-    ::pybind11::module_& m, OmittedArgs&& omitted_args, Func&& func) {
-  WithNamedArgs(MjTraits::param_names, std::forward<OmittedArgs>(omitted_args))
-      .def(m, MjTraits::name, util::UnwrapArgs(std::forward<Func>(func)),
-           ::pybind11::doc(MjTraits::doc),
-           ::pybind11::call_guard<::pybind11::gil_scoped_release>());
-}
-
-template <typename MjTraits, typename Func>
-MUJOCO_ALWAYS_INLINE
-static constexpr void DefWithGil(::pybind11::module_& m, Func&& func) {
-  WithNamedArgs(MjTraits::param_names).def(
-      m, MjTraits::name, util::UnwrapArgs(std::forward<Func>(func)),
-      ::pybind11::doc(MjTraits::doc));
-}
-
-// Should only be invoked via the DEF_WITH_OMITTED_PY_ARGS macro.
-template <typename MjTraits, typename OmittedArgsTuple>
-struct DefWithOmittedPyArgsImpl {
-  OmittedArgsTuple omitted_args;
-  template <typename Func>
-  constexpr auto operator()(::pybind11::module_& m, Func&& func) {
-    return Def<MjTraits>(m, omitted_args, std::forward<Func>(func));
-  }
-};
-}  // namespace mujoco::python
-
-#endif  // MUJOCO_PYTHON_FUNCTIONS_H_
diff --git a/python/mujoco/gil.h b/python/mujoco/gil.h
deleted file mode 100644
index b368f5f1..00000000
--- a/python/mujoco/gil.h
+++ /dev/null
@@ -1,62 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_GIL_H_
-#define MUJOCO_PYTHON_GIL_H_
-
-#include <mutex>
-
-namespace mujoco::python {
-
-// A scoped lock that acquires a std::mutex in free-threaded Python builds
-// (Py_GIL_DISABLED) and does nothing in standard GIL builds.
-//
-// In standard builds the GIL already serializes access to Python state, so
-// adding a C++ mutex would introduce unnecessary overhead and deadlock risk
-// (two locks held simultaneously). In free-threaded builds the GIL is absent,
-// so an explicit mutex is required to protect shared mutable C++ state.
-//
-// Usage:
-//   static std::mutex my_mutex;
-//   {
-//     MutexLockIfGilDisabled lock(my_mutex);
-//     // ... access shared state ...
-//   }
-#ifdef Py_GIL_DISABLED
-class MutexLockIfGilDisabled {
- public:
-  explicit MutexLockIfGilDisabled(std::mutex& mtx) : lock_(mtx) {}
-  MutexLockIfGilDisabled(const MutexLockIfGilDisabled&) = delete;
-  MutexLockIfGilDisabled& operator=(const MutexLockIfGilDisabled&) = delete;
-
- private:
-  std::lock_guard<std::mutex> lock_;
-};
-#else
-class MutexLockIfGilDisabled {
- public:
-  explicit MutexLockIfGilDisabled(std::mutex& /*unused*/) {}
-  MutexLockIfGilDisabled(const MutexLockIfGilDisabled&) = delete;
-  MutexLockIfGilDisabled& operator=(const MutexLockIfGilDisabled&) = delete;
-};
-#endif
-
-inline std::mutex& GetCallbackMutex() {
-  static std::mutex mtx;
-  return mtx;
-}
-
-}  // namespace mujoco::python
-
-#endif  // MUJOCO_PYTHON_GIL_H_
diff --git a/python/mujoco/gil_test.py b/python/mujoco/gil_test.py
deleted file mode 100644
index 8901eb73..00000000
--- a/python/mujoco/gil_test.py
+++ /dev/null
@@ -1,35 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for GIL-free operation under free-threaded Python."""
-
-import sys
-import sysconfig
-
-from absl.testing import absltest
-import mujoco  # pytype: disable=unused-import
-
-
-class GilDisabledTest(absltest.TestCase):
-
-  @absltest.skipUnless(
-      sysconfig.get_config_var('Py_GIL_DISABLED'),
-      'Not running under free-threaded Python',
-  )
-  def test_gil_is_disabled(self):
-    self.assertFalse(sys._is_gil_enabled())  # pylint: disable=protected-access
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/gl_context.py b/python/mujoco/gl_context.py
deleted file mode 100644
index 3db3cab9..00000000
--- a/python/mujoco/gl_context.py
+++ /dev/null
@@ -1,21 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Wrapper around mujoco.rendering.classic.gl_context for backwards compatibility."""
-
-
-try:
-  from mujoco.rendering.classic.gl_context import *  # pytype: disable=import-error
-except ImportError:
-  pass
diff --git a/python/mujoco/glfw/__init__.py b/python/mujoco/glfw/__init__.py
deleted file mode 100644
index 0fd8bd9a..00000000
--- a/python/mujoco/glfw/__init__.py
+++ /dev/null
@@ -1,41 +0,0 @@
-# Copyright 2017 The dm_control Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""An OpenGL context created via GLFW."""
-
-import glfw
-
-
-class GLContext:
-  """An OpenGL context created via GLFW."""
-
-  def __init__(self, max_width, max_height):
-    glfw.init()
-    glfw.window_hint(glfw.VISIBLE, 0)
-    self._context = glfw.create_window(width=max_width, height=max_height,
-                                       title='Invisible window', monitor=None,
-                                       share=None)
-
-  def make_current(self):
-    glfw.make_context_current(self._context)
-
-  def free(self):
-    if self._context:
-      if glfw.get_current_context() == self._context:
-        glfw.make_context_current(None)
-      glfw.destroy_window(self._context)
-    self._context = None
-
-  def __del__(self):
-    self.free()
diff --git a/python/mujoco/indexer_xmacro.h b/python/mujoco/indexer_xmacro.h
deleted file mode 100644
index 10c52971..00000000
--- a/python/mujoco/indexer_xmacro.h
+++ /dev/null
@@ -1,442 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_INDEXER_XMACRO_H_
-#define MUJOCO_PYTHON_INDEXER_XMACRO_H_
-
-#include <mujoco/mjxmacro.h>  // IWYU pragma: keep
-
-#define MJMODEL_ACTUATOR                                          \
-  X( int,     actuator_, trntype,      nu, 1                    ) \
-  X( int,     actuator_, dyntype,      nu, 1                    ) \
-  X( int,     actuator_, gaintype,     nu, 1                    ) \
-  X( int,     actuator_, biastype,     nu, 1                    ) \
-  X( int,     actuator_, trnid,        nu, 2                    ) \
-  X( int,     actuator_, actadr,       nu, 1                    ) \
-  X( int,     actuator_, actnum,       nu, 1                    ) \
-  X( int,     actuator_, group,        nu, 1                    ) \
-  X( mjtByte, actuator_, ctrllimited,  nu, 1                    ) \
-  X( mjtByte, actuator_, forcelimited, nu, 1                    ) \
-  X( mjtByte, actuator_, actlimited,   nu, 1                    ) \
-  X( mjtNum,  actuator_, dynprm,       nu, mjNDYN               ) \
-  X( mjtNum,  actuator_, gainprm,      nu, mjNGAIN              ) \
-  X( mjtNum,  actuator_, biasprm,      nu, mjNBIAS              ) \
-  X( mjtNum,  actuator_, ctrlrange,    nu, 2                    ) \
-  X( mjtNum,  actuator_, forcerange,   nu, 2                    ) \
-  X( mjtNum,  actuator_, actrange,     nu, 2                    ) \
-  X( mjtNum,  actuator_, gear,         nu, 6                    ) \
-  X( mjtNum,  actuator_, cranklength,  nu, 1                    ) \
-  X( mjtNum,  actuator_, acc0,         nu, 1                    ) \
-  X( mjtNum,  actuator_, length0,      nu, 1                    ) \
-  X( mjtNum,  actuator_, lengthrange,  nu, 2                    ) \
-  X( mjtNum,  actuator_, user,         nu, MJ_M(nuser_actuator) )
-
-#define MJMODEL_BODY                                        \
-  X( int,     body_, parentid,    nbody, 1                ) \
-  X( int,     body_, rootid,      nbody, 1                ) \
-  X( int,     body_, weldid,      nbody, 1                ) \
-  X( int,     body_, mocapid,     nbody, 1                ) \
-  X( int,     body_, jntnum,      nbody, 1                ) \
-  X( int,     body_, jntadr,      nbody, 1                ) \
-  X( int,     body_, dofnum,      nbody, 1                ) \
-  X( int,     body_, dofadr,      nbody, 1                ) \
-  X( int,     body_, geomnum,     nbody, 1                ) \
-  X( int,     body_, geomadr,     nbody, 1                ) \
-  X( mjtByte, body_, simple,      nbody, 1                ) \
-  X( mjtByte, body_, sameframe,   nbody, 1                ) \
-  X( mjtNum,  body_, pos,         nbody, 3                ) \
-  X( mjtNum,  body_, quat,        nbody, 4                ) \
-  X( mjtNum,  body_, ipos,        nbody, 3                ) \
-  X( mjtNum,  body_, iquat,       nbody, 4                ) \
-  X( mjtNum,  body_, mass,        nbody, 1                ) \
-  X( mjtNum,  body_, subtreemass, nbody, 1                ) \
-  X( mjtNum,  body_, inertia,     nbody, 3                ) \
-  X( mjtNum,  body_, invweight0,  nbody, 2                ) \
-  X( mjtNum,  body_, user,        nbody, MJ_M(nuser_body) )
-
-#define MJMODEL_CAMERA                                   \
-  X( int,    cam_, mode,         ncam, 1               ) \
-  X( int,    cam_, bodyid,       ncam, 1               ) \
-  X( int,    cam_, targetbodyid, ncam, 1               ) \
-  X( mjtNum, cam_, pos,          ncam, 3               ) \
-  X( mjtNum, cam_, quat,         ncam, 4               ) \
-  X( mjtNum, cam_, poscom0,      ncam, 3               ) \
-  X( mjtNum, cam_, pos0,         ncam, 3               ) \
-  X( mjtNum, cam_, mat0,         ncam, 9               ) \
-  X( mjtNum, cam_, fovy,         ncam, 1               ) \
-  X( mjtNum, cam_, ipd,          ncam, 1               ) \
-  X( mjtNum, cam_, user,         ncam, MJ_M(nuser_cam) )
-
-#define MJMODEL_EQUALITY                     \
-  X( int,     eq_, type,    neq, 1         ) \
-  X( int,     eq_, obj1id,  neq, 1         ) \
-  X( int,     eq_, obj2id,  neq, 1         ) \
-  X( mjtByte, eq_, active0, neq, 1         ) \
-  X( mjtNum,  eq_, solref,  neq, mjNREF    ) \
-  X( mjtNum,  eq_, solimp,  neq, mjNIMP    ) \
-  X( mjtNum,  eq_, data,    neq, mjNEQDATA )
-
-#define MJMODEL_EXCLUDE                      \
-  X( int, exclude_, signature, nexclude, 1 )
-
-#define MJMODEL_GEOM                                        \
-  X( int,     geom_, type,        ngeom, 1                ) \
-  X( int,     geom_, contype,     ngeom, 1                ) \
-  X( int,     geom_, conaffinity, ngeom, 1                ) \
-  X( int,     geom_, condim,      ngeom, 1                ) \
-  X( int,     geom_, bodyid,      ngeom, 1                ) \
-  X( int,     geom_, dataid,      ngeom, 1                ) \
-  X( int,     geom_, matid,       ngeom, 1                ) \
-  X( int,     geom_, group,       ngeom, 1                ) \
-  X( int,     geom_, priority,    ngeom, 1                ) \
-  X( mjtByte, geom_, sameframe,   ngeom, 1                ) \
-  X( mjtNum,  geom_, solmix,      ngeom, 1                ) \
-  X( mjtNum,  geom_, solref,      ngeom, mjNREF           ) \
-  X( mjtNum,  geom_, solimp,      ngeom, mjNIMP           ) \
-  X( mjtNum,  geom_, size,        ngeom, 3                ) \
-  X( mjtNum,  geom_, rbound,      ngeom, 1                ) \
-  X( mjtNum,  geom_, pos,         ngeom, 3                ) \
-  X( mjtNum,  geom_, quat,        ngeom, 4                ) \
-  X( mjtNum,  geom_, friction,    ngeom, 3                ) \
-  X( mjtNum,  geom_, margin,      ngeom, 1                ) \
-  X( mjtNum,  geom_, gap,         ngeom, 1                ) \
-  X( mjtNum,  geom_, user,        ngeom, MJ_M(nuser_geom) ) \
-  X( float,   geom_, rgba,        ngeom, 4                )
-
-#define MJMODEL_HFIELD                       \
-  X( mjtNum, hfield_, size, nhfield,     4 ) \
-  X( int,    hfield_, nrow, nhfield,     1 ) \
-  X( int,    hfield_, ncol, nhfield,     1 ) \
-  X( int,    hfield_, adr,  nhfield,     1 ) \
-  X( float,  hfield_, data, nhfielddata, 1 )
-
-#define MJMODEL_JOINT                                     \
-  X( mjtNum,  ,     qpos0,        nq,   1               ) \
-  X( mjtNum,  ,     qpos_spring,  nq,   1               ) \
-  X( int,     jnt_, type,         njnt, 1               ) \
-  X( int,     jnt_, qposadr,      njnt, 1               ) \
-  X( int,     jnt_, dofadr,       njnt, 1               ) \
-  X( int,     jnt_, group,        njnt, 1               ) \
-  X( mjtByte, jnt_, limited,      njnt, 1               ) \
-  X( mjtNum,  jnt_, pos,          njnt, 3               ) \
-  X( mjtNum,  jnt_, axis,         njnt, 3               ) \
-  X( mjtNum,  jnt_, stiffness,    njnt, 1               ) \
-  X( mjtNum,  jnt_, stiffnesspoly, njnt, mjNPOLY        ) \
-  X( mjtNum,  jnt_, range,        njnt, 2               ) \
-  X( mjtNum,  jnt_, margin,       njnt, 1               ) \
-  X( mjtNum,  jnt_, user,         njnt, MJ_M(nuser_jnt) ) \
-  X( int,     dof_, bodyid,       nv,   1               ) \
-  X( int,     dof_, jntid,        nv,   1               ) \
-  X( int,     dof_, parentid,     nv,   1               ) \
-  X( int,     dof_, Madr,         nv,   1               ) \
-  X( int,     dof_, simplenum,    nv,   1               ) \
-  X( mjtNum,  jnt_, solref,       njnt, mjNREF          ) \
-  X( mjtNum,  jnt_, solimp,       njnt, mjNIMP          ) \
-  X( mjtNum,  dof_, frictionloss, nv,   1               ) \
-  X( mjtNum,  dof_, armature,     nv,   1               ) \
-  X( mjtNum,  dof_, damping,      nv,   1               ) \
-  X( mjtNum,  dof_, dampingpoly,  nv,   mjNPOLY         ) \
-  X( mjtNum,  dof_, invweight0,   nv,   1               ) \
-  X( mjtNum,  dof_, M0,           nv,   1               )
-
-#define MJMODEL_LIGHT                             \
-  X( int,     light_, mode,          nlight,  1 ) \
-  X( int,     light_, bodyid,        nlight,  1 ) \
-  X( int,     light_, targetbodyid,  nlight,  1 ) \
-  X( int,     light_, type,          nlight,  1 ) \
-  X( mjtByte, light_, castshadow,    nlight,  1 ) \
-  X( mjtByte, light_, active,        nlight,  1 ) \
-  X( mjtNum,  light_, pos,           nlight,  3 ) \
-  X( mjtNum,  light_, dir,           nlight,  3 ) \
-  X( mjtNum,  light_, poscom0,       nlight,  3 ) \
-  X( mjtNum,  light_, pos0,          nlight,  3 ) \
-  X( mjtNum,  light_, dir0,          nlight,  3 ) \
-  X( float,   light_, attenuation,   nlight,  3 ) \
-  X( float,   light_, cutoff,        nlight,  1 ) \
-  X( float,   light_, exponent,      nlight,  1 ) \
-  X( float,   light_, ambient,       nlight,  3 ) \
-  X( float,   light_, diffuse,       nlight,  3 ) \
-  X( float,   light_, specular,      nlight,  3 )
-
-#define MJMODEL_MATERIAL                   \
-  X( int,     mat_, texid,       nmat, mjNTEXROLE ) \
-  X( mjtByte, mat_, texuniform,  nmat, 1 ) \
-  X( float,   mat_, texrepeat,   nmat, 2 ) \
-  X( float,   mat_, emission,    nmat, 1 ) \
-  X( float,   mat_, specular,    nmat, 1 ) \
-  X( float,   mat_, shininess,   nmat, 1 ) \
-  X( float,   mat_, reflectance, nmat, 1 ) \
-  X( float,   mat_, rgba,        nmat, 4 )
-
-#define MJMODEL_MESH                   \
-  X( int, mesh_, vertadr,     nmesh, 1 ) \
-  X( int, mesh_, vertnum,     nmesh, 1 ) \
-  X( int, mesh_, texcoordadr, nmesh, 1 ) \
-  X( int, mesh_, faceadr,     nmesh, 1 ) \
-  X( int, mesh_, facenum,     nmesh, 1 ) \
-  X( int, mesh_, graphadr,    nmesh, 1 )
-
-#define MJMODEL_NUMERIC                        \
-  X( int,    numeric_, adr,  nnumeric,     1 ) \
-  X( int,    numeric_, size, nnumeric,     1 ) \
-  X( mjtNum, numeric_, data, nnumericdata, 1 )
-
-#define MJMODEL_PAIR                            \
-  X( int,     pair_, dim,       npair, 1      ) \
-  X( int,     pair_, geom1,     npair, 1      ) \
-  X( int,     pair_, geom2,     npair, 1      ) \
-  X( int,     pair_, signature, npair, 1      ) \
-  X( mjtNum,  pair_, solref,    npair, mjNREF ) \
-  X( mjtNum,  pair_, solimp,    npair, mjNIMP ) \
-  X( mjtNum,  pair_, margin,    npair, 1      ) \
-  X( mjtNum,  pair_, gap,       npair, 1      ) \
-  X( mjtNum,  pair_, friction,  npair, 5      )
-
-#define MJMODEL_SENSOR                                         \
-  X( int,    sensor_, type,      nsensor, 1                  ) \
-  X( int,    sensor_, datatype,  nsensor, 1                  ) \
-  X( int,    sensor_, needstage, nsensor, 1                  ) \
-  X( int,    sensor_, objtype,   nsensor, 1                  ) \
-  X( int,    sensor_, objid,     nsensor, 1                  ) \
-  X( int,    sensor_, reftype,   nsensor, 1                  ) \
-  X( int,    sensor_, refid,     nsensor, 1                  ) \
-  X( int,    sensor_, dim,       nsensor, 1                  ) \
-  X( int,    sensor_, adr,       nsensor, 1                  ) \
-  X( mjtNum, sensor_, cutoff,    nsensor, 1                  ) \
-  X( mjtNum, sensor_, noise,     nsensor, 1                  ) \
-  X( mjtNum, sensor_, user,      nsensor, MJ_M(nuser_sensor) )
-
-#define MJMODEL_SITE                                      \
-  X( int,     site_, type,      nsite, 1                ) \
-  X( int,     site_, bodyid,    nsite, 1                ) \
-  X( int,     site_, matid,     nsite, 1                ) \
-  X( int,     site_, group,     nsite, 1                ) \
-  X( mjtByte, site_, sameframe, nsite, 1                ) \
-  X( mjtNum,  site_, size,      nsite, 3                ) \
-  X( mjtNum,  site_, pos,       nsite, 3                ) \
-  X( mjtNum,  site_, quat,      nsite, 4                ) \
-  X( mjtNum,  site_, user,      nsite, MJ_M(nuser_site) ) \
-  X( float,   site_, rgba,      nsite, 4                )
-
-#define MJMODEL_SKIN                       \
-  X( int,   skin_, matid,       nskin, 1 ) \
-  X( float, skin_, rgba,        nskin, 4 ) \
-  X( float, skin_, inflate,     nskin, 1 ) \
-  X( int,   skin_, vertadr,     nskin, 1 ) \
-  X( int,   skin_, vertnum,     nskin, 1 ) \
-  X( int,   skin_, texcoordadr, nskin, 1 ) \
-  X( int,   skin_, faceadr,     nskin, 1 ) \
-  X( int,   skin_, facenum,     nskin, 1 ) \
-  X( int,   skin_, boneadr,     nskin, 1 ) \
-  X( int,   skin_, bonenum,     nskin, 1 )
-
-#define MJMODEL_TENDON                                             \
-  X( int,     tendon, _adr,          ntendon, 1                  ) \
-  X( int,     tendon, _num,          ntendon, 1                  ) \
-  X( int,     tendon, _matid,        ntendon, 1                  ) \
-  X( int,     tendon, _group,        ntendon, 1                  ) \
-  X( mjtByte, tendon, _limited,      ntendon, 1                  ) \
-  X( mjtNum,  tendon, _width,        ntendon, 1                  ) \
-  X( mjtNum,  tendon, _solref_lim,   ntendon, mjNREF             ) \
-  X( mjtNum,  tendon, _solimp_lim,   ntendon, mjNIMP             ) \
-  X( mjtNum,  tendon, _solref_fri,   ntendon, mjNREF             ) \
-  X( mjtNum,  tendon, _solimp_fri,   ntendon, mjNIMP             ) \
-  X( mjtNum,  tendon, _range,        ntendon, 2                  ) \
-  X( mjtNum,  tendon, _margin,       ntendon, 1                  ) \
-  X( mjtNum,  tendon, _stiffness,    ntendon, 1                  ) \
-  X( mjtNum,  tendon, _stiffnesspoly, ntendon, mjNPOLY           ) \
-  X( mjtNum,  tendon, _damping,      ntendon, 1                  ) \
-  X( mjtNum,  tendon, _dampingpoly,  ntendon, mjNPOLY            ) \
-  X( mjtNum,  tendon, _frictionloss, ntendon, 1                  ) \
-  X( mjtNum,  tendon, _lengthspring, ntendon, 1                  ) \
-  X( mjtNum,  tendon, _length0,      ntendon, 1                  ) \
-  X( mjtNum,  tendon, _invweight0,   ntendon, 1                  ) \
-  X( mjtNum,  tendon, _user,         ntendon, MJ_M(nuser_tendon) ) \
-  X( float,   tendon, _rgba,         ntendon, 4                  ) \
-  X( int,     ten_,   J_rownnz,      ntendon, 1                  ) \
-  X( int,     ten_,   J_rowadr,      ntendon, 1                  ) \
-  X( int,     ten_,   J_colind,      ntendon, MJ_M(nv)           )
-
-#define MJMODEL_TEXTURE                   \
-  X( int,     tex_, type,     ntex,     1 ) \
-  X( int,     tex_, height,   ntex,     1 ) \
-  X( int,     tex_, width,    ntex,     1 ) \
-  X( int,     tex_, nchannel, ntex,     1 ) \
-  X( int,     tex_, adr,      ntex,     1 ) \
-  X( mjtByte, tex_, data,     ntexdata, 1 )
-
-#define MJMODEL_TUPLE                         \
-  X( int,    tuple_, adr,     ntuple,     1 ) \
-  X( int,    tuple_, size,    ntuple,     1 ) \
-  X( int,    tuple_, objtype, ntupledata, 1 ) \
-  X( int,    tuple_, objid,   ntupledata, 1 ) \
-  X( mjtNum, tuple_, objprm,  ntupledata, 1 )
-
-#define MJMODEL_KEYFRAME                         \
-  X( mjtNum, key_, time,  nkey, 1              ) \
-  X( mjtNum, key_, qpos,  nkey, MJ_M(nq)       ) \
-  X( mjtNum, key_, qvel,  nkey, MJ_M(nv)       ) \
-  X( mjtNum, key_, act,   nkey, MJ_M(na)       ) \
-  X( mjtNum, key_, mpos,  nkey, MJ_M(nmocap)*3 ) \
-  X( mjtNum, key_, mquat, nkey, MJ_M(nmocap)*4 ) \
-  X( mjtNum, key_, ctrl,  nkey, MJ_M(nu)       )
-
-#define MJMODEL_VIEW_GROUPS                                            \
-  XGROUP( MjModelActuatorViews, actuator, nu,       MJMODEL_ACTUATOR ) \
-  XGROUP( MjModelBodyViews,     body,     nbody,    MJMODEL_BODY     ) \
-  XGROUP( MjModelCameraViews,   cam,      ncam,     MJMODEL_CAMERA   ) \
-  XGROUP( MjModelEqualityViews, eq,       neq,      MJMODEL_EQUALITY ) \
-  XGROUP( MjModelExcludeViews,  exclude,  nexclude, MJMODEL_EXCLUDE  ) \
-  XGROUP( MjModelGeomViews,     geom,     ngeom,    MJMODEL_GEOM     ) \
-  XGROUP( MjModelHfieldViews,   hfield,   nhfield,  MJMODEL_HFIELD   ) \
-  XGROUP( MjModelJointViews,    jnt,      njnt,     MJMODEL_JOINT    ) \
-  XGROUP( MjModelLightViews,    light,    nlight,   MJMODEL_LIGHT    ) \
-  XGROUP( MjModelMaterialViews, mat,      nmat,     MJMODEL_MATERIAL ) \
-  XGROUP( MjModelMeshViews,     mesh,     nmesh,    MJMODEL_MESH     ) \
-  XGROUP( MjModelNumericViews,  numeric,  nnumeric, MJMODEL_NUMERIC  ) \
-  XGROUP( MjModelPairViews,     pair,     npair,    MJMODEL_PAIR     ) \
-  XGROUP( MjModelSensorViews,   sensor,   nsensor,  MJMODEL_SENSOR   ) \
-  XGROUP( MjModelSiteViews,     site,     nsite,    MJMODEL_SITE     ) \
-  XGROUP( MjModelSkinViews,     skin,     nskin,    MJMODEL_SKIN     ) \
-  XGROUP( MjModelTendonViews,   tendon,   ntendon,  MJMODEL_TENDON   ) \
-  XGROUP( MjModelTextureViews,  tex,      ntex,     MJMODEL_TEXTURE  ) \
-  XGROUP( MjModelTupleViews,    tuple,    ntuple,   MJMODEL_TUPLE    ) \
-  XGROUP( MjModelKeyframeViews, key,      nkey,     MJMODEL_KEYFRAME )
-
-#define MJMODEL_BIND_GROUPS      \
-  XGROUP( mjsActuator, actuator) \
-  XGROUP( mjsBody,     body    ) \
-  XGROUP( mjsCamera,   cam     ) \
-  XGROUP( mjsEquality, eq      ) \
-  XGROUP( mjsExclude,  exclude ) \
-  XGROUP( mjsGeom,     geom    ) \
-  XGROUP( mjsHField,   hfield  ) \
-  XGROUP( mjsJoint,    jnt     ) \
-  XGROUP( mjsLight,    light   ) \
-  XGROUP( mjsMaterial, mat     ) \
-  XGROUP( mjsMesh,     mesh    ) \
-  XGROUP( mjsNumeric,  numeric ) \
-  XGROUP( mjsPair,     pair    ) \
-  XGROUP( mjsSensor,   sensor  ) \
-  XGROUP( mjsSite,     site    ) \
-  XGROUP( mjsSkin,     skin    ) \
-  XGROUP( mjsTendon,   tendon  ) \
-  XGROUP( mjsTexture,  tex     ) \
-  XGROUP( mjsTuple,    tuple   ) \
-  XGROUP( mjsKey,      key     )
-
-#define MJMODEL_VIEW_GROUPS_ALTNAMES        \
-  XGROUP( cam, camera,   MJMODEL_CAMERA   ) \
-  XGROUP( eq,  equality, MJMODEL_EQUALITY ) \
-  XGROUP( jnt, joint,    MJMODEL_JOINT    ) \
-  XGROUP( mat, material, MJMODEL_MATERIAL ) \
-  XGROUP( tex, texture,  MJMODEL_TEXTURE  ) \
-  XGROUP( key, keyframe, MJMODEL_KEYFRAME )
-
-#define MJDATA_ACTUATOR                          \
-  X( mjtNum, ,          ctrl,     nu, 1        ) \
-  X( mjtNum, actuator_, length,   nu, 1        ) \
-  X( mjtNum, actuator_, moment,   nu, MJ_M(nv) ) \
-  X( mjtNum, actuator_, velocity, nu, 1        ) \
-  X( mjtNum, actuator_, force,    nu, 1        )
-
-#define MJDATA_BODY                        \
-  X( mjtNum, , xfrc_applied,   nbody, 6  ) \
-  X( mjtNum, , xpos,           nbody, 3  ) \
-  X( mjtNum, , xquat,          nbody, 4  ) \
-  X( mjtNum, , xmat,           nbody, 9  ) \
-  X( mjtNum, , xipos,          nbody, 3  ) \
-  X( mjtNum, , ximat,          nbody, 9  ) \
-  X( mjtNum, , subtree_com,    nbody, 3  ) \
-  X( mjtNum, , cinert,         nbody, 10 ) \
-  X( mjtNum, , crb,            nbody, 10 ) \
-  X( mjtNum, , cvel,           nbody, 6  ) \
-  X( mjtNum, , subtree_linvel, nbody, 3  ) \
-  X( mjtNum, , subtree_angmom, nbody, 3  ) \
-  X( mjtNum, , cacc,           nbody, 6  ) \
-  X( mjtNum, , cfrc_int,       nbody, 6  ) \
-  X( mjtNum, , cfrc_ext,       nbody, 6  )
-
-#define MJDATA_CAMERA              \
-  X( mjtNum, cam_, xpos, ncam, 3 ) \
-  X( mjtNum, cam_, xmat, ncam, 9 )
-
-#define MJDATA_GEOM                  \
-  X( mjtNum, geom_, xpos, ngeom, 3 ) \
-  X( mjtNum, geom_, xmat, ngeom, 9 )
-
-#define MJDATA_JOINT                                \
-  X( mjtNum, , qpos,            nq,   1           ) \
-  X( mjtNum, , qvel,            nv,   1           ) \
-  X( mjtNum, , qacc_warmstart,  nv,   1           ) \
-  X( mjtNum, , qfrc_applied,    nv,   1           ) \
-  X( mjtNum, , qacc,            nv,   1           ) \
-  X( mjtNum, , xanchor,         njnt, 3           ) \
-  X( mjtNum, , xaxis,           njnt, 3           ) \
-  X( mjtNum, , cdof,            nv,   6           ) \
-  X( mjtNum, , qLDiagInv,       nv,   1           ) \
-  X( mjtNum, , cdof_dot,        nv,   6           ) \
-  X( mjtNum, , qfrc_bias,       nv,   1           ) \
-  X( mjtNum, , qfrc_passive,    nv,   1           ) \
-  X( mjtNum, , qfrc_actuator,   nv,   1           ) \
-  X( mjtNum, , qfrc_smooth,     nv,   1           ) \
-  X( mjtNum, , qacc_smooth,     nv,   1           ) \
-  X( mjtNum, , qfrc_constraint, nv,   1           ) \
-  X( mjtNum, , qfrc_inverse,    nv,   1           )
-
-#define MJDATA_LIGHT                   \
-  X( mjtNum, light_, xpos, nlight, 3 ) \
-  X( mjtNum, light_, xdir, nlight, 3 )
-
-#define MJDATA_SENSOR                       \
-  X( mjtNum, sensor, data, nsensordata, 1 )
-
-#define MJDATA_SITE                  \
-  X( mjtNum, site_, xpos, nsite, 3 ) \
-  X( mjtNum, site_, xmat, nsite, 9 )
-
-#define MJDATA_TENDON                            \
-  X( int, ten_,    wrapadr , ntendon, 1        ) \
-  X( int, ten_,    wrapnum , ntendon, 1        ) \
-  X( mjtNum, ten_, length  , ntendon, 1        ) \
-  X( mjtNum, ten_, velocity, ntendon, 1        )
-
-#define MJDATA_VIEW_GROUPS                                           \
-  XGROUP( MjDataActuatorViews, actuator, nu,       MJDATA_ACTUATOR ) \
-  XGROUP( MjDataBodyViews,     body,     nbody,    MJDATA_BODY     ) \
-  XGROUP( MjDataCameraViews,   cam,      ncam,     MJDATA_CAMERA   ) \
-  XGROUP( MjDataGeomViews,     geom,     ngeom,    MJDATA_GEOM     ) \
-  XGROUP( MjDataJointViews,    jnt,      njnt,     MJDATA_JOINT    ) \
-  XGROUP( MjDataLightViews,    light,    nlight,   MJDATA_LIGHT    ) \
-  XGROUP( MjDataSensorViews,   sensor,   nsensor,  MJDATA_SENSOR   ) \
-  XGROUP( MjDataSiteViews,     site,     nsite,    MJDATA_SITE     ) \
-  XGROUP( MjDataTendonViews,   tendon,   ntendon,  MJDATA_TENDON   )
-
-#define MJDATA_BIND_GROUPS       \
-  XGROUP( mjsActuator, actuator) \
-  XGROUP( mjsBody,     body    ) \
-  XGROUP( mjsCamera,   cam     ) \
-  XGROUP( mjsGeom,     geom    ) \
-  XGROUP( mjsJoint,    jnt     ) \
-  XGROUP( mjsLight,    light   ) \
-  XGROUP( mjsSensor,   sensor  ) \
-  XGROUP( mjsSite,     site    ) \
-  XGROUP( mjsTendon,   tendon  )
-
-#define MJDATA_VIEW_GROUPS_ALTNAMES       \
-  XGROUP( cam,    camera, MJDATA_CAMERA ) \
-  XGROUP( jnt,    joint,  MJDATA_JOINT  ) \
-  XGROUP( tendon, ten,    MJDATA_TENDON )
-
-#endif  // MUJOCO_PYTHON_INDEXER_XMACRO_H_
diff --git a/python/mujoco/indexers.cc b/python/mujoco/indexers.cc
deleted file mode 100644
index 17135421..00000000
--- a/python/mujoco/indexers.cc
+++ /dev/null
@@ -1,446 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <optional>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <vector>
-
-#include "gil.h"
-#include "indexers.h"
-#include "raw.h"
-#include "util/crossplatform.h"
-
-namespace mujoco::python {
-
-namespace py = ::pybind11;
-
-namespace {
-// Parses raw mjModel to create a mapping from names to array indices.
-//
-// Args:
-//   count: Number of names in the map.
-//   name_offsets: Array consisting of indices that correspond to the start of
-//     each name in the `names` array.
-//   names: Character arrays consisting of the concatenation of all names.
-template <typename IntPtr, typename CharPtr>
-NameToID MakeNameToID(int count, IntPtr name_offsets, CharPtr names)
-{
-  NameToID name_to_id;
-  for (int index = 0; index < count; ++index) {
-    const char* name = &names[name_offsets[index]];
-    if (name[0] != '\0') {
-      name_to_id.insert({name, index});
-    }
-  }
-  return name_to_id;
-}
-
-// Parses raw mjModel to create a mapping from array indices to names.
-//
-// Args:
-//   count: Number of names in the map.
-//   name_offsets: Array consisting of indices that correspond to the start of
-//     each name in the `names` array.
-//   names: Character arrays consisting of the concatenation of all names.
-template <typename IntPtr, typename CharPtr>
-IDToName MakeIDToName(int count, IntPtr name_offsets, CharPtr names) {
-  IDToName id_to_name;
-  for (int index = 0; index < count; ++index) {
-    const char* name = &names[name_offsets[index]];
-    id_to_name.emplace_back(name);
-  }
-  return id_to_name;
-};
-
-// Makes an array view into an mjModel/mjData struct field at a given index.
-//
-// Template args:
-//   MjSize: An (int M::*) specifying the number of entities of the same type
-//     as the one whose array view is to be created. This is a way to indicate
-//     the MuJoCo category of the entity itself, e.g. nbody indicates that the
-//     field belongs to a body.
-//   T: Scalar data type of the field.
-//
-// Args:
-//   base_ptr: Pointer to the first entry in the entire field.
-//   index: Entity ID at which a view is to be created.
-//   shape: The shape of the array as defined by MuJoCo. If MjSize corresponds
-//     to a ragged or indirect field, the shape may be prepended by additional
-//     dimensions as appropriate, e.g. if MjSize is nv then the view gains an
-//     additional dimension of the size len(qvel) of the particular joint.
-//   m: Used for dereferencing MjSize.
-//   owner: The base object whose lifetime is tied to the returned array.
-template <auto MjSize, typename T>
-py::array_t<T> MakeArray(T* base_ptr, int index, std::vector<int>&& shape,
-                         const raw::MjModel& m, py::handle owner) {
-  int offset;
-  if (MjSize == &raw::MjModel::nq) {
-    offset = m.jnt_qposadr[index];
-    shape.insert(
-        shape.begin(),
-        ((index < m.njnt-1) ? m.jnt_qposadr[index+1] : m.nq) - offset);
-  } else if (MjSize == &raw::MjModel::nv) {
-    offset = m.jnt_dofadr[index];
-    shape.insert(
-        shape.begin(),
-        ((index < m.njnt-1) ? m.jnt_dofadr[index+1] : m.nv) - offset);
-  } else if (MjSize == &raw::MjModel::nhfielddata) {
-    offset = m.hfield_adr[index];
-    shape.insert(shape.begin(), m.hfield_ncol[index]);
-    shape.insert(shape.begin(), m.hfield_nrow[index]);
-  } else if (MjSize == &raw::MjModel::ntexdata) {
-    offset = m.tex_adr[index];
-    shape.insert(shape.begin(), m.tex_nchannel[index]);
-    shape.insert(shape.begin(), m.tex_width[index]);
-    shape.insert(shape.begin(), m.tex_height[index]);
-  } else if (MjSize == &raw::MjModel::nsensordata) {
-    offset = m.sensor_adr[index];
-    shape.insert(shape.begin(), m.sensor_dim[index]);
-  } else if (MjSize == &raw::MjModel::nnumericdata) {
-    offset = m.numeric_adr[index];
-    shape.insert(shape.begin(), m.numeric_size[index]);
-  } else if (MjSize == &raw::MjModel::ntupledata) {
-    offset = m.tuple_adr[index];
-    shape.insert(shape.begin(), m.tuple_size[index]);
-  } else {
-    // Do not return a NumPy array with shape () since these aren't very nice
-    // to work with. Instead, always return singleton arrays with shape (1,).
-    if (shape.empty()) {
-      shape.push_back(1);
-    }
-    int size = 1;
-    for (int s : shape) {
-      size *= s;
-    }
-    offset = index * size;
-  }
-  return py::array_t<T>(std::move(shape), base_ptr + offset,
-                        py::reinterpret_borrow<py::object>(owner));
-}
-}  // namespace
-
-NameToIDMappings::NameToIDMappings(const raw::MjModel& m)
-    : body(MakeNameToID(m.nbody, m.name_bodyadr, m.names)),
-      jnt(MakeNameToID(m.njnt, m.name_jntadr, m.names)),
-      geom(MakeNameToID(m.ngeom, m.name_geomadr, m.names)),
-      site(MakeNameToID(m.nsite, m.name_siteadr, m.names)),
-      cam(MakeNameToID(m.ncam, m.name_camadr, m.names)),
-      light(MakeNameToID(m.nlight, m.name_lightadr, m.names)),
-      mesh(MakeNameToID(m.nmesh, m.name_meshadr, m.names)),
-      skin(MakeNameToID(m.nskin, m.name_skinadr, m.names)),
-      hfield(MakeNameToID(m.nhfield, m.name_hfieldadr, m.names)),
-      tex(MakeNameToID(m.ntex, m.name_texadr, m.names)),
-      mat(MakeNameToID(m.nmat, m.name_matadr, m.names)),
-      pair(MakeNameToID(m.npair, m.name_pairadr, m.names)),
-      exclude(MakeNameToID(m.nexclude, m.name_excludeadr, m.names)),
-      eq(MakeNameToID(m.neq, m.name_eqadr, m.names)),
-      tendon(MakeNameToID(m.ntendon, m.name_tendonadr, m.names)),
-      actuator(MakeNameToID(m.nu, m.name_actuatoradr, m.names)),
-      sensor(MakeNameToID(m.nsensor, m.name_sensoradr, m.names)),
-      numeric(MakeNameToID(m.nnumeric, m.name_numericadr, m.names)),
-      text(MakeNameToID(m.ntext, m.name_textadr, m.names)),
-      tuple(MakeNameToID(m.ntuple, m.name_tupleadr, m.names)),
-      key(MakeNameToID(m.nkey, m.name_keyadr, m.names)) {}
-
-IDToNameMappings::IDToNameMappings(const raw::MjModel& m)
-    : body(MakeIDToName(m.nbody, m.name_bodyadr, m.names)),
-      jnt(MakeIDToName(m.njnt, m.name_jntadr, m.names)),
-      geom(MakeIDToName(m.ngeom, m.name_geomadr, m.names)),
-      site(MakeIDToName(m.nsite, m.name_siteadr, m.names)),
-      cam(MakeIDToName(m.ncam, m.name_camadr, m.names)),
-      light(MakeIDToName(m.nlight, m.name_lightadr, m.names)),
-      mesh(MakeIDToName(m.nmesh, m.name_meshadr, m.names)),
-      skin(MakeIDToName(m.nskin, m.name_skinadr, m.names)),
-      hfield(MakeIDToName(m.nhfield, m.name_hfieldadr, m.names)),
-      tex(MakeIDToName(m.ntex, m.name_texadr, m.names)),
-      mat(MakeIDToName(m.nmat, m.name_matadr, m.names)),
-      pair(MakeIDToName(m.npair, m.name_pairadr, m.names)),
-      exclude(MakeIDToName(m.nexclude, m.name_excludeadr, m.names)),
-      eq(MakeIDToName(m.neq, m.name_eqadr, m.names)),
-      tendon(MakeIDToName(m.ntendon, m.name_tendonadr, m.names)),
-      actuator(MakeIDToName(m.nu, m.name_actuatoradr, m.names)),
-      sensor(MakeIDToName(m.nsensor, m.name_sensoradr, m.names)),
-      numeric(MakeIDToName(m.nnumeric, m.name_numericadr, m.names)),
-      text(MakeIDToName(m.ntext, m.name_textadr, m.names)),
-      tuple(MakeIDToName(m.ntuple, m.name_tupleadr, m.names)),
-      key(MakeIDToName(m.nkey, m.name_keyadr, m.names)) {}
-
-MjModelIndexer::MjModelIndexer(raw::MjModel* m, py::handle owner)
-    : m_(m),
-      owner_(owner),
-      name_to_id_(*m),
-      id_to_name_(*m)
-#define XGROUP(MjModelFieldGroupedViews, field, nfield, FIELD_XMACROS) \
-  , field##_(m->nfield)
-      MJMODEL_VIEW_GROUPS
-#undef XGROUP
-{}
-
-#define XGROUP(MjModelFieldGroupedViews, field, nfield, FIELD_XMACROS) \
-  MjModelFieldGroupedViews& MjModelIndexer::field(int i) {             \
-    if (i >= field##_.size() || i < 0) {                               \
-      throw py::index_error(IndexErrorMessage(i, field##_.size()));    \
-    }                                                                  \
-    MutexLockIfGilDisabled lock(lazy_init_mutex_);                     \
-    auto& indexer = field##_[i];                                       \
-    if (!indexer.has_value()) {                                        \
-      const std::string& name = id_to_name_.field[i];                  \
-      indexer.emplace(i, name, m_, owner_);                            \
-    }                                                                  \
-    return *indexer;                                                   \
-  }
-MJMODEL_VIEW_GROUPS
-#undef XGROUP
-
-#define XGROUP(MjModelFieldGroupedViews, field, nfield, FIELD_XMACROS) \
-  MjModelFieldGroupedViews& MjModelIndexer::field##_by_name(           \
-      std::string_view name) {                                         \
-    auto item = name_to_id_.field.find(name);                          \
-    if (item == name_to_id_.field.end()) {                             \
-      throw py::key_error(KeyErrorMessage(name_to_id_.field, name));   \
-    }                                                                  \
-    return field(item->second);                                        \
-  }
-MJMODEL_VIEW_GROUPS
-#undef XGROUP
-
-MjDataIndexer::MjDataIndexer(raw::MjData* d, const raw::MjModel* m,
-                             py::handle owner)
-    : d_(d),
-      m_(m),
-      owner_(owner),
-      name_to_id_(*m),
-      id_to_name_(*m)
-#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS) \
-  , field##_(m->nfield)
-      MJDATA_VIEW_GROUPS
-#undef XGROUP
-{}
-
-#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS)    \
-  MjDataGroupedViews& MjDataIndexer::field(int i) {                 \
-    if (i >= field##_.size() || i < 0) {                            \
-      throw py::index_error(IndexErrorMessage(i, field##_.size())); \
-    }                                                               \
-    MutexLockIfGilDisabled lock(lazy_init_mutex_);                  \
-    auto& indexer = field##_[i];                                    \
-    if (!indexer.has_value()) {                                     \
-      const std::string& name = id_to_name_.field[i];               \
-      indexer.emplace(i, name, d_, m_, owner_);                     \
-    }                                                               \
-    return *indexer;                                                \
-  }
-MJDATA_VIEW_GROUPS
-#undef XGROUP
-
-#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS)              \
-  MjDataGroupedViews& MjDataIndexer::field##_by_name(std::string_view name) { \
-    auto item = name_to_id_.field.find(name);                                 \
-    if (item == name_to_id_.field.end()) {                                    \
-      throw py::key_error(KeyErrorMessage(name_to_id_.field, name));          \
-    }                                                                         \
-    return field(item->second);                                               \
-  }
-MJDATA_VIEW_GROUPS
-#undef XGROUP
-
-#define MAKE_SHAPE(dim)                                              \
-  MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE                           \
-    [n = (dim)]() -> std::vector<int> {                              \
-    if constexpr (std::string_view(#dim) == std::string_view("1")) { \
-      return {};                                                     \
-    } else {                                                         \
-      return {(int)n};                                               \
-    }                                                                \
-  }()                                                                \
-  MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE
-
-#undef MJ_M
-#define MJ_M(n) m_->n
-#define X(type, prefix, var, dim0, dim1)                            \
-  py::array_t<type> XGROUP::var() {                                 \
-    MutexLockIfGilDisabled lock(lazy_init_mutex_);                  \
-    if (!var##_.has_value()) {                                      \
-      var##_.emplace(MakeArray<&raw::MjModel::dim0>(                \
-          m_->prefix##var, index_, MAKE_SHAPE(dim1), *m_, owner_)); \
-    }                                                               \
-    return *var##_;                                                 \
-  }
-
-#define XGROUP MjModelActuatorViews
-MJMODEL_ACTUATOR
-#undef XGROUP
-
-#define XGROUP MjModelBodyViews
-MJMODEL_BODY
-#undef XGROUP
-
-#define XGROUP MjModelCameraViews
-MJMODEL_CAMERA
-#undef XGROUP
-
-#define XGROUP MjModelEqualityViews
-MJMODEL_EQUALITY
-#undef XGROUP
-
-#define XGROUP MjModelExcludeViews
-MJMODEL_EXCLUDE
-#undef XGROUP
-
-#define XGROUP MjModelGeomViews
-MJMODEL_GEOM
-#undef XGROUP
-
-#define XGROUP MjModelHfieldViews
-MJMODEL_HFIELD
-#undef XGROUP
-
-#define XGROUP MjModelJointViews
-MJMODEL_JOINT
-#undef XGROUP
-
-#define XGROUP MjModelLightViews
-MJMODEL_LIGHT
-#undef XGROUP
-
-#define XGROUP MjModelMaterialViews
-MJMODEL_MATERIAL
-#undef XGROUP
-
-#define XGROUP MjModelMeshViews
-MJMODEL_MESH
-#undef XGROUP
-
-#define XGROUP MjModelNumericViews
-MJMODEL_NUMERIC
-#undef XGROUP
-
-#define XGROUP MjModelPairViews
-MJMODEL_PAIR
-#undef XGROUP
-
-#define XGROUP MjModelSensorViews
-MJMODEL_SENSOR
-#undef XGROUP
-
-#define XGROUP MjModelSiteViews
-MJMODEL_SITE
-#undef XGROUP
-
-#define XGROUP MjModelSkinViews
-MJMODEL_SKIN
-#undef XGROUP
-
-#define XGROUP MjModelTendonViews
-MJMODEL_TENDON
-#undef XGROUP
-
-#define XGROUP MjModelTextureViews
-MJMODEL_TEXTURE
-#undef XGROUP
-
-#define XGROUP MjModelTupleViews
-MJMODEL_TUPLE
-#undef XGROUP
-
-#define XGROUP MjModelKeyframeViews
-MJMODEL_KEYFRAME
-#undef XGROUP
-
-#undef X
-#define MJ_M(n) m_->n
-#define X(type, prefix, var, dim0, dim1)                            \
-  py::array_t<type> XGROUP::var() {                               \
-    MutexLockIfGilDisabled lock(lazy_init_mutex_);                  \
-    if (!var##_.has_value()) {                                      \
-      var##_.emplace(MakeArray<&raw::MjModel::dim0>(              \
-          d_->prefix##var, index_, MAKE_SHAPE(dim1), *m_, owner_)); \
-    }                                                               \
-    return *var##_;                                                 \
-  }
-
-#define XGROUP MjDataActuatorViews
-MJDATA_ACTUATOR
-#undef XGROUP
-
-#define XGROUP MjDataBodyViews
-MJDATA_BODY
-#undef XGROUP
-
-#define XGROUP MjDataCameraViews
-MJDATA_CAMERA
-#undef XGROUP
-
-#define XGROUP MjDataGeomViews
-MJDATA_GEOM
-#undef XGROUP
-
-#define XGROUP MjDataJointViews
-MJDATA_JOINT
-#undef XGROUP
-
-#define XGROUP MjDataLightViews
-MJDATA_LIGHT
-#undef XGROUP
-
-#define XGROUP MjDataSensorViews
-MJDATA_SENSOR
-#undef XGROUP
-
-#define XGROUP MjDataSiteViews
-MJDATA_SITE
-#undef XGROUP
-
-#define XGROUP MjDataTendonViews
-MJDATA_TENDON
-#undef XGROUP
-
-#undef X
-#undef MJ_M
-#define MJ_M(n) n
-
-// Returns an error message when a non-existent name is requested from an
-// indexer, which includes all valid names.
-std::string KeyErrorMessage(const NameToID& map, std::string_view name) {
-  // Make a sorted list of valid names
-  std::vector<std::string_view> valid_names;
-  valid_names.reserve(map.size());
-  for (const auto& [key, value] : map) {
-    valid_names.push_back(key);
-  }
-  std::sort(valid_names.begin(), valid_names.end());
-
-  // Construct the error message
-  std::ostringstream message;
-  message << "Invalid name '" << name << "'. Valid names: [";
-  int i = 0;
-  for (const auto& key : valid_names) {
-    message << "'" << key << "'";
-    if (i < map.size() - 1) message << ", ";
-    i++;
-  }
-  message << "]";
-  return message.str();
-}
-
-std::string IndexErrorMessage(int index, int size) {
-  std::ostringstream message;
-  message << "Invalid index " << index << ". Valid indices from 0 to "
-          << size - 1;
-  return message.str();
-}
-}  // namespace mujoco::python
diff --git a/python/mujoco/indexers.h b/python/mujoco/indexers.h
deleted file mode 100644
index 279b241c..00000000
--- a/python/mujoco/indexers.h
+++ /dev/null
@@ -1,237 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_INDEXERS_H_
-#define MUJOCO_PYTHON_INDEXERS_H_
-
-#include <mutex>
-#include <optional>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <variant>
-#include <vector>
-
-#include <absl/container/flat_hash_map.h>
-#include <mujoco/mjxmacro.h>
-#include "indexer_xmacro.h"
-#include "raw.h"
-#include <pybind11/numpy.h>
-#include <pybind11/pybind11.h>
-
-namespace mujoco::python {
-using NameToID = absl::flat_hash_map<std::string, int>;
-using IDToName = std::vector<std::string>;
-
-struct NameToIDMappings {
-  explicit NameToIDMappings(const raw::MjModel& m);
-
-  NameToID body;
-  NameToID jnt;
-  NameToID geom;
-  NameToID site;
-  NameToID cam;
-  NameToID light;
-  NameToID mesh;
-  NameToID skin;
-  NameToID hfield;
-  NameToID tex;
-  NameToID mat;
-  NameToID pair;
-  NameToID exclude;
-  NameToID eq;
-  NameToID tendon;
-  NameToID actuator;
-  NameToID sensor;
-  NameToID numeric;
-  NameToID text;
-  NameToID tuple;
-  NameToID key;
-};
-
-struct IDToNameMappings {
-  explicit IDToNameMappings(const raw::MjModel& m);
-
-  IDToName body;
-  IDToName jnt;
-  IDToName geom;
-  IDToName site;
-  IDToName cam;
-  IDToName light;
-  IDToName mesh;
-  IDToName skin;
-  IDToName hfield;
-  IDToName tex;
-  IDToName mat;
-  IDToName pair;
-  IDToName exclude;
-  IDToName eq;
-  IDToName tendon;
-  IDToName actuator;
-  IDToName sensor;
-  IDToName numeric;
-  IDToName text;
-  IDToName tuple;
-  IDToName key;
-};
-
-
-// Base class for a collection of NumPy views into mjModel fields associated
-// with the same "entity" (for example, fields corresponding to a particular
-// geom, or a particular joint).
-class MjModelGroupedViewsBase {
- public:
-  MjModelGroupedViewsBase(int index, std::string_view name, raw::MjModel* m,
-                          pybind11::handle owner)
-      : index_(index), name_(name), m_(m), owner_(owner) {}
-
-  int index() const { return index_; }
-  const std::string& name() const { return name_; }
-  raw::MjModel* ptr() { return m_; }
-
- protected:
-  int index_;
-  std::string name_;
-  raw::MjModel* m_;
-  pybind11::handle owner_;
-  mutable std::mutex lazy_init_mutex_;
-};
-
-#define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS) \
-  class MjModelGroupedViews : public MjModelGroupedViewsBase {    \
-   public:                                                        \
-    using MjModelGroupedViewsBase::MjModelGroupedViewsBase;       \
-    FIELD_XMACROS                                                 \
-  };
-
-// Lazily instantiate a NumPy array view object when accessed from Python, but
-// cache it once made so that we can return the same one if requested again.
-#define X(type, prefix, var, dim0, dim1)         \
-  pybind11::array_t<type> var();                 \
-  std::optional<pybind11::array_t<type>> var##_;
-
-MJMODEL_VIEW_GROUPS
-
-#undef XGROUP
-#undef X
-
-// A class for accessing fields corresponding to a single mjModel "entity"
-// (e.g. a particular geom or joint) either by name or by ID.
-class MjModelIndexer {
- public:
-  MjModelIndexer(raw::MjModel* m, pybind11::handle owner);
-
-#define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS) \
-  MjModelGroupedViews& field(int i);                              \
-  MjModelGroupedViews& field##_by_name(std::string_view name);
-
-  MJMODEL_VIEW_GROUPS
-#undef XGROUP
-
- private:
-  raw::MjModel* m_;
-  pybind11::handle owner_;
-  NameToIDMappings name_to_id_;
-  IDToNameMappings id_to_name_;
-  mutable std::mutex lazy_init_mutex_;
-
-  // Lazily instantiate a grouped views object when accessed from Python, but
-  // cache it once made so that we can return the same one if requested again.
-#define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS) \
-  std::vector<std::optional<MjModelGroupedViews>> field##_;
-
-  MJMODEL_VIEW_GROUPS
-#undef XGROUP
-};
-
-// Base class for a collection of NumPy views into mjData fields associated
-// with the same "entity" (for example, fields corresponding to a particular
-// geom, or a particular joint).
-class MjDataGroupedViewsBase {
- public:
-  MjDataGroupedViewsBase(int index, std::string_view name, raw::MjData* d,
-                         const raw::MjModel* m,
-                         pybind11::handle owner)
-      : index_(index), name_(name), d_(d), m_(m), owner_(owner) {}
-
-  int index() const { return index_; }
-  const std::string& name() const { return name_; }
-  raw::MjData* ptr() { return d_; }
-
- protected:
-  int index_;
-  std::string name_;
-  raw::MjData* d_;
-  const raw::MjModel* m_;
-  pybind11::handle owner_;
-  mutable std::mutex lazy_init_mutex_;
-};
-
-#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS) \
-  class MjDataGroupedViews : public MjDataGroupedViewsBase {     \
-   public:                                                       \
-    using MjDataGroupedViewsBase::MjDataGroupedViewsBase;        \
-    FIELD_XMACROS                                                \
-  };
-
-// Lazily instantiate a NumPy array view object when accessed from Python, but
-// cache it once made so that we can return the same one if requested again.
-#define X(type, prefix, var, dim0, dim1)         \
-  pybind11::array_t<type> var();                 \
-  std::optional<pybind11::array_t<type>> var##_;
-
-MJDATA_VIEW_GROUPS
-
-#undef XGROUP
-#undef X
-
-// A class for accessing fields corresponding to a single mjModel "entity"
-// (e.g. a particular geom or joint) either by name or by ID.
-class MjDataIndexer {
- public:
-  MjDataIndexer(raw::MjData* d, const raw::MjModel* m,
-                pybind11::handle owner);
-
-#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS) \
-  MjDataGroupedViews& field(int i);                              \
-  MjDataGroupedViews& field##_by_name(std::string_view name);
-
-  MJDATA_VIEW_GROUPS
-#undef XGROUP
-
- private:
-  raw::MjData* d_;
-  const raw::MjModel* m_;
-  pybind11::handle owner_;
-  NameToIDMappings name_to_id_;
-  IDToNameMappings id_to_name_;
-  mutable std::mutex lazy_init_mutex_;
-
-  // Lazily instantiate a grouped views object when accessed from Python, but
-  // cache it once made so that we can return the same one if requested again.
-#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS) \
-  std::vector<std::optional<MjDataGroupedViews>> field##_;
-
-  MJDATA_VIEW_GROUPS
-#undef XGROUP
-};
-
-// Returns an error message when a nonexistent name is requested from an
-// indexer, which includes all valid names.
-std::string KeyErrorMessage(const NameToID& map, std::string_view name);
-// Returns an error message when an invalid numeric index is provided.
-std::string IndexErrorMessage(int index, int size);
-}  // namespace mujoco::python
-
-#endif  // MUJOCO_PYTHON_INDEXERS_H_
diff --git a/python/mujoco/introspect/__init__.py b/python/mujoco/introspect/__init__.py
deleted file mode 100644
index 8d9506aa..00000000
--- a/python/mujoco/introspect/__init__.py
+++ /dev/null
@@ -1,14 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
diff --git a/python/mujoco/introspect/ast_nodes.py b/python/mujoco/introspect/ast_nodes.py
deleted file mode 100644
index 275e0afb..00000000
--- a/python/mujoco/introspect/ast_nodes.py
+++ /dev/null
@@ -1,307 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Classes that roughly correspond to Clang AST node types."""
-
-import collections
-import dataclasses
-import re
-from typing import Dict, Optional, Sequence, Tuple, Union
-
-# We are relying on Clang to do the actual source parsing and are only doing
-# a little bit of extra parsing of function parameter type declarations here.
-# These patterns are here for sanity checking rather than actual parsing.
-VALID_TYPE_NAME_PATTERN = re.compile('(struct )?[A-Za-z_][A-Za-z0-9_]*')
-C_INVALID_TYPE_NAMES = frozenset([
-    'auto', 'break', 'case', 'const', 'continue', 'default', 'do', 'else',
-    'enum', 'extern', 'for', 'goto', 'if', 'inline', 'register', 'restrict',
-    'return', 'sizeof', 'static', 'struct', 'switch', 'typedef', 'union',
-    'volatile', 'while', '_Alignas', '_Atomic', '_Generic', '_Imaginary',
-    '_Noreturn', '_Static_assert', '_Thread_local', '__attribute__', '_Pragma'])
-
-
-def _is_valid_integral_type(type_str: str):
-  """Checks if a string is a valid integral type."""
-  parts = re.split(r'\s+', type_str)
-  counter = collections.defaultdict(lambda: 0)
-  wildcard_counter = 0
-  for part in parts:
-    if part in ('signed', 'unsigned', 'short', 'long', 'int', 'char'):
-      counter[part] += 1
-    elif VALID_TYPE_NAME_PATTERN.fullmatch(part):
-      # a non-keyword can be a typedef for int
-      wildcard_counter += 1
-    else:
-      return False
-
-  if (counter['signed'] + counter['unsigned'] > 1 or
-      counter['short'] > 1 or counter['long'] > 2 or
-      (counter['short'] and counter['long']) or
-      ((counter['short'] or counter['long']) and counter['char']) or
-      counter['char'] + counter['int'] + wildcard_counter > 1):
-    return False
-  else:
-    return True
-
-
-@dataclasses.dataclass
-class ValueType:
-  """Represents a C type that is neither a pointer type nor an array type."""
-
-  name: str
-  is_const: bool = False
-  is_volatile: bool = False
-  nullable: bool = False
-
-  def __init__(self, name: str, is_const: bool = False,
-               is_volatile: bool = False,
-               nullable: bool = False):
-    is_valid_type_name = (
-        name == 'void *(*)(void *)' or
-        VALID_TYPE_NAME_PATTERN.fullmatch(name) or
-        _is_valid_integral_type(name)) and name not in C_INVALID_TYPE_NAMES
-    if not is_valid_type_name:
-      raise ValueError(f'{name!r} is not a valid value type name')
-    self.name = name
-    self.is_const = is_const
-    self.is_volatile = is_volatile
-    self.nullable = nullable
-
-  def decl(self, name_or_decl: Optional[str] = None) -> str:
-    parts = []
-    if self.is_const:
-      parts.append('const')
-    if self.is_volatile:
-      parts.append('volatile')
-    parts.append(self.name)
-    if name_or_decl:
-      parts.append(name_or_decl)
-    return ' '.join(parts)
-
-  def __str__(self):
-    return self.decl()
-
-
-@dataclasses.dataclass
-class ArrayType:
-  """Represents a C array type."""
-
-  inner_type: Union[ValueType, 'PointerType']
-  extents: Tuple[int, ...]
-  nullable: bool = False
-
-  def __init__(
-      self, inner_type: Union[ValueType, 'PointerType'], extents: Sequence[int]
-  ):
-    self.inner_type = inner_type
-    self.extents = tuple(extents)
-
-  @property
-  def _extents_str(self) -> str:
-    return ''.join(f'[{n}]' for n in self.extents)
-
-  def decl(self, name_or_decl: Optional[str] = None) -> str:
-    name_or_decl = name_or_decl or ''
-    return self.inner_type.decl(f'{name_or_decl}{self._extents_str}')
-
-  def __str__(self):
-    return self.decl()
-
-
-@dataclasses.dataclass
-class PointerType:
-  """Represents a C pointer type."""
-
-  inner_type: Union[ValueType, ArrayType, 'PointerType']
-  nullable: bool = False
-  is_const: bool = False
-  is_volatile: bool = False
-  is_restrict: bool = False
-
-  def decl(self, name_or_decl: Optional[str] = None) -> str:
-    """Creates a string that declares an object of this type."""
-    parts = ['*']
-    if self.nullable:
-      parts.append('nullable')
-    if self.is_const:
-      parts.append('const')
-    if self.is_volatile:
-      parts.append('volatile')
-    if self.is_restrict:
-      parts.append('restrict')
-    if name_or_decl:
-      parts.append(name_or_decl)
-    ptr_decl = ' '.join(parts)
-    if isinstance(self.inner_type, ArrayType):
-      ptr_decl = f'({ptr_decl})'
-    return self.inner_type.decl(ptr_decl)
-
-  def __str__(self):
-    return self.decl()
-
-
-@dataclasses.dataclass
-class FunctionParameterDecl:
-  """Represents a parameter in a function declaration.
-
-  Note that according to the C language rule, a function parameter of array
-  type undergoes array-to-pointer decay, and therefore appears as a pointer
-  parameter in an actual C AST. We retain the arrayness of a parameter here
-  since the array's extents are informative.
-  """
-
-  name: str
-  type: Union[ValueType, ArrayType, PointerType]
-  nullable: bool = False
-
-  def __str__(self):
-    return self.type.decl(self.name)
-
-  @property
-  def decltype(self) -> str:
-    return self.type.decl()
-
-
-@dataclasses.dataclass
-class FunctionDecl:
-  """Represents a function declaration."""
-
-  name: str
-  return_type: Union[ValueType, ArrayType, PointerType]
-  parameters: Tuple[FunctionParameterDecl, ...]
-  doc: str
-
-  def __init__(self, name: str,
-               return_type: Union[ValueType, ArrayType, PointerType],
-               parameters: Sequence[FunctionParameterDecl],
-               doc: str):
-    self.name = name
-    self.return_type = return_type
-    self.parameters = tuple(parameters)
-    self.doc = doc
-
-  def __str__(self):
-    param_str = ', '.join(str(p) for p in self.parameters)
-    return f'{self.return_type} {self.name}({param_str})'
-
-  @property
-  def decltype(self) -> str:
-    param_str = ', '.join(str(p.decltype) for p in self.parameters)
-    return f'{self.return_type} ({param_str})'
-
-
-class _EnumDeclValues(Dict[str, int]):
-  """A dict with modified stringified representation.
-
-  The __repr__ method of this class adds a trailing comma to the list of values.
-  This is done as a hint for code formatters to place one item per line when
-  the stringified OrderedDict is used in generated Python code.
-  """
-
-  def __repr__(self):
-    out = super().__repr__()
-    if self:
-      out = re.sub(r'\(\[(.+)\]\)\Z', r'([\1,])', out)
-    return re.sub(r'\A_EnumDeclValues', 'dict', out)
-
-
-@dataclasses.dataclass
-class EnumDecl:
-  """Represents an enum declaration."""
-
-  name: str
-  declname: str
-  values: Dict[str, int]
-
-  def __init__(self, name: str, declname: str, values: Dict[str, int]):
-    self.name = name
-    self.declname = declname
-    self.values = _EnumDeclValues(values)
-
-
-@dataclasses.dataclass
-class StructFieldDecl:
-  """Represents a field in a struct or union declaration."""
-
-  name: str
-  type: Union[
-      ValueType,
-      ArrayType,
-      PointerType,
-      'AnonymousStructDecl',
-      'AnonymousUnionDecl',
-  ]
-  doc: str
-  array_extent: Optional[Tuple[Union[str, int], ...]] = None
-
-  def __str__(self):
-    return self.type.decl(self.name)
-
-  @property
-  def decltype(self) -> str:
-    return self.type.decl()
-
-
-@dataclasses.dataclass
-class AnonymousStructDecl:
-  """Represents an anonymous struct declaration."""
-
-  fields: Tuple[Union[StructFieldDecl, 'AnonymousUnionDecl'], ...]
-
-  def __init__(self, fields: Sequence[StructFieldDecl]):
-    self.fields = tuple(fields)
-
-  def __str__(self):
-    return self.decl()
-
-  def _inner_decl(self):
-    return '; '.join(str(field) for field in self.fields) + ';'
-
-  def decl(self, name_or_decl: Optional[str] = None):
-    parts = ['struct', f'{{{self._inner_decl()}}}']
-    if name_or_decl:
-      parts.append(name_or_decl)
-    return ' '.join(parts)
-
-
-class AnonymousUnionDecl(AnonymousStructDecl):
-  """Represents an anonymous union declaration."""
-
-  def decl(self, name_or_decl: Optional[str] = None):
-    parts = ['union', f'{{{self._inner_decl()}}}']
-    if name_or_decl:
-      parts.append(name_or_decl)
-    return ' '.join(parts)
-
-
-@dataclasses.dataclass
-class StructDecl:
-  """Represents a struct declaration."""
-
-  name: str
-  declname: str
-  fields: Tuple[Union[StructFieldDecl, AnonymousUnionDecl], ...]
-
-  def __init__(self, name: str,
-               declname: str,
-               fields: Sequence[Union[StructFieldDecl, AnonymousUnionDecl]]):
-    self.name = name
-    self.declname = declname
-    self.fields = tuple(fields)
-
-  def decl(self, name_or_decl: Optional[str] = None) -> str:
-    parts = [self.name]
-    if name_or_decl:
-      parts.append(name_or_decl)
-    return ' '.join(parts)
diff --git a/python/mujoco/introspect/ast_nodes_test.py b/python/mujoco/introspect/ast_nodes_test.py
deleted file mode 100644
index 6a6c08b7..00000000
--- a/python/mujoco/introspect/ast_nodes_test.py
+++ /dev/null
@@ -1,202 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for ast_nodes.py."""
-
-from absl.testing import absltest
-
-from . import ast_nodes
-
-
-class AstNodesTest(absltest.TestCase):
-
-  def test_value_type(self):
-    value_type = ast_nodes.ValueType('int')
-    self.assertEqual(str(value_type), 'int')
-    self.assertEqual(value_type.decl('var'), 'int var')
-
-    const_value_type = ast_nodes.ValueType('double', is_const=True)
-    self.assertEqual(str(const_value_type), 'const double')
-    self.assertEqual(const_value_type.decl('var2'), 'const double var2')
-
-  def test_pointer_type(self):
-    pointer_type = ast_nodes.PointerType(ast_nodes.ValueType('int'))
-    self.assertEqual(str(pointer_type), 'int *')
-    self.assertEqual(pointer_type.decl('var'), 'int * var')
-
-    const_pointer_type = ast_nodes.PointerType(
-        ast_nodes.ValueType('double'), is_const=True)
-    self.assertEqual(str(const_pointer_type), 'double * const')
-    self.assertEqual(const_pointer_type.decl('var2'), 'double * const var2')
-
-    pointer_to_const_type = ast_nodes.PointerType(
-        ast_nodes.ValueType('float', is_const=True))
-    self.assertEqual(str(pointer_to_const_type), 'const float *')
-    self.assertEqual(pointer_to_const_type.decl('var3'), 'const float * var3')
-
-    restrict_volatile_pointer_to_const_type = ast_nodes.PointerType(
-        ast_nodes.ValueType('char', is_const=True),
-        is_volatile=True, is_restrict=True)
-    self.assertEqual(str(restrict_volatile_pointer_to_const_type),
-                     'const char * volatile restrict')
-    self.assertEqual(
-        restrict_volatile_pointer_to_const_type.decl('var4'),
-        'const char * volatile restrict var4')
-
-    pointer_to_array_type = ast_nodes.PointerType(
-        ast_nodes.ArrayType(ast_nodes.ValueType('long'), (3,)))
-    self.assertEqual(str(pointer_to_array_type), 'long (*)[3]')
-    self.assertEqual(pointer_to_array_type.decl('var5'), 'long (* var5)[3]')
-
-    const_pointer_to_array_type = ast_nodes.PointerType(
-        ast_nodes.ArrayType(ast_nodes.ValueType('unsigned int'), (4,)),
-        is_const=True)
-    self.assertEqual(
-        str(const_pointer_to_array_type), 'unsigned int (* const)[4]')
-    self.assertEqual(
-        const_pointer_to_array_type.decl('var6'),
-        'unsigned int (* const var6)[4]')
-
-  def test_array_type(self):
-    array_type = ast_nodes.ArrayType(ast_nodes.ValueType('int'), (4,))
-    self.assertEqual(str(array_type), 'int [4]')
-    self.assertEqual(array_type.decl('var'), 'int var[4]')
-
-    array_2d_type = ast_nodes.ArrayType(
-        ast_nodes.ValueType('double', is_const=True), (2, 3))
-    self.assertEqual(str(array_2d_type), 'const double [2][3]')
-    self.assertEqual(array_2d_type.decl('var2'), 'const double var2[2][3]')
-
-    array_to_pointer_type = ast_nodes.ArrayType(
-        ast_nodes.PointerType(ast_nodes.ValueType('char', is_const=True)), (5,))
-    self.assertEqual(str(array_to_pointer_type), 'const char * [5]')
-    self.assertEqual(array_to_pointer_type.decl('var3'), 'const char * var3[5]')
-
-    array_to_const_pointer_type = ast_nodes.ArrayType(
-        ast_nodes.PointerType(ast_nodes.ValueType('float'), is_const=True),
-        (7,))
-    self.assertEqual(str(array_to_const_pointer_type), 'float * const [7]')
-    self.assertEqual(
-        array_to_const_pointer_type.decl('var4'), 'float * const var4[7]')
-
-  def test_complex_type(self):
-    complex_type = ast_nodes.ArrayType(
-        extents=[9],
-        inner_type=ast_nodes.PointerType(
-            ast_nodes.PointerType(
-                is_const=True,
-                inner_type=ast_nodes.ArrayType(
-                    extents=[7],
-                    inner_type=ast_nodes.PointerType(
-                        is_const=True,
-                        inner_type=ast_nodes.PointerType(
-                            ast_nodes.ArrayType(
-                                extents=(3, 4),
-                                inner_type=ast_nodes.ValueType(
-                                    'unsigned int', is_const=True)
-                                )
-                            )
-                        )
-                    )
-                )
-            )
-        )
-    self.assertEqual(str(complex_type),
-                     'const unsigned int (* * const (* const * [9])[7])[3][4]')
-    self.assertEqual(
-        complex_type.decl('var'),
-        'const unsigned int (* * const (* const * var[9])[7])[3][4]')
-
-  def test_struct_decl(self):
-    struct = ast_nodes.StructDecl(
-        name='mystruct',
-        declname='struct mystruct_',
-        fields=[
-            ast_nodes.StructFieldDecl(
-                name='foo',
-                type=ast_nodes.ValueType('int'),
-                doc='',
-            )
-        ],
-    )
-    self.assertEqual(struct.decl('var'), 'mystruct var')
-
-  def test_anonymous_struct_decl(self):
-    struct = ast_nodes.AnonymousStructDecl(
-        fields=[
-            ast_nodes.StructFieldDecl(
-                name='foo',
-                type=ast_nodes.ValueType('int'),
-                doc='',
-            ),
-            ast_nodes.StructFieldDecl(
-                name='bar',
-                type=ast_nodes.ArrayType(
-                    inner_type=ast_nodes.ValueType('float'), extents=(3,)
-                ),
-                doc='',
-            ),
-        ],
-    )
-    self.assertEqual(str(struct), 'struct {int foo; float bar[3];}')
-    self.assertEqual(struct.decl('var'), 'struct {int foo; float bar[3];} var')
-    self.assertEqual(struct.fields[0].decltype, 'int')
-    self.assertEqual(struct.fields[1].decltype, 'float [3]')
-
-  def test_anonymous_union_decl(self):
-    union = ast_nodes.AnonymousUnionDecl(
-        fields=[
-            ast_nodes.StructFieldDecl(
-                name='foo',
-                type=ast_nodes.ValueType('int'),
-                doc='',
-            ),
-            ast_nodes.StructFieldDecl(
-                name='bar',
-                type=ast_nodes.ArrayType(
-                    inner_type=ast_nodes.ValueType('float'), extents=(3,)
-                ),
-                doc='',
-            ),
-        ],
-    )
-    self.assertEqual(str(union), 'union {int foo; float bar[3];}')
-    self.assertEqual(union.decl('var'), 'union {int foo; float bar[3];} var')
-
-  def test_function_parameter_decl_nullable(self):
-    param_ptr_nullable = ast_nodes.FunctionParameterDecl(
-        name='ptr_param',
-        type=ast_nodes.PointerType(ast_nodes.ValueType('int')),
-        nullable=True
-    )
-    self.assertTrue(param_ptr_nullable.nullable)
-    self.assertEqual(str(param_ptr_nullable), 'int * ptr_param')
-
-    param_ptr_not_nullable = ast_nodes.FunctionParameterDecl(
-        name='ptr_param',
-        type=ast_nodes.PointerType(ast_nodes.ValueType('int')),
-    )
-    self.assertFalse(param_ptr_not_nullable.nullable)
-    self.assertEqual(str(param_ptr_not_nullable), 'int * ptr_param')
-
-    param_array_nullable = ast_nodes.FunctionParameterDecl(
-        name='array_param',
-        type=ast_nodes.ArrayType(ast_nodes.ValueType('float'), (10,)),
-        nullable=True
-    )
-    self.assertTrue(param_array_nullable.nullable)
-    self.assertEqual(str(param_array_nullable), 'float array_param[10]')
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/introspect/codegen/ast_processor.py b/python/mujoco/introspect/codegen/ast_processor.py
deleted file mode 100644
index 0c97ed82..00000000
--- a/python/mujoco/introspect/codegen/ast_processor.py
+++ /dev/null
@@ -1,369 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Parses MuJoCo enums, structs, and functions from a Clang AST JSON dump.
-
-The JSON input can be generated with, e.g:
-  clang -Xclang -ast-dump=json -fsyntax-only -fparse-all-comments -x c mujoco.h
-"""
-
-import itertools
-import json
-import os
-import re
-from typing import Any, Mapping, Union
-
-from introspect import ast_nodes
-from introspect import type_parsing
-
-
-_ANONYMOUS_KEY_PATTERN = re.compile(r'\d+:\d+(?=\))')
-
-_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s+\(([^\(\)]+) x ([^\(\)]+)\)\Z')
-
-ClangJsonNode = Mapping[str, Any]
-
-
-class _AnonymousTypePlaceholder(ast_nodes.ValueType):
-
-  def __init__(self, anonymous_key: str):
-    self.name = anonymous_key
-    self.is_const = False
-    self.is_volatile = False
-
-
-class AstProcessor:
-  """A Clang AST JSON node visitor for."""
-
-  def __init__(self, raw_headers: Mapping[str, str], excluded: list[str]):
-    self._enums = {}
-    self._exported_enums = {}
-    self._raw_headers = raw_headers
-    self._excluded = set(excluded)
-    self._current_source = ''
-    self._exported_functions = {}
-    self._structs = {}
-    self._anonymous = {}
-    self._exported_structs = {}
-    self._type_aliases = {}
-
-  @property
-  def exported_enums(self) -> Mapping[str, ast_nodes.EnumDecl]:
-    return self._exported_enums
-
-  @property
-  def exported_functions(self) -> Mapping[str, ast_nodes.FunctionDecl]:
-    return self._exported_functions
-
-  @property
-  def exported_structs(self) -> Mapping[str, ast_nodes.StructDecl]:
-    return self._exported_structs
-
-  @property
-  def type_aliases(self) -> Mapping[str, str]:
-    return self._type_aliases
-
-  def visit(self, node: ClangJsonNode) -> None:
-    """Visits a JSON node and stores information about API elements."""
-    if 'loc' in node and 'file' in node['loc']:
-      self._current_source = os.path.basename(node['loc']['file'])
-
-    node_kind = node.get('kind')
-    node_name = node.get('name', '')
-
-    if (
-        node_kind == 'FunctionDecl'
-        and node_name.startswith('mj')
-        and node_name not in self._excluded
-    ):
-      func_decl = self._make_function(node)
-      self._exported_functions[func_decl.name] = func_decl
-    elif node_kind == 'EnumDecl' and node_name.startswith('mj'):
-      enum_decl = self._make_enum(node)
-      self._enums[enum_decl.name] = enum_decl
-    elif node_kind == 'RecordDecl' and self._is_mujoco_type(node):
-      struct_decl = self._make_struct(node)
-      if hasattr(struct_decl, 'name'):
-        self._structs[struct_decl.name] = struct_decl
-      else:
-        anonymous_key = self._make_anonymous_key(node)
-        if anonymous_key in self._anonymous:
-          raise RuntimeError(
-              f'duplicate key for anonymous struct: {anonymous_key}')
-        self._anonymous[anonymous_key] = struct_decl
-    elif (node_kind == 'TypedefDecl' and
-          node['type']['qualType'].startswith('enum mj')):
-      enum = self._enums[node['type']['qualType']]
-      self._exported_enums[node_name] = ast_nodes.EnumDecl(
-          name=node_name, declname=enum.declname, values=dict(enum.values))
-    elif (node_kind == 'TypedefDecl' and
-          node['type']['qualType'].startswith('struct mj') and
-          node_name not in self._excluded):
-      declname = node['type']['qualType']
-      try:
-        struct = self._structs[declname]
-      except KeyError:
-        self._exported_structs[node_name] = ast_nodes.StructDecl(
-            name=node_name, declname=declname, fields=())
-      else:
-        self._exported_structs[node_name] = ast_nodes.StructDecl(
-            name=node_name, declname=struct.declname, fields=struct.fields)
-    elif (node_kind == 'TypedefDecl' and node_name.startswith('mj')):
-      qual_type = str(node['type']['qualType'])
-      self._type_aliases[node_name] = qual_type
-
-  def resolve(self) -> None:
-    """Replaces anonymous struct placeholders with corresponding decl."""
-    for struct in itertools.chain(
-        self._structs.values(), self._exported_structs.values()
-    ):
-      fields = []
-      for field in struct.fields:
-        if isinstance(field, _AnonymousTypePlaceholder):
-          fields.append(self._anonymous[field.name])
-        elif isinstance(field.type, _AnonymousTypePlaceholder):
-          fields.append(
-              ast_nodes.StructFieldDecl(
-                  name=field.name,
-                  type=self._anonymous[field.type.name],
-                  doc=field.doc,
-              )
-          )
-        else:
-          fields.append(field)
-      struct.fields = tuple(fields)
-
-  def _make_enum(self, node: ClangJsonNode) -> ast_nodes.EnumDecl:
-    """Makes a EnumDecl from a Clang AST EnumDecl node."""
-    name = f"enum {node['name']}"
-    values = []
-    for child in node['inner']:
-      child_kind = child.get('kind')
-      if child_kind == 'EnumConstantDecl':
-        next_idx = values[-1][1] + 1 if values else 0
-        if 'inner' in child:
-          value = int(child['inner'][0].get('value', next_idx))
-        else:
-          value = next_idx
-        values.append((child['name'], value))
-    return ast_nodes.EnumDecl(name=name, declname=name, values=dict(values))
-
-  def _make_function(self, node: ClangJsonNode) -> ast_nodes.FunctionDecl:
-    """Makes a FunctionDecl from a Clang AST FunctionDecl node."""
-    name = node['name']
-    return_type = type_parsing.parse_function_return_type(
-        node['type']['qualType'])
-    parameters = []
-    comments = []
-    nullable_params = set()
-
-    for child in node['inner']:
-      child_kind = child.get('kind')
-      if child_kind == 'FullComment':
-        comments.append(self._make_function_comment(child))
-        nullable_params.update(self._find_nullable_params(child))
-    comment = ' '.join(comments).strip()
-
-    for child in node['inner']:
-      child_kind = child.get('kind')
-      if child_kind == 'ParmVarDecl':
-        parameters.append(self._make_parameter(child, nullable_params))
-
-    return ast_nodes.FunctionDecl(
-        name=name, return_type=return_type, parameters=parameters, doc=comment)
-
-  def _find_nullable_params(self, node: ClangJsonNode) -> set[str]:
-    """Finds the names of parameters that are marked as nullable."""
-    nullable_params = set()
-    for child in node['inner']:
-      child_kind = child.get('kind')
-      if child_kind == 'ParagraphComment':
-        nullable_params.update(self._find_nullable_params(child))
-      if child_kind == 'TextComment':
-        if 'Nullable' in child['text']:
-          for param in child['text'].split(':')[1].split(','):
-            nullable_params.add(param.strip())
-    return nullable_params
-
-  def _make_parameter(
-      self, node: ClangJsonNode, nullable_params: set[str]
-  ) -> ast_nodes.FunctionParameterDecl:
-    """Makes a ParameterDecl from a Clang AST ParmVarDecl node."""
-    name = node['name']
-    type_name = node['type']['qualType']
-    nullable = name in nullable_params
-
-    # For a pointer parameters, look up in the original header to see if
-    # n array extent was declared there.
-    if type_name.endswith('*'):
-      decl_begin = node['range']['begin']['offset']
-      decl_end = node['range']['end']['offset'] + node['range']['end']['tokLen']
-      decl = self._raw_headers[self._current_source][decl_begin:decl_end]
-      name_begin = node['loc']['offset'] - decl_begin
-      name_end = name_begin + node['loc']['tokLen']
-      type_name = decl[:name_begin] + decl[name_end:]
-
-    return ast_nodes.FunctionParameterDecl(
-        nullable=nullable,
-        name=name,
-        type=type_parsing.parse_type(type_name),
-    )
-
-  def _make_function_comment(self, node: ClangJsonNode) -> str:
-    """Makes a comment string from a Clang AST FullComment node."""
-    kind = node.get('kind')
-    if kind == 'TextComment':
-      return node['text'].replace('\N{NO-BREAK SPACE}', '&nbsp;')
-    else:
-      strings = []
-      for child in node['inner']:
-        comment = self._make_function_comment(child)
-        nullable_index = comment.find('Nullable:')
-        if nullable_index != -1:
-          comment = comment[:nullable_index]
-        strings.append(comment)
-      return ''.join(strings)
-
-  def _make_struct_comment(
-      self, node: ClangJsonNode, strip: bool = True
-  ) -> str:
-    """Makes a comment string from a Clang AST FullComment node."""
-    kind = node.get('kind')
-    if kind == 'TextComment':
-      retval = node['text'].replace('\N{NO-BREAK SPACE}', '&nbsp;')
-    else:
-      strings = []
-      for child in node['inner']:
-        strings.append(self._make_struct_comment(child, strip=False))
-      retval = ''.join(strings)
-    if strip:
-      retval = retval.strip()
-    return retval
-
-  def _normalize_type(
-      self, declname: str
-  ) -> Union[
-      ast_nodes.ValueType, ast_nodes.PointerType, ast_nodes.ArrayType]:
-    """Resolves anonymous structs/unions and looks up existing typedefs."""
-    # Check for anonymous struct/union.
-    if '(unnamed ' in declname:
-      m = _ANONYMOUS_KEY_PATTERN.search(declname)
-      if not m:
-        raise RuntimeError('cannot parse anonymous key from {m!r}')
-      return _AnonymousTypePlaceholder(m.group(0))
-
-    # Lookup typedef name and use it instead if one exists.
-    for k, v in self._exported_structs.items():
-      if declname == v.declname:
-        return type_parsing.parse_type(k)
-
-    # No valid normalization, just parse the declname.
-    return type_parsing.parse_type(declname)
-
-  def _make_field(
-      self, node: ClangJsonNode
-  ) -> Union[ast_nodes.StructFieldDecl, _AnonymousTypePlaceholder]:
-    """Makes a StructFieldDecl object from a Clang AST FieldDecl node."""
-    doc = ''
-    for child in node.get('inner', ()):
-      if child['kind'] == 'FullComment':
-        doc = self._make_struct_comment(child)
-    if 'name' in node:
-      field_type = self._normalize_type(node['type']['qualType'])
-      m = _ARRAY_COMMENT_PATTERN.match(doc)
-      if m is None:
-        array_extent = None
-      else:
-        doc = m.group(1)
-        array_extent_0 = m.group(2)
-        array_extent_1 = m.group(3)
-        try:
-          array_extent_1 = int(array_extent_1)
-        except ValueError:
-          pass
-        if array_extent_1 == 1:
-          array_extent = (array_extent_0,)
-        else:
-          array_extent = (array_extent_0, array_extent_1)
-      return ast_nodes.StructFieldDecl(
-          name=node['name'], type=field_type, doc=doc,
-          array_extent=array_extent)
-    else:
-      return _AnonymousTypePlaceholder(self._make_anonymous_key(node))
-
-  def _make_struct(
-      self, node: ClangJsonNode
-  ) -> Union[ast_nodes.AnonymousStructDecl, ast_nodes.StructDecl]:
-    """Makes a Decl object from a Clang AST RecordDecl node."""
-    name = f"{node['tagUsed']} {node['name']}" if 'name' in node else ''
-    fields = []
-    for child in node.get('inner', ()):
-      child_kind = child.get('kind')
-      if child_kind == 'FieldDecl':
-        fields.append(self._make_field(child))
-
-    if name:
-      return ast_nodes.StructDecl(name=name, declname=name, fields=fields)
-    elif node['tagUsed'] == 'union':
-      return ast_nodes.AnonymousUnionDecl(fields=fields)
-    else:
-      return ast_nodes.AnonymousStructDecl(fields=fields)
-
-  def _is_mujoco_type(self, node: ClangJsonNode) -> bool:
-    node_name = node.get('name', '')
-    included_from = os.path.basename(
-        node['loc'].get('includedFrom', {}).get('file', '')
-    )
-    return node_name not in self._excluded and (
-        node_name.startswith('mj')
-        or included_from == 'mujoco.h'
-        or included_from.startswith('mj')
-    )
-
-  def _make_anonymous_key(self, node: ClangJsonNode) -> str:
-    loc = node['loc']
-    if 'line' not in loc:
-      # Clang elides 'line' when unchanged from the previous node. This only
-      # occurs for system-header structs never referenced by MuJoCo types, so
-      # the key merely needs to be unique.
-      return f"offset{loc.get('offset')}:{loc.get('col')}"
-    return f"{loc['line']}:{loc['col']}"
-
-
-def _traverse(node, visitor):
-  visitor.visit(node)
-
-  children = node.get('inner', [])
-  for child in children:
-    _traverse(child, visitor)
-
-
-def process(
-    input_json: str,
-    headers: list[str] | None = None,
-    excluded: list[str] | None = None,
-) -> AstProcessor:
-  """Parses a Clang AST JSON file into individual AST types."""
-  with open(input_json, 'r', encoding='utf-8') as f:
-    root = json.load(f)
-
-  raw_headers = {}
-  for p in headers or []:
-    with open(p, 'r') as f:
-      raw_headers[os.path.basename(p)] = f.read()
-
-  visitor = AstProcessor(raw_headers, excluded or [])
-  _traverse(root, visitor)
-  visitor.resolve()
-  return visitor
diff --git a/python/mujoco/introspect/codegen/formatter.py b/python/mujoco/introspect/codegen/formatter.py
deleted file mode 100644
index eab78b27..00000000
--- a/python/mujoco/introspect/codegen/formatter.py
+++ /dev/null
@@ -1,149 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Utility for formatting AST node as Python code."""
-
-import contextlib
-import dataclasses
-from typing import Any, Iterable, Mapping, Sequence
-
-INDENT_WIDTH = 4
-MAX_LINE_WIDTH = 80
-SIMPLE_TYPES = frozenset([int, float, str, bool, bytes, type(None)])
-
-
-def format_as_python_code(obj: Any) -> str:
-  """Formats an AST node object as well-indented Python code."""
-  formatter = _Formatter()
-  formatter.add(obj)
-  return str(formatter)
-
-
-def _is_all_simple(seq: Iterable[Any]) -> bool:
-  return all(type(obj) in SIMPLE_TYPES for obj in seq)
-
-
-class _Formatter:
-  """A helper for pretty-printing AST nodes as Python code."""
-
-  def __init__(self):
-    self._line_prefix = ''
-    self._lines = []
-    self._add_to_last_line = False
-
-  @contextlib.contextmanager
-  def _indent(self, width: int = INDENT_WIDTH):
-    self._line_prefix += ' ' * width
-    yield
-    self._line_prefix = self._line_prefix[:-width]
-
-  @contextlib.contextmanager
-  def _append_at_end(self, s):
-    yield
-    self._lines[-1] += s
-
-  def _add_line(self, line: str, no_break: bool = False):
-    if self._add_to_last_line:
-      self._lines[-1] += line
-    else:
-      self._lines.append(self._line_prefix + line)
-    self._add_to_last_line = no_break
-
-  def _add_dict(self, obj: Mapping[Any, Any]):
-    """Adds a dict to the formatted output."""
-    self._add_line('dict([')
-    with self._indent():
-      for k, v in obj.items():
-
-        # Try to fit everything into a single line first.
-        if _is_all_simple((k, v)):
-          single_line = f'({k!r}, {v!r}),'
-          if len(self._line_prefix) + len(single_line) <= MAX_LINE_WIDTH:
-            self._add_line(single_line)
-            continue
-
-        self._add_line(f"('{k}',")
-        with self._append_at_end('),'):
-          with self._indent(1):
-            self.add(v)
-
-    self._add_line('])')
-
-  def _add_dataclass(self, obj: Any):
-    """Adds a dataclass object to the formatted output."""
-    # Filter out default values.
-    kv_pairs = []
-    for k in dataclasses.fields(obj):
-      v = getattr(obj, k.name)
-      if v != k.default:
-        kv_pairs.append((k, v))
-
-    # Try to fit everything into a single line first.
-    if _is_all_simple(v for _, v in kv_pairs):
-      single_line = ', '.join(f'{k.name}={v!r}' for k, v in kv_pairs)
-      single_line = f'{obj.__class__.__name__}({single_line})'
-      if len(self._line_prefix) + len(single_line) <= MAX_LINE_WIDTH:
-        self._add_line(single_line)
-        return
-
-    self._add_line(obj.__class__.__name__ + '(')
-    with self._indent():
-      for k, v in kv_pairs:
-        self._add_line(k.name + '=', no_break=True)
-        with self._append_at_end(','):
-          self.add(v)
-    self._add_line(')')
-
-  def _add_sequence(self, obj: Sequence[Any]) -> None:
-    """Adds a sequence to the formatted output."""
-    default_str = repr(obj)
-    open_token, close_token = default_str[0], default_str[-1]
-    # Try to fit everything into a single line first.
-    if _is_all_simple(obj):
-      single_line = (
-          f"{open_token}{', '.join(repr(o) for o in obj)}{close_token}")
-      if close_token == ')' and len(obj) == 1:
-        single_line = f'{single_line[:-1]},)'
-      if len(self._line_prefix) + len(single_line) <= MAX_LINE_WIDTH:
-        self._add_line(single_line)
-        return
-
-    self._add_line(open_token)
-    with self._indent():
-      for v in obj:
-        with self._append_at_end(','):
-          self.add(v)
-    self._add_line(close_token)
-
-  def add(self, obj: Any) -> None:
-    """Adds an object to the formatted output."""
-    if _is_all_simple((obj,)):
-      self._add_line(repr(obj))
-    elif dataclasses.is_dataclass(obj):
-      self._add_dataclass(obj)
-    elif isinstance(obj, Mapping):
-      self._add_dict(obj)
-    elif isinstance(obj, Sequence):
-      self._add_sequence(obj)
-    else:
-      raise NotImplementedError
-
-  def __str__(self):
-    lines = []
-    for line in self._lines:
-      if len(line) > MAX_LINE_WIDTH:
-        lines.append(f'{line}  # pylint: disable=line-too-long')
-      else:
-        lines.append(line)
-    return '\n'.join(lines)
diff --git a/python/mujoco/introspect/codegen/generate.py b/python/mujoco/introspect/codegen/generate.py
deleted file mode 100644
index 1a48eea6..00000000
--- a/python/mujoco/introspect/codegen/generate.py
+++ /dev/null
@@ -1,151 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generates enums.py, functions.py, and structs.py.
-
-The JSON input can be generated via:
-  clang -Xclang -ast-dump=json -fsyntax-only -fparse-all-comments -x c mujoco.h
-"""
-
-import re
-from typing import Sequence
-
-from absl import app
-from absl import flags
-
-from . import ast_processor
-from . import formatter
-
-
-_JSON_PATH = flags.DEFINE_string(
-    'json_path', None,
-    'Path to the JSON file representing the Clang AST for mujoco.h')
-_HEADER_PATHS = flags.DEFINE_string(
-    'header_paths', None, 'Path to all header files')
-_OUT_STRUCTS = flags.DEFINE_string(
-    'out_structs', None, 'Path to the output structs file')
-_OUT_FUNCTIONS = flags.DEFINE_string(
-    'out_functions', None, 'Path to the output functions file')
-_OUT_ENUMS = flags.DEFINE_string(
-    'out_enums', None, 'Path to the output enums file')
-
-
-_ANONYMOUS_KEY_PATTERN = re.compile(r'\d+:\d+(?=\))')
-
-_EXCLUDED = [
-    'mjpDecoder',
-    'mjpDecoder_',
-    'mjpEncoder',
-    'mjpEncoder_',
-    'mjpPlugin',
-    'mjpPlugin_',
-    'mjpResourceProvider',
-    'mjpResourceProvider_',
-    'mjResource',
-    'mjResource_',
-    # Skip mjs_setUserValueWithCleanup as it's only useful for heap allocated
-    # objects and doesn't need a python wrapper.
-    'mjs_setUserValueWithCleanup',
-]
-
-_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s+\(([^\(\)]+) x ([^\(\)]+)\)\Z')
-
-_HEADER_TEMPLATE = '''
-# Copyright {year} DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Provides information about MuJoCo API {type}.
-
-DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-"""
-'''.strip()
-
-_ENUMS_TEMPLATE = '''
-
-from typing import Mapping
-
-from .ast_nodes import EnumDecl
-
-ENUMS: Mapping[str, EnumDecl] = {enums_str}
-'''
-
-
-_FUNCTIONS_TEMPLATE = '''
-
-from typing import Mapping
-
-from .ast_nodes import ArrayType
-from .ast_nodes import FunctionDecl
-from .ast_nodes import FunctionParameterDecl
-from .ast_nodes import PointerType
-from .ast_nodes import ValueType
-
-FUNCTIONS: Mapping[str, FunctionDecl] = {functions_str}
-'''
-
-_STRUCTS_TEMPLATE = '''
-
-from typing import Mapping
-
-from .ast_nodes import AnonymousStructDecl
-from .ast_nodes import AnonymousUnionDecl
-from .ast_nodes import ArrayType
-from .ast_nodes import PointerType
-from .ast_nodes import StructDecl
-from .ast_nodes import StructFieldDecl
-from .ast_nodes import ValueType
-
-STRUCTS: Mapping[str, StructDecl] = {structs_str}
-'''
-
-
-def main(argv: Sequence[str]) -> None:
-  if len(argv) > 1:
-    raise app.UsageError('Too many command-line arguments.')
-
-  visitor = ast_processor.process(
-      _JSON_PATH.value,  # pyrefly: ignore[bad-argument-type]
-      (_HEADER_PATHS.value or '').split(),
-      _EXCLUDED,
-  )
-
-  with open(_OUT_FUNCTIONS.value, 'w') as f:  # pyrefly: ignore[no-matching-overload]
-    functions_str = formatter.format_as_python_code(visitor.exported_functions)
-    f.write(_HEADER_TEMPLATE.format(year=2022, type='functions'))
-    f.write(_FUNCTIONS_TEMPLATE.format(functions_str=functions_str))
-
-  with open(_OUT_ENUMS.value, 'w') as f:  # pyrefly: ignore[no-matching-overload]
-    enums_str = formatter.format_as_python_code(visitor.exported_enums)
-    f.write(_HEADER_TEMPLATE.format(year=2022, type='enums'))
-    f.write(_ENUMS_TEMPLATE.format(enums_str=enums_str))
-
-  with open(_OUT_STRUCTS.value, 'w') as f:  # pyrefly: ignore[no-matching-overload]
-    structs_str = formatter.format_as_python_code(visitor.exported_structs)
-    f.write(_HEADER_TEMPLATE.format(year=2023, type='structs'))
-    f.write(_STRUCTS_TEMPLATE.format(structs_str=structs_str))
-
-
-if __name__ == '__main__':
-  app.run(main)
diff --git a/python/mujoco/introspect/enums.py b/python/mujoco/introspect/enums.py
deleted file mode 100644
index 7967bffe..00000000
--- a/python/mujoco/introspect/enums.py
+++ /dev/null
@@ -1,1127 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Provides information about MuJoCo API enums.
-
-DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-"""
-
-from typing import Mapping
-
-from .ast_nodes import EnumDecl
-
-ENUMS: Mapping[str, EnumDecl] = dict([
-    ('mjtDisableBit',
-     EnumDecl(
-         name='mjtDisableBit',
-         declname='enum mjtDisableBit',
-         values=dict([
-             ('mjDSBL_CONSTRAINT', 1),
-             ('mjDSBL_EQUALITY', 2),
-             ('mjDSBL_FRICTIONLOSS', 4),
-             ('mjDSBL_LIMIT', 8),
-             ('mjDSBL_CONTACT', 16),
-             ('mjDSBL_SPRING', 32),
-             ('mjDSBL_DAMPER', 64),
-             ('mjDSBL_GRAVITY', 128),
-             ('mjDSBL_CLAMPCTRL', 256),
-             ('mjDSBL_WARMSTART', 512),
-             ('mjDSBL_FILTERPARENT', 1024),
-             ('mjDSBL_ACTUATION', 2048),
-             ('mjDSBL_REFSAFE', 4096),
-             ('mjDSBL_SENSOR', 8192),
-             ('mjDSBL_MIDPHASE', 16384),
-             ('mjDSBL_EULERDAMP', 32768),
-             ('mjDSBL_AUTORESET', 65536),
-             ('mjDSBL_NATIVECCD', 131072),
-             ('mjDSBL_ISLAND', 262144),
-             ('mjDSBL_MULTICCD', 524288),
-             ('mjNDISABLE', 20),
-         ]),
-     )),
-    ('mjtEnableBit',
-     EnumDecl(
-         name='mjtEnableBit',
-         declname='enum mjtEnableBit',
-         values=dict([
-             ('mjENBL_OVERRIDE', 1),
-             ('mjENBL_ENERGY', 2),
-             ('mjENBL_FWDINV', 4),
-             ('mjENBL_INVDISCRETE', 8),
-             ('mjENBL_SLEEP', 16),
-             ('mjENBL_DIAGEXACT', 32),
-             ('mjNENABLE', 6),
-         ]),
-     )),
-    ('mjtJoint',
-     EnumDecl(
-         name='mjtJoint',
-         declname='enum mjtJoint',
-         values=dict([
-             ('mjJNT_FREE', 0),
-             ('mjJNT_BALL', 1),
-             ('mjJNT_SLIDE', 2),
-             ('mjJNT_HINGE', 3),
-         ]),
-     )),
-    ('mjtGeom',
-     EnumDecl(
-         name='mjtGeom',
-         declname='enum mjtGeom',
-         values=dict([
-             ('mjGEOM_PLANE', 0),
-             ('mjGEOM_HFIELD', 1),
-             ('mjGEOM_SPHERE', 2),
-             ('mjGEOM_CAPSULE', 3),
-             ('mjGEOM_ELLIPSOID', 4),
-             ('mjGEOM_CYLINDER', 5),
-             ('mjGEOM_BOX', 6),
-             ('mjGEOM_MESH', 7),
-             ('mjGEOM_SDF', 8),
-             ('mjNGEOMTYPES', 9),
-             ('mjGEOM_ARROW', 100),
-             ('mjGEOM_ARROW1', 101),
-             ('mjGEOM_ARROW2', 102),
-             ('mjGEOM_LINE', 103),
-             ('mjGEOM_LINEBOX', 104),
-             ('mjGEOM_FLEX', 105),
-             ('mjGEOM_SKIN', 106),
-             ('mjGEOM_LABEL', 107),
-             ('mjGEOM_TRIANGLE', 108),
-             ('mjGEOM_NONE', 1001),
-         ]),
-     )),
-    ('mjtProjection',
-     EnumDecl(
-         name='mjtProjection',
-         declname='enum mjtProjection',
-         values=dict([
-             ('mjPROJ_PERSPECTIVE', 0),
-             ('mjPROJ_ORTHOGRAPHIC', 1),
-         ]),
-     )),
-    ('mjtCamLight',
-     EnumDecl(
-         name='mjtCamLight',
-         declname='enum mjtCamLight',
-         values=dict([
-             ('mjCAMLIGHT_FIXED', 0),
-             ('mjCAMLIGHT_TRACK', 1),
-             ('mjCAMLIGHT_TRACKCOM', 2),
-             ('mjCAMLIGHT_TARGETBODY', 3),
-             ('mjCAMLIGHT_TARGETBODYCOM', 4),
-         ]),
-     )),
-    ('mjtLightType',
-     EnumDecl(
-         name='mjtLightType',
-         declname='enum mjtLightType',
-         values=dict([
-             ('mjLIGHT_SPOT', 0),
-             ('mjLIGHT_DIRECTIONAL', 1),
-             ('mjLIGHT_POINT', 2),
-             ('mjLIGHT_IMAGE', 3),
-         ]),
-     )),
-    ('mjtTexture',
-     EnumDecl(
-         name='mjtTexture',
-         declname='enum mjtTexture',
-         values=dict([
-             ('mjTEXTURE_2D', 0),
-             ('mjTEXTURE_CUBE', 1),
-             ('mjTEXTURE_SKYBOX', 2),
-         ]),
-     )),
-    ('mjtTextureRole',
-     EnumDecl(
-         name='mjtTextureRole',
-         declname='enum mjtTextureRole',
-         values=dict([
-             ('mjTEXROLE_USER', 0),
-             ('mjTEXROLE_RGB', 1),
-             ('mjTEXROLE_OCCLUSION', 2),
-             ('mjTEXROLE_ROUGHNESS', 3),
-             ('mjTEXROLE_METALLIC', 4),
-             ('mjTEXROLE_NORMAL', 5),
-             ('mjTEXROLE_OPACITY', 6),
-             ('mjTEXROLE_EMISSIVE', 7),
-             ('mjTEXROLE_RGBA', 8),
-             ('mjTEXROLE_ORM', 9),
-             ('mjNTEXROLE', 10),
-         ]),
-     )),
-    ('mjtColorSpace',
-     EnumDecl(
-         name='mjtColorSpace',
-         declname='enum mjtColorSpace',
-         values=dict([
-             ('mjCOLORSPACE_AUTO', 0),
-             ('mjCOLORSPACE_LINEAR', 1),
-             ('mjCOLORSPACE_SRGB', 2),
-         ]),
-     )),
-    ('mjtIntegrator',
-     EnumDecl(
-         name='mjtIntegrator',
-         declname='enum mjtIntegrator',
-         values=dict([
-             ('mjINT_EULER', 0),
-             ('mjINT_RK4', 1),
-             ('mjINT_IMPLICIT', 2),
-             ('mjINT_IMPLICITFAST', 3),
-         ]),
-     )),
-    ('mjtCone',
-     EnumDecl(
-         name='mjtCone',
-         declname='enum mjtCone',
-         values=dict([
-             ('mjCONE_PYRAMIDAL', 0),
-             ('mjCONE_ELLIPTIC', 1),
-         ]),
-     )),
-    ('mjtJacobian',
-     EnumDecl(
-         name='mjtJacobian',
-         declname='enum mjtJacobian',
-         values=dict([
-             ('mjJAC_DENSE', 0),
-             ('mjJAC_SPARSE', 1),
-             ('mjJAC_AUTO', 2),
-         ]),
-     )),
-    ('mjtSolver',
-     EnumDecl(
-         name='mjtSolver',
-         declname='enum mjtSolver',
-         values=dict([
-             ('mjSOL_PGS', 0),
-             ('mjSOL_CG', 1),
-             ('mjSOL_NEWTON', 2),
-         ]),
-     )),
-    ('mjtEq',
-     EnumDecl(
-         name='mjtEq',
-         declname='enum mjtEq',
-         values=dict([
-             ('mjEQ_CONNECT', 0),
-             ('mjEQ_WELD', 1),
-             ('mjEQ_JOINT', 2),
-             ('mjEQ_TENDON', 3),
-             ('mjEQ_FLEX', 4),
-             ('mjEQ_FLEXVERT', 5),
-             ('mjEQ_FLEXSTRAIN', 6),
-             ('mjEQ_DISTANCE', 7),
-         ]),
-     )),
-    ('mjtWrap',
-     EnumDecl(
-         name='mjtWrap',
-         declname='enum mjtWrap',
-         values=dict([
-             ('mjWRAP_NONE', 0),
-             ('mjWRAP_JOINT', 1),
-             ('mjWRAP_PULLEY', 2),
-             ('mjWRAP_SITE', 3),
-             ('mjWRAP_SPHERE', 4),
-             ('mjWRAP_CYLINDER', 5),
-         ]),
-     )),
-    ('mjtTrn',
-     EnumDecl(
-         name='mjtTrn',
-         declname='enum mjtTrn',
-         values=dict([
-             ('mjTRN_JOINT', 0),
-             ('mjTRN_JOINTINPARENT', 1),
-             ('mjTRN_SLIDERCRANK', 2),
-             ('mjTRN_TENDON', 3),
-             ('mjTRN_SITE', 4),
-             ('mjTRN_BODY', 5),
-             ('mjTRN_SO3', 6),
-             ('mjTRN_UNDEFINED', 1000),
-         ]),
-     )),
-    ('mjtDyn',
-     EnumDecl(
-         name='mjtDyn',
-         declname='enum mjtDyn',
-         values=dict([
-             ('mjDYN_NONE', 0),
-             ('mjDYN_INTEGRATOR', 1),
-             ('mjDYN_FILTER', 2),
-             ('mjDYN_FILTEREXACT', 3),
-             ('mjDYN_MUSCLE', 4),
-             ('mjDYN_DCMOTOR', 5),
-             ('mjDYN_PID', 6),
-             ('mjDYN_USER', 7),
-         ]),
-     )),
-    ('mjtGain',
-     EnumDecl(
-         name='mjtGain',
-         declname='enum mjtGain',
-         values=dict([
-             ('mjGAIN_FIXED', 0),
-             ('mjGAIN_AFFINE', 1),
-             ('mjGAIN_MUSCLE', 2),
-             ('mjGAIN_DCMOTOR', 3),
-             ('mjGAIN_SO3', 4),
-             ('mjGAIN_PID', 5),
-             ('mjGAIN_USER', 6),
-         ]),
-     )),
-    ('mjtBias',
-     EnumDecl(
-         name='mjtBias',
-         declname='enum mjtBias',
-         values=dict([
-             ('mjBIAS_NONE', 0),
-             ('mjBIAS_AFFINE', 1),
-             ('mjBIAS_MUSCLE', 2),
-             ('mjBIAS_DCMOTOR', 3),
-             ('mjBIAS_SO3', 4),
-             ('mjBIAS_USER', 5),
-         ]),
-     )),
-    ('mjtCtrlChart',
-     EnumDecl(
-         name='mjtCtrlChart',
-         declname='enum mjtCtrlChart',
-         values=dict([
-             ('mjCHART_EXPMAP', 1),
-             ('mjCHART_QUAT', 2),
-         ]),
-     )),
-    ('mjtCtrlInput',
-     EnumDecl(
-         name='mjtCtrlInput',
-         declname='enum mjtCtrlInput',
-         values=dict([
-             ('mjINPUT_POS', 1),
-             ('mjINPUT_VEL', 2),
-             ('mjINPUT_FF', 4),
-             ('mjINPUT_VOLTAGE', 8),
-             ('mjINPUT_NONE', 16),
-         ]),
-     )),
-    ('mjtObj',
-     EnumDecl(
-         name='mjtObj',
-         declname='enum mjtObj',
-         values=dict([
-             ('mjOBJ_UNKNOWN', 0),
-             ('mjOBJ_BODY', 1),
-             ('mjOBJ_XBODY', 2),
-             ('mjOBJ_JOINT', 3),
-             ('mjOBJ_DOF', 4),
-             ('mjOBJ_GEOM', 5),
-             ('mjOBJ_SITE', 6),
-             ('mjOBJ_CAMERA', 7),
-             ('mjOBJ_LIGHT', 8),
-             ('mjOBJ_FLEX', 9),
-             ('mjOBJ_MESH', 10),
-             ('mjOBJ_SKIN', 11),
-             ('mjOBJ_HFIELD', 12),
-             ('mjOBJ_TEXTURE', 13),
-             ('mjOBJ_MATERIAL', 14),
-             ('mjOBJ_PAIR', 15),
-             ('mjOBJ_EXCLUDE', 16),
-             ('mjOBJ_EQUALITY', 17),
-             ('mjOBJ_TENDON', 18),
-             ('mjOBJ_ACTUATOR', 19),
-             ('mjOBJ_SENSOR', 20),
-             ('mjOBJ_NUMERIC', 21),
-             ('mjOBJ_TEXT', 22),
-             ('mjOBJ_TUPLE', 23),
-             ('mjOBJ_KEY', 24),
-             ('mjOBJ_PLUGIN', 25),
-             ('mjNOBJECT', 26),
-             ('mjOBJ_FRAME', 100),
-             ('mjOBJ_DEFAULT', 101),
-             ('mjOBJ_MODEL', 102),
-         ]),
-     )),
-    ('mjtSensor',
-     EnumDecl(
-         name='mjtSensor',
-         declname='enum mjtSensor',
-         values=dict([
-             ('mjSENS_TOUCH', 0),
-             ('mjSENS_ACCELEROMETER', 1),
-             ('mjSENS_VELOCIMETER', 2),
-             ('mjSENS_GYRO', 3),
-             ('mjSENS_FORCE', 4),
-             ('mjSENS_TORQUE', 5),
-             ('mjSENS_MAGNETOMETER', 6),
-             ('mjSENS_RANGEFINDER', 7),
-             ('mjSENS_CAMPROJECTION', 8),
-             ('mjSENS_JOINTPOS', 9),
-             ('mjSENS_JOINTVEL', 10),
-             ('mjSENS_TENDONPOS', 11),
-             ('mjSENS_TENDONVEL', 12),
-             ('mjSENS_ACTUATORPOS', 13),
-             ('mjSENS_ACTUATORVEL', 14),
-             ('mjSENS_ACTUATORFRC', 15),
-             ('mjSENS_JOINTACTFRC', 16),
-             ('mjSENS_TENDONACTFRC', 17),
-             ('mjSENS_BALLQUAT', 18),
-             ('mjSENS_BALLANGVEL', 19),
-             ('mjSENS_JOINTLIMITPOS', 20),
-             ('mjSENS_JOINTLIMITVEL', 21),
-             ('mjSENS_JOINTLIMITFRC', 22),
-             ('mjSENS_TENDONLIMITPOS', 23),
-             ('mjSENS_TENDONLIMITVEL', 24),
-             ('mjSENS_TENDONLIMITFRC', 25),
-             ('mjSENS_FRAMEPOS', 26),
-             ('mjSENS_FRAMEQUAT', 27),
-             ('mjSENS_FRAMEXAXIS', 28),
-             ('mjSENS_FRAMEYAXIS', 29),
-             ('mjSENS_FRAMEZAXIS', 30),
-             ('mjSENS_FRAMELINVEL', 31),
-             ('mjSENS_FRAMEANGVEL', 32),
-             ('mjSENS_FRAMELINACC', 33),
-             ('mjSENS_FRAMEANGACC', 34),
-             ('mjSENS_SUBTREECOM', 35),
-             ('mjSENS_SUBTREELINVEL', 36),
-             ('mjSENS_SUBTREEANGMOM', 37),
-             ('mjSENS_INSIDESITE', 38),
-             ('mjSENS_GEOMDIST', 39),
-             ('mjSENS_GEOMNORMAL', 40),
-             ('mjSENS_GEOMFROMTO', 41),
-             ('mjSENS_CONTACT', 42),
-             ('mjSENS_E_POTENTIAL', 43),
-             ('mjSENS_E_KINETIC', 44),
-             ('mjSENS_CLOCK', 45),
-             ('mjSENS_TACTILE', 46),
-             ('mjSENS_PLUGIN', 47),
-             ('mjSENS_USER', 48),
-         ]),
-     )),
-    ('mjtStage',
-     EnumDecl(
-         name='mjtStage',
-         declname='enum mjtStage',
-         values=dict([
-             ('mjSTAGE_NONE', 0),
-             ('mjSTAGE_POS', 1),
-             ('mjSTAGE_VEL', 2),
-             ('mjSTAGE_ACC', 3),
-         ]),
-     )),
-    ('mjtDataType',
-     EnumDecl(
-         name='mjtDataType',
-         declname='enum mjtDataType',
-         values=dict([
-             ('mjDATATYPE_REAL', 0),
-             ('mjDATATYPE_POSITIVE', 1),
-             ('mjDATATYPE_AXIS', 2),
-             ('mjDATATYPE_QUATERNION', 3),
-         ]),
-     )),
-    ('mjtConDataField',
-     EnumDecl(
-         name='mjtConDataField',
-         declname='enum mjtConDataField',
-         values=dict([
-             ('mjCONDATA_FOUND', 0),
-             ('mjCONDATA_FORCE', 1),
-             ('mjCONDATA_TORQUE', 2),
-             ('mjCONDATA_DIST', 3),
-             ('mjCONDATA_POS', 4),
-             ('mjCONDATA_NORMAL', 5),
-             ('mjCONDATA_TANGENT', 6),
-             ('mjNCONDATA', 7),
-         ]),
-     )),
-    ('mjtRayDataField',
-     EnumDecl(
-         name='mjtRayDataField',
-         declname='enum mjtRayDataField',
-         values=dict([
-             ('mjRAYDATA_DIST', 0),
-             ('mjRAYDATA_DIR', 1),
-             ('mjRAYDATA_ORIGIN', 2),
-             ('mjRAYDATA_POINT', 3),
-             ('mjRAYDATA_NORMAL', 4),
-             ('mjRAYDATA_DEPTH', 5),
-             ('mjNRAYDATA', 6),
-         ]),
-     )),
-    ('mjtCamOutBit',
-     EnumDecl(
-         name='mjtCamOutBit',
-         declname='enum mjtCamOutBit',
-         values=dict([
-             ('mjCAMOUT_RGB', 1),
-             ('mjCAMOUT_DEPTH', 2),
-             ('mjCAMOUT_DIST', 4),
-             ('mjCAMOUT_NORMAL', 8),
-             ('mjCAMOUT_SEG', 16),
-             ('mjNCAMOUT', 5),
-         ]),
-     )),
-    ('mjtSameFrame',
-     EnumDecl(
-         name='mjtSameFrame',
-         declname='enum mjtSameFrame',
-         values=dict([
-             ('mjSAMEFRAME_NONE', 0),
-             ('mjSAMEFRAME_BODY', 1),
-             ('mjSAMEFRAME_INERTIA', 2),
-             ('mjSAMEFRAME_BODYROT', 3),
-             ('mjSAMEFRAME_INERTIAROT', 4),
-         ]),
-     )),
-    ('mjtSleepPolicy',
-     EnumDecl(
-         name='mjtSleepPolicy',
-         declname='enum mjtSleepPolicy',
-         values=dict([
-             ('mjSLEEP_AUTO', 0),
-             ('mjSLEEP_AUTO_NEVER', 1),
-             ('mjSLEEP_AUTO_ALLOWED', 2),
-             ('mjSLEEP_NEVER', 3),
-             ('mjSLEEP_ALLOWED', 4),
-             ('mjSLEEP_INIT', 5),
-         ]),
-     )),
-    ('mjtLRMode',
-     EnumDecl(
-         name='mjtLRMode',
-         declname='enum mjtLRMode',
-         values=dict([
-             ('mjLRMODE_NONE', 0),
-             ('mjLRMODE_MUSCLE', 1),
-             ('mjLRMODE_MUSCLEUSER', 2),
-             ('mjLRMODE_ALL', 3),
-         ]),
-     )),
-    ('mjtFlexSelf',
-     EnumDecl(
-         name='mjtFlexSelf',
-         declname='enum mjtFlexSelf',
-         values=dict([
-             ('mjFLEXSELF_NONE', 0),
-             ('mjFLEXSELF_NARROW', 1),
-             ('mjFLEXSELF_BVH', 2),
-             ('mjFLEXSELF_SAP', 3),
-             ('mjFLEXSELF_AUTO', 4),
-         ]),
-     )),
-    ('mjtSDFType',
-     EnumDecl(
-         name='mjtSDFType',
-         declname='enum mjtSDFType',
-         values=dict([
-             ('mjSDFTYPE_SINGLE', 0),
-             ('mjSDFTYPE_INTERSECTION', 1),
-             ('mjSDFTYPE_MIDSURFACE', 2),
-             ('mjSDFTYPE_COLLISION', 3),
-         ]),
-     )),
-    ('mjtState',
-     EnumDecl(
-         name='mjtState',
-         declname='enum mjtState',
-         values=dict([
-             ('mjSTATE_TIME', 1),
-             ('mjSTATE_QPOS', 2),
-             ('mjSTATE_QVEL', 4),
-             ('mjSTATE_ACT', 8),
-             ('mjSTATE_HISTORY', 16),
-             ('mjSTATE_WARMSTART', 32),
-             ('mjSTATE_CTRL', 64),
-             ('mjSTATE_QFRC_APPLIED', 128),
-             ('mjSTATE_XFRC_APPLIED', 256),
-             ('mjSTATE_EQ_ACTIVE', 512),
-             ('mjSTATE_MOCAP_POS', 1024),
-             ('mjSTATE_MOCAP_QUAT', 2048),
-             ('mjSTATE_USERDATA', 4096),
-             ('mjSTATE_PLUGIN', 8192),
-             ('mjNSTATE', 14),
-             ('mjSTATE_PHYSICS', 30),
-             ('mjSTATE_FULLPHYSICS', 8223),
-             ('mjSTATE_USER', 8128),
-             ('mjSTATE_INTEGRATION', 16383),
-         ]),
-     )),
-    ('mjtConstraint',
-     EnumDecl(
-         name='mjtConstraint',
-         declname='enum mjtConstraint',
-         values=dict([
-             ('mjCNSTR_EQUALITY', 0),
-             ('mjCNSTR_FRICTION_DOF', 1),
-             ('mjCNSTR_FRICTION_TENDON', 2),
-             ('mjCNSTR_LIMIT_JOINT', 3),
-             ('mjCNSTR_LIMIT_TENDON', 4),
-             ('mjCNSTR_CONTACT_FRICTIONLESS', 5),
-             ('mjCNSTR_CONTACT_PYRAMIDAL', 6),
-             ('mjCNSTR_CONTACT_ELLIPTIC', 7),
-         ]),
-     )),
-    ('mjtConstraintState',
-     EnumDecl(
-         name='mjtConstraintState',
-         declname='enum mjtConstraintState',
-         values=dict([
-             ('mjCNSTRSTATE_SATISFIED', 0),
-             ('mjCNSTRSTATE_QUADRATIC', 1),
-             ('mjCNSTRSTATE_LINEARNEG', 2),
-             ('mjCNSTRSTATE_LINEARPOS', 3),
-             ('mjCNSTRSTATE_CONE', 4),
-         ]),
-     )),
-    ('mjtWarning',
-     EnumDecl(
-         name='mjtWarning',
-         declname='enum mjtWarning',
-         values=dict([
-             ('mjWARN_INERTIA', 0),
-             ('mjWARN_CONTACTFULL', 1),
-             ('mjWARN_CNSTRFULL', 2),
-             ('mjWARN_BADQPOS', 3),
-             ('mjWARN_BADQVEL', 4),
-             ('mjWARN_BADQACC', 5),
-             ('mjWARN_BADCTRL', 6),
-             ('mjNWARNING', 7),
-         ]),
-     )),
-    ('mjtTimer',
-     EnumDecl(
-         name='mjtTimer',
-         declname='enum mjtTimer',
-         values=dict([
-             ('mjTIMER_STEP', 0),
-             ('mjTIMER_FORWARD', 1),
-             ('mjTIMER_INVERSE', 2),
-             ('mjTIMER_POSITION', 3),
-             ('mjTIMER_VELOCITY', 4),
-             ('mjTIMER_ACTUATION', 5),
-             ('mjTIMER_CONSTRAINT', 6),
-             ('mjTIMER_ADVANCE', 7),
-             ('mjTIMER_POS_KINEMATICS', 8),
-             ('mjTIMER_POS_INERTIA', 9),
-             ('mjTIMER_POS_COLLISION', 10),
-             ('mjTIMER_POS_MAKE', 11),
-             ('mjTIMER_POS_PROJECT', 12),
-             ('mjTIMER_COL_BROAD', 13),
-             ('mjTIMER_COL_NARROW', 14),
-             ('mjNTIMER', 15),
-         ]),
-     )),
-    ('mjtSleepState',
-     EnumDecl(
-         name='mjtSleepState',
-         declname='enum mjtSleepState',
-         values=dict([
-             ('mjS_STATIC', -1),
-             ('mjS_ASLEEP', 0),
-             ('mjS_AWAKE', 1),
-         ]),
-     )),
-    ('mjtLogLevel',
-     EnumDecl(
-         name='mjtLogLevel',
-         declname='enum mjtLogLevel',
-         values=dict([
-             ('mjLOG_DEBUG', 0),
-             ('mjLOG_INFO', 1),
-             ('mjLOG_WARNING', 2),
-             ('mjLOG_ERROR', 3),
-         ]),
-     )),
-    ('mjtLogTopic',
-     EnumDecl(
-         name='mjtLogTopic',
-         declname='enum mjtLogTopic',
-         values=dict([
-             ('mjTOPIC_NONE', 0),
-             ('mjTOPIC_TIME_STP', 1),
-             ('mjTOPIC_TIME_CMP', 2),
-             ('mjTOPIC_SLEEP', 3),
-             ('mjNTOPIC', 3),
-         ]),
-     )),
-    ('mjtGeomInertia',
-     EnumDecl(
-         name='mjtGeomInertia',
-         declname='enum mjtGeomInertia',
-         values=dict([
-             ('mjINERTIA_VOLUME', 0),
-             ('mjINERTIA_SHELL', 1),
-         ]),
-     )),
-    ('mjtMeshInertia',
-     EnumDecl(
-         name='mjtMeshInertia',
-         declname='enum mjtMeshInertia',
-         values=dict([
-             ('mjMESH_INERTIA_CONVEX', 0),
-             ('mjMESH_INERTIA_EXACT', 1),
-             ('mjMESH_INERTIA_LEGACY', 2),
-             ('mjMESH_INERTIA_SHELL', 3),
-         ]),
-     )),
-    ('mjtMeshBuiltin',
-     EnumDecl(
-         name='mjtMeshBuiltin',
-         declname='enum mjtMeshBuiltin',
-         values=dict([
-             ('mjMESH_BUILTIN_NONE', 0),
-             ('mjMESH_BUILTIN_SPHERE', 1),
-             ('mjMESH_BUILTIN_HEMISPHERE', 2),
-             ('mjMESH_BUILTIN_CONE', 3),
-             ('mjMESH_BUILTIN_SUPERSPHERE', 4),
-             ('mjMESH_BUILTIN_SUPERTORUS', 5),
-             ('mjMESH_BUILTIN_WEDGE', 6),
-             ('mjMESH_BUILTIN_PLATE', 7),
-         ]),
-     )),
-    ('mjtBuiltin',
-     EnumDecl(
-         name='mjtBuiltin',
-         declname='enum mjtBuiltin',
-         values=dict([
-             ('mjBUILTIN_NONE', 0),
-             ('mjBUILTIN_GRADIENT', 1),
-             ('mjBUILTIN_CHECKER', 2),
-             ('mjBUILTIN_FLAT', 3),
-         ]),
-     )),
-    ('mjtMark',
-     EnumDecl(
-         name='mjtMark',
-         declname='enum mjtMark',
-         values=dict([
-             ('mjMARK_NONE', 0),
-             ('mjMARK_EDGE', 1),
-             ('mjMARK_CROSS', 2),
-             ('mjMARK_RANDOM', 3),
-         ]),
-     )),
-    ('mjtLimited',
-     EnumDecl(
-         name='mjtLimited',
-         declname='enum mjtLimited',
-         values=dict([
-             ('mjLIMITED_FALSE', 0),
-             ('mjLIMITED_TRUE', 1),
-             ('mjLIMITED_AUTO', 2),
-         ]),
-     )),
-    ('mjtAlignFree',
-     EnumDecl(
-         name='mjtAlignFree',
-         declname='enum mjtAlignFree',
-         values=dict([
-             ('mjALIGNFREE_FALSE', 0),
-             ('mjALIGNFREE_TRUE', 1),
-             ('mjALIGNFREE_AUTO', 2),
-         ]),
-     )),
-    ('mjtInertiaFromGeom',
-     EnumDecl(
-         name='mjtInertiaFromGeom',
-         declname='enum mjtInertiaFromGeom',
-         values=dict([
-             ('mjINERTIAFROMGEOM_FALSE', 0),
-             ('mjINERTIAFROMGEOM_TRUE', 1),
-             ('mjINERTIAFROMGEOM_AUTO', 2),
-         ]),
-     )),
-    ('mjtOrientation',
-     EnumDecl(
-         name='mjtOrientation',
-         declname='enum mjtOrientation',
-         values=dict([
-             ('mjORIENTATION_QUAT', 0),
-             ('mjORIENTATION_AXISANGLE', 1),
-             ('mjORIENTATION_XYAXES', 2),
-             ('mjORIENTATION_ZAXIS', 3),
-             ('mjORIENTATION_EULER', 4),
-         ]),
-     )),
-    ('mjtConflict',
-     EnumDecl(
-         name='mjtConflict',
-         declname='enum mjtConflict',
-         values=dict([
-             ('mjCONFLICT_WARNING', 0),
-             ('mjCONFLICT_MERGE', 1),
-             ('mjCONFLICT_ERROR', 2),
-         ]),
-     )),
-    ('mjtCTimer',
-     EnumDecl(
-         name='mjtCTimer',
-         declname='enum mjtCTimer',
-         values=dict([
-             ('mjCTIMER_TOTAL', 0),
-             ('mjCTIMER_ASSETS', 1),
-             ('mjCTIMER_TEXTURE', 2),
-             ('mjCTIMER_MESH_LOAD', 3),
-             ('mjCTIMER_MESH_HULL', 4),
-             ('mjCTIMER_MESH_POLYGON', 5),
-             ('mjCTIMER_MESH_INERTIA', 6),
-             ('mjCTIMER_MESH_BVH', 7),
-             ('mjCTIMER_MESH_OCTREE', 8),
-             ('mjNCTIMER', 9),
-         ]),
-     )),
-    ('mjtCatBit',
-     EnumDecl(
-         name='mjtCatBit',
-         declname='enum mjtCatBit_',
-         values=dict([
-             ('mjCAT_STATIC', 1),
-             ('mjCAT_DYNAMIC', 2),
-             ('mjCAT_DECOR', 4),
-             ('mjCAT_ALL', 7),
-         ]),
-     )),
-    ('mjtMouse',
-     EnumDecl(
-         name='mjtMouse',
-         declname='enum mjtMouse_',
-         values=dict([
-             ('mjMOUSE_NONE', 0),
-             ('mjMOUSE_ROTATE_V', 1),
-             ('mjMOUSE_ROTATE_H', 2),
-             ('mjMOUSE_MOVE_V', 3),
-             ('mjMOUSE_MOVE_H', 4),
-             ('mjMOUSE_ZOOM', 5),
-             ('mjMOUSE_MOVE_V_REL', 6),
-             ('mjMOUSE_MOVE_H_REL', 7),
-             ('mjMOUSE_TURN_V', 8),
-             ('mjMOUSE_TURN_H', 9),
-         ]),
-     )),
-    ('mjtPertBit',
-     EnumDecl(
-         name='mjtPertBit',
-         declname='enum mjtPertBit_',
-         values=dict([
-             ('mjPERT_TRANSLATE', 1),
-             ('mjPERT_ROTATE', 2),
-         ]),
-     )),
-    ('mjtCamera',
-     EnumDecl(
-         name='mjtCamera',
-         declname='enum mjtCamera_',
-         values=dict([
-             ('mjCAMERA_FREE', 0),
-             ('mjCAMERA_TRACKING', 1),
-             ('mjCAMERA_FIXED', 2),
-             ('mjCAMERA_USER', 3),
-         ]),
-     )),
-    ('mjtLabel',
-     EnumDecl(
-         name='mjtLabel',
-         declname='enum mjtLabel_',
-         values=dict([
-             ('mjLABEL_NONE', 0),
-             ('mjLABEL_BODY', 1),
-             ('mjLABEL_JOINT', 2),
-             ('mjLABEL_GEOM', 3),
-             ('mjLABEL_SITE', 4),
-             ('mjLABEL_CAMERA', 5),
-             ('mjLABEL_LIGHT', 6),
-             ('mjLABEL_TENDON', 7),
-             ('mjLABEL_ACTUATOR', 8),
-             ('mjLABEL_CONSTRAINT', 9),
-             ('mjLABEL_FLEX', 10),
-             ('mjLABEL_SKIN', 11),
-             ('mjLABEL_SELECTION', 12),
-             ('mjLABEL_SELPNT', 13),
-             ('mjLABEL_CONTACTPOINT', 14),
-             ('mjLABEL_CONTACTFORCE', 15),
-             ('mjLABEL_ISLAND', 16),
-             ('mjNLABEL', 17),
-         ]),
-     )),
-    ('mjtFrame',
-     EnumDecl(
-         name='mjtFrame',
-         declname='enum mjtFrame_',
-         values=dict([
-             ('mjFRAME_NONE', 0),
-             ('mjFRAME_BODY', 1),
-             ('mjFRAME_GEOM', 2),
-             ('mjFRAME_SITE', 3),
-             ('mjFRAME_CAMERA', 4),
-             ('mjFRAME_LIGHT', 5),
-             ('mjFRAME_CONTACT', 6),
-             ('mjFRAME_WORLD', 7),
-             ('mjNFRAME', 8),
-         ]),
-     )),
-    ('mjtVisFlag',
-     EnumDecl(
-         name='mjtVisFlag',
-         declname='enum mjtVisFlag_',
-         values=dict([
-             ('mjVIS_CONVEXHULL', 0),
-             ('mjVIS_TEXTURE', 1),
-             ('mjVIS_JOINT', 2),
-             ('mjVIS_CAMERA', 3),
-             ('mjVIS_ACTUATOR', 4),
-             ('mjVIS_ACTIVATION', 5),
-             ('mjVIS_LIGHT', 6),
-             ('mjVIS_TENDON', 7),
-             ('mjVIS_RANGEFINDER', 8),
-             ('mjVIS_CONSTRAINT', 9),
-             ('mjVIS_INERTIA', 10),
-             ('mjVIS_SCLINERTIA', 11),
-             ('mjVIS_PERTFORCE', 12),
-             ('mjVIS_PERTOBJ', 13),
-             ('mjVIS_CONTACTPOINT', 14),
-             ('mjVIS_ISLAND', 15),
-             ('mjVIS_CONTACTFORCE', 16),
-             ('mjVIS_CONTACTSPLIT', 17),
-             ('mjVIS_TRANSPARENT', 18),
-             ('mjVIS_AUTOCONNECT', 19),
-             ('mjVIS_COM', 20),
-             ('mjVIS_SELECT', 21),
-             ('mjVIS_STATIC', 22),
-             ('mjVIS_SKIN', 23),
-             ('mjVIS_FLEXVERT', 24),
-             ('mjVIS_FLEXEDGE', 25),
-             ('mjVIS_FLEXFACE', 26),
-             ('mjVIS_FLEXSKIN', 27),
-             ('mjVIS_BODYBVH', 28),
-             ('mjVIS_MESHBVH', 29),
-             ('mjVIS_SDFITER', 30),
-             ('mjNVISFLAG', 31),
-         ]),
-     )),
-    ('mjtRndFlag',
-     EnumDecl(
-         name='mjtRndFlag',
-         declname='enum mjtRndFlag_',
-         values=dict([
-             ('mjRND_SHADOW', 0),
-             ('mjRND_WIREFRAME', 1),
-             ('mjRND_REFLECTION', 2),
-             ('mjRND_ADDITIVE', 3),
-             ('mjRND_SKYBOX', 4),
-             ('mjRND_FOG', 5),
-             ('mjRND_HAZE', 6),
-             ('mjRND_DEPTH', 7),
-             ('mjRND_SEGMENT', 8),
-             ('mjRND_IDCOLOR', 9),
-             ('mjRND_CULL_FACE', 10),
-             ('mjNRNDFLAG', 11),
-         ]),
-     )),
-    ('mjtStereo',
-     EnumDecl(
-         name='mjtStereo',
-         declname='enum mjtStereo_',
-         values=dict([
-             ('mjSTEREO_NONE', 0),
-             ('mjSTEREO_QUADBUFFERED', 1),
-             ('mjSTEREO_SIDEBYSIDE', 2),
-         ]),
-     )),
-    ('mjtPluginCapabilityBit',
-     EnumDecl(
-         name='mjtPluginCapabilityBit',
-         declname='enum mjtPluginCapabilityBit_',
-         values=dict([
-             ('mjPLUGIN_ACTUATOR', 1),
-             ('mjPLUGIN_SENSOR', 2),
-             ('mjPLUGIN_PASSIVE', 4),
-             ('mjPLUGIN_SDF', 8),
-         ]),
-     )),
-    ('mjtGridPos',
-     EnumDecl(
-         name='mjtGridPos',
-         declname='enum mjtGridPos_',
-         values=dict([
-             ('mjGRID_TOPLEFT', 0),
-             ('mjGRID_TOPRIGHT', 1),
-             ('mjGRID_BOTTOMLEFT', 2),
-             ('mjGRID_BOTTOMRIGHT', 3),
-             ('mjGRID_TOP', 4),
-             ('mjGRID_BOTTOM', 5),
-             ('mjGRID_LEFT', 6),
-             ('mjGRID_RIGHT', 7),
-         ]),
-     )),
-    ('mjtFramebuffer',
-     EnumDecl(
-         name='mjtFramebuffer',
-         declname='enum mjtFramebuffer_',
-         values=dict([
-             ('mjFB_WINDOW', 0),
-             ('mjFB_OFFSCREEN', 1),
-         ]),
-     )),
-    ('mjtDepthMap',
-     EnumDecl(
-         name='mjtDepthMap',
-         declname='enum mjtDepthMap_',
-         values=dict([
-             ('mjDEPTH_ZERONEAR', 0),
-             ('mjDEPTH_ZEROFAR', 1),
-         ]),
-     )),
-    ('mjtFontScale',
-     EnumDecl(
-         name='mjtFontScale',
-         declname='enum mjtFontScale_',
-         values=dict([
-             ('mjFONTSCALE_50', 50),
-             ('mjFONTSCALE_100', 100),
-             ('mjFONTSCALE_150', 150),
-             ('mjFONTSCALE_200', 200),
-             ('mjFONTSCALE_250', 250),
-             ('mjFONTSCALE_300', 300),
-         ]),
-     )),
-    ('mjtFont',
-     EnumDecl(
-         name='mjtFont',
-         declname='enum mjtFont_',
-         values=dict([
-             ('mjFONT_NORMAL', 0),
-             ('mjFONT_SHADOW', 1),
-             ('mjFONT_BIG', 2),
-         ]),
-     )),
-    ('mjrPixelFormat',
-     EnumDecl(
-         name='mjrPixelFormat',
-         declname='enum mjrPixelFormat_',
-         values=dict([
-             ('mjPIXEL_FORMAT_UNKNOWN', 0),
-             ('mjPIXEL_FORMAT_R8', 1),
-             ('mjPIXEL_FORMAT_RGB8', 2),
-             ('mjPIXEL_FORMAT_RGBA8', 3),
-             ('mjPIXEL_FORMAT_R32F', 4),
-             ('mjPIXEL_FORMAT_DEPTH32F', 5),
-             ('mjPIXEL_FORMAT_KTX', 6),
-         ]),
-     )),
-    ('mjrVertexAttributeUsage',
-     EnumDecl(
-         name='mjrVertexAttributeUsage',
-         declname='enum mjrVertexAttributeUsage_',
-         values=dict([
-             ('mjVERTEX_ATTRIBUTE_USAGE_POSITION', 0),
-             ('mjVERTEX_ATTRIBUTE_USAGE_NORMAL', 1),
-             ('mjVERTEX_ATTRIBUTE_USAGE_TANGENTS', 2),
-             ('mjVERTEX_ATTRIBUTE_USAGE_UV', 3),
-             ('mjVERTEX_ATTRIBUTE_USAGE_COLOR', 4),
-         ]),
-     )),
-    ('mjrVertexAttributeType',
-     EnumDecl(
-         name='mjrVertexAttributeType',
-         declname='enum mjrVertexAttributeType_',
-         values=dict([
-             ('mjVERTEX_ATTRIBUTE_TYPE_FLOAT2', 0),
-             ('mjVERTEX_ATTRIBUTE_TYPE_FLOAT3', 1),
-             ('mjVERTEX_ATTRIBUTE_TYPE_FLOAT4', 2),
-             ('mjVERTEX_ATTRIBUTE_TYPE_UBYTE4', 3),
-         ]),
-     )),
-    ('mjrIndexType',
-     EnumDecl(
-         name='mjrIndexType',
-         declname='enum mjrIndexType_',
-         values=dict([
-             ('mjINDEX_TYPE_U16', 0),
-             ('mjINDEX_TYPE_U32', 1),
-         ]),
-     )),
-    ('mjrMeshPrimitiveType',
-     EnumDecl(
-         name='mjrMeshPrimitiveType',
-         declname='enum mjrMeshPrimitiveType_',
-         values=dict([
-             ('mjMESH_PRIMITIVE_TYPE_TRIANGLES', 0),
-             ('mjMESH_PRIMITIVE_TYPE_LINES', 1),
-         ]),
-     )),
-    ('mjtButton',
-     EnumDecl(
-         name='mjtButton',
-         declname='enum mjtButton',
-         values=dict([
-             ('mjBUTTON_NONE', 0),
-             ('mjBUTTON_LEFT', 1),
-             ('mjBUTTON_RIGHT', 2),
-             ('mjBUTTON_MIDDLE', 3),
-         ]),
-     )),
-    ('mjtEvent',
-     EnumDecl(
-         name='mjtEvent',
-         declname='enum mjtEvent',
-         values=dict([
-             ('mjEVENT_NONE', 0),
-             ('mjEVENT_MOVE', 1),
-             ('mjEVENT_PRESS', 2),
-             ('mjEVENT_RELEASE', 3),
-             ('mjEVENT_SCROLL', 4),
-             ('mjEVENT_KEY', 5),
-             ('mjEVENT_RESIZE', 6),
-             ('mjEVENT_REDRAW', 7),
-             ('mjEVENT_FILESDROP', 8),
-         ]),
-     )),
-    ('mjtItem',
-     EnumDecl(
-         name='mjtItem',
-         declname='enum mjtItem',
-         values=dict([
-             ('mjITEM_END', -2),
-             ('mjITEM_SECTION', -1),
-             ('mjITEM_SEPARATOR', 0),
-             ('mjITEM_STATIC', 1),
-             ('mjITEM_BUTTON', 2),
-             ('mjITEM_CHECKINT', 3),
-             ('mjITEM_CHECKBYTE', 4),
-             ('mjITEM_RADIO', 5),
-             ('mjITEM_RADIOLINE', 6),
-             ('mjITEM_SELECT', 7),
-             ('mjITEM_SLIDERINT', 8),
-             ('mjITEM_SLIDERNUM', 9),
-             ('mjITEM_EDITINT', 10),
-             ('mjITEM_EDITNUM', 11),
-             ('mjITEM_EDITFLOAT', 12),
-             ('mjITEM_EDITTXT', 13),
-             ('mjNITEM', 14),
-         ]),
-     )),
-    ('mjtSection',
-     EnumDecl(
-         name='mjtSection',
-         declname='enum mjtSection',
-         values=dict([
-             ('mjSECT_CLOSED', 0),
-             ('mjSECT_OPEN', 1),
-             ('mjSECT_FIXED', 2),
-         ]),
-     )),
-])
diff --git a/python/mujoco/introspect/enums_test.py b/python/mujoco/introspect/enums_test.py
deleted file mode 100644
index 6153b59a..00000000
--- a/python/mujoco/introspect/enums_test.py
+++ /dev/null
@@ -1,69 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for enums.py."""
-
-from absl.testing import absltest
-
-from . import enums
-
-
-class EnumsTest(absltest.TestCase):
-
-  # "simple" enum that just starts at zero and increment by one.
-  def test_mjtJoint(self):  # pylint: disable=invalid-name
-    enum_decl = enums.ENUMS['mjtJoint']
-    self.assertEqual(enum_decl.name, 'mjtJoint')
-    self.assertEqual(enum_decl.declname, 'enum mjtJoint')
-    self.assertEqual(
-        tuple(enum_decl.values.items()), (('mjJNT_FREE', 0),
-                                          ('mjJNT_BALL', 1),
-                                          ('mjJNT_SLIDE', 2),
-                                          ('mjJNT_HINGE', 3)))
-
-  # all values explicitly specified
-  def test_mjtEnableBit(self):  # pylint: disable=invalid-name
-    enum_decl = enums.ENUMS['mjtEnableBit']
-    self.assertEqual(enum_decl.name, 'mjtEnableBit')
-    self.assertEqual(enum_decl.declname, 'enum mjtEnableBit')
-    self.assertEqual(
-        tuple(enum_decl.values.items()), (('mjENBL_OVERRIDE', 1<<0),
-                                          ('mjENBL_ENERGY', 1<<1),
-                                          ('mjENBL_FWDINV', 1<<2),
-                                          ('mjENBL_INVDISCRETE', 1<<3),
-                                          ('mjENBL_SLEEP', 1<<4),
-                                          ('mjENBL_DIAGEXACT', 1<<5),
-                                          ('mjNENABLE', 6)))
-
-  # values mostly increment by one with occasional overrides
-  def test_mjtGeom(self):  # pylint: disable=invalid-name
-    enum_decl = enums.ENUMS['mjtGeom']
-    self.assertEqual(enum_decl.name, 'mjtGeom')
-    self.assertEqual(enum_decl.declname, 'enum mjtGeom')
-
-    self.assertEqual(enum_decl.values['mjGEOM_PLANE'], 0)
-    self.assertEqual(enum_decl.values['mjGEOM_HFIELD'], 1)
-    self.assertEqual(enum_decl.values['mjGEOM_SPHERE'], 2)
-    # Skip a few...
-
-    self.assertEqual(enum_decl.values['mjGEOM_ARROW'], 100)
-    self.assertEqual(enum_decl.values['mjGEOM_ARROW1'], 101)
-    self.assertEqual(enum_decl.values['mjGEOM_ARROW2'], 102)
-    self.assertEqual(enum_decl.values['mjGEOM_TRIANGLE'], 108)
-    # Skip a few...
-
-    self.assertEqual(enum_decl.values['mjGEOM_NONE'], 1001)
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
deleted file mode 100644
index c1ba0996..00000000
--- a/python/mujoco/introspect/functions.py
+++ /dev/null
@@ -1,13139 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Provides information about MuJoCo API functions.
-
-DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-"""
-
-from typing import Mapping
-
-from .ast_nodes import ArrayType
-from .ast_nodes import FunctionDecl
-from .ast_nodes import FunctionParameterDecl
-from .ast_nodes import PointerType
-from .ast_nodes import ValueType
-
-FUNCTIONS: Mapping[str, FunctionDecl] = dict([
-    ('mj_defaultVFS',
-     FunctionDecl(
-         name='mj_defaultVFS',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS'),
-                 ),
-             ),
-         ),
-         doc='Initialize an empty VFS, mj_deleteVFS must be called to deallocate the VFS.',  # pylint: disable=line-too-long
-     )),
-    ('mj_mountVFS',
-     FunctionDecl(
-         name='mj_mountVFS',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filepath',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='provider',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjpResourceProvider', is_const=True),  # pylint: disable=line-too-long
-                 ),
-             ),
-         ),
-         doc='Mount a ResourceProvider to handle file operations under the given path; return 0: success, 2: repeated name, -1: invalid resource provider.',  # pylint: disable=line-too-long
-     )),
-    ('mj_unmountVFS',
-     FunctionDecl(
-         name='mj_unmountVFS',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Unmount a previously mounted ResourceProvider; return 0: success, -1: not found in VFS.',  # pylint: disable=line-too-long
-     )),
-    ('mj_addFileVFS',
-     FunctionDecl(
-         name='mj_addFileVFS',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='directory',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Add file to VFS; return 0: success, 2: repeated name, -1: failed to load.',  # pylint: disable=line-too-long
-     )),
-    ('mj_addBufferVFS',
-     FunctionDecl(
-         name='mj_addBufferVFS',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='buffer',
-                 type=PointerType(
-                     inner_type=ValueType(name='void', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nbuffer',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to load.',  # pylint: disable=line-too-long
-     )),
-    ('mj_deleteFileVFS',
-     FunctionDecl(
-         name='mj_deleteFileVFS',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Delete file from VFS; return 0: success, -1: not found in VFS.',
-     )),
-    ('mj_containsBufferVFS',
-     FunctionDecl(
-         name='mj_containsBufferVFS',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Check if buffer exists in VFS; return 1: exists, 0: not found.',
-     )),
-    ('mj_containsFileVFS',
-     FunctionDecl(
-         name='mj_containsFileVFS',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='directory',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Check if file exists in VFS; return 1: exists, 0: not found.',
-     )),
-    ('mj_deleteVFS',
-     FunctionDecl(
-         name='mj_deleteVFS',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS'),
-                 ),
-             ),
-         ),
-         doc='Delete all files from VFS and deallocates VFS internal memory.',
-     )),
-    ('mj_getCacheSize',
-     FunctionDecl(
-         name='mj_getCacheSize',
-         return_type=ValueType(name='size_t'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='cache',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjCache', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get the current size of the asset cache in bytes.',
-     )),
-    ('mj_getCacheCapacity',
-     FunctionDecl(
-         name='mj_getCacheCapacity',
-         return_type=ValueType(name='size_t'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='cache',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjCache', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get the capacity of the asset cache in bytes.',
-     )),
-    ('mj_setCacheCapacity',
-     FunctionDecl(
-         name='mj_setCacheCapacity',
-         return_type=ValueType(name='size_t'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='cache',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjCache'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='size_t'),
-             ),
-         ),
-         doc='Set the capacity of the asset cache in bytes (0 to disable); return the new capacity.',  # pylint: disable=line-too-long
-     )),
-    ('mj_getCache',
-     FunctionDecl(
-         name='mj_getCache',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjCache'),
-         ),
-         parameters=(),
-         doc='Get the internal asset cache used by the compiler.',
-     )),
-    ('mj_clearCache',
-     FunctionDecl(
-         name='mj_clearCache',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='cache',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjCache'),
-                 ),
-             ),
-         ),
-         doc='Clear the asset cache.',
-     )),
-    ('mj_loadXML',
-     FunctionDecl(
-         name='mj_loadXML',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjModel'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Parse XML file in MJCF or URDF format, compile it; return low-level model. If vfs is not NULL, look up files in vfs before reading from disk. If error is not NULL, it must have size error_sz.',  # pylint: disable=line-too-long
-     )),
-    ('mj_parseXML',
-     FunctionDecl(
-         name='mj_parseXML',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjSpec'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Parse spec from XML file.',
-     )),
-    ('mj_parseXMLString',
-     FunctionDecl(
-         name='mj_parseXMLString',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjSpec'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='xml',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Parse spec from XML string.',
-     )),
-    ('mj_parse',
-     FunctionDecl(
-         name='mj_parse',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjSpec'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='content_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Parse spec from a file.',
-     )),
-    ('mj_encode',
-     FunctionDecl(
-         name='mj_encode',
-         return_type=ValueType(name='mjtSize'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='content_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Encode spec/model to a file using a registered encoder. Returns the number of bytes written on success, -1 on failure.',  # pylint: disable=line-too-long
-     )),
-    ('mj_compile',
-     FunctionDecl(
-         name='mj_compile',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjModel'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Compile spec to model.',
-     )),
-    ('mj_copyBack',
-     FunctionDecl(
-         name='mj_copyBack',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Copy real-valued arrays from model to spec; return 1 on success.',
-     )),
-    ('mj_recompile',
-     FunctionDecl(
-         name='mj_recompile',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Recompile spec to model, preserving the state; return 0 on success.',  # pylint: disable=line-too-long
-     )),
-    ('mj_saveLastXML',
-     FunctionDecl(
-         name='mj_saveLastXML',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Update XML data structures with info from low-level model created with mj_loadXML, save as MJCF. If error is not NULL, it must have size error_sz.',  # pylint: disable=line-too-long
-     )),
-    ('mj_freeLastXML',
-     FunctionDecl(
-         name='mj_freeLastXML',
-         return_type=ValueType(name='void'),
-         parameters=(),
-         doc='Free last XML model if loaded. Called internally at each load.',
-     )),
-    ('mj_saveXMLString',
-     FunctionDecl(
-         name='mj_saveXMLString',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='xml',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='xml_sz',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Save spec to XML string; return 0 on success, -1 on failure. If length of the output buffer is too small; return the required size.',  # pylint: disable=line-too-long
-     )),
-    ('mj_saveXML',
-     FunctionDecl(
-         name='mj_saveXML',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Save spec to XML file; return 0 on success, -1 otherwise.',
-     )),
-    ('mju_getXMLDependencies',
-     FunctionDecl(
-         name='mju_getXMLDependencies',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dependencies',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjStringVec'),
-                 ),
-             ),
-         ),
-         doc='Given MJCF filename, fills dependencies with a list of all other asset files it depends on. The search is recursive, and the list includes the filename itself.',  # pylint: disable=line-too-long
-     )),
-    ('mj_step',
-     FunctionDecl(
-         name='mj_step',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Advance simulation, use control callback to obtain external force and control.',  # pylint: disable=line-too-long
-     )),
-    ('mj_step1',
-     FunctionDecl(
-         name='mj_step1',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Advance simulation in two steps: before external force and control is set by user.',  # pylint: disable=line-too-long
-     )),
-    ('mj_step2',
-     FunctionDecl(
-         name='mj_step2',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Advance simulation in two steps: after external force and control is set by user.',  # pylint: disable=line-too-long
-     )),
-    ('mj_forward',
-     FunctionDecl(
-         name='mj_forward',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Forward dynamics: same as mj_step but do not integrate in time.',
-     )),
-    ('mj_inverse',
-     FunctionDecl(
-         name='mj_inverse',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Inverse dynamics: qacc must be set before calling.',
-     )),
-    ('mj_forwardSkip',
-     FunctionDecl(
-         name='mj_forwardSkip',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='skipstage',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='skipsensor',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Forward dynamics with skip; skipstage is mjtStage.',
-     )),
-    ('mj_inverseSkip',
-     FunctionDecl(
-         name='mj_inverseSkip',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='skipstage',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='skipsensor',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Inverse dynamics with skip; skipstage is mjtStage.',
-     )),
-    ('mj_defaultLROpt',
-     FunctionDecl(
-         name='mj_defaultLROpt',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='opt',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjLROpt'),
-                 ),
-             ),
-         ),
-         doc='Set default options for length range computation.',
-     )),
-    ('mj_defaultSolRefImp',
-     FunctionDecl(
-         name='mj_defaultSolRefImp',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='solref',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='solimp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Set solver parameters to default values.',
-     )),
-    ('mj_defaultOption',
-     FunctionDecl(
-         name='mj_defaultOption',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='opt',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjOption'),
-                 ),
-             ),
-         ),
-         doc='Set physics options to default values.',
-     )),
-    ('mj_defaultVisual',
-     FunctionDecl(
-         name='mj_defaultVisual',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vis',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVisual'),
-                 ),
-             ),
-         ),
-         doc='Set visual options to default values.',
-     )),
-    ('mj_copyModel',
-     FunctionDecl(
-         name='mj_copyModel',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjModel'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='src',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Copy mjModel, allocate new if dest is NULL.',
-     )),
-    ('mj_saveModel',
-     FunctionDecl(
-         name='mj_saveModel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='buffer',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='buffer_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Save model to binary MJB file or memory buffer; buffer has precedence when given.',  # pylint: disable=line-too-long
-     )),
-    ('mj_loadModel',
-     FunctionDecl(
-         name='mj_loadModel',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjModel'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Load model from binary MJB file. If vfs is not NULL, look up file in vfs before reading from disk.',  # pylint: disable=line-too-long
-     )),
-    ('mj_loadModelBuffer',
-     FunctionDecl(
-         name='mj_loadModelBuffer',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjModel'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='buffer',
-                 type=PointerType(
-                     inner_type=ValueType(name='void', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='buffer_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Load model from memory buffer.',
-     )),
-    ('mj_deleteModel',
-     FunctionDecl(
-         name='mj_deleteModel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel'),
-                 ),
-             ),
-         ),
-         doc='Free memory allocation in model.',
-     )),
-    ('mj_sizeModel',
-     FunctionDecl(
-         name='mj_sizeModel',
-         return_type=ValueType(name='mjtSize'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Return size of buffer needed to hold model.',
-     )),
-    ('mj_makeData',
-     FunctionDecl(
-         name='mj_makeData',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjData'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Allocate mjData corresponding to given model. If the model buffer is unallocated the initial configuration will not be set.',  # pylint: disable=line-too-long
-     )),
-    ('mj_copyData',
-     FunctionDecl(
-         name='mj_copyData',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjData'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='src',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Copy mjData. m is only required to contain the size fields from MJMODEL_INTS.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_copyData',
-     FunctionDecl(
-         name='mjv_copyData',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjData'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='src',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Copy mjData, skip large arrays not required for visualization.',
-     )),
-    ('mj_resetCtrl',
-     FunctionDecl(
-         name='mj_resetCtrl',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Reset ctrl to neutral values: zero, except quaternion inputs which reset to the identity.',  # pylint: disable=line-too-long
-     )),
-    ('mj_resetData',
-     FunctionDecl(
-         name='mj_resetData',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Reset data to defaults.',
-     )),
-    ('mj_resetDataDebug',
-     FunctionDecl(
-         name='mj_resetDataDebug',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='debug_value',
-                 type=ValueType(name='unsigned char'),
-             ),
-         ),
-         doc='Reset data to defaults, fill everything else with debug_value.',
-     )),
-    ('mj_resetDataKeyframe',
-     FunctionDecl(
-         name='mj_resetDataKeyframe',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='key',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Reset data. If 0 <= key < nkey, set fields from specified keyframe.',  # pylint: disable=line-too-long
-     )),
-    ('mj_markStack',
-     FunctionDecl(
-         name='mj_markStack',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Mark a new frame on the mjData stack.',
-     )),
-    ('mj_freeStack',
-     FunctionDecl(
-         name='mj_freeStack',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Free the current mjData stack frame. All pointers returned by mj_stackAlloc since the last call to mj_markStack must no longer be used afterwards.',  # pylint: disable=line-too-long
-     )),
-    ('mj_stackAllocByte',
-     FunctionDecl(
-         name='mj_stackAllocByte',
-         return_type=PointerType(
-             inner_type=ValueType(name='void'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='bytes',
-                 type=ValueType(name='size_t'),
-             ),
-             FunctionParameterDecl(
-                 name='alignment',
-                 type=ValueType(name='size_t'),
-             ),
-         ),
-         doc='Allocate a number of bytes on mjData stack at a specific alignment. Call mju_error on stack overflow.',  # pylint: disable=line-too-long
-     )),
-    ('mj_stackAllocNum',
-     FunctionDecl(
-         name='mj_stackAllocNum',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjtNum'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='size_t'),
-             ),
-         ),
-         doc='Allocate array of mjtNums on mjData stack. Call mju_error on stack overflow.',  # pylint: disable=line-too-long
-     )),
-    ('mj_stackAllocInt',
-     FunctionDecl(
-         name='mj_stackAllocInt',
-         return_type=PointerType(
-             inner_type=ValueType(name='int'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='size_t'),
-             ),
-         ),
-         doc='Allocate array of ints on mjData stack. Call mju_error on stack overflow.',  # pylint: disable=line-too-long
-     )),
-    ('mj_deleteData',
-     FunctionDecl(
-         name='mj_deleteData',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Free memory allocation in mjData.',
-     )),
-    ('mj_resetCallbacks',
-     FunctionDecl(
-         name='mj_resetCallbacks',
-         return_type=ValueType(name='void'),
-         parameters=(),
-         doc='Reset all callbacks to NULL pointers (NULL is the default).',
-     )),
-    ('mj_setConst',
-     FunctionDecl(
-         name='mj_setConst',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Set constant fields of mjModel, corresponding to qpos0 configuration.',  # pylint: disable=line-too-long
-     )),
-    ('mj_setLengthRange',
-     FunctionDecl(
-         name='mj_setLengthRange',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='index',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='opt',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjLROpt', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error_sz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.',  # pylint: disable=line-too-long
-     )),
-    ('mj_makeSpec',
-     FunctionDecl(
-         name='mj_makeSpec',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjSpec'),
-         ),
-         parameters=(),
-         doc='Create empty spec.',
-     )),
-    ('mj_copySpec',
-     FunctionDecl(
-         name='mj_copySpec',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjSpec'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Copy spec.',
-     )),
-    ('mj_deleteSpec',
-     FunctionDecl(
-         name='mj_deleteSpec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Free memory allocation in mjSpec.',
-     )),
-    ('mjs_activatePlugin',
-     FunctionDecl(
-         name='mjs_activatePlugin',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Activate plugin; return 0 on success.',
-     )),
-    ('mjs_setDeepCopy',
-     FunctionDecl(
-         name='mjs_setDeepCopy',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='deepcopy',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Turn deep copy on or off attach; return 0 on success.',
-     )),
-    ('mj_printFormattedModel',
-     FunctionDecl(
-         name='mj_printFormattedModel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='float_format',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Print mjModel to text file, specifying format. float_format must be a valid printf-style format string for a single float value.',  # pylint: disable=line-too-long
-     )),
-    ('mj_printModel',
-     FunctionDecl(
-         name='mj_printModel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Print model to text file.',
-     )),
-    ('mj_printFormattedData',
-     FunctionDecl(
-         name='mj_printFormattedData',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='float_format',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Print mjData to text file, specifying format. float_format must be a valid printf-style format string for a single float value.',  # pylint: disable=line-too-long
-     )),
-    ('mj_printData',
-     FunctionDecl(
-         name='mj_printData',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Print data to text file.',
-     )),
-    ('mju_printMat',
-     FunctionDecl(
-         name='mju_printMat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nr',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nc',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Print matrix to screen.',
-     )),
-    ('mju_printMatSparse',
-     FunctionDecl(
-         name='mju_printMatSparse',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nr',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Print sparse matrix to screen.',
-     )),
-    ('mj_printSchema',
-     FunctionDecl(
-         name='mj_printSchema',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='buffer',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='buffer_sz',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_html',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_pad',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Print internal XML schema as plain text or HTML, with style-padding or &nbsp;.',  # pylint: disable=line-too-long
-     )),
-    ('mj_printScene',
-     FunctionDecl(
-         name='mj_printScene',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Print scene to text file.',
-     )),
-    ('mj_printFormattedScene',
-     FunctionDecl(
-         name='mj_printFormattedScene',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='float_format',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Print scene to text file, specifying format. float_format must be a valid printf-style format string for a single float value.',  # pylint: disable=line-too-long
-     )),
-    ('mj_fwdKinematics',
-     FunctionDecl(
-         name='mj_fwdKinematics',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Run all kinematics-like computations (kinematics, comPos, camlight, flex, tendon).',  # pylint: disable=line-too-long
-     )),
-    ('mj_fwdPosition',
-     FunctionDecl(
-         name='mj_fwdPosition',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Run position-dependent computations.',
-     )),
-    ('mj_fwdVelocity',
-     FunctionDecl(
-         name='mj_fwdVelocity',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Run velocity-dependent computations.',
-     )),
-    ('mj_fwdActuation',
-     FunctionDecl(
-         name='mj_fwdActuation',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compute actuator force qfrc_actuator.',
-     )),
-    ('mj_fwdAcceleration',
-     FunctionDecl(
-         name='mj_fwdAcceleration',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Add up all non-constraint forces, compute qacc_smooth.',
-     )),
-    ('mj_fwdConstraint',
-     FunctionDecl(
-         name='mj_fwdConstraint',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Run selected constraint solver.',
-     )),
-    ('mj_Euler',
-     FunctionDecl(
-         name='mj_Euler',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Euler integrator, semi-implicit in velocity.',
-     )),
-    ('mj_RungeKutta',
-     FunctionDecl(
-         name='mj_RungeKutta',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='N',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Runge-Kutta explicit order-N integrator.',
-     )),
-    ('mj_implicit',
-     FunctionDecl(
-         name='mj_implicit',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Implicit-in-velocity integrators.',
-     )),
-    ('mj_invPosition',
-     FunctionDecl(
-         name='mj_invPosition',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Run position-dependent computations in inverse dynamics.',
-     )),
-    ('mj_invVelocity',
-     FunctionDecl(
-         name='mj_invVelocity',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Run velocity-dependent computations in inverse dynamics.',
-     )),
-    ('mj_invConstraint',
-     FunctionDecl(
-         name='mj_invConstraint',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Apply the analytical formula for inverse constraint dynamics.',
-     )),
-    ('mj_compareFwdInv',
-     FunctionDecl(
-         name='mj_compareFwdInv',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compare forward and inverse dynamics, save results in fwdinv.',
-     )),
-    ('mj_sensorPos',
-     FunctionDecl(
-         name='mj_sensorPos',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Evaluate position-dependent sensors.',
-     )),
-    ('mj_sensorVel',
-     FunctionDecl(
-         name='mj_sensorVel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Evaluate velocity-dependent sensors.',
-     )),
-    ('mj_sensorAcc',
-     FunctionDecl(
-         name='mj_sensorAcc',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Evaluate acceleration and force-dependent sensors.',
-     )),
-    ('mj_energyPos',
-     FunctionDecl(
-         name='mj_energyPos',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Evaluate position-dependent energy (potential).',
-     )),
-    ('mj_energyVel',
-     FunctionDecl(
-         name='mj_energyVel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Evaluate velocity-dependent energy (kinetic).',
-     )),
-    ('mj_checkPos',
-     FunctionDecl(
-         name='mj_checkPos',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Check qpos, reset if any element is too big or nan.',
-     )),
-    ('mj_checkVel',
-     FunctionDecl(
-         name='mj_checkVel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Check qvel, reset if any element is too big or nan.',
-     )),
-    ('mj_checkAcc',
-     FunctionDecl(
-         name='mj_checkAcc',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Check qacc, reset if any element is too big or nan.',
-     )),
-    ('mj_kinematics',
-     FunctionDecl(
-         name='mj_kinematics',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Run forward kinematics.',
-     )),
-    ('mj_comPos',
-     FunctionDecl(
-         name='mj_comPos',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Map inertias and motion dofs to global frame centered at CoM.',
-     )),
-    ('mj_camlight',
-     FunctionDecl(
-         name='mj_camlight',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compute camera and light positions and orientations.',
-     )),
-    ('mj_flex',
-     FunctionDecl(
-         name='mj_flex',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compute flex-related quantities.',
-     )),
-    ('mj_tendon',
-     FunctionDecl(
-         name='mj_tendon',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compute tendon lengths, velocities and moment arms.',
-     )),
-    ('mj_transmission',
-     FunctionDecl(
-         name='mj_transmission',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compute actuator transmission lengths and moments.',
-     )),
-    ('mj_crb',
-     FunctionDecl(
-         name='mj_crb',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Run composite rigid body inertia algorithm (CRB).',
-     )),
-    ('mj_makeM',
-     FunctionDecl(
-         name='mj_makeM',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Make inertia matrix.',
-     )),
-    ('mj_factorM',
-     FunctionDecl(
-         name='mj_factorM',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc="Compute sparse L'*D*L factorizaton of inertia matrix.",
-     )),
-    ('mj_solveM',
-     FunctionDecl(
-         name='mj_solveM',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='x',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='y',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Solve linear system M * x = y using factorization:  x = inv(L'*D*L)*y",  # pylint: disable=line-too-long
-     )),
-    ('mj_solveM2',
-     FunctionDecl(
-         name='mj_solveM2',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='x',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='y',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='sqrtInvD',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Half of linear solve:  x = sqrt(inv(D))*inv(L')*y",
-     )),
-    ('mj_comVel',
-     FunctionDecl(
-         name='mj_comVel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compute cvel, cdof_dot.',
-     )),
-    ('mj_passive',
-     FunctionDecl(
-         name='mj_passive',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compute qfrc_passive from spring-dampers, gravity compensation and fluid forces.',  # pylint: disable=line-too-long
-     )),
-    ('mj_subtreeVel',
-     FunctionDecl(
-         name='mj_subtreeVel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Sub-tree linear velocity and angular momentum: compute subtree_linvel, subtree_angmom.',  # pylint: disable=line-too-long
-     )),
-    ('mj_rne',
-     FunctionDecl(
-         name='mj_rne',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='flg_acc',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='result',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-         ),
-         doc='RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term.',  # pylint: disable=line-too-long
-     )),
-    ('mj_rnePostConstraint',
-     FunctionDecl(
-         name='mj_rnePostConstraint',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='RNE with complete data: compute cacc, cfrc_ext, cfrc_int.',
-     )),
-    ('mj_maxContact',
-     FunctionDecl(
-         name='mj_maxContact',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='g1',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='g2',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='has_margin',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Return the maximum number of contacts that can be generated between two geoms. If has_margin is -1, then the margin is pulled from the model, otherwise if has_margin > 0 indicates that the geoms have a positive margin.',  # pylint: disable=line-too-long
-     )),
-    ('mj_collision',
-     FunctionDecl(
-         name='mj_collision',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Run collision detection.',
-     )),
-    ('mj_makeConstraint',
-     FunctionDecl(
-         name='mj_makeConstraint',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Construct constraints.',
-     )),
-    ('mj_island',
-     FunctionDecl(
-         name='mj_island',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Find constraint islands.',
-     )),
-    ('mj_projectConstraint',
-     FunctionDecl(
-         name='mj_projectConstraint',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compute inverse constraint inertia efc_AR.',
-     )),
-    ('mj_referenceConstraint',
-     FunctionDecl(
-         name='mj_referenceConstraint',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-         ),
-         doc='Compute efc_vel, efc_aref.',
-     )),
-    ('mj_constraintUpdate',
-     FunctionDecl(
-         name='mj_constraintUpdate',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='jar',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='cost',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(1,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='flg_coneHessian',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute efc_state, efc_force, qfrc_constraint, and (optionally) cone Hessians. If cost is not NULL, set *cost = s(jar) where jar = Jac*qacc-aref.',  # pylint: disable=line-too-long
-     )),
-    ('mj_stateSize',
-     FunctionDecl(
-         name='mj_stateSize',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='sig',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Return size of state signature.',
-     )),
-    ('mj_getState',
-     FunctionDecl(
-         name='mj_getState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='state',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='sig',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Get state.',
-     )),
-    ('mj_extractState',
-     FunctionDecl(
-         name='mj_extractState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='src',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='srcsig',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='dst',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dstsig',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Extract a subset of components from a state previously obtained via mj_getState.',  # pylint: disable=line-too-long
-     )),
-    ('mj_setState',
-     FunctionDecl(
-         name='mj_setState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='state',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='sig',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set state.',
-     )),
-    ('mj_copyState',
-     FunctionDecl(
-         name='mj_copyState',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='src',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dst',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='sig',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Copy state from src to dst.',
-     )),
-    ('mj_readCtrl',
-     FunctionDecl(
-         name='mj_readCtrl',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='id',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='time',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='interp',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Read ctrl value for actuator at given time. Returns d->ctrl[id] if no history, otherwise reads from history buffer. interp: 0=zero-order-hold, 1=linear, 2=cubic spline.',  # pylint: disable=line-too-long
-     )),
-    ('mj_readSensor',
-     FunctionDecl(
-         name='mj_readSensor',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjtNum', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='id',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='time',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='result',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='interp',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Read sensor value from history buffer at given time. Returns pointer to sensordata (no history) or history buffer (exact match), or NULL if interpolation performed (writes to result). interp: 0=zero-order-hold, 1=linear, 2=cubic spline.',  # pylint: disable=line-too-long
-     )),
-    ('mj_initCtrlHistory',
-     FunctionDecl(
-         name='mj_initCtrlHistory',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='id',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='times',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='values',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Initialize history buffer for actuator; if times is NULL, uses existing buffer timestamps.',  # pylint: disable=line-too-long
-     )),
-    ('mj_initSensorHistory',
-     FunctionDecl(
-         name='mj_initSensorHistory',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='id',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='times',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='values',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='phase',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Initialize history buffer for sensor; if times is NULL, uses existing buffer timestamps. phase sets the user slot (last computation time for interval sensors).',  # pylint: disable=line-too-long
-     )),
-    ('mj_setKeyframe',
-     FunctionDecl(
-         name='mj_setKeyframe',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='k',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Copy current state to the k-th model keyframe.',
-     )),
-    ('mj_addContact',
-     FunctionDecl(
-         name='mj_addContact',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjContact', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Add contact to d->contact list; return 0 if success; 1 if buffer full.',  # pylint: disable=line-too-long
-     )),
-    ('mj_isPyramidal',
-     FunctionDecl(
-         name='mj_isPyramidal',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Determine type of friction cone.',
-     )),
-    ('mj_isSparse',
-     FunctionDecl(
-         name='mj_isSparse',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Determine type of constraint Jacobian.',
-     )),
-    ('mj_isDual',
-     FunctionDecl(
-         name='mj_isDual',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Determine type of solver (PGS is dual, CG and Newton are primal).',  # pylint: disable=line-too-long
-     )),
-    ('mj_mulJacVec',
-     FunctionDecl(
-         name='mj_mulJacVec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Multiply dense or sparse constraint Jacobian by vector.',
-     )),
-    ('mj_mulJacTVec',
-     FunctionDecl(
-         name='mj_mulJacTVec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Multiply dense or sparse constraint Jacobian transpose by vector.',  # pylint: disable=line-too-long
-     )),
-    ('mj_jac',
-     FunctionDecl(
-         name='mj_jac',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='jacp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='jacr',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='point',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='body',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute 3/6-by-nv end-effector Jacobian of global point attached to given body.',  # pylint: disable=line-too-long
-     )),
-    ('mj_jacBody',
-     FunctionDecl(
-         name='mj_jacBody',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='jacp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='jacr',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='body',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute body frame end-effector Jacobian.',
-     )),
-    ('mj_jacBodyCom',
-     FunctionDecl(
-         name='mj_jacBodyCom',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='jacp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='jacr',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='body',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute body center-of-mass end-effector Jacobian.',
-     )),
-    ('mj_jacSubtreeCom',
-     FunctionDecl(
-         name='mj_jacSubtreeCom',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='jacp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='body',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute subtree center-of-mass end-effector Jacobian.',
-     )),
-    ('mj_jacGeom',
-     FunctionDecl(
-         name='mj_jacGeom',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='jacp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='jacr',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='geom',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute geom end-effector Jacobian.',
-     )),
-    ('mj_jacSite',
-     FunctionDecl(
-         name='mj_jacSite',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='jacp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='jacr',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='site',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute site end-effector Jacobian.',
-     )),
-    ('mj_jacPointAxis',
-     FunctionDecl(
-         name='mj_jacPointAxis',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='jacPoint',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='jacAxis',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='point',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='axis',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='body',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute translation end-effector Jacobian of point, and rotation Jacobian of axis.',  # pylint: disable=line-too-long
-     )),
-    ('mj_jacDot',
-     FunctionDecl(
-         name='mj_jacDot',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='jacp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='jacr',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='point',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='body',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute 3/6-by-nv Jacobian time derivative of global point attached to given body.',  # pylint: disable=line-too-long
-     )),
-    ('mj_angmomMat',
-     FunctionDecl(
-         name='mj_angmomMat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='body',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute subtree angular momentum matrix.',
-     )),
-    ('mj_name2id',
-     FunctionDecl(
-         name='mj_name2id',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get id of object with the specified mjtObj type and name; return -1 if id not found.',  # pylint: disable=line-too-long
-     )),
-    ('mj_id2name',
-     FunctionDecl(
-         name='mj_id2name',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='id',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Get name of object with the specified mjtObj type and id; return NULL if name not found.',  # pylint: disable=line-too-long
-     )),
-    ('mj_actuatorInputName',
-     FunctionDecl(
-         name='mj_actuatorInputName',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='id',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='input',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Get name of actuator input, determined by the actuator type and input signature; return NULL if the actuator type defines no input names.',  # pylint: disable=line-too-long
-     )),
-    ('mj_fullM',
-     FunctionDecl(
-         name='mj_fullM',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dst',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-         ),
-         doc='Convert sparse inertia matrix into full (i.e. dense) matrix.',
-     )),
-    ('mj_mulM',
-     FunctionDecl(
-         name='mj_mulM',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Multiply vector by inertia matrix.',
-     )),
-    ('mj_mulM2',
-     FunctionDecl(
-         name='mj_mulM2',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Multiply vector by (inertia matrix)^(1/2).',
-     )),
-    ('mj_addM',
-     FunctionDecl(
-         name='mj_addM',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dst',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add inertia matrix to destination matrix (lower triangle only). Destination can be sparse or dense when all int* are NULL.',  # pylint: disable=line-too-long
-     )),
-    ('mj_applyFT',
-     FunctionDecl(
-         name='mj_applyFT',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='force',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='torque',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='point',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='body',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='qfrc_target',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-         ),
-         doc='Apply Cartesian force and torque (outside xfrc_applied mechanism).',  # pylint: disable=line-too-long
-     )),
-    ('mj_objectVelocity',
-     FunctionDecl(
-         name='mj_objectVelocity',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='objtype',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='objid',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(6,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='flg_local',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute object 6D velocity (rot:lin) in object-centered frame, world/local orientation.',  # pylint: disable=line-too-long
-     )),
-    ('mj_objectAcceleration',
-     FunctionDecl(
-         name='mj_objectAcceleration',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='objtype',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='objid',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(6,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='flg_local',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation.',  # pylint: disable=line-too-long
-     )),
-    ('mj_geomDistance',
-     FunctionDecl(
-         name='mj_geomDistance',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='geom1',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='geom2',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='distmax',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='fromto',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(6,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.',  # pylint: disable=line-too-long
-     )),
-    ('mj_contactForce',
-     FunctionDecl(
-         name='mj_contactForce',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='id',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='result',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(6,),
-                 ),
-             ),
-         ),
-         doc='Extract 6D force:torque given contact id, in the contact frame.',
-     )),
-    ('mj_differentiatePos',
-     FunctionDecl(
-         name='mj_differentiatePos',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='qvel',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dt',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='qpos1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='qpos2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Compute velocity by finite-differencing two positions.',
-     )),
-    ('mj_integratePos',
-     FunctionDecl(
-         name='mj_integratePos',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='qpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='qvel',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dt',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Integrate position with given velocity.',
-     )),
-    ('mj_normalizeQuat',
-     FunctionDecl(
-         name='mj_normalizeQuat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='qpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-         ),
-         doc='Normalize all quaternions in qpos-type vector.',
-     )),
-    ('mj_local2Global',
-     FunctionDecl(
-         name='mj_local2Global',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='xpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='xmat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(9,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='body',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='sameframe',
-                 type=ValueType(name='mjtByte'),
-             ),
-         ),
-         doc='Map from body local to global Cartesian coordinates, sameframe takes values from mjtSameFrame.',  # pylint: disable=line-too-long
-     )),
-    ('mj_getTotalmass',
-     FunctionDecl(
-         name='mj_getTotalmass',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Sum all body masses.',
-     )),
-    ('mj_setTotalmass',
-     FunctionDecl(
-         name='mj_setTotalmass',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='newmass',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Scale body masses and inertias to achieve specified total mass.',
-     )),
-    ('mj_getPluginConfig',
-     FunctionDecl(
-         name='mj_getPluginConfig',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='plugin_id',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='attrib',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Return a config attribute value of a plugin instance; NULL: invalid plugin instance ID or attribute name',  # pylint: disable=line-too-long
-     )),
-    ('mj_loadPluginLibrary',
-     FunctionDecl(
-         name='mj_loadPluginLibrary',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='path',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Load a dynamic library. The dynamic library is assumed to register one or more plugins.',  # pylint: disable=line-too-long
-     )),
-    ('mj_loadAllPluginLibraries',
-     FunctionDecl(
-         name='mj_loadAllPluginLibraries',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='directory',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='callback',
-                 type=ValueType(name='mjfPluginLibraryLoadCallback'),
-             ),
-         ),
-         doc='Scan a directory and load all dynamic libraries. Dynamic libraries in the specified directory are assumed to register one or more plugins. Optionally, if a callback is specified, it is called for each dynamic library encountered that registers plugins.',  # pylint: disable=line-too-long
-     )),
-    ('mj_version',
-     FunctionDecl(
-         name='mj_version',
-         return_type=ValueType(name='int'),
-         parameters=(),
-         doc='Return version number: 1.0.2 is encoded as 102.',
-     )),
-    ('mj_versionString',
-     FunctionDecl(
-         name='mj_versionString',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(),
-         doc='Return the current version of MuJoCo as a null-terminated string.',  # pylint: disable=line-too-long
-     )),
-    ('mj_ray',
-     FunctionDecl(
-         name='mj_ray',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pnt',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='geomgroup',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtByte', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='flg_static',
-                 type=ValueType(name='mjtBool'),
-             ),
-             FunctionParameterDecl(
-                 name='bodyexclude',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='geomid',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(1,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='normal',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return distance (x) to nearest surface, or -1 if no intersection. geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.',  # pylint: disable=line-too-long
-     )),
-    ('mj_multiRay',
-     FunctionDecl(
-         name='mj_multiRay',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pnt',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='geomgroup',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtByte', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='flg_static',
-                 type=ValueType(name='mjtBool'),
-             ),
-             FunctionParameterDecl(
-                 name='bodyexclude',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='geomid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='dist',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='normal',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='nray',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='cutoff',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Intersect multiple rays emanating from a single point, compute normals if given. Similar semantics to mj_ray, but vec, normal and dist are arrays. Geoms further than cutoff are ignored.',  # pylint: disable=line-too-long
-     )),
-    ('mj_rayHfield',
-     FunctionDecl(
-         name='mj_rayHfield',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='geomid',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='pnt',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='normal',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Intersect ray with hfield; return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
-     )),
-    ('mj_rayMesh',
-     FunctionDecl(
-         name='mj_rayMesh',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='geomid',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='pnt',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='normal',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Intersect ray with mesh; return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
-     )),
-    ('mju_rayGeom',
-     FunctionDecl(
-         name='mju_rayGeom',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pnt',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='geomtype',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='normal',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Intersect ray with pure geom; return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
-     )),
-    ('mj_rayFlex',
-     FunctionDecl(
-         name='mj_rayFlex',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='flex_layer',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_vert',
-                 type=ValueType(name='mjtBool'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_edge',
-                 type=ValueType(name='mjtBool'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_face',
-                 type=ValueType(name='mjtBool'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_skin',
-                 type=ValueType(name='mjtBool'),
-             ),
-             FunctionParameterDecl(
-                 name='flexid',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='pnt',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vertid',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(1,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='normal',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Intersect ray with flex; return nearest distance or -1 if no intersection, and also output nearest vertex id and surface normal.',  # pylint: disable=line-too-long
-     )),
-    ('mju_raySkin',
-     FunctionDecl(
-         name='mju_raySkin',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='nface',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nvert',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='face',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vert',
-                 type=PointerType(
-                     inner_type=ValueType(name='float', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pnt',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vertid',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(1,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Intersect ray with skin; return nearest distance or -1 if no intersection, and also output nearest vertex id.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_defaultCamera',
-     FunctionDecl(
-         name='mjv_defaultCamera',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='cam',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera'),
-                 ),
-             ),
-         ),
-         doc='Set default camera.',
-     )),
-    ('mjv_defaultFreeCamera',
-     FunctionDecl(
-         name='mjv_defaultFreeCamera',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='cam',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera'),
-                 ),
-             ),
-         ),
-         doc='Set default free camera.',
-     )),
-    ('mjv_defaultPerturb',
-     FunctionDecl(
-         name='mjv_defaultPerturb',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='pert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvPerturb'),
-                 ),
-             ),
-         ),
-         doc='Set default perturbation.',
-     )),
-    ('mjv_room2model',
-     FunctionDecl(
-         name='mjv_room2model',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='modelpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='modelquat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='roompos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='roomquat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Transform pose from room to model space.',
-     )),
-    ('mjv_model2room',
-     FunctionDecl(
-         name='mjv_model2room',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='roompos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='roomquat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='modelpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='modelquat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Transform pose from model to room space.',
-     )),
-    ('mjv_cameraInModel',
-     FunctionDecl(
-         name='mjv_cameraInModel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='headpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='forward',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='up',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get camera info in model space; average left and right OpenGL cameras.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_cameraInRoom',
-     FunctionDecl(
-         name='mjv_cameraInRoom',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='headpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='forward',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='up',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get camera info in room space; average left and right OpenGL cameras.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_frustumHeight',
-     FunctionDecl(
-         name='mjv_frustumHeight',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get frustum height at unit distance from camera; average left and right OpenGL cameras.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_alignToCamera',
-     FunctionDecl(
-         name='mjv_alignToCamera',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='forward',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y).',  # pylint: disable=line-too-long
-     )),
-    ('mjv_moveCamera',
-     FunctionDecl(
-         name='mjv_moveCamera',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='action',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='reldx',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='reldy',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='cam',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera'),
-                 ),
-             ),
-         ),
-         doc='Move camera with mouse; action is mjtMouse.',
-     )),
-    ('mjv_movePerturb',
-     FunctionDecl(
-         name='mjv_movePerturb',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='action',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='reldx',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='reldy',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvPerturb'),
-                 ),
-             ),
-         ),
-         doc='Move perturb object with mouse; action is mjtMouse.',
-     )),
-    ('mjv_moveModel',
-     FunctionDecl(
-         name='mjv_moveModel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='action',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='reldx',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='reldy',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='roomup',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-         ),
-         doc='Move model with mouse; action is mjtMouse.',
-     )),
-    ('mjv_initPerturb',
-     FunctionDecl(
-         name='mjv_initPerturb',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvPerturb'),
-                 ),
-             ),
-         ),
-         doc='Copy perturb pos,quat from selected body; set scale for perturbation.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_applyPerturbPose',
-     FunctionDecl(
-         name='mjv_applyPerturbPose',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvPerturb', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='flg_paused',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise. Write d->qpos only if flg_paused and subtree root for selected body has free joint.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_applyPerturbForce',
-     FunctionDecl(
-         name='mjv_applyPerturbForce',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvPerturb', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Set perturb force,torque in d->xfrc_applied, if selected body is dynamic.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_averageCamera',
-     FunctionDecl(
-         name='mjv_averageCamera',
-         return_type=ValueType(name='mjvGLCamera'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='cam1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvGLCamera', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='cam2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvGLCamera', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Return the average of two OpenGL cameras.',
-     )),
-    ('mjv_camera2GLCamera',
-     FunctionDecl(
-         name='mjv_camera2GLCamera',
-         return_type=ValueType(name='mjvGLCamera'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='model',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='data',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mjv_camera',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Converts a mjvCamera to a mjvGLCamera.',
-     )),
-    ('mjv_select',
-     FunctionDecl(
-         name='mjv_select',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vopt',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvOption', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='aspectratio',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='relx',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='rely',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='selpnt',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='geomid',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(1,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='flexid',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(1,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='skinid',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(1,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Select geom, flex or skin with mouse; return bodyid; -1: none selected.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_defaultOption',
-     FunctionDecl(
-         name='mjv_defaultOption',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='opt',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvOption'),
-                 ),
-             ),
-         ),
-         doc='Set default visualization options.',
-     )),
-    ('mjv_defaultFigure',
-     FunctionDecl(
-         name='mjv_defaultFigure',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='fig',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvFigure'),
-                 ),
-             ),
-         ),
-         doc='Set default figure.',
-     )),
-    ('mjv_initGeom',
-     FunctionDecl(
-         name='mjv_initGeom',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='geom',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvGeom'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='rgba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float', is_const=True),
-                     extents=(4,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Initialize given geom fields when not NULL, set the rest to their default values.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_connector',
-     FunctionDecl(
-         name='mjv_connector',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='geom',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvGeom'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='width',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='from',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='to',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Set (type, size, pos, mat) for connector-type geom between given points. Assume that mjv_initGeom was already called to set all other properties. Width of mjGEOM_LINE is denominated in pixels.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_defaultScene',
-     FunctionDecl(
-         name='mjv_defaultScene',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-         ),
-         doc='Set default abstract scene.',
-     )),
-    ('mjv_makeScene',
-     FunctionDecl(
-         name='mjv_makeScene',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='maxgeom',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Allocate resources in abstract scene.',
-     )),
-    ('mjv_freeScene',
-     FunctionDecl(
-         name='mjv_freeScene',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-         ),
-         doc='Free abstract scene.',
-     )),
-    ('mjv_updateScene',
-     FunctionDecl(
-         name='mjv_updateScene',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='opt',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvOption', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvPerturb', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='cam',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='catmask',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-         ),
-         doc='Update entire scene given model state.',
-     )),
-    ('mjv_copyModel',
-     FunctionDecl(
-         name='mjv_copyModel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='src',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Copy mjModel, skip large arrays not required for abstract visualization.',  # pylint: disable=line-too-long
-     )),
-    ('mjv_addGeoms',
-     FunctionDecl(
-         name='mjv_addGeoms',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='opt',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvOption', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvPerturb', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='catmask',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-         ),
-         doc='Add geoms from selected categories.',
-     )),
-    ('mjv_makeLights',
-     FunctionDecl(
-         name='mjv_makeLights',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-         ),
-         doc='Make list of lights.',
-     )),
-    ('mjv_updateCamera',
-     FunctionDecl(
-         name='mjv_updateCamera',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='cam',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-         ),
-         doc='Update camera.',
-     )),
-    ('mjv_updateSkin',
-     FunctionDecl(
-         name='mjv_updateSkin',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-         ),
-         doc='Update skins.',
-     )),
-    ('mjv_cameraFrame',
-     FunctionDecl(
-         name='mjv_cameraFrame',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='headpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='forward',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='up',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='right',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='cam',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Compute camera position and forward, up, and right vectors.',
-     )),
-    ('mjv_cameraFrustum',
-     FunctionDecl(
-         name='mjv_cameraFrustum',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='zver',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='zhor',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='zclip',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='cam',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvCamera', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Compute camera frustum: vertical, horizontal, and clip planes.',
-     )),
-    ('mjr_defaultContext',
-     FunctionDecl(
-         name='mjr_defaultContext',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext'),
-                 ),
-             ),
-         ),
-         doc='Set default mjrContext.',
-     )),
-    ('mjr_defaultRendererInfo',
-     FunctionDecl(
-         name='mjr_defaultRendererInfo',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrRendererInfo'),
-                 ),
-             ),
-         ),
-         doc='Set default mjrRendererInfo.',
-     )),
-    ('mjr_getRendererInfo',
-     FunctionDecl(
-         name='mjr_getRendererInfo',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrRendererInfo'),
-                 ),
-             ),
-         ),
-         doc='Get active renderer information.',
-     )),
-    ('mjr_makeContext',
-     FunctionDecl(
-         name='mjr_makeContext',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='fontscale',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Allocate resources in custom OpenGL context; fontscale is mjtFontScale.',  # pylint: disable=line-too-long
-     )),
-    ('mjr_changeFont',
-     FunctionDecl(
-         name='mjr_changeFont',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='fontscale',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext'),
-                 ),
-             ),
-         ),
-         doc='Change font of existing context.',
-     )),
-    ('mjr_addAux',
-     FunctionDecl(
-         name='mjr_addAux',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='index',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='width',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='height',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='samples',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext'),
-                 ),
-             ),
-         ),
-         doc='Add Aux buffer with given index to context; free previous Aux buffer.',  # pylint: disable=line-too-long
-     )),
-    ('mjr_freeContext',
-     FunctionDecl(
-         name='mjr_freeContext',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext'),
-                 ),
-             ),
-         ),
-         doc='Free resources in custom OpenGL context, set to default.',
-     )),
-    ('mjr_resizeOffscreen',
-     FunctionDecl(
-         name='mjr_resizeOffscreen',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='width',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='height',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext'),
-                 ),
-             ),
-         ),
-         doc='Resize offscreen buffers.',
-     )),
-    ('mjr_uploadTexture',
-     FunctionDecl(
-         name='mjr_uploadTexture',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='texid',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Upload texture to GPU, overwriting previous upload if any.',
-     )),
-    ('mjr_uploadMesh',
-     FunctionDecl(
-         name='mjr_uploadMesh',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='meshid',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Upload mesh to GPU, overwriting previous upload if any.',
-     )),
-    ('mjr_uploadHField',
-     FunctionDecl(
-         name='mjr_uploadHField',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='hfieldid',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Upload height field to GPU, overwriting previous upload if any.',
-     )),
-    ('mjr_restoreBuffer',
-     FunctionDecl(
-         name='mjr_restoreBuffer',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Make con->currentBuffer current again.',
-     )),
-    ('mjr_setBuffer',
-     FunctionDecl(
-         name='mjr_setBuffer',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='framebuffer',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext'),
-                 ),
-             ),
-         ),
-         doc='Set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN. If only one buffer is available, set that buffer and ignore framebuffer argument.',  # pylint: disable=line-too-long
-     )),
-    ('mjr_readPixels',
-     FunctionDecl(
-         name='mjr_readPixels',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='rgb',
-                 type=PointerType(
-                     inner_type=ValueType(name='unsigned char'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='depth',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='viewport',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Read pixels from current OpenGL framebuffer to client buffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).',  # pylint: disable=line-too-long
-     )),
-    ('mjr_drawPixels',
-     FunctionDecl(
-         name='mjr_drawPixels',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='rgb',
-                 type=PointerType(
-                     inner_type=ValueType(name='unsigned char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='depth',
-                 type=PointerType(
-                     inner_type=ValueType(name='float', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='viewport',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Draw pixels from client buffer to current OpenGL framebuffer. Viewport is in OpenGL framebuffer; client buffer starts at (0,0).',  # pylint: disable=line-too-long
-     )),
-    ('mjr_blitBuffer',
-     FunctionDecl(
-         name='mjr_blitBuffer',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='src',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='dst',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_color',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_depth',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Blit from src viewpoint in current framebuffer to dst viewport in other framebuffer. If src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR.',  # pylint: disable=line-too-long
-     )),
-    ('mjr_setAux',
-     FunctionDecl(
-         name='mjr_setAux',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='index',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).',  # pylint: disable=line-too-long
-     )),
-    ('mjr_blitAux',
-     FunctionDecl(
-         name='mjr_blitAux',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='index',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='src',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='left',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='bottom',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Blit from Aux buffer to con->currentBuffer.',
-     )),
-    ('mjr_text',
-     FunctionDecl(
-         name='mjr_text',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='font',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='txt',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='x',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='y',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='r',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='g',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='b',
-                 type=ValueType(name='float'),
-             ),
-         ),
-         doc='Draw text at (x,y) in relative coordinates; font is mjtFont.',
-     )),
-    ('mjr_overlay',
-     FunctionDecl(
-         name='mjr_overlay',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='font',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='gridpos',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='viewport',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='overlay',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='overlay2',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Draw text overlay; font is mjtFont; gridpos is mjtGridPos.',
-     )),
-    ('mjr_maxViewport',
-     FunctionDecl(
-         name='mjr_maxViewport',
-         return_type=ValueType(name='mjrRect'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get maximum viewport for active buffer.',
-     )),
-    ('mjr_rectangle',
-     FunctionDecl(
-         name='mjr_rectangle',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='viewport',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='r',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='g',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='b',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='a',
-                 type=ValueType(name='float'),
-             ),
-         ),
-         doc='Draw rectangle.',
-     )),
-    ('mjr_label',
-     FunctionDecl(
-         name='mjr_label',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='viewport',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='font',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='txt',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='r',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='g',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='b',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='a',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='rt',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='gt',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='bt',
-                 type=ValueType(name='float'),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Draw rectangle with centered text.',
-     )),
-    ('mjr_figure',
-     FunctionDecl(
-         name='mjr_figure',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='viewport',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='fig',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvFigure'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Draw 2D figure.',
-     )),
-    ('mjr_render',
-     FunctionDecl(
-         name='mjr_render',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='viewport',
-                 type=ValueType(name='mjrRect'),
-             ),
-             FunctionParameterDecl(
-                 name='scn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvScene'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Render 3D scene.',
-     )),
-    ('mjr_finish',
-     FunctionDecl(
-         name='mjr_finish',
-         return_type=ValueType(name='void'),
-         parameters=(),
-         doc='Call glFinish.',
-     )),
-    ('mjr_getError',
-     FunctionDecl(
-         name='mjr_getError',
-         return_type=ValueType(name='int'),
-         parameters=(),
-         doc='Call glGetError and return result.',
-     )),
-    ('mjr_findRect',
-     FunctionDecl(
-         name='mjr_findRect',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='x',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='y',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nrect',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='rect',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrRect', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Find first rectangle containing mouse, -1: not found.',
-     )),
-    ('mjui_themeSpacing',
-     FunctionDecl(
-         name='mjui_themeSpacing',
-         return_type=ValueType(name='mjuiThemeSpacing'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='ind',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Get builtin UI theme spacing (ind: 0-1).',
-     )),
-    ('mjui_themeColor',
-     FunctionDecl(
-         name='mjui_themeColor',
-         return_type=ValueType(name='mjuiThemeColor'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='ind',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Get builtin UI theme color (ind: 0-3).',
-     )),
-    ('mjui_add',
-     FunctionDecl(
-         name='mjui_add',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='ui',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjUI'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjuiDef', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Add definitions to UI.',
-     )),
-    ('mjui_addToSection',
-     FunctionDecl(
-         name='mjui_addToSection',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='ui',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjUI'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='sect',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjuiDef', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Add definitions to UI section.',
-     )),
-    ('mjui_resize',
-     FunctionDecl(
-         name='mjui_resize',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='ui',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjUI'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Compute UI sizes.',
-     )),
-    ('mjui_update',
-     FunctionDecl(
-         name='mjui_update',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='section',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='item',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='ui',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjUI', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='state',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjuiState', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Update specific section/item; -1: update all.',
-     )),
-    ('mjui_event',
-     FunctionDecl(
-         name='mjui_event',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjuiItem'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='ui',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjUI'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='state',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjuiState'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Handle UI event; return pointer to changed item, NULL if no change.',  # pylint: disable=line-too-long
-     )),
-    ('mjui_render',
-     FunctionDecl(
-         name='mjui_render',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='ui',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjUI'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='state',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjuiState', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='con',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjrContext', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Copy UI image to current buffer.',
-     )),
-    ('mju_error',
-     FunctionDecl(
-         name='mju_error',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='msg',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Main error function; does not return to caller.',
-     )),
-    ('mju_warning',
-     FunctionDecl(
-         name='mju_warning',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='msg',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Main warning function; returns to caller.',
-     )),
-    ('mju_clearHandlers',
-     FunctionDecl(
-         name='mju_clearHandlers',
-         return_type=ValueType(name='void'),
-         parameters=(),
-         doc='Clear user error and memory handlers.',
-     )),
-    ('mju_setLogHandler',
-     FunctionDecl(
-         name='mju_setLogHandler',
-         return_type=ValueType(name='mjfLogHandler'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='handler',
-                 type=ValueType(name='mjfLogHandler'),
-             ),
-         ),
-         doc='Set the active log handler; return the previous handler. If handler is NULL, restore the default handler.',  # pylint: disable=line-too-long
-     )),
-    ('mju_getLogConfig',
-     FunctionDecl(
-         name='mju_getLogConfig',
-         return_type=ValueType(name='mjLogConfig'),
-         parameters=(),
-         doc='Get default handler configuration.',
-     )),
-    ('mju_setLogConfig',
-     FunctionDecl(
-         name='mju_setLogConfig',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='config',
-                 type=ValueType(name='mjLogConfig'),
-             ),
-         ),
-         doc='Set default handler configuration.',
-     )),
-    ('mju_info',
-     FunctionDecl(
-         name='mju_info',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='topic',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='msg',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Log an info message with optional topic filtering.',
-     )),
-    ('mju_message',
-     FunctionDecl(
-         name='mju_message',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='msg',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjLogMessage', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Dispatch a structured log message to the active handler.',
-     )),
-    ('mju_malloc',
-     FunctionDecl(
-         name='mju_malloc',
-         return_type=PointerType(
-             inner_type=ValueType(name='void'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='size_t'),
-             ),
-         ),
-         doc='Allocate memory; byte-align on 64; pad size to multiple of 64.',
-     )),
-    ('mju_free',
-     FunctionDecl(
-         name='mju_free',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='ptr',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-             ),
-         ),
-         doc='Free memory, using free() by default.',
-     )),
-    ('mj_warning',
-     FunctionDecl(
-         name='mj_warning',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='warning',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='info',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='High-level warning function: count warnings in mjData, print only the first.',  # pylint: disable=line-too-long
-     )),
-    ('mju_writeLog',
-     FunctionDecl(
-         name='mju_writeLog',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='type',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='msg',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Write [datetime, type: message] to MUJOCO_LOG.TXT.',
-     )),
-    ('mjs_getError',
-     FunctionDecl(
-         name='mjs_getError',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Get compiler error message from spec.',
-     )),
-    ('mjs_getTimer',
-     FunctionDecl(
-         name='mjs_getTimer',
-         return_type=PointerType(
-             inner_type=ValueType(name='double', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Get compiler timing diagnostics from spec, returns pointer to array of size mjNCTIMER.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_isWarning',
-     FunctionDecl(
-         name='mjs_isWarning',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Return 1 if compiler error is a warning. Deprecated: use mjs_numWarnings(s) > 0.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_numWarnings',
-     FunctionDecl(
-         name='mjs_numWarnings',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='spec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get number of warnings accumulated in the spec.',
-     )),
-    ('mjs_getWarning',
-     FunctionDecl(
-         name='mjs_getWarning',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='spec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='index',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Get the i-th warning message (returns nullptr if index out of bounds).',  # pylint: disable=line-too-long
-     )),
-    ('mju_zero3',
-     FunctionDecl(
-         name='mju_zero3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Set res = 0.',
-     )),
-    ('mju_copy3',
-     FunctionDecl(
-         name='mju_copy3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='data',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Set res = vec.',
-     )),
-    ('mju_scl3',
-     FunctionDecl(
-         name='mju_scl3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scl',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Set res = vec*scl.',
-     )),
-    ('mju_add3',
-     FunctionDecl(
-         name='mju_add3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec1',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Set res = vec1 + vec2.',
-     )),
-    ('mju_sub3',
-     FunctionDecl(
-         name='mju_sub3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec1',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Set res = vec1 - vec2.',
-     )),
-    ('mju_addTo3',
-     FunctionDecl(
-         name='mju_addTo3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Set res = res + vec.',
-     )),
-    ('mju_subFrom3',
-     FunctionDecl(
-         name='mju_subFrom3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Set res = res - vec.',
-     )),
-    ('mju_addToScl3',
-     FunctionDecl(
-         name='mju_addToScl3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scl',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Set res = res + vec*scl.',
-     )),
-    ('mju_addScl3',
-     FunctionDecl(
-         name='mju_addScl3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec1',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scl',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Set res = vec1 + vec2*scl.',
-     )),
-    ('mju_normalize3',
-     FunctionDecl(
-         name='mju_normalize3',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Normalize vector; return length before normalization.',
-     )),
-    ('mju_norm3',
-     FunctionDecl(
-         name='mju_norm3',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Return vector length (without normalizing the vector).',
-     )),
-    ('mju_dot3',
-     FunctionDecl(
-         name='mju_dot3',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vec1',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Return dot-product of vec1 and vec2.',
-     )),
-    ('mju_dist3',
-     FunctionDecl(
-         name='mju_dist3',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='pos1',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pos2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Return Cartesian distance between 3D vectors pos1 and pos2.',
-     )),
-    ('mju_mulMatVec3',
-     FunctionDecl(
-         name='mju_mulMatVec3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Multiply 3-by-3 matrix by vector: res = mat * vec.',
-     )),
-    ('mju_mulMatTVec3',
-     FunctionDecl(
-         name='mju_mulMatTVec3',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc="Multiply transposed 3-by-3 matrix by vector: res = mat' * vec.",
-     )),
-    ('mju_cross',
-     FunctionDecl(
-         name='mju_cross',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='a',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='b',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Compute cross-product: res = cross(a, b).',
-     )),
-    ('mju_zero4',
-     FunctionDecl(
-         name='mju_zero4',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Set res = 0.',
-     )),
-    ('mju_unit4',
-     FunctionDecl(
-         name='mju_unit4',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Set res = (1,0,0,0).',
-     )),
-    ('mju_copy4',
-     FunctionDecl(
-         name='mju_copy4',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='data',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Set res = vec.',
-     )),
-    ('mju_normalize4',
-     FunctionDecl(
-         name='mju_normalize4',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Normalize vector; return length before normalization.',
-     )),
-    ('mju_zero',
-     FunctionDecl(
-         name='mju_zero',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = 0.',
-     )),
-    ('mju_fill',
-     FunctionDecl(
-         name='mju_fill',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='val',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = val.',
-     )),
-    ('mju_copy',
-     FunctionDecl(
-         name='mju_copy',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = vec.',
-     )),
-    ('mju_sum',
-     FunctionDecl(
-         name='mju_sum',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Return sum(vec).',
-     )),
-    ('mju_L1',
-     FunctionDecl(
-         name='mju_L1',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Return L1 norm: sum(abs(vec)).',
-     )),
-    ('mju_scl',
-     FunctionDecl(
-         name='mju_scl',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scl',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = vec*scl.',
-     )),
-    ('mju_add',
-     FunctionDecl(
-         name='mju_add',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = vec1 + vec2.',
-     )),
-    ('mju_sub',
-     FunctionDecl(
-         name='mju_sub',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = vec1 - vec2.',
-     )),
-    ('mju_addTo',
-     FunctionDecl(
-         name='mju_addTo',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = res + vec.',
-     )),
-    ('mju_subFrom',
-     FunctionDecl(
-         name='mju_subFrom',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = res - vec.',
-     )),
-    ('mju_addToScl',
-     FunctionDecl(
-         name='mju_addToScl',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scl',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = res + vec*scl.',
-     )),
-    ('mju_addScl',
-     FunctionDecl(
-         name='mju_addScl',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scl',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set res = vec1 + vec2*scl.',
-     )),
-    ('mju_normalize',
-     FunctionDecl(
-         name='mju_normalize',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Normalize vector; return length before normalization.',
-     )),
-    ('mju_norm',
-     FunctionDecl(
-         name='mju_norm',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Return vector length (without normalizing vector).',
-     )),
-    ('mju_dot',
-     FunctionDecl(
-         name='mju_dot',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vec1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Return dot-product of vec1 and vec2.',
-     )),
-    ('mju_mulMatVec',
-     FunctionDecl(
-         name='mju_mulMatVec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nr',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nc',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Multiply matrix and vector: res = mat * vec.',
-     )),
-    ('mju_mulMatTVec',
-     FunctionDecl(
-         name='mju_mulMatTVec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nr',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nc',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Multiply transposed matrix and vector: res = mat' * vec.",
-     )),
-    ('mju_mulVecMatVec',
-     FunctionDecl(
-         name='mju_mulVecMatVec',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vec1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Multiply square matrix with vectors on both sides: return vec1' * mat * vec2.",  # pylint: disable=line-too-long
-     )),
-    ('mju_transpose',
-     FunctionDecl(
-         name='mju_transpose',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nr',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nc',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Transpose matrix: res = mat'.",
-     )),
-    ('mju_symmetrize',
-     FunctionDecl(
-         name='mju_symmetrize',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Symmetrize square matrix res = (mat + mat')/2.",
-     )),
-    ('mju_eye',
-     FunctionDecl(
-         name='mju_eye',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set mat to the identity matrix.',
-     )),
-    ('mju_mulMatMat',
-     FunctionDecl(
-         name='mju_mulMatMat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='r1',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='c1',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='c2',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Multiply matrices: res = mat1 * mat2.',
-     )),
-    ('mju_mulMatMatT',
-     FunctionDecl(
-         name='mju_mulMatMatT',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='r1',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='c1',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='r2',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Multiply matrices, second argument transposed: res = mat1 * mat2'.",  # pylint: disable=line-too-long
-     )),
-    ('mju_mulMatTMat',
-     FunctionDecl(
-         name='mju_mulMatTMat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='r1',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='c1',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='c2',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Multiply matrices, first argument transposed: res = mat1' * mat2.",  # pylint: disable=line-too-long
-     )),
-    ('mju_sqrMatTD',
-     FunctionDecl(
-         name='mju_sqrMatTD',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='diag',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nr',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nc',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Set res = mat' * diag * mat if diag is not NULL, and res = mat' * mat otherwise.",  # pylint: disable=line-too-long
-     )),
-    ('mju_transformSpatial',
-     FunctionDecl(
-         name='mju_transformSpatial',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(6,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(6,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='flg_force',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='newpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='oldpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='rotnew2old',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Coordinate transform of 6D motion or force vector in rotation:translation format. rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type.',  # pylint: disable=line-too-long
-     )),
-    ('mju_dense2sparse',
-     FunctionDecl(
-         name='mju_dense2sparse',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nr',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nc',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nnz',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Convert matrix from dense to sparse.  nnz is size of res and colind; return 1 if too small, 0 otherwise.',  # pylint: disable=line-too-long
-     )),
-    ('mju_sparse2dense',
-     FunctionDecl(
-         name='mju_sparse2dense',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nr',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nc',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Convert matrix from sparse to dense.',
-     )),
-    ('mju_sym2dense',
-     FunctionDecl(
-         name='mju_sym2dense',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Convert lower-triangular symmetric CSR matrix to full dense matrix.',  # pylint: disable=line-too-long
-     )),
-    ('mju_rotVecQuat',
-     FunctionDecl(
-         name='mju_rotVecQuat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Rotate vector by quaternion.',
-     )),
-    ('mju_negQuat',
-     FunctionDecl(
-         name='mju_negQuat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Conjugate quaternion, corresponding to opposite rotation.',
-     )),
-    ('mju_mulQuat',
-     FunctionDecl(
-         name='mju_mulQuat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat1',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Multiply quaternions.',
-     )),
-    ('mju_mulQuatAxis',
-     FunctionDecl(
-         name='mju_mulQuatAxis',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='axis',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Multiply quaternion and axis.',
-     )),
-    ('mju_axisAngle2Quat',
-     FunctionDecl(
-         name='mju_axisAngle2Quat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='axis',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='angle',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Convert axisAngle to quaternion.',
-     )),
-    ('mju_quat2Vel',
-     FunctionDecl(
-         name='mju_quat2Vel',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dt',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Convert quaternion (corresponding to orientation difference) to 3D velocity.',  # pylint: disable=line-too-long
-     )),
-    ('mju_subQuat',
-     FunctionDecl(
-         name='mju_subQuat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='qa',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='qb',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.',
-     )),
-    ('mju_quat2Mat',
-     FunctionDecl(
-         name='mju_quat2Mat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(9,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Convert quaternion to 3D rotation matrix.',
-     )),
-    ('mju_mat2Quat',
-     FunctionDecl(
-         name='mju_mat2Quat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-             ),
-         ),
-         doc='Convert 3D rotation matrix to quaternion.',
-     )),
-    ('mju_derivQuat',
-     FunctionDecl(
-         name='mju_derivQuat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Compute time-derivative of quaternion, given 3D rotational velocity.',  # pylint: disable=line-too-long
-     )),
-    ('mju_quatIntegrate',
-     FunctionDecl(
-         name='mju_quatIntegrate',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scale',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Integrate quaternion given 3D angular velocity.',
-     )),
-    ('mju_quatZ2Vec',
-     FunctionDecl(
-         name='mju_quatZ2Vec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Construct quaternion performing rotation from z-axis to given vector.',  # pylint: disable=line-too-long
-     )),
-    ('mju_mat2Rot',
-     FunctionDecl(
-         name='mju_mat2Rot',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-             ),
-         ),
-         doc='Extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. Return the number of iterations required to converge.',  # pylint: disable=line-too-long
-     )),
-    ('mju_euler2Quat',
-     FunctionDecl(
-         name='mju_euler2Quat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='euler',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='seq',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc="Convert sequence of Euler angles (radians) to quaternion. seq[0,1,2] must be in 'xyzXYZ', lower/upper-case mean intrinsic/extrinsic rotations.",  # pylint: disable=line-too-long
-     )),
-    ('mju_mulPose',
-     FunctionDecl(
-         name='mju_mulPose',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='posres',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quatres',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pos1',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat1',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pos2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Multiply two poses.',
-     )),
-    ('mju_negPose',
-     FunctionDecl(
-         name='mju_negPose',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='posres',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quatres',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-         ),
-         doc='Conjugate pose, corresponding to the opposite spatial transformation.',  # pylint: disable=line-too-long
-     )),
-    ('mju_trnVecPose',
-     FunctionDecl(
-         name='mju_trnVecPose',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Transform vector by pose.',
-     )),
-    ('mju_cholFactor',
-     FunctionDecl(
-         name='mju_cholFactor',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='mindiag',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc="Cholesky decomposition: mat = L*L'; return rank, decomposition performed in-place into mat.",  # pylint: disable=line-too-long
-     )),
-    ('mju_cholSolve',
-     FunctionDecl(
-         name='mju_cholSolve',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Solve (mat*mat') * res = vec, where mat is a Cholesky factor.",
-     )),
-    ('mju_cholUpdate',
-     FunctionDecl(
-         name='mju_cholUpdate',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='x',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_plus',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Cholesky rank-one update: L*L' +/- x*x'; return rank.",
-     )),
-    ('mju_cholFactorBand',
-     FunctionDecl(
-         name='mju_cholFactorBand',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='ntotal',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nband',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='ndense',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='diagadd',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='diagmul',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Band-dense Cholesky decomposition.  Return minimum value in the factorized diagonal, or 0 if rank-deficient.  mat has (ntotal-ndense) x nband + ndense x ntotal elements.  The first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive.  The second ndense x ntotal store the band part as entire dense rows.  Add diagadd+diagmul*mat_ii to diagonal before factorization.',  # pylint: disable=line-too-long
-     )),
-    ('mju_cholSolveBand',
-     FunctionDecl(
-         name='mju_cholSolveBand',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='ntotal',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nband',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='ndense',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Solve (mat*mat')*res = vec where mat is a band-dense Cholesky factor.",  # pylint: disable=line-too-long
-     )),
-    ('mju_band2Dense',
-     FunctionDecl(
-         name='mju_band2Dense',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='ntotal',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nband',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='ndense',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_sym',
-                 type=ValueType(name='mjtBool'),
-             ),
-         ),
-         doc='Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0.',  # pylint: disable=line-too-long
-     )),
-    ('mju_dense2Band',
-     FunctionDecl(
-         name='mju_dense2Band',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='ntotal',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nband',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='ndense',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Convert dense matrix to banded matrix.',
-     )),
-    ('mju_bandMulMatVec',
-     FunctionDecl(
-         name='mju_bandMulMatVec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='ntotal',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nband',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='ndense',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nvec',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_sym',
-                 type=ValueType(name='mjtBool'),
-             ),
-         ),
-         doc='Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0.',  # pylint: disable=line-too-long
-     )),
-    ('mju_bandDiag',
-     FunctionDecl(
-         name='mju_bandDiag',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='i',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='ntotal',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='nband',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='ndense',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Address of diagonal element i in band-dense matrix representation.',  # pylint: disable=line-too-long
-     )),
-    ('mju_eig3',
-     FunctionDecl(
-         name='mju_eig3',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='eigval',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='eigvec',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(9,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-             ),
-         ),
-         doc="Eigenvalue decomposition of symmetric 3x3 matrix, mat = eigvec * diag(eigval) * eigvec'.",  # pylint: disable=line-too-long
-     )),
-    ('mju_boxQP',
-     FunctionDecl(
-         name='mju_boxQP',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='R',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='index',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='H',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='g',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='lower',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='upper',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc="minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <= upper; return rank or -1 if failed   inputs:     n           - problem dimension     H           - SPD matrix                n*n     g           - bias vector               n     lower       - lower bounds              n     upper       - upper bounds              n     res         - solution warmstart        n   return value:     nfree <= n  - rank of unconstrained subspace, -1 if failure   outputs (required):     res         - solution                  n     R           - subspace Cholesky factor  nfree*nfree    allocated: n*(n+7)   outputs (optional):     index       - set of free dimensions    nfree          allocated: n   notes:     the initial value of res is used to warmstart the solver     R must have allocatd size n*(n+7), but only nfree*nfree values are used in output     index (if given) must have allocated size n, but only nfree values are used in output     only the lower triangles of H and R and are read from and written to, respectively     the convenience function mju_boxQPmalloc allocates the required data structures",  # pylint: disable=line-too-long
-     )),
-    ('mju_boxQPmalloc',
-     FunctionDecl(
-         name='mju_boxQPmalloc',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='mjtNum'),
-                     ),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='R',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='mjtNum'),
-                     ),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='index',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='int'),
-                     ),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='H',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='mjtNum'),
-                     ),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='g',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='mjtNum'),
-                     ),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='lower',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='mjtNum'),
-                     ),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='upper',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='mjtNum'),
-                     ),
-                 ),
-             ),
-         ),
-         doc='allocate heap memory for box-constrained Quadratic Program   as in mju_boxQP, index, lower, and upper are optional   free all pointers with mju_free()',  # pylint: disable=line-too-long
-     )),
-    ('mju_muscleGain',
-     FunctionDecl(
-         name='mju_muscleGain',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='len',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='vel',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='lengthrange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(2,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='acc0',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='prm',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-             ),
-         ),
-         doc='Muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).',  # pylint: disable=line-too-long
-     )),
-    ('mju_muscleBias',
-     FunctionDecl(
-         name='mju_muscleBias',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='len',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='lengthrange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(2,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='acc0',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='prm',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(9,),
-                 ),
-             ),
-         ),
-         doc='Muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax).',  # pylint: disable=line-too-long
-     )),
-    ('mju_muscleDynamics',
-     FunctionDecl(
-         name='mju_muscleDynamics',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='ctrl',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='act',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='prm',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='Muscle activation dynamics, prm = (tau_act, tau_deact, smoothing_width).',  # pylint: disable=line-too-long
-     )),
-    ('mju_encodePyramid',
-     FunctionDecl(
-         name='mju_encodePyramid',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='pyramid',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='force',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mu',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dim',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Convert contact force to pyramid representation.',
-     )),
-    ('mju_decodePyramid',
-     FunctionDecl(
-         name='mju_decodePyramid',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='force',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='pyramid',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='mu',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dim',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Convert pyramid representation to contact force.',
-     )),
-    ('mju_springDamper',
-     FunctionDecl(
-         name='mju_springDamper',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='pos0',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='vel0',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='Kp',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='Kv',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='dt',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Integrate spring-damper analytically; return pos(dt).',
-     )),
-    ('mju_min',
-     FunctionDecl(
-         name='mju_min',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='a',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='b',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Return min(a,b) with single evaluation of a and b.',
-     )),
-    ('mju_max',
-     FunctionDecl(
-         name='mju_max',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='a',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='b',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Return max(a,b) with single evaluation of a and b.',
-     )),
-    ('mju_clip',
-     FunctionDecl(
-         name='mju_clip',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='x',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='min',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='max',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Clip x to the range [min, max].',
-     )),
-    ('mju_sign',
-     FunctionDecl(
-         name='mju_sign',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='x',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Return sign of x: +1, -1 or 0.',
-     )),
-    ('mju_round',
-     FunctionDecl(
-         name='mju_round',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='x',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Round x to nearest integer.',
-     )),
-    ('mju_type2Str',
-     FunctionDecl(
-         name='mju_type2Str',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Convert type id (mjtObj) to type name.',
-     )),
-    ('mju_str2Type',
-     FunctionDecl(
-         name='mju_str2Type',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='str',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Convert type name to type id (mjtObj).',
-     )),
-    ('mju_writeNumBytes',
-     FunctionDecl(
-         name='mju_writeNumBytes',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='nbytes',
-                 type=ValueType(name='size_t'),
-             ),
-         ),
-         doc='Return human readable number of bytes using standard letter suffix.',  # pylint: disable=line-too-long
-     )),
-    ('mju_warningText',
-     FunctionDecl(
-         name='mju_warningText',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='warning',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='info',
-                 type=ValueType(name='size_t'),
-             ),
-         ),
-         doc='Construct a warning message given the warning type and info.',
-     )),
-    ('mju_isBad',
-     FunctionDecl(
-         name='mju_isBad',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='x',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise. Used by check functions.',  # pylint: disable=line-too-long
-     )),
-    ('mju_isZero',
-     FunctionDecl(
-         name='mju_isZero',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Return 1 if all elements are 0.',
-     )),
-    ('mju_standardNormal',
-     FunctionDecl(
-         name='mju_standardNormal',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='num2',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-         ),
-         doc='Standard normal random number generator (optional second number).',  # pylint: disable=line-too-long
-     )),
-    ('mju_f2n',
-     FunctionDecl(
-         name='mju_f2n',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='float', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Convert from float to mjtNum.',
-     )),
-    ('mju_n2f',
-     FunctionDecl(
-         name='mju_n2f',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Convert from mjtNum to float.',
-     )),
-    ('mju_d2n',
-     FunctionDecl(
-         name='mju_d2n',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='double', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Convert from double to mjtNum.',
-     )),
-    ('mju_n2d',
-     FunctionDecl(
-         name='mju_n2d',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='res',
-                 type=PointerType(
-                     inner_type=ValueType(name='double'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Convert from mjtNum to double.',
-     )),
-    ('mju_insertionSort',
-     FunctionDecl(
-         name='mju_insertionSort',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='list',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Insertion sort, resulting list is in increasing order.',
-     )),
-    ('mju_insertionSortInt',
-     FunctionDecl(
-         name='mju_insertionSortInt',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='list',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Integer insertion sort, resulting list is in increasing order.',
-     )),
-    ('mju_Halton',
-     FunctionDecl(
-         name='mju_Halton',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='index',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='base',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Generate Halton sequence.',
-     )),
-    ('mju_strncpy',
-     FunctionDecl(
-         name='mju_strncpy',
-         return_type=PointerType(
-             inner_type=ValueType(name='char'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dst',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='src',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='n',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Call strncpy, then set dst[n-1] = 0.',
-     )),
-    ('mju_sigmoid',
-     FunctionDecl(
-         name='mju_sigmoid',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='x',
-                 type=ValueType(name='mjtNum'),
-             ),
-         ),
-         doc='Sigmoid function over 0<=x<=1 using quintic polynomial.',
-     )),
-    ('mjc_getSDF',
-     FunctionDecl(
-         name='mjc_getSDF',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjpPlugin', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='id',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='get sdf from geom id',
-     )),
-    ('mjc_distance',
-     FunctionDecl(
-         name='mjc_distance',
-         return_type=ValueType(name='mjtNum'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSDF', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='x',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='signed distance function',
-     )),
-    ('mjc_gradient',
-     FunctionDecl(
-         name='mjc_gradient',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSDF', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='gradient',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='x',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-         ),
-         doc='gradient of sdf',
-     )),
-    ('mjd_transitionFD',
-     FunctionDecl(
-         name='mjd_transitionFD',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='eps',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_centered',
-                 type=ValueType(name='mjtBool'),
-             ),
-             FunctionParameterDecl(
-                 name='A',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='B',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='C',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='D',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Finite differenced transition matrices (control theory notation)   d(x_next) = A*dx + B*du   d(sensor) = C*dx + D*du   required output matrix dimensions:      A: (2*nv+na x 2*nv+na)      B: (2*nv+na x nu)      D: (nsensordata x 2*nv+na)      C: (nsensordata x nu)',  # pylint: disable=line-too-long
-     )),
-    ('mjd_inverseFD',
-     FunctionDecl(
-         name='mjd_inverseFD',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='m',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjModel', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='eps',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='flg_actuation',
-                 type=ValueType(name='mjtBool'),
-             ),
-             FunctionParameterDecl(
-                 name='DfDq',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='DfDv',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='DfDa',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='DsDq',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='DsDv',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='DsDa',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='DmDq',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration)   All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention):     DfDq: (nv x nv)     DfDv: (nv x nv)     DfDa: (nv x nv)     DsDq: (nv x nsensordata)     DsDv: (nv x nsensordata)     DsDa: (nv x nsensordata)     DmDq: (nv x nC)   single-letter shortcuts:     inputs: q=qpos, v=qvel, a=qacc     outputs: f=qfrc_inverse, s=sensordata, m=M   notes:     optionally computes mass matrix Jacobian DmDq     flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse',  # pylint: disable=line-too-long
-     )),
-    ('mjd_subQuat',
-     FunctionDecl(
-         name='mjd_subQuat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='qa',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='qb',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='Da',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(9,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='Db',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(9,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Derivatives of mju_subQuat.',
-     )),
-    ('mjd_quatIntegrate',
-     FunctionDecl(
-         name='mjd_quatIntegrate',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='vel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum', is_const=True),
-                     extents=(3,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='scale',
-                 type=ValueType(name='mjtNum'),
-             ),
-             FunctionParameterDecl(
-                 name='Dquat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(9,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='Dvel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(9,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='Dscale',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Derivatives of mju_quatIntegrate.',
-     )),
-    ('mjp_defaultPlugin',
-     FunctionDecl(
-         name='mjp_defaultPlugin',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjpPlugin'),
-                 ),
-             ),
-         ),
-         doc='Set default plugin definition.',
-     )),
-    ('mjp_registerPlugin',
-     FunctionDecl(
-         name='mjp_registerPlugin',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjpPlugin', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Globally register a plugin. This function is thread-safe. If an identical mjpPlugin is already registered, this function does nothing. If a non-identical mjpPlugin with the same name is already registered, an mju_error is raised. Two mjpPlugins are considered identical if all member function pointers and numbers are equal, and the name and attribute strings are all identical, however the char pointers to the strings need not be the same.',  # pylint: disable=line-too-long
-     )),
-    ('mjp_pluginCount',
-     FunctionDecl(
-         name='mjp_pluginCount',
-         return_type=ValueType(name='int'),
-         parameters=(),
-         doc='Return the number of globally registered plugins.',
-     )),
-    ('mjp_getPlugin',
-     FunctionDecl(
-         name='mjp_getPlugin',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjpPlugin', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='slot',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-             ),
-         ),
-         doc='Look up a plugin by name. If slot is not NULL, also write its registered slot number into it.',  # pylint: disable=line-too-long
-     )),
-    ('mjp_getPluginAtSlot',
-     FunctionDecl(
-         name='mjp_getPluginAtSlot',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjpPlugin', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='slot',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Look up a plugin by the registered slot number that was returned by mjp_registerPlugin.',  # pylint: disable=line-too-long
-     )),
-    ('mjp_defaultResourceProvider',
-     FunctionDecl(
-         name='mjp_defaultResourceProvider',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='provider',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjpResourceProvider'),
-                 ),
-             ),
-         ),
-         doc='Set default resource provider definition.',
-     )),
-    ('mjp_registerResourceProvider',
-     FunctionDecl(
-         name='mjp_registerResourceProvider',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='provider',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjpResourceProvider', is_const=True),  # pylint: disable=line-too-long
-                 ),
-             ),
-         ),
-         doc='Globally register a resource provider in a thread-safe manner. The provider must have a prefix that is not a sub-prefix or super-prefix of any current registered providers. Return a slot number >= 0 on success, -1 on failure.',  # pylint: disable=line-too-long
-     )),
-    ('mjp_resourceProviderCount',
-     FunctionDecl(
-         name='mjp_resourceProviderCount',
-         return_type=ValueType(name='int'),
-         parameters=(),
-         doc='Return the number of globally registered resource providers.',
-     )),
-    ('mjp_getResourceProvider',
-     FunctionDecl(
-         name='mjp_getResourceProvider',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjpResourceProvider', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='resource_name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Return the resource provider with the prefix that matches against the resource name. If no match, return NULL.',  # pylint: disable=line-too-long
-     )),
-    ('mjp_getResourceProviderAtSlot',
-     FunctionDecl(
-         name='mjp_getResourceProviderAtSlot',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjpResourceProvider', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='slot',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Look up a resource provider by slot number returned by mjp_registerResourceProvider. If invalid slot number, return NULL.',  # pylint: disable=line-too-long
-     )),
-    ('mjp_registerDecoder',
-     FunctionDecl(
-         name='mjp_registerDecoder',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='decoder',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjpDecoder', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Globally register a decoder. This function is thread-safe. If an identical mjpDecoder is already registered, this function does nothing. If a non-identical mjpDecoder with the same name is already registered, an mju_error is raised.',  # pylint: disable=line-too-long
-     )),
-    ('mjp_defaultDecoder',
-     FunctionDecl(
-         name='mjp_defaultDecoder',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='decoder',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjpDecoder'),
-                 ),
-             ),
-         ),
-         doc='Set default resource decoder definition.',
-     )),
-    ('mjp_findDecoder',
-     FunctionDecl(
-         name='mjp_findDecoder',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjpDecoder', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='resource',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjResource', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='content_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Return the resource provider with the prefix that matches against the resource name. If no match, return NULL.',  # pylint: disable=line-too-long
-     )),
-    ('mjp_registerEncoder',
-     FunctionDecl(
-         name='mjp_registerEncoder',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='encoder',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjpEncoder', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Globally register an encoder. This function is thread-safe. If an identical mjpEncoder is already registered, this function does nothing. If a non-identical mjpEncoder with the same name is already registered, an mju_error is raised.',  # pylint: disable=line-too-long
-     )),
-    ('mjp_defaultEncoder',
-     FunctionDecl(
-         name='mjp_defaultEncoder',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='encoder',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjpEncoder'),
-                 ),
-             ),
-         ),
-         doc='Set default resource encoder definition.',
-     )),
-    ('mjp_findEncoder',
-     FunctionDecl(
-         name='mjp_findEncoder',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjpEncoder', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='filename',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='content_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Return the encoder that matches against the content type or filename extension. If no match, return NULL.',  # pylint: disable=line-too-long
-     )),
-    ('mju_openResource',
-     FunctionDecl(
-         name='mju_openResource',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjResource'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dir',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='nerror',
-                 type=ValueType(name='size_t'),
-             ),
-         ),
-         doc="Open a resource; if the name doesn't have a prefix matching a registered resource provider, then the OS filesystem is used.",  # pylint: disable=line-too-long
-     )),
-    ('mju_closeResource',
-     FunctionDecl(
-         name='mju_closeResource',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='resource',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjResource'),
-                 ),
-             ),
-         ),
-         doc='Close a resource; no-op if resource is NULL.',
-     )),
-    ('mju_readResource',
-     FunctionDecl(
-         name='mju_readResource',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='resource',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjResource'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='buffer',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='void', is_const=True),
-                     ),
-                 ),
-             ),
-         ),
-         doc='Set buffer to bytes read from the resource and return number of bytes in buffer; return negative value if error.',  # pylint: disable=line-too-long
-     )),
-    ('mju_writeResource',
-     FunctionDecl(
-         name='mju_writeResource',
-         return_type=ValueType(name='mjtSize'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='buffer',
-                 type=PointerType(
-                     inner_type=ValueType(name='void', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nbytes',
-                 type=ValueType(name='mjtSize'),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='error',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='nerror',
-                 type=ValueType(name='size_t'),
-             ),
-         ),
-         doc='Write resource data via its resource provider, return bytes written or -1 on error.',  # pylint: disable=line-too-long
-     )),
-    ('mju_getResourceDir',
-     FunctionDecl(
-         name='mju_getResourceDir',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='resource',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjResource'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dir',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='char', is_const=True),
-                     ),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='ndir',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-             ),
-         ),
-         doc='For a resource with a name partitioned as {dir}{filename}, get the dir and ndir pointers.',  # pylint: disable=line-too-long
-     )),
-    ('mju_isModifiedResource',
-     FunctionDecl(
-         name='mju_isModifiedResource',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='resource',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjResource', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='timestamp',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Compare resource timestamp to provided timestamp. Return 0 if timestamps match, >0 if resource is newer, <0 if resource is older.',  # pylint: disable=line-too-long
-     )),
-    ('mju_decodeResource',
-     FunctionDecl(
-         name='mju_decodeResource',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjSpec'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='resource',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjResource'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='content_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Find the decoder for a resource and return the decoded spec. The caller takes ownership of the spec and is responsible for cleaning it up.',  # pylint: disable=line-too-long
-     )),
-    ('mju_threadpool',
-     FunctionDecl(
-         name='mju_threadpool',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='d',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjData'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nthread',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Create a thread pool with nthread worker threads.',
-     )),
-    ('mjs_attach',
-     FunctionDecl(
-         name='mjs_attach',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsElement'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='parent',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='child',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='prefix',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='suffix',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Attach child to a parent; return the attached element if success or NULL otherwise.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_addBody',
-     FunctionDecl(
-         name='mjs_addBody',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsBody'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add child body to body; return child.',
-     )),
-    ('mjs_addSite',
-     FunctionDecl(
-         name='mjs_addSite',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsSite'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add site to body; return site spec.',
-     )),
-    ('mjs_addJoint',
-     FunctionDecl(
-         name='mjs_addJoint',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsJoint'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add joint to body.',
-     )),
-    ('mjs_addFreeJoint',
-     FunctionDecl(
-         name='mjs_addFreeJoint',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsJoint'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-         ),
-         doc='Add freejoint to body.',
-     )),
-    ('mjs_addGeom',
-     FunctionDecl(
-         name='mjs_addGeom',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsGeom'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add geom to body.',
-     )),
-    ('mjs_addCamera',
-     FunctionDecl(
-         name='mjs_addCamera',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsCamera'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add camera to body.',
-     )),
-    ('mjs_addLight',
-     FunctionDecl(
-         name='mjs_addLight',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsLight'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add light to body.',
-     )),
-    ('mjs_addFrame',
-     FunctionDecl(
-         name='mjs_addFrame',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFrame'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='parentframe',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsFrame'),
-                 ),
-             ),
-         ),
-         doc='Add frame to body.',
-     )),
-    ('mjs_delete',
-     FunctionDecl(
-         name='mjs_delete',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='spec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Remove object corresponding to the given element; return 0 on success.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_addActuator',
-     FunctionDecl(
-         name='mjs_addActuator',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsActuator'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add actuator.',
-     )),
-    ('mjs_addSensor',
-     FunctionDecl(
-         name='mjs_addSensor',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsSensor'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add sensor.',
-     )),
-    ('mjs_addFlex',
-     FunctionDecl(
-         name='mjs_addFlex',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFlex'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add flex.',
-     )),
-    ('mjs_makeFlex',
-     FunctionDecl(
-         name='mjs_makeFlex',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFlex'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='type',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='dim',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='dof',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='count',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='cellcount',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='spacing',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='scale',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='radius',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='mass',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='inertiabox',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='equality',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='rigid',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='flatskin',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='elastic2d',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double', is_const=True),
-                     extents=(4,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='origin',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double', is_const=True),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='file',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='vfs',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjVFS', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add flexcomp: create flex with auto-generated bodies/joints, return flex spec.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_addPair',
-     FunctionDecl(
-         name='mjs_addPair',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsPair'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add contact pair.',
-     )),
-    ('mjs_addExclude',
-     FunctionDecl(
-         name='mjs_addExclude',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsExclude'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add excluded body pair.',
-     )),
-    ('mjs_addEquality',
-     FunctionDecl(
-         name='mjs_addEquality',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsEquality'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add equality.',
-     )),
-    ('mjs_addTendon',
-     FunctionDecl(
-         name='mjs_addTendon',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsTendon'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add tendon.',
-     )),
-    ('mjs_wrapSite',
-     FunctionDecl(
-         name='mjs_wrapSite',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsWrap'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='tendon',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTendon'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Wrap site using tendon.',
-     )),
-    ('mjs_wrapGeom',
-     FunctionDecl(
-         name='mjs_wrapGeom',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsWrap'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='tendon',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTendon'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='sidesite',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Wrap geom using tendon.',
-     )),
-    ('mjs_wrapJoint',
-     FunctionDecl(
-         name='mjs_wrapJoint',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsWrap'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='tendon',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTendon'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='coef',
-                 type=ValueType(name='double'),
-             ),
-         ),
-         doc='Wrap joint using tendon.',
-     )),
-    ('mjs_wrapPulley',
-     FunctionDecl(
-         name='mjs_wrapPulley',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsWrap'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='tendon',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTendon'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='divisor',
-                 type=ValueType(name='double'),
-             ),
-         ),
-         doc='Wrap pulley using tendon.',
-     )),
-    ('mjs_addNumeric',
-     FunctionDecl(
-         name='mjs_addNumeric',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsNumeric'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add numeric.',
-     )),
-    ('mjs_addText',
-     FunctionDecl(
-         name='mjs_addText',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsText'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add text.',
-     )),
-    ('mjs_addTuple',
-     FunctionDecl(
-         name='mjs_addTuple',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsTuple'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add tuple.',
-     )),
-    ('mjs_addKey',
-     FunctionDecl(
-         name='mjs_addKey',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsKey'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add keyframe.',
-     )),
-    ('mjs_addPlugin',
-     FunctionDecl(
-         name='mjs_addPlugin',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsPlugin'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add plugin.',
-     )),
-    ('mjs_addDefault',
-     FunctionDecl(
-         name='mjs_addDefault',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsDefault'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='classname',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='parent',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add default.',
-     )),
-    ('mjs_setToMotor',
-     FunctionDecl(
-         name='mjs_setToMotor',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-         ),
-         doc='Set actuator to motor; return error if any.',
-     )),
-    ('mjs_setToPosition',
-     FunctionDecl(
-         name='mjs_setToPosition',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='kp',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='kv',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dampratio',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='timeconst',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='inheritrange',
-                 type=ValueType(name='double'),
-             ),
-         ),
-         doc='Set actuator to position; return error if any.',
-     )),
-    ('mjs_setToIntVelocity',
-     FunctionDecl(
-         name='mjs_setToIntVelocity',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='kp',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='kv',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dampratio',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='timeconst',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='inheritrange',
-                 type=ValueType(name='double'),
-             ),
-         ),
-         doc='Set actuator to integrated velocity; return error if any.',
-     )),
-    ('mjs_setToVelocity',
-     FunctionDecl(
-         name='mjs_setToVelocity',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='kv',
-                 type=ValueType(name='double'),
-             ),
-         ),
-         doc='Set actuator to velocity servo; return error if any.',
-     )),
-    ('mjs_setToOrientation',
-     FunctionDecl(
-         name='mjs_setToOrientation',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='kp',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='kv',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dampratio',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='ctrlspec',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set actuator to orientation servo.',
-     )),
-    ('mjs_setToPID',
-     FunctionDecl(
-         name='mjs_setToPID',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='kp',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='kv',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='dampratio',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='ki',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='imax',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='slewmax',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(1,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='inheritrange',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='ctrlspec',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set actuator to PID controller.',
-     )),
-    ('mjs_setToDamper',
-     FunctionDecl(
-         name='mjs_setToDamper',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='kv',
-                 type=ValueType(name='double'),
-             ),
-         ),
-         doc='Set actuator to activate damper; return error if any.',
-     )),
-    ('mjs_setToCylinder',
-     FunctionDecl(
-         name='mjs_setToCylinder',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='timeconst',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='bias',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='area',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='diameter',
-                 type=ValueType(name='double'),
-             ),
-         ),
-         doc='Set actuator to hydraulic or pneumatic cylinder; return error if any.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_setToMuscle',
-     FunctionDecl(
-         name='mjs_setToMuscle',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='timeconst',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='tausmooth',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='range',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='force',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='scale',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='lmin',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='lmax',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='vmax',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='fpmax',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='fvmax',
-                 type=ValueType(name='double'),
-             ),
-         ),
-         doc='Set actuator to muscle; return error if any.a',
-     )),
-    ('mjs_setToAdhesion',
-     FunctionDecl(
-         name='mjs_setToAdhesion',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='gain',
-                 type=ValueType(name='double'),
-             ),
-         ),
-         doc='Set actuator to active adhesion; return error if any.',
-     )),
-    ('mjs_setToDCMotor',
-     FunctionDecl(
-         name='mjs_setToDCMotor',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='motorconst',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='resistance',
-                 type=ValueType(name='double'),
-             ),
-             FunctionParameterDecl(
-                 name='nominal',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='saturation',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='inductance',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='cogging',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='controller',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(6,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='thermal',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(6,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='lugre',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(5,),
-                 ),
-                 nullable=True,
-             ),
-             FunctionParameterDecl(
-                 name='ctrlspec',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Set actuator to DC motor; return error if any.',
-     )),
-    ('mjs_addMesh',
-     FunctionDecl(
-         name='mjs_addMesh',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsMesh'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add mesh.',
-     )),
-    ('mjs_addHField',
-     FunctionDecl(
-         name='mjs_addHField',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsHField'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add height field.',
-     )),
-    ('mjs_addSkin',
-     FunctionDecl(
-         name='mjs_addSkin',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsSkin'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add skin.',
-     )),
-    ('mjs_addTexture',
-     FunctionDecl(
-         name='mjs_addTexture',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsTexture'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Add texture.',
-     )),
-    ('mjs_addMaterial',
-     FunctionDecl(
-         name='mjs_addMaterial',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsMaterial'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Add material.',
-     )),
-    ('mjs_makeMesh',
-     FunctionDecl(
-         name='mjs_makeMesh',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='mesh',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsMesh'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='builtin',
-                 type=ValueType(name='mjtMeshBuiltin'),
-             ),
-             FunctionParameterDecl(
-                 name='params',
-                 type=PointerType(
-                     inner_type=ValueType(name='double'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='nparams',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Sets the vertices and normals of a mesh.',
-     )),
-    ('mjs_getSpec',
-     FunctionDecl(
-         name='mjs_getSpec',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjSpec'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get spec from body.',
-     )),
-    ('mjs_getOriginSpec',
-     FunctionDecl(
-         name='mjs_getOriginSpec',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjSpec'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-         ),
-         doc='get spec that originally defined an element contrary to mjs_getSpec, this does not change after attachment',  # pylint: disable=line-too-long
-     )),
-    ('mjs_getCompiler',
-     FunctionDecl(
-         name='mjs_getCompiler',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsCompiler'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-         ),
-         doc="Get compiler associated with element's origin spec.",
-     )),
-    ('mjs_findSpec',
-     FunctionDecl(
-         name='mjs_findSpec',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjSpec'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='spec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Find spec (model asset) by name.',
-     )),
-    ('mjs_findBody',
-     FunctionDecl(
-         name='mjs_findBody',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsBody'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Find body in spec by name.',
-     )),
-    ('mjs_findElement',
-     FunctionDecl(
-         name='mjs_findElement',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsElement'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='type',
-                 type=ValueType(name='mjtObj'),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Find element in spec by name.',
-     )),
-    ('mjs_findChild',
-     FunctionDecl(
-         name='mjs_findChild',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsBody'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Find child body by name.',
-     )),
-    ('mjs_getParent',
-     FunctionDecl(
-         name='mjs_getParent',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsBody'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get parent body.',
-     )),
-    ('mjs_getFrame',
-     FunctionDecl(
-         name='mjs_getFrame',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFrame'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get parent frame.',
-     )),
-    ('mjs_findFrame',
-     FunctionDecl(
-         name='mjs_findFrame',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFrame'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Find frame by name.',
-     )),
-    ('mjs_getDefault',
-     FunctionDecl(
-         name='mjs_getDefault',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsDefault'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get default corresponding to an element.',
-     )),
-    ('mjs_findDefault',
-     FunctionDecl(
-         name='mjs_findDefault',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsDefault'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='classname',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Find default in model by class name.',
-     )),
-    ('mjs_getSpecDefault',
-     FunctionDecl(
-         name='mjs_getSpecDefault',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsDefault'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get global default from model.',
-     )),
-    ('mjs_getId',
-     FunctionDecl(
-         name='mjs_getId',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get element id.',
-     )),
-    ('mjs_firstChild',
-     FunctionDecl(
-         name='mjs_firstChild',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsElement'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='type',
-                 type=ValueType(name='mjtObj'),
-             ),
-             FunctionParameterDecl(
-                 name='recurse',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Return body's first child of given type. If recurse is nonzero, also search the body's subtree.",  # pylint: disable=line-too-long
-     )),
-    ('mjs_nextChild',
-     FunctionDecl(
-         name='mjs_nextChild',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsElement'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='child',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='recurse',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc="Return body's next child of the same type; return NULL if child is last. If recurse is nonzero, also search the body's subtree.",  # pylint: disable=line-too-long
-     )),
-    ('mjs_firstElement',
-     FunctionDecl(
-         name='mjs_firstElement',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsElement'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='type',
-                 type=ValueType(name='mjtObj'),
-             ),
-         ),
-         doc="Return spec's first element of selected type.",
-     )),
-    ('mjs_nextElement',
-     FunctionDecl(
-         name='mjs_nextElement',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsElement'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='s',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement', is_const=True),
-                 ),
-             ),
-         ),
-         doc="Return spec's next element; return NULL if element is last.",
-     )),
-    ('mjs_getWrapTarget',
-     FunctionDecl(
-         name='mjs_getWrapTarget',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsElement'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='wrap',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsWrap', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get wrapped element in tendon path.',
-     )),
-    ('mjs_getWrapSideSite',
-     FunctionDecl(
-         name='mjs_getWrapSideSite',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsSite'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='wrap',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsWrap', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get wrapped element side site in tendon path if it has one, nullptr otherwise.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_getWrapDivisor',
-     FunctionDecl(
-         name='mjs_getWrapDivisor',
-         return_type=ValueType(name='double'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='wrap',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsWrap', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get divisor of mjsWrap wrapping a puller.',
-     )),
-    ('mjs_getWrapCoef',
-     FunctionDecl(
-         name='mjs_getWrapCoef',
-         return_type=ValueType(name='double'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='wrap',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsWrap', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get coefficient of mjsWrap wrapping a joint.',
-     )),
-    ('mjs_setName',
-     FunctionDecl(
-         name='mjs_setName',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc="Set element's name; return 0 on success.",
-     )),
-    ('mjs_setBuffer',
-     FunctionDecl(
-         name='mjs_setBuffer',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjByteVec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='array',
-                 type=PointerType(
-                     inner_type=ValueType(name='void', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Copy buffer.',
-     )),
-    ('mjs_setString',
-     FunctionDecl(
-         name='mjs_setString',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='text',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Copy text to string.',
-     )),
-    ('mjs_setStringVec',
-     FunctionDecl(
-         name='mjs_setStringVec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjStringVec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='text',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Split text to entries and copy to string vector.',
-     )),
-    ('mjs_setInStringVec',
-     FunctionDecl(
-         name='mjs_setInStringVec',
-         return_type=ValueType(name='mjtBool'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjStringVec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='i',
-                 type=ValueType(name='int'),
-             ),
-             FunctionParameterDecl(
-                 name='text',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Set entry in string vector.',
-     )),
-    ('mjs_appendString',
-     FunctionDecl(
-         name='mjs_appendString',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjStringVec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='text',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Append text entry to string vector.',
-     )),
-    ('mjs_setInt',
-     FunctionDecl(
-         name='mjs_setInt',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='array',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Copy int array to vector.',
-     )),
-    ('mjs_appendIntVec',
-     FunctionDecl(
-         name='mjs_appendIntVec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVecVec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='array',
-                 type=PointerType(
-                     inner_type=ValueType(name='int', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Append int array to vector of arrays.',
-     )),
-    ('mjs_setFloat',
-     FunctionDecl(
-         name='mjs_setFloat',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='array',
-                 type=PointerType(
-                     inner_type=ValueType(name='float', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Copy float array to vector.',
-     )),
-    ('mjs_appendFloatVec',
-     FunctionDecl(
-         name='mjs_appendFloatVec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVecVec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='array',
-                 type=PointerType(
-                     inner_type=ValueType(name='float', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Append float array to vector of arrays.',
-     )),
-    ('mjs_setDouble',
-     FunctionDecl(
-         name='mjs_setDouble',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='array',
-                 type=PointerType(
-                     inner_type=ValueType(name='double', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Copy double array to vector.',
-     )),
-    ('mjs_setPluginAttributes',
-     FunctionDecl(
-         name='mjs_setPluginAttributes',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsPlugin'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='attributes',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-             ),
-         ),
-         doc='Set plugin attributes.',
-     )),
-    ('mjs_getName',
-     FunctionDecl(
-         name='mjs_getName',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjString'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc="Get element's name.",
-     )),
-    ('mjs_getString',
-     FunctionDecl(
-         name='mjs_getString',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='source',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get string contents.',
-     )),
-    ('mjs_getDouble',
-     FunctionDecl(
-         name='mjs_getDouble',
-         return_type=PointerType(
-             inner_type=ValueType(name='double', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='source',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='size',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 nullable=True,
-             ),
-         ),
-         doc='Get double array contents and optionally its size.',
-     )),
-    ('mjs_getWrapNum',
-     FunctionDecl(
-         name='mjs_getWrapNum',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='tendonspec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTendon', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get number of elements a tendon wraps.',
-     )),
-    ('mjs_getWrap',
-     FunctionDecl(
-         name='mjs_getWrap',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsWrap'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='tendonspec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTendon', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='i',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Get mjsWrap element at position i in the tendon path.',
-     )),
-    ('mjs_getPluginAttributes',
-     FunctionDecl(
-         name='mjs_getPluginAttributes',
-         return_type=PointerType(
-             inner_type=ValueType(name='void', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsPlugin', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Get plugin attributes.',
-     )),
-    ('mjs_setDefault',
-     FunctionDecl(
-         name='mjs_setDefault',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='def',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsDefault', is_const=True),
-                 ),
-             ),
-         ),
-         doc="Set element's default.",
-     )),
-    ('mjs_setFrame',
-     FunctionDecl(
-         name='mjs_setFrame',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='dest',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='frame',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsFrame'),
-                 ),
-             ),
-         ),
-         doc="Set element's enclosing frame; return 0 on success.",
-     )),
-    ('mjs_resolveOrientation',
-     FunctionDecl(
-         name='mjs_resolveOrientation',
-         return_type=PointerType(
-             inner_type=ValueType(name='char', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='degree',
-                 type=ValueType(name='mjtByte'),
-             ),
-             FunctionParameterDecl(
-                 name='sequence',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='orientation',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsOrientation', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Resolve alternative orientations to quat; return error if any.',
-     )),
-    ('mjs_bodyToFrame',
-     FunctionDecl(
-         name='mjs_bodyToFrame',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFrame'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='mjsBody'),
-                     ),
-                 ),
-             ),
-         ),
-         doc='Transform body into a frame.',
-     )),
-    ('mjs_setUserValue',
-     FunctionDecl(
-         name='mjs_setUserValue',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='key',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='data',
-                 type=PointerType(
-                     inner_type=ValueType(name='void', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Set user payload, overriding the existing value for the specified key if present.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_getUserValue',
-     FunctionDecl(
-         name='mjs_getUserValue',
-         return_type=PointerType(
-             inner_type=ValueType(name='void', is_const=True),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='key',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Return user payload or NULL if none found.',
-     )),
-    ('mjs_deleteUserValue',
-     FunctionDecl(
-         name='mjs_deleteUserValue',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='key',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Delete user payload.',
-     )),
-    ('mjs_sensorDim',
-     FunctionDecl(
-         name='mjs_sensorDim',
-         return_type=ValueType(name='int'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='sensor',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsSensor', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Return sensor dimension.',
-     )),
-    ('mjs_defaultSpec',
-     FunctionDecl(
-         name='mjs_defaultSpec',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='spec',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjSpec'),
-                 ),
-             ),
-         ),
-         doc='Default spec attributes.',
-     )),
-    ('mjs_defaultOrientation',
-     FunctionDecl(
-         name='mjs_defaultOrientation',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='orient',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsOrientation'),
-                 ),
-             ),
-         ),
-         doc='Default orientation attributes.',
-     )),
-    ('mjs_defaultBody',
-     FunctionDecl(
-         name='mjs_defaultBody',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsBody'),
-                 ),
-             ),
-         ),
-         doc='Default body attributes.',
-     )),
-    ('mjs_defaultFrame',
-     FunctionDecl(
-         name='mjs_defaultFrame',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='frame',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsFrame'),
-                 ),
-             ),
-         ),
-         doc='Default frame attributes.',
-     )),
-    ('mjs_defaultJoint',
-     FunctionDecl(
-         name='mjs_defaultJoint',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='joint',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsJoint'),
-                 ),
-             ),
-         ),
-         doc='Default joint attributes.',
-     )),
-    ('mjs_defaultGeom',
-     FunctionDecl(
-         name='mjs_defaultGeom',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='geom',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsGeom'),
-                 ),
-             ),
-         ),
-         doc='Default geom attributes.',
-     )),
-    ('mjs_defaultSite',
-     FunctionDecl(
-         name='mjs_defaultSite',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='site',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsSite'),
-                 ),
-             ),
-         ),
-         doc='Default site attributes.',
-     )),
-    ('mjs_defaultCamera',
-     FunctionDecl(
-         name='mjs_defaultCamera',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='camera',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsCamera'),
-                 ),
-             ),
-         ),
-         doc='Default camera attributes.',
-     )),
-    ('mjs_defaultLight',
-     FunctionDecl(
-         name='mjs_defaultLight',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='light',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsLight'),
-                 ),
-             ),
-         ),
-         doc='Default light attributes.',
-     )),
-    ('mjs_defaultFlex',
-     FunctionDecl(
-         name='mjs_defaultFlex',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='flex',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsFlex'),
-                 ),
-             ),
-         ),
-         doc='Default flex attributes.',
-     )),
-    ('mjs_defaultMesh',
-     FunctionDecl(
-         name='mjs_defaultMesh',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='mesh',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsMesh'),
-                 ),
-             ),
-         ),
-         doc='Default mesh attributes.',
-     )),
-    ('mjs_defaultHField',
-     FunctionDecl(
-         name='mjs_defaultHField',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='hfield',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsHField'),
-                 ),
-             ),
-         ),
-         doc='Default height field attributes.',
-     )),
-    ('mjs_defaultSkin',
-     FunctionDecl(
-         name='mjs_defaultSkin',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='skin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsSkin'),
-                 ),
-             ),
-         ),
-         doc='Default skin attributes.',
-     )),
-    ('mjs_defaultTexture',
-     FunctionDecl(
-         name='mjs_defaultTexture',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='texture',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTexture'),
-                 ),
-             ),
-         ),
-         doc='Default texture attributes.',
-     )),
-    ('mjs_defaultMaterial',
-     FunctionDecl(
-         name='mjs_defaultMaterial',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='material',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsMaterial'),
-                 ),
-             ),
-         ),
-         doc='Default material attributes.',
-     )),
-    ('mjs_defaultPair',
-     FunctionDecl(
-         name='mjs_defaultPair',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='pair',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsPair'),
-                 ),
-             ),
-         ),
-         doc='Default pair attributes.',
-     )),
-    ('mjs_defaultEquality',
-     FunctionDecl(
-         name='mjs_defaultEquality',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='equality',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsEquality'),
-                 ),
-             ),
-         ),
-         doc='Default equality attributes.',
-     )),
-    ('mjs_defaultTendon',
-     FunctionDecl(
-         name='mjs_defaultTendon',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='tendon',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTendon'),
-                 ),
-             ),
-         ),
-         doc='Default tendon attributes.',
-     )),
-    ('mjs_defaultActuator',
-     FunctionDecl(
-         name='mjs_defaultActuator',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-             ),
-         ),
-         doc='Default actuator attributes.',
-     )),
-    ('mjs_defaultSensor',
-     FunctionDecl(
-         name='mjs_defaultSensor',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='sensor',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsSensor'),
-                 ),
-             ),
-         ),
-         doc='Default sensor attributes.',
-     )),
-    ('mjs_defaultNumeric',
-     FunctionDecl(
-         name='mjs_defaultNumeric',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='numeric',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsNumeric'),
-                 ),
-             ),
-         ),
-         doc='Default numeric attributes.',
-     )),
-    ('mjs_defaultText',
-     FunctionDecl(
-         name='mjs_defaultText',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='text',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsText'),
-                 ),
-             ),
-         ),
-         doc='Default text attributes.',
-     )),
-    ('mjs_defaultTuple',
-     FunctionDecl(
-         name='mjs_defaultTuple',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='tuple',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTuple'),
-                 ),
-             ),
-         ),
-         doc='Default tuple attributes.',
-     )),
-    ('mjs_defaultKey',
-     FunctionDecl(
-         name='mjs_defaultKey',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='key',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsKey'),
-                 ),
-             ),
-         ),
-         doc='Default keyframe attributes.',
-     )),
-    ('mjs_defaultPlugin',
-     FunctionDecl(
-         name='mjs_defaultPlugin',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsPlugin'),
-                 ),
-             ),
-         ),
-         doc='Default plugin attributes.',
-     )),
-    ('mjs_asBody',
-     FunctionDecl(
-         name='mjs_asBody',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsBody'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asGeom',
-     FunctionDecl(
-         name='mjs_asGeom',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsGeom'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsGeom, or return NULL if the element is not an mjsGeom.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asJoint',
-     FunctionDecl(
-         name='mjs_asJoint',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsJoint'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsJoint, or return NULL if the element is not an mjsJoint.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asSite',
-     FunctionDecl(
-         name='mjs_asSite',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsSite'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsSite, or return NULL if the element is not an mjsSite.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asCamera',
-     FunctionDecl(
-         name='mjs_asCamera',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsCamera'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsCamera, or return NULL if the element is not an mjsCamera.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asLight',
-     FunctionDecl(
-         name='mjs_asLight',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsLight'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsLight, or return NULL if the element is not an mjsLight.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asFrame',
-     FunctionDecl(
-         name='mjs_asFrame',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFrame'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asActuator',
-     FunctionDecl(
-         name='mjs_asActuator',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsActuator'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asSensor',
-     FunctionDecl(
-         name='mjs_asSensor',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsSensor'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asFlex',
-     FunctionDecl(
-         name='mjs_asFlex',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsFlex'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asPair',
-     FunctionDecl(
-         name='mjs_asPair',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsPair'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asEquality',
-     FunctionDecl(
-         name='mjs_asEquality',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsEquality'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asExclude',
-     FunctionDecl(
-         name='mjs_asExclude',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsExclude'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asTendon',
-     FunctionDecl(
-         name='mjs_asTendon',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsTendon'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asNumeric',
-     FunctionDecl(
-         name='mjs_asNumeric',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsNumeric'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asText',
-     FunctionDecl(
-         name='mjs_asText',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsText'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsText, or return NULL if the element is not an mjsText.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asTuple',
-     FunctionDecl(
-         name='mjs_asTuple',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsTuple'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asKey',
-     FunctionDecl(
-         name='mjs_asKey',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsKey'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asMesh',
-     FunctionDecl(
-         name='mjs_asMesh',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsMesh'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asHField',
-     FunctionDecl(
-         name='mjs_asHField',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsHField'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asSkin',
-     FunctionDecl(
-         name='mjs_asSkin',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsSkin'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asTexture',
-     FunctionDecl(
-         name='mjs_asTexture',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsTexture'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asMaterial',
-     FunctionDecl(
-         name='mjs_asMaterial',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsMaterial'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.',  # pylint: disable=line-too-long
-     )),
-    ('mjs_asPlugin',
-     FunctionDecl(
-         name='mjs_asPlugin',
-         return_type=PointerType(
-             inner_type=ValueType(name='mjsPlugin'),
-         ),
-         parameters=(
-             FunctionParameterDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-             ),
-         ),
-         doc='Safely cast an element as mjsPlugin, or return NULL if the element is not an mjsPlugin.',  # pylint: disable=line-too-long
-     )),
-])
diff --git a/python/mujoco/introspect/functions_test.py b/python/mujoco/introspect/functions_test.py
deleted file mode 100644
index bebf603d..00000000
--- a/python/mujoco/introspect/functions_test.py
+++ /dev/null
@@ -1,68 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for functions.py."""
-
-from absl.testing import absltest
-
-from . import ast_nodes
-from . import functions
-from . import type_parsing
-
-
-class FunctionsTest(absltest.TestCase):
-
-  def test_mj_copyData(self):  # pylint: disable=invalid-name
-    func_decl = functions.FUNCTIONS['mj_copyData']
-    self.assertEqual(func_decl.name, 'mj_copyData')
-    self.assertEqual(func_decl.return_type, type_parsing.parse_type('mjData*'))
-    self.assertEqual(
-        func_decl.parameters,
-        (ast_nodes.FunctionParameterDecl(
-            name='dest', type=type_parsing.parse_type('mjData*')),
-         ast_nodes.FunctionParameterDecl(
-             name='m', type=type_parsing.parse_type('const mjModel*')),
-         ast_nodes.FunctionParameterDecl(
-             name='src', type=type_parsing.parse_type('const mjData*'))))
-    self.assertEqual(
-        func_decl.doc, 'Copy mjData. '
-        'm is only required to contain the size fields from MJMODEL_INTS.')
-
-  def test_mju_transformSpatial(self):  # pylint: disable=invalid-name
-    func_decl = functions.FUNCTIONS['mju_transformSpatial']
-    self.assertEqual(func_decl.name, 'mju_transformSpatial')
-    self.assertEqual(func_decl.return_type, type_parsing.parse_type('void'))
-    self.assertEqual(
-        func_decl.parameters,
-        (ast_nodes.FunctionParameterDecl(
-            name='res', type=type_parsing.parse_type('mjtNum[6]')),
-         ast_nodes.FunctionParameterDecl(
-             name='vec', type=type_parsing.parse_type('const mjtNum[6]')),
-         ast_nodes.FunctionParameterDecl(
-             name='flg_force', type=type_parsing.parse_type('int')),
-         ast_nodes.FunctionParameterDecl(
-             name='newpos', type=type_parsing.parse_type('const mjtNum[3]')),
-         ast_nodes.FunctionParameterDecl(
-             name='oldpos', type=type_parsing.parse_type('const mjtNum[3]')),
-         ast_nodes.FunctionParameterDecl(
-             name='rotnew2old',
-             type=type_parsing.parse_type('const mjtNum[9]'), nullable=True)))
-    self.assertEqual(
-        func_decl.doc, 'Coordinate transform of 6D motion or force vector in ' +
-        'rotation:translation format. rotnew2old is 3-by-3, ' +
-        'NULL means no rotation; flg_force specifies force or motion type.')
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/introspect/mjxmacro.py b/python/mujoco/introspect/mjxmacro.py
deleted file mode 100644
index 5bbc1321..00000000
--- a/python/mujoco/introspect/mjxmacro.py
+++ /dev/null
@@ -1,43 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Generate dicts corresponding to mjModel and mjData array X macros."""
-
-from . import structs
-
-MJMODEL_S = structs.STRUCTS['mjModel']
-MJDATA_S = structs.STRUCTS['mjData']
-
-MJMODEL = dict()
-MJDATA = dict()
-
-for field in MJMODEL_S.fields:
-  if not isinstance(field, structs.StructFieldDecl):
-    continue
-  if field.array_extent is None:
-    continue
-  if len(field.array_extent) == 1:
-    MJMODEL[field.name] = (field.array_extent[0], '1')
-  else:
-    MJMODEL[field.name] = (field.array_extent[0], str(field.array_extent[1]))
-
-for field in MJDATA_S.fields:
-  if not isinstance(field, structs.StructFieldDecl):
-    continue
-  if field.array_extent is None:
-    continue
-  if len(field.array_extent) == 1:
-    MJDATA[field.name] = (field.array_extent[0], '1')
-  else:
-    MJDATA[field.name] = (field.array_extent[0], str(field.array_extent[1]))
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
deleted file mode 100644
index d554d898..00000000
--- a/python/mujoco/introspect/structs.py
+++ /dev/null
@@ -1,12505 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Provides information about MuJoCo API structs.
-
-DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-"""
-
-from typing import Mapping
-
-from .ast_nodes import AnonymousStructDecl
-from .ast_nodes import AnonymousUnionDecl
-from .ast_nodes import ArrayType
-from .ast_nodes import PointerType
-from .ast_nodes import StructDecl
-from .ast_nodes import StructFieldDecl
-from .ast_nodes import ValueType
-
-STRUCTS: Mapping[str, StructDecl] = dict([
-    ('mjLogMessage',
-     StructDecl(
-         name='mjLogMessage',
-         declname='struct mjLogMessage_',
-         fields=(
-             StructFieldDecl(
-                 name='level',
-                 type=ValueType(name='int'),
-                 doc='mjtLogLevel',
-             ),
-             StructFieldDecl(
-                 name='topic',
-                 type=ValueType(name='int'),
-                 doc='mjtLogTopic (0 for error/warning/user)',
-             ),
-             StructFieldDecl(
-                 name='subject',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(1024,),
-                 ),
-                 doc='message subject (one-liner, printf-formatted)',
-             ),
-             StructFieldDecl(
-                 name='body',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 doc='message body (multi-line detail, or NULL)',
-             ),
-             StructFieldDecl(
-                 name='func',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 doc='__func__ or NULL',
-             ),
-             StructFieldDecl(
-                 name='file',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 doc='__FILE__ or NULL',
-             ),
-             StructFieldDecl(
-                 name='line',
-                 type=ValueType(name='int'),
-                 doc='__LINE__ or 0',
-             ),
-             StructFieldDecl(
-                 name='timestamp',
-                 type=ValueType(name='mjtBool'),
-                 doc='prepend timestamp to output',
-             ),
-         ),
-     )),
-    ('mjLogConfig',
-     StructDecl(
-         name='mjLogConfig',
-         declname='struct mjLogConfig_',
-         fields=(
-             StructFieldDecl(
-                 name='logto_console',
-                 type=ValueType(name='mjtBool'),
-                 doc='print to console (default: true)',
-             ),
-             StructFieldDecl(
-                 name='logto_file',
-                 type=ValueType(name='mjtBool'),
-                 doc='print to log file (default: true)',
-             ),
-             StructFieldDecl(
-                 name='logfile',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(1024,),
-                 ),
-                 doc='log file path (default: "MUJOCO_LOG.TXT")',
-             ),
-             StructFieldDecl(
-                 name='topics',
-                 type=ValueType(name='int'),
-                 doc='enabled info topic bitmask (default: 0)',
-             ),
-         ),
-     )),
-    ('mjLROpt',
-     StructDecl(
-         name='mjLROpt',
-         declname='struct mjLROpt_',
-         fields=(
-             StructFieldDecl(
-                 name='mode',
-                 type=ValueType(name='int'),
-                 doc='which actuators to process (mjtLRMode)',
-             ),
-             StructFieldDecl(
-                 name='useexisting',
-                 type=ValueType(name='int'),
-                 doc='use existing length range if available',
-             ),
-             StructFieldDecl(
-                 name='uselimit',
-                 type=ValueType(name='int'),
-                 doc='use joint and tendon limits if available',
-             ),
-             StructFieldDecl(
-                 name='accel',
-                 type=ValueType(name='mjtNum'),
-                 doc='target acceleration used to compute force',
-             ),
-             StructFieldDecl(
-                 name='maxforce',
-                 type=ValueType(name='mjtNum'),
-                 doc='maximum force; 0: no limit',
-             ),
-             StructFieldDecl(
-                 name='timeconst',
-                 type=ValueType(name='mjtNum'),
-                 doc='time constant for velocity reduction; min 0.01',
-             ),
-             StructFieldDecl(
-                 name='timestep',
-                 type=ValueType(name='mjtNum'),
-                 doc='simulation timestep; 0: use mjOption.timestep',
-             ),
-             StructFieldDecl(
-                 name='inttotal',
-                 type=ValueType(name='mjtNum'),
-                 doc='total simulation time interval',
-             ),
-             StructFieldDecl(
-                 name='interval',
-                 type=ValueType(name='mjtNum'),
-                 doc='evaluation time interval (at the end)',
-             ),
-             StructFieldDecl(
-                 name='tolrange',
-                 type=ValueType(name='mjtNum'),
-                 doc='convergence tolerance (relative to range)',
-             ),
-         ),
-     )),
-    ('mjCache',
-     StructDecl(
-         name='mjCache',
-         declname='struct mjCache_',
-         fields=(
-             StructFieldDecl(
-                 name='impl_',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='internal pointer to cache',
-             ),
-         ),
-     )),
-    ('mjVFS',
-     StructDecl(
-         name='mjVFS',
-         declname='struct mjVFS_',
-         fields=(
-             StructFieldDecl(
-                 name='impl_',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='internal pointer to VFS memory',
-             ),
-         ),
-     )),
-    ('mjOption',
-     StructDecl(
-         name='mjOption',
-         declname='struct mjOption_',
-         fields=(
-             StructFieldDecl(
-                 name='timestep',
-                 type=ValueType(name='mjtNum'),
-                 doc='timestep',
-             ),
-             StructFieldDecl(
-                 name='impratio',
-                 type=ValueType(name='mjtNum'),
-                 doc='ratio of friction-to-normal contact impedance',
-             ),
-             StructFieldDecl(
-                 name='tolerance',
-                 type=ValueType(name='mjtNum'),
-                 doc='main solver tolerance',
-             ),
-             StructFieldDecl(
-                 name='ls_tolerance',
-                 type=ValueType(name='mjtNum'),
-                 doc='CG/Newton linesearch tolerance',
-             ),
-             StructFieldDecl(
-                 name='noslip_tolerance',
-                 type=ValueType(name='mjtNum'),
-                 doc='noslip solver tolerance',
-             ),
-             StructFieldDecl(
-                 name='ccd_tolerance',
-                 type=ValueType(name='mjtNum'),
-                 doc='convex collision solver tolerance',
-             ),
-             StructFieldDecl(
-                 name='sleep_tolerance',
-                 type=ValueType(name='mjtNum'),
-                 doc='sleep velocity tolerance',
-             ),
-             StructFieldDecl(
-                 name='gravity',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='gravitational acceleration',
-             ),
-             StructFieldDecl(
-                 name='wind',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='wind (for lift, drag and viscosity)',
-             ),
-             StructFieldDecl(
-                 name='magnetic',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='global magnetic flux',
-             ),
-             StructFieldDecl(
-                 name='density',
-                 type=ValueType(name='mjtNum'),
-                 doc='density of medium',
-             ),
-             StructFieldDecl(
-                 name='viscosity',
-                 type=ValueType(name='mjtNum'),
-                 doc='viscosity of medium',
-             ),
-             StructFieldDecl(
-                 name='o_margin',
-                 type=ValueType(name='mjtNum'),
-                 doc='margin',
-             ),
-             StructFieldDecl(
-                 name='o_solref',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='solref',
-             ),
-             StructFieldDecl(
-                 name='o_solimp',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='solimp',
-             ),
-             StructFieldDecl(
-                 name='o_friction',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='friction',
-             ),
-             StructFieldDecl(
-                 name='integrator',
-                 type=ValueType(name='int'),
-                 doc='integration mode (mjtIntegrator)',
-             ),
-             StructFieldDecl(
-                 name='cone',
-                 type=ValueType(name='int'),
-                 doc='type of friction cone (mjtCone)',
-             ),
-             StructFieldDecl(
-                 name='jacobian',
-                 type=ValueType(name='int'),
-                 doc='type of Jacobian (mjtJacobian)',
-             ),
-             StructFieldDecl(
-                 name='solver',
-                 type=ValueType(name='int'),
-                 doc='solver algorithm (mjtSolver)',
-             ),
-             StructFieldDecl(
-                 name='iterations',
-                 type=ValueType(name='int'),
-                 doc='maximum number of main solver iterations',
-             ),
-             StructFieldDecl(
-                 name='ls_iterations',
-                 type=ValueType(name='int'),
-                 doc='maximum number of CG/Newton linesearch iterations',
-             ),
-             StructFieldDecl(
-                 name='noslip_iterations',
-                 type=ValueType(name='int'),
-                 doc='maximum number of noslip solver iterations',
-             ),
-             StructFieldDecl(
-                 name='ccd_iterations',
-                 type=ValueType(name='int'),
-                 doc='maximum number of convex collision solver iterations',
-             ),
-             StructFieldDecl(
-                 name='disableflags',
-                 type=ValueType(name='int'),
-                 doc='bit flags for disabling standard features',
-             ),
-             StructFieldDecl(
-                 name='enableflags',
-                 type=ValueType(name='int'),
-                 doc='bit flags for enabling optional features',
-             ),
-             StructFieldDecl(
-                 name='disableactuator',
-                 type=ValueType(name='int'),
-                 doc='bit flags for disabling actuators by group id',
-             ),
-             StructFieldDecl(
-                 name='sdf_initpoints',
-                 type=ValueType(name='int'),
-                 doc='number of starting points for gradient descent',
-             ),
-             StructFieldDecl(
-                 name='sdf_iterations',
-                 type=ValueType(name='int'),
-                 doc='max number of iterations for gradient descent',
-             ),
-         ),
-     )),
-    ('mjVisual',
-     StructDecl(
-         name='mjVisual',
-         declname='struct mjVisual_',
-         fields=(
-             StructFieldDecl(
-                 name='global',
-                 type=AnonymousStructDecl(
-                     fields=(
-                         StructFieldDecl(
-                             name='cameraid',
-                             type=ValueType(name='int'),
-                             doc='initial camera id (-1: free)',
-                         ),
-                         StructFieldDecl(
-                             name='orthographic',
-                             type=ValueType(name='int'),
-                             doc='is the free camera orthographic (0: no, 1: yes)',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='fovy',
-                             type=ValueType(name='float'),
-                             doc='y field-of-view of free camera (orthographic ? length : degree)',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='ipd',
-                             type=ValueType(name='float'),
-                             doc='inter-pupilary distance for free camera',
-                         ),
-                         StructFieldDecl(
-                             name='azimuth',
-                             type=ValueType(name='float'),
-                             doc='initial azimuth of free camera (degrees)',
-                         ),
-                         StructFieldDecl(
-                             name='elevation',
-                             type=ValueType(name='float'),
-                             doc='initial elevation of free camera (degrees)',
-                         ),
-                         StructFieldDecl(
-                             name='linewidth',
-                             type=ValueType(name='float'),
-                             doc='line width for wireframe and ray rendering',
-                         ),
-                         StructFieldDecl(
-                             name='glow',
-                             type=ValueType(name='float'),
-                             doc='glow coefficient for selected body',
-                         ),
-                         StructFieldDecl(
-                             name='realtime',
-                             type=ValueType(name='float'),
-                             doc='initial real-time factor (1: real time)',
-                         ),
-                         StructFieldDecl(
-                             name='offwidth',
-                             type=ValueType(name='int'),
-                             doc='width of offscreen buffer',
-                         ),
-                         StructFieldDecl(
-                             name='offheight',
-                             type=ValueType(name='int'),
-                             doc='height of offscreen buffer',
-                         ),
-                         StructFieldDecl(
-                             name='ellipsoidinertia',
-                             type=ValueType(name='int'),
-                             doc='geom for inertia visualization (0: box, 1: ellipsoid)',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='bvactive',
-                             type=ValueType(name='int'),
-                             doc='visualize active bounding volumes (0: no, 1: yes)',  # pylint: disable=line-too-long
-                         ),
-                     ),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='quality',
-                 type=AnonymousStructDecl(
-                     fields=(
-                         StructFieldDecl(
-                             name='shadowsize',
-                             type=ValueType(name='int'),
-                             doc='size of shadowmap texture',
-                         ),
-                         StructFieldDecl(
-                             name='offsamples',
-                             type=ValueType(name='int'),
-                             doc='number of multisamples for offscreen rendering',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='numslices',
-                             type=ValueType(name='int'),
-                             doc='number of slices for builtin geom drawing',
-                         ),
-                         StructFieldDecl(
-                             name='numstacks',
-                             type=ValueType(name='int'),
-                             doc='number of stacks for builtin geom drawing',
-                         ),
-                         StructFieldDecl(
-                             name='numquads',
-                             type=ValueType(name='int'),
-                             doc='number of quads for box rendering',
-                         ),
-                     ),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='headlight',
-                 type=AnonymousStructDecl(
-                     fields=(
-                         StructFieldDecl(
-                             name='ambient',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(3,),
-                             ),
-                             doc='ambient rgb (alpha=1)',
-                         ),
-                         StructFieldDecl(
-                             name='diffuse',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(3,),
-                             ),
-                             doc='diffuse rgb (alpha=1)',
-                         ),
-                         StructFieldDecl(
-                             name='specular',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(3,),
-                             ),
-                             doc='specular rgb (alpha=1)',
-                         ),
-                         StructFieldDecl(
-                             name='active',
-                             type=ValueType(name='int'),
-                             doc='is headlight active',
-                         ),
-                     ),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='map',
-                 type=AnonymousStructDecl(
-                     fields=(
-                         StructFieldDecl(
-                             name='stiffness',
-                             type=ValueType(name='float'),
-                             doc='mouse perturbation stiffness (space->force)',
-                         ),
-                         StructFieldDecl(
-                             name='stiffnessrot',
-                             type=ValueType(name='float'),
-                             doc='mouse perturbation stiffness (space->torque)',
-                         ),
-                         StructFieldDecl(
-                             name='force',
-                             type=ValueType(name='float'),
-                             doc='from force units to space units',
-                         ),
-                         StructFieldDecl(
-                             name='torque',
-                             type=ValueType(name='float'),
-                             doc='from torque units to space units',
-                         ),
-                         StructFieldDecl(
-                             name='alpha',
-                             type=ValueType(name='float'),
-                             doc='scale geom alphas when transparency is enabled',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='fogstart',
-                             type=ValueType(name='float'),
-                             doc='OpenGL fog starts at fogstart * mjModel.stat.extent',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='fogend',
-                             type=ValueType(name='float'),
-                             doc='OpenGL fog ends at fogend * mjModel.stat.extent',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='znear',
-                             type=ValueType(name='float'),
-                             doc='near clipping plane = znear * mjModel.stat.extent',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='zfar',
-                             type=ValueType(name='float'),
-                             doc='far clipping plane = zfar * mjModel.stat.extent',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='haze',
-                             type=ValueType(name='float'),
-                             doc='haze ratio',
-                         ),
-                         StructFieldDecl(
-                             name='shadowclip',
-                             type=ValueType(name='float'),
-                             doc='directional light: shadowclip * mjModel.stat.extent',  # pylint: disable=line-too-long
-                         ),
-                         StructFieldDecl(
-                             name='shadowscale',
-                             type=ValueType(name='float'),
-                             doc='spot light: shadowscale * light.cutoff',
-                         ),
-                         StructFieldDecl(
-                             name='actuatortendon',
-                             type=ValueType(name='float'),
-                             doc='scale tendon width',
-                         ),
-                     ),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='scale',
-                 type=AnonymousStructDecl(
-                     fields=(
-                         StructFieldDecl(
-                             name='forcewidth',
-                             type=ValueType(name='float'),
-                             doc='width of force arrow',
-                         ),
-                         StructFieldDecl(
-                             name='contactwidth',
-                             type=ValueType(name='float'),
-                             doc='contact width',
-                         ),
-                         StructFieldDecl(
-                             name='contactheight',
-                             type=ValueType(name='float'),
-                             doc='contact height',
-                         ),
-                         StructFieldDecl(
-                             name='connect',
-                             type=ValueType(name='float'),
-                             doc='autoconnect capsule width',
-                         ),
-                         StructFieldDecl(
-                             name='com',
-                             type=ValueType(name='float'),
-                             doc='com radius',
-                         ),
-                         StructFieldDecl(
-                             name='camera',
-                             type=ValueType(name='float'),
-                             doc='camera object',
-                         ),
-                         StructFieldDecl(
-                             name='light',
-                             type=ValueType(name='float'),
-                             doc='light object',
-                         ),
-                         StructFieldDecl(
-                             name='selectpoint',
-                             type=ValueType(name='float'),
-                             doc='selection point',
-                         ),
-                         StructFieldDecl(
-                             name='jointlength',
-                             type=ValueType(name='float'),
-                             doc='joint length',
-                         ),
-                         StructFieldDecl(
-                             name='jointwidth',
-                             type=ValueType(name='float'),
-                             doc='joint width',
-                         ),
-                         StructFieldDecl(
-                             name='actuatorlength',
-                             type=ValueType(name='float'),
-                             doc='actuator length',
-                         ),
-                         StructFieldDecl(
-                             name='actuatorwidth',
-                             type=ValueType(name='float'),
-                             doc='actuator width',
-                         ),
-                         StructFieldDecl(
-                             name='framelength',
-                             type=ValueType(name='float'),
-                             doc='bodyframe axis length',
-                         ),
-                         StructFieldDecl(
-                             name='framewidth',
-                             type=ValueType(name='float'),
-                             doc='bodyframe axis width',
-                         ),
-                         StructFieldDecl(
-                             name='constraint',
-                             type=ValueType(name='float'),
-                             doc='constraint width',
-                         ),
-                         StructFieldDecl(
-                             name='slidercrank',
-                             type=ValueType(name='float'),
-                             doc='slidercrank width',
-                         ),
-                         StructFieldDecl(
-                             name='frustum',
-                             type=ValueType(name='float'),
-                             doc='frustum zfar plane',
-                         ),
-                     ),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='rgba',
-                 type=AnonymousStructDecl(
-                     fields=(
-                         StructFieldDecl(
-                             name='fog',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='fog',
-                         ),
-                         StructFieldDecl(
-                             name='haze',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='haze',
-                         ),
-                         StructFieldDecl(
-                             name='force',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='external force',
-                         ),
-                         StructFieldDecl(
-                             name='inertia',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='inertia box',
-                         ),
-                         StructFieldDecl(
-                             name='joint',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='joint',
-                         ),
-                         StructFieldDecl(
-                             name='actuator',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='actuator, neutral',
-                         ),
-                         StructFieldDecl(
-                             name='actuatornegative',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='actuator, negative limit',
-                         ),
-                         StructFieldDecl(
-                             name='actuatorpositive',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='actuator, positive limit',
-                         ),
-                         StructFieldDecl(
-                             name='com',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='center of mass',
-                         ),
-                         StructFieldDecl(
-                             name='camera',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='camera object',
-                         ),
-                         StructFieldDecl(
-                             name='light',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='light object',
-                         ),
-                         StructFieldDecl(
-                             name='selectpoint',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='selection point',
-                         ),
-                         StructFieldDecl(
-                             name='connect',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='auto connect',
-                         ),
-                         StructFieldDecl(
-                             name='contactpoint',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='contact point',
-                         ),
-                         StructFieldDecl(
-                             name='contactforce',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='contact force',
-                         ),
-                         StructFieldDecl(
-                             name='contactfriction',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='contact friction force',
-                         ),
-                         StructFieldDecl(
-                             name='contacttorque',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='contact torque',
-                         ),
-                         StructFieldDecl(
-                             name='contactgap',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='contact point in gap',
-                         ),
-                         StructFieldDecl(
-                             name='rangefinder',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='rangefinder ray',
-                         ),
-                         StructFieldDecl(
-                             name='constraint',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='constraint',
-                         ),
-                         StructFieldDecl(
-                             name='slidercrank',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='slidercrank',
-                         ),
-                         StructFieldDecl(
-                             name='crankbroken',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='used when crank must be stretched/broken',
-                         ),
-                         StructFieldDecl(
-                             name='frustum',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='camera frustum',
-                         ),
-                         StructFieldDecl(
-                             name='bv',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='bounding volume',
-                         ),
-                         StructFieldDecl(
-                             name='bvactive',
-                             type=ArrayType(
-                                 inner_type=ValueType(name='float'),
-                                 extents=(4,),
-                             ),
-                             doc='active bounding volume',
-                         ),
-                     ),
-                 ),
-                 doc='',
-             ),
-         ),
-     )),
-    ('mjStatistic',
-     StructDecl(
-         name='mjStatistic',
-         declname='struct mjStatistic_',
-         fields=(
-             StructFieldDecl(
-                 name='meaninertia',
-                 type=ValueType(name='mjtNum'),
-                 doc='mean diagonal inertia',
-             ),
-             StructFieldDecl(
-                 name='meanmass',
-                 type=ValueType(name='mjtNum'),
-                 doc='mean body mass',
-             ),
-             StructFieldDecl(
-                 name='meansize',
-                 type=ValueType(name='mjtNum'),
-                 doc='mean body size',
-             ),
-             StructFieldDecl(
-                 name='extent',
-                 type=ValueType(name='mjtNum'),
-                 doc='spatial extent',
-             ),
-             StructFieldDecl(
-                 name='center',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='center of model',
-             ),
-         ),
-     )),
-    ('mjModel',
-     StructDecl(
-         name='mjModel',
-         declname='struct mjModel_',
-         fields=(
-             StructFieldDecl(
-                 name='nq',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of generalized coordinates = dim(qpos)',
-             ),
-             StructFieldDecl(
-                 name='nv',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of degrees of freedom = dim(qvel)',
-             ),
-             StructFieldDecl(
-                 name='nu',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of scalar controls = dim(ctrl)',
-             ),
-             StructFieldDecl(
-                 name='nactuator',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of actuators',
-             ),
-             StructFieldDecl(
-                 name='nout',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of force outputs, derived from transmission type',
-             ),
-             StructFieldDecl(
-                 name='na',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of activation states = dim(act)',
-             ),
-             StructFieldDecl(
-                 name='nbody',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of bodies',
-             ),
-             StructFieldDecl(
-                 name='nbvh',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of total bounding volumes in all bodies',
-             ),
-             StructFieldDecl(
-                 name='nbvhstatic',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of static bounding volumes (aabb stored in mjModel)',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='nbvhdynamic',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of dynamic bounding volumes (aabb stored in mjData)',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='noct',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of total octree cells in all meshes',
-             ),
-             StructFieldDecl(
-                 name='njnt',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of joints',
-             ),
-             StructFieldDecl(
-                 name='ntree',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of kinematic trees under world body',
-             ),
-             StructFieldDecl(
-                 name='nM',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of non-zeros in sparse inertia matrix',
-             ),
-             StructFieldDecl(
-                 name='nB',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of non-zeros in sparse body-dof matrix',
-             ),
-             StructFieldDecl(
-                 name='nC',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of non-zeros in sparse reduced dof-dof matrix',
-             ),
-             StructFieldDecl(
-                 name='nD',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of non-zeros in sparse dof-dof matrix',
-             ),
-             StructFieldDecl(
-                 name='ngeom',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of geoms',
-             ),
-             StructFieldDecl(
-                 name='nsite',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of sites',
-             ),
-             StructFieldDecl(
-                 name='ncam',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of cameras',
-             ),
-             StructFieldDecl(
-                 name='nlight',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of lights',
-             ),
-             StructFieldDecl(
-                 name='nflex',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of flexes',
-             ),
-             StructFieldDecl(
-                 name='nflexnode',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of dofs in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nflexvert',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of vertices in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nflexedge',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of edges in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nflexelem',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of elements in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nflexelemdata',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of element vertex ids in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nflexstiffness',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of stiffness parameters in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nflexbending',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of bending parameters in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nefm0dof',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of dofs covered by the constant metric factor',
-             ),
-             StructFieldDecl(
-                 name='nefm0L',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of non-zeros in the constant metric factor',
-             ),
-             StructFieldDecl(
-                 name='nflexelemedge',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of element edge ids in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nflexshelldata',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of shell fragment vertex ids in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nflexevpair',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of element-vertex pairs in all flexes',
-             ),
-             StructFieldDecl(
-                 name='nflextexcoord',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of vertices with texture coordinates',
-             ),
-             StructFieldDecl(
-                 name='nJfe',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of non-zeros in sparse flexedge Jacobian matrix',
-             ),
-             StructFieldDecl(
-                 name='nJfv',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of non-zeros in sparse flexvert Jacobian matrix',
-             ),
-             StructFieldDecl(
-                 name='nmesh',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of meshes',
-             ),
-             StructFieldDecl(
-                 name='nmeshvert',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of vertices in all meshes',
-             ),
-             StructFieldDecl(
-                 name='nmeshnormal',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of normals in all meshes',
-             ),
-             StructFieldDecl(
-                 name='nmeshtexcoord',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of texcoords in all meshes',
-             ),
-             StructFieldDecl(
-                 name='nmeshface',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of triangular faces in all meshes',
-             ),
-             StructFieldDecl(
-                 name='nmeshgraph',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of ints in mesh auxiliary data',
-             ),
-             StructFieldDecl(
-                 name='nmeshpoly',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of polygons in all meshes',
-             ),
-             StructFieldDecl(
-                 name='nmeshpolyvert',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of vertices in all polygons',
-             ),
-             StructFieldDecl(
-                 name='nmeshpolymap',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of polygons in vertex map',
-             ),
-             StructFieldDecl(
-                 name='nskin',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of skins',
-             ),
-             StructFieldDecl(
-                 name='nskinvert',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of vertices in all skins',
-             ),
-             StructFieldDecl(
-                 name='nskintexvert',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of vertices with texcoords in all skins',
-             ),
-             StructFieldDecl(
-                 name='nskinface',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of triangular faces in all skins',
-             ),
-             StructFieldDecl(
-                 name='nskinbone',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of bones in all skins',
-             ),
-             StructFieldDecl(
-                 name='nskinbonevert',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of vertices in all skin bones',
-             ),
-             StructFieldDecl(
-                 name='nhfield',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of heightfields',
-             ),
-             StructFieldDecl(
-                 name='nhfielddata',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of data points in all heightfields',
-             ),
-             StructFieldDecl(
-                 name='ntex',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of textures',
-             ),
-             StructFieldDecl(
-                 name='ntexdata',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of bytes in texture rgb data',
-             ),
-             StructFieldDecl(
-                 name='nmat',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of materials',
-             ),
-             StructFieldDecl(
-                 name='npair',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of predefined geom pairs',
-             ),
-             StructFieldDecl(
-                 name='nexclude',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of excluded geom pairs',
-             ),
-             StructFieldDecl(
-                 name='neq',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of equality constraints',
-             ),
-             StructFieldDecl(
-                 name='ntendon',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of tendons',
-             ),
-             StructFieldDecl(
-                 name='nJten',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of non-zeros in sparse ten_J matrix',
-             ),
-             StructFieldDecl(
-                 name='nwrap',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of wrap objects in all tendon paths',
-             ),
-             StructFieldDecl(
-                 name='nsensor',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of sensors',
-             ),
-             StructFieldDecl(
-                 name='nnumeric',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of numeric custom fields',
-             ),
-             StructFieldDecl(
-                 name='nnumericdata',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in all numeric fields',
-             ),
-             StructFieldDecl(
-                 name='ntext',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of text custom fields',
-             ),
-             StructFieldDecl(
-                 name='ntextdata',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtBytes in all text fields',
-             ),
-             StructFieldDecl(
-                 name='ntuple',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of tuple custom fields',
-             ),
-             StructFieldDecl(
-                 name='ntupledata',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of objects in all tuple fields',
-             ),
-             StructFieldDecl(
-                 name='nkey',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of keyframes',
-             ),
-             StructFieldDecl(
-                 name='nmocap',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mocap bodies',
-             ),
-             StructFieldDecl(
-                 name='nplugin',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of plugin instances',
-             ),
-             StructFieldDecl(
-                 name='npluginattr',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of chars in all plugin config attributes',
-             ),
-             StructFieldDecl(
-                 name='nuser_body',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in body_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_jnt',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in jnt_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_geom',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in geom_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_site',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in site_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_cam',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in cam_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_tendon',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in tendon_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_actuator',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in actuator_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_sensor',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in sensor_user',
-             ),
-             StructFieldDecl(
-                 name='nnames',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of chars in all names',
-             ),
-             StructFieldDecl(
-                 name='npaths',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of chars in all paths',
-             ),
-             StructFieldDecl(
-                 name='nnames_map',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of slots in the names hash map',
-             ),
-             StructFieldDecl(
-                 name='nJmom',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of non-zeros in sparse actuator_moment matrix',
-             ),
-             StructFieldDecl(
-                 name='ngravcomp',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of bodies with nonzero gravcomp',
-             ),
-             StructFieldDecl(
-                 name='nemax',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of potential equality-constraint rows',
-             ),
-             StructFieldDecl(
-                 name='njmax',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of available rows in constraint Jacobian (legacy)',
-             ),
-             StructFieldDecl(
-                 name='nconmax',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of potential contacts in contact list (legacy)',
-             ),
-             StructFieldDecl(
-                 name='npolygonmax',
-                 type=ValueType(name='mjtSize'),
-                 doc='maximum number of vertices in a mesh polygon',
-             ),
-             StructFieldDecl(
-                 name='nmeshdegmax',
-                 type=ValueType(name='mjtSize'),
-                 doc='maximum number of edges adjacent to a mesh vertex',
-             ),
-             StructFieldDecl(
-                 name='nuserdata',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums reserved for the user',
-             ),
-             StructFieldDecl(
-                 name='nsensordata',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in sensor data vector',
-             ),
-             StructFieldDecl(
-                 name='npluginstate',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in plugin state vector',
-             ),
-             StructFieldDecl(
-                 name='nhistory',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of mjtNums in history buffer',
-             ),
-             StructFieldDecl(
-                 name='narena',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of bytes in the mjData arena (inclusive of stack)',
-             ),
-             StructFieldDecl(
-                 name='nbuffer',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of bytes in buffer',
-             ),
-             StructFieldDecl(
-                 name='flg_gravcomp',
-                 type=ValueType(name='mjtBool'),
-                 doc='whether any body has nonzero gravcomp',
-             ),
-             StructFieldDecl(
-                 name='flg_surfacevel',
-                 type=ValueType(name='mjtBool'),
-                 doc='whether any geom has nonzero surfacevel',
-             ),
-             StructFieldDecl(
-                 name='flg_adhesion',
-                 type=ValueType(name='mjtBool'),
-                 doc='whether any geom or pair has nonzero adhesion',
-             ),
-             StructFieldDecl(
-                 name='opt',
-                 type=ValueType(name='mjOption'),
-                 doc='physics options',
-             ),
-             StructFieldDecl(
-                 name='vis',
-                 type=ValueType(name='mjVisual'),
-                 doc='visualization options',
-             ),
-             StructFieldDecl(
-                 name='stat',
-                 type=ValueType(name='mjStatistic'),
-                 doc='model statistics',
-             ),
-             StructFieldDecl(
-                 name='buffer',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='main buffer; all pointers point in it    (nbuffer)',
-             ),
-             StructFieldDecl(
-                 name='qpos0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='qpos values at default pose',
-                 array_extent=('nq',),
-             ),
-             StructFieldDecl(
-                 name='qpos_spring',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='reference pose for springs',
-                 array_extent=('nq',),
-             ),
-             StructFieldDecl(
-                 name='body_parentid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of body's parent",
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_rootid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='ancestor that is direct child of world',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_weldid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='top dof-less ancestor; mocap: own root',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_mocapid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of mocap data; -1: none',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_jntnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of joints for this body',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_jntadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='start addr of joints; -1: no joints',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_dofnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of motion degrees of freedom',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_dofadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='start addr of dofs; -1: no dofs',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_treeid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of body's kinematic tree; -1: static",
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_geomnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of geoms',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_geomadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='start addr of geoms; -1: no geoms',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_simple',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtByte'),
-                 ),
-                 doc='1: diag M; 2: diag M, sliders only',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_sameframe',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtByte'),
-                 ),
-                 doc='same frame as inertia (mjtSameframe)',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_pos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='position offset rel. to parent body',
-                 array_extent=('nbody', 3),
-             ),
-             StructFieldDecl(
-                 name='body_quat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='orientation offset rel. to parent body',
-                 array_extent=('nbody', 4),
-             ),
-             StructFieldDecl(
-                 name='body_ipos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='local position of center of mass',
-                 array_extent=('nbody', 3),
-             ),
-             StructFieldDecl(
-                 name='body_iquat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='local orientation of inertia ellipsoid',
-                 array_extent=('nbody', 4),
-             ),
-             StructFieldDecl(
-                 name='body_mass',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='mass',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_subtreemass',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='mass of subtree starting at this body',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_inertia',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='diagonal inertia in ipos/iquat frame',
-                 array_extent=('nbody', 3),
-             ),
-             StructFieldDecl(
-                 name='body_invweight0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='mean inv inert in qpos0 (trn, rot)',
-                 array_extent=('nbody', 2),
-             ),
-             StructFieldDecl(
-                 name='body_gravcomp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='antigravity force, units of body weight',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_margin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='MAX over all geom margins+gaps',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_user',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='user data',
-                 array_extent=('nbody', 'nuser_body'),
-             ),
-             StructFieldDecl(
-                 name='body_plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='plugin instance id; -1: not in use',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_contype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='OR over all geom contypes',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_conaffinity',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='OR over all geom conaffinities',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_bvhadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
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-             ),
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-                 type=PointerType(
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-                 ),
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-             ),
-             StructFieldDecl(
-                 name='bvh_depth',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='depth in the bounding volume hierarchy',
-                 array_extent=('nbvh',),
-             ),
-             StructFieldDecl(
-                 name='bvh_child',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='left and right children in tree',
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-             ),
-             StructFieldDecl(
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-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='geom or elem id of node; -1: non-leaf',
-                 array_extent=('nbvh',),
-             ),
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-                 name='bvh_aabb',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='local bounding box (center, size)',
-                 array_extent=('nbvhstatic', 6),
-             ),
-             StructFieldDecl(
-                 name='oct_depth',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='depth in the octree',
-                 array_extent=('noct',),
-             ),
-             StructFieldDecl(
-                 name='oct_child',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='children of octree node',
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-             ),
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-                 type=PointerType(
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-                 ),
-                 doc='octree node bounding box (center, size)',
-                 array_extent=('noct', 6),
-             ),
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-                 name='oct_coeff',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='octree interpolation coefficients',
-                 array_extent=('noct', 8),
-             ),
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-                 name='jnt_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='type of joint (mjtJoint)',
-                 array_extent=('njnt',),
-             ),
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-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="start addr in 'qpos' for joint's data",
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-             ),
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-                 type=PointerType(
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-                 doc="start addr in 'qvel' for joint's data",
-                 array_extent=('njnt',),
-             ),
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-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of joint's body",
-                 array_extent=('njnt',),
-             ),
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-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='actuator contributing damping / armature',
-                 array_extent=('njnt',),
-             ),
-             StructFieldDecl(
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-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='group for visibility',
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-             ),
-             StructFieldDecl(
-                 name='jnt_limited',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='does joint have limits',
-                 array_extent=('njnt',),
-             ),
-             StructFieldDecl(
-                 name='jnt_actfrclimited',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='does joint have actuator force limits',
-                 array_extent=('njnt',),
-             ),
-             StructFieldDecl(
-                 name='jnt_actgravcomp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='is gravcomp force applied via actuators',
-                 array_extent=('njnt',),
-             ),
-             StructFieldDecl(
-                 name='jnt_solref',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver reference: limit',
-                 array_extent=('njnt', 'mjNREF'),
-             ),
-             StructFieldDecl(
-                 name='jnt_solimp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver impedance: limit',
-                 array_extent=('njnt', 'mjNIMP'),
-             ),
-             StructFieldDecl(
-                 name='jnt_pos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='local anchor position',
-                 array_extent=('njnt', 3),
-             ),
-             StructFieldDecl(
-                 name='jnt_axis',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='local joint axis',
-                 array_extent=('njnt', 3),
-             ),
-             StructFieldDecl(
-                 name='jnt_stiffness',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='linear stiffness coefficient',
-                 array_extent=('njnt',),
-             ),
-             StructFieldDecl(
-                 name='jnt_stiffnesspoly',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='high-order stiffness coefficients',
-                 array_extent=('njnt', 'mjNPOLY'),
-             ),
-             StructFieldDecl(
-                 name='jnt_range',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='joint limits',
-                 array_extent=('njnt', 2),
-             ),
-             StructFieldDecl(
-                 name='jnt_actfrcrange',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='range of total actuator force',
-                 array_extent=('njnt', 2),
-             ),
-             StructFieldDecl(
-                 name='jnt_margin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='min distance for limit detection',
-                 array_extent=('njnt',),
-             ),
-             StructFieldDecl(
-                 name='jnt_user',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='user data',
-                 array_extent=('njnt', 'nuser_jnt'),
-             ),
-             StructFieldDecl(
-                 name='dof_bodyid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of dof's body",
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_jntid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of dof's joint",
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_parentid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of dof's parent; -1: none",
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_treeid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of dof's kinematic tree",
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_Madr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='dof address in M-diagonal',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_simplenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of consecutive simple dofs',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_solref',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver reference:frictionloss',
-                 array_extent=('nv', 'mjNREF'),
-             ),
-             StructFieldDecl(
-                 name='dof_solimp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver impedance:frictionloss',
-                 array_extent=('nv', 'mjNIMP'),
-             ),
-             StructFieldDecl(
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-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='dof friction loss',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
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-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='dof armature inertia/mass',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_damping',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='linear damping coefficient',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_dampingpoly',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='high-order damping coefficients',
-                 array_extent=('nv', 'mjNPOLY'),
-             ),
-             StructFieldDecl(
-                 name='dof_invweight0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='diag. inverse inertia in qpos0',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_M0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='diag. inertia in qpos0',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='dof_length',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='linear: 1; angular: approx. length scale',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
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-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='start addr of bodies',
-                 array_extent=('ntree',),
-             ),
-             StructFieldDecl(
-                 name='tree_bodynum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
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-                 doc='number of bodies in tree',
-                 array_extent=('ntree',),
-             ),
-             StructFieldDecl(
-                 name='tree_dofadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='start addr of dofs',
-                 array_extent=('ntree',),
-             ),
-             StructFieldDecl(
-                 name='tree_dofnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of dofs in tree',
-                 array_extent=('ntree',),
-             ),
-             StructFieldDecl(
-                 name='tree_sleep_policy',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='sleep policy (mjtSleepPolicy)',
-                 array_extent=('ntree',),
-             ),
-             StructFieldDecl(
-                 name='geom_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='geometric type (mjtGeom)',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_contype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='geom contact type',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_conaffinity',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='geom contact affinity',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_condim',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='contact dimensionality (1, 3, 4, 6)',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_bodyid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of geom's body",
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_dataid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of geom's mesh/hfield; -1: none",
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_matid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='material id for rendering; -1: none',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_group',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='group for visibility',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_priority',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='geom contact priority',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='plugin instance id; -1: not in use',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_sameframe',
-                 type=PointerType(
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-                 doc='same frame as body (mjtSameframe)',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_solmix',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='mixing coef for solref/imp in geom pair',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_solref',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver reference: contact',
-                 array_extent=('ngeom', 'mjNREF'),
-             ),
-             StructFieldDecl(
-                 name='geom_solimp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver impedance: contact',
-                 array_extent=('ngeom', 'mjNIMP'),
-             ),
-             StructFieldDecl(
-                 name='geom_size',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
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-                 doc='geom-specific size parameters',
-                 array_extent=('ngeom', 3),
-             ),
-             StructFieldDecl(
-                 name='geom_aabb',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='bounding box, (center, size)',
-                 array_extent=('ngeom', 6),
-             ),
-             StructFieldDecl(
-                 name='geom_rbound',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='radius of bounding sphere',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_pos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='local position offset rel. to body',
-                 array_extent=('ngeom', 3),
-             ),
-             StructFieldDecl(
-                 name='geom_quat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
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-                 doc='local orientation offset rel. to body',
-                 array_extent=('ngeom', 4),
-             ),
-             StructFieldDecl(
-                 name='geom_friction',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='friction for (slide, spin, roll)',
-                 array_extent=('ngeom', 3),
-             ),
-             StructFieldDecl(
-                 name='geom_margin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='geometric inflation for contact',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_gap',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='additional contact detection buffer',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_surfacevel',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='surface velocity in local frame: lin,ang',
-                 array_extent=('ngeom', 6),
-             ),
-             StructFieldDecl(
-                 name='geom_adhesion',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='adhesive force of contacts',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='geom_fluid',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='fluid interaction parameters',
-                 array_extent=('ngeom', 'mjNFLUID'),
-             ),
-             StructFieldDecl(
-                 name='geom_user',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='user data',
-                 array_extent=('ngeom', 'nuser_geom'),
-             ),
-             StructFieldDecl(
-                 name='geom_rgba',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
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-                 doc='rgba when material is omitted',
-                 array_extent=('ngeom', 4),
-             ),
-             StructFieldDecl(
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-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='geom type for rendering (mjtGeom)',
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-             ),
-             StructFieldDecl(
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-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of site's body",
-                 array_extent=('nsite',),
-             ),
-             StructFieldDecl(
-                 name='site_matid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='material id for rendering; -1: none',
-                 array_extent=('nsite',),
-             ),
-             StructFieldDecl(
-                 name='site_group',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='group for visibility',
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-             ),
-             StructFieldDecl(
-                 name='site_sameframe',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtByte'),
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-                 doc='same frame as body (mjtSameframe)',
-                 array_extent=('nsite',),
-             ),
-             StructFieldDecl(
-                 name='site_size',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='geom size for rendering',
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-             ),
-             StructFieldDecl(
-                 name='site_pos',
-                 type=PointerType(
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-                 ),
-                 doc='local position offset rel. to body',
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-             ),
-             StructFieldDecl(
-                 name='site_quat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='local orientation offset rel. to body',
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-             ),
-             StructFieldDecl(
-                 name='site_user',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='user data',
-                 array_extent=('nsite', 'nuser_site'),
-             ),
-             StructFieldDecl(
-                 name='site_rgba',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='rgba when material is omitted',
-                 array_extent=('nsite', 4),
-             ),
-             StructFieldDecl(
-                 name='cam_mode',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='camera tracking mode (mjtCamLight)',
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-             ),
-             StructFieldDecl(
-                 name='cam_bodyid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of camera's body",
-                 array_extent=('ncam',),
-             ),
-             StructFieldDecl(
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-                 type=PointerType(
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-                 doc='id of targeted body; -1: none',
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-             ),
-             StructFieldDecl(
-                 name='cam_pos',
-                 type=PointerType(
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-                 array_extent=('ncam', 3),
-             ),
-             StructFieldDecl(
-                 name='cam_quat',
-                 type=PointerType(
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-                 array_extent=('ncam', 4),
-             ),
-             StructFieldDecl(
-                 name='cam_poscom0',
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-                 doc='global position rel. to sub-com in qpos0',
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-             StructFieldDecl(
-                 name='cam_pos0',
-                 type=PointerType(
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-                 doc='global position rel. to body in qpos0',
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-             StructFieldDecl(
-                 name='cam_mat0',
-                 type=PointerType(
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-                 doc='global orientation in qpos0',
-                 array_extent=('ncam', 9),
-             ),
-             StructFieldDecl(
-                 name='cam_projection',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
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-                 doc='projection type (mjtProjection)',
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-             ),
-             StructFieldDecl(
-                 name='cam_fovy',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='y field-of-view (ortho ? len : deg)',
-                 array_extent=('ncam',),
-             ),
-             StructFieldDecl(
-                 name='cam_ipd',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
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-                 doc='inter-pupilary distance',
-                 array_extent=('ncam',),
-             ),
-             StructFieldDecl(
-                 name='cam_resolution',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='resolution: pixels [width, height]',
-                 array_extent=('ncam', 2),
-             ),
-             StructFieldDecl(
-                 name='cam_output',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='output types (mjtCamOut bit flags)',
-                 array_extent=('ncam',),
-             ),
-             StructFieldDecl(
-                 name='cam_sensorsize',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='sensor size: length [width, height]',
-                 array_extent=('ncam', 2),
-             ),
-             StructFieldDecl(
-                 name='cam_intrinsic',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='[focal length; principal point]',
-                 array_extent=('ncam', 4),
-             ),
-             StructFieldDecl(
-                 name='cam_user',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='user data',
-                 array_extent=('ncam', 'nuser_cam'),
-             ),
-             StructFieldDecl(
-                 name='light_mode',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='light tracking mode (mjtCamLight)',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_bodyid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="id of light's body",
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_targetbodyid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of targeted body; -1: none',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='spot, directional, etc. (mjtLightType)',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_texid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='texture id for image lights',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_castshadow',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='does light cast shadows',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_bulbradius',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='light radius for soft shadows',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_intensity',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='intensity, in candela',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_range',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='range of effectiveness',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_active',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='is light on',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_pos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='position rel. to body frame',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='light_dir',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='direction rel. to body frame',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='light_poscom0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='global position rel. to sub-com in qpos0',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='light_pos0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='global position rel. to body in qpos0',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='light_dir0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='global direction in qpos0',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='light_attenuation',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='OpenGL attenuation (quadratic model)',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='light_cutoff',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='OpenGL cutoff',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_softness',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='spotlight edge softness',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_exponent',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='OpenGL exponent',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='light_ambient',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='ambient rgb (alpha=1)',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='light_diffuse',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='diffuse rgb (alpha=1)',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='light_specular',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='specular rgb (alpha=1)',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='flex_contype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='flex contact type',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_conaffinity',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='flex contact affinity',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_condim',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='contact dimensionality (1, 3, 4, 6)',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_priority',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='flex contact priority',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_solmix',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='mix coef for solref/imp in contact pair',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_solref',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver reference: contact',
-                 array_extent=('nflex', 'mjNREF'),
-             ),
-             StructFieldDecl(
-                 name='flex_solimp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver impedance: contact',
-                 array_extent=('nflex', 'mjNIMP'),
-             ),
-             StructFieldDecl(
-                 name='flex_friction',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='friction for (slide, spin, roll)',
-                 array_extent=('nflex', 3),
-             ),
-             StructFieldDecl(
-                 name='flex_margin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='geometric inflation for contact',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_gap',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='additional contact detection buffer',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_internal',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='internal flex collision enabled',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_selfcollide',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='self collision mode (mjtFlexSelf)',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_activelayers',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of active element layers, 3D only',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_passive',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='passive collisions enabled',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_dim',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='1: lines, 2: triangles, 3: tetrahedra',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_matid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='material id for rendering',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_group',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='group for visibility',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_interp',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='interpolation (0: vertex, 1: nodes)',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_cellnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='finite cell num per dimension',
-                 array_extent=('nflex', 3),
-             ),
-             StructFieldDecl(
-                 name='flex_nodeadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first node address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_nodenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of nodes',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_vertadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first vertex address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_vertnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of vertices',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_edgeadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first edge address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_edgenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of edges',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_elemadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first element address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_elemnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of elements',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_elemdataadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first element vertex id address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_stiffnessadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='stiffness matrix address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_elemedgeadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first element edge id address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_bendingadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first bending data address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_shellnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of shells',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_shelldataadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first shell data address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_evpairadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first evpair address',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_evpairnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of evpairs',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_texcoordadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address in flex_texcoord; -1: none',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_nodebodyid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='node body ids',
-                 array_extent=('nflexnode',),
-             ),
-             StructFieldDecl(
-                 name='flex_vertbodyid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='vertex body ids',
-                 array_extent=('nflexvert',),
-             ),
-             StructFieldDecl(
-                 name='flex_vertedgeadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first edge address',
-                 array_extent=('nflexvert',),
-             ),
-             StructFieldDecl(
-                 name='flex_vertedgenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of edges',
-                 array_extent=('nflexvert',),
-             ),
-             StructFieldDecl(
-                 name='flex_vertedge',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='edge indices',
-                 array_extent=('nflexedge', 2),
-             ),
-             StructFieldDecl(
-                 name='flex_edge',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='edge vertex ids (2 per edge)',
-                 array_extent=('nflexedge', 2),
-             ),
-             StructFieldDecl(
-                 name='flex_edgeflap',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='adjacent vertex ids (dim=2 only)',
-                 array_extent=('nflexedge', 2),
-             ),
-             StructFieldDecl(
-                 name='flex_elem',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='element vertex ids (dim+1 per elem)',
-                 array_extent=('nflexelemdata',),
-             ),
-             StructFieldDecl(
-                 name='flex_elemtexcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='element texture coordinates (dim+1)',
-                 array_extent=('nflexelemdata',),
-             ),
-             StructFieldDecl(
-                 name='flex_elemedge',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='element edge ids',
-                 array_extent=('nflexelemedge',),
-             ),
-             StructFieldDecl(
-                 name='flex_elemlayer',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='element distance from surface, 3D only',
-                 array_extent=('nflexelem',),
-             ),
-             StructFieldDecl(
-                 name='flex_shell',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='shell fragment vertex ids (dim per frag)',
-                 array_extent=('nflexshelldata',),
-             ),
-             StructFieldDecl(
-                 name='flex_evpair',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='(element, vertex) collision pairs',
-                 array_extent=('nflexevpair', 2),
-             ),
-             StructFieldDecl(
-                 name='flex_vert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='vertex positions in local body frames',
-                 array_extent=('nflexvert', 3),
-             ),
-             StructFieldDecl(
-                 name='flex_vert0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='vertex positions in qpos0 on [0, 1]^d',
-                 array_extent=('nflexvert', 3),
-             ),
-             StructFieldDecl(
-                 name='flex_vertmetric',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='inverse of reference shape matrix',
-                 array_extent=('nflexvert', 4),
-             ),
-             StructFieldDecl(
-                 name='flex_node',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='node positions in local body frames',
-                 array_extent=('nflexnode', 3),
-             ),
-             StructFieldDecl(
-                 name='flex_node0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian node positions in qpos0',
-                 array_extent=('nflexnode', 3),
-             ),
-             StructFieldDecl(
-                 name='flexedge_length0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='edge lengths in qpos0',
-                 array_extent=('nflexedge',),
-             ),
-             StructFieldDecl(
-                 name='flexedge_invweight0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='edge inv. weight in qpos0',
-                 array_extent=('nflexedge',),
-             ),
-             StructFieldDecl(
-                 name='flex_radius',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='radius around primitive element',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_size',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='vertex bounding box half sizes in qpos0',
-                 array_extent=('nflex', 3),
-             ),
-             StructFieldDecl(
-                 name='flex_stiffness',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='finite element stiffness matrix',
-                 array_extent=('nflexstiffness',),
-             ),
-             StructFieldDecl(
-                 name='flex_bending',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='bending stiffness',
-                 array_extent=('nflexbending',),
-             ),
-             StructFieldDecl(
-                 name='efm0_dofid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='constant metric factor row->dof address',
-                 array_extent=('nefm0dof',),
-             ),
-             StructFieldDecl(
-                 name='efm0_L_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='constant metric factor row nonzeros',
-                 array_extent=('nefm0dof',),
-             ),
-             StructFieldDecl(
-                 name='efm0_L_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='constant metric factor row addresses',
-                 array_extent=('nefm0dof',),
-             ),
-             StructFieldDecl(
-                 name='efm0_L_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='constant metric factor column indices',
-                 array_extent=('nefm0L',),
-             ),
-             StructFieldDecl(
-                 name='efm0_L',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='factor of M + (dt^2+dt*d)*K_bend',
-                 array_extent=('nefm0L',),
-             ),
-             StructFieldDecl(
-                 name='flex_damping',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc="Rayleigh's damping coefficient",
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_edgestiffness',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='edge stiffness',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_edgedamping',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='edge damping',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_edgeequality',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='0:none, 1:edges, 2:vertices, 3:strain',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_rigid',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='are all vertices in the same body',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flexedge_rigid',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='are both edge vertices in same body',
-                 array_extent=('nflexedge',),
-             ),
-             StructFieldDecl(
-                 name='flex_centered',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='are all vertex coordinates (0,0,0)',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_flatskin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='render flex skin with flat shading',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_bvhadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of bvh root; -1: no bvh',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flex_bvhnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of bounding volumes',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='flexedge_J_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of non-zeros in Jacobian row',
-                 array_extent=('nflexedge',),
-             ),
-             StructFieldDecl(
-                 name='flexedge_J_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='row start address in colind array',
-                 array_extent=('nflexedge',),
-             ),
-             StructFieldDecl(
-                 name='flexedge_J_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='column indices in sparse Jacobian',
-                 array_extent=('nJfe',),
-             ),
-             StructFieldDecl(
-                 name='flexvert_J_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of non-zeros in Jacobian row',
-                 array_extent=('nflexvert', 2),
-             ),
-             StructFieldDecl(
-                 name='flexvert_J_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='row start address in colind array',
-                 array_extent=('nflexvert', 2),
-             ),
-             StructFieldDecl(
-                 name='flexvert_J_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='column indices in sparse Jacobian',
-                 array_extent=('nJfv', 2),
-             ),
-             StructFieldDecl(
-                 name='flex_rgba',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='rgba when material is omitted',
-                 array_extent=('nflex', 4),
-             ),
-             StructFieldDecl(
-                 name='flex_texcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='vertex texture coordinates',
-                 array_extent=('nflextexcoord', 2),
-             ),
-             StructFieldDecl(
-                 name='mesh_vertadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first vertex address',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_vertnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of vertices',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_faceadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first face address',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_facenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of faces',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_bvhadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of bvh root',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_bvhnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of bvh',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_octadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of octree root',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_octnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of octree nodes',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_normaladr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first normal address',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_normalnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of normals',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_texcoordadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='texcoord data address; -1: no texcoord',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_texcoordnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of texcoord',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_graphadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='graph data address; -1: no graph',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_extrema',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='extremum vertices in 3x3x3 directions',
-                 array_extent=('nmesh', 27),
-             ),
-             StructFieldDecl(
-                 name='mesh_vert',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='vertex positions for all meshes',
-                 array_extent=('nmeshvert', 3),
-             ),
-             StructFieldDecl(
-                 name='mesh_normal',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='normals for all meshes',
-                 array_extent=('nmeshnormal', 3),
-             ),
-             StructFieldDecl(
-                 name='mesh_texcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='vertex texcoords for all meshes',
-                 array_extent=('nmeshtexcoord', 2),
-             ),
-             StructFieldDecl(
-                 name='mesh_face',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='vertex face data',
-                 array_extent=('nmeshface', 3),
-             ),
-             StructFieldDecl(
-                 name='mesh_facenormal',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='normal face data',
-                 array_extent=('nmeshface', 3),
-             ),
-             StructFieldDecl(
-                 name='mesh_facetexcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='texture face data',
-                 array_extent=('nmeshface', 3),
-             ),
-             StructFieldDecl(
-                 name='mesh_graph',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='convex graph data',
-                 array_extent=('nmeshgraph',),
-             ),
-             StructFieldDecl(
-                 name='mesh_scale',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='scaling applied to asset vertices',
-                 array_extent=('nmesh', 3),
-             ),
-             StructFieldDecl(
-                 name='mesh_pos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='translation applied to asset vertices',
-                 array_extent=('nmesh', 3),
-             ),
-             StructFieldDecl(
-                 name='mesh_quat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='rotation applied to asset vertices',
-                 array_extent=('nmesh', 4),
-             ),
-             StructFieldDecl(
-                 name='mesh_pathadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of asset path for mesh; -1: none',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_polynum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of polygons per mesh',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_polyadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first polygon address per mesh',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='mesh_polynormal',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='all polygon normals',
-                 array_extent=('nmeshpoly', 3),
-             ),
-             StructFieldDecl(
-                 name='mesh_polyvertadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='polygon vertex start address',
-                 array_extent=('nmeshpoly',),
-             ),
-             StructFieldDecl(
-                 name='mesh_polyvertnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of vertices per polygon',
-                 array_extent=('nmeshpoly',),
-             ),
-             StructFieldDecl(
-                 name='mesh_polyvert',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='all polygon vertices',
-                 array_extent=('nmeshpolyvert',),
-             ),
-             StructFieldDecl(
-                 name='mesh_polymapadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first polygon address per vertex',
-                 array_extent=('nmeshvert',),
-             ),
-             StructFieldDecl(
-                 name='mesh_polymapnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of polygons per vertex',
-                 array_extent=('nmeshvert',),
-             ),
-             StructFieldDecl(
-                 name='mesh_polymap',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='vertex to polygon map',
-                 array_extent=('nmeshpolymap',),
-             ),
-             StructFieldDecl(
-                 name='skin_matid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='skin material id; -1: none',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_group',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='group for visibility',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_rgba',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='skin rgba',
-                 array_extent=('nskin', 4),
-             ),
-             StructFieldDecl(
-                 name='skin_inflate',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='inflate skin in normal direction',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_vertadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first vertex address',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_vertnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of vertices',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_texcoordadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='texcoord data address; -1: no texcoord',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_faceadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first face address',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_facenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of faces',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_boneadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first bone in skin',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_bonenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of bones in skin',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='skin_vert',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='vertex positions for all skin meshes',
-                 array_extent=('nskinvert', 3),
-             ),
-             StructFieldDecl(
-                 name='skin_texcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='vertex texcoords for all skin meshes',
-                 array_extent=('nskintexvert', 2),
-             ),
-             StructFieldDecl(
-                 name='skin_face',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='triangle faces for all skin meshes',
-                 array_extent=('nskinface', 3),
-             ),
-             StructFieldDecl(
-                 name='skin_bonevertadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first vertex in each bone',
-                 array_extent=('nskinbone',),
-             ),
-             StructFieldDecl(
-                 name='skin_bonevertnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of vertices in each bone',
-                 array_extent=('nskinbone',),
-             ),
-             StructFieldDecl(
-                 name='skin_bonebindpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='bind pos of each bone',
-                 array_extent=('nskinbone', 3),
-             ),
-             StructFieldDecl(
-                 name='skin_bonebindquat',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='bind quat of each bone',
-                 array_extent=('nskinbone', 4),
-             ),
-             StructFieldDecl(
-                 name='skin_bonebodyid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='body id of each bone',
-                 array_extent=('nskinbone',),
-             ),
-             StructFieldDecl(
-                 name='skin_bonevertid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='mesh ids of vertices in each bone',
-                 array_extent=('nskinbonevert',),
-             ),
-             StructFieldDecl(
-                 name='skin_bonevertweight',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='weights of vertices in each bone',
-                 array_extent=('nskinbonevert',),
-             ),
-             StructFieldDecl(
-                 name='skin_pathadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of asset path for skin; -1: none',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='hfield_size',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='(x, y, z_top, z_bottom)',
-                 array_extent=('nhfield', 4),
-             ),
-             StructFieldDecl(
-                 name='hfield_nrow',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of rows in grid',
-                 array_extent=('nhfield',),
-             ),
-             StructFieldDecl(
-                 name='hfield_ncol',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of columns in grid',
-                 array_extent=('nhfield',),
-             ),
-             StructFieldDecl(
-                 name='hfield_adr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address in hfield_data',
-                 array_extent=('nhfield',),
-             ),
-             StructFieldDecl(
-                 name='hfield_data',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='elevation data',
-                 array_extent=('nhfielddata',),
-             ),
-             StructFieldDecl(
-                 name='hfield_pathadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of hfield asset path; -1: none',
-                 array_extent=('nhfield',),
-             ),
-             StructFieldDecl(
-                 name='tex_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='texture type (mjtTexture)',
-                 array_extent=('ntex',),
-             ),
-             StructFieldDecl(
-                 name='tex_colorspace',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='texture colorspace (mjtColorSpace)',
-                 array_extent=('ntex',),
-             ),
-             StructFieldDecl(
-                 name='tex_height',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of rows in texture image',
-                 array_extent=('ntex',),
-             ),
-             StructFieldDecl(
-                 name='tex_width',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of columns in texture image',
-                 array_extent=('ntex',),
-             ),
-             StructFieldDecl(
-                 name='tex_nchannel',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of channels in texture image',
-                 array_extent=('ntex',),
-             ),
-             StructFieldDecl(
-                 name='tex_adr',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtSize'),
-                 ),
-                 doc='start address in tex_data',
-                 array_extent=('ntex',),
-             ),
-             StructFieldDecl(
-                 name='tex_data',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtByte'),
-                 ),
-                 doc='pixel values',
-                 array_extent=('ntexdata',),
-             ),
-             StructFieldDecl(
-                 name='tex_pathadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of texture asset path; -1: none',
-                 array_extent=('ntex',),
-             ),
-             StructFieldDecl(
-                 name='mat_texid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='indices of textures; -1: none',
-                 array_extent=('nmat', 'mjNTEXROLE'),
-             ),
-             StructFieldDecl(
-                 name='mat_texuniform',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='make texture cube uniform',
-                 array_extent=('nmat',),
-             ),
-             StructFieldDecl(
-                 name='mat_texrepeat',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='texture repetition for 2d mapping',
-                 array_extent=('nmat', 2),
-             ),
-             StructFieldDecl(
-                 name='mat_emission',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='emission (x rgb)',
-                 array_extent=('nmat',),
-             ),
-             StructFieldDecl(
-                 name='mat_specular',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='specular (x white)',
-                 array_extent=('nmat',),
-             ),
-             StructFieldDecl(
-                 name='mat_shininess',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='shininess coef',
-                 array_extent=('nmat',),
-             ),
-             StructFieldDecl(
-                 name='mat_reflectance',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='reflectance (0: disable)',
-                 array_extent=('nmat',),
-             ),
-             StructFieldDecl(
-                 name='mat_metallic',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='metallic coef',
-                 array_extent=('nmat',),
-             ),
-             StructFieldDecl(
-                 name='mat_roughness',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='roughness coef',
-                 array_extent=('nmat',),
-             ),
-             StructFieldDecl(
-                 name='mat_rgba',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='rgba',
-                 array_extent=('nmat', 4),
-             ),
-             StructFieldDecl(
-                 name='pair_dim',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='contact dimensionality',
-                 array_extent=('npair',),
-             ),
-             StructFieldDecl(
-                 name='pair_geom1',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of geom1',
-                 array_extent=('npair',),
-             ),
-             StructFieldDecl(
-                 name='pair_geom2',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of geom2',
-                 array_extent=('npair',),
-             ),
-             StructFieldDecl(
-                 name='pair_signature',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='body1 << 16 + body2',
-                 array_extent=('npair',),
-             ),
-             StructFieldDecl(
-                 name='pair_solref',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='solver reference: contact normal',
-                 array_extent=('npair', 'mjNREF'),
-             ),
-             StructFieldDecl(
-                 name='pair_solreffriction',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='solver reference: contact friction',
-                 array_extent=('npair', 'mjNREF'),
-             ),
-             StructFieldDecl(
-                 name='pair_solimp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='solver impedance: contact',
-                 array_extent=('npair', 'mjNIMP'),
-             ),
-             StructFieldDecl(
-                 name='pair_margin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='geometric inflation for contact',
-                 array_extent=('npair',),
-             ),
-             StructFieldDecl(
-                 name='pair_gap',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='additional contact detection buffer',
-                 array_extent=('npair',),
-             ),
-             StructFieldDecl(
-                 name='pair_adhesion',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='adhesive force of contacts',
-                 array_extent=('npair',),
-             ),
-             StructFieldDecl(
-                 name='pair_friction',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='tangent1, 2, spin, roll1, 2',
-                 array_extent=('npair', 5),
-             ),
-             StructFieldDecl(
-                 name='exclude_signature',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='body1 << 16 + body2',
-                 array_extent=('nexclude',),
-             ),
-             StructFieldDecl(
-                 name='eq_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='constraint type (mjtEq)',
-                 array_extent=('neq',),
-             ),
-             StructFieldDecl(
-                 name='eq_obj1id',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of object 1',
-                 array_extent=('neq',),
-             ),
-             StructFieldDecl(
-                 name='eq_obj2id',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of object 2',
-                 array_extent=('neq',),
-             ),
-             StructFieldDecl(
-                 name='eq_objtype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='type of both objects (mjtObj)',
-                 array_extent=('neq',),
-             ),
-             StructFieldDecl(
-                 name='eq_active0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='initial enable/disable constraint state',
-                 array_extent=('neq',),
-             ),
-             StructFieldDecl(
-                 name='eq_solref',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver reference',
-                 array_extent=('neq', 'mjNREF'),
-             ),
-             StructFieldDecl(
-                 name='eq_solimp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver impedance',
-                 array_extent=('neq', 'mjNIMP'),
-             ),
-             StructFieldDecl(
-                 name='eq_data',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='numeric data for constraint',
-                 array_extent=('neq', 'mjNEQDATA'),
-             ),
-             StructFieldDecl(
-                 name='tendon_adr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="address of first object in tendon's path",
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_num',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="number of objects in tendon's path",
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_matid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='material id for rendering',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_actuatorid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='actuator contributing damping / armature',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_group',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='group for visibility',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_treenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="number of trees along tendon's path",
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_treeid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="first two trees along tendon's path",
-                 array_extent=('ntendon', 2),
-             ),
-             StructFieldDecl(
-                 name='ten_J_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of non-zeros in Jacobian row',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='ten_J_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='row start address in colind array',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='ten_J_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='column indices in sparse Jacobian',
-                 array_extent=('nJten',),
-             ),
-             StructFieldDecl(
-                 name='tendon_limited',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='does tendon have length limits',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_actfrclimited',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='does tendon have actuator force limits',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_width',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='width for rendering',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_solref_lim',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver reference: limit',
-                 array_extent=('ntendon', 'mjNREF'),
-             ),
-             StructFieldDecl(
-                 name='tendon_solimp_lim',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver impedance: limit',
-                 array_extent=('ntendon', 'mjNIMP'),
-             ),
-             StructFieldDecl(
-                 name='tendon_solref_fri',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver reference: friction',
-                 array_extent=('ntendon', 'mjNREF'),
-             ),
-             StructFieldDecl(
-                 name='tendon_solimp_fri',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint solver impedance: friction',
-                 array_extent=('ntendon', 'mjNIMP'),
-             ),
-             StructFieldDecl(
-                 name='tendon_range',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='tendon length limits',
-                 array_extent=('ntendon', 2),
-             ),
-             StructFieldDecl(
-                 name='tendon_actfrcrange',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='range of total actuator force',
-                 array_extent=('ntendon', 2),
-             ),
-             StructFieldDecl(
-                 name='tendon_margin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='min distance for limit detection',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_stiffness',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='linear stiffness coefficient',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_stiffnesspoly',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='high-order stiffness coefficients',
-                 array_extent=('ntendon', 'mjNPOLY'),
-             ),
-             StructFieldDecl(
-                 name='tendon_damping',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='linear damping coefficient',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_dampingpoly',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='high-order damping coefficients',
-                 array_extent=('ntendon', 'mjNPOLY'),
-             ),
-             StructFieldDecl(
-                 name='tendon_armature',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='inertia associated with tendon velocity',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_frictionloss',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='loss due to friction',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_lengthspring',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='spring resting length range',
-                 array_extent=('ntendon', 2),
-             ),
-             StructFieldDecl(
-                 name='tendon_length0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='tendon length in qpos0',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_invweight0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='inv. weight in qpos0',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tendon_user',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='user data',
-                 array_extent=('ntendon', 'nuser_tendon'),
-             ),
-             StructFieldDecl(
-                 name='tendon_rgba',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='rgba when material is omitted',
-                 array_extent=('ntendon', 4),
-             ),
-             StructFieldDecl(
-                 name='wrap_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='wrap object type (mjtWrap)',
-                 array_extent=('nwrap',),
-             ),
-             StructFieldDecl(
-                 name='wrap_objid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='object id: geom, site, joint',
-                 array_extent=('nwrap',),
-             ),
-             StructFieldDecl(
-                 name='wrap_prm',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='divisor, joint coef, or site id',
-                 array_extent=('nwrap',),
-             ),
-             StructFieldDecl(
-                 name='actuator_trntype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='transmission type (mjtTrn)',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_dyntype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='dynamics type (mjtDyn)',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_gaintype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='gain type (mjtGain)',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_biastype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='bias type (mjtBias)',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_ctrladr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of first control',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_ctrlnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of controls',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_ctrlspec',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='input signature, scoped by gaintype',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_outadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of first force output',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_outnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of force outputs, from trntype',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_actadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first activation address; -1: stateless',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_actnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of activation variables',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_trnid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='transmission id: joint, tendon, site',
-                 array_extent=('nactuator', 2),
-             ),
-             StructFieldDecl(
-                 name='actuator_cranklength',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='crank length for slider-crank',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_dynprm',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='dynamics parameters',
-                 array_extent=('nactuator', 'mjNDYN'),
-             ),
-             StructFieldDecl(
-                 name='actuator_gainprm',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='gain parameters',
-                 array_extent=('nactuator', 'mjNGAIN'),
-             ),
-             StructFieldDecl(
-                 name='actuator_biasprm',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='bias parameters',
-                 array_extent=('nactuator', 'mjNBIAS'),
-             ),
-             StructFieldDecl(
-                 name='actuator_actlimited',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='is activation limited',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_actrange',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='range of activations',
-                 array_extent=('nactuator', 2),
-             ),
-             StructFieldDecl(
-                 name='actuator_actearly',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='step activation before force',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_history',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='history buffer: [nsample, interp]',
-                 array_extent=('nactuator', 2),
-             ),
-             StructFieldDecl(
-                 name='actuator_historyadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address in history buffer; -1: none',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_delay',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='delay time; 0: no delay',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_damping',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='linear damping coefficient',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_dampingpoly',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='high-order damping coefficients',
-                 array_extent=('nactuator', 'mjNPOLY'),
-             ),
-             StructFieldDecl(
-                 name='actuator_armature',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='armature added to target (joint, tendon)',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_group',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='group for visibility',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_user',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='user data',
-                 array_extent=('nactuator', 'nuser_actuator'),
-             ),
-             StructFieldDecl(
-                 name='actuator_plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='plugin instance id; -1: not a plugin',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_forcelimited',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='is force limited',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='actuator_forcerange',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='range of forces',
-                 array_extent=('nactuator', 2),
-             ),
-             StructFieldDecl(
-                 name='actuator_ctrllimited',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='is control limited',
-                 array_extent=('nu',),
-             ),
-             StructFieldDecl(
-                 name='actuator_ctrlrange',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='range of controls',
-                 array_extent=('nu', 2),
-             ),
-             StructFieldDecl(
-                 name='actuator_gear',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='scale length and transmitted force',
-                 array_extent=('nout', 6),
-             ),
-             StructFieldDecl(
-                 name='actuator_acc0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='acceleration from unit force in qpos0',
-                 array_extent=('nout',),
-             ),
-             StructFieldDecl(
-                 name='actuator_length0',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='actuator length in qpos0',
-                 array_extent=('nout',),
-             ),
-             StructFieldDecl(
-                 name='actuator_lengthrange',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='feasible actuator length range',
-                 array_extent=('nout', 2),
-             ),
-             StructFieldDecl(
-                 name='sensor_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='sensor type (mjtSensor)',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_datatype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='numeric data type (mjtDataType)',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_needstage',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='required compute stage (mjtStage)',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_objtype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='type of sensorized object (mjtObj)',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_objid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of sensorized object',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_reftype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='type of reference frame (mjtObj)',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_refid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of reference frame; -1: global frame',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_intprm',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='sensor parameters',
-                 array_extent=('nsensor', 'mjNSENS'),
-             ),
-             StructFieldDecl(
-                 name='sensor_dim',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of scalar outputs',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_adr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address in sensor array',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_cutoff',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='cutoff for real and positive; 0: ignore',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_noise',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='noise standard deviation',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_history',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='history buffer: [nsample, interp]',
-                 array_extent=('nsensor', 2),
-             ),
-             StructFieldDecl(
-                 name='sensor_historyadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address in history buffer; -1: none',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_delay',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='delay time in seconds; 0: no delay',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='sensor_interval',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='interval: [period, phase] in seconds',
-                 array_extent=('nsensor', 2),
-             ),
-             StructFieldDecl(
-                 name='sensor_user',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='user data',
-                 array_extent=('nsensor', 'nuser_sensor'),
-             ),
-             StructFieldDecl(
-                 name='sensor_plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='plugin instance id; -1: not a plugin',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='globally registered plugin slot number',
-                 array_extent=('nplugin',),
-             ),
-             StructFieldDecl(
-                 name='plugin_stateadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address in the plugin state array',
-                 array_extent=('nplugin',),
-             ),
-             StructFieldDecl(
-                 name='plugin_statenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of states in the plugin instance',
-                 array_extent=('nplugin',),
-             ),
-             StructFieldDecl(
-                 name='plugin_attr',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 doc='config attributes of plugin instances',
-                 array_extent=('npluginattr',),
-             ),
-             StructFieldDecl(
-                 name='plugin_attradr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="address to each instance's config attrib",
-                 array_extent=('nplugin',),
-             ),
-             StructFieldDecl(
-                 name='numeric_adr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of field in numeric_data',
-                 array_extent=('nnumeric',),
-             ),
-             StructFieldDecl(
-                 name='numeric_size',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='size of numeric field',
-                 array_extent=('nnumeric',),
-             ),
-             StructFieldDecl(
-                 name='numeric_data',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='array of all numeric fields',
-                 array_extent=('nnumericdata',),
-             ),
-             StructFieldDecl(
-                 name='text_adr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of text in text_data',
-                 array_extent=('ntext',),
-             ),
-             StructFieldDecl(
-                 name='text_size',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='size of text field (strlen+1)',
-                 array_extent=('ntext',),
-             ),
-             StructFieldDecl(
-                 name='text_data',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 doc='array of all text fields (0-terminated)',
-                 array_extent=('ntextdata',),
-             ),
-             StructFieldDecl(
-                 name='tuple_adr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of text in text_data',
-                 array_extent=('ntuple',),
-             ),
-             StructFieldDecl(
-                 name='tuple_size',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of objects in tuple',
-                 array_extent=('ntuple',),
-             ),
-             StructFieldDecl(
-                 name='tuple_objtype',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='array of object types in all tuples',
-                 array_extent=('ntupledata',),
-             ),
-             StructFieldDecl(
-                 name='tuple_objid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='array of object ids in all tuples',
-                 array_extent=('ntupledata',),
-             ),
-             StructFieldDecl(
-                 name='tuple_objprm',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='array of object params in all tuples',
-                 array_extent=('ntupledata',),
-             ),
-             StructFieldDecl(
-                 name='key_time',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='key time',
-                 array_extent=('nkey',),
-             ),
-             StructFieldDecl(
-                 name='key_qpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='key position',
-                 array_extent=('nkey', 'nq'),
-             ),
-             StructFieldDecl(
-                 name='key_qvel',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='key velocity',
-                 array_extent=('nkey', 'nv'),
-             ),
-             StructFieldDecl(
-                 name='key_act',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='key activation',
-                 array_extent=('nkey', 'na'),
-             ),
-             StructFieldDecl(
-                 name='key_mpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='key mocap position',
-                 array_extent=('nkey', 'nmocap*3'),
-             ),
-             StructFieldDecl(
-                 name='key_mquat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='key mocap quaternion',
-                 array_extent=('nkey', 'nmocap*4'),
-             ),
-             StructFieldDecl(
-                 name='key_ctrl',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='key control',
-                 array_extent=('nkey', 'nu'),
-             ),
-             StructFieldDecl(
-                 name='name_bodyadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='body name pointers',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='name_jntadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='joint name pointers',
-                 array_extent=('njnt',),
-             ),
-             StructFieldDecl(
-                 name='name_geomadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='geom name pointers',
-                 array_extent=('ngeom',),
-             ),
-             StructFieldDecl(
-                 name='name_siteadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='site name pointers',
-                 array_extent=('nsite',),
-             ),
-             StructFieldDecl(
-                 name='name_camadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='camera name pointers',
-                 array_extent=('ncam',),
-             ),
-             StructFieldDecl(
-                 name='name_lightadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='light name pointers',
-                 array_extent=('nlight',),
-             ),
-             StructFieldDecl(
-                 name='name_flexadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='flex name pointers',
-                 array_extent=('nflex',),
-             ),
-             StructFieldDecl(
-                 name='name_meshadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='mesh name pointers',
-                 array_extent=('nmesh',),
-             ),
-             StructFieldDecl(
-                 name='name_skinadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='skin name pointers',
-                 array_extent=('nskin',),
-             ),
-             StructFieldDecl(
-                 name='name_hfieldadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='hfield name pointers',
-                 array_extent=('nhfield',),
-             ),
-             StructFieldDecl(
-                 name='name_texadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='texture name pointers',
-                 array_extent=('ntex',),
-             ),
-             StructFieldDecl(
-                 name='name_matadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='material name pointers',
-                 array_extent=('nmat',),
-             ),
-             StructFieldDecl(
-                 name='name_pairadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='geom pair name pointers',
-                 array_extent=('npair',),
-             ),
-             StructFieldDecl(
-                 name='name_excludeadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='exclude name pointers',
-                 array_extent=('nexclude',),
-             ),
-             StructFieldDecl(
-                 name='name_eqadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='equality constraint name pointers',
-                 array_extent=('neq',),
-             ),
-             StructFieldDecl(
-                 name='name_tendonadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='tendon name pointers',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='name_actuatoradr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='actuator name pointers',
-                 array_extent=('nactuator',),
-             ),
-             StructFieldDecl(
-                 name='name_sensoradr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='sensor name pointers',
-                 array_extent=('nsensor',),
-             ),
-             StructFieldDecl(
-                 name='name_numericadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='numeric name pointers',
-                 array_extent=('nnumeric',),
-             ),
-             StructFieldDecl(
-                 name='name_textadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='text name pointers',
-                 array_extent=('ntext',),
-             ),
-             StructFieldDecl(
-                 name='name_tupleadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='tuple name pointers',
-                 array_extent=('ntuple',),
-             ),
-             StructFieldDecl(
-                 name='name_keyadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='keyframe name pointers',
-                 array_extent=('nkey',),
-             ),
-             StructFieldDecl(
-                 name='name_pluginadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='plugin instance name pointers',
-                 array_extent=('nplugin',),
-             ),
-             StructFieldDecl(
-                 name='names',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 doc='names of all objects, 0-terminated',
-                 array_extent=('nnames',),
-             ),
-             StructFieldDecl(
-                 name='names_map',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='internal hash map of names',
-                 array_extent=('nnames_map',),
-             ),
-             StructFieldDecl(
-                 name='paths',
-                 type=PointerType(
-                     inner_type=ValueType(name='char'),
-                 ),
-                 doc='paths to assets, 0-terminated',
-                 array_extent=('npaths',),
-             ),
-             StructFieldDecl(
-                 name='B_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='body-dof: non-zeros in each row',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='B_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='body-dof: row addresses',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='B_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='body-dof: column indices',
-                 array_extent=('nB',),
-             ),
-             StructFieldDecl(
-                 name='M_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='reduced inertia: non-zeros in each row',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='M_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='reduced inertia: row addresses',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='M_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='reduced inertia: column indices',
-                 array_extent=('nC',),
-             ),
-             StructFieldDecl(
-                 name='mapM2M',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='index mapping from qM to M',
-                 array_extent=('nC',),
-             ),
-             StructFieldDecl(
-                 name='D_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='full inertia: non-zeros in each row',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='D_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='full inertia: row addresses',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='D_diag',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='full inertia: index of diagonal element',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='D_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='full inertia: column indices',
-                 array_extent=('nD',),
-             ),
-             StructFieldDecl(
-                 name='mapM2D',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='index mapping from M to D',
-                 array_extent=('nD',),
-             ),
-             StructFieldDecl(
-                 name='mapD2M',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='index mapping from D to M',
-                 array_extent=('nC',),
-             ),
-             StructFieldDecl(
-                 name='signature',
-                 type=ValueType(name='uint64_t'),
-                 doc='also held by the mjSpec that compiled this model',
-             ),
-         ),
-     )),
-    ('mjPreContact',
-     StructDecl(
-         name='mjPreContact',
-         declname='struct mjPreContact_',
-         fields=(
-             StructFieldDecl(
-                 name='dist',
-                 type=ValueType(name='mjtNum'),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='normal',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='contact normal of the collision',
-             ),
-             StructFieldDecl(
-                 name='tangent',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='first tangent direction',
-             ),
-         ),
-     )),
-    ('mjContact',
-     StructDecl(
-         name='mjContact',
-         declname='struct mjContact_',
-         fields=(
-             StructFieldDecl(
-                 name='dist',
-                 type=ValueType(name='mjtNum'),
-                 doc='distance between nearest points; neg: penetration',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='position of contact point: midpoint between geoms',
-             ),
-             StructFieldDecl(
-                 name='frame',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(9,),
-                 ),
-                 doc='normal is in [0-2], points from geom[0] to geom[1]',
-             ),
-             StructFieldDecl(
-                 name='includemargin',
-                 type=ValueType(name='mjtNum'),
-                 doc='margin for force generation',
-             ),
-             StructFieldDecl(
-                 name='friction',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='tangent1, 2, spin, roll1, 2',
-             ),
-             StructFieldDecl(
-                 name='solref',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='constraint solver reference, normal direction',
-             ),
-             StructFieldDecl(
-                 name='solreffriction',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='constraint solver reference, friction directions',
-             ),
-             StructFieldDecl(
-                 name='solimp',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='constraint solver impedance',
-             ),
-             StructFieldDecl(
-                 name='adhesion',
-                 type=ValueType(name='mjtNum'),
-                 doc='adhesive force along the contact normal',
-             ),
-             StructFieldDecl(
-                 name='mu',
-                 type=ValueType(name='mjtNum'),
-                 doc='friction of regularized cone, set by mj_makeConstraint',
-             ),
-             StructFieldDecl(
-                 name='H',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(36,),
-                 ),
-                 doc='cone Hessian, set by mj_constraintUpdate',
-             ),
-             StructFieldDecl(
-                 name='dim',
-                 type=ValueType(name='int'),
-                 doc='contact space dimensionality: 1, 3, 4 or 6',
-             ),
-             StructFieldDecl(
-                 name='geom1',
-                 type=ValueType(name='int'),
-                 doc='id of geom 1; deprecated, use geom[0]',
-             ),
-             StructFieldDecl(
-                 name='geom2',
-                 type=ValueType(name='int'),
-                 doc='id of geom 2; deprecated, use geom[1]',
-             ),
-             StructFieldDecl(
-                 name='geom',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='geom ids; -1 for flex',
-             ),
-             StructFieldDecl(
-                 name='flex',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='flex ids; -1 for geom',
-             ),
-             StructFieldDecl(
-                 name='elem',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='element ids; -1 for geom or flex vertex',
-             ),
-             StructFieldDecl(
-                 name='vert',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='vertex ids;  -1 for geom or flex element',
-             ),
-             StructFieldDecl(
-                 name='exclude',
-                 type=ValueType(name='int'),
-                 doc='0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive',
-             ),
-             StructFieldDecl(
-                 name='efc_address',
-                 type=ValueType(name='int'),
-                 doc='address in efc; -1: not included',
-             ),
-         ),
-     )),
-    ('mjWarningStat',
-     StructDecl(
-         name='mjWarningStat',
-         declname='struct mjWarningStat_',
-         fields=(
-             StructFieldDecl(
-                 name='lastinfo',
-                 type=ValueType(name='int'),
-                 doc='info from last warning',
-             ),
-             StructFieldDecl(
-                 name='number',
-                 type=ValueType(name='int'),
-                 doc='how many times was warning raised',
-             ),
-         ),
-     )),
-    ('mjTimerStat',
-     StructDecl(
-         name='mjTimerStat',
-         declname='struct mjTimerStat_',
-         fields=(
-             StructFieldDecl(
-                 name='duration',
-                 type=ValueType(name='mjtNum'),
-                 doc='cumulative duration',
-             ),
-             StructFieldDecl(
-                 name='number',
-                 type=ValueType(name='int'),
-                 doc='how many times was timer called',
-             ),
-         ),
-     )),
-    ('mjSolverStat',
-     StructDecl(
-         name='mjSolverStat',
-         declname='struct mjSolverStat_',
-         fields=(
-             StructFieldDecl(
-                 name='improvement',
-                 type=ValueType(name='mjtNum'),
-                 doc='cost reduction, scaled by 1/trace(M(qpos0))',
-             ),
-             StructFieldDecl(
-                 name='gradient',
-                 type=ValueType(name='mjtNum'),
-                 doc='gradient norm (primal only, scaled)',
-             ),
-             StructFieldDecl(
-                 name='lineslope',
-                 type=ValueType(name='mjtNum'),
-                 doc='slope in linesearch',
-             ),
-             StructFieldDecl(
-                 name='nactive',
-                 type=ValueType(name='int'),
-                 doc='number of active constraints',
-             ),
-             StructFieldDecl(
-                 name='nchange',
-                 type=ValueType(name='int'),
-                 doc='number of constraint state changes',
-             ),
-             StructFieldDecl(
-                 name='neval',
-                 type=ValueType(name='int'),
-                 doc='number of cost evaluations in line search',
-             ),
-             StructFieldDecl(
-                 name='nupdate',
-                 type=ValueType(name='int'),
-                 doc='number of Cholesky updates in line search',
-             ),
-         ),
-     )),
-    ('mjData',
-     StructDecl(
-         name='mjData',
-         declname='struct mjData_',
-         fields=(
-             StructFieldDecl(
-                 name='narena',
-                 type=ValueType(name='mjtSize'),
-                 doc='size of the arena in bytes (inclusive of the stack)',
-             ),
-             StructFieldDecl(
-                 name='nbuffer',
-                 type=ValueType(name='mjtSize'),
-                 doc='size of main buffer in bytes',
-             ),
-             StructFieldDecl(
-                 name='nplugin',
-                 type=ValueType(name='int'),
-                 doc='number of plugin instances',
-             ),
-             StructFieldDecl(
-                 name='pstack',
-                 type=ValueType(name='size_t'),
-                 doc='first available byte in stack (mutable)',
-             ),
-             StructFieldDecl(
-                 name='pbase',
-                 type=ValueType(name='size_t'),
-                 doc='value of pstack when mj_markStack was last called (mutable)',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='parena',
-                 type=ValueType(name='size_t'),
-                 doc='first available byte in arena',
-             ),
-             StructFieldDecl(
-                 name='threadpool',
-                 type=ValueType(name='uintptr_t'),
-                 doc='thread pool pointer',
-             ),
-             StructFieldDecl(
-                 name='threadlock',
-                 type=ValueType(name='mjtBool'),
-                 doc='disable stack freeing during threaded execution',
-             ),
-             StructFieldDecl(
-                 name='maxuse_stack',
-                 type=ValueType(name='mjtSize'),
-                 doc='maximum stack allocation in bytes (mutable)',
-             ),
-             StructFieldDecl(
-                 name='maxuse_arena',
-                 type=ValueType(name='mjtSize'),
-                 doc='maximum arena allocation in bytes',
-             ),
-             StructFieldDecl(
-                 name='maxuse_con',
-                 type=ValueType(name='int'),
-                 doc='maximum number of contacts',
-             ),
-             StructFieldDecl(
-                 name='maxuse_efc',
-                 type=ValueType(name='int'),
-                 doc='maximum number of scalar constraints',
-             ),
-             StructFieldDecl(
-                 name='solver',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjSolverStat'),
-                     extents=(4000,),
-                 ),
-                 doc='solver statistics per island, per iteration',
-             ),
-             StructFieldDecl(
-                 name='solver_niter',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(20,),
-                 ),
-                 doc='number of solver iterations, per island',
-             ),
-             StructFieldDecl(
-                 name='solver_nnz',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(20,),
-                 ),
-                 doc='number of nonzeros in solver matrix, per island',
-             ),
-             StructFieldDecl(
-                 name='solver_fwdinv',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='forward-inverse comparison: qfrc, efc',
-             ),
-             StructFieldDecl(
-                 name='warning',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjWarningStat'),
-                     extents=(7,),
-                 ),
-                 doc='warning statistics (mutable)',
-             ),
-             StructFieldDecl(
-                 name='timer',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjTimerStat'),
-                     extents=(15,),
-                 ),
-                 doc='timer statistics',
-             ),
-             StructFieldDecl(
-                 name='ncon',
-                 type=ValueType(name='int'),
-                 doc='number of detected contacts',
-             ),
-             StructFieldDecl(
-                 name='ne',
-                 type=ValueType(name='int'),
-                 doc='number of equality constraints',
-             ),
-             StructFieldDecl(
-                 name='nf',
-                 type=ValueType(name='int'),
-                 doc='number of friction constraints',
-             ),
-             StructFieldDecl(
-                 name='nl',
-                 type=ValueType(name='int'),
-                 doc='number of limit constraints',
-             ),
-             StructFieldDecl(
-                 name='nefc',
-                 type=ValueType(name='int'),
-                 doc='number of constraints',
-             ),
-             StructFieldDecl(
-                 name='nJ',
-                 type=ValueType(name='int'),
-                 doc='number of non-zeros in constraint Jacobian',
-             ),
-             StructFieldDecl(
-                 name='efm_active',
-                 type=ValueType(name='int'),
-                 doc='implicit effective metric M+K is active (see mjd_effBuild)',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='nefmK',
-                 type=ValueType(name='int'),
-                 doc='number of non-zeros in effective-stiffness CSR',
-             ),
-             StructFieldDecl(
-                 name='nefmdof',
-                 type=ValueType(name='int'),
-                 doc='number of 3x3 blocks in the effective-metric preconditioner',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='nefmL',
-                 type=ValueType(name='int'),
-                 doc='size of the effective-metric block storage (9*nefmdof)',
-             ),
-             StructFieldDecl(
-                 name='nY',
-                 type=ValueType(name='int'),
-                 doc='number of non-zeros in constraint inverse inertia square root',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='nA',
-                 type=ValueType(name='int'),
-                 doc='number of non-zeros in constraint inverse inertia matrix',
-             ),
-             StructFieldDecl(
-                 name='nisland',
-                 type=ValueType(name='int'),
-                 doc='number of detected constraint islands',
-             ),
-             StructFieldDecl(
-                 name='nidof',
-                 type=ValueType(name='int'),
-                 doc='number of dofs in all islands',
-             ),
-             StructFieldDecl(
-                 name='ntree_awake',
-                 type=ValueType(name='int'),
-                 doc='number of awake trees',
-             ),
-             StructFieldDecl(
-                 name='nbody_awake',
-                 type=ValueType(name='int'),
-                 doc='number of awake dynamic and static bodies',
-             ),
-             StructFieldDecl(
-                 name='nparent_awake',
-                 type=ValueType(name='int'),
-                 doc='number of bodies with awake parents',
-             ),
-             StructFieldDecl(
-                 name='nv_awake',
-                 type=ValueType(name='int'),
-                 doc='number of awake dofs',
-             ),
-             StructFieldDecl(
-                 name='flg_energypos',
-                 type=ValueType(name='mjtBool'),
-                 doc='has mj_energyPos been called',
-             ),
-             StructFieldDecl(
-                 name='flg_energyvel',
-                 type=ValueType(name='mjtBool'),
-                 doc='has mj_energyVel been called',
-             ),
-             StructFieldDecl(
-                 name='flg_subtreevel',
-                 type=ValueType(name='mjtBool'),
-                 doc='has mj_subtreeVel been called',
-             ),
-             StructFieldDecl(
-                 name='flg_rnepost',
-                 type=ValueType(name='mjtBool'),
-                 doc='has mj_rnePostConstraint been called',
-             ),
-             StructFieldDecl(
-                 name='time',
-                 type=ValueType(name='mjtNum'),
-                 doc='simulation time',
-             ),
-             StructFieldDecl(
-                 name='energy',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='potential, kinetic energy',
-             ),
-             StructFieldDecl(
-                 name='buffer',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='main buffer; all pointers point in it            (nbuffer bytes)',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='arena',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='arena+stack buffer                               (narena bytes)',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='qpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='position',
-                 array_extent=('nq',),
-             ),
-             StructFieldDecl(
-                 name='qvel',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='velocity',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='act',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='actuator activation',
-                 array_extent=('na',),
-             ),
-             StructFieldDecl(
-                 name='history',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='history buffer',
-                 array_extent=('nhistory',),
-             ),
-             StructFieldDecl(
-                 name='qacc_warmstart',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='acceleration used for warmstart',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='plugin_state',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='plugin state',
-                 array_extent=('npluginstate',),
-             ),
-             StructFieldDecl(
-                 name='ctrl',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='control',
-                 array_extent=('nu',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_applied',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='applied generalized force',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='xfrc_applied',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='applied Cartesian force/torque',
-                 array_extent=('nbody', 6),
-             ),
-             StructFieldDecl(
-                 name='eq_active',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='enable/disable constraints',
-                 array_extent=('neq',),
-             ),
-             StructFieldDecl(
-                 name='mocap_pos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='positions of mocap bodies',
-                 array_extent=('nmocap', 3),
-             ),
-             StructFieldDecl(
-                 name='mocap_quat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='orientations of mocap bodies',
-                 array_extent=('nmocap', 4),
-             ),
-             StructFieldDecl(
-                 name='qacc',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='acceleration',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='act_dot',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='time-derivative of actuator activation',
-                 array_extent=('na',),
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='user data, not touched by engine',
-                 array_extent=('nuserdata',),
-             ),
-             StructFieldDecl(
-                 name='sensordata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='sensor data array',
-                 array_extent=('nsensordata',),
-             ),
-             StructFieldDecl(
-                 name='tree_asleep',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='<0: awake; >=0: index cycle of sleeping trees',
-                 array_extent=('ntree',),
-             ),
-             StructFieldDecl(
-                 name='plugin',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='copy of m->plugin, required for deletion',
-                 array_extent=('nplugin',),
-             ),
-             StructFieldDecl(
-                 name='plugin_data',
-                 type=PointerType(
-                     inner_type=ValueType(name='uintptr_t'),
-                 ),
-                 doc='pointer to plugin-managed data structure',
-                 array_extent=('nplugin',),
-             ),
-             StructFieldDecl(
-                 name='xpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian position of body frame',
-                 array_extent=('nbody', 3),
-             ),
-             StructFieldDecl(
-                 name='xquat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian orientation of body frame',
-                 array_extent=('nbody', 4),
-             ),
-             StructFieldDecl(
-                 name='xmat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian orientation of body frame',
-                 array_extent=('nbody', 9),
-             ),
-             StructFieldDecl(
-                 name='xipos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian position of body com',
-                 array_extent=('nbody', 3),
-             ),
-             StructFieldDecl(
-                 name='ximat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian orientation of body inertia',
-                 array_extent=('nbody', 9),
-             ),
-             StructFieldDecl(
-                 name='xanchor',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian position of joint anchor',
-                 array_extent=('njnt', 3),
-             ),
-             StructFieldDecl(
-                 name='xaxis',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian joint axis',
-                 array_extent=('njnt', 3),
-             ),
-             StructFieldDecl(
-                 name='geom_xpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian geom position',
-                 array_extent=('ngeom', 3),
-             ),
-             StructFieldDecl(
-                 name='geom_xmat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian geom orientation',
-                 array_extent=('ngeom', 9),
-             ),
-             StructFieldDecl(
-                 name='site_xpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian site position',
-                 array_extent=('nsite', 3),
-             ),
-             StructFieldDecl(
-                 name='site_xmat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian site orientation',
-                 array_extent=('nsite', 9),
-             ),
-             StructFieldDecl(
-                 name='cam_xpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian camera position',
-                 array_extent=('ncam', 3),
-             ),
-             StructFieldDecl(
-                 name='cam_xmat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian camera orientation',
-                 array_extent=('ncam', 9),
-             ),
-             StructFieldDecl(
-                 name='light_xpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian light position',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='light_xdir',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian light direction',
-                 array_extent=('nlight', 3),
-             ),
-             StructFieldDecl(
-                 name='subtree_com',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='center of mass of each subtree',
-                 array_extent=('nbody', 3),
-             ),
-             StructFieldDecl(
-                 name='cdof',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='com-based motion axis of each dof (rot:lin)',
-                 array_extent=('nv', 6),
-             ),
-             StructFieldDecl(
-                 name='cinert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='com-based body inertia and mass',
-                 array_extent=('nbody', 10),
-             ),
-             StructFieldDecl(
-                 name='flexvert_xpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian flex vertex positions',
-                 array_extent=('nflexvert', 3),
-             ),
-             StructFieldDecl(
-                 name='flexelem_aabb',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='flex element bounding boxes (center, size)',
-                 array_extent=('nflexelem', 6),
-             ),
-             StructFieldDecl(
-                 name='flexelem_krot',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='corotated element stiffness (implicit only)',
-                 array_extent=('nflexstiffness',),
-             ),
-             StructFieldDecl(
-                 name='flexedge_J',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='flex edge Jacobian',
-                 array_extent=('nJfe',),
-             ),
-             StructFieldDecl(
-                 name='flexedge_length',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='flex edge lengths',
-                 array_extent=('nflexedge',),
-             ),
-             StructFieldDecl(
-                 name='flexvert_J',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='flex vertex Jacobian',
-                 array_extent=('nJfv', 2),
-             ),
-             StructFieldDecl(
-                 name='flexvert_length',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='flex vertex lengths',
-                 array_extent=('nflexvert', 2),
-             ),
-             StructFieldDecl(
-                 name='bvh_aabb_dyn',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='global bounding box (center, size)',
-                 array_extent=('nbvhdynamic', 6),
-             ),
-             StructFieldDecl(
-                 name='ten_wrapadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc="start address of tendon's path",
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='ten_wrapnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of wrap points in path',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='ten_J',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='tendon Jacobian',
-                 array_extent=('nJten',),
-             ),
-             StructFieldDecl(
-                 name='ten_length',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='tendon lengths',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='wrap_obj',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='geom id; -1: site; -2: pulley',
-                 array_extent=('nwrap', 2),
-             ),
-             StructFieldDecl(
-                 name='wrap_xpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='Cartesian 3D points in all paths',
-                 array_extent=('nwrap', 6),
-             ),
-             StructFieldDecl(
-                 name='actuator_length',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='actuator lengths, one per force output',
-                 array_extent=('nout',),
-             ),
-             StructFieldDecl(
-                 name='moment_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of non-zeros in actuator_moment row',
-                 array_extent=('nout',),
-             ),
-             StructFieldDecl(
-                 name='moment_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='row start address in colind array',
-                 array_extent=('nout',),
-             ),
-             StructFieldDecl(
-                 name='moment_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='column indices in sparse Jacobian',
-                 array_extent=('nJmom',),
-             ),
-             StructFieldDecl(
-                 name='actuator_moment',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='actuator moments',
-                 array_extent=('nJmom',),
-             ),
-             StructFieldDecl(
-                 name='crb',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='com-based composite inertia and mass',
-                 array_extent=('nbody', 10),
-             ),
-             StructFieldDecl(
-                 name='M',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='inertia (sparse)',
-                 array_extent=('nC',),
-             ),
-             StructFieldDecl(
-                 name='qLD',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc="L'*D*L factorization of M (sparse)",
-                 array_extent=('nC',),
-             ),
-             StructFieldDecl(
-                 name='qLDiagInv',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='1/diag(D)',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='bvh_active',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtBool'),
-                 ),
-                 doc='was bounding volume checked for collision',
-                 array_extent=('nbvh',),
-             ),
-             StructFieldDecl(
-                 name='tree_awake',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='is tree awake; 0: asleep; 1: awake',
-                 array_extent=('ntree',),
-             ),
-             StructFieldDecl(
-                 name='body_awake',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='body sleep state (mjtSleepState)',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='body_awake_ind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='indices of awake and static bodies',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='parent_awake_ind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='indices of bodies with awake or static parents',
-                 array_extent=('nbody',),
-             ),
-             StructFieldDecl(
-                 name='dof_awake_ind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='indices of awake dofs',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='flexedge_velocity',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='flex edge velocities',
-                 array_extent=('nflexedge',),
-             ),
-             StructFieldDecl(
-                 name='ten_velocity',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='tendon velocities',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='actuator_velocity',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='actuator velocities, one per force output',
-                 array_extent=('nout',),
-             ),
-             StructFieldDecl(
-                 name='cvel',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='com-based velocity (rot:lin)',
-                 array_extent=('nbody', 6),
-             ),
-             StructFieldDecl(
-                 name='cdof_dot',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='time-derivative of cdof (rot:lin)',
-                 array_extent=('nv', 6),
-             ),
-             StructFieldDecl(
-                 name='qfrc_bias',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='C(qpos,qvel)',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_spring',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='passive spring force',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_damper',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='passive damper force',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_gravcomp',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='passive gravity compensation force',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_fluid',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='passive fluid force',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_adhesion',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='passive contact adhesion force',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_passive',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='total passive force',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='subtree_linvel',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='linear velocity of subtree com',
-                 array_extent=('nbody', 3),
-             ),
-             StructFieldDecl(
-                 name='subtree_angmom',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='angular momentum about subtree com',
-                 array_extent=('nbody', 3),
-             ),
-             StructFieldDecl(
-                 name='qH',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc="L'*D*L factorization of modified M",
-                 array_extent=('nC',),
-             ),
-             StructFieldDecl(
-                 name='qHDiagInv',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='1/diag(D) of modified M',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qDeriv',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='d (passive + actuator - bias) / d qvel',
-                 array_extent=('nD',),
-             ),
-             StructFieldDecl(
-                 name='qLU',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='sparse LU of (M - dt*qDeriv)',
-                 array_extent=('nD',),
-             ),
-             StructFieldDecl(
-                 name='actuator_force',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='actuator force in actuation space',
-                 array_extent=('nout',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='actuator force in joint space',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_smooth',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='net unconstrained force',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qacc_smooth',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='unconstrained acceleration',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_constraint',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint force',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='qfrc_inverse',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc="net external force; should equal: qfrc_applied + J'*xfrc_applied + qfrc_actuator",  # pylint: disable=line-too-long
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='cacc',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='com-based acceleration',
-                 array_extent=('nbody', 6),
-             ),
-             StructFieldDecl(
-                 name='cfrc_int',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='com-based interaction force with parent',
-                 array_extent=('nbody', 6),
-             ),
-             StructFieldDecl(
-                 name='cfrc_ext',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='com-based external force on body',
-                 array_extent=('nbody', 6),
-             ),
-             StructFieldDecl(
-                 name='contact',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjContact'),
-                 ),
-                 doc='array of all detected contacts',
-                 array_extent=('ncon',),
-             ),
-             StructFieldDecl(
-                 name='efc_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='constraint type (mjtConstraint)',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_id',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of object of specified type',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_J_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of non-zeros in constraint Jacobian row',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_J_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='row start address in colind array',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_J_rowsuper',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of subsequent rows in supernode',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_J_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='column indices in constraint Jacobian',
-                 array_extent=('nJ',),
-             ),
-             StructFieldDecl(
-                 name='efc_J',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint Jacobian',
-                 array_extent=('nJ',),
-             ),
-             StructFieldDecl(
-                 name='efc_pos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint position (equality, contact)',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_margin',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='inclusion margin (contact)',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_frictionloss',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='frictionloss (friction)',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_diagA',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='diagonal of A matrix, approximate or exact',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_KBIP',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc="stiffness, damping, impedance, imp'",
-                 array_extent=('nefc', 4),
-             ),
-             StructFieldDecl(
-                 name='efc_D',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint mass',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_R',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='inverse constraint mass',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='tendon_efcadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='first efc address involving tendon; -1: none',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='tree_island',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='island id of this tree; -1: none',
-                 array_extent=('ntree',),
-             ),
-             StructFieldDecl(
-                 name='island_ntree',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of trees in this island',
-                 array_extent=('nisland',),
-             ),
-             StructFieldDecl(
-                 name='island_itreeadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='island start address in itree vector',
-                 array_extent=('nisland',),
-             ),
-             StructFieldDecl(
-                 name='map_itree2tree',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='map from itree to tree',
-                 array_extent=('ntree',),
-             ),
-             StructFieldDecl(
-                 name='dof_island',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='island id of this dof; -1: none',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='island_nv',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of dofs in this island',
-                 array_extent=('nisland',),
-             ),
-             StructFieldDecl(
-                 name='island_idofadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='island start address in idof vector',
-                 array_extent=('nisland',),
-             ),
-             StructFieldDecl(
-                 name='island_dofadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='island start address in dof vector',
-                 array_extent=('nisland',),
-             ),
-             StructFieldDecl(
-                 name='map_dof2idof',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='map from dof to idof',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='map_idof2dof',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='map from idof to dof;  >= nidof: unconstrained',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='ifrc_smooth',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='net unconstrained force',
-                 array_extent=('nidof',),
-             ),
-             StructFieldDecl(
-                 name='iacc_smooth',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='unconstrained acceleration',
-                 array_extent=('nidof',),
-             ),
-             StructFieldDecl(
-                 name='iacc',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='acceleration',
-                 array_extent=('nidof',),
-             ),
-             StructFieldDecl(
-                 name='efc_island',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='island id of this constraint',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='island_ne',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of equality constraints in island',
-                 array_extent=('nisland',),
-             ),
-             StructFieldDecl(
-                 name='island_nf',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of friction constraints in island',
-                 array_extent=('nisland',),
-             ),
-             StructFieldDecl(
-                 name='island_nefc',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of constraints in island',
-                 array_extent=('nisland',),
-             ),
-             StructFieldDecl(
-                 name='island_iefcadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='start address in iefc vector',
-                 array_extent=('nisland',),
-             ),
-             StructFieldDecl(
-                 name='map_efc2iefc',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='map from efc to iefc',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='map_iefc2efc',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='map from iefc to efc',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='iefc_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='constraint type (mjtConstraint)',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='iefc_id',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='id of object of specified type',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='iefc_frictionloss',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='frictionloss (friction)',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='iefc_D',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint mass',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='iefc_R',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='inverse constraint mass',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_Y_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of non-zeros in Y row',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_Y_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='row start address in Y colind array',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_Y_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='column indices in sparse Y',
-                 array_extent=('nY',),
-             ),
-             StructFieldDecl(
-                 name='efc_Y',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='whitened Jacobian Y = J*M^(-1/2)',
-                 array_extent=('nY',),
-             ),
-             StructFieldDecl(
-                 name='efc_AR_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of non-zeros in AR',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_AR_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='row start address in AR colind array',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_AR_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='column indices in sparse AR',
-                 array_extent=('nA',),
-             ),
-             StructFieldDecl(
-                 name='efc_AR',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc="J*inv(M)*J' + R",
-                 array_extent=('nA',),
-             ),
-             StructFieldDecl(
-                 name='efc_vel',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='velocity in constraint space: J*qvel',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_aref',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='reference pseudo-acceleration',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efm_c',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='smooth-force shift h*K*qvel',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='efm_K_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='effective-stiffness CSR row nonzeros',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='efm_K_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='effective-stiffness CSR row addresses',
-                 array_extent=('nv',),
-             ),
-             StructFieldDecl(
-                 name='efm_K_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='effective-stiffness CSR column indices',
-                 array_extent=('nefmK',),
-             ),
-             StructFieldDecl(
-                 name='efm_K_val',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='effective-stiffness CSR values',
-                 array_extent=('nefmK',),
-             ),
-             StructFieldDecl(
-                 name='efm_dofid',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='block k -> dof address of its vertex triple',
-                 array_extent=('nefmdof',),
-             ),
-             StructFieldDecl(
-                 name='efm_L',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='factored 3x3 diagonal blocks of M+K',
-                 array_extent=('nefmL',),
-             ),
-             StructFieldDecl(
-                 name='efc_b',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='linear cost term: J*qacc_smooth - aref',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='iefc_aref',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='reference pseudo-acceleration',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='iefc_state',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='constraint state (mjtConstraintState)',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='iefc_force',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint force in constraint space',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_state',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='constraint state (mjtConstraintState)',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='efc_force',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint force in constraint space',
-                 array_extent=('nefc',),
-             ),
-             StructFieldDecl(
-                 name='ifrc_constraint',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='constraint force',
-                 array_extent=('nidof',),
-             ),
-             StructFieldDecl(
-                 name='signature',
-                 type=ValueType(name='uint64_t'),
-                 doc='also held by the mjSpec that compiled the model',
-             ),
-         ),
-     )),
-    ('mjsElement',
-     StructDecl(
-         name='mjsElement',
-         declname='struct mjsElement_',
-         fields=(
-             StructFieldDecl(
-                 name='elemtype',
-                 type=ValueType(name='mjtObj'),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='signature',
-                 type=ValueType(name='uint64_t'),
-                 doc='compilation signature',
-             ),
-         ),
-     )),
-    ('mjsCompiler',
-     StructDecl(
-         name='mjsCompiler',
-         declname='struct mjsCompiler_',
-         fields=(
-             StructFieldDecl(
-                 name='autolimits',
-                 type=ValueType(name='mjtBool'),
-                 doc='infer "limited" attribute based on range',
-             ),
-             StructFieldDecl(
-                 name='boundmass',
-                 type=ValueType(name='double'),
-                 doc='enforce minimum body mass',
-             ),
-             StructFieldDecl(
-                 name='boundinertia',
-                 type=ValueType(name='double'),
-                 doc='enforce minimum body diagonal inertia',
-             ),
-             StructFieldDecl(
-                 name='settotalmass',
-                 type=ValueType(name='double'),
-                 doc='rescale masses and inertias; <=0: ignore',
-             ),
-             StructFieldDecl(
-                 name='balanceinertia',
-                 type=ValueType(name='mjtBool'),
-                 doc='automatically impose A + B >= C rule',
-             ),
-             StructFieldDecl(
-                 name='fitaabb',
-                 type=ValueType(name='mjtBool'),
-                 doc='meshfit to aabb instead of inertia box',
-             ),
-             StructFieldDecl(
-                 name='degree',
-                 type=ValueType(name='mjtBool'),
-                 doc='angles in radians or degrees',
-             ),
-             StructFieldDecl(
-                 name='eulerseq',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(3,),
-                 ),
-                 doc='sequence for euler rotations',
-             ),
-             StructFieldDecl(
-                 name='discardvisual',
-                 type=ValueType(name='mjtBool'),
-                 doc='discard visual geoms in parser',
-             ),
-             StructFieldDecl(
-                 name='usethread',
-                 type=ValueType(name='mjtBool'),
-                 doc='use multiple threads to speed up compiler',
-             ),
-             StructFieldDecl(
-                 name='fusestatic',
-                 type=ValueType(name='mjtBool'),
-                 doc='fuse static bodies with parent',
-             ),
-             StructFieldDecl(
-                 name='inertiafromgeom',
-                 type=ValueType(name='mjtInertiaFromGeom'),
-                 doc='use geom inertias',
-             ),
-             StructFieldDecl(
-                 name='inertiagrouprange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='range of geom groups used to compute inertia',
-             ),
-             StructFieldDecl(
-                 name='saveinertial',
-                 type=ValueType(name='mjtBool'),
-                 doc='save explicit inertial clause for all bodies to XML',
-             ),
-             StructFieldDecl(
-                 name='alignfree',
-                 type=ValueType(name='mjtBool'),
-                 doc='align free joints with inertial frame',
-             ),
-             StructFieldDecl(
-                 name='conflict',
-                 type=ValueType(name='mjtConflict'),
-                 doc='conflict resolution for attach',
-             ),
-             StructFieldDecl(
-                 name='LRopt',
-                 type=ValueType(name='mjLROpt'),
-                 doc='options for lengthrange computation',
-             ),
-             StructFieldDecl(
-                 name='meshdir',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='mesh and hfield directory',
-             ),
-             StructFieldDecl(
-                 name='texturedir',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='texture directory',
-             ),
-             StructFieldDecl(
-                 name='authored',
-                 type=ValueType(name='uint64_t'),
-                 doc='bitmask of authored compiler fields',
-             ),
-         ),
-     )),
-    ('mjsAuthored',
-     StructDecl(
-         name='mjsAuthored',
-         declname='struct mjsAuthored_',
-         fields=(
-             StructFieldDecl(
-                 name='option',
-                 type=ValueType(name='uint64_t'),
-                 doc='authored mjOption fields',
-             ),
-             StructFieldDecl(
-                 name='disableflags',
-                 type=ValueType(name='int'),
-                 doc='individual authored disable flags',
-             ),
-             StructFieldDecl(
-                 name='enableflags',
-                 type=ValueType(name='int'),
-                 doc='individual authored enable flags',
-             ),
-             StructFieldDecl(
-                 name='disableactuator',
-                 type=ValueType(name='int'),
-                 doc='individual authored actuator groups',
-             ),
-             StructFieldDecl(
-                 name='visual_global',
-                 type=ValueType(name='uint64_t'),
-                 doc='authored visual.global fields',
-             ),
-             StructFieldDecl(
-                 name='visual_quality',
-                 type=ValueType(name='uint64_t'),
-                 doc='authored visual.quality fields',
-             ),
-             StructFieldDecl(
-                 name='visual_headlight',
-                 type=ValueType(name='uint64_t'),
-                 doc='authored visual.headlight fields',
-             ),
-             StructFieldDecl(
-                 name='visual_map',
-                 type=ValueType(name='uint64_t'),
-                 doc='authored visual.map fields',
-             ),
-             StructFieldDecl(
-                 name='visual_scale',
-                 type=ValueType(name='uint64_t'),
-                 doc='authored visual.scale fields',
-             ),
-             StructFieldDecl(
-                 name='visual_rgba',
-                 type=ValueType(name='uint64_t'),
-                 doc='authored visual.rgba fields',
-             ),
-         ),
-     )),
-    ('mjSpec',
-     StructDecl(
-         name='mjSpec',
-         declname='struct mjSpec_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='modelname',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='model name',
-             ),
-             StructFieldDecl(
-                 name='compiler',
-                 type=ValueType(name='mjsCompiler'),
-                 doc='compiler options',
-             ),
-             StructFieldDecl(
-                 name='strippath',
-                 type=ValueType(name='mjtBool'),
-                 doc='automatically strip paths from mesh files',
-             ),
-             StructFieldDecl(
-                 name='option',
-                 type=ValueType(name='mjOption'),
-                 doc='physics options',
-             ),
-             StructFieldDecl(
-                 name='visual',
-                 type=ValueType(name='mjVisual'),
-                 doc='visual options',
-             ),
-             StructFieldDecl(
-                 name='stat',
-                 type=ValueType(name='mjStatistic'),
-                 doc='statistics override (if defined)',
-             ),
-             StructFieldDecl(
-                 name='memory',
-                 type=ValueType(name='mjtSize'),
-                 doc='number of bytes in arena+stack memory',
-             ),
-             StructFieldDecl(
-                 name='nemax',
-                 type=ValueType(name='int'),
-                 doc='max number of equality constraints',
-             ),
-             StructFieldDecl(
-                 name='nuserdata',
-                 type=ValueType(name='int'),
-                 doc='number of mjtNums in userdata',
-             ),
-             StructFieldDecl(
-                 name='nuser_body',
-                 type=ValueType(name='int'),
-                 doc='number of mjtNums in body_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_jnt',
-                 type=ValueType(name='int'),
-                 doc='number of mjtNums in jnt_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_geom',
-                 type=ValueType(name='int'),
-                 doc='number of mjtNums in geom_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_site',
-                 type=ValueType(name='int'),
-                 doc='number of mjtNums in site_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_cam',
-                 type=ValueType(name='int'),
-                 doc='number of mjtNums in cam_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_tendon',
-                 type=ValueType(name='int'),
-                 doc='number of mjtNums in tendon_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_actuator',
-                 type=ValueType(name='int'),
-                 doc='number of mjtNums in actuator_user',
-             ),
-             StructFieldDecl(
-                 name='nuser_sensor',
-                 type=ValueType(name='int'),
-                 doc='number of mjtNums in sensor_user',
-             ),
-             StructFieldDecl(
-                 name='nkey',
-                 type=ValueType(name='int'),
-                 doc='number of keyframes',
-             ),
-             StructFieldDecl(
-                 name='njmax',
-                 type=ValueType(name='int'),
-                 doc='(deprecated) max number of constraints',
-             ),
-             StructFieldDecl(
-                 name='nconmax',
-                 type=ValueType(name='int'),
-                 doc='(deprecated) max number of detected contacts',
-             ),
-             StructFieldDecl(
-                 name='nstack',
-                 type=ValueType(name='mjtSize'),
-                 doc='(deprecated) number of mjtNums in mjData stack',
-             ),
-             StructFieldDecl(
-                 name='comment',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='comment at top of XML',
-             ),
-             StructFieldDecl(
-                 name='modelfiledir',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='path to model file',
-             ),
-             StructFieldDecl(
-                 name='hasImplicitPluginElem',
-                 type=ValueType(name='mjtBool'),
-                 doc='already encountered an implicit plugin sensor/actuator',
-             ),
-             StructFieldDecl(
-                 name='authored',
-                 type=ValueType(name='mjsAuthored'),
-                 doc='authored tracking bitmasks for mjModel structs',
-             ),
-         ),
-     )),
-    ('mjsOrientation',
-     StructDecl(
-         name='mjsOrientation',
-         declname='struct mjsOrientation_',
-         fields=(
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='mjtOrientation'),
-                 doc='active orientation specifier',
-             ),
-             StructFieldDecl(
-                 name='axisangle',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-                 doc='axis and angle',
-             ),
-             StructFieldDecl(
-                 name='xyaxes',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(6,),
-                 ),
-                 doc='x and y axes',
-             ),
-             StructFieldDecl(
-                 name='zaxis',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='z axis (minimal rotation)',
-             ),
-             StructFieldDecl(
-                 name='euler',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='Euler angles',
-             ),
-         ),
-     )),
-    ('mjsPlugin',
-     StructDecl(
-         name='mjsPlugin',
-         declname='struct mjsPlugin_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='name',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='instance name',
-             ),
-             StructFieldDecl(
-                 name='plugin_name',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='plugin name',
-             ),
-             StructFieldDecl(
-                 name='active',
-                 type=ValueType(name='mjtBool'),
-                 doc='is the plugin active',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsBody',
-     StructDecl(
-         name='mjsBody',
-         declname='struct mjsBody_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='childclass',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='childclass name',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='frame position',
-             ),
-             StructFieldDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-                 doc='frame orientation',
-             ),
-             StructFieldDecl(
-                 name='alt',
-                 type=ValueType(name='mjsOrientation'),
-                 doc='frame alternative orientation',
-             ),
-             StructFieldDecl(
-                 name='mass',
-                 type=ValueType(name='double'),
-                 doc='mass',
-             ),
-             StructFieldDecl(
-                 name='ipos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='inertial frame position',
-             ),
-             StructFieldDecl(
-                 name='iquat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-                 doc='inertial frame orientation',
-             ),
-             StructFieldDecl(
-                 name='inertia',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='diagonal inertia (in i-frame)',
-             ),
-             StructFieldDecl(
-                 name='ialt',
-                 type=ValueType(name='mjsOrientation'),
-                 doc='inertial frame alternative orientation',
-             ),
-             StructFieldDecl(
-                 name='fullinertia',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(6,),
-                 ),
-                 doc='non-axis-aligned inertia matrix',
-             ),
-             StructFieldDecl(
-                 name='mocap',
-                 type=ValueType(name='mjtBool'),
-                 doc='is this a mocap body',
-             ),
-             StructFieldDecl(
-                 name='gravcomp',
-                 type=ValueType(name='double'),
-                 doc='gravity compensation',
-             ),
-             StructFieldDecl(
-                 name='sleep',
-                 type=ValueType(name='mjtSleepPolicy'),
-                 doc='sleep policy',
-             ),
-             StructFieldDecl(
-                 name='simple',
-                 type=ValueType(name='mjtByte'),
-                 doc='simple body optimization (0: false, 1: auto)',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='user data',
-             ),
-             StructFieldDecl(
-                 name='explicitinertial',
-                 type=ValueType(name='mjtBool'),
-                 doc='whether to save the body with explicit inertial clause',
-             ),
-             StructFieldDecl(
-                 name='plugin',
-                 type=ValueType(name='mjsPlugin'),
-                 doc='passive force plugin',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsFrame',
-     StructDecl(
-         name='mjsFrame',
-         declname='struct mjsFrame_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='childclass',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='childclass name',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='position',
-             ),
-             StructFieldDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-                 doc='orientation',
-             ),
-             StructFieldDecl(
-                 name='alt',
-                 type=ValueType(name='mjsOrientation'),
-                 doc='alternative orientation',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsJoint',
-     StructDecl(
-         name='mjsJoint',
-         declname='struct mjsJoint_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='mjtJoint'),
-                 doc='joint type',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='anchor position',
-             ),
-             StructFieldDecl(
-                 name='axis',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='joint axis',
-             ),
-             StructFieldDecl(
-                 name='ref',
-                 type=ValueType(name='double'),
-                 doc='value at reference configuration: qpos0',
-             ),
-             StructFieldDecl(
-                 name='align',
-                 type=ValueType(name='mjtAlignFree'),
-                 doc='align free joint with body com',
-             ),
-             StructFieldDecl(
-                 name='stiffness',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='stiffness coefficients',
-             ),
-             StructFieldDecl(
-                 name='springref',
-                 type=ValueType(name='double'),
-                 doc='spring reference value: qpos_spring',
-             ),
-             StructFieldDecl(
-                 name='springdamper',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='timeconst, dampratio',
-             ),
-             StructFieldDecl(
-                 name='limited',
-                 type=ValueType(name='mjtLimited'),
-                 doc='does joint have limits',
-             ),
-             StructFieldDecl(
-                 name='range',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='joint limits',
-             ),
-             StructFieldDecl(
-                 name='margin',
-                 type=ValueType(name='double'),
-                 doc='margin value for joint limit detection',
-             ),
-             StructFieldDecl(
-                 name='solref_limit',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='solver reference: joint limits',
-             ),
-             StructFieldDecl(
-                 name='solimp_limit',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='solver impedance: joint limits',
-             ),
-             StructFieldDecl(
-                 name='actfrclimited',
-                 type=ValueType(name='mjtLimited'),
-                 doc='are actuator forces on joint limited',
-             ),
-             StructFieldDecl(
-                 name='actfrcrange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='actuator force limits',
-             ),
-             StructFieldDecl(
-                 name='armature',
-                 type=ValueType(name='double'),
-                 doc='armature inertia (mass for slider)',
-             ),
-             StructFieldDecl(
-                 name='damping',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='damping coefficients',
-             ),
-             StructFieldDecl(
-                 name='frictionloss',
-                 type=ValueType(name='double'),
-                 doc='friction loss',
-             ),
-             StructFieldDecl(
-                 name='solref_friction',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='solver reference: dof friction',
-             ),
-             StructFieldDecl(
-                 name='solimp_friction',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='solver impedance: dof friction',
-             ),
-             StructFieldDecl(
-                 name='group',
-                 type=ValueType(name='int'),
-                 doc='group',
-             ),
-             StructFieldDecl(
-                 name='actgravcomp',
-                 type=ValueType(name='mjtBool'),
-                 doc='is gravcomp force applied via actuators',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='user data',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsGeom',
-     StructDecl(
-         name='mjsGeom',
-         declname='struct mjsGeom_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='mjtGeom'),
-                 doc='geom type',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='position',
-             ),
-             StructFieldDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-                 doc='orientation',
-             ),
-             StructFieldDecl(
-                 name='alt',
-                 type=ValueType(name='mjsOrientation'),
-                 doc='alternative orientation',
-             ),
-             StructFieldDecl(
-                 name='fromto',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(6,),
-                 ),
-                 doc='alternative for capsule, cylinder, box, ellipsoid',
-             ),
-             StructFieldDecl(
-                 name='size',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='type-specific size',
-             ),
-             StructFieldDecl(
-                 name='contype',
-                 type=ValueType(name='int'),
-                 doc='contact type',
-             ),
-             StructFieldDecl(
-                 name='conaffinity',
-                 type=ValueType(name='int'),
-                 doc='contact affinity',
-             ),
-             StructFieldDecl(
-                 name='condim',
-                 type=ValueType(name='int'),
-                 doc='contact dimensionality',
-             ),
-             StructFieldDecl(
-                 name='priority',
-                 type=ValueType(name='int'),
-                 doc='contact priority',
-             ),
-             StructFieldDecl(
-                 name='friction',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='one-sided friction coefficients: slide, roll, spin',
-             ),
-             StructFieldDecl(
-                 name='solmix',
-                 type=ValueType(name='double'),
-                 doc='solver mixing for contact pairs',
-             ),
-             StructFieldDecl(
-                 name='solref',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='solver reference',
-             ),
-             StructFieldDecl(
-                 name='solimp',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='solver impedance',
-             ),
-             StructFieldDecl(
-                 name='margin',
-                 type=ValueType(name='double'),
-                 doc='margin for contact detection',
-             ),
-             StructFieldDecl(
-                 name='gap',
-                 type=ValueType(name='double'),
-                 doc='additional contact detection buffer',
-             ),
-             StructFieldDecl(
-                 name='surfacevel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(6,),
-                 ),
-                 doc='surface velocity in local frame: linear, angular',
-             ),
-             StructFieldDecl(
-                 name='adhesion',
-                 type=ValueType(name='double'),
-                 doc='adhesive force of contacts',
-             ),
-             StructFieldDecl(
-                 name='mass',
-                 type=ValueType(name='double'),
-                 doc='used to compute density',
-             ),
-             StructFieldDecl(
-                 name='density',
-                 type=ValueType(name='double'),
-                 doc='used to compute mass and inertia from volume or surface',
-             ),
-             StructFieldDecl(
-                 name='typeinertia',
-                 type=ValueType(name='mjtGeomInertia'),
-                 doc='selects between surface and volume inertia',
-             ),
-             StructFieldDecl(
-                 name='fluid_ellipsoid',
-                 type=ValueType(name='mjtNum'),
-                 doc='whether ellipsoid-fluid model is active',
-             ),
-             StructFieldDecl(
-                 name='fluid_coefs',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='ellipsoid-fluid interaction coefs',
-             ),
-             StructFieldDecl(
-                 name='material',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='name of material',
-             ),
-             StructFieldDecl(
-                 name='rgba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='rgba when material is omitted',
-             ),
-             StructFieldDecl(
-                 name='group',
-                 type=ValueType(name='int'),
-                 doc='group',
-             ),
-             StructFieldDecl(
-                 name='hfieldname',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='heightfield attached to geom',
-             ),
-             StructFieldDecl(
-                 name='meshname',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='mesh attached to geom',
-             ),
-             StructFieldDecl(
-                 name='fitscale',
-                 type=ValueType(name='double'),
-                 doc='scale mesh uniformly',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='user data',
-             ),
-             StructFieldDecl(
-                 name='plugin',
-                 type=ValueType(name='mjsPlugin'),
-                 doc='sdf plugin',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsSite',
-     StructDecl(
-         name='mjsSite',
-         declname='struct mjsSite_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='position',
-             ),
-             StructFieldDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-                 doc='orientation',
-             ),
-             StructFieldDecl(
-                 name='alt',
-                 type=ValueType(name='mjsOrientation'),
-                 doc='alternative orientation',
-             ),
-             StructFieldDecl(
-                 name='fromto',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(6,),
-                 ),
-                 doc='alternative for capsule, cylinder, box, ellipsoid',
-             ),
-             StructFieldDecl(
-                 name='size',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='geom size',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='mjtGeom'),
-                 doc='geom type',
-             ),
-             StructFieldDecl(
-                 name='material',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='name of material',
-             ),
-             StructFieldDecl(
-                 name='group',
-                 type=ValueType(name='int'),
-                 doc='group',
-             ),
-             StructFieldDecl(
-                 name='rgba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='rgba when material is omitted',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='user data',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsCamera',
-     StructDecl(
-         name='mjsCamera',
-         declname='struct mjsCamera_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='position',
-             ),
-             StructFieldDecl(
-                 name='quat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-                 doc='orientation',
-             ),
-             StructFieldDecl(
-                 name='alt',
-                 type=ValueType(name='mjsOrientation'),
-                 doc='alternative orientation',
-             ),
-             StructFieldDecl(
-                 name='mode',
-                 type=ValueType(name='mjtCamLight'),
-                 doc='tracking mode',
-             ),
-             StructFieldDecl(
-                 name='targetbody',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='target body for tracking/targeting',
-             ),
-             StructFieldDecl(
-                 name='proj',
-                 type=ValueType(name='mjtProjection'),
-                 doc='camera projection type',
-             ),
-             StructFieldDecl(
-                 name='resolution',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='resolution (pixel)',
-             ),
-             StructFieldDecl(
-                 name='output',
-                 type=ValueType(name='int'),
-                 doc='bit flags for output type',
-             ),
-             StructFieldDecl(
-                 name='fovy',
-                 type=ValueType(name='double'),
-                 doc='y-field of view',
-             ),
-             StructFieldDecl(
-                 name='ipd',
-                 type=ValueType(name='double'),
-                 doc='inter-pupillary distance',
-             ),
-             StructFieldDecl(
-                 name='intrinsic',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='camera intrinsics (length)',
-             ),
-             StructFieldDecl(
-                 name='sensor_size',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 doc='sensor size (length)',
-             ),
-             StructFieldDecl(
-                 name='focal_length',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 doc='focal length (length)',
-             ),
-             StructFieldDecl(
-                 name='focal_pixel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 doc='focal length (pixel)',
-             ),
-             StructFieldDecl(
-                 name='principal_length',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 doc='principal point (length)',
-             ),
-             StructFieldDecl(
-                 name='principal_pixel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 doc='principal point (pixel)',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='user data',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsLight',
-     StructDecl(
-         name='mjsLight',
-         declname='struct mjsLight_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='position',
-             ),
-             StructFieldDecl(
-                 name='dir',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='direction',
-             ),
-             StructFieldDecl(
-                 name='mode',
-                 type=ValueType(name='mjtCamLight'),
-                 doc='tracking mode',
-             ),
-             StructFieldDecl(
-                 name='targetbody',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='target body for targeting',
-             ),
-             StructFieldDecl(
-                 name='active',
-                 type=ValueType(name='mjtBool'),
-                 doc='is light active',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='mjtLightType'),
-                 doc='type of light',
-             ),
-             StructFieldDecl(
-                 name='texture',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='texture name for image lights',
-             ),
-             StructFieldDecl(
-                 name='castshadow',
-                 type=ValueType(name='mjtBool'),
-                 doc='does light cast shadows',
-             ),
-             StructFieldDecl(
-                 name='bulbradius',
-                 type=ValueType(name='float'),
-                 doc='bulb radius, for soft shadows',
-             ),
-             StructFieldDecl(
-                 name='intensity',
-                 type=ValueType(name='float'),
-                 doc='intensity, in candelas',
-             ),
-             StructFieldDecl(
-                 name='range',
-                 type=ValueType(name='float'),
-                 doc='range of effectiveness',
-             ),
-             StructFieldDecl(
-                 name='attenuation',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='OpenGL attenuation (quadratic model)',
-             ),
-             StructFieldDecl(
-                 name='cutoff',
-                 type=ValueType(name='float'),
-                 doc='OpenGL cutoff',
-             ),
-             StructFieldDecl(
-                 name='softness',
-                 type=ValueType(name='float'),
-                 doc='spotlight edge softness',
-             ),
-             StructFieldDecl(
-                 name='exponent',
-                 type=ValueType(name='float'),
-                 doc='OpenGL exponent',
-             ),
-             StructFieldDecl(
-                 name='ambient',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='ambient color',
-             ),
-             StructFieldDecl(
-                 name='diffuse',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='diffuse color',
-             ),
-             StructFieldDecl(
-                 name='specular',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='specular color',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsFlex',
-     StructDecl(
-         name='mjsFlex',
-         declname='struct mjsFlex_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='contype',
-                 type=ValueType(name='int'),
-                 doc='contact type',
-             ),
-             StructFieldDecl(
-                 name='conaffinity',
-                 type=ValueType(name='int'),
-                 doc='contact affinity',
-             ),
-             StructFieldDecl(
-                 name='condim',
-                 type=ValueType(name='int'),
-                 doc='contact dimensionality',
-             ),
-             StructFieldDecl(
-                 name='priority',
-                 type=ValueType(name='int'),
-                 doc='contact priority',
-             ),
-             StructFieldDecl(
-                 name='friction',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='one-sided friction coefficients: slide, roll, spin',
-             ),
-             StructFieldDecl(
-                 name='solmix',
-                 type=ValueType(name='double'),
-                 doc='solver mixing for contact pairs',
-             ),
-             StructFieldDecl(
-                 name='solref',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='solver reference',
-             ),
-             StructFieldDecl(
-                 name='solimp',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='solver impedance',
-             ),
-             StructFieldDecl(
-                 name='margin',
-                 type=ValueType(name='double'),
-                 doc='margin for contact detection',
-             ),
-             StructFieldDecl(
-                 name='gap',
-                 type=ValueType(name='double'),
-                 doc='additional contact detection buffer',
-             ),
-             StructFieldDecl(
-                 name='dim',
-                 type=ValueType(name='int'),
-                 doc='element dimensionality',
-             ),
-             StructFieldDecl(
-                 name='radius',
-                 type=ValueType(name='double'),
-                 doc='radius around primitive element',
-             ),
-             StructFieldDecl(
-                 name='size',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='vertex bounding box half sizes in qpos0',
-             ),
-             StructFieldDecl(
-                 name='internal',
-                 type=ValueType(name='mjtBool'),
-                 doc='enable internal collisions',
-             ),
-             StructFieldDecl(
-                 name='flatskin',
-                 type=ValueType(name='mjtBool'),
-                 doc='render flex skin with flat shading',
-             ),
-             StructFieldDecl(
-                 name='selfcollide',
-                 type=ValueType(name='mjtFlexSelf'),
-                 doc='mode for flex self collision',
-             ),
-             StructFieldDecl(
-                 name='passive',
-                 type=ValueType(name='int'),
-                 doc='mode for passive collisions',
-             ),
-             StructFieldDecl(
-                 name='activelayers',
-                 type=ValueType(name='int'),
-                 doc='number of active element layers in 3D',
-             ),
-             StructFieldDecl(
-                 name='group',
-                 type=ValueType(name='int'),
-                 doc='group for visualization',
-             ),
-             StructFieldDecl(
-                 name='edgestiffness',
-                 type=ValueType(name='double'),
-                 doc='edge stiffness',
-             ),
-             StructFieldDecl(
-                 name='edgedamping',
-                 type=ValueType(name='double'),
-                 doc='edge damping',
-             ),
-             StructFieldDecl(
-                 name='rgba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='rgba when material is omitted',
-             ),
-             StructFieldDecl(
-                 name='material',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='name of material used for rendering',
-             ),
-             StructFieldDecl(
-                 name='young',
-                 type=ValueType(name='double'),
-                 doc="Young's modulus",
-             ),
-             StructFieldDecl(
-                 name='poisson',
-                 type=ValueType(name='double'),
-                 doc="Poisson's ratio",
-             ),
-             StructFieldDecl(
-                 name='damping',
-                 type=ValueType(name='double'),
-                 doc="Rayleigh's damping",
-             ),
-             StructFieldDecl(
-                 name='thickness',
-                 type=ValueType(name='double'),
-                 doc='thickness (2D only)',
-             ),
-             StructFieldDecl(
-                 name='elastic2d',
-                 type=ValueType(name='int'),
-                 doc='2D passive forces; 0: none, 1: bending, 2: stretching, 3: both',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='cellcount',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(3,),
-                 ),
-                 doc='grid cell count for finite cell method',
-             ),
-             StructFieldDecl(
-                 name='order',
-                 type=ValueType(name='int'),
-                 doc='interpolation order (1: trilinear, 2: quadratic)',
-             ),
-             StructFieldDecl(
-                 name='nodebody',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjStringVec'),
-                 ),
-                 doc='node body names',
-             ),
-             StructFieldDecl(
-                 name='vertbody',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjStringVec'),
-                 ),
-                 doc='vertex body names',
-             ),
-             StructFieldDecl(
-                 name='node',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='node positions',
-             ),
-             StructFieldDecl(
-                 name='vert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='vertex positions',
-             ),
-             StructFieldDecl(
-                 name='elem',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVec'),
-                 ),
-                 doc='element vertex ids',
-             ),
-             StructFieldDecl(
-                 name='texcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-                 doc='vertex texture coordinates',
-             ),
-             StructFieldDecl(
-                 name='elemtexcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVec'),
-                 ),
-                 doc='element texture coordinates',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsMesh',
-     StructDecl(
-         name='mjsMesh',
-         declname='struct mjsMesh_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='content_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='content type of file',
-             ),
-             StructFieldDecl(
-                 name='file',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='mesh file',
-             ),
-             StructFieldDecl(
-                 name='refpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='reference position',
-             ),
-             StructFieldDecl(
-                 name='refquat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-                 doc='reference orientation',
-             ),
-             StructFieldDecl(
-                 name='scale',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='rescale mesh',
-             ),
-             StructFieldDecl(
-                 name='inertia',
-                 type=ValueType(name='mjtMeshInertia'),
-                 doc='inertia type (convex, legacy, exact, shell)',
-             ),
-             StructFieldDecl(
-                 name='smoothnormal',
-                 type=ValueType(name='mjtBool'),
-                 doc='do not exclude large-angle faces from normals',
-             ),
-             StructFieldDecl(
-                 name='needsdf',
-                 type=ValueType(name='mjtBool'),
-                 doc='compute sdf from mesh',
-             ),
-             StructFieldDecl(
-                 name='maxhullvert',
-                 type=ValueType(name='int'),
-                 doc='maximum vertex count for the convex hull',
-             ),
-             StructFieldDecl(
-                 name='uservert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-                 doc='user vertex data',
-             ),
-             StructFieldDecl(
-                 name='usernormal',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-                 doc='user normal data',
-             ),
-             StructFieldDecl(
-                 name='usertexcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-                 doc='user texcoord data',
-             ),
-             StructFieldDecl(
-                 name='userface',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVec'),
-                 ),
-                 doc='user vertex indices',
-             ),
-             StructFieldDecl(
-                 name='userfacenormal',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVec'),
-                 ),
-                 doc='user face normal indices',
-             ),
-             StructFieldDecl(
-                 name='userfacetexcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVec'),
-                 ),
-                 doc='user texcoord indices',
-             ),
-             StructFieldDecl(
-                 name='plugin',
-                 type=ValueType(name='mjsPlugin'),
-                 doc='sdf plugin',
-             ),
-             StructFieldDecl(
-                 name='material',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='name of material',
-             ),
-             StructFieldDecl(
-                 name='octree_maxdepth',
-                 type=ValueType(name='int'),
-                 doc='max octree depth',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsHField',
-     StructDecl(
-         name='mjsHField',
-         declname='struct mjsHField_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='content_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='content type of file',
-             ),
-             StructFieldDecl(
-                 name='file',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='file: (nrow, ncol, [elevation data])',
-             ),
-             StructFieldDecl(
-                 name='size',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(4,),
-                 ),
-                 doc='hfield size (ignore referencing geom size)',
-             ),
-             StructFieldDecl(
-                 name='nrow',
-                 type=ValueType(name='int'),
-                 doc='number of rows',
-             ),
-             StructFieldDecl(
-                 name='ncol',
-                 type=ValueType(name='int'),
-                 doc='number of columns',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-                 doc='user-provided elevation data',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsSkin',
-     StructDecl(
-         name='mjsSkin',
-         declname='struct mjsSkin_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='file',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='skin file',
-             ),
-             StructFieldDecl(
-                 name='material',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='name of material used for rendering',
-             ),
-             StructFieldDecl(
-                 name='rgba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='rgba when material is omitted',
-             ),
-             StructFieldDecl(
-                 name='inflate',
-                 type=ValueType(name='float'),
-                 doc='inflate in normal direction',
-             ),
-             StructFieldDecl(
-                 name='group',
-                 type=ValueType(name='int'),
-                 doc='group for visualization',
-             ),
-             StructFieldDecl(
-                 name='vert',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-                 doc='vertex positions',
-             ),
-             StructFieldDecl(
-                 name='texcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-                 doc='texture coordinates',
-             ),
-             StructFieldDecl(
-                 name='face',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVec'),
-                 ),
-                 doc='faces',
-             ),
-             StructFieldDecl(
-                 name='bodyname',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjStringVec'),
-                 ),
-                 doc='body names',
-             ),
-             StructFieldDecl(
-                 name='bindpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-                 doc='bind pos',
-             ),
-             StructFieldDecl(
-                 name='bindquat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVec'),
-                 ),
-                 doc='bind quat',
-             ),
-             StructFieldDecl(
-                 name='vertid',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVecVec'),
-                 ),
-                 doc='vertex ids',
-             ),
-             StructFieldDecl(
-                 name='vertweight',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjFloatVecVec'),
-                 ),
-                 doc='vertex weights',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsTexture',
-     StructDecl(
-         name='mjsTexture',
-         declname='struct mjsTexture_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='mjtTexture'),
-                 doc='texture type',
-             ),
-             StructFieldDecl(
-                 name='colorspace',
-                 type=ValueType(name='mjtColorSpace'),
-                 doc='colorspace',
-             ),
-             StructFieldDecl(
-                 name='builtin',
-                 type=ValueType(name='mjtBuiltin'),
-                 doc='builtin type',
-             ),
-             StructFieldDecl(
-                 name='mark',
-                 type=ValueType(name='mjtMark'),
-                 doc='mark type',
-             ),
-             StructFieldDecl(
-                 name='rgb1',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
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-                 doc='first color for builtin',
-             ),
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-                 type=ArrayType(
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-                     extents=(3,),
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-                 type=ArrayType(
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-                     extents=(3,),
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-                 doc='mark color',
-             ),
-             StructFieldDecl(
-                 name='random',
-                 type=ValueType(name='double'),
-                 doc='probability of random dots',
-             ),
-             StructFieldDecl(
-                 name='height',
-                 type=ValueType(name='int'),
-                 doc='height in pixels (square for cube and skybox)',
-             ),
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-                 type=ValueType(name='int'),
-                 doc='width in pixels',
-             ),
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-                 name='nchannel',
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-                 doc='number of channels',
-             ),
-             StructFieldDecl(
-                 name='content_type',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
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-             ),
-             StructFieldDecl(
-                 name='file',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='png file to load; use for all sides of cube',
-             ),
-             StructFieldDecl(
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-                 type=ArrayType(
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-                     extents=(2,),
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-             ),
-             StructFieldDecl(
-                 name='cubefiles',
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-                     inner_type=ValueType(name='mjStringVec'),
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-                 doc='different file for each side of the cube',
-             ),
-             StructFieldDecl(
-                 name='data',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjByteVec'),
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-                 doc='texture data',
-             ),
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-                 name='hflip',
-                 type=ValueType(name='mjtBool'),
-                 doc='horizontal flip',
-             ),
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-                 doc='vertical flip',
-             ),
-             StructFieldDecl(
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-                 type=PointerType(
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-                 ),
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-             ),
-         ),
-     )),
-    ('mjsMaterial',
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-         name='mjsMaterial',
-         declname='struct mjsMaterial_',
-         fields=(
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-                 name='textures',
-                 type=PointerType(
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-                 doc='names of textures (empty: none)',
-             ),
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-                 name='texuniform',
-                 type=ValueType(name='mjtBool'),
-                 doc='make texture cube uniform',
-             ),
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-             ),
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-                 doc='specular',
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-                 doc='reflectance',
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-                 doc='metallic',
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-                 doc='roughness',
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-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
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-             ),
-         ),
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-         declname='struct mjsPair_',
-         fields=(
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-                     inner_type=ValueType(name='mjtNum'),
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-             StructFieldDecl(
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-             ),
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-                 name='margin',
-                 type=ValueType(name='double'),
-                 doc='margin for contact detection',
-             ),
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-                 type=ValueType(name='double'),
-                 doc='additional contact detection buffer',
-             ),
-             StructFieldDecl(
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-                 doc='adhesive force of contacts',
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-             StructFieldDecl(
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-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
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-                 doc='message appended to errors',
-             ),
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-         declname='struct mjsExclude_',
-         fields=(
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-                 doc='name of geom 2',
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-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
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-                 doc='message appended to errors',
-             ),
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-    ('mjsEquality',
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-         declname='struct mjsEquality_',
-         fields=(
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-                 type=PointerType(
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-                 doc='element type',
-             ),
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-                 type=ValueType(name='mjtEq'),
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-             ),
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-                 doc='type-dependent data',
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-             StructFieldDecl(
-                 name='active',
-                 type=ValueType(name='mjtBool'),
-                 doc='is equality initially active',
-             ),
-             StructFieldDecl(
-                 name='name1',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
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-                 doc='name of object 1',
-             ),
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-                 name='name2',
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-                 name='objtype',
-                 type=ValueType(name='mjtObj'),
-                 doc='type of both objects',
-             ),
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-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
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-                 doc='solver reference',
-             ),
-             StructFieldDecl(
-                 name='solimp',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='solver impedance',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to errors',
-             ),
-         ),
-     )),
-    ('mjsTendon',
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-         name='mjsTendon',
-         declname='struct mjsTendon_',
-         fields=(
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-                 type=PointerType(
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-                 doc='element type',
-             ),
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-                     extents=(3,),
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-                 doc='stiffness coefficients',
-             ),
-             StructFieldDecl(
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-                 type=ArrayType(
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-                 ),
-                 doc='spring resting length; {-1, -1}: use qpos_spring',
-             ),
-             StructFieldDecl(
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-                 type=ArrayType(
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-                     extents=(3,),
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-                 doc='damping coefficients',
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-             StructFieldDecl(
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-                 doc='friction loss',
-             ),
-             StructFieldDecl(
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-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='solver reference: tendon friction',
-             ),
-             StructFieldDecl(
-                 name='solimp_friction',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='solver impedance: tendon friction',
-             ),
-             StructFieldDecl(
-                 name='armature',
-                 type=ValueType(name='double'),
-                 doc='inertia associated with tendon velocity',
-             ),
-             StructFieldDecl(
-                 name='limited',
-                 type=ValueType(name='mjtLimited'),
-                 doc='does tendon have limits',
-             ),
-             StructFieldDecl(
-                 name='actfrclimited',
-                 type=ValueType(name='mjtLimited'),
-                 doc='does tendon have actuator force limits',
-             ),
-             StructFieldDecl(
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-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='length limits',
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-                 type=ArrayType(
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-                     extents=(2,),
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-                 doc='actuator force limits',
-             ),
-             StructFieldDecl(
-                 name='margin',
-                 type=ValueType(name='double'),
-                 doc='margin value for tendon limit detection',
-             ),
-             StructFieldDecl(
-                 name='solref_limit',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(2,),
-                 ),
-                 doc='solver reference: tendon limits',
-             ),
-             StructFieldDecl(
-                 name='solimp_limit',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(5,),
-                 ),
-                 doc='solver impedance: tendon limits',
-             ),
-             StructFieldDecl(
-                 name='material',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='name of material for rendering',
-             ),
-             StructFieldDecl(
-                 name='width',
-                 type=ValueType(name='double'),
-                 doc='width for rendering',
-             ),
-             StructFieldDecl(
-                 name='rgba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='rgba when material is omitted',
-             ),
-             StructFieldDecl(
-                 name='group',
-                 type=ValueType(name='int'),
-                 doc='group',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='user data',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to errors',
-             ),
-         ),
-     )),
-    ('mjsWrap',
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-         name='mjsWrap',
-         declname='struct mjsWrap_',
-         fields=(
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-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='mjtWrap'),
-                 doc='wrap type',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to errors',
-             ),
-         ),
-     )),
-    ('mjsActuator',
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-         name='mjsActuator',
-         declname='struct mjsActuator_',
-         fields=(
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-                 name='element',
-                 type=PointerType(
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-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='gaintype',
-                 type=ValueType(name='mjtGain'),
-                 doc='gain type',
-             ),
-             StructFieldDecl(
-                 name='gainprm',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(10,),
-                 ),
-                 doc='gain parameters',
-             ),
-             StructFieldDecl(
-                 name='biastype',
-                 type=ValueType(name='mjtBias'),
-                 doc='bias type',
-             ),
-             StructFieldDecl(
-                 name='biasprm',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(10,),
-                 ),
-                 doc='bias parameters',
-             ),
-             StructFieldDecl(
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-                 type=ValueType(name='mjtDyn'),
-                 doc='dynamics type',
-             ),
-             StructFieldDecl(
-                 name='dynprm',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(10,),
-                 ),
-                 doc='dynamics parameters',
-             ),
-             StructFieldDecl(
-                 name='actdim',
-                 type=ValueType(name='int'),
-                 doc='number of activation variables',
-             ),
-             StructFieldDecl(
-                 name='ctrlspec',
-                 type=ValueType(name='int'),
-                 doc='input signature, scoped by gaintype; 0: type default',
-             ),
-             StructFieldDecl(
-                 name='velrange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='range of the velocity-setpoint input (pid)',
-             ),
-             StructFieldDecl(
-                 name='ffrange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='range of the feedforward input (pid)',
-             ),
-             StructFieldDecl(
-                 name='actearly',
-                 type=ValueType(name='mjtBool'),
-                 doc='apply next activations to qfrc',
-             ),
-             StructFieldDecl(
-                 name='trntype',
-                 type=ValueType(name='mjtTrn'),
-                 doc='transmission type',
-             ),
-             StructFieldDecl(
-                 name='gear',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(6,),
-                 ),
-                 doc='length and transmitted force scaling',
-             ),
-             StructFieldDecl(
-                 name='target',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='name of transmission target',
-             ),
-             StructFieldDecl(
-                 name='refsite',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='reference site, for site transmission',
-             ),
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-                 name='slidersite',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='site defining cylinder, for slider-crank',
-             ),
-             StructFieldDecl(
-                 name='cranklength',
-                 type=ValueType(name='double'),
-                 doc='crank length, for slider-crank',
-             ),
-             StructFieldDecl(
-                 name='lengthrange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='transmission length range',
-             ),
-             StructFieldDecl(
-                 name='inheritrange',
-                 type=ValueType(name='double'),
-                 doc='automatic range setting for position and intvelocity',
-             ),
-             StructFieldDecl(
-                 name='damping',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(3,),
-                 ),
-                 doc='damping coefficients',
-             ),
-             StructFieldDecl(
-                 name='armature',
-                 type=ValueType(name='double'),
-                 doc='armature inertia',
-             ),
-             StructFieldDecl(
-                 name='ctrllimited',
-                 type=ValueType(name='mjtLimited'),
-                 doc='are control limits defined',
-             ),
-             StructFieldDecl(
-                 name='ctrlrange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='control range',
-             ),
-             StructFieldDecl(
-                 name='forcelimited',
-                 type=ValueType(name='mjtLimited'),
-                 doc='are force limits defined',
-             ),
-             StructFieldDecl(
-                 name='forcerange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='force range',
-             ),
-             StructFieldDecl(
-                 name='actlimited',
-                 type=ValueType(name='mjtLimited'),
-                 doc='are activation limits defined',
-             ),
-             StructFieldDecl(
-                 name='actrange',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='activation range',
-             ),
-             StructFieldDecl(
-                 name='group',
-                 type=ValueType(name='int'),
-                 doc='group',
-             ),
-             StructFieldDecl(
-                 name='nsample',
-                 type=ValueType(name='int'),
-                 doc='number of samples in history buffer',
-             ),
-             StructFieldDecl(
-                 name='interp',
-                 type=ValueType(name='int'),
-                 doc='interpolation order (0=ZOH, 1=linear, 2=cubic)',
-             ),
-             StructFieldDecl(
-                 name='delay',
-                 type=ValueType(name='double'),
-                 doc='delay time in seconds; 0: no delay',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='user data',
-             ),
-             StructFieldDecl(
-                 name='plugin',
-                 type=ValueType(name='mjsPlugin'),
-                 doc='actuator plugin',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsSensor',
-     StructDecl(
-         name='mjsSensor',
-         declname='struct mjsSensor_',
-         fields=(
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-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='mjtSensor'),
-                 doc='type of sensor',
-             ),
-             StructFieldDecl(
-                 name='objtype',
-                 type=ValueType(name='mjtObj'),
-                 doc='type of sensorized object',
-             ),
-             StructFieldDecl(
-                 name='objname',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='name of sensorized object',
-             ),
-             StructFieldDecl(
-                 name='reftype',
-                 type=ValueType(name='mjtObj'),
-                 doc='type of referenced object',
-             ),
-             StructFieldDecl(
-                 name='refname',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='name of referenced object',
-             ),
-             StructFieldDecl(
-                 name='intprm',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(3,),
-                 ),
-                 doc='integer parameters',
-             ),
-             StructFieldDecl(
-                 name='datatype',
-                 type=ValueType(name='mjtDataType'),
-                 doc='data type for sensor measurement',
-             ),
-             StructFieldDecl(
-                 name='needstage',
-                 type=ValueType(name='mjtStage'),
-                 doc='compute stage needed to simulate sensor',
-             ),
-             StructFieldDecl(
-                 name='dim',
-                 type=ValueType(name='int'),
-                 doc='number of scalar outputs',
-             ),
-             StructFieldDecl(
-                 name='cutoff',
-                 type=ValueType(name='double'),
-                 doc='cutoff for real and positive datatypes',
-             ),
-             StructFieldDecl(
-                 name='noise',
-                 type=ValueType(name='double'),
-                 doc='noise stdev',
-             ),
-             StructFieldDecl(
-                 name='nsample',
-                 type=ValueType(name='int'),
-                 doc='number of samples in history buffer',
-             ),
-             StructFieldDecl(
-                 name='interp',
-                 type=ValueType(name='int'),
-                 doc='interpolation order (0=ZOH, 1=linear, 2=cubic)',
-             ),
-             StructFieldDecl(
-                 name='delay',
-                 type=ValueType(name='double'),
-                 doc='delay time in seconds',
-             ),
-             StructFieldDecl(
-                 name='interval',
-                 type=ArrayType(
-                     inner_type=ValueType(name='double'),
-                     extents=(2,),
-                 ),
-                 doc='[period, time_prev] in seconds',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='user data',
-             ),
-             StructFieldDecl(
-                 name='plugin',
-                 type=ValueType(name='mjsPlugin'),
-                 doc='sensor plugin',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsNumeric',
-     StructDecl(
-         name='mjsNumeric',
-         declname='struct mjsNumeric_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='data',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='initialization data',
-             ),
-             StructFieldDecl(
-                 name='size',
-                 type=ValueType(name='int'),
-                 doc='array size, can be bigger than data size',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsText',
-     StructDecl(
-         name='mjsText',
-         declname='struct mjsText_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='data',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='text string',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsTuple',
-     StructDecl(
-         name='mjsTuple',
-         declname='struct mjsTuple_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='objtype',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjIntVec'),
-                 ),
-                 doc='object types',
-             ),
-             StructFieldDecl(
-                 name='objname',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjStringVec'),
-                 ),
-                 doc='object names',
-             ),
-             StructFieldDecl(
-                 name='objprm',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='object parameters',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsKey',
-     StructDecl(
-         name='mjsKey',
-         declname='struct mjsKey_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='time',
-                 type=ValueType(name='double'),
-                 doc='time',
-             ),
-             StructFieldDecl(
-                 name='qpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='qpos',
-             ),
-             StructFieldDecl(
-                 name='qvel',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='qvel',
-             ),
-             StructFieldDecl(
-                 name='act',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='act',
-             ),
-             StructFieldDecl(
-                 name='mpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='mocap pos',
-             ),
-             StructFieldDecl(
-                 name='mquat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='mocap quat',
-             ),
-             StructFieldDecl(
-                 name='ctrl',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjDoubleVec'),
-                 ),
-                 doc='ctrl',
-             ),
-             StructFieldDecl(
-                 name='info',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='message appended to compiler errors',
-             ),
-         ),
-     )),
-    ('mjsDefault',
-     StructDecl(
-         name='mjsDefault',
-         declname='struct mjsDefault_',
-         fields=(
-             StructFieldDecl(
-                 name='element',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsElement'),
-                 ),
-                 doc='element type',
-             ),
-             StructFieldDecl(
-                 name='joint',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsJoint'),
-                 ),
-                 doc='joint defaults',
-             ),
-             StructFieldDecl(
-                 name='geom',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsGeom'),
-                 ),
-                 doc='geom defaults',
-             ),
-             StructFieldDecl(
-                 name='site',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsSite'),
-                 ),
-                 doc='site defaults',
-             ),
-             StructFieldDecl(
-                 name='camera',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsCamera'),
-                 ),
-                 doc='camera defaults',
-             ),
-             StructFieldDecl(
-                 name='light',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsLight'),
-                 ),
-                 doc='light defaults',
-             ),
-             StructFieldDecl(
-                 name='flex',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsFlex'),
-                 ),
-                 doc='flex defaults',
-             ),
-             StructFieldDecl(
-                 name='mesh',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsMesh'),
-                 ),
-                 doc='mesh defaults',
-             ),
-             StructFieldDecl(
-                 name='material',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsMaterial'),
-                 ),
-                 doc='material defaults',
-             ),
-             StructFieldDecl(
-                 name='pair',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsPair'),
-                 ),
-                 doc='pair defaults',
-             ),
-             StructFieldDecl(
-                 name='equality',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsEquality'),
-                 ),
-                 doc='equality defaults',
-             ),
-             StructFieldDecl(
-                 name='tendon',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsTendon'),
-                 ),
-                 doc='tendon defaults',
-             ),
-             StructFieldDecl(
-                 name='actuator',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjsActuator'),
-                 ),
-                 doc='actuator defaults',
-             ),
-         ),
-     )),
-    ('mjvPerturb',
-     StructDecl(
-         name='mjvPerturb',
-         declname='struct mjvPerturb_',
-         fields=(
-             StructFieldDecl(
-                 name='select',
-                 type=ValueType(name='int'),
-                 doc='selected body id; non-positive: none',
-             ),
-             StructFieldDecl(
-                 name='flexselect',
-                 type=ValueType(name='int'),
-                 doc='selected flex id; negative: none',
-             ),
-             StructFieldDecl(
-                 name='skinselect',
-                 type=ValueType(name='int'),
-                 doc='selected skin id; negative: none',
-             ),
-             StructFieldDecl(
-                 name='active',
-                 type=ValueType(name='int'),
-                 doc='perturbation bitmask (mjtPertBit)',
-             ),
-             StructFieldDecl(
-                 name='active2',
-                 type=ValueType(name='int'),
-                 doc='secondary perturbation bitmask (mjtPertBit)',
-             ),
-             StructFieldDecl(
-                 name='refpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='reference position for selected object',
-             ),
-             StructFieldDecl(
-                 name='refquat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(4,),
-                 ),
-                 doc='reference orientation for selected object',
-             ),
-             StructFieldDecl(
-                 name='refselpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='reference position for selection point',
-             ),
-             StructFieldDecl(
-                 name='localpos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='selection point in object coordinates',
-             ),
-             StructFieldDecl(
-                 name='localmass',
-                 type=ValueType(name='mjtNum'),
-                 doc='spatial inertia at selection point',
-             ),
-             StructFieldDecl(
-                 name='scale',
-                 type=ValueType(name='mjtNum'),
-                 doc='relative mouse motion-to-space scaling (set by initPerturb)',  # pylint: disable=line-too-long
-             ),
-         ),
-     )),
-    ('mjvCamera',
-     StructDecl(
-         name='mjvCamera',
-         declname='struct mjvCamera_',
-         fields=(
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-                 doc='camera type (mjtCamera)',
-             ),
-             StructFieldDecl(
-                 name='fixedcamid',
-                 type=ValueType(name='int'),
-                 doc='fixed camera id',
-             ),
-             StructFieldDecl(
-                 name='trackbodyid',
-                 type=ValueType(name='int'),
-                 doc='body id to track',
-             ),
-             StructFieldDecl(
-                 name='lookat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtNum'),
-                     extents=(3,),
-                 ),
-                 doc='lookat point',
-             ),
-             StructFieldDecl(
-                 name='distance',
-                 type=ValueType(name='mjtNum'),
-                 doc='distance to lookat point or tracked body',
-             ),
-             StructFieldDecl(
-                 name='azimuth',
-                 type=ValueType(name='mjtNum'),
-                 doc='camera azimuth (deg)',
-             ),
-             StructFieldDecl(
-                 name='elevation',
-                 type=ValueType(name='mjtNum'),
-                 doc='camera elevation (deg)',
-             ),
-             StructFieldDecl(
-                 name='orthographic',
-                 type=ValueType(name='int'),
-                 doc='0: perspective; 1: orthographic',
-             ),
-         ),
-     )),
-    ('mjvGLCamera',
-     StructDecl(
-         name='mjvGLCamera',
-         declname='struct mjvGLCamera_',
-         fields=(
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='position',
-             ),
-             StructFieldDecl(
-                 name='forward',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='forward direction',
-             ),
-             StructFieldDecl(
-                 name='up',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='up direction',
-             ),
-             StructFieldDecl(
-                 name='frustum_center',
-                 type=ValueType(name='float'),
-                 doc='hor. center (left,right set to match aspect)',
-             ),
-             StructFieldDecl(
-                 name='frustum_width',
-                 type=ValueType(name='float'),
-                 doc='width (not used for rendering)',
-             ),
-             StructFieldDecl(
-                 name='frustum_bottom',
-                 type=ValueType(name='float'),
-                 doc='bottom',
-             ),
-             StructFieldDecl(
-                 name='frustum_top',
-                 type=ValueType(name='float'),
-                 doc='top',
-             ),
-             StructFieldDecl(
-                 name='frustum_near',
-                 type=ValueType(name='float'),
-                 doc='near',
-             ),
-             StructFieldDecl(
-                 name='frustum_far',
-                 type=ValueType(name='float'),
-                 doc='far',
-             ),
-             StructFieldDecl(
-                 name='orthographic',
-                 type=ValueType(name='int'),
-                 doc='0: perspective; 1: orthographic',
-             ),
-         ),
-     )),
-    ('mjvGeom',
-     StructDecl(
-         name='mjvGeom',
-         declname='struct mjvGeom_',
-         fields=(
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-                 doc='geom type (mjtGeom)',
-             ),
-             StructFieldDecl(
-                 name='dataid',
-                 type=ValueType(name='int'),
-                 doc='mesh, hfield or plane id; -1: none; mesh: 2*id or 2*id+1 (hull)',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='objtype',
-                 type=ValueType(name='int'),
-                 doc='mujoco object type; mjOBJ_UNKNOWN for decor',
-             ),
-             StructFieldDecl(
-                 name='objid',
-                 type=ValueType(name='int'),
-                 doc='mujoco object id; -1 for decor',
-             ),
-             StructFieldDecl(
-                 name='category',
-                 type=ValueType(name='int'),
-                 doc='visual category',
-             ),
-             StructFieldDecl(
-                 name='matid',
-                 type=ValueType(name='int'),
-                 doc='material id; -1: no textured material',
-             ),
-             StructFieldDecl(
-                 name='texid',
-                 type=ValueType(name='int'),
-                 doc='texture id; -1: none',
-             ),
-             StructFieldDecl(
-                 name='texuniform',
-                 type=ValueType(name='int'),
-                 doc='uniform cube mapping',
-             ),
-             StructFieldDecl(
-                 name='texcoord',
-                 type=ValueType(name='int'),
-                 doc='mesh or flex geom has texture coordinates',
-             ),
-             StructFieldDecl(
-                 name='segid',
-                 type=ValueType(name='int'),
-                 doc='segmentation id; -1: not shown',
-             ),
-             StructFieldDecl(
-                 name='size',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='size parameters',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='Cartesian position',
-             ),
-             StructFieldDecl(
-                 name='mat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(9,),
-                 ),
-                 doc='Cartesian orientation',
-             ),
-             StructFieldDecl(
-                 name='rgba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='color and transparency',
-             ),
-             StructFieldDecl(
-                 name='emission',
-                 type=ValueType(name='float'),
-                 doc='emission coef',
-             ),
-             StructFieldDecl(
-                 name='specular',
-                 type=ValueType(name='float'),
-                 doc='specular coef',
-             ),
-             StructFieldDecl(
-                 name='shininess',
-                 type=ValueType(name='float'),
-                 doc='shininess coef',
-             ),
-             StructFieldDecl(
-                 name='reflectance',
-                 type=ValueType(name='float'),
-                 doc='reflectance coef',
-             ),
-             StructFieldDecl(
-                 name='texrepeat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 doc='texture repetition for 2d mapping',
-             ),
-             StructFieldDecl(
-                 name='label',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(100,),
-                 ),
-                 doc='text label',
-             ),
-             StructFieldDecl(
-                 name='camdist',
-                 type=ValueType(name='float'),
-                 doc='distance to camera (used by sorter)',
-             ),
-             StructFieldDecl(
-                 name='modelrbound',
-                 type=ValueType(name='float'),
-                 doc='geom rbound from model, 0 if not model geom',
-             ),
-             StructFieldDecl(
-                 name='transparent',
-                 type=ValueType(name='mjtByte'),
-                 doc='treat geom as transparent',
-             ),
-         ),
-     )),
-    ('mjvLight',
-     StructDecl(
-         name='mjvLight',
-         declname='struct mjvLight_',
-         fields=(
-             StructFieldDecl(
-                 name='id',
-                 type=ValueType(name='int'),
-                 doc='light id, -1 for headlight',
-             ),
-             StructFieldDecl(
-                 name='pos',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='position rel. to body frame',
-             ),
-             StructFieldDecl(
-                 name='dir',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='direction rel. to body frame',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-                 doc='type (mjtLightType)',
-             ),
-             StructFieldDecl(
-                 name='texid',
-                 type=ValueType(name='int'),
-                 doc='texture id for image lights',
-             ),
-             StructFieldDecl(
-                 name='attenuation',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='OpenGL attenuation (quadratic model)',
-             ),
-             StructFieldDecl(
-                 name='cutoff',
-                 type=ValueType(name='float'),
-                 doc='OpenGL cutoff',
-             ),
-             StructFieldDecl(
-                 name='exponent',
-                 type=ValueType(name='float'),
-                 doc='OpenGL exponent',
-             ),
-             StructFieldDecl(
-                 name='ambient',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='ambient rgb (alpha=1)',
-             ),
-             StructFieldDecl(
-                 name='diffuse',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='diffuse rgb (alpha=1)',
-             ),
-             StructFieldDecl(
-                 name='specular',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='specular rgb (alpha=1)',
-             ),
-             StructFieldDecl(
-                 name='headlight',
-                 type=ValueType(name='mjtByte'),
-                 doc='headlight',
-             ),
-             StructFieldDecl(
-                 name='castshadow',
-                 type=ValueType(name='mjtByte'),
-                 doc='does light cast shadows',
-             ),
-             StructFieldDecl(
-                 name='bulbradius',
-                 type=ValueType(name='float'),
-                 doc='bulb radius for soft shadows',
-             ),
-             StructFieldDecl(
-                 name='intensity',
-                 type=ValueType(name='float'),
-                 doc='intensity, in candelas',
-             ),
-             StructFieldDecl(
-                 name='range',
-                 type=ValueType(name='float'),
-                 doc='range of effectiveness',
-             ),
-             StructFieldDecl(
-                 name='softness',
-                 type=ValueType(name='float'),
-                 doc='spotlight edge softness',
-             ),
-         ),
-     )),
-    ('mjvOption',
-     StructDecl(
-         name='mjvOption',
-         declname='struct mjvOption_',
-         fields=(
-             StructFieldDecl(
-                 name='label',
-                 type=ValueType(name='int'),
-                 doc='what objects to label (mjtLabel)',
-             ),
-             StructFieldDecl(
-                 name='frame',
-                 type=ValueType(name='int'),
-                 doc='which frame to show (mjtFrame)',
-             ),
-             StructFieldDecl(
-                 name='geomgroup',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtByte'),
-                     extents=(6,),
-                 ),
-                 doc='geom visualization by group',
-             ),
-             StructFieldDecl(
-                 name='sitegroup',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtByte'),
-                     extents=(6,),
-                 ),
-                 doc='site visualization by group',
-             ),
-             StructFieldDecl(
-                 name='jointgroup',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtByte'),
-                     extents=(6,),
-                 ),
-                 doc='joint visualization by group',
-             ),
-             StructFieldDecl(
-                 name='tendongroup',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtByte'),
-                     extents=(6,),
-                 ),
-                 doc='tendon visualization by group',
-             ),
-             StructFieldDecl(
-                 name='actuatorgroup',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtByte'),
-                     extents=(6,),
-                 ),
-                 doc='actuator visualization by group',
-             ),
-             StructFieldDecl(
-                 name='flexgroup',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtByte'),
-                     extents=(6,),
-                 ),
-                 doc='flex visualization by group',
-             ),
-             StructFieldDecl(
-                 name='skingroup',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtByte'),
-                     extents=(6,),
-                 ),
-                 doc='skin visualization by group',
-             ),
-             StructFieldDecl(
-                 name='flags',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtByte'),
-                     extents=(31,),
-                 ),
-                 doc='visualization flags (indexed by mjtVisFlag)',
-             ),
-             StructFieldDecl(
-                 name='bvh_depth',
-                 type=ValueType(name='int'),
-                 doc='depth of the bounding volume hierarchy to be visualized',
-             ),
-             StructFieldDecl(
-                 name='flex_layer',
-                 type=ValueType(name='int'),
-                 doc='element layer to be visualized for 3D flex',
-             ),
-         ),
-     )),
-    ('mjvScene',
-     StructDecl(
-         name='mjvScene',
-         declname='struct mjvScene_',
-         fields=(
-             StructFieldDecl(
-                 name='maxgeom',
-                 type=ValueType(name='int'),
-                 doc='size of allocated geom buffer',
-             ),
-             StructFieldDecl(
-                 name='ngeom',
-                 type=ValueType(name='int'),
-                 doc='number of geoms currently in buffer',
-             ),
-             StructFieldDecl(
-                 name='geoms',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjvGeom'),
-                 ),
-                 doc='buffer for geoms (ngeom)',
-             ),
-             StructFieldDecl(
-                 name='geomorder',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='buffer for ordering geoms by distance to camera (ngeom)',
-             ),
-             StructFieldDecl(
-                 name='nflex',
-                 type=ValueType(name='int'),
-                 doc='number of flexes',
-             ),
-             StructFieldDecl(
-                 name='flexedgeadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of flex edges (nflex)',
-             ),
-             StructFieldDecl(
-                 name='flexedgenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of edges in flex (nflex)',
-             ),
-             StructFieldDecl(
-                 name='flexvertadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of flex vertices (nflex)',
-             ),
-             StructFieldDecl(
-                 name='flexvertnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of vertices in flex (nflex)',
-             ),
-             StructFieldDecl(
-                 name='flexfaceadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of flex faces (nflex)',
-             ),
-             StructFieldDecl(
-                 name='flexfacenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of flex faces allocated (nflex)',
-             ),
-             StructFieldDecl(
-                 name='flexfaceused',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of flex faces currently in use (nflex)',
-             ),
-             StructFieldDecl(
-                 name='flexedge',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='flex edge data (2*nflexedge)',
-             ),
-             StructFieldDecl(
-                 name='flexvert',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='flex vertices (3*nflexvert)',
-             ),
-             StructFieldDecl(
-                 name='flexface',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='flex faces vertices (9*sum(flexfacenum))',
-             ),
-             StructFieldDecl(
-                 name='flexnormal',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='flex face normals (9*sum(flexfacenum))',
-             ),
-             StructFieldDecl(
-                 name='flextexcoord',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='flex face texture coordinates (6*sum(flexfacenum))',
-             ),
-             StructFieldDecl(
-                 name='flexvertopt',
-                 type=ValueType(name='mjtByte'),
-                 doc='copy of mjVIS_FLEXVERT mjvOption flag',
-             ),
-             StructFieldDecl(
-                 name='flexedgeopt',
-                 type=ValueType(name='mjtByte'),
-                 doc='copy of mjVIS_FLEXEDGE mjvOption flag',
-             ),
-             StructFieldDecl(
-                 name='flexfaceopt',
-                 type=ValueType(name='mjtByte'),
-                 doc='copy of mjVIS_FLEXFACE mjvOption flag',
-             ),
-             StructFieldDecl(
-                 name='flexskinopt',
-                 type=ValueType(name='mjtByte'),
-                 doc='copy of mjVIS_FLEXSKIN mjvOption flag',
-             ),
-             StructFieldDecl(
-                 name='nskin',
-                 type=ValueType(name='int'),
-                 doc='number of skins',
-             ),
-             StructFieldDecl(
-                 name='skinfacenum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of faces in skin (nskin)',
-             ),
-             StructFieldDecl(
-                 name='skinvertadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='address of skin vertices (nskin)',
-             ),
-             StructFieldDecl(
-                 name='skinvertnum',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of vertices in skin (nskin)',
-             ),
-             StructFieldDecl(
-                 name='skinvert',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='skin vertex data (3*nskinvert)',
-             ),
-             StructFieldDecl(
-                 name='skinnormal',
-                 type=PointerType(
-                     inner_type=ValueType(name='float'),
-                 ),
-                 doc='skin normal data (3*nskinvert)',
-             ),
-             StructFieldDecl(
-                 name='nlight',
-                 type=ValueType(name='int'),
-                 doc='number of lights currently in buffer',
-             ),
-             StructFieldDecl(
-                 name='lights',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjvLight'),
-                     extents=(100,),
-                 ),
-                 doc='buffer for lights (nlight)',
-             ),
-             StructFieldDecl(
-                 name='camera',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjvGLCamera'),
-                     extents=(2,),
-                 ),
-                 doc='left and right camera',
-             ),
-             StructFieldDecl(
-                 name='enabletransform',
-                 type=ValueType(name='mjtByte'),
-                 doc='enable model transformation',
-             ),
-             StructFieldDecl(
-                 name='translate',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='model translation',
-             ),
-             StructFieldDecl(
-                 name='rotate',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='model quaternion rotation',
-             ),
-             StructFieldDecl(
-                 name='scale',
-                 type=ValueType(name='float'),
-                 doc='model scaling',
-             ),
-             StructFieldDecl(
-                 name='stereo',
-                 type=ValueType(name='int'),
-                 doc='stereoscopic rendering (mjtStereo)',
-             ),
-             StructFieldDecl(
-                 name='flags',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjtByte'),
-                     extents=(11,),
-                 ),
-                 doc='rendering flags (indexed by mjtRndFlag)',
-             ),
-             StructFieldDecl(
-                 name='framewidth',
-                 type=ValueType(name='int'),
-                 doc='frame pixel width; 0: disable framing',
-             ),
-             StructFieldDecl(
-                 name='framergb',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='frame color',
-             ),
-             StructFieldDecl(
-                 name='status',
-                 type=ValueType(name='int'),
-                 doc='0: ok, 1: geoms exhausted, warning issued',
-             ),
-         ),
-     )),
-    ('mjvFigure',
-     StructDecl(
-         name='mjvFigure',
-         declname='struct mjvFigure_',
-         fields=(
-             StructFieldDecl(
-                 name='flg_legend',
-                 type=ValueType(name='int'),
-                 doc='show legend',
-             ),
-             StructFieldDecl(
-                 name='flg_ticklabel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='show grid tick labels (x,y)',
-             ),
-             StructFieldDecl(
-                 name='flg_extend',
-                 type=ValueType(name='int'),
-                 doc='automatically extend axis ranges to fit data',
-             ),
-             StructFieldDecl(
-                 name='flg_barplot',
-                 type=ValueType(name='int'),
-                 doc='isolated line segments (i.e. GL_LINES)',
-             ),
-             StructFieldDecl(
-                 name='flg_selection',
-                 type=ValueType(name='int'),
-                 doc='vertical selection line',
-             ),
-             StructFieldDecl(
-                 name='flg_symmetric',
-                 type=ValueType(name='int'),
-                 doc='symmetric y-axis',
-             ),
-             StructFieldDecl(
-                 name='linewidth',
-                 type=ValueType(name='float'),
-                 doc='line width',
-             ),
-             StructFieldDecl(
-                 name='gridwidth',
-                 type=ValueType(name='float'),
-                 doc='grid line width',
-             ),
-             StructFieldDecl(
-                 name='gridsize',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='number of grid points in (x,y)',
-             ),
-             StructFieldDecl(
-                 name='gridrgb',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='grid line rgb',
-             ),
-             StructFieldDecl(
-                 name='figurergba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='figure color and alpha',
-             ),
-             StructFieldDecl(
-                 name='panergba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='pane color and alpha',
-             ),
-             StructFieldDecl(
-                 name='legendrgba',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='legend color and alpha',
-             ),
-             StructFieldDecl(
-                 name='textrgb',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='text color',
-             ),
-             StructFieldDecl(
-                 name='linergb',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(100, 3),
-                 ),
-                 doc='line colors',
-             ),
-             StructFieldDecl(
-                 name='range',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2, 2),
-                 ),
-                 doc='axis ranges; (min>=max) automatic',
-             ),
-             StructFieldDecl(
-                 name='xformat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(20,),
-                 ),
-                 doc='x-tick label format for sprintf',
-             ),
-             StructFieldDecl(
-                 name='yformat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(20,),
-                 ),
-                 doc='y-tick label format for sprintf',
-             ),
-             StructFieldDecl(
-                 name='minwidth',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(20,),
-                 ),
-                 doc='string used to determine min y-tick width',
-             ),
-             StructFieldDecl(
-                 name='title',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(1000,),
-                 ),
-                 doc='figure title; subplots separated with 2+ spaces',
-             ),
-             StructFieldDecl(
-                 name='xlabel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(100,),
-                 ),
-                 doc='x-axis label',
-             ),
-             StructFieldDecl(
-                 name='linename',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(100, 100),
-                 ),
-                 doc='line names for legend',
-             ),
-             StructFieldDecl(
-                 name='legendoffset',
-                 type=ValueType(name='int'),
-                 doc='number of lines to offset legend',
-             ),
-             StructFieldDecl(
-                 name='subplot',
-                 type=ValueType(name='int'),
-                 doc='selected subplot (for title rendering)',
-             ),
-             StructFieldDecl(
-                 name='highlight',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='if point is in legend rect, highlight line',
-             ),
-             StructFieldDecl(
-                 name='highlightid',
-                 type=ValueType(name='int'),
-                 doc='if id>=0 and no point, highlight id',
-             ),
-             StructFieldDecl(
-                 name='selection',
-                 type=ValueType(name='float'),
-                 doc='selection line x-value',
-             ),
-             StructFieldDecl(
-                 name='linepnt',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(100,),
-                 ),
-                 doc='number of points in line; (0) disable',
-             ),
-             StructFieldDecl(
-                 name='linedata',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(100, 2002),
-                 ),
-                 doc='line data (x,y)',
-             ),
-             StructFieldDecl(
-                 name='xaxispixel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='range of x-axis in pixels',
-             ),
-             StructFieldDecl(
-                 name='yaxispixel',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(2,),
-                 ),
-                 doc='range of y-axis in pixels',
-             ),
-             StructFieldDecl(
-                 name='xaxisdata',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 doc='range of x-axis in data units',
-             ),
-             StructFieldDecl(
-                 name='yaxisdata',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 doc='range of y-axis in data units',
-             ),
-         ),
-     )),
-    ('mjSDF',
-     StructDecl(
-         name='mjSDF',
-         declname='struct mjSDF_',
-         fields=(
-             StructFieldDecl(
-                 name='plugin',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='mjpPlugin', is_const=True),
-                     ),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='id',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='mjtSDFType'),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='relpos',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='relmat',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtNum'),
-                 ),
-                 doc='',
-             ),
-             StructFieldDecl(
-                 name='geomtype',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjtGeom'),
-                 ),
-                 doc='',
-             ),
-         ),
-     )),
-    ('mjrRect',
-     StructDecl(
-         name='mjrRect',
-         declname='struct mjrRect_',
-         fields=(
-             StructFieldDecl(
-                 name='left',
-                 type=ValueType(name='int'),
-                 doc='left (usually 0)',
-             ),
-             StructFieldDecl(
-                 name='bottom',
-                 type=ValueType(name='int'),
-                 doc='bottom (usually 0)',
-             ),
-             StructFieldDecl(
-                 name='width',
-                 type=ValueType(name='int'),
-                 doc='width (usually buffer width)',
-             ),
-             StructFieldDecl(
-                 name='height',
-                 type=ValueType(name='int'),
-                 doc='height (usually buffer height)',
-             ),
-         ),
-     )),
-    ('mjrRendererInfo',
-     StructDecl(
-         name='mjrRendererInfo',
-         declname='struct mjrRendererInfo_',
-         fields=(
-             StructFieldDecl(
-                 name='renderer',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 doc='renderer family: classic, filament, noop',
-             ),
-             StructFieldDecl(
-                 name='backend',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-                 doc='graphics backend: opengl, vulkan; empty if uninitialized',
-             ),
-         ),
-     )),
-    ('mjrVertexAttribute',
-     StructDecl(
-         name='mjrVertexAttribute',
-         declname='struct mjrVertexAttribute_',
-         fields=(
-             StructFieldDecl(
-                 name='usage',
-                 type=ValueType(name='int'),
-                 doc='position, normal, etc [mjrVertexAttributeUsage]',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-                 doc='float3, ubyte4, etc. [mjrVertexAttributeType]',
-             ),
-         ),
-     )),
-    ('mjrContext',
-     StructDecl(
-         name='mjrContext',
-         declname='struct mjrContext_',
-         fields=(
-             StructFieldDecl(
-                 name='lineWidth',
-                 type=ValueType(name='float'),
-                 doc='line width for wireframe rendering',
-             ),
-             StructFieldDecl(
-                 name='shadowClip',
-                 type=ValueType(name='float'),
-                 doc='clipping radius for directional lights',
-             ),
-             StructFieldDecl(
-                 name='shadowScale',
-                 type=ValueType(name='float'),
-                 doc='fraction of light cutoff for spot lights',
-             ),
-             StructFieldDecl(
-                 name='fogStart',
-                 type=ValueType(name='float'),
-                 doc='fog start = stat.extent * vis.map.fogstart',
-             ),
-             StructFieldDecl(
-                 name='fogEnd',
-                 type=ValueType(name='float'),
-                 doc='fog end = stat.extent * vis.map.fogend',
-             ),
-             StructFieldDecl(
-                 name='fogRGBA',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(4,),
-                 ),
-                 doc='fog rgba',
-             ),
-             StructFieldDecl(
-                 name='shadowSize',
-                 type=ValueType(name='int'),
-                 doc='size of shadow map texture',
-             ),
-             StructFieldDecl(
-                 name='offWidth',
-                 type=ValueType(name='int'),
-                 doc='width of offscreen buffer',
-             ),
-             StructFieldDecl(
-                 name='offHeight',
-                 type=ValueType(name='int'),
-                 doc='height of offscreen buffer',
-             ),
-             StructFieldDecl(
-                 name='offSamples',
-                 type=ValueType(name='int'),
-                 doc='number of offscreen buffer multisamples',
-             ),
-             StructFieldDecl(
-                 name='fontScale',
-                 type=ValueType(name='int'),
-                 doc='font scale',
-             ),
-             StructFieldDecl(
-                 name='auxWidth',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(10,),
-                 ),
-                 doc='auxiliary buffer width',
-             ),
-             StructFieldDecl(
-                 name='auxHeight',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(10,),
-                 ),
-                 doc='auxiliary buffer height',
-             ),
-             StructFieldDecl(
-                 name='auxSamples',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(10,),
-                 ),
-                 doc='auxiliary buffer multisamples',
-             ),
-             StructFieldDecl(
-                 name='offFBO',
-                 type=ValueType(name='unsigned int'),
-                 doc='offscreen framebuffer object',
-             ),
-             StructFieldDecl(
-                 name='offFBO_r',
-                 type=ValueType(name='unsigned int'),
-                 doc='offscreen framebuffer for resolving multisamples',
-             ),
-             StructFieldDecl(
-                 name='offColor',
-                 type=ValueType(name='unsigned int'),
-                 doc='offscreen color buffer',
-             ),
-             StructFieldDecl(
-                 name='offColor_r',
-                 type=ValueType(name='unsigned int'),
-                 doc='offscreen color buffer for resolving multisamples',
-             ),
-             StructFieldDecl(
-                 name='offDepthStencil',
-                 type=ValueType(name='unsigned int'),
-                 doc='offscreen depth and stencil buffer',
-             ),
-             StructFieldDecl(
-                 name='offDepthStencil_r',
-                 type=ValueType(name='unsigned int'),
-                 doc='offscreen depth and stencil buffer for multisamples',
-             ),
-             StructFieldDecl(
-                 name='shadowFBO',
-                 type=ValueType(name='unsigned int'),
-                 doc='shadow map framebuffer object',
-             ),
-             StructFieldDecl(
-                 name='shadowTex',
-                 type=ValueType(name='unsigned int'),
-                 doc='shadow map texture',
-             ),
-             StructFieldDecl(
-                 name='auxFBO',
-                 type=ArrayType(
-                     inner_type=ValueType(name='unsigned int'),
-                     extents=(10,),
-                 ),
-                 doc='auxiliary framebuffer object',
-             ),
-             StructFieldDecl(
-                 name='auxFBO_r',
-                 type=ArrayType(
-                     inner_type=ValueType(name='unsigned int'),
-                     extents=(10,),
-                 ),
-                 doc='auxiliary framebuffer object for resolving',
-             ),
-             StructFieldDecl(
-                 name='auxColor',
-                 type=ArrayType(
-                     inner_type=ValueType(name='unsigned int'),
-                     extents=(10,),
-                 ),
-                 doc='auxiliary color buffer',
-             ),
-             StructFieldDecl(
-                 name='auxColor_r',
-                 type=ArrayType(
-                     inner_type=ValueType(name='unsigned int'),
-                     extents=(10,),
-                 ),
-                 doc='auxiliary color buffer for resolving',
-             ),
-             StructFieldDecl(
-                 name='mat_texid',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(10000,),
-                 ),
-                 doc='material texture ids (-1: no texture)',
-             ),
-             StructFieldDecl(
-                 name='mat_texuniform',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(1000,),
-                 ),
-                 doc='uniform cube mapping',
-             ),
-             StructFieldDecl(
-                 name='mat_texrepeat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2000,),
-                 ),
-                 doc='texture repetition for 2d mapping',
-             ),
-             StructFieldDecl(
-                 name='ntexture',
-                 type=ValueType(name='int'),
-                 doc='number of allocated textures',
-             ),
-             StructFieldDecl(
-                 name='textureType',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(1000,),
-                 ),
-                 doc='type of texture (mjtTexture) (ntexture)',
-             ),
-             StructFieldDecl(
-                 name='texture',
-                 type=ArrayType(
-                     inner_type=ValueType(name='unsigned int'),
-                     extents=(1000,),
-                 ),
-                 doc='texture names',
-             ),
-             StructFieldDecl(
-                 name='basePlane',
-                 type=ValueType(name='unsigned int'),
-                 doc='all planes from model',
-             ),
-             StructFieldDecl(
-                 name='baseMesh',
-                 type=ValueType(name='unsigned int'),
-                 doc='all meshes from model',
-             ),
-             StructFieldDecl(
-                 name='baseHField',
-                 type=ValueType(name='unsigned int'),
-                 doc='all height fields from model',
-             ),
-             StructFieldDecl(
-                 name='baseBuiltin',
-                 type=ValueType(name='unsigned int'),
-                 doc='all builtin geoms, with quality from model',
-             ),
-             StructFieldDecl(
-                 name='baseFontNormal',
-                 type=ValueType(name='unsigned int'),
-                 doc='normal font',
-             ),
-             StructFieldDecl(
-                 name='baseFontShadow',
-                 type=ValueType(name='unsigned int'),
-                 doc='shadow font',
-             ),
-             StructFieldDecl(
-                 name='baseFontBig',
-                 type=ValueType(name='unsigned int'),
-                 doc='big font',
-             ),
-             StructFieldDecl(
-                 name='rangePlane',
-                 type=ValueType(name='int'),
-                 doc='all planes from model',
-             ),
-             StructFieldDecl(
-                 name='rangeMesh',
-                 type=ValueType(name='int'),
-                 doc='all meshes from model',
-             ),
-             StructFieldDecl(
-                 name='rangeHField',
-                 type=ValueType(name='int'),
-                 doc='all hfields from model',
-             ),
-             StructFieldDecl(
-                 name='rangeBuiltin',
-                 type=ValueType(name='int'),
-                 doc='all builtin geoms, with quality from model',
-             ),
-             StructFieldDecl(
-                 name='rangeFont',
-                 type=ValueType(name='int'),
-                 doc='all characters in font',
-             ),
-             StructFieldDecl(
-                 name='nskin',
-                 type=ValueType(name='int'),
-                 doc='number of skins',
-             ),
-             StructFieldDecl(
-                 name='skinvertVBO',
-                 type=PointerType(
-                     inner_type=ValueType(name='unsigned int'),
-                 ),
-                 doc='skin vertex position VBOs (nskin)',
-             ),
-             StructFieldDecl(
-                 name='skinnormalVBO',
-                 type=PointerType(
-                     inner_type=ValueType(name='unsigned int'),
-                 ),
-                 doc='skin vertex normal VBOs (nskin)',
-             ),
-             StructFieldDecl(
-                 name='skintexcoordVBO',
-                 type=PointerType(
-                     inner_type=ValueType(name='unsigned int'),
-                 ),
-                 doc='skin vertex texture coordinate VBOs (nskin)',
-             ),
-             StructFieldDecl(
-                 name='skinfaceVBO',
-                 type=PointerType(
-                     inner_type=ValueType(name='unsigned int'),
-                 ),
-                 doc='skin face index VBOs (nskin)',
-             ),
-             StructFieldDecl(
-                 name='charWidth',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(127,),
-                 ),
-                 doc='character widths: normal and shadow',
-             ),
-             StructFieldDecl(
-                 name='charWidthBig',
-                 type=ArrayType(
-                     inner_type=ValueType(name='int'),
-                     extents=(127,),
-                 ),
-                 doc='character widths: big',
-             ),
-             StructFieldDecl(
-                 name='charHeight',
-                 type=ValueType(name='int'),
-                 doc='character heights: normal and shadow',
-             ),
-             StructFieldDecl(
-                 name='charHeightBig',
-                 type=ValueType(name='int'),
-                 doc='character heights: big',
-             ),
-             StructFieldDecl(
-                 name='glInitialized',
-                 type=ValueType(name='int'),
-                 doc='is OpenGL initialized',
-             ),
-             StructFieldDecl(
-                 name='windowAvailable',
-                 type=ValueType(name='int'),
-                 doc='is default/window framebuffer available',
-             ),
-             StructFieldDecl(
-                 name='windowSamples',
-                 type=ValueType(name='int'),
-                 doc='number of samples for default/window framebuffer',
-             ),
-             StructFieldDecl(
-                 name='windowStereo',
-                 type=ValueType(name='int'),
-                 doc='is stereo available for default/window framebuffer',
-             ),
-             StructFieldDecl(
-                 name='windowDoublebuffer',
-                 type=ValueType(name='int'),
-                 doc='is default/window framebuffer double buffered',
-             ),
-             StructFieldDecl(
-                 name='currentBuffer',
-                 type=ValueType(name='int'),
-                 doc='currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='readPixelFormat',
-                 type=ValueType(name='int'),
-                 doc='default color pixel format for mjr_readPixels',
-             ),
-             StructFieldDecl(
-                 name='readDepthMap',
-                 type=ValueType(name='int'),
-                 doc='depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR',
-             ),
-         ),
-     )),
-    ('mjuiState',
-     StructDecl(
-         name='mjuiState',
-         declname='struct mjuiState_',
-         fields=(
-             StructFieldDecl(
-                 name='nrect',
-                 type=ValueType(name='int'),
-                 doc='number of rectangles used',
-             ),
-             StructFieldDecl(
-                 name='rect',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjrRect'),
-                     extents=(25,),
-                 ),
-                 doc='rectangles (index 0: entire window)',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='pointer to user data (for callbacks)',
-             ),
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-                 doc='(type mjtEvent)',
-             ),
-             StructFieldDecl(
-                 name='left',
-                 type=ValueType(name='int'),
-                 doc='is left button down',
-             ),
-             StructFieldDecl(
-                 name='right',
-                 type=ValueType(name='int'),
-                 doc='is right button down',
-             ),
-             StructFieldDecl(
-                 name='middle',
-                 type=ValueType(name='int'),
-                 doc='is middle button down',
-             ),
-             StructFieldDecl(
-                 name='doubleclick',
-                 type=ValueType(name='int'),
-                 doc='is last press a double click',
-             ),
-             StructFieldDecl(
-                 name='button',
-                 type=ValueType(name='int'),
-                 doc='which button was pressed (mjtButton)',
-             ),
-             StructFieldDecl(
-                 name='buttontime',
-                 type=ValueType(name='double'),
-                 doc='time of last button press',
-             ),
-             StructFieldDecl(
-                 name='x',
-                 type=ValueType(name='double'),
-                 doc='x position',
-             ),
-             StructFieldDecl(
-                 name='y',
-                 type=ValueType(name='double'),
-                 doc='y position',
-             ),
-             StructFieldDecl(
-                 name='dx',
-                 type=ValueType(name='double'),
-                 doc='x displacement',
-             ),
-             StructFieldDecl(
-                 name='dy',
-                 type=ValueType(name='double'),
-                 doc='y displacement',
-             ),
-             StructFieldDecl(
-                 name='sx',
-                 type=ValueType(name='double'),
-                 doc='x scroll',
-             ),
-             StructFieldDecl(
-                 name='sy',
-                 type=ValueType(name='double'),
-                 doc='y scroll',
-             ),
-             StructFieldDecl(
-                 name='control',
-                 type=ValueType(name='int'),
-                 doc='is control down',
-             ),
-             StructFieldDecl(
-                 name='shift',
-                 type=ValueType(name='int'),
-                 doc='is shift down',
-             ),
-             StructFieldDecl(
-                 name='alt',
-                 type=ValueType(name='int'),
-                 doc='is alt down',
-             ),
-             StructFieldDecl(
-                 name='key',
-                 type=ValueType(name='int'),
-                 doc='which key was pressed',
-             ),
-             StructFieldDecl(
-                 name='keytime',
-                 type=ValueType(name='double'),
-                 doc='time of last key press',
-             ),
-             StructFieldDecl(
-                 name='mouserect',
-                 type=ValueType(name='int'),
-                 doc='which rectangle contains mouse',
-             ),
-             StructFieldDecl(
-                 name='dragrect',
-                 type=ValueType(name='int'),
-                 doc='which rectangle is dragged with mouse',
-             ),
-             StructFieldDecl(
-                 name='dragbutton',
-                 type=ValueType(name='int'),
-                 doc='which button started drag (mjtButton)',
-             ),
-             StructFieldDecl(
-                 name='dropcount',
-                 type=ValueType(name='int'),
-                 doc='number of files dropped',
-             ),
-             StructFieldDecl(
-                 name='droppaths',
-                 type=PointerType(
-                     inner_type=PointerType(
-                         inner_type=ValueType(name='char', is_const=True),
-                     ),
-                 ),
-                 doc='paths to files dropped',
-             ),
-         ),
-     )),
-    ('mjuiThemeSpacing',
-     StructDecl(
-         name='mjuiThemeSpacing',
-         declname='struct mjuiThemeSpacing_',
-         fields=(
-             StructFieldDecl(
-                 name='total',
-                 type=ValueType(name='int'),
-                 doc='total width',
-             ),
-             StructFieldDecl(
-                 name='scroll',
-                 type=ValueType(name='int'),
-                 doc='scrollbar width',
-             ),
-             StructFieldDecl(
-                 name='label',
-                 type=ValueType(name='int'),
-                 doc='label width',
-             ),
-             StructFieldDecl(
-                 name='section',
-                 type=ValueType(name='int'),
-                 doc='section gap',
-             ),
-             StructFieldDecl(
-                 name='cornersect',
-                 type=ValueType(name='int'),
-                 doc='corner radius for section',
-             ),
-             StructFieldDecl(
-                 name='cornersep',
-                 type=ValueType(name='int'),
-                 doc='corner radius for separator',
-             ),
-             StructFieldDecl(
-                 name='itemside',
-                 type=ValueType(name='int'),
-                 doc='item side gap',
-             ),
-             StructFieldDecl(
-                 name='itemmid',
-                 type=ValueType(name='int'),
-                 doc='item middle gap',
-             ),
-             StructFieldDecl(
-                 name='itemver',
-                 type=ValueType(name='int'),
-                 doc='item vertical gap',
-             ),
-             StructFieldDecl(
-                 name='texthor',
-                 type=ValueType(name='int'),
-                 doc='text horizontal gap',
-             ),
-             StructFieldDecl(
-                 name='textver',
-                 type=ValueType(name='int'),
-                 doc='text vertical gap',
-             ),
-             StructFieldDecl(
-                 name='linescroll',
-                 type=ValueType(name='int'),
-                 doc='number of pixels to scroll',
-             ),
-             StructFieldDecl(
-                 name='samples',
-                 type=ValueType(name='int'),
-                 doc='number of multisamples',
-             ),
-         ),
-     )),
-    ('mjuiThemeColor',
-     StructDecl(
-         name='mjuiThemeColor',
-         declname='struct mjuiThemeColor_',
-         fields=(
-             StructFieldDecl(
-                 name='master',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='master background',
-             ),
-             StructFieldDecl(
-                 name='thumb',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='scrollbar thumb',
-             ),
-             StructFieldDecl(
-                 name='secttitle',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='section title',
-             ),
-             StructFieldDecl(
-                 name='secttitle2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='section title: bottom color',
-             ),
-             StructFieldDecl(
-                 name='secttitleuncheck',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='section title with unchecked box',
-             ),
-             StructFieldDecl(
-                 name='secttitleuncheck2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='section title with unchecked box: bottom color',
-             ),
-             StructFieldDecl(
-                 name='secttitlecheck',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='section title with checked box',
-             ),
-             StructFieldDecl(
-                 name='secttitlecheck2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='section title with checked box: bottom color',
-             ),
-             StructFieldDecl(
-                 name='sectfont',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='section font',
-             ),
-             StructFieldDecl(
-                 name='sectsymbol',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='section symbol',
-             ),
-             StructFieldDecl(
-                 name='sectpane',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='section pane',
-             ),
-             StructFieldDecl(
-                 name='separator',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='separator title',
-             ),
-             StructFieldDecl(
-                 name='separator2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='separator title: bottom color',
-             ),
-             StructFieldDecl(
-                 name='shortcut',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='shortcut background',
-             ),
-             StructFieldDecl(
-                 name='fontactive',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='font active',
-             ),
-             StructFieldDecl(
-                 name='fontinactive',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='font inactive',
-             ),
-             StructFieldDecl(
-                 name='decorinactive',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='decor inactive',
-             ),
-             StructFieldDecl(
-                 name='decorinactive2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='inactive slider color 2',
-             ),
-             StructFieldDecl(
-                 name='button',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='button',
-             ),
-             StructFieldDecl(
-                 name='check',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='check',
-             ),
-             StructFieldDecl(
-                 name='radio',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='radio',
-             ),
-             StructFieldDecl(
-                 name='select',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='select',
-             ),
-             StructFieldDecl(
-                 name='select2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='select pane',
-             ),
-             StructFieldDecl(
-                 name='slider',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='slider',
-             ),
-             StructFieldDecl(
-                 name='slider2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='slider color 2',
-             ),
-             StructFieldDecl(
-                 name='edit',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='edit',
-             ),
-             StructFieldDecl(
-                 name='edit2',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='edit invalid',
-             ),
-             StructFieldDecl(
-                 name='cursor',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(3,),
-                 ),
-                 doc='edit cursor',
-             ),
-         ),
-     )),
-    ('mjuiItem',
-     StructDecl(
-         name='mjuiItem',
-         declname='struct mjuiItem_',
-         fields=(
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-                 doc='type (mjtItem)',
-             ),
-             StructFieldDecl(
-                 name='name',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(40,),
-                 ),
-                 doc='name',
-             ),
-             StructFieldDecl(
-                 name='state',
-                 type=ValueType(name='int'),
-                 doc='0: disable, 1: enable, 2+: use predicate',
-             ),
-             StructFieldDecl(
-                 name='pdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='data pointer (type-specific)',
-             ),
-             StructFieldDecl(
-                 name='sectionid',
-                 type=ValueType(name='int'),
-                 doc='id of section containing item',
-             ),
-             StructFieldDecl(
-                 name='itemid',
-                 type=ValueType(name='int'),
-                 doc='id of item within section',
-             ),
-             StructFieldDecl(
-                 name='userid',
-                 type=ValueType(name='int'),
-                 doc='user-supplied id (for event handling)',
-             ),
-             AnonymousUnionDecl(
-                 fields=(
-                     StructFieldDecl(
-                         name='single',
-                         type=ValueType(name='struct mjuiItemSingle_'),
-                         doc='check and button',
-                     ),
-                     StructFieldDecl(
-                         name='multi',
-                         type=ValueType(name='struct mjuiItemMulti_'),
-                         doc='static, radio and select',
-                     ),
-                     StructFieldDecl(
-                         name='slider',
-                         type=ValueType(name='struct mjuiItemSlider_'),
-                         doc='slider',
-                     ),
-                     StructFieldDecl(
-                         name='edit',
-                         type=ValueType(name='struct mjuiItemEdit_'),
-                         doc='edit',
-                     ),
-                 ),
-             ),
-             StructFieldDecl(
-                 name='rect',
-                 type=ValueType(name='mjrRect'),
-                 doc='rectangle occupied by item',
-             ),
-             StructFieldDecl(
-                 name='skip',
-                 type=ValueType(name='int'),
-                 doc='item skipped due to closed separator',
-             ),
-         ),
-     )),
-    ('mjuiSection',
-     StructDecl(
-         name='mjuiSection',
-         declname='struct mjuiSection_',
-         fields=(
-             StructFieldDecl(
-                 name='name',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(40,),
-                 ),
-                 doc='name',
-             ),
-             StructFieldDecl(
-                 name='state',
-                 type=ValueType(name='int'),
-                 doc='section state (mjtSection)',
-             ),
-             StructFieldDecl(
-                 name='modifier',
-                 type=ValueType(name='int'),
-                 doc='0: none, 1: control, 2: shift; 4: alt',
-             ),
-             StructFieldDecl(
-                 name='shortcut',
-                 type=ValueType(name='int'),
-                 doc='shortcut key; 0: undefined',
-             ),
-             StructFieldDecl(
-                 name='checkbox',
-                 type=ValueType(name='int'),
-                 doc='0: none, 1: unchecked, 2: checked',
-             ),
-             StructFieldDecl(
-                 name='nitem',
-                 type=ValueType(name='int'),
-                 doc='number of items in use',
-             ),
-             StructFieldDecl(
-                 name='item',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjuiItem'),
-                     extents=(200,),
-                 ),
-                 doc='preallocated array of items',
-             ),
-             StructFieldDecl(
-                 name='rtitle',
-                 type=ValueType(name='mjrRect'),
-                 doc='rectangle occupied by title',
-             ),
-             StructFieldDecl(
-                 name='rcontent',
-                 type=ValueType(name='mjrRect'),
-                 doc='rectangle occupied by content',
-             ),
-             StructFieldDecl(
-                 name='lastclick',
-                 type=ValueType(name='int'),
-                 doc='last mouse click over this section',
-             ),
-         ),
-     )),
-    ('mjUI',
-     StructDecl(
-         name='mjUI',
-         declname='struct mjUI_',
-         fields=(
-             StructFieldDecl(
-                 name='spacing',
-                 type=ValueType(name='mjuiThemeSpacing'),
-                 doc='UI theme spacing',
-             ),
-             StructFieldDecl(
-                 name='color',
-                 type=ValueType(name='mjuiThemeColor'),
-                 doc='UI theme color',
-             ),
-             StructFieldDecl(
-                 name='predicate',
-                 type=ValueType(name='mjfItemEnable'),
-                 doc='callback to set item state programmatically',
-             ),
-             StructFieldDecl(
-                 name='userdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='pointer to user data (passed to predicate)',
-             ),
-             StructFieldDecl(
-                 name='rectid',
-                 type=ValueType(name='int'),
-                 doc='index of this ui rectangle in mjuiState',
-             ),
-             StructFieldDecl(
-                 name='auxid',
-                 type=ValueType(name='int'),
-                 doc='aux buffer index of this ui',
-             ),
-             StructFieldDecl(
-                 name='radiocol',
-                 type=ValueType(name='int'),
-                 doc='number of radio columns (0 defaults to 2)',
-             ),
-             StructFieldDecl(
-                 name='width',
-                 type=ValueType(name='int'),
-                 doc='width',
-             ),
-             StructFieldDecl(
-                 name='height',
-                 type=ValueType(name='int'),
-                 doc='current height',
-             ),
-             StructFieldDecl(
-                 name='maxheight',
-                 type=ValueType(name='int'),
-                 doc='height when all sections open',
-             ),
-             StructFieldDecl(
-                 name='scroll',
-                 type=ValueType(name='int'),
-                 doc='scroll from top of UI',
-             ),
-             StructFieldDecl(
-                 name='mousesect',
-                 type=ValueType(name='int'),
-                 doc='0: none, -1: scroll, otherwise 1+section',
-             ),
-             StructFieldDecl(
-                 name='mouseitem',
-                 type=ValueType(name='int'),
-                 doc='item within section',
-             ),
-             StructFieldDecl(
-                 name='mousehelp',
-                 type=ValueType(name='int'),
-                 doc='help button down: print shortcuts',
-             ),
-             StructFieldDecl(
-                 name='mouseclicks',
-                 type=ValueType(name='int'),
-                 doc='number of mouse clicks over UI',
-             ),
-             StructFieldDecl(
-                 name='mousesectcheck',
-                 type=ValueType(name='int'),
-                 doc='0: none, otherwise 1+section',
-             ),
-             StructFieldDecl(
-                 name='editsect',
-                 type=ValueType(name='int'),
-                 doc='0: none, otherwise 1+section',
-             ),
-             StructFieldDecl(
-                 name='edititem',
-                 type=ValueType(name='int'),
-                 doc='item within section',
-             ),
-             StructFieldDecl(
-                 name='editcursor',
-                 type=ValueType(name='int'),
-                 doc='cursor position',
-             ),
-             StructFieldDecl(
-                 name='editscroll',
-                 type=ValueType(name='int'),
-                 doc='horizontal scroll',
-             ),
-             StructFieldDecl(
-                 name='edittext',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(300,),
-                 ),
-                 doc='current text',
-             ),
-             StructFieldDecl(
-                 name='editchanged',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjuiItem'),
-                 ),
-                 doc='pointer to changed edit in last mjui_event',
-             ),
-             StructFieldDecl(
-                 name='nsect',
-                 type=ValueType(name='int'),
-                 doc='number of sections in use',
-             ),
-             StructFieldDecl(
-                 name='sect',
-                 type=ArrayType(
-                     inner_type=ValueType(name='mjuiSection'),
-                     extents=(10,),
-                 ),
-                 doc='preallocated array of sections',
-             ),
-         ),
-     )),
-    ('mjuiDef',
-     StructDecl(
-         name='mjuiDef',
-         declname='struct mjuiDef_',
-         fields=(
-             StructFieldDecl(
-                 name='type',
-                 type=ValueType(name='int'),
-                 doc='type (mjtItem); -1: section',
-             ),
-             StructFieldDecl(
-                 name='name',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(40,),
-                 ),
-                 doc='name',
-             ),
-             StructFieldDecl(
-                 name='state',
-                 type=ValueType(name='int'),
-                 doc='state',
-             ),
-             StructFieldDecl(
-                 name='pdata',
-                 type=PointerType(
-                     inner_type=ValueType(name='void'),
-                 ),
-                 doc='pointer to data',
-             ),
-             StructFieldDecl(
-                 name='other',
-                 type=ArrayType(
-                     inner_type=ValueType(name='char'),
-                     extents=(300,),
-                 ),
-                 doc='string with type-specific properties',
-             ),
-             StructFieldDecl(
-                 name='otherint',
-                 type=ValueType(name='int'),
-                 doc='int with type-specific properties',
-             ),
-         ),
-     )),
-])
diff --git a/python/mujoco/introspect/structs_test.py b/python/mujoco/introspect/structs_test.py
deleted file mode 100644
index e43e3a4c..00000000
--- a/python/mujoco/introspect/structs_test.py
+++ /dev/null
@@ -1,129 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for structs.py."""
-
-from absl.testing import absltest
-
-from . import ast_nodes
-from . import structs
-from . import type_parsing
-
-
-class StructsTest(absltest.TestCase):
-
-  def test_mjData(self):  # pylint: disable=invalid-name
-    struct_decl = structs.STRUCTS['mjData']
-    self.assertEqual(struct_decl.name, 'mjData')
-    self.assertEqual(struct_decl.declname, 'struct mjData_')
-
-    field_names = set()
-    for field in struct_decl.fields:
-      self.assertNotIn(field.name, field_names)
-      field_names.add(field.name)
-      if field.name == 'warning':
-        self.assertEqual(field.type,
-                         type_parsing.parse_type('mjWarningStat[7]'))
-        self.assertEqual(field.doc, 'warning statistics (mutable)')
-      elif field.name == 'qpos':
-        self.assertEqual(field.type, type_parsing.parse_type('mjtNum*'))
-        self.assertEqual(field.doc, 'position')
-        self.assertEqual(field.array_extent, ('nq',))
-
-    self.assertIn('warning', field_names)
-    self.assertIn('qpos', field_names)
-
-  def test_mjVisual(self):  # pylint: disable=invalid-name
-    struct_decl = structs.STRUCTS['mjVisual']
-    self.assertEqual(struct_decl.name, 'mjVisual')
-    self.assertEqual(struct_decl.declname, 'struct mjVisual_')
-
-    outer_fields = set()
-    for outer_field in struct_decl.fields:
-      self.assertNotIn(outer_field.name, outer_fields)
-      outer_fields.add(outer_field.name)
-      self.assertIsInstance(outer_field.type, ast_nodes.AnonymousStructDecl)
-      inner_fields = set()
-      if outer_field.name == 'global':
-        for inner_field in outer_field.type.fields:
-          self.assertNotIn(inner_field.name, inner_fields)
-          inner_fields.add(inner_field.name)
-          if inner_field.name == 'ipd':
-            self.assertEqual(inner_field.type, type_parsing.parse_type('float'))
-            self.assertEqual(
-                inner_field.doc, 'inter-pupilary distance for free camera'
-            )
-          elif inner_field.name == 'offwidth':
-            self.assertEqual(inner_field.type, type_parsing.parse_type('int'))
-            self.assertEqual(inner_field.doc, 'width of offscreen buffer')
-        self.assertIn('ipd', inner_fields)
-        self.assertIn('offwidth', inner_fields)
-      elif outer_field.name == 'headlight':
-        for inner_field in outer_field.type.fields:
-          self.assertNotIn(inner_field.name, inner_fields)
-          inner_fields.add(inner_field.name)
-          if inner_field.name in {'ambient', 'diffuse', 'specular'}:
-            self.assertEqual(inner_field.type,
-                             type_parsing.parse_type('float[3]'))
-            self.assertEqual(inner_field.doc,
-                             f'{inner_field.name} rgb (alpha=1)')
-          elif inner_field.name == 'active':
-            self.assertEqual(inner_field.type, type_parsing.parse_type('int'))
-            self.assertEqual(inner_field.doc, 'is headlight active')
-        self.assertIn('ambient', inner_fields)
-        self.assertIn('diffuse', inner_fields)
-        self.assertIn('specular', inner_fields)
-        self.assertIn('active', inner_fields)
-
-    self.assertIn('global', outer_fields)
-    self.assertIn('headlight', outer_fields)
-
-  def test_mjuiItem(self):  # pylint: disable=invalid-name
-    struct_decl = structs.STRUCTS['mjuiItem']
-    self.assertEqual(struct_decl.name, 'mjuiItem')
-    self.assertEqual(struct_decl.declname, 'struct mjuiItem_')
-
-    found_anonymous_union = False
-    outer_fields = set()
-    for outer_field in struct_decl.fields:
-      if isinstance(outer_field, ast_nodes.AnonymousUnionDecl):
-        self.assertFalse(found_anonymous_union)
-        found_anonymous_union = True
-        inner_fields = set()
-        for inner_field in outer_field.fields:
-          self.assertNotIn(inner_field.name, inner_fields)
-          inner_fields.add(inner_field.name)
-          if inner_field.name == 'single':
-            self.assertEqual(inner_field.type,
-                             type_parsing.parse_type('struct mjuiItemSingle_'))
-            self.assertEqual(inner_field.doc, 'check and button')
-          elif inner_field.name == 'multi':
-            self.assertEqual(inner_field.type,
-                             type_parsing.parse_type('struct mjuiItemMulti_'))
-            self.assertEqual(inner_field.doc, 'static, radio and select')
-        self.assertIn('single', inner_fields)
-        self.assertIn('multi', inner_fields)
-      else:
-        self.assertNotIn(outer_field.name, outer_fields)
-        outer_fields.add(outer_field.name)
-        if outer_field.name == 'pdata':
-          self.assertEqual(outer_field.type, type_parsing.parse_type('void*'))
-          self.assertEqual(outer_field.doc, 'data pointer (type-specific)')
-
-    self.assertTrue(found_anonymous_union)
-    self.assertIn('pdata', outer_fields)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/introspect/type_parsing.py b/python/mujoco/introspect/type_parsing.py
deleted file mode 100644
index 8cb2174b..00000000
--- a/python/mujoco/introspect/type_parsing.py
+++ /dev/null
@@ -1,154 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Functions for parsing C type declarations."""
-
-import collections
-import re
-from typing import Mapping, MutableSequence, Optional, Sequence, Tuple, Union
-
-from . import ast_nodes
-
-ARRAY_EXTENTS_PATTERN = re.compile(r'(\[[^\]]+\]\s*)+\Z')
-ARRAY_N_PATTERN = re.compile(r'\[([^\]]+)\]')
-STARTS_WITH_CONST_PATTERN = re.compile(r'\Aconst(?![A-Za-z0-9_])')
-ENDS_WITH_CONST_PATTERN = re.compile(r'(?<![A-Za-z0-9_])const\Z')
-
-
-def _parse_qualifiers(
-    type_name: str,
-    qualifiers: Sequence[str]) -> Tuple[str, Mapping[str, bool]]:
-  """Separates qualifiers from the rest of the type name."""
-  parts = re.split(r'\s+', type_name)
-  counter = collections.defaultdict(lambda: 0)
-  non_qualifiers = []
-  for part in parts:
-    if part in qualifiers:
-      counter[part] += 1
-      if counter[part] > 1:
-        raise ValueError('duplicate qualifier: {part!r}')
-    else:
-      non_qualifiers.append(part)
-  is_qualifier = dict()
-  for qualifier in qualifiers:
-    is_qualifier[f'is_{qualifier}'] = bool(counter[qualifier])
-  return ' '.join(non_qualifiers), is_qualifier
-
-
-def _parse_maybe_array(
-    type_name: str, innermost_type: Optional[Union[ast_nodes.ValueType,
-                                                   ast_nodes.PointerType]]
-) -> Union[ast_nodes.ValueType, ast_nodes.PointerType, ast_nodes.ArrayType]:
-  """Internal-only helper that parses a type that may be an array type."""
-  array_match = ARRAY_EXTENTS_PATTERN.search(type_name)
-  if array_match:
-    extents = tuple(
-        int(s.strip()) for s in ARRAY_N_PATTERN.findall(array_match.group(0)))
-    inner_type_str = type_name[:array_match.start()]
-    return ast_nodes.ArrayType(
-        inner_type=_parse_maybe_pointer(inner_type_str.strip(), innermost_type),  # pyrefly: ignore[bad-argument-type]
-        extents=extents)
-  else:
-    return _parse_maybe_pointer(type_name, innermost_type)
-
-
-def _parse_maybe_pointer(
-    type_name: str, innermost_type: Optional[Union[ast_nodes.ValueType,
-                                                   ast_nodes.PointerType]]
-) -> Union[ast_nodes.ValueType, ast_nodes.PointerType, ast_nodes.ArrayType]:
-  """Internal-only helper that parses a type that may be a pointer type."""
-  if type_name == 'void *(*)(void *)':
-    return ast_nodes.ValueType(name=type_name)
-  p = type_name.rfind('*')
-  if p != -1:
-    leftover, is_qualifier = _parse_qualifiers(
-        type_name[p + 1:].strip(), ('const', 'volatile', 'restrict'))
-    if leftover:
-      raise ValueError('invalid qualifier for pointer: {leftover!r}')
-
-    inner_type_str = type_name[:p].strip()
-    if inner_type_str:
-      inner_type = _parse_maybe_pointer(inner_type_str, innermost_type)
-    else:
-      assert innermost_type is not None
-      inner_type = innermost_type
-    return ast_nodes.PointerType(inner_type=inner_type, **is_qualifier)
-  else:
-    assert innermost_type is None  # value type should be innermost
-    type_name, is_qualifier = _parse_qualifiers(
-        type_name.strip(), ('const', 'volatile'))
-    return ast_nodes.ValueType(name=type_name, **is_qualifier)
-
-
-def _peel_nested_parens(input_str: str) -> MutableSequence[str]:
-  """Extracts substrings from a string with nested parentheses.
-
-  The returned sequence starts from the substring enclosed in the innermost
-  parentheses and moves subsequently outwards. The contents of the inner
-  substrings are removed from the outer ones. For example, given the string
-  'lorem ipsum(dolor sit (consectetur adipiscing) amet)sed do eiusmod',
-  this function produces the sequence
-  ['consectetur adipiscing', 'dolor sit  amet', 'lorem ipsumsed do eiusmod'].
-
-  Args:
-    input_str: An input_str string consisting of zero or more nested
-      parentheses.
-
-  Returns:
-    A sequence of substrings enclosed with in respective parentheses. See the
-    description above for the precise detail of the output.
-  """
-  if input_str == 'void *(*)(void *)':
-    return ['void *(*)(void *)']
-
-  start = input_str.find('(')
-  end = input_str.rfind(')')
-
-  if start == -1 and end == -1:
-    return [input_str]
-  else:
-    # Assertions to be re-raised into a meaningful error by the caller.
-    assert start != -1  # '(' should be present if there is a ')'
-    assert end != -1  # ')' should be present if there is a '('
-    assert start < end  # '(' should come before ')'
-    out = _peel_nested_parens(input_str[start + 1:end])
-    out.append(input_str[:start] + input_str[end + 1:])
-    return out
-
-
-def parse_type(
-    type_name: str
-) -> Union[ast_nodes.ValueType, ast_nodes.PointerType, ast_nodes.ArrayType]:
-  """Parses a string that represents a C type into an AST node."""
-  try:
-    type_str_stack = _peel_nested_parens(type_name.strip())
-  except AssertionError as e:
-    raise ValueError(f'{type_name!r} contains incorrectly nested '
-                     f'parentheses') from e
-
-  result = None
-  while type_str_stack:
-    try:
-      result = _parse_maybe_array(type_str_stack.pop(), result)  # pyrefly: ignore[bad-argument-type]
-    except AssertionError as e:
-      raise ValueError(f'invalid type name {type_name!r}') from e
-
-  assert result  # hint for pytype that `result` isn't None
-  return result
-
-
-def parse_function_return_type(
-    type_name: str
-) -> Union[ast_nodes.ValueType, ast_nodes.PointerType, ast_nodes.ArrayType]:
-  return parse_type(type_name[:type_name.find('(')])
diff --git a/python/mujoco/introspect/type_parsing_test.py b/python/mujoco/introspect/type_parsing_test.py
deleted file mode 100644
index c7d0bdc2..00000000
--- a/python/mujoco/introspect/type_parsing_test.py
+++ /dev/null
@@ -1,58 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for type_parsing.py."""
-
-from absl.testing import absltest
-
-from . import ast_nodes
-from . import type_parsing
-
-
-class TypeParsingTest(absltest.TestCase):
-
-  def test_parse_complex_type(self):
-    parsed_type = type_parsing.parse_type(
-        'int unsigned volatile long const long'+
-        '(**const(*const restrict*[9])[7])[3][4]')
-
-    expected_type = ast_nodes.ArrayType(
-        extents=[9],
-        inner_type=ast_nodes.PointerType(
-            ast_nodes.PointerType(
-                is_const=True,
-                is_restrict=True,
-                inner_type=ast_nodes.ArrayType(
-                    extents=[7],
-                    inner_type=ast_nodes.PointerType(
-                        is_const=True,
-                        inner_type=ast_nodes.PointerType(
-                            ast_nodes.ArrayType(
-                                extents=(3, 4),
-                                inner_type=ast_nodes.ValueType(
-                                    'int unsigned long long',
-                                    is_const=True, is_volatile=True)
-                                )
-                            )
-                        )
-                    )
-                )
-            )
-        )
-
-    self.assertEqual(parsed_type, expected_type)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/memory_leak_test.py b/python/mujoco/memory_leak_test.py
deleted file mode 100644
index 4a713085..00000000
--- a/python/mujoco/memory_leak_test.py
+++ /dev/null
@@ -1,70 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Test that copying mujoco.MjData multiple times doesn't leak memory."""
-
-import copy
-import textwrap
-
-from absl.testing import absltest
-import mujoco
-
-
-class MemoryLeakTest(absltest.TestCase):
-
-  # Regression test for https://github.com/google-deepmind/mujoco/issues/1572
-  def test_deepcopy_mjdata_leak(self):
-    # MuJoCo model with textures that take up significant memory.
-    model_xml = textwrap.dedent("""
-    <mujoco>
-      <asset>
-        <material name="body"/>
-        <texture name="grid" type="2d" builtin="checker"
-            width="1024" height="1024" rgb1="0 0 0" rgb2="1 1 1"/>
-        <material name="grid" texture="grid" texrepeat="1 1"
-            texuniform="true" reflectance=".2"/>
-      </asset>
-      <worldbody>
-          <geom size="0 0 .05" type="plane" material="grid"/>
-      </worldbody>
-    </mujoco>
-    """)
-    limit = self._memory_limit(4 * 2**32)
-    try:
-      model = mujoco.MjModel.from_xml_string(model_xml)
-      data = mujoco.MjData(model)
-      total = 0
-      for _ in range(1000):
-        mujoco.mj_step(model, data)
-        last_data = copy.deepcopy(data)
-        total += last_data.time
-    finally:
-      self._memory_limit(limit)
-
-  def _memory_limit(self, limit_in_bytes: int) -> int:
-    """Limits max memory usage, and returns previous limit."""
-    soft = -1
-    try:
-      import resource  # pylint: disable=g-import-not-at-top
-
-      soft, hard = resource.getrlimit(resource.RLIMIT_AS)
-      resource.setrlimit(resource.RLIMIT_AS, (limit_in_bytes, hard))
-    except (ImportError, ValueError):
-      # On Windows or systems where setting resource limits fails, do nothing.
-      pass
-    return soft
-
-
-if __name__ == "__main__":
-  absltest.main()
diff --git a/python/mujoco/minimize.py b/python/mujoco/minimize.py
deleted file mode 100644
index 7a7d6c6d..00000000
--- a/python/mujoco/minimize.py
+++ /dev/null
@@ -1,609 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Nonlinear Least Squares minimization with box bounds."""
-
-import abc
-import dataclasses
-import enum
-import time
-from typing import Callable, List, Optional, Sequence, TextIO, Tuple, Union
-
-import mujoco
-import numpy as np
-
-
-class Verbosity(enum.Enum):
-  SILENT = 0
-  FINAL = 1
-  ITER = 2
-  FULLITER = 3
-
-
-class Status(enum.Enum):
-  FACTORIZATION_FAILED = enum.auto()
-  NO_IMPROVEMENT = enum.auto()
-  MAX_ITER = enum.auto()
-  DX_TOL = enum.auto()
-  G_TOL = enum.auto()
-
-
-_STATUS_MESSAGE = {
-    Status.FACTORIZATION_FAILED: 'factorization failed.',
-    Status.NO_IMPROVEMENT: 'insufficient reduction.',
-    Status.MAX_ITER: 'maximum iterations reached.',
-    Status.DX_TOL: 'norm(dx) < tol.',
-    Status.G_TOL: 'norm(gradient) < tol.',
-}
-
-
-@dataclasses.dataclass(frozen=True)
-class IterLog:
-  """Log of a single iteration of the non-linear least-squares solver.
-
-  Attributes:
-    candidate: Value of the decision variable at the beginning this iteration.
-    objective: Value of the objective at the candidate.
-    reduction: Reduction of the objective during this iteration.
-    regularizer: Value of the regularizer used for this iteration.
-    residual: Optional value of the residual at the candidate.
-    jacobian: Optional value of the Jacobian at the candidate.
-    grad: Optional value of the gradient at the candidate.
-    step: Optional change in decision variable during this iteration.
-  """
-
-  candidate: np.ndarray
-  objective: np.float64
-  reduction: np.float64
-  regularizer: np.float64
-  residual: Optional[np.ndarray] = None
-  jacobian: Optional[np.ndarray] = None
-  grad: Optional[np.ndarray] = None
-  step: Optional[np.ndarray] = None
-
-
-class Norm(abc.ABC):
-  """Abstract interface for norm functions, measuring the magnitude of vectors.
-
-  Key Concepts:
-
-  * Norm Value: The value of the norm for a given input vector.
-  * Gradient and Hessian: The gradient (first derivative) and Hessian (second
-    derivative) of the norm function with respect to the input vector.
-
-  Subclasses Must Implement:
-
-  * `value(self, r: np.ndarray)`: Computes and returns the norm value for the
-     input vector `r`.
-  * `grad_hess(self, r: np.ndarray, proj: np.ndarray)`: Computes and returns
-     both  the gradient and Hessian of the norm at `r`, projected onto `proj`.
-     The reason we ask the user to perform the projection themselves is that
-     norm Hessians are often large and sparse, and the "sandwich" projection
-     operator `proj.T @ hess @ proj` can be computed efficiently by taking the
-     specific norm structure into account.
-  """
-
-  @abc.abstractmethod
-  def value(self, r: np.ndarray) -> np.float64:
-    """Returns the value of the norm at the input vector `y = norm(r)`."""
-    pass
-
-  @abc.abstractmethod
-  def grad_hess(self, r: np.ndarray, proj: np.ndarray):
-    """Computes the projected gradient and Hessian of the norm at `r`.
-
-    Args:
-        r: A NumPy column vector (nr x 1).
-        proj: A pre-computed projection matrix (nr x nx).
-
-    Returns:
-        A tuple containing:
-            * Projected gradient: proj.T @ (d_norm/d_r).
-            * Projected Hessian: proj.T @ (d^2_norm/d_r^2) @ proj.
-    """
-    pass
-
-
-class Quadratic(Norm):
-  """Implementation of the quadratic norm."""
-
-  def value(self, r: np.ndarray):
-    """Returns the quadratic norm of `r`."""
-    return 0.5 * (r.T @ r).item()
-
-  def grad_hess(self, r: np.ndarray, proj: np.ndarray):
-    """Computes the projected gradient and Hessian of the quadratic norm at `r`.
-
-    Args:
-        r: A NumPy column vector (nr x 1).
-        proj: A pre-computed projection matrix (nr x nx).
-
-    Returns:
-        A tuple containing:
-            * Projected gradient: `proj.T @ r`.
-            * Projected Hessian: `proj.T @ proj`.
-    """
-    grad = proj.T @ r
-    hess = proj.T @ proj  # Notionally proj.T @ np.eye(r.size) @ proj
-    return grad, hess
-
-
-def least_squares(
-    x0: np.ndarray,
-    residual: Callable[[np.ndarray], np.ndarray],
-    bounds: Optional[Sequence[np.ndarray]] = None,
-    jacobian: Optional[Callable[[np.ndarray, np.ndarray], np.ndarray]] = None,
-    norm: Norm = Quadratic(),
-    eps: float = np.finfo(np.float64).eps ** 0.5,
-    mu_min: float = 1e-6,
-    mu_max: float = 1e8,
-    mu_factor: float = 10.0 ** 0.1,
-    xtol: float = 1e-8,
-    gtol: float = 1e-8,
-    max_iter: int = 100,
-    verbose: Union[Verbosity, int] = Verbosity.ITER,
-    output: Optional[TextIO] = None,
-    iter_callback: Optional[Callable[[List[IterLog]], None]] = None,
-    check_derivatives: bool = False,
-    x_scale: Optional[Union[float, np.ndarray, str]] = None,
-) -> Tuple[np.ndarray, List[IterLog]]:
-  """Nonlinear Least Squares minimization with box bounds.
-
-  Args:
-    x0: Initial guess
-    residual: Vectorized function returning the residual for 1 or more points.
-    bounds: Optional pair of lower and upper bounds on the solution.
-    jacobian: Optional function that returns Jacobian of the residual at a given
-      point and residual. If not given, `residual` will be finite-differenced.
-    norm: Norm object returning norm scalar or its projected gradient and
-      Hessian. See Norm class for detailed documentation.
-    eps: Perurbation used for automatic finite-differencing.
-    mu_min: Minimum value of the regularizer.
-    mu_max: Maximum value of the regularizer.
-    mu_factor: Factor for increasing or decreasing the regularizer.
-    xtol: Termination tolerance on relative step size.
-    gtol: Termination tolerance on gradient norm.
-    max_iter: Maximum number of iterations.
-    verbose: Verbosity level.
-    output: Optional file or StringIO to which to print messages.
-    iter_callback: Optional iteration callback, takes trace argument.
-    check_derivatives: Compare user-defined Jacobian and norm against fin-diff.
-    x_scale: Per-parameter scaling (matches scipy's x_scale). Setting
-      x_scale=D solves the problem in the change of variables z = x / D
-      and un-scales the result. None (default) or 1.0 is no scaling.
-      'jac' sets D_i = 1 / ||J(:, i)|| at each iteration. An array of
-      shape (n,) (or a positive scalar) is used as D directly. Note
-      that mu, mu_min and mu_max then act on the scaled subproblem.
-
-  Returns:
-    x: best solution found
-    trace: sequence of solution iterates.
-  """
-  t_start_total = time.time()
-
-  # Convert verbosity to int.
-  verbose = Verbosity(verbose).value
-
-  # Constant for Armijo's sufficient-reduction rule
-  armijo_c1 = 1e-2
-
-  # Initialize locals.
-  status = Status.MAX_ITER
-  i = 0
-  n = x0.size
-  x = x0.astype(np.float64).reshape((n, 1))
-  xnew = np.zeros((n, 1))
-  dx = np.zeros((n, 1))
-  scratch = np.zeros((n, n + 7))
-  eps = np.float64(eps)
-  mu = np.float64(0.0)  # Optimistically start with no regularization.
-  n_reduc = 0  # Number of sequential mu reductions.
-
-  # Resolve x_scale -> D of shape (n, 1). For 'jac', D is refreshed each iter;
-  # None means no scaling (D = 1).
-  adaptive_scale = isinstance(x_scale, str)
-  if adaptive_scale and x_scale != 'jac':
-    raise ValueError(
-        f"x_scale must be None, 'jac', a positive scalar, or array, got "
-        f'{x_scale!r}.'
-    )
-  if x_scale is None or adaptive_scale:
-    D = np.ones((n, 1))
-  else:
-    D = np.asarray(x_scale, dtype=np.float64)
-    if D.shape not in ((), (n,)):
-      raise ValueError(f'x_scale array must have shape ({n},), got {D.shape}.')
-    if not np.all(np.isfinite(D)) or np.any(D <= 0):
-      raise ValueError('x_scale must be positive and finite.')
-    D = (np.ones(n) * D).reshape(n, 1)
-
-  # Initialize logging.
-  trace = []
-  n_res = 0
-  n_jac = 0
-  t_res = 0.0
-  t_jac = 0.0
-
-  if mu_factor <= 1:
-    raise ValueError('mu_factor must be > 1.')
-
-  # Decrease mu agressively: sequential decreases grow exponentially.
-  def decrease_mu(mu, n_reduc):
-    dmu = (1 / mu_factor) ** (2**n_reduc)
-    mu = 0.0 if mu * dmu < mu_min else mu * dmu
-    n_reduc += 1
-    return mu, n_reduc
-
-  # Increase mu carefully: always increase by mu_factor.
-  def increase_mu(mu):
-    mu = max(mu_min, mu_factor * mu)
-    n_reduc = 0  # Reset n_reduc.
-    return mu, n_reduc
-
-  # Make local copy of bounds to avoid reshaping user input.
-  bounds = None if bounds is None else list(bounds)
-  if bounds is not None:
-    # Checks bounds.
-    if len(bounds) != 2:
-      raise ValueError('bounds must have 2 elements.')
-    if bounds[0].size != n or bounds[1].size != n:
-      raise ValueError('bounds must have the same size as x0.')
-    if not np.all(np.isfinite(bounds[0])) or not np.all(np.isfinite(bounds[1])):
-      raise ValueError('bounds must be finite.')
-    if not np.all(bounds[0] < bounds[1]):
-      raise ValueError('bounds[0] must be smaller than bounds[1].')
-
-    # Reshape and clip.
-    bounds[0] = bounds[0].reshape(n, 1)
-    bounds[1] = bounds[1].reshape(n, 1)
-    np.clip(x, bounds[0], bounds[1], out=x)
-
-  # Check for NaNs.
-  if not np.all(np.isfinite(x)):
-    raise ValueError('x0 must be finite.')
-
-  # Get initial residual.
-  t_start = time.time()
-  r = residual(x)
-  rnew = r
-  t_res += time.time() - t_start
-  n_res += 1
-
-  if r.dtype != np.float64:
-    raise ValueError('residual function must return float64 arrays.')
-
-  # Minimize.
-  for i in range(max_iter):
-    if status != Status.MAX_ITER:
-      break
-
-    # Get objective y.
-    y = norm.value(r)
-
-    # Get Jacobian jac.
-    t_start = time.time()
-    if jacobian is None:
-      jac, n_res = jacobian_fd(residual, x, r, eps, n_res, bounds)
-      t_res += time.time() - t_start
-    else:
-      jac = jacobian(x, r)
-      t_jac += time.time() - t_start
-      n_jac += 1
-
-      # Check user-provided Jacobian
-      if i == 0 and check_derivatives:
-        n_res = check_jacobian(residual, x, r, jac, eps, n_res, bounds, output)
-
-    # Check user-provided norm
-    if i == 0 and check_derivatives and not isinstance(norm, Quadratic):
-      check_norm(r, norm, eps, output)
-
-    # Refresh D for adaptive ('jac') scaling: column-norm preconditioner.
-    if adaptive_scale:
-      col_norms = np.linalg.norm(jac, axis=0)
-      D = (1.0 / np.maximum(col_norms, eps)).reshape(n, 1)
-
-    # Gradient/Hessian in scaled coords (jac * D.T scales columns).
-    grad, hess = norm.grad_hess(r, jac * D.T)
-
-    # Get free (unclamped) gradient.
-    if bounds is None:
-      grad_free = grad
-    else:
-      clamped_lower = (x == bounds[0]) & (grad > 0)
-      clamped_upper = (x == bounds[1]) & (grad < 0)
-      clamped = clamped_lower | clamped_upper
-      grad_free = grad[~clamped]
-
-    # Check termination condition on gradient norm.
-    g_norm = np.linalg.norm(grad_free)
-    if g_norm <= gtol:
-      status = Status.G_TOL
-      if g_norm == 0:
-        print('Zero gradient norm: exact minimum found?', file=output)
-      break
-
-    # Bounds relative to x, expressed in scaled coords (dz = dx / D).
-    dlower = None if bounds is None else (bounds[0] - x) / D
-    dupper = None if bounds is None else (bounds[1] - x) / D
-
-    # Find reduction satisfying Armijo's rule.
-    armijo = -1
-    reduction = 0.0
-    while armijo < 0:
-      # Increase mu until factorizable.
-      factorizable = False
-      while not factorizable:
-        n_free = mujoco.mju_boxQP(
-            dx, scratch, None, hess + mu * np.eye(n), grad, dlower, dupper
-        )
-        if n_free >= 0:
-          factorizable = True
-        elif mu >= mu_max:
-          status = Status.FACTORIZATION_FAILED
-          break
-        else:
-          mu, n_reduc = increase_mu(mu)
-
-      if status != Status.MAX_ITER:
-        break
-
-      # New candidate (D * dx is the x-space step).
-      xnew = x + D * dx
-      t_start = time.time()
-      rnew = residual(xnew)
-      t_res += time.time() - t_start
-      n_res += 1
-
-      # New objective, evaluate reduction.
-      ynew = norm.value(rnew)
-      reduction = y - ynew
-      armijo = reduction + armijo_c1 * (grad.T @ dx).item()
-
-      if armijo < 0:
-        if mu >= mu_max:
-          status = Status.NO_IMPROVEMENT
-          break
-        mu, n_reduc = increase_mu(mu)
-
-    if status != Status.MAX_ITER:
-      break
-
-    # Compute reduction ratio.
-    expected_reduction = -(grad.T @ dx + 0.5 * dx.T @ hess @ dx).item()
-    reduction_ratio = 0.0
-    if expected_reduction <= 0:
-      if verbose > Verbosity.SILENT.value:
-        if expected_reduction == 0:
-          print('Zero expected reduction: exact minimum found?', file=output)
-        elif expected_reduction < 0:
-          print('Negative expected reduction: should not occur.', file=output)
-    else:
-      reduction_ratio = reduction / expected_reduction
-
-    # Iteration message. Step printed in x-space (D * dx).
-    step = D * dx
-    dx_norm = np.linalg.norm(step)
-    if verbose >= Verbosity.ITER.value:
-      logmu = np.log10(mu) if mu > 0 else -np.inf
-      message = (
-          f'iter: {i:<3d}  y: {y:<9.4g}  log10mu: {logmu:>4.1f}  '
-          f'ratio: {reduction_ratio:<7.2g}  '
-          f'dx: {dx_norm:<7.2g}  reduction: {reduction:<7.2g}'
-      )
-      print(message, file=output)
-
-    # Append log to trace, call iter_callback.
-    log = IterLog(candidate=x, objective=y, reduction=reduction, regularizer=mu)  # pyrefly: ignore[bad-argument-type]
-    if verbose >= Verbosity.FULLITER.value:
-      log = dataclasses.replace(
-          log, residual=r, jacobian=jac, grad=grad / D, step=step
-      )
-    trace.append(log)
-    if iter_callback is not None:
-      iter_callback(trace)
-
-    # Check termination condition on step norm.
-    if dx_norm < xtol * (xtol + np.linalg.norm(x)):
-      x = xnew
-      r = rnew
-      status = Status.DX_TOL
-      break
-
-    # Modify regularizer like in (Fletcher, 1971)
-    if reduction_ratio > 0.75:
-      mu, n_reduc = decrease_mu(mu, n_reduc)
-    elif reduction_ratio < 0.25:
-      mu, n_reduc = increase_mu(mu)
-
-    # Accept proposal.
-    x = xnew
-    r = rnew
-
-  # Append final log to trace, call iter_callback.
-  # Note: unlike other iter logs, values are computed at the end point.
-  yfinal = norm.value(r)
-  red = np.float64(0.0)  # No reduction since we didn't take a step.
-  log = IterLog(candidate=x, objective=yfinal, reduction=red, regularizer=mu)
-
-  # If full verbosity requested, compute values at the final point.
-  if verbose >= Verbosity.FULLITER.value:
-    # Get Jacobian jac.
-    t_start = time.time()
-    if jacobian is None:
-      jac, n_res = jacobian_fd(residual, x, r, eps, n_res, bounds)
-      t_res += time.time() - t_start
-    else:
-      jac = jacobian(x, r)
-      t_jac += time.time() - t_start
-      n_jac += 1
-
-    # Get gradient, add to log.
-    grad, _ = norm.grad_hess(r, jac)
-    log = dataclasses.replace(log, residual=r, jacobian=jac, grad=grad)
-
-  trace.append(log)
-  if iter_callback is not None:
-    iter_callback(trace)
-
-  # Print final diagnostics.
-  if verbose > Verbosity.SILENT.value:
-    message = f'Terminated after {i} iterations: '
-    message += _STATUS_MESSAGE[status]
-    message += f' y: {yfinal:<.4g}, Residual evals: {n_res:d}'
-    if n_jac > 0:
-      message += f', Jacobian evals: {n_jac:d}'
-    print(message, file=output)
-
-    time_total = time.time() - t_start_total
-    if time_total > 0:
-      r_percent = 100 * t_res / time_total
-      time_scale = 1 if time_total > 1 else 1000
-      time_units = 's' if time_total > 1 else 'ms'
-      message = f'total time {time_scale * time_total:<.1f}{time_units}'
-      message += f' of which residual {r_percent:<.1f}%'
-      if t_jac > 0:
-        jac_percent = 100 * t_jac / time_total
-        message += f' Jacobian {jac_percent:<.1f}%'
-      print(message, file=output)
-
-  return x.reshape(x0.shape), trace
-
-
-def jacobian_fd(
-    residual: Callable[[np.ndarray], np.ndarray],
-    x: np.ndarray,
-    r: np.ndarray,
-    eps: np.float64,
-    n_res: int,
-    bounds: Optional[List[np.ndarray]] = None,
-) -> Tuple[np.ndarray, int]:
-  """Finite-difference Jacobian of a residual function.
-
-  Args:
-    residual: vectorized function that returns the residual of a vector array.
-    x: point at which to evaluate the Jacobian.
-    r: residual at x.
-    eps: finite-difference step size.
-    n_res: number or residual evaluations so far.
-    bounds: optional pair of lower and upper bounds.
-
-  Returns:
-    jac: Jacobian of the residual at x.
-    n_res: updated number of residual evaluations (add x.size).
-  """
-  n = x.size
-  if bounds is None:
-    eps_vec = eps * np.ones((n, 1))
-  else:
-    mid = 0.5 * bounds[0] + 0.5 * bounds[1]
-    eps_vec = np.where(x > mid, -eps, eps)
-  eps_vec *= np.maximum(1.0, np.abs(x))
-  eps_vec = (eps_vec + x) - x
-  xh = x + np.diag(eps_vec.flatten())
-  rh = residual(xh)
-  jac = (rh - r) / eps_vec.T
-  return jac, n_res + n
-
-
-def check_jacobian(
-    residual: Callable[[np.ndarray], np.ndarray],
-    x: np.ndarray,
-    r: np.ndarray,
-    jac: np.ndarray,
-    eps: np.float64,
-    n_res: int,
-    bounds: Optional[List[np.ndarray]] = None,
-    output: Optional[TextIO] = None,
-    name: Optional[str] = 'Jacobian',
-) -> int:
-  """Check user-provided Jacobian against internal finite-differencing.
-
-  Args:
-    residual: vectorized function that returns the residual of a vector array.
-    x: point at which the r and jac were evaluated.
-    r: residual at x.
-    jac: Jacobian at x.
-    eps: finite-difference step size.
-    n_res: number or residual evaluations so far.
-    bounds: optional pair of lower and upper bounds.
-    output: Optional file or StringIO to which to print messages.
-    name: Optional name of the function being tested.
-
-  Returns:
-    n_res: updated number of residual evaluations.
-  """
-  jac_fd, n_res = jacobian_fd(residual, x, r, eps, n_res, bounds)
-  denom = np.abs(jac).sum() + np.abs(jac_fd).sum() + 1e-8
-  rel_diff = np.abs(jac - jac_fd) / denom
-  if np.any(rel_diff > 1e-5):
-    raise ValueError(
-        f'User-provided {name} does not match finite-differences '
-        'to a relative tolerance of 1e-5.'
-    )
-  print(f'User-provided {name} matches finite-differences.', file=output)
-  return n_res
-
-
-def check_norm(
-    r: np.ndarray,
-    norm: Norm,
-    eps: np.float64,
-    output: Optional[TextIO] = None,
-):
-  """Check user-provided norm against internal finite-differencing.
-
-  Args:
-    r: residual vector.
-    norm: Norm function returning either the norm scalar or its gradient and
-      Gauss-Newton Hessian.
-    eps: finite-difference step size.
-    output: Optional file or StringIO to which to print messages.
-  """
-  # Get norm(r) value and 1st, 2nd derivatives.
-  n = np.atleast_2d(norm.value(r))  # norm value as 1x1 array.
-  eye = np.eye(r.size)  # Identity projection.
-  n_g, n_h = norm.grad_hess(r, eye)  # Gradient and Hessian.
-
-  # Check that Hessian is symmetric.
-  if not np.allclose(n_h, n_h.T):
-    raise ValueError('User-provided norm Hessian is not symmetric.')
-
-  # Check that Hessian is positive-definite.
-  if np.any(np.linalg.eigvals(n_h) < 0):
-    h_min = np.min(np.linalg.eigvals(n_h))
-    raise ValueError(
-        'User-provided norm Hessian is not positive definite. '
-        f'Minimum eigenvalue is {h_min:<.4g}'
-    )
-
-  # Local function returning norm values (vectorized).
-  def norm_vec(v):
-    norms = [
-        np.atleast_2d(norm.value(v[:, i : i + 1])) for i in range(v.shape[1])
-    ]
-    return np.hstack(norms)
-
-  # Check the norm gradient.
-  check_jacobian(norm_vec, r, n, n_g.T, eps, 0, None, output, 'norm gradient')
-
-  # Local function returning norm gradients (vectorized).
-  def grad_vec(v):
-    gradients = [
-        norm.grad_hess(v[:, i : i + 1], eye)[0] for i in range(v.shape[1])
-    ]
-    return np.hstack(gradients)
-
-  # Check the norm Hessian.
-  check_jacobian(grad_vec, r, n_g, n_h, eps, 0, None, output, 'norm Hessian')
diff --git a/python/mujoco/minimize_test.py b/python/mujoco/minimize_test.py
deleted file mode 100644
index e833bbaf..00000000
--- a/python/mujoco/minimize_test.py
+++ /dev/null
@@ -1,464 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-import io
-
-from absl.testing import absltest
-from mujoco import minimize
-import numpy as np
-
-
-class MinimizeTest(absltest.TestCase):
-
-  def test_basic(self) -> None:
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    out = io.StringIO()
-    x0 = np.array((0.0, 0.0))
-    x, _ = minimize.least_squares(x0, residual, output=out)
-    expected_x = np.array((1.0, 1.0))
-    np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('norm(gradient) < tol', out.getvalue())
-
-  def test_start_at_minimum(self) -> None:
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    out = io.StringIO()
-    x0 = np.array((1.0, 1.0))
-    x, _ = minimize.least_squares(x0, residual, output=out)
-    expected_x = np.array((1.0, 1.0))
-    np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('norm(gradient) < tol', out.getvalue())
-    self.assertIn('exact minimum found', out.getvalue())
-
-  def test_xtol_returns_accepted_candidate(self) -> None:
-    def residual(x):
-      return x - 1.0
-
-    out = io.StringIO()
-    x, _ = minimize.least_squares(
-        np.array([0.0]), residual, xtol=2.0, gtol=0.0, output=out
-    )
-    np.testing.assert_array_equal(x, np.array([1.0]))
-    self.assertIn('norm(dx) < tol', out.getvalue())
-
-  def test_jac_callback(self) -> None:
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    def jacobian(x, r):
-      del r  # Unused.
-      return np.array([[-1, 0], [-20 * x[0, 0], 10]])
-
-    x0 = np.array((0.0, 0.0))
-    out = io.StringIO()
-    x, _ = minimize.least_squares(
-        x0, residual, jacobian=jacobian, output=out, check_derivatives=True
-    )
-    expected_x = np.array((1.0, 1.0))
-    np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('norm(gradient) < tol', out.getvalue())
-    self.assertIn('Jacobian matches', out.getvalue())
-
-    # Try with bad Jacobian, ask least_squares to check it.
-    def bad_jacobian(x, r):
-      del r  # Unused.
-      return np.array([[-1, 0], [-20 * x[0, 0], 15]])
-
-    with self.assertRaisesRegex(ValueError, r'\bJacobian does not match\b'):
-      minimize.least_squares(
-          x0,
-          residual,
-          jacobian=bad_jacobian,
-          output=out,
-          check_derivatives=True,
-      )
-
-  def test_max_iter(self) -> None:
-    dim = 20  # High-D Rosenbrock
-
-    def residual(x):
-      res0 = [1 - x[i, :] for i in range(dim - 1)]
-      res1 = [10 * (x[i, :] - x[i + 1, :] ** 2) for i in range(dim - 1)]
-      return np.asarray(res0 + res1)
-
-    # Fail to reach minimum after 20 iterations.
-    x0 = np.zeros(dim)
-    out = io.StringIO()
-    minimize.least_squares(x0, residual, max_iter=20, output=out)
-    self.assertIn('maximum iterations', out.getvalue())
-
-    # Succeed after 100 iterations (default).
-    x, _ = minimize.least_squares(x0, residual)
-    expected_x = np.ones(20)
-    np.testing.assert_array_almost_equal(x, expected_x)
-
-  def test_bounds(self) -> None:
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    out = io.StringIO()
-    x0 = np.array((0.0, 0.0))
-    expected_x = np.array((1.0, 1.0))
-
-    bounds_types = {
-        'inbounds': [np.array((-2.0, -2.0)), np.array((2.0, 2.0))],
-        'onlower': [np.array((-2.0, 2.0)), np.array((0.5, 3.0))],
-        'onupper': [np.array((-2.0, -2.0)), np.array((0.5, 2.0))],
-    }
-
-    # In bounds finds true minimum.
-    x, _ = minimize.least_squares(
-        x0, residual, bounds=bounds_types['inbounds'], output=out
-    )
-    np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('norm(gradient) < tol', out.getvalue())
-
-    # Test different bounds conditions.
-    for bounds in bounds_types.values():
-      out = io.StringIO()
-      x, trace = minimize.least_squares(
-          x0,
-          residual,
-          bounds=bounds,
-          output=out,
-          verbose=minimize.Verbosity.FULLITER,
-      )
-      self.assertIn('norm(gradient) < tol', out.getvalue())
-      grad = trace[-1].grad
-      # If x_i is on the boundary, gradient points out, otherwise it is 0.
-      for i, xi in enumerate(x):
-        if xi == bounds[0][i]:
-          self.assertGreater(grad[i], 0)
-        elif xi == bounds[1][i]:
-          self.assertLess(grad[i], 0)
-        else:
-          self.assertAlmostEqual(grad[i].item(), 0, places=4)
-
-  def test_bad_bounds(self) -> None:
-    def residual(x):
-      return np.array([1 - x[0], 10 * (x[1] - x[0] ** 2)])
-
-    out = io.StringIO()
-    x0 = np.array((0.0, 0.0))
-
-    bad_bounds = [
-        [0, 1, 2],
-        [np.array((-2, 2, 0)), np.array((0.5, 3, 4))],
-        [np.array((-2, 2, 0)), np.array((0.5, 3, np.inf))],
-        [np.array((-2, 2, 0)), np.array((-5, 3, 6))],
-    ]
-
-    for bounds in bad_bounds:
-      with self.assertRaises(ValueError):
-        minimize.least_squares(x0, residual, bounds=bounds, output=out)
-
-  def test_jacobian_fd_respects_bounds(self) -> None:
-    # jacobian_fd must step inward from whichever bound x sits on, which
-    # requires comparing x to the box midpoint (lo+hi)/2, not the half-width.
-    eps = np.float64(np.finfo(np.float64).eps ** 0.5)
-    cases = {
-        'lower_positive_box': (10.0, 20.0, 10.0),
-        'upper_positive_box': (10.0, 20.0, 20.0),
-        'lower_negative_box': (-20.0, -10.0, -20.0),
-        'upper_negative_box': (-20.0, -10.0, -10.0),
-    }
-    for name, (lo, hi, x0) in cases.items():
-      with self.subTest(name):
-        bounds = [np.array([[lo]]), np.array([[hi]])]
-        x = np.array([[x0]])
-        evaluated = []
-
-        def residual(xx, _ev=evaluated):
-          _ev.append(np.asarray(xx, dtype=np.float64).copy())
-          return np.atleast_2d(np.sum(xx, axis=0))
-
-        minimize.jacobian_fd(residual, x, residual(x), eps, 0, bounds)
-        pts = np.concatenate([e.ravel() for e in evaluated])
-        self.assertGreaterEqual(pts.min(), lo)
-        self.assertLessEqual(pts.max(), hi)
-
-  def test_iter_callback(self) -> None:
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    out = io.StringIO()
-
-    def iter_callback(trace):
-      print(f'Hello iteration {len(trace)}!', file=out)
-
-    x0 = np.array((0.0, 0.0))
-    x, _ = minimize.least_squares(
-        x0, residual, output=out, iter_callback=iter_callback
-    )
-    expected_x = np.array((1.0, 1.0))
-    np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('Hello iteration 3!', out.getvalue())
-
-  def test_norm(self) -> None:
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    p = 0.01  # Smoothing radius for smooth-L2 norm.
-
-    class SmoothL2(minimize.Norm):
-
-      def value(self, r):
-        return np.sqrt((r.T @ r).item() + p * p) - p
-
-      def grad_hess(self, r, proj):
-        s = np.sqrt((r.T @ r).item() + p * p)
-        y_r = r / s
-        grad = proj.T @ y_r
-        y_rr = (np.eye(r.size) - y_r @ y_r.T) / s
-        hess = proj.T @ y_rr @ proj
-        return grad, hess
-
-    out = io.StringIO()
-    x0 = np.array((0.0, 0.0))
-    x, _ = minimize.least_squares(
-        x0, residual, norm=SmoothL2(), output=out, check_derivatives=True
-    )
-    expected_x = np.array((1.0, 1.0))
-    np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('norm(dx) < tol', out.getvalue())
-    self.assertIn('User-provided norm gradient matches', out.getvalue())
-    self.assertIn('User-provided norm Hessian matches', out.getvalue())
-
-    class SmoothL2BadGrad(minimize.Norm):
-
-      def value(self, r):
-        return np.sqrt((r.T @ r).item() + p * p) - p
-
-      def grad_hess(self, r, proj):
-        s = np.sqrt((r.T @ r).item() + p * p)
-        y_r = r / s
-        grad = proj.T @ (y_r + 0.001)  # 0.001 is erronous.
-        y_rr = (np.eye(r.size) - y_r @ y_r.T) / s
-        hess = proj.T @ y_rr @ proj
-        return grad, hess
-
-    with self.assertRaisesRegex(ValueError, r'\bgradient does not match\b'):
-      minimize.least_squares(
-          x0,
-          residual,
-          norm=SmoothL2BadGrad(),
-          output=out,
-          check_derivatives=True,
-      )
-
-    class SmoothL2BadHess(minimize.Norm):
-
-      def value(self, r):
-        return np.sqrt((r.T @ r).item() + p * p) - p
-
-      def grad_hess(self, r, proj):
-        s = np.sqrt((r.T @ r).item() + p * p)
-        y_r = r / s
-        grad = proj.T @ y_r
-        y_rr = (1.001 * np.eye(r.size) - y_r @ y_r.T) / s  # 1.001 is erronous.
-        hess = proj.T @ y_rr @ proj
-        return grad, hess
-
-    with self.assertRaisesRegex(ValueError, r'\bHessian does not match\b'):
-      minimize.least_squares(
-          x0,
-          residual,
-          norm=SmoothL2BadHess(),
-          output=out,
-          check_derivatives=True,
-      )
-
-    class SmoothL2AsymHess(minimize.Norm):
-
-      def value(self, r):
-        return np.sqrt((r.T @ r).item() + p * p) - p
-
-      def grad_hess(self, r, proj):
-        s = np.sqrt((r.T @ r).item() + p * p)
-        y_r = r / s
-        grad = proj.T @ y_r
-        y_rr = (np.eye(r.size) - (y_r + 0.0001) @ y_r.T) / s
-        hess = proj.T @ y_rr @ proj
-        return grad, hess
-
-    with self.assertRaisesRegex(ValueError, r'\bnot symmetric\b'):
-      minimize.least_squares(
-          x0,
-          residual,
-          norm=SmoothL2AsymHess(),
-          output=out,
-          check_derivatives=True,
-      )
-
-    class SmoothL2NegHess(minimize.Norm):
-
-      def value(self, r):
-        return np.sqrt((r.T @ r).item() + p * p) - p
-
-      def grad_hess(self, r, proj):
-        s = np.sqrt((r.T @ r).item() + p * p)
-        y_r = r / s
-        grad = proj.T @ y_r
-        y_rr = -(np.eye(r.size) - y_r @ y_r.T) / s  # Negative-definite.
-        hess = proj.T @ y_rr @ proj
-        return grad, hess
-
-    with self.assertRaisesRegex(ValueError, r'\bnot positive definite\b'):
-      minimize.least_squares(
-          x0,
-          residual,
-          norm=SmoothL2NegHess(),
-          output=out,
-          check_derivatives=True,
-      )
-
-  def test_soft_l1_norm(self) -> None:
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    class SoftL1(minimize.Norm):
-      """Implementation of the loss called 'soft_l1' in scipy least_squares."""
-
-      def value(self, r):
-        return np.sum(np.sqrt(r**2 + 1) - 1)
-
-      def grad_hess(self, r, proj):
-        s = np.sqrt(r**2 + 1)
-        y_r = r / s
-        grad = proj.T @ y_r
-        y_rr = (1 - y_r ** 2) / s
-        hess = proj.T @ (y_rr * proj)
-        return grad, hess
-
-    out = io.StringIO()
-    x0 = np.array((0.0, 0.0))
-    x, _ = minimize.least_squares(
-        x0, residual, norm=SoftL1(), output=out, check_derivatives=True
-    )
-    expected_x = np.array((1.0, 1.0))
-    np.testing.assert_array_almost_equal(x, expected_x)
-    self.assertIn('User-provided norm gradient matches', out.getvalue())
-    self.assertIn('User-provided norm Hessian matches', out.getvalue())
-
-  def test_x_scale_default_is_no_op(self) -> None:
-    """x_scale=1.0 produces an identical trace to the default unscaled run."""
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    x0 = np.array((0.0, 0.0))
-    x_default, trace_default = minimize.least_squares(
-        x0, residual, verbose=minimize.Verbosity.SILENT)
-    x_one, trace_one = minimize.least_squares(
-        x0, residual, x_scale=1.0, verbose=minimize.Verbosity.SILENT)
-    np.testing.assert_array_equal(x_default, x_one)
-    self.assertEqual(len(trace_default), len(trace_one))
-
-  def test_x_scale_reaches_same_minimum(self) -> None:
-    """Both 'jac' and an explicit array reach the unscaled run's minimum."""
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    x0 = np.array((0.0, 0.0))
-    x_unscaled, _ = minimize.least_squares(
-        x0, residual, verbose=minimize.Verbosity.SILENT)
-    x_jac, _ = minimize.least_squares(
-        x0, residual, x_scale='jac', verbose=minimize.Verbosity.SILENT)
-    x_array, _ = minimize.least_squares(
-        x0, residual, x_scale=np.array([10.0, 0.1]),
-        verbose=minimize.Verbosity.SILENT)
-    np.testing.assert_allclose(x_jac, x_unscaled, atol=1e-6)
-    np.testing.assert_allclose(x_array, x_unscaled, atol=1e-6)
-
-  def test_x_scale_validation(self) -> None:
-    """Invalid x_scale arguments raise ValueError."""
-    def residual(x):
-      return x
-
-    x0 = np.array((1.0, 1.0))
-    bad_values = [
-        'bogus',                          # unknown string
-        np.array([1.0, -1.0]),            # non-positive entry
-        np.array([np.inf, 1.0]),          # non-finite entry
-        np.array([1.0]),                  # wrong shape
-    ]
-    for bad in bad_values:
-      with self.assertRaises(ValueError):
-        minimize.least_squares(
-            x0, residual, x_scale=bad,
-            verbose=minimize.Verbosity.SILENT)
-
-  def test_x_scale_with_bounds(self) -> None:
-    """x_scale combined with bounds reaches the constrained optimum."""
-    def residual(x):
-      return np.stack([1 - x[0, :], 10 * (x[1, :] - x[0, :] ** 2)])
-
-    x0 = np.array((2.0, 0.0))
-    bounds = [np.array((1.5, -10.0)), np.array((10.0, 10.0))]
-    expected = np.array([1.5, 2.25])
-
-    # Without scaling.
-    x_noscale, _ = minimize.least_squares(
-        x0, residual, bounds=bounds, verbose=minimize.Verbosity.SILENT)
-    np.testing.assert_allclose(x_noscale, expected, atol=1e-4)
-
-    # With fixed x_scale array.
-    x_scaled, _ = minimize.least_squares(
-        x0, residual, bounds=bounds, x_scale=np.array([1.0, 1e-5]),
-        verbose=minimize.Verbosity.SILENT)
-    np.testing.assert_allclose(x_scaled, expected, atol=1e-4)
-
-    # With adaptive x_scale='jac'.
-    x_jac, _ = minimize.least_squares(
-        x0, residual, bounds=bounds, x_scale='jac',
-        verbose=minimize.Verbosity.SILENT)
-    np.testing.assert_allclose(x_jac, expected, atol=1e-4)
-
-  def test_x_scale_jac_convergence(self) -> None:
-    """'jac' scaling converges faster on Powell's badly scaled function."""
-    # Powell's badly scaled function (Moré, Garbow, Hillstrom #3):
-    #   r1 = 1e4 * x1 * x2 - 1
-    #   r2 = exp(-x1) + exp(-x2) - 1.0001
-    # The 1e4 multiplier creates Jacobian columns with wildly different
-    # norms, making the unscaled LM regularizer ineffective.
-    def residual(x):
-      return np.stack([
-          1e4 * x[0, :] * x[1, :] - 1,
-          np.exp(-x[0, :]) + np.exp(-x[1, :]) - 1.0001,
-      ])
-
-    x0 = np.array([0.0, 1.0])
-    # Analytical solution: x1*x2 = 1e-4, exp(-x1)+exp(-x2) = 1.0001.
-    x_star = np.array([1.098159e-5, 9.106146])
-
-    x_default, trace_default = minimize.least_squares(
-        x0, residual, verbose=minimize.Verbosity.SILENT, max_iter=400)
-    x_jac, trace_jac = minimize.least_squares(
-        x0, residual, x_scale='jac', verbose=minimize.Verbosity.SILENT)
-
-    # Both reach the correct minimum.
-    np.testing.assert_allclose(x_default, x_star, rtol=1e-4)
-    np.testing.assert_allclose(x_jac, x_star, rtol=1e-4)
-
-    # Without scaling the solver needs 331 iterations to converge.
-    # With 'jac' scaling it converges in 55: a 6x improvement.
-    self.assertGreater(len(trace_default) - 1, 300)
-    self.assertLess(len(trace_jac) - 1, 70)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/mjpython/Info.plist b/python/mujoco/mjpython/Info.plist
deleted file mode 100644
index 1f97b62d..00000000
--- a/python/mujoco/mjpython/Info.plist
+++ /dev/null
@@ -1,34 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-<dict>
-    <key>CFBundleName</key>
-    <string>mjpython</string>
-    <key>CFBundleIdentifier</key>
-    <string>org.mujoco.mjpython</string>
-    <key>CFBundleVersion</key>
-    <string>3.12.0</string>
-    <key>CFBundleGetInfoString</key>
-    <string>3.12.0</string>
-    <key>CFBundleLongVersionString</key>
-    <string>3.12.0</string>
-    <key>CFBundleShortVersionString</key>
-    <string>3.12.0</string>
-    <key>CFBundleExecutable</key>
-    <string>mjpython</string>
-    <key>CFBundleIconFile</key>
-    <string>mjpython.icns</string>
-    <key>CFBundlePackageType</key>
-    <string>APPL</string>
-    <key>NSHumanReadableCopyright</key>
-    <string>Copyright 2023 DeepMind Technologies Limited.</string>
-    <key>CFBundleInfoDictionaryVersion</key>
-    <string>6.0</string>
-    <key>CFBundleDevelopmentRegion</key>
-    <string>en</string>
-    <key>CFBundleSupportedPlatforms</key>
-    <array>
-        <string>MacOSX</string>
-    </array>
-</dict>
-</plist>
diff --git a/python/mujoco/mjpython/mjpython.icns b/python/mujoco/mjpython/mjpython.icns
deleted file mode 100644
index b99e3155..00000000
Binary files a/python/mujoco/mjpython/mjpython.icns and /dev/null differ
diff --git a/python/mujoco/mjpython/mjpython.mm b/python/mujoco/mjpython/mjpython.mm
deleted file mode 100644
index 12f1a6bd..00000000
--- a/python/mujoco/mjpython/mjpython.mm
+++ /dev/null
@@ -1,388 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#import <algorithm>
-#import <atomic>
-#import <cstdint>
-#import <cstdlib>
-#import <cstring>
-#import <iostream>
-#import <vector>
-
-#import <dlfcn.h>
-#import <mach-o/dyld.h>
-#import <pthread.h>
-#import <sys/resource.h>
-#import <unistd.h>
-
-#import <Cocoa/Cocoa.h>
-#import <Python.h>
-
-extern "C" {
-extern char **environ;  // for execve
-
-// Wrap Objective-C Cocoa calls into C-style functions with default visibility,
-// so that we can dlsym and call them from Python via ctypes.
-__attribute__((used)) void mjpython_hide_dock_icon() {
-  [NSApp setActivationPolicy:NSApplicationActivationPolicyAccessory];
-
-  // Drain pending Cocoa events on the main thread. The activation policy
-  // change triggers an asynchronous dock/screen reconfiguration via
-  // SkyLight. If we return before it's processed, the notification lands
-  // on a GCD worker thread and hits NSScreen's main-thread assertion.
-  NSDate* soon = [NSDate dateWithTimeIntervalSinceNow:0.01];
-  [[NSRunLoop mainRunLoop] runUntilDate:soon];
-}
-__attribute__((used)) void mjpython_show_dock_icon() {
-  [NSApp setActivationPolicy:NSApplicationActivationPolicyRegular];
-}
-}  // extern "C"
-
-namespace {
-// 16MiB is the default Python thread stack size on macOS as of Python 3.11
-// https://bugs.python.org/issue18075
-constexpr rlim_t kThreadStackSize = 0x1000000;
-
-struct {
-#define CPYTHON_FN(fname) decltype(&::fname) fname
-
-  // LINT.IfChange(CPYTHON_FN)
-  // go/keep-sorted start
-  CPYTHON_FN(PyConfig_Clear);
-  CPYTHON_FN(PyConfig_InitPythonConfig);
-  CPYTHON_FN(PyConfig_SetBytesArgv);
-  CPYTHON_FN(PyGILState_Ensure);
-  CPYTHON_FN(PyGILState_Release);
-  CPYTHON_FN(PyRun_SimpleStringFlags);
-  CPYTHON_FN(PyStatus_Exception);
-  CPYTHON_FN(Py_ExitStatusException);
-  CPYTHON_FN(Py_FinalizeEx);
-  CPYTHON_FN(Py_InitializeFromConfig);
-  CPYTHON_FN(Py_RunMain);
-  // go/keep-sorted end
-  // LINT.ThenChange(:CPYTHON_INITFN)
-
-#undef CPYTHON_FN
-} cpython;
-
-std::atomic_bool py_initialized;
-
-struct Args {
-  int argc;
-  char** argv;
-};
-
-// The Python main thread (distinct from the macOS main thread, which executes the main function).
-void* mjpython_pymain(void* vargs) {
-  Args* args = static_cast<Args*>(vargs);
-  PyGILState_STATE gil;
-
-  // Initialize the Python interpreter.
-  PyConfig config;
-  cpython.PyConfig_InitPythonConfig(&config);
-  {
-    PyStatus status = cpython.PyConfig_SetBytesArgv(&config, args->argc, args->argv);
-    if (cpython.PyStatus_Exception(status)) {
-      // Calls exit() which aborts the entire process.
-      cpython.Py_ExitStatusException(status);
-    }
-  }
-  {
-    PyStatus status = cpython.Py_InitializeFromConfig(&config);
-    if (cpython.PyStatus_Exception(status)) {
-      // Calls exit() which aborts the entire process.
-      cpython.Py_ExitStatusException(status);
-    }
-  }
-  cpython.PyConfig_Clear(&config);
-
-  // Set up the condition variable to pass control back to the macOS main thread.
-  gil = cpython.PyGILState_Ensure();
-  cpython.PyRun_SimpleStringFlags(R"(
-def _mjpython_make_cond():
-  # Don't pollute the global namespace.
-  global _mjpython_make_cond
-  del _mjpython_make_cond
-
-  import threading
-
-  global cond
-  cond = threading.Condition()
-
-_mjpython_make_cond()
-)", nullptr);
-  py_initialized.store(true);
-
-  // Wait until GLFW is initialized on macOS main thread, set up the queue and an atexit hook
-  // to enqueue a termination flag upon exit.
-  cpython.PyRun_SimpleStringFlags(R"(
-def _mjpython_init():
-  # Don't pollute the global namespace.
-  global _mjpython_init
-  del _mjpython_init
-
-  import atexit
-  import threading
-
-  # The mujoco.viewer module should only be imported after glfw.init() in the macOS main thread.
-  with cond:
-    cond.wait()
-  import mujoco.viewer
-
-  # Similar to a queue.Queue(maxsize=1), but where only one active task is allowed at a time.
-  # With queue.Queue(1), another item is allowed to be enqueued before task_done is called.
-  class _MjPythonImpl(mujoco.viewer._MjPythonBase):
-
-    # Termination statuses
-    NOT_TERMINATED = 0
-    TERMINATION_REQUESTED = 1
-    TERMINATION_ACCEPTED = 2
-    TERMINATED = 3
-
-    def __init__(self):
-      self._cond = threading.Condition()
-      self._task = None
-      self._termination = self.__class__.NOT_TERMINATED
-      self._busy = False
-
-    def launch_on_ui_thread(
-        self,
-        model,
-        data,
-        handle_return,
-        key_callback,
-        show_left_ui,
-        show_right_ui,
-    ):
-      with self._cond:
-        if self._busy or self._task is not None:
-          raise RuntimeError('another MuJoCo viewer is already open')
-        else:
-          self._task = (
-              model,
-              data,
-              handle_return,
-              key_callback,
-              show_left_ui,
-              show_right_ui,
-          )
-          self._cond.notify()
-
-    def terminate(self):
-      with self._cond:
-        self._termination = self.__class__.TERMINATION_REQUESTED
-        self._cond.notify()
-        self._cond.wait_for(
-            lambda: self._termination == self.__class__.TERMINATED)
-
-    def get(self):
-      with self._cond:
-        self._cond.wait_for(
-            lambda: self._task is not None or self._termination)
-
-        if self._termination:
-          if self._termination == self.__class__.TERMINATION_REQUESTED:
-            self._termination = self.__class__.TERMINATION_ACCEPTED
-          return None
-
-        task = self._task
-        self._busy = True
-        self._task = None
-        return task
-
-    def done(self):
-      with self._cond:
-        self._busy = False
-        if self._termination == self.__class__.TERMINATION_ACCEPTED:
-          self._termination = self.__class__.TERMINATED
-        self._cond.notify()
-
-
-  mujoco.viewer._MJPYTHON = _MjPythonImpl()
-  atexit.register(mujoco.viewer._MJPYTHON.terminate)
-
-  with cond:
-    cond.notify()
-
-_mjpython_init()
-)", nullptr);
-
-  // Run the Python interpreter main loop.
-  cpython.Py_RunMain();
-
-  // Tear down the interpreter.
-  cpython.Py_FinalizeEx();
-  return nullptr;
-}
-}  // namespace
-
-int main(int argc, char** argv) {
-  py_initialized.store(false);
-  const char* libpython_path = getenv("MJPYTHON_LIBPYTHON");
-  if (!libpython_path || !libpython_path[0]) {
-    std::cerr << "This binary must be launched via the mjpython.py script.\n";
-    return EXIT_FAILURE;
-  }
-
-  // Enlarge the stack if necessary to match what Python normally expects to have when launching
-  // a new thread.
-  rlimit stack;
-  if (getrlimit(RLIMIT_STACK, &stack)) {
-    std::cerr << "getrlimit failed to query stack size with error code " << errno << " ("
-              << std::strerror(errno) << ")\n";
-    std::cerr << "continuing anyway but crashes may occur if the stack is too small\n";
-  } else if (stack.rlim_cur < kThreadStackSize && stack.rlim_cur < stack.rlim_max) {
-    auto rlim_old = stack.rlim_cur;
-    stack.rlim_cur = std::min(kThreadStackSize, stack.rlim_max);
-    if (setrlimit(RLIMIT_STACK, &stack)) {
-      std::cerr << "setrlimit failed to increase stack size with error code " << errno << " ("
-                << std::strerror(errno) << ")\n";
-      std::cerr << "continuing anyway with stack size " << rlim_old << " but crashes may occur\n";
-    } else {
-      // re-exec the binary so that the new stack size takes effect
-      std::uint32_t path_size = 0;
-      _NSGetExecutablePath(nullptr, &path_size);
-      std::vector<char> path(path_size);
-      if (_NSGetExecutablePath(path.data(), &path_size)) {
-        std::cerr << "unexpected error from _NSGetExecutablePath, continuing anyway\n";
-      } else {
-        execve(path.data(), argv, environ);
-      }
-    }
-  }
-
-  // Resolve libpython at runtime to prevent linking against the wrong dylib. The correct libpython
-  // path is passed from a Python trampoline script, which ran inside the desired interpreter and
-  // exec'd this binary.
-  void* libpython = dlopen(libpython_path, RTLD_NOW | RTLD_GLOBAL);
-  if (!libpython) {
-    std::cerr << "failed to dlopen path '" << libpython_path << "': " << dlerror() << "\n";
-    return EXIT_FAILURE;
-  }
-
-  // Look up required CPython API functions from table of symbols already loaded into the process.
-#define CPYTHON_INITFN(fname)                                                            \
-  {                                                                                      \
-    cpython.fname = reinterpret_cast<decltype(cpython.fname)>(dlsym(libpython, #fname)); \
-    if (!cpython.fname) {                                                                \
-      std::cerr << "failed to dlsym '" << #fname << "': " << dlerror() << "\n";          \
-      return EXIT_FAILURE;                                                               \
-    }                                                                                    \
-  }
-
-  // LINT.IfChange(CPYTHON_INITFN)
-  // go/keep-sorted start
-  CPYTHON_INITFN(PyConfig_Clear);
-  CPYTHON_INITFN(PyConfig_InitPythonConfig);
-  CPYTHON_INITFN(PyConfig_SetBytesArgv);
-  CPYTHON_INITFN(PyGILState_Ensure);
-  CPYTHON_INITFN(PyGILState_Release);
-  CPYTHON_INITFN(PyRun_SimpleStringFlags);
-  CPYTHON_INITFN(PyStatus_Exception);
-  CPYTHON_INITFN(Py_ExitStatusException);
-  CPYTHON_INITFN(Py_FinalizeEx);
-  CPYTHON_INITFN(Py_InitializeFromConfig);
-  CPYTHON_INITFN(Py_RunMain);
-  // go/keep-sorted end
-  // LINT.ThenChange(:CPYTHON_FN)
-
-#undef CPYTHON_INITFN
-
-  // Package up argc and argv together to pass to pthread_create.
-  Args args{argc, argv};
-
-#define PTHREAD_CHECKED(func, ...)                                                              \
-  {                                                                                             \
-    int result = func(__VA_ARGS__);                                                             \
-    if (result) {                                                                               \
-      std::cerr << #func << " failed with " << result << "(" << std::strerror(result) << ")\n"; \
-      return EXIT_FAILURE;                                                                      \
-    }                                                                                           \
-  }
-
-  // Configure the new thread with the correct stack size;
-  pthread_attr_t pthread_attr;
-  PTHREAD_CHECKED(pthread_attr_init, &pthread_attr);
-  PTHREAD_CHECKED(pthread_attr_setstacksize, &pthread_attr, stack.rlim_cur);
-
-  // Create a thread to be used as the "Python main thread".
-  pthread_t pymain_thread;
-  PTHREAD_CHECKED(pthread_create, &pymain_thread, &pthread_attr, &mjpython_pymain, &args);
-  pthread_attr_destroy(&pthread_attr);
-#undef PTHREAD_CHECKED
-
-  // Busy-wait until Python interpreter is initialized.
-  while (!py_initialized.load()) {}
-
-  // Initialize GLFW on the macOS main thread, yield control to Python main thread and wait for it
-  // to finish setting up _MJPYTHON, then serve incoming viewer launch requests.
-  PyGILState_STATE gil = cpython.PyGILState_Ensure();
-  cpython.PyRun_SimpleStringFlags(R"(
-def _mjpython_main():
-  # Don't pollute the global namespace.
-  global _mjpython_main
-  del _mjpython_main
-
-  import ctypes
-
-  # GLFW must be initialized on the OS main thread (i.e. here).
-  import glfw
-  import mujoco.viewer
-
-  glfw.init()
-  glfw.poll_events()
-  ctypes.CDLL(None).mjpython_hide_dock_icon()
-
-  # Wait for Python main thread to finish setting up _MJPYTHON
-  global cond
-  with cond:
-    cond.notify()
-    cond.wait()
-  del cond
-
-  while True:
-    try:
-      # Wait for an incoming payload.
-      task = mujoco.viewer._MJPYTHON.get()
-
-      # None means that we are exiting.
-      if task is None:
-        glfw.terminate()
-        break
-
-      # Otherwise, launch the viewer.
-      model, data, handle_return, key_callback, show_left_ui, show_right_ui = task
-      ctypes.CDLL(None).mjpython_show_dock_icon()
-      mujoco.viewer._launch_internal(
-          model,
-          data,
-          run_physics_thread=False,
-          handle_return=handle_return,
-          key_callback=key_callback,
-          show_left_ui=show_left_ui,
-          show_right_ui=show_right_ui,
-      )
-      ctypes.CDLL(None).mjpython_hide_dock_icon()
-
-    finally:
-      mujoco.viewer._MJPYTHON.done()
-
-_mjpython_main()
-)", nullptr);
-  cpython.PyGILState_Release(gil);
-
-  // Tear everything down.
-  pthread_join(pymain_thread, nullptr);
-  dlclose(libpython);
-}
diff --git a/python/mujoco/mjpython/mjpython.py b/python/mujoco/mjpython/mjpython.py
deleted file mode 100644
index e47f5078..00000000
--- a/python/mujoco/mjpython/mjpython.py
+++ /dev/null
@@ -1,100 +0,0 @@
-#!/usr/bin/env python
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Python interpreter trampoline for macOS to support non-block Cocoa GUI.
-
-This script executes a native binary that runs the CPython interpreter entry
-point in a separate thread, thus leaving the macOS main thread free for Cocoa
-GUI calls without blocking the user's Python script. In other words, Python's
-idea of the "main thread" is different from the thread that holds the
-com.apple.main-thread DispatchQueue.
-"""
-import ctypes
-import importlib.util
-import os
-import platform
-import re
-import subprocess
-import sys
-
-if platform.system() != 'Darwin':
-  raise RuntimeError('This script only works on macOS')
-
-_NSGetExecutablePath = getattr(ctypes.CDLL(None), '_NSGetExecutablePath')
-
-
-def get_executable_path():
-  c_path_size = ctypes.c_int32(0)
-  _NSGetExecutablePath(None, ctypes.byref(c_path_size))
-  c_path = (ctypes.c_char * c_path_size.value)()
-  _NSGetExecutablePath(ctypes.byref(c_path), ctypes.byref(c_path_size))
-  return c_path.value.decode()
-
-
-def main(argv):
-  module_dir = os.path.dirname(importlib.util.find_spec('mujoco').origin)
-  os.environ['MJPYTHON_BIN'] = os.path.join(
-      module_dir, 'MuJoCo_(mjpython).app/Contents/MacOS/mjpython')
-
-  # Conda doesn't create a separate shared library for Python.
-  # We instead use the Python binary itself, which can be dlopened just as well.
-  libpython_path = get_executable_path()
-  os.environ['MJPYTHON_LIBPYTHON'] = libpython_path
-
-  # In some installations (e.g. CommandLineTools), the Python interpreter loads
-  # dylibs from @executable_path-relative paths. This will not resolve
-  # correctly since @executable_path will be the directory containing the
-  # mjpython binary when we execve. We therefore preemptively resolve all
-  # @executable_path-relative paths now and add them to
-  # DYLD_FALLBACK_LIBRARY_PATH.
-  libpython_dir = os.path.dirname(libpython_path)
-  dyld_fallback_paths = []
-  pattern = re.compile(r'@executable_path/(.+) \(offset \d+\)\Z')
-  otool_out = subprocess.run(
-      ['otool', '-l', libpython_path],
-      capture_output=True,
-      check=True,
-  ).stdout.decode()
-  for line in otool_out.split('\n'):
-    m = pattern.search(line)
-    if m is not None:
-      new_path = os.path.dirname(os.path.join(libpython_dir, m.group(1)))
-      if new_path not in dyld_fallback_paths:
-        dyld_fallback_paths.insert(0, new_path)
-
-  # According to `man dyld`, the default value for DYLD_FALLBACK_LIBRARY_PATH
-  # changed in late 2023. In newer binaries, if DYLD_FALLBACK_LIBRARY_PATH is
-  # not set, dyld will use /usr/local/lib and /usr/lib as fallback. If it is
-  # set, these locations will not be used as lookup paths unless explicitly
-  # added.
-  if dyld_fallback_paths:
-    if 'DYLD_FALLBACK_LIBRARY_PATH' in os.environ:
-      old_paths = os.environ['DYLD_FALLBACK_LIBRARY_PATH']
-      # Empty string splits to [''] but we don't want to append ''.
-      if old_paths:
-        dyld_fallback_paths.extend(old_paths.split(':'))
-    else:
-      dyld_fallback_paths.extend(('/usr/local/lib', '/usr/lib'))
-    os.environ['DYLD_FALLBACK_LIBRARY_PATH'] = ':'.join(dyld_fallback_paths)
-
-  # argv[0] is currently the path to this script.
-  # Replace it with sys.executable to preserve e.g. virtualenv path.
-  argv[0] = sys.executable
-
-  os.execve(os.environ['MJPYTHON_BIN'], argv, os.environ)
-
-
-if __name__ == '__main__':
-  main(sys.argv)
diff --git a/python/mujoco/msh2obj.py b/python/mujoco/msh2obj.py
deleted file mode 100644
index cbb6c8d4..00000000
--- a/python/mujoco/msh2obj.py
+++ /dev/null
@@ -1,111 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""CLI for converting legacy MSH files to Wavefront OBJ files.
-
-Usage:
-  python -m mujoco.msh2obj -i <msh_file> -o <obj_file>
-"""
-
-import argparse
-import dataclasses
-import io
-import pathlib
-
-import numpy as np
-
-
-@dataclasses.dataclass(frozen=True)
-class Msh:
-  """MuJoCo legacy binary msh file."""
-
-  vertex_positions: np.ndarray
-  vertex_normals: np.ndarray
-  vertex_texcoords: np.ndarray
-  face_vertex_indices: np.ndarray
-
-  @staticmethod
-  def create(file: pathlib.Path) -> "Msh":
-    """Create a Msh object from a .msh file."""
-    if not file.exists():
-      raise FileNotFoundError(f"{file} does not exist.")
-
-    with open(file, "rb") as f:
-      nvertex = np.fromfile(f, dtype=np.int32, count=1)[0]
-      nnormal = np.fromfile(f, dtype=np.int32, count=1)[0]
-      ntexcoord = np.fromfile(f, dtype=np.int32, count=1)[0]
-      nface = np.fromfile(f, dtype=np.int32, count=1)[0]
-      vertex_positions = np.fromfile(f, dtype=np.float32, count=3 * nvertex)
-      vertex_normals = np.fromfile(f, dtype=np.float32, count=3 * nnormal)
-      vertex_texcoords = np.fromfile(f, dtype=np.float32, count=2 * ntexcoord)
-      face_vertex_indices = np.fromfile(f, dtype=np.int32, count=3 * nface)
-
-    if vertex_positions.size != 3 * nvertex:
-      raise ValueError(
-          f"Invalid number of vertices: {vertex_positions.size} != 3*{nvertex}."
-      )
-    if vertex_normals.size != 3 * nnormal:
-      raise ValueError(
-          f"Invalid number of normals: {vertex_normals.size} != 3*{nnormal}."
-      )
-    if vertex_texcoords.size != 2 * ntexcoord:
-      raise ValueError(
-          f"Invalid number of texcoords: {vertex_texcoords.size} != "
-          "2*{ntexcoord}."
-      )
-    if face_vertex_indices.size != 3 * nface:
-      raise ValueError(
-          f"Invalid number of faces: {face_vertex_indices.size} != 3*{nface}."
-      )
-
-    vertex_positions = vertex_positions.reshape(-1, 3)
-    vertex_normals = vertex_normals.reshape(-1, 3)
-    face_vertex_indices = face_vertex_indices.reshape(-1, 3)
-
-    # Undo vertical flip done by MuJoCo's OBJ loader.
-    vertex_texcoords = vertex_texcoords.reshape(-1, 2)
-    vertex_texcoords[:, 1] = 1 - vertex_texcoords[:, 1]
-
-    return Msh(
-        vertex_positions=vertex_positions,
-        vertex_normals=vertex_normals,
-        vertex_texcoords=vertex_texcoords,
-        face_vertex_indices=face_vertex_indices,
-    )
-
-
-def msh_to_obj(msh_file: pathlib.Path) -> str:
-  """Convert a legacy .msh file to the .obj format."""
-  msh = Msh.create(msh_file)
-
-  out = io.StringIO()
-  for x, y, z in msh.vertex_positions:
-    out.write(f"v {x} {y} {z}\n")
-  for x, y, z in msh.vertex_normals:
-    out.write(f"vn {x} {y} {z}\n")
-  for u, v in msh.vertex_texcoords:
-    out.write(f"vt {u} {v}\n")
-  for i, j, k in msh.face_vertex_indices:
-    out.write(f"f {i+1}/{i+1}/{i+1} {j+1}/{j+1}/{j+1} {k+1}/{k+1}/{k+1}\n")
-
-  return out.getvalue()
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description=__doc__)
-  parser.add_argument("-i", "--input", type=str, help="Path to the msh file.")
-  parser.add_argument("-o", "--output", type=str, help="Path to the obj file.")
-  args = parser.parse_args()
-  with open(pathlib.Path(args.output), "w") as f:
-    f.write(msh_to_obj(pathlib.Path(args.input)))
diff --git a/python/mujoco/msh2obj_test.py b/python/mujoco/msh2obj_test.py
deleted file mode 100644
index 2fd1bdf3..00000000
--- a/python/mujoco/msh2obj_test.py
+++ /dev/null
@@ -1,80 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for msh2obj.py."""
-
-
-from absl.testing import absltest
-from etils import epath
-import mujoco
-from mujoco import msh2obj
-import numpy as np
-
-
-_MESH_FIELDS = (
-    "mesh_vertadr",
-    "mesh_vertnum",
-    "mesh_faceadr",
-    "mesh_facenum",
-    "mesh_bvhadr",
-    "mesh_bvhnum",
-    "mesh_normaladr",
-    "mesh_normalnum",
-    "mesh_texcoordadr",
-    "mesh_texcoordnum",
-    "mesh_graphadr",
-    "mesh_vert",
-    "mesh_normal",
-    "mesh_face",
-    "mesh_facenormal",
-    "mesh_facetexcoord",
-    "mesh_graph",
-    "mesh_texcoord",
-)
-
-_XML = """
-<mujoco>
-  <asset>
-    <mesh name="abdomen_1_body" file="abdomen_1_body.obj"/>
-  </asset>
-</mujoco>
-"""
-
-
-class MshTest(absltest.TestCase):
-
-  def test_obj_model_matches_msh_model(self) -> None:
-    test_path = epath.resource_path("mujoco") / "testdata"
-
-    msh_xml = test_path / "msh.xml"
-    msh_model = mujoco.MjModel.from_xml_path(msh_xml.as_posix())
-
-    msh_path = test_path / "abdomen_1_body.msh"
-    obj = msh2obj.msh_to_obj(msh_path)
-
-    obj_model = mujoco.MjModel.from_xml_string(
-        _XML, {"abdomen_1_body.obj": obj.encode()}
-    )
-
-    for field in _MESH_FIELDS:
-      np.testing.assert_allclose(
-          getattr(msh_model, field),
-          getattr(obj_model, field),
-          atol=1e-6,
-          err_msg=f"Field {field} does not match between msh and obj models.",
-      )
-
-
-if __name__ == "__main__":
-  absltest.main()
diff --git a/python/mujoco/osmesa/__init__.py b/python/mujoco/osmesa/__init__.py
deleted file mode 100644
index cad11301..00000000
--- a/python/mujoco/osmesa/__init__.py
+++ /dev/null
@@ -1,81 +0,0 @@
-# Copyright 2018 The dm_control Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""An OSMesa context for software-based OpenGL rendering."""
-
-import os
-
-PYOPENGL_PLATFORM = os.environ.get('PYOPENGL_PLATFORM')
-
-if not PYOPENGL_PLATFORM:
-  os.environ['PYOPENGL_PLATFORM'] = 'osmesa'
-elif PYOPENGL_PLATFORM.lower() != 'osmesa':
-  raise ImportError(
-      'Cannot use OSMesa rendering platform. '
-      'The PYOPENGL_PLATFORM environment variable is set to {!r} '
-      '(should be either unset or \'osmesa\').'
-      .format(PYOPENGL_PLATFORM))
-
-# pylint: disable=g-import-not-at-top
-from OpenGL import GL
-from OpenGL import osmesa
-from OpenGL.GL import arrays
-
-_DEPTH_BITS = 24
-_STENCIL_BITS = 8
-_ACCUM_BITS = 0
-
-
-class GLContext:
-  """An OSMesa context for software-based OpenGL rendering."""
-
-  def __init__(self, max_width, max_height):
-    """Initializes this OSMesa context."""
-    self._context = osmesa.OSMesaCreateContextExt(
-        osmesa.OSMESA_RGBA,
-        _DEPTH_BITS,
-        _STENCIL_BITS,
-        _ACCUM_BITS,
-        None,  # sharelist
-    )
-    if not self._context:
-      raise RuntimeError('Failed to create OSMesa GL context.')
-
-    self._height = max_height
-    self._width = max_width
-
-    # Allocate a buffer to render into.
-    self._buffer = arrays.GLfloatArray.zeros((max_height, max_width, 4))
-
-  def make_current(self):
-    if self._context:
-      success = osmesa.OSMesaMakeCurrent(
-          self._context,
-          self._buffer,
-          GL.GL_FLOAT,
-          self._width,
-          self._height)
-      if not success:
-        raise RuntimeError('Failed to make OSMesa context current.')
-
-  def free(self):
-    """Frees resources associated with this context."""
-    if self._context and self._context == osmesa.OSMesaGetCurrentContext():
-      osmesa.OSMesaMakeCurrent(None, None, GL.GL_FLOAT, 0, 0)
-    osmesa.OSMesaDestroyContext(self._context)
-    self._buffer = None
-    self._context = None
-
-  def __del__(self):
-    self.free()
diff --git a/python/mujoco/private.h b/python/mujoco/private.h
deleted file mode 100644
index b616a2dc..00000000
--- a/python/mujoco/private.h
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_PRIVATE_H_
-#define MUJOCO_PYTHON_PRIVATE_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjtype.h>
-
-// DO NOT USE THESE FUNCTIONS ELSEWHERE.
-// They should be regarded as part of MuJoCo's internal implementation detail.
-extern "C" {
-MJAPI mjfLogHandler _mjPRIVATE_setTlsLogHandler(mjfLogHandler handler);
-MJAPI mjfLogHandler _mjPRIVATE_getGlobalLogHandler(void);
-MJAPI void* mj_arenaAllocByte(mjData* d, int bytes, int alignment);
-}
-
-#endif  // MUJOCO_PYTHON_PRIVATE_H_
diff --git a/python/mujoco/raw.h b/python/mujoco/raw.h
deleted file mode 100644
index 7ff1735a..00000000
--- a/python/mujoco/raw.h
+++ /dev/null
@@ -1,98 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_RAW_H_
-#define MUJOCO_PYTHON_RAW_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjrender.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-
-// Type aliases for MuJoCo C structs to allow us refer to consistently refer
-// to them under the "raw" namespace.
-namespace mujoco::raw {
-
-using MjPreContact = ::mjPreContact;
-using MjContact = ::mjContact;
-using MjData = ::mjData;
-using MjLROpt = ::mjLROpt;
-using MjModel = ::mjModel;
-using MjSpec = ::mjSpec;
-using MjsElement = ::mjsElement;
-using MjsOrientation = ::mjsOrientation;
-using MjsPlugin = ::mjsPlugin;
-using MjsBody = ::mjsBody;
-using MjsFrame = ::mjsFrame;
-using MjsJoint = ::mjsJoint;
-using MjsGeom = ::mjsGeom;
-using MjsSite = ::mjsSite;
-using MjsCamera = ::mjsCamera;
-using MjsLight = ::mjsLight;
-using MjsFlex = ::mjsFlex;
-using MjsMesh = ::mjsMesh;
-using MjsHField = ::mjsHField;
-using MjsSkin = ::mjsSkin;
-using MjsTexture = ::mjsTexture;
-using MjsMaterial = ::mjsMaterial;
-using MjsPair = ::mjsPair;
-using MjsExclude = ::mjsExclude;
-using MjsEquality = ::mjsEquality;
-using MjsTendon = ::mjsTendon;
-using MjsWrap = ::mjsWrap;
-using MjsActuator = ::mjsActuator;
-using MjsSensor = ::mjsSensor;
-using MjsNumeric = ::mjsNumeric;
-using MjsText = ::mjsText;
-using MjsTuple = ::mjsTuple;
-using MjsKey = ::mjsKey;
-using MjsDefault = ::mjsDefault;
-using MjsCompiler = ::mjsCompiler;
-using MjsAuthored = ::mjsAuthored;
-using MjOption = ::mjOption;
-using MjSolverStat = ::mjSolverStat;
-using MjStatistic = ::mjStatistic;
-using MjTimerStat = ::mjTimerStat;
-using MjVisual = ::mjVisual;
-using MjVisualGlobal = decltype(::mjVisual::global);
-using MjVisualQuality = decltype(::mjVisual::quality);
-using MjVisualHeadlight = decltype(::mjVisual::headlight);
-using MjVisualMap = decltype(::mjVisual::map);
-using MjVisualScale = decltype(::mjVisual::scale);
-using MjVisualRgba = decltype(::mjVisual::rgba);
-using MjWarningStat = ::mjWarningStat;
-using MjLogConfig = ::mjLogConfig;
-using MjLogMessage = ::mjLogMessage;
-
-// From mjrender.h
-using MjrRect = ::mjrRect;
-using MjrRendererInfo = ::mjrRendererInfo;
-using MjrContext = ::mjrContext;
-using MjrVertexAttribute = ::mjrVertexAttribute;
-
-// From mjvisualize.h
-using MjvPerturb = ::mjvPerturb;
-using MjvCamera = ::mjvCamera;
-using MjvGLCamera = ::mjvGLCamera;
-using MjvGeom = ::mjvGeom;
-using MjvLight = ::mjvLight;
-using MjvOption = ::mjvOption;
-using MjvScene = ::mjvScene;
-using MjvFigure = ::mjvFigure;
-
-}  // namespace mujoco::raw
-
-#endif  // MUJOCO_PYTHON_RAW_H_
diff --git a/python/mujoco/render.cc b/python/mujoco/render.cc
deleted file mode 100644
index 82418367..00000000
--- a/python/mujoco/render.cc
+++ /dev/null
@@ -1,323 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <array>
-#include <cstdint>
-#include <optional>
-#include <type_traits>
-
-#include <Eigen/Core>
-#include <mujoco/mjrender.h>
-#include <mujoco/mujoco.h>
-#include "errors.h"
-#include "function_traits.h"
-#include "functions.h"
-#include "raw.h"
-#include "structs.h"
-#include <pybind11/eigen.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-
-namespace mujoco::python {
-namespace _impl {
-template <>
-class MjWrapper<raw::MjrContext> : public WrapperBase<raw::MjrContext> {
- public:
-  MjWrapper();
-  MjWrapper(const MjModelWrapper& model, int fontscale);
-  MjWrapper(const MjWrapper&) = delete;
-  MjWrapper(MjWrapper&&) = default;
-  ~MjWrapper() = default;
-
-  void Free();
-
-  #define X(var)                                                   \
-    py_array_or_tuple_t<                                           \
-        std::remove_all_extents_t<decltype(raw::MjrContext::var)>> \
-        var
-  X(fogRGBA);
-  X(auxWidth);
-  X(auxHeight);
-  X(auxSamples);
-  X(auxFBO);
-  X(auxFBO_r);
-  X(auxColor);
-  X(auxColor_r);
-  X(mat_texid);
-  X(mat_texuniform);
-  X(mat_texrepeat);
-  X(textureType);
-  X(texture);
-  X(skinvertVBO);
-  X(skinnormalVBO);
-  X(skintexcoordVBO);
-  X(skinfaceVBO);
-  X(charWidth);
-  X(charWidthBig);
-#undef X
-};
-
-using MjrContextWrapper = MjWrapper<raw::MjrContext>;
-
-template <>
-struct enable_if_mj_struct<raw::MjrContext> {
-  using type = void;
-};
-
-static void MjrContextCapsuleDestructor(PyObject* pyobj) {
-  auto* ptr =
-      static_cast<raw::MjrContext*>(PyCapsule_GetPointer(pyobj, nullptr));
-  mjr_freeContext(ptr);
-  delete ptr;
-}
-
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-#define X_SKIN(var) var(InitPyArray(std::array{ptr_->nskin}, ptr_->var, owner_))
-MjrContextWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjrContext *const ctx = new raw::MjrContext;
-        mjr_defaultContext(ctx);
-        return ctx;
-      }()),
-      X(fogRGBA),
-      X(auxWidth),
-      X(auxHeight),
-      X(auxSamples),
-      X(auxFBO),
-      X(auxFBO_r),
-      X(auxColor),
-      X(auxColor_r),
-      X(mat_texid),
-      X(mat_texuniform),
-      X(mat_texrepeat),
-      X(textureType),
-      X(texture),
-      X_SKIN(skinvertVBO),
-      X_SKIN(skinnormalVBO),
-      X_SKIN(skintexcoordVBO),
-      X_SKIN(skinfaceVBO),
-      X(charWidth),
-      X(charWidthBig) {}
-
-MjrContextWrapper::MjWrapper(const MjModelWrapper& model, int fontscale)
-    : WrapperBase([fontscale](const raw::MjModel* m) {
-        raw::MjrContext *const ctx = new raw::MjrContext;
-        mjr_defaultContext(ctx);
-        InterceptMjErrors(mjr_makeContext)(m, ctx, fontscale);
-        return ctx;
-      }(model.get()), &MjrContextCapsuleDestructor),
-      X(fogRGBA),
-      X(auxWidth),
-      X(auxHeight),
-      X(auxSamples),
-      X(auxFBO),
-      X(auxFBO_r),
-      X(auxColor),
-      X(auxColor_r),
-      X(mat_texid),
-      X(mat_texuniform),
-      X(mat_texrepeat),
-      X(textureType),
-      X(texture),
-      X_SKIN(skinvertVBO),
-      X_SKIN(skinnormalVBO),
-      X_SKIN(skintexcoordVBO),
-      X_SKIN(skinfaceVBO),
-      X(charWidth),
-      X(charWidthBig) {}
-#undef X_SKIN
-#undef X
-
-void MjrContextWrapper::Free() {
-  // mjr_freeContext is safe to call multiple times.
-  InterceptMjErrors(mjr_freeContext)(ptr_);
-}
-}  // namespace _impl
-
-namespace {
-PYBIND11_MODULE(_render, pymodule, pybind11::mod_gil_not_used()) {
-  namespace py = ::pybind11;
-  namespace traits = python_traits;
-
-  using _impl::MjModelWrapper;
-  using _impl::MjrContextWrapper;
-
-  // Import the _structs module so that pybind11 knows about Python bindings
-  // for MjWrapper types and therefore generates prettier docstrings.
-  py::module::import("mujoco._structs");
-
-  py::class_<MjrContextWrapper> mjrContext(pymodule, "MjrContext");
-  mjrContext.def(py::init<>());
-  mjrContext.def(py::init<const MjModelWrapper&, int>());
-  mjrContext.def(
-      "free", [](MjrContextWrapper& self) { self.Free(); },
-      py::doc("Frees resources in current active OpenGL context, sets struct "
-              "to default."));
-#define X(var)                                                       \
-  mjrContext.def_property(                                           \
-      #var, [](const MjrContextWrapper& c) { return c.get()->var; }, \
-      [](MjrContextWrapper& c, mjtNum rhs) { c.get()->var = rhs; })
-  X(lineWidth);
-  X(shadowClip);
-  X(shadowScale);
-  X(fogStart);
-  X(fogEnd);
-  X(shadowSize);
-  X(offWidth);
-  X(offHeight);
-  X(offSamples);
-  X(fontScale);
-  X(offFBO);
-  X(offFBO_r);
-  X(offColor);
-  X(offColor_r);
-  X(offDepthStencil);
-  X(offDepthStencil_r);
-  X(shadowFBO);
-  X(shadowTex);
-  X(ntexture);
-  X(basePlane);
-  X(baseMesh);
-  X(baseHField);
-  X(baseBuiltin);
-  X(baseFontNormal);
-  X(baseFontShadow);
-  X(baseFontBig);
-  X(rangePlane);
-  X(rangeMesh);
-  X(rangeHField);
-  X(rangeBuiltin);
-  X(rangeFont);
-  X(nskin);
-  X(charHeight);
-  X(charHeightBig);
-  X(glInitialized);
-  X(windowAvailable);
-  X(windowSamples);
-  X(windowStereo);
-  X(windowDoublebuffer);
-  X(currentBuffer);
-  X(readPixelFormat);
-  X(readDepthMap);
-#undef X
-
-#define X(var)                      \
-  mjrContext.def_property_readonly( \
-      #var, [](const MjrContextWrapper& c) { return c.get()->var; })
-  X(nskin);
-#undef X
-
-#define X(var) DefinePyArray(mjrContext, #var, &MjrContextWrapper::var)
-  X(fogRGBA);
-  X(auxWidth);
-  X(auxHeight);
-  X(auxSamples);
-  X(auxFBO);
-  X(auxFBO_r);
-  X(auxColor);
-  X(auxColor_r);
-  X(mat_texid);
-  X(mat_texuniform);
-  X(mat_texrepeat);
-  X(textureType);
-  X(texture);
-  X(skinvertVBO);
-  X(skinnormalVBO);
-  X(skintexcoordVBO);
-  X(skinfaceVBO);
-  X(charWidth);
-  X(charWidthBig);
-#undef X
-
-  // ==================== MJRRENDERERINFO ======================================
-  py::class_<raw::MjrRendererInfo> mjrRendererInfo(pymodule, "MjrRendererInfo");
-  mjrRendererInfo.def(py::init([]() {
-    raw::MjrRendererInfo info;
-    mjr_defaultRendererInfo(&info);
-    return info;
-  }));
-  mjrRendererInfo.def("__copy__", [](const raw::MjrRendererInfo& other) {
-    return raw::MjrRendererInfo(other);
-  });
-  mjrRendererInfo.def("__deepcopy__",
-                      [](const raw::MjrRendererInfo& other, py::dict) {
-                        return raw::MjrRendererInfo(other);
-  });
-  DefineStructFunctions(mjrRendererInfo);
-  mjrRendererInfo.def_property_readonly("renderer",
-                                        [](const raw::MjrRendererInfo& info) {
-                                          return info.renderer ? info.renderer
-                                                               : "";
-                                        });
-  mjrRendererInfo.def_property_readonly("backend",
-                                        [](const raw::MjrRendererInfo& info) {
-                                          return info.backend ? info.backend
-                                                              : "";
-                                        });
-
-  using EigenUnsignedCharVectorX = Eigen::Vector<unsigned char, Eigen::Dynamic>;
-  using EigenFloatVectorX = Eigen::Vector<float, Eigen::Dynamic>;
-
-  // Skipped: mjr_defaultContext (have MjrContext.__init__)
-  Def<traits::mjr_defaultRendererInfo>(pymodule);
-  Def<traits::mjr_getRendererInfo>(pymodule);
-  // Skipped: mjr_makeContext (have MjrContext.__init__)
-  Def<traits::mjr_changeFont>(pymodule);
-  Def<traits::mjr_addAux>(pymodule);
-  // Skipped: mjr_freeContext (have MjrContext.__del__)
-  Def<traits::mjr_resizeOffscreen>(pymodule);
-  Def<traits::mjr_uploadTexture>(pymodule);
-  Def<traits::mjr_uploadMesh>(pymodule);
-  Def<traits::mjr_uploadHField>(pymodule);
-  Def<traits::mjr_restoreBuffer>(pymodule);
-  Def<traits::mjr_setBuffer>(pymodule);
-  DefWithGil<traits::mjr_readPixels>(
-      pymodule, [](std::optional<py::array_t<std::uint8_t>> rgb,
-                   std::optional<py::array_t<float>> depth,
-                   const raw::MjrRect* viewport, const raw::MjrContext* con) {
-        std::uint8_t* const rgb_data =
-            rgb.has_value() ? rgb->mutable_data() : nullptr;
-        float* const depth_data =
-            depth.has_value() ? depth->mutable_data() : nullptr;
-        {
-          py::gil_scoped_release no_gil;
-          return InterceptMjErrors(::mjr_readPixels)(rgb_data, depth_data,
-                                                     *viewport, con);
-        }
-      });
-  Def<traits::mjr_drawPixels>(
-      pymodule,
-      [](std::optional<Eigen::Ref<const EigenUnsignedCharVectorX>> rgb,
-         std::optional<Eigen::Ref<const EigenFloatVectorX>> depth,
-         const raw::MjrRect* viewport, const raw::MjrContext* con) {
-        return InterceptMjErrors(::mjr_drawPixels)(
-            rgb.has_value() ? rgb->data() : nullptr,
-            depth.has_value() ? depth->data() : nullptr, *viewport, con);
-      });
-  Def<traits::mjr_blitBuffer>(pymodule);
-  Def<traits::mjr_setAux>(pymodule);
-  Def<traits::mjr_blitAux>(pymodule);
-  Def<traits::mjr_text>(pymodule);
-  Def<traits::mjr_overlay>(pymodule);
-  Def<traits::mjr_maxViewport>(pymodule);
-  Def<traits::mjr_rectangle>(pymodule);
-  Def<traits::mjr_label>(pymodule);
-  Def<traits::mjr_figure>(pymodule);
-  Def<traits::mjr_render>(pymodule);
-  Def<traits::mjr_finish>(pymodule);
-  Def<traits::mjr_getError>(pymodule);
-  Def<traits::mjr_findRect>(pymodule);
-}  // PYBIND11_MODULE
-}  // namespace
-}  // namespace mujoco::python
diff --git a/python/mujoco/render_test.py b/python/mujoco/render_test.py
deleted file mode 100644
index 2df0a813..00000000
--- a/python/mujoco/render_test.py
+++ /dev/null
@@ -1,115 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for MuJoCo Python rendering."""
-
-from absl.testing import absltest
-import mujoco
-import numpy as np
-
-
-@absltest.skipUnless(
-    hasattr(mujoco, 'GLContext'), 'MuJoCo rendering is disabled'
-)
-class MuJoCoRenderTest(absltest.TestCase):
-
-  def setUp(self):
-    super().setUp()
-    self.gl = mujoco.GLContext(640, 480)
-    self.gl.make_current()
-
-  def tearDown(self):
-    super().tearDown()
-    del self.gl
-
-  def test_can_render(self):
-    """Test that the bindings can successfully render a simple image.
-
-    This test sets up a basic MuJoCo rendering context similar to the example in
-    https://mujoco.readthedocs.io/en/latest/programming#visualization
-    It calls `mjr_rectangle` rather than `mjr_render` so that we can assert an
-    exact rendered image without needing golden data. The purpose of this test
-    is to ensure that the bindings can correctly return pixels in Python, rather
-    than to test MuJoCo's rendering pipeline itself.
-    """
-
-    self.model = mujoco.MjModel.from_xml_string('<mujoco><worldbody/></mujoco>')
-    self.data = mujoco.MjData(self.model)
-
-    scene = mujoco.MjvScene(self.model, maxgeom=0)
-    mujoco.mjv_updateScene(
-        self.model,
-        self.data,
-        mujoco.MjvOption(),
-        mujoco.MjvPerturb(),
-        mujoco.MjvCamera(),
-        mujoco.mjtCatBit.mjCAT_ALL,
-        scene,
-    )
-
-    context = mujoco.MjrContext(self.model, mujoco.mjtFontScale.mjFONTSCALE_150)
-    mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, context)
-
-    # MuJoCo's default render buffer size is 640x480.
-    full_rect = mujoco.MjrRect(0, 0, 640, 480)
-    mujoco.mjr_rectangle(full_rect, 0, 0, 0, 1)
-
-    blue_rect = mujoco.MjrRect(56, 67, 234, 123)
-    mujoco.mjr_rectangle(blue_rect, 0, 0, 1, 1)
-
-    expected_upside_down_image = np.zeros((480, 640, 3), dtype=np.uint8)
-    expected_upside_down_image[67 : 67 + 123, 56 : 56 + 234, 2] = 255
-
-    upside_down_image = np.empty((480, 640, 3), dtype=np.uint8)
-    mujoco.mjr_readPixels(upside_down_image, None, full_rect, context)
-    np.testing.assert_array_equal(upside_down_image, expected_upside_down_image)
-
-    # Check that mjr_readPixels can accept a flattened array.
-    upside_down_image[:] = 0
-    mujoco.mjr_readPixels(
-        np.reshape(upside_down_image, -1), None, full_rect, context
-    )
-    np.testing.assert_array_equal(upside_down_image, expected_upside_down_image)
-    context.free()
-
-  def test_safe_to_free_context_twice(self):
-    self.model = mujoco.MjModel.from_xml_string('<mujoco><worldbody/></mujoco>')
-    self.data = mujoco.MjData(self.model)
-
-    scene = mujoco.MjvScene(self.model, maxgeom=0)
-    mujoco.mjv_updateScene(
-        self.model,
-        self.data,
-        mujoco.MjvOption(),
-        None,
-        mujoco.MjvCamera(),
-        mujoco.mjtCatBit.mjCAT_ALL,
-        scene,
-    )
-
-    context = mujoco.MjrContext(self.model, mujoco.mjtFontScale.mjFONTSCALE_150)
-    mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, context)
-
-    context.free()
-    context.free()
-
-  def test_mjrrect_repr(self):
-    rect = mujoco.MjrRect(1, 2, 3, 4)
-    rect_repr = repr(rect)
-    self.assertIn('MjrRect', rect_repr)
-    self.assertIn('left: 1', rect_repr)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/renderer.py b/python/mujoco/renderer.py
deleted file mode 100644
index a8bb1a18..00000000
--- a/python/mujoco/renderer.py
+++ /dev/null
@@ -1,21 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Wrapper around mujoco.rendering.classic.renderer for backwards compatibility."""
-
-
-try:
-  from mujoco.rendering.classic.renderer import Renderer  # pytype: disable=import-error
-except ImportError:
-  pass
diff --git a/python/mujoco/renderer_test.py b/python/mujoco/renderer_test.py
deleted file mode 100644
index a7338a91..00000000
--- a/python/mujoco/renderer_test.py
+++ /dev/null
@@ -1,213 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for the MuJoCo renderer."""
-
-import gc
-import sys
-
-from absl.testing import absltest
-from absl.testing import parameterized
-import mujoco
-import numpy as np
-
-
-@absltest.skipUnless(
-    hasattr(mujoco, 'GLContext'), 'MuJoCo rendering is disabled'
-)
-class MuJoCoRendererTest(parameterized.TestCase):
-
-  def test_renderer_info_binding(self):
-    info = mujoco.MjrRendererInfo()
-    mujoco.mjr_getRendererInfo(info)
-
-    self.assertIn(info.renderer, ('classic', 'filament', 'noop'))
-    self.assertIn(info.backend, ('', 'opengl', 'vulkan', 'unknown'))
-
-  def test_renderer_unknown_camera_name(self):
-    xml = """
-<mujoco>
-  <worldbody>
-    <camera name="a"/>
-  </worldbody>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    with mujoco.Renderer(model, 50, 50) as renderer:
-      mujoco.mj_forward(model, data)
-      with self.assertRaisesRegex(ValueError, r'camera "b" does not exist'):
-        renderer.update_scene(data, 'b')
-
-  def test_renderer_camera_under_range(self):
-    xml = """
-<mujoco>
-  <worldbody>
-    <camera name="a"/>
-  </worldbody>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    with mujoco.Renderer(model, 50, 50) as renderer:
-      mujoco.mj_forward(model, data)
-      with self.assertRaisesRegex(ValueError, '-2 is out of range'):
-        renderer.update_scene(data, -2)
-
-  def test_renderer_camera_over_range(self):
-    xml = """
-<mujoco>
-  <worldbody>
-    <camera name="a"/>
-  </worldbody>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    with mujoco.Renderer(model, 50, 50) as renderer:
-      mujoco.mj_forward(model, data)
-      with self.assertRaisesRegex(ValueError, '1 is out of range'):
-        renderer.update_scene(data, 1)
-
-  def test_renderer_renders_scene(self):
-    xml = """
-<mujoco>
-  <worldbody>
-    <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
-    <geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
-  </worldbody>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    with mujoco.Renderer(model, 50, 50) as renderer:
-      mujoco.mj_forward(model, data)
-      renderer.update_scene(data, 'closeup')
-
-      pixels = renderer.render().flatten()
-      not_all_black = False
-
-      # Pixels should all be a neutral color.
-      for pixel in pixels:
-        if pixel > 0:
-          not_all_black = True
-          break
-      self.assertTrue(not_all_black)
-
-  def test_renderer_output_without_out(self):
-    xml = """
-<mujoco>
-  <worldbody>
-    <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
-    <geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
-  </worldbody>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-    with mujoco.Renderer(model, 50, 50) as renderer:
-      renderer.update_scene(data, 'closeup')
-      pixels = [renderer.render()]
-
-      colors = (
-          (1.0, 0.0, 0.0, 1.0),
-          (0.0, 1.0, 0.0, 1.0),
-          (0.0, 0.0, 1.0, 1.0),
-      )
-
-      for i, color in enumerate(colors):
-        model.geom_rgba[0, :] = color
-        mujoco.mj_forward(model, data)
-        renderer.update_scene(data, 'closeup')
-        pixels.append(renderer.render())
-        self.assertIsNot(pixels[-2], pixels[-1])
-
-        # Pixels should change over steps.
-        self.assertFalse((pixels[i + 1] == pixels[i]).all())
-
-  def test_renderer_output_with_out(self):
-    xml = """
-<mujoco>
-  <worldbody>
-    <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
-    <geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
-  </worldbody>
-</mujoco>
-"""
-    render_size = (50, 50)
-    render_out = np.zeros((*render_size, 3), np.uint8)
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-    with mujoco.Renderer(model, *render_size) as renderer:
-      renderer.update_scene(data, 'closeup')
-
-      self.assertTrue(np.all(render_out == 0))
-
-      pixels = renderer.render(out=render_out)
-
-      # Pixels should always refer to the same `render_out` array.
-      self.assertIs(pixels, render_out)
-      self.assertFalse(np.all(render_out == 0))
-
-      failing_render_size = (10, 10)
-      self.assertNotEqual(failing_render_size, render_size)
-      with self.assertRaises(ValueError):
-        renderer.render(out=np.zeros((*failing_render_size, 3), np.uint8))
-
-  def test_renderer_del_safe_when_init_fails_early(self):
-    """Regression test for #3213.
-
-    Renderer.__del__ must be safe on a partially-constructed instance when
-    __init__ raises before the rendering contexts are assigned. Previously,
-    AttributeError from __del__ masked the real __init__ exception.
-    """
-    xml = """
-<mujoco>
-  <visual>
-    <global offwidth="50" offheight="50"/>
-  </visual>
-  <worldbody/>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-
-    # Capture any exception raised from __del__ on the partially-constructed
-    # Renderer. Without the fix, __del__ raises AttributeError, which is
-    # funneled through sys.unraisablehook.
-    unraisable = []
-    old_hook = sys.unraisablehook
-    sys.unraisablehook = lambda args: unraisable.append(args)
-    try:
-      # width > offwidth raises ValueError in __init__ before
-      # self._gl_context is assigned.
-      with self.assertRaises(ValueError):
-        mujoco.Renderer(model, height=50, width=200)
-      gc.collect()
-    finally:
-      sys.unraisablehook = old_hook
-
-    self.assertEqual(
-        [u.exc_type.__name__ for u in unraisable],
-        [],
-        msg=(
-            'Renderer.__del__ raised on a partially-constructed instance; '
-            'see #3213.'
-        ),
-    )
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/rendering/classic/__init__.py b/python/mujoco/rendering/classic/__init__.py
deleted file mode 100644
index a9c4bdbf..00000000
--- a/python/mujoco/rendering/classic/__init__.py
+++ /dev/null
@@ -1,16 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-# Empty.
diff --git a/python/mujoco/rendering/classic/gl_context.py b/python/mujoco/rendering/classic/gl_context.py
deleted file mode 100644
index 61b861ec..00000000
--- a/python/mujoco/rendering/classic/gl_context.py
+++ /dev/null
@@ -1,48 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Exports GLContext for MuJoCo Python bindings."""
-
-import ctypes
-import ctypes.util
-import os
-import platform
-
-# pylint: disable=g-import-not-at-top
-_SYSTEM = platform.system()
-_MUJOCO_GL = os.environ.get('MUJOCO_GL', '').lower().strip()
-if _MUJOCO_GL not in ('disable', 'disabled', 'off', 'false', '0'):
-  _VALID_MUJOCO_GL = ('enable', 'enabled', 'on', 'true', '1' , 'glfw', '')
-  if _SYSTEM == 'Linux':
-    _VALID_MUJOCO_GL += ('glx', 'egl', 'osmesa')
-  elif _SYSTEM == 'Windows':
-    _VALID_MUJOCO_GL += ('wgl',)
-  elif _SYSTEM == 'Darwin':
-    _VALID_MUJOCO_GL += ('cgl',)
-  if _MUJOCO_GL not in _VALID_MUJOCO_GL:
-    raise RuntimeError(
-        f'invalid value for environment variable MUJOCO_GL: {_MUJOCO_GL}')
-
-  if _SYSTEM == 'Linux' and _MUJOCO_GL == 'osmesa':
-    from mujoco.osmesa import GLContext as _GLContext
-    GLContext = _GLContext
-  elif _SYSTEM == 'Linux' and _MUJOCO_GL == 'egl':
-    from mujoco.egl import GLContext as _GLContext
-    GLContext = _GLContext
-  elif _SYSTEM == 'Darwin':
-    from mujoco.cgl import GLContext as _GLContext
-    GLContext = _GLContext
-  else:
-    from mujoco.glfw import GLContext as _GLContext
-    GLContext = _GLContext
diff --git a/python/mujoco/rendering/classic/renderer.py b/python/mujoco/rendering/classic/renderer.py
deleted file mode 100644
index d91c7c46..00000000
--- a/python/mujoco/rendering/classic/renderer.py
+++ /dev/null
@@ -1,343 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Defines a renderer class for the MuJoCo Python native bindings."""
-
-from typing import Optional, Union
-
-import mujoco
-from mujoco.rendering.classic import gl_context
-import numpy as np
-
-GLContext = gl_context.GLContext if hasattr(gl_context, 'GLContext') else None
-
-
-class Renderer:
-  """Renders MuJoCo scenes."""
-
-  def __init__(
-      self,
-      model: mujoco.MjModel,
-      height: int = 240,
-      width: int = 320,
-      max_geom: int = 10000,
-      font_scale: mujoco.mjtFontScale = mujoco.mjtFontScale.mjFONTSCALE_150,
-  ) -> None:
-    """Initializes a new `Renderer`.
-
-    Args:
-      model: an MjModel instance.
-      height: image height in pixels.
-      width: image width in pixels.
-      max_geom: Optional integer specifying the maximum number of geoms that can
-        be rendered in the same scene. If None this will be chosen automatically
-        based on the estimated maximum number of renderable geoms in the model.
-      font_scale: Optional enum specifying the font scale for text.
-
-    Raises:
-      ValueError: If `camera_id` is outside the valid range, or if `width` or
-        `height` exceed the dimensions of MuJoCo's offscreen framebuffer.
-    """
-    # Pre-initialize context attributes so __del__ -> close() is safe even if
-    # __init__ raises below before they are assigned. See #3213.
-    self._gl_context = None  # type: ignore
-    self._mjr_context = None
-
-    buffer_width = model.vis.global_.offwidth
-    buffer_height = model.vis.global_.offheight
-    if width > buffer_width:
-      raise ValueError(f"""
-Image width {width} > framebuffer width {buffer_width}. Either reduce the image
-width or specify a larger offscreen framebuffer in the model XML using the
-clause:
-<visual>
-  <global offwidth="my_width"/>
-</visual>""".lstrip())
-
-    if height > buffer_height:
-      raise ValueError(f"""
-Image height {height} > framebuffer height {buffer_height}. Either reduce the
-image height or specify a larger offscreen framebuffer in the model XML using
-the clause:
-<visual>
-  <global offheight="my_height"/>
-</visual>""".lstrip())
-
-    self._width = width
-    self._height = height
-    self._model = model
-
-    self._scene = mujoco.MjvScene(model=model, maxgeom=max_geom)
-    self._scene_option = mujoco.MjvOption()
-
-    self._rect = mujoco.MjrRect(0, 0, self._width, self._height)
-
-    # Create render contexts.
-    # TODO(nimrod): Figure out why pytype doesn't like gl_context.GLContext
-    if gl_context.GLContext is not None:
-      self._gl_context = gl_context.GLContext(width, height)  # type: ignore
-    if self._gl_context:
-      self._gl_context.make_current()
-    self._mjr_context = mujoco.MjrContext(model, font_scale.value)
-    mujoco.mjr_setBuffer(
-        mujoco.mjtFramebuffer.mjFB_OFFSCREEN.value, self._mjr_context
-    )
-    self._mjr_context.readDepthMap = mujoco.mjtDepthMap.mjDEPTH_ZEROFAR  # pyrefly: ignore[bad-assignment]
-
-    # Default render flags.
-    self._depth_rendering = False
-    self._segmentation_rendering = False
-
-  @property
-  def model(self):
-    return self._model
-
-  @property
-  def scene(self) -> mujoco.MjvScene:
-    return self._scene
-
-  @property
-  def height(self):
-    return self._height
-
-  @property
-  def width(self):
-    return self._width
-
-  def enable_depth_rendering(self):
-    self._segmentation_rendering = False
-    self._depth_rendering = True
-
-  def disable_depth_rendering(self):
-    self._depth_rendering = False
-
-  def enable_segmentation_rendering(self):
-    self._segmentation_rendering = True
-    self._depth_rendering = False
-
-  def disable_segmentation_rendering(self):
-    self._segmentation_rendering = False
-
-  def render(self, *, out: Optional[np.ndarray] = None) -> np.ndarray:
-    """Renders the scene as a numpy array of pixel values.
-
-    Args:
-      out: Alternative output array in which to place the resulting pixels. It
-        must have the same shape as the expected output but the type will be
-        cast if necessary. The expted shape depends on the value of
-        `self._depth_rendering`: when `True`, we expect `out.shape == (width,
-        height)`, and `out.shape == (width, height, 3)` when `False`.
-
-    Returns:
-      A new numpy array holding the pixels with shape `(H, W)` or `(H, W, 3)`,
-      depending on the value of `self._depth_rendering` unless
-      `out is None`, in which case a reference to `out` is returned.
-
-    Raises:
-      RuntimeError: if this method is called after the close method.
-    """
-    original_flags = self._scene.flags.copy()
-
-    # Using segmented rendering for depth makes the calculated depth more
-    # accurate at far distances.
-    if self._depth_rendering or self._segmentation_rendering:
-      self._scene.flags[mujoco.mjtRndFlag.mjRND_SEGMENT] = True
-      self._scene.flags[mujoco.mjtRndFlag.mjRND_IDCOLOR] = True
-
-    if self._mjr_context is None:
-      raise RuntimeError('render cannot be called after close.')
-
-    if self._gl_context:
-      self._gl_context.make_current()
-
-    if self._depth_rendering:
-      out_shape = (self._height, self._width)
-      out_dtype = np.float32
-    else:
-      out_shape = (self._height, self._width, 3)
-      out_dtype = np.uint8
-
-    if out is None:
-      out = np.empty(out_shape, dtype=out_dtype)
-    else:
-      if out.shape != out_shape:
-        raise ValueError(
-            f'Expected `out.shape == {out_shape}`. Got `out.shape={out.shape}`'
-            ' instead. When using depth rendering, the out array should be of'
-            ' shape `(width, height)` and otherwise (width, height, 3).'
-            f' Got `(self.height, self.width)={(self.height, self.width)}` and'
-            f' `self._depth_rendering={self._depth_rendering}`.'
-        )
-
-    # Render scene and read contents of RGB and depth buffers.
-    mujoco.mjr_render(self._rect, self._scene, self._mjr_context)
-    if self._depth_rendering:
-      mujoco.mjr_readPixels(None, out, self._rect, self._mjr_context)
-
-      # Get the distances to the near and far clipping planes.
-      extent = self._model.stat.extent
-      near = self._model.vis.map.znear * extent
-      far = self._model.vis.map.zfar * extent
-
-      # Calculate OpenGL perspective matrix values in float32 precision
-      # so they are close to what glFrustum returns
-      # https://registry.khronos.org/OpenGL-Refpages/gl2.1/xhtml/glFrustum.xml
-      zfar = np.float32(far)
-      znear = np.float32(near)
-      c_coef = -(zfar + znear) / (zfar - znear)
-      d_coef = -(np.float32(2) * zfar * znear) / (zfar - znear)
-
-      # In reverse Z mode the perspective matrix is transformed by the following
-      c_coef = np.float32(-0.5) * c_coef - np.float32(0.5)
-      d_coef = np.float32(-0.5) * d_coef
-
-      # We need 64 bits to convert Z from ndc to metric depth without noticeable
-      # losses in precision
-      out_64 = out.astype(np.float64)
-
-      # Undo OpenGL projection
-      # Note: We do not need to take action to convert from window coordinates
-      # to normalized device coordinates because in reversed Z mode the mapping
-      # is identity
-      out_64 = d_coef / (out_64 + c_coef)
-
-      # Cast result back to float32 for backwards compatibility
-      # This has a small accuracy cost
-      out[:] = out_64.astype(np.float32)
-
-      # Reset scene flags.
-      np.copyto(self._scene.flags, original_flags)
-    elif self._segmentation_rendering:
-      mujoco.mjr_readPixels(out, None, self._rect, self._mjr_context)
-
-      # Convert 3-channel uint8 to 1-channel uint32.
-      image3 = out.astype(np.uint32)
-      segimage = (
-          image3[:, :, 0] + image3[:, :, 1] * (2**8) + image3[:, :, 2] * (2**16)
-      )
-      # Remap segid to 2-channel (object ID, object type) pair.
-      # Seg ID 0 is background -- will be remapped to (-1, -1).
-      ngeoms = self._scene.ngeom
-      segid2output = np.full(
-          (ngeoms + 1, 2), fill_value=-1, dtype=np.int32
-      )  # Seg id cannot be > ngeom + 1.
-      visible_geoms = [g for g in self._scene.geoms[:ngeoms] if g.segid != -1]
-      visible_segids = np.array([g.segid + 1 for g in visible_geoms], np.int32)
-      visible_objid = np.array([g.objid for g in visible_geoms], np.int32)
-      visible_objtype = np.array([g.objtype for g in visible_geoms], np.int32)
-      segid2output[visible_segids, 0] = visible_objid
-      segid2output[visible_segids, 1] = visible_objtype
-      out = segid2output[segimage]
-
-      # Reset scene flags.
-      np.copyto(self._scene.flags, original_flags)
-    else:
-      mujoco.mjr_readPixels(out, None, self._rect, self._mjr_context)
-
-    if self._gl_context:
-      # If using EGL, OSMesa, or GLFW, the output image is flipped vertically.
-      # No flip is needed for Filament.
-      out[:] = np.flipud(out)
-
-    return out
-
-  def update_scene(
-      self,
-      data: mujoco.MjData,
-      camera: Union[int, str, mujoco.MjvCamera] = -1,
-      scene_option: Optional[mujoco.MjvOption] = None,
-  ):
-    """Updates geometry used for rendering.
-
-    Args:
-      data: An instance of `MjData`.
-      camera: An instance of `MjvCamera`, a string or an integer
-      scene_option: A custom `MjvOption` instance to use to render the scene
-        instead of the default.
-
-    Raises:
-      ValueError: If `camera_id` is outside the valid range, or if camera does
-        not exist.
-    """
-    if not isinstance(camera, mujoco.MjvCamera):
-      camera_id = camera
-      if isinstance(camera_id, str):
-        camera_id = mujoco.mj_name2id(
-            self._model, mujoco.mjtObj.mjOBJ_CAMERA.value, camera_id
-        )
-        if camera_id == -1:
-          raise ValueError(f'The camera "{camera}" does not exist.')
-      if camera_id < -1 or camera_id >= self._model.ncam:
-        raise ValueError(
-            f'The camera id {camera_id} is out of'
-            f' range [-1, {self._model.ncam}).'
-        )
-
-      # Render camera.
-      camera = mujoco.MjvCamera()
-      camera.fixedcamid = camera_id
-
-      # Defaults to mjCAMERA_FREE, otherwise mjCAMERA_FIXED refers to a
-      # camera explicitly defined in the model.
-      if camera_id == -1:
-        camera.type = mujoco.mjtCamera.mjCAMERA_FREE  # pyrefly: ignore[bad-assignment]
-        mujoco.mjv_defaultFreeCamera(self._model, camera)
-      else:
-        camera.type = mujoco.mjtCamera.mjCAMERA_FIXED  # pyrefly: ignore[bad-assignment]
-
-    scene_option = scene_option or self._scene_option
-    mujoco.mjv_updateScene(
-        self._model,
-        data,
-        scene_option,
-        None,
-        camera,
-        mujoco.mjtCatBit.mjCAT_ALL.value,
-        self._scene,
-    )
-
-  def close(self) -> None:
-    """Frees the resources used by the renderer.
-
-    This method can be used directly:
-
-    ```python
-    renderer = Renderer(...)
-    # Use renderer.
-    renderer.close()
-    ```
-
-    or via a context manager:
-
-    ```python
-    with Renderer(...) as renderer:
-      # Use renderer.
-    ```
-    """
-    if self._gl_context:
-      self._gl_context.free()
-    self._gl_context = None
-    if self._mjr_context:
-      self._mjr_context.free()
-    self._mjr_context = None
-
-  def __enter__(self):
-    return self
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    del exc_type, exc_value, traceback  # Unused.
-    self.close()
-
-  def __del__(self) -> None:
-    self.close()
diff --git a/python/mujoco/rollout.cc b/python/mujoco/rollout.cc
deleted file mode 100644
index d0e34eaa..00000000
--- a/python/mujoco/rollout.cc
+++ /dev/null
@@ -1,363 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <cstddef>
-#include <iostream>
-#include <memory>
-#include <optional>
-#include <sstream>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "errors.h"
-#include "raw.h"
-#include "structs.h"
-#include "threadpool.h"
-#include <pybind11/buffer_info.h>
-#include <pybind11/numpy.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-
-namespace mujoco::python {
-
-namespace {
-
-namespace py = ::pybind11;
-
-using PyCArray = py::array_t<mjtNum, py::array::c_style>;
-
-// NOLINTBEGIN(whitespace/line_length)
-
-const auto rollout_init_doc = R"(
-Construct a rollout object containing a thread pool for parallel rollouts.
-
-  input arguments (optional):
-    nthread            integer, number of threads in pool
-                       if zero, this pool is not started and rollouts run on the calling thread
-)";
-
-const auto rollout_doc = R"(
-Roll out batch of trajectories from initial states, get resulting states and sensor values.
-
-  input arguments (required):
-    model              list of homogenous MjModel instances of length nbatch
-    data               list of compatible MjData instances of length nthread
-    nstep              integer, number of steps to be taken for each trajectory
-    control_spec       specification of controls, ncontrol = mj_stateSize(m, control_spec)
-    state0             (nbatch x nstate) nbatch initial state arrays, where
-                           nstate = mj_stateSize(m, mjSTATE_FULLPHYSICS)
-  input arguments (optional):
-    warmstart0         (nbatch x nv)                  nbatch qacc_warmstart arrays
-    control            (nbatch x nstep x ncontrol)    nbatch trajectories of nstep controls
-  output arguments (optional):
-    state              (nbatch x nstep x nstate)      nbatch nstep states
-    sensordata         (nbatch x nstep x nsendordata) nbatch trajectories of nstep sensordata arrays
-    chunk_size         integer, determines threadpool chunk size. If unspecified, the default is
-                           chunk_size = max(1, nbatch / (nthread * 10))
-)";
-
-// C-style rollout function, assumes all arguments are valid
-// all input fields of d are initialised, contents at call time do not matter
-// after returning, d will contain the last step of the last rollout
-void _unsafe_rollout(std::vector<const mjModel*>& m, mjData* d, int start_roll,
-                     int end_roll, int nstep, unsigned int control_spec,
-                     const mjtNum* state0, const mjtNum* warmstart0,
-                     const mjtNum* control, mjtNum* state, mjtNum* sensordata) {
-  // sizes
-  size_t nstate = static_cast<size_t>(mj_stateSize(m[0], mjSTATE_FULLPHYSICS));
-  size_t ncontrol = static_cast<size_t>(mj_stateSize(m[0], control_spec));
-  size_t nv = static_cast<size_t>(m[0]->nv);
-  int nbody = m[0]->nbody, neq = m[0]->neq;
-  size_t nsensordata = static_cast<size_t>(m[0]->nsensordata);
-
-  // clear user inputs if unspecified
-  if (!(control_spec & mjSTATE_CTRL)) {
-    mju_zero(d->ctrl, m[0]->nu);
-  }
-  if (!(control_spec & mjSTATE_QFRC_APPLIED)) {
-    mju_zero(d->qfrc_applied, nv);
-  }
-  if (!(control_spec & mjSTATE_XFRC_APPLIED)) {
-    mju_zero(d->xfrc_applied, 6*nbody);
-  }
-
-  // loop over rollouts
-  for (size_t r = start_roll; r < end_roll; r++) {
-    // clear user inputs if unspecified
-    if (!(control_spec & mjSTATE_MOCAP_POS)) {
-      for (int i = 0; i < nbody; i++) {
-        int id = m[r]->body_mocapid[i];
-        if (id >= 0) mju_copy3(d->mocap_pos+3*id, m[r]->body_pos+3*i);
-      }
-    }
-    if (!(control_spec & mjSTATE_MOCAP_QUAT)) {
-      for (int i = 0; i < nbody; i++) {
-        int id = m[r]->body_mocapid[i];
-        if (id >= 0) mju_copy4(d->mocap_quat+4*id, m[r]->body_quat+4*i);
-      }
-    }
-    if (!(control_spec & mjSTATE_EQ_ACTIVE)) {
-      for (int i = 0; i < neq; i++) {
-        d->eq_active[i] = m[r]->eq_active0[i];
-      }
-    }
-
-    // set initial state
-    mj_setState(m[r], d, state0 + r*nstate, mjSTATE_FULLPHYSICS);
-
-    // set warmstart accelerations
-    if (warmstart0) {
-      mju_copy(d->qacc_warmstart, warmstart0 + r*nv, nv);
-    } else {
-      mju_zero(d->qacc_warmstart, nv);
-    }
-
-    // clear warning counters
-    for (int i = 0; i < mjNWARNING; i++) {
-      d->warning[i].number = 0;
-    }
-
-    // roll out trajectory
-    for (size_t t = 0; t < nstep; t++) {
-      // check for warnings
-      bool nwarning = false;
-      for (int i = 0; i < mjNWARNING; i++) {
-        if (d->warning[i].number) {
-          nwarning = true;
-          break;
-        }
-      }
-
-      // if any warnings, fill remaining outputs with current outputs, break
-      if (nwarning) {
-        for (; t < nstep; t++) {
-          size_t step = r*static_cast<size_t>(nstep) + t;
-          if (state) {
-            mj_getState(m[r], d, state + step*nstate, mjSTATE_FULLPHYSICS);
-          }
-          if (sensordata) {
-            mju_copy(sensordata + step*nsensordata, d->sensordata, nsensordata);
-          }
-        }
-        break;
-      }
-
-      size_t step = r*static_cast<size_t>(nstep) + t;
-
-      // controls
-      if (control) {
-        mj_setState(m[r], d, control + step*ncontrol, control_spec);
-      }
-
-      // step
-      mj_step(m[r], d);
-
-      // copy out new state
-      if (state) {
-        mj_getState(m[r], d, state + step*nstate, mjSTATE_FULLPHYSICS);
-      }
-
-      // copy out sensor values
-      if (sensordata) {
-        mju_copy(sensordata + step*nsensordata, d->sensordata, nsensordata);
-      }
-    }
-  }
-}
-
-// C-style threaded version of _unsafe_rollout
-void _unsafe_rollout_threaded(std::vector<const mjModel*>& m,
-                              std::vector<mjData*>& d, int nbatch, int nstep,
-                              unsigned int control_spec, const mjtNum* state0,
-                              const mjtNum* warmstart0, const mjtNum* control,
-                              mjtNum* state, mjtNum* sensordata,
-                              ThreadPool* pool, int chunk_size) {
-  int nfulljobs = nbatch / chunk_size;
-  int chunk_remainder = nbatch % chunk_size;
-  int njobs = (chunk_remainder > 0) ? nfulljobs + 1 : nfulljobs;
-
-  // Reset the pool counter
-  pool->ResetCount();
-
-  // schedule all jobs of full (chunk) size
-  for (int j = 0; j < nfulljobs; j++) {
-    auto task = [=, &m, &d](void) {
-      int id = pool->WorkerId();
-      _unsafe_rollout(m, d[id], j*chunk_size, (j+1)*chunk_size,
-        nstep, control_spec, state0, warmstart0, control, state, sensordata);
-    };
-    pool->Schedule(task);
-  }
-
-  // schedule any remaining jobs of size < chunk_size
-  if (chunk_remainder > 0) {
-    auto task = [=, &m, &d](void) {
-      _unsafe_rollout(m, d[pool->WorkerId()], nfulljobs*chunk_size,
-        nfulljobs*chunk_size+chunk_remainder,
-        nstep, control_spec, state0, warmstart0, control, state, sensordata);
-    };
-    pool->Schedule(task);
-  }
-
-  // wait for counter to increment up to number of jobs submitted by this thread
-  pool->WaitCount(njobs);
-}
-
-// NOLINTEND(whitespace/line_length)
-
-// check size of optional argument to rollout(), return raw pointer
-mjtNum* get_array_ptr(std::optional<const py::array_t<mjtNum>> arg,
-                      const char* name, int nbatch, int nstep, int dim) {
-  // if empty return nullptr
-  if (!arg.has_value()) {
-    return nullptr;
-  }
-
-  // get info
-  py::buffer_info info = arg->request();
-
-  // check size
-  size_t expected_size = static_cast<size_t>(nbatch) *
-                         static_cast<size_t>(nstep) * static_cast<size_t>(dim);
-  if (info.size != expected_size) {
-    std::ostringstream msg;
-    msg << name << ".size should be " << expected_size << ", got " << info.size;
-    throw py::value_error(msg.str());
-  }
-  return static_cast<mjtNum*>(info.ptr);
-}
-
-class Rollout {
- public:
-  Rollout(int nthread) : nthread_(nthread) {
-    if (this->nthread_ > 0) {
-      this->pool_ = std::make_shared<ThreadPool>(this->nthread_);
-    }
-  }
-
-  void rollout(py::list m, py::list d, int nstep, unsigned int control_spec,
-               const PyCArray state0, std::optional<const PyCArray> warmstart0,
-               std::optional<const PyCArray> control,
-               std::optional<const PyCArray> state,
-               std::optional<const PyCArray> sensordata,
-               std::optional<int> chunk_size) {
-    // get raw pointers
-    int nbatch = state0.shape(0);
-    std::vector<const raw::MjModel*> model_ptrs(nbatch);
-    for (int r = 0; r < nbatch; r++) {
-      model_ptrs[r] = m[r].cast<const MjModelWrapper*>()->get();
-    }
-
-    // check length d and nthread are consistent
-    if (py::len(d) == 0) {
-      std::ostringstream msg;
-      msg << "The list of data instances is empty";
-      throw py::value_error(msg.str());
-    } else if (this->nthread_ == 0 && py::len(d) > 1) {
-      std::ostringstream msg;
-      msg << "More than one data instance passed but "
-          << "rollout is configured to run on main thread";
-      throw py::value_error(msg.str());
-    } else if (this->nthread_ > 0 && this->nthread_ != py::len(d)) {
-      std::ostringstream msg;
-      msg << "Length of data: " << py::len(d)
-          << " not equal to nthread: " << this->nthread_;
-      throw py::value_error(msg.str());
-    }
-
-    std::vector<raw::MjData*> data_ptrs(py::len(d));
-    for (int t = 0; t < py::len(d); t++) {
-      data_ptrs[t] = d[t].cast<MjDataWrapper*>()->get();
-    }
-
-    // check that some steps need to be taken, return if not
-    if (nstep < 1) {
-      return;
-    }
-
-    // get sizes
-    int nstate = mj_stateSize(model_ptrs[0], mjSTATE_FULLPHYSICS);
-    int ncontrol = mj_stateSize(model_ptrs[0], control_spec);
-
-    mjtNum* state0_ptr = get_array_ptr(state0, "state0", nbatch, 1, nstate);
-    mjtNum* warmstart0_ptr =
-        get_array_ptr(warmstart0, "warmstart0", nbatch, 1, model_ptrs[0]->nv);
-    mjtNum* control_ptr =
-        get_array_ptr(control, "control", nbatch, nstep, ncontrol);
-    mjtNum* state_ptr = get_array_ptr(state, "state", nbatch, nstep, nstate);
-    mjtNum* sensordata_ptr = get_array_ptr(sensordata, "sensordata", nbatch,
-                                           nstep, model_ptrs[0]->nsensordata);
-
-    // perform rollouts
-    {
-      // release the GIL
-      py::gil_scoped_release no_gil;
-
-      // call unsafe rollout function, multi or single threaded
-      if (this->nthread_ > 0 && nbatch > 1) {
-        int chunk_size_final = 1;
-        if (!chunk_size.has_value()) {
-          chunk_size_final = std::max(1, nbatch / (10 * this->nthread_));
-        } else {
-          chunk_size_final = *chunk_size;
-        }
-        InterceptMjErrors(_unsafe_rollout_threaded)(
-            model_ptrs, data_ptrs, nbatch, nstep, control_spec, state0_ptr,
-            warmstart0_ptr, control_ptr, state_ptr, sensordata_ptr,
-            this->pool_.get(), chunk_size_final);
-      } else {
-        InterceptMjErrors(_unsafe_rollout)(
-            model_ptrs, data_ptrs[0], 0, nbatch, nstep, control_spec,
-            state0_ptr, warmstart0_ptr, control_ptr, state_ptr, sensordata_ptr);
-      }
-    }
-  }
-
- private:
-  int nthread_;
-  std::shared_ptr<ThreadPool> pool_;
-};
-
-PYBIND11_MODULE(_rollout, pymodule, pybind11::mod_gil_not_used()) {
-  namespace py = ::pybind11;
-
-  py::class_<Rollout>(pymodule, "Rollout")
-      .def(
-        py::init([](int nthread) {
-          return std::make_unique<Rollout>(nthread);
-        }),
-        py::kw_only(),
-        py::arg("nthread"),
-        py::doc(rollout_init_doc))
-      .def(
-        "rollout",
-        &Rollout::rollout,
-        py::arg("model"),
-        py::arg("data"),
-        py::arg("nstep"),
-        py::arg("control_spec"),
-        py::arg("state0"),
-        py::arg("warmstart0") = py::none(),
-        py::arg("control")    = py::none(),
-        py::arg("state")      = py::none(),
-        py::arg("sensordata") = py::none(),
-        py::arg("chunk_size") = py::none(),
-        py::doc(rollout_doc));
-}
-
-}  // namespace
-
-}  // namespace mujoco::python
-
diff --git a/python/mujoco/rollout.py b/python/mujoco/rollout.py
deleted file mode 100644
index 5e0ebf80..00000000
--- a/python/mujoco/rollout.py
+++ /dev/null
@@ -1,433 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Roll out open-loop trajectories from initial states, get subsequent states and sensor values."""
-
-import atexit
-from collections.abc import Sequence
-from typing import Optional, Union
-
-import mujoco
-from mujoco import _rollout
-import numpy as np
-from numpy import typing as npt
-
-
-class Rollout:
-  """Rollout object containing a thread pool for parallel rollouts."""
-
-  def __init__(self, *, nthread: Optional[int] = None):
-    """Construct a rollout object containing a thread pool for parallel rollouts.
-
-    Args:
-      nthread: Number of threads in pool.
-        If zero, this pool is not started and rollouts run on the calling thread.
-    """  # fmt: skip
-    self.nthread = 0 if nthread is None else nthread
-    self.rollout_ = _rollout.Rollout(nthread=self.nthread)
-
-  def __enter__(self):
-    return self
-
-  def __exit__(self, exc_type, exc_val, exc_tb):
-    self.close()
-
-  def close(self):
-    del self.rollout_
-    self.rollout_ = None
-
-  def rollout(
-      self,
-      model: Union[mujoco.MjModel, Sequence[mujoco.MjModel]],
-      data: Union[mujoco.MjData, Sequence[mujoco.MjData]],
-      initial_state: npt.ArrayLike,
-      control: Optional[npt.ArrayLike] = None,
-      *,  # require subsequent arguments to be named
-      control_spec: int = mujoco.mjtState.mjSTATE_CTRL.value,
-      skip_checks: bool = False,
-      nstep: Optional[int] = None,
-      initial_warmstart: Optional[npt.ArrayLike] = None,
-      state: Optional[npt.ArrayLike] = None,
-      sensordata: Optional[npt.ArrayLike] = None,
-      chunk_size: Optional[int] = None,
-  ):
-    """Rolls out open-loop trajectories from initial states, get subsequent state and sensor values.
-
-    Python wrapper for rollout.cc, see documentation therein.
-    Infers nbatch and nstep.
-    Tiles inputs with singleton dimensions.
-    Allocates outputs if none are given.
-
-    Args:
-      model: An instance or length nbatch sequence of MjModel with the same size signature.
-      data: Associated mjData instance or sequence of instances with length nthread.
-      initial_state: Array of initial states from which to roll out trajectories.
-        ([nbatch or 1] x nstate)
-      control: Open-loop controls array to apply during the rollouts.
-        ([nbatch or 1] x [nstep or 1] x ncontrol)
-      control_spec: mjtState specification of control vectors.
-      skip_checks: Whether to skip internal shape and type checks.
-      nstep: Number of steps in rollouts (inferred if unspecified).
-      initial_warmstart: Initial qfrc_warmstart array (optional).
-        ([nbatch or 1] x nv)
-      state: State output array (optional).
-        (nbatch x nstep x nstate)
-      sensordata: Sensor data output array (optional).
-        (nbatch x nstep x nsensordata)
-      chunk_size: Determines threadpool chunk size. If unspecified,
-                  chunk_size = max(1, nbatch / (nthread * 10))
-
-    Returns:
-      state:
-        State output array, (nbatch x nstep x nstate).
-      sensordata:
-        Sensor data output array, (nbatch x nstep x nsensordata).
-
-    Raises:
-      RuntimeError: rollout requested after thread pool shutdown.
-      ValueError: bad shapes or sizes.
-    """  # fmt: skip
-
-    if self.rollout_ is None:
-      raise RuntimeError('rollout requested after thread pool shutdown')
-
-    # skip_checks shortcut:
-    #   don't infer nbatch or nstep
-    #   don't support singleton expansion
-    #   don't allocate output arrays
-    #   just call rollout and return
-    if skip_checks:
-      self.rollout_.rollout(
-          model,
-          data,
-          nstep,
-          control_spec,
-          initial_state,
-          initial_warmstart,
-          control,
-          state,
-          sensordata,
-          chunk_size,
-      )
-      return state, sensordata
-
-    if not isinstance(model, mujoco.MjModel):
-      model = list(model)
-
-    # check control_spec
-    if control_spec & ~mujoco.mjtState.mjSTATE_USER.value:
-      raise ValueError('control_spec can only contain bits in mjSTATE_USER')
-
-    # check types
-    if nstep and not isinstance(nstep, int):
-      raise ValueError('nstep must be an integer')
-    if chunk_size and not isinstance(chunk_size, int):
-      raise ValueError('chunk_size must be an integer')
-    _check_must_be_numeric(
-        initial_state=initial_state,
-        initial_warmstart=initial_warmstart,
-        control=control,
-        state=state,
-        sensordata=sensordata,
-    )
-
-    # check number of dimensions
-    _check_number_of_dimensions(
-        2, initial_state=initial_state, initial_warmstart=initial_warmstart
-    )
-    _check_number_of_dimensions(
-        3, control=control, state=state, sensordata=sensordata
-    )
-
-    # ensure 2D, make contiguous, row-major (C ordering)
-    initial_state = _ensure_2d(initial_state)
-    initial_warmstart = _ensure_2d(initial_warmstart)
-
-    # ensure 3D, make contiguous, row-major (C ordering)
-    control = _ensure_3d(control)
-    state = _ensure_3d(state)
-    sensordata = _ensure_3d(sensordata)
-
-    # infer nbatch, check for incompatibilities
-    nbatch = _infer_dimension(
-        0,
-        1,
-        initial_state=initial_state,
-        initial_warmstart=initial_warmstart,
-        control=control,
-        state=state,
-        sensordata=sensordata,
-    )
-    if isinstance(model, list) and nbatch == 1:
-      nbatch = len(model)
-
-    if isinstance(model, list) and len(model) > 1 and len(model) != nbatch:
-      raise ValueError(
-          f'nbatch inferred as {nbatch} but model is length {len(model)}'
-      )
-    elif not isinstance(model, list):
-      model = [model]  # Use a length 1 list to simplify code below
-
-    if not isinstance(data, list):
-      data = [data]  # Use a length 1 list to simplify code below  # pyrefly: ignore[bad-assignment]
-
-    # infer nstep, check for incompatibilities
-    nstep = _infer_dimension(
-        1, nstep or 1, control=control, state=state, sensordata=sensordata
-    )
-
-    # get nstate/ncontrol/nv/nsensordata
-    # check that they are equal across models
-    nstate = mujoco.mj_stateSize(
-        model[0], mujoco.mjtState.mjSTATE_FULLPHYSICS.value
-    )
-    ncontrol = mujoco.mj_stateSize(model[0], control_spec)
-    nv = model[0].nv
-    nsensordata = model[0].nsensordata
-    for m in model[1:]:
-      if (
-          nstate
-          != mujoco.mj_stateSize(m, mujoco.mjtState.mjSTATE_FULLPHYSICS.value)
-          or ncontrol != mujoco.mj_stateSize(m, control_spec)
-          or nv != m.nv
-          or nsensordata != m.nsensordata
-      ):
-        raise ValueError('models are not compatible')
-
-    # check trailing dimensions
-    _check_trailing_dimension(nstate, initial_state=initial_state, state=state)
-    _check_trailing_dimension(ncontrol, control=control)
-    _check_trailing_dimension(nv, initial_warmstart=initial_warmstart)
-    _check_trailing_dimension(nsensordata, sensordata=sensordata)
-
-    # tile input arrays/lists if required (singleton expansion)
-    model = model * nbatch if len(model) == 1 else model
-    initial_state = _tile_if_required(initial_state, nbatch)
-    initial_warmstart = _tile_if_required(initial_warmstart, nbatch)
-    control = _tile_if_required(control, nbatch, nstep)
-
-    # allocate output if not provided
-    if state is None:
-      state = np.empty((nbatch, nstep, nstate), dtype=mujoco.MJTNUM_DTYPE)
-    if sensordata is None:
-      sensordata = np.empty((nbatch, nstep, nsensordata), dtype=mujoco.MJTNUM_DTYPE)
-
-    # call rollout
-    self.rollout_.rollout(
-        model,
-        data,
-        nstep,
-        control_spec,
-        initial_state,
-        initial_warmstart,
-        control,
-        state,
-        sensordata,
-        chunk_size,
-    )
-
-    # return outputs
-    return state, sensordata
-
-
-persistent_rollout = None
-
-
-def shutdown_persistent_pool():
-  """Shutdown the persistent thread pool that is optionally created by rollout.
-
-  This is called automatically interpreter shutdown, but can also be called manually.
-  """  # fmt: skip
-  global persistent_rollout
-  if persistent_rollout is not None:
-    persistent_rollout.close()
-  persistent_rollout = None
-
-
-atexit.register(shutdown_persistent_pool)
-
-
-def rollout(
-    model: Union[mujoco.MjModel, Sequence[mujoco.MjModel]],
-    data: Union[mujoco.MjData, Sequence[mujoco.MjData]],
-    initial_state: npt.ArrayLike,
-    control: Optional[npt.ArrayLike] = None,
-    *,  # require subsequent arguments to be named
-    control_spec: int = mujoco.mjtState.mjSTATE_CTRL.value,
-    skip_checks: bool = False,
-    nstep: Optional[int] = None,
-    initial_warmstart: Optional[npt.ArrayLike] = None,
-    state: Optional[npt.ArrayLike] = None,
-    sensordata: Optional[npt.ArrayLike] = None,
-    chunk_size: Optional[int] = None,
-    persistent_pool: bool = False,
-):
-  """Rolls out open-loop trajectories from initial states, get subsequent states and sensor values.
-
-  Python wrapper for rollout.cc, see documentation therein.
-  Infers nbatch and nstep.
-  Tiles inputs with singleton dimensions.
-  Allocates outputs if none are given.
-
-  Args:
-    model: An instance or length nbatch sequence of MjModel with the same size signature.
-    data: Associated mjData instance or sequence of instances with length nthread.
-    initial_state: Array of initial states from which to roll out trajectories.
-      ([nbatch or 1] x nstate)
-    control: Open-loop controls array to apply during the rollouts.
-      ([nbatch or 1] x [nstep or 1] x ncontrol)
-    control_spec: mjtState specification of control vectors.
-    skip_checks: Whether to skip internal shape and type checks.
-    nstep: Number of steps in rollouts (inferred if unspecified).
-    initial_warmstart: Initial qfrc_warmstart array (optional).
-      ([nbatch or 1] x nv)
-    state: State output array (optional).
-      (nbatch x nstep x nstate)
-    sensordata: Sensor data output array (optional).
-      (nbatch x nstep x nsensordata)
-    chunk_size: Determines threadpool chunk size. If unspecified,
-                chunk_size = max(1, nbatch / (nthread * 10))
-    persistent_pool: Determines if a persistent thread pool is created or reused.
-
-  Returns:
-    state:
-      State output array, (nbatch x nstep x nstate).
-    sensordata:
-      Sensor data output array, (nbatch x nstep x nsensordata).
-
-  Raises:
-    ValueError: bad shapes or sizes.
-  """  # fmt: skip
-  if not isinstance(data, list):
-    data = [data]  # Use a length 1 list to simplify code below  # pyrefly: ignore[bad-assignment]
-
-  nthread = len(data) if len(data) > 1 else 0  # pyrefly: ignore[bad-argument-type]
-
-  # Use a persistent thread pool if requested
-  if persistent_pool:
-    # Create or restart persistent threadpool
-    global persistent_rollout
-    if persistent_rollout is None:
-      persistent_rollout = Rollout(nthread=nthread)
-    if persistent_rollout.nthread != nthread:
-      persistent_rollout.close()
-      persistent_rollout = Rollout(nthread=nthread)
-    rollout_ = persistent_rollout
-  else:
-    rollout_ = Rollout(nthread=nthread)
-
-  try:
-    return rollout_.rollout(
-        model,
-        data,
-        initial_state,
-        control,
-        control_spec=control_spec,
-        skip_checks=skip_checks,
-        nstep=nstep,
-        initial_warmstart=initial_warmstart,
-        state=state,
-        sensordata=sensordata,
-        chunk_size=chunk_size,
-    )
-  finally:
-    if not persistent_pool:
-      rollout_.close()
-
-
-def _check_must_be_numeric(**kwargs):
-  for key, value in kwargs.items():
-    if value is None:
-      continue
-    if not isinstance(value, np.ndarray) and not isinstance(value, float):
-      raise ValueError(f'{key} must be a numpy array or float')
-
-
-def _check_number_of_dimensions(ndim, **kwargs):
-  for key, value in kwargs.items():
-    if value is None:
-      continue
-    if value.ndim > ndim:
-      raise ValueError(f'{key} can have at most {ndim} dimensions')
-
-
-def _check_trailing_dimension(dim, **kwargs):
-  for key, value in kwargs.items():
-    if value is None:
-      continue
-    if value.shape[-1] != dim:
-      raise ValueError(
-          f'trailing dimension of {key} must be {dim}, got {value.shape[-1]}'
-      )
-
-
-def _ensure_2d(arg):
-  if arg is None:
-    return None
-  else:
-    return np.ascontiguousarray(np.atleast_2d(arg), dtype=mujoco.MJTNUM_DTYPE)
-
-
-def _ensure_3d(arg):
-  if arg is None:
-    return None
-  else:
-    # np.atleast_3d adds both leading and trailing dims, we want only leading
-    if arg.ndim == 0:
-      arg = arg[np.newaxis, np.newaxis, np.newaxis, ...]
-    elif arg.ndim == 1:
-      arg = arg[np.newaxis, np.newaxis, ...]
-    elif arg.ndim == 2:
-      arg = arg[np.newaxis, ...]
-    return np.ascontiguousarray(arg, dtype=mujoco.MJTNUM_DTYPE)
-
-
-def _infer_dimension(dim, value, **kwargs):
-  """Infers dimension `dim` given guess `value` from set of arrays.
-
-  Args:
-    dim: Dimension to be inferred.
-    value: Initial guess of inferred value (1: unknown).
-    **kwargs: List of arrays which should all have the same size (or 1) along
-      dimension dim.
-
-  Returns:
-    Inferred dimension.
-
-  Raises:
-    ValueError: If mismatch between array shapes or initial guess.
-  """
-  for name, array in kwargs.items():
-    if array is None:
-      continue
-    if array.shape[dim] != value:
-      if value == 1:
-        value = array.shape[dim]
-      elif array.shape[dim] != 1:
-        raise ValueError(
-            f'dimension {dim} inferred as {value} '
-            f'but {name} has {array.shape[dim]}'
-        )
-  return value
-
-
-def _tile_if_required(array, dim0, dim1=None):
-  if array is None:
-    return
-  reps = np.ones(array.ndim, dtype=int)
-  if array.shape[0] == 1:
-    reps[0] = dim0
-  if dim1 is not None and array.shape[1] == 1:
-    reps[1] = dim1
-  return np.tile(array, reps)
diff --git a/python/mujoco/rollout_test.py b/python/mujoco/rollout_test.py
deleted file mode 100644
index c069dfba..00000000
--- a/python/mujoco/rollout_test.py
+++ /dev/null
@@ -1,1005 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""tests for rollout function."""
-
-import concurrent.futures
-import copy
-import os
-import threading
-
-from absl.testing import absltest
-from absl.testing import parameterized
-
-import mujoco
-from mujoco import rollout
-
-import numpy as np
-
-
-DTYPE = mujoco.MJTNUM_DTYPE
-
-
-def randn(*shape):
-  return np.random.standard_normal(shape).astype(DTYPE)
-
-
-def empty(*shape):
-  return np.empty(shape, dtype=DTYPE)
-
-
-def zeros(*shape):
-  return np.zeros(shape, dtype=DTYPE)
-
-# -------------------------- models used for testing ---------------------------
-
-TEST_XML = r"""
-<mujoco>
-  <worldbody>
-    <light pos="0 0 2"/>
-    <geom type="plane" size="5 5 .1"/>
-    <body pos="0 0 .1">
-      <joint name="yaw" axis="0 0 1"/>
-      <joint name="pitch" axis="0 1 0"/>
-      <geom type="capsule" size=".02" fromto="0 0 0 1 0 0"/>
-      <geom type="box" pos="1 0 0" size=".1 .1 .1"/>
-      <site name="site" pos="1 0 0"/>
-    </body>
-  </worldbody>
-  <actuator>
-    <general joint="pitch" gainprm="100"/>
-    <general joint="yaw" dyntype="filter" dynprm="1" gainprm="100"/>
-  </actuator>
-  <sensor>
-    <accelerometer site="site"/>
-  </sensor>
-</mujoco>
-"""
-
-TEST_XML_NO_SENSORS = r"""
-<mujoco>
-  <worldbody>
-    <light pos="0 0 2"/>
-    <geom type="plane" size="5 5 .1"/>
-    <body pos="0 0 .1">
-      <joint name="yaw" axis="0 0 1"/>
-      <joint name="pitch" axis="0 1 0"/>
-      <geom type="capsule" size=".02" fromto="0 0 0 1 0 0"/>
-      <geom type="box" pos="1 0 0" size=".1 .1 .1"/>
-      <site name="site" pos="1 0 0"/>
-    </body>
-  </worldbody>
-  <actuator>
-    <general joint="pitch" gainprm="100"/>
-    <general joint="yaw" dyntype="filter" dynprm="1" gainprm="100"/>
-  </actuator>
-</mujoco>
-"""
-
-TEST_XML_NO_ACTUATORS = r"""
-<mujoco>
-  <worldbody>
-    <light pos="0 0 2"/>
-    <geom type="plane" size="5 5 .1"/>
-    <body pos="0 0 .1">
-      <joint name="yaw" axis="0 0 1"/>
-      <joint name="pitch" axis="0 1 0"/>
-      <geom type="capsule" size=".02" fromto="0 0 0 1 0 0"/>
-      <geom type="box" pos="1 0 0" size=".1 .1 .1"/>
-      <site name="site" pos="1 0 0"/>
-    </body>
-  </worldbody>
-  <sensor>
-    <accelerometer site="site"/>
-  </sensor>
-</mujoco>
-"""
-
-TEST_XML_MOCAP = r"""
-<mujoco>
-  <worldbody>
-    <body name="1" mocap="true">
-    </body>
-    <body name="2" mocap="true">
-    </body>
-  </worldbody>
-  <sensor>
-    <framepos objtype="xbody" objname="1"/>
-    <framequat objtype="xbody" objname="1"/>
-  </sensor>
-</mujoco>
-"""
-
-TEST_XML_EMPTY = r"""
-<mujoco>
-</mujoco>
-"""
-
-TEST_XML_DIVERGE = r"""
-<mujoco>
-  <option>
-    <flag gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <geom type="plane" size="5 5 .1"/>
-    <body pos="0 0 -.3" euler="30 45 90">
-      <freejoint/>
-      <geom type="box" size=".1 .2 .4"/>
-    </body>
-  </worldbody>
-
-  <keyframe>
-    <key name="non-diverging" qpos="0 0 .5 1 0 0 0"/>
-  </keyframe>
-</mujoco>
-"""
-
-ALL_MODELS = {
-    'TEST_XML': TEST_XML,
-    'TEST_XML_NO_SENSORS': TEST_XML_NO_SENSORS,
-    'TEST_XML_NO_ACTUATORS': TEST_XML_NO_ACTUATORS,
-    'TEST_XML_EMPTY': TEST_XML_EMPTY,
-}
-
-# ------------------------------ tests -----------------------------------------
-
-
-class MuJoCoRolloutTest(parameterized.TestCase):
-
-  def setUp(self):
-    super().setUp()
-    np.random.seed(42)
-
-  # ----------------------------- test basic operation
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_single_step(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    initial_state = randn(nstate)
-    control = randn(model.nu)
-    state, sensordata = rollout.rollout(model, data, initial_state, control)
-
-    mujoco.mj_resetData(model, data)
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_one_rollout(self, model_name):
-    nstep = 3  # number of timesteps
-
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    initial_state = randn(nstate)
-    control = randn(nstep, model.nu)
-    state, sensordata = rollout.rollout(model, data, initial_state, control)
-
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_multi_step(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 5  # number of rollouts
-    nstep = 1  # number of steps
-
-    initial_state = randn(nbatch, nstate)
-    control = randn(nbatch, nstep, model.nu)
-    state, sensordata = rollout.rollout(model, data, initial_state, control)
-
-    mujoco.mj_resetData(model, data)
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_infer_nbatch_initial_state(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 5  # number of rollouts
-    nstep = 1  # number of steps
-
-    initial_state = randn(nbatch, nstate)
-    control = randn(nstep, model.nu)
-    state, sensordata = rollout.rollout(model, data, initial_state, control)
-
-    mujoco.mj_resetData(model, data)
-    control = np.tile(control, (nbatch, 1, 1))
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_infer_nbatch_control(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 5  # number of rollouts
-    nstep = 1  # number of steps
-
-    initial_state = randn(nstate)
-    control = randn(nbatch, nstep, model.nu)
-    state, sensordata = rollout.rollout(model, data, initial_state, control)
-
-    mujoco.mj_resetData(model, data)
-    initial_state = np.tile(initial_state, (nbatch, 1))
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_infer_nbatch_warmstart(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 5  # number of rollouts
-    nstep = 1  # number of steps
-
-    initial_state = randn(nstate)
-    control = randn(nstep, model.nu)
-    initial_warmstart = np.tile(data.qacc_warmstart.copy(), (nbatch, 1))
-    state, sensordata = rollout.rollout(
-        model, data, initial_state, control, initial_warmstart=initial_warmstart
-    )
-
-    mujoco.mj_resetData(model, data)
-    initial_state = np.tile(initial_state, (nbatch, 1))
-    control = np.tile(control, (nbatch, 1, 1))
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_infer_nbatch_state(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 5  # number of rollouts
-    nstep = 1  # number of steps
-
-    initial_state = randn(nstate)
-    control = randn(nstep, model.nu)
-    state = empty(nbatch, nstep, nstate)
-    state, sensordata = rollout.rollout(
-        model, data, initial_state, control, state=state
-    )
-
-    mujoco.mj_resetData(model, data)
-    initial_state = np.tile(initial_state, (nbatch, 1))
-    control = np.tile(control, (nbatch, 1, 1))
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_infer_nbatch_sensordata(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 5  # number of rollouts
-    nstep = 1  # number of steps
-
-    initial_state = randn(nstate)
-    control = randn(nstep, model.nu)
-    sensordata = empty(nbatch, nstep, model.nsensordata)
-    state, sensordata = rollout.rollout(
-        model, data, initial_state, control, sensordata=sensordata
-    )
-
-    mujoco.mj_resetData(model, data)
-    initial_state = np.tile(initial_state, (nbatch, 1))
-    control = np.tile(control, (nbatch, 1, 1))
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_one_rollout_fixed_ctrl(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 1  # number of rollouts
-    nstep = 3  # number of steps
-
-    initial_state = randn(nstate)
-    control = randn(model.nu)
-    state = empty(nbatch, nstep, nstate)
-    sensordata = empty(nbatch, nstep, model.nsensordata)
-    rollout.rollout(
-        model, data, initial_state, control, state=state, sensordata=sensordata
-    )
-
-    control = np.tile(control, (nstep, 1))
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_multi_rollout(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 2  # number of initial states
-    nstep = 3  # number of timesteps
-
-    initial_state = randn(nbatch, nstate)
-    control = randn(nbatch, nstep, model.nu)
-    state, sensordata = rollout.rollout(model, data, initial_state, control)
-
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_multi_model(self, model_name):
-    nbatch = 3  # number of initial states and models
-    nstep = 3  # number of timesteps
-
-    spec = mujoco.MjSpec.from_string(ALL_MODELS[model_name])
-
-    if len(spec.bodies) > 1:
-      model = []
-      for i in range(nbatch):
-        body = spec.bodies[1]
-        assert body.name != 'world'
-        body.pos = body.pos + i
-        model.append(spec.compile())
-    else:
-      model = [spec.compile() for _ in range(nbatch)]
-
-    nstate = mujoco.mj_stateSize(model[0], mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model[0])
-
-    initial_state = randn(nbatch, nstate)
-    control = randn(nbatch, nstep, model[0].nu)
-    state, sensordata = rollout.rollout(model, data, initial_state, control)
-
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_multi_rollout_fixed_ctrl_infer_from_output(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 2  # number of rollouts
-    nstep = 3  # number of timesteps
-
-    initial_state = randn(nbatch, nstate)
-    control = randn(nbatch, 1, model.nu)
-    state = empty(nbatch, nstep, nstate)
-    state, sensordata = rollout.rollout(
-        model, data, initial_state, control, state=state
-    )
-
-    control = np.repeat(control, nstep, axis=1)
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  @parameterized.parameters(ALL_MODELS.keys())
-  def test_py_rollout_generalized_control(self, model_name):
-    model = mujoco.MjModel.from_xml_string(ALL_MODELS[model_name])
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 4  # number of rollouts
-    nstep = 3  # number of timesteps
-
-    initial_state = randn(nbatch, nstate)
-
-    control_spec = (
-        mujoco.mjtState.mjSTATE_CTRL
-        | mujoco.mjtState.mjSTATE_QFRC_APPLIED
-        | mujoco.mjtState.mjSTATE_XFRC_APPLIED
-    )
-    ncontrol = mujoco.mj_stateSize(model, control_spec)
-    control = randn(nbatch, nstep, ncontrol)
-
-    state, sensordata = rollout.rollout(
-        model, data, initial_state, control, control_spec=control_spec
-    )
-
-    py_state, py_sensordata = py_rollout(
-        model, data, initial_state, control, control_spec=control_spec
-    )
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  def test_detect_divergence(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML_DIVERGE)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 4  # number of rollouts
-    initial_state = empty(nbatch, nstate)
-
-    # get diverging (0, 2) and non-diverging (1, 3) states
-    mujoco.mj_getState(
-        model, data, initial_state[0], mujoco.mjtState.mjSTATE_FULLPHYSICS
-    )
-    mujoco.mj_getState(
-        model, data, initial_state[2], mujoco.mjtState.mjSTATE_FULLPHYSICS
-    )
-    mujoco.mj_resetDataKeyframe(model, data, 0)  # keyframe 0 does not diverge
-    mujoco.mj_getState(
-        model, data, initial_state[1], mujoco.mjtState.mjSTATE_FULLPHYSICS
-    )
-    mujoco.mj_getState(
-        model, data, initial_state[3], mujoco.mjtState.mjSTATE_FULLPHYSICS
-    )
-
-    nstep = 10000  # divergence after ~15s, timestep = 2e-3
-
-    state = randn(nbatch, nstep, nstate)
-
-    rollout.rollout(model, data, initial_state, state=state)
-
-    # initial_state[0,2] diverged, final timesteps are identical
-    assert state[0][-1][0] == state[0][-2][0]
-    assert state[2][-1][0] == state[2][-2][0]
-
-    # initial_state[1,3] did not diverge, final timesteps are different
-    assert state[1][-1][0] != state[1][-2][0]
-    assert state[3][-1][0] != state[3][-2][0]
-
-  # ----------------------------- test threaded operation
-
-  def test_threading(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    num_workers = 32
-    nbatch = 100
-    nstep = 5
-    initial_state = randn(nbatch, nstate)
-    state = empty(nbatch, nstep, nstate)
-    sensordata = empty(nbatch, nstep, model.nsensordata)
-    control = randn(nbatch, nstep, model.nu)
-
-    thread_local = threading.local()
-
-    def thread_initializer():
-      thread_local.data = mujoco.MjData(model)
-
-    model_list = [copy.copy(model) for _ in range(nbatch)]
-
-    def call_rollout(initial_state, control, state, sensordata):
-      rollout.rollout(
-          model_list,
-          [thread_local.data],
-          initial_state,
-          control,
-          skip_checks=True,
-          nstep=nstep,
-          state=state,
-          sensordata=sensordata,
-      )
-
-    n = nbatch // num_workers  # integer division
-    chunks = []  # a list of tuples, one per worker
-    for i in range(num_workers - 1):
-      chunks.append((
-          initial_state[i * n : (i + 1) * n],
-          control[i * n : (i + 1) * n],
-          state[i * n : (i + 1) * n],
-          sensordata[i * n : (i + 1) * n],
-      ))
-
-    # last chunk, absorbing the remainder:
-    chunks.append((
-        initial_state[(num_workers - 1) * n :],
-        control[(num_workers - 1) * n :],
-        state[(num_workers - 1) * n :],
-        sensordata[(num_workers - 1) * n :],
-    ))
-
-    with concurrent.futures.ThreadPoolExecutor(
-        max_workers=num_workers, initializer=thread_initializer
-    ) as executor:
-      futures = []
-      for chunk in chunks:
-        futures.append(executor.submit(call_rollout, *chunk))
-      for future in concurrent.futures.as_completed(futures):
-        future.result()
-
-    data = mujoco.MjData(model)
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  def test_threading_native(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    num_workers = 32
-    nbatch = 100
-    nstep = 5
-    initial_state = randn(nbatch, nstate)
-    state = empty(nbatch, nstep, nstate)
-    sensordata = empty(nbatch, nstep, model.nsensordata)
-    control = randn(nbatch, nstep, model.nu)
-
-    model_list = [copy.copy(model) for _ in range(nbatch)]
-    data_list = [mujoco.MjData(model) for _ in range(num_workers)]
-
-    rollout.rollout(
-        model_list,
-        data_list,
-        initial_state,
-        control,
-        nstep=nstep,
-        state=state,
-        sensordata=sensordata,
-    )
-
-    data = mujoco.MjData(model)
-    py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-    np.testing.assert_array_equal(state, py_state)
-    np.testing.assert_array_equal(sensordata, py_sensordata)
-
-  def test_threading_native_persistent_object(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    num_workers = 32
-    nbatch = 100
-    nstep = 5
-    initial_state = randn(nbatch, nstate)
-    state = empty(nbatch, nstep, nstate)
-    sensordata = empty(nbatch, nstep, model.nsensordata)
-    control = randn(nbatch, nstep, model.nu)
-
-    model_list = [copy.copy(model) for _ in range(nbatch)]
-    data_list = [mujoco.MjData(model) for _ in range(num_workers)]
-
-    with rollout.Rollout(nthread=num_workers) as rollout_:
-      for _ in range(2):
-        rollout_.rollout(
-            model_list,
-            data_list,
-            initial_state,
-            control,
-            nstep=nstep,
-            state=state,
-            sensordata=sensordata,
-        )
-
-      data = mujoco.MjData(model)
-      py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-      np.testing.assert_array_equal(state, py_state)
-      np.testing.assert_array_equal(sensordata, py_sensordata)
-
-    rollout_ = rollout.Rollout(nthread=num_workers)
-    for _ in range(2):
-      rollout_.rollout(
-          model_list,
-          data_list,
-          initial_state,
-          control,
-          nstep=nstep,
-          state=state,
-          sensordata=sensordata,
-      )
-
-      data = mujoco.MjData(model)
-      py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-      np.testing.assert_array_equal(state, py_state)
-      np.testing.assert_array_equal(sensordata, py_sensordata)
-    rollout_.close()
-
-  def test_threading_native_persistent_function(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    num_workers = 32
-    nbatch = 100
-    nstep = 5
-    initial_state = randn(nbatch, nstate)
-    state = empty(nbatch, nstep, nstate)
-    sensordata = empty(nbatch, nstep, model.nsensordata)
-    control = randn(nbatch, nstep, model.nu)
-
-    model_list = [copy.copy(model) for _ in range(nbatch)]
-    data_list = [mujoco.MjData(model) for _ in range(num_workers)]
-
-    for _ in range(2):
-      rollout.rollout(
-          model_list,
-          data_list,
-          initial_state,
-          control,
-          nstep=nstep,
-          state=state,
-          sensordata=sensordata,
-          persistent_pool=True,
-      )
-
-      data = mujoco.MjData(model)
-      py_state, py_sensordata = py_rollout(model, data, initial_state, control)
-      np.testing.assert_array_equal(state, py_state)
-      np.testing.assert_array_equal(sensordata, py_sensordata)
-    rollout.shutdown_persistent_pool()
-
-  # ---------------------------- test advanced operation
-
-  def test_warmstart(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    # take one step, save the state
-    state0 = zeros(nstate)
-    control = zeros(model.nu)
-    state1, _ = step(model, data, state0, control)
-
-    # save qacc_warmstart
-    initial_warmstart = data.qacc_warmstart.copy()
-
-    # take one more step (uses correct warmstart)
-    state2, _ = step(model, data, state1[0], control)
-
-    # take step using rollout, don't take warmstart into account
-    state, _ = rollout.rollout(model, data, state1[0], control)
-
-    # assert that stepping without warmstarts is not exact
-    np.testing.assert_raises(
-        AssertionError, np.testing.assert_array_equal, state, state2
-    )
-
-    # take step using rollout, take warmstart into account
-    state, _ = rollout.rollout(
-        model, data, state1, control, initial_warmstart=initial_warmstart
-    )
-
-    # assert exact equality
-    np.testing.assert_array_equal(state, np.expand_dims(state2, axis=0))
-
-  def test_mocap(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML_MOCAP)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    initial_state = zeros(nstate)
-
-    control_spec = (
-        mujoco.mjtState.mjSTATE_MOCAP_POS | mujoco.mjtState.mjSTATE_MOCAP_QUAT
-    )
-
-    pos1 = np.array((1.0, 2.0, 3.0), dtype=DTYPE)
-    quat1 = np.array((1.0, 2.0, 3.0, 4.0), dtype=DTYPE)
-    quat1 /= np.linalg.norm(quat1)
-    pos2 = np.array((2.0, 3.0, 4.0), dtype=DTYPE)
-    quat2 = np.array((2.0, 3.0, 4.0, 5.0), dtype=DTYPE)
-    quat2 /= np.linalg.norm(quat2)
-    control = np.hstack((pos1, pos2, quat1, quat2))
-
-    _, sensordata = rollout.rollout(
-        model, data, initial_state, control, control_spec=control_spec
-    )
-
-    np.testing.assert_array_almost_equal(sensordata[0][0][:3], pos1)
-    np.testing.assert_array_almost_equal(sensordata[0][0][3:], quat1)
-
-  # ---------------------------- test correctness
-
-  def test_intercept_mj_errors(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 1
-    nstep = 3
-
-    initial_state = zeros(nbatch, nstate)
-    ctrl = zeros(nbatch, nstep, model.nu)
-
-    model.opt.solver = 10  # invalid solver type
-    with self.assertRaisesWithLiteralMatch(
-        mujoco.FatalError, 'mj_fwdConstraint: unknown solver type 10'
-    ):
-      rollout.rollout(model, data, initial_state, ctrl)
-
-  def test_invalid(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 1
-
-    initial_state = zeros(nbatch, nstate)
-
-    control = 'string'
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'control must be a numpy array or float'
-    ):
-      rollout.rollout(model, data, initial_state, control)
-
-    control = zeros(2, 3, 4, 5)
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'control can have at most 3 dimensions'
-    ):
-      rollout.rollout(model, data, initial_state, control)
-
-  def test_bad_sizes(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nbatch = 1
-    nstep = 3
-
-    initial_state = randn(nbatch, nstate + 1)
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'trailing dimension of initial_state must be 6, got 7'
-    ):
-      rollout.rollout(model, data, initial_state)
-
-    initial_state = randn(nbatch, nstate)
-    control = randn(1, nstep, model.nu + 1)
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'trailing dimension of control must be 2, got 3'
-    ):
-      rollout.rollout(model, data, initial_state, control)
-
-    control = randn(nbatch, nstep, model.nu)
-    state = randn(nbatch, nstep + 1, nstate)  # incompatible nstep
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'dimension 1 inferred as 3 but state has 4'
-    ):
-      rollout.rollout(model, data, initial_state, control, state=state)
-
-    initial_state = randn(nbatch, nstate)
-    control = randn(nbatch, nstep, model.nu)
-    bad_spec = mujoco.mjtState.mjSTATE_ACT
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'control_spec can only contain bits in mjSTATE_USER'
-    ):
-      rollout.rollout(
-          model, data, initial_state, control, control_spec=bad_spec
-      )
-
-  def test_stateless(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    # step with a clean mjData
-    initial_state = randn(nstate)
-    control = randn(3, 3, model.nu)
-    state, sensordata = rollout.rollout(model, data, initial_state, control)
-
-    # fill user fields with random values
-    for attr in [
-        'ctrl',
-        'qfrc_applied',
-        'xfrc_applied',
-        'mocap_pos',
-        'mocap_quat',
-    ]:
-      setattr(data, attr, randn(*getattr(data, attr).shape))
-
-    # roll out again
-    state2, sensordata2 = rollout.rollout(model, data, initial_state, control)
-
-    # assert that we still get the same outputs
-    np.testing.assert_array_equal(state, state2)
-    np.testing.assert_array_equal(sensordata, sensordata2)
-
-  def test_length_one_model_list(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    initial_state = randn(nstate)
-    control = randn(3, 3, model.nu)
-
-    state, sensordata = rollout.rollout(model, data, initial_state, control)
-    state2, sensordata2 = rollout.rollout([model], data, initial_state, control)
-
-    # assert that we get same outputs
-    np.testing.assert_array_equal(state, state2)
-    np.testing.assert_array_equal(sensordata, sensordata2)
-
-  def test_data_sizes(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    initial_state = randn(nstate)
-    control = randn(3, 3, model.nu)
-
-    # Test passing empty lists for data
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'The list of data instances is empty'
-    ):
-      rollout.rollout(model, [], initial_state, control)
-
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'The list of data instances is empty'
-    ):
-      with rollout.Rollout(nthread=0) as rollout_:
-        rollout_.rollout(model, [], initial_state, control)
-
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'The list of data instances is empty'
-    ):
-      with rollout.Rollout(nthread=1) as rollout_:
-        rollout_.rollout(model, [], initial_state, control)
-
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'The list of data instances is empty'
-    ):
-      with rollout.Rollout(nthread=2) as rollout_:
-        rollout_.rollout(model, [], initial_state, control)
-
-    # Test checking that len(data) equals nthread
-    with self.assertRaisesWithLiteralMatch(
-        ValueError,
-        'More than one data instance passed but rollout is configured to run on'
-        ' main thread',
-    ):
-      with rollout.Rollout(nthread=0) as rollout_:
-        rollout_.rollout(
-            model, [copy.copy(data) for _ in range(2)], initial_state, control
-        )
-
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'Length of data: 1 not equal to nthread: 2'
-    ):
-      with rollout.Rollout(nthread=2) as rollout_:
-        rollout_.rollout(model, data, initial_state, control)
-
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'Length of data: 1 not equal to nthread: 2'
-    ):
-      with rollout.Rollout(nthread=2) as rollout_:
-        rollout_.rollout(model, [data], initial_state, control)
-
-    with self.assertRaisesWithLiteralMatch(
-        ValueError, 'Length of data: 3 not equal to nthread: 2'
-    ):
-      with rollout.Rollout(nthread=2) as rollout_:
-        rollout_.rollout(
-            model, [copy.copy(data) for _ in range(3)], initial_state, control
-        )
-
-  @absltest.skip(reason='Takes a long time to run')
-  def test_large_state(self):
-    model = mujoco.MjModel.from_xml_string(TEST_XML)
-    nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-    data = mujoco.MjData(model)
-
-    nthread = os.cpu_count()
-    nbatch = nthread
-
-    nstep = ((2**31) // (nstate * nbatch)) + 2
-    assert nstep * nstate * nbatch > 2**31
-
-    initial_state = randn(nbatch, nstate)
-    rollout.rollout(
-        model,
-        [copy.copy(data) for _ in range(nthread)],
-        initial_state,
-        nstep=nstep,
-    )
-
-
-# -------------- Python implementation of rollout functionality ----------------
-
-
-def get_state(model, data):
-  nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-  state = empty(nstate)
-  mujoco.mj_getState(model, data, state, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-  return state.reshape((1, nstate))
-
-
-def step(
-    model, data, state, control, control_spec=mujoco.mjtState.mjSTATE_CTRL
-):
-  if state is not None:
-    mujoco.mj_setState(model, data, state, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-  mujoco.mj_setState(model, data, control, control_spec)
-  mujoco.mj_step(model, data)
-  return (get_state(model, data), data.sensordata)
-
-
-def one_rollout(
-    model,
-    data,
-    initial_state,
-    control,
-    control_spec=mujoco.mjtState.mjSTATE_CTRL,
-):
-  nstep = control.shape[0]
-  nstate = mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-  state = empty(nstep, nstate)
-  sensordata = empty(nstep, model.nsensordata)
-
-  mujoco.mj_resetData(model, data)
-  for t in range(nstep):
-    state[t], sensordata[t] = step(
-        model, data, initial_state if t == 0 else None, control[t], control_spec
-    )
-  return state, sensordata
-
-
-def ensure_2d(arg):
-  if arg is None:
-    return None
-  else:
-    return np.ascontiguousarray(np.atleast_2d(arg), dtype=DTYPE)
-
-
-def ensure_3d(arg):
-  if arg is None:
-    return None
-  else:
-    # np.atleast_3d adds both leading and trailing dims, we want only leading
-    if arg.ndim == 0:
-      arg = arg[np.newaxis, np.newaxis, np.newaxis, ...]
-    elif arg.ndim == 1:
-      arg = arg[np.newaxis, np.newaxis, ...]
-    elif arg.ndim == 2:
-      arg = arg[np.newaxis, ...]
-    return np.ascontiguousarray(arg, dtype=DTYPE)
-
-
-def py_rollout(
-    model,
-    data,
-    initial_state,
-    control,
-    control_spec=mujoco.mjtState.mjSTATE_CTRL,
-):
-  initial_state = ensure_2d(initial_state)
-  control = ensure_3d(control)
-  nbatch = initial_state.shape[0]
-  nstep = control.shape[1]
-
-  if isinstance(model, mujoco.MjModel):
-    model = [copy.copy(model) for _ in range(nbatch)]
-
-  nstate = mujoco.mj_stateSize(model[0], mujoco.mjtState.mjSTATE_FULLPHYSICS)
-
-  state = empty(nbatch, nstep, nstate)
-  sensordata = empty(nbatch, nstep, model[0].nsensordata)
-  for r in range(nbatch):
-    state_r, sensordata_r = one_rollout(
-        model[r], data, initial_state[r], control[r], control_spec
-    )
-    state[r] = state_r
-    sensordata[r] = sensordata_r
-  return state, sensordata
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/serialization.h b/python/mujoco/serialization.h
deleted file mode 100644
index b387b455..00000000
--- a/python/mujoco/serialization.h
+++ /dev/null
@@ -1,78 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_SERIALIZATION_H_
-#define MUJOCO_PYTHON_SERIALIZATION_H_
-
-#include <cstddef>
-#include <iostream>
-#include <type_traits>
-
-#include <mujoco/mjtype.h>
-
-namespace mujoco::python::_impl {
-
-// For now, the serialization format is architecture- and version-dependent:
-// It assumes that the writer and the reader have the same endianess, same
-// numeric value sizes and same struct definitions.
-// It is not safe to load serialized data from another version of MuJoCo or from
-// a machine with a different architecture.
-
-static_assert(sizeof(char) == 1);
-static_assert(sizeof(int) == 4);
-static_assert((std::is_same_v<mjtNum, float> && sizeof(mjtNum) == 4) ||
-              (std::is_same_v<mjtNum, double> && sizeof(mjtNum) == 8));
-
-inline void WriteChar(std::ostream& output, char c) {
-  output.write(&c, 1);
-}
-
-inline char ReadChar(std::istream& input) {
-  char c = '\0';
-  input.read(&c, 1);
-  return c;
-}
-
-inline void WriteInt(std::ostream& output, std::size_t i) {
-  output.write(reinterpret_cast<char*>(&i), sizeof(std::size_t));
-}
-
-inline std::size_t ReadInt(std::istream& input) {
-  std::size_t i = 0;
-  input.read(reinterpret_cast<char*>(&i), sizeof(std::size_t));
-  return i;
-}
-
-inline void WriteBytes(std::ostream& output, const void* src,
-                       std::size_t nbytes) {
-  // Start by writing nbytes itself, so it can be validated at the time of
-  // reading.
-  WriteInt(output, nbytes);
-  if (src) {
-    output.write(reinterpret_cast<const char*>(src), nbytes);
-  }
-}
-
-inline void ReadBytes(std::istream& input, void* dest, std::size_t nbytes) {
-  std::size_t actual_nbytes = ReadInt(input);
-  if (actual_nbytes != nbytes) {
-    input.setstate(input.rdstate() | std::ios_base::failbit);
-    return;
-  }
-  input.read(reinterpret_cast<char*>(dest), nbytes);
-}
-
-}  // namespace mujoco::python::_impl
-
-#endif  // MUJOCO_PYTHON_SERIALIZATION_H_
diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
deleted file mode 100644
index 0e7aa99e..00000000
--- a/python/mujoco/simulate.cc
+++ /dev/null
@@ -1,468 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <atomic>
-#include <cstring>
-#include <memory>
-#include <stdexcept>
-#include <string>
-#include <thread>  // NOLINT(build/c++11)
-#include <tuple>
-#include <utility>
-#include <vector>
-
-#include <glfw_adapter.h>
-#include <glfw_dispatch.h>
-#include <simulate.h>
-#include <Python.h>
-#include "errors.h"
-#include "indexers.h"
-#include "structs.h"
-#include <pybind11/gil.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-namespace mujoco::python {
-namespace {
-using UIAdapter = mujoco::GlfwAdapter;
-namespace py = ::pybind11;
-
-template <typename T, int N>
-constexpr inline std::size_t sizeof_arr(const T (&arr)[N]) {
-  return sizeof(arr);
-}
-
-template <typename Adapter>
-class UIAdapterWithPyCallback : public Adapter {
- public:
-  template <typename... Args>
-  UIAdapterWithPyCallback(py::handle key_callback, Args&&... args)
-      : Adapter(std::forward<Args>(args)...) {
-    if (!key_callback.is_none()) {
-      Py_XINCREF(key_callback.ptr());
-      key_callback_ = key_callback.ptr();
-    }
-  }
-
-  ~UIAdapterWithPyCallback() override { Py_XDECREF(key_callback_); }
-
- protected:
-  void OnKey(int key, int scancode, int act) override {
-    Adapter::OnKey(key, scancode, act);
-    if (this->IsKeyDownEvent(act) && key_callback_) {
-      py::gil_scoped_acquire gil;
-      (py::handle(key_callback_))(this->last_key_);
-    }
-  }
-
- private:
-  PyObject* key_callback_ = nullptr;
-};
-
-class SimulateWrapper {
- public:
-  SimulateWrapper(std::unique_ptr<PlatformUIAdapter> platform_ui_adapter,
-                  py::object cam, py::object opt, py::object pert,
-                  py::object user_scn, bool is_passive)
-      : simulate_(new mujoco::Simulate(
-            std::move(platform_ui_adapter), cam.cast<MjvCameraWrapper&>().get(),
-            opt.cast<MjvOptionWrapper&>().get(),
-            pert.cast<MjvPerturbWrapper&>().get(), is_passive)),
-        m_(py::none()),
-        d_(py::none()),
-        cam_(cam),
-        opt_(opt),
-        pert_(pert),
-        user_scn_(user_scn) {
-    if (!user_scn.is_none()) {
-      simulate_->user_scn = user_scn_.cast<MjvSceneWrapper&>().get();
-    }
-  }
-
-  ~SimulateWrapper() { Destroy(); }
-
-  void Destroy() {
-    if (simulate_) {
-      delete simulate_;
-      simulate_ = nullptr;
-      destroyed_.store(1);
-    }
-  }
-
-  void WaitUntilExit() {
-    WaitForAtomicNoGil(simulate_->exitrequest, 2);
-  }
-
-  void Load(py::object m, py::object d, const std::string& path) {
-    if (!simulate_) {
-      return;
-    }
-
-    mjModel* m_raw = m.cast<MjModelWrapper&>().get();
-    mjData* d_raw = d.cast<MjDataWrapper&>().get();
-    {
-      py::gil_scoped_release no_gil;
-      simulate_->Load(m_raw, d_raw, path.c_str());
-    }
-    m_ = m;
-    d_ = d;
-    m_raw_ = m_raw;
-    d_raw_ = d_raw;
-  }
-
-  mujoco::Simulate* simulate() { return simulate_; }
-
-  py::object GetModel() const { return m_; }
-  py::object GetData() const { return d_; }
-
-  mjrRect GetViewport() const {
-    // Return the viewport corresponding to the 3D view, i.e. the viewer window
-    // without the UI elements.
-    return simulate_->uistate.rect[3];
-  }
-
-  void SetFigures(
-      const std::vector<std::pair<mjrRect, py::object>>& viewports_figures) {
-    if (WaitForAtomicNoGil(simulate_->newfigurerequest, 0)) {
-      return;
-    }
-
-    // Pairs of [viewport, figure], where viewport corresponds to the location
-    // of the figure on the viewer window.
-    for (const auto& [viewport, figure] : viewports_figures) {
-      mjvFigure casted_figure = *figure.cast<MjvFigureWrapper&>().get();
-      simulate_->user_figures_new_.push_back(
-          std::make_pair(viewport, casted_figure));
-    }
-
-    int value = 0;
-    simulate_->newfigurerequest.compare_exchange_strong(value, 1);
-  }
-
-  void ClearFigures() {
-    if (WaitForAtomicNoGil(simulate_->newfigurerequest, 0)) {
-      return;
-    }
-
-    simulate_->user_figures_new_.clear();
-
-    int value = 0;
-    simulate_->newfigurerequest.compare_exchange_strong(value, 1);
-  }
-
-  void SetTexts(
-      const std::vector<std::tuple<int, int, std::string, std::string>>&
-          texts) {
-    if (WaitForAtomicNoGil(simulate_->newtextrequest, 0)) {
-      return;
-    }
-
-    // Collection of [font, gridpos, text1, text2] tuples for overlay text
-    for (const auto& [font, gridpos, text1, text2] : texts) {
-      simulate_->user_texts_new_.push_back(
-          std::make_tuple(font, gridpos, text1, text2));
-    }
-
-    int value = 0;
-    simulate_->newtextrequest.compare_exchange_strong(value, 1);
-  }
-
-  void ClearTexts() {
-    if (WaitForAtomicNoGil(simulate_->newtextrequest, 0)) {
-      return;
-    }
-
-    simulate_->user_texts_new_.clear();
-
-    int value = 0;
-    simulate_->newtextrequest.compare_exchange_strong(value, 1);
-  }
-
-  void SetImages(
-    const std::vector<std::tuple<mjrRect, pybind11::array>> viewports_images
-  ) {
-    if (WaitForAtomicNoGil(simulate_->newimagerequest, 0)) {
-      return;
-    }
-
-    for (const auto& [viewport, image] : viewports_images) {
-      auto buf = image.request();
-      if (buf.ndim != 3) {
-        throw std::invalid_argument("image must have 3 dimensions (H, W, C)");
-      }
-      if (static_cast<int>(buf.shape[2]) != 3) {
-        throw std::invalid_argument("image must have 3 channels");
-      }
-      if (buf.itemsize != sizeof(unsigned char)) {
-        throw std::invalid_argument("image must be uint8 format");
-      }
-
-      // Calculate size of the image data
-      size_t height = buf.shape[0];
-      size_t width = buf.shape[1];
-      size_t size = height * width * 3;
-
-      // Make a copy of the image data since Python is
-      // not required to keep it
-      std::unique_ptr<unsigned char[]> image_copy(new unsigned char[size]());
-      std::memcpy(image_copy.get(), buf.ptr, size);
-
-      simulate_->user_images_new_.push_back(
-          std::make_tuple(viewport, std::move(image_copy)));
-    }
-
-    int value = 0;
-    simulate_->newimagerequest.compare_exchange_strong(value, 1);
-  }
-
-  void ClearImages() {
-    if (WaitForAtomicNoGil(simulate_->newimagerequest, 0)) {
-      return;
-    }
-
-    simulate_->user_images_new_.clear();
-
-    int value = 0;
-    simulate_->newimagerequest.compare_exchange_strong(value, 1);
-  }
-
- private:
-  // Waits for an atomic value to become the expected value, releasing the GIL
-  // during the wait to prevent deadlock with render thread's key callback which
-  // needs to acquire the GIL. Returns true if simulate_ is null i.e. the
-  // viewer has been destroyed during the wait and the caller should return.
-  bool WaitForAtomicNoGil(std::atomic_int& atomic, int expected) {
-    if (simulate_) {
-      py::gil_scoped_release no_gil;
-      while (atomic.load() != expected) {
-        // If the viewer is exiting, stop waiting. The render loop will
-        // never consume the pending request once it has set exitrequest.
-        if (simulate_->exitrequest.load()) {
-          return true;
-        }
-        // TODO(robotics-simulation): replace with `atomic.wait(expected)` when
-        // we migrate python bindings to C++20 (we may need to drop GCC 10).
-        std::this_thread::yield();
-      }
-    }
-
-    // Re-check after waiting because releasing the GIL allows other threads to
-    // run, including the thread which handles window close, hence simulate_
-    // could become invalid during the wait.
-    return simulate_ == nullptr;
-  }
-
-  mujoco::Simulate* simulate_;
-  std::atomic_int destroyed_ = 0;
-
-  // Hold references to keep these Python objects alive for as long as the
-  // simulate object.
-  py::object m_;
-  py::object d_;
-  py::object cam_;
-  py::object opt_;
-  py::object pert_;
-  py::object user_scn_;
-
-  mjModel* m_raw_ = nullptr;
-  mjData* d_raw_ = nullptr;
-};
-
-inline mujoco::Simulate& SimulateRefOrThrow(SimulateWrapper& wrapper) {
-  auto* sim = wrapper.simulate();
-  if (!sim) {
-    throw UnexpectedError("simulate object is already deleted");
-  }
-  return *sim;
-}
-
-template <typename T, typename... Args>
-inline auto CallIfNotNull(T (*func)(mujoco::Simulate&, Args...)) {
-  return [func](SimulateWrapper& wrapper, Args&&... args) {
-    return func(SimulateRefOrThrow(wrapper), std::forward<Args>(args)...);
-  };
-}
-
-template <typename... Args>
-inline auto CallIfNotNull(void (*func)(mujoco::Simulate&, Args...)) {
-  return [func](SimulateWrapper& wrapper, Args&&... args) -> void {
-    func(SimulateRefOrThrow(wrapper), std::forward<Args>(args)...);
-  };
-}
-
-template <typename... Args>
-inline auto CallIfNotNull(void (mujoco::Simulate::*func)(Args...)) {
-  return [func](SimulateWrapper& wrapper, Args&&... args) -> void {
-    (SimulateRefOrThrow(wrapper).*func)(std::forward<Args>(args)...);
-  };
-}
-
-template <typename T>
-inline auto GetIfNotNull(T mujoco::Simulate::* member) {
-  return [member](SimulateWrapper& wrapper) -> T& {
-    return SimulateRefOrThrow(wrapper).*member;
-  };
-}
-
-template <typename T, typename... Args>
-inline auto SetIfNotNull(T mujoco::Simulate::* member) {
-  return [member](SimulateWrapper& wrapper, const T& value) -> void {
-    SimulateRefOrThrow(wrapper).*member = value;
-  };
-}
-
-PYBIND11_MODULE(_simulate, pymodule, pybind11::mod_gil_not_used()) {
-  py::class_<SimulateMutex>(pymodule, "Mutex")
-      .def(
-          "__enter__", [](SimulateMutex& mtx) { mtx.lock(); },
-          py::call_guard<py::gil_scoped_release>())
-      .def(
-          "__exit__",
-          [](SimulateMutex& mtx, py::handle, py::handle, py::handle) {
-            mtx.unlock();
-          },
-          py::call_guard<py::gil_scoped_release>());
-
-  py::class_<SimulateWrapper>(pymodule, "Simulate")
-      .def_readonly_static("MAX_GEOM", &mujoco::Simulate::kMaxGeom)
-      .def(py::init([](py::object scn, py::object cam, py::object opt,
-                       py::object pert, bool run_physics_thread,
-                       py::object key_callback) {
-        bool is_passive = !run_physics_thread;
-        return std::make_unique<SimulateWrapper>(
-            std::make_unique<UIAdapterWithPyCallback<UIAdapter>>(key_callback),
-            scn, cam, opt, pert, is_passive);
-      }))
-      .def("destroy", &SimulateWrapper::Destroy)
-      .def("load_message", CallIfNotNull(&mujoco::Simulate::LoadMessage),
-           py::call_guard<py::gil_scoped_release>())
-      .def("load", &SimulateWrapper::Load)
-      .def("load_message_clear",
-           CallIfNotNull(&mujoco::Simulate::LoadMessageClear),
-           py::call_guard<py::gil_scoped_release>())
-      .def("sync", CallIfNotNull(&mujoco::Simulate::Sync),
-           py::arg("state_only") = false,
-           py::call_guard<py::gil_scoped_release>())
-      .def("add_to_history", CallIfNotNull(&mujoco::Simulate::AddToHistory),
-           py::call_guard<py::gil_scoped_release>())
-      .def("render_loop", CallIfNotNull(&mujoco::Simulate::RenderLoop),
-           py::call_guard<py::gil_scoped_release>())
-      .def("lock", GetIfNotNull(&mujoco::Simulate::mtx),
-           py::call_guard<py::gil_scoped_release>(),
-           py::return_value_policy::reference_internal)
-      .def("set_figures", &SimulateWrapper::SetFigures,
-           py::arg("viewports_figures"))
-      .def("clear_figures", &SimulateWrapper::ClearFigures)
-      .def("set_texts", &SimulateWrapper::SetTexts, py::arg("overlay_texts"))
-      .def("clear_texts", &SimulateWrapper::ClearTexts)
-      .def("set_images", &SimulateWrapper::SetImages,
-           py::arg("viewports_images"))
-      .def("clear_images", &SimulateWrapper::ClearImages)
-      .def_property_readonly("m", &SimulateWrapper::GetModel)
-      .def_property_readonly("d", &SimulateWrapper::GetData)
-      .def_property_readonly("viewport", &SimulateWrapper::GetViewport)
-      .def_property_readonly("ctrl_noise_std",
-                             py::cpp_function(GetIfNotNull(&mujoco::Simulate::ctrl_noise_std), py::call_guard<py::gil_scoped_release>()))
-      .def_property_readonly("ctrl_noise_rate",
-                             py::cpp_function(GetIfNotNull(&mujoco::Simulate::ctrl_noise_rate), py::call_guard<py::gil_scoped_release>()))
-
-      .def_property_readonly("real_time_index",
-                             py::cpp_function(GetIfNotNull(&mujoco::Simulate::real_time_index), py::call_guard<py::gil_scoped_release>()))
-      .def_property("speed_changed",
-                    py::cpp_function(GetIfNotNull(&mujoco::Simulate::speed_changed), py::call_guard<py::gil_scoped_release>()),
-                    py::cpp_function(SetIfNotNull(&mujoco::Simulate::speed_changed), py::call_guard<py::gil_scoped_release>()))
-      .def_property("measured_slowdown",
-                    py::cpp_function(GetIfNotNull(&mujoco::Simulate::measured_slowdown), py::call_guard<py::gil_scoped_release>()),
-                    py::cpp_function(SetIfNotNull(&mujoco::Simulate::measured_slowdown), py::call_guard<py::gil_scoped_release>()))
-      .def_property_readonly("refresh_rate",
-                             py::cpp_function(GetIfNotNull(&mujoco::Simulate::refresh_rate), py::call_guard<py::gil_scoped_release>()))
-
-      .def_property_readonly("busywait",
-                             py::cpp_function(GetIfNotNull(&mujoco::Simulate::busywait), py::call_guard<py::gil_scoped_release>()))
-      .def_property_readonly("run", py::cpp_function(GetIfNotNull(&mujoco::Simulate::run), py::call_guard<py::gil_scoped_release>()))
-
-      .def_property_readonly("exitrequest",
-                             py::cpp_function(CallIfNotNull(+[](mujoco::Simulate& sim) {
-                               return sim.exitrequest.load();
-                             }), py::call_guard<py::gil_scoped_release>()))
-      .def("exit",
-           [](SimulateWrapper& wrapper) {
-             mujoco::Simulate* sim = wrapper.simulate();
-             if (!sim) {
-               return;
-             }
-
-             int value = 0;
-             sim->exitrequest.compare_exchange_strong(value, 1);
-             wrapper.WaitUntilExit();
-           })
-
-      .def_property_readonly("uiloadrequest",
-                             py::cpp_function(CallIfNotNull(+[](mujoco::Simulate& sim) {
-                               return sim.uiloadrequest.load();
-                             }), py::call_guard<py::gil_scoped_release>()))
-      .def("uiloadrequest_decrement", CallIfNotNull(+[](mujoco::Simulate& sim) {
-             sim.uiloadrequest.fetch_sub(1);
-           }),
-           py::call_guard<py::gil_scoped_release>())
-      .def("update_hfield",
-           CallIfNotNull(+[](mujoco::Simulate& sim, int hfieldid) {
-             sim.UpdateHField(hfieldid);
-           }),
-           py::call_guard<py::gil_scoped_release>())
-      .def("update_mesh", CallIfNotNull(+[](mujoco::Simulate& sim, int meshid) {
-             sim.UpdateMesh(meshid);
-           }),
-           py::call_guard<py::gil_scoped_release>())
-      .def("update_texture",
-           CallIfNotNull(+[](mujoco::Simulate& sim, int texid) {
-             sim.UpdateTexture(texid);
-           }),
-           py::call_guard<py::gil_scoped_release>())
-
-      .def_property(
-          "droploadrequest", py::cpp_function(CallIfNotNull(+[](mujoco::Simulate& sim) {
-            return sim.droploadrequest.load();
-          }), py::call_guard<py::gil_scoped_release>()),
-          py::cpp_function(CallIfNotNull(+[](mujoco::Simulate& sim, bool droploadrequest) {
-            sim.droploadrequest.store(droploadrequest);
-          }), py::call_guard<py::gil_scoped_release>()))
-      .def_property_readonly("dropfilename",
-                             py::cpp_function(GetIfNotNull(&mujoco::Simulate::dropfilename), py::call_guard<py::gil_scoped_release>()))
-      .def_property_readonly("filename",
-                             py::cpp_function(GetIfNotNull(&mujoco::Simulate::filename), py::call_guard<py::gil_scoped_release>()))
-      .def_property(
-          "load_error", GetIfNotNull(&mujoco::Simulate::load_error),
-          CallIfNotNull(+[](mujoco::Simulate& sim, const std::string& error) {
-            const auto max_length = sizeof_arr(sim.load_error);
-            std::strncpy(sim.load_error, error.c_str(), max_length - 1);
-            sim.load_error[max_length - 1] = '\0';
-          }))
-      .def_property("ui0_enable", py::cpp_function(GetIfNotNull(&mujoco::Simulate::ui0_enable), py::call_guard<py::gil_scoped_release>()),
-                    py::cpp_function(CallIfNotNull(+[](mujoco::Simulate& sim, int enabled) {
-                      sim.ui0_enable = enabled;
-                    }), py::call_guard<py::gil_scoped_release>()))
-      .def_property("ui1_enable", py::cpp_function(GetIfNotNull(&mujoco::Simulate::ui1_enable), py::call_guard<py::gil_scoped_release>()),
-                    py::cpp_function(CallIfNotNull(+[](mujoco::Simulate& sim, int enabled) {
-                      sim.ui1_enable = enabled;
-                    }), py::call_guard<py::gil_scoped_release>()));
-
-  pymodule.def("set_glfw_dlhandle", [](std::uintptr_t dlhandle) {
-    mujoco::Glfw(reinterpret_cast<void*>(dlhandle));
-  });
-}
-
-}  // namespace
-}  // namespace mujoco::python
diff --git a/python/mujoco/specs.cc b/python/mujoco/specs.cc
deleted file mode 100644
index d2719612..00000000
--- a/python/mujoco/specs.cc
+++ /dev/null
@@ -1,1889 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <array>
-#include <cstddef>  // IWYU pragma: keep
-#include <cstdint>
-#include <cstring>
-#include <memory>
-#include <optional>
-#include <stdexcept>
-#include <string>
-#include <string_view>  // IWYU pragma: keep
-#include <unordered_map>
-#include <utility>
-#include <vector>       // IWYU pragma: keep
-
-#include <Eigen/Core>
-#include <Eigen/Eigen>
-#include <mujoco/mjspec.h>  // IWYU pragma: keep
-#include <mujoco/mujoco.h>
-#include "errors.h"
-#include "indexers.h"  // IWYU pragma: keep
-#include "specs_wrapper.h"  // IWYU pragma: keep
-#include "raw.h"
-#include "structs.h"  // IWYU pragma: keep
-#include "vfs.h"
-#include <pybind11/cast.h>
-#include <pybind11/eigen.h>
-#include <pybind11/eigen/matrix.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-namespace py = ::pybind11;
-
-namespace mujoco::python {
-using MjInt2 = Eigen::Map<Eigen::Vector2i>;
-using MjInt3 = Eigen::Map<Eigen::Vector3i>;
-using MjFloat2 = Eigen::Map<Eigen::Vector2f>;
-using MjFloat3 = Eigen::Map<Eigen::Vector3f>;
-using MjFloat4 = Eigen::Map<Eigen::Vector4f>;
-using MjDouble2 = Eigen::Map<Eigen::Vector2d>;
-using MjDouble3 = Eigen::Map<Eigen::Vector3d>;
-using MjDouble4 = Eigen::Map<Eigen::Vector4d>;
-using MjDouble5 = Eigen::Map<Eigen::Matrix<double, 5, 1>>;
-using MjDouble6 = Eigen::Map<Eigen::Matrix<double, 6, 1>>;
-using MjDouble9 = Eigen::Map<Eigen::Matrix<double, 9, 1>>;
-using MjDouble10 = Eigen::Map<Eigen::Matrix<double, 10, 1>>;
-using MjDouble11 = Eigen::Map<Eigen::Matrix<double, 11, 1>>;
-using MjDoubleVec = Eigen::Map<Eigen::VectorXd>;
-using MjNum2 = Eigen::Map<Eigen::Matrix<mjtNum, 2, 1>>;
-using MjNum3 = Eigen::Map<Eigen::Matrix<mjtNum, 3, 1>>;
-using MjNum5 = Eigen::Map<Eigen::Matrix<mjtNum, 5, 1>>;
-
-using MjIntRef2 = Eigen::Ref<const Eigen::Vector2i>;
-using MjIntRef3 = Eigen::Ref<const Eigen::Vector3i>;
-using MjFloatRef2 = Eigen::Ref<const Eigen::Vector2f>;
-using MjFloatRef3 = Eigen::Ref<const Eigen::Vector3f>;
-using MjFloatRef4 = Eigen::Ref<const Eigen::Vector4f>;
-using MjDoubleRef2 = Eigen::Ref<const Eigen::Vector2d>;
-using MjDoubleRef3 = Eigen::Ref<const Eigen::Vector3d>;
-using MjDoubleRef4 = Eigen::Ref<const Eigen::Vector4d>;
-using MjDoubleRef5 = Eigen::Ref<const Eigen::Matrix<double, 5, 1>>;
-using MjDoubleRef6 = Eigen::Ref<const Eigen::Matrix<double, 6, 1>>;
-using MjDoubleRef9 = Eigen::Ref<const Eigen::Matrix<double, 9, 1>>;
-using MjDoubleRef10 = Eigen::Ref<const Eigen::Matrix<double, 10, 1>>;
-using MjDoubleRef11 = Eigen::Ref<const Eigen::Matrix<double, 11, 1>>;
-using MjDoubleRefVec = Eigen::Ref<const Eigen::VectorXd>;
-using MjNumRef2 = Eigen::Ref<const Eigen::Matrix<mjtNum, 2, 1>>;
-using MjNumRef3 = Eigen::Ref<const Eigen::Matrix<mjtNum, 3, 1>>;
-using MjNumRef5 = Eigen::Ref<const Eigen::Matrix<mjtNum, 5, 1>>;
-
-template <typename LoadFunc>
-static raw::MjSpec* LoadSpecFileImpl(
-    const std::string& filename,
-    const std::vector<_impl::VfsAsset>& assets,
-    LoadFunc&& loadfunc) {
-  mjVFS vfs;
-  mjVFS* vfs_ptr = nullptr;
-  if (!assets.empty()) {
-    mj_defaultVFS(&vfs);
-    vfs_ptr = &vfs;
-    for (const auto& asset : assets) {
-      std::string buffer_name = _impl::StripPath(asset.name);
-      const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
-          vfs_ptr, buffer_name.c_str(), asset.content, asset.content_size);
-      if (vfs_error) {
-        mj_deleteVFS(vfs_ptr);
-        if (vfs_error == 2) {
-          throw py::value_error("Repeated file name in assets dict: " +
-                                buffer_name);
-        } else {
-          throw py::value_error("Asset failed to load: " + buffer_name);
-        }
-      }
-    }
-  }
-
-  raw::MjSpec* spec = loadfunc(filename.c_str(), vfs_ptr);
-  mj_deleteVFS(vfs_ptr);
-  return spec;
-}
-
-template <typename T>
-struct MjTypeVec {
-  MjTypeVec(T* data, int size) : ptr(data), size(size) {}
-  T* ptr;
-  int size;
-};
-
-template <typename T>
-void DefineArray(py::module& m, const std::string& typestr) {
-  using Class = MjTypeVec<T>;
-  py::class_<Class>(m, typestr.c_str())
-      .def(py::init([](T* data, int size) { return Class(data, size); }))
-      .def("__getitem__",
-           [](Class& v, int i) {
-             if (i < 0 || i >= v.size) {
-               throw py::index_error("Index out of range.");
-             }
-             return v.ptr[i];
-           })
-      .def("__setitem__",
-           [](Class& v, int i, T c) {
-             if (i < 0 || i >= v.size) {
-               throw py::index_error("Index out of range.");
-             }
-             v.ptr[i] = std::move(c);
-           })
-      .def("__len__", [](Class& v) { return v.size; })
-      .def("__iter__", [](Class& v) {
-        return py::make_iterator(v.ptr, v.ptr + v.size);
-      }, py::keep_alive<0, 1>(), py::return_value_policy::reference_internal);
-};
-
-py::list FindAllImpl(raw::MjsBody& body, mjtObj objtype, bool recursive) {
-  py::list list;
-  raw::MjsElement* el = mjs_firstChild(&body, objtype, recursive);
-  std::string error = mjs_getError(mjs_getSpec(body.element));
-  if (!el && !error.empty()) {
-    throw pybind11::value_error(error);
-  }
-  while (el) {
-    switch (objtype) {
-      case mjOBJ_BODY:
-        list.append(mjs_asBody(el));
-        break;
-      case mjOBJ_CAMERA:
-        list.append(mjs_asCamera(el));
-        break;
-      case mjOBJ_FRAME:
-        list.append(mjs_asFrame(el));
-        break;
-      case mjOBJ_GEOM:
-        list.append(mjs_asGeom(el));
-        break;
-      case mjOBJ_JOINT:
-        list.append(mjs_asJoint(el));
-        break;
-      case mjOBJ_LIGHT:
-        list.append(mjs_asLight(el));
-        break;
-      case mjOBJ_SITE:
-        list.append(mjs_asSite(el));
-        break;
-      default:
-        // this should never happen
-        throw pybind11::value_error(
-            "body.find_all supports the types: body, frame, geom, site, "
-            "joint, light, camera.");
-        break;
-    }
-    el = mjs_nextChild(&body, el, recursive);
-  }
-  return list;  // list of pointers, so they can be copied
-}
-
-static std::string addSuffixBeforeExtension(const std::string& original_path,
-                                            const std::string& suffix_to_add) {
-  // Find the position of the last dot
-  size_t dot_pos = original_path.rfind('.');
-
-  // Check if a dot was found
-  if (dot_pos != std::string::npos) {
-    std::string new_path = original_path;
-    new_path.insert(dot_pos, suffix_to_add);
-    return new_path;
-  } else {
-    // No extension found, just append
-    return original_path + suffix_to_add;
-  }
-}
-
-static std::string addPrefixToFileName(const std::string& original_path,
-                                       const std::string& prefix_to_add) {
-  // Find the position of the last slash
-  size_t slash_pos = original_path.find_last_of("/\\");
-
-  // Check if a slash was found
-  if (slash_pos != std::string::npos) {
-    std::string new_path = original_path;
-    new_path.insert(slash_pos + 1, prefix_to_add);
-    return new_path;
-  } else {
-    // No slash found, just prepend
-    return prefix_to_add + original_path;
-  }
-}
-
-static std::string addPrefixAndSuffix(const std::string& original_path,
-                                      const std::string& prefix_to_add,
-                                      const std::string& suffix_to_add) {
-  std::string prefixed_path = addPrefixToFileName(original_path, prefix_to_add);
-  return addSuffixBeforeExtension(prefixed_path, suffix_to_add);
-}
-
-PYBIND11_MODULE(_specs, m, pybind11::mod_gil_not_used()) {
-  auto structs_m = py::module::import("mujoco._structs");
-  py::function mjmodel_from_raw_ptr =
-      structs_m.attr("MjModel").attr("_from_model_ptr");
-  py::function mjmodel_mjdata_from_spec_ptr =
-      structs_m.attr("_recompile_spec_addr");
-
-  py::class_<MjSpec> mjSpec(m, "MjSpec");
-  py::class_<raw::MjsElement> mjsElement(m, "MjsElement");
-  py::class_<raw::MjsDefault> mjsDefault(m, "MjsDefault");
-  py::class_<raw::MjsBody> mjsBody(m, "MjsBody");
-  py::class_<raw::MjsFrame> mjsFrame(m, "MjsFrame");
-  py::class_<raw::MjsGeom> mjsGeom(m, "MjsGeom");
-  py::class_<raw::MjsJoint> mjsJoint(m, "MjsJoint");
-  py::class_<raw::MjsLight> mjsLight(m, "MjsLight");
-  py::class_<raw::MjsMaterial> mjsMaterial(m, "MjsMaterial");
-  py::class_<raw::MjsSite> mjsSite(m, "MjsSite");
-  py::class_<raw::MjsMesh> mjsMesh(m, "MjsMesh");
-  py::class_<raw::MjsSkin> mjsSkin(m, "MjsSkin");
-  py::class_<raw::MjsTexture> mjsTexture(m, "MjsTexture");
-  py::class_<raw::MjsText> mjsText(m, "MjsText");
-  py::class_<raw::MjsTuple> mjsTuple(m, "MjsTuple");
-  py::class_<raw::MjsCamera> mjsCamera(m, "MjsCamera");
-  py::class_<raw::MjsFlex> mjsFlex(m, "MjsFlex");
-  py::class_<raw::MjsHField> mjsHField(m, "MjsHField");
-  py::class_<raw::MjsKey> mjsKey(m, "MjsKey");
-  py::class_<raw::MjsNumeric> mjsNumeric(m, "MjsNumeric");
-  py::class_<raw::MjsPair> mjsPair(m, "MjsPair");
-  py::class_<raw::MjsExclude> mjsExclude(m, "MjsExclude");
-  py::class_<raw::MjsEquality> mjsEquality(m, "MjsEquality");
-  py::class_<raw::MjsTendon> mjsTendon(m, "MjsTendon");
-  py::class_<raw::MjsSensor> mjsSensor(m, "MjsSensor");
-  py::class_<raw::MjsActuator> mjsActuator(m, "MjsActuator");
-  py::class_<raw::MjsPlugin> mjsPlugin(m, "MjsPlugin");
-  py::class_<raw::MjsOrientation> mjsOrientation(m, "MjsOrientation");
-  py::class_<raw::MjsWrap> mjsWrap(m, "MjsWrap");
-  py::class_<raw::MjOption> mjOption(m, "MjOption");
-  py::class_<raw::MjStatistic> mjStatistic(m, "MjStatistic");
-  py::class_<raw::MjVisual> mjVisual(m, "MjVisual");
-  py::class_<raw::MjVisualHeadlight> mjVisualHeadlight(m, "MjVisualHeadlight");
-  py::class_<raw::MjVisualRgba> mjVisualRgba(m, "MjVisualRgba");
-  py::class_<raw::MjsCompiler> mjsCompiler(m, "MjsCompiler");
-  py::class_<raw::MjsAuthored> mjsAuthored(m, "MjsAuthored");
-  DefineArray<char>(m, "MjCharVec");
-  DefineArray<std::string>(m, "MjStringVec");
-  DefineArray<std::byte>(m, "MjByteVec");
-  DefineArray<double>(m, "MjDoubleVec");
-  DefineArray<float>(m, "MjFloatVec");
-  DefineArray<int>(m, "MjIntVec");
-
-  // ============================= MJVFS =====================================
-  py::class_<MjVfs>(m, "MjVfs")
-      .def(py::init<>())
-      .def("close", &MjVfs::Close)
-      .def("__enter__", [](MjVfs& self) -> MjVfs& { return self; })
-      .def("__exit__",
-           [](MjVfs& self, py::object, py::object, py::object) {
-             self.Close();
-           })
-      .def("__setitem__",
-           [](MjVfs& self, const std::string& name, py::bytes data) {
-             if (!self.is_open()) {
-               throw std::runtime_error("VFS is closed");
-             }
-             std::string_view buffer = data;
-             const int err = mj_addBufferVFS(
-                 self.get(), name.c_str(), buffer.data(), buffer.size());
-             if (err == 2) {
-               throw py::value_error(
-                   "Repeated file name in VFS: " + name);
-             } else if (err) {
-               throw py::value_error(
-                   "Failed to add buffer to VFS: " + name);
-             }
-           })
-      .def("__delitem__",
-           [](MjVfs& self, const std::string& name) {
-             if (!self.is_open()) {
-               throw std::runtime_error("VFS is closed");
-             }
-             if (mj_deleteFileVFS(self.get(), name.c_str())) {
-               throw py::key_error(name);
-             }
-           })
-      .def("__contains__",
-           [](MjVfs& self, const std::string& name) {
-             if (!self.is_open()) {
-               throw std::runtime_error("VFS is closed");
-             }
-             return mj_containsBufferVFS(self.get(), name.c_str()) == 1;
-           });
-
-
-  // ============================= MJSPEC =====================================
-  mjSpec.def(py::init<>());
-  mjSpec.def_property_readonly(
-      "parent", [](MjSpec& self) -> MjSpec* { return self.parent; });
-  mjSpec.def_static(
-      "from_file",
-      [](std::string& filename,
-         std::optional<std::unordered_map<std::string, py::bytes>>& include,
-         std::optional<py::dict>& assets,
-         MjVfs* vfs) -> MjSpec {
-        if (vfs && (include.has_value() || assets.has_value())) {
-          throw py::value_error(
-              "Cannot specify both 'vfs' and 'include'/'assets'.");
-        }
-        if (vfs) {
-          raw::MjSpec* spec;
-          {
-            py::gil_scoped_release no_gil;
-            char error[1024];
-            spec = InterceptMjErrors(mj_parse)(
-                filename.c_str(), nullptr, vfs->get(),
-                error, sizeof(error));
-            if (!spec) {
-              throw py::value_error(error);
-            }
-          }
-          return MjSpec(spec);
-        }
-        const auto files = _impl::ConvertAssetsDict(include);
-        raw::MjSpec* spec;
-        {
-          py::gil_scoped_release no_gil;
-          char error[1024];
-          spec = LoadSpecFileImpl(
-              filename, files,
-              [&error](const char* filename, const mjVFS* vfs) {
-                return InterceptMjErrors(mj_parse)(
-                    filename, nullptr, vfs, error, sizeof(error));
-              });
-          if (!spec) {
-            throw py::value_error(error);
-          }
-        }
-        if (assets.has_value()) {
-          return MjSpec(spec, assets.value());
-        }
-        return MjSpec(spec);
-      },
-      py::arg("filename"), py::arg("include") = py::none(),
-      py::arg("assets") = py::none(), py::arg("vfs") = py::none(),
-      R"mydelimiter(
-    Creates a spec from an XML file.
-
-    Parameters
-    ----------
-    filename : str
-        Path to the XML file.
-    include : dict, optional
-        A dictionary of xml files included by the model. The keys are file names
-        and the values are file contents.
-    assets : dict, optional
-        A dictionary of assets to be used by the spec. The keys are asset names
-        and the values are asset contents.
-    vfs : MjVfs, optional
-        A VFS to use for resolving includes and assets. Cannot be used with
-        include or assets.
-  )mydelimiter",
-      py::return_value_policy::move);
-  mjSpec.def_static(
-      "from_string",
-      [](std::string& xml,
-         std::optional<std::unordered_map<std::string, py::bytes>>& include,
-         std::optional<py::dict>& assets,
-         MjVfs* vfs) -> MjSpec {
-        if (vfs && (include.has_value() || assets.has_value())) {
-          throw py::value_error(
-              "Cannot specify both 'vfs' and 'include'/'assets'.");
-        }
-        if (vfs) {
-          raw::MjSpec* spec;
-          {
-            py::gil_scoped_release no_gil;
-            char error[1024];
-            spec = InterceptMjErrors(mj_parseXMLString)(
-                xml.c_str(), vfs->get(), error, sizeof(error));
-            if (!spec) {
-              throw py::value_error(error);
-            }
-          }
-          return MjSpec(spec);
-        }
-        auto files = _impl::ConvertAssetsDict(include);
-        raw::MjSpec* spec;
-        {
-          py::gil_scoped_release no_gil;
-          std::string model_filename = "model_.xml";
-          if (include.has_value()) {
-            while (include->find(model_filename) !=
-                   include->end()) {
-              model_filename =
-                  model_filename.substr(0, model_filename.size() - 4) + "_.xml";
-            }
-          }
-          files.emplace_back(
-              model_filename.c_str(), xml.c_str(), xml.length());
-          char error[1024];
-          spec = LoadSpecFileImpl(
-              model_filename, files,
-              [&error](const char* filename, const mjVFS* vfs) {
-                return InterceptMjErrors(mj_parseXML)(
-                    filename, vfs, error, sizeof(error));
-              });
-          if (!spec) {
-            throw py::value_error(error);
-          }
-        }
-        if (assets.has_value()) {
-          return MjSpec(spec, assets.value());
-        }
-        return MjSpec(spec);
-      },
-      py::arg("xml"), py::arg("include") = py::none(),
-      py::arg("assets") = py::none(), py::arg("vfs") = py::none(),
-      R"mydelimiter(
-    Creates a spec from an XML string.
-
-    Parameters
-    ----------
-    xml : str
-        XML string.
-    include : dict, optional
-        A dictionary of xml files included by the model. The keys are file names
-        and the values are file contents.
-    assets : dict, optional
-        A dictionary of assets to be used by the spec. The keys are asset names
-        and the values are asset contents.
-    vfs : MjVfs, optional
-        A VFS to use for resolving includes and assets. Cannot be used with
-        include or assets.
-  )mydelimiter",
-      py::return_value_policy::move);
-  mjSpec.def("recompile", [mjmodel_mjdata_from_spec_ptr](
-                              const MjSpec& self, py::object m, py::object d) {
-    return mjmodel_mjdata_from_spec_ptr(reinterpret_cast<uintptr_t>(self.ptr),
-                                        m, d);
-  });
-  mjSpec.def("copy", [](const MjSpec& self) -> MjSpec {
-    return MjSpec(self);
-  });
-  mjSpec.def_property_readonly("_address", [](const MjSpec& self) {
-    return reinterpret_cast<uintptr_t>(self.ptr);
-  });
-  mjSpec.def_property_readonly(
-      "timer",
-      [](MjSpec& self) -> MjDouble9 {
-        return MjDouble9(const_cast<double*>(mjs_getTimer(self.ptr)));
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def_property(
-      "copy_during_attach",
-      [](MjSpec& self) {
-        throw pybind11::value_error("copy_during_attach can only be set.");
-      },
-      [](MjSpec& self, bool deepcopy) {
-        return mjs_setDeepCopy(self.ptr, deepcopy);
-      });
-  mjSpec.def_property_readonly(
-      "worldbody",
-      [](MjSpec& self) -> raw::MjsBody* {
-        return mjs_findBody(self.ptr, "world");
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def(
-      "find_default",
-      [](MjSpec& self, std::string& classname) -> raw::MjsDefault* {
-        return mjs_findDefault(self.ptr, classname.c_str());
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def("compile",
-      [mjmodel_from_raw_ptr](MjSpec& self,
-                             std::optional<MjVfs*> vfs) -> py::object {
-        mjVFS* vfs_ptr = vfs.has_value() ? (*vfs)->get() : nullptr;
-        return mjmodel_from_raw_ptr(
-            reinterpret_cast<uintptr_t>(self.Compile(vfs_ptr)));
-      },
-      py::arg("vfs") = py::none());
-  mjSpec.def_property(
-      "assets",
-      [](MjSpec& self) -> py::dict {
-        return self.assets;
-      },
-      [](MjSpec& self, py::dict& assets) {
-        for (auto item : assets) {
-          self.assets[item.first] = item.second;
-        };
-  }, py::return_value_policy::reference_internal);
-  mjSpec.def_property(
-      "override_assets",
-      [](MjSpec& self) -> bool {
-        return self.override_assets;
-      },
-      [](MjSpec& self, bool override_assets) {
-        self.override_assets = override_assets;
-      });
-  mjSpec.def("to_xml", [](MjSpec& self) -> std::string {
-    mj_deleteModel(self.Compile());
-    std::array<char, 1024> err;
-    int size = mj_saveXMLString(self.ptr, nullptr, 0, nullptr, 0);
-    std::unique_ptr<char[]> buf(new char[size + 1]);
-    buf[0] = '\0';
-    err[0] = '\0';
-    mj_saveXMLString(self.ptr, buf.get(), size + 1, err.data(), err.size());
-    if (err[0] != '\0') {
-      throw FatalError(std::string(err.data()));
-    }
-    return std::string(buf.get());
-  });
-  mjSpec.def("to_file", [](MjSpec& self, std::string& file) {
-    std::array<char, 1024> err;
-    if (mj_saveXML(self.ptr, file.c_str(), err.data(), err.size()) < 0) {
-      throw FatalError(std::string(err.data()));
-    }
-  });
-  mjSpec.def(
-      "encode",
-      [](MjSpec& self, std::string filename,
-         std::optional<py::object> model,
-         std::optional<std::string> content_type) -> mjtSize {
-        raw::MjModel* m = nullptr;
-        if (model.has_value() && !model->is_none()) {
-          auto& wrapper =
-              py::cast<_impl::MjModelWrapper&>(*model);
-          m = wrapper.get();
-        }
-
-        mjVFS vfs;
-        mjVFS* vfs_ptr = nullptr;
-        if (!self.assets.empty()) {
-          mj_defaultVFS(&vfs);
-          vfs_ptr = &vfs;
-          for (const auto& asset : self.assets) {
-            std::string buffer_name =
-                py::cast<std::string>(asset.first);
-            std::string buffer =
-                py::cast<std::string>(asset.second);
-            mj_addBufferVFS(vfs_ptr, buffer_name.c_str(),
-                            buffer.c_str(), buffer.size());
-          }
-        }
-
-        std::array<char, 1024> err;
-        err[0] = '\0';
-        const char* ct =
-            content_type.has_value() ? content_type->c_str() : nullptr;
-        mjtSize nbytes = mj_encode(self.ptr, m, filename.c_str(), ct,
-                                   vfs_ptr, err.data(), err.size());
-
-        if (vfs_ptr) {
-          mj_deleteVFS(vfs_ptr);
-        }
-
-        if (nbytes < 0) {
-          throw FatalError(std::string(err.data()));
-        }
-        return nbytes;
-      },
-      py::arg("filename"), py::arg("model") = py::none(),
-      py::arg("content_type") = py::none());
-  mjSpec.def(
-      "add_default",
-      [](MjSpec* spec, std::string& classname,
-         raw::MjsDefault* parent) -> raw::MjsDefault* {
-        return mjs_addDefault(spec->ptr, classname.c_str(), parent);
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsDefault& def) {
-    if (mjs_delete(self.ptr, def.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjSpec.def_property_readonly(
-      "default",
-      [](MjSpec& self) -> raw::MjsDefault* {
-        return mjs_getSpecDefault(self.ptr);
-      },
-      py::return_value_policy::reference_internal);
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsBody& body) {
-    if (mjs_delete(self.ptr, body.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjSpec.def(
-      "attach",
-      [](MjSpec& self, MjSpec& child, std::optional<std::string>& prefix,
-         std::optional<std::string>& suffix, std::optional<py::object>& site,
-         std::optional<py::object>& frame) -> raw::MjsFrame* {
-        if (!frame.has_value() && !site.has_value()) {
-          throw pybind11::value_error(
-              "One of frame or site must be specified.");
-        }
-        if (frame.has_value() && site.has_value()) {
-          throw pybind11::value_error(
-              "Only one of frame or site can be specified.");
-        }
-        const char* p = prefix.has_value() ? prefix.value().c_str() : "/";
-        const char* s = suffix.has_value() ? suffix.value().c_str() : "";
-        raw::MjsElement* attached_frame = nullptr;
-        if (frame.has_value()) {
-          raw::MjsFrame* frame_ptr = nullptr;
-          try {
-            frame_ptr = frame->cast<raw::MjsFrame*>();
-          } catch (const py::cast_error& e) {
-            frame_ptr =
-                mjs_findFrame(self.ptr, frame->cast<std::string>().c_str());
-          }
-          if (!frame_ptr) {
-            throw pybind11::value_error("Frame not found.");
-          }
-          if (mjs_getSpec(frame_ptr->element) != self.ptr) {
-            throw pybind11::value_error(
-                "Frame spec does not match parent spec.");
-          }
-          attached_frame =
-              mjs_attach(frame_ptr->element, child.ptr->element, p, s);
-          if (!attached_frame) {
-            throw pybind11::value_error(mjs_getError(self.ptr));
-          }
-        }
-        if (site.has_value()) {
-          raw::MjsSite* site_ptr = nullptr;
-          try {
-            site_ptr = site->cast<raw::MjsSite*>();
-          } catch (const py::cast_error& e) {
-            site_ptr = mjs_asSite(mjs_findElement(
-                self.ptr, mjOBJ_SITE, site->cast<std::string>().c_str()));
-          }
-          if (!site_ptr) {
-            throw pybind11::value_error("Site not found.");
-          }
-          if (mjs_getSpec(site_ptr->element) != self.ptr) {
-            throw pybind11::value_error(
-                "Site spec does not match parent spec.");
-          }
-          attached_frame =
-              mjs_attach(site_ptr->element, child.ptr->element, p, s);
-          if (!attached_frame) {
-            throw pybind11::value_error(mjs_getError(self.ptr));
-          }
-        }
-        // add prefix and suffix to the assets keys
-        std::string pre(p);
-        std::string suf(s);
-        for (const auto& asset : child.assets) {
-          std::string asset_name =
-              addPrefixAndSuffix(asset.first.cast<std::string>(), pre, suf);
-          if (self.assets.contains(asset_name) && !self.override_assets) {
-            throw pybind11::value_error("Asset " +
-                                        asset.first.cast<std::string>() +
-                                        " already exists in parent spec.");
-          }
-          self.assets[py::str(asset_name)] = asset.second;
-        }
-        raw::MjsElement* mesh = mjs_firstElement(child.ptr, mjOBJ_MESH);
-        raw::MjsElement* tex = mjs_firstElement(child.ptr, mjOBJ_TEXTURE);
-        raw::MjsElement* parent_mesh = mjs_firstElement(self.ptr, mjOBJ_MESH);
-        raw::MjsElement* parent_tex = mjs_firstElement(self.ptr, mjOBJ_TEXTURE);
-        bool child_has_assets = mesh || tex;
-        bool parent_has_assets = parent_mesh || parent_tex;
-        bool child_use_asset_dict = !child.assets.empty();
-        bool parent_use_asset_dict = !self.assets.empty();
-        if (!child_use_asset_dict && child_has_assets &&
-            parent_use_asset_dict) {
-          PyErr_WarnEx(
-              PyExc_Warning,
-              "Attaching a child without asset dict to a parent with an "
-              "asset dict might result in missing assets when attaching again.",
-              1);
-        }
-        if (!parent_use_asset_dict && parent_has_assets &&
-            child_use_asset_dict) {
-          PyErr_WarnEx(
-              PyExc_Warning,
-              "Attaching a child with asset dict to a parent without an "
-              "asset dict might result in missing assets when attaching again.",
-              1);
-        }
-        if (child_use_asset_dict) {
-          while (mesh) {
-            std::string file = mjs_getString(mjs_asMesh(mesh)->file);
-            if (!file.empty()) {
-              std::string mesh_file = addPrefixAndSuffix(file, pre, suf);
-              mjs_setString(mjs_asMesh(mesh)->file, mesh_file.c_str());
-            }
-            mesh = mjs_nextElement(child.ptr, mesh);
-          }
-          while (tex) {
-            std::string file = mjs_getString(mjs_asTexture(tex)->file);
-            if (!file.empty()) {
-              std::string tex_file = addPrefixAndSuffix(file, pre, suf);
-              mjs_setString(mjs_asTexture(tex)->file, tex_file.c_str());
-            }
-            tex = mjs_nextElement(child.ptr, tex);
-          }
-        }
-        child.parent = &self;
-        return mjs_asFrame(attached_frame);
-      },
-      py::arg("child"), py::arg("prefix") = py::none(),
-      py::arg("suffix") = py::none(), py::arg("site") = py::none(),
-      py::arg("frame") = py::none(),
-      py::return_value_policy::reference_internal);
-  mjSpec.def(
-    "activate_plugin",
-      [](MjSpec& self, std::string& name) {
-        mjs_activatePlugin(self.ptr, name.c_str());
-      },
-      py::arg("name"),
-      py::return_value_policy::reference_internal);
-  mjSpec.def_static(
-      "resolve_orientation",
-      [](bool degree, const MjTypeVec<char>& sequence,
-         const raw::MjsOrientation* orientation) -> std::array<double, 4> {
-        std::array<double, 4> quat = {0, 0, 0, 0};
-        const char* err = mjs_resolveOrientation(quat.data(), degree,
-                                                 sequence.ptr, orientation);
-        if (err) {
-          throw pybind11::value_error(err);
-        }
-        return quat;
-      },
-      py::arg("degree"), py::arg("sequence") = py::none(),
-      py::arg("orientation"), py::return_value_policy::copy);
-  mjSpec.def_property(
-      "meshdir",
-      [](MjSpec& self) -> std::string_view {
-        return *self.ptr->compiler.meshdir;
-      },
-      [](MjSpec& self, std::string_view meshdir) {
-        *(self.ptr->compiler.meshdir) = meshdir;
-      });
-  mjSpec.def_property(
-      "texturedir",
-      [](MjSpec& self) -> std::string_view {
-        return *self.ptr->compiler.texturedir;
-      },
-      [](MjSpec& self, std::string_view texturedir) {
-        *(self.ptr->compiler.texturedir) = texturedir;
-      });
-
-  // ============================= MJSBODY =====================================
-  mjsBody.def(
-      "add_freejoint",
-      [](raw::MjsBody& self, py::kwargs kwargs) -> raw::MjsJoint* {
-        auto out = mjs_addFreeJoint(&self);
-        py::dict kwarg_dict = kwargs;
-        for (auto item : kwarg_dict) {
-          std::string key = py::str(item.first);
-          if (key == "align") {
-            try {
-              out->align = static_cast<mjtAlignFree>(kwargs["align"].cast<int>());
-            } catch (const py::cast_error& e) {
-              throw pybind11::value_error("align is the wrong type.");
-            }
-          } else if (key == "name") {
-            try {
-              mjs_setName(out->element,
-                          kwargs["name"].cast<std::string>().c_str());
-            } catch (const py::cast_error& e) {
-              throw pybind11::value_error("name is the wrong type.");
-            }
-          } else if (key == "group") {
-            try {
-              out->group = kwargs["group"].cast<int>();
-            } catch (const py::cast_error& e) {
-              throw pybind11::value_error("group is the wrong type.");
-            }
-          } else {
-            throw pybind11::type_error(
-                "Invalid " + key +
-                " keyword argument. Valid options are: align, group, name.");
-          }
-        }
-        return out;
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def("set_frame", [](raw::MjsBody& self, raw::MjsFrame& frame) {
-    if (mjs_setFrame(self.element, &frame) != 0) {
-      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
-    }
-  });
-  mjsBody.def_property(
-      "classname",
-      [](raw::MjsBody& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsBody& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "find_all",
-      [](raw::MjsBody& self, mjtObj objtype) -> py::list {
-        return FindAllImpl(self, objtype, true);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "find_all",
-      [](raw::MjsBody& self, std::string& name) -> py::list {
-        mjtObj objtype = mjOBJ_UNKNOWN;
-        if (name == "body") {
-          objtype = mjOBJ_BODY;
-        } else if (name == "frame") {
-          objtype = mjOBJ_FRAME;
-        } else if (name == "geom") {
-          objtype = mjOBJ_GEOM;
-        } else if (name == "site") {
-          objtype = mjOBJ_SITE;
-        } else if (name == "joint") {
-          objtype = mjOBJ_JOINT;
-        } else if (name == "light") {
-          objtype = mjOBJ_LIGHT;
-        } else if (name == "camera") {
-          objtype = mjOBJ_CAMERA;
-        } else {
-          throw pybind11::value_error(
-              "body.find_all supports the types: body, frame, geom, site, "
-              "joint, light, camera.");
-        }
-        return FindAllImpl(self, objtype, true);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "make_flex",
-      [](raw::MjsBody& self,
-         const std::string& name,
-         std::optional<std::string> type,
-         int dim,
-         std::optional<std::string> dof,
-         std::optional<std::vector<int>> count,
-         std::optional<std::vector<int>> cellcount,
-         std::optional<std::vector<double>> spacing,
-         std::optional<std::vector<double>> scale,
-         double radius,
-         double mass,
-         double inertiabox,
-         int equality,
-         int rigid,
-         int flatskin,
-         int elastic2d,
-         std::optional<std::vector<double>> pos,
-         std::optional<std::vector<double>> quat,
-         std::optional<std::vector<double>> origin,
-         std::optional<std::string> file,
-         MjVfs* vfs) -> raw::MjsFlex* {
-        const char* type_str = type.has_value() ? type->c_str() : nullptr;
-        const char* dof_str = dof.has_value() ? dof->c_str() : nullptr;
-        const char* file_str = file.has_value() ? file->c_str() : nullptr;
-        const mjVFS* vfs_ptr = vfs ? vfs->get() : nullptr;
-
-        int count_arr[3] = {10, 10, 10};
-        if (count.has_value()) {
-          if (count->size() != 3) {
-            throw pybind11::value_error("count must have 3 elements");
-          }
-          for (int i = 0; i < 3; i++) count_arr[i] = (*count)[i];
-        }
-        const int* count_ptr = count.has_value() ? count_arr : nullptr;
-
-        int cellcount_arr[3] = {-1, -1, -1};
-        if (cellcount.has_value()) {
-          if (cellcount->size() != 3) {
-            throw pybind11::value_error("cellcount must have 3 elements");
-          }
-          for (int i = 0; i < 3; i++) cellcount_arr[i] = (*cellcount)[i];
-        }
-        const int* cellcount_ptr =
-            cellcount.has_value() ? cellcount_arr : nullptr;
-
-        double spacing_arr[3] = {0.02, 0.02, 0.02};
-        if (spacing.has_value()) {
-          if (spacing->size() != 3) {
-            throw pybind11::value_error("spacing must have 3 elements");
-          }
-          for (int i = 0; i < 3; i++) spacing_arr[i] = (*spacing)[i];
-        }
-        const double* spacing_ptr = spacing.has_value() ? spacing_arr : nullptr;
-
-        double scale_arr[3] = {1, 1, 1};
-        if (scale.has_value()) {
-          if (scale->size() != 3) {
-            throw pybind11::value_error("scale must have 3 elements");
-          }
-          for (int i = 0; i < 3; i++) scale_arr[i] = (*scale)[i];
-        }
-        const double* scale_ptr = scale.has_value() ? scale_arr : nullptr;
-
-        double pos_arr[3] = {0, 0, 0};
-        if (pos.has_value()) {
-          if (pos->size() != 3) {
-            throw pybind11::value_error("pos must have 3 elements");
-          }
-          for (int i = 0; i < 3; i++) pos_arr[i] = (*pos)[i];
-        }
-        const double* pos_ptr = pos.has_value() ? pos_arr : nullptr;
-
-        double quat_arr[4] = {1, 0, 0, 0};
-        if (quat.has_value()) {
-          if (quat->size() != 4) {
-            throw pybind11::value_error("quat must have 4 elements");
-          }
-          for (int i = 0; i < 4; i++) quat_arr[i] = (*quat)[i];
-        }
-        const double* quat_ptr = quat.has_value() ? quat_arr : nullptr;
-
-        double origin_arr[3] = {0, 0, 0};
-        if (origin.has_value()) {
-          if (origin->size() != 3) {
-            throw pybind11::value_error("origin must have 3 elements");
-          }
-          for (int i = 0; i < 3; i++) origin_arr[i] = (*origin)[i];
-        }
-        const double* origin_ptr = origin.has_value() ? origin_arr : nullptr;
-
-        auto out = mjs_makeFlex(
-            &self, name.c_str(), type_str, dim, dof_str,
-            count_ptr, cellcount_ptr, spacing_ptr, scale_ptr,
-            radius, mass, inertiabox, equality, rigid, flatskin, elastic2d,
-            pos_ptr, quat_ptr, origin_ptr, file_str, vfs_ptr);
-        if (!out) {
-          raw::MjSpec* spec = mjs_getSpec(self.element);
-          throw pybind11::value_error(mjs_getError(spec));
-        }
-        return out;
-      },
-      py::arg("name"),
-      py::arg("type") = py::none(),
-      py::arg("dim") = 3,
-      py::arg("dof") = py::none(),
-      py::arg("count") = py::none(),
-      py::arg("cellcount") = py::none(),
-      py::arg("spacing") = py::none(),
-      py::arg("scale") = py::none(),
-      py::arg("radius") = 0.0,
-      py::arg("mass") = 1.0,
-      py::arg("inertiabox") = 0.005,
-      py::arg("equality") = 0,
-      py::arg("rigid") = 0,
-      py::arg("flatskin") = 0,
-      py::arg("elastic2d") = 0,
-      py::arg("pos") = py::none(),
-      py::arg("quat") = py::none(),
-      py::arg("origin") = py::none(),
-      py::arg("file") = py::none(),
-      py::arg("vfs") = py::none(),
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "find_child",
-      [](raw::MjsBody& self, std::string& name) -> raw::MjsBody* {
-        return mjs_findChild(&self, name.c_str());
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "first_body",
-      [](raw::MjsBody& self) -> raw::MjsBody* {
-        return mjs_asBody(mjs_firstChild(&self, mjOBJ_BODY, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "next_body",
-      [](raw::MjsBody& self, raw::MjsBody& child) -> raw::MjsBody* {
-        return mjs_asBody(mjs_nextChild(&self, child.element, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def_property_readonly(
-      "bodies",
-      [](raw::MjsBody& self) -> py::list {
-        return FindAllImpl(self, mjOBJ_BODY, false);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "first_camera",
-      [](raw::MjsBody& self) -> raw::MjsCamera* {
-        return mjs_asCamera(mjs_firstChild(&self, mjOBJ_CAMERA, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "next_camera",
-      [](raw::MjsBody& self, raw::MjsCamera& child) -> raw::MjsCamera* {
-        return mjs_asCamera(mjs_nextChild(&self, child.element, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def_property_readonly(
-      "cameras",
-      [](raw::MjsBody& self) -> py::list {
-        return FindAllImpl(self, mjOBJ_CAMERA, false);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "first_light",
-      [](raw::MjsBody& self) -> raw::MjsLight* {
-        return mjs_asLight(mjs_firstChild(&self, mjOBJ_LIGHT, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "next_light",
-      [](raw::MjsBody& self, raw::MjsLight& child) -> raw::MjsLight* {
-        return mjs_asLight(mjs_nextChild(&self, child.element, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def_property_readonly(
-      "lights",
-      [](raw::MjsBody& self) -> py::list {
-        return FindAllImpl(self, mjOBJ_LIGHT, false);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "first_joint",
-      [](raw::MjsBody& self) -> raw::MjsJoint* {
-        return mjs_asJoint(mjs_firstChild(&self, mjOBJ_JOINT, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "next_joint",
-      [](raw::MjsBody& self, raw::MjsJoint& child) -> raw::MjsJoint* {
-        return mjs_asJoint(mjs_nextChild(&self, child.element, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def_property_readonly(
-      "joints",
-      [](raw::MjsBody& self) -> py::list {
-        return FindAllImpl(self, mjOBJ_JOINT, false);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "first_geom",
-      [](raw::MjsBody& self) -> raw::MjsGeom* {
-        return mjs_asGeom(mjs_firstChild(&self, mjOBJ_GEOM, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "next_geom",
-      [](raw::MjsBody& self, raw::MjsGeom& child) -> raw::MjsGeom* {
-        return mjs_asGeom(mjs_nextChild(&self, child.element, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def_property_readonly(
-      "geoms",
-      [](raw::MjsBody& self) -> py::list {
-        return FindAllImpl(self, mjOBJ_GEOM, false);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "first_site",
-      [](raw::MjsBody& self) -> raw::MjsSite* {
-        return mjs_asSite(mjs_firstChild(&self, mjOBJ_SITE, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "next_site",
-      [](raw::MjsBody& self, raw::MjsSite& child) -> raw::MjsSite* {
-        return mjs_asSite(mjs_nextChild(&self, child.element, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def_property_readonly(
-      "sites",
-      [](raw::MjsBody& self) -> py::list {
-        return FindAllImpl(self, mjOBJ_SITE, false);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "first_frame",
-      [](raw::MjsBody& self) -> raw::MjsFrame* {
-        return mjs_asFrame(mjs_firstChild(&self, mjOBJ_FRAME, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "next_frame",
-      [](raw::MjsBody& self, raw::MjsFrame& child) -> raw::MjsFrame* {
-        return mjs_asFrame(mjs_nextChild(&self, child.element, false));
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def_property_readonly(
-      "frames",
-      [](raw::MjsBody& self) -> py::list {
-        return FindAllImpl(self, mjOBJ_FRAME, false);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def_property_readonly(
-      "parent",
-      [](raw::MjsBody& self) -> raw::MjsBody* {
-        return mjs_getParent(self.element);
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-      "attach_frame",
-      [](raw::MjsBody& self, raw::MjsFrame& frame,
-         std::optional<std::string>& prefix,
-         std::optional<std::string>& suffix) -> raw::MjsFrame* {
-        const char* p = prefix.has_value() ? prefix.value().c_str() : "";
-        const char* s = suffix.has_value() ? suffix.value().c_str() : "";
-        auto new_frame = mjs_attach(self.element, frame.element, p, s);
-        if (!new_frame) {
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
-        }
-        return mjs_asFrame(new_frame);
-      },
-      py::arg("frame"), py::arg("prefix") = py::none(),
-      py::arg("suffix") = py::none(),
-      py::return_value_policy::reference_internal);
-  mjsBody.def(
-    "to_frame",
-      [](raw::MjsBody* self) -> raw::MjsFrame* {
-        raw::MjsFrame* frame = mjs_bodyToFrame(&self);
-        if (!frame) {
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
-        }
-        // TODO: set the body to py::none
-        return frame;
-      },
-      py::return_value_policy::reference_internal);
-  mjsBody.def_property_readonly(
-    "frame",
-      [](raw::MjsBody* self) -> raw::MjsFrame* {
-        return mjs_getFrame(self->element);
-      },
-      py::return_value_policy::reference_internal);
-
-
-  // ============================= MJSFRAME ====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsFrame& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjsFrame.def("set_frame", [](raw::MjsFrame& self, raw::MjsFrame& frame) {
-    if (mjs_setFrame(self.element, &frame) != 0) {
-      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
-    }
-  });
-  mjsFrame.def_property_readonly(
-      "parent",
-      [](raw::MjsFrame& self) -> raw::MjsBody* {
-        return mjs_getParent(self.element);
-      },
-      py::return_value_policy::reference_internal);
-  mjsFrame.def(
-      "attach_body",
-      [](raw::MjsFrame& self, raw::MjsBody& body,
-         std::optional<std::string>& prefix,
-         std::optional<std::string>& suffix) -> raw::MjsBody* {
-        const char* p = prefix.has_value() ? prefix.value().c_str() : "";
-        const char* s = suffix.has_value() ? suffix.value().c_str() : "";
-        auto new_body = mjs_attach(self.element, body.element, p, s);
-        if (!new_body) {
-          throw pybind11::value_error(
-              mjs_getError(mjs_getSpec(self.element)));
-        }
-        return mjs_asBody(new_body);
-      },
-      py::arg("body"), py::arg("prefix") = py::none(),
-      py::arg("suffix") = py::none(),
-      py::return_value_policy::reference_internal);
-  mjsFrame.def_property_readonly(
-      "frame",
-      [](raw::MjsFrame& self) -> raw::MjsFrame* {
-        return mjs_getFrame(self.element);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSGEOM =====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsGeom& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjsGeom.def("set_frame", [](raw::MjsGeom& self, raw::MjsFrame& frame) {
-    if (mjs_setFrame(self.element, &frame) != 0) {
-      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
-    }
-  });
-  mjsGeom.def_property_readonly(
-      "parent",
-      [](raw::MjsGeom& self) -> raw::MjsBody* {
-        return mjs_getParent(self.element);
-      },
-      py::return_value_policy::reference_internal);
-  mjsGeom.def_property(
-      "classname",
-      [](raw::MjsGeom& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsGeom& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-  mjsGeom.def_property_readonly(
-      "frame",
-      [](raw::MjsGeom& self) -> raw::MjsFrame* {
-        return mjs_getFrame(self.element);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSJOINT ====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsJoint& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjsJoint.def("set_frame", [](raw::MjsJoint& self, raw::MjsFrame& frame) {
-    if (mjs_setFrame(self.element, &frame) != 0) {
-      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
-    }
-  });
-  mjsJoint.def_property_readonly(
-      "parent",
-      [](raw::MjsJoint& self) -> raw::MjsBody* {
-        return mjs_getParent(self.element);
-      },
-      py::return_value_policy::reference_internal);
-  mjsJoint.def_property(
-      "classname",
-      [](raw::MjsJoint& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsJoint& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-  mjsJoint.def_property_readonly(
-      "frame",
-      [](raw::MjsJoint& self) -> raw::MjsFrame* {
-        return mjs_getFrame(self.element);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSSITE =====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsSite& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjsSite.def("set_frame", [](raw::MjsSite& self, raw::MjsFrame& frame) {
-    if (mjs_setFrame(self.element, &frame) != 0) {
-      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
-    }
-  });
-  mjsSite.def_property_readonly(
-      "parent",
-      [](raw::MjsSite& self) -> raw::MjsBody* {
-        return mjs_getParent(self.element);
-      },
-      py::return_value_policy::reference_internal);
-  mjsSite.def_property(
-      "classname",
-      [](raw::MjsSite& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsSite& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-  mjsSite.def(
-      "attach_body",
-      [](raw::MjsSite& self, raw::MjsBody& body,
-         std::optional<std::string>& prefix,
-         std::optional<std::string>& suffix) -> raw::MjsBody* {
-        const char* p = prefix.has_value() ? prefix.value().c_str() : "";
-        const char* s = suffix.has_value() ? suffix.value().c_str() : "";
-        auto new_body = mjs_attach(self.element, body.element, p, s);
-        if (!new_body) {
-          throw pybind11::value_error(
-              mjs_getError(mjs_getSpec(self.element)));
-        }
-        return mjs_asBody(new_body);
-      },
-      py::arg("body"), py::arg("prefix") = py::none(),
-      py::arg("suffix") = py::none(),
-      py::return_value_policy::reference_internal);
-  mjsSite.def_property_readonly(
-      "frame",
-      [](raw::MjsSite& self) -> raw::MjsFrame* {
-        return mjs_getFrame(self.element);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSCAMERA ===================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsCamera& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjsCamera.def("set_frame", [](raw::MjsCamera& self, raw::MjsFrame& frame) {
-    if (mjs_setFrame(self.element, &frame) != 0) {
-      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
-    }
-  });
-  mjsCamera.def_property_readonly(
-      "parent",
-      [](raw::MjsCamera& self) -> raw::MjsBody* {
-        return mjs_getParent(self.element);
-      },
-      py::return_value_policy::reference_internal);
-  mjsCamera.def_property(
-      "classname",
-      [](raw::MjsCamera& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsCamera& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-  mjsCamera.def_property_readonly(
-      "frame",
-      [](raw::MjsCamera& self) -> raw::MjsFrame* {
-        return mjs_getFrame(self.element);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSLIGHT ====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsLight& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjsLight.def("set_frame", [](raw::MjsLight& self, raw::MjsFrame& frame) {
-    if (mjs_setFrame(self.element, &frame) != 0) {
-      throw pybind11::value_error(mjs_getError(mjs_getSpec(self.element)));
-    }
-  });
-  mjsLight.def_property_readonly(
-      "parent",
-      [](raw::MjsLight& self) -> raw::MjsBody* {
-        return mjs_getParent(self.element);
-      },
-      py::return_value_policy::reference_internal);
-  mjsLight.def_property(
-      "classname",
-      [](raw::MjsLight& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsLight& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-  mjsLight.def_property_readonly(
-      "frame",
-      [](raw::MjsLight& self) -> raw::MjsFrame* {
-        return mjs_getFrame(self.element);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSMATERIAL =================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsMaterial& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjsMaterial.def_property(
-      "classname",
-      [](raw::MjsMaterial& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsMaterial& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSMESH =====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsMesh& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-  mjsMesh.def_property(
-      "classname",
-      [](raw::MjsMesh& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsMesh& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-  mjsMesh.def(
-      "make_wedge",
-      [](raw::MjsMesh* self, std::array<int, 2>& resolution,
-         std::array<double, 2>& fov, double gamma) {
-        double params[5] = {static_cast<double>(resolution[0]),
-                            static_cast<double>(resolution[1]), fov[0], fov[1],
-                            gamma};
-        if (mjs_makeMesh(self, mjMESH_BUILTIN_WEDGE, params, 5)) {
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
-        }
-      },
-      py::arg("resolution") = std::array<int, 2>{0, 0},
-      py::arg("fov") = std::array<double, 2>{0, 0}, py::arg("gamma") = 0);
-  mjsMesh.def(
-      "make_sphere",
-      [](raw::MjsMesh* self, int subdivision) {
-        double params[1] = {static_cast<double>(subdivision)};
-        if (mjs_makeMesh(self, mjMESH_BUILTIN_SPHERE, params, 1)) {
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
-        }
-      },
-      py::arg("subdivision"));
-  mjsMesh.def(
-      "make_hemisphere",
-      [](raw::MjsMesh* self, int resolution) {
-        double params[1] = {static_cast<double>(resolution)};
-        if (mjs_makeMesh(self, mjMESH_BUILTIN_HEMISPHERE, params, 1)) {
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
-        }
-      },
-      py::arg("resolution"));
-  mjsMesh.def(
-      "make_cone",
-      [](raw::MjsMesh* self, int nedge, double radius) {
-        double params[2] = {static_cast<double>(nedge), radius};
-        if (mjs_makeMesh(self, mjMESH_BUILTIN_CONE, params, 2)) {
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
-        }
-      },
-      py::arg("nedge"), py::arg("radius"));
-  mjsMesh.def(
-      "make_supersphere",
-      [](raw::MjsMesh* self, int resolution, double e, double n) {
-        double params[3] = {static_cast<double>(resolution), e, n};
-        if (mjs_makeMesh(self, mjMESH_BUILTIN_SUPERSPHERE, params, 3)) {
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
-        }
-      },
-      py::arg("resolution"), py::arg("e"), py::arg("n"));
-  mjsMesh.def(
-      "make_supertorus",
-      [](raw::MjsMesh* self, int resolution, double radius, double s,
-         double t) {
-        double params[4] = {static_cast<double>(resolution), radius, s, t};
-        if (mjs_makeMesh(self, mjMESH_BUILTIN_SUPERTORUS, params, 4)) {
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
-        }
-      },
-      py::arg("resolution"), py::arg("radius"), py::arg("s"), py::arg("t"));
-  mjsMesh.def(
-      "make_plate",
-      [](raw::MjsMesh* self, std::array<int, 2>& resolution) {
-        double params[2] = {static_cast<double>(resolution[0]),
-                            static_cast<double>(resolution[1])};
-        if (mjs_makeMesh(self, mjMESH_BUILTIN_PLATE, params, 2)) {
-          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
-        }
-      },
-      py::arg("resolution") = std::array<int, 2>{0, 0});
-
-  // ============================= MJSPAIR =====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsPair& obj) {
-    mjs_delete(self.ptr, obj.element);
-  });
-  mjsPair.def_property(
-      "classname",
-      [](raw::MjsPair& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsPair& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSEQUAL ====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsEquality& obj) {
-    mjs_delete(self.ptr, obj.element);
-  });
-  mjsEquality.def_property(
-      "classname",
-      [](raw::MjsEquality& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsEquality& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSACTUATOR =================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsActuator& obj) {
-    mjs_delete(self.ptr, obj.element);
-  });
-  mjsActuator.def_property(
-      "classname",
-      [](raw::MjsActuator& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      [](raw::MjsActuator& self, raw::MjsDefault& default_) -> void {
-        mjs_setDefault(self.element, &default_);
-      },
-      py::return_value_policy::reference_internal);
-  mjsActuator.def("set_to_motor", [](raw::MjsActuator* self) {
-    std::string err = mjs_setToMotor(self);
-    if (!err.empty()) {
-      throw pybind11::value_error(err);
-    }
-  });
-  mjsActuator.def(
-      "set_to_position",
-      [](raw::MjsActuator* self, double kp, double kv, double dampratio,
-         double timeconst, bool inheritrange) {
-        std::string err = mjs_setToPosition(
-            self, kp, kv == -1 ? nullptr : &kv,
-            dampratio == -1 ? nullptr : &dampratio,
-            timeconst == -1 ? nullptr : &timeconst, inheritrange);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("kp"), py::arg("kv") = -1, py::arg("dampratio") = -1,
-      py::arg("timeconst") = -1, py::arg("inheritrange") = false);
-  mjsActuator.def(
-      "set_to_intvelocity",
-      [](raw::MjsActuator* self, double kp, double kv, double dampratio,
-         double timeconst, bool inheritrange) {
-        std::string err = mjs_setToIntVelocity(
-            self, kp, kv == -1 ? nullptr : &kv,
-            dampratio == -1 ? nullptr : &dampratio,
-            timeconst == -1 ? nullptr : &timeconst, inheritrange);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("kp"), py::arg("kv") = -1, py::arg("dampratio") = -1,
-      py::arg("timeconst") = -1, py::arg("inheritrange") = false);
-  mjsActuator.def(
-      "set_to_velocity",
-      [](raw::MjsActuator* self, double kv) {
-        std::string err = mjs_setToVelocity(self, kv);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("kv"));
-  mjsActuator.def(
-      "set_to_orientation",
-      [](raw::MjsActuator* self, double kp, double kv, double dampratio,
-         int ctrlspec) {
-        std::string err = mjs_setToOrientation(
-            self, kp, kv == -1 ? nullptr : &kv,
-            dampratio == -1 ? nullptr : &dampratio, ctrlspec);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("kp"), py::arg("kv") = -1, py::arg("dampratio") = -1,
-      py::arg("ctrlspec") = 0);
-  mjsActuator.def(
-      "set_to_pid",
-      [](raw::MjsActuator* self, double kp, double kv, double dampratio,
-         double ki, double imax, double slewmax, double inheritrange,
-         int ctrlspec) {
-        std::string err = mjs_setToPID(
-            self, kp, kv == -1 ? nullptr : &kv,
-            dampratio == -1 ? nullptr : &dampratio, ki == -1 ? nullptr : &ki,
-            imax == -1 ? nullptr : &imax, slewmax == -1 ? nullptr : &slewmax,
-            inheritrange, ctrlspec);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("kp"), py::arg("kv") = -1, py::arg("dampratio") = -1,
-      py::arg("ki") = -1, py::arg("imax") = -1, py::arg("slewmax") = -1,
-      py::arg("inheritrange") = 0, py::arg("ctrlspec") = 0);
-  mjsActuator.def(
-      "set_to_damper",
-      [](raw::MjsActuator* self, double kv) {
-        std::string err = mjs_setToDamper(self, kv);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("kv"));
-  mjsActuator.def(
-      "set_to_cylinder",
-      [](raw::MjsActuator* self, double timeconst, double bias, double area,
-         double diameter) {
-        std::string err =
-            mjs_setToCylinder(self, timeconst, bias, area, diameter);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("timeconst"), py::arg("bias"), py::arg("area"),
-      py::arg("diameter") = -1);
-  mjsActuator.def(
-      "set_to_muscle",
-      [](raw::MjsActuator* self, std::array<double, 2> timeconst,
-         double tausmooth, std::array<double, 2> range, double force,
-         double scale, double lmin, double lmax, double vmax, double fpmax,
-         double fvmax) {
-        std::string err =
-            mjs_setToMuscle(self, timeconst.data(), tausmooth, range.data(),
-                            force, scale, lmin, lmax, vmax, fpmax, fvmax);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("timeconst") = std::array<double, 2>{-1, -1},
-      py::arg("tausmooth"), py::arg("range") = std::array<double, 2>{-1, -1},
-      py::arg("force") = -1, py::arg("scale") = -1, py::arg("lmin") = -1,
-      py::arg("lmax") = -1, py::arg("vmax") = -1, py::arg("fpmax") = -1,
-      py::arg("fvmax") = -1);
-  mjsActuator.def(
-      "set_to_adhesion",
-      [](raw::MjsActuator* self, double gain) {
-        std::string err = mjs_setToAdhesion(self, gain);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("gain"));
-  mjsActuator.def(
-      "set_to_dcmotor",
-      [](raw::MjsActuator* self, std::array<double, 2> motorconst,
-         double resistance,
-         std::array<double, 3> nominal, std::array<double, 3> saturation,
-         std::array<double, 2> inductance, std::array<double, 3> cogging,
-         std::array<double, 6> controller, std::array<double, 6> thermal,
-         std::array<double, 5> lugre, int ctrlspec) {
-        std::string err = mjs_setToDCMotor(
-            self, motorconst.data(), resistance, nominal.data(),
-            saturation.data(), inductance.data(), cogging.data(),
-            controller.data(), thermal.data(), lugre.data(), ctrlspec);
-        if (!err.empty()) {
-          throw pybind11::value_error(err);
-        }
-      },
-      py::arg("motorconst"), py::arg("resistance"),
-      py::arg("nominal") = std::array<double, 3>{0, 0, 0},
-      py::arg("saturation") = std::array<double, 3>{0, 0, 0},
-      py::arg("inductance") = std::array<double, 2>{0, 0},
-      py::arg("cogging") = std::array<double, 3>{0, 0, 0},
-      py::arg("controller") = std::array<double, 6>{0, 0, 0, 0, 0, 0},
-      py::arg("thermal") = std::array<double, 6>{0, 0, 0, 0, 0, 0},
-      py::arg("lugre") = std::array<double, 5>{0, 0, 0, 0, 0},
-      py::arg("ctrlspec") = 0);
-
-  // ============================= MJSTENDONPATH ===============================
-  // helper struct for tendon path indexing
-  struct MjsTendonPath {
-    raw::MjsTendon* tendon;
-  };
-
-  py::class_<MjsTendonPath>(m, "MjsTendonPath")
-      .def("__getitem__",
-           [](MjsTendonPath& self, int i) -> const raw::MjsWrap* {
-             int num_wrap = mjs_getWrapNum(self.tendon);
-             if (i < 0 || i >= num_wrap) {
-               throw py::index_error("Index out of range.");
-             }
-             return mjs_getWrap(self.tendon, i);
-           },
-           py::return_value_policy::reference_internal)
-      .def("__len__", [](MjsTendonPath& self) {
-        return mjs_getWrapNum(self.tendon);
-      });
-
-  // ============================= MJSWRAP =====================================
-  mjsWrap.def_property_readonly(
-      "target",
-      [](raw::MjsWrap& self) -> py::object {
-        raw::MjsElement* target = mjs_getWrapTarget(&self);
-        if (!target) {
-          return py::none();
-        }
-        switch (target->elemtype) {
-          case mjOBJ_SITE:
-            return py::cast(mjs_asSite(target));
-          case mjOBJ_GEOM:
-            return py::cast(mjs_asGeom(target));
-          case mjOBJ_JOINT:
-            return py::cast(mjs_asJoint(target));
-          default:
-            throw pybind11::value_error("Unsupported wrap target type: " +
-                                        std::to_string(target->elemtype));
-        }
-        return py::none();
-      },
-      py::return_value_policy::reference_internal);
-
-  mjsWrap.def_property_readonly(
-      "sidesite",
-      [](raw::MjsWrap& self) -> raw::MjsSite* {
-        return mjs_getWrapSideSite(&self);
-      },
-      py::return_value_policy::reference_internal);
-
-  mjsWrap.def_property_readonly(
-      "divisor",
-      [](raw::MjsWrap& self) -> py::object {
-        if (self.type != mjWRAP_PULLEY) {
-          return py::none();
-        }
-        return py::cast(mjs_getWrapDivisor(&self));
-      },
-      py::return_value_policy::reference_internal);
-
-  mjsWrap.def_property_readonly(
-      "coef",
-      [](raw::MjsWrap& self) -> py::object {
-        if (self.type != mjWRAP_JOINT) {
-          return py::none();
-        }
-        return py::cast(mjs_getWrapCoef(&self));
-      },
-      py::return_value_policy::reference_internal);
-
-
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsTendon& obj) {
-    mjs_delete(self.ptr, obj.element);
-  });
-
-  // ============================= MJSTENDON ===================================
-  mjsTendon.def(
-      "default",
-      [](raw::MjsTendon& self) -> raw::MjsDefault* {
-        return mjs_getDefault(self.element);
-      },
-      py::return_value_policy::reference_internal);
-  mjsTendon.def_property_readonly(
-      "path",
-      [](raw::MjsTendon& self) {
-        return MjsTendonPath{&self};
-      },
-      py::return_value_policy::reference_internal);
-  mjsTendon.def(
-      "wrap_site",
-      [](raw::MjsTendon& self, std::string& name) {
-        return mjs_wrapSite(&self, name.c_str());
-      },
-      py::return_value_policy::reference_internal);
-  mjsTendon.def(
-      "wrap_geom",
-      [](raw::MjsTendon& self, std::string& name, std::string& sidesite) {
-        return mjs_wrapGeom(&self, name.c_str(), sidesite.c_str());
-      },
-      py::return_value_policy::reference_internal);
-  mjsTendon.def(
-      "wrap_joint",
-      [](raw::MjsTendon& self, std::string& name, double coef) {
-        return mjs_wrapJoint(&self, name.c_str(), coef);
-      },
-      py::return_value_policy::reference_internal);
-  mjsTendon.def(
-      "wrap_pulley",
-      [](raw::MjsTendon& self, double divisor) {
-        return mjs_wrapPulley(&self, divisor);
-      },
-      py::return_value_policy::reference_internal);
-
-  // ============================= MJSSENSOR ===================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsSensor& obj) {
-    mjs_delete(self.ptr, obj.element);
-  });
-  mjsSensor.def("get_data_size", [](raw::MjsSensor& self) -> int {
-    return mjs_sensorDim(&self);
-  });
-
-  // ============================= MJSFLEX =====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsFlex& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-
-  // ============================= MJSHFIELD ===================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsHField& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-
-  // ============================= MJSSKIN =====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsSkin& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-
-  // ============================= MJSTEXTURE ==================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsTexture& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-
-  // ============================= MJSKEY ======================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsKey& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-
-  // ============================= MJSTEXT =====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsText& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-
-  // ============================= MJSNUMERIC ==================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsNumeric& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-
-  // ============================= MJSEXCLUDE ==================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsExclude& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-
-  // ============================= MJSTUPLE ====================================
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsTuple& obj) {
-    if (mjs_delete(self.ptr, obj.element) != 0) {
-      throw pybind11::value_error(mjs_getError(self.ptr));
-    }
-  });
-
-  // ============================= MJSPLUGIN ===================================
-  mjsPlugin.def_property(
-      "id",
-      [](raw::MjsPlugin& self) -> int { return mjs_getId(self.element); },
-      [](raw::MjsPlugin& self, raw::MjsPlugin* other) {
-        self.element = other->element;
-      });
-  mjSpec.def("delete", [](MjSpec& self, raw::MjsPlugin& obj) {
-    mjs_delete(self.ptr, obj.element);
-  });
-  mjsPlugin.def_property(
-      "config",
-      [](raw::MjsPlugin& self) -> py::dict {
-        const std::map<std::string, std::string, std::less<>>* config_attribs =
-            static_cast<const std::map<std::string, std::string, std::less<>>*>(
-                mjs_getPluginAttributes(&self));
-        py::dict config;
-        for (const auto& [key, value] : *config_attribs) {
-          config[py::str(key)] = value;
-        }
-        return config;
-      },
-      [](raw::MjsPlugin& self, py::dict& config) {
-        std::map<std::string, std::string, std::less<>> config_attribs;
-        for (const auto& [key, value] : config) {
-          std::string key_str = key.cast<std::string>();
-          if (config_attribs.find(key_str) != config_attribs.end()) {
-            throw pybind11::value_error("Duplicate config key: " + key_str);
-          }
-          config_attribs[key_str] = value.cast<std::string>();
-        }
-        mjs_setPluginAttributes(&self, &config_attribs);
-      },
-      py::return_value_policy::reference_internal);
-  // ============================= MJVISUAL ====================================
-  mjVisual.def_property(
-      "global_",
-      [](raw::MjVisual& self) -> raw::MjVisualGlobal& { return self.global; },
-      [](raw::MjVisual& self, raw::MjVisualGlobal& value) {
-        self.global = value;
-      });
-
-#include "specs.cc.inc"
-}  // PYBIND11_MODULE // NOLINT
-}  // namespace mujoco::python
diff --git a/python/mujoco/specs_test.py b/python/mujoco/specs_test.py
deleted file mode 100644
index dc3ffa07..00000000
--- a/python/mujoco/specs_test.py
+++ /dev/null
@@ -1,2364 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for mjSpec bindings."""
-
-import gc
-import inspect
-import math
-import os
-import textwrap
-import typing
-import zipfile  # pylint: disable=unused-import
-
-from absl import flags
-from absl.testing import absltest
-from etils import epath
-import mujoco
-import numpy as np
-
-
-def get_linenumber():
-  cf = inspect.currentframe()
-  return cf.f_back.f_lineno
-
-
-class SpecsTest(absltest.TestCase):
-  def setUp(self):
-    super().setUp()
-    # Mark flags as parsed to avoid pytest errors about unparsed flags.
-    # This is needed for `create_tempdir()` calls below.
-    flags.FLAGS.mark_as_parsed()
-
-  def test_typing(self):
-    spec = mujoco.MjSpec()
-    self.assertIsInstance(spec, mujoco.MjSpec)
-    self.assertIsInstance(spec.worldbody, mujoco.MjsBody)
-    self.assertIsInstance(spec.worldbody, typing.get_args(mujoco.MjStruct))
-
-  def test_timer(self):
-    xml = """
-    <mujoco>
-      <asset>
-        <texture name="grid" type="2d" builtin="checker" width="300" height="300" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-        <material name="grid" texture="grid"/>
-      </asset>
-      <worldbody>
-        <geom type="plane" size="1 1 1" material="grid"/>
-      </worldbody>
-    </mujoco>
-    """
-    spec = mujoco.MjSpec.from_string(xml)
-    spec.compile()
-    self.assertGreater(spec.timer[mujoco.mjtCTimer.mjCTIMER_TOTAL], 0)
-    self.assertGreater(spec.timer[mujoco.mjtCTimer.mjCTIMER_ASSETS], 0)
-    self.assertGreater(spec.timer[mujoco.mjtCTimer.mjCTIMER_TEXTURE], 0)
-
-  def test_basic(self):
-    # Create a spec.
-    spec = mujoco.MjSpec()
-
-    # Check that euler sequence order is set correctly.
-    self.assertEqual(spec.compiler.eulerseq[0], 'x')
-    spec.compiler.eulerseq = ['z', 'y', 'x']
-    self.assertEqual(spec.compiler.eulerseq[0], 'z')
-
-    # Change single elements of euler sequence.
-    spec.compiler.eulerseq[0] = 'y'
-    spec.compiler.eulerseq[1] = 'z'
-    self.assertEqual(spec.compiler.eulerseq[0], 'y')
-    self.assertEqual(spec.compiler.eulerseq[1], 'z')
-
-    # eulerseq is iterable
-    self.assertEqual('yzx', ''.join(spec.compiler.eulerseq))
-
-    # supports `len`
-    self.assertLen(spec.compiler.eulerseq, 3)
-
-    # field checks for out-of-bound access on read and on write
-    with self.assertRaises(IndexError):
-      spec.compiler.eulerseq[3] = 'x'
-
-    with self.assertRaises(IndexError):
-      spec.compiler.eulerseq[-1] = 'x'
-
-    # Add a body, check that it has default orientation.
-    body = spec.worldbody.add_body()
-    self.assertEqual(body.name, '')
-    np.testing.assert_array_equal(body.quat, [1, 0, 0, 0])
-
-    # Change the name of the body and read it back twice.
-    body.name = 'foobar'
-    self.assertEqual(body.name, 'foobar')
-    body.name = 'baz'
-    self.assertEqual(body.name, 'baz')
-
-    # Change the position of the body and read it back.
-    body.pos = [4, 2, 3]
-    np.testing.assert_array_equal(body.pos, [4, 2, 3])
-    self.assertEqual(body.pos.shape, (3,))
-
-    # Change single element of position.
-    body.pos[0] = 1
-    np.testing.assert_array_equal(body.pos, [1, 2, 3])
-
-    # Change the orientation of the body and read it back.
-    body.quat = [0, 1, 0, 0]
-    np.testing.assert_array_equal(body.quat, [0, 1, 0, 0])
-    self.assertEqual(body.quat.shape, (4,))
-
-    # Add a site to the body with user data and read it back.
-    site = body.add_site()
-    site.name = 'sitename'
-    site.type = mujoco.mjtGeom.mjGEOM_BOX
-    site.userdata = [7, 2, 3, 4, 5, 6]
-    self.assertEqual(site.name, 'sitename')
-    self.assertEqual(site.type, mujoco.mjtGeom.mjGEOM_BOX)
-    np.testing.assert_array_equal(site.userdata, [7, 2, 3, 4, 5, 6])
-
-    # Modify a single element of userdata.
-    site.userdata[0] = 1
-    np.testing.assert_array_equal(site.userdata, [1, 2, 3, 4, 5, 6])
-
-    # Compile the spec and check for expected values in the model.
-    model = spec.compile()
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-    self.assertEqual(model.nbody, 2)  # 2 bodies, including the world body
-    np.testing.assert_array_equal(model.bind(body).pos, [1, 2, 3])
-    np.testing.assert_array_equal(model.bind(body).quat, [0, 1, 0, 0])
-    np.testing.assert_array_equal(data.bind(body).xpos, [1, 2, 3])
-    self.assertEqual(model.nsite, 1)
-    self.assertEqual(model.nuser_site, 6)
-    np.testing.assert_array_equal(model.site_user[0], [1, 2, 3, 4, 5, 6])
-
-    xml = textwrap.dedent("""\
-        <mujoco model="MuJoCo Model">
-          <compiler angle="radian"/>
-
-          <size nuser_site="6"/>
-
-          <worldbody>
-            <body name="baz" pos="1 2 3" quat="0 1 0 0">
-              <site name="sitename" type="box" user="1 2 3 4 5 6"/>
-            </body>
-          </worldbody>
-        </mujoco>
-    """)
-    self.assertEqual(spec.to_xml(), xml)
-
-  def test_resolve_orientation(self):
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body(euler=[0, 0, 90])
-    quat = mujoco.MjSpec.resolve_orientation(
-        degree=spec.compiler.degree,
-        sequence=spec.compiler.eulerseq,
-        orientation=body.alt,
-    )
-    np.testing.assert_array_almost_equal(
-        quat, [math.sqrt(2) / 2, 0, 0, math.sqrt(2) / 2]
-    )
-
-  def test_kwarg(self):
-    # Create a spec.
-    spec = mujoco.MjSpec()
-
-    # Add material.
-    material = spec.add_material(texrepeat=[1, 2], emission=-1)
-    np.testing.assert_array_equal(material.texrepeat, [1, 2])
-    self.assertEqual(material.emission, -1)
-
-    # Add mesh.
-    mesh = spec.add_mesh(refpos=[1, 2, 3])
-    np.testing.assert_array_equal(mesh.refpos, [1, 2, 3])
-
-    # Add pair.
-    pair = spec.add_pair(gap=0.1)
-    self.assertEqual(pair.gap, 0.1)
-
-    # Add equality.
-    equality = spec.add_equality(objtype=mujoco.mjtObj.mjOBJ_SITE)
-    self.assertEqual(equality.objtype, mujoco.mjtObj.mjOBJ_SITE)
-
-    # Add tendon.
-    tendon = spec.add_tendon(stiffness=2, springlength=[0.1, 0.2])
-    np.testing.assert_array_equal(tendon.stiffness, [2, 0, 0])
-    np.testing.assert_array_equal(tendon.springlength, [0.1, 0.2])
-
-    # Add actuator.
-    actuator = spec.add_actuator(actdim=10, ctrlrange=[-1, 10])
-    self.assertEqual(actuator.actdim, 10)
-    np.testing.assert_array_equal(actuator.ctrlrange, [-1, 10])
-
-    # Add skin.
-    skin = spec.add_skin(inflate=2.0, vertid=[[1, 1], [2, 2]])
-    self.assertEqual(skin.inflate, 2.0)
-    np.testing.assert_array_equal(skin.vertid, [[1, 1], [2, 2]])
-
-    # Add texture.
-    texture = spec.add_texture(builtin=0, nchannel=3)
-    self.assertEqual(texture.builtin, 0)
-    self.assertEqual(texture.nchannel, 3)
-
-    # Add text.
-    text = spec.add_text(data='data', info='info')
-    self.assertEqual(text.data, 'data')
-    self.assertEqual(text.info, 'info')
-
-    # Add tuple.
-    tuple_ = spec.add_tuple(objprm=[2.0, 3.0, 5.0], objname=['obj'])
-    np.testing.assert_array_equal(tuple_.objprm, [2.0, 3.0, 5.0])
-    self.assertEqual(tuple_.objname[0], 'obj')
-
-    # Add flex.
-    flex = spec.add_flex(friction=[1, 2, 3], texcoord=[1.0, 2.0, 3.0])
-    np.testing.assert_array_equal(flex.friction, [1, 2, 3])
-    np.testing.assert_array_equal(flex.texcoord, [1.0, 2.0, 3.0])
-
-    # Add hfield.
-    hfield = spec.add_hfield(nrow=2, content_type='type')
-    self.assertEqual(hfield.nrow, 2)
-    self.assertEqual(hfield.content_type, 'type')
-
-    # Add key.
-    key = spec.add_key(time=1.2, qpos=[1.0, 2.0])
-    self.assertEqual(key.time, 1.2)
-    np.testing.assert_array_equal(key.qpos, [1.0, 2.0])
-
-    # Add numeric.
-    numeric = spec.add_numeric(data=[1.0, 1.1, 1.2], size=2)
-    np.testing.assert_array_equal(numeric.data, [1.0, 1.1, 1.2])
-    self.assertEqual(numeric.size, 2)
-
-    # Add exclude.
-    exclude = spec.add_exclude(bodyname2='body2')
-    self.assertEqual(exclude.bodyname2, 'body2')
-
-    # Add sensor.
-    sensor = spec.add_sensor(
-        needstage=mujoco.mjtStage.mjSTAGE_ACC, objtype=mujoco.mjtObj.mjOBJ_SITE
-    )
-    self.assertEqual(sensor.needstage, mujoco.mjtStage.mjSTAGE_ACC)
-    self.assertEqual(sensor.objtype, mujoco.mjtObj.mjOBJ_SITE)
-
-    # Add plugin.
-    plugin = spec.add_plugin(
-        name='instance_name',
-        plugin_name='mujoco.plugin',
-        active=True,
-        info='info',
-    )
-    self.assertEqual(plugin.name, 'instance_name')
-    self.assertEqual(plugin.plugin_name, 'mujoco.plugin')
-    self.assertEqual(plugin.active, True)
-    self.assertEqual(plugin.info, 'info')
-
-    # Add a body.
-    body = spec.worldbody.add_body(
-        name='body', pos=[1, 2, 3], quat=[0, 0, 0, 1]
-    )
-    self.assertEqual(body.name, 'body')
-    np.testing.assert_array_equal(body.pos, [1, 2, 3])
-    np.testing.assert_array_equal(body.quat, [0, 0, 0, 1])
-
-    # Add a body with a plugin.
-    body_with_plugin = spec.worldbody.add_body(plugin=plugin)
-    self.assertEqual(body_with_plugin.plugin.name, 'instance_name')
-    self.assertEqual(body_with_plugin.plugin.plugin_name, 'mujoco.plugin')
-    self.assertEqual(body_with_plugin.plugin.active, True)
-    self.assertEqual(body_with_plugin.plugin.info, 'info')
-
-    # Add a geom.
-    geom = body.add_geom(
-        name='geom',
-        pos=[3, 2, 1],
-        fromto=[1, 2, 3, 4, 5, 6],
-        contype=3,
-    )
-
-    self.assertEqual(geom.name, 'geom')
-    np.testing.assert_array_equal(geom.pos, [3, 2, 1])
-    np.testing.assert_array_equal(geom.fromto, [1, 2, 3, 4, 5, 6])
-    self.assertEqual(geom.contype, 3)
-
-    # Add a site to the body with user data and read it back.
-    site = body.add_site(
-        name='sitename',
-        pos=[0, 1, 2],
-        quat=[1, 0, 0, 0],
-        fromto=[0, 1, 2, 3, 4, 5],
-        size=[3, 2, 1],
-        type=mujoco.mjtGeom.mjGEOM_BOX,
-        material='material',
-        group=7,
-        rgba=[1, 1, 1, 0.5],
-        userdata=[1, 2, 3, 4, 5, 6],
-        info='info',
-    )
-    self.assertEqual(site.name, 'sitename')
-    np.testing.assert_array_equal(site.pos, [0, 1, 2])
-    np.testing.assert_array_equal(site.quat, [1, 0, 0, 0])
-    np.testing.assert_array_equal(site.fromto, [0, 1, 2, 3, 4, 5])
-    np.testing.assert_array_equal(site.size, [3, 2, 1])
-    self.assertEqual(site.type, mujoco.mjtGeom.mjGEOM_BOX)
-    self.assertEqual(site.material, 'material')
-    self.assertEqual(site.group, 7)
-    np.testing.assert_array_equal(site.rgba, [1, 1, 1, 0.5])
-    np.testing.assert_array_equal(site.userdata, [1, 2, 3, 4, 5, 6])
-    self.assertEqual(site.info, 'info')
-
-    # Add camera.
-    cam = body.add_camera(
-        proj=mujoco.mjtProjection.mjPROJ_ORTHOGRAPHIC, resolution=[10, 20]
-    )
-    self.assertEqual(cam.proj, 1)
-    np.testing.assert_array_equal(cam.resolution, [10, 20])
-
-    # Add frame.
-    framea0 = body.add_frame(name='framea', pos=[1, 2, 3], quat=[0, 0, 0, 1])
-    np.testing.assert_array_equal(framea0.pos, [1, 2, 3])
-    np.testing.assert_array_equal(framea0.quat, [0, 0, 0, 1])
-
-    frameb0 = body.add_frame(
-        framea0, name='frameb', pos=[4, 5, 6], quat=[0, 1, 0, 0]
-    )
-
-    framea1 = body.first_frame()
-    frameb1 = body.next_frame(framea1)
-
-    self.assertEqual(framea1.name, framea0.name)
-    self.assertEqual(frameb1.name, frameb0.name)
-    np.testing.assert_array_equal(framea1.pos, framea0.pos)
-    np.testing.assert_array_equal(framea1.quat, framea0.quat)
-    np.testing.assert_array_equal(frameb1.pos, frameb0.pos)
-    np.testing.assert_array_equal(frameb1.quat, frameb0.quat)
-
-    # Add frame in frame.
-    framec0 = frameb0.add_frame(name='framec', pos=[7, 8, 9], quat=[0, 0, 0, 1])
-    self.assertEqual(framec0.name, 'framec')
-    self.assertEqual(framec0.parent, frameb0.parent)
-    self.assertEqual(framec0.frame, frameb0)
-    np.testing.assert_array_equal(framec0.pos, [7, 8, 9])
-    np.testing.assert_array_equal(framec0.quat, [0, 0, 0, 1])
-
-    # Add joint.
-    joint = body.add_joint(type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0])
-    self.assertEqual(joint.type, mujoco.mjtJoint.mjJNT_HINGE)
-    np.testing.assert_array_equal(joint.axis, [0, 1, 0])
-
-    # Add freejoint.
-    freejoint = body.add_freejoint()
-    self.assertEqual(freejoint.type, mujoco.mjtJoint.mjJNT_FREE)
-    freejoint_align = body.add_freejoint(align=True)
-    self.assertEqual(freejoint_align.align, True)
-
-    with self.assertRaises(TypeError) as cm:
-      body.add_freejoint(axis=[1, 2, 3])
-    self.assertEqual(
-        str(cm.exception),
-        'Invalid axis keyword argument. Valid options are: align, group, name.',
-    )
-
-    # Add light.
-    light = body.add_light(attenuation=[1, 2, 3])
-    np.testing.assert_array_equal(light.attenuation, [1, 2, 3])
-
-    # Add light in a frame.
-    light_in_frame = framea0.add_light(cutoff=10)
-    self.assertEqual(light_in_frame.cutoff, 10)
-    self.assertEqual(light_in_frame.parent, framea0.parent)
-    self.assertEqual(light_in_frame.frame, framea0)
-
-    # Invalid input for valid keyword argument.
-    with self.assertRaises(TypeError):
-      body.add_geom(pos='pos')
-
-    with self.assertRaises(ValueError) as cm:
-      body.add_geom(pos=[0, 1])
-    self.assertEqual(
-        str(cm.exception),
-        'pos should be a list/array of size 3.',
-    )
-
-    with self.assertRaises(TypeError):
-      body.add_geom(type='type')
-
-    with self.assertRaises(TypeError):
-      body.add_geom(userdata='')
-
-    # Invalid keyword argument.
-    with self.assertRaises(TypeError):
-      body.add_geom(vel='vel')
-
-    # Orientation keyword arguments.
-    geom_axisangle = body.add_geom(axisangle=[1, 2, 3, 4])
-    geom_xyaxes = body.add_geom(xyaxes=[1, 2, 3, 4, 5, 6])
-    geom_zaxis = body.add_geom(zaxis=[1, 2, 3])
-    geom_euler = body.add_geom(euler=[1, 2, 3])
-
-    self.assertEqual(
-        geom_axisangle.alt.type, mujoco.mjtOrientation.mjORIENTATION_AXISANGLE
-    )
-    self.assertEqual(
-        geom_xyaxes.alt.type, mujoco.mjtOrientation.mjORIENTATION_XYAXES
-    )
-    self.assertEqual(
-        geom_zaxis.alt.type, mujoco.mjtOrientation.mjORIENTATION_ZAXIS
-    )
-    self.assertEqual(
-        geom_euler.alt.type, mujoco.mjtOrientation.mjORIENTATION_EULER
-    )
-    np.testing.assert_array_equal(geom_axisangle.alt.axisangle, [1, 2, 3, 4])
-    np.testing.assert_array_equal(geom_xyaxes.alt.xyaxes, [1, 2, 3, 4, 5, 6])
-    np.testing.assert_array_equal(geom_zaxis.alt.zaxis, [1, 2, 3])
-    np.testing.assert_array_equal(geom_euler.alt.euler, [1, 2, 3])
-
-    body_iaxisangle = spec.worldbody.add_body(iaxisangle=[1, 2, 3, 4])
-    body_ixyaxes = spec.worldbody.add_body(ixyaxes=[1, 2, 3, 4, 5, 6])
-    body_izaxis = spec.worldbody.add_body(izaxis=[1, 2, 3])
-    body_ieuler = spec.worldbody.add_body(ieuler=[1, 2, 3])
-    body_euler_ieuler = spec.worldbody.add_body(
-        euler=[1, 2, 3], ieuler=[4, 5, 6]
-    )
-    np.testing.assert_array_equal(body_iaxisangle.ialt.axisangle, [1, 2, 3, 4])
-    np.testing.assert_array_equal(body_ixyaxes.ialt.xyaxes, [1, 2, 3, 4, 5, 6])
-    np.testing.assert_array_equal(body_izaxis.ialt.zaxis, [1, 2, 3])
-    np.testing.assert_array_equal(body_ieuler.ialt.euler, [1, 2, 3])
-    np.testing.assert_array_equal(body_euler_ieuler.alt.euler, [1, 2, 3])
-    np.testing.assert_array_equal(body_euler_ieuler.ialt.euler, [4, 5, 6])
-
-    # Test invalid orientation keyword arguments.
-    with self.assertRaises(ValueError) as cm:
-      body.add_geom(axisangle=[1, 2, 3])
-    self.assertEqual(
-        str(cm.exception),
-        'axisangle should be a list/array of size 4.',
-    )
-    with self.assertRaises(ValueError) as cm:
-      body.add_geom(xyaxes=[1, 2, 3, 4, 5])
-    self.assertEqual(
-        str(cm.exception),
-        'xyaxes should be a list/array of size 6.',
-    )
-    with self.assertRaises(ValueError) as cm:
-      body.add_geom(zaxis=[1, 2, 3, 4])
-    self.assertEqual(
-        str(cm.exception),
-        'zaxis should be a list/array of size 3.',
-    )
-    with self.assertRaises(ValueError) as cm:
-      body.add_geom(euler=[1])
-    self.assertEqual(
-        str(cm.exception),
-        'euler should be a list/array of size 3.',
-    )
-    with self.assertRaises(ValueError) as cm:
-      body.add_geom(axisangle=[1, 2, 3, 4], euler=[1, 2, 3])
-    self.assertEqual(
-        str(cm.exception),
-        'Only one of: axisangle, xyaxes, zaxis, or euler can be set.',
-    )
-    with self.assertRaises(ValueError) as cm:
-      spec.worldbody.add_body(iaxisangle=[1, 2, 3, 4], ieuler=[1, 2, 3])
-    self.assertEqual(
-        str(cm.exception),
-        'Only one of: iaxisangle, ixyaxes, izaxis, or ieuler can be set.',
-    )
-
-  def test_size_kwarg_variable_length(self):
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body()
-
-    geom_size1 = body.add_geom(size=[0.5])
-    np.testing.assert_array_equal(geom_size1.size, [0.5, 0, 0])
-
-    geom_size2 = body.add_geom(size=[0.5, 0.3])
-    np.testing.assert_array_equal(geom_size2.size, [0.5, 0.3, 0])
-
-    geom_size3 = body.add_geom(size=[0.5, 0.3, 0.1])
-    np.testing.assert_array_equal(geom_size3.size, [0.5, 0.3, 0.1])
-
-    site_size1 = body.add_site(size=[0.2])
-    np.testing.assert_array_equal(site_size1.size, [0.2, 0, 0])
-
-    site_size2 = body.add_site(size=[0.2, 0.1])
-    np.testing.assert_array_equal(site_size2.size, [0.2, 0.1, 0])
-
-    site_size3 = body.add_site(size=[0.2, 0.1, 0.05])
-    np.testing.assert_array_equal(site_size3.size, [0.2, 0.1, 0.05])
-
-    with self.assertRaises(ValueError) as cm:
-      body.add_geom(size=[])
-    self.assertEqual(
-        str(cm.exception),
-        'size should be a list/array of size 1 to 3.',
-    )
-
-    with self.assertRaises(ValueError) as cm:
-      body.add_geom(size=[1, 2, 3, 4])
-    self.assertEqual(
-        str(cm.exception),
-        'size should be a list/array of size 1 to 3.',
-    )
-
-  def test_load_xml(self):
-    file_path = epath.resource_path("mujoco") / "testdata" / "model.xml"
-    filename = file_path.as_posix()
-    state_type = mujoco.mjtState.mjSTATE_INTEGRATION
-
-    # Load from file.
-    spec1 = mujoco.MjSpec.from_file(filename)
-    model1 = spec1.compile()
-    data1 = mujoco.MjData(model1)
-    mujoco.mj_step(model1, data1)
-    size1 = mujoco.mj_stateSize(model1, state_type)
-    state1 = np.empty(size1, np.float64)
-    mujoco.mj_getState(model1, data1, state1, state_type)
-
-    # Load from string.
-    with open(filename, 'r') as file:
-      spec2 = mujoco.MjSpec.from_string(file.read().rstrip())
-    model2 = spec2.compile()
-    data2 = mujoco.MjData(model2)
-    mujoco.mj_step(model2, data2)
-    size2 = mujoco.mj_stateSize(model2, state_type)
-    state2 = np.empty(size2, np.float64)
-    mujoco.mj_getState(model2, data2, state2, state_type)
-
-    # Check that the state is the same.
-    np.testing.assert_array_equal(state1, state2)
-
-  def test_parses_urdf(self):
-    file_path = epath.resource_path("mujoco") / "testdata" / "model.urdf"
-    filename = file_path.as_posix()
-
-    # Load from file.
-    spec1 = mujoco.MjSpec.from_file(filename)
-    self.assertIsNotNone(spec1)
-
-  def test_make_mesh(self):
-    spec = mujoco.MjSpec()
-
-    mesh = spec.add_mesh(name='wedge')
-    mesh.make_wedge(resolution=[25, 25], fov=[90, 45], gamma=0)
-
-    mesh = spec.add_mesh(name='prism')
-    mesh.make_cone(nedge=5, radius=1)
-
-    mesh = spec.add_mesh(name='cone')
-    mesh.make_cone(nedge=6, radius=0)
-
-    mesh = spec.add_mesh(name='hemisphere')
-    mesh.make_hemisphere(resolution=4)
-
-    mesh = spec.add_mesh(name='sphere')
-    mesh.make_sphere(subdivision=2)
-
-    mesh = spec.add_mesh(name='supertorus')
-    mesh.make_supertorus(resolution=10, radius=0.5, s=1, t=1)
-
-    mesh = spec.add_mesh(name='supersphere')
-    mesh.make_supersphere(resolution=20, e=2, n=1)
-
-    model = spec.compile()
-    self.assertEqual(model.nmesh, 7)
-    self.assertEqual(model.mesh_vertnum[0], 25 * 25)
-    self.assertEqual(model.mesh_vertnum[1], 10)
-    self.assertEqual(model.mesh_vertnum[2], 7)
-    self.assertEqual(model.mesh_vertnum[3], 2 * (4 + 1) * (4 + 2) + 2)
-    self.assertEqual(model.mesh_vertnum[4], 2 + 10 * 4**2)
-    self.assertEqual(model.mesh_vertnum[5], 100)
-    self.assertEqual(model.mesh_vertnum[6], 20 * (20 -1) + 2)
-
-  def test_compile_errors_with_line_info(self):
-    spec = mujoco.MjSpec()
-
-    added_on_line = get_linenumber() + 1
-    geom = spec.worldbody.add_geom()
-    geom.name = 'MyGeom'
-    geom.info = f'geom added on line {added_on_line}'
-
-    # Try to compile, get error.
-    expected_error = (
-        'Error: size 0 must be positive in geom\n'
-        + f"Element name 'MyGeom', id 0, geom added on line {added_on_line}"
-    )
-    with self.assertRaisesRegex(ValueError, expected_error):
-      spec.compile()
-
-  def test_compile_warnings(self):
-    xml = """
-    <mujoco>
-      <worldbody>
-        <flexcomp name="my_flex" type="grid" count="3 3 1" spacing=".05 .05 .05" radius=".01" dim="2"/>
-      </worldbody>
-    </mujoco>
-    """
-    spec = mujoco.MjSpec.from_string(xml)
-    with self.assertWarnsRegex(UserWarning, 'is not rigid'):
-      spec.compile()
-
-  def test_recompile(self):
-    # Create a spec.
-    spec = mujoco.MjSpec()
-
-    # Add movable body1.
-    body1 = spec.worldbody.add_body()
-    geom = body1.add_geom()
-    geom.size[0] = 1
-    geom.pos = [1, 1, 0]
-    joint = body1.add_joint()
-    joint.type = mujoco.mjtJoint.mjJNT_BALL
-
-    # Compile model, make data.
-    model = spec.compile()
-    data = mujoco.MjData(model)
-
-    # Simulate for 1 second.
-    while data.time < 1:
-      mujoco.mj_step(model, data)
-
-    # Add movable body2.
-    body2 = spec.worldbody.add_body()
-    body2.pos[1] = 3
-    geom = body2.add_geom()
-    geom.size[0] = 1
-    geom.pos = [0, 1, 0]
-    joint = body2.add_joint()
-    joint.type = mujoco.mjtJoint.mjJNT_BALL
-
-    # Recompile model and data while maintaining the state.
-    model_new, data_new = spec.recompile(model, data)
-
-    # Check that the state is preserved.
-    np.testing.assert_array_equal(model_new.body_pos[1], model.body_pos[1])
-    np.testing.assert_array_equal(data_new.qpos[:4], data.qpos)
-    np.testing.assert_array_equal(data_new.qvel[:3], data.qvel)
-
-  def test_uncompiled_spec_can_be_written(self):
-    spec = mujoco.MjSpec()
-    spec.to_xml()
-
-  def test_modelname_default_class(self):
-    xml = textwrap.dedent("""\
-        <mujoco model="test">
-          <compiler angle="radian"/>
-
-          <default>
-            <geom size="2 0 0"/>
-            <default class="def1">
-              <geom size="3 0 0"/>
-            </default>
-          </default>
-
-          <worldbody>
-            <geom class="def1"/>
-            <geom/>
-          </worldbody>
-        </mujoco>
-    """)
-
-    spec = mujoco.MjSpec()
-    spec.modelname = 'test'
-
-    main = spec.default
-    main.geom.size[0] = 2
-
-    def1 = spec.add_default('def1', main)
-    def1.geom.size[0] = 3
-
-    spec.worldbody.add_geom(def1)
-    spec.worldbody.add_geom(main)
-
-    spec.compile()
-    self.assertEqual(spec.to_xml(), xml)
-    spec = mujoco.MjSpec()
-    spec.modelname = 'test'
-
-    main = spec.default
-    main.geom.size[0] = 2
-    def1 = spec.add_default('def1', main)
-    def1.geom.size[0] = 3
-
-    geom1 = spec.worldbody.add_geom(def1)
-    geom2 = spec.worldbody.add_geom()
-    self.assertEqual(geom1.classname.name, 'def1')
-    self.assertEqual(geom2.classname.name, 'main')
-
-    spec.compile()
-    self.assertEqual(spec.to_xml(), xml)
-
-    spec = mujoco.MjSpec()
-    spec.modelname = 'test'
-
-    main = spec.default
-    main.geom.size[0] = 2
-    def1 = spec.add_default('def1', main)
-    def1.geom.size[0] = 3
-
-    geom1 = spec.worldbody.add_geom(size=[3, 0, 0])
-    geom2 = spec.worldbody.add_geom(size=[2, 0, 0])
-    geom1.classname = def1
-    geom2.classname = main  # actually redundant, since main is always applied
-
-    spec.compile()
-    self.assertEqual(spec.to_xml(), xml)
-
-    # test delete default
-    def1 = spec.find_default('def1')
-    spec.delete(def1)
-    def1 = spec.find_default('def1')
-    self.assertIsNone(def1)
-
-  def test_element_list(self):
-    spec = mujoco.MjSpec()
-    sensor1 = spec.add_sensor()
-    sensor2 = spec.add_sensor()
-    sensor3 = spec.add_sensor()
-    actuator1 = spec.add_actuator()
-    actuator2 = spec.add_actuator()
-    actuator3 = spec.add_actuator()
-    sensor1.name = 'sensor1'
-    sensor2.name = 'sensor2'
-    sensor3.name = 'sensor3'
-    actuator1.name = 'actuator1'
-    actuator2.name = 'actuator2'
-    actuator3.name = 'actuator3'
-    self.assertLen(spec.sensors, 3)
-    self.assertLen(spec.actuators, 3)
-    self.assertEqual(spec.sensors[0].name, 'sensor1')
-    self.assertEqual(spec.sensors[1].name, 'sensor2')
-    self.assertEqual(spec.sensors[2].name, 'sensor3')
-    self.assertEqual(spec.actuators[0].name, 'actuator1')
-    self.assertEqual(spec.actuators[1].name, 'actuator2')
-    self.assertEqual(spec.actuators[2].name, 'actuator3')
-    self.assertEqual(spec.sensor('sensor1'), sensor1)
-    self.assertEqual(spec.sensor('sensor2'), sensor2)
-    self.assertEqual(spec.sensor('sensor3'), sensor3)
-    self.assertEqual(spec.actuator('actuator1'), actuator1)
-    self.assertEqual(spec.actuator('actuator2'), actuator2)
-    self.assertEqual(spec.actuator('actuator3'), actuator3)
-
-  def test_body_list(self):
-    main_xml = """
-    <mujoco>
-      <worldbody>
-        <body name="body1">
-          <site name="site1"/>
-          <body name="body2">
-            <site name="site4"/>
-          </body>
-          <geom name="geom1" size="1"/>
-          <geom name="geom2" size="1"/>
-          <site name="site2"/>
-          <site name="site3"/>
-          <geom name="geom3" size="1"/>
-        </body>
-        <body name="body3">
-          <site name="site5"/>
-        </body>
-      </worldbody>
-    </mujoco>
-    """
-    spec = mujoco.MjSpec.from_string(main_xml)
-    bodytype = mujoco.mjtObj.mjOBJ_BODY
-    self.assertLen(spec.bodies, 4)
-    self.assertLen(spec.sites, 5)
-    self.assertLen(spec.worldbody.find_all('body'), 3)
-    self.assertLen(spec.worldbody.find_all('site'), 5)
-    self.assertLen(spec.worldbody.find_all('geom'), 3)
-    self.assertEqual(spec.bodies[1].name, 'body1')
-    self.assertEqual(spec.bodies[2].name, 'body2')
-    self.assertEqual(spec.bodies[3].name, 'body3')
-    self.assertEqual(spec.bodies[1].parent, spec.bodies[0])
-    self.assertEqual(spec.bodies[2].parent, spec.bodies[1])
-    self.assertEqual(spec.bodies[3].parent, spec.bodies[0])
-    self.assertLen(spec.worldbody.find_all(bodytype), 3)
-    self.assertLen(spec.bodies[1].find_all(bodytype), 1)
-    self.assertEmpty(spec.bodies[3].find_all(bodytype))
-    self.assertEqual(spec.bodies[1].find_all('body')[0].name, 'body2')
-    self.assertEmpty(spec.bodies[3].find_all('body'))
-    self.assertEmpty(spec.bodies[2].find_all('body'))
-    for i, body in enumerate(spec.worldbody.find_all('body')):
-      self.assertEqual(body.name, 'body' + str(i + 1))
-    for i, site in enumerate(spec.worldbody.find_all('site')):
-      self.assertEqual(site.name, 'site' + str(i + 1))
-    self.assertLen(spec.bodies[1].sites, 3)
-    self.assertLen(spec.bodies[2].sites, 1)
-    self.assertLen(spec.bodies[3].sites, 1)
-    self.assertEqual(spec.bodies[1].sites[0].name, 'site1')
-    self.assertEqual(spec.bodies[1].sites[1].name, 'site2')
-    self.assertEqual(spec.bodies[1].sites[2].name, 'site3')
-    self.assertEqual(spec.bodies[2].sites[0].name, 'site4')
-    self.assertEqual(spec.bodies[3].sites[0].name, 'site5')
-    for body in spec.bodies:
-      for site in body.sites:
-        self.assertEqual(site.parent, body)
-    with self.assertRaises(ValueError) as cm:
-      spec.worldbody.find_all('actuator')
-    self.assertEqual(
-        str(cm.exception),
-        'body.find_all supports the types: body, frame, geom, site,'
-        ' joint, light, camera.',
-    )
-    body3 = spec.worldbody.find_all('body')[2]
-    body3.name = 'body3_new'
-    self.assertEqual(spec.bodies[3].name, 'body3_new')
-
-  def test_geom_list(self):
-    main_xml = """
-    <mujoco>
-      <worldbody>
-        <body name="body1"/>
-      </worldbody>
-    </mujoco>
-    """
-    spec = mujoco.MjSpec.from_string(main_xml)
-    geom1 = spec.worldbody.add_geom(name='geom1')
-    geom2 = spec.worldbody.add_geom(name='geom2')
-    geom3 = spec.body('body1').add_geom(name='geom3')
-
-    self.assertEqual(spec.geoms, [geom1, geom2, geom3])
-    self.assertEqual(spec.geom('geom1'), geom1)
-    self.assertEqual(spec.geom('geom2'), geom2)
-    self.assertEqual(spec.geom('geom3'), geom3)
-
-  def test_iterators(self):
-    spec = mujoco.MjSpec()
-    geom1 = spec.worldbody.add_geom()
-    geom2 = spec.worldbody.add_geom()
-    geom3 = spec.worldbody.add_geom()
-    geom1.name = 'geom1'
-    geom2.name = 'geom2'
-    geom3.name = 'geom3'
-    geom = spec.worldbody.first_geom()
-    i = 1
-    while geom:
-      self.assertEqual(geom.name, 'geom' + str(i))
-      geom = spec.worldbody.next_geom(geom)
-      i += 1
-
-  def test_assets(self):
-    cube = """
-      v -1 -1  1
-      v  1 -1  1
-      v -1  1  1
-      v  1  1  1
-      v -1  1 -1
-      v  1  1 -1
-      v -1 -1 -1
-      v  1 -1 -1"""
-    spec = mujoco.MjSpec()
-    spec.modelname = 'test'
-    mesh = spec.add_mesh()
-    mesh.name = 'cube'
-    mesh.file = 'cube.obj'
-    geom = spec.worldbody.add_geom()
-    geom.type = mujoco.mjtGeom.mjGEOM_MESH
-    geom.meshname = 'cube'
-    spec.assets = {'cube.obj': cube}
-    model = spec.compile()
-    self.assertEqual(model.nmeshvert, 8)
-    self.assertEqual(spec.assets['cube.obj'], cube)
-    self.assertIs(
-        spec.assets['cube.obj'], cube,
-        'Asset dict should contain a reference, not a copy'
-    )
-
-    xml = """
-    <mujoco model="test">
-      <compiler angle="radian"/>
-
-      <asset>
-        <mesh name="cube" file="cube.obj"/>
-      </asset>
-
-      <worldbody>
-        <geom type="mesh" mesh="cube"/>
-      </worldbody>
-    </mujoco>
-    """
-    assets = {'cube.obj': cube}
-    spec = mujoco.MjSpec.from_string(xml, assets=assets)
-    model = spec.compile()
-    self.assertEqual(model.nmeshvert, 8)
-    self.assertEqual(spec.assets['cube.obj'], cube)
-    self.assertIs(
-        spec.assets['cube.obj'], cube,
-        'Asset dict should contain a reference, not a copy'
-    )
-    del assets
-    gc.collect()
-    self.assertEqual(spec.assets['cube.obj'], cube)
-
-  def test_include(self):
-    included_xml = """
-      <mujoco>
-        <worldbody>
-          <body>
-            <geom type="box" size="1 1 1"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """
-    spec = mujoco.MjSpec.from_string(
-        textwrap.dedent("""
-      <mujoco model="MuJoCo Model">
-        <include file="included.xml"/>
-      </mujoco>
-    """),
-        include={'included.xml': included_xml.encode('utf-8')},
-    )
-    self.assertEqual(
-        spec.worldbody.first_body().first_geom().type, mujoco.mjtGeom.mjGEOM_BOX
-    )
-
-  def test_delete(self):
-    file_path = epath.resource_path("mujoco") / "testdata" / "model.xml"
-    spec = mujoco.MjSpec.from_file(file_path.as_posix())
-
-    model = spec.compile()
-    self.assertIsNotNone(model)
-    self.assertEqual(model.nsite, 11)
-    self.assertEqual(model.nsensor, 11)
-
-    head = spec.body('head')
-    self.assertIsNotNone(head)
-    site = head.first_site()
-    self.assertIsNotNone(site)
-    self.assertEqual(site, spec.site('head'))
-
-    spec.delete(site)
-    spec.delete(spec.sensors[-1])
-    spec.delete(spec.sensors[-1])
-
-    model = spec.compile()
-    self.assertIsNotNone(model)
-    self.assertEqual(model.nsite, 10)
-    self.assertEqual(model.nsensor, 9)
-
-  def test_plugin(self):
-    spec = mujoco.MjSpec()
-    spec.activate_plugin('mujoco.elasticity.cable')
-    plugin = spec.add_plugin(
-        name='instance_name',
-        plugin_name='mujoco.elasticity.cable',
-        active=True,
-        info='info'
-    )
-    plugin.config = {'twist': '10', 'bend': '1'}
-    self.assertEqual(plugin.config, {'twist': '10', 'bend': '1'})
-
-    body = spec.worldbody.add_body()
-    body.plugin = plugin
-    body.plugin.name = 'instance_name'
-    body.plugin.active = True
-
-    geom = body.add_geom()
-    geom.type = mujoco.mjtGeom.mjGEOM_BOX
-    geom.size[0] = 1
-    geom.size[1] = 1
-    geom.size[2] = 1
-
-    model = spec.compile()
-    self.assertIsNotNone(model)
-    self.assertEqual(model.nplugin, 1)
-    self.assertEqual(model.npluginattr, 7)
-    self.assertEqual(model.body_plugin[1], 0)
-    attributes = (''.join([chr(i) for i in model.plugin_attr]).split(chr(0)))
-    self.assertEqual(attributes[:2], ['10', '1'])
-
-    copy = spec.copy()  # before assigning the new config
-    wrong_config = {'wrong': '10', 'bend': '1'}
-    for s in [spec, copy]:
-      s.plugins[0].config = wrong_config
-      with self.assertRaisesRegex(
-          ValueError, "Error: unrecognized attribute 'plugin:wrong'"
-      ):
-        s.compile()
-
-  def test_geom_and_mesh_plugin(self):
-    """Test that geom.plugin and mesh.plugin are accessible."""
-    spec = mujoco.MjSpec()
-
-    # Verify mesh has plugin attribute
-    mesh = spec.add_mesh(name='test_mesh')
-    self.assertTrue(hasattr(mesh, 'plugin'))
-
-    # Verify geom has plugin attribute
-    body = spec.worldbody.add_body()
-    geom = body.add_geom()
-    self.assertTrue(hasattr(geom, 'plugin'))
-
-    # Verify we can access and modify plugin properties
-    spec.activate_plugin('mujoco.sdf.torus')
-    plugin = spec.add_plugin(name='inst', plugin_name='mujoco.sdf.torus')
-
-    # Assign plugin to geom
-    geom.plugin = plugin
-    self.assertEqual(geom.plugin.name, 'inst')
-    self.assertEqual(geom.plugin.plugin_name, 'mujoco.sdf.torus')
-
-    # Assign plugin to mesh
-    mesh.plugin = plugin
-    self.assertEqual(mesh.plugin.name, 'inst')
-    self.assertEqual(mesh.plugin.plugin_name, 'mujoco.sdf.torus')
-
-  def test_duplicate_name_error(self):
-    main_xml = """
-    <mujoco>
-      <worldbody>
-        <body>
-          <geom size="0.1"/>
-        </body>
-      </worldbody>
-    </mujoco>
-    """
-
-    spec = mujoco.MjSpec.from_string(main_xml)
-    spec.add_material().name = 'yellow'
-    with self.assertRaisesRegex(
-        ValueError, "Error: repeated name 'yellow' in material"
-    ):
-      spec.add_material().name = 'yellow'
-
-  def test_duplicate_name_error_when_adding_specs_with_kwargs(self):
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body(name='body')
-    body.add_geom(
-        type=mujoco.mjtGeom.mjGEOM_BOX, size=[0.1, 1, 1], name='dup'
-    )
-    with self.assertRaisesRegex(
-        ValueError, "Error: repeated name 'dup' in geom"
-    ):
-      body.add_geom(
-          type=mujoco.mjtGeom.mjGEOM_BOX, size=[1, 0.1, 1], name='dup'
-      )
-
-    spec2 = mujoco.MjSpec()
-    spec2.add_material(name='yellow')
-    with self.assertRaisesRegex(
-        ValueError, "Error: repeated name 'yellow' in material"
-    ):
-      spec2.add_material(name='yellow')
-
-  def test_delete_unused_plugin(self):
-    spec = mujoco.MjSpec.from_string("""
-      <mujoco model="MuJoCo Model">
-        <extension>
-          <plugin plugin="mujoco.pid">
-            <instance name="pid1">
-              <config key="kp" value="4.0"/>
-            </instance>
-          </plugin>
-        </extension>
-
-        <worldbody>
-          <body>
-            <geom size="1"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """)
-    plugin = spec.plugins[0]
-    self.assertIsNotNone(plugin)
-    spec.delete(plugin)
-
-    model = spec.compile()
-    self.assertIsNotNone(model)
-    self.assertEqual(model.nplugin, 0)
-
-  def testPluginAssignment(self):
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body()
-    body.name = 'test_body'
-
-    plugin = spec.add_plugin(
-        name='test_instance', plugin_name='mujoco.elasticity.cable', active=True
-    )
-    plugin.config = {'twist': '1e2', 'bend': '4e1'}
-
-    # Assignment should copy active flag and names
-    body.plugin = plugin
-
-    self.assertTrue(body.plugin.active)
-    self.assertEqual(body.plugin.name, 'test_instance')
-    self.assertEqual(body.plugin.plugin_name, 'mujoco.elasticity.cable')
-
-  def test_access_option_stat_visual(self):
-    spec = mujoco.MjSpec.from_string("""
-      <mujoco model="MuJoCo Model">
-        <option timestep="0.001"/>
-        <statistic meansize="0.05"/>
-        <visual>
-          <quality shadowsize="4096"/>
-          <headlight active="0"/>
-          <rgba camera="0 0 0 0"/>
-        </visual>
-      </mujoco>
-    """)
-    self.assertEqual(spec.option.timestep, 0.001)
-    self.assertEqual(spec.stat.meansize, 0.05)
-    self.assertEqual(spec.visual.quality.shadowsize, 4096)
-    self.assertEqual(spec.visual.headlight.active, 0)
-    self.assertEqual(spec.visual.global_, getattr(spec.visual, 'global'))
-    np.testing.assert_array_equal(spec.visual.rgba.camera, [0, 0, 0, 0])
-
-    spec.option.timestep = 0.002
-    spec.stat.meansize = 0.06
-    spec.visual.quality.shadowsize = 8192
-    spec.visual.headlight.active = 1
-    spec.visual.rgba.camera = [1, 1, 1, 1]
-
-    model = spec.compile()
-
-    self.assertEqual(model.opt.timestep, 0.002)
-    self.assertEqual(model.stat.meansize, 0.06)
-    self.assertEqual(model.vis.quality.shadowsize, 8192)
-    self.assertEqual(model.vis.headlight.active, 1)
-    np.testing.assert_array_equal(model.vis.rgba.camera, [1, 1, 1, 1])
-
-  def test_assign_list_element(self):
-    spec = mujoco.MjSpec()
-    material = spec.add_material()
-    texture_index = mujoco.mjtTextureRole.mjTEXROLE_RGB
-
-    # Assign a string to a list element.
-    material.textures[texture_index] = 'texture_name'
-    self.assertEqual(material.textures[texture_index], 'texture_name')
-
-    # Assign a complete list (must be mjNTEXROLE = 10 elements)
-    material.textures = ['', 'new_name', '', '', '', '', '', '', '', '']
-    self.assertEqual(material.textures[texture_index], 'new_name')
-
-    # textures is iterable
-    self.assertEqual('new_name', ''.join(material.textures))
-
-    # supports `len` - should always be mjNTEXROLE (10)
-    self.assertLen(material.textures, mujoco.mjtTextureRole.mjNTEXROLE)
-
-    # field checks for out-of-bound access on read and on write
-    with self.assertRaises(IndexError):
-      material.textures[10] = 'x'
-
-    with self.assertRaises(IndexError):
-      material.textures[-1] = 'x'
-
-  def test_textures(self):
-    """Tests that partial texture list assignment raises ValueError."""
-
-    spec = mujoco.MjSpec()
-    material = spec.add_material(name='mat')
-    spec.add_texture(
-        name='tex', builtin=mujoco.mjtBuiltin.mjBUILTIN_FLAT, width=2, height=2
-    )
-
-    # Should raise ValueError for incorrect size (only 1 element instead of 10)
-    with self.assertRaises(ValueError) as cm:
-      material.textures = ['tex']
-    self.assertIn('must have exactly 10 elements', str(cm.exception))
-    self.assertIn('got 1', str(cm.exception))
-
-    # Should succeed with correct size (mjNTEXROLE = 10)
-    material.textures = ['tex', '', '', '', '', '', '', '', '', '']
-    spec.worldbody.add_geom(size=[0.1, 0.1, 0.1], material='mat')
-    model = spec.compile()
-    self.assertIsNotNone(model)
-
-  def test_assign_texture(self):
-    spec = mujoco.MjSpec()
-    texture = spec.add_texture(name='texture', height=2, width=2)
-    texture.data = np.zeros((2, 2, 3), dtype=np.uint8).tobytes()
-    spec.compile()
-
-  def test_read_texture(self):
-    spec = mujoco.MjSpec()
-    texture = spec.add_texture(name='texture', height=1, width=2, nchannel=3)
-    texture.data = bytes([1, 2, 3, 4, 5, 6])
-    read_bytes = texture.data
-    self.assertEqual(read_bytes, bytes([1, 2, 3, 4, 5, 6]))
-
-  def test_modify_texture(self):
-    # Assign red, green and blue pixels, then make the first pixel yellow.
-    spec = mujoco.MjSpec()
-    texture = spec.add_texture(name='texture', height=1, width=3, nchannel=3)
-    texture.data = bytes([255, 0, 0, 0, 255, 0, 0, 0, 255])
-    data_array = bytearray(texture.data)
-    data_array[1] = 255
-    texture.data = bytes(data_array)
-    self.assertEqual(
-        texture.data, bytes([255, 255, 0, 0, 255, 0, 0, 0, 255])
-    )
-
-    # Assigning values outside the range [0, 255] should raise an error.
-    with self.assertRaises(ValueError):
-      data_array[0] = 256
-    with self.assertRaises(ValueError):
-      data_array[0] = -1
-
-  def test_find_unnamed_asset(self):
-    spec = mujoco.MjSpec()
-    texture_file = spec.add_texture(file='file.png')
-    texture_name = spec.add_texture(name='name')
-    mesh_file = spec.add_mesh(file='file.obj')
-    mesh_name = spec.add_mesh(name='mesh')
-    self.assertEqual(spec.texture('file'), texture_file)
-    self.assertEqual(spec.texture('name'), texture_name)
-    self.assertEqual(spec.mesh('file'), mesh_file)
-    self.assertEqual(spec.mesh('mesh'), mesh_name)
-    self.assertIsNone(spec.texture('none'))
-    self.assertIsNone(spec.mesh('none'))
-
-  def test_texture_gridlayout(self):
-    spec = mujoco.MjSpec()
-
-    texture = spec.add_texture(name='test', gridlayout='.U..LFRB.D..')
-    self.assertEqual(list(texture.gridlayout), list('.U..LFRB.D..'))
-
-    texture2 = spec.add_texture(name='test2', gridlayout=list('.U..LFRB.D..'))
-    self.assertEqual(list(texture2.gridlayout), list('.U..LFRB.D..'))
-
-    with self.assertRaises(ValueError) as cm:
-      spec.add_texture(name='test3', gridlayout='.U..')
-    self.assertIn('should have length 12', str(cm.exception))
-
-    with self.assertRaises(ValueError) as cm:
-      spec.add_texture(name='test4', gridlayout=['.', 'U', '.', '.'])
-    self.assertIn('should have length 12', str(cm.exception))
-
-    with self.assertRaises(ValueError) as cm:
-      spec.add_texture(name='test5', gridlayout=['..', 'U'] + ['.'] * 10)
-    self.assertIn('list elements must be single characters', str(cm.exception))
-
-  def test_attach_units(self):
-    child = mujoco.MjSpec()
-    parent = mujoco.MjSpec()
-    parent.compiler.degree = not child.compiler.degree
-    body = child.worldbody.add_body(euler=[90, 0, 0])
-    frame = parent.worldbody.add_frame(euler=[-mujoco.mjPI / 2, 0, 0])
-    frame.attach_body(body, prefix='child-')
-    model = parent.compile()
-    np.testing.assert_almost_equal(model.body_quat[1], [1, 0, 0, 0])
-
-  def test_compiler_from_element(self):
-    child = mujoco.MjSpec()
-    child.meshdir = '/child/meshes'
-    child.texturedir = '/child/textures'
-    child_body = child.worldbody.add_body()
-    child_geom = child_body.add_geom()
-    child_geom.size[0] = 1
-    child_site = child_body.add_site()
-
-    parent = mujoco.MjSpec()
-    parent.meshdir = '/parent/meshes'
-    parent.texturedir = '/parent/textures'
-    parent_geom = parent.worldbody.add_geom()
-    parent_geom.size[0] = 1
-    parent_site = parent.worldbody.add_site()
-
-    self.assertEqual(parent_geom.compiler.meshdir, '/parent/meshes')
-    self.assertEqual(parent_geom.compiler.texturedir, '/parent/textures')
-    self.assertEqual(child_geom.compiler.meshdir, '/child/meshes')
-    self.assertEqual(child_site.compiler.meshdir, '/child/meshes')
-
-    frame = parent.worldbody.add_frame()
-    frame.attach_body(child_body, prefix='child-')
-
-    self.assertEqual(parent_geom.compiler.meshdir, '/parent/meshes')
-    self.assertEqual(parent_site.compiler.meshdir, '/parent/meshes')
-    self.assertEqual(child_geom.compiler.meshdir, '/child/meshes')
-    self.assertEqual(child_geom.compiler.texturedir, '/child/textures')
-    self.assertEqual(child_site.compiler.meshdir, '/child/meshes')
-
-  def test_attach_to_site(self):
-    parent = mujoco.MjSpec()
-    parent.assets = {'path/cube.obj': 'cube_content'}
-    site = parent.worldbody.add_site(pos=[1, 2, 3], quat=[0, 0, 0, 1])
-    site.name = 'site'
-
-    # Attach body to site and compile.
-    child1 = mujoco.MjSpec()
-    child1.assets = {'cube1.obj': 'cube1_content'}
-    body1 = child1.worldbody.add_body()
-    self.assertIs(body1, site.attach_body(body1, prefix='_'))
-    self.assertIsNotNone(child1.worldbody)
-    body1.pos = [1, 1, 1]
-    model1 = parent.compile()
-    self.assertIsNotNone(model1)
-    self.assertEqual(model1.nbody, 2)
-    np.testing.assert_array_equal(model1.body_pos[1], [0, 1, 4])
-    np.testing.assert_array_equal(model1.body_quat[1], [0, 0, 0, 1])
-    self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
-
-    # Attach entire spec to site and compile again.
-    child2 = mujoco.MjSpec()
-    child2.assets = {'path/cube2.obj': 'cube2_content'}
-    body2 = child2.worldbody.add_body(name='body')
-    self.assertIsNotNone(parent.attach(child2, site=site, suffix='-child2'))
-    self.assertIsNotNone(child2.worldbody)
-    self.assertEqual(child2.parent, parent)
-    body2.pos = [-1, -1, -1]
-    model2 = parent.compile()
-    self.assertIsNotNone(model2)
-    self.assertEqual(model2.nbody, 3)
-    np.testing.assert_array_equal(model2.body_pos[1], [0, 1, 4])
-    np.testing.assert_array_equal(model2.body_pos[2], [2, 3, 2])
-    np.testing.assert_array_equal(model2.body_quat[1], [0, 0, 0, 1])
-    np.testing.assert_array_equal(model2.body_quat[2], [0, 0, 0, 1])
-    self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
-    self.assertEqual(parent.assets['path//cube2-child2.obj'], 'cube2_content')
-
-    # Attach another spec to site (referenced by name) and compile again.
-    child3 = mujoco.MjSpec()
-    child3.assets = {'path/cube3.obj': 'cube3_content'}
-    body3 = child3.worldbody.add_body(name='body')
-    self.assertIsNotNone(parent.attach(child3, site='site', prefix='child3-'))
-    self.assertIsNotNone(child3.worldbody)
-    self.assertEqual(child3.parent, parent)
-    body3.pos = [-2, -2, -2]
-    model3 = parent.compile()
-    self.assertIsNotNone(model3)
-    self.assertEqual(model3.nbody, 4)
-    np.testing.assert_array_equal(model3.body_pos[1], [0, 1, 4])
-    np.testing.assert_array_equal(model3.body_pos[2], [2, 3, 2])
-    np.testing.assert_array_equal(model3.body_pos[3], [3, 4, 1])
-    np.testing.assert_array_equal(model3.body_quat[1], [0, 0, 0, 1])
-    np.testing.assert_array_equal(model3.body_quat[2], [0, 0, 0, 1])
-    np.testing.assert_array_equal(model3.body_quat[3], [0, 0, 0, 1])
-    self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
-    self.assertEqual(parent.assets['path//cube2-child2.obj'], 'cube2_content')
-    self.assertEqual(parent.assets['path/child3-cube3.obj'], 'cube3_content')
-
-    # Fail to attach to a site that does not exist.
-    child4 = mujoco.MjSpec()
-    with self.assertRaisesRegex(ValueError, 'Site not found.'):
-      parent.attach(child4, site='invalid_site', prefix='child3-')
-
-  def test_body_to_frame(self):
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body(pos=[1, 2, 3])
-    spec.compile()
-    frame = body.to_frame()
-    np.testing.assert_array_equal(frame.pos, [1, 2, 3])
-
-  def test_get_frame(self):
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body()
-    frame = body.add_frame()
-    geom = body.add_geom()
-    geom.set_frame(frame)
-    self.assertIsNotNone(frame)
-    self.assertIs(geom.frame, frame)
-
-  def test_attach_to_frame(self):
-    parent = mujoco.MjSpec()
-    parent.assets = {'path/cube.obj': 'cube_content'}
-    frame = parent.worldbody.add_frame(pos=[1, 2, 3], quat=[0, 0, 0, 1])
-    frame.name = 'frame'
-
-    # Attach body to frame and compile.
-    child1 = mujoco.MjSpec()
-    child1.assets = {'path/cube1.obj': 'cube1_content'}
-    body1 = child1.worldbody.add_body()
-    self.assertIs(body1, frame.attach_body(body1, prefix='_'))
-    self.assertIsNotNone(child1.worldbody)
-    body1.pos = [1, 1, 1]
-    model1 = parent.compile()
-    self.assertIsNotNone(model1)
-    self.assertEqual(model1.nbody, 2)
-    np.testing.assert_array_equal(model1.body_pos[1], [0, 1, 4])
-    np.testing.assert_array_equal(model1.body_quat[1], [0, 0, 0, 1])
-    self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
-
-    # Attach entire spec to frame and compile again.
-    child2 = mujoco.MjSpec()
-    child2.assets = {'path/cube2.obj': 'cube2_content'}
-    body2 = child2.worldbody.add_body(name='body')
-    body2.set_frame(child2.worldbody.add_frame(pos=[-1, -1, 1]))
-    self.assertIsNotNone(parent.attach(child2, frame=frame, suffix='-child'))
-    self.assertIsNotNone(child2.worldbody)
-    self.assertEqual(child2.parent, parent)
-    body2.pos = [-1, -1, -1]
-    model2 = parent.compile()
-    self.assertIsNotNone(model2)
-    self.assertEqual(model2.nbody, 3)
-    np.testing.assert_array_equal(model2.body_pos[1], [0, 1, 4])
-    np.testing.assert_array_equal(model2.body_pos[2], [3, 4, 3])
-    np.testing.assert_array_equal(model2.body_quat[1], [0, 0, 0, 1])
-    np.testing.assert_array_equal(model2.body_quat[2], [0, 0, 0, 1])
-    self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
-    self.assertEqual(parent.assets['path//cube2-child.obj'], 'cube2_content')
-
-    # Attach another spec to frame (referenced by name) and compile again.
-    child3 = mujoco.MjSpec()
-    child3.assets = {'path/cube2.obj': 'new_content'}
-    body3 = child3.worldbody.add_body(name='body')
-    body3.set_frame(child3.worldbody.add_frame(pos=[-1, -1, 1]))
-    self.assertIsNotNone(parent.attach(child3, frame='frame', prefix='child3-'))
-    self.assertIsNotNone(child3.worldbody)
-    self.assertEqual(child3.parent, parent)
-    body3.pos = [-2, -2, -2]
-    model3 = parent.compile()
-    self.assertIsNotNone(model3)
-    self.assertEqual(model3.nbody, 4)
-    np.testing.assert_array_equal(model3.body_pos[1], [0, 1, 4])
-    np.testing.assert_array_equal(model3.body_pos[2], [3, 4, 3])
-    np.testing.assert_array_equal(model3.body_pos[3], [4, 5, 2])
-    np.testing.assert_array_equal(model3.body_quat[1], [0, 0, 0, 1])
-    np.testing.assert_array_equal(model3.body_quat[2], [0, 0, 0, 1])
-    np.testing.assert_array_equal(model3.body_quat[3], [0, 0, 0, 1])
-    self.assertEqual(parent.assets['path/cube.obj'], 'cube_content')
-    self.assertEqual(parent.assets['path/child3-cube2.obj'], 'new_content')
-
-    # Fail to attach to a frame that does not exist.
-    child4 = mujoco.MjSpec()
-    with self.assertRaisesRegex(ValueError, 'Frame not found.'):
-      parent.attach(child4, frame='invalid_frame', prefix='child3-')
-
-  def test_delete_from_attached_spec_error(self):
-    parent = mujoco.MjSpec()
-    child = mujoco.MjSpec()
-    body = child.worldbody.add_body(name='child_body')
-    geom = body.add_geom(name='child_geom')
-
-    frame = parent.worldbody.add_frame()
-    parent.attach(child, frame=frame, prefix='child_')
-
-    # Now child spec is attached. Deleting from it should raise ValueError.
-    with self.assertRaisesRegex(
-        ValueError, 'Cannot delete element from an attached mjSpec.'
-    ):
-      child.delete(geom)
-
-  def test_attach_valid_child_lists(self):
-    xml1 = """
-    <mujoco>
-      <worldbody>
-        <body name="b1">
-          <geom name="g1"/>
-          <joint name="j1" type="hinge"/>
-        </body>
-      </worldbody>
-    </mujoco>
-    """
-
-    xml2 = """
-    <mujoco>
-      <worldbody>
-        <body name="b2">
-          <geom name="g2"/>
-          <joint name="j2" type="hinge"/>
-        </body>
-      </worldbody>
-    </mujoco>
-    """
-
-    parent = mujoco.MjSpec.from_string(xml1)
-    child = mujoco.MjSpec.from_string(xml2)
-    self.assertLen(child.joints, 1)
-    self.assertLen(child.geoms, 1)
-    frame = parent.worldbody.add_frame()
-    parent.attach(child, prefix='', frame=frame)
-    self.assertLen(child.joints, 1)
-    self.assertLen(child.geoms, 1)
-
-  def test_bind(self):
-    spec = mujoco.MjSpec.from_string("""
-    <mujoco>
-      <worldbody>
-        <body name="main">
-          <geom name="main" size="0.15 0.15 0.15" mass="1" type="box"/>
-          <freejoint/>
-          <body name="box">
-            <joint name="box" type="hinge" range="-1 +1"/>
-            <geom name="box" size="0.15 0.15 0.15" mass="1" type="box"/>
-          </body>
-          <body name="sphere">
-            <joint name="sphere" type="hinge" range="-1 +1"/>
-            <geom name="sphere" size="0.15 0.15 0.15" mass="1" type="box"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-    """)
-    joint_box = spec.joint('box')
-    joint_sphere = spec.joint('sphere')
-    joints = [joint_box, joint_sphere]
-    mj_model = spec.compile()
-    mj_data = mujoco.MjData(mj_model)
-    np.testing.assert_array_equal(mj_data.bind(joint_box).qpos, 0)
-    np.testing.assert_array_equal(mj_model.bind(joint_box).qposadr, 7)
-    np.testing.assert_array_equal(mj_data.bind(joints).qpos, [0, 0])
-    np.testing.assert_array_equal(mj_model.bind(joints).qposadr, [7, 8])
-    np.testing.assert_array_equal(mj_data.bind([]).qpos, [])
-    np.testing.assert_array_equal(mj_model.bind([]).qposadr, [])
-    mj_data.bind(joints).qpos = np.array([1, 2])
-    np.testing.assert_array_equal(mj_data.bind(joints).qpos, [1, 2])
-    with self.assertRaisesRegex(
-        AttributeError, "object has no attribute 'invalid'"
-    ):
-      print(mj_model.bind(joints).invalid)
-    invalid_spec = mujoco.MjSpec()
-    invalid_spec.worldbody.add_body(name='main')
-    with self.assertRaisesRegex(
-        ValueError,
-        'The mjSpec does not match mjModel. Please recompile the mjSpec.',
-    ):
-      print(mj_model.bind(invalid_spec.body('main')))
-
-  def test_incorrect_hfield_size(self):
-    nrow = 300
-    ncol = 400
-    hdata = np.random.uniform(size=(1, 1))
-    model_spec = mujoco.MjSpec()
-    model_spec.add_hfield(
-        name='hfield',
-        size=[1, 1, 1, 1e-3],
-        ncol=ncol,
-        nrow=nrow,
-        userdata=hdata.flatten(),
-    )
-    model_spec.worldbody.add_geom(
-        name='hfield',
-        type=mujoco.mjtGeom.mjGEOM_HFIELD,
-        pos=np.array([0, 0, 1]),
-        hfieldname='hfield',
-    )
-    with self.assertRaisesRegex(
-        ValueError, r"Error: elevation data length must match nrow\*ncol\n"
-        "Element name 'hfield', id 0",
-    ):
-      model_spec.compile()
-
-  def test_address(self):
-    spec1 = mujoco.MjSpec()
-    spec2 = mujoco.MjSpec()
-    spec3 = spec1.copy()
-
-    self.assertGreater(spec1._address, 0)
-    self.assertGreater(spec2._address, 0)
-    self.assertGreater(spec3._address, 0)
-    self.assertLen({spec1._address, spec2._address, spec3._address}, 3)
-
-  def test_actuator_shortname(self):
-    spec = mujoco.MjSpec()
-    actuator = spec.add_actuator(
-        gainprm=np.zeros((10,)),
-        dyntype=mujoco.mjtDyn.mjDYN_FILTER,
-        gaintype=mujoco.mjtGain.mjGAIN_AFFINE,
-        biastype=mujoco.mjtBias.mjBIAS_AFFINE,
-    )
-    actuator.set_to_motor()
-    self.assertEqual(actuator.gainprm[0], 1)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
-    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
-
-    actuator.set_to_position(kp=2.0, kv=3.0, timeconst=4.0, inheritrange=True)
-    self.assertEqual(actuator.gainprm[0], 2)
-    self.assertEqual(actuator.biasprm[1], -2)
-    self.assertEqual(actuator.biasprm[2], -3)
-    self.assertEqual(actuator.dynprm[0], 4)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_FILTEREXACT)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
-    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
-    self.assertEqual(actuator.inheritrange, True)
-
-    actuator.set_to_intvelocity(
-        kp=2.0, kv=3.0, timeconst=4.0, inheritrange=True
-    )
-    self.assertEqual(actuator.gainprm[0], 2)
-    self.assertEqual(actuator.biasprm[1], -2)
-    self.assertEqual(actuator.biasprm[2], -3)
-    self.assertEqual(actuator.dynprm[0], 4)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_INTEGRATOR)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
-    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
-    self.assertEqual(actuator.inheritrange, True)
-
-    actuator.set_to_orientation(kp=2.0, dampratio=1.0)
-    self.assertEqual(actuator.gainprm[0], 2)
-    self.assertEqual(actuator.biasprm[1], -2)
-    self.assertEqual(actuator.biasprm[2], 1)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_SO3)
-    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_SO3)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
-
-    actuator.set_to_pid(kp=2.0, kv=3.0, ki=0.5, imax=1.5, slewmax=4.0)
-    self.assertEqual(actuator.biasprm[1], -2)
-    self.assertEqual(actuator.biasprm[2], -3)
-    self.assertEqual(actuator.gainprm[0], 0.5)
-    self.assertEqual(actuator.dynprm[0], 1.5)
-    self.assertEqual(actuator.dynprm[1], 4.0)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_PID)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_PID)
-
-    actuator.set_to_velocity(kv=5.0)
-    self.assertEqual(actuator.gainprm[0], 5)
-    self.assertEqual(actuator.biasprm[2], -5)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
-    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_AFFINE)
-
-    actuator.set_to_damper(kv=6.0)
-    self.assertEqual(actuator.gainprm[0], 0)
-    self.assertEqual(actuator.gainprm[2], -6)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_AFFINE)
-    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
-
-    actuator.set_to_adhesion(gain=7.0)
-    self.assertEqual(actuator.gainprm[0], 7)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_NONE)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_FIXED)
-    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_NONE)
-
-    actuator.set_to_dcmotor(motorconst=[0.05, 0.05], resistance=2.0)
-    self.assertEqual(actuator.gainprm[0], 2.0)
-    self.assertEqual(actuator.gainprm[1], 0.05)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_DCMOTOR)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_DCMOTOR)
-    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_DCMOTOR)
-
-    actuator = spec.add_actuator()
-    actuator.set_to_muscle(tausmooth=0.1)
-    self.assertEqual(actuator.dyntype, mujoco.mjtDyn.mjDYN_MUSCLE)
-    self.assertEqual(actuator.gaintype, mujoco.mjtGain.mjGAIN_MUSCLE)
-    self.assertEqual(actuator.biastype, mujoco.mjtBias.mjBIAS_MUSCLE)
-    self.assertEqual(actuator.dynprm[2], 0.1)
-
-    actuator.set_to_muscle(
-        timeconst=[0.02, 0.05],
-        tausmooth=0.2,
-        range=[0.8, 1.2],
-        force=5.0,
-        scale=250.0,
-        lmin=0.6,
-        lmax=1.7,
-        vmax=1.8,
-        fpmax=1.4,
-        fvmax=1.5,
-    )
-    self.assertEqual(actuator.dynprm[0], 0.02)
-    self.assertEqual(actuator.dynprm[1], 0.05)
-    self.assertEqual(actuator.dynprm[2], 0.2)
-    self.assertEqual(actuator.gainprm[0], 0.8)
-    self.assertEqual(actuator.gainprm[1], 1.2)
-    self.assertEqual(actuator.gainprm[2], 5.0)
-    self.assertEqual(actuator.gainprm[3], 250.0)
-    self.assertEqual(actuator.gainprm[4], 0.6)
-    self.assertEqual(actuator.gainprm[5], 1.7)
-    self.assertEqual(actuator.gainprm[6], 1.8)
-    self.assertEqual(actuator.gainprm[7], 1.4)
-    self.assertEqual(actuator.gainprm[8], 1.5)
-
-  def test_bad_contact_sensor(self):
-    test_cases = [
-        dict(
-            expected_error='num (intprm[2]) must be positive in sensor',
-            sensor_params=dict(
-                type=mujoco.mjtSensor.mjSENS_CONTACT,
-                objtype=mujoco.mjtObj.mjOBJ_GEOM,
-                objname='sphere1',
-                intprm=[1, 0, 0],
-            ),
-        ),
-        dict(
-            expected_error='data spec (intprm[0]) must be positive, got 0',
-            sensor_params=dict(
-                type=mujoco.mjtSensor.mjSENS_CONTACT,
-                objtype=mujoco.mjtObj.mjOBJ_GEOM,
-                objname='sphere1',
-                intprm=[0, 0, 1],
-            ),
-        ),
-        dict(
-            expected_error=(
-                'data spec intprm[0]=1024 must have at least one bit set of the'
-                ' first mjNCONDATA bits'
-            ),
-            sensor_params=dict(
-                type=mujoco.mjtSensor.mjSENS_CONTACT,
-                objtype=mujoco.mjtObj.mjOBJ_GEOM,
-                objname='sphere1',
-                intprm=[1 << 10, 0, 1],
-            ),
-        ),
-        dict(
-            expected_error=(
-                'data spec intprm[0]=1025 has bits set beyond the first'
-                ' mjNCONDATA bits'
-            ),
-            sensor_params=dict(
-                type=mujoco.mjtSensor.mjSENS_CONTACT,
-                objtype=mujoco.mjtObj.mjOBJ_GEOM,
-                objname='sphere1',
-                intprm=[(1 << 10) | 1, 0, 1],
-            ),
-        ),
-        dict(
-            expected_error='unknown reduction criterion. got 4',
-            sensor_params=dict(
-                type=mujoco.mjtSensor.mjSENS_CONTACT,
-                objtype=mujoco.mjtObj.mjOBJ_GEOM,
-                objname='sphere1',
-                intprm=[1, 4, 1],
-            ),
-        ),
-        dict(
-            expected_error=(
-                'first matching criterion: if set, must be'
-                ' (x)body, geom or site'
-            ),
-            sensor_params=dict(
-                type=mujoco.mjtSensor.mjSENS_CONTACT,
-                objtype=mujoco.mjtObj.mjOBJ_CAMERA,
-                objname='cam',
-            ),
-        ),
-        dict(
-            expected_error=(
-                'second matching criterion: if set, must be (x)body or geom'
-            ),
-            sensor_params=dict(
-                type=mujoco.mjtSensor.mjSENS_CONTACT,
-                reftype=mujoco.mjtObj.mjOBJ_CAMERA,
-                refname='cam',
-            ),
-        ),
-    ]
-
-    for params in test_cases:
-      expected_error = params.get('expected_error')
-      with self.subTest(expected_error):
-        spec = mujoco.MjSpec()
-        spec.worldbody.add_geom(name='sphere1', size=[.2, 0, 0], pos=[0, 0, 1])
-        body = spec.worldbody.add_body(name='body')
-        non_root = body.add_body(name='non_root')
-        non_root.add_geom(name='sphere3', size=[.3, 0, 0], pos=[1, 0, 1])
-        spec.worldbody.add_camera(name='cam')
-        spec.add_sensor(**params['sensor_params'])
-        error_predicate = lambda e, expected=expected_error: expected in str(e)
-        with self.assertRaisesWithPredicateMatch(ValueError, error_predicate):
-          spec.compile()
-
-  def test_sensor_data_size(self):
-    spec = mujoco.MjSpec()
-    quat = spec.add_sensor(
-        name='framequat',
-        type=mujoco.mjtSensor.mjSENS_FRAMEQUAT,
-        objtype=mujoco.mjtObj.mjOBJ_BODY,
-        objname='world',
-    )
-    self.assertEqual(quat.get_data_size(), 4)
-    clock = spec.add_sensor(
-        name='clock',
-        type=mujoco.mjtSensor.mjSENS_CLOCK,
-    )
-    self.assertEqual(clock.get_data_size(), 1)
-    mj_model = spec.compile()
-    self.assertEqual(mj_model.sensor_dim[0], 4)
-    self.assertEqual(mj_model.sensor_dim[1], 1)
-
-  def test_mesh_material(self):
-    spec = mujoco.MjSpec()
-
-    spec.add_material(name='red', rgba=(1, 0, 0, 1))
-    spec.add_material(name='green', rgba=(0, 1, 0, 1))
-
-    mesh = spec.add_mesh(name='sphere')
-    mesh.make_sphere(subdivision=1)
-    mesh.material = 'red'
-
-    geom = spec.worldbody.add_geom()
-    geom.type = mujoco.mjtGeom.mjGEOM_MESH
-    geom.meshname = 'sphere'
-
-    geom_2 = spec.worldbody.add_geom()
-    geom_2.type = mujoco.mjtGeom.mjGEOM_MESH
-    geom_2.meshname = 'sphere'
-    geom_2.material = 'green'
-
-    model = spec.compile()
-
-    self.assertEqual(model.geom_matid[0], 0)
-    self.assertEqual(model.geom_matid[1], 1)
-
-    mesh.material = 'green'
-    model = spec.compile()
-
-    self.assertEqual(model.geom_matid[0], 1)
-
-  def test_tendon_path(self):
-    spec = mujoco.MjSpec()
-
-    body = spec.worldbody.add_body(name='body')
-
-    body.add_geom(name='body_geom', pos=[0, 0, 0], size=[.1, 0, 0])
-    site1 = body.add_site(name='site1', pos=[0, 0, 0])
-    site2 = body.add_site(name='site2', pos=[0, 0, -1])
-    site3 = body.add_site(name='site3', pos=[0, 0, -4])
-    sidesite = body.add_site(name='sidesite', pos=[2, 0, -5])
-    site4 = body.add_site(name='site4', pos=[0, 1, -6])
-
-    sphere = spec.worldbody.add_geom(
-        name='sphere', size=[0.2, 0, 0], pos=[0, 0, -2]
-    )
-
-    cylinder = spec.worldbody.add_geom(
-        name='cylinder',
-        type=mujoco.mjtGeom.mjGEOM_CYLINDER,
-        size=[0.1, 0.2, 0.3],
-        pos=[0, 0, -5]
-    )
-
-    joint1 = body.add_joint(
-        name='joint1', type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0]
-    )
-
-    body2 = spec.worldbody.add_body(name='body2', pos=[2, 0, 0])
-    body2.add_geom(name='body2_geom', pos=[0, 0, 0], size=[.1, 0, 0])
-    joint2 = body2.add_joint(
-        name='joint2', type=mujoco.mjtJoint.mjJNT_HINGE, axis=[0, 1, 0]
-    )
-
-    spatial_tendon = spec.add_tendon()
-    fixed_tendon = spec.add_tendon()
-
-    wrap_site1 = spatial_tendon.wrap_site('site1')
-    wrap_site2 = spatial_tendon.wrap_site('site2')
-    wrap_pulley1 = spatial_tendon.wrap_pulley(2.0)
-    wrap_site3_1 = spatial_tendon.wrap_site('site3')
-    wrap_sphere = spatial_tendon.wrap_geom('sphere', '')
-    wrap_site4_1 = spatial_tendon.wrap_site('site4')
-    wrap_pulley2 = spatial_tendon.wrap_pulley(2.0)
-    wrap_site3_2 = spatial_tendon.wrap_site('site3')
-    wrap_cylinder = spatial_tendon.wrap_geom('cylinder', 'sidesite')
-    wrap_site4_2 = spatial_tendon.wrap_site('site4')
-
-    wrap_joint1 = fixed_tendon.wrap_joint('joint1', 1.0)
-    wrap_joint2 = fixed_tendon.wrap_joint('joint2', 2.0)
-
-    self.assertListEqual(
-        list(spatial_tendon.path),
-        [
-            wrap_site1,
-            wrap_site2,
-            wrap_pulley1,
-            wrap_site3_1,
-            wrap_sphere,
-            wrap_site4_1,
-            wrap_pulley2,
-            wrap_site3_2,
-            wrap_cylinder,
-            wrap_site4_2,
-        ],
-    )
-    self.assertListEqual(
-        [w.target for w in spatial_tendon.path],
-        [
-            site1,
-            site2,
-            None,  # Pulley wraps have no targets
-            site3,
-            sphere,
-            site4,
-            None,  # Pulley wraps have no targets
-            site3,
-            cylinder,
-            site4,
-        ],
-    )
-    self.assertEqual(spatial_tendon.path[8].sidesite, sidesite)
-    self.assertIsNone(spatial_tendon.path[7].sidesite)
-
-    self.assertListEqual(list(fixed_tendon.path), [wrap_joint1, wrap_joint2])
-    self.assertListEqual(
-        [w.target for w in fixed_tendon.path],
-        [joint1, joint2]
-    )
-
-    # Wrap type for geom is only set during compilation.
-    spec.compile()
-
-    self.assertEqual(wrap_site1.type, mujoco.mjtWrap.mjWRAP_SITE)
-    self.assertEqual(wrap_site2.type, mujoco.mjtWrap.mjWRAP_SITE)
-    self.assertEqual(wrap_site3_1.type, mujoco.mjtWrap.mjWRAP_SITE)
-    self.assertEqual(wrap_site4_1.type, mujoco.mjtWrap.mjWRAP_SITE)
-    self.assertEqual(wrap_site3_2.type, mujoco.mjtWrap.mjWRAP_SITE)
-    self.assertEqual(wrap_site4_2.type, mujoco.mjtWrap.mjWRAP_SITE)
-    self.assertEqual(wrap_pulley1.type, mujoco.mjtWrap.mjWRAP_PULLEY)
-    self.assertEqual(wrap_pulley1.divisor, 2.0)
-    self.assertEqual(wrap_sphere.type, mujoco.mjtWrap.mjWRAP_SPHERE)
-    self.assertEqual(wrap_cylinder.type, mujoco.mjtWrap.mjWRAP_CYLINDER)
-    self.assertEqual(wrap_pulley2.type, mujoco.mjtWrap.mjWRAP_PULLEY)
-    self.assertEqual(wrap_pulley2.divisor, 2.0)
-
-    self.assertEqual(wrap_joint1.type, mujoco.mjtWrap.mjWRAP_JOINT)
-    self.assertEqual(wrap_joint1.coef, 1.0)
-    self.assertEqual(wrap_joint2.type, mujoco.mjtWrap.mjWRAP_JOINT)
-    self.assertEqual(wrap_joint2.coef, 2.0)
-
-  def test_from_zip(self):
-    """Tests that the assets are correctly parsed from a zip file."""
-    model_path_root = (
-        epath.resource_path("mujoco") / "testdata" / "MJCF_Root.zip"
-    )
-    model_path_no_root = (
-        epath.resource_path("mujoco") / "testdata" / "MJCF_NoRoot.zip"
-    )
-    filenames = [model_path_root.as_posix(), model_path_no_root.as_posix()]
-
-    for filename in filenames:
-      with self.subTest(filename):
-        spec = mujoco.MjSpec.from_zip(filename)
-        spec.compile()
-        assets = spec.assets
-        xml_string = spec.to_xml()
-        string_spec = mujoco.MjSpec.from_string(xml_string, assets=assets)
-        string_spec.compile()
-        self.assertEqual(spec.to_xml(), string_spec.to_xml())
-
-  def test_rangefinder_sensor(self):
-    """Test rangefinder sensor with mjSpec, iterative model building."""
-    # Raydata field enum values for dataspec bitfield
-    rd = mujoco.mjtRayDataField
-    dist_val = int(rd.mjRAYDATA_DIST)
-    dir_val = int(rd.mjRAYDATA_DIR)
-    origin_val = int(rd.mjRAYDATA_ORIGIN)
-    point_val = int(rd.mjRAYDATA_POINT)
-    normal_val = int(rd.mjRAYDATA_NORMAL)
-    depth_val = int(rd.mjRAYDATA_DEPTH)
-
-    # Step 1: Create a rangefinder sensor attached to a site, no dataspec set.
-    # Note: site goes on a child body because rangefinder excludes the site's
-    # parent body from ray casting.
-    spec = mujoco.MjSpec()
-    sensor_body = spec.worldbody.add_body(name='sensor_body', pos=[0, 0, 1])
-    sensor_body.add_site(name='rf_site', zaxis=[0, 0, -1])
-    rf_sensor = spec.add_sensor(
-        name='rf',
-        type=mujoco.mjtSensor.mjSENS_RANGEFINDER,
-        objtype=mujoco.mjtObj.mjOBJ_SITE,
-        objname='rf_site',
-    )
-
-    # This should fail: data spec (intprm[0]) must be positive
-    with self.assertRaisesWithPredicateMatch(
-        ValueError,
-        lambda e: 'data spec (intprm[0]) must be positive' in str(e)
-    ):
-      spec.compile()
-
-    # Step 2: Set dataspec to just mjRAYDATA_DIST
-    rf_sensor.intprm[0] = 1 << dist_val
-    model = spec.compile()
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-
-    # With no geometry, the ray should miss: dist = -1
-    self.assertEqual(model.nsensordata, 1)
-    self.assertEqual(data.bind(rf_sensor).data[0], -1)
-
-    # Step 3: Add all raydata fields and check no-hit values
-    all_fields = (
-        (1 << dist_val) | (1 << dir_val) | (1 << origin_val) |
-        (1 << point_val) | (1 << normal_val) | (1 << depth_val)
-    )
-    rf_sensor.intprm[0] = all_fields
-    model = spec.compile()
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-
-    # Expected size: dist(1) + dir(3) + origin(3) + point(3) + normal(3) +
-    # depth(1) = 14
-    self.assertEqual(model.nsensordata, 14)
-
-    # No-hit values
-    sd = data.bind(rf_sensor).data
-    self.assertEqual(sd[0], -1)  # dist
-    np.testing.assert_allclose(sd[1:4], [0, 0, 0])  # dir
-    np.testing.assert_allclose(sd[4:7], [0, 0, 1])  # origin
-    np.testing.assert_allclose(sd[7:10], [0, 0, 0])  # point
-    np.testing.assert_allclose(sd[10:13], [0, 0, 0])  # normal
-    self.assertEqual(sd[13], -1)  # depth
-
-    # Step 4: Add a floor plane, now the ray should hit
-    spec.worldbody.add_geom(
-        name='floor',
-        type=mujoco.mjtGeom.mjGEOM_PLANE,
-        size=[10, 10, 0.1],
-    )
-    model = spec.compile()
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-
-    # Ray starts at z=1 pointing down, hits floor at z=0
-    # For site sensor, depth = dist
-    sd = data.bind(rf_sensor).data
-    self.assertAlmostEqual(sd[0], 1.0, places=6)  # dist
-    np.testing.assert_allclose(sd[1:4], [0, 0, -1], atol=1e-10)  # dir
-    np.testing.assert_allclose(sd[4:7], [0, 0, 1], atol=1e-10)  # origin
-    np.testing.assert_allclose(sd[7:10], [0, 0, 0], atol=1e-10)  # point
-    np.testing.assert_allclose(sd[10:13], [0, 0, 1], atol=1e-10)  # normal
-    self.assertAlmostEqual(sd[13], 1.0, places=6)  # depth
-
-    # Step 5: Add a camera-based rangefinder sensor
-    # Camera also on child body so it doesn't exclude the floor
-    cam_body = spec.worldbody.add_body(name='cam_body', pos=[0, 0, 2])
-    cam_body.add_camera(
-        name='rf_cam',
-        xyaxes=[1, 0, 0, 0, 1, 0],  # z=[0,0,1], looks along -z (down)
-        resolution=[3, 3],
-        fovy=90,
-    )
-    cam_sensor = spec.add_sensor(
-        name='rf_cam_sensor',
-        type=mujoco.mjtSensor.mjSENS_RANGEFINDER,
-        objtype=mujoco.mjtObj.mjOBJ_CAMERA,
-        objname='rf_cam',
-        intprm=[(1 << dist_val) | (1 << depth_val), 0, 0],
-    )
-
-    model = spec.compile()
-    data = mujoco.MjData(model)
-    mujoco.mj_forward(model, data)
-
-    # Site sensor: 14 values, Camera sensor: (1+1)*9 = 18 values
-    self.assertEqual(model.nsensordata, 14 + 18)
-
-    # Check camera sensor data using bind
-    cam_sd = data.bind(cam_sensor).data
-    stride = 2  # dist + depth per pixel
-    center_pixel = 4  # center of 3x3 = row 1, col 1
-
-    # Center pixel: ray straight down from z=2 to z=0
-    self.assertAlmostEqual(cam_sd[center_pixel * stride], 2.0, places=6)
-    self.assertAlmostEqual(cam_sd[center_pixel * stride + 1], 2.0, places=6)
-
-    # Corner pixel: off-axis ray, dist > depth
-    self.assertGreater(cam_sd[0], cam_sd[1])  # dist > depth
-    self.assertAlmostEqual(cam_sd[1], 2.0, places=6)  # depth is still 2.0
-
-  def test_encode_xml(self):
-    # Create a simple spec and compile.
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body()
-    geom = body.add_geom()
-    geom.size[0] = 1
-    model = spec.compile()
-
-    # Encode to XML.
-    filename = os.path.join(self.create_tempdir().full_path, 'output.xml')
-    nbytes = spec.encode(filename, model)
-    self.assertGreater(nbytes, 0)
-
-    # Verify the output is valid XML that can be loaded.
-    reloaded = mujoco.MjSpec.from_file(filename)
-    reloaded_model = reloaded.compile()
-    self.assertEqual(reloaded_model.ngeom, model.ngeom)
-
-  def test_encode_xml_without_model(self):
-    # Create a simple spec and compile so XML can be written.
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body()
-    geom = body.add_geom()
-    geom.size[0] = 1
-    spec.compile()
-
-    # Encode to XML without passing a model explicitly.
-    filename = os.path.join(self.create_tempdir().full_path, 'output.xml')
-    nbytes = spec.encode(filename)
-    self.assertGreater(nbytes, 0)
-
-  def test_encode_no_encoder_raises(self):
-    # Create a simple spec and compile.
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body()
-    geom = body.add_geom()
-    geom.size[0] = 1
-    model = spec.compile()
-
-    # Encode with an unknown extension should fail.
-    filename = os.path.join(self.create_tempdir().full_path, 'output.unknown')
-    with self.assertRaises(mujoco.FatalError):
-      spec.encode(filename, model)
-
-  def test_make_flex_grid(self):
-    # Create a spec with a flexcomp grid.
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body(name='flex_body')
-    flex = body.make_flex(
-        name='test_flex',
-        type='grid',
-        dim=3,
-        count=[4, 4, 4],
-        spacing=[0.05, 0.05, 0.05],
-        mass=0.5,
-        equality=1,
-    )
-    self.assertIsNotNone(flex)
-    model = spec.compile()
-    self.assertIsNotNone(model)
-    self.assertGreater(model.nflex, 0)
-
-    # Verify elastic2d is forwarded to Make() and produces shell-mode
-    # strain constraints (equality=3 + elastic2d=2 triggers shell path).
-    spec2 = mujoco.MjSpec()
-    body2 = spec2.worldbody.add_body(name='shell_body')
-    flex2 = body2.make_flex(
-        name='shell_flex',
-        type='grid',
-        dim=3,
-        count=[3, 3, 3],
-        spacing=[0.1, 0.1, 0.1],
-        dof='trilinear',
-        cellcount=[2, 2, 1],
-        mass=0.5,
-        equality=3,  # strain
-        elastic2d=2,  # bend
-    )
-    flex2.young = 1e3
-    flex2.thickness = 0.01
-    flex2.selfcollide = mujoco.mjtFlexSelf.mjFLEXSELF_NONE
-    self.assertIsNotNone(flex2)
-    model2 = spec2.compile()
-    self.assertIsNotNone(model2)
-    # Shell mode creates face-based constraints; verify they exist.
-    self.assertGreater(model2.neq, 0)
-
-  def test_make_flex_defaults(self):
-    # Create a spec with minimal flexcomp args (defaults).
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body(name='flex_body')
-    flex = body.make_flex(name='default_flex', equality=1)
-    self.assertIsNotNone(flex)
-    model = spec.compile()
-    self.assertIsNotNone(model)
-
-  def test_make_flex_with_pos_quat(self):
-    # Create a spec with flexcomp that has a pose.
-    spec = mujoco.MjSpec()
-    body = spec.worldbody.add_body(name='flex_body')
-    flex = body.make_flex(
-        name='posed_flex',
-        type='grid',
-        dim=2,
-        count=[3, 3, 1],
-        spacing=[0.1, 0.1, 0.1],
-        pos=[1.0, 2.0, 3.0],
-        quat=[1.0, 0.0, 0.0, 0.0],
-        equality=1,
-    )
-    self.assertIsNotNone(flex)
-    model = spec.compile()
-    self.assertIsNotNone(model)
-
-  def test_authored_struct(self):
-    spec = mujoco.MjSpec()
-    # authored struct should be accessible with correct fields
-    self.assertEqual(spec.authored.option, 0)
-    self.assertEqual(spec.authored.disableflags, 0)
-    self.assertEqual(spec.authored.enableflags, 0)
-    self.assertEqual(spec.authored.disableactuator, 0)
-    self.assertEqual(spec.authored.visual_global, 0)
-    self.assertEqual(spec.authored.visual_quality, 0)
-    self.assertEqual(spec.authored.visual_headlight, 0)
-    self.assertEqual(spec.authored.visual_map, 0)
-    self.assertEqual(spec.authored.visual_scale, 0)
-    self.assertEqual(spec.authored.visual_rgba, 0)
-    # compiler authored should be zero
-    self.assertEqual(spec.compiler.authored, 0)
-
-  def test_authored_flags_from_xml(self):
-    spec = mujoco.MjSpec.from_string("""
-    <mujoco>
-      <option timestep="0.01">
-        <flag constraint="disable" energy="enable"/>
-      </option>
-      <compiler boundmass="1"/>
-      <visual>
-        <global fovy="60"/>
-        <quality shadowsize="1024"/>
-      </visual>
-      <worldbody/>
-    </mujoco>
-    """)
-    # disable/enable flags should be tracked
-    self.assertNotEqual(
-        spec.authored.disableflags & mujoco.mjtDisableBit.mjDSBL_CONSTRAINT, 0)
-    self.assertEqual(
-        spec.authored.disableflags & mujoco.mjtDisableBit.mjDSBL_CONTACT, 0)
-    self.assertNotEqual(
-        spec.authored.enableflags & mujoco.mjtEnableBit.mjENBL_ENERGY, 0)
-    self.assertEqual(
-        spec.authored.enableflags & mujoco.mjtEnableBit.mjENBL_OVERRIDE, 0)
-
-    # option authored bitmask should be nonzero (timestep was authored)
-    self.assertNotEqual(spec.authored.option, 0)
-
-    # compiler authored bitmask should be nonzero (boundmass was authored)
-    self.assertNotEqual(spec.compiler.authored, 0)
-
-    # visual authored bitmask should be nonzero (fovy, shadowsize were authored)
-    self.assertNotEqual(spec.authored.visual_global, 0)
-    self.assertNotEqual(spec.authored.visual_quality, 0)
-
-    # visual sections that were not authored should be zero
-    self.assertEqual(spec.authored.visual_headlight, 0)
-    self.assertEqual(spec.authored.visual_map, 0)
-    self.assertEqual(spec.authored.visual_scale, 0)
-    self.assertEqual(spec.authored.visual_rgba, 0)
-
-  def test_authored_defaults_zero(self):
-    spec = mujoco.MjSpec.from_string("""
-    <mujoco>
-      <worldbody/>
-    </mujoco>
-    """)
-    # nothing authored in an empty model
-    self.assertEqual(spec.authored.option, 0)
-    self.assertEqual(spec.authored.disableflags, 0)
-    self.assertEqual(spec.authored.enableflags, 0)
-    self.assertEqual(spec.compiler.authored, 0)
-    self.assertEqual(spec.authored.visual_global, 0)
-    self.assertEqual(spec.authored.visual_quality, 0)
-    self.assertEqual(spec.authored.visual_map, 0)
-
-  def test_attach_conflict_merge_procedural(self):
-    # Procedural attach with merge mode: min/max fields are merged.
-    parent = mujoco.MjSpec()
-    parent.compiler.conflict = mujoco.mjtConflict.mjCONFLICT_MERGE
-    parent.option.timestep = 0.005
-    parent.option.iterations = 150
-    parent.worldbody.add_geom().size[0] = 1
-
-    child = mujoco.MjSpec()
-    child.option.timestep = 0.001  # smaller -> wins (min-merge)
-    child.option.iterations = 200  # larger -> wins (max-merge)
-    child_body = child.worldbody.add_body()
-    child_body.add_geom().size[0] = 1
-
-    frame = parent.worldbody.add_frame()
-    frame.attach_body(child_body, prefix='child_')
-
-    # merged values are applied immediately at attach time
-    self.assertEqual(parent.option.timestep, 0.001)
-    self.assertEqual(parent.option.iterations, 200)
-
-    # compile succeeds with the merged values
-    model = parent.compile()
-    self.assertIsNotNone(model)
-    self.assertEqual(model.opt.timestep, 0.001)
-    self.assertEqual(model.opt.iterations, 200)
-
-  def test_attach_conflict_error_procedural(self):
-    # Procedural attach with unmergeable conflict: raises ValueError,
-    # parent spec is unchanged.
-    parent = mujoco.MjSpec()
-    parent.compiler.conflict = mujoco.mjtConflict.mjCONFLICT_MERGE
-    parent.option.timestep = 0.005
-    parent.option.integrator = mujoco.mjtIntegrator.mjINT_RK4
-
-    child = mujoco.MjSpec()
-    child.option.timestep = 0.001
-    child.option.integrator = mujoco.mjtIntegrator.mjINT_IMPLICIT
-    child_body = child.worldbody.add_body()
-    child_body.add_geom().size[0] = 1
-
-    frame = parent.worldbody.add_frame()
-
-    with self.assertRaisesRegex(ValueError, 'integrator'):
-      frame.attach_body(child_body, prefix='child_')
-
-    # parent spec should be unchanged (two-pass guarantee)
-    self.assertEqual(parent.option.timestep, 0.005)
-    self.assertEqual(parent.option.integrator, mujoco.mjtIntegrator.mjINT_RK4)
-
-  def test_attach_conflict_merge_xml(self):
-    # XML-based attach with merge mode: child timestep wins (min).
-    parent_xml = textwrap.dedent("""\
-      <mujoco>
-        <compiler conflict="merge"/>
-        <option timestep="0.005" iterations="50"/>
-        <asset>
-          <model name="child" file="child.xml"/>
-        </asset>
-        <worldbody>
-          <body name="parent_body">
-            <geom size="1"/>
-            <attach model="child" body="child_body" prefix="child/"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """)
-
-    child_xml = textwrap.dedent("""\
-      <mujoco>
-        <option timestep="0.001" iterations="150"/>
-        <worldbody>
-          <body name="child_body">
-            <geom size="1"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """)
-
-    spec = mujoco.MjSpec.from_string(
-        parent_xml,
-        include={'child.xml': child_xml.encode()},
-    )
-    model = spec.compile()
-    self.assertIsNotNone(model)
-    self.assertEqual(model.opt.timestep, 0.001)  # min
-    self.assertEqual(model.opt.iterations, 150)  # max
-
-  def test_attach_conflict_error_xml(self):
-    # XML-based attach with error mode: any conflict raises ValueError.
-    parent_xml = textwrap.dedent("""\
-      <mujoco>
-        <compiler conflict="error"/>
-        <option timestep="0.005"/>
-        <asset>
-          <model name="child" file="child.xml"/>
-        </asset>
-        <worldbody>
-          <body name="parent_body">
-            <geom size="1"/>
-            <attach model="child" body="child_body" prefix="child/"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """)
-
-    child_xml = textwrap.dedent("""\
-      <mujoco>
-        <option timestep="0.001"/>
-        <worldbody>
-          <body name="child_body">
-            <geom size="1"/>
-          </body>
-        </worldbody>
-      </mujoco>
-    """)
-
-    with self.assertRaisesRegex(ValueError, 'timestep'):
-      mujoco.MjSpec.from_string(
-          parent_xml,
-          include={'child.xml': child_xml.encode()},
-      )
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/mujoco/specs_wrapper.cc b/python/mujoco/specs_wrapper.cc
deleted file mode 100644
index 1b8efbc5..00000000
--- a/python/mujoco/specs_wrapper.cc
+++ /dev/null
@@ -1,153 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "specs_wrapper.h"
-
-#include <cstddef>  // IWYU pragma: keep
-#include <optional>
-#include <string>
-#include <string_view>  // IWYU pragma: keep
-#include <vector>       // IWYU pragma: keep
-
-#include <mujoco/mjspec.h>  // IWYU pragma: keep
-#include <mujoco/mujoco.h>
-#include "errors.h"
-#include "indexers.h"  // IWYU pragma: keep
-#include "private.h"
-#include "raw.h"
-#include "structs.h"  // IWYU pragma: keep
-#include <pybind11/cast.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-namespace py = ::pybind11;
-
-namespace mujoco::python {
-
-MjSpec::MjSpec() : ptr(mj_makeSpec()) {}
-MjSpec::MjSpec(raw::MjSpec* ptr, const py::dict& assets_) : ptr(ptr) {
-  for (const auto [key, value] : assets_) {
-    assets[key] = value;
-  }
-}
-
-// copy constructor and assignment
-MjSpec::MjSpec(const MjSpec& other) : ptr(mj_copySpec(other.ptr)) {
-  override_assets = other.override_assets;
-  for (const auto [key, value] : other.assets) {
-    assets[key] = value;
-  }
-  parent = other.parent;
-}
-
-MjSpec& MjSpec::operator=(const MjSpec& other) {
-  override_assets = other.override_assets;
-  ptr = mj_copySpec(other.ptr);
-  for (const auto [key, value] : other.assets) {
-    assets[key] = value;
-  }
-  parent = other.parent;
-  return *this;
-}
-
-// move constructor and move assignment
-MjSpec::MjSpec(MjSpec&& other) : ptr(other.ptr) {
-  override_assets = other.override_assets;
-  other.ptr = nullptr;
-  for (const auto [key, value] : other.assets) {
-    assets[key] = value;
-  }
-  other.assets.clear();
-  parent = other.parent;
-  other.parent = nullptr;
-}
-
-MjSpec& MjSpec::operator=(MjSpec&& other) {
-  override_assets = other.override_assets;
-  ptr = other.ptr;
-  other.ptr = nullptr;
-  for (const auto [key, value] : other.assets) {
-    assets[key] = value;
-  }
-  other.assets.clear();
-  parent = other.parent;
-  other.parent = nullptr;
-  return *this;
-}
-
-MjSpec::~MjSpec() { mj_deleteSpec(ptr); }
-
-raw::MjModel* MjSpec::Compile(mjVFS* vfs) {
-  if (vfs != nullptr && !assets.empty()) {
-    throw py::value_error("Cannot specify both 'vfs' and 'assets'.");
-  }
-
-  std::optional<mjVFS> local_vfs;
-  if (vfs == nullptr) {
-    vfs = &local_vfs.emplace();
-    mj_defaultVFS(vfs);
-
-    for (const auto& asset : assets) {
-      std::string buffer_name = py::cast<std::string>(asset.first).c_str();
-      std::string buffer = py::cast<std::string>(asset.second);
-      const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
-          vfs, buffer_name.c_str(), buffer.c_str(), buffer.size());
-      if (vfs_error) {
-        mj_deleteVFS(vfs);
-        if (vfs_error == 2) {
-          throw py::value_error("Repeated file name in assets dict: " +
-                                buffer_name);
-        } else {
-          throw py::value_error("Asset failed to load: " + buffer_name);
-        }
-      }
-    }
-  }
-
-  raw::MjModel* m;
-  {
-    py::gil_scoped_release no_gil;
-
-    // Install a no-op handler to suppress stderr output from warnings.
-    // Compile() installs its own (setjmp/longjmp) handler and then chains to
-    // prev. We want to raise a `warnings.warn`, so pass in a no-op handler.
-    mjfLogHandler prev =
-        _mjPRIVATE_setTlsLogHandler([](const mjLogMessage*) {});
-    m = mj_compile(ptr, vfs);
-    _mjPRIVATE_setTlsLogHandler(prev);
-  }
-
-  if (local_vfs.has_value()) {
-    // vfs points at local_vfs value.
-    mj_deleteVFS(vfs);
-    local_vfs = std::nullopt;
-  }
-
-  if (!m) {
-    throw py::value_error(mjs_getError(ptr));
-  }
-
-  int num_warnings = mjs_numWarnings(ptr);
-  if (num_warnings > 0) {
-    py::object warnings = py::module_::import("warnings");
-    for (int i = 0; i < num_warnings; ++i) {
-      warnings.attr("warn")(mjs_getWarning(ptr, i));
-    }
-  }
-
-  return m;
-}
-
-}  // namespace mujoco::python
diff --git a/python/mujoco/specs_wrapper.h b/python/mujoco/specs_wrapper.h
deleted file mode 100644
index 66c1adab..00000000
--- a/python/mujoco/specs_wrapper.h
+++ /dev/null
@@ -1,45 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "raw.h"
-#include <pybind11/cast.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-namespace py = ::pybind11;
-
-namespace mujoco::python {
-
-struct MjSpec {
-  MjSpec();
-  MjSpec(raw::MjSpec* ptr, const py::dict& assets_ = {});
-
-  // copy constructor and assignment
-  MjSpec(const MjSpec& other);
-  MjSpec& operator=(const MjSpec& other);
-
-  // move constructor and move assignment
-  MjSpec(MjSpec&& other);
-  MjSpec& operator=(MjSpec&& other);
-  ~MjSpec();
-
-  raw::MjModel* Compile(mjVFS* vfs = nullptr);
-
-  raw::MjSpec* ptr;
-  py::dict assets;
-  bool override_assets = true;
-  MjSpec* parent = nullptr;
-};
-}  // namespace mujoco::python
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
deleted file mode 100644
index 2d5b7119..00000000
--- a/python/mujoco/structs.cc
+++ /dev/null
@@ -1,1458 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "structs.h"
-
-#include <Python.h>
-
-#include <cstddef>
-#include <cstdint>
-#include <ios>
-#include <iostream>
-#include <memory>
-#include <sstream>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "errors.h"
-#include "function_traits.h"
-#include "indexer_xmacro.h"
-#include "indexers.h"
-#include "raw.h"
-#include <pybind11/cast.h>
-#include <pybind11/detail/common.h>
-#include <pybind11/numpy.h>
-#include <pybind11/operators.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-#include "vfs.h"
-
-namespace mujoco::python::_impl {
-
-namespace py = ::pybind11;
-
-namespace {
-#define PTRDIFF(x, y) \
-  reinterpret_cast<const char*>(x) - reinterpret_cast<const char*>(y)
-
-// Returns the shape of a NumPy array given the dimensions from an X Macro.
-// If dim1 is a _literal_ constant 1, the resulting array is 1-dimensional of
-// length dim0, otherwise the resulting array is 2-dimensional of shape
-// (dim0, dim1).
-#define X_ARRAY_SHAPE(dim0, dim1) XArrayShapeImpl(#dim1)((dim0), (dim1))
-
-std::vector<mjtSize> XArrayShapeImpl1D(mjtSize dim0, mjtSize dim1) {
-  return {dim0};
-}
-
-std::vector<mjtSize> XArrayShapeImpl2D(mjtSize dim0, mjtSize dim1) {
-  return {dim0, dim1};
-}
-
-constexpr auto XArrayShapeImpl(const std::string_view dim1_str) {
-  if (dim1_str == "1") {
-    return XArrayShapeImpl1D;
-  } else {
-    return XArrayShapeImpl2D;
-  }
-}
-
-py::tuple RecompileSpec(raw::MjSpec* spec, const MjModelWrapper& old_m,
-                        const MjDataWrapper& old_d) {
-  raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel)));
-  m->buffer = nullptr;
-  raw::MjData* d = mj_copyData(nullptr, old_m.get(), old_d.get());
-
-  bool compile_failed = false;
-
-  {
-    // Release GIL before calling mj_recompile which may spawn threads
-    py::gil_scoped_release no_gil;
-    if (mj_recompile(spec, nullptr, m, d)) {
-      compile_failed = true;
-    }
-  }
-
-  if (compile_failed) {
-    throw py::value_error(mjs_getError(spec));
-  }
-
-  py::object m_pyobj = py::cast((MjModelWrapper(m)));
-  py::object d_pyobj =
-      py::cast((MjDataWrapper(py::cast<MjModelWrapper*>(m_pyobj), d)));
-  return py::make_tuple(m_pyobj, d_pyobj);
-}
-
-}  // namespace
-
-PYBIND11_MODULE(_structs, m, pybind11::mod_gil_not_used()) {
-  py::module_::import("mujoco._enums");
-
-  // ==================== MJOPTION =============================================
-  py::class_<MjOptionWrapper> mjOption(m, "MjOption");
-  mjOption.def(py::init<>());
-  mjOption.def("__copy__", [](const MjOptionWrapper& other) {
-    return MjOptionWrapper(other);
-  });
-  mjOption.def("__deepcopy__", [](const MjOptionWrapper& other, py::dict) {
-    return MjOptionWrapper(other);
-  });
-  mjOption.def_property_readonly_static("_all_fields", [](py::object) {
-    std::vector<std::string> fields;
-#define X(type, var, dim) fields.push_back(#var);
-#define XVEC X
-    MJOPTION_FIELDS
-#undef XVEC
-#undef X
-    return py::tuple(py::cast(fields));
-  });
-  DefineStructFunctions(mjOption);
-
-#define X(type, var, dim)                                          \
-  mjOption.def_property(                                           \
-      #var, [](const MjOptionWrapper& c) { return c.get()->var; }, \
-      [](MjOptionWrapper& c, type rhs) { c.get()->var = rhs; });
-#define XVEC(type, var, dim) \
-  DefinePyArray(mjOption, #var, &MjOptionWrapper::var);
-  MJOPTION_FIELDS
-#undef XVEC
-#undef X
-
-  mjOption.def_property_readonly_static("_float_fields", [](py::object) {
-    std::vector<std::string> field_names;
-#define X(type, var, dim) \
-  if constexpr (std::is_floating_point_v<type>) field_names.push_back(#var);
-#define XVEC(type, var, dim)
-    MJOPTION_FIELDS
-#undef XVEC
-#undef X
-    return py::tuple(py::cast(field_names));
-  });
-
-  mjOption.def_property_readonly_static("_int_fields", [](py::object) {
-    std::vector<std::string> field_names;
-#define X(type, var, dim) \
-  if constexpr (std::is_integral_v<type>) field_names.push_back(#var);
-#define XVEC(type, var, dim)
-    MJOPTION_FIELDS
-#undef XVEC
-#undef X
-    return py::tuple(py::cast(field_names));
-  });
-
-  mjOption.def_property_readonly_static("_floatarray_fields", [](py::object) {
-    std::vector<std::string> field_names;
-#define X(type, var, dim)
-#define XVEC(type, var, dim) field_names.push_back(#var);
-    MJOPTION_FIELDS
-#undef XVEC
-#undef X
-    return py::tuple(py::cast(field_names));
-  });
-
-  // ==================== MJVISUAL =============================================
-  py::class_<MjVisualWrapper> mjVisual(m, "MjVisual");
-  mjVisual.def("__copy__", [](const MjVisualWrapper& other) {
-    return MjVisualWrapper(other);
-  });
-  mjVisual.def("__deepcopy__", [](const MjVisualWrapper& other, py::dict) {
-    return MjVisualWrapper(other);
-  });
-  mjVisual.def("__eq__", StructsEqual<MjVisualWrapper>);
-  // Special __repr__ implementation for MjVisual, since:
-  // 1. Types under MjVisual confuse StructRepr;
-  // 2. StructRepr does not handle the indentation of nested structs well.
-  mjVisual.def("__repr__", [](py::object self) {
-    std::ostringstream result;
-    result << "<"
-           << self.attr("__class__").attr("__name__").cast<std::string_view>();
-
-#define X(type, var)          \
-  result << "\n  " #var ": "; \
-  StructReprImpl<type>(self.attr(#var), result, 2);
-
-    X(raw::MjVisualGlobal, global_)
-    X(raw::MjVisualQuality, quality)
-    X(MjVisualHeadlightWrapper, headlight)
-    X(raw::MjVisualMap, map)
-    X(raw::MjVisualScale, scale)
-    X(MjVisualRgbaWrapper, rgba)
-#undef X
-    result << "\n>";
-    return result.str();
-  });
-
-  py::class_<raw::MjVisualGlobal> mjVisualGlobal(mjVisual, "Global");
-  mjVisualGlobal.def("__copy__", [](const raw::MjVisualGlobal& other) {
-    return raw::MjVisualGlobal(other);
-  });
-  mjVisualGlobal.def("__deepcopy__",
-                     [](const raw::MjVisualGlobal& other, py::dict) {
-                       return raw::MjVisualGlobal(other);
-                     });
-  DefineStructFunctions(mjVisualGlobal);
-#define X(type, var, dim) \
-  mjVisualGlobal.def_readwrite(#var, &raw::MjVisualGlobal::var);
-  MJVISUAL_GLOBAL_FIELDS
-#undef X
-
-  py::class_<raw::MjVisualQuality> mjVisualQuality(mjVisual, "Quality");
-  mjVisualQuality.def("__copy__", [](const raw::MjVisualQuality& other) {
-    return raw::MjVisualQuality(other);
-  });
-  mjVisualQuality.def("__deepcopy__",
-                      [](const raw::MjVisualQuality& other, py::dict) {
-                        return raw::MjVisualQuality(other);
-                      });
-  DefineStructFunctions(mjVisualQuality);
-#define X(type, var, dim) \
-  mjVisualQuality.def_readwrite(#var, &raw::MjVisualQuality::var);
-  MJVISUAL_QUALITY_FIELDS
-#undef X
-
-  py::class_<MjVisualHeadlightWrapper> mjVisualHeadlight(mjVisual, "Headlight");
-  mjVisualHeadlight.def("__copy__", [](const MjVisualHeadlightWrapper& other) {
-    return MjVisualHeadlightWrapper(other);
-  });
-  mjVisualHeadlight.def("__deepcopy__",
-                        [](const MjVisualHeadlightWrapper& other, py::dict) {
-                          return MjVisualHeadlightWrapper(other);
-                        });
-  DefineStructFunctions(mjVisualHeadlight);
-#define X(type, var, dim)                                                   \
-  mjVisualHeadlight.def_property(                                           \
-      #var, [](const MjVisualHeadlightWrapper& c) { return c.get()->var; }, \
-      [](MjVisualHeadlightWrapper& c, type rhs) {                           \
-        return c.get()->var = rhs;                                          \
-      });
-#define XVEC(type, var, dim) \
-  DefinePyArray(mjVisualHeadlight, #var, &MjVisualHeadlightWrapper::var);
-  MJVISUAL_HEADLIGHT_FIELDS
-#undef XVEC
-#undef X
-
-  py::class_<raw::MjVisualMap> mjVisualMap(mjVisual, "Map");
-  mjVisualMap.def("__copy__", [](const raw::MjVisualMap& other) {
-    return raw::MjVisualMap(other);
-  });
-  mjVisualMap.def("__deepcopy__", [](const raw::MjVisualMap& other, py::dict) {
-    return raw::MjVisualMap(other);
-  });
-  DefineStructFunctions(mjVisualMap);
-#define X(type, var, dim) \
-  mjVisualMap.def_readwrite(#var, &raw::MjVisualMap::var);
-  MJVISUAL_MAP_FIELDS
-#undef X
-
-  py::class_<raw::MjVisualScale> mjVisualScale(mjVisual, "Scale");
-  mjVisualScale.def("__copy__", [](const raw::MjVisualScale& other) {
-    return raw::MjVisualScale(other);
-  });
-  mjVisualScale.def("__deepcopy__",
-                    [](const raw::MjVisualScale& other, py::dict) {
-                      return raw::MjVisualScale(other);
-                    });
-  DefineStructFunctions(mjVisualScale);
-#define X(type, var, dim) \
-  mjVisualScale.def_readwrite(#var, &raw::MjVisualScale::var);
-  MJVISUAL_SCALE_FIELDS
-#undef X
-
-  py::class_<MjVisualRgbaWrapper> mjVisualRgba(mjVisual, "Rgba");
-  mjVisualRgba.def("__copy__", [](const MjVisualRgbaWrapper& other) {
-    return MjVisualRgbaWrapper(other);
-  });
-  mjVisualRgba.def("__deepcopy__",
-                   [](const MjVisualRgbaWrapper& other, py::dict) {
-                     return MjVisualRgbaWrapper(other);
-                   });
-  DefineStructFunctions(mjVisualRgba);
-#define XVEC(type, var, dim) \
-  DefinePyArray(mjVisualRgba, #var, &MjVisualRgbaWrapper::var);
-  MJVISUAL_RGBA_FIELDS
-#undef XVEC
-
-#define X(var)                    \
-  mjVisual.def_property_readonly( \
-      #var, [](const MjVisualWrapper& c) -> auto& { return c.get()->var; });
-  // mjVisual.global is exposed as "global_" to avoid clash with the Python
-  // keyword.
-  mjVisual.def_property_readonly(
-      "global_",
-      [](const MjVisualWrapper& c) -> auto& { return c.get()->global; });
-  X(quality);
-  mjVisual.def_readonly("headlight", &MjVisualWrapper::headlight);
-  X(map);
-  X(scale);
-  mjVisual.def_readonly("rgba", &MjVisualWrapper::rgba);
-#undef X
-
-  // ==================== MJMODEL ==============================================
-  py::class_<MjModelWrapper> mjModel(m, "MjModel");
-  mjModel.def_static(
-      "from_xml_string", MjModelWrapper::LoadXML, py::arg("xml"),
-      py::arg_v("assets", py::none()), py::arg("vfs") = py::none(),
-      py::doc(
-          R"(Loads an MjModel from an XML string and optional assets dict or VFS.)"));
-  mjModel.def_static("_from_model_ptr", [](uintptr_t addr) {
-    return MjModelWrapper::WrapRawModel(reinterpret_cast<raw::MjModel*>(addr));
-  });
-  mjModel.def_static(
-      "from_xml_path", MjModelWrapper::LoadXMLFile, py::arg("filename"),
-      py::arg_v("assets", py::none()), py::arg("vfs") = py::none(),
-      py::doc(
-          R"(Loads an MjModel from an XML file and optional assets dict or VFS.)"));
-  mjModel.def_static(
-      "from_binary_path", &MjModelWrapper::LoadBinaryFile, py::arg("filename"),
-      py::arg_v("assets", py::none()), py::arg("vfs") = py::none(),
-      py::doc(
-          R"(Loads an MjModel from an MJB file and an optional assets dictionary.
-
-The filename for the MJB can also refer to a key in the assets dictionary.
-This is useful for example when the MJB is not available as a file on disk.)"));
-  mjModel.def_property_readonly("_address", [](const MjModelWrapper& m) {
-    return reinterpret_cast<std::uintptr_t>(m.get());
-  });
-  mjModel.def("__copy__", [](const MjModelWrapper& other) {
-    return MjModelWrapper(other);
-  });
-  mjModel.def("__deepcopy__", [](const MjModelWrapper& other, py::dict) {
-    return MjModelWrapper(other);
-  });
-  mjModel.def(py::pickle(
-      [](const MjModelWrapper& m) {  // __getstate__
-        std::ostringstream output(std::ios::out | std::ios::binary);
-        m.Serialize(output);
-        return py::bytes(output.str());
-      },
-      [](py::bytes b) {  // __setstate__
-        std::istringstream input(b, std::ios::in | std::ios::binary);
-        return MjModelWrapper::Deserialize(input);
-      }));
-
-  mjModel.def_readonly("opt", &MjModelWrapper::opt);
-  mjModel.def_readonly("vis", &MjModelWrapper::vis);
-  mjModel.def_readonly("stat", &MjModelWrapper::stat);
-
-  mjModel.def_property(
-      "flg_gravcomp",
-      [](const MjModelWrapper& m) { return m.get()->flg_gravcomp; },
-      [](MjModelWrapper& m, bool val) {
-        m.get()->flg_gravcomp = val;
-        m.get()->ngravcomp = val ? 1 : 0;
-      });
-
-  mjModel.def_property(
-      "flg_surfacevel",
-      [](const MjModelWrapper& m) { return m.get()->flg_surfacevel; },
-      [](MjModelWrapper& m, bool val) {
-        m.get()->flg_surfacevel = val;
-      });
-
-  mjModel.def_property(
-      "flg_adhesion",
-      [](const MjModelWrapper& m) { return m.get()->flg_adhesion; },
-      [](MjModelWrapper& m, bool val) {
-        m.get()->flg_adhesion = val;
-      });
-
-#define X(var)                   \
-  mjModel.def_property_readonly( \
-      #var, [](const MjModelWrapper& m) { return m.get()->var; });
-  MJMODEL_SIZES
-#undef X
-
-  mjModel.def_property_readonly("_sizes", [](const MjModelWrapper& m) {
-    int nint = 0;
-#define X(var) ++nint;
-    MJMODEL_SIZES
-#undef X
-    py::array_t<std::int64_t> sizes(nint);
-    {
-      int i = 0;
-      auto data = sizes.mutable_unchecked();
-#define X(var) data[i++] = m.get()->var;
-      MJMODEL_SIZES
-#undef X
-    }
-    py::detail::array_proxy(sizes.ptr())->flags &=
-        ~py::detail::npy_api::NPY_ARRAY_WRITEABLE_;
-    return sizes;
-  });
-
-  mjModel.def_property_readonly_static("_size_fields", [](py::object) {
-    std::vector<std::string> fields;
-#define X(var) fields.push_back(#var);
-    MJMODEL_SIZES
-#undef X
-    return py::tuple(py::cast(fields));
-  });
-
-  mjModel.def_property_readonly_static("_all_fields", [](py::object) {
-    std::vector<std::string> fields;
-#define X(var) fields.push_back(#var);
-    MJMODEL_SIZES
-#undef X
-#define X(type, name, nr, nc) fields.push_back(#name);
-    MJMODEL_POINTERS
-#undef X
-    return py::tuple(py::cast(fields));
-  });
-
-#define X(dtype, var, dim0, dim1)                        \
-  if constexpr (std::string_view(#var) != "text_data" && \
-                std::string_view(#var) != "names" &&     \
-                std::string_view(#var) != "paths") {     \
-    DefinePyArray(mjModel, #var, &MjModelWrapper::var);  \
-  }
-  MJMODEL_POINTERS
-#undef X
-
-  mjModel.def_property_readonly("text_data",
-                                [](const MjModelWrapper& m) -> const auto& {
-                                  // Return the full bytes array of concatenated
-                                  // text data
-                                  return m.text_data_bytes;
-                                });
-  mjModel.def_property_readonly("names",
-                                [](const MjModelWrapper& m) -> const auto& {
-                                  // Return the full bytes array of concatenated
-                                  // names
-                                  return m.names_bytes;
-                                });
-  mjModel.def_property_readonly("paths",
-                                [](const MjModelWrapper& m) -> const auto& {
-                                  // Return the full bytes array of concatenated
-                                  // paths
-                                  return m.paths_bytes;
-                                });
-  mjModel.def_property_readonly("signature",
-                                [](const MjModelWrapper& m) -> const uint64_t& {
-                                  return m.get()->signature;
-                                });
-
-#define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS)             \
-  mjModel.def(                                                                \
-      #field,                                                                 \
-      [](MjModelWrapper& m, int i) -> auto& { return m.indexer().field(i); }, \
-      py::return_value_policy::reference_internal);                           \
-  mjModel.def(                                                                \
-      #field,                                                                 \
-      [](MjModelWrapper& m, std::string_view name) -> auto& {                 \
-        return m.indexer().field##_by_name(name);                             \
-      },                                                                      \
-      py::return_value_policy::reference_internal, py::arg_v("name", ""));
-
-  MJMODEL_VIEW_GROUPS
-#undef XGROUP
-
-#define XGROUP(spectype, field)                                      \
-  mjModel.def(                                                       \
-      "bind_scalar",                                                 \
-      [](MjModelWrapper& m, spectype& spec) -> auto& {               \
-        if (mjs_getSpec(spec.element)->element->signature !=         \
-            m.get()->signature) {                                    \
-          throw py::value_error(                                     \
-              "The mjSpec does not match mjModel. Please recompile " \
-              "the mjSpec.");                                        \
-        }                                                            \
-        return m.indexer().field(mjs_getId(spec.element));           \
-      },                                                             \
-      py::return_value_policy::reference_internal,                   \
-      py::arg_v("spec", py::none()));
-
-  MJMODEL_BIND_GROUPS
-#undef XGROUP
-
-#define XGROUP(field, altname, FIELD_XMACROS)                                 \
-  mjModel.def(                                                                \
-      #altname,                                                               \
-      [](MjModelWrapper& m, int i) -> auto& { return m.indexer().field(i); }, \
-      py::return_value_policy::reference_internal);                           \
-  mjModel.def(                                                                \
-      #altname,                                                               \
-      [](MjModelWrapper& m, std::string_view name) -> auto& {                 \
-        return m.indexer().field##_by_name(name);                             \
-      },                                                                      \
-      py::return_value_policy::reference_internal, py::arg_v("name", ""));
-
-  MJMODEL_VIEW_GROUPS_ALTNAMES
-#undef XGROUP
-
-#define XGROUP(MjModelGroupedViews, field, nfield, FIELD_XMACROS)              \
-  {                                                                            \
-    using GroupedViews = MjModelGroupedViews;                                  \
-    py::class_<MjModelGroupedViews> groupedViews(m, "_" #MjModelGroupedViews); \
-    FIELD_XMACROS                                                              \
-    groupedViews.def("__repr__", MjModelStructRepr<GroupedViews>);             \
-    groupedViews.def_property_readonly(                                        \
-        "id", [](GroupedViews& views) { return views.index(); });              \
-    groupedViews.def_property_readonly(                                        \
-        "name", [](GroupedViews& views) { return views.name(); });             \
-  }
-#define X(type, prefix, var, dim0, dim1)                                    \
-  groupedViews.def_property(                                                \
-      #var, &GroupedViews::var, [](GroupedViews& views, py::handle rhs) {   \
-        (views.var())[py::slice(py::none(), py::none(), py::none())] = rhs; \
-      });
-
-  MJMODEL_VIEW_GROUPS
-#undef X
-#undef XGROUP
-
-  {
-    py::handle builtins(PyEval_GetBuiltins());
-    builtins[MjModelWrapper::kFromRawPointer] =
-        reinterpret_cast<std::uintptr_t>(
-            reinterpret_cast<void*>(&MjModelWrapper::FromRawPointer));
-  }
-
-  // ==================== MJWARNINGSTAT ========================================
-  py::class_<MjWarningStatWrapper> mjWarningStat(m, "MjWarningStat");
-  mjWarningStat.def(py::init<>());
-  mjWarningStat.def("__copy__", [](const MjWarningStatWrapper& other) {
-    return MjWarningStatWrapper(other);
-  });
-  mjWarningStat.def("__deepcopy__",
-                    [](const MjWarningStatWrapper& other, py::dict) {
-                      return MjWarningStatWrapper(other);
-                    });
-  DefineStructFunctions(mjWarningStat);
-#define X(var)                                                             \
-  mjWarningStat.def_property(                                              \
-      #var, [](const MjWarningStatWrapper& d) { return d.get()->var; },    \
-      [](MjWarningStatWrapper& d, decltype(raw::MjWarningStat::var) rhs) { \
-        d.get()->var = rhs;                                                \
-      });
-  X(lastinfo);
-  X(number);
-#undef X
-
-  py::class_<MjWarningStatList> mjWarningStatList(m, "_MjWarningStatList");
-  mjWarningStatList.def("__getitem__", &MjWarningStatList::operator[],
-                        py::return_value_policy::reference);
-  mjWarningStatList.def(
-      "__getitem__",
-      [](MjWarningStatList& list, ::mjtWarning idx) { return list[idx]; },
-      py::return_value_policy::reference);
-  mjWarningStatList.def("__getitem__", &MjWarningStatList::Slice);
-  mjWarningStatList.def("__len__", &MjWarningStatList::size);
-  DefineStructFunctions(mjWarningStatList);
-
-#define X(type, var) \
-  mjWarningStatList.def_readonly(#var, &MjWarningStatList::var)
-  X(int, lastinfo);
-  X(int, number);
-#undef X
-
-  // ==================== MJLOGCONFIG ==========================================
-  py::class_<MjLogConfigWrapper> mjLogConfig(m, "MjLogConfig");
-  mjLogConfig.def(py::init<>());
-  mjLogConfig.def("__copy__", [](const MjLogConfigWrapper& other) {
-    return MjLogConfigWrapper(other);
-  });
-  mjLogConfig.def("__deepcopy__",
-                  [](const MjLogConfigWrapper& other, py::dict) {
-                    return MjLogConfigWrapper(other);
-                  });
-  DefineStructFunctions(mjLogConfig);
-  mjLogConfig.def_property(
-      "logto_console",
-      [](const MjLogConfigWrapper& d) { return d.get()->logto_console; },
-      [](MjLogConfigWrapper& d, bool rhs) { d.get()->logto_console = rhs; });
-  mjLogConfig.def_property(
-      "logto_file",
-      [](const MjLogConfigWrapper& d) { return d.get()->logto_file; },
-      [](MjLogConfigWrapper& d, bool rhs) { d.get()->logto_file = rhs; });
-  mjLogConfig.def_property(
-      "logfile",
-      [](const MjLogConfigWrapper& d) { return std::string(d.get()->logfile); },
-      [](MjLogConfigWrapper& d, const std::string& rhs) {
-        std::strncpy(d.get()->logfile, rhs.c_str(), 1023);
-        d.get()->logfile[1023] = '\0';
-      });
-  mjLogConfig.def_property(
-      "topics", [](const MjLogConfigWrapper& d) { return d.get()->topics; },
-      [](MjLogConfigWrapper& d, int rhs) { d.get()->topics = rhs; });
-  mjLogConfig.def_static("get", []() {
-    MjLogConfigWrapper wrapper;
-    *wrapper.get() = mju_getLogConfig();
-    return wrapper;
-  });
-  mjLogConfig.def("set", [](const MjLogConfigWrapper& self) {
-    mju_setLogConfig(*self.get());
-  });
-
-  // ==================== MJLOGMESSAGE =========================================
-  py::class_<MjLogMessageWrapper> mjLogMessage(m, "MjLogMessage");
-  mjLogMessage.def(py::init<>());
-  mjLogMessage.def("__copy__", [](const MjLogMessageWrapper& other) {
-    return MjLogMessageWrapper(other);
-  });
-  mjLogMessage.def("__deepcopy__",
-                   [](const MjLogMessageWrapper& other, py::dict) {
-                     return MjLogMessageWrapper(other);
-                   });
-  DefineStructFunctions(mjLogMessage);
-  mjLogMessage.def_property(
-      "level", [](const MjLogMessageWrapper& d) { return d.get()->level; },
-      [](MjLogMessageWrapper& d, int rhs) { d.get()->level = rhs; });
-  mjLogMessage.def_property(
-      "topic", [](const MjLogMessageWrapper& d) { return d.get()->topic; },
-      [](MjLogMessageWrapper& d, int rhs) { d.get()->topic = rhs; });
-  mjLogMessage.def_property(
-      "subject",
-      [](const MjLogMessageWrapper& d) {
-        return std::string(d.get()->subject);
-      },
-      [](MjLogMessageWrapper& d, const std::string& rhs) {
-        std::strncpy(d.get()->subject, rhs.c_str(), 1023);
-        d.get()->subject[1023] = '\0';
-      });
-  mjLogMessage.def_property_readonly(
-      "body",
-      [](const MjLogMessageWrapper& d) -> py::object {
-        if (d.get()->body) return py::str(d.get()->body);
-        return py::none();
-      });
-  mjLogMessage.def_property_readonly(
-      "func",
-      [](const MjLogMessageWrapper& d) -> py::object {
-        if (d.get()->func) return py::str(d.get()->func);
-        return py::none();
-      });
-  mjLogMessage.def_property_readonly(
-      "file",
-      [](const MjLogMessageWrapper& d) -> py::object {
-        if (d.get()->file) return py::str(d.get()->file);
-        return py::none();
-      });
-  mjLogMessage.def_property(
-      "line", [](const MjLogMessageWrapper& d) { return d.get()->line; },
-      [](MjLogMessageWrapper& d, int rhs) { d.get()->line = rhs; });
-  mjLogMessage.def_property(
-      "timestamp",
-      [](const MjLogMessageWrapper& d) { return d.get()->timestamp; },
-      [](MjLogMessageWrapper& d, bool rhs) { d.get()->timestamp = rhs; });
-
-  // ==================== MJTIMERSTAT ==========================================
-  py::class_<MjTimerStatWrapper> mjTimerStat(m, "MjTimerStat");
-  mjTimerStat.def(py::init<>());
-  mjTimerStat.def("__copy__", [](const MjTimerStatWrapper& other) {
-    return MjTimerStatWrapper(other);
-  });
-  mjTimerStat.def("__deepcopy__",
-                  [](const MjTimerStatWrapper& other, py::dict) {
-                    return MjTimerStatWrapper(other);
-                  });
-  DefineStructFunctions(mjTimerStat);
-#define X(var)                                                         \
-  mjTimerStat.def_property(                                            \
-      #var, [](const MjTimerStatWrapper& d) { return d.get()->var; },  \
-      [](MjTimerStatWrapper& d, decltype(raw::MjTimerStat::var) rhs) { \
-        d.get()->var = rhs;                                            \
-      });
-  X(duration);
-  X(number);
-#undef X
-
-  py::class_<MjTimerStatList> mjTimerStatList(m, "_MjTimerStatList");
-  mjTimerStatList.def("__getitem__", &MjTimerStatList::operator[],
-                      py::return_value_policy::reference);
-  mjTimerStatList.def(
-      "__getitem__",
-      [](MjTimerStatList& list, ::mjtTimer idx) { return list[idx]; },
-      py::return_value_policy::reference);
-  mjTimerStatList.def("__getitem__", &MjTimerStatList::Slice);
-  mjTimerStatList.def("__len__", &MjTimerStatList::size);
-  DefineStructFunctions(mjTimerStatList);
-
-#define X(type, var) mjTimerStatList.def_readonly(#var, &MjTimerStatList::var)
-  X(mjtNum, duration);
-  X(int, number);
-#undef X
-
-  // ==================== MJSOLVERSTAT =========================================
-  py::class_<MjSolverStatWrapper> mjSolverStat(m, "MjSolverStat");
-  mjSolverStat.def(py::init<>());
-  mjSolverStat.def("__copy__", [](const MjSolverStatWrapper& other) {
-    return MjSolverStatWrapper(other);
-  });
-  mjSolverStat.def("__deepcopy__",
-                   [](const MjSolverStatWrapper& other, py::dict) {
-                     return MjSolverStatWrapper(other);
-                   });
-  DefineStructFunctions(mjSolverStat);
-#define X(var)                                                           \
-  mjSolverStat.def_property(                                             \
-      #var, [](const MjSolverStatWrapper& d) { return d.get()->var; },   \
-      [](MjSolverStatWrapper& d, decltype(raw::MjSolverStat::var) rhs) { \
-        d.get()->var = rhs;                                              \
-      });
-  X(improvement);
-  X(gradient);
-  X(lineslope);
-  X(nactive);
-  X(nchange);
-  X(neval);
-  X(nupdate);
-#undef X
-
-  py::class_<MjSolverStatList> mjSolverStatList(m, "_MjSolverStatList");
-  mjSolverStatList.def("__getitem__", &MjSolverStatList::operator[],
-                       py::return_value_policy::reference);
-  mjSolverStatList.def("__getitem__", &MjSolverStatList::Slice);
-  mjSolverStatList.def("__len__", &MjSolverStatList::size);
-  DefineStructFunctions(mjSolverStatList);
-
-#define X(type, var) mjSolverStatList.def_readonly(#var, &MjSolverStatList::var)
-  X(mjtNum, improvement);
-  X(mjtNum, gradient);
-  X(mjtNum, lineslope);
-  X(int, nactive);
-  X(int, nchange);
-  X(int, neval);
-  X(int, nupdate);
-#undef X
-
-  // ==================== MJPRECONTACT =========================================
-  py::class_<MjPreContactWrapper> mjPreContact(m, "MjPreContact");
-  mjPreContact.def(py::init<>());
-  mjPreContact.def("__copy__", [](const MjPreContactWrapper& self) {
-    return MjPreContactWrapper(self);
-  });
-  mjPreContact.def("__deepcopy__",
-                   [](const MjPreContactWrapper& self, py::dict) {
-                     return MjPreContactWrapper(self);
-                   });
-  DefineStructFunctions(mjPreContact);
-
-#define X(var)                                                           \
-  mjPreContact.def_property(                                             \
-      #var, [](const MjPreContactWrapper& c) { return c.get()->var; },   \
-      [](MjPreContactWrapper& c, decltype(raw::MjPreContact::var) rhs) { \
-        c.get()->var = rhs;                                              \
-      })
-  X(dist);
-#undef X
-
-#define X(var) DefinePyArray(mjPreContact, #var, &MjPreContactWrapper::var)
-  X(pos);
-  X(normal);
-  X(tangent);
-#undef X
-
-  // ==================== MJCONTACT ============================================
-  py::class_<MjContactWrapper> mjContact(m, "MjContact");
-  mjContact.def(py::init<>());
-  mjContact.def("__copy__", [](const MjContactWrapper& self) {
-    return MjContactWrapper(self);
-  });
-  mjContact.def("__deepcopy__", [](const MjContactWrapper& self, py::dict) {
-    return MjContactWrapper(self);
-  });
-  DefineStructFunctions(mjContact);
-
-#define X(var)                                                      \
-  mjContact.def_property(                                           \
-      #var, [](const MjContactWrapper& c) { return c.get()->var; }, \
-      [](MjContactWrapper& c, decltype(raw::MjContact::var) rhs) {  \
-        c.get()->var = rhs;                                         \
-      })
-  X(dist);
-  X(includemargin);
-  X(adhesion);
-  X(mu);
-  X(dim);
-  X(geom1);
-  X(geom2);
-  X(exclude);
-  X(efc_address);
-#undef X
-
-#define X(var) DefinePyArray(mjContact, #var, &MjContactWrapper::var)
-  X(pos);
-  X(frame);
-  X(friction);
-  X(solref);
-  X(solreffriction);
-  X(solimp);
-  X(H);
-  X(geom);
-  X(flex);
-  X(elem);
-  X(vert);
-#undef X
-
-  py::class_<MjContactList> mjContactList(m, "_MjContactList");
-  mjContactList.def("__getitem__", &MjContactList::operator[],
-                    py::return_value_policy::reference);
-  mjContactList.def("__getitem__", &MjContactList::Slice);
-  mjContactList.def("__len__", &MjContactList::size);
-  DefineStructFunctions(mjContactList);
-
-#define X(type, var)                                                     \
-  mjContactList.def_property_readonly(#var, [](const MjContactList& c) { \
-    return py::array_t<type>(std::vector<int>{c.size()},                 \
-                             std::vector<int>{sizeof(raw::MjContact)},   \
-                             &c.get()->var, c.owner());                  \
-  });
-#define XN(type, var)                                                    \
-  mjContactList.def_property_readonly(#var, [](const MjContactList& c) { \
-    return py::array_t<type>(                                            \
-        std::vector<int>{c.size(),                                       \
-                         sizeof(raw::MjContact::var) / sizeof(type)},    \
-        std::vector<int>{sizeof(raw::MjContact), sizeof(type)},          \
-        &c.get()->var[0], c.owner());                                    \
-  });
-  X(mjtNum, dist);
-  XN(mjtNum, pos);
-  XN(mjtNum, frame);
-  X(mjtNum, includemargin);
-  XN(mjtNum, friction);
-  XN(mjtNum, solref);
-  XN(mjtNum, solreffriction);
-  XN(mjtNum, solimp);
-  X(mjtNum, adhesion);
-  X(mjtNum, mu);
-  XN(mjtNum, H);
-  X(int, dim);
-  X(int, geom1);
-  X(int, geom2);
-  X(int, exclude);
-  X(int, efc_address);
-  XN(int, geom);
-  XN(int, flex);
-  XN(int, elem);
-  XN(int, vert);
-#undef X
-#undef XN
-
-  // ==================== MJDATA ===============================================
-  py::class_<MjDataWrapper> mjData(m, "MjData");
-  mjData.def(py::init([](MjModelWrapper* m) {
-    if (!m) {
-      throw py::type_error("MjModel cannot be None");
-    }
-    return MjDataWrapper(m);
-  }));
-  mjData.def_property_readonly("_address", [](const MjDataWrapper& d) {
-    return reinterpret_cast<std::uintptr_t>(d.get());
-  });
-  mjData.def_property_readonly(
-      "model", [](const MjDataWrapper& d) { return &d.model(); });
-  mjData.def("__copy__",
-             [](const MjDataWrapper& other) { return MjDataWrapper(other); });
-  mjData.def("__deepcopy__", [](const MjDataWrapper& other, py::dict memo) {
-    // Use copy.deepcopy(model) to make a model that Python is aware of.
-    py::object new_model_py =
-        py::cast(other.model()).attr("__deepcopy__")(memo);
-    return MjDataWrapper(other, new_model_py.cast<MjModelWrapper*>());
-  });
-  mjData.def_property_readonly_static("_all_fields", [](py::object) {
-    std::vector<std::string> fields;
-#define X(dtype, name) fields.push_back(#name);
-    MJDATA_SCALAR
-#undef X
-#define X(dtype, name, dim0, dim1) fields.push_back(#name);
-    MJDATA_VECTOR
-    MJDATA_POINTERS
-#undef X
-    return py::tuple(py::cast(fields));
-  });
-  mjData.def(py::pickle(
-      [](const MjDataWrapper& d) {  // __getstate__
-        std::ostringstream output(std::ios::out | std::ios::binary);
-        d.Serialize(output);
-        return py::bytes(output.str());
-      },
-      [](py::bytes b) {  // __setstate__
-        std::istringstream input(b, std::ios::in | std::ios::binary);
-        return MjDataWrapper::Deserialize(input);
-      }));
-  mjData.def_property_readonly(
-      "signature",
-      [](const MjDataWrapper& d) -> uint64_t { return d.get()->signature; });
-
-#define X(type, var)                                             \
-  mjData.def_property(                                           \
-      #var, [](const MjDataWrapper& d) { return d.get()->var; }, \
-      [](MjDataWrapper& d, decltype(raw::MjData::var) rhs) {     \
-        d.get()->var = rhs;                                      \
-      });
-  MJDATA_SCALAR
-#undef X
-
-#define X(dtype, var, dim0, dim1) \
-  DefinePyArray(mjData, #var, &MjDataWrapper::var);
-  MJDATA_POINTERS
-  MJDATA_ARENA_POINTERS_CONTACT
-#undef X
-
-#undef MJ_M
-#define MJ_M(x) d.model().get()->x
-#undef MJ_D
-#define MJ_D(x) d.get()->x
-#define X(dtype, var, dim0, dim1)                                           \
-  mjData.def_property_readonly(#var, [](const MjDataWrapper& d) {           \
-    return InitPyArray(X_ARRAY_SHAPE(dim0, dim1), d.get()->var, d.owner()); \
-  });
-
-  MJDATA_ARENA_POINTERS_SOLVER
-  MJDATA_ARENA_POINTERS_DUAL
-  MJDATA_ARENA_POINTERS_ISLAND
-  MJDATA_ARENA_POINTERS_EFM
-
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef MJ_D
-#define MJ_D(x) (x)
-#undef X
-
-#define X(dtype, var, dim0, dim1) \
-  DefinePyArray(mjData, #var, &MjDataWrapper::var);
-  MJDATA_VECTOR
-#undef X
-
-#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS)             \
-  mjData.def(                                                                \
-      #field,                                                                \
-      [](MjDataWrapper& d, int i) -> auto& { return d.indexer().field(i); }, \
-      py::return_value_policy::reference_internal);                          \
-  mjData.def(                                                                \
-      #field,                                                                \
-      [](MjDataWrapper& d, std::string_view name) -> auto& {                 \
-        return d.indexer().field##_by_name(name);                            \
-      },                                                                     \
-      py::return_value_policy::reference_internal, py::arg_v("name", ""));
-
-  MJDATA_VIEW_GROUPS
-#undef XGROUP
-
-#define XGROUP(spectype, field)                                     \
-  mjData.def(                                                       \
-      "bind_scalar",                                                \
-      [](MjDataWrapper& d, spectype& spec) -> auto& {               \
-        if (mjs_getSpec(spec.element)->element->signature !=        \
-            d.get()->signature) {                                   \
-          throw py::value_error(                                    \
-              "The mjSpec does not match mjData. Please recompile " \
-              "the mjSpec.");                                       \
-        }                                                           \
-        return d.indexer().field(mjs_getId(spec.element));          \
-      },                                                            \
-      py::return_value_policy::reference_internal,                  \
-      py::arg_v("spec", py::none()));
-
-  MJDATA_BIND_GROUPS
-#undef XGROUP
-
-#define XGROUP(field, altname, FIELD_XMACROS)                                \
-  mjData.def(                                                                \
-      #altname,                                                              \
-      [](MjDataWrapper& d, int i) -> auto& { return d.indexer().field(i); }, \
-      py::return_value_policy::reference_internal);                          \
-  mjData.def(                                                                \
-      #altname,                                                              \
-      [](MjDataWrapper& d, std::string_view name) -> auto& {                 \
-        return d.indexer().field##_by_name(name);                            \
-      },                                                                     \
-      py::return_value_policy::reference_internal, py::arg_v("name", ""));
-
-  MJDATA_VIEW_GROUPS_ALTNAMES
-#undef XGROUP
-
-#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS)             \
-  {                                                                          \
-    using GroupedViews = MjDataGroupedViews;                                 \
-    py::class_<MjDataGroupedViews> groupedViews(m, "_" #MjDataGroupedViews); \
-    FIELD_XMACROS                                                            \
-    groupedViews.def("__repr__", MjDataStructRepr<GroupedViews>);            \
-    groupedViews.def_property_readonly(                                      \
-        "id", [](GroupedViews& views) { return views.index(); });            \
-    groupedViews.def_property_readonly(                                      \
-        "name", [](GroupedViews& views) { return views.name(); });           \
-  }
-#define X(type, prefix, var, dim0, dim1)                                    \
-  groupedViews.def_property(                                                \
-      #var, &GroupedViews::var, [](GroupedViews& views, py::handle rhs) {   \
-        (views.var())[py::slice(py::none(), py::none(), py::none())] = rhs; \
-      });
-
-  MJDATA_VIEW_GROUPS
-#undef X
-#undef XGROUP
-
-  {
-    py::handle builtins(PyEval_GetBuiltins());
-    builtins[MjDataWrapper::kFromRawPointer] = reinterpret_cast<std::uintptr_t>(
-        reinterpret_cast<void*>(&MjDataWrapper::FromRawPointer));
-  }
-
-  // ==================== MJSTATISTIC ==========================================
-  py::class_<MjStatisticWrapper> mjStatistic(m, "MjStatistic");
-  mjStatistic.def(py::init<>());
-  mjStatistic.def("__copy__", [](const MjStatisticWrapper& other) {
-    return MjStatisticWrapper(other);
-  });
-  mjStatistic.def("__deepcopy__",
-                  [](const MjStatisticWrapper& other, py::dict) {
-                    return MjStatisticWrapper(other);
-                  });
-  DefineStructFunctions(mjStatistic);
-
-#define X(var, dim)                                                    \
-  mjStatistic.def_property(                                            \
-      #var, [](const MjStatisticWrapper& c) { return c.get()->var; },  \
-      [](MjStatisticWrapper& c, decltype(raw::MjStatistic::var) rhs) { \
-        c.get()->var = rhs;                                            \
-      });
-#define XVEC(var, dim) \
-  DefinePyArray(mjStatistic, #var, &MjStatisticWrapper::var);
-
-  MJSTATISTIC_FIELDS
-
-#undef XVEC
-#undef X
-
-  // ==================== MJLROPT ==============================================
-  py::class_<raw::MjLROpt> mjLROpt(m, "MjLROpt");
-  mjLROpt.def(py::init<>());
-  mjLROpt.def("__copy__",
-              [](const raw::MjLROpt& other) { return raw::MjLROpt(other); });
-  mjLROpt.def("__deepcopy__", [](const raw::MjLROpt& other, py::dict) {
-    return raw::MjLROpt(other);
-  });
-  DefineStructFunctions(mjLROpt);
-#define X(var) mjLROpt.def_readwrite(#var, &raw::MjLROpt::var)
-  X(mode);
-  X(useexisting);
-  X(uselimit);
-  X(accel);
-  X(maxforce);
-  X(timeconst);
-  X(timestep);
-  X(inttotal);
-  X(interval);
-  X(tolrange);
-#undef X
-
-
-  // ==================== MJRRECT ==============================================
-  py::class_<raw::MjrRect> mjrRect(m, "MjrRect");
-  mjrRect.def(py::init([](int left, int bottom, int width, int height) {
-                return raw::MjrRect{left, bottom, width, height};
-              }),
-              py::arg("left"), py::arg("bottom"), py::arg("width"),
-              py::arg("height"));
-  mjrRect.def("__copy__",
-              [](const raw::MjrRect& other) { return raw::MjrRect(other); });
-  mjrRect.def("__deepcopy__", [](const raw::MjrRect& other, py::dict) {
-    return raw::MjrRect(other);
-  });
-  DefineStructFunctions(mjrRect);
-#define X(var) mjrRect.def_readwrite(#var, &raw::MjrRect::var)
-  X(left);
-  X(bottom);
-  X(width);
-  X(height);
-#undef X
-
-  // ==================== MJRVERTEXATTRIBUTE ===================================
-  py::class_<raw::MjrVertexAttribute> mjrVertexAttribute(m,
-                                                         "MjrVertexAttribute");
-  mjrVertexAttribute.def(py::init([](int usage, int type) {
-                           return raw::MjrVertexAttribute{usage, type};
-                         }),
-                         py::arg("usage") = 0, py::arg("type") = 0);
-  mjrVertexAttribute.def("__copy__", [](const raw::MjrVertexAttribute& other) {
-    return raw::MjrVertexAttribute(other);
-  });
-  mjrVertexAttribute.def("__deepcopy__",
-                         [](const raw::MjrVertexAttribute& other, py::dict) {
-                           return raw::MjrVertexAttribute(other);
-                         });
-  DefineStructFunctions(mjrVertexAttribute);
-#define X(var) \
-  mjrVertexAttribute.def_readwrite(#var, &raw::MjrVertexAttribute::var)
-  X(usage);
-  X(type);
-#undef X
-
-  // ==================== MJVPERTURB ===========================================
-  py::class_<MjvPerturbWrapper> mjvPerturb(m, "MjvPerturb");
-  mjvPerturb.def(py::init<>());
-  mjvPerturb.def("__copy__", [](const MjvPerturbWrapper& other) {
-    return MjvPerturbWrapper(other);
-  });
-  mjvPerturb.def("__deepcopy__", [](const MjvPerturbWrapper& other, py::dict) {
-    return MjvPerturbWrapper(other);
-  });
-  DefineStructFunctions(mjvPerturb);
-#define X(var)                                                       \
-  mjvPerturb.def_property(                                           \
-      #var, [](const MjvPerturbWrapper& c) { return c.get()->var; }, \
-      [](MjvPerturbWrapper& c, decltype(raw::MjvPerturb::var) rhs) { \
-        c.get()->var = rhs;                                          \
-      })
-  X(select);
-  X(flexselect);
-  X(skinselect);
-  X(active);
-  X(active2);
-  X(localmass);
-  X(scale);
-#undef X
-
-#define X(var) DefinePyArray(mjvPerturb, #var, &MjvPerturbWrapper::var)
-  X(refpos);
-  X(refquat);
-  X(refselpos);
-  X(localpos);
-#undef X
-
-  // ==================== MJVCAMERA ============================================
-  py::class_<MjvCameraWrapper> mjvCamera(m, "MjvCamera");
-  mjvCamera.def(py::init<>());
-  mjvCamera.def("__copy__", [](const MjvCameraWrapper& other) {
-    return MjvCameraWrapper(other);
-  });
-  mjvCamera.def("__deepcopy__", [](const MjvCameraWrapper& other, py::dict) {
-    return MjvCameraWrapper(other);
-  });
-  DefineStructFunctions(mjvCamera);
-#define X(var)                                                      \
-  mjvCamera.def_property(                                           \
-      #var, [](const MjvCameraWrapper& c) { return c.get()->var; }, \
-      [](MjvCameraWrapper& c, decltype(raw::MjvCamera::var) rhs) {  \
-        c.get()->var = rhs;                                         \
-      })
-  X(type);
-  X(fixedcamid);
-  X(trackbodyid);
-  X(distance);
-  X(azimuth);
-  X(elevation);
-  X(orthographic);
-#undef X
-
-#define X(var) DefinePyArray(mjvCamera, #var, &MjvCameraWrapper::var)
-  X(lookat);
-#undef X
-
-  // ==================== MJVGLCAMERA ==========================================
-  py::class_<MjvGLCameraWrapper> mjvGLCamera(m, "MjvGLCamera");
-  mjvGLCamera.def(py::init<>());
-  mjvGLCamera.def("__copy__", [](const MjvGLCameraWrapper& other) {
-    return MjvGLCameraWrapper(other);
-  });
-  mjvGLCamera.def("__deepcopy__",
-                  [](const MjvGLCameraWrapper& other, py::dict) {
-                    return MjvGLCameraWrapper(other);
-                  });
-  DefineStructFunctions(mjvGLCamera);
-#define X(var)                                                         \
-  mjvGLCamera.def_property(                                            \
-      #var, [](const MjvGLCameraWrapper& c) { return c.get()->var; },  \
-      [](MjvGLCameraWrapper& c, decltype(raw::MjvGLCamera::var) rhs) { \
-        c.get()->var = rhs;                                            \
-      })
-  X(frustum_center);
-  X(frustum_width);
-  X(frustum_bottom);
-  X(frustum_top);
-  X(frustum_near);
-  X(frustum_far);
-  X(orthographic);
-#undef X
-
-#define X(var) DefinePyArray(mjvGLCamera, #var, &MjvGLCameraWrapper::var)
-  X(pos);
-  X(forward);
-  X(up);
-#undef X
-
-  // ==================== MJVGEOM ==============================================
-  py::class_<MjvGeomWrapper> mjvGeom(m, "MjvGeom");
-  mjvGeom.def(py::init<>());
-  mjvGeom.def("__copy__", [](const MjvGeomWrapper& other) {
-    return MjvGeomWrapper(other);
-  });
-  mjvGeom.def("__deepcopy__", [](const MjvGeomWrapper& other, py::dict) {
-    return MjvGeomWrapper(other);
-  });
-  DefineStructFunctions(mjvGeom);
-#define X(var)                                                    \
-  mjvGeom.def_property(                                           \
-      #var, [](const MjvGeomWrapper& c) { return c.get()->var; }, \
-      [](MjvGeomWrapper& c, decltype(raw::MjvGeom::var) rhs) {    \
-        c.get()->var = rhs;                                       \
-      })
-  X(type);
-  X(dataid);
-  X(objtype);
-  X(objid);
-  X(category);
-  X(matid);
-  X(texid);
-  X(texuniform);
-  X(texcoord);
-  X(segid);
-  X(emission);
-  X(specular);
-  X(shininess);
-  X(reflectance);
-  X(camdist);
-  X(modelrbound);
-  X(transparent);
-#undef X
-
-#define X(var) DefinePyArray(mjvGeom, #var, &MjvGeomWrapper::var)
-  X(size);
-  X(pos);
-  X(mat);
-  X(rgba);
-  X(texrepeat);
-#undef X
-
-  DefinePyStr(mjvGeom, "label", &raw::MjvGeom::label);
-
-  // ==================== MJVLIGHT =============================================
-  py::class_<MjvLightWrapper> mjvLight(m, "MjvLight");
-  mjvLight.def(py::init<>());
-  mjvLight.def("__copy__", [](const MjvLightWrapper& other) {
-    return MjvLightWrapper(other);
-  });
-  mjvLight.def("__deepcopy__", [](const MjvLightWrapper& other, py::dict) {
-    return MjvLightWrapper(other);
-  });
-  DefineStructFunctions(mjvLight);
-#define X(var)                                                     \
-  mjvLight.def_property(                                           \
-      #var, [](const MjvLightWrapper& c) { return c.get()->var; }, \
-      [](MjvLightWrapper& c, decltype(raw::MjvLight::var) rhs) {   \
-        c.get()->var = rhs;                                        \
-      })
-  X(id);
-  X(cutoff);
-  X(exponent);
-  X(headlight);
-  X(type);
-  X(texid);
-  X(castshadow);
-  X(bulbradius);
-  X(intensity);
-  X(range);
-  X(softness);
-#undef X
-
-#define X(var) DefinePyArray(mjvLight, #var, &MjvLightWrapper::var)
-  X(pos);
-  X(dir);
-  X(attenuation);
-  X(ambient);
-  X(diffuse);
-  X(specular);
-#undef X
-
-  // ==================== MJVOPTION ============================================
-  py::class_<MjvOptionWrapper> mjvOption(m, "MjvOption");
-  mjvOption.def(py::init<>());
-  mjvOption.def("__copy__", [](const MjvOptionWrapper& other) {
-    return MjvOptionWrapper(other);
-  });
-  mjvOption.def("__deepcopy__", [](const MjvOptionWrapper& other, py::dict) {
-    return MjvOptionWrapper(other);
-  });
-  DefineStructFunctions(mjvOption);
-#define X(var)                                                      \
-  mjvOption.def_property(                                           \
-      #var, [](const MjvOptionWrapper& c) { return c.get()->var; }, \
-      [](MjvOptionWrapper& c, decltype(raw::MjvOption::var) rhs) {  \
-        c.get()->var = rhs;                                         \
-      })
-  X(label);
-  X(frame);
-  X(bvh_depth);
-  X(flex_layer);
-#undef X
-
-#define X(var) DefinePyArray(mjvOption, #var, &MjvOptionWrapper::var)
-  X(geomgroup);
-  X(sitegroup);
-  X(jointgroup);
-  X(tendongroup);
-  X(actuatorgroup);
-  X(flexgroup);
-  X(skingroup);
-  X(flags);
-#undef X
-
-  // ==================== MJVSCENE =============================================
-  py::class_<MjvSceneWrapper> mjvScene(m, "MjvScene");
-  mjvScene.def(py::init<>());
-  mjvScene.def(py::init<const MjModelWrapper&, int>(), py::arg("model"),
-               py::arg("maxgeom"));
-  mjvScene.def("__copy__", [](const MjvSceneWrapper& other) {
-    return MjvSceneWrapper(other);
-  });
-  mjvScene.def("__deepcopy__", [](const MjvSceneWrapper& other, py::dict) {
-    return MjvSceneWrapper(other);
-  });
-#define X(var)                                                     \
-  mjvScene.def_property(                                           \
-      #var, [](const MjvSceneWrapper& c) { return c.get()->var; }, \
-      [](MjvSceneWrapper& c, decltype(raw::MjvScene::var) rhs) {   \
-        c.get()->var = rhs;                                        \
-      })
-  X(maxgeom);
-  X(ngeom);
-  X(nflex);
-  X(nskin);
-  X(nlight);
-  X(flexvertopt);
-  X(flexedgeopt);
-  X(flexfaceopt);
-  X(flexskinopt);
-  X(enabletransform);
-  X(scale);
-  X(stereo);
-  X(framewidth);
-  X(status);
-#undef X
-
-#define X(var) DefinePyArray(mjvScene, #var, &MjvSceneWrapper::var)
-  X(geoms);
-  X(geomorder);
-  X(flexedgeadr);
-  X(flexedgenum);
-  X(flexvertadr);
-  X(flexvertnum);
-  X(flexfaceadr);
-  X(flexfacenum);
-  X(flexfaceused);
-  X(flexedge);
-  X(flexvert);
-  X(flexface);
-  X(flexnormal);
-  X(flextexcoord);
-  X(skinfacenum);
-  X(skinvertadr);
-  X(skinvertnum);
-  X(skinvert);
-  X(skinnormal);
-  X(lights);
-  X(camera);
-  X(translate);
-  X(rotate);
-  X(flags);
-  X(framergb);
-#undef X
-
-  // ==================== MJVFIGURE ============================================
-  py::class_<MjvFigureWrapper> mjvFigure(m, "MjvFigure");
-  mjvFigure.def(py::init<>());
-  mjvFigure.def("__copy__", [](const MjvFigureWrapper& other) {
-    return MjvFigureWrapper(other);
-  });
-  mjvFigure.def("__deepcopy__", [](const MjvFigureWrapper& other, py::dict) {
-    return MjvFigureWrapper(other);
-  });
-#define X(var)                                                      \
-  mjvFigure.def_property(                                           \
-      #var, [](const MjvFigureWrapper& c) { return c.get()->var; }, \
-      [](MjvFigureWrapper& c, decltype(raw::MjvFigure::var) rhs) {  \
-        c.get()->var = rhs;                                         \
-      })
-  X(flg_legend);
-  X(flg_extend);
-  X(flg_barplot);
-  X(flg_selection);
-  X(flg_symmetric);
-  X(linewidth);
-  X(gridwidth);
-  X(legendoffset);
-  X(subplot);
-  X(highlightid);
-  X(selection);
-#undef X
-
-#define X(var) DefinePyArray(mjvFigure, #var, &MjvFigureWrapper::var)
-  X(flg_ticklabel);
-  X(gridsize);
-  X(gridrgb);
-  X(figurergba);
-  X(panergba);
-  X(legendrgba);
-  X(textrgb);
-  X(linergb);
-  X(range);
-  X(highlight);
-  X(linepnt);
-  X(linedata);
-  X(xaxispixel);
-  X(yaxispixel);
-  X(xaxisdata);
-  X(yaxisdata);
-#undef X
-
-#define X(var) DefinePyStr(mjvFigure, #var, &raw::MjvFigure::var);
-  X(xformat);
-  X(yformat);
-  X(minwidth);
-  X(title);
-  X(xlabel);
-#undef X
-
-  mjvFigure.def_readonly("linename", &MjvFigureWrapper::linename);
-
-  // mjv_averageCamera and mjv_camera2GLCamera both return an mjvGLCamera.
-  // We need to call the wrapper's constructor on the return value. Defining the
-  // binding for these functions in this file to avoid symbol dependency across
-  // modules.
-  m.def(
-      "mjv_averageCamera",
-      [](const MjvGLCameraWrapper& cam1, const MjvGLCameraWrapper& cam2) {
-        return MjvGLCameraWrapper([&cam1, &cam2]() {
-          py::gil_scoped_release no_gil;
-          return InterceptMjErrors(mjv_averageCamera)(cam1.get(), cam2.get());
-        }());
-      },
-      py::arg("cam1"), py::arg("cam2"),
-      py::doc(python_traits::mjv_averageCamera::doc));
-
-  m.def(
-      "mjv_camera2GLCamera",
-      [](const MjModelWrapper& m, const MjDataWrapper& d,
-         const MjvCameraWrapper& cam) {
-        return MjvGLCameraWrapper([&m, &d, &cam]() {
-          py::gil_scoped_release no_gil;
-          return InterceptMjErrors(mjv_camera2GLCamera)(m.get(), d.get(),
-                                                        cam.get());
-        }());
-      },
-      py::arg("m"), py::arg("d"), py::arg("cam"),
-      py::doc(python_traits::mjv_camera2GLCamera::doc));
-
-  m.def("_recompile_spec_addr", [](uintptr_t spec_addr, const MjModelWrapper& m,
-                                   const MjDataWrapper& d) {
-    return RecompileSpec(reinterpret_cast<raw::MjSpec*>(spec_addr), m, d);
-  });
-}  // PYBIND11_MODULE NOLINT(readability/fn_size)
-}  // namespace mujoco::python::_impl
diff --git a/python/mujoco/structs.h b/python/mujoco/structs.h
deleted file mode 100644
index 450c7dbf..00000000
--- a/python/mujoco/structs.h
+++ /dev/null
@@ -1,1311 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_STRUCTS_H_
-#define MUJOCO_PYTHON_STRUCTS_H_
-
-#include <algorithm>
-#include <mutex>
-#include <array>
-#include <cctype>
-#include <cstddef>
-#include <functional>
-#include <istream>
-#include <memory>
-#include <optional>
-#include <ostream>
-#include <sstream>
-#include <string_view>
-#include <unordered_map>
-#include <string>
-#include <type_traits>
-#include <utility>
-#include <vector>
-
-#include <absl/types/span.h>
-#include <mujoco/mujoco.h>
-#include <mujoco/mjxmacro.h>
-#include "gil.h"
-#include "indexers.h"
-#include "raw.h"
-#include <pybind11/numpy.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-
-namespace py = ::pybind11;
-
-namespace mujoco::python {
-
-class MjVfs;
-
-namespace _impl {
-
-struct VfsAsset {
-  VfsAsset(const char* name, const void* content, std::size_t content_size)
-      : name(name), content(content), content_size(content_size) {}
-  const char* name;
-  const void* content;
-  std::size_t content_size;
-};
-
-// strip path prefix from filename and make lowercase
-inline std::string StripPath(const char* name) {
-  std::string filename(name);
-  size_t start = filename.find_last_of("/\\");
-
-  // get name without path
-  if (start != std::string::npos) {
-    filename = filename.substr(start + 1, filename.size() - start - 1);
-  }
-
-  // make lowercase
-  std::transform(filename.begin(), filename.end(), filename.begin(),
-                 [](unsigned char c) { return std::tolower(c); });
-  return filename;
-}
-
-
-// Converts a dict with py::bytes value to a vector of standard C++ types.
-// This allows us to release the GIL early. Note that the vector consists only
-// of pointers to existing data so no substantial data copies are being made.
-inline std::vector<VfsAsset> ConvertAssetsDict(
-    const std::optional<std::unordered_map<std::string, py::bytes>>& assets) {
-  std::vector<VfsAsset> out;
-  if (assets.has_value()) {
-    for (const auto& [name, content] : *assets) {
-      out.emplace_back(name.c_str(), PYBIND11_BYTES_AS_STRING(content.ptr()),
-                       py::len(content));
-    }
-  }
-  return out;
-}
-
-template <typename T>
-class WrapperBase {
- public:
-  WrapperBase(WrapperBase&& other) = default;
-
-  T* get() { return ptr_; }
-  const T* get() const { return ptr_; }
-
-  pybind11::handle owner() const { return owner_; }
-
- protected:
-  static void DefaultCapsuleDestructor(PyObject* pyobj) {
-    T* ptr = static_cast<T*>(PyCapsule_GetPointer(pyobj, nullptr));
-    if (ptr) {
-      delete ptr;
-    }
-  }
-
-  // Takes ownership of ptr.
-  explicit WrapperBase(T* ptr,
-                       void (*destructor)(PyObject*) = DefaultCapsuleDestructor)
-      : ptr_(ptr),
-        owner_(pybind11::capsule(ptr_, /* name = */ nullptr, destructor)) {}
-
-  // `ptr` is owned by `owner`.
-  WrapperBase(T* ptr, pybind11::handle owner)
-      : ptr_(ptr),
-        owner_(pybind11::reinterpret_borrow<pybind11::object>(owner)) {}
-
-  T* ptr_;
-  pybind11::object owner_;
-};
-
-template <typename T, typename = void>
-struct py_array_or_tuple {
-  using type = pybind11::tuple;
-};
-
-template <typename T>
-struct py_array_or_tuple<T, std::enable_if_t<std::is_arithmetic_v<T>>> {
-  using type = pybind11::array_t<T>;
-};
-
-// A type that resolves to a NumPy array if the dtype is numeric, and
-// a Python tuple otherwise.
-template <typename T> using py_array_or_tuple_t =
-    typename py_array_or_tuple<T>::type;
-
-template <typename T>
-struct enable_if_mj_struct {};
-
-template <typename T>
-class MjWrapper {};
-
-template <typename T>
-class StructListBase {
- public:
-  StructListBase(T* ptr, int num, pybind11::handle owner, bool lazy = false)
-      : ptr_(ptr), num_(num), owner_(owner) {
-    if (!lazy) {
-      PopulateUpTo(size());
-    }
-  }
-
-  StructListBase(const StructListBase& other) = delete;
-  StructListBase(StructListBase&& other)
-      : ptr_(other.ptr_),
-        num_(other.num_),
-        owner_(std::move(other.owner_)),
-        wrappers_(std::move(other.wrappers_)) {}
-        // populate_mutex_ is default-constructed (std::mutex is not movable)
-
-  virtual ~StructListBase() = default;
-
-  MjWrapper<T>& operator[](int i) {
-    if (i < 0 || i >= size()) {
-      throw pybind11::index_error();
-    }
-    PopulateUpTo(i);
-    return *wrappers_[i];
-  }
-
-  virtual int size() const {
-    return num_;
-  }
-
-  T* get() const { return ptr_; }
-  pybind11::handle owner() const { return owner_; }
-
- protected:
-  void PopulateUpTo(int n) {
-    MutexLockIfGilDisabled lock(populate_mutex_);
-    wrappers_.reserve(n + 1);
-    while (wrappers_.size() <= n) {
-      wrappers_.push_back(
-          std::make_shared<MjWrapper<T>>(&ptr_[wrappers_.size()], owner_));
-    }
-  }
-
-  // Slicing
-  StructListBase(StructListBase& other, pybind11::slice slice)
-      : owner_(other.owner_) {
-    pybind11::size_t start, stop, step, slicelength;
-    if (!slice.compute(other.size(), &start, &stop, &step, &slicelength)) {
-      throw pybind11::index_error();
-    }
-    other.PopulateUpTo(stop);
-    ptr_ = &other.ptr_[start];
-    for (int i = start; i < stop; i += step) {
-      wrappers_.push_back(other.wrappers_[i]);
-    }
-    num_ = wrappers_.size();
-  }
-
-  T* ptr_;
-  int num_;
-  pybind11::handle owner_;
-
-  // Using shared_ptr here so that we get identical Python objects when slicing.
-  std::vector<std::shared_ptr<MjWrapper<T>>> wrappers_;
-  mutable std::mutex populate_mutex_;
-};
-
-template <typename T>
-struct is_mj_struct_list { static constexpr bool value = false; };
-
-template <typename T>
-class MjStructList {};
-
-// ==================== MJOPTION ===============================================
-template <>
-class MjWrapper<raw::MjOption> : public WrapperBase<raw::MjOption> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjOption* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-
-  #define X(type, var, dim)
-  #define XVEC(type, var, dim)                                   \
-    py_array_or_tuple_t<                                         \
-        std::remove_all_extents_t<decltype(raw::MjOption::var)>> \
-        var;
-  MJOPTION_FIELDS
-  #undef XVEC
-  #undef X
-};
-
-using MjOptionWrapper = MjWrapper<raw::MjOption>;
-
-template <>
-struct enable_if_mj_struct<raw::MjOption> { using type = void; };
-
-// ==================== MJVISUAL ===============================================
-template <>
-class MjWrapper<raw::MjVisualHeadlight>
-    : public WrapperBase<raw::MjVisualHeadlight> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper& other);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjVisualHeadlight* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-
-  #define X(type, var, dim)
-  #define XVEC(type, var, dim)                                            \
-    py_array_or_tuple_t<                                                  \
-        std::remove_all_extents_t<decltype(raw::MjVisualHeadlight::var)>> \
-        var;
-  MJVISUAL_HEADLIGHT_FIELDS
-  #undef XVEC
-  #undef X
-};
-
-using MjVisualHeadlightWrapper = MjWrapper<raw::MjVisualHeadlight>;
-
-template <>
-struct enable_if_mj_struct<raw::MjVisualHeadlight> { using type = void; };
-
-template <>
-class MjWrapper<raw::MjVisualRgba> : public WrapperBase<raw::MjVisualRgba> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper& other);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjVisualRgba* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-
-#define XVEC(type, var, dim)                                       \
-  py_array_or_tuple_t<                                             \
-      std::remove_all_extents_t<decltype(raw::MjVisualRgba::var)>> \
-      var;
-  MJVISUAL_RGBA_FIELDS
-#undef XVEC
-};
-
-using MjVisualRgbaWrapper = MjWrapper<raw::MjVisualRgba>;
-
-template <>
-struct enable_if_mj_struct<raw::MjVisualRgba> { using type = void; };
-
-template <>
-class MjWrapper<raw::MjVisual> : public WrapperBase<raw::MjVisual> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper& other);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjVisual* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-
-  MjVisualHeadlightWrapper headlight;
-  MjVisualRgbaWrapper rgba;
-};
-
-using MjVisualWrapper = MjWrapper<raw::MjVisual>;
-
-template <>
-struct enable_if_mj_struct<raw::MjVisual> { using type = void; };
-
-// ==================== MJSTATISTIC ============================================
-template <>
-class MjWrapper<raw::MjStatistic> : public WrapperBase<raw::MjStatistic> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjStatistic* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-
-  #define X(var, dim)
-  #define XVEC(var, dim)                                            \
-    py_array_or_tuple_t<                                            \
-        std::remove_all_extents_t<decltype(raw::MjStatistic::var)>> \
-        var;
-  MJSTATISTIC_FIELDS
-  #undef XVEC
-  #undef X
-};
-
-using MjStatisticWrapper = MjWrapper<raw::MjStatistic>;
-
-template <>
-struct enable_if_mj_struct<raw::MjStatistic> { using type = void; };
-
-// ==================== MJWARNINGSTAT ==========================================
-template <>
-class MjWrapper<raw::MjWarningStat> : public WrapperBase<raw::MjWarningStat> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjWarningStat* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-};
-
-using MjWarningStatWrapper = MjWrapper<raw::MjWarningStat>;
-
-template <>
-struct enable_if_mj_struct<raw::MjWarningStat> { using type = void; };
-
-template <>
-class MjStructList<raw::MjWarningStat>
-    : public StructListBase<raw::MjWarningStat> {
- public:
-  MjStructList(raw::MjWarningStat* ptr, int num, pybind11::handle owner);
-  MjStructList(MjStructList&&) = default;
-  ~MjStructList() override = default;
-
-  using StructListBase::operator[];
-  using StructListBase::size;
-  MjStructList Slice(pybind11::slice slice) {
-    return MjStructList(*this, slice);
-  }
-
-#define X(type, var) pybind11::array_t<type> var
-  X(int, lastinfo);
-  X(int, number);
-#undef X
-
- protected:
-  MjStructList(MjStructList& other, pybind11::slice slice);
-};
-
-using MjWarningStatList = MjStructList<raw::MjWarningStat>;
-
-template <>
-struct py_array_or_tuple<raw::MjWarningStat> {
-  using type = MjWarningStatList;
-};
-
-template <>
-struct is_mj_struct_list<raw::MjWarningStat> {
-  static constexpr bool value = true;
-};
-
-// ==================== MJLOGCONFIG ============================================
-template <>
-class MjWrapper<raw::MjLogConfig> : public WrapperBase<raw::MjLogConfig> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjLogConfig* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-};
-
-using MjLogConfigWrapper = MjWrapper<raw::MjLogConfig>;
-
-template <>
-struct enable_if_mj_struct<raw::MjLogConfig> { using type = void; };
-
-// ==================== MJLOGMESSAGE ===========================================
-template <>
-class MjWrapper<raw::MjLogMessage> : public WrapperBase<raw::MjLogMessage> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjLogMessage* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-};
-
-using MjLogMessageWrapper = MjWrapper<raw::MjLogMessage>;
-
-template <>
-struct enable_if_mj_struct<raw::MjLogMessage> { using type = void; };
-
-// ==================== MJTIMERSTAT ============================================
-template <>
-class MjWrapper<raw::MjTimerStat> : public WrapperBase<raw::MjTimerStat> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjTimerStat* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-};
-
-using MjTimerStatWrapper = MjWrapper<raw::MjTimerStat>;
-
-template <>
-struct enable_if_mj_struct<raw::MjTimerStat> { using type = void; };
-
-template <>
-class MjStructList<raw::MjTimerStat> : public StructListBase<raw::MjTimerStat> {
- public:
-  MjStructList(raw::MjTimerStat* ptr, int num, pybind11::handle owner);
-  MjStructList(MjStructList&&) = default;
-  ~MjStructList() override = default;
-
-  using StructListBase::operator[];
-  using StructListBase::size;
-  MjStructList Slice(pybind11::slice slice) {
-    return MjStructList(*this, slice);
-  }
-
-#define X(type, var) pybind11::array_t<type> var
-  X(mjtNum, duration);
-  X(int, number);
-#undef X
-
- protected:
-  MjStructList(MjStructList& other, pybind11::slice slice);
-};
-
-using MjTimerStatList = MjStructList<raw::MjTimerStat>;
-
-template <>
-struct py_array_or_tuple<raw::MjTimerStat> {
-  using type = MjTimerStatList;
-};
-
-template <>
-struct is_mj_struct_list<raw::MjTimerStat> {
-  static constexpr bool value = true;
-};
-
-// ==================== MJSOLVERSTAT ===========================================
-template <>
-class MjWrapper<raw::MjSolverStat> : public WrapperBase<raw::MjSolverStat> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjSolverStat* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-};
-
-using MjSolverStatWrapper = MjWrapper<raw::MjSolverStat>;
-
-template <>
-struct enable_if_mj_struct<raw::MjSolverStat> { using type = void; };
-
-template <>
-class MjStructList<raw::MjSolverStat>
-    : public StructListBase<raw::MjSolverStat> {
- public:
-  MjStructList(raw::MjSolverStat* ptr, int num, pybind11::handle owner);
-  MjStructList(MjStructList&&) = default;
-  ~MjStructList() override = default;
-
-  using StructListBase::operator[];
-  using StructListBase::size;
-  MjStructList Slice(pybind11::slice slice) {
-    return MjStructList(*this, slice);
-  }
-
-#define X(type, var) pybind11::array_t<type> var
-  X(mjtNum, improvement);
-  X(mjtNum, gradient);
-  X(mjtNum, lineslope);
-  X(int, nactive);
-  X(int, nchange);
-  X(int, neval);
-  X(int, nupdate);
-#undef X
-
- protected:
-  MjStructList(MjStructList& other, pybind11::slice slice);
-};
-
-using MjSolverStatList = MjStructList<raw::MjSolverStat>;
-
-template <>
-struct py_array_or_tuple<raw::MjSolverStat> {
-  using type = MjSolverStatList;
-};
-
-template <>
-struct is_mj_struct_list<raw::MjSolverStat> {
-  static constexpr bool value = true;
-};
-
-// ==================== MJMODEL ================================================
-template <>
-class MjWrapper<raw::MjModel> : public WrapperBase<raw::MjModel> {
- public:
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&);
-
-  // Takes ownership of the raw mjModel pointer.
-  explicit MjWrapper(raw::MjModel* ptr);
-
-  ~MjWrapper();
-
-  MjModelIndexer& indexer() { return indexer_; }
-
-  void Serialize(std::ostream& output) const;
-  static std::unique_ptr<MjWrapper<raw::MjModel>> Deserialize(
-      std::istream& input);
-
-  static MjWrapper LoadXMLFile(
-      const std::string& filename,
-      const std::optional<
-          std::unordered_map<std::string, pybind11::bytes>>& assets,
-      MjVfs* vfs = nullptr);
-
-  static MjWrapper LoadBinaryFile(
-      const std::string& filename,
-      const std::optional<
-          std::unordered_map<std::string, pybind11::bytes>>& assets,
-      MjVfs* vfs = nullptr);
-
-  static MjWrapper LoadXML(
-      const std::string& xml,
-      const std::optional<
-          std::unordered_map<std::string, pybind11::bytes>>& assets,
-      MjVfs* vfs = nullptr);
-
-  static MjWrapper WrapRawModel(raw::MjModel* m);
-
-  static constexpr char kFromRawPointer[] =
-      "__MUJOCO_STRUCTS_MJMODELWRAPPER_LOOKUP";
-  static MjWrapper* FromRawPointer(raw::MjModel* m) noexcept;
-
-  MjOptionWrapper opt;
-  MjVisualWrapper vis;
-  MjStatisticWrapper stat;
-
-#define X(dtype, var, dim0, dim1) py_array_or_tuple_t<dtype> var;
-  MJMODEL_POINTERS
-#undef X
-  // TODO(nimrod): Exclude text_data and names from the MJMODEL_POINTERS macro.
-  pybind11::bytes text_data_bytes;
-  pybind11::bytes names_bytes;
-  pybind11::bytes paths_bytes;
-
- protected:
-  MjModelIndexer indexer_;
-};
-
-using MjModelWrapper = MjWrapper<raw::MjModel>;
-
-template <>
-struct enable_if_mj_struct<raw::MjModel> { using type = void; };
-
-// ==================== MJCONTACT ==============================================
-template <>
-class MjWrapper<raw::MjPreContact> : public WrapperBase<raw::MjPreContact> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjPreContact* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-
-  #define X(var)                                                     \
-    py_array_or_tuple_t<                                             \
-        std::remove_all_extents_t<decltype(raw::MjPreContact::var)>> \
-        var
-  X(pos);
-  X(normal);
-  X(tangent);
-  #undef X
-};
-
-using MjPreContactWrapper = MjWrapper<raw::MjPreContact>;
-
-template <>
-class MjWrapper<raw::MjContact> : public WrapperBase<raw::MjContact> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjContact* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-
-  #define X(var)                                                  \
-    py_array_or_tuple_t<                                          \
-        std::remove_all_extents_t<decltype(raw::MjContact::var)>> \
-        var
-  X(pos);
-  X(frame);
-  X(friction);
-  X(solref);
-  X(solreffriction);
-  X(solimp);
-  X(H);
-  X(geom);
-  X(flex);
-  X(elem);
-  X(vert);
-  #undef X
-};
-
-using MjContactWrapper = MjWrapper<raw::MjContact>;
-
-template <>
-struct enable_if_mj_struct<raw::MjContact> { using type = void; };
-
-template <>
-class MjStructList<raw::MjContact> : public StructListBase<raw::MjContact> {
- public:
-  MjStructList(raw::MjContact* ptr, int nconmax,
-               int* ncon, pybind11::handle owner);
-  MjStructList(MjStructList&&) = default;
-  ~MjStructList() override = default;
-
-  using StructListBase::operator[];
-
-  int size() const override {
-    if (ncon_) {
-      return *ncon_;
-    } else {
-      return StructListBase::size();
-    }
-  }
-
-  MjStructList Slice(pybind11::slice slice) {
-    return MjStructList(*this, slice);
-  }
-
- protected:
-  MjStructList(MjStructList& other, pybind11::slice slice);
-  int* ncon_ = nullptr;
-};
-
-using MjContactList = MjStructList<raw::MjContact>;
-
-template <>
-struct py_array_or_tuple<raw::MjContact> {
-  using type = MjContactList;
-};
-
-template <>
-struct is_mj_struct_list<raw::MjContact> {
-  static constexpr bool value = true;
-};
-
-// ==================== MJDATA =================================================
-template <>
-class MjWrapper<raw::MjData>: public WrapperBase<raw::MjData> {
- public:
-  explicit MjWrapper(MjModelWrapper* model);
-  MjWrapper(const MjWrapper& other);
-  MjWrapper(MjWrapper&&);
-
-  // Used for deepcopy
-  MjWrapper(const MjWrapper& other, MjModelWrapper* model);
-
-  // Internal constructor which takes ownership of given mjData pointer.
-  // Used for deserialization and recompile.
-  explicit MjWrapper(MjModelWrapper* model, raw::MjData* d);
-
-  ~MjWrapper();
-
-  const MjModelWrapper& model() const { return *model_; }
-  MjDataIndexer& indexer() { return indexer_; }
-
-  void Serialize(std::ostream& output) const;
-  static MjWrapper<raw::MjData> Deserialize(std::istream& input);
-
-  static constexpr char kFromRawPointer[] =
-      "__MUJOCO_STRUCTS_MJDATAWRAPPER_LOOKUP";
-  static MjWrapper* FromRawPointer(raw::MjData* m) noexcept;
-
-
-#define X(dtype, var, dim0, dim1) py_array_or_tuple_t<dtype> var;
-  MJDATA_POINTERS
-#undef X
-
-  py_array_or_tuple_t<mjContact> contact;
-
-  py_array_or_tuple_t<size_t> maxuse_threadstack;
-  py_array_or_tuple_t<raw::MjSolverStat> solver;
-  py_array_or_tuple_t<int> solver_niter;
-  py_array_or_tuple_t<int> solver_nnz;
-  py_array_or_tuple_t<mjtNum> solver_fwdinv;
-  py_array_or_tuple_t<raw::MjWarningStat> warning;
-  py_array_or_tuple_t<raw::MjTimerStat> timer;
-  py_array_or_tuple_t<mjtNum> energy;
-
- protected:
-  raw::MjData* Copy() const;
-
-  // A reference to the model that was used to create this mjData.
-  MjModelWrapper* model_;
-  // A py::object pointing to the same model as model_, to make sure Python
-  // doesn't doesn't garbage collect it until this mjData is released.
-  pybind11::object model_ref_;
-  MjDataIndexer indexer_;
-};
-
-using MjDataWrapper = MjWrapper<raw::MjData>;
-
-template <>
-struct enable_if_mj_struct<raw::MjData> { using type = void; };
-
-// ==================== MJVPERTURB =============================================
-template <>
-class MjWrapper<raw::MjvPerturb> : public WrapperBase<raw::MjvPerturb> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  ~MjWrapper() = default;
-
-  #define X(var)                                                   \
-    py_array_or_tuple_t<                                           \
-        std::remove_all_extents_t<decltype(raw::MjvPerturb::var)>> \
-        var
-  X(refpos);
-  X(refquat);
-  X(refselpos);
-  X(localpos);
-  #undef X
-};
-
-using MjvPerturbWrapper = MjWrapper<raw::MjvPerturb>;
-
-template <>
-struct enable_if_mj_struct<raw::MjvPerturb> { using type = void; };
-
-// ==================== MJVCAMERA ==============================================
-template <>
-class MjWrapper<raw::MjvCamera> : public WrapperBase<raw::MjvCamera> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  ~MjWrapper() = default;
-
-  #define X(var)                                                  \
-    py_array_or_tuple_t<                                          \
-        std::remove_all_extents_t<decltype(raw::MjvCamera::var)>> \
-        var
-  X(lookat);
-  #undef X
-};
-
-using MjvCameraWrapper = MjWrapper<raw::MjvCamera>;
-
-template <>
-struct enable_if_mj_struct<raw::MjvCamera> { using type = void; };
-
-// ==================== MJVGLCAMERA ============================================
-template <>
-class MjWrapper<raw::MjvGLCamera> : public WrapperBase<raw::MjvGLCamera> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjvGLCamera* ptr, pybind11::handle owner);
-  explicit MjWrapper(raw::MjvGLCamera&& other);
-  ~MjWrapper() = default;
-
-  #define X(var)                                                    \
-    py_array_or_tuple_t<                                            \
-        std::remove_all_extents_t<decltype(raw::MjvGLCamera::var)>> \
-        var
-  X(pos);
-  X(forward);
-  X(up);
-  #undef X
-};
-
-using MjvGLCameraWrapper = MjWrapper<raw::MjvGLCamera>;
-
-template <>
-struct enable_if_mj_struct<raw::MjvGLCamera> { using type = void; };
-
-// ==================== MJVGEOM ================================================
-template <>
-class MjWrapper<raw::MjvGeom> : public WrapperBase<raw::MjvGeom> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjvGeom* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-
-  #define X(var)                                                \
-    py_array_or_tuple_t<                                        \
-        std::remove_all_extents_t<decltype(raw::MjvGeom::var)>> \
-        var
-  X(matid);
-  X(size);
-  X(pos);
-  X(mat);
-  X(rgba);
-  X(texrepeat);
-  #undef X
-};
-
-using MjvGeomWrapper = MjWrapper<raw::MjvGeom>;
-
-template <>
-struct enable_if_mj_struct<raw::MjvGeom> { using type = void; };
-
-// ==================== MJVLIGHT ===============================================
-template <>
-class MjWrapper<raw::MjvLight> : public WrapperBase<raw::MjvLight> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(raw::MjvLight* ptr, pybind11::handle owner);
-  ~MjWrapper() = default;
-
-  #define X(var)                                                 \
-    py_array_or_tuple_t<                                         \
-        std::remove_all_extents_t<decltype(raw::MjvLight::var)>> \
-        var
-  X(pos);
-  X(dir);
-  X(attenuation);
-  X(ambient);
-  X(diffuse);
-  X(specular);
-  #undef X
-};
-
-using MjvLightWrapper = MjWrapper<raw::MjvLight>;
-
-template <>
-struct enable_if_mj_struct<raw::MjvLight> { using type = void; };
-
-// ==================== MJVOPTION ==============================================
-template <>
-class MjWrapper<raw::MjvOption> : public WrapperBase<raw::MjvOption> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  ~MjWrapper() = default;
-
-  #define X(var)                                                  \
-    py_array_or_tuple_t<                                          \
-        std::remove_all_extents_t<decltype(raw::MjvOption::var)>> \
-        var
-  X(geomgroup);
-  X(sitegroup);
-  X(jointgroup);
-  X(tendongroup);
-  X(actuatorgroup);
-  X(flexgroup);
-  X(skingroup);
-  X(flags);
-  #undef X
-};
-
-using MjvOptionWrapper = MjWrapper<raw::MjvOption>;
-
-template <>
-struct enable_if_mj_struct<raw::MjvOption> { using type = void; };
-
-// ==================== MJVSCENE ===============================================
-template <>
-class MjWrapper<raw::MjvScene> : public WrapperBase<raw::MjvScene> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  MjWrapper(const MjModelWrapper& model, int maxgeom);
-  ~MjWrapper() = default;
-
-  int nskinvert;
-  int nflexface, nflexedge, nflexvert;
-
-  #define X(dtype, var) py_array_or_tuple_t<dtype> var
-  X(mjvGeom, geoms);
-  X(int, geomorder);
-  X(int, flexedgeadr);
-  X(int, flexedgenum);
-  X(int, flexvertadr);
-  X(int, flexvertnum);
-  X(int, flexfaceadr);
-  X(int, flexfacenum);
-  X(int, flexfaceused);
-  X(int, flexedge);
-  X(float, flexvert);
-  X(float, flexface);
-  X(float, flexnormal);
-  X(float, flextexcoord);
-  X(int, skinfacenum);
-  X(int, skinvertadr);
-  X(int, skinvertnum);
-  X(float, skinvert);
-  X(float, skinnormal);
-  #undef X
-
-  #define X(dtype, var) py_array_or_tuple_t<dtype> var
-  X(raw::MjvLight, lights);
-  X(raw::MjvGLCamera, camera);
-  X(float, translate);
-  X(float, rotate);
-  X(mjtByte, flags);
-  X(float, framergb);
-  #undef X
-};
-
-using MjvSceneWrapper = MjWrapper<raw::MjvScene>;
-
-template <>
-struct enable_if_mj_struct<raw::MjvScene> { using type = void; };
-
-// ==================== MJVFIGURE ==============================================
-template <>
-class MjWrapper<raw::MjvFigure> : public WrapperBase<raw::MjvFigure> {
- public:
-  MjWrapper();
-  MjWrapper(const MjWrapper&);
-  MjWrapper(MjWrapper&&) = default;
-  ~MjWrapper() = default;
-
-  #define X(dtype, var) py_array_or_tuple_t<dtype> var
-  X(int, flg_ticklabel);
-  X(int, gridsize);
-  X(float, gridrgb);
-  X(float, figurergba);
-  X(float, panergba);
-  X(float, legendrgba);
-  X(float, textrgb);
-  X(float, linergb);
-  X(float, range);
-  X(int, highlight);
-  X(int, linepnt);
-  X(float, linedata);
-  X(int, xaxispixel);
-  X(int, yaxispixel);
-  X(float, xaxisdata);
-  X(float, yaxisdata);
-  #undef X
-
-  pybind11::array linename;
-};
-
-using MjvFigureWrapper = MjWrapper<raw::MjvFigure>;
-
-template <>
-struct enable_if_mj_struct<raw::MjvFigure> { using type = void; };
-
-#ifdef MEMORY_SANITIZER
-template <typename T>
-class ScopedMsanDisabler {
- public:
-  ScopedMsanDisabler(T* mj)
-      : mj_(mj), shadow_(std::malloc(mj_->nbuffer)) {
-    __msan_copy_shadow(shadow_, mj_->buffer, mj_->nbuffer);
-    __msan_unpoison(mj_->buffer, mj_->nbuffer);
-  }
-  ~ScopedMsanDisabler() {
-    __msan_copy_shadow(mj_->buffer, shadow_, mj_->nbuffer);
-    std::free(shadow_);
-  }
- private:
-  T* mj_;
-  void* shadow_;
-};
-#endif
-
-}  // namespace _impl
-
-template <typename T>
-using MjWrapper = typename std::conditional_t<
-    std::is_const_v<T>, const _impl::MjWrapper<std::remove_const_t<T>>,
-    _impl::MjWrapper<T>>;
-
-template <typename T>
-using enable_if_mj_struct_t =
-    typename _impl::enable_if_mj_struct<std::remove_const_t<T>>::type;
-
-using _impl::MjOptionWrapper;
-using _impl::MjVisualHeadlightWrapper;
-using _impl::MjVisualRgbaWrapper;
-using _impl::MjVisualWrapper;
-using _impl::MjStatisticWrapper;
-using _impl::MjWarningStatWrapper;
-using _impl::MjLogConfigWrapper;
-using _impl::MjLogMessageWrapper;
-using _impl::MjTimerStatWrapper;
-using _impl::MjSolverStatWrapper;
-using _impl::MjModelWrapper;
-using _impl::MjDataWrapper;
-using _impl::MjContactWrapper;
-using _impl::MjPreContactWrapper;
-using _impl::MjvPerturbWrapper;
-using _impl::MjvCameraWrapper;
-using _impl::MjvGLCameraWrapper;
-using _impl::MjvGeomWrapper;
-using _impl::MjvLightWrapper;
-using _impl::MjvOptionWrapper;
-using _impl::MjvSceneWrapper;
-using _impl::MjvFigureWrapper;
-
-template <typename T>
-using MjStructList = typename std::conditional_t<
-    std::is_const_v<T>, const _impl::MjStructList<std::remove_const_t<T>>,
-    _impl::MjStructList<T>>;
-
-template <typename T>
-static constexpr bool is_mj_struct_list_v =
-    _impl::is_mj_struct_list<std::remove_const_t<T>>::value;
-
-using _impl::MjContactList;
-using _impl::MjWarningStatList;
-using _impl::MjTimerStatList;
-using _impl::MjSolverStatList;
-
-// ==================== HELPER FUNCTIONS FOR BINDING ARRAYS ====================
-
-// Python array initialization.
-// If T is an arithmetic (i.e. numeric) type, returns a NumPy array that wraps
-// around a preexisting data buffer.
-template <typename T, typename Shape>
-std::enable_if_t<std::is_arithmetic_v<T>, pybind11::array_t<T>>
-static InitPyArray(Shape&& shape, T* buf, pybind11::handle owner) {
-  mjtSize size = 1;
-  for (const auto& i : shape) {
-    size *= i;
-  }
-  if (shape.empty() || size == 0) {
-    return pybind11::array_t<T>(shape);
-  } else {
-    return pybind11::array_t<T>(shape, buf, owner);
-  }
-}
-
-// Same as above, but where we can determine array dimensions through the
-// C array type directly.
-template <typename T, typename Int, Int N>
-std::enable_if_t<(N > 0) && std::is_arithmetic_v<T>, pybind11::array_t<T>>
-static InitPyArray(T (&buf)[N], pybind11::handle owner) {
-  return pybind11::array_t<T>({N}, &buf[0], owner);
-}
-
-template <typename T, typename Int, Int N1, Int N2>
-std::enable_if_t<(N1*N2 > 0) && std::is_arithmetic_v<T>, pybind11::array_t<T>>
-static InitPyArray(T (&buf)[N1][N2], pybind11::handle owner) {
-  return pybind11::array_t<T>(
-      {N1, N2}, &buf[0][0], owner);
-}
-
-template <typename T, typename Shape>
-std::enable_if_t<is_mj_struct_list_v<T>, MjStructList<T>>
-static InitPyArray(Shape&& shape, T* buf, pybind11::handle owner) {
-  return MjStructList<T>(buf, shape[0], owner);
-}
-
-// For arrays of non-arithmetic type, we create tuple of tuples of MjWrapper<T>.
-template <typename T, typename Shape>
-std::enable_if_t<!std::is_arithmetic_v<T> && !is_mj_struct_list_v<T>,
-                 pybind11::tuple>
-static InitPyArray(Shape&& shape, T* buf, pybind11::handle owner) {
-  mjtSize size = 1;
-  for (const auto& i : shape) {
-    size *= i;
-  }
-  if (shape.empty() || !size) {
-    return pybind11::tuple();
-  }
-
-  pybind11::list out;
-  const auto n = shape[0];
-  if (shape.size() == 1) {
-    for (int i = 0; i < n; ++i) {
-      out.append(MjWrapper<T>(&buf[i], owner));
-    }
-  } else {
-    auto block_shape = absl::MakeConstSpan(shape).subspan(1);
-    auto block_size = std::accumulate(
-        block_shape.begin(), block_shape.end(),
-        1, std::multiplies<decltype(n)>());
-    for (int i = 0; i < n; ++i) {
-      out.append(InitPyArray(block_shape, &buf[i * block_size], owner));
-    }
-  }
-  return std::move(out);
-}
-
-// Same as above, but where we can determine array dimensions through the
-// C array type directly.
-template <typename T, typename Int, Int N>
-std::enable_if_t<(N > 0) && !std::is_arithmetic_v<T> &&
-                 !std::is_array_v<T> && !is_mj_struct_list_v<T>,
-                 pybind11::tuple>
-static InitPyArray(T (&buf)[N], pybind11::handle owner) {
-  return InitPyArray(std::array{N}, buf, owner);
-}
-
-template <typename T, typename Int, Int N1, Int N2>
-std::enable_if_t<(N1*N2 > 0) && !std::is_arithmetic_v<T> &&
-                 !std::is_array_v<T> && !is_mj_struct_list_v<T>,
-                 pybind11::tuple>
-static InitPyArray(T (&buf)[N1][N2], pybind11::handle owner) {
-  return InitPyArray(std::array{N1, N2}, buf, owner);
-}
-
-template <typename T, typename Int, Int N>
-std::enable_if_t<is_mj_struct_list_v<T>, MjStructList<T>>
-static InitPyArray(T (&buf)[N], pybind11::handle owner) {
-  return MjStructList<T>(buf, N, owner);
-}
-
-// Helpers for defining array/tuple properties in pybind11 classes.
-//
-// Defines a NumPy array property of a Python class that supports assignments.
-// Specifically, we implement the setter such that `obj.arr = val` is the same
-// as `obj.arr[:] = val`.
-//
-// Use `DefinePyArray(c, "somearray", &MjStructHolder<C>::somearray)`
-// as a drop-in replacement for
-// `c.def_readonly("somearray", &MjStructHolder<C>::somearray)`.
-template <typename T, typename C, typename... O>
-static void DefinePyArray(pybind11::class_<C, O...> c, const char* name,
-                          pybind11::array_t<T> C::* arr) {
-  namespace py = pybind11;
-  c.def_property(
-      name,
-      [arr](const C& wrapper) { return wrapper.*arr; },
-      [arr](const C& wrapper, py::handle rhs) -> void {
-        (wrapper.*arr)[py::slice(py::none(), py::none(), py::none())] = rhs;
-      }
-  );
-}
-
-// For array of non-arithmetic type, we bind to tuples rather than NumPy array.
-// These can't be assigned to directly so we just use def_readonly.
-template <typename T, typename C, typename... O>
-static void DefinePyArray(pybind11::class_<C, O...> c, const char* name,
-                          T C::* arr) {
-  c.def_property_readonly(
-      name,
-      [arr](const C& wrapper) -> auto& { return wrapper.*arr; });
-}
-
-template <typename Raw, int N, typename C, typename... O>
-static void DefinePyStr(pybind11::class_<C, O...> c, const char* name,
-                        char (Raw::* arr)[N]) {
-  c.def_property(
-      name,
-      [arr](const C& c) { return pybind11::str(c.get()->*arr); },
-      [name = std::string(name), arr](C& c, std::string_view rhs) {
-        constexpr int kMaxLen = sizeof(c.get()->*arr);
-        const int actual_len = rhs.size();
-        if (actual_len >= kMaxLen) {
-          std::ostringstream msg;
-          msg << "len(" << name << ") cannot exceed " << kMaxLen - 1
-              << ": got length " << actual_len;
-          throw pybind11::value_error(msg.str());
-        }
-        rhs.copy(c.get()->*arr, actual_len);
-        (c.get()->*arr)[actual_len] = '\0';
-      });
-}
-
-// An equals operator that works for comparing numpy arrays too.
-// Unlike other objects, the equality operator for numpy arrays returns a
-// numpy array.
-inline bool FieldsEqual(pybind11::handle lhs, pybind11::handle rhs,
-                        pybind11::handle array_equal) {
-  // np.array_equal handles non-arrays.
-  return PyObject_IsTrue(array_equal(lhs, rhs).ptr());
-}
-
-// Returns an iterable object for iterating over attributes of T.
-template <typename T>
-pybind11::object Dir() {
-  pybind11::object type = pybind11::type::of<T>();
-  auto dir =
-      pybind11::reinterpret_steal<pybind11::object>(PyObject_Dir(type.ptr()));
-  if (PyErr_Occurred()) {
-    throw pybind11::error_already_set();
-  }
-  return dir;
-}
-
-// Returns true if all public fields in lhs and rhs are equal.
-template <typename T>
-bool StructsEqual(pybind11::object lhs, pybind11::object rhs) {
-  // Equivalent to the following python code:
-  // if type(lhs) != type(rhs):
-  //   return False
-  // for field in dir(lhs):
-  //   if field.startswith("_"):
-  //     continue
-  //   # equal() handles equality of numpy arrays
-  //   if not equal(getattr(lhs, field, None), getattr(rhs, field, None)):
-  //     return False
-  //
-  // return True
-
-  auto np = pybind11::module::import("numpy");
-  auto array_equal = np.attr("array_equal");
-
-  const pybind11::handle lhs_t = pybind11::type::handle_of(lhs);
-  const pybind11::handle rhs_t = pybind11::type::handle_of(rhs);
-  if (!lhs_t.is(rhs_t)) {
-    return false;
-  }
-  for (pybind11::handle f : Dir<T>()) {
-    auto name = f.cast<std::string_view>();
-
-    if (name.empty() || name[0] == '_') {
-      continue;
-    }
-    pybind11::object l = pybind11::getattr(lhs, f, pybind11::none());
-    pybind11::object r = pybind11::getattr(rhs, f, pybind11::none());
-    if (!FieldsEqual(l, r, array_equal)) {
-      return false;
-    }
-  }
-  return true;
-}
-
-// Returns a string representation of a struct like object.
-template <typename T>
-void StructReprImpl(pybind11::object self, std::ostringstream& result,
-                    int indent) {
-  result << "<"
-         << self.attr("__class__").attr("__name__").cast<std::string_view>();
-  for (pybind11::handle f : Dir<T>()) {
-    auto name = f.cast<std::string_view>();
-    if (name.empty() || name[0] == '_') {
-      continue;
-    }
-
-    result << "\n" << std::string(indent + 2, ' ') << name << ": "
-           << self.attr(f).attr("__repr__")().cast<std::string_view>();
-  }
-  result << "\n" << std::string(indent, ' ') << ">";
-}
-
-template <typename T>
-std::string StructRepr(pybind11::object self) {
-  std::ostringstream result;
-  StructReprImpl<T>(self, result, 0);
-  return result.str();
-}
-
-template <typename T>
-std::string MjModelStructRepr(pybind11::object self) {
-#ifdef MEMORY_SANITIZER
-  _impl::ScopedMsanDisabler<raw::MjModel> msan_disabler(
-      pybind11::cast<T&>(self).ptr());
-#endif
-  return StructRepr<T>(self);
-}
-
-template <typename T>
-std::string MjDataStructRepr(pybind11::object self) {
-#ifdef MEMORY_SANITIZER
-  _impl::ScopedMsanDisabler<raw::MjData> msan_disabler(
-      pybind11::cast<T&>(self).ptr());
-#endif
-  return StructRepr<T>(self);
-}
-
-template <typename C, typename... O>
-void DefineStructFunctions(pybind11::class_<C, O...> c) {
-  c.def("__eq__", StructsEqual<C>);
-  c.def("__repr__", StructRepr<C>);
-}
-
-}  // namespace mujoco::python
-
-#endif  // MUJOCO_PYTHON_STRUCTS_H_
diff --git a/python/mujoco/structs_wrappers.cc b/python/mujoco/structs_wrappers.cc
deleted file mode 100644
index 4e47446b..00000000
--- a/python/mujoco/structs_wrappers.cc
+++ /dev/null
@@ -1,1478 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <Python.h>
-
-#include <array>
-#include <cstddef>
-#include <cstring>
-#include <chrono>  // NOLINT(build/c++11)
-#include <exception>
-#include <functional>
-#include <ios>
-#include <iostream>
-#include <memory>
-#include <mutex>
-#include <optional>
-#include <string>
-#include <string_view>
-#include <type_traits>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include <absl/container/flat_hash_map.h>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "errors.h"
-#include "gil.h"
-#include "private.h"
-#include "raw.h"
-#include "serialization.h"
-#include "structs.h"
-#include "vfs.h"
-#include <pybind11/cast.h>
-#include <pybind11/detail/common.h>
-#include <pybind11/numpy.h>
-#include <pybind11/operators.h>
-#include <pybind11/pybind11.h>
-#include <pybind11/pytypes.h>
-#include <pybind11/stl.h>
-
-namespace mujoco::python::_impl {
-
-using ::mujoco::python::GetCallbackMutex;
-using ::mujoco::python::MutexLockIfGilDisabled;
-
-namespace py = ::pybind11;
-
-namespace {
-#define PTRDIFF(x, y) \
-  reinterpret_cast<const char*>(x) - reinterpret_cast<const char*>(y)
-
-// Returns the shape of a NumPy array given the dimensions from an X Macro.
-// If dim1 is a _literal_ constant 1, the resulting array is 1-dimensional of
-// length dim0, otherwise the resulting array is 2-dimensional of shape
-// (dim0, dim1).
-#define X_ARRAY_SHAPE(dim0, dim1) XArrayShapeImpl(#dim1)((dim0), (dim1))
-
-std::vector<mjtSize> XArrayShapeImpl1D(mjtSize dim0, mjtSize dim1) {
-  return {dim0};
-}
-
-std::vector<mjtSize> XArrayShapeImpl2D(mjtSize dim0, mjtSize dim1) {
-  return {dim0, dim1};
-}
-
-constexpr auto XArrayShapeImpl(const std::string_view dim1_str) {
-  if (dim1_str == "1") {
-    return XArrayShapeImpl1D;
-  } else {
-    return XArrayShapeImpl2D;
-  }
-}
-
-inline std::size_t NConMax(const mjData* d) {
-  return d->narena / sizeof(mjContact);
-}
-template <typename Callback = void()>
-struct Cleanup final {
-  Callback clean_func;
-  Cleanup(Callback callback) : clean_func(std::move(callback)) {}
-  ~Cleanup() { clean_func(); }
-};
-
-// `Cleanup c = /* callback */;`
-//
-// C++17 type deduction API for creating an instance of `Cleanup`
-template <typename Callback>
-Cleanup(Callback callback) -> Cleanup<Callback>;
-
-}  // namespace
-
-// ==================== MJOPTION ===============================================
-#define X(type, var, dim)
-#define XVEC(type, var, dim) \
-  , var(InitPyArray(std::array{dim}, ptr_->var, owner_))
-MjOptionWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjOption* const opt = new raw::MjOption;
-        mj_defaultOption(opt);
-        return opt;
-      }()) MJOPTION_FIELDS {}
-
-MjOptionWrapper::MjWrapper(raw::MjOption* ptr, py::handle owner)
-    : WrapperBase(ptr, owner) MJOPTION_FIELDS {}
-
-#undef XVEC
-#undef X
-
-MjOptionWrapper::MjWrapper(const MjOptionWrapper& other) : MjOptionWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVISUAL ===============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjVisualHeadlightWrapper::MjWrapper()
-    : WrapperBase(new raw::MjVisualHeadlight{}),
-      X(ambient),
-      X(diffuse),
-      X(specular) {}
-
-MjVisualHeadlightWrapper::MjWrapper(raw::MjVisualHeadlight* ptr,
-                                    py::handle owner)
-    : WrapperBase(ptr, owner), X(ambient), X(diffuse), X(specular) {}
-#undef X
-
-MjVisualHeadlightWrapper::MjWrapper(const MjVisualHeadlightWrapper& other)
-    : MjVisualHeadlightWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjVisualRgbaWrapper::MjWrapper()
-    : WrapperBase(new raw::MjVisualRgba{}),
-      X(fog),
-      X(haze),
-      X(force),
-      X(inertia),
-      X(joint),
-      X(actuator),
-      X(actuatornegative),
-      X(actuatorpositive),
-      X(com),
-      X(camera),
-      X(light),
-      X(selectpoint),
-      X(connect),
-      X(contactpoint),
-      X(contactforce),
-      X(contactfriction),
-      X(contacttorque),
-      X(contactgap),
-      X(rangefinder),
-      X(constraint),
-      X(slidercrank),
-      X(crankbroken),
-      X(frustum) {}
-
-MjVisualRgbaWrapper::MjWrapper(raw::MjVisualRgba* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(fog),
-      X(haze),
-      X(force),
-      X(inertia),
-      X(joint),
-      X(actuator),
-      X(actuatornegative),
-      X(actuatorpositive),
-      X(com),
-      X(camera),
-      X(light),
-      X(selectpoint),
-      X(connect),
-      X(contactpoint),
-      X(contactforce),
-      X(contactfriction),
-      X(contacttorque),
-      X(contactgap),
-      X(rangefinder),
-      X(constraint),
-      X(slidercrank),
-      X(crankbroken),
-      X(frustum) {}
-#undef X
-
-MjVisualRgbaWrapper::MjWrapper(const MjVisualRgbaWrapper& other)
-    : MjVisualRgbaWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-MjVisualWrapper::MjWrapper()
-    : WrapperBase(new raw::MjVisual{}),
-      headlight(&ptr_->headlight, owner_),
-      rgba(&ptr_->rgba, owner_) {}
-
-MjVisualWrapper::MjWrapper(raw::MjVisual* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      headlight(&ptr_->headlight, owner_),
-      rgba(&ptr_->rgba, owner_) {}
-
-MjVisualWrapper::MjWrapper(const MjVisualWrapper& other) : MjVisualWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJMODEL ================================================
-static void MjModelCapsuleDestructor(PyObject* pyobj) {
-  mj_deleteModel(
-      static_cast<raw::MjModel*>(PyCapsule_GetPointer(pyobj, nullptr)));
-}
-
-static absl::flat_hash_map<raw::MjModel*, MjModelWrapper*>&
-MjModelRawPointerMap() {
-  static auto* hash_map =
-      new absl::flat_hash_map<raw::MjModel*, MjModelWrapper*>();
-  return *hash_map;
-}
-
-static std::mutex& MjModelMapMutex() {
-  static auto* mtx = new std::mutex;
-  return *mtx;
-}
-
-MjModelWrapper* MjModelWrapper::FromRawPointer(raw::MjModel* m) noexcept {
-  try {
-    auto& map = MjModelRawPointerMap();
-    {
-      py::gil_scoped_acquire gil;
-      MutexLockIfGilDisabled lock(MjModelMapMutex());
-      auto found = map.find(m);
-      return found != map.end() ? found->second : nullptr;
-    }
-  } catch (...) {
-    return nullptr;
-  }
-}
-
-#undef MJ_M
-#define MJ_M(x) ptr_->x
-#define X(dtype, var, dim0, dim1) \
-  , var(InitPyArray(X_ARRAY_SHAPE(ptr_->dim0, dim1), ptr_->var, owner_))
-MjModelWrapper::MjWrapper(raw::MjModel* ptr)
-    : WrapperBase(ptr, &MjModelCapsuleDestructor),
-      opt(&ptr->opt, owner_),
-      vis(&ptr->vis, owner_),
-      stat(&ptr->stat, owner_) MJMODEL_POINTERS,
-      text_data_bytes(ptr->text_data, ptr->ntextdata),
-      names_bytes(ptr->names, ptr->nnames),
-      paths_bytes(ptr->paths, ptr->npaths),
-      indexer_(ptr, owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(MjModelMapMutex());
-    is_newly_inserted = MjModelRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjModelWrapper(mjModel*): MjModelRawPointerMap already contains this "
-        "raw mjModel*");
-  }
-}
-
-MjModelWrapper::MjWrapper(MjModelWrapper&& other)
-    : WrapperBase(other.ptr_, other.owner_),
-      opt(&ptr_->opt, owner_),
-      vis(&ptr_->vis, owner_),
-      stat(&ptr_->stat, owner_) MJMODEL_POINTERS,
-      text_data_bytes(ptr_->text_data, ptr_->ntextdata),
-      names_bytes(ptr_->names, ptr_->nnames),
-      paths_bytes(ptr_->paths, ptr_->npaths),
-      indexer_(ptr_, owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(MjModelMapMutex());
-    is_newly_inserted =
-        MjModelRawPointerMap().insert_or_assign(ptr_, this).second;
-  }
-  if (is_newly_inserted) {
-    throw UnexpectedError(
-        "MjModelRawPointerMap does not contains the moved-from mjModel*");
-  }
-  other.ptr_ = nullptr;
-}
-#undef X
-#undef MJ_M
-#define MJ_M(x) x
-
-// Delegating to the MjModelWrapper::MjWrapper(raw::MjModel*) constructor,
-// no need to modify MjModelRawPointerMap here.
-MjModelWrapper::MjWrapper(const MjModelWrapper& other)
-    : MjModelWrapper(InterceptMjErrors(mj_copyModel)(NULL, other.get())) {}
-
-MjModelWrapper::~MjWrapper() {
-  if (ptr_) {
-    bool erased = false;
-    {
-      py::gil_scoped_acquire gil;
-      MutexLockIfGilDisabled lock(MjModelMapMutex());
-      erased = MjModelRawPointerMap().erase(ptr_);
-    }
-    if (!erased) {
-      std::cerr << "MjModelRawPointerMap does not contain this raw mjModel*"
-                << std::endl;
-      std::terminate();
-    }
-  }
-}
-
-// Helper function for both LoadXMLFile and LoadBinaryFile.
-// Creates a temporary MJB from the assets dictionary if one is supplied.
-template <typename LoadFunc>
-static raw::MjModel* LoadModelFileImpl(const std::string& filename,
-                                       const std::vector<VfsAsset>& assets,
-                                       mjVFS* vfs,
-                                       LoadFunc&& loadfunc) {
-  if (!assets.empty() && vfs != nullptr) {
-    throw py::value_error("Cannot specify both 'assets' and 'vfs'.");
-  }
-
-  std::optional<mjVFS> local_vfs;
-  Cleanup vfs_cleanup = [&]() {
-    if (local_vfs.has_value()) {
-      mj_deleteVFS(vfs);
-    };
-  };
-
-  if (!assets.empty()) {
-    vfs = &local_vfs.emplace();
-    mj_defaultVFS(vfs);
-
-    for (const auto& asset : assets) {
-      std::string buffer_name = StripPath(asset.name);
-      const int vfs_error = InterceptMjErrors(mj_addBufferVFS)(
-          vfs, buffer_name.c_str(), asset.content,
-          asset.content_size);
-      if (vfs_error) {
-        if (vfs_error == 2) {
-          throw py::value_error("Repeated file name in assets dict: " +
-                                buffer_name);
-        } else {
-          throw py::value_error("Asset failed to load: " + buffer_name);
-        }
-      }
-    }
-  }
-
-  raw::MjModel* model = loadfunc(filename.c_str(), vfs);
-  if (model && !model->buffer) {
-    mj_deleteModel(model);
-    model = nullptr;
-  }
-
-  return model;
-}
-
-MjModelWrapper MjModelWrapper::LoadXMLFile(
-    const std::string& filename,
-    const std::optional<std::unordered_map<std::string, py::bytes>>& assets,
-    MjVfs* vfs) {
-  if (assets.has_value() && vfs != nullptr) {
-    throw py::value_error("Cannot specify both 'assets' and 'vfs'.");
-  }
-
-  const auto converted_assets = ConvertAssetsDict(assets);
-  raw::MjModel* model;
-  {
-    py::gil_scoped_release no_gil;
-    char error[1024];
-    model = LoadModelFileImpl(
-        filename, converted_assets, vfs ? vfs->get() : nullptr,
-        [&error](const char* filename, const mjVFS* vfs) {
-          return InterceptMjErrors(mj_loadXML)(
-              filename, vfs, error, sizeof(error));
-        });
-    if (!model) {
-      throw py::value_error(error);
-    }
-  }
-  return MjModelWrapper(model);
-}
-
-MjModelWrapper MjModelWrapper::LoadBinaryFile(
-    const std::string& filename,
-    const std::optional<std::unordered_map<std::string, py::bytes>>& assets,
-    MjVfs* vfs) {
-  if (assets.has_value() && vfs != nullptr) {
-    throw py::value_error("Cannot specify both 'assets' and 'vfs'.");
-  }
-
-  const auto converted_assets = ConvertAssetsDict(assets);
-  raw::MjModel* model;
-  {
-    py::gil_scoped_release no_gil;
-    model = LoadModelFileImpl(filename, converted_assets,
-                              vfs ? vfs->get() : nullptr,
-                              InterceptMjErrors(mj_loadModel));
-    if (!model) {
-      throw py::value_error("mj_loadModel: failed to load from mjb");
-    }
-  }
-  return MjModelWrapper(model);
-}
-
-MjModelWrapper MjModelWrapper::LoadXML(
-    const std::string& xml,
-    const std::optional<std::unordered_map<std::string, py::bytes>>& assets,
-    MjVfs* vfs) {
-  if (assets.has_value() && vfs != nullptr) {
-    throw py::value_error("Cannot specify both 'assets' and 'vfs'.");
-  }
-
-  auto converted_assets = ConvertAssetsDict(assets);
-  raw::MjModel* model;
-  {
-    py::gil_scoped_release no_gil;
-    std::string model_identifier = "model_.xml";
-    bool file_added = false;
-    Cleanup file_cleanup = [&]() {
-      if (file_added) {
-        mj_deleteFileVFS(vfs->get(), model_identifier.c_str());
-      }
-    };
-    if (vfs != nullptr) {
-      while (mj_containsBufferVFS(vfs->get(), model_identifier.c_str())) {
-        model_identifier =
-            model_identifier.substr(0, model_identifier.size() - 4) + "_.xml";
-      }
-
-      mj_addBufferVFS(vfs->get(), model_identifier.c_str(), xml.c_str(),
-                      xml.length());
-      file_added = true;
-    } else {
-      while (assets.has_value() &&
-             assets->find(model_identifier) != assets->end()) {
-        model_identifier =
-            model_identifier.substr(0, model_identifier.size() - 4) + "_.xml";
-      }
-      converted_assets.emplace_back(model_identifier.c_str(), xml.c_str(),
-                                    xml.length());
-    }
-    char error[1024];
-    model = LoadModelFileImpl(model_identifier, converted_assets,
-                              vfs ? vfs->get() : nullptr,
-                              [&error](const char* filename, const mjVFS* vfs) {
-                                return InterceptMjErrors(mj_loadXML)(
-                                    filename, vfs, error, sizeof(error));
-                              });
-    if (!model) {
-      throw py::value_error(error);
-    }
-  }
-  return MjModelWrapper(model);
-}
-
-MjModelWrapper MjModelWrapper::WrapRawModel(raw::MjModel* m) {
-  return MjModelWrapper(m);
-}
-
-py::tuple RecompileSpec(raw::MjSpec* spec, const MjModelWrapper& old_m,
-                        const MjDataWrapper& old_d) {
-  raw::MjModel* m = static_cast<raw::MjModel*>(mju_malloc(sizeof(mjModel)));
-  m->buffer = nullptr;
-  raw::MjData* d = mj_copyData(nullptr, old_m.get(), old_d.get());
-
-  bool compile_failed = false;
-
-  {
-    // Release GIL before calling mj_recompile which may spawn threads
-    py::gil_scoped_release no_gil;
-    if (mj_recompile(spec, nullptr, m, d)) {
-      compile_failed = true;
-    }
-  }
-
-  if (compile_failed) {
-    throw py::value_error(mjs_getError(spec));
-  }
-
-  py::object m_pyobj = py::cast((MjModelWrapper(m)));
-  py::object d_pyobj =
-      py::cast((MjDataWrapper(py::cast<MjModelWrapper*>(m_pyobj), d)));
-  return py::make_tuple(m_pyobj, d_pyobj);
-}
-
-namespace {
-// A byte at the start of serialized mjModel structs, which can be incremented
-// when we change the serialization logic to reject pickles from an unsupported
-// future version.
-constexpr static char kSerializationVersion = 1;
-
-void CheckInput(const std::istream& input, std::string class_name) {
-  if (input.fail()) {
-    throw py::value_error("Invalid serialized " + class_name + ".");
-  }
-}
-
-}  // namespace
-
-void MjModelWrapper::Serialize(std::ostream& output) const {
-  WriteChar(output, kSerializationVersion);
-
-  int model_size = mj_sizeModel(get());
-  WriteInt(output, model_size);
-  std::string buffer(model_size, 0);
-  mj_saveModel(get(), nullptr, buffer.data(), model_size);
-  WriteBytes(output, buffer.data(), model_size);
-}
-
-std::unique_ptr<MjModelWrapper> MjModelWrapper::Deserialize(
-    std::istream& input) {
-  CheckInput(input, "mjModel");
-
-  char serializationVersion = ReadChar(input);
-  CheckInput(input, "mjModel");
-
-  if (serializationVersion != kSerializationVersion) {
-    throw py::value_error("Incompatible serialization version.");
-  }
-
-  std::size_t model_size = ReadInt(input);
-  CheckInput(input, "mjModel");
-  if (model_size < 0) {
-    throw py::value_error("Invalid serialized mjModel.");
-  }
-  std::string model_bytes(model_size, 0);
-  ReadBytes(input, model_bytes.data(), model_size);
-  CheckInput(input, "mjModel");
-
-  raw::MjModel* model = LoadModelFileImpl(
-      "model.mjb",
-      {{"model.mjb", model_bytes.data(), static_cast<std::size_t>(model_size)}},
-      nullptr,
-      InterceptMjErrors(mj_loadModel));
-  if (!model) {
-    throw py::value_error("Invalid serialized mjModel.");
-  }
-  return std::unique_ptr<MjModelWrapper>(new MjModelWrapper(model));
-}
-
-// ==================== MJPRECONTACT ==========================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjPreContactWrapper::MjWrapper()
-    : WrapperBase(new raw::MjPreContact{}),
-      X(pos),
-      X(normal),
-      X(tangent) {}
-
-MjPreContactWrapper::MjWrapper(raw::MjPreContact* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(pos),
-      X(normal),
-      X(tangent) {}
-#undef X
-
-MjPreContactWrapper::MjWrapper(const MjPreContactWrapper& other)
-    : MjPreContactWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJCONTACT ==============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjContactWrapper::MjWrapper()
-    : WrapperBase(new raw::MjContact{}),
-      X(pos),
-      X(frame),
-      X(friction),
-      X(solref),
-      X(solreffriction),
-      X(solimp),
-      X(H),
-      X(geom),
-      X(flex),
-      X(elem),
-      X(vert) {}
-
-MjContactWrapper::MjWrapper(raw::MjContact* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(pos),
-      X(frame),
-      X(friction),
-      X(solref),
-      X(solreffriction),
-      X(solimp),
-      X(H),
-      X(geom),
-      X(flex),
-      X(elem),
-      X(vert) {}
-#undef X
-
-MjContactWrapper::MjWrapper(const MjContactWrapper& other)
-    : MjContactWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-MjContactList::MjStructList(raw::MjContact* ptr, int nconmax, int* ncon,
-                            py::handle owner)
-    : StructListBase(ptr, nconmax, owner, /* lazy = */ true), ncon_(ncon) {}
-
-// Slicing
-MjContactList::MjStructList(MjContactList& other, py::slice slice)
-    : StructListBase(other, slice), ncon_(other.ncon_) {}
-
-// ==================== MJDATA =================================================
-static void MjDataCapsuleDestructor(PyObject* pyobj) {
-  mj_deleteData(
-      static_cast<raw::MjData*>(PyCapsule_GetPointer(pyobj, nullptr)));
-}
-
-absl::flat_hash_map<raw::MjData*, MjDataWrapper*>& MjDataRawPointerMap() {
-  static auto* hash_map =
-      new absl::flat_hash_map<raw::MjData*, MjDataWrapper*>();
-  return *hash_map;
-}
-
-static std::mutex& MjDataMapMutex() {
-  static auto* mtx = new std::mutex;
-  return *mtx;
-}
-
-MjDataWrapper* MjDataWrapper::FromRawPointer(raw::MjData* m) noexcept {
-  try {
-    auto& map = MjDataRawPointerMap();
-    {
-      py::gil_scoped_acquire gil;
-      MutexLockIfGilDisabled lock(MjDataMapMutex());
-      auto found = map.find(m);
-      return found != map.end() ? found->second : nullptr;
-    }
-  } catch (...) {
-    return nullptr;
-  }
-}
-
-namespace {
-// default timer callback (seconds)
-mjtNum GetTime() {
-  using Clock = std::chrono::steady_clock;
-  using Seconds = std::chrono::duration<mjtNum>;
-  static const Clock::time_point tm_start = Clock::now();
-  return Seconds(Clock::now() - tm_start).count();
-}
-}  // namespace
-
-MjDataWrapper::MjWrapper(MjModelWrapper* model)
-    : WrapperBase(InterceptMjErrors(mj_makeData)(model->get()),
-                  &MjDataCapsuleDestructor),
-#undef MJ_M
-#define MJ_M(x) model->get()->x
-#define X(dtype, var, dim0, dim1) \
-  var(InitPyArray(X_ARRAY_SHAPE(model->get()->dim0, dim1), ptr_->var, owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(model),
-      model_ref_(py::cast(model_)),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(MjDataMapMutex());
-    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap already contains this raw mjData*");
-  }
-
-  // install default timer if not already installed
-  {
-    MutexLockIfGilDisabled lock(GetCallbackMutex());
-    if (!mjcb_time) {
-      mjcb_time = GetTime;
-    }
-  }
-}
-
-MjDataWrapper::MjWrapper(const MjDataWrapper& other)
-    : WrapperBase(other.Copy(), &MjDataCapsuleDestructor),
-#undef MJ_M
-#define MJ_M(x) other.model_->get()->x
-#define X(dtype, var, dim0, dim1)                                            \
-  var(InitPyArray(X_ARRAY_SHAPE(other.model_->get()->dim0, dim1), ptr_->var, \
-                  owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(other.model_),
-      model_ref_(other.model_ref_),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap already contains this raw mjData*");
-  }
-}
-
-MjDataWrapper::MjWrapper(MjDataWrapper&& other)
-    : WrapperBase(other.ptr_, other.owner_),
-#undef MJ_M
-#define MJ_M(x) other.model_->get()->x
-#define X(dtype, var, dim0, dim1)                                            \
-  var(InitPyArray(X_ARRAY_SHAPE(other.model_->get()->dim0, dim1), ptr_->var, \
-                  owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(other.model_),
-      model_ref_(std::move(other.model_ref_)),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(MjDataMapMutex());
-    is_newly_inserted =
-        MjDataRawPointerMap().insert_or_assign(ptr_, this).second;
-  }
-  if (is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap does not contains the moved-from mjData*");
-  }
-  other.ptr_ = nullptr;
-}
-
-MjDataWrapper::MjWrapper(const MjDataWrapper& other, MjModelWrapper* model)
-    : WrapperBase(other.Copy(), &MjDataCapsuleDestructor),
-#undef MJ_M
-#define MJ_M(x) other.model_->get()->x
-#define X(dtype, var, dim0, dim1)                                            \
-  var(InitPyArray(X_ARRAY_SHAPE(other.model_->get()->dim0, dim1), ptr_->var, \
-                  owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(model),
-      model_ref_(py::cast(model_)),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(MjDataMapMutex());
-    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap already contains this raw mjData*");
-  }
-}
-
-MjDataWrapper::MjWrapper(MjModelWrapper* model, raw::MjData* d)
-    : WrapperBase(d, &MjDataCapsuleDestructor),
-#undef MJ_M
-#define MJ_M(x) model->get()->x
-#define X(dtype, var, dim0, dim1) \
-  var(InitPyArray(X_ARRAY_SHAPE(model->get()->dim0, dim1), ptr_->var, owner_)),
-      MJDATA_POINTERS
-#undef MJ_M
-#define MJ_M(x) (x)
-#undef X
-
-      contact(MjContactList(ptr_->contact, NConMax(ptr_), &ptr_->ncon, owner_)),
-
-#define X(dtype, var, dim0, dim1) var(InitPyArray(ptr_->var, owner_)),
-      MJDATA_VECTOR
-#undef X
-      model_(model),
-      model_ref_(py::cast(model_)),
-      indexer_(ptr_, model_->get(), owner_) {
-  bool is_newly_inserted = false;
-  {
-    py::gil_scoped_acquire gil;
-    MutexLockIfGilDisabled lock(MjDataMapMutex());
-    is_newly_inserted = MjDataRawPointerMap().insert({ptr_, this}).second;
-  }
-  if (!is_newly_inserted) {
-    throw UnexpectedError(
-        "MjDataRawPointerMap already contains this raw mjData*");
-  }
-}
-
-MjDataWrapper::~MjWrapper() {
-  if (ptr_) {
-    bool erased = false;
-    {
-      py::gil_scoped_acquire gil;
-      MutexLockIfGilDisabled lock(MjDataMapMutex());
-      erased = MjDataRawPointerMap().erase(ptr_);
-    }
-    if (!erased) {
-      std::cerr << "MjDataRawPointerMap does not contain this raw mjData*"
-                << std::endl;
-      std::terminate();
-    }
-  }
-}
-
-void MjDataWrapper::Serialize(std::ostream& output) const {
-  // TODO: Replace this custom serialization with a protobuf
-  WriteChar(output, kSerializationVersion);
-
-  model_->Serialize(output);
-
-  // Write struct and scalar fields
-#define X(var) WriteBytes(output, &ptr_->var, sizeof(ptr_->var))
-  X(maxuse_stack);
-  X(maxuse_arena);
-  X(maxuse_con);
-  X(maxuse_efc);
-  X(solver);
-  X(timer);
-  X(warning);
-  X(ncon);
-  X(ne);
-  X(nf);
-  X(nJ);
-  X(nY);
-  X(nA);
-  X(nefc);
-  X(nisland);
-  X(nidof);
-  X(time);
-  X(energy);
-#undef X
-
-  // Write buffer and arena contents
-  {
-
-#define X(type, name, nr, nc)    \
-  WriteBytes(output, ptr_->name, \
-             sizeof(type) * (this->model_->get()->nr) * (nc));
-    MJDATA_POINTERS
-#undef X
-
-#undef MJ_M
-#define MJ_M(x) this->model_->get()->x
-#undef MJ_D
-#define MJ_D(x) this->ptr_->x
-#define X(type, name, nr, nc)                                \
-  if ((nr) * (nc)) {                                         \
-    WriteBytes(output, ptr_->name,                           \
-               ptr_->name ? sizeof(type) * (nr) * (nc) : 0); \
-  }
-
-    MJDATA_ARENA_POINTERS_CONTACT
-    MJDATA_ARENA_POINTERS_SOLVER
-    if (mj_isDual(this->model_->get())) {
-      MJDATA_ARENA_POINTERS_DUAL
-    }
-    if (this->ptr_->nisland) {
-      MJDATA_ARENA_POINTERS_ISLAND
-    }
-#undef MJ_M
-#define MJ_M(x) x
-#undef MJ_D
-#define MJ_D(x) x
-#undef X
-  }
-}
-
-MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
-  char serializationVersion = ReadChar(input);
-  CheckInput(input, "mjData");
-
-  if (serializationVersion != kSerializationVersion) {
-    throw py::value_error("Incompatible serialization version.");
-  }
-
-  // Read the model that was used to create the mjData.
-  std::unique_ptr<MjModelWrapper> m_wrapper =
-      MjModelWrapper::Deserialize(input);
-  raw::MjModel& m = *m_wrapper->get();
-
-  bool is_dual = mj_isDual(&m);
-
-  raw::MjData* d = mj_makeData(&m);
-  if (!d) {
-    throw py::value_error("Failed to create mjData.");
-  }
-
-  // Read structs and scalar fields
-#define X(var)                                      \
-  ReadBytes(input, (void*)&d->var, sizeof(d->var)); \
-  CheckInput(input, "mjData");
-
-  X(maxuse_stack);
-  X(maxuse_arena);
-  X(maxuse_con);
-  X(maxuse_efc);
-  X(solver);
-  X(timer);
-  X(warning);
-  X(ncon);
-  X(ne);
-  X(nf);
-  X(nJ);
-  X(nY);
-  X(nA);
-  X(nefc);
-  X(nisland);
-  X(nidof);
-  X(time);
-  X(energy);
-#undef X
-
-  // Read buffer and arena contents
-  {
-
-#define X(type, name, nr, nc) \
-  ReadBytes(input, d->name, sizeof(type) * (m.nr) * (nc));
-    MJDATA_POINTERS
-#undef X
-
-#undef MJ_M
-#define MJ_M(x) m.x
-#undef MJ_D
-#define MJ_D(x) d->x
-// arena pointers might be null, so we need to check the size before allocating.
-#define X(type, name, nr, nc)                                                 \
-  if ((nr) * (nc)) {                                                          \
-    std::size_t actual_nbytes = ReadInt(input);                               \
-    if (actual_nbytes) {                                                      \
-      if (actual_nbytes != sizeof(type) * (nr) * (nc)) {                      \
-        input.setstate(input.rdstate() | std::ios_base::failbit);             \
-      } else {                                                                \
-        d->name = static_cast<decltype(d->name)>(                             \
-            mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), alignof(type))); \
-        input.read(reinterpret_cast<char*>(d->name), actual_nbytes);          \
-      }                                                                       \
-    } else {                                                                  \
-      d->name = nullptr;                                                      \
-    }                                                                         \
-  }
-
-    MJDATA_ARENA_POINTERS_CONTACT
-    MJDATA_ARENA_POINTERS_SOLVER
-    if (is_dual) {
-      MJDATA_ARENA_POINTERS_DUAL
-    }
-    if (d->nisland) {
-      MJDATA_ARENA_POINTERS_ISLAND
-    }
-#undef MJ_M
-#define MJ_M(x) x
-#undef MJ_D
-#define MJ_D(x) x
-#undef X
-  }
-  CheckInput(input, "mjData");
-
-  // All bytes should have been used.
-  input.ignore(1);
-  if (!input.eof()) {
-    throw py::value_error("Invalid serialized mjData.");
-  }
-
-  return MjDataWrapper(m_wrapper.release(), d);
-}
-
-raw::MjData* MjDataWrapper::Copy() const {
-  const raw::MjModel* m = model_->get();
-  return InterceptMjErrors(mj_copyData)(NULL, m, this->ptr_);
-}
-
-// ==================== MJSTATISTIC ============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjStatisticWrapper::MjWrapper()
-    : WrapperBase(new raw::MjStatistic{}), X(center) {}
-
-MjStatisticWrapper::MjWrapper(raw::MjStatistic* ptr, py::handle owner)
-    : WrapperBase(ptr, owner), X(center) {}
-#undef X
-
-MjStatisticWrapper::MjWrapper(const MjStatisticWrapper& other)
-    : MjStatisticWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJWARNINGSTAT ==========================================
-MjWarningStatWrapper::MjWrapper() : WrapperBase(new raw::MjWarningStat{}) {}
-
-MjWarningStatWrapper::MjWrapper(raw::MjWarningStat* ptr, py::handle owner)
-    : WrapperBase(ptr, owner) {}
-
-MjWarningStatWrapper::MjWrapper(const MjWarningStatWrapper& other)
-    : MjWarningStatWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-#define X(type, var)                                                       \
-  var(std::vector<int>{num}, std::vector<int>{sizeof(raw::MjWarningStat)}, \
-      &ptr->var, owner)
-MjWarningStatList::MjStructList(raw::MjWarningStat* ptr, int num,
-                                py::handle owner)
-    : StructListBase(ptr, num, owner), X(int, lastinfo), X(int, number) {}
-#undef X
-
-// Slicing
-#define X(type, var) var(other.var[slice])
-MjWarningStatList::MjStructList(MjWarningStatList& other, py::slice slice)
-    : StructListBase(other, slice), X(int, lastinfo), X(int, number) {}
-#undef X
-
-// ==================== MJLOGCONFIG ============================================
-MjLogConfigWrapper::MjWrapper() : WrapperBase(new raw::MjLogConfig{}) {}
-
-MjLogConfigWrapper::MjWrapper(raw::MjLogConfig* ptr, py::handle owner)
-    : WrapperBase(ptr, owner) {}
-
-MjLogConfigWrapper::MjWrapper(const MjLogConfigWrapper& other)
-    : MjLogConfigWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJLOGMESSAGE ===========================================
-MjLogMessageWrapper::MjWrapper() : WrapperBase(new raw::MjLogMessage{}) {}
-
-MjLogMessageWrapper::MjWrapper(raw::MjLogMessage* ptr, py::handle owner)
-    : WrapperBase(ptr, owner) {}
-
-MjLogMessageWrapper::MjWrapper(const MjLogMessageWrapper& other)
-    : MjLogMessageWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJTIMERSTAT ============================================
-MjTimerStatWrapper::MjWrapper() : WrapperBase(new raw::MjTimerStat{}) {}
-
-MjTimerStatWrapper::MjWrapper(raw::MjTimerStat* ptr, py::handle owner)
-    : WrapperBase(ptr, owner) {}
-
-MjTimerStatWrapper::MjWrapper(const MjTimerStatWrapper& other)
-    : MjTimerStatWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-#define X(type, var)                                                     \
-  var(std::vector<int>{num}, std::vector<int>{sizeof(raw::MjTimerStat)}, \
-      &ptr->var, owner)
-MjTimerStatList::MjStructList(raw::MjTimerStat* ptr, int num, py::handle owner)
-    : StructListBase(ptr, num, owner), X(mjtNum, duration), X(int, number) {}
-#undef X
-
-// Slicing
-#define X(type, var) var(other.var[slice])
-MjTimerStatList::MjStructList(MjTimerStatList& other, py::slice slice)
-    : StructListBase(other, slice), X(mjtNum, duration), X(int, number) {}
-#undef X
-
-// ==================== MJSOLVERSTAT ===========================================
-MjSolverStatWrapper::MjWrapper() : WrapperBase(new raw::MjSolverStat{}) {}
-
-MjSolverStatWrapper::MjWrapper(raw::MjSolverStat* ptr, py::handle owner)
-    : WrapperBase(ptr, owner) {}
-
-MjSolverStatWrapper::MjWrapper(const MjSolverStatWrapper& other)
-    : MjSolverStatWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-#define X(type, var)                                                      \
-  var(std::vector<int>{num}, std::vector<int>{sizeof(raw::MjSolverStat)}, \
-      &ptr->var, owner)
-MjSolverStatList::MjStructList(raw::MjSolverStat* ptr, int num,
-                               py::handle owner)
-    : StructListBase(ptr, num, owner),
-      X(mjtNum, improvement),
-      X(mjtNum, gradient),
-      X(mjtNum, lineslope),
-      X(int, nactive),
-      X(int, nchange),
-      X(int, neval),
-      X(int, nupdate) {}
-#undef X
-#undef XN
-
-// Slicing
-#define X(type, var) var(other.var[slice])
-MjSolverStatList::MjStructList(MjSolverStatList& other, py::slice slice)
-    : StructListBase(other, slice),
-      X(mjtNum, improvement),
-      X(mjtNum, gradient),
-      X(mjtNum, lineslope),
-      X(int, nactive),
-      X(int, nchange),
-      X(int, neval),
-      X(int, nupdate) {}
-#undef X
-
-// ==================== MJVPERTURB =============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvPerturbWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjvPerturb* const pert = new raw::MjvPerturb;
-        mjv_defaultPerturb(pert);
-        return pert;
-      }()),
-      X(refpos),
-      X(refquat),
-      X(refselpos),
-      X(localpos) {}
-#undef X
-
-MjvPerturbWrapper::MjWrapper(const MjvPerturbWrapper& other)
-    : MjvPerturbWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVCAMERA ==============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvCameraWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjvCamera* const cam = new raw::MjvCamera;
-        mjv_defaultCamera(cam);
-        return cam;
-      }()),
-      X(lookat) {}
-#undef X
-
-MjvCameraWrapper::MjWrapper(const MjvCameraWrapper& other)
-    : MjvCameraWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVGLCAMERA ============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvGLCameraWrapper::MjWrapper()
-    : WrapperBase(new raw::MjvGLCamera{}), X(pos), X(forward), X(up) {}
-
-MjvGLCameraWrapper::MjWrapper(raw::MjvGLCamera* ptr, py::handle owner)
-    : WrapperBase(ptr, owner), X(pos), X(forward), X(up) {}
-#undef X
-
-MjvGLCameraWrapper::MjWrapper(raw::MjvGLCamera&& other) : MjvGLCameraWrapper() {
-  *this->ptr_ = other;
-}
-
-MjvGLCameraWrapper::MjWrapper(const MjvGLCameraWrapper& other)
-    : MjvGLCameraWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVGEOM ================================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvGeomWrapper::MjWrapper()
-    : WrapperBase(new raw::MjvGeom{}),
-      X(size),
-      X(pos),
-      mat([this]() {
-        static_assert(sizeof(ptr_->mat) == sizeof(ptr_->mat[0]) * 9);
-        return InitPyArray(std::array{3, 3}, ptr_->mat, owner_);
-      }()),
-      X(rgba),
-      X(texrepeat) {
-  mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
-}
-
-MjvGeomWrapper::MjWrapper(raw::MjvGeom* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(size),
-      X(pos),
-      mat([this]() {
-        static_assert(sizeof(ptr_->mat) == sizeof(ptr_->mat[0]) * 9);
-        return InitPyArray(std::array{3, 3}, ptr_->mat, owner_);
-      }()),
-      X(rgba),
-      X(texrepeat) {}
-#undef X
-
-MjvGeomWrapper::MjWrapper(const MjvGeomWrapper& other) : MjvGeomWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVLIGHT ===============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvLightWrapper::MjWrapper()
-    : WrapperBase(new raw::MjvLight{}),
-      X(pos),
-      X(dir),
-      X(attenuation),
-      X(ambient),
-      X(diffuse),
-      X(specular) {}
-
-MjvLightWrapper::MjWrapper(raw::MjvLight* ptr, py::handle owner)
-    : WrapperBase(ptr, owner),
-      X(pos),
-      X(dir),
-      X(attenuation),
-      X(ambient),
-      X(diffuse),
-      X(specular) {}
-#undef X
-
-MjvLightWrapper::MjWrapper(const MjvLightWrapper& other) : MjvLightWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVOPTION ==============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvOptionWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjvOption* const opt = new raw::MjvOption;
-        mjv_defaultOption(opt);
-        return opt;
-      }()),
-      X(geomgroup),
-      X(sitegroup),
-      X(jointgroup),
-      X(tendongroup),
-      X(actuatorgroup),
-      X(flexgroup),
-      X(skingroup),
-      X(flags) {}
-#undef X
-
-MjvOptionWrapper::MjWrapper(const MjvOptionWrapper& other)
-    : MjvOptionWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-// ==================== MJVSCENE ===============================================
-static void MjvSceneCapsuleDestructor(PyObject* pyobj) {
-  py::gil_scoped_acquire gil;
-  auto* scn = static_cast<raw::MjvScene*>(PyCapsule_GetPointer(pyobj, nullptr));
-  if (scn) {
-    mjv_freeScene(scn);
-    delete scn;
-  }
-}
-
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-#define XN(var, n) var(InitPyArray(std::array{n}, ptr_->var, owner_))
-MjvSceneWrapper::MjWrapper()
-    : WrapperBase(
-          []() {
-            raw::MjvScene* const scn = new raw::MjvScene;
-            mjv_defaultScene(scn);
-            InterceptMjErrors(mjv_makeScene)(nullptr, scn, 0);
-            return scn;
-          }(),
-          &MjvSceneCapsuleDestructor),
-      nskinvert(0),
-      XN(geoms, 0),
-      XN(geomorder, 0),
-      XN(flexedgeadr, 0),
-      XN(flexedgenum, 0),
-      XN(flexvertadr, 0),
-      XN(flexvertnum, 0),
-      XN(flexfaceadr, 0),
-      XN(flexfacenum, 0),
-      XN(flexfaceused, 0),
-      XN(flexedge, 0),
-      XN(flexvert, 0),
-      XN(flexface, 0),
-      XN(flexnormal, 0),
-      XN(flextexcoord, 0),
-      XN(skinfacenum, 0),
-      XN(skinvertadr, 0),
-      XN(skinvertnum, 0),
-      XN(skinvert, 0),
-      XN(skinnormal, 0),
-      X(lights),
-      X(camera),
-      X(translate),
-      X(rotate),
-      X(flags),
-      X(framergb) {}
-
-#define XN(var, n) var(InitPyArray(std::array{n}, ptr_->var, owner_))
-MjvSceneWrapper::MjWrapper(const MjModelWrapper& model, int maxgeom)
-    : WrapperBase(
-          [maxgeom](const raw::MjModel* m) {
-            raw::MjvScene* const scn = new raw::MjvScene;
-            mjv_defaultScene(scn);
-            InterceptMjErrors(mjv_makeScene)(m, scn, maxgeom);
-            return scn;
-          }(model.get()),
-          &MjvSceneCapsuleDestructor),
-      nskinvert([](const raw::MjModel* m) {
-        int nskinvert = 0;
-        for (int i = 0; i < m->nskin; ++i) {
-          nskinvert += m->skin_vertnum[i];
-        }
-        return nskinvert;
-      }(model.get())),
-      nflexface([](const raw::MjModel* m) {
-        int nflexface = 0;
-        int flexfacenum = 0;
-        for (int f = 0; f < m->nflex; f++) {
-          if (m->flex_dim[f] == 0) {
-            // 1D : 0
-            flexfacenum = 0;
-          } else if (m->flex_dim[f] == 2) {
-            // 2D: 2*fragments + 2*elements
-            flexfacenum = 2 * m->flex_shellnum[f] + 2 * m->flex_elemnum[f];
-          } else {
-            // 3D: max(fragments, 4*maxlayer)
-            // find number of elements in biggest layer
-            int maxlayer = 0, layer = 0, nlayer = 1;
-            while (nlayer) {
-              nlayer = 0;
-              for (int e = 0; e < m->flex_elemnum[f]; e++) {
-                if (m->flex_elemlayer[m->flex_elemadr[f] + e] == layer) {
-                  nlayer++;
-                }
-              }
-              maxlayer = mjMAX(maxlayer, nlayer);
-              layer++;
-            }
-            flexfacenum = mjMAX(m->flex_shellnum[f], 4 * maxlayer);
-          }
-
-          // accumulate over flexes
-          nflexface += flexfacenum;
-        }
-        return nflexface;
-      }(model.get())),
-      nflexedge(model.get()->nflexedge),
-      nflexvert(model.get()->nflexvert),
-      XN(geoms, ptr_->maxgeom),
-      XN(geomorder, ptr_->maxgeom),
-      XN(flexedgeadr, ptr_->nflex),
-      XN(flexedgenum, ptr_->nflex),
-      XN(flexvertadr, ptr_->nflex),
-      XN(flexvertnum, ptr_->nflex),
-      XN(flexfaceadr, ptr_->nflex),
-      XN(flexfacenum, ptr_->nflex),
-      XN(flexfaceused, ptr_->nflex),
-      XN(flexedge, 2 * nflexedge),
-      XN(flexvert, 3 * nflexvert),
-      XN(flexface, 9 * nflexface),
-      XN(flexnormal, 9 * nflexface),
-      XN(flextexcoord, 6 * nflexface),
-      XN(skinfacenum, ptr_->nskin),
-      XN(skinvertadr, ptr_->nskin),
-      XN(skinvertnum, ptr_->nskin),
-      XN(skinvert, 3 * nskinvert),
-      XN(skinnormal, 3 * nskinvert),
-      X(lights),
-      X(camera),
-      X(translate),
-      X(rotate),
-      X(flags),
-      X(framergb) {}
-#undef X
-#undef XN
-
-template <typename T>
-static T* MallocAndCopy(const T* src, int count) {
-  if (src) {
-    T* out = static_cast<T*>(mju_malloc(count * sizeof(T)));
-    std::memcpy(out, src, count * sizeof(T));
-    return out;
-  } else {
-    return nullptr;
-  }
-}
-
-MjvSceneWrapper::MjWrapper(const MjvSceneWrapper& other) : MjvSceneWrapper() {
-  mjv_freeScene(ptr_);
-  *ptr_ = *other.ptr_;
-
-#define XN(var, n)                               \
-  ptr_->var = MallocAndCopy(other.ptr_->var, n); \
-  var = InitPyArray(std::array{n}, ptr_->var, owner_);
-
-  XN(geoms, ptr_->ngeom);
-  XN(geomorder, ptr_->ngeom);
-  XN(flexedgeadr, ptr_->nflex);
-  XN(flexedgenum, ptr_->nflex);
-  XN(flexvertadr, ptr_->nflex);
-  XN(flexvertnum, ptr_->nflex);
-  XN(flexfaceadr, ptr_->nflex);
-  XN(flexfacenum, ptr_->nflex);
-  XN(flexfaceused, ptr_->nflex);
-  XN(flexedge, 2 * nflexedge);
-  XN(flexvert, 3 * nflexvert);
-  XN(flexface, 9 * nflexface);
-  XN(flexnormal, 9 * nflexface);
-  XN(flextexcoord, 6 * nflexface);
-  XN(skinfacenum, ptr_->nskin);
-  XN(skinvertadr, ptr_->nskin);
-  XN(skinvertnum, ptr_->nskin);
-  XN(skinvert, 3 * nskinvert);
-  XN(skinnormal, 3 * nskinvert);
-
-#undef XN
-}
-
-// ==================== MJVFIGURE ==============================================
-#define X(var) var(InitPyArray(ptr_->var, owner_))
-MjvFigureWrapper::MjWrapper()
-    : WrapperBase([]() {
-        raw::MjvFigure* const fig = new raw::MjvFigure;
-        mjv_defaultFigure(fig);
-        return fig;
-      }()),
-      X(flg_ticklabel),
-      X(gridsize),
-      X(gridrgb),
-      X(figurergba),
-      X(panergba),
-      X(legendrgba),
-      X(textrgb),
-      X(linergb),
-      X(range),
-      X(highlight),
-      X(linepnt),
-      X(linedata),
-      X(xaxispixel),
-      X(yaxispixel),
-      X(xaxisdata),
-      X(yaxisdata),
-#undef X
-
-      linename([](raw::MjvFigure* ptr, py::handle owner) {
-// Use a macro to help us static_assert that the array extents here are kept
-// in sync with mjVisualize.h.
-#define MAKE_STR_ARRAY(N1, N2)                                           \
-  static_assert(                                                         \
-      std::is_same_v<decltype(raw::MjvFigure::linename), char[N1][N2]>); \
-  return py::array(py::dtype("|S" #N2), N1, ptr->linename, owner);
-        MAKE_STR_ARRAY(mjMAXLINE, 100);
-
-#undef MAKE_STR_ARRAY
-      }(ptr_, owner_)) {
-}
-
-MjvFigureWrapper::MjWrapper(const MjvFigureWrapper& other)
-    : MjvFigureWrapper() {
-  *this->ptr_ = *other.ptr_;
-}
-
-}  // namespace mujoco::python::_impl
diff --git a/python/mujoco/sysid/README.md b/python/mujoco/sysid/README.md
deleted file mode 100644
index da0630d9..00000000
--- a/python/mujoco/sysid/README.md
+++ /dev/null
@@ -1,77 +0,0 @@
-# 系统辨识工具箱（System Identification Toolbox）
-
-[![Open In Colab](https://colab.research.google.com/assets/colab-badge.png)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mujoco/sysid/sysid.ipynb)
-
-给定 MuJoCo 模型和采集到的传感器数据，寻找能够使仿真结果与真实物理系统相吻合的模型参数。默认情况下，该库使用带有边界约束（box constraints）的非线性最小二乘法来最小化测量输出与仿真（预测）输出之间的差异。残差可以通过静态或待优化的参数（例如权重和时间延迟）进行调整。
-
-优化器采用基于有限差分雅可比矩阵的高斯-牛顿法（Gauss-Newton）。每次参数摄动都需要一次独立的仿真 rollout（推演）。所有 rollout 均在对 `mujoco.rollout` 的单次批处理调用中跨多线程并行执行。
-
-## 工作流程（Pipeline）
-
-**用户提供：**
-- 一个或多个 `ModelSequences`，每个序列将单个 `MjSpec` 与一个或多个测量数据序列打包在一起。所有序列将被联合优化。
-- 一个 `ParameterDict`，用于定义带有上下界的可微参数 `Parameter`。
-- 用于将 `Parameter` 应用到 `MjSpec` 上的回调函数（可单独或联合应用）。
-- （可选）用于覆盖默认残差函数行为的自定义函数（`build_model`、`custom_rollout`、`modify_residual`）。
-
-**框架执行：**
-- 将用户代码组合为残差函数（`build_residual_fn`）。
-- 通过批量并行 rollout 优化参数（`optimize`）。
-- 保存结果并生成交互式 HTML 报告（`save_results`、`default_report`）。
-
-## 可以辨识哪些参数？
-
-您可以优化任何能够以可微方式修改最终残差的参数。常见用例包括：
-
-在 `MjSpec` 上可设置的**物理参数**。MjSpec 中的大多数参数可以通过用户提供的回调函数直接轻松设置：
-
-| 辨识目标 | 对应方法 |
-|---|---|
-| 接触滑动摩擦力 | `spec.pair("cp").friction[0] = p.value[0]` |
-| 关节阻尼 | `spec.joint("j1").damping = p.value[0]` |
-
-对于无法直接简单应用到 MjSpec 的常见系统辨识参数化方式，该库提供了便捷函数：
-
-| 辨识目标 | 对应方法 |
-|---|---|
-| 刚体质量 | `body_inertia_param(..., InertiaType.Mass)` |
-| 刚体质量 + 质心位置 | `body_inertia_param(..., InertiaType.MassIpos)` |
-| 完整惯量（10 维） | `body_inertia_param(..., InertiaType.Pseudo)` |
-| 执行器 P/D 增益 | `apply_pdgain(spec, "act1", p.value)` |
-
-完整惯量采用伪惯量 Cholesky 参数化（Pseudo-inertia Cholesky Parameterization，[Rucker & Wensing 2022](https://ieeexplore.ieee.org/document/9690029)），保证物理一致性且不存在奇异点。
-
-诸如传感器延迟、增益和偏差等**测量参数**属于测量系统的属性，而非物理模型本身的属性。该库提供了在 rollout 之后将这些校正应用于残差的实用工具。这些功能已完备，但其 API 尚未最终定型。
-
-## 示例
-
-```python
-import mujoco
-from mujoco import sysid
-
-# 1. 加载模型并定义待辨识参数。
-spec = mujoco.MjSpec.from_file("robot.xml")
-model = spec.compile()
-
-def set_link1_mass(spec, p):
-    spec.body("link1").mass = p.value[0]
-
-params = sysid.ParameterDict()
-params.add(sysid.Parameter(
-    "link1_mass", nominal=2.0, min_value=0.5, max_value=5.0,
-    modifier=set_link1_mass))
-
-# 2. 加载并封装实测数据。
-# 数组默认采用 MuJoCo 顺序，否则请传入 names 参数
-control = sysid.TimeSeries.from_control_names(times, ctrl_array, model)
-measureddata = sysid.TimeSeries.from_names(times, measurement_array, model)
-initial_state = sysid.create_initial_state(model, qpos_0, qvel_0)
-ms = sysid.ModelSequences("robot", spec, "traj_1", initial_state, control, measureddata)
-
-# 3. 构建残差函数、执行优化并保存结果。
-residual_fn = sysid.build_residual_fn(models_sequences=[ms])
-opt_params, opt_result = sysid.optimize(initial_params=params, residual_fn=residual_fn)
-sysid.save_results("results/", [ms], params, opt_params, opt_result, residual_fn)
-```
-
-`default_report` 可生成包含视频、测量对比图、参数表格以及置信区间的交互式 HTML 报告。
diff --git a/python/mujoco/sysid/__init__.py b/python/mujoco/sysid/__init__.py
deleted file mode 100644
index 93b8f8ea..00000000
--- a/python/mujoco/sysid/__init__.py
+++ /dev/null
@@ -1,57 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""System identification toolbox."""
-
-from mujoco.sysid._src import model_modifier as model_modifier
-from mujoco.sysid._src import parameter as parameter
-from mujoco.sysid._src import signal_modifier as signal_modifier
-from mujoco.sysid._src.io import save_results as save_results
-from mujoco.sysid._src.model_modifier import apply_body_inertia as apply_body_inertia
-from mujoco.sysid._src.model_modifier import apply_dgain as apply_dgain
-from mujoco.sysid._src.model_modifier import apply_param_modifiers as apply_param_modifiers
-from mujoco.sysid._src.model_modifier import apply_param_modifiers_spec as apply_param_modifiers_spec
-from mujoco.sysid._src.model_modifier import apply_pdgain as apply_pdgain
-from mujoco.sysid._src.model_modifier import apply_pgain as apply_pgain
-from mujoco.sysid._src.model_modifier import body_inertia_param as body_inertia_param
-from mujoco.sysid._src.model_modifier import remove_visuals as remove_visuals
-from mujoco.sysid._src.optimize import calculate_intervals as calculate_intervals
-from mujoco.sysid._src.optimize import optimize as optimize
-from mujoco.sysid._src.parameter import InertiaType as InertiaType
-from mujoco.sysid._src.parameter import Parameter as Parameter
-from mujoco.sysid._src.parameter import ParameterDict as ParameterDict
-from mujoco.sysid._src.plotting import render_rollout as render_rollout
-from mujoco.sysid._src.residual import build_residual_fn as build_residual_fn
-from mujoco.sysid._src.residual import BuildModelFn as BuildModelFn
-from mujoco.sysid._src.residual import construct_ts_from_defaults as construct_ts_from_defaults
-from mujoco.sysid._src.residual import CustomRolloutFn as CustomRolloutFn
-from mujoco.sysid._src.residual import model_residual as model_residual
-from mujoco.sysid._src.residual import ModifyResidualFn as ModifyResidualFn
-from mujoco.sysid._src.residual import residual as residual
-from mujoco.sysid._src.signal_modifier import apply_bias as apply_bias
-from mujoco.sysid._src.signal_modifier import apply_delay as apply_delay
-from mujoco.sysid._src.signal_modifier import apply_delayed_ts_window as apply_delayed_ts_window
-from mujoco.sysid._src.signal_modifier import apply_gain as apply_gain
-from mujoco.sysid._src.signal_modifier import apply_resample_and_delay as apply_resample_and_delay
-from mujoco.sysid._src.signal_modifier import get_sensor_indices as get_sensor_indices
-from mujoco.sysid._src.signal_modifier import normalize_residual as normalize_residual
-from mujoco.sysid._src.signal_modifier import weighted_diff as weighted_diff
-from mujoco.sysid._src.signal_transform import SignalTransform as SignalTransform
-from mujoco.sysid._src.timeseries import SignalType as SignalType
-from mujoco.sysid._src.timeseries import TimeSeries as TimeSeries
-from mujoco.sysid._src.trajectory import create_initial_state as create_initial_state
-from mujoco.sysid._src.trajectory import ModelSequences as ModelSequences
-from mujoco.sysid._src.trajectory import sysid_rollout as sysid_rollout
-from mujoco.sysid._src.trajectory import SystemTrajectory as SystemTrajectory
-from mujoco.sysid.report.defaults import default_report as default_report
diff --git a/python/mujoco/sysid/_src/__init__.py b/python/mujoco/sysid/_src/__init__.py
deleted file mode 100644
index 7b95cb8c..00000000
--- a/python/mujoco/sysid/_src/__init__.py
+++ /dev/null
@@ -1,15 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
diff --git a/python/mujoco/sysid/_src/io.py b/python/mujoco/sysid/_src/io.py
deleted file mode 100644
index cc431499..00000000
--- a/python/mujoco/sysid/_src/io.py
+++ /dev/null
@@ -1,81 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""I/O utilities for saving system identification results."""
-
-from collections.abc import Sequence
-import os
-import pathlib
-import pickle
-
-from absl import logging
-from mujoco.sysid._src import parameter
-from mujoco.sysid._src.optimize import calculate_intervals
-from mujoco.sysid._src.trajectory import ModelSequences
-import scipy.optimize as scipy_optimize
-
-
-def save_results(
-    experiment_results_folder: str | os.PathLike[str],
-    models_sequences: Sequence[ModelSequences],
-    initial_params: parameter.ParameterDict,
-    opt_params: parameter.ParameterDict,
-    opt_result: scipy_optimize.OptimizeResult,
-    residual_fn,
-):
-  """Save optimization results and confidence intervals to disk.
-
-  Args:
-    experiment_results_folder: Directory where results are written.
-    models_sequences: Model/sequence groups; identified XMLs are saved here.
-    initial_params: Parameters before optimization.
-    opt_params: Parameters after optimization.
-    opt_result: Scipy OptimizeResult from the optimizer.
-    residual_fn: Residual function used to compute confidence intervals.
-  """
-  experiment_results_folder = pathlib.Path(experiment_results_folder)
-  if not experiment_results_folder.exists():
-    experiment_results_folder.mkdir(parents=True, exist_ok=True)
-  logging.info(
-      "Experiment results will be saved to %s", experiment_results_folder
-  )
-
-  initial_params.save_to_disk(experiment_results_folder / "params_x_0.yaml")
-  opt_params.save_to_disk(experiment_results_folder / "params_x_hat.yaml")
-
-  with open(
-      os.path.join(experiment_results_folder, "results.pkl"), "wb"
-  ) as handle:
-    pickle.dump(opt_result, handle, protocol=pickle.HIGHEST_PROTOCOL)
-
-  # TODO(b/0): these intervals should be part of the params object.
-  residuals_star, _, _ = residual_fn(
-      opt_result.x, opt_params, return_pred_all=True
-  )
-  covariance, intervals = calculate_intervals(residuals_star, opt_result.jac)
-  with open(
-      os.path.join(experiment_results_folder, "confidence.pkl"), "wb"
-  ) as handle:
-    pickle.dump(
-        {"cov": covariance, "intervals": intervals},
-        handle,
-        protocol=pickle.HIGHEST_PROTOCOL,
-    )
-
-  # Dump identified models to disk.
-  for model_sequences in models_sequences:
-    model_sequences.spec.to_file(
-        (experiment_results_folder / f"{model_sequences.name}.xml").as_posix()
-    )
diff --git a/python/mujoco/sysid/_src/model_modifier.py b/python/mujoco/sysid/_src/model_modifier.py
deleted file mode 100644
index 1f266c5e..00000000
--- a/python/mujoco/sysid/_src/model_modifier.py
+++ /dev/null
@@ -1,598 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Model modifiers."""
-
-from typing import Any
-
-import mujoco
-from mujoco.sysid._src.parameter import InertiaType
-from mujoco.sysid._src.parameter import ModifierFn
-from mujoco.sysid._src.parameter import Parameter
-from mujoco.sysid._src.parameter import ParameterDict
-import numpy as np
-
-
-def remove_visuals(in_spec: mujoco.MjSpec) -> mujoco.MjSpec:
-  """Remove visual elements from a Spec."""
-  spec = in_spec.copy()
-  all_geoms = spec.worldbody.find_all("geom")
-  for geom in all_geoms:
-    if geom.contype == 0 and geom.conaffinity == 0:
-      if geom.type == mujoco.mjtGeom.mjGEOM_MESH and geom.meshname:
-        meshname = geom.meshname
-        mesh = spec.mesh(meshname)
-        if mesh:  # multiple geoms can ref same mesh.
-          spec.delete(mesh)
-      spec.delete(geom)
-
-  for mat in spec.materials:
-    spec.delete(mat)
-  for tex in spec.textures:
-    spec.delete(tex)
-
-  spec.compile()  # TODO(b/0): is this compile necessary?
-  return spec
-
-
-def _get_obj_or_raise(spec: mujoco.MjSpec, obj_type: str, obj_name: str) -> Any:
-  getter = getattr(spec, obj_type, None)
-  if not callable(getter):
-    raise AttributeError(f"MjSpec has no method '{obj_type}'")
-  obj = getter(obj_name)
-  if obj is None:
-    raise ValueError(f"{obj_type.capitalize()} '{obj_name}' not found in spec.")
-  return obj
-
-
-def apply_param_modifiers_spec(
-    params: ParameterDict, spec: mujoco.MjSpec
-) -> mujoco.MjSpec:
-  for key in params.keys():
-    param = params[key]
-    if not param.frozen:
-      param.apply_modifier(spec)
-  return spec
-
-
-def apply_param_modifiers(
-    params: ParameterDict, spec: mujoco.MjSpec
-) -> mujoco.MjModel:
-  return apply_param_modifiers_spec(params, spec).compile()
-
-
-def _infer_inertial(spec: mujoco.MjSpec, body_name: str) -> mujoco.MjsBody:
-  """Override spec inertia using inferred inertia from compiled model."""
-  body = _get_obj_or_raise(spec, "body", body_name)
-  assert isinstance(body, mujoco.MjsBody)
-  spec.compiler.inertiafromgeom = 2
-  model = spec.compile()
-  body.explicitinertial = True
-  body.fullinertia = np.full((6, 1), np.nan)
-  body.mass = model.body(body_name).mass[0]
-  body.inertia = model.body(body_name).inertia
-  body.ipos = model.body(body_name).ipos
-  body.iquat = model.body(body_name).iquat
-  return body
-
-
-def is_position_actuator(actuator) -> bool:
-  """Check if an actuator is a position actuator.
-
-  This function works on both model.actuator and spec.actuator objects.
-
-  Args:
-    actuator: An actuator object from model or spec.
-
-  Returns:
-    True if the actuator is a position actuator.
-  """
-  return (
-      actuator.gaintype == mujoco.mjtGain.mjGAIN_FIXED
-      and actuator.biastype == mujoco.mjtBias.mjBIAS_AFFINE
-      and actuator.dyntype
-      in (mujoco.mjtDyn.mjDYN_NONE, mujoco.mjtDyn.mjDYN_FILTEREXACT)
-      and actuator.gainprm[0] == -actuator.biasprm[1]
-  )
-
-
-def get_actuator_pd_gains(
-    model: mujoco.MjModel, actuator_name: str
-) -> tuple[float, float]:
-  """Return the (P, D) gains of a position actuator.
-
-  Args:
-    model: MuJoCo model.
-    actuator_name: Name of the actuator.
-  """
-  actuator_id = mujoco.mj_name2id(
-      model, mujoco.mjtObj.mjOBJ_ACTUATOR.value, actuator_name
-  )
-  if actuator_id == -1:
-    raise ValueError(f"Actuator {actuator_name} not found in model.")
-  actuator = model.actuator(actuator_id)
-  if not is_position_actuator(actuator):
-    raise ValueError(f"Actuator {actuator_name} is not a position actuator.")
-  return -actuator.biasprm[1], -actuator.biasprm[2]
-
-
-def apply_pgain(
-    spec: mujoco.MjSpec,
-    actuator_name: str,
-    value: float | np.ndarray,
-) -> mujoco.MjSpec:
-  """Set the proportional gain for a position actuator.
-
-  Args:
-    spec: MuJoCo model specification.
-    actuator_name: Name of the actuator.
-    value: Proportional gain value.
-  """
-  # TODO(b/0): assert scalar
-  actuator = _get_obj_or_raise(spec, "actuator", actuator_name)
-  assert isinstance(actuator, mujoco.MjsActuator)
-  if not is_position_actuator(actuator):
-    raise ValueError(f"Actuator {actuator_name} is not a position actuator.")
-  actuator.gainprm[0] = value
-  actuator.biasprm[1] = -value
-  return spec
-
-
-def apply_dgain(
-    spec: mujoco.MjSpec,
-    actuator_name: str,
-    value: float | np.ndarray,
-) -> mujoco.MjSpec:
-  """Set the derivative gain for a position actuator.
-
-  Args:
-    spec: MuJoCo model specification.
-    actuator_name: Name of the actuator.
-    value: Derivative gain value.
-  """
-  # TODO(b/0): assert scalar
-  actuator = _get_obj_or_raise(spec, "actuator", actuator_name)
-  assert isinstance(actuator, mujoco.MjsActuator)
-  if not is_position_actuator(actuator):
-    raise ValueError(f"Actuator {actuator_name} is not a position actuator.")
-  actuator.biasprm[2] = -value
-  return spec
-
-
-def apply_pdgain(
-    spec: mujoco.MjSpec,
-    actuator_name: str,
-    value: np.ndarray,
-) -> mujoco.MjSpec:
-  """Set both proportional and derivative gains for a position actuator.
-
-  Args:
-    spec: MuJoCo model specification.
-    actuator_name: Name of the actuator.
-    value: 2-element array ``[P_gain, D_gain]``.
-  """
-  if value.size != 2:
-    raise ValueError(f"pdgain must be a 2-element array, got {value.size}.")
-  apply_pgain(spec, actuator_name, value[0])
-  apply_dgain(spec, actuator_name, value[1])
-  return spec
-
-
-def apply_body_mass_ipos(
-    spec: mujoco.MjSpec,
-    body_name: str,
-    mass: np.ndarray | None = None,
-    ipos: np.ndarray | None = None,
-    rot_inertia_scale: bool = False,
-) -> mujoco.MjSpec:
-  """Apply mass and center-of-mass position to a body.
-
-  Args:
-    spec: MuJoCo model specification.
-    body_name: Name of the body.
-    mass: Optional new mass value.
-    ipos: Optional new center-of-mass position.
-    rot_inertia_scale: If True, scale rotational inertia proportionally to
-      mass change.
-  """
-  # TODO(b/0): assert mass and ipos shapes
-  body = _infer_inertial(spec, body_name)
-  mass_original = body.mass
-  if mass is not None:
-    body.mass = mass
-    if rot_inertia_scale:
-      scale = mass / mass_original
-      body.inertia *= scale
-  if ipos is not None:
-    body.ipos = ipos
-  return spec
-
-
-def scale_body_inertia(
-    spec: mujoco.MjSpec,
-    body_name: str,
-    value: np.ndarray,
-) -> mujoco.MjSpec:
-  # TODO(b/0): assert scalar
-  body = _infer_inertial(spec, body_name)
-  body.inertia *= value
-  return spec
-
-
-def pi_from_theta(theta: np.ndarray) -> np.ndarray:
-  """Convert base parameters θ to inertial parameters π.
-
-  Args:
-    theta: 10-D array [alpha, d1, d2, d3, s12, s23, s13, t1, t2, t3] where:
-      alpha: Scale parameter (log of U[3,3])
-      [d1, d2, d3]: Log of diagonal elements
-      [s12, s23, s13]: Shear parameters from upper triangle
-      [t1, t2, t3]: Translation parameters from last column
-
-  Returns:
-    10-D array π = [m, hx, hy, hz, Ixx, Iyy, Izz, Ixy, Iyz, Ixz].
-  """
-  alpha, d1, d2, d3, s12, s23, s13, t1, t2, t3 = theta
-  exp_alpha = np.exp(alpha)
-  exp_d1 = np.exp(d1)
-  exp_d2 = np.exp(d2)
-  exp_d3 = np.exp(d3)
-  U = np.zeros((4, 4))
-  U[0, 0] = exp_d1
-  U[0, 1] = s12
-  U[0, 2] = s13
-  U[0, 3] = t1
-  U[1, 1] = exp_d2
-  U[1, 2] = s23
-  U[1, 3] = t2
-  U[2, 2] = exp_d3
-  U[2, 3] = t3
-  U[3, 3] = 1
-  U *= exp_alpha
-
-  J = U @ U.T
-
-  sigma = J[:3, :3]
-  I_bar = np.trace(sigma) * np.eye(3) - sigma
-  h = J[:3, 3]
-  m = J[3, 3]
-
-  return np.concatenate(([m], h, I_bar.flatten()))
-
-
-def pseudoinertia_from_pi(pi: np.ndarray) -> np.ndarray:
-  """Converts inertial parameters π to a 4x4 pseudoinertia matrix J.
-
-  Args:
-    pi: A 10-D array [m, hx, hy, hz, Ixx, Iyy, Izz, Ixy, Iyz, Ixz].
-
-  Returns:
-    A 4x4 pseudoinertia matrix J.
-  """
-  m = pi[0]
-  h = pi[1:4]
-  I_bar = pi[4:].reshape((3, 3))
-
-  Sigma = 0.5 * np.trace(I_bar) * np.eye(3) - I_bar
-
-  J = np.zeros((4, 4))
-  J[:3, :3] = Sigma
-  J[:3, 3] = h
-  J[3, :3] = h
-  J[3, 3] = m
-
-  return J
-
-
-def cholesky_decompose_upper(J: np.ndarray) -> np.ndarray:
-  """Perform an upper-triangular Cholesky decomposition of J.
-
-  The returned matrix U is such that J = U @ U.T.
-
-  Args:
-    J: A 4x4 positive-definite matrix.
-
-  Returns:
-    An upper-triangular matrix U.
-  """
-  n = J.shape[0]
-  indices = np.arange(n - 1, -1, -1)
-  J_reversed = J[indices][:, indices]
-  L_prime = np.linalg.cholesky(J_reversed)
-  return L_prime[indices][:, indices]
-
-
-def theta_from_pseudoinertia(J: np.ndarray) -> np.ndarray:
-  """Extract the 10-D vector of base parameters θ from the pseudoinertia J.
-
-  Args:
-    J: A 4x4 pseudoinertia.
-
-  Returns:
-    A 10-D array θ = [alpha, d1, d2, d3, s12, s23, s13, t1, t2, t3] where:
-      alpha: Scale parameter (log of U[3,3])
-      [d1, d2, d3]: Log of diagonal elements
-      [s12, s23, s13]: Shear parameters from upper triangle
-      [t1, t2, t3]: Translation parameters from last column
-  """
-  # U: A 4x4 upper-triangular matrix from Cholesky decomposition
-  U = cholesky_decompose_upper(J)
-
-  # Extract exp(α) from the bottom-right element of U.
-  exp_alpha = U[3, 3]
-  alpha = np.log(exp_alpha)
-
-  # Compute the d parameters from the diagonal entries (adjusted by alpha).
-  d1 = np.log(U[0, 0] / exp_alpha)
-  d2 = np.log(U[1, 1] / exp_alpha)
-  d3 = np.log(U[2, 2] / exp_alpha)
-
-  # Extract the shear parameters (off-diagonals in the upper triangle).
-  s12 = U[0, 1] / exp_alpha
-  s13 = U[0, 2] / exp_alpha
-  s23 = U[1, 2] / exp_alpha
-
-  # Extract the translation parameters (last column, except the bottom element).
-  t1 = U[0, 3] / exp_alpha
-  t2 = U[1, 3] / exp_alpha
-  t3 = U[2, 3] / exp_alpha
-
-  return np.array([alpha, d1, d2, d3, s12, s23, s13, t1, t2, t3])
-
-
-def skew(v: np.ndarray) -> np.ndarray:
-  """Skew-symmetric matrix from a length-3 vector."""
-  return np.array([[0, -v[2], v[1]], [v[2], 0, -v[0]], [-v[1], v[0], 0]])
-
-
-def inertia_to_fullinertia(q: np.ndarray, inertia: np.ndarray) -> np.ndarray:
-  """Convert diagonal inertia with quaternion to full inertia matrix."""
-  xmat = np.empty(9)
-  mujoco.mju_quat2Mat(xmat, q)
-  R = xmat.reshape(3, 3)
-  return R @ np.diag(inertia) @ R.T
-
-
-def pi_from_body(spec: mujoco.MjSpec, body_name: str) -> np.ndarray:
-  """Extracts the 10-D vector of inertial parameters π from a MuJoCo body.
-
-  Args:
-    spec: MuJoCo model specification object.
-    body_name: Name of the body to extract parameters from.
-
-  Returns:
-    A 10-D numpy array π = [m, hx, hy, hz, Ixx, Iyy, Izz, Ixy, Iyz, Ixz] where:
-      m: Mass of the body
-      [hx, hy, hz]: First moment of mass (m * com, where com is center of mass)
-      [Ixx, Iyy, Izz, Ixy, Iyz, Ixz]: Rotational inertia about the origin of the
-        body-fixed reference frame.
-  """
-  body = _infer_inertial(spec, body_name)
-  mass = body.mass
-  ipos = body.ipos
-  inertia = body.inertia
-  iquat = body.iquat
-
-  fullinertia = inertia_to_fullinertia(iquat, inertia)
-  # Transform inertial from ipos origin to body origin.
-  I_bar = fullinertia - (mass * skew(ipos) @ skew(ipos))
-
-  return np.concatenate([[mass], mass * ipos, I_bar.flatten()])
-
-
-def theta_inertia_from_body(spec: mujoco.MjSpec, body_name: str) -> np.ndarray:
-  """Extract base parameters θ from a body's inertial properties."""
-  pi = pi_from_body(spec, body_name)
-  J = pseudoinertia_from_pi(pi)
-  return theta_from_pseudoinertia(J)
-
-
-def apply_body_theta_inertia(
-    spec: mujoco.MjSpec,
-    body_name: str,
-    theta: np.ndarray,
-) -> mujoco.MjSpec:
-  """Apply base-parameter inertia θ to a body in the spec.
-
-  Args:
-    spec: MuJoCo model specification.
-    body_name: Name of the body.
-    theta: 10-element array [alpha, d1, d2, d3, s12, s23, s13, t1, t2, t3].
-  """
-  if theta.size != 10:
-    raise ValueError(f"theta must be a 10-element array, got {theta.size}.")
-  pi = pi_from_theta(theta)
-
-  body = _infer_inertial(spec, body_name)
-  body.mass = pi[0]
-  body.ipos = pi[1:4] / pi[0]
-
-  # This tells the compiler to ignore the diagonal inertia and instead
-  # calculate it from the full inertia.
-  body.inertia[:] = 0.0
-  body.iquat[:] = np.nan
-
-  I_bar = pi[4:].reshape((3, 3))
-  skew_ipos = skew(body.ipos)
-  fullinertia = I_bar + (body.mass * skew_ipos @ skew_ipos)
-
-  # MuJoCo's ordering is: M(1,1), M(2,2), M(3,3), M(1,2), M(1,3), M(2,3) which
-  # corresponds to Ixx, Iyy, Izz, Ixy, Ixz
-  body.fullinertia[0] = fullinertia[0, 0]  # Ixx
-  body.fullinertia[1] = fullinertia[1, 1]  # Iyy
-  body.fullinertia[2] = fullinertia[2, 2]  # Izz
-  body.fullinertia[3] = fullinertia[0, 1]  # Ixy
-  body.fullinertia[4] = fullinertia[0, 2]  # Ixz
-  body.fullinertia[5] = fullinertia[1, 2]  # Iyz
-
-  return spec
-
-
-def apply_body_inertia(spec: mujoco.MjSpec, name: str, param: Parameter):
-  """Apply inertia parameters to a body based on the parameter type.
-
-  Args:
-    spec: MuJoCo model specification.
-    name: Name of the body.
-    param: Parameter with an ``inertia_type`` attribute.
-  """
-  if not hasattr(param, "inertia_type"):
-    raise ValueError(
-        f"Parameter {param.name} does not have inertia_type attribute."
-    )
-
-  if param.inertia_type == InertiaType.Mass:
-    apply_body_mass_ipos(
-        spec, name, mass=param.value, rot_inertia_scale=param.scale_rot_inertia
-    )
-
-  elif param.inertia_type == InertiaType.MassIpos:
-    apply_body_mass_ipos(
-        spec,
-        name,
-        mass=param.value[0],
-        ipos=param.value[1:4],
-        rot_inertia_scale=param.scale_rot_inertia,
-    )
-
-  elif param.inertia_type == InertiaType.Pseudo:
-    apply_body_theta_inertia(spec, name, param.value)
-
-
-def body_inertia_param(
-    spec: mujoco.MjSpec,
-    model: mujoco.MjModel,
-    body_name: str,
-    inertia_type: InertiaType = InertiaType.MassIpos,
-    scale_rot_inertia: bool = False,
-    mass_bound_mult: np.ndarray | None = None,
-    ipos_bound_off: np.ndarray | None = None,
-    stretch_bound_mult: np.ndarray | None = None,
-    shear_bound_off: np.ndarray | None = None,
-    param_name: str | None = None,
-    modifier: ModifierFn | None = None,
-) -> Parameter:
-  """Creates Parameter objects for the inertia of a body in a simplified manner.
-
-  Args:
-    spec: MuJoCo model specification object.
-    model: The MuJoCo model.
-    body_name: Name of the body to create the parameter for.
-    inertia_type: The type of inertia parameterization to use.
-    scale_rot_inertia: Whether to scale the original inertia when mass changes,
-      ignored with pseudo inertia.
-    mass_bound_mult: Multiplicative bounds for the mass parameter.
-    ipos_bound_off: Additive bounds for the ipos parameter.
-    stretch_bound_mult: Multiplicative bounds for the stretch parameters in the
-      pseudo-inertia parameterization.
-    shear_bound_off: Additive bounds for the shear parameters in the
-      pseudo-inertia parameterization.
-    param_name: Optional name for the parameter.  Defaults to
-      ``"{body_name}_inertia"``.
-    modifier: Optional custom modifier callback.  If None, the default
-      :func:`apply_body_inertia` modifier is registered on the Parameter.
-
-  Returns:
-    A Parameter configured for the body's inertia.
-  """
-
-  if mass_bound_mult is None:
-    mass_bound_mult = np.array([0.1, 10.0])
-  if ipos_bound_off is None:
-    ipos_bound_off = np.array([-0.5, 0.5])
-  if stretch_bound_mult is None:
-    stretch_bound_mult = np.array([0.5, 2.0])
-  if shear_bound_off is None:
-    shear_bound_off = np.array([-0.5, 0.5])
-
-  body = model.body(body_name)
-  if param_name is None:
-    param_name = f"{body_name}_inertia"
-
-  if modifier is None:
-
-    def _default_modifier(spec, param):
-      return apply_body_inertia(spec, body_name, param)
-
-    modifier = _default_modifier
-
-  if inertia_type == InertiaType.Mass:
-    param = Parameter(
-        param_name,
-        body.mass,
-        body.mass * mass_bound_mult[0],
-        body.mass * mass_bound_mult[1],
-        modifier=modifier,
-    )
-    param.inertia_type = inertia_type
-    param.scale_rot_inertia = scale_rot_inertia
-
-  elif inertia_type == InertiaType.MassIpos:
-    massipos0 = np.concatenate((body.mass, body.ipos))
-    massipos_low = np.concatenate(
-        (body.mass * mass_bound_mult[0], body.ipos + ipos_bound_off[0])
-    )
-    massipos_high = np.concatenate(
-        (body.mass * mass_bound_mult[1], body.ipos + ipos_bound_off[1])
-    )
-    param = Parameter(
-        param_name, massipos0, massipos_low, massipos_high, modifier=modifier
-    )
-    param.inertia_type = inertia_type
-    param.scale_rot_inertia = scale_rot_inertia
-
-  elif inertia_type == InertiaType.Pseudo:
-    theta_i_0 = theta_inertia_from_body(spec, body_name)
-
-    # mass = exp(2*alpha)
-    alpha = theta_i_0[0]
-    mass = np.exp(2 * alpha)
-    mass_bounds = mass * mass_bound_mult
-    alpha_bounds = 0.5 * np.log(mass_bounds)
-
-    # d1, d2, d3, stretch = exp(2*d)
-    # stretches body along principal axes
-    d = theta_i_0[1 : 1 + 3]
-    stretch = np.exp(2 * d)
-    stretch_bounds = stretch[:, np.newaxis] * np.atleast_2d(stretch_bound_mult)
-    d_bounds = 0.5 * np.log(stretch_bounds)
-
-    # s12, s23, s13
-    # shear the body
-    s_bounds = theta_i_0[4 : 4 + 3, np.newaxis] + np.atleast_2d(shear_bound_off)
-
-    # t1, t2, t3
-    # center of mass
-    t_bounds = theta_i_0[7:10, np.newaxis] + np.atleast_2d(ipos_bound_off)
-
-    theta_bounds = np.vstack([
-        alpha_bounds,
-        d_bounds,
-        s_bounds,
-        t_bounds,
-    ])
-    param = Parameter(
-        param_name,
-        theta_i_0,
-        theta_bounds[:, 0],
-        theta_bounds[:, 1],
-        modifier=modifier,
-    )
-    param.inertia_type = inertia_type
-
-  else:
-    raise ValueError(f"Unknown inertia_type: {inertia_type}")
-
-  return param
diff --git a/python/mujoco/sysid/_src/optimize.py b/python/mujoco/sysid/_src/optimize.py
deleted file mode 100644
index 7a0209af..00000000
--- a/python/mujoco/sysid/_src/optimize.py
+++ /dev/null
@@ -1,363 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Optimization routines for system identification."""
-
-from collections.abc import Callable
-from typing import Any, Literal
-
-from absl import logging
-from mujoco import minimize as mujoco_minimize
-from mujoco.sysid._src import parameter
-import numpy as np
-import scipy.optimize as scipy_optimize
-import scipy.special
-
-
-def _warn_if_ill_conditioned(
-    initial_params: parameter.ParameterDict,
-    residual_fn: Callable[..., Any],
-    threshold: float = 1e12,
-    eps: float | None = None,
-) -> None:
-  """Warn if cond(J^T J) at the starting point exceeds ``threshold``.
-
-  Costs one extra finite-difference Jacobian. ``threshold=1e12`` corresponds
-  to cond(J) ~ 1e6, well below the float64 limit (~1e16). ``eps`` defaults to
-  the finite-difference step used by the backends.
-  """
-  x0 = initial_params.as_vector()
-  bounds = initial_params.get_bounds()
-
-  def f(x):
-    residuals, _, _ = residual_fn(x, initial_params)
-    return np.concatenate(residuals)
-
-  if eps is None:
-    eps = np.finfo(np.float64).eps ** 0.5
-  r0 = f(x0).reshape(-1, 1)
-  jac = np.asarray(
-      mujoco_minimize.jacobian_fd(
-          residual=f,
-          x=x0.reshape(-1, 1),
-          r=r0,
-          eps=eps,  # pyrefly: ignore[bad-argument-type]
-          n_res=0,
-          bounds=[bounds[0].reshape(-1, 1), bounds[1].reshape(-1, 1)],
-      )[0],
-      dtype=np.float64,
-  )
-  cond_jtj = float(np.linalg.cond(jac)) ** 2
-  if cond_jtj > threshold:
-    logging.warning(
-        "cond(J^T J) ~ %.1e at the starting point; the problem may be "
-        "ill-conditioned. Consider x_scale='jac' or regularizing.",
-        cond_jtj,
-    )
-
-
-def _scipy_least_squares(
-    x0: np.ndarray,
-    residual_fn: Callable[..., Any],
-    bounds: tuple[np.ndarray, np.ndarray],
-    use_mujoco_jac: bool = False,
-    **kwargs,
-) -> scipy_optimize.OptimizeResult:
-  """Run scipy least_squares with optional MuJoCo finite-difference Jacobian."""
-  max_nfev = kwargs.pop("max_iters", 200)
-  if kwargs.pop("verbose", True):
-    verbose = 2
-  else:
-    verbose = 0
-  loss = kwargs.pop("loss", "linear")
-
-  jac_arg: str | Callable[..., Any]
-  if use_mujoco_jac:
-    # This is the default step size for finite difference used in
-    # scipy's least_squares and mujoco's minimize finite difference
-    # https://github.com/scipy/scipy/blob/91e18f3bd355477b
-    # 8b7747ec82d70ac98ffd2422/scipy/optimize/_numdiff.py#L404
-    eps = np.finfo(np.float64).eps ** 0.5
-    if "diff_step" in kwargs:
-      eps = kwargs.pop("diff_step")
-
-    def _jac_fn(x):
-      return mujoco_minimize.jacobian_fd(
-          residual=residual_fn,
-          x=x.reshape((-1, 1)),
-          r=residual_fn(x).reshape((-1, 1)),
-          eps=eps,
-          n_res=0,
-          bounds=[bounds[0].reshape((-1, 1)), bounds[1].reshape((-1, 1))],
-      )[0]
-
-    jac_arg = _jac_fn
-  else:
-    jac_arg = "2-point"
-
-  return scipy_optimize.least_squares(
-      residual_fn,
-      x0,
-      bounds=bounds,
-      max_nfev=max_nfev,
-      verbose=verbose,
-      loss=loss,
-      jac=jac_arg,  # pyright: ignore[reportArgumentType]
-      **kwargs,
-  )
-
-
-def _mujoco_least_squares(
-    x0: np.ndarray,
-    residual_fn: Callable[..., Any],
-    bounds: tuple[np.ndarray, np.ndarray],
-    **kwargs,
-) -> scipy_optimize.OptimizeResult:
-  """Run MuJoCo's native least_squares optimizer.
-
-  ``**kwargs`` are forwarded to :func:`mujoco.minimize.least_squares`; see
-  its docstring (notably ``x_scale``).
-  """
-  if kwargs.pop("verbose", True):
-    verbose = mujoco_minimize.Verbosity.FULLITER
-  else:
-    verbose = mujoco_minimize.Verbosity.SILENT
-  max_iter = kwargs.pop("max_iters", 200)
-
-  x, log = mujoco_minimize.least_squares(
-      x0=x0,
-      bounds=bounds,
-      residual=residual_fn,
-      verbose=verbose,
-      max_iter=max_iter,
-      **kwargs,
-  )
-
-  extras = {}
-  if verbose == mujoco_minimize.Verbosity.FULLITER:
-    extras["objective"] = [entry.objective for entry in log]
-    extras["candidate"] = [entry.candidate[:, 0] for entry in log]
-
-  return scipy_optimize.OptimizeResult(
-      x=x,
-      jac=log[-1].jacobian,
-      grad=log[-1].grad,
-      extras=extras,
-  )
-
-
-def _dispatch_optimizer(
-    x0: np.ndarray,
-    residual_fn: Callable[..., Any],
-    bounds: tuple[np.ndarray, np.ndarray],
-    optimizer: Literal["scipy", "mujoco", "scipy_parallel_fd"],
-    **kwargs,
-) -> scipy_optimize.OptimizeResult:
-  """Dispatch to the appropriate least-squares backend."""
-  if optimizer in ["scipy", "scipy_parallel_fd"]:
-    return _scipy_least_squares(
-        x0,
-        residual_fn,
-        bounds,
-        use_mujoco_jac=optimizer == "scipy_parallel_fd",
-        **kwargs,
-    )
-  elif optimizer == "mujoco":
-    return _mujoco_least_squares(x0, residual_fn, bounds, **kwargs)
-  else:
-    raise ValueError(
-        f"Unsupported optimizer: '{optimizer}'. Expected one of: 'scipy',"
-        " 'scipy_parallel_fd', or 'mujoco'."
-    )
-
-
-def optimize(
-    initial_params: parameter.ParameterDict,
-    residual_fn: Callable[..., Any],
-    optimizer: Literal["scipy", "mujoco", "scipy_parallel_fd"] = "mujoco",
-    verbose: bool = True,
-    check_conditioning: bool = False,
-    **optimizer_kwargs,
-) -> tuple[parameter.ParameterDict, scipy_optimize.OptimizeResult]:
-  """Run nonlinear least-squares optimization on the residual.
-
-  Args:
-    initial_params: Starting parameter values and bounds.
-    residual_fn: Callable with signature ``(x, params) -> (residuals, ...)`` as
-      returned by :func:`build_residual_fn`.
-    optimizer: Backend — ``"mujoco"`` (default), ``"scipy"``, or
-      ``"scipy_parallel_fd"`` (scipy with MuJoCo finite-difference Jacobian).
-    verbose: If True, log parameter comparison table after optimization.
-    check_conditioning: If True, estimate ``cond(J^T J)`` at the starting
-      point and emit a warning if it suggests numerical ill-conditioning.
-      Costs one extra finite-difference Jacobian.
-    **optimizer_kwargs: Forwarded to the backend. Common ones:
-
-      * ``max_iters``: maximum number of optimizer iterations.
-      * ``verbose``: per-backend verbosity flag (separate from this
-        function's ``verbose``).
-      * ``loss``: scipy loss function name (scipy backends only).
-      * ``x_scale``: per-parameter scaling, forwarded to the backend; see
-        :func:`scipy.optimize.least_squares` and
-        :func:`mujoco.minimize.least_squares`.
-
-  Returns:
-    ``(opt_params, opt_result)`` — the optimized ParameterDict and a
-    ``scipy.optimize.OptimizeResult`` with at least ``x``, ``jac``, ``grad``.
-  """
-  x0 = initial_params.as_vector()
-  bounds = initial_params.get_bounds()
-  opt_params = initial_params.copy()
-
-  # Check if there are any parameters to optimize.
-  if not opt_params or opt_params.size == 0:
-    logging.warning(
-        "The ParameterDict is empty or contains only frozen Parameters. "
-        "Please declare all Parameters that need to be optimized."
-    )
-    return opt_params, scipy_optimize.OptimizeResult(
-        x=x0,
-        jac=np.zeros((0, x0.shape[0])),
-        grad=np.zeros_like(x0),
-        extras={},
-    )
-
-  if check_conditioning:
-    _warn_if_ill_conditioned(
-        initial_params, residual_fn, eps=optimizer_kwargs.get("diff_step"),
-    )
-
-  # Warn if any non-frozen parameter component starts at (or essentially at)
-  # a box bound. Only meaningful when x0 is feasible; otherwise the user is
-  # already outside the constraint set and the optimizer will clip first.
-  lo, hi = bounds
-  rng = hi - lo
-  safe_rng = np.where(rng > 0, rng, 1.0)
-  in_bounds = (x0 >= lo) & (x0 <= hi)
-  near_bound = ((x0 - lo) <= 1e-3 * safe_rng) | ((hi - x0) <= 1e-3 * safe_rng)
-  at_bound = in_bounds & near_bound & (rng > 0)
-  if at_bound.any():
-    logging.warning(
-        "%d of %d non-frozen parameter components start at (or essentially "
-        "at) a box bound. Optimization can stall in that corner on "
-        "ill-conditioned problems; consider calling "
-        "initial_params.move_off_bounds() before optimize().",
-        int(at_bound.sum()),
-        x0.size,
-    )
-
-  def optimized_residual_fn(x):
-    residuals, _, _ = residual_fn(x, opt_params)
-    return np.concatenate(residuals)
-
-  opt_result = _dispatch_optimizer(
-      x0, optimized_residual_fn, bounds, optimizer, **optimizer_kwargs
-  )
-
-  opt_params.update_from_vector(opt_result.x)
-
-  if verbose:
-    logging.info(
-        "\n%s",
-        opt_params.compare_parameters(
-            initial_params.as_vector(),
-            opt_params.as_vector(),
-            measured_params=initial_params.as_nominal_vector(),
-        ),
-    )
-
-  return opt_params, opt_result
-
-
-def calculate_intervals(
-    residuals_star,
-    J,
-    alpha=0.05,
-    lambda_zero_thresh=1e-15,
-    v_zero_thresh=1e-8,
-):
-  """Calculate confidence intervals from the Jacobian at the optimum.
-
-  Args:
-    residuals_star: List of residual arrays at the optimum.
-    J: Jacobian matrix at the optimum, shape ``(n_residuals, n_params)``.
-    alpha: Significance level for the confidence intervals.
-    lambda_zero_thresh: Threshold below which eigenvalues are treated as zero.
-    v_zero_thresh: Threshold below which eigenvector elements are treated as
-      zero.
-
-  Returns:
-    ``(Sigma_X, intervals)`` — the parameter covariance matrix and the
-    half-width confidence intervals for each parameter.
-  """
-  if J is None or J.size == 0:
-    return np.empty((0, 0)), np.empty((0,))
-
-  # TODO(levi): account for per sensor variance
-  # Estimate sensor variance by assuming a good model fit, so
-  # remaining variance in the residual is due to sensor noise.
-  # Dividing by n - p is an unbiased estimate of the noise.
-  final_r = np.concatenate(residuals_star)
-  s2 = np.dot(final_r, final_r) / (final_r.size - J.shape[1])
-  H = J.T @ J
-
-  # Calculate the diagonals of the inverse of H
-  # using the observation that division by zero
-  # of eig(H) close to zero is canceled by numerically
-  # zero elements of the eigenvectors
-  # That is numerically zero eigenvalues only
-  # cause a confidence bound to be infinite if that eigenvalue
-  # has a numerically non-zero effect on the considered parameter
-  lamb, V = np.linalg.eigh(H)
-  lamb_max = np.max(lamb)
-  diag_inv_H = []
-  for j in range(H.shape[0]):
-    inv_H_jj = 0.0
-    v_j_max = np.max(np.abs(V[:, j]))
-    for i in range(H.shape[0]):
-      lambda_i = lamb[i]
-      if lambda_i / lamb_max < lambda_zero_thresh:
-        lambda_i = 0.0
-
-      v_j_i = V[j, i]
-      if np.abs(v_j_i / v_j_max) < v_zero_thresh:
-        v_j_i = 0.0
-
-      if lambda_i == 0.0 and v_j_i != 0.0:
-        inv_H_jj += np.inf
-      elif lambda_i == 0.0 and v_j_i == 0.0:
-        pass
-      else:
-        inv_H_jj += v_j_i**2 / lambda_i
-    diag_inv_H.append(inv_H_jj)
-  diag_inv_H = np.array(diag_inv_H)
-
-  # In general eigenvalue decomposition should be more accurate
-  # than calculating the inverse of H using a general method
-  # TODO(levi): expand the eigenvalue/eigenvector element
-  # cancelation above to the full inverse matrix
-  # inv_H = V @ np.diag(np.divide(
-  #     1, lamb, out=np.inf*np.zeros_like(lamb),
-  #     where=lamb != 0.0)) @ V.T
-  lamb[lamb == 0] = lambda_zero_thresh
-  inv_H = V @ np.diag(1 / lamb) @ V.T
-  # print('inv test')
-  # print(np.diag(inv_H @ H))
-  # print(np.diag(np.linalg.inv(H) @ H)))
-  Sigma_X = s2 * inv_H
-  intervals = np.sqrt(diag_inv_H * s2) * scipy.special.stdtrit(
-      final_r.size - J.shape[1], 1 - alpha / 2
-  )
-  return Sigma_X, intervals
diff --git a/python/mujoco/sysid/_src/parameter.py b/python/mujoco/sysid/_src/parameter.py
deleted file mode 100644
index ab3877d7..00000000
--- a/python/mujoco/sysid/_src/parameter.py
+++ /dev/null
@@ -1,700 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Parameter utilities."""
-
-from __future__ import annotations
-
-import copy
-from enum import Enum
-import pathlib
-from typing import Callable, TYPE_CHECKING, TypeAlias
-
-import colorama
-import mujoco
-import numpy as np
-import numpy.typing as npt
-from tabulate import tabulate
-import yaml
-
-if TYPE_CHECKING:
-  from typing_extensions import Self
-
-Fore = colorama.Fore
-Style = colorama.Style
-
-ModifierFn: TypeAlias = Callable[[mujoco.MjSpec, "Parameter"], object]
-
-
-class InertiaType(Enum):
-  Mass = 0
-  MassIpos = 1
-  Pseudo = 2
-
-
-class Parameter:
-  """A single (possibly multi-dimensional) parameter for system identification.
-
-  A Parameter holds a current ``value``, a ``nominal`` baseline, and box
-  bounds (``min_value``, ``max_value``).  An optional ``modifier`` callback
-  is invoked during model compilation to apply the parameter to an MjSpec.
-
-  Args:
-    name: Human-readable identifier (must be unique within a ParameterDict).
-    nominal: Nominal (initial) value; scalar or array-like.
-    min_value: Lower bound, same shape as *nominal*.
-    max_value: Upper bound, same shape as *nominal*.
-    frozen: If True the parameter is excluded from optimization.
-    modifier: Optional callback ``(MjSpec, Parameter) -> None`` that writes the
-      parameter into a spec during model compilation.
-  """
-
-  # Type hints for dynamically-added attributes (set by parameter builders).
-  if TYPE_CHECKING:
-    inertia_type: InertiaType | None
-    scale_rot_inertia: bool
-
-  def __init__(
-      self,
-      name: str,
-      nominal: float | npt.ArrayLike,
-      min_value: float | npt.ArrayLike,
-      max_value: float | npt.ArrayLike,
-      frozen: bool = False,
-      modifier: ModifierFn | None = None,
-  ):
-    self.name = name
-    self.nominal = np.atleast_1d(nominal)
-    self.min_value = np.atleast_1d(min_value)
-    self.max_value = np.atleast_1d(max_value)
-    self.value = self.nominal.copy()
-    self.frozen = frozen
-    self.modifier = modifier
-
-  @property
-  def size(self) -> int:
-    return self.nominal.size
-
-  @property
-  def shape(self) -> tuple[int, ...]:
-    return self.nominal.shape
-
-  def apply_modifier(self, spec: mujoco.MjSpec) -> None:
-    """Apply this parameter's modifier callback to *spec*, if one is set."""
-    if self.modifier:
-      self.modifier(spec, self)
-
-  def as_vector(self) -> np.ndarray:
-    """Return the current value as a flat 1-D array."""
-    return self.value.flatten()
-
-  def as_nominal_vector(self) -> np.ndarray:
-    """Return the nominal value as a flat 1-D array."""
-    return self.nominal.flatten()
-
-  def update_from_vector(self, vector: np.ndarray) -> None:
-    """Update the current value from a flat vector.
-
-    Args:
-      vector: Flat array of length ``self.size``.
-    """
-    vector_array = np.atleast_1d(vector)
-    if len(vector_array) != self.size:
-      raise ValueError(
-          f"Input vector length {vector_array.size} does not match "
-          f"parameter size {self.size}."
-      )
-    self.value = vector_array.reshape(self.shape)
-
-  def get_bounds(self) -> tuple[np.ndarray, np.ndarray]:
-    """Return ``(lower, upper)`` bound arrays, each flat 1-D."""
-    return (
-        self.min_value.flatten(),
-        self.max_value.flatten(),
-    )
-
-  def reset(self) -> None:
-    """Reset the current value to nominal."""
-    self.value = self.nominal.copy()
-
-  def sample(self, rng: np.random.Generator | None = None) -> np.ndarray:
-    """Sample a random value uniformly within bounds.
-
-    Args:
-      rng: Optional numpy random generator. Uses default if None.
-    """
-    if rng is None:
-      rng = np.random.default_rng()
-    return rng.uniform(self.min_value.flatten(), self.max_value.flatten())
-
-  def move_off_bound(
-      self, fraction: float = 0.05, at_bound_tol: float = 1e-3
-  ) -> None:
-    """Shift values within ``at_bound_tol * (hi - lo)`` of a bound to
-    ``lo + fraction*(hi-lo)`` (or symmetric for the upper bound). Interior
-    components are unchanged."""
-    lo, hi = self.get_bounds()
-    rng = hi - lo
-    safe_rng = np.where(rng > 0, rng, 1.0)
-    v = self.as_vector().copy()
-    at_lo = (v - lo) <= at_bound_tol * safe_rng
-    at_hi = (hi - v) <= at_bound_tol * safe_rng
-    v = np.where(at_lo, lo + fraction * rng, v)
-    v = np.where(at_hi, hi - fraction * rng, v)
-    self.update_from_vector(v)
-
-  def __str__(self) -> str:
-    """Return a string representation of the parameter."""
-    if self.size == 1:
-      return (
-          f"{Fore.CYAN}{self.name}{Style.RESET_ALL}: "
-          f"{Fore.GREEN}{float(self.value.item()):.3g}{Style.RESET_ALL} "
-          f"∈ [{Fore.YELLOW}{float(self.min_value.item()):.3g}, "
-          f"{float(self.max_value.item()):.3g}{Style.RESET_ALL}]"
-      )
-    else:
-      return (
-          f"{Fore.CYAN}{self.name}{Style.RESET_ALL}: "
-          f"{Fore.GREEN}array(shape={self.shape}){Style.RESET_ALL} "
-          f"∈ [{Fore.YELLOW}min={np.min(self.min_value):.3g}, "
-          f"max={np.max(self.max_value):.3g}{Style.RESET_ALL}]"
-      )
-
-  def __repr__(self) -> str:
-    return self.__str__()
-
-  def __getstate__(self):
-    return {
-        "name": self.name,
-        "nominal": (
-            self.nominal.tolist()
-            if isinstance(self.nominal, np.ndarray)
-            else self.nominal
-        ),
-        "min_value": (
-            self.min_value.tolist()
-            if isinstance(self.min_value, np.ndarray)
-            else self.min_value
-        ),
-        "max_value": (
-            self.max_value.tolist()
-            if isinstance(self.max_value, np.ndarray)
-            else self.max_value
-        ),
-        "value": (
-            self.value.tolist()
-            if isinstance(self.value, np.ndarray)
-            else self.value
-        ),
-        "frozen": self.frozen,
-    }
-
-  def __setstate__(self, state):
-    self.name = state["name"]
-    self.nominal = np.array(state["nominal"])
-    self.min_value = np.array(state["min_value"])
-    self.max_value = np.array(state["max_value"])
-    self.value = np.array(state["value"])
-    self.frozen = state["frozen"]
-
-  # Override default deepycopy so lambda references get copied
-  def __deepcopy__(self, memo):
-    cls = self.__class__
-    result = cls.__new__(cls)
-    for k, v in self.__dict__.items():
-      setattr(result, k, copy.deepcopy(v, memo))
-    return result
-
-
-class ParameterDict:
-  """An ordered collection of :class:`Parameter` objects.
-
-  Behaves like a ``dict[str, Parameter]`` with convenience methods for
-  vectorized access (``as_vector`` / ``update_from_vector``), serialization,
-  and tabular comparison of parameter estimates.
-
-  Frozen parameters are silently skipped by vector/bounds methods so that the
-  decision-variable dimension seen by optimizers matches only the free params.
-  """
-
-  def __init__(self, parameters: dict[str, Parameter] | None = None):
-    if parameters is None:
-      self.parameters = {}
-    else:
-      self.parameters = parameters
-
-  def __getitem__(self, key: str) -> Parameter:
-    return self.parameters[key]
-
-  def __setitem__(self, key: str, value: Parameter) -> None:
-    self.parameters[key] = value
-
-  def __contains__(self, key: str) -> bool:
-    return key in self.parameters
-
-  def __len__(self) -> int:
-    return len(self.parameters)
-
-  def copy(self) -> Self:
-    """Return a deep copy of this ParameterDict."""
-    return copy.deepcopy(self)
-
-  def add(self, param: Parameter) -> None:
-    """Add a Parameter, keyed by its ``name``."""
-    self.parameters[param.name] = param
-
-  def update(self, pdict: Self) -> None:
-    for keys in pdict.keys():
-      if keys in self.parameters:
-        raise ValueError(
-            f"Parameter '{keys}' already exists in the dictionary."
-        )
-      self.parameters[keys] = pdict[keys]
-
-  def keys(self) -> list[str]:
-    return list(self.parameters.keys())
-
-  def values(self) -> list[Parameter]:
-    return list(self.parameters.values())
-
-  def items(self) -> list[tuple[str, Parameter]]:
-    return list(self.parameters.items())
-
-  @property
-  def size(self) -> int:
-    """Get the total size of all non-frozen parameters."""
-    return sum(p.size for p in self.parameters.values() if not p.frozen)
-
-  def as_vector(self, include_frozen=False) -> np.ndarray:
-    """Convert all non-frozen parameters to a flat vector."""
-    vectors = [
-        p.as_vector()
-        for p in self.parameters.values()
-        if not p.frozen or include_frozen
-    ]
-    return np.concatenate(vectors) if vectors else np.array([])
-
-  def as_nominal_vector(self, include_frozen=False) -> np.ndarray:
-    """Get the nominal values of parameters as a flat array."""
-    vectors = [
-        p.as_nominal_vector()
-        for p in self.parameters.values()
-        if not p.frozen or include_frozen
-    ]
-    return np.concatenate(vectors) if vectors else np.array([])
-
-  def update_from_vector(self, vector: np.ndarray) -> None:
-    """Update all non-frozen parameters from a flat vector.
-
-    Args:
-      vector: Flat array whose length equals the total size of non-frozen
-        parameters.
-    """
-    start = 0
-    for param in self.parameters.values():
-      if not param.frozen:
-        size = param.size
-        param.update_from_vector(vector[start : start + size])
-        start += size
-
-  def move_off_bounds(
-      self, fraction: float = 0.05, at_bound_tol: float = 1e-3
-  ) -> Self:
-    """Call :meth:`Parameter.move_off_bound` on every non-frozen parameter,
-    returning ``self`` so calls can be chained before
-    :func:`optimize`."""
-    for param in self.parameters.values():
-      if not param.frozen:
-        param.move_off_bound(fraction=fraction, at_bound_tol=at_bound_tol)
-    return self
-
-  def save_to_disk(self, path: str | pathlib.Path) -> None:
-    """Save the parameter dictionary to disk (schema and data).
-
-    Args:
-      path: Path where the data will be saved.
-    """
-    parameter_dicts = {
-        name: param.__getstate__() for name, param in self.parameters.items()
-    }
-    with open(path, "w") as handle:
-      yaml.safe_dump(parameter_dicts, handle, default_flow_style=False)
-
-  @classmethod
-  def load_from_disk(cls, path: str | pathlib.Path) -> "ParameterDict":
-    """Load parameter dictionary from disk (schema and data).
-
-    Args:
-      path: Path to the saved data.
-
-    Returns:
-      A new ParameterDict object.
-    """
-    with open(path, "r") as handle:
-      parameter_dicts = yaml.safe_load(handle)
-
-    parameters = {}
-    for name, param_dict in parameter_dicts.items():
-      param = Parameter.__new__(Parameter)
-      param.__setstate__(param_dict)
-      parameters[name] = param
-
-    return ParameterDict(parameters)
-
-  def get_bounds(self) -> tuple[np.ndarray, np.ndarray]:
-    """Get the bounds for all non-frozen parameters."""
-    lower_bounds = []
-    upper_bounds = []
-    for param in self.parameters.values():
-      if not param.frozen:
-        lb, ub = param.get_bounds()
-        lower_bounds.append(lb)
-        upper_bounds.append(ub)
-
-    return (
-        np.concatenate(lower_bounds) if lower_bounds else np.array([]),
-        np.concatenate(upper_bounds) if upper_bounds else np.array([]),
-    )
-
-  def reset(self) -> None:
-    """Reset all parameters to their nominal values."""
-    for param in self.parameters.values():
-      param.reset()
-
-  def sample(self, rng: np.random.Generator | None = None) -> np.ndarray:
-    """Sample parameter values within bounds for non-frozen parameters.
-
-    Args:
-      rng: Optional numpy random generator. Uses default if None.
-    """
-    if rng is None:
-      rng = np.random.default_rng()
-    lower_bounds, upper_bounds = self.get_bounds()
-    return rng.uniform(lower_bounds, upper_bounds)
-
-  def randomize(self, rng: np.random.Generator | None = None) -> None:
-    """Randomize parameter values for non-frozen parameters.
-
-    Args:
-      rng: Optional numpy random generator. Uses default if None.
-    """
-    for param in self.parameters.values():
-      if not param.frozen:
-        param.value = param.sample(rng)
-
-  def compare_parameters(
-      self,
-      init_params: np.ndarray,
-      predicted_params: np.ndarray,
-      measured_params: np.ndarray | None = None,
-      sig_digits: int = 4,
-  ) -> str:
-    """Compare true and predicted parameter values.
-
-    Args:
-      init_params: Initial parameter values as a flat array.
-      predicted_params: Predicted parameter values as a flat array.
-      measured_params: True parameter values as a flat array.
-      sig_digits: Number of significant digits to display.
-
-    Returns:
-      A formatted string with parameter comparison table.
-    """
-    # Get the vector of non-frozen parameters
-    non_frozen_vector = self.as_vector()
-
-    if non_frozen_vector.size == 0:
-      return "No non-frozen parameters to compare."
-
-    if len(init_params) != non_frozen_vector.size:
-      raise ValueError(
-          f"Initial parameter vector length {len(init_params)} does not match "
-          f"the number of non-frozen parameters {non_frozen_vector.size}."
-      )
-
-    if len(predicted_params) != non_frozen_vector.size:
-      raise ValueError(
-          f"Predicted parameter vector length {len(predicted_params)} does not"
-          " match the number of non-frozen parameters"
-          f" {non_frozen_vector.size}."
-      )
-
-    if measured_params is not None:
-      if len(measured_params) != non_frozen_vector.size:
-        raise ValueError(
-            f"True parameter vector length {len(measured_params)} does not"
-            " match the number of non-frozen parameters"
-            f" {non_frozen_vector.size}."
-        )
-
-    # Compute error metrics.
-    rel_deltas = []
-    for i in range(predicted_params.shape[0]):
-      if (
-          init_params[i] == 0
-          or np.abs(predicted_params[i] - init_params[i])
-          / np.abs(init_params[i])
-          > 2e1
-      ):
-        rel_deltas.append(np.nan)
-      else:
-        rel_deltas.append(
-            np.abs(predicted_params[i] - init_params[i])
-            / np.abs(init_params[i])
-        )
-    rel_deltas = np.array(rel_deltas)
-    overall_rms_delta = np.sqrt(np.mean((predicted_params - init_params) ** 2))
-    abs_deltas = np.abs(predicted_params - init_params)
-
-    if measured_params is not None:
-      rel_errors = []
-      for i in range(predicted_params.shape[0]):
-        if (
-            measured_params[i] == 0
-            or np.abs(predicted_params[i] - measured_params[i])
-            / np.abs(measured_params[i])
-            > 2e1
-        ):
-          rel_errors.append(np.nan)
-        else:
-          rel_errors.append(
-              np.abs(predicted_params[i] - measured_params[i])
-              / np.abs(measured_params[i])
-          )
-      rel_errors = np.array(rel_errors)
-
-      overall_rmse = np.sqrt(np.mean((predicted_params - measured_params) ** 2))
-      abs_errors = np.abs(predicted_params - measured_params)
-    else:
-      overall_rmse = np.nan
-      abs_errors = np.full_like(predicted_params, np.nan)
-      rel_errors = np.full_like(predicted_params, np.nan)
-
-    lower_bounds, upper_bounds = self.get_bounds()
-
-    def format_number(x):
-      """Format number with fixed width for proper table alignment."""
-      if abs(x) < 0.01:
-        return f"{x: .{sig_digits}e}"
-      else:
-        return f"{x: .{sig_digits}f}"
-
-    def get_color_for_error(error):
-      """Get color code based on relative error magnitude."""
-      if error < 0.02:
-        return Fore.GREEN
-      elif error < 0.1:
-        return Fore.YELLOW
-      else:
-        return Fore.RED
-
-    def create_table_row(param_name, idx):
-      """Create a formatted table row for a parameter at the given index."""
-
-      true = measured_params[idx] if measured_params is not None else np.nan
-      init = init_params[idx]
-      est = predicted_params[idx]
-      lower_bound = lower_bounds[idx]
-      upper_bound = upper_bounds[idx]
-      delta = abs_deltas[idx]
-      error = abs_errors[idx] if measured_params is not None else np.nan
-      rel_delta = rel_deltas[idx]
-      rel_err = rel_errors[idx] if measured_params is not None else np.nan
-
-      # If a parameter is near the boundary make it magneta
-      if (abs(est - lower_bound) < 1e-8 + 1e-3 * abs(lower_bound)) or (
-          abs(est - upper_bound) < 1e-8 + 1e-3 * abs(upper_bound)
-      ):
-        color = Fore.MAGENTA
-      else:
-        if measured_params is None:
-          color = get_color_for_error(rel_delta)
-        else:
-          color = get_color_for_error(error)
-
-      # Format all values with appropriate colors
-      if np.isnan(true):
-        measured_val = ""
-      else:
-        measured_val = f"{Fore.BLUE}{format_number(true)}{Style.RESET_ALL}"
-      init_val = f"{Fore.BLUE}{format_number(init)}{Style.RESET_ALL}"
-      est_val = f"{color}{format_number(est)}{Style.RESET_ALL}"
-
-      lower_bound_val = (
-          f"{Fore.BLUE}{format_number(lower_bound)}{Style.RESET_ALL}"
-      )
-      upper_bound_val = (
-          f"{Fore.BLUE}{format_number(upper_bound)}{Style.RESET_ALL}"
-      )
-
-      if np.isnan(error):
-        abs_err_val = ""
-      else:
-        abs_err_val = f"{color}{format_number(error)}{Style.RESET_ALL}"
-      abs_delta_val = f"{color}{format_number(delta)}{Style.RESET_ALL}"
-
-      if np.isnan(rel_err):
-        rel_err_val = ""
-      else:
-        rel_err_val = f"{color}{rel_err * 100:.1f}%{Style.RESET_ALL}"
-
-      if np.isnan(rel_delta):
-        rel_delta_val = ""
-      else:
-        rel_delta_val = f"{color}{rel_delta * 100:.1f}%{Style.RESET_ALL}"
-
-      return [
-          f"{Fore.CYAN}{param_name.ljust(20)}{Style.RESET_ALL}",
-          init_val,
-          measured_val,
-          est_val,
-          lower_bound_val,
-          upper_bound_val,
-          abs_err_val,
-          abs_delta_val,
-          rel_err_val,
-          rel_delta_val,
-      ]
-
-    # Build table data.
-    table_data = []
-    non_frozen_idx = 0  # Index for non-frozen parameters in the arrays
-
-    for param_name, param in self.parameters.items():
-      if param.frozen:
-        continue  # Skip frozen parameters
-
-      if param.size == 1:
-        table_data.append(create_table_row(param_name, non_frozen_idx))
-        non_frozen_idx += 1
-      else:
-        for i in range(param.size):
-          if param.shape == (param.size,):
-            element_name = f"{param_name}[{i}]"
-          else:
-            multi_idx = np.unravel_index(i, param.shape)
-            idx_str = ",".join(str(x) for x in multi_idx)
-            element_name = f"{param_name}[{idx_str}]"
-          table_data.append(create_table_row(element_name, non_frozen_idx))
-          non_frozen_idx += 1
-
-    # Create and return the formatted table.
-    headers = [
-        "Parameter",
-        "Initial",
-        "Nominal",
-        "Identified",
-        "Lower",
-        "Upper",
-        "Abs Err",
-        "Abs Del",
-        "Rel Err",
-        "Rel Del",
-    ]
-
-    table = tabulate(
-        table_data, headers=headers, tablefmt="outline", disable_numparse=True
-    )
-
-    overall_rmse_val = "" if np.isnan(overall_rmse) else f"{overall_rmse:.4g}"
-    overall_rms_delta_val = f"{overall_rms_delta:.4g}"
-
-    return (
-        f"{table}\nRMSE: {overall_rmse_val}\nRMS Delta: {overall_rms_delta_val}"
-    )
-
-  def __str__(self) -> str:
-    """Return a string representation of all parameters in the dictionary."""
-    if not self.parameters:
-      return f"{Fore.CYAN}ParameterDict{Style.RESET_ALL}(empty)"
-
-    param_strings = []
-    for name, param in self.parameters.items():
-      if param.size == 1:
-        param_strings.append(f"  {param}")
-      else:
-        # For multi-dimensional parameters, show each element on its own line
-        param_strings.append(f"  {Fore.CYAN}{name}{Style.RESET_ALL}:")
-        if param.shape == (param.size,):  # 1D array
-          for i in range(param.size):
-            param_strings.append(
-                f"    [{i}]: {Fore.GREEN}{param.value[i]:.3g}{Style.RESET_ALL} "
-                f"∈ [{Fore.YELLOW}{param.min_value[i]:.3g}, "
-                f"{param.max_value[i]:.3g}{Style.RESET_ALL}]"
-            )
-        else:  # Multi-dimensional array
-          flat_idx = 0
-          for idx in np.ndindex(param.shape):
-            idx_str = ",".join(str(x) for x in idx)
-            param_strings.append(
-                f"    [{idx_str}]:"
-                f" {Fore.GREEN}{param.value[idx]:.3g}{Style.RESET_ALL} ∈"
-                f" [{Fore.YELLOW}{param.min_value.flat[flat_idx]:.3g},"
-                f" {param.max_value.flat[flat_idx]:.3g}{Style.RESET_ALL}]"
-            )
-            flat_idx += 1
-
-    params_str = "\n".join(param_strings)
-    return f"{Fore.CYAN}ParameterDict{Style.RESET_ALL}(\n{params_str}\n)"
-
-  def __repr__(self) -> str:
-    return self.__str__()
-
-  def get_non_frozen_parameter_names(self) -> list[str]:
-    """Get the names of all non-frozen parameters, expanding multi-dimensional ones."""
-    names = []
-    for name, param in self.parameters.items():
-      if not param.frozen:
-        if param.size == 1:
-          names.append(name)
-        else:
-          if param.shape == (param.size,):
-            for i in range(param.size):
-              names.append(f"{name}[{i}]")
-          else:
-            for idx in np.ndindex(param.shape):
-              idx_str = ",".join(map(str, idx))
-              names.append(f"{name}[{idx_str}]")
-    return names
-
-  def get_parameter_info(self) -> str:
-    """Get information about all parameters in the dictionary.
-
-    Returns:
-      A formatted string with parameter information.
-    """
-    if not self.parameters:
-      return "No parameters in dictionary."
-
-    info = []
-    info.append(f"{Fore.CYAN}Parameter Information:{Style.RESET_ALL}")
-    info.append(
-        f"{Fore.CYAN}{'Name':<20} {'Size':<10} {'Shape':<15}"
-        f" {'Frozen':<10}{Style.RESET_ALL}"
-    )
-    info.append("-" * 60)
-
-    for name, param in self.parameters.items():
-      frozen_str = (
-          f"{Fore.RED}Yes{Style.RESET_ALL}"
-          if param.frozen
-          else f"{Fore.GREEN}No{Style.RESET_ALL}"
-      )
-      info.append(
-          f"{Fore.CYAN}{name:<20} {param.size:<10} {str(param.shape):<15}"
-          f" {frozen_str}{Style.RESET_ALL}"
-      )
-
-    return "\n".join(info)
diff --git a/python/mujoco/sysid/_src/plotting.py b/python/mujoco/sysid/_src/plotting.py
deleted file mode 100644
index 484a3a3b..00000000
--- a/python/mujoco/sysid/_src/plotting.py
+++ /dev/null
@@ -1,114 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Plotting utilities."""
-
-from __future__ import annotations
-
-from collections.abc import Sequence
-
-import mujoco
-import numpy as np
-
-
-def render_rollout(
-    model: mujoco.MjModel | Sequence[mujoco.MjModel],
-    data: mujoco.MjData,
-    state: np.ndarray,
-    framerate: int,
-    camera: str | int = -1,
-    width: int = 640,
-    height: int = 480,
-    light_pos: Sequence[float] | None = None,
-) -> list[np.ndarray]:
-  """Renders a rollout or batch of rollouts.
-
-  Args:
-    model: Single model or list of models (one per batch).
-    data: MjData scratch object.
-    state: State array of shape (nbatch, nsteps, nstate).
-    framerate: Frames per second to render.
-    camera: Camera name or ID.
-    width: Image width.
-    height: Image height.
-    light_pos: Optional light position [x, y, z] to add a spotlight.
-
-  Returns:
-    List of rendered frames (numpy arrays).
-  """
-  nbatch = state.shape[0]
-
-  if isinstance(model, mujoco.MjModel):
-    models_list = [model] * nbatch
-  else:
-    models_list = list(model)
-    if len(models_list) == 1:
-      models_list = models_list * nbatch
-    else:
-      assert len(models_list) == nbatch
-
-  # Visual options
-  vopt = mujoco.MjvOption()
-  vopt.geomgroup[3] = 1  # Show visualization geoms
-
-  pert = mujoco.MjvPerturb()
-  catmask = mujoco.mjtCatBit.mjCAT_DYNAMIC.value
-
-  # Simulate and render.
-  frames = []
-
-  with mujoco.Renderer(models_list[0], height=height, width=width) as renderer:
-    for i in range(state.shape[1]):
-      # Check if we should capture this frame based on framerate
-      if len(frames) < i * models_list[0].opt.timestep * framerate:
-        for j in range(state.shape[0]):
-          # Set state
-          mujoco.mj_setState(
-              models_list[j],
-              data,
-              state[j, i, :],
-              mujoco.mjtState.mjSTATE_FULLPHYSICS.value,
-          )
-          mujoco.mj_forward(models_list[j], data)
-
-          # Use first model to make the scene, add subsequent models
-          if j == 0:
-            renderer.update_scene(data, camera, scene_option=vopt)
-          else:
-            mujoco.mjv_addGeoms(
-                models_list[j], data, vopt, pert, catmask, renderer.scene
-            )
-
-        # Add light, if requested
-        if light_pos is not None:
-          if renderer.scene.nlight < 100:  # check limit
-            light = renderer.scene.lights[renderer.scene.nlight]
-            light.ambient = [0, 0, 0]
-            light.attenuation = [1, 0, 0]
-            light.castshadow = 1
-            light.cutoff = 45
-            light.diffuse = [0.8, 0.8, 0.8]
-            light.dir = [0, 0, -1]
-            light.type = mujoco.mjtLightType.mjLIGHT_SPOT
-            light.exponent = 10
-            light.headlight = 0
-            light.specular = [0.3, 0.3, 0.3]
-            light.pos = light_pos
-            renderer.scene.nlight += 1
-
-        # Render and add the frame.
-        pixels = renderer.render()
-        frames.append(pixels)
-  return frames
diff --git a/python/mujoco/sysid/_src/residual.py b/python/mujoco/sysid/_src/residual.py
deleted file mode 100644
index 00a572ea..00000000
--- a/python/mujoco/sysid/_src/residual.py
+++ /dev/null
@@ -1,449 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Residual computation for system identification."""
-
-from __future__ import annotations
-
-from collections.abc import Callable, Mapping, Sequence
-import copy
-import os
-from typing import TypeAlias
-
-import mujoco
-from mujoco.sysid._src import model_modifier
-from mujoco.sysid._src import parameter
-from mujoco.sysid._src import signal_modifier
-from mujoco.sysid._src import timeseries
-from mujoco.sysid._src.trajectory import ModelSequences
-from mujoco.sysid._src.trajectory import SystemTrajectory
-from mujoco.sysid._src.trajectory import sysid_rollout
-import numpy as np
-
-_NUM_CPUS: int = os.cpu_count() or 1
-
-BuildModelFn: TypeAlias = Callable[
-    [parameter.ParameterDict, mujoco.MjSpec], mujoco.MjModel
-]
-
-CustomRolloutFn: TypeAlias = Callable[..., Sequence[SystemTrajectory]]
-"""Replaces the default sysid_rollout. Called with keyword arguments:
-models, datas, control_signal, initial_states, param_dicts,
-rollout_signal_mapping, rollout_state_mapping, ctrl_mapping."""
-
-ModifyResidualFn: TypeAlias = Callable[
-    ..., tuple[np.ndarray, timeseries.TimeSeries, timeseries.TimeSeries]
-]
-"""Custom residual computation. Called as:
-modify_residual(params, sensordata_predicted, sensordata_measured,
-model, return_pred_all, state=..., sensor_weights=...)."""
-
-
-def construct_ts_from_defaults(
-    state_ts: timeseries.TimeSeries,
-    pred_sensordata: timeseries.TimeSeries,
-    measured_sensordata: timeseries.TimeSeries,
-    enabled_observations: (
-        Sequence[tuple[str, timeseries.SignalType]] | None
-    ) = None,
-):
-  """Assemble predicted observations to match the measured signal layout.
-
-  For each enabled observation, copies the predicted values from either
-  ``pred_sensordata`` (for MjSensor signals) or ``state_ts`` (for state
-  signals like qpos/qvel/act) into a new array whose columns align with
-  the measured data.
-
-  Args:
-    state_ts: Predicted state TimeSeries (time column already stripped).
-    pred_sensordata: Raw predicted sensor TimeSeries from rollout.
-    measured_sensordata: Measured sensor TimeSeries (defines the target layout).
-    enabled_observations: Subset of observations to include.  If None, all
-      observations in ``measured_sensordata`` are used.
-
-  Returns:
-    A ``(measured, predicted)`` tuple of TimeSeries with matching signal
-    mappings, sliced to the enabled observations.
-  """
-  assert measured_sensordata.signal_mapping is not None
-
-  # Trim measured data enabled observations
-  if enabled_observations:
-    enabled_observations_names = [i[0] for i in enabled_observations]
-    enabled_observations_types = [i[1] for i in enabled_observations]
-  else:
-    enabled_observations_names = list(measured_sensordata.signal_mapping.keys())
-    enabled_observations_types = [
-        v[0] for v in measured_sensordata.signal_mapping.values()
-    ]
-
-  selected_measured_sensordata = timeseries.TimeSeries.slice_by_name(
-      measured_sensordata, enabled_observations_names
-  )
-  assert selected_measured_sensordata.signal_mapping is not None
-  selected_measured_signal_mapping = selected_measured_sensordata.signal_mapping
-
-  shape = (
-      pred_sensordata.data.shape[0],
-      selected_measured_sensordata.data.shape[1],
-  )
-  predicted_data_out = np.zeros(shape)
-
-  measured_signal_mapping = measured_sensordata.signal_mapping
-  for enabled_obs_name, enabled_obs_type in zip(
-      enabled_observations_names, enabled_observations_types, strict=True
-  ):
-    assert state_ts.signal_mapping is not None
-    if (
-        enabled_obs_name not in measured_signal_mapping
-        and enabled_obs_name not in state_ts.signal_mapping
-    ):
-      raise ValueError(f"{enabled_obs_name} is missing.")
-
-    obs_type, indices = measured_signal_mapping[enabled_obs_name]
-
-    if obs_type != enabled_obs_type:
-      raise ValueError(
-          f"Observation type error: {enabled_obs_name} is of type {obs_type}"
-          f" but declared as {enabled_obs_type}."
-      )
-
-    if obs_type == timeseries.SignalType.CustomObs:
-      raise ValueError(
-          "You are attempting to use the default SysID's modify_residual with"
-          f" a custom observation of name {enabled_obs_name}. This is not"
-          " supported. You must implement your own modify_residual. See"
-          " documentation at ..."
-      )
-
-    elif obs_type == timeseries.SignalType.MjSensor:
-      target_indices = selected_measured_signal_mapping[enabled_obs_name][1]
-      predicted_data_out[:, ..., target_indices] = pred_sensordata.data[
-          :, ..., indices
-      ]
-
-    elif (
-        obs_type == timeseries.SignalType.MjStateQPos
-        or obs_type == timeseries.SignalType.MjStateQVel
-        or obs_type == timeseries.SignalType.MjStateAct
-    ):
-      state_indices = state_ts.signal_mapping[enabled_obs_name][1]
-
-      values = state_ts.data[:, ..., state_indices]
-      target_indices = selected_measured_signal_mapping[enabled_obs_name][1]
-      predicted_data_out[:, ..., target_indices] = values
-
-  ts_predicted_data = timeseries.TimeSeries(
-      pred_sensordata.times,
-      predicted_data_out,
-      selected_measured_sensordata.signal_mapping,
-  )
-
-  return selected_measured_sensordata, ts_predicted_data
-
-
-# Lowest level residual function, works on one model
-def model_residual(
-    x: np.ndarray,
-    params: parameter.ParameterDict,
-    build_model: Callable[[parameter.ParameterDict], mujoco.MjModel],
-    traj_measured: Sequence[SystemTrajectory] | SystemTrajectory,
-    modify_residual: ModifyResidualFn | None = None,
-    custom_rollout: CustomRolloutFn | None = None,
-    n_threads: int = _NUM_CPUS,
-    return_pred_all: bool = False,
-    resample_true: bool = True,
-    sensor_weights: Mapping[str, float] | None = None,
-    enabled_observations: Sequence[tuple[str, timeseries.SignalType]] = (),
-):
-  """Compute residuals for a single model against measured trajectories.
-
-  Builds the model from *x*, rolls out each trajectory, and computes the
-  weighted difference between predicted and measured sensor data.
-
-  Args:
-    x: Decision variable vector (flat, or 2-D for batched finite-difference).
-    params: Parameter dictionary — updated in-place from *x*.
-    build_model: ``(ParameterDict) -> MjModel`` factory.
-    traj_measured: Ground-truth trajectory or sequence of trajectories.
-    modify_residual: Optional custom residual callback (replaces the default
-      resampling / differencing logic).
-    custom_rollout: Optional replacement for :func:`sysid_rollout`.
-    n_threads: Number of ``MjData`` scratch objects for parallel rollout.
-    return_pred_all: If True, return full predicted/measured TimeSeries.
-    resample_true: Whether to resample the measured data at simulation timesteps
-      (ignored when *modify_residual* is provided).
-    sensor_weights: Per-sensor weights for the weighted diff.
-    enabled_observations: Subset of ``(name, SignalType)`` pairs to include.
-
-  Returns:
-    A 3-tuple ``(residuals, pred_sensordatas, measured_sensordatas)``.
-  """
-  # Convert single trajectory to list for consistent handling.
-  if isinstance(traj_measured, SystemTrajectory):
-    traj_measured = [traj_measured]
-  n_chunks = len(traj_measured)
-
-  # Handle finite difference columns if present.
-  initial_ndim = x.ndim
-  n_fd = 1
-  if x.ndim > 1:
-    n_fd = x.shape[1]
-    x_reshaped = x
-  else:
-    x_reshaped = x.reshape(-1, 1)
-
-  # Process each finite difference column.
-  models = []
-  models_x = []
-  model_0 = None
-  for i in range(n_fd):
-    params.update_from_vector(x_reshaped[:, i])
-    model = build_model(params)
-    if not model_0:
-      model_0 = model
-    models_x.extend([x_reshaped[:, i]] * n_chunks)
-    models.extend([model] * n_chunks)
-
-  assert model_0 is not None
-  qpos_map, qvel_map, act_map, rollout_ctrl_map = (
-      timeseries.TimeSeries.compute_all_state_mappings(model_0)
-  )
-  rollout_state_mapping = qpos_map | qvel_map | act_map
-  rollout_signal_mapping = timeseries.TimeSeries.compute_all_sensor_mapping(
-      model_0
-  )
-
-  # Create data objects for parallel computation.
-  datas = [mujoco.MjData(models[0]) for _ in range(n_threads)]
-
-  # Interpolate control signal.
-  if resample_true:
-    control_chunks = [
-        traj.control.resample(target_dt=models[0].opt.timestep)
-        for traj in traj_measured
-    ]
-  else:
-    control_chunks = [traj.control for traj in traj_measured]
-
-  # Rollout trajectories in parallel.
-  if custom_rollout is None:
-    pred_trajectories = sysid_rollout(
-        models=models[: n_fd * n_chunks],
-        datas=datas,
-        control_signal=[control for control in control_chunks] * n_fd,
-        initial_states=[chunk.initial_state for chunk in traj_measured] * n_fd,
-        rollout_signal_mapping=rollout_signal_mapping,
-        rollout_state_mapping=rollout_state_mapping,
-        ctrl_mapping=rollout_ctrl_map,
-    )
-  else:
-    param_dicts = [copy.deepcopy(params) for i in range(x_reshaped.shape[1])]
-    for i in range(x_reshaped.shape[1]):
-      param_dicts[i].update_from_vector(x_reshaped[:, i])
-    pred_trajectories = custom_rollout(
-        models=models[: n_fd * n_chunks],
-        datas=datas,
-        control_signal=[control for control in control_chunks] * n_fd,
-        initial_states=[chunk.initial_state for chunk in traj_measured] * n_fd,
-        param_dicts=param_dicts,
-        rollout_signal_mapping=rollout_signal_mapping,
-        rollout_state_mapping=rollout_state_mapping,
-        ctrl_mapping=rollout_ctrl_map,
-    )
-
-  # Compute residuals for each trajectory chunk.
-  all_residuals = []
-  pred_sensordatas = []
-  measured_sensordatas = []
-
-  for i in range(len(models)):
-    model = models[i]
-    pred_traj = pred_trajectories[i]
-    assert pred_traj.state is not None
-    pred_state = pred_traj.state.data
-
-    rollout_state_ts = timeseries.TimeSeries(
-        times=pred_state[:, 0],
-        data=pred_state[:, 1:],
-        signal_mapping=rollout_state_mapping,
-    )
-
-    measuredidx = i % n_chunks
-    measuredtraj = traj_measured[measuredidx]
-
-    pred_sensordata = pred_traj.sensordata
-    measured_sensordata = measuredtraj.sensordata
-
-    # If the user passes a residual function allow them to
-    # handle all resampling, etc.
-    if modify_residual is not None:
-      params.update_from_vector(models_x[i])
-      res, pred_sensordata, measured_sensordata = modify_residual(
-          params,
-          pred_sensordata,
-          measured_sensordata,
-          model,
-          return_pred_all,
-          state=pred_state,
-      )
-
-    # If the user does not pass a residual function, resample
-    # the ground truth data to match the sime times if requested.
-    else:
-      measured_sensordata, pred_sensordata = construct_ts_from_defaults(
-          rollout_state_ts,
-          pred_sensordata,
-          measured_sensordata,
-          enabled_observations,
-      )
-      if resample_true:
-        # Window the true data so that times in it correspond
-        # to times spanned by predicted data.
-        measured_sensordata = signal_modifier.apply_delayed_ts_window(
-            measured_sensordata, pred_sensordata, 0.0, 0.0
-        )
-        # Sample the predicted signal at the true times.
-        pred_sensordata = pred_sensordata.resample(measured_sensordata.times)
-
-      else:
-        # Do not include difference in first sensor outputs in residual vector.
-        # It corresponds to the initial condition and so provides little new
-        # information. Additionally the semantics of rollout
-        # make it difficult to
-        # simulate the sensor output corresponding to the initial condition.
-        measured_sensordata = timeseries.TimeSeries(
-            measured_sensordata.times[1:],
-            measured_sensordata.data[1:, :],
-            measured_sensordata.signal_mapping,
-        )
-
-      res = signal_modifier.weighted_diff(
-          predicted_data=pred_sensordata.data,
-          measured_data=measured_sensordata.data,
-          model=model,
-          sensor_weights=sensor_weights,
-      )
-      res = signal_modifier.normalize_residual(res, measured_sensordata.data)
-
-    if pred_sensordata.signal_mapping != measured_sensordata.signal_mapping:
-      raise ValueError(
-          "The observation mapping between the measured data and predicted"
-          " rollout data is not the same. You have not modified the observation"
-          " data in TimeSeries in modify_residual to correctly reflect the"
-          " measured data."
-      )
-
-    all_residuals.append(res)
-    pred_sensordatas.append(pred_sensordata)
-    measured_sensordatas.append(measured_sensordata)
-
-  res_array = np.stack(all_residuals, axis=0)
-  if initial_ndim == 1:
-    res_array = res_array.ravel()
-  else:
-    res_array = res_array.reshape(res_array.shape[0], -1)
-
-  return res_array.T, pred_sensordatas, measured_sensordatas
-
-
-def build_residual_fn(**captured_kwargs):
-  """Create a residual closure with pre-bound keyword arguments.
-
-  Returns a function ``fn(x, params, **overrides)`` that calls
-  :func:`residual` with the captured kwargs merged in.  This is the
-  recommended way to construct the callable passed to :func:`optimize`.
-
-  Example::
-
-      residual_fn = build_residual_fn(
-          models_sequences=seqs,
-          signal_transform=transform,
-      )
-      opt_params, result = optimize(params, residual_fn)
-  """
-
-  def built_residual_fn(x, params, **kwargs):
-    return residual(
-        x,
-        params,
-        **captured_kwargs,
-        **kwargs,
-    )
-
-  return built_residual_fn
-
-
-def residual(
-    x: np.ndarray,
-    params: parameter.ParameterDict,
-    models_sequences: list[ModelSequences],
-    build_model: BuildModelFn = model_modifier.apply_param_modifiers,
-    modify_residual: ModifyResidualFn | None = None,
-    custom_rollout: CustomRolloutFn | None = None,
-    n_threads: int = _NUM_CPUS,
-    return_pred_all: bool = False,
-    resample_true: bool = True,
-    sensor_weights: Mapping[str, float] | None = None,
-    enabled_observations: Sequence[tuple[str, timeseries.SignalType]] = (),
-):
-  """Top-level residual: iterate over all model-sequence groups.
-
-  Calls :func:`model_residual` for every measured rollout in every
-  :class:`ModelSequences` entry and collects the results.
-
-  Args:
-    x: Current parameter vector.
-    params: Parameter dictionary with bounds and metadata.
-    models_sequences: List of model-sequence groups.
-    build_model: Callable to compile a model from parameters.
-    modify_residual: Optional post-processing for the residual.
-    custom_rollout: Optional custom rollout function.
-    n_threads: Number of threads for parallel rollout.
-    return_pred_all: Whether to return all predicted signals.
-    resample_true: Whether to resample ground-truth to predicted times.
-    sensor_weights: Per-sensor weighting for the residual.
-    enabled_observations: Additional observation signals to include.
-
-  Returns:
-    A 3-tuple ``(residuals, preds, records)`` — lists with one entry per
-    measured rollout across all groups.
-  """
-  residuals = []
-  preds = []
-  records = []
-  for model_sequences in models_sequences:
-    for measured_rollout in model_sequences.measured_rollout:
-      res = model_residual(
-          x,
-          params,
-          lambda p, _spec=model_sequences.spec: build_model(p, _spec),
-          measured_rollout,
-          modify_residual,
-          custom_rollout,
-          n_threads,
-          return_pred_all,
-          resample_true,
-          sensor_weights,
-          enabled_observations,
-      )
-      if isinstance(res, np.ndarray):
-        residuals.append(res)
-      else:
-        residuals.append(res[0])
-        preds.append(res[1])
-        records.append(res[2])
-
-  return residuals, preds, records
diff --git a/python/mujoco/sysid/_src/signal_modifier.py b/python/mujoco/sysid/_src/signal_modifier.py
deleted file mode 100644
index faf5938a..00000000
--- a/python/mujoco/sysid/_src/signal_modifier.py
+++ /dev/null
@@ -1,325 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Common signal modifiers."""
-
-from __future__ import annotations
-
-from collections.abc import Mapping
-
-import mujoco
-from mujoco.sysid._src import parameter
-from mujoco.sysid._src import timeseries
-import numpy as np
-
-
-def _get_sensor_indices(model: mujoco.MjModel, sensor_name: str) -> list[int]:
-  sensor_id = mujoco.mj_name2id(
-      model, mujoco.mjtObj.mjOBJ_SENSOR.value, sensor_name
-  )
-  if sensor_id == -1:
-    raise ValueError(f"Sensor not found in model: {sensor_name}")
-
-  addr = model.sensor_adr[sensor_id]
-  dim = model.sensor_dim[sensor_id]
-
-  return list(range(addr, addr + dim))
-
-
-def get_sensor_indices(
-    model: mujoco.MjModel,
-    sensor_name: str | list[str],
-    sort: bool = False,
-) -> list[int]:
-  """Get sensor indices from a sensor configuration dictionary.
-
-  Args:
-    model: MuJoCo model containing the sensors.
-    sensor_name: sensor name or list of names to return the indices for.
-    sort: If True, sort the indices before returning.
-
-  Returns:
-    A list of sensor indices.
-  """
-  if isinstance(sensor_name, str):
-    return _get_sensor_indices(model, sensor_name)
-  all_indices = []
-  for name in sensor_name:
-    all_indices.extend(_get_sensor_indices(model, name))
-  if sort:
-    return sorted(all_indices)
-  return all_indices
-
-
-def apply_bias(
-    ts: timeseries.TimeSeries,
-    sensor_name: str,
-    bias: parameter.Parameter,
-) -> timeseries.TimeSeries:
-  """Apply a bias to a sensor in a timeseries.
-
-  Args:
-    ts: Input timeseries.
-    sensor_name: Name of the sensor to modify.
-    bias: Parameter whose ``.value`` is added to the sensor columns.
-  """
-  indices = ts.get_indices(sensor_name)[1]
-  data_out = ts.data.copy()
-  data_out[..., indices] += bias.value
-  return timeseries.TimeSeries(ts.times, data_out, ts.signal_mapping)
-
-
-def apply_gain(
-    ts: timeseries.TimeSeries,
-    sensor_name: str,
-    gain: parameter.Parameter,
-) -> timeseries.TimeSeries:
-  """Apply a gain to a sensor in a timeseries.
-
-  Args:
-    ts: Input timeseries.
-    sensor_name: Name of the sensor to modify.
-    gain: Parameter whose ``.value`` multiplies the sensor columns.
-  """
-  indices = ts.get_indices(sensor_name)[1]
-  data_out = ts.data.copy()
-  data_out[..., indices] *= gain.value
-  return timeseries.TimeSeries(ts.times, data_out, ts.signal_mapping)
-
-
-def apply_delay(
-    ts: timeseries.TimeSeries,
-    sensor_name: str,
-    delay: parameter.Parameter,
-) -> timeseries.TimeSeries:
-  """Apply a delay to a sensor in a timeseries.
-
-  Args:
-    ts: Input timeseries.
-    sensor_name: Name of the sensor to delay.
-    delay: Parameter whose ``.value`` is the delay in seconds.
-  """
-  indices = ts.get_indices(sensor_name)[1]
-
-  ts_sensor = timeseries.TimeSeries(
-      ts.times, ts.data[:, indices], ts.signal_mapping
-  )
-  ts_sensor_delayed = ts_sensor.resample(ts.times - delay.value)
-
-  ts_delayed = timeseries.TimeSeries(ts.times, ts.data, ts.signal_mapping)
-  ts_delayed.data[:, indices] = ts_sensor_delayed.data
-
-  return ts_delayed
-
-
-def apply_time_window(
-    ts: timeseries.TimeSeries,
-    min_t: float,
-    max_t: float,
-) -> timeseries.TimeSeries:
-  """Select a subset of a timeseries within a time window.
-
-  The selected timestamps, plus the max delay, can be sampled from ts_sample.
-
-  Args:
-    ts: The timeseries to window.
-    min_t: The minimum time.
-    max_t: The maximum time.
-
-  Returns:
-    A new timeseries with the timestamps windowed.
-  """
-  min_i = np.searchsorted(ts.times, min_t, side="left")
-  max_i = np.searchsorted(ts.times, max_t, side="right")
-  return timeseries.TimeSeries(
-      ts.times[min_i:max_i], ts.data[min_i:max_i], ts.signal_mapping
-  )
-
-
-def apply_delayed_ts_window(
-    ts: timeseries.TimeSeries,
-    ts_delayed: timeseries.TimeSeries,
-    min_delay: float,
-    max_delay: float,
-) -> timeseries.TimeSeries:
-  """Window a timeseries to fit within the bounds of a delayed series.
-
-  Included timestamps must lay within the bounds of a timeseries that may be
-  delayed between min_delay and max_delay.
-
-  Args:
-    ts: The timeseries to window.
-    ts_delayed: The timeseries to use as the bounds.
-    min_delay: The minimum delay. May be negative.
-    max_delay: The maximum delay.
-
-  Returns:
-    A new timeseries with the timestamps windowed.
-  """
-  if min_delay > max_delay:
-    raise ValueError(
-        "min_delay must be less than or equal to max_delay, "
-        f"received {min_delay} and {max_delay}"
-    )
-  return apply_time_window(
-      ts, ts_delayed.times[0] - min_delay, ts_delayed.times[-1] - max_delay
-  )
-
-
-def _build_per_column_delays(
-    ts: timeseries.TimeSeries,
-    default_delay: float,
-    sensor_delays: dict[str, float] | None,
-    predicted_data: bool,
-) -> list[float]:
-  """Build a per-column delay list, shared by both implementations."""
-  delays = [default_delay] * ts.data.shape[1]
-  if sensor_delays is None:
-    sensor_delays = {}
-  for name, delay in sensor_delays.items():
-    sensor_indices = ts.get_indices(name)[1]
-    for i in sensor_indices:
-      delays[i] = delay
-  if predicted_data:
-    delays = [-d for d in delays]
-  return delays
-
-
-def _apply_resample_and_delay_columnwise(
-    ts: timeseries.TimeSeries,
-    times: np.ndarray,
-    delays: list[float],
-) -> np.ndarray:
-  """Reference implementation: resample each column independently."""
-  resampled_ts = []
-  for i, d in enumerate(delays):
-    ts_sliced = timeseries.TimeSeries(
-        ts.times, ts.data[:, i : i + 1], ts.signal_mapping
-    )
-    ts_sliced_resampled = ts_sliced.resample(times + d)
-    resampled_ts.append(ts_sliced_resampled)
-  return np.concatenate([t.data for t in resampled_ts], axis=1)
-
-
-_VERIFY_RESAMPLE_GROUPING = False
-
-
-def apply_resample_and_delay(
-    ts: timeseries.TimeSeries,
-    times: np.ndarray,
-    default_delay: float,
-    sensor_delays: dict[str, float] | None = None,
-    predicted_data: bool = True,
-) -> timeseries.TimeSeries:
-  """Resample a timeseries and apply per-sensor delays.
-
-  Args:
-    ts: Input timeseries to resample.
-    times: Target timestamps.
-    default_delay: Default delay applied to all columns.
-    sensor_delays: Optional per-sensor delay overrides.
-    predicted_data: If True, negate delays (shift predicted to match measured).
-  """
-  delays = _build_per_column_delays(
-      ts, default_delay, sensor_delays, predicted_data
-  )
-
-  # Group columns by delay value to minimize interpolation calls.
-  delay_to_cols: dict[float, list[int]] = {}
-  for i, d in enumerate(delays):
-    delay_to_cols.setdefault(d, []).append(i)
-
-  data_out = np.empty((len(times), ts.data.shape[1]))
-  for d, cols in delay_to_cols.items():
-    group_data = ts.data[:, cols]
-    group_ts = timeseries.TimeSeries(ts.times, group_data, ts.signal_mapping)
-    resampled = group_ts.resample(times + d)
-    data_out[:, cols] = resampled.data
-
-  if _VERIFY_RESAMPLE_GROUPING:
-    reference = _apply_resample_and_delay_columnwise(ts, times, delays)
-    np.testing.assert_array_equal(data_out, reference)
-
-  return timeseries.TimeSeries(times, data_out, ts.signal_mapping)
-
-
-def prepare_sensor_weights(
-    sensor_weights: Mapping[str, float] | np.ndarray,
-    n_sensors: int,
-    model: mujoco.MjModel,
-) -> np.ndarray:
-  """Prepare sensor weights array from a dict or numpy array.
-
-  Args:
-    sensor_weights: Mapping from sensor name to weight, or a flat array.
-    n_sensors: Total number of sensor columns.
-    model: MuJoCo model for resolving sensor names to indices.
-  """
-  if isinstance(sensor_weights, np.ndarray):
-    if sensor_weights.ndim != 1 or sensor_weights.shape[0] != n_sensors:
-      raise ValueError(
-          "Expected sensor_weights to be a numpy array of shape (n_sensors,), "
-          f"received {sensor_weights.shape}"
-      )
-    return sensor_weights
-  else:
-    weights = np.ones(n_sensors)
-    ids = get_sensor_indices(model, list(sensor_weights.keys()))
-    for i, w in zip(ids, sensor_weights.values(), strict=True):
-      weights[i] = w
-    return weights
-
-
-def weighted_diff(
-    predicted_data: np.ndarray,
-    measured_data: np.ndarray,
-    model: mujoco.MjModel | None = None,
-    sensor_weights: Mapping[str, float] | np.ndarray | None = None,
-) -> np.ndarray:
-  """Compute the weighted difference between measured and predicted data.
-
-  Calculates ``measured_data - predicted_data``, optionally scaled by sensor
-  weights.
-
-  Args:
-    predicted_data: The predicted data, of shape (n_timesteps, n_sensors).
-    measured_data: The measured data, of shape (n_timesteps, n_sensors).
-    model: Optional mujoco model. This argument is required if sensor_weights
-      is not None.
-    sensor_weights: An optional dict mapping sensor name to weight. Unspecified
-      sensors are assumed to have a weight of 1.
-
-  Returns:
-    A numpy array of the weighted difference.
-  """
-  res = measured_data - predicted_data
-  if sensor_weights is None:
-    return res
-  if model is None:
-    raise ValueError("model is required if sensor_weights is provided")
-  return res * prepare_sensor_weights(sensor_weights, res.shape[-1], model)
-
-
-def normalize_residual(
-    residual: np.ndarray,
-    measured_data: np.ndarray,
-) -> np.ndarray:
-  """Normalize the residual by the standard deviation of the measured data.
-
-  Args:
-    residual: Residual array, shape ``(n_timesteps, n_sensors)``.
-    measured_data: Measured data array, same shape as *residual*.
-  """
-  return residual / (np.linalg.norm(measured_data, axis=0) / np.sqrt(2))
diff --git a/python/mujoco/sysid/_src/signal_transform.py b/python/mujoco/sysid/_src/signal_transform.py
deleted file mode 100644
index 38ef83d9..00000000
--- a/python/mujoco/sysid/_src/signal_transform.py
+++ /dev/null
@@ -1,301 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Declarative signal transformation for system identification residuals."""
-
-from __future__ import annotations
-
-from collections.abc import Mapping
-from fnmatch import fnmatch
-
-import mujoco
-from mujoco.sysid._src import parameter
-from mujoco.sysid._src import signal_modifier
-from mujoco.sysid._src import timeseries
-import numpy as np
-
-
-class SignalTransform:
-  """Declarative signal transformation replacing boilerplate modify_residual callbacks.
-
-  Usage::
-
-    transform = SignalTransform()
-    transform.delay("*_pos", params["delay_pos"])
-    transform.delay("*_torque", params["delay_torque"])
-    transform.gain("*_torque", params["torque_scale"], target="predicted")
-    transform.enable_sensors(cfg.sensors_enabled)
-
-  The ``apply`` method has the same signature as ``ModifyResidualFn`` and can
-  be passed directly to ``build_residual_fn(signal_transform=transform)``.
-  """
-
-  def __init__(self, normalize: bool = True):
-    self._delays: list[tuple[str, str, parameter.Parameter]] = []
-    self._gains: list[tuple[str, str, str]] = []
-    self._biases: list[tuple[str, str, str]] = []
-    self._enabled_sensors: list[str] | None = None
-    self._sensor_weights: Mapping[str, float] | None = None
-    self.normalize = normalize
-
-  def delay(self, pattern: str, param: parameter.Parameter) -> None:
-    """Register a delay for sensors matching *pattern* (fnmatch).
-
-    Args:
-      pattern: fnmatch pattern matched against sensor names.
-      param: Parameter whose ``.value`` is the delay in seconds.
-    """
-    self._delays.append((pattern, param.name, param))
-
-  def gain(
-      self,
-      pattern: str,
-      param: parameter.Parameter,
-      target: str = "both",
-  ) -> None:
-    """Register a multiplicative gain for sensors matching *pattern*.
-
-    Args:
-      pattern: fnmatch pattern matched against sensor names.
-      param: Parameter whose ``.value`` is the gain factor.
-      target: One of ``"predicted"``, ``"measured"``, or ``"both"``.
-    """
-    if target not in ("predicted", "measured", "both"):
-      raise ValueError(
-          f"target must be 'predicted', 'measured', or 'both', got {target!r}"
-      )
-    self._gains.append((pattern, param.name, target))
-
-  def bias(
-      self,
-      pattern: str,
-      param: parameter.Parameter,
-      target: str = "both",
-  ) -> None:
-    """Register an additive bias for sensors matching *pattern*.
-
-    Args:
-      pattern: fnmatch pattern matched against sensor names.
-      param: Parameter whose ``.value`` is the additive bias.
-      target: One of ``"predicted"``, ``"measured"``, or ``"both"``.
-    """
-    if target not in ("predicted", "measured", "both"):
-      raise ValueError(
-          f"target must be 'predicted', 'measured', or 'both', got {target!r}"
-      )
-    self._biases.append((pattern, param.name, target))
-
-  def enable_sensors(self, sensor_names: list[str]) -> None:
-    """Only include these sensors in the returned residual/timeseries.
-
-    Args:
-      sensor_names: Sensor names to keep in the output.
-    """
-    self._enabled_sensors = list(sensor_names)
-
-  def set_sensor_weights(self, weights: Mapping[str, float]) -> None:
-    """Set per-sensor weights for the weighted diff.
-
-    Args:
-      weights: Mapping from sensor name to weight.
-    """
-    self._sensor_weights = weights
-
-  # Private methods.
-
-  def _resolve_delays(
-      self,
-      sensor_names: list[str],
-      params: parameter.ParameterDict,
-  ) -> dict[str, float]:
-    """Resolve delay patterns to concrete sensor name -> delay value (last match wins)."""
-    resolved: dict[str, float] = {}
-    for pattern, param_name, _ in self._delays:
-      delay_value = params[param_name].value[0]
-      for name in sensor_names:
-        if fnmatch(name, pattern):
-          resolved[name] = delay_value
-    return resolved
-
-  def _compute_delay_bounds(self) -> tuple[float, float]:
-    """Compute min/max delay across all registered delay params (deduplicated by name)."""
-    if not self._delays:
-      return 0.0, 0.0
-    seen: set[str] = set()
-    min_vals: list[float] = []
-    max_vals: list[float] = []
-    for _, param_name, param in self._delays:
-      if param_name in seen:
-        continue
-      seen.add(param_name)
-      min_vals.append(float(param.min_value[0]))
-      max_vals.append(float(param.max_value[0]))
-    return min(min_vals), max(max_vals)
-
-  def _get_sensor_names(self, ts: timeseries.TimeSeries) -> list[str]:
-    """Extract sensor names from a TimeSeries signal_mapping."""
-    if ts.signal_mapping is None:
-      return []
-    return list(ts.signal_mapping.keys())
-
-  def _apply_gains_biases_reference(
-      self,
-      ts: timeseries.TimeSeries,
-      target_label: str,
-      params: parameter.ParameterDict,
-  ) -> timeseries.TimeSeries:
-    """Reference implementation: one full copy per gain/bias application."""
-    sensor_names = self._get_sensor_names(ts)
-    for pattern, param_name, target in self._gains:
-      if target != target_label and target != "both":
-        continue
-      for name in sensor_names:
-        if fnmatch(name, pattern):
-          ts = signal_modifier.apply_gain(ts, name, params[param_name])
-    for pattern, param_name, target in self._biases:
-      if target != target_label and target != "both":
-        continue
-      for name in sensor_names:
-        if fnmatch(name, pattern):
-          ts = signal_modifier.apply_bias(ts, name, params[param_name])
-    return ts
-
-  _VERIFY_GAINS_BIASES = False
-
-  def _apply_gains_biases(
-      self,
-      ts: timeseries.TimeSeries,
-      target_label: str,
-      params: parameter.ParameterDict,
-  ) -> timeseries.TimeSeries:
-    """Apply matching gains and biases to a timeseries for the given target label."""
-    sensor_names = self._get_sensor_names(ts)
-    data = ts.data.copy()
-
-    for pattern, param_name, target in self._gains:
-      if target != target_label and target != "both":
-        continue
-      for name in sensor_names:
-        if fnmatch(name, pattern):
-          indices = ts.get_indices(name)[1]
-          data[..., indices] *= params[param_name].value
-
-    for pattern, param_name, target in self._biases:
-      if target != target_label and target != "both":
-        continue
-      for name in sensor_names:
-        if fnmatch(name, pattern):
-          indices = ts.get_indices(name)[1]
-          data[..., indices] += params[param_name].value
-
-    result = timeseries.TimeSeries(ts.times, data, ts.signal_mapping)
-
-    if self._VERIFY_GAINS_BIASES:
-      ref = self._apply_gains_biases_reference(ts, target_label, params)
-      np.testing.assert_array_equal(result.data, ref.data)
-
-    return result
-
-  def apply(
-      self,
-      params: parameter.ParameterDict,
-      sensordata_predicted: timeseries.TimeSeries,
-      sensordata_measured: timeseries.TimeSeries,
-      model: mujoco.MjModel,
-      return_pred_all: bool,
-      state: np.ndarray | None = None,
-      sensor_weights: Mapping[str, float] | None = None,
-  ) -> tuple[np.ndarray, timeseries.TimeSeries, timeseries.TimeSeries]:
-    """Apply all registered transforms and compute the residual.
-
-    Signature matches :data:`ModifyResidualFn` so this method can be passed
-    directly as ``modify_residual`` to :func:`model_residual`.
-
-    Pipeline: window measured data, resample + delay predicted data, apply
-    gains/biases, weighted diff, normalise, slice to enabled sensors.
-
-    Args:
-      params: Current parameter dictionary.
-      sensordata_predicted: Predicted sensor TimeSeries from rollout.
-      sensordata_measured: Measured sensor TimeSeries (ground truth).
-      model: MuJoCo model for sensor metadata lookup.
-      return_pred_all: Whether to return all predicted signals.
-      state: Unused; part of the ModifyResidualFn signature.
-      sensor_weights: Per-sensor weighting for the residual.
-
-    Returns:
-      ``(residual_array, predicted_ts, measured_ts)`` — the residual matrix
-      and the (possibly sliced) predicted/measured TimeSeries.
-    """
-    del state  # Part of ModifyResidualFn signature but unused here.
-    sensor_names = self._get_sensor_names(sensordata_predicted)
-
-    # 1. Resolve delays and compute bounds.
-    sensor_delays = self._resolve_delays(sensor_names, params)
-    min_delay, max_delay = self._compute_delay_bounds()
-
-    # 2. Window measured data.
-    sensordata_measured = signal_modifier.apply_delayed_ts_window(
-        sensordata_measured, sensordata_predicted, min_delay, max_delay
-    )
-
-    # 3. Resample and delay predicted data.
-    if sensor_delays:
-      sensordata_predicted = signal_modifier.apply_resample_and_delay(
-          sensordata_predicted,
-          sensordata_measured.times,
-          0.0,
-          sensor_delays=sensor_delays,
-      )
-    else:
-      sensordata_predicted = sensordata_predicted.resample(
-          sensordata_measured.times
-      )
-
-    # 4. Apply gains and biases.
-    sensordata_predicted = self._apply_gains_biases(
-        sensordata_predicted, "predicted", params
-    )
-    sensordata_measured = self._apply_gains_biases(
-        sensordata_measured, "measured", params
-    )
-
-    # 5. Weighted diff.
-    weights = sensor_weights or self._sensor_weights
-    res = signal_modifier.weighted_diff(
-        predicted_data=sensordata_predicted.data,
-        measured_data=sensordata_measured.data,
-        model=model,
-        sensor_weights=weights,
-    )
-
-    # 6. Normalize.
-    if self.normalize:
-      res = signal_modifier.normalize_residual(res, sensordata_measured.data)
-
-    # 7. Slice to enabled sensors.
-    if not return_pred_all and self._enabled_sensors is not None:
-      indices = signal_modifier.get_sensor_indices(model, self._enabled_sensors)
-      sensordata_predicted = timeseries.TimeSeries(
-          sensordata_predicted.times,
-          sensordata_predicted.data[:, indices],
-      )
-      sensordata_measured = timeseries.TimeSeries(
-          sensordata_measured.times,
-          sensordata_measured.data[:, indices],
-      )
-      res = res[:, indices]
-
-    return res, sensordata_predicted, sensordata_measured
diff --git a/python/mujoco/sysid/_src/timeseries.py b/python/mujoco/sysid/_src/timeseries.py
deleted file mode 100644
index 73d2204b..00000000
--- a/python/mujoco/sysid/_src/timeseries.py
+++ /dev/null
@@ -1,816 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Time series utilities."""
-
-from __future__ import annotations
-
-from collections.abc import Sequence
-from dataclasses import dataclass
-from enum import Enum
-import json
-import pathlib
-from typing import Literal, TypeAlias
-
-import mujoco
-import numpy as np
-import scipy.interpolate
-
-
-class SignalType(Enum):
-  MjSensor = 0
-  CustomObs = 1
-  MjStateQPos = 2
-  MjStateQVel = 3
-  MjStateAct = 4
-  MjCtrl = 5
-
-
-SignalMappingType: TypeAlias = dict[str, tuple[SignalType, np.ndarray]]
-
-
-def encode_signal_mapping(signal_mapping: SignalMappingType) -> str:
-  """Serialize a signal mapping to a JSON string.
-
-  This avoids storing object arrays (which require ``allow_pickle=True`` to
-  load) on disk. The mapping is plain data: enum values and integer indices.
-  """
-  return json.dumps({
-      name: [sig_type.value, np.asarray(indices).astype(int).tolist()]
-      for name, (sig_type, indices) in signal_mapping.items()
-  })
-
-
-def decode_signal_mapping(encoded: str) -> SignalMappingType:
-  """Inverse of :func:`encode_signal_mapping`."""
-  raw = json.loads(encoded)
-  return {
-      name: (SignalType(sig_type), np.asarray(indices, dtype=int))
-      for name, (sig_type, indices) in raw.items()
-  }
-
-InterpolationMethod = Literal[
-    "linear", "cubic", "quadratic", "quintic", "zero_order_hold", "zoh"
-]
-
-
-def _resolve_signals(
-    model: mujoco.MjModel,
-    names: Sequence[str | tuple[str, SignalType]],
-    allowed_types: set[SignalType],
-) -> SignalMappingType:
-  """Resolves signal names to (canonical_name, type, indices) mappings.
-
-  Each name can be a string or (name, SignalType) tuple for disambiguation.
-
-  Args:
-    model: MuJoCo model used to look up sensor metadata.
-    names: Signal names or (name, type) tuples.
-    allowed_types: Set of acceptable signal types.
-
-  Returns:
-    A dictionary mapping signal names to (type, indices) tuples.
-  """
-  result: SignalMappingType = {}
-  idx = 0
-
-  for item in names:
-    name, hint = item if isinstance(item, tuple) else (item, None)
-    resolved = _resolve_one(model, name, hint, allowed_types)
-
-    if resolved is None:
-      if hint is not None and hint not in allowed_types:
-        raise ValueError(
-            f"Signal '{name}' has type {hint.name} which is not allowed."
-        )
-      raise ValueError(
-          f"Could not resolve signal '{item}' with allowed types"
-          f" {[t.name for t in allowed_types]}."
-      )
-
-    canon_name, sig_type, width = resolved
-    result[canon_name] = (sig_type, np.arange(idx, idx + width))
-    idx += width
-
-  return result
-
-
-# Suffix conventions for state/control signals
-_SUFFIXES = {
-    SignalType.MjStateQPos: "_qpos",
-    SignalType.MjStateQVel: "_qvel",
-    SignalType.MjStateAct: "_act",
-    SignalType.MjCtrl: "_ctrl",
-}
-
-
-def _strip_suffix(name: str, suffix: str) -> str:
-  """Strip suffix from name if present."""
-  return name[: -len(suffix)] if name.endswith(suffix) else name
-
-
-def _resolve_one(
-    model: mujoco.MjModel,
-    name: str,
-    hint: SignalType | None,
-    allowed: set[SignalType],
-) -> tuple[str, SignalType, int] | None:
-  """Resolve a single signal name to (canonical_name, type, width)."""
-
-  # 1. Sensor
-  if _type_allowed(hint, SignalType.MjSensor, allowed):
-    sid = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_SENSOR.value, name)
-    if sid >= 0:
-      return (name, SignalType.MjSensor, model.sensor_dim[sid])
-
-  # 2. Control
-  if _type_allowed(hint, SignalType.MjCtrl, allowed):
-    base = _strip_suffix(name, "_ctrl")
-    aid = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR.value, base)
-    if aid >= 0:
-      return (base + "_ctrl", SignalType.MjCtrl, 1)
-
-  # 3. State (qpos/qvel)
-  for sig_type in (SignalType.MjStateQPos, SignalType.MjStateQVel):
-    if _type_allowed(hint, sig_type, allowed):
-      base = _strip_suffix(name, _SUFFIXES[sig_type])
-      width = _joint_or_body_width(model, base, sig_type)
-      if width > 0:
-        return (base + _SUFFIXES[sig_type], sig_type, width)
-
-  # 4. Actuator state (act)
-  if _type_allowed(hint, SignalType.MjStateAct, allowed):
-    base = _strip_suffix(name, "_act")
-    aid = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_ACTUATOR.value, base)
-    if aid >= 0 and model.actuator_actnum[aid] > 0:
-      return (base + "_act", SignalType.MjStateAct, model.actuator_actnum[aid])
-
-  return None
-
-
-def _type_allowed(
-    hint: SignalType | None, target: SignalType, allowed: set[SignalType]
-) -> bool:
-  """Check if target type is allowed given hint and allowed set."""
-  return (hint is None or hint == target) and target in allowed
-
-
-def _joint_or_body_width(
-    model: mujoco.MjModel, name: str, sig_type: SignalType
-) -> int:
-  """Get state width for a joint or free body."""
-  # Joint widths by type
-  QPOS_WIDTHS = {mujoco.mjtJoint.mjJNT_FREE: 7, mujoco.mjtJoint.mjJNT_BALL: 4}
-  QVEL_WIDTHS = {mujoco.mjtJoint.mjJNT_FREE: 6, mujoco.mjtJoint.mjJNT_BALL: 3}
-
-  jid = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT.value, name)
-  if jid >= 0:
-    jtype = model.jnt_type[jid]
-    widths = QPOS_WIDTHS if sig_type == SignalType.MjStateQPos else QVEL_WIDTHS
-    return widths.get(jtype, 1)
-
-  # Free body
-  bid = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY.value, name)
-  if bid >= 0 and model.body_dofnum[bid] == 6:
-    return 7 if sig_type == SignalType.MjStateQPos else 6
-
-  return 0
-
-
-@dataclass(frozen=True)
-class TimeSeries:
-  """A utility class for working with time-series data.
-
-  Attributes:
-    times: 1D array of timestamps.
-    data: Array of signal data. The first axis corresponds to time.
-    signal_mapping: Dict of tuples that maps the signal type and its signal
-      fields in data
-  """
-
-  times: np.ndarray
-  data: np.ndarray
-  signal_mapping: SignalMappingType | None = None
-
-  @staticmethod
-  def compute_all_sensor_mapping(model: mujoco.MjModel) -> SignalMappingType:
-    """Computes mapping for all sensors in the model."""
-    signal_mapping = {}
-    for sensor_id in range(model.nsensor):
-      addr = model.sensor_adr[sensor_id]
-      dim = model.sensor_dim[sensor_id]
-      name = mujoco.mj_id2name(
-          model, mujoco.mjtObj.mjOBJ_SENSOR.value, sensor_id
-      )
-      indices = np.arange(addr, addr + dim)
-      signal_mapping[name] = (SignalType.MjSensor, indices)
-    return signal_mapping
-
-  @staticmethod
-  def compute_all_control_mapping(model: mujoco.MjModel) -> SignalMappingType:
-    """Computes mapping for all controls (actuators) in the model."""
-    ctrl_map: SignalMappingType = {}
-    for act_id in range(model.nu):
-      act_name = model.actuator(act_id).name
-      ctrl_indices = np.arange(act_id, act_id + 1)
-      ctrl_map[f"{act_name}_ctrl"] = (SignalType.MjCtrl, ctrl_indices)
-    return ctrl_map
-
-  @staticmethod
-  def compute_all_state_mappings(
-      model: mujoco.MjModel,
-  ) -> tuple[
-      SignalMappingType, SignalMappingType, SignalMappingType, SignalMappingType
-  ]:
-    """Computes mappings for all state components (qpos, qvel, act) + ctrl."""
-    qpos_map: SignalMappingType = {}
-    qvel_map: SignalMappingType = {}
-    act_map: SignalMappingType = {}
-
-    nq = model.nq
-    nv = model.nv
-
-    # Bodies with free joints, named by body rather than joint.
-    for body_id in range(model.nbody):
-      b = model.body(body_id)
-      body_name = b.name
-      dof_adr = model.body_dofadr[body_id]
-
-      if dof_adr >= 0 and b.dofnum[0] == 6:
-        # Use the body's first joint qposadr for qpos. Free joints have
-        # 7 qpos elements but only 6 dofs, so dofadr and qposadr diverge
-        # for subsequent entries.
-        first_jnt = model.body_jntadr[body_id]
-        qpos_adr = model.jnt_qposadr[first_jnt]
-        qpos_indices = np.arange(qpos_adr, qpos_adr + 7)
-        qpos_map[f"{body_name}_qpos"] = (SignalType.MjStateQPos, qpos_indices)
-        qvel_indices = np.arange(dof_adr + nq, dof_adr + nq + 6)
-        qvel_map[f"{body_name}_qvel"] = (SignalType.MjStateQVel, qvel_indices)
-
-    # Joints, excluding free joints which are handled above.
-    for jnt_id in range(model.njnt):
-      jnt_name = model.joint(jnt_id).name
-      jnt_type = model.jnt_type[jnt_id]
-
-      qpos_width = 1
-      qvel_width = 1
-      if jnt_type == mujoco.mjtJoint.mjJNT_BALL:
-        qpos_width = 4
-        qvel_width = 3
-      elif jnt_type == mujoco.mjtJoint.mjJNT_FREE:
-        continue
-
-      qpos_adr = model.jnt_qposadr[jnt_id]
-      qpos_indices = np.arange(qpos_adr, qpos_adr + qpos_width)
-      qpos_map[f"{jnt_name}_qpos"] = (SignalType.MjStateQPos, qpos_indices)
-      dof_adr = model.jnt_dofadr[jnt_id]
-      qvel_indices = np.arange(dof_adr + nq, dof_adr + nq + qvel_width)
-      qvel_map[f"{jnt_name}_qvel"] = (SignalType.MjStateQVel, qvel_indices)
-
-    # Actuators
-    for act_id in range(model.nu):
-      act_name = model.actuator(act_id).name
-      start_index = model.actuator_actadr[act_id]
-      num_vals = model.actuator_actnum[act_id]
-      # if index is -1, the actuator is stateless.
-      if start_index != -1:
-        indices = np.arange(
-            start_index + nq + nv, start_index + nq + nv + num_vals
-        )
-        act_map[f"{act_name}_act"] = (SignalType.MjStateAct, indices)
-
-    ctrl_map = TimeSeries.compute_all_control_mapping(model)
-
-    return qpos_map, qvel_map, act_map, ctrl_map
-
-  @classmethod
-  def from_custom_map(
-      cls,
-      times: np.ndarray,
-      data: np.ndarray,
-      signals: Sequence[str | tuple[str, int, SignalType]],
-  ) -> TimeSeries:
-    """Construct a TimeSeries from custom data with explicit signal definitions.
-
-    Use this when you have custom signal types (e.g., from a custom
-    modify_residual function) that are not auto-resolved from a MuJoCo model.
-    You must explicitly specify the signal names, widths, and types.
-
-    Args:
-      times: 1-D timestamp array of length N.
-      data: 2-D array of shape ``(N, D)``.
-      signals: Defines the layout of the columns in ``data``.
-
-    Returns:
-      A TimeSeries object with the constructed signal mapping.
-    """
-    if data.ndim != 2:
-      raise ValueError(
-          "The 'data' array must be 2-dimensional (Time x Features)."
-      )
-
-    signal_mapping_dict: SignalMappingType = {}
-    current_index = 0
-    total_width = 0
-
-    for item in signals:
-      if isinstance(item, str):
-        name = item
-        width = 1
-        sig_type = SignalType.CustomObs
-      else:
-        name, width, sig_type = item
-
-      if width <= 0:
-        raise ValueError(
-            f"Signal '{name}' must have positive width, got {width}."
-        )
-
-      indices = np.arange(current_index, current_index + width)
-      signal_mapping_dict[name] = (sig_type, indices)
-      current_index += width
-      total_width += width
-
-    if total_width != data.shape[1]:
-      raise ValueError(
-          f"Total width of signals ({total_width}) does not match "
-          f"data columns ({data.shape[1]})."
-      )
-
-    return cls(times=times, data=data, signal_mapping=signal_mapping_dict)
-
-  @classmethod
-  def from_names(
-      cls,
-      times: np.ndarray,
-      data: np.ndarray,
-      model: mujoco.MjModel,
-      names: Sequence[str | tuple[str, SignalType]] | None = None,
-  ) -> TimeSeries:
-    """Construct a TimeSeries for observations from the model.
-
-    This method automatically resolves signal names (sensors, qpos, qvel, act)
-    from
-    the MuJoCo model, determining their types and data layout. Use this for
-    standard
-    observation signals that are defined in the model.
-
-    Args:
-      times: 1-D timestamps of length N.
-      data: 2-D array of shape (N, D).
-      model: MuJoCo model used to auto-resolve signal names and types.
-      names: Signal names to map. Can be strings or (name, SignalType) tuples.
-        If None, maps ALL model sensors in sensor address order.
-
-    Warning:
-      When names=None, data columns MUST match the model's sensor layout
-      (i.e., data[:, i] corresponds to model.sensordata[i] during simulation).
-      If your data is in a different order, pass explicit names.
-
-    Raises:
-      ValueError: If MjCtrl signals are passed (use from_control_names).
-    """
-    if data.ndim != 2:
-      raise ValueError(
-          "The 'data' array must be 2-dimensional (Time x Features)."
-      )
-
-    if names is None:
-      signal_mapping = cls.compute_all_sensor_mapping(model)
-      # Verify width: assumes data contains ALL sensors in sensor_adr order
-      if model.nsensordata != data.shape[1]:
-        raise ValueError(
-            f"Data columns ({data.shape[1]}) do not match model sensors dim"
-            f" ({model.nsensordata})."
-        )
-    else:
-      signal_mapping = _resolve_signals(
-          model,
-          names,
-          allowed_types={
-              SignalType.MjSensor,
-              SignalType.MjStateQPos,
-              SignalType.MjStateQVel,
-              SignalType.MjStateAct,
-          },
-      )
-      # Verify total resolved width
-      max_idx = 0
-      for _, indices in signal_mapping.values():
-        if indices.size:
-          max_idx = max(max_idx, indices[-1] + 1)
-      if max_idx != data.shape[1]:
-        raise ValueError(
-            f"Resolved signal width ({max_idx}) does not match data columns"
-            f" ({data.shape[1]})."
-        )
-
-    return cls(times=times, data=data, signal_mapping=signal_mapping)
-
-  @classmethod
-  def from_control_names(
-      cls,
-      times: np.ndarray,
-      data: np.ndarray,
-      model: mujoco.MjModel,
-      names: Sequence[str | tuple[str, SignalType]] | None = None,
-  ) -> TimeSeries:
-    """Construct a TimeSeries for control signals from the model.
-
-    This method automatically resolves control/actuator names from the MuJoCo
-    model,
-    determining their layout. Use this for control signals (MjCtrl type).
-
-    Args:
-      times: 1-D timestamps of length N.
-      data: 2-D array of shape (N, model.nu).
-      model: MuJoCo model used to auto-resolve actuator names.
-      names: Actuator names to map. If None, maps ALL actuators in order.
-
-    Warning:
-      When names=None, data columns MUST match actuator order in the model
-      (i.e., data[:, i] corresponds to actuator i). Pass explicit names
-      if your data is in a different order.
-    """
-    if data.ndim != 2:
-      raise ValueError(
-          "The 'data' array must be 2-dimensional (Time x Features)."
-      )
-
-    if names is None:
-      signal_mapping = cls.compute_all_control_mapping(model)
-      if model.nu != data.shape[1]:
-        raise ValueError(
-            f"Data columns ({data.shape[1]}) do not match model controls"
-            f" ({model.nu})."
-        )
-    else:
-      signal_mapping = _resolve_signals(
-          model, names, allowed_types={SignalType.MjCtrl}
-      )
-      max_idx = 0
-      for _, indices in signal_mapping.values():
-        if indices.size:
-          max_idx = max(max_idx, indices[-1] + 1)
-      if max_idx != data.shape[1]:
-        raise ValueError(
-            f"Resolved signal width ({max_idx}) does not match data columns"
-            f" ({data.shape[1]})."
-        )
-
-    return cls(times=times, data=data, signal_mapping=signal_mapping)
-
-  def get_indices(self, obs_name: str) -> tuple[SignalType, np.ndarray]:
-    """Look up the signal type and column indices for a named observation.
-
-    Args:
-      obs_name: Name of the observation signal.
-    """
-    assert self.signal_mapping is not None
-    if obs_name not in self.signal_mapping:
-      raise ValueError(
-          f"{obs_name} observation is not in the observation name map."
-      )
-    return self.signal_mapping[obs_name]
-
-  @classmethod
-  def create(
-      cls,
-      times: np.ndarray,
-      data: np.ndarray,
-      signal_mapping: dict[
-          str, tuple[SignalType, np.ndarray | list[int] | int]
-      ],
-  ) -> TimeSeries:
-    """Construct a TimeSeries, normalizing index entries to ``np.ndarray``.
-
-    Args:
-      times: 1-D timestamp array.
-      data: Data array with first axis corresponding to time.
-      signal_mapping: Dict mapping signal names to ``(type, indices)`` tuples.
-        Index entries are coerced to ``np.ndarray``.
-    """
-    normalized: SignalMappingType = {}
-    for key in signal_mapping:
-      signal_type, indices = signal_mapping[key]
-      normalized[key] = (signal_type, np.atleast_1d(indices))
-
-    return cls(times, data, normalized)
-
-  @classmethod
-  def slice_by_name(
-      cls, ts: TimeSeries, enabled_sensors: list[str]
-  ) -> TimeSeries:
-    """Return a new TimeSeries containing only the named signals.
-
-    Columns are re-indexed so the resulting ``signal_mapping`` has contiguous
-    indices starting from 0.
-
-    Args:
-      ts: The source TimeSeries.
-      enabled_sensors: Names of signals to keep.
-    """
-    if not ts.signal_mapping:
-      return ts
-
-    original_indices_to_keep = []
-    original_to_new_index_map = {}
-    all_original_indices = []
-    for name in ts.signal_mapping:
-      all_original_indices.extend(ts.signal_mapping[name][1])
-
-    # Build a set of indices to keep for quick lookups
-    kept_indices_set = set()
-    for name in enabled_sensors:
-      if name not in ts.signal_mapping:
-        raise ValueError(
-            f"Attemping to slice TimeSeries failed. {name} is not in"
-            f" {ts.signal_mapping}."
-        )
-      kept_indices_set.update(ts.signal_mapping[name][1])
-    new_index_counter = 0
-    for original_index in all_original_indices:
-      if original_index in kept_indices_set:
-        original_to_new_index_map[original_index] = new_index_counter
-        new_index_counter += 1
-        original_indices_to_keep.append(original_index)
-
-    data = ts.data[..., original_indices_to_keep]
-
-    trimmed_signal_mapping = {}
-    for name in enabled_sensors:
-      metadata, original_indices = ts.signal_mapping[name]
-
-      new_indices = []
-      for original_index in original_indices:
-        new_indices.append(original_to_new_index_map[original_index])
-
-      trimmed_signal_mapping[name] = (metadata, np.asarray(new_indices))
-
-    return cls(ts.times, data, trimmed_signal_mapping)
-
-  def __post_init__(self):
-    """Validate the time series data after initialization.
-
-    Raises:
-      ValueError: If times is not 1D, if lengths don't match, if times
-        is not strictly increasing, or if arrays are empty.
-    """
-    if self.times.size == 0:
-      raise ValueError("Empty arrays are not allowed in TimeSeries")
-    if self.times.ndim != 1:
-      raise ValueError(
-          f"times must be a 1D array, got {self.times.ndim}D array"
-      )
-    if len(self.times) != len(self.data):
-      raise ValueError(
-          f"Length of times ({len(self.times)}) and data ({len(self.data)})"
-          " must match"
-      )
-    if not np.all(np.diff(self.times) > 0):
-      raise ValueError("times must be strictly increasing")
-
-  def __len__(self) -> int:
-    return len(self.data)
-
-  def save_to_disk(self, path: str | pathlib.Path) -> None:
-    """Save the time series data to disk.
-
-    Args:
-      path: Path where the data will be saved.
-    """
-    save_dict = {"times": self.times, "data": self.data}
-    if self.signal_mapping:
-      save_dict["signal_mapping"] = np.asarray(
-          encode_signal_mapping(self.signal_mapping)
-      )
-    np.savez(path, **save_dict)
-
-  def save_to_csv(self, path: str | pathlib.Path) -> None:
-    """Save the time series data to a CSV file.
-
-    Args:
-      path: Path where the CSV file will be written.
-    """
-    np.savetxt(
-        path,
-        np.concatenate([self.times[:, None], self.data], axis=1),
-        delimiter=",",
-    )
-
-  @classmethod
-  def load_from_disk(cls, path: str | pathlib.Path) -> TimeSeries:
-    """Load time series data from disk.
-
-    Args:
-      path: Path to the saved data.
-
-    Returns:
-      A new TimeSeries object.
-    """
-    with np.load(path, allow_pickle=False) as npz:
-      times = npz["times"]
-      data = npz["data"]
-      if "signal_mapping" in npz:
-        signal_mapping = decode_signal_mapping(str(npz["signal_mapping"]))
-      else:
-        signal_mapping = None
-
-    return cls(times=times, data=data, signal_mapping=signal_mapping)
-
-  def interpolate(
-      self, t: float | np.ndarray, method: InterpolationMethod = "linear"
-  ) -> np.ndarray:
-    """Interpolate data at specified time(s).
-
-    This is the core interpolation function used by both get() and resample().
-
-    Args:
-      t: Time point(s) at which to interpolate data.
-      method: Interpolation method to use.
-
-    Returns:
-      Interpolated data values.
-    """
-    t = np.atleast_1d(np.asarray(t))
-
-    if method in ("zero_order_hold", "zoh"):
-      indices = np.searchsorted(self.times, t, side="right") - 1
-      indices = np.clip(indices, 0, len(self.times) - 1)
-      return self.data[indices]
-
-    return scipy.interpolate.interp1d(
-        self.times,
-        self.data,
-        kind=method,
-        axis=0,
-        bounds_error=False,
-        fill_value=(self.data[0], self.data[-1]),  # pyright: ignore
-        assume_sorted=True,
-    )(t)
-
-  def get(
-      self, t: float | np.ndarray, method: InterpolationMethod = "linear"
-  ) -> tuple[np.ndarray, np.ndarray]:
-    """Get interpolated data at specified time(s).
-
-    This method is useful for querying data at specific timestamps without
-    creating a new TimeSeries object.
-
-    Args:
-      t: Time point(s) at which to get data.
-      method: Interpolation method to use.
-
-    Returns:
-      Tuple of (times, interpolated_data).
-    """
-    t_orig = np.asarray(t)
-    t_shape = t_orig.shape
-    result = self.interpolate(t_orig, method=method)
-    if not t_shape:
-      result = result.squeeze(axis=0)
-    return t_orig, result
-
-  def resample(
-      self,
-      new_times: np.ndarray | None = None,
-      target_dt: float | None = None,
-      method: InterpolationMethod = "linear",
-  ) -> TimeSeries:
-    """Resample the time series to new timestamps or a specific time interval.
-
-    This method creates a new TimeSeries object with data interpolated at the
-    specified timestamps.
-
-    Args:
-      new_times: Optional array of new timestamps. If provided, target_dt is
-        ignored.
-      target_dt: Optional time interval for regular resampling. Only used if
-        new_times is None.
-      method: Interpolation method to use.
-
-    Returns:
-      A new TimeSeries object with resampled data.
-
-    Raises:
-      ValueError: If neither new_times nor target_dt is provided, or if
-        new_times is not strictly increasing.
-    """
-    # Generate new times if target_dt is provided.
-    if new_times is None:
-      if target_dt is None:
-        raise ValueError("Either new_times or target_dt must be provided")
-      if target_dt <= 0:
-        raise ValueError("target_dt must be a positive float")
-
-      # Create evenly spaced timestamps.
-      new_nsteps = (
-          int(np.ceil((self.times[-1] - self.times[0]) / target_dt)) + 1
-      )
-      new_times = np.linspace(
-          self.times[0], self.times[-1], new_nsteps, endpoint=True
-      )
-    else:
-      # Make sure new_times is valid.
-      if new_times.ndim != 1:
-        raise ValueError("new_times must be a 1D array")
-      if not np.all(np.diff(new_times) > 0):
-        raise ValueError("new_times must be strictly increasing")
-
-    assert new_times is not None
-    new_data = self.interpolate(new_times, method=method)
-    return TimeSeries(
-        times=new_times, data=new_data, signal_mapping=self.signal_mapping
-    )
-
-  def remove_from_beginning(self, time_to_remove_s: float) -> TimeSeries:
-    """Remove time from the beginning of the time series.
-
-    Args:
-      time_to_remove_s: Time to remove from the beginning of the time series.
-
-    Returns:
-      A new TimeSeries object with the specified time removed.
-    """
-    if time_to_remove_s < 0:
-      raise ValueError("time_to_remove_s must be non-negative")
-    if time_to_remove_s > self.times[-1]:
-      raise ValueError(
-          "time_to_remove_s is greater than the duration of the time series"
-      )
-    idx = np.searchsorted(self.times, time_to_remove_s)
-    times_shifted = self.times[idx:] - self.times[idx]
-    return TimeSeries(
-        times=times_shifted,
-        data=self.data[idx:],
-        signal_mapping=self.signal_mapping,
-    )
-
-  def dt_statistics(self) -> dict[str, float]:
-    """Calculate statistics about the time intervals.
-
-    Returns:
-      Dictionary with mean, median, std, min, and max of time intervals.
-
-    Raises:
-      ValueError: If there are fewer than two timestamps.
-    """
-    if self.times.size < 2:
-      raise ValueError(
-          "Must have at least two timestamps to compute dt statistics."
-      )
-    dt_values = np.diff(self.times)
-    stats = {}
-    for fn in ["mean", "median", "std", "min", "max"]:
-      stats[fn] = float(getattr(np, fn)(dt_values))
-    return stats
-
-  def __repr__(self) -> str:
-    """Return a string representation of the TimeSeries object."""
-    t_start, t_end = self.times[0], self.times[-1]
-    duration = t_end - t_start
-
-    data_shape = self.data.shape
-    n_samples = len(self)
-
-    dt_stats = self.dt_statistics()
-    mean_dt = dt_stats["mean"]
-    min_dt = dt_stats["min"]
-    max_dt = dt_stats["max"]
-
-    is_uniform = dt_stats["std"] / mean_dt < 0.01  # Less than 1% variation.
-
-    # Calculate data range (min/max values).
-    data_min = np.min(self.data)
-    data_max = np.max(self.data)
-    data_range = f"[{data_min:.3g}, {data_max:.3g}]"
-
-    parts = [
-        "TimeSeries(",
-        f"  samples={n_samples}",
-        f"  shape={data_shape}",
-        f"  time_range=[{t_start:.3g}, {t_end:.3g}] (duration={duration:.3g})",
-        f"  dt={mean_dt:.3g}"
-        + (
-            " (uniform)"
-            if is_uniform
-            else f" (min={min_dt:.3g}, max={max_dt:.3g})"
-        ),
-        f"  data_range={data_range}",
-        f"  signal_mapping={self.signal_mapping}",
-        ")",
-    ]
-
-    return "\n".join(parts)
diff --git a/python/mujoco/sysid/_src/trajectory.py b/python/mujoco/sysid/_src/trajectory.py
deleted file mode 100644
index dade545f..00000000
--- a/python/mujoco/sysid/_src/trajectory.py
+++ /dev/null
@@ -1,659 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Trajectory data containers for system identification."""
-
-from __future__ import annotations
-
-from collections.abc import Sequence
-import dataclasses
-import pathlib
-
-from absl import logging
-import mujoco
-import mujoco.rollout as mj_rollout
-from mujoco.sysid._src import timeseries
-import numpy as np
-
-
-@dataclasses.dataclass(frozen=True)
-class SystemTrajectory:
-  """Encapsulates a trajectory rolled out from a system.
-
-  Attributes:
-    model: MuJoCo model used to simulate the trajectory.
-    control: A TimeSeries instance containing control signals.
-    sensordata: A TimeSeries instance containing sensor data.
-    initial_state: Initial state of the simulation. Shape (n_state,).
-    state: Simulation states over time. Shape (n_steps, n_state). Optional for
-      real robot trajectories.
-  """
-
-  model: mujoco.MjModel
-  control: timeseries.TimeSeries
-  sensordata: timeseries.TimeSeries
-  initial_state: np.ndarray
-  state: timeseries.TimeSeries | None
-
-  def replace(self, **kwargs) -> SystemTrajectory:
-    """Return a copy with the specified fields replaced."""
-    return dataclasses.replace(self, **kwargs)
-
-  def get_sensordata_slice(self, sensor: str = "joint_pos") -> np.ndarray:
-    """Extract contiguous sensor columns by type.
-
-    Args:
-      sensor: One of ``"joint_pos"``, ``"joint_vel"``, or ``"joint_torque"``.
-
-    Returns:
-      2-D array of shape ``(n_steps, total_sensor_dim)``.
-    """
-    if sensor == "joint_pos":
-      sensor_type = mujoco.mjtSensor.mjSENS_JOINTPOS
-    elif sensor == "joint_vel":
-      sensor_type = mujoco.mjtSensor.mjSENS_JOINTVEL
-    elif sensor == "joint_torque":
-      sensor_type = mujoco.mjtSensor.mjSENS_JOINTACTFRC
-    else:
-      raise ValueError(f"Unsupported sensor type: {sensor}")
-    adr = []
-    dims = []
-    for i in range(self.model.nsensor):
-      if self.model.sensor(i).type == sensor_type:
-        sensor_id = self.model.sensor(i).id
-        adr.append(self.model.sensor_adr[sensor_id])
-        dims.append(self.model.sensor_dim[sensor_id])
-    sensors = sorted(zip(adr, dims, strict=True), key=lambda x: x[0])
-    start = sensors[0][0]
-    total_dim = sum(d for _, d in sensors)
-    end = start + total_dim
-    return self.sensordata.data[:, start:end]
-
-  @property
-  def sensordim(self) -> int:
-    """Total number of scalar sensor outputs in the model."""
-    return self.model.nsensordata
-
-  def __len__(self) -> int:
-    """Number of time steps in the trajectory."""
-    return len(self.sensordata)
-
-  def save_to_disk(self, path: pathlib.Path) -> None:
-    """Save this trajectory to disk as a compressed NumPy archive."""
-    save_dict = {
-        "control_times": self.control.times,
-        "control_data": self.control.data,
-        "sensordata_times": self.sensordata.times,
-        "sensordata_data": self.sensordata.data,
-        "initial_state": self.initial_state,
-    }
-    if self.state is not None:
-      save_dict["state_times"] = self.state.times
-      save_dict["state_data"] = self.state.data
-      if self.state.signal_mapping:
-        save_dict["state_signal_mapping"] = np.asarray(
-            timeseries.encode_signal_mapping(self.state.signal_mapping)
-        )
-
-    if self.control.signal_mapping:
-      save_dict["control_signal_mapping"] = np.asarray(
-          timeseries.encode_signal_mapping(self.control.signal_mapping)
-      )
-
-    if self.sensordata.signal_mapping:
-      save_dict["sensordata_signal_mapping"] = np.asarray(
-          timeseries.encode_signal_mapping(self.sensordata.signal_mapping)
-      )
-
-    np.savez(path, **save_dict)  # type: ignore
-
-  @classmethod
-  def load_from_disk(
-      cls,
-      path: pathlib.Path,
-      model: mujoco.MjModel,
-      allow_missing_sensors: bool = False,
-  ) -> SystemTrajectory:
-    """Load a trajectory from a compressed NumPy archive."""
-    with np.load(path, allow_pickle=False) as npz:
-      control_times = npz["control_times"]
-      control_data = npz["control_data"]
-      sensordata_times = npz["sensordata_times"]
-      sensordata_data = npz["sensordata_data"]
-      initial_state = npz["initial_state"]
-      state_times = npz.get("state_times", None)
-      state_data = npz.get("state_data", None)
-
-      control_signal_mapping = None
-      if "control_signal_mapping" in npz:
-        control_signal_mapping = timeseries.decode_signal_mapping(
-            str(npz["control_signal_mapping"])
-        )
-
-      sensordata_signal_mapping = None
-      if "sensordata_signal_mapping" in npz:
-        sensordata_signal_mapping = timeseries.decode_signal_mapping(
-            str(npz["sensordata_signal_mapping"])
-        )
-
-      state_signal_mapping = None
-      if "state_signal_mapping" in npz:
-        state_signal_mapping = timeseries.decode_signal_mapping(
-            str(npz["state_signal_mapping"])
-        )
-
-    predicted_rollout = cls(
-        model=model,
-        control=timeseries.TimeSeries(
-            control_times, control_data, signal_mapping=control_signal_mapping
-        ),
-        sensordata=timeseries.TimeSeries(
-            sensordata_times,
-            sensordata_data,
-            signal_mapping=sensordata_signal_mapping,
-        ),
-        initial_state=initial_state,
-        state=timeseries.TimeSeries(
-            state_times, state_data, signal_mapping=state_signal_mapping
-        )
-        if state_times is not None
-        else None,
-    )
-    predicted_rollout.check_compatible(allow_missing_sensors)
-    return predicted_rollout
-
-  def check_compatible(self, allow_missing_sensors: bool = False) -> None:
-    """Validate that data dimensions match the model.
-
-    Checks sensor, control, state, and initial-state dimensions.
-
-    Args:
-      allow_missing_sensors: If True, a sensor dimension mismatch is logged as a
-        warning instead of raising.
-    """
-    if self.sensordata.data.shape[1] != self.model.nsensordata:
-      if not allow_missing_sensors:
-        raise ValueError(
-            f"Sensor data dimension {self.sensordata.data.shape[1]} does not"
-            f" match model sensor dimension {self.model.nsensordata}"
-        )
-      else:
-        logging.warning(
-            "Sensor data dimension %d does not match model sensor dimension %d",
-            self.sensordata.data.shape[1],
-            self.model.nsensordata,
-        )
-
-    if self.control.data.shape[1] != self.model.nu:
-      raise ValueError(
-          f"Control data dimension {self.control.data.shape[1]} does not"
-          f" match model control dimension {self.model.nu}"
-      )
-
-    state_spec = mujoco.mjtState.mjSTATE_FULLPHYSICS.value
-    state_size = mujoco.mj_stateSize(self.model, state_spec)
-    if self.state is not None:
-      if self.state.data.shape[1] != state_size:
-        raise ValueError(
-            f"State dimension {self.state.data.shape[1]} does not match "
-            f"model state dimension {state_size}"
-        )
-    if self.initial_state.shape[0] != state_size:
-      raise ValueError(
-          f"Initial state dimension {self.initial_state.shape[0]} does not"
-          f" match model state dimension {state_size}"
-      )
-
-  def split(self, chunk_size: int) -> list[SystemTrajectory]:
-    """Split into consecutive non-overlapping chunks of *chunk_size* steps.
-
-    Incomplete trailing steps are discarded.  Requires ``state`` to be set
-    (needed to extract the initial state for each chunk).
-
-    Args:
-      chunk_size: Number of time steps per chunk.
-
-    Returns:
-      A list of SystemTrajectory chunks.
-    """
-    if self.state is None:
-      raise ValueError("Cannot split rollout with missing state field.")
-    steps = len(self.sensordata.times)
-    n_complete_chunks = steps // chunk_size
-    control_times = self.control.times
-    control_data = self.control.data
-    sensordata_times = self.sensordata.times
-    sensordata_data = self.sensordata.data
-    trajectories = []
-    for i in range(n_complete_chunks):
-      start_idx = i * chunk_size
-      end_idx = start_idx + chunk_size
-      initial_state = (
-          self.initial_state
-          if start_idx == 0
-          else self.state.data[start_idx - 1]
-      )
-      control_times_chunk = control_times[start_idx:end_idx]
-      control_data_chunk = control_data[start_idx:end_idx]
-      sensordata_times_chunk = sensordata_times[start_idx:end_idx]
-      sensordata_data_chunk = sensordata_data[start_idx:end_idx]
-      trajectories.append(
-          SystemTrajectory(
-              model=self.model,
-              control=timeseries.TimeSeries(
-                  control_times_chunk, control_data_chunk
-              ),
-              sensordata=timeseries.TimeSeries(
-                  sensordata_times_chunk, sensordata_data_chunk
-              ),
-              initial_state=initial_state,
-              state=timeseries.TimeSeries(
-                  times=self.state.times[start_idx:end_idx],
-                  data=self.state.data[start_idx:end_idx],
-                  signal_mapping=self.state.signal_mapping,
-              ),
-          )
-      )
-    return trajectories
-
-  def render(
-      self,
-      height: int = 240,
-      width: int = 320,
-      camera: str | int = -1,
-      fps: int = 30,
-  ) -> list[np.ndarray]:
-    """Render this trajectory to a list of RGB frames.
-
-    Requires ``state`` to be set.  Delegates to
-    :func:`~mujoco_sysid._src.plotting.render_rollout`.
-
-    Args:
-      height: Height of the rendered frames.
-      width: Width of the rendered frames.
-      camera: Camera index or name.
-      fps: Frames per second.
-
-    Returns:
-      A list of RGB frames as numpy arrays.
-    """
-    if self.state is None:
-      raise ValueError("Cannot render rollout with missing state field.")
-
-    from mujoco.sysid._src.plotting import render_rollout
-
-    # Adapt state to batch format (nbatch=1, nsteps, nstate)
-    state_batch = self.state.data[np.newaxis, :, :]
-
-    data = mujoco.MjData(self.model)
-
-    return render_rollout(
-        model=self.model,
-        data=data,
-        state=state_batch,
-        framerate=fps,
-        camera=camera,
-        width=width,
-        height=height,
-    )
-
-def _map_states(from_array, to_array, from_names, to_mapping, map_offset):
-  i = 0
-  for name in from_names:
-    _, indices = to_mapping[name]
-    width = indices.shape[0]
-    to_array[indices - map_offset] = from_array[i:i+width]
-    i += width
-  return to_array
-
-def create_initial_state(
-    model: mujoco.MjModel,
-    qpos: np.ndarray,
-    qvel: np.ndarray | None = None,
-    act: np.ndarray | None = None,
-    qpos_names: Sequence[str] | None = None,
-    qvel_names: Sequence[str] | None = None,
-    act_names: Sequence[str] | None = None,
-) -> np.ndarray:
-  """Build a ``mjSTATE_FULLPHYSICS`` initial-state vector from components.
-
-  Args:
-    model: MuJoCo model.
-    qpos: Joint positions, shape ``(nq,)``.
-    qvel: Joint velocities, shape ``(nv,)``.  Defaults to zero.
-    act: Actuator activations, shape ``(na,)``.  Defaults to zero.
-    qpos_names: Names to map elements of qpos to specific MuJoCo states.
-      If None, assumes qpos is in MuJoCo's order.
-    qvel_names: Names to map elements of qvel to specific MuJoCo states.
-      If None, assumes qvel is in MuJoCo's order.
-    act_names: Actuator names to map elements of act to specific MuJoCo
-      actuators. If None, assumes act is in MuJoCo's order.
-
-  Returns:
-    Flat state vector suitable for ``mujoco.rollout``.
-  """
-  data = mujoco.MjData(model)
-
-  if qpos_names is not None and len(qpos_names) != qpos.shape[0]:
-    raise ValueError(
-      f"Expected qpos to have shape {len(qpos_names)}, got {qpos.shape[0]}"
-    )
-  if qvel is None and qvel_names is not None:
-    raise ValueError("Expected qvel to not be None when qvel_names is not None")
-  if qvel_names is not None and qvel is not None and len(qvel_names) != qvel.shape[0]:
-    raise ValueError(
-        f"Expected qvel to have shape {len(qvel_names)}, got {qvel.shape[0]}"
-    )
-  if act_names is not None:
-    if act is None:
-      raise ValueError("Expected act to not be None when act_names is not None")
-    if len(act_names) != act.shape[0]:
-      raise ValueError(
-          f"Expected act to have shape {len(act_names)}, got {act.shape[0]}"
-      )
-
-  if (qpos_names is not None
-      or qvel_names is not None
-      or act_names is not None):
-    qpos_map, qvel_map, act_map, _ = timeseries.TimeSeries.compute_all_state_mappings(model)
-    if qpos_names is not None:
-      qpos = _map_states(qpos, np.copy(data.qpos), qpos_names, qpos_map, 0)
-    if qvel_names is not None:
-      indices_offset = data.qpos.shape[0]
-      qvel = _map_states(
-          qvel, np.copy(data.qvel), qvel_names, qvel_map, indices_offset
-      )
-    if act_names is not None:
-      indices_offset = data.qpos.shape[0] + data.qvel.shape[0]
-      act = _map_states(
-          act, np.copy(data.act), act_names, act_map, indices_offset
-      )
-
-  if qpos.shape[0] != model.nq:
-    raise ValueError(
-        f"Expected qpos to have shape {model.nq}, got {qpos.shape[0]}."
-    )
-  data.qpos[:] = qpos
-  if qvel is not None:
-    if qvel.shape[0] != model.nv:
-      raise ValueError(
-          f"Expected qvel to have shape {model.nv}, got {qvel.shape[0]}."
-      )
-    data.qvel[:] = qvel
-  if act is not None:
-    if act.shape[0] != model.na:
-      raise ValueError(
-          f"Expected act to have shape {model.na}, got {act.shape[0]}."
-      )
-    data.act[:] = act
-
-  initial_state = np.empty((
-      mujoco.mj_stateSize(model, mujoco.mjtState.mjSTATE_FULLPHYSICS.value),
-  ))
-  mujoco.mj_getState(
-      model, data, initial_state, mujoco.mjtState.mjSTATE_FULLPHYSICS.value
-  )
-  return initial_state
-
-
-class ModelSequences:
-  """A model spec paired with one or more measured trajectory sequences.
-
-  Groups a single ``MjSpec`` (the model to be identified) with the
-  corresponding measured data so that the residual pipeline can iterate
-  over all sequences for that model.
-
-  Args:
-    name: Identifier for this model group (used for file-naming on save).
-    spec: MjSpec that will be recompiled with candidate parameters.
-    sequence_name: Name(s) identifying each measured sequence.
-    initial_state: Initial state(s) for each sequence.
-    control: Measured control TimeSeries for each sequence.
-    sensordata: Measured sensor TimeSeries for each sequence.
-    allow_missing_sensors: Passed through to
-      :meth:`SystemTrajectory.check_compatible`.
-  """
-
-  def __init__(
-      self,
-      name: str,
-      spec: mujoco.MjSpec,
-      sequence_name: str | Sequence[str],
-      initial_state: np.ndarray | Sequence[np.ndarray],
-      control: timeseries.TimeSeries | Sequence[timeseries.TimeSeries],
-      sensordata: timeseries.TimeSeries | Sequence[timeseries.TimeSeries],
-      allow_missing_sensors: bool = False,
-  ):
-    self.name = name
-    self.spec = spec
-    self.allow_missing_sensors = allow_missing_sensors
-
-    self.gt_model = self.spec.compile()
-
-    self.sequence_name: list[str] = (
-        [sequence_name]
-        if isinstance(sequence_name, str)
-        else list(sequence_name)
-    )
-    self.initial_state: list[np.ndarray] = (
-        [initial_state]
-        if isinstance(initial_state, np.ndarray)
-        else list(initial_state)
-    )
-    self.control: list[timeseries.TimeSeries] = (
-        [control]
-        if isinstance(control, timeseries.TimeSeries)
-        else list(control)
-    )
-    self.sensordata: list[timeseries.TimeSeries] = (
-        [sensordata]
-        if isinstance(sensordata, timeseries.TimeSeries)
-        else list(sensordata)
-    )
-
-    self.measured_rollout: list[SystemTrajectory] = []
-    for initial_state_, control_, sensordata_ in zip(
-        self.initial_state, self.control, self.sensordata, strict=True
-    ):
-      measured_rollout_ = SystemTrajectory(
-          model=self.gt_model,
-          control=control_,
-          sensordata=sensordata_,
-          initial_state=initial_state_,
-          state=None,
-      )
-      measured_rollout_.check_compatible(
-          allow_missing_sensors=allow_missing_sensors
-      )
-      self.measured_rollout.append(measured_rollout_)
-
-  def __getitem__(self, key):
-    return ModelSequences(
-        self.name,
-        self.spec,
-        self.sequence_name[key],
-        self.initial_state[key],
-        self.control[key],
-        self.sensordata[key],
-        self.allow_missing_sensors,
-    )
-
-
-def timeseries2array(
-    control_signal: timeseries.TimeSeries | Sequence[timeseries.TimeSeries],
-) -> tuple[np.ndarray, np.ndarray]:
-  """Convert control TimeSeries to stacked arrays, dropping the last step.
-
-  Args:
-    control_signal: Control TimeSeries or sequence of TimeSeries.
-
-  Returns:
-    ``(control_array, control_times)`` with the last time step removed.
-  """
-  if isinstance(control_signal, timeseries.TimeSeries):
-    control = control_signal.data
-    control_times = control_signal.times
-  else:
-    control = np.stack([ts.data for ts in control_signal], axis=0)
-    control_times = np.stack([ts.times for ts in control_signal], axis=0)
-  # The measured data has N sensor measurements and N controls,
-  # where the first sensor measurement corresponds to the initial
-  # condition. Thus we don't have ground truth for the N+1'th state
-  # produced by the N'th control and so there is no point in
-  # simulating it.
-  if control.ndim == 3:
-    control_applied_times = control_times[:, :-1]
-    control_applied = control[:, :-1, :]
-  else:
-    control_applied_times = control_times[:-1]
-    control_applied = control[:-1, :]
-  return control_applied, control_applied_times
-
-
-def sequence2array(
-    initial_states: np.ndarray | Sequence[np.ndarray],
-) -> np.ndarray:
-  """Stack a sequence of initial-state vectors into a single array.
-
-  Args:
-    initial_states: Single state array or sequence of state arrays.
-  """
-  if isinstance(initial_states, np.ndarray):
-    return initial_states
-  return np.stack(initial_states, axis=0)
-
-
-def arrays2traj(
-    models: mujoco.MjModel | Sequence[mujoco.MjModel],
-    initial_states: np.ndarray | Sequence[np.ndarray],
-    control: np.ndarray,
-    control_times: np.ndarray,
-    state: np.ndarray,
-    sensordata: np.ndarray,
-    signal_mapping: timeseries.SignalMappingType,
-    state_mapping: timeseries.SignalMappingType,
-    ctrl_mapping: timeseries.SignalMappingType,
-) -> Sequence[SystemTrajectory]:
-  """Convert raw rollout arrays into a list of SystemTrajectory objects.
-
-  Args:
-    models: Single model or sequence of models (one per batch element).
-    initial_states: Initial state array(s).
-    control: Control array, shape ``(nbatch, nsteps, nu)``.
-    control_times: Control timestamps, shape ``(nbatch, nsteps)``.
-    state: State array, shape ``(nbatch, nsteps, nstate)``.
-    sensordata: Sensor data array, shape ``(nbatch, nsteps, nsensordata)``.
-    signal_mapping: Signal mapping for sensor data.
-    state_mapping: Signal mapping for state data.
-    ctrl_mapping: Signal mapping for control data.
-  """
-  nbatch = state.shape[0]
-  # TODO(kevin): When is np.tile/atleast_2d/etc necessary?
-  # initial_states = np.tile(initial_states, (nbatch, 1))
-  # control = np.tile(control, (nbatch, 1, 1))
-  # control_times = np.tile(control_times, (nbatch, 1))
-  initial_states = np.atleast_2d(initial_states)
-  if control.ndim == 2:
-    control = control[np.newaxis, :, :]
-  control_times = np.atleast_2d(control_times)
-
-  if isinstance(models, mujoco.MjModel):
-    models_list = [models] * nbatch
-  else:
-    models_list = list(models)
-
-  return [
-      SystemTrajectory(
-          model=models_list[i],
-          control=timeseries.TimeSeries(
-              control_times[i], control[i], signal_mapping=ctrl_mapping
-          ),
-          # NOTE(kevin): When using mjSTATE_FULLPHYSICS, the first element of
-          # the state corresponds to the simulation time. The reason we do not
-          # use control_times[i] is because sensordata times are shifted by
-          # one time step.
-          sensordata=timeseries.TimeSeries(
-              state[i][:, 0], sensordata[i], signal_mapping
-          ),
-          initial_state=initial_states[i],
-          state=timeseries.TimeSeries(
-              times=state[i][:, 0], data=state[i], signal_mapping=state_mapping
-          ),
-      )
-      for i in range(nbatch)
-  ]
-
-
-def sysid_rollout(
-    models: mujoco.MjModel | Sequence[mujoco.MjModel],
-    datas: mujoco.MjData | Sequence[mujoco.MjData],
-    control_signal: Sequence[timeseries.TimeSeries] | timeseries.TimeSeries,
-    initial_states: np.ndarray | Sequence[np.ndarray],
-    rollout_signal_mapping: timeseries.SignalMappingType | None = None,
-    rollout_state_mapping: timeseries.SignalMappingType | None = None,
-    ctrl_mapping: timeseries.SignalMappingType | None = None,
-) -> Sequence[SystemTrajectory]:
-  """Rollout trajectories in parallel for the given models and controls.
-
-  Args:
-    models: MuJoCo model or sequence of models.
-    datas: MuJoCo data or sequence of data.
-    control_signal: Control signals as TimeSeries or sequence of TimeSeries.
-    initial_states: Initial states of the simulation. Shape (n_state,) or
-      (n_batch, n_state).
-    rollout_signal_mapping: Optional signal mapping for sensordata.
-    rollout_state_mapping: Optional signal mapping for state.
-    ctrl_mapping: Optional signal mapping for controls.
-
-  Returns:
-    Sequence of SystemTrajectory instances containing the simulation results.
-  """
-
-  # if the user does not supply it, we create it.
-  # Note that this will impact perf.
-  if (
-      not rollout_signal_mapping
-      or not rollout_state_mapping
-      or not ctrl_mapping
-  ):
-    if isinstance(models, mujoco.MjModel):
-      model0 = models
-    else:
-      model0 = models[0]
-    qpos_map, qvel_map, act_map, ctrl_mapping = (
-        timeseries.TimeSeries.compute_all_state_mappings(model0)
-    )
-    rollout_state_mapping = qpos_map | qvel_map | act_map
-    rollout_signal_mapping = timeseries.TimeSeries.compute_all_sensor_mapping(
-        model0
-    )
-
-  control, control_times = timeseries2array(control_signal)
-  initial_states = sequence2array(initial_states)
-  state, sensordata = mj_rollout.rollout(models, datas, initial_states, control)
-  assert isinstance(state, np.ndarray)
-  assert isinstance(sensordata, np.ndarray)
-
-  return arrays2traj(
-      models,
-      initial_states,
-      control,
-      control_times,
-      state,
-      sensordata,
-      rollout_signal_mapping,
-      rollout_state_mapping,
-      ctrl_mapping,
-  )
diff --git a/python/mujoco/sysid/py.typed b/python/mujoco/sysid/py.typed
deleted file mode 100644
index e69de29b..00000000
diff --git a/python/mujoco/sysid/report/builder.py b/python/mujoco/sysid/report/builder.py
deleted file mode 100644
index 0bfa5b81..00000000
--- a/python/mujoco/sysid/report/builder.py
+++ /dev/null
@@ -1,122 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""HTML report builder using Jinja2 templates."""
-
-# report/builder.py
-import os
-from typing import Any
-
-import jinja2
-from mujoco.sysid.report.sections.base import ReportSection
-
-# Path to the templates directory
-TEMPLATE_DIR = os.path.join(os.path.dirname(__file__), "templates")
-
-
-class ReportBuilder:
-  """Assembles report sections into a complete HTML report."""
-
-  def __init__(self, title: str, global_context: dict[str, Any] | None = None):
-    self._title = title
-    self._sections: list[ReportSection] = []
-    self._global_context = global_context or {}
-
-    # Setup Jinja to load from files
-    self._env = jinja2.Environment(
-        loader=jinja2.FileSystemLoader(TEMPLATE_DIR),
-        autoescape=jinja2.select_autoescape(["html", "xml"]),
-    )
-
-  def add_section(self, section: ReportSection):
-    self._sections.append(section)
-
-  def build(self) -> str:
-    """Render all sections into a complete HTML report string."""
-    # Load the main layout
-    layout_template = self._env.get_template("layout.html")
-
-    # Render each section individually
-    rendered_sections = []
-    all_header_includes = set()
-
-    for section in self._sections:
-      # Get the specific template for this section
-      sec_template = self._env.get_template(section.template_filename)
-
-      # Check if this is a GroupSection (has 'sections' attribute)
-      extra_context = {}
-      child_sections: list[ReportSection] = getattr(section, "sections", [])
-      if child_sections:
-        child_sections_content = []
-        for child in child_sections:
-          child_template = self._env.get_template(child.template_filename)
-          child_html = child_template.render(child.get_context())
-          all_header_includes.update(child.header_includes())
-
-          # Fallback anchor for child
-          child_anchor = child.anchor
-          if not child_anchor:
-            child_anchor = (
-                child.title.lower()
-                .replace(" ", "-")
-                .replace("[", "")
-                .replace("]", "")
-                .replace("(", "")
-                .replace(")", "")
-            )
-
-          child_sections_content.append({
-              "title": child.title,
-              "content": child_html,
-              "anchor": child_anchor,
-          })
-        extra_context["child_sections"] = child_sections_content
-
-      # Render the section HTML (main wrapper)
-      html_content = sec_template.render(section.get_context() | extra_context)
-      # Collect header requirements (scripts/css)
-      all_header_includes.update(section.header_includes())
-
-      # Fallback anchor generation
-      anchor = section.anchor
-      if not anchor:
-        anchor = (
-            section.title.lower()
-            .replace(" ", "-")
-            .replace("[", "")
-            .replace("]", "")
-            .replace("(", "")
-            .replace(")", "")
-        )
-
-      rendered_sections.append({
-          "title": section.title,
-          "anchor": anchor,
-          "collapsible": section.collapsible,
-          "is_open": section.is_open,
-          "content": html_content,
-      })
-
-    # Render final report
-    return layout_template.render(
-        report_title=self._title,
-        sections=rendered_sections,
-        header_includes=all_header_includes,
-        **self._global_context,
-    )
-
-  def save(self, path: str):
-    with open(path, "w", encoding="utf-8") as f:
-      f.write(self.build())
diff --git a/python/mujoco/sysid/report/defaults.py b/python/mujoco/sysid/report/defaults.py
deleted file mode 100644
index 06a2b7e7..00000000
--- a/python/mujoco/sysid/report/defaults.py
+++ /dev/null
@@ -1,291 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Default report generation for system identification results."""
-
-from collections.abc import Sequence
-import pathlib
-
-from mujoco.sysid._src import model_modifier
-from mujoco.sysid._src import parameter
-from mujoco.sysid._src.optimize import calculate_intervals
-from mujoco.sysid._src.residual import BuildModelFn
-from mujoco.sysid._src.trajectory import ModelSequences
-from mujoco.sysid.report.builder import ReportBuilder
-from mujoco.sysid.report.sections.covariance import Covariance
-from mujoco.sysid.report.sections.optimization_trace import OptimizationTrace
-from mujoco.sysid.report.sections.parameters import ParametersTable
-from mujoco.sysid.report.sections.signals import SignalReport
-import numpy as np
-import scipy.optimize as scipy_optimize
-
-
-def default_report(
-    models_sequences: Sequence[ModelSequences],
-    initial_params: parameter.ParameterDict,
-    opt_params: parameter.ParameterDict,
-    residual_fn,
-    opt_result: scipy_optimize.OptimizeResult,
-    title="SysID",
-    save_path=None,
-    build_model: BuildModelFn | None = model_modifier.apply_param_modifiers,
-    generate_videos=True,
-) -> ReportBuilder:
-  """Returns a ReportBuilder containing experiment results.
-
-  Users needing a custom report can copy and modify this code.
-  """
-  from mujoco.sysid.report.sections.group import GroupSection
-  from mujoco.sysid.report.sections.insights import AutomatedInsights
-  from mujoco.sysid.report.sections.parameter_distribution import ParameterDistribution
-  from mujoco.sysid.report.sections.row import RowSection
-  from mujoco.sysid.report.sections.video import generate_video_from_trajectories
-  from mujoco.sysid.report.sections.video import VideoPlayer
-
-  ####################################
-  # Build report
-  # Sections:
-  # Fit
-  # Parameter tables
-  # Confidence intervals
-  # Extras: Optimization trace
-  ####################################
-  rb = ReportBuilder(title)
-
-  if generate_videos:
-    # 1. Video Player
-    if save_path is None:
-      raise ValueError("save_path is required when generate_videos=True")
-    if build_model is None:
-      raise ValueError("build_model is required when generate_videos=True")
-
-    # Collect ALL trajectories from all model sequences
-    all_trajectories = []
-    for model_sequences in models_sequences:
-      for traj in model_sequences.measured_rollout:
-        all_trajectories.append(traj)
-
-    # Use first model's spec for rendering
-    model_spec_to_render = models_sequences[0].spec
-
-    video_dir = pathlib.Path(save_path)
-    video_dir.mkdir(parents=True, exist_ok=True)
-
-    # Video 1: All (Initial + Nominal + Optimized)
-    # all trajectories concatenated
-    video_all_path = video_dir / "video_all.mp4"
-    generate_video_from_trajectories(
-        initial_params=initial_params,
-        opt_params=opt_params,
-        _build_model=build_model,
-        trajectories=all_trajectories,
-        model_spec=model_spec_to_render,
-        output_filepath=video_all_path,
-        fps=60,
-    )
-
-    # Video 2: Initial + Nominal (no optimized)
-    video_init_path = video_dir / "video_init.mp4"
-    generate_video_from_trajectories(
-        initial_params=initial_params,
-        opt_params=opt_params,
-        _build_model=build_model,
-        trajectories=all_trajectories,
-        model_spec=model_spec_to_render,
-        output_filepath=video_init_path,
-        render_opt=False,
-        fps=60,
-    )
-
-    # Video 3: Optimized + Nominal (no initial)
-    video_opt_path = video_dir / "video_opt.mp4"
-    generate_video_from_trajectories(
-        initial_params=initial_params,
-        opt_params=opt_params,
-        _build_model=build_model,
-        trajectories=all_trajectories,
-        model_spec=model_spec_to_render,
-        output_filepath=video_opt_path,
-        render_initial=False,
-        fps=60,
-    )
-
-    video_all_section = VideoPlayer(
-        title="All Models",
-        video_filepath=video_all_path,
-        anchor="visual_run_all",
-        autoplay=True,
-        muted=True,
-        width="100%",
-        height=None,
-        caption=(
-            "<span class='color-initial'>Initial</span>, <span"
-            " class='color-nominal'>Nominal</span>, <span"
-            " class='color-optimized'>Optimized</span>"
-        ),
-    )
-
-    video_init_section = VideoPlayer(
-        title="Initial vs Nominal",
-        video_filepath=video_init_path,
-        anchor="visual_run_init",
-        autoplay=True,
-        muted=True,
-        width="100%",
-        height=None,
-        caption=(
-            "<span class='color-initial'>Initial</span>, <span"
-            " class='color-nominal'>Nominal</span>"
-        ),
-    )
-
-    video_opt_section = VideoPlayer(
-        title="Optimized vs Nominal",
-        video_filepath=video_opt_path,
-        anchor="visual_run_opt",
-        autoplay=True,
-        muted=True,
-        width="100%",
-        height=None,
-        caption=(
-            "<span class='color-nominal'>Nominal</span>, <span"
-            " class='color-optimized'>Optimized</span>"
-        ),
-    )
-
-    rb.add_section(
-        RowSection(
-            title="Visual Comparison",
-            sections=[video_all_section, video_init_section, video_opt_section],
-            anchor="visual_comparison",
-            description=(
-                "Visual comparison of the system identification results. The"
-                " nominal model is shown in green, the initial model in red,"
-                " and the optimized model in blue."
-            ),
-        )
-    )
-
-  # 2. Automated Insights (Logs)
-  rb.add_section(AutomatedInsights("Automated Insights", opt_params))
-
-  # 3. Parameters Table (Unified)
-  rb.add_section(
-      ParametersTable(
-          "Parameters", opt_params, initial_params, anchor="Parameters"
-      )
-  )
-
-  # 4. Control Signals (per sequence, grouped like observations)
-  # Get predictions for initial solution.
-  names = [
-      f"{model_sequences.name}\n{sequence}"
-      for model_sequences in models_sequences
-      for sequence in model_sequences.sequence_name
-  ]
-  _, pred0s, _ = residual_fn(
-      initial_params.as_vector(), initial_params, return_pred_all=True
-  )
-
-  residuals_star, preds_star, records_star = residual_fn(
-      opt_params.as_vector(), opt_params, return_pred_all=True
-  )
-
-  assert build_model is not None
-  model_hat = build_model(initial_params, models_sequences[0].spec)
-
-  # Build control signal reports for each sequence
-  control_reports = []
-  seq_idx = 0
-  for model_sequences in models_sequences:
-    for i, seq_name in enumerate(model_sequences.sequence_name):
-      ctrl_ts = model_sequences.control[i]
-      name = f"{model_sequences.name}\n{seq_name}"
-      control_reports.append(
-          SignalReport(
-              f"Sequence: {name}",
-              model_hat,
-              title_prefix="",
-              ts_dict={"control": ctrl_ts},
-              collapsible=True,
-          )
-      )
-      seq_idx += 1
-
-  rb.add_section(
-      GroupSection("Control Signals", control_reports, anchor="control_signals")
-  )
-
-  # 5. Observation Signals
-  observation_reports = []
-  for name, pred, record, pred0 in zip(
-      names, preds_star, records_star, pred0s, strict=True
-  ):
-    obs_dict = {"initial": pred0[0], "nominal": record[0], "fitted": pred[0]}
-    observation_reports.append(
-        SignalReport(
-            f"Sequence: {name}",
-            model_hat,
-            title_prefix="",
-            ts_dict=obs_dict,
-            collapsible=True,
-        )
-    )
-
-  rb.add_section(
-      GroupSection(
-          "Observation Signals", observation_reports, anchor="observations"
-      )
-  )
-
-  covariance, intervals = calculate_intervals(residuals_star, opt_result.jac)
-
-  # 6. Parameter Distribution
-  rb.add_section(
-      ParameterDistribution(
-          title="Parameter Distribution",
-          opt_params=opt_params,
-          initial_params=initial_params,
-          confidence_intervals=intervals,
-          anchor="param_dist",
-      )
-  )
-
-  rb.add_section(
-      Covariance(
-          title="Covariance and Correlation",
-          anchor="cov",
-          covariance=covariance,
-          parameter_dict=opt_params,
-      )
-  )
-
-  # Add diagnostic optimization trace plots.
-  if "extras" in opt_result:
-    # Add to the report.
-    rb.add_section(
-        OptimizationTrace(
-            title="Optimization Trace",
-            anchor="opt",
-            objective=opt_result.extras.get("objective"),
-            candidate=opt_result.extras.get("candidate"),
-            bounds=opt_params.get_bounds(),
-            param_names=opt_params.get_non_frozen_parameter_names(),
-        )
-    )
-
-  rb.build()
-  if save_path:
-    rb.save(save_path / "report.html")
-  return rb
diff --git a/python/mujoco/sysid/report/sections/__init__.py b/python/mujoco/sysid/report/sections/__init__.py
deleted file mode 100644
index 7b95cb8c..00000000
--- a/python/mujoco/sysid/report/sections/__init__.py
+++ /dev/null
@@ -1,15 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
diff --git a/python/mujoco/sysid/report/sections/base.py b/python/mujoco/sysid/report/sections/base.py
deleted file mode 100644
index 7df9723e..00000000
--- a/python/mujoco/sysid/report/sections/base.py
+++ /dev/null
@@ -1,63 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Abstract base class for report sections."""
-
-import abc
-from collections.abc import Iterable
-from typing import Any
-
-
-class ReportSection(abc.ABC):
-  """Abstract base class for all report sections."""
-
-  @property
-  @abc.abstractmethod
-  def template_filename(self) -> str:
-    """The filename of the Jinja2 template (e.g., 'parameters.html')."""
-    pass
-
-  @abc.abstractmethod
-  def get_context(self) -> dict[str, Any]:
-    """Returns data needed by the template."""
-    pass
-
-  def __init__(self, collapsible: bool = True, is_open: bool = True):
-    self._collapsible = collapsible
-    self._is_open = is_open
-    self._anchor = ""
-
-  @property
-  def title(self) -> str:
-    return ""
-
-  @property
-  def anchor(self) -> str:
-    """Returns a unique HTML anchor string."""
-    # Auto-generate a safe anchor from title if not provided
-    if not hasattr(self, "_anchor") or not self._anchor:
-      return self.title.lower().replace(" ", "-")
-    return self._anchor
-
-  @property
-  def collapsible(self) -> bool:
-    return self._collapsible
-
-  @property
-  def is_open(self) -> bool:
-    return self._is_open
-
-  def header_includes(self) -> Iterable[str]:
-    """Returns strings (like <script> tags) to add to <head>."""
-    return set()
diff --git a/python/mujoco/sysid/report/sections/covariance.py b/python/mujoco/sysid/report/sections/covariance.py
deleted file mode 100644
index 012970b4..00000000
--- a/python/mujoco/sysid/report/sections/covariance.py
+++ /dev/null
@@ -1,177 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Covariance and correlation matrix report sections."""
-
-from collections.abc import Callable
-from typing import Any
-
-import matplotlib
-from matplotlib import cm
-from matplotlib import colors as mpl_colors
-from mujoco.sysid._src import parameter
-from mujoco.sysid.report.sections.base import ReportSection
-from mujoco.sysid.report.utils import get_text_color
-import numpy as np
-from numpy import typing as npt
-
-
-def _compute_correlation(cov: npt.ArrayLike) -> np.ndarray:
-  """Calculates the correlation matrix from a covariance matrix.
-
-  Formula: A[i,j] = cov[i,j] / sqrt(cov[i,i] * cov[j,j])
-
-  Args:
-    cov: The covariance matrix.
-
-  Returns:
-    The correlation matrix.
-  """
-  cov = np.array(cov)
-  sqrt_diag_cov = np.sqrt(np.diag(cov))
-
-  # denom[i, j] = sqrt_diag_cov[i] * sqrt_diag_cov[j]
-  denom = np.outer(sqrt_diag_cov, sqrt_diag_cov)
-
-  # Safe division (handles division by zero by returning 0)
-  return np.divide(
-      cov, denom, out=np.zeros_like(cov, dtype=float), where=denom != 0
-  )
-
-
-class Covariance(ReportSection):
-  """Displays values of the covariance and correlation matrices.
-
-  Assumed to be symmetric.
-  """
-
-  def __init__(
-      self,
-      title: str,
-      covariance: npt.ArrayLike,
-      parameter_dict: parameter.ParameterDict,
-      anchor: str = "",
-      collapsible: bool = True,
-  ):
-    super().__init__(collapsible=collapsible)
-    self._title = title
-    self._anchor = anchor
-    self._covariance = np.array(covariance)
-    self._parameter_dict = parameter_dict
-
-  @property
-  def template_filename(self) -> str:
-    return "covariance.html"
-
-  @property
-  def title(self):
-    return self._title
-
-  @property
-  def anchor(self) -> str:
-    return self._anchor
-
-  def get_context(self) -> dict[str, Any]:
-    dim_names = []
-    for param_name, param in self._parameter_dict.parameters.items():
-      if param.frozen:
-        continue
-      if param.size == 1:
-        dim_names.append(param_name)
-      else:
-        for i in range(param.size):
-          dim_names.append(f"{param_name}[{i}]")
-
-    context = {
-        "title": self._title,
-        "covariance_data": self._covariance_table_data(),
-        "correlation_data": self._correlation_table_data(),
-        "dim_names": dim_names,
-    }
-    if self._covariance.size == 0:
-      context["message"] = (
-          "Covariance matrix is empty. This usually means there are no"
-          " parameters to optimize or all parameters are frozen."
-      )
-    return context
-
-  def header_includes(self) -> set[str]:
-    return {""}
-
-  def _create_table_data(
-      self,
-      matrix: np.ndarray,
-      norm: mpl_colors.Normalize,
-      cmap: mpl_colors.Colormap,
-      # Function to get the value used for coloring based on (row, col, value)
-      get_color_input_value: Callable[[int, int, float], float],
-  ) -> list[list[dict[str, Any]]]:
-    """Helper method to generate formatted table data with colors."""
-    scalar_map = cm.ScalarMappable(norm=norm, cmap=cmap)
-    table_data = []
-    for i in range(matrix.shape[0]):
-      row_data = []
-      for j in range(matrix.shape[1]):
-        value = matrix[i, j]
-        color_value = get_color_input_value(i, j, value)
-
-        # Get RGBA color, convert to HEX.
-        rgba_color = scalar_map.to_rgba(color_value)  # pyright: ignore[reportArgumentType]  # type: ignore[arg-type]
-        hex_color = mpl_colors.rgb2hex(rgba_color)  # pyright: ignore[reportArgumentType]  # type: ignore[arg-type]
-        # Make sure the text is visible over the cell color.
-        text_color = get_text_color(hex_color)
-        row_data.append({
-            "value": value,
-            "bgcolor": hex_color,
-            "textcolor": text_color,
-        })
-      table_data.append(row_data)
-    return table_data
-
-  def _covariance_table_data(self):
-    # Use the positive side of bwr that goes from white to red
-    cmap = matplotlib.colormaps["bwr"]
-
-    if self._covariance.size == 0:
-      max_abs_val = 1.0  # Default value to avoid errors
-    else:
-      max_abs_val = np.max(np.abs(self._covariance))
-
-    if max_abs_val == 0:
-      max_abs_val = 1
-
-    norm = mpl_colors.Normalize(vmin=-max_abs_val, vmax=max_abs_val)
-
-    # Color based on the actual value
-    def get_color_input(_i, _j, val):
-      return np.abs(val)
-
-    return self._create_table_data(
-        self._covariance, norm, cmap, get_color_input
-    )
-
-  def _correlation_table_data(self):
-    correlation = _compute_correlation(self._covariance)
-    # Use the positive side of bwr that goes from white to red
-    cmap = matplotlib.colormaps["bwr"]
-    norm = mpl_colors.Normalize(vmin=-1, vmax=1)
-
-    # Color based on the abs value, but use 0 for the diagonal (white)
-    def get_color_input(i, j, val):
-      if i == j:
-        return 0.0
-      return np.abs(val)
-
-    return self._create_table_data(correlation, norm, cmap, get_color_input)
diff --git a/python/mujoco/sysid/report/sections/group.py b/python/mujoco/sysid/report/sections/group.py
deleted file mode 100644
index a9e3d8ab..00000000
--- a/python/mujoco/sysid/report/sections/group.py
+++ /dev/null
@@ -1,59 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Group report section that contains multiple child sections."""
-
-from typing import Any
-
-from mujoco.sysid.report.sections.base import ReportSection
-
-
-class GroupSection(ReportSection):
-  """A report section that groups multiple other sections together."""
-
-  def __init__(
-      self,
-      title: str,
-      sections: list[ReportSection],
-      anchor: str = "",
-      collapsible: bool = True,
-  ):
-    super().__init__(collapsible=collapsible)
-    self._title = title
-    self.sections = sections
-    self._anchor = anchor
-
-  @property
-  def title(self) -> str:
-    return self._title
-
-  @property
-  def anchor(self) -> str:
-    return self._anchor
-
-  @property
-  def template_filename(self) -> str:
-    return "group.html"
-
-  def header_includes(self) -> set[str]:
-    includes = set()
-    for section in self.sections:
-      includes.update(section.header_includes())
-    return includes
-
-  def get_context(self) -> dict[str, Any]:
-    return {
-        "title": self.title,
-        "anchor": self.anchor,
-    }
diff --git a/python/mujoco/sysid/report/sections/insights.py b/python/mujoco/sysid/report/sections/insights.py
deleted file mode 100644
index 49804d63..00000000
--- a/python/mujoco/sysid/report/sections/insights.py
+++ /dev/null
@@ -1,113 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Automated insights report section."""
-
-from typing import Any
-
-from mujoco.sysid._src import parameter
-from mujoco.sysid.report.sections.base import ReportSection
-
-
-class AutomatedInsights(ReportSection):
-  """Analyzes identification results and generates automated insights/suggestions.
-
-  Currently checks for parameters stuck at boundaries.
-  """
-
-  def __init__(
-      self,
-      title: str,
-      parameter_dict: parameter.ParameterDict,
-      anchor: str = "insights",
-      collapsible: bool = True,
-  ):
-    # Default to collapsed
-    super().__init__(collapsible=collapsible, is_open=False)
-    self._anchor = anchor
-    self._parameter_dict = parameter_dict
-    self._x_hat = parameter_dict.as_vector()
-
-    self._insights = self._generate_insights()
-    self._n_warnings = len(
-        [i for i in self._insights if i["type"] == "warning"]
-    )
-
-    self._title = f"Log - {self._n_warnings} warnings"
-
-  def _generate_insights(self) -> list[dict[str, Any]]:
-    insights = []
-
-    # Logic: Check for boundary hits
-    param_names = self._parameter_dict.get_non_frozen_parameter_names()
-    bounds = self._parameter_dict.get_bounds()
-    lower_bounds, upper_bounds = bounds
-
-    if len(self._x_hat) != len(param_names):
-      raise ValueError("Parameter count mismatch")
-
-    for i, name in enumerate(param_names):
-      val = self._x_hat[i]
-      lb = lower_bounds[i]
-      ub = upper_bounds[i]
-
-      rng = max(ub - lb, 1e-9)
-
-      # Threshold: 0.1% of range or 1e-6 absolute
-      threshold = rng * 1e-3
-      if threshold < 1e-8:
-        threshold = 1e-8
-
-      if abs(val - lb) < threshold:
-        insights.append({
-            "type": "warning",
-            "title": "Lower Bound Hit",
-            "message": (
-                f"Parameter <b>{name}</b> ({val:.4g}) is at its lower bound"
-                f" ({lb:.4g})."
-            ),
-        })
-      elif abs(val - ub) < threshold:
-        insights.append({
-            "type": "warning",
-            "title": "Upper Bound Hit",
-            "message": (
-                f"Parameter <b>{name}</b> ({val:.4g}) is at its upper bound"
-                f" ({ub:.4g})."
-            ),
-        })
-
-    if not insights:
-      insights.append({
-          "type": "success",
-          "title": "No Issues Detected",
-          "message": "All parameters are within their bounds.",
-      })
-
-    return insights
-
-  @property
-  def template_filename(self) -> str:
-    return "insights.html"
-
-  @property
-  def title(self) -> str:
-    return self._title
-
-  @property
-  def anchor(self) -> str:
-    return self._anchor
-
-  def get_context(self) -> dict[str, Any]:
-    return {"title": self._title, "insights": self._insights}
diff --git a/python/mujoco/sysid/report/sections/optimization_trace.py b/python/mujoco/sysid/report/sections/optimization_trace.py
deleted file mode 100644
index 48fb29af..00000000
--- a/python/mujoco/sysid/report/sections/optimization_trace.py
+++ /dev/null
@@ -1,471 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Optimization trace report section."""
-
-from collections.abc import Sequence
-import math
-from typing import Any
-
-from mujoco.sysid.report.sections.base import ReportSection
-from mujoco.sysid.report.utils import plotly_script_tag
-import numpy as np
-from numpy import typing as npt
-from plotly import subplots as plt_subplots
-import plotly.graph_objects as go
-
-
-class OptimizationTrace(ReportSection):
-  """Displays plots summarizing the optimization process."""
-
-  def __init__(
-      self,
-      title: str,
-      objective: Sequence[float],
-      candidate: Sequence[npt.ArrayLike],
-      bounds: (
-          tuple[Sequence[float] | np.ndarray, Sequence[float] | np.ndarray]
-          | None
-      ) = None,
-      param_names: Sequence[str] | None = None,
-      log_diff: bool = True,
-      bound_eps: float = 1e-3,
-      dims_per_page: int = 6,  # For candidate plot paging
-      anchor: str = "",
-      collapsible: bool = True,
-  ):
-    super().__init__(collapsible=collapsible)
-    self._title = title
-    self._objective = objective
-    self._candidate = candidate  # List of vectors
-    self._bounds = bounds
-    self._param_names = param_names
-    self._log_diff = log_diff
-    self._bound_eps = bound_eps
-    self._dims_per_page = dims_per_page
-    self._anchor = anchor
-
-  @property
-  def template_filename(self) -> str:
-    return "optimization_trace.html"
-
-  @property
-  def title(self) -> str:
-    return self._title
-
-  @property
-  def anchor(self) -> str:
-    return self._anchor
-
-  def header_sections(self) -> set[str]:
-    return {plotly_script_tag()}
-
-  def get_context(self) -> dict[str, Any]:
-    objective_fig = self._get_objective_figure()
-    candidate_figs = self._get_candidate_figures()
-    candidate_heatmap_fig = self._get_candidate_heatmap_figure()
-
-    config = {
-        "displayModeBar": True,
-        "displaylogo": False,
-        "toImageButtonOptions": {
-            "format": "svg",
-            "filename": f"{self._title}_optimization",
-            "height": 800,
-            "width": 1200,
-            "scale": 1,
-        },
-        "responsive": True,
-    }
-
-    return {
-        "title": self._title,
-        "objective_plot_html": (
-            objective_fig.to_html(
-                full_html=False, include_plotlyjs=False, config=config
-            )
-            if objective_fig
-            else None
-        ),
-        "candidate_plots_html": (
-            [
-                fig.to_html(
-                    full_html=False, include_plotlyjs=False, config=config
-                )
-                for fig in candidate_figs
-            ]
-            if candidate_figs
-            else None
-        ),
-        "candidate_heatmap_html": (
-            candidate_heatmap_fig.to_html(
-                full_html=False, include_plotlyjs=False, config=config
-            )
-            if candidate_heatmap_fig
-            else None
-        ),
-    }
-
-  def _get_objective_figure(self) -> go.Figure | None:
-    """Generates the objective function plot."""
-    if not self._objective:
-      return None
-
-    fig = go.Figure()
-    fig.add_trace(
-        go.Scatter(
-            y=self._objective,
-            mode="lines+markers",
-            marker=dict(size=4),
-            line=dict(width=2),
-            name="Objective",
-        )
-    )
-
-    final_value = self._objective[-1]
-    if abs(final_value) < 1e-3 or abs(final_value) > 1e3:
-      final_str = f"{final_value:.2e}"
-    else:
-      final_str = f"{final_value:.4f}"
-
-    fig.update_layout(
-        title=f"Objective Over Time (Final: {final_str})",
-        xaxis_title="Iteration",
-        yaxis_title="Objective",
-        hovermode="x unified",
-        height=400,
-        autosize=True,
-        margin=dict(l=50, r=50, t=80, b=50),
-        template="plotly_white",
-    )
-    fig.update_xaxes(
-        showgrid=True, gridwidth=1, gridcolor="rgba(211, 211, 211, 0.7)"
-    )
-    fig.update_yaxes(
-        showgrid=True, gridwidth=1, gridcolor="rgba(211, 211, 211, 0.7)"
-    )
-    return fig
-
-  def _get_candidate_figures(self) -> list[go.Figure]:
-    """Generates the parameter candidate plots (paged)."""
-    if not self._candidate:
-      return []
-
-    values = np.array(self._candidate).T  # shape: (n_dim, n_iter)
-    n_dim, n_iter = values.shape
-    if n_iter <= 1:
-      return []
-    diffs = np.diff(values, axis=1)  # shape: (n_dim, n_iter-1)
-
-    if self._bounds is not None:
-      mins = np.array(self._bounds[0])
-      maxs = np.array(self._bounds[1])
-      if not (mins.shape == (n_dim,) and maxs.shape == (n_dim,)):
-        raise ValueError("Bounds dimensions do not match parameter dimensions.")
-    else:
-      mins = np.full(n_dim, -np.inf)
-      maxs = np.full(n_dim, np.inf)
-
-    param_names = (
-        self._param_names
-        if self._param_names is not None
-        else [f"Dim {i}" for i in range(n_dim)]
-    )
-    if len(param_names) != n_dim:
-      raise ValueError(
-          "Number of parameter names does not match parameter dimensions."
-      )
-
-    n_pages = math.ceil(n_dim / self._dims_per_page)
-    figures = []
-    iterations = np.arange(n_iter)
-    iterations_diff = np.arange(1, n_iter)
-
-    for page in range(n_pages):
-      start_dim = page * self._dims_per_page
-      end_dim = min((page + 1) * self._dims_per_page, n_dim)
-      dims_in_page = end_dim - start_dim
-      page_param_names = param_names[start_dim:end_dim]
-
-      fig = plt_subplots.make_subplots(
-          rows=dims_in_page,
-          cols=2,
-          shared_xaxes=True,
-          subplot_titles=[
-              title
-              for name in page_param_names
-              for title in (f"{name} Value", f"{name} Δ")
-          ],
-          vertical_spacing=max(0.02, 0.1 / dims_in_page),
-      )
-
-      for i, dim in enumerate(range(start_dim, end_dim)):
-        row_idx = i + 1
-        vals = values[dim, :]
-        diff_vals = diffs[dim, :]
-        lower, upper = mins[dim], maxs[dim]
-
-        # --- Value Plot (Col 1) ---
-        # Check for near-bound points
-        near_lower = np.abs(vals - lower) < self._bound_eps
-        near_upper = np.abs(vals - upper) < self._bound_eps
-        near_bound = near_lower | near_upper
-
-        # Plot segments with different colors if near bounds
-        for t in range(1, n_iter):
-          is_near_prev = near_bound[t - 1]
-          is_near_curr = near_bound[t]
-          color = (
-              "#d62728" if (is_near_prev or is_near_curr) else "#1f77b4"
-          )  # Red if current or prev near bound
-          fig.add_trace(
-              go.Scatter(
-                  x=iterations[t - 1 : t + 1],
-                  y=vals[t - 1 : t + 1],
-                  mode="lines",
-                  line=dict(color=color, width=2),
-                  showlegend=False,
-              ),
-              row=row_idx,
-              col=1,
-          )
-
-        fig.add_trace(
-            go.Scatter(
-                x=iterations,
-                y=vals,
-                mode="markers",
-                marker=dict(
-                    size=5,
-                    color=["#d62728" if nb else "#1f77b4" for nb in near_bound],
-                    symbol=[
-                        "triangle-down"
-                        if nl
-                        else "triangle-up"
-                        if nu
-                        else "circle"
-                        for nl, nu in zip(near_lower, near_upper, strict=True)
-                    ],  # Triangles for bounds.
-                ),
-                name=f"{param_names[dim]}",
-                showlegend=False,
-                hoverinfo="x+y+name",
-            ),
-            row=row_idx,
-            col=1,
-        )
-
-        # Add bound lines if finite.
-        if np.isfinite(lower):
-          fig.add_hline(
-              y=lower,
-              line_dash="dash",
-              line_color="gray",
-              row=row_idx,  # pyright: ignore[reportArgumentType]
-              col=1,  # pyright: ignore[reportArgumentType]
-              opacity=0.5,
-          )
-        if np.isfinite(upper):
-          fig.add_hline(
-              y=upper,
-              line_dash="dash",
-              line_color="gray",
-              row=row_idx,  # pyright: ignore[reportArgumentType]
-              col=1,  # pyright: ignore[reportArgumentType]
-              opacity=0.5,
-          )
-
-        # Add final value annotation.
-        final_val = vals[-1]
-        final_str = (
-            f"{final_val:.2e}"
-            if abs(final_val) < 1e-3 or abs(final_val) > 1e3
-            else f"{final_val:.4f}"
-        )
-        fig.add_annotation(
-            x=iterations[-1],
-            y=final_val,
-            text=final_str,
-            showarrow=True,
-            arrowhead=1,
-            ax=20,
-            ay=-30,
-            row=row_idx,
-            col=1,
-            font=dict(color="blue", size=9),
-        )
-
-        # --- Diff Plot (Col 2) ---
-        if self._log_diff:
-          eps = 1e-12
-          plot_diff_vals = np.log10(np.abs(diff_vals) + eps)
-          yaxis_title = "log |Δ|"
-        else:
-          plot_diff_vals = diff_vals
-          yaxis_title = "Δ"
-
-        fig.add_trace(
-            go.Scatter(
-                x=iterations_diff,
-                y=plot_diff_vals,
-                mode="lines+markers",
-                marker=dict(symbol="x", size=5, color="orange"),
-                line=dict(width=1.5, color="orange"),
-                name=f"Δ {param_names[dim]}",
-                showlegend=False,
-                hoverinfo="x+y+name",
-            ),
-            row=row_idx,
-            col=2,
-        )
-        fig.update_yaxes(
-            title_text=yaxis_title, row=row_idx, col=2, title_font_size=10
-        )
-
-      # --- Layout Updates for the Page Figure ---
-      fig.update_layout(
-          title=(
-              f"Candidate Values and Changes (Page {page + 1}/{n_pages}, Dims"
-              f" {start_dim}-{end_dim - 1})"
-          ),
-          height=max(400, 200 * dims_in_page),  # Adjust height based on dims
-          autosize=True,
-          margin=dict(l=60, r=30, t=100, b=50),
-          hovermode="x unified",
-          template="plotly_white",
-      )
-      fig.update_xaxes(
-          showgrid=True,
-          gridwidth=1,
-          gridcolor="rgba(211, 211, 211, 0.7)",
-          zeroline=False,
-      )
-      fig.update_yaxes(
-          showgrid=True,
-          gridwidth=1,
-          gridcolor="rgba(211, 211, 211, 0.7)",
-          zeroline=False,
-      )
-
-      # Add common x-axis label to the bottom row.
-      fig.update_xaxes(title_text="Iteration", row=dims_in_page, col=1)
-      fig.update_xaxes(title_text="Iteration", row=dims_in_page, col=2)
-
-      for annotation in fig.layout.annotations:
-        annotation.font.size = 10
-
-      figures.append(fig)
-
-    return figures
-
-  def _get_candidate_heatmap_figure(self) -> go.Figure | None:
-    """Generates the parameter candidate heatmap."""
-    if not self._candidate:
-      return None
-
-    data = np.array(self._candidate).T  # shape: (n_dim, n_iter)
-    n_dim, n_iter = data.shape
-
-    param_names = (
-        self._param_names
-        if self._param_names is not None
-        else [f"Dim {i}" for i in range(n_dim)]
-    )
-    if len(param_names) != n_dim:
-      raise ValueError(
-          "Number of parameter names does not match parameter dimensions."
-      )
-
-    # Normalize data for heatmap colors if bounds are provided.
-    heatmap_data = data.copy()
-    normalize = self._bounds is not None
-    if normalize and self._bounds is not None:
-      min_bounds, max_bounds = self._bounds
-      if not (len(min_bounds) == len(max_bounds) == n_dim):
-        raise ValueError("Bounds dimensions do not match parameter dimensions.")
-      for i in range(n_dim):
-        min_val, max_val = min_bounds[i], max_bounds[i]
-        denom = max_val - min_val if max_val > min_val else 1.0
-        clipped_vals = np.clip(data[i], min_val, max_val)
-        heatmap_data[i] = (
-            (clipped_vals - min_val) / denom if denom != 0 else 0.5
-        )  # Center if range is zero
-    else:
-      row_mins = np.min(data, axis=1, keepdims=True)
-      row_maxs = np.max(data, axis=1, keepdims=True)
-      row_ranges = row_maxs - row_mins
-      row_ranges[row_ranges == 0] = 1.0  # Avoid division by zero
-      heatmap_data = (data - row_mins) / row_ranges
-
-    fig = go.Figure(
-        data=go.Heatmap(
-            z=heatmap_data[::-1],
-            x=np.arange(n_iter),
-            y=list(reversed(param_names)),
-            colorscale="RdBu",
-            colorbar=dict(
-                title="Normalized Value"
-                if normalize
-                else "Row-Normalized Value"
-            ),
-            hovertemplate=(
-                "Iter: %{x}<br>Param: %{y}<br>Value:"
-                " %{customdata:.4f}<extra></extra>"
-            ),
-            customdata=data[::-1].tolist(),
-        )
-    )
-
-    # Add markers for bound hits if bounds exist.
-    bound_markers_x = []
-    bound_markers_y = []
-    if self._bounds is not None:
-      min_bounds, max_bounds = self._bounds
-      for dim in range(n_dim):
-        min_val, max_val = min_bounds[dim], max_bounds[dim]
-        for iter_idx, val in enumerate(data[dim]):
-          if (
-              abs(val - min_val) < self._bound_eps
-              or abs(val - max_val) < self._bound_eps
-          ):
-            bound_markers_x.append(iter_idx)
-            bound_markers_y.append(param_names[dim])
-
-      if bound_markers_x:
-        fig.add_trace(
-            go.Scatter(
-                x=bound_markers_x,
-                y=bound_markers_y,
-                mode="markers",
-                marker=dict(color="black", size=6, symbol="x"),
-                name="At Bound",
-                showlegend=False,
-                hoverinfo="skip",
-            )
-        )
-
-    fig.update_layout(
-        title="Candidate Parameter Heatmap",
-        xaxis_title="Iteration",
-        yaxis_title="Parameter",
-        height=max(400, 30 * n_dim),
-        autosize=True,
-        margin=dict(l=150, r=50, t=80, b=50),
-        yaxis=dict(
-            tickmode="array", tickvals=param_names, ticktext=param_names
-        ),
-        template="plotly_white",
-    )
-
-    return fig
diff --git a/python/mujoco/sysid/report/sections/parameter_distribution.py b/python/mujoco/sysid/report/sections/parameter_distribution.py
deleted file mode 100644
index be004d84..00000000
--- a/python/mujoco/sysid/report/sections/parameter_distribution.py
+++ /dev/null
@@ -1,428 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Parameter distribution report section."""
-
-import math
-from typing import Any
-
-from mujoco.sysid._src import parameter
-from mujoco.sysid.report.sections.base import ReportSection
-from mujoco.sysid.report.utils import plotly_script_tag
-import numpy as np
-from plotly import subplots as plt_subplots
-import plotly.graph_objects as go
-
-
-class ParameterDistribution(ReportSection):
-  """Displays the identified parameters relative to their bounds and nominal values.
-
-  Visualization: One horizontal track per parameter with markers for Nominal,
-  Identified, and Bounds.
-  """
-
-  def __init__(
-      self,
-      title: str,
-      opt_params: parameter.ParameterDict,
-      initial_params: parameter.ParameterDict,
-      confidence_intervals: np.ndarray | None = None,
-      height_per_param: int = 60,
-      anchor: str = "",
-      collapsible: bool = True,
-  ):
-    super().__init__(collapsible=collapsible)
-    self._title = title
-    self._anchor = anchor
-
-    self._opt_params = opt_params
-    self._initial_params = initial_params
-    self._nominal_params = initial_params.copy()
-    self._nominal_params.reset()
-
-    self._x_nominal = self._nominal_params.as_vector()
-    self._x_hat = self._opt_params.as_vector()
-    self._x_initial = self._initial_params.as_vector()
-    self._confidence_intervals = confidence_intervals
-    self._height_per_param = height_per_param
-
-  @property
-  def template_filename(self) -> str:
-    return "plot_generic.html"
-
-  @property
-  def title(self) -> str:
-    return self._title
-
-  @property
-  def anchor(self) -> str:
-    return self._anchor
-
-  def header_includes(self) -> set[str]:
-    return {plotly_script_tag()}
-
-  def get_context(self) -> dict[str, Any]:
-    fig = self._build_figure()
-
-    config = {
-        "displayModeBar": True,
-        "displaylogo": False,
-        "responsive": True,
-        "toImageButtonOptions": {
-            "format": "svg",
-            "filename": f"{self._title}_distribution",
-            "height": max(400, len(self._x_hat) * 100),
-            "width": 1200,
-            "scale": 1,
-        },
-    }
-
-    return {
-        "title": self._title,
-        "plot_div": fig.to_html(
-            full_html=False, include_plotlyjs=False, config=config
-        ),
-        "caption": (
-            "<b>Visualization Guide:</b><br><b>Error Bars ( — )</b>: 95%"
-            " Confidence Interval. Smaller is better.<br><span"
-            " style='color:green'>◆ High Confidence</span>: Interval is &lt;"
-            " 0.5% of the parameter range (error bar may be"
-            " invisible).<br><span style='color:blue'>◆ Identified</span>:"
-            " Standard confidence interval.<br><span style='color:red'>◆"
-            " Unconstrained</span>: Interval is infinite or larger than range"
-            " (Red error bar).<br><span style='color:red'>x Nominal</span>,"
-            " <span style='color:blue'>- - Bounds</span>: Reference"
-            " values.<br>* parameter is frozen."
-        ),
-    }
-
-  def _build_figure(self) -> go.Figure:
-    plot_items = []
-    non_frozen_idx = 0
-
-    for param_name, param in self._opt_params.parameters.items():
-      # Get bounds for this specific parameter
-      p_min, p_max = param.get_bounds()
-
-      if param.size == 1:
-        flat_value = (
-            param.value if np.isscalar(param.value) else param.value.item()
-        )
-        lb = p_min.item()
-        ub = p_max.item()
-
-        if param.frozen:
-          plot_items.append({
-              "name": param_name,
-              "value": flat_value,
-              "is_frozen": True,
-              "lb": lb,
-              "ub": ub,
-              "nominal": flat_value if self._x_nominal is not None else None,
-          })
-        else:
-          conf = (
-              self._confidence_intervals[non_frozen_idx]
-              if self._confidence_intervals is not None
-              else None
-          )
-          plot_items.append({
-              "name": param_name,
-              "value": self._x_hat[non_frozen_idx],
-              "is_frozen": False,
-              "lb": lb,
-              "ub": ub,
-              "nominal": (
-                  self._x_nominal[non_frozen_idx]
-                  if self._x_nominal is not None
-                  else None
-              ),
-              "conf": conf,
-          })
-          non_frozen_idx += 1
-      else:
-        for i in range(param.size):
-          if param.shape == (param.size,):
-            element_name = f"{param_name}[{i}]"
-            val_frozen = param.value[i]
-            lb = p_min[i]
-            ub = p_max[i]
-          else:
-            multi_idx = np.unravel_index(i, param.shape)
-            idx_str = ",".join(str(x) for x in multi_idx)
-            element_name = f"{param_name}[{idx_str}]"
-            val_frozen = param.value[multi_idx]
-            lb = p_min[i]
-            ub = p_max[i]
-
-          if param.frozen:
-            plot_items.append({
-                "name": element_name,
-                "value": val_frozen,
-                "is_frozen": True,
-                "lb": lb,
-                "ub": ub,
-                "nominal": val_frozen if self._x_nominal is not None else None,
-            })
-          else:
-            conf = (
-                self._confidence_intervals[non_frozen_idx]
-                if self._confidence_intervals is not None
-                else None
-            )
-            plot_items.append({
-                "name": element_name,
-                "value": self._x_hat[non_frozen_idx],
-                "is_frozen": False,
-                "lb": lb,
-                "ub": ub,
-                "nominal": (
-                    self._x_nominal[non_frozen_idx]
-                    if self._x_nominal is not None
-                    else None
-                ),
-                "conf": conf,
-            })
-            non_frozen_idx += 1
-
-    n_params = len(plot_items)
-
-    n_cols = 8 if n_params > 1 else 1
-    n_rows = math.ceil(n_params / n_cols)
-
-    # Prepare subplot titles with conditional formatting
-    subplot_titles = []
-    for p in plot_items:
-      if p["is_frozen"]:
-        subplot_titles.append(f"<span style='color: grey;'>{p['name']}*</span>")
-      else:
-        subplot_titles.append(p["name"])
-
-    # Create subplots
-    fig = plt_subplots.make_subplots(
-        rows=n_rows,
-        cols=n_cols,
-        subplot_titles=subplot_titles,
-        vertical_spacing=0.05,
-        horizontal_spacing=0.02,
-    )
-
-    # Add dummy trace for Bounds legend
-    fig.add_trace(
-        go.Scatter(
-            x=[None],
-            y=[None],
-            mode="lines",
-            line=dict(color="blue", width=3, dash="dash"),
-            name="Bounds",
-        )
-    )
-
-    shown_legends = set()
-
-    for i, item in enumerate(plot_items):
-      row = (i // n_cols) + 1
-      col = (i % n_cols) + 1
-
-      val = item["value"]
-      lb, ub = item["lb"], item["ub"]
-
-      # 1. Bounds lines (For items with valid bounds)
-      if lb is not None and ub is not None:
-        # Lower Bound (Horizontal line at y=lb)
-        fig.add_trace(
-            go.Scatter(
-                x=[-1, 1],
-                y=[lb, lb],
-                mode="lines",
-                line=dict(color="blue", width=3, dash="dash"),
-                showlegend=False,
-                hoverinfo="skip",
-            ),
-            row=row,
-            col=col,
-        )
-        # Upper Bound (Horizontal line at y=ub)
-        fig.add_trace(
-            go.Scatter(
-                x=[-1, 1],
-                y=[ub, ub],
-                mode="lines",
-                line=dict(color="blue", width=3, dash="dash"),
-                showlegend=False,
-                hoverinfo="skip",
-            ),
-            row=row,
-            col=col,
-        )
-
-        # Calculate margin based on bounds
-        dist = ub - lb
-        if dist > 0:
-          margin = dist * 0.2
-          y_range_min = lb
-          y_range_max = ub
-        else:
-          margin = abs(val) * 0.2 if val != 0 else 1.0
-          y_range_min = val
-          y_range_max = val
-      else:
-        # Fallback
-        margin = abs(val) * 0.2 if val != 0 else 1.0
-        y_range_min = val
-        y_range_max = val
-
-      # 2. Add Traces (Frozen vs Optimized)
-      if item["is_frozen"]:
-        # Frozen Parameter
-        fig.add_trace(
-            go.Scatter(
-                x=[0],
-                y=[val],
-                mode="markers",
-                marker=dict(
-                    symbol="circle", size=10, color="gray", opacity=0.7
-                ),
-                name="Frozen",
-                showlegend=False,
-                hoverinfo="skip",
-            ),
-            row=row,
-            col=col,
-        )
-      else:
-        # Optimized Parameter
-
-        # Determine Confidence Status
-        trace_name = "Identified"
-        marker_color = "blue"
-        legend_group = "identified"
-
-        error_y = None
-
-        if item.get("conf") is not None:
-          interval = item["conf"]
-          min_bound = item["lb"]
-          max_bound = item["ub"]
-
-          error_val = interval
-
-          rng = 0
-          if min_bound is not None and max_bound is not None:
-            rng = max_bound - min_bound
-
-          if not np.isfinite(interval) or (
-              rng > 0 and 2.0 * interval > 1.0 * rng
-          ):
-            # Unconstrained
-            trace_name = "Unconstrained"
-            marker_color = "red"
-            legend_group = "unconstrained"
-
-            if rng > 0:
-              error_val = rng
-            else:
-              error_val = interval  # or large value call fallback
-
-          elif rng > 0 and interval <= 0.005 * rng:
-            trace_name = "High Confidence"
-            marker_color = "green"
-            legend_group = "high_conf"
-
-          error_bar_color = marker_color
-          error_y = dict(
-              type="data",
-              array=[error_val],
-              visible=True,
-              thickness=1.5,
-              width=3,
-              color=error_bar_color,
-          )
-
-        show_leg = trace_name not in shown_legends
-        if show_leg:
-          shown_legends.add(trace_name)
-
-        fig.add_trace(
-            go.Scatter(
-                x=[0],
-                y=[val],
-                mode="markers",
-                marker=dict(symbol="diamond", size=12, color=marker_color),
-                name=trace_name,
-                showlegend=show_leg,
-                legendgroup=legend_group,
-                hovertemplate=(
-                    f"{trace_name}: %{{y}} ±"
-                    f" {item.get('conf', 0):.4g}<extra></extra>"
-                ),
-                error_y=error_y,
-            ),
-            row=row,
-            col=col,
-        )
-
-        # Nominal Value (if exists)
-        if item["nominal"] is not None:
-          show_leg_nom = "Nominal" not in shown_legends
-          if show_leg_nom:
-            shown_legends.add("Nominal")
-
-          fig.add_trace(
-              go.Scatter(
-                  x=[0],
-                  y=[item["nominal"]],
-                  mode="markers",
-                  marker=dict(symbol="x", size=10, color="red"),
-                  name="Nominal",
-                  showlegend=show_leg_nom,
-                  legendgroup="nominal",
-                  hovertemplate="Nominal: %{y}<extra></extra>",
-              ),
-              row=row,
-              col=col,
-          )
-
-      fig.update_yaxes(
-          range=[y_range_min - margin, y_range_max + margin],
-          showgrid=True,
-          zeroline=False,
-          row=row,
-          col=col,
-      )
-      fig.update_xaxes(
-          range=[-1, 1],
-          showgrid=False,
-          zeroline=False,
-          showticklabels=False,
-          row=row,
-          col=col,
-      )
-
-    # Global Layout
-    total_height = max(
-        400, n_rows * 180
-    )  # Increased height per row for better spacing
-    fig.update_layout(
-        height=total_height,
-        template="plotly_white",
-        margin=dict(l=60, r=60, t=150, b=60),  # Increased side margins
-        autosize=True,
-        legend=dict(
-            orientation="h", yanchor="bottom", y=1.02, xanchor="center", x=0.5
-        ),
-        hovermode="closest",
-    )
-
-    return fig
diff --git a/python/mujoco/sysid/report/sections/parameters.py b/python/mujoco/sysid/report/sections/parameters.py
deleted file mode 100644
index 990fa045..00000000
--- a/python/mujoco/sysid/report/sections/parameters.py
+++ /dev/null
@@ -1,240 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Parameter table report section."""
-
-from typing import Any
-
-from mujoco.sysid._src import parameter
-from mujoco.sysid.report.sections.base import ReportSection
-import numpy as np
-
-
-class ParametersTable(ReportSection):
-  """Displays a table of identified, initial, and nominal parameters."""
-
-  def __init__(
-      self,
-      title: str,
-      opt_params: parameter.ParameterDict,
-      initial_params: parameter.ParameterDict,
-      anchor: str = "",
-      collapsible: bool = True,
-  ):
-    super().__init__(collapsible=collapsible)
-    self._title = title
-    self._anchor = anchor
-    self._opt_params = opt_params
-    self._initial_params = initial_params
-    self._nominal_params = initial_params.copy()
-    self._nominal_params.reset()
-
-    self._x_nominal = self._nominal_params.as_vector()
-    self._x_hat = self._opt_params.as_vector()
-    self._x_initial = self._initial_params.as_vector()
-
-  @property
-  def title(self) -> str:
-    return self._title
-
-  @property
-  def anchor(self) -> str:
-    return self._anchor
-
-  @property
-  def template_filename(self) -> str:
-    """Tells the builder to look for 'parameters_table.html'."""
-    return "parameters_table.html"
-
-  def header_includes(self) -> set[str]:
-    return {""}
-
-  def get_context(self) -> dict[str, Any]:
-    # Get the vector of non-frozen parameters
-    non_frozen_vector = self._opt_params.as_vector()
-
-    if len(self._x_hat) != non_frozen_vector.size:
-      raise ValueError(
-          "Parameter vector lengths don't match. Expected"
-          f" {non_frozen_vector.size}, got {len(self._x_hat)}"
-      )
-
-    if self._x_nominal is not None:
-      if len(self._x_nominal) != non_frozen_vector.size:
-        raise ValueError(
-            "Parameter vector lengths don't match. Expected"
-            f" {non_frozen_vector.size}, got {len(self._x_nominal)}"
-        )
-
-    if self._x_initial is not None:
-      if len(self._x_initial) != non_frozen_vector.size:
-        raise ValueError(
-            "Parameter vector lengths don't match. Expected"
-            f" {non_frozen_vector.size}, got {len(self._x_initial)}"
-        )
-
-    # Compute error metrics if nominal exists
-    if self._x_nominal is not None:
-      if self._x_hat.size > 0:
-        rel_errors = np.abs(self._x_hat - self._x_nominal) / (
-            np.abs(self._x_nominal) + 1e-8
-        )
-        overall_rmse = np.sqrt(np.mean((self._x_hat - self._x_nominal) ** 2))
-        abs_errors = np.abs(self._x_hat - self._x_nominal)
-      else:
-        rel_errors = np.array([])
-        overall_rmse = 0.0
-        abs_errors = np.array([])
-    else:
-      rel_errors = None
-      overall_rmse = None
-      abs_errors = None
-
-    def create_table_row(param_name, val, lb, ub, idx=None, is_frozen=False):
-      """Create a dict for a table row."""
-      error_class = ""
-
-      # Bounds check
-      if not is_frozen:
-        # Check if on boundary
-        if (abs(val - lb) < 1e-8 + 1e-3 * abs(lb)) or (
-            abs(val - ub) < 1e-8 + 1e-3 * abs(ub)
-        ):
-          error_class = "pt_on_boundary"
-
-        # If not on boundary, check errors if nominal exists
-        elif rel_errors is not None and idx is not None:
-          rel_error = rel_errors[idx]
-          if rel_error < 0.02:
-            error_class = "pt_small_error"
-          elif rel_error < 0.1:
-            error_class = "pt_medium_error"
-          else:
-            error_class = "pt_large_error"
-      else:
-        error_class = "pt_frozen"
-
-      row = {
-          "name": param_name + ("*" if is_frozen else ""),
-          "pred": val,
-          "lower_bound": lb,
-          "upper_bound": ub,
-          "error_class": error_class,
-          "is_frozen": is_frozen,
-      }
-
-      if self._x_initial is not None:
-        if is_frozen:
-          # Initial for frozen is assumed same as val
-          row["initial"] = val
-        elif idx is not None:
-          row["initial"] = self._x_initial[idx]
-
-      if self._x_nominal is not None:
-        if is_frozen:
-          # Nominal for frozen is assumed same as val
-          row.update({
-              "nominal": val,
-              "abs_err": 0.0,
-              "rel_err": 0.0,
-          })
-        elif (
-            idx is not None
-            and abs_errors is not None
-            and rel_errors is not None
-        ):
-          row.update({
-              "nominal": self._x_nominal[idx],
-              "abs_err": abs_errors[idx],
-              "rel_err": rel_errors[idx],
-          })
-
-      return row
-
-    # Build table data.
-    table_data = []
-    non_frozen_idx = 0  # Index for non-frozen parameters in the arrays
-
-    for param_name, param in self._opt_params.parameters.items():
-      # Get bounds for this specific parameter
-      p_min, p_max = param.get_bounds()
-
-      if param.size == 1:
-        flat_value = (
-            param.value if np.isscalar(param.value) else param.value.item()
-        )
-        lb = p_min.item()
-        ub = p_max.item()
-
-        if param.frozen:
-          table_data.append(
-              create_table_row(param_name, flat_value, lb, ub, is_frozen=True)
-          )
-        else:
-          val = self._x_hat[non_frozen_idx]
-          table_data.append(
-              create_table_row(param_name, val, lb, ub, idx=non_frozen_idx)
-          )
-          non_frozen_idx += 1
-      else:
-        for i in range(param.size):
-          if param.shape == (param.size,):
-            element_name = f"{param_name}[{i}]"
-            val_frozen = param.value[i]
-            lb = p_min[i]
-            ub = p_max[i]
-          else:
-            multi_idx = np.unravel_index(i, param.shape)
-            idx_str = ",".join(str(x) for x in multi_idx)
-            element_name = f"{param_name}[{idx_str}]"
-            val_frozen = param.value[multi_idx]
-            lb = p_min[multi_idx]
-            ub = p_max[multi_idx]
-
-          if param.frozen:
-            table_data.append(
-                create_table_row(
-                    element_name, val_frozen, lb, ub, is_frozen=True
-                )
-            )
-          else:
-            val = self._x_hat[non_frozen_idx]
-            table_data.append(
-                create_table_row(element_name, val, lb, ub, idx=non_frozen_idx)
-            )
-            non_frozen_idx += 1
-
-    headers = ["Parameter"]
-
-    if self._x_initial is not None:
-      headers.append("Initial")
-
-    if self._x_nominal is not None:
-      headers.append("Nominal")
-
-    headers.append("Identified")
-    headers.extend(["Lower Bound", "Upper Bound"])
-
-    if self._x_nominal is not None:
-      headers.extend(["Absolute Change", "Relative Change"])
-
-    return {
-        "title": self._title,
-        "headers": headers,
-        "table_data": table_data,
-        "overall_rmse": overall_rmse,
-        "has_initial": self._x_initial is not None,
-        "has_nominal": self._x_nominal is not None,
-    }
diff --git a/python/mujoco/sysid/report/sections/row.py b/python/mujoco/sysid/report/sections/row.py
deleted file mode 100644
index bcd955b0..00000000
--- a/python/mujoco/sysid/report/sections/row.py
+++ /dev/null
@@ -1,63 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Row layout report section."""
-
-from typing import Any
-
-from mujoco.sysid.report.sections.base import ReportSection
-
-
-class RowSection(ReportSection):
-  """A report section that displays multiple other sections side-by-side."""
-
-  def __init__(
-      self,
-      title: str,
-      sections: list[ReportSection],
-      anchor: str = "",
-      collapsible: bool = True,
-      description: str = "",
-  ):
-    super().__init__(collapsible=collapsible)
-    self._title = title
-    self.sections = sections
-    self._anchor = anchor
-    self._description = description
-
-  @property
-  def title(self) -> str:
-    return self._title
-
-  @property
-  def anchor(self) -> str:
-    return self._anchor
-
-  @property
-  def template_filename(self) -> str:
-    return "row.html"
-
-  def header_includes(self) -> set[str]:
-    includes = set()
-    for section in self.sections:
-      includes.update(section.header_includes())
-    return includes
-
-  def get_context(self) -> dict[str, Any]:
-    return {
-        "title": self.title,
-        "anchor": self.anchor,
-        "description": self._description,
-    }
diff --git a/python/mujoco/sysid/report/sections/signals.py b/python/mujoco/sysid/report/sections/signals.py
deleted file mode 100644
index 5ca1e737..00000000
--- a/python/mujoco/sysid/report/sections/signals.py
+++ /dev/null
@@ -1,231 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Signal comparison report section."""
-
-import math
-from typing import Any
-
-import mujoco
-from mujoco.sysid._src import timeseries
-from mujoco.sysid.report.sections.base import ReportSection
-from mujoco.sysid.report.utils import plotly_script_tag
-import numpy as np
-from plotly import colors as plt_colors
-from plotly import subplots as plt_subplots
-import plotly.graph_objects as go
-
-
-class SignalReport(ReportSection):
-  """A report section comparing predicted vs measured observation data."""
-
-  def __init__(
-      self,
-      title: str,
-      model: mujoco.MjModel,
-      size_factor: float = 1.0,
-      title_prefix: str = "",
-      max_datapoints: int | None = 300,
-      resample_to_frequency: float | None = None,
-      anchor: str = "",
-      ts_dict=None,
-      collapsible: bool = True,
-  ):
-    super().__init__(collapsible=collapsible)
-    self._title = title
-    self._anchor = anchor
-    self._model = model
-    self._ts_dict = ts_dict if ts_dict is not None else {}
-    self._size_factor = size_factor
-    self._title_prefix = title_prefix
-    self._max_datapoints = max_datapoints
-    self._resample_to_frequency = resample_to_frequency
-    self._figure: go.Figure | None = None
-
-    if resample_to_frequency is not None and resample_to_frequency <= 0:
-      raise ValueError(
-          f"Invalid resample_to_frequency: {resample_to_frequency}"
-      )
-
-  @property
-  def title(self) -> str:
-    return self._title
-
-  @property
-  def anchor(self) -> str:
-    return self._anchor
-
-  @property
-  def template_filename(self) -> str:
-    """Tells the builder to look for 'sensors.html'."""
-    return "signals.html"
-
-  def header_includes(self) -> set[str]:
-    """Ensures the Plotly Javascript library is loaded in <head>."""
-    return {plotly_script_tag()}
-
-  def get_context(self) -> dict[str, Any]:
-    if self._figure is None:
-      self._figure = self._build_figure()
-
-    config = {
-        "displayModeBar": True,
-        "displaylogo": False,
-        "toImageButtonOptions": {
-            "format": "svg",
-            "filename": f"{self._title}_signals",
-            "height": 800,
-            "width": 1200,
-            "scale": 1,
-        },
-        "responsive": True,
-    }
-    context = {"title": self._title}
-
-    if self._figure:
-      plot_html = self._figure.to_html(
-          full_html=False, include_plotlyjs=False, config=config
-      )
-      context["plot_div"] = plot_html
-
-    return context
-
-  def _build_figure(self) -> go.Figure | None:
-    """Internal helper to construct the Plotly figure."""
-    mapping = None
-
-    signal_dict = {}
-
-    for ts_name in self._ts_dict:
-      ts = self._ts_dict[ts_name]
-      if ts.signal_mapping:
-        mapping = ts.signal_mapping
-      signal_dict[ts_name] = self._resample_if_needed(ts)
-
-    if not mapping and self._ts_dict:
-      # Fallback: create mapping from the first time series assuming identity
-      first_ts_name = next(iter(self._ts_dict))
-      first_ts = self._ts_dict[first_ts_name]
-      n_dim = first_ts.data.shape[1]
-      mapping = {
-          f"{first_ts_name}_{i}": (first_ts_name, [i]) for i in range(n_dim)
-      }
-
-    if not mapping:
-      return
-
-    signal_names = []
-    for name in mapping:
-      signal_dim = len(mapping[name][1])
-      if signal_dim > 1:
-        for j in range(signal_dim):
-          signal_names.append(f"{name}[{j}]")
-      else:
-        signal_names.append(name)
-
-    n_plots = len(signal_names)
-    n_cols = 3 if n_plots > 1 else 1
-    n_rows = (n_plots + n_cols - 1) // n_cols
-    n_rows += 1
-    n_params = len(mapping)
-    n_rows = math.ceil(n_params / n_cols)
-
-    fig = plt_subplots.make_subplots(
-        rows=n_rows,
-        cols=n_cols,
-        shared_xaxes=True,
-        subplot_titles=signal_names,
-        vertical_spacing=0.5 / n_rows if n_rows > 1 else 0.2,
-    )
-
-    colors = plt_colors.DEFAULT_PLOTLY_COLORS
-
-    plot_idx = 0
-    curr_row = 1
-    curr_col = 1
-    for key in mapping:
-      indices = mapping[key][1]
-      signal_dim = len(indices)
-
-      for j in range(signal_dim):
-        for color_id, ts_name in enumerate(signal_dict):
-          predicted_signal = signal_dict[ts_name].data[:, indices]
-          predicted_times = signal_dict[ts_name].times
-
-          curr_row = (plot_idx // n_cols) + 1
-          curr_col = (plot_idx % n_cols) + 1
-          fig.add_trace(
-              go.Scatter(
-                  x=predicted_times,
-                  y=predicted_signal[:, j],
-                  mode="lines",
-                  line=dict(width=2, color=colors[color_id]),
-                  opacity=0.8,
-                  name=ts_name,
-                  legendgroup=ts_name,
-                  showlegend=(plot_idx == 0),
-              ),
-              row=curr_row,
-              col=curr_col,
-          )
-        fig.update_xaxes(title_text="Time (s)", row=curr_row, col=curr_col)
-        plot_idx += 1
-
-    fig.update_layout(
-        title_text=f"{self._title_prefix} Signals",
-        height=max(400, 220 * n_rows * self._size_factor),
-        autosize=True,
-        legend=dict(
-            orientation="h", yanchor="bottom", y=1.15, xanchor="center", x=0.5
-        ),
-        margin=dict(l=60, r=60, t=150, b=60),
-        template="plotly_white",
-        hovermode="x unified",
-    )
-    fig.update_xaxes(
-        showgrid=True,
-        gridcolor="rgba(211, 211, 211, 0.7)",
-        showspikes=True,
-        spikemode="across",
-        spikesnap="cursor",
-        showline=True,
-        linewidth=1,
-        linecolor="black",
-        matches="x",  # Critical for zooming all subplots together
-    )
-    fig.update_yaxes(
-        showgrid=True,
-        gridcolor="rgba(211, 211, 211, 0.7)",
-        showline=True,
-        linewidth=1,
-        linecolor="black",
-    )
-
-    return fig
-
-  def _resample_if_needed(
-      self, data: timeseries.TimeSeries
-  ) -> timeseries.TimeSeries:
-    """Helper to downsample data for faster/lighter plotting."""
-    if self._resample_to_frequency:
-      new_times = np.arange(
-          data.times[0], data.times[-1], 1.0 / self._resample_to_frequency
-      )
-      data = data.resample(new_times)
-    if self._max_datapoints and len(data.times) > self._max_datapoints:
-      new_times = np.linspace(
-          data.times[0], data.times[-1], self._max_datapoints
-      )
-      data = data.resample(new_times)
-    return data
diff --git a/python/mujoco/sysid/report/sections/video.py b/python/mujoco/sysid/report/sections/video.py
deleted file mode 100644
index dee44c7a..00000000
--- a/python/mujoco/sysid/report/sections/video.py
+++ /dev/null
@@ -1,216 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Video report section for system identification results."""
-
-from collections.abc import Callable
-import os
-import pathlib
-from typing import Any
-
-import mujoco
-import mujoco.rollout
-from mujoco.sysid._src import model_modifier
-from mujoco.sysid._src import parameter
-from mujoco.sysid._src.plotting import render_rollout
-from mujoco.sysid._src.trajectory import SystemTrajectory
-from mujoco.sysid.report.sections.base import ReportSection
-
-
-def spec_apply(spec, attrs, values):
-  def apply_to_geoms_recursive(body):
-    for g in body.geoms:
-      for attr, value in zip(attrs, values, strict=True):
-        setattr(g, attr, value)
-    for child_body in body.bodies:
-      apply_to_geoms_recursive(child_body)
-
-  for top_body in spec.worldbody.bodies:
-    apply_to_geoms_recursive(top_body)
-
-
-def generate_video_from_trajectories(
-    initial_params: parameter.ParameterDict,
-    opt_params: parameter.ParameterDict,
-    _build_model: Callable[
-        [parameter.ParameterDict, mujoco.MjSpec], mujoco.MjModel
-    ],
-    trajectories: list[SystemTrajectory],
-    model_spec: mujoco.MjSpec,
-    output_filepath: os.PathLike[str],
-    render_initial: bool = True,
-    render_nominal: bool = True,
-    render_opt: bool = True,
-    height: int = 480,
-    width: int = 640,
-    fovy: float = 60,
-    camera: str | int = -1,
-    fps: int = 60,
-) -> pathlib.Path:
-  """Render trajectories and concatenate into a single video.
-
-  Each trajectory is rendered with initial/nominal/optimized parameters
-  overlaid, then all frames are concatenated.
-
-  Args:
-    initial_params: Initial parameter values.
-    opt_params: Optimized parameter values.
-    _build_model: Callable to build a model from parameters and spec.
-    trajectories: List of trajectories to render.
-    model_spec: MuJoCo model specification.
-    output_filepath: Path to save the output video.
-    render_initial: Whether to render with initial parameters.
-    render_nominal: Whether to render with nominal parameters.
-    render_opt: Whether to render with optimized parameters.
-    height: Frame height in pixels.
-    width: Frame width in pixels.
-    fovy: Vertical field of view in degrees.
-    camera: Camera index or name.
-    fps: Frames per second.
-
-  Returns:
-    Path to the saved video file.
-  """
-  import imageio
-
-  all_frames = []
-  for traj in trajectories:
-    # Build models for this trajectory
-    models = []
-    datas = []
-
-    nominal_params = initial_params.copy()
-    nominal_params.reset()
-
-    # initial
-    if render_initial:
-      initial_spec = model_spec.copy()
-      initial_spec = model_modifier.apply_param_modifiers_spec(
-          initial_params, initial_spec
-      )
-      spec_apply(initial_spec, ["rgba"], [[1, 0, 0, 0.5]])
-      initial_model = initial_spec.compile()
-      initial_data = mujoco.MjData(initial_model)
-      models.append(initial_model)
-      datas.append(initial_data)
-
-    # nominal
-    if render_nominal:
-      nominal_spec = model_spec.copy()
-      nominal_spec = model_modifier.apply_param_modifiers_spec(
-          nominal_params, nominal_spec
-      )
-      spec_apply(nominal_spec, ["rgba"], [[0, 1, 0, 0.4]])
-      nominal_model = nominal_spec.compile()
-      nominal_data = mujoco.MjData(nominal_model)
-      models.append(nominal_model)
-      datas.append(nominal_data)
-
-    # pred
-    if render_opt:
-      pred_spec = model_spec.copy()
-      pred_spec = model_modifier.apply_param_modifiers_spec(
-          opt_params, pred_spec
-      )
-      spec_apply(pred_spec, ["rgba"], [[0, 0, 1, 1.0]])
-      pred_model = pred_spec.compile()
-      pred_data = mujoco.MjData(pred_model)
-      models.append(pred_model)
-      datas.append(pred_data)
-
-    control_ts = traj.control.resample(target_dt=models[0].opt.timestep)
-    state, _ = mujoco.rollout.rollout(
-        models, datas, traj.initial_state, control_ts.data
-    )
-    models[0].vis.global_.fovy = fovy
-    models[0].vis.global_.offwidth = width
-    models[0].vis.global_.offheight = height
-    frames = render_rollout(
-        models,
-        datas[0],
-        state,
-        framerate=fps,
-        height=height,
-        width=width,
-        camera=camera,
-    )
-    all_frames.extend(list(frames))
-
-  output_filepath_str = str(output_filepath)
-  writer = imageio.get_writer(output_filepath_str, fps=fps, quality=8)
-  for frame in all_frames:
-    writer.append_data(frame)
-  writer.close()
-
-  return pathlib.Path(output_filepath_str)
-
-
-class VideoPlayer(ReportSection):
-  """A report section to embed and display a video file."""
-
-  def __init__(
-      self,
-      title: str,
-      video_filepath: pathlib.Path,
-      anchor: str = "",
-      width: int | str = 800,
-      height: int | None = 450,
-      autoplay: bool = False,
-      controls: bool = True,
-      muted: bool = False,
-      loop: bool = True,
-      caption: str = "<b>Legend:</b> <span class='color-initial'>Initial</span>, <span class='color-nominal'>Nominal</span>, <span class='color-optimized'>Optimized</span>",
-      collapsible: bool = True,
-  ):
-    super().__init__(collapsible=collapsible)
-    self._title = title
-    self._anchor = anchor
-    self._video_filepath = video_filepath
-    self._width = width
-    self._height = height
-    self._autoplay = autoplay
-    self._controls = controls
-    self._muted = muted
-    self._loop = loop
-    self._caption = caption
-
-  @property
-  def title(self) -> str:
-    return self._title
-
-  @property
-  def anchor(self) -> str:
-    return self._anchor
-
-  @property
-  def template_filename(self) -> str:
-    """Tells the builder to look for 'video.html'."""
-    return "video.html"
-
-  def header_includes(self) -> set[str]:
-    return set()
-
-  def get_context(self) -> dict[str, Any]:
-    """Returns the data needed to render the video player in the template."""
-    return {
-        "title": self._title,
-        "video_filepath": self._video_filepath.name,
-        "width": self._width,
-        "height": self._height,
-        "autoplay": "autoplay" if self._autoplay else "",
-        "controls": "controls" if self._controls else "",
-        "muted": "muted" if self._muted else "",
-        "loop": "loop" if self._loop else "",
-        "caption": self._caption,
-    }
diff --git a/python/mujoco/sysid/report/templates/covariance.html b/python/mujoco/sysid/report/templates/covariance.html
deleted file mode 100644
index db925c3f..00000000
--- a/python/mujoco/sysid/report/templates/covariance.html
+++ /dev/null
@@ -1,204 +0,0 @@
-<style>
-  .cov-and-corr {
-    display: flex;
-    flex-direction: row;
-    flex-wrap: wrap;
-    gap: 2rem;
-    justify-content: flex-start;
-    margin-bottom: 1rem;
-  }
-
-  /* Container for a single matrix (covariance or correlation) */
-  .cov-matrix-container {
-    border: 1px solid var(--border-color);
-    padding: 1rem;
-    border-radius: 5px;
-    background-color: var(--card-bg);
-    box-shadow: 2px 2px 5px rgba(0, 0, 0, 0.05);
-    max-width: 100%;
-    overflow-x: auto;
-  }
-
-  .cov-matrix-container h4 {
-    margin-top: 0;
-    margin-bottom: 0.8rem;
-    text-align: left;
-    color: var(--heading-color);
-    font-weight: 600;
-    font-size: 1.1rem;
-  }
-
-  .cov-matrix-container p.explanation {
-    font-size: 0.85rem;
-    color: var(--text-muted);
-    margin-top: 1rem;
-    max-width: 600px;
-    line-height: 1.4;
-    text-align: left;
-  }
-
-  .cov-matrix-container p.explanation strong {
-    color: var(--text-color);
-  }
-
-  table.cov {
-    font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
-    font-size: 0.9rem;
-    color: var(--text-color);
-    text-wrap: nowrap;
-    margin-left: 0;
-  }
-
-  table.cov tbody tr td {
-    padding: 0 4px;
-    text-align: left;
-    border-top: 1px solid var(--border-color);
-    vertical-align: middle;
-    /* Ensure text is readable on colored backgrounds - might need text shadow or specific color logic in python generation */
-  }
-
-  table.cov thead,
-  table.cov thead th {
-    background-color: var(--bg-color);
-    /* Very light grey header background */
-    color: var(--heading-color);
-    font-weight: 600;
-    border-top: none;
-    border-bottom: 2px solid var(--border-color);
-    /* Keep a stronger bottom border for header */
-    text-align: right;
-  }
-
-  /* Body row styles */
-  table.cov tbody tr {
-    background-color: var(--card-bg);
-  }
-
-  table.cov {
-    border-collapse: collapse;
-    margin: auto;
-    margin-bottom: 1rem;
-  }
-
-  table.cov th,
-  table.cov td {
-    border: 1px solid var(--border-color);
-    padding: 0 4px;
-    /* Very compact */
-    text-align: center;
-    font-size: 0.9em;
-  }
-
-  /* Row Headers (first cell in each body row) */
-  table.cov tbody th {
-    background-color: var(--bg-color);
-    font-weight: bold;
-    text-align: left;
-    padding-left: 10px;
-    position: sticky;
-    /* Keep row headers visible */
-    left: 0;
-    z-index: 1;
-    color: var(--heading-color);
-  }
-
-  /* Top-left corner cell */
-  table.cov thead th:first-child {
-    background-color: var(--border-color);
-    /* Slightly darker than bg-color */
-    z-index: 3;
-    /* Ensure it's above row/col headers */
-    position: sticky;
-    left: 0;
-    /* Also sticky */
-  }
-
-  table.cov td span {
-    display: inline-block;
-    min-width: 100%;
-  }
-
-  table.cov td.blank {
-    border: 0;
-    background-color: var(--card-bg);
-  }
-</style>
-<div class="cov-and-corr">
-  {% if message %}
-  <div class="cov-matrix-container" style="width: 100%;">
-    <h4>Covariance & Correlation</h4>
-    <p class="explanation" style="color: var(--text-color);">
-      {{ message }}
-    </p>
-  </div>
-  {% else %}
-  <div class="cov-matrix-container">
-    <h4>Covariance Matrix</h4>
-    <table class="cov">
-      <tbody>
-        {% for row in covariance_data %}
-        {% set outer_loop = loop %}
-        <tr>
-          <th>{{dim_names[outer_loop.index0] }}</th>
-          {% for cell in row %}
-          {%if loop.index0 <= outer_loop.index0 %} <td
-            style="background-color: {{ cell.bgcolor }}; color: {{ cell.textcolor }};" title="{{ cell.value }}" {%if
-            outer_loop.index0==loop.index0 %}class="diag" {% endif %}>
-            <span>
-              {{ "%.1e" | format(cell.value) }}
-            </span>
-            </td>
-            {% else %}
-            <td class="blank" />
-            {% endif %}
-            {% endfor %}
-        </tr>
-        {% endfor %}
-      </tbody>
-    </table>
-    <p class="explanation">
-      The covariance matrix shows how pairs of parameters vary together.
-      The diagonal elements (Variance) show the variance of each parameter (how much it varies on its own).
-      Larger positive values indicate the parameter estimate is less certain.
-      The off-diagonal elements (Covariance) show the covariance between pairs of parameters, better viewed in the
-      normalized correlation matrix.
-    </p>
-  </div> {# End cov-matrix-container for covariance #}
-
-  <div class="cov-matrix-container">
-    <h4>Correlation Matrix</h4>
-    <table class="cov">
-      <tbody>
-        {% for row in correlation_data %}
-        {% set outer_loop = loop %}
-        <tr>
-          <th>{{ dim_names[outer_loop.index0] }}</th>
-          {% for cell in row %}
-          {%if loop.index0 <= outer_loop.index0 %} <td
-            style="background-color: {{ cell.bgcolor }}; color: {{ cell.textcolor }};" title="{{ cell.value }}" {%if
-            outer_loop.index0==loop.index0 %}class="diag" {% endif %}>
-            <span>
-              {{ "%.2f" | format(cell.value) }}
-            </span>
-            </td>
-            {% else %}
-            <td class="blank" />
-            {% endif %}
-            {% endfor %}
-        </tr>
-        {% endfor %}
-      </tbody>
-    </table>
-    <p class="explanation">
-      The correlation matrix is a normalized version of the covariance matrix.
-      Values range from -1 to +1.
-      The diagonal elements are always 1, representing perfect correlation of a parameter with itself.
-      Off-diagonal elements (Correlation Coefficient) show the linear correlation between pairs of parameters.
-      +1 indicates perfect positive correlation, -1 indicates perfect negative correlation, and 0 indicates no linear
-      correlation.
-      Values close to +1 or -1 suggests that the parameters are highly dependent. Thus, if their variance is also high,
-      their confidence intervals will be large.
-    </p>
-  </div>
-  {% endif %}
-</div>
diff --git a/python/mujoco/sysid/report/templates/group.html b/python/mujoco/sysid/report/templates/group.html
deleted file mode 100644
index ab1b2773..00000000
--- a/python/mujoco/sysid/report/templates/group.html
+++ /dev/null
@@ -1,13 +0,0 @@
-<div class="group-section">
-    {% for child in child_sections %}
-    <details class="group-item" open
-        style="margin-bottom: 1rem; border: 1px solid var(--border-color); border-radius: 4px; padding: 1rem;">
-        <summary style="font-size: 1.2rem; font-weight: 600; margin-bottom: 0.5rem; border-bottom: none;">
-            {{ child.title }}
-        </summary>
-        <div class="group-content">
-            {{ child.content | safe }}
-        </div>
-    </details>
-    {% endfor %}
-</div>
diff --git a/python/mujoco/sysid/report/templates/insights.html b/python/mujoco/sysid/report/templates/insights.html
deleted file mode 100644
index 9c25b7eb..00000000
--- a/python/mujoco/sysid/report/templates/insights.html
+++ /dev/null
@@ -1,90 +0,0 @@
-<div class="insights-container">
-    {% for insight in insights %}
-    <div class="insight-card insight-{{ insight.type }}">
-        <div class="insight-icon">
-            {% if insight.type == 'warning' %}
-            ⚠️
-            {% elif insight.type == 'success' %}
-            ✅
-            {% else %}
-            ℹ️
-            {% endif %}
-        </div>
-        <div class="insight-content">
-            <span class="insight-message">
-                <strong>{{ insight.title }}:</strong> {{ insight.message | safe }}
-            </span>
-        </div>
-    </div>
-    {% endfor %}
-</div>
-
-<style>
-    .insights-container {
-        display: flex;
-        flex-direction: column;
-        gap: 0.25rem;
-        /* Reduced gap */
-    }
-
-    .insight-card {
-        display: flex;
-        align-items: center;
-        /* Center Vertically */
-        padding: 0.25rem 0.5rem;
-        /* Smaller padding */
-        border-radius: 0.25rem;
-        border: 1px solid transparent;
-        background-color: var(--bg-color);
-        font-size: 0.9rem;
-        /* Smaller font */
-        min-height: 1.5rem;
-        /* Ensure roughly one line height */
-    }
-
-    .insight-icon {
-        font-size: 1rem;
-        margin-right: 0.5rem;
-        flex-shrink: 0;
-        line-height: 1;
-    }
-
-    .insight-content {
-        flex-grow: 1;
-        display: flex;
-        align-items: center;
-    }
-
-    .insight-message {
-        margin: 0;
-        color: var(--text-color);
-        /* Use standard text color */
-        white-space: nowrap;
-        /* Keep on one line if possible, or truncate? User said 'could just be one lines height' */
-        overflow: hidden;
-        text-overflow: ellipsis;
-    }
-
-    /* Allow wrapping if very long but keeping compact verticality */
-    .insight-message {
-        white-space: normal;
-    }
-
-
-    /* Types */
-    .insight-warning {
-        background-color: rgba(255, 193, 7, 0.1);
-        border-color: rgba(255, 193, 7, 0.4);
-    }
-
-    [data-theme="dark"] .insight-warning {
-        background-color: rgba(255, 193, 7, 0.05);
-        /* slightly lighter in dark mode */
-    }
-
-
-    .insight-success {
-        background-color: rgba(25, 135, 84, 0.1);
-        border-color: rgba(25, 135, 84, 0.4);
-    }
-</style>
diff --git a/python/mujoco/sysid/report/templates/layout.html b/python/mujoco/sysid/report/templates/layout.html
deleted file mode 100644
index 3de24834..00000000
--- a/python/mujoco/sysid/report/templates/layout.html
+++ /dev/null
@@ -1,699 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-
-<head>
-  <meta charset="UTF-8">
-  <meta name="viewport" content="width=device-width, initial-scale=1.0">
-  <title>{{ report_title }}</title>
-  <style>
-    @import url('https://fonts.googleapis.com/css2?family=DM+Sans:ital,wght@0,400;0,500;0,700;1,400;1,500;1,700&family=JetBrains+Mono:wght@400;700&display=swap');
-
-    :root {
-      /* Light Theme Defaults */
-      --bg-color: #f4f6f8;
-      --card-bg: #ffffff;
-      --text-color: #212529;
-      --text-muted: #6c757d;
-      --heading-color: #111;
-      --primary-color: #0d6efd;
-      --border-color: #dee2e6;
-      --shadow-sm: 0 0.125rem 0.25rem rgba(0, 0, 0, 0.075);
-      --toc-link-bg: #f4f6f8;
-      --toc-link-hover: #0d6efd;
-      --toc-link-hover-text: #fff;
-      /* Semantic Colors - Light Default */
-      --color-initial: #d32f2f;
-      --color-nominal: #388e3c;
-      --color-optimized: #1976d2;
-      --color-success: #2e7d32;
-      --color-warning: #f57c00;
-      --color-error: #c62828;
-      --color-boundary: #7b1fa2;
-    }
-
-    [data-theme="dark"] {
-      /* Dark Theme Overrides */
-      --bg-color: #121212;
-      --card-bg: #1e1e1e;
-      --text-color: #e0e0e0;
-      --text-muted: #a0a0a0;
-      --heading-color: #fff;
-      --primary-color: #6ea8fe;
-      --border-color: #333;
-      --shadow-sm: 0 0.125rem 0.25rem rgba(0, 0, 0, 0.3);
-      --toc-link-bg: #2d2d2d;
-      --toc-link-hover: #6ea8fe;
-      --toc-link-hover-text: #121212;
-      /* Semantic Colors - Dark Default */
-      --color-initial: #ef5350;
-      --color-nominal: #66bb6a;
-      --color-optimized: #42a5f5;
-      --color-success: #4caf50;
-      --color-warning: #ff9800;
-      --color-error: #f44336;
-      --color-boundary: #ab47bc;
-    }
-
-    /* Colorblind-friendly overrides (applied via data-colorscheme) */
-    [data-colorscheme="colorblind"] {
-      --color-initial: #d55e00;
-      --color-nominal: #0072b2;
-      --color-optimized: #cc79a7;
-      --color-success: #009e73;
-      --color-warning: #f0e442;
-      --color-error: #d55e00;
-      --color-boundary: #cc79a7;
-    }
-
-    /* Semantic color helper classes for inline use */
-    .color-initial {
-      color: var(--color-initial);
-    }
-
-    .color-nominal {
-      color: var(--color-nominal);
-    }
-
-    .color-optimized {
-      color: var(--color-optimized);
-    }
-
-    .color-success {
-      color: var(--color-success);
-    }
-
-    .color-warning {
-      color: var(--color-warning);
-    }
-
-    .color-error {
-      color: var(--color-error);
-    }
-
-    .color-boundary {
-      color: var(--color-boundary);
-    }
-
-    * {
-      box-sizing: border-box;
-    }
-
-    body {
-      font-family: 'DM Sans', -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, Helvetica, Arial, sans-serif;
-      font-size: 16px;
-      line-height: 1.6;
-      color: var(--text-color);
-      background-color: var(--bg-color);
-      margin: 0;
-      padding: 0;
-      -webkit-font-smoothing: antialiased;
-      transition: background-color 0.3s, color 0.3s;
-    }
-
-    h1,
-    h2,
-    h3,
-    h4,
-    h5,
-    h6 {
-      margin-top: 0;
-      margin-bottom: 0.5rem;
-      font-weight: 700;
-      line-height: 1.2;
-      color: var(--heading-color);
-    }
-
-    h1 {
-      font-size: 2.25rem;
-      margin-bottom: 0.5rem;
-    }
-
-    h2 {
-      font-size: 1.75rem;
-      margin-bottom: 1rem;
-      padding-bottom: 0.5rem;
-      border-bottom: 2px solid var(--bg-color);
-    }
-
-    h3 {
-      font-size: 1.5rem;
-    }
-
-    a {
-      color: var(--primary-color);
-      text-decoration: none;
-    }
-
-    a:hover {
-      text-decoration: underline;
-    }
-
-    .container {
-      max-width: var(--max-width);
-      margin: 0 auto;
-      padding: 2rem;
-    }
-
-    header.report-header {
-      background-color: var(--card-bg);
-      padding: 1.5rem 0;
-      border-bottom: 1px solid var(--border-color);
-      margin-bottom: 2rem;
-      box-shadow: var(--shadow-sm);
-      transition: background-color 0.3s, border-color 0.3s;
-    }
-
-    header .container {
-      padding-top: 0;
-      padding-bottom: 0;
-      display: flex;
-      justify-content: space-between;
-      align-items: center;
-      flex-wrap: wrap;
-    }
-
-    .report-meta {
-      color: var(--text-muted);
-      font-size: 0.9rem;
-    }
-
-    /* CARD STYLES */
-    section {
-      background-color: var(--card-bg);
-      border-radius: 0.5rem;
-      box-shadow: var(--shadow-sm);
-      margin-bottom: 2rem;
-      padding: 2rem;
-      border: 1px solid var(--border-color);
-      transition: background-color 0.3s, border-color 0.3s;
-      overflow: hidden;
-      /* Prevent spillover */
-    }
-
-    /* Make content responsive */
-    section>div,
-    section>table,
-    section>.plotly-graph-div {
-      overflow-x: auto;
-      max-width: 100%;
-    }
-
-    /* TOC STYLES */
-    .toc-card {
-      background-color: var(--card-bg);
-      border-radius: 0.5rem;
-      padding: 1.5rem;
-      margin-bottom: 2rem;
-      border: 1px solid var(--border-color);
-      transition: background-color 0.3s, border-color 0.3s;
-    }
-
-    .toc-card h3 {
-      margin-top: 0;
-      font-size: 1.25rem;
-      color: var(--text-muted);
-      text-transform: uppercase;
-      letter-spacing: 0.05em;
-    }
-
-    .toc-card ul {
-      list-style: none;
-      padding-left: 0;
-      margin: 0;
-      display: flex;
-      flex-wrap: wrap;
-      gap: 0.5rem;
-    }
-
-    .toc-card li a {
-      display: inline-block;
-      padding: 0.5rem 1rem;
-      background: var(--toc-link-bg);
-      border-radius: 2rem;
-      font-weight: 500;
-      font-size: 0.9rem;
-      transition: all 0.2s;
-      color: var(--text-color);
-    }
-
-    .toc-card li a:hover {
-      background: var(--toc-link-hover);
-      color: var(--toc-link-hover-text);
-      text-decoration: none;
-    }
-
-    /* DETAILS / SUMMARY overrides */
-    details {
-      margin-top: 0;
-      border: none;
-      background: none;
-      padding: 0;
-    }
-
-    details>summary {
-      font-size: 1.75rem;
-      font-weight: 700;
-      cursor: pointer;
-      margin-bottom: 1rem;
-      padding-bottom: 0.5rem;
-      border-bottom: 2px solid var(--bg-color);
-      list-style: none;
-      display: flex;
-      align-items: center;
-      color: var(--heading-color);
-    }
-
-    details>summary::-webkit-details-marker {
-      display: none;
-    }
-
-    details>summary::after {
-      content: '+';
-      margin-left: auto;
-      font-weight: 400;
-      color: var(--text-muted);
-    }
-
-    details[open]>summary::after {
-      content: '−';
-    }
-
-    /* Code/Mono font improvements */
-    code,
-    pre {
-      font-family: 'JetBrains Mono', source-code-pro, Menlo, Monaco, Consolas, "Courier New", monospace;
-    }
-
-    /* Toggle Button */
-    #theme-toggle,
-    #colorscheme-toggle {
-      background: none;
-      border: 1px solid var(--border-color);
-      border-radius: 2rem;
-      padding: 0.5rem 1rem;
-      cursor: pointer;
-      font-family: inherit;
-      font-size: 0.9rem;
-      color: var(--text-color);
-      display: flex;
-      align-items: center;
-      gap: 0.5rem;
-    }
-
-    #theme-toggle:hover,
-    #colorscheme-toggle:hover {
-      background-color: var(--bg-color);
-    }
-
-    /* Header Controls */
-    .header-controls {
-      display: flex;
-      gap: 0.5rem;
-      align-items: center;
-    }
-
-    /* Color Scheme Dropdown */
-    .color-scheme-dropdown {
-      position: relative;
-    }
-
-    .color-panel {
-      position: absolute;
-      top: calc(100% + 0.5rem);
-      right: 0;
-      background: var(--card-bg);
-      border: 1px solid var(--border-color);
-      border-radius: 0.75rem;
-      box-shadow: 0 10px 40px rgba(0, 0, 0, 0.2);
-      padding: 1rem;
-      z-index: 1000;
-      min-width: 220px;
-      opacity: 0;
-      transform: translateY(-10px) scale(0.95);
-      pointer-events: none;
-      transition: opacity 0.2s ease, transform 0.2s ease;
-    }
-
-    .color-panel.visible {
-      opacity: 1;
-      transform: translateY(0) scale(1);
-      pointer-events: auto;
-    }
-
-    .color-panel-title {
-      font-size: 0.75rem;
-      font-weight: 600;
-      text-transform: uppercase;
-      letter-spacing: 0.05em;
-      color: var(--text-muted);
-      margin-bottom: 0.75rem;
-    }
-
-    .color-option {
-      display: flex;
-      align-items: center;
-      gap: 0.75rem;
-      padding: 0.625rem 0.75rem;
-      border: none;
-      background: none;
-      border-radius: 0.5rem;
-      cursor: pointer;
-      width: 100%;
-      text-align: left;
-      color: var(--text-color);
-      font-family: inherit;
-      font-size: 0.9rem;
-      transition: background-color 0.15s ease;
-    }
-
-    .color-option:hover {
-      background-color: var(--bg-color);
-    }
-
-    .color-option.active {
-      background-color: var(--primary-color);
-      color: white;
-    }
-
-    .color-swatch {
-      display: flex;
-      gap: 3px;
-    }
-
-    .color-swatch span {
-      width: 14px;
-      height: 14px;
-      border-radius: 3px;
-    }
-
-    .swatch-default .c1 {
-      background: #ef5350;
-    }
-
-    .swatch-default .c2 {
-      background: #66bb6a;
-    }
-
-    .swatch-default .c3 {
-      background: #42a5f5;
-    }
-
-    .swatch-colorblind .c1 {
-      background: #d55e00;
-    }
-
-    .swatch-colorblind .c2 {
-      background: #0072b2;
-    }
-
-    .swatch-colorblind .c3 {
-      background: #cc79a7;
-    }
-
-    /* Back to Top */
-    #back-to-top {
-      position: fixed;
-      bottom: 2rem;
-      right: 2rem;
-      background-color: var(--primary-color);
-      color: #fff;
-      border: none;
-      border-radius: 50%;
-      width: 3rem;
-      height: 3rem;
-      display: none;
-      align-items: center;
-      justify-content: center;
-      cursor: pointer;
-      box-shadow: var(--shadow-md);
-      z-index: 1000;
-      font-size: 1.5rem;
-      transition: transform 0.2s;
-    }
-
-    #back-to-top:hover {
-      transform: translateY(-3px);
-    }
-
-    /* Responsive */
-    @media (max-width: 768px) {
-      .container {
-        padding: 1rem;
-      }
-
-      h1 {
-        font-size: 1.75rem;
-      }
-
-      section {
-        padding: 1.5rem;
-      }
-    }
-  </style>
-
-  {% for include in header_includes %}
-  {{ include | safe }}
-  {% endfor %}
-</head>
-
-<body>
-
-  <header class="report-header">
-    <div class="container">
-      <div>
-        <h1>{{ report_title }}</h1>
-        {% if report_timestamp %}
-        <div class="report-meta">Generated at {{ report_timestamp }}</div>
-        {% endif %}
-      </div>
-      <div class="header-controls">
-        <button id="theme-toggle" onclick="toggleTheme()">
-          <span>🌗</span> Theme
-        </button>
-        <div class="color-scheme-dropdown">
-          <button id="colorscheme-toggle" onclick="toggleColorSchemePanel()">
-            <span>🎨</span> Colors
-          </button>
-          <div id="color-panel" class="color-panel">
-            <div class="color-panel-title">Color Scheme</div>
-            <button class="color-option active" data-scheme="default" onclick="setColorScheme('default')">
-              <div class="color-swatch swatch-default">
-                <span class="c1"></span>
-                <span class="c2"></span>
-                <span class="c3"></span>
-              </div>
-              Default
-            </button>
-            <button class="color-option" data-scheme="colorblind" onclick="setColorScheme('colorblind')">
-              <div class="color-swatch swatch-colorblind">
-                <span class="c1"></span>
-                <span class="c2"></span>
-                <span class="c3"></span>
-              </div>
-              Colorblind Safe
-            </button>
-          </div>
-        </div>
-      </div>
-    </div>
-  </header>
-
-  <div class="container">
-
-    <nav class="toc-card">
-      <h3>Contents</h3>
-      <ul>
-        {% for sec in sections %}
-        <li><a href="#{{ sec.anchor }}">{{ sec.title }}</a></li>
-        {% endfor %}
-      </ul>
-    </nav>
-
-    <main>
-      {% for sec in sections %}
-      <section id="{{ sec.anchor }}">
-        {% if sec.collapsible %}
-        <details {% if sec.is_open %}open{% endif %}>
-          <summary>{{ sec.title }}</summary>
-          {{ sec.content | safe }}
-        </details>
-        {% else %}
-        <h2>{{ sec.title }}</h2>
-        {{ sec.content | safe }}
-        {% endif %}
-      </section>
-      {% endfor %}
-    </main>
-
-  </div>
-
-  <button id="back-to-top" onclick="window.scrollTo({top: 0, behavior: 'smooth'})" title="Back to Top">
-    ↑
-  </button>
-
-  <script>
-    // Theme Logic
-    function toggleTheme() {
-      const body = document.body;
-      const currentTheme = body.getAttribute('data-theme');
-      const newTheme = currentTheme === 'dark' ? 'light' : 'dark';
-      body.setAttribute('data-theme', newTheme);
-      localStorage.setItem('theme', newTheme);
-      updatePlotsTheme(newTheme);
-    }
-
-    // Update Plotly plots
-    function updatePlotsTheme(theme) {
-      const isDark = theme === 'dark';
-      const bgColor = isDark ? '#1e1e1e' : '#ffffff';
-      const fontColor = isDark ? '#e0e0e0' : '#212529';
-      const gridColor = isDark ? '#444' : 'rgba(211, 211, 211, 0.7)';
-      const lineColor = isDark ? '#666' : 'black';
-
-      const update = {
-        'paper_bgcolor': bgColor,
-        'plot_bgcolor': bgColor,
-        'font.color': fontColor
-      };
-
-      const plots = document.getElementsByClassName('plotly-graph-div');
-      for (let i = 0; i < plots.length; i++) {
-        const div = plots[i];
-        // dynamic update object
-        const layoutUpdate = { ...update };
-
-        // Iterate over layout keys to find axes
-        if (div.layout) {
-          Object.keys(div.layout).forEach(key => {
-            if (key.match(/^[xy]axis\d*$/)) {
-              layoutUpdate[`${key}.gridcolor`] = gridColor;
-              layoutUpdate[`${key}.linecolor`] = lineColor;
-              layoutUpdate[`${key}.zerolinecolor`] = gridColor;
-            }
-          });
-        }
-
-        Plotly.relayout(div, layoutUpdate);
-      }
-    }
-
-    // Load saved theme
-    const savedTheme = localStorage.getItem('theme');
-    let startTheme = 'light';
-    if (savedTheme) {
-      document.body.setAttribute('data-theme', savedTheme);
-      startTheme = savedTheme;
-    } else if (window.matchMedia && window.matchMedia('(prefers-color-scheme: dark)').matches) {
-      document.body.setAttribute('data-theme', 'dark');
-      startTheme = 'dark';
-    }
-
-    // Color Scheme Logic
-    function toggleColorSchemePanel() {
-      const panel = document.getElementById('color-panel');
-      panel.classList.toggle('visible');
-    }
-
-    function setColorScheme(scheme) {
-      // Update body attribute
-      if (scheme === 'colorblind') {
-        document.body.setAttribute('data-colorscheme', 'colorblind');
-      } else {
-        document.body.removeAttribute('data-colorscheme');
-      }
-      localStorage.setItem('colorscheme', scheme);
-
-      // Update active state on buttons
-      document.querySelectorAll('.color-option').forEach(btn => {
-        btn.classList.toggle('active', btn.dataset.scheme === scheme);
-      });
-
-      // Close panel
-      document.getElementById('color-panel').classList.remove('visible');
-    }
-
-    // Close panel when clicking outside
-    document.addEventListener('click', (e) => {
-      const dropdown = document.querySelector('.color-scheme-dropdown');
-      if (dropdown && !dropdown.contains(e.target)) {
-        document.getElementById('color-panel').classList.remove('visible');
-      }
-    });
-
-    // Load saved color scheme
-    const savedColorScheme = localStorage.getItem('colorscheme');
-    if (savedColorScheme === 'colorblind') {
-      document.body.setAttribute('data-colorscheme', 'colorblind');
-      document.querySelectorAll('.color-option').forEach(btn => {
-        btn.classList.toggle('active', btn.dataset.scheme === 'colorblind');
-      });
-    }
-
-    // Apply plot theme on load (wait for plotly to init?)
-    // Plotly scripts usually run inline, so we might need to wait a tick or use an event.
-    // However, the report generates static HTML where the Plotly.newPlot is called in script tags.
-    // Those script tags might run after this one depending on placement.
-    // layout.html ends with this script, and content is inserted before it?
-    // StartTheme application:
-    window.addEventListener('DOMContentLoaded', () => {
-      // Observers to catch plots as they load if they are async,
-      // but typically jinja renders them inline.
-      // We'll try running it immediately and also after a short delay to be safe.
-      updatePlotsTheme(startTheme);
-      setTimeout(() => updatePlotsTheme(startTheme), 500);
-    });
-
-    // Back to Top Logic
-    const backToTopBtn = document.getElementById('back-to-top');
-    window.addEventListener('scroll', () => {
-      if (window.scrollY > 300) {
-        backToTopBtn.style.display = 'flex';
-      } else {
-        backToTopBtn.style.display = 'none';
-      }
-    });
-
-    // Video Synchronization
-    const videos = document.querySelectorAll('video');
-    let ignoreEvents = false;
-
-    videos.forEach(video => {
-      video.addEventListener('play', (e) => {
-        if (ignoreEvents) return;
-        ignoreEvents = true;
-        videos.forEach(v => {
-          if (v !== e.target && v.paused) {
-            v.play();
-          }
-        });
-        setTimeout(() => ignoreEvents = false, 10);
-      });
-
-      video.addEventListener('pause', (e) => {
-        if (ignoreEvents) return;
-        ignoreEvents = true;
-        videos.forEach(v => {
-          if (v !== e.target && !v.paused) {
-            v.pause();
-          }
-        });
-        setTimeout(() => ignoreEvents = false, 10);
-      });
-
-      video.addEventListener('seeking', (e) => {
-        if (ignoreEvents) return;
-        ignoreEvents = true;
-        const currentTime = e.target.currentTime;
-        videos.forEach(v => {
-          if (v !== e.target && Math.abs(v.currentTime - currentTime) > 0.05) {
-            v.currentTime = currentTime;
-          }
-        });
-        setTimeout(() => ignoreEvents = false, 10);
-      });
-    });
-  </script>
-
-</body>
-
-</html>
diff --git a/python/mujoco/sysid/report/templates/optimization_trace.html b/python/mujoco/sysid/report/templates/optimization_trace.html
deleted file mode 100644
index 831453d4..00000000
--- a/python/mujoco/sysid/report/templates/optimization_trace.html
+++ /dev/null
@@ -1,20 +0,0 @@
-{% if objective_plot_html %}
-<h3>Objective Function</h3>
-<div>
-    {{ objective_plot_html | safe }}
-</div>
-{% endif %}
-{% if candidate_heatmap_html %}
-<h3>Parameter Candidate Heatmap</h3>
-<div>
-    {{ candidate_heatmap_html | safe }}
-</div>
-{% endif %}
-{% if candidate_plots_html %}
-<h3>Parameter Candidates</h3>
-{% for plot_html in candidate_plots_html %}
-<div>
-    {{ plot_html | safe }}
-</div>
-{% endfor %}
-{% endif %}
diff --git a/python/mujoco/sysid/report/templates/parameter_confidence.html b/python/mujoco/sysid/report/templates/parameter_confidence.html
deleted file mode 100644
index d7b43daf..00000000
--- a/python/mujoco/sysid/report/templates/parameter_confidence.html
+++ /dev/null
@@ -1,3 +0,0 @@
-<div>
-    {{ plot_html | safe }}
-</div>
diff --git a/python/mujoco/sysid/report/templates/parameters_table.html b/python/mujoco/sysid/report/templates/parameters_table.html
deleted file mode 100644
index 3f37a0be..00000000
--- a/python/mujoco/sysid/report/templates/parameters_table.html
+++ /dev/null
@@ -1,147 +0,0 @@
-<style>
-  table.pt {
-    width: 100%;
-    border-collapse: collapse;
-    margin-bottom: 1rem;
-    font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
-    font-size: 0.9rem;
-    color: var(--text-color);
-  }
-
-  table.pt thead tr th,
-  table.pt tbody tr td {
-    padding: 10px 12px;
-    text-align: left;
-    border-top: 1px solid var(--border-color);
-    vertical-align: middle;
-  }
-
-  table.pt thead,
-  table.pt thead th {
-    background-color: var(--bg-color);
-    /* Very light grey header background */
-    color: var(--heading-color);
-    font-weight: 600;
-    border-top: none;
-    border-bottom: 2px solid var(--border-color);
-    /* Keep a stronger bottom border for header */
-    text-align: right;
-  }
-
-  table.pt tbody tr:first-child td {
-    border-top: none;
-  }
-
-  table.pt th,
-  table.pt td {
-    border-left: 1px solid var(--border-color);
-    border-right: 1px solid var(--border-color);
-    border-bottom: 1px solid var(--border-color);
-  }
-
-  /* Body row styles */
-  table.pt tbody tr {
-    background-color: var(--card-bg);
-  }
-
-  /* Alternating row colors (need a variable or opacity) */
-  /* Using a slight transparency for alternating rows to adapt to dark/light */
-  table.pt tbody tr:nth-child(even) {
-    background-color: rgba(128, 128, 128, 0.05);
-  }
-
-  table.pt tbody tr:hover {
-    background-color: rgba(128, 128, 128, 0.1);
-  }
-
-  table.pt thead th:first-child {
-    text-align: left;
-    /* Align 'Parameter' header left */
-  }
-
-  table.pt tbody tr td {
-    text-align: right;
-    font-family: "SFMono-Regular", Menlo, Monaco, Consolas, "Liberation Mono", "Courier New", monospace;
-  }
-
-  table.pt tbody tr td.pt_param {
-    font-weight: 500;
-    white-space: nowrap;
-    text-align: left;
-    color: var(--primary-color);
-  }
-
-  /* Update these to use variable or standard colors suitable for both modes */
-  .pt_param {
-    color: var(--primary-color);
-  }
-
-  .pt_nominal {
-    color: var(--primary-color);
-    /* Was #1f1fb4 */
-  }
-
-  .pt_bound {
-    color: var(--primary-color);
-  }
-
-  .pt_small_error {
-    color: var(--color-success);
-  }
-
-  .pt_medium_error {
-    color: var(--color-warning);
-  }
-
-  .pt_large_error {
-    color: var(--color-error);
-  }
-
-  .pt_on_boundary {
-    color: var(--color-boundary);
-  }
-</style>
-<div class="parameters">
-  <table class="pt">
-    <thead>
-      <tr>
-        {% for header in headers %}
-        <th>{{ header }}</th>
-        {% endfor %}
-      </tr>
-    </thead>
-    <tbody>
-      {% for row in table_data %}
-      <tr>
-        <td class="pt_param" {% if row.is_frozen %}style="color: grey;" {% endif %}>{{ row.name }}</td> {# Parameter
-        name #}
-        {% if row.initial is defined %}
-        <td class="pt_nominal" style="color: var(--text-muted);">{{ "%.4f" | format(row.initial) }}</td>
-        {% endif %}
-        {% if row.nominal is defined %}
-        <td class="pt_nominal">{{ "%.4f" | format(row.nominal) }}</td>
-        {% endif %}
-        <td class="{{row.error_class}}">{{ "%.4f" | format(row.pred) }}</td>
-        {% if row.is_frozen %}
-        <td class="pt_bound">-</td>
-        <td class="pt_bound">-</td>
-        {% else %}
-        <td class="pt_bound">{{ "%.4f" | format(row.lower_bound) }}</td>
-        <td class="pt_bound">{{ "%.4f" | format(row.upper_bound) }}</td>
-        {% endif %}
-        {% if row.abs_err is defined %}
-        <td class="{{row.error_class}}">{{ "%.4f" | format(row.abs_err) }}</td>
-        {% endif %}
-        {# Format relative error as percentage #}
-        {% if row.rel_err is defined %}
-        <td class="{{row.error_class}}">{{ "%.1f%%" | format(row.rel_err * 100) }}</td>
-        {% endif %}
-      </tr>
-      {% endfor %}
-    </tbody>
-  </table>
-  {% if overall_rmse is not none %}
-  <p class="pt_mse">Overall Parameters RMSE: {{ "%.4f" | format(overall_rmse) }}</p>
-  {% endif %}
-  <p style="color: grey; font-size: 0.85em; margin-top: 0.5rem;">* parameter is frozen</p>
-</div>
diff --git a/python/mujoco/sysid/report/templates/plot_generic.html b/python/mujoco/sysid/report/templates/plot_generic.html
deleted file mode 100644
index db669459..00000000
--- a/python/mujoco/sysid/report/templates/plot_generic.html
+++ /dev/null
@@ -1,8 +0,0 @@
-<div class="plot-container">
-    {{ plot_div | safe }}
-    {% if caption %}
-    <div class="plot-caption" style="margin-top: 0.5rem; color: var(--text-muted); font-size: 0.9em;">
-        <em>{{ caption | safe }}</em>
-    </div>
-    {% endif %}
-</div>
diff --git a/python/mujoco/sysid/report/templates/row.html b/python/mujoco/sysid/report/templates/row.html
deleted file mode 100644
index fc8351e9..00000000
--- a/python/mujoco/sysid/report/templates/row.html
+++ /dev/null
@@ -1,13 +0,0 @@
-<div class="row-section">
-    {% if description %}
-    <p class="section-description" style="color: var(--text-muted); margin-bottom: 1rem;">{{ description | safe }}</p>
-    {% endif %}
-    <div class="row-content"
-        style="display: flex; flex-direction: row; flex-wrap: wrap; gap: 1rem; justify-content: space-around;">
-        {% for child in child_sections %}
-        <div class="row-item" style="flex: 1; min-width: 300px;">
-            {{ child.content | safe }}
-        </div>
-        {% endfor %}
-    </div>
-</div>
diff --git a/python/mujoco/sysid/report/templates/signals.html b/python/mujoco/sysid/report/templates/signals.html
deleted file mode 100644
index d0bab4a2..00000000
--- a/python/mujoco/sysid/report/templates/signals.html
+++ /dev/null
@@ -1,3 +0,0 @@
-<div class="sensor-comparison-section">
-    {{ plot_div | safe }}
-</div>
diff --git a/python/mujoco/sysid/report/templates/video.html b/python/mujoco/sysid/report/templates/video.html
deleted file mode 100644
index 3bc47e58..00000000
--- a/python/mujoco/sysid/report/templates/video.html
+++ /dev/null
@@ -1,11 +0,0 @@
-<div style="text-align: center; margin: 20px 0;">
-    <video src="{{ video_filepath }}" width="{{ width }}" height="{{ height }}" {{ controls }} {{ autoplay }} {{ muted
-        }} {{ loop }} preload="metadata" style="max-width: 100%; height: auto;">
-        Your browser does not support the video tag.
-        <a href="{{ video_filepath }}" target="_blank">Download the video here.</a>
-    </video>
-    {% if caption %}
-    <p style="margin-top: 10px; font-size: 0.9em; color: var(--text-muted);" class="video-caption">{{ caption | safe }}
-    </p>
-    {% endif %}
-</div>
diff --git a/python/mujoco/sysid/report/utils.py b/python/mujoco/sysid/report/utils.py
deleted file mode 100644
index c7c0a6c0..00000000
--- a/python/mujoco/sysid/report/utils.py
+++ /dev/null
@@ -1,61 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
-"""Utility functions for report rendering."""
-
-import math
-
-from plotly import offline as plt_offline
-
-
-def plotly_script_tag() -> str:
-  """Returns an HTML <script> tag for Plotly.
-
-  currently installed in the environment.
-  """
-  plotly_js_version = plt_offline.get_plotlyjs_version()
-  return (
-      "<script"
-      f' src="https://cdn.plot.ly/plotly-{plotly_js_version}.min.js"></script>'
-  )
-
-
-def get_text_color(bg_color_hex: str) -> str:
-  """Returns 'black' or 'white' for text over a background color.
-
-  luminance of the given background hex color.
-  Useful for heatmaps and colored data tables.
-  """
-  # Convert hex to RGB
-  hex_color = bg_color_hex.lstrip("#")
-  if len(hex_color) != 6:
-    return "black"  # Fallback
-
-  rgb = tuple(int(hex_color[i : i + 2], 16) for i in (0, 2, 4))
-  r, g, b = [x / 255.0 for x in rgb]
-
-  # Calculate luminance (per WCAG guidelines)
-  # https://www.w3.org/TR/WCAG20/#relativeluminancedef
-  def lum_component(c):
-    return c / 12.92 if c <= 0.03928 else math.pow((c + 0.055) / 1.055, 2.4)
-
-  luminance = (
-      0.2126 * lum_component(r)
-      + 0.7152 * lum_component(g)
-      + 0.0722 * lum_component(b)
-  )
-
-  # Return 'black' for light backgrounds, 'white' for dark backgrounds
-  return "black" if luminance > 0.4 else "white"
diff --git a/python/mujoco/sysid/sysid.ipynb b/python/mujoco/sysid/sysid.ipynb
deleted file mode 100644
index c4d53ea1..00000000
--- a/python/mujoco/sysid/sysid.ipynb
+++ /dev/null
@@ -1,1419 +0,0 @@
-{
-  "cells": [
-    {
-      "cell_type": "markdown",
-      "source": [
-        "# System Identification\n",
-        "\n",
-        "This notebook describes MuJoCo's [system identification](https://en.wikipedia.org/wiki/System_identification) framework. System identification optimizes parameters to make a simulation match measurements. We introduce the framework's core concepts and walk through some basic examples. More detailed exercises will be added soon.\n",
-        "\n",
-        "**In this notebook we will:**\n",
-        "\n",
-        "1. [**Formulation:**](#formulation) briefly introduce the sysid problem\n",
-        "2. [**Core Concepts:**](#core-concepts) estimate the mass of a mass-spring-damper\n",
-        "3. [**API:**](#api) tour core API concepts like `Parameter`, `TimeSeries`, and `ModelSequences`\n",
-        "4. [**Robot arm:**](#robot-arm) identify joint armature on a 5-DOF arm, with confidence intervals, sensor plots, and an interactive HTML report\n",
-        "5. [**Parameter Identifiability:**](#ambiguity) understand and diagnose when parameters are unidentifiable"
-      ],
-      "metadata": {
-        "id": "drs7G4CAj9Nx"
-      },
-      "id": "drs7G4CAj9Nx"
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "# Setup"
-      ],
-      "metadata": {
-        "id": "8P1e2JXckIbW"
-      },
-      "id": "8P1e2JXckIbW"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title Install MuJoCo and mediapy\n",
-        "!pip install -q mujoco[sysid] --pre -f https://py.mujoco.org/\n",
-        "!pip install -q mediapy"
-      ],
-      "metadata": {
-        "id": "OAAcG7DqkK3C"
-      },
-      "id": "OAAcG7DqkK3C",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title Set up GPU rendering\n",
-        "from google.colab import files\n",
-        "import distutils.util\n",
-        "import os\n",
-        "import subprocess\n",
-        "if subprocess.run('nvidia-smi').returncode:\n",
-        "  raise RuntimeError(\n",
-        "      'Cannot communicate with GPU. '\n",
-        "      'Make sure you are using a GPU Colab runtime. '\n",
-        "      'Go to the Runtime menu and select Choose runtime type.')\n",
-        "\n",
-        "# Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
-        "# This is usually installed as part of an Nvidia driver package, but the Colab\n",
-        "# kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
-        "# (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
-        "NVIDIA_ICD_CONFIG_PATH = '/usr/share/glvnd/egl_vendor.d/10_nvidia.json'\n",
-        "if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
-        "  with open(NVIDIA_ICD_CONFIG_PATH, 'w') as f:\n",
-        "    f.write(\"\"\"{\n",
-        "    \"file_format_version\" : \"1.0.0\",\n",
-        "    \"ICD\" : {\n",
-        "        \"library_path\" : \"libEGL_nvidia.so.0\"\n",
-        "    }\n",
-        "}\n",
-        "\"\"\")"
-      ],
-      "metadata": {
-        "id": "SIrVAb4gkMin"
-      },
-      "id": "SIrVAb4gkMin",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title Configure EGL backend\n",
-        "print('Setting environment variable to use GPU rendering:')\n",
-        "%env MUJOCO_GL=egl"
-      ],
-      "metadata": {
-        "id": "QgGusTkjkNcF"
-      },
-      "id": "QgGusTkjkNcF",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "import mujoco\n",
-        "import mujoco.rollout as rollout\n",
-        "from mujoco import sysid\n",
-        "import numpy as np\n",
-        "import matplotlib.pyplot as plt\n",
-        "import mediapy as media\n",
-        "from absl import logging\n",
-        "import base64\n",
-        "from IPython.display import IFrame\n",
-        "\n",
-        "logging.set_verbosity(\"INFO\")\n",
-        "\n",
-        "def display_report(report):\n",
-        "    html_b64 = base64.b64encode(report.build().encode()).decode()\n",
-        "    return IFrame(src=f\"data:text/html;base64,{html_b64}\", width=\"100%\", height=800)"
-      ],
-      "metadata": {
-        "id": "fWs5EDSRkOfj"
-      },
-      "id": "fWs5EDSRkOfj",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "<a name=\"formulation\"></a>\n",
-        "# Formulation"
-      ],
-      "metadata": {
-        "id": "LU9bl8aSkIWp"
-      },
-      "id": "LU9bl8aSkIWp"
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "This library does [**gray-box**](https://en.wikipedia.org/wiki/Grey_box_model) identification: you supply the model structure\n",
-        "(rigid-body dynamics, contacts, actuators) via a MuJoCo XML, and the optimizer\n",
-        "adjusts the parameters you designate as unknown.\n",
-        "\n",
-        "Given $K$ parameters collected in a vector $\\theta$ and $N$ sensor\n",
-        "measurements $y$, we simulate the model to produce predicted outputs\n",
-        "$\\bar y(\\theta)$ and minimize the weighted residual:\n",
-        "\n",
-        "$$\\min_\\theta \\; \\tfrac{1}{2}\\lVert W\\bigl(\\bar y(\\theta) - y\\bigr)\\rVert^2\n",
-        "\\qquad \\text{s.t.}\\quad l \\preccurlyeq \\theta \\preccurlyeq u$$\n",
-        "\n",
-        "This is a box-constrained **nonlinear least-squares** problem. The optimizer\n",
-        "uses a Gauss-Newton / Levenberg-Marquardt algorithm with finite-difference\n",
-        "Jacobians. Each parameter perturbation requires an independent simulation\n",
-        "rollout, and all of them execute in a single batched call to [`mujoco.rollout`](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/rollout.ipynb),\n",
-        "parallelized across CPU threads.\n",
-        "\n",
-        "For a detailed treatment of the underlying optimizer, see the\n",
-        "[Least Squares](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb) notebook."
-      ],
-      "metadata": {
-        "id": "pyAquNvkkIUU"
-      },
-      "id": "pyAquNvkkIUU"
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "<a name=\"core-concepts\"></a>\n",
-        "# 1. Core Concepts\n",
-        "\n",
-        "We illustrate the framework's core concepts with an actuated [mass-spring-damper](https://en.wikipedia.org/wiki/Mass-spring-damper_model). We know the exact spring stiffness and damping, but the mass must be estimated."
-      ],
-      "metadata": {
-        "id": "wLktJeBokISN"
-      },
-      "id": "wLktJeBokISN"
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### The model\n",
-        "\n",
-        "A box on a spring, driven by a force actuator, with position and velocity\n",
-        "sensors. The true mass is **1.0 kg**."
-      ],
-      "metadata": {
-        "id": "_7k6iikqkIP6"
-      },
-      "id": "_7k6iikqkIP6"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title SPRING_MASS_XML { vertical-output: true}\n",
-        "SPRING_MASS_XML = \"\"\"\\\n",
-        "<mujoco model=\"spring_mass\">\n",
-        "  <option timestep=\"0.002\">\n",
-        "    <flag contact=\"disable\"/>\n",
-        "  </option>\n",
-        "  <worldbody>\n",
-        "    <body name=\"ball\" pos=\"0 0 0.1\">\n",
-        "      <inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.001 0.001 0.001\"/>\n",
-        "      <joint name=\"slide\" type=\"slide\" axis=\"1 0 0\"\n",
-        "             stiffness=\"100\" damping=\"5.0\"/>\n",
-        "      <geom type=\"box\" size=\"0.05 0.05 0.05\"/>\n",
-        "    </body>\n",
-        "  </worldbody>\n",
-        "  <actuator>\n",
-        "    <motor name=\"push\" joint=\"slide\"/>\n",
-        "  </actuator>\n",
-        "  <sensor>\n",
-        "    <jointpos name=\"position\" joint=\"slide\"/>\n",
-        "    <jointvel name=\"velocity\" joint=\"slide\"/>\n",
-        "  </sensor>\n",
-        "</mujoco>\n",
-        "\"\"\""
-      ],
-      "metadata": {
-        "cellView": "form",
-        "id": "NvQFiFJhkXSs"
-      },
-      "id": "NvQFiFJhkXSs",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Generate \"measured\" data\n",
-        "\n",
-        "We simulate the true model to create our ground-truth sensor recordings.\n",
-        "A multi-frequency excitation signal produces a non-trivial trajectory.\n",
-        "<!-- ensures the system is well-excited across its dynamics. -->\n",
-        "\n",
-        "`create_initial_state` packs the joint positions, velocities and actuator\n",
-        "activations into the\n",
-        "[state vector](https://mujoco.readthedocs.io/en/stable/computation/index.html#the-state)\n",
-        "that `mujoco.rollout` expects. The results are wrapped in `TimeSeries`\n",
-        "objects, which pair timestamps with data columns and are covered in detail\n",
-        "in [Section 2](#api)."
-      ],
-      "metadata": {
-        "id": "KMEsYY0hkILb"
-      },
-      "id": "KMEsYY0hkILb"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "spec = mujoco.MjSpec.from_string(SPRING_MASS_XML)\n",
-        "model = spec.compile()\n",
-        "data = mujoco.MjData(model)\n",
-        "\n",
-        "duration = 3.0\n",
-        "n_steps = int(duration / model.opt.timestep)\n",
-        "t = np.arange(n_steps) * model.opt.timestep\n",
-        "\n",
-        "ctrl = (5.0 * np.sin(2 * np.pi * 1.5 * t)\n",
-        "        + 3.0 * np.sin(2 * np.pi * 3.7 * t)).reshape(-1, 1)\n",
-        "\n",
-        "initial_state = sysid.create_initial_state(model, data.qpos, data.qvel, data.act)\n",
-        "\n",
-        "state, sensor = rollout.rollout(model, data, initial_state, ctrl[:-1])\n",
-        "state = np.squeeze(state, axis=0)\n",
-        "sensor = np.squeeze(sensor, axis=0)\n",
-        "times = state[:, 0]"
-      ],
-      "metadata": {
-        "id": "XXzMhCJTka8Z"
-      },
-      "id": "XXzMhCJTka8Z",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "Let's visualize the result:"
-      ],
-      "metadata": {
-        "id": "_tOP-duuYpVt"
-      },
-      "id": "_tOP-duuYpVt"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title { vertical-output: true}\n",
-        "\n",
-        "# Render the rollout.\n",
-        "frames = sysid.render_rollout(\n",
-        "    model, data, state[None], framerate=30, height=400, width=560\n",
-        ")\n",
-        "media.show_video(frames, fps=30)\n",
-        "\n",
-        "control_ts = sysid.TimeSeries(t, ctrl)\n",
-        "sensor_ts = sysid.TimeSeries.from_names(times, sensor, model)\n",
-        "\n",
-        "fig, axes = plt.subplots(3, 1, figsize=(5, 4), sharex=True,\n",
-        "                         gridspec_kw={\"height_ratios\": [2, 2, 1]})\n",
-        "\n",
-        "axes[0].plot(times, sensor[:, 0], color=\"C0\", linewidth=1.0)\n",
-        "axes[0].set_ylabel(\"Position (m)\")\n",
-        "axes[0].set_title(\"Measured trajectory (true mass = 1.0 kg)\")\n",
-        "\n",
-        "axes[1].plot(times, sensor[:, 1], color=\"C1\", linewidth=1.0)\n",
-        "axes[1].set_ylabel(\"Velocity (m/s)\")\n",
-        "\n",
-        "axes[2].plot(t, ctrl[:, 0], color=\"0.4\", linewidth=0.8)\n",
-        "axes[2].set_ylabel(\"Control (N)\")\n",
-        "axes[2].set_xlabel(\"Time (s)\")\n",
-        "\n",
-        "for ax in axes:\n",
-        "    ax.grid(True, alpha=0.3)\n",
-        "\n",
-        "plt.tight_layout()\n",
-        "plt.show()"
-      ],
-      "metadata": {
-        "cellView": "form",
-        "id": "QwLOAPkTYsXG"
-      },
-      "id": "QwLOAPkTYsXG",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Construct the System Identification Problem\n",
-        "\n",
-        "#### Define the unknown parameter\n",
-        "\n",
-        "A `Parameter` wraps a scalar (or vector) value with:\n",
-        "- **bounds** for box-constrained optimization\n",
-        "- a **modifier** callback that stamps the current value onto an [`MjSpec`](https://mujoco.readthedocs.io/en/stable/python.html#model-editing)\n",
-        "\n",
-        "The `nominal` value is a fixed reference point (here we set it to the true\n",
-        "value for later comparison, but in practice it would be your best prior\n",
-        "guess). The mutable `value` is what the optimizer actually updates.\n",
-        "\n",
-        "We'll start the optimizer at **mass = 2.0 kg**, double the true value."
-      ],
-      "metadata": {
-        "id": "8XkPEIaVkIJF"
-      },
-      "id": "8XkPEIaVkIJF"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "def set_mass(spec, param):\n",
-        "    \"\"\"Modifier: stamp the current mass value onto the MjSpec.\"\"\"\n",
-        "    spec.body(\"ball\").mass = param.value[0]\n",
-        "\n",
-        "params = sysid.ParameterDict()\n",
-        "params.add(sysid.Parameter(\n",
-        "    \"mass\",\n",
-        "    nominal=1.0,\n",
-        "    min_value=0.3,\n",
-        "    max_value=3.0,\n",
-        "    modifier=set_mass,\n",
-        "))\n",
-        "\n",
-        "params[\"mass\"].value[:] = 2.0\n",
-        "print(f\"Starting mass: {params['mass'].value[0]:.2f} kg  (true: 1.0 kg)\")"
-      ],
-      "metadata": {
-        "id": "s6HVXGVJkfka"
-      },
-      "id": "s6HVXGVJkfka",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "#### Package data\n",
-        "\n",
-        "`ModelSequences` bundles an `MjSpec` with one or more measured trajectories\n",
-        "(initial state, controls and sensor readings)."
-      ],
-      "metadata": {
-        "id": "KjUPZVlOkIEn"
-      },
-      "id": "KjUPZVlOkIEn"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "ms = sysid.ModelSequences(\n",
-        "    \"spring_mass\", spec, \"measured\", initial_state, control_ts, sensor_ts,\n",
-        ")"
-      ],
-      "metadata": {
-        "id": "0KxR-RtpkiL3"
-      },
-      "id": "0KxR-RtpkiL3",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "#### Optimize\n",
-        "\n",
-        "`build_residual_fn` creates a callable that, for a given parameter vector,\n",
-        "applies the parameters to the spec, rolls out the simulation, and returns the\n",
-        "difference between predicted and measured sensor data. This difference is the\n",
-        "**residual** that the optimizer drives to zero."
-      ],
-      "metadata": {
-        "id": "0aQQLaJjY09c"
-      },
-      "id": "0aQQLaJjY09c"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "residual_fn = sysid.build_residual_fn(models_sequences=[ms])\n",
-        "\n",
-        "opt_params, opt_result = sysid.optimize(\n",
-        "    initial_params=params,\n",
-        "    residual_fn=residual_fn,\n",
-        "    optimizer=\"mujoco\",\n",
-        "    verbose=True,\n",
-        ")\n",
-        "\n",
-        "print(f\"\\nRecovered mass: {opt_params['mass'].value[0]:.4f} kg  (true: 1.0 kg)\")"
-      ],
-      "metadata": {
-        "id": "jhQShvjLY2OG"
-      },
-      "id": "jhQShvjLY2OG",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "#### Report\n",
-        "\n",
-        "Inspect the report to see that the optimized predictions fit the nominal (ground truth) while the initial sensor predictions do not.\n",
-        "\n",
-        "The report also contains measurement comparisons, parameter tables, confidence intervals, and other debugging information."
-      ],
-      "metadata": {
-        "id": "dSRVGBIzY7is"
-      },
-      "id": "dSRVGBIzY7is"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "report = sysid.default_report(\n",
-        "    models_sequences=[ms],\n",
-        "    initial_params=params,\n",
-        "    opt_params=opt_params,\n",
-        "    residual_fn=residual_fn,\n",
-        "    opt_result=opt_result,\n",
-        "    title=\"Mass Spring Damper Identification\",\n",
-        "    generate_videos=False,\n",
-        ")\n",
-        "display_report(report)"
-      ],
-      "metadata": {
-        "id": "G7pcHNbSY7F4"
-      },
-      "id": "G7pcHNbSY7F4",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "<a name=\"api\"></a>\n",
-        "# 2. API\n",
-        "\n",
-        "The warm-up introduced `Parameter`, `TimeSeries`, and `ModelSequences` in\n",
-        "passing. Here we look at each one more closely."
-      ],
-      "metadata": {
-        "id": "xQo1OQn_kjlA"
-      },
-      "id": "xQo1OQn_kjlA"
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "## ParameterDict\n",
-        "\n",
-        "In the warm-up we created a single `Parameter` with a name, bounds and a\n",
-        "modifier callback. A `ParameterDict` groups multiple parameters for the optimizer.\n",
-        "\n",
-        "Parameters can be **frozen**: they are excluded from the optimization vector\n",
-        "but their modifiers are still applied at the frozen value."
-      ],
-      "metadata": {
-        "id": "YvPJxqUOkjjI"
-      },
-      "id": "YvPJxqUOkjjI"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "# Three parameters for the spring-mass model. Damping is frozen.\n",
-        "params = sysid.ParameterDict()\n",
-        "params.add(sysid.Parameter(\n",
-        "    \"mass\", nominal=1.0, min_value=0.3, max_value=3.0,\n",
-        "    modifier=lambda s, p: setattr(s.body(\"ball\"), \"mass\", p.value[0]),\n",
-        "))\n",
-        "params.add(sysid.Parameter(\n",
-        "    \"stiffness\", nominal=100.0, min_value=30.0, max_value=300.0,\n",
-        "    modifier=lambda s, p: setattr(s.joint(\"slide\"), \"stiffness\", p.value[0]),\n",
-        "))\n",
-        "params.add(sysid.Parameter(\n",
-        "    \"damping\", nominal=5.0, min_value=0.0, max_value=20.0, frozen=True,\n",
-        "    modifier=lambda s, p: setattr(s.joint(\"slide\"), \"damping\", p.value[0]),\n",
-        "))\n",
-        "\n",
-        "print(\"Parameter vector (excludes frozen):\", params.as_vector())\n",
-        "print(\"Bounds:\", params.get_bounds())\n",
-        "print(\"Frozen 'damping' still in dict:    \", params[\"damping\"].value)"
-      ],
-      "metadata": {
-        "id": "WqFeNF9NkpRz"
-      },
-      "id": "WqFeNF9NkpRz",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "## TimeSeries\n",
-        "\n",
-        "`TimeSeries` is an immutable container for timestamped signals. The\n",
-        "`from_names` factory that we used in the warm-up automatically creates a\n",
-        "**signal mapping**, a dict from sensor names to column indices. This mapping\n",
-        "lets the library match predicted signals to measured ones by name.\n",
-        "\n",
-        "`TimeSeries` also supports resampling to a different timestep, which is useful\n",
-        "when your measured data and simulation run at different rates."
-      ],
-      "metadata": {
-        "id": "YlHeA2D1kjgx"
-      },
-      "id": "YlHeA2D1kjgx"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "# sensor_ts was created in the warm-up with from_names\n",
-        "print(\"Signal mapping:\", sensor_ts.signal_mapping)\n",
-        "\n",
-        "# Resample to a coarser timestep (returns a new TimeSeries)\n",
-        "ts_coarse = sensor_ts.resample(target_dt=0.01)\n",
-        "print(f\"Original: {len(sensor_ts.times)} pts  ->  Resampled: {len(ts_coarse.times)} pts\")"
-      ],
-      "metadata": {
-        "id": "1Aw6Io43krdq"
-      },
-      "id": "1Aw6Io43krdq",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "## ModelSequences\n",
-        "\n",
-        "`ModelSequences` bundles an `MjSpec` with one or more measured trajectories\n",
-        "(initial state, controls and sensor readings). It is the input to\n",
-        "`build_residual_fn`.\n",
-        "\n",
-        "You can pass **multiple trajectories** for the same spec. This is the key\n",
-        "mechanism for improving parameter identifiability, as we'll see in the next\n",
-        "section."
-      ],
-      "metadata": {
-        "id": "YP79IWujkjes"
-      },
-      "id": "YP79IWujkjes"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "# Single trajectory (as in the warm-up)\n",
-        "ms_single = sysid.ModelSequences(\n",
-        "    \"spring_mass\", spec, \"traj_0\", initial_state, control_ts, sensor_ts,\n",
-        ")\n",
-        "print(f\"Single trajectory: {ms_single.sequence_name}\")\n",
-        "\n",
-        "# Multiple trajectories for the same spec -- just pass lists\n",
-        "ms_multi = sysid.ModelSequences(\n",
-        "    \"spring_mass\", spec,\n",
-        "    [\"traj_0\", \"traj_1\"],           # names\n",
-        "    [initial_state, initial_state], # initial states\n",
-        "    [control_ts, control_ts],       # controls\n",
-        "    [sensor_ts, sensor_ts],         # sensor data\n",
-        ")\n",
-        "print(f\"Multiple trajectories: {ms_multi.sequence_name}\")"
-      ],
-      "metadata": {
-        "id": "mGaDg60Zkuiz"
-      },
-      "id": "mGaDg60Zkuiz",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "<a name=\"robot-arm\"></a>\n",
-        "# 4. Robot Arm: Identifying Joint Armature\n",
-        "\n",
-        "Now we tackle a realistic problem. A 5-DOF robot arm is driven by motor actuators that apply joint torques, and the armature is unknown. Armature represents reflected rotor inertia through the gear train. It is a common source of sim-to-real gap. Getting it wrong means the simulated arm accelerates too fast or too slow under the same applied torque. You can read more about it [here](https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-joint-armature)."
-      ],
-      "metadata": {
-        "id": "yTLBbv4BZMK5"
-      },
-      "id": "yTLBbv4BZMK5"
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Arm model\n",
-        "\n",
-        "Five hinge joints with motor actuators (torque control). Joint damping\n",
-        "provides passive dissipation. The true armature values decrease from base\n",
-        "to tip, reflecting smaller motors on distal joints. Position sensors on every joint."
-      ],
-      "metadata": {
-        "id": "nfGPT2f2ZPFh"
-      },
-      "id": "nfGPT2f2ZPFh"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title ARM_XML { vertical-output: true}\n",
-        "ARM_XML = \"\"\"\\\n",
-        "<mujoco model=\"arm\">\n",
-        "  <compiler angle=\"radian\" autolimits=\"true\"/>\n",
-        "  <option integrator=\"implicitfast\" timestep=\"0.002\">\n",
-        "    <flag contact=\"disable\"/>\n",
-        "  </option>\n",
-        "  <worldbody>\n",
-        "    <body name=\"link1\" pos=\"0 0 0.1\">\n",
-        "      <inertial pos=\"0 0 0.05\" mass=\"1.0\" diaginertia=\"0.01 0.01 0.005\"/>\n",
-        "      <joint name=\"joint1\" type=\"hinge\" axis=\"0 0 1\" range=\"-3.14 3.14\"\n",
-        "             armature=\"0.5\" damping=\"1.0\"/>\n",
-        "      <geom type=\"capsule\" fromto=\"0 0 0 0 0 0.1\" size=\"0.04\"/>\n",
-        "      <body name=\"link2\" pos=\"0 0 0.1\">\n",
-        "        <inertial pos=\"0 0 0.05\" mass=\"0.8\" diaginertia=\"0.008 0.008 0.004\"/>\n",
-        "        <joint name=\"joint2\" type=\"hinge\" axis=\"0 1 0\" range=\"-3.14 3.14\"\n",
-        "               armature=\"0.4\" damping=\"0.8\"/>\n",
-        "        <geom type=\"capsule\" fromto=\"0 0 0 0 0 0.1\" size=\"0.035\"/>\n",
-        "        <body name=\"link3\" pos=\"0 0 0.1\">\n",
-        "          <inertial pos=\"0 0 0.05\" mass=\"0.6\" diaginertia=\"0.006 0.006 0.003\"/>\n",
-        "          <joint name=\"joint3\" type=\"hinge\" axis=\"0 1 0\" range=\"-3.14 3.14\"\n",
-        "                 armature=\"0.3\" damping=\"0.6\"/>\n",
-        "          <geom type=\"capsule\" fromto=\"0 0 0 0 0 0.1\" size=\"0.03\"/>\n",
-        "          <body name=\"link4\" pos=\"0 0 0.1\">\n",
-        "            <inertial pos=\"0 0 0.04\" mass=\"0.4\" diaginertia=\"0.004 0.004 0.002\"/>\n",
-        "            <joint name=\"joint4\" type=\"hinge\" axis=\"0 0 1\" range=\"-3.14 3.14\"\n",
-        "                   armature=\"0.2\" damping=\"0.4\"/>\n",
-        "            <geom type=\"capsule\" fromto=\"0 0 0 0 0 0.08\" size=\"0.025\"/>\n",
-        "            <body name=\"link5\" pos=\"0 0 0.08\">\n",
-        "              <inertial pos=\"0 0 0.03\" mass=\"0.2\" diaginertia=\"0.002 0.002 0.001\"/>\n",
-        "              <joint name=\"joint5\" type=\"hinge\" axis=\"0 1 0\" range=\"-3.14 3.14\"\n",
-        "                     armature=\"0.1\" damping=\"0.2\"/>\n",
-        "              <geom type=\"capsule\" fromto=\"0 0 0 0 0 0.06\" size=\"0.02\"/>\n",
-        "            </body>\n",
-        "          </body>\n",
-        "        </body>\n",
-        "      </body>\n",
-        "    </body>\n",
-        "  </worldbody>\n",
-        "  <actuator>\n",
-        "    <motor name=\"act1\" joint=\"joint1\"/>\n",
-        "    <motor name=\"act2\" joint=\"joint2\"/>\n",
-        "    <motor name=\"act3\" joint=\"joint3\"/>\n",
-        "    <motor name=\"act4\" joint=\"joint4\"/>\n",
-        "    <motor name=\"act5\" joint=\"joint5\"/>\n",
-        "  </actuator>\n",
-        "  <sensor>\n",
-        "    <jointpos name=\"joint1_pos\" joint=\"joint1\"/>\n",
-        "    <jointpos name=\"joint2_pos\" joint=\"joint2\"/>\n",
-        "    <jointpos name=\"joint3_pos\" joint=\"joint3\"/>\n",
-        "    <jointpos name=\"joint4_pos\" joint=\"joint4\"/>\n",
-        "    <jointpos name=\"joint5_pos\" joint=\"joint5\"/>\n",
-        "  </sensor>\n",
-        "</mujoco>\n",
-        "\"\"\"\n",
-        "\n",
-        "JOINT_NAMES = [\"joint1\", \"joint2\", \"joint3\", \"joint4\", \"joint5\"]\n",
-        "TRUE_ARMATURE = {\"joint1\": 0.5, \"joint2\": 0.4, \"joint3\": 0.3,\n",
-        "                 \"joint4\": 0.2, \"joint5\": 0.1}"
-      ],
-      "metadata": {
-        "cellView": "form",
-        "id": "hdLji2qelNqi"
-      },
-      "id": "hdLji2qelNqi",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Generate measured data\n",
-        "\n",
-        "We simulate the true model and add sensor noise to mimic real encoder\n",
-        "readings. A multi-frequency torque excitation ensures each joint is\n",
-        "well-excited. With motor actuators the control signal **is** the torque,\n",
-        "so there is no feedback loop to mask the effect of armature."
-      ],
-      "metadata": {
-        "id": "UtAAiNGIlQo-"
-      },
-      "id": "UtAAiNGIlQo-"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "spec = mujoco.MjSpec.from_string(ARM_XML)\n",
-        "model = spec.compile()\n",
-        "data = mujoco.MjData(model)\n",
-        "\n",
-        "duration = 2.0\n",
-        "n_steps = int(duration / model.opt.timestep)\n",
-        "t = np.arange(n_steps) * model.opt.timestep\n",
-        "\n",
-        "# Sinusoidal torques with different frequency and amplitude per joint\n",
-        "ctrl = np.column_stack([\n",
-        "    5.0 * np.sin(2 * np.pi * 0.5 * t),\n",
-        "    4.0 * np.sin(2 * np.pi * 0.7 * t + 0.5),\n",
-        "    3.0 * np.sin(2 * np.pi * 0.4 * t + 1.0),\n",
-        "    2.0 * np.sin(2 * np.pi * 0.9 * t + 1.5),\n",
-        "    1.0 * np.sin(2 * np.pi * 0.6 * t + 2.0),\n",
-        "])\n",
-        "\n",
-        "initial_state = sysid.create_initial_state(model, data.qpos, data.qvel, data.act)\n",
-        "state, sensor = rollout.rollout(model, data, initial_state, ctrl[:-1])\n",
-        "state = np.squeeze(state, axis=0)\n",
-        "sensor = np.squeeze(sensor, axis=0)\n",
-        "times = state[:, 0]\n",
-        "\n",
-        "# Add realistic sensor noise\n",
-        "rng = np.random.default_rng(seed=0)\n",
-        "noise_std = np.zeros(sensor.shape[1])\n",
-        "noise_std[:] = 0.6   # position noise (rad)\n",
-        "sensor_noisy = sensor + rng.normal(scale=noise_std, size=sensor.shape)\n",
-        "\n",
-        "control_ts = sysid.TimeSeries(t, ctrl)\n",
-        "sensor_ts = sysid.TimeSeries.from_names(times, sensor_noisy, model)\n",
-        "\n",
-        "print(f\"Sensor channels: {sensor.shape[1]}  \"\n",
-        "      f\"({model.nsensor} sensors: 5 pos + 5 vel)\")\n",
-        "print(f\"Timesteps: {len(times)} ({duration}s at dt={model.opt.timestep})\")\n",
-        "print(f\"Noise std: {noise_std[:5][0]:.0e} rad (pos)\")"
-      ],
-      "metadata": {
-        "id": "zTSTluXplSRm"
-      },
-      "id": "zTSTluXplSRm",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Define armature parameters\n",
-        "\n",
-        "One scalar parameter per joint. The modifier callback sets the joint's `armature` attribute on the spec. We start from a wrong initial guess of 0.01 for all joints, which is up to **50x too small** for the base joint."
-      ],
-      "metadata": {
-        "id": "KxiNscAnlQm5"
-      },
-      "id": "KxiNscAnlQm5"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "INIT_ARMATURE = 0.01\n",
-        "\n",
-        "def make_armature_modifier(joint_name):\n",
-        "    \"\"\"Create a modifier that sets armature on a specific joint.\"\"\"\n",
-        "    def modifier(spec, param):\n",
-        "        spec.joint(joint_name).armature = param.value[0]\n",
-        "    return modifier\n",
-        "\n",
-        "params = sysid.ParameterDict()\n",
-        "for name in JOINT_NAMES:\n",
-        "    true_val = TRUE_ARMATURE[name]\n",
-        "    params.add(sysid.Parameter(\n",
-        "        f\"{name}_armature\",\n",
-        "        nominal=true_val,\n",
-        "        min_value=0.01,\n",
-        "        max_value=0.6,\n",
-        "        modifier=make_armature_modifier(name),\n",
-        "    ))\n",
-        "    # Start from wrong initial guess\n",
-        "    params[f\"{name}_armature\"].value[:] = INIT_ARMATURE\n",
-        "\n",
-        "print(\"Initial parameter vector:\", params.as_vector())\n",
-        "print(\"True values:             \",\n",
-        "      np.array([TRUE_ARMATURE[n] for n in JOINT_NAMES]))"
-      ],
-      "metadata": {
-        "id": "_98Rw6mOlUsP"
-      },
-      "id": "_98Rw6mOlUsP",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Optimize"
-      ],
-      "metadata": {
-        "id": "BDJWVxGwlQlD"
-      },
-      "id": "BDJWVxGwlQlD"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title { vertical-output: true}\n",
-        "ms = sysid.ModelSequences(\n",
-        "    \"arm\", spec, \"sinusoidal\", initial_state, control_ts, sensor_ts,\n",
-        ")\n",
-        "\n",
-        "residual_fn = sysid.build_residual_fn(models_sequences=[ms])\n",
-        "\n",
-        "opt_params, opt_result = sysid.optimize(\n",
-        "    initial_params=params,\n",
-        "    residual_fn=residual_fn,\n",
-        "    optimizer=\"mujoco\",\n",
-        ")"
-      ],
-      "metadata": {
-        "cellView": "form",
-        "id": "VXQoNpmolXju"
-      },
-      "id": "VXQoNpmolXju",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "#### Report\n",
-        "\n",
-        "**Confidence Internals.** Because the measured data contains sensor noise, the optimal residuals have variance, which can be used to estimate 95% parameter confidence intervals. These are displayed in the report \"Parameter Distribution\" section."
-      ],
-      "metadata": {
-        "id": "RLB285HqZbNj"
-      },
-      "id": "RLB285HqZbNj"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "report = sysid.default_report(\n",
-        "    models_sequences=[ms],\n",
-        "    initial_params=params,\n",
-        "    opt_params=opt_params,\n",
-        "    residual_fn=residual_fn,\n",
-        "    opt_result=opt_result,\n",
-        "    title=\"Robot Arm Armature Identification\",\n",
-        "    generate_videos=False,\n",
-        ")\n",
-        "display_report(report)"
-      ],
-      "metadata": {
-        "id": "98447uDUZcgI"
-      },
-      "id": "98447uDUZcgI",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Rendered overlay: initial vs. optimized vs. ground truth\n",
-        "\n",
-        "`render_rollout` takes a list of models and a batch of state trajectories\n",
-        "and renders them into a single scene, which lets us visually compare how\n",
-        "different parameter values affect the motion. We render two side-by-side\n",
-        "videos:\n",
-        "- **Before:** initial guess (red) vs. ground truth (green)\n",
-        "- **After:** optimized (blue) vs. ground truth (green)"
-      ],
-      "metadata": {
-        "id": "bhesmm6Nln98"
-      },
-      "id": "bhesmm6Nln98"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title { vertical-output: true}\n",
-        "def set_body_rgba(body, rgba):\n",
-        "    \"\"\"Recursively set rgba on all geoms in a body tree.\"\"\"\n",
-        "    for geom in body.geoms:\n",
-        "        geom.rgba = rgba\n",
-        "    for child in body.bodies:\n",
-        "        set_body_rgba(child, rgba)\n",
-        "\n",
-        "def make_colored_model(base_spec, rgba, armature_values):\n",
-        "    \"\"\"Copy spec, set geom colors and armature, compile.\"\"\"\n",
-        "    s = base_spec.copy()\n",
-        "    for name, val in armature_values.items():\n",
-        "        s.joint(name).armature = val\n",
-        "    set_body_rgba(s.worldbody, rgba)\n",
-        "    return s.compile()\n",
-        "\n",
-        "true_armature = {n: TRUE_ARMATURE[n] for n in JOINT_NAMES}\n",
-        "init_armature = {n: INIT_ARMATURE for n in JOINT_NAMES}\n",
-        "opt_armature = {n: opt_params[f\"{n}_armature\"].value[0] for n in JOINT_NAMES}\n",
-        "\n",
-        "green = [0.2, 0.8, 0.2, 0.7]\n",
-        "red = [1.0, 0.2, 0.2, 0.7]\n",
-        "blue = [0.2, 0.4, 1.0, 0.7]\n",
-        "\n",
-        "truth_model = make_colored_model(spec, green, true_armature)\n",
-        "init_model = make_colored_model(spec, red, init_armature)\n",
-        "opt_model = make_colored_model(spec, blue, opt_armature)\n",
-        "\n",
-        "fps = 30\n",
-        "\n",
-        "# Before: initial (red) vs ground truth (green)\n",
-        "models_before = [init_model, truth_model]\n",
-        "datas_before = [mujoco.MjData(m) for m in models_before]\n",
-        "state_before, _ = rollout.rollout(\n",
-        "    models_before, datas_before, initial_state, ctrl[:-1]\n",
-        ")\n",
-        "frames_before = sysid.render_rollout(\n",
-        "    models_before, datas_before[0], state_before,\n",
-        "    framerate=fps, height=400, width=560,\n",
-        ")\n",
-        "\n",
-        "# After: optimized (blue) vs ground truth (green)\n",
-        "models_after = [opt_model, truth_model]\n",
-        "datas_after = [mujoco.MjData(m) for m in models_after]\n",
-        "state_after, _ = rollout.rollout(\n",
-        "    models_after, datas_after, initial_state, ctrl[:-1]\n",
-        ")\n",
-        "frames_after = sysid.render_rollout(\n",
-        "    models_after, datas_after[0], state_after,\n",
-        "    framerate=fps, height=400, width=560,\n",
-        ")\n",
-        "\n",
-        "# Side by side\n",
-        "media.show_videos(\n",
-        "    [frames_before, frames_after],\n",
-        "    fps=fps,\n",
-        "    titles=[\"Before: initial (red) vs truth (green)\",\n",
-        "            \"After: optimized (blue) vs truth (green)\"],\n",
-        ")"
-      ],
-      "metadata": {
-        "cellView": "form",
-        "id": "SkpnM_zTlp5t"
-      },
-      "id": "SkpnM_zTlp5t",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "<a name=\"ambiguity\"></a>\n",
-        "# 4. Parameter Identifiability\n",
-        "\n",
-        "Sometimes a single experiment cannot uniquely determine all parameters. This is related to the concept of [Structural Identifiability](https://en.wikipedia.org/wiki/Structural_identifiability).\n",
-        "\n",
-        "Consider a cart driven by a motor:\n",
-        "\n",
-        "$$m\\,\\ddot x = b\\,u(t)$$\n",
-        "\n",
-        "where $m$ is the cart mass and $b$ is the torque constant ([`gear`](https://mujoco.readthedocs.io/en/stable/XMLreference.html#actuator-general-gear)). The response\n",
-        "depends **only on the ratio** $b/m$. Doubling both $b$ and $m$ produces an\n",
-        "identical trajectory. With a single recording, the individual values are\n",
-        "fundamentally unidentifiable.\n",
-        "\n",
-        "We're going to visualize the ambiguity and resolve it by optimizing over a **second trajectory** recorded with a known mass perturbation."
-      ],
-      "metadata": {
-        "id": "Z_LOdz7CZqlg"
-      },
-      "id": "Z_LOdz7CZqlg"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title CART_XML { vertical-output: true}\n",
-        "CART_XML = \"\"\"\\\n",
-        "<mujoco model=\"cart\">\n",
-        "  <option timestep=\"0.002\">\n",
-        "    <flag contact=\"disable\"/>\n",
-        "  </option>\n",
-        "  <worldbody>\n",
-        "    <body name=\"cart\" pos=\"0 0 0.1\">\n",
-        "      <inertial pos=\"0 0 0\" mass=\"2.0\" diaginertia=\"0.001 0.001 0.001\"/>\n",
-        "      <joint name=\"slide\" type=\"slide\" axis=\"1 0 0\"/>\n",
-        "      <geom type=\"sphere\" size=\"0.05\"/>\n",
-        "    </body>\n",
-        "  </worldbody>\n",
-        "  <actuator>\n",
-        "    <motor name=\"motor\" joint=\"slide\" gear=\"3.0\"/>\n",
-        "  </actuator>\n",
-        "  <sensor>\n",
-        "    <jointpos name=\"position\" joint=\"slide\"/>\n",
-        "    <jointvel name=\"velocity\" joint=\"slide\"/>\n",
-        "  </sensor>\n",
-        "</mujoco>\n",
-        "\"\"\"\n",
-        "\n",
-        "TRUE_MASS = 2.0\n",
-        "TRUE_GEAR = 3.0\n",
-        "PAYLOAD_MASS = 1.0\n",
-        "\n",
-        "# Base cart\n",
-        "spec_base = mujoco.MjSpec.from_string(CART_XML)\n",
-        "\n",
-        "# Payload variant: add a rigid mass to the cart body\n",
-        "spec_pay = mujoco.MjSpec.from_string(CART_XML)\n",
-        "payload = spec_pay.body(\"cart\").add_body()\n",
-        "payload.name = \"payload\"\n",
-        "payload.mass = PAYLOAD_MASS\n",
-        "payload.inertia = [0.001, 0.001, 0.001]"
-      ],
-      "metadata": {
-        "cellView": "form",
-        "id": "eqgSVuaWZrp6"
-      },
-      "id": "eqgSVuaWZrp6",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Generate data for both configurations"
-      ],
-      "metadata": {
-        "id": "1bfX4jpOZuLY"
-      },
-      "id": "1bfX4jpOZuLY"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title generate_data() { vertical-output: true}\n",
-        "def generate_data(spec, duration=0.6):\n",
-        "    \"\"\"Rollout a spec and return (control_ts, sensor_ts, initial_state).\"\"\"\n",
-        "    model = spec.compile()\n",
-        "    data = mujoco.MjData(model)\n",
-        "\n",
-        "    n_steps = int(duration / model.opt.timestep)\n",
-        "    t = np.arange(n_steps) * model.opt.timestep\n",
-        "\n",
-        "    ctrl = (3.0 * np.sin(2 * np.pi * 2.0 * t)\n",
-        "            + 2.0 * np.sin(2 * np.pi * 5.0 * t)).reshape(-1, 1)\n",
-        "\n",
-        "    initial_state = sysid.create_initial_state(\n",
-        "        model, data.qpos, data.qvel, data.act\n",
-        "    )\n",
-        "    state, sensor = rollout.rollout(model, data, initial_state, ctrl[:-1])\n",
-        "    state = np.squeeze(state, axis=0)\n",
-        "    sensor = np.squeeze(sensor, axis=0)\n",
-        "    times = state[:, 0]\n",
-        "\n",
-        "    control_ts = sysid.TimeSeries(t, ctrl)\n",
-        "    sensor_ts = sysid.TimeSeries.from_names(times, sensor, model)\n",
-        "    return control_ts, sensor_ts, initial_state\n",
-        "\n",
-        "\n",
-        "ctrl_base, sens_base, state0_base = generate_data(spec_base)\n",
-        "ctrl_pay, sens_pay, state0_pay = generate_data(spec_pay)"
-      ],
-      "metadata": {
-        "cellView": "form",
-        "id": "VnFVQDLUZtfH"
-      },
-      "id": "VnFVQDLUZtfH",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Define parameters: mass and gear"
-      ],
-      "metadata": {
-        "id": "L_o821XHZwZm"
-      },
-      "id": "L_o821XHZwZm"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "def set_cart_mass(spec, param):\n",
-        "    spec.body(\"cart\").mass = param.value[0]\n",
-        "\n",
-        "def set_gear_ratio(spec, param):\n",
-        "    spec.actuator(\"motor\").gear[0] = param.value[0]\n",
-        "\n",
-        "def make_params(mass_init, gear_init):\n",
-        "    \"\"\"Create a ParameterDict with given starting values.\"\"\"\n",
-        "    params = sysid.ParameterDict()\n",
-        "    params.add(sysid.Parameter(\n",
-        "        \"mass\", nominal=TRUE_MASS, min_value=0.5, max_value=5.0,\n",
-        "        modifier=set_cart_mass,\n",
-        "    ))\n",
-        "    params.add(sysid.Parameter(\n",
-        "        \"gear\", nominal=TRUE_GEAR, min_value=0.5, max_value=8.0,\n",
-        "        modifier=set_gear_ratio,\n",
-        "    ))\n",
-        "    params[\"mass\"].value[:] = mass_init\n",
-        "    params[\"gear\"].value[:] = gear_init\n",
-        "    return params"
-      ],
-      "metadata": {
-        "id": "KTomDxK3ZxQA"
-      },
-      "id": "KTomDxK3ZxQA",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Attempt 1: single sequence (base cart only)\n",
-        "\n",
-        "We start at $m = 3.5,\\; b = 5.25$, which gives the correct ratio\n",
-        "$b/m = 1.5$ but wrong individual values. Since the cost is exactly zero\n",
-        "everywhere along $b/m = 1.5$, the optimizer has no gradient to follow."
-      ],
-      "metadata": {
-        "id": "jmbqF09FZzLc"
-      },
-      "id": "jmbqF09FZzLc"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "params_1seq = make_params(mass_init=3.5, gear_init=5.25)\n",
-        "\n",
-        "ms_base = sysid.ModelSequences(\n",
-        "    \"cart\", spec_base, \"base_traj\", state0_base, ctrl_base, sens_base,\n",
-        ")\n",
-        "\n",
-        "residual_fn_1seq = sysid.build_residual_fn(models_sequences=[ms_base])\n",
-        "\n",
-        "opt_1seq, result_1seq = sysid.optimize(\n",
-        "    initial_params=params_1seq,\n",
-        "    residual_fn=residual_fn_1seq,\n",
-        "    optimizer=\"mujoco\",\n",
-        ")\n",
-        "\n",
-        "print(f\"\\n--- Single sequence ---\")\n",
-        "print(f\"  mass:  {opt_1seq['mass'].value[0]:.4f}  (true: {TRUE_MASS})\")\n",
-        "print(f\"  gear:  {opt_1seq['gear'].value[0]:.4f}  (true: {TRUE_GEAR})\")\n",
-        "print(f\"  b/m:   {opt_1seq['gear'].value[0] / opt_1seq['mass'].value[0]:.4f}\"\n",
-        "      f\"  (true: {TRUE_GEAR / TRUE_MASS:.4f})\")"
-      ],
-      "metadata": {
-        "id": "8ZSKfzE2Z0eQ"
-      },
-      "id": "8ZSKfzE2Z0eQ",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "The optimizer converged instantly to the **wrong** individual values!\n",
-        "The ratio $b/m$ is correct, but the optimizer has no way to determine $m$ and\n",
-        "$b$ separately."
-      ],
-      "metadata": {
-        "id": "yJT6PmkBZ1hy"
-      },
-      "id": "yJT6PmkBZ1hy"
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Attempt 2: two sequences (base + 1 kg payload)\n",
-        "\n",
-        "Adding a second trajectory with a **known 1.0 kg payload** gives the\n",
-        "optimizer a second equation:\n",
-        "- Base:    acceleration $= b / m$\n",
-        "- Payload: acceleration $= b / (m + 1)$\n",
-        "\n",
-        "Two equations, two unknowns."
-      ],
-      "metadata": {
-        "id": "mccbM8lmZ4O5"
-      },
-      "id": "mccbM8lmZ4O5"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "params_2seq = make_params(mass_init=3.5, gear_init=5.25)\n",
-        "\n",
-        "ms_payload = sysid.ModelSequences(\n",
-        "    \"cart_payload\", spec_pay, \"payload_traj\", state0_pay, ctrl_pay, sens_pay,\n",
-        ")\n",
-        "\n",
-        "residual_fn_2seq = sysid.build_residual_fn(\n",
-        "    models_sequences=[ms_base, ms_payload],\n",
-        ")\n",
-        "\n",
-        "opt_2seq, result_2seq = sysid.optimize(\n",
-        "    initial_params=params_2seq,\n",
-        "    residual_fn=residual_fn_2seq,\n",
-        "    optimizer=\"mujoco\",\n",
-        ")\n",
-        "\n",
-        "print(f\"\\n--- Two sequences (base + payload) ---\")\n",
-        "print(f\"  mass:  {opt_2seq['mass'].value[0]:.4f}  (true: {TRUE_MASS})\")\n",
-        "print(f\"  gear:  {opt_2seq['gear'].value[0]:.4f}  (true: {TRUE_GEAR})\")\n",
-        "print(f\"  b/m:   {opt_2seq['gear'].value[0] / opt_2seq['mass'].value[0]:.4f}\"\n",
-        "      f\"  (true: {TRUE_GEAR / TRUE_MASS:.4f})\")"
-      ],
-      "metadata": {
-        "id": "lC2gdzR1Z5LS"
-      },
-      "id": "lC2gdzR1Z5LS",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Visualize the cost landscape\n",
-        "\n",
-        "Let's evaluate the cost on a grid of $(m, b)$ values to see the degeneracy."
-      ],
-      "metadata": {
-        "id": "0guywON0Z6aS"
-      },
-      "id": "0guywON0Z6aS"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title compute_cost_surface() { vertical-output: true}\n",
-        "mass_grid = np.linspace(0.6, 4.5, 35)\n",
-        "gear_grid = np.linspace(0.6, 7.5, 35)\n",
-        "\n",
-        "def compute_cost_surface(residual_fn, params_template):\n",
-        "    \"\"\"Evaluate cost on a (mass, gear) grid.\"\"\"\n",
-        "    cost = np.zeros((len(mass_grid), len(gear_grid)))\n",
-        "    p = params_template.copy()\n",
-        "    for i, m in enumerate(mass_grid):\n",
-        "        for j, g in enumerate(gear_grid):\n",
-        "            x = np.array([m, g])\n",
-        "            res, _, _ = residual_fn(x, p)\n",
-        "            cost[i, j] = sum(np.sum(r**2) for r in res)\n",
-        "    return cost\n",
-        "\n",
-        "cost_1seq = compute_cost_surface(residual_fn_1seq, params_1seq)\n",
-        "cost_2seq = compute_cost_surface(residual_fn_2seq, params_2seq)"
-      ],
-      "metadata": {
-        "cellView": "form",
-        "id": "V1l3YsFiZ7Z_"
-      },
-      "id": "V1l3YsFiZ7Z_",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "### Side-by-side cost landscapes"
-      ],
-      "metadata": {
-        "id": "4zh6A4CTZ-NB"
-      },
-      "id": "4zh6A4CTZ-NB"
-    },
-    {
-      "cell_type": "code",
-      "source": [
-        "#@title { vertical-output: true}\n",
-        "G, M = np.meshgrid(gear_grid, mass_grid)\n",
-        "\n",
-        "# Compute log cost with shared color range across both panels\n",
-        "log_cost_1 = np.log10(cost_1seq + 1e-12)\n",
-        "log_cost_2 = np.log10(cost_2seq + 1e-12)\n",
-        "vmin = min(log_cost_1.min(), log_cost_2.min())\n",
-        "vmax = max(log_cost_1.max(), log_cost_2.max())\n",
-        "levels = np.linspace(vmin, vmax, 30)\n",
-        "\n",
-        "fig, axes = plt.subplots(1, 2, figsize=(12, 5), sharey=True,\n",
-        "                         layout=\"constrained\")\n",
-        "\n",
-        "for ax, log_cost, title, opt_p in [\n",
-        "    (axes[0], log_cost_1, \"Single sequence\", opt_1seq),\n",
-        "    (axes[1], log_cost_2, \"Two sequences (base + payload)\", opt_2seq),\n",
-        "]:\n",
-        "    cf = ax.contourf(G, M, log_cost, levels=levels, cmap=\"viridis\")\n",
-        "\n",
-        "    ax.plot(TRUE_GEAR, TRUE_MASS, \"r*\", markersize=15, label=\"True\", zorder=5)\n",
-        "    ax.plot(opt_p[\"gear\"].value[0], opt_p[\"mass\"].value[0],\n",
-        "            marker=\"X\", color=\"gold\", markeredgecolor=\"k\", markeredgewidth=1,\n",
-        "            markersize=12, linestyle=\"none\", label=\"Optimized\", zorder=5)\n",
-        "\n",
-        "    m_line = np.linspace(0.5, 5.0, 200)\n",
-        "    ax.plot(1.5 * m_line, m_line, \"r--\", alpha=0.5, lw=1, label=\"b/m = 1.5\")\n",
-        "\n",
-        "    ax.set_xlabel(\"Gear ratio (b)\")\n",
-        "    ax.set_title(title)\n",
-        "    ax.grid(True, alpha=0.2)\n",
-        "\n",
-        "axes[0].set_ylabel(\"Mass (m)\")\n",
-        "\n",
-        "# Shared colorbar\n",
-        "fig.colorbar(cf, ax=axes, label=r\"$\\log_{10}$(cost)\", shrink=0.9)\n",
-        "\n",
-        "# Single legend below both plots\n",
-        "handles, labels = axes[0].get_legend_handles_labels()\n",
-        "fig.legend(handles, labels, loc=\"outside lower center\", ncol=3, fontsize=9)\n",
-        "\n",
-        "plt.show()"
-      ],
-      "metadata": {
-        "cellView": "form",
-        "id": "vK2UVNnEZ_BW"
-      },
-      "id": "vK2UVNnEZ_BW",
-      "execution_count": null,
-      "outputs": []
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "**Left:** With a single sequence, the cost is **exactly zero** along the entire\n",
-        "$b/m = 1.5$ line. The optimizer stays at its starting point because there is no\n",
-        "gradient to follow. Mass and gear are fundamentally unidentifiable.\n",
-        "\n",
-        "**Right:** Adding the payload trajectory collapses the valley into a localized\n",
-        "minimum at the true parameter values $(m=2, b=3)$.\n",
-        "\n",
-        "**Takeaway:** It is easy to create models with unidentifiable parameters. When this is the case, adding diverse excitations and structural perturbations (e.g., added mass) can resolve it."
-      ],
-      "metadata": {
-        "id": "siTyueLpaAGi"
-      },
-      "id": "siTyueLpaAGi"
-    },
-    {
-      "cell_type": "markdown",
-      "source": [
-        "# Conclusion\n",
-        "\n",
-        "We hope you enjoyed this introduction to system identification with MuJoCo.\n",
-        "The library has additional features not covered here, including:\n",
-        "\n",
-        "- **[Physically plausible inertia parameterization](https://ieeexplore.ieee.org/document/9690029)**\n",
-        "  for identifying mass, center of mass, and rotational inertia while\n",
-        "  guaranteeing the result is physically valid\n",
-        "- **Per-sensor weighting** to emphasize certain sensors in the cost\n",
-        "- **Robust loss functions** (Huber, Cauchy, etc.) for handling outliers in\n",
-        "  measured data (see the\n",
-        "  [Least Squares](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb)\n",
-        "  notebook for details on non-quadratic norms)\n",
-        "- **Multiple optimizer backends** (MuJoCo native, scipy, scipy with parallel\n",
-        "  finite differences)\n",
-        "\n",
-        "For a comprehensive survey of the field, see\n",
-        "[Robot Model Identification and Learning: A Modern Perspective](https://www.annualreviews.org/content/journals/10.1146/annurev-control-061523-102310)\n",
-        "(Annual Review of Control, Robotics, and Autonomous Systems, 2024)."
-      ],
-      "metadata": {
-        "id": "OggQL1VemwMV"
-      },
-      "id": "OggQL1VemwMV"
-    }
-  ],
-  "metadata": {
-    "kernelspec": {
-      "display_name": "Python 3",
-      "name": "python3"
-    },
-    "language_info": {
-      "codemirror_mode": {
-        "name": "ipython",
-        "version": 3
-      },
-      "file_extension": ".py",
-      "mimetype": "text/x-python",
-      "name": "python",
-      "nbconvert_exporter": "python",
-      "pygments_lexer": "ipython3",
-      "version": "3.13.7"
-    },
-    "colab": {
-      "provenance": [],
-      "gpuType": "T4",
-      "collapsed_sections": [
-        "8P1e2JXckIbW",
-        "_7k6iikqkIP6",
-        "nfGPT2f2ZPFh",
-        "UtAAiNGIlQo-"
-      ],
-      "toc_visible": true
-    },
-    "accelerator": "GPU"
-  },
-  "nbformat": 4,
-  "nbformat_minor": 5
-}
diff --git a/python/mujoco/sysid/tests/__init__.py b/python/mujoco/sysid/tests/__init__.py
deleted file mode 100644
index 7b95cb8c..00000000
--- a/python/mujoco/sysid/tests/__init__.py
+++ /dev/null
@@ -1,15 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-
diff --git a/python/mujoco/sysid/tests/conftest.py b/python/mujoco/sysid/tests/conftest.py
deleted file mode 100644
index 59230d10..00000000
--- a/python/mujoco/sysid/tests/conftest.py
+++ /dev/null
@@ -1,224 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Shared fixtures for mujoco.sysid tests."""
-
-import mujoco
-from mujoco.sysid._src import parameter
-from mujoco.sysid._src import timeseries
-from mujoco.sysid._src.model_modifier import _infer_inertial
-import numpy as np
-import pytest
-
-# ---------------------------------------------------------------------------
-# Inline model XML strings — no external file dependencies
-# ---------------------------------------------------------------------------
-
-BOX_XML = """\
-<mujoco model="box">
-  <compiler angle="radian"/>
-  <option integrator="implicitfast" timestep="0.001" cone="elliptic">
-    <flag contact="enable"/>
-  </option>
-  <asset>
-    <texture type="2d" name="groundplane" builtin="checker" width="300" height="300"/>
-    <material name="groundplane" texture="groundplane"/>
-  </asset>
-  <worldbody>
-    <body name="floor">
-      <geom name="floor" type="box" size="100 100 0.01" pos="0 0 -0.01"/>
-    </body>
-    <body name="box" pos="0 0 0.102">
-      <freejoint name="box_free"/>
-      <inertial pos="0 0 0" mass="5" diaginertia="0.0333 0.0333 0.0333"/>
-      <geom name="box" type="box" size="0.1 0.1 0.1"/>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor name="push_x" joint="box_free" gear="1 0 0 0 0 0"
-           ctrllimited="true" ctrlrange="-20 20"/>
-  </actuator>
-  <contact>
-    <pair name="box_floor" geom1="box" geom2="floor"
-          friction="1.6 0.005 0.0001" solref="0.01 1.0"/>
-  </contact>
-</mujoco>
-"""
-
-ARM_XML = """\
-<mujoco model="test_arm">
-  <compiler angle="radian" autolimits="true"/>
-  <option integrator="implicitfast">
-    <flag contact="disable"/>
-  </option>
-  <asset>
-    <texture name="tex1" type="2d" builtin="checker" width="64" height="64"/>
-    <material name="mat1" texture="tex1"/>
-  </asset>
-  <worldbody>
-    <body name="link1" pos="0 0 0.1">
-      <inertial pos="0 0 0.05" mass="1.0" diaginertia="0.01 0.01 0.005"/>
-      <joint name="joint1" type="hinge" axis="0 0 1" range="-3.14 3.14"/>
-      <geom type="capsule" fromto="0 0 0 0 0 0.1" size="0.04"/>
-      <body name="link2" pos="0 0 0.1">
-        <inertial pos="0 0 0.05" mass="0.8" diaginertia="0.008 0.008 0.004"/>
-        <joint name="joint2" type="hinge" axis="0 1 0" range="-3.14 3.14"/>
-        <geom type="capsule" fromto="0 0 0 0 0 0.1" size="0.035"/>
-        <body name="link3" pos="0 0 0.1">
-          <inertial pos="0 0 0.05" mass="0.6" diaginertia="0.006 0.006 0.003"/>
-          <joint name="joint3" type="hinge" axis="0 1 0" range="-3.14 3.14"/>
-          <geom type="capsule" fromto="0 0 0 0 0 0.1" size="0.03"/>
-          <body name="link4" pos="0 0 0.1">
-            <inertial pos="0 0 0.04" mass="0.4" diaginertia="0.004 0.004 0.002"/>
-            <joint name="joint4" type="hinge" axis="0 0 1" range="-3.14 3.14"/>
-            <geom type="capsule" fromto="0 0 0 0 0 0.08" size="0.025"/>
-            <body name="link5" pos="0 0 0.08">
-              <inertial pos="0 0 0.03" mass="0.2" diaginertia="0.002 0.002 0.001"/>
-              <joint name="joint5" type="hinge" axis="0 1 0" range="-3.14 3.14"/>
-              <geom type="capsule" fromto="0 0 0 0 0 0.06" size="0.02"/>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <position name="actuator1" joint="joint1" kp="400" kv="40"/>
-    <position name="actuator2" joint="joint2" kp="400" kv="40"/>
-    <position name="actuator3" joint="joint3" kp="400" kv="40"/>
-    <position name="actuator4" joint="joint4" kp="400" kv="40"/>
-    <position name="actuator5" joint="joint5" kp="200" kv="20"/>
-  </actuator>
-  <sensor>
-    <jointpos name="joint1_pos" joint="joint1"/>
-    <jointpos name="joint2_pos" joint="joint2"/>
-    <jointpos name="joint3_pos" joint="joint3"/>
-    <jointpos name="joint4_pos" joint="joint4"/>
-    <jointpos name="joint5_pos" joint="joint5"/>
-    <jointvel name="joint1_vel" joint="joint1"/>
-    <jointvel name="joint2_vel" joint="joint2"/>
-    <jointvel name="joint3_vel" joint="joint3"/>
-    <jointvel name="joint4_vel" joint="joint4"/>
-    <jointvel name="joint5_vel" joint="joint5"/>
-    <jointactuatorfrc name="joint1_torque" joint="joint1"/>
-    <jointactuatorfrc name="joint2_torque" joint="joint2"/>
-    <jointactuatorfrc name="joint3_torque" joint="joint3"/>
-    <jointactuatorfrc name="joint4_torque" joint="joint4"/>
-    <jointactuatorfrc name="joint5_torque" joint="joint5"/>
-  </sensor>
-</mujoco>
-"""
-
-OSCILLATOR_XML = """\
-<mujoco>
-  <compiler autolimits="true"/>
-  <option>
-    <flag gravity="disable" contact="disable" limit="disable"/>
-  </option>
-  <worldbody>
-    <body name="mass">
-      <joint name="j1" axis="1 0 0" type="slide" range="0 0.5"
-             stiffness="10" damping="1"/>
-      <geom type="box" size=".1 .1 .1" mass="0.1"/>
-    </body>
-  </worldbody>
-</mujoco>
-"""
-
-
-# ---------------------------------------------------------------------------
-# Fixtures
-# ---------------------------------------------------------------------------
-
-
-@pytest.fixture
-def box_spec() -> mujoco.MjSpec:
-  return mujoco.MjSpec.from_string(BOX_XML)
-
-
-@pytest.fixture
-def box_model(box_spec) -> mujoco.MjModel:
-  return box_spec.compile()
-
-
-@pytest.fixture
-def arm_spec() -> mujoco.MjSpec:
-  """Minimal 5-joint arm with sensors, actuators, textures/materials."""
-  return mujoco.MjSpec.from_string(ARM_XML)
-
-
-@pytest.fixture
-def arm_model(arm_spec) -> mujoco.MjSpec:
-  return arm_spec.compile()
-
-
-@pytest.fixture
-def oscillator_spec() -> mujoco.MjSpec:
-  """Single-body oscillator with implicit (geom-based) inertia."""
-  return mujoco.MjSpec.from_string(OSCILLATOR_XML)
-
-
-@pytest.fixture
-def simple_timeseries() -> timeseries.TimeSeries:
-  """A TimeSeries with 5 data points and 2 columns: y = [x^2, 2*x^2]."""
-  times = np.array([0.0, 1.0, 2.0, 3.0, 4.0])
-  data = np.array([
-      [0.0, 0.0],
-      [1.0, 2.0],
-      [4.0, 8.0],
-      [9.0, 18.0],
-      [16.0, 32.0],
-  ])
-  return timeseries.TimeSeries(times=times, data=data)
-
-
-@pytest.fixture
-def box_params(box_spec) -> parameter.ParameterDict:
-  """ParameterDict for box model with modifier callbacks."""
-  del box_spec
-  pdict = parameter.ParameterDict()
-  pdict.add(
-      parameter.Parameter(
-          "box_mass",
-          [5],
-          min_value=[4.5],
-          max_value=[5.5],
-          modifier=lambda s, p: setattr(
-              _infer_inertial(s, "box"), "mass", p.value[0]
-          ),
-      )
-  )
-  pdict.add(
-      parameter.Parameter(
-          "solref1",
-          [0.01],
-          min_value=[0.002],
-          max_value=[0.02],
-          modifier=lambda s, p: s.pair("box_floor").solref.__setitem__(
-              0, p.value[0]
-          ),
-      )
-  )
-  pdict.add(
-      parameter.Parameter(
-          "friction2",
-          [0.005],
-          min_value=[0],
-          max_value=[0.01],
-          modifier=lambda s, p: s.pair("box_floor").friction.__setitem__(
-              1, p.value[0]
-          ),
-      )
-  )
-  return pdict
diff --git a/python/mujoco/sysid/tests/test_integration.py b/python/mujoco/sysid/tests/test_integration.py
deleted file mode 100644
index 0ecfbc6c..00000000
--- a/python/mujoco/sysid/tests/test_integration.py
+++ /dev/null
@@ -1,276 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""End-to-end integration tests for mujoco.sysid."""
-
-import logging
-import pathlib
-import tempfile
-
-import mujoco
-import mujoco.rollout as rollout
-from mujoco import sysid
-import numpy as np
-import pytest
-
-
-# ---------------------------------------------------------------------------
-# Models
-# ---------------------------------------------------------------------------
-
-SPRING_MASS_XML = """\
-<mujoco model="spring_mass">
-  <option timestep="0.002">
-    <flag contact="disable"/>
-  </option>
-  <worldbody>
-    <body name="ball" pos="0 0 0.1">
-      <inertial pos="0 0 0" mass="1.0" diaginertia="0.001 0.001 0.001"/>
-      <joint name="slide" type="slide" axis="1 0 0"
-             stiffness="100" damping="5.0"/>
-      <geom type="sphere" size="0.05"/>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor name="push" joint="slide"/>
-  </actuator>
-  <sensor>
-    <jointpos name="position" joint="slide"/>
-    <jointvel name="velocity" joint="slide"/>
-  </sensor>
-</mujoco>
-"""
-
-ARM_XML = """\
-<mujoco model="arm">
-  <compiler angle="radian" autolimits="true"/>
-  <option integrator="implicitfast" timestep="0.002">
-    <flag contact="disable"/>
-  </option>
-  <worldbody>
-    <body name="link1" pos="0 0 0.1">
-      <inertial pos="0 0 0.05" mass="1.0" diaginertia="0.01 0.01 0.005"/>
-      <joint name="joint1" type="hinge" axis="0 0 1" range="-3.14 3.14"
-             armature="0.5" damping="1.0"/>
-      <geom type="capsule" fromto="0 0 0 0 0 0.1" size="0.04"/>
-      <body name="link2" pos="0 0 0.1">
-        <inertial pos="0 0 0.05" mass="0.8" diaginertia="0.008 0.008 0.004"/>
-        <joint name="joint2" type="hinge" axis="0 1 0" range="-3.14 3.14"
-               armature="0.4" damping="0.8"/>
-        <geom type="capsule" fromto="0 0 0 0 0 0.1" size="0.035"/>
-        <body name="link3" pos="0 0 0.1">
-          <inertial pos="0 0 0.05" mass="0.6" diaginertia="0.006 0.006 0.003"/>
-          <joint name="joint3" type="hinge" axis="0 1 0" range="-3.14 3.14"
-                 armature="0.3" damping="0.6"/>
-          <geom type="capsule" fromto="0 0 0 0 0 0.1" size="0.03"/>
-          <body name="link4" pos="0 0 0.1">
-            <inertial pos="0 0 0.04" mass="0.4" diaginertia="0.004 0.004 0.002"/>
-            <joint name="joint4" type="hinge" axis="0 0 1" range="-3.14 3.14"
-                   armature="0.2" damping="0.4"/>
-            <geom type="capsule" fromto="0 0 0 0 0 0.08" size="0.025"/>
-            <body name="link5" pos="0 0 0.08">
-              <inertial pos="0 0 0.03" mass="0.2" diaginertia="0.002 0.002 0.001"/>
-              <joint name="joint5" type="hinge" axis="0 1 0" range="-3.14 3.14"
-                     armature="0.1" damping="0.2"/>
-              <geom type="capsule" fromto="0 0 0 0 0 0.06" size="0.02"/>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor name="act1" joint="joint1"/>
-    <motor name="act2" joint="joint2"/>
-    <motor name="act3" joint="joint3"/>
-    <motor name="act4" joint="joint4"/>
-    <motor name="act5" joint="joint5"/>
-  </actuator>
-  <sensor>
-    <jointpos name="joint1_pos" joint="joint1"/>
-    <jointpos name="joint2_pos" joint="joint2"/>
-    <jointpos name="joint3_pos" joint="joint3"/>
-    <jointpos name="joint4_pos" joint="joint4"/>
-    <jointpos name="joint5_pos" joint="joint5"/>
-    <jointvel name="joint1_vel" joint="joint1"/>
-    <jointvel name="joint2_vel" joint="joint2"/>
-    <jointvel name="joint3_vel" joint="joint3"/>
-    <jointvel name="joint4_vel" joint="joint4"/>
-    <jointvel name="joint5_vel" joint="joint5"/>
-  </sensor>
-</mujoco>
-"""
-
-JOINT_NAMES = ["joint1", "joint2", "joint3", "joint4", "joint5"]
-TRUE_ARMATURE = {"joint1": 0.5, "joint2": 0.4, "joint3": 0.3,
-                 "joint4": 0.2, "joint5": 0.1}
-
-
-# ---------------------------------------------------------------------------
-# Helpers
-# ---------------------------------------------------------------------------
-
-def _generate_data(xml, ctrl_fn, duration):
-  """Rollout a model and return (spec, initial_state, control_ts, sensor_ts)."""
-  spec = mujoco.MjSpec.from_string(xml)
-  model = spec.compile()
-  data = mujoco.MjData(model)
-
-  n_steps = int(duration / model.opt.timestep)
-  t = np.arange(n_steps) * model.opt.timestep
-  ctrl = ctrl_fn(t)
-
-  initial_state = sysid.create_initial_state(
-      model, data.qpos, data.qvel, data.act
-  )
-  state, sensor = rollout.rollout(model, data, initial_state, ctrl[:-1])
-  state = np.squeeze(state, axis=0)
-  sensor = np.squeeze(sensor, axis=0)
-  times = state[:, 0]
-
-  control_ts = sysid.TimeSeries(t, ctrl)
-  sensor_ts = sysid.TimeSeries.from_names(times, sensor, model)
-  return spec, initial_state, control_ts, sensor_ts
-
-
-# ---------------------------------------------------------------------------
-# Tests
-# ---------------------------------------------------------------------------
-
-def test_spring_mass_recover_mass():
-  """Recover true mass=1.0 starting from initial guess of 2.0."""
-  spec, initial_state, control_ts, sensor_ts = _generate_data(
-      SPRING_MASS_XML,
-      ctrl_fn=lambda t: (
-          5.0 * np.sin(2 * np.pi * 1.5 * t)
-          + 3.0 * np.sin(2 * np.pi * 3.7 * t)
-      ).reshape(-1, 1),
-      duration=3.0,
-  )
-
-  params = sysid.ParameterDict()
-  params.add(sysid.Parameter(
-      "mass", nominal=1.0, min_value=0.3, max_value=3.0,
-      modifier=lambda s, p: setattr(s.body("ball"), "mass", p.value[0]),
-  ))
-  params["mass"].value[:] = 2.0
-
-  ms = sysid.ModelSequences(
-      "spring_mass", spec, "measured", initial_state, control_ts, sensor_ts,
-  )
-  residual_fn = sysid.build_residual_fn(models_sequences=[ms])
-  opt_params, _ = sysid.optimize(
-      initial_params=params, residual_fn=residual_fn, optimizer="mujoco",
-  )
-
-  np.testing.assert_allclose(opt_params["mass"].value[0], 1.0, atol=1e-4)
-
-
-def test_arm_recover_armature():
-  """Recover 5 joint armature values and verify save_results."""
-  spec, initial_state, control_ts, sensor_ts = _generate_data(
-      ARM_XML,
-      ctrl_fn=lambda t: np.column_stack([
-          5.0 * np.sin(2 * np.pi * 0.5 * t),
-          4.0 * np.sin(2 * np.pi * 0.7 * t + 0.5),
-          3.0 * np.sin(2 * np.pi * 0.4 * t + 1.0),
-          2.0 * np.sin(2 * np.pi * 0.9 * t + 1.5),
-          1.0 * np.sin(2 * np.pi * 0.6 * t + 2.0),
-      ]),
-      duration=2.0,
-  )
-
-  params = sysid.ParameterDict()
-  for name in JOINT_NAMES:
-    params.add(sysid.Parameter(
-        f"{name}_armature",
-        nominal=TRUE_ARMATURE[name],
-        min_value=0.001,
-        max_value=1.0,
-        modifier=lambda s, p, n=name: setattr(
-            s.joint(n), "armature", p.value[0]
-        ),
-    ))
-    params[f"{name}_armature"].value[:] = 0.01
-
-  ms = sysid.ModelSequences(
-      "arm", spec, "sinusoidal", initial_state, control_ts, sensor_ts,
-  )
-  residual_fn = sysid.build_residual_fn(models_sequences=[ms])
-  opt_params, opt_result = sysid.optimize(
-      initial_params=params, residual_fn=residual_fn, optimizer="mujoco",
-  )
-
-  for name in JOINT_NAMES:
-    np.testing.assert_allclose(
-        opt_params[f"{name}_armature"].value[0],
-        TRUE_ARMATURE[name],
-        atol=1e-4,
-    )
-
-  # Verify save_results produces expected files.
-  with tempfile.TemporaryDirectory() as tmpdir:
-    sysid.save_results(
-        experiment_results_folder=tmpdir,
-        models_sequences=[ms],
-        initial_params=params,
-        opt_params=opt_params,
-        opt_result=opt_result,
-        residual_fn=residual_fn,
-    )
-    result_dir = pathlib.Path(tmpdir)
-    assert (result_dir / "params_x_0.yaml").exists()
-    assert (result_dir / "params_x_hat.yaml").exists()
-    assert (result_dir / "results.pkl").exists()
-    assert (result_dir / "confidence.pkl").exists()
-    assert (result_dir / "arm.xml").exists()
-
-
-def _rank_1_residual_fn(x, p):
-  # Residual depends only on x[0]: J = [[1, 0], [2, 0]] is 2x2 rank 1.
-  del p
-  if x.ndim == 1:
-    r = np.array([x[0] - 1.0, 2.0 * x[0] - 2.0])
-  else:
-    r = np.stack([x[0] - 1.0, 2.0 * x[0] - 2.0])
-  return [r], None, None
-
-
-def _full_rank_residual_fn(x, p):
-  del p
-  if x.ndim == 1:
-    r = np.array([x[0] - 1.0, x[1] - 2.0])
-  else:
-    r = np.stack([x[0] - 1.0, x[1] - 2.0])
-  return [r], None, None
-
-
-@pytest.mark.parametrize("residual_fn,expect_warning", [
-    (_rank_1_residual_fn, True),
-    (_full_rank_residual_fn, False),
-])
-def test_check_conditioning(residual_fn, expect_warning, caplog):
-  """check_conditioning=True warns iff cond(J^T J) is large at the start."""
-  params = sysid.ParameterDict()
-  params.add(sysid.Parameter("a", 1.0, -10.0, 10.0))
-  params.add(sysid.Parameter("b", 1.0, -10.0, 10.0))
-
-  with caplog.at_level(logging.WARNING, logger="absl"):
-    sysid.optimize(
-        initial_params=params, residual_fn=residual_fn,
-        optimizer="scipy", verbose=False, check_conditioning=True,
-        max_iters=1,
-    )
-  fired = any("cond(J^T J)" in r.message for r in caplog.records)
-  assert fired is expect_warning
diff --git a/python/mujoco/sysid/tests/test_model_modifier.py b/python/mujoco/sysid/tests/test_model_modifier.py
deleted file mode 100644
index 3591a313..00000000
--- a/python/mujoco/sysid/tests/test_model_modifier.py
+++ /dev/null
@@ -1,131 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for the model_modifier module."""
-
-import mujoco
-from mujoco.sysid._src import model_modifier
-import numpy as np
-
-
-def test_apply_pgain(arm_spec):
-  """Setting a P gain correctly configures the underlying actuator parameters."""
-  actuator_name = "actuator5"
-  pgain_value = 74
-
-  modified_spec = model_modifier.apply_pgain(
-      arm_spec, actuator_name, pgain_value
-  )
-  model = modified_spec.compile()
-
-  assert model.actuator(actuator_name).gainprm[0] == pgain_value
-  assert model.actuator(actuator_name).biasprm[1] == -pgain_value
-
-
-def test_apply_dgain(arm_spec):
-  """Setting a D gain correctly configures the underlying actuator parameters."""
-  actuator_name = "actuator5"
-  dgain_value = 1.2
-
-  modified_spec = model_modifier.apply_dgain(
-      arm_spec, actuator_name, dgain_value
-  )
-  model = modified_spec.compile()
-
-  assert model.actuator(actuator_name).biasprm[2] == -dgain_value
-
-
-def test_apply_pdgain(arm_spec):
-  """Setting P and D gains together from a single array configures both correctly."""
-  actuator_name = "actuator5"
-  pdgain_value = np.array([74, 1.2])
-
-  modified_spec = model_modifier.apply_pdgain(
-      arm_spec, actuator_name, pdgain_value
-  )
-  model = modified_spec.compile()
-
-  assert model.actuator(actuator_name).gainprm[0] == pdgain_value[0]
-  assert model.actuator(actuator_name).biasprm[1] == -pdgain_value[0]
-  assert model.actuator(actuator_name).biasprm[2] == -pdgain_value[1]
-
-
-def test_apply_body_mass_explicit(arm_spec):
-  """Bodies with inertia defined in XML: changing mass proportionally scales inertia."""
-  body_name = "link1"
-  model = arm_spec.compile()
-  original_mass = model.body(body_name).mass[0]
-  original_inertia = model.body(body_name).inertia
-  del model
-
-  scale = 3.3
-  new_mass = scale * original_mass
-
-  modified_spec = model_modifier.apply_body_mass_ipos(
-      arm_spec, body_name, mass=new_mass, rot_inertia_scale=True
-  )
-  model = modified_spec.compile()
-
-  assert model.body(body_name).mass == new_mass
-  np.testing.assert_allclose(
-      model.body(body_name).inertia, original_inertia * scale
-  )
-
-
-def test_apply_body_mass_implicit(oscillator_spec):
-  """Bodies with inertia inferred from geoms: changing mass proportionally scales inertia."""
-  body_name = "mass"
-  model = oscillator_spec.compile()
-  original_mass = model.body(body_name).mass[0]
-  original_inertia = model.body(body_name).inertia
-  del model
-
-  scale = 0.077
-  new_mass = scale * original_mass
-
-  modified_spec = model_modifier.apply_body_mass_ipos(
-      oscillator_spec, body_name, mass=new_mass, rot_inertia_scale=True
-  )
-  model = modified_spec.compile()
-
-  assert model.body(body_name).mass == new_mass
-  np.testing.assert_allclose(
-      model.body(body_name).inertia, original_inertia * scale
-  )
-
-
-def test_remove_visuals(arm_spec):
-  """Stripping visuals removes all textures and materials for faster compilation."""
-  cleaned_spec = model_modifier.remove_visuals(arm_spec)
-  assert not cleaned_spec.textures
-  assert not cleaned_spec.materials
-
-
-def test_apply_param_modifiers(box_spec, box_params):
-  """The full modifier pipeline applies parameter callbacks and produces an updated model."""
-  spec = box_spec.copy()
-  original_model = spec.compile()
-  original_mass = original_model.body("box").mass[0]
-
-  # Change box_mass parameter.
-  box_params["box_mass"].update_from_vector(np.array([5.3]))
-
-  modified_model = model_modifier.apply_param_modifiers(box_params, spec)
-  assert modified_model.body("box").mass[0] != original_mass
-  np.testing.assert_allclose(modified_model.body("box").mass[0], 5.3, atol=1e-6)
-
-  # Also verify apply_param_modifiers_spec returns MjSpec.
-  spec2 = box_spec.copy()
-  result = model_modifier.apply_param_modifiers_spec(box_params, spec2)
-  assert isinstance(result, mujoco.MjSpec)
diff --git a/python/mujoco/sysid/tests/test_parameter.py b/python/mujoco/sysid/tests/test_parameter.py
deleted file mode 100644
index 9274c1b2..00000000
--- a/python/mujoco/sysid/tests/test_parameter.py
+++ /dev/null
@@ -1,183 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for the Parameter and ParameterDict classes."""
-
-from mujoco.sysid._src import parameter
-import numpy as np
-
-
-def test_scalar_parameter():
-  """A single-valued parameter round-trips through vector conversion, sampling, and reset."""
-  param = parameter.Parameter("test", 1.0, 0.5, 2.0)
-
-  assert param.name == "test"
-  assert param.size == 1
-  assert param.shape == (1,)
-  assert param.nominal == 1.0
-  assert param.value == 1.0
-  assert param.min_value == 0.5
-  assert param.max_value == 2.0
-
-  np.testing.assert_array_equal(param.as_vector(), [1.0])
-  param.update_from_vector(np.array([1.5]))
-  np.testing.assert_array_equal(param.value, [1.5])
-  np.testing.assert_array_equal(param.as_vector(), [1.5])
-
-  lower, upper = param.get_bounds()
-  np.testing.assert_array_equal(lower, [0.5])
-  np.testing.assert_array_equal(upper, [2.0])
-
-  param.reset()
-  np.testing.assert_array_equal(param.value, [1.0])
-
-  rng = np.random.default_rng(42)
-  sample = param.sample(rng)
-  assert 0.5 <= sample[0] <= 2.0
-
-
-def test_vector_parameter():
-  """A multi-valued parameter preserves element-wise bounds and resets correctly."""
-  param = parameter.Parameter("test_vector", [1.0, 2.0], [0.5, 1.0], [2.0, 3.0])
-
-  assert param.name == "test_vector"
-  assert param.size == 2
-  assert param.shape == (2,)
-  np.testing.assert_array_equal(param.nominal, [1.0, 2.0])
-  np.testing.assert_array_equal(param.value, [1.0, 2.0])
-  np.testing.assert_array_equal(param.min_value, [0.5, 1.0])
-  np.testing.assert_array_equal(param.max_value, [2.0, 3.0])
-
-  np.testing.assert_array_equal(param.as_vector(), [1.0, 2.0])
-  param.update_from_vector(np.array([1.5, 2.5]))
-  np.testing.assert_array_equal(param.value, [1.5, 2.5])
-
-  lower, upper = param.get_bounds()
-  np.testing.assert_array_equal(lower, [0.5, 1.0])
-  np.testing.assert_array_equal(upper, [2.0, 3.0])
-
-  param.reset()
-  np.testing.assert_array_equal(param.value, [1.0, 2.0])
-
-
-def test_parameter_dict():
-  """A dict of mixed scalar/vector params flattens to one vector and reconstructs."""
-  param1 = parameter.Parameter("param1", 1.0, 0.5, 2.0)
-  param2 = parameter.Parameter("param2", [2.0, 3.0], [1.0, 2.0], [3.0, 4.0])
-  params = parameter.ParameterDict({"param1": param1, "param2": param2})
-
-  assert params.size == 3  # 1 + 2
-  assert len(params) == 2
-
-  assert params["param1"] is param1
-  assert params["param2"] is param2
-
-  np.testing.assert_array_equal(params.as_vector(), [1.0, 2.0, 3.0])
-
-  params.update_from_vector(np.array([1.5, 2.5, 3.5]))
-  np.testing.assert_array_equal(params["param1"].value, [1.5])
-  np.testing.assert_array_equal(params["param2"].value, [2.5, 3.5])
-
-  lower, upper = params.get_bounds()
-  np.testing.assert_array_equal(lower, [0.5, 1.0, 2.0])
-  np.testing.assert_array_equal(upper, [2.0, 3.0, 4.0])
-
-  params.reset()
-  np.testing.assert_array_equal(params["param1"].value, [1.0])
-  np.testing.assert_array_equal(params["param2"].value, [2.0, 3.0])
-
-  rng = np.random.default_rng(42)
-  sample = params.sample(rng=rng)
-  assert len(sample) == 3
-
-
-def test_save_and_load_round_trip(tmp_path):
-  """Saving to YAML and loading back recovers modified values, nominals, and bounds."""
-  param1 = parameter.Parameter("p1", 1.0, 0.0, 2.0)
-  param2 = parameter.Parameter("p2", [3.0, 4.0], [1.0, 2.0], [5.0, 6.0])
-  params = parameter.ParameterDict({"p1": param1, "p2": param2})
-  params.update_from_vector(np.array([0.7, 3.5, 4.5]))
-
-  path = tmp_path / "params.yaml"
-  params.save_to_disk(path)
-
-  loaded = parameter.ParameterDict.load_from_disk(path)
-  np.testing.assert_array_equal(loaded.as_vector(), [0.7, 3.5, 4.5])
-  np.testing.assert_array_equal(loaded["p1"].nominal, [1.0])
-  np.testing.assert_array_equal(loaded["p2"].min_value, [1.0, 2.0])
-
-
-def test_randomize_stays_in_bounds():
-  """Randomized parameter values always stay within their declared bounds."""
-  param1 = parameter.Parameter("a", 5.0, 2.0, 8.0)
-  param2 = parameter.Parameter("b", [1.0, 2.0], [0.0, 0.0], [3.0, 3.0])
-  params = parameter.ParameterDict({"a": param1, "b": param2})
-
-  rng = np.random.default_rng(0)
-  for _ in range(10):
-    params.randomize(rng=rng)
-    lower, upper = params.get_bounds()
-    vec = params.as_vector()
-    assert np.all(vec >= lower)
-    assert np.all(vec <= upper)
-
-
-def test_frozen_param_excluded():
-  """Freezing a parameter hides it from the optimizer: excluded from vector ops."""
-  p1 = parameter.Parameter("free", 1.0, 0.0, 2.0)
-  p2 = parameter.Parameter("frozen", 5.0, 3.0, 7.0, frozen=True)
-  params = parameter.ParameterDict({"free": p1, "frozen": p2})
-
-  assert params.size == 1
-  np.testing.assert_array_equal(params.as_vector(), [1.0])
-
-  params.update_from_vector(np.array([1.5]))
-  np.testing.assert_array_equal(params["free"].value, [1.5])
-  # Frozen param unchanged.
-  np.testing.assert_array_equal(params["frozen"].value, [5.0])
-
-
-def test_move_off_bound():
-  """At-bound (or essentially at-bound) values shift inward; interior is untouched."""
-  # At lower bound, at upper bound, essentially-at-lower, interior, vector mixed,
-  # custom fraction, and degenerate (zero-range) bounds.
-  cases = [
-      (0.0, 0.0, 20.0, 0.05, 1.0),    # at lower -> 0.05 * 20
-      (1e-8, 0.0, 20.0, 0.05, 1.0),   # essentially at lower
-      (20.0, 0.0, 20.0, 0.05, 19.0),  # at upper -> 20 - 0.05 * 20
-      (5.0, 0.0, 20.0, 0.05, 5.0),    # interior unchanged
-      (0.0, 0.0, 100.0, 0.1, 10.0),   # custom fraction
-      (3.0, 3.0, 3.0, 0.05, 3.0),     # zero-range bound, pinned
-  ]
-  for nominal, lo, hi, fraction, expected in cases:
-    p = parameter.Parameter("d", nominal, lo, hi)
-    p.move_off_bound(fraction=fraction)
-    np.testing.assert_allclose(p.value, [expected])
-
-  # Vector parameter: only at-bound components are shifted.
-  p = parameter.Parameter(
-      "v", [0.0, 5.0, 10.0], [0.0, 0.0, 0.0], [10.0, 10.0, 10.0]
-  )
-  p.move_off_bound()
-  np.testing.assert_allclose(p.value, [0.5, 5.0, 9.5])
-
-
-def test_move_off_bounds_dict_skips_frozen_and_returns_self():
-  """ParameterDict shifts free params, leaves frozen alone, returns self."""
-  pdict = parameter.ParameterDict()
-  pdict.add(parameter.Parameter("free", 0.0, 0.0, 1.0))
-  pdict.add(parameter.Parameter("frozen", 0.0, 0.0, 1.0, frozen=True))
-  assert pdict.move_off_bounds() is pdict
-  np.testing.assert_allclose(pdict["free"].value, [0.05])
-  np.testing.assert_allclose(pdict["frozen"].value, [0.0])
diff --git a/python/mujoco/sysid/tests/test_signal.py b/python/mujoco/sysid/tests/test_signal.py
deleted file mode 100644
index 22c8b8fd..00000000
--- a/python/mujoco/sysid/tests/test_signal.py
+++ /dev/null
@@ -1,391 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for signal_modifier and SignalTransform."""
-
-from mujoco.sysid._src import parameter
-from mujoco.sysid._src import signal_modifier
-from mujoco.sysid._src import timeseries
-from mujoco.sysid._src.parameter import Parameter
-from mujoco.sysid._src.parameter import ParameterDict
-from mujoco.sysid._src.signal_transform import SignalTransform
-import numpy as np
-import pytest
-
-
-# ===========================================================================
-# Helpers
-# ===========================================================================
-
-
-def _make_pdict(*params: Parameter) -> ParameterDict:
-  pdict = ParameterDict()
-  for p in params:
-    pdict.add(p)
-  return pdict
-
-
-def _make_arm_sensor_ts(arm_model):
-  """Create a synthetic TimeSeries with signal_mapping matching arm sensors."""
-  n_steps = 10
-  n_sensors = arm_model.nsensordata
-  times = np.linspace(0, 1, n_steps)
-  data = np.random.default_rng(42).standard_normal((n_steps, n_sensors))
-
-  mapping = {}
-  for i in range(arm_model.nsensor):
-    name = arm_model.sensor(i).name
-    adr = arm_model.sensor_adr[i]
-    dim = arm_model.sensor_dim[i]
-    mapping[name] = (timeseries.SignalType.MjSensor, np.arange(adr, adr + dim))
-
-  return timeseries.TimeSeries(times, data, signal_mapping=mapping)
-
-
-def _make_resample_ts(n_steps, n_cols, seed=0):
-  """Deterministic TimeSeries for resample tests."""
-  rng = np.random.default_rng(seed)
-  times = np.linspace(0, 1, n_steps)
-  data = rng.standard_normal((n_steps, n_cols))
-  mapping = {
-      f"s{i}": (timeseries.SignalType.MjSensor, np.array([i]))
-      for i in range(n_cols)
-  }
-  return timeseries.TimeSeries(times, data, signal_mapping=mapping)
-
-
-def _make_transform_sensor_ts(n_steps=50, n_sensors=15, seed=0):
-  """Deterministic TimeSeries with named MjSensor columns for transforms."""
-  rng = np.random.default_rng(seed)
-  times = np.linspace(0, 1, n_steps)
-  data = rng.standard_normal((n_steps, n_sensors))
-  mapping = {
-      f"joint{i + 1}_pos": (timeseries.SignalType.MjSensor, np.array([i]))
-      for i in range(5)
-  }
-  mapping.update({
-      f"joint{i - 4}_vel": (timeseries.SignalType.MjSensor, np.array([i]))
-      for i in range(5, 10)
-  })
-  mapping.update({
-      f"joint{i - 9}_torque": (timeseries.SignalType.MjSensor, np.array([i]))
-      for i in range(10, 15)
-  })
-  return timeseries.TimeSeries(times, data, signal_mapping=mapping)
-
-
-def _run_both(ts, times, default_delay, sensor_delays, predicted_data):
-  """Run grouped and column-wise implementations, return both."""
-  delays = signal_modifier._build_per_column_delays(
-      ts, default_delay, sensor_delays, predicted_data
-  )
-  reference = signal_modifier._apply_resample_and_delay_columnwise(
-      ts, times, delays
-  )
-  result = signal_modifier.apply_resample_and_delay(
-      ts,
-      times,
-      default_delay,
-      sensor_delays=sensor_delays,
-      predicted_data=predicted_data,
-  )
-  return result.data, reference
-
-
-def _run_gains_biases_both(transform, ts, target_label, params):
-  """Run new and reference implementations, return both results."""
-  new_result = transform._apply_gains_biases(ts, target_label, params)
-  ref_result = transform._apply_gains_biases_reference(ts, target_label, params)
-  return new_result, ref_result
-
-
-# ===========================================================================
-# signal_modifier: get_sensor_indices
-# ===========================================================================
-
-
-def test_get_sensor_indices(arm_model):
-  """Sensor name lookup returns the right data column indices for one or many sensors."""
-  indices = signal_modifier.get_sensor_indices(arm_model, "joint1_pos")
-  assert isinstance(indices, list)
-  assert len(indices) == 1
-
-  indices = signal_modifier.get_sensor_indices(
-      arm_model, ["joint1_pos", "joint2_pos"]
-  )
-  assert len(indices) == 2
-
-
-# ===========================================================================
-# signal_modifier: apply_gain / apply_bias
-# ===========================================================================
-
-
-def test_apply_gain(arm_model):
-  """Gain scaling affects only the named sensor's columns, leaving others untouched."""
-  ts = _make_arm_sensor_ts(arm_model)
-  gain = parameter.Parameter("gain", 2.0, 0.5, 3.0)
-
-  result = signal_modifier.apply_gain(ts, "joint1_torque", gain)
-
-  idx = ts.get_indices("joint1_torque")[1]
-  np.testing.assert_allclose(result.data[:, idx], ts.data[:, idx] * 2.0)
-  other = [i for i in range(ts.data.shape[1]) if i not in idx]
-  np.testing.assert_array_equal(result.data[:, other], ts.data[:, other])
-
-
-def test_apply_bias(arm_model):
-  """Bias offset affects only the named sensor's columns, leaving others untouched."""
-  ts = _make_arm_sensor_ts(arm_model)
-  bias = parameter.Parameter("bias", 0.5, -1.0, 1.0)
-
-  result = signal_modifier.apply_bias(ts, "joint1_pos", bias)
-
-  idx = ts.get_indices("joint1_pos")[1]
-  np.testing.assert_allclose(result.data[:, idx], ts.data[:, idx] + 0.5)
-  other = [i for i in range(ts.data.shape[1]) if i not in idx]
-  np.testing.assert_array_equal(result.data[:, other], ts.data[:, other])
-
-
-# ===========================================================================
-# signal_modifier: apply_delayed_ts_window
-# ===========================================================================
-
-
-def test_apply_delayed_ts_window(arm_model):
-  """Time-windowing crops timestamps to the overlapping region between two series."""
-  ts = _make_arm_sensor_ts(arm_model)
-  ts_delayed = _make_arm_sensor_ts(arm_model)
-
-  result = signal_modifier.apply_delayed_ts_window(
-      ts, ts_delayed, min_delay=0.0, max_delay=0.0
-  )
-  assert result.times[0] >= ts_delayed.times[0]
-  assert result.times[-1] <= ts_delayed.times[-1]
-
-
-# ===========================================================================
-# signal_modifier: weighted_diff / normalize_residual
-# ===========================================================================
-
-
-def test_weighted_diff_basic():
-  """Without weights, the residual is simply measured minus predicted."""
-  predicted = np.array([[1.0, 2.0], [3.0, 4.0]])
-  measured = np.array([[1.1, 2.2], [3.3, 4.4]])
-  result = signal_modifier.weighted_diff(predicted, measured)
-  np.testing.assert_allclose(result, measured - predicted)
-
-
-def test_weighted_diff_with_weights(arm_model):
-  """Sensor weights let you emphasize or de-emphasize specific channels in the residual."""
-  n = arm_model.nsensordata
-  predicted = np.ones((5, n))
-  measured = np.ones((5, n)) * 2.0
-  weights = {"joint1_pos": 0.5}
-  result = signal_modifier.weighted_diff(
-      predicted, measured, arm_model, weights
-  )
-  idx = signal_modifier.get_sensor_indices(arm_model, "joint1_pos")
-  np.testing.assert_allclose(result[:, idx], 0.5)
-  other = [i for i in range(n) if i not in idx]
-  np.testing.assert_allclose(result[:, other], 1.0)
-
-
-def test_normalize_residual():
-  """Normalization makes residuals comparable across sensors with different scales."""
-  residual = np.array([[2.0, 4.0], [6.0, 8.0]])
-  measured = np.array([[1.0, 2.0], [3.0, 4.0]])
-  result = signal_modifier.normalize_residual(residual, measured)
-  norm = np.linalg.norm(measured, axis=0) / np.sqrt(2)
-  np.testing.assert_allclose(result, residual / norm)
-
-
-# ===========================================================================
-# signal_modifier: resample_and_delay grouped vs columnwise equivalence
-# ===========================================================================
-
-
-def test_resample_delay_mixed_delays():
-  """Optimized grouped resampling gives identical results to naive per-column resampling."""
-  ts = _make_resample_ts(200, 8, seed=42)
-  out_times = np.linspace(0.05, 0.95, 150)
-  sensor_delays = {
-      "s0": 0.01,
-      "s1": 0.01,
-      "s2": 0.01,
-      "s3": 0.03,
-      "s4": 0.03,
-  }
-  result, reference = _run_both(ts, out_times, 0.0, sensor_delays, True)
-  np.testing.assert_array_equal(result, reference)
-
-
-# ===========================================================================
-# SignalTransform: pattern matching
-# ===========================================================================
-
-
-class TestPatternMatching:
-  """Tests for signal transform pattern matching."""
-
-  def test_basic_glob(self):
-    """Wildcard patterns select the right sensors (e.g.
-
-    '*_pos' matches positions only).
-    """
-    transform = SignalTransform()
-    delay_param = Parameter("delay", [0.01], [0.0], [0.05])
-    transform.delay("*_pos", delay_param)
-    pdict = _make_pdict(delay_param)
-
-    resolved = transform._resolve_delays(
-        ["joint1_pos", "joint2_pos", "joint1_vel"], pdict
-    )
-    assert "joint1_pos" in resolved
-    assert "joint2_pos" in resolved
-    assert "joint1_vel" not in resolved
-    assert resolved["joint1_pos"] == pytest.approx(0.01)
-
-  def test_last_match_wins(self):
-    """When patterns overlap, the last one registered takes priority."""
-    transform = SignalTransform()
-    general_delay = Parameter("delay_general", [0.01], [0.0], [0.05])
-    specific_delay = Parameter("delay_specific", [0.05], [0.0], [0.1])
-    transform.delay("*_torque", general_delay)
-    transform.delay("joint5_torque", specific_delay)
-    pdict = _make_pdict(general_delay, specific_delay)
-
-    resolved = transform._resolve_delays(
-        ["joint1_torque", "joint5_torque"], pdict
-    )
-    assert resolved["joint1_torque"] == pytest.approx(0.01)
-    assert resolved["joint5_torque"] == pytest.approx(0.05)
-
-  def test_no_match(self):
-    """Patterns that don't match any sensor names produce no delay entries."""
-    transform = SignalTransform()
-    delay_param = Parameter("delay", [0.01], [0.0], [0.05])
-    transform.delay("*_pos", delay_param)
-    pdict = _make_pdict(delay_param)
-
-    resolved = transform._resolve_delays(["joint1_vel", "joint2_vel"], pdict)
-    assert not resolved
-
-
-# ===========================================================================
-# SignalTransform: delay bounds
-# ===========================================================================
-
-
-class TestDelayBounds:
-  """Tests for delay bound computation."""
-
-  def test_single_param(self):
-    """The min/max delay window is derived from a parameter's declared bounds."""
-    transform = SignalTransform()
-    delay_param = Parameter("delay", [0.01], [-0.02], [0.05])
-    transform.delay("*_pos", delay_param)
-
-    min_d, max_d = transform._compute_delay_bounds()
-    assert min_d == pytest.approx(-0.02)
-    assert max_d == pytest.approx(0.05)
-
-  def test_dedup_by_name(self):
-    """Reusing one delay param across patterns doesn't double-count its bounds."""
-    transform = SignalTransform()
-    delay_param = Parameter("delay", [0.01], [-0.01], [0.05])
-    transform.delay("*_pos", delay_param)
-    transform.delay("*_vel", delay_param)
-
-    min_d, max_d = transform._compute_delay_bounds()
-    assert min_d == pytest.approx(-0.01)
-    assert max_d == pytest.approx(0.05)
-
-
-# ===========================================================================
-# SignalTransform: edge cases
-# ===========================================================================
-
-
-class TestEdgeCases:
-  """Tests for edge cases in signal transforms."""
-
-  def test_enable_sensors_stores_copy(self):
-    """The sensor list is defensively copied so callers can't mutate it after the fact."""
-    transform = SignalTransform()
-    sensors = ["a", "b"]
-    transform.enable_sensors(sensors)
-    sensors.append("c")
-    assert transform._enabled_sensors == ["a", "b"]
-
-  def test_invalid_target(self):
-    """Typos in the target argument ('predicted'/'measured'/'both') are caught early."""
-    transform = SignalTransform()
-    param = Parameter("gain", [1.0], [0.5], [2.0])
-    with pytest.raises(ValueError, match="target must be"):
-      transform.gain("*", param, target="invalid")
-
-    bias_param = Parameter("bias", [0.0], [-1.0], [1.0])
-    with pytest.raises(ValueError, match="target must be"):
-      transform.bias("*", bias_param, target="invalid")
-
-
-# ===========================================================================
-# SignalTransform: _apply_gains_biases equivalence
-# ===========================================================================
-
-
-class TestApplyGainsBiasesEquivalence:
-  """Tests for gains/biases application equivalence."""
-
-  def test_gains_and_biases_mixed(self):
-    """Applying gains and biases together produces the same result as the reference path."""
-    ts = _make_transform_sensor_ts()
-    gain = Parameter("torque_scale", [1.5], [0.5], [3.0])
-    bias = Parameter("torque_bias", [0.3], [-1.0], [1.0])
-    pdict = _make_pdict(gain, bias)
-
-    transform = SignalTransform()
-    transform.gain("*_torque", gain, target="both")
-    transform.bias("*_torque", bias, target="both")
-
-    new, ref = _run_gains_biases_both(transform, ts, "predicted", pdict)
-    np.testing.assert_array_equal(new.data, ref.data)
-
-  def test_target_filtering(self):
-    """A gain meant for measured data doesn't accidentally affect the predicted side."""
-    ts = _make_transform_sensor_ts()
-    gain = Parameter("gain", [2.0], [0.5], [3.0])
-    pdict = _make_pdict(gain)
-
-    transform = SignalTransform()
-    transform.gain("*_torque", gain, target="measured")
-
-    new, ref = _run_gains_biases_both(transform, ts, "predicted", pdict)
-    np.testing.assert_array_equal(new.data, ref.data)
-    np.testing.assert_array_equal(new.data, ts.data)
-
-  def test_original_ts_not_mutated(self):
-    """Signal transforms produce new data without mutating the input TimeSeries."""
-    ts = _make_transform_sensor_ts()
-    original_data = ts.data.copy()
-    gain = Parameter("gain", [2.0], [0.5], [3.0])
-    pdict = _make_pdict(gain)
-
-    transform = SignalTransform()
-    transform.gain("*_torque", gain, target="predicted")
-
-    transform._apply_gains_biases(ts, "predicted", pdict)
-    np.testing.assert_array_equal(ts.data, original_data)
diff --git a/python/mujoco/sysid/tests/test_timeseries.py b/python/mujoco/sysid/tests/test_timeseries.py
deleted file mode 100644
index 4809e290..00000000
--- a/python/mujoco/sysid/tests/test_timeseries.py
+++ /dev/null
@@ -1,453 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for the TimeSeries class and factory methods."""
-
-import mujoco
-from mujoco.sysid._src.timeseries import SignalType
-from mujoco.sysid._src.timeseries import TimeSeries
-import numpy as np
-import pytest
-
-
-# ---------------------------------------------------------------------------
-# Local fixtures
-# ---------------------------------------------------------------------------
-
-
-@pytest.fixture
-def scalar_ts():
-  """y = x^2."""
-  times = np.array([0.0, 1.0, 2.0, 3.0, 4.0])
-  data = np.array([0.0, 1.0, 4.0, 9.0, 16.0])
-  return TimeSeries(times=times, data=data)
-
-
-@pytest.fixture
-def multi_ts():
-  """y = [x^2, 2*x^2]."""
-  times = np.array([0.0, 1.0, 2.0, 3.0, 4.0])
-  data = np.array([
-      [0.0, 0.0],
-      [1.0, 2.0],
-      [4.0, 8.0],
-      [9.0, 18.0],
-      [16.0, 32.0],
-  ])
-  return TimeSeries(times=times, data=data)
-
-
-# ---------------------------------------------------------------------------
-# Core TimeSeries tests
-# ---------------------------------------------------------------------------
-
-
-def test_basics(scalar_ts, multi_ts):
-  """Basic properties: length, times array, and data array are all accessible."""
-  assert len(scalar_ts) == 5
-  assert len(multi_ts) == 5
-  np.testing.assert_array_equal(scalar_ts.times, [0, 1, 2, 3, 4])
-  np.testing.assert_array_equal(scalar_ts.data, [0, 1, 4, 9, 16])
-
-
-@pytest.mark.parametrize(
-    "times, data, match",
-    [
-        (np.array([]), np.array([]), "Empty"),
-        (np.array([[0.0], [1.0]]), np.array([0.0, 1.0]), "1D"),
-        (np.array([0.0, 1.0]), np.array([0.0, 1.0, 2.0]), "Length"),
-        (
-            np.array([0.0, 2.0, 1.0]),
-            np.array([0.0, 1.0, 2.0]),
-            "strictly increasing",
-        ),
-    ],
-)
-def test_validation(times, data, match):
-  """Bad inputs (empty, non-1D times, length mismatch, non-monotonic) are rejected."""
-  with pytest.raises(ValueError, match=match):
-    TimeSeries(times=times, data=data)
-
-
-def test_zero_column_data():
-  """Zero-column data is valid (state-based models with no sensors)."""
-  times = np.array([0.0, 1.0, 2.0])
-  data = np.empty((3, 0))
-  ts = TimeSeries(times=times, data=data)
-  assert len(ts) == 3
-  assert ts.data.shape == (3, 0)
-
-
-def test_save_and_load(scalar_ts, multi_ts, tmp_path):
-  """Saving to .npz and loading back recovers identical times and data."""
-  path = tmp_path / "test.npz"
-  scalar_ts.save_to_disk(path)
-  loaded = TimeSeries.load_from_disk(path)
-  np.testing.assert_array_equal(loaded.times, scalar_ts.times)
-  np.testing.assert_array_equal(loaded.data, scalar_ts.data)
-
-  path2 = tmp_path / "test_multi.npz"
-  multi_ts.save_to_disk(path2)
-  loaded2 = TimeSeries.load_from_disk(path2)
-  np.testing.assert_array_equal(loaded2.times, multi_ts.times)
-  np.testing.assert_array_equal(loaded2.data, multi_ts.data)
-
-
-def test_save_and_load_with_signal_mapping(tmp_path):
-  """Save/load also preserves the signal_mapping (sensor name -> column index map)."""
-  times = np.array([0.0, 1.0, 2.0, 3.0, 4.0])
-  data = np.array([
-      [0.0, 0.0],
-      [1.0, 2.0],
-      [4.0, 8.0],
-      [9.0, 18.0],
-      [16.0, 32.0],
-  ])
-  signal_mapping = {
-      "signal1": (SignalType.MjSensor, np.array([0])),
-      "signal2": (SignalType.MjSensor, np.array([1])),
-  }
-  ts = TimeSeries(
-      times=times, data=data, signal_mapping=signal_mapping
-  )
-
-  path = tmp_path / "test_signal_mapping.npz"
-  ts.save_to_disk(path)
-  loaded = TimeSeries.load_from_disk(path)
-
-  np.testing.assert_array_equal(loaded.times, times)
-  np.testing.assert_array_equal(loaded.data, data)
-  assert loaded.signal_mapping is not None
-  assert loaded.signal_mapping.keys() == signal_mapping.keys()
-  for key in signal_mapping:
-    val_type, val_indices = signal_mapping[key]
-    loaded_type, loaded_indices = loaded.signal_mapping[key]
-    assert loaded_type == val_type
-    np.testing.assert_array_equal(loaded_indices, val_indices)
-
-
-@pytest.mark.parametrize(
-    "method, expected",
-    [
-        ("linear", 6.5),
-        ("cubic", 6.25),
-        ("quadratic", 6.25),
-        ("zero_order_hold", 4.0),
-        ("zoh", 4.0),
-    ],
-)
-def test_interpolate_scalar(scalar_ts, method, expected):
-  """Each interpolation method (linear, cubic, ZOH, etc.) gives the expected midpoint value."""
-  result = scalar_ts.interpolate(2.5, method=method)
-  assert result[0] == pytest.approx(expected, abs=1e-5)
-
-
-def test_interpolate_array(scalar_ts, multi_ts):
-  """Interpolating at multiple times simultaneously works for scalar and multi-column data."""
-  t_values = np.array([0.5, 1.5, 2.5, 3.5])
-  expected = np.array([0.5, 2.5, 6.5, 12.5])
-  result = scalar_ts.interpolate(t_values, method="linear")
-  np.testing.assert_allclose(result, expected, rtol=1e-5)
-
-  expected_multi = np.array([
-      [0.5, 1.0],
-      [2.5, 5.0],
-      [6.5, 13.0],
-      [12.5, 25.0],
-  ])
-  result_multi = multi_ts.interpolate(t_values, method="linear")
-  np.testing.assert_allclose(result_multi, expected_multi, rtol=1e-5)
-
-
-def test_resample_with_new_times(scalar_ts):
-  """Resampling onto a finer time grid via explicit new_times gives correct values."""
-  new_times = np.array([0.0, 0.5, 1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0])
-  expected = np.array([0.0, 0.5, 1.0, 2.5, 4.0, 6.5, 9.0, 12.5, 16.0])
-  resampled = scalar_ts.resample(new_times=new_times, method="linear")
-  np.testing.assert_array_equal(resampled.times, new_times)
-  np.testing.assert_allclose(resampled.data, expected, rtol=1e-5)
-
-  with pytest.raises(ValueError):
-    scalar_ts.resample(new_times=np.array([0.0, 2.0, 1.0]))
-
-  with pytest.raises(ValueError):
-    scalar_ts.resample(new_times=np.array([[0.0], [1.0]]))
-
-
-def test_resample_with_target_dt(scalar_ts):
-  """Resampling by specifying a target timestep generates the right uniform grid."""
-  resampled = scalar_ts.resample(target_dt=0.5, method="linear")
-  expected_times = np.array([0.0, 0.5, 1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0])
-  expected_data = np.array([0.0, 0.5, 1.0, 2.5, 4.0, 6.5, 9.0, 12.5, 16.0])
-  np.testing.assert_allclose(resampled.times, expected_times, rtol=1e-5)
-  np.testing.assert_allclose(resampled.data, expected_data, rtol=1e-5)
-
-  with pytest.raises(ValueError):
-    scalar_ts.resample(target_dt=-0.5)
-
-  with pytest.raises(ValueError):
-    scalar_ts.resample()
-
-
-# ---------------------------------------------------------------------------
-# TimeSeries factory method tests
-# ---------------------------------------------------------------------------
-
-
-def test_from_model_controls_auto_resolution():
-  """Without explicit names, all model actuators are auto-discovered and mapped."""
-  xml = """
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="j1"/>
-        <geom size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor name="m1" joint="j1"/>
-      <motor name="m2" joint="j1"/>
-    </actuator>
-  </mujoco>
-  """
-  model = mujoco.MjModel.from_xml_string(xml)
-  times = np.linspace(0, 1, 100)
-  data = np.random.randn(100, 2)
-
-  ts = TimeSeries.from_control_names(times, data, model)
-  assert ts.signal_mapping is not None
-  assert "m1_ctrl" in ts.signal_mapping
-  assert "m2_ctrl" in ts.signal_mapping
-  assert ts.signal_mapping["m1_ctrl"][0] == SignalType.MjCtrl
-  assert ts.signal_mapping["m2_ctrl"][0] == SignalType.MjCtrl
-
-
-def test_from_model_controls_explicit_names():
-  """Explicit actuator names are resolved; invalid or wrong-type names are rejected."""
-  xml = """
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="j1"/>
-        <geom size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor name="m1" joint="j1"/>
-    </actuator>
-  </mujoco>
-  """
-  model = mujoco.MjModel.from_xml_string(xml)
-  times = np.linspace(0, 1, 10)
-  data = np.zeros((10, 1))
-
-  ts = TimeSeries.from_control_names(times, data, model, names=["m1"])
-  assert ts.signal_mapping is not None
-  assert "m1_ctrl" in ts.signal_mapping
-
-  with pytest.raises(ValueError, match="Could not resolve signal"):
-    TimeSeries.from_control_names(times, data, model, names=["invalid"])
-
-  with pytest.raises(ValueError, match="not allowed"):
-    TimeSeries.from_control_names(
-        times, data, model, names=[("m1", SignalType.MjSensor)]
-    )
-
-
-def test_from_model_auto_resolution_sensors():
-  """Without explicit names, all model sensors are auto-discovered with correct dimensions."""
-  xml = """
-  <mujoco>
-    <worldbody>
-      <body name="b1">
-        <geom size="0.1" mass="1"/>
-        <site name="s1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <accelerometer name="acc1" site="s1"/>
-      <gyro name="gyro1" site="s1"/>
-    </sensor>
-  </mujoco>
-  """
-  model = mujoco.MjModel.from_xml_string(xml)
-  times = np.linspace(0, 1, 10)
-  data = np.zeros((10, 6))
-
-  ts = TimeSeries.from_names(times, data, model)
-  assert ts.signal_mapping is not None
-  assert "acc1" in ts.signal_mapping
-  assert "gyro1" in ts.signal_mapping
-  assert ts.signal_mapping["acc1"][0] == SignalType.MjSensor
-  assert ts.signal_mapping["gyro1"][0] == SignalType.MjSensor
-
-
-def test_from_model_state_resolution():
-  """State signals (qpos, qvel) can be mapped by passing (name, SignalType) tuples."""
-  xml = """
-  <mujoco>
-    <worldbody>
-      <body name="b1">
-        <joint name="j1" type="hinge"/>
-        <joint name="j2" type="slide"/>
-        <geom size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  """
-  model = mujoco.MjModel.from_xml_string(xml)
-  times = np.linspace(0, 1, 10)
-  data = np.zeros((10, 2))
-
-  names = [("j1", SignalType.MjStateQPos), ("j2", SignalType.MjStateQPos)]
-  ts = TimeSeries.from_names(times, data, model, names=names)
-  assert ts.signal_mapping is not None
-  assert "j1_qpos" in ts.signal_mapping
-  assert "j2_qpos" in ts.signal_mapping
-
-
-def test_from_custom():
-  """Custom signal definitions (name strings and dimension tuples) are mapped correctly."""
-  times = np.linspace(0, 1, 10)
-  data = np.zeros((10, 3))
-  signals = ["a", ("b", 2, SignalType.CustomObs)]
-
-  ts = TimeSeries.from_custom_map(times, data, signals)
-  assert ts.signal_mapping is not None
-  assert "a" in ts.signal_mapping
-  assert "b" in ts.signal_mapping
-  assert ts.signal_mapping["a"][1].size == 1
-  assert ts.signal_mapping["b"][1].size == 2
-
-
-# ---------------------------------------------------------------------------
-# compute_all_state_mappings correctness tests
-# ---------------------------------------------------------------------------
-
-
-def _verify_state_mapping(model):
-  """Set known qpos/qvel values and verify mappings recover them correctly."""
-  qpos_map, qvel_map, act_map, _ = TimeSeries.compute_all_state_mappings(model)
-
-  data = mujoco.MjData(model)
-  # Fill with distinct values so misalignment is detectable.
-  data.qpos[:] = 100 + np.arange(model.nq)
-  data.qvel[:] = 200 + np.arange(model.nv)
-
-  state = np.empty(
-      mujoco.mj_stateSize(
-          model, mujoco.mjtState.mjSTATE_FULLPHYSICS.value
-      )
-  )
-  mujoco.mj_getState(
-      model, data, state, mujoco.mjtState.mjSTATE_FULLPHYSICS.value
-  )
-  # Strip the leading time element (mjSTATE_FULLPHYSICS includes time).
-  state_no_time = state[1:]
-
-  # Verify every qpos mapping entry.
-  for name, (sig_type, indices) in qpos_map.items():
-    assert sig_type == SignalType.MjStateQPos
-    values = state_no_time[indices]
-    # All qpos values should be in [100, 100+nq).
-    assert np.all(values >= 100) and np.all(values < 100 + model.nq), (
-        f"{name}: got {values}"
-    )
-
-  # Verify every qvel mapping entry.
-  for name, (sig_type, indices) in qvel_map.items():
-    assert sig_type == SignalType.MjStateQVel
-    values = state_no_time[indices]
-    # All qvel values should be in [200, 200+nv).
-    assert np.all(values >= 200) and np.all(values < 200 + model.nv), (
-        f"{name}: got {values}"
-    )
-
-  # Verify total coverage.
-  all_qpos_indices = np.concatenate([v[1] for v in qpos_map.values()])
-  all_qvel_indices = np.concatenate([v[1] for v in qvel_map.values()])
-  assert len(all_qpos_indices) == model.nq
-  assert len(all_qvel_indices) == model.nv
-  assert len(np.unique(all_qpos_indices)) == model.nq, "Duplicate qpos indices"
-  assert len(np.unique(all_qvel_indices)) == model.nv, "Duplicate qvel indices"
-
-
-def test_state_mapping_hinge_only():
-  """All-hinge model: qposadr == dofadr, so mapping is straightforward."""
-  xml = """
-  <mujoco>
-    <worldbody>
-      <body><joint name="j1" type="hinge"/><geom size="0.1" mass="1"/>
-        <body><joint name="j2" type="hinge"/><geom size="0.1" mass="1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  """
-  _verify_state_mapping(mujoco.MjModel.from_xml_string(xml))
-
-
-def test_state_mapping_free_plus_hinge():
-  """Free body + hinge joints: jnt_qposadr != jnt_dofadr for the hinges."""
-  xml = """
-  <mujoco>
-    <worldbody>
-      <body name="box" pos="0 0 1">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1"/>
-      </body>
-      <body>
-        <joint name="h1" type="hinge"/><geom size="0.1" mass="1"/>
-        <body>
-          <joint name="h2" type="hinge"/><geom size="0.1" mass="1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  """
-  _verify_state_mapping(mujoco.MjModel.from_xml_string(xml))
-
-
-def test_state_mapping_two_free_bodies():
-  """Two free bodies: body_dofadr != jnt_qposadr for the second body."""
-  xml = """
-  <mujoco>
-    <worldbody>
-      <body name="a" pos="0 0 1">
-        <freejoint/><geom type="box" size=".1 .1 .1"/>
-      </body>
-      <body name="b" pos="1 0 1">
-        <freejoint/><geom type="box" size=".1 .1 .1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  """
-  _verify_state_mapping(mujoco.MjModel.from_xml_string(xml))
-
-
-def test_state_mapping_ball_plus_hinge():
-  """Ball joint + hinge: ball takes 4 qpos / 3 qvel, offsetting the hinge."""
-  xml = """
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/><geom size="0.1" mass="1"/>
-        <body>
-          <joint name="h" type="hinge"/><geom size="0.1" mass="1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  """
-  _verify_state_mapping(mujoco.MjModel.from_xml_string(xml))
diff --git a/python/mujoco/sysid/tests/test_trajectory.py b/python/mujoco/sysid/tests/test_trajectory.py
deleted file mode 100644
index f411c2bd..00000000
--- a/python/mujoco/sysid/tests/test_trajectory.py
+++ /dev/null
@@ -1,204 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for the SystemTrajectory class."""
-
-from unittest import mock
-
-import mujoco
-from mujoco.sysid._src import timeseries
-from mujoco.sysid._src.trajectory import create_initial_state
-from mujoco.sysid._src.trajectory import SystemTrajectory
-import numpy as np
-import pytest
-
-
-@pytest.fixture
-def mock_model():
-  model = mock.Mock(spec=mujoco.MjModel)
-  model.nsensordata = 2
-  model.nu = 1
-  model.nq = 1
-  model.nv = 1
-  return model
-
-
-@pytest.fixture
-def sample_trajectory(mock_model):
-  """Create a sample SystemTrajectory for testing."""
-  with mock.patch.object(
-      SystemTrajectory, "check_compatible", return_value=None
-  ):
-    times = np.array([0.0, 1.0, 2.0])
-    control_mapping = {"ctrl1": (timeseries.SignalType.MjCtrl, np.array([0]))}
-    sensordata_mapping = {
-        "sensor1": (timeseries.SignalType.MjSensor, np.array([0])),
-        "sensor2": (timeseries.SignalType.MjSensor, np.array([1])),
-    }
-    state_mapping = {
-        "qpos1": (timeseries.SignalType.MjStateQPos, np.array([0]))
-    }
-
-    control = timeseries.TimeSeries(
-        times=times,
-        data=np.array([[1.0], [2.0], [3.0]]),
-        signal_mapping=control_mapping,
-    )
-    sensordata = timeseries.TimeSeries(
-        times=times,
-        data=np.array([[0.1, 0.2], [0.3, 0.4], [0.5, 0.6]]),
-        signal_mapping=sensordata_mapping,
-    )
-    state = timeseries.TimeSeries(
-        times=times,
-        data=np.array([[0.01], [0.02], [0.03]]),
-        signal_mapping=state_mapping,
-    )
-
-    traj = SystemTrajectory(
-        model=mock_model,
-        control=control,
-        sensordata=sensordata,
-        initial_state=np.array([0.0]),
-        state=state,
-    )
-    yield traj, control_mapping, sensordata_mapping, state_mapping
-
-
-def test_save_and_load_with_signal_mapping(
-    sample_trajectory, mock_model, tmp_path
-):
-  """Saving and loading a trajectory preserves all signal mappings (control, sensor, state)."""
-  traj, control_mapping, sensordata_mapping, state_mapping = sample_trajectory
-
-  path = tmp_path / "test_traj.npz"
-  traj.save_to_disk(path)
-
-  with mock.patch.object(
-      SystemTrajectory, "check_compatible", return_value=None
-  ):
-    loaded = SystemTrajectory.load_from_disk(path, mock_model)
-
-  ctrl_map = loaded.control.signal_mapping
-  assert ctrl_map is not None
-  assert ctrl_map.keys() == control_mapping.keys()
-  for key in control_mapping:
-    assert ctrl_map[key][0] == control_mapping[key][0]
-    np.testing.assert_array_equal(ctrl_map[key][1], control_mapping[key][1])
-
-  sensor_map = loaded.sensordata.signal_mapping
-  assert sensor_map is not None
-  assert sensor_map.keys() == sensordata_mapping.keys()
-  for key in sensordata_mapping:
-    assert sensor_map[key][0] == sensordata_mapping[key][0]
-    np.testing.assert_array_equal(
-        sensor_map[key][1], sensordata_mapping[key][1]
-    )
-
-  assert loaded.state is not None
-  state_map = loaded.state.signal_mapping
-  assert state_map is not None
-  assert state_map.keys() == state_mapping.keys()
-  for key in state_mapping:
-    assert state_map[key][0] == state_mapping[key][0]
-    np.testing.assert_array_equal(state_map[key][1], state_mapping[key][1])
-
-
-def test_create_initial_state(box_model):
-  """The initial MuJoCo state (qpos, qvel, act) is packed into a flat vector for rollout."""
-  qpos = np.zeros(box_model.nq)
-  qvel = np.zeros(box_model.nv)
-  state = create_initial_state(box_model, qpos, qvel)
-  expected_size = mujoco.mj_stateSize(
-      box_model, mujoco.mjtState.mjSTATE_FULLPHYSICS
-  )
-  assert state.shape == (expected_size,)
-
-
-def test_create_initial_state_wrong_qpos(box_model):
-  """Wrong-sized qpos is caught early rather than causing a silent rollout bug."""
-  with pytest.raises(ValueError, match="qpos"):
-    create_initial_state(box_model, np.zeros(999))
-
-
-def test_create_initial_state_with_names():
-  """Named mapping places qpos/qvel into correct slots for a subset of joints."""
-  xml = """
-  <mujoco>
-    <worldbody>
-      <body name="box" pos="0 0 1">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1"/>
-      </body>
-      <body>
-        <joint name="h1" type="hinge"/>
-        <geom size="0.1" mass="1"/>
-        <body>
-          <joint name="h2" type="hinge"/>
-          <geom size="0.1" mass="1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  """
-  model = mujoco.MjModel.from_xml_string(xml)
-  data = mujoco.MjData(model)
-
-  # Map only the two hinge joints by name, leaving the free body at defaults.
-  qpos_subset = np.array([1.1, 2.2])
-  qvel_subset = np.array([3.3, 4.4])
-  state = create_initial_state(
-      model, qpos_subset, qvel_subset,
-      qpos_names=["h1_qpos", "h2_qpos"],
-      qvel_names=["h1_qvel", "h2_qvel"],
-  )
-
-  # Unpack the state to verify values ended up in the right slots.
-  mujoco.mj_setState(
-      model, data, state, mujoco.mjtState.mjSTATE_FULLPHYSICS.value
-  )
-  # Free body qpos (indices 0-6) should be at model defaults.
-  # Hinge joints at qposadr 7 and 8.
-  np.testing.assert_allclose(data.qpos[7], 1.1)
-  np.testing.assert_allclose(data.qpos[8], 2.2)
-  # Hinge joints at dofadr 6 and 7.
-  np.testing.assert_allclose(data.qvel[6], 3.3)
-  np.testing.assert_allclose(data.qvel[7], 4.4)
-
-
-def test_split(sample_trajectory):
-  """A long trajectory can be split into smaller chunks for batched optimization."""
-  traj, *_ = sample_trajectory
-  chunks = traj.split(chunk_size=1)
-  assert len(chunks) == 3
-  assert len(chunks[0].sensordata) == 1
-
-
-def test_check_compatible_sensor_mismatch(box_model):
-  """Mismatched sensor dimensions between data and model are caught before rollout."""
-  times = np.array([0.0, 0.01, 0.02])
-  sensordata = timeseries.TimeSeries(times, np.ones((3, 5)))
-  control = timeseries.TimeSeries(times, np.ones((3, box_model.nu)))
-  initial_state = np.zeros(
-      mujoco.mj_stateSize(box_model, mujoco.mjtState.mjSTATE_FULLPHYSICS)
-  )
-  traj = SystemTrajectory(
-      model=box_model,
-      control=control,
-      sensordata=sensordata,
-      initial_state=initial_state,
-      state=None,
-  )
-  with pytest.raises(ValueError, match="Sensor data dimension"):
-    traj.check_compatible()
diff --git a/python/mujoco/testdata/MJCF_NoRoot.zip b/python/mujoco/testdata/MJCF_NoRoot.zip
deleted file mode 100644
index 215b9a68..00000000
Binary files a/python/mujoco/testdata/MJCF_NoRoot.zip and /dev/null differ
diff --git a/python/mujoco/testdata/MJCF_Root.zip b/python/mujoco/testdata/MJCF_Root.zip
deleted file mode 100644
index 9bf4d0ce..00000000
Binary files a/python/mujoco/testdata/MJCF_Root.zip and /dev/null differ
diff --git a/python/mujoco/testdata/abdomen_1_body.msh b/python/mujoco/testdata/abdomen_1_body.msh
deleted file mode 100644
index 6fd0e732..00000000
Binary files a/python/mujoco/testdata/abdomen_1_body.msh and /dev/null differ
diff --git a/python/mujoco/testdata/checkerboard.png b/python/mujoco/testdata/checkerboard.png
deleted file mode 100644
index 87fb3579..00000000
Binary files a/python/mujoco/testdata/checkerboard.png and /dev/null differ
diff --git a/python/mujoco/testdata/model.urdf b/python/mujoco/testdata/model.urdf
deleted file mode 100644
index f4b2793f..00000000
--- a/python/mujoco/testdata/model.urdf
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="tool">
-  <link name="tool"/>
-</robot>
diff --git a/python/mujoco/testdata/model.xml b/python/mujoco/testdata/model.xml
deleted file mode 100644
index 98274616..00000000
--- a/python/mujoco/testdata/model.xml
+++ /dev/null
@@ -1,178 +0,0 @@
-<mujoco>
-  <option jacobian="dense" density="1.225" viscosity="1.8e-5" wind="0 0 1">
-    <flag fwdinv="enable" energy="enable" island="enable"/>
-  </option>
-
-  <asset>
-    <mesh name="icosahedron" scale=".05 .05 .05"
-          vertex="0         1       1.618
-                  0        -1       1.618
-                  0         1      -1.618
-                  0        -1      -1.618
-                  1         1.618   0
-                 -1         1.618   0
-                  1        -1.618   0
-                 -1        -1.618   0
-                  1.618     0       1
-                  1.618     0      -1
-                 -1.618     0       1
-                 -1.618     0      -1"/>
-    <hfield name="hfield" nrow="3" ncol="3" size=".2 .2 .03 .03"
-            elevation="1 0 1
-                       0 1 0
-                       1 0 1"/>
-    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
-    <texture name="grid" type="cube" builtin="checker" width="32" height="32" rgb1=".1 .2 .3" rgb2="1 1 1"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <site rgba=".5 .5 .5 .5"/>
-    <joint armature="1" damping="10"/>
-    <general ctrllimited="true" ctrlrange="-1 1"/>
-    <default class="hip0">
-      <joint springref="30" stiffness="60"/>
-    </default>
-    <default class="hip1">
-      <joint limited="true" range="-60 60" stiffness="10"/>
-    </default>
-    <default class="wheel">
-      <joint damping=".1" armature=".1"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom name="floor" type="plane" size="4 4 .1"/>
-    <geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
-    <body name="head" pos="0 0 .7" gravcomp="0.5">
-      <geom type="ellipsoid" size=".2 .2 .4" density="200" material="grid"/>
-      <site name="head" pos="0 0 .4" size=".1 .1 .05" type="box"/>
-      <site name="anchor0" pos="0 .2 0"/>
-      <site name="rf" pos="0 0 -0.41" zaxis="0 0 -1"/>
-      <freejoint/>
-      <body euler="0 0 0" pos=".2 0 -.2">
-        <joint name="hipz_0" class="hip1" axis="0 0 1"/>
-        <joint name="hipy_0" class="hip0" axis="0 1 0"/>
-        <geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
-        <body pos=".3 0 0">
-          <site name="knee"/>
-          <geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .1 0 -.3"/>
-          <body pos=".1 0 -.3">
-            <joint name="wheel_0" type="ball" class="wheel"/>
-            <site name="wheel_0" type="box" size=".1 .1 .1"/>
-            <geom name="wheel_0" size=".1 .2 .1"  rgba="0 1 0 1" type="ellipsoid"/>
-          </body>
-        </body>
-      </body>
-      <body euler="0 0 120" pos="-.15 .2 -.2">
-        <joint name="hipz_1" class="hip1" axis="0 0 1"/>
-        <joint name="hipy_1" class="hip0" axis="0 1 0"/>
-        <geom type="box" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
-        <geom type="box" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
-        <body pos=".45 0 -.3">
-          <joint name="wheel_1" axis="1 0 0" class="wheel"/>
-          <geom size=".1"  rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0"/>
-          <site name="wheel_1" type="box" size=".02 .11 .11" pos=".015 0 0"/>
-        </body>
-      </body>
-      <body euler="0 0 240" pos="-.15 -.2 -.2">
-        <joint name="hipz_2" class="hip1" axis="0 0 1"/>
-        <joint name="hipy_2" class="hip0" axis="0 1 0"/>
-        <geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
-        <geom type="capsule" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
-        <body pos=".45 0 -.3">
-          <joint name="wheel_2" axis="1 0 0" class="wheel"/>
-          <geom size=".1"  rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0"/>
-          <site name="wheel_2" size=".13"  rgba="0 0 0 0.1" type="cylinder" fromto="-.01 0 0 .04 0 0"/>
-        </body>
-      </body>
-    </body>
-    <body pos="-.33 0 1">
-      <joint name="slider" type="slide" axis="0 0 1" limited="true" range="-.2 .5"/>
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="mesh" mesh="icosahedron" size=".1" rgba="0 0 1 1"/>
-    </body>
-    <body name="cylinder" pos="-.5 .3 .7">
-      <freejoint/>
-      <geom name="wrapping" type="cylinder" size=".04" fromto="-.1 -.2 0 .1 .4 0"/>
-      <site name="cylinder"/>
-    </body>
-    <site name="sidesite" pos="-.5 .4 1"/>
-    <body pos="-.3 .6 .8">
-      <freejoint/>
-      <geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
-      <site name="anchor1" pos=".05 .05 .05"/>
-    </body>
-    <body pos="-.6 .4 .8">
-      <freejoint/>
-      <geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
-      <site name="anchor2" pos=".05 .05 .05"/>
-    </body>
-    <body name="tumbling" pos="-.2 .3 1">
-      <freejoint/>
-      <geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4" fluidshape="ellipsoid"/>
-      <geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4" fluidshape="ellipsoid"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="world" body2="cylinder"/>
-  </equality>
-
-  <tendon>
-    <spatial name="spatial" limited="true" range="0 .7" rgba="1 0 1 1">
-      <site site="anchor0"/>
-      <site site="anchor1"/>
-      <geom geom="wrapping" sidesite="sidesite"/>
-      <site site="anchor2"/>
-    </spatial>
-    <fixed name="fixed">
-      <joint joint="hipy_0" coef="1"/>
-      <joint joint="hipy_1" coef="1"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor tendon="fixed" gear="100"/>
-    <motor tendon="spatial" gear="10"/>
-    <motor joint="hipy_2" gear="100"/>
-    <position joint="hipz_1" kp="100"/>
-    <position joint="hipz_2" kp="100"/>
-    <velocity joint="wheel_2" kv="1"/>
-    <intvelocity joint="hipz_0" kp="100" actrange="-1 1"/>
-    <general site="wheel_0" gear="0 0 0 0 10 0" dyntype="filter" dynprm="1"/>
-    <general joint="wheel_1" biastype="affine" dyntype="integrator" dynprm="1" biasprm="0 -1"/>
-    <general joint="hipy_1" actearly="true" dyntype="filterexact" dynprm="0.9" gear="12.1" />
-  </actuator>
-
-  <sensor>
-    <framepos objtype="site" objname="wheel_0" reftype="site" refname="wheel_2"/>
-    <rangefinder site="rf"/>
-    <gyro site="wheel_2"/>
-    <touch site="wheel_1"/>
-    <force site="knee"/>
-    <torque site="knee"/>
-    <force site="cylinder"/>
-    <torque site="cylinder"/>
-    <jointlimitfrc joint="slider"/>
-    <accelerometer site="head"/>
-    <subtreeangmom body="head"/>
-  </sensor>
-
-  <keyframe>
-    <key name="start"
-         time="0.128"
-         qpos="0.0133625 -0.013799 0.659429 0.999776 0.019159 0.00902704 0.000572574 -0.00776575 0.0983289 0.999861 -0.00869796 -0.0141805 0.000912197 0.00700633 0.0930296 0.00637469 -0.00313231 0.119692 0.0051478 -0.0469067 0 -0.500224 0.300659 0.69913 1 -0.000367766 -0.000265698 -0.000109715 -0.319851 0.525628 0.702735 0.29858 0.698263 -0.0490604 -0.648746 -0.579432 0.4206 0.749601 0.900145 -0.208463 0.346664 -0.161576 -0.200033 0.300084 0.976421 0.878429 -0.00171382 0.00127086 -0.477867"
-         qvel="0.508861 -0.243772 -0.327162 0.549686 1.13746 0.0282475 -0.0865243 1.06414 -0.239958 -0.532111 -0.00133789 -0.0654491 0.533148 -0.253161 0.122149 0.824764 0.723529 -0.674175 0 -0.00154509 -0.00568917 0.00479921 0.00541817 0.00115895 0.00317796 -0.160161 -0.599488 -1.38103 14.9789 -1.05454 -13.9252 -0.31223 -0.0102486 -0.405851 5.43992 -4.71514 0.114928 -0.00123758 0.000187845 -0.244109 -0.190199 0.0697975 -16.3286"/>
-  </keyframe>
-
-  <custom>
-    <numeric name="numeric" data="1 2 3"/>
-    <text name="text" data="abc"/>
-    <tuple name="tuple">
-      <element objtype="body" objname="cylinder" prm="1"/>
-      <element objtype="joint" objname="hipz_0" prm="2"/>
-    </tuple>
-  </custom>
-</mujoco>
diff --git a/python/mujoco/testdata/msh.xml b/python/mujoco/testdata/msh.xml
deleted file mode 100644
index 410a0618..00000000
--- a/python/mujoco/testdata/msh.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh name="abdomen_1_body" file="abdomen_1_body.msh"/>
-  </asset>
-</mujoco>
diff --git a/python/mujoco/testdata/simple_usd_preview_surface.usda b/python/mujoco/testdata/simple_usd_preview_surface.usda
deleted file mode 100644
index ede01fec..00000000
--- a/python/mujoco/testdata/simple_usd_preview_surface.usda
+++ /dev/null
@@ -1,81 +0,0 @@
-#usda 1.0
-(
-    endTimeCode = 1
-    framesPerSecond = 24
-    metersPerUnit = 1
-    startTimeCode = 1
-    timeCodesPerSecond = 24
-    upAxis = "Y"
-)
-
-def Xform "World"
-{
-    def Cube "Cube" (
-        prepend apiSchemas = ["MaterialBindingAPI"]
-    )
-    {
-        float3[] extent = [(-1, -1, -1), (1, 1, 1)]
-        rel material:binding = </materials/simple_usd_preview_surface>
-        double size = 2
-        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
-        uniform token[] xformOpOrder = ["xformOp:transform"]
-    }
-
-    def Cube "Cube2" (
-        prepend apiSchemas = ["MaterialBindingAPI"]
-    )
-    {
-        float3[] extent = [(-1, -1, -1), (1, 1, 1)]
-        rel material:binding = </materials/simple_usd_texture>
-        double size = 2
-        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
-        matrix4d xformOp:transform:transform1 = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -2.9009591341018677, 0, 1) )
-        uniform token[] xformOpOrder = ["xformOp:transform", "xformOp:transform:transform1"]
-    }
-}
-
-def Scope "materials"
-{
-    def Material "simple_usd_preview_surface" (
-        prepend inherits = </__class_mtl__/simple_usd_preview_surface>
-    )
-    {
-        token outputs:surface.connect = </materials/simple_usd_preview_surface/usdpreviewsurface.outputs:surface>
-
-        def Shader "usdpreviewsurface"
-        {
-            uniform token info:id = "UsdPreviewSurface"
-            color3f inputs:diffuseColor = (0.1, 0.2, 0.3)
-            color3f inputs:emissiveColor = (0.4, 0.5, 0.6)
-            float inputs:metallic = 0.123
-            float inputs:roughness = 0.456
-            token outputs:surface
-        }
-    }
-
-    def Material "simple_usd_texture" (
-        prepend inherits = </__class_mtl__/simple_usd_texture>
-    )
-    {
-        token outputs:surface.connect = </materials/simple_usd_texture/usdpreviewsurface.outputs:surface>
-
-        def Shader "usdpreviewsurface"
-        {
-            uniform token info:id = "UsdPreviewSurface"
-            color3f inputs:diffuseColor = (0.1, 0.2, 0.3)
-            color3f inputs:diffuseColor.connect = </materials/simple_usd_texture/usduvtexture1.outputs:rgb>
-            color3f inputs:emissiveColor = (0.4, 0.5, 0.6)
-            float inputs:metallic = 0.123
-            float inputs:roughness = 0.456
-            token outputs:surface
-        }
-
-        def Shader "usduvtexture1"
-        {
-            uniform token info:id = "UsdUVTexture"
-            asset inputs:file = @./checkerboard.png@
-            vector3f outputs:rgb
-        }
-    }
-}
-
diff --git a/python/mujoco/testdata/usd_golden.usda b/python/mujoco/testdata/usd_golden.usda
deleted file mode 100644
index 0c1c08b1..00000000
--- a/python/mujoco/testdata/usd_golden.usda
+++ /dev/null
@@ -1,89 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "World"
-    doc = """Generated from Composed Stage of root layer 
-"""
-    endTimeCode = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-def Xform "World"
-{
-    def Xform "Light_Xform_0"
-    {
-        double3 xformOp:translate.timeSamples = {
-            0: (0, -3.674234628677368, 3.674234628677368),
-        }
-        uniform token[] xformOpOrder = ["xformOp:translate"]
-
-        def SphereLight "Light_0"
-        {
-            color3f inputs:color = (0.4, 0.4, 0.4)
-            float inputs:intensity = 10000
-            bool inputs:normalize = 1
-            float inputs:radius = 0.3
-            bool treatAsPoint = 0
-        }
-    }
-
-    def Xform "Camera_Xform_closeup"
-    {
-        matrix4d xformOp:transform.timeSamples = {
-            0: ( (1, 0, -0, 0), (0, 0.009999499656260014, 0.9999499917030334, 0), (0, -0.9999499917030334, 0.009999499656260014, 0), (0, -6, 0, 1) ),
-        }
-        uniform token[] xformOpOrder = ["xformOp:transform"]
-
-        def Camera "Camera_closeup"
-        {
-            float2 clippingRange = (0.0001, 1000000)
-            float focalLength = 12
-            float focusDistance = 400
-            float horizontalAperture = 12
-        }
-    }
-
-    def Xform "Mesh_Xform_white_box_id0_geom"
-    {
-        token visibility.timeSamples = {
-            0: "inherited",
-            1: "invisible",
-        }
-        float3 xformOp:scale
-        matrix4d xformOp:transform.timeSamples = {
-            0: ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) ),
-        }
-        uniform token[] xformOpOrder = ["xformOp:transform", "xformOp:scale"]
-
-        def Mesh "Mesh_white_box_id0_geom" (
-            apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
-            int[] faceVertexIndices = [4, 7, 5, 4, 6, 7, 0, 2, 4, 2, 6, 4, 0, 1, 2, 1, 3, 2, 1, 5, 7, 1, 7, 3, 2, 3, 7, 2, 7, 6, 0, 4, 1, 1, 4, 5]
-            rel material:binding = </World/_materials/Material_white_box_id0_geom>
-            point3f[] points = [(-1, -1, -1), (1, -1, -1), (-1, -1, 1), (1, -1, 1), (-1, 1, -1), (1, 1, -1), (-1, 1, 1), (1, 1, 1)]
-            uniform token subdivisionScheme = "none"
-        }
-    }
-
-    def "_materials"
-    {
-        def Material "Material_white_box_id0_geom"
-        {
-            token outputs:surface.connect = </World/_materials/Material_white_box_id0_geom/Principled_BSDF.outputs:surface>
-
-            def Shader "Principled_BSDF"
-            {
-                uniform token info:id = "UsdPreviewSurface"
-                color3f inputs:diffuseColor = (1, 1, 1)
-                float inputs:metallic = 0.5
-                float inputs:opacity = 1
-                float inputs:roughness = 0.5
-                token outputs:surface
-            }
-        }
-    }
-}
-
diff --git a/python/mujoco/thread_safety_test.py b/python/mujoco/thread_safety_test.py
deleted file mode 100644
index 1140f496..00000000
--- a/python/mujoco/thread_safety_test.py
+++ /dev/null
@@ -1,208 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Thread-safety tests for MuJoCo Python bindings.
-
-Validates that the free-threading mutex guards in the bindings work correctly:
-- Concurrent access to lazy-initialized indexers and struct lists.
-- Concurrent callback setter/getter operations.
-- Concurrent MjModel/MjData creation and destruction.
-- Re-entrancy safety (no deadlock when __del__ re-enters callback setters).
-"""
-
-import threading
-
-from absl.testing import absltest
-import mujoco
-
-
-# A model with contacts so data.contact is non-empty after stepping.
-_CONTACT_XML = r"""
-<mujoco>
-  <worldbody>
-    <geom type="plane" size="1 1 0.1"/>
-    <body pos="0 0 0.05">
-      <freejoint/>
-      <geom type="sphere" size="0.05"/>
-    </body>
-  </worldbody>
-</mujoco>
-"""
-
-_NUM_THREADS = 8
-_ITERS_PER_THREAD = 50
-
-
-class ConcurrentStressTest(absltest.TestCase):
-  """Tests concurrent access to bindings under multiple threads."""
-
-  def test_concurrent_indexer_access(self):
-    """Concurrent first-access of lazy indexers must not corrupt state."""
-    model = mujoco.MjModel.from_xml_string(_CONTACT_XML)
-    data = mujoco.MjData(model)
-    mujoco.mj_step(model, data)
-    errors = []
-
-    def access_indexers():
-      try:
-        for _ in range(_ITERS_PER_THREAD):
-          # Each of these triggers lazy init on first access.
-          _ = model.geom(0)
-          _ = data.qpos
-          _ = data.xpos
-      except Exception as e:  # pylint: disable=broad-except
-        errors.append(e)
-
-    threads = [threading.Thread(target=access_indexers)
-               for _ in range(_NUM_THREADS)]
-    for t in threads:
-      t.start()
-    for t in threads:
-      t.join()
-    self.assertEmpty(errors, f"Errors in concurrent indexer access: {errors}")
-
-  def test_concurrent_struct_list_access(self):
-    """Concurrent access to contact struct lists must not crash."""
-    model = mujoco.MjModel.from_xml_string(_CONTACT_XML)
-    data = mujoco.MjData(model)
-    # Step to generate contacts.
-    mujoco.mj_step(model, data)
-    errors = []
-
-    def access_contacts():
-      try:
-        for _ in range(_ITERS_PER_THREAD):
-          ncon = data.ncon
-          if ncon > 0:
-            contacts = data.contact[:ncon]
-            _ = len(contacts)
-      except Exception as e:  # pylint: disable=broad-except
-        errors.append(e)
-
-    threads = [threading.Thread(target=access_contacts)
-               for _ in range(_NUM_THREADS)]
-    for t in threads:
-      t.start()
-    for t in threads:
-      t.join()
-    self.assertEmpty(
-        errors, f"Errors in concurrent struct list access: {errors}")
-
-  def test_concurrent_callback_set_get(self):
-    """Concurrent callback setter/getter calls must not crash or deadlock."""
-    errors = []
-
-    def toggle_callback():
-      try:
-        for i in range(_ITERS_PER_THREAD):
-          if i % 2 == 0:
-            mujoco.set_mjcb_passive(lambda m, d: None)
-          else:
-            mujoco.set_mjcb_passive(None)
-          _ = mujoco.get_mjcb_passive()
-      except Exception as e:  # pylint: disable=broad-except
-        errors.append(e)
-
-    threads = [threading.Thread(target=toggle_callback)
-               for _ in range(_NUM_THREADS)]
-    for t in threads:
-      t.start()
-    for t in threads:
-      t.join()
-    # Clean up.
-    mujoco.set_mjcb_passive(None)
-    self.assertEmpty(
-        errors, f"Errors in concurrent callback set/get: {errors}")
-
-  def test_concurrent_model_data_lifecycle(self):
-    """Concurrent MjModel/MjData creation and destruction must not crash."""
-    errors = []
-
-    def create_destroy():
-      try:
-        for _ in range(_ITERS_PER_THREAD):
-          m = mujoco.MjModel.from_xml_string(_CONTACT_XML)
-          d = mujoco.MjData(m)
-          mujoco.mj_step(m, d)
-          del d
-          del m
-      except Exception as e:  # pylint: disable=broad-except
-        errors.append(e)
-
-    threads = [threading.Thread(target=create_destroy)
-               for _ in range(_NUM_THREADS)]
-    for t in threads:
-      t.start()
-    for t in threads:
-      t.join()
-    self.assertEmpty(
-        errors, f"Errors in concurrent model/data lifecycle: {errors}")
-
-
-class ReentrancyTest(absltest.TestCase):
-  """Tests that mutexes don't deadlock when __del__ re-enters setters."""
-
-  def test_callback_setter_from_del(self):
-    """Setting a callback whose __del__ re-enters the setter must not hang."""
-
-    class ReentrantCallback:
-      """A callable whose destructor re-enters the callback setter."""
-
-      def __call__(self, m, d):
-        pass
-
-      def __del__(self):
-        # When this object is destroyed by set_mjcb_passive(None) or by
-        # being replaced, __del__ will try to set the callback again.
-        # This must not deadlock.
-        try:
-          mujoco.set_mjcb_passive(None)
-        except Exception:  # pylint: disable=broad-except
-          pass  # Swallow — we just want to verify no deadlock.
-
-    mujoco.set_mjcb_passive(ReentrantCallback())
-    # This replaces the callback → drops last ref → triggers __del__ →
-    # re-enters set_mjcb_passive. Must complete without hanging.
-    mujoco.set_mjcb_passive(None)
-
-    # If we get here, no deadlock occurred.
-    self.assertIsNone(mujoco.get_mjcb_passive())
-
-  def test_callback_replacement_from_del(self):
-    """Replacing a callback whose __del__ sets a new callback must not hang."""
-
-    class ChainedCallback:
-      """A callable whose destructor sets a different callback."""
-
-      def __call__(self, m, d):
-        pass
-
-      def __del__(self):
-        try:
-          mujoco.set_mjcb_passive(lambda m, d: None)
-        except Exception:  # pylint: disable=broad-except
-          pass
-
-    mujoco.set_mjcb_passive(ChainedCallback())
-    # Replace with a plain lambda — old ChainedCallback.__del__ fires.
-    mujoco.set_mjcb_passive(lambda m, d: None)
-
-    # Clean up.
-    cb = mujoco.get_mjcb_passive()
-    self.assertIsNotNone(cb)
-    mujoco.set_mjcb_passive(None)
-
-
-if __name__ == "__main__":
-  absltest.main()
diff --git a/python/mujoco/threadpool.cc b/python/mujoco/threadpool.cc
deleted file mode 100644
index cd131b18..00000000
--- a/python/mujoco/threadpool.cc
+++ /dev/null
@@ -1,87 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "threadpool.h"
-
-#include <condition_variable>
-#include <functional>
-#include <mutex>
-#include <thread>
-#include <utility>
-
-#include <absl/base/attributes.h>
-
-namespace mujoco::python {
-
-ABSL_CONST_INIT thread_local int ThreadPool::worker_id_ = -1;
-
-// ThreadPool constructor
-ThreadPool::ThreadPool(int num_threads) : ctr_(0) {
-  for (int i = 0; i < num_threads; i++) {
-    threads_.push_back(std::thread(&ThreadPool::WorkerThread, this, i));
-  }
-}
-
-// ThreadPool destructor
-ThreadPool::~ThreadPool() {
-  {
-    std::unique_lock<std::mutex> lock(m_);
-    for (int i = 0; i < threads_.size(); i++) {
-      queue_.push(nullptr);
-    }
-    cv_in_.notify_all();
-  }
-  for (auto& thread : threads_) {
-    thread.join();
-  }
-}
-
-// ThreadPool scheduler
-void ThreadPool::Schedule(std::function<void()> task) {
-  std::unique_lock<std::mutex> lock(m_);
-  queue_.push(std::move(task));
-  cv_in_.notify_one();
-}
-
-// ThreadPool worker
-void ThreadPool::WorkerThread(int i) {
-  worker_id_ = i;
-  while (true) {
-    auto task = [&]() {
-      std::unique_lock<std::mutex> lock(m_);
-      cv_in_.wait(lock, [&]() { return !queue_.empty(); });
-      std::function<void()> task = std::move(queue_.front());
-      queue_.pop();
-      cv_in_.notify_one();
-      return task;
-    }();
-    if (task == nullptr) {
-      {
-        std::unique_lock<std::mutex> lock(m_);
-        ++ctr_;
-        cv_ext_.notify_one();
-      }
-      break;
-    }
-    task();
-
-    {
-      std::unique_lock<std::mutex> lock(m_);
-      ++ctr_;
-      cv_ext_.notify_one();
-    }
-  }
-}
-
-}  // namespace mujoco::python
diff --git a/python/mujoco/threadpool.h b/python/mujoco/threadpool.h
deleted file mode 100644
index 5a142ad0..00000000
--- a/python/mujoco/threadpool.h
+++ /dev/null
@@ -1,80 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_THREADPOOL_H_
-#define MUJOCO_PYTHON_THREADPOOL_H_
-
-#include <condition_variable>
-#include <cstdint>
-#include <functional>
-#include <mutex>
-#include <queue>
-#include <thread>
-#include <vector>
-
-#include <absl/base/attributes.h>
-
-namespace mujoco::python {
-
-// ThreadPool class
-class ThreadPool {
- public:
-  // constructor
-  explicit ThreadPool(int num_threads);
-
-  // destructor
-  ~ThreadPool();
-
-  int NumThreads() const { return threads_.size(); }
-
-  // returns an ID between 0 and NumThreads() - 1. must be called within
-  // worker thread (returns -1 if not).
-  static int WorkerId() { return worker_id_; }
-
-  // ----- methods ----- //
-  // set task for threadpool
-  void Schedule(std::function<void()> task);
-
-  // return number of tasks completed
-  std::uint64_t GetCount() { return ctr_; }
-
-  // reset count to zero
-  void ResetCount() { ctr_ = 0; }
-
-  // wait for count, then return
-  void WaitCount(int value) {
-    std::unique_lock<std::mutex> lock(m_);
-    cv_ext_.wait(lock, [&]() { return this->GetCount() >= value; });
-  }
-
- private:
-  // ----- methods ----- //
-
-  // execute task with available thread
-  void WorkerThread(int i);
-
-  ABSL_CONST_INIT static thread_local int worker_id_;
-
-  // ----- members ----- //
-  std::vector<std::thread> threads_;
-  std::mutex m_;
-  std::condition_variable cv_in_;
-  std::condition_variable cv_ext_;
-  std::queue<std::function<void()>> queue_;
-  std::uint64_t ctr_;
-};
-
-}  // namespace mujoco::python
-
-#endif  // MUJOCO_PYTHON_THREADPOOL_H_
diff --git a/python/mujoco/usd/README.md b/python/mujoco/usd/README.md
deleted file mode 100644
index ae037841..00000000
--- a/python/mujoco/usd/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# USD 导出器模块
-
-详情请参阅[官方文档](https://mujoco.readthedocs.io/en/stable/python.html)。
diff --git a/python/mujoco/usd/camera.py b/python/mujoco/usd/camera.py
deleted file mode 100644
index a43cb3e2..00000000
--- a/python/mujoco/usd/camera.py
+++ /dev/null
@@ -1,55 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Camera handling for USD exporter."""
-
-import mujoco.usd.utils as utils_module
-
-import numpy as np
-
-# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
-# pytype: disable=module-attr
-from pxr import Gf
-from pxr import Usd
-from pxr import UsdGeom
-
-
-class USDCamera:
-  """Class that handles the cameras in the USD scene."""
-
-  def __init__(self, stage: Usd.Stage, obj_name: str):
-    self.stage = stage
-
-    xform_path = f"/World/Camera_Xform_{obj_name}"
-    camera_path = f"{xform_path}/Camera_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_camera = UsdGeom.Camera.Define(stage, camera_path)
-    self.usd_prim = stage.GetPrimAtPath(camera_path)
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-
-    self.usd_camera.CreateFocalLengthAttr().Set(12)
-    self.usd_camera.CreateFocusDistanceAttr().Set(400)
-
-    self.usd_camera.GetHorizontalApertureAttr().Set(12)
-
-    self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
-
-  def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
-    """Updates the position and orientation of the camera in the scene."""
-    transformation_mat = utils_module.create_transform_matrix(
-        rotation_matrix=cam_mat, translation_vector=cam_pos
-    ).T
-    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
deleted file mode 100644
index 94d669ba..00000000
--- a/python/mujoco/usd/demo.py
+++ /dev/null
@@ -1,96 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Demo script for USD exporter."""
-
-import argparse
-import pathlib
-
-import mujoco
-from mujoco.usd import exporter
-
-
-def generate_usd_trajectory(local_args):
-  """Generates a USD file given the user arguments."""
-  # load a model to mujoco
-  model_path = local_args.model_path
-  m = mujoco.MjModel.from_xml_path(model_path)
-  d = mujoco.MjData(m)
-
-  # create an instance of the USDExporter
-  exp = exporter.USDExporter(
-      model=m,
-      output_directory_name=pathlib.Path(local_args.model_path).stem,  # pyrefly: ignore[unexpected-keyword]
-      output_directory_root=local_args.output_directory_root,
-      camera_names=local_args.camera_names,
-  )
-
-  # step through the simulation for the given duration of time
-  while d.time < local_args.duration:
-    mujoco.mj_step(m, d)
-    if exp.frame_count < d.time * local_args.framerate:
-      exp.update_scene(data=d)
-
-  exp.add_light(pos=(0, 0, 0),  # pyrefly: ignore[bad-argument-type]
-                intensity=2000,
-                light_type='dome')
-
-  exp.save_scene(filetype=local_args.export_extension)
-
-
-if __name__ == '__main__':
-
-  parser = argparse.ArgumentParser()
-
-  parser.add_argument(
-      '--model_path', type=str, required=True, help='path to mjcf xml model'
-  )
-
-  parser.add_argument(
-      '--duration',
-      type=int,
-      default=5,
-      help='duration in seconds for the generated video',
-  )
-
-  parser.add_argument(
-      '--framerate',
-      type=int,
-      default=60,
-      help='frame rate of the generated video',
-  )
-
-  parser.add_argument(
-      '--output_directory_root',
-      type=str,
-      default='../usd_trajectories/',
-      help='location where to create usd files',
-  )
-
-  parser.add_argument(
-      '--camera_names',
-      type=str,
-      nargs='+',
-      help='cameras to include in usd'
-  )
-
-  parser.add_argument(
-      '--export_extension',
-      type=str,
-      default='usd',
-      help='extension of exported file (usd, usda, usdc)',
-  )
-
-  args = parser.parse_args()
-  generate_usd_trajectory(args)
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
deleted file mode 100644
index b8af04ad..00000000
--- a/python/mujoco/usd/exporter.py
+++ /dev/null
@@ -1,529 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""USD exporter."""
-
-import os
-from typing import List, Optional, Union
-
-import mujoco
-import mujoco.usd.camera as camera_module
-import mujoco.usd.lights as light_module
-import mujoco.usd.objects as object_module
-import mujoco.usd.shapes as shapes_module
-import numpy as np
-from PIL import Image as im
-from PIL import ImageOps
-
-# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
-# pytype: disable=module-attr
-from pxr import Sdf
-from pxr import Usd
-from pxr import UsdGeom
-
-
-class USDExporter:
-  """MuJoCo to USD exporter for porting scenes to external renderers."""
-
-  def __init__(
-      self,
-      model: mujoco.MjModel,
-      height: int = 480,
-      width: int = 480,
-      max_geom: int = 10000,
-      output_directory: str = "mujoco_usdpkg",
-      output_directory_root: str = "./",
-      light_intensity: int = 10000,
-      camera_names: Optional[List[str]] = None,
-      specialized_materials_file: Optional[str] = None,
-      verbose: bool = True,
-  ):
-    """Initializes a new USD Exporter.
-
-    Args:
-        model: an MjModel instance.
-        height: image height in pixels.
-        width: image width in pixels.
-        max_geom: optional integer specifying the maximum number of geoms that
-          can be rendered in the same scene. If None this will be chosen
-          automatically based on the estimated maximum number of renderable
-          geoms in the model.
-        output_directory: name of root directory to store outputted frames
-          and assets generated by the USD renderer.
-        output_directory_root: path to root directory storing generated frames
-          and assets by the USD renderer.
-        light_intensity: intensity of the light in the scene.
-        camera_names: list of camera names to be used in the scene.
-        specialized_materials_file: path to a file containing a list of
-          materials to be used in the scene.
-        verbose: decides whether to print updates.
-    """
-
-    buffer_width = model.vis.global_.offwidth
-    buffer_height = model.vis.global_.offheight
-
-    if width > buffer_width:
-      raise ValueError(f"""
-                Image width {width} > framebuffer width {buffer_width}. Either reduce the image
-                width or specify a larger offscreen framebuffer in the model XML using the
-                clause:
-                <visual>
-                <global offwidth="my_width"/>
-                </visual>""".lstrip())
-
-    if height > buffer_height:
-      raise ValueError(f"""
-                Image height {height} > framebuffer height {buffer_height}. Either reduce the
-                image height or specify a larger offscreen framebuffer in the model XML using
-                the clause:
-                <visual>
-                <global offheight="my_height"/>
-                </visual>""".lstrip())
-
-    self.model = model
-    self.height = height
-    self.width = width
-    self.max_geom = max_geom
-    self.output_directory = output_directory
-    self.output_directory_root = output_directory_root
-    self.light_intensity = light_intensity
-    self.camera_names = camera_names
-    self.specialized_materials_file = specialized_materials_file
-    self.verbose = verbose
-
-    self.frame_count = 0  # maintains how many times we have saved the scene
-    self.updates = 0
-
-    self.geom_names = set()
-    self.geom_refs = {}
-
-    # initializing list of lights and cameras
-    self.usd_lights = []
-    self.usd_cameras = []
-
-    # initializing rendering requirements
-    self._scene = mujoco.MjvScene(model=model, maxgeom=max_geom)
-    self._initialize_usd_stage()
-    self._scene_option = mujoco.MjvOption()  # using default scene option
-
-    # initializing output_directories
-    self._initialize_output_directories()
-
-    # loading required textures for the scene
-    self._load_textures()
-
-  @property
-  def usd(self):
-    """Returns the USD file as a string."""
-    return self.stage.GetRootLayer().ExportToString()
-
-  @property
-  def scene(self):
-    """Returns the scene."""
-    return self._scene
-
-  def _initialize_usd_stage(self):
-    """Initializes a USD stage to represent the mujoco scene."""
-    self.stage = Usd.Stage.CreateInMemory()
-    UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
-    self.stage.SetStartTimeCode(0)
-    # add as user input
-    self.stage.SetTimeCodesPerSecond(60.0)
-
-    default_prim = UsdGeom.Xform.Define(
-        self.stage, Sdf.Path("/World")
-    ).GetPrim()
-    self.stage.SetDefaultPrim(default_prim)
-
-  def _initialize_output_directories(self):
-    """Initializes output directories to store frames and assets."""
-    self.output_directory_path = os.path.join(
-        self.output_directory_root, self.output_directory
-    )
-    if not os.path.exists(self.output_directory_path):
-      os.makedirs(self.output_directory_path)
-
-    self.frames_directory = os.path.join(self.output_directory_path, "frames")
-    if not os.path.exists(self.frames_directory):
-      os.makedirs(self.frames_directory)
-
-    self.assets_directory = os.path.join(self.output_directory_path, "assets")
-    if not os.path.exists(self.assets_directory):
-      os.makedirs(self.assets_directory)
-
-    if self.verbose:
-      print(f"Writing output frames and assets to {self.output_directory_path}")
-
-  def _update_scene(
-      self,
-      data: mujoco.MjData,
-      camera: Union[int, str] = -1,
-      scene_option: Optional[mujoco.MjvOption] = None,
-  ):
-    """Updates the scene."""
-    camera_id = camera
-    if isinstance(camera_id, str):
-      camera_id = mujoco.mj_name2id(
-          self.model, mujoco.mjtObj.mjOBJ_CAMERA.value, camera_id
-      )
-      if camera_id == -1:
-        raise ValueError(f"The camera '{camera}' does not exist.")
-    if camera_id < -1 or camera_id >= self.model.ncam:
-      raise ValueError(
-          f"The camera id {camera_id} is out of range [-1, {self.model.ncam})."
-      )
-
-    # Render camera.
-    camera = mujoco.MjvCamera()
-    camera.fixedcamid = camera_id
-
-    # Defaults to mjCAMERA_FREE, otherwise mjCAMERA_FIXED refers to a
-    # camera explicitly defined in the model.
-    if camera_id == -1:
-      camera.type = mujoco.mjtCamera.mjCAMERA_FREE
-      mujoco.mjv_defaultFreeCamera(self.model, camera)
-    else:
-      camera.type = mujoco.mjtCamera.mjCAMERA_FIXED
-
-    scene_option = scene_option or self._scene_option
-    mujoco.mjv_updateScene(
-        self.model,
-        data,
-        scene_option,
-        None,
-        camera,
-        mujoco.mjtCatBit.mjCAT_ALL.value,
-        self._scene,
-    )
-
-  def update_scene(
-      self,
-      data: mujoco.MjData,
-      scene_option: Optional[mujoco.MjvOption] = None,
-  ):
-    """Updates the scene with latest sim data.
-
-    Args:
-        data: structure storing current simulation state
-        scene_option: we use this to determine which geom groups to activate
-    """
-
-    self.frame_count += 1
-
-    scene_option = scene_option or self._scene_option
-
-    # update the mujoco renderer
-    self._update_scene(data, scene_option=scene_option)
-
-    if self.updates == 0:
-      self._initialize_usd_stage()
-      self._load_lights()
-      self._load_cameras()
-
-    self._update_geoms()
-    self._update_lights()
-    self._update_cameras(data, scene_option=scene_option)
-
-    self.updates += 1
-
-  def _load_textures(self):
-    """Load textures."""
-    data_adr = 0
-    self.texture_files = []
-    for texture_id in range(self.model.ntex):
-      texture_height = self.model.tex_height[texture_id]
-      texture_width = self.model.tex_width[texture_id]
-      texture_nchannel = self.model.tex_nchannel[texture_id]
-      pixels = texture_nchannel * texture_height * texture_width
-      img = im.fromarray(
-          self.model.tex_data[data_adr : data_adr + pixels].reshape(
-              texture_height, texture_width, 3
-          )
-      )
-      img = ImageOps.flip(img)
-
-      texture_file_name = f"texture_{texture_id}.png"
-
-      img.save(os.path.join(self.assets_directory, texture_file_name))
-
-      relative_path = os.path.relpath(
-          self.assets_directory, self.frames_directory
-      )
-      img_path = os.path.join(
-          relative_path, texture_file_name
-      )
-
-      self.texture_files.append(img_path)
-
-      data_adr += pixels
-
-    if self.verbose:
-      print(
-          f"Completed writing {self.model.ntex} textures to"
-          f" {self.assets_directory}",
-      )
-
-  def _load_geom(self, geom: mujoco.MjvGeom):
-    """Loads a geom into the USD scene."""
-    geom_name = self._get_geom_name(geom)
-
-    assert geom_name not in self.geom_names
-
-    if geom.matid == -1:
-      geom_textures = []
-    else:
-      geom_textures = [
-          (self.texture_files[i], self.model.tex_type[i]) if i != -1 else None
-          for i in self.model.mat_texid[geom.matid]
-      ]
-
-    # handling meshes in our scene
-    if geom.type == mujoco.mjtGeom.mjGEOM_MESH:
-      usd_geom = object_module.USDMesh(
-          stage=self.stage,
-          model=self.model,
-          geom=geom,
-          obj_name=geom_name,
-          dataid=self.model.geom_dataid[geom.objid],
-          rgba=geom.rgba,
-          geom_textures=geom_textures,
-      )
-    else:
-      # handling tendons in our scene
-      if geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
-        mesh_config = shapes_module.mesh_config_generator(
-            name=geom_name,
-            geom_type=geom.type,
-            size=np.array([1.0, 1.0, 1.0]),
-            decouple=True
-        )
-        usd_geom = object_module.USDTendon(
-            mesh_config=mesh_config,
-            stage=self.stage,
-            model=self.model,
-            geom=geom,
-            obj_name=geom_name,
-            rgba=geom.rgba,
-            geom_textures=geom_textures,
-        )
-      # handling primitives in our scene
-      else:
-        mesh_config = shapes_module.mesh_config_generator(
-            name=geom_name,
-            geom_type=geom.type,
-            size=geom.size
-        )
-        usd_geom = object_module.USDPrimitiveMesh(
-            mesh_config=mesh_config,
-            stage=self.stage,
-            model=self.model,
-            geom=geom,
-            obj_name=geom_name,
-            rgba=geom.rgba,
-            geom_textures=geom_textures,
-        )
-
-    self.geom_names.add(geom_name)
-    self.geom_refs[geom_name] = usd_geom
-
-  def _update_geoms(self):
-    """Iterate through all geoms in the scene and makes update."""
-    for i in range(self.scene.ngeom):
-      geom = self.scene.geoms[i]
-      geom_name = self._get_geom_name(geom)
-
-      if geom_name not in self.geom_names:
-        # load a new object into USD
-        self._load_geom(geom)
-
-      if geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
-        tendon_scale = geom.size
-        self.geom_refs[geom_name].update(
-            pos=geom.pos,
-            mat=geom.mat,
-            scale=tendon_scale,
-            visible=geom.rgba[3] > 0,
-            frame=self.updates,
-        )
-      else:
-        self.geom_refs[geom_name].update(
-            pos=geom.pos,
-            mat=geom.mat,
-            visible=geom.rgba[3] > 0,
-            frame=self.updates,
-        )
-
-  def _load_lights(self):
-    # initializes an usd light object for every light in the scene
-    for i in range(self.scene.nlight):
-      light = self.scene.lights[i]
-      if not np.allclose(light.pos, [0, 0, 0]):
-        self.usd_lights.append(
-            light_module.USDSphereLight(stage=self.stage, obj_name=str(i))
-        )
-      else:
-        self.usd_lights.append(None)
-
-  def _update_lights(self):
-    for i in range(self.scene.nlight):
-      light = self.scene.lights[i]
-
-      if np.allclose(light.pos, [0, 0, 0]):
-        continue
-
-      if i >= len(self.usd_lights) or self.usd_lights[i] is None:
-        continue
-
-      self.usd_lights[i].update(
-          pos=light.pos,
-          intensity=self.light_intensity,
-          color=light.diffuse,
-          frame=self.updates,
-      )
-
-  def _load_cameras(self):
-    if self.camera_names is not None:
-      for name in self.camera_names:
-        self.usd_cameras.append(
-            camera_module.USDCamera(stage=self.stage, obj_name=name))
-
-  def _update_cameras(
-      self,
-      data: mujoco.MjData,
-      scene_option: Optional[mujoco.MjvOption] = None,
-  ):
-    """Updates cameras.
-
-    Args:
-      data: An MjData instance.
-      scene_option: An optional MjvOption instance.
-    """
-    for i in range(len(self.usd_cameras)):
-      camera = self.usd_cameras[i]
-      camera_name = self.camera_names[i]
-
-      self._update_scene(
-          data,
-          camera=camera_name,
-          scene_option=scene_option,
-      )
-
-      avg_camera = mujoco.mjv_averageCamera(
-          self.scene.camera[0], self.scene.camera[1])
-
-      forward = avg_camera.forward
-      up = avg_camera.up
-      right = np.cross(forward, up)
-
-      rotation = np.eye(3)
-      rotation[:, 0] = right
-      rotation[:, 1] = up
-      rotation[:, 2] = -forward
-
-      camera.update(
-          cam_pos=avg_camera.pos, cam_mat=rotation, frame=self.updates
-      )
-
-  def add_light(
-      self,
-      pos: List[float],
-      intensity: int,
-      radius: Optional[float] = 1.0,
-      color: Optional[np.ndarray] = np.array([0.3, 0.3, 0.3]),
-      obj_name: Optional[str] = "light_1",
-      light_type: Optional[str] = "sphere",
-  ):
-    """Adds a user defined, fixed light.
-
-    Args:
-        pos: position of the light in 3D space.
-        intensity: intensity of the light.
-        radius: radius of the light to be used by renderer.
-        color: color of the light.
-        obj_name: name associated with the light.
-        light_type: type of light (sphere or dome).
-    """
-    if light_type == "sphere":
-      new_light = light_module.USDSphereLight(
-          stage=self.stage, obj_name=obj_name, radius=radius
-      )
-
-      new_light.update(
-          pos=np.array(pos), intensity=intensity, color=color, frame=0
-      )
-    elif light_type == "dome":
-      new_light = light_module.USDDomeLight(stage=self.stage, obj_name=obj_name)
-      new_light.update(intensity=intensity, color=color)
-
-  def add_camera(
-      self,
-      pos: List[float],
-      rotation_xyz: List[float],
-      obj_name: Optional[str] = "camera_1",
-  ):
-    """Adds a user defined, fixed camera.
-
-    Args:
-        pos: position of the camera in 3D space.
-        rotation_xyz: euler rotation of the camera.
-        obj_name: name associated with the camera.
-    """
-    new_camera = camera_module.USDCamera(
-        stage=self.stage, obj_name=obj_name)
-
-    rotation = np.zeros(9)
-    quat = np.zeros(4)
-    mujoco.mju_euler2Quat(quat, rotation_xyz, "xyz")
-    mujoco.mju_quat2Mat(rotation, quat)
-    new_camera.update(cam_pos=np.array(pos), cam_mat=rotation, frame=0)
-
-  def save_scene(self, filetype: str = "usd"):
-    """Saves the scene to a USD file."""
-    assert filetype in ["usd", "usda", "usdc"]
-    self.stage.SetEndTimeCode(self.frame_count)
-
-    # post-processing for visibility of geoms in scene
-    for _, geom_ref in self.geom_refs.items():
-      geom_ref.update_visibility(False, geom_ref.last_visible_frame+1)
-
-    self.stage.Export(
-        f"{self.output_directory_root}/{self.output_directory}/" +
-        f"frames/frame_{self.frame_count}.{filetype}"
-    )
-    if self.verbose:
-      print(f"Completed writing frame_{self.frame_count}.{filetype}")
-
-  def _get_geom_name(self, geom):
-    """Adding id as part of name for USD file."""
-    geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
-    if not geom_name:
-      geom_name = "None"
-    geom_name += f"_id{geom.objid}"
-
-    # adding additional naming information to differentiate
-    # between geoms and tendons
-    if geom.objtype == mujoco.mjtObj.mjOBJ_GEOM:
-      geom_name += "_geom"
-    elif geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
-      geom_name += f"_tendon_segid{geom.segid}"
-
-    return geom_name
-
-  # for debugging purposes, prints all geoms in scene
-  # including those part of tendons
-  def _print_scene_geom_info(self):
-    for i in range(self.scene.ngeom):
-      geom = self.scene.geoms[i]
-      geom_name = self._get_geom_name(geom)
-      print(i, geom_name)
diff --git a/python/mujoco/usd/exporter_test.py b/python/mujoco/usd/exporter_test.py
deleted file mode 100644
index f1f895e3..00000000
--- a/python/mujoco/usd/exporter_test.py
+++ /dev/null
@@ -1,74 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for the MuJoCo USD Exporter."""
-
-import os
-import tempfile
-
-from absl.testing import absltest
-from etils import epath
-import mujoco
-
-try:
-  from mujoco.usd import exporter as exporter_module  # pylint: disable=g-import-not-at-top
-except ModuleNotFoundError:
-  exporter_module = None
-
-
-class ExporterTest(absltest.TestCase):
-
-  @absltest.skipIf(exporter_module is None, "USD library is not available.")
-  def test_usd_export(self):
-
-    output_dir_root = os.getenv(
-        "TEST_UNDECLARED_OUTPUTS_DIR", tempfile.gettempdir()
-    )
-    output_dir_name = "usd_test"
-    xml = """
-<mujoco>
-  <worldbody>
-    <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
-    <geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
-  </worldbody>
-</mujoco>
-"""
-    model = mujoco.MjModel.from_xml_string(xml)
-    data = mujoco.MjData(model)
-    exporter = exporter_module.USDExporter(
-        model,
-        output_directory=output_dir_name,
-        output_directory_root=output_dir_root,
-        camera_names=["closeup"],
-    )
-    mujoco.mj_step(model, data)
-    exporter.update_scene(data)
-    exporter.save_scene("usda")
-
-    with open(
-        os.path.join(
-            output_dir_root, f"{output_dir_name}/frames", "frame_1.usda"
-        ),
-        "r",
-        encoding="utf-8",
-    ) as f:
-      golden_path = os.path.join(
-          epath.resource_path("mujoco"), "testdata", "usd_golden.usda"
-      )
-      with open(golden_path, "r", encoding="utf-8") as golden_file:
-        self.assertEqual(f.readlines(), golden_file.readlines())
-
-
-if __name__ == "__main__":
-  absltest.main()
diff --git a/python/mujoco/usd/lights.py b/python/mujoco/usd/lights.py
deleted file mode 100644
index 247d6c0e..00000000
--- a/python/mujoco/usd/lights.py
+++ /dev/null
@@ -1,83 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Light handling for USD exporter."""
-
-from typing import Optional
-
-import numpy as np
-
-# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
-# pytype: disable=module-attr
-from pxr import Gf
-from pxr import Usd
-from pxr import UsdGeom
-from pxr import UsdLux
-
-
-class USDSphereLight:
-  """Class that handles the sphere lights in the USD scene."""
-
-  def __init__(
-      self, stage: Usd.Stage, obj_name: str, radius: Optional[float] = 0.3
-  ):
-    self.stage = stage
-
-    xform_path = f"/World/Light_Xform_{obj_name}"
-    light_path = f"{xform_path}/Light_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_light = UsdLux.SphereLight.Define(stage, light_path)
-    self.usd_prim = stage.GetPrimAtPath(light_path)
-
-    # we assume in mujoco that all lights are point lights
-    self.usd_light.GetRadiusAttr().Set(radius)
-    self.usd_light.GetTreatAsPointAttr().Set(False)
-    self.usd_light.GetNormalizeAttr().Set(True)
-
-    # defining ops required by update function
-    self.translate_op = self.usd_xform.AddTranslateOp()
-
-  def update(
-      self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int
-  ):
-    """Updates the attributes of a sphere light."""
-    self.translate_op.Set(Gf.Vec3d(pos.tolist()), frame)
-
-    if not np.any(pos):
-      intensity = 0
-
-    self.usd_light.GetIntensityAttr().Set(intensity)
-    self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
-
-
-class USDDomeLight:
-  """Class that handles the dome lights in the USD scene."""
-
-  def __init__(self, stage: Usd.Stage, obj_name: str):
-    self.stage = stage
-
-    xform_path = f"/World/Light_Xform_{obj_name}"
-    light_path = f"{xform_path}/Light_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_light = UsdLux.DomeLight.Define(stage, light_path)
-    self.usd_prim = stage.GetPrimAtPath(light_path)
-
-    # we assume in mujoco that all lights are point lights
-    self.usd_light.GetNormalizeAttr().Set(True)
-
-  def update(self, intensity: int, color: np.ndarray):
-    """Updates the attributes of a dome light."""
-    self.usd_light.GetIntensityAttr().Set(intensity)
-    self.usd_light.GetExposureAttr().Set(0.0)
-    self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
diff --git a/python/mujoco/usd/objects.py b/python/mujoco/usd/objects.py
deleted file mode 100644
index 208ec206..00000000
--- a/python/mujoco/usd/objects.py
+++ /dev/null
@@ -1,552 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Objects module for USD exporter."""
-
-import abc
-import collections
-from typing import Any, Dict, Optional, Sequence, Tuple
-
-import mujoco
-import mujoco.usd.shapes as shapes_module
-import mujoco.usd.utils as utils_module
-import numpy as np
-
-
-# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
-# pytype: disable=module-attr
-from pxr import Gf
-from pxr import Sdf
-from pxr import Usd
-from pxr import UsdGeom
-from pxr import UsdShade
-from pxr import Vt
-
-
-class USDObject(abc.ABC):
-  """Abstract interface for all USD objects including meshes and primitives.
-
-  Subclasses must implement:
-
-  * `_get_uv_geometry(self)`: gets the nessecary UV information to
-     wrap a texture around an object in USD. Each subclass implements
-     their own method to getting UV information as different objects
-     are contructed in different ways.
-
-  * `_get_mesh_geometry(self)`: gets the mesh geometry of an object
-     in the scene.
-  """
-
-  def __init__(
-      self,
-      stage: Usd.Stage,
-      model: mujoco.MjModel,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      geom_textures: Sequence[Optional[Tuple[str, mujoco.mjtTexture]]] = ()
-  ):
-    self.stage = stage
-    self.model = model
-    self.geom = geom
-    self.obj_name = obj_name
-    self.rgba = rgba
-    self.geom_textures = geom_textures
-
-    self.xform_path = f"/World/Mesh_Xform_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, self.xform_path)
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-    self.scale_op = self.usd_xform.AddScaleOp()
-
-    self.last_visible_frame = -2
-
-  @abc.abstractmethod
-  def _get_uv_geometry(self):
-    """Gets UV information for an object in the scene."""
-    raise NotImplementedError
-
-  @abc.abstractmethod
-  def _get_mesh_geometry(self):
-    """Gets structure of an object in the scene."""
-    raise NotImplementedError
-
-  def attach_image_material(self, usd_mesh):
-    """Attaches an image texture to a material for a USD object."""
-    mtl_path = Sdf.Path(f"/World/_materials/Material_{self.obj_name}")
-    mtl = UsdShade.Material.Define(self.stage, mtl_path)
-
-    bsdf_shader = UsdShade.Shader.Define(
-        self.stage, mtl_path.AppendPath("Principled_BSDF")
-    )
-    image_shader = UsdShade.Shader.Define(
-        self.stage, mtl_path.AppendPath("Image_Texture")
-    )
-    uvmap_shader = UsdShade.Shader.Define(
-        self.stage, mtl_path.AppendPath("uvmap")
-    )
-
-    # setting the bsdf shader attributes
-    bsdf_shader.CreateIdAttr("UsdPreviewSurface")
-    bsdf_shader.CreateInput(
-        "diffuseColor", Sdf.ValueTypeNames.Color3f
-    ).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
-    bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
-        float(self.rgba[-1])
-    )
-    bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
-        self.geom.shininess
-    )
-    bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
-        1.0 - self.geom.shininess
-    )
-
-    mtl.CreateSurfaceOutput().ConnectToSource(
-        bsdf_shader.ConnectableAPI(), "surface"
-    )
-
-    # setting the image texture attributes
-    image_shader.CreateIdAttr("UsdUVTexture")
-    image_shader.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(
-        self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB.value][0]
-    )
-    image_shader.CreateInput("sourceColorSpace", Sdf.ValueTypeNames.Token).Set(
-        "sRGB"
-    )
-    image_shader.CreateInput("wrapS", Sdf.ValueTypeNames.Token).Set("repeat")
-    image_shader.CreateInput("wrapT", Sdf.ValueTypeNames.Token).Set("repeat")
-    image_shader.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(
-        uvmap_shader.ConnectableAPI(), "result"
-    )
-    image_shader.CreateOutput("rgb", Sdf.ValueTypeNames.Float3)
-
-    # setting uvmap shader attributes
-    uvmap_shader.CreateIdAttr("UsdPrimvarReader_float2")
-    uvmap_shader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("UVMap")
-    uvmap_shader.CreateOutput("results", Sdf.ValueTypeNames.Float2)
-
-    mtl.CreateSurfaceOutput().ConnectToSource(
-        bsdf_shader.ConnectableAPI(), "surface"
-    )
-
-    usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
-    UsdShade.MaterialBindingAPI(usd_mesh).Bind(mtl)
-
-  def attach_solid_material(self, usd_mesh):
-    """Attaches an solid texture to a material for a USD object."""
-    mtl_path = Sdf.Path(f"/World/_materials/Material_{self.obj_name}")
-    mtl = UsdShade.Material.Define(self.stage, mtl_path)
-
-    bsdf_shader = UsdShade.Shader.Define(
-        self.stage, mtl_path.AppendPath("Principled_BSDF")
-    )
-
-    # settings the bsdf shader attributes
-    bsdf_shader.CreateIdAttr("UsdPreviewSurface")
-
-    bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set(
-        tuple(self.rgba[0:3])
-    )
-    bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
-        float(self.rgba[-1])
-    )
-    bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
-        self.geom.shininess
-    )
-    bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
-        1.0 - self.geom.shininess
-    )
-
-    mtl.CreateSurfaceOutput().ConnectToSource(
-        bsdf_shader.ConnectableAPI(), "surface"
-    )
-
-    usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
-    UsdShade.MaterialBindingAPI(usd_mesh).Bind(mtl)
-
-  def _set_refinement_properties(self, usd_prim, scheme="none"):
-    usd_prim.GetAttribute("subdivisionScheme").Set(scheme)
-
-  def update(
-      self,
-      pos: np.ndarray,
-      mat: np.ndarray,
-      visible: bool,
-      frame: int,
-      scale: Optional[np.ndarray] = None,
-  ):
-    """Updates the position and orientation of an object."""
-    transformation_mat = utils_module.create_transform_matrix(
-        rotation_matrix=mat, translation_vector=pos
-    ).T
-    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
-
-    if visible and frame - self.last_visible_frame > 1:
-      # non consecutive visible frames
-      self.update_visibility(False, max(0, self.last_visible_frame))
-      self.update_visibility(True, frame)
-
-    if visible:
-      self.last_visible_frame = frame
-
-    if scale is not None:
-      self.update_scale(scale, frame)
-
-  def update_visibility(self, visible: bool, frame: int):
-    """Updates the visibility of an object in a scene for a given frame."""
-    visibility_setting = "inherited" if visible else "invisible"
-    self.usd_xform.GetVisibilityAttr().Set(visibility_setting, frame)
-
-  def update_scale(self, scale: np.ndarray, frame: int):
-    """Updates the scale of an object in the scene for a given frame."""
-    self.scale_op.Set(Gf.Vec3f(scale.tolist()), frame)
-
-
-class USDMesh(USDObject):
-  """Class that handles predefined meshes in the USD scene."""
-
-  def __init__(
-      self,
-      stage: Usd.Stage,
-      model: mujoco.MjModel,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      dataid: int,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      geom_textures: Sequence[Optional[Tuple[str, mujoco.mjtTexture]]] = ()
-  ):
-    super().__init__(stage, model, geom, obj_name, rgba, geom_textures)
-
-    self.dataid = dataid
-
-    mesh_path = f"{self.xform_path}/Mesh_{obj_name}"
-    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
-    self.usd_prim = stage.GetPrimAtPath(mesh_path)
-
-    # setting mesh structure properties
-    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
-    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
-    self.usd_mesh.GetFaceVertexCountsAttr().Set(
-        [3 for _ in range(mesh_facenum)]
-    )
-    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
-
-    if (
-        geom.matid != -1
-        and self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB.value]
-    ):
-      # setting mesh uv properties
-      mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
-      self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
-          "UVMap",
-          Sdf.ValueTypeNames.TexCoord2fArray,
-          UsdGeom.Tokens.faceVarying,
-      )
-      self.texcoords.Set(mesh_texcoord)
-      self.texcoords.SetIndices(Vt.IntArray(mesh_facetexcoord.tolist()))
-      self.attach_image_material(self.usd_mesh)
-    else:
-      self.attach_solid_material(self.usd_mesh)
-
-  def _get_facetexcoord_ranges(self, nmesh, arr):
-    facetexcoords_ranges = [0]
-    running_sum = 0
-    for i in range(nmesh):
-      running_sum += arr[i] * 3
-      facetexcoords_ranges.append(running_sum)
-    return facetexcoords_ranges
-
-  def _get_uv_geometry(self):
-    mesh_texcoord_adr_from = self.model.mesh_texcoordadr[self.dataid]
-    mesh_texcoord_adr_to = (
-        self.model.mesh_texcoordadr[self.dataid + 1]
-        if self.dataid < self.model.nmesh - 1
-        else len(self.model.mesh_texcoord)
-    )
-    mesh_texcoord = self.model.mesh_texcoord[
-        mesh_texcoord_adr_from:mesh_texcoord_adr_to
-    ]
-
-    mesh_facetexcoord_ranges = self._get_facetexcoord_ranges(
-        self.model.nmesh, self.model.mesh_facenum
-    )
-
-    mesh_facetexcoord = self.model.mesh_facetexcoord.flatten()
-    mesh_facetexcoord = mesh_facetexcoord[
-        mesh_facetexcoord_ranges[self.dataid] : mesh_facetexcoord_ranges[
-            self.dataid + 1
-        ]
-    ]
-
-    mesh_facetexcoord[mesh_facetexcoord == len(mesh_texcoord)] = 0
-    return mesh_texcoord, mesh_facetexcoord
-
-  def _get_mesh_geometry(self):
-    mesh_vert_adr_from = self.model.mesh_vertadr[self.dataid]
-    mesh_vert_adr_to = (
-        self.model.mesh_vertadr[self.dataid + 1]
-        if self.dataid < self.model.nmesh - 1
-        else len(self.model.mesh_vert)
-    )
-    mesh_vert = self.model.mesh_vert[mesh_vert_adr_from:mesh_vert_adr_to]
-
-    mesh_face_adr_from = self.model.mesh_faceadr[self.dataid]
-    mesh_face_adr_to = (
-        self.model.mesh_faceadr[self.dataid + 1]
-        if self.dataid < self.model.nmesh - 1
-        else len(self.model.mesh_face)
-    )
-    mesh_face = self.model.mesh_face[mesh_face_adr_from:mesh_face_adr_to]
-    mesh_facenum = self.model.mesh_facenum[self.dataid]
-    return mesh_vert, mesh_face, mesh_facenum
-
-
-class USDPrimitiveMesh(USDObject):
-  """Class to handle primitive shapes in the USD scene."""
-
-  def __init__(
-      self,
-      mesh_config: Dict[Any, Any],
-      stage: Usd.Stage,
-      model: mujoco.MjModel,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      geom_textures: Sequence[Optional[Tuple[str, mujoco.mjtTexture]]] = ()
-  ):
-    super().__init__(stage, model, geom, obj_name, rgba, geom_textures)
-
-    self.mesh_config = mesh_config
-    self.prim_mesh = self.generate_primitive_mesh()
-
-    mesh_path = f"{self.xform_path}/Mesh_{obj_name}"
-    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
-    self.usd_prim = stage.GetPrimAtPath(mesh_path)
-
-    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
-    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
-    self.usd_mesh.GetFaceVertexCountsAttr().Set(
-        [3 for _ in range(mesh_facenum)]
-    )
-    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
-    self._set_refinement_properties(self.usd_prim)
-
-    if (
-        geom.matid != -1
-        and self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB.value]
-    ):
-      # setting mesh uv properties
-      mesh_texcoord, _ = self._get_uv_geometry()
-      self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
-          "UVMap",
-          Sdf.ValueTypeNames.TexCoord2fArray,
-          UsdGeom.Tokens.faceVarying,
-      )
-
-      self.texcoords.Set(mesh_texcoord)
-      self.texcoords.SetIndices(Vt.IntArray(list(range(mesh_facenum * 3))))
-
-      self.attach_image_material(self.usd_mesh)
-    else:
-      self.attach_solid_material(self.usd_mesh)
-
-  def generate_primitive_mesh(self):
-    """Generates the mesh for the primitive USD object."""
-    tex_role = mujoco.mjtTextureRole
-    geom_rgb_texture = (
-        self.geom_textures[tex_role.mjTEXROLE_RGB.value]
-        if self.geom_textures
-        else None
-    )
-    texture_type = geom_rgb_texture[1] if geom_rgb_texture else None
-    _, prim_mesh = shapes_module.mesh_factory(self.mesh_config, texture_type)
-    prim_mesh.translate(-prim_mesh.get_center())
-    return prim_mesh
-
-  def _get_uv_geometry(self):
-    assert self.prim_mesh and self.prim_mesh.triangle_uvs is not None
-
-    mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
-    mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
-    tex_role = mujoco.mjtTextureRole
-    geom_rgb_texture = self.geom_textures[tex_role.mjTEXROLE_RGB.value][1]
-
-    if geom_rgb_texture == mujoco.mjtTexture.mjTEXTURE_2D:
-      s_scale, t_scale = self.model.mat_texrepeat[self.geom.matid]
-
-      if self.model.mat_texuniform[self.geom.matid]:
-        if self.geom.size[0] > 0:
-          s_scale *= self.geom.size[0]
-        if self.geom.size[1] > 0:
-          t_scale *= self.geom.size[1]
-
-      s_size, t_size = self.geom.size[:2]
-      if self.geom.type == mujoco.mjtGeom.mjGEOM_PLANE:
-        s_size = s_size if s_size > 0 else 1
-        t_size = t_size if t_size > 0 else 1
-
-      if self.model.mat_texuniform[self.geom.matid]:
-        mesh_texcoord[:, 0] *= s_scale / (s_size * 2)
-        mesh_texcoord[:, 1] *= t_scale / (t_size * 2)
-
-    return mesh_texcoord, mesh_facetexcoord.flatten()
-
-  def _get_mesh_geometry(self):
-    assert self.prim_mesh
-
-    # get mesh geometry
-    mesh_vert = np.asarray(self.prim_mesh.vertices)
-    mesh_face = np.asarray(self.prim_mesh.triangles)
-
-    return mesh_vert, mesh_face, len(mesh_face)
-
-
-class USDTendon(USDObject):
-  """Class to handle tendons in the USD scene."""
-
-  def __init__(
-      self,
-      mesh_config: Dict[Any, Any],
-      stage: Usd.Stage,
-      model: mujoco.MjModel,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      geom_textures: Sequence[Optional[Tuple[str, mujoco.mjtTexture]]] = ()
-  ):
-    super().__init__(stage, model, geom, obj_name, rgba, geom_textures)
-
-    self.mesh_config = mesh_config
-    self.tendon_parts = self.generate_primitive_mesh()
-    self.usd_refs = collections.defaultdict(dict)
-
-    for name, _ in self.tendon_parts.items():
-      part_xform_path = f"{self.xform_path}/Mesh_Xform_{name}"
-      mesh_path = f"{part_xform_path}/Mesh_{obj_name}"
-      usd_xform = UsdGeom.Xform.Define(stage, part_xform_path)
-      self.usd_refs[name]["usd_xform"] = usd_xform
-      self.usd_refs[name]["usd_mesh"] = UsdGeom.Mesh.Define(stage, mesh_path)
-      self.usd_refs[name]["usd_prim"] = stage.GetPrimAtPath(mesh_path)
-      # adding ops for each of the part xforms
-      self.usd_refs[name]["translate_op"] = usd_xform.AddTranslateOp()
-      self.usd_refs[name]["scale_op"] = usd_xform.AddScaleOp()
-
-    # setting mesh geometry properties for each of the parts in the tendon
-    part_geometries = self._get_mesh_geometry()
-    part_geometry = None
-    for name, part_geometry in part_geometries.items():
-      self.usd_refs[name]["usd_mesh"].GetPointsAttr().Set(
-          part_geometry["mesh_vert"]
-      )
-      self.usd_refs[name]["usd_mesh"].GetFaceVertexCountsAttr().Set(
-          [3 for _ in range(part_geometry["mesh_facenum"])]
-      )
-      self.usd_refs[name]["usd_mesh"].GetFaceVertexIndicesAttr().Set(
-          part_geometry["mesh_face"]
-      )
-
-    tex_role = mujoco.mjtTextureRole
-    if geom.matid != -1 and self.geom_textures[tex_role.mjTEXROLE_RGB.value]:
-      # setting uv properties for each of the parts in the tendon
-      part_uv_geometries = self._get_uv_geometry()
-      for name, part_uv_geometry in part_uv_geometries.items():
-        self.texcoords = UsdGeom.PrimvarsAPI(
-            self.usd_refs[name]["usd_mesh"]
-        ).CreatePrimvar(
-            "UVMap",
-            Sdf.ValueTypeNames.TexCoord2fArray,
-            UsdGeom.Tokens.faceVarying,
-        )
-        self.texcoords.Set(part_uv_geometry["mesh_texcoord"])
-        self.texcoords.SetIndices(
-            Vt.IntArray(list(range(part_geometry["mesh_facenum"] * 3)))
-        )
-        for _, ref in self.usd_refs.items():
-          self._set_refinement_properties(ref["usd_prim"])
-          self.attach_image_material(ref["usd_mesh"])
-    else:
-      for _, ref in self.usd_refs.items():
-        self._set_refinement_properties(ref["usd_prim"])
-        self.attach_solid_material(ref["usd_mesh"])
-
-  def generate_primitive_mesh(self):
-    """Generates the tendon mesh using primitives."""
-    mesh_parts = {}
-    geom_rgb_texture = (
-        self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB.value]
-        if self.geom_textures
-        else None
-    )
-    texture_type = geom_rgb_texture[1] if geom_rgb_texture else None
-    for part_config in self.mesh_config:
-      mesh_name, prim_mesh = shapes_module.mesh_factory(
-          part_config, texture_type
-      )
-      prim_mesh.translate(-prim_mesh.get_center())
-      mesh_parts[mesh_name] = prim_mesh
-    return mesh_parts
-
-  def _get_uv_geometry(self):
-    part_uv_geometries = collections.defaultdict(dict)
-    for name, mesh in self.tendon_parts.items():
-      assert mesh.triangle_uvs is not None
-      mesh_texcoord = np.array(mesh.triangle_uvs)
-      mesh_facetexcoord = np.asarray(mesh.triangles)
-      part_uv_geometries[name] = {
-          "mesh_texcoord": mesh_texcoord,
-          "mesh_facetexcoord": mesh_facetexcoord,
-      }
-    return part_uv_geometries
-
-  def _get_mesh_geometry(self):
-    part_geometries = collections.defaultdict(dict)
-    for name, mesh in self.tendon_parts.items():
-      # get mesh geometry
-      mesh_vert = np.asarray(mesh.vertices)
-      mesh_face = np.asarray(mesh.triangles)
-      part_geometries[name] = {
-          "mesh_vert": mesh_vert,
-          "mesh_face": mesh_face,
-          "mesh_facenum": len(mesh_face),
-      }
-    return part_geometries
-
-  def update(
-      self,
-      pos: np.ndarray,
-      mat: np.ndarray,
-      visible: bool,
-      frame: int,
-      scale: Optional[np.ndarray] = None,
-  ):
-    """Updates the position and orientation of an object in the scene."""
-    super().update(pos, mat, visible, frame, scale)
-    for name in self.tendon_parts:
-      if "left" in name:
-        translate = [0, 0, -scale[2] - (scale[0] / 2)]
-        self.usd_refs[name]["translate_op"].Set(Gf.Vec3f(translate), frame)
-      elif "right" in name:
-        translate = [0, 0, scale[2] + (scale[0] / 2)]
-        self.usd_refs[name]["translate_op"].Set(Gf.Vec3f(translate), frame)
-
-  def update_scale(self, scale: np.ndarray, frame: int):
-    """Updates the scale of the tendon."""
-    for name in self.tendon_parts:
-      if "cylinder" in name:
-        self.usd_refs[name]["scale_op"].Set(Gf.Vec3f(scale.tolist()), frame)
-      else:
-        hemisphere_scale = scale.tolist()
-        hemisphere_scale[2] = hemisphere_scale[0]
-        self.usd_refs[name]["scale_op"].Set(Gf.Vec3f(hemisphere_scale), frame)
diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
deleted file mode 100644
index 21f5f757..00000000
--- a/python/mujoco/usd/shapes.py
+++ /dev/null
@@ -1,440 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Built-in shapes for USD exporter."""
-
-from typing import Any, Dict, Optional, Tuple, Union
-
-import mujoco
-import numpy as np
-
-
-def get_triangle_uvs(
-    vertices: np.ndarray,
-    triangles: np.ndarray,
-    texture_type: Optional[mujoco.mjtTexture]
-):
-  """Returns UV coordinates for a given mesh."""
-  if texture_type is None:
-    return None
-
-  triangle_uvs = []
-  if texture_type == mujoco.mjtTexture.mjTEXTURE_2D:
-    triangle_uvs = [
-        [vertices[i][0], vertices[i][1]] for i in np.nditer(triangles)
-    ]
-
-  elif texture_type == mujoco.mjtTexture.mjTEXTURE_CUBE:
-    center = np.mean(vertices, axis=0)
-    for vertex_id in np.nditer(triangles):
-      x, y, z = vertices[vertex_id] - center
-
-      abs_x, abs_y, abs_z = abs(x), abs(y), abs(z)
-      u = 0
-      v = 0
-
-      if x > 0 and abs_x >= abs_y and abs_x >= abs_z:
-        u = -z / abs_x
-        v = y / abs_x
-      elif x <= 0 and abs_x >= abs_y and abs_x >= abs_z:
-        u = z / abs_x
-        v = y / abs_x
-      elif y > 0 and abs_y >= abs_x and abs_y >= abs_z:
-        u = x / abs_y
-        v = -z / abs_y
-      elif y <= 0 and abs_y >= abs_x and abs_y >= abs_z:
-        u = x / abs_y
-        v = z / abs_y
-      elif z > 0 and abs_z >= abs_x and abs_z >= abs_y:
-        u = x / abs_z
-        v = y / abs_z
-      elif z <= 0 and abs_z >= abs_x and abs_z >= abs_y:
-        u = -x / abs_z
-        v = y / abs_z
-
-      u = (u + 1.0) / 2.0
-      v = (v + 1.0) / 2.0
-      v /= 6
-
-      assert 0 <= u and u <= 1 and 0 <= v and v <= 1
-
-      triangle_uvs.append([u, v])
-  elif texture_type == mujoco.mjtTexture.mjTEXTURE_SKYBOX:
-    # defaults to 2D mapping temporarily
-    triangle_uvs = [
-        [vertices[i][0], vertices[i][1]] for i in np.nditer(triangles)
-    ]
-
-  return np.array(triangle_uvs)
-
-
-class TriangleMesh:
-  """Store UV and geometry information for a primitive mesh.
-
-  Attributes:
-    vertices: A numpy array of vertices.
-    triangles: A numpy array of triangles.
-    triangle_uvs: A numpy array of UV coordinates.
-  """
-
-  def __init__(self,
-               vertices: np.ndarray,
-               triangles: np.ndarray,
-               triangle_uvs: np.ndarray):
-    """Creates a TriangleMesh object.
-
-    Args:
-      vertices: A numpy array of vertices.
-      triangles: A numpy array of triangles.
-      triangle_uvs: A numpy array of UV coordinates.
-    """
-    self.vertices = vertices
-    self.triangles = triangles
-    self.triangle_uvs = triangle_uvs
-
-  @classmethod
-  def create_box(
-      cls,
-      width: float,
-      height: float,
-      depth: float,
-      texture_type: Optional[mujoco.mjtTexture]
-  ) -> "TriangleMesh":
-    """Creates a box."""
-    vertices = np.array([[0.0, 0.0, 0.0],
-                         [width, 0.0, 0.0],
-                         [0.0, 0.0, depth],
-                         [width, 0.0, depth],
-                         [0.0, height, 0.0],
-                         [width, height, 0.0],
-                         [0.0, height, depth],
-                         [width, height, depth]])
-
-    triangles = np.array([[4, 7, 5],
-                          [4, 6, 7],
-                          [0, 2, 4],
-                          [2, 6, 4],
-                          [0, 1, 2],
-                          [1, 3, 2],
-                          [1, 5, 7],
-                          [1, 7, 3],
-                          [2, 3, 7],
-                          [2, 7, 6],
-                          [0, 4, 1],
-                          [1, 4, 5]])
-
-    triangle_uvs = get_triangle_uvs(vertices, triangles, texture_type)
-
-    return TriangleMesh(vertices, triangles, triangle_uvs)
-
-  @classmethod
-  def create_sphere(
-      cls,
-      radius: float,
-      texture_type: Optional[mujoco.mjtTexture],
-      resolution: int
-  ) -> "TriangleMesh":
-    """Creates a sphere."""
-    vertices = []
-    triangles = []
-    for i in range(2*resolution + 1):
-      phi = np.pi * i / (2*resolution)
-      for j in range(resolution + 1):
-        theta = 2 * np.pi * j / resolution
-        x = radius * np.sin(phi) * np.cos(theta)
-        y = radius * np.sin(phi) * np.sin(theta)
-        z = radius * np.cos(phi)
-        vertices.append([x, y, z])
-
-    for i in range(2*resolution):
-      for j in range(resolution):
-        first = i * (resolution + 1) + j
-        second = first + resolution + 1
-
-        triangles.append([first, second, first + 1])
-        triangles.append([second, second + 1, first + 1])
-
-    vertices = np.array(vertices)
-    triangles = np.array(triangles)
-
-    triangle_uvs = get_triangle_uvs(vertices, triangles, texture_type)
-
-    return TriangleMesh(vertices, triangles, triangle_uvs)
-
-  @classmethod
-  def create_hemisphere(
-      cls,
-      radius: float,
-      texture_type: Optional[mujoco.mjtTexture],
-      resolution: int,
-  ) -> "TriangleMesh":
-    """Creates a hemisphere."""
-    vertices = []
-    triangles = []
-    for i in range(resolution + 1):
-      phi = np.pi / 2 * i / (resolution)
-      for j in range(resolution + 1):
-        theta = 2 * np.pi * j / resolution
-        x = radius * np.sin(phi) * np.cos(theta)
-        y = radius * np.sin(phi) * np.sin(theta)
-        z = radius * np.cos(phi)
-        vertices.append([x, y, z])
-    vertices.append([0, 0, 0])
-
-    for i in range(resolution):
-      for j in range(resolution):
-        first = i * (resolution + 1) + j
-        second = first + resolution + 1
-
-        triangles.append([first, second, first + 1])
-        triangles.append([second, second + 1, first + 1])
-
-    for i in range(resolution):
-      first = resolution * (resolution + 1) + i
-      triangles.append([first, first + 1, len(vertices) - 1])
-
-    vertices = np.array(vertices)
-    triangles = np.array(triangles)
-
-    triangle_uvs = get_triangle_uvs(vertices, triangles, texture_type)
-
-    return TriangleMesh(vertices, triangles, triangle_uvs)
-
-  @classmethod
-  def create_cylinder(
-      cls,
-      radius: float,
-      height: float,
-      texture_type: Optional[mujoco.mjtTexture],
-      resolution: int
-  ) -> "TriangleMesh":
-    """Creates a cylinder."""
-    vertices = []
-    triangles = []
-
-    # adding all the vertices for the cylinder including
-    # two center vertices at ends
-    for i in range(2):
-      z = 0 if i == 0 else height
-      for j in range(resolution + 1):
-        theta = 2 * np.pi * j / resolution
-        x = radius * np.cos(theta)
-        y = radius * np.sin(theta)
-        vertices.append([x, y, z])
-    vertices.append([0, 0, 0])
-    vertices.append([0, 0, height])
-
-    # constructing the end faces for the cylinder
-    for i in range(2):
-      for j in range(resolution):
-        first = (resolution + 1) * i + j
-        triangles.append([first, first + 1, len(vertices) - (2 - i)])
-
-    # constructing side of cylinder
-    for i in range(resolution):
-      second = resolution + 1 + i
-      triangles.append([i, second, second + 1])
-      triangles.append([i, i + 1, second + 1])
-
-    vertices = np.array(vertices)
-    triangles = np.array(triangles)
-
-    triangle_uvs = get_triangle_uvs(vertices, triangles, texture_type)
-
-    return TriangleMesh(vertices, triangles, triangle_uvs)
-
-  def translate(self, translation: np.ndarray) -> None:
-    self.vertices = self.vertices + translation
-
-  def rotate(self, rotation: np.ndarray, center: Tuple[float, ...]) -> None:
-    translated_point = self.vertices - center
-    self.vertices = np.dot(translated_point, rotation) + center
-
-  def scale(self, scale: np.ndarray) -> None:
-    self.vertices = self.vertices * scale
-
-  def get_center(self):
-    center = np.mean(self.vertices, axis=0)
-    return center
-
-  def __add__(self, other):
-    if isinstance(other, TriangleMesh):
-      new_vertices = np.vstack((self.vertices, other.vertices))
-      other_triangles = other.triangles + len(self.vertices)
-      new_triangles = np.vstack((self.triangles, other_triangles))
-      new_triangle_uvs = None
-      if self.triangle_uvs is not None:
-        new_triangle_uvs = np.vstack((self.triangle_uvs, other.triangle_uvs))
-      return TriangleMesh(new_vertices, new_triangles, new_triangle_uvs)
-    raise TypeError(f"Cannot add TriangleMesh with {type(other)}")
-
-
-def decouple_config(config: Dict[str, Any]):
-  """Breaks a shape config into is subcomponent shapes."""
-  decoupled_config = []
-  for key, value in config.items():
-    if key == "name":
-      continue
-    decoupled_config.append({
-        "parent_name": config["name"],
-        "name": config["name"] + "_" + key,
-        key: value.copy(),
-    })
-
-  return decoupled_config
-
-
-def mesh_config_generator(
-    name: str,
-    geom_type: Union[int, mujoco.mjtGeom],
-    size: np.ndarray,
-    decouple: bool = False,
-):
-  """Creates a config for a particular mesh."""
-  if geom_type == mujoco.mjtGeom.mjGEOM_PLANE:
-    config = {
-        "name": name,
-        "box": {
-            "width": size[0] * 2 if size[0] > 0 else 100,
-            "height": size[1] * 2 if size[1] > 0 else 100,
-            "depth": 0.001,
-            "map_texture_to_each_face": True,
-        },
-    }
-  elif geom_type == mujoco.mjtGeom.mjGEOM_SPHERE:
-    config = {"name": name, "sphere": {"radius": float(size[0])}}
-  elif geom_type == mujoco.mjtGeom.mjGEOM_CAPSULE:
-    cylinder = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_CYLINDER, size)
-    cylinder["cylinder"]["transform"] = {
-        "transform": {"translate": (0, 0, size[2])}
-    }
-    config = {
-        "name": name,
-        "cylinder": cylinder["cylinder"],
-        "left_hemisphere": {
-            "radius": size[0],
-            "transform": {
-                "rotate": (np.pi, 0, 0),
-            },
-        },
-        "right_hemisphere": {
-            "radius": size[0],
-            "transform": {"translate": (0, 0, 2*size[2])},
-        }
-    }
-  elif geom_type == mujoco.mjtGeom.mjGEOM_ELLIPSOID:
-    sphere = mesh_config_generator(
-        name, mujoco.mjtGeom.mjGEOM_SPHERE, np.array([1.0])
-    )
-    sphere["sphere"]["transform"] = {"scale": tuple(size)}
-    config = {
-        "name": name,
-        "sphere": sphere["sphere"],
-    }
-  elif geom_type == mujoco.mjtGeom.mjGEOM_CYLINDER:
-    config = {
-        "name": name,
-        "cylinder": {
-            "radius": size[0],
-            "height": size[2] * 2,
-        },
-    }
-  elif geom_type == mujoco.mjtGeom.mjGEOM_BOX:
-    config = {
-        "name": name,
-        "box": {
-            "width": size[0] * 2,
-            "height": size[1] * 2,
-            "depth": size[2] * 2,
-        },
-    }
-  else:
-    raise NotImplementedError(
-        f"{geom_type} primitive geom type not implemented with USD integration"
-    )
-
-  if decouple:
-    config = decouple_config(config)
-
-  return config
-
-
-def mesh_factory(
-    mesh_config: Dict[str, Any],
-    texture_type: Optional[mujoco.mjtTexture],
-    resolution: int = 100,
-):
-  """Generates a mesh given a config consisting of shapes."""
-  assert "name" in mesh_config
-
-  mesh = None
-
-  for shape, config in mesh_config.items():
-
-    if "name" in shape:
-      continue
-
-    if "box" in shape:
-      prim_mesh = TriangleMesh.create_box(
-          width=mesh_config[shape]["width"],
-          height=mesh_config[shape]["height"],
-          depth=mesh_config[shape]["depth"],
-          texture_type=texture_type
-      )
-    elif "hemisphere" in shape:
-      prim_mesh = TriangleMesh.create_hemisphere(
-          radius=mesh_config[shape]["radius"],
-          texture_type=texture_type,
-          resolution=resolution
-      )
-    elif "sphere" in shape:
-      prim_mesh = TriangleMesh.create_sphere(
-          radius=mesh_config[shape]["radius"],
-          texture_type=texture_type,
-          resolution=resolution
-      )
-    elif "cylinder" in shape:
-      prim_mesh = TriangleMesh.create_cylinder(
-          radius=mesh_config[shape]["radius"],
-          height=mesh_config[shape]["height"],
-          texture_type=texture_type,
-          resolution=resolution
-      )
-    else:
-      raise ValueError("Shape not supported")
-
-    if "transform" in config:
-      if "rotate" in config["transform"]:
-        rotation = np.zeros(9)
-        quat = np.zeros(4)
-        euler = config["transform"]["rotate"]
-        seq = "xyz"
-        mujoco.mju_euler2Quat(quat, euler, seq)
-        mujoco.mju_quat2Mat(rotation, quat)
-        rotation = rotation.reshape((3, 3))
-        prim_mesh.rotate(rotation, center=(0, 0, 0))
-      if "scale" in config["transform"]:
-        prim_mesh.scale(config["transform"]["scale"])
-      if "translate" in config["transform"]:
-        prim_mesh.translate(config["transform"]["translate"])
-
-    if not mesh:
-      mesh = prim_mesh
-    else:
-      mesh += prim_mesh
-
-  if mesh is None:
-    raise ValueError("Mesh not found.")
-
-  return mesh_config["name"], mesh
diff --git a/python/mujoco/usd/utils.py b/python/mujoco/usd/utils.py
deleted file mode 100644
index ce3402ff..00000000
--- a/python/mujoco/usd/utils.py
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Utility functions for USD exporter."""
-import numpy as np
-
-
-def create_transform_matrix(rotation_matrix, translation_vector):
-  # Ensure rotation_matrix and translation_vector are NumPy arrays
-  rotation_matrix = np.array(rotation_matrix)
-  translation_vector = np.array(translation_vector)
-
-  transform_matrix = np.eye(4)
-  transform_matrix[:3, :3] = rotation_matrix
-  transform_matrix[:3, 3] = translation_vector
-
-  return transform_matrix
diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt
deleted file mode 100644
index 666a3725..00000000
--- a/python/mujoco/util/CMakeLists.txt
+++ /dev/null
@@ -1,97 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-if(MSVC AND MSVC_VERSION GREATER_EQUAL 1927)
-  set(CMAKE_CXX_STANDARD 20) # For forceinline lambdas.
-else()
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
-# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
-set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
-
-add_library(crossplatform INTERFACE)
-target_sources(crossplatform INTERFACE crossplatform.h)
-set_target_properties(crossplatform PROPERTIES PUBLIC_HEADER crossplatform.h)
-target_include_directories(crossplatform INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
-
-add_library(array_traits INTERFACE)
-target_sources(array_traits INTERFACE array_traits.h)
-set_target_properties(array_traits PROPERTIES PUBLIC_HEADER array_traits.h)
-target_include_directories(array_traits INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
-target_link_libraries(array_traits INTERFACE crossplatform Eigen3::Eigen)
-
-add_library(func_traits INTERFACE)
-target_sources(func_traits INTERFACE func_traits.h)
-set_target_properties(func_traits PROPERTIES PUBLIC_HEADER func_traits.h)
-target_include_directories(func_traits INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
-
-add_library(tuple_tools INTERFACE)
-target_sources(tuple_tools INTERFACE tuple_tools.h)
-set_target_properties(tuple_tools PROPERTIES PUBLIC_HEADER tuple_tools.h)
-target_include_directories(tuple_tools INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
-target_link_libraries(tuple_tools INTERFACE crossplatform)
-
-add_library(func_wrap INTERFACE)
-target_sources(func_wrap INTERFACE func_wrap.h)
-set_target_properties(func_wrap PROPERTIES PUBLIC_HEADER func_wrap.h)
-target_include_directories(func_wrap INTERFACE ${mujoco_SOURCE_DIR}/mujoco)
-target_link_libraries(
-  func_wrap
-  INTERFACE crossplatform
-            Eigen3::Eigen
-            array_traits
-            func_traits
-)
-
-if(BUILD_TESTING)
-  enable_testing()
-  add_executable(array_traits_test array_traits_test.cc)
-  target_link_libraries(
-    array_traits_test
-    array_traits
-    gmock
-    gtest_main
-  )
-  gtest_add_tests(TARGET array_traits_test SOURCES array_traits_test.cc)
-
-  add_executable(func_traits_test func_traits_test.cc)
-  target_link_libraries(
-    func_traits_test
-    func_traits
-    gmock
-    gtest_main
-  )
-  gtest_add_tests(TARGET func_traits_test SOURCES func_traits_test.cc)
-
-  add_executable(func_wrap_test func_wrap_test.cc)
-  target_link_libraries(
-    func_wrap_test
-    func_wrap
-    gmock
-    gtest_main
-  )
-  gtest_add_tests(TARGET func_wrap_test SOURCES func_wrap_test.cc)
-
-  add_executable(tuple_tools_test tuple_tools_test.cc)
-  target_link_libraries(
-    tuple_tools_test
-    func_wrap
-    gmock
-    gtest_main
-  )
-  gtest_add_tests(TARGET tuple_tools_test SOURCES tuple_tools_test.cc)
-endif()
diff --git a/python/mujoco/util/array_traits.h b/python/mujoco/util/array_traits.h
deleted file mode 100644
index 3c4265d3..00000000
--- a/python/mujoco/util/array_traits.h
+++ /dev/null
@@ -1,140 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_UTIL_ARRAY_TRAITS_H_
-#define MUJOCO_PYTHON_UTIL_ARRAY_TRAITS_H_
-
-#include <type_traits>
-
-#include "crossplatform.h"
-#include <Eigen/Eigen>
-#include <unsupported/Eigen/CXX11/Tensor>
-
-namespace mujoco::util {
-
-// Forward declaration so that the public interface appears at the top of file.
-namespace _impl {
-template <typename T, int... N> struct c_array;
-template <typename T> struct c_array_traits;
-}  // namespace _impl
-
-// Array type from scalar type and extents. This is intended to be used to
-// deduce array extents as template integer parameters.
-// For example c_array_t<double, 9, 4, 7> is the same as double[9][4][7].
-template <typename T, int... N>
-using c_array_t = typename _impl::c_array<T, N...>::type;
-
-// Scalar type from an array, reference-to-array, or pointer-to-array type.
-template <typename T>
-using array_scalar_t = typename _impl::c_array_traits<T>::scalar_type;
-
-// The number of dimensions of an array type. If the array type is regarded as
-// a tensor then this corresponds to the tensor rank.
-template <typename T>
-static constexpr int array_ndim_v = _impl::c_array_traits<T>::ndim;
-
-// Makes an Eigen::Matrix or Eigen::Tensor object with the same data type and
-// shape as the given array type. The Eigen object returned is always row-major
-// (i.e. C ordering) and dense. If the array type is one- or two-dimensional
-// then an Eigen::Matrix with compile-time constant shape is returned.
-// Otherwise, an Eigen::Tensor is returned.
-template <typename ArrType>
-constexpr auto MUJOCO_ALWAYS_INLINE MakeEigen() {
-  return _impl::c_array_traits<ArrType>::template MakeEigen<>();
-}
-
-template <typename ArrType>
-using array_eigen_t = std::conditional_t<
-    std::is_const_v<ArrType>,
-    const decltype(MakeEigen<std::remove_const_t<ArrType>>()),
-    // Still need remove_const here since the type substitution in the false
-    // branch always occurs regardless of the condition, and
-    // MakeEigen<const T>() is invalid.
-    decltype(MakeEigen<std::remove_const_t<ArrType>>())>;
-
-// =====================================================================
-// IMPLEMENTATION DETAIL. FOR INTERNAL USE WITHIN THIS HEADER FILE ONLY.
-// =====================================================================
-namespace _impl {
-template <typename T, int... N>
-struct c_array {};
-
-template <typename T>
-struct c_array<T> {
-  using type = T;
-  static constexpr int ndim = 0;
-};
-
-template <typename T, int M, int... N>
-struct c_array<T, M, N...> {
-  using type = typename c_array<T, N...>::type[M];
-  static constexpr int ndim = c_array<T, N...>::ndim + 1;
-};
-
-template <typename T>
-struct c_array_traits {
-  static constexpr int ndim = 0;
-  using scalar_type = std::remove_reference_t<T>;
-
-  template <int... N>
-  static constexpr auto MUJOCO_ALWAYS_INLINE MakeEigen() {
-    if constexpr (c_array<T, N...>::ndim <= 2) {
-      return Eigen::Matrix<T, N..., Eigen::RowMajor>();
-    } else {
-      return Eigen::Tensor<
-          T, c_array<T, N...>::ndim, Eigen::RowMajor, Eigen::DenseIndex>(N...);
-    }
-  }
-};
-
-template <typename T, int N>
-struct c_array_traits<T[N]> {
-  // Recursively peel off the innermost extent.
-  static constexpr int ndim = c_array_traits<T>::ndim + 1;
-  using scalar_type = typename c_array_traits<T>::scalar_type;
-
-  template <int... M>
-  static constexpr auto MUJOCO_ALWAYS_INLINE MakeEigen() {
-    return c_array_traits<T>::template MakeEigen<M..., N>();
-  }
-};
-
-template <typename T, int N>
-struct c_array_traits<T(&)[N]> {
-  // Delegate everything to the T[N] case.
-  static constexpr int ndim = c_array_traits<T[N]>::ndim;
-  using scalar_type = typename c_array_traits<T[N]>::scalar_type;
-
-  template <int... M>
-  static constexpr auto MUJOCO_ALWAYS_INLINE MakeEigen() {
-    return c_array_traits<T[N]>::template MakeEigen<M...>();
-  }
-};
-
-template <typename T, int N>
-struct c_array_traits<T(*)[N]> {
-  // Delegate everything to the T[N] case.
-  static constexpr int ndim = c_array_traits<T[N]>::ndim;
-  using scalar_type = typename c_array_traits<T[N]>::scalar_type;
-
-  template <int... M>
-  static constexpr auto MUJOCO_ALWAYS_INLINE MakeEigen() {
-    return c_array_traits<T[N]>::template MakeEigen<M...>();
-  }
-};
-
-}  // namespace _impl
-}  // namespace mujoco::util
-
-#endif  // MUJOCO_PYTHON_UTIL_ARRAY_TRAITS_H_
diff --git a/python/mujoco/util/array_traits_test.cc b/python/mujoco/util/array_traits_test.cc
deleted file mode 100644
index 9c09cea4..00000000
--- a/python/mujoco/util/array_traits_test.cc
+++ /dev/null
@@ -1,95 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "array_traits.h"
-
-#include <type_traits>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-
-namespace mujoco::util {
-namespace {
-
-using ::testing::ElementsAre;
-
-TEST(ArrayTraitsTest, CArrayType) {
-  struct Foo {};
-  static_assert(std::is_same_v<c_array_t<int, 3, 4, 5>,
-                               int[3][4][5]>);
-  static_assert(std::is_same_v<c_array_t<double>,
-                               double>);
-  static_assert(std::is_same_v<c_array_t<Foo, 7>,
-                               Foo[7]>);
-  static_assert(std::is_same_v<c_array_t<Foo*, 3, 4, 5, 6>,
-                               Foo*[3][4][5][6]>);
-}
-
-TEST(ArrayTraitsTest, ArrayNdim) {
-  struct Foo {};
-  EXPECT_EQ(array_ndim_v<int[3][4][5]>, 3);
-  EXPECT_EQ(array_ndim_v<double(*)[3][4]>, 2);
-  EXPECT_EQ(array_ndim_v<Foo*[3][4]>, 2);
-  EXPECT_EQ(array_ndim_v<Foo(&)[3][4][5][6]>, 4);
-}
-
-TEST(ArrayTraitsTest, ArrayScalarType) {
-  struct Foo {};
-  static_assert(std::is_same_v<
-      array_scalar_t<int[3][4][5]>,
-      int
-  >);
-  static_assert(std::is_same_v<
-      array_scalar_t<double(*)[3][4]>,
-      double
-  >);
-  static_assert(std::is_same_v<
-      array_scalar_t<Foo*[3][4]>,
-      Foo*
-  >);
-  static_assert(std::is_same_v<
-      array_scalar_t<Foo(&)[3][4][5][6]>,
-      Foo
-  >);
-}
-
-TEST(ArrayTraitsTest, MakeEigen) {
-  {
-    auto eigen = MakeEigen<float[3]>();
-    static_assert(std::is_same_v<
-        decltype(eigen),
-        Eigen::Vector3f
-    >);
-  }
-  {
-    auto eigen = MakeEigen<int[2][3]>();
-    static_assert(std::is_same_v<
-        decltype(eigen),
-        Eigen::Matrix<int, 2, 3, Eigen::RowMajor>
-    >);
-  }
-  {
-    auto eigen = MakeEigen<double[2][3][4]>();
-    static_assert(std::is_same_v<
-        decltype(eigen),
-        Eigen::Tensor<double, 3, Eigen::RowMajor, Eigen::DenseIndex>
-    >);
-    EXPECT_THAT(eigen.dimensions(), ElementsAre(2, 3, 4));
-  }
-}
-
-
-
-}  // namespace
-}  // namespace mujoco::util
diff --git a/python/mujoco/util/crossplatform.h b/python/mujoco/util/crossplatform.h
deleted file mode 100644
index 07998425..00000000
--- a/python/mujoco/util/crossplatform.h
+++ /dev/null
@@ -1,71 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_UTIL_CROSSPLATFORM_H_
-#define MUJOCO_PYTHON_UTIL_CROSSPLATFORM_H_
-
-#ifdef __has_attribute
-#define MUJOCO_HAS_ATTRIBUTE(x) __has_attribute(x)
-#else
-#define MUJOCO_HAS_ATTRIBUTE(x) 0
-#endif
-
-#if MUJOCO_HAS_ATTRIBUTE(always_inline) || \
-    (defined(__GNUC__) && !defined(__clang__))
-#define MUJOCO_ALWAYS_INLINE __attribute__((always_inline))
-#define MUJOCO_ALWAYS_INLINE_LAMBDA MUJOCO_ALWAYS_INLINE
-#if defined(__clang__)
-#define MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE MUJOCO_ALWAYS_INLINE_LAMBDA mutable
-#else
-#define MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE mutable MUJOCO_ALWAYS_INLINE_LAMBDA
-#endif
-#elif defined(_MSC_VER)
-#define MUJOCO_ALWAYS_INLINE __forceinline
-#if _MSC_VER >= 1927 && _MSVC_LANG >= 202002L
-#define MUJOCO_ALWAYS_INLINE_LAMBDA [[msvc::forceinline]]
-#endif
-#define MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE mutable MUJOCO_ALWAYS_INLINE_LAMBDA
-#else
-#define MUJOCO_ALWAYS_INLINE
-#endif
-
-#ifndef MUJOCO_ALWAYS_INLINE_LAMBDA
-#define MUJOCO_ALWAYS_INLINE_LAMBDA
-#endif
-
-#ifndef MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE
-#define MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE
-#endif
-
-#ifndef MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE
-#if defined(__clang__)
-#define MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE                    \
-    _Pragma("clang diagnostic push")                                \
-    _Pragma("clang diagnostic ignored \"-Wunused-lambda-capture\"")
-#define MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE \
-    _Pragma("clang diagnostic pop")
-#else
-#define MUJOCO_DIAG_IGNORE_UNUSED_LAMBDA_CAPTURE
-#define MUJOCO_DIAG_UNIGNORE_UNUSED_LAMBDA_CAPTURE
-#endif
-#endif
-
-// GCC ignores [[maybe_unused]] and emits a -Wattributes
-#if defined(__GNUC__) && !defined(__clang__)
-#define MUJOCO_MAYBE_UNUSED
-#else
-#define MUJOCO_MAYBE_UNUSED [[maybe_unused]]
-#endif
-
-#endif  // MUJOCO_PYTHON_UTIL_CROSSPLATFORM_H_
diff --git a/python/mujoco/util/func_traits.h b/python/mujoco/util/func_traits.h
deleted file mode 100644
index 1ca99ce2..00000000
--- a/python/mujoco/util/func_traits.h
+++ /dev/null
@@ -1,114 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_FUNC_TRAITS_H_
-#define MUJOCO_PYTHON_FUNC_TRAITS_H_
-
-#include <tuple>
-#include <type_traits>
-
-namespace mujoco::util {
-
-// Forward declaration so that the public interface appears at the top of file.
-namespace _impl {
-template <typename, typename = void> struct is_callable;
-template <typename, int, bool = false> struct func_arg;
-}  // namespace _impl
-
-// True if T is callable, i.e. if T is either a function pointer/reference or
-// is an instance of a type with operator().
-template <typename T>
-static constexpr bool is_callable_v =
-    _impl::is_callable<std::remove_reference_t<T>>::value;
-
-// Type of the Nth argument of a function or functor, where N=0 refers to the
-// first argument. If N exceeds the number arguments for F then
-// func_arg_t<F, N> is void.
-template <typename F, int N = 0>
-using func_arg_t = typename _impl::func_arg<F, N, (N > 0)>::type;
-
-template <typename F>
-static constexpr int func_arg_count_v = _impl::func_arg<F, 0>::count;
-
-// =====================================================================
-// IMPLEMENTATION DETAIL. FOR INTERNAL USE WITHIN THIS HEADER FILE ONLY.
-// =====================================================================
-namespace _impl {
-template <typename T, typename>
-struct is_callable {
-  static constexpr bool value = false;
-};
-
-template <typename T>
-struct is_callable<T, std::void_t<decltype(&T::operator())>> {
-  static constexpr bool value = true;
-};
-
-template <typename Return, typename... Args>
-struct is_callable<Return(Args...)> {
-  static constexpr bool value = true;
-};
-
-template <typename Return, typename... Args>
-struct is_callable<Return (*)(Args...)> {
-  static constexpr bool value = true;
-};
-
-// Support functors by looking at its member function Func::operator().
-template <typename Func, int N, bool Recursing>
-struct func_arg {
-  using call = decltype(
-      &std::remove_const_t<std::remove_reference_t<Func>>::operator());
-  using type = typename func_arg<call, N>::type;
-  static constexpr int count = func_arg<call, N>::count;
-};
-
-// Base case (N == 0) for function: resolve to Arg0.
-template <typename Ret, typename Arg0, typename... Args>
-struct func_arg<Ret(Arg0, Args...), 0> {
-  using type = Arg0;
-  static constexpr int count = 1 + std::tuple_size_v<std::tuple<Args...>>;
-};
-
-// Recursive case (N > 0) for function: discard Arg0 it and resolve to N-1.
-template <typename Ret, int N, typename Arg0, typename... Args>
-struct func_arg<Ret(Arg0, Args...), N, true> {
-  using type = typename func_arg<Ret(Args...), N - 1, (N > 1)>::type;
-  static constexpr int count = 1 + std::tuple_size_v<std::tuple<Args...>>;
-};
-
-// Specialization for non-const member functions.
-template <typename C, typename Ret, int N, typename... Args>
-struct func_arg<Ret (C::*)(Args...), N> {
-  using type = typename func_arg<Ret(Args...), N, (N > 0)>::type;
-  static constexpr int count = std::tuple_size_v<std::tuple<Args...>>;
-};
-
-// Specialization for const member functions (matches lambda::operator()).
-template <typename C, typename Ret, int N, typename... Args>
-struct func_arg<Ret (C::*)(Args...) const, N> {
-  using type = typename func_arg<Ret(Args...), N, (N > 0)>::type;
-  static constexpr int count = std::tuple_size_v<std::tuple<Args...>>;
-};
-
-// Functions with no argument: always resolve to void.
-template <typename Ret, int N, bool Recursing>
-struct func_arg<Ret(), N, Recursing> {
-  using type = void;
-  static constexpr int count = 0;
-};
-}  // namespace _impl
-}  // namespace mujoco::util
-
-#endif  // MUJOCO_PYTHON_FUNC_TRAITS_H_
diff --git a/python/mujoco/util/func_traits_test.cc b/python/mujoco/util/func_traits_test.cc
deleted file mode 100644
index 3c817b8e..00000000
--- a/python/mujoco/util/func_traits_test.cc
+++ /dev/null
@@ -1,156 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "func_traits.h"
-
-#include <functional>
-#include <type_traits>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-
-namespace mujoco::util {
-namespace {
-
-TEST(FuncTraitsTest, IsCallable) {
-  EXPECT_FALSE(is_callable_v<int>);
-  EXPECT_TRUE(is_callable_v<double(double)>);
-  EXPECT_TRUE(is_callable_v<void(*)(void)>);
-  EXPECT_TRUE((is_callable_v<int(&)(int, float)>));
-  EXPECT_TRUE(is_callable_v<std::function<void(void)>>);
-  {
-    auto lambda = [](){};
-    EXPECT_TRUE(is_callable_v<decltype(lambda)>);
-  }
-  {
-    auto mutable_lambda = []() mutable {};
-    EXPECT_TRUE(is_callable_v<decltype(mutable_lambda)>);
-  }
-  {
-    struct Functor { void operator()() {} };
-    EXPECT_TRUE(is_callable_v<Functor>);
-  }
-  {
-    struct ConstFunctor { void operator()() const {} };
-    EXPECT_TRUE(is_callable_v<ConstFunctor>);
-  }
-  {
-    struct NotCallable { void Foo() {} };
-    EXPECT_FALSE(is_callable_v<NotCallable>);
-    EXPECT_FALSE(is_callable_v<decltype(&NotCallable::Foo)>);
-  }
-}
-
-TEST(FuncTraitsTest, FuncArgType) {
-  static_assert(std::is_same_v<
-      func_arg_t<void()>,
-      void
-  >);
-  static_assert(std::is_same_v<
-      func_arg_t<bool(int)>,
-      int
-  >);
-  static_assert(std::is_same_v<
-      func_arg_t<bool(int&&, char&, const float&)>,
-      int&&
-  >);
-  static_assert(std::is_same_v<
-      func_arg_t<bool(int&&, char&, const float&), 0>,
-      int&&
-  >);
-  static_assert(std::is_same_v<
-      func_arg_t<bool(int&&, char&, const float&), 1>,
-      char&
-  >);
-  static_assert(std::is_same_v<
-      func_arg_t<bool(int&&, char&, const float&), 2>,
-      const float&
-  >);
-  static_assert(std::is_same_v<
-      func_arg_t<bool(int&&, char&, const float&), 3>,
-      void
-  >);
-  static_assert(std::is_same_v<
-      func_arg_t<bool(int&&, char&, const float&), 7>,
-      void
-  >);
-
-  {
-    auto lambda = [](bool, double&, float&&){};
-    static_assert(std::is_same_v<
-        func_arg_t<decltype(lambda)>,
-        bool
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<decltype(lambda), 0>,
-        bool
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<decltype(lambda), 1>,
-        double&
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<decltype(lambda), 2>,
-        float&&
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<decltype(lambda), 3>,
-        void
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<decltype(lambda), 10>,
-        void
-    >);
-  }
-  {
-    struct Functor { void operator()(char, void*) {} };
-    static_assert(std::is_same_v<
-        func_arg_t<Functor>,
-        char
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<Functor, 0>,
-        char
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<Functor, 1>,
-        void*
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<Functor, 2>,
-        void
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<Functor, 5>,
-        void
-    >);
-  }
-}
-
-TEST(FuncTraitsTest, FuncArgCount) {
-  EXPECT_EQ(func_arg_count_v<void()>, 0);
-  EXPECT_EQ(func_arg_count_v<bool(int)>, 1);
-  EXPECT_EQ(func_arg_count_v<bool(int&&, char&, const float&)>, 3);
-  {
-    auto lambda = [](bool, double&, float&&){};
-    EXPECT_EQ(func_arg_count_v<decltype(lambda)>, 3);
-  }
-  {
-    struct Functor { void operator()(char, void*) {} };
-    EXPECT_EQ(func_arg_count_v<Functor>, 2);
-  }
-}
-
-}  // namespace
-}  // namespace mujoco::util
diff --git a/python/mujoco/util/func_wrap.h b/python/mujoco/util/func_wrap.h
deleted file mode 100644
index 0d6bca55..00000000
--- a/python/mujoco/util/func_wrap.h
+++ /dev/null
@@ -1,193 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_UTIL_FUNC_WRAP_H_
-#define MUJOCO_PYTHON_UTIL_FUNC_WRAP_H_
-
-#include <type_traits>
-#include <utility>
-
-#include <Eigen/Eigen>
-#include "array_traits.h"
-#include "crossplatform.h"
-#include "func_traits.h"
-
-namespace mujoco::util {
-
-// Represents an argument type T of a C++ function that is callable from Python
-// via pybind11. Template specializations of this struct defines how to unwrap
-// arguments from pybind11 before passing them the underlying C++ function.
-//
-// This is used to help bind functions whose argument types are not related
-// to the types that are registered with pybind11, and where it is not
-// desirable/appropriate for the function's argument types to be registered.
-//
-// Usage:
-//   In the compilation unit that binds a function, specialize the template for
-//   each argument type that needs to be unwrapped, e.g. if a function expects
-//   an argument of type SomeArgType, but the type that is known to pybind11
-//   is SomeWrapperType, then the specialization looks like:
-//
-//      template <> wrapped py_arg<SomeArgType*> {
-//        static constexpr SomeArgType* unwrap(SomeWrapperType* wrapped_arg) {
-//          return wrapped_arg->get_the_underlying_thing();
-//        }
-//      };
-template <typename T, typename = void>
-struct wrapped {
-  MUJOCO_ALWAYS_INLINE
-  static constexpr T unwrap(T arg)  {
-    return arg;
-  }
-};
-
-// The wrapper type for T that can be unwrapped via wrapped<T>::unwrap.
-template <typename T> using wrapper_t =
-    typename util::func_arg_t<decltype(wrapped<T>::unwrap)>;
-
-namespace _impl {
-
-template <typename T, typename = void>
-struct arg_type_deducer {
-  static_assert(util::is_callable_v<T>, "not a Callable type");
-  template <typename WrapOp>
-  static constexpr auto WrapFunc(T&& callable) {
-    using Call = decltype(&std::remove_reference_t<T>::operator());
-    return arg_type_deducer<T, Call>::template WrapFunc<WrapOp>(
-        std::forward<T>(callable));
-  }
-};
-
-template <typename Return, typename... Args>
-using func_t = Return(Args...);
-
-// Specializations to deduce argument types for vanilla function references.
-template <typename Return, typename... Args>
-struct arg_type_deducer<func_t<Return, Args...>&> {
-  template <typename WrapOp>
-  static constexpr auto WrapFunc(Return (&func)(Args...)) {
-    return WrapOp::template WrapFunc<Return, Args...>(func);
-  }
-};
-
-// Specializations to deduce argument types for vanilla function pointers.
-template <typename Return, typename... Args>
-struct arg_type_deducer<Return (*)(Args...)> {
-  template <typename WrapOp>
-  static constexpr auto WrapFunc(Return (*func)(Args...)) {
-    return WrapOp::template WrapFunc<Return, Args...>(*func);
-  }
-};
-
-// Specialization to deduce argument types for non-const operator().
-template <typename Callable, typename Return, typename... Args>
-struct arg_type_deducer<
-    Callable, Return (std::remove_reference_t<Callable>::*)(Args...)> {
-  template <typename WrapOp>
-  static constexpr auto WrapFunc(Callable&& callable) {
-    return WrapOp::template WrapFunc<Return, Args...>(
-        std::forward<Callable>(callable));
-  }
-};
-
-// Specialization to deduce argument types for const operator().
-template <typename Callable, typename Return, typename... Args>
-struct arg_type_deducer<
-    Callable, Return (std::remove_reference_t<Callable>::*)(Args...) const> {
-  template <typename WrapOp>
-  static constexpr auto WrapFunc(Callable&& callable) {
-    return WrapOp::template WrapFunc<Return, Args...>(
-        std::forward<Callable>(callable));
-  }
-};
-
-template <typename WrapOp, typename Callable>
-constexpr auto WrapFunc(Callable&& callable) {
-  return arg_type_deducer<Callable>::template WrapFunc<WrapOp>(
-      std::forward<Callable>(callable));
-}
-
-struct UnwrapArgs {
-  template <typename Return, typename... Args, typename Callable>
-  static constexpr auto WrapFunc(Callable&& callable) {
-    return [callable](wrapper_t<Args>... wrapped_args)
-              MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE {
-      return callable(wrapped<Args>::unwrap(wrapped_args)...);
-    };
-  }
-};
-
-template <bool OutArgProvided>
-struct ReturnArrayArg0 {
-  template <typename Return, typename OutArg, typename... InArgs,
-            typename Callable>
-  static constexpr auto WrapFunc(Callable&& callable) {
-    using OutArray = std::remove_reference_t<std::remove_pointer_t<OutArg>>;
-    using OutScalar = util::array_scalar_t<OutArray>;
-    static_assert(
-        std::is_array_v<OutArray> && std::is_arithmetic_v<OutScalar>,
-        "output is not an array of arithmetic type");
-    static_assert(
-        std::is_void_v<Return>,
-        "callable under ReturnArrayArg0 cannot return a value");
-
-    // MSVC has a bug with `if constexpr`, as a workaround we precompute the
-    // condition into a constexpr variable first.
-    // https://developercommunity.visualstudio.com/t/1509806
-    constexpr bool OutArgIsRef = std::is_same_v<OutArg, OutArray&>;
-
-    if constexpr (OutArgProvided) {
-      using EigenOutType = Eigen::Ref<decltype(util::MakeEigen<OutArray>())>;
-      return [callable](InArgs... args, EigenOutType eigen_out)
-          MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE {
-        if constexpr (OutArgIsRef) {
-          callable(*reinterpret_cast<OutArray*>(eigen_out.data()), args...);
-        } else {
-          callable(reinterpret_cast<OutArray*>(eigen_out.data()), args...);
-        }
-      };
-    } else {
-      return [callable](InArgs... args) MUJOCO_ALWAYS_INLINE_LAMBDA_MUTABLE {
-        auto eigen_out = util::MakeEigen<OutArray>();
-        if constexpr (OutArgIsRef) {
-          callable(*reinterpret_cast<OutArray*>(eigen_out.data()), args...);
-        } else {
-          callable(reinterpret_cast<OutArray*>(eigen_out.data()), args...);
-        }
-        return eigen_out;
-      };
-    }
-  }
-};
-
-}  // namespace _impl
-
-// Makes a callable that unwraps each argument before passing it to the
-// given callable. Specifically, given f(T1 x1, T2 x2, ...) this function
-// returns a callable
-// g(wrapper_t<T1> w1, wrapper_t<T2> w2, ...) = f(unwrap(w1), unwrap(w2), ...).
-template <typename Callable>
-constexpr auto UnwrapArgs(Callable&& callable) {
-  return _impl::WrapFunc<_impl::UnwrapArgs>(std::forward<Callable>(callable));
-}
-
-template <bool OutArgProvided = false, typename Callable>
-constexpr auto ReturnArrayArg0(Callable&& callable) {
-  return _impl::WrapFunc<_impl::ReturnArrayArg0<OutArgProvided>>(
-      std::forward<Callable>(callable));
-}
-
-}  // namespace mujoco::util
-
-#endif  // MUJOCO_PYTHON_UTIL_FUNC_WRAP_H_
diff --git a/python/mujoco/util/func_wrap_test.cc b/python/mujoco/util/func_wrap_test.cc
deleted file mode 100644
index 47346dba..00000000
--- a/python/mujoco/util/func_wrap_test.cc
+++ /dev/null
@@ -1,102 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "func_wrap.h"
-
-#include <string>
-#include <type_traits>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <Eigen/Eigen>
-#include "func_traits.h"
-
-namespace {
-struct BoxedDouble {
-  double value;
-};
-struct BoxedInt {
-  int value;
-};
-}  // namespace
-
-namespace mujoco::util {
-template <> struct wrapped<BoxedDouble> {
-  static BoxedDouble unwrap(const std::string& wrapped) {
-    return BoxedDouble{std::stod(wrapped)};
-  }
-};
-template <> struct wrapped<BoxedInt> {
-  static BoxedInt unwrap(int wrapped) {
-    return BoxedInt{wrapped};
-  }
-};
-template <typename T, int N> struct wrapped<T(*)[N]> {
-  using Array = T[N];
-  static Array* unwrap(Eigen::Ref<Eigen::Vector<T, N>> wrapped) {
-    return reinterpret_cast<Array*>(wrapped.data());
-  }
-};
-template <typename T, int N> struct wrapped<const T(*)[N]> {
-  using Array = const T[N];
-  static Array* unwrap(const Eigen::Vector<T, N>& wrapped) {
-    return reinterpret_cast<Array*>(wrapped.data());
-  }
-};
-}  // namespace mujoco::util
-
-namespace {
-using ::mujoco::util::func_arg_t;
-using ::mujoco::util::UnwrapArgs;
-using ::mujoco::util::ReturnArrayArg0;
-
-double add(BoxedDouble x, float y, BoxedInt z) {
-  return x.value + y + z.value;
-}
-
-void add_array4(double (*out)[4], const double (*x)[4], const double (*y)[4]) {
-  for (int i = 0; i < 4; ++i) {
-    (*out)[i] = (*x)[i] + (*y)[i];
-  }
-}
-
-TEST(FuncWrapTest, UnwrapArgs) {
-  {
-    auto wrapped_add = UnwrapArgs(add);
-    static_assert(std::is_same_v<
-        func_arg_t<decltype(wrapped_add), 0>, const std::string&
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<decltype(wrapped_add), 1>, float
-    >);
-    static_assert(std::is_same_v<
-        func_arg_t<decltype(wrapped_add), 2>, int
-    >);
-    // Use binary powers so that we can do exact floating point comparison.
-    EXPECT_EQ(wrapped_add("1.6e+1", 5e-1, 2), 18.5);
-  }
-  {
-    Eigen::Vector4d out;
-    UnwrapArgs(add_array4)(out, {1, 3, 5, 7}, {2, 6, 9, 11});
-    EXPECT_THAT(out, ::testing::ElementsAre(3, 9, 14, 18));
-  }
-}
-
-TEST(FuncWrapTest, ReturnArrayArg0) {
-  auto out = UnwrapArgs(ReturnArrayArg0(add_array4))({1, 3, 5, 7},
-                                                     {2, 6, 9, 11});
-  static_assert(std::is_same_v<decltype(out), Eigen::Vector4d>);
-  EXPECT_THAT(out, ::testing::ElementsAre(3, 9, 14, 18));
-}
-}  // namespace
diff --git a/python/mujoco/util/tuple_tools.h b/python/mujoco/util/tuple_tools.h
deleted file mode 100644
index d6a4ffc2..00000000
--- a/python/mujoco/util/tuple_tools.h
+++ /dev/null
@@ -1,159 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_UTIL_TUPLE_TOOLS_H_
-#define MUJOCO_PYTHON_UTIL_TUPLE_TOOLS_H_
-
-#include <optional>
-#include <string_view>
-#include <tuple>
-#include <type_traits>
-#include <utility>
-
-#include "crossplatform.h"
-
-namespace mujoco::util {
-
-// Forward declaration so that the public interface appears at the top of file.
-namespace _impl {
-template <int N> struct head_slicer;
-template <int N> struct tail_slicer;
-}  // namespace _impl
-
-// Removes the first `Begin` elements from the from a tuple.
-// If `Begin` is negative, the resulting tuple is obtained by removing the first
-// `N - Begin` elements, where N is the size of the input tuple.
-//
-// For consistency with the <Begin, End> form (see below), the second optional
-// template argument can be explicitly spelled out as void,
-// e.g. tuple_slice<2, void>(tuple), to indicate that the slice takes every
-// element up to the end of the tuple.
-//
-// This function has the same semantic as Python's list slicing x[Begin:].
-template <int Begin, typename End = void, typename Tuple>
-MUJOCO_ALWAYS_INLINE
-constexpr auto tuple_slice(Tuple&& tuple) {
-  static_assert(
-      std::is_void_v<End>,
-      "argument End must be either omitted or explicitly specified as void");
-  constexpr int Size = std::tuple_size_v<std::remove_reference_t<Tuple>>;
-  static_assert(Begin >= -Size && Begin <= Size);
-  constexpr int NHead = (Begin >= 0) ? Begin : (Size + Begin);
-  return std::apply(_impl::head_slicer<NHead>(), std::forward<Tuple>(tuple));
-}
-
-// Extracts a contiguous slice of elements from a tuple so that the resulting
-// tuple begins with the element at index `Begin` and ends with the element
-// immediately before the one at index `End`. A negative value of `Begin` or
-// `End` is interpreted as indexing an element from the end of the input tuple,
-// where -1 refers to the last element.
-//
-// This function has the same semantic as Python's list slicing x[Begin:End].
-template <int Begin, int End, typename Tuple>
-MUJOCO_ALWAYS_INLINE
-constexpr auto tuple_slice(Tuple&& tuple) {
-  constexpr int Size = std::tuple_size_v<std::remove_reference_t<Tuple>>;
-  static_assert(End >= -Size && End <= Size);
-  constexpr int NTail = (End >= 0) ? (Size - End) : (-End);
-  static_assert(
-      (Begin >= -Size && Begin <= -NTail) ||
-      (Begin >= 0 && Begin <= Size - NTail),
-      "Begin should refer to an element that comes before End");
-  constexpr int NHead = (Begin >= 0) ? Begin : (Size + Begin);
-  return tuple_slice<NHead>(
-      std::apply(_impl::tail_slicer<NTail>(), std::forward<Tuple>(tuple)));
-}
-
-// Compile-time function to check whether a string occurs in a tuple.
-// Should ideally be declared consteval if we switch to C++20.
-template <typename Str, typename Tuple>
-static constexpr bool string_is_in_tuple(Str str, Tuple&& tuple) {
-  if constexpr (std::tuple_size_v<std::remove_reference_t<Tuple>> == 0) {
-    return false;
-  } else if (std::string_view(str) == std::string_view(std::get<0>(tuple))) {
-    return true;
-  } else {
-    return string_is_in_tuple(str, util::tuple_slice<1, void>(tuple));
-  }
-}
-
-// Compile-time function to check whether the elements of one tuple is a subset
-// another. Should ideally be declared consteval if we switch to C++20.
-template <typename Tuple1, typename Tuple2>
-constexpr bool is_subset_strings(Tuple1 tuple1, Tuple2 tuple2) {
-  if constexpr (std::tuple_size_v<Tuple1> == 0) {
-    return true;
-  } else if (string_is_in_tuple(std::get<0>(tuple1), tuple2)) {
-    return is_subset_strings(util::tuple_slice<1, void>(tuple1), tuple2);
-  } else {
-    return false;
-  }
-}
-
-// =====================================================================
-// IMPLEMENTATION DETAIL. FOR INTERNAL USE WITHIN THIS HEADER FILE ONLY.
-// =====================================================================
-namespace _impl{
-template <int N>
-struct head_slicer {
-  template <typename T, typename... U>
-  MUJOCO_ALWAYS_INLINE
-  constexpr auto operator()(T&& t, U&&... u) const {
-    return head_slicer<N-1>()(std::forward<U>(u)...);
-  }
-};
-
-template <>
-struct head_slicer<0> {
-  template <typename... T>
-  MUJOCO_ALWAYS_INLINE
-  constexpr auto operator()(T&&... t) const {
-    return std::forward_as_tuple(t...);
-  }
-};
-
-template <int N>
-struct move_head_to_tail {
-  template <typename T, typename... U>
-  MUJOCO_ALWAYS_INLINE
-  static constexpr auto move(T&& t, U&&... u) {
-    return move_head_to_tail<N-1>::move(
-        std::forward<U>(u)..., std::forward<T>(t));
-  }
-};
-
-template <>
-struct move_head_to_tail<0> {
-  template <typename... T>
-  MUJOCO_ALWAYS_INLINE
-  static constexpr auto move(T&&... t) {
-    return std::forward_as_tuple(t...);
-  }
-};
-
-template <int N>
-struct tail_slicer {
-  template <typename... T>
-  MUJOCO_ALWAYS_INLINE
-  constexpr auto operator()(T&&... t) const {
-    constexpr int Size = std::tuple_size_v<std::tuple<T...>>;
-    constexpr int NHead = Size - N;
-    return std::apply(head_slicer<N>(),
-        move_head_to_tail<NHead>::move(std::forward<T>(t)...));
-  }
-};
-}  // namespace _impl
-}  // namespace mujoco::util
-
-#endif  // MUJOCO_PYTHON_UTIL_TUPLE_TOOLS_H_
diff --git a/python/mujoco/util/tuple_tools_test.cc b/python/mujoco/util/tuple_tools_test.cc
deleted file mode 100644
index 02575454..00000000
--- a/python/mujoco/util/tuple_tools_test.cc
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "tuple_tools.h"
-
-#include <tuple>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-
-namespace mujoco::util {
-namespace {
-
-TEST(TupleToolsTest, Slice) {
-  auto tuple = std::make_tuple(2, 3, 5, 7, 11, 13);
-  EXPECT_EQ((tuple_slice<1, 5>(tuple)), std::make_tuple(3, 5, 7, 11));
-  EXPECT_EQ((tuple_slice<2, 3>(tuple)), std::make_tuple(5));
-
-  // negative indices
-  EXPECT_EQ((tuple_slice<1, -2>(tuple)), std::make_tuple(3, 5, 7));
-  EXPECT_EQ((tuple_slice<-4, 6>(tuple)), std::make_tuple(5, 7, 11, 13));
-  EXPECT_EQ((tuple_slice<-3, -1>(tuple)), std::make_tuple(7, 11));
-
-  // empty slices
-  EXPECT_EQ((tuple_slice<0, 0>(tuple)), std::make_tuple());
-  EXPECT_EQ((tuple_slice<3, 3>(tuple)), std::make_tuple());
-  EXPECT_EQ((tuple_slice<-2, -2>(tuple)), std::make_tuple());
-
-  // specify void as the End argument
-  EXPECT_EQ((tuple_slice<2, void>(tuple)), std::make_tuple(5, 7, 11, 13));
-  EXPECT_EQ((tuple_slice<-2, void>(tuple)), std::make_tuple(11, 13));
-
-  // omit the End argument
-  EXPECT_EQ((tuple_slice<2>(tuple)), std::make_tuple(5, 7, 11, 13));
-  EXPECT_EQ((tuple_slice<-2>(tuple)), std::make_tuple(11, 13));
-
-  // empty input tuples
-  EXPECT_EQ((tuple_slice<0>(std::make_tuple())), std::make_tuple());
-  EXPECT_EQ((tuple_slice<0, 0>(std::make_tuple())), std::make_tuple());
-}
-
-}  // namespace
-}  // namespace mujoco::util
diff --git a/python/mujoco/vfs.h b/python/mujoco/vfs.h
deleted file mode 100644
index f14ec198..00000000
--- a/python/mujoco/vfs.h
+++ /dev/null
@@ -1,46 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_PYTHON_VFS_H_
-#define MUJOCO_PYTHON_VFS_H_
-
-#include <memory>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::python {
-
-class MjVfs {
- public:
-  MjVfs() : vfs_(new mjVFS) { mj_defaultVFS(vfs_.get()); }
-
-  void Close() { vfs_.reset(); }
-
-  mjVFS* get() const { return vfs_.get(); }
-
-  bool is_open() const { return vfs_ != nullptr; }
-
- private:
-  struct VfsDeleter {
-    void operator()(mjVFS* vfs) const {
-      mj_deleteVFS(vfs);
-      delete vfs;
-    }
-  };
-  std::unique_ptr<mjVFS, VfsDeleter> vfs_;
-};
-
-}  // namespace mujoco::python
-
-#endif  // MUJOCO_PYTHON_VFS_H_
diff --git a/python/mujoco/vfs_test.py b/python/mujoco/vfs_test.py
deleted file mode 100644
index dff3cfd1..00000000
--- a/python/mujoco/vfs_test.py
+++ /dev/null
@@ -1,251 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-import textwrap
-
-from absl.testing import absltest
-import mujoco
-
-
-SIMPLE_XML = b"<mujoco/>"
-
-XML_WITH_MESH = textwrap.dedent("""\
-    <mujoco>
-      <asset>
-        <mesh name="box" file="box.obj"/>
-      </asset>
-      <worldbody>
-        <body>
-          <geom type="mesh" mesh="box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-""").encode()
-
-BOX_OBJ = textwrap.dedent("""\
-    v -1 -1 -1
-    v  1 -1 -1
-    v  1  1 -1
-    v -1  1 -1
-    v -1 -1  1
-    v  1 -1  1
-    v  1  1  1
-    v -1  1  1
-    f 1 2 3 4
-    f 5 8 7 6
-    f 1 5 6 2
-    f 2 6 7 3
-    f 3 7 8 4
-    f 4 8 5 1
-""").encode()
-
-
-class VfsLifecycleTest(absltest.TestCase):
-
-  def test_create_and_close(self):
-    vfs = mujoco.MjVfs()
-    vfs.close()
-
-  def test_context_manager(self):
-    with mujoco.MjVfs() as vfs:
-      self.assertIsNotNone(vfs)
-
-  def test_double_close_is_safe(self):
-    vfs = mujoco.MjVfs()
-    vfs.close()
-    vfs.close()
-
-  def test_operations_after_close_raise(self):
-    vfs = mujoco.MjVfs()
-    vfs.close()
-    with self.assertRaises(RuntimeError):
-      vfs["model.xml"] = SIMPLE_XML
-
-
-class VfsBufferTest(absltest.TestCase):
-
-  def test_add_buffer(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["model.xml"] = SIMPLE_XML
-      self.assertIn("model.xml", vfs)
-
-  def test_add_duplicate_raises(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["model.xml"] = SIMPLE_XML
-      with self.assertRaises(ValueError):
-        vfs["model.xml"] = SIMPLE_XML
-
-  def test_delete_buffer(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["model.xml"] = SIMPLE_XML
-      self.assertIn("model.xml", vfs)
-      del vfs["model.xml"]
-      self.assertNotIn("model.xml", vfs)
-
-  def test_delete_missing_raises(self):
-    with mujoco.MjVfs() as vfs:
-      with self.assertRaises(KeyError):
-        del vfs["nonexistent"]
-
-  def test_contains_missing(self):
-    with mujoco.MjVfs() as vfs:
-      self.assertNotIn("nonexistent", vfs)
-
-
-class VfsCompileTest(absltest.TestCase):
-
-  def test_compile_simple_model(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["model.xml"] = SIMPLE_XML
-      model = mujoco.MjModel.from_xml_path("model.xml", vfs=vfs)
-      self.assertEqual(model.nq, 0)
-
-  def test_compile_model_with_mesh(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["model.xml"] = XML_WITH_MESH
-      vfs["box.obj"] = BOX_OBJ
-      model = mujoco.MjModel.from_xml_path("model.xml", vfs=vfs)
-      self.assertEqual(model.nmesh, 1)
-
-  def test_spec_from_string_with_vfs(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["box.obj"] = BOX_OBJ
-      spec = mujoco.MjSpec.from_string(XML_WITH_MESH.decode(), vfs=vfs)
-      model = spec.compile(vfs=vfs)
-      self.assertEqual(model.nmesh, 1)
-
-  def test_from_xml_string_with_vfs(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["box.obj"] = BOX_OBJ
-      model = mujoco.MjModel.from_xml_string(
-          XML_WITH_MESH.decode(), vfs=vfs
-      )
-      self.assertEqual(model.nmesh, 1)
-
-  def test_spec_compile_with_vfs(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["box.obj"] = BOX_OBJ
-      spec = mujoco.MjSpec.from_string(XML_WITH_MESH.decode())
-      model = spec.compile(vfs=vfs)
-      self.assertEqual(model.nmesh, 1)
-
-  def test_spec_recompile_with_vfs(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["box.obj"] = BOX_OBJ
-      spec = mujoco.MjSpec.from_string(XML_WITH_MESH.decode())
-      model1 = spec.compile(vfs=vfs)
-      self.assertEqual(model1.ngeom, 1)
-
-      body = spec.worldbody.add_body()
-      body.add_geom(size=[1, 0, 0])
-      model2 = spec.compile(vfs=vfs)
-      self.assertEqual(model2.ngeom, 2)
-
-  def test_long_lived_vfs_without_context(self):
-    vfs = mujoco.MjVfs()
-    vfs["box.obj"] = BOX_OBJ
-
-    spec = mujoco.MjSpec.from_string(XML_WITH_MESH.decode())
-    model1 = spec.compile(vfs=vfs)
-    self.assertEqual(model1.nmesh, 1)
-
-    spec.worldbody.add_body().add_geom(size=[1, 0, 0])
-    model2 = spec.compile(vfs=vfs)
-    self.assertEqual(model2.nmesh, 1)
-    self.assertEqual(model2.ngeom, 2)
-
-    vfs.close()
-
-  def test_vfs_and_assets_raises(self):
-    with mujoco.MjVfs() as vfs:
-      vfs["model.xml"] = SIMPLE_XML
-      with self.assertRaises(ValueError):
-        mujoco.MjModel.from_xml_string(
-            SIMPLE_XML.decode(), assets={"a": b"b"}, vfs=vfs
-        )
-
-  def test_backward_compat_assets_dict(self):
-    model = mujoco.MjModel.from_xml_string(
-        XML_WITH_MESH.decode(), assets={"box.obj": BOX_OBJ}
-    )
-    self.assertEqual(model.nmesh, 1)
-
-
-class VfsAttachTest(absltest.TestCase):
-
-  def test_attach_shared_vfs(self):
-    child_xml = textwrap.dedent("""\
-        <mujoco>
-          <asset>
-            <mesh name="child_mesh" file="box.obj"/>
-          </asset>
-          <worldbody>
-            <body name="child">
-              <geom type="mesh" mesh="child_mesh" size="1 1 1"/>
-              <site name="attachment_site"/>
-            </body>
-          </worldbody>
-        </mujoco>
-    """)
-    parent_xml = textwrap.dedent("""\
-        <mujoco>
-          <worldbody>
-            <body name="parent">
-              <site name="mount"/>
-            </body>
-          </worldbody>
-        </mujoco>
-    """)
-
-    with mujoco.MjVfs() as vfs:
-      vfs["box.obj"] = BOX_OBJ
-
-      parent = mujoco.MjSpec.from_string(parent_xml)
-      child = mujoco.MjSpec.from_string(child_xml)
-      parent.attach(child, site="mount")
-      model = parent.compile(vfs=vfs)
-      self.assertEqual(model.nmesh, 1)
-      self.assertEmpty(parent.assets)
-
-  def test_attach_no_asset_dict_needed(self):
-    child_xml = textwrap.dedent("""\
-        <mujoco>
-          <worldbody>
-            <body name="child">
-              <geom size="1"/>
-              <site name="child_site"/>
-            </body>
-          </worldbody>
-        </mujoco>
-    """)
-    parent_xml = textwrap.dedent("""\
-        <mujoco>
-          <worldbody>
-            <body name="parent">
-              <site name="mount"/>
-            </body>
-          </worldbody>
-        </mujoco>
-    """)
-
-    with mujoco.MjVfs() as vfs:
-      parent = mujoco.MjSpec.from_string(parent_xml)
-      child = mujoco.MjSpec.from_string(child_xml)
-      parent.attach(child, site="mount")
-      model = parent.compile(vfs=vfs)
-      self.assertGreater(model.nbody, 1)
-
-
-if __name__ == "__main__":
-  absltest.main()
diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
deleted file mode 100644
index e75d295d..00000000
--- a/python/mujoco/viewer.py
+++ /dev/null
@@ -1,620 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Interactive GUI viewer for MuJoCo."""
-
-import abc
-import atexit
-import contextlib
-import math
-import os
-import queue
-import sys
-import threading
-import time
-from typing import Callable, List, Optional, Tuple, Union
-import weakref
-
-import glfw
-import mujoco
-from mujoco import _simulate
-import numpy as np
-
-if not glfw._glfw:  # pylint: disable=protected-access
-  raise RuntimeError('GLFW dynamic library handle is not available')
-else:
-  _simulate.set_glfw_dlhandle(glfw._glfw._handle)  # pylint: disable=protected-access
-
-# Logarithmically spaced realtime slow-down coefficients (percent).
-PERCENT_REALTIME = (
-    100, 80, 66, 50, 40, 33, 25, 20, 16, 13,
-    10, 8, 6.6, 5, 4, 3.3, 2.5, 2, 1.6, 1.3,
-    1, 0.8, 0.66, 0.5, 0.4, 0.33, 0.25, 0.2, 0.16, 0.13,
-    0.1
-)  # fmt: skip
-
-# Maximum time mis-alignment before re-sync.
-MAX_SYNC_MISALIGN = 0.1
-
-# Fraction of refresh available for simulation.
-SIM_REFRESH_FRACTION = 0.7
-
-CallbackType = Callable[[mujoco.MjModel, mujoco.MjData], None]
-LoaderType = Callable[[], Tuple[mujoco.MjModel, mujoco.MjData]]
-KeyCallbackType = Callable[[int], None]
-
-# Loader function that also returns a file path for the GUI to display.
-_LoaderWithPathType = Callable[[], Tuple[mujoco.MjModel, mujoco.MjData, str]]
-_InternalLoaderType = Union[LoaderType, _LoaderWithPathType]
-
-_Simulate = _simulate.Simulate
-
-
-class Handle:
-  """A handle for interacting with a MuJoCo viewer."""
-
-  def __init__(
-      self,
-      sim: _Simulate,
-      cam: mujoco.MjvCamera,
-      opt: mujoco.MjvOption,
-      pert: mujoco.MjvPerturb,
-      user_scn: Optional[mujoco.MjvScene],
-  ):
-    self._sim = weakref.ref(sim)
-    self._cam = cam
-    self._opt = opt
-    self._pert = pert
-    self._user_scn = user_scn
-
-  @property
-  def cam(self):
-    return self._cam
-
-  @property
-  def opt(self):
-    return self._opt
-
-  @property
-  def perturb(self):
-    return self._pert
-
-  @property
-  def user_scn(self):
-    return self._user_scn
-
-  @property
-  def m(self):
-    sim = self._sim()
-    if sim is not None:
-      return sim.m
-    return None
-
-  @property
-  def d(self):
-    sim = self._sim()
-    if sim is not None:
-      return sim.d
-    return None
-
-  @property
-  def viewport(self):
-    sim = self._sim()
-    if sim is not None:
-      return sim.viewport
-    return None
-
-  def set_figures(
-      self, viewports_figures: Union[Tuple[mujoco.MjrRect, mujoco.MjvFigure],
-                                   List[Tuple[mujoco.MjrRect, mujoco.MjvFigure]]]
-  ):
-    """Overlay figures on the viewer.
-
-    Args:
-      viewports_figures: Single tuple or list of tuples of (viewport, figure)
-        viewport: Rectangle defining position and size of the figure
-        figure: MjvFigure object containing the figure data to display
-    """
-    sim = self._sim()
-    if sim is not None:
-      # Convert single tuple to list if needed
-      if isinstance(viewports_figures, tuple):
-        viewports_figures = [viewports_figures]
-      sim.set_figures(viewports_figures)
-
-  def clear_figures(self):
-    sim = self._sim()
-    if sim is not None:
-      sim.clear_figures()
-
-  def set_texts(self, texts: Union[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]],
-                                            List[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]]]]):
-    """Overlay text on the viewer.
-
-    Args:
-      texts: Single tuple or list of tuples of (font, gridpos, text1, text2)
-        font: Font style from mujoco.mjtFontScale
-        gridpos: Position of text box from mujoco.mjtGridPos
-        text1: Left text column, defaults to empty string if None
-        text2: Right text column, defaults to empty string if None
-    """
-    sim = self._sim()
-    if sim is not None:
-      # Convert single tuple to list if needed
-      if isinstance(texts, tuple):
-        texts = [texts]
-
-      # Convert None values to empty strings
-      default_font = mujoco.mjtFontScale.mjFONTSCALE_150
-      default_gridpos = mujoco.mjtGridPos.mjGRID_TOPLEFT
-      processed_texts = [(
-                        default_font if font is None else font,
-                        default_gridpos if gridpos is None else gridpos,
-                         "" if text1 is None else text1,
-                         "" if text2 is None else text2)
-                        for font, gridpos, text1, text2 in texts]
-
-      sim.set_texts(processed_texts)
-
-  def clear_texts(self):
-    sim = self._sim()
-    if sim is not None:
-      sim.clear_texts()
-
-  def set_images(
-      self, viewports_images: Union[Tuple[mujoco.MjrRect, np.ndarray],
-                                  List[Tuple[mujoco.MjrRect, np.ndarray]]]
-  ):
-    """Overlay images on the viewer.
-
-    Args:
-      viewports_images: Single tuple or list of tuples of (viewport, image)
-        viewport: Rectangle defining position and size of the image
-        image: RGB image with shape (height, width, 3)
-    """
-    sim = self._sim()
-    if sim is not None:
-      # Convert single tuple to list if needed
-      if isinstance(viewports_images, tuple):
-        viewports_images = [viewports_images]
-
-      processed_images = []
-      for viewport, image in viewports_images:
-        targ_shape = (viewport.height, viewport.width)
-        # Check if image is already the correct shape
-        if image.shape[:2] != targ_shape:
-          raise ValueError(f"Image shape {image.shape[:2]} does not match target shape {targ_shape}")
-        flipped = np.flip(image, axis=0)
-        contiguous = np.ascontiguousarray(flipped)
-        processed_images.append((viewport, contiguous))
-      sim.set_images(processed_images)
-
-  def clear_images(self):
-    sim = self._sim()
-    if sim is not None:
-      sim.clear_images()
-
-  def close(self):
-    sim = self._sim()
-    if sim is not None:
-      sim.exit()
-
-  def _get_sim(self) -> Optional[_Simulate]:
-    sim = self._sim()
-    if sim is not None:
-      try:
-        return sim if sim.exitrequest == 0 else None
-      except mujoco.UnexpectedError:
-        # UnexpectedError is raised when accessing `exitrequest` after the
-        # underlying simulate instance has been deleted in C++.
-        return None
-    return None
-
-  def is_running(self) -> bool:
-    return self._get_sim() is not None
-
-  def lock(self):
-    sim = self._get_sim()
-    if sim is not None:
-      return sim.lock()
-    return contextlib.nullcontext()
-
-  def sync(self, state_only: bool = False):
-    sim = self._get_sim()
-    if sim is not None:
-      sim.sync(state_only)  # locks internally
-
-  def update_hfield(self, hfieldid: int):
-    sim = self._get_sim()
-    if sim is not None:
-      sim.update_hfield(hfieldid)  # locks internally and blocks until done
-
-  def update_mesh(self, meshid: int):
-    sim = self._get_sim()
-    if sim is not None:
-      sim.update_mesh(meshid)  # locks internally and blocks until done
-
-  def update_texture(self, texid: int):
-    sim = self._get_sim()
-    if sim is not None:
-      sim.update_texture(texid)  # locks internally and blocks until done
-
-  def __enter__(self):
-    return self
-
-  def __exit__(self, exc_type, exc_val, exc_tb):
-    self.close()
-
-
-# Abstract base dispatcher class for systems that require UI calls to be made
-# on a specific thread (e.g. macOS). This is subclassed by system-specific
-# Python launcher (mjpython) to implement the required dispatching mechanism.
-class _MjPythonBase(metaclass=abc.ABCMeta):
-
-  def launch_on_ui_thread(
-      self,
-      model: mujoco.MjModel,
-      data: mujoco.MjData,
-      handle_return: Optional['queue.Queue[Handle]'],
-      key_callback: Optional[KeyCallbackType],
-  ):
-    pass
-
-
-# When running under mjpython, the launcher initializes this object.
-_MJPYTHON: Optional[_MjPythonBase] = None
-
-
-def _file_loader(path: str) -> _LoaderWithPathType:
-  """Loads an MJCF model from file path."""
-
-  def load(path=path) -> Tuple[mujoco.MjModel, mujoco.MjData, str]:
-    if len(path) >= 4 and path[-4:] == '.mjb':
-      m = mujoco.MjModel.from_binary_path(path)
-    else:
-      m = mujoco.MjModel.from_xml_path(path)
-    d = mujoco.MjData(m)
-    return m, d, path
-
-  return load
-
-
-def _reload(
-    simulate: _Simulate,
-    loader: _InternalLoaderType,
-    notify_loaded: Optional[Callable[[], None]] = None,
-) -> Optional[Tuple[mujoco.MjModel, mujoco.MjData]]:
-  """Internal function for reloading a model in the viewer."""
-  try:
-    simulate.load_message('')  # path is unknown at this point
-    load_tuple = loader()
-  except Exception as e:  # pylint: disable=broad-except
-    simulate.load_error = str(e)
-    simulate.load_message_clear()
-  else:
-    m, d = load_tuple[:2]
-
-    # If the loader does not raise an exception then we assume that it
-    # successfully created mjModel and mjData. This is specified in the type
-    # annotation, but we perform a runtime assertion here as well to prevent
-    # possible segmentation faults.
-    assert m is not None and d is not None
-
-    path = load_tuple[2] if len(load_tuple) == 3 else ''
-    simulate.load(m, d, path)
-
-    # Make sure any load_error message is cleared
-    simulate.load_error = ''
-
-    if notify_loaded:
-      notify_loaded()
-
-    return m, d
-
-
-def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
-  """Physics loop for the GUI, to be run in a separate thread."""
-  m: mujoco.MjModel = None  # pyrefly: ignore[bad-assignment]
-  d: mujoco.MjData = None  # pyrefly: ignore[bad-assignment]
-  ctrl_noise = np.array([])
-  reload = True
-
-  # CPU-sim synchronization point.
-  synccpu = 0.0
-  syncsim = 0.0
-
-  # Run until asked to exit.
-  while not simulate.exitrequest:
-    if simulate.droploadrequest:
-      simulate.droploadrequest = 0
-      loader = _file_loader(simulate.dropfilename)
-      reload = True
-
-    if simulate.uiloadrequest:
-      simulate.uiloadrequest_decrement()
-      reload = True
-
-    if reload and loader is not None:
-      result = _reload(simulate, loader)
-      if result is not None:
-        m, d = result
-        ctrl_noise = np.zeros((m.nu,))
-
-    reload = False
-
-    # Sleep for 1 ms or yield, to let main thread run.
-    if simulate.run != 0 and simulate.busywait != 0:
-      time.sleep(0)
-    else:
-      time.sleep(0.001)
-
-    with simulate.lock():
-      if m is not None:
-        assert d is not None
-        if simulate.run:
-          stepped = False
-          # Record CPU time at start of iteration.
-          startcpu = time.time()
-
-          elapsedcpu = startcpu - synccpu
-          elapsedsim = d.time - syncsim
-
-          # Inject noise.
-          if simulate.ctrl_noise_std != 0.0:
-            # Convert rate and scale to discrete time (Ornstein–Uhlenbeck).
-            rate = math.exp(
-                -m.opt.timestep / max(simulate.ctrl_noise_rate, mujoco.mjMINVAL)
-            )
-            scale = simulate.ctrl_noise_std * math.sqrt(1 - rate * rate)
-
-            for i in range(m.nu):
-              # Update noise.
-              ctrl_noise[i] = rate * ctrl_noise[
-                  i
-              ] + scale * mujoco.mju_standardNormal(None)
-
-              # Apply noise.
-              d.ctrl[i] = ctrl_noise[i]
-
-          # Requested slow-down factor.
-          slowdown = 100 / PERCENT_REALTIME[simulate.real_time_index]
-
-          # Misalignment: distance from target sim time > MAX_SYNC_MISALIGN.
-          misaligned = (
-              abs(elapsedcpu / slowdown - elapsedsim) > MAX_SYNC_MISALIGN
-          )
-
-          # Out-of-sync (for any reason): reset sync times, step.
-          if (
-              elapsedsim < 0
-              or elapsedcpu < 0
-              or synccpu == 0
-              or misaligned
-              or simulate.speed_changed
-          ):
-            # Re-sync.
-            synccpu = startcpu
-            syncsim = d.time
-            simulate.speed_changed = False
-
-            # Run single step, let next iteration deal with timing.
-            mujoco.mj_step(m, d)
-            stepped = True
-
-          # In-sync: step until ahead of cpu.
-          else:
-            measured = False
-            prevsim = d.time
-            refreshtime = SIM_REFRESH_FRACTION / simulate.refresh_rate
-            # Step while sim lags behind CPU and within refreshtime.
-            while (
-                (d.time - syncsim) * slowdown < (time.time() - synccpu)
-            ) and ((time.time() - startcpu) < refreshtime):
-              # Measure slowdown before first step.
-              if not measured and elapsedsim:
-                simulate.measured_slowdown = elapsedcpu / elapsedsim
-                measured = True
-
-              # Call mj_step.
-              mujoco.mj_step(m, d)
-              stepped = True
-
-              # Break if reset.
-              if d.time < prevsim:
-                break
-
-          # save current state to history buffer
-          if stepped:
-            simulate.add_to_history()
-
-        else:  # simulate.run is False: GUI is paused.
-
-          # Run mj_forward, to update rendering and joint sliders.
-          mujoco.mj_forward(m, d)
-          simulate.speed_changed = True
-
-
-def _launch_internal(
-    model: Optional[mujoco.MjModel] = None,
-    data: Optional[mujoco.MjData] = None,
-    *,
-    run_physics_thread: bool,
-    loader: Optional[_InternalLoaderType] = None,
-    handle_return: Optional['queue.Queue[Handle]'] = None,
-    key_callback: Optional[KeyCallbackType] = None,
-    show_left_ui: bool = True,
-    show_right_ui: bool = True,
-) -> None:
-  """Internal API, so that the public API has more readable type annotations."""
-  if model is None and data is not None:
-    raise ValueError('mjData is specified but mjModel is not')
-  elif callable(model) and data is not None:
-    raise ValueError(
-        'mjData should not be specified when an mjModel loader is used'
-    )
-  elif loader is not None and model is not None:
-    raise ValueError('model and loader are both specified')
-  elif run_physics_thread and handle_return is not None:
-    raise ValueError('run_physics_thread and handle_return are both specified')
-
-  if loader is None and model is not None:
-
-    def _loader(m=model, d=data) -> Tuple[mujoco.MjModel, mujoco.MjData]:
-      if d is None:
-        d = mujoco.MjData(m)
-      return m, d
-
-    loader = _loader
-
-  cam = mujoco.MjvCamera()
-  opt = mujoco.MjvOption()
-  pert = mujoco.MjvPerturb()
-  if model and not run_physics_thread:
-    user_scn = mujoco.MjvScene(model, _Simulate.MAX_GEOM)
-  else:
-    user_scn = None
-  simulate = _Simulate(
-      cam, opt, pert, user_scn, run_physics_thread, key_callback
-  )
-
-  simulate.ui0_enable = show_left_ui
-  simulate.ui1_enable = show_right_ui
-
-  # Initialize GLFW if not using mjpython.
-  if _MJPYTHON is None:
-    if not glfw.init():
-      raise mujoco.FatalError('could not initialize GLFW')
-    atexit.register(glfw.terminate)
-
-  notify_loaded = None
-  if handle_return:
-    notify_loaded = lambda: handle_return.put_nowait(
-        Handle(simulate, cam, opt, pert, user_scn)
-    )
-
-  if run_physics_thread:
-    side_thread = threading.Thread(
-        target=_physics_loop, args=(simulate, loader)
-    )
-  else:
-    side_thread = threading.Thread(
-        target=_reload, args=(simulate, loader, notify_loaded)
-    )
-
-  def make_exit(simulate):
-    def exit_simulate():
-      simulate.exit()
-
-    return exit_simulate
-
-  exit_simulate = make_exit(simulate)
-  atexit.register(exit_simulate)
-
-  side_thread.start()
-  simulate.render_loop()
-  atexit.unregister(exit_simulate)
-  side_thread.join()
-  simulate.destroy()
-
-
-def launch(
-    model: Optional[mujoco.MjModel] = None,
-    data: Optional[mujoco.MjData] = None,
-    *,
-    loader: Optional[LoaderType] = None,
-    show_left_ui: bool = True,
-    show_right_ui: bool = True,
-) -> None:
-  """Launches the Simulate GUI."""
-  _launch_internal(
-      model,
-      data,
-      run_physics_thread=True,
-      loader=loader,
-      show_left_ui=show_left_ui,
-      show_right_ui=show_right_ui,
-  )
-
-
-def launch_from_path(path: str) -> None:
-  """Launches the Simulate GUI from file path."""
-  _launch_internal(run_physics_thread=True, loader=_file_loader(path))
-
-
-def launch_passive(
-    model: mujoco.MjModel,
-    data: mujoco.MjData,
-    *,
-    key_callback: Optional[KeyCallbackType] = None,
-    show_left_ui: bool = True,
-    show_right_ui: bool = True,
-) -> Handle:
-  """Launches a passive Simulate GUI without blocking the running thread."""
-  if not isinstance(model, mujoco.MjModel):
-    raise ValueError(f'`model` is not a mujoco.MjModel: got {model!r}')
-  if not isinstance(data, mujoco.MjData):
-    raise ValueError(f'`data` is not a mujoco.MjData: got {data!r}')
-  if key_callback is not None and not callable(key_callback):
-    raise ValueError(f'`key_callback` is not callable: got {key_callback!r}')
-
-  mujoco.mj_forward(model, data)
-  handle_return = queue.Queue(1)
-
-  if sys.platform != 'darwin':
-    thread = threading.Thread(
-        target=_launch_internal,
-        args=(model, data),
-        kwargs=dict(
-            run_physics_thread=False,
-            handle_return=handle_return,
-            key_callback=key_callback,
-            show_left_ui=show_left_ui,
-            show_right_ui=show_right_ui,
-        ),
-    )
-    thread.daemon = True
-    thread.start()
-  else:
-    if not isinstance(_MJPYTHON, _MjPythonBase):
-      raise RuntimeError(
-          '`launch_passive` requires that the Python script be run under '
-          '`mjpython` on macOS'
-      )
-    _MJPYTHON.launch_on_ui_thread(
-        model,
-        data,
-        handle_return,
-        key_callback,
-        show_left_ui,
-        show_right_ui,
-    )
-
-  return handle_return.get()
-
-
-if __name__ == '__main__':
-  # pylint: disable=g-bad-import-order
-  from absl import app  # pylint: disable=g-import-not-at-top
-  from absl import flags  # pylint: disable=g-import-not-at-top
-
-  _MJCF_PATH = flags.DEFINE_string('mjcf', None, 'Path to MJCF file.')
-
-  def main(argv) -> None:
-    del argv
-    if _MJCF_PATH.value is not None:
-      launch_from_path(os.path.expanduser(_MJCF_PATH.value))
-    else:
-      launch()
-
-  app.run(main)
diff --git a/python/mujoco/viewer_test.py b/python/mujoco/viewer_test.py
deleted file mode 100644
index f6b8dfcb..00000000
--- a/python/mujoco/viewer_test.py
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Extremely minimal test of mujoco.viewer that just tries to import it."""
-
-from absl.testing import absltest
-from mujoco import viewer
-
-
-class ViewerTest(absltest.TestCase):
-
-  def test_launch_function_exists(self):
-    self.assertIsNotNone(viewer.launch)
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/python/pyproject.toml b/python/pyproject.toml
deleted file mode 100644
index 2a7505f6..00000000
--- a/python/pyproject.toml
+++ /dev/null
@@ -1,103 +0,0 @@
-[build-system]
-requires = ["setuptools"]
-build-backend = "setuptools.build_meta"
-
-[project]
-name = "mujoco"
-version = "3.12.0"
-authors = [
-    {name = "Google DeepMind", email = "mujoco@deepmind.com"},
-]
-description = "MuJoCo Physics Simulator"
-requires-python = ">=3.10"
-license = "Apache-2.0"
-classifiers = [
-    "Development Status :: 5 - Production/Stable",
-    "Intended Audience :: Developers",
-    "Intended Audience :: Science/Research",
-    "Natural Language :: English",
-    "Programming Language :: Python :: 3",
-    "Programming Language :: Python :: 3.10",
-    "Programming Language :: Python :: 3.11",
-    "Programming Language :: Python :: 3.12",
-    "Programming Language :: Python :: 3.13",
-    "Programming Language :: Python :: 3.14",
-    "Topic :: Scientific/Engineering",
-]
-dependencies = [
-    "absl-py",
-    "etils[epath]",
-    "glfw",
-    "numpy",
-    "pyopengl",
-]
-dynamic = ["readme", "scripts"]
-
-[project.urls]
-Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.12.0"
-Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.12.0/changelog.html"
-
-[tool.setuptools]
-include-package-data = false
-
-[tool.setuptools.packages.find]
-include = ["mujoco*"]
-exclude = [
-    "mujoco.codegen",
-    "mujoco.mjpython",
-]
-
-[tool.setuptools.package-data]
-mujoco = [
-    "libmujoco.*.dylib",
-    "libmujoco*.so.*",
-    "mujoco.dll",
-    "include/mujoco/*.h",
-    "testdata/*.xml",
-    "testdata/*.msh",
-    "testdata/*.usda",
-    "testdata/*.zip",
-    "testdata/*.urdf",
-    "sysid/report/templates/*.html",
-]
-
-[project.optional-dependencies]
-sysid = [
-    "absl-py",
-    "colorama",
-    "imageio[ffmpeg]",
-    "jinja2",
-    "matplotlib",
-    "plotly",
-    "pyyaml",
-    "scipy",
-    "tabulate",
-    "typing_extensions",
-]
-usd = [
-    "usd-core",
-    "pillow"
-]
-
-[tool.isort]
-force_single_line = true
-force_sort_within_sections = true
-lexicographical = true
-single_line_exclusions = ["typing"]
-order_by_type = false
-group_by_package = true
-line_length = 120
-use_parentheses = true
-multi_line_output = 3
-skip_glob = ["**/*.ipynb"]
-
-[tool.pyink]
-line-length = 80
-unstable = true
-pyink-indentation = 2
-pyink-use-majority-quotes = true
-extend-exclude = '''(
- .ipynb$
-)'''
diff --git a/python/rollout.ipynb b/python/rollout.ipynb
deleted file mode 100644
index 2f7b067d..00000000
--- a/python/rollout.ipynb
+++ /dev/null
@@ -1,1744 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "id": "6adc68e0-a943-44ab-9af5-4bc62cc19f34",
-   "metadata": {
-    "editable": true,
-    "id": "6adc68e0-a943-44ab-9af5-4bc62cc19f34",
-    "tags": []
-   },
-   "source": [
-    "![MuJoCo banner](https://raw.githubusercontent.com/google-deepmind/mujoco/main/banner.png)\n",
-    "\n",
-    "# <h1><center>Rollout Tutorial <a href=\"https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/rollout.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"140\" align=\"center\"/></a></center></h1>\n",
-    "\n",
-    "This notebook provides a tutorial for [**MuJoCo** physics](https://github.com/google-deepmind/mujoco#readme), using the native Python bindings.\n",
-    "\n",
-    "This notebook describes the `rollout` module included in the MuJoCo Python library. It performs simulation \"rollouts\" with an underlying C++ function. The rollouts can be multithreaded.\n",
-    "\n",
-    "Below, the usage of each argument is explained with examples. Then some examples for advanced use cases are provided. Finally, `rollout` is benchmarked against pure python and MJX.\n",
-    "\n",
-    "Note the benchmarks were designed to run on >16 thread CPU and an RTX 4090 or A100. They do not run in a reasonable amount of time on a typical free colab runtime.\n",
-    "\n",
-    "<!-- Copyright 2025 DeepMind Technologies Limited\n",
-    "\n",
-    "     Licensed under the Apache License, Version 2.0 (the \"License\");\n",
-    "     you may not use this file except in compliance with the License.\n",
-    "     You may obtain a copy of the License at\n",
-    "\n",
-    "         http://www.apache.org/licenses/LICENSE-2.0\n",
-    "\n",
-    "     Unless required by applicable law or agreed to in writing, software\n",
-    "     distributed under the License is distributed on an \"AS IS\" BASIS,\n",
-    "     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n",
-    "     See the License for the specific language governing permissions and\n",
-    "     limitations under the License.\n",
-    "-->"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "5d8a6604-0948-4a42-a48d-249c7f0c462b",
-   "metadata": {
-    "editable": true,
-    "id": "5d8a6604-0948-4a42-a48d-249c7f0c462b",
-    "tags": []
-   },
-   "source": [
-    "# All Imports"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "0f9fbad1-59d0-40ac-b2b6-99f37313670f",
-   "metadata": {
-    "editable": true,
-    "id": "0f9fbad1-59d0-40ac-b2b6-99f37313670f",
-    "tags": [
-     "hide-input"
-    ]
-   },
-   "outputs": [],
-   "source": [
-    "!pip install mujoco\n",
-    "!pip install mujoco_mjx\n",
-    "!pip install brax\n",
-    "\n",
-    "# Set up GPU rendering.\n",
-    "#from google.colab import files\n",
-    "import distutils.util\n",
-    "import os\n",
-    "import subprocess\n",
-    "if subprocess.run('nvidia-smi').returncode:\n",
-    "  raise RuntimeError(\n",
-    "      'Cannot communicate with GPU. '\n",
-    "      'Make sure you are using a GPU Colab runtime. '\n",
-    "      'Go to the Runtime menu and select Choose runtime type.')\n",
-    "\n",
-    "# Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
-    "# This is usually installed as part of an Nvidia driver package, but the Colab\n",
-    "# kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
-    "# (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
-    "NVIDIA_ICD_CONFIG_PATH = '/usr/share/glvnd/egl_vendor.d/10_nvidia.json'\n",
-    "if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
-    "  with open(NVIDIA_ICD_CONFIG_PATH, 'w') as f:\n",
-    "    f.write(\"\"\"{\n",
-    "    \"file_format_version\" : \"1.0.0\",\n",
-    "    \"ICD\" : {\n",
-    "        \"library_path\" : \"libEGL_nvidia.so.0\"\n",
-    "    }\n",
-    "}\n",
-    "\"\"\")\n",
-    "\n",
-    "# Configure MuJoCo to use the EGL rendering backend (requires GPU)\n",
-    "print('Setting environment variable to use GPU rendering:')\n",
-    "%env MUJOCO_GL=egl\n",
-    "\n",
-    "# Check if installation was successful.\n",
-    "try:\n",
-    "  print('Checking that the installation succeeded:')\n",
-    "  import mujoco\n",
-    "  from mujoco import rollout\n",
-    "  from mujoco import mjx\n",
-    "  mujoco.MjModel.from_xml_string('<mujoco/>')\n",
-    "except Exception as e:\n",
-    "  raise e from RuntimeError(\n",
-    "      'Something went wrong during installation. Check the shell output above '\n",
-    "      'for more information.\\n'\n",
-    "      'If using a hosted Colab runtime, make sure you enable GPU acceleration '\n",
-    "      'by going to the Runtime menu and selecting \"Choose runtime type\".')\n",
-    "\n",
-    "print('Installation successful.')\n",
-    "\n",
-    "# Tell XLA to use Triton GEMM, this improves steps/sec by ~30% on some GPUs\n",
-    "xla_flags = os.environ.get('XLA_FLAGS', '')\n",
-    "xla_flags += ' --xla_gpu_triton_gemm_any=True'\n",
-    "os.environ['XLA_FLAGS'] = xla_flags\n",
-    "\n",
-    "# Other imports and helper functions\n",
-    "import copy\n",
-    "import time\n",
-    "from multiprocessing import cpu_count\n",
-    "import threading\n",
-    "import numpy as np\n",
-    "import jax\n",
-    "import jax.numpy as jp\n",
-    "\n",
-    "# Graphics and plotting.\n",
-    "print('Installing mediapy:')\n",
-    "!command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
-    "!pip install -q mediapy\n",
-    "import mediapy as media\n",
-    "import matplotlib\n",
-    "import matplotlib.pyplot as plt\n",
-    "\n",
-    "# More legible printing from numpy.\n",
-    "np.set_printoptions(precision=3, suppress=True, linewidth=100)\n",
-    "\n",
-    "# Set the number of threads to the number of cpu's that the multiprocessing module reports\n",
-    "nthread = cpu_count()\n",
-    "\n",
-    "# Get MuJoCo's standard humanoid and humanoid_100 models.\n",
-    "print('Getting MuJoCo humanoid XML description from GitHub:')\n",
-    "!git clone https://github.com/google-deepmind/mujoco\n",
-    "humanoid_path = 'mujoco/model/humanoid/humanoid.xml'\n",
-    "humanoid100_path = 'mujoco/model/humanoid/humanoid100.xml'\n",
-    "print('Getting hopper XML description from GitHub:')\n",
-    "!git clone https://github.com/google-deepmind/dm_control\n",
-    "hopper_path ='dm_control/dm_control/suite/hopper.xml'\n",
-    "\n",
-    "# clear installation printouts\n",
-    "from IPython.display import clear_output\n",
-    "clear_output()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "fc69d0f4",
-   "metadata": {
-    "id": "fc69d0f4"
-   },
-   "source": [
-    "# Helper Functions"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "082482c7",
-   "metadata": {
-    "editable": true,
-    "id": "082482c7",
-    "tags": [
-     "hide-input"
-    ]
-   },
-   "outputs": [],
-   "source": [
-    "def get_state(model, data, nbatch=1):\n",
-    "  full_physics = mujoco.mjtState.mjSTATE_FULLPHYSICS\n",
-    "  state = np.zeros((mujoco.mj_stateSize(model, full_physics),))\n",
-    "  mujoco.mj_getState(model, data, state, full_physics)\n",
-    "  return np.tile(state, (nbatch, 1))\n",
-    "\n",
-    "def xy_grid(nbatch, ncols=10, spacing=0.05):\n",
-    "  nrows = nbatch // ncols\n",
-    "  assert nbatch == nrows * ncols\n",
-    "  xmax = (nrows-1)*spacing/2\n",
-    "  rows = np.linspace(-xmax, xmax, nrows)\n",
-    "  ymax = (ncols-1)*spacing/2\n",
-    "  cols = np.linspace(-ymax, ymax, ncols)\n",
-    "  x, y = np.meshgrid(rows, cols)\n",
-    "  return np.stack((x.flatten(), y.flatten())).T\n",
-    "\n",
-    "def benchmark(f, x_list=[None], ntiming=1, f_init=None):\n",
-    "  x_times_list = []\n",
-    "  for x in x_list:\n",
-    "    times = []\n",
-    "    for i in range(ntiming):\n",
-    "      if f_init is not None:\n",
-    "        x_init = f_init(x)\n",
-    "\n",
-    "      start = time.perf_counter()\n",
-    "      if f_init is not None:\n",
-    "        f(x, x_init)\n",
-    "      else:\n",
-    "        f(x)\n",
-    "      end = time.perf_counter()\n",
-    "      times.append(end - start)\n",
-    "\n",
-    "    x_times_list.append(np.mean(times))\n",
-    "  return np.array(x_times_list)\n",
-    "\n",
-    "def render_many(model, data, state, framerate, camera=-1, shape=(480, 640),\n",
-    "                transparent=False, light_pos=None):\n",
-    "  nbatch = state.shape[0]\n",
-    "\n",
-    "  if not isinstance(model, mujoco.MjModel):\n",
-    "    model = list(model)\n",
-    "\n",
-    "  if isinstance(model, list) and len(model) == 1:\n",
-    "    model = model * nbatch\n",
-    "  elif isinstance(model, list):\n",
-    "    assert len(model) == nbatch\n",
-    "  else:\n",
-    "    model = [model] * nbatch\n",
-    "\n",
-    "  # Visual options\n",
-    "  vopt = mujoco.MjvOption()\n",
-    "  vopt.flags[mujoco.mjtVisFlag.mjVIS_TRANSPARENT] = transparent\n",
-    "  pert = mujoco.MjvPerturb()  # Empty MjvPerturb object\n",
-    "  catmask = mujoco.mjtCatBit.mjCAT_DYNAMIC\n",
-    "\n",
-    "  # Simulate and render.\n",
-    "  frames = []\n",
-    "  with mujoco.Renderer(model[0], *shape) as renderer:\n",
-    "    for i in range(state.shape[1]):\n",
-    "      if len(frames) < i * model[0].opt.timestep * framerate:\n",
-    "        for j in range(state.shape[0]):\n",
-    "          mujoco.mj_setState(model[j], data, state[j, i, :],\n",
-    "                             mujoco.mjtState.mjSTATE_FULLPHYSICS)\n",
-    "          mujoco.mj_forward(model[j], data)\n",
-    "\n",
-    "          # Use first model to make the scene, add subsequent models\n",
-    "          if j == 0:\n",
-    "            renderer.update_scene(data, camera, scene_option=vopt)\n",
-    "          else:\n",
-    "            mujoco.mjv_addGeoms(model[j], data, vopt, pert, catmask, renderer.scene)\n",
-    "\n",
-    "        # Add light, if requested\n",
-    "        if light_pos is not None:\n",
-    "          light = renderer.scene.lights[renderer.scene.nlight]\n",
-    "          light.ambient = [0, 0, 0]\n",
-    "          light.attenuation = [1, 0, 0]\n",
-    "          light.castshadow = 1\n",
-    "          light.cutoff = 45\n",
-    "          light.diffuse = [0.8, 0.8, 0.8]\n",
-    "          light.dir = [0, 0, -1]\n",
-    "          light.type = mujoco.mjtLightType.mjLIGHT_SPOT\n",
-    "          light.exponent = 10\n",
-    "          light.headlight = 0\n",
-    "          light.specular = [0.3, 0.3, 0.3]\n",
-    "          light.pos = light_pos\n",
-    "          renderer.scene.nlight += 1\n",
-    "\n",
-    "        # Render and add the frame.\n",
-    "        pixels = renderer.render()\n",
-    "        frames.append(pixels)\n",
-    "  return frames"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "c0570c2c",
-   "metadata": {
-    "id": "c0570c2c"
-   },
-   "source": [
-    "# Using `rollout`\n",
-    "\n",
-    "The `rollout.rollout` function in the `mujoco` Python library runs batches of simulations for a fixed number steps. It can run in single or multi-threaded modes. The speedup over pure Python is significant because `rollout` users can easily enable the usage of a lightweight threadpool.\n",
-    "\n",
-    "Below we load the \"tippe top\", \"humanoid\", and \"humanoid100\" models which will be used in the following usage examples and benchmarks.\n",
-    "\n",
-    "The tippe top is copied from the [tutorial notebook](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb). The humanoid and humanoid100 models are distributed with MuJoCo."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "849b93e5",
-   "metadata": {
-    "id": "849b93e5"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Benchmarked models\n",
-    "tippe_top = \"\"\"\n",
-    "<mujoco model=\"tippe top\">\n",
-    "  <option integrator=\"RK4\"/>\n",
-    "\n",
-    "  <asset>\n",
-    "    <texture name=\"grid\" type=\"2d\" builtin=\"checker\" rgb1=\".1 .2 .3\"\n",
-    "     rgb2=\".2 .3 .4\" width=\"300\" height=\"300\"/>\n",
-    "    <material name=\"grid\" texture=\"grid\" texrepeat=\"40 40\" reflectance=\".2\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <geom size=\"1 1 .01\" type=\"plane\" material=\"grid\"/>\n",
-    "    <light pos=\"0 0 .6\"/>\n",
-    "    <camera name=\"closeup\" pos=\"0 -.1 .07\" xyaxes=\"1 0 0 0 1 2\"/>\n",
-    "    <camera name=\"distant\" pos=\"0 -.4 .4\" xyaxes=\"1 0 0 0 1 1\"/>\n",
-    "    <body name=\"top\" pos=\"0 0 .02\">\n",
-    "      <freejoint name=\"top\"/>\n",
-    "      <site name=\"top\" pos=\"0 0 0\"/>\n",
-    "      <geom name=\"ball\" type=\"sphere\" size=\".02\" />\n",
-    "      <geom name=\"stem\" type=\"cylinder\" pos=\"0 0 .02\" size=\"0.004 .008\"/>\n",
-    "      <geom name=\"ballast\" type=\"box\" size=\".023 .023 0.005\"  pos=\"0 0 -.015\"\n",
-    "       contype=\"0\" conaffinity=\"0\" group=\"3\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "\n",
-    "  <sensor>\n",
-    "    <gyro name=\"gyro\" site=\"top\"/>\n",
-    "  </sensor>\n",
-    "\n",
-    "  <keyframe>\n",
-    "    <key name=\"spinning\" qpos=\"0 0 0.02 1 0 0 0\" qvel=\"0 0 0 0 1 200\" />\n",
-    "  </keyframe>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "\n",
-    "# Create and initialize top model\n",
-    "top_model = mujoco.MjModel.from_xml_string(tippe_top)\n",
-    "top_data = mujoco.MjData(top_model)\n",
-    "# Set to the state to a spinning top (keyframe 0)\n",
-    "mujoco.mj_resetDataKeyframe(top_model, top_data, 0)\n",
-    "top_state = get_state(top_model, top_data)\n",
-    "\n",
-    "# Create and initialize humanoid model\n",
-    "humanoid_model = mujoco.MjModel.from_xml_path(humanoid_path)\n",
-    "humanoid_data = mujoco.MjData(humanoid_model)\n",
-    "humanoid_data.qvel[2] = 4 # Make the humanoid jump\n",
-    "humanoid_state = get_state(humanoid_model, humanoid_data)\n",
-    "\n",
-    "# Create and initialize humanoid100 model\n",
-    "humanoid100_model = mujoco.MjModel.from_xml_path(humanoid100_path)\n",
-    "humanoid100_data = mujoco.MjData(humanoid100_model)\n",
-    "h100_state = get_state(humanoid100_model, humanoid100_data)\n",
-    "\n",
-    "start = time.time()\n",
-    "top_nstep = int(6 / top_model.opt.timestep)\n",
-    "top_state, _ = rollout.rollout(top_model, top_data, top_state, nstep=top_nstep)\n",
-    "\n",
-    "humanoid_nstep = int(3 / humanoid_model.opt.timestep)\n",
-    "humanoid_state, _ = rollout.rollout(humanoid_model, humanoid_data,\n",
-    "                                    humanoid_state, nstep=humanoid_nstep)\n",
-    "\n",
-    "humanoid100_nstep = int(3 / humanoid100_model.opt.timestep)\n",
-    "h100_state, _ = rollout.rollout(humanoid100_model, humanoid100_data,\n",
-    "                                       h100_state, nstep=humanoid100_nstep)\n",
-    "end = time.time()\n",
-    "\n",
-    "start_render = time.time()\n",
-    "top_frames = render_many(top_model, top_data, top_state, framerate=60, shape=(240, 320))\n",
-    "humanoid_frames = render_many(humanoid_model, humanoid_data, humanoid_state, framerate=120, shape=(240, 320))\n",
-    "humanoid100_frames = render_many(humanoid100_model, humanoid100_data, h100_state, framerate=120, shape=(240, 320))\n",
-    "\n",
-    "# humanoid and humanoid100 are shown at half speed\n",
-    "media.show_video(np.concatenate((top_frames, humanoid_frames, humanoid100_frames), axis=2), fps=60)\n",
-    "end_render = time.time()\n",
-    "\n",
-    "print(f'Rollout took {end-start:.1f} seconds')\n",
-    "print(f'Rendering took {end_render-start_render:.1f} seconds')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "55d171f7-541b-4441-aa18-da86d6716410",
-   "metadata": {
-    "id": "55d171f7-541b-4441-aa18-da86d6716410"
-   },
-   "source": [
-    "## Usage\n",
-    "\n",
-    "It is helpful to read `rollout`'s docstring before beginning. The main takeaways are that `rollout` runs `nbatch` rollouts for `nstep` steps. Each `MjModel` can be different but should be the same up to parameter values. Passing multiple `MjData` enables multithreading, one thread per `MjData`.\n",
-    "Further documentation can be found [here](https://mujoco.readthedocs.io/en/latest/python.html#rollout).\n",
-    "\n",
-    "Next we give usage examples of the most common arguments. The more advanced arguments are discussed in the \"Advanced Usage\" section."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "9cd2f94a-11df-4247-986c-5a56af69a1f5",
-   "metadata": {
-    "id": "9cd2f94a-11df-4247-986c-5a56af69a1f5"
-   },
-   "outputs": [],
-   "source": [
-    "print(rollout.rollout.__doc__)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "b6f7a094-8352-4b07-99ee-5278e3036cd5",
-   "metadata": {
-    "id": "b6f7a094-8352-4b07-99ee-5278e3036cd5",
-    "tags": []
-   },
-   "source": [
-    "### Example: different initial states\n",
-    "`rollout` is designed to run `nbatch` rollouts in parallel for `nstep` steps. Let's simulate 100 tippe tops with different initial rotation speeds.\n",
-    "\n",
-    "**Note:** Using multithreading with rollout is enabled by passing one MjData per thread, as is done below."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "849af5f2-9de1-4cb9-bc3a-c9b7acf0e3fe",
-   "metadata": {
-    "id": "849af5f2-9de1-4cb9-bc3a-c9b7acf0e3fe"
-   },
-   "outputs": [],
-   "source": [
-    "nbatch = 100 # Simulate this many tops\n",
-    "\n",
-    "# Get nbatch initial states and scale the initial speed of the tippe top using the batch index\n",
-    "top_data = mujoco.MjData(top_model)\n",
-    "mujoco.mj_resetDataKeyframe(top_model, top_data, 0)\n",
-    "initial_states = get_state(top_model, top_data, nbatch)\n",
-    "initial_states[:, -1] *= np.linspace(0.5, 1.5, num=nbatch)\n",
-    "\n",
-    "# Run the rollout\n",
-    "start = time.time()\n",
-    "top_datas = [copy.copy(top_data) for _ in range(nthread)] # 1 MjData per thread\n",
-    "state, sensordata = rollout.rollout(top_model, top_datas, initial_states,\n",
-    "                                    nstep=int(top_nstep*1.5))\n",
-    "end = time.time()\n",
-    "\n",
-    "# Use state to render all the tops at once\n",
-    "start_render = time.time()\n",
-    "framerate = 60\n",
-    "frames = render_many(top_model, top_data, state, framerate, transparent=True)\n",
-    "media.show_video(frames, fps=framerate)\n",
-    "end_render = time.time()\n",
-    "\n",
-    "print(f'Rollout time {end-start:.1f} seconds')\n",
-    "print(f'Rendering time {end_render-start_render:.1f} seconds')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "aa2cf151-bf9a-4a23-b7fe-6a766979d93f",
-   "metadata": {
-    "id": "aa2cf151-bf9a-4a23-b7fe-6a766979d93f"
-   },
-   "source": [
-    "Our model has an angular velocity sensor the middle of the top. Let's plot the response using the `sensordata` array that rollout returns."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "957b8566-da31-410b-b385-e78241c5247a",
-   "metadata": {
-    "id": "957b8566-da31-410b-b385-e78241c5247a"
-   },
-   "outputs": [],
-   "source": [
-    "plt.figure(figsize=(12, 8))\n",
-    "plt.subplot(3,1,1)\n",
-    "for i in range(nbatch): plt.plot(sensordata[i, :, 0])\n",
-    "plt.subplot(3,1,2)\n",
-    "for i in range(nbatch): plt.plot(sensordata[i, :, 1])\n",
-    "plt.subplot(3,1,3)\n",
-    "for i in range(nbatch): plt.plot(sensordata[i, :, 2])\n",
-    "plt.show()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "58044bc1-f98c-4bbf-a703-40ba075552a0",
-   "metadata": {
-    "id": "58044bc1-f98c-4bbf-a703-40ba075552a0"
-   },
-   "source": [
-    "### Example: different models\n",
-    "100 gray tops is kind of boring. It would be better if they were colorful and different sizes!\n",
-    "\n",
-    "`rollout` supports using different models for each rollout, so long as their dimensions are the same (i.e., floating point parameters can be different). Let's simulate 100 tippe tops with the same initial condition, but different sizes and colors.\n",
-    "\n",
-    "**Note:** Strictly speaking, the models must have the same number of states, controls, degrees of freedom, and sensor outputs. The most common use case is multiple models of the same thing, with different parameter values."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "7c39e79e-8942-4fea-b306-ea0cb3c826e2",
-   "metadata": {
-    "id": "7c39e79e-8942-4fea-b306-ea0cb3c826e2"
-   },
-   "outputs": [],
-   "source": [
-    "# Make 100 tippe tops with different colors and sizes\n",
-    "nbatch = 100\n",
-    "spec = mujoco.MjSpec.from_string(tippe_top)\n",
-    "spec.lights[0].pos[2] = 2\n",
-    "models = []\n",
-    "for i in range(nbatch):\n",
-    "  for geom in spec.geoms:\n",
-    "    if geom.name in ['ball', 'stem', 'ballast']:\n",
-    "      geom.rgba[:3] = np.random.rand(3)\n",
-    "    if geom.name == 'stem':\n",
-    "      stem_geom = geom\n",
-    "    if geom.name == 'ball':\n",
-    "      ball_geom = geom\n",
-    "\n",
-    "  # Save original geom size\n",
-    "  stem_geom_size = np.copy(stem_geom.size)\n",
-    "  ball_geom_size = np.copy(ball_geom.size)\n",
-    "\n",
-    "  # Scale geoms and compile model\n",
-    "  size_scale = 0.4*np.random.rand(1) + 0.75\n",
-    "  stem_geom.size *= size_scale\n",
-    "  ball_geom.size *= size_scale\n",
-    "  models.append(spec.compile())\n",
-    "\n",
-    "  # Restore original geom size\n",
-    "  stem_geom.size = stem_geom_size\n",
-    "  ball_geom.size = ball_geom_size\n",
-    "\n",
-    "# Set the initial states of all the tops, placing them on a grid\n",
-    "top_data = mujoco.MjData(top_model)\n",
-    "mujoco.mj_resetDataKeyframe(top_model, top_data, 0)\n",
-    "initial_states = get_state(top_model, top_data, nbatch)\n",
-    "# index 0 is time, so x and y qpos values are at 1 and 2\n",
-    "initial_states[:, 1:3] = xy_grid(nbatch, ncols=10, spacing=.05)\n",
-    "\n",
-    "\n",
-    "# Run the rollout\n",
-    "start = time.time()\n",
-    "top_datas = [copy.copy(top_data) for _ in range(nthread)]\n",
-    "nstep = int(9 / top_model.opt.timestep)\n",
-    "state, sensordata = rollout.rollout(models, top_datas, initial_states,\n",
-    "                                    nstep=nstep)\n",
-    "end = time.time()\n",
-    "\n",
-    "# Render video\n",
-    "start_render = time.time()\n",
-    "framerate = 60\n",
-    "cam = mujoco.MjvCamera()\n",
-    "mujoco.mjv_defaultCamera(cam)\n",
-    "cam.distance = 0.2\n",
-    "cam.azimuth = 135\n",
-    "cam.elevation = -25\n",
-    "cam.lookat = [.2, -.2, 0.07]\n",
-    "models[0].vis.global_.fovy = 60\n",
-    "frames = render_many(models, top_data, state, framerate, camera=cam)\n",
-    "media.show_video(frames, fps=framerate)\n",
-    "end_render = time.time()\n",
-    "\n",
-    "print(f'Rollout time {end-start:.1f} seconds')\n",
-    "print(f'Rendering time {end_render-start_render:.1f} seconds')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "cf485c08-72be-4169-89b6-9d93df8ebbe3",
-   "metadata": {
-    "id": "cf485c08-72be-4169-89b6-9d93df8ebbe3"
-   },
-   "source": [
-    "Because the models are now different, the measurements of the gyro sensor are not consistent even though the initial state for each rollout was the same."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "b8a5d3d4-24e7-41a1-b3bd-7b63c1812b03",
-   "metadata": {
-    "id": "b8a5d3d4-24e7-41a1-b3bd-7b63c1812b03"
-   },
-   "outputs": [],
-   "source": [
-    "plt.figure(figsize=(12, 8))\n",
-    "plt.subplot(3,1,1)\n",
-    "for i in range(nbatch): plt.plot(sensordata[i, :, 0])\n",
-    "plt.subplot(3,1,2)\n",
-    "for i in range(nbatch): plt.plot(sensordata[i, :, 1])\n",
-    "plt.subplot(3,1,3)\n",
-    "for i in range(nbatch): plt.plot(sensordata[i, :, 2])\n",
-    "plt.show()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "3841a669-6cd1-427e-a629-20a10a6e3a34",
-   "metadata": {
-    "id": "3841a669-6cd1-427e-a629-20a10a6e3a34"
-   },
-   "source": [
-    "### Example: control inputs\n",
-    "Open loop controls can be passed to `rollout` via the `control` argument. If passed, `nstep` no longer needs to be specified as it can be inferred from the size of `control`.\n",
-    "\n",
-    "Below we simulate 100 of the flailing humanoids from the [tutorial notebook](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb). Each humanoid uses a different control signal."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "2a184873-8d24-45da-b444-8d21f5dcd733",
-   "metadata": {
-    "id": "2a184873-8d24-45da-b444-8d21f5dcd733"
-   },
-   "outputs": [],
-   "source": [
-    "# Episode parameters.\n",
-    "duration = 3        # (seconds)\n",
-    "framerate = 120     # (Hz)\n",
-    "\n",
-    "# Generate 100 different control sequences\n",
-    "nbatch = 100\n",
-    "nstep = int(duration / humanoid_model.opt.timestep)\n",
-    "times = np.linspace(0.0, duration, nstep)\n",
-    "ctrl_phase = 2 * np.pi * np.random.rand(nbatch, 1, humanoid_model.nu)\n",
-    "control = np.sin((2 * np.pi * times).reshape(nstep, 1) + ctrl_phase)\n",
-    "\n",
-    "# Make initial states\n",
-    "humanoid_data = mujoco.MjData(humanoid_model)\n",
-    "humanoid_data.qvel[2] = 4 # Make the humanoid jump\n",
-    "initial_states = get_state(humanoid_model, humanoid_data, nbatch)\n",
-    "# index 0 is time, so x and y qpos values are at 1 and 2\n",
-    "initial_states[:, 1:3] = xy_grid(nbatch, ncols=10, spacing=1.0)\n",
-    "\n",
-    "\n",
-    "# Run the rollout\n",
-    "start = time.time()\n",
-    "humanoid_datas = [copy.copy(humanoid_data) for _ in range(nthread)]\n",
-    "state, _ = rollout.rollout(humanoid_model, humanoid_datas,\n",
-    "                           initial_states, control)\n",
-    "end = time.time()\n",
-    "\n",
-    "# Render the rollout\n",
-    "start_render = time.time()\n",
-    "framerate = 120\n",
-    "cam = mujoco.MjvCamera()\n",
-    "mujoco.mjv_defaultCamera(cam)\n",
-    "cam.distance = 10\n",
-    "cam.azimuth = 45\n",
-    "cam.elevation = -15\n",
-    "cam.lookat = [0, 0, 0]\n",
-    "humanoid_model.vis.global_.fovy = 60\n",
-    "frames = render_many(humanoid_model, humanoid_data, state, framerate,\n",
-    "                     camera=cam, light_pos=[0, 0, 10])\n",
-    "media.show_video(frames, fps=framerate/2) # Show the video at half speed\n",
-    "end_render = time.time()\n",
-    "\n",
-    "print(f'Rollout time {end-start:.1f} seconds')\n",
-    "print(f'Render time {end_render-start_render:.1f} seconds')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "4d89e4fb-7711-4d23-8ff3-eb5030fa8bf7",
-   "metadata": {
-    "id": "4d89e4fb-7711-4d23-8ff3-eb5030fa8bf7"
-   },
-   "source": [
-    "`rollout`'s `control_spec` argument can be used to indicate `control` contains values for actuators, generalized forces, cartesian forces, mocap poses, and/or the activation/deactivation of equality constraints. Internally, this is managed through [mj_setState](https://mujoco.readthedocs.io/en/stable/APIreference/APIfunctions.html#mj-setstate) and `control_spec` corresponds to `mj_setState`'s `spec` argument.\n",
-    "\n",
-    "Let's try applying cartesian forces in addition to the control inputs. This will make the humanoids look like they are being dragged while waving their limbs."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "4b02bb61-912d-47de-a956-aadfcd4c5cd5",
-   "metadata": {
-    "id": "4b02bb61-912d-47de-a956-aadfcd4c5cd5"
-   },
-   "outputs": [],
-   "source": [
-    "xfrc_size = mujoco.mj_stateSize(humanoid_model, mujoco.mjtState.mjSTATE_XFRC_APPLIED)\n",
-    "xfrc = np.zeros((nbatch, nstep, xfrc_size))\n",
-    "head_id = humanoid_model.body('head').id\n",
-    "\n",
-    "# Apply a constant but different force to each model\n",
-    "force = np.random.normal(scale=150.0, size=(nbatch, 1, 3))\n",
-    "force[:,:,2] = 150  # Fixed vertical force\n",
-    "xfrc[:, :, 3*head_id:3*head_id+3] = force\n",
-    "\n",
-    "control_xfrc = np.concatenate((control, xfrc), axis=2)\n",
-    "control_spec = mujoco.mjtState.mjSTATE_XFRC_APPLIED.value\n",
-    "\n",
-    "start = time.time()\n",
-    "state, _ = rollout.rollout(humanoid_model, humanoid_datas,\n",
-    "                           initial_states, xfrc, control_spec=control_spec)\n",
-    "end = time.time()\n",
-    "\n",
-    "start_render = time.time()\n",
-    "frames = render_many(humanoid_model, humanoid_data, state, framerate,\n",
-    "                     camera=cam, light_pos=[0, 0, 10])\n",
-    "media.show_video(frames, fps=framerate/2) # Show the video at half speed\n",
-    "end_render = time.time()\n",
-    "\n",
-    "print(f'Rollout time {end-start:.1f} seconds')\n",
-    "print(f'Render time {end_render-start_render:.1f} seconds')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "0961c3ec-a691-4875-9a55-227a3d29c472",
-   "metadata": {
-    "id": "0961c3ec-a691-4875-9a55-227a3d29c472"
-   },
-   "source": [
-    "# Advanced usage"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "VfYIyXWcLKfg",
-   "metadata": {
-    "id": "VfYIyXWcLKfg"
-   },
-   "source": [
-    "## skip_checks\n",
-    "\n",
-    "By default rollout performs many checks on the dimensions of its arguments. This it allows it to infer dimensions such as `nbatch` and `nstep`, tile arguments that were not fully specified, and allocate the returned `state` and `sensordata` arrays.\n",
-    "\n",
-    "However, these check take time, particularly if `state` and `sensordata` are large or if there are many models and `nstep` is low. So advanced users may want to use the `skip_checks=True` argument in order to achieve additional performance.\n",
-    "\n",
-    "If used, certain arguments become non-optional, and all signals must be fully defined (no implicit tiling). In particular:\n",
-    "* `model` must be a list of length `nbatch`\n",
-    "* `data` must be a list of length `nthread`\n",
-    "* `nstep` must be specified\n",
-    "* `initial_state` must be an array of shape `nbatch x nstate`\n",
-    "* `control` is optional, but if passed must be an array of shape `nbatch x nstep x ncontrol`\n",
-    "* `state` is optional, but must be passed if state is to be returned and must be of shape `nbatch x nstep x nstate`\n",
-    "* `sensordata` is optional, but must be passed if sensor data is to be returned and must be of shape `nbatch x nstep x nsensordata`\n",
-    "\n",
-    "As an extreme example, we pass 10,000 humanoid models to `rollout` and simulate 1 step each with and without checks."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "d02cc8e8-63cd-4852-ab3c-364a18025a95",
-   "metadata": {
-    "id": "d02cc8e8-63cd-4852-ab3c-364a18025a95"
-   },
-   "outputs": [],
-   "source": [
-    "nbatch = 1000\n",
-    "nstep = [1, 10, 100, 500]\n",
-    "ntiming = 5\n",
-    "\n",
-    "top_data = mujoco.MjData(top_model)\n",
-    "mujoco.mj_resetDataKeyframe(top_model, top_data, 0)\n",
-    "top_datas = [copy.copy(top_data) for _ in range(nthread)]\n",
-    "initial_state = get_state(top_model, top_data)\n",
-    "initial_state_tiled = get_state(top_model, top_data, nbatch)\n",
-    "\n",
-    "# Note: state, sensordata array automatically allocated and return\n",
-    "def rollout_with_checks(nstep):\n",
-    "  state, sensordata = rollout.rollout([top_model]*nbatch, top_datas, initial_state, nstep=nstep)\n",
-    "\n",
-    "# Note: state, sensordata arrays have to be preallocated\n",
-    "state = None\n",
-    "sensordata = None\n",
-    "def rollout_skip_checks(nstep):\n",
-    "  # Note initial state must be tiled\n",
-    "  rollout.rollout([top_model]*nbatch, top_datas, initial_state_tiled, nstep=nstep,\n",
-    "                  state=state, sensordata=sensordata, skip_checks=True)\n",
-    "\n",
-    "t_with_checks = benchmark(lambda x: rollout_with_checks(x), nstep, ntiming=ntiming)\n",
-    "t_skip_checks = benchmark(lambda x: rollout_skip_checks(x), nstep, ntiming=ntiming)\n",
-    "\n",
-    "steps_per_second = (nbatch * np.array(nstep)) / np.array(t_with_checks)\n",
-    "steps_per_second_skip_checks = (nbatch * np.array(nstep)) / np.array(t_skip_checks)\n",
-    "\n",
-    "plt.loglog(nstep, steps_per_second, label='with checks')\n",
-    "plt.loglog(nstep, steps_per_second_skip_checks, label='skip checks')\n",
-    "plt.ylabel('steps per second')\n",
-    "plt.xlabel('nstep')\n",
-    "ticker = matplotlib.ticker.FuncFormatter(lambda x, p: format(int(x), ','))\n",
-    "plt.gca().yaxis.set_minor_formatter(ticker)\n",
-    "plt.legend()\n",
-    "plt.grid(True, which=\"both\", axis=\"both\")"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "92627030-4726-4689-be8b-f1ba75905104",
-   "metadata": {
-    "id": "92627030-4726-4689-be8b-f1ba75905104"
-   },
-   "source": [
-    "As expected, as `nstep` increases, the benefits of using skip checks fades quickly. However, at low nstep and high batch sizes, it can make a significant difference.\n",
-    "\n",
-    "Notice that the version with checks can use the non-tiled `initial_state`, however the skip checks version must used the tiled version, `initial_state_tiled`."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "d32a77b5-24bd-4d17-80ac-15cc4d03731c",
-   "metadata": {
-    "id": "d32a77b5-24bd-4d17-80ac-15cc4d03731c"
-   },
-   "source": [
-    "## Reusing threadpools (`Rollout` class)\n",
-    "\n",
-    "The `rollout` module provided the class `Rollout` in addition to the method `rollout`. The class `Rollout` is designed allow safe reuse of the internally managed thread pool.\n",
-    "\n",
-    "Reuse can speed things up considerably when rollouts are short. Let's find out how the speedup changes for the tippe top model by rolling it out with increasing numbers of steps."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "dd05bbdf-f389-4e4e-b389-d47fe976cb49",
-   "metadata": {
-    "id": "dd05bbdf-f389-4e4e-b389-d47fe976cb49"
-   },
-   "outputs": [],
-   "source": [
-    "nbatch = 100\n",
-    "nsteps = [2**i for i in [2, 3, 4, 5, 6, 7]]\n",
-    "ntiming = 5\n",
-    "\n",
-    "top_data = mujoco.MjData(top_model)\n",
-    "mujoco.mj_resetDataKeyframe(top_model, top_data, 0)\n",
-    "top_datas = [copy.copy(top_data) for _ in range(nthread)]\n",
-    "\n",
-    "initial_states = get_state(top_model, top_data, nbatch)\n",
-    "\n",
-    "def rollout_method(nstep):\n",
-    "  for i in range(20):\n",
-    "    rollout.rollout(top_model, top_datas, initial_states, nstep=nstep)\n",
-    "\n",
-    "def rollout_class(nstep):\n",
-    "  with rollout.Rollout(nthread=nthread) as rollout_:\n",
-    "    for i in range(20):\n",
-    "      rollout_.rollout(top_model, top_datas, initial_states, nstep=nstep)\n",
-    "\n",
-    "t_method = benchmark(lambda x: rollout_method(x), nsteps, ntiming)\n",
-    "t_class = benchmark(lambda x: rollout_class(x), nsteps, ntiming)\n",
-    "\n",
-    "plt.loglog(nsteps, nbatch * np.array(nsteps) / t_method, label='recreating threadpools')\n",
-    "plt.loglog(nsteps, nbatch * np.array(nsteps) / t_class, label='reusing threadpool')\n",
-    "plt.xlabel('nstep')\n",
-    "plt.ylabel('steps per second')\n",
-    "ticker = matplotlib.ticker.FuncFormatter(lambda x, p: format(int(x), ','))\n",
-    "plt.gca().yaxis.set_minor_formatter(ticker)\n",
-    "plt.legend()\n",
-    "plt.grid(True, which=\"both\", axis=\"both\")"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "9b3e14a1-71f3-430d-a3c2-1aadcf6c2671",
-   "metadata": {
-    "id": "9b3e14a1-71f3-430d-a3c2-1aadcf6c2671"
-   },
-   "source": [
-    "## Reusing threadpools (`rollout` method)\n",
-    "\n",
-    "`rollout` will create and reuse a persistent threadpool by passing `persistent_pool=True`. However there are some caveats.\n",
-    "\n",
-    "First, because `rollout` is a function and does not know when the user is done calling it, the threadpool pool needs to be shutdown manually like this:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "b6aa6801",
-   "metadata": {
-    "id": "b6aa6801"
-   },
-   "outputs": [],
-   "source": [
-    "nbatch = 1000\n",
-    "nstep = 1\n",
-    "\n",
-    "top_data = mujoco.MjData(top_model)\n",
-    "mujoco.mj_resetDataKeyframe(top_model, top_data, 0)\n",
-    "top_datas = [copy.copy(top_data) for _ in range(nthread)]\n",
-    "\n",
-    "initial_states = get_state(top_model, top_data, nbatch)\n",
-    "\n",
-    "rollout.rollout(top_model, top_datas, initial_states, nstep=nstep, persistent_pool=True) # Creates a pool\n",
-    "rollout.rollout(top_model, top_datas, initial_states, nstep=nstep, persistent_pool=True) # Reuses the previously created pool\n",
-    "rollout.shutdown_persistent_pool() # Shutdown the pool manually when finished"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "144378d3",
-   "metadata": {
-    "id": "144378d3"
-   },
-   "source": [
-    "Second, if `rollout` reuses the same threadpool between calls, it is no longer safe to call `rollout` from multiple threads. For example the following is not allowed (the offending lines are commented out to avoid crashing the interpreter):"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "7f46a6d8",
-   "metadata": {
-    "id": "7f46a6d8"
-   },
-   "outputs": [],
-   "source": [
-    "thread1 = threading.Thread(target=lambda: rollout.rollout(top_model, top_datas, initial_states, nstep=nstep, persistent_pool=True))\n",
-    "thread2 = threading.Thread(target=lambda: rollout.rollout(top_model, top_datas, initial_states, nstep=nstep, persistent_pool=True))\n",
-    "\n",
-    "thread1.start()\n",
-    "#thread2.start() # Do not do this! rollout will be using the same persistent threadpool from two threads and may crash the interpreter\n",
-    "thread1.join()\n",
-    "#thread2.join()\n",
-    "rollout.shutdown_persistent_pool()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "78c1f864-5238-4e27-a7ec-d03c45484d9a",
-   "metadata": {
-    "id": "78c1f864-5238-4e27-a7ec-d03c45484d9a"
-   },
-   "source": [
-    "## chunk_size\n",
-    "\n",
-    "To minimize communication overhead, `rollout` distributes rollouts to threads in groups of rollouts called chunks. By default, `max(1, 0.1 * (nbatch / nthread))` rollouts are assigned to each chunk. While this chunking rule works well for most workloads it is not always optimal, especially when doing short rollouts with small models.\n",
-    "\n",
-    "Below we plot the steps per second versus chunk_size when running 1000 hoppers for 1 step each. In his case, the default chunk_size turns out to be quite a bit slower than using an increased chunk size."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "a1be8f93",
-   "metadata": {
-    "id": "a1be8f93"
-   },
-   "outputs": [],
-   "source": [
-    "nbatch = 100\n",
-    "nstep = 1\n",
-    "ntiming = 20\n",
-    "\n",
-    "# Load model\n",
-    "hopper_model = mujoco.MjModel.from_xml_path(hopper_path)\n",
-    "hopper_data = mujoco.MjData(hopper_model)\n",
-    "hopper_datas = [copy.copy(hopper_data) for _ in range(nthread)]\n",
-    "\n",
-    "# Get initial states\n",
-    "initial_states = get_state(hopper_model, hopper_data, nbatch)\n",
-    "\n",
-    "def rollout_chunk_size(chunk_size=None):\n",
-    "  rollout.rollout(hopper_model, hopper_datas, initial_states, nstep=nstep, chunk_size=chunk_size)\n",
-    "\n",
-    "# Rollout with different chunk sizes\n",
-    "default_chunk_size = int(max(1.0, 0.1 * nbatch / nthread))\n",
-    "chunk_sizes = sorted([1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, default_chunk_size])\n",
-    "t_chunk_size = benchmark(lambda x: rollout_chunk_size(x), chunk_sizes, ntiming=ntiming)\n",
-    "\n",
-    "# Get optimal chunk size\n",
-    "steps_per_second = nbatch * nstep / t_chunk_size\n",
-    "default_index = [i for i, c in enumerate(chunk_sizes) if c == default_chunk_size][0]\n",
-    "optimal_index = np.argmax(steps_per_second)\n",
-    "plt.loglog(chunk_sizes, steps_per_second, color='b')\n",
-    "plt.plot(chunk_sizes[default_index], steps_per_second[default_index], marker='o', color='r', label='default chunk size')\n",
-    "plt.plot(chunk_sizes[optimal_index], steps_per_second[optimal_index], marker='o', color='g', label='optimal chunk size')\n",
-    "plt.ylabel('steps per second')\n",
-    "plt.xlabel('chunk size')\n",
-    "ticker = matplotlib.ticker.FuncFormatter(lambda x, p: format(int(x), ','))\n",
-    "plt.gca().yaxis.set_minor_formatter(ticker)\n",
-    "plt.legend()\n",
-    "plt.grid(True, which=\"both\", axis=\"both\")\n",
-    "\n",
-    "print(f'default chunk size: {default_chunk_size} \\t steps per second: {steps_per_second[default_index]:0.1f}')\n",
-    "print(f'optimal chunk size: {chunk_sizes[optimal_index]} \\t steps per second: {steps_per_second[optimal_index]:0.1f}')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "84c746e0-5d2e-47dc-ac76-f2b6f790b7c7",
-   "metadata": {
-    "id": "84c746e0-5d2e-47dc-ac76-f2b6f790b7c7"
-   },
-   "source": [
-    "## Warmstarting\n",
-    "\n",
-    "The `initial_warmstart` parameter can be used to warmstart the constraint solver as described in the [computation chapter](https://mujoco.readthedocs.io/en/stable/computation/index.html#warmstart-acceleration) of the documentation. This can be useful when rolling out models in chunks of steps. Without warmstarting, chaotic systems involving multi-body contact may diverge.\n",
-    "\n",
-    "Below we demonstrate this with the tippe top model where the contact solver was changed to CG. This makes the contact force calculation a less repeatable than if the default, Newton's method, were used and allows demonstrating the benefits of warmstarting.\n",
-    "\n",
-    "The simulation is run three times. Once with a 6000 step rollout, once with 100 chunks of 60 steps with warmstarting, and once more in 100 chunks of 60 steps without warmstarting."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "d4d9f660-f83c-432e-a579-124a7ecab4fb",
-   "metadata": {
-    "id": "d4d9f660-f83c-432e-a579-124a7ecab4fb"
-   },
-   "outputs": [],
-   "source": [
-    "top_model_cg = copy.copy(top_model)\n",
-    "\n",
-    "# Change to CG solver, the Newton solver converges too well for\n",
-    "# warmstarting to have an appreciable effect\n",
-    "top_model_cg.opt.solver = mujoco.mjtSolver.mjSOL_CG\n",
-    "\n",
-    "chunks = 100\n",
-    "steps_per_chunk = 60\n",
-    "nstep = steps_per_chunk*chunks\n",
-    "\n",
-    "# Get initial states\n",
-    "top_data_cg = mujoco.MjData(top_model_cg)\n",
-    "mujoco.mj_resetDataKeyframe(top_model_cg, top_data_cg, 0)\n",
-    "initial_state = get_state(top_model_cg, top_data_cg)\n",
-    "\n",
-    "start = time.time()\n",
-    "# Rollout with nstep steps\n",
-    "state_all, _  = rollout.rollout(top_model_cg, top_data_cg, initial_state, nstep=nstep)\n",
-    "\n",
-    "# Rollout in chunks with warmstarting\n",
-    "state_chunks = []\n",
-    "state_chunk, _ = rollout.rollout(top_model_cg, top_data_cg, initial_state, nstep=steps_per_chunk)\n",
-    "state_chunks.append(state_chunk)\n",
-    "for _ in range(chunks-1):\n",
-    "  state_chunk, _ = rollout.rollout(top_model_cg, top_data_cg, state_chunks[-1][0, -1, :],\n",
-    "                                   nstep=steps_per_chunk, initial_warmstart=top_data_cg.qacc_warmstart)\n",
-    "  state_chunks.append(state_chunk)\n",
-    "state_all_chunked_warmstart = np.concatenate(state_chunks, axis=1)\n",
-    "\n",
-    "# Rollout in chunks without warmstarting\n",
-    "state_chunks = []\n",
-    "state_chunk, _ = rollout.rollout(top_model_cg, top_data_cg, initial_state, nstep=steps_per_chunk)\n",
-    "state_chunks.append(state_chunk)\n",
-    "first_warmstart = None\n",
-    "for i in range(chunks-1):\n",
-    "  state_chunk, _ = rollout.rollout(top_model_cg, top_data_cg, state_chunks[-1][0, -1, :], nstep=steps_per_chunk)\n",
-    "  state_chunks.append(state_chunk)\n",
-    "state_all_chunked = np.concatenate(state_chunks, axis=1)\n",
-    "end = time.time()\n",
-    "\n",
-    "# Render the rollouts\n",
-    "start_render = time.time()\n",
-    "framerate = 60\n",
-    "state_render = np.concatenate((state_all, state_all_chunked, state_all_chunked_warmstart), axis=0)\n",
-    "camera = 'distant'\n",
-    "frames1 = render_many(top_model_cg, top_data_cg, state_all, framerate, shape=(240, 320), transparent=False, camera=camera)\n",
-    "frames2 = render_many(top_model_cg, top_data_cg, state_all_chunked_warmstart, framerate, shape=(240, 320), transparent=False, camera=camera)\n",
-    "frames3 = render_many(top_model_cg, top_data_cg, state_all_chunked, framerate, shape=(240, 320), transparent=False, camera=camera)\n",
-    "media.show_video(np.concatenate((frames1, frames2, frames3), axis=2))\n",
-    "end_render = time.time()\n",
-    "\n",
-    "print(f'Rollout took {end-start:.1f} seconds')\n",
-    "print(f'Rendering took {end_render-start_render:.1f} seconds')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "7c2cf4fa",
-   "metadata": {
-    "id": "7c2cf4fa"
-   },
-   "source": [
-    "As expected, the middle animation (with warmstarting) matches the continuous rollout on the left. However, the model that did not use warmstarting diverged."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "7944637f",
-   "metadata": {
-    "id": "7944637f"
-   },
-   "source": [
-    "# Benchmarks\n",
-    "\n",
-    "The `rollout.rollout` function in the `mujoco` Python library runs batches of simulations for a fixed number steps. It can run in single or multi-threaded modes. The speedup over pure Python is significant because `rollout` can be easily configured to use multithreading.\n",
-    "\n",
-    "To show the speedup, we will run benchmarks with the \"tippe top\", \"humanoid\", and \"humanoid100\" models.\n",
-    "\n",
-    "## Python rollouts versus `rollout`\n",
-    "\n",
-    "The benchmark runs the three models with varying batch and step counts.\n",
-    "\n",
-    "The Python code for nbatch rollouts of nstep steps is:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "cb6355dd",
-   "metadata": {
-    "id": "cb6355dd"
-   },
-   "outputs": [],
-   "source": [
-    "def python_rollout(model, data, nbatch, nstep):\n",
-    "  for i in range(nbatch):\n",
-    "    for i in range(nstep):\n",
-    "      mujoco.mj_step(model, data)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "6fe4a78b",
-   "metadata": {
-    "id": "6fe4a78b"
-   },
-   "source": [
-    "To run nbatch rollouts with `rollout`, we need to make an array of nbatch initial states to start the rollouts from.\n",
-    "\n",
-    "\n",
-    "Additionally, to use `rollout`'s parallelism, we must pass one `MjData` per thread.\n",
-    "\n",
-    "The resulting `rollout` call parameterized by `nbatch`, `nstep`, and `nthread` is:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "74f143e2",
-   "metadata": {
-    "id": "74f143e2"
-   },
-   "outputs": [],
-   "source": [
-    "def nthread_rollout(model, data, nbatch, nstep, nthread, rollout_):\n",
-    "  rollout_.rollout([model]*nbatch,\n",
-    "                   [copy.copy(data) for _ in range(nthread)], # Create one MjData per thread\n",
-    "                   np.tile(get_state(model, data), (nbatch, 1)), # Tile the initial condition nbatch times\n",
-    "                   nstep=nstep,\n",
-    "                   skip_checks=True)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "b75dc44c",
-   "metadata": {
-    "id": "b75dc44c"
-   },
-   "source": [
-    "Next, we benchmark the Python loop and `rollout` in both single threaded and multithreaded modes. The three benchmarks take about 2.5 minutes in total to run in total on an AMD 5800X3D."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "0301e3ee",
-   "metadata": {
-    "cellView": "form",
-    "id": "0301e3ee"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Benchmarking utilities\n",
-    "\n",
-    "top_model = mujoco.MjModel.from_xml_string(tippe_top)\n",
-    "def init_top(model):\n",
-    "  data = mujoco.MjData(model)\n",
-    "  # Set to the state to a spinning top (keyframe 0)\n",
-    "  mujoco.mj_resetDataKeyframe(model, data, 0)\n",
-    "  return data\n",
-    "\n",
-    "# Create and initialize humanoid model\n",
-    "# Step for 2 seconds to get a stable set of contacts to benchmark\n",
-    "humanoid_model = mujoco.MjModel.from_xml_path(humanoid_path)\n",
-    "humanoid_data = mujoco.MjData(humanoid_model)\n",
-    "humanoid_data.qvel[2] = 4 # Make the humanoid jump\n",
-    "while humanoid_data.time < 2.0:\n",
-    "  mujoco.mj_step(humanoid_model, humanoid_data)\n",
-    "humanoid_initial_state = get_state(humanoid_model, humanoid_data)\n",
-    "def init_humanoid(model):\n",
-    "  data = mujoco.MjData(model)\n",
-    "  mujoco.mj_setState(model, data, humanoid_initial_state.flatten(),\n",
-    "                     mujoco.mjtState.mjSTATE_FULLPHYSICS)\n",
-    "  return data\n",
-    "\n",
-    "# Create and initialize humanoid100 model\n",
-    "# Step for 4 seconds to get a stable set of contacts to benchmark\n",
-    "humanoid100_model = mujoco.MjModel.from_xml_path(humanoid100_path)\n",
-    "humanoid100_data = mujoco.MjData(humanoid100_model)\n",
-    "while humanoid100_data.time < 4.0:\n",
-    "  mujoco.mj_step(humanoid100_model, humanoid100_data)\n",
-    "humanoid100_initial_state = get_state(humanoid100_model, humanoid100_data)\n",
-    "def init_humanoid100(model):\n",
-    "  data = mujoco.MjData(model)\n",
-    "  mujoco.mj_setState(model, data, humanoid100_initial_state.flatten(),\n",
-    "                     mujoco.mjtState.mjSTATE_FULLPHYSICS)\n",
-    "  return data\n",
-    "\n",
-    "def benchmark_rollout(model, init_model, nbatch, nstep, nominal_nbatch, nominal_nstep, ntiming=1):\n",
-    "  print('Benchmarking pure python', end='\\r')\n",
-    "  start = time.time()\n",
-    "  t_python_nbatch = benchmark(lambda x, data: python_rollout(model, data, x, nominal_nstep), nbatch, ntiming,\n",
-    "                              f_init=lambda x: init_model(model))\n",
-    "  t_python_nstep  = benchmark(lambda x, data: python_rollout(model, data, nominal_nbatch, x), nstep,  ntiming,\n",
-    "                              f_init=lambda x: init_model(model))\n",
-    "  end = time.time()\n",
-    "  print(f'Benchmarking pure python took {end-start:0.1f} seconds')\n",
-    "\n",
-    "  print('Benchmarking single threaded rollout', end='\\r')\n",
-    "  with rollout.Rollout(nthread=0) as rollout_:\n",
-    "    start = time.time()\n",
-    "    t_rollout_single_nbatch = benchmark(lambda x, data: nthread_rollout(model, data, x, nominal_nstep,  nthread=1, rollout_=rollout_),\n",
-    "                                        nbatch, ntiming,\n",
-    "                                        f_init=lambda x: init_model(model))\n",
-    "    t_rollout_single_nstep  = benchmark(lambda x, data: nthread_rollout(model, data, nominal_nbatch, x, nthread=1, rollout_=rollout_),\n",
-    "                                        nstep,  ntiming, f_init=lambda x: init_model(model))\n",
-    "    end = time.time()\n",
-    "  print(f'Benchmarking single threaded rollout took {end-start:0.1f} seconds')\n",
-    "\n",
-    "  print(f'Benchmarking multithreaded rollout using {nthread} threads', end='\\r')\n",
-    "  with rollout.Rollout(nthread=nthread) as rollout_:\n",
-    "    start = time.time()\n",
-    "    t_rollout_multi_nbatch = benchmark(lambda x, data: nthread_rollout(model, data, x, nominal_nstep,  nthread, rollout_=rollout_),\n",
-    "                                       nbatch, ntiming, f_init=lambda x: init_model(model))\n",
-    "    t_rollout_multi_nstep  = benchmark(lambda x, data: nthread_rollout(model, data, nominal_nbatch, x, nthread, rollout_=rollout_),\n",
-    "                                       nstep,  ntiming, f_init=lambda x: init_model(model))\n",
-    "    end = time.time()\n",
-    "  print(f'Benchmarking multithreaded rollout using {nthread} threads took {end-start:0.1f} seconds')\n",
-    "\n",
-    "  return (t_python_nbatch, t_rollout_single_nbatch, t_rollout_multi_nbatch,\n",
-    "          t_python_nstep, t_rollout_single_nstep, t_rollout_multi_nstep)\n",
-    "\n",
-    "def plot_benchmark(results, nbatch, nstep, nominal_nbatch, nominal_nstep, title):\n",
-    "  (t_python_nbatch, t_rollout_single_nbatch, t_rollout_multi_nbatch,\n",
-    "   t_python_nstep, t_rollout_single_nstep, t_rollout_multi_nstep) = results\n",
-    "\n",
-    "  width = 0.25\n",
-    "  x = np.array([i for i in range(len(nbatch))])\n",
-    "\n",
-    "  ticker = matplotlib.ticker.EngFormatter(unit='')\n",
-    "\n",
-    "  fig, (ax1, ax2) = plt.subplots(1, 2, sharey=True)\n",
-    "  steps_per_t = np.array(nbatch) * nominal_nstep\n",
-    "  steps_per_t_python = steps_per_t / t_python_nbatch\n",
-    "  steps_per_t_single = steps_per_t / t_rollout_single_nbatch\n",
-    "  steps_per_t_multi  = steps_per_t / t_rollout_multi_nbatch\n",
-    "  ax1.bar(x + 0*width, steps_per_t_python, width=width, label='python')\n",
-    "  ax1.bar(x + 1*width, steps_per_t_single, width=width, label='rollout single threaded')\n",
-    "  ax1.bar(x + 2*width, steps_per_t_multi, width=width, label='rollout multithreaded')\n",
-    "  ax1.set_xticks(x + width, nbatch)\n",
-    "  ax1.yaxis.set_major_formatter(ticker)\n",
-    "  ax1.grid()\n",
-    "  ax1.set_axisbelow(True)\n",
-    "  ax1.set_xlabel('nbatch')\n",
-    "  ax1.set_ylabel('steps per second')\n",
-    "  ax1.set_title(f'nbatch varied, nstep = {nominal_nstep}')\n",
-    "\n",
-    "  x = np.array([i for i in range(len(nstep))])\n",
-    "  steps_per_t = np.array(nstep) * nominal_nbatch\n",
-    "  steps_per_t_python = steps_per_t / t_python_nstep\n",
-    "  steps_per_t_single = steps_per_t / t_rollout_single_nstep\n",
-    "  steps_per_t_multi  = steps_per_t / t_rollout_multi_nstep\n",
-    "  ax2.bar(x + 0*width, steps_per_t_python, width=width, label='python')\n",
-    "  ax2.bar(x + 1*width, steps_per_t_single, width=width, label='rollout single threaded')\n",
-    "  ax2.bar(x + 2*width, steps_per_t_multi, width=width, label='rollout multithreaded')\n",
-    "  ax2.set_xticks(x + width, nstep)\n",
-    "  ax2.yaxis.set_major_formatter(ticker)\n",
-    "  ax2.grid()\n",
-    "  ax2.set_axisbelow(True)\n",
-    "  ax2.set_xlabel('nstep')\n",
-    "  ax2.set_title(f'nstep varied, nbatch = {nominal_nbatch}')\n",
-    "\n",
-    "  ax1.legend(loc=(0.03, 0.8))\n",
-    "  fig.set_size_inches(10, 5)\n",
-    "  plt.suptitle(title)\n",
-    "  plt.tight_layout()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "08fb0c12",
-   "metadata": {
-    "id": "08fb0c12"
-   },
-   "source": [
-    "### Tippe Top Benchmark"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "f7e54830",
-   "metadata": {
-    "id": "f7e54830"
-   },
-   "outputs": [],
-   "source": [
-    "nominal_nbatch = 256 # Batch size to use when testing different nstep\n",
-    "nominal_nstep = 5 # Step count to use when testing different nbatch\n",
-    "nbatch = [1, 256, 2048, 8192]\n",
-    "nstep = [1, 10, 100, 1000]\n",
-    "\n",
-    "top_benchmark_results = benchmark_rollout(top_model, init_top,\n",
-    "                                          nbatch, nstep,\n",
-    "                                          nominal_nbatch, nominal_nstep)\n",
-    "plot_benchmark(top_benchmark_results, nbatch, nstep,\n",
-    "               nominal_nbatch, nominal_nstep,\n",
-    "               title='Tippe Top')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "edefb26e",
-   "metadata": {
-    "id": "edefb26e"
-   },
-   "source": [
-    "### Humanoid Benchmark"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "c9e58c6c",
-   "metadata": {
-    "id": "c9e58c6c"
-   },
-   "outputs": [],
-   "source": [
-    "nominal_nbatch = 256 # Batch size to use when testing different nstep\n",
-    "nominal_nstep = 5 # Step count to use when testing different nbatch\n",
-    "nbatch = [1, 256, 2048, 8192] # Batch sizes to benchmark\n",
-    "nstep = [1, 10, 100, 1000] # Step counts to benchmark\n",
-    "\n",
-    "humanoid_benchmark_results = benchmark_rollout(humanoid_model, init_humanoid,\n",
-    "                                               nbatch, nstep,\n",
-    "                                               nominal_nbatch, nominal_nstep)\n",
-    "plot_benchmark(humanoid_benchmark_results, nbatch, nstep,\n",
-    "               nominal_nbatch, nominal_nstep,\n",
-    "               title='Humanoid')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "468903bb",
-   "metadata": {
-    "id": "468903bb"
-   },
-   "source": [
-    "### Humanoid100 Benchmark"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "83d775d4",
-   "metadata": {
-    "id": "83d775d4"
-   },
-   "outputs": [],
-   "source": [
-    "nominal_nbatch = 128 # Batch size to use when testing different nstep\n",
-    "nominal_nstep = 5 # Step count to use when testing different nbatch\n",
-    "nbatch = [1, 64, 128, 256] # Batch sizes to benchmark\n",
-    "nstep = [1, 10, 100, 1000] # Step counts to benchmark\n",
-    "\n",
-    "humanoid100_benchmark_results = benchmark_rollout(\n",
-    "    humanoid100_model,\n",
-    "    init_humanoid100,\n",
-    "    nbatch,\n",
-    "    nstep,\n",
-    "    nominal_nbatch,\n",
-    "    nominal_nstep,\n",
-    ")\n",
-    "plot_benchmark(humanoid100_benchmark_results, nbatch, nstep,\n",
-    "               nominal_nbatch, nominal_nstep,\n",
-    "               title='Humanoid100')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "d1133084",
-   "metadata": {
-    "id": "d1133084"
-   },
-   "source": [
-    "# MJX versus `rollout`"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "c1638f2d",
-   "metadata": {
-    "id": "c1638f2d"
-   },
-   "source": [
-    "Next we will benchmark `rollout` and MJX using the tippe top and humanoid models (humanoid100 is not supported by MJX).\n",
-    "\n",
-    "The next two benchmarks take about 16.5 minutes total on an AMD 5800X3D and an NVIDIA 4090. Most of the time is spent JIT compiling the MJX functions. The JIT functions are cached so that subsequent runs of the benchmark run much faster.\n",
-    "\n",
-    "**Note:** MJX is most useful when coupled with something else that runs best on a GPU, like a neural network. Without any such additional workload, CPU based simulation will sometimes be faster, especially when using less than state-of-the-art GPUs."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "7c86d157",
-   "metadata": {
-    "cellView": "form",
-    "id": "7c86d157"
-   },
-   "outputs": [],
-   "source": [
-    "#@title MJX helper functions\n",
-    "def init_mjx_batch(model, init_model, nbatch, nstep, skip_jit=False):\n",
-    "  data = init_model(model)\n",
-    "\n",
-    "  # Make MJX versions of model and data\n",
-    "  mjx_model = mjx.put_model(model)\n",
-    "  mjx_data = mjx.put_data(model, data)\n",
-    "\n",
-    "  batch = jax.vmap(lambda x: mjx_data)(jp.array(list(range(nbatch))))\n",
-    "  jax.block_until_ready(batch)\n",
-    "\n",
-    "  if not skip_jit:\n",
-    "    start = time.time()\n",
-    "    jit_step = jax.vmap(mjx.step, in_axes=(None, 0))\n",
-    "    def unroll(d, _):\n",
-    "      d = jit_step(mjx_model, d)\n",
-    "      return d, None\n",
-    "    jit_unroll = jax.jit(lambda d: jax.lax.scan(unroll, d, None, length=nstep, unroll=4)[0])\n",
-    "    jit_unroll = jit_unroll.lower(batch).compile()\n",
-    "    end = time.time()\n",
-    "    jit_time = end - start\n",
-    "  else:\n",
-    "    jit_unroll = None\n",
-    "    jit_time = 0.0\n",
-    "\n",
-    "  return mjx_model, mjx_data, jit_unroll, batch, jit_time\n",
-    "\n",
-    "def mjx_rollout(batch, jit_unroll):\n",
-    "  batch = jit_unroll(batch)\n",
-    "  jax.block_until_ready(batch)\n",
-    "\n",
-    "def benchmark_mjx(model, init_model, nbatch, nstep, nominal_nbatch, nominal_nstep, ntiming=1, jit_unroll_cache=None):\n",
-    "  print(f'Benchmarking multithreaded rollout using {nthread} threads', end=\"\\r\")\n",
-    "  with rollout.Rollout(nthread=nthread) as rollout_:\n",
-    "    start = time.time()\n",
-    "    t_rollout_multi_nbatch = benchmark(lambda x, data: nthread_rollout(model, data, x, nominal_nstep,  nthread, rollout_),\n",
-    "                                       nbatch, ntiming, f_init=lambda x: init_model(model))\n",
-    "    t_rollout_multi_nstep  = benchmark(lambda x, data: nthread_rollout(model, data, nominal_nbatch, x, nthread, rollout_),\n",
-    "                                       nstep,  ntiming, f_init=lambda x: init_model(model))\n",
-    "    end = time.time()\n",
-    "  print(f'Benchmarking multithreaded rollout using {nthread} threads took {end-start:0.1f} seconds')\n",
-    "\n",
-    "  print('Running JIT for MJX', end='\\r')\n",
-    "  total_jit = 0.0\n",
-    "  if jit_unroll_cache is None:\n",
-    "    jit_unroll_cache = {}\n",
-    "  if f'nbatch_{nominal_nstep}' not in jit_unroll_cache:\n",
-    "    jit_unroll_cache[f'nbatch_{nominal_nstep}'] = {}\n",
-    "  if f'nstep_{nominal_nbatch}' not in jit_unroll_cache:\n",
-    "    jit_unroll_cache[f'nstep_{nominal_nbatch}'] = {}\n",
-    "  for n in nbatch:\n",
-    "    if n not in jit_unroll_cache[f'nbatch_{nominal_nstep}']:\n",
-    "      _, _, jit_unroll_cache[f'nbatch_{nominal_nstep}'][n], _, jit_time = init_mjx_batch(model, init_model, n, nominal_nstep)\n",
-    "      total_jit += jit_time\n",
-    "  for n in nstep:\n",
-    "    if n not in jit_unroll_cache[f'nstep_{nominal_nbatch}']:\n",
-    "      _, _, jit_unroll_cache[f'nstep_{nominal_nbatch}'][n], _, jit_time = init_mjx_batch(model, init_model, nominal_nbatch, n)\n",
-    "      total_jit += jit_time\n",
-    "  print(f'Running JIT for MJX took {total_jit:0.1f} seconds')\n",
-    "\n",
-    "  print('Benchmarking MJX', end='\\r')\n",
-    "  start = time.time()\n",
-    "  t_mjx_nbatch = benchmark(lambda x, x_init: mjx_rollout(x_init[3], jit_unroll_cache[f'nbatch_{nominal_nstep}'][x]),\n",
-    "                           nbatch, ntiming, f_init=lambda x: init_mjx_batch(model, init_model, x, nominal_nstep, skip_jit=True))\n",
-    "  t_mjx_nstep  = benchmark(lambda x, x_init: mjx_rollout(x_init[3], jit_unroll_cache[f'nstep_{nominal_nbatch}'][x]),\n",
-    "                           nstep, ntiming, f_init=lambda x: init_mjx_batch(model, init_model, nominal_nbatch, x, skip_jit=True))\n",
-    "  end = time.time()\n",
-    "  print(f'Benchmarking MJX took {end-start:0.1f} seconds')\n",
-    "\n",
-    "  return t_rollout_multi_nbatch, t_rollout_multi_nstep, t_mjx_nbatch, t_mjx_nstep\n",
-    "\n",
-    "def plot_mjx_benchmark(results, nbatch, nstep, nominal_nbatch, nominal_nstep, title):\n",
-    "  t_rollout_multi_nbatch, t_rollout_multi_nstep, t_mjx_nbatch, t_mjx_nstep = results\n",
-    "\n",
-    "  width = 0.333\n",
-    "  x = np.array([i for i in range(len(nbatch))])\n",
-    "\n",
-    "  ticker = matplotlib.ticker.EngFormatter(unit='')\n",
-    "\n",
-    "  fig, (ax1, ax2) = plt.subplots(1, 2, sharey=True)\n",
-    "  steps_per_t = np.array(nbatch) * nominal_nstep\n",
-    "  steps_per_t_mjx = steps_per_t / t_mjx_nbatch\n",
-    "  steps_per_t_multi  = steps_per_t / t_rollout_multi_nbatch\n",
-    "  ax1.bar(x + 0*width, steps_per_t_mjx, width=width, label='mjx')\n",
-    "  ax1.bar(x + 1*width, steps_per_t_multi, width=width, label='rollout multithreaded')\n",
-    "  ax1.set_xticks(x + width / 2, nbatch)\n",
-    "  ax1.yaxis.set_major_formatter(ticker)\n",
-    "  ax1.grid()\n",
-    "  ax1.set_xlabel('nbatch')\n",
-    "  ax1.set_ylabel('steps per second')\n",
-    "  ax1.set_title(f'nbatch varied, nstep = {nominal_nstep}')\n",
-    "\n",
-    "  x = np.array([i for i in range(len(nstep))])\n",
-    "  steps_per_t = np.array(nstep) * nominal_nbatch\n",
-    "  steps_per_t_mjx = steps_per_t / t_mjx_nstep\n",
-    "  steps_per_t_multi  = steps_per_t / t_rollout_multi_nstep\n",
-    "  ax2.bar(x + 0*width, steps_per_t_mjx, width=width, label='mjx')\n",
-    "  ax2.bar(x + 1*width, steps_per_t_multi, width=width, label='rollout multithreaded')\n",
-    "  ax2.set_xticks(x + width / 2, nstep)\n",
-    "  ax2.yaxis.set_major_formatter(ticker)\n",
-    "  ax2.grid()\n",
-    "  ax2.set_xlabel('nstep')\n",
-    "  ax2.set_title(f'nstep varied, nbatch = {nominal_nbatch}')\n",
-    "\n",
-    "  ax2.legend(loc=(1.04, 0.0))\n",
-    "  fig.set_size_inches(10, 4)\n",
-    "  plt.suptitle(title)\n",
-    "  plt.tight_layout()\n",
-    "\n",
-    "# Caches for jit_step functions, they take a long time to compile\n",
-    "top_jit_unroll_cache = {}\n",
-    "humanoid_jit_unroll_cache = {}"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "a2dafd2e",
-   "metadata": {
-    "id": "a2dafd2e"
-   },
-   "source": [
-    "### MJX Tippe Top Benchmark"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "98c580b0",
-   "metadata": {
-    "id": "98c580b0"
-   },
-   "outputs": [],
-   "source": [
-    "nominal_nbatch = 16384 # Batch size to use when testing different nstep\n",
-    "nominal_nstep = 5 # Step count to use when testing different nbatch\n",
-    "nbatch = [4096, 16384, 65536, 131072] # Batch sizes to benchmark\n",
-    "nstep = [1, 10, 100, 200] # Step counts to benchmark\n",
-    "\n",
-    "mjx_top_results = benchmark_mjx(top_model, init_top, nbatch, nstep, nominal_nbatch, nominal_nstep,\n",
-    "                                jit_unroll_cache=top_jit_unroll_cache)\n",
-    "plot_mjx_benchmark(mjx_top_results, nbatch, nstep, nominal_nbatch, nominal_nstep, title='MJX Tippe Top')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "205da5da",
-   "metadata": {
-    "id": "205da5da"
-   },
-   "source": [
-    "### MJX Humanoid Benchmark"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "53166ae1",
-   "metadata": {
-    "id": "53166ae1"
-   },
-   "outputs": [],
-   "source": [
-    "nominal_nbatch = 4096 # Batch size to use when testing different nstep\n",
-    "nominal_nstep = 5 # Step count to use when testing different nbatch\n",
-    "nbatch = [1024, 4096, 16384, 32768] # Batch sizes to benchmark\n",
-    "nstep = [1, 10, 100, 200] # Step counts to benchmark\n",
-    "\n",
-    "mjx_humanoid_results = benchmark_mjx(humanoid_model, init_humanoid, nbatch, nstep, nominal_nbatch, nominal_nstep,\n",
-    "                                     jit_unroll_cache=humanoid_jit_unroll_cache)\n",
-    "plot_mjx_benchmark(mjx_humanoid_results, nbatch, nstep, nominal_nbatch, nominal_nstep, title='MJX Humanoid')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "id": "fb2caa72",
-   "metadata": {
-    "id": "fb2caa72"
-   },
-   "source": [
-    "### MJX Multiple Humanoids in one model\n",
-    "\n",
-    "The MJX [documentation](https://mujoco.readthedocs.io/en/stable/mjx.html#mjx-the-sharp-bits) contains a chart comparing the speed of native MuJoCo vs MJX on a variety of devices.\n",
-    "\n",
-    "Here we will produce a similar plot to compare MJX and with `rollout`. On a 5800X3D and 4090 the benchmark takes about 16.5 minutes to run.\n",
-    "\n",
-    "**Note:** These results are not directly comparable since with the plot in the documentation because, in particular, the batch size was reduced from 8192 to 4096 in order to fit the batch on a 4090."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "3d6be608",
-   "metadata": {
-    "id": "3d6be608"
-   },
-   "outputs": [],
-   "source": [
-    "max_humanoids = 10\n",
-    "nbatch = 8192 // 2 # The original benchmark ran with a batch size of 8192, but on a 4090 we can only fit about 4096 humanoids\n",
-    "nstep = 200\n",
-    "\n",
-    "jit_step = jax.vmap(mjx.step, in_axes=(None, 0))\n",
-    "t_rollout = []\n",
-    "t_mjx = []\n",
-    "for i in range(1, max_humanoids+1):\n",
-    "  print(f'Running benchmark on {i} humanoids')\n",
-    "  nhumanoid_model = mujoco.MjModel.from_xml_path(\n",
-    "      f'mujoco/mjx/mujoco/mjx/test_data/humanoid/{i:02d}_humanoids.xml'\n",
-    "  )\n",
-    "  nhumanoid_data = mujoco.MjData(nhumanoid_model)\n",
-    "\n",
-    "  mjx_model = mjx.put_model(nhumanoid_model)\n",
-    "  mjx_data = mjx.put_data(nhumanoid_model, nhumanoid_data)\n",
-    "  batch = jax.vmap(lambda x: mjx_data)(jp.array(list(range(nbatch))))\n",
-    "  jax.block_until_ready(batch)\n",
-    "\n",
-    "  with rollout.Rollout(nthread=nthread) as rollout_:\n",
-    "    initial_state = get_state(nhumanoid_model, nhumanoid_data, nbatch)\n",
-    "    start = time.perf_counter()\n",
-    "    rollout_.rollout([nhumanoid_model]*nbatch,\n",
-    "                     [copy.copy(nhumanoid_data) for _ in range(nthread)],\n",
-    "                     initial_state=initial_state,\n",
-    "                     nstep=nstep, skip_checks=True)\n",
-    "    end = time.perf_counter()\n",
-    "  t_rollout.append(end-start)\n",
-    "\n",
-    "  # Trigger JIT for model/batch so as not to include JIT time in benchmarking information\n",
-    "  def unroll(d, _):\n",
-    "    d = jit_step(mjx_model, d)\n",
-    "    return d, None\n",
-    "  jit_unroll = jax.jit(lambda d: jax.lax.scan(unroll, d, None, length=nstep, unroll=4)[0])\n",
-    "  jit_unroll = jit_unroll.lower(batch).compile()\n",
-    "\n",
-    "  start = time.perf_counter()\n",
-    "  jit_unroll(batch)\n",
-    "  jax.block_until_ready(batch)\n",
-    "  end = time.perf_counter()\n",
-    "  t_mjx.append(end-start)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "b6c5fc2e",
-   "metadata": {
-    "id": "b6c5fc2e"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Plot MJX nhumanoid benchmark\n",
-    "\n",
-    "def plot_mjx_nhumanoid_benchmark(t_rollout, t_mjx, nbatch, nstep, max_humanoids):\n",
-    "  nhumanoids = [i for i in range(1, max_humanoids+1)]\n",
-    "\n",
-    "  width = 0.333\n",
-    "  x = np.array([i for i in range(len(nhumanoids))])\n",
-    "\n",
-    "  ticker = matplotlib.ticker.EngFormatter(unit='')\n",
-    "\n",
-    "  fig, ax1 = plt.subplots(1, 1, sharey=True)\n",
-    "  steps_per_t = nbatch * nstep\n",
-    "  steps_per_t_mjx = steps_per_t / np.array(t_mjx)\n",
-    "  steps_per_t_multi  = steps_per_t / np.array(t_rollout)\n",
-    "  ax1.bar(x + 0*width, steps_per_t_mjx, width=width, label='mjx')\n",
-    "  ax1.bar(x + 1*width, steps_per_t_multi, width=width, label='rollout multithreaded')\n",
-    "  ax1.set_xticks(x + width / 2, nhumanoids)\n",
-    "  ax1.yaxis.set_major_formatter(ticker)\n",
-    "  ax1.set_yscale('log')\n",
-    "  ax1.grid()\n",
-    "  ax1.set_xlabel('number of humanoids')\n",
-    "  ax1.set_ylabel('steps per second')\n",
-    "  ax1.set_title(f'nhumanoids varied, nbatch = {nbatch}, nstep = {nstep}')\n",
-    "\n",
-    "  ax1.legend(loc=(1.04, 0.0))\n",
-    "  fig.set_size_inches(8, 4)\n",
-    "  plt.tight_layout()\n",
-    "\n",
-    "plot_mjx_nhumanoid_benchmark(t_rollout, t_mjx, nbatch, nstep, max_humanoids)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "id": "UW0aoKXK7ALd",
-   "metadata": {
-    "id": "UW0aoKXK7ALd"
-   },
-   "outputs": [],
-   "source": []
-  }
- ],
- "metadata": {
-  "accelerator": "GPU",
-  "colab": {
-   "collapsed_sections": [
-    "fc69d0f4",
-    "d32a77b5-24bd-4d17-80ac-15cc4d03731c",
-    "9b3e14a1-71f3-430d-a3c2-1aadcf6c2671",
-    "78c1f864-5238-4e27-a7ec-d03c45484d9a",
-    "84c746e0-5d2e-47dc-ac76-f2b6f790b7c7",
-    "a2dafd2e",
-    "205da5da"
-   ],
-   "gpuType": "A100",
-   "private_outputs": true,
-   "toc_visible": true
-  },
-  "kernelspec": {
-   "display_name": "Python 3",
-   "language": "python",
-   "name": "python3"
-  },
-  "language_info": {
-   "codemirror_mode": {
-    "name": "ipython",
-    "version": 3
-   },
-   "file_extension": ".py",
-   "mimetype": "text/x-python",
-   "name": "python",
-   "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython3",
-   "version": "3.10.12"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 5
-}
diff --git a/python/setup.py b/python/setup.py
deleted file mode 100644
index 11feec15..00000000
--- a/python/setup.py
+++ /dev/null
@@ -1,443 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Install script for MuJoCo."""
-
-import fnmatch
-import logging
-import os
-import platform
-import random
-import re
-import shutil
-import string
-import subprocess
-import sys
-import sysconfig
-
-import setuptools
-from setuptools.command import build_ext
-from setuptools.command import install_scripts
-
-MUJOCO_CMAKE = 'MUJOCO_CMAKE'
-MUJOCO_CMAKE_ARGS = 'MUJOCO_CMAKE_ARGS'
-MUJOCO_PATH = 'MUJOCO_PATH'
-MUJOCO_PLUGIN_PATH = 'MUJOCO_PLUGIN_PATH'
-
-EXT_PREFIX = 'mujoco.'
-
-
-def get_long_description():
-  """Creates a long description for the package from bundled markdown files."""
-  current_dir = os.path.dirname('__file__')
-  with open(os.path.join(current_dir, 'README.md'), encoding='utf-8') as f:
-    description = f.read()
-  try:
-    with open(os.path.join(current_dir, 'LICENSES_THIRD_PARTY.md'), encoding='utf-8') as f:
-      description = f'{description}\n{f.read()}'
-  except FileNotFoundError:
-    pass
-  return description
-
-
-def get_mujoco_lib_pattern():
-  if platform.system() == 'Windows':
-    return 'mujoco.lib'
-  elif platform.system() == 'Darwin':
-    return 'libmujoco.*.dylib'
-  else:
-    return 'libmujoco.so.*'
-
-
-def get_external_lib_patterns():
-  if platform.system() == 'Windows':
-    return ['mujoco.dll']
-  elif platform.system() == 'Darwin':
-    return ['libmujoco.*.dylib']
-  else:
-    return ['libmujoco.so.*']
-
-
-def get_plugin_lib_patterns():
-  if platform.system() == 'Windows':
-    return ['*.dll']
-  elif platform.system() == 'Darwin':
-    return ['lib*.dylib']
-  else:
-    return ['lib*']
-
-
-def start_and_end(iterable):
-  it = iter(iterable)
-  while True:
-    try:
-      first = next(it)
-      second = next(it)
-      yield first, second
-    except StopIteration:
-      return
-
-
-def tokenize_quoted_substr(input_string, quote_char, placeholders=None):
-  """Replace quoted substrings with random text placeholders with no spaces."""
-  # Matches quote characters not proceded with a backslash.
-  pattern = re.compile(r'(?<!\\)' + quote_char)
-  quote_positions = [m.start() for m in pattern.finditer(input_string)]
-  if len(quote_positions) % 2:
-    raise ValueError(f'unbalanced quotes {quote_char}...{quote_char}')
-
-  output_string = ''
-  placeholders = placeholders if placeholders is not None else dict()
-  prev_end = -1
-  for start, end in start_and_end(quote_positions):
-    output_string += input_string[prev_end + 1 : start]
-    while True:
-      placeholder = ''.join(random.choices(string.ascii_lowercase, k=5))
-      if placeholder not in input_string and placeholder not in output_string:
-        break
-    output_string += placeholder
-    placeholders[placeholder] = input_string[start + 1 : end]
-    prev_end = end
-  output_string += input_string[prev_end + 1 :]
-
-  return output_string, placeholders
-
-
-def parse_cmake_args_from_environ(env_var_name=MUJOCO_CMAKE_ARGS):
-  """Parses CMake arguments from an environment variable."""
-  raw_args = os.environ.get(env_var_name, '').strip()
-  unquoted, placeholders = tokenize_quoted_substr(raw_args, '"')
-  unquoted, placeholders = tokenize_quoted_substr(unquoted, "'", placeholders)
-  parts = re.split(r'\s+', unquoted.strip())
-  out = []
-  for part in parts:
-    for k, v in placeholders.items():
-      part = part.replace(k, v)
-    part = part.replace('\\"', '"').replace("\\'", "'")
-    if part:
-      out.append(part)
-  return out
-
-
-class CMakeExtension(setuptools.Extension):
-  """A Python extension that has been prebuilt by CMake.
-
-  We do not want distutils to handle the build process for our extensions, so
-  so we pass an empty list to the super constructor.
-  """
-
-  def __init__(self, name):
-    super().__init__(name, sources=[])
-
-
-class BuildCMakeExtension(build_ext.build_ext):
-  """Uses CMake to build extensions."""
-
-  def run(self):
-    self._is_apple = platform.system() == 'Darwin'
-    (
-        self._mujoco_library_path,
-        self._mujoco_include_path,
-        self._mujoco_plugins_path,
-        self._mujoco_framework_path,
-    ) = self._find_mujoco()
-    self._configure_cmake()
-    for ext in self.extensions:
-      assert ext.name.startswith(EXT_PREFIX)
-      self.build_extension(ext)
-    self._copy_external_libraries()
-    self._copy_mujoco_headers()
-    self._copy_plugin_libraries()
-    self._copy_studio_assets()
-    if self._is_apple:
-      self._copy_mjpython()
-
-  def _find_mujoco(self):
-    if MUJOCO_PATH not in os.environ:
-      raise RuntimeError(f'{MUJOCO_PATH} environment variable is not set')
-    if MUJOCO_PLUGIN_PATH not in os.environ:
-      raise RuntimeError(
-          f'{MUJOCO_PLUGIN_PATH} environment variable is not set'
-      )
-    library_path = None
-    include_path = None
-    plugin_path = os.environ[MUJOCO_PLUGIN_PATH]
-    for directory, subdirs, filenames in os.walk(os.environ[MUJOCO_PATH]):
-      if self._is_apple and 'mujoco.framework' in subdirs:
-        return (
-            os.path.join(directory, 'mujoco.framework/Versions/A'),
-            os.path.join(directory, 'mujoco.framework/Headers'),
-            plugin_path,
-            directory,
-        )
-      if fnmatch.filter(filenames, get_mujoco_lib_pattern()):
-        library_path = directory
-      if os.path.exists(os.path.join(directory, 'mujoco/mujoco.h')):
-        include_path = directory
-      if library_path and include_path:
-        return library_path, include_path, plugin_path, None
-    raise RuntimeError('Cannot find MuJoCo library and/or include paths')
-
-  def _copy_external_libraries(self):
-    dst = os.path.dirname(self.get_ext_fullpath(self.extensions[0].name))
-    for directory, _, filenames in os.walk(os.environ[MUJOCO_PATH]):
-      for pattern in get_external_lib_patterns():
-        for filename in fnmatch.filter(filenames, pattern):
-          shutil.copyfile(
-              os.path.join(directory, filename), os.path.join(dst, filename)
-          )
-
-  def _copy_plugin_libraries(self):
-    dst = os.path.join(
-        os.path.dirname(self.get_ext_fullpath(self.extensions[0].name)),
-        'plugin',
-    )
-    os.makedirs(dst)
-    for directory, _, filenames in os.walk(self._mujoco_plugins_path):
-      for pattern in get_plugin_lib_patterns():
-        for filename in fnmatch.filter(filenames, pattern):
-          shutil.copyfile(
-              os.path.join(directory, filename), os.path.join(dst, filename)
-          )
-
-  def _copy_mujoco_headers(self):
-    dst = os.path.join(
-        os.path.dirname(self.get_ext_fullpath(self.extensions[0].name)),
-        'include/mujoco',
-    )
-    os.makedirs(dst)
-    for directory, _, filenames in os.walk(self._mujoco_include_path):
-      rel_dir = os.path.relpath(directory, self._mujoco_include_path)
-
-      # Skip third-party directories
-      if rel_dir.startswith(('SDL2', 'math', 'misc')):
-        continue
-
-      for filename in fnmatch.filter(filenames, '*.h'):
-        rel_file_path = os.path.relpath(
-            os.path.join(directory, filename), self._mujoco_include_path
-        )
-
-        # Skip third-party files in the root include path (for framework case)
-        if rel_dir == '.' and not (
-            filename == 'mujoco.h' or filename.startswith('mj')
-        ):
-          continue
-
-        # Reconstruct destination path preserving structure
-        # Strip leading 'mujoco/' if present to avoid duplicate 'mujoco/mujoco/'
-        if rel_file_path.startswith('mujoco/'):
-          target_rel_path = rel_file_path[len('mujoco/') :]
-        else:
-          target_rel_path = rel_file_path
-
-        target_dst = os.path.join(dst, target_rel_path)
-        os.makedirs(os.path.dirname(target_dst), exist_ok=True)
-        shutil.copyfile(os.path.join(directory, filename), target_dst)
-
-
-  def _copy_studio_assets(self):
-    assets_src = None
-    for directory, subdirs, _ in os.walk(os.environ[MUJOCO_PATH]):
-      if 'assets' in subdirs:
-        candidate = os.path.join(directory, 'assets')
-        if os.path.exists(os.path.join(candidate, 'fontawesome-webfont.ttf')):
-          assets_src = candidate
-          break
-
-    if assets_src:
-      dst = os.path.join(
-          os.path.dirname(self.get_ext_fullpath(self.extensions[0].name)),
-          'experimental/studio/assets',
-      )
-      if os.path.exists(dst):
-        shutil.rmtree(dst)
-      shutil.copytree(assets_src, dst)
-    else:
-      print("Warning: Studio assets not found in MUJOCO_PATH. Skipping.")
-
-  def _copy_mjpython(self):
-    src_dir = os.path.join(os.path.dirname(__file__), 'mujoco/mjpython')
-    dst_contents_dir = os.path.join(
-        os.path.dirname(self.get_ext_fullpath(self.extensions[0].name)),
-        'MuJoCo_(mjpython).app/Contents',
-    )
-    os.makedirs(dst_contents_dir)
-    shutil.copyfile(
-        os.path.join(src_dir, 'Info.plist'),
-        os.path.join(dst_contents_dir, 'Info.plist'),
-    )
-
-    dst_bin_dir = os.path.join(dst_contents_dir, 'MacOS')
-    os.makedirs(dst_bin_dir)
-    shutil.copyfile(
-        os.path.join(self.build_temp, 'mjpython'),
-        os.path.join(dst_bin_dir, 'mjpython'),
-    )
-    os.chmod(os.path.join(dst_bin_dir, 'mjpython'), 0o755)
-
-    dst_resources_dir = os.path.join(dst_contents_dir, 'Resources')
-    os.makedirs(dst_resources_dir)
-    shutil.copyfile(
-        os.path.join(src_dir, 'mjpython.icns'),
-        os.path.join(dst_resources_dir, 'mjpython.icns'),
-    )
-
-  def _configure_cmake(self):
-    """Check for CMake."""
-    cmake = os.environ.get(MUJOCO_CMAKE, 'cmake')
-    build_cfg = 'Debug' if self.debug else 'Release'
-    cmake_module_path = os.path.join(
-        os.path.dirname(__file__), 'mujoco', 'cmake'
-    )
-    cmake_args = [
-        f'-DPython3_ROOT_DIR:PATH={sys.prefix}',
-        f'-DPython3_EXECUTABLE:STRING={sys.executable}',
-        f'-DCMAKE_MODULE_PATH:PATH={cmake_module_path}',
-        f'-DCMAKE_BUILD_TYPE:STRING={build_cfg}',
-        f'-DCMAKE_LIBRARY_OUTPUT_DIRECTORY:PATH={self.build_temp}',
-        (
-            f'-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL={"OFF" if self.debug else "ON"}'
-        ),
-        '-DCMAKE_Fortran_COMPILER:STRING=',
-        '-DBUILD_TESTING:BOOL=OFF',
-    ]
-
-    if self._mujoco_framework_path is not None:
-      cmake_args.extend([
-          f'-DMUJOCO_FRAMEWORK_DIR:PATH={self._mujoco_framework_path}',
-      ])
-    else:
-      cmake_args.extend([
-          f'-DMUJOCO_LIBRARY_DIR:PATH={self._mujoco_library_path}',
-          f'-DMUJOCO_INCLUDE_DIR:PATH={self._mujoco_include_path}',
-      ])
-
-    if platform.system() != 'Windows':
-      cmake_args.extend([
-          f'-DPython3_LIBRARY={sysconfig.get_paths()["stdlib"]}',
-          f'-DPython3_INCLUDE_DIR={sysconfig.get_paths()["include"]}',
-      ])
-    if platform.system() == 'Darwin' and os.environ.get('ARCHFLAGS'):
-      osx_archs = []
-      if '-arch x86_64' in os.environ['ARCHFLAGS']:
-        osx_archs.append('x86_64')
-      if '-arch arm64' in os.environ['ARCHFLAGS']:
-        osx_archs.append('arm64')
-      cmake_args.append(f'-DCMAKE_OSX_ARCHITECTURES={";".join(osx_archs)}')
-
-    cmake_args.extend(parse_cmake_args_from_environ())
-    os.makedirs(self.build_temp, exist_ok=True)
-
-    if platform.system() == 'Windows':
-      cmake_args = [arg.replace('\\', '/') for arg in cmake_args]
-
-    print('Configuring CMake with the following arguments:')
-    for arg in cmake_args:
-      print(f'    {arg}')
-    subprocess.check_call(
-        [cmake]
-        + cmake_args
-        + [os.path.join(os.path.dirname(__file__), 'mujoco')],
-        cwd=self.build_temp,
-    )
-
-    print('Building all extensions with CMake')
-    subprocess.check_call(
-        [cmake, '--build', '.', f'-j{os.cpu_count()}', '--config', build_cfg],
-        cwd=self.build_temp,
-    )
-
-  def build_extension(self, ext):
-    dest_path = self.get_ext_fullpath(ext.name)
-    os.makedirs(os.path.dirname(dest_path), exist_ok=True)
-
-    # Reconstruct relative path from extension name to support nested extensions
-    rel_ext_name = ext.name[len(EXT_PREFIX):]
-    rel_path = rel_ext_name.replace('.', '/')
-    filename = os.path.basename(dest_path)
-    rel_dir = os.path.dirname(rel_path)
-
-    build_path = os.path.join(self.build_temp, rel_dir, filename)
-    if os.path.exists(build_path):
-      shutil.copyfile(build_path, dest_path)
-    else:
-      print(f"Warning: Extension {ext.name} was not built by CMake. Skipping.")
-
-
-class InstallScripts(install_scripts.install_scripts):
-  """Strips file extension from executable scripts whose names end in `.py`."""
-
-  def run(self):
-    super().run()
-    oldfiles = self.outfiles
-    files = set(oldfiles)
-    self.outfiles = []
-    for oldfile in oldfiles:
-      if oldfile.endswith('.py'):
-        newfile = oldfile[:-3]
-      else:
-        newfile = oldfile
-
-      renamed = False
-      if newfile not in files and not os.path.exists(newfile):
-        if not self.dry_run:
-          os.rename(oldfile, newfile)
-        renamed = True
-
-      if renamed:
-        logging.info(
-            'Renaming %s script to %s',
-            os.path.basename(oldfile),
-            os.path.basename(newfile),
-        )
-        self.outfiles.append(newfile)
-        files.remove(oldfile)
-        files.add(newfile)
-      else:
-        self.outfiles.append(oldfile)
-
-
-setuptools.setup(
-    long_description=get_long_description(),
-    long_description_content_type='text/markdown',
-    cmdclass=dict(
-        build_ext=BuildCMakeExtension,
-        install_scripts=InstallScripts,
-    ),
-    ext_modules=[
-        CMakeExtension('mujoco._callbacks'),
-        CMakeExtension('mujoco._constants'),
-        CMakeExtension('mujoco._enums'),
-        CMakeExtension('mujoco._errors'),
-        CMakeExtension('mujoco._functions'),
-        CMakeExtension('mujoco._render'),
-        CMakeExtension('mujoco._rollout'),
-        CMakeExtension('mujoco._simulate'),
-        CMakeExtension('mujoco._specs'),
-        CMakeExtension('mujoco._structs'),
-        # Studio extensions
-        CMakeExtension('mujoco.experimental.studio.parser'),
-        CMakeExtension('mujoco.experimental.studio.native_viewer_cc'),
-        CMakeExtension('mujoco.experimental.studio.renderer'),
-        CMakeExtension('mujoco.experimental.studio.ux'),
-        CMakeExtension('mujoco.experimental.studio.sim'),
-        # ImGui/ImPlot extensions
-        CMakeExtension('mujoco.experimental.dear_imgui.dear_imgui'),
-        CMakeExtension('mujoco.experimental.implot.implot'),
-    ],
-    scripts=['mujoco/mjpython/mjpython.py']
-    if platform.system() == 'Darwin'
-    else [],
-)
diff --git a/python/tutorial.ipynb b/python/tutorial.ipynb
deleted file mode 100644
index fcfd8b74..00000000
--- a/python/tutorial.ipynb
+++ /dev/null
@@ -1,2245 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "MpkYHwCqk7W-"
-   },
-   "source": [
-    "![MuJoCo banner](https://raw.githubusercontent.com/google-deepmind/mujoco/main/banner.png)\n",
-    "\n",
-    "# <h1><center>Tutorial  <a href=\"https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" width=\"140\" align=\"center\"/></a></center></h1>\n",
-    "\n",
-    "This notebook provides an introductory tutorial for [**MuJoCo** physics](https://github.com/google-deepmind/mujoco#readme), using the native Python bindings.\n",
-    "\n",
-    "<!-- Copyright 2021 DeepMind Technologies Limited\n",
-    "\n",
-    "     Licensed under the Apache License, Version 2.0 (the \"License\");\n",
-    "     you may not use this file except in compliance with the License.\n",
-    "     You may obtain a copy of the License at\n",
-    "\n",
-    "         http://www.apache.org/licenses/LICENSE-2.0\n",
-    "\n",
-    "     Unless required by applicable law or agreed to in writing, software\n",
-    "     distributed under the License is distributed on an \"AS IS\" BASIS,\n",
-    "     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n",
-    "     See the License for the specific language governing permissions and\n",
-    "     limitations under the License.\n",
-    "-->"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "YvyGCsgSCxHQ"
-   },
-   "source": [
-    "# All imports"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Xqo7pyX-n72M"
-   },
-   "outputs": [],
-   "source": [
-    "!pip install mujoco\n",
-    "\n",
-    "# Set up GPU rendering.\n",
-    "from google.colab import files\n",
-    "import distutils.util\n",
-    "import os\n",
-    "import subprocess\n",
-    "if subprocess.run('nvidia-smi').returncode:\n",
-    "  raise RuntimeError(\n",
-    "      'Cannot communicate with GPU. '\n",
-    "      'Make sure you are using a GPU Colab runtime. '\n",
-    "      'Go to the Runtime menu and select Choose runtime type.')\n",
-    "\n",
-    "# Add an ICD config so that glvnd can pick up the Nvidia EGL driver.\n",
-    "# This is usually installed as part of an Nvidia driver package, but the Colab\n",
-    "# kernel doesn't install its driver via APT, and as a result the ICD is missing.\n",
-    "# (https://github.com/NVIDIA/libglvnd/blob/master/src/EGL/icd_enumeration.md)\n",
-    "NVIDIA_ICD_CONFIG_PATH = '/usr/share/glvnd/egl_vendor.d/10_nvidia.json'\n",
-    "if not os.path.exists(NVIDIA_ICD_CONFIG_PATH):\n",
-    "  with open(NVIDIA_ICD_CONFIG_PATH, 'w') as f:\n",
-    "    f.write(\"\"\"{\n",
-    "    \"file_format_version\" : \"1.0.0\",\n",
-    "    \"ICD\" : {\n",
-    "        \"library_path\" : \"libEGL_nvidia.so.0\"\n",
-    "    }\n",
-    "}\n",
-    "\"\"\")\n",
-    "\n",
-    "# Configure MuJoCo to use the EGL rendering backend (requires GPU)\n",
-    "print('Setting environment variable to use GPU rendering:')\n",
-    "%env MUJOCO_GL=egl\n",
-    "\n",
-    "# Check if installation was succesful.\n",
-    "try:\n",
-    "  print('Checking that the installation succeeded:')\n",
-    "  import mujoco\n",
-    "  mujoco.MjModel.from_xml_string('<mujoco/>')\n",
-    "except Exception as e:\n",
-    "  raise e from RuntimeError(\n",
-    "      'Something went wrong during installation. Check the shell output above '\n",
-    "      'for more information.\\n'\n",
-    "      'If using a hosted Colab runtime, make sure you enable GPU acceleration '\n",
-    "      'by going to the Runtime menu and selecting \"Choose runtime type\".')\n",
-    "\n",
-    "print('Installation successful.')\n",
-    "\n",
-    "# Other imports and helper functions\n",
-    "import time\n",
-    "import itertools\n",
-    "import numpy as np\n",
-    "\n",
-    "# Graphics and plotting.\n",
-    "print('Installing mediapy:')\n",
-    "!command -v ffmpeg >/dev/null || (apt update && apt install -y ffmpeg)\n",
-    "!pip install -q mediapy\n",
-    "import mediapy as media\n",
-    "import matplotlib.pyplot as plt\n",
-    "\n",
-    "# More legible printing from numpy.\n",
-    "np.set_printoptions(precision=3, suppress=True, linewidth=100)\n",
-    "\n",
-    "from IPython.display import clear_output\n",
-    "clear_output()\n"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "t0CF6Gvkt_Cw"
-   },
-   "source": [
-    "# MuJoCo basics\n",
-    "\n",
-    "We begin by defining and loading a simple model:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "3KJVqak6xdJa"
-   },
-   "outputs": [],
-   "source": [
-    "xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <worldbody>\n",
-    "    <geom name=\"red_box\" type=\"box\" size=\".2 .2 .2\" rgba=\"1 0 0 1\"/>\n",
-    "    <geom name=\"green_sphere\" pos=\".2 .2 .2\" size=\".1\" rgba=\"0 1 0 1\"/>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "model = mujoco.MjModel.from_xml_string(xml)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "slhf39lGxvDI"
-   },
-   "source": [
-    "The `xml` string is written in MuJoCo's [MJCF](http://www.mujoco.org/book/modeling.html), which is an [XML](https://en.wikipedia.org/wiki/XML#Key_terminology)-based modeling language.\n",
-    "  - The only required element is `<mujoco>`. The smallest valid MJCF model is `<mujoco/>` which is a completely empty model.\n",
-    "  - All physical elements live inside the `<worldbody>` which is always the top-level body and constitutes the global origin in Cartesian coordinates.\n",
-    "  - We define two geoms in the world named `red_box` and `green_sphere`.\n",
-    "  - **Question:** The `red_box` has no position, the `green_sphere` has no type, why is that?\n",
-    "    - **Answer:** MJCF attributes have *default values*. The default position is `0 0 0`, the default geom type is `sphere`. The MJCF language is described in the documentation's [XML Reference chapter](https://mujoco.readthedocs.io/en/latest/XMLreference.html).\n",
-    "\n",
-    "The `from_xml_string()` method invokes the model compiler, which creates a binary `mjModel` instance."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "gf9h_wi9weet"
-   },
-   "source": [
-    "## mjModel\n",
-    "\n",
-    "MuJoCo's `mjModel`, contains the *model description*, i.e., all quantities which *do not change over time*. The complete description of `mjModel` can be found at the end of the header file [`mjmodel.h`](https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h). Note that the header files contain short, useful inline comments, describing each field.\n",
-    "\n",
-    "Examples of quantities that can be found in `mjModel` are `ngeom`, the number of geoms in the scene and `geom_rgba`, their respective colors:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "F40Pe6DY3Q0g"
-   },
-   "outputs": [],
-   "source": [
-    "model.ngeom"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "MOIJG9pzx8cA"
-   },
-   "outputs": [],
-   "source": [
-    "model.geom_rgba"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "bzcLjdY23Kvp"
-   },
-   "source": [
-    "## Named access\n",
-    "\n",
-    "The MuJoCo Python bindings provide convenient [accessors](https://mujoco.readthedocs.io/en/latest/python.html#named-access) using names. Calling the `model.geom()` accessor without a name string generates a convenient error that tells us what the valid names are."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "9AuTwbLFyJxQ"
-   },
-   "outputs": [],
-   "source": [
-    "try:\n",
-    "  model.geom()\n",
-    "except KeyError as e:\n",
-    "  print(e)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "qkfLK3h2zrqr"
-   },
-   "source": [
-    "Calling the named accessor without specifying a property will tell us what all the valid properties are:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "9X95TlWnyEEw"
-   },
-   "outputs": [],
-   "source": [
-    "model.geom('green_sphere')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "mS9qDLevKsJq"
-   },
-   "source": [
-    "Let's read the `green_sphere`'s rgba values:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "xsBlJAV7zpHb"
-   },
-   "outputs": [],
-   "source": [
-    "model.geom('green_sphere').rgba"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "8a8hswjjKyIa"
-   },
-   "source": [
-    "This functionality is a convenience shortcut for MuJoCo's [`mj_name2id`](https://mujoco.readthedocs.io/en/latest/APIreference.html?highlight=mj_name2id#mj-name2id) function:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Ng92hNUoKnVq"
-   },
-   "outputs": [],
-   "source": [
-    "id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_GEOM, 'green_sphere')\n",
-    "model.geom_rgba[id, :]"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "5WL_SaJPLl3r"
-   },
-   "source": [
-    "Similarly, the read-only `id` and `name` properties can be used to convert from id to name and back:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "2CbGSmRZeE5p"
-   },
-   "outputs": [],
-   "source": [
-    "print('id of \"green_sphere\": ', model.geom('green_sphere').id)\n",
-    "print('name of geom 1: ', model.geom(1).name)\n",
-    "print('name of body 0: ', model.body(0).name)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "3RIizubaL_du"
-   },
-   "source": [
-    "Note that the 0th body is always the `world`. It cannot be renamed.\n",
-    "\n",
-    "The `id` and `name` attributes are useful in Python comprehensions:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "m3MtIE5F1K7s"
-   },
-   "outputs": [],
-   "source": [
-    "[model.geom(i).name for i in range(model.ngeom)]"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "t5hY0fyXFLcf"
-   },
-   "source": [
-    "## `mjData`\n",
-    "`mjData` contains the *state* and quantities that depend on it. The state is made up of time, [generalized](https://en.wikipedia.org/wiki/Generalized_coordinates) positions and generalized velocities. These are respectively `data.time`, `data.qpos` and `data.qvel`. In order to make a new `mjData`, all we need is our `mjModel`"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "FV2Hy6m948nr"
-   },
-   "outputs": [],
-   "source": [
-    "data = mujoco.MjData(model)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "-KmNuvlJ46u0"
-   },
-   "source": [
-    "`mjData` also contains *functions of the state*, for example the Cartesian positions of objects in the world frame. The (x, y, z) positions of our two geoms are in `data.geom_xpos`:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "CPwDcAQ0-uUE"
-   },
-   "outputs": [],
-   "source": [
-    "print(data.geom_xpos)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Sjst5xGXX3sr"
-   },
-   "source": [
-    "Wait, why are both of our geoms at the origin? Didn't we offset the green sphere? The answer is that derived quantities in `mjData` need to be explicitly propagated (see [below](#scrollTo=QY1gpms1HXeN)). In our case, the minimal required function is [`mj_kinematics`](https://mujoco.readthedocs.io/en/latest/APIreference.html#mj-kinematics), which computes global Cartesian poses for all objects (excluding cameras and lights)."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "tfe0YeZRYNTr"
-   },
-   "outputs": [],
-   "source": [
-    "mujoco.mj_kinematics(model, data)\n",
-    "print('raw access:\\n', data.geom_xpos)\n",
-    "\n",
-    "# MjData also supports named access:\n",
-    "print('\\nnamed access:\\n', data.geom('green_sphere').xpos)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "eU7uWNsTwmcZ"
-   },
-   "source": [
-    "# Basic rendering, simulation, and animation\n",
-    "\n",
-    "In order to render we'll need to instantiate a `Renderer` object and call its `render` method.\n",
-    "\n",
-    "We'll also reload our model to make the colab's sections independent."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "xK3c0-UDxMrN"
-   },
-   "outputs": [],
-   "source": [
-    "xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <worldbody>\n",
-    "    <geom name=\"red_box\" type=\"box\" size=\".2 .2 .2\" rgba=\"1 0 0 1\"/>\n",
-    "    <geom name=\"green_sphere\" pos=\".2 .2 .2\" size=\".1\" rgba=\"0 1 0 1\"/>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "# Make model and data\n",
-    "model = mujoco.MjModel.from_xml_string(xml)\n",
-    "data = mujoco.MjData(model)\n",
-    "\n",
-    "# Make renderer, render and show the pixels\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "ZkFSHeYGxlT5"
-   },
-   "source": [
-    "Hmmm, why the black pixels?\n",
-    "\n",
-    "**Answer:** For the same reason as above, we first need to propagate the values in `mjData`. This time we'll call [`mj_forward`](https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html#mj-forward), which invokes the entire pipeline up to the computation of accelerations i.e., it computes $\\dot x = f(x)$, where $x$ is the state. This function does more than we actually need, but unless we care about saving computation time, it's good practice to call `mj_forward` since then we know we are not missing anything.\n",
-    "\n",
-    "We also need to update the `mjvScene` which is an object held by the renderer describing the visual scene. We'll later see that the scene can include visual objects which are not part of the physical model."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "pvh47r97huS4"
-   },
-   "outputs": [],
-   "source": [
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  mujoco.mj_forward(model, data)\n",
-    "  renderer.update_scene(data)\n",
-    "\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "6oDW1dOUifw6"
-   },
-   "source": [
-    "This worked, but this image is a bit dark. Let's add a light and re-render."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "iqzJj2NIr_2V"
-   },
-   "outputs": [],
-   "source": [
-    "xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <worldbody>\n",
-    "    <light name=\"top\" pos=\"0 0 1\"/>\n",
-    "    <geom name=\"red_box\" type=\"box\" size=\".2 .2 .2\" rgba=\"1 0 0 1\"/>\n",
-    "    <geom name=\"green_sphere\" pos=\".2 .2 .2\" size=\".1\" rgba=\"0 1 0 1\"/>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "model = mujoco.MjModel.from_xml_string(xml)\n",
-    "data = mujoco.MjData(model)\n",
-    "\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  mujoco.mj_forward(model, data)\n",
-    "  renderer.update_scene(data)\n",
-    "\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "HS4K38Eirww9"
-   },
-   "source": [
-    "Much better!\n",
-    "\n",
-    "Note that all values in the `mjModel` instance are writable. While it's generally not recommended to do this but rather to change the values in the XML, because it's easy to make an invalid model, some values are safe to write into, for example colors:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "GBNcQVYJrt2h"
-   },
-   "outputs": [],
-   "source": [
-    "# Run this cell multiple times for different colors\n",
-    "model.geom('red_box').rgba[:3] = np.random.rand(3)\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  renderer.update_scene(data)\n",
-    "\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "-P95E-QHizQq"
-   },
-   "source": [
-    "# Simulation\n",
-    "\n",
-    "Now let's simulate and make a video. We'll use MuJoCo's main high level function `mj_step`, which steps the state $x_{t+h} = f(x_t)$.\n",
-    "\n",
-    "Note that in the code block below we are *not* rendering after each call to `mj_step`. This is because the default timestep is 2ms, and we want a 60fps video, not 500fps."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "NdVnHOYisiKl"
-   },
-   "outputs": [],
-   "source": [
-    "duration = 3.8  # (seconds)\n",
-    "framerate = 60  # (Hz)\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "frames = []\n",
-    "mujoco.mj_resetData(model, data)  # Reset state and time.\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      renderer.update_scene(data)\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "tYN4sL9RnsCU"
-   },
-   "source": [
-    "Hmmm, the video is playing, but nothing is moving, why is that?\n",
-    "\n",
-    "This is because this model has no [degrees of freedom](https://www.google.com/url?sa=D&q=https%3A%2F%2Fen.wikipedia.org%2Fwiki%2FDegrees_of_freedom_(mechanics)) (DoFs). The things that move (and which have inertia) are called *bodies*. We add DoFs by adding *joints* to bodies, specifying how they can move with respect to their parents. Let's make a new body that contains our geoms, add a hinge joint and re-render, while visualizing the joint axis using the visualization option object `MjvOption`."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "LbWf84VYst5m"
-   },
-   "outputs": [],
-   "source": [
-    "xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <worldbody>\n",
-    "    <light name=\"top\" pos=\"0 0 1\"/>\n",
-    "    <body name=\"box_and_sphere\" euler=\"0 0 -30\">\n",
-    "      <joint name=\"swing\" type=\"hinge\" axis=\"1 -1 0\" pos=\"-.2 -.2 -.2\"/>\n",
-    "      <geom name=\"red_box\" type=\"box\" size=\".2 .2 .2\" rgba=\"1 0 0 1\"/>\n",
-    "      <geom name=\"green_sphere\" pos=\".2 .2 .2\" size=\".1\" rgba=\"0 1 0 1\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "model = mujoco.MjModel.from_xml_string(xml)\n",
-    "data = mujoco.MjData(model)\n",
-    "\n",
-    "# enable joint visualization option:\n",
-    "scene_option = mujoco.MjvOption()\n",
-    "scene_option.flags[mujoco.mjtVisFlag.mjVIS_JOINT] = True\n",
-    "\n",
-    "duration = 3.8  # (seconds)\n",
-    "framerate = 60  # (Hz)\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "frames = []\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      renderer.update_scene(data, scene_option=scene_option)\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Ymv-tvWCpl6V"
-   },
-   "source": [
-    "Note that we rotated the `box_and_sphere` body by 30° around the Z (vertical) axis, with the directive `euler=\"0 0 -30\"`. This was made to emphasize that the poses of elements in the [kinematic tree](https://www.google.com/url?sa=D&q=https%3A%2F%2Fen.wikipedia.org%2Fwiki%2FKinematic_chain) are always with respect to their *parent body*, so our two geoms were also rotated by this transformation.\n",
-    "\n",
-    "Physics options live in `mjModel.opt`, for example the timestep:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "5yvAJokcpyX_"
-   },
-   "outputs": [],
-   "source": [
-    "model.opt.timestep"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "SdkwLeGUp9B2"
-   },
-   "source": [
-    "Let's flip gravity and re-render:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "ocjPQG8Dp2F-"
-   },
-   "outputs": [],
-   "source": [
-    "print('default gravity', model.opt.gravity)\n",
-    "model.opt.gravity = (0, 0, 10)\n",
-    "print('flipped gravity', model.opt.gravity)\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "frames = []\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      renderer.update_scene(data, scene_option=scene_option)\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=60)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "FsxDDgXBqg_J"
-   },
-   "source": [
-    "We could also have done this in XML using the top-level `<option>` element:\n",
-    "```xml\n",
-    "<mujoco>\n",
-    "  <option gravity=\"0 0 10\"/>\n",
-    "  ...\n",
-    "</mujoco>\n",
-    "```"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "QY1gpms1HXeN"
-   },
-   "source": [
-    "### Understanding Degrees of Freedom\n",
-    "\n",
-    "In the real world, all rigid objects have 6 degrees-of-freedom: 3 translations and 3 rotations. Real-world joints act as constraints, removing relative degrees-of-freedom from bodies connected by joints. Some physics simulation software use this representation which is known as the \"Cartesian\" or \"subtractive\" representation, but it is inefficient. MuJoCo uses a representation known as the \"Lagrangian\", \"generalized\" or \"additive\" representation, whereby objects have no degrees of freedom unless explicitly added using joints.\n",
-    "\n",
-    "Our model, which has a single hinge joint, has one degree of freedom, and the entire state is defined by this joint's angle and angular velocity. These are the system's generalized position and velocity."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "wEdfGEfSKAOC"
-   },
-   "outputs": [],
-   "source": [
-    "print('Total number of DoFs in the model:', model.nv)\n",
-    "print('Generalized positions:', data.qpos)\n",
-    "print('Generalized velocities:', data.qvel)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Z8E-P5xONUSn"
-   },
-   "source": [
-    "MuJoCo's use of generalized coordinates is the reason that calling a function (e.g. [`mj_forward`](https://mujoco.readthedocs.io/en/latest/APIreference.html#mj-forward)) is required before rendering or reading the global poses of objects – Cartesian positions are *derived* from the generalized positions and need to be explicitly computed."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "SHppAOjvSupc"
-   },
-   "source": [
-    "# Example: Simulating free bodies with the self-inverting \"tippe-top\"\n",
-    "\n",
-    "A free body is a body with a [free joint](https://www.google.com/url?sa=D&q=https%3A%2F%2Fmujoco.readthedocs.io%2Fen%2Flatest%2FXMLreference.html%3Fhighlight%3Dfreejoint%23body-freejoint) having 6 DoFs, i.e., 3 translations and 3 rotations. We could give our `box_and_sphere` body a free joint and watch it fall, but let's look at something more interesting. A \"tippe top\" is a spinning toy which flips itself ([video](https://www.youtube.com/watch?v=kbYpVrdcszQ), [Wikipedia](https://en.wikipedia.org/wiki/Tippe_top)). We model it as follows:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "xasXQpVMjIwA"
-   },
-   "outputs": [],
-   "source": [
-    "tippe_top = \"\"\"\n",
-    "<mujoco model=\"tippe top\">\n",
-    "  <option integrator=\"RK4\"/>\n",
-    "\n",
-    "  <asset>\n",
-    "    <texture name=\"grid\" type=\"2d\" builtin=\"checker\" rgb1=\".1 .2 .3\"\n",
-    "     rgb2=\".2 .3 .4\" width=\"300\" height=\"300\"/>\n",
-    "    <material name=\"grid\" texture=\"grid\" texrepeat=\"8 8\" reflectance=\".2\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <geom size=\".2 .2 .01\" type=\"plane\" material=\"grid\"/>\n",
-    "    <light pos=\"0 0 .6\"/>\n",
-    "    <camera name=\"closeup\" pos=\"0 -.1 .07\" xyaxes=\"1 0 0 0 1 2\"/>\n",
-    "    <body name=\"top\" pos=\"0 0 .02\">\n",
-    "      <freejoint/>\n",
-    "      <geom name=\"ball\" type=\"sphere\" size=\".02\" />\n",
-    "      <geom name=\"stem\" type=\"cylinder\" pos=\"0 0 .02\" size=\"0.004 .008\"/>\n",
-    "      <geom name=\"ballast\" type=\"box\" size=\".023 .023 0.005\"  pos=\"0 0 -.015\"\n",
-    "       contype=\"0\" conaffinity=\"0\" group=\"3\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "\n",
-    "  <keyframe>\n",
-    "    <key name=\"spinning\" qpos=\"0 0 0.02 1 0 0 0\" qvel=\"0 0 0 0 1 200\" />\n",
-    "  </keyframe>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "model = mujoco.MjModel.from_xml_string(tippe_top)\n",
-    "data = mujoco.MjData(model)\n",
-    "\n",
-    "mujoco.mj_forward(model, data)\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  renderer.update_scene(data, camera=\"closeup\")\n",
-    "\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "bvHlr6maJYIG"
-   },
-   "source": [
-    "Note several new features of this model definition:\n",
-    "1. A 6-DoF free joint is added with the `<freejoint/>` clause.\n",
-    "2. We use the `<option/>` clause to set the integrator to the 4th order [Runge Kutta](https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods). Runge-Kutta has a higher rate of convergence than the default Euler integrator, which in many cases increases the accuracy at a given timestep size.\n",
-    "3. We define the floor's grid material inside the `<asset/>` clause and reference it in the `\"floor\"` geom.\n",
-    "4. We use an invisible and non-colliding box geom called `ballast` to move the top's center-of-mass lower. Having a low center of mass is (counter-intuitively) required for the flipping behavior to occur.\n",
-    "5. We save our initial spinning state as a *keyframe*. It has a high rotational velocity around the Z-axis, but is not perfectly oriented with the world, which introduces the symmetry-breaking required for the flipping.\n",
-    "6. We define a `<camera>` in our model, and then render from it using the `camera` argument to `update_scene()`.\n",
-    "Let us examine the state:\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "o4S9nYhHOKmb"
-   },
-   "outputs": [],
-   "source": [
-    "print('positions', data.qpos)\n",
-    "print('velocities', data.qvel)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "71UgzBAqWdtZ"
-   },
-   "source": [
-    "The velocities are easy to interpret, 6 zeros, one for each DoF. What about the length 7 positions? We can see the initial 2cm height of the body; the subsequent four numbers are the 3D orientation, defined by a *unit quaternion*. 3D orientations are represented with **4** numbers while angular velocities are **3** numbers. For more information see the Wikipedia article on [quaternions and spatial rotation](https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation).\n",
-    "\n",
-    "Let's make a video:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "5P4HkhKNGQvs"
-   },
-   "outputs": [],
-   "source": [
-    "duration = 7    # (seconds)\n",
-    "framerate = 60  # (Hz)\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "frames = []\n",
-    "mujoco.mj_resetDataKeyframe(model, data, 0)  # Reset the state to keyframe 0\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      renderer.update_scene(data, \"closeup\")\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "rRuFKD2ubPgu"
-   },
-   "source": [
-    "### Measuring values from `mjData`\n",
-    "As mentioned above, the `mjData` structure contains the dynamic variables and intermediate results produced by the simulation which are *expected to change* on each timestep. Below we simulate for 2000 timesteps and plot the angular velocity of the top and height of the stem as a function of time."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "1XXB6asJoZ2N"
-   },
-   "outputs": [],
-   "source": [
-    "timevals = []\n",
-    "angular_velocity = []\n",
-    "stem_height = []\n",
-    "\n",
-    "# Simulate and save data\n",
-    "mujoco.mj_resetDataKeyframe(model, data, 0)\n",
-    "while data.time < duration:\n",
-    "  mujoco.mj_step(model, data)\n",
-    "  timevals.append(data.time)\n",
-    "  angular_velocity.append(data.qvel[3:6].copy())\n",
-    "  stem_height.append(data.geom_xpos[2,2]);\n",
-    "\n",
-    "dpi = 120\n",
-    "width = 600\n",
-    "height = 800\n",
-    "figsize = (width / dpi, height / dpi)\n",
-    "_, ax = plt.subplots(2, 1, figsize=figsize, dpi=dpi, sharex=True)\n",
-    "\n",
-    "ax[0].plot(timevals, angular_velocity)\n",
-    "ax[0].set_title('angular velocity')\n",
-    "ax[0].set_ylabel('radians / second')\n",
-    "\n",
-    "ax[1].plot(timevals, stem_height)\n",
-    "ax[1].set_xlabel('time (seconds)')\n",
-    "ax[1].set_ylabel('meters')\n",
-    "_ = ax[1].set_title('stem height')"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "u_zN8vATwcGy"
-   },
-   "source": [
-    "# Example: A chaotic pendulum"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "g1MKUEL_eSCM"
-   },
-   "source": [
-    "Below is a model of a chaotic pendulum, similar to [this one](https://www.exploratorium.edu/exhibits/chaotic-pendulum) in the San Francisco Exploratorium."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "3jHYTV-bwfrS"
-   },
-   "outputs": [],
-   "source": [
-    "chaotic_pendulum = \"\"\"\n",
-    "<mujoco>\n",
-    "  <option timestep=\".001\">\n",
-    "    <flag energy=\"enable\" contact=\"disable\"/>\n",
-    "  </option>\n",
-    "\n",
-    "  <default>\n",
-    "    <joint type=\"hinge\" axis=\"0 -1 0\"/>\n",
-    "    <geom type=\"capsule\" size=\".02\"/>\n",
-    "  </default>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <light pos=\"0 -.4 1\"/>\n",
-    "    <camera name=\"fixed\" pos=\"0 -1 0\" xyaxes=\"1 0 0 0 0 1\"/>\n",
-    "    <body name=\"0\" pos=\"0 0 .2\">\n",
-    "      <joint name=\"root\"/>\n",
-    "      <geom fromto=\"-.2 0 0 .2 0 0\" rgba=\"1 1 0 1\"/>\n",
-    "      <geom fromto=\"0 0 0 0 0 -.25\" rgba=\"1 1 0 1\"/>\n",
-    "      <body name=\"1\" pos=\"-.2 0 0\">\n",
-    "        <joint/>\n",
-    "        <geom fromto=\"0 0 0 0 0 -.2\" rgba=\"1 0 0 1\"/>\n",
-    "      </body>\n",
-    "      <body name=\"2\" pos=\".2 0 0\">\n",
-    "        <joint/>\n",
-    "        <geom fromto=\"0 0 0 0 0 -.2\" rgba=\"0 1 0 1\"/>\n",
-    "      </body>\n",
-    "      <body name=\"3\" pos=\"0 0 -.25\">\n",
-    "        <joint/>\n",
-    "        <geom fromto=\"0 0 0 0 0 -.2\" rgba=\"0 0 1 1\"/>\n",
-    "      </body>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "model = mujoco.MjModel.from_xml_string(chaotic_pendulum)\n",
-    "data = mujoco.MjData(model)\n",
-    "height = 480\n",
-    "width = 640\n",
-    "\n",
-    "with mujoco.Renderer(model, height, width) as renderer:\n",
-    "  mujoco.mj_forward(model, data)\n",
-    "  renderer.update_scene(data, camera=\"fixed\")\n",
-    "\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "EKZrTBSS5f49"
-   },
-   "source": [
-    "## Timing\n",
-    "Let's see a video of it in action while we time the components:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "-kNWvE9dNwYW"
-   },
-   "outputs": [],
-   "source": [
-    "# setup\n",
-    "n_seconds = 6\n",
-    "framerate = 30  # Hz\n",
-    "n_frames = int(n_seconds * framerate)\n",
-    "frames = []\n",
-    "height = 240\n",
-    "width = 320\n",
-    "\n",
-    "# set initial state\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "data.joint('root').qvel = 10\n",
-    "\n",
-    "# simulate and record frames\n",
-    "frame = 0\n",
-    "sim_time = 0\n",
-    "render_time = 0\n",
-    "n_steps = 0\n",
-    "with mujoco.Renderer(model, height, width) as renderer:\n",
-    "  for i in range(n_frames):\n",
-    "    while data.time * framerate < i:\n",
-    "      tic = time.time()\n",
-    "      mujoco.mj_step(model, data)\n",
-    "      sim_time += time.time() - tic\n",
-    "      n_steps += 1\n",
-    "    tic = time.time()\n",
-    "    renderer.update_scene(data, \"fixed\")\n",
-    "    frame = renderer.render()\n",
-    "    render_time += time.time() - tic\n",
-    "    frames.append(frame)\n",
-    "\n",
-    "# print timing and play video\n",
-    "step_time = 1e6*sim_time/n_steps\n",
-    "step_fps = n_steps/sim_time\n",
-    "print(f'simulation: {step_time:5.3g} μs/step  ({step_fps:5.0f}Hz)')\n",
-    "frame_time = 1e6*render_time/n_frames\n",
-    "frame_fps = n_frames/render_time\n",
-    "print(f'rendering:  {frame_time:5.3g} μs/frame ({frame_fps:5.0f}Hz)')\n",
-    "print('\\n')\n",
-    "\n",
-    "# show video\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Iqi_m8HT-X5k"
-   },
-   "source": [
-    "Note that rendering is **much** slower than the simulated physics.\n",
-    "\n",
-    "## Chaos\n",
-    "This is a [chaotic](https://en.wikipedia.org/wiki/Chaos_theory) system (small pertubations in initial conditions accumulate quickly):"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Pa_19EfvOzzg"
-   },
-   "outputs": [],
-   "source": [
-    "PERTURBATION = 1e-7\n",
-    "SIM_DURATION = 10 # seconds\n",
-    "NUM_REPEATS = 8\n",
-    "\n",
-    "# preallocate\n",
-    "n_steps = int(SIM_DURATION / model.opt.timestep)\n",
-    "sim_time = np.zeros(n_steps)\n",
-    "angle = np.zeros(n_steps)\n",
-    "energy = np.zeros(n_steps)\n",
-    "\n",
-    "# prepare plotting axes\n",
-    "_, ax = plt.subplots(2, 1, figsize=(8, 6), sharex=True)\n",
-    "\n",
-    "# simulate NUM_REPEATS times with slightly different initial conditions\n",
-    "for _ in range(NUM_REPEATS):\n",
-    "  # initialize\n",
-    "  mujoco.mj_resetData(model, data)\n",
-    "  data.qvel[0] = 10 # root joint velocity\n",
-    "  # perturb initial velocities\n",
-    "  data.qvel[:] += PERTURBATION * np.random.randn(model.nv)\n",
-    "\n",
-    "  # simulate\n",
-    "  for i in range(n_steps):\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    sim_time[i] = data.time\n",
-    "    angle[i] = data.joint('root').qpos\n",
-    "    energy[i] = data.energy[0] + data.energy[1]\n",
-    "\n",
-    "  # plot\n",
-    "  ax[0].plot(sim_time, angle)\n",
-    "  ax[1].plot(sim_time, energy)\n",
-    "\n",
-    "# finalize plot\n",
-    "ax[0].set_title('root angle')\n",
-    "ax[0].set_ylabel('radian')\n",
-    "ax[1].set_title('total energy')\n",
-    "ax[1].set_ylabel('Joule')\n",
-    "ax[1].set_xlabel('second')\n",
-    "plt.tight_layout()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "daSIA_ewFGxV"
-   },
-   "source": [
-    "## Timestep and accuracy\n",
-    "**Question:** Why is the energy varying at all? There is no friction or damping, this system should conserve energy.\n",
-    "\n",
-    "**Answer:** Because of the discretization of time.\n",
-    "\n",
-    "If we decrease the timestep we'll get better accuracy and better energy conservation:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "4z-7KN_fFme-"
-   },
-   "outputs": [],
-   "source": [
-    "SIM_DURATION = 10 # (seconds)\n",
-    "TIMESTEPS = np.power(10, np.linspace(-2, -4, 5))\n",
-    "\n",
-    "# prepare plotting axes\n",
-    "_, ax = plt.subplots(1, 1)\n",
-    "\n",
-    "for dt in TIMESTEPS:\n",
-    "   # set timestep, print\n",
-    "  model.opt.timestep = dt\n",
-    "\n",
-    "  # allocate\n",
-    "  n_steps = int(SIM_DURATION / model.opt.timestep)\n",
-    "  sim_time = np.zeros(n_steps)\n",
-    "  energy = np.zeros(n_steps)\n",
-    "\n",
-    "  # initialize\n",
-    "  mujoco.mj_resetData(model, data)\n",
-    "  data.qvel[0] = 9 # root joint velocity\n",
-    "\n",
-    "  # simulate\n",
-    "  print('{} steps at dt = {:2.2g}ms'.format(n_steps, 1000*dt))\n",
-    "  for i in range(n_steps):\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    sim_time[i] = data.time\n",
-    "    energy[i] = data.energy[0] + data.energy[1]\n",
-    "\n",
-    "  # plot\n",
-    "  ax.plot(sim_time, energy, label='timestep = {:2.2g}ms'.format(1000*dt))\n",
-    "\n",
-    "# finalize plot\n",
-    "ax.set_title('energy')\n",
-    "ax.set_ylabel('Joule')\n",
-    "ax.set_xlabel('second')\n",
-    "ax.legend(frameon=True);\n",
-    "plt.tight_layout()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "jsVkUm7QKb9I"
-   },
-   "source": [
-    "## Timestep and divergence\n",
-    "When we increase the time step, the simulation quickly diverges:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "FbdUA4zDPbDP"
-   },
-   "outputs": [],
-   "source": [
-    "SIM_DURATION = 10 # (seconds)\n",
-    "TIMESTEPS = np.power(10, np.linspace(-2, -1.5, 7))\n",
-    "\n",
-    "# get plotting axes\n",
-    "ax = plt.gca()\n",
-    "\n",
-    "for dt in TIMESTEPS:\n",
-    "  # set timestep\n",
-    "  model.opt.timestep = dt\n",
-    "\n",
-    "  # allocate\n",
-    "  n_steps = int(SIM_DURATION / model.opt.timestep)\n",
-    "  sim_time = np.zeros(n_steps)\n",
-    "  energy = np.zeros(n_steps) * np.nan\n",
-    "  speed = np.zeros(n_steps) * np.nan\n",
-    "\n",
-    "  # initialize\n",
-    "  mujoco.mj_resetData(model, data)\n",
-    "  data.qvel[0] = 11 # set root joint velocity\n",
-    "\n",
-    "  # simulate\n",
-    "  print('simulating {} steps at dt = {:2.2g}ms'.format(n_steps, 1000*dt))\n",
-    "  for i in range(n_steps):\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    if data.warning.number.any():\n",
-    "      warning_index = np.nonzero(data.warning.number)[0][0]\n",
-    "      warning = mujoco.mjtWarning(warning_index).name\n",
-    "      print(f'stopped due to divergence ({warning}) at timestep {i}.\\n')\n",
-    "      break\n",
-    "    sim_time[i] = data.time\n",
-    "    energy[i] = sum(abs(data.qvel))\n",
-    "    speed[i] = np.linalg.norm(data.qvel)\n",
-    "\n",
-    "  # plot\n",
-    "  ax.plot(sim_time, energy, label='timestep = {:2.2g}ms'.format(1000*dt))\n",
-    "  ax.set_yscale('log')\n",
-    "\n",
-    "# finalize plot\n",
-    "ax.set_ybound(1, 1e3)\n",
-    "ax.set_title('energy')\n",
-    "ax.set_ylabel('Joule')\n",
-    "ax.set_xlabel('second')\n",
-    "ax.legend(frameon=True, loc='lower right');\n",
-    "plt.tight_layout()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "FITYfGyy3XPL"
-   },
-   "source": [
-    "# Contacts\n",
-    "\n",
-    "Let's go back to our box and sphere example and give it a free joint:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "2n1VNVv_FkbB"
-   },
-   "outputs": [],
-   "source": [
-    "free_body_MJCF = \"\"\"\n",
-    "<mujoco>\n",
-    "  <asset>\n",
-    "    <texture name=\"grid\" type=\"2d\" builtin=\"checker\" rgb1=\".1 .2 .3\"\n",
-    "    rgb2=\".2 .3 .4\" width=\"300\" height=\"300\" mark=\"edge\" markrgb=\".2 .3 .4\"/>\n",
-    "    <material name=\"grid\" texture=\"grid\" texrepeat=\"2 2\" texuniform=\"true\"\n",
-    "    reflectance=\".2\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <light pos=\"0 0 1\" mode=\"trackcom\"/>\n",
-    "    <geom name=\"ground\" type=\"plane\" pos=\"0 0 -.5\" size=\"2 2 .1\" material=\"grid\" solimp=\".99 .99 .01\" solref=\".001 1\"/>\n",
-    "    <body name=\"box_and_sphere\" pos=\"0 0 0\">\n",
-    "      <freejoint/>\n",
-    "      <geom name=\"red_box\" type=\"box\" size=\".1 .1 .1\" rgba=\"1 0 0 1\" solimp=\".99 .99 .01\"  solref=\".001 1\"/>\n",
-    "      <geom name=\"green_sphere\" size=\".06\" pos=\".1 .1 .1\" rgba=\"0 1 0 1\"/>\n",
-    "      <camera name=\"fixed\" pos=\"0 -.6 .3\" xyaxes=\"1 0 0 0 1 2\"/>\n",
-    "      <camera name=\"track\" pos=\"0 -.6 .3\" xyaxes=\"1 0 0 0 1 2\" mode=\"track\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "model = mujoco.MjModel.from_xml_string(free_body_MJCF)\n",
-    "data = mujoco.MjData(model)\n",
-    "height = 400\n",
-    "width = 600\n",
-    "\n",
-    "with mujoco.Renderer(model, height, width) as renderer:\n",
-    "  mujoco.mj_forward(model, data)\n",
-    "  renderer.update_scene(data, \"fixed\")\n",
-    "\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Z2amdQCn8REu"
-   },
-   "source": [
-    "Let render this body rolling on the floor, in slow-motion, while visualizing contact points and forces:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "HlRhFs_d3WLP"
-   },
-   "outputs": [],
-   "source": [
-    "n_frames = 200\n",
-    "height = 240\n",
-    "width = 320\n",
-    "frames = []\n",
-    "\n",
-    "# visualize contact frames and forces, make body transparent\n",
-    "options = mujoco.MjvOption()\n",
-    "mujoco.mjv_defaultOption(options)\n",
-    "options.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] = True\n",
-    "options.flags[mujoco.mjtVisFlag.mjVIS_CONTACTFORCE] = True\n",
-    "options.flags[mujoco.mjtVisFlag.mjVIS_TRANSPARENT] = True\n",
-    "\n",
-    "# tweak scales of contact visualization elements\n",
-    "model.vis.scale.contactwidth = 0.1\n",
-    "model.vis.scale.contactheight = 0.03\n",
-    "model.vis.scale.forcewidth = 0.05\n",
-    "model.vis.map.force = 0.3\n",
-    "\n",
-    "# random initial rotational velocity:\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "data.qvel[3:6] = 5*np.random.randn(3)\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "with mujoco.Renderer(model, height, width) as renderer:\n",
-    "  for i in range(n_frames):\n",
-    "    while data.time < i/120.0: #1/4x real time\n",
-    "      mujoco.mj_step(model, data)\n",
-    "    renderer.update_scene(data, \"track\", options)\n",
-    "    frame = renderer.render()\n",
-    "    frames.append(frame)\n",
-    "\n",
-    "media.show_video(frames, fps=30)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "_181TbtVSMBl"
-   },
-   "source": [
-    "## Analysis of contact forces\n",
-    "\n",
-    "Let's rerun the above simulation (with a different random initial condition) and\n",
-    "plot some values related to the contacts"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "BMqyWeHki8Eg"
-   },
-   "outputs": [],
-   "source": [
-    "n_steps = 499\n",
-    "\n",
-    "# allocate\n",
-    "sim_time = np.zeros(n_steps)\n",
-    "ncon = np.zeros(n_steps)\n",
-    "force = np.zeros((n_steps,3))\n",
-    "velocity = np.zeros((n_steps, model.nv))\n",
-    "penetration = np.zeros(n_steps)\n",
-    "acceleration = np.zeros((n_steps, model.nv))\n",
-    "forcetorque = np.zeros(6)\n",
-    "\n",
-    "# random initial rotational velocity:\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "data.qvel[3:6] = 2*np.random.randn(3)\n",
-    "\n",
-    "# simulate and save data\n",
-    "for i in range(n_steps):\n",
-    "  mujoco.mj_step(model, data)\n",
-    "  sim_time[i] = data.time\n",
-    "  ncon[i] = data.ncon\n",
-    "  velocity[i] = data.qvel[:]\n",
-    "  acceleration[i] = data.qacc[:]\n",
-    "  # iterate over active contacts, save force and distance\n",
-    "  for j,c in enumerate(data.contact):\n",
-    "    mujoco.mj_contactForce(model, data, j, forcetorque)\n",
-    "    force[i] += forcetorque[0:3]\n",
-    "    penetration[i] = min(penetration[i], c.dist)\n",
-    "  # we could also do\n",
-    "  # force[i] += data.qfrc_constraint[0:3]\n",
-    "  # do you see why?\n",
-    "\n",
-    "# plot\n",
-    "_, ax = plt.subplots(3, 2, sharex=True, figsize=(10, 10))\n",
-    "\n",
-    "lines = ax[0,0].plot(sim_time, force)\n",
-    "ax[0,0].set_title('contact force')\n",
-    "ax[0,0].set_ylabel('Newton')\n",
-    "ax[0,0].legend(list(lines), ('normal z', 'friction x', 'friction y'));\n",
-    "\n",
-    "ax[1,0].plot(sim_time, acceleration)\n",
-    "ax[1,0].set_title('acceleration')\n",
-    "ax[1,0].set_ylabel('(meter,radian)/s/s')\n",
-    "ax[1,0].legend(['ax', 'ay', 'az', 'αx', 'αy', 'αz'])\n",
-    "\n",
-    "ax[2,0].plot(sim_time, velocity)\n",
-    "ax[2,0].set_title('velocity')\n",
-    "ax[2,0].set_ylabel('(meter,radian)/s')\n",
-    "ax[2,0].set_xlabel('second')\n",
-    "ax[2,0].legend(['vx', 'vy', 'vz', 'ωx', 'ωy', 'ωz'])\n",
-    "\n",
-    "ax[0,1].plot(sim_time, ncon)\n",
-    "ax[0,1].set_title('number of contacts')\n",
-    "ax[0,1].set_yticks(range(6))\n",
-    "\n",
-    "ax[1,1].plot(sim_time, force[:,0])\n",
-    "ax[1,1].set_yscale('log')\n",
-    "ax[1,1].set_title('normal (z) force - log scale')\n",
-    "ax[1,1].set_ylabel('Newton')\n",
-    "z_gravity = -model.opt.gravity[2]\n",
-    "mg = model.body(\"box_and_sphere\").mass[0] * z_gravity\n",
-    "mg_line = ax[1,1].plot(sim_time, np.ones(n_steps)*mg, label='m*g', linewidth=1)\n",
-    "ax[1,1].legend()\n",
-    "\n",
-    "ax[2,1].plot(sim_time, 1000*penetration)\n",
-    "ax[2,1].set_title('penetration depth')\n",
-    "ax[2,1].set_ylabel('millimeter')\n",
-    "ax[2,1].set_xlabel('second')\n",
-    "\n",
-    "plt.tight_layout()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "zV5PkYzFXu42"
-   },
-   "source": [
-    "## Friction\n",
-    "\n",
-    "Let's see the effect of changing friction values"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "2R_gKoYyXwda"
-   },
-   "outputs": [],
-   "source": [
-    "MJCF = \"\"\"\n",
-    "<mujoco>\n",
-    "  <asset>\n",
-    "    <texture name=\"grid\" type=\"2d\" builtin=\"checker\" rgb1=\".1 .2 .3\"\n",
-    "     rgb2=\".2 .3 .4\" width=\"300\" height=\"300\" mark=\"none\"/>\n",
-    "    <material name=\"grid\" texture=\"grid\" texrepeat=\"6 6\"\n",
-    "     texuniform=\"true\" reflectance=\".2\"/>\n",
-    "     <material name=\"wall\" rgba='.5 .5 .5 1'/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <default>\n",
-    "    <geom type=\"box\" size=\".05 .05 .05\" />\n",
-    "    <joint type=\"free\"/>\n",
-    "  </default>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <light name=\"light\" pos=\"-.2 0 1\"/>\n",
-    "    <geom name=\"ground\" type=\"plane\" size=\".5 .5 10\" material=\"grid\"\n",
-    "     zaxis=\"-.3 0 1\" friction=\".1\"/>\n",
-    "    <camera name=\"y\" pos=\"-.1 -.6 .3\" xyaxes=\"1 0 0 0 1 2\"/>\n",
-    "    <body pos=\"0 0 .1\">\n",
-    "      <joint/>\n",
-    "      <geom/>\n",
-    "    </body>\n",
-    "    <body pos=\"0 .2 .1\">\n",
-    "      <joint/>\n",
-    "      <geom friction=\".33\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "n_frames = 60\n",
-    "height = 300\n",
-    "width = 300\n",
-    "frames = []\n",
-    "\n",
-    "# load\n",
-    "model = mujoco.MjModel.from_xml_string(MJCF)\n",
-    "data = mujoco.MjData(model)\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "with mujoco.Renderer(model, height, width) as renderer:\n",
-    "  mujoco.mj_resetData(model, data)\n",
-    "  for i in range(n_frames):\n",
-    "    while data.time < i/30.0:\n",
-    "      mujoco.mj_step(model, data)\n",
-    "    renderer.update_scene(data, \"y\")\n",
-    "    frame = renderer.render()\n",
-    "    frames.append(frame)\n",
-    "\n",
-    "media.show_video(frames, fps=30)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "ArmmaPqGP6W7"
-   },
-   "source": [
-    "# Tendons, actuators and sensors"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "VJz84c97c8Df"
-   },
-   "outputs": [],
-   "source": [
-    "MJCF = \"\"\"\n",
-    "<mujoco>\n",
-    "  <asset>\n",
-    "    <texture name=\"grid\" type=\"2d\" builtin=\"checker\" rgb1=\".1 .2 .3\"\n",
-    "     rgb2=\".2 .3 .4\" width=\"300\" height=\"300\" mark=\"none\"/>\n",
-    "    <material name=\"grid\" texture=\"grid\" texrepeat=\"1 1\"\n",
-    "     texuniform=\"true\" reflectance=\".2\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <light name=\"light\" pos=\"0 0 1\"/>\n",
-    "    <geom name=\"floor\" type=\"plane\" pos=\"0 0 -.5\" size=\"2 2 .1\" material=\"grid\"/>\n",
-    "    <site name=\"anchor\" pos=\"0 0 .3\" size=\".01\"/>\n",
-    "    <camera name=\"fixed\" pos=\"0 -1.3 .5\" xyaxes=\"1 0 0 0 1 2\"/>\n",
-    "\n",
-    "    <geom name=\"pole\" type=\"cylinder\" fromto=\".3 0 -.5 .3 0 -.1\" size=\".04\"/>\n",
-    "    <body name=\"bat\" pos=\".3 0 -.1\">\n",
-    "      <joint name=\"swing\" type=\"hinge\" damping=\"1\" axis=\"0 0 1\"/>\n",
-    "      <geom name=\"bat\" type=\"capsule\" fromto=\"0 0 .04 0 -.3 .04\"\n",
-    "       size=\".04\" rgba=\"0 0 1 1\"/>\n",
-    "    </body>\n",
-    "\n",
-    "    <body name=\"box_and_sphere\" pos=\"0 0 0\">\n",
-    "      <joint name=\"free\" type=\"free\"/>\n",
-    "      <geom name=\"red_box\" type=\"box\" size=\".1 .1 .1\" rgba=\"1 0 0 1\"/>\n",
-    "      <geom name=\"green_sphere\"  size=\".06\" pos=\".1 .1 .1\" rgba=\"0 1 0 1\"/>\n",
-    "      <site name=\"hook\" pos=\"-.1 -.1 -.1\" size=\".01\"/>\n",
-    "      <site name=\"IMU\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "\n",
-    "  <tendon>\n",
-    "    <spatial name=\"wire\" limited=\"true\" range=\"0 0.35\" width=\"0.003\">\n",
-    "      <site site=\"anchor\"/>\n",
-    "      <site site=\"hook\"/>\n",
-    "    </spatial>\n",
-    "  </tendon>\n",
-    "\n",
-    "  <actuator>\n",
-    "    <motor name=\"my_motor\" joint=\"swing\" gear=\"1\"/>\n",
-    "  </actuator>\n",
-    "\n",
-    "  <sensor>\n",
-    "    <accelerometer name=\"accelerometer\" site=\"IMU\"/>\n",
-    "  </sensor>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "model = mujoco.MjModel.from_xml_string(MJCF)\n",
-    "data = mujoco.MjData(model)\n",
-    "height = 480\n",
-    "width = 480\n",
-    "\n",
-    "with mujoco.Renderer(model, height, width) as renderer:\n",
-    "  mujoco.mj_forward(model, data)\n",
-    "  renderer.update_scene(data, \"fixed\")\n",
-    "\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "u8z2vrOr_RVD"
-   },
-   "source": [
-    "actuated bat and passive \"piñata\":"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "z-zoBCuBv2Xi"
-   },
-   "outputs": [],
-   "source": [
-    "n_frames = 180\n",
-    "height = 240\n",
-    "width = 320\n",
-    "frames = []\n",
-    "fps = 60.0\n",
-    "times = []\n",
-    "sensordata = []\n",
-    "\n",
-    "# constant actuator signal\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "data.ctrl = 20\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "with mujoco.Renderer(model, height, width) as renderer:\n",
-    "  for i in range(n_frames):\n",
-    "    while data.time < i/fps:\n",
-    "      mujoco.mj_step(model, data)\n",
-    "      times.append(data.time)\n",
-    "      sensordata.append(data.sensor('accelerometer').data.copy())\n",
-    "    renderer.update_scene(data, \"fixed\")\n",
-    "    frame = renderer.render()\n",
-    "    frames.append(frame)\n",
-    "\n",
-    "media.show_video(frames, fps=fps)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "gwHMy_iRA7Jh"
-   },
-   "source": [
-    "Let's plot the values measured by our accelerometer sensor:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "uy4wSEMAAJgn"
-   },
-   "outputs": [],
-   "source": [
-    "ax = plt.gca()\n",
-    "\n",
-    "ax.plot(np.asarray(times), np.asarray(sensordata), label=[f\"axis {v}\" for v in ['x', 'y', 'z']])\n",
-    "\n",
-    "# finalize plot\n",
-    "ax.set_title('Accelerometer values')\n",
-    "ax.set_ylabel('meter/second^2')\n",
-    "ax.set_xlabel('second')\n",
-    "ax.legend(frameon=True, loc='lower right')\n",
-    "plt.tight_layout()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "0YKSTtJ_BQ7x"
-   },
-   "source": [
-    "Note how the moments when the body is hit by the bat are clearly visible in the accelerometer measurements."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "1kOs1wTc7uCZ"
-   },
-   "source": [
-    "# Advanced rendering\n",
-    "\n",
-    "Like joint visualization, additional rendering options are exposed as parameters to the `render` method.\n",
-    "\n",
-    "Let's bring back our first model:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "mTDgsk2xcgwH"
-   },
-   "outputs": [],
-   "source": [
-    "xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <worldbody>\n",
-    "    <light name=\"top\" pos=\"0 0 1\"/>\n",
-    "    <body name=\"box_and_sphere\" euler=\"0 0 -30\">\n",
-    "      <joint name=\"swing\" type=\"hinge\" axis=\"1 -1 0\" pos=\"-.2 -.2 -.2\"/>\n",
-    "      <geom name=\"red_box\" type=\"box\" size=\".2 .2 .2\" rgba=\"1 0 0 1\"/>\n",
-    "      <geom name=\"green_sphere\" pos=\".2 .2 .2\" size=\".1\" rgba=\"0 1 0 1\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "model = mujoco.MjModel.from_xml_string(xml)\n",
-    "data = mujoco.MjData(model)\n",
-    "\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  mujoco.mj_forward(model, data)\n",
-    "  renderer.update_scene(data)\n",
-    "  media.show_image(renderer.render())"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "VePXamL_6XUc"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Enable transparency and frame visualization {vertical-output: true}\n",
-    "\n",
-    "scene_option.frame = mujoco.mjtFrame.mjFRAME_GEOM\n",
-    "scene_option.flags[mujoco.mjtVisFlag.mjVIS_TRANSPARENT] = True\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  renderer.update_scene(data, scene_option=scene_option)\n",
-    "  frame = renderer.render()\n",
-    "  media.show_image(frame)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "PVcpcvww9lZ8"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Depth rendering {vertical-output: true}\n",
-    "\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  # update renderer to render depth\n",
-    "  renderer.enable_depth_rendering()\n",
-    "\n",
-    "  # reset the scene\n",
-    "  renderer.update_scene(data)\n",
-    "\n",
-    "  # depth is a float array, in meters.\n",
-    "  depth = renderer.render()\n",
-    "\n",
-    "  # Shift nearest values to the origin.\n",
-    "  depth -= depth.min()\n",
-    "  # Scale by 2 mean distances of near rays.\n",
-    "  depth /= 2*depth[depth <= 1].mean()\n",
-    "  # Scale to [0, 255]\n",
-    "  pixels = 255*np.clip(depth, 0, 1)\n",
-    "\n",
-    "  media.show_image(pixels.astype(np.uint8))"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "PNwiIrgpx7T8"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Segmentation rendering {vertical-output: true}\n",
-    "\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  renderer.disable_depth_rendering()\n",
-    "\n",
-    "  # update renderer to render segmentation\n",
-    "  renderer.enable_segmentation_rendering()\n",
-    "\n",
-    "  # reset the scene\n",
-    "  renderer.update_scene(data)\n",
-    "\n",
-    "  seg = renderer.render()\n",
-    "\n",
-    "  # Display the contents of the first channel, which contains object\n",
-    "  # IDs. The second channel, seg[:, :, 1], contains object types.\n",
-    "  geom_ids = seg[:, :, 0]\n",
-    "  # Infinity is mapped to -1\n",
-    "  geom_ids = geom_ids.astype(np.float64) + 1\n",
-    "  # Scale to [0, 1]\n",
-    "  geom_ids = geom_ids / geom_ids.max()\n",
-    "  pixels = 255*geom_ids\n",
-    "  media.show_image(pixels.astype(np.uint8))"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "wo72mo0mGIXr"
-   },
-   "source": [
-    "## The camera matrix\n",
-    "\n",
-    "For a description of the camera matrix see the article [Camera matrix](https://en.wikipedia.org/wiki/Camera_matrix) on Wikipedia."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "sDYwClpxaxab"
-   },
-   "outputs": [],
-   "source": [
-    "def compute_camera_matrix(renderer, data):\n",
-    "  \"\"\"Returns the 3x4 camera matrix.\"\"\"\n",
-    "  # If the camera is a 'free' camera, we get its position and orientation\n",
-    "  # from the scene data structure. It is a stereo camera, so we average over\n",
-    "  # the left and right channels. Note: we call `self.update()` in order to\n",
-    "  # ensure that the contents of `scene.camera` are correct.\n",
-    "  renderer.update_scene(data)\n",
-    "  pos = np.mean([camera.pos for camera in renderer.scene.camera], axis=0)\n",
-    "  z = -np.mean([camera.forward for camera in renderer.scene.camera], axis=0)\n",
-    "  y = np.mean([camera.up for camera in renderer.scene.camera], axis=0)\n",
-    "  rot = np.vstack((np.cross(y, z), y, z))\n",
-    "  fov = model.vis.global_.fovy\n",
-    "\n",
-    "  # Translation matrix (4x4).\n",
-    "  translation = np.eye(4)\n",
-    "  translation[0:3, 3] = -pos\n",
-    "\n",
-    "  # Rotation matrix (4x4).\n",
-    "  rotation = np.eye(4)\n",
-    "  rotation[0:3, 0:3] = rot\n",
-    "\n",
-    "  # Focal transformation matrix (3x4).\n",
-    "  focal_scaling = (1./np.tan(np.deg2rad(fov)/2)) * renderer.height / 2.0\n",
-    "  focal = np.diag([-focal_scaling, focal_scaling, 1.0, 0])[0:3, :]\n",
-    "\n",
-    "  # Image matrix (3x3).\n",
-    "  image = np.eye(3)\n",
-    "  image[0, 2] = (renderer.width - 1) / 2.0\n",
-    "  image[1, 2] = (renderer.height - 1) / 2.0\n",
-    "  return image @ focal @ rotation @ translation"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "My0N4_7PDJ_q"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Project from world to camera coordinates {vertical-output: true}\n",
-    "\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  renderer.disable_segmentation_rendering()\n",
-    "  # reset the scene\n",
-    "  renderer.update_scene(data)\n",
-    "\n",
-    "  # Get the world coordinates of the box corners\n",
-    "  box_pos = data.geom_xpos[model.geom('red_box').id]\n",
-    "  box_mat = data.geom_xmat[model.geom('red_box').id].reshape(3, 3)\n",
-    "  box_size = model.geom_size[model.geom('red_box').id]\n",
-    "  offsets = np.array([-1, 1]) * box_size[:, None]\n",
-    "  xyz_local = np.stack(list(itertools.product(*offsets))).T\n",
-    "  xyz_global = box_pos[:, None] + box_mat @ xyz_local\n",
-    "\n",
-    "  # Camera matrices multiply homogenous [x, y, z, 1] vectors.\n",
-    "  corners_homogeneous = np.ones((4, xyz_global.shape[1]), dtype=float)\n",
-    "  corners_homogeneous[:3, :] = xyz_global\n",
-    "\n",
-    "  # Get the camera matrix.\n",
-    "  m = compute_camera_matrix(renderer, data)\n",
-    "\n",
-    "  # Project world coordinates into pixel space. See:\n",
-    "  # https://en.wikipedia.org/wiki/3D_projection#Mathematical_formula\n",
-    "  xs, ys, s = m @ corners_homogeneous\n",
-    "  # x and y are in the pixel coordinate system.\n",
-    "  x = xs / s\n",
-    "  y = ys / s\n",
-    "\n",
-    "  # Render the camera view and overlay the projected corner coordinates.\n",
-    "  pixels = renderer.render()\n",
-    "  fig, ax = plt.subplots(1, 1)\n",
-    "  ax.imshow(pixels)\n",
-    "  ax.plot(x, y, '+', c='w')\n",
-    "  ax.set_axis_off()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "AGm5-e0sHEAF"
-   },
-   "source": [
-    "## Modifying the scene\n",
-    "\n",
-    "Let's add some arbitrary geometry to the `mjvScene`."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "Z6NDYJ8IOVt7"
-   },
-   "outputs": [],
-   "source": [
-    "def get_geom_speed(model, data, geom_name):\n",
-    "  \"\"\"Returns the speed of a geom.\"\"\"\n",
-    "  geom_vel = np.zeros(6)\n",
-    "  geom_type = mujoco.mjtObj.mjOBJ_GEOM\n",
-    "  geom_id = data.geom(geom_name).id\n",
-    "  mujoco.mj_objectVelocity(model, data, geom_type, geom_id, geom_vel, 0)\n",
-    "  return np.linalg.norm(geom_vel)\n",
-    "\n",
-    "def add_visual_capsule(scene, point1, point2, radius, rgba):\n",
-    "  \"\"\"Adds one capsule to an mjvScene.\"\"\"\n",
-    "  if scene.ngeom >= scene.maxgeom:\n",
-    "    return\n",
-    "  scene.ngeom += 1  # increment ngeom\n",
-    "  # initialise a new capsule, add it to the scene using mjv_connector\n",
-    "  mujoco.mjv_initGeom(scene.geoms[scene.ngeom-1],\n",
-    "                      mujoco.mjtGeom.mjGEOM_CAPSULE, np.zeros(3),\n",
-    "                      np.zeros(3), np.zeros(9), rgba.astype(np.float32))\n",
-    "  mujoco.mjv_connector(scene.geoms[scene.ngeom-1],\n",
-    "                       mujoco.mjtGeom.mjGEOM_CAPSULE, radius,\n",
-    "                       point1, point2)\n",
-    "\n",
-    " # traces of time, position and speed\n",
-    "times = []\n",
-    "positions = []\n",
-    "speeds = []\n",
-    "offset = model.jnt_axis[0]/16  # offset along the joint axis\n",
-    "\n",
-    "def modify_scene(scn):\n",
-    "  \"\"\"Draw position trace, speed modifies width and colors.\"\"\"\n",
-    "  if len(positions) > 1:\n",
-    "    for i in range(len(positions)-1):\n",
-    "      rgba=np.array((np.clip(speeds[i]/10, 0, 1),\n",
-    "                     np.clip(1-speeds[i]/10, 0, 1),\n",
-    "                     .5, 1.))\n",
-    "      radius=.003*(1+speeds[i])\n",
-    "      point1 = positions[i] + offset*times[i]\n",
-    "      point2 = positions[i+1] + offset*times[i+1]\n",
-    "      add_visual_capsule(scn, point1, point2, radius, rgba)\n",
-    "\n",
-    "duration = 6    # (seconds)\n",
-    "framerate = 30  # (Hz)\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "frames = []\n",
-    "\n",
-    "# Reset state and time.\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "mujoco.mj_forward(model, data)\n",
-    "\n",
-    "with mujoco.Renderer(model) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    # append data to the traces\n",
-    "    positions.append(data.geom_xpos[data.geom(\"green_sphere\").id].copy())\n",
-    "    times.append(data.time)\n",
-    "    speeds.append(get_geom_speed(model, data, \"green_sphere\"))\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      renderer.update_scene(data)\n",
-    "      modify_scene(renderer.scene)\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "p6wHrjRg1EGF"
-   },
-   "source": [
-    "## Multiple frames in the same scene\n",
-    "\n",
-    "Sometimes one would like to draw the same geometry multiple times, for example when a model is tracking states from motion-capture, it's nice to have the data\n",
-    "visualized next to the model. Unlike `mjv_updateScene` (called by the `Renderer`'s `update_scene` method) which clears the scene at every call, `mjv_addGeoms` will add visual geoms to an existing scene:"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "id": "T4b_8n6t1ASk"
-   },
-   "outputs": [],
-   "source": [
-    "# Get MuJoCo's standard humanoid model.\n",
-    "print('Getting MuJoCo humanoid XML description from GitHub:')\n",
-    "!git clone https://github.com/google-deepmind/mujoco\n",
-    "with open('mujoco/model/humanoid/humanoid.xml', 'r') as f:\n",
-    "  xml = f.read()\n",
-    "\n",
-    "# Load the model, make two MjData's.\n",
-    "model = mujoco.MjModel.from_xml_string(xml)\n",
-    "data = mujoco.MjData(model)\n",
-    "data2 = mujoco.MjData(model)\n",
-    "\n",
-    "# Episode parameters.\n",
-    "duration = 3       # (seconds)\n",
-    "framerate = 60     # (Hz)\n",
-    "data.qpos[0:2] = [-.5, -.5]  # Initial x-y position (m)\n",
-    "data.qvel[2] = 4   # Initial vertical velocity (m/s)\n",
-    "ctrl_phase = 2 * np.pi * np.random.rand(model.nu)  # Control phase\n",
-    "ctrl_freq = 1     # Control frequency\n",
-    "\n",
-    "# Visual options for the \"ghost\" model.\n",
-    "vopt2 = mujoco.MjvOption()\n",
-    "vopt2.flags[mujoco.mjtVisFlag.mjVIS_TRANSPARENT] = True  # Transparent.\n",
-    "pert = mujoco.MjvPerturb()  # Empty MjvPerturb object\n",
-    "# We only want dynamic objects (the humanoid). Static objects (the floor)\n",
-    "# should not be re-drawn. The mjtCatBit flag lets us do that, though we could\n",
-    "# equivalently use mjtVisFlag.mjVIS_STATIC\n",
-    "catmask = mujoco.mjtCatBit.mjCAT_DYNAMIC\n",
-    "\n",
-    "# Simulate and render.\n",
-    "frames = []\n",
-    "with mujoco.Renderer(model, 480, 640) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    # Sinusoidal control signal.\n",
-    "    data.ctrl = np.sin(ctrl_phase + 2 * np.pi * data.time * ctrl_freq)\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      # This draws the regular humanoid from `data`.\n",
-    "      renderer.update_scene(data)\n",
-    "\n",
-    "      # Copy qpos to data2, move the humanoid sideways, call mj_forward.\n",
-    "      data2.qpos = data.qpos\n",
-    "      data2.qpos[0] += 1.5\n",
-    "      data2.qpos[1] += 1\n",
-    "      mujoco.mj_forward(model, data2)\n",
-    "\n",
-    "      # Call mjv_addGeoms to add the ghost humanoid to the scene.\n",
-    "      mujoco.mjv_addGeoms(model, data2, vopt2, pert, catmask, renderer.scene)\n",
-    "\n",
-    "      # Render and add the frame.\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "# Render video at half real-time.\n",
-    "media.show_video(frames, fps=framerate/2)"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "Zzzugf-qPExb"
-   },
-   "source": [
-    "## Camera control\n",
-    "\n",
-    "Cameras can be controlled dynamically in order to achieve cinematic effects. Run the three cells below to see the difference between rendering from a static and moving camera.\n",
-    "\n",
-    "The camera-control code smoothly transitions between two trajectories, one orbiting a fixed point, the other tracking a moving object. Parameter values in the code were obtained by iterating quickly on low-res videos."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "-SW-K9WuPGrp"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Load the \"dominos\" model\n",
-    "\n",
-    "dominos_xml = \"\"\"\n",
-    "<mujoco>\n",
-    "  <asset>\n",
-    "    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\".3 .5 .7\" rgb2=\"0 0 0\" width=\"32\" height=\"512\"/>\n",
-    "    <texture name=\"grid\" type=\"2d\" builtin=\"checker\" width=\"512\" height=\"512\" rgb1=\".1 .2 .3\" rgb2=\".2 .3 .4\"/>\n",
-    "    <material name=\"grid\" texture=\"grid\" texrepeat=\"2 2\" texuniform=\"true\" reflectance=\".2\"/>\n",
-    "  </asset>\n",
-    "\n",
-    "  <statistic meansize=\".01\"/>\n",
-    "\n",
-    "  <visual>\n",
-    "    <global offheight=\"2160\" offwidth=\"3840\"/>\n",
-    "    <quality offsamples=\"8\"/>\n",
-    "  </visual>\n",
-    "\n",
-    "  <default>\n",
-    "    <geom type=\"box\" solref=\".005 1\"/>\n",
-    "    <default class=\"static\">\n",
-    "      <geom rgba=\".3 .5 .7 1\"/>\n",
-    "    </default>\n",
-    "  </default>\n",
-    "\n",
-    "  <option timestep=\"5e-4\"/>\n",
-    "\n",
-    "  <worldbody>\n",
-    "    <light pos=\".3 -.3 .8\" mode=\"trackcom\" diffuse=\"1 1 1\" specular=\".3 .3 .3\"/>\n",
-    "    <light pos=\"0 -.3 .4\" mode=\"targetbodycom\" target=\"box\" diffuse=\".8 .8 .8\" specular=\".3 .3 .3\"/>\n",
-    "    <geom name=\"floor\" type=\"plane\" size=\"3 3 .01\" pos=\"-0.025 -0.295  0\" material=\"grid\"/>\n",
-    "    <geom name=\"ramp\" pos=\".25 -.45 -.03\" size=\".04 .1 .07\" euler=\"-30 0 0\" class=\"static\"/>\n",
-    "    <camera name=\"top\" pos=\"-0.37 -0.78 0.49\" xyaxes=\"0.78 -0.63 0 0.27 0.33 0.9\"/>\n",
-    "\n",
-    "    <body name=\"ball\" pos=\".25 -.45 .1\">\n",
-    "      <freejoint name=\"ball\"/>\n",
-    "      <geom name=\"ball\" type=\"sphere\" size=\".02\" rgba=\".65 .81 .55 1\"/>\n",
-    "    </body>\n",
-    "\n",
-    "    <body pos=\".26 -.3 .03\" euler=\"0 0 -90.0\">\n",
-    "      <freejoint/>\n",
-    "      <geom size=\".0015 .015 .03\" rgba=\"1 .5 .5 1\"/>\n",
-    "    </body>\n",
-    "\n",
-    "    <body pos=\".26 -.27 .04\" euler=\"0 0 -81.0\">\n",
-    "      <freejoint/>\n",
-    "      <geom size=\".002 .02 .04\" rgba=\"1 1 .5 1\"/>\n",
-    "    </body>\n",
-    "\n",
-    "    <body pos=\".24 -.21 .06\" euler=\"0 0 -63.0\">\n",
-    "      <freejoint/>\n",
-    "      <geom size=\".003 .03 .06\" rgba=\".5 1 .5 1\"/>\n",
-    "    </body>\n",
-    "\n",
-    "    <body pos=\".2 -.16 .08\" euler=\"0 0 -45.0\">\n",
-    "      <freejoint/>\n",
-    "      <geom size=\".004 .04 .08\" rgba=\".5 1 1 1\"/>\n",
-    "    </body>\n",
-    "\n",
-    "    <body pos=\".15 -.12 .1\" euler=\"0 0 -27.0\">\n",
-    "      <freejoint/>\n",
-    "      <geom size=\".005 .05 .1\" rgba=\".5 .5 1 1\"/>\n",
-    "    </body>\n",
-    "\n",
-    "    <body pos=\".09 -.1 .12\" euler=\"0 0 -9.0\">\n",
-    "      <freejoint/>\n",
-    "      <geom size=\".006 .06 .12\" rgba=\"1 .5 1 1\"/>\n",
-    "    </body>\n",
-    "\n",
-    "    <body name=\"seasaw_wrapper\" pos=\"-.23 -.1 0\" euler=\"0 0 30\">\n",
-    "      <geom size=\".01 .01 .015\" pos=\"0 .05 .015\" class=\"static\"/>\n",
-    "      <geom size=\".01 .01 .015\" pos=\"0 -.05 .015\" class=\"static\"/>\n",
-    "      <geom type=\"cylinder\" size=\".01 .0175\" pos=\"-.09 0 .0175\" class=\"static\"/>\n",
-    "      <body name=\"seasaw\" pos=\"0 0 .03\">\n",
-    "        <joint axis=\"0 1 0\"/>\n",
-    "        <geom type=\"cylinder\" size=\".005 .039\" zaxis=\"0 1 0\" rgba=\".84 .15 .33 1\"/>\n",
-    "        <geom size=\".1 .02 .005\" pos=\"0 0 .01\" rgba=\".84 .15 .33 1\"/>\n",
-    "      </body>\n",
-    "    </body>\n",
-    "\n",
-    "    <body name=\"box\" pos=\"-.3 -.14 .05501\" euler=\"0 0 -30\">\n",
-    "      <freejoint name=\"box\"/>\n",
-    "      <geom name=\"box\" size=\".01 .01 .01\" rgba=\".0 .7 .79 1\"/>\n",
-    "    </body>\n",
-    "  </worldbody>\n",
-    "</mujoco>\n",
-    "\"\"\"\n",
-    "model = mujoco.MjModel.from_xml_string(dominos_xml)\n",
-    "data = mujoco.MjData(model)\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "a2WruafiPhPk"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Render from fixed camera\n",
-    "\n",
-    "duration = 2.5  # (seconds)\n",
-    "framerate = 60  # (Hz)\n",
-    "height = 1024\n",
-    "width = 1440\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "frames = []\n",
-    "mujoco.mj_resetData(model, data)  # Reset state and time.\n",
-    "with mujoco.Renderer(model, height, width) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate:\n",
-    "      renderer.update_scene(data, camera='top')\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 0,
-   "metadata": {
-    "cellView": "form",
-    "id": "Kie3y-27bQ3J"
-   },
-   "outputs": [],
-   "source": [
-    "#@title Render from moving camera\n",
-    "\n",
-    "duration = 3  # (seconds)\n",
-    "height = 1024\n",
-    "width = 1440\n",
-    "\n",
-    "# find time when box is thrown (speed > 2cm/s)\n",
-    "throw_time = 0.0\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "while data.time < duration and not throw_time:\n",
-    "  mujoco.mj_step(model, data)\n",
-    "  box_speed = np.linalg.norm(data.joint('box').qvel[:3])\n",
-    "  if box_speed > 0.02:\n",
-    "    throw_time = data.time\n",
-    "assert throw_time > 0\n",
-    "\n",
-    "def mix(time, t0=0.0, width=1.0):\n",
-    "  \"\"\"Sigmoidal mixing function.\"\"\"\n",
-    "  t = (time - t0) / width\n",
-    "  s = 1 / (1 + np.exp(-t))\n",
-    "  return 1 - s, s\n",
-    "\n",
-    "def unit_cos(t):\n",
-    "  \"\"\"Unit cosine sigmoid from (0,0) to (1,1).\"\"\"\n",
-    "  return 0.5 - np.cos(np.pi*np.clip(t, 0, 1))/2\n",
-    "\n",
-    "def orbit_motion(t):\n",
-    "  \"\"\"Return orbit trajectory.\"\"\"\n",
-    "  distance = 0.9\n",
-    "  azimuth = 140 + 100 * unit_cos(t)\n",
-    "  elevation = -30\n",
-    "  lookat = data.geom('floor').xpos.copy()\n",
-    "  return distance, azimuth, elevation, lookat\n",
-    "\n",
-    "def track_motion():\n",
-    "  \"\"\"Return box-track trajectory.\"\"\"\n",
-    "  distance = 0.08\n",
-    "  azimuth = 280\n",
-    "  elevation = -10\n",
-    "  lookat = data.geom('box').xpos.copy()\n",
-    "  return distance, azimuth, elevation, lookat\n",
-    "\n",
-    "def cam_motion():\n",
-    "  \"\"\"Return sigmoidally-mixed {orbit, box-track} trajectory.\"\"\"\n",
-    "  d0, a0, e0, l0 = orbit_motion(data.time / throw_time)\n",
-    "  d1, a1, e1, l1 = track_motion()\n",
-    "  mix_time = 0.3\n",
-    "  w0, w1 = mix(data.time, throw_time, mix_time)\n",
-    "  return w0*d0+w1*d1, w0*a0+w1*a1, w0*e0+w1*e1, w0*l0+w1*l1\n",
-    "\n",
-    "# Make a camera.\n",
-    "cam = mujoco.MjvCamera()\n",
-    "mujoco.mjv_defaultCamera(cam)\n",
-    "\n",
-    "# Simulate and display video.\n",
-    "framerate = 60  # (Hz)\n",
-    "slowdown = 4    # 4x slow-down\n",
-    "mujoco.mj_resetData(model, data)\n",
-    "frames = []\n",
-    "with mujoco.Renderer(model, height, width) as renderer:\n",
-    "  while data.time < duration:\n",
-    "    mujoco.mj_step(model, data)\n",
-    "    if len(frames) < data.time * framerate * slowdown:\n",
-    "      cam.distance, cam.azimuth, cam.elevation, cam.lookat = cam_motion()\n",
-    "      renderer.update_scene(data, cam)\n",
-    "      pixels = renderer.render()\n",
-    "      frames.append(pixels)\n",
-    "\n",
-    "media.show_video(frames, fps=framerate)"
-   ]
-  }
- ],
- "metadata": {
-  "accelerator": "GPU",
-  "colab": {
-   "collapsed_sections": [
-    "YvyGCsgSCxHQ"
-   ],
-   "gpuClass": "premium",
-   "private_outputs": true
-  },
-  "gpuClass": "premium",
-  "kernelspec": {
-   "display_name": "Python 3",
-   "name": "python3"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 0
-}
diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
deleted file mode 100644
index 60025591..00000000
--- a/sample/CMakeLists.txt
+++ /dev/null
@@ -1,178 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-cmake_minimum_required(VERSION 3.16)
-
-# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
-set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
-# Default to GLVND if available.
-set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)
-
-# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
-set(MSVC_INCREMENTAL_DEFAULT ON)
-
-project(
-  mujoco_samples
-  VERSION 3.12.0
-  DESCRIPTION "MuJoCo samples binaries"
-  HOMEPAGE_URL "https://mujoco.org"
-)
-
-enable_language(C)
-enable_language(CXX)
-if(APPLE)
-  enable_language(OBJC)
-  enable_language(OBJCXX)
-endif()
-
-# Check if we are building as standalone project.
-set(SAMPLE_STANDALONE OFF)
-set(_INSTALL_SAMPLES ON)
-if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
-  set(SAMPLE_STANDALONE ON)
-  # If standalone, do not install the samples.
-  set(_INSTALL_SAMPLES OFF)
-endif()
-
-list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
-
-if(SAMPLE_STANDALONE)
-  include(SampleOptions)
-else()
-  enforce_mujoco_macosx_min_version()
-endif()
-include(SampleDependencies)
-
-set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
-set(MUJOCO_SAMPLE_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")
-
-if(MUJOCO_HARDEN)
-  if(WIN32)
-    set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,/DYNAMICBASE)
-  else()
-    set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${MUJOCO_SAMPLE_COMPILE_OPTIONS}" -fPIE)
-    if(APPLE)
-      set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,-pie)
-    else()
-      set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -pie)
-    endif()
-  endif()
-endif()
-
-# Build sample binaries
-add_executable(compile compile.cc)
-target_compile_options(compile PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
-target_link_libraries(compile Threads::Threads)
-target_link_options(compile PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
-
-# Build sample binaries
-add_executable(dependencies dependencies.cc)
-target_compile_options(dependencies PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
-target_link_libraries(dependencies Threads::Threads)
-target_link_options(dependencies PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
-
-add_executable(testspeed testspeed.cc)
-target_compile_options(testspeed PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
-target_link_libraries(testspeed Threads::Threads)
-target_link_options(testspeed PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
-
-target_link_libraries(compile mujoco::mujoco)
-target_link_libraries(dependencies mujoco::mujoco)
-target_link_libraries(testspeed mujoco::mujoco)
-
-# Build samples that require GLFW.
-
-add_executable(basic basic.cc)
-target_compile_options(basic PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
-target_link_libraries(
-  basic
-  mujoco::mujoco
-  glfw
-  Threads::Threads
-)
-target_link_options(basic PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
-
-add_executable(record record.cc array_safety.h)
-target_compile_options(record PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS})
-target_link_libraries(
-  record
-  mujoco::mujoco
-  glfw
-  Threads::Threads
-)
-target_link_options(record PRIVATE ${MUJOCO_SAMPLE_LINK_OPTIONS})
-
-if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
-  embed_in_bundle(basic simulate)
-  embed_in_bundle(compile simulate)
-  embed_in_bundle(dependencies simulate)
-  embed_in_bundle(record simulate)
-  embed_in_bundle(testspeed simulate)
-endif()
-
-# Do not install if macOS Bundles are created as RPATH is managed manually there.
-if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
-  set(_INSTALL_SAMPLES OFF)
-endif()
-
-if(_INSTALL_SAMPLES)
-
-  include(TargetAddRpath)
-
-  # Add support to RPATH for the samples.
-  target_add_rpath(
-    TARGETS
-    basic
-    compile
-    dependencies
-    record
-    testspeed
-    INSTALL_DIRECTORY
-    "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
-    LIB_DIRS
-    "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
-    DEPENDS
-    MUJOCO_ENABLE_RPATH
-  )
-
-  install(
-    TARGETS basic
-            compile
-            dependencies
-            record
-            testspeed
-    EXPORT ${PROJECT_NAME}
-    RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
-    LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
-    ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
-    BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
-    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT samples
-  )
-
-  if(NOT MUJOCO_SAMPLES_USE_SYSTEM_GLFW)
-    # We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
-    # need to install it.
-    get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
-    if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
-      install(
-        TARGETS glfw
-        EXPORT ${PROJECT_NAME}
-        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
-        LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
-        ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT samples
-      )
-    endif()
-  endif()
-endif()
diff --git a/sample/array_safety.h b/sample/array_safety.h
deleted file mode 100644
index e8dd0d73..00000000
--- a/sample/array_safety.h
+++ /dev/null
@@ -1,105 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SAMPLE_ARRAY_SAFETY_H_
-#define MUJOCO_SAMPLE_ARRAY_SAFETY_H_
-
-#include <algorithm>
-#include <cstdarg>
-#include <cstddef>
-#include <cstdio>
-#include <cstring>
-
-// Provides safe alternatives to the sizeof() operator and standard library functions for handling
-// null-terminated (C-style) strings in raw char arrays.
-//
-// These functions make use of compile-time array sizes to limit read and write operations to within
-// the array bounds. They are designed to trigger a compile error if the array size cannot be
-// determined at compile time (e.g. when an array has decayed into a pointer).
-//
-// They do not perform runtime bound checks.
-
-namespace mujoco {
-namespace sample_util {
-
-// returns sizeof(arr)
-// use instead of sizeof() to avoid unintended array-to-pointer decay
-template <typename T, int N>
-static constexpr std::size_t sizeof_arr(const T(&arr)[N]) {
-  return sizeof(arr);
-}
-
-// like std::strcmp but it will not read beyond the bound of either lhs or rhs
-template <std::size_t N1, std::size_t N2>
-static inline int strcmp_arr(const char (&lhs)[N1], const char (&rhs)[N2]) {
-  return std::strncmp(lhs, rhs, std::min(N1, N2));
-}
-
-// like std::strlen but it will not read beyond the bound of str
-// if str is not null-terminated, returns sizeof(str)
-template <std::size_t N>
-static inline std::size_t strlen_arr(const char (&str)[N]) {
-  for (std::size_t i = 0; i < N; ++i) {
-    if (str[i] == '\0') {
-      return i;
-    }
-  }
-  return N;
-}
-
-// like std::sprintf but will not write beyond the bound of dest
-// dest is guaranteed to be null-terminated
-template <std::size_t N>
-static inline int sprintf_arr(char (&dest)[N], const char* format, ...) {
-  std::va_list vargs;
-  va_start(vargs, format);
-  int retval = std::vsnprintf(dest, N, format, vargs);
-  va_end(vargs);
-  return retval;
-}
-
-// like std::strcat but will not write beyond the bound of dest
-// dest is guaranteed to be null-terminated
-template <std::size_t N>
-static inline char* strcat_arr(char (&dest)[N], const char* src) {
-  const std::size_t dest_len = strlen_arr(dest);
-  const std::size_t dest_size = sizeof_arr(dest);
-  for (std::size_t i = dest_len; i < dest_size; ++i) {
-    dest[i] = src[i - dest_len];
-    if (!dest[i]) {
-      break;
-    }
-  }
-  dest[dest_size - 1] = '\0';
-  return dest;
-}
-
-// like std::strcpy but won't write beyond the bound of dest
-// dest is guaranteed to be null-terminated
-template <std::size_t N>
-static inline char* strcpy_arr(char (&dest)[N], const char* src) {
-  {
-    std::size_t i = 0;
-    for (; src[i] && i < N - 1; ++i) {
-      dest[i] = src[i];
-    }
-    dest[i] = '\0';
-  }
-  return &dest[0];
-}
-
-}  // namespace sample_util
-}  // namespace mujoco
-
-#endif  // MUJOCO_SAMPLE_ARRAY_SAFETY_H_
diff --git a/sample/basic.cc b/sample/basic.cc
deleted file mode 100644
index 1586683b..00000000
--- a/sample/basic.cc
+++ /dev/null
@@ -1,191 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-
-#include <GLFW/glfw3.h>
-#include <mujoco/mujoco.h>
-
-// MuJoCo data structures
-mjModel* m = NULL;                  // MuJoCo model
-mjData* d = NULL;                   // MuJoCo data
-mjvCamera cam;                      // abstract camera
-mjvOption opt;                      // visualization options
-mjvScene scn;                       // abstract scene
-mjrContext con;                     // custom GPU context
-
-// mouse interaction
-bool button_left = false;
-bool button_middle = false;
-bool button_right =  false;
-double lastx = 0;
-double lasty = 0;
-
-
-// keyboard callback
-void keyboard(GLFWwindow* window, int key, int scancode, int act, int mods) {
-  // backspace: reset simulation
-  if (act==GLFW_PRESS && key==GLFW_KEY_BACKSPACE) {
-    mj_resetData(m, d);
-    mj_forward(m, d);
-  }
-}
-
-
-// mouse button callback
-void mouse_button(GLFWwindow* window, int button, int act, int mods) {
-  // update button state
-  button_left = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
-  button_middle = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
-  button_right = (glfwGetMouseButton(window, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
-
-  // update mouse position
-  glfwGetCursorPos(window, &lastx, &lasty);
-}
-
-
-// mouse move callback
-void mouse_move(GLFWwindow* window, double xpos, double ypos) {
-  // no buttons down: nothing to do
-  if (!button_left && !button_middle && !button_right) {
-    return;
-  }
-
-  // compute mouse displacement, save
-  double dx = xpos - lastx;
-  double dy = ypos - lasty;
-  lastx = xpos;
-  lasty = ypos;
-
-  // get current window size
-  int width, height;
-  glfwGetWindowSize(window, &width, &height);
-
-  // get shift key state
-  bool mod_shift = (glfwGetKey(window, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
-                    glfwGetKey(window, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
-
-  // determine action based on mouse button
-  mjtMouse action;
-  if (button_right) {
-    action = mod_shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
-  } else if (button_left) {
-    action = mod_shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
-  } else {
-    action = mjMOUSE_ZOOM;
-  }
-
-  // move camera
-  mjv_moveCamera(m, action, dx/height, dy/height, &cam);
-}
-
-
-// scroll callback
-void scroll(GLFWwindow* window, double xoffset, double yoffset) {
-  // emulate vertical mouse motion = 5% of window height
-  mjv_moveCamera(m, mjMOUSE_ZOOM, 0, -0.05*yoffset, &cam);
-}
-
-
-// main function
-int main(int argc, const char** argv) {
-  // check command-line arguments
-  if (argc!=2) {
-    std::printf(" USAGE:  basic modelfile\n");
-    return EXIT_FAILURE;
-  }
-
-  // load and compile model
-  char error[1000] = "Could not load binary model";
-  if (std::strlen(argv[1])>4 && !std::strcmp(argv[1]+std::strlen(argv[1])-4, ".mjb")) {
-    m = mj_loadModel(argv[1], 0);
-  } else {
-    m = mj_loadXML(argv[1], 0, error, 1000);
-  }
-  if (!m) {
-    mju_error("Load model error: %s", error);
-  }
-
-  // make data
-  d = mj_makeData(m);
-
-  // init GLFW
-  if (!glfwInit()) {
-    mju_error("Could not initialize GLFW");
-  }
-
-  // create window, make OpenGL context current, request v-sync
-  GLFWwindow* window = glfwCreateWindow(1200, 900, "Demo", NULL, NULL);
-  glfwMakeContextCurrent(window);
-  glfwSwapInterval(1);
-
-  // initialize visualization data structures
-  mjv_defaultCamera(&cam);
-  mjv_defaultOption(&opt);
-  mjv_defaultScene(&scn);
-  mjr_defaultContext(&con);
-
-  // create scene and context
-  mjv_makeScene(m, &scn, 2000);
-  mjr_makeContext(m, &con, mjFONTSCALE_150);
-
-  // install GLFW mouse and keyboard callbacks
-  glfwSetKeyCallback(window, keyboard);
-  glfwSetCursorPosCallback(window, mouse_move);
-  glfwSetMouseButtonCallback(window, mouse_button);
-  glfwSetScrollCallback(window, scroll);
-
-  // run main loop, target real-time simulation and 60 fps rendering
-  while (!glfwWindowShouldClose(window)) {
-    // advance interactive simulation for 1/60 sec
-    //  Assuming MuJoCo can simulate faster than real-time, which it usually can,
-    //  this loop will finish on time for the next frame to be rendered at 60 fps.
-    //  Otherwise add a cpu timer and exit this loop when it is time to render.
-    mjtNum simstart = d->time;
-    while (d->time - simstart < 1.0/60.0) {
-      mj_step(m, d);
-    }
-
-    // get framebuffer viewport
-    mjrRect viewport = {0, 0, 0, 0};
-    glfwGetFramebufferSize(window, &viewport.width, &viewport.height);
-
-    // update scene and render
-    mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
-    mjr_render(viewport, &scn, &con);
-
-    // swap OpenGL buffers (blocking call due to v-sync)
-    glfwSwapBuffers(window);
-
-    // process pending GUI events, call GLFW callbacks
-    glfwPollEvents();
-  }
-
-  //free visualization storage
-  mjv_freeScene(&scn);
-  mjr_freeContext(&con);
-
-  // free MuJoCo model and data
-  mj_deleteData(d);
-  mj_deleteModel(m);
-
-  // terminate GLFW (crashes with Linux NVidia drivers)
-#if defined(__APPLE__) || defined(_WIN32)
-  glfwTerminate();
-#endif
-
-  return EXIT_SUCCESS;
-}
diff --git a/sample/cmake/CheckAvxSupport.cmake b/sample/cmake/CheckAvxSupport.cmake
deleted file mode 100644
index 52e8b23d..00000000
--- a/sample/cmake/CheckAvxSupport.cmake
+++ /dev/null
@@ -1,56 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(CheckCSourceCompiles)
-
-# Assigns compiler options to the given variable based on availability of AVX.
-function(get_avx_compile_options OUTPUT_VAR)
-  message(VERBOSE "Checking if AVX is available...")
-
-  if(MSVC)
-    set(CMAKE_REQUIRED_FLAGS "/arch:AVX")
-  elseif(WIN32)
-    # Abseil LTS 20230125.0 assumes that AVX implies PCLMUL on Windows.
-    set(CMAKE_REQUIRED_FLAGS "-mavx" "-mpclmul")
-  else()
-    set(CMAKE_REQUIRED_FLAGS "-mavx")
-  endif()
-
-  if(APPLE AND "x86_64" IN_LIST CMAKE_OSX_ARCHITECTURES)
-    message(STATUS "Building x86_64 on macOS, forcing CAN_BUILD_AVX to TRUE.")
-    set(CAN_BUILD_AVX TRUE)
-  else()
-    check_c_source_compiles(
-      "
-      #include <immintrin.h>
-      int main(int argc, char* argv[]) {
-        __m256d ymm;
-        return 0;
-      }
-    "
-      CAN_BUILD_AVX
-    )
-  endif()
-
-  if(CAN_BUILD_AVX)
-    message(VERBOSE "Checking if AVX is available... AVX available.")
-    set("${OUTPUT_VAR}"
-        ${CMAKE_REQUIRED_FLAGS}
-        PARENT_SCOPE
-    )
-  else()
-    message(VERBOSE "Checking if AVX is available... AVX not available.")
-    set("${OUTPUT_VAR}" PARENT_SCOPE)
-  endif()
-endfunction()
diff --git a/sample/cmake/FindOrFetch.cmake b/sample/cmake/FindOrFetch.cmake
deleted file mode 100644
index d849efdc..00000000
--- a/sample/cmake/FindOrFetch.cmake
+++ /dev/null
@@ -1,228 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-#.rst:
-# FindOrFetch
-# ----------------------
-#
-# Find or fetch a package in order to satisfy target dependencies.
-#
-#   FindOrFetch([USE_SYSTEM_PACKAGE [ON/OFF]]
-#               [PACKAGE_NAME [name]]
-#               [LIBRARY_NAME [name]]
-#               [GIT_REPO [repo]]
-#               [GIT_TAG [tag]]
-#               [CUSTOM_CMAKE [path]]
-#               [PATCH_COMMAND [cmd] [args]]
-#               [TARGETS [targets]]
-#               [EXCLUDE_FROM_ALL])
-#
-# The command has the following parameters:
-#
-# Arguments:
-#  - ``USE_SYSTEM_PACKAGE`` one-value argument on whether to search for the
-#    package in the system (ON) or whether to fetch the library using
-#    FetchContent from the specified Git repository (OFF). Note that
-#    FetchContent variables will override this behaviour.
-#  - ``PACKAGE_NAME`` name of the system-package. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``OFF``.
-#  - ``LIBRARY_NAME`` name of the library. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``GIT_REPO`` git repository to fetch the library from. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``GIT_TAG`` tag reference when fetching the library from the git
-#    repository. Ignored if ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``CUSTOM_CMAKE`` path to a custom CMakeLists.txt file to be used when
-#    fetching the library from the git repository. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``PATCH_COMMAND`` Specifies a custom command to patch the sources after an
-#    update. See https://cmake.org/cmake/help/latest/module/ExternalProject.html#command:externalproject_add
-#    for details on the parameter.
-#  - ``TARGETS`` list of targets to be satisfied. If any of these targets are
-#    not currently defined, this macro will attempt to either find or fetch the
-#    package.
-#  - ``EXCLUDE_FROM_ALL`` if specified, the targets are not added to the ``all``
-#    metatarget.
-#
-# Note: if ``USE_SYSTEM_PACKAGE`` is ``OFF``, FetchContent will be used to
-# retrieve the specified targets. It is possible to specify any variable in
-# https://cmake.org/cmake/help/latest/module/FetchContent.html#variables to
-# override this macro behaviour.
-
-if(NOT COMMAND FindOrFetch)
-  macro(FindOrFetch)
-    if(NOT FetchContent)
-      include(FetchContent)
-    endif()
-
-    # Parse arguments.
-    set(options EXCLUDE_FROM_ALL)
-    set(one_value_args
-        USE_SYSTEM_PACKAGE
-        PACKAGE_NAME
-        LIBRARY_NAME
-        GIT_REPO
-        GIT_TAG
-        CUSTOM_CMAKE
-    )
-    set(multi_value_args PATCH_COMMAND TARGETS)
-    cmake_parse_arguments(
-      _ARGS
-      "${options}"
-      "${one_value_args}"
-      "${multi_value_args}"
-      ${ARGN}
-    )
-
-    # Check if all targets are found.
-    if(NOT _ARGS_TARGETS)
-      message(FATAL_ERROR "mujoco::FindOrFetch: TARGETS must be specified.")
-    endif()
-
-    set(targets_found TRUE)
-    message(CHECK_START
-            "mujoco::FindOrFetch: checking for targets in package `${_ARGS_PACKAGE_NAME}`"
-    )
-    foreach(target ${_ARGS_TARGETS})
-      if(NOT TARGET ${target})
-        message(CHECK_FAIL "target `${target}` not defined.")
-        set(targets_found FALSE)
-        break()
-      endif()
-    endforeach()
-
-    # If targets are not found, use `find_package` or `FetchContent...` to get it.
-    if(NOT targets_found)
-      if(${_ARGS_USE_SYSTEM_PACKAGE})
-        message(CHECK_START
-                "mujoco::FindOrFetch: finding `${_ARGS_PACKAGE_NAME}` in system packages..."
-        )
-        find_package(${_ARGS_PACKAGE_NAME} REQUIRED)
-        message(CHECK_PASS "found")
-      else()
-        set(USE_LOCAL_TARBALL FALSE)
-        if(MUJOCO_CMAKE_DEP_CACHE)
-          # Try to find versioned library tarball.
-          set(TARBALL_PATH "${MUJOCO_CMAKE_DEP_CACHE}/${_ARGS_LIBRARY_NAME}-${_ARGS_GIT_TAG}.tar.gz")
-          if(EXISTS "${TARBALL_PATH}")
-            set(USE_LOCAL_TARBALL TRUE)
-          endif()
-        endif()
-        if(_ARGS_PATCH_COMMAND)
-          set(_WRAPPED_PATCH_COMMAND ${CMAKE_COMMAND} -E env GIT_CEILING_DIRECTORIES=${CMAKE_BINARY_DIR} ${_ARGS_PATCH_COMMAND})
-        else()
-          set(_WRAPPED_PATCH_COMMAND)
-        endif()
-
-        set(FETCHCONTENT_QUIET OFF)
-        if(USE_LOCAL_TARBALL)
-          message(STATUS "mujoco::FindOrFetch: Using package cache for ${_ARGS_LIBRARY_NAME}: ${TARBALL_PATH}")
-          FetchContent_Declare(
-            ${_ARGS_LIBRARY_NAME}
-            URL ${TARBALL_PATH}
-            PATCH_COMMAND ${_WRAPPED_PATCH_COMMAND}
-          )
-        else()
-          message(STATUS "mujoco::FindOrFetch: Using FetchContent for ${_ARGS_LIBRARY_NAME}: ${_ARGS_GIT_REPO}")
-          FetchContent_Declare(
-            ${_ARGS_LIBRARY_NAME}
-            GIT_REPOSITORY ${_ARGS_GIT_REPO}
-            GIT_TAG ${_ARGS_GIT_TAG}
-            GIT_SHALLOW FALSE
-            PATCH_COMMAND ${_WRAPPED_PATCH_COMMAND}
-            UPDATE_DISCONNECTED TRUE
-          )
-        endif()
-        if(${_ARGS_EXCLUDE_FROM_ALL})
-          FetchContent_GetProperties(${_ARGS_LIBRARY_NAME})
-          if(NOT ${${_ARGS_LIBRARY_NAME}_POPULATED})
-            FetchContent_Populate(${_ARGS_LIBRARY_NAME})
-            if(NOT "${_ARGS_CUSTOM_CMAKE}" STREQUAL "")
-              file(COPY
-                "${_ARGS_CUSTOM_CMAKE}"
-                DESTINATION "${${_ARGS_LIBRARY_NAME}_SOURCE_DIR}"
-              )
-            endif()
-            add_subdirectory(
-              ${${_ARGS_LIBRARY_NAME}_SOURCE_DIR} ${${_ARGS_LIBRARY_NAME}_BINARY_DIR}
-              EXCLUDE_FROM_ALL
-            )
-          endif()
-        else()
-          FetchContent_MakeAvailable(${_ARGS_LIBRARY_NAME})
-        endif()
-        message(CHECK_PASS "Done")
-      endif()
-    else()
-      message(CHECK_PASS "found")
-    endif()
-  endmacro()
-endif()
-
-
-#.rst:
-# FetchPackage
-# ----------------------
-#
-# Fetches a package from a Git repository in order to satisfy dependencies.
-#
-#   FetchPackage([PACKAGE_NAME [name]]
-#               [GIT_REPO [repo]]
-#               [GIT_TAG [tag]]
-#               [PATCH_COMMAND [cmd] [args]]
-#              )
-#
-# The command has the following parameters:
-#
-# Arguments:
-#  - ``PACKAGE_NAME`` name of the package.
-#  - ``GIT_REPO`` git repository to fetch the library from.
-#  - ``GIT_TAG`` tag reference when fetching the library from the git repo.
-#  - ``CUSTOM_CMAKE`` path to a custom CMakeLists.txt file to be used when
-#    fetching the library from the git repository.
-#  - ``PATCH_COMMAND`` Specifies a custom command to patch the sources after an
-#    update. See https://cmake.org/cmake/help/latest/module/ExternalProject.html#command:externalproject_add
-#    for details on the parameter.
-#  - ``TARGETS`` (optional) list of targets to be satisfied. If any of these
-#    targets are not currently defined, this macro will attempt to fetch the
-#    package. If not specified, the package name will be used as the target.
-#
-# Note: This is a wrapper around FindOrFetch that sets EXCLUDE_FROM_ALL and
-# USE_SYSTEM_PACKAGE to OFF.
-if(NOT COMMAND FetchPackage)
-  function(FetchPackage)
-    cmake_parse_arguments(
-      _ARGS
-      "EXCLUDE_FROM_ALL"
-      "PACKAGE_NAME;GIT_REPO;GIT_TAG;CUSTOM_CMAKE"
-      "PATCH_COMMAND;TARGETS"
-      ${ARGN}
-    )
-    if(NOT _ARGS_TARGETS)
-      set(_ARGS_TARGETS ${_ARGS_PACKAGE_NAME})
-    endif()
-
-    FindOrFetch(
-      PACKAGE_NAME ${_ARGS_PACKAGE_NAME}
-      LIBRARY_NAME ${_ARGS_PACKAGE_NAME}
-      GIT_REPO ${_ARGS_GIT_REPO}
-      GIT_TAG ${_ARGS_GIT_TAG}
-      CUSTOM_CMAKE ${_ARGS_CUSTOM_CMAKE}
-      PATCH_COMMAND ${_ARGS_PATCH_COMMAND}
-      TARGETS ${_ARGS_TARGETS}
-      USE_SYSTEM_PACKAGE OFF
-      EXCLUDE_FROM_ALL
-    )
-  endfunction()
-endif()
diff --git a/sample/cmake/MujocoHarden.cmake b/sample/cmake/MujocoHarden.cmake
deleted file mode 100644
index 7beb88fe..00000000
--- a/sample/cmake/MujocoHarden.cmake
+++ /dev/null
@@ -1,35 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-option(MUJOCO_HARDEN "Enable build hardening for MuJoCo." OFF)
-if(MUJOCO_HARDEN
-   AND NOT
-       CMAKE_CXX_COMPILER_ID
-       MATCHES
-       ".*Clang.*"
-)
-  message(FATAL_ERROR "MUJOCO_HARDEN is only supported when building with Clang")
-endif()
-
-if(MUJOCO_HARDEN)
-  set(MUJOCO_HARDEN_COMPILE_OPTIONS -D_FORTIFY_SOURCE=2 -fstack-protector)
-  if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-    set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-bind_at_load)
-  elseif(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
-    set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-z,relro -Wl,-z,now)
-  endif()
-else()
-  set(MUJOCO_HARDEN_COMPILE_OPTIONS "")
-  set(MUJOCO_HARDEN_LINK_OPTIONS "")
-endif()
diff --git a/sample/cmake/MujocoLinkOptions.cmake b/sample/cmake/MujocoLinkOptions.cmake
deleted file mode 100644
index 4bed36c2..00000000
--- a/sample/cmake/MujocoLinkOptions.cmake
+++ /dev/null
@@ -1,64 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(CheckCSourceCompiles)
-
-# Gets the appropriate linker options for building MuJoCo, based on features available on the
-# linker.
-function(get_mujoco_extra_link_options OUTPUT_VAR)
-  if(MSVC)
-    set(EXTRA_LINK_OPTIONS /OPT:REF /OPT:ICF=5 /STACK:16777216)
-  else()
-    set(EXTRA_LINK_OPTIONS)
-
-    if(WIN32)
-      set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD_LINK)
-      if(SUPPORTS_LLD_LINK)
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld-link -Wl,/STACK:16777216 -Wl,/OPT:REF -Wl,/OPT:ICF)
-      else()
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--stack,16777216)
-      endif()
-    else()
-      set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD)
-      if(SUPPORTS_LLD)
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld)
-      else()
-        set(CMAKE_REQUIRED_FLAGS "-fuse-ld=gold")
-        check_c_source_compiles("int main() {}" SUPPORTS_GOLD)
-        if(SUPPORTS_GOLD)
-          set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=gold)
-        endif()
-      endif()
-
-      set(CMAKE_REQUIRED_FLAGS "${EXTRA_LINK_OPTIONS} -Wl,--gc-sections")
-      check_c_source_compiles("int main() {}" SUPPORTS_GC_SECTIONS)
-      if(SUPPORTS_GC_SECTIONS)
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--gc-sections)
-      else()
-        set(CMAKE_REQUIRED_FLAGS "${EXTRA_LINK_OPTIONS} -Wl,-dead_strip")
-        check_c_source_compiles("int main() {}" SUPPORTS_DEAD_STRIP)
-        if(SUPPORTS_DEAD_STRIP)
-          set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,-dead_strip)
-        endif()
-      endif()
-    endif()
-  endif()
-
-  set("${OUTPUT_VAR}"
-      ${EXTRA_LINK_OPTIONS}
-      PARENT_SCOPE
-  )
-endfunction()
diff --git a/sample/cmake/MujocoMacOS.cmake b/sample/cmake/MujocoMacOS.cmake
deleted file mode 100644
index 8ff7cd30..00000000
--- a/sample/cmake/MujocoMacOS.cmake
+++ /dev/null
@@ -1,41 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-if(APPLE)
-  # Target the oldest version of macOS that is still supported by Apple.
-  # We follow https://endoflife.date/macos, which considers a version to become
-  # unsupported the first time it is excluded from a macOS security update
-  # (e.g. https://github.com/endoflife-date/endoflife.date/issues/1602).
-  set(MUJOCO_MACOSX_VERSION_MIN 11)
-
-  # We are setting the -mmacosx-version-min compiler flag directly rather than using the
-  # CMAKE_OSX_DEPLOYMENT_TARGET variable since we do not want to affect choice of SDK,
-  # and also we only want to apply the version restriction locally.
-  set(MUJOCO_MACOS_COMPILE_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN}
-                                   -Werror=partial-availability -Werror=unguarded-availability
-  )
-  set(MUJOCO_MACOS_LINK_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN}
-                                -Wl,-no_weak_imports
-  )
-else()
-  set(MUJOCO_MACOS_COMPILE_OPTIONS "")
-  set(MUJOCO_MACOS_LINK_OPTIONS "")
-endif()
-
-function(enforce_mujoco_macosx_min_version)
-  if(APPLE)
-    add_compile_options(${MUJOCO_MACOS_COMPILE_OPTIONS})
-    add_link_options(${MUJOCO_MACOS_LINK_OPTIONS})
-  endif()
-endfunction()
diff --git a/sample/cmake/SampleDependencies.cmake b/sample/cmake/SampleDependencies.cmake
deleted file mode 100644
index c03dd6d1..00000000
--- a/sample/cmake/SampleDependencies.cmake
+++ /dev/null
@@ -1,104 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(FindOrFetch)
-
-if(SAMPLE_STANDALONE)
-  # If standalone, by default look for MuJoCo binary version.
-  set(DEFAULT_USE_SYSTEM_MUJOCO ON)
-else()
-  set(DEFAULT_USE_SYSTEM_MUJOCO OFF)
-endif()
-
-option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
-       ${DEFAULT_USE_SYSTEM_MUJOCO}
-)
-unset(DEFAULT_USE_SYSTEM_MUJOCO)
-
-option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
-option(MUJOCO_SAMPLES_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
-
-set(MUJOCO_DEP_VERSION_glfw3
-    7b6aead9fb88b3623e3b3725ebb42670cbe4c579 # 3.4
-    CACHE STRING "Version of `glfw` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_glfw3)
-
-find_package(Threads REQUIRED)
-
-set(MUJOCO_BUILD_EXAMPLES OFF)
-set(MUJOCO_BUILD_TESTS OFF)
-set(MUJOCO_BUILD_PYTHON OFF)
-set(MUJOCO_TEST_PYTHON_UTIL OFF)
-
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO
-  PACKAGE_NAME
-  mujoco
-  LIBRARY_NAME
-  mujoco
-  GIT_REPO
-  https://github.com/google-deepmind/mujoco.git
-  GIT_TAG
-  main
-  TARGETS
-  mujoco
-  EXCLUDE_FROM_ALL
-)
-
-option(MUJOCO_EXTRAS_STATIC_GLFW
-       "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
-)
-if(MUJOCO_EXTRAS_STATIC_GLFW)
-  set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
-  set(BUILD_SHARED_LIBS
-      OFF
-      CACHE INTERNAL "Build SHARED libraries"
-  )
-endif()
-
-set(GLFW_BUILD_EXAMPLES OFF)
-set(GLFW_BUILD_TESTS OFF)
-set(GLFW_BUILD_DOCS OFF)
-set(GLFW_INSTALL OFF)
-
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  MUJOCO_SAMPLES_USE_SYSTEM_GLFW
-  PACKAGE_NAME
-  glfw3
-  LIBRARY_NAME
-  glfw3
-  GIT_REPO
-  https://github.com/glfw/glfw.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_glfw3}
-  TARGETS
-  glfw
-  EXCLUDE_FROM_ALL
-)
-
-if(MUJOCO_EXTRAS_STATIC_GLFW)
-  set(BUILD_SHARED_LIBS
-      ${BUILD_SHARED_LIBS_OLD}
-      CACHE BOOL "Build SHARED libraries" FORCE
-  )
-  unset(BUILD_SHARED_LIBS_OLD)
-endif()
-
-if(NOT SAMPLE_STANDALONE AND NOT MUJOCO_SAMPLES_USE_SYSTEM_GLFW)
-  target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-  target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-endif()
diff --git a/sample/cmake/SampleOptions.cmake b/sample/cmake/SampleOptions.cmake
deleted file mode 100644
index 74bf25bb..00000000
--- a/sample/cmake/SampleOptions.cmake
+++ /dev/null
@@ -1,129 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Global compilation settings
-set(CMAKE_C_STANDARD 11)
-set(CMAKE_C_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_STANDARD 20)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-if(EMSCRIPTEN)
-  set(CMAKE_C_EXTENSIONS ON)
-else()
-  set(CMAKE_C_EXTENSIONS OFF)
-endif()
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # For LLVM tooling
-
-if(NOT CMAKE_CONFIGURATION_TYPES)
-  if(NOT CMAKE_BUILD_TYPE)
-    message(STATUS "Setting build type to 'Release' as none was specified.")
-    set(CMAKE_BUILD_TYPE
-        "Release"
-        CACHE STRING "Choose the type of build, recommanded options are: Debug or Release" FORCE
-    )
-  endif()
-  set(BUILD_TYPES
-      "Debug"
-      "Release"
-      "MinSizeRel"
-      "RelWithDebInfo"
-  )
-  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${BUILD_TYPES})
-endif()
-
-include(GNUInstallDirs)
-
-# Change the default output directory in the build structure. This is not stricly needed, but helps
-# running in Windows, such that all built executables have DLLs in the same folder as the .exe
-# files.
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
-
-set(OpenGL_GL_PREFERENCE GLVND)
-
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-set(CMAKE_C_VISIBILITY_PRESET hidden)
-set(CMAKE_CXX_VISIBILITY_PRESET hidden)
-set(CMAKE_VISIBILITY_INLINES_HIDDEN ON)
-
-if(MSVC)
-  add_compile_options(/Gy /Gw /Oi)
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-fdata-sections -ffunction-sections)
-endif()
-
-# We default to shared library.
-set(BUILD_SHARED_LIBS
-    ON
-    CACHE BOOL "Build Mujoco as shared library."
-)
-
-option(MUJOCO_ENABLE_AVX "Build binaries that require AVX instructions, if possible." ON)
-option(MUJOCO_ENABLE_AVX_INTRINSICS "Make use of hand-written AVX intrinsics, if possible." ON)
-option(MUJOCO_ENABLE_RPATH "Enable RPath support when installing Mujoco." ON)
-mark_as_advanced(MUJOCO_ENABLE_RPATH)
-
-if(MUJOCO_ENABLE_AVX)
-  include(CheckAvxSupport)
-  get_avx_compile_options(AVX_COMPILE_OPTIONS)
-else()
-  set(AVX_COMPILE_OPTIONS)
-endif()
-
-option(MUJOCO_BUILD_MACOS_FRAMEWORKS "Build libraries as macOS Frameworks" OFF)
-
-# Get some extra link options.
-include(MujocoLinkOptions)
-get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
-
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
-  set(EXTRA_COMPILE_OPTIONS
-      -Werror
-      -Wall
-      -Wpedantic
-      -Wimplicit-fallthrough
-      -Wunused
-      -Wvla
-      -Wno-int-in-bool-context
-      -Wno-sign-compare
-      -Wno-unknown-pragmas
-  )
-  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
-    set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5
-                              -Wno-maybe-uninitialized
-    )
-  endif()
-endif()
-
-# Provide a user-facing option to control Link-Time Optimization (LTO/IPO).
-# When ON (the default), LTO is enabled for non-Debug builds unless the caller
-# has already set CMAKE_INTERPROCEDURAL_OPTIMIZATION explicitly.
-# Users can disable LTO entirely with -DMUJOCO_ENABLE_LTO=OFF.
-option(MUJOCO_ENABLE_LTO "Enable Link-Time Optimization (LTO) for non-Debug builds." ON)
-
-if(MUJOCO_ENABLE_LTO)
-  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
-  endif()
-endif()
-
-include(MujocoHarden)
-set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
-set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
-
-if(WIN32)
-  add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE)
-endif()
diff --git a/sample/compile.cc b/sample/compile.cc
deleted file mode 100644
index 41dd8d56..00000000
--- a/sample/compile.cc
+++ /dev/null
@@ -1,166 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cctype>
-#include <cstddef>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <iostream>
-#include <string>
-#include <string_view>
-
-#include <mujoco/mujoco.h>
-
-// help
-static constexpr char kHelp[] =
-    "\n Usage:  compile infile [outfile]\n"
-    "   infile can be in any format with a registered decoder (e.g. mjcf, "
-    "urdf) or mjb\n"
-    "   outfile can be in mjcf, mjb, txt format, or empty\n\n"
-    "   if outfile is empty, compilation will be "
-    "timed twice to measure the impact of caching\n\n"
-    " Example: compile model.xml [model.mjb]\n";
-
-// deallocate and print message
-int finish(const char* msg = 0, int exitcode = EXIT_SUCCESS, mjModel* m = 0,
-           mjVFS* vfs = 0) {
-  // deallocated everything
-  if (m) {
-    mj_deleteModel(m);
-  }
-  if (vfs) {
-    mj_deleteVFS(vfs);
-  }
-
-  // print message
-  if (msg) {
-    std::cout << msg << std::endl;
-  }
-
-  return exitcode;
-}
-
-// check if filename has extension (case-insensitive)
-bool HasExtension(std::string_view filename, std::string_view ext) {
-  if (filename.length() < ext.length()) return false;
-
-  std::string_view file_ext = filename.substr(filename.length() - ext.length());
-  for (std::size_t i = 0; i < ext.length(); ++i) {
-    if (std::tolower(static_cast<unsigned char>(file_ext[i])) !=
-        std::tolower(static_cast<unsigned char>(ext[i]))) {
-      return false;
-    }
-  }
-  return true;
-}
-
-// main function
-int main(int argc, char** argv) {
-
-  // model and error
-  mjModel* m = 0;
-  char error[1000];
-
-  // print help if arguments are missing
-  if (argc != 3 && argc != 2) {
-    return finish(kHelp, EXIT_FAILURE);
-  }
-
-  const bool is_mjb = HasExtension(argv[1], ".mjb");
-
-  if (is_mjb && argc == 3 && HasExtension(argv[2], ".xml")) {
-    return finish("Illegal combination: cannot save binary model to XML",
-                  EXIT_FAILURE);
-  }
-
-  // check if output file exists
-  if (argc == 3) {
-    std::FILE* fp = std::fopen(argv[2], "r");
-    if (fp) {
-      std::fclose(fp);
-      std::cout << "Output file already exists, overwrite? (Y/n) ";
-      char c;
-      std::cin >> c;
-      if (c != 'y' && c != 'Y') {
-        return finish();
-      }
-    }
-  }
-
-  // enable compile timing diagnostics
-  if (argc == 2) {
-    mjLogConfig config = mju_getLogConfig();
-    config.logfile[0] = '\0';
-    config.topics |= (1 << (mjTOPIC_TIME_CMP - 1));
-    mju_setLogConfig(config);
-  }
-
-  // load model
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mjSpec* spec = nullptr;
-
-  if (is_mjb) {
-    m = mj_loadModel(argv[1], &vfs);
-    if (!m) {
-      return finish("Could not load binary model", EXIT_FAILURE, nullptr, &vfs);
-    }
-  } else {
-    spec = mj_parse(argv[1], nullptr, &vfs, error, 1000);
-    if (!spec) {
-      return finish(error, EXIT_FAILURE, nullptr, &vfs);
-    }
-
-    if (argc == 2) {
-      std::cout << "Compile 1 (cold cache)\n";
-    }
-    m = mj_compile(spec, &vfs);
-    if (!m) {
-      // copy the message before mj_deleteSpec frees the memory it points into
-      std::string err_msg = mjs_getError(spec);
-      mj_deleteSpec(spec);
-      return finish(err_msg.c_str(), EXIT_FAILURE, nullptr, &vfs);
-    }
-
-    if (argc == 2) {
-      mj_deleteModel(m);
-      std::cout << "Compile 2 (warm cache)\n";
-      m = mj_compile(spec, &vfs);
-    }
-  }
-
-  // check error
-  if (!m) {
-    if (spec) {
-      std::string err_msg = mjs_getError(spec);
-      mj_deleteSpec(spec);
-      return finish(err_msg.c_str(), EXIT_FAILURE, nullptr, &vfs);
-    } else {
-      return finish("Could not load model", EXIT_FAILURE, nullptr, &vfs);
-    }
-  }
-
-  // encode output
-  if (argc == 3) {
-    if (mj_encode(spec, m, argv[2], nullptr, &vfs, error, 1000) < 0) {
-      if (spec) mj_deleteSpec(spec);
-      return finish(error, EXIT_FAILURE, m, &vfs);
-    }
-  }
-
-  // finalize
-  if (spec) mj_deleteSpec(spec);
-  return finish("Done.", EXIT_SUCCESS, m, &vfs);
-}
diff --git a/sample/dependencies.cc b/sample/dependencies.cc
deleted file mode 100644
index 6b360747..00000000
--- a/sample/dependencies.cc
+++ /dev/null
@@ -1,45 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <cstdlib>
-#include <iostream>
-#include <mujoco/mujoco.h>
-
-// help
-static constexpr char helpstring[] =
-  "\n Usage:  list_dependencies infile\n"
-  "   infile must be in MJCF\n"
-  " Example: list_dependencies model.xml\n";
-
-
-// main function
-int main(int argc, char** argv) {
-
-  // print help if arguments are missing
-  if (argc!=3 && argc!=2) {
-    std::cout << helpstring << std::endl;
-    return EXIT_SUCCESS;
-  }
-
-  mjStringVec dependencies;
-  mju_getXMLDependencies(argv[1], &dependencies);
-  std::sort(dependencies.begin(), dependencies.end());
-
-  std::cout << "Dependencies:" << std::endl;
-  for (int i = 0; i < dependencies.size(); ++i) {
-    std::cout << "\t " << dependencies[i] << std::endl;
-  }
-  return EXIT_SUCCESS;
-}
diff --git a/sample/record.cc b/sample/record.cc
deleted file mode 100644
index f1e39f2e..00000000
--- a/sample/record.cc
+++ /dev/null
@@ -1,325 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-
-#include <mujoco/mujoco.h>
-
-// select EGL, OSMESA or GLFW
-#if defined(MJ_EGL)
-  #include <EGL/egl.h>
-#elif defined(MJ_OSMESA)
-  #include <GL/osmesa.h>
-  OSMesaContext ctx;
-  unsigned char buffer[10000000];
-#else
-  #include <GLFW/glfw3.h>
-#endif
-
-#include "array_safety.h"
-namespace mju = ::mujoco::sample_util;
-
-//-------------------------------- global data ------------------------------------------
-
-// MuJoCo model and data
-mjModel* m = 0;
-mjData* d = 0;
-
-// MuJoCo visualization
-mjvScene scn;
-mjvCamera cam;
-mjvOption opt;
-mjrContext con;
-
-
-//-------------------------------- utility functions ------------------------------------
-
-// load model, init simulation and rendering
-void initMuJoCo(const char* filename) {
-  // load and compile
-  char error[1000] = "Could not load binary model";
-  if (std::strlen(filename)>4 && !std::strcmp(filename+std::strlen(filename)-4, ".mjb")) {
-    m = mj_loadModel(filename, 0);
-  } else {
-    m = mj_loadXML(filename, 0, error, 1000);
-  }
-  if (!m) {
-    mju_error("Load model error: %s", error);
-  }
-
-  // make data, run one computation to initialize all fields
-  d = mj_makeData(m);
-  mj_forward(m, d);
-
-  // initialize visualization data structures
-  mjv_defaultCamera(&cam);
-  mjv_defaultOption(&opt);
-  mjv_defaultScene(&scn);
-  mjr_defaultContext(&con);
-
-  // create scene and context
-  mjv_makeScene(m, &scn, 2000);
-  mjr_makeContext(m, &con, 200);
-
-  // default free camera
-  mjv_defaultFreeCamera(m, &cam);
-}
-
-
-// deallocate everything
-void closeMuJoCo(void) {
-  mj_deleteData(d);
-  mj_deleteModel(m);
-  mjr_freeContext(&con);
-  mjv_freeScene(&scn);
-}
-
-
-// create OpenGL context/window
-void initOpenGL(void) {
-  //------------------------ EGL
-#if defined(MJ_EGL)
-  // desired config
-  const EGLint configAttribs[] = {
-    EGL_RED_SIZE,           8,
-    EGL_GREEN_SIZE,         8,
-    EGL_BLUE_SIZE,          8,
-    EGL_ALPHA_SIZE,         8,
-    EGL_DEPTH_SIZE,         24,
-    EGL_STENCIL_SIZE,       8,
-    EGL_COLOR_BUFFER_TYPE,  EGL_RGB_BUFFER,
-    EGL_SURFACE_TYPE,       EGL_PBUFFER_BIT,
-    EGL_RENDERABLE_TYPE,    EGL_OPENGL_BIT,
-    EGL_NONE
-  };
-
-  // get default display
-  EGLDisplay eglDpy = eglGetDisplay(EGL_DEFAULT_DISPLAY);
-  if (eglDpy==EGL_NO_DISPLAY) {
-    mju_error("Could not get EGL display, error 0x%x\n", eglGetError());
-  }
-
-  // initialize
-  EGLint major, minor;
-  if (eglInitialize(eglDpy, &major, &minor)!=EGL_TRUE) {
-    mju_error("Could not initialize EGL, error 0x%x\n", eglGetError());
-  }
-
-  // choose config
-  EGLint numConfigs;
-  EGLConfig eglCfg;
-  if (eglChooseConfig(eglDpy, configAttribs, &eglCfg, 1, &numConfigs)!=EGL_TRUE) {
-    mju_error("Could not choose EGL config, error 0x%x\n", eglGetError());
-  }
-
-  // bind OpenGL API
-  if (eglBindAPI(EGL_OPENGL_API)!=EGL_TRUE) {
-    mju_error("Could not bind EGL OpenGL API, error 0x%x\n", eglGetError());
-  }
-
-  // create context
-  EGLContext eglCtx = eglCreateContext(eglDpy, eglCfg, EGL_NO_CONTEXT, NULL);
-  if (eglCtx==EGL_NO_CONTEXT) {
-    mju_error("Could not create EGL context, error 0x%x\n", eglGetError());
-  }
-
-  // make context current, no surface (let OpenGL handle FBO)
-  if (eglMakeCurrent(eglDpy, EGL_NO_SURFACE, EGL_NO_SURFACE, eglCtx)!=EGL_TRUE) {
-    mju_error("Could not make EGL context current, error 0x%x\n", eglGetError());
-  }
-
-  //------------------------ OSMESA
-#elif defined(MJ_OSMESA)
-  // create context
-  ctx = OSMesaCreateContextExt(GL_RGBA, 24, 8, 8, 0);
-  if (!ctx) {
-    mju_error("OSMesa context creation failed");
-  }
-
-  // make current
-  if (!OSMesaMakeCurrent(ctx, buffer, GL_UNSIGNED_BYTE, 800, 800)) {
-    mju_error("OSMesa make current failed");
-  }
-
-  //------------------------ GLFW
-#else
-  // init GLFW
-  if (!glfwInit()) {
-    mju_error("Could not initialize GLFW");
-  }
-
-  // create invisible window, single-buffered
-  glfwWindowHint(GLFW_VISIBLE, 0);
-  glfwWindowHint(GLFW_DOUBLEBUFFER, GLFW_FALSE);
-  GLFWwindow* window = glfwCreateWindow(800, 800, "Invisible window", NULL, NULL);
-  if (!window) {
-    mju_error("Could not create GLFW window");
-  }
-
-  // make context current
-  glfwMakeContextCurrent(window);
-#endif
-}
-
-
-// close OpenGL context/window
-void closeOpenGL(void) {
-  //------------------------ EGL
-#if defined(MJ_EGL)
-  // get current display
-  EGLDisplay eglDpy = eglGetCurrentDisplay();
-  if (eglDpy==EGL_NO_DISPLAY) {
-    return;
-  }
-
-  // get current context
-  EGLContext eglCtx = eglGetCurrentContext();
-
-  // release context
-  eglMakeCurrent(eglDpy, EGL_NO_SURFACE, EGL_NO_SURFACE, EGL_NO_CONTEXT);
-
-  // destroy context if valid
-  if (eglCtx!=EGL_NO_CONTEXT) {
-    eglDestroyContext(eglDpy, eglCtx);
-  }
-
-  // terminate display
-  eglTerminate(eglDpy);
-
-  //------------------------ OSMESA
-#elif defined(MJ_OSMESA)
-  OSMesaDestroyContext(ctx);
-
-  //------------------------ GLFW
-#else
-  // terminate GLFW (crashes with Linux NVidia drivers)
-  #if defined(__APPLE__) || defined(_WIN32)
-    glfwTerminate();
-  #endif
-#endif
-}
-
-
-//-------------------------------- main function ----------------------------------------
-
-int main(int argc, const char** argv) {
-  // check command-line arguments
-  if (argc < 5 || argc > 6) {
-    std::printf(" USAGE:  record modelfile duration fps rgbfile [adddepth]\n");
-    return EXIT_FAILURE;
-  }
-
-  // parse numeric arguments
-  double duration = 10, fps = 30;
-  std::sscanf(argv[2], "%lf", &duration);
-  std::sscanf(argv[3], "%lf", &fps);
-
-  // initialize OpenGL and MuJoCo
-  initOpenGL();
-  initMuJoCo(argv[1]);
-
-  // set rendering to offscreen buffer
-  mjr_setBuffer(mjFB_OFFSCREEN, &con);
-  if (con.currentBuffer!=mjFB_OFFSCREEN) {
-    std::printf("Warning: offscreen rendering not supported, using default/window framebuffer\n");
-  }
-
-  // get size of active renderbuffer
-  mjrRect viewport =  mjr_maxViewport(&con);
-  int W = viewport.width;
-  int H = viewport.height;
-
-  // allocate rgb and depth buffers
-  unsigned char* rgb = (unsigned char*)std::malloc(3*W*H);
-  float* depth = (float*)std::malloc(sizeof(float)*W*H);
-  if (!rgb || !depth) {
-    mju_error("Could not allocate buffers");
-  }
-
-  // create output rgb file
-  std::FILE* fp = std::fopen(argv[4], "wb");
-  if (!fp) {
-    mju_error("Could not open rgbfile for writing");
-  }
-
-  int adddepth = 1;
-  if (argc > 5 && std::sscanf(argv[5], "%d", &adddepth) != 1) {
-    mju_error("Invalid adddepth argument");
-  }
-
-  // main loop
-  double frametime = 0;
-  int framecount = 0;
-  while (d->time<duration) {
-    // render new frame if it is time (or first frame)
-    if ((d->time-frametime)>1/fps || frametime==0) {
-      // update abstract scene
-      mjv_updateScene(m, d, &opt, NULL, &cam, mjCAT_ALL, &scn);
-
-      // render scene in offscreen buffer
-      mjr_render(viewport, &scn, &con);
-
-      // add time stamp in upper-left corner
-      char stamp[50];
-      mju::sprintf_arr(stamp, "Time = %.3f", d->time);
-      mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, viewport, stamp, NULL, &con);
-
-      // read rgb and depth buffers
-      mjr_readPixels(rgb, depth, viewport, &con);
-
-      // insert subsampled depth image in lower-left corner of rgb image
-      if (adddepth) {
-        const int NS = 3;           // depth image sub-sampling
-        for (int r=0; r<H; r+=NS) {
-          for (int c=0; c<W; c+=NS) {
-            int adr = (r/NS)*W + c/NS;
-            rgb[3*adr] = rgb[3*adr+1] = rgb[3*adr+2] = (unsigned char)((1.0f-depth[r*W+c])*255.0f);
-          }
-        }
-      }
-
-      // write rgb image to file
-      std::fwrite(rgb, 3, W*H, fp);
-
-      // print every 10 frames: '.' if ok, 'x' if OpenGL error
-      if (((framecount++)%10)==0) {
-        if (mjr_getError()) {
-          std::printf("x");
-        } else {
-          std::printf(".");
-        }
-      }
-
-      // save simulation time
-      frametime = d->time;
-    }
-
-    // advance simulation
-    mj_step(m, d);
-  }
-  std::printf("\n");
-
-  // close file, free buffers
-  std::fclose(fp);
-  std::free(rgb);
-  std::free(depth);
-
-  // close MuJoCo and OpenGL
-  closeMuJoCo();
-  closeOpenGL();
-
-  return EXIT_SUCCESS;
-}
diff --git a/sample/testspeed.cc b/sample/testspeed.cc
deleted file mode 100644
index 0fa5c4c1..00000000
--- a/sample/testspeed.cc
+++ /dev/null
@@ -1,620 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <cctype>
-#include <charconv>
-#include <chrono>
-#include <cinttypes>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <ratio>
-#include <string>
-#include <string_view>
-#include <system_error>
-#include <thread>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-
-// maximum number of threads
-const int maxthread = 512;
-
-// rollout runner state
-struct RolloutRunner {
-  mjModel* m = nullptr;
-  mjData* d[maxthread] = {nullptr};
-
-  // per-thread statistics
-  int contacts[maxthread] = {0};
-  int constraints[maxthread] = {0};
-  mjtNum iterations[maxthread] = {0.0};
-  mjtNum simtime[maxthread] = {0.0};
-};
-
-static RolloutRunner runner;
-
-// timer (microseconds)
-mjtNum gettm(void) {
-  using Clock = std::chrono::steady_clock;
-  using Microseconds = std::chrono::duration<mjtNum, std::micro>;
-  static const Clock::time_point tm_start = Clock::now();
-  return Microseconds(Clock::now() - tm_start).count();
-}
-
-// deallocate and print message
-int finish(const char* msg = NULL, mjModel* m = NULL) {
-  // deallocate model
-  if (m) {
-    mj_deleteModel(m);
-  }
-
-  // print message
-  if (msg) {
-    std::printf("%s\n", msg);
-  }
-
-  return EXIT_SUCCESS;
-}
-
-std::vector<mjtNum> CtrlNoise(const mjModel* m, int nsteps, mjtNum noise_std, mjtNum noise_rate,
-                              int key) {
-  std::vector<mjtNum> ctrl;
-  ctrl.reserve(nsteps * m->nu);
-
-  // convert rate and scale to discrete time (Ornstein–Uhlenbeck)
-  mjtNum rate = mju_exp(-m->opt.timestep / noise_rate);
-  mjtNum scale = noise_std * mju_sqrt(1 - rate * rate);
-
-  for (int step = 0; step < nsteps; step++) {
-    for (int i = 0; i < m->nu; i++) {
-      mjtNum midpoint = 0.0;
-      mjtNum halfrange = 1.0;
-      mjtNum* range = m->actuator_ctrlrange + 2 * i;
-      if (m->actuator_ctrllimited[i]) {
-        midpoint = 0.5 * (range[1] + range[0]);
-        halfrange = 0.5 * (range[1] - range[0]);
-      }
-
-      // overwrite midpoint with keyframe, if given
-      if (key >= 0) {
-        midpoint = m->key_ctrl[key * m->nu + i];
-      }
-
-      // exponential convergence to midpoint at ctrl_noise_rate
-      mjtNum ctrl_ =
-          step > 0 ? rate * ctrl[(step - 1) * m->nu + i] + (1 - rate) * midpoint : midpoint;
-
-      // add noise
-      ctrl_ += scale * halfrange * (2 * mju_Halton(step, i + 2) - 1);
-
-      // clip to range if limited
-      if (m->actuator_ctrllimited[i]) {
-        ctrl_ = mju_clip(ctrl_, range[0], range[1]);
-      }
-
-      ctrl.push_back(ctrl_);
-    }
-  }
-  return ctrl;
-}
-
-// thread function
-void simulate(int id, int nstep, mjtNum* ctrl) {
-  // clear statistics
-  runner.contacts[id] = 0;
-  runner.constraints[id] = 0;
-  runner.iterations[id] = 0;
-
-  // run and time
-  mjtNum start = gettm();
-  for (int i = 0; i < nstep; i++) {
-    // inject pseudo-random control noise
-    mju_copy(runner.d[id]->ctrl, ctrl + i * runner.m->nu, runner.m->nu);
-
-    // advance simulation
-    mj_step(runner.m, runner.d[id]);
-
-    // accumulate statistics
-    runner.contacts[id] += runner.d[id]->ncon;
-    runner.constraints[id] += runner.d[id]->nefc;
-    int nisland = mjMAX(1, mjMIN(runner.d[id]->nisland, mjNISLAND));
-    if (nisland == 1 || nisland == 0) {
-      runner.iterations[id] += runner.d[id]->solver_niter[0];
-    } else {
-      mjtNum niter = 0;
-      for (int j = 0; j < nisland; j++) {
-        niter += runner.d[id]->solver_niter[j];
-      }
-      runner.iterations[id] += niter / nisland;
-    }
-  }
-  runner.simtime[id] = 1e-6 * (gettm() - start);
-}
-
-// print non-default options
-static void PrintOptions(const mjModel* m) {
-  mjOption optd;
-  mj_defaultOption(&optd);
-
-  bool header_printed = false;
-  auto print_header = [&]() {
-    if (!header_printed) {
-      std::printf("\nPhysics options (non-default):\n");
-      header_printed = true;
-    }
-  };
-
-#define X(type, name, size)                                                                \
-  if (std::strcmp(#name, "disableflags") != 0 && std::strcmp(#name, "enableflags") != 0 && \
-      std::strcmp(#name, "disableactuator") != 0) {                                        \
-    if (m->opt.name != optd.name) {                                                        \
-      print_header();                                                                      \
-      std::printf("  %-18s: ", #name);                                                     \
-      if (std::strcmp(#name, "integrator") == 0) {                                         \
-        const char* names[] = {"Euler", "RK4", "Implicit", "ImplicitFast"};                \
-        int val = (int)m->opt.name;                                                        \
-        if (val >= 0 && val < 4) {                                                         \
-          std::printf("%s", names[val]);                                                   \
-        } else {                                                                           \
-          std::printf("%d", val);                                                          \
-        }                                                                                  \
-      } else if (std::strcmp(#name, "cone") == 0) {                                        \
-        const char* names[] = {"Pyramidal", "Elliptic"};                                   \
-        int val = (int)m->opt.name;                                                        \
-        if (val >= 0 && val < 2) {                                                         \
-          std::printf("%s", names[val]);                                                   \
-        } else {                                                                           \
-          std::printf("%d", val);                                                          \
-        }                                                                                  \
-      } else if (std::strcmp(#name, "jacobian") == 0) {                                    \
-        const char* names[] = {"Dense", "Sparse", "Auto"};                                 \
-        int val = (int)m->opt.name;                                                        \
-        if (val >= 0 && val < 3) {                                                         \
-          std::printf("%s", names[val]);                                                   \
-        } else {                                                                           \
-          std::printf("%d", val);                                                          \
-        }                                                                                  \
-      } else if (std::strcmp(#name, "solver") == 0) {                                      \
-        const char* names[] = {"PGS", "CG", "Newton"};                                     \
-        int val = (int)m->opt.name;                                                        \
-        if (val >= 0 && val < 3) {                                                         \
-          std::printf("%s", names[val]);                                                   \
-        } else {                                                                           \
-          std::printf("%d", val);                                                          \
-        }                                                                                  \
-      } else {                                                                             \
-        if (std::strcmp(#type, "int") == 0) {                                              \
-          std::printf("%d", (int)m->opt.name);                                             \
-        } else {                                                                           \
-          std::printf("%g", (double)m->opt.name);                                          \
-        }                                                                                  \
-      }                                                                                    \
-      std::printf("\n");                                                                   \
-    }                                                                                      \
-  }
-
-#define XVEC(type, name, size)                      \
-  {                                                 \
-    bool diff = false;                              \
-    for (int i = 0; i < size; ++i) {                \
-      if (m->opt.name[i] != optd.name[i]) {         \
-        diff = true;                                \
-        break;                                      \
-      }                                             \
-    }                                               \
-    if (diff) {                                     \
-      print_header();                               \
-      std::printf("  %-18s:", #name);               \
-      for (int i = 0; i < size; ++i) {              \
-        std::printf(" %g", (double)m->opt.name[i]); \
-      }                                             \
-      std::printf("\n");                            \
-    }                                               \
-  }
-
-  // option fields
-#include <mujoco/mjxmacro.h>  // NOLINT(build/include)
-  MJOPTION_FIELDS
-
-#undef X
-#undef XVEC
-
-  // disableflags
-  for (int i = 0; i < mjNDISABLE; ++i) {
-    bool current = (m->opt.disableflags & (1 << i)) != 0;
-    bool def = (optd.disableflags & (1 << i)) != 0;
-    if (current != def) {
-      print_header();
-      std::printf("  %-18s: %s\n", mjDISABLESTRING[i], current ? "Disabled" : "Enabled");
-    }
-  }
-
-  // enableflags
-  for (int i = 0; i < mjNENABLE; ++i) {
-    bool current = (m->opt.enableflags & (1 << i)) != 0;
-    bool def = (optd.enableflags & (1 << i)) != 0;
-    if (current != def) {
-      print_header();
-      std::printf("  %-18s: %s\n", mjENABLESTRING[i], current ? "Enabled" : "Disabled");
-    }
-  }
-
-  // disableactuator
-  if (m->opt.disableactuator != optd.disableactuator) {
-    print_header();
-    std::printf("  disableactuator   :");
-    bool first = true;
-    for (int i = 0; i < 32; ++i) {
-      if (m->opt.disableactuator & (1 << i)) {
-        if (!first) std::printf(",");
-        std::printf(" %d", i);
-        first = false;
-      }
-    }
-    if (first) {
-      std::printf(" none");
-    }
-    std::printf("\n");
-  }
-}
-
-// helper enum parser: returns the matched enum index from the names vector (case-insensitive)
-// or the parsed integer value if it represents a valid number. Returns -1 on failure.
-static int ParseEnum(std::string_view val, const std::vector<std::string>& names) {
-  int int_val;
-  auto [ptr, ec] = std::from_chars(val.data(), val.data() + val.size(), int_val);
-  if (ec == std::errc()) {
-    return int_val;
-  }
-  for (size_t i = 0; i < names.size(); ++i) {
-    if (val.size() == names[i].size() &&
-        std::equal(val.begin(), val.end(), names[i].begin(), [](unsigned char a, unsigned char b) {
-          return std::tolower(a) == std::tolower(b);
-        })) {
-      return i;
-    }
-  }
-  return -1;
-}
-
-// main function
-int main(int argc, char** argv) {
-  static const char* help_msg =
-      "\n"
-      "Usage:  testspeed [options] model\n"
-      "\n"
-      "  option                 default   semantic\n"
-      "  ------                 -------   --------\n"
-      "  model                            path to model (required, positional)\n"
-      "  --nstep=N              10000     number of steps per rollout\n"
-      "  --nthread=N            1         number of threads running parallel rollouts\n"
-      "  --noisestd=X           0.01      scale of pseudo-random noise injected into actuators\n"
-      "  --noiserate=X          0.1       rate of convergence to ctrl keyframe/midpoint\n"
-      "  --nenginethread=N      0         number of threads in engine-internal threadpool\n"
-      "  --solver=S             Newton    PGS, CG, Newton\n"
-      "  --cone=C               Pyramidal Pyramidal, Elliptic\n"
-      "  --jacobian=J           Auto      Dense, Sparse, Auto\n"
-      "  --integrator=I         Euler     Euler, RK4, Implicit, ImplicitFast\n"
-      "  --iterations=N         100       solver iterations limit\n"
-      "  --tolerance=X          1e-8      solver tolerance\n"
-      "  --sleep_tolerance=X    1e-3      sleep tolerance\n"
-      "  --noslip_iterations=N  0         noslip solver iterations limit\n"
-      "  --help (or no arguments)         print this help message\n"
-      "\n"
-      "Note: If the model has a keyframe named \"test\", it will be loaded prior to simulation\n";
-
-  // default values
-  int nstep = 10000, nthread = 0, nenginethread = 0;
-  // inject small noise by default, to avoid fixed contact state
-  double noisestd = 0.01;
-  double noiserate = 0.1;
-
-  // option override settings
-  bool set_solver = false, set_cone = false, set_jacobian = false, set_integrator = false;
-  bool set_iterations = false, set_tolerance = false, set_sleep_tolerance = false;
-  bool set_noslip_iterations = false;
-  int opt_solver = -1, opt_cone = -1, opt_jacobian = -1, opt_integrator = -1;
-  int opt_iterations = -1, opt_noslip_iterations = -1;
-  double opt_tolerance = -1.0, opt_sleep_tolerance = -1.0;
-
-  const char* model = nullptr;
-  for (int i = 1; i < argc; i++) {
-    // helper: given "--key=value" or "--key value", extract the value string
-    auto getarg = [&](const char* key) -> const char* {
-      std::string prefix = std::string("--") + key + "=";
-      if (std::strncmp(argv[i], prefix.c_str(), prefix.size()) == 0) {
-        return argv[i] + prefix.size();
-      }
-      if (std::strcmp(argv[i], (std::string("--") + key).c_str()) == 0) {
-        if (i + 1 < argc) {
-          return argv[++i];
-        }
-      }
-      return nullptr;
-    };
-
-    if (std::strcmp(argv[i], "--help") == 0 || std::strcmp(argv[i], "-h") == 0) {
-      return finish(help_msg);
-    }
-
-    const char* val;
-    if ((val = getarg("nstep"))) {
-      if (std::sscanf(val, "%d", &nstep) != 1 || nstep <= 0) {
-        return finish("Invalid --nstep argument");
-      }
-    } else if ((val = getarg("nthread"))) {
-      if (std::sscanf(val, "%d", &nthread) != 1) {
-        return finish("Invalid --nthread argument");
-      }
-    } else if ((val = getarg("noisestd"))) {
-      if (std::sscanf(val, "%lf", &noisestd) != 1) {
-        return finish("Invalid --noisestd argument");
-      }
-    } else if ((val = getarg("noiserate"))) {
-      if (std::sscanf(val, "%lf", &noiserate) != 1) {
-        return finish("Invalid --noiserate argument");
-      }
-    } else if ((val = getarg("nenginethread"))) {
-      if (std::sscanf(val, "%d", &nenginethread) != 1) {
-        return finish("Invalid --nenginethread argument");
-      }
-    } else if ((val = getarg("solver"))) {
-      int parsed = ParseEnum(val, {"PGS", "CG", "Newton"});
-      if (parsed < 0 || parsed > 2) {
-        return finish("Invalid --solver argument");
-      }
-      opt_solver = parsed;
-      set_solver = true;
-    } else if ((val = getarg("cone"))) {
-      int parsed = ParseEnum(val, {"Pyramidal", "Elliptic"});
-      if (parsed < 0 || parsed > 1) {
-        return finish("Invalid --cone argument");
-      }
-      opt_cone = parsed;
-      set_cone = true;
-    } else if ((val = getarg("jacobian"))) {
-      int parsed = ParseEnum(val, {"Dense", "Sparse", "Auto"});
-      if (parsed < 0 || parsed > 2) {
-        return finish("Invalid --jacobian argument");
-      }
-      opt_jacobian = parsed;
-      set_jacobian = true;
-    } else if ((val = getarg("integrator"))) {
-      int parsed = ParseEnum(val, {"Euler", "RK4", "Implicit", "ImplicitFast"});
-      if (parsed < 0 || parsed > 3) {
-        return finish("Invalid --integrator argument");
-      }
-      opt_integrator = parsed;
-      set_integrator = true;
-    } else if ((val = getarg("iterations"))) {
-      if (std::sscanf(val, "%d", &opt_iterations) != 1 || opt_iterations <= 0) {
-        return finish("Invalid --iterations argument");
-      }
-      set_iterations = true;
-    } else if ((val = getarg("tolerance"))) {
-      if (std::sscanf(val, "%lf", &opt_tolerance) != 1 || opt_tolerance < 0) {
-        return finish("Invalid --tolerance argument");
-      }
-      set_tolerance = true;
-    } else if ((val = getarg("sleep_tolerance"))) {
-      if (std::sscanf(val, "%lf", &opt_sleep_tolerance) != 1 || opt_sleep_tolerance < 0) {
-        return finish("Invalid --sleep_tolerance argument");
-      }
-      set_sleep_tolerance = true;
-    } else if ((val = getarg("noslip_iterations"))) {
-      if (std::sscanf(val, "%d", &opt_noslip_iterations) != 1 || opt_noslip_iterations < 0) {
-        return finish("Invalid --noslip_iterations argument");
-      }
-      set_noslip_iterations = true;
-    } else if (argv[i][0] != '-') {
-      // positional argument: model file
-      model = argv[i];
-    } else {
-      std::printf("Unknown option: %s\n", argv[i]);
-      return finish(help_msg);
-    }
-  }
-
-  // model file is required
-  if (!model) {
-    return finish(help_msg);
-  }
-
-  // clamp noisestd to [0.0, 1.0]
-  noisestd = mju_clip(noisestd, 0.0, 1.0);
-
-  // clamp noiserate to [0.0, 1.0]
-  noiserate = mju_clip(noiserate, 0.0, 1.0);
-
-  // clamp nthread to [1, maxthread]
-  nthread = mjMAX(1, mjMIN(maxthread, nthread));
-  nenginethread = mjMAX(1, mjMIN(maxthread, nenginethread));
-
-  // get filename, determine file type
-  std::string filename(model);
-  bool binary = (filename.find(".mjb") != std::string::npos);  // NOLINT
-
-  // load model
-  char error[1000] = "Could not load binary model";
-  if (binary) {
-    runner.m = mj_loadModel(model, 0);
-  } else {
-    runner.m = mj_loadXML(model, 0, error, 1000);
-  }
-  if (!runner.m) {
-    return finish(error);
-  }
-
-  // apply command-line option overrides
-  if (set_solver) runner.m->opt.solver = opt_solver;
-  if (set_cone) runner.m->opt.cone = opt_cone;
-  if (set_jacobian) runner.m->opt.jacobian = opt_jacobian;
-  if (set_integrator) runner.m->opt.integrator = opt_integrator;
-  if (set_iterations) runner.m->opt.iterations = opt_iterations;
-  if (set_tolerance) runner.m->opt.tolerance = opt_tolerance;
-  if (set_sleep_tolerance) runner.m->opt.sleep_tolerance = opt_sleep_tolerance;
-  if (set_noslip_iterations) runner.m->opt.noslip_iterations = opt_noslip_iterations;
-
-  // make per-thread data
-  int testkey = mj_name2id(runner.m, mjOBJ_KEY, "test");
-  for (int id = 0; id < nthread; id++) {
-    // make mjData(s)
-    runner.d[id] = mj_makeData(runner.m);
-    if (!runner.d[id]) {
-      return finish("Could not allocate mjData", runner.m);
-    }
-
-    // reset to keyframe
-    if (testkey >= 0) {
-      mj_resetDataKeyframe(runner.m, runner.d[id], testkey);
-    }
-
-    // make and bind threadpool
-    if (nenginethread > 1) {
-      mju_threadpool(runner.d[id], nenginethread);
-    }
-  }
-
-  // install timer callback for profiling
-  mjcb_time = gettm;
-
-  // print physics options if not default
-  PrintOptions(runner.m);
-
-  // print start
-  std::printf("\nRolling out %d steps%s at dt = %g", nstep, nthread > 1 ? " per thread" : "",
-              runner.m->opt.timestep);
-
-  // print precision
-  if (sizeof(mjtNum) == 4) {
-    std::printf(", using single precision");
-  } else {
-    std::printf(", using double precision");
-  }
-
-  // print thread pool size
-  if (nenginethread > 1) {
-    std::printf(", using %d threads", nenginethread);
-  }
-  std::printf("...\n");
-
-  // create pseudo-random control sequence
-  std::vector<mjtNum> ctrl = CtrlNoise(runner.m, nstep, noisestd, noiserate, testkey);
-
-  // run simulation, record total time
-  std::thread th[maxthread];
-  double starttime = gettm();
-  for (int id = 0; id < nthread; id++) {
-    th[id] = std::thread(simulate, id, nstep, ctrl.data());
-  }
-  for (int id = 0; id < nthread; id++) {
-    th[id].join();
-  }
-  double tottime = 1e-6 * (gettm() - starttime);  // total time, in seconds
-
-  // all-thread summary
-  constexpr char mu_str[3] = "\u00B5";  // unicode mu character
-  if (nthread > 1) {
-    std::printf("Summary for all %d threads\n\n", nthread);
-    std::printf(" Total simulation time  : %.2f s\n", tottime);
-    std::printf(" Total steps per second : %.0f\n", nthread * nstep / tottime);
-    std::printf(" Total realtime factor  : %.2f x\n",
-                nthread * nstep * runner.m->opt.timestep / tottime);
-    std::printf(" Total time per step    : %.1f %ss\n\n", 1e6 * tottime / (nthread * nstep),
-                mu_str);
-
-    std::printf("Details for thread 0\n\n");
-  }
-
-  // solver names indexed by mjtSolver
-  const char* solver_names[] = {"PGS", "CG", "Newton"};
-  const char* solto6[] = {"   ", "    ", ""};  // complete to 6 characters
-
-  // details for thread 0
-  std::printf(" Simulation time      : %.2f s\n", runner.simtime[0]);
-  std::printf(" Steps per second     : %.0f\n", nstep / runner.simtime[0]);
-  std::printf(" Realtime factor      : %.2f x\n",
-              nstep * runner.m->opt.timestep / runner.simtime[0]);
-  std::printf(" Time per step        : %.1f %ss\n\n", 1e6 * runner.simtime[0] / nstep, mu_str);
-  std::printf(" %s iters / step  %s: %.2f\n", solver_names[runner.m->opt.solver],
-              solto6[runner.m->opt.solver], runner.iterations[0] / nstep);
-  std::printf(" Contacts / step      : %.2f\n", static_cast<float>(runner.contacts[0]) / nstep);
-  std::printf(" Constraints / step   : %.2f\n", static_cast<float>(runner.constraints[0]) / nstep);
-  std::printf(" Degrees of freedom   : %" PRId64 "\n", runner.m->nv);
-  std::printf(" Dynamic memory usage : %.1f%% of %s\n\n",
-              100 * runner.d[0]->maxuse_arena / (double)(runner.d[0]->narena),
-              mju_writeNumBytes(runner.d[0]->narena));
-
-  // profiler, top-level
-  printf(" Internal profiler%s, %ss per step\n", nthread > 1 ? " for thread 0" : "", mu_str);
-  int number = runner.d[0]->timer[mjTIMER_STEP].number;
-  mjtNum tstep = number ? runner.d[0]->timer[mjTIMER_STEP].duration / number : 0.0;
-  mjtNum components = 0, total = 0;
-  for (int i = 0; i <= mjTIMER_ADVANCE; i++) {
-    if (runner.d[0]->timer[i].number > 0) {
-      int number = runner.d[0]->timer[i].number;
-      mjtNum istep = number ? runner.d[0]->timer[i].duration / number : 0.0;
-      mjtNum percent = number ? 100 * istep / tstep : 0.0;
-      std::printf(" %17s : %6.1f  (%6.2f %%)\n", mjTIMERSTRING[i], istep, percent);
-
-      // save step time, add up timing of components
-      if (i == 0) total = istep;
-      if (i >= mjTIMER_POSITION) {
-        components += istep;
-      }
-    }
-  }
-
-  // "other" (computation not covered by timers)
-  if (tstep > 0) {
-    mjtNum other = total - components;
-    std::printf(" %17s : %6.1f  (%6.2f %%)\n", "other", other, 100 * other / tstep);
-  }
-
-  std::printf("\n");
-
-  // mjTIMER_POSITION and its components
-  for (int i : {mjTIMER_POSITION, mjTIMER_POS_KINEMATICS, mjTIMER_POS_INERTIA,
-                mjTIMER_POS_COLLISION, mjTIMER_POS_MAKE, mjTIMER_POS_PROJECT}) {
-    if (runner.d[0]->timer[i].number > 0) {
-      mjtNum istep = runner.d[0]->timer[i].duration / runner.d[0]->timer[i].number;
-      if (i == mjTIMER_POSITION) {
-        std::printf("   position total  : %6.1f  (%6.2f %%)\n", istep, 100 * istep / tstep);
-      } else {
-        std::printf("     %-10s    : %6.1f  (%6.2f %%)\n", mjTIMERSTRING[i] + 4, istep,
-                    100 * istep / tstep);
-      }
-    }
-
-    // components of mjTIMER_POS_COLLISION
-    if (i == mjTIMER_POS_COLLISION) {
-      for (int j : {mjTIMER_COL_BROAD, mjTIMER_COL_NARROW}) {
-        int number = runner.d[0]->timer[j].number;
-        mjtNum jstep = number ? runner.d[0]->timer[j].duration / number : 0.0;
-        mjtNum percent = number ? 100 * jstep / tstep : 0.0;
-        std::printf("       %-11s : %6.1f  (%6.2f %%)\n", mjTIMERSTRING[j] + 4, jstep, percent);
-      }
-    }
-  }
-
-  // free per-thread data
-  for (int id = 0; id < nthread; id++) {
-    mj_deleteData(runner.d[id]);
-  }
-
-  // finalize
-  return finish();
-}
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
deleted file mode 100644
index 603c3783..00000000
--- a/simulate/CMakeLists.txt
+++ /dev/null
@@ -1,291 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-cmake_minimum_required(VERSION 3.16)
-
-# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
-set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
-# Default to GLVND if available.
-set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)
-
-# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
-set(MSVC_INCREMENTAL_DEFAULT ON)
-
-set(MUJOCO_DEP_VERSION_lodepng
-    b4ed2cd7ecf61d29076169b49199371456d4f90b
-    CACHE STRING "Version of `lodepng` to be fetched."
-)
-
-project(
-  mujoco_simulate
-  VERSION 3.12.0
-  DESCRIPTION "MuJoCo simulate binaries"
-  HOMEPAGE_URL "https://mujoco.org"
-)
-
-enable_language(C)
-enable_language(CXX)
-if(APPLE)
-  enable_language(OBJC)
-  enable_language(OBJCXX)
-endif()
-
-option(SIMULATE_BUILD_EXECUTABLE "Build the simulate executable binary." ON)
-option(SIMULATE_GLFW_DYNAMIC_SYMBOLS "Whether to resolve GLFW symbols dynamically." OFF)
-
-# Check if we are building as standalone project.
-set(SIMULATE_STANDALONE OFF)
-set(_INSTALL_SIMULATE ON)
-
-if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
-  set(SIMULATE_STANDALONE ON)
-  # If standalone, do not install the samples.
-  set(_INSTALL_SIMULATE OFF)
-endif()
-
-list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
-list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/../cmake")
-
-if(SIMULATE_STANDALONE)
-  include(SimulateOptions)
-else()
-  enforce_mujoco_macosx_min_version()
-endif()
-include(SimulateDependencies)
-
-set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
-set(MUJOCO_SIMULATE_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")
-
-if(MUJOCO_HARDEN)
-  if(WIN32)
-    set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,/DYNAMICBASE)
-  else()
-    set(MUJOCO_SIMULATE_COMPILE_OPTIONS "${MUJOCO_SIMULATE_COMPILE_OPTIONS}" -fPIE -fPIC)
-    if(APPLE)
-      set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -Wl,-pie)
-    else()
-      set(MUJOCO_SIMULATE_LINK_OPTIONS "${MUJOCO_SIMULATE_LINK_OPTIONS}" -pie)
-    endif()
-  endif()
-endif()
-
-# Fetch lodepng dependency.
-if(NOT TARGET lodepng)
-  FetchContent_Declare(
-    lodepng
-    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
-    GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
-  )
-
-  FetchContent_GetProperties(lodepng)
-  if(NOT lodepng_POPULATED)
-    FetchContent_Populate(lodepng)
-    # This is not a CMake project.
-    set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
-    set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
-    add_library(lodepng OBJECT ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
-    target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-    target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-    target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
-  endif()
-endif()
-
-# Simulate library
-add_library(platform_ui_adapter OBJECT)
-target_sources(
-  platform_ui_adapter
-  PUBLIC glfw_adapter.h glfw_dispatch.h platform_ui_adapter.h
-  PRIVATE glfw_adapter.cc glfw_dispatch.cc platform_ui_adapter.cc
-)
-target_compile_options(platform_ui_adapter PRIVATE ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
-if(APPLE)
-  target_sources(platform_ui_adapter PUBLIC glfw_corevideo.h PRIVATE glfw_corevideo.mm)
-  set_source_files_properties(glfw_corevideo.mm PROPERTIES COMPILE_FLAGS -Wno-deprecated-declarations)
-  target_link_libraries(platform_ui_adapter PUBLIC "-framework CoreVideo")
-endif()
-target_include_directories(
-  platform_ui_adapter PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
-                             $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
-)
-target_link_libraries(platform_ui_adapter PUBLIC mujoco::mujoco)
-if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
-  target_compile_definitions(platform_ui_adapter PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
-endif()
-add_library(mujoco::platform_ui_adapter ALIAS platform_ui_adapter)
-
-add_library(libmujoco_simulate STATIC $<TARGET_OBJECTS:platform_ui_adapter> $<TARGET_OBJECTS:lodepng>)
-set_target_properties(libmujoco_simulate PROPERTIES OUTPUT_NAME simulate)
-add_library(mujoco::libmujoco_simulate ALIAS libmujoco_simulate)
-set_target_properties(libmujoco_simulate PROPERTIES PUBLIC_HEADER "simulate.h;platform_ui_adapter.h;glfw_adapter.h;glfw_dispatch.h;glfw_corevideo.h;array_safety.h")
-
-
-target_sources(
-  libmujoco_simulate
-  PRIVATE simulate.cc
-)
-target_include_directories(libmujoco_simulate
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
-        $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}/simulate>
-    PRIVATE
-        ${lodepng_SOURCE_DIR}
-)
-target_compile_options(libmujoco_simulate PRIVATE ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
-target_link_libraries(libmujoco_simulate PUBLIC mujoco::mujoco)
-target_link_options(libmujoco_simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
-
-if(APPLE)
-  target_sources(libmujoco_simulate PRIVATE macos_gui.mm)
-  target_link_libraries(libmujoco_simulate PUBLIC "-framework Cocoa")
-endif()
-
-# Build simulate executable
-if(SIMULATE_BUILD_EXECUTABLE)
-  if(APPLE)
-    set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.icns)
-  elseif(WIN32)
-    set(SIMULATE_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../dist/simulate.rc)
-  else()
-    set(SIMULATE_RESOURCE_FILES "")
-  endif()
-
-  add_executable(simulate main.cc array_safety.h ${SIMULATE_RESOURCE_FILES})
-  target_compile_options(simulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
-  if(WIN32)
-    add_custom_command(
-      TARGET simulate
-      PRE_BUILD
-      COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/../dist/mujoco.ico
-              ${CMAKE_CURRENT_SOURCE_DIR}
-      POST_BUILD
-      COMMAND ${CMAKE_COMMAND} -E rm ${CMAKE_CURRENT_SOURCE_DIR}/mujoco.ico
-    )
-  endif()
-
-  target_link_libraries(
-    simulate
-    libmujoco_simulate
-    mujoco::mujoco
-    glfw
-    Threads::Threads
-  )
-
-  if(APPLE)
-    target_link_libraries(simulate "-framework CoreVideo")
-  endif()
-
-  target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
-
-  if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
-    set_target_properties(
-      simulate
-      PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
-                 BUILD_WITH_INSTALL_RPATH TRUE
-                 RESOURCE ${SIMULATE_RESOURCE_FILES}
-                 MACOSX_BUNDLE TRUE
-                 MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/../dist/Info.plist.simulate.in
-                 MACOSX_BUNDLE_BUNDLE_NAME "MuJoCo"
-                 MACOSX_BUNDLE_GUI_IDENTIFIER "org.mujoco.mujoco"
-                 MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION}
-                 MACOSX_BUNDLE_INFO_STRING ${PROJECT_VERSION}
-                 MACOSX_BUNDLE_LONG_VERSION_STRING ${PROJECT_VERSION}
-                 MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION}
-                 MACOSX_BUNDLE_ICON_FILE "mujoco.icns"
-                 MACOSX_BUNDLE_COPYRIGHT "Copyright 2021 DeepMind Technologies Limited."
-    )
-
-    macro(embed_in_bundle target)
-      add_dependencies(${target} simulate)
-      set_target_properties(
-        ${target}
-        PROPERTIES INSTALL_RPATH @executable_path/../Frameworks
-                   BUILD_WITH_INSTALL_RPATH TRUE
-                   RUNTIME_OUTPUT_DIRECTORY $<TARGET_FILE_DIR:simulate>
-      )
-    endmacro()
-
-    # Embed mujoco.framework inside the App bundle ane move the icon file over too.
-    add_custom_command(
-      TARGET simulate
-      POST_BUILD
-      COMMAND mkdir -p $<TARGET_FILE_DIR:simulate>/../Frameworks
-      COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework
-      COMMAND cp -a $<TARGET_FILE_DIR:mujoco::mujoco>/../../../mujoco.framework
-              $<TARGET_FILE_DIR:simulate>/../Frameworks/
-      # Delete the symlink and the TBD, otherwise we can't sign and notarize.
-      COMMAND rm -rf $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/mujoco.tbd
-      COMMAND rm -rf
-              $<TARGET_FILE_DIR:simulate>/../Frameworks/mujoco.framework/Versions/A/libmujoco.dylib
-    )
-  endif()
-
-  # Do not install if macOS Bundles are created as RPATH is managed manually there.
-  if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
-    set(_INSTALL_SIMULATE OFF)
-  endif()
-
-  if(_INSTALL_SIMULATE)
-
-    include(TargetAddRpath)
-
-    # Add support to RPATH for the samples.
-    target_add_rpath(
-      TARGETS
-      simulate
-      INSTALL_DIRECTORY
-      "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
-      LIB_DIRS
-      "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
-      DEPENDS
-      MUJOCO_ENABLE_RPATH
-    )
-
-    if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
-      # We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
-      # need to install it.
-      get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
-      if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
-        install(
-          TARGETS glfw
-          EXPORT ${PROJECT_NAME}
-          RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
-          LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
-          ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
-          PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
-        )
-      endif()
-    endif()
-
-    install(
-      TARGETS simulate
-      EXPORT ${PROJECT_NAME}
-      RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
-      LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
-      ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
-      BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
-      PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}" COMPONENT simulate
-    )
-
-    # Specify public headers for libmujoco_simulate
-
-    install(
-    TARGETS libmujoco_simulate
-    EXPORT mujoco
-    RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
-    LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
-    ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
-    PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/simulate" COMPONENT simulate
-    )
-  endif()
-endif()
diff --git a/simulate/README.md b/simulate/README.md
deleted file mode 100644
index 48bc4e94..00000000
--- a/simulate/README.md
+++ /dev/null
@@ -1,7 +0,0 @@
-# Simulate 应用程序
-
-`simulate` 是 MuJoCo 的全功能交互式应用程序。它使用跨平台的 GLFW 库打开 OpenGL 窗口，并在其中渲染仿真状态。内置了帮助菜单、仿真统计数据、性能剖析器（profiler）以及传感器数据曲线图。模型文件可以通过命令行参数指定，也可以在运行时通过拖拽文件直接加载。下面是 simulate 运行时的屏幕录像：
-
-<a href="https://youtu.be/0ORsj_E17B0" target="_blank">
- <img src="http://img.youtube.com/vi/0ORsj_E17B0/hqdefault.jpg" alt="观看视频" width="560" height="315"/>
-</a>
diff --git a/simulate/array_safety.h b/simulate/array_safety.h
deleted file mode 100644
index e8dd0d73..00000000
--- a/simulate/array_safety.h
+++ /dev/null
@@ -1,105 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SAMPLE_ARRAY_SAFETY_H_
-#define MUJOCO_SAMPLE_ARRAY_SAFETY_H_
-
-#include <algorithm>
-#include <cstdarg>
-#include <cstddef>
-#include <cstdio>
-#include <cstring>
-
-// Provides safe alternatives to the sizeof() operator and standard library functions for handling
-// null-terminated (C-style) strings in raw char arrays.
-//
-// These functions make use of compile-time array sizes to limit read and write operations to within
-// the array bounds. They are designed to trigger a compile error if the array size cannot be
-// determined at compile time (e.g. when an array has decayed into a pointer).
-//
-// They do not perform runtime bound checks.
-
-namespace mujoco {
-namespace sample_util {
-
-// returns sizeof(arr)
-// use instead of sizeof() to avoid unintended array-to-pointer decay
-template <typename T, int N>
-static constexpr std::size_t sizeof_arr(const T(&arr)[N]) {
-  return sizeof(arr);
-}
-
-// like std::strcmp but it will not read beyond the bound of either lhs or rhs
-template <std::size_t N1, std::size_t N2>
-static inline int strcmp_arr(const char (&lhs)[N1], const char (&rhs)[N2]) {
-  return std::strncmp(lhs, rhs, std::min(N1, N2));
-}
-
-// like std::strlen but it will not read beyond the bound of str
-// if str is not null-terminated, returns sizeof(str)
-template <std::size_t N>
-static inline std::size_t strlen_arr(const char (&str)[N]) {
-  for (std::size_t i = 0; i < N; ++i) {
-    if (str[i] == '\0') {
-      return i;
-    }
-  }
-  return N;
-}
-
-// like std::sprintf but will not write beyond the bound of dest
-// dest is guaranteed to be null-terminated
-template <std::size_t N>
-static inline int sprintf_arr(char (&dest)[N], const char* format, ...) {
-  std::va_list vargs;
-  va_start(vargs, format);
-  int retval = std::vsnprintf(dest, N, format, vargs);
-  va_end(vargs);
-  return retval;
-}
-
-// like std::strcat but will not write beyond the bound of dest
-// dest is guaranteed to be null-terminated
-template <std::size_t N>
-static inline char* strcat_arr(char (&dest)[N], const char* src) {
-  const std::size_t dest_len = strlen_arr(dest);
-  const std::size_t dest_size = sizeof_arr(dest);
-  for (std::size_t i = dest_len; i < dest_size; ++i) {
-    dest[i] = src[i - dest_len];
-    if (!dest[i]) {
-      break;
-    }
-  }
-  dest[dest_size - 1] = '\0';
-  return dest;
-}
-
-// like std::strcpy but won't write beyond the bound of dest
-// dest is guaranteed to be null-terminated
-template <std::size_t N>
-static inline char* strcpy_arr(char (&dest)[N], const char* src) {
-  {
-    std::size_t i = 0;
-    for (; src[i] && i < N - 1; ++i) {
-      dest[i] = src[i];
-    }
-    dest[i] = '\0';
-  }
-  return &dest[0];
-}
-
-}  // namespace sample_util
-}  // namespace mujoco
-
-#endif  // MUJOCO_SAMPLE_ARRAY_SAFETY_H_
diff --git a/simulate/cmake/CheckAvxSupport.cmake b/simulate/cmake/CheckAvxSupport.cmake
deleted file mode 100644
index 52e8b23d..00000000
--- a/simulate/cmake/CheckAvxSupport.cmake
+++ /dev/null
@@ -1,56 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(CheckCSourceCompiles)
-
-# Assigns compiler options to the given variable based on availability of AVX.
-function(get_avx_compile_options OUTPUT_VAR)
-  message(VERBOSE "Checking if AVX is available...")
-
-  if(MSVC)
-    set(CMAKE_REQUIRED_FLAGS "/arch:AVX")
-  elseif(WIN32)
-    # Abseil LTS 20230125.0 assumes that AVX implies PCLMUL on Windows.
-    set(CMAKE_REQUIRED_FLAGS "-mavx" "-mpclmul")
-  else()
-    set(CMAKE_REQUIRED_FLAGS "-mavx")
-  endif()
-
-  if(APPLE AND "x86_64" IN_LIST CMAKE_OSX_ARCHITECTURES)
-    message(STATUS "Building x86_64 on macOS, forcing CAN_BUILD_AVX to TRUE.")
-    set(CAN_BUILD_AVX TRUE)
-  else()
-    check_c_source_compiles(
-      "
-      #include <immintrin.h>
-      int main(int argc, char* argv[]) {
-        __m256d ymm;
-        return 0;
-      }
-    "
-      CAN_BUILD_AVX
-    )
-  endif()
-
-  if(CAN_BUILD_AVX)
-    message(VERBOSE "Checking if AVX is available... AVX available.")
-    set("${OUTPUT_VAR}"
-        ${CMAKE_REQUIRED_FLAGS}
-        PARENT_SCOPE
-    )
-  else()
-    message(VERBOSE "Checking if AVX is available... AVX not available.")
-    set("${OUTPUT_VAR}" PARENT_SCOPE)
-  endif()
-endfunction()
diff --git a/simulate/cmake/FindOrFetch.cmake b/simulate/cmake/FindOrFetch.cmake
deleted file mode 100644
index d849efdc..00000000
--- a/simulate/cmake/FindOrFetch.cmake
+++ /dev/null
@@ -1,228 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-#.rst:
-# FindOrFetch
-# ----------------------
-#
-# Find or fetch a package in order to satisfy target dependencies.
-#
-#   FindOrFetch([USE_SYSTEM_PACKAGE [ON/OFF]]
-#               [PACKAGE_NAME [name]]
-#               [LIBRARY_NAME [name]]
-#               [GIT_REPO [repo]]
-#               [GIT_TAG [tag]]
-#               [CUSTOM_CMAKE [path]]
-#               [PATCH_COMMAND [cmd] [args]]
-#               [TARGETS [targets]]
-#               [EXCLUDE_FROM_ALL])
-#
-# The command has the following parameters:
-#
-# Arguments:
-#  - ``USE_SYSTEM_PACKAGE`` one-value argument on whether to search for the
-#    package in the system (ON) or whether to fetch the library using
-#    FetchContent from the specified Git repository (OFF). Note that
-#    FetchContent variables will override this behaviour.
-#  - ``PACKAGE_NAME`` name of the system-package. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``OFF``.
-#  - ``LIBRARY_NAME`` name of the library. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``GIT_REPO`` git repository to fetch the library from. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``GIT_TAG`` tag reference when fetching the library from the git
-#    repository. Ignored if ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``CUSTOM_CMAKE`` path to a custom CMakeLists.txt file to be used when
-#    fetching the library from the git repository. Ignored if
-#    ``USE_SYSTEM_PACKAGE`` is ``ON``.
-#  - ``PATCH_COMMAND`` Specifies a custom command to patch the sources after an
-#    update. See https://cmake.org/cmake/help/latest/module/ExternalProject.html#command:externalproject_add
-#    for details on the parameter.
-#  - ``TARGETS`` list of targets to be satisfied. If any of these targets are
-#    not currently defined, this macro will attempt to either find or fetch the
-#    package.
-#  - ``EXCLUDE_FROM_ALL`` if specified, the targets are not added to the ``all``
-#    metatarget.
-#
-# Note: if ``USE_SYSTEM_PACKAGE`` is ``OFF``, FetchContent will be used to
-# retrieve the specified targets. It is possible to specify any variable in
-# https://cmake.org/cmake/help/latest/module/FetchContent.html#variables to
-# override this macro behaviour.
-
-if(NOT COMMAND FindOrFetch)
-  macro(FindOrFetch)
-    if(NOT FetchContent)
-      include(FetchContent)
-    endif()
-
-    # Parse arguments.
-    set(options EXCLUDE_FROM_ALL)
-    set(one_value_args
-        USE_SYSTEM_PACKAGE
-        PACKAGE_NAME
-        LIBRARY_NAME
-        GIT_REPO
-        GIT_TAG
-        CUSTOM_CMAKE
-    )
-    set(multi_value_args PATCH_COMMAND TARGETS)
-    cmake_parse_arguments(
-      _ARGS
-      "${options}"
-      "${one_value_args}"
-      "${multi_value_args}"
-      ${ARGN}
-    )
-
-    # Check if all targets are found.
-    if(NOT _ARGS_TARGETS)
-      message(FATAL_ERROR "mujoco::FindOrFetch: TARGETS must be specified.")
-    endif()
-
-    set(targets_found TRUE)
-    message(CHECK_START
-            "mujoco::FindOrFetch: checking for targets in package `${_ARGS_PACKAGE_NAME}`"
-    )
-    foreach(target ${_ARGS_TARGETS})
-      if(NOT TARGET ${target})
-        message(CHECK_FAIL "target `${target}` not defined.")
-        set(targets_found FALSE)
-        break()
-      endif()
-    endforeach()
-
-    # If targets are not found, use `find_package` or `FetchContent...` to get it.
-    if(NOT targets_found)
-      if(${_ARGS_USE_SYSTEM_PACKAGE})
-        message(CHECK_START
-                "mujoco::FindOrFetch: finding `${_ARGS_PACKAGE_NAME}` in system packages..."
-        )
-        find_package(${_ARGS_PACKAGE_NAME} REQUIRED)
-        message(CHECK_PASS "found")
-      else()
-        set(USE_LOCAL_TARBALL FALSE)
-        if(MUJOCO_CMAKE_DEP_CACHE)
-          # Try to find versioned library tarball.
-          set(TARBALL_PATH "${MUJOCO_CMAKE_DEP_CACHE}/${_ARGS_LIBRARY_NAME}-${_ARGS_GIT_TAG}.tar.gz")
-          if(EXISTS "${TARBALL_PATH}")
-            set(USE_LOCAL_TARBALL TRUE)
-          endif()
-        endif()
-        if(_ARGS_PATCH_COMMAND)
-          set(_WRAPPED_PATCH_COMMAND ${CMAKE_COMMAND} -E env GIT_CEILING_DIRECTORIES=${CMAKE_BINARY_DIR} ${_ARGS_PATCH_COMMAND})
-        else()
-          set(_WRAPPED_PATCH_COMMAND)
-        endif()
-
-        set(FETCHCONTENT_QUIET OFF)
-        if(USE_LOCAL_TARBALL)
-          message(STATUS "mujoco::FindOrFetch: Using package cache for ${_ARGS_LIBRARY_NAME}: ${TARBALL_PATH}")
-          FetchContent_Declare(
-            ${_ARGS_LIBRARY_NAME}
-            URL ${TARBALL_PATH}
-            PATCH_COMMAND ${_WRAPPED_PATCH_COMMAND}
-          )
-        else()
-          message(STATUS "mujoco::FindOrFetch: Using FetchContent for ${_ARGS_LIBRARY_NAME}: ${_ARGS_GIT_REPO}")
-          FetchContent_Declare(
-            ${_ARGS_LIBRARY_NAME}
-            GIT_REPOSITORY ${_ARGS_GIT_REPO}
-            GIT_TAG ${_ARGS_GIT_TAG}
-            GIT_SHALLOW FALSE
-            PATCH_COMMAND ${_WRAPPED_PATCH_COMMAND}
-            UPDATE_DISCONNECTED TRUE
-          )
-        endif()
-        if(${_ARGS_EXCLUDE_FROM_ALL})
-          FetchContent_GetProperties(${_ARGS_LIBRARY_NAME})
-          if(NOT ${${_ARGS_LIBRARY_NAME}_POPULATED})
-            FetchContent_Populate(${_ARGS_LIBRARY_NAME})
-            if(NOT "${_ARGS_CUSTOM_CMAKE}" STREQUAL "")
-              file(COPY
-                "${_ARGS_CUSTOM_CMAKE}"
-                DESTINATION "${${_ARGS_LIBRARY_NAME}_SOURCE_DIR}"
-              )
-            endif()
-            add_subdirectory(
-              ${${_ARGS_LIBRARY_NAME}_SOURCE_DIR} ${${_ARGS_LIBRARY_NAME}_BINARY_DIR}
-              EXCLUDE_FROM_ALL
-            )
-          endif()
-        else()
-          FetchContent_MakeAvailable(${_ARGS_LIBRARY_NAME})
-        endif()
-        message(CHECK_PASS "Done")
-      endif()
-    else()
-      message(CHECK_PASS "found")
-    endif()
-  endmacro()
-endif()
-
-
-#.rst:
-# FetchPackage
-# ----------------------
-#
-# Fetches a package from a Git repository in order to satisfy dependencies.
-#
-#   FetchPackage([PACKAGE_NAME [name]]
-#               [GIT_REPO [repo]]
-#               [GIT_TAG [tag]]
-#               [PATCH_COMMAND [cmd] [args]]
-#              )
-#
-# The command has the following parameters:
-#
-# Arguments:
-#  - ``PACKAGE_NAME`` name of the package.
-#  - ``GIT_REPO`` git repository to fetch the library from.
-#  - ``GIT_TAG`` tag reference when fetching the library from the git repo.
-#  - ``CUSTOM_CMAKE`` path to a custom CMakeLists.txt file to be used when
-#    fetching the library from the git repository.
-#  - ``PATCH_COMMAND`` Specifies a custom command to patch the sources after an
-#    update. See https://cmake.org/cmake/help/latest/module/ExternalProject.html#command:externalproject_add
-#    for details on the parameter.
-#  - ``TARGETS`` (optional) list of targets to be satisfied. If any of these
-#    targets are not currently defined, this macro will attempt to fetch the
-#    package. If not specified, the package name will be used as the target.
-#
-# Note: This is a wrapper around FindOrFetch that sets EXCLUDE_FROM_ALL and
-# USE_SYSTEM_PACKAGE to OFF.
-if(NOT COMMAND FetchPackage)
-  function(FetchPackage)
-    cmake_parse_arguments(
-      _ARGS
-      "EXCLUDE_FROM_ALL"
-      "PACKAGE_NAME;GIT_REPO;GIT_TAG;CUSTOM_CMAKE"
-      "PATCH_COMMAND;TARGETS"
-      ${ARGN}
-    )
-    if(NOT _ARGS_TARGETS)
-      set(_ARGS_TARGETS ${_ARGS_PACKAGE_NAME})
-    endif()
-
-    FindOrFetch(
-      PACKAGE_NAME ${_ARGS_PACKAGE_NAME}
-      LIBRARY_NAME ${_ARGS_PACKAGE_NAME}
-      GIT_REPO ${_ARGS_GIT_REPO}
-      GIT_TAG ${_ARGS_GIT_TAG}
-      CUSTOM_CMAKE ${_ARGS_CUSTOM_CMAKE}
-      PATCH_COMMAND ${_ARGS_PATCH_COMMAND}
-      TARGETS ${_ARGS_TARGETS}
-      USE_SYSTEM_PACKAGE OFF
-      EXCLUDE_FROM_ALL
-    )
-  endfunction()
-endif()
diff --git a/simulate/cmake/MujocoHarden.cmake b/simulate/cmake/MujocoHarden.cmake
deleted file mode 100644
index 7beb88fe..00000000
--- a/simulate/cmake/MujocoHarden.cmake
+++ /dev/null
@@ -1,35 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-option(MUJOCO_HARDEN "Enable build hardening for MuJoCo." OFF)
-if(MUJOCO_HARDEN
-   AND NOT
-       CMAKE_CXX_COMPILER_ID
-       MATCHES
-       ".*Clang.*"
-)
-  message(FATAL_ERROR "MUJOCO_HARDEN is only supported when building with Clang")
-endif()
-
-if(MUJOCO_HARDEN)
-  set(MUJOCO_HARDEN_COMPILE_OPTIONS -D_FORTIFY_SOURCE=2 -fstack-protector)
-  if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-    set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-bind_at_load)
-  elseif(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
-    set(MUJOCO_HARDEN_LINK_OPTIONS -Wl,-z,relro -Wl,-z,now)
-  endif()
-else()
-  set(MUJOCO_HARDEN_COMPILE_OPTIONS "")
-  set(MUJOCO_HARDEN_LINK_OPTIONS "")
-endif()
diff --git a/simulate/cmake/MujocoLinkOptions.cmake b/simulate/cmake/MujocoLinkOptions.cmake
deleted file mode 100644
index 4bed36c2..00000000
--- a/simulate/cmake/MujocoLinkOptions.cmake
+++ /dev/null
@@ -1,64 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(CheckCSourceCompiles)
-
-# Gets the appropriate linker options for building MuJoCo, based on features available on the
-# linker.
-function(get_mujoco_extra_link_options OUTPUT_VAR)
-  if(MSVC)
-    set(EXTRA_LINK_OPTIONS /OPT:REF /OPT:ICF=5 /STACK:16777216)
-  else()
-    set(EXTRA_LINK_OPTIONS)
-
-    if(WIN32)
-      set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD_LINK)
-      if(SUPPORTS_LLD_LINK)
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld-link -Wl,/STACK:16777216 -Wl,/OPT:REF -Wl,/OPT:ICF)
-      else()
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--stack,16777216)
-      endif()
-    else()
-      set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD)
-      if(SUPPORTS_LLD)
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld)
-      else()
-        set(CMAKE_REQUIRED_FLAGS "-fuse-ld=gold")
-        check_c_source_compiles("int main() {}" SUPPORTS_GOLD)
-        if(SUPPORTS_GOLD)
-          set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=gold)
-        endif()
-      endif()
-
-      set(CMAKE_REQUIRED_FLAGS "${EXTRA_LINK_OPTIONS} -Wl,--gc-sections")
-      check_c_source_compiles("int main() {}" SUPPORTS_GC_SECTIONS)
-      if(SUPPORTS_GC_SECTIONS)
-        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--gc-sections)
-      else()
-        set(CMAKE_REQUIRED_FLAGS "${EXTRA_LINK_OPTIONS} -Wl,-dead_strip")
-        check_c_source_compiles("int main() {}" SUPPORTS_DEAD_STRIP)
-        if(SUPPORTS_DEAD_STRIP)
-          set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,-dead_strip)
-        endif()
-      endif()
-    endif()
-  endif()
-
-  set("${OUTPUT_VAR}"
-      ${EXTRA_LINK_OPTIONS}
-      PARENT_SCOPE
-  )
-endfunction()
diff --git a/simulate/cmake/MujocoMacOS.cmake b/simulate/cmake/MujocoMacOS.cmake
deleted file mode 100644
index 8ff7cd30..00000000
--- a/simulate/cmake/MujocoMacOS.cmake
+++ /dev/null
@@ -1,41 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-if(APPLE)
-  # Target the oldest version of macOS that is still supported by Apple.
-  # We follow https://endoflife.date/macos, which considers a version to become
-  # unsupported the first time it is excluded from a macOS security update
-  # (e.g. https://github.com/endoflife-date/endoflife.date/issues/1602).
-  set(MUJOCO_MACOSX_VERSION_MIN 11)
-
-  # We are setting the -mmacosx-version-min compiler flag directly rather than using the
-  # CMAKE_OSX_DEPLOYMENT_TARGET variable since we do not want to affect choice of SDK,
-  # and also we only want to apply the version restriction locally.
-  set(MUJOCO_MACOS_COMPILE_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN}
-                                   -Werror=partial-availability -Werror=unguarded-availability
-  )
-  set(MUJOCO_MACOS_LINK_OPTIONS -mmacosx-version-min=${MUJOCO_MACOSX_VERSION_MIN}
-                                -Wl,-no_weak_imports
-  )
-else()
-  set(MUJOCO_MACOS_COMPILE_OPTIONS "")
-  set(MUJOCO_MACOS_LINK_OPTIONS "")
-endif()
-
-function(enforce_mujoco_macosx_min_version)
-  if(APPLE)
-    add_compile_options(${MUJOCO_MACOS_COMPILE_OPTIONS})
-    add_link_options(${MUJOCO_MACOS_LINK_OPTIONS})
-  endif()
-endfunction()
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
deleted file mode 100644
index 7885f5f9..00000000
--- a/simulate/cmake/SimulateDependencies.cmake
+++ /dev/null
@@ -1,104 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(FindOrFetch)
-
-if(SIMULATE_STANDALONE)
-  # If standalone, by default look for MuJoCo binary version.
-  set(DEFAULT_USE_SYSTEM_MUJOCO ON)
-else()
-  set(DEFAULT_USE_SYSTEM_MUJOCO OFF)
-endif()
-
-option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
-       ${DEFAULT_USE_SYSTEM_MUJOCO}
-)
-unset(DEFAULT_USE_SYSTEM_MUJOCO)
-
-option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
-option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
-
-set(MUJOCO_DEP_VERSION_glfw3
-    7b6aead9fb88b3623e3b3725ebb42670cbe4c579 # 3.4
-    CACHE STRING "Version of `glfw` to be fetched."
-)
-mark_as_advanced(MUJOCO_DEP_VERSION_glfw3)
-
-find_package(Threads REQUIRED)
-
-set(MUJOCO_BUILD_EXAMPLES OFF)
-set(MUJOCO_BUILD_TESTS OFF)
-set(MUJOCO_BUILD_PYTHON OFF)
-set(MUJOCO_TEST_PYTHON_UTIL OFF)
-
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO
-  PACKAGE_NAME
-  mujoco
-  LIBRARY_NAME
-  mujoco
-  GIT_REPO
-  https://github.com/google-deepmind/mujoco.git
-  GIT_TAG
-  main
-  TARGETS
-  mujoco
-  EXCLUDE_FROM_ALL
-)
-
-option(MUJOCO_EXTRAS_STATIC_GLFW
-       "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
-)
-if(MUJOCO_EXTRAS_STATIC_GLFW)
-  set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
-  set(BUILD_SHARED_LIBS
-      OFF
-      CACHE INTERNAL "Build SHARED libraries"
-  )
-endif()
-
-set(GLFW_BUILD_EXAMPLES OFF)
-set(GLFW_BUILD_TESTS OFF)
-set(GLFW_BUILD_DOCS OFF)
-set(GLFW_INSTALL OFF)
-
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  MUJOCO_SIMULATE_USE_SYSTEM_GLFW
-  PACKAGE_NAME
-  glfw3
-  LIBRARY_NAME
-  glfw3
-  GIT_REPO
-  https://github.com/glfw/glfw.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_glfw3}
-  TARGETS
-  glfw
-  EXCLUDE_FROM_ALL
-)
-
-if(MUJOCO_EXTRAS_STATIC_GLFW)
-  set(BUILD_SHARED_LIBS
-      ${BUILD_SHARED_LIBS_OLD}
-      CACHE BOOL "Build SHARED libraries" FORCE
-  )
-  unset(BUILD_SHARED_LIBS_OLD)
-endif()
-
-if(NOT SIMULATE_STANDALONE AND NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
-  target_compile_options(glfw PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-  target_link_options(glfw PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-endif()
diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
deleted file mode 100644
index 74bf25bb..00000000
--- a/simulate/cmake/SimulateOptions.cmake
+++ /dev/null
@@ -1,129 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Global compilation settings
-set(CMAKE_C_STANDARD 11)
-set(CMAKE_C_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_STANDARD 20)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-if(EMSCRIPTEN)
-  set(CMAKE_C_EXTENSIONS ON)
-else()
-  set(CMAKE_C_EXTENSIONS OFF)
-endif()
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # For LLVM tooling
-
-if(NOT CMAKE_CONFIGURATION_TYPES)
-  if(NOT CMAKE_BUILD_TYPE)
-    message(STATUS "Setting build type to 'Release' as none was specified.")
-    set(CMAKE_BUILD_TYPE
-        "Release"
-        CACHE STRING "Choose the type of build, recommanded options are: Debug or Release" FORCE
-    )
-  endif()
-  set(BUILD_TYPES
-      "Debug"
-      "Release"
-      "MinSizeRel"
-      "RelWithDebInfo"
-  )
-  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${BUILD_TYPES})
-endif()
-
-include(GNUInstallDirs)
-
-# Change the default output directory in the build structure. This is not stricly needed, but helps
-# running in Windows, such that all built executables have DLLs in the same folder as the .exe
-# files.
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
-
-set(OpenGL_GL_PREFERENCE GLVND)
-
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-set(CMAKE_C_VISIBILITY_PRESET hidden)
-set(CMAKE_CXX_VISIBILITY_PRESET hidden)
-set(CMAKE_VISIBILITY_INLINES_HIDDEN ON)
-
-if(MSVC)
-  add_compile_options(/Gy /Gw /Oi)
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-fdata-sections -ffunction-sections)
-endif()
-
-# We default to shared library.
-set(BUILD_SHARED_LIBS
-    ON
-    CACHE BOOL "Build Mujoco as shared library."
-)
-
-option(MUJOCO_ENABLE_AVX "Build binaries that require AVX instructions, if possible." ON)
-option(MUJOCO_ENABLE_AVX_INTRINSICS "Make use of hand-written AVX intrinsics, if possible." ON)
-option(MUJOCO_ENABLE_RPATH "Enable RPath support when installing Mujoco." ON)
-mark_as_advanced(MUJOCO_ENABLE_RPATH)
-
-if(MUJOCO_ENABLE_AVX)
-  include(CheckAvxSupport)
-  get_avx_compile_options(AVX_COMPILE_OPTIONS)
-else()
-  set(AVX_COMPILE_OPTIONS)
-endif()
-
-option(MUJOCO_BUILD_MACOS_FRAMEWORKS "Build libraries as macOS Frameworks" OFF)
-
-# Get some extra link options.
-include(MujocoLinkOptions)
-get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
-
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
-  set(EXTRA_COMPILE_OPTIONS
-      -Werror
-      -Wall
-      -Wpedantic
-      -Wimplicit-fallthrough
-      -Wunused
-      -Wvla
-      -Wno-int-in-bool-context
-      -Wno-sign-compare
-      -Wno-unknown-pragmas
-  )
-  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    # Set -Wimplicit-fallthrough=5 to only allow fallthrough annotation via __attribute__.
-    set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} -Wimplicit-fallthrough=5
-                              -Wno-maybe-uninitialized
-    )
-  endif()
-endif()
-
-# Provide a user-facing option to control Link-Time Optimization (LTO/IPO).
-# When ON (the default), LTO is enabled for non-Debug builds unless the caller
-# has already set CMAKE_INTERPROCEDURAL_OPTIMIZATION explicitly.
-# Users can disable LTO entirely with -DMUJOCO_ENABLE_LTO=OFF.
-option(MUJOCO_ENABLE_LTO "Enable Link-Time Optimization (LTO) for non-Debug builds." ON)
-
-if(MUJOCO_ENABLE_LTO)
-  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
-    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
-  endif()
-endif()
-
-include(MujocoHarden)
-set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
-set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
-
-if(WIN32)
-  add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_DEPRECATE)
-endif()
diff --git a/simulate/glfw_adapter.cc b/simulate/glfw_adapter.cc
deleted file mode 100644
index 6bae8822..00000000
--- a/simulate/glfw_adapter.cc
+++ /dev/null
@@ -1,252 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "glfw_adapter.h"
-
-#include <cstdlib>
-#include <utility>
-
-#include <GLFW/glfw3.h>
-#include <mujoco/mjui.h>
-#include <mujoco/mujoco.h>
-#include "glfw_dispatch.h"
-
-#ifdef __APPLE__
-#include "glfw_corevideo.h"
-#endif
-
-namespace mujoco {
-namespace {
-int MaybeGlfwInit() {
-  static const int is_initialized = []() {
-    auto success = Glfw().glfwInit();
-    if (success == GLFW_TRUE) {
-      std::atexit(Glfw().glfwTerminate);
-    }
-    return success;
-  }();
-  return is_initialized;
-}
-
-GlfwAdapter& GlfwAdapterFromWindow(GLFWwindow* window) {
-  return *static_cast<GlfwAdapter*>(Glfw().glfwGetWindowUserPointer(window));
-}
-}  // namespace
-
-GlfwAdapter::GlfwAdapter() {
-  if (MaybeGlfwInit() != GLFW_TRUE) {
-    mju_error("could not initialize GLFW");
-  }
-
-  // multisampling
-  Glfw().glfwWindowHint(GLFW_SAMPLES, 4);
-  Glfw().glfwWindowHint(GLFW_VISIBLE, 1);
-
-  // get video mode and save
-  vidmode_ = *Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor());
-
-  // create window
-  window_ = Glfw().glfwCreateWindow((2 * vidmode_.width) / 3,
-                                    (2 * vidmode_.height) / 3,
-                                    "MuJoCo", nullptr, nullptr);
-  if (!window_) {
-    mju_error("could not create window");
-  }
-
-  // save window position and size
-  Glfw().glfwGetWindowPos(window_, &window_pos_.first, &window_pos_.second);
-  Glfw().glfwGetWindowSize(window_, &window_size_.first, &window_size_.second);
-
-  // set callbacks
-  Glfw().glfwSetWindowUserPointer(window_, this);
-  Glfw().glfwSetDropCallback(
-      window_, +[](GLFWwindow* window, int count, const char** paths) {
-        GlfwAdapterFromWindow(window).OnFilesDrop(count, paths);
-      });
-  Glfw().glfwSetKeyCallback(
-      window_, +[](GLFWwindow* window, int key, int scancode, int act, int mods) {
-        GlfwAdapterFromWindow(window).OnKey(key, scancode, act);
-      });
-  Glfw().glfwSetMouseButtonCallback(
-      window_, +[](GLFWwindow* window, int button, int act, int mods) {
-        GlfwAdapterFromWindow(window).OnMouseButton(button, act);
-      });
-  Glfw().glfwSetCursorPosCallback(
-      window_, +[](GLFWwindow* window, double x, double y) {
-        GlfwAdapterFromWindow(window).OnMouseMove(x, y);
-      });
-  Glfw().glfwSetScrollCallback(
-      window_, +[](GLFWwindow* window, double xoffset, double yoffset) {
-        GlfwAdapterFromWindow(window).OnScroll(xoffset, yoffset);
-      });
-  Glfw().glfwSetWindowRefreshCallback(
-      window_, +[](GLFWwindow* window) {
-#ifdef __APPLE__
-        auto& core_video = GlfwAdapterFromWindow(window).core_video_;
-        if (core_video.has_value()) {
-          core_video->UpdateDisplayLink();
-        }
-#endif
-        GlfwAdapterFromWindow(window).OnWindowRefresh();
-      });
-  Glfw().glfwSetWindowSizeCallback(
-      window_, +[](GLFWwindow* window, int width, int height) {
-        GlfwAdapterFromWindow(window).OnWindowResize(width, height);
-      });
-
-  // make context current
-  Glfw().glfwMakeContextCurrent(window_);
-}
-
-GlfwAdapter::~GlfwAdapter() {
-  FreeMjrContext();
-  Glfw().glfwMakeContextCurrent(nullptr);
-  Glfw().glfwDestroyWindow(window_);
-}
-
-std::pair<double, double> GlfwAdapter::GetCursorPosition() const {
-  double x, y;
-  Glfw().glfwGetCursorPos(window_, &x, &y);
-  return {x, y};
-}
-
-double GlfwAdapter::GetDisplayPixelsPerInch() const {
-  int width_mm, height_mm;
-  Glfw().glfwGetMonitorPhysicalSize(
-      Glfw().glfwGetPrimaryMonitor(), &width_mm, &height_mm);
-  return 25.4 * vidmode_.width / width_mm;
-}
-
-std::pair<int, int> GlfwAdapter::GetFramebufferSize() const {
-  int width, height;
-  Glfw().glfwGetFramebufferSize(window_, &width, &height);
-  return {width, height};
-}
-
-std::pair<int, int> GlfwAdapter::GetWindowSize() const {
-  int width, height;
-  Glfw().glfwGetWindowSize(window_, &width, &height);
-  return {width, height};
-}
-
-bool GlfwAdapter::IsGPUAccelerated() const {
-  return true;
-}
-
-void GlfwAdapter::PollEvents() {
-  Glfw().glfwPollEvents();
-}
-
-void GlfwAdapter::SetClipboardString(const char* text) {
-  Glfw().glfwSetClipboardString(window_, text);
-}
-
-void GlfwAdapter::SetVSync(bool enabled){
-#ifdef __APPLE__
-  Glfw().glfwSwapInterval(0);
-  if (enabled && !core_video_.has_value()) {
-    core_video_.emplace(window_);
-  } else if (!enabled && core_video_.has_value()) {
-    core_video_.reset();
-  }
-#else
-  Glfw().glfwSwapInterval(enabled);
-#endif
-}
-
-void GlfwAdapter::SetWindowTitle(const char* title) {
-  Glfw().glfwSetWindowTitle(window_, title);
-}
-
-bool GlfwAdapter::ShouldCloseWindow() const {
-  return Glfw().glfwWindowShouldClose(window_);
-}
-
-void GlfwAdapter::SwapBuffers() {
-#ifdef __APPLE__
-  if (core_video_.has_value()) {
-    core_video_->WaitForDisplayRefresh();
-  }
-#endif
-  Glfw().glfwSwapBuffers(window_);
-}
-
-void GlfwAdapter::ToggleFullscreen() {
-  // currently full screen: switch to windowed
-  if (Glfw().glfwGetWindowMonitor(window_)) {
-    // restore window from saved data
-    Glfw().glfwSetWindowMonitor(window_, nullptr, window_pos_.first, window_pos_.second,
-                                window_size_.first, window_size_.second, 0);
-  }
-
-  // currently windowed: switch to full screen
-  else {
-    // save window data
-    Glfw().glfwGetWindowPos(window_, &window_pos_.first, &window_pos_.second);
-    Glfw().glfwGetWindowSize(window_, &window_size_.first,
-                             &window_size_.second);
-
-    // switch
-    Glfw().glfwSetWindowMonitor(window_, Glfw().glfwGetPrimaryMonitor(), 0,
-                                0, vidmode_.width, vidmode_.height,
-                                vidmode_.refreshRate);
-  }
-}
-
-bool GlfwAdapter::IsLeftMouseButtonPressed() const {
-  return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_LEFT) == GLFW_PRESS;
-}
-
-bool GlfwAdapter::IsMiddleMouseButtonPressed() const {
-  return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_MIDDLE) == GLFW_PRESS;
-}
-
-bool GlfwAdapter::IsRightMouseButtonPressed() const {
-  return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_RIGHT) == GLFW_PRESS;
-}
-
-bool GlfwAdapter::IsAltKeyPressed() const {
-  return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_ALT) == GLFW_PRESS ||
-         Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_ALT) == GLFW_PRESS;
-}
-
-bool GlfwAdapter::IsCtrlKeyPressed() const {
-  return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS ||
-         Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_CONTROL) == GLFW_PRESS;
-}
-
-bool GlfwAdapter::IsShiftKeyPressed() const {
-  return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS ||
-         Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_SHIFT) == GLFW_PRESS;
-}
-
-bool GlfwAdapter::IsMouseButtonDownEvent(int act) const {
-  return act == GLFW_PRESS;
-}
-
-bool GlfwAdapter::IsKeyDownEvent(int act) const { return act == GLFW_PRESS; }
-
-int GlfwAdapter::TranslateKeyCode(int key) const { return key; }
-
-mjtButton GlfwAdapter::TranslateMouseButton(int button) const {
-  if (button == GLFW_MOUSE_BUTTON_LEFT) {
-    return mjBUTTON_LEFT;
-  } else if (button == GLFW_MOUSE_BUTTON_RIGHT) {
-    return mjBUTTON_RIGHT;
-  } else if (button == GLFW_MOUSE_BUTTON_MIDDLE) {
-    return mjBUTTON_MIDDLE;
-  }
-  return mjBUTTON_NONE;
-}
-}  // namespace mujoco
diff --git a/simulate/glfw_adapter.h b/simulate/glfw_adapter.h
deleted file mode 100644
index 1490c333..00000000
--- a/simulate/glfw_adapter.h
+++ /dev/null
@@ -1,78 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SIMULATE_GLFW_ADAPTER_H_
-#define MUJOCO_SIMULATE_GLFW_ADAPTER_H_
-
-#include <utility>
-
-#include <GLFW/glfw3.h>
-#include <mujoco/mujoco.h>
-#include "platform_ui_adapter.h"
-
-#ifdef __APPLE__
-#include <optional>
-#include "glfw_corevideo.h"
-#endif
-
-namespace mujoco {
-class GlfwAdapter : public PlatformUIAdapter {
- public:
-  GlfwAdapter();
-  ~GlfwAdapter() override;
-
-  std::pair<double, double> GetCursorPosition() const override;
-  double GetDisplayPixelsPerInch() const override;
-  std::pair<int, int> GetFramebufferSize() const override;
-  std::pair<int, int> GetWindowSize() const override;
-  bool IsGPUAccelerated() const override;
-  void PollEvents() override;
-  void SetClipboardString(const char* text) override;
-  void SetVSync(bool enabled) override;
-  void SetWindowTitle(const char* title) override;
-  bool ShouldCloseWindow() const override;
-  void SwapBuffers() override;
-  void ToggleFullscreen() override;
-
-  bool IsLeftMouseButtonPressed() const override;
-  bool IsMiddleMouseButtonPressed() const override;
-  bool IsRightMouseButtonPressed() const override;
-
-  bool IsAltKeyPressed() const override;
-  bool IsCtrlKeyPressed() const override;
-  bool IsShiftKeyPressed() const override;
-
-  bool IsMouseButtonDownEvent(int act) const override;
-  bool IsKeyDownEvent(int act) const override;
-
-  int TranslateKeyCode(int key) const override;
-  mjtButton TranslateMouseButton(int button) const override;
-
- private:
-  GLFWvidmode vidmode_;
-  GLFWwindow* window_;
-
-  // store last window information when going to full screen
-  std::pair<int, int> window_pos_;
-  std::pair<int, int> window_size_;
-
-#ifdef __APPLE__
-  // Workaround for perpertually broken OpenGL VSync on macOS,
-  // most recently https://github.com/glfw/glfw/issues/2249.
-  std::optional<GlfwCoreVideo> core_video_;
-#endif
-};
-}  // namespace mujoco
-
-#endif  // MUJOCO_SIMULATE_GLFW_ADAPTER_H_
diff --git a/simulate/glfw_corevideo.h b/simulate/glfw_corevideo.h
deleted file mode 100644
index d855ff31..00000000
--- a/simulate/glfw_corevideo.h
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SIMULATE_GLFW_COREVIDEO_H_
-#define MUJOCO_SIMULATE_GLFW_COREVIDEO_H_
-
-#ifndef __APPLE__
-#error "This header only works on macOS."
-#endif
-
-#include <atomic>
-#include <condition_variable>
-#include <mutex>
-
-#include "glfw_dispatch.h"
-
-#ifdef __OBJC__
-#import <CoreVideo/CoreVideo.h>
-#else
-typedef void* CVDisplayLinkRef;
-#endif
-
-// Workaround for perpertually broken OpenGL VSync on macOS,
-// most recently https://github.com/glfw/glfw/issues/2249.
-namespace mujoco {
-class GlfwCoreVideo {
- public:
-  GlfwCoreVideo(GLFWwindow* window);
-  ~GlfwCoreVideo();
-
-  void WaitForDisplayRefresh();
-  int DisplayLinkCallback();
-  void UpdateDisplayLink();
-
- private:
-  GLFWwindow* window_;
-  CVDisplayLinkRef display_link_;
-
-  std::atomic_bool waiting_;
-  std::mutex mu_;
-  std::condition_variable cond_;
-};
-}  // namespace mujoco
-
-
-#endif  // MUJOCO_SIMULATE_GLFW_COREVIDEO_H_
diff --git a/simulate/glfw_corevideo.mm b/simulate/glfw_corevideo.mm
deleted file mode 100644
index 453d16f9..00000000
--- a/simulate/glfw_corevideo.mm
+++ /dev/null
@@ -1,71 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "glfw_corevideo.h"
-
-#include <condition_variable>
-#include <mutex>
-
-#include "glfw_adapter.h"
-#include "glfw_dispatch.h"
-
-// Workaround for perpertually broken OpenGL VSync on macOS,
-// most recently https://github.com/glfw/glfw/issues/2249.
-namespace mujoco {
-namespace {
-static int DisplayLinkCallbackTrampoline(CVDisplayLinkRef display_link,
-                                         const CVTimeStamp* now,
-                                         const CVTimeStamp* output_time,
-                                         CVOptionFlags flags_in,
-                                         CVOptionFlags* flags_out,
-                                         void* user_context) {
-  return static_cast<GlfwCoreVideo*>(user_context)->DisplayLinkCallback();
-}
-}  // namespace
-
-GlfwCoreVideo::GlfwCoreVideo(GLFWwindow* window) : window_(window) {
-  CVDisplayLinkCreateWithActiveCGDisplays(&display_link_);
-  CVDisplayLinkSetOutputCallback(display_link_, &DisplayLinkCallbackTrampoline, this);
-  CVDisplayLinkStart(display_link_);
-}
-
-GlfwCoreVideo::~GlfwCoreVideo() {
-  CVDisplayLinkStop(display_link_);
-  CVDisplayLinkRelease(display_link_);
-}
-
-void GlfwCoreVideo::WaitForDisplayRefresh() {
-  std::unique_lock lock(mu_);
-  waiting_.store(true);
-  cond_.wait(lock, [this]() { return !this->waiting_; });
-}
-
-int GlfwCoreVideo::DisplayLinkCallback() {
-  if (waiting_.load()) {
-    std::unique_lock lock(mu_);
-    waiting_.store(false);
-    cond_.notify_one();
-  }
-  return kCVReturnSuccess;
-}
-
-void GlfwCoreVideo::UpdateDisplayLink() {
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-  NSOpenGLContext* nsgl = Glfw().glfwGetNSGLContext(window_);
-#pragma clang diagnostic pop
-  CVDisplayLinkSetCurrentCGDisplayFromOpenGLContext(display_link_, [nsgl CGLContextObj],
-                                                    [nsgl.pixelFormat CGLPixelFormatObj]);
-}
-}  // namespace mujoco
diff --git a/simulate/glfw_dispatch.cc b/simulate/glfw_dispatch.cc
deleted file mode 100644
index cc408e34..00000000
--- a/simulate/glfw_dispatch.cc
+++ /dev/null
@@ -1,127 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "glfw_dispatch.h"
-
-#ifdef mjGLFW_DYNAMIC_SYMBOLS
-  #ifdef _MSC_VER
-    #include <windows.h>
-    #include <libloaderapi.h>
-  #else
-    #include <dlfcn.h>
-  #endif
-#endif
-
-#include <cstdlib>
-#include <iostream>
-
-namespace mujoco {
-
-// return dispatch table for glfw functions
-const struct Glfw& Glfw(void* dlhandle) {
-  {
-    // set static init_dlhandle
-    static const void* init_dlhandle = dlhandle;
-
-    // check that not already initialized
-    if (dlhandle && dlhandle != init_dlhandle) {
-      std::cerr << "dlhandle is specified when GLFW dispatch table is already "
-                   "initialized\n";
-      abort();
-    }
-  }
-
-  // make and intialize dispatch table
-  static const struct Glfw glfw = [&]() {  // create and call constructor
-    // allocate
-    struct Glfw glfw;
-
-    // load glfw dynamically
-#ifdef mjGLFW_DYNAMIC_SYMBOLS
-  #ifdef _MSC_VER
-    if (!dlhandle) dlhandle = LoadLibraryA("glfw3.dll");
-    if (!dlhandle) {
-      std::cerr << "cannot obtain a shared object handle\n";
-      abort();
-    }
-    #define mjGLFW_RESOLVE_SYMBOL(func)                   \
-      glfw.func = reinterpret_cast<decltype(glfw.func)>(  \
-          GetProcAddress(reinterpret_cast<HMODULE>(dlhandle), #func))
-  #else
-    if (!dlhandle) dlhandle = dlopen("nullptr", RTLD_GLOBAL | RTLD_NOW);
-    if (!dlhandle) {
-      std::cerr << "cannot obtain a shared object handle\n";
-      abort();
-    }
-    #define mjGLFW_RESOLVE_SYMBOL(func) \
-      glfw.func = reinterpret_cast<decltype(glfw.func)>(dlsym(dlhandle, #func))
-  #endif
-#else
-  #define mjGLFW_RESOLVE_SYMBOL(func) glfw.func = &::func
-#endif
-
-    // set pointers in dispatch table
-#define mjGLFW_INITIALIZE_SYMBOL(func)                  \
-    if (!(mjGLFW_RESOLVE_SYMBOL(func))) {               \
-      std::cerr << "cannot dlsym " #func "\n";          \
-      abort();                                          \
-    }
-
-    // go/keep-sorted start
-    mjGLFW_INITIALIZE_SYMBOL(glfwCreateWindow);
-    mjGLFW_INITIALIZE_SYMBOL(glfwDestroyWindow);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetCursorPos);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetFramebufferSize);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetKey);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetMonitorPhysicalSize);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetMouseButton);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetPrimaryMonitor);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetTime);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetVideoMode);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetWindowMonitor);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetWindowPos);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetWindowSize);
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetWindowUserPointer);
-    mjGLFW_INITIALIZE_SYMBOL(glfwInit);
-    mjGLFW_INITIALIZE_SYMBOL(glfwMakeContextCurrent);
-    mjGLFW_INITIALIZE_SYMBOL(glfwPollEvents);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetClipboardString);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetCursorPosCallback);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetDropCallback);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetKeyCallback);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetMouseButtonCallback);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetScrollCallback);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowMonitor);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowRefreshCallback);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowSizeCallback);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowTitle);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSetWindowUserPointer);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSwapBuffers);
-    mjGLFW_INITIALIZE_SYMBOL(glfwSwapInterval);
-    mjGLFW_INITIALIZE_SYMBOL(glfwTerminate);
-    mjGLFW_INITIALIZE_SYMBOL(glfwWindowHint);
-    mjGLFW_INITIALIZE_SYMBOL(glfwWindowShouldClose);
-    // go/keep-sorted end
-
-#ifdef __APPLE__
-    mjGLFW_INITIALIZE_SYMBOL(glfwGetNSGLContext);
-#endif
-
-#undef mjGLFW_INITIALIZE_SYMBOL
-
-    return glfw;
-  }();
-  return glfw;
-}
-}  // namespace mujoco
diff --git a/simulate/glfw_dispatch.h b/simulate/glfw_dispatch.h
deleted file mode 100644
index f3bec97e..00000000
--- a/simulate/glfw_dispatch.h
+++ /dev/null
@@ -1,77 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SIMULATE_GLFW_DISPATCH_H_
-#define MUJOCO_SIMULATE_GLFW_DISPATCH_H_
-
-#include <GLFW/glfw3.h>
-
-#ifdef __APPLE__
-#define GLFW_EXPOSE_NATIVE_NSGL
-#include <GLFW/glfw3native.h>
-#endif
-
-namespace mujoco {
-// Dynamic dispatch table for GLFW functions required by Simulate.
-// This allows us to use GLFW without introducing a link-time dependency on the
-// library, which is useful e.g. when using GLFW via Python.
-struct Glfw {
-#define mjGLFW_DECLARE_SYMBOL(func) decltype(&::func) func
-  // go/keep-sorted start
-  mjGLFW_DECLARE_SYMBOL(glfwCreateWindow);
-  mjGLFW_DECLARE_SYMBOL(glfwDestroyWindow);
-  mjGLFW_DECLARE_SYMBOL(glfwGetCursorPos);
-  mjGLFW_DECLARE_SYMBOL(glfwGetFramebufferSize);
-  mjGLFW_DECLARE_SYMBOL(glfwGetKey);
-  mjGLFW_DECLARE_SYMBOL(glfwGetMonitorPhysicalSize);
-  mjGLFW_DECLARE_SYMBOL(glfwGetMouseButton);
-  mjGLFW_DECLARE_SYMBOL(glfwGetPrimaryMonitor);
-  mjGLFW_DECLARE_SYMBOL(glfwGetTime);
-  mjGLFW_DECLARE_SYMBOL(glfwGetVideoMode);
-  mjGLFW_DECLARE_SYMBOL(glfwGetWindowMonitor);
-  mjGLFW_DECLARE_SYMBOL(glfwGetWindowPos);
-  mjGLFW_DECLARE_SYMBOL(glfwGetWindowSize);
-  mjGLFW_DECLARE_SYMBOL(glfwGetWindowUserPointer);
-  mjGLFW_DECLARE_SYMBOL(glfwInit);
-  mjGLFW_DECLARE_SYMBOL(glfwMakeContextCurrent);
-  mjGLFW_DECLARE_SYMBOL(glfwPollEvents);
-  mjGLFW_DECLARE_SYMBOL(glfwSetClipboardString);
-  mjGLFW_DECLARE_SYMBOL(glfwSetCursorPosCallback);
-  mjGLFW_DECLARE_SYMBOL(glfwSetDropCallback);
-  mjGLFW_DECLARE_SYMBOL(glfwSetKeyCallback);
-  mjGLFW_DECLARE_SYMBOL(glfwSetMouseButtonCallback);
-  mjGLFW_DECLARE_SYMBOL(glfwSetScrollCallback);
-  mjGLFW_DECLARE_SYMBOL(glfwSetWindowMonitor);
-  mjGLFW_DECLARE_SYMBOL(glfwSetWindowRefreshCallback);
-  mjGLFW_DECLARE_SYMBOL(glfwSetWindowSizeCallback);
-  mjGLFW_DECLARE_SYMBOL(glfwSetWindowTitle);
-  mjGLFW_DECLARE_SYMBOL(glfwSetWindowUserPointer);
-  mjGLFW_DECLARE_SYMBOL(glfwSwapBuffers);
-  mjGLFW_DECLARE_SYMBOL(glfwSwapInterval);
-  mjGLFW_DECLARE_SYMBOL(glfwTerminate);
-  mjGLFW_DECLARE_SYMBOL(glfwWindowHint);
-  mjGLFW_DECLARE_SYMBOL(glfwWindowShouldClose);
-  // go/keep-sorted end
-
-#ifdef __APPLE__
-  mjGLFW_DECLARE_SYMBOL(glfwGetNSGLContext);
-#endif
-
-#undef mjGLFW_DECLARE_SYMBOL
-};
-
-const struct Glfw& Glfw(void* dlhandle = nullptr);
-}  // namespace mujoco
-
-#endif  // MUJOCO_SIMULATE_GLFW_DISPATCH_H_
diff --git a/simulate/macos_gui.mm b/simulate/macos_gui.mm
deleted file mode 100644
index 14649a66..00000000
--- a/simulate/macos_gui.mm
+++ /dev/null
@@ -1,44 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <sstream>
-#include <string>
-
-#include <Cocoa/Cocoa.h>
-
-std::string GetSavePath(const char* filename) {
-  NSSavePanel* panel = [NSSavePanel savePanel];
-  NSURL* userDocumentsDir = [NSFileManager.defaultManager URLsForDirectory:NSDocumentDirectory
-                                                          inDomains:NSUserDomainMask].firstObject;
-  [panel setDirectoryURL:userDocumentsDir];
-  [panel setNameFieldStringValue:[NSString stringWithUTF8String:filename]];
-  if ([panel runModal] == NSModalResponseOK) {
-    std::ostringstream s;
-    s << [panel.URL.path cStringUsingEncoding:NSUTF8StringEncoding];
-    return s.str();
-  } else {
-    return "";
-  }
-}
-
-#ifdef __AVX__
-void DisplayErrorDialogBox(const char* title, const char* msg) {
-  NSAlert *alert = [[[NSAlert alloc] init] autorelease];
-  [alert setMessageText:[NSString stringWithUTF8String:title]];
-  [alert setInformativeText:[NSString stringWithUTF8String:msg]];
-  [alert setAlertStyle:NSAlertStyleCritical];
-  [alert addButtonWithTitle:@"Exit"];
-  [alert runModal];
-}
-#endif
diff --git a/simulate/main.cc b/simulate/main.cc
deleted file mode 100644
index e5605407..00000000
--- a/simulate/main.cc
+++ /dev/null
@@ -1,567 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cerrno>
-#include <chrono>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <iostream>
-#include <memory>
-#include <mutex>
-#include <new>
-#include <string>
-#include <thread>
-
-#include <mujoco/mujoco.h>
-#include "glfw_adapter.h"
-#include "simulate.h"
-#include "array_safety.h"
-
-#define MUJOCO_PLUGIN_DIR "mujoco_plugin"
-
-extern "C" {
-#if defined(_WIN32) || defined(__CYGWIN__)
-  #include <windows.h>
-#else
-  #if defined(__APPLE__)
-    #include <mach-o/dyld.h>
-  #endif
-  #include <errno.h>
-  #include <unistd.h>
-#endif
-}
-
-namespace {
-namespace mj = ::mujoco;
-namespace mju = ::mujoco::sample_util;
-
-// constants
-const double syncMisalign = 0.1;        // maximum mis-alignment before re-sync (simulation seconds)
-const double simRefreshFraction = 0.7;  // fraction of refresh available for simulation
-const int kErrorLength = 1024;          // load error string length
-
-// model and data
-mjModel* m = nullptr;
-mjData* d = nullptr;
-
-using Seconds = std::chrono::duration<double>;
-
-
-//---------------------------------------- plugin handling -----------------------------------------
-
-// return the path to the directory containing the current executable
-// used to determine the location of auto-loaded plugin libraries
-std::string getExecutableDir() {
-#if defined(_WIN32) || defined(__CYGWIN__)
-  constexpr char kPathSep = '\\';
-  std::string realpath = [&]() -> std::string {
-    std::unique_ptr<char[]> realpath(nullptr);
-    DWORD buf_size = 128;
-    bool success = false;
-    while (!success) {
-      realpath.reset(new(std::nothrow) char[buf_size]);
-      if (!realpath) {
-        std::cerr << "cannot allocate memory to store executable path\n";
-        return "";
-      }
-
-      DWORD written = GetModuleFileNameA(nullptr, realpath.get(), buf_size);
-      if (written < buf_size) {
-        success = true;
-      } else if (written == buf_size) {
-        // realpath is too small, grow and retry
-        buf_size *=2;
-      } else {
-        std::cerr << "failed to retrieve executable path: " << GetLastError() << "\n";
-        return "";
-      }
-    }
-    return realpath.get();
-  }();
-#else
-  constexpr char kPathSep = '/';
-#if defined(__APPLE__)
-  std::unique_ptr<char[]> buf(nullptr);
-  {
-    std::uint32_t buf_size = 0;
-    _NSGetExecutablePath(nullptr, &buf_size);
-    buf.reset(new char[buf_size]);
-    if (!buf) {
-      std::cerr << "cannot allocate memory to store executable path\n";
-      return "";
-    }
-    if (_NSGetExecutablePath(buf.get(), &buf_size)) {
-      std::cerr << "unexpected error from _NSGetExecutablePath\n";
-    }
-  }
-  const char* path = buf.get();
-#else
-  const char* path = "/proc/self/exe";
-#endif
-  std::string realpath = [&]() -> std::string {
-    std::unique_ptr<char[]> realpath(nullptr);
-    std::uint32_t buf_size = 128;
-    bool success = false;
-    while (!success) {
-      realpath.reset(new(std::nothrow) char[buf_size]);
-      if (!realpath) {
-        std::cerr << "cannot allocate memory to store executable path\n";
-        return "";
-      }
-
-      std::size_t written = readlink(path, realpath.get(), buf_size);
-      if (written < buf_size) {
-        realpath.get()[written] = '\0';
-        success = true;
-      } else if (written == -1) {
-        if (errno == EINVAL) {
-          // path is already not a symlink, just use it
-          return path;
-        }
-
-        std::cerr << "error while resolving executable path: " << strerror(errno) << '\n';
-        return "";
-      } else {
-        // realpath is too small, grow and retry
-        buf_size *= 2;
-      }
-    }
-    return realpath.get();
-  }();
-#endif
-
-  if (realpath.empty()) {
-    return "";
-  }
-
-  for (std::size_t i = realpath.size() - 1; i > 0; --i) {
-    if (realpath.c_str()[i] == kPathSep) {
-      return realpath.substr(0, i);
-    }
-  }
-
-  // don't scan through the entire file system's root
-  return "";
-}
-
-
-
-// scan for libraries in the plugin directory to load additional plugins
-void scanPluginLibraries() {
-  // check and print plugins that are linked directly into the executable
-  int nplugin = mjp_pluginCount();
-  if (nplugin) {
-    std::printf("Built-in plugins:\n");
-    for (int i = 0; i < nplugin; ++i) {
-      std::printf("    %s\n", mjp_getPluginAtSlot(i)->name);
-    }
-  }
-
-  // define platform-specific strings
-#if defined(_WIN32) || defined(__CYGWIN__)
-  const std::string sep = "\\";
-#else
-  const std::string sep = "/";
-#endif
-
-
-  // try to open the ${EXECDIR}/MUJOCO_PLUGIN_DIR directory
-  // ${EXECDIR} is the directory containing the simulate binary itself
-  // MUJOCO_PLUGIN_DIR is the MUJOCO_PLUGIN_DIR preprocessor macro
-  const std::string executable_dir = getExecutableDir();
-  if (executable_dir.empty()) {
-    return;
-  }
-
-  const std::string plugin_dir = getExecutableDir() + sep + MUJOCO_PLUGIN_DIR;
-  mj_loadAllPluginLibraries(
-      plugin_dir.c_str(), +[](const char* filename, int first, int count) {
-        std::printf("Plugins registered by library '%s':\n", filename);
-        for (int i = first; i < first + count; ++i) {
-          std::printf("    %s\n", mjp_getPluginAtSlot(i)->name);
-        }
-      });
-}
-
-
-//------------------------------------------- simulation -------------------------------------------
-
-const char* Diverged(int disableflags, const mjData* d) {
-  if (disableflags & mjDSBL_AUTORESET) {
-    for (mjtWarning w : {mjWARN_BADQACC, mjWARN_BADQVEL, mjWARN_BADQPOS}) {
-      if (d->warning[w].number > 0) {
-        return mju_warningText(w, d->warning[w].lastinfo);
-      }
-    }
-  }
-  return nullptr;
-}
-
-mjModel* LoadModel(const char* file, mj::Simulate& sim) {
-  // this copy is needed so that the mju::strlen call below compiles
-  char filename[mj::Simulate::kMaxFilenameLength];
-  mju::strcpy_arr(filename, file);
-
-  // make sure filename is not empty
-  if (!filename[0]) {
-    return nullptr;
-  }
-
-  // load and compile
-  char loadError[kErrorLength] = "";
-  mjModel* mnew = 0;
-  auto load_start = mj::Simulate::Clock::now();
-
-  std::string filename_str(filename);
-  std::string extension;
-  size_t dot_pos = filename_str.rfind('.');
-
-  if (dot_pos != std::string::npos && dot_pos < filename_str.length() - 1) {
-    extension = filename_str.substr(dot_pos);
-  }
-
-  if (extension == ".mjb") {
-    mnew = mj_loadModel(filename, nullptr);
-    if (!mnew) {
-      mju::strcpy_arr(loadError, "could not load binary model");
-    }
-  } else if (extension == ".xml") {
-    mnew = mj_loadXML(filename, nullptr, loadError, kErrorLength);
-  } else {
-    mjVFS vfs;
-    mj_defaultVFS(&vfs);
-    mjSpec* spec = mj_parse(filename, nullptr, &vfs, loadError, kErrorLength);
-    if (!spec) {
-      if (!loadError[0]) {
-        mju::strcpy_arr(loadError, "could not parse model");
-      }
-    } else {
-      mnew = mj_compile(spec, &vfs);
-      if (!mnew) {
-        mju::strcpy_arr(loadError, mjs_getError(spec));
-      }
-      mj_deleteSpec(spec);
-    }
-    mj_deleteVFS(&vfs);
-  }
-
-  // remove trailing newline character from loadError
-  if (loadError[0]) {
-    int error_length = mju::strlen_arr(loadError);
-    if (loadError[error_length-1] == '\n') {
-      loadError[error_length-1] = '\0';
-    }
-  }
-
-  auto load_interval = mj::Simulate::Clock::now() - load_start;
-  double load_seconds = Seconds(load_interval).count();
-
-  if (!mnew) {
-    std::printf("%s\n", loadError);
-    mju::strcpy_arr(sim.load_error, loadError);
-    return nullptr;
-  }
-
-  // compiler warning: print and pause
-  if (loadError[0]) {
-    // mj_forward() below will print the warning message
-    std::printf("Model compiled, but simulation warning (paused):\n  %s\n", loadError);
-    sim.run = 0;
-  }
-
-  // if no error and load took more than 1/4 seconds, report load time
-  else if (load_seconds > 0.25) {
-    mju::sprintf_arr(loadError, "Model loaded in %.2g seconds", load_seconds);
-  }
-
-  mju::strcpy_arr(sim.load_error, loadError);
-
-  return mnew;
-}
-
-// simulate in background thread (while rendering in main thread)
-void PhysicsLoop(mj::Simulate& sim) {
-  // cpu-sim synchronization point
-  std::chrono::time_point<mj::Simulate::Clock> syncCPU;
-  mjtNum syncSim = 0;
-
-  int last_run = -1;
-
-  // run until asked to exit
-  while (!sim.exitrequest.load()) {
-    if (sim.droploadrequest.load()) {
-      sim.LoadMessage(sim.dropfilename);
-      mjModel* mnew = LoadModel(sim.dropfilename, sim);
-      sim.droploadrequest.store(false);
-
-      mjData* dnew = nullptr;
-      if (mnew) dnew = mj_makeData(mnew);
-      if (dnew) {
-        sim.Load(mnew, dnew, sim.dropfilename);
-
-        // lock the sim mutex
-        const std::unique_lock<std::recursive_mutex> lock(sim.mtx);
-
-        mj_deleteData(d);
-        mj_deleteModel(m);
-
-        m = mnew;
-        d = dnew;
-        mj_forward(m, d);
-
-      } else {
-        sim.LoadMessageClear();
-      }
-    }
-
-    if (sim.uiloadrequest.load()) {
-      sim.uiloadrequest.fetch_sub(1);
-      sim.LoadMessage(sim.filename);
-      mjModel* mnew = LoadModel(sim.filename, sim);
-      mjData* dnew = nullptr;
-      if (mnew) dnew = mj_makeData(mnew);
-      if (dnew) {
-        sim.Load(mnew, dnew, sim.filename);
-
-        // lock the sim mutex
-        const std::unique_lock<std::recursive_mutex> lock(sim.mtx);
-
-        mj_deleteData(d);
-        mj_deleteModel(m);
-
-        m = mnew;
-        d = dnew;
-        mj_forward(m, d);
-
-      } else {
-        sim.LoadMessageClear();
-      }
-    }
-
-    // sleep for 1 ms or yield, to let main thread run
-    //  yield results in busy wait - which has better timing but kills battery life
-    if (sim.run && sim.busywait) {
-      std::this_thread::yield();
-    } else {
-      std::this_thread::sleep_for(std::chrono::milliseconds(1));
-    }
-
-    {
-      // lock the sim mutex
-      const std::unique_lock<std::recursive_mutex> lock(sim.mtx);
-
-      // run only if model is present
-      if (m) {
-        // reset timers on transition between running and paused
-        if (sim.run != last_run) {
-          if (last_run != -1) {
-            std::memset(d->timer, 0, sizeof(d->timer));
-            std::memset(sim.timer_prev_, 0, sizeof(sim.timer_prev_));
-          }
-          last_run = sim.run;
-        }
-
-        // running
-        if (sim.run) {
-          bool stepped = false;
-
-          // record cpu time at start of iteration
-          const auto startCPU = mj::Simulate::Clock::now();
-
-          // elapsed CPU and simulation time since last sync
-          const auto elapsedCPU = startCPU - syncCPU;
-          double elapsedSim = d->time - syncSim;
-
-          // requested slow-down factor
-          double slowdown = 100 / sim.percentRealTime[sim.real_time_index];
-
-          // misalignment condition: distance from target sim time is bigger than syncMisalign
-          bool misaligned =
-              std::abs(Seconds(elapsedCPU).count()/slowdown - elapsedSim) > syncMisalign;
-
-          // out-of-sync (for any reason): reset sync times, step
-          if (elapsedSim < 0 || elapsedCPU.count() < 0 || syncCPU.time_since_epoch().count() == 0 ||
-              misaligned || sim.speed_changed) {
-            // re-sync
-            syncCPU = startCPU;
-            syncSim = d->time;
-            sim.speed_changed = false;
-
-            // inject noise
-            sim.InjectNoise(sim.key);
-
-            // run single step, let next iteration deal with timing
-            mj_step(m, d);
-            const char* message = Diverged(m->opt.disableflags, d);
-            if (message) {
-              sim.run = 0;
-              mju::strcpy_arr(sim.load_error, message);
-            } else {
-              stepped = true;
-            }
-          }
-
-          // in-sync: step until ahead of cpu
-          else {
-            bool measured = false;
-            mjtNum prevSim = d->time;
-
-            double refreshTime = simRefreshFraction/sim.refresh_rate;
-
-            // step while sim lags behind cpu and within refreshTime
-            while (Seconds((d->time - syncSim)*slowdown) < mj::Simulate::Clock::now() - syncCPU &&
-                   mj::Simulate::Clock::now() - startCPU < Seconds(refreshTime)) {
-              // measure slowdown before first step
-              if (!measured && elapsedSim) {
-                sim.measured_slowdown =
-                    std::chrono::duration<double>(elapsedCPU).count() / elapsedSim;
-                measured = true;
-              }
-
-              // inject noise
-              sim.InjectNoise(sim.key);
-
-              // call mj_step
-              mj_step(m, d);
-              const char* message = Diverged(m->opt.disableflags, d);
-              if (message) {
-                sim.run = 0;
-                mju::strcpy_arr(sim.load_error, message);
-              } else {
-                stepped = true;
-              }
-
-              // break if reset
-              if (d->time < prevSim) {
-                break;
-              }
-            }
-          }
-
-          // save current state to history buffer
-          if (stepped) {
-            sim.AddToHistory();
-          }
-        }
-
-        // paused
-        else {
-          // run mj_forward, to update rendering and joint sliders
-          mj_forward(m, d);
-          if (sim.pause_update) {
-            mju_copy(d->qacc_warmstart, d->qacc, m->nv);
-          }
-          sim.speed_changed = true;
-        }
-      }
-    }  // release std::lock_guard<std::mutex>
-  }
-}
-}  // namespace
-
-//-------------------------------------- physics_thread --------------------------------------------
-
-void PhysicsThread(mj::Simulate* sim, const char* filename) {
-  // request loadmodel if file given (otherwise drag-and-drop)
-  if (filename != nullptr) {
-    sim->LoadMessage(filename);
-    m = LoadModel(filename, *sim);
-    if (m) {
-      // lock the sim mutex
-      const std::unique_lock<std::recursive_mutex> lock(sim->mtx);
-
-      d = mj_makeData(m);
-    }
-    if (d) {
-      sim->Load(m, d, filename);
-
-      // lock the sim mutex
-      const std::unique_lock<std::recursive_mutex> lock(sim->mtx);
-
-      mj_forward(m, d);
-
-    } else {
-      sim->LoadMessageClear();
-    }
-  }
-
-  PhysicsLoop(*sim);
-
-  // delete everything we allocated
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-//------------------------------------------ main --------------------------------------------------
-
-// machinery for replacing command line error by a macOS dialog box when running under Rosetta
-#if defined(__APPLE__) && defined(__AVX__)
-extern void DisplayErrorDialogBox(const char* title, const char* msg);
-static const char* rosetta_error_msg = nullptr;
-__attribute__((used, visibility("default"))) extern "C" void _mj_rosettaError(const char* msg) {
-  rosetta_error_msg = msg;
-}
-#endif
-
-// run event loop
-int main(int argc, char** argv) {
-
-  // display an error if running on macOS under Rosetta 2
-#if defined(__APPLE__) && defined(__AVX__)
-  if (rosetta_error_msg) {
-    DisplayErrorDialogBox("Rosetta 2 is not supported", rosetta_error_msg);
-    std::exit(1);
-  }
-#endif
-
-  // print version, check compatibility
-  std::printf("MuJoCo version %s\n", mj_versionString());
-  if (mjVERSION_HEADER!=mj_version()) {
-    mju_error("Headers and library have different versions");
-  }
-
-  // scan for libraries in the plugin directory to load additional plugins
-  scanPluginLibraries();
-
-  mjvCamera cam;
-  mjv_defaultCamera(&cam);
-
-  mjvOption opt;
-  mjv_defaultOption(&opt);
-
-  mjvPerturb pert;
-  mjv_defaultPerturb(&pert);
-
-  // simulate object encapsulates the UI
-  auto sim = std::make_unique<mj::Simulate>(
-      std::make_unique<mj::GlfwAdapter>(),
-      &cam, &opt, &pert, /* is_passive = */ false
-  );
-
-  const char* filename = nullptr;
-  if (argc >  1) {
-    filename = argv[1];
-  }
-
-  // start physics thread
-  std::thread physicsthreadhandle(&PhysicsThread, sim.get(), filename);
-
-  // start simulation UI loop (blocking call)
-  sim->RenderLoop();
-  physicsthreadhandle.join();
-
-  return 0;
-}
diff --git a/simulate/platform_ui_adapter.cc b/simulate/platform_ui_adapter.cc
deleted file mode 100644
index 5f502a47..00000000
--- a/simulate/platform_ui_adapter.cc
+++ /dev/null
@@ -1,248 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "platform_ui_adapter.h"
-
-#include <chrono>
-
-namespace mujoco {
-PlatformUIAdapter::PlatformUIAdapter() {
-  mjr_defaultContext(&con_);
-}
-
-void PlatformUIAdapter::FreeMjrContext() {
-  mjr_freeContext(&con_);
-}
-
-bool PlatformUIAdapter::RefreshMjrContext(const mjModel* m, int fontscale) {
-  if (m != last_model_ || fontscale != last_fontscale_) {
-    mjr_makeContext(m, &con_, fontscale);
-    last_model_ = m;
-    last_fontscale_ = fontscale;
-    return true;
-  }
-  return false;
-}
-
-bool PlatformUIAdapter::EnsureContextSize() {
-  return false;
-}
-
-void PlatformUIAdapter::OnFilesDrop(int count, const char** paths) {
-  state_.type = mjEVENT_FILESDROP;
-  state_.dropcount = count;
-  state_.droppaths = paths;
-
-  // application-specific processing
-  if (event_callback_) {
-    event_callback_(&state_);
-  }
-
-  // remove paths pointer from mjuiState since we don't own it
-  state_.dropcount = 0;
-  state_.droppaths = nullptr;
-}
-
-void PlatformUIAdapter::OnKey(int key, int scancode, int act) {
-  // translate API-specific key code
-  int mj_key = TranslateKeyCode(key);
-
-  // release: nothing to do
-  if (!IsKeyDownEvent(act)) {
-    return;
-  }
-
-  // update state
-  UpdateMjuiState();
-
-  // set key info
-  state_.type = mjEVENT_KEY;
-  state_.key = mj_key;
-  state_.keytime = std::chrono::duration<double>(
-      std::chrono::steady_clock::now().time_since_epoch()).count();
-
-  // application-specific processing
-  if (event_callback_) {
-    event_callback_(&state_);
-  }
-
-  last_key_ = mj_key;
-}
-
-void PlatformUIAdapter::OnMouseButton(int button, int act)  {
-  // translate API-specific mouse button code
-  mjtButton mj_button = TranslateMouseButton(button);
-
-  // update state
-  UpdateMjuiState();
-
-  // swap left and right if Alt
-  if (state_.alt) {
-    if (mj_button == mjBUTTON_LEFT) {
-      mj_button = mjBUTTON_RIGHT;
-    } else if (mj_button == mjBUTTON_RIGHT) {
-      mj_button = mjBUTTON_LEFT;
-    }
-  }
-
-  // press
-  if (IsMouseButtonDownEvent(act)) {
-    double now = std::chrono::duration<double>(
-        std::chrono::steady_clock::now().time_since_epoch()).count();
-
-    // detect doubleclick: 250 ms
-    if (mj_button == state_.button && now - state_.buttontime < 0.25) {
-      state_.doubleclick = 1;
-    } else {
-      state_.doubleclick = 0;
-    }
-
-    // set info
-    state_.type = mjEVENT_PRESS;
-    state_.button = mj_button;
-    state_.buttontime = now;
-
-    // start dragging
-    if (state_.mouserect) {
-      state_.dragbutton = state_.button;
-      state_.dragrect = state_.mouserect;
-    }
-  }
-
-  // release
-  else {
-    state_.type = mjEVENT_RELEASE;
-  }
-
-  // application-specific processing
-  if (event_callback_) {
-    event_callback_(&state_);
-  }
-
-  // stop dragging after application processing
-  if (state_.type == mjEVENT_RELEASE) {
-    state_.dragrect = 0;
-    state_.dragbutton = 0;
-  }
-}
-
-void PlatformUIAdapter::OnMouseMove(double x, double y) {
-  // no buttons down: nothing to do
-  if (!state_.left && !state_.right && !state_.middle) {
-    return;
-  }
-
-  // update state
-  UpdateMjuiState();
-
-  // set move info
-  state_.type = mjEVENT_MOVE;
-
-  // application-specific processing
-  if (event_callback_) {
-    event_callback_(&state_);
-  }
-}
-
-void PlatformUIAdapter::OnScroll(double xoffset, double yoffset) {
-  // update state
-  UpdateMjuiState();
-
-  // set scroll info, scale by buffer-to-window ratio
-  const double buffer_window_ratio =
-      static_cast<double>(GetFramebufferSize().first) / GetWindowSize().first;
-  state_.type = mjEVENT_SCROLL;
-  state_.sx = xoffset * buffer_window_ratio;
-  state_.sy = yoffset * buffer_window_ratio;
-
-  // application-specific processing
-  if (event_callback_) {
-    event_callback_(&state_);
-  }
-}
-
-void PlatformUIAdapter::OnWindowRefresh() {
-  state_.type = mjEVENT_REDRAW;
-
-  // application-specific processing
-  if (event_callback_) {
-    event_callback_(&state_);
-  }
-}
-
-void PlatformUIAdapter::OnWindowResize(int width, int height) {
-  auto [buf_width, buf_height] = GetFramebufferSize();
-  state_.rect[0].width = buf_width;
-  state_.rect[0].height = buf_height;
-  if (state_.nrect < 1) state_.nrect = 1;
-
-  // update window layout
-  if (layout_callback_) {
-    layout_callback_(&state_);
-  }
-
-  // update state
-  UpdateMjuiState();
-
-  // set resize info
-  state_.type = mjEVENT_RESIZE;
-
-  // stop dragging
-  state_.dragbutton = 0;
-  state_.dragrect = 0;
-
-  // application-specific processing
-  if (event_callback_) {
-    event_callback_(&state_);
-  }
-}
-
-void PlatformUIAdapter::UpdateMjuiState() {
-  // mouse buttons
-  state_.left = IsLeftMouseButtonPressed();
-  state_.right = IsRightMouseButtonPressed();
-  state_.middle = IsMiddleMouseButtonPressed();
-
-  // keyboard modifiers
-  state_.control = IsCtrlKeyPressed();
-  state_.shift = IsShiftKeyPressed();
-  state_.alt = IsAltKeyPressed();
-
-  // swap left and right if Alt
-  if (state_.alt) {
-    int tmp = state_.left;
-    state_.left = state_.right;
-    state_.right = tmp;
-  }
-
-  // get mouse position, scale by buffer-to-window ratio
-  auto [x, y] = GetCursorPosition();
-  const double buffer_window_ratio =
-      static_cast<double>(GetFramebufferSize().first) / GetWindowSize().first;
-  x *= buffer_window_ratio;
-  y *= buffer_window_ratio;
-
-  // invert y to match OpenGL convention
-  y = state_.rect[0].height - y;
-
-  // save
-  state_.dx = x - state_.x;
-  state_.dy = y - state_.y;
-  state_.x = x;
-  state_.y = y;
-
-  // find mouse rectangle
-  state_.mouserect = mjr_findRect(mju_round(x), mju_round(y), state_.nrect-1, state_.rect+1) + 1;
-}
-}  // namespace mujoco
diff --git a/simulate/platform_ui_adapter.h b/simulate/platform_ui_adapter.h
deleted file mode 100644
index 64b0211d..00000000
--- a/simulate/platform_ui_adapter.h
+++ /dev/null
@@ -1,101 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
-#define MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
-
-#include <utility>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco {
-class PlatformUIAdapter {
- public:
-  virtual ~PlatformUIAdapter() = default;
-
-  inline mjuiState& state() { return state_; }
-  inline const mjuiState& state() const { return state_; }
-
-  inline mjrContext& mjr_context() { return con_; }
-  inline const mjrContext& mjr_context() const { return con_; }
-
-  inline void SetEventCallback(void (*event_callback)(mjuiState*)) {
-    event_callback_ = event_callback;
-  }
-
-  inline void SetLayoutCallback(void (*layout_callback)(mjuiState*)) {
-    layout_callback_ = layout_callback;
-  }
-
-  // Optionally overridable function to (re)create an mjrContext for an mjModel
-  virtual bool RefreshMjrContext(const mjModel* m, int fontscale);
-
-  virtual bool EnsureContextSize();
-
-  // Pure virtual functions to be implemented by individual adapters
-  virtual std::pair<double, double> GetCursorPosition() const = 0;
-  virtual double GetDisplayPixelsPerInch() const = 0;
-  virtual std::pair<int, int> GetFramebufferSize() const = 0;
-  virtual std::pair<int, int> GetWindowSize() const = 0;
-  virtual bool IsGPUAccelerated() const = 0;
-  virtual void PollEvents() = 0;
-  virtual void SetClipboardString(const char* text) = 0;
-  virtual void SetVSync(bool enabled) = 0;
-  virtual void SetWindowTitle(const char* title) = 0;
-  virtual bool ShouldCloseWindow() const = 0;
-  virtual void SwapBuffers() = 0;
-  virtual void ToggleFullscreen() = 0;
-
-  virtual bool IsLeftMouseButtonPressed() const = 0;
-  virtual bool IsMiddleMouseButtonPressed() const = 0;
-  virtual bool IsRightMouseButtonPressed() const = 0;
-
-  virtual bool IsAltKeyPressed() const = 0;
-  virtual bool IsCtrlKeyPressed() const = 0;
-  virtual bool IsShiftKeyPressed() const = 0;
-
-  virtual bool IsMouseButtonDownEvent(int act) const = 0;
-  virtual bool IsKeyDownEvent(int act) const = 0;
-
-  virtual int TranslateKeyCode(int key) const = 0;
-  virtual mjtButton TranslateMouseButton(int button) const = 0;
-
- protected:
-  PlatformUIAdapter();
-  void FreeMjrContext();
-
-  // Event handlers
-  void OnFilesDrop(int count, const char** paths);
-  virtual void OnKey(int key, int scancode, int act);
-  void OnMouseButton(int button, int act);
-  void OnMouseMove(double x, double y);
-  void OnScroll(double xoffset, double yoffset);
-  void OnWindowRefresh();
-  void OnWindowResize(int width, int height);
-
-  mjuiState state_;
-  int last_key_;
-  void (*event_callback_)(mjuiState*);
-  void (*layout_callback_)(mjuiState*);
-
-  mjrContext con_;
-  const mjModel* last_model_ = nullptr;
-  int last_fontscale_ = -1;
-
- private:
-  void UpdateMjuiState();
-};
-}  // namespace mujoco
-
-#endif  // MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
deleted file mode 100644
index a19bbe64..00000000
--- a/simulate/simulate.cc
+++ /dev/null
@@ -1,3244 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "simulate.h"
-
-#include <algorithm>
-#include <atomic>
-#include <chrono>
-#include <climits>
-#include <cstdio>
-#include <cstring>
-#include <memory>
-#include <optional>
-#include <ratio>
-#include <string>
-#include <type_traits>
-#include <utility>
-
-#include "lodepng.h"
-#include <mujoco/mjdata.h>
-#include <mujoco/mjui.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "platform_ui_adapter.h"
-#include "array_safety.h"
-
-// When launched via an App Bundle on macOS, the working directory is the path to the App Bundle's
-// resource directory. This causes files to be saved into the bundle, which is not the desired
-// behavior. Instead, we open a save dialog box to ask the user where to put the file.
-// Since the dialog box logic needs to be written in Objective-C, we separate it into a different
-// source file.
-#ifdef __APPLE__
-std::string GetSavePath(const char* filename);
-#else
-static std::string GetSavePath(const char* filename) {
-  return filename;
-}
-#endif
-
-namespace {
-namespace mj = ::mujoco;
-namespace mju = ::mujoco::sample_util;
-
-using Seconds = std::chrono::duration<double>;
-using Milliseconds = std::chrono::duration<double, std::milli>;
-
-template <typename T>
-inline bool IsDifferent(const T& a, const T& b) {
-  if constexpr (std::is_array_v<T>) {
-    static_assert(std::rank_v<T> == 1);
-    for (int i = 0; i < std::extent_v<T>; ++i) {
-      if (a[i] != b[i]) {
-        return true;
-      }
-    }
-    return false;
-  } else {
-    return a != b;
-  }
-}
-
-template <typename T>
-inline void CopyScalar(T& dst, const T& src) {
-  dst = src;
-}
-
-template <typename T, int N>
-inline void CopyArray(T (&dst)[N], const T (&src)[N]) {
-  for (int i = 0; i < N; ++i) {
-    dst[i] = src[i];
-  }
-}
-
-template <typename T>
-inline void Copy(T& dst, const T& src) {
-  if constexpr (std::is_array_v<T>) {
-    CopyArray(dst, src);
-  } else {
-    CopyScalar(dst, src);
-  }
-}
-
-//------------------------------------------- global -----------------------------------------------
-
-const double zoom_increment = 0.02;  // ratio of one click-wheel zoom increment to vertical extent
-
-// section ids
-enum {
-  // left ui
-  SECT_FILE   = 0,
-  SECT_OPTION,
-  SECT_SIMULATION,
-  SECT_WATCH,
-  SECT_PHYSICS,
-  SECT_RENDERING,
-  SECT_VISUALIZATION,
-  SECT_GROUP,
-  SECT_LOGGING,
-  NSECT0,
-
-  // right ui
-  SECT_JOINT = 0,
-  SECT_CONTROL,
-  SECT_EQUALITY,
-  NSECT1
-};
-
-// file section of UI
-const mjuiDef defFile[] = {
-  {mjITEM_SECTION,   "File",          mjPRESERVE, nullptr, "AF"},
-  {mjITEM_BUTTON,    "Save xml",      2, nullptr, ""},
-  {mjITEM_BUTTON,    "Save mjb",      2, nullptr, ""},
-  {mjITEM_BUTTON,    "Print model",   2, nullptr, "CM"},
-  {mjITEM_BUTTON,    "Print data",    2, nullptr, "CD"},
-  {mjITEM_BUTTON,    "Quit",          1, nullptr, "CQ"},
-  {mjITEM_BUTTON,    "Screenshot",    2, nullptr, "CP"},
-  {mjITEM_END}
-};
-
-// help strings
-const char help_content[] =
-  "Space\n"
-  "+  -\n"
-  "Left / Right arrow\n"
-  "Tab / Shift-Tab\n"
-  "[  ]\n"
-  "Esc\n"
-  "Double-click\n"
-  "Page Up\n"
-  "Right double-click\n"
-  "Ctrl Right double-click\n"
-  "Scroll, middle drag\n"
-  "Left drag\n"
-  "[Shift] right drag\n"
-  "Ctrl [Shift] drag\n"
-  "Ctrl [Shift] right drag\n"
-  "F1\n"
-  "F2\n"
-  "F3\n"
-  "F4\n"
-  "F5\n"
-  "UI right-button hold\n"
-  "UI title double-click";
-
-const char help_title[] =
-  "Play / Pause\n"
-  "Speed Up / Down\n"
-  "Step Back / Forward\n"
-  "Toggle Left / Right UI\n"
-  "Cycle cameras\n"
-  "Free camera\n"
-  "Select\n"
-  "Select parent\n"
-  "Center camera\n"
-  "Tracking camera\n"
-  "Zoom\n"
-  "View Orbit\n"
-  "View Pan\n"
-  "Object Rotate\n"
-  "Object Translate\n"
-  "Help\n"
-  "Info\n"
-  "Profiler\n"
-  "Sensors\n"
-  "Full screen\n"
-  "Show UI shortcuts\n"
-  "Expand/collapse all";
-
-
-//-------------------------------- profiler, sensor, info, watch -----------------------------------
-
-// number of lines in the Constraint ("Counts") and Cost ("Convergence") figures
-static constexpr int kConstraintNum = 5;
-static constexpr int kCostNum = 3;
-
-// init profiler figures
-void InitializeProfiler(mj::Simulate* sim) {
-  // set figures to default
-  mjv_defaultFigure(&sim->figconstraint);
-  mjv_defaultFigure(&sim->figcost);
-  mjv_defaultFigure(&sim->figtimer);
-  mjv_defaultFigure(&sim->figsize);
-
-  // titles
-  mju::strcpy_arr(sim->figconstraint.title, "Counts");
-  mju::strcpy_arr(sim->figcost.title, "Convergence (log 10)");
-  mju::strcpy_arr(sim->figsize.title, "Dimensions");
-  mju::strcpy_arr(sim->figtimer.title, "CPU time (msec)");
-
-  // x-labels
-  mju::strcpy_arr(sim->figconstraint.xlabel, "Solver iteration");
-  mju::strcpy_arr(sim->figcost.xlabel, "Solver iteration");
-  mju::strcpy_arr(sim->figsize.xlabel, "Video frame");
-  mju::strcpy_arr(sim->figtimer.xlabel, "Video frame");
-
-  // y-tick number formats
-  mju::strcpy_arr(sim->figconstraint.yformat, "%.0f");
-  mju::strcpy_arr(sim->figcost.yformat, "%.1f");
-  mju::strcpy_arr(sim->figsize.yformat, "%.0f");
-  mju::strcpy_arr(sim->figtimer.yformat, "%.2f");
-
-  // colors
-  sim->figconstraint.figurergba[0] = 0.1f;
-  sim->figcost.figurergba[2]       = 0.2f;
-  sim->figsize.figurergba[0]       = 0.1f;
-  sim->figtimer.figurergba[2]      = 0.2f;
-  sim->figconstraint.figurergba[3] = 0.5f;
-  sim->figcost.figurergba[3]       = 0.5f;
-  sim->figsize.figurergba[3]       = 0.5f;
-  sim->figtimer.figurergba[3]      = 0.5f;
-
-  // repeat line colors for constraint and cost figures
-  mjvFigure* fig = &sim->figcost;
-  for (int i=kCostNum; i<mjMAXLINE; i++) {
-    fig->linergb[i][0] = fig->linergb[i - kCostNum][0];
-    fig->linergb[i][1] = fig->linergb[i - kCostNum][1];
-    fig->linergb[i][2] = fig->linergb[i - kCostNum][2];
-  }
-  fig = &sim->figconstraint;
-  for (int i=kConstraintNum; i<mjMAXLINE; i++) {
-    fig->linergb[i][0] = fig->linergb[i - kConstraintNum][0];
-    fig->linergb[i][1] = fig->linergb[i - kConstraintNum][1];
-    fig->linergb[i][2] = fig->linergb[i - kConstraintNum][2];
-  }
-
-  // legends
-  mju::strcpy_arr(sim->figconstraint.linename[0], "total");
-  mju::strcpy_arr(sim->figconstraint.linename[1], "active");
-  mju::strcpy_arr(sim->figconstraint.linename[2], "changed");
-  mju::strcpy_arr(sim->figconstraint.linename[3], "evals");
-  mju::strcpy_arr(sim->figconstraint.linename[4], "updates");
-  mju::strcpy_arr(sim->figcost.linename[0], "improvement");
-  mju::strcpy_arr(sim->figcost.linename[1], "gradient");
-  mju::strcpy_arr(sim->figcost.linename[2], "lineslope");
-  mju::strcpy_arr(sim->figsize.linename[0], "dof");
-  mju::strcpy_arr(sim->figsize.linename[1], "body");
-  mju::strcpy_arr(sim->figsize.linename[2], "constraint");
-  mju::strcpy_arr(sim->figsize.linename[3], "sqrt(nnz)");
-  mju::strcpy_arr(sim->figsize.linename[4], "contact");
-  mju::strcpy_arr(sim->figsize.linename[5], "iteration");
-  mju::strcpy_arr(sim->figtimer.linename[0], "total");
-  mju::strcpy_arr(sim->figtimer.linename[1], "collision");
-  mju::strcpy_arr(sim->figtimer.linename[2], "prepare");
-  mju::strcpy_arr(sim->figtimer.linename[3], "solve");
-  mju::strcpy_arr(sim->figtimer.linename[4], "other");
-
-  // grid sizes
-  sim->figconstraint.gridsize[0] = 5;
-  sim->figconstraint.gridsize[1] = 5;
-  sim->figcost.gridsize[0] = 5;
-  sim->figcost.gridsize[1] = 5;
-  sim->figsize.gridsize[0] = 3;
-  sim->figsize.gridsize[1] = 5;
-  sim->figtimer.gridsize[0] = 3;
-  sim->figtimer.gridsize[1] = 5;
-
-  // minimum ranges
-  sim->figconstraint.range[0][0] = 0;
-  sim->figconstraint.range[0][1] = 20;
-  sim->figconstraint.range[1][0] = 0;
-  sim->figconstraint.range[1][1] = 80;
-  sim->figcost.range[0][0] = 0;
-  sim->figcost.range[0][1] = 20;
-  sim->figcost.range[1][0] = -15;
-  sim->figcost.range[1][1] = 5;
-  sim->figsize.range[0][0] = -200;
-  sim->figsize.range[0][1] = 0;
-  sim->figsize.range[1][0] = 0;
-  sim->figsize.range[1][1] = 100;
-  sim->figtimer.range[0][0] = -200;
-  sim->figtimer.range[0][1] = 0;
-  sim->figtimer.range[1][0] = 0;
-  sim->figtimer.range[1][1] = 0.4f;
-
-  // init x axis on history figures (do not show yet)
-  for (int n=0; n<6; n++) {
-    for (int i=0; i<mjMAXLINEPNT; i++) {
-      sim->figtimer.linedata[n][2*i] = -i;
-      sim->figsize.linedata[n][2*i] = -i;
-    }
-  }
-}
-
-// update profiler figures
-void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
-  // reset lines in Constraint and Cost figures
-  memset(sim->figconstraint.linepnt, 0, mjMAXLINE*sizeof(int));
-  memset(sim->figcost.linepnt, 0, mjMAXLINE*sizeof(int));
-
-  // number of islands that have diagnostics
-  int nisland = d->nefc ? mjMAX(1, mjMIN(d->nisland, mjNISLAND)) : 0;
-
-  // iterate over islands
-  for (int k=0; k < nisland; k++) {
-    // ==== update Constraint ("Counts") figure
-
-    // number of points to plot, starting line
-    int npoints = mjMIN(mjMIN(d->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
-    int start = kConstraintNum * k;
-
-    sim->figconstraint.linepnt[start + 0] = npoints;
-    for (int i=1; i < kConstraintNum; i++) {
-      sim->figconstraint.linepnt[start + i] = npoints;
-    }
-    if (m->opt.solver == mjSOL_PGS) {
-      sim->figconstraint.linepnt[start + 3] = 0;
-      sim->figconstraint.linepnt[start + 4] = 0;
-    }
-    if (m->opt.solver == mjSOL_CG) {
-      sim->figconstraint.linepnt[start + 4] = 0;
-    }
-    for (int i=0; i<npoints; i++) {
-      // x
-      sim->figconstraint.linedata[start + 0][2*i] = i;
-      sim->figconstraint.linedata[start + 1][2*i] = i;
-      sim->figconstraint.linedata[start + 2][2*i] = i;
-      sim->figconstraint.linedata[start + 3][2*i] = i;
-      sim->figconstraint.linedata[start + 4][2*i] = i;
-
-      // y
-      int nefc = nisland == 1 ? d->nefc : d->island_nefc[k];
-      sim->figconstraint.linedata[start + 0][2*i+1] = nefc;
-      const mjSolverStat* stat = d->solver + k*mjNSOLVER + i;
-      sim->figconstraint.linedata[start + 1][2*i+1] = stat->nactive;
-      sim->figconstraint.linedata[start + 2][2*i+1] = stat->nchange;
-      sim->figconstraint.linedata[start + 3][2*i+1] = stat->neval;
-      sim->figconstraint.linedata[start + 4][2*i+1] = stat->nupdate;
-    }
-
-    // update cost figure
-    start = kCostNum * k;
-    sim->figcost.linepnt[start + 0] = npoints;
-    for (int i=1; i<kCostNum; i++) {
-      sim->figcost.linepnt[start + i] = npoints;
-    }
-    if (m->opt.solver==mjSOL_PGS) {
-      sim->figcost.linepnt[start + 1] = 0;
-      sim->figcost.linepnt[start + 2] = 0;
-    }
-
-    for (int i=0; i<npoints; i++) {
-      // x
-      sim->figcost.linedata[start + 0][2*i] = i;
-      sim->figcost.linedata[start + 1][2*i] = i;
-      sim->figcost.linedata[start + 2][2*i] = i;
-
-      // y
-      const mjSolverStat* stat = d->solver + k*mjNSOLVER + i;
-      sim->figcost.linedata[start + 0][2*i + 1] =
-          mju_log10(mju_max(mjMINVAL, stat->improvement));
-      sim->figcost.linedata[start + 1][2*i + 1] =
-          mju_log10(mju_max(mjMINVAL, stat->gradient));
-      sim->figcost.linedata[start + 2][2*i + 1] =
-          mju_log10(mju_max(mjMINVAL, stat->lineslope));
-    }
-  }
-
-  // get timers: total, collision, prepare, solve, other
-  mjtNum total = d->timer[mjTIMER_STEP].duration - sim->timer_prev_[mjTIMER_STEP].duration;
-  int number = d->timer[mjTIMER_STEP].number - sim->timer_prev_[mjTIMER_STEP].number;
-  int prev_forward_number = sim->timer_prev_[mjTIMER_FORWARD].number;
-  mjtNum prev_forward_duration = sim->timer_prev_[mjTIMER_FORWARD].duration;
-  if (!number) {
-    total = d->timer[mjTIMER_FORWARD].duration - prev_forward_duration;
-    number = d->timer[mjTIMER_FORWARD].number - prev_forward_number;
-  }
-
-  if (number > 0) {  // skip update if no measurements
-    float tdata[5] = {
-        static_cast<float>(total / number),
-        static_cast<float>((d->timer[mjTIMER_POS_COLLISION].duration -
-                            sim->timer_prev_[mjTIMER_POS_COLLISION].duration) / number),
-        static_cast<float>((d->timer[mjTIMER_POS_MAKE].duration -
-                            sim->timer_prev_[mjTIMER_POS_MAKE].duration +
-                            d->timer[mjTIMER_POS_PROJECT].duration -
-                            sim->timer_prev_[mjTIMER_POS_PROJECT].duration) / number),
-        static_cast<float>((d->timer[mjTIMER_CONSTRAINT].duration -
-                            sim->timer_prev_[mjTIMER_CONSTRAINT].duration) / number),
-        0};
-    tdata[4] = tdata[0] - tdata[1] - tdata[2] - tdata[3];
-
-    // update figtimer
-    int pnt = mjMIN(201, sim->figtimer.linepnt[0]+1);
-    for (int n=0; n<5; n++) {
-      // shift data
-      for (int i=pnt-1; i>0; i--) {
-        sim->figtimer.linedata[n][2*i+1] = sim->figtimer.linedata[n][2*i-1];
-      }
-
-      // assign new
-      sim->figtimer.linepnt[n] = pnt;
-      sim->figtimer.linedata[n][1] = tdata[n];
-    }
-  }
-
-
-  // get total number of iterations and nonzeros
-  mjtNum sqrt_nnz = 0;
-  int solver_niter = 0;
-  for (int island=0; island < nisland; island++) {
-    sqrt_nnz += d->solver_nnz[island];
-    solver_niter += d->solver_niter[island];
-  }
-  sqrt_nnz = mju_sqrt(sqrt_nnz);
-
-  // get sizes: nv, nbody, nefc, sqrt(nnz), ncon, iter
-  int nv = mjENABLED(mjENBL_SLEEP) ? d->nv_awake : m->nv;
-  int nbody = mjENABLED(mjENBL_SLEEP) ? d->nbody_awake : m->nbody;
-  float sdata[6] = {
-    static_cast<float>(nv),
-    static_cast<float>(nbody),
-    static_cast<float>(d->nefc),
-    static_cast<float>(sqrt_nnz),
-    static_cast<float>(d->ncon),
-    static_cast<float>(solver_niter) / nisland
-  };
-
-  // update figsize
-  int pnt = mjMIN(201, sim->figsize.linepnt[0]+1);
-  for (int n=0; n<6; n++) {
-    // shift data
-    for (int i=pnt-1; i>0; i--) {
-      sim->figsize.linedata[n][2*i+1] = sim->figsize.linedata[n][2*i-1];
-    }
-
-    // assign new
-    sim->figsize.linepnt[n] = pnt;
-    sim->figsize.linedata[n][1] = sdata[n];
-  }
-}
-
-// show profiler figures
-void ShowProfiler(mj::Simulate* sim, mjrRect rect) {
-  mjrRect viewport = {
-    rect.left + rect.width - rect.width/4,
-    rect.bottom,
-    rect.width/4,
-    rect.height/4
-  };
-  mjr_figure(viewport, &sim->figtimer, &sim->platform_ui->mjr_context());
-  viewport.bottom += rect.height/4;
-  mjr_figure(viewport, &sim->figsize, &sim->platform_ui->mjr_context());
-  viewport.bottom += rect.height/4;
-  mjr_figure(viewport, &sim->figcost, &sim->platform_ui->mjr_context());
-  viewport.bottom += rect.height/4;
-  mjr_figure(viewport, &sim->figconstraint, &sim->platform_ui->mjr_context());
-}
-
-
-// init sensor figure
-void InitializeSensor(mj::Simulate* sim) {
-  mjvFigure& figsensor = sim->figsensor;
-
-  // set figure to default
-  mjv_defaultFigure(&figsensor);
-  figsensor.figurergba[3] = 0.5f;
-
-  // set flags
-  figsensor.flg_extend = 1;
-  figsensor.flg_barplot = 1;
-  figsensor.flg_symmetric = 1;
-
-  // title
-  mju::strcpy_arr(figsensor.title, "Sensor data");
-
-  // y-tick number format
-  mju::strcpy_arr(figsensor.yformat, "%.1f");
-
-  // grid size
-  figsensor.gridsize[0] = 2;
-  figsensor.gridsize[1] = 3;
-
-  // minimum range
-  figsensor.range[0][0] = 0;
-  figsensor.range[0][1] = 0;
-  figsensor.range[1][0] = -1;
-  figsensor.range[1][1] = 1;
-}
-
-// update sensor figure
-void UpdateSensor(mj::Simulate* sim, const mjModel* m, const mjData* d) {
-  mjvFigure& figsensor = sim->figsensor;
-  static const int maxline = 10;
-
-  // clear linepnt
-  for (int i=0; i<maxline; i++) {
-    figsensor.linepnt[i] = 0;
-  }
-
-  // start with line 0
-  int lineid = 0;
-
-  // loop over sensors
-  for (int n=0; n<m->nsensor; n++) {
-    // go to next line if type is different
-    if (n>0 && m->sensor_type[n]!=m->sensor_type[n-1]) {
-      lineid = mjMIN(lineid+1, maxline-1);
-    }
-
-    // get info about this sensor
-    mjtNum cutoff = (m->sensor_cutoff[n]>0 ? m->sensor_cutoff[n] : 1);
-    int adr = m->sensor_adr[n];
-    int dim = m->sensor_dim[n];
-
-    // data pointer in line
-    int p = figsensor.linepnt[lineid];
-
-    // fill in data for this sensor
-    for (int i=0; i<dim; i++) {
-      // check size
-      if ((p+2*i)>=mjMAXLINEPNT/2) {
-        break;
-      }
-
-      // x
-      figsensor.linedata[lineid][2*p+4*i] = adr+i;
-      figsensor.linedata[lineid][2*p+4*i+2] = adr+i;
-
-      // y
-      figsensor.linedata[lineid][2*p+4*i+1] = 0;
-      figsensor.linedata[lineid][2*p+4*i+3] = d->sensordata[adr+i]/cutoff;
-    }
-
-    // update linepnt
-    figsensor.linepnt[lineid] = mjMIN(mjMAXLINEPNT-1, figsensor.linepnt[lineid]+2*dim);
-  }
-}
-
-// show sensor figure
-void ShowSensor(mj::Simulate* sim, mjrRect rect) {
-  // constant width with and without profiler
-  int width = sim->profiler ? rect.width/3 : rect.width/4;
-
-  // render figure on the right
-  mjrRect viewport = {
-    rect.left + rect.width - width,
-    rect.bottom,
-    width,
-    rect.height/3
-  };
-
-  // if image sensor selected, show sensor image instead
-  if (sim->image_sensor_count > 0 && sim->selected_image_sensor >= 0 &&
-      sim->sensor_image) {
-    // render sensor image - viewport dimensions MUST match image buffer dimensions
-    int img_w = sim->sensor_image_width;
-    int img_h = sim->sensor_image_height;
-    if (img_w > 0 && img_h > 0) {
-      // center the image in the available viewport area
-      mjrRect img_viewport = {
-        viewport.left + (viewport.width - img_w) / 2,
-        viewport.bottom + (viewport.height - img_h) / 2,
-        img_w,  // MUST match actual buffer width
-        img_h   // MUST match actual buffer height
-      };
-      mjr_drawPixels(sim->sensor_image.get(), nullptr, img_viewport,
-                     &sim->platform_ui->mjr_context());
-    }
-  } else {
-    mjr_figure(viewport, &sim->figsensor, &sim->platform_ui->mjr_context());
-  }
-}
-
-// forward declaration
-void InitializeSensorImage(mj::Simulate* sim, const mjModel* m);
-
-// Detect image sensors in model
-// A sensor is an image if: mjSENS_USER and intprm[0]*intprm[1]*3 == dim
-void DetectImageSensors(mj::Simulate* sim, const mjModel* m) {
-  sim->image_sensor_count = 0;
-  sim->image_sensor_indices.clear();
-  sim->image_sensor_names.clear();
-  sim->selected_image_sensor = -1;
-  sim->sensor_image.reset();
-
-  if (!m) return;
-
-  for (int i = 0; i < m->nsensor; i++) {
-    if (m->sensor_type[i] == mjSENS_USER) {
-      // sensor_intprm stores [width, height, unused] (mjNSENS=3 per sensor)
-      int width = m->sensor_intprm[i * mjNSENS];
-      int height = m->sensor_intprm[i * mjNSENS + 1];
-      int dim = m->sensor_dim[i];
-
-      // Check if this is an image sensor: width*height*3 == dim
-      if (width > 0 && height > 0 && width * height * 3 == dim) {
-        const char* name = mj_id2name(m, mjOBJ_SENSOR, i);
-        sim->image_sensor_indices.push_back(i);
-        sim->image_sensor_names.push_back(name ? name : "");
-        sim->image_sensor_count++;
-      }
-    }
-  }
-
-  // Auto-select first image sensor if any found
-  if (sim->image_sensor_count > 0) {
-    sim->selected_image_sensor = 0;
-    InitializeSensorImage(sim, m);
-  }
-}
-
-// initialize sensor image for selected sensor
-// Reads image resolution from sensor_intprm (set by Python code)
-void InitializeSensorImage(mj::Simulate* sim, const mjModel* m) {
-  if (sim->selected_image_sensor < 0 ||
-      sim->selected_image_sensor >= sim->image_sensor_count) {
-    sim->sensor_image.reset();
-    return;
-  }
-
-  int sensor_idx = sim->image_sensor_indices[sim->selected_image_sensor];
-
-  // Read width/height from sensor_intprm
-  int width = m->sensor_intprm[sensor_idx * mjNSENS];
-  int height = m->sensor_intprm[sensor_idx * mjNSENS + 1];
-  sim->sensor_image_width = width;
-  sim->sensor_image_height = height;
-
-  // Allocate image buffer (RGB)
-  int img_size = width * height * 3;
-  sim->sensor_image = std::make_unique<unsigned char[]>(img_size);
-}
-
-// update sensor image with current sensor data
-// Uses version number (last element) to avoid reading during MuJoCo reset
-void UpdateSensorImage(mj::Simulate* sim, const mjModel* m, const mjData* d) {
-  if (sim->selected_image_sensor < 0 || !sim->sensor_image) return;
-
-  int sensor_idx = sim->image_sensor_indices[sim->selected_image_sensor];
-  int adr = m->sensor_adr[sensor_idx];
-  int w = sim->sensor_image_width;
-  int h = sim->sensor_image_height;
-  int img_size = w * h * 3;
-
-  // Check version (last element) - 0 means MuJoCo reset, skip copy
-  int current_version = (int)d->sensordata[adr + img_size - 1];
-  if (current_version == 0 || current_version == sim->sensor_image_last_seq) {
-    return;
-  }
-  sim->sensor_image_last_seq = current_version;
-
-  // Copy image data (skip last element = version)
-  for (int i = 0; i < img_size - 1; i++) {
-    mjtNum val = d->sensordata[adr + i];
-    sim->sensor_image[i] = (unsigned char)mjMIN(255, mjMAX(0, (int)val));
-  }
-}
-
-
-void ShowFigure(mj::Simulate* sim, mjrRect viewport, mjvFigure* fig){
-  mjr_figure(viewport, fig, &sim->platform_ui->mjr_context());
-}
-
-void ShowOverlayText(mj::Simulate* sim, mjrRect viewport, int font, int gridpos,
-                     std::string text1, std::string text2) {
-  mjr_overlay(font, gridpos, viewport, text1.c_str(), text2.c_str(),
-              &sim->platform_ui->mjr_context());
-}
-
-void ShowImage(mj::Simulate* sim, mjrRect viewport, const unsigned char* image) {
-  mjr_drawPixels(image, nullptr, viewport, &sim->platform_ui->mjr_context());
-}
-
-// load state from history buffer
-static void LoadScrubState(mj::Simulate* sim) {
-  // get index into circular buffer
-  int i = (sim->scrub_index + sim->history_cursor_) % sim->nhistory_;
-  i = (i + sim->nhistory_) % sim->nhistory_;
-
-  // load state
-  mjtNum* state = &sim->history_[i * sim->state_size_];
-  mj_setState(sim->m_, sim->d_, state, mjSTATE_INTEGRATION);
-
-  // call forward dynamics
-  mj_forward(sim->m_, sim->d_);
-}
-
-// update an entire section of ui0
-static void mjui0_update_section(mj::Simulate* sim, int section) {
-  mjui_update(section, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
-}
-
-// prepare info text
-void UpdateInfoText(mj::Simulate* sim, const mjModel* m, const mjData* d,
-              char (&title)[mj::Simulate::kMaxFilenameLength],
-              char (&content)[mj::Simulate::kMaxFilenameLength]) {
-  char tmp[20];
-
-  // number of islands with statistics
-  int nisland = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
-
-  // compute solver error (maximum over islands)
-  mjtNum solerr = 0;
-  for (int i=0; i < nisland; i++) {
-    mjtNum solerr_i = 0;
-    if (d->solver_niter[i]) {
-      int ind = mjMIN(d->solver_niter[i], mjNSOLVER) - 1;
-      const mjSolverStat* stat = d->solver + i*mjNSOLVER + ind;
-      solerr_i = mju_min(stat->improvement, stat->gradient);
-      if (solerr_i==0) {
-        solerr_i = mju_max(stat->improvement, stat->gradient);
-      }
-    }
-    solerr = mju_max(solerr, solerr_i);
-  }
-  solerr = mju_log10(mju_max(mjMINVAL, solerr));
-
-  // format FPS text
-  char fps[10];
-  if (sim->fps_ < 1) {
-    mju::sprintf_arr(fps, "%0.1f ", sim->fps_);
-  } else {
-    mju::sprintf_arr(fps, "%.0f ", sim->fps_);
-  }
-
-  // total iterations of all islands with statistics
-  int solver_niter = 0;
-  for (int i=0; i < nisland; i++) {
-    solver_niter += d->solver_niter[i];
-  }
-
-  mjtNum step_duration =
-      d->timer[mjTIMER_STEP].duration - sim->timer_prev_[mjTIMER_STEP].duration;
-  int step_number =
-      d->timer[mjTIMER_STEP].number - sim->timer_prev_[mjTIMER_STEP].number;
-  mjtNum forward_duration =
-      d->timer[mjTIMER_FORWARD].duration - sim->timer_prev_[mjTIMER_FORWARD].duration;
-  int forward_number =
-      d->timer[mjTIMER_FORWARD].number - sim->timer_prev_[mjTIMER_FORWARD].number;
-
-  // prepare info text
-  mju::strcpy_arr(title, "Time\nSize\nCPU\nSolver   \nFPS\nMemory");
-  mju::sprintf_arr(content,
-                   "%-9.3f\n%d  (%d con)\n%.3f\n%.1f  (%d it)\n%s\n%.1f%% of %s",
-                   d->time,
-                   d->nefc, d->ncon,
-                   sim->run ?
-                   step_duration / mjMAX(1, step_number) :
-                   forward_duration / mjMAX(1, forward_number),
-                   solerr, solver_niter,
-                   fps,
-                   100*d->maxuse_arena/(double)(d->narena),
-                   mju_writeNumBytes(d->narena));
-
-  // add Energy if enabled
-  {
-    if (mjENABLED(mjENBL_ENERGY)) {
-      mju::sprintf_arr(tmp, "\n%.3f", d->energy[0]+d->energy[1]);
-      mju::strcat_arr(content, tmp);
-      mju::strcat_arr(title, "\nEnergy");
-    }
-
-    // add FwdInv if enabled
-    if (mjENABLED(mjENBL_FWDINV)) {
-      mju::sprintf_arr(tmp, "\n%.1f %.1f",
-                       mju_log10(mju_max(mjMINVAL, d->solver_fwdinv[0])),
-                       mju_log10(mju_max(mjMINVAL, d->solver_fwdinv[1])));
-      mju::strcat_arr(content, tmp);
-      mju::strcat_arr(title, "\nFwdInv");
-    }
-
-    // add islands if enabled
-    if (!mjDISABLED(mjDSBL_ISLAND)) {
-      mju::sprintf_arr(tmp, "\n%d", d->nisland);
-      mju::strcat_arr(content, tmp);
-      mju::strcat_arr(title, "\nIslands");
-    }
-  }
-}
-
-// sprintf forwarding, to avoid compiler warning in x-macro
-void PrintField(char (&str)[mjMAXUINAME], void* ptr) {
-  mju::sprintf_arr(str, "%g", *static_cast<mjtNum*>(ptr));
-}
-
-// update watch
-void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
-  // clear
-  sim->ui0.sect[SECT_WATCH].item[2].multi.nelem = 1;
-  mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid field");
-
-  // find specified field in mjData arrays, update value
-  #define X(TYPE, NAME, NR, NC)                                                                  \
-    if (!mju::strcmp_arr(#NAME, sim->field) &&                                                   \
-        !mju::strcmp_arr(#TYPE, "mjtNum")) {                                                     \
-      if (sim->index >= 0 && sim->index < m->NR * NC) {                                          \
-        PrintField(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], d->NAME + sim->index);       \
-      } else {                                                                                   \
-        mju::strcpy_arr(sim->ui0.sect[SECT_WATCH].item[2].multi.name[0], "invalid index");       \
-      }                                                                                          \
-      return;                                                                                    \
-    }
-
-  MJDATA_POINTERS
-#undef X
-}
-
-
-//---------------------------------- UI construction -----------------------------------------------
-
-// make physics section of UI
-void MakePhysicsSection(mj::Simulate* sim) {
-  mjOption* opt = sim->is_passive_ ? &sim->m_passive_->opt : &sim->m_->opt;
-  mjuiDef defPhysics[] = {
-    {mjITEM_SECTION,   "Physics",       mjPRESERVE, nullptr,          "AP"},
-    {mjITEM_SELECT,    "Integrator",    2, &(opt->integrator),        "Euler\nRK4\nimplicit\nimplicitfast"},
-    {mjITEM_SELECT,    "Cone",          2, &(opt->cone),              "Pyramidal\nElliptic"},
-    {mjITEM_SELECT,    "Jacobian",      2, &(opt->jacobian),          "Dense\nSparse\nAuto"},
-    {mjITEM_SELECT,    "Solver",        2, &(opt->solver),            "PGS\nCG\nNewton"},
-    {mjITEM_SEPARATOR, "Algorithmic Parameters", mjPRESERVE},
-    {mjITEM_EDITNUM,   "Timestep",      2, &(opt->timestep),          "1 0 1"},
-    {mjITEM_EDITINT,   "Iterations",    2, &(opt->iterations),        "1 0 1000"},
-    {mjITEM_EDITNUM,   "Tolerance",     2, &(opt->tolerance),         "1 0 1"},
-    {mjITEM_EDITINT,   "LS Iter",       2, &(opt->ls_iterations),     "1 0 100"},
-    {mjITEM_EDITNUM,   "LS Tol",        2, &(opt->ls_tolerance),      "1 0 0.1"},
-    {mjITEM_EDITINT,   "Noslip Iter",   2, &(opt->noslip_iterations), "1 0 1000"},
-    {mjITEM_EDITNUM,   "Noslip Tol",    2, &(opt->noslip_tolerance),  "1 0 1"},
-    {mjITEM_EDITINT,   "CCD Iter",      2, &(opt->ccd_iterations),    "1 0 1000"},
-    {mjITEM_EDITNUM,   "CCD Tol",       2, &(opt->ccd_tolerance),     "1 0 1"},
-    {mjITEM_EDITNUM,   "Sleep Tol",     2, &(opt->sleep_tolerance),   "1 0 1"},
-    {mjITEM_EDITINT,   "SDF Iter",      2, &(opt->sdf_iterations),    "1 1 20"},
-    {mjITEM_EDITINT,   "SDF Init",      2, &(opt->sdf_initpoints),    "1 1 100"},
-    {mjITEM_SEPARATOR, "Physical Parameters", mjPRESERVE},
-    {mjITEM_EDITNUM,   "Gravity",       2, opt->gravity,              "3"},
-    {mjITEM_EDITNUM,   "Wind",          2, opt->wind,                 "3"},
-    {mjITEM_EDITNUM,   "Magnetic",      2, opt->magnetic,             "3"},
-    {mjITEM_EDITNUM,   "Density",       2, &(opt->density),           "1"},
-    {mjITEM_EDITNUM,   "Viscosity",     2, &(opt->viscosity),         "1"},
-    {mjITEM_EDITNUM,   "Imp Ratio",     2, &(opt->impratio),          "1"},
-    {mjITEM_SEPARATOR, "Disable Flags", mjPRESERVE},
-    {mjITEM_END}
-  };
-  mjuiDef defEnableFlags[] = {
-    {mjITEM_SEPARATOR, "Enable Flags", mjPRESERVE},
-    {mjITEM_END}
-  };
-  mjuiDef defOverride[] = {
-    {mjITEM_SEPARATOR, "Contact Override", mjPRESERVE},
-    {mjITEM_EDITNUM,   "Margin",        2, &(opt->o_margin),          "1"},
-    {mjITEM_EDITNUM,   "Sol Imp",       2, &(opt->o_solimp),          "5"},
-    {mjITEM_EDITNUM,   "Sol Ref",       2, &(opt->o_solref),          "2"},
-    {mjITEM_EDITNUM,   "Friction",      2, &(opt->o_friction),        "5"},
-    {mjITEM_END}
-  };
-  mjuiDef defDisableActuator[] = {
-    {mjITEM_SEPARATOR, "Actuator Group Enable", mjPRESERVE},
-    {mjITEM_CHECKBYTE,  "Act Group 0",  2, sim->enableactuator+0,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 1",  2, sim->enableactuator+1,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 2",  2, sim->enableactuator+2,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 3",  2, sim->enableactuator+3,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 4",  2, sim->enableactuator+4,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 5",  2, sim->enableactuator+5,     ""},
-    {mjITEM_END}
-  };
-
-  // add physics
-  mjui_add(&sim->ui0, defPhysics);
-
-  // add flags programmatically
-  mjuiDef defFlag[] = {
-    {mjITEM_CHECKINT,  "", 2, nullptr, ""},
-    {mjITEM_END}
-  };
-  for (int i=0; i<mjNDISABLE; i++) {
-    mju::strcpy_arr(defFlag[0].name, mjDISABLESTRING[i]);
-    defFlag[0].pdata = sim->disable + i;
-    mjui_add(&sim->ui0, defFlag);
-  }
-  mjui_add(&sim->ui0, defEnableFlags);
-  for (int i=0; i<mjNENABLE; i++) {
-    mju::strcpy_arr(defFlag[0].name, mjENABLESTRING[i]);
-    defFlag[0].pdata = sim->enable + i;
-    mjui_add(&sim->ui0, defFlag);
-  }
-  // add contact override
-  mjui_add(&sim->ui0, defOverride);
-
-  // add actuator group enable/disable
-  mjui_add(&sim->ui0, defDisableActuator);
-
-  // make some subsections closed by default
-  for (int i=0; i < sim->ui0.sect[SECT_PHYSICS].nitem; i++) {
-    mjuiItem* it = sim->ui0.sect[SECT_PHYSICS].item + i;
-
-    // close less useful subsections
-    if (it->type == mjITEM_SEPARATOR) {
-      if (mju::strcmp_arr(it->name, "Actuator Group Enable") &&
-          mju::strcmp_arr(it->name, "Contact Override")  &&
-          mju::strcmp_arr(it->name, "Physical Parameters")) {
-        it->state = mjSEPCLOSED+1;
-      }
-    }
-  }
-}
-
-
-
-// make rendering section of UI
-void MakeRenderingSection(mj::Simulate* sim, const mjModel* m) {
-  mjuiDef defRendering[] = {
-    {mjITEM_SECTION, "Rendering", mjPRESERVE, nullptr, "AR"},
-    {mjITEM_SELECT, "Camera", 2, &(sim->camera), "Free\nTracking"},
-    {mjITEM_SELECT, "Label", 2, &(sim->opt.label),
-      "None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\n"
-      "Actuator\nConstraint\nFlex\nSkin\nSelection\nSel Pnt\nContact\nForce\nIsland"
-    },
-    {mjITEM_SELECT, "Frame", 2, &(sim->opt.frame),
-      "None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
-    },
-    {mjITEM_BUTTON, "Copy camera", 2, nullptr, ""},
-    {mjITEM_SEPARATOR, "Model Elements", 1},
-    {mjITEM_END}
-  };
-  mjuiDef defOpenGL[] = {
-    {mjITEM_SEPARATOR, "OpenGL Effects", 1},
-    {mjITEM_END}
-  };
-
-  // add model cameras, up to UI limit
-  for (int i=0; i<mjMIN(m->ncam, mjMAXUIMULTI-2); i++) {
-    // prepare name
-    char camname[mjMAXUINAME] = "\n";
-    const char* name = mj_id2name(m, mjOBJ_CAMERA, i);
-    if (name) {
-      mju::strcat_arr(camname, name);
-    } else {
-      mju::sprintf_arr(camname, "\nCamera %d", i);
-    }
-
-    // check string length
-    if (mju::strlen_arr(camname) + mju::strlen_arr(defRendering[1].other)>=mjMAXUITEXT-1) {
-      break;
-    }
-
-    // add camera
-    mju::strcat_arr(defRendering[1].other, camname);
-  }
-
-  // add rendering standard
-  mjui_add(&sim->ui0, defRendering);
-
-  // add flags programmatically
-  mjuiDef defFlag[] = {
-    {mjITEM_CHECKBYTE,  "", 2, nullptr, ""},
-    {mjITEM_END}
-  };
-  for (int i=0; i<mjNVISFLAG; i++) {
-    // set name
-    mju::strcpy_arr(defFlag[0].name, mjVISSTRING[i][0]);
-
-    // set shortcut and data
-    if (mjVISSTRING[i][2][0]) {
-      mju::sprintf_arr(defFlag[0].other, " %s", mjVISSTRING[i][2]);
-    } else {
-      mju::sprintf_arr(defFlag[0].other, "");
-    }
-    defFlag[0].pdata = sim->opt.flags + i;
-    mjui_add(&sim->ui0, defFlag);
-  }
-
-  // create tree slider
-  mjuiDef defTree[] = {
-      {mjITEM_SLIDERINT, "Tree depth", 2, &sim->opt.bvh_depth, "0 20"},
-      {mjITEM_SLIDERINT, "Flex layer", 2, &sim->opt.flex_layer, "0 10"},
-      {mjITEM_END}
-  };
-  mjui_add(&sim->ui0, defTree);
-
-  // add image sensor selector if image sensors exist
-  if (sim->image_sensor_count > 0) {
-    // build options string: "All\nSensor1\nSensor2\n..."
-    static char sensor_options[mjMAXUITEXT];
-    mju::strcpy_arr(sensor_options, "All");
-    for (int i = 0; i < sim->image_sensor_count && i < mjMAXUIMULTI - 1; i++) {
-      mju::strcat_arr(sensor_options, "\n");
-      if ((int)sim->image_sensor_names[i].length() < mjMAXUINAME) {
-        mju::strcat_arr(sensor_options, sim->image_sensor_names[i].c_str());
-      } else {
-        char truncated[mjMAXUINAME];
-        snprintf(truncated, mjMAXUINAME, "Image %d", i);
-        mju::strcat_arr(sensor_options, truncated);
-      }
-    }
-
-    // selected_image_sensor is -1 for None, 0+ for actual sensor
-    // but mjITEM_SELECT uses 0-based index, so we need to offset
-    sim->image_sensor_ui_selection = sim->selected_image_sensor + 1;
-
-    mjuiDef defImageSensor[] = {
-        {mjITEM_SELECT, "Sensor", 2, &sim->image_sensor_ui_selection, ""},
-        {mjITEM_END}
-    };
-    // copy options string into the struct's other field
-    mju::strcpy_arr(defImageSensor[0].other, sensor_options);
-    mjui_add(&sim->ui0, defImageSensor);
-  }
-
-  // add rendering flags
-  mjui_add(&sim->ui0, defOpenGL);
-  for (int i=0; i<mjNRNDFLAG; i++) {
-    // set name
-    mju::strcpy_arr(defFlag[0].name, mjRNDSTRING[i][0]);
-
-    // set shortcut and data
-    if (mjRNDSTRING[i][2][0]) {
-      mju::sprintf_arr(defFlag[0].other, " %s", mjRNDSTRING[i][2]);
-    } else {
-      mju::sprintf_arr(defFlag[0].other, "");
-    }
-    defFlag[0].pdata = sim->scn.flags + i;
-    mjui_add(&sim->ui0, defFlag);
-  }
-}
-
-// make visualization section of UI
-void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
-  mjStatistic* stat = sim->is_passive_ ? &sim->m_passive_->stat : &sim->m_->stat;
-  mjVisual* vis = sim->is_passive_ ? &sim->m_passive_->vis : &sim->m_->vis;
-
-  mjuiDef defVisualization[] = {
-    {mjITEM_SECTION,   "Visualization", mjPRESERVE, nullptr, "AV"},
-    {mjITEM_SEPARATOR, "Headlight",  1},
-    {mjITEM_RADIO,     "Active",          2, &(vis->headlight.active),     "Off\nOn"},
-    {mjITEM_EDITFLOAT, "Ambient",         2, &(vis->headlight.ambient),    "3"},
-    {mjITEM_EDITFLOAT, "Diffuse",         2, &(vis->headlight.diffuse),    "3"},
-    {mjITEM_EDITFLOAT, "Specular",        2, &(vis->headlight.specular),   "3"},
-    {mjITEM_SEPARATOR, "Free Camera", 1},
-    {mjITEM_RADIO,     "Orthographic",    2, &(vis->global.orthographic),  "No\nYes"},
-    {mjITEM_EDITFLOAT, "Field of view",   2, &(vis->global.fovy),          "1"},
-    {mjITEM_EDITNUM,   "Center",          2, &(stat->center),              "3"},
-    {mjITEM_EDITFLOAT, "Azimuth",         2, &(vis->global.azimuth),       "1"},
-    {mjITEM_EDITFLOAT, "Elevation",       2, &(vis->global.elevation),     "1"},
-    {mjITEM_BUTTON,    "Align",           2, nullptr,                      "CA"},
-    {mjITEM_SEPARATOR, "Global",  1},
-    {mjITEM_EDITNUM,   "Extent",          2, &(stat->extent),              "1"},
-    {mjITEM_RADIO,     "Inertia",         2, &(vis->global.ellipsoidinertia), "Box\nEllipsoid"},
-    {mjITEM_RADIO,     "BVH active",      5, &(vis->global.bvactive), "False\nTrue"},
-    {mjITEM_SEPARATOR, "Map",  1},
-    {mjITEM_EDITFLOAT, "Stiffness",       2, &(vis->map.stiffness),        "1"},
-    {mjITEM_EDITFLOAT, "Rot stiffness",   2, &(vis->map.stiffnessrot),     "1"},
-    {mjITEM_EDITFLOAT, "Force",           2, &(vis->map.force),            "1"},
-    {mjITEM_EDITFLOAT, "Torque",          2, &(vis->map.torque),           "1"},
-    {mjITEM_EDITFLOAT, "Alpha",           2, &(vis->map.alpha),            "1"},
-    {mjITEM_EDITFLOAT, "Fog start",       2, &(vis->map.fogstart),         "1"},
-    {mjITEM_EDITFLOAT, "Fog end",         2, &(vis->map.fogend),           "1"},
-    {mjITEM_EDITFLOAT, "Z near",          2, &(vis->map.znear),            "1"},
-    {mjITEM_EDITFLOAT, "Z far",           2, &(vis->map.zfar),             "1"},
-    {mjITEM_EDITFLOAT, "Haze",            2, &(vis->map.haze),             "1"},
-    {mjITEM_EDITFLOAT, "Shadow clip",     2, &(vis->map.shadowclip),       "1"},
-    {mjITEM_EDITFLOAT, "Shadow scale",    2, &(vis->map.shadowscale),      "1"},
-    {mjITEM_SEPARATOR, "Scale", mjPRESERVE},
-    {mjITEM_EDITNUM,   "All (meansize)",  2, &(stat->meansize),            "1"},
-    {mjITEM_EDITFLOAT, "Force width",     2, &(vis->scale.forcewidth),     "1"},
-    {mjITEM_EDITFLOAT, "Contact width",   2, &(vis->scale.contactwidth),   "1"},
-    {mjITEM_EDITFLOAT, "Contact height",  2, &(vis->scale.contactheight),  "1"},
-    {mjITEM_EDITFLOAT, "Connect",         2, &(vis->scale.connect),        "1"},
-    {mjITEM_EDITFLOAT, "Com",             2, &(vis->scale.com),            "1"},
-    {mjITEM_EDITFLOAT, "Camera",          2, &(vis->scale.camera),         "1"},
-    {mjITEM_EDITFLOAT, "Light",           2, &(vis->scale.light),          "1"},
-    {mjITEM_EDITFLOAT, "Select point",    2, &(vis->scale.selectpoint),    "1"},
-    {mjITEM_EDITFLOAT, "Joint length",    2, &(vis->scale.jointlength),    "1"},
-    {mjITEM_EDITFLOAT, "Joint width",     2, &(vis->scale.jointwidth),     "1"},
-    {mjITEM_EDITFLOAT, "Actuator length", 2, &(vis->scale.actuatorlength), "1"},
-    {mjITEM_EDITFLOAT, "Actuator width",  2, &(vis->scale.actuatorwidth),  "1"},
-    {mjITEM_EDITFLOAT, "Frame length",    2, &(vis->scale.framelength),    "1"},
-    {mjITEM_EDITFLOAT, "Frame width",     2, &(vis->scale.framewidth),     "1"},
-    {mjITEM_EDITFLOAT, "Constraint",      2, &(vis->scale.constraint),     "1"},
-    {mjITEM_EDITFLOAT, "Slider-crank",    2, &(vis->scale.slidercrank),    "1"},
-    {mjITEM_SEPARATOR, "RGBA", mjPRESERVE},
-    {mjITEM_EDITFLOAT, "fog",             2, &(vis->rgba.fog),              "4"},
-    {mjITEM_EDITFLOAT, "haze",            2, &(vis->rgba.haze),             "4"},
-    {mjITEM_EDITFLOAT, "force",           2, &(vis->rgba.force),            "4"},
-    {mjITEM_EDITFLOAT, "inertia",         2, &(vis->rgba.inertia),          "4"},
-    {mjITEM_EDITFLOAT, "joint",           2, &(vis->rgba.joint),            "4"},
-    {mjITEM_EDITFLOAT, "actuator",        2, &(vis->rgba.actuator),         "4"},
-    {mjITEM_EDITFLOAT, "actnegative",     2, &(vis->rgba.actuatornegative), "4"},
-    {mjITEM_EDITFLOAT, "actpositive",     2, &(vis->rgba.actuatorpositive), "4"},
-    {mjITEM_EDITFLOAT, "com",             2, &(vis->rgba.com),              "4"},
-    {mjITEM_EDITFLOAT, "camera",          2, &(vis->rgba.camera),           "4"},
-    {mjITEM_EDITFLOAT, "light",           2, &(vis->rgba.light),            "4"},
-    {mjITEM_EDITFLOAT, "selectpoint",     2, &(vis->rgba.selectpoint),      "4"},
-    {mjITEM_EDITFLOAT, "connect",         2, &(vis->rgba.connect),          "4"},
-    {mjITEM_EDITFLOAT, "contactpoint",    2, &(vis->rgba.contactpoint),     "4"},
-    {mjITEM_EDITFLOAT, "contactforce",    2, &(vis->rgba.contactforce),     "4"},
-    {mjITEM_EDITFLOAT, "contactfriction", 2, &(vis->rgba.contactfriction),  "4"},
-    {mjITEM_EDITFLOAT, "contacttorque",   2, &(vis->rgba.contacttorque),    "4"},
-    {mjITEM_EDITFLOAT, "contactgap",      2, &(vis->rgba.contactgap),       "4"},
-    {mjITEM_EDITFLOAT, "rangefinder",     2, &(vis->rgba.rangefinder),      "4"},
-    {mjITEM_EDITFLOAT, "constraint",      2, &(vis->rgba.constraint),       "4"},
-    {mjITEM_EDITFLOAT, "slidercrank",     2, &(vis->rgba.slidercrank),      "4"},
-    {mjITEM_EDITFLOAT, "crankbroken",     2, &(vis->rgba.crankbroken),      "4"},
-    {mjITEM_EDITFLOAT, "frustum",         2, &(vis->rgba.frustum),          "4"},
-    {mjITEM_EDITFLOAT, "bv",              2, &(vis->rgba.bv),               "4"},
-    {mjITEM_EDITFLOAT, "bvactive",        2, &(vis->rgba.bvactive),         "4"},
-    {mjITEM_END}
-  };
-
-  // add visualization section
-  mjui_add(&sim->ui0, defVisualization);
-}
-
-// make group section of UI
-void MakeGroupSection(mj::Simulate* sim) {
-  mjuiDef defGroup[] = {
-    {mjITEM_SECTION,    "Group enable",     mjPRESERVE, nullptr,            "AG"},
-    {mjITEM_SEPARATOR,  "Geom groups",  1},
-    {mjITEM_CHECKBYTE,  "Geom 0",           2, sim->opt.geomgroup,          " 0"},
-    {mjITEM_CHECKBYTE,  "Geom 1",           2, sim->opt.geomgroup+1,        " 1"},
-    {mjITEM_CHECKBYTE,  "Geom 2",           2, sim->opt.geomgroup+2,        " 2"},
-    {mjITEM_CHECKBYTE,  "Geom 3",           2, sim->opt.geomgroup+3,        " 3"},
-    {mjITEM_CHECKBYTE,  "Geom 4",           2, sim->opt.geomgroup+4,        " 4"},
-    {mjITEM_CHECKBYTE,  "Geom 5",           2, sim->opt.geomgroup+5,        " 5"},
-    {mjITEM_SEPARATOR,  "Site groups",  1},
-    {mjITEM_CHECKBYTE,  "Site 0",           2, sim->opt.sitegroup,          "S0"},
-    {mjITEM_CHECKBYTE,  "Site 1",           2, sim->opt.sitegroup+1,        "S1"},
-    {mjITEM_CHECKBYTE,  "Site 2",           2, sim->opt.sitegroup+2,        "S2"},
-    {mjITEM_CHECKBYTE,  "Site 3",           2, sim->opt.sitegroup+3,        "S3"},
-    {mjITEM_CHECKBYTE,  "Site 4",           2, sim->opt.sitegroup+4,        "S4"},
-    {mjITEM_CHECKBYTE,  "Site 5",           2, sim->opt.sitegroup+5,        "S5"},
-    {mjITEM_SEPARATOR,  "Joint groups", 1},
-    {mjITEM_CHECKBYTE,  "Joint 0",          2, sim->opt.jointgroup,         ""},
-    {mjITEM_CHECKBYTE,  "Joint 1",          2, sim->opt.jointgroup+1,       ""},
-    {mjITEM_CHECKBYTE,  "Joint 2",          2, sim->opt.jointgroup+2,       ""},
-    {mjITEM_CHECKBYTE,  "Joint 3",          2, sim->opt.jointgroup+3,       ""},
-    {mjITEM_CHECKBYTE,  "Joint 4",          2, sim->opt.jointgroup+4,       ""},
-    {mjITEM_CHECKBYTE,  "Joint 5",          2, sim->opt.jointgroup+5,       ""},
-    {mjITEM_SEPARATOR,  "Tendon groups",    1},
-    {mjITEM_CHECKBYTE,  "Tendon 0",         2, sim->opt.tendongroup,        ""},
-    {mjITEM_CHECKBYTE,  "Tendon 1",         2, sim->opt.tendongroup+1,      ""},
-    {mjITEM_CHECKBYTE,  "Tendon 2",         2, sim->opt.tendongroup+2,      ""},
-    {mjITEM_CHECKBYTE,  "Tendon 3",         2, sim->opt.tendongroup+3,      ""},
-    {mjITEM_CHECKBYTE,  "Tendon 4",         2, sim->opt.tendongroup+4,      ""},
-    {mjITEM_CHECKBYTE,  "Tendon 5",         2, sim->opt.tendongroup+5,      ""},
-    {mjITEM_SEPARATOR,  "Actuator groups", 1},
-    {mjITEM_CHECKBYTE,  "Actuator 0",       2, sim->opt.actuatorgroup,      ""},
-    {mjITEM_CHECKBYTE,  "Actuator 1",       2, sim->opt.actuatorgroup+1,    ""},
-    {mjITEM_CHECKBYTE,  "Actuator 2",       2, sim->opt.actuatorgroup+2,    ""},
-    {mjITEM_CHECKBYTE,  "Actuator 3",       2, sim->opt.actuatorgroup+3,    ""},
-    {mjITEM_CHECKBYTE,  "Actuator 4",       2, sim->opt.actuatorgroup+4,    ""},
-    {mjITEM_CHECKBYTE,  "Actuator 5",       2, sim->opt.actuatorgroup+5,    ""},
-    {mjITEM_SEPARATOR,  "Flex groups", 1},
-    {mjITEM_CHECKBYTE,  "Flex 0",           2, sim->opt.flexgroup,          ""},
-    {mjITEM_CHECKBYTE,  "Flex 1",           2, sim->opt.flexgroup+1,        ""},
-    {mjITEM_CHECKBYTE,  "Flex 2",           2, sim->opt.flexgroup+2,        ""},
-    {mjITEM_CHECKBYTE,  "Flex 3",           2, sim->opt.flexgroup+3,        ""},
-    {mjITEM_CHECKBYTE,  "Flex 4",           2, sim->opt.flexgroup+4,        ""},
-    {mjITEM_CHECKBYTE,  "Flex 5",           2, sim->opt.flexgroup+5,        ""},
-    {mjITEM_SEPARATOR,  "Skin groups", 1},
-    {mjITEM_CHECKBYTE,  "Skin 0",           2, sim->opt.skingroup,          ""},
-    {mjITEM_CHECKBYTE,  "Skin 1",           2, sim->opt.skingroup+1,        ""},
-    {mjITEM_CHECKBYTE,  "Skin 2",           2, sim->opt.skingroup+2,        ""},
-    {mjITEM_CHECKBYTE,  "Skin 3",           2, sim->opt.skingroup+3,        ""},
-    {mjITEM_CHECKBYTE,  "Skin 4",           2, sim->opt.skingroup+4,        ""},
-    {mjITEM_CHECKBYTE,  "Skin 5",           2, sim->opt.skingroup+5,        ""},
-    {mjITEM_END}
-  };
-
-  // add section
-  mjui_add(&sim->ui0, defGroup);
-}
-
-// make logging section of UI
-void MakeLoggingSection(mj::Simulate* sim) {
-  mjLogConfig cfg = mju_getLogConfig();
-  sim->log_console = cfg.logto_console;
-  sim->log_file = cfg.logto_file;
-  for (int i = 0; i < mjNTOPIC; i++) {
-    sim->log_topics[i] = ((cfg.topics & (1 << i)) != 0);
-  }
-
-  mjuiDef defLogging[] = {
-    {mjITEM_SECTION,    "Logging",          mjPRESERVE, nullptr,            "AL"},
-    {mjITEM_CHECKBYTE,  "Console",          2, &sim->log_console,           ""},
-    {mjITEM_CHECKBYTE,  "File",             2, &sim->log_file,              ""},
-    {mjITEM_SEPARATOR,  "Info topics",      1},
-    {mjITEM_END}
-  };
-  mjui_add(&sim->ui0, defLogging);
-
-  mjuiDef defTopic[] = {
-    {mjITEM_CHECKBYTE,  "",                 2, nullptr,                     ""},
-    {mjITEM_END}
-  };
-  for (int i = 0; i < mjNTOPIC; i++) {
-    mju::strcpy_arr(defTopic[0].name, mjTOPICSTRING[i]);
-    defTopic[0].pdata = sim->log_topics + i;
-    mjui_add(&sim->ui0, defTopic);
-  }
-}
-
-// make joint section of UI
-void MakeJointSection(mj::Simulate* sim) {
-  mjuiDef defJoint[] = {
-    {mjITEM_SECTION, "Joint", mjPRESERVE, nullptr, "AJ"},
-    {mjITEM_END}
-  };
-  mjuiDef defSlider[] = {
-    {mjITEM_SLIDERNUM, "", 2, nullptr, "0 1"},
-    {mjITEM_END}
-  };
-
-  // add section
-  mjui_add(&sim->ui1, defJoint);
-  defSlider[0].state = 4;
-
-  // add scalar joints, exit if UI limit reached
-  int itemcnt = 0;
-  for (int i=0; i < sim->jnt_type_.size() && itemcnt<mjMAXUIITEM; i++) {
-    if ((sim->jnt_type_[i]==mjJNT_HINGE || sim->jnt_type_[i]==mjJNT_SLIDE)) {
-      // skip if joint group is disabled
-      if (!sim->opt.jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, sim->jnt_group_[i]))]) {
-        continue;
-      }
-
-      // set data and name
-      if (!sim->is_passive_) {
-        defSlider[0].pdata = &sim->d_->qpos[sim->m_->jnt_qposadr[i]];
-      } else {
-        defSlider[0].pdata = &sim->qpos_[sim->jnt_qposadr_[i]];
-      }
-      if (!sim->jnt_names_[i].empty()) {
-        mju::strcpy_arr(defSlider[0].name, sim->jnt_names_[i].c_str());
-      } else {
-        mju::sprintf_arr(defSlider[0].name, "joint %d", i);
-      }
-
-      // set range
-      if (sim->jnt_range_[i].has_value())
-        mju::sprintf_arr(defSlider[0].other, "%.17g %.17g",
-                         sim->jnt_range_[i]->first, sim->jnt_range_[i]->second);
-      else if (sim->jnt_type_[i]==mjJNT_SLIDE) {
-        mju::strcpy_arr(defSlider[0].other, "-1 1");
-      } else {
-        mju::strcpy_arr(defSlider[0].other, "-3.1416 3.1416");
-      }
-
-      // add and count
-      mjui_add(&sim->ui1, defSlider);
-      itemcnt++;
-    }
-  }
-}
-
-// make control section of UI
-void MakeControlSection(mj::Simulate* sim) {
-  mjuiDef defControl[] = {
-    {mjITEM_SECTION, "Control", mjPRESERVE, nullptr, "AC"},
-    {mjITEM_BUTTON,  "Clear all", 2},
-    {mjITEM_END}
-  };
-  mjuiDef defSlider[] = {
-    {mjITEM_SLIDERNUM, "", 2, nullptr, "0 1"},
-    {mjITEM_END}
-  };
-
-  // add section
-  mjui_add(&sim->ui1, defControl);
-
-  // add controls, exit if UI limit reached (Clear button already added)
-  int itemcnt = 1;
-  for (int i=0; i < sim->actuator_ctrlrange_.size() && itemcnt<mjMAXUIITEM; i++) {
-    // skip if actuator vis group is disabled
-    int group = sim->actuator_group_[i];
-    if (!sim->opt.actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, group))]) {
-      continue;
-    }
-    // grey out if actuator group is disabled
-    if (group >= 0 && group <= 30 && sim->m_->opt.disableactuator & (1 << group)) {
-      defSlider[0].state = 0;
-    } else {
-      defSlider[0].state = 2;
-    }
-
-    // set data and name
-    if (!sim->is_passive_) {
-      defSlider[0].pdata = &sim->d_->ctrl[i];
-    } else {
-      defSlider[0].pdata = &sim->ctrl_[i];
-    }
-    if (!sim->actuator_names_[i].empty()) {
-      mju::strcpy_arr(defSlider[0].name, sim->actuator_names_[i].c_str());
-    } else {
-      mju::sprintf_arr(defSlider[0].name, "control %d", i);
-    }
-
-    // set range
-    if (sim->actuator_ctrlrange_[i].has_value())
-      mju::sprintf_arr(defSlider[0].other, "%.17g %.17g",
-                       sim->actuator_ctrlrange_[i]->first, sim->actuator_ctrlrange_[i]->second);
-    else {
-      mju::strcpy_arr(defSlider[0].other, "-1 1");
-    }
-
-    // add and count
-    mjui_add(&sim->ui1, defSlider);
-    itemcnt++;
-  }
-}
-
-// make equality section of UI
-void MakeEqualitySection(mj::Simulate* sim) {
-  mjuiDef defEquality[] = {
-    {mjITEM_SECTION, "Equality", mjPRESERVE, nullptr, "AE"},
-    {mjITEM_END}
-  };
-  mjuiDef defCheckBox[] = {
-    {mjITEM_CHECKBYTE, "", 2, nullptr, ""},
-    {mjITEM_END}
-  };
-
-  // add section
-  mjui_add(&sim->ui1, defEquality);
-
-  // add equalities, exit if UI limit reached
-  for (int i= 0; i < sim->m_->neq && i<mjMAXUIITEM; i++) {
-    // set data
-    defCheckBox[0].pdata = &sim->d_->eq_active[i];
-
-    // set name
-    if (!sim->equality_names_[i].empty()) {
-      mju::strcpy_arr(defCheckBox[0].name, sim->equality_names_[i].c_str());
-    } else {
-      mju::sprintf_arr(defCheckBox[0].name, "equality %d", i);
-    }
-
-    mjui_add(&sim->ui1, defCheckBox);
-  }
-}
-
-// make model-dependent UI sections
-void MakeUiSections(mj::Simulate* sim, const mjModel* m, const mjData* d) {
-  // clear model-dependent sections of UI
-  sim->ui0.nsect = SECT_PHYSICS;
-  sim->ui1.nsect = 0;
-
-  // make
-  MakePhysicsSection(sim);
-  MakeRenderingSection(sim, m);
-  MakeVisualizationSection(sim, m);
-  MakeGroupSection(sim);
-  MakeLoggingSection(sim);
-  MakeJointSection(sim);
-  MakeControlSection(sim);
-  MakeEqualitySection(sim);
-}
-
-//---------------------------------- utility functions ---------------------------------------------
-
-// align and scale view
-void AlignAndScaleView(mj::Simulate* sim, const mjModel* m) {
-  // if the id is valid, use the initial fixed camera
-  if (m->vis.global.cameraid >= 0 && m->vis.global.cameraid < m->ncam) {
-    sim->cam.fixedcamid = m->vis.global.cameraid;
-    sim->cam.type = mjCAMERA_FIXED;
-  }
-
-  // otherwise use default free camera
-  else {
-    mjv_defaultFreeCamera(m, &sim->cam);
-  }
-}
-
-
-// copy state to clipboard as key
-void CopyKey(mj::Simulate* sim, const mjModel* m, const mjData* d, bool fp) {
-  char clipboard[5000] = "<key\n";
-  char buf[200];
-  const char p_regular[] = "%g";
-  const char p_full[] = "%-22.16g";
-  const char* format = fp ? p_full : p_regular;
-
-  // time
-  mju::strcat_arr(clipboard, "  time=\"");
-  mju::sprintf_arr(buf, format, d->time);
-  mju::strcat_arr(clipboard, buf);
-
-  // qpos
-  mju::strcat_arr(clipboard, "\"\n  qpos=\"");
-  for (int i = 0; i < m->nq; i++) {
-    mju::sprintf_arr(buf, format, d->qpos[i]);
-    if (i < m->nq-1) mju::strcat_arr(buf, " ");
-    mju::strcat_arr(clipboard, buf);
-  }
-
-  // qvel
-  mju::strcat_arr(clipboard, "\"\n  qvel=\"");
-  for (int i = 0; i < m->nv; i++) {
-    mju::sprintf_arr(buf, format, d->qvel[i]);
-    if (i < m->nv-1) mju::strcat_arr(buf, " ");
-    mju::strcat_arr(clipboard, buf);
-  }
-
-  // act
-  if (m->na > 0) {
-    mju::strcat_arr(clipboard, "\"\n  act=\"");
-    for (int i = 0; i < m->na; i++) {
-      mju::sprintf_arr(buf, format, d->act[i]);
-      if (i < m->na-1) mju::strcat_arr(buf, " ");
-      mju::strcat_arr(clipboard, buf);
-    }
-  }
-
-  // ctrl
-  if (m->nu > 0) {
-    mju::strcat_arr(clipboard, "\"\n  ctrl=\"");
-    for (int i = 0; i < m->nu; i++) {
-      mju::sprintf_arr(buf, format, d->ctrl[i]);
-      if (i < m->nu-1) mju::strcat_arr(buf, " ");
-      mju::strcat_arr(clipboard, buf);
-    }
-  }
-
-  if (m->nmocap > 0) {
-    // mocap_pos
-    mju::strcat_arr(clipboard, "\"\n  mpos=\"");
-    for (int i = 0; i < 3*m->nmocap; i++) {
-      mju::sprintf_arr(buf, format, d->mocap_pos[i]);
-      if (i < 3*m->nmocap-1) mju::strcat_arr(buf, " ");
-      mju::strcat_arr(clipboard, buf);
-    }
-
-    // mocap_quat
-    mju::strcat_arr(clipboard, "\"\n  mquat=\"");
-    for (int i = 0; i < 4*m->nmocap; i++) {
-      mju::sprintf_arr(buf, format, d->mocap_quat[i]);
-      if (i < 4*m->nmocap-1) mju::strcat_arr(buf, " ");
-      mju::strcat_arr(clipboard, buf);
-    }
-  }
-
-  mju::strcat_arr(clipboard, "\"\n/>");
-
-  // copy to clipboard
-  sim->platform_ui->SetClipboardString(clipboard);
-}
-
-// millisecond timer, for MuJoCo built-in profiler
-mjtNum Timer() {
-  static auto start = mj::Simulate::Clock::now();
-  auto elapsed = Milliseconds(mj::Simulate::Clock::now() - start);
-  return elapsed.count();
-}
-
-// copy current camera to clipboard as MJCF specification
-void CopyCamera(mj::Simulate* sim) {
-  mjvGLCamera* camera = sim->scn.camera;
-
-  char clipboard[500];
-  mjtNum cam_right[3];
-  mjtNum cam_forward[3];
-  mjtNum cam_up[3];
-
-  // get camera spec from the GLCamera
-  mju_f2n(cam_forward, camera[0].forward, 3);
-  mju_f2n(cam_up, camera[0].up, 3);
-  mju_cross(cam_right, cam_forward, cam_up);
-
-  // make MJCF camera spec
-  mju::sprintf_arr(clipboard,
-                   "<camera pos=\"%.3f %.3f %.3f\" xyaxes=\"%.3f %.3f %.3f %.3f %.3f %.3f\"/>\n",
-                   (camera[0].pos[0] + camera[1].pos[0]) / 2,
-                   (camera[0].pos[1] + camera[1].pos[1]) / 2,
-                   (camera[0].pos[2] + camera[1].pos[2]) / 2,
-                   cam_right[0], cam_right[1], cam_right[2],
-                   camera[0].up[0], camera[0].up[1], camera[0].up[2]);
-
-  // copy spec into clipboard
-  sim->platform_ui->SetClipboardString(clipboard);
-}
-
-// update UI 0 when MuJoCo structures change (except for joint sliders)
-void UpdateSettings(mj::Simulate* sim, const mjModel* m) {
-  // physics flags
-  for (int i=0; i<mjNDISABLE; i++) {
-    int new_value = ((m->opt.disableflags & (1<<i)) != 0);
-    if (sim->disable[i] != new_value) {
-      sim->disable[i] = new_value;
-      sim->pending_.ui_update_physics = true;
-    }
-  }
-  for (int i=0; i<mjNENABLE; i++) {
-    int new_value = ((m->opt.enableflags & (1<<i)) != 0);
-    if (sim->enable[i] != new_value) {
-      sim->enable[i] = new_value;
-      sim->pending_.ui_update_physics = true;
-    }
-  }
-  for (int i=0; i<mjNGROUP; i++) {
-    int enabled = ((m->opt.disableactuator & (1<<i)) == 0);
-    if (sim->enableactuator[i] != enabled) {
-      sim->enableactuator[i] = enabled;
-      sim->pending_.ui_update_physics = true;
-      sim->pending_.ui_remake_ctrl = true;
-    }
-  }
-
-  // camera
-  int old_camera = sim->camera;
-  if (sim->cam.type==mjCAMERA_FIXED) {
-    sim->camera = 2 + sim->cam.fixedcamid;
-  } else if (sim->cam.type==mjCAMERA_TRACKING) {
-    sim->camera = 1;
-  } else {
-    sim->camera = 0;
-  }
-  if (old_camera != sim->camera) {
-    sim->pending_.ui_update_rendering = true;
-  }
-
-  // logging flags
-  mjLogConfig cfg = mju_getLogConfig();
-  bool logging_changed = false;
-  if (sim->log_console != cfg.logto_console) {
-    sim->log_console = cfg.logto_console;
-    logging_changed = true;
-  }
-  if (sim->log_file != cfg.logto_file) {
-    sim->log_file = cfg.logto_file;
-    logging_changed = true;
-  }
-  for (int i = 0; i < mjNTOPIC; i++) {
-    int enabled = ((cfg.topics & (1 << i)) != 0);
-    if (sim->log_topics[i] != enabled) {
-      sim->log_topics[i] = enabled;
-      logging_changed = true;
-    }
-  }
-  if (logging_changed) {
-    sim->pending_.ui_update_logging = true;
-  }
-}
-
-// Compute suitable font scale.
-int ComputeFontScale(const mj::PlatformUIAdapter& platform_ui) {
-  // compute framebuffer-to-window ratio
-  auto [buf_width, buf_height] = platform_ui.GetFramebufferSize();
-  auto [win_width, win_height] = platform_ui.GetWindowSize();
-  double b2w = static_cast<double>(buf_width) / win_width;
-
-  // compute PPI
-  double PPI = b2w * platform_ui.GetDisplayPixelsPerInch();
-
-  // estimate font scaling, guard against unrealistic PPI
-  int fs;
-  if (buf_width > win_width) {
-    fs = mju_round(b2w * 100);
-  } else if (PPI>50 && PPI<350) {
-    fs = mju_round(PPI);
-  } else {
-    fs = 150;
-  }
-  fs = mju_round(fs * 0.02) * 50;
-  fs = mjMIN(300, mjMAX(100, fs));
-
-  return fs;
-}
-
-
-//---------------------------------- UI handlers ---------------------------------------------------
-
-// determine enable/disable item state given category
-int UiPredicate(int category, void* userdata) {
-  mj::Simulate* sim = static_cast<mj::Simulate*>(userdata);
-
-  switch (category) {
-  case 2:                 // require model
-    return sim->m_ || sim->is_passive_;
-
-  case 3:                 // require model and nkey
-    return (sim->m_ || sim->is_passive_) && sim->nkey_;
-
-  case 4:                 // require model and paused
-    return sim->m_ && !sim->run;
-
-  case 5:                 // require model and fully managed mode
-    return !sim->is_passive_ && sim->m_;
-
-  default:
-    return 1;
-  }
-}
-
-// set window layout
-void UiLayout(mjuiState* state) {
-  mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
-  mjrRect* rect = state->rect;
-
-  // set number of rectangles
-  state->nrect = 4;
-
-  // rect 1: UI 0
-  rect[1].left = 0;
-  rect[1].width = sim->ui0_enable ? sim->ui0.width : 0;
-  rect[1].bottom = 0;
-  rect[1].height = rect[0].height;
-
-  // rect 2: UI 1
-  rect[2].width = sim->ui1_enable ? sim->ui1.width : 0;
-  rect[2].left = mjMAX(0, rect[0].width - rect[2].width);
-  rect[2].bottom = 0;
-  rect[2].height = rect[0].height;
-
-  // rect 3: 3D plot (everything else is an overlay)
-  rect[3].left = rect[1].width;
-  rect[3].width = mjMAX(0, rect[0].width - rect[1].width - rect[2].width);
-  rect[3].bottom = 0;
-  rect[3].height = rect[0].height;
-}
-
-// modify UI
-void UiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
-  mjui_resize(ui, con);
-
-  // remake aux buffer only if missing or different
-  int id = ui->auxid;
-  if (con->auxFBO[id] == 0 ||
-      con->auxFBO_r[id] == 0 ||
-      con->auxColor[id] == 0 ||
-      con->auxColor_r[id] == 0 ||
-      con->auxWidth[id] != ui->width ||
-      con->auxHeight[id] != ui->maxheight ||
-      con->auxSamples[id] != ui->spacing.samples) {
-    mjr_addAux(id, ui->width, ui->maxheight, ui->spacing.samples, con);
-  }
-
-  UiLayout(state);
-  mjui_update(-1, -1, ui, state, con);
-}
-
-// handle UI event
-void UiEvent(mjuiState* state) {
-  mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
-
-  // call UI 0 if event is directed to it
-  if ((state->dragrect==sim->ui0.rectid) ||
-      (state->dragrect==0 && state->mouserect==sim->ui0.rectid) ||
-      state->type==mjEVENT_KEY) {
-    // process UI event
-    mjuiItem* it = mjui_event(&sim->ui0, state, &sim->platform_ui->mjr_context());
-
-    // file section
-    if (it && it->sectionid==SECT_FILE) {
-      switch (it->itemid) {
-      case 0:             // Save xml
-        sim->pending_.save_xml = GetSavePath("mjmodel.xml");
-        break;
-
-      case 1:             // Save mjb
-        sim->pending_.save_mjb = GetSavePath("mjmodel.mjb");
-        break;
-
-      case 2:             // Print model
-        sim->pending_.print_model = GetSavePath("MJMODEL.TXT");
-        break;
-
-      case 3:             // Print data
-        sim->pending_.print_data = GetSavePath("MJDATA.TXT");
-        break;
-
-      case 4:             // Quit
-        sim->exitrequest.store(1);
-        break;
-
-      case 5:             // Screenshot
-        sim->screenshotrequest.store(true);
-        break;
-      }
-    }
-
-    // option section
-    else if (it && it->sectionid==SECT_OPTION) {
-      if (it->pdata == &sim->info) {
-        // clear load error/warning when toggling info panel
-        sim->load_error[0] = '\0';
-      }
-      if (it->pdata == &sim->spacing) {
-        sim->ui0.spacing = mjui_themeSpacing(sim->spacing);
-        sim->ui1.spacing = mjui_themeSpacing(sim->spacing);
-      } else if (it->pdata == &sim->color) {
-        sim->ui0.color = mjui_themeColor(sim->color);
-        sim->ui1.color = mjui_themeColor(sim->color);
-      } else if (it->pdata == &sim->font) {
-        mjr_changeFont(50*(sim->font+1), &sim->platform_ui->mjr_context());
-      } else if (it->pdata == &sim->fullscreen) {
-        sim->platform_ui->ToggleFullscreen();
-      } else if (it->pdata == &sim->vsync) {
-        sim->platform_ui->SetVSync(sim->vsync);
-      }
-
-      // modify UI
-      UiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
-      UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
-    }
-
-    // simulation section
-    else if (it && it->sectionid==SECT_SIMULATION) {
-      if (it->itemid == 0) {
-        // clear load error/warning when toggling play/pause
-        sim->load_error[0] = '\0';
-      }
-      switch (it->itemid) {
-      case 1:             // Threadpool
-        sim->pending_.update_threadpool = true;
-        break;
-      case 2:             // Reset
-        sim->pending_.reset = true;
-        break;
-
-      case 3:             // Reload
-        sim->uiloadrequest.fetch_add(1);
-        break;
-
-      case 4:             // Align
-        sim->pending_.align = true;
-        break;
-
-      case 5:             // Copy key
-        sim->pending_.copy_key = true;
-        sim->pending_.copy_key_full_precision = sim->platform_ui->IsShiftKeyPressed();
-        break;
-
-      case 6:             // Adjust key
-      case 7:             // Load key
-        sim->pending_.load_key = true;
-        break;
-
-      case 8:             // Save key
-        sim->pending_.save_key = true;
-        break;
-
-      case 12:            // History scrubber
-        sim->run = 0;
-        sim->pending_.load_from_history = true;
-        mjui0_update_section(sim, SECT_SIMULATION);
-        break;
-      }
-    }
-
-    // physics section
-    else if (it && it->sectionid==SECT_PHYSICS && sim->m_) {
-      mjOption* opt = sim->is_passive_ ? &sim->m_passive_->opt : &sim->m_->opt;
-
-      // update disable flags in mjOption
-      opt->disableflags = 0;
-      for (int i=0; i<mjNDISABLE; i++) {
-        if (sim->disable[i]) {
-          opt->disableflags |= (1<<i);
-        }
-      }
-
-      // update enable flags in mjOption
-      opt->enableflags = 0;
-      for (int i=0; i<mjNENABLE; i++) {
-        if (sim->enable[i]) {
-          opt->enableflags |= (1<<i);
-        }
-      }
-
-      // update disableactuator bitflag in mjOption
-      bool group_changed = false;
-      for (int i=0; i<mjNGROUP; i++) {
-        if ((!sim->enableactuator[i]) != (opt->disableactuator & (1<<i))) {
-          group_changed = true;
-          if (!sim->enableactuator[i]) {
-            // disable actuator group i
-            opt->disableactuator |= (1<<i);
-          } else {
-            // enable actuator group i
-            opt->disableactuator &= ~(1<<i);
-          }
-        }
-      }
-
-      // remake control section if actuator disable group changed
-      if (group_changed) {
-        sim->pending_.ui_remake_ctrl = true;
-      }
-    }
-
-    // rendering section
-    else if (it && it->sectionid==SECT_RENDERING) {
-      // only update the camera when the camera itself changed
-      if (it->pdata == &sim->camera) {
-        if (sim->camera==0) {
-          sim->cam.type = mjCAMERA_FREE;
-        } else if (sim->camera==1) {
-          if (sim->pert.select>0) {
-            sim->cam.type = mjCAMERA_TRACKING;
-            sim->cam.trackbodyid = sim->pert.select;
-            sim->cam.fixedcamid = -1;
-          } else {
-            sim->cam.type = mjCAMERA_FREE;
-            sim->camera = 0;
-            mjui0_update_section(sim, SECT_RENDERING);
-          }
-        } else {
-          sim->cam.type = mjCAMERA_FIXED;
-          sim->cam.fixedcamid = sim->camera - 2;
-        }
-      }
-
-      // copy camera spec to clipboard (as MJCF element)
-      if (it->itemid == 3) {
-        CopyCamera(sim);
-      }
-    }
-
-    // visualization section
-    else if (it && it->sectionid==SECT_VISUALIZATION) {
-      if (!mju::strcmp_arr(it->name, "Align")) {
-        sim->pending_.align = true;
-      }
-    }
-
-    // group section
-    else if (it && it->sectionid==SECT_GROUP) {
-      // remake joint section if joint group changed
-      if (it->name[0]=='J' && it->name[1]=='o') {
-        sim->ui1.nsect = SECT_JOINT;
-        MakeJointSection(sim);
-        sim->ui1.nsect = NSECT1;
-        UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
-      }
-
-      // remake control section if actuator group changed
-      if (it->name[0]=='A' && it->name[1]=='c') {
-        sim->pending_.ui_remake_ctrl = true;
-      }
-    }
-
-    // logging section
-    else if (it && it->sectionid==SECT_LOGGING) {
-      mjLogConfig cfg = mju_getLogConfig();
-      cfg.logto_console = sim->log_console;
-      cfg.logto_file = sim->log_file;
-      cfg.topics = 0;
-      for (int i = 0; i < mjNTOPIC; i++) {
-        if (sim->log_topics[i]) {
-          cfg.topics |= (1 << i);
-        }
-      }
-      mju_setLogConfig(cfg);
-    }
-
-    // stop if UI processed event
-    if (it!=nullptr || (state->type==mjEVENT_KEY && state->key==0)) {
-      return;
-    }
-  }
-
-  // call UI 1 if event is directed to it
-  if ((state->dragrect==sim->ui1.rectid) ||
-      (state->dragrect==0 && state->mouserect==sim->ui1.rectid) ||
-      state->type==mjEVENT_KEY) {
-    // process UI event
-    mjuiItem* it = mjui_event(&sim->ui1, state, &sim->platform_ui->mjr_context());
-
-    // control section
-    if (it && it->sectionid==SECT_CONTROL) {
-      // clear controls
-      if (it->itemid==0) {
-        sim->pending_.zero_ctrl = true;
-      }
-    }
-
-    // stop if UI processed event
-    if (it!=nullptr || (state->type==mjEVENT_KEY && state->key==0)) {
-      return;
-    }
-  }
-
-  // shortcut not handled by UI
-  if (state->type==mjEVENT_KEY && state->key!=0) {
-    switch (state->key) {
-    case ' ':                   // Mode
-      if (!sim->is_passive_ && sim->m_) {
-        sim->run = 1 - sim->run;
-        sim->pert.active = 0;
-        sim->load_error[0] = '\0';
-
-        if (sim->run) sim->scrub_index = 0;  // reset scrubber
-
-        mjui0_update_section(sim, -1);
-      }
-      break;
-
-    case mjKEY_RIGHT:           // step forward
-      if (!sim->is_passive_ && sim->m_ && !sim->run) {
-        // currently in scrubber: increment scrub, load state, update slider UI
-        if (sim->scrub_index < 0) {
-          sim->scrub_index++;
-          sim->pending_.load_from_history = true;
-          mjui0_update_section(sim, SECT_SIMULATION);
-        }
-
-        // not in scrubber: step, add to history buffer
-        else {
-          mj_step(sim->m_, sim->d_);
-          sim->AddToHistory();
-        }
-
-        UpdateProfiler(sim, sim->m_, sim->d_);
-        UpdateSensor(sim, sim->m_, sim->d_);
-        UpdateSettings(sim, sim->m_);
-      }
-      break;
-
-    case mjKEY_LEFT:           // step backward
-      if (!sim->is_passive_ && sim->m_) {
-        sim->run = 0;
-
-        // decrement scrub, load state
-        sim->scrub_index = mjMAX(sim->scrub_index - 1, 1 - sim->nhistory_);
-        sim->pending_.load_from_history = true;
-
-        // update slider UI, profiler, sensor
-        mjui0_update_section(sim, SECT_SIMULATION);
-        UpdateProfiler(sim, sim->m_, sim->d_);
-        UpdateSensor(sim, sim->m_, sim->d_);
-      }
-      break;
-
-    case mjKEY_PAGE_UP:         // select parent body
-      if ((sim->m_ || sim->is_passive_) && sim->pert.select > 0) {
-        sim->pert.select = sim->body_parentid_[sim->pert.select];
-        sim->pert.flexselect = -1;
-        sim->pert.skinselect = -1;
-
-        // stop perturbation if world reached
-        if (sim->pert.select<=0) {
-          sim->pert.active = 0;
-        }
-      }
-
-      break;
-
-    case ']':                   // cycle up fixed cameras
-      if ((sim->m_ || !sim->is_passive_) && sim->ncam_) {
-        sim->cam.type = mjCAMERA_FIXED;
-        // camera = {0 or 1} are reserved for the free and tracking cameras
-        if (sim->camera < 2 || sim->camera == 2 + sim->ncam_ - 1) {
-          sim->camera = 2;
-        } else {
-          sim->camera += 1;
-        }
-        sim->cam.fixedcamid = sim->camera - 2;
-        mjui0_update_section(sim, SECT_RENDERING);
-      }
-      break;
-
-    case '[':                   // cycle down fixed cameras
-      if ((sim->m_ || sim->is_passive_) && sim->ncam_) {
-        sim->cam.type = mjCAMERA_FIXED;
-        // camera = {0 or 1} are reserved for the free and tracking cameras
-        if (sim->camera <= 2) {
-          sim->camera = 2 + sim->ncam_-1;
-        } else {
-          sim->camera -= 1;
-        }
-        sim->cam.fixedcamid = sim->camera - 2;
-        mjui0_update_section(sim, SECT_RENDERING);
-      }
-      break;
-
-    case mjKEY_F6:                   // cycle frame visualisation
-      if (sim->m_ || sim->is_passive_) {
-        sim->opt.frame = (sim->opt.frame + 1) % mjNFRAME;
-        mjui0_update_section(sim, SECT_RENDERING);
-      }
-      break;
-
-    case mjKEY_F7:                   // cycle label visualisation
-      if (sim->m_ || sim->is_passive_) {
-        sim->opt.label = (sim->opt.label + 1) % mjNLABEL;
-        mjui0_update_section(sim, SECT_RENDERING);
-      }
-      break;
-
-    case mjKEY_ESCAPE:          // free camera
-      sim->cam.type = mjCAMERA_FREE;
-      sim->camera = 0;
-      mjui0_update_section(sim, SECT_RENDERING);
-      break;
-
-    case '-':                   // slow down
-      if (!sim->is_passive_) {
-        int numclicks = sizeof(sim->percentRealTime) / sizeof(sim->percentRealTime[0]);
-        if (sim->real_time_index < numclicks-1 && !state->shift) {
-          sim->real_time_index++;
-          sim->speed_changed = true;
-        }
-      }
-      break;
-
-    case '=':                   // speed up
-      if (!sim->is_passive_ && sim->real_time_index > 0 && !state->shift) {
-        sim->real_time_index--;
-        sim->speed_changed = true;
-      }
-      break;
-
-    case mjKEY_TAB:             // toggle left/right UI
-      if (!state->shift) {
-        // toggle left UI
-        sim->ui0_enable = !sim->ui0_enable;
-        UiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
-      } else {
-        // toggle right UI
-        sim->ui1_enable = !sim->ui1_enable;
-        UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
-      }
-      break;
-    }
-
-    return;
-  }
-
-  // local pointers used below
-  mjModel* model = sim->is_passive_ ? sim->m_passive_ : sim->m_;
-  mjData* data = sim->is_passive_ ? sim->d_passive_ : sim->d_;
-
-  // 3D scroll
-  if (state->type==mjEVENT_SCROLL && state->mouserect==3 && model) {
-    // emulate vertical mouse motion = 2% of window height
-    mjv_moveCamera(model, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->cam);
-    return;
-  }
-
-  // 3D press
-  if (state->type==mjEVENT_PRESS && state->mouserect==3) {
-    // set perturbation
-    int newperturb = 0;
-    if (state->control && sim->pert.select>0 && (sim->m_ || sim->is_passive_)) {
-      // right: translate;  left: rotate
-      if (state->right) {
-        newperturb = mjPERT_TRANSLATE;
-      } else if (state->left) {
-        newperturb = mjPERT_ROTATE;
-      }
-      if (newperturb && !sim->pert.active) {
-        sim->pending_.newperturb = newperturb;
-      }
-    }
-
-    // handle double-click
-    if (state->doubleclick && (sim->m_ || sim->is_passive_)) {
-      sim->pending_.select = true;
-      std::memcpy(&sim->pending_.select_state, state, sizeof(sim->pending_.select_state));
-
-      // stop perturbation on select
-      sim->pert.active = 0;
-      sim->pending_.newperturb = 0;
-    }
-
-    return;
-  }
-
-  // 3D release
-  if (state->type==mjEVENT_RELEASE && state->dragrect==3 && (sim->m_ || sim->is_passive_)) {
-    // stop perturbation
-    sim->pert.active = 0;
-    sim->pending_.newperturb = 0;
-    return;
-  }
-
-  // 3D move
-  if (state->type==mjEVENT_MOVE && state->dragrect==3 && (sim->m_ || sim->is_passive_)) {
-    // determine action based on mouse button
-    mjtMouse action;
-    if (state->right) {
-      action = state->shift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
-    } else if (state->left) {
-      action = state->shift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
-    } else {
-      action = mjMOUSE_ZOOM;
-    }
-
-    // move perturb or camera
-    mjrRect r = state->rect[3];
-    if (sim->pert.active) {
-      mjv_movePerturb(model, data, action, state->dx / r.height, -state->dy / r.height,
-                      &sim->scn, &sim->pert);
-    } else {
-      mjv_moveCamera(model, action, state->dx / r.height, -state->dy / r.height, &sim->cam);
-    }
-    return;
-  }
-
-  // Dropped files
-  if (state->type == mjEVENT_FILESDROP && state->dropcount > 0 && !sim->is_passive_) {
-    while (sim->droploadrequest.load()) {}
-    mju::strcpy_arr(sim->dropfilename, state->droppaths[0]);
-    sim->droploadrequest.store(true);
-    return;
-  }
-
-  // Redraw
-  if (state->type == mjEVENT_REDRAW) {
-    sim->Render();
-    return;
-  }
-}
-}  // namespace
-
-namespace mujoco {
-namespace mju = ::mujoco::sample_util;
-
-Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui,
-                   mjvCamera* cam, mjvOption* opt, mjvPerturb* pert,
-                   bool is_passive)
-    : is_passive_(is_passive),
-      cam(*cam),
-      opt(*opt),
-      pert(*pert),
-      platform_ui(std::move(platform_ui)),
-      uistate(this->platform_ui->state()) {
-  mjv_defaultScene(&scn);
-}
-
-
-//------------------------- Synchronize render and physics threads ---------------------------------
-
-// operations which require holding the mutex, prevents racing with physics thread
-void Simulate::Sync(bool state_only) {
-  MutexLock lock(this->mtx);
-
-  if (!m_) {
-    return;
-  }
-
-  if (this->exitrequest.load()) {
-    return;
-  }
-
-  bool update_profiler = this->profiler;
-  bool update_sensor = this->sensor;
-
-  for (int i = 0; i < m_->njnt; ++i) {
-    std::optional<std::pair<mjtNum, mjtNum>> range;
-    if (m_->jnt_limited[i]) {
-      range.emplace(m_->jnt_range[2*i], m_->jnt_range[2*i + 1]);
-    }
-    if (jnt_range_[i] != range) {
-      pending_.ui_update_joint = true;
-      jnt_range_[i].swap(range);
-    }
-  }
-
-  for (int i = 0; i < m_->nu; ++i) {
-    std::optional<std::pair<mjtNum, mjtNum>> range;
-    // a defined ctrlrange sets the slider range, even when ctrl is not clamped
-    if (m_->actuator_ctrlrange[2*i] < m_->actuator_ctrlrange[2*i + 1]) {
-      range.emplace(m_->actuator_ctrlrange[2*i], m_->actuator_ctrlrange[2*i + 1]);
-    }
-    if (actuator_ctrlrange_[i] != range) {
-      pending_.ui_remake_ctrl = true;
-      actuator_ctrlrange_[i].swap(range);
-    }
-  }
-
-  for (int i = 0; i < m_->nq; ++i) {
-    if (qpos_[i] != qpos_prev_[i]) {
-      d_->qpos[i] = qpos_[i];
-    } else {
-      qpos_[i] = d_->qpos[i];
-    }
-    if (qpos_prev_[i] != qpos_[i]) {
-      pending_.ui_update_joint = true;
-      qpos_prev_[i] = qpos_[i];
-    }
-  }
-
-  for (int i = 0; i < m_->nu; ++i) {
-    if (ctrl_[i] != ctrl_prev_[i]) {
-      d_->ctrl[i] = ctrl_[i];
-    } else {
-      ctrl_[i] = d_->ctrl[i];
-    }
-    if (ctrl_prev_[i] != ctrl_[i]) {
-      pending_.ui_update_ctrl = true;
-      ctrl_prev_[i] = ctrl_[i];
-    }
-  }
-
-  for (int i = 0; i < m_->neq; ++i) {
-    if (eq_active_[i] != eq_active_prev_[i]) {
-      d_->eq_active[i] = eq_active_[i];
-    } else {
-      eq_active_[i] = d_->eq_active[i];
-    }
-    if (eq_active_prev_[i] != eq_active_[i]) {
-      pending_.ui_update_equality = true;
-      eq_active_prev_[i] = eq_active_[i];
-    }
-  }
-
-  // in passive mode, synchronize user's mjModel with changes made via the UI
-  if (is_passive_) {
-    // synchronize mjModel.opt
-    if (std::memcmp(&m_passive_->opt, &mjopt_prev_, sizeof(mjOption))) {
-      pending_.ui_update_physics = true;
-      m_->opt = m_passive_->opt;
-    }
-
-    // synchronize mjModel.vis
-    if (std::memcmp(&m_passive_->vis, &mjvis_prev_, sizeof(mjVisual))) {
-      pending_.ui_update_visualization = true;
-      m_->vis = m_passive_->vis;
-    }
-
-    // synchronize mjModel.stat
-    if (std::memcmp(&m_passive_->stat, &mjstat_prev_, sizeof(mjStatistic))) {
-      pending_.ui_update_visualization = true;
-      m_->stat = m_passive_->stat;
-    }
-  }
-
-  if (pending_.save_xml) {
-    char err[200];
-    if (!pending_.save_xml->empty() && !mj_saveLastXML(pending_.save_xml->c_str(), m_, err, 200)) {
-      std::printf("Save XML error: %s", err);
-    }
-    pending_.save_xml = std::nullopt;
-  }
-
-  if (pending_.save_mjb) {
-    if (!pending_.save_mjb->empty()) {
-      mj_saveModel(m_, pending_.save_mjb->c_str(), nullptr, 0);
-    }
-    pending_.save_mjb = std::nullopt;
-  }
-
-  if (pending_.print_model) {
-    if (!pending_.print_model->empty()) {
-      mj_printModel(m_, pending_.print_model->c_str());
-    }
-    pending_.print_model = std::nullopt;
-  }
-
-  if (pending_.print_data) {
-    if (!pending_.print_data->empty()) {
-      mj_printData(m_, d_, pending_.print_data->c_str());
-    }
-    pending_.print_data = std::nullopt;
-  }
-
-  if (pending_.update_threadpool) {
-    mju_threadpool(d_, nthread);
-    pending_.update_threadpool = false;
-  }
-
-  if (pending_.reset) {
-    mj_resetData(m_, d_);
-    memset(timer_prev_, 0, sizeof(timer_prev_));
-    mj_forward(m_, d_);
-    load_error[0] = '\0';
-    update_profiler = true;
-    update_sensor = true;
-    scrub_index = 0;
-    pending_.ui_update_simulation = true;
-    pending_.reset = false;
-  }
-
-  if (pending_.align) {
-    AlignAndScaleView(this, m_);
-    pending_.align = false;
-  }
-
-  if (pending_.copy_key) {
-    CopyKey(this, m_, d_, pending_.copy_key_full_precision);
-    pending_.copy_key = false;
-    pending_.copy_key_full_precision = false;
-  }
-
-  if (pending_.load_from_history) {
-    LoadScrubState(this);
-    update_profiler = true;
-    update_sensor = true;
-    pending_.load_from_history = false;
-  }
-
-  if (pending_.load_key) {
-    mj_resetDataKeyframe(m_, d_, this->key);
-    mj_forward(m_, d_);
-    update_profiler = true;
-    update_sensor = true;
-    pending_.load_key = false;
-  }
-
-  if (pending_.save_key) {
-    mj_setKeyframe(m_, d_, this->key);
-    pending_.save_key = false;
-  }
-
-  if (pending_.zero_ctrl) {
-    mj_resetCtrl(m_, d_);
-    pending_.zero_ctrl = false;
-  }
-
-  // perturbation onset: reset reference
-  if (pending_.newperturb) {
-    mjv_initPerturb(m_, d_, &this->scn, &this->pert);
-    this->pert.active = pending_.newperturb;
-    pending_.newperturb = 0;
-  }
-
-  if (pending_.select) {
-    // determine selection mode
-    int selmode;
-    if (pending_.select_state.button==mjBUTTON_LEFT) {
-      selmode = 1;
-    } else if (pending_.select_state.control) {
-      selmode = 3;
-    } else {
-      selmode = 2;
-    }
-
-    // find geom and 3D click point, get corresponding body
-    mjrRect r = pending_.select_state.rect[3];
-    mjtNum selpnt[3];
-    int selgeom, selflex, selskin;
-    int selbody = mjv_select(m_, d_, &this->opt,
-                             static_cast<mjtNum>(r.width) / r.height,
-                             (pending_.select_state.x - r.left) / r.width,
-                             (pending_.select_state.y - r.bottom) / r.height,
-                             &this->scn, selpnt, &selgeom, &selflex, &selskin);
-
-    // set lookat point, start tracking is requested
-    if (selmode==2 || selmode==3) {
-      // copy selpnt if anything clicked
-      if (selbody>=0) {
-        mju_copy3(this->cam.lookat, selpnt);
-      }
-
-      // switch to tracking camera if dynamic body clicked
-      if (selmode==3 && selbody>0) {
-        // mujoco camera
-        this->cam.type = mjCAMERA_TRACKING;
-        this->cam.trackbodyid = selbody;
-        this->cam.fixedcamid = -1;
-
-        // UI camera
-        this->camera = 1;
-        pending_.ui_update_rendering = true;
-      }
-    }
-
-    // set body selection
-    else {
-      if (selbody>=0) {
-        // record selection
-        this->pert.select = selbody;
-        this->pert.flexselect = selflex;
-        this->pert.skinselect = selskin;
-
-        // compute localpos
-        mjtNum tmp[3];
-        mju_sub3(tmp, selpnt, d_->xpos + 3*this->pert.select);
-        mju_mulMatTVec(this->pert.localpos, d_->xmat + 9*this->pert.select, tmp, 3, 3);
-      } else {
-        this->pert.select = 0;
-        this->pert.flexselect = -1;
-        this->pert.skinselect = -1;
-      }
-    }
-    pending_.select = false;
-  }
-
-  // update scene or sync data from user in passive mode
-  if (!is_passive_) {
-    mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
-  } else {
-    if (state_only) {
-      int state_size = mj_stateSize(m_, mjSTATE_INTEGRATION);
-      mjtNum* state = new mjtNum[state_size];
-      mj_getState(m_, d_, state, mjSTATE_INTEGRATION);
-      mj_setState(m_passive_, d_passive_, state, mjSTATE_INTEGRATION);
-      mj_forward(m_passive_, d_passive_);
-      delete[] state;
-    } else {
-      mjv_copyModel(m_passive_, m_);
-      mjv_copyData(d_passive_, m_passive_, d_);
-    }
-
-    // append geoms from user_scn to scratch space
-    if (user_scn) {
-      user_scn_geoms_.clear();
-      user_scn_geoms_.reserve(user_scn->ngeom);
-      for (int i = 0; i < user_scn->ngeom; ++i) {
-        user_scn_geoms_.push_back(user_scn->geoms[i]);
-      }
-    }
-
-    // pick up rendering flags changed via user_scn
-    if (user_scn) {
-      for (int i = 0; i < mjNRNDFLAG; ++i) {
-        if (user_scn->flags[i] != user_scn_flags_prev_[i]) {
-          scn.flags[i] = user_scn->flags[i];
-          pending_.ui_update_rendering = true;
-        }
-      }
-      Copy(user_scn->flags, scn.flags);
-      Copy(user_scn_flags_prev_, user_scn->flags);
-    }
-
-    mjopt_prev_ = m_passive_->opt;
-    mjvis_prev_ = m_passive_->vis;
-    mjstat_prev_ = m_passive_->stat;
-  }
-
-  // update settings
-  UpdateSettings(this, m_);
-
-  // update watch
-  if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
-    UpdateWatch(this, m_, d_);
-  }
-
-  // update info text
-  if (this->info) {
-    UpdateInfoText(this, m_, d_, this->info_title, this->info_content);
-  }
-  if (update_profiler) { UpdateProfiler(this, m_, d_); }
-  if (update_sensor) {
-    UpdateSensor(this, m_, d_);
-
-    // check if image sensor selection changed in UI dropdown
-    int new_selected = this->image_sensor_ui_selection - 1;  // 0=None(-1), 1+=sensor
-    if (new_selected != this->selected_image_sensor) {
-      this->selected_image_sensor = new_selected;
-      InitializeSensorImage(this, m_);
-    }
-    UpdateSensorImage(this, m_, d_);
-  }
-
-  if (this->run || this->is_passive_) {
-    // clear old perturbations, apply new
-    mju_zero(d_->xfrc_applied, 6*m_->nbody);
-    mjv_applyPerturbPose(m_, d_, &this->pert, 0);  // mocap bodies only
-    mjv_applyPerturbForce(m_, d_, &this->pert);
-  } else {
-    mjv_applyPerturbPose(m_, d_, &this->pert, 1);  // mocap and dynamic bodies
-  }
-
-  for (int i = 0; i < mjNTIMER; i++) {
-    timer_prev_[i] = d_->timer[i];
-  }
-}
-
-//------------------------- Tell the render thread to load a file and wait -------------------------
-void Simulate::LoadMessage(const char* displayed_filename) {
-  mju::strcpy_arr(this->filename, displayed_filename);
-
-  {
-    MutexLock lock(mtx);
-    this->loadrequest = 3;
-  }
-}
-
-void Simulate::Load(mjModel* m, mjData* d, const char* displayed_filename) {
-  this->mnew_ = m;
-  this->dnew_ = d;
-  mju::strcpy_arr(this->filename, displayed_filename);
-
-  {
-    MutexLock lock(mtx);
-    this->loadrequest = 2;
-
-    // Wait for the render thread to be done loading
-    // so that we know the old model and data's memory can
-    // be free'd by the other thread (sometimes python)
-    cond_loadrequest.wait(lock, [this]() { return this->loadrequest == 0; });
-  }
-}
-
-void Simulate::LoadMessageClear(void) {
-  {
-    MutexLock lock(mtx);
-    this->loadrequest = 0;
-  }
-}
-
-
-
-//------------------------------------- load mjb or xml model --------------------------------------
-void Simulate::LoadOnRenderThread() {
-  this->m_ = this->mnew_;
-  this->d_ = this->dnew_;
-
-  ncam_ = this->m_->ncam;
-  nkey_ = this->m_->nkey;
-  body_parentid_.resize(this->m_->nbody);
-  std::memcpy(body_parentid_.data(), this->m_->body_parentid,
-              sizeof(this->m_->body_parentid[0]) * this->m_->nbody);
-
-  jnt_type_.resize(this->m_->njnt);
-  std::memcpy(jnt_type_.data(), this->m_->jnt_type,
-              sizeof(this->m_->jnt_type[0]) * this->m_->njnt);
-
-  jnt_group_.resize(this->m_->njnt);
-  std::memcpy(jnt_group_.data(), this->m_->jnt_group,
-              sizeof(this->m_->jnt_group[0]) * this->m_->njnt);
-
-  jnt_qposadr_.resize(this->m_->njnt);
-  std::memcpy(jnt_qposadr_.data(), this->m_->jnt_qposadr,
-              sizeof(this->m_->jnt_qposadr[0]) * this->m_->njnt);
-
-  jnt_range_.clear();
-  jnt_range_.reserve(this->m_->njnt);
-  for (int i = 0; i < this->m_->njnt; ++i) {
-    if (this->m_->jnt_limited[i]) {
-      jnt_range_.push_back(
-          std::make_pair(this->m_->jnt_range[2 * i], this->m_->jnt_range[2 * i + 1]));
-    } else {
-      jnt_range_.push_back(std::nullopt);
-    }
-  }
-
-  jnt_names_.clear();
-  jnt_names_.reserve(this->m_->njnt);
-  for (int i = 0; i < this->m_->njnt; ++i) {
-    const char* name = mj_id2name(this->m_, mjOBJ_JOINT, i);
-    jnt_names_.emplace_back(name ? name : "");
-  }
-
-  actuator_ctrlrange_.clear();
-  actuator_ctrlrange_.reserve(this->m_->nu);
-  for (int i = 0; i < this->m_->nu; ++i) {
-    // a defined ctrlrange sets the slider range, even when ctrl is not clamped
-    if (this->m_->actuator_ctrlrange[2 * i] < this->m_->actuator_ctrlrange[2 * i + 1]) {
-      actuator_ctrlrange_.push_back(std::make_pair(
-          this->m_->actuator_ctrlrange[2 * i], this->m_->actuator_ctrlrange[2 * i + 1]));
-    } else {
-      actuator_ctrlrange_.push_back(std::nullopt);
-    }
-  }
-
-  // per-control group and name; multi-input actuators suffix the input name
-  actuator_group_.resize(this->m_->nu);
-  actuator_names_.clear();
-  actuator_names_.reserve(this->m_->nu);
-  for (int i = 0; i < this->m_->nactuator; ++i) {
-    const char* actname = mj_id2name(this->m_, mjOBJ_ACTUATOR, i);
-    int ctrlnum = this->m_->actuator_ctrlnum[i];
-    for (int k = 0; k < ctrlnum; ++k) {
-      actuator_group_[this->m_->actuator_ctrladr[i] + k] = this->m_->actuator_group[i];
-      std::string name = actname ? actname : "";
-      if (ctrlnum > 1 && actname) {
-        const char* input_name = mj_actuatorInputName(this->m_, i, k);
-        name += '/';
-        name += input_name ? input_name : std::to_string(k);
-      }
-      actuator_names_.emplace_back(std::move(name));
-    }
-  }
-
-  equality_names_.clear();
-  equality_names_.reserve(this->m_->neq);
-  for (int i = 0; i < this->m_->neq; ++i) {
-    const char* name = mj_id2name(this->m_, mjOBJ_EQUALITY, i);
-    equality_names_.emplace_back(name ? name : "");
-  }
-
-  qpos_.resize(this->m_->nq);
-  std::memcpy(qpos_.data(), this->d_->qpos, sizeof(this->d_->qpos[0]) * this->m_->nq);
-  qpos_prev_ = qpos_;
-
-  ctrl_.resize(this->m_->nu);
-  std::memcpy(ctrl_.data(), this->d_->ctrl, sizeof(this->d_->ctrl[0]) * this->m_->nu);
-  ctrl_prev_ = ctrl_;
-
-  eq_active_.resize(this->m_->neq);
-  std::memcpy(eq_active_.data(), this->d_->eq_active, sizeof(this->d_->eq_active[0]) * this->m_->neq);
-  eq_active_prev_ = eq_active_;
-
-  // allocate history buffer: smaller of {2000 states, 100 MB}
-  if (!this->is_passive_) {
-    constexpr int kMaxHistoryBytes = 1e8;
-
-    // get state size, size of history buffer
-    state_size_ = mj_stateSize(this->m_, mjSTATE_INTEGRATION);
-    int state_bytes = state_size_ * sizeof(mjtNum);
-    int history_length = mjMIN(INT_MAX / state_bytes, 2000);
-    int history_bytes = mjMIN(state_bytes * history_length, kMaxHistoryBytes);
-    nhistory_ = history_bytes / state_bytes;
-
-    // allocate history buffer, reset cursor and UI slider
-    history_.clear();
-    history_.resize(nhistory_ * state_size_);
-    history_cursor_ = 0;
-    scrub_index = 0;
-
-    // fill buffer with initial state
-    mj_getState(this->m_, this->d_, history_.data(), mjSTATE_INTEGRATION);
-    for (int i = 1; i < nhistory_; ++i) {
-      mju_copy(&history_[i * state_size_], history_.data(), state_size_);
-    }
-  }
-
-  // re-create scene
-  mjv_makeScene(this->m_, &this->scn, kMaxGeom);
-
-  this->platform_ui->RefreshMjrContext(this->m_, 50*(this->font+1));
-  UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-  UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-
-  if (!this->platform_ui->IsGPUAccelerated()) {
-    this->scn.flags[mjRND_SHADOW] = 0;
-    this->scn.flags[mjRND_REFLECTION] = 0;
-  }
-
-  if (this->user_scn) {
-    Copy(this->user_scn->flags, this->scn.flags);
-    Copy(this->user_scn_flags_prev_, this->scn.flags);
-  }
-
-  // clear perturbation state
-  this->pert.active = 0;
-  this->pert.select = 0;
-  this->pert.flexselect = -1;
-  this->pert.skinselect = -1;
-
-  memset(timer_prev_, 0, sizeof(timer_prev_));
-
-  // align and scale view unless reloading the same file
-  if (this->filename[0] &&
-      mju::strcmp_arr(this->filename, this->previous_filename)) {
-    AlignAndScaleView(this, this->m_);
-    mju::strcpy_arr(this->previous_filename, this->filename);
-  }
-
-  // update scene in managed mode, in passive mode copy data from user (update in RenderLoop)
-  if (!is_passive_) {
-    mjv_updateScene(this->m_, this->d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
-  } else {
-    mjopt_prev_ = m_->opt;
-    opt_prev_ = opt;
-    cam_prev_ = cam;
-
-
-    // full copy on init
-    m_passive_ = mj_copyModel(nullptr, m_);
-    d_passive_ = mj_copyData(nullptr, m_passive_, d_);
-  }
-
-  // set window title to model name
-  if (this->m_->names) {
-    char title[200] = "MuJoCo : ";
-    mju::strcat_arr(title, this->m_->names);
-    platform_ui->SetWindowTitle(title);
-  }
-
-  // set keyframe range and divisions
-  this->ui0.sect[SECT_SIMULATION].item[6].slider.range[0] = 0;
-  this->ui0.sect[SECT_SIMULATION].item[6].slider.range[1] = mjMAX(0, this->m_->nkey - 1);
-  this->ui0.sect[SECT_SIMULATION].item[6].slider.divisions = mjMAX(1, this->m_->nkey - 1);
-
-  // set scrubber range and divisions
-  this->ui0.sect[SECT_SIMULATION].item[12].slider.range[0] = 1 - nhistory_;
-  this->ui0.sect[SECT_SIMULATION].item[12].slider.divisions = nhistory_;
-
-  // detect image sensors for visualization
-  DetectImageSensors(this, this->m_);
-
-  // rebuild UI sections
-  MakeUiSections(this, this->m_, this->d_);
-
-  // full ui update
-  UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-  UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-  UpdateSettings(this, this->m_);
-
-  // clear request
-  this->loadrequest = 0;
-  cond_loadrequest.notify_all();
-
-  // set real time index
-  int numclicks = sizeof(this->percentRealTime) / sizeof(this->percentRealTime[0]);
-  float min_error = 1e6;
-  float desired = mju_log(100*this->m_->vis.global.realtime);
-  for (int click=0; click<numclicks; click++) {
-    float error = mju_abs(mju_log(this->percentRealTime[click]) - desired);
-    if (error < min_error) {
-      min_error = error;
-      this->real_time_index = click;
-    }
-  }
-
-  this->mnew_ = nullptr;
-  this->dnew_ = nullptr;
-}
-
-
-//------------------------------------------- rendering --------------------------------------------
-
-// render the ui to the window
-void Simulate::Render() {
-  // update rendering context buffer size if required
-  if (this->platform_ui->EnsureContextSize()) {
-    UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-    UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-  }
-
-  // get 3D rectangle and reduced for profiler
-  mjrRect rect = this->uistate.rect[3];
-  mjrRect smallrect = rect;
-  if (this->profiler) {
-    smallrect.width = rect.width - rect.width/4;
-  }
-
-  // no model
-  if (!this->is_passive_ && !this->m_) {
-    // blank screen
-    mjr_rectangle(rect, 0.2f, 0.3f, 0.4f, 1);
-
-    // label
-    if (this->loadrequest) {
-      mjr_overlay(mjFONT_BIG, mjGRID_TOP, smallrect, "LOADING...", nullptr,
-                  &this->platform_ui->mjr_context());
-    } else {
-      char intro_message[Simulate::kMaxFilenameLength];
-      mju::sprintf_arr(intro_message,
-                       "MuJoCo version %s\nDrag-and-drop model file here", mj_versionString());
-      mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, intro_message, 0,
-                  &this->platform_ui->mjr_context());
-    }
-
-    // show last loading error
-    if (this->load_error[0]) {
-      mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->load_error, 0,
-                  &this->platform_ui->mjr_context());
-    }
-
-    // render uis
-    if (this->ui0_enable) {
-      mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-    }
-    if (this->ui1_enable) {
-      mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-    }
-
-    // finalize
-    this->platform_ui->SwapBuffers();
-
-    return;
-  }
-
-  // update UI sections from last sync
-  if (pending_.ui_update_simulation) {
-    if (this->ui0_enable && this->ui0.sect[SECT_SIMULATION].state) {
-      mjui0_update_section(this, SECT_SIMULATION);
-    }
-    pending_.ui_update_simulation = false;
-  }
-
-  if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
-    mjui0_update_section(this, SECT_WATCH);
-  }
-
-  if (pending_.ui_update_physics) {
-    if (this->ui0_enable && this->ui0.sect[SECT_PHYSICS].state) {
-      mjui0_update_section(this, SECT_PHYSICS);
-    }
-    pending_.ui_update_physics = false;
-  }
-
-  if (pending_.ui_update_visualization) {
-    if (this->ui0_enable && this->ui0.sect[SECT_VISUALIZATION].state) {
-      mjui0_update_section(this, SECT_VISUALIZATION);
-    }
-    pending_.ui_update_visualization = false;
-  }
-
-  if (pending_.ui_update_logging) {
-    if (this->ui0_enable && this->ui0.sect[SECT_LOGGING].state) {
-      mjui0_update_section(this, SECT_LOGGING);
-    }
-    pending_.ui_update_logging = false;
-  }
-
-  if (is_passive_) {
-    if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state &&
-        (cam_prev_.type != cam.type ||
-         cam_prev_.fixedcamid != cam.fixedcamid ||
-         cam_prev_.trackbodyid != cam.trackbodyid ||
-         opt_prev_.label != opt.label || opt_prev_.frame != opt.frame ||
-         IsDifferent(opt_prev_.flags, opt.flags))) {
-      pending_.ui_update_rendering = true;
-    }
-
-    if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state &&
-        (IsDifferent(opt_prev_.geomgroup, opt.geomgroup) ||
-         IsDifferent(opt_prev_.sitegroup, opt.sitegroup) ||
-         IsDifferent(opt_prev_.jointgroup, opt.jointgroup) ||
-         IsDifferent(opt_prev_.tendongroup, opt.tendongroup) ||
-         IsDifferent(opt_prev_.actuatorgroup, opt.actuatorgroup) ||
-         IsDifferent(opt_prev_.flexgroup, opt.flexgroup) ||
-         IsDifferent(opt_prev_.skingroup, opt.skingroup))) {
-      mjui0_update_section(this, SECT_GROUP);
-    }
-
-    opt_prev_ = opt;
-    cam_prev_ = cam;
-  }
-
-  if (pending_.ui_update_rendering) {
-    if (this->ui0_enable && this->ui0.sect[SECT_RENDERING].state) {
-      mjui0_update_section(this, SECT_RENDERING);
-    }
-    pending_.ui_update_rendering = false;
-  }
-
-  if (pending_.ui_update_joint) {
-    if (this->ui1_enable && this->ui1.sect[SECT_JOINT].state) {
-      mjui_update(SECT_JOINT, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-    }
-    pending_.ui_update_joint = false;
-  }
-
-  if (pending_.ui_remake_ctrl) {
-    if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
-      this->ui1.nsect = SECT_CONTROL;
-      MakeControlSection(this);
-      this->ui1.nsect = NSECT1;
-      UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-    }
-    pending_.ui_remake_ctrl = false;
-  }
-
-  if (pending_.ui_update_ctrl) {
-    if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
-      mjui_update(SECT_CONTROL, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-    }
-    pending_.ui_update_ctrl = false;
-  }
-
-  if (pending_.ui_update_equality) {
-    if (this->ui1_enable && this->ui1.sect[SECT_EQUALITY].state) {
-      mjui_update(SECT_EQUALITY, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-    }
-    pending_.ui_update_equality = false;
-  }
-
-  // render scene
-  mjr_render(rect, &this->scn, &this->platform_ui->mjr_context());
-
-  // show last loading error
-  if (this->load_error[0]) {
-    mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->load_error, 0,
-                &this->platform_ui->mjr_context());
-  }
-
-  // show pause/loading label
-  if (!this->run || this->loadrequest) {
-    char label[30] = {'\0'};
-    if (this->loadrequest) {
-      std::snprintf(label, sizeof(label), "LOADING...");
-    } else if (this->scrub_index == 0) {
-      std::snprintf(label, sizeof(label), "PAUSE");
-    } else {
-      std::snprintf(label, sizeof(label), "PAUSE (%d)", this->scrub_index);
-    }
-    mjr_overlay(mjFONT_BIG, mjGRID_TOP, smallrect, label, nullptr,
-                &this->platform_ui->mjr_context());
-  }
-
-  // get desired and actual percent-of-real-time
-  float desiredRealtime = this->percentRealTime[this->real_time_index];
-  float actualRealtime = 100 / this->measured_slowdown;
-
-  // if running, check for misalignment of more than 10%
-  float realtime_offset = mju_abs(actualRealtime - desiredRealtime);
-  bool misaligned = this->run && realtime_offset > 0.1 * desiredRealtime;
-
-  // make realtime overlay label
-  char rtlabel[30] = {'\0'};
-  if (desiredRealtime != 100.0 || misaligned) {
-    // print desired realtime
-    int labelsize = std::snprintf(rtlabel, sizeof(rtlabel), "%g%%", desiredRealtime);
-
-    // if misaligned, append to label
-    if (misaligned) {
-      std::snprintf(rtlabel+labelsize, sizeof(rtlabel)-labelsize, " (%-4.1f%%)", actualRealtime);
-    }
-  }
-
-  // show real-time overlay
-  if (rtlabel[0]) {
-    mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect, rtlabel, nullptr,
-                &this->platform_ui->mjr_context());
-  }
-
-  // show ui 0
-  if (this->ui0_enable) {
-    mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-  }
-
-  // show ui 1
-  if (this->ui1_enable) {
-    mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-  }
-
-  // show help
-  if (this->help) {
-    mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, help_title, help_content,
-                &this->platform_ui->mjr_context());
-  }
-
-  // show info
-  if (this->info) {
-    mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->info_title, this->info_content,
-                &this->platform_ui->mjr_context());
-  }
-
-  // show profiler
-  if (this->profiler) {
-    ShowProfiler(this, rect);
-  }
-
-  // show sensor
-  if (this->sensor) {
-    ShowSensor(this, smallrect);
-  }
-
-  // take screenshot, save to file
-  if (this->screenshotrequest.exchange(false)) {
-    const unsigned int h = uistate.rect[0].height;
-    const unsigned int w = uistate.rect[0].width;
-    std::unique_ptr<unsigned char[]> rgb(new unsigned char[3*w*h]);
-    if (!rgb) {
-      mju_error("could not allocate buffer for screenshot");
-    }
-    mjr_readPixels(rgb.get(), nullptr, uistate.rect[0], &this->platform_ui->mjr_context());
-
-    // flip up-down
-    for (int r = 0; r < h/2; ++r) {
-      unsigned char* top_row = &rgb[3*w*r];
-      unsigned char* bottom_row = &rgb[3*w*(h-1-r)];
-      std::swap_ranges(top_row, top_row+3*w, bottom_row);
-    }
-
-    // save as PNG
-    // TODO(b/241577466): Parse the stem of the filename and use a .PNG extension.
-    // Unfortunately, if we just yank ".xml"/".mjb" from the filename and append .PNG, the macOS
-    // file dialog does not automatically open that location. Thus, we defer to a default
-    // "screenshot.png" for now.
-    const std::string path = GetSavePath("screenshot.png");
-    if (!path.empty()) {
-      if (lodepng::encode(path, rgb.get(), w, h, LCT_RGB)) {
-        mju_error("could not save screenshot");
-      } else {
-        std::printf("saved screenshot: %s\n", path.c_str());
-      }
-    }
-  }
-
-  // user figures
-  if (this->newfigurerequest.load() == 1) {
-    this->user_figures_.clear();
-    std::swap(this->user_figures_, this->user_figures_new_);
-    int value = 1;
-    this->newfigurerequest.compare_exchange_strong(value, 0);
-  }
-  for (auto& [viewport, figure] : this->user_figures_) {
-    ShowFigure(this, viewport, &figure);
-  }
-
-  // overlay text
-  if (this->newtextrequest.load() == 1) {
-    this->user_texts_.clear();
-    std::swap(this->user_texts_, this->user_texts_new_);
-    int value = 1;
-    this->newtextrequest.compare_exchange_strong(value, 0);
-  }
-  for (auto& [font, gridpos, text1, text2] : this->user_texts_) {
-    ShowOverlayText(this, rect, font, gridpos, text1, text2);
-  }
-
-  // user images
-  if (this->newimagerequest.load() == 1) {
-    this->user_images_.clear();
-    std::swap(this->user_images_, this->user_images_new_);
-    int value = 1;
-    this->newimagerequest.compare_exchange_strong(value, 0);
-  }
-  for (auto& [viewport, image] : this->user_images_) {
-    ShowImage(this, viewport, image.get());
-  }
-
-  // finalize
-  this->platform_ui->SwapBuffers();
-}
-
-
-
-void Simulate::RenderLoop() {
-  // Set timer callback (milliseconds)
-  mjcb_time = Timer;
-
-  // init abstract visualization
-  mjv_defaultCamera(&this->cam);
-  mjv_defaultOption(&this->opt);
-  InitializeProfiler(this);
-  InitializeSensor(this);
-
-  // make empty scene
-  if (!is_passive_) {
-    mjv_defaultScene(&this->scn);
-    mjv_makeScene(nullptr, &this->scn, kMaxGeom);
-  }
-
-  if (!this->platform_ui->IsGPUAccelerated()) {
-    this->scn.flags[mjRND_SHADOW] = 0;
-    this->scn.flags[mjRND_REFLECTION] = 0;
-  }
-
-  // select default font
-  int fontscale = ComputeFontScale(*this->platform_ui);
-  this->font = fontscale/50 - 1;
-
-  // make empty context
-  this->platform_ui->RefreshMjrContext(nullptr, fontscale);
-
-  // init state and uis
-  std::memset(&this->uistate, 0, sizeof(mjuiState));
-  std::memset(&this->ui0, 0, sizeof(mjUI));
-  std::memset(&this->ui1, 0, sizeof(mjUI));
-
-  auto [buf_width, buf_height] = this->platform_ui->GetFramebufferSize();
-  this->uistate.nrect = 1;
-  this->uistate.rect[0].width = buf_width;
-  this->uistate.rect[0].height = buf_height;
-
-  this->ui0.spacing = mjui_themeSpacing(this->spacing);
-  this->ui0.color = mjui_themeColor(this->color);
-  this->ui0.predicate = UiPredicate;
-  this->ui0.rectid = 1;
-  this->ui0.auxid = 0;
-
-  this->ui1.spacing = mjui_themeSpacing(this->spacing);
-  this->ui1.color = mjui_themeColor(this->color);
-  this->ui1.predicate = UiPredicate;
-  this->ui1.rectid = 2;
-  this->ui1.auxid = 1;
-
-  // set GUI adapter callbacks
-  this->uistate.userdata = this;
-  this->platform_ui->SetEventCallback(UiEvent);
-  this->platform_ui->SetLayoutCallback(UiLayout);
-
-  // populate uis with standard sections, open some sections initially
-  this->ui0.userdata = this;
-  this->ui1.userdata = this;
-  mjui_add(&this->ui0, defFile);
-  mjui_add(&this->ui0, this->def_option);
-  mjui_add(&this->ui0, this->def_simulation);
-  this->ui0.sect[0].state = 1;
-  this->ui0.sect[1].state = 1;
-  this->ui0.sect[2].state = 1;
-  mjui_add(&this->ui0, this->def_watch);
-  UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-  UiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
-
-  // set VSync to initial value
-  this->platform_ui->SetVSync(this->vsync);
-
-  frames_ = 0;
-  last_fps_update_ = mj::Simulate::Clock::now();
-
-  // run event loop
-  while (!this->platform_ui->ShouldCloseWindow() && !this->exitrequest.load()) {
-    {
-      const MutexLock lock(this->mtx);
-
-      // load model (not on first pass, to show "loading" label)
-      if (this->loadrequest==1) {
-        this->LoadOnRenderThread();
-      } else if (this->loadrequest == 2) {
-        this->loadrequest = 1;
-      }
-
-      // poll and handle events
-      this->platform_ui->PollEvents();
-
-      // upload assets if requested
-      bool upload_notify = false;
-      if (hfield_upload_ != -1) {
-        mjr_uploadHField(m_, &platform_ui->mjr_context(), hfield_upload_);
-        hfield_upload_ = -1;
-        upload_notify = true;
-      }
-      if (mesh_upload_ != -1) {
-        mjr_uploadMesh(m_, &platform_ui->mjr_context(), mesh_upload_);
-        mesh_upload_ = -1;
-        upload_notify = true;
-      }
-      if (texture_upload_ != -1) {
-        mjr_uploadTexture(m_, &platform_ui->mjr_context(), texture_upload_);
-        texture_upload_ = -1;
-        upload_notify = true;
-      }
-      if (upload_notify) {
-        cond_upload_.notify_all();
-      }
-
-      // update scene, doing a full sync if in fully managed mode
-      if (!is_passive_) {
-        Sync();
-      } else if (m_passive_ && d_passive_) {
-        // the user has called Sync() in their code
-        mjv_updateScene(m_passive_, d_passive_,
-                        &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
-
-        // add user geoms to scene
-        int nusergeom = user_scn_geoms_.size();
-        int ngeom = std::min(nusergeom, this->scn.maxgeom - this->scn.ngeom);
-        if (ngeom < nusergeom) {
-          if (!this->scn.status) {
-            mju_warning("Pre-allocated visual geom buffer is full. "
-                        "Increase maxgeom above %d.", this->scn.maxgeom);
-            this->scn.status = 1;
-          }
-        }
-        std::memcpy(this->scn.geoms + this->scn.ngeom, user_scn_geoms_.data(),
-                    ngeom * sizeof(mjvGeom));
-        this->scn.ngeom += ngeom;
-      }
-    }  // MutexLock (unblocks simulation thread)
-
-    // render while simulation is running
-    this->Render();
-
-    // update FPS stat, at most 5 times per second
-    auto now = mj::Simulate::Clock::now();
-    double interval = Seconds(now - last_fps_update_).count();
-    ++frames_;
-    if (interval > 0.2) {
-      last_fps_update_ = now;
-      fps_ = frames_ / interval;
-      frames_ = 0;
-    }
-  }
-
-  const MutexLock lock(this->mtx);
-  mjv_freeScene(&this->scn);
-  if (is_passive_) {
-    mj_deleteData(d_passive_);
-    mj_deleteModel(m_passive_);
-  }
-
-  this->exitrequest.store(2);
-}
-
-// add state to history buffer
-void Simulate::AddToHistory() {
-  if (history_.empty()) {
-    return;
-  }
-
-  // circular increment of cursor
-  history_cursor_ = (history_cursor_ + 1) % nhistory_;
-
-  // add state at cursor
-  mjtNum* state = &history_[state_size_ * history_cursor_];
-  mj_getState(m_, d_, state, mjSTATE_INTEGRATION);
-}
-
-// inject Brownian noise
-void Simulate::InjectNoise(int key) {
-  // no noise, return
-  if (ctrl_noise_std <= 0) {
-    return;
-  }
-
-  // convert rate and scale to discrete time (Ornstein–Uhlenbeck)
-  mjtNum rate = mju_exp(-m_->opt.timestep / ctrl_noise_rate);
-  mjtNum scale = ctrl_noise_std * mju_sqrt(1-rate*rate);
-
-  for (int i=0; i<m_->nu; i++) {
-    mjtNum bottom = 0, top = 0, midpoint = 0, halfrange = 1;
-    if (m_->actuator_ctrllimited[i]) {
-      bottom = m_->actuator_ctrlrange[2*i];
-      top = m_->actuator_ctrlrange[2*i+1];
-      midpoint =  0.5 * (top + bottom);  // target of exponential decay
-      halfrange = 0.5 * (top - bottom);  // scales noise
-    }
-
-    // overwrite midpoint with keyframe, if given
-    if (key >= 0) {
-      midpoint = m_->key_ctrl[key*m_->nu+i];
-    }
-
-    // exponential convergence to midpoint at ctrl_noise_rate
-    d_->ctrl[i] = rate * d_->ctrl[i] + (1-rate) * midpoint;
-
-    // add noise
-    d_->ctrl[i] += scale * halfrange * mju_standardNormal(nullptr);
-
-    // clip to range if limited
-    if (m_->actuator_ctrllimited[i]) {
-      d_->ctrl[i] = mju_clip(d_->ctrl[i], bottom, top);
-    }
-  }
-}
-
-void Simulate::UpdateHField(int hfieldid) {
-  MutexLock lock(this->mtx);
-  if (!m_ || hfieldid < 0 || hfieldid >= m_->nhfield) {
-    return;
-  }
-  hfield_upload_ = hfieldid;
-  cond_upload_.wait(lock, [this]() { return hfield_upload_ == -1; });
-}
-
-void Simulate::UpdateMesh(int meshid) {
-  MutexLock lock(this->mtx);
-  if (!m_ || meshid < 0 || meshid >= m_->nmesh) {
-    return;
-  }
-  mesh_upload_ = meshid;
-  cond_upload_.wait(lock, [this]() { return mesh_upload_ == -1; });
-}
-
-void Simulate::UpdateTexture(int texid) {
-  MutexLock lock(this->mtx);
-  if (!m_ || texid < 0 || texid >= m_->ntex) {
-    return;
-  }
-  texture_upload_ = texid;
-  cond_upload_.wait(lock, [this]() { return texture_upload_ == -1; });
-}
-}  // namespace mujoco
diff --git a/simulate/simulate.h b/simulate/simulate.h
deleted file mode 100644
index 40a01da5..00000000
--- a/simulate/simulate.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SIMULATE_SIMULATE_H_
-#define MUJOCO_SIMULATE_SIMULATE_H_
-
-#include <atomic>
-#include <chrono>
-#include <condition_variable>
-#include <memory>
-#include <mutex>
-#include <optional>
-#include <ratio>
-#include <string>
-#include <tuple>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mjui.h>
-#include <mujoco/mujoco.h>
-#include "platform_ui_adapter.h"
-
-namespace mujoco {
-
-// The viewer itself doesn't require a reentrant mutex, however we use it in
-// order to provide a Python sync API that doesn't require separate locking
-// (since sync is by far the most common operation), but that also won't
-// deadlock if called when a lock is already held by the user script on the
-// same thread.
-class SimulateMutex : public std::recursive_mutex {};
-using MutexLock = std::unique_lock<std::recursive_mutex>;
-
-// Simulate states not contained in MuJoCo structures
-class Simulate {
- public:
-  using Clock = std::chrono::steady_clock;
-  static_assert(std::ratio_less_equal_v<Clock::period, std::milli>);
-
-  static constexpr int kMaxGeom = 100000;
-
-  // create object and initialize the simulate ui
-  Simulate(
-      std::unique_ptr<PlatformUIAdapter> platform_ui_adapter,
-      mjvCamera* cam, mjvOption* opt, mjvPerturb* pert, bool is_passive);
-
-  // Synchronize state with UI inputs, and update visualization.  If state_only
-  // is false mjData and mjModel will be updated, otherwise only the subset of
-  // mjData corresponding to mjSTATE_INTEGRATION will be synced.
-  void Sync(bool state_only = false);
-
-  void UpdateHField(int hfieldid);
-  void UpdateMesh(int meshid);
-  void UpdateTexture(int texid);
-
-  // Request that the Simulate UI display a "loading" message
-  // Called prior to Load or LoadMessageClear
-  void LoadMessage(const char* displayed_filename);
-
-  // Request that the Simulate UI thread render a new model
-  void Load(mjModel* m, mjData* d, const char* displayed_filename);
-
-  // Clear the loading message
-  // Can be called instead of Load to clear the message without
-  // requesting the UI load a model
-  void LoadMessageClear(void);
-
-  // functions below are used by the renderthread
-  // load mjb or xml model that has been requested by load()
-  void LoadOnRenderThread();
-
-  // render the ui to the window
-  void Render();
-
-  // loop to render the UI (must be called from main thread because of MacOS)
-  void RenderLoop();
-
-  // add state to history buffer
-  void AddToHistory();
-
-  // inject control noise
-  void InjectNoise(int key);
-
-  // constants
-  static constexpr int kMaxFilenameLength = 1000;
-
-  // whether the viewer is operating in passive mode, where it cannot assume
-  // that it has exclusive access to mjModel, mjData, and various mjv objects
-  bool is_passive_ = false;
-
-  // model and data to be visualized
-  mjModel* mnew_ = nullptr;
-  mjData* dnew_ = nullptr;
-
-  mjModel* m_ = nullptr;
-  mjData* d_ = nullptr;
-
-  int ncam_ = 0;
-  int nkey_ = 0;
-  int state_size_ = 0;      // number of mjtNums in a history buffer state
-  int nhistory_ = 0;        // number of states saved in history buffer
-  int history_cursor_ = 0;  // cursor pointing at last saved state
-
-  std::vector<int> body_parentid_;
-
-  std::vector<int> jnt_type_;
-  std::vector<int> jnt_group_;
-  std::vector<int> jnt_qposadr_;
-  std::vector<std::optional<std::pair<mjtNum, mjtNum>>> jnt_range_;
-  std::vector<std::string> jnt_names_;
-
-  std::vector<int> actuator_group_;
-  std::vector<std::optional<std::pair<mjtNum, mjtNum>>> actuator_ctrlrange_;
-  std::vector<std::string> actuator_names_;
-
-  std::vector<std::string> equality_names_;
-
-  std::vector<mjtNum> history_;  // history buffer (nhistory x state_size)
-
-  // mjModel and mjData fields that can be modified by the user through the GUI
-  std::vector<mjtNum> qpos_;
-  std::vector<mjtNum> qpos_prev_;
-  std::vector<mjtNum> ctrl_;
-  std::vector<mjtNum> ctrl_prev_;
-  std::vector<mjtByte> eq_active_;
-  std::vector<mjtByte> eq_active_prev_;
-
-  // in passive mode the user owns m_ and d_, these "passive" instances are
-  // owned by Simulate, updated from the user by the Sync() method
-  mjModel* m_passive_ = nullptr;
-  mjData* d_passive_ = nullptr;
-  std::vector<mjvGeom> user_scn_geoms_;
-
-  mjOption mjopt_prev_;
-  mjVisual mjvis_prev_;
-  mjStatistic mjstat_prev_;
-  mjvOption opt_prev_;
-  mjvCamera cam_prev_;
-
-  // pending GUI-driven actions, to be applied at the next call to Sync
-  struct {
-    std::optional<std::string> save_xml;
-    std::optional<std::string> save_mjb;
-    std::optional<std::string> print_model;
-    std::optional<std::string> print_data;
-    bool update_threadpool;
-    bool reset;
-    bool align;
-    bool copy_key;
-    bool copy_key_full_precision;
-    bool load_from_history;
-    bool load_key;
-    bool save_key;
-    bool zero_ctrl;
-    int newperturb;
-    bool select;
-    mjuiState select_state;
-    bool ui_update_simulation;
-    bool ui_update_physics;
-    bool ui_update_rendering;
-    bool ui_update_visualization;
-    bool ui_update_joint;
-    bool ui_update_ctrl;
-    bool ui_update_equality;
-    bool ui_update_logging;
-    bool ui_remake_ctrl;
-  } pending_ = {};
-
-  SimulateMutex mtx;
-  std::condition_variable_any cond_loadrequest;
-
-  int frames_ = 0;
-  std::chrono::time_point<Clock> last_fps_update_;
-  double fps_ = 0;
-
-  // options
-  int spacing = 0;
-  int color = 0;
-  int font = 0;
-  int ui0_enable = 1;
-  int ui1_enable = 1;
-  int help = 0;
-  int info = 0;
-  int profiler = 0;
-  int sensor = 0;
-  int pause_update = 0;
-  int fullscreen = 0;
-  int vsync = 1;
-  int busywait = 0;
-
-  // keyframe index
-  int key = -1;
-
-  // index of history-scrubber slider
-  int scrub_index = 0;
-
-  // simulation
-  int run = 1;
-
-
-  // number of workers in threadpool
-  int nthread = 0;
-
-  // atomics for cross-thread messages
-  std::atomic_int exitrequest = 0;
-  std::atomic_int droploadrequest = 0;
-  std::atomic_int screenshotrequest = 0;
-  std::atomic_int uiloadrequest = 0;
-  std::atomic_int newfigurerequest = 0;
-  std::atomic_int newtextrequest = 0;
-  std::atomic_int newimagerequest = 0;
-
-  // loadrequest
-  //   3: display a loading message
-  //   2: render thread asked to update its model
-  //   1: showing "loading" label, about to load
-  //   0: model loaded or no load requested.
-  int loadrequest = 0;
-
-  // strings
-  char load_error[kMaxFilenameLength] = "";
-  char dropfilename[kMaxFilenameLength] = "";
-  char filename[kMaxFilenameLength] = "";
-  char previous_filename[kMaxFilenameLength] = "";
-
-  // time synchronization
-  int real_time_index = 0;
-  bool speed_changed = true;
-  float measured_slowdown = 1.0;
-  // logarithmically spaced real-time slow-down coefficients (percent)
-  static constexpr float percentRealTime[] = {
-      100, 80, 63,  50,  40, 32,  25,  20, 16,  13,
-      10,  8,  6.3, 5.0, 4,  3.2, 2.5, 2,  1.6, 1.3,
-      1,  .8, .63, .5,  .4, .32, .25, .2, .16, .13,
-     .1
-  };
-
-  // control noise
-  double ctrl_noise_std = 0.0;
-  double ctrl_noise_rate = 0.0;
-
-  // watch
-  char field[mjMAXUITEXT] = "qpos";
-  int index = 0;
-
-  // physics: need sync
-  int disable[mjNDISABLE] = {0};
-  int enable[mjNENABLE] = {0};
-  int enableactuator[mjNGROUP] = {0};
-
-  // logging: need sync
-  mjtByte log_console = 0;
-  mjtByte log_file = 0;
-  mjtByte log_topics[mjNTOPIC] = {0};
-  mjTimerStat timer_prev_[mjNTIMER] = {};
-
-  // rendering: need sync
-  int camera = 0;
-
-  // abstract visualization
-  mjvScene scn;
-  mjvCamera& cam;
-  mjvOption& opt;
-  mjvPerturb& pert;
-  mjvFigure figconstraint = {};
-  mjvFigure figcost = {};
-  mjvFigure figtimer = {};
-  mjvFigure figsize = {};
-  mjvFigure figsensor = {};
-
-  // Image sensor visualization - displays pre-rendered images from mjSENS_USER
-  int image_sensor_count = 0;
-  int selected_image_sensor = -1;  // -1 = show bar chart
-  int image_sensor_ui_selection = 0;      // UI dropdown index (0=All, 1+=sensor)
-  std::vector<int> image_sensor_indices;
-  std::vector<std::string> image_sensor_names;
-  std::unique_ptr<unsigned char[]> sensor_image;
-  int sensor_image_width = 0;
-  int sensor_image_height = 0;
-  int sensor_image_last_seq = -1;  // Last seq read from sensordata
-
-  // additional user-defined visualization
-  mjvScene* user_scn = nullptr;
-  mjtByte user_scn_flags_prev_[mjNRNDFLAG];
-  std::vector<std::pair<mjrRect, mjvFigure>> user_figures_;
-  std::vector<std::pair<mjrRect, mjvFigure>> user_figures_new_;
-  std::vector<std::tuple<int, int, std::string, std::string>> user_texts_;
-  std::vector<std::tuple<int, int, std::string, std::string>> user_texts_new_;
-  std::vector<std::tuple<mjrRect, std::unique_ptr<unsigned char[]>>> user_images_;
-  std::vector<std::tuple<mjrRect, std::unique_ptr<unsigned char[]>>> user_images_new_;
-
-  // OpenGL rendering and UI
-  int refresh_rate = 60;
-  int window_pos[2] = {0};
-  int window_size[2] = {0};
-  std::unique_ptr<PlatformUIAdapter> platform_ui;
-  mjuiState& uistate;
-  mjUI ui0 = {};
-  mjUI ui1 = {};
-
-  // Constant arrays needed for the option section of UI and the UI interface
-  // TODO setting the size here is not ideal
-  const mjuiDef def_option[13] = {
-    {mjITEM_SECTION,  "Option",        mjPRESERVE, nullptr,  "AO"},
-    {mjITEM_CHECKINT, "Help",          2, &this->help,       " #290"},
-    {mjITEM_CHECKINT, "Info",          2, &this->info,       " #291"},
-    {mjITEM_CHECKINT, "Profiler",      2, &this->profiler,   " #292"},
-    {mjITEM_CHECKINT, "Sensor",        2, &this->sensor,     " #293"},
-    {mjITEM_CHECKINT, "Pause update",  2, &this->pause_update,    ""},
-  #ifdef __APPLE__
-    {mjITEM_CHECKINT, "Fullscreen",    0, &this->fullscreen, " #294"},
-  #else
-    {mjITEM_CHECKINT, "Fullscreen",    1, &this->fullscreen, " #294"},
-  #endif
-    {mjITEM_CHECKINT, "Vertical Sync", 1, &this->vsync,      ""},
-    {mjITEM_CHECKINT, "Busy Wait",     1, &this->busywait,   ""},
-    {mjITEM_SELECT,   "Spacing",       1, &this->spacing,    "Tight\nWide"},
-    {mjITEM_SELECT,   "Color",         1, &this->color,      "Default\nOrange\nWhite\nBlack"},
-    {mjITEM_SELECT,   "Font",          1, &this->font,       "50 %\n100 %\n150 %\n200 %\n250 %\n300 %"},
-    {mjITEM_END}
-  };
-
-
-  // simulation section of UI
-  const mjuiDef def_simulation[15] = {
-    {mjITEM_SECTION,   "Simulation",    mjPRESERVE, nullptr,     "AS"},
-    {mjITEM_RADIO,     "",              5, &this->run,           "Pause\nRun"},
-    {mjITEM_SLIDERINT, "Num threads",   5, &this->nthread,       "0 10"},
-    {mjITEM_BUTTON,    "Reset",         2, nullptr,              " #259"},
-    {mjITEM_BUTTON,    "Reload",        5, nullptr,              "CL"},
-    {mjITEM_BUTTON,    "Align",         2, nullptr,              "CA"},
-    {mjITEM_BUTTON,    "Copy state",    2, nullptr,              "CC"},
-    {mjITEM_SLIDERINT, "Key",           3, &this->key,           "0 0"},
-    {mjITEM_BUTTON,    "Load key",      3},
-    {mjITEM_BUTTON,    "Save key",      3},
-    {mjITEM_SLIDERNUM, "Noise scale",   5, &this->ctrl_noise_std,  "0 1"},
-    {mjITEM_SLIDERNUM, "Noise rate",    5, &this->ctrl_noise_rate, "0 4"},
-    {mjITEM_SEPARATOR, "History",       1},
-    {mjITEM_SLIDERINT, "",              5, &this->scrub_index,     "0 0"},
-    {mjITEM_END}
-  };
-
-
-  // watch section of UI
-  const mjuiDef def_watch[5] = {
-    {mjITEM_SECTION,   "Watch",         mjPRESERVE, nullptr,     "AW"},
-    {mjITEM_EDITTXT,   "Field",         2, this->field,          "qpos"},
-    {mjITEM_EDITINT,   "Index",         2, &this->index,         "1"},
-    {mjITEM_STATIC,    "Value",         2, nullptr,              " "},
-    {mjITEM_END}
-  };
-
-  // info strings
-  char info_title[Simulate::kMaxFilenameLength] = {0};
-  char info_content[Simulate::kMaxFilenameLength] = {0};
-
-  // pending uploads
-  std::condition_variable_any cond_upload_;
-  int texture_upload_ = -1;
-  int mesh_upload_ = -1;
-  int hfield_upload_ = -1;
-};
-}  // namespace mujoco
-
-#endif
diff --git a/src/cc/array_safety.h b/src/cc/array_safety.h
deleted file mode 100644
index 6782c03a..00000000
--- a/src/cc/array_safety.h
+++ /dev/null
@@ -1,105 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_CC_ARRAY_SAFETY_H_
-#define MUJOCO_SRC_CC_ARRAY_SAFETY_H_
-
-#include <algorithm>
-#include <cstdarg>
-#include <cstddef>
-#include <cstdio>
-#include <cstring>
-
-// Provides safe alternatives to the sizeof() operator and standard library functions for handling
-// null-terminated (C-style) strings in raw char arrays.
-//
-// These functions make use of compile-time array sizes to limit read and write operations to within
-// the array bounds. They are designed to trigger a compile error if the array size cannot be
-// determined at compile time (e.g. when an array has decayed into a pointer).
-//
-// They do not perform runtime bound checks.
-
-namespace mujoco {
-namespace util {
-
-// returns sizeof(arr)
-// use instead of sizeof() to avoid unintended array-to-pointer decay
-template <typename T, int N>
-static constexpr std::size_t sizeof_arr(const T(&arr)[N]) {
-  return sizeof(arr);
-}
-
-// like std::strcmp but it will not read beyond the bound of either lhs or rhs
-template <std::size_t N1, std::size_t N2>
-static inline int strcmp_arr(const char (&lhs)[N1], const char (&rhs)[N2]) {
-  return std::strncmp(lhs, rhs, std::min(N1, N2));
-}
-
-// like std::strlen but it will not read beyond the bound of str
-// if str is not null-terminated, returns sizeof(str)
-template <std::size_t N>
-static inline std::size_t strlen_arr(const char (&str)[N]) {
-  for (std::size_t i = 0; i < N; ++i) {
-    if (str[i] == '\0') {
-      return i;
-    }
-  }
-  return N;
-}
-
-// like std::sprintf but will not write beyond the bound of dest
-// dest is guaranteed to be null-terminated
-template <std::size_t N>
-static inline int sprintf_arr(char (&dest)[N], const char* format, ...) {
-  std::va_list vargs;
-  va_start(vargs, format);
-  int retval = std::vsnprintf(dest, N, format, vargs);
-  va_end(vargs);
-  return retval;
-}
-
-// like std::strcat but will not write beyond the bound of dest
-// dest is guaranteed to be null-terminated
-template <std::size_t N>
-static inline char* strcat_arr(char (&dest)[N], const char* src) {
-  const std::size_t dest_len = strlen_arr(dest);
-  const std::size_t dest_size = sizeof_arr(dest);
-  for (std::size_t i = dest_len; i < dest_size; ++i) {
-    dest[i] = src[i - dest_len];
-    if (!dest[i]) {
-      break;
-    }
-  }
-  dest[dest_size - 1] = '\0';
-  return dest;
-}
-
-// like std::strcpy but won't write beyond the bound of dest
-// dest is guaranteed to be null-terminated
-template <std::size_t N>
-static inline char* strcpy_arr(char (&dest)[N], const char* src) {
-  {
-    std::size_t i = 0;
-    for (; src[i] && i < N - 1; ++i) {
-      dest[i] = src[i];
-    }
-    dest[i] = '\0';
-  }
-  return &dest[0];
-}
-
-}  // namespace util
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_CC_ARRAY_SAFETY_H_
diff --git a/src/engine/.clang-format b/src/engine/.clang-format
deleted file mode 100644
index b9c52c6f..00000000
--- a/src/engine/.clang-format
+++ /dev/null
@@ -1,4 +0,0 @@
----
-# disable clang-format for engine source files
-DisableFormat: true
-...
diff --git a/src/engine/CMakeLists.txt b/src/engine/CMakeLists.txt
deleted file mode 100644
index f29664bb..00000000
--- a/src/engine/CMakeLists.txt
+++ /dev/null
@@ -1,104 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_ENGINE_SRCS
-    engine_array_safety.h
-    engine_callback.c
-    engine_callback.h
-    engine_collision_box.c
-    engine_collision_continuous.c
-    engine_collision_continuous.h
-    engine_collision_convex.c
-    engine_collision_convex.h
-    engine_collision_driver.c
-    engine_collision_driver.h
-    engine_collision_gjk.c
-    engine_collision_gjk.h
-    engine_collision_primitive.c
-    engine_collision_primitive.h
-    engine_collision_sdf.c
-    engine_collision_sdf.h
-    engine_core_constraint.c
-    engine_core_constraint.h
-    engine_core_util.c
-    engine_core_util.h
-    engine_core_smooth.c
-    engine_core_smooth.h
-    engine_crossplatform.cc
-    engine_crossplatform.h
-    engine_derivative.c
-    engine_derivative.h
-    engine_derivative_fd.c
-    engine_derivative_fd.h
-    engine_forward.c
-    engine_forward.h
-    engine_global_table.h
-    engine_inverse.c
-    engine_inverse.h
-    engine_init.c
-    engine_init.h
-    engine_inline.h
-    engine_island.c
-    engine_island.h
-    engine_io.c
-    engine_io.h
-    engine_macro.h
-    engine_memory.c
-    engine_memory.h
-    engine_name.c
-    engine_name.h
-    engine_passive.c
-    engine_passive.h
-    engine_plugin.cc
-    engine_plugin.h
-    engine_print.c
-    engine_print.h
-    engine_ray.c
-    engine_ray.h
-    engine_sensor.c
-    engine_sensor.h
-    engine_setconst.c
-    engine_setconst.h
-    engine_sleep.c
-    engine_sleep.h
-    engine_solver.c
-    engine_solver.h
-    engine_sort.h
-    engine_support.c
-    engine_support.h
-    engine_thread.cc
-    engine_thread.h
-    engine_util_blas.c
-    engine_util_blas.h
-    engine_util_blas_avx.h
-    engine_util_errmem.c
-    engine_util_errmem.h
-    engine_util_misc.c
-    engine_util_misc.h
-    engine_util_solve.c
-    engine_util_solve.h
-    engine_util_sparse.c
-    engine_util_sparse.h
-    engine_util_sparse_avx.h
-    engine_util_spatial.c
-    engine_util_spatial.h
-    engine_vis_init.c
-    engine_vis_init.h
-    engine_vis_interact.c
-    engine_vis_interact.h
-    engine_vis_visualize.c
-    engine_vis_visualize.h
-)
-
-target_sources(mujoco PRIVATE ${MUJOCO_ENGINE_SRCS})
diff --git a/src/engine/engine_array_safety.h b/src/engine/engine_array_safety.h
deleted file mode 100644
index ce3fe4ff..00000000
--- a/src/engine/engine_array_safety.h
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_ARRAY_SAFETY_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_ARRAY_SAFETY_H_
-
-#ifdef __cplusplus
-#error This file should not be used from C++ code.
-#endif
-
-#include <stdio.h>
-#include <string.h>
-
-// Evaluates to sizeof(arr) if arr is a char array, and emits a compiler error
-// otherwise. In particular, emits a compiler error if arr is a char*.
-#define mjSIZEOFARRAY(arr) _Generic(&(arr), char(*)[sizeof(arr)]: sizeof(arr))
-
-#define mjSNPRINTF(dest, ...) snprintf(dest, mjSIZEOFARRAY(dest), __VA_ARGS__)
-
-#define mjSTRNCAT(dest, src) strncat(dest, src, mjSIZEOFARRAY(dest) - strlen(dest) - 1)
-
-#define mjSTRNCPY(dest, src) mju_strncpy(dest, src, mjSIZEOFARRAY(dest))
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_ARRAY_SAFETY_H_
diff --git a/src/engine/engine_callback.c b/src/engine/engine_callback.c
deleted file mode 100644
index 148f6dc3..00000000
--- a/src/engine/engine_callback.c
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_callback.h"
-
-#include <mujoco/mjdata.h>
-
-//------------------------- global callback pointers -----------------------------------------------
-
-mjfGeneric mjcb_passive  = 0;
-mjfGeneric mjcb_control  = 0;
-mjfConFilt mjcb_contactfilter = 0;
-mjfSensor mjcb_sensor    = 0;
-mjfTime mjcb_time        = 0;
-mjfAct mjcb_act_bias     = 0;
-mjfAct mjcb_act_gain     = 0;
-mjfAct mjcb_act_dyn      = 0;
-
-
-
-// reset callbacks to defaults
-void mj_resetCallbacks(void) {
-  mjcb_passive  = 0;
-  mjcb_control  = 0;
-  mjcb_contactfilter = 0;
-  mjcb_sensor   = 0;
-  mjcb_time     = 0;
-  mjcb_act_bias = 0;
-  mjcb_act_gain = 0;
-  mjcb_act_dyn  = 0;
-}
diff --git a/src/engine/engine_callback.h b/src/engine/engine_callback.h
deleted file mode 100644
index d44eea4e..00000000
--- a/src/engine/engine_callback.h
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_CALLBACK_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_CALLBACK_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// global callback function pointers
-MJAPI extern mjfGeneric  mjcb_passive;
-MJAPI extern mjfGeneric  mjcb_control;
-MJAPI extern mjfConFilt  mjcb_contactfilter;
-MJAPI extern mjfSensor   mjcb_sensor;
-MJAPI extern mjfTime     mjcb_time;
-MJAPI extern mjfAct      mjcb_act_bias;
-MJAPI extern mjfAct      mjcb_act_gain;
-MJAPI extern mjfAct      mjcb_act_dyn;
-
-
-// reset callbacks to defaults
-MJAPI void mj_resetCallbacks(void);
-
-#ifdef __cplusplus
-}
-#endif
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_CALLBACK_H_
diff --git a/src/engine/engine_collision_box.c b/src/engine/engine_collision_box.c
deleted file mode 100644
index ac6d8a1b..00000000
--- a/src/engine/engine_collision_box.c
+++ /dev/null
@@ -1,1068 +0,0 @@
-// Copyright 2016 Svetoslav Kolev
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <math.h>
-
-#include "engine/engine_collision_primitive.h"
-#include "engine/engine_inline.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_misc.h"
-
-
-// hard-clamp vector to range [-limit(i), +limit(i)]
-static void mju_clampVec(mjtNum* vec, const mjtNum* limit, int n) {
-  for (int i = 0; i < n; i++) {
-    // loop over active limits
-    if (limit[i] > 0) {
-      vec[i] = mju_clip(vec[i], -limit[i], limit[i]);
-    }
-  }
-}
-
-
-// raw sphere : box
-int mjraw_SphereBox(mjPreContact* con, mjtNum margin,
-                    const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
-                    const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2) {
-  int i, k;
-  mjtNum tmp[3], center[3], clamped[3], deepest[3];
-  mjtNum pos[3];
-  mjtNum dist, closest;
-
-  mji_sub3(tmp, pos1, pos2);
-  mji_mulMatTVec3(center, mat2, tmp);
-
-  mji_copy3(clamped, center);
-  mju_clampVec(clamped, size2, 3);
-
-  mji_copy3(deepest, center);
-  mji_sub3(tmp, clamped, center);
-  dist = mju_normalize3(tmp);
-
-  if (dist - size1[0] > margin)
-    return 0;
-
-  // sphere center inside box
-  if (dist <= mjMINVAL) {
-    closest = (size2[0] + size2[1] + size2[2]) * 2;
-
-    for (i = 0; i < 6; i++) {
-      if (closest > mju_abs((i % 2 ? 1 : -1)*size2[i / 2] - center[i / 2])) {
-        closest = mju_abs((i % 2 ? 1 : -1) * size2[i / 2] - center[i / 2]);
-        k = i;
-      }
-    }
-
-    mjtNum nearest[3] = {0};
-    nearest[k / 2] = (k % 2 ? -1 : 1);
-
-    mji_copy3(pos, center);
-    mji_addToScl3(pos, nearest, (size1[0] - closest) / 2);
-    mji_mulMatVec3(con[0].normal, mat2, nearest);
-    dist = -closest;
-  } else {
-    mji_addToScl3(deepest, tmp, size1[0]);
-    mju_zero3(pos);
-    mji_addToScl3(pos, clamped, 0.5);
-    mji_addToScl3(pos, deepest, 0.5);
-    mji_mulMatVec3(con[0].normal, mat2, tmp);
-  }
-
-  mji_mulMatVec3(tmp, mat2, pos);
-  mji_add3(con[0].pos, tmp, pos2);
-  con[0].dist = dist - size1[0];
-  mji_zero3(con[0].tangent);
-  return 1;
-}
-
-
-// sphere : box
-int mjc_SphereBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  const mjtNum* pos1  = d->geom_xpos + 3*g1;
-  const mjtNum* mat1  = d->geom_xmat + 9*g1;
-  const mjtNum* size1 = m->geom_size + 3*g1;
-  const mjtNum* pos2  = d->geom_xpos + 3*g2;
-  const mjtNum* mat2  = d->geom_xmat + 9*g2;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-  return mjraw_SphereBox(con, margin, pos1, mat1, size1, pos2, mat2, size2);
-}
-
-
-/* GENERAL THEORY OF OPERATION
-   the following code is mostly for finding (line segment)/(box) collision
-   after which box-sphere is called
-
-   First the closest point to the box is found.
-   Then a "sensible" second point is found if the angle
-   between the segment and the box is low enough < 45
-
-   In the comments that follow, capsule just means the capsule's line segment
-   It might be hard to understand all comments but you would need
-   a picture to see what is happening at each line of the code
-*/
-
-// raw capsule : box
-int mjraw_CapsuleBox(mjPreContact* con, mjtNum margin,
-                     const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
-                     const mjtNum* pos2, const mjtNum* mat2,
-                     const mjtNum* size2) {
-  mjtNum tmp1[3], tmp2[3], tmp3[3], halfaxis[3], axis[3], dif[3];
-  mjtNum pos[3];          // position of capsule in box-local frame
-
-  mjtNum halflength;      // half of capsule's length
-  mjtNum bestdist;        // closest contact point distance
-  mjtNum bestdistmax;     // init value for bestdist
-  mjtNum bestsegmentpos;  // between -1 and 1 :  which point on the segment is closest to the box
-  mjtNum secondpos;       // distance of 2nd contact position on capsule segment from the first
-  mjtNum dist;
-  mjtNum bestboxpos;      // closest contact point, position on the box's edge
-  mjtNum mul, e1, e2, dp, de;
-  // mjtNum penetration;
-
-  mjtNum ma, mb, mc, u, v, det, x1, x2, idet;  // linelinedist temps
-
-  int s1, s2;        // hold linelinedist info
-  int i, j, c1, c2;  // temporary variables
-  int cltype = -4;   // closest type
-  int clface;        // closest face
-  int clcorner = 0;  // closest corner (0..7 in binary)
-  int cledge;        // closest edge axis
-  int axisdir;       // direction of capsule axis in relation to the box
-  int n;             // number of contacts
-  int ax1, ax2, ax;  // axis temporaries
-
-
-  halflength = size1[1];
-  secondpos = -4;  // initialize to no 2nd contact (valid values are between -1 and 1)
-
-  mji_sub3(tmp1, pos1, pos2);       // bring capsule to box-local frame (center's box is at (0,0,0))
-  mji_mulMatTVec3(pos, mat2, tmp1);  // and axis parallel to world
-
-  tmp1[0] = mat1[2];  // capsule's axis
-  tmp1[1] = mat1[5];
-  tmp1[2] = mat1[8];
-
-  mji_mulMatTVec3(axis, mat2, tmp1);      // do the same for the capsule axis
-  mji_scl3(halfaxis, axis, halflength);  // scale to get actual capsule half-axis
-
-  axisdir = 0;
-  if (halfaxis[0] > 0)
-    axisdir += 1;
-  if (halfaxis[1] > 0)
-    axisdir += 2;
-  if (halfaxis[2] > 0)
-    axisdir += 4;
-
-  // under this notion    "axisdir" and "7-axisdir" point in opposite directions,
-  // essentially the same for a capsule
-
-  bestdistmax = margin + 2 * (size1[0] + halflength + size2[0] + size2[1] +
-                              size2[2]);  // initialize bestdist
-  bestdist = bestdistmax;
-  bestsegmentpos = 0;
-
-  mju_zero3(tmp2);
-
-  // test to see if maybe the a face of the box is closest to the capsule
-  for (i = -1; i <= 1; i += 2) {
-    mji_copy3(tmp1, pos);
-    mji_addToScl3(tmp1, halfaxis, i);
-    mji_copy3(tmp2, tmp1);
-
-    for (c1 = 0, j = 0, c2 = -1; j < 3; j++) {
-      if (tmp1[j] < -size2[j]) {
-        c1++;
-        c2 = j;
-        tmp1[j] = -size2[j];
-      } else if (tmp1[j] > size2[j]) {
-        c1++;
-        c2 = j;
-        tmp1[j] = size2[j];
-      }
-    }
-
-    if (c1 > 1)
-      continue;
-
-    mji_subFrom3(tmp1, tmp2);
-    dist = mju_dot3(tmp1, tmp1);
-
-    if (dist < bestdist) {
-      bestdist = dist;
-      bestsegmentpos = i;
-      cltype = -2 + i;
-      clface = c2;
-    }
-  }
-
-  mju_zero3(tmp2);
-
-  for (j = 0; j < 3; j++) {
-    for (i = 0; i < 8; i++) {
-      if ((i & (1 << j)) == 0) {
-        // trick to get a corner
-        tmp3[0] = ((i & 1) ? 1 : -1) * size2[0];
-        tmp3[1] = ((i & 2) ? 1 : -1) * size2[1];
-        tmp3[2] = ((i & 4) ? 1 : -1) * size2[2];
-        tmp3[j] = 0;
-
-        // tmp3 is the starting point on the box
-        // tmp2 is the direction along the "j"-th axis
-        // pos is the capsule's center
-        // halfaxis is the capsule direction
-
-        // find closest point between capsule and the edge
-
-        mji_sub3(dif, tmp3, pos);
-
-        ma = size2[j] * size2[j];
-        mb = -size2[j] * halfaxis[j];
-        mc = size1[1] * size1[1];
-
-        u = -size2[j] * dif[j];
-        v = mju_dot3(halfaxis, dif);
-
-        det = ma * mc - mb * mb;
-        if (mju_abs(det) < mjMINVAL)
-          continue;
-        idet = 1 / det;
-
-
-        // sX : X=1 means middle of segment. X=0 or 2 one or the other end
-
-        x1 = (mc * u - mb * v) * idet;
-        x2 = (ma * v - mb * u) * idet;
-
-        s1 = s2 = 1;
-
-        if (x1 > 1) {
-          x1 = 1;
-          s1 = 2;
-          x2 = (v - mb) * (1 / mc);
-        } else if (x1 < -1) {
-          x1 = -1;
-          s1 = 0;
-          x2 = (v + mb) * (1 / mc);
-        }
-
-        if (x2 > 1) {
-          x2 = 1;
-          s2 = 2;
-          x1 = (u - mb) * (1 / ma);
-          if (x1 > 1)
-            x1 = 1, s1 = 2;
-          else if (x1 < -1)
-            x1 = -1, s1 = 0;
-        } else if (x2 < -1) {
-          x2 = -1;
-          s2 = 0;
-          x1 = (u + mb) * (1 / ma);
-          if (x1 > 1)
-            x1 = 1, s1 = 2;
-          else if (x1 < -1)
-            x1 = -1, s1 = 0;
-        }
-
-        mji_sub3(dif, tmp3, pos);
-
-        mji_addToScl3(dif, halfaxis, -x2);
-        dif[j] += size2[j] * x1;
-
-        tmp1[2] = mju_dot3(dif, dif);
-
-        c1 = s1 * 3 + s2;
-
-
-        // the -MINVAL might not be necessary. Fixes numerical problem when axis is numerically
-        // parallel to the box
-        if (tmp1[2] < bestdist - mjMINVAL) {
-          bestdist = tmp1[2];
-          bestsegmentpos = x2;
-          bestboxpos = x1;
-
-          // c1<6 means that closest point on the box is at the lower end
-          // or in the middle of the edge
-          c2 = c1 / 6;
-
-          clcorner = i + (1 << j) * c2;  // which corner is the closest
-          cledge = j;   // which axis
-          cltype = c1;  // save clamped info
-        }
-      }
-    }
-  }
-
-
-  // penetration = -bestdist;
-
-
-  for (j = 0; j < 3; j++) {
-    if (j == 2) {
-      typedef union {
-        struct {
-          mjtNum x, y;
-        };
-        mjtNum c[2];
-      } d2;
-      d2 p, s, dd /*, c, tmp1*/;
-      mjtNum uu, vv, w, ee1, best /* ,e2 */, l /* , e3, e4 */;
-
-      bestdist = bestdistmax;
-
-      p.x = pos[0];
-      p.y = pos[1];
-      dd.x = halfaxis[0];
-      dd.y = halfaxis[1];
-      s.x = size2[0];
-      s.y = size2[1];
-
-      l = sqrt(dd.x * dd.x + dd.y * dd.y);
-
-      uu = dd.x * s.y;
-      vv = dd.y * s.x;
-      w = dd.x * p.y - dd.y * p.x;
-
-
-      best = -1;
-
-      ee1 = +uu - vv;
-      if ((ee1 < 0) == (w < 0)) {
-        if (best < mju_abs(ee1)) {
-          best = mju_abs(ee1);
-          c1 = 0;
-        }
-      }
-      ee1 = -uu - vv;
-      if ((ee1 < 0) == (w < 0)) {
-        if (best < mju_abs(ee1)) {
-          best = mju_abs(ee1);
-          c1 = 1;
-        }
-      }
-      ee1 = +uu + vv;
-      if ((ee1 < 0) == (w < 0)) {
-        if (best < mju_abs(ee1)) {
-          best = mju_abs(ee1);
-          c1 = 2;
-        }
-      }
-      ee1 = -uu + vv;
-      if ((ee1 < 0) == (w < 0)) {
-        if (best < mju_abs(ee1)) {
-          best = mju_abs(ee1);
-          c1 = 3;
-        }
-      }
-
-      // c.x = s.x * ((c1 / 2) ? -1 : 1);
-      // c.y = s.y * ((c1 % 2) ? -1 : 1);
-
-      ee1 = mju_abs(w) / l;
-      // e2 = best / l;
-
-      // printf("%g %g      %g %g     %g %g\n",c.x,c.y,d.x,d.y,e1,e2);
-
-      // tmp1.x = c.x - p.x;
-      // tmp1.y = c.y - p.y;
-      ee1 = dd.x * dd.x + dd.y * dd.y;
-      // e2 = tmp1.x * d.x + tmp1.y * d.y;
-      // e3 = e2 / e1;
-
-
-      // printf("%g %g      %g %g     %g %g %g \n",c.x,c.y,d.x,d.y,e1,e2,e3);
-
-      ee1 = p.x + (+s.y - p.y) / dd.y * dd.x;
-      // e2 = p.x + (-s.y - p.y) / d.y * d.x;
-      // e3 = p.y + (+s.x - p.x) / d.x * d.y;
-      // e4 = p.y + (-s.x - p.x) / d.x * d.y;
-
-
-      // printf("%g %g     %g %g\n",e1,e2,e3,e4);
-    }
-  }
-
-  // goto skip;   // allow only the closest contact
-
-  // cltype: -3 -1 : face is closest to the capsule
-  // cltype: 0..8 : edge is closest to the capsule
-  // cltype/3==0 means the lower corner is closest to the capsule (note that edges include corners)
-  // cltype/3==2 means the upper corner is closest to the capsule (note that edges include corners)
-  // cltype/3==1 means the middle of the edge is closest to the capsule
-  // cltype%3==0 means the lower corner is closest to the box (note that edges include corners)
-  // cltype%3==2 means the upper corner is closest to the box (note that edges include corners)
-  // cltype%3==1 means the middle of the capsule is closest to the box
-
-
-  // invalid type
-  if (cltype == -4)
-    return 0;
-
-  if (cltype >= 0 && cltype / 3 != 1) {  // closest to a corner of the box
-    c1 = axisdir ^ clcorner;
-
-    // hack to find the relative orientation of capsule and corner
-    // there are 2 cases:
-    //    1: pointing to or away from the corner
-    //    2: oriented along a face or an edge
-
-
-    if (c1 == 0 || c1 == 7)
-      goto skip;  // case 1: no chance of additional contact
-
-    if (c1 == 1 || c1 == 2 || c1 == 4) {
-      mul = 1;
-      de = 1 - bestsegmentpos;
-      dp = 1 + bestsegmentpos;
-    }
-
-    if (c1 == 3 || c1 == 5 || c1 == 6) {
-      mul = -1;
-      c1 = 7 - c1;
-      dp = 1 - bestsegmentpos;
-      de = 1 + bestsegmentpos;
-    }
-
-    // "de" and "dp" distance from first closest point on the capsule to both ends of it
-    // mul is a direction along the capsule's axis
-
-    if (c1 == 1)
-      ax = 0, ax1 = 1, ax2 = 2;
-    if (c1 == 2)
-      ax = 1, ax1 = 2, ax2 = 0;
-    if (c1 == 4)
-      ax = 2, ax1 = 0, ax2 = 1;
-
-
-
-    if (axis[ax]*axis[ax] > 0.5) {  // second point along the edge of the box
-      secondpos = de;  // initial position from the
-      e1 = 2 * size2[ax] / mju_abs(halfaxis[ax]);
-
-      if (e1 < secondpos) {
-        secondpos = e1;  // we overshoot, move back to the  other corner of the edge
-      }
-      secondpos *= mul;
-    } else {  // second point along a face of the box
-      secondpos = dp;
-
-      // check for overshoot again
-
-      e1 = 2 * size2[ax1] / mju_abs(halfaxis[ax1]);
-      if (e1 < secondpos)
-        secondpos = e1;
-
-      e1 = 2 * size2[ax2] / mju_abs(halfaxis[ax2]);
-      if (e1 < secondpos)
-        secondpos = e1;
-
-      secondpos *= -mul;
-    }
-  } else if (cltype >= 0 && cltype / 3 == 1) {  // we are on box's edge
-    // hacks to find the relative orientation of capsule and edge
-    // there are 2 cases:
-    //    c1= 2^n: edge and capsule are oriented in a T configuration (no more contacts
-    //    c1!=2^n: oriented in a cross X configuration
-
-    c1 = axisdir ^ clcorner;  // same trick
-
-    c1 &= 7 - (1 << cledge);  // even more hacks
-
-    // printf("%d %d %d %d    %lf %lf %lf\n",
-    //        axisdir,clcorner,c1,cledge,halfaxis[0],halfaxis[1],halfaxis[2]);
-
-    if (c1 != 1 && c1 != 2 && c1 != 4)
-      goto skip;
-
-
-    if (cledge == 0)
-      ax1 = 1, ax2 = 2;
-    if (cledge == 1)
-      ax1 = 2, ax2 = 0;
-    if (cledge == 2)
-      ax1 = 0, ax2 = 1;
-    ax = cledge;
-
-
-    // Then it finds with which face the capsule has a lower angle and switches the axis names
-
-    if (mju_abs(axis[ax1]) > mju_abs(axis[ax2]))
-      ax1 = ax2;
-    ax2 = 3 - ax - ax1;
-
-    // keep track of the axis orientation (mul will tell us which direction along the capsule to
-    // find the second point) you can notice all other references to the axis "halfaxis" are with
-    // absolute value
-
-    if (c1 & (1 << ax2)) {
-      mul = 1;
-      secondpos = 1 - bestsegmentpos;
-    } else {
-      mul = -1;
-      secondpos = 1 + bestsegmentpos;
-    }
-
-
-    // now we have to find out whether we point towards the opposite side or towards one of the
-    // sides and also find the farthest point along the capsule that is above the box
-
-    e1 = 2 * size2[ax2] / mju_abs(halfaxis[ax2]);
-    if (e1 < secondpos)
-      secondpos = e1;
-
-    if (((axisdir & (1 << ax)) != 0) == ((c1 & (1 << ax2)) != 0))  // that is insane
-      e2 = 1 - bestboxpos;
-    else
-      e2 = 1 + bestboxpos;
-
-    e1 = size2[ax] * e2 / mju_abs(halfaxis[ax]);
-
-    if (e1 < secondpos)
-      secondpos = e1;
-
-    secondpos *= mul;
-  } else if (cltype < 0) {
-    // similarly we handle the case when one capsule's end is closest to a face of the box
-    // and find where is the other end pointing to and clamping to the farthest point
-    // of the capsule that's above the box
-
-    if (clface == -1)
-      goto skip;  // here the closest point is inside the box, no need for a second point
-    if (cltype == -3)
-      mul = 1;
-    else
-      mul = -1;
-
-    secondpos = 2;
-
-    mji_copy3(tmp1, pos);
-    mji_addToScl3(tmp1, halfaxis, -mul);
-
-    for (i = 0; i < 3; i++) {
-      if (i != clface) {
-        e1 = (size2[i] - tmp1[i]) / halfaxis[i] * mul;
-        if (e1 > 0)
-          if (e1 < secondpos)
-            secondpos = e1;
-
-        e1 = (-size2[i] - tmp1[i]) / halfaxis[i] * mul;
-        if (e1 > 0)
-          if (e1 < secondpos)
-            secondpos = e1;
-      }
-    }
-    secondpos *= mul;
-  }
-
-
-skip:
-
-  // create sphere in original orientation at first contact point
-  mju_copy3(tmp1, pos);
-  mji_addToScl3(tmp1, halfaxis, bestsegmentpos);
-  mju_mulMatVec3(tmp2, mat2, tmp1);
-  mju_addTo3(tmp2, pos2);
-
-  // collide with
-  n = mjraw_SphereBox(con, margin, tmp2, mat1, size1, pos2, mat2, size2);
-
-
-  if (secondpos > -3) {  // secondpos was modified
-    mju_copy3(tmp1, pos);
-    mji_addToScl3(tmp1, halfaxis, secondpos + bestsegmentpos);  // note the summation
-    mju_mulMatVec3(tmp2, mat2, tmp1);
-    mju_addTo3(tmp2, pos2);
-    n += mjraw_SphereBox(con + n, margin, tmp2, mat1, size1, pos2, mat2, size2);
-  }
-
-  return n;
-}
-
-
-// capsule : box
-int mjc_CapsuleBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  const mjtNum* pos1  = d->geom_xpos + 3*g1;
-  const mjtNum* pos2  = d->geom_xpos + 3*g2;
-  const mjtNum* mat1  = d->geom_xmat + 9*g1;
-  const mjtNum* mat2  = d->geom_xmat + 9*g2;
-  const mjtNum* size1 = m->geom_size + 3*g1;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-  return mjraw_CapsuleBox(con, margin, pos1, mat1, size1, pos2, mat2, size2);
-}
-
-
-// A box-box contact manifold is computed in two stages.
-//
-// Stage 1, separating-axis test: find the axis of maximum separation among the 15 candidate
-// directions (3 face normals per box, 9 cross products of edge directions). If the boxes are
-// separated by more than margin along any candidate axis there is no contact. Face axes are
-// preferred over edge axes on near-ties: a face axis yields a multi-point manifold, which the
-// solver strongly prefers over a single edge contact of nearly identical depth.
-//
-// Stage 2, manifold generation, depends on the kind of winning axis:
-//  - face axis: the owner of the face is the reference box. The face of the other (incident)
-//    box least aligned with the reference normal is clipped against the four side planes of
-//    the reference face (Sutherland-Hodgman). Every clipped vertex within the margin band
-//    becomes a contact. Depth is the distance between the surfaces along the reference
-//    normal; contact position is midway between the surfaces along the normal, so it lies
-//    inside the intersection of the margin-inflated boxes.
-//  - edge axis: the contact is at the midpoint of the closest-point pair between the two
-//    supporting edge segments, with depth measured along the separating axis.
-//
-// Every surviving clipped vertex becomes a contact, so a face manifold carries at most
-// mjBOXBOX_MAXVERT points. Reducing the patch below the clipped polygon is not worth it:
-// on stacks of plates, whose contact patch is wide relative to their thickness, dropping
-// the polygon to a four-point subset costs two to three orders of magnitude in residual
-// motion at rest, because the support polygon shrinks and its vertex subset changes from
-// step to step as the plates shift.
-
-// Rounding scales, in units of mjtNum epsilon. Supports are sums of products of box
-// extents with rotation entries, so their absolute error is proportional to the extents:
-// mjBOXBOX_SEPEPS multiplies the summed half-sizes. The rest are dimensionless.
-#ifdef mjUSESINGLE
-  #define mjBOXBOX_SEPEPS 1e-6f    // slack on the separation tests, times the box scale
-  #define mjBOXBOX_PAREPS 1e-7f    // sin^2 below which an edge-cross axis is noise
-  #define mjBOXBOX_SGNEPS 1e-5f    // axis component below which a support corner is ambiguous
-  #define mjBOXBOX_DUPEPS 1e-10f   // squared relative radius for clip-vertex deduplication
-#else
-  #define mjBOXBOX_SEPEPS 1e-13
-  #define mjBOXBOX_PAREPS 1e-16
-  #define mjBOXBOX_SGNEPS 1e-9
-  #define mjBOXBOX_DUPEPS 1e-14
-#endif
-
-// relative penalty applied to edge-axis separation on near-ties with the best face axis
-#define mjBOXBOX_EDGEBIAS 1e-6
-
-// vertex capacity for face clipping: a 4-gon clipped by 4 half-planes has at most 8
-// vertices, each of which may become a contact (mjMAXCONPAIR is far above that)
-#define mjBOXBOX_MAXVERT 12
-
-// clip polygon *cur (nin vertices) against the half-plane sign*v[coord] <= limit; when
-// every vertex is already inside, *cur is left untouched (no copies, the common resting
-// case); otherwise the result is written to spare and the buffers are swapped; vertices
-// are (x, y, z) with z interpolated as an attribute; returns the vertex count
-static int clipHalfPlane(int nin, mjtNum (**cur)[3], mjtNum (**spare)[3],
-                         int coord, mjtNum sign, mjtNum limit) {
-  mjtNum (*in)[3] = *cur;
-  mjtNum d[mjBOXBOX_MAXVERT];
-  int all_inside = 1;
-  for (int k = 0; k < nin; k++) {
-    d[k] = sign*in[k][coord] - limit;
-    all_inside &= d[k] <= 0;
-  }
-  if (all_inside) {
-    return nin;
-  }
-
-  mjtNum (*out)[3] = *spare;
-  int nout = 0;
-  for (int k = 0; k < nin; k++) {
-    const mjtNum* p = in[k];
-    int k1 = k + 1 == nin ? 0 : k + 1;
-    mjtNum dp = d[k], dq = d[k1];
-
-    // emit p if inside
-    if (dp <= 0 && nout < mjBOXBOX_MAXVERT) {
-      mji_copy3(out[nout++], p);
-    }
-
-    // emit intersection if the edge strictly crosses the plane
-    if (((dp < 0 && dq > 0) || (dp > 0 && dq < 0)) && nout < mjBOXBOX_MAXVERT) {
-      const mjtNum* q = in[k1];
-      mjtNum t = dp / (dp - dq);
-      out[nout][0] = p[0] + t*(q[0] - p[0]);
-      out[nout][1] = p[1] + t*(q[1] - p[1]);
-      out[nout][2] = p[2] + t*(q[2] - p[2]);
-      nout++;
-    }
-  }
-  *cur = out;
-  *spare = in;
-  return nout;
-}
-
-
-// box : box
-int mjc_BoxBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* pos2 = d->geom_xpos + 3*g2;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-  const mjtNum* mat2 = d->geom_xmat + 9*g2;
-  const mjtNum* size1 = m->geom_size + 3*g1;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-
-  // rot: box2 axes in box1 frame (columns); pos21: box2 center in box1 frame;
-  // pos12: box1 center in box2 frame
-  mjtNum rot[9], rotabs[9], pos21[3], pos12[3], tmp[3];
-  mji_sub3(tmp, pos2, pos1);
-  mji_mulMatTVec3(pos21, mat1, tmp);
-  mji_sub3(tmp, pos1, pos2);
-  mji_mulMatTVec3(pos12, mat2, tmp);
-  mju_mulMatTMat3(rot, mat1, mat2);
-  for (int i = 0; i < 9; i++) {
-    rotabs[i] = mju_abs(rot[i]);
-  }
-
-  //------------------------------ stage 1: separating-axis test
-
-  // the separation tests decide contact against no contact, so they carry rounding slack:
-  // without it a box pair that genuinely overlaps by less than the rounding error of its
-  // own support evaluation is reported as separated, and the boxes pass through each other
-  mjtNum septol = margin + mjBOXBOX_SEPEPS*(size1[0] + size1[1] + size1[2] +
-                                            size2[0] + size2[1] + size2[2]);
-
-  // best separation so far (most positive; negative = penetration), and the winning axis:
-  // code 0..2 face of box1, 3..5 face of box2, >= 6 edge pair (i, j) as 6 + 3*i + j
-  mjtNum sep_best = -mjMAXVAL;
-  mjtNum sep_face = -mjMAXVAL;
-  int code = -1;
-
-  // face axes of box1: candidate normal is axis i of box1
-  for (int i = 0; i < 3; i++) {
-    mjtNum radius2 = rotabs[3*i+0]*size2[0] + rotabs[3*i+1]*size2[1] + rotabs[3*i+2]*size2[2];
-    mjtNum sep = mju_abs(pos21[i]) - size1[i] - radius2;
-    if (sep > septol) {
-      return 0;
-    }
-    if (sep > sep_best) {
-      sep_best = sep;
-      code = i;
-    }
-  }
-
-  // face axes of box2: candidate normal is axis j of box2
-  for (int j = 0; j < 3; j++) {
-    mjtNum radius1 = rotabs[0+j]*size1[0] + rotabs[3+j]*size1[1] + rotabs[6+j]*size1[2];
-    mjtNum sep = mju_abs(pos12[j]) - size2[j] - radius1;
-    if (sep > septol) {
-      return 0;
-    }
-    if (sep > sep_best) {
-      sep_best = sep;
-      code = 3 + j;
-    }
-  }
-  sep_face = sep_best;
-  int code_face = code;
-
-  // edge-cross axes: candidate direction is axis i of box1 crossed with axis j of box2
-  for (int i = 0; i < 3; i++) {
-    for (int j = 0; j < 3; j++) {
-      // cross product of e_i with column j of rot, in box1 frame; component i is zero
-      int i1 = (i + 1) % 3, i2 = (i + 2) % 3;
-      mjtNum ax1 = -rot[3*i2+j];
-      mjtNum ax2 = rot[3*i1+j];
-
-      // the cross product of two unit vectors has norm sin(angle); for nearly parallel
-      // edges the components above are pure cancellation noise and the direction is
-      // meaningless, so require sin(angle) well above rounding; the skipped axes are
-      // covered by the face normals, which the cross product converges to as the angle
-      // vanishes
-      mjtNum norm2 = ax1*ax1 + ax2*ax2;
-      if (norm2 < mjBOXBOX_PAREPS) {
-        continue;
-      }
-      mjtNum inv = 1/mju_sqrt(norm2);
-      ax1 *= inv;
-      ax2 *= inv;
-
-      // support radius of box1: component i of axis is zero by construction
-      mjtNum radius1 = size1[i1]*mju_abs(ax1) + size1[i2]*mju_abs(ax2);
-
-      // support radius of box2: transform axis to box2 frame; component j is zero there,
-      // and only components i1, i2 of the axis are nonzero here
-      int j1 = (j + 1) % 3, j2 = (j + 2) % 3;
-      mjtNum a2_1 = ax1*rot[3*i1+j1] + ax2*rot[3*i2+j1];
-      mjtNum a2_2 = ax1*rot[3*i1+j2] + ax2*rot[3*i2+j2];
-      mjtNum radius2 = size2[j1]*mju_abs(a2_1) + size2[j2]*mju_abs(a2_2);
-
-      mjtNum sep = mju_abs(ax1*pos21[i1] + ax2*pos21[i2]) - radius1 - radius2;
-      if (sep > septol) {
-        return 0;
-      }
-
-      // an edge axis must beat the best face axis by a bias-scaled amount: on exact ties
-      // the face manifold (multiple points) is strictly better for the solver
-      if (sep - mjBOXBOX_EDGEBIAS*mju_abs(sep) > sep_best && sep > sep_face) {
-        sep_best = sep;
-        code = 6 + 3*i + j;
-      }
-    }
-  }
-
-  if (code < 0) {
-    return 0;  // cannot happen: some face axis always sets code
-  }
-
-  // a winning edge axis nearly parallel to the best face axis (within ~8 degrees)
-  // duplicates it: the face manifold covers the same contact with multiple points, and
-  // resting stacks flip between the two codes by rounding noise if the near-tie is
-  // allowed to alternate. The face is substituted unless the edge is better by five
-  // percent of the face depth (ODE's classic fudge): resting-stack energy degrades
-  // continuously as this margin shrinks, while the depth cost of the substitution is
-  // bounded by the same five percent. Substituting after the search, rather than
-  // filtering during it, prevents a worse non-aliasing edge from stealing the contact
-  // that the substitution meant to give to the face.
-  if (code >= 6) {
-    int i = (code - 6) / 3;
-    int j = (code - 6) % 3;
-    int i1 = (i + 1) % 3, i2 = (i + 2) % 3;
-    mjtNum axis[3];
-    axis[i] = 0;
-    axis[i1] = -rot[3*i2+j];
-    axis[i2] = rot[3*i1+j];
-    mju_normalize3(axis);
-    mjtNum face_dot;
-    if (code_face < 3) {
-      face_dot = mju_abs(axis[code_face]);
-    } else {
-      int f = code_face - 3;
-      face_dot = mju_abs(axis[0]*rot[0+f] + axis[1]*rot[3+f] + axis[2]*rot[6+f]);
-    }
-    if (face_dot > 0.99 && sep_best < sep_face + 0.05*mju_abs(sep_face) + mjMINVAL) {
-      code = code_face;
-      sep_best = sep_face;
-    }
-  }
-
-  //------------------------------ stage 2a: edge-edge contact
-
-  if (code >= 6) {
-    int i = (code - 6) / 3;
-    int j = (code - 6) % 3;
-    int i1 = (i + 1) % 3, i2 = (i + 2) % 3;
-    int j1 = (j + 1) % 3, j2 = (j + 2) % 3;
-
-    // unit separating axis in box1 frame, oriented from box1 toward box2
-    mjtNum axis[3];
-    axis[i] = 0;
-    axis[i1] = -rot[3*i2+j];
-    axis[i2] = rot[3*i1+j];
-    mju_normalize3(axis);
-    if (mju_dot3(axis, pos21) < 0) {
-      axis[0] = -axis[0];
-      axis[1] = -axis[1];
-      axis[2] = -axis[2];
-    }
-
-    // supporting edges: the box1 edge runs along e_i at a corner selected by the axis
-    // signs in (i1, i2); the box2 edge runs along column j at a corner selected by the
-    // signs of the axis in box2 coordinates. A near-zero component makes the sign choice
-    // meaningless -- both edges support the axis -- and rounding can pick the wrong one,
-    // producing witness points on the wrong side of the box. Enumerate both signs for any
-    // ambiguous component (at most one per box) and keep the closest witness pair.
-    mjtNum a2[3] = {
-      axis[0]*rot[0+0] + axis[1]*rot[3+0] + axis[2]*rot[6+0],
-      axis[0]*rot[0+1] + axis[1]*rot[3+1] + axis[2]*rot[6+1],
-      axis[0]*rot[0+2] + axis[1]*rot[3+2] + axis[2]*rot[6+2],
-    };
-    const mjtNum ambig = mjBOXBOX_SGNEPS;
-    int amb1 = -1, amb2 = -1;
-    if (mju_abs(axis[i1]) < ambig) amb1 = i1;
-    else if (mju_abs(axis[i2]) < ambig) amb1 = i2;
-    if (mju_abs(a2[j1]) < ambig) amb2 = j1;
-    else if (mju_abs(a2[j2]) < ambig) amb2 = j2;
-
-    mjtNum d2[3] = {rot[0+j], rot[3+j], rot[6+j]};
-    mjtNum b = d2[i];  // d1 . d2, with d1 = e_i
-    mjtNum denom = 1 - b*b;
-
-    mjtNum w1[3], w2[3];
-    mjtNum best_d2 = mjMAXVAL;
-    for (int v1 = 0; v1 < (amb1 >= 0 ? 2 : 1); v1++) {
-      for (int v2 = 0; v2 < (amb2 >= 0 ? 2 : 1); v2++) {
-        // corner of the box1 edge: support along +axis, ambiguous component flipped by v1
-        mjtNum c1[3];
-        c1[i] = 0;
-        c1[i1] = axis[i1] >= 0 ? size1[i1] : -size1[i1];
-        c1[i2] = axis[i2] >= 0 ? size1[i2] : -size1[i2];
-        if (amb1 >= 0 && v1) c1[amb1] = -c1[amb1];
-
-        // corner of the box2 edge: support along -axis in box2 coordinates
-        mjtNum cc[3];
-        cc[j] = 0;
-        cc[j1] = a2[j1] >= 0 ? -size2[j1] : size2[j1];
-        cc[j2] = a2[j2] >= 0 ? -size2[j2] : size2[j2];
-        if (amb2 >= 0 && v2) cc[amb2] = -cc[amb2];
-        mjtNum c2[3];
-        mji_mulMatVec3(c2, rot, cc);
-        mji_addTo3(c2, pos21);
-
-        // closest points between the two edge segments (directions are unit vectors)
-        mjtNum e[3];
-        mji_sub3(e, c2, c1);
-        mjtNum d1e = e[i];  // d1 . e
-        mjtNum d2e = mju_dot3(d2, e);
-        mjtNum s = denom < mjMINVAL ? 0 : (d1e - b*d2e) / denom;
-
-        // clamp into the segments, letting each clamp re-solve the other parameter
-        s = mju_clip(s, -size1[i], size1[i]);
-        mjtNum t = mju_clip(b*s - d2e, -size2[j], size2[j]);
-        s = mju_clip(d1e + b*t, -size1[i], size1[i]);
-
-        mjtNum p1[3], p2[3], gap[3];
-        mji_copy3(p1, c1);
-        p1[i] += s;
-        mji_copy3(p2, c2);
-        mji_addToScl3(p2, d2, t);
-        mji_sub3(gap, p2, p1);
-        mjtNum gap2 = mju_dot3(gap, gap);
-        if (gap2 < best_d2) {
-          best_d2 = gap2;
-          mji_copy3(w1, p1);
-          mji_copy3(w2, p2);
-        }
-      }
-    }
-
-    // signed distance along the axis
-    mjtNum gap[3];
-    mji_sub3(gap, w2, w1);
-    mjtNum dist = mju_dot3(gap, axis);
-    if (dist > septol) {
-      return 0;
-    }
-
-    // contact at the midpoint of the witness pair: for penetrating edges this is inside both
-    // boxes; in the margin band it is midway between the two surfaces
-    mjtNum mid[3] = {0.5*(w1[0] + w2[0]), 0.5*(w1[1] + w2[1]), 0.5*(w1[2] + w2[2])};
-
-    con[0].dist = dist;
-    mji_mulMatVec3(tmp, mat1, mid);
-    mji_add3(con[0].pos, tmp, pos1);
-    mji_mulMatVec3(con[0].normal, mat1, axis);
-    mji_zero3(con[0].tangent);
-    return 1;
-  }
-
-  //------------------------------ stage 2b: face contact
-
-  // reference box: owner of the winning face; incident box: the other one
-  int ref1 = code < 3;              // is box1 the reference?
-  int a = ref1 ? code : code - 3;   // face axis of the reference box
-  const mjtNum* sizeref = ref1 ? size1 : size2;
-  const mjtNum* sizeinc = ref1 ? size2 : size1;
-  const mjtNum* posref = ref1 ? pos1 : pos2;
-  const mjtNum* matref = ref1 ? mat1 : mat2;
-  const mjtNum* posoi = ref1 ? pos21 : pos12;  // incident center in reference frame
-
-  // incident box axes in reference frame: rot maps box2 to box1, transpose maps box1 to box2;
-  // rinc(r, c) = component r of incident axis c, in reference frame
-  mjtNum rinc[9];
-  if (ref1) {
-    mju_copy(rinc, rot, 9);
-  } else {
-    mju_transpose(rinc, rot, 3, 3);
-  }
-
-  // face direction: +1 if the incident box lies along +a, else -1
-  mjtNum sgn = posoi[a] >= 0 ? 1 : -1;
-
-  // incident face: the face of the incident box most opposed to the reference face normal
-  int binc = 0;
-  for (int k = 1; k < 3; k++) {
-    if (mju_abs(rinc[3*a+k]) > mju_abs(rinc[3*a+binc])) {
-      binc = k;
-    }
-  }
-  mjtNum tinc = sgn*rinc[3*a+binc] > 0 ? -1 : 1;  // sign making the incident normal oppose
-
-  // corners of the incident face in reference frame, cyclic winding; the in-plane
-  // coordinates are (x, y) = the two non-a reference axes, z is the signed distance
-  // above the reference face plane (negative = inside the reference box)
-  int ax = (a + 1) % 3, ay = (a + 2) % 3;
-  int bu = (binc + 1) % 3, bv = (binc + 2) % 3;
-  mjtNum poly[2][mjBOXBOX_MAXVERT][3];
-
-  // face center and in-face half-edge offsets, in the projected (x, y, z) coordinates
-  mjtNum cx[3], du[3], dv[3];
-  for (int r = 0; r < 3; r++) {
-    int c = r == 0 ? ax : (r == 1 ? ay : a);
-    cx[r] = posoi[c] + tinc*sizeinc[binc]*rinc[3*c+binc];
-    du[r] = sizeinc[bu]*rinc[3*c+bu];
-    dv[r] = sizeinc[bv]*rinc[3*c+bv];
-  }
-  cx[2] = sgn*cx[2] - sizeref[a];
-  du[2] *= sgn;
-  dv[2] *= sgn;
-  static const mjtNum corner_sign[4][2] = {{1, 1}, {-1, 1}, {-1, -1}, {1, -1}};
-  for (int k = 0; k < 4; k++) {
-    mjtNum su = corner_sign[k][0], sv = corner_sign[k][1];
-    poly[0][k][0] = cx[0] + su*du[0] + sv*dv[0];
-    poly[0][k][1] = cx[1] + su*du[1] + sv*dv[1];
-    poly[0][k][2] = cx[2] + su*du[2] + sv*dv[2];
-  }
-
-  // clip against the four side planes of the reference face; the buffers swap only on
-  // passes that actually clip
-  int nvert = 4;
-  mjtNum (*cur)[3] = poly[0];
-  mjtNum (*spare)[3] = poly[1];
-  nvert = clipHalfPlane(nvert, &cur, &spare, 0, 1, sizeref[ax]);
-  nvert = clipHalfPlane(nvert, &cur, &spare, 0, -1, sizeref[ax]);
-  nvert = clipHalfPlane(nvert, &cur, &spare, 1, 1, sizeref[ay]);
-  nvert = clipHalfPlane(nvert, &cur, &spare, 1, -1, sizeref[ay]);
-
-  // accept vertices within the margin band, dropping near-duplicates produced by clipping
-  // at polygon corners; duplicate radius is relative to the reference face scale
-  mjtNum accepted[mjBOXBOX_MAXVERT][3];
-  int naccept = 0;
-  mjtNum dupe2 = mjBOXBOX_DUPEPS*(sizeref[ax]*sizeref[ax] + sizeref[ay]*sizeref[ay]);
-  for (int k = 0; k < nvert; k++) {
-    if (cur[k][2] > margin) {
-      continue;
-    }
-    int dupe = 0;
-    for (int q = 0; q < naccept; q++) {
-      mjtNum dx = accepted[q][0] - cur[k][0];
-      mjtNum dy = accepted[q][1] - cur[k][1];
-      if (dx*dx + dy*dy < dupe2) {
-        dupe = 1;
-        break;
-      }
-    }
-    if (!dupe) {
-      mji_copy3(accepted[naccept++], cur[k]);
-    }
-  }
-  if (naccept == 0) {
-    return 0;
-  }
-
-  // world normal points from geom1 to geom2: along +sgn*a of the reference frame when box1
-  // is the reference, opposite when box2 is
-  mjtNum normal[3];
-  mjtNum nsign = ref1 ? sgn : -sgn;
-  normal[0] = nsign*matref[3*0+a];
-  normal[1] = nsign*matref[3*1+a];
-  normal[2] = nsign*matref[3*2+a];
-
-  for (int k = 0; k < naccept; k++) {
-    const mjtNum* v = accepted[k];
-
-    // contact position: on the clipped incident polygon in (x, y), midway between the
-    // reference face plane and the incident surface along the face axis
-    mjtNum posc[3];
-    posc[ax] = v[0];
-    posc[ay] = v[1];
-    posc[a] = sgn*(sizeref[a] + 0.5*v[2]);
-
-    con[k].dist = v[2];
-    mji_mulMatVec3(tmp, matref, posc);
-    mji_add3(con[k].pos, tmp, posref);
-    mji_copy3(con[k].normal, normal);
-    mji_zero3(con[k].tangent);
-  }
-  return naccept;
-}
diff --git a/src/engine/engine_collision_continuous.c b/src/engine/engine_collision_continuous.c
deleted file mode 100644
index 1160519a..00000000
--- a/src/engine/engine_collision_continuous.c
+++ /dev/null
@@ -1,971 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Continuous-collision geometry for deformables; see the header for scope.
-
-#include "engine/engine_collision_continuous.h"
-
-#include <math.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include "engine/engine_util_blas.h"     // mju_dot3, mju_mulMatVec3
-#include "engine/engine_util_errmem.h"   // mju_malloc, mju_free
-
-static inline mjtNum min2(mjtNum a, mjtNum b) { return a < b ? a : b; }
-
-// point-triangle: distance, closest point cp, barycentric weights w of cp (for the barrier
-// gradient).
-// TODO(consolidation): same closest-point-on-triangle math as mjraw_SphereTriangle
-// (engine_collision_primitive.c) and GJK's S2D -- NOT a duplicate by accident. The barrier
-// gradient/Hessian needs the BARYCENTRIC weights w (to spread the reaction onto the 3 verts), which
-// mjraw_SphereTriangle never forms (it finds the closest 3D point in a rotated frame, no w), and it
-// early-exits on margin so it can't return the unconditional signed distance this module uses in
-// broadphase/CCD. Reuse = factor the core out of mjraw_SphereTriangle AND add a barycentric output
-// (a collision-core change), not a drop-in arg add; deferred (regression-risky, small payoff).
-mjtNum mjc_PtTri(const mjtNum* p, const mjtNum* a, const mjtNum* b, const mjtNum* c, mjtNum* cp,
-                 mjtNum* w) {
-  mjtNum ab[3], ac[3], ap[3];
-  for (int k=0; k < 3; k++) {
-    ab[k] = b[k] - a[k];
-    ac[k] = c[k] - a[k];
-    ap[k] = p[k] - a[k];
-  }
-  mjtNum d1 = mju_dot3(ab, ap), d2 = mju_dot3(ac, ap);
-  if (d1 <= 0 && d2 <= 0) {
-    w[0] = 1;
-    w[1] = 0;
-    w[2] = 0;
-  } else {
-    mjtNum bp[3];
-    for (int k=0; k < 3; k++) bp[k] = p[k] - b[k];
-    mjtNum d3 = mju_dot3(ab, bp), d4 = mju_dot3(ac, bp);
-    if (d3 >= 0 && d4 <= d3) {
-      w[0] = 0;
-      w[1] = 1;
-      w[2] = 0;
-    } else {
-      mjtNum vc = d1 * d4 - d3 * d2;
-      if (vc <= 0 && d1 >= 0 && d3 <= 0) {
-        mjtNum t = d1 / (d1 - d3);
-        w[0] = 1 - t;
-        w[1] = t;
-        w[2] = 0;
-      } else {
-        mjtNum cq[3];
-        for (int k=0; k < 3; k++) cq[k] = p[k] - c[k];
-        mjtNum d5 = mju_dot3(ab, cq), d6 = mju_dot3(ac, cq);
-        if (d6 >= 0 && d5 <= d6) {
-          w[0] = 0;
-          w[1] = 0;
-          w[2] = 1;
-        } else {
-          mjtNum vb = d5 * d2 - d1 * d6;
-          if (vb <= 0 && d2 >= 0 && d6 <= 0) {
-            mjtNum t = d2 / (d2 - d6);
-            w[0] = 1 - t;
-            w[1] = 0;
-            w[2] = t;
-          } else {
-            mjtNum va = d3 * d6 - d5 * d4;
-            if (va <= 0 && (d4 - d3) >= 0 && (d5 - d6) >= 0) {
-              mjtNum t = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-              w[0] = 0;
-              w[1] = 1 - t;
-              w[2] = t;
-            } else {
-              mjtNum den = 1.0 / (va + vb + vc), t = vb * den, u = vc * den;
-              w[0] = 1 - t - u;
-              w[1] = t;
-              w[2] = u;
-            }
-          }
-        }
-      }
-    }
-  }
-  for (int k=0; k < 3; k++) cp[k] = w[0] * a[k] + w[1] * b[k] + w[2] * c[k];
-  mjtNum dd[3];
-  for (int k=0; k < 3; k++) dd[k] = p[k] - cp[k];
-  return sqrt(mju_dot3(dd, dd));
-}
-
-// closest distance between segment p1p2 and segment q1q2; closest points cp1, cp2 and the segment
-// parameters st = {s, t} (cp1 = p1+s*(p2-p1), cp2 = q1+t*(q2-q1)).
-// TODO(consolidation): same segment-segment math as mjraw_CapsuleCapsule's NON-parallel branch
-// (engine_collision_primitive.c:442-470, identical x1/x2 clip). Kept separate because contact-gen
-// returns (s,t) (mjraw_ discards them into mjraw_SphereSphere), the PARALLEL branch diverges
-// (mjraw_ emits up to TWO contacts at the overlap ends -- a contact-gen stability trick -- vs the
-// mollifier), and mjraw_ early-exits on margin. Reuse needs a non-static closest-point primitive
-// factored out, not an arg add; deferred.
-// TODO(mollifier): no parallel-edge mollifier yet -- the near-parallel branch falls back to s=0
-// (fine for non-parallel crossings) but gives a DISCONTINUOUS edge-edge gap gradient the Newton
-// step feels. Add the Li-et-al EE mollifier (smooth vanish as |e1 x e2| -> 0) if/when near-parallel
-// EE contacts (folded/stacked cloth) start to bite.
-mjtNum mjc_SegSeg(const mjtNum* p1, const mjtNum* p2, const mjtNum* q1, const mjtNum* q2,
-                  mjtNum* cp1, mjtNum* cp2, mjtNum* st) {
-  mjtNum d1[3], d2[3], rr[3];
-  for (int k=0; k < 3; k++) {
-    d1[k] = p2[k] - p1[k];
-    d2[k] = q2[k] - q1[k];
-    rr[k] = p1[k] - q1[k];
-  }
-  mjtNum a = mju_dot3(d1, d1), e = mju_dot3(d2, d2), fq = mju_dot3(d2, rr);
-  mjtNum s, t;
-  if (a <= 1e-12 && e <= 1e-12) {
-    s = 0;
-    t = 0;
-  } else if (a <= 1e-12) {
-    s = 0;
-    t = fq / e;
-  } else {
-    mjtNum c = mju_dot3(d1, rr);
-    if (e <= 1e-12) {
-      t = 0;
-      s = -c / a;
-    } else {
-      mjtNum b = mju_dot3(d1, d2), den = a * e - b * b;
-      s = (den > 1e-12) ? (b * fq - c * e) / den
-                        : 0.0;  // parallel: s=0 (mollifier territory, deferred)
-      s = (s < 0) ? 0 : (s > 1 ? 1 : s);
-      t = (b * s + fq) / e;
-      if (t < 0) {
-        t = 0;
-        s = -c / a;
-      } else if (t > 1) {
-        t = 1;
-        s = (b - c) / a;
-      }
-    }
-  }
-  s = (s < 0) ? 0 : (s > 1 ? 1 : s);
-  t = (t < 0) ? 0 : (t > 1 ? 1 : t);
-  st[0] = s;
-  st[1] = t;
-  for (int k=0; k < 3; k++) {
-    cp1[k] = p1[k] + s * d1[k];
-    cp2[k] = q1[k] + t * d2[k];
-  }
-  mjtNum dd[3];
-  for (int k=0; k < 3; k++) dd[k] = cp1[k] - cp2[k];
-  return sqrt(mju_dot3(dd, dd));
-}
-
-// closest point (out) on a convex polygon face to point p: project onto the face plane; if the
-// projection is inside the polygon use it, else clamp to the nearest boundary edge. pv = the face's
-// mesh-local vertex indices (nv of them) into the vertex array vbase; nrm = the face's plane
-// normal. Helper for mjc_GeomDist's convex-mesh SDF branch; the engine has no
-// point-on-convex-face util.
-static void closestOnPoly(const mjtNum* p, const float* vbase, const int* pv, int nv,
-                          const mjtNum* nrm, mjtNum* out) {
-  const float* a0 = vbase + 3 * pv[0];
-  mjtNum dpl = nrm[0] * (p[0] - a0[0]) + nrm[1] * (p[1] - a0[1]) + nrm[2] * (p[2] - a0[2]);
-  mjtNum pp[3];
-  for (int k=0; k < 3; k++) pp[k] = p[k] - dpl * nrm[k];  // projection onto face plane
-  int npos = 0, nneg = 0;
-  for (int i=0; i < nv; i++) {
-    const float* a = vbase + 3 * pv[i];
-    const float* b = vbase + 3 * pv[(i + 1) % nv];
-    mjtNum e[3] = {b[0] - a[0], b[1] - a[1], b[2] - a[2]},
-           w[3] = {pp[0] - a[0], pp[1] - a[1], pp[2] - a[2]};
-    mjtNum cr = (e[1] * w[2] - e[2] * w[1]) * nrm[0] + (e[2] * w[0] - e[0] * w[2]) * nrm[1] +
-                (e[0] * w[1] - e[1] * w[0]) * nrm[2];
-    if (cr > 0)
-      npos++;
-    else
-      nneg++;
-  }
-  if (npos == 0 || nneg == 0) {
-    for (int k=0; k < 3; k++) out[k] = pp[k];
-    return;
-  }                    // inside polygon
-  mjtNum best = 1e30;  // clamp to edges
-  for (int i=0; i < nv; i++) {
-    const float* a = vbase + 3 * pv[i];
-    const float* b = vbase + 3 * pv[(i + 1) % nv];
-    mjtNum e[3] = {b[0] - a[0], b[1] - a[1], b[2] - a[2]},
-           w[3] = {p[0] - a[0], p[1] - a[1], p[2] - a[2]};
-    mjtNum t = (e[0] * w[0] + e[1] * w[1] + e[2] * w[2]) /
-               (e[0] * e[0] + e[1] * e[1] + e[2] * e[2] + 1e-18);
-    t = t < 0 ? 0 : (t > 1 ? 1 : t);
-    mjtNum c[3] = {a[0] + t * e[0], a[1] + t * e[1], a[2] + t * e[2]};
-    mjtNum d2 = (p[0] - c[0]) * (p[0] - c[0]) + (p[1] - c[1]) * (p[1] - c[1]) +
-                (p[2] - c[2]) * (p[2] - c[2]);
-    if (d2 < best) {
-      best = d2;
-      for (int k=0; k < 3; k++) out[k] = c[k];
-    }
-  }
-}
-
-// signed distance from a static geom's surface to world point x (positive outside) + outward unit
-// normal n. Closed-form for plane/sphere/capsule/box; returns +large (no contact) for other types.
-// A continuous-contact solver needs a differentiable POINT-to-geom signed distance;
-// mj_geomDistance is geom-vs-geom (can't take a flex vertex) and mjc_distance/mjc_gradient need an
-// mjSDF object + miss convex meshes.
-mjtNum mjc_GeomDist(const mjModel* m, int gi, const mjtNum* gpos, const mjtNum* gmat,
-                    const mjtNum* x, mjtNum* n, mjtNum distmax) {
-  int type = m->geom_type[gi];
-  const mjtNum* size = m->geom_size + 3 * gi;
-  mjtNum dx[3];
-  for (int k=0; k < 3; k++) dx[k] = x[k] - gpos[k];
-  if (type == mjGEOM_MESH) {
-    // point vs CONVEX-hull mesh, using MuJoCo's precomputed convex polygon faces. First the max
-    // signed face-plane distance (cheap; gives the inside test and a far/cheap reject). If the
-    // point is INSIDE (maxd<=0) return maxd with the max-face normal. If clearly FAR (maxd large)
-    // return maxd (barrier is off there, normal direction irrelevant). Only NEAR the surface do the
-    // proper point-to-convex-hull CLOSEST POINT (min over faces of the clamped projection) ->
-    // correct distance AND a normal that points at the actual nearest surface (no max-plane normal
-    // chatter).
-    int meshid = m->geom_dataid[gi];
-    const float* vbase = m->mesh_vert + 3 * m->mesh_vertadr[meshid];
-    int polyadr = m->mesh_polyadr[meshid], pn = m->mesh_polynum[meshid];
-    if (pn <= 0) {
-      n[0] = 0;
-      n[1] = 0;
-      n[2] = 1;
-      return 1e30;
-    }
-    mjtNum pl[3];
-    mju_mulMatTVec3(pl, gmat, dx);  // world -> mesh-local
-    mjtNum maxd = -1e30;
-    const mjtNum* bestn = m->mesh_polynormal + 3 * polyadr;
-    for (int p=0; p < pn; p++) {
-      const mjtNum* pnl = m->mesh_polynormal + 3 * (polyadr + p);
-      const float* v0 = vbase + 3 * m->mesh_polyvert[m->mesh_polyvertadr[polyadr + p]];
-      mjtNum c = pnl[0] * v0[0] + pnl[1] * v0[1] + pnl[2] * v0[2];
-      mjtNum dd = pnl[0] * pl[0] + pnl[1] * pl[1] + pnl[2] * pl[2] - c;
-      if (dd > maxd) {
-        maxd = dd;
-        bestn = pnl;
-      }
-    }
-    if (maxd <= 0) {
-      mju_mulMatVec3(n, gmat, bestn);
-      return maxd;
-    }  // inside: penetration
-    // far reject: maxd (max signed plane distance) is a LOWER bound on the true distance for a
-    // convex hull, so if it already exceeds distmax the closest-point search can't bring it into
-    // range -- skip the O(faces) loop (this is what makes the per-vertex broadphase against a mesh
-    // affordable).
-    if (maxd > distmax) {
-      mju_mulMatVec3(n, gmat, bestn);
-      return maxd;
-    }
-    mjtNum best = 1e30, bc[3] = {0, 0, 0};  // outside: true closest point
-    for (int p=0; p < pn; p++) {
-      const mjtNum* pnl = m->mesh_polynormal + 3 * (polyadr + p);
-      const int* pv = m->mesh_polyvert + m->mesh_polyvertadr[polyadr + p];
-      int nv = m->mesh_polyvertnum[polyadr + p];
-      mjtNum cc[3];
-      closestOnPoly(pl, vbase, pv, nv, pnl, cc);
-      mjtNum d2 = (pl[0] - cc[0]) * (pl[0] - cc[0]) + (pl[1] - cc[1]) * (pl[1] - cc[1]) +
-                  (pl[2] - cc[2]) * (pl[2] - cc[2]);
-      if (d2 < best) {
-        best = d2;
-        bc[0] = cc[0];
-        bc[1] = cc[1];
-        bc[2] = cc[2];
-      }
-    }
-    mjtNum dist = sqrt(best);
-    mjtNum nl[3];
-    for (int k=0; k < 3; k++) nl[k] = (dist > 1e-12) ? (pl[k] - bc[k]) / dist : bestn[k];
-    mju_mulMatVec3(n, gmat, nl);  // outward normal (point - closest) -> world
-    return dist;
-  }
-  if (type == mjGEOM_PLANE) {
-    n[0] = gmat[2];
-    n[1] = gmat[5];
-    n[2] = gmat[8];  // local +z axis in world coords
-    return mju_dot3(n, dx);
-  }
-  if (type == mjGEOM_SPHERE) {
-    mjtNum L = sqrt(mju_dot3(dx, dx));
-    if (L < 1e-12) {
-      n[0] = 0;
-      n[1] = 0;
-      n[2] = 1;
-      return -size[0];
-    }
-    for (int k=0; k < 3; k++) n[k] = dx[k] / L;
-    return L - size[0];
-  }
-  mjtNum p[3];
-  mju_mulMatTVec3(p, gmat, dx);  // world -> geom-local
-  mjtNum nl[3] = {0, 0, 0}, dist;
-  if (type == mjGEOM_CAPSULE) {
-    mjtNum hz = size[1], zc = p[2] > hz ? hz : (p[2] < -hz ? -hz : p[2]);
-    mjtNum q[3] = {p[0], p[1], p[2] - zc};  // vector from nearest axis point
-    mjtNum L = sqrt(mju_dot3(q, q));
-    if (L < 1e-12) {
-      nl[0] = 1;
-    } else {
-      for (int k=0; k < 3; k++) nl[k] = q[k] / L;
-    }
-    dist = L - size[0];
-  } else if (type == mjGEOM_BOX) {
-    mjtNum q[3];
-    int outside = 0;
-    for (int k=0; k < 3; k++) {
-      mjtNum c = p[k] > size[k] ? size[k] : (p[k] < -size[k] ? -size[k] : p[k]);
-      q[k] = p[k] - c;
-      if (q[k] != 0) outside = 1;
-    }
-    if (outside) {
-      mjtNum L = sqrt(mju_dot3(q, q));
-      dist = L;
-      for (int k=0; k < 3; k++) nl[k] = q[k] / L;
-    } else {  // inside: least-penetration face
-      int ax = 0;
-      mjtNum best = 1e30;
-      for (int k=0; k < 3; k++) {
-        mjtNum pen = size[k] - (p[k] < 0 ? -p[k] : p[k]);
-        if (pen < best) {
-          best = pen;
-          ax = k;
-        }
-      }
-      dist = -best;
-      nl[ax] = p[ax] > 0 ? 1 : -1;
-    }
-  } else {
-    n[0] = 0;
-    n[1] = 0;
-    n[2] = 1;
-    return 1e30;  // unsupported geom -> no barrier
-  }
-  mju_mulMatVec3(n, gmat, nl);  // geom-local normal -> world
-  return dist;
-}
-
-// world-space VERTICES of a static geom (sharp features that can poke through a flex triangle):
-// box -> 8 corners; mesh -> all its vertices; smooth/infinite geoms none. Returns the count.
-int mjc_GeomVerts(const mjModel* m, int gi, const mjtNum* gpos, const mjtNum* gmat, mjtNum* out) {
-  int type = m->geom_type[gi];
-  if (type == mjGEOM_BOX) {
-    const mjtNum* size = m->geom_size + 3 * gi;
-    int n = 0;
-    for (int sx=-1; sx <= 1; sx += 2)
-      for (int sy=-1; sy <= 1; sy += 2)
-        for (int sz=-1; sz <= 1; sz += 2) {
-          mjtNum loc[3] = {sx * size[0], sy * size[1], sz * size[2]}, wc[3];
-          mju_mulMatVec3(wc, gmat, loc);
-          for (int k=0; k < 3; k++) out[3 * n + k] = gpos[k] + wc[k];
-          n++;
-        }
-    return n;
-  }
-  if (type == mjGEOM_MESH) {
-    int mid = m->geom_dataid[gi], nv = m->mesh_vertnum[mid];
-    const float* vb = m->mesh_vert + 3 * m->mesh_vertadr[mid];
-    for (int i=0; i < nv; i++) {
-      mjtNum lv[3] = {vb[3 * i], vb[3 * i + 1], vb[3 * i + 2]}, wv[3];
-      mju_mulMatVec3(wv, gmat, lv);
-      for (int k=0; k < 3; k++) out[3 * i + k] = gpos[k] + wv[k];
-    }
-    return nv;
-  }
-  return 0;
-}
-
-// world-space EDGES of a static geom (a geom edge can slice through a flex triangle between flex
-// vertices): box -> 12 edges; mesh -> its convex-polygon edges (deduped: each shared edge emitted
-// once, by the polygon traversing it low->high index). Each edge = two endpoints. Returns count.
-int mjc_GeomEdges(const mjModel* m, int gi, const mjtNum* gpos, const mjtNum* gmat, mjtNum* out) {
-  int type = m->geom_type[gi];
-  if (type == mjGEOM_BOX) {
-    const mjtNum* size = m->geom_size + 3 * gi;
-    int n = 0;
-    for (int axis=0; axis < 3; axis++) {
-      int a1 = (axis + 1) % 3, a2 = (axis + 2) % 3;
-      for (int s1=-1; s1 <= 1; s1 += 2)
-        for (int s2=-1; s2 <= 1; s2 += 2) {
-          mjtNum lo[3], hi[3], w1[3], w2[3];
-          lo[axis] = -size[axis];
-          hi[axis] = size[axis];
-          lo[a1] = hi[a1] = s1 * size[a1];
-          lo[a2] = hi[a2] = s2 * size[a2];
-          mju_mulMatVec3(w1, gmat, lo);
-          mju_mulMatVec3(w2, gmat, hi);
-          for (int k=0; k < 3; k++) {
-            out[6 * n + k] = gpos[k] + w1[k];
-            out[6 * n + 3 + k] = gpos[k] + w2[k];
-          }
-          n++;
-        }
-    }
-    return n;
-  }
-  if (type == mjGEOM_MESH) {
-    int mid = m->geom_dataid[gi];
-    const float* vb = m->mesh_vert + 3 * m->mesh_vertadr[mid];
-    int pa = m->mesh_polyadr[mid], pn = m->mesh_polynum[mid], n = 0;
-    for (int p=0; p < pn; p++) {
-      int adr = m->mesh_polyvertadr[pa + p], nvp = m->mesh_polyvertnum[pa + p];
-      for (int j=0; j < nvp; j++) {
-        int a = m->mesh_polyvert[adr + j], b = m->mesh_polyvert[adr + (j + 1) % nvp];
-        if (a >= b) continue;  // dedup: emit each hull edge once (the low->high traversal)
-        mjtNum la[3] = {vb[3 * a], vb[3 * a + 1], vb[3 * a + 2]},
-               lb[3] = {vb[3 * b], vb[3 * b + 1], vb[3 * b + 2]}, wa[3], wb[3];
-        mju_mulMatVec3(wa, gmat, la);
-        mju_mulMatVec3(wb, gmat, lb);
-        for (int k=0; k < 3; k++) {
-          out[6 * n + k] = gpos[k] + wa[k];
-          out[6 * n + 3 + k] = gpos[k] + wb[k];
-        }
-        n++;
-      }
-    }
-    return n;
-  }
-  return 0;
-}
-
-// contact standoff from a pair's detection band: the rest gap min(band, cap). See the header for
-// the standoff/band semantics; cap is the caller's skin thickness ceiling.
-mjtNum mjc_standoff(mjtNum band, mjtNum cap) {
-  return band < cap ? band : cap;
-}
-
-// unit gap normal from a closest-point pair. Coincident features (dd == 0) have no defined
-// direction, so the normal is zeroed and the contact goes inert for this linearization instead of
-// emitting NaN; it is re-linearized at the next configuration. The CCD certificate keeps dd > 0,
-// so this only guards configurations that are already degenerate on entry.
-static void gapNormal(mjtNum* n, const mjtNum* p1, const mjtNum* p2, mjtNum dd) {
-  if (dd < mjMINVAL) {
-    n[0] = n[1] = n[2] = 0;
-    return;
-  }
-  for (int k=0; k < 3; k++) n[k] = (p1[k] - p2[k]) / dd;
-}
-
-// gap g of a contact at configuration x, plus the barrier gradient direction n, the involved flex
-// vertices idv[*nidx] and their weights cw (dg/d(vertex_p) = cw[p]*n). gv/ge are the precomputed
-// world-space static-geom corners/edges. Single source of the per-type contact geometry.
-// The engine's collision generators only emit an mjContact (dist/normal); this
-// returns gap + normal
-// + barycentric weights cw (dg/dx) for the barrier gradient/Hessian, which they do not expose.
-mjtNum mjc_pairGap(const mjcFlexPair* pair, const mjModel* m, const mjData* d, const mjtNum* x,
-                  const mjtNum* gv, const mjtNum* ge, const mjtNum* radii, mjtNum* n,
-                  int* idv, mjtNum* cw, int* nidx, mjtNum cutoff) {
-  switch (pair->type) {
-    case mjcFLEX_VERT_TRI: {  // flex self-contact or cross-flex (vertex v vs triangle A,B,C)
-      int v = pair->idx[0], A = pair->idx[1], B = pair->idx[2], C = pair->idx[3];
-      mjtNum cp[3], w[3], dd = mjc_PtTri(&x[3 * v], &x[3 * A], &x[3 * B], &x[3 * C], cp, w);
-      gapNormal(n, &x[3 * v], cp, dd);
-      idv[0] = v;
-      idv[1] = A;
-      idv[2] = B;
-      idv[3] = C;
-      cw[0] = 1;
-      cw[1] = -w[0];
-      cw[2] = -w[1];
-      cw[3] = -w[2];
-      *nidx = 4;
-      return dd;  // MIDSURFACE distance: radii NOT subtracted (delta unchanged; see header)
-    }
-    case mjcFLEX_EDGE_EDGE: {  // edge a1b1 against edge a2b2: flex self OR cross-flex
-      int a1 = pair->idx[0], b1 = pair->idx[1], a2 = pair->idx[2], b2 = pair->idx[3];
-      mjtNum cp1[3], cp2[3], st[2],
-          dd = mjc_SegSeg(&x[3 * a1], &x[3 * b1], &x[3 * a2], &x[3 * b2], cp1, cp2, st);
-      gapNormal(n, cp1, cp2, dd);
-      idv[0] = a1;
-      idv[1] = b1;
-      idv[2] = a2;
-      idv[3] = b2;
-      cw[0] = 1 - st[0];
-      cw[1] = st[0];
-      cw[2] = -(1 - st[1]);
-      cw[3] = -st[1];
-      *nidx = 4;
-      return dd;  // MIDSURFACE distance: radii NOT subtracted (delta unchanged; see header)
-    }
-    case mjcFLEX_VERT_GEOM: {  // flex vertex v vs static geom g surface
-      int v = pair->idx[0], gi = pair->g;
-      mjtNum dd = mjc_GeomDist(m, gi, d->geom_xpos + 3 * gi, d->geom_xmat + 9 * gi, &x[3 * v], n,
-                               cutoff + radii[v]);
-      idv[0] = v;
-      cw[0] = 1;
-      *nidx = 1;
-      return dd - radii[v];
-    }
-    case mjcGEOM_CORNER_TRI: {  // static geom corner gv[idx0] vs flex triangle A,B,C
-      const mjtNum* corner = &gv[3 * pair->idx[0]];
-      int A = pair->idx[1], B = pair->idx[2], C = pair->idx[3];
-      mjtNum cp[3], w[3], dd = mjc_PtTri(corner, &x[3 * A], &x[3 * B], &x[3 * C], cp, w);
-      gapNormal(n, corner, cp, dd);
-      idv[0] = A;
-      idv[1] = B;
-      idv[2] = C;
-      cw[0] = -w[0];
-      cw[1] = -w[1];
-      cw[2] = -w[2];
-      *nidx = 3;
-      return dd - radii[A];  // flex triangle radius
-    }
-    case mjcGEOM_EDGE_EDGE: {  // static geom edge ge[idx0] vs flex edge a,b
-      const mjtNum* eg = &ge[6 * pair->idx[0]];
-      int a = pair->idx[1], b = pair->idx[2];
-      mjtNum cp1[3], cp2[3], st[2], dd = mjc_SegSeg(eg, eg + 3, &x[3 * a], &x[3 * b], cp1, cp2, st);
-      gapNormal(n, cp1, cp2, dd);
-      idv[0] = a;
-      idv[1] = b;
-      cw[0] = -(1 - st[1]);
-      cw[1] = -st[1];
-      *nidx = 2;
-      return dd - radii[a];  // flex edge radius
-    }
-    default:
-      mju_error("mjc_pairGap: unknown pair type %d", pair->type);
-      return 0;
-  }
-}
-
-// copy flex pair vertices and return number of vertices; geom features (fixed)
-// are excluded -- types 3/4 store the geom index in idx[0], so the flex
-// vertices start at idx[1]
-int mjc_pairVerts(int* v, const mjcFlexPair* pair) {
-  int nv = 2, off = 0;
-  switch (pair->type) {
-    case mjcFLEX_VERT_TRI:
-    case mjcFLEX_EDGE_EDGE:
-      nv = 4;
-      break;
-    case mjcFLEX_VERT_GEOM:
-      nv = 1;
-      break;
-    case mjcGEOM_CORNER_TRI:
-      nv = 3;
-      off = 1;
-      break;
-    case mjcGEOM_EDGE_EDGE:
-      nv = 2;
-      off = 1;
-      break;
-  }
-
-  for (int i = 0; i < nv; i++) {
-    v[i] = pair->idx[off + i];
-  }
-  return nv;
-}
-
-// per-contact barrier activation distance d_hat. Never exceeds the global band, but shrinks to the
-// thinnest participating radius: a thin flex (e.g. a drawstring sitting in a thick bag's sleeve)
-// then gets a proportionally thin barrier zone instead of resting deep inside the thick neighbour's
-// zone (which keeps it permanently active + ratchets kappa -> ill-conditioned). Geom features carry
-// no radius (excluded by mjc_pairVerts), so geom/flex and sphere/flex contacts keep the global
-// band.
-mjtNum mjc_pairBand(const mjcFlexPair* pair, const mjtNum* radii, mjtNum band) {
-  int vv[4];
-  int nvv = mjc_pairVerts(vv, pair);
-  mjtNum g = band;
-  for (int q=0; q < nvv; q++) {
-    if (radii[vv[q]] < g) {
-      g = radii[vv[q]];
-    }
-  }
-  return g;
-}
-
-// surface gap of a contact with its flex vertices advanced by t*dxw (geom features fixed);
-// gap-only, for the CCD conservative advancement (recomputes the closest feature at the advanced
-// configuration). The engine has no advanced-configuration gap evaluator for
-// conservative advancement (mjc_ccd is single-config).
-static mjtNum conGapAdv(const mjcFlexPair* con, const mjModel* m, const mjData* d, const mjtNum* x,
-                        const mjtNum* dxw, mjtNum t, const mjtNum* gv, const mjtNum* ge,
-                        const mjtNum* radii, const int* fidx) {
-  int v[4];
-  int nv = mjc_pairVerts(v, con);
-  mjtNum P[4][3];
-  for (int q=0; q < nv; q++) {
-    int fq = fidx[v[q]];
-    for (int k=0; k < 3; k++) P[q][k] = x[3 * v[q] + k] + (fq >= 0 ? t * dxw[3 * fq + k] : 0.0);
-  }
-  mjtNum cp[3], w[3], c1[3], c2[3], st[2];
-  switch (con->type) {
-    case mjcFLEX_VERT_TRI:
-      return mjc_PtTri(P[0], P[1], P[2], P[3], cp, w);  // midsurface, matching mjc_pairGap
-    case mjcFLEX_EDGE_EDGE:
-      return mjc_SegSeg(P[0], P[1], P[2], P[3], c1, c2, st);  // midsurface, matching mjc_pairGap
-    case mjcFLEX_VERT_GEOM: {
-      mjtNum nn[3];
-      return mjc_GeomDist(m, con->g, d->geom_xpos + 3 * con->g, d->geom_xmat + 9 * con->g, P[0],
-                          nn, 1e30) -
-             radii[con->idx[0]];
-    }
-    case mjcGEOM_CORNER_TRI:
-      return mjc_PtTri(&gv[3 * con->idx[0]], P[0], P[1], P[2], cp, w) - radii[con->idx[1]];
-    case mjcGEOM_EDGE_EDGE: {
-      const mjtNum* eg = &ge[6 * con->idx[0]];
-      return mjc_SegSeg(eg, eg + 3, P[0], P[1], c1, c2, st) - radii[con->idx[1]];
-    }
-    default:
-      mju_error("conGapAdv: unknown pair type %d", con->type);
-      return 0;
-  }
-}
-
-mjtNum mjc_advance(const mjModel* m, const mjData* d, const mjtNum* x, const mjtNum* dxw,
-                   const mjtNum* gv, const mjtNum* ge, const mjtNum* radii, int nfv,
-                   const int* fidx, const mjcFlexPair* cand, int ncand, const mjtNum* cgap,
-                   const int* pt2flex, int* approut, mjtNum* toiout) {
-  mjtNum alpha = 1.0;
-  if (approut)
-    for (int c=0; c < ncand; c++)
-      approut[c] = 0;  // Alg.3: per-pair "the proxy approaches this contact"
-  if (toiout)
-    for (int c=0; c < ncand; c++)
-      toiout[c] = 1.0;  // Alg.3: per-pair collision time, 1 == does not collide this step
-  for (int c=0; c < ncand; c++) {
-    const mjcFlexPair* con = &cand[c];
-    // mean-removal (don't throttle COHERENT motion) is valid ONLY for a true SAME-FLEX
-    // self-contact. For INTER-flex (e.g. drawstring vs bag) the two sides move independently, so
-    // removing the mean underestimates the closing speed and lets one tunnel through the other.
-    // Gate it on same-flex (both sides in the same flex via pt2flex).
-    int other = (con->type == mjcFLEX_VERT_TRI) ? con->idx[1] : con->idx[2];
-    int v[4],
-        self = (con->type <= mjcFLEX_EDGE_EDGE) && (con->idx[0] < nfv) && (other < nfv) &&
-               (pt2flex[con->idx[0]] == pt2flex[other]);
-    int nv = mjc_pairVerts(v, con);
-    mjtNum dp[4][3], mean[3] = {0, 0, 0};
-    for (int q=0; q < nv; q++) {
-      int fq = fidx[v[q]];
-      for (int k=0; k < 3; k++) dp[q][k] = (fq >= 0 ? dxw[3 * fq + k] : 0.0);
-    }
-    if (self) {
-      for (int q=0; q < nv; q++)
-        for (int k=0; k < 3; k++) mean[k] += dp[q][k];
-      for (int k=0; k < 3; k++) mean[k] /= nv;
-      for (int q=0; q < nv; q++)
-        for (int k=0; k < 3; k++) dp[q][k] -= mean[k];
-    }
-    mjtNum l;  // bound on the gap-shrink rate per unit alpha
-    if (con->type == mjcFLEX_VERT_TRI) {
-      mjtNum a0 = sqrt(mju_dot3(dp[0], dp[0])), b0 = 0;
-      for (int q=1; q < 4; q++) {
-        mjtNum s = sqrt(mju_dot3(dp[q], dp[q]));
-        if (s > b0) b0 = s;
-      }
-      l = a0 + b0;
-    } else if (con->type == mjcFLEX_EDGE_EDGE) {
-      mjtNum a0 = 0, b0 = 0;
-      for (int q=0; q < 2; q++) {
-        mjtNum s = sqrt(mju_dot3(dp[q], dp[q]));
-        if (s > a0) a0 = s;
-      }
-      for (int q=2; q < 4; q++) {
-        mjtNum s = sqrt(mju_dot3(dp[q], dp[q]));
-        if (s > b0) b0 = s;
-      }
-      l = a0 + b0;
-    } else {
-      l = 0;
-      for (int q=0; q < nv; q++) {
-        mjtNum s = sqrt(mju_dot3(dp[q], dp[q]));
-        if (s > l) l = s;
-      }
-    }
-    if (l < 1e-12) continue;
-    mjtNum g0 =
-        cgap[c];  // true gap at x (>= standoff delta at rest, so the CCD always has room: no lock)
-    if (g0 <= 0) continue;  // already at/under the surface: the contact solver owns it
-    if (l <= 0.8 * g0)
-      continue;  // full alpha=1 step shrinks gap by <= l, stays above the 20% floor
-    if (approut)
-      approut[c] =
-          1;  // reaches the bisection -> the proxy closes this pair's gap this step (Alg.3 add)
-    mjtNum gtarget = 0.2 * g0, t = 0;
-    for (int it=0; it < 32; it++) {
-      mjtNum g = conGapAdv(con, m, d, x, dxw, t, gv, ge, radii, fidx);
-      mjtNum room = g - gtarget;
-      if (room <= 1e-9 * g0) break;
-      t += room / l;
-      if (t >= alpha) {
-        t = alpha;
-        break;
-      }
-    }
-    if (toiout) {
-      toiout[c] = t;  // this pair's own collision time, for the per-vertex earliest filter
-    }
-    if (t < alpha) {
-      alpha = t;
-    }
-  }
-  return alpha;
-}
-
-// the radii sum a flex-flex midsurface gap reads ABOVE the old skin gap. Used ONLY to keep the
-// broad-phase detection band at its pre-midsurface reach; types 2/3/4 still subtract their radius
-// inside mjc_pairGap, so they contribute nothing here.
-static mjtNum bandOffset(const mjcFlexPair* con, const mjtNum* radii) {
-  switch (con->type) {
-    case mjcFLEX_VERT_TRI:
-      return radii[con->idx[0]] + radii[con->idx[1]];  // vertex + triangle flex radius
-    case mjcFLEX_EDGE_EDGE:
-      return radii[con->idx[0]] + radii[con->idx[2]];  // both edges (flex) radii
-    default:
-      return 0.0;  // geom side: mjc_pairGap already subtracted the flex radius for types 2/3/4
-  }
-}
-
-// append a candidate contact if its gap at x is below the (margin-inflated) detection threshold
-static void addCand(mjcFlexPair con, const mjModel* m, const mjData* d, const mjtNum* x,
-                    const mjtNum* gv, const mjtNum* ge, const mjtNum* radii, mjtNum thresh,
-                    const mjtNum* dfrom, const mjtNum* dto, mjtNum ghat, mjcFlexPair* cand, int* nc,
-                    int candmax) {
-  if (*nc >= candmax) return;
-  mjtNum n[3], cw[4];
-  int idv[4], nidx;
-  mjtNum g = mjc_pairGap(&con, m, d, x, gv, ge, radii, n, idv, cw, &nidx, thresh);
-  // DETECTION band. A flex-flex gap is now the midsurface distance, so it reads r1+r2 larger than
-  // the pre-midsurface convention; add that back HERE (and only here) so the broad-phase reaches
-  // exactly as far as it used to. This offset belongs to the band, NOT to the rest target
-  // -- the rest target (mjc_standoff(mjc_pairBand)) is unchanged and must stay that way.
-  mjtNum bo = bandOffset(&con, radii);
-  if (g >= bo + thresh) return;
-  // KEEP penetrating geom pairs (g < 0): the normal is still defined there and the solver's
-  // restoring force is what pushes the flex back out, so dropping them leaves the penetration
-  // unopposed;
-  // mjc_advance (g0 <= 0 -> no cap) and the merge (cgap <= 0 -> admit) already expect them.
-  // Flex-flex distances are UNSIGNED, so g <= 0 means coincident features with no defined normal.
-  if (con.type <= mjcFLEX_EDGE_EDGE && g <= 0) return;
-  // closing-bound prune: over the step the gap changes by at most |sum_p cw[p]*(dto-dfrom)[idv[p]]|
-  // (Cauchy-Schwarz, |n|=1), so a pair beyond its per-contact ghc + that bound cannot become active
-  // this step -> drop it. Replaces the crude GLOBAL 4*maxdisp band (which inflated by the fastest
-  // vertex anywhere, flooding correlated bulk motion like a settling bag+string). No-tunnel safe:
-  // the per-outer re-query at xfree (dfrom=xfree, dto=x) recaptures any pair whose closest feature
-  // flips under the inner step.
-  mjtNum rel[3] = {0, 0, 0};
-  for (int p=0; p < nidx; p++) {
-    int vp = idv[p];
-    if (vp < 0) continue;
-    for (int c=0; c < 3; c++) rel[c] += cw[p] * (dto[3 * vp + c] - dfrom[3 * vp + c]);
-  }
-  if (g < bo + mjc_pairBand(&con, radii, ghat) + sqrt(mju_dot3(rel, rel))) cand[(*nc)++] = con;
-}
-
-// descend flex f's element BVH (built and AABB-refreshed by mj_flex at the step's xold), collecting
-// the leaf element ids whose (radius-inflated) node AABB overlaps the query box [c +/- h]. Replaces
-// the hand-rolled uniform spatial hash: same "nearby elements" query, but the engine's hierarchy.
-// The node AABBs already include flex_radius, so a query half of thresh is a conservative superset
-// (no pair within thresh is missed; the narrowphase then filters). stack must hold flex_bvhnum
-// ints.
-static int bvhBox(const mjModel* m, const mjData* d, int f, const mjtNum* c, const mjtNum* h,
-                  int* stack, int* out, int maxout) {
-  int bvhadr = m->flex_bvhadr[f];
-  if (bvhadr < 0) return 0;
-  const int* child = m->bvh_child + 2 * bvhadr;
-  const int* nodeid = m->bvh_nodeid + bvhadr;
-  const mjtNum* aabb = d->bvh_aabb_dyn + 6 * (bvhadr - m->nbvhstatic);
-  int ns = 0, nout = 0;
-  stack[ns++] = 0;
-  while (ns) {
-    int node = stack[--ns];
-    const mjtNum* na = aabb + 6 * node;  // [center(3), halfsize(3)]
-    if (mju_abs(na[0] - c[0]) > na[3] + h[0] || mju_abs(na[1] - c[1]) > na[4] + h[1] ||
-        mju_abs(na[2] - c[2]) > na[5] + h[2])
-      continue;  // box-box separation -> prune
-    int c0 = child[2 * node], c1 = child[2 * node + 1];
-    if (c0 < 0 && c1 < 0) {
-      if (nout < maxout) out[nout++] = nodeid[node];
-    }  // leaf -> element id
-    else {
-      if (c0 >= 0) stack[ns++] = c0;
-      if (c1 >= 0) stack[ns++] = c1;
-    }
-  }
-  return nout;
-}
-
-// build the candidate-contact list once per step, gated by a velocity-aware threshold so any pair
-// that could close within the step is captured (the Newton loop then only re-tests candidates).
-// Flex-flex and geom-feature-vs-flex pairs are found by querying the flex element BVH (bvhBox).
-int mjc_candidates(const mjModel* m, const mjData* d, const mjtNum* x, const mjtNum* gv,
-                   const mjtNum* ge, int ngv, int nge, const mjtNum* radii, mjtNum thresh,
-                   mjtNum threshGeom, mjtNum maxdisp, const mjtNum* dfrom, const mjtNum* dto,
-                   mjtNum ghat, int nfv, int npt, const int* fidx, const int* flist,
-                   const int* fxadr, int nfd, const int* pt2flex, mjcFlexPair* cand, int candmax) {
-  (void)
-      npt;  // increment A: candidates are flex-only (npt==nfv); rigid bodies carry no hard contact
-  int nc = 0;
-  for (int gi=0; gi < m->ngeom; gi++) {  // free point (flex vert) vs STATIC geom
-    if (m->geom_contype[gi] == 0 && m->geom_conaffinity[gi] == 0) continue;  // skip non-colliding
-    if (m->body_weldid[m->geom_bodyid[gi]] != 0)
-      continue;  // STATIC geoms ONLY: a MOVABLE rigid geom (ball/limb) is a soft type-3 contact,
-                 // never a frozen penetration-free obstacle
-    // geom-level cull: bound the points by the geom's true world AABB (the rotated local geom_aabb)
-    // + per-point margin, before the per-face distance. Much tighter than the bounding sphere for
-    // the elongated convex-decomposition slabs. Planes are infinite -> no cull (their distance is
-    // O(1) anyway).
-    int isplane = (m->geom_type[gi] == mjGEOM_PLANE);
-    mjtNum wc[3], wh[3];
-    if (!isplane) {
-      const mjtNum* la = m->geom_aabb + 6 * gi;
-      const mjtNum* gp = d->geom_xpos + 3 * gi;
-      const mjtNum* gR = d->geom_xmat + 9 * gi;
-      mju_mulMatVec3(wc, gR, la);
-      for (int k=0; k < 3; k++) wc[k] += gp[k];  // world AABB center
-      for (int k=0; k < 3; k++)
-        wh[k] = mju_abs(gR[3 * k]) * la[3] + mju_abs(gR[3 * k + 1]) * la[4] +
-                mju_abs(gR[3 * k + 2]) * la[5];
-    }
-    for (int v=0; v < nfv; v++) {  // flex verts only (rigid bodies carry no hard barrier)
-      if (fidx[v] < 0) continue;
-      mjtNum marg = thresh + radii[v];
-      if (!isplane) {  // world-AABB cull
-        if (mju_abs(x[3 * v] - wc[0]) > wh[0] + marg ||
-            mju_abs(x[3 * v + 1] - wc[1]) > wh[1] + marg ||
-            mju_abs(x[3 * v + 2] - wc[2]) > wh[2] + marg)
-          continue;
-      }
-      mjcFlexPair con = {mjcFLEX_VERT_GEOM, {v, 0, 0, 0}, gi};
-      addCand(con, m, d, x, gv, ge, radii, thresh, dfrom, dto, ghat, cand, &nc, candmax);
-    }
-  }
-
-  // (Rigid sphere-sphere and sphere-vs-flex HARD contacts removed in increment A: rigid bodies live
-  // in their own solver block and carry no continuous contact yet. Soft flex-rigid contact is a
-  // separate next increment.)
-
-  // ---- BVH-based candidates over ALL dim-2 flexes: geom-feature and flex-vs-flex VT/EE.
-  // Each query is against one flex's element BVH (bvhBox); triangle/edge vertices are mapped
-  // from the queried flex's local indices to the combined free-point space (fxadr[k] + local).
-  // flex-vs-flex contact is SELF when the querying vertex/edge is in the queried flex (gated by
-  // that flex's selfcollide) and INTER-FLEX otherwise (always on). Scratch buffers are sized for
-  // the largest flex. ----
-  int maxbvh = 1, maxel = 1, maxen = 1;
-  for (int k=0; k < nfd; k++) {
-    int fk = flist[k];
-    if (m->flex_bvhnum[fk] > maxbvh) maxbvh = m->flex_bvhnum[fk];
-    if (m->flex_elemnum[fk] > maxel) maxel = m->flex_elemnum[fk];
-    if (m->flex_edgenum[fk] > maxen) maxen = m->flex_edgenum[fk];
-  }
-  int* stk = (int*)mju_malloc(maxbvh * sizeof(int));
-  int* outel = (int*)mju_malloc(maxel * sizeof(int));
-  int* stampG = (int*)mju_malloc(maxen * sizeof(int));
-  for (int e=0; e < maxen; e++) stampG[e] = -1;
-  int qid = 0;
-
-  for (int k=0; k < nfd; k++) {  // query flex fk's element BVH
-    int fk = flist[k];
-    int ne_k = m->flex_elemnum[fk], ea_k = m->flex_edgeadr[fk], off_k = fxadr[k];
-    if (m->flex_bvhadr[fk] < 0 || ne_k == 0) continue;
-    const int* el_k = m->flex_elem + m->flex_elemdataadr[fk];
-    const int* eme_k = m->flex_elemedge + m->flex_elemedgeadr[fk];
-    mjtNum rk = m->flex_radius[fk];
-    int doself_k = (m->flex_selfcollide[fk] != mjFLEXSELF_NONE);
-
-    // (rigid sphere-vs-flex-triangle hard contact removed in increment A -- see note above.)
-    // geom-corner vs flex triangle (type 3); geom is static (one-sided) -> tighter threshGeom (the
-    // convex-decomposition bin's ~1600 edges otherwise overflow candmax and drop the bag-bin
-    // contacts).
-    mjtNum qhvG[3] = {threshGeom + rk, threshGeom + rk, threshGeom + rk};
-    for (int c=0; c < ngv; c++) {
-      int n = bvhBox(m, d, fk, &gv[3 * c], qhvG, stk, outel, ne_k);
-      for (int i=0; i < n; i++) {
-        int e = outel[i];
-        mjcFlexPair con = {mjcGEOM_CORNER_TRI,
-                           {c, off_k + el_k[3 * e], off_k + el_k[3 * e + 1],
-                            off_k + el_k[3 * e + 2]},
-                           -1};
-        addCand(con, m, d, x, gv, ge, radii, threshGeom, dfrom, dto, ghat, cand, &nc, candmax);
-      }
-    }
-    // geom-edge vs flex edge (type 4); dedup the shared triangle edges per query via stampG.
-    for (int c=0; c < nge; c++) {
-      const mjtNum* p0 = &ge[6 * c];
-      const mjtNum* p1 = &ge[6 * c + 3];
-      mjtNum qc[3], qh[3];
-      for (int kk=0; kk < 3; kk++) {
-        qc[kk] = 0.5 * (p0[kk] + p1[kk]);
-        qh[kk] = 0.5 * mju_abs(p1[kk] - p0[kk]) + threshGeom + rk;
-      }
-      int n = bvhBox(m, d, fk, qc, qh, stk, outel, ne_k);
-      qid++;
-      for (int i=0; i < n; i++) {
-        int e = outel[i];
-        for (int j=0; j < 3; j++) {
-          int e2 = eme_k[3 * e + j];
-          if (stampG[e2] == qid) continue;
-          stampG[e2] = qid;
-          mjcFlexPair con = {mjcGEOM_EDGE_EDGE,
-                        {c, off_k + m->flex_edge[2 * (ea_k + e2)],
-                         off_k + m->flex_edge[2 * (ea_k + e2) + 1], 0},
-                        -1};
-          addCand(con, m, d, x, gv, ge, radii, threshGeom, dfrom, dto, ghat, cand, &nc, candmax);
-        }
-      }
-    }
-    // flex vertex vs flex triangle (type 0): self (same flex, gated by selfcollide) + inter-flex
-    // (always). Asymmetric (vert vs tri), so all verts query every flex's BVH -- both directions
-    // are distinct contacts.
-    for (int v=0; v < nfv; v++) {
-      int kv = pt2flex[v];
-      if (kv == k && !doself_k) continue;  // self-contact disabled for this flex
-      // per-pair band: the thinner flex sets it, capped by the global band
-      mjtNum thv = 3.0 * min2(ghat, min2(radii[v], rk)) + 4.0 * maxdisp;
-      mjtNum qh[3] = {thv + radii[v], thv + radii[v], thv + radii[v]};
-      int n = bvhBox(m, d, fk, &x[3 * v], qh, stk, outel, ne_k);
-      for (int i=0; i < n; i++) {
-        int e = outel[i];
-        int A = off_k + el_k[3 * e], B = off_k + el_k[3 * e + 1], C = off_k + el_k[3 * e + 2];
-        if (kv == k && (v == A || v == B || v == C)) continue;  // skip the self-adjacent triangle
-        mjcFlexPair con = {mjcFLEX_VERT_TRI, {v, A, B, C}, -1};
-        addCand(con, m, d, x, gv, ge, radii, thv, dfrom, dto, ghat, cand, &nc, candmax);
-      }
-    }
-    // flex edge vs flex edge (type 1): symmetric, so canonical -- querying flex kj <= k, and e2 >
-    // e1 within a flex. Self (kj==k) gated by selfcollide; inter-flex (kj<k) always.
-    for (int kj=0; kj <= k; kj++) {
-      int self = (kj == k);
-      if (self && !doself_k) continue;
-      int fj = flist[kj], ea_j = m->flex_edgeadr[fj], en_j = m->flex_edgenum[fj], off_j = fxadr[kj];
-      for (int e1=0; e1 < en_j; e1++) {
-        int a1 = off_j + m->flex_edge[2 * (ea_j + e1)],
-            b1 = off_j + m->flex_edge[2 * (ea_j + e1) + 1];
-        mjtNum the = 3.0 * min2(ghat, min2(radii[a1], rk)) + 4.0 * maxdisp;  // per-pair band
-        mjtNum qc[3], qh[3];
-        for (int kk=0; kk < 3; kk++) {
-          qc[kk] = 0.5 * (x[3 * a1 + kk] + x[3 * b1 + kk]);
-          qh[kk] = 0.5 * mju_abs(x[3 * a1 + kk] - x[3 * b1 + kk]) + the + radii[a1];
-        }
-        int n = bvhBox(m, d, fk, qc, qh, stk, outel, ne_k);
-        qid++;
-        for (int i=0; i < n; i++) {
-          int e = outel[i];
-          for (int j=0; j < 3; j++) {
-            int e2 = eme_k[3 * e + j];
-            if (self && e2 <= e1) continue;  // canonical within a flex
-            if (stampG[e2] == qid) continue;
-            stampG[e2] = qid;
-            int a2 = off_k + m->flex_edge[2 * (ea_k + e2)],
-                b2 = off_k + m->flex_edge[2 * (ea_k + e2) + 1];
-            if (a1 == a2 || a1 == b2 || b1 == a2 || b1 == b2)
-              continue;  // shared vertex -> adjacent, skip
-            mjcFlexPair con = {mjcFLEX_EDGE_EDGE, {a1, b1, a2, b2}, -1};
-            addCand(con, m, d, x, gv, ge, radii, the, dfrom, dto, ghat, cand, &nc, candmax);
-          }
-        }
-      }
-    }
-  }
-  mju_free(stk);
-  mju_free(outel);
-  mju_free(stampG);
-  return nc;
-}
diff --git a/src/engine/engine_collision_continuous.h b/src/engine/engine_collision_continuous.h
deleted file mode 100644
index b6bf94e5..00000000
--- a/src/engine/engine_collision_continuous.h
+++ /dev/null
@@ -1,127 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONTINUOUS_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONTINUOUS_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// Continuous collision for deformables. The discrete pipeline (engine_collision_*) generates
-// contact points at a configuration; this module prices gaps along trajectories: differentiable
-// vertex-triangle / edge-edge / vertex-geom distance kernels with closest-point barycentrics,
-// swept-volume candidate generation over the flex BVH, per-pair gap evaluation with the gradient's
-// vertex weights, and a conservative advancement (CCD) that bounds each pair's time of impact.
-// A consumer supplies two lengths:
-//   cap   -- the standoff ceiling: a pair's rest gap is min(band, cap), so thin participants keep
-//            a proportionally thin skin and thick ones do not carry a fat layer;
-//   band  -- the detection reach: how early the broad phase starts tracking a pair. Not a physical
-//            length; wider costs candidates, narrower hands pairs to the solver later.
-// FLEX-FLEX pairs (types 0/1) measure their gap at the MIDSURFACE: mjc_pairGap does not subtract
-// the radii for those types, because where the mesh geometry is tighter than the combined radii
-// (a string threaded through a hem) a skin-to-skin gap is permanently negative and the pair would
-// be discarded as invalid -- no CCD coverage, so the region could tunnel. The broad phase adds the
-// radii back into its reach so detection range is unchanged (see addCand).
-
-// Pair types for continuous collision.
-typedef enum {
-  mjcFLEX_VERT_TRI   = 0,  // flex vertex vs flex triangle
-  mjcFLEX_EDGE_EDGE  = 1,  // flex edge vs flex edge
-  mjcFLEX_VERT_GEOM  = 2,  // flex vertex vs geom surface
-  mjcGEOM_CORNER_TRI = 3,  // geom corner vs flex triangle
-  mjcGEOM_EDGE_EDGE  = 4,  // geom edge vs flex edge
-} mjcFlexPairType;
-
-// One candidate contact pair: the geometric identity only.
-// idx holds free-point indices (types 0/1: all four; type 2: idx[0];
-// types 3/4: the flex-side points), g the geom for types 2-4. Solver state (multipliers, ages)
-// and any cached linearization of the gap belong to the consumer, not to this struct.
-typedef struct {
-  mjcFlexPairType type;  // pair type
-  int idx[4];  // participant free-point indices, meaning per type (see mjc_pairGap)
-  int g;       // geom id, types 2-4 only
-} mjcFlexPair;
-
-// the standoff of a pair whose detection band is `band`: min(band, cap)
-mjtNum mjc_standoff(mjtNum band, mjtNum cap);
-
-// the involved free-point indices of a pair (up to 4), for iterating its vertices
-int mjc_pairVerts(int* v, const mjcFlexPair* pair);
-
-// per-pair detection band: min over the pair's flex radii and `band` (see the header note on
-// midsurface gaps for why the radii enter the band and not the gap)
-mjtNum mjc_pairBand(const mjcFlexPair* pair, const mjtNum* radii, mjtNum band);
-
-// Gap of a pair at configuration x, plus the gradient's direction n and its vertex weights:
-// dg/d(vertex idv[p]) = cw[p]*n, p < *nidx. gv/ge are the precomputed world-space geom corners and
-// edges (mjc_GeomVerts/mjc_GeomEdges), radii the per-free-point radii. Early-out beyond cutoff.
-MJAPI mjtNum mjc_pairGap(const mjcFlexPair* pair, const mjModel* m, const mjData* d,
-                         const mjtNum* x, const mjtNum* gv, const mjtNum* ge, const mjtNum* radii,
-                         mjtNum* n, int* idv, mjtNum* cw, int* nidx, mjtNum cutoff);
-
-// Swept candidate generation: all pairs whose gap can enter the detection band along the segment
-// dfrom -> dto, gathered over the flex BVH (self and cross-flex) and the geom features. thresh /
-// threshGeom bound the flex-flex / flex-geom reach, maxdisp the per-vertex motion the collar must
-// absorb, ghat the detection band. Returns the number of candidates written to cand (at most
-// candmax).
-MJAPI int mjc_candidates(const mjModel* m, const mjData* d, const mjtNum* x, const mjtNum* gv,
-                         const mjtNum* ge, int ngv, int nge, const mjtNum* radii, mjtNum thresh,
-                         mjtNum threshGeom, mjtNum maxdisp, const mjtNum* dfrom, const mjtNum* dto,
-                         mjtNum ghat, int nfv, int npt, const int* fidx, const int* flist,
-                         const int* fxadr, int nfd, const int* pt2flex, mjcFlexPair* cand,
-                         int candmax);
-
-// Conservative advancement: the largest alpha in [0, 1] such that moving the free points from x by
-// alpha*dxw keeps every candidate's gap above a fraction of its value at x (no pair's gap is
-// closed by more than 80%), so the advanced configuration stays intersection-free. cgap holds each
-// candidate's gap at x (from mjc_pairGap). Optional outputs: approut[c] = 1 if the full step
-// closes candidate c into its active zone; toiout[c] = candidate c's own time of impact (1 if it
-// does not collide this step).
-MJAPI mjtNum mjc_advance(const mjModel* m, const mjData* d, const mjtNum* x, const mjtNum* dxw,
-                         const mjtNum* gv, const mjtNum* ge, const mjtNum* radii, int nfv,
-                         const int* fidx, const mjcFlexPair* cand, int ncand, const mjtNum* cgap,
-                         const int* pt2flex, int* approut, mjtNum* toiout);
-
-// point-triangle distance (closest point cp and barycentric weights w)
-MJAPI mjtNum mjc_PtTri(const mjtNum* p, const mjtNum* a, const mjtNum* b, const mjtNum* c,
-                       mjtNum* cp, mjtNum* w);
-
-// segment-segment distance (closest points and line parameters st)
-MJAPI mjtNum mjc_SegSeg(const mjtNum* p1, const mjtNum* p2, const mjtNum* q1, const mjtNum* q2,
-                        mjtNum* cp1, mjtNum* cp2, mjtNum* st);
-
-// signed distance (+ outward unit normal n) from geom gi's surface, at pose
-// gpos/gmat, to world point x; early-out beyond distmax
-MJAPI mjtNum mjc_GeomDist(const mjModel* m, int gi, const mjtNum* gpos, const mjtNum* gmat,
-                          const mjtNum* x, mjtNum* n, mjtNum distmax);
-
-// world-space sharp vertices of geom gi at pose gpos/gmat (out sized by the caller); return count
-MJAPI int mjc_GeomVerts(const mjModel* m, int gi, const mjtNum* gpos, const mjtNum* gmat,
-                        mjtNum* out);
-
-// world-space sharp edges of geom gi at pose gpos/gmat (out sized by the caller); return count
-MJAPI int mjc_GeomEdges(const mjModel* m, int gi, const mjtNum* gpos, const mjtNum* gmat,
-                        mjtNum* out);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONTINUOUS_H_
diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
deleted file mode 100644
index 77605185..00000000
--- a/src/engine/engine_collision_convex.c
+++ /dev/null
@@ -1,1728 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_collision_convex.h"
-
-#include <float.h>
-#include <stddef.h>
-
-#include <ccd/ccd.h>
-#include <ccd/vec3.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include "engine/engine_collision_gjk.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_inline.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_spatial.h"
-
-#define mjMINVAL2 (mjMINVAL * mjMINVAL)
-
-// CCD internal buffer used for batched processing; if NULL, stack memory allocated on each
-// mjc_penetration call
-static mjTHREADLOCAL void* ccd_buffer = NULL;
-
-// set CCD internal buffer
-void mjc_setCCDBuffer(void* buffer) {
-  ccd_buffer = buffer;
-}
-
-// ccd prism first dir
-static void prism_firstdir(const void* o1, const void* o2, ccd_vec3_t *vec) {
-  ccdVec3Set(vec, 0, 0, 1);
-}
-
-// wrapper around libccd; returns number of collisions found
-static inline int _libccd_wrapper(const mjModel* m, mjCCDObj* obj1, mjCCDObj* obj2,
-                                  mjPreContact* con, mjtNum margin) {
-  ccd_t ccd;
-  CCD_INIT(&ccd);
-  ccd.mpr_tolerance = m->opt.ccd_tolerance;
-  ccd.epa_tolerance = m->opt.ccd_tolerance;  // use MPR tolerance for EPA
-  ccd.max_iterations = m->opt.ccd_iterations;
-  ccd.support1 = mjccd_support;
-  ccd.support2 = mjccd_support;
-  ccd.center1 = mjccd_center;
-  ccd.center2 = mjccd_center;
-  if (obj1->geom_type == mjGEOM_HFIELD || obj2->geom_type == mjGEOM_HFIELD) {
-    ccd.first_dir = prism_firstdir;
-  } else {
-    ccd.first_dir = ccdFirstDirDefault;
-  }
-
-  ccd_real_t ccd_depth;
-  ccd_vec3_t ccd_dir, ccd_pos;
-  int ret = ccdMPRPenetration(obj1, obj2, &ccd, &ccd_depth, &ccd_dir, &ccd_pos);
-  if (ret == 0) {
-    if (ccdVec3Eq(&ccd_dir, ccd_vec3_origin)) {
-      return 0;
-    }
-    con[0].dist = margin - ccd_depth;
-    mji_copy3(con[0].normal, ccd_dir.v);
-    mji_copy3(con[0].pos, ccd_pos.v);
-    mji_zero3(con[0].tangent);
-    return 1;
-  }
-  return 0;
-}
-
-
-// find penetration info between two geoms; returns number of collisions found
-static int mjc_penetration(const mjModel* m, mjData* d, mjCCDObj* obj1, mjCCDObj* obj2,
-                           mjPreContact* con, int nconmax, mjtNum margin) {
-  if (mjDISABLED(mjDSBL_NATIVECCD)) {
-    return _libccd_wrapper(m, obj1, obj2, con, margin);
-  }
-
-  // nativeccd
-  mjCCDConfig config;
-  mjCCDStatus status;
-  mjtNum dist;
-  void* buffer = ccd_buffer;
-
-  // set config
-  config.max_iterations = m->opt.ccd_iterations;
-  config.tolerance = m->opt.ccd_tolerance;
-  config.max_contacts = nconmax;
-  config.dist_cutoff = 0;  // no geom distances needed
-  config.npolygonmax = m->npolygonmax;
-  config.nmeshdegmax = m->nmeshdegmax;
-  if (buffer) {
-    config.buffer = buffer;
-  } else {
-    mj_markStack(d);
-    int npolygonmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->npolygonmax;
-    int nmeshdegmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->nmeshdegmax;
-    config.buffer = mj_stackAllocByte(d, mjc_ccdSize(npolygonmax, nmeshdegmax,
-                                                     config.max_iterations), sizeof(mjtNum));
-  }
-
-  int ncon = 0;
-  if ((dist = mjc_ccd(&config, &status, obj1, obj2)) < 0) {
-    int nwitness = status.nx;
-    for (int i = 0; i < nwitness; i++) {
-      con[i].dist = margin + status.dist[i];
-      mji_add3(con[i].pos, status.x1 + 3*i, status.x2 + 3*i);
-      mju_scl3(con[i].pos, con[i].pos, 0.5);
-      mji_sub3(con[i].normal, status.x1 + 3*i, status.x2 + 3*i);
-      mju_normalize3(con[i].normal);
-      mji_zero3(con[i].tangent);
-    }
-    ncon = nwitness;
-  }
-  if (!buffer) {
-    mj_freeStack(d);
-  }
-  return ncon;
-}
-
-
-// ccd center function
-void mjccd_center(const void *obj, ccd_vec3_t *center) {
-  mjc_center(center->v, (const mjCCDObj*) obj);
-}
-
-// center function for convex collision algorithms
-void mjc_center(mjtNum res[3], const mjCCDObj *obj) {
-  int g = obj->geom;
-  int f = obj->flex;
-  int e = obj->elem;
-  int v = obj->vert;
-
-  if (obj->geom_type == mjGEOM_HFIELD) {
-    mju_zero3(res);
-    for (int i=0; i < 6; i++) {
-      mji_addTo3(res, obj->data.hfield.prism[i]);
-     }
-    mju_scl3(res, res, 1.0/6.0);
-    return;
-  }
-
-  // return geom position
-  if (g >= 0) {
-    mji_copy3(res, obj->pos);
-    return;
-  }
-
-  // return flex element position
-  if (e >= 0) {
-    mji_copy3(res, obj->data.flex.aabb + 6*(obj->data.flex.elemadr[f]+e));
-    return;
-  }
-
-  // return flex vertex position
-  if (f >= 0) {
-    mji_copy3(res, obj->data.flex.vert_xpos + 3*(obj->data.flex.vertadr[f]+v));
-    return;
-  }
-}
-
-// ------------------------------------ Support functions -----------------------------------------
-
-// transform a vector from global to local frame
-static inline void mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum dir[3]) {
-  // perform matT * dir
-  res[0] = mat[0]*dir[0] + mat[3]*dir[1] + mat[6]*dir[2];
-  res[1] = mat[1]*dir[0] + mat[4]*dir[1] + mat[7]*dir[2];
-  res[2] = mat[2]*dir[0] + mat[5]*dir[1] + mat[8]*dir[2];
-}
-
-
-// transform a vector from local to global frame
-static inline void localToGlobal(mjtNum res[3], const mjtNum mat[9], const mjtNum dir[3],
-                                 const mjtNum pos[3]) {
-  // perform mat * dir + pos
-  res[0] = mat[0]*dir[0] + mat[1]*dir[1] + mat[2]*dir[2];
-  res[1] = mat[3]*dir[0] + mat[4]*dir[1] + mat[5]*dir[2];
-  res[2] = mat[6]*dir[0] + mat[7]*dir[1] + mat[8]*dir[2];
-  res[0] += pos[0];
-  res[1] += pos[1];
-  res[2] += pos[2];
-}
-
-
-// point support function
-void mjc_pointSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  mji_copy3(res, obj->pos);
-}
-
-
-// sphere support function
-static void mjc_sphereSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  // sphere data
-  const mjtNum* pos = obj->pos;
-  mjtNum radius = obj->size[0];
-
-  res[0] = radius*dir[0] + pos[0];
-  res[1] = radius*dir[1] + pos[1];
-  res[2] = radius*dir[2] + pos[2];
-}
-
-
-// line support function (capsule)
-void mjc_lineSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  // capsule data
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-  mjtNum length = obj->size[1];
-
-  mjtNum dot = mat[2]*dir[0] + mat[5]*dir[1] + mat[8]*dir[2];
-  mjtNum scl = dot >= 0 ? length : -length;
-
-  // transform result to global frame
-  res[0] = mat[2]*scl + pos[0];
-  res[1] = mat[5]*scl + pos[1];
-  res[2] = mat[8]*scl + pos[2];
-}
-
-
-// capsule support function
-static void mjc_capsuleSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  // capsule data
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-  mjtNum radius = obj->size[0];
-  mjtNum length = obj->size[1];
-
-  // rotate dir to geom local frame
-  mjtNum local_dir[3], local_supp[3];
-  mulMatTVec3(local_dir, mat, dir);
-
-  // start with sphere
-  local_supp[0] = local_dir[0] * radius;
-  local_supp[1] = local_dir[1] * radius;
-  local_supp[2] = local_dir[2] * radius;
-
-  // add cylinder contribution
-  local_supp[2] += (local_dir[2] >= 0 ? length : -length);
-
-  // transform result to global frame
-  localToGlobal(res, mat, local_supp, pos);
-}
-
-
-// ellipsoid support function
-static void mjc_ellipsoidSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  // ellipsoid data
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-  const mjtNum* size = obj->size;
-
-  // rotate dir to geom local frame
-  mjtNum local_dir[3], local_supp[3];
-  mulMatTVec3(local_dir, mat, dir);
-
-  // find support point on unit sphere: scale dir by ellipsoid sizes
-  local_supp[0] = local_dir[0] * size[0];
-  local_supp[1] = local_dir[1] * size[1];
-  local_supp[2] = local_dir[2] * size[2];
-
-  mjtNum norm2 = local_supp[0]*local_supp[0] + local_supp[1]*local_supp[1] + local_supp[2]*local_supp[2];
-
-  // too small to normalize
-  if (norm2 < mjMINVAL2) {
-    res[0] = mat[0]*size[0] + pos[0];
-    res[1] = mat[3]*size[0] + pos[1];
-    res[2] = mat[6]*size[0] + pos[2];
-    return;
-  }
-
-  // normalize and transform to ellipsoid
-  mjtNum norm_inv = 1/mju_sqrt(norm2);
-  local_supp[0] *= norm_inv * size[0];
-  local_supp[1] *= norm_inv * size[1];
-  local_supp[2] *= norm_inv * size[2];
-
-  // transform result to global frame
-  localToGlobal(res, mat, local_supp, pos);
-}
-
-
-// cylinder support function
-static void mjc_cylinderSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  // cylinder data
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-  const mjtNum* size = obj->size;
-
-  // rotate dir to geom local frame
-  mjtNum local_dir[3], local_supp[3];
-  mulMatTVec3(local_dir, mat, dir);
-
-  mjtNum n2 = local_dir[0]*local_dir[0] + local_dir[1]*local_dir[1];
-  mjtNum scl = n2 >= mjMINVAL2 ? size[0] / mju_sqrt(n2) : 0;
-  local_supp[0] = scl * local_dir[0];
-  local_supp[1] = scl * local_dir[1];
-
-  // set result in Z direction
-  local_supp[2] = local_dir[2] >= 0 ? size[1] : -size[1];
-
-  // transform result to global frame
-  localToGlobal(res, mat, local_supp, pos);
-}
-
-
-// box support function
-static void mjc_boxSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  // box data
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-  const mjtNum* size = obj->size;
-
-  // rotate dir to geom local frame
-  mjtNum local_dir[3], local_supp[3];
-  mulMatTVec3(local_dir, mat, dir);
-
-  // find support point in local frame
-  local_supp[0] = local_dir[0] >= 0 ? size[0] : -size[0];
-  local_supp[1] = local_dir[1] >= 0 ? size[1] : -size[1];
-  local_supp[2] = local_dir[2] >= 0 ? size[2] : -size[2];
-
-  // mark the index of the corner of the box for fast lookup
-  obj->vertindex  = (local_supp[0] > 0) ? 1 : 0;
-  obj->vertindex |= (local_supp[1] > 0) ? 2 : 0;
-  obj->vertindex |= (local_supp[2] > 0) ? 4 : 0;
-
-  // transform support point to global frame
-  localToGlobal(res, mat, local_supp, pos);
-}
-
-
-// dot product between mjtNum and float
-static inline mjtNum dot3f(const mjtNum a[3], const float b[3]) {
-  return a[0]*(mjtNum)b[0] + a[1]*(mjtNum)b[1] + a[2]*(mjtNum)b[2];
-}
-
-
-// mesh support function via exhaustive search
-static void mjc_meshSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-  const float* verts = obj->data.mesh.vert;
-  int nverts = obj->data.mesh.nvert;
-
-  mjtNum local_dir[3];
-  mulMatTVec3(local_dir, mat, dir);
-
-  mjtNum max = -FLT_MAX;
-  int imax = 0;
-
-  // used cached results from previous search
-  if (obj->vertindex >= 0) {
-    imax = obj->vertindex;
-    max = dot3f(local_dir, verts + 3*imax);
-  }
-
-  // search all vertices, find maximum dot product
-  for (int i=0; i < nverts; i++) {
-    mjtNum vdot = dot3f(local_dir, verts + 3*i);
-
-    // update max
-    if (vdot > max) {
-      max = vdot;
-      imax = i;
-    }
-  }
-
-  // record vertex index of maximum
-  obj->vertindex = imax;
-
-  local_dir[0] = (mjtNum)verts[3*imax + 0];
-  local_dir[1] = (mjtNum)verts[3*imax + 1];
-  local_dir[2] = (mjtNum)verts[3*imax + 2];
-
-  // transform result to global frame
-  localToGlobal(res, mat, local_dir, pos);
-}
-
-
-// mesh support function via hill climbing
-static void mjc_hillclimbSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  int numvert = obj->data.mesh.graph[0];
-  const int* vert_edgeadr = obj->data.mesh.graph + 2;
-  const int* vert_globalid = obj->data.mesh.graph  + 2 + numvert;
-  const int* edge_localid = obj->data.mesh.graph + 2 + 2*numvert;
-  const float* verts = obj->data.mesh.vert;
-  const mjtNum* pos = obj->pos;
-  const mjtNum* mat = obj->mat;
-
-  // rotate dir to geom local frame
-  mjtNum local_dir[3];
-  mulMatTVec3(local_dir, mat, dir);
-
-  int prev = -1;
-  int imax;
-
-  // map continuous direction to discrete 3x3x3 grid (-1, 0, 1) indices
-  int cx = (local_dir[0] > 0.4) - (local_dir[0] < -0.4) + 1;
-  int cy = (local_dir[1] > 0.4) - (local_dir[1] < -0.4) + 1;
-  int cz = (local_dir[2] > 0.4) - (local_dir[2] < -0.4) + 1;
-  int grid_idx = obj->data.mesh.extrema[cx*9 + cy*3 + cz];
-
-  if (obj->meshindex >= 0) {
-    // warm start: pick the better of cached vertex vs grid seed
-    mjtNum cached_dot = dot3f(local_dir, verts + 3*vert_globalid[obj->meshindex]);
-    mjtNum seed_dot = dot3f(local_dir, verts + 3*vert_globalid[grid_idx]);
-    imax = (seed_dot > cached_dot) ? grid_idx : obj->meshindex;
-  } else {
-    // cold start: use grid seed
-    imax = grid_idx;
-  }
-
-  mjtNum max = dot3f(local_dir, verts + 3*vert_globalid[imax]);
-
-  // hillclimb until no change
-  while (imax != prev) {
-    prev = imax;
-    int subidx;
-    for (int i = vert_edgeadr[imax]; (subidx = edge_localid[i]) >= 0; i++) {
-      mjtNum vdot = dot3f(local_dir, verts + 3*vert_globalid[subidx]);
-      if (vdot > max) {
-        max = vdot;
-        imax = subidx;  // update maximum vertex index
-      }
-    }
-  }
-
-  // record vertex index of maximum (local id)
-  obj->meshindex = imax;
-
-  // get resulting support vertex
-  obj->vertindex = imax = vert_globalid[imax];
-  local_dir[0] = (mjtNum)verts[3*imax + 0];
-  local_dir[1] = (mjtNum)verts[3*imax + 1];
-  local_dir[2] = (mjtNum)verts[3*imax + 2];
-
-  // transform result to global frame
-  localToGlobal(res, mat, local_dir, pos);
-}
-
-
-// prism support function
-static void mjc_prism_support(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  int istart, ibest;
-  mjtNum best, tmp;
-  mjtNum (*prism)[3] = obj->data.hfield.prism;
-
-  // find best vertex in halfspace determined by dir.z
-  istart = dir[2] < 0 ? 0 : 3;
-  ibest = istart;
-  best = mju_dot3(prism[istart], dir);
-  for (int i=1; i < 3; i++) {
-    if ((tmp = mju_dot3(prism[istart + i], dir)) > best) {
-      ibest = istart + i;
-      best = tmp;
-    }
-  }
-
-  // copy best point
-  mji_copy3(res, prism[ibest]);
-}
-
-
-// flex support function
-static void mjc_flexSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
-  int f = obj->flex;
-  int dim = obj->data.flex.dim[f];
-
-  // flex element
-  if (obj->elem >= 0) {
-    int e = obj->elem;
-    const int* edata = obj->data.flex.elem + obj->data.flex.elemdataadr[f] + e*(dim+1);
-    const mjtNum* vert = obj->data.flex.vert_xpos + 3*obj->data.flex.vertadr[f];
-
-    // find element vertex with largest projection along dir
-    mji_copy3(res, vert+3*edata[0]);
-    mjtNum best = mju_dot3(res, dir);
-    for (int i=1; i <= dim; i++) {
-      mjtNum dot = mju_dot3(vert+3*edata[i], dir);
-
-      // better vertex found: assign
-      if (dot > best) {
-        best = dot;
-        mji_copy3(res, vert+3*edata[i]);
-      }
-    }
-
-    // add radius and margin/2
-    mji_addToScl3(res, dir, obj->data.flex.xradius[f] + 0.5*obj->margin);
-    return;
-  }
-
-  // flex vertex
-  else {
-    const mjtNum* vert = obj->data.flex.vert_xpos + 3*(obj->data.flex.vertadr[f] + obj->vert);
-    mji_addScl3(res, vert, dir, obj->data.flex.xradius[f] + 0.5*obj->margin);
-    return;
-  }
-}
-
-
-// libccd support function
-void mjccd_support(const void *_obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
-  mjCCDObj *obj = (mjCCDObj *)_obj;
-  mjtNum *res = vec->v;
-  const mjtNum *dir = _dir->v;
-  int g = obj->geom;
-
-  if (g < 0) {
-    int f = obj->flex;
-    int dim = obj->data.flex.dim[f];
-
-    // flex element
-    if (obj->elem >= 0) {
-      int e = obj->elem;
-      const int* edata = obj->data.flex.elem + obj->data.flex.elemdataadr[f] + e*(dim+1);
-      const mjtNum* vert = obj->data.flex.vert_xpos + 3*obj->data.flex.vertadr[f];
-
-      // find element vertex with largest projection along dir
-      mji_copy3(res, vert+3*edata[0]);
-      mjtNum best = mju_dot3(res, dir);
-      for (int i=1; i <= dim; i++) {
-        mjtNum dot = mju_dot3(vert+3*edata[i], dir);
-
-        // better vertex found: assign
-        if (dot > best) {
-          best = dot;
-          mji_copy3(res, vert+3*edata[i]);
-        }
-      }
-
-      // add radius and margin/2
-      mji_addToScl3(res, dir, obj->data.flex.xradius[f] + 0.5*obj->margin);
-      return;
-    }
-
-    // flex vertex
-    else {
-      const mjtNum* vert = obj->data.flex.vert_xpos + 3*(obj->data.flex.vertadr[f] + obj->vert);
-      mji_addScl3(res, vert, dir, obj->data.flex.xradius[f] + 0.5*obj->margin);
-      return;
-    }
-  }
-
-  const float* vertdata;
-  int ibest, numvert, change, locid;
-  mjtNum tmp, vdot;
-
-  const mjtNum* size = obj->size;          // geom sizes
-  mjtNum local_dir[3];                    // direction in geom local frame
-
-  // rotate dir to geom local frame
-  mju_mulMatTVec3(local_dir, obj->mat, dir);
-
-  // compute result according to geom type
-  switch ((mjtGeom) obj->geom_type) {
-  case mjGEOM_SPHERE:
-    mji_scl3(res, local_dir, size[0]);
-    break;
-
-  case mjGEOM_CAPSULE:
-    // start with sphere
-    mji_scl3(res, local_dir, size[0]);
-
-    // add cylinder contribution
-    res[2] += mju_sign(local_dir[2]) * size[1];
-    break;
-
-  case mjGEOM_ELLIPSOID:
-    // find support point on unit sphere: scale dir by ellipsoid sizes and renormalize
-    for (int i=0; i < 3; i++) {
-      res[i] = local_dir[i] * size[i];
-    }
-    mju_normalize3(res);
-
-    // transform to ellipsoid
-    for (int i=0; i < 3; i++) {
-      res[i] *= size[i];
-    }
-    break;
-
-  case mjGEOM_CYLINDER:
-    // set result in XY plane: support on circle
-    tmp = mju_sqrt(local_dir[0]*local_dir[0] + local_dir[1]*local_dir[1]);
-    if (tmp > mjMINVAL) {
-      res[0] = local_dir[0]/tmp*size[0];
-      res[1] = local_dir[1]/tmp*size[0];
-    } else {
-      res[0] = res[1] = 0;
-    }
-
-    // set result in Z direction
-    res[2] = mju_sign(local_dir[2]) * size[1];
-    break;
-
-  case mjGEOM_BOX:
-    for (int i=0; i < 3; i++) {
-      res[i] = mju_sign(local_dir[i]) * size[i];
-    }
-    break;
-
-  case mjGEOM_MESH:
-  case mjGEOM_SDF:
-    // init search
-    vertdata = obj->data.mesh.vert;
-    tmp = -1E+10;
-    ibest = -1;
-
-    // no graph data: exhaustive search
-    if (obj->data.mesh.graph == NULL) {
-      // search all vertices, find best
-      for (int i=0; i < obj->data.mesh.nvert; i++) {
-        // vdot = dot(vertex, dir)
-        vdot = local_dir[0] * (mjtNum)vertdata[3*i] +
-               local_dir[1] * (mjtNum)vertdata[3*i+1] +
-               local_dir[2] * (mjtNum)vertdata[3*i+2];
-
-        // update best
-        if (vdot > tmp) {
-          tmp = vdot;
-          ibest = i;
-        }
-      }
-
-      // record best vertex index, in globalid format
-      obj->meshindex = ibest;
-    }
-
-    // hill-climb using graph data
-    else {
-      // get info
-      numvert = obj->data.mesh.graph[0];
-      const int* vert_edgeadr = obj->data.mesh.graph + 2;
-      const int* vert_globalid = obj->data.mesh.graph + 2 + numvert;
-      const int* edge_localid = obj->data.mesh.graph + 2 + 2*numvert;
-
-      // init with first vertex in convex hull or warmstart
-      ibest = obj->meshindex < 0 ? 0 : obj->meshindex;
-      tmp = local_dir[0] * (mjtNum)vertdata[3*vert_globalid[ibest]+0] +
-            local_dir[1] * (mjtNum)vertdata[3*vert_globalid[ibest]+1] +
-            local_dir[2] * (mjtNum)vertdata[3*vert_globalid[ibest]+2];
-
-      // hill-climb until no change
-      change = 1;
-      while (change) {
-        // look for improvement in ibest neighborhood
-        change = 0;
-        int i = vert_edgeadr[ibest];
-        while ((locid=edge_localid[i]) >= 0) {
-          // vdot = dot(vertex, local_dir)
-          vdot = local_dir[0] * (mjtNum)vertdata[3*vert_globalid[locid]] +
-                 local_dir[1] * (mjtNum)vertdata[3*vert_globalid[locid]+1] +
-                 local_dir[2] * (mjtNum)vertdata[3*vert_globalid[locid]+2];
-
-          // update best
-          if (vdot > tmp) {
-            tmp = vdot;
-            ibest = locid;
-            change = 1;
-          }
-
-          // advance to next edge
-          i++;
-        }
-      }
-
-      // record best vertex index, in locid format
-      obj->meshindex = ibest;
-
-      // map best index to globalid
-      ibest = vert_globalid[ibest];
-    }
-
-    // sanity check, SHOULD NOT OCCUR
-    if (ibest < 0) {
-      mju_warning("mesh_support could not find support vertex");
-      mju_zero3(res);
-    }
-
-    // copy best vertex
-    else {
-      for (int i=0; i < 3; i++) {
-        res[i] = (mjtNum)vertdata[3*ibest + i];
-      }
-    }
-    break;
-
-  case mjGEOM_HFIELD:
-    mjc_prism_support(res, obj, dir);
-    return;
-
-  default:
-    mjERROR("ccd support function is undefined for geom type %d", obj->geom_type);
-  }
-
-  // add local_dir*margin/2 to result
-  for (int i=0; i < 3; i++) {
-    res[i] += local_dir[i] * obj->margin/2;
-  }
-
-  // rotate result to global frame
-  mju_mulMatVec3(res, obj->mat, res);
-
-  // add geom position
-  mji_addTo3(res, obj->pos);
-}
-
-// ------------------------------------------------------------------------------------------------
-
-// initialize a CCD object
-void mjc_initCCDObj(mjCCDObj* obj, const mjModel* m, const mjData* d, int g, mjtNum margin) {
-  int graphadr, vertadr, polyadr;
-  obj->geom = g;
-  obj->margin = margin;
-  obj->center = mjc_center;
-  obj->vertindex = -1;
-  obj->meshindex = -1;
-  obj->flex = -1;
-  obj->elem = -1;
-  obj->vert = -1;
-  mju_zero4(obj->rotate);
-  obj->rotate[0] = 1;
-  if (g >= 0) {
-    mju_copy(obj->size, m->geom_size+3*g, 3);
-    mju_copy(obj->pos, d->geom_xpos+3*g, 3);
-    mju_copy(obj->mat, d->geom_xmat+9*g, 9);
-    obj->geom_type = m->geom_type[g];
-    switch ((mjtGeom) obj->geom_type) {
-    case mjGEOM_ELLIPSOID:
-      obj->support = mjc_ellipsoidSupport;
-      break;
-    case mjGEOM_MESH:
-    case mjGEOM_SDF:
-      graphadr = m->mesh_graphadr[m->geom_dataid[g]];
-      vertadr = m->mesh_vertadr[m->geom_dataid[g]];
-      polyadr = m->mesh_polyadr[m->geom_dataid[g]];
-      if (graphadr < 0 || m->mesh_vertnum[m->geom_dataid[g]] < mjMESH_HILLCLIMB_MIN) {
-        obj->data.mesh.graph = NULL;
-        obj->data.mesh.extrema = NULL;
-        obj->support = mjc_meshSupport;
-      } else {
-        obj->data.mesh.graph = m->mesh_graph + graphadr;
-        obj->data.mesh.extrema = m->mesh_extrema + 27 * m->geom_dataid[g];
-        obj->support = mjc_hillclimbSupport;
-      }
-      obj->data.mesh.vert = m->mesh_vert + 3*vertadr;
-      obj->data.mesh.nvert = m->mesh_vertnum[m->geom_dataid[g]];
-      obj->data.mesh.mpolymapadr = m->mesh_polymapadr + vertadr;
-      obj->data.mesh.mpolymapnum = m->mesh_polymapnum + vertadr;
-      obj->data.mesh.polymap = m->mesh_polymap;
-      obj->data.mesh.polynormal = m->mesh_polynormal + 3*polyadr;
-      obj->data.mesh.polyvertadr = m->mesh_polyvertadr + polyadr;
-      obj->data.mesh.polyvertnum = m->mesh_polyvertnum + polyadr;
-      obj->data.mesh.polyvert = m->mesh_polyvert;
-      obj->data.mesh.mesh_polynum = m->mesh_polynum[m->geom_dataid[g]];
-      break;
-    case mjGEOM_SPHERE:
-      obj->support = mjc_sphereSupport;
-      break;
-    case mjGEOM_CAPSULE:
-      obj->support = mjc_capsuleSupport;
-      break;
-    case mjGEOM_CYLINDER:
-      obj->support = mjc_cylinderSupport;
-      break;
-    case mjGEOM_BOX:
-      obj->support = mjc_boxSupport;
-      break;
-    case mjGEOM_HFIELD:
-      obj->center = mjc_center;
-      obj->support = mjc_prism_support;
-
-      int hid = m->geom_dataid[g];
-      obj->data.hfield.hfield_nrow = m->hfield_nrow[hid];
-      obj->data.hfield.hfield_ncol = m->hfield_ncol[hid];
-      mju_copy(obj->size, m->hfield_size + 4*hid, 4);
-      obj->data.hfield.hfield_data = m->hfield_data + m->hfield_adr[hid];
-      break;
-    default:
-      obj->support = NULL;
-      break;
-    }
-  } else {
-    obj->geom_type = mjGEOM_FLEX;
-    obj->data.flex.dim = m->flex_dim;
-    obj->support = mjc_flexSupport;
-    obj->data.flex.aabb = d->flexelem_aabb;
-    obj->data.flex.elemadr = m->flex_elemadr;
-    obj->data.flex.vert_xpos = d->flexvert_xpos;
-    obj->data.flex.vertadr = m->flex_vertadr;
-    obj->data.flex.xradius = m->flex_radius;
-    obj->data.flex.elemdataadr = m->flex_elemdataadr;
-    obj->data.flex.elem = m->flex_elem;
-  }
-}
-
-
-// set flex data for CCD object
-static void mjc_setCCDObjFlex(mjCCDObj* obj, int flex, int elem, int vert) {
-  obj->flex = flex;
-  obj->elem = elem;
-  obj->vert = vert;
-}
-
-
-// compare new contact to previous contacts, return 1 if it is far from all of them
-static int mjc_isDistinctContact(const mjPreContact* con, int ncon, mjtNum tolerance) {
-  const mjtNum* last_pos = con[ncon - 1].pos;
-  for (int i=0; i < ncon-1; i++) {
-    if (mju_dist3(con[i].pos, last_pos) <= tolerance) {
-      return 0;
-    }
-  }
-  return 1;
-}
-
-
-// in-place rotation of spatial frame around given point of origin
-static void mju_rotateFrame(const mjtNum origin[3], const mjtNum rot[9],
-                            mjtNum xmat[9], mjtNum xpos[3]) {
-  mjtNum mat[9], vec[3], rel[3];
-
-  // rotate frame: xmat = rot*xmat
-  mju_mulMatMat3(mat, rot, xmat);
-  mju_copy(xmat, mat, 9);
-
-  // vector to rotation origin: rel = origin - xpos
-  mji_sub3(rel, origin, xpos);
-
-  // displacement of origin due to rotation: vec = rot*rel - rel
-  mju_mulMatVec3(vec, rot, rel);
-  mju_subFrom3(vec, rel);
-
-  // correct xpos by subtracting displacement: xpos = xpos - vec
-  mji_subFrom3(xpos, vec);
-}
-
-
-// return number of contacts supported by a single pass of narrowphase
-static int maxContacts(const mjModel* m, const mjCCDObj* obj1, const mjCCDObj* obj2) {
-  // single pass not supported for margins
-  if (obj1->margin > 0 || obj2->margin > 0) {
-    return 1;
-  }
-
-  // can return 8 contacts for box-box collision in one pass
-  int type1 = obj1->geom_type;
-  int type2 = obj2->geom_type;
-  if (type1 == mjGEOM_BOX && type2 == mjGEOM_BOX) {
-    return 8;
-  }
-
-  // reduce mesh collisions to 4 contacts max
-  if (type1 == mjGEOM_BOX || type1 == mjGEOM_MESH) {
-    if (type2 == mjGEOM_BOX || type2 == mjGEOM_MESH) {
-      return mjDISABLED(mjDSBL_MULTICCD) ? 1 : 4;
-    }
-  }
-
-  // not supported for other geom types
-  return 1;
-}
-
-
-// multi-point convex-convex collision, using libccd
-int mjc_Convex(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  // init ccd objects
-  mjCCDObj obj1, obj2;
-  mjc_initCCDObj(&obj1, m, d, g1, margin);
-  mjc_initCCDObj(&obj2, m, d, g2, margin);
-  int max_contacts = maxContacts(m, &obj1, &obj2);
-
-  // find initial contact
-  int ncon = mjc_penetration(m, d, &obj1, &obj2, con, max_contacts, margin);
-  if (mjDISABLED(mjDSBL_NATIVECCD) && ncon && g1 >= 0 && g2 >= 0) {
-    mjc_fixNormal(m, d, con, g1, g2);
-  }
-
-  // no additional contacts needed
-  if (!mjDISABLED(mjDSBL_NATIVECCD) && max_contacts > 1) {
-    return ncon;
-  }
-
-  // look for additional contacts
-  if (ncon == 1 && !mjDISABLED(mjDSBL_MULTICCD)
-      && m->geom_type[g1] != mjGEOM_ELLIPSOID && m->geom_type[g1] != mjGEOM_SPHERE
-      && m->geom_type[g2] != mjGEOM_ELLIPSOID && m->geom_type[g2] != mjGEOM_SPHERE) {
-    // multiCCD parameters
-    const mjtNum relative_tolerance = 1e-3;
-    const mjtNum perturbation_angle = 1e-3;
-
-    // complete frame of initial contact
-    mjtNum frame[9];
-    mji_copy3(frame, con[0].normal);
-    mju_zero(frame+3, 6);
-    mju_makeFrame(frame);
-
-    // tolerance for determining if newly found contacts are distinct
-    const mjtNum tolerance = relative_tolerance * mju_min(m->geom_rbound[g1], m->geom_rbound[g2]);
-
-    // axes and rotation angles for perturbation test
-    mjtNum* axes[2] = {frame+3, frame+6};
-    mjtNum angles[2] = {-perturbation_angle, perturbation_angle};
-
-    // rotate both geoms, search for new contacts
-    for (int axis_id = 0; axis_id < 2; ++axis_id) {
-      for (int angle_id = 0; angle_id < 2; ++angle_id) {
-        mjtNum* axis = axes[axis_id];
-        mjtNum angle = angles[angle_id];
-
-        // make rotation matrix rot
-        mjtNum quat[4], rot[9];
-        mji_axisAngle2Quat(quat, axis, angle);
-        mju_quat2Mat(rot, quat);
-
-        // rotate g1 around initial contact point
-        mju_rotateFrame(con[0].pos, rot, obj1.mat, obj1.pos);
-
-        // inversely rotate g2 around initial contact point
-        mjtNum invrot[9];
-        mju_transpose(invrot, rot, 3, 3);
-        mju_rotateFrame(con[0].pos, invrot, obj2.mat, obj2.pos);
-
-        // search for new contact
-        int n = mjc_penetration(m, d, &obj1, &obj2, con + ncon, 1, margin);
-        if (mjDISABLED(mjDSBL_NATIVECCD) && n && g1 >= 0 && g2 >= 0) {
-          mjc_fixNormal(m, d, con + ncon, g1, g2);
-        }
-
-        // check new contact
-        if (n && mjc_isDistinctContact(con, ncon + 1, tolerance)) {
-          // set penetration of new point to equal that of initial point
-          con[ncon].dist = con[0].dist;
-          // add new point
-          ncon += 1;
-        }
-
-        // reset positions and orientations of g1 and g2
-        mji_copy3(obj1.pos, d->geom_xpos+3*g1);
-        mji_copy9(obj1.mat, d->geom_xmat+9*g1);
-        mji_copy3(obj2.pos, d->geom_xpos+3*g2);
-        mji_copy9(obj2.mat, d->geom_xmat+9*g2);
-      }
-    }
-  }
-  return ncon;
-}
-
-
-// parameters for plane-mesh extra contacts
-const int maxplanemesh = 3;
-const mjtNum tolplanemesh = 0.3;
-
-// add one plane-mesh contact
-static int addplanemesh(mjPreContact* con, const float vertex[3],
-                        const mjtNum pos1[3], const mjtNum normal1[3],
-                        const mjtNum pos2[3], const mjtNum mat2[9],
-                        const mjtNum first[3], mjtNum rbound) {
-  // compute point in global coordinates
-  mjtNum pnt[3], v[3] = {vertex[0], vertex[1], vertex[2]};
-  mju_mulMatVec3(pnt, mat2, v);
-  mju_addTo3(pnt, pos2);
-
-  // skip if too close to first contact
-  if (mju_dist3(pnt, first) < tolplanemesh*rbound) {
-    return 0;
-  }
-
-  // pnt-pos difference vector
-  mjtNum dif[3];
-  mji_sub3(dif, pnt, pos1);
-
-  // set distance
-  con[0].dist = mju_dot3(normal1, dif);
-
-  // set position
-  mji_copy3(con[0].pos, pnt);
-  mji_addToScl3(con[0].pos, normal1, -0.5*con[0].dist);
-
-  // set frame
-  mji_copy3(con[0].normal, normal1);
-  mji_zero3(con[0].tangent);
-
-  return 1;
-}
-
-
-// plane-convex collision, using libccd
-int mjc_PlaneConvex(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  const mjtNum* pos1  = d->geom_xpos + 3*g1;
-  const mjtNum* mat1  = d->geom_xmat + 9*g1;
-  const mjtNum* pos2  = d->geom_xpos + 3*g2;
-  const mjtNum* mat2  = d->geom_xmat + 9*g2;
-
-  mjtNum dif[3], normal[3] = {mat1[2], mat1[5], mat1[8]};
-  ccd_vec3_t ccd_dir, ccd_vec;
-  mjCCDObj obj;
-  mjc_initCCDObj(&obj, m, d, g2, 0);
-  // get support point in -normal direction
-  ccdVec3Set(&ccd_dir, -mat1[2], -mat1[5], -mat1[8]);
-  mjccd_support(&obj, &ccd_dir, &ccd_vec);
-
-  // compute normal distance, return if too far
-  mji_sub3(dif, ccd_vec.v, pos1);
-  con[0].dist = mju_dot3(normal, dif);
-  if (con[0].dist > margin) {
-    return 0;
-  }
-
-  // fill in contact data
-  mji_copy3(con[0].pos, ccd_vec.v);
-  mji_addToScl3(con[0].pos, normal, -0.5*con[0].dist);
-  mji_copy3(con[0].normal, normal);
-  mji_zero3(con[0].tangent);
-
-  //--------------- add all/connected vertices below margin
-  float* vertdata;
-  int graphadr, numvert, locid;
-  int *vert_edgeadr, *vert_globalid, *edge_localid;
-  mjtNum vdot;
-  int count = 1, g = g2;
-
-  // g is an ellipsoid: no need for further mesh-specific processing
-  if (m->geom_dataid[g] == -1) {
-    return count;
-  }
-
-  // init
-  vertdata = m->mesh_vert + 3*m->mesh_vertadr[m->geom_dataid[g]];
-
-  // express dir in geom local frame
-  mjtNum locdir[3];
-  mju_mulMatTVec3(locdir, d->geom_xmat+9*g, ccd_dir.v);
-
-  // inclusion threshold along locdir, relative to geom2 center
-  mji_sub3(dif, pos2, pos1);
-  mjtNum threshold = mju_dot3(normal, dif) - margin;
-
-  // no graph data: exhaustive search
-  if (m->mesh_graphadr[m->geom_dataid[g]] < 0) {
-    // search all vertices, find best
-    for (int i=0; i < m->mesh_vertnum[m->geom_dataid[g]] && count < maxplanemesh; i++) {
-      // vdot = dot(vertex, dir)
-      vdot = locdir[0] * (mjtNum)vertdata[3*i] +
-             locdir[1] * (mjtNum)vertdata[3*i+1] +
-             locdir[2] * (mjtNum)vertdata[3*i+2];
-
-      // detect contact, skip best
-      if (vdot > threshold && i != obj.meshindex) {
-        count += addplanemesh(con+count, vertdata+3*i,
-                              pos1, normal, pos2, mat2,
-                              con->pos, m->geom_rbound[g2]);
-      }
-    }
-  }
-
-  // use graph data
-  else if (obj.meshindex >= 0) {
-    // get info
-    graphadr = m->mesh_graphadr[m->geom_dataid[g]];
-    numvert = m->mesh_graph[graphadr];
-    vert_edgeadr = m->mesh_graph + graphadr + 2;
-    vert_globalid = m->mesh_graph + graphadr + 2 + numvert;
-    edge_localid = m->mesh_graph + graphadr + 2 + 2*numvert;
-
-    // look for contacts in ibest neighborhood
-    int i = vert_edgeadr[obj.meshindex];
-    while ((locid=edge_localid[i]) >= 0 && count < maxplanemesh) {
-      // vdot = dot(vertex, dir)
-      vdot = locdir[0] * (mjtNum)vertdata[3*vert_globalid[locid]] +
-             locdir[1] * (mjtNum)vertdata[3*vert_globalid[locid]+1] +
-             locdir[2] * (mjtNum)vertdata[3*vert_globalid[locid]+2];
-
-      // detect contact
-      if (vdot > threshold) {
-        count += addplanemesh(con+count, vertdata+3*vert_globalid[locid],
-                              pos1, normal, pos2, mat2,
-                              con->pos, m->geom_rbound[g2]);
-      }
-
-      // advance to next edge
-      i++;
-    }
-  }
-
-  return count;
-}
-
-
-//----------------------------  heightfield collisions ---------------------------------------------
-
-
-// add vertex to prism
-static inline void addVert(mjCCDObj* obj, mjtNum x, mjtNum y, mjtNum z) {
-  // move old data
-  mji_copy3(obj->data.hfield.prism[0], obj->data.hfield.prism[1]);
-  mji_copy3(obj->data.hfield.prism[1], obj->data.hfield.prism[2]);
-  mji_copy3(obj->data.hfield.prism[3], obj->data.hfield.prism[4]);
-  mji_copy3(obj->data.hfield.prism[4], obj->data.hfield.prism[5]);
-
-  // add new vertex at last position
-  obj->data.hfield.prism[2][0] = obj->data.hfield.prism[5][0] = x;
-  obj->data.hfield.prism[2][1] = obj->data.hfield.prism[5][1] = y;
-  obj->data.hfield.prism[5][2] = z;
-}
-
-
-// add vertex to prism
-static inline void addPrismVert(mjCCDObj* obj, int r, int c, int i, mjtNum dx, mjtNum dy, mjtNum margin) {
-  // move old data
-  mji_copy3(obj->data.hfield.prism[0], obj->data.hfield.prism[1]);
-  mji_copy3(obj->data.hfield.prism[1], obj->data.hfield.prism[2]);
-  mji_copy3(obj->data.hfield.prism[3], obj->data.hfield.prism[4]);
-  mji_copy3(obj->data.hfield.prism[4], obj->data.hfield.prism[5]);
-
-  int dr = 1 - i;
-
-  // add new vertex at last position
-  obj->data.hfield.prism[2][0] = obj->data.hfield.prism[5][0] = dx*c - obj->size[0];
-  obj->data.hfield.prism[2][1] = obj->data.hfield.prism[5][1] = dy*(r + dr) - obj->size[1];
-  obj->data.hfield.prism[5][2] = obj->data.hfield.hfield_data[(r + dr)*obj->data.hfield.hfield_ncol + c]*obj->size[2];
-
-  // factor in margin
-  obj->data.hfield.prism[5][2] += margin;
-}
-
-
-// entry point for heightfield collisions
-int mjc_ConvexHField(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                     mjtNum margin) {
-  // hfield frame
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-
-  // geom2 frame
-  mjtNum* pos2 = d->geom_xpos + 3*g2;
-  mjtNum* mat2 = d->geom_xmat + 9*g2;
-
-  // hfield data
-  int hid = m->geom_dataid[g1];
-  int nrow = m->hfield_nrow[hid];
-  int ncol = m->hfield_ncol[hid];
-  mjtNum size0 = m->hfield_size[4*hid + 0], size1 = m->hfield_size[4*hid + 1];
-  mjtNum size2 = m->hfield_size[4*hid + 2], size3 = m->hfield_size[4*hid + 3];
-
-  // try early return using box-sphere test
-
-  // express geom2 pos in hfield frame
-  mjtNum local_pos[3] = {pos2[0] - pos1[0], pos2[1] - pos1[1], pos2[2] - pos1[2]};
-  mju_mulMatTVec3(local_pos, mat1, local_pos);
-
-  // sphere radius is geom2 rbound + margin
-  mjtNum radius = m->geom_rbound[g2] + margin;
-
-  // box-sphere test
-  if ((size0 < local_pos[0] - radius) || (-size0 > local_pos[0] + radius) ||
-      (size1 < local_pos[1] - radius) || (-size1 > local_pos[1] + radius) ||
-      (size2 < local_pos[2] - radius) || (-size3 > local_pos[2] + radius)) {
-    return 0;
-  }
-
-  // ccd set up
-  mjCCDObj obj1, obj2;
-  mjc_initCCDObj(&obj1, m, d, g1, 0);
-  mjc_initCCDObj(&obj2, m, d, g2, 0);
-
-
-  // try early return using AABB box-box test
-
-  // express geom2 mat in hfield frame
-  mjtNum mat[9];
-  mji_mulMatTMat3(mat, mat1, mat2);
-
-  mji_copy9(obj2.mat, mat);
-  mji_copy3(obj2.pos, local_pos);
-
-  mjtNum local_dir[3] = {0, 0, 0}, res[3];
-
-  // get support point in +X
-  local_dir[0] = 1;
-  obj2.support(res, &obj2, local_dir);
-  mjtNum xmax = res[0];
-
-  // get support point in -X
-  local_dir[0] = -1;
-  obj2.support(res, &obj2, local_dir);
-  mjtNum xmin = res[0];
-
-  local_dir[0] = 0;
-
-  // get support point in +Y
-  local_dir[1] = 1;
-  obj2.support(res, &obj2, local_dir);
-  mjtNum ymax = res[1];
-
-  // get support point in -Y
-  local_dir[1] = -1;
-  obj2.support(res, &obj2, local_dir);
-  mjtNum ymin = res[1];
-
-  local_dir[1] = 0;
-
-  // get support point in +Z
-  local_dir[2] = 1;
-  obj2.support(res, &obj2, local_dir);
-  mjtNum zmax = res[2];
-
-  // get support point in -Z
-  local_dir[2] = -1;
-  obj2.support(res, &obj2, local_dir);
-  mjtNum zmin = res[2];
-
-  // AABB box-box test
-  if ((xmin - margin > size0) || (xmax + margin < -size0) ||
-      (ymin - margin > size1) || (ymax + margin < -size1) ||
-      (zmin - margin > size2) || (zmax + margin < -size3)) {
-    return 0;
-  }
-
-  // compute sub-grid bounds
-  int cmin = (int) mju_floor((xmin + size0) / (2.0*size0) * (ncol-1));
-  int cmax = (int) mju_ceil ((xmax + size0) / (2.0*size0) * (ncol-1));
-  int rmin = (int) mju_floor((ymin + size1) / (2.0*size1) * (nrow-1));
-  int rmax = (int) mju_ceil ((ymax + size1) / (2.0*size1) * (nrow-1));
-  cmin = mjMAX(0, cmin);
-  cmax = mjMIN(ncol-1, cmax);
-  rmin = mjMAX(0, rmin);
-  rmax = mjMIN(nrow-1, rmax);
-
-  // geom margin needed for actual collision test
-  obj2.margin = margin;
-
-  // compute real-valued grid step
-  mjtNum dx = (2.0*size0) / (ncol-1);
-  mjtNum dy = (2.0*size1) / (nrow-1);
-
-  // set zbottom value using base size
-  mjtNum (*prism)[3] = obj1.data.hfield.prism;
-  prism[0][2] = prism[1][2] = prism[2][2] = -size3;
-
-  // process all prisms in subgrid
-  int ncon = 0;
-  for (int r=rmin; r < rmax; r++) {
-    addPrismVert(&obj1, r, cmin, 0, dx, dy, margin);
-    addPrismVert(&obj1, r, cmin, 1, dx, dy, margin);
-    for (int c=cmin + 1; c <= cmax; c++) {
-      for (int i=0; i < 2; i++) {
-        // send vertex to prism constructor
-        addPrismVert(&obj1, r, c, i, dx, dy, margin);
-
-        // prism height test
-        if (prism[3][2] < zmin && prism[4][2] < zmin && prism[5][2] < zmin) {
-          continue;
-        }
-
-        // run penetration function, save contact
-        if (mjc_penetration(m, d, &obj1, &obj2, con + ncon, 1, 0.0)) {
-          // transform to global coordinates
-          mji_copy3(local_dir, con[ncon].normal);
-          mji_copy3(local_pos, con[ncon].pos);
-          mji_mulMatVec3(con[ncon].normal, mat1, local_dir);
-          mji_mulMatVec3(con[ncon].pos, mat1, local_pos);
-          mji_addTo3(con[ncon].pos, pos1);
-
-          // force out of all loops if max contacts reached
-          if (++ncon >= mjMAXCONPAIR) {
-            r = rmax+1;
-            c = cmax+1;
-            i = 3;
-            break;
-          }
-        }
-      }
-    }
-  }
-
-  if (mjDISABLED(mjDSBL_NATIVECCD)) {
-    // fix contact normals
-    for (int i=0; i < ncon; i++) {
-      mjc_fixNormal(m, d, con + i, g1, g2);
-    }
-  }
-
-  return ncon;
-}
-
-
-//--------------------------- fix contact frame normal ---------------------------------------------
-
-// compute normal for point outside ellipsoid, using ray-projection SQP
-static int mjc_ellipsoidInside(mjtNum nrm[3], const mjtNum pos[3], const mjtNum size[3]) {
-  // algorithm constants
-  const int maxiter = 30;
-  const mjtNum tolerance = 1e-6;
-
-  // precompute quantities
-  mjtNum S2inv[3] = {1/(size[0]*size[0]), 1/(size[1]*size[1]), 1/(size[2]*size[2])};
-  mjtNum C = pos[0]*pos[0]*S2inv[0] + pos[1]*pos[1]*S2inv[1] + pos[2]*pos[2]*S2inv[2] - 1;
-  if (C > 0) {
-    return 0;
-  }
-
-  // normalize initial normal (just in case)
-  mju_normalize3(nrm);
-
-  // main iteration
-  int iter;
-  for (iter=0; iter < maxiter; iter++) {
-    // coefficients and determinant of quadratic
-    mjtNum A = nrm[0]*nrm[0]*S2inv[0] + nrm[1]*nrm[1]*S2inv[1] + nrm[2]*nrm[2]*S2inv[2];
-    mjtNum B = pos[0]*nrm[0]*S2inv[0] + pos[1]*nrm[1]*S2inv[1] + pos[2]*nrm[2]*S2inv[2];
-    mjtNum det = B*B - A*C;
-    if (det < mjMINVAL || A < mjMINVAL) {
-      return (iter > 0);
-    }
-
-    // ray intersection with ellipse: pos + x*nrm, x>=0
-    mjtNum x = (-B + mju_sqrt(det))/A;
-    if (x < 0) {
-      return (iter > 0);
-    }
-
-    // new point on ellipsoid
-    mjtNum pnt[3];
-    mji_addScl3(pnt, pos, nrm, x);
-
-    // normal at new point
-    mjtNum newnrm[3] = {pnt[0]*S2inv[0], pnt[1]*S2inv[1], pnt[2]*S2inv[2]};
-    mju_normalize3(newnrm);
-
-    // save change and assign
-    mjtNum change = mju_dist3(nrm, newnrm);
-    mji_copy3(nrm, newnrm);
-
-    // terminate if converged
-    if (change < tolerance) {
-      break;
-    }
-  }
-
-  return 1;
-}
-
-
-// compute normal for point inside ellipsoid, using diagonal QCQP
-static int mjc_ellipsoidOutside(mjtNum nrm[3], const mjtNum pos[3], const mjtNum size[3]) {
-  // algorithm constants
-  const int maxiter = 30;
-  const mjtNum tolerance = 1e-6;
-
-  // precompute quantities
-  mjtNum S2[3] = {size[0]*size[0], size[1]*size[1], size[2]*size[2]};
-  mjtNum PS2[3] = {pos[0]*pos[0]*S2[0], pos[1]*pos[1]*S2[1], pos[2]*pos[2]*S2[2]};
-
-  // main iteration
-  mjtNum la = 0;
-  int iter;
-  for (iter=0; iter < maxiter; iter++) {
-    // precompute 1/(s^2+la)
-    mjtNum R[3] = {1/(S2[0]+la), 1/(S2[1]+la), 1/(S2[2]+la)};
-
-    // value
-    mjtNum val = PS2[0]*R[0]*R[0] + PS2[1]*R[1]*R[1] + PS2[2]*R[2]*R[2] - 1;
-    if (val < tolerance) {
-      break;
-    }
-
-    // derivative
-    mjtNum deriv = -2*(PS2[0]*R[0]*R[0]*R[0] + PS2[1]*R[1]*R[1]*R[1] + PS2[2]*R[2]*R[2]*R[2]);
-    if (deriv > -mjMINVAL) {
-      break;
-    }
-
-    // delta
-    mjtNum delta = -val/deriv;
-    if (delta < tolerance) {
-      break;
-    }
-
-    // update
-    la += delta;
-  }
-
-  // compute normal given lambda
-  nrm[0] = pos[0]/(S2[0]+la);
-  nrm[1] = pos[1]/(S2[1]+la);
-  nrm[2] = pos[2]/(S2[2]+la);
-  mju_normalize3(nrm);
-
-  return 1;
-}
-
-
-// fix normals if required
-void mjc_fixNormal(const mjModel* m, const mjData* d, mjPreContact* con, int g1, int g2) {
-  mjtNum dst1, dst2;
-
-  // get geom ids and types
-  int gid[2] = {g1, g2};
-  mjtGeom type[2];
-  for (int i=0; i < 2; i++) {
-    if (gid[i] < 0) {
-      type[i] = mjGEOM_NONE;
-    } else {
-      type[i] = m->geom_type[gid[i]];
-    }
-
-    // set to mjGEOM_NONE if type cannot be processed
-    if (type[i] != mjGEOM_SPHERE && type[i] != mjGEOM_CAPSULE &&
-        type[i] != mjGEOM_ELLIPSOID && type[i] != mjGEOM_CYLINDER) {
-      type[i] = mjGEOM_NONE;
-    }
-  }
-
-  // neither type can be processed: nothing to do
-  if (type[0] == mjGEOM_NONE && type[1] == mjGEOM_NONE) {
-    return;
-  }
-
-  // init normals
-  mjtNum normal[2][3] = {
-    {con->normal[0], con->normal[1], con->normal[2]},
-    {-con->normal[0], -con->normal[1], -con->normal[2]}
-  };
-
-  // process geoms in type range
-  int processed[2] = {0, 0};
-  for (int i=0; i < 2; i++) {
-    if (type[i] != mjGEOM_NONE) {
-      // get geom mat and size
-      mjtNum* mat = d->geom_xmat + 9*gid[i];
-      mjtNum* size = m->geom_size + 3*gid[i];
-
-      // map contact point and normal to local frame
-      mjtNum dif[3], pos1[3], nrm[3];
-      mju_sub3(dif, con->pos, d->geom_xpos+3*gid[i]);
-      mju_mulMatTVec3(pos1, mat, dif);
-      mju_mulMatTVec3(nrm, mat, normal[i]);
-
-      // process according to type
-      switch (type[i]) {
-      case mjGEOM_SPHERE:
-        mji_copy3(nrm, pos1);
-        processed[i] = 1;
-        break;
-
-      case mjGEOM_CAPSULE:
-        // Z: bottom cap
-        if (pos1[2] < -size[1]) {
-          nrm[2] = pos1[2]+size[1];
-        }
-
-        // Z: top cap
-        else if (pos1[2] > size[1]) {
-          nrm[2] = pos1[2]-size[1];
-        }
-
-        // Z: cylinder
-        else {
-          nrm[2] = 0;
-        }
-
-        // copy XY
-        nrm[0] = pos1[0];
-        nrm[1] = pos1[1];
-        processed[i] = 1;
-        break;
-
-      case mjGEOM_ELLIPSOID:
-        // guard against invalid ellipsoid size (just in case)
-        if (size[0] < mjMINVAL || size[1] < mjMINVAL || size[2] < mjMINVAL) {
-          break;
-        }
-
-        // compute elliptic distance^2
-        dst1 = pos1[0]*pos1[0]/(size[0]*size[0]) +
-               pos1[1]*pos1[1]/(size[1]*size[1]) +
-               pos1[2]*pos1[2]/(size[2]*size[2]);
-
-        // dispatch to inside or outside solver
-        if (dst1 <= 1) {
-          processed[i] = mjc_ellipsoidInside(nrm, pos1, size);
-        } else {
-          processed[i] = mjc_ellipsoidOutside(nrm, pos1, size);
-        }
-        break;
-
-      case mjGEOM_CYLINDER:
-        // skip if within 5% length of flat wall
-        if (mju_abs(pos1[2]) > 0.95*size[1]) {
-          break;
-        }
-
-        // compute distances to flat and round wall
-        dst1 = mju_abs(size[1]-mju_abs(pos1[2]));
-        dst2 = mju_abs(size[0]-mju_norm(pos1, 2));
-
-        // require 4x closer to round than flat wall
-        if (dst1 < 0.25*dst2) {
-          break;
-        }
-
-        // set normal for round wall
-        nrm[0] = pos1[0];
-        nrm[1] = pos1[1];
-        nrm[2] = 0;
-        processed[i] = 1;
-        break;
-
-      default:
-        // do nothing: only sphere, capsule, ellipsoid and cylinder are processed
-        break;
-      }
-
-      // normalize and map normal to global frame
-      if (processed[i]) {
-        mju_normalize3(nrm);
-        mji_mulMatVec3(normal[i], mat, nrm);
-      }
-    }
-  }
-
-  // both processed: average
-  if (processed[0] && processed[1]) {
-    mji_sub3(con->normal, normal[0], normal[1]);
-    mju_normalize3(con->normal);
-  }
-
-  // first processed: copy
-  else if (processed[0]) {
-    mji_copy3(con->normal, normal[0]);
-  }
-
-  // second processed: copy reverse
-  else if (processed[1]) {
-    mji_scl3(con->normal, normal[1], -1);
-  }
-}
-
-
-//----------------------------  flex collisions ---------------------------------------------
-
-// geom-elem or elem-elem or vert-elem convex collision using ccd
-int mjc_ConvexElem(const mjModel* m, mjData* d, mjPreContact* con, int g1, int f1, int e1, int v1,
-                   int f2, int e2, mjtNum margin) {
-  mjCCDObj obj1, obj2;
-  mjc_initCCDObj(&obj1, m, d, g1, margin);
-  mjc_initCCDObj(&obj2, m, d, -1, margin);
-  mjc_setCCDObjFlex(&obj1, f1, e1, v1);
-  mjc_setCCDObjFlex(&obj2, f2, e2, -1);
-
-  // find contacts
-  int ncon = mjc_penetration(m, d, &obj1, &obj2, con, 1, margin);
-
-  // fix normals for 2D flex
-  if (ncon && !mjDISABLED(mjDSBL_NATIVECCD)) {
-    // check if either object is a 2D flex
-    int isflex2d = 0;
-    if (f1 >= 0 && m->flex_dim[f1] == 2) isflex2d = 1;
-    if (f2 >= 0 && m->flex_dim[f2] == 2) isflex2d = 1;
-
-    if (isflex2d) {
-      for (int i = 0; i < ncon; i++) {
-        mjc_fixNormal(m, d, con + i, g1, -1);
-      }
-    }
-  }
-  return ncon;
-}
-
-
-// test a height field and a flex element for collision
-int mjc_HFieldElem(const mjModel* m, mjData* d, mjPreContact* con, int g, int f, int e,
-                   mjtNum margin) {
-  mjtNum vec[3], dx, dy;
-  mjtNum xmin, xmax, ymin, ymax, zmin, zmax;
-  int dr[2], cnt, rmin, rmax, cmin, cmax;
-  mjCCDObj obj1;
-  mjc_initCCDObj(&obj1, m, d, g, 0);
-
-  // get hfield info
-  int hid = m->geom_dataid[g];
-  int nrow = m->hfield_nrow[hid];
-  int ncol = m->hfield_ncol[hid];
-  const mjtNum* hpos = d->geom_xpos + 3*g;
-  const mjtNum* hmat = d->geom_xmat + 9*g;
-  const mjtNum* hsize = m->hfield_size + 4*hid;
-  const float* hdata = m->hfield_data + m->hfield_adr[hid];
-
-  // get elem indo
-  int dim = m->flex_dim[f];
-  const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
-  mjtNum* evert[4] = {NULL, NULL, NULL, NULL};
-  for (int i=0; i <= dim; i++) {
-    evert[i] = d->flexvert_xpos + 3*(m->flex_vertadr[f] + edata[i]);
-  }
-  mjtNum* ecenter = d->flexelem_aabb + 6*(m->flex_elemadr[f]+e);
-
-  // ccd-related
-  mjCCDObj obj2;
-  mjc_initCCDObj(&obj2, m, d, -1, margin);
-  mjc_setCCDObjFlex(&obj2, f, e, -1);
-  //------------------------------------- AABB computation, box-box test
-
-  // save elem vertices, transform to hfield frame
-  mjtNum savevert[4][3];
-  for (int i=0; i <= dim; i++) {
-    mji_copy3(savevert[i], evert[i]);
-    mji_sub3(vec, evert[i], hpos);
-    mji_mulMatTVec3(evert[i], hmat, vec);
-  }
-
-  // save elem center, transform to hfield frame
-  mjtNum savecenter[3];
-  mji_copy3(savecenter, ecenter);
-  mji_sub3(vec, ecenter, hpos);
-  mji_mulMatTVec3(ecenter, hmat, vec);
-
-  // compute elem bounding box (in hfield frame)
-  xmin = xmax = evert[0][0];
-  ymin = ymax = evert[0][1];
-  zmin = zmax = evert[0][2];
-  for (int i=1; i <= dim; i++) {
-    xmin = mju_min(xmin, evert[i][0]);
-    xmax = mju_max(xmax, evert[i][0]);
-    ymin = mju_min(ymin, evert[i][1]);
-    ymax = mju_max(ymax, evert[i][1]);
-    zmin = mju_min(zmin, evert[i][2]);
-    zmax = mju_max(zmax, evert[i][2]);
-  }
-
-  // box-box test
-  if ((xmin-margin > hsize[0]) || (xmax+margin < -hsize[0]) ||
-      (ymin-margin > hsize[1]) || (ymax+margin < -hsize[1]) ||
-      (zmin-margin > hsize[2]) || (zmax+margin < -hsize[3])) {
-    // restore vertices and center
-    for (int i=0; i <= dim; i++) {
-      mji_copy3(evert[i], savevert[i]);
-    }
-    mji_copy3(ecenter, savecenter);
-
-    return 0;
-  }
-
-  // compute sub-grid bounds
-  cmin = (int) mju_floor((xmin + hsize[0]) / (2*hsize[0]) * (ncol-1));
-  cmax = (int) mju_ceil ((xmax + hsize[0]) / (2*hsize[0]) * (ncol-1));
-  rmin = (int) mju_floor((ymin + hsize[1]) / (2*hsize[1]) * (nrow-1));
-  rmax = (int) mju_ceil ((ymax + hsize[1]) / (2*hsize[1]) * (nrow-1));
-  cmin = mjMAX(0, cmin);
-  cmax = mjMIN(ncol-1, cmax);
-  rmin = mjMAX(0, rmin);
-  rmax = mjMIN(nrow-1, rmax);
-
-  //------------------------------------- collision testing
-
-  // compute real-valued grid step, and triangulation direction
-  dx = (2.0*hsize[0]) / (ncol-1);
-  dy = (2.0*hsize[1]) / (nrow-1);
-  dr[0] = 1;
-  dr[1] = 0;
-
-  // set zbottom value using base size
-  mjtNum (*prism)[3] = obj1.data.hfield.prism;
-  prism[0][2] = prism[1][2] = prism[2][2] = -hsize[3];
-
-  // process all prisms in sub-grid
-  cnt = 0;
-  for (int r=rmin; r < rmax; r++) {
-    int nvert = 0;
-    for (int c=cmin; c <= cmax; c++) {
-      for (int k=0; k < 2; k++) {
-        // send vertex to prism constructor
-        addVert(&obj1, dx*c-hsize[0], dy*(r+dr[k])-hsize[1],
-                hdata[(r+dr[k])*ncol+c]*hsize[2]+margin);
-
-        // check for enough vertices
-        if (++nvert > 2) {
-          // prism height test
-          if (prism[3][2] < zmin && prism[4][2] < zmin && prism[5][2] < zmin) {
-            continue;
-          }
-
-          // run ccd, save contact
-          if (mjc_penetration(m, d, &obj1, &obj2, con + cnt, 1, 0.0)) {
-            // transform to global coordinates
-            mji_zero3(con[cnt].tangent);
-            mju_mulMatVec3(con[cnt].normal, hmat, con[cnt].normal);
-            mju_mulMatVec3(con[cnt].pos, hmat, con[cnt].pos);
-            mji_addTo3(con[cnt].pos, hpos);
-
-            // count, stop if max number reached
-            cnt++;
-            if (cnt >= mjMAXCONPAIR) {
-              r = rmax+1;
-              c = cmax+1;
-              k = 3;
-              break;
-            }
-          }
-        }
-      }
-    }
-  }
-
-  // restore elem vertices and center
-  for (int i=0; i <= dim; i++) {
-    mji_copy3(evert[i], savevert[i]);
-  }
-  mji_copy3(ecenter, savecenter);
-
-  return cnt;
-}
diff --git a/src/engine/engine_collision_convex.h b/src/engine/engine_collision_convex.h
deleted file mode 100644
index 7692e0b2..00000000
--- a/src/engine/engine_collision_convex.h
+++ /dev/null
@@ -1,134 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONVEX_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONVEX_H_
-
-// libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
-// TODO(stunya): Remove once https://github.com/danfis/libccd/pull/77 is merged
-#ifdef _CRT_SECURE_NO_WARNINGS
-#undef _CRT_SECURE_NO_WARNINGS
-#endif
-
-#include <ccd/vec3.h>
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-// minimum number of vertices to use hill-climbing in mesh support
-#define mjMESH_HILLCLIMB_MIN 10
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// internal object type for convex collision detection
-struct _mjCCDObj {
-  int geom;
-  int geom_type;
-  mjtNum size[4];
-  mjtNum pos[3];
-  mjtNum mat[9];
-  int vertindex;
-  int meshindex;
-  int flex;
-  int elem;
-  int vert;
-  mjtNum margin;
-  mjtNum rotate[4];
-  union {
-    // mesh data from mjModel
-    struct {
-      int nvert;
-      int mesh_polynum;
-      const float* vert;
-      const int* mpolymapadr;
-      const int* mpolymapnum;
-      const int* polymap;
-      const int* polyvertadr;
-      const int* polyvertnum;
-      const int* polyvert;
-      const mjtNum* polynormal;
-      const int* graph;
-      const int* extrema;
-    } mesh;
-
-    // hfield prism data
-    struct {
-      mjtNum prism[6][3];
-      const float* hfield_data;
-      int hfield_nrow;
-      int hfield_ncol;
-    } hfield;
-
-    // flex data from mjModel and mjData
-    struct {
-      const int* elem;
-      const int* dim;
-      const mjtNum* aabb;
-      const int* elemadr;
-      const int* elemdataadr;
-      const mjtNum* vert_xpos;
-      const int* vertadr;
-      const mjtNum* xradius;
-    } flex;
-  } data;
-  void (*center)(mjtNum res[3], const struct _mjCCDObj* obj);
-  void (*support)(mjtNum res[3], struct _mjCCDObj* obj, const mjtNum dir[3]);
-};
-typedef struct _mjCCDObj mjCCDObj;
-
-// initialize a CCD object
-MJAPI void mjc_initCCDObj(mjCCDObj* obj, const mjModel* m, const mjData* d, int g, mjtNum margin);
-
-// center function for convex collision algorithms
-MJAPI void mjc_center(mjtNum res[3], const mjCCDObj *obj);
-
-// libccd center function
-MJAPI void mjccd_center(const void *obj, ccd_vec3_t *center);
-
-// libccd support function
-MJAPI void mjccd_support(const void *obj, const ccd_vec3_t *dir, ccd_vec3_t *vec);
-
-// support function for point
-void mjc_pointSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
-
-// support function for line (capsule)
-void mjc_lineSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]);
-
-// pairwise geom collision functions using ccd
-int mjc_PlaneConvex(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
-int mjc_ConvexHField(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
-MJAPI int mjc_Convex(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
-
-// geom-elem or elem-elem or vert-elem collision function using ccd
-int mjc_ConvexElem(const mjModel* m, mjData* d, mjPreContact* con, int g1, int f1, int e1, int v1,
-                   int f2, int e2, mjtNum margin);
-
-// heightfield-elem collision function using ccd
-int mjc_HFieldElem(const mjModel* m, mjData* d, mjPreContact* con, int g, int f, int e,
-                   mjtNum margin);
-
-// fix contact frame normal
-void mjc_fixNormal(const mjModel* m, const mjData* d, mjPreContact* con, int g1, int g2);
-
-// set CCD internal buffer
-void mjc_setCCDBuffer(void* buffer);
-
-#ifdef __cplusplus
-}
-#endif
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_CONVEX_H_
diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
deleted file mode 100644
index 8c586d99..00000000
--- a/src/engine/engine_collision_driver.c
+++ /dev/null
@@ -1,2711 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_collision_driver.h"
-
-#include <stddef.h>
-#include <string.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_callback.h"
-#include "engine/engine_collision_convex.h"
-#include "engine/engine_collision_gjk.h"
-#include "engine/engine_collision_primitive.h"
-#include "engine/engine_collision_sdf.h"
-#include "engine/engine_thread.h"
-#include "engine/engine_core_constraint.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_inline.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_sleep.h"
-#include "engine/engine_sort.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_solve.h"
-#include "engine/engine_util_spatial.h"
-
-
-// table of pairwise collision functions
-mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES] = {
-  /*              PLANE  HFIELD  SPHERE            CAPSULE             ELLIPSOID         CYLINDER            BOX               MESH              SDF */
-  /*PLANE     */ {0,     0,      mjc_PlaneSphere,  mjc_PlaneCapsule,   mjc_PlaneConvex,  mjc_PlaneCylinder,  mjc_PlaneBox,     mjc_PlaneConvex,  mjc_PlaneConvex},
-  /*HFIELD    */ {0,     0,      mjc_ConvexHField, mjc_ConvexHField,   mjc_ConvexHField, mjc_ConvexHField,   mjc_ConvexHField, mjc_ConvexHField, mjc_HFieldSDF},
-  /*SPHERE    */ {0,     0,      mjc_SphereSphere, mjc_SphereCapsule,  mjc_Convex,       mjc_SphereCylinder, mjc_SphereBox,    mjc_Convex,       mjc_SDF},
-  /*CAPSULE   */ {0,     0,      0,                mjc_CapsuleCapsule, mjc_Convex,       mjc_Convex,         mjc_CapsuleBox,   mjc_Convex,       mjc_SDF},
-  /*ELLIPSOID */ {0,     0,      0,                0,                  mjc_Convex,       mjc_Convex,         mjc_Convex,       mjc_Convex,       mjc_SDF},
-  /*CYLINDER  */ {0,     0,      0,                0,                  0,                mjc_Convex,         mjc_Convex,       mjc_Convex,       mjc_SDF},
-  /*BOX       */ {0,     0,      0,                0,                  0,                0,                  mjc_BoxBox,       mjc_Convex,       mjc_SDF},
-  /*MESH      */ {0,     0,      0,                0,                  0,                0,                  0,                mjc_Convex,       mjc_MeshSDF},
-  /*SDF       */ {0,     0,      0,                0,                  0,                0,                  0,                0,                mjc_SDF}
-};
-
-
-
-//------------------------------------ utility functions ------------------------------------------
-
-
-// return the maximum number of contacts that can be generated between two geoms
-// if has_margin is -1, then the margin is pulled from the model, otherwise if has_margin > 0
-// indicates that the geoms have a positive margin
-int mj_maxContact(const mjModel* m, int g1, int g2, int has_margin) {
-  int type1 = m->geom_type[g1];
-  int type2 = m->geom_type[g2];
-
-  if (type1 == mjGEOM_SDF || type2 == mjGEOM_SDF) {
-    return m->opt.sdf_initpoints;
-  }
-
-  if (type1 == mjGEOM_HFIELD || type2 == mjGEOM_HFIELD) {
-    int type = (type1 == mjGEOM_HFIELD) ? type2 : type1;
-    return (type != mjGEOM_PLANE && type != mjGEOM_HFIELD) ? mjMAXCONPAIR : 0;
-  }
-
-  // spheres and ellipsoids always generate a single contact
-  if (type1 == mjGEOM_SPHERE || type1 == mjGEOM_ELLIPSOID ||
-      type2 == mjGEOM_SPHERE || type2 == mjGEOM_ELLIPSOID) {
-    return 1;
-  }
-
-  // box-box primitive collider
-  if (type1 == mjGEOM_BOX && type2 == mjGEOM_BOX) {
-    return 8;
-  }
-
-  // capsule-capsule primitive collider
-  if (type1 == mjGEOM_CAPSULE && type2 == mjGEOM_CAPSULE) {
-    return 2;
-  }
-
-  // capsule-box primitive collider
-  if ((type1 == mjGEOM_CAPSULE && type2 == mjGEOM_BOX) ||
-      (type1 == mjGEOM_BOX && type2 == mjGEOM_CAPSULE)) {
-    return 4;
-  }
-
-  // the remaining plane cases
-  if (type1 == mjGEOM_PLANE || type2 == mjGEOM_PLANE) {
-    int type = (type1 == mjGEOM_PLANE) ? type2 : type1;
-    switch (type) {
-      case mjGEOM_CAPSULE:
-        return 2;
-      case mjGEOM_CYLINDER:
-      case mjGEOM_BOX:
-        return 4;
-      case mjGEOM_MESH:
-        return 3;
-      default:
-        return 0;
-    }
-  }
-
-  int is_multiccd = !mjDISABLED(mjDSBL_MULTICCD);
-  if (!is_multiccd) {
-    return 1;
-  }
-
-  if (type1 == mjGEOM_CAPSULE || type2 == mjGEOM_CAPSULE ||
-      type1 == mjGEOM_CYLINDER || type2 == mjGEOM_CYLINDER) {
-    return 5;
-  }
-
-  if (mjDISABLED(mjDSBL_NATIVECCD)) {
-    return is_multiccd ? 5 : 1;  // mesh-mesh or mesh-box with libccd
-  }
-
-  // check margin from model
-  if (has_margin < 0) {
-    has_margin = 0;
-    if (mjENABLED(mjENBL_OVERRIDE)) {
-      has_margin = m->opt.o_margin > 0.0;
-    } else {
-      int npair = m->npair;
-      int ipair = -1;
-      for (int k=0; k < npair; k++) {
-        if ((m->pair_geom1[k] == g1 && m->pair_geom2[k] == g2) ||
-            (m->pair_geom1[k] == g2 && m->pair_geom2[k] == g1)) {
-            ipair = k;
-            break;
-          }
-        }
-
-      if (ipair > -1) {
-        has_margin = m->pair_margin[ipair] > 0.0;
-      } else {
-        has_margin = m->geom_margin[g1] > 0.0 || m->geom_margin[g2] > 0.0;
-      }
-    }
-  }
-
-  // 4 contacts for mesh-mesh or mesh-box without margins, 5 with margins
-  return has_margin ? 5 : 4;
-}
-
-
-// return the margin for a given geom pair
-static inline mjtNum getMargin(const mjModel* m, int g1, int g2, int ipair) {
-  if (ipair >= 0) {
-    return mj_assignMargin(m, m->pair_margin[ipair]);
-  }
-  return mj_assignMargin(m, m->geom_margin[g1] + m->geom_margin[g2]);
-}
-
-
-// return the gap for a given geom pair
-static inline mjtNum getGap(const mjModel* m, int g1, int g2, int ipair) {
-  if (ipair >= 0) {
-    return m->pair_gap[ipair];
-  }
-  return m->geom_gap[g1] + m->geom_gap[g2];
-}
-
-
-// move arena pointer back to the end of the contact array
-static inline void resetArena(mjData* d) {
-  d->parena = d->ncon * sizeof(mjContact);
-#ifdef mjUSEASAN
-    ASAN_POISON_MEMORY_REGION(
-      (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
-#endif
-}
-
-
-// realign the arena pointer to the specified alignment
-static inline size_t alignArena(mjData* d, size_t alignment) {
-  size_t misalignment = d->parena % alignment;
-  if (misalignment) {
-    d->parena += alignment - misalignment;
-  }
-  return d->parena;
-}
-
-
-// plane to geom_center squared distance, g1 is a plane
-static mjtNum planeGeomDist(const mjModel* m, mjData* d, int g1, int g2) {
-  mjtNum* mat1 = d->geom_xmat + 9*g1;
-  mjtNum norm[3] = {mat1[2], mat1[5], mat1[8]};
-  mjtNum dif[3];
-
-  mju_sub3(dif, d->geom_xpos + 3*g2, d->geom_xpos + 3*g1);
-  return mju_dot3(dif, norm);
-}
-
-
-// return 1 if body has plane geom, 0 otherwise
-static int hasPlane(const mjModel* m, int body) {
-  int start = m->body_geomadr[body];
-  int end = m->body_geomadr[body] + m->body_geomnum[body];
-
-  // scan geoms belonging to body
-  int g;
-  for (g=start; g < end; g++) {
-    if (m->geom_type[g] == mjGEOM_PLANE) {
-      return 1;
-    }
-  }
-
-  return 0;
-}
-
-
-// filter contact based on type and affinity
-static int filterBitmask(int contype1, int conaffinity1,
-                         int contype2, int conaffinity2) {
-  return !(contype1 & conaffinity2) && !(contype2 & conaffinity1);
-}
-
-
-// filter contact based on global AABBs
-static int filterBox(const mjtNum aabb1[6], const mjtNum aabb2[6], mjtNum margin) {
-  if (aabb1[0]+aabb1[3]+margin < aabb2[0]-aabb2[3]) return 1;
-  if (aabb1[1]+aabb1[4]+margin < aabb2[1]-aabb2[4]) return 1;
-  if (aabb1[2]+aabb1[5]+margin < aabb2[2]-aabb2[5]) return 1;
-  if (aabb2[0]+aabb2[3]+margin < aabb1[0]-aabb1[3]) return 1;
-  if (aabb2[1]+aabb2[4]+margin < aabb1[1]-aabb1[4]) return 1;
-  if (aabb2[2]+aabb2[5]+margin < aabb1[2]-aabb1[5]) return 1;
-  return 0;
-}
-
-
-// filter contact based sphere-box test, treating sphere as box
-static int filterSphereBox(const mjtNum s[3], mjtNum bound, const mjtNum aabb[6]) {
-  if (s[0]+bound < aabb[0]-aabb[3]) return 1;
-  if (s[1]+bound < aabb[1]-aabb[4]) return 1;
-  if (s[2]+bound < aabb[2]-aabb[5]) return 1;
-  if (s[0]-bound > aabb[0]+aabb[3]) return 1;
-  if (s[1]-bound > aabb[1]+aabb[4]) return 1;
-  if (s[2]-bound > aabb[2]+aabb[5]) return 1;
-  return 0;
-}
-
-
-// filter contact based on bounding sphere test (raw)
-static int filterSphere(const mjtNum pos1[3], const mjtNum pos2[3], mjtNum bound) {
-  mjtNum dif[3] = {pos1[0]-pos2[0], pos1[1]-pos2[1], pos1[2]-pos2[2]};
-  mjtNum distsqr = dif[0]*dif[0] + dif[1]*dif[1] + dif[2]*dif[2];
-
-  return (distsqr > bound*bound);
-}
-
-
-// filter contact based on bounding sphere test
-static int mj_filterSphere(const mjModel* m, mjData* d, int g1, int g2, mjtNum margin) {
-  // neither geom is a plane
-  if (m->geom_rbound[g1] > 0 && m->geom_rbound[g2] > 0) {
-    return filterSphere(d->geom_xpos + 3*g1, d->geom_xpos + 3*g2,
-                        m->geom_rbound[g1] + m->geom_rbound[g2] + margin);
-  }
-
-  // one geom is a plane
-  if (m->geom_type[g1] == mjGEOM_PLANE && m->geom_rbound[g2] > 0
-      && planeGeomDist(m, d, g1, g2) > margin + m->geom_rbound[g2]) {
-    return 1;
-  }
-  if (m->geom_type[g2] == mjGEOM_PLANE && m->geom_rbound[g1] > 0
-      && planeGeomDist(m, d, g2, g1) > margin + m->geom_rbound[g1]) {
-    return 1;
-  }
-  return 0;
-}
-
-
-// filter body pair; 1: discard, 0: proceed
-static int filterBodyPair(int weldbody1, int weldparent1, int asleep1, int dofnum1,
-                          int weldbody2, int weldparent2, int asleep2, int dofnum2,
-                          int dsbl_filterparent) {
-  // same weldbody check
-  if (weldbody1 == weldbody2) {
-    return 1;
-  }
-
-  // both dof-less: no forces can act, skip
-  if (dofnum1 == 0 && dofnum2 == 0) {
-    return 1;
-  }
-
-  // both asleep check
-  if (asleep1 && asleep2) {
-    return 1;
-  }
-
-  // asleep and world-static check (mocap has weldbody != 0, still triggers wake)
-  if ((asleep1 && !weldbody2) || (asleep2 && !weldbody1)) {
-    return 1;
-  }
-
-  // weldparent check
-  if ((!dsbl_filterparent && weldbody1 != 0 && weldbody2 != 0) &&
-      (weldbody1 == weldparent2 || weldbody2 == weldparent1)) {
-    return 1;
-  }
-
-  // all tests passed
-  return 0;
-}
-
-
-// return 1 if bodyflex can collide, 0 otherwise
-static int canCollide(const mjModel* m, int bf) {
-  if (bf < m->nbody) {
-    return (m->body_contype[bf] || m->body_conaffinity[bf]);
-  } else {
-    int f = bf - m->nbody;
-    return (m->flex_contype[f] || m->flex_conaffinity[f]);
-  }
-}
-
-
-// return 1 if two bodyflexes can collide, 0 otherwise
-static int canCollide2(const mjModel* m, int bf1, int bf2) {
-  int nbody = m->nbody;
-  int contype1 = (bf1 < nbody) ? m->body_contype[bf1] : m->flex_contype[bf1-nbody];
-  int conaffinity1 = (bf1 < nbody) ? m->body_conaffinity[bf1] : m->flex_conaffinity[bf1-nbody];
-  int contype2 = (bf2 < nbody) ? m->body_contype[bf2] : m->flex_contype[bf2-nbody];
-  int conaffinity2 = (bf2 < nbody) ? m->body_conaffinity[bf2] : m->flex_conaffinity[bf2-nbody];
-
-  // opposite of bitmask filter
-  return (!filterBitmask(contype1, conaffinity1, contype2, conaffinity2));
-}
-
-
-// return 1 if element is active, 0 otherwise
-int mj_isElemActive(const mjModel* m, int f, int e) {
-  if (m->flex_dim[f] < 3) {
-    return 1;
-  } else {
-    return (m->flex_elemlayer[m->flex_elemadr[f]+e] < m->flex_activelayers[f]);
-  }
-}
-
-
-//----------------------------- collision detection entry point ------------------------------------
-
-// internal structure for storing pairs meant for narrowphase collision detection
-typedef struct {
-  // type of collision pair
-  enum {
-    mjCPAIR_GEOM_GEOM = 0,  // mjCOLLISIONFUNC[type1][type2]
-    mjCPAIR_GEOM_FLEX,      // mj_collidePlaneFlex, mj_collideSdfFlex
-    mjCPAIR_GEOM_ELEM,      // mj_collideGeomElem
-    mjCPAIR_ELEM_VERT,      // mj_collideElemVert
-    mjCPAIR_ELEM_ELEM,      // mj_collideElems
-  } type;
-  int conpos;
-  union {
-    struct { int g1, g2, ipair; } geom_geom;
-    struct { int g, f; } geom_flex;
-    struct { int g, f, e; } geom_elem;
-    struct { int f, e, v; } elem_vert;
-    struct { int f1, e1, f2, e2; } elem_elem;
-  };
-} mjcPair;
-
-
-// initialize a default collision pair
-static inline void defaultPair(mjcPair* pair, int type) {
-  pair->type = type;
-  // clear all fields in the union
-  pair->elem_elem.f1 = -1;
-  pair->elem_elem.e1 = -1;
-  pair->elem_elem.f2 = -1;
-  pair->elem_elem.e2 = -1;
-}
-
-
-// binary search between two bodyflex trees
-static void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
-                           int merged, int startadr, int pairadr);
-
-// compute contacts for a batch of collision pairs contained in a buffer of
-// stride 3 ints (g1, g2, ipair)
-// if buffer is NULL, results are read from arena starting at parena
-static void mj_narrowphase(const mjModel* m, mjData* d, const mjcPair* buffer, int npair,
-                           size_t parena);
-
-// test a plane geom and a flex for collision, add to contact list
-static void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f);
-
-// test an SDF geom and a flex for collision, add to contact list
-static void mj_collideSdfFlex(const mjModel* m, mjData* d, int g, int f);
-
-// test for internal flex collisions, add to contact list
-static void mj_collideFlexInternal(const mjModel* m, mjData* d, int f);
-
-// compare contact pairs by their geom/elem/vert IDs
-static inline int contactcompare(const mjContact* c1, const mjContact* c2, void* context) {
-  const mjModel* m = (const mjModel*) context;
-
-  // get colliding object ids
-  int con1_obj1 = c1->geom[0] >= 0 ? c1->geom[0] : (c1->elem[0] >= 0 ? c1->elem[0] : c1->vert[0]);
-  int con1_obj2 = c1->geom[1] >= 0 ? c1->geom[1] : (c1->elem[1] >= 0 ? c1->elem[1] : c1->vert[1]);
-  int con2_obj1 = c2->geom[0] >= 0 ? c2->geom[0] : (c2->elem[0] >= 0 ? c2->elem[0] : c2->vert[0]);
-  int con2_obj2 = c2->geom[1] >= 0 ? c2->geom[1] : (c2->elem[1] >= 0 ? c2->elem[1] : c2->vert[1]);
-
-  // for geom:geom, reproduce the order of contacts without mj_collideTree
-  // normally sorted by (g1, g2), but g1 and g2 are swapped based on geom_type
-  // here we undo this swapping for the purpose of sorting - needs to be done for each mjContact
-  if (c1->geom[0] >= 0 && c1->geom[1] >= 0 &&
-      c2->geom[0] >= 0 && c2->geom[1] >= 0) {
-    if (m->geom_type[con1_obj1] > m->geom_type[con1_obj2]) {
-      int tmp = con1_obj1;
-      con1_obj1 = con1_obj2;
-      con1_obj2 = tmp;
-    }
-    if (m->geom_type[con2_obj1] > m->geom_type[con2_obj2]) {
-      int tmp = con2_obj1;
-      con2_obj1 = con2_obj2;
-      con2_obj2 = tmp;
-    }
-  }
-  if (con1_obj1 < con2_obj1) return -1;
-  if (con1_obj1 > con2_obj1) return 1;
-  if (con1_obj2 < con2_obj2) return -1;
-  if (con1_obj2 > con2_obj2) return 1;
-  return 0;
-}
-
-// define contactSort function for sorting contacts
-mjSORT(contactSort, mjContact, contactcompare);
-
-
-// filter flex contacts based on distance
-static void filterFlexContacts(mjData* d, int ncon_before) {
-  int n = d->ncon - ncon_before;
-  if (n <= mjMAXCONPAIR) {
-    return;
-  }
-
-  mjContact* contacts = d->contact + ncon_before;
-
-  mj_markStack(d);
-  mjtByte* selected = mjSTACKALLOC(d, n, mjtByte);
-  mjtNum* min_dist = mjSTACKALLOC(d, n, mjtNum);
-  memset(selected, 0, n);
-
-  for (int i = 0; i < n; i++) {
-    min_dist[i] = mjMAXVAL;
-  }
-
-  // start with the deepest penetrating contact
-  int nselected = 0;
-  int best = 0;
-  mjtNum bestdist = -contacts[0].dist;
-  for (int i = 1; i < n; i++) {
-    if (-contacts[i].dist > bestdist) {
-      bestdist = -contacts[i].dist;
-      best = i;
-    }
-  }
-
-  while (nselected < mjMAXCONPAIR && best >= 0) {
-    selected[best] = 1;
-    mjtNum* bestpos = contacts[best].pos;
-
-    int nextbest = -1;
-    mjtNum nextbestdist = -1;
-    for (int i = 0; i < n; i++) {
-      if (selected[i]) continue;
-
-      mjtNum dx = contacts[i].pos[0] - bestpos[0];
-      mjtNum dy = contacts[i].pos[1] - bestpos[1];
-      mjtNum dz = contacts[i].pos[2] - bestpos[2];
-      mjtNum d2 = dx*dx + dy*dy + dz*dz;
-      if (d2 < min_dist[i]) {
-        min_dist[i] = d2;
-      }
-      if (min_dist[i] > nextbestdist) {
-        nextbestdist = min_dist[i];
-        nextbest = i;
-      }
-    }
-
-    if (nselected < mjMAXCONPAIR - 1) {
-      mjContact temp = contacts[nselected];
-      contacts[nselected] = contacts[best];
-      contacts[best] = temp;
-
-      if (nextbest == nselected) {
-        nextbest = best;
-      }
-    }
-
-    nselected++;
-    best = nextbest;
-  }
-
-  mj_freeStack(d);
-
-  d->ncon = ncon_before + nselected;
-  resetArena(d);
-}
-
-
-// push a candidate collision pair onto the arena
-static void pushPairArena(mjData* d, mjcPair* pair) {
-  // allocate geom pair on the arena
-  mjcPair* new_pair = (mjcPair*) mj_arenaAllocByte(d, sizeof(mjcPair), _Alignof(mjcPair));
-  if (!pair) {
-    mjERROR("arena too small to allocate geom pair");
-  }
-  *new_pair = *pair;
-}
-
-
-// push a geom-geom collision pair onto the arena
-static void pushGeomGeom(const mjModel* m, mjData* d, int g1, int g2, int ipair) {
-  if (m->geom_type[g1] > m->geom_type[g2]) {
-    int tmp = g1;
-    g1 = g2;
-    g2 = tmp;
-  }
-
-  mjcPair pair;
-  defaultPair(&pair, mjCPAIR_GEOM_GEOM);
-  pair.geom_geom.g1 = g1;
-  pair.geom_geom.g2 = g2;
-  pair.geom_geom.ipair = ipair;
-  pushPairArena(d, &pair);
-}
-
-
-// filter candidate collision pair; return 0 if pair should be discarded
-static int filterCollisionPair(const mjModel* m, mjData* d, int g1, int g2, int ipair,
-                               int merged, int startadr, int pairadr) {
-  // merged, find matching pair
-  if (merged) {
-    for (int k=startadr; k < pairadr; k++) {
-      if ((m->pair_geom1[k] == g1 && m->pair_geom2[k] == g2) ||
-          (m->pair_geom1[k] == g2 && m->pair_geom2[k] == g1)) {
-        return 0;
-      }
-    }
-  }
-
-  if (ipair >= 0) {
-    if (mjENABLED(mjENBL_SLEEP)) {
-      int b1 = m->geom_bodyid[g1];
-      int b2 = m->geom_bodyid[g2];
-      if (d->body_awake[b1] != mjS_AWAKE && d->body_awake[b2] != mjS_AWAKE) {
-        return 0;
-      }
-    }
-  }
-
-  if (ipair < 0) {
-    if (mjcb_contactfilter) {
-      if (mjcb_contactfilter(m, d, g1, g2)) {
-        return 0;
-      }
-    } else if (filterBitmask(m->geom_contype[g1], m->geom_conaffinity[g1],
-                             m->geom_contype[g2], m->geom_conaffinity[g2])) {
-      return 0;
-    }
-  }
-
-  // bounding sphere filter
-  mjtNum margin = getMargin(m, g1, g2, ipair);
-  mjtNum gap = getGap(m, g1, g2, ipair);
-  if (mj_filterSphere(m, d, g1, g2, margin + gap)) {
-    return 0;
-  }
-
-  // highly unlikely, but check collision function is well-defined
-  int type1 = mjMIN(m->geom_type[g1], m->geom_type[g2]);
-  int type2 = mjMAX(m->geom_type[g1], m->geom_type[g2]);
-  return mjCOLLISIONFUNC[type1][type2] != NULL;
-}
-
-
-// main collision function
-void mj_collision(const mjModel* m, mjData* d) {
-  TM_START1;
-
-  int nexclude = m->nexclude, npair = m->npair, nbody = m->nbody;
-  int nbodyflex = m->nbody + m->nflex;
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < nbody;
-
-  // reset the size of the contact array and invalidate efc arrays
-  d->ncon = 0;
-  resetArena(d);
-  mj_clearEfc(d);
-
-  // return if disabled
-  if (mjDISABLED(mjDSBL_CONSTRAINT) || mjDISABLED(mjDSBL_CONTACT) || nbodyflex < 2) {
-    TM_END1(mjTIMER_POS_COLLISION);
-    return;
-  }
-
-  // reset the visualization flags
-  if (m->vis.global.bvactive) {
-    memset(d->bvh_active, 0, m->nbvh);
-  }
-
-  mj_markStack(d);
-
-  // broadphase collision detector
-  TM_START;
-  int nmaxpairs = (nbodyflex*(nbodyflex - 1))/2;
-  int* broadphasepair = mjSTACKALLOC(d, nmaxpairs, int);
-  int nbfpair = mj_broadphase(m, d, broadphasepair, nmaxpairs);
-  unsigned int last_signature = -1;
-  TM_END(mjTIMER_COL_BROAD);
-
-  // narrowphase and midphase collision detector
-  TM_RESTART;
-
-  // process bodyflex pairs returned by broadphase, merge with predefined geom pairs
-  int pairadr = 0, ngeompair = 0, g1, g2;
-
-  // align the arena for candidate collision pairs for narrowphase
-  size_t parena = alignArena(d, _Alignof(int));
-
-  for (int i=0; i < nbfpair; i++) {
-    // reconstruct bodyflex pair ids
-    int bf1 = (broadphasepair[i]>>16) & 0xFFFF;
-    int bf2 = broadphasepair[i] & 0xFFFF;
-
-    // compute signature for this bodyflex pair
-    unsigned int signature = (bf1<<16) + bf2;
-    // pairs come sorted by signature, but may not be unique
-    // if signature is repeated, skip it
-    if (signature == last_signature) {
-      continue;
-    }
-    last_signature = signature;
-
-    // merge predefined geom pairs
-    int merged = 0;
-    int startadr = pairadr;
-    // test all predefined pairs for which pair_signature <= signature
-    for (; pairadr < npair && m->pair_signature[pairadr] <= signature; pairadr++) {
-      merged = (m->pair_signature[pairadr] == signature);
-      g1 = m->pair_geom1[pairadr], g2 = m->pair_geom2[pairadr];
-      if (filterCollisionPair(m, d, g1, g2, pairadr, 0, 0, 0)) {
-        pushGeomGeom(m, d, g1, g2, pairadr);
-        ngeompair++;
-      }
-    }
-
-    // apply bitmask filtering at the bodyflex level
-    if (!canCollide2(m, bf1, bf2)) {
-      continue;
-    }
-
-    // handle body pair exclusion
-    int exadr = 0;
-    if (nexclude) {
-      // advance exadr while exclude_signature < signature
-      while (exadr < nexclude && m->exclude_signature[exadr] < signature) {
-        exadr++;
-      }
-
-      // skip this bodyflex pair if its signature is found in exclude array
-      if (exadr < nexclude && m->exclude_signature[exadr] == signature) {
-        continue;
-      }
-    }
-
-    // get bodyflex info
-    int isbody1 = (bf1 < nbody);
-    int isbody2 = (bf2 < nbody);
-    int bvh1 = (isbody1 ? m->body_bvhadr[bf1] : m->flex_bvhadr[bf1-nbody]);
-    int bvh2 = (isbody2 ? m->body_bvhadr[bf2] : m->flex_bvhadr[bf2-nbody]);
-    int geomadr1 = (isbody1 ? m->body_geomadr[bf1] : -1);
-    int geomadr2 = (isbody2 ? m->body_geomadr[bf2] : -1);
-
-    // process bodyflex pair: two single-geom bodies
-    if (isbody1 && isbody2 && m->body_geomnum[bf1] == 1 && m->body_geomnum[bf2] == 1) {
-      if (filterCollisionPair(m, d, geomadr1, geomadr2, -1, merged, startadr, pairadr)) {
-        pushGeomGeom(m, d, geomadr1, geomadr2, -1);
-        ngeompair++;
-      }
-    }
-
-    // process bodyflex pair: midphase
-    else if (!mjDISABLED(mjDSBL_MIDPHASE) && bvh1 >= 0 && bvh2 >= 0) {
-      // flush geom pairs before calling mj_collideTree as post sorting needs to happen
-      if (ngeompair > 0) {
-        mj_narrowphase(m, d, NULL, ngeompair, parena);
-        ngeompair = 0;
-      }
-
-      int ncon_before = d->ncon;
-      mj_collideTree(m, d, bf1, bf2, merged, startadr, pairadr);
-      int ncon_after = d->ncon;
-
-      // filter flex contacts (limit per geom-flex or flex-flex pair)
-      if (bf1 >= nbody || bf2 >= nbody) {
-        filterFlexContacts(d, ncon_before);
-        ncon_after = d->ncon;
-      }
-
-      // sort contacts
-      int n = ncon_after - ncon_before;
-      if (n > 1) {
-        mj_markStack(d);
-        mjContact* buf = mjSTACKALLOC(d, n, mjContact);
-        contactSort(d->contact + ncon_before, buf, n, (void*)m);
-        mj_freeStack(d);
-      }
-
-      // realign the arena after adding contacts
-      parena = alignArena(d, _Alignof(int));
-    }
-
-    // process bodyflex pair: all-to-all
-    else {
-      int geomadr_end1 = geomadr1 + m->body_geomnum[bf1];
-      int geomadr_end2 = geomadr2 + m->body_geomnum[bf2];
-
-      // body : body
-      if (isbody1 && isbody2) {
-        for (g1=geomadr1; g1 < geomadr_end1; g1++) {
-          for (g2=geomadr2; g2 < geomadr_end2; g2++) {
-            if (filterCollisionPair(m, d, g1, g2, -1, merged, startadr, pairadr)) {
-              pushGeomGeom(m, d, g1, g2, -1);
-              ngeompair++;
-            }
-          }
-        }
-      }
-
-      // body : flex
-      else if (isbody1) {
-        if (ngeompair > 0) {
-          mj_narrowphase(m, d, NULL, ngeompair, parena);
-          ngeompair = 0;
-        }
-
-        int f = bf2 - nbody;
-
-        // process body geoms
-        for (int g=m->body_geomadr[bf1]; g < geomadr_end1; g++) {
-          // bitmask filtering at the geom-flex level
-          if (filterBitmask(m->geom_contype[g], m->geom_conaffinity[g],
-                            m->flex_contype[f], m->flex_conaffinity[f])) {
-            continue;
-          }
-
-          // plane special processing
-          if (m->geom_type[g] == mjGEOM_PLANE) {
-            int ncon_before = d->ncon;
-            mj_collidePlaneFlex(m, d, g, f);
-            filterFlexContacts(d, ncon_before);
-            continue;
-          }
-
-          // SDF special processing
-          if (m->geom_type[g] == mjGEOM_SDF) {
-            int ncon_before = d->ncon;
-            mj_collideSdfFlex(m, d, g, f);
-            filterFlexContacts(d, ncon_before);
-            continue;
-          }
-
-          // collide geom with flex elements
-          int ncon_before = d->ncon;
-          int elemnum = m->flex_elemnum[f];
-          for (int e=0; e < elemnum; e++) {
-            mj_collideGeomElem(m, d, g, f, e);
-          }
-          filterFlexContacts(d, ncon_before);
-        }
-        // realign the arena after adding contacts
-        parena = alignArena(d, _Alignof(int));
-      }
-
-      // flex : flex
-      else {
-        // flush accumulated geompairs before flex:flex processing
-        if (ngeompair > 0) {
-          mj_narrowphase(m, d, NULL, ngeompair, parena);
-          ngeompair = 0;
-        }
-
-        int f1 = bf1 - nbody;
-        int f2 = bf2 - nbody;
-
-        // collide elements of two flexes
-        int ncon_before = d->ncon;
-        for (int e1=0; e1 < m->flex_elemnum[f1]; e1++) {
-          for (int e2=0; e2 < m->flex_elemnum[f2]; e2++) {
-            mj_collideElems(m, d, f1, e1, f2, e2);
-          }
-        }
-        filterFlexContacts(d, ncon_before);
-
-        // realign the arena after adding contacts
-        parena = alignArena(d, _Alignof(int));
-      }
-    }
-  }
-  mj_freeStack(d);
-
-  // finish merging predefined geom pairs
-  for (; pairadr < npair; pairadr++) {
-    g1 = m->pair_geom1[pairadr], g2 = m->pair_geom2[pairadr];
-    if (filterCollisionPair(m, d, g1, g2, pairadr, 0, 0, 0)) {
-      pushGeomGeom(m, d, g1, g2, pairadr);
-      ngeompair++;
-    }
-  }
-
-  // flush remaining collision pairs
-  if (ngeompair > 0) {
-    mj_narrowphase(m, d, NULL, ngeompair, parena);
-    ngeompair = 0;
-  }
-
-  // flex self-collisions
-  for (int f=0; f < m->nflex; f++) {
-    if (!m->flex_rigid[f] && (m->flex_contype[f] & m->flex_conaffinity[f])) {
-      // skip if flex is asleep
-      if (sleep_filter && mj_sleepState(m, d, mjOBJ_FLEX, f) == mjS_ASLEEP) continue;
-
-      // internal collisions
-      if (m->flex_internal[f]) {
-        int ncon_before = d->ncon;
-        mj_collideFlexInternal(m, d, f);
-        filterFlexContacts(d, ncon_before);
-      }
-
-      // active element collisions
-      if (m->flex_selfcollide[f] != mjFLEXSELF_NONE) {
-        int ncon_before = d->ncon;
-
-        // element-element: midphase
-        if (!mjDISABLED(mjDSBL_MIDPHASE) &&
-            m->flex_selfcollide[f] != mjFLEXSELF_NARROW &&
-            m->flex_bvhadr[f] >= 0) {
-          // select midphase mode
-          if (m->flex_selfcollide[f] == mjFLEXSELF_BVH ||
-              (m->flex_selfcollide[f] == mjFLEXSELF_AUTO && m->flex_dim[f] == 3)) {
-            mj_collideTree(m, d, nbody+f, nbody+f, 0, 0, 0);
-          } else {
-            mj_collideFlexSAP(m, d, f);
-          }
-        }
-
-        // element-element: direct
-        else {
-          int flex_elemnum = m->flex_elemnum[f];
-          for (int e1=0; e1 < flex_elemnum; e1++) {
-            if (mj_isElemActive(m, f, e1)) {
-              for (int e2=e1+1; e2 < flex_elemnum; e2++) {
-                if (mj_isElemActive(m, f, e2)) {
-                  mj_collideElems(m, d, f, e1, f, e2);
-                }
-              }
-            }
-          }
-        }
-
-        filterFlexContacts(d, ncon_before);
-      }
-    }
-  }
-
-  // end narrowphase and midphase timer
-  TM_END(mjTIMER_COL_NARROW);
-  TM_END1(mjTIMER_POS_COLLISION);
-}
-
-
-//------------------------------------ binary tree search ------------------------------------------
-
-// collision tree node
-typedef struct  {
-  int node1;
-  int node2;
-} mjCollisionTree;
-
-// oriented bounding boxes collision (see Gottschalk et al.)
-int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
-                  const mjtNum xpos1[3], const mjtNum xmat1[9],
-                  const mjtNum xpos2[3], const mjtNum xmat2[9], mjtNum margin,
-                  mjtNum product[36], mjtNum offset[12], mjtBool* initialize) {
-  // get infinite dimensions (planes only)
-  mjtBool inf1[3] = {aabb1[3] >= mjMAXVAL, aabb1[4] >= mjMAXVAL, aabb1[5] >= mjMAXVAL};
-  mjtBool inf2[3] = {aabb2[3] >= mjMAXVAL, aabb2[4] >= mjMAXVAL, aabb2[5] >= mjMAXVAL};
-
-  // if a bounding box is infinite, there must be a collision
-  if ((inf1[0] && inf1[1] && inf1[2]) || (inf2[0] && inf2[1] && inf2[2])) {
-    return 1;
-  }
-
-  const mjtNum* aabb[2] = {aabb1, aabb2};
-  const mjtNum *xmat[2] = {xmat1, xmat2};
-  const mjtNum *xpos[2] = {xpos1, xpos2};
-  mjtNum xcenter[2][3], normal[2][3][3];
-  mjtNum proj[2], radius[2];
-  mjtBool infinite[2] = {inf1[0] || inf1[1] || inf1[2], inf2[0] || inf2[1] || inf2[2]};
-
-  // compute centers in local coordinates
-  if (product == NULL) {
-    for (int i=0; i < 2; i++) {  // bounding boxes
-      if (xmat[i]) {
-        mju_mulMatVec3(xcenter[i], xmat[i], aabb[i]);
-      } else {
-        mju_copy3(xcenter[i], aabb[i]);
-      }
-
-      if (xpos[i]) {
-        mju_addTo3(xcenter[i], xpos[i]);
-      }
-    }
-  }
-
-  // compute normals in global coordinates
-  for (int i=0; i < 2; i++) {  // bounding boxes
-    for (int j=0; j < 3; j++) {  // faces
-      for (int k=0; k < 3; k++) {  // world axes
-        if (xmat[i]) {
-          normal[i][j][k] = xmat[i][3*k+j];
-        } else {
-          normal[i][j][k] = (j == k);
-        }
-      }
-    }
-  }
-
-  // precompute dot products
-  if (product && offset && *initialize) {
-    for (int i=0; i < 2; i++) {  // bodies
-      for (int j=0; j < 2; j++) {  // bodies
-        for (int k=0; k < 3; k++) {  // axes
-          for (int l=0; l < 3; l++) {  // axes
-            product[18*i + 9*j + 3*k + l] = mju_dot3(normal[i][l], normal[j][k]);
-          }
-          offset[6*i + 3*j + k] = xpos[i] ? mju_dot3(xpos[i], normal[j][k]) : 0;
-        }
-      }
-    }
-    *initialize = 0;
-  }
-
-  // check intersections
-  for (int j=0; j < 2; j++) {  // bounding boxes
-    if (infinite[1-j]) {
-      continue;  // skip test against an infinite body
-    }
-    for (int k=0; k < 3; k++) {  // face
-      for (int i=0; i < 2; i++) {  // bounding boxes
-        if (product == NULL) {
-          proj[i] = mju_dot3(xcenter[i], normal[j][k]);
-          radius[i] = mju_abs(aabb[i][3]*mju_dot3(normal[i][0], normal[j][k])) +
-                      mju_abs(aabb[i][4]*mju_dot3(normal[i][1], normal[j][k])) +
-                      mju_abs(aabb[i][5]*mju_dot3(normal[i][2], normal[j][k]));
-        } else {
-          int adr = 18*i + 9*j + 3*k;
-          proj[i] = aabb[i][0] * product[adr + 0] +
-                    aabb[i][1] * product[adr + 1] +
-                    aabb[i][2] * product[adr + 2] +
-                    offset[6*i + 3*j + k];
-          radius[i] = mju_abs(aabb[i][3]*product[adr + 0]) +
-                      mju_abs(aabb[i][4]*product[adr + 1]) +
-                      mju_abs(aabb[i][5]*product[adr + 2]);
-        }
-      }
-
-      if (radius[0]+radius[1]+margin < mju_abs(proj[1]-proj[0])) {
-        return 0;
-      }
-    }
-  }
-
-  return 1;
-}
-
-
-// binary search between two bodyflex trees
-static void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
-                           int merged, int startadr, int pairadr) {
-  int nbody = m->nbody, nbvhstatic = m->nbvhstatic;
-  mjtBool isbody1 = (bf1 < nbody);
-  mjtBool isbody2 = (bf2 < nbody);
-  int f1 = isbody1 ? -1 : bf1 - nbody;
-  int f2 = isbody2 ? -1 : bf2 - nbody;
-  int mark_active = m->vis.global.bvactive;
-  const int bvhadr1 = isbody1 ? m->body_bvhadr[bf1] : m->flex_bvhadr[f1];
-  const int bvhadr2 = isbody2 ? m->body_bvhadr[bf2] : m->flex_bvhadr[f2];
-  const int* child1 = m->bvh_child + 2*bvhadr1;
-  const int* child2 = m->bvh_child + 2*bvhadr2;
-  const mjtNum* bvh1 = isbody1 ? (m->bvh_aabb     + 6*bvhadr1) :
-                                 (d->bvh_aabb_dyn + 6*(bvhadr1 - nbvhstatic));
-  const mjtNum* bvh2 = isbody2 ? (m->bvh_aabb     + 6*bvhadr2) :
-                                 (d->bvh_aabb_dyn + 6*(bvhadr2 - nbvhstatic));
-
-  // used with rotated bounding boxes (when bodies are involved)
-  mjtNum product[36];  // 2 bb x 2 bb x 3 axes (body) x 3 axes (world)
-  mjtNum offset[12];   // 2 bb x 2 bb x 3 axes (world)
-  mjtBool initialize = true;
-
-  // bitmask filter for bodyflex pair
-  if (!canCollide2(m, bf1, bf2)) {
-    return;
-  }
-
-  mj_markStack(d);
-  // TODO(b/273737633): Store bvh max depths to make this bound tighter.
-  const int max_stack = (isbody1 ? m->body_bvhnum[bf1] : m->flex_bvhnum[f1]) +
-                        (isbody2 ? m->body_bvhnum[bf2] : m->flex_bvhnum[f2]);
-  mjCollisionTree* stack = mjSTACKALLOC(d, max_stack, mjCollisionTree);
-
-  int nstack = 1;
-  stack[0].node1 = stack[0].node2 = 0;
-
-  // for body:flex, if dof-less body has planes, call mj_collidePlaneFlex directly
-  if (isbody1 && !isbody2 && m->body_dofnum[m->body_weldid[bf1]] == 0) {
-    for (int i=m->body_geomadr[bf1]; i < m->body_geomadr[bf1]+m->body_geomnum[bf1]; i++) {
-      if (m->geom_type[i] == mjGEOM_PLANE) {
-        mj_collidePlaneFlex(m, d, i, f2);
-      }
-    }
-  }
-
-  // for body:flex, if body has SDFs, call mj_collideSdfFlex directly
-  if (isbody1 && !isbody2) {
-    for (int i=m->body_geomadr[bf1]; i < m->body_geomadr[bf1]+m->body_geomnum[bf1]; i++) {
-      if (m->geom_type[i] == mjGEOM_SDF) {
-        mj_collideSdfFlex(m, d, i, f2);
-      }
-    }
-  }
-
-  // collide trees
-  while (nstack) {
-    // pop from stack
-    nstack--;
-    int node1 = stack[nstack].node1;
-    int node2 = stack[nstack].node2;
-    mjtBool isleaf1 = (child1[2*node1] < 0) && (child1[2*node1+1] < 0);
-    mjtBool isleaf2 = (child2[2*node2] < 0) && (child2[2*node2+1] < 0);
-    int nodeid1 = m->bvh_nodeid[bvhadr1 + node1];
-    int nodeid2 = m->bvh_nodeid[bvhadr2 + node2];
-
-    // SHOULD NOT OCCUR
-    if ((isleaf1 && nodeid1 < 0) || (isleaf2 && nodeid2 < 0)) {
-      mju_error("BVH leaf has invalid node id");
-    }
-
-    // self-collision: avoid repeated pairs
-    if (bf1 == bf2 && node1 > node2) {
-      continue;
-    }
-
-    // body : body
-    if (isbody1 && isbody2) {
-      // both are leaves
-      if (isleaf1 && isleaf2) {
-        mjtNum margin = mj_assignMargin(m, m->geom_margin[nodeid1] + m->geom_margin[nodeid2]);
-        mjtNum gap = m->geom_gap[nodeid1] + m->geom_gap[nodeid2];
-
-        if (!mj_filterSphere(m, d, nodeid1, nodeid2, margin + gap)) {
-          if (mj_collideOBB(m->geom_aabb + 6*nodeid1, m->geom_aabb + 6*nodeid2,
-                            d->geom_xpos + 3*nodeid1, d->geom_xmat + 9*nodeid1,
-                            d->geom_xpos + 3*nodeid2, d->geom_xmat + 9*nodeid2,
-                            margin + gap, NULL, NULL, &initialize)) {
-            if (filterCollisionPair(m, d, nodeid1, nodeid2, -1, merged, startadr, pairadr)) {
-              int n1 = nodeid1, n2 = nodeid2;
-              if (m->geom_type[n1] > m->geom_type[n2]) {
-                n1 = nodeid2;
-                n2 = nodeid1;
-              }
-              mjcPair pair;
-              defaultPair(&pair, mjCPAIR_GEOM_GEOM);
-              pair.geom_geom.g1 = n1;
-              pair.geom_geom.g2 = n2;
-              mj_narrowphase(m, d, &pair, 1, 0);
-            }
-            if (mark_active) {
-              d->bvh_active[node1 + bvhadr1] = true;
-              d->bvh_active[node2 + bvhadr2] = true;
-            }
-          }
-        }
-        continue;
-      }
-
-      // if no intersection at intermediate levels, stop
-      mjtNum margin = mj_assignMargin(m, m->body_margin[bf1] + m->body_margin[bf2]);
-      if (!mj_collideOBB(bvh1 + 6*node1, bvh2 + 6*node2,
-                         d->xipos + 3*bf1, d->ximat + 9*bf1,
-                         d->xipos + 3*bf2, d->ximat + 9*bf2,
-                         margin, product, offset, &initialize)) {
-        continue;
-      }
-    }
-
-    // body : flex
-    else if (isbody1 && !isbody2) {
-      // both are leaves
-      if (isleaf1 && isleaf2) {
-        mjtNum margin = mj_assignMargin(m, m->geom_margin[nodeid1] + m->flex_margin[f2]);
-        mjtNum gap = m->geom_gap[nodeid1] + m->flex_gap[f2];
-
-        if (!filterBitmask(m->geom_contype[nodeid1], m->geom_conaffinity[nodeid1],
-                           m->flex_contype[f2], m->flex_conaffinity[f2]) &&
-            !filterSphereBox(d->geom_xpos + 3*nodeid1, m->geom_rbound[nodeid1] + margin + gap,
-                             bvh2 + 6*node2)) {
-          if (mj_collideOBB(m->geom_aabb + 6*nodeid1, bvh2 + 6*node2,
-                            d->geom_xpos + 3*nodeid1, d->geom_xmat + 9*nodeid1,
-                            NULL, NULL,
-                            margin + gap, NULL, NULL, &initialize)) {
-            // collide unless geom is plane or SDF (handled separately)
-            if (m->geom_type[nodeid1] != mjGEOM_PLANE &&
-                m->geom_type[nodeid1] != mjGEOM_SDF) {
-              mj_collideGeomElem(m, d, nodeid1, f2, nodeid2);
-            }
-            if (mark_active) {
-              d->bvh_active[node1 + bvhadr1] = true;
-              d->bvh_active[node2 + bvhadr2] = true;
-            }
-          }
-        }
-        continue;
-      }
-
-      // if no intersection at intermediate levels, stop
-      mjtNum margin = mj_assignMargin(m, m->body_margin[bf1] + m->flex_margin[f2]);
-      if (!mj_collideOBB(bvh1 + 6*node1, bvh2 + 6*node2,
-                         d->xipos + 3*bf1, d->ximat + 9*bf1,
-                         NULL, NULL,
-                         margin, product, offset, &initialize)) {
-        continue;
-      }
-    }
-
-    // flex : body  SHOULD NOT OCCUR
-    else if (!isbody1 && isbody2) {
-      mjERROR("BVH flex : body collision should not occur");
-    }
-
-    // flex : flex
-    else {
-      // both are leaves
-      // box filter applied in mj_collideElems, bitmask filter applied earlier
-      if (isleaf1 && isleaf2) {
-        mj_collideElems(m, d, f1, nodeid1, f2, nodeid2);
-        if (mark_active) {
-          d->bvh_active[node1 + bvhadr1] = true;
-          d->bvh_active[node2 + bvhadr2] = true;
-        }
-        continue;
-      }
-
-      // if no intersection at intermediate levels, stop
-      mjtNum margin = mj_assignMargin(m, m->flex_margin[f1] + m->flex_margin[f2]);
-      if (filterBox(bvh1 + 6*node1, bvh2 + 6*node2, margin)) {
-        continue;
-      }
-    }
-
-    if (mark_active) {
-      d->bvh_active[node1 + bvhadr1] = true;
-      d->bvh_active[node2 + bvhadr2] = true;
-    }
-
-    // keep traversing the tree
-    if (!isleaf1 && isleaf2) {
-      for (int i=0; i < 2; i++) {
-        if (child1[2*node1+i] != -1) {
-          if (nstack >= max_stack) {
-            mjERROR("BVH stack depth exceeded.");  // SHOULD NOT OCCUR
-          }
-          stack[nstack].node1 = child1[2*node1+i];
-          stack[nstack].node2 = node2;
-          nstack++;
-        }
-      }
-    } else if (isleaf1 && !isleaf2) {
-      for (int i=0; i < 2; i++) {
-        if (child2[2*node2+i] != -1) {
-          if (nstack >= max_stack) {
-            mjERROR("BVH stack depth exceeded.");  // SHOULD NOT OCCUR
-          }
-          stack[nstack].node1 = node1;
-          stack[nstack].node2 = child2[2*node2+i];
-          nstack++;
-        }
-      }
-    } else {
-      // compute surface areas of bounding boxes
-      mjtNum x1 = bvh1[6*node1+3]-bvh1[6*node1+0];
-      mjtNum y1 = bvh1[6*node1+4]-bvh1[6*node1+1];
-      mjtNum z1 = bvh1[6*node1+5]-bvh1[6*node1+2];
-      mjtNum x2 = bvh2[6*node2+3]-bvh2[6*node2+0];
-      mjtNum y2 = bvh2[6*node2+4]-bvh2[6*node2+1];
-      mjtNum z2 = bvh2[6*node2+5]-bvh2[6*node2+2];
-      mjtNum surface1 = x1*y1 + y1*z1 + z1*x1;
-      mjtNum surface2 = x2*y2 + y2*z2 + z2*x2;
-
-      // traverse the hierarchy whose bounding box has the larger surface area
-      if (surface1 > surface2) {
-        for (int i = 0; i < 2; i++) {
-          if (child1[2 * node1 + i] != -1) {
-            if (nstack >= max_stack) {
-              mjERROR("BVH stack depth exceeded.");  // SHOULD NOT OCCUR
-            }
-            stack[nstack].node1 = child1[2 * node1 + i];
-            stack[nstack].node2 = node2;
-            nstack++;
-          }
-        }
-      } else {
-        for (int i = 0; i < 2; i++) {
-          if (child2[2 * node2 + i] != -1) {
-            if (nstack >= max_stack) {
-              mjERROR("BVH stack depth exceeded.");  // SHOULD NOT OCCUR
-            }
-            stack[nstack].node1 = node1;
-            stack[nstack].node2 = child2[2*node2+i];
-            nstack++;
-          }
-        }
-      }
-    }
-  }
-  mj_freeStack(d);
-}
-
-
-//----------------------------- broad-phase collision detection ------------------------------------
-
-// make AAMM (xmin[3], xmax[3]) for one bodyflex
-static void makeAAMM(const mjModel* m, mjData* d,
-                     mjtNum* x_min, mjtNum* y_min, mjtNum* z_min,
-                     mjtNum* x_max, mjtNum* y_max, mjtNum* z_max,
-                     int bf, const mjtNum* frame) {
-  mjtNum aamm[6];
-  mjtNum override_margin = mjENABLED(mjENBL_OVERRIDE) ? 0.5 * m->opt.o_margin : 0;
-
-  // body
-  if (bf < m->nbody) {
-    int body = bf;
-    int body_geomnum = m->body_geomnum[body];
-
-    // process all body geoms (body is collidable, should have geoms)
-    for (int i=0; i < body_geomnum; i++) {
-      int geom = m->body_geomadr[body]+i;
-      mjtNum margin = override_margin ? override_margin
-                                       : m->geom_margin[geom] + m->geom_gap[geom];
-      mjtNum _aamm[6];
-
-      const mjtNum* aabb = m->geom_aabb + 6*geom;
-      const mjtNum* size = m->geom_aabb + 6*geom + 3;
-      const mjtNum* xpos = d->geom_xpos + 3*geom;
-      const mjtNum* xmat = d->geom_xmat + 9*geom;
-
-      // compute center in global coordinates
-      mjtNum pos[3];
-      mji_mulMatVec3(pos, xmat, aabb);
-      mju_addTo3(pos, xpos);
-
-      mjtNum axis[9];
-      mji_transpose3(axis, xmat);
-      mjtNum r_half = m->geom_rbound[geom];
-
-      for (int j=0; j < 3; j++) {
-        const mjtNum* frame_j = frame + 3*j;
-        mjtNum aabb_cen = mju_dot3(pos, frame_j);
-        mjtNum aabb_half = mju_abs(size[0] * mju_dot3(axis + 0, frame_j))
-                         + mju_abs(size[1] * mju_dot3(axis + 3, frame_j))
-                         + mju_abs(size[2] * mju_dot3(axis + 6, frame_j));
-        mjtNum r_cen = mju_dot3(xpos, frame_j);
-        _aamm[j + 0] = mju_max(r_cen - r_half, aabb_cen - aabb_half) - margin;
-        _aamm[j + 3] = mju_min(r_cen + r_half, aabb_cen + aabb_half) + margin;
-      }
-
-      // update body aamm
-      if (i == 0) {
-        mju_copy(aamm, _aamm, 6);
-      } else {
-        for (int j=0; j < 3; j++) {
-          aamm[j]   = mju_min(aamm[j],   _aamm[j]);
-          aamm[j+3] = mju_max(aamm[j+3], _aamm[j+3]);
-        }
-      }
-    }
-  }
-
-  // flex
-  else {
-    int f = bf - m->nbody;
-    int flex_vertnum = m->flex_vertnum[f];
-    const mjtNum* vbase = d->flexvert_xpos + 3*m->flex_vertadr[f];
-
-    // process flex vertices
-    for (int i=0; i < flex_vertnum; i++) {
-      mjtNum v[3];
-
-      // compute vertex coordinates in given frame
-      mju_mulMatVec(v, frame, vbase+3*i, 3, 3);
-
-      // update aamm
-      if (i == 0) {
-        mju_copy3(aamm, v);
-        mju_copy3(aamm+3, v);
-      } else {
-        for (int j=0; j < 3; j++) {
-          aamm[j]   = mju_min(aamm[j], v[j]);
-          aamm[j+3] = mju_max(aamm[j+3], v[j]);
-        }
-      }
-    }
-
-    // correct for flex radius and margin
-    mjtNum margin = override_margin ? override_margin
-                                     : m->flex_margin[f] + m->flex_gap[f];
-    mjtNum bound = m->flex_radius[f] + margin;
-    aamm[0] -= bound;
-    aamm[1] -= bound;
-    aamm[2] -= bound;
-    aamm[3] += bound;
-    aamm[4] += bound;
-    aamm[5] += bound;
-  }
-
-  // assign outputs
-  *x_min = aamm[0];
-  *y_min = aamm[1];
-  *z_min = aamm[2];
-  *x_max = aamm[3];
-  *y_max = aamm[4];
-  *z_max = aamm[5];
-}
-
-
-// add bodyflex pair in buffer; do not filter if m is NULL
-static void add_pair(const mjModel* m, int bf1, int bf2,
-                     int* npair, int* pair, int maxpair) {
-  // add pair if there is room in buffer
-  if ((*npair) < maxpair) {
-    // contact filtering if m is not NULL
-    if (m) {
-      int nbody = m->nbody;
-      int contype1, conaffinity1, contype2, conaffinity2;
-
-      // get contype and conaffinity for bodyflex 1
-      if (bf1 < nbody) {
-        int body_geomadr1 = m->body_geomadr[bf1];
-        int body_geomnum1 = m->body_geomnum[bf1];
-        contype1 = conaffinity1 = 0;
-        for (int i=body_geomadr1; i < body_geomadr1+body_geomnum1; i++) {
-          contype1 |= m->geom_contype[i];
-          conaffinity1 |= m->geom_conaffinity[i];
-        }
-      } else {
-        contype1 = m->flex_contype[bf1-nbody];
-        conaffinity1 = m->flex_conaffinity[bf1-nbody];
-      }
-
-      // get contype and conaffinity for bodyflex 2
-      if (bf2 < nbody) {
-        int body_geomadr2 = m->body_geomadr[bf2];
-        int body_geomnum2 = m->body_geomnum[bf2];
-        contype2 = conaffinity2 = 0;
-        for (int i=body_geomadr2; i < body_geomadr2+body_geomnum2; i++) {
-          contype2 |= m->geom_contype[i];
-          conaffinity2 |= m->geom_conaffinity[i];
-        }
-      } else {
-        contype2 = m->flex_contype[bf2-nbody];
-        conaffinity2 = m->flex_conaffinity[bf2-nbody];
-      }
-
-      // compatibility check
-      if (!(contype1 & conaffinity2) && !(contype2 & conaffinity1)) {
-        return;
-      }
-    }
-
-    // add pair
-    if (bf1 < bf2) {
-      pair[*npair] = (bf1<<16) + bf2;
-    } else {
-      pair[*npair] = (bf2<<16) + bf1;
-    }
-    (*npair)++;
-  } else {
-    mjERROR("broadphase buffer full");
-  }
-}
-
-
-//----------------------------- general Sweep and Prune algorithm ----------------------------------
-
-// helper structure for SAP sorting
-struct _mjtSAP {
-  float value;
-  int id_ismax;
-};
-typedef struct _mjtSAP mjtSAP;
-
-
-
-// comparison function for SAP
-static inline int SAPcmp(mjtSAP* obj1, mjtSAP* obj2, void* context) {
-  if (obj1->value < obj2->value) {
-    return -1;
-  } else if (obj1->value == obj2->value) {
-    return 0;
-  } else {
-    return 1;
-  }
-}
-
-// define SAPsort function for sorting SAP sorting
-mjSORT(SAPsort, mjtSAP, SAPcmp);
-
-
-// given list of axis-aligned bounding boxes in AAMM (min[3], max[3]) format,
-// return list of pairs (i, j) in format (i<<16 + j) that can collide,
-// using sweep-and-prune along specified x axis (0, 1 or 2).
-static int mj_SAP(mjData* d, const mjtNum* aamm, int n, int axis_x, int* pair, int maxpair) {
-  // check inputs
-  if (n >= 0x10000 || axis_x < 0 || axis_x > 2 || maxpair < 1) {
-    return -1;
-  }
-
-  // allocate sort buffer
-  mjtSAP* sortbuf = mjSTACKALLOC(d, 2*n, mjtSAP);    // sorted min and max values projected onto x axis
-  mjtSAP* activebuf = mjSTACKALLOC(d, 2*n, mjtSAP);  // list of all AAMMs currently intersecting the sweep plane
-
-  // get AAMM pointers for primary "x" axis
-  const mjtNum* x_min = aamm + n*(axis_x + 0);
-  const mjtNum* x_max = aamm + n*(axis_x + 3);
-
-  // init sortbuf with specified axis
-  for (int i=0; i < n; i++) {
-    sortbuf[2*i].id_ismax = i;
-    sortbuf[2*i].value = (float)x_min[i];
-    sortbuf[2*i+1].id_ismax = i + 0x10000;
-    sortbuf[2*i+1].value = (float)x_max[i];
-  }
-
-  // sort along specified axis
-  mjtSAP* buf = mjSTACKALLOC(d, 2*n, mjtSAP);
-  SAPsort(sortbuf, buf, 2*n, NULL);
-
-  // define the other two axes
-  int axis_y, axis_z;
-  if (axis_x == 0) {
-    axis_y = 1;
-    axis_z = 2;
-  } else if (axis_x == 1) {
-    axis_y = 0;
-    axis_z = 2;
-  } else {
-    axis_y = 0;
-    axis_z = 1;
-  }
-
-  // get AAMM pointers to secondary "y, z" axes
-  const mjtNum* y_min = aamm + n*(axis_y + 0);
-  const mjtNum* y_max = aamm + n*(axis_y + 3);
-  const mjtNum* z_min = aamm + n*(axis_z + 0);
-  const mjtNum* z_max = aamm + n*(axis_z + 3);
-
-  // sweep and prune
-  int cnt = 0;    // size of active list
-  int npair = 0;  // number of pairs added
-  for (int i=0; i < 2*n; i++) {
-    // min value: collide with all in list, add
-    if (!(sortbuf[i].id_ismax & 0x10000)) {
-      for (int j=0; j < cnt; j++) {
-        // get ids: no need to mask ismax because activebuf entries never have the ismax bit,
-        // and sortbuf[i].id_ismax is tested above
-        int id1 = activebuf[j].id_ismax;
-        int id2 = sortbuf[i].id_ismax;
-
-        // use the other two axes to prune if possible
-        if (y_min[id1] > y_max[id2] ||
-            y_min[id2] > y_max[id1] ||
-            z_min[id1] > z_max[id2] ||
-            z_min[id2] > z_max[id1]) {
-          continue;
-        }
-
-        // add pair, check buffer size
-        pair[npair++] = (id1<<16) + id2;
-        if (npair >= maxpair) {
-          return maxpair;
-        }
-      }
-
-      // add to list
-      activebuf[cnt] = sortbuf[i];
-      cnt++;
-    }
-
-    // max value: remove corresponding min value from list
-    else {
-      int toremove = sortbuf[i].id_ismax & 0xFFFF;
-      for (int j=0; j < cnt; j++) {
-        if (activebuf[j].id_ismax == toremove) {
-          if (j < cnt-1) {
-            memmove(activebuf+j, activebuf+j+1, sizeof(mjtSAP)*(cnt-1-j));
-          }
-          cnt--;
-          break;
-        }
-      }
-    }
-  }
-
-  return npair;
-}
-
-
-// add vector to covariance
-static void updateCov(mjtNum cov[9], const mjtNum vec[3], const mjtNum cen[3]) {
-  mjtNum dif[3] = {vec[0]-cen[0], vec[1]-cen[1], vec[2]-cen[2]};
-  mjtNum D00 = dif[0]*dif[0];
-  mjtNum D01 = dif[0]*dif[1];
-  mjtNum D02 = dif[0]*dif[2];
-  mjtNum D11 = dif[1]*dif[1];
-  mjtNum D12 = dif[1]*dif[2];
-  mjtNum D22 = dif[2]*dif[2];
-  cov[0] += D00;
-  cov[1] += D01;
-  cov[2] += D02;
-  cov[3] += D01;
-  cov[4] += D11;
-  cov[5] += D12;
-  cov[6] += D02;
-  cov[7] += D12;
-  cov[8] += D22;
-}
-
-
-// comparison function for unsigned ints
-static inline int uintcmp(int* i, int* j, void* context) {
-  if ((unsigned) *i < (unsigned) *j) {
-    return -1;
-  } else if (*i == *j) {
-    return 0;
-  } else {
-    return 1;
-  }
-}
-
-// define bfsort function for sorting bodyflex pairs
-mjSORT(bfsort, int, uintcmp);
-
-
-// broadphase collision detector
-int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair) {
-  int npair = 0, nbody = m->nbody, ngeom = m->ngeom;
-  int nvert = m->nflexvert, nflex = m->nflex, nbodyflex = m->nbody + m->nflex;
-  int dsbl_filterparent = mjDISABLED(mjDSBL_FILTERPARENT);
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < nbody;
-  mjtNum cov[9], cen[3], eigval[3], frame[9], quat[4];
-
-  // init with pairs involving always-colliding bodies
-  for (int b1=0; b1 < nbody; b1++) {
-    // cannot collide
-    if (!canCollide(m, b1)) {
-      continue;
-    }
-
-    // b1 is world body with geoms, or dof-less body with plane (static or mocap)
-    if ((b1 == 0 && m->body_geomnum[b1] > 0) ||
-        (m->body_dofnum[m->body_weldid[b1]] == 0 && hasPlane(m, b1))) {
-      int weld1 = m->body_weldid[b1];
-      int parent_weld1 = m->body_weldid[m->body_parentid[weld1]];
-      int dofnum1 = m->body_dofnum[weld1];
-
-      // add b1:b2 pairs that are not welded together
-      for (int b2=0; b2 < nbody; b2++) {
-        // cannot collide
-        if (!canCollide(m, b2)) {
-          continue;
-        }
-
-        int weld2 = m->body_weldid[b2];
-        int parent_weld2 = m->body_weldid[m->body_parentid[weld2]];
-        int asleep2 = sleep_filter ? d->body_awake[b2] == mjS_ASLEEP : 0;
-        int dofnum2 = m->body_dofnum[weld2];
-        if (filterBodyPair(weld1, parent_weld1, 0, dofnum1,
-                           weld2, parent_weld2, asleep2, dofnum2,
-                           dsbl_filterparent)) {
-          continue;
-        }
-
-        // add pair
-        add_pair(m, b1, b2, &npair, bfpair, maxpair);
-      }
-
-      // add body:flex pairs, skip if flex asleep
-      for (int f=0; f < nflex; f++) {
-        if (sleep_filter && mj_sleepState(m, d, mjOBJ_FLEX, f) == mjS_ASLEEP) continue;
-        add_pair(m, b1, nbody+f, &npair, bfpair, maxpair);
-      }
-    }
-  }
-
-  // find center of non-world geoms and flex vertices; return if none
-  int cnt = 0;
-  mju_zero3(cen);
-  for (int i=0; i < ngeom; i++) {
-    if (m->geom_bodyid[i]) {
-      mju_addTo3(cen, d->geom_xpos+3*i);
-      cnt++;
-    }
-  }
-  for (int i=0; i < nvert; i++) {
-    if (m->flex_vertbodyid[i]) {
-      mju_addTo3(cen, d->flexvert_xpos+3*i);
-      cnt++;
-    }
-  }
-  if (cnt == 0) {
-    return npair;
-  }
-  mju_scl3(cen, cen, 1.0/cnt);
-
-  // compute covariance
-  mju_zero(cov, 9);
-  for (int i=0; i < ngeom; i++) {
-    if (m->geom_bodyid[i]) {
-      updateCov(cov, d->geom_xpos+3*i, cen);
-    }
-  }
-  for (int i=0; i < nvert; i++) {
-    if (m->flex_vertbodyid[i]) {
-      updateCov(cov, d->flexvert_xpos+3*i, cen);
-    }
-  }
-  mju_scl(cov, cov, 1.0/cnt, 9);
-
-  // construct covariance-aligned 3D frame
-  mju_eig3(eigval, frame, quat, cov);
-
-  // allocate collidable bodyflex ids, construct list
-  mj_markStack(d);
-  int* bfid = mjSTACKALLOC(d, nbodyflex, int);
-  int ncollide = 0;
-  for (int i=1; i < nbodyflex; i++) {
-    if (canCollide(m, i)) {
-      bfid[ncollide++] = i;
-    }
-  }
-
-  if (ncollide > 1) {
-    // allocate and construct AAMMs for collidable only
-    mjtNum* aamm = mjSTACKALLOC(d, 6*ncollide, mjtNum);
-    for (int i=0; i < ncollide; i++) {
-      // aamm is column-major (grouped per-axis rather than per-box for better cache locality)
-      makeAAMM(m, d, aamm + 0*ncollide + i,
-                     aamm + 1*ncollide + i,
-                     aamm + 2*ncollide + i,
-                     aamm + 3*ncollide + i,
-                     aamm + 4*ncollide + i,
-                     aamm + 5*ncollide + i, bfid[i], frame);
-    }
-
-    // call SAP
-    int maxsappair = ncollide*(ncollide-1)/2;
-    int* sappair = mjSTACKALLOC(d, maxsappair, int);
-    int nsappair = mj_SAP(d, aamm, ncollide, 0, sappair, maxsappair);
-    if (nsappair < 0) {
-      mjERROR("SAP failed");
-    }
-
-    // filter SAP pairs, convert to bodyflex pairs
-    for (int i=0; i < nsappair; i++) {
-      int bf1 = bfid[sappair[i] >> 16];
-      int bf2 = bfid[sappair[i] & 0xFFFF];
-
-      // body pair: prune based on sleep filter and weld filter
-      if (bf1 < nbody && bf2 < nbody) {
-        int weld1 = m->body_weldid[bf1];
-        int weld2 = m->body_weldid[bf2];
-        int parent_weld1 = m->body_weldid[m->body_parentid[weld1]];
-        int parent_weld2 = m->body_weldid[m->body_parentid[weld2]];
-        int asleep1 = sleep_filter ? d->body_awake[bf1] == mjS_ASLEEP : 0;
-        int asleep2 = sleep_filter ? d->body_awake[bf2] == mjS_ASLEEP : 0;
-        int dofnum1 = m->body_dofnum[weld1];
-        int dofnum2 = m->body_dofnum[weld2];
-        if (filterBodyPair(weld1, parent_weld1, asleep1, dofnum1,
-                           weld2, parent_weld2, asleep2, dofnum2,
-                           dsbl_filterparent)) {
-          continue;
-        }
-      }
-
-      // flex pair: skip if neither side is dynamically awake
-      else if (sleep_filter) {
-        int awake1 = (bf1 >= nbody) ? mj_sleepState(m, d, mjOBJ_FLEX, bf1-nbody) == mjS_AWAKE
-                                    : d->body_awake[bf1] == mjS_AWAKE && m->body_treeid[bf1] >= 0;
-        int awake2 = (bf2 >= nbody) ? mj_sleepState(m, d, mjOBJ_FLEX, bf2-nbody) == mjS_AWAKE
-                                    : d->body_awake[bf2] == mjS_AWAKE && m->body_treeid[bf2] >= 0;
-        if (!awake1 && !awake2) continue;
-      }
-
-      // add bodyflex pair if there is room in buffer
-      add_pair(m, bf1, bf2, &npair, bfpair, maxpair);
-    }
-  }
-
-  // sort bodyflex pairs by signature
-  if (npair > 1) {
-    int* buf = mjSTACKALLOC(d, npair, int);
-    bfsort(bfpair, buf, npair, NULL);
-  }
-
-  mj_freeStack(d);
-  return npair;
-}
-
-
-//----------------------------- narrow-phase collision detection -----------------------------------
-
-// compute contact condim, solref, solimp, friction, adhesion
-static void mj_contactParam(const mjModel* m, int* condim,
-                            mjtNum* solref, mjtNum* solimp, mjtNum* friction,
-                            mjtNum* adhesion, int g1, int g2, int f1, int f2) {
-  mjtNum fri[3];
-
-  // get parameters from geom1 or flex1
-  int priority1 =           (f1 < 0) ? m->geom_priority[g1]     : m->flex_priority[f1];
-  int condim1 =             (f1 < 0) ? m->geom_condim[g1]       : m->flex_condim[f1];
-  mjtNum solmix1 =          (f1 < 0) ? m->geom_solmix[g1]       : m->flex_solmix[f1];
-  const mjtNum* solref1 =   (f1 < 0) ? m->geom_solref+g1*mjNREF : m->flex_solref+f1*mjNREF;
-  const mjtNum* solimp1 =   (f1 < 0) ? m->geom_solimp+g1*mjNIMP : m->flex_solimp+f1*mjNIMP;
-  const mjtNum* friction1 = (f1 < 0) ? m->geom_friction+g1*3    : m->flex_friction+f1*3;
-  mjtNum adhesion1 =        (f1 < 0) ? m->geom_adhesion[g1]     : 0;
-
-  // get parameters from geom2 or flex2
-  int priority2 =           (f2 < 0) ? m->geom_priority[g2]     : m->flex_priority[f2];
-  int condim2 =             (f2 < 0) ? m->geom_condim[g2]       : m->flex_condim[f2];
-  mjtNum solmix2 =          (f2 < 0) ? m->geom_solmix[g2]       : m->flex_solmix[f2];
-  const mjtNum* solref2 =   (f2 < 0) ? m->geom_solref+g2*mjNREF : m->flex_solref+f2*mjNREF;
-  const mjtNum* solimp2 =   (f2 < 0) ? m->geom_solimp+g2*mjNIMP : m->flex_solimp+f2*mjNIMP;
-  const mjtNum* friction2 = (f2 < 0) ? m->geom_friction+g2*3    : m->flex_friction+f2*3;
-  mjtNum adhesion2 =        (f2 < 0) ? m->geom_adhesion[g2]     : 0;
-
-  // adhesion: each surface contributes its own attraction
-  *adhesion = adhesion1 + adhesion2;
-
-  // different priority: copy from item with higher priority
-  if (priority1 > priority2) {
-    *condim = condim1;
-    mju_copy(solref, solref1, mjNREF);
-    mju_copy(solimp, solimp1, mjNIMP);
-    mju_copy(fri, friction1, 3);
-    *adhesion = adhesion1;
-  }
-  else if (priority1 < priority2) {
-    *condim = condim2;
-    mju_copy(solref, solref2, mjNREF);
-    mju_copy(solimp, solimp2, mjNIMP);
-    mju_copy(fri, friction2, 3);
-    *adhesion = adhesion2;
-  }
-
-  // same priority
-  else {
-    // condim: max
-    *condim = mjMAX(condim1, condim2);
-
-    // compute solver mix factor
-    mjtNum mix;
-    if (solmix1 >= mjMINVAL && solmix2 >= mjMINVAL) {
-      mix = solmix1 / (solmix1 + solmix2);
-    } else if (solmix1 < mjMINVAL && solmix2 < mjMINVAL) {
-      mix = 0.5;
-    } else if (solmix1 < mjMINVAL) {
-      mix = 0.0;
-    } else {
-      mix = 1.0;
-    }
-
-    // reference standard: mix
-    if (solref1[0] > 0 && solref2[0] > 0) {
-      for (int i=0; i < mjNREF; i++) {
-        solref[i] = mix*solref1[i] + (1-mix)*solref2[i];
-      }
-    }
-
-    // reference direct: min
-    else {
-      for (int i=0; i < mjNREF; i++) {
-        solref[i] = mju_min(solref1[i], solref2[i]);
-      }
-    }
-
-    // impedance: mix
-    for (int i=0; i < mjNIMP; i++) {
-      solimp[i] = mix*solimp1[i] + (1-mix)*solimp2[i];
-    }
-
-    // friction: max
-    for (int i=0; i < 3; i++) {
-      fri[i] = mju_max(friction1[i], friction2[i]);
-    }
-  }
-
-  // unpack 5D friction
-  friction[0] = fri[0];
-  friction[1] = fri[0];
-  friction[2] = fri[1];
-  friction[3] = fri[2];
-  friction[4] = fri[2];
-
-  // SHOULD NOT OCCUR
-  if (*condim > 6 || *condim < 1) {
-    mjERROR("Invalid condim value: %d", *condim);
-  }
-}
-
-
-// set contact parameters
-static void mj_setContact(const mjModel* m, mjContact* con,
-                          int condim, mjtNum includemargin,
-                          const mjtNum* solref, const mjtNum* solreffriction,
-                          const mjtNum* solimp, const mjtNum* friction,
-                          mjtNum adhesion) {
-  // set parameters
-  con->dim = condim;
-  con->includemargin = includemargin;
-  con->adhesion = adhesion;
-  mj_assignRef(m, con->solref, solref);
-  mj_assignRef(m, con->solreffriction, solreffriction);
-  mj_assignImp(m, con->solimp, solimp);
-  mj_assignFriction(m, con->friction, friction);
-
-  // exclude in gap; adhesive contacts remain active in the gap, producing
-  // rows with positive violation whose reference acceleration pulls (tether)
-  con->exclude = (con->dist >= includemargin) && !adhesion;
-
-  // in-gap adhesive contacts have no surface contact and therefore no
-  // friction: reduce to normal-only rows (with tangential rows present, fast
-  // slip would recruit normal force and brake tangential motion at a distance)
-  if (adhesion && con->dist >= includemargin) {
-    con->dim = 1;
-  }
-
-  // complete frame
-  mju_makeFrame(con->frame);
-
-  // clear fields that are computed later
-  con->efc_address = -1;
-  con->mu = 0;
-  mju_zero(con->H, 36);
-
-  // set deprecated fields
-  con->geom1 = con->geom[0];
-  con->geom2 = con->geom[1];
-}
-
-
-// make capsule from two flex vertices
-static void mj_makeCapsule(const mjModel* m, mjData* d, int f, const int vid[2],
-                           mjtNum pos[3], mjtNum mat[9], mjtNum size[2]) {
-  // get vertex positions
-  mjtNum* v1 = d->flexvert_xpos + 3*(m->flex_vertadr[f] + vid[0]);
-  mjtNum* v2 = d->flexvert_xpos + 3*(m->flex_vertadr[f] + vid[1]);
-
-  // construct capsule from vertices
-  mjtNum dif[3] = {v1[0]-v2[0], v1[1]-v2[1], v1[2]-v2[2]};
-  size[0] = m->flex_radius[f];
-  size[1] = 0.5*mju_normalize3(dif);
-
-  mju_add3(pos, v1, v2);
-  mju_scl3(pos, pos, 0.5);
-
-  mjtNum quat[4];
-  mju_quatZ2Vec(quat, dif);
-  mju_quat2Mat(mat, quat);
-}
-
-
-// struct holding extra data for a flex precontact
-typedef struct {
-  int elem[2];
-  int vert[2];
-} mjPreFlex;
-
-// struct for collision task
-typedef struct {
-  mjPreContact* conbuffer;    // pre-contact buffer returned by collision functions
-  mjPreFlex* flexbuffer;      // pre-flex buffer returned by collision functions
-  int* nconbuffer;            // contact count for each collision pair
-  char* epabuffer;            // buffer for nativeccd
-  int ccd_size;               // size of nativeccd buffer
-  const mjcPair* pairbuffer;  // collision pairs
-  int npair;                  // number of collision pairs
-  int chunksize;              // number of pairs to process per task
-  int maxcon;                 // maximum number of contacts (size of conbuffer)
-} mjContactArg;
-
-
-static void collisionTask(const mjModel* m, mjData* d, void* arg, int thread_id, int idx) {
-  mjContactArg* conargs = (mjContactArg*)arg;
-  mjPreContact* conbuffer = conargs->conbuffer;
-  char* epabuffer = conargs->epabuffer;
-  int chunksize = conargs->chunksize;
-  int globalidx = chunksize * idx;
-  const mjcPair* pair = conargs->pairbuffer + globalidx;
-  int* ncon = conargs->nconbuffer + chunksize * idx;
-
-  int npair = conargs->npair;
-  int n = mjMIN(chunksize, npair - globalidx);
-
-  mjc_setCCDBuffer(epabuffer + thread_id * conargs->ccd_size);
-  for (int i = 0; i < n; i++) {
-    int g1 = pair[i].geom_geom.g1;
-    int g2 = pair[i].geom_geom.g2;
-    int ipair = pair[i].geom_geom.ipair;
-    int conpos = pair[i].conpos;
-
-    mjfCollision collision_func = mjCOLLISIONFUNC[m->geom_type[g1]][m->geom_type[g2]];
-    mjtNum margin = getMargin(m, g1, g2, ipair);
-    mjtNum gap = getGap(m, g1, g2, ipair);
-    ncon[i] = collision_func(m, d, conbuffer + conpos, g1, g2, margin + gap);
-
-    // SHOULD NOT OCCUR
-    int expected_max = (globalidx + i + 1 < npair ? pair[i+1].conpos : conargs->maxcon) - conpos;
-    if (ncon[i] > expected_max) {
-      mjERROR("collision function returned %d contacts for geom pair (%d, %d), "
-              "expected at most %d from mj_maxContact", ncon[i], g1, g2, expected_max);
-    }
-  }
-  mjc_setCCDBuffer(NULL);
-}
-
-
-// compute contacts for a batch of collision pairs contained in a buffer of
-// stride 3 ints (g1, g2, ipair)
-// if buffer is NULL, results are read from arena starting at parena
-static void mj_narrowphase(const mjModel* m, mjData* d, const mjcPair* buffer, int npair,
-                           size_t parena) {
-  int nthread = mju_numThread(d);
-  int npolygonmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->npolygonmax;
-  int nmeshdegmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->nmeshdegmax;
-  int ccd_size = mjc_ccdSize(npolygonmax, nmeshdegmax, m->opt.ccd_iterations);
-  mjtNum margin, gap;
-
-  // try to balance load of 5 chunks per thread (chunksize should be divisible by 16)
-  int chunksize = npair / mjMAX(1, 5 * nthread);
-  chunksize = mjMAX(16, (chunksize + 15) & ~15);  // round up to next 16
-  int nchunk = (npair + chunksize - 1) / chunksize;
-
-  // set buffer and arena pointer
-  if (!buffer) {
-    buffer = (const mjcPair*) ((char*) d->arena + parena);
-  } else {
-    parena = d->parena;
-  }
-
-  mj_markStack(d);
-
-  // buffer for pair data
-  mjcPair* pairbuffer = mjSTACKALLOC(d, npair, mjcPair);
-  int maxcon = 0;
-  for (int i = 0; i < npair; i++) {
-    int g1 = buffer[i].geom_geom.g1;
-    int g2 = buffer[i].geom_geom.g2;
-    int ipair = buffer[i].geom_geom.ipair;
-
-    pairbuffer[i] = buffer[i];
-    pairbuffer[i].conpos = maxcon;
-    margin = getMargin(m, g1, g2, ipair);
-    gap = getGap(m, g1, g2, ipair);
-    maxcon += mj_maxContact(m, g1, g2, margin + gap > 0);
-  }
-
-  // buffer data has been copied to metadata on the stack;
-  // reclaim arena space so contacts can overwrite the buffer region
-  d->parena = parena;
-
-  mjContactArg arg;
-  arg.ccd_size = ccd_size;
-  arg.pairbuffer = pairbuffer;
-  arg.nconbuffer = mjSTACKALLOC(d, npair, int);
-  arg.conbuffer = mjSTACKALLOC(d, maxcon, mjPreContact);
-  arg.npair = npair;
-  arg.chunksize = chunksize;
-  arg.maxcon = maxcon;
-
-  // dispatch narrowphase to threads with local stack allocation for EPA
-  {
-    mj_markStack(d);
-    arg.epabuffer = mj_stackAllocByte(d, ccd_size * nthread, sizeof(mjtNum));
-    mju_dispatch(m, d, collisionTask, &arg, nchunk);
-    mj_freeStack(d);
-  }
-
-  int ncon = 0;
-  for (int i = 0; i < npair; i++) {
-    ncon += arg.nconbuffer[i];
-  }
-
-  if (ncon == 0) {
-    mj_freeStack(d);
-    return;
-  }
-
-  // try allocate contact buffer in arena
-  mjContact* con =
-    (mjContact*) mj_arenaAllocByte(d, sizeof(mjContact) * ncon, _Alignof(mjContact));
-  if (!con) {
-    mj_warning(d, mjWARN_CONTACTFULL, d->ncon);
-    mj_freeStack(d);
-    return;
-  }
-  d->ncon += ncon;
-
-  // fill in contact data
-  int conpos = 0;
-  for (int i = 0; i < npair; i++) {
-    if (!(ncon = arg.nconbuffer[i]))
-      continue;
-
-    int condim;
-    mjtNum friction[5], solref[mjNREF], solimp[mjNIMP], adhesion;
-    mjtNum solreffriction[mjNREF] = {0};
-    int g1 = pairbuffer[i].geom_geom.g1;
-    int g2 = pairbuffer[i].geom_geom.g2;
-    int ipair = pairbuffer[i].geom_geom.ipair;
-
-    if (ipair >= 0) {
-      condim = m->pair_dim[ipair];
-      mju_copy(solref, m->pair_solref+mjNREF*ipair, mjNREF);
-      mju_copy(solimp, m->pair_solimp+mjNIMP*ipair, mjNIMP);
-      mju_copy(friction, m->pair_friction+5*ipair, 5);
-      adhesion = m->pair_adhesion[ipair];
-      if (m->pair_solreffriction[mjNREF*ipair] || m->pair_solreffriction[mjNREF*ipair + 1]) {
-        mju_copy(solreffriction, m->pair_solreffriction+mjNREF*ipair, mjNREF);
-      }
-    } else {
-      mj_contactParam(m, &condim, solref, solimp, friction, &adhesion, g1, g2, -1, -1);
-    }
-
-    mjPreContact* bc = arg.conbuffer + pairbuffer[i].conpos;
-    margin = getMargin(m, g1, g2, ipair);
-    for (int j=0; j < ncon; j++) {
-      mjContact* c = con + conpos + j;
-      c->dist = bc[j].dist;
-      mji_copy3(c->pos, bc[j].pos);
-      mji_copy3(c->frame, bc[j].normal);
-      mji_copy3(c->frame + 3, bc[j].tangent);
-      c->geom[0] = g1;
-      c->geom[1] = g2;
-      c->flex[0] = -1;
-      c->flex[1] = -1;
-      c->elem[0] = -1;
-      c->elem[1] = -1;
-      c->vert[0] = -1;
-      c->vert[1] = -1;
-      mj_setContact(m, c, condim, margin, solref, solreffriction, solimp, friction, adhesion);
-    }
-    conpos += ncon;
-  }
-  mj_freeStack(d);
-}
-
-
-// test a plane geom and a flex for collision, add to contact list
-static void mj_collidePlaneFlex(const mjModel* m, mjData* d, int g, int f) {
-  mjContact con;
-  mjtNum radius = m->flex_radius[f];
-  mjtNum* pos = d->geom_xpos + 3*g;
-  mjtNum* mat = d->geom_xmat + 9*g;
-  mjtNum nrm[3] = {mat[2], mat[5], mat[8]};
-
-  // prepare contact parameters (same for all vertices)
-  mjtNum margin = mj_assignMargin(m, m->geom_margin[g] + m->flex_margin[f]);
-  int condim;
-  int flex_vertnum = m->flex_vertnum[f];
-  mjtNum gap = m->geom_gap[g] + m->flex_gap[f];
-  mjtNum solref[mjNREF], solimp[mjNIMP], friction[5], adhesion;
-  mjtNum solreffriction[mjNREF] = {0};
-  mj_contactParam(m, &condim, solref, solimp, friction, &adhesion, g, -1, -1, f);
-
-  // collide all flex vertices with plane
-  for (int i=0; i < flex_vertnum; i++) {
-    mjtNum* v = d->flexvert_xpos + 3*(m->flex_vertadr[f]+i);
-
-    // distance from plane to vertex
-    mjtNum dif[3] = {v[0]-pos[0], v[1]-pos[1], v[2]-pos[2]};
-    mjtNum dist = mju_dot3(dif, nrm);
-
-    // no contact
-    if (dist > margin + gap + radius) {
-      continue;
-    }
-
-    // create contact
-    con.dist = dist - radius;
-    mju_addScl3(con.pos, v, nrm, -con.dist*0.5 - radius);
-    mju_copy3(con.frame, nrm);
-    mju_zero3(con.frame+3);
-
-    // set contact ids
-    con.geom[0] = g;
-    con.geom[1] = -1;
-    con.flex[0] = -1;
-    con.flex[1] = f;
-    con.elem[0] = -1;
-    con.elem[1] = -1;
-    con.vert[0] = -1;
-    con.vert[1] = i;
-
-    // set remaining contact parameters
-    mj_setContact(m, &con, condim, margin, solref, solreffriction, solimp, friction, adhesion);
-
-    // add to mjData, abort if too many contacts
-    if (mj_addContact(m, d, &con)) {
-      return;
-    }
-  }
-}
-
-
-// test an SDF geom and a flex for collision, add to contact list
-static void mj_collideSdfFlex(const mjModel* m, mjData* d, int g, int f) {
-  // only support dim==2 (triangular elements)
-  if (m->flex_dim[f] != 2) {
-    return;
-  }
-
-  // prepare contact parameters (same for all contacts)
-  mjtNum margin = mj_assignMargin(m, m->geom_margin[g] + m->flex_margin[f]);
-  mjtNum gap = m->geom_gap[g] + m->flex_gap[f];
-  int condim;
-  mjtNum solref[mjNREF], solimp[mjNIMP], friction[5], adhesion;
-  mjtNum solreffriction[mjNREF] = {0};
-  mj_contactParam(m, &condim, solref, solimp, friction, &adhesion, g, -1, -1, f);
-
-  // allocate temporary contact array on stack (zero-initialized)
-  mj_markStack(d);
-  mjPreContact* precon = mjSTACKALLOC(d, mjMAXCONPAIR, mjPreContact);
-  int* elem = mjSTACKALLOC(d, mjMAXCONPAIR, int);
-
-  // call batched flex-SDF collision
-  int num = mjc_FlexSDF(m, d, precon, elem, g, f, margin + gap);
-
-  // add contacts to mjData
-  mjContact con;
-  memset(&con, 0, sizeof(mjContact));
-  for (int i = 0; i < num; i++) {
-    // copy properties from mjPreContact to mjContact
-    con.dist = precon[i].dist;
-    mju_copy3(con.pos, precon[i].pos);
-    mju_copy3(con.frame, precon[i].normal);
-    mju_copy3(con.frame + 3, precon[i].tangent);
-
-    // set contact ids
-    con.geom[0] = g;
-    con.geom[1] = -1;
-    con.flex[0] = -1;
-    con.flex[1] = f;
-    con.elem[0] = -1;
-    con.elem[1] = elem[i];
-    con.vert[0] = -1;
-    con.vert[1] = -1;
-
-    // set remaining contact parameters
-    mj_setContact(m, &con, condim, margin, solref, solreffriction, solimp, friction, adhesion);
-
-    // add to mjData, abort if too many contacts
-    if (mj_addContact(m, d, &con)) {
-      mj_freeStack(d);
-      return;
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// test single triangle plane : vertex
-static int planeVertex(mjPreContact* con, const mjtNum* pos, mjtNum rad,
-                       int t0, int t1, int t2, int v) {
-  // make t0 the origin
-  mjtNum e1[3], e2[3], ev[3];
-  mju_sub3(e1, pos+3*t1, pos+3*t0);
-  mju_sub3(e2, pos+3*t2, pos+3*t0);
-  mju_sub3(ev, pos+3*v,  pos+3*t0);
-
-  // compute normal
-  mjtNum nrm[3];
-  mju_cross(nrm, e1, e2);
-  mju_normalize3(nrm);
-
-  // project, check distance
-  mjtNum dst = mju_dot3(ev, nrm);
-  if (dst <= -2*rad) {
-    return 0;
-  }
-
-  // construct contact
-  con->dist = -dst-2*rad;
-  mju_scl3(con->normal, nrm, -1);
-  mju_zero3(con->tangent);
-  mju_addScl3(con->pos, pos+3*v, nrm, -0.5*dst);
-  return 1;
-}
-
-
-// test for internal flex collisions, add to contact list
-// ignore margin to avoid permament self-collision
-static void mj_collideFlexInternal(const mjModel* m, mjData* d, int f) {
-  int flex_evpairnum = m->flex_evpairnum[f];
-
-  // predefined element-vertex
-  for (int i=0; i < flex_evpairnum; i++) {
-    const int* ev = m->flex_evpair + 2*m->flex_evpairadr[f] + 2*i;
-    mj_collideElemVert(m, d, f, ev[0], ev[1]);
-  }
-
-  // within-element for tetrahedral only
-  if (m->flex_dim[f] != 3) {
-    return;
-  }
-
-  // initialize contact
-  mjContact con;
-  con.geom[0] = con.geom[1] = -1;
-  con.flex[0] = con.flex[1] = f;
-  con.elem[1] = con.vert[0] = -1;
-
-  // prepare contact parameters
-  int condim;
-  int flex_elemnum = m->flex_elemnum[f];
-  mjtNum radius = m->flex_radius[f];
-  mjtNum solref[mjNREF], solimp[mjNIMP], friction[5], adhesion;
-  mjtNum solreffriction[mjNREF] = {0};
-  mj_contactParam(m, &condim, solref, solimp, friction, &adhesion, -1, -1, f, f);
-  condim = 1;
-
-  // process all elements
-  const mjtNum* vertxpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
-  for (int e=0; e < flex_elemnum; e++) {
-    mjPreContact precon;
-    const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*4;
-    con.elem[0] = e;
-
-    // face (0,1,2)
-    if (planeVertex(&precon, vertxpos, radius, edata[0], edata[1], edata[2], edata[3])) {
-      con.vert[1] = edata[3];
-      con.dist = precon.dist;
-      mju_copy3(con.pos, precon.pos);
-      mju_copy3(con.frame, precon.normal);
-      mju_copy3(con.frame + 3, precon.tangent);
-      mj_setContact(m, &con, condim, 0, solref, solreffriction, solimp, friction, adhesion);
-      if (mj_addContact(m, d, &con)) return;
-    }
-
-    // face (0,2,3)
-    if (planeVertex(&precon, vertxpos, radius, edata[0], edata[2], edata[3], edata[1])) {
-      con.vert[1] = edata[1];
-      con.dist = precon.dist;
-      mju_copy3(con.pos, precon.pos);
-      mju_copy3(con.frame, precon.normal);
-      mju_copy3(con.frame + 3, precon.tangent);
-      mj_setContact(m, &con, condim, 0, solref, solreffriction, solimp, friction, adhesion);
-      if (mj_addContact(m, d, &con)) return;
-    }
-
-    // face (0,3,1)
-    if (planeVertex(&precon, vertxpos, radius, edata[0], edata[3], edata[1], edata[2])) {
-      con.vert[1] = edata[2];
-      con.dist = precon.dist;
-      mju_copy3(con.pos, precon.pos);
-      mju_copy3(con.frame, precon.normal);
-      mju_copy3(con.frame + 3, precon.tangent);
-      mj_setContact(m, &con, condim, 0, solref, solreffriction, solimp, friction, adhesion);
-      if (mj_addContact(m, d, &con)) return;
-    }
-
-    // face (1,3,2)
-    if (planeVertex(&precon, vertxpos, radius, edata[1], edata[3], edata[2], edata[0])) {
-      con.vert[1] = edata[0];
-      con.dist = precon.dist;
-      mju_copy3(con.pos, precon.pos);
-      mju_copy3(con.frame, precon.normal);
-      mju_copy3(con.frame + 3, precon.tangent);
-      mj_setContact(m, &con, condim, 0, solref, solreffriction, solimp, friction, adhesion);
-      if (mj_addContact(m, d, &con)) return;
-    }
-  }
-}
-
-
-// test active element self-collisions with SAP
-// ignore margin to avoid permanent self-collision
-void mj_collideFlexSAP(const mjModel* m, mjData* d, int f) {
-  mj_markStack(d);
-
-  // allocate and construct active element ids
-  int* elid = mjSTACKALLOC(d, m->flex_elemnum[f], int);
-  int nactive = 0;
-  int flex_elemnum = m->flex_elemnum[f];
-  for (int i=0; i < flex_elemnum; i++) {
-    if (mj_isElemActive(m, f, i)) {
-      elid[nactive++] = i;
-    }
-  }
-
-  // nothing active
-  if (nactive < 2) {
-    mj_freeStack(d);
-    return;
-  }
-
-  // allocate and construct AAMMs for active elements
-  mjtNum* aamm = mjSTACKALLOC(d, 6*nactive, mjtNum);
-  const mjtNum* elemaabb = d->flexelem_aabb + 6*m->flex_elemadr[f];
-  for (int i=0; i < nactive; i++) {
-    const mjtNum* center = elemaabb+6*elid[i];
-    const mjtNum* radius = elemaabb+6*elid[i]+3;
-    aamm[nactive*0 + i] = center[0] - radius[0];
-    aamm[nactive*1 + i] = center[1] - radius[1];
-    aamm[nactive*2 + i] = center[2] - radius[2];
-    aamm[nactive*3 + i] = center[0] + radius[0];
-    aamm[nactive*4 + i] = center[1] + radius[1];
-    aamm[nactive*5 + i] = center[2] + radius[2];
-  }
-
-  // select largest axis from flex bvh
-  const mjtNum* bvh = d->bvh_aabb_dyn + 6*(m->flex_bvhadr[f] - m->nbvhstatic);
-  int axis = (bvh[3] > bvh[4] && bvh[3] > bvh[5]) ? 0 : (bvh[4] > bvh[5] ? 1 : 2);
-
-  // call SAP; hard limit on number of pairs to avoid out-of-memory
-  int maxsappair = mjMIN(nactive*(nactive-1)/2, 1000000);
-  int* sappair = mjSTACKALLOC(d, maxsappair, int);
-  int nsappair = mj_SAP(d, aamm, nactive, axis, sappair, maxsappair);
-  if (nsappair < 0) {
-    mjERROR("SAP failed");
-  }
-
-  // send SAP pairs to nearphase
-  for (int i=0; i < nsappair; i++) {
-    int e1 = elid[sappair[i] >> 16];
-    int e2 = elid[sappair[i] & 0xFFFF];
-    mj_collideElems(m, d, f, e1, f, e2);
-  }
-
-  mj_freeStack(d);
-}
-
-
-// test a geom and an elem for collision, add to contact list
-void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
-  mjtNum margin = mj_assignMargin(m, m->geom_margin[g] + m->flex_margin[f]);
-  mjtNum gap = m->geom_gap[g] + m->flex_gap[f];
-  int dim = m->flex_dim[f], type = m->geom_type[g];
-  int num;
-
-  // bounding sphere test: only if midphase is disabled
-  if (mjDISABLED(mjDSBL_MIDPHASE)) {
-    int eglobal = m->flex_elemadr[f] + e;
-    if (filterSphereBox(d->geom_xpos+3*g, m->geom_rbound[g]+margin+gap,
-                        d->flexelem_aabb+6*eglobal)) {
-      return;
-    }
-  }
-
-  // skip if element has vertices on the same body as geom
-  int b = m->geom_bodyid[g];
-  const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
-  const int* bdata = m->flex_vertbodyid + m->flex_vertadr[f];
-  for (int i=0; i <= dim; i++) {
-    if (b >= 0 && b == bdata[edata[i]]) {
-      return;
-    }
-  }
-
-  // allocate mjPreContact[mjMAXCONPAIR] on the stack
-  mj_markStack(d);
-  mjPreContact* precon = mjSTACKALLOC(d, mjMAXCONPAIR, mjPreContact);
-
-  // sphere/capsule/box : capsule
-  if (dim == 1 && (type == mjGEOM_SPHERE || type == mjGEOM_CAPSULE || type == mjGEOM_BOX)) {
-    // make capsule from vertices
-    mjtNum pos[3], mat[9], size[2];
-    mj_makeCapsule(m, d, f, m->flex_elem + m->flex_elemdataadr[f] + e*2,
-                   pos, mat, size);
-
-    // call raw primitive for corresponding geom type
-    switch (type) {
-      case mjGEOM_SPHERE:
-        num = mjraw_SphereCapsule(precon, margin + gap, d->geom_xpos+3*g, d->geom_xmat+9*g,
-                                  m->geom_size+3*g, pos, mat, size);
-        break;
-      case mjGEOM_CAPSULE:
-        num = mjraw_CapsuleCapsule(precon, margin + gap, d->geom_xpos+3*g, d->geom_xmat+9*g,
-                                   m->geom_size+3*g, pos, mat, size);
-        break;
-      case mjGEOM_BOX:
-        num = mjraw_CapsuleBox(precon, margin + gap, pos, mat, size, d->geom_xpos+3*g,
-                               d->geom_xmat+9*g, m->geom_size+3*g);
-        break;
-      default:
-        num = 0;
-    }
-  }
-
-  // heightfield : elem
-  else if (type == mjGEOM_HFIELD) {
-    num = mjc_HFieldElem(m, d, precon, g, f, e, margin + gap);
-  }
-
-  // sphere : triangle
-  else if (type == mjGEOM_SPHERE && dim == 2) {
-    const mjtNum* vertxpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
-    num = mjraw_SphereTriangle(precon, margin + gap,
-                               d->geom_xpos+3*g, m->geom_size[3*g],
-                               vertxpos + 3*edata[0], vertxpos + 3*edata[1],
-                               vertxpos + 3*edata[2], m->flex_radius[f]);
-  }
-
-  // box : triangle
-  else if (type == mjGEOM_BOX && dim == 2) {
-    const mjtNum* vertxpos = d->flexvert_xpos + 3 * m->flex_vertadr[f];
-    num = mjraw_BoxTriangle(precon, margin + gap, d->geom_xpos + 3 * g,
-                            d->geom_xmat + 9 * g, m->geom_size + 3 * g,
-                            vertxpos + 3 * edata[0], vertxpos + 3 * edata[1],
-                            vertxpos + 3 * edata[2], m->flex_radius[f]);
-  }
-
-  // capsule : triangle
-  else if (type == mjGEOM_CAPSULE && dim == 2) {
-    const mjtNum* vertxpos = d->flexvert_xpos + 3 * m->flex_vertadr[f];
-    num = mjraw_CapsuleTriangle(
-        precon, margin + gap, d->geom_xpos + 3 * g, d->geom_xmat + 9 * g,
-        m->geom_size + 3 * g, vertxpos + 3 * edata[0], vertxpos + 3 * edata[1],
-        vertxpos + 3 * edata[2], m->flex_radius[f]);
-  }
-
-  // general geom : elem
-  else {
-    num = mjc_ConvexElem(m, d, precon, g, -1, -1, -1, f, e, margin + gap);
-  }
-
-  // check contacts
-  if (!num) {
-    mj_freeStack(d);
-    return;
-  }
-
-  // get contact parameters
-  int condim;
-  mjtNum friction[5], solref[mjNREF], solimp[mjNIMP], adhesion;
-  mjtNum solreffriction[mjNREF] = {0};
-  mj_contactParam(m, &condim, solref, solimp, friction, &adhesion, g, -1, -1, f);
-
-  // allocate mjContact[num] on the arena
-  mjContact* con =
-    (mjContact*) mj_arenaAllocByte(d, sizeof(mjContact) * num, _Alignof(mjContact));
-  if (!con) {
-    mj_warning(d, mjWARN_CONTACTFULL, d->ncon);
-    mj_freeStack(d);
-    return;
-  }
-
-  // add contacts
-  for (int i=0; i < num; i++) {
-    // set contact ids
-    con[i].geom[0] = g;
-    con[i].geom[1] = -1;
-    con[i].flex[0] = -1;
-    con[i].flex[1] = f;
-    con[i].elem[0] = -1;
-    con[i].elem[1] = e;
-    con[i].vert[0] = -1;
-    con[i].vert[1] = -1;
-
-    con[i].dist = precon[i].dist;
-    mju_copy3(con[i].pos, precon[i].pos);
-    mju_copy3(con[i].frame + 0, precon[i].normal);
-    mju_copy3(con[i].frame + 3, precon[i].tangent);
-
-    // reverse contact normals, since box geom is second
-    if (dim == 1 && type == mjGEOM_BOX) {
-      mju_scl3(con[i].frame, con[i].frame, -1);
-    }
-
-    // set remaining contact parameters
-    mj_setContact(m, con + i, condim, margin, solref, solreffriction, solimp, friction, adhesion);
-  }
-
-  // add to ncon
-  d->ncon += num;
-  mj_freeStack(d);
-}
-
-
-// test two elems for collision, add to contact list
-void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2) {
-  mjtNum margin = mj_assignMargin(m, m->flex_margin[f1] + m->flex_margin[f2]);
-  mjtNum gap = m->flex_gap[f1] + m->flex_gap[f2];
-  int dim1 = m->flex_dim[f1], dim2 = m->flex_dim[f2];
-  int num;
-
-  // ignore margin and gap in self-collisions
-  if (f1 == f2) {
-    margin = 0;
-    gap = 0;
-  }
-
-  // bounding box filter (not applied in midphase)
-  if (filterBox(d->flexelem_aabb+6*(m->flex_elemadr[f1]+e1),
-                d->flexelem_aabb+6*(m->flex_elemadr[f2]+e2), margin + gap)) {
-    return;
-  }
-
-  // skip if elements have vertices on the same body
-  const int* edata1 = m->flex_elem + m->flex_elemdataadr[f1] + e1*(dim1+1);
-  const int* edata2 = m->flex_elem + m->flex_elemdataadr[f2] + e2*(dim2+1);
-  const int* bdata1 = m->flex_vertbodyid + m->flex_vertadr[f1];
-  const int* bdata2 = m->flex_vertbodyid + m->flex_vertadr[f2];
-  for (int i1=0; i1 <= dim1; i1++) {
-    int b1 = bdata1[edata1[i1]];
-    for (int i2=0; i2 <= dim2; i2++) {
-      if (b1 >= 0 && b1 == bdata2[edata2[i2]]) {
-        return;
-      }
-    }
-  }
-
-  // allocate mjPreContact[mjMAXCONPAIR] on the stack
-  mj_markStack(d);
-  mjPreContact* precon = mjSTACKALLOC(d, mjMAXCONPAIR, mjPreContact);
-
-  // capsule : capsule
-  if (dim1 == 1 && dim2 == 1) {
-    // make capsules from vertices
-    mjtNum pos1[3], mat1[9], size1[2];
-    mjtNum pos2[3], mat2[9], size2[2];
-    mj_makeCapsule(m, d, f1, m->flex_elem + m->flex_elemdataadr[f1] + e1*2,
-                   pos1, mat1, size1);
-    mj_makeCapsule(m, d, f2, m->flex_elem + m->flex_elemdataadr[f2] + e2*2,
-                   pos2, mat2, size2);
-
-    // raw primitive
-    num = mjraw_CapsuleCapsule(precon, margin + gap, pos1, mat1, size1, pos2, mat2, size2);
-  }
-
-  // general convex collision
-  else {
-    num = mjc_ConvexElem(m, d, precon, -1, f1, e1, -1, f2, e2, margin + gap);
-  }
-
-  // check contacts
-  if (!num) {
-    mj_freeStack(d);
-    return;
-  }
-
-  // get contact parameters
-  int condim;
-  mjtNum friction[5], solref[mjNREF], solimp[mjNIMP], adhesion;
-  mjtNum solreffriction[mjNREF] = {0};
-  mj_contactParam(m, &condim, solref, solimp, friction, &adhesion, -1, -1, f1, f2);
-
-  mjContact* con = (mjContact*) mj_arenaAllocByte(d, sizeof(mjContact) * num, _Alignof(mjContact));
-  if (!con) {
-    mj_freeStack(d);
-    mj_warning(d, mjWARN_CONTACTFULL, d->ncon);
-    return;
-  }
-
-  // add contacts
-  for (int i=0; i < num; i++) {
-    // set contact ids
-    con[i].geom[0] = -1;
-    con[i].geom[1] = -1;
-    con[i].flex[0] = f1;
-    con[i].flex[1] = f2;
-    con[i].elem[0] = e1;
-    con[i].elem[1] = e2;
-    con[i].vert[0] = -1;
-    con[i].vert[1] = -1;
-
-    con[i].dist = precon[i].dist;
-    mju_copy3(con[i].pos, precon[i].pos);
-    mju_copy3(con[i].frame + 0, precon[i].normal);
-    mju_copy3(con[i].frame + 3, precon[i].tangent);
-
-    // set remaining contact parameters
-    mj_setContact(m, con + i, condim, margin, solref, solreffriction, solimp, friction, adhesion);
-  }
-
-  // add to ncon
-  d->ncon += num;
-  mj_freeStack(d);
-}
-
-
-// test element and vertex for collision, add to contact list
-void mj_collideElemVert(const mjModel* m, mjData* d, int f, int e, int v) {
-  mjtNum margin = mj_assignMargin(m, m->flex_margin[f]);
-  mjtNum radius = m->flex_radius[f];
-  const mjtNum* vert = d->flexvert_xpos + 3*(m->flex_vertadr[f] + v);
-  int dim = m->flex_dim[f];
-  const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
-  int num;
-
-  // box-box filter (sphere treated as box)
-  const mjtNum* aabb = d->flexelem_aabb + 6*(m->flex_elemadr[f] + e);
-  mjtNum rbound = margin + radius;
-  if (aabb[0]-aabb[3] > vert[0]+rbound) return;
-  if (aabb[1]-aabb[4] > vert[1]+rbound) return;
-  if (aabb[2]-aabb[5] > vert[2]+rbound) return;
-  if (aabb[0]+aabb[3] < vert[0]-rbound) return;
-  if (aabb[1]+aabb[4] < vert[1]-rbound) return;
-  if (aabb[2]+aabb[5] < vert[2]-rbound) return;
-
-  // allocate mjPreContact[mjMAXCONPAIR] on the stack
-  mj_markStack(d);
-  mjPreContact* precon = mjSTACKALLOC(d, mjMAXCONPAIR, mjPreContact);
-
-  // sphere : capsule
-  if (dim == 1) {
-    mjtNum pos[3], mat[9], size[2];
-    mjtNum I[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-    mj_makeCapsule(m, d, f, edata, pos, mat, size);
-    num = mjraw_SphereCapsule(precon, 0, vert, I, &radius, pos, mat, size);
-  }
-
-  // sphere : triangle
-  else if (dim == 2) {
-    const mjtNum* vertxpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
-    num = mjraw_SphereTriangle(precon, 0, vert, radius,
-                               vertxpos + 3*edata[0], vertxpos + 3*edata[1],
-                               vertxpos + 3*edata[2], radius);
-  }
-
-  // sphere : tetrahdron
-  else {
-    num = mjc_ConvexElem(m, d, precon, -1, f, -1, v, f, e, 0);
-  }
-
-  // check contacts
-  if (!num) {
-    mj_freeStack(d);
-    return;
-  }
-
-  // get contact parameters
-  int condim;
-  mjtNum friction[5], solref[mjNREF], solimp[mjNIMP], adhesion;
-  mjtNum solreffriction[mjNREF] = {0};
-  mj_contactParam(m, &condim, solref, solimp, friction, &adhesion, -1, -1, f, f);
-
-
-  // allocate mjContact[num] on the arena
-  mjContact* con =
-    (mjContact*) mj_arenaAllocByte(d, sizeof(mjContact) * num, _Alignof(mjContact));
-  if (!con) {
-    mj_warning(d, mjWARN_CONTACTFULL, d->ncon);
-    mj_freeStack(d);
-    return;
-  }
-
-
-  // add contacts
-  for (int i=0; i < num; i++) {
-    // set contact ids
-    con[i].geom[0] = -1;
-    con[i].geom[1] = -1;
-    con[i].flex[0] = f;
-    con[i].flex[1] = f;
-    con[i].elem[0] = -1;
-    con[i].elem[1] = e;
-    con[i].vert[0] = v;
-    con[i].vert[1] = -1;
-
-    con[i].dist = precon[i].dist;
-    mju_copy3(con[i].pos, precon[i].pos);
-    mju_copy3(con[i].frame + 0, precon[i].normal);
-    mju_copy3(con[i].frame + 3, precon[i].tangent);
-
-    // set remaining contact parameters
-    mj_setContact(m, con + i, condim, 0, solref, solreffriction, solimp, friction, adhesion);
-  }
-
-  // add to ncon
-  d->ncon += num;
-
-  mj_freeStack(d);
-}
diff --git a/src/engine/engine_collision_driver.h b/src/engine/engine_collision_driver.h
deleted file mode 100644
index d41f1ccf..00000000
--- a/src/engine/engine_collision_driver.h
+++ /dev/null
@@ -1,67 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// collision function pointers and max contact pairs
-MJAPI extern mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES];
-
-// return the maximum number of contacts that can be generated between two geoms
-// if has_margin is -1, then the margin is pulled from the model, otherwise if has_margin > 0
-// indicates that the geoms have a positive margin
-MJAPI int mj_maxContact(const mjModel* m, int g1, int g2, int has_margin);
-
-// collision detection entry point
-MJAPI void mj_collision(const mjModel* m, mjData* d);
-
-// apply the Separating Axis Theorem for rotated AABBs
-MJAPI int mj_collideOBB(const mjtNum aabb1[6], const mjtNum aabb2[6],
-                        const mjtNum xpos1[3], const mjtNum xmat1[9],
-                        const mjtNum xpos2[3], const mjtNum xmat2[9], mjtNum margin,
-                        mjtNum product[36], mjtNum offset[12], mjtBool* initialize);
-
-// is element active (for collisions)
-MJAPI int mj_isElemActive(const mjModel* m, int f, int e);
-
-// broad phase collision detection; return list of bodyflex pairs
-int mj_broadphase(const mjModel* m, mjData* d, int* bfpair, int maxpair);
-
-// test active element self-collisions with SAP
-void mj_collideFlexSAP(const mjModel* m, mjData* d, int f);
-
-// test a geom and an elem for collision, add to contact list
-void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e);
-
-// test two elems for collision, add to contact list
-void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2);
-
-// test element and vertex for collision, add to contact list
-void mj_collideElemVert(const mjModel* m, mjData* d, int f, int e, int v);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_DRIVER_H_
diff --git a/src/engine/engine_collision_gjk.c b/src/engine/engine_collision_gjk.c
deleted file mode 100644
index a5efcced..00000000
--- a/src/engine/engine_collision_gjk.c
+++ /dev/null
@@ -1,2451 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_collision_gjk.h"
-
-#include <stddef.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <mujoco/mjtype.h>
-#include <mujoco/mjmodel.h>
-#include "engine/engine_collision_convex.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-
-#define mjMINVAL2 (mjMINVAL * mjMINVAL)
-#define mjMAXVAL2 (mjMAXVAL * mjMAXVAL)
-
-// numerical limits for single and double precision
-#ifdef mjUSESINGLE
-  // minimal distance squared for origin inside tetrahedron in polytope2
-  #define mjMINDIST2 1e-10f
-  // minimal distance squared for origin inside tetrahedron in polytope3
-  #define mjMINDIST3 1e-10f
-  // minimal distance squared for origin inside tetrahedron in polytope4
-  #define mjMINDIST4 1e-17f
-  // minimal tolerance for EPA
-  #define mjMINEPATOL 1e-7f
-#else
-  #define mjMINDIST2 mjMINVAL2
-  #define mjMINDIST3 mjMINVAL2
-  #define mjMINDIST4 mjMINVAL2
-  #define mjMINEPATOL mjMINVAL
-#endif  // mjUSESINGLE
-
-// align memory size on 8-byte boundary; needed for single precision
-static inline size_t align8(size_t size) {
-  return ((size + 7) / 8) * 8;
-}
-
-// subdistance algorithm for GJK that computes the barycentric coordinates of the point in a
-// simplex closest to the origin
-// implementation adapted from Montanari et al, ToG 2017
-static void subdistance(mjtNum lambda[4], int n, const Vertex simplex[4]);
-
-// compute the barycentric coordinates of the closest point to the origin in the n-simplex,
-// for n = 3, 2, 1 respectively
-static void S3D(mjtNum lambda[4], const mjtNum s1[3], const mjtNum s2[3], const mjtNum s3[3],
-                const mjtNum s4[3]);
-static void S2D(mjtNum lambda[3], const mjtNum s1[3], const mjtNum s2[3], const mjtNum s3[3]);
-static void S1D(mjtNum lambda[2], const mjtNum s1[3], const mjtNum s2[3]);
-
-// compute the support point for GJK
-static void gjkSupport(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
-                       const mjtNum x_k[3], mjtNum x_norm);
-
-// compute the linear combination of up to 4 3D vectors
-static inline void lincomb(mjtNum res[3], const mjtNum* coef, int n, const mjtNum v1[3],
-                           const mjtNum v2[3], const mjtNum v3[3], const mjtNum v4[3]);
-
-// one face in a polytope
-typedef struct {
-  int verts;         // indices of the three vertices of the face in the polytope
-  int adj[3];        // adjacent faces, one for each edge: [v1,v2], [v2,v3], [v3,v1]
-  mjtNum v[3];       // projection of the origin on face, can be used as face normal
-  mjtNum dist2;      // squared norm of v; negative if deleted
-  int index;         // index in map; -1: not in map, -2: deleted from polytope
-} Face;
-
-// return int[3] with lower 30 bits split between three int
-#define EPA_VERT_EXPAND(n)                     \
-  { (n) & 0x3FF,                               \
-    (n) >> 10 & 0x3FF,                         \
-    (n) >> 20 & 0x3FF }
-
-
-// polytope used in the Expanding Polytope Algorithm (EPA)
-typedef struct {
-  Vertex* verts;      // list of vertices that make up the polytope
-  int nverts;         // number of vertices
-  Face* faces;        // list of faces that make up the polytope
-  int nfaces;         // number of faces
-  int maxfaces;       // max number of faces that can be stored in polytope
-  mjtNum center[3];   // center of the polytope
-  Face** map;         // linear map storing faces
-  int nmap;           // number of faces in map
-  struct Horizon {    // polytope boundary edges that can be seen from w
-    int* indices;     // indices of faces on horizon
-    int* edges;       // corresponding edge of each face on the horizon
-    int nedges;       // number of edges in horizon
-    const mjtNum* w;  // point where horizon is created
-  } horizon;
-} Polytope;
-
-// compute the support point for EPA
-static int epaSupport(Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2,
-                      const mjtNum d[3], mjtNum dnorm);
-
-// make copy of vertex in polytope and return its index
-static int insertVertex(Polytope* pt, const Vertex* v);
-
-// attach a face to the polytope with the given vertex indices; return squared distance to origin
-static mjtNum attachFace(Polytope* pt, int v1, int v2, int v3, int adj1, int adj2, int adj3);
-
-// return 1 if objects are in contact; 0 if not; -1 if inconclusive
-// status must have initial tetrahedrons
-static int gjkIntersect(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2);
-
-// create initial polytope for EPA for a 2, 3, or 4-simplex
-static int polytope2(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2);
-static int polytope3(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2);
-static int polytope4(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2);
-
-// return a face of the expanded polytope that best approximates the pentration depth
-// witness points are in status->{x1, x2}
-static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2);
-
-// -------------------------------- inlined  3D vector utils --------------------------------------
-
-// res = v1 + v2
-static inline void add3(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3]) {
-  res[0] = v1[0] + v2[0], res[1] = v1[1] + v2[1], res[2] = v1[2] + v2[2];
-}
-
-// res = v1 - v2
-static inline void sub3(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3]) {
-  res[0] = v1[0] - v2[0], res[1] = v1[1] - v2[1], res[2] = v1[2] - v2[2];
-}
-
-// dot product
-static inline mjtNum dot3(const mjtNum v1[3], const mjtNum v2[3]) {
-  return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
-}
-
-// norm of v
-static inline mjtNum norm3(const mjtNum v[3]) {
-  return mju_sqrt(dot3(v, v));
-}
-
-// res = v
-static inline void copy3(mjtNum res[3], const mjtNum v[3]) {
-  res[0] = v[0], res[1] = v[1], res[2] = v[2];
-}
-
-// scalar product: res = s*v
-static inline void scl3(mjtNum res[3], const mjtNum v[3], mjtNum s) {
-  res[0] = s*v[0], res[1] = s*v[1], res[2] = s*v[2];
-}
-
-// res = v1 + s*v2
-static inline void addScl3(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3], mjtNum s) {
-  res[0] = v1[0] + s*v2[0], res[1] = v1[1] + s*v2[1], res[2] = v1[2] + s*v2[2];
-}
-
-// cross product: res = v1 x v2
-static inline void cross3(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3]) {
-  res[0] = v1[1]*v2[2] - v1[2]*v2[1];
-  res[1] = v1[2]*v2[0] - v1[0]*v2[2];
-  res[2] = v1[0]*v2[1] - v1[1]*v2[0];
-}
-
-// return determinant of the 3x3 matrix with columns v1, v2, v3
-static inline mjtNum det3(const mjtNum v1[3], const mjtNum v2[3], const mjtNum v3[3]) {
-  // v1 * (v2 x v3)
-  return v1[0]*(v2[1]*v3[2] - v2[2]*v3[1])
-       + v1[1]*(v2[2]*v3[0] - v2[0]*v3[2])
-       + v1[2]*(v2[0]*v3[1] - v2[1]*v3[0]);
-}
-
-// ---------------------------------------- GJK ---------------------------------------------------
-
-
-// return true if both geoms are discrete shapes (i.e. meshes or boxes with no margin)
-static int discreteGeoms(mjCCDObj* obj1, mjCCDObj* obj2) {
-  // non-zero margin makes geoms smooth
-  if (obj1->margin != 0 || obj2->margin != 0) return 0;
-
-  int g1 = obj1->geom_type;
-  int g2 = obj2->geom_type;
-  return (g1 == mjGEOM_MESH || g1 == mjGEOM_BOX || g1 == mjGEOM_HFIELD) &&
-         (g2 == mjGEOM_MESH || g2 == mjGEOM_BOX || g2 == mjGEOM_HFIELD);
-}
-
-
-// GJK algorithm
-static void gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
-  int get_dist = status->dist_cutoff > 0;  // need to recover geom distances if not in contact
-  int backup_gjk = !get_dist;              // use gjkIntersect if no geom distances needed
-  Vertex* simplex = status->simplex;
-  int n = 0;                               // number of vertices in the simplex
-  int k = 0;                               // current iteration
-  int kmax = status->max_iterations;       // max number of iterations
-  mjtNum* x1_k = status->x1;               // the kth approximation point for obj1
-  mjtNum* x2_k = status->x2;               // the kth approximation point for obj2
-  mjtNum x_k[3];                           // the kth approximation point in Minkowski difference
-  mjtNum lambda[4];                        // barycentric coordinates for x_k
-  mjtNum cutoff2 = status->dist_cutoff * status->dist_cutoff;
-  mjtNum tol2 = status->tolerance * status->tolerance;
-  status->separated = 0;
-
-  // if both geoms are discrete, finite convergence is guaranteed; set tolerance to 0
-  mjtNum epsilon = discreteGeoms(obj1, obj2) ? 0 : 0.5 * tol2;
-
-  // tolerance on norm of x_k
-  mjtNum min_norm = discreteGeoms(obj1, obj2) ? mjMINVAL : status->tolerance;
-
-  // set initial guess
-  sub3(x_k, x1_k, x2_k);
-  mjtNum x_norm = norm3(x_k), x_norm_prev = 0;  // set to 0 for no-op on first iteration
-
-  for (; k < kmax; k++) {
-    // in tolerance for geoms to be in contact, or x_norm has stagnated
-    if (x_norm < min_norm || mju_abs(x_norm_prev - x_norm) < mjMINVAL) {
-      break;
-    }
-
-    // compute the kth support point
-    gjkSupport(simplex + n, obj1, obj2, x_k, x_norm);
-    mjtNum *s_k = simplex[n].vert;
-
-    // stopping criteria using the Frank-Wolfe duality gap given by
-    //  |f(x_k) - f(x_min)|^2 <= < grad f(x_k), (x_k - s_k) >
-    mjtNum diff[3];
-    sub3(diff, x_k, s_k);
-    if (dot3(x_k, diff) < epsilon) {
-      break;
-    }
-
-    // if the hyperplane separates the Minkowski difference and origin, the objects don't collide
-    // if geom distance isn't requested, return early
-    if (!get_dist) {
-      if (dot3(x_k, s_k) > 0) {
-        status->separated = 1;
-        status->gjk_iterations = k;
-        status->nsimplex = 0;
-        status->nx = 0;
-        status->dist[0] = mjMAX_LIMIT;
-        return;
-      }
-    } else if (status->dist_cutoff < mjMAX_LIMIT) {
-      mjtNum vs = dot3(x_k, s_k);
-      if (vs > 0 && (vs * vs) >= cutoff2 * (x_norm * x_norm)) {
-        status->separated = 1;
-        status->gjk_iterations = k;
-        status->nsimplex = 0;
-        status->nx = 0;
-        status->dist[0] = mjMAX_LIMIT;
-        return;
-      }
-    }
-
-    // tetrahedron is generated and only need contact info; fallback to gjkIntersect to
-    // determine contact
-    if (n == 3 && backup_gjk) {
-      status->gjk_iterations = k;
-      int ret = gjkIntersect(status, obj1, obj2);
-      if (ret != -1) {
-        status->nx = 0;
-        status->separated = ret == 0;
-        status->dist[0] = ret > 0 ? 0 : mjMAX_LIMIT;
-        return;
-      }
-      k = status->gjk_iterations;
-      backup_gjk = 0;
-    }
-
-    // run the distance subalgorithm to compute the barycentric coordinates
-    // of the closest point to the origin in the simplex
-    subdistance(lambda, n + 1, simplex);
-
-    // remove vertices from the simplex no longer needed
-    n = 0;
-    for (int i = 0; i < 4; i++) {
-      if (!lambda[i]) continue;
-      simplex[n] = simplex[i];
-      lambda[n++] = lambda[i];
-    }
-
-    // SHOULD NOT OCCUR
-    if (n < 1) {
-      status->gjk_iterations = k;
-      status->nsimplex = 0;
-      status->nx = 0;
-      status->dist[0] = mjMAX_LIMIT;
-      status->separated = 1;
-      return;
-    }
-
-    // get the next iteration of x_k, save previous x_norm
-    lincomb(x_k, lambda, n, simplex[0].vert, simplex[1].vert,
-            simplex[2].vert, simplex[3].vert);
-    x_norm_prev = x_norm;
-    x_norm = norm3(x_k);
-
-    // we should have a tetrahedron containing the origin so return early
-    if (n == 4) {
-      break;
-    }
-  }
-
-  // compute the approximate witness points
-  if (n > 0) {
-    lincomb(x1_k, lambda, n, simplex[0].vert1, simplex[1].vert1, simplex[2].vert1,
-            simplex[3].vert1);
-    lincomb(x2_k, lambda, n, simplex[0].vert2, simplex[1].vert2, simplex[2].vert2,
-            simplex[3].vert2);
-  }
-
-  // GJK exited early; do a final separation check
-  Vertex tmp;
-  gjkSupport(&tmp, obj1, obj2, x_k, x_norm);
-  if (dot3(x_k, tmp.vert) > 0) {
-    status->separated = 1;
-  }
-
-  // tetrahedron containing the origin
-  if (n == 4 && status->separated == 0) {
-    x_norm = 0;
-  }
-
-  status->nx = 1;
-  status->gjk_iterations = k;
-  status->nsimplex = n;
-  status->dist[0] = x_norm;
-}
-
-
-// compute the support point in obj1 and obj2 for Minkowski difference
-static inline void support(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
-                           const mjtNum dir[3], const mjtNum dir_neg[3]) {
-  // obj1
-  obj1->support(v->vert1, obj1, dir);
-  if (obj1->margin > 0 && obj1->geom >= 0) {
-    mjtNum margin = 0.5 * obj1->margin;
-    v->vert1[0] += dir[0] * margin;
-    v->vert1[1] += dir[1] * margin;
-    v->vert1[2] += dir[2] * margin;
-  }
-
-  // obj2
-  obj2->support(v->vert2, obj2, dir_neg);
-  if (obj2->margin > 0 && obj2->geom >= 0) {
-    mjtNum margin = 0.5 * obj2->margin;
-    v->vert2[0] += dir_neg[0] * margin;
-    v->vert2[1] += dir_neg[1] * margin;
-    v->vert2[2] += dir_neg[2] * margin;
-  }
-
-  // compute S_{A-B}(dir) = S_A(dir) - S_B(-dir)
-  sub3(v->vert, v->vert1, v->vert2);
-
-  // copy vertex indices of discrete geoms
-  v->index1 = obj1->vertindex;
-  v->index2 = obj2->vertindex;
-}
-
-
-// compute the support points in obj1 and obj2 for the kth approximation point
-static inline void gjkSupport(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
-                              const mjtNum x_k[3], mjtNum x_norm) {
-  mjtNum dir[3], dir_neg[3];
-
-  // mjc_support requires a normalized direction
-  scl3(dir_neg, x_k, 1 / x_norm);
-  scl3(dir, dir_neg, -1);
-  support(v, obj1, obj2, dir, dir_neg);
-}
-
-
-// compute support points in Minkowski difference, return index of new vertex in polytope
-static int epaSupport(Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2,
-                     const mjtNum d[3], mjtNum dnorm) {
-  mjtNum dir[3] = {1, 0, 0}, dir_neg[3] = {-1, 0, 0};
-
-  // mjc_support assumes a normalized direction
-  if (dnorm > mjMINVAL) {
-    dir[0] = d[0] / dnorm;
-    dir[1] = d[1] / dnorm;
-    dir[2] = d[2] / dnorm;
-    scl3(dir_neg, dir, -1);
-  }
-
-  int n = pt->nverts++;
-  Vertex* v = pt->verts + n;
-  support(v, obj1, obj2, dir, dir_neg);
-  return n;
-}
-
-
-// compute the support point in the Minkowski difference for gjkIntersect (without normalization)
-static void gjkIntersectSupport(Vertex* v, mjCCDObj* obj1, mjCCDObj* obj2,
-                                const mjtNum dir[3]) {
-  mjtNum dir_neg[3] = {-dir[0], -dir[1], -dir[2]};
-  support(v, obj1, obj2, dir, dir_neg);
-}
-
-
-// compute the signed distance of a face along with the normal
-static inline mjtNum signedDistance(mjtNum normal[3], const Vertex* v1, const Vertex* v2,
-                                    const Vertex* v3) {
-  mjtNum diff1[3], diff2[3];
-  sub3(diff1, v3->vert, v1->vert);
-  sub3(diff2, v2->vert, v1->vert);
-  cross3(normal, diff1, diff2);
-  mjtNum norm2 = dot3(normal, normal);
-  if (norm2 > mjMINVAL2 && norm2 < mjMAXVAL2) {
-    scl3(normal, normal, 1 / mju_sqrt(norm2));
-    return dot3(normal, v1->vert);
-  }
-  return mjMAX_LIMIT;  // cannot recover normal (ignore face)
-}
-
-
-// return 1 if objects are in contact; 0 if not; -1 if inconclusive
-static int gjkIntersect(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
-  Vertex simplex[4] = {status->simplex[0], status->simplex[1],
-                       status->simplex[2], status->simplex[3]};
-  int s[4] = {0, 1, 2, 3};
-
-  int k = status->gjk_iterations, kmax = status->max_iterations;
-  for (; k < kmax; k++) {
-    // compute the signed distance to each face in the simplex along with normals
-    mjtNum dist[4], normals[12];
-    dist[0] = signedDistance(&normals[0], simplex + s[2], simplex + s[1], simplex + s[3]);
-    dist[1] = signedDistance(&normals[3], simplex + s[0], simplex + s[2], simplex + s[3]);
-    dist[2] = signedDistance(&normals[6], simplex + s[1], simplex + s[0], simplex + s[3]);
-    dist[3] = signedDistance(&normals[9], simplex + s[0], simplex + s[1], simplex + s[2]);
-
-    // if origin is on any affine hull, convergence will fail
-    if (!dist[3] || !dist[2] || !dist[1] || !dist[0]) {
-      status->gjk_iterations = k;
-      return -1;
-    }
-
-    // find the face with the smallest distance to the origin
-    int i = (dist[0] < dist[1]) ? 0 : 1;
-    int j = (dist[2] < dist[3]) ? 2 : 3;
-    int index = (dist[i] < dist[j]) ? i : j;
-
-    // origin inside of simplex (run EPA for contact information)
-    if (dist[index] > 0) {
-      status->nsimplex = 4;
-      status->simplex[0] = simplex[s[0]];
-      status->simplex[1] = simplex[s[1]];
-      status->simplex[2] = simplex[s[2]];
-      status->simplex[3] = simplex[s[3]];
-      status->gjk_iterations = k;
-      return 1;
-    }
-
-    // replace worst vertex (farthest from origin) with new candidate
-    gjkIntersectSupport(simplex + s[index], obj1, obj2, normals + 3*index);
-
-    // found origin outside the Minkowski difference (return no collision)
-    if (dot3(&normals[3*index], simplex[s[index]].vert) < 0) {
-      status->nsimplex = 0;
-      status->gjk_iterations = k;
-      return 0;
-    }
-
-    // swap vertices in the simplex to retain orientation
-    i = (index + 1) & 3;
-    j = (index + 2) & 3;
-    int swap = s[i];
-    s[i] = s[j];
-    s[j] = swap;
-  }
-  status->gjk_iterations = k;
-  return -1;  // never found origin
-}
-
-
-// compute the linear combination of up to 4 3D vectors
-static inline void lincomb(mjtNum res[3], const mjtNum* coef, int n, const mjtNum v1[3],
-                           const mjtNum v2[3], const mjtNum v3[3], const mjtNum v4[3]) {
-  switch (n) {
-    case 0:
-      res[0] = res[1] = res[2] = 0;
-      break;
-    case 1:
-      res[0] = coef[0]*v1[0];
-      res[1] = coef[0]*v1[1];
-      res[2] = coef[0]*v1[2];
-      break;
-    case 2:
-      res[0] = coef[0]*v1[0] + coef[1]*v2[0];
-      res[1] = coef[0]*v1[1] + coef[1]*v2[1];
-      res[2] = coef[0]*v1[2] + coef[1]*v2[2];
-      break;
-    case 3:
-      res[0] = coef[0]*v1[0] + coef[1]*v2[0] + coef[2]*v3[0];
-      res[1] = coef[0]*v1[1] + coef[1]*v2[1] + coef[2]*v3[1];
-      res[2] = coef[0]*v1[2] + coef[1]*v2[2] + coef[2]*v3[2];
-      break;
-    case 4:
-      res[0] = coef[0]*v1[0] + coef[1]*v2[0] + coef[2]*v3[0] + coef[3]*v4[0];
-      res[1] = coef[0]*v1[1] + coef[1]*v2[1] + coef[2]*v3[1] + coef[3]*v4[1];
-      res[2] = coef[0]*v1[2] + coef[1]*v2[2] + coef[2]*v3[2] + coef[3]*v4[2];
-      break;
-  }
-}
-
-
-// res = origin projected onto plane defined by v1, v2, v3
-static int projectOriginPlane(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3],
-                              const mjtNum v3[3]) {
-  mjtNum diff21[3], diff31[3], diff32[3], n[3], nv, nn;
-  sub3(diff21, v2, v1);
-  sub3(diff31, v3, v1);
-  sub3(diff32, v3, v2);
-
-  // n = (v1 - v2) x (v3 - v2)
-  cross3(n, diff32, diff21);
-  nv = dot3(n, v2);
-  nn = dot3(n, n);
-  if (nn == 0) return 1;
-  if (nv != 0 && nn > mjMINVAL) {
-    scl3(res, n, nv / nn);
-    return 0;
-  }
-
-  // n = (v2 - v1) x (v3 - v1)
-  cross3(n, diff21, diff31);
-  nv = dot3(n, v1);
-  nn = dot3(n, n);
-  if (nn == 0) return 1;
-  if (nv != 0 && nn > mjMINVAL) {
-    scl3(res, n, nv / nn);
-    return 0;
-  }
-
-  // n = (v1 - v3) x (v2 - v3)
-  cross3(n, diff31, diff32);
-  nv = dot3(n, v3);
-  nn = dot3(n, n);
-  scl3(res, n, nv / nn);
-  return 0;
-}
-
-
-// res = origin projected onto line defined by v1, v2
-static inline void projectOriginLine(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3]) {
-  // res = v2 - <v2, v2 - v1> / <v2 - v1, v2 - v1> * (v2 - v1)
-  mjtNum diff[3];
-  sub3(diff, v2, v1);
-  mjtNum scl = -(dot3(v2, diff) / dot3(diff, diff));
-  res[0] = v2[0] + scl*diff[0];
-  res[1] = v2[1] + scl*diff[1];
-  res[2] = v2[2] + scl*diff[2];
-}
-
-
-// return 1 if both numbers are positive, -1 if both negative and 0 otherwise
-static inline int sameSign2(mjtNum a, mjtNum b) {
-  if (a > 0 && b > 0) return 1;
-  if (a < 0 && b < 0) return -1;
-  return 0;
-}
-
-
-// subdistance algorithm for GJK that computes the barycentric coordinates of the point in a
-// simplex closest to the origin
-// implementation adapted from Montanari et al, ToG 2017
-static inline void subdistance(mjtNum lambda[4], int n, const Vertex simplex[4]) {
-  lambda[0] = lambda[1] = lambda[2] = lambda[3] = 0;
-  const mjtNum* s1 = simplex[0].vert;
-  const mjtNum* s2 = simplex[1].vert;
-  const mjtNum* s3 = simplex[2].vert;
-  const mjtNum* s4 = simplex[3].vert;
-
-  switch (n) {
-  case 4:
-     S3D(lambda, s1, s2, s3, s4);
-     break;
-  case 3:
-     S2D(lambda, s1, s2, s3);
-      break;
-  case 2:
-     S1D(lambda, s1, s2);
-     break;
-  default:
-    lambda[0] = 1;
-    break;
-  }
-}
-
-
-static void S3D(mjtNum lambda[4], const mjtNum s1[3], const mjtNum s2[3],
-                const mjtNum s3[3], const mjtNum s4[3]) {
-  // the matrix M is given by
-  //  [[ s1_x, s2_x, s3_x, s4_x ],
-  //   [ s1_y, s2_y, s3_y, s4_y ],
-  //   [ s1_z, s2_z, s3_z, s4_z ],
-  //   [ 1,    1,    1,    1    ]]
-  // we want to solve M*lambda = P, where P = [p_x, p_y, p_z, 1] with [p_x, p_y, p_z] is the
-  // origin projected onto the simplex
-
-  // compute cofactors to find det(M)
-  mjtNum C41 = -det3(s2, s3, s4);
-  mjtNum C42 =  det3(s1, s3, s4);
-  mjtNum C43 = -det3(s1, s2, s4);
-  mjtNum C44 =  det3(s1, s2, s3);
-
-  // note that m_det = 6*SignVol(simplex) with C4i corresponding to the volume of the 3-simplex
-  // with vertices {s1, s2, s3, 0} - si
-  mjtNum m_det = C41 + C42 + C43 + C44;
-
-  int comp1 = sameSign2(m_det, C41),
-      comp2 = sameSign2(m_det, C42),
-      comp3 = sameSign2(m_det, C43),
-      comp4 = sameSign2(m_det, C44);
-
-  // if all signs are the same then the origin is inside the simplex
-  if (comp1 && comp2 && comp3 && comp4) {
-    lambda[0] = C41 / m_det;
-    lambda[1] = C42 / m_det;
-    lambda[2] = C43 / m_det;
-    lambda[3] = C44 / m_det;
-    return;
-  }
-
-  // find the smallest distance, and use the corresponding barycentric coordinates
-  mjtNum dmin = mjMAX_LIMIT;
-
-  if (!comp1) {
-    mjtNum lambda_2d[3], x[3];
-    S2D(lambda_2d, s2, s3, s4);
-    lincomb(x, lambda_2d, 3, s2, s3, s4, NULL);
-    mjtNum d = dot3(x, x);
-    lambda[0] = 0;
-    lambda[1] = lambda_2d[0];
-    lambda[2] = lambda_2d[1];
-    lambda[3] = lambda_2d[2];
-    dmin = d;
-  }
-
-  if (!comp2) {
-    mjtNum lambda_2d[3], x[3];
-    S2D(lambda_2d, s1, s3, s4);
-    lincomb(x, lambda_2d, 3, s1, s3, s4, NULL);
-    mjtNum d = dot3(x, x);
-    if (d < dmin) {
-      lambda[0] = lambda_2d[0];
-      lambda[1] = 0;
-      lambda[2] = lambda_2d[1];
-      lambda[3] = lambda_2d[2];
-      dmin = d;
-    }
-  }
-
-  if (!comp3) {
-    mjtNum lambda_2d[3], x[3];
-    S2D(lambda_2d, s1, s2, s4);
-    lincomb(x, lambda_2d, 3, s1, s2, s4, NULL);
-    mjtNum d = dot3(x, x);
-    if (d < dmin) {
-      lambda[0] = lambda_2d[0];
-      lambda[1] = lambda_2d[1];
-      lambda[2] = 0;
-      lambda[3] = lambda_2d[2];
-      dmin = d;
-    }
-  }
-
-  if (!comp4) {
-    mjtNum lambda_2d[3], x[3];
-    S2D(lambda_2d, s1, s2, s3);
-    lincomb(x, lambda_2d, 3, s1, s2, s3, NULL);
-    mjtNum d = dot3(x, x);
-    if (d < dmin) {
-      lambda[0] = lambda_2d[0];
-      lambda[1] = lambda_2d[1];
-      lambda[2] = lambda_2d[2];
-      lambda[3] = 0;
-    }
-  }
-}
-
-
-static void S2D(mjtNum lambda[3], const mjtNum s1[3], const mjtNum s2[3], const mjtNum s3[3]) {
-  // project origin onto affine hull of the simplex
-  mjtNum p_o[3];
-  if (projectOriginPlane(p_o, s1, s2, s3)) {
-    S1D(lambda, s1, s2);
-    lambda[2] = 0;
-    return;
-  }
-
-  // Below are the minors M_i4 of the matrix M given by
-  // [[ s1_x, s2_x, s3_x, s4_x ],
-  //  [ s1_y, s2_y, s3_y, s4_y ],
-  //  [ s1_z, s2_z, s3_z, s4_z ],
-  //  [ 1,    1,    1,    1    ]]
-  mjtNum M_14 = s2[1]*s3[2] - s2[2]*s3[1] - s1[1]*s3[2] + s1[2]*s3[1] + s1[1]*s2[2] - s1[2]*s2[1];
-  mjtNum M_24 = s2[0]*s3[2] - s2[2]*s3[0] - s1[0]*s3[2] + s1[2]*s3[0] + s1[0]*s2[2] - s1[2]*s2[0];
-  mjtNum M_34 = s2[0]*s3[1] - s2[1]*s3[0] - s1[0]*s3[1] + s1[1]*s3[0] + s1[0]*s2[1] - s1[1]*s2[0];
-
-  // exclude the axis with the largest projection of the simplex using the computed minors
-  mjtNum M_max = 0;
-  mjtNum s1_2D[2], s2_2D[2], s3_2D[2], p_o_2D[2];
-  mjtNum mu1 = mju_abs(M_14), mu2 = mju_abs(M_24), mu3 = mju_abs(M_34);
-  if (mu1 >= mu2 && mu1 >= mu3) {
-    M_max = M_14;
-    s1_2D[0] = s1[1];
-    s1_2D[1] = s1[2];
-
-    s2_2D[0] = s2[1];
-    s2_2D[1] = s2[2];
-
-    s3_2D[0] = s3[1];
-    s3_2D[1] = s3[2];
-
-    p_o_2D[0] = p_o[1];
-    p_o_2D[1] = p_o[2];
-  } else if (mu2 >= mu3) {
-    M_max = M_24;
-    s1_2D[0] = s1[0];
-    s1_2D[1] = s1[2];
-
-    s2_2D[0] = s2[0];
-    s2_2D[1] = s2[2];
-
-    s3_2D[0] = s3[0];
-    s3_2D[1] = s3[2];
-
-    p_o_2D[0] = p_o[0];
-    p_o_2D[1] = p_o[2];
-  } else {
-    M_max = M_34;
-    s1_2D[0] = s1[0];
-    s1_2D[1] = s1[1];
-
-    s2_2D[0] = s2[0];
-    s2_2D[1] = s2[1];
-
-    s3_2D[0] = s3[0];
-    s3_2D[1] = s3[1];
-
-    p_o_2D[0] = p_o[0];
-    p_o_2D[1] = p_o[1];
-  }
-
-  // compute the cofactors C3i of the following matrix:
-  // [[ s1_2D[0] - p_o_2D[0], s2_2D[0] - p_o_2D[0], s3_2D[0] - p_o_2D[0] ],
-  //  [ s1_2D[1] - p_o_2D[1], s2_2D[1] - p_o_2D[1], s3_2D[1] - p_o_2D[1] ],
-  //  [ 1,                    1,                    1                    ]]
-
-  // C31 corresponds to the signed area of 2-simplex: (p_o_2D, s2_2D, s3_2D)
-  mjtNum C31 = p_o_2D[0]*s2_2D[1] + p_o_2D[1]*s3_2D[0] + s2_2D[0]*s3_2D[1]
-             - p_o_2D[0]*s3_2D[1] - p_o_2D[1]*s2_2D[0] - s3_2D[0]*s2_2D[1];
-
-  // C32 corresponds to the signed area of 2-simplex: (_po_2D, s1_2D, s3_2D)
-  mjtNum C32 = p_o_2D[0]*s3_2D[1] + p_o_2D[1]*s1_2D[0] + s3_2D[0]*s1_2D[1]
-             - p_o_2D[0]*s1_2D[1] - p_o_2D[1]*s3_2D[0] - s1_2D[0]*s3_2D[1];
-
-  // C33 corresponds to the signed area of 2-simplex: (p_o_2D, s1_2D, s2_2D)
-  mjtNum C33 = p_o_2D[0]*s1_2D[1] + p_o_2D[1]*s2_2D[0] + s1_2D[0]*s2_2D[1]
-             - p_o_2D[0]*s2_2D[1] - p_o_2D[1]*s1_2D[0] - s2_2D[0]*s1_2D[1];
-
-  int comp1 = sameSign2(M_max, C31),
-      comp2 = sameSign2(M_max, C32),
-      comp3 = sameSign2(M_max, C33);
-
-  // all the same sign, p_o is inside the 2-simplex
-  if (comp1 && comp2 && comp3) {
-    lambda[0] = C31 / M_max;
-    lambda[1] = C32 / M_max;
-    lambda[2] = C33 / M_max;
-    return;
-  }
-
-  // find the smallest distance, and use the corresponding barycentric coordinates
-  mjtNum dmin = mjMAX_LIMIT;
-
-  if (!comp1) {
-    mjtNum lambda_1d[2], x[3];
-    S1D(lambda_1d, s2, s3);
-    lincomb(x, lambda_1d, 2, s2, s3, NULL, NULL);
-    mjtNum d = dot3(x, x);
-    lambda[0] = 0;
-    lambda[1] = lambda_1d[0];
-    lambda[2] = lambda_1d[1];
-    dmin = d;
-  }
-
-  if (!comp2) {
-    mjtNum lambda_1d[2], x[3];
-    S1D(lambda_1d, s1, s3);
-    lincomb(x, lambda_1d, 2, s1, s3, NULL, NULL);
-    mjtNum d = dot3(x, x);
-    if (d < dmin) {
-      lambda[0] = lambda_1d[0];
-      lambda[1] = 0;
-      lambda[2] = lambda_1d[1];
-      dmin = d;
-    }
-  }
-
-  if (!comp3) {
-    mjtNum lambda_1d[2], x[3];
-    S1D(lambda_1d, s1, s2);
-    lincomb(x, lambda_1d, 2, s1, s2, NULL, NULL);
-    mjtNum d = dot3(x, x);
-    if (d < dmin) {
-      lambda[0] = lambda_1d[0];
-      lambda[1] = lambda_1d[1];
-      lambda[2] = 0;
-    }
-  }
-}
-
-
-static void S1D(mjtNum lambda[2], const mjtNum s1[3], const mjtNum s2[3]) {
-  // find projection of origin onto the 1-simplex:
-  mjtNum p_o[3];
-  projectOriginLine(p_o, s1, s2);
-
-  // find the axis with the largest projection "shadow" of the simplex
-  mjtNum mu = s1[0] - s2[0];
-  mjtNum mu_max = mu;
-  int index = 0;
-
-  mu = s1[1] - s2[1];
-  if (mju_abs(mu) >= mju_abs(mu_max)) {
-    mu_max = mu;
-    index = 1;
-  }
-
-  mu = s1[2] - s2[2];
-  if (mju_abs(mu) >= mju_abs(mu_max)) {
-    mu_max = mu;
-    index = 2;
-  }
-
-  mjtNum C1 = p_o[index] - s2[index];
-  mjtNum C2 = s1[index] - p_o[index];
-
-  // determine if projection of origin lies inside 1-simplex
-  int same = sameSign2(mu_max, C1) && sameSign2(mu_max, C2);
-  lambda[0] = same ? C1 / mu_max : 0;
-  lambda[1] = same ? C2 / mu_max : 1;
-}
-
-
-// ---------------------------------------- EPA ---------------------------------------------------
-
-// replace a 3-simplex with one of its faces
-static inline void replaceSimplex3(Polytope* pt, mjCCDStatus* status, int v1, int v2, int v3) {
-  // reset status simplex
-  status->nsimplex = 3;
-  status->simplex[0] = pt->verts[v1];
-  status->simplex[1] = pt->verts[v2];
-  status->simplex[2] = pt->verts[v3];
-
-  // reset polytope
-  pt->nfaces = 0;
-  pt->nverts = 0;
-  pt->nmap = 0;
-}
-
-
-// return 1 if the origin and p3 are on the same side of the plane defined by p0, p1, p2
-static int sameSide(const mjtNum p0[3], const mjtNum p1[3],
-                    const mjtNum p2[3], const mjtNum p3[3]) {
-    mjtNum diff1[3], diff2[3], diff3[3], diff4[3], n[3];
-    sub3(diff1, p1, p0);
-    sub3(diff2, p2, p0);
-    cross3(n, diff1, diff2);
-
-    sub3(diff3, p3, p0);
-    mjtNum dot1 = dot3(n, diff3);
-
-    scl3(diff4, p0, -1);
-    mjtNum dot2 = dot3(n, diff4);
-    if (dot1 > 0 && dot2 > 0) return 1;
-    if (dot1 < 0 && dot2 < 0) return 1;
-    return 0;
-}
-
-
-// return 1 if the origin is contained in the tetrahedron, 0 otherwise
-static int testTetra(const mjtNum p0[3], const mjtNum p1[3],
-                     const mjtNum p2[3], const mjtNum p3[3]) {
-  return sameSide(p0, p1, p2, p3)
-      && sameSide(p1, p2, p3, p0)
-      && sameSide(p2, p3, p0, p1)
-      && sameSide(p3, p0, p1, p2);
-}
-
-
-// matrix for 120 degrees rotation around given axis
-static void rotmat(mjtNum R[9], const mjtNum axis[3]) {
-  mjtNum n = norm3(axis);
-  mjtNum u1 = axis[0] / n, u2 = axis[1] / n, u3 = axis[2] / n;
-  const mjtNum sin = 0.86602540378;  // sin(120 deg)
-  const mjtNum cos = -0.5;           // cos(120 deg)
-  R[0] = cos + u1*u1*(1 - cos);
-  R[1] = u1*u2*(1 - cos) - u3*sin;
-  R[2] = u1*u3*(1 - cos) + u2*sin;
-  R[3] = u2*u1*(1 - cos) + u3*sin;
-  R[4] = cos + u2*u2*(1 - cos);
-  R[5] = u2*u3*(1 - cos) - u1*sin;
-  R[6] = u1*u3*(1 - cos) - u2*sin;
-  R[7] = u2*u3*(1 - cos) + u1*sin;
-  R[8] = cos + u3*u3*(1 - cos);
-}
-
-
-// return nonzero if the ray v1v2 intersects the triangle v3v4v5
-static inline int rayTriangle(const mjtNum v1[3], const mjtNum v2[3], const mjtNum v3[3],
-                              const mjtNum v4[3], const mjtNum v5[3]) {
-  mjtNum diff12[3], diff13[3], diff14[3], diff15[3];
-  sub3(diff12, v2, v1);
-  sub3(diff13, v3, v1);
-  sub3(diff14, v4, v1);
-  sub3(diff15, v5, v1);
-
-  mjtNum vol1 = det3(diff13, diff14, diff12);
-  mjtNum vol2 = det3(diff14, diff15, diff12);
-  mjtNum vol3 = det3(diff15, diff13, diff12);
-
-  if (vol1 >= 0 && vol2 >= 0 && vol3 >= 0) return 1;
-  if (vol1 <= 0 && vol2 <= 0 && vol3 <= 0) return -1;
-  return 0;
-}
-
-
-// create a polytope from a 1-simplex (returns 0 on success)
-static int polytope2(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
-  mjtNum *v1 = status->simplex[0].vert, *v2 = status->simplex[1].vert;
-
-  // set the polytope center
-  add3(pt->center, v1, v2);
-  scl3(pt->center, pt->center, 0.5);
-
-  mjtNum diff[3];
-  sub3(diff, v2, v1);
-
-  // find component with smallest magnitude (so cross product is largest)
-  mjtNum value = mjMAX_LIMIT;
-  int index = 0;
-  for (int i = 0; i < 3; i++) {
-    if (mju_abs(diff[i]) < value) {
-      value = mju_abs(diff[i]);
-      index = i;
-    }
-  }
-
-  // cross product with best coordinate axis
-  mjtNum e[3] = {0, 0, 0};
-  e[index] = 1;
-  mjtNum d1[3], d2[3], d3[3];
-  cross3(d1, e, diff);
-
-  // rotate around the line segment to get three more points spaced 120 degrees apart
-  mjtNum R[9];
-  rotmat(R, diff);
-
-  mju_mulMatVec3(d2, R, d1);
-  mju_mulMatVec3(d3, R, d2);
-
-  // save vertices and get indices for each one
-  int v1i = insertVertex(pt, status->simplex + 0);
-  int v2i = insertVertex(pt, status->simplex + 1);
-  int v3i = epaSupport(pt, obj1, obj2, d1, norm3(d1));
-  int v4i = epaSupport(pt, obj1, obj2, d2, norm3(d2));
-  int v5i = epaSupport(pt, obj1, obj2, d3, norm3(d3));
-
-  mjtNum* v3 = pt->verts[v3i].vert;
-  mjtNum* v4 = pt->verts[v4i].vert;
-  mjtNum* v5 = pt->verts[v5i].vert;
-
-  // build hexahedron
-  if (attachFace(pt, v1i, v3i, v4i, 1, 3, 2) < mjMINDIST2) {
-    replaceSimplex3(pt, status, v1i, v3i, v4i);
-    return polytope3(pt, status, obj1, obj2);
-  }
-  if (attachFace(pt, v1i, v5i, v3i, 2, 4, 0) < mjMINDIST2) {
-    replaceSimplex3(pt, status, v1i, v5i, v3i);
-    return polytope3(pt, status, obj1, obj2);
-  }
-  if (attachFace(pt, v1i, v4i, v5i, 0, 5, 1) < mjMINDIST2) {
-    replaceSimplex3(pt, status, v1i, v4i, v5i);
-    return polytope3(pt, status, obj1, obj2);
-  }
-  if (attachFace(pt, v2i, v4i, v3i, 5, 0, 4) < mjMINDIST2) {
-    replaceSimplex3(pt, status, v2i, v4i, v3i);
-    return polytope3(pt, status, obj1, obj2);
-  }
-  if (attachFace(pt, v2i, v3i, v5i, 3, 1, 5) < mjMINDIST2) {
-    replaceSimplex3(pt, status, v2i, v3i, v5i);
-    return polytope3(pt, status, obj1, obj2);
-  }
-  if (attachFace(pt, v2i, v5i, v4i, 4, 2, 3) < mjMINDIST2) {
-    replaceSimplex3(pt, status, v2i, v5i, v4i);
-    return polytope3(pt, status, obj1, obj2);
-  }
-
-  // check hexahedron is convex
-  if (!rayTriangle(v1, v2, v3, v4, v5)) {
-    return mjEPA_P2_NONCONVEX;
-  }
-
-  // populate face map
-  for (int i = 0; i < 6; i++) {
-    pt->map[i] = pt->faces + i;
-    pt->faces[i].index = i;
-  }
-  pt->nmap = 6;
-  return 0;
-}
-
-
-// compute the affine coordinates of p on the triangle v1v2v3
-static void triAffineCoord(mjtNum lambda[3], const mjtNum v1[3], const mjtNum v2[3],
-                           const mjtNum v3[3], const mjtNum p[3]) {
-  // compute minors as in S2D
-  mjtNum M_14 = v2[1]*v3[2] - v2[2]*v3[1] - v1[1]*v3[2] + v1[2]*v3[1] + v1[1]*v2[2] - v1[2]*v2[1];
-  mjtNum M_24 = v2[0]*v3[2] - v2[2]*v3[0] - v1[0]*v3[2] + v1[2]*v3[0] + v1[0]*v2[2] - v1[2]*v2[0];
-  mjtNum M_34 = v2[0]*v3[1] - v2[1]*v3[0] - v1[0]*v3[1] + v1[1]*v3[0] + v1[0]*v2[1] - v1[1]*v2[0];
-
-  // exclude one of the axes with the largest projection of the simplex using the computed minors
-  mjtNum M_max = 0;
-  int x, y;
-  mjtNum mu1 = mju_abs(M_14), mu2 = mju_abs(M_24), mu3 = mju_abs(M_34);
-  if (mu1 >= mu2 && mu1 >= mu3) {
-    M_max = M_14;
-    x = 1;
-    y = 2;
-  } else if (mu2 >= mu3) {
-    M_max = M_24;
-    x = 0;
-    y = 2;
-  } else {
-    M_max = M_34;
-    x = 0;
-    y = 1;
-  }
-
-  // C31 corresponds to the signed area of 2-simplex: (v, s2, s3)
-  mjtNum C31 = p[x]*v2[y] + p[y]*v3[x] + v2[x]*v3[y]
-             - p[x]*v3[y] - p[y]*v2[x] - v3[x]*v2[y];
-
-  // C32 corresponds to the signed area of 2-simplex: (v, s1, s3)
-  mjtNum C32 = p[x]*v3[y] + p[y]*v1[x] + v3[x]*v1[y]
-             - p[x]*v1[y] - p[y]*v3[x] - v1[x]*v3[y];
-
-  // C33 corresponds to the signed area of 2-simplex: (v, s1, s2)
-  mjtNum C33 = p[x]*v1[y] + p[y]*v2[x] + v1[x]*v2[y]
-             - p[x]*v2[y] - p[y]*v1[x] - v2[x]*v1[y];
-
-  // compute affine coordinates
-  lambda[0] = C31 / M_max;
-  lambda[1] = C32 / M_max;
-  lambda[2] = C33 / M_max;
-}
-
-
-// return true if point p and triangle v1v2v3 intersect
-static int triPointIntersect(const mjtNum v1[3], const mjtNum v2[3], const mjtNum v3[3],
-                             const mjtNum p[3]) {
-  mjtNum lambda[3];
-  triAffineCoord(lambda, v1, v2, v3, p);
-  if (lambda[0] < 0 || lambda[1] < 0 || lambda[2] < 0) {
-    return 0;
-  }
-  mjtNum pr[3], diff[3];
-  pr[0] = v1[0]*lambda[0] + v2[0]*lambda[1] + v3[0]*lambda[2];
-  pr[1] = v1[1]*lambda[0] + v2[1]*lambda[1] + v3[1]*lambda[2];
-  pr[2] = v1[2]*lambda[0] + v2[2]*lambda[1] + v3[2]*lambda[2];
-  sub3(diff, pr, p);
-  return norm3(diff) < mjMINVAL;
-}
-
-
-// create a polytope from a 2-simplex (returns 0 on success)
-static int polytope3(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
-  // get vertices of simplex from GJK
-  const mjtNum *v1 = status->simplex[0].vert,
-               *v2 = status->simplex[1].vert,
-               *v3 = status->simplex[2].vert;
-
-  // set the polytope center
-  add3(pt->center, v1, v2);
-  add3(pt->center, pt->center, v3);
-  scl3(pt->center, pt->center, 1.0 / 3.0);
-
-  // get normals in both directions
-  mjtNum diff1[3], diff2[3], n[3], n_neg[3];
-  sub3(diff1, v2, v1);
-  sub3(diff2, v3, v1);
-  cross3(n, diff1, diff2);
-  mjtNum n_norm = norm3(n);
-  if (n_norm < mjMINVAL) {
-    return mjEPA_P3_BAD_NORMAL;
-  }
-
-  // negative of triangle normal n
-  scl3(n_neg, n, -1);
-
-  // save vertices and get indices for each one
-  int v1i = insertVertex(pt, status->simplex + 0);
-  int v2i = insertVertex(pt, status->simplex + 1);
-  int v3i = insertVertex(pt, status->simplex + 2);
-  int v5i = epaSupport(pt, obj1, obj2, n_neg, n_norm);
-  int v4i = epaSupport(pt, obj1, obj2, n, n_norm);
-  mjtNum* v4 = pt->verts[v4i].vert;
-  mjtNum* v5 = pt->verts[v5i].vert;
-
-  // check that v4 is not contained in the 2-simplex
-  if (triPointIntersect(v1, v2, v3, v4)) {
-    return mjEPA_P3_INVALID_V4;
-  }
-
-  // check that v5 is not contained in the 2-simplex
-  if (triPointIntersect(v1, v2, v3, v5)) {
-    return mjEPA_P3_INVALID_V5;
-  }
-
-  // if origin does not lie on simplex then we need to check that the hexahedron contains the
-  // origin
-  //
-  // TODO(kylebayes): It's possible for GJK to return a 2-simplex with the origin not contained in
-  // it but within tolerance from it. In that case the hexahedron could possibly be constructed
-  // that doesn't contain the origin, but nonetheless there is penetration depth.
-  if (status->dist[0] > 10*mjMINVAL && !testTetra(v1, v2, v3, v4) && !testTetra(v1, v2, v3, v5)) {
-    return mjEPA_P3_MISSING_ORIGIN;
-  }
-
-  // create hexahedron for EPA
-  if (attachFace(pt, v4i, v1i, v2i, 1, 3, 2) < mjMINDIST3) {
-    return mjEPA_P3_ORIGIN_ON_FACE;
-  }
-  if (attachFace(pt, v4i, v3i, v1i, 2, 4, 0) < mjMINDIST3) {
-    return mjEPA_P3_ORIGIN_ON_FACE;
-  }
-  if (attachFace(pt, v4i, v2i, v3i, 0, 5, 1) < mjMINDIST3) {
-    return mjEPA_P3_ORIGIN_ON_FACE;
-  }
-  if (attachFace(pt, v5i, v2i, v1i, 5, 0, 4) < mjMINDIST3) {
-    return mjEPA_P3_ORIGIN_ON_FACE;
-  }
-  if (attachFace(pt, v5i, v1i, v3i, 3, 1, 5) < mjMINDIST3) {
-    return mjEPA_P3_ORIGIN_ON_FACE;
-  }
-  if (attachFace(pt, v5i, v3i, v2i, 4, 2, 3) < mjMINDIST3) {
-    return mjEPA_P3_ORIGIN_ON_FACE;
-  }
-
-  // populate face map
-  for (int i = 0; i < 6; i++) {
-    pt->map[i] = pt->faces + i;
-    pt->faces[i].index = i;
-  }
-  pt->nmap = 6;
-  return 0;
-}
-
-
-// create a polytope from a 3-simplex (returns 0 on success)
-static int polytope4(Polytope* pt, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
-  int v1 = insertVertex(pt, status->simplex + 0);
-  int v2 = insertVertex(pt, status->simplex + 1);
-  int v3 = insertVertex(pt, status->simplex + 2);
-  int v4 = insertVertex(pt, status->simplex + 3);
-
-  // set the polytope center
-  add3(pt->center, pt->verts[v1].vert, pt->verts[v2].vert);
-  add3(pt->center, pt->center, pt->verts[v3].vert);
-  add3(pt->center, pt->center, pt->verts[v4].vert);
-  scl3(pt->center, pt->center, 0.25);
-
-  // if the origin is on a face, replace the 3-simplex with a 2-simplex
-  if (attachFace(pt, v1, v2, v3, 1, 3, 2) < mjMINDIST4) {
-    replaceSimplex3(pt, status, v1, v2, v3);
-    return polytope3(pt, status, obj1, obj2);
-  }
-  if (attachFace(pt, v1, v4, v2, 2, 3, 0) < mjMINDIST4) {
-    replaceSimplex3(pt, status, v1, v4, v2);
-    return polytope3(pt, status, obj1, obj2);
-  }
-  if (attachFace(pt, v1, v3, v4, 0, 3, 1) < mjMINDIST4) {
-    replaceSimplex3(pt, status, v1, v3, v4);
-    return polytope3(pt, status, obj1, obj2);
-  }
-  if (attachFace(pt, v4, v3, v2, 2, 0, 1) < mjMINDIST4) {
-    replaceSimplex3(pt, status, v4, v3, v2);
-    return polytope3(pt, status, obj1, obj2);
-  }
-
-  // numerically verify that the origin lies in the tetrahedron interior
-  if (!testTetra(pt->verts[v1].vert, pt->verts[v2].vert, pt->verts[v3].vert, pt->verts[v4].vert)) {
-    return mjEPA_P4_MISSING_ORIGIN;
-  }
-
-  // populate face map
-  for (int i = 0; i < 4; i++) {
-    pt->map[i] = pt->faces + i;
-    pt->faces[i].index = i;
-  }
-  pt->nmap = 4;
-  return 0;
-}
-
-
-// make a copy of vertex in polytope and return its index
-static inline int insertVertex(Polytope* pt, const Vertex* v) {
-  int n = pt->nverts++;
-  pt->verts[n] = *v;
-  return n;
-}
-
-
-// delete face from map (return non-zero on error)
-static void deleteFace(Polytope* pt, Face* face) {
-  if (face->index >= 0) {
-    pt->map[face->index] = pt->map[--pt->nmap];
-    pt->map[face->index]->index = face->index;
-  }
-  face->index = -2;  // mark face as deleted from map and polytope
-}
-
-
-// return max number of faces that can be stored in polytope
-static inline int maxFaces(Polytope* pt) {
-  return pt->maxfaces - pt->nfaces;
-}
-
-
-// attach a face to the polytope with the given vertex indices; return squared distance to origin
-static inline mjtNum attachFace(Polytope* pt, int v1, int v2, int v3,
-                                int adj1, int adj2, int adj3) {
-  Face* face = &pt->faces[pt->nfaces++];
-  face->verts = v1 + (v2 << 10) + (v3 << 20);
-
-  // adjacent faces
-  face->adj[0] = adj1;
-  face->adj[1] = adj2;
-  face->adj[2] = adj3;
-
-  // compute witness point v
-  int ret = projectOriginPlane(face->v, pt->verts[v3].vert, pt->verts[v2].vert, pt->verts[v1].vert);
-  if (ret) {
-    return 0;
-  }
-
-  // ensure projection points outward from the polytope
-  mjtNum outward[3];
-  sub3(outward, pt->verts[v1].vert, pt->center);
-  if (dot3(face->v, outward) < 0) {
-    scl3(face->v, face->v, -1);
-  }
-
-  face->dist2 = dot3(face->v, face->v);
-  face->index = -1;
-
-  return face->dist2;
-}
-
-
-// add an edge to the horizon
-static inline void addEdge(Polytope* pt, int index, int edge) {
-  pt->horizon.edges[pt->horizon.nedges] = edge;
-  pt->horizon.indices[pt->horizon.nedges++] = index;
-}
-
-
-// get edge index where vertex lies
-static inline int getEdge(Face* face, int vertex) {
-  int verts[3] = EPA_VERT_EXPAND(face->verts);
-  if (verts[0] == vertex) return 0;
-  if (verts[1] == vertex) return 1;
-  return 2;
-}
-
-
-// recursive call to build horizon; return 1 if face is visible from w otherwise 0
-static int horizonRec(Polytope* pt, Face* face, int e) {
-    // v is visible from w so it is deleted and adjacent faces are checked
-    if (dot3(face->v, pt->horizon.w) - face->dist2 > mjMINVAL) {
-      int verts[3] = EPA_VERT_EXPAND(face->verts);
-      deleteFace(pt, face);
-
-      // recursively search the adjacent faces on the next two edges
-      for (int k = 1; k < 3; k++) {
-        int i = (e + k) % 3;
-        Face* adjFace = &pt->faces[face->adj[i]];
-        if (adjFace->index > -2) {
-          int adjEdge = getEdge(adjFace, verts[(i + 1) % 3]);
-          if (!horizonRec(pt, adjFace, adjEdge)) {
-            addEdge(pt, face->adj[i], adjEdge);
-          }
-        }
-      }
-      return 1;
-    }
-  return 0;
-}
-
-
-// create horizon given the face as starting point
-static void horizon(Polytope* pt, Face* face) {
-  deleteFace(pt, face);
-  int verts[3] = EPA_VERT_EXPAND(face->verts);
-
-  // first edge
-  Face* adjFace = &pt->faces[face->adj[0]];
-  int adjEdge = getEdge(adjFace, verts[1]);
-  if (!horizonRec(pt, adjFace, adjEdge)) {
-    addEdge(pt, face->adj[0], adjEdge);
-  }
-
-  // second edge
-  adjFace = &pt->faces[face->adj[1]];
-  adjEdge = getEdge(adjFace, verts[2]);
-  if (adjFace->index > -2 && !horizonRec(pt, adjFace, adjEdge)) {
-    addEdge(pt, face->adj[1], adjEdge);
-  }
-
-  // third edge
-  adjFace = &pt->faces[face->adj[2]];
-  adjEdge = getEdge(adjFace, verts[0]);
-  if (adjFace->index > -2 && !horizonRec(pt, adjFace, adjEdge)) {
-    addEdge(pt, face->adj[2], adjEdge);
-  }
-}
-
-
-// recover witness points from EPA polytope, return signed distance between witness points
-static mjtNum epaWitness(const Polytope* pt, const Face* face, mjtNum x1[3], mjtNum x2[3]) {
-  // compute affine coordinates for witness points on plane defined by face
-  mjtNum lambda[3];
-  int verts[3] = EPA_VERT_EXPAND(face->verts);
-  Vertex* v1 = pt->verts + verts[0];
-  Vertex* v2 = pt->verts + verts[1];
-  Vertex* v3 = pt->verts + verts[2];
-  triAffineCoord(lambda, v1->vert, v2->vert, v3->vert, face->v);
-
-  // witness point on geom 1
-  lincomb(x1, lambda, 3, v1->vert1, v2->vert1, v3->vert1, NULL);
-
-  // witness point on geom 2
-  lincomb(x2, lambda, 3, v1->vert2, v2->vert2, v3->vert2, NULL);
-
-  return -mju_sqrt(face->dist2);
-}
-
-
-// return a face of the expanded polytope that best approximates the pentration depth
-// witness points are in status->{x1, x2}
-static Face* epa(mjCCDStatus* status, Polytope* pt, mjCCDObj* obj1, mjCCDObj* obj2) {
-  mjtNum upper = mjMAX_LIMIT, upper2 = mjMAX_LIMIT, lower2;
-  Face* face = NULL, *pface = NULL;  // face closest to origin
-  int discrete = discreteGeoms(obj1, obj2);
-
-  // discrete geoms return in a finite number of iterations, a non-zero tolerance avoids
-  // absurdly small lower and upper bounds
-  mjtNum tolerance = discrete ? mjMINEPATOL : status->tolerance;
-
-  int k, kmax = status->max_iterations < 1000 ? status->max_iterations : 1000;
-  for (k = 0; k < kmax; k++) {
-    pface = face;
-
-    // find the face closest to the origin (lower bound for penetration depth)
-    lower2 = mjMAX_LIMIT;
-    for (int i = 0; i < pt->nmap; i++) {
-      if (pt->map[i]->dist2 < lower2) {
-        face = pt->map[i];
-        lower2 = face->dist2;
-      }
-    }
-
-    // face not valid, return previous face
-    if (lower2 > upper2 || !face) {
-      face = pface;
-      break;
-    }
-
-    // check if lower bound is 0
-    if (lower2 <= 0) {
-      mju_warning("EPA: origin lies on affine hull of face");
-      break;
-    }
-
-    // compute support point w from the closest face's normal
-    mjtNum lower = mju_sqrt(lower2);
-    int wi = epaSupport(pt, obj1, obj2, face->v, lower);
-    const Vertex* w = pt->verts + wi;
-    mjtNum upper_k = dot3(face->v, w->vert) / lower;  // upper bound for kth iteration
-    if (upper_k < upper) {
-      upper = upper_k;
-      upper2 = upper * upper;
-    }
-    if (upper - lower < tolerance) {
-      // terminate without contact when upper < lower on first iteration
-      if (k == 0 && upper < lower - 1e-10) {
-        face = NULL;
-      }
-      break;
-    }
-
-    // check if vertex w is a repeated support point
-    if (discrete) {
-      int i = 0, nverts = pt->nverts - 1;
-      for (; i < nverts; i++) {
-        if (w->index1 == pt->verts[i].index1 && w->index2 == pt->verts[i].index2) {
-          break;
-        }
-      }
-      if (i != nverts) {
-        break;
-      }
-    }
-
-    pt->horizon.w = w->vert;
-    horizon(pt, face);
-
-    // unrecoverable numerical issue; at least one face was deleted so nedges is 3 or more
-    if (pt->horizon.nedges < 3) {
-      face = NULL;
-      break;
-    }
-
-    // insert w as new vertex and attach faces along the horizon
-    int nfaces = pt->nfaces, nedges = pt->horizon.nedges;
-
-    // check if there's enough memory to store new faces
-    if (nedges > maxFaces(pt)) {
-      mju_warning("EPA: out of memory for faces on expanding polytope");
-      break;
-    }
-
-    // attach first face
-    int hznIndex = pt->horizon.indices[0], hznEdge = pt->horizon.edges[0];
-    Face* hznFace = &pt->faces[hznIndex];
-    int hznVerts[3] = EPA_VERT_EXPAND(hznFace->verts);
-    int v1 = hznVerts[hznEdge],
-        v2 = hznVerts[(hznEdge + 1) % 3];
-    hznFace->adj[hznEdge] = nfaces;
-    mjtNum dist2 = attachFace(pt, wi, v2, v1, nfaces + nedges - 1, hznIndex, nfaces + 1);
-
-    // unrecoverable numerical issue
-    if (dist2 == 0) {
-      face = NULL;
-      break;
-    }
-
-    // store face in map
-    if (dist2 >= lower2 && dist2 <= upper2) {
-      int i = pt->nmap++;
-      pt->map[i] = &pt->faces[pt->nfaces - 1];
-      pt->map[i]->index = i;
-    }
-
-    // attach remaining faces
-    for (int i = 1; i < nedges; i++) {
-      int cur = nfaces + i;                  // index of attached face
-      int next = nfaces + (i + 1) % nedges;  // index of next face
-
-      hznIndex = pt->horizon.indices[i], hznEdge = pt->horizon.edges[i];
-      hznFace = &pt->faces[hznIndex];
-      int hznVerts2[3] = EPA_VERT_EXPAND(hznFace->verts);
-      v1 = hznVerts2[hznEdge];
-      v2 = hznVerts2[(hznEdge + 1) % 3];
-      hznFace->adj[hznEdge] = cur;
-      dist2 = attachFace(pt, wi, v2, v1, cur - 1, hznIndex, next);
-
-      // unrecoverable numerical issue
-      if (dist2 == 0) {
-        face = NULL;
-        break;
-      }
-
-      // store face in map
-      if (dist2 >= lower2 && dist2 <= upper2) {
-        int idx = pt->nmap++;
-        pt->map[idx] = &pt->faces[pt->nfaces - 1];
-        pt->map[idx]->index = idx;
-      }
-    }
-    pt->horizon.nedges = 0;  // clear horizon
-
-    // no face candidates left
-    if (!pt->nmap || !face) {
-      break;
-    }
-  }
-
-  status->epa_iterations = k;
-  if (face) {
-    status->dist[0] = epaWitness(pt, face, status->x1, status->x2);
-    status->nx = 1;
-  } else {
-    status->nx = 0;
-    status->dist[0] = 0;
-  }
-  return face;
-}
-
-
-// ------------------------------------- MultiCCD -------------------------------------------------
-
-// compute area of a quadrilateral
-static inline mjtNum area4(const mjtNum a[3], const mjtNum b[3],
-                           const mjtNum c[3], const mjtNum d[3]) {
-  mjtNum ad[3] = {d[0] - a[0], d[1] - a[1], d[2] - a[2]};
-  mjtNum db[3] = {b[0] - d[0], b[1] - d[1], b[2] - d[2]};
-  mjtNum bc[3] = {c[0] - b[0], c[1] - b[1], c[2] - b[2]};
-  mjtNum ca[3] = {a[0] - c[0], a[1] - c[1], a[2] - c[2]};
-  mjtNum e[3], f[3], g[3];
-  cross3(e, ad, db);
-  cross3(f, bc, ca);
-  add3(g, e, f);
-  return 0.5 * norm3(g);
-}
-
-
-// return pointer to next vertex in a polygon
-static inline mjtNum* next(mjtNum* polygon, int nvert, mjtNum* curr) {
-  if (curr == polygon + 3*(nvert - 1)) {
-    return polygon;
-  }
-  return curr + 3;
-}
-
-
-// prune a polygon to a maximum area convex quadrilateral
-static inline void polygonQuad(mjtNum* res[4], mjtNum* polygon, int nvert) {
-  mjtNum* a = polygon, *b = polygon + 3, *c = polygon + 6, *d = polygon + 9;
-  res[0] = a, res[1] = b, res[2] = c, res[3] = d;
-  mjtNum m = area4(a, b, c, d), m_next;
-  mjtNum* end = polygon + 3 * nvert;
-  for (; a < end; a += 3) {
-    while (1) {
-      m_next = area4(a, b, c, next(polygon, nvert, d));
-      if (m_next <= m) {
-        break;
-      }
-      m = m_next;
-      d = next(polygon, nvert, d);
-      res[0] = a, res[1] = b, res[2] = c, res[3] = d;
-      while (1) {
-        m_next = area4(a, b, next(polygon, nvert, c), d);
-        if (m_next <= m) {
-          break;
-        }
-        m = m_next;
-        c = next(polygon, nvert, c);
-        res[0] = a, res[1] = b, res[2] = c, res[3] = d;
-      }
-      while (1) {
-        m_next = area4(a, next(polygon, nvert, b), c, d);
-        if (m_next <= m) {
-          break;
-        }
-        m = m_next;
-        b = next(polygon, nvert, b);
-        res[0] = a, res[1] = b, res[2] = c, res[3] = d;
-      }
-    }
-    if (b == a) {
-      b = next(polygon, nvert, b);
-      if (c == b) {
-        c = next(polygon, nvert, c);
-        if (d == c) {
-          d = next(polygon, nvert, d);
-        }
-      }
-    }
-  }
-}
-
-
-// find the normal of a plane perpendicular to the face (given by its normal n) and intersecting the
-// face edge (v1, v2)
-static mjtNum planeNormal(mjtNum res[3], const mjtNum v1[3], const mjtNum v2[3],
-                          const mjtNum n[3]) {
-  mjtNum v3[3], diff1[3], diff2[3];
-  add3(v3, v1, n);
-  sub3(diff1, v2, v1);
-  sub3(diff2, v3, v1);
-  cross3(res, diff1, diff2);
-
-  // normalize isn't needed (cancelled out), but done to avoid asymmetric rounding later on
-  mju_normalize3(res);
-  return dot3(res, v1);
-}
-
-
-// find what side of a plane a point p lies
-static int halfspace(const mjtNum a[3], const mjtNum n[3], const mjtNum p[3]) {
-  mjtNum diff[3] = {p[0] - a[0], p[1] - a[1], p[2] - a[2]};
-  return dot3(diff, n) > -mjMINVAL;
-}
-
-
-// compute the intersection of a plane with a line segment (a, b)
-static mjtNum planeIntersect(mjtNum res[3], const mjtNum pn[3], mjtNum pd,
-                             const mjtNum a[3], const mjtNum b[3]) {
-  mjtNum ab[3];
-  sub3(ab, b, a);
-  mjtNum temp = dot3(pn, ab);
-  if (temp == 0.0) return mjMAX_LIMIT;  // parallel; no intersection
-  mjtNum t = (pd - dot3(pn, a)) / temp;
-  if (t >= 0.0 && t <= 1.0) {
-    res[0] = a[0] + t*ab[0];
-    res[1] = a[1] + t*ab[1];
-    res[2] = a[2] + t*ab[2];
-  }
-  return t;
-}
-
-
-// compute witness points on face (given by point p and normal n) from clipped vertex
-static inline void witnessOnFace(mjtNum w1[3], mjtNum w2[3], const mjtNum v[3],
-                                 const mjtNum* p, const mjtNum n[3], const mjtNum dir[3]) {
-  mjtNum d[3];
-  sub3(d, v, p);
-  mjtNum g = mju_abs(dot3(d, n));
-  addScl3(w1, v, dir, -g);
-  copy3(w2, v);
-}
-
-
-// clip a polygon against another polygon
-static void polygonClip(mjCCDStatus* status, const mjtNum* face1, int nface1,
-                        const mjtNum* face2, int nface2, const mjtNum n[3],
-                        const mjtNum dir[3], mjtNum* buffer, int npolygonmax) {
-  // clipping face needs to be at least a triangle
-  if (nface1 < 3) {
-    return;
-  }
-
-  mjtNum* polygon = buffer;
-  mjtNum* clipped = polygon + 6 * npolygonmax;
-  mjtNum* pn = clipped + 6 * npolygonmax;
-  mjtNum* pd = pn + 3 * npolygonmax;
-
-  // compute plane normal and distance to plane for each vertex
-  for (int i = 0; i < nface1 - 1; i++) {
-    pd[i] = planeNormal(&pn[3*i], &face1[3*i], &face1[3*i + 3], n);
-  }
-  pd[nface1 - 1] = planeNormal(&pn[3*(nface1 - 1)], &face1[3*(nface1 - 1)], &face1[0], n);
-
-  // reserve 2 * max_sides as max sides for a clipped polygon
-  int npolygon = nface2, nclipped = 0;
-
-  for (int i = 0; i < nface2; i++) {
-    copy3(polygon + 3*i, face2 + 3*i);
-  }
-
-  // clip the polygon by one edge e at a time
-  for (int e = 0; e < (3 * nface1); e += 3) {
-    for (int i = 0; i < npolygon; i++) {
-      // get edge PQ of the polygon
-      mjtNum *P = polygon + 3*i;
-      mjtNum *Q = (i < npolygon - 1) ? polygon + 3*(i+1) : polygon;
-
-      // determine if P and Q are in the halfspace of the clipping edge
-      int inside1 = halfspace(face1 + e, pn + e, P);
-      int inside2 = halfspace(face1 + e, pn + e, Q);
-
-      // PQ entirely outside the clipping edge, skip
-      if (!inside1 && !inside2) {
-        continue;
-      }
-
-      // edge PQ is inside the clipping edge, add Q
-      if (inside1 && inside2) {
-        copy3(clipped + 3*nclipped++, Q);
-        continue;
-      }
-
-      // add new vertex to clipped polygon where PQ intersects the clipping edge
-      mjtNum t = planeIntersect(clipped + 3*nclipped++, pn + e, pd[e/3], P, Q);
-      if (t < 0.0 || t > 1.0) {
-        nclipped--;  // no intersection in PQ
-      }
-
-      // add Q as PQ is now back inside the clipping edge
-      if (inside2) {
-        copy3(clipped + 3*nclipped++, Q);
-      }
-    }
-
-    // swap clipped and polygon
-    mjtNum* tmp = polygon;
-    polygon = clipped;
-    clipped = tmp;
-    npolygon = nclipped;
-    nclipped = 0;
-  }
-
-  if (npolygon < 1) {
-    return;
-  }
-
-  // copy final clipped polygon to status
-  if (status->max_contacts < 5 && npolygon > 4) {
-    status->nx = 4;
-    mjtNum* rect[4];
-    polygonQuad(rect, polygon, npolygon);
-    for (int i = 0; i < 4; i++) {
-      status->dist[i] = status->dist[0];
-      witnessOnFace(status->x1 + 3*i, status->x2 + 3*i, rect[i], face1, n, dir);
-    }
-    return;
-  }
-
-  // if the face is an edge, remove potential duplicates
-  if (nface2 == 2 && npolygon > 2) {
-    // find the two most distant vertices in the polygon
-    int best1 = 0, best2 = 1;
-    mjtNum d = 0;
-    for (int i = 0; i < npolygon; i++) {
-      for (int j = i + 1; j < npolygon; j++) {
-        mjtNum diff[3];
-        sub3(diff, polygon + 3*j, polygon + 3*i);
-        mjtNum d2 = dot3(diff, diff);
-        if (d2 > d) {
-          d = d2;
-          best1 = i;
-          best2 = j;
-        }
-      }
-    }
-    witnessOnFace(status->x1, status->x2, polygon + 3*best1, face1, n, dir);
-    witnessOnFace(status->x1 + 3, status->x2 + 3, polygon + 3*best2, face1, n, dir);
-    status->dist[1] = status->dist[0];
-    status->nx = 2;
-    return;
-  }
-
-  // no pruning needed (cap to max contacts)
-  int maxcon = sizeof(status->x2) / (3*sizeof(status->x2[0]));
-  npolygon = (npolygon < maxcon) ? npolygon : maxcon;
-  for (int i = 0; i < npolygon; i++) {
-    status->dist[i] = status->dist[0];
-    witnessOnFace(status->x1 + 3*i, status->x2 + 3*i, polygon + 3*i, face1, n, dir);
-  }
-  status->nx = npolygon;
-}
-
-
-// compute global coordinates of a local point (l1, l2, l3)
-static inline void globalcoord(mjtNum res[3], const mjtNum mat[9], const mjtNum pos[3],
-                              mjtNum l1, mjtNum l2, mjtNum l3) {
-  // perform mat * (l1, l2, l3) + pos
-  res[0] = mat[0]*l1 + mat[1]*l2 + mat[2]*l3;
-  res[1] = mat[3]*l1 + mat[4]*l2 + mat[5]*l3;
-  res[2] = mat[6]*l1 + mat[7]*l2 + mat[8]*l3;
-  if (pos) {
-    res[0] += pos[0];
-    res[1] += pos[1];
-    res[2] += pos[2];
-  }
-}
-
-
-// find up to n <= 2 common integers of two arrays, return n
-static int intersect(int res[2], const int* arr1, const int* arr2, int n, int m) {
-  int count = 0;
-  for (int i = 0; i < n; i++) {
-    for (int j = 0; j < m; j++) {
-      if (arr1[i] == arr2[j]) {
-        res[count++] = arr1[i];
-        if (count == 2) return 2;
-      }
-    }
-  }
-  return count;
-}
-
-
-// compute possible polygon normals of a mesh given up to 3 vertices
-static int meshNormals(mjtNum* res, int resind[3], int dim, mjCCDObj* obj, const int vi[3]) {
-  int v1 = vi[0], v2 = vi[1], v3 = vi[2];
-  const int* polymap = obj->data.mesh.polymap;
-  const mjtNum* polynormal = obj->data.mesh.polynormal;
-
-  if (dim == 3) {
-    int v1_adr = obj->data.mesh.mpolymapadr[v1];
-    int v1_num = obj->data.mesh.mpolymapnum[v1];
-
-    int v2_adr = obj->data.mesh.mpolymapadr[v2];
-    int v2_num = obj->data.mesh.mpolymapnum[v2];
-
-    int v3_adr = obj->data.mesh.mpolymapadr[v3];
-    int v3_num = obj->data.mesh.mpolymapnum[v3];
-
-    int edgeset[2], faceset[2];
-    int n = intersect(edgeset, polymap + v1_adr, polymap + v2_adr, v1_num, v2_num);
-    if (n == 0) return 0;
-    n = intersect(faceset, edgeset, polymap + v3_adr, n, v3_num);
-    if (n == 0) return 0;
-
-    // three vertices on mesh define a unique face
-    const mjtNum* normal = polynormal + 3*faceset[0];
-    globalcoord(res, obj->mat, NULL, normal[0], normal[1], normal[2]);
-    resind[0] = faceset[0];
-    return 1;
-  }
-
-  if (dim == 2) {
-    int v1_adr = obj->data.mesh.mpolymapadr[v1];
-    int v1_num = obj->data.mesh.mpolymapnum[v1];
-
-    int v2_adr = obj->data.mesh.mpolymapadr[v2];
-    int v2_num = obj->data.mesh.mpolymapnum[v2];
-
-    // up to two faces as vertices on mesh define an edge
-    int edgeset[2];
-    int n = intersect(edgeset, polymap + v1_adr, polymap + v2_adr, v1_num, v2_num);
-    if (n == 0) return 0;
-    for (int i = 0; i < n; i++) {
-      const mjtNum* normal = polynormal + 3*edgeset[i];
-      globalcoord(res + 3*i, obj->mat, NULL, normal[0], normal[1], normal[2]);
-      resind[i] = edgeset[i];
-    }
-    return n;
-  }
-
-  if (dim == 1) {
-    int v1_adr = obj->data.mesh.mpolymapadr[v1];
-    int v1_num = obj->data.mesh.mpolymapnum[v1];
-
-    // cap number of possible faces intersecting at a vertex
-    for (int i = 0; i < v1_num; i++) {
-      int index = polymap[v1_adr + i];
-      const mjtNum* normal = polynormal + 3*index;
-      globalcoord(res + 3*i, obj->mat, NULL, normal[0], normal[1], normal[2]);
-      resind[i] = index;
-    }
-    return v1_num;
-  }
-  return 0;
-}
-
-
-// compute normal directional vectors along possible edges given by up to two vertices
-static int meshEdgeNormals(mjtNum* res, mjtNum* endverts, int dim, mjCCDObj* obj,
-                           const mjtNum v[9], int v1i) {
-  const mjtNum* v1 = v;
-  const mjtNum* v2 = v + 3;
-  // mesh data
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-  const float* vert = obj->data.mesh.vert;
-  const int* polyvert = obj->data.mesh.polyvert;
-
-  // only one edge
-  if (dim == 2) {
-    copy3(endverts, v2);
-    sub3(res, v2, v1);
-    mju_normalize3(res);
-    return 1;
-  }
-
-  if (dim == 1) {
-    int v1_adr = obj->data.mesh.mpolymapadr[v1i];
-    int v1_num = obj->data.mesh.mpolymapnum[v1i];
-
-    // loop through all faces with vertex v1
-    for (int i = 0; i < v1_num; i++) {
-      int idx = obj->data.mesh.polymap[v1_adr + i];
-      int adr = obj->data.mesh.polyvertadr[idx];
-      int nvert = obj->data.mesh.polyvertnum[idx];
-      // find previous vertex in polygon to form edge
-      for (int j = 0; j < nvert; j++) {
-        if (polyvert[adr + j] == v1i) {
-          int k = (j == 0) ? nvert - 1 : j - 1;
-          const float* vert_k = vert + 3*polyvert[adr + k];
-          globalcoord(endverts + 3*i, mat, pos, vert_k[0], vert_k[1], vert_k[2]);
-          sub3(res + 3*i, endverts + 3*i, v1);
-          mju_normalize3(res + 3*i);
-          break;
-        }
-      }
-    }
-    return v1_num;
-  }
-  return 0;
-}
-
-
-// try recovering box normal from collision normal
-static int boxNormals2(mjtNum res[9], int resind[3], const mjtNum mat[9], const mjtNum n[3]) {
-  // list of box face normals
-  mjtNum normals[18] = {1, 0, 0,    -1,  0,  0,
-                        0, 1, 0,     0, -1,  0,
-                        0, 0, 1,     0,  0, -1};
-
-  // get local coordinates of the normal
-  mjtNum local_n[3];
-  local_n[0] = mat[0]*n[0] + mat[3]*n[1] + mat[6]*n[2];
-  local_n[1] = mat[1]*n[0] + mat[4]*n[1] + mat[7]*n[2];
-  local_n[2] = mat[2]*n[0] + mat[5]*n[1] + mat[8]*n[2];
-  scl3(local_n, local_n, 1/mju_sqrt(dot3(local_n, local_n)));
-
-  // determine if there is a side close to the normal
-  for (int i = 0; i < 6; i++) {
-    if (dot3(local_n, normals + 3*i) > mjFACE_TOL) {
-      globalcoord(res, mat, NULL, normals[3*i], normals[3*i + 1], normals[3*i + 2]);
-      resind[0] = i;
-      return 1;
-    }
-  }
-  return 0;
-}
-
-
-// compute possible face normals of a box given up to 3 vertices
-static int boxNormals(mjtNum res[9], int resind[3], int dim, mjCCDObj* obj,
-                      const int vi[3], const mjtNum dir[3]) {
-  int v1 = vi[0], v2 = vi[1], v3 = vi[2];
-  const mjtNum* mat = obj->mat;
-  if (dim == 3) {
-    int c = 0;
-    int x = ((v1 & 1) && (v2 & 1) && (v3 & 1)) - (!(v1 & 1) && !(v2 & 1) && !(v3 & 1));
-    int y = ((v1 & 2) && (v2 & 2) && (v3 & 2)) - (!(v1 & 2) && !(v2 & 2) && !(v3 & 2));
-    int z = ((v1 & 4) && (v2 & 4) && (v3 & 4)) - (!(v1 & 4) && !(v2 & 4) && !(v3 & 4));
-    globalcoord(res, mat, NULL, x, y, z);
-    int sgn = x + y + z;
-    if (x) resind[c++] = 0;
-    if (y) resind[c++] = 2;
-    if (z) resind[c++] = 4;
-    if (sgn == -1) resind[0]++;
-    return c == 1 ? 1 : boxNormals2(res, resind, mat, dir);
-  }
-
-  if (dim == 2) {
-    int c = 0;
-    int x = ((v1 & 1) && (v2 & 1)) - (!(v1 & 1) && !(v2 & 1));
-    int y = ((v1 & 2) && (v2 & 2)) - (!(v1 & 2) && !(v2 & 2));
-    int z = ((v1 & 4) && (v2 & 4)) - (!(v1 & 4) && !(v2 & 4));
-    if (x) {
-      globalcoord(res, mat, NULL, x, 0, 0);
-      resind[c++] = (x > 0) ? 0 : 1;
-    }
-    if (y) {
-      globalcoord(res + 3*c, mat, NULL, 0, y, 0);
-      resind[c++] = (y > 0) ? 2 : 3;
-    }
-    if (z) {
-      globalcoord(res + 3, mat, NULL, 0, 0, z);
-      resind[c++] = (z > 0) ? 4 : 5;
-    }
-    return c == 2 ? 2 : boxNormals2(res, resind, mat, dir);
-  }
-
-  if (dim == 1) {
-    mjtNum x = (v1 & 1) ? 1 : -1;
-    mjtNum y = (v1 & 2) ? 1 : -1;
-    mjtNum z = (v1 & 4) ? 1 : -1;
-    globalcoord(res + 0, mat, NULL, x, 0, 0);
-    globalcoord(res + 3, mat, NULL, 0, y, 0);
-    globalcoord(res + 6, mat, NULL, 0, 0, z);
-    resind[0] = (x > 0) ? 0 : 1;
-    resind[1] = (y > 0) ? 2 : 3;
-    resind[2] = (z > 0) ? 4 : 5;
-    return 3;
-  }
-  return 0;
-}
-
-
-// compute possible edge normals for box for edge collisions
-static int boxEdgeNormals(mjtNum res[9], mjtNum endverts[9], int dim, mjCCDObj* obj,
-                          const mjtNum v[9], int v1i) {
-  const mjtNum* v1 = v;
-  const mjtNum* v2 = v + 3;
-  // box data
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-  const mjtNum* size = obj->size;
-  if (dim == 2) {
-    copy3(endverts, v2);
-    sub3(res, v2, v1);
-    mju_normalize3(res);
-    return 1;
-  }
-
-  // return 3 adjacent vertices
-  if (dim == 1) {
-    mjtNum x = (v1i & 1) ? size[0] : -size[0];
-    mjtNum y = (v1i & 2) ? size[1] : -size[1];
-    mjtNum z = (v1i & 4) ? size[2] : -size[2];
-
-    globalcoord(endverts, mat, pos, -x, y, z);
-    sub3(res, endverts, v1);
-    mju_normalize3(res);
-
-    globalcoord(endverts + 3, mat, pos, x, -y, z);
-    sub3(res + 3, endverts + 3, v1);
-    mju_normalize3(res + 3);
-
-    globalcoord(endverts + 6, mat, pos, x, y, -z);
-    sub3(res + 6, endverts + 6, v1);
-    mju_normalize3(res + 6);
-    return 3;
-  }
-  return 0;
-}
-
-
-// recover face of a box from its index
-static int boxFace(mjtNum res[12], mjCCDObj* obj, int idx) {
-  // box data
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-  const mjtNum* size = obj->size;
-
-  // compute global coordinates of the box face and face normal
-  switch (idx) {
-    case 0:  // right
-      globalcoord(res + 0, mat, pos,  size[0],  size[1],  size[2]);
-      globalcoord(res + 3, mat, pos,  size[0],  size[1], -size[2]);
-      globalcoord(res + 6, mat, pos,  size[0], -size[1], -size[2]);
-      globalcoord(res + 9, mat, pos,  size[0], -size[1],  size[2]);
-      return 4;
-     case 1:  // left
-      globalcoord(res + 0, mat, pos, -size[0],  size[1], -size[2]);
-      globalcoord(res + 3, mat, pos, -size[0],  size[1],  size[2]);
-      globalcoord(res + 6, mat, pos, -size[0], -size[1],  size[2]);
-      globalcoord(res + 9, mat, pos, -size[0], -size[1], -size[2]);
-      return 4;
-    case 2:  // top
-      globalcoord(res + 0, mat, pos, -size[0],  size[1], -size[2]);
-      globalcoord(res + 3, mat, pos,  size[0],  size[1], -size[2]);
-      globalcoord(res + 6, mat, pos,  size[0],  size[1],  size[2]);
-      globalcoord(res + 9, mat, pos, -size[0],  size[1],  size[2]);
-      return 4;
-    case 3:  // bottom
-      globalcoord(res + 0, mat, pos, -size[0], -size[1],  size[2]);
-      globalcoord(res + 3, mat, pos,  size[0], -size[1],  size[2]);
-      globalcoord(res + 6, mat, pos,  size[0], -size[1], -size[2]);
-      globalcoord(res + 9, mat, pos, -size[0], -size[1], -size[2]);
-      return 4;
-    case 4:  // front
-      globalcoord(res + 0, mat, pos, -size[0],  size[1],  size[2]);
-      globalcoord(res + 3, mat, pos,  size[0],  size[1],  size[2]);
-      globalcoord(res + 6, mat, pos,  size[0], -size[1],  size[2]);
-      globalcoord(res + 9, mat, pos, -size[0], -size[1],  size[2]);
-      return 4;
-    case 5:  // back
-      globalcoord(res + 0, mat, pos,  size[0],  size[1], -size[2]);
-      globalcoord(res + 3, mat, pos, -size[0],  size[1], -size[2]);
-      globalcoord(res + 6, mat, pos, -size[0], -size[1], -size[2]);
-      globalcoord(res + 9, mat, pos,  size[0], -size[1], -size[2]);
-      return 4;
-  }
-  return 0;
-}
-
-
-// recover mesh polygon from its index, return number of edges
-static int meshFace(mjtNum* res, mjCCDObj* obj, int idx) {
-  const mjtNum* mat = obj->mat;
-  const mjtNum* pos = obj->pos;
-
-  int adr = obj->data.mesh.polyvertadr[idx], j = 0;
-  int nvert = obj->data.mesh.polyvertnum[idx];
-  const float* vert = obj->data.mesh.vert;
-  const int* polyvert = obj->data.mesh.polyvert + adr;
-  for (int i = nvert - 1; i >= 0; i--) {
-    const float* v = vert + 3*polyvert[i];
-    globalcoord(res + 3*j++, mat, pos, v[0], v[1], v[2]);
-  }
-  return nvert;
-}
-
-
-// find two normals that are facing each other within a tolerance, return 1 if found
-static inline int alignedFaces(int res[2], const mjtNum* v, int nv,
-                                 const mjtNum* w, int nw) {
-  for (int i = 0; i < nv; i++) {
-    for (int j = 0; j < nw; j++) {
-      if (dot3(v + 3*i, w + 3*j) < -mjFACE_TOL) {
-        res[0] = i;
-        res[1] = j;
-        return 1;
-      }
-    }
-  }
-  return 0;
-}
-
-
-// find two normals that are perpendicular to each other within a tolerance, return 1 if found
-static inline int alignedFaceEdge(int res[2], const mjtNum* edge, int nedge,
-                                  const mjtNum* face, int nface) {
-  for (int i = 0; i < nface; i++) {
-    for (int j = 0; j < nedge; j++) {
-      if (mju_abs(dot3(edge + 3*j, face + 3*i)) < mjEDGE_TOL) {
-        res[0] = j;
-        res[1] = i;
-        return 1;
-      }
-    }
-  }
-  return 0;
-}
-
-
-// return number (1, 2 or 3) of dimensions of a simplex; reorder vertices if necessary
-static inline int simplexDim(int vi[3], mjtNum v[9]) {
-  if (vi[0] == vi[1]) {
-    if (vi[0] == vi[2]) return 1;
-    vi[1] = vi[2];
-    copy3(v + 3, v + 6);
-    return 2;
-  }
-  return (vi[2] == vi[0] || vi[2] == vi[1]) ? 2 : 3;
-}
-
-
-// recover multiple contacts from EPA polytope
-static void multicontact(int nmeshdegmax, int npolygonmax, uint8_t* buffer, Polytope* pt,
-                         Face* face, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
-  if (obj1->geom_type == mjGEOM_MESH && !obj1->data.mesh.mesh_polynum) {
-    return;
-  }
-  if (obj2->geom_type == mjGEOM_MESH && !obj2->data.mesh.mesh_polynum) {
-    return;
-  }
-  if (obj1->geom_type == mjGEOM_BOX || obj2->geom_type == mjGEOM_BOX) {
-    nmeshdegmax = nmeshdegmax < 3 ? 3 : nmeshdegmax;
-    npolygonmax = npolygonmax < 4 ? 4 : npolygonmax;
-  }
-
-  int verts[3] = EPA_VERT_EXPAND(face->verts);
-  int v1i[3] = {pt->verts[verts[0]].index1, pt->verts[verts[1]].index1, pt->verts[verts[2]].index1};
-  int v2i[3] = {pt->verts[verts[0]].index2, pt->verts[verts[1]].index2, pt->verts[verts[2]].index2};
-
-  /// save relevant polytope data before overwriting buffer space
-  mjtNum v1[9], v2[9];
-  copy3(v1 + 0, pt->verts[verts[0]].vert1);
-  copy3(v1 + 3, pt->verts[verts[1]].vert1);
-  copy3(v1 + 6, pt->verts[verts[2]].vert1);
-  copy3(v2 + 0, pt->verts[verts[0]].vert2);
-  copy3(v2 + 3, pt->verts[verts[1]].vert2);
-  copy3(v2 + 6, pt->verts[verts[2]].vert2);
-
-  uint8_t* ptr = buffer;
-  int* idx1 = (int*)ptr;           ptr += align8(sizeof(int) * nmeshdegmax);
-  int* idx2 = (int*)ptr;           ptr += align8(sizeof(int) * nmeshdegmax);
-  mjtNum* n1 = (mjtNum*)ptr;       ptr += align8(sizeof(mjtNum) * 3 * nmeshdegmax);
-  mjtNum* n2 = (mjtNum*)ptr;       ptr += align8(sizeof(mjtNum) * 3 * nmeshdegmax);
-  mjtNum* endverts = (mjtNum*)ptr; ptr += align8(sizeof(mjtNum) * 3 * nmeshdegmax);
-  mjtNum* face1 = (mjtNum*)ptr;    ptr += align8(sizeof(mjtNum) * 3 * npolygonmax);
-  mjtNum* face2 = (mjtNum*)ptr;    ptr += align8(sizeof(mjtNum) * 3 * npolygonmax);
-  mjtNum* polygon = (mjtNum*)ptr;  // buffer for polygonClip
-
-  // get dimensions of features of geoms 1 and 2
-  int nface1 = simplexDim(v1i, v1);
-  int nface2 = simplexDim(v2i, v2);
-  int nnorms1 = 0, nnorms2 = 0;
-
-  mjtNum dir[3], dir_neg[3];
-  sub3(dir, status->x2, status->x1);
-  sub3(dir_neg, status->x1, status->x2);
-
-  // get all possible face normals for each geom
-  if (obj1->geom_type == mjGEOM_BOX) {
-    nnorms1 = boxNormals(n1, idx1, nface1, obj1, v1i, dir_neg);
-  } else if (obj1->geom_type == mjGEOM_MESH) {
-    nnorms1 = meshNormals(n1, idx1, nface1, obj1, v1i);
-  }
-  if (obj2->geom_type == mjGEOM_BOX) {
-    nnorms2 = boxNormals(n2, idx2, nface2, obj2, v2i, dir);
-  } else if (obj2->geom_type == mjGEOM_MESH) {
-    nnorms2 = meshNormals(n2, idx2, nface2, obj2, v2i);
-  }
-
-  // determine if any two face normals match
-  int res[2], edgecon1 = 0, edgecon2 = 0;
-  if (!alignedFaces(res, n1, nnorms1, n2, nnorms2)) {
-    // check if edge-face collision
-    if (nface1 < 3 && nface1 <= nface2) {
-      nnorms1 = 0;
-      if (obj1->geom_type == mjGEOM_BOX) {
-        nnorms1 = boxEdgeNormals(n1, endverts, nface1, obj1, v1, v1i[0]);
-      } else if (obj1->geom_type == mjGEOM_MESH) {
-        nnorms1 = meshEdgeNormals(n1, endverts, nface1, obj1, v1, v1i[0]);
-      }
-      if (!alignedFaceEdge(res, n1, nnorms1, n2, nnorms2)) return;
-      edgecon1 = 1;
-
-    // check if face-edge collision
-    } else if (nface2 < 3) {
-      nnorms2 = 0;
-      if (obj2->geom_type == mjGEOM_BOX) {
-        nnorms2 = boxEdgeNormals(n2, endverts, nface2, obj2, v2, v2i[0]);
-      } else if (obj2->geom_type == mjGEOM_MESH) {
-        nnorms2 = meshEdgeNormals(n2, endverts, nface2, obj2, v2, v2i[0]);
-      }
-      if (!alignedFaceEdge(res, n2, nnorms2, n1, nnorms1)) return;
-      edgecon2 = 1;
-    } else {
-      // no multi-contact
-      return;
-    }
-  }
-  int i = res[0], j = res[1];
-
-  // recover geom1 matching edge or face
-  if (edgecon1) {
-    copy3(face1, v1);
-    copy3(face1 + 3, endverts + 3*i);
-    nface1 = 2;
-  } else {
-    if (obj1->geom_type == mjGEOM_BOX) {
-      int ind = (edgecon2 ? idx1[j] : idx1[i]);
-      nface1 = boxFace(face1, obj1, ind);
-    } else if (obj1->geom_type == mjGEOM_MESH) {
-      int ind = (edgecon2 ? idx1[j] : idx1[i]);
-      nface1 = meshFace(face1, obj1, ind);
-    }
-  }
-
-  // recover geom2 matching edge or face
-  if (edgecon2) {
-    copy3(face2, v2);
-    copy3(face2 + 3, endverts + 3*i);
-    nface2 = 2;
-  } else {
-    if (obj2->geom_type == mjGEOM_BOX) {
-      nface2 = boxFace(face2, obj2, idx2[j]);
-    } else if (obj2->geom_type == mjGEOM_MESH) {
-      nface2 = meshFace(face2, obj2, idx2[j]);
-    }
-  }
-
-  // normal direction for witness recovery
-  mjtNum wit_dir[3];
-
-  // face1 is an edge; clip face1 against face2
-  if (edgecon1) {
-    scl3(wit_dir, n2 + 3*j, -1.0);
-    polygonClip(status, face2, nface2, face1, nface1, n2 + 3*j, wit_dir, polygon, npolygonmax);
-    // x1 and x2 must be flipped as we flipped the faces in polygonClip
-    int nx = status->nx;
-    for (int k = 0; k < nx; k++) {
-      mjtNum tmp[3];
-      copy3(tmp, status->x1 + 3*k);
-      copy3(status->x1 + 3*k, status->x2 + 3*k);
-      copy3(status->x2 + 3*k, tmp);
-    }
-    return;
-  }
-
-  // face2 is an edge; clip face2 against face1
-  if (edgecon2) {
-    scl3(wit_dir, n1 + 3*j, -1.0);
-    polygonClip(status, face1, nface1, face2, nface2, n1 + 3*j, wit_dir, polygon, npolygonmax);
-    return;
-  }
-
-  // face-face collision
-  copy3(wit_dir, n2 + 3*j);
-  polygonClip(status, face1, nface1, face2, nface2, n1 + 3*i, wit_dir, polygon, npolygonmax);
-}
-
-
-
-// inflate a contact by margin
-static inline void inflate(mjCCDStatus* status, mjtNum margin1, mjtNum margin2) {
-  mjtNum n[3];
-  sub3(n, status->x2, status->x1);
-  mju_normalize3(n);
-  if (margin1) {
-    status->x1[0] += margin1 * n[0];
-    status->x1[1] += margin1 * n[1];
-    status->x1[2] += margin1 * n[2];
-  }
-  if (margin2) {
-    status->x2[0] -= margin2 * n[0];
-    status->x2[1] -= margin2 * n[1];
-    status->x2[2] -= margin2 * n[2];
-  }
-  status->dist[0] -= (margin1 + margin2);
-}
-
-
-// return size in bytes of the buffer needed for mjc_ccd for a given number of iterations
-size_t mjc_ccdSize(int npolygonmax, int nmeshdegmax, int iterations) {
-  size_t epa_size = align8(sizeof(Vertex) * (5 + iterations))   // vertices in polytope
-                  + align8(sizeof(Face) * 6 * iterations)       // faces in polytope
-                  + align8(sizeof(Face*) * 6 * iterations)      // map in polytope
-                  + align8(sizeof(int) * 24)                    // horizon indices
-                  + align8(sizeof(int) * 24);                   // horizon edges
-
-  // allocate room for box geoms (multicontact is hardwired for box-box collisions)
-  npolygonmax = npolygonmax < 4 ? 4 : npolygonmax;
-  nmeshdegmax = nmeshdegmax < 3 ? 3 : nmeshdegmax;
-  size_t multiccd_size = align8(sizeof(mjtNum) * 3 * 2 * npolygonmax)
-                       + align8(sizeof(mjtNum) * 3 * 2 * npolygonmax)
-                       + align8(sizeof(mjtNum) * 3 * npolygonmax)
-                       + align8(sizeof(mjtNum) * npolygonmax)
-                       + align8(sizeof(int) * nmeshdegmax)
-                       + align8(sizeof(int) * nmeshdegmax)
-                       + align8(sizeof(mjtNum) * 3 * nmeshdegmax)
-                       + align8(sizeof(mjtNum) * 3 * nmeshdegmax)
-                       + align8(sizeof(mjtNum) * 3 * nmeshdegmax)
-                       + align8(sizeof(mjtNum) * 3 * npolygonmax)
-                       + align8(sizeof(mjtNum) * 3 * npolygonmax);
-
-  return epa_size > multiccd_size ? epa_size : multiccd_size;
-}
-
-
-// general convex collision detection
-mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
-  // setup
-  obj1->center(status->x1, obj1);
-  obj2->center(status->x2, obj2);
-  status->gjk_iterations = 0;
-  status->epa_iterations = 0;
-  status->epa_status = mjEPA_NOCONTACT;
-  status->tolerance = config->tolerance;
-  status->max_iterations = config->max_iterations;
-  status->max_contacts = config->max_contacts;
-  status->dist_cutoff = config->dist_cutoff;
-
-  // special handling for sphere and capsule (shrink to point and line respectively)
-  if (obj1->geom_type == mjGEOM_SPHERE || obj2->geom_type == mjGEOM_SPHERE ||
-      obj1->geom_type == mjGEOM_CAPSULE || obj2->geom_type == mjGEOM_CAPSULE) {
-    void (*support1)(mjtNum*, struct _mjCCDObj*, const mjtNum*) = obj1->support;
-    void (*support2)(mjtNum*, struct _mjCCDObj*, const mjtNum*) = obj2->support;
-    mjtNum full_margin1 = 0, full_margin2 = 0;
-    mjtNum margin1 = obj1->margin, margin2 = obj2->margin;
-
-    if (obj1->geom_type == mjGEOM_SPHERE) {
-      full_margin1 = obj1->size[0] + 0.5*margin1;
-      obj1->support = mjc_pointSupport;
-      obj1->margin = 0;
-    } else if (obj1->geom_type == mjGEOM_CAPSULE) {
-      full_margin1 = obj1->size[0] + 0.5*margin1;
-      obj1->support = mjc_lineSupport;
-      obj1->margin = 0;
-    }
-
-    if (obj2->geom_type == mjGEOM_SPHERE) {
-      full_margin2 = obj2->size[0] + 0.5*margin2;
-      obj2->support = mjc_pointSupport;
-      obj2->margin = 0;
-    } else if (obj2->geom_type == mjGEOM_CAPSULE) {
-      full_margin2 = obj2->size[0] + 0.5*margin2;
-      obj2->support = mjc_lineSupport;
-      obj2->margin = 0;
-    }
-
-    status->dist_cutoff += full_margin1 + full_margin2;
-    gjk(status, obj1, obj2);
-    status->dist_cutoff = config->dist_cutoff;
-
-    // restore original margin and support
-    obj1->margin = margin1;
-    obj2->margin = margin2;
-    obj1->support = support1;
-    obj2->support = support2;
-
-    // shallow penetration, inflate contact
-    if (status->dist[0] > status->tolerance) {
-      inflate(status, full_margin1, full_margin2);
-      if (status->dist[0] > status->dist_cutoff) {
-        status->dist[0] = mjMAX_LIMIT;
-      }
-      return status->dist[0];
-    }
-
-    // contact not needed
-    if (!config->max_contacts) {
-      status->nx = 0;
-      status->dist[0] = 0;
-      return 0;
-    }
-
-    // deep penetration, reset initial conditions and rerun GJK + EPA
-    status->gjk_iterations = 0;
-    obj1->center(status->x1, obj1);
-    obj2->center(status->x2, obj2);
-  }
-  gjk(status, obj1, obj2);
-
-  // penetration recovery for contacts not needed
-  if (!config->max_contacts) {
-    return status->dist[0];
-  }
-
-  if (status->dist[0] <= config->tolerance && status->nsimplex > 1
-      && config->buffer && !status->separated) {
-    status->dist[0] = 0;  // assume touching
-    Polytope pt;
-    pt.nfaces = pt.nmap = pt.nverts = pt.horizon.nedges = 0;
-
-    // allocate memory for polytope
-    int N = config->max_iterations;
-    pt.maxfaces = 6 * N;
-    uint8_t* buffer = config->buffer;
-    pt.verts = (Vertex*)buffer;
-    buffer += align8(sizeof(Vertex) * (5 + N));
-    pt.faces = (Face*)buffer;
-    buffer += align8(sizeof(Face) * (6 * N));
-    pt.map = (Face**)buffer;
-    buffer += align8(sizeof(Face*) * (6 * N));
-    pt.horizon.indices = (int*)buffer;
-    buffer += align8(sizeof(int) * 24);
-    pt.horizon.edges = (int*)buffer;
-
-    int ret;
-    if (status->nsimplex == 2) {
-      ret = polytope2(&pt, status, obj1, obj2);
-    } else if (status->nsimplex == 3) {
-      ret = polytope3(&pt, status, obj1, obj2);
-    } else {
-      ret = polytope4(&pt, status, obj1, obj2);
-    }
-    status->epa_status = ret;
-
-    // simplex not on boundary (objects are penetrating)
-    if (!ret) {
-      Face* face = epa(status, &pt, obj1, obj2);
-      if (config->max_contacts > 1 && face) {
-        multicontact(config->nmeshdegmax, config->npolygonmax, config->buffer, &pt, face, status,
-                     obj1, obj2);
-      }
-    }
-  }
-  mjtNum min_dist = status->dist[0];
-  for (int i = 1; i < status->nx; i++) {
-    if (status->dist[i] < min_dist) {
-      min_dist = status->dist[i];
-    }
-  }
-  return min_dist;
-}
-
-#undef EPA_VERT_EXPAND
diff --git a/src/engine/engine_collision_gjk.h b/src/engine/engine_collision_gjk.h
deleted file mode 100644
index c7c892aa..00000000
--- a/src/engine/engine_collision_gjk.h
+++ /dev/null
@@ -1,114 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_GJK_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_GJK_H_
-
-#include <float.h>
-#include <stddef.h>
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#include "engine/engine_collision_convex.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// numerical limits
-#ifdef mjUSESINGLE
-  #define mjMAX_LIMIT FLT_MAX
-  // tolerance for normal alignment of two faces (cosine of 1.6e-3)
-  #define mjFACE_TOL 0.99999872f
-  // tolerance for edge-face alignment (sine of 1.6e-3)
-  #define mjEDGE_TOL 0.00159999931f
-#else
-  #define mjMAX_LIMIT DBL_MAX
-  // tolerance for normal alignment of two faces (cosine of 1.6e-3)
-  #define mjFACE_TOL 0.99999872
-  // tolerance for edge-face alignment (sine of 1.6e-3)
-  #define mjEDGE_TOL 0.00159999931
-#endif
-
-
-// Status of an EPA run
-typedef enum {
-  mjEPA_NOCONTACT           = -1,
-  mjEPA_SUCCESS             = 0,
-  mjEPA_P2_INVALID_FACES,
-  mjEPA_P2_NONCONVEX,
-  mjEPA_P2_ORIGIN_ON_FACE,
-  mjEPA_P3_BAD_NORMAL,
-  mjEPA_P3_INVALID_V4,
-  mjEPA_P3_INVALID_V5,
-  mjEPA_P3_MISSING_ORIGIN,
-  mjEPA_P3_ORIGIN_ON_FACE,
-  mjEPA_P4_MISSING_ORIGIN,
-} mjEPAStatus;
-
-// vertex in a polytope
-typedef struct {
-  mjtNum vert[3];   // v1 - v2; vertex in Minkowski sum making up polytope
-  mjtNum vert1[3];  // vertex of polytope in obj1
-  mjtNum vert2[3];  // vertex of polytope in obj2
-  int index1;       // vertex index in mesh 1
-  int index2;       // vertex index in mesh 2
-} Vertex;
-
-// configuration for convex collision detection
-typedef struct {
-  int max_iterations;  // the maximum number of iterations for GJK and EPA
-  mjtNum tolerance;    // tolerance used by GJK and EPA
-  int max_contacts;    // set to max number of contact points to recover
-  mjtNum dist_cutoff;  // set to max geom distance to recover
-  void* buffer;        // buffer memory for polytope (should be sized given by mjc_ccdSize)
-  int npolygonmax;     // max number of vertices in a mesh polygon
-  int nmeshdegmax;     // max number of edges adjacent to a mesh vertex
-} mjCCDConfig;
-
-// data produced from running GJK and EPA
-typedef struct {
-  // geom distance information
-  int separated;                // set to true if geoms are verified to be separated
-  mjtNum dist[mjMAXCONPAIR];    // distance between witness points
-  mjtNum x1[3 * mjMAXCONPAIR];  // witness points for geom 1
-  mjtNum x2[3 * mjMAXCONPAIR];  // witness points for geom 2
-  int nx;                       // number of witness points
-
-  // configurations used
-  int max_iterations;           // the maximum number of iterations for GJK and EPA
-  mjtNum tolerance;             // tolerance used by GJK and EPA
-  int max_contacts;             // set to max number of contact points to recover
-  mjtNum dist_cutoff;           // set to max geom distance to recover
-
-  // statistics for debugging purposes
-  int gjk_iterations;           // number of iterations that GJK ran
-  int epa_iterations;           // number of iterations that EPA ran (zero if EPA did not run)
-  mjEPAStatus epa_status;       // status of the EPA run
-  Vertex simplex[4];
-  int nsimplex;
-} mjCCDStatus;
-
-// return size in bytes of the buffer needed for mjc_ccd for a given number of iterations
-MJAPI size_t mjc_ccdSize(int npolygonmax, int nmeshdegmax, int iterations);
-
-// run general convex collision detection, returns positive for distance, negative for penetration
-MJAPI mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2);
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_GJK_H_
diff --git a/src/engine/engine_collision_primitive.c b/src/engine/engine_collision_primitive.c
deleted file mode 100644
index 314de4e6..00000000
--- a/src/engine/engine_collision_primitive.c
+++ /dev/null
@@ -1,809 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_collision_primitive.h"
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include "engine/engine_inline.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_spatial.h"
-
-
-//--------------------------- plane collisions -----------------------------------------------------
-
-// raw plane : sphere
-static int mjraw_PlaneSphere(mjPreContact* con, mjtNum margin,
-                             const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
-                             const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2) {
-  // set normal
-  con[0].normal[0] = mat1[2];
-  con[0].normal[1] = mat1[5];
-  con[0].normal[2] = mat1[8];
-
-  // compute distance, return if too large
-  mjtNum tmp[3] = {pos2[0] - pos1[0], pos2[1] - pos1[1], pos2[2] - pos1[2]};
-  mjtNum cdist = mju_dot3(tmp, con[0].normal);
-  if (cdist > margin + size2[0]) {
-    return 0;
-  }
-
-  // depth and position
-  con[0].dist = cdist - size2[0];
-  mji_scl3(tmp, con[0].normal, -con[0].dist / 2 - size2[0]);
-  mji_add3(con[0].pos, pos2, tmp);
-  mji_zero3(con[0].tangent);
-  return 1;
-}
-
-
-// plane : sphere
-int mjc_PlaneSphere(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                    mjtNum margin) {
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* pos2 = d->geom_xpos + 3*g2;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-  const mjtNum* mat2 = d->geom_xmat + 9*g2;
-  const mjtNum* size1 = m->geom_size + 3*g1;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-  return mjraw_PlaneSphere(con, margin, pos1, mat1, size1, pos2, mat2, size2);
-}
-
-
-// plane : capsule
-int mjc_PlaneCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                     mjtNum margin) {
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* pos2 = d->geom_xpos + 3*g2;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-  const mjtNum* mat2 = d->geom_xmat + 9*g2;
-  const mjtNum* size1 = m->geom_size + 3*g1;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-
-  // get capsule axis, segment = scaled axis
-  mjtNum axis[3] = {mat2[2], mat2[5], mat2[8]};
-  mjtNum segment[3] = {size2[1]*axis[0], size2[1]*axis[1], size2[1]*axis[2]};
-
-  // get point 1, do sphere-plane test
-  mjtNum endpoint[3];
-  mju_add3(endpoint, pos2, segment);
-  int n1 = mjraw_PlaneSphere(con, margin, pos1, mat1, size1, endpoint, mat2, size2);
-
-  // get point 2, do sphere-plane test
-  mju_sub3(endpoint, pos2, segment);
-  int n2 = mjraw_PlaneSphere(con + n1, margin, pos1, mat1, size1, endpoint, mat2, size2);
-
-  // align contact frames with capsule axis
-  if (n1) {
-    mji_copy3(con[0].tangent, axis);
-  }
-  if (n2) {
-    mji_copy3(con[n1].tangent, axis);
-  }
-
-  return n1 + n2;
-}
-
-
-// plane : cylinder
-int mjc_PlaneCylinder(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                      mjtNum margin) {
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* pos2 = d->geom_xpos + 3*g2;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-  const mjtNum* mat2 = d->geom_xmat + 9*g2;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-
-  mjtNum normal[3] = {mat1[2], mat1[5], mat1[8]};
-  mjtNum axis[3] = {mat2[2], mat2[5], mat2[8]};
-
-  // project, make sure axis points towards plane
-  mjtNum prjaxis = mju_dot3(normal, axis);
-  if (prjaxis > 0) {
-    mju_scl3(axis, axis, -1);
-    prjaxis = -prjaxis;
-  }
-
-  // compute normal distance to cylinder center
-  mjtNum vec[3] = {pos2[0] - pos1[0], pos2[1] - pos1[1], pos2[2] - pos1[2]};
-  mjtNum dist0 = mju_dot3(vec, normal);
-
-  // remove component of -normal along axis, compute length
-  mju_scl3(vec, axis, prjaxis);
-  mju_subFrom3(vec, normal);
-  mjtNum len_sqr = mju_dot3(vec, vec);
-
-  // general configuration: normalize vector, scale by radius
-  if (len_sqr >= mjMINVAL*mjMINVAL) {
-    mjtNum scl = size2[0]/mju_sqrt(len_sqr);
-    vec[0] *= scl;
-    vec[1] *= scl;
-    vec[2] *= scl;
-  }
-
-  // disk parallel to plane: pick x-axis of cylinder, scale by radius
-  else {
-    vec[0] = mat2[0]*size2[0];
-    vec[1] = mat2[3]*size2[0];
-    vec[2] = mat2[6]*size2[0];
-  }
-
-  // project vector on normal
-  mjtNum prjvec = mju_dot3(vec, normal);
-
-  // scale axis by half-length
-  mju_scl3(axis, axis, size2[1]);
-  prjaxis *= size2[1];
-
-  // check first point, construct contact
-  int cnt = 0;
-  if (dist0 + prjaxis + prjvec <= margin) {
-    con[cnt].dist = dist0 + prjaxis + prjvec;
-    mji_add3(con[cnt].pos, pos2, vec);
-    mji_addTo3(con[cnt].pos, axis);
-    mji_addToScl3(con[cnt].pos, normal, -con[cnt].dist * 0.5);
-    mji_copy3(con[cnt].normal, normal);
-    mji_zero3(con[cnt].tangent);
-    cnt++;
-  } else {
-    return 0;  // nearest point is above margin: no contacts
-  }
-
-  // check second point, construct contact
-  if (dist0 - prjaxis + prjvec <= margin) {
-    con[cnt].dist = dist0 - prjaxis + prjvec;
-    mji_add3(con[cnt].pos, pos2, vec);
-    mji_subFrom3(con[cnt].pos, axis);
-    mji_addToScl3(con[cnt].pos, normal, -con[cnt].dist * 0.5);
-    mji_copy3(con[cnt].normal, normal);
-    mji_zero3(con[cnt].tangent);
-    cnt++;
-  }
-
-  // try to add triangle points on side closer to plane
-  mjtNum prjvec1 = -prjvec*0.5;
-  if (dist0 + prjaxis + prjvec1 <= margin) {
-    // compute sideways vector: vec1
-    mjtNum vec1[3];
-    mji_cross(vec1, vec, axis);
-    mju_normalize3(vec1);
-    mju_scl3(vec1, vec1, size2[0] * mju_sqrt(3.0) / 2);
-
-    // add point A
-    con[cnt].dist = dist0 + prjaxis + prjvec1;
-    mji_add3(con[cnt].pos, pos2, vec1);
-    mji_addTo3(con[cnt].pos, axis);
-    mji_addToScl3(con[cnt].pos, vec, -0.5);
-    mji_addToScl3(con[cnt].pos, normal, -con[cnt].dist * 0.5);
-    mji_copy3(con[cnt].normal, normal);
-    mji_zero3(con[cnt].tangent);
-    cnt++;
-
-    // add point B
-    con[cnt].dist = dist0 + prjaxis + prjvec1;
-    mji_sub3(con[cnt].pos, pos2, vec1);
-    mji_addTo3(con[cnt].pos, axis);
-    mji_addToScl3(con[cnt].pos, vec, -0.5);
-    mji_addToScl3(con[cnt].pos, normal, -con[cnt].dist * 0.5);
-    mji_copy3(con[cnt].normal, normal);
-    mji_zero3(con[cnt].tangent);
-    cnt++;
-  }
-
-  return cnt;
-}
-
-
-// plane : box
-int mjc_PlaneBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* pos2 = d->geom_xpos + 3*g2;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-  const mjtNum* mat2 = d->geom_xmat + 9*g2;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-
-  // get normal, difference between centers, normal distance
-  mjtNum norm[3] = {mat1[2], mat1[5], mat1[8]};
-  mjtNum dif[3] = {pos2[0] - pos1[0], pos2[1] - pos1[1], pos2[2] - pos1[2]};
-  mjtNum dist = mju_dot3(dif, norm);
-
-  // test all corners, pick bottom 4
-  int cnt = 0;
-  for (int i=0; i < 8; i++) {
-    // get corner in local coordinates
-    mjtNum vec[3];
-    vec[0] = (i&1 ? size2[0] : -size2[0]);
-    vec[1] = (i&2 ? size2[1] : -size2[1]);
-    vec[2] = (i&4 ? size2[2] : -size2[2]);
-
-    // get corner in global coordinates relative to box center
-    mjtNum corner[3];
-    mju_mulMatVec3(corner, mat2, vec);
-
-    // compute distance to plane, skip if too far or pointing up
-    mjtNum ldist = mju_dot3(norm, corner);
-    if (dist + ldist > margin || ldist > 0) {
-      continue;
-    }
-
-    // construct contact
-    con[cnt].dist = dist + ldist;
-    mji_copy3(con[cnt].normal, norm);
-    mji_addTo3(corner, pos2);
-    mji_scl3(vec, norm, -con[cnt].dist / 2);
-    mji_add3(con[cnt].pos, corner, vec);
-    mji_zero3(con[cnt].tangent);
-
-    // count; max is 4
-    if (++cnt >= 4) {
-      return 4;
-    }
-  }
-
-  return cnt;
-}
-
-
-//--------------------------- sphere and capsule collisions ----------------------------------------
-
-// sphere : sphere (actual implementation, can be called with modified parameters)
-static int mjraw_SphereSphere(mjPreContact* con, mjtNum margin,
-                              const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
-                              const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2) {
-  // check bounding spheres (this is called from other functions)
-  mjtNum dif[3] = {pos1[0] - pos2[0], pos1[1] - pos2[1], pos1[2] - pos2[2]};
-  mjtNum cdist_sqr = mju_dot3(dif, dif);
-  mjtNum min_dist = margin + size1[0] + size2[0];
-  if (cdist_sqr > min_dist*min_dist) {
-    return 0;
-  }
-
-  // depth and normal
-  con[0].dist = mju_sqrt(cdist_sqr) - size1[0] - size2[0];
-  mji_sub3(con[0].normal, pos2, pos1);
-  mjtNum len = mju_normalize3(con[0].normal);
-
-  // if centers are the same, norm = cross-product of z axes
-  //  if z axes are parallel, norm = [1;0;0]
-  if (len < mjMINVAL) {
-    mjtNum axis1[3] = {mat1[2], mat1[5], mat1[8]};
-    mjtNum axis2[3] = {mat2[2], mat2[5], mat2[8]};
-    mji_cross(con[0].normal, axis1, axis2);
-    mju_normalize3(con[0].normal);
-  }
-
-  // position
-  mji_scl3(con[0].pos, con[0].normal, size1[0] + con[0].dist / 2);
-  mji_addTo3(con[0].pos, pos1);
-
-  // axis
-  mji_zero3(con[0].tangent);
-
-  return 1;
-}
-
-
-// sphere : sphere
-int mjc_SphereSphere(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                     mjtNum margin) {
-  const mjtNum* pos1  = d->geom_xpos + 3*g1;
-  const mjtNum* mat1  = d->geom_xmat + 9*g1;
-  const mjtNum* size1 = m->geom_size + 3*g1;
-  const mjtNum* pos2  = d->geom_xpos + 3*g2;
-  const mjtNum* mat2  = d->geom_xmat + 9*g2;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-  return mjraw_SphereSphere(con, margin, pos1, mat1, size1, pos2, mat2, size2);
-}
-
-
-
-// raw sphere : capsule
-int mjraw_SphereCapsule(mjPreContact* con, mjtNum margin,
-                        const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
-                        const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2) {
-  // get capsule length and axis
-  mjtNum len = size2[1];
-  mjtNum axis[3] = {mat2[2], mat2[5], mat2[8]};
-
-  // find projection, clip to segment
-  mjtNum vec[3] = {pos1[0] - pos2[0], pos1[1] - pos2[1], pos1[2] - pos2[2]};
-  mjtNum x = mju_clip(mju_dot3(axis, vec), -len, len);
-
-  // find nearest point on segment, do sphere-sphere test
-  mji_scl3(vec, axis, x);
-  mji_addTo3(vec, pos2);
-  return mjraw_SphereSphere(con, margin, pos1, mat1, size1, vec, mat2, size2);
-}
-
-
-// sphere : capsule
-int mjc_SphereCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                      mjtNum margin) {
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* pos2 = d->geom_xpos + 3*g2;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-  const mjtNum* mat2 = d->geom_xmat + 9*g2;
-  const mjtNum* size1 = m->geom_size + 3*g1;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-  return mjraw_SphereCapsule(con, margin, pos1, mat1, size1, pos2, mat2, size2);
-}
-
-
-// sphere : cylinder
-int mjc_SphereCylinder(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                       mjtNum margin) {
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* pos2 = d->geom_xpos + 3*g2;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-  const mjtNum* mat2 = d->geom_xmat + 9*g2;
-  const mjtNum* size1 = m->geom_size + 3*g1;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-
-  // get cylinder sizes and axis
-  mjtNum radius = size2[0];
-  mjtNum height = size2[1];
-  mjtNum axis[3] = {mat2[2], mat2[5], mat2[8]};
-
-  // find sphere projection onto cylinder axis and plane
-  mjtNum vec[3] = {pos1[0] - pos2[0], pos1[1] - pos2[1], pos1[2] - pos2[2]};
-  mjtNum x = mju_dot3(axis, vec);
-  mjtNum a_proj[3], p_proj[3];
-  mji_scl3(a_proj, axis, x);
-  mji_sub3(p_proj, vec, a_proj);
-  mjtNum p_proj_sqr = mju_dot3(p_proj, p_proj);
-
-  // get collision type
-  int collide_side = mju_abs(x) < height;
-  int collide_cap = p_proj_sqr < radius*radius;
-  if (collide_side && collide_cap) {  // deep penetration (sphere origin inside cylinder)
-    mjtNum dist_cap = height - mju_abs(x);
-    mjtNum dist_radius = radius - mju_sqrt(p_proj_sqr);
-    if (dist_cap < dist_radius) {  // disable one collision type
-      collide_side = 0;
-    } else {
-      collide_cap = 0;
-    }
-  }
-
-  // side collision: use sphere-sphere
-  if (collide_side) {
-    mji_addTo3(a_proj, pos2);
-    return mjraw_SphereSphere(con, margin, pos1, mat1, size1, a_proj, mat2, size2);
-  }
-
-  // cap collision: use plane-sphere
-  if (collide_cap) {
-    const mjtNum flipmat[9] = {
-      -mat2[0], mat2[1], -mat2[2],
-      -mat2[3], mat2[4], -mat2[5],
-      -mat2[6], mat2[7], -mat2[8]
-    };
-    const mjtNum* mat_cap;
-    mjtNum pos_cap[3];
-    if (x > 0) {  // top cap
-      mju_addScl3(pos_cap, pos2, axis, height);
-      mat_cap = mat2;
-    } else {      // bottom cap
-      mju_addScl3(pos_cap, pos2, axis, -height);
-      mat_cap = flipmat;
-    }
-    int ncon = mjraw_PlaneSphere(con, margin, pos_cap, mat_cap, size2, pos1, mat1, size1);
-
-    if (ncon) {
-      // flip direction normal (because mjGEOM_PLANE < mjGEOM_SPHERE < mjGEOM_CYLINDER)
-      mju_scl3(con[0].normal, con[0].normal, -1);
-    }
-    return ncon;
-  }
-
-  // otherwise corner collision: use sphere-sphere
-  mju_scl3(p_proj, p_proj,
-           size2[0] / mju_sqrt(p_proj_sqr));  // denominator cannot be 0
-  mji_scl3(vec, axis, x > 0 ? height : -height);
-  mji_addTo3(vec, p_proj);
-  mji_addTo3(vec, pos2);
-
-  // sphere-sphere with point sphere at the corner
-  mjtNum size_zero[1] = {0};
-  return mjraw_SphereSphere(con, margin, pos1, mat1, size1, vec, mat2, size_zero);
-}
-
-
-// raw capsule : capsule
-int mjraw_CapsuleCapsule(mjPreContact* con, mjtNum margin,
-                         const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
-                         const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2) {
-  // get capsule axes (scaled) and center difference
-  mjtNum axis1[3] = {mat1[2] * size1[1], mat1[5] * size1[1], mat1[8] * size1[1]};
-  mjtNum axis2[3] = {mat2[2] * size2[1], mat2[5] * size2[1], mat2[8] * size2[1]};
-  mjtNum dif[3] = {pos1[0] - pos2[0], pos1[1] - pos2[1], pos1[2] - pos2[2]};
-
-  // compute matrix coefficients and determinant
-  mjtNum ma =  mju_dot3(axis1, axis1);
-  mjtNum mb = -mju_dot3(axis1, axis2);
-  mjtNum mc =  mju_dot3(axis2, axis2);
-  mjtNum u  = -mju_dot3(axis1, dif);
-  mjtNum v  =  mju_dot3(axis2, dif);
-  mjtNum det = ma*mc - mb*mb;
-
-  // general configuration (non-parallel axes)
-  if (mju_abs(det) >= mjMINVAL) {
-    // find projections, clip to segments
-    mjtNum x1 = (mc*u - mb*v) / det;
-    mjtNum x2 = (ma*v - mb*u) / det;
-
-    if (x1 > 1) {
-      x1 = 1;
-      x2 = (v - mb) / mc;
-    } else if (x1 < -1) {
-      x1 = -1;
-      x2 = (v + mb) / mc;
-    }
-    if (x2 > 1) {
-      x2 = 1;
-      x1 = mju_clip((u - mb) / ma, -1, 1);
-    } else if (x2 < -1) {
-      x2 = -1;
-      x1 = mju_clip((u + mb) / ma, -1, 1);
-    }
-
-    // find nearest points, do sphere-sphere test
-    mjtNum vec1[3], vec2[3];
-    mji_scl3(vec1, axis1, x1);
-    mji_addTo3(vec1, pos1);
-    mji_scl3(vec2, axis2, x2);
-    mji_addTo3(vec2, pos2);
-
-    return mjraw_SphereSphere(con, margin, vec1, mat1, size1, vec2, mat2, size2);
-  }
-
-  // parallel axes
-  else {
-    // x1 = 1
-    mjtNum vec1[3];
-    mji_add3(vec1, pos1, axis1);
-    mjtNum x2 = mju_clip((v - mb) / mc, -1, 1);
-
-    mjtNum vec2[3];
-    mji_scl3(vec2, axis2, x2);
-    mji_addTo3(vec2, pos2);
-    int n1 = mjraw_SphereSphere(con, margin, vec1, mat1, size1, vec2, mat2, size2);
-
-    // x1 = -1
-    mji_sub3(vec1, pos1, axis1);
-    x2 = mju_clip((v + mb) / mc, -1, 1);
-    mji_scl3(vec2, axis2, x2);
-    mji_addTo3(vec2, pos2);
-    int n2 = mjraw_SphereSphere(con + n1, margin, vec1, mat1, size1, vec2, mat2, size2);
-
-    // return if two contacts already found
-    if (n1+n2 >= 2) {
-      return n1+n2;
-    }
-
-    // x2 = 1
-    mji_add3(vec2, pos2, axis2);
-    mjtNum x1 = mju_clip((u - mb) / ma, -1, 1);
-    mji_scl3(vec1, axis1, x1);
-    mji_addTo3(vec1, pos1);
-    int n3 = mjraw_SphereSphere(con + n1 + n2, margin, vec1, mat1, size1, vec2, mat2, size2);
-
-    // return if two contacts already found
-    if (n1+n2+n3 >= 2) {
-      return n1+n2+n3;
-    }
-
-    // x2 = -1
-    mji_sub3(vec2, pos2, axis2);
-    x1 = mju_clip((u + mb) / ma, -1, 1);
-    mji_scl3(vec1, axis1, x1);
-    mji_addTo3(vec1, pos1);
-    int n4 = mjraw_SphereSphere(con + n1 + n2 + n3, margin, vec1, mat1, size1, vec2, mat2, size2);
-
-    return n1+n2+n3+n4;
-  }
-}
-
-
-// capsule : capsule
-int mjc_CapsuleCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                        mjtNum margin) {
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* pos2 = d->geom_xpos + 3*g2;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-  const mjtNum* mat2 = d->geom_xmat + 9*g2;
-  const mjtNum* size1 = m->geom_size + 3*g1;
-  const mjtNum* size2 = m->geom_size + 3*g2;
-  return mjraw_CapsuleCapsule(con, margin, pos1, mat1, size1, pos2, mat2, size2);
-}
-
-
-// sign of (signed) area of planar triangle
-static mjtNum areaSign(const mjtNum p1[2], const mjtNum p2[2], const mjtNum p3[2]) {
-  return mju_sign((p1[0]-p3[0])*(p2[1]-p3[1]) - (p2[0]-p3[0])*(p1[1]-p3[1]));
-}
-
-
-// find nearest point to p within line segment (u,v); return distance to p
-static mjtNum pointSegment(mjtNum res[2], const mjtNum p[2],
-                           const mjtNum u[2], const mjtNum v[2]) {
-  // make u the origin
-  mjtNum uv[2] = {v[0]-u[0], v[1]-u[1]};
-  mjtNum up[2] = {p[0]-u[0], p[1]-u[1]};
-
-  // project: find a s.t. uv is orthogonal to (up-a*uv)
-  mjtNum a = mju_dot(uv, up, 2) / mju_max(mjMINVAL, mju_dot(uv, uv, 2));
-
-  // find nearest point to p, clamp to u or v if a is not in (0,1)
-  if (a <= 0) {
-    res[0] = u[0];
-    res[1] = u[1];
-  } else if (a >= 1) {
-    res[0] = v[0];
-    res[1] = v[1];
-  } else {
-    mju_addScl(res, u, uv, a, 2);
-  }
-
-  // compute distance
-  return mju_sqrt((res[0]-p[0])*(res[0]-p[0]) + (res[1]-p[1])*(res[1]-p[1]));
-}
-
-
-// sphere : triangle with radius
-int mjraw_SphereTriangle(mjPreContact* con, mjtNum margin,
-                         const mjtNum* s, mjtNum rs,
-                         const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt) {
-  mjtNum rbound = margin + rs + rt;
-  mjtNum X[3];
-
-  // make t1 the origin: triangle is (O,A,B); sphere center is S
-  mjtNum S[3] = { s[0]-t1[0],  s[1]-t1[1],  s[2]-t1[2]};
-  mjtNum A[3] = {t2[0]-t1[0], t2[1]-t1[1], t2[2]-t1[2]};
-  mjtNum B[3] = {t3[0]-t1[0], t3[1]-t1[1], t3[2]-t1[2]};
-
-  // N is normal to triangle plane
-  mjtNum N[3];
-  mji_cross(N, A, B);
-  mju_normalize3(N);
-
-  // dstS is signed distance from S to plane; exit if too large
-  mjtNum dstS = mju_dot3(N, S);
-  if (mju_abs(dstS) > rbound) {
-    return 0;
-  }
-
-  // P is projection of S in triangle plane
-  mjtNum P[3];
-  mji_addScl3(P, S, N, -dstS);
-
-  // construct orthogonal axes (V1~A, V2) of triangle plane
-  mjtNum V1[3], V2[3];
-  mji_copy3(V1, A);
-  mjtNum lenA = mju_normalize3(V1);
-  mji_cross(V2, N, A);
-  mju_normalize3(V2);
-
-  // triangle is (o,a,b), sphere center is p
-  mjtNum o[2] = {0, 0};
-  mjtNum a[2] = {lenA, 0};  // equals {mju_dot3(V1, A), mju_dot3(V2, A)}
-  mjtNum b[2] = {mju_dot3(V1, B), mju_dot3(V2, B)};
-  mjtNum p[2] = {mju_dot3(V1, P), mju_dot3(V2, P)};
-
-  // computed signs of areas of (p,o,a), (p,a,b), (p,b,o)
-  mjtNum sign1 = areaSign(p, o, a);
-  mjtNum sign2 = areaSign(p, a, b);
-  mjtNum sign3 = areaSign(p, b, o);
-
-  // p is inside triangle
-  if (sign1 == sign2 && sign2 == sign3) {
-    // P is nearest point to S within triangle
-    mji_copy3(X, P);
-  }
-
-  // p is not inside triangle
-  else {
-    // find nearest point to p on triangle edges (o,a), (a,b), (b,o)
-    mjtNum x[3][2], dstx[3];
-    dstx[0] = pointSegment(x[0], p, o, a);
-    dstx[1] = pointSegment(x[1], p, a, b);
-    dstx[2] = pointSegment(x[2], p, b, o);
-
-    // select minimum
-    int best = (dstx[0] < dstx[1] && dstx[0] < dstx[2]) ? 0 : (dstx[1] < dstx[2] ? 1 : 2);
-
-    // convert x[best] to 3D
-    mji_scl3(X, V1, x[best][0]);
-    mji_addToScl3(X, V2, x[best][1]);
-  }
-
-  // X is now the nearest point to S within the 3D triangle (O,A,B)
-  // compute contact normal and distance
-  mjtNum nrm[3] = {X[0]-S[0], X[1]-S[1], X[2]-S[2]};
-  mjtNum dst = mju_normalize3(nrm);
-
-  // exit if too far
-  if (dst > rbound) {
-    return 0;
-  }
-
-  // construct contact
-  con[0].dist = dst - rs - rt;
-  mji_addScl3(con[0].pos, s, nrm, rs + con[0].dist / 2);
-  mji_copy3(con[0].normal, nrm);
-  mju_zero3(con[0].tangent);
-
-  return 1;
-}
-
-
-// box : triangle with radius
-int mjraw_BoxTriangle(mjPreContact* con, mjtNum margin, const mjtNum* pos,
-                      const mjtNum* mat, const mjtNum* size, const mjtNum* t1,
-                      const mjtNum* t2, const mjtNum* t3, mjtNum rt) {
-  int cnt = 0;
-  const mjtNum* vert[3] = {t1, t2, t3};
-
-  for (int i = 0; i < 3; i++) {
-    // map vertex to box local frame
-    mjtNum diff[3], local[3];
-    mju_sub3(diff, vert[i], pos);
-    mju_mulMatTVec3(local, mat, diff);
-
-    // find max penetration / closest face
-    int maxaxis = 0;
-    mjtNum maxval = mju_abs(local[0]) - size[0];
-    for (int j = 1; j < 3; j++) {
-      mjtNum val = mju_abs(local[j]) - size[j];
-      if (val > maxval) {
-        maxval = val;
-        maxaxis = j;
-      }
-    }
-
-    // contact distance: dist = maxval - rt
-    // strictly, we only care if dist < margin
-    if (maxval - rt > margin) {
-      continue;
-    }
-
-    // check if within other dimensions (with margin/radius)
-    int inside = 1;
-    for (int j = 0; j < 3; j++) {
-      if (mju_abs(local[j]) > size[j] + margin + rt) {
-        inside = 0;
-        break;
-      }
-    }
-    if (!inside) {
-      continue;
-    }
-
-    // create contact
-    if (cnt < mjMAXCONPAIR) {
-      // normal in local frame
-      mjtNum nrm_local[3] = {0, 0, 0};
-      nrm_local[maxaxis] = (local[maxaxis] > 0 ? 1 : -1);
-
-      // normal in global frame (from Box to Triangle)
-      mju_mulMatVec3(con[cnt].normal, mat, nrm_local);
-
-      // distance
-      con[cnt].dist = maxval - rt;
-
-      // position: v - nrm * (rt + dist/2)
-      mjtNum offset = rt + con[cnt].dist * 0.5;
-      mji_addScl3(con[cnt].pos, vert[i], con[cnt].normal, -offset);
-
-      // frame details
-      mju_zero3(con[cnt].tangent);
-
-      cnt++;
-    }
-  }
-
-  // check box corners against triangle
-  for (int i = 0; i < 8; i++) {
-    if (cnt >= mjMAXCONPAIR) {
-      break;
-    }
-
-    // get corner in local coordinates
-    mjtNum vec[3];
-    vec[0] = (i & 1 ? size[0] : -size[0]);
-    vec[1] = (i & 2 ? size[1] : -size[1]);
-    vec[2] = (i & 4 ? size[2] : -size[2]);
-
-    // get corner in global coordinates relative to box center
-    mjtNum corner[3];
-    mju_mulMatVec3(corner, mat, vec);
-    mju_addTo3(corner, pos);
-
-    // check collision with triangle (radius 0 for corner)
-    if (mjraw_SphereTriangle(con + cnt, margin, corner, 0, t1, t2, t3, rt)) {
-      // mjraw_SphereTriangle normal points from Sphere (Corner) to Triangle.
-      cnt++;
-    }
-  }
-
-  return cnt;
-}
-
-
-// capsule : triangle with radius
-int mjraw_CapsuleTriangle(mjPreContact* con, mjtNum margin, const mjtNum* pos,
-                          const mjtNum* mat, const mjtNum* size,
-                          const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
-                          mjtNum rt) {
-  int cnt = 0;
-  mjtNum radius = size[0];
-  mjtNum len = size[1];
-  mjtNum axis[3] = {mat[2], mat[5], mat[8]};
-  mjtNum p1[3], p2[3];
-
-  // capsule endpoints
-  mju_addScl3(p1, pos, axis, -len);
-  mju_addScl3(p2, pos, axis, len);
-
-  // Check endpoints against triangle
-  cnt += mjraw_SphereTriangle(con + cnt, margin, p1, radius, t1, t2, t3, rt);
-  if (cnt >= mjMAXCONPAIR) return cnt;
-  cnt += mjraw_SphereTriangle(con + cnt, margin, p2, radius, t1, t2, t3, rt);
-  if (cnt >= mjMAXCONPAIR) return cnt;
-
-  // Check triangle vertices against capsule axis (Point-Segment)
-  const mjtNum* vert[3] = {t1, t2, t3};
-  for (int i = 0; i < 3; i++) {
-    // point-segment distance
-    mjtNum vec[3], ab[3];
-    mju_sub3(vec, vert[i], p1);
-    mju_sub3(ab, p2, p1);
-    mjtNum t = mju_dot3(vec, ab) / (4 * len * len);  // ab length is 2*len
-
-    // clamp t to [0, 1] segment (only process interior)
-    if (t <= mjMINVAL || t >= 1 - mjMINVAL) {
-      continue;
-    }
-
-    // closest point on segment
-    mjtNum closest[3];
-    mji_addScl3(closest, p1, ab, t);
-
-    // distance vector
-    mju_sub3(vec, vert[i], closest);
-    mjtNum dist = mju_normalize3(vec);
-
-    if (dist > radius + rt + margin) {
-      continue;
-    }
-
-    // con->dist
-    con[cnt].dist = dist - radius - rt;
-
-    // Frame: normal from Capsule to Triangle. 'vec' points Closest->Vert.
-    mji_copy3(con[cnt].normal, vec);
-    mju_zero3(con[cnt].tangent);
-
-    // Position: midway between surfaces
-    mji_add3(con[cnt].pos, closest, vert[i]);
-    mji_addToScl3(con[cnt].pos, vec, radius - rt);
-    mju_scl3(con[cnt].pos, con[cnt].pos, 0.5);
-
-    cnt++;
-    if (cnt >= mjMAXCONPAIR) return cnt;
-  }
-
-  return cnt;
-}
diff --git a/src/engine/engine_collision_primitive.h b/src/engine/engine_collision_primitive.h
deleted file mode 100644
index f68d81bd..00000000
--- a/src/engine/engine_collision_primitive.h
+++ /dev/null
@@ -1,77 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// raw collision functions (called by mjc_XXX)
-int mjraw_SphereCapsule(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
-                        const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
-                        const mjtNum* size2);
-int mjraw_CapsuleCapsule(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
-                         const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
-                         const mjtNum* size2);
-int mjraw_CapsuleBox(mjPreContact* con, mjtNum margin, const mjtNum* pos1, const mjtNum* mat1,
-                     const mjtNum* size1, const mjtNum* pos2, const mjtNum* mat2,
-                     const mjtNum* size2);
-int mjraw_SphereTriangle(mjPreContact* con, mjtNum margin, const mjtNum* s, mjtNum rs,
-                         const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
-int mjraw_BoxTriangle(mjPreContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
-                      const mjtNum* size, const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
-                      mjtNum rt);
-int mjraw_CapsuleTriangle(mjPreContact* con, mjtNum margin, const mjtNum* pos, const mjtNum* mat,
-                          const mjtNum* size, const mjtNum* t1, const mjtNum* t2, const mjtNum* t3,
-                          mjtNum rt);
-
-// plane collisions
-MJAPI int mjc_PlaneSphere(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                          mjtNum margin);
-MJAPI int mjc_PlaneCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                           mjtNum margin);
-MJAPI int mjc_PlaneCylinder(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                            mjtNum margin);
-MJAPI int mjc_PlaneBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                       mjtNum margin);
-
-// sphere and capsule collisions
-MJAPI int mjc_SphereSphere(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                            mjtNum margin);
-MJAPI int mjc_SphereCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                            mjtNum margin);
-MJAPI int mjc_SphereCylinder(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                             mjtNum margin);
-MJAPI int mjc_CapsuleCapsule(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                             mjtNum margin);
-
-// box collisions: from engine_collision_box.c
-MJAPI int mjc_CapsuleBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                         mjtNum margin);
-MJAPI int mjc_SphereBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                        mjtNum margin);
-MJAPI int mjc_BoxBox(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2,
-                     mjtNum margin);
-
-#ifdef __cplusplus
-}
-#endif
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
diff --git a/src/engine/engine_collision_sdf.c b/src/engine/engine_collision_sdf.c
deleted file mode 100644
index de5a189a..00000000
--- a/src/engine/engine_collision_sdf.c
+++ /dev/null
@@ -1,1391 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_collision_sdf.h"
-
-#include <math.h>
-#include <stdio.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjtype.h>
-#include "engine/engine_plugin.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_spatial.h"
-
-
-
-
-//---------------------------- interpolated sdf -------------------------------------------
-
-mjtNum boxProjection(mjtNum point[3], const mjtNum box[6]) {
-  mjtNum r[3] = {point[0] - box[0], point[1] - box[1], point[2] - box[2]};
-  mjtNum q[3] = {mju_abs(r[0]) - box[3], mju_abs(r[1]) - box[4],
-                 mju_abs(r[2]) - box[5]};
-  mjtNum dist_sqr = 0;
-  mjtNum eps = 1e-6;
-
-  // skip the projection if inside
-  if (q[0] <= 0 && q[1] <= 0 && q[2] <= 0) {
-    return mju_max(q[0], mju_max(q[1], q[2]));
-  }
-
-  // in-place projection inside the box if outside
-  if ( q[0] >= 0 ) {
-    dist_sqr += q[0] * q[0];
-    point[0] -= r[0] > 0 ? (q[0]+eps) : -(q[0]+eps);
-  }
-  if ( q[1] >= 0 ) {
-    dist_sqr += q[1] * q[1];
-    point[1] -= r[1] > 0 ? (q[1]+eps) : -(q[1]+eps);
-  }
-  if ( q[2] >= 0 ) {
-    dist_sqr += q[2] * q[2];
-    point[2] -= r[2] > 0 ? (q[2]+eps) : -(q[2]+eps);
-  }
-
-  return mju_sqrt(dist_sqr);
-}
-
-
-// find the octree leaf containing the point p, return the index of the leaf and
-// populate the weights of the interpolated function (if w is not null) and of
-// its gradient (if dw is not null) using the vertices as degrees of freedom for
-// trilinear interpolation.
-static int findOct(mjtNum w[8], mjtNum dw[8][3], const mjtNum* oct_aabb,
-                   const int* oct_child, const mjtNum p[3]) {
-  int stack = 0;
-  mjtNum eps = 1e-8;
-  int niter = 100;
-
-  while (niter-- > 0) {
-    int node = stack;
-    mjtNum vmin[3], vmax[3];
-
-    if (node == -1) {  // SHOULD NOT OCCUR
-      mju_error("Invalid node number");
-      return -1;
-    }
-
-    for (int j = 0; j < 3; j++) {
-      vmin[j] = oct_aabb[6*node+j] - oct_aabb[6*node+3+j];
-      vmax[j] = oct_aabb[6*node+j] + oct_aabb[6*node+3+j];
-    }
-
-    // check if the point is inside the aabb of the octree node
-    if (p[0] + eps < vmin[0] || p[0] - eps > vmax[0] ||
-        p[1] + eps < vmin[1] || p[1] - eps > vmax[1] ||
-        p[2] + eps < vmin[2] || p[2] - eps > vmax[2]) {
-      continue;
-    }
-
-    mjtNum coord[3] = {(p[0] - vmin[0]) / (vmax[0] - vmin[0]),
-                       (p[1] - vmin[1]) / (vmax[1] - vmin[1]),
-                       (p[2] - vmin[2]) / (vmax[2] - vmin[2])};
-
-    // check if the node is a leaf
-    if (oct_child[8*node+0] == -1 && oct_child[8*node+1] == -1 &&
-        oct_child[8*node+2] == -1 && oct_child[8*node+3] == -1 &&
-        oct_child[8*node+4] == -1 && oct_child[8*node+5] == -1 &&
-        oct_child[8*node+6] == -1 && oct_child[8*node+7] == -1) {
-      for (int j = 0; j < 8; j++) {
-        if (w) {
-          w[j] = (j & 1 ? coord[0] : 1 - coord[0]) *
-                 (j & 2 ? coord[1] : 1 - coord[1]) *
-                 (j & 4 ? coord[2] : 1 - coord[2]);
-        }
-        if (dw) {
-          dw[j][0] = (j & 1 ? 1 : -1) *
-                     (j & 2 ? coord[1] : 1 - coord[1]) *
-                     (j & 4 ? coord[2] : 1 - coord[2]);
-          dw[j][1] = (j & 1 ? coord[0] : 1 - coord[0]) *
-                     (j & 2 ? 1 : -1) *
-                     (j & 4 ? coord[2] : 1 - coord[2]);
-          dw[j][2] = (j & 1 ? coord[0] : 1 - coord[0]) *
-                     (j & 2 ? coord[1] : 1 - coord[1]) *
-                     (j & 4 ? 1 : -1);
-        }
-      }
-      return node;
-    }
-
-    // compute which of 8 children to visit next
-    int x = coord[0] < .5 ? 0 : 1;
-    int y = coord[1] < .5 ? 0 : 1;
-    int z = coord[2] < .5 ? 0 : 1;
-    stack = oct_child[8 * node + 4*z + 2*y + x];
-  }
-
-  mju_error("Node not found");  // SHOULD NOT OCCUR
-  return -1;
-}
-
-// sdf
-mjtNum oct_distance(const mjModel* m, const mjtNum p[3], int meshid) {
-  int octadr = m->mesh_octadr[meshid];
-  int* oct_child = m->oct_child + 8*octadr;
-  mjtNum* oct_aabb = m->oct_aabb + 6*octadr;
-  mjtNum* oct_coeff = m->oct_coeff + 8*octadr;
-
-  if (octadr == -1) {
-    mjERROR("Octree not found in mesh %d", meshid);
-    return 0;
-  }
-
-  mjtNum w[8];
-  mjtNum sdf = 0;
-  mjtNum point[3] = {p[0], p[1], p[2]};
-  mjtNum boxDist = boxProjection(point, oct_aabb);
-  int node = findOct(w, NULL, oct_aabb, oct_child, point);
-  for (int i = 0; i < 8; ++i) {
-    sdf += w[i] * oct_coeff[8*node + i];
-  }
-  return boxDist > 0 ? sdf + boxDist : sdf;
-}
-
-
-// gradient of sdf
-void oct_gradient(const mjModel* m, mjtNum grad[3], const mjtNum point[3], int meshid) {
-  mju_zero3(grad);
-  mjtNum p[3] = {point[0], point[1], point[2]};
-
-  int octadr = m->mesh_octadr[meshid];
-  int* oct_child = m->oct_child + 8*octadr;
-  mjtNum* oct_aabb = m->oct_aabb + 6*octadr;
-  mjtNum* oct_coeff = m->oct_coeff + 8*octadr;
-
-  if (octadr == -1) {
-    mjERROR("Octree not found in mesh %d", meshid);
-  }
-
-  // analytic in the interior
-  if (boxProjection(p, oct_aabb) <= 0) {
-    mjtNum dw[8][3];
-    int node = findOct(NULL, dw, oct_aabb, oct_child, p);
-    for (int i = 0; i < 8; ++i) {
-      grad[0] += dw[i][0] * oct_coeff[8*node + i];
-      grad[1] += dw[i][1] * oct_coeff[8*node + i];
-      grad[2] += dw[i][2] * oct_coeff[8*node + i];
-    }
-    return;
-  }
-
-  // finite difference in the exterior
-  mjtNum eps = 1e-8;
-  mjtNum dist0 = oct_distance(m, point, meshid);
-  mjtNum pointX[3] = {point[0]+eps, point[1], point[2]};
-  mjtNum distX = oct_distance(m, pointX, meshid);
-  mjtNum pointY[3] = {point[0], point[1]+eps, point[2]};
-  mjtNum distY = oct_distance(m, pointY, meshid);
-  mjtNum pointZ[3] = {point[0], point[1], point[2]+eps};
-  mjtNum distZ = oct_distance(m, pointZ, meshid);
-
-  grad[0] = (distX - dist0) / eps;
-  grad[1] = (distY - dist0) / eps;
-  grad[2] = (distZ - dist0) / eps;
-}
-
-
-//---------------------------- primitives sdf ---------------------------------------------
-
-static void radialField3d(mjtNum field[3], const mjtNum a[3], const mjtNum x[3],
-                          const mjtNum size[3]) {
-  field[0] = -size[0] / a[0];
-  field[1] = -size[1] / a[1];
-  field[2] = -size[2] / a[2];
-  mju_normalize3(field);
-
-  // flip sign if necessary
-  if (x[0] < 0) field[0] = -field[0];
-  if (x[1] < 0) field[1] = -field[1];
-  if (x[2] < 0) field[2] = -field[2];
-}
-
-static mjtNum geomDistance(const mjModel* m, const mjData* d, const mjpPlugin* p,
-                           int i, const mjtNum x[3], mjtGeom type) {
-  mjtNum a[3], b[3];
-  const mjtNum* size = m->geom_size+3*i;
-
-  // see https://iquilezles.org/articles/distfunctions/
-  switch (type) {
-  case mjGEOM_PLANE:
-    return x[2];
-
-  case mjGEOM_SPHERE:
-    return mju_norm3(x) - size[0];
-
-  case mjGEOM_BOX:
-    // compute shortest distance to box surface if outside, otherwise
-    // intersect with a unit gradient that linearly rotates from radial to the face normals
-    a[0] = mju_abs(x[0]) - size[0];
-    a[1] = mju_abs(x[1]) - size[1];
-    a[2] = mju_abs(x[2]) - size[2];
-    if (a[0] >= 0 || a[1] >= 0 || a[2] >= 0) {
-      b[0] = mju_max(a[0], 0);
-      b[1] = mju_max(a[1], 0);
-      b[2] = mju_max(a[2], 0);
-      return mju_norm3(b) + mju_min(mju_max(a[0], mju_max(a[1], a[2])), 0);
-    }
-    radialField3d(b, a, x, size);
-    mjtNum t[3];
-    t[0] = -a[0] / mju_abs(b[0]);
-    t[1] = -a[1] / mju_abs(b[1]);
-    t[2] = -a[2] / mju_abs(b[2]);
-    return -mju_min(t[0], mju_min(t[1], t[2])) * mju_norm3(b);
-
-  case mjGEOM_CAPSULE:
-    a[0] = x[0];
-    a[1] = x[1];
-    a[2] = x[2] - mju_clip(x[2], -size[1], size[1]);
-    return mju_norm3(a) - size[0];
-
-  case mjGEOM_ELLIPSOID:
-    a[0] = x[0] / size[0];
-    a[1] = x[1] / size[1];
-    a[2] = x[2] / size[2];
-    b[0] = a[0] / size[0];
-    b[1] = a[1] / size[1];
-    b[2] = a[2] / size[2];
-    mjtNum k0 = mju_norm3(a);
-    mjtNum k1 = mju_norm3(b);
-    return k0 * (k0 - 1.0) / k1;
-
-  case mjGEOM_CYLINDER:
-    a[0] = mju_sqrt(x[0]*x[0]+x[1]*x[1]) - size[0];
-    a[1] = mju_abs(x[2]) - size[1];
-    b[0] = mju_max(a[0], 0);
-    b[1] = mju_max(a[1], 0);
-    return mju_min(mju_max(a[0], a[1]), 0) + mju_norm(b, 2);
-
-  case mjGEOM_SDF:
-    if (p) {
-      return p->sdf_distance(x, d, i);
-    } else {
-      return oct_distance(m, x, i);
-    }
-
-  case mjGEOM_MESH:
-    if (m->mesh_octadr[i] == -1) {
-      mjERROR("sdf queries require needsdf=\"true\" on mesh %d", i);
-      return 0;
-    }
-    return oct_distance(m, x, i);
-
-  default:
-    mjERROR("sdf collisions not available for geom type %d", type);
-    return 0;
-  }
-}
-
-
-static void geomGradient(mjtNum gradient[3], const mjModel* m, const mjData* d,
-                         const mjpPlugin* p, int i, const mjtNum x[3],
-                         mjtGeom type) {
-  mjtNum a[3], b[3], c, e;
-  const mjtNum* size = m->geom_size+3*i;
-
-  // see https://iquilezles.org/articles/distfunctions/
-  switch (type) {
-  case mjGEOM_PLANE:
-    mju_zero3(gradient);
-    gradient[2] = 1;
-    break;
-
-  case mjGEOM_SPHERE:
-    mju_copy3(gradient, x);
-    c = mju_norm3(x);
-    gradient[0] *= 1. / c;
-    gradient[1] *= 1. / c;
-    gradient[2] *= 1. / c;
-    break;
-
-  case mjGEOM_BOX:
-    mju_zero3(gradient);
-    a[0] = mju_abs(x[0]) - size[0];
-    a[1] = mju_abs(x[1]) - size[1];
-    a[2] = mju_abs(x[2]) - size[2];
-    int k = a[0] > a[1] ? 0 : 1;
-    int l = a[2] > a[k] ? 2 : k;
-    if (a[l] < 0) {
-      radialField3d(gradient, a, x, size);
-    } else {
-      b[0] = mju_max(a[0], 0);
-      b[1] = mju_max(a[1], 0);
-      b[2] = mju_max(a[2], 0);
-      c = mju_norm3(b);
-      gradient[0] = a[0] > 0 ? b[0] / c * x[0] / mju_abs(x[0]) : 0;
-      gradient[1] = a[1] > 0 ? b[1] / c * x[1] / mju_abs(x[1]) : 0;
-      gradient[2] = a[2] > 0 ? b[2] / c * x[2] / mju_abs(x[2]) : 0;
-    }
-    break;
-
-  case mjGEOM_CAPSULE:
-    a[0] = x[0];
-    a[1] = x[1];
-    a[2] = x[2] - mju_clip(x[2], -size[1], size[1]);
-    c = mju_norm3(a);
-    gradient[0] = a[0] / c;
-    gradient[1] = a[1] / c;
-    gradient[2] = a[2] / c;
-    break;
-
-  case mjGEOM_ELLIPSOID:
-    a[0] = x[0] / size[0];
-    a[1] = x[1] / size[1];
-    a[2] = x[2] / size[2];
-    b[0] = a[0] / size[0];
-    b[1] = a[1] / size[1];
-    b[2] = a[2] / size[2];
-    mjtNum k0 = mju_norm3(a);
-    mjtNum k1 = mju_norm3(b);
-    mjtNum invK0 = 1. / k0;
-    mjtNum invK1 = 1. / k1;
-    mjtNum gk0[3] = {b[0]*invK0, b[1]*invK0, b[2]*invK0};
-    mjtNum gk1[3] = {b[0]*invK1/(size[0]*size[0]),
-                     b[1]*invK1/(size[1]*size[1]),
-                     b[2]*invK1/(size[2]*size[2])};
-    mjtNum df_dk0 = (2.*k0 - 1.) * invK1;
-    mjtNum df_dk1 = k0*(k0 - 1.) * invK1 * invK1;
-    gradient[0] = gk0[0]*df_dk0 - gk1[0]*df_dk1;
-    gradient[1] = gk0[1]*df_dk0 - gk1[1]*df_dk1;
-    gradient[2] = gk0[2]*df_dk0 - gk1[2]*df_dk1;
-    mju_normalize3(gradient);
-    break;
-
-  case mjGEOM_CYLINDER:
-    c = mju_sqrt(x[0]*x[0]+x[1]*x[1]);
-    e = mju_abs(x[2]);
-    a[0] = c - size[0];
-    a[1] = e - size[1];
-    mjtNum grada[3] = {x[0] / mju_max(c, 1. / mjMAXVAL),
-                       x[1] / mju_max(c, 1. / mjMAXVAL),
-                       x[2] / mju_max(e, 1. / mjMAXVAL)};
-    int j = a[0] > a[1] ? 0 : 1;
-    if (a[j] < 0) {
-      gradient[0] = j == 0 ? grada[0] : 0;
-      gradient[1] = j == 0 ? grada[1] : 0;
-      gradient[2] = j == 1 ? grada[2] : 0;
-    } else {
-      b[0] = mju_max(a[0], 0);
-      b[1] = mju_max(a[1], 0);
-      mjtNum bnorm = mju_max(mju_norm(b, 2), 1./mjMAXVAL);
-      gradient[0] = grada[0] * b[0] / bnorm;
-      gradient[1] = grada[1] * b[0] / bnorm;
-      gradient[2] = grada[2] * b[1] / bnorm;
-    }
-    break;
-
-  case mjGEOM_SDF:
-    if (p) {
-      p->sdf_gradient(gradient, x, d, i);
-    } else {
-      oct_gradient(m, gradient, x, i);
-    }
-    break;
-
-  case mjGEOM_MESH:
-    if (m->mesh_octadr[i] == -1) {
-      mjERROR("sdf queries require needsdf=\"true\" on mesh %d", i);
-      return;
-    }
-    oct_gradient(m, gradient, x, i);
-    break;
-
-  default:
-    mjERROR("sdf collisions not available for geom type %d", type);
-  }
-}
-
-
-//---------------------------- helper functions -------------------------------------------
-
-// signed distance function
-mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]) {
-  mjtNum y[3];
-
-  switch (s->type) {
-  case mjSDFTYPE_SINGLE:
-    return geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
-
-  case mjSDFTYPE_INTERSECTION:
-    mju_mulMatVec3(y, s->relmat, x);
-    mju_addTo3(y, s->relpos);
-    return mju_max(geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]),
-                   geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]));
-
-  case mjSDFTYPE_MIDSURFACE:
-    mju_mulMatVec3(y, s->relmat, x);
-    mju_addTo3(y, s->relpos);
-    return geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]) -
-           geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
-
-  case mjSDFTYPE_COLLISION:
-    mju_mulMatVec3(y, s->relmat, x);
-    mju_addTo3(y, s->relpos);
-    mjtNum A = geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
-    mjtNum B = geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
-    return A + B + mju_abs(mju_max(A, B));
-
-  default:
-    mjERROR("SDF type not available");
-    return 0;
-  }
-}
-
-
-// gradient of sdf
-void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s,
-                  mjtNum gradient[3], const mjtNum x[3]) {
-  mjtNum y[3];
-  const mjtNum* point[2] = {x, y};
-  mjtNum grad1[3], grad2[3];
-
-  switch (s->type) {
-  case mjSDFTYPE_INTERSECTION:
-    mju_mulMatVec3(y, s->relmat, x);
-    mju_addTo3(y, s->relpos);
-    int i = geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]) >
-            geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]) ? 0 : 1;
-    geomGradient(gradient, m, d, s->plugin[i], s->id[i], point[i], s->geomtype[i]);
-    if (i == 1) {
-      mju_mulMatTVec3(gradient, s->relmat, gradient);
-    }
-    break;
-
-  case mjSDFTYPE_MIDSURFACE:
-    mju_mulMatVec3(y, s->relmat, x);
-    mju_addTo3(y, s->relpos);
-    geomGradient(grad1, m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
-    mju_normalize3(grad1);
-    geomGradient(grad2, m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
-    mju_mulMatTVec3(grad2, s->relmat, grad2);
-    mju_normalize3(grad2);
-    mju_sub3(gradient, grad1, grad2);
-    mju_normalize3(gradient);
-    break;
-
-  case mjSDFTYPE_COLLISION:
-    mju_mulMatVec3(y, s->relmat, x);
-    mju_addTo3(y, s->relpos);
-    mjtNum A = geomDistance(m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
-    mjtNum B = geomDistance(m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
-    geomGradient(grad1, m, d, s->plugin[0], s->id[0], x, s->geomtype[0]);
-    geomGradient(grad2, m, d, s->plugin[1], s->id[1], y, s->geomtype[1]);
-    mju_mulMatTVec3(grad2, s->relmat, grad2);
-    gradient[0] = grad1[0] + grad2[0];
-    gradient[1] = grad1[1] + grad2[1];
-    gradient[2] = grad1[2] + grad2[2];
-    mju_addToScl3(gradient, A > B ? grad1 : grad2, mju_max(A, B) > 0 ? 1 : -1);
-    break;
-
-  case mjSDFTYPE_SINGLE:
-    geomGradient(gradient, m, d, s->plugin[0], s->id[0], point[0], s->geomtype[0]);
-    break;
-  default:
-    mjERROR("SDF type not available");
-  }
-}
-
-
-// get sdf from geom id
-const mjpPlugin* mjc_getSDF(const mjModel* m, int id) {
-  int instance = m->geom_plugin[id];
-  const int nslot = mjp_pluginCount();
-  const int slot = m->plugin[instance];
-  const mjpPlugin* sdf = mjp_getPluginAtSlotUnsafe(slot, nslot);
-  if (!sdf) mjERROR("invalid plugin slot: %d", slot);
-  if (!(sdf->capabilityflags & mjPLUGIN_SDF)) {
-    mjERROR("Plugin is not a signed distance field at slot %d", slot);
-  }
-  return sdf;
-}
-
-
-// map (pos12, mat12) as (xpos2, xmat2)^-1 \circ (xpos1, xmat1)
-static void mapPose(const mjtNum xpos1[3], const mjtNum xquat1[4],
-                    const mjtNum xpos2[3], const mjtNum xquat2[4],
-                    mjtNum pos12[3], mjtNum mat12[9]) {
-  mjtNum negpos[3], negquat[4], quat12[4];
-  mju_negPose(negpos, negquat, xpos2, xquat2);
-  mju_mulPose(pos12, quat12, negpos, negquat, xpos1, xquat1);
-  mju_quat2Mat(mat12, quat12);
-}
-
-
-//---------------------------- narrow phase -----------------------------------------------
-
-// check if the collision point already exists
-static int isknown(const mjtNum* points, const mjtNum x[3], int cnt) {
-  for (int i = 0; i < cnt; i++) {
-    if (mju_dist3(x, points + 3*i) < mjMINVAL) {
-      return 1;
-    }
-  }
-  return 0;
-}
-
-
-// adds candidate point to result
-// flipNormal: 0 = normal points INTO SDF (for mesh-SDF where SDF is g2)
-//             1 = normal points OUT of SDF (for flex-SDF where SDF is g1)
-static int addPreContact(mjtNum* points, mjPreContact* con, const mjtNum x[3],
-                         const mjtNum pos2[3], const mjtNum quat2[4], mjtNum dist,
-                         int cnt, const mjModel* m, const mjSDF* s, const mjData* d,
-                         int flipNormal) {
-  // check if there is a collision
-  if (dist > 0 || isknown(points, x, cnt)) {
-    return cnt;
-  } else {
-    mju_copy3(points+3*cnt, x);
-  }
-
-  // compute normal in local coordinates
-  mjtNum norm[3], vec[3];
-  mjc_gradient(m, d, s, norm, x);
-
-  // validate normal - skip if gradient is degenerate (zero or near-zero)
-  mjtNum norm_len = mju_normalize3(norm);
-  if (norm_len < mjMINVAL) {
-    return cnt;  // degenerate gradient, skip this contact
-  }
-
-  // normal direction: flipNormal=0 -> INTO SDF, flipNormal=1 -> OUT of SDF
-  if (!flipNormal) {
-    mju_scl3(norm, norm, -1);
-  }
-
-  // construct contact
-  con->dist = dist;
-  mju_rotVecQuat(con->normal, norm, quat2);
-  mju_scl3(vec, con->normal, - 0.5 * dist);
-  mju_rotVecQuat(con->pos, x, quat2);
-  mju_zero3(con->tangent);
-  mju_addTo3(con->pos, pos2);
-  mju_addTo3(con->pos, vec);
-
-  return cnt + 1;
-}
-
-
-// finds minimum of Frank-Wolfe objective
-static mjtNum stepFrankWolfe(mjtNum x[3], const mjtNum* corners, int ncorners,
-                             const mjModel* m, const mjSDF* sdf, const mjData* d) {
-  for (int step=0; step < m->opt.sdf_iterations; step++) {
-    mjtNum best = mjMAXVAL, fun, s[3], grad[3];
-
-    // evaluate gradient
-    mjc_gradient(m, d, sdf, grad, x);
-
-    // evaluate all corners
-    for (int i=0; i < ncorners; i++) {
-      // compute sdf
-      fun = mju_dot3(corners + 3*i, grad);
-
-      // save argmin
-      if (fun < best) {
-        best = fun;
-        mju_copy3(s, corners + 3*i);
-      }
-    }
-
-    // update collision point
-    mju_subFrom3(s, x);
-    mju_addToScl3(x, s, 2. / (step+2.));
-  }
-
-  // compute distance
-  return mjc_distance(m, d, sdf, x);
-}
-
-// finds minimum using gradient descent
-static mjtNum stepGradient(mjtNum x[3], const mjModel* m, const mjSDF* s,
-                           const mjData* d, int niter) {
-  const mjtNum c = .1;       // reduction factor for the target decrease in the objective function
-  const mjtNum rho = .5;     // reduction factor for the gradient scaling (alpha)
-  const mjtNum amin = 1e-4;  // minimum value for alpha
-  mjtNum dist = mjMAXVAL;
-
-  for (int step=0; step < niter; step++) {
-    mjtNum grad[3];
-    mjtNum alpha = 2.;  // initial line search factor scaling the gradient
-                        // the units of the gradient depend on s->type
-
-    // evaluate gradient
-    mjc_gradient(m, d, s, grad, x);
-
-    // sanity check
-    if (isnan(grad[0]) || grad[0] > mjMAXVAL || grad[0] < -mjMAXVAL ||
-        isnan(grad[1]) || grad[1] > mjMAXVAL || grad[1] < -mjMAXVAL ||
-        isnan(grad[2]) || grad[2] > mjMAXVAL || grad[2] < -mjMAXVAL) {
-      return mjMAXVAL;
-    }
-
-    // save current solution
-    mjtNum x0[] = {x[0], x[1], x[2]};
-
-    // evaluate distance
-    mjtNum dist0 = mjc_distance(m, d, s, x0);
-    mjtNum wolfe = - c * alpha * mju_dot3(grad, grad);
-
-    // backtracking line search
-    do {
-      alpha *= rho;
-      wolfe *= rho;
-      mju_addScl3(x, x0, grad, -alpha);
-      dist = mjc_distance(m, d, s, x);
-    } while (alpha > amin && dist - dist0 > wolfe);
-
-    // if no improvement, early stop
-    if (dist0 < dist) {
-      return dist;
-    }
-  }
-
-  // the distance will be used for the contact creation
-  return dist;
-}
-
-//---------------------------- bounding box vs sdf -------------------------------------------------
-
-// stricter triangle collision
-static int triangleIntersect(const mjtNum triangle[9], const mjModel* m,
-                             const mjSDF* sdf, const mjData* d) {
-  mjtNum edges[6];
-  mjtNum normal[3], center[3];
-  mjtNum v[9], cross[9], p[3];
-  mjtNum kDistanceScl = 10.;
-  mjtNum kMinHeight = 0.1;  // minimum tetrahedron height to avoid degeneracy
-
-  // triangle normal
-  mju_sub3(edges+0, triangle+3, triangle);
-  mju_sub3(edges+3, triangle+6, triangle);
-  mju_cross(normal, edges, edges+3);
-  mju_normalize3(normal);
-
-  // triangle centroid
-  mju_scl3(p, triangle, 1./3.);
-  mju_addToScl3(p, triangle+3, 1./3.);
-  mju_addToScl3(p, triangle+6, 1./3.);
-
-  // SDF distance at centroid
-  mjtNum dist_at_centroid = mjc_distance(m, d, sdf, p);
-
-  // compute h = offset for fourth point
-  mjtNum h = -dist_at_centroid/kDistanceScl;
-
-  // if |h| is too small, we'd create a degenerate (nearly-flat) tetrahedron
-  // whose circumsphere would be gigantic; fall back to simpler triangle check
-  if (mju_abs(h) < kMinHeight) {
-    // simple check: circumcircle of triangle
-    // compute triangle circumradius
-    mjtNum a = mju_dist3(triangle, triangle+3);
-    mjtNum b = mju_dist3(triangle+3, triangle+6);
-    mjtNum c = mju_dist3(triangle+6, triangle);
-    mjtNum s = (a + b + c) / 2.0;
-    mjtNum area = mju_sqrt(s * (s-a) * (s-b) * (s-c));
-    mjtNum circumradius = (a * b * c) / (4.0 * mju_max(area, mjMINVAL));
-
-    // check if centroid is within circumradius of the SDF
-    return dist_at_centroid < circumradius;
-  }
-
-  // fourth point: triangle centroid pushed along normal
-  mju_addToScl3(p, normal, -h);
-
-  // circumsphere center (of tetrahedron formed by triangle + fourth point)
-  mju_sub3(v+0, triangle+0, p);
-  mju_sub3(v+3, triangle+3, p);
-  mju_sub3(v+6, triangle+6, p);
-  mju_cross(cross+0, v+3, v+6);
-  mju_cross(cross+3, v+6, v+0);
-  mju_cross(cross+6, v+0, v+3);
-  mju_scl3(center, cross, mju_dot3(v, v));
-  mju_addToScl3(center, cross+3, mju_dot3(v+3, v+3));
-  mju_addToScl3(center, cross+6, mju_dot3(v+6, v+6));
-
-  mjtNum denom = 2.*mju_dot3(v, cross);
-  if (mju_abs(denom) < mjMINVAL) {
-    // degenerate: fall back to simple distance check
-    return dist_at_centroid < mju_norm3(edges);
-  }
-  mju_scl3(center, center, 1./denom);
-
-  // circumsphere radius
-  mjtNum r = mju_sqrt(mju_dot3(center, center));
-
-  // coordinate change
-  mju_addTo3(center, p);
-
-  return mjc_distance(m, d, sdf, center) < r;
-}
-
-// intersect with circumsphere of bounding box
-static int boxIntersect(const mjtNum bvh[6], const mjtNum offset[3],
-                        const mjtNum rotation[9], const mjModel* m,
-                        const mjSDF* s, const mjData* d) {
-  mjtNum candidate[3];
-  mjtNum r = mju_norm3(bvh+3);
-
-  mju_mulMatVec3(candidate, rotation, bvh);
-  mju_addTo3(candidate, offset);
-
-  // check if inside the bounding box
-  return mjc_distance(m, d, s, candidate) < r;
-}
-
-// Farthest point sampling (FPS) to select spatially diverse contacts
-// Returns indices of selected candidates in nselected, fills selected_indices array
-static int selectFPS(const mjtNum* candidate, const mjtNum* dist, int ncandidate,
-                     int* selected_indices, int max_select) {
-  if (ncandidate <= 0) return 0;
-
-  mjtBool selected[mjMAXCONPAIR] = {false};
-  mjtNum min_dist2[mjMAXCONPAIR];
-  for (int i = 0; i < ncandidate; i++) {
-    min_dist2[i] = mjMAXVAL;
-  }
-
-  // start with deepest penetrating contact
-  int best = 0;
-  mjtNum bestval = -dist[0];
-  for (int i = 1; i < ncandidate; i++) {
-    if (-dist[i] > bestval) {
-      bestval = -dist[i];
-      best = i;
-    }
-  }
-
-  // iteratively select contacts using FPS
-  int nselected = 0;
-  while (nselected < max_select && nselected < mjMAXCONPAIR && best >= 0) {
-    selected[best] = true;
-    selected_indices[nselected] = best;
-    nselected++;
-
-    const mjtNum* bestpos = candidate + 3*best;
-
-    // find next farthest point
-    int nextbest = -1;
-    mjtNum nextbestdist = -1;
-    for (int i = 0; i < ncandidate; i++) {
-      if (selected[i]) continue;
-
-      mjtNum dx = candidate[3*i+0] - bestpos[0];
-      mjtNum dy = candidate[3*i+1] - bestpos[1];
-      mjtNum dz = candidate[3*i+2] - bestpos[2];
-      mjtNum d2 = dx*dx + dy*dy + dz*dz;
-      if (d2 < min_dist2[i]) {
-        min_dist2[i] = d2;
-      }
-      if (min_dist2[i] > nextbestdist) {
-        nextbestdist = min_dist2[i];
-        nextbest = i;
-      }
-    }
-    best = nextbest;
-  }
-
-  return nselected;
-}
-
-// Process triangle corners against SDF using Halton sampling + Frank-Wolfe.
-// Corners are assumed to already be in SDF local coordinates.
-// Adds penetrating candidates to candidate/dist arrays.
-static void processSdfCorners(const mjtNum corners[9], const mjModel* m, const mjData* d,
-                              const mjSDF* sdf, int nstartpts,
-                              mjtNum* candidate, mjtNum* dist, int* ncandidate) {
-  mjtNum x[3], depth;
-
-  // stricter culling using triangle circumsphere
-  if (!triangleIntersect(corners, m, sdf, d)) {
-    return;
-  }
-
-  // sample multiple starting points using Halton sequence
-  for (int sp = 0; sp < nstartpts; sp++) {
-    if (*ncandidate >= mjMAXCONPAIR) break;
-
-    // barycentric coordinates from Halton sequence
-    mjtNum u = mju_Halton(sp + 1, 2);
-    mjtNum v = mju_Halton(sp + 1, 3);
-    if (u + v > 1) {
-      u = 1 - u;
-      v = 1 - v;
-    }
-    mjtNum b0 = 1 - u - v;
-    mjtNum b1 = u;
-    mjtNum b2 = v;
-
-    // starting point
-    x[0] = b0*corners[0] + b1*corners[3] + b2*corners[6];
-    x[1] = b0*corners[1] + b1*corners[4] + b2*corners[7];
-    x[2] = b0*corners[2] + b1*corners[5] + b2*corners[8];
-
-    depth = stepFrankWolfe(x, corners, 3, m, sdf, d);
-
-    // store candidate if penetration
-    if (depth < 0) {
-      int nc = *ncandidate;
-      mju_copy3(candidate + 3*nc, x);
-      dist[nc] = depth;
-      (*ncandidate)++;
-    }
-  }
-}
-
-// Context for inline face processing during BVH traversal
-typedef struct {
-  const mjModel* m;
-  const mjData* d;
-  const mjSDF* sdf;
-  const mjtNum* offset;
-  const mjtNum* rotation;
-  int vertadr;
-  int faceadr;
-  int nstartpts;
-  mjtNum* candidate;
-  mjtNum* dist;
-  int* ncandidate;
-} MeshSDFContext;
-
-// process a single mesh face inline during BVH traversal
-static void processOneFace(int faceid, mjtBool* bvh_active, int node,
-                           MeshSDFContext* ctx) {
-  mjtNum corners[9];
-  const mjModel* m = ctx->m;
-  int face = ctx->faceadr + faceid;
-
-  // transform triangle vertices to SDF local coordinates
-  for (int v = 0; v < 3; v++) {
-    mjtNum vec[3] = {
-      m->mesh_vert[3*(ctx->vertadr + m->mesh_face[3*face+v]) + 0],
-      m->mesh_vert[3*(ctx->vertadr + m->mesh_face[3*face+v]) + 1],
-      m->mesh_vert[3*(ctx->vertadr + m->mesh_face[3*face+v]) + 2],
-    };
-    mju_mulMatVec3(corners + 3*v, ctx->rotation, vec);
-    mju_addTo3(corners + 3*v, ctx->offset);
-  }
-
-  // use shared helper for Halton sampling + Frank-Wolfe
-  processSdfCorners(corners, m, ctx->d, ctx->sdf, ctx->nstartpts,
-                    ctx->candidate, ctx->dist, ctx->ncandidate);
-
-  if (bvh_active && *(ctx->ncandidate) > 0) bvh_active[node] = true;
-}
-
-// Callback type for leaf node processing during BVH traversal
-// Returns 1 if node should be marked active (for visualization), 0 otherwise
-typedef int (*BVHLeafCallback)(int leaf_id, int node, void* ctx);
-
-// Generic BVH traversal with callback for leaf processing
-// bvh: pointer to BVH AABBs (6 floats per node: center xyz, half-size xyz)
-// nodeid: leaf ID per node (-1 for intermediate nodes)
-// child: child indices (2 per node)
-// bvh_active: visualization array or NULL
-// offset/rotation: transform for boxIntersect
-// m, d, sdf: for boxIntersect
-// callback: function called for each leaf node
-// ctx: user context passed to callback
-static void traverseBVH(const mjtNum* bvh, const int* nodeid, const int* child,
-                        mjtBool* bvh_active, const mjtNum* offset, const mjtNum* rotation,
-                        const mjModel* m, const mjData* d, const mjSDF* sdf,
-                        BVHLeafCallback callback, void* ctx) {
-  int stack[64];
-  int nstack = 0;
-  stack[nstack++] = 0;
-
-  while (nstack) {
-    int node = stack[--nstack];
-
-    // leaf node: call callback
-    if (nodeid[node] != -1) {
-      if (boxIntersect(bvh + 6*node, offset, rotation, m, sdf, d)) {
-        int active = callback(nodeid[node], node, ctx);
-        if (bvh_active && active) bvh_active[node] = true;
-      }
-      continue;
-    }
-
-    // intermediate node: check bounding box
-    if (!boxIntersect(bvh + 6*node, offset, rotation, m, sdf, d)) {
-      continue;
-    }
-
-    if (bvh_active) bvh_active[node] = true;
-
-    // push children
-    for (int i = 0; i < 2; i++) {
-      if (child[2*node+i] != -1) {
-        if (nstack >= 64) {
-          mjERROR("BVH stack depth exceeded.");
-        }
-        stack[nstack++] = child[2*node+i];
-      }
-    }
-  }
-}
-
-// mesh face callback for traverseBVH
-static int meshFaceCallback(int face_id, int node, void* ctx) {
-  MeshSDFContext* mctx = (MeshSDFContext*)ctx;
-  int ncandidate_before = *(mctx->ncandidate);
-  processOneFace(face_id, NULL, node, mctx);
-  return *(mctx->ncandidate) > ncandidate_before;  // mark active if candidates added
-}
-
-
-//------------------------------ collision functions -----------------------------------------------
-
-// collision between a height field and a signed distance field
-int mjc_HFieldSDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  mju_warning("HField vs SDF collision not yet supported!");
-  return 0;
-}
-
-
-// collision between a mesh and a signed distance field
-int mjc_MeshSDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  const mjtNum* pos1 = d->geom_xpos + 3*g1;
-  const mjtNum* mat1 = d->geom_xmat + 9*g1;
-  const mjtNum* pos2 = d->geom_xpos + 3*g2;
-  const mjtNum* mat2 = d->geom_xmat + 9*g2;
-
-  mjtNum offset[3], rotation[9];
-  mjtNum points[3*mjMAXCONPAIR], dist2[mjMAXCONPAIR], candidate[3*mjMAXCONPAIR];
-  int cnt = 0, ncandidate = 0;
-
-  // get sdf plugin
-  int instance = m->geom_plugin[g2];
-  const mjpPlugin* sdf_ptr = instance == -1 ? NULL : mjc_getSDF(m, g2);
-  instance = instance == -1 ? m->geom_dataid[g2] : instance;
-  mjtGeom geomtype = mjGEOM_SDF;
-
-  // copy into data
-  mjSDF sdf;
-  sdf.id = &instance;
-  sdf.type = mjSDFTYPE_SINGLE;
-  sdf.plugin = &sdf_ptr;
-  sdf.geomtype = &geomtype;
-
-  // compute transformation from g1 to g2
-  mjtNum sdf_quat[4], quat1[4];
-  mju_mat2Quat(quat1, mat1);
-  mju_mat2Quat(sdf_quat, mat2);
-  mapPose(pos1, quat1, pos2, sdf_quat, offset, rotation);
-
-  // set up context for inline BVH processing
-  MeshSDFContext ctx;
-  ctx.m = m;
-  ctx.d = d;
-  ctx.sdf = &sdf;
-  ctx.offset = offset;
-  ctx.rotation = rotation;
-  ctx.vertadr = m->mesh_vertadr[m->geom_dataid[g1]];
-  ctx.faceadr = m->mesh_faceadr[m->geom_dataid[g1]];
-  ctx.nstartpts = mju_max(1, m->opt.sdf_initpoints);
-  ctx.candidate = candidate;
-  ctx.dist = dist2;
-  ctx.ncandidate = &ncandidate;
-
-  // BVH traversal for mesh faces
-  const int bvhadr = m->mesh_bvhadr[m->geom_dataid[g1]];
-  if (bvhadr >= 0) {
-    const int* nodeid = m->bvh_nodeid + bvhadr;
-    const mjtNum* bvh = m->bvh_aabb + 6*bvhadr;
-    const int* child = m->bvh_child + 2*bvhadr;
-    mjtBool* bvh_active = m->vis.global.bvactive ? d->bvh_active + bvhadr : NULL;
-
-    traverseBVH(bvh, nodeid, child, bvh_active, ctx.offset, ctx.rotation,
-                m, d, ctx.sdf, meshFaceCallback, &ctx);
-  }
-
-  // if few candidates, add them all directly
-  if (ncandidate <= mjMAXCONPAIR) {
-    for (int i = 0; i < ncandidate; i++) {
-      cnt = addPreContact(points, con + cnt, candidate + 3*i, pos2, sdf_quat,
-                          dist2[i], cnt, m, &sdf, d, 0);
-    }
-    return cnt;
-  }
-
-  // farthest point sampling (FPS) for spatial coverage
-  int selected_indices[mjMAXCONPAIR];
-  int nselected = selectFPS(candidate, dist2, ncandidate, selected_indices, mjMAXCONPAIR);
-
-  // add selected contacts
-  for (int i = 0; i < nselected; i++) {
-    int idx = selected_indices[i];
-    cnt = addPreContact(points, con + cnt, candidate + 3*idx, pos2, sdf_quat,
-                        dist2[idx], cnt, m, &sdf, d, 0);
-  }
-
-  return cnt;
-}
-
-// collision between two SDFs
-int mjc_SDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  const mjtNum* pos1  = d->geom_xpos + 3*g1;
-  const mjtNum* mat1  = d->geom_xmat + 9*g1;
-  const mjtNum* pos2  = d->geom_xpos + 3*g2;
-  const mjtNum* mat2  = d->geom_xmat + 9*g2;
-  const mjtNum* size1 = m->geom_aabb + 6*g1;
-  const mjtNum* size2 = m->geom_aabb + 6*g2;
-
-  int cnt = 0;
-  mjtNum x[3], y[3], dist2, vec1[3], vec2[3];
-  mjtNum aabb1[6] = {mjMAXVAL, mjMAXVAL, mjMAXVAL, -mjMAXVAL, -mjMAXVAL, -mjMAXVAL};
-  mjtNum aabb2[6] = {mjMAXVAL, mjMAXVAL, mjMAXVAL, -mjMAXVAL, -mjMAXVAL, -mjMAXVAL};
-  mjtNum aabb[6]  = {mjMAXVAL, mjMAXVAL, mjMAXVAL, -mjMAXVAL, -mjMAXVAL, -mjMAXVAL};
-
-  // second geom must be an SDF
-  if (m->geom_type[g2] != mjGEOM_SDF) {
-    mjERROR("geom is not an SDF");
-  }
-
-  // compute transformations from/to g1 to/from g2
-  mjtNum quat1[4], quat2[4];
-  mjtNum offset21[3], rotation21[9], rotation12[9];
-  mjtNum offset12[3], offset2[3], rotation2[9];
-  mju_mat2Quat(quat1, mat1);
-  mju_mat2Quat(quat2, mat2);
-  mapPose(pos1, quat1, pos1, quat1, offset2, rotation2);
-  mapPose(pos2, quat2, pos1, quat1, offset21, rotation21);
-  mapPose(pos1, quat1, pos2, quat2, offset12, rotation12);
-
-  // axis-aligned bounding boxes in g1 frame
-  for (int i=0; i < 8; i++) {
-    vec1[0] = (i&1 ? size1[0]+size1[3] : size1[0]-size1[3]);
-    vec1[1] = (i&2 ? size1[1]+size1[4] : size1[1]-size1[4]);
-    vec1[2] = (i&4 ? size1[2]+size1[5] : size1[2]-size1[5]);
-
-    vec2[0] = (i&1 ? size2[0]+size2[3] : size2[0]-size2[3]);
-    vec2[1] = (i&2 ? size2[1]+size2[4] : size2[1]-size2[4]);
-    vec2[2] = (i&4 ? size2[2]+size2[5] : size2[2]-size2[5]);
-
-    mju_mulMatVec3(vec2, rotation21, vec2);
-    mju_addTo3(vec2, offset21);
-
-    for (int k=0; k < 3; k++) {
-      aabb1[0+k] = mju_min(aabb1[0+k], vec1[k]);
-      aabb1[3+k] = mju_max(aabb1[3+k], vec1[k]);
-      aabb2[0+k] = mju_min(aabb2[0+k], vec2[k]);
-      aabb2[3+k] = mju_max(aabb2[3+k], vec2[k]);
-    }
-  }
-
-  // intersection of aabbs
-  for (int k=0; k < 3; k++) {
-    aabb[0+k] = mju_max(aabb1[0+k], aabb2[0+k]);
-    aabb[3+k] = mju_min(aabb1[3+k], aabb2[3+k]);
-  }
-
-  // no intersection if max < min
-  if (aabb[3] < aabb[0] || aabb[4] < aabb[1] || aabb[5] < aabb[2]) {
-    return cnt;
-  }
-
-  // create sdf pointers
-  int instance[2];
-  const mjpPlugin* sdf_ptr[2];
-  mjtGeom geomtypes[2] = {m->geom_type[g2], m->geom_type[g1]};
-
-  instance[0] = m->geom_plugin[g2];
-  sdf_ptr[0] = instance[0] == -1 ? NULL : mjc_getSDF(m, g2);
-
-  // get sdf plugins
-  if (m->geom_type[g1] == mjGEOM_SDF) {
-    instance[1] = m->geom_plugin[g1];
-    sdf_ptr[1] = instance[1] == -1 ? NULL : mjc_getSDF(m, g1);
-  } else {
-    instance[1] = g1;
-    sdf_ptr[1] = NULL;
-  }
-
-  // reset visualization count
-  if (sdf_ptr[0]) {
-    sdf_ptr[0]->reset(m, NULL, (void*)(d->plugin_data[instance[0]]), instance[0]);
-  }
-
-  // copy into sdf
-  mjSDF sdf;
-  instance[0] = instance[0] == -1 ? m->geom_dataid[g2] : instance[0];
-  instance[1] = instance[1] == -1 ? m->geom_dataid[g1] : instance[1];
-  sdf.id = instance;
-  sdf.relpos = offset21;
-  sdf.relmat = rotation21;
-  sdf.plugin = sdf_ptr;
-  sdf.geomtype = geomtypes;
-
-  // minimize sdf intersection
-  mjtNum contacts[3*mjMAXCONPAIR];
-
-  int i = 0, j = 0;
-  while (i < m->opt.sdf_initpoints) {
-    x[0] = aabb[0] + (aabb[3]-aabb[0]) * mju_Halton(j, 2);
-    x[1] = aabb[1] + (aabb[4]-aabb[1]) * mju_Halton(j, 3);
-    x[2] = aabb[2] + (aabb[5]-aabb[2]) * mju_Halton(j, 5);
-
-    mju_mulMatVec3(y, rotation2, x);
-    mju_addTo3(y, offset2);
-
-    mju_mulMatVec3(x, rotation12, y);
-    mju_addTo3(x, offset12);
-
-    j++;
-
-    // here a criterion for rejecting points could be inserted
-
-    i++;
-
-    // start counters
-    if (sdf_ptr[0]) {
-      sdf_ptr[0]->compute(m, d, instance[0], mjPLUGIN_SDF);
-    }
-
-    // gradient descent - we use a special function of the two SDF as objective
-    sdf.type = mjSDFTYPE_COLLISION;
-    dist2 = stepGradient(x, m, &sdf, d, m->opt.sdf_iterations);
-
-    // inexact SDFs can yield spurious collisions, filter them by projecting on the midsurface
-    sdf.type = mjSDFTYPE_INTERSECTION;
-    dist2 = stepGradient(x, m, &sdf, d, 1);
-
-    // contact point and normal - we use the midsurface where SDF1=SDF2 as zero level set
-    sdf.type = mjSDFTYPE_MIDSURFACE;
-    cnt = addPreContact(contacts, con + cnt, x, pos2, quat2, dist2, cnt, m, &sdf, d, 0);
-
-    // SHOULD NOT OCCUR
-    if (cnt > mjMAXCONPAIR) {
-      mjERROR("too many contact points");
-    }
-  }
-
-  return cnt;
-}
-
-// Context for flex element processing during BVH traversal
-typedef struct {
-  const mjModel* m;
-  const mjData* d;
-  const mjSDF* sdf;
-  const mjtNum* offset;
-  const mjtNum* rotation;
-  const mjtNum* vertxpos;
-  int f;
-  int dim;
-  int nstartpts;
-  mjtNum* candidate;
-  mjtNum* dist;
-  int* elem_id;
-  int* ncandidate;
-} FlexSDFContext;
-
-// flex element callback for traverseBVH
-static int flexElemCallback(int elem_idx, int node, void* ctx) {
-  FlexSDFContext* fctx = (FlexSDFContext*)ctx;
-  const mjModel* m = fctx->m;
-  int dim = fctx->dim;
-
-  // get element vertex indices
-  const int* edata = m->flex_elem + m->flex_elemdataadr[fctx->f] + elem_idx*(dim+1);
-
-  // get triangle corners in world coordinates
-  mjtNum world_corners[9];
-  for (int v = 0; v < 3; v++) {
-    mju_copy3(world_corners + 3*v, fctx->vertxpos + 3*edata[v]);
-  }
-
-  // transform corners to SDF local coordinates
-  mjtNum corners[9];
-  for (int v = 0; v < 3; v++) {
-    mju_mulMatVec3(corners + 3*v, fctx->rotation, world_corners + 3*v);
-    mju_addTo3(corners + 3*v, fctx->offset);
-  }
-
-  // process triangle (per-element candidates)
-  mjtNum elem_candidate[3*mjMAXCONPAIR];
-  mjtNum elem_dist[mjMAXCONPAIR];
-  int elem_ncandidate = 0;
-  processSdfCorners(corners, m, fctx->d, fctx->sdf, fctx->nstartpts,
-                    elem_candidate, elem_dist, &elem_ncandidate);
-
-  // keep only deepest penetrating candidate from this element
-  if (elem_ncandidate > 0) {
-    int best_i = 0;
-    for (int i = 1; i < elem_ncandidate; i++) {
-      if (elem_dist[i] < elem_dist[best_i]) {
-        best_i = i;
-      }
-    }
-    // add to global candidate list
-    int nc = *(fctx->ncandidate);
-    if (nc < mjMAXCONPAIR) {
-      mju_copy3(fctx->candidate + 3*nc, elem_candidate + 3*best_i);
-      fctx->dist[nc] = elem_dist[best_i];
-      fctx->elem_id[nc] = elem_idx;
-      (*(fctx->ncandidate))++;
-      return 1;  // mark active
-    }
-  }
-  return 0;
-}
-
-
-int mjc_FlexSDF(const mjModel* m, const mjData* d, mjPreContact* con, int* elem,
-                int g, int f, mjtNum margin) {
-  // g = SDF geom, f = flex
-  int dim = m->flex_dim[f];
-
-  // only support dim==2 (triangular elements)
-  if (dim != 2) {
-    return 0;
-  }
-
-  mjtNum points[3*mjMAXCONPAIR], dist[mjMAXCONPAIR], candidate[3*mjMAXCONPAIR];
-  int elem_id[mjMAXCONPAIR];  // track which element generated each candidate
-  int cnt = 0, ncandidate = 0;
-
-  // get SDF info (once for entire flex)
-  int instance = m->geom_plugin[g];
-  const mjpPlugin* sdf_ptr = instance == -1 ? NULL : mjc_getSDF(m, g);
-  instance = instance == -1 ? m->geom_dataid[g] : instance;
-  mjtGeom geomtype = mjGEOM_SDF;
-
-  mjSDF sdf;
-  sdf.id = &instance;
-  sdf.type = mjSDFTYPE_SINGLE;
-  sdf.plugin = &sdf_ptr;
-  sdf.geomtype = &geomtype;
-
-  // get SDF pose (once for entire flex)
-  mjtNum sdf_quat[4];
-  const mjtNum* sdf_pos = d->geom_xpos + 3*g;
-  const mjtNum* sdf_mat = d->geom_xmat + 9*g;
-  mju_mat2Quat(sdf_quat, sdf_mat);
-
-  // compute world-to-SDF transform (once for entire flex)
-  mjtNum rotation[9], offset[3];
-  mjtNum world_origin[3] = {0, 0, 0}, world_quat[4] = {1, 0, 0, 0};
-  mapPose(world_origin, world_quat, sdf_pos, sdf_quat, offset, rotation);
-
-  // get flex element and vertex data
-  const mjtNum* vertxpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
-  int nstartpts = mju_max(1, m->opt.sdf_initpoints);
-  int elemnum = m->flex_elemnum[f];
-
-  // flex has no BVH tree: iterate all elements directly
-  const int bvhadr = m->flex_bvhadr[f];
-  if (bvhadr < 0) {
-    mjtNum elem_candidate[3*mjMAXCONPAIR];
-    mjtNum elem_dist[mjMAXCONPAIR];
-    for (int e = 0; e < elemnum; e++) {
-      const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
-
-      // get triangle corners in world coordinates
-      mjtNum world_corners[9];
-      for (int v = 0; v < 3; v++) {
-        mju_copy3(world_corners + 3*v, vertxpos + 3*edata[v]);
-      }
-
-      // transform corners to SDF local coordinates
-      mjtNum corners[9];
-      for (int v = 0; v < 3; v++) {
-        mju_mulMatVec3(corners + 3*v, rotation, world_corners + 3*v);
-        mju_addTo3(corners + 3*v, offset);
-      }
-
-      // process triangle using shared helper (per-element candidates)
-      int elem_ncandidate = 0;
-      processSdfCorners(corners, m, d, &sdf, nstartpts, elem_candidate, elem_dist, &elem_ncandidate);
-
-      // add contacts for this element immediately (per-element points tracking)
-      mjtNum elem_points[3*mjMAXCONPAIR];
-      int elem_cnt = 0;
-      for (int i = 0; i < elem_ncandidate && cnt < mjMAXCONPAIR; i++) {
-        int old_elem_cnt = elem_cnt;
-        elem_cnt = addPreContact(elem_points, con + cnt, elem_candidate + 3*i, sdf_pos, sdf_quat,
-                              elem_dist[i], elem_cnt, m, &sdf, d, 1);
-        // set element ID for successfully added contact
-        if (elem_cnt > old_elem_cnt) {
-          elem[cnt] = e;
-          cnt++;
-        }
-      }
-    }
-    return cnt;
-  }
-
-  // have BVH: use tree traversal for efficiency
-  const int* elemid = m->bvh_nodeid + bvhadr;
-  // flexes use dynamic AABBs (vertices move during simulation)
-  const int nbvhstatic = m->nbvhstatic;
-  const mjtNum* bvh = d->bvh_aabb_dyn + 6*(bvhadr - nbvhstatic);
-  const int* child = m->bvh_child + 2*bvhadr;
-  mjtBool* bvh_active = m->vis.global.bvactive ? d->bvh_active + bvhadr : NULL;
-
-  // set up context for flex element processing
-  FlexSDFContext fctx;
-  fctx.m = m;
-  fctx.d = d;
-  fctx.sdf = &sdf;
-  fctx.offset = offset;
-  fctx.rotation = rotation;
-  fctx.vertxpos = vertxpos;
-  fctx.f = f;
-  fctx.dim = dim;
-  fctx.nstartpts = nstartpts;
-  fctx.candidate = candidate;
-  fctx.dist = dist;
-  fctx.elem_id = elem_id;
-  fctx.ncandidate = &ncandidate;
-
-  traverseBVH(bvh, elemid, child, bvh_active, offset, rotation,
-              m, d, &sdf, flexElemCallback, &fctx);
-
-
-  // if few candidates, add them all directly
-  if (ncandidate <= mjMAXCONPAIR) {
-    for (int i = 0; i < ncandidate; i++) {
-      int old_cnt = cnt;
-      cnt = addPreContact(points, con + cnt, candidate + 3*i, sdf_pos, sdf_quat, dist[i], cnt, m,
-                          &sdf, d, 1);
-      // set element ID for successfully added contact
-      if (cnt > old_cnt) {
-        elem[old_cnt] = elem_id[i];
-      }
-    }
-    return cnt;
-  }
-
-  // farthest point sampling (FPS) for spatial coverage
-  int selected_indices[mjMAXCONPAIR];
-  int nselected = selectFPS(candidate, dist, ncandidate, selected_indices, mjMAXCONPAIR);
-
-  // add selected contacts
-  for (int i = 0; i < nselected; i++) {
-    int idx = selected_indices[i];
-    int old_cnt = cnt;
-    cnt = addPreContact(points, con + cnt, candidate + 3*idx, sdf_pos, sdf_quat, dist[idx], cnt, m,
-                        &sdf, d, 1);
-    // set element ID for successfully added contact
-    if (cnt > old_cnt) {
-      elem[old_cnt] = elem_id[idx];
-    }
-  }
-
-  return cnt;
-}
diff --git a/src/engine/engine_collision_sdf.h b/src/engine/engine_collision_sdf.h
deleted file mode 100644
index 30a5f3d4..00000000
--- a/src/engine/engine_collision_sdf.h
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_SDF_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_SDF_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// get sdf from geom id
-MJAPI const mjpPlugin* mjc_getSDF(const mjModel* m, int id);
-
-// signed distance function
-MJAPI mjtNum mjc_distance(const mjModel* m, const mjData* d, const mjSDF* s, const mjtNum x[3]);
-
-// gradient of sdf
-MJAPI void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s, mjtNum gradient[3],
-                        const mjtNum x[3]);
-
-// collision between a height field and a signed distance field
-int mjc_HFieldSDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
-
-// collision between a mesh and a signed distance field
-int mjc_MeshSDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
-
-// collision between two signed distance fields
-int mjc_SDF(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin);
-
-// collision between entire flex and SDF geom (batched processing)
-int mjc_FlexSDF(const mjModel* m, const mjData* d, mjPreContact* con, int* elem,
-                int g, int f, mjtNum margin);
-
-#ifdef __cplusplus
-}
-#endif
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_SDF_H_
diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
deleted file mode 100644
index 3bf123d8..00000000
--- a/src/engine/engine_core_constraint.c
+++ /dev/null
@@ -1,3479 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_core_constraint.h"
-
-#include <stdio.h>
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjxmacro.h>
-#include "engine/engine_init.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_sleep.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse.h"
-#include "engine/engine_util_spatial.h"
-
-#ifdef MEMORY_SANITIZER
-  #include <sanitizer/msan_interface.h>
-#endif
-
-#ifdef mjUSEPLATFORMSIMD
-  #if defined(__AVX__) && !defined(mjUSESINGLE)
-    #define mjUSEAVX
-  #endif  // defined(__AVX__) && !defined(mjUSESINGLE)
-#endif  // mjUSEPLATFORMSIMD
-
-
-//-------------------------- utility functions -----------------------------------------------------
-
-
-// compute cell node Jacobians and combined chain for flex strain constraints
-// npc: number of nodes per cell
-// gindices: global indices of cell nodes in flex
-// cell_node_jac: output array of size 3*npc*cell_nnz (allocated on stack)
-// mj_{mark/free}Stack in calling function
-static mjtNum* cell_pos_and_jac(const mjModel* m, mjData* d, int flex_id, int npc, const int* gindices,
-                                int nv, const mjtNum* xpos_c, int* cell_chain, int* cell_nnz) {
-  int* nstart = m->flex_nodeadr + flex_id;
-  int* bodyid = m->flex_nodebodyid + *nstart;
-
-  // build per-cell sparse chain: union of bodyChain for npc nodes
-  *cell_nnz = 0;
-  int* dof_used = mjSTACKALLOC(d, nv, int);
-  int* temp_chain = mjSTACKALLOC(d, nv, int);
-  mju_zeroInt(dof_used, nv);
-  for (int n = 0; n < npc; n++) {
-    int temp_nnz = mj_bodyChain(m, bodyid[gindices[n]], temp_chain);
-    for (int k = 0; k < temp_nnz; k++) {
-      dof_used[temp_chain[k]] = 1;
-    }
-  }
-  for (int q = 0; q < nv; q++) {
-    if (dof_used[q]) {
-      cell_chain[(*cell_nnz)++] = q;
-    }
-  }
-
-  // build per-cell node Jacobians: 3*npc x cell_nnz
-  mjtNum* cell_node_jac = mjSTACKALLOC(d, 3*npc*(*cell_nnz), mjtNum);
-  mju_zero(cell_node_jac, 3*npc*(*cell_nnz));
-  int* chain_col = mjSTACKALLOC(d, nv, int);
-  mjtNum* blk_jac = mjSTACKALLOC(d, 3*nv, mjtNum);
-  for (int n = 0; n < npc; n++) {
-    int body = bodyid[gindices[n]];
-    int chain_n = mj_bodyChain(m, body, chain_col);
-    mju_zero(blk_jac, 3*chain_n);
-    mj_jacSparse(m, d, blk_jac, NULL, xpos_c + 3*n,
-                 body, chain_n, chain_col, 0);
-    // map node's sparse chain into cell_chain indexing
-    for (int r = 0; r < 3; r++) {
-      for (int k = 0; k < chain_n; k++) {
-        // find chain_col[k] in cell_chain via linear scan (chain is short)
-        for (int cc = 0; cc < *cell_nnz; cc++) {
-          if (cell_chain[cc] == chain_col[k]) {
-            cell_node_jac[(3*n + r)*(*cell_nnz) + cc] = blk_jac[r*chain_n + k];
-            break;
-          }
-        }
-      }
-    }
-  }
-
-  return cell_node_jac;
-}
-
-
-
-// compute strain Jacobian from strain derivative w.r.t. cell-local node positions
-// dSdx_local: input array of size 3*npc (dStrain/dNodePosition for cell nodes)
-// cell_node_jac: input array of size 3*npc*cell_nnz (sparse Jacobians)
-// strain_jac: output array of size cell_nnz (dStrain/dq)
-static void cell_strain_jacobian(int npc, int cell_nnz,
-                                 const mjtNum* dSdx_local,
-                                 const mjtNum* cell_node_jac,
-                                 mjtNum* strain_jac) {
-  mju_zero(strain_jac, cell_nnz);
-  for (int n = 0; n < npc; n++) {
-    for (int c = 0; c < 3; c++) {
-      mjtNum w = dSdx_local[3*n + c];
-      if (w == 0) continue;
-      int row = 3*n + c;
-      for (int k = 0; k < cell_nnz; k++) {
-        strain_jac[k] += w * cell_node_jac[row*cell_nnz + k];
-      }
-    }
-  }
-}
-
-
-// allocate efc arrays on arena, return 1 on success, 0 on failure
-static int arenaAllocEfc(const mjModel* m, mjData* d) {
-#undef MJ_M
-#define MJ_M(n) m->n
-#undef MJ_D
-#define MJ_D(n) d->n
-
-  // move arena pointer to end of contact array
-  d->parena = d->ncon * sizeof(mjContact);
-
-  // poison remaining memory
-#ifdef mjUSEASAN
-  ASAN_POISON_MEMORY_REGION(
-    (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
-#endif
-
-#define X(type, name, nr, nc)                                                 \
-  d->name = mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), _Alignof(type)); \
-  if (!d->name) {                                                             \
-    mj_warning(d, mjWARN_CNSTRFULL, d->narena);                               \
-    mj_clearEfc(d);                                                           \
-    d->parena = d->ncon * sizeof(mjContact);                                  \
-    return 0;                                                                 \
-  }
-
-  MJDATA_ARENA_POINTERS_SOLVER
-#undef X
-
-#undef MJ_M
-#define MJ_M(n) n
-#undef MJ_D
-#define MJ_D(n) n
-
-  return 1;
-}
-
-
-// determine type of solver
-int mj_isDual(const mjModel* m) {
-  if (m->opt.solver == mjSOL_PGS || m->opt.noslip_iterations > 0) {
-    return 1;
-  } else {
-    return 0;
-  }
-}
-
-
-// assign/clamp contact friction parameters
-void mj_assignFriction(const mjModel* m, mjtNum* target, const mjtNum* source) {
-  if (mjENABLED(mjENBL_OVERRIDE)) {
-    for (int i=0; i < 5; i++) {
-      target[i] = mju_max(mjMINMU, m->opt.o_friction[i]);
-    }
-  } else {
-    for (int i=0; i < 5; i++) {
-      target[i] = mju_max(mjMINMU, source[i]);
-    }
-  }
-}
-
-
-
-// assign/override contact reference parameters
-void mj_assignRef(const mjModel* m, mjtNum* target, const mjtNum* source) {
-  if (mjENABLED(mjENBL_OVERRIDE)) {
-    mju_copy(target, m->opt.o_solref, mjNREF);
-  } else {
-    mju_copy(target, source, mjNREF);
-  }
-}
-
-
-// assign/override contact impedance parameters
-void mj_assignImp(const mjModel* m, mjtNum* target, const mjtNum* source) {
-  if (mjENABLED(mjENBL_OVERRIDE)) {
-    mju_copy(target, m->opt.o_solimp, mjNIMP);
-  } else {
-    mju_copy(target, source, mjNIMP);
-  }
-}
-
-
-// assign/override contact margin
-mjtNum mj_assignMargin(const mjModel* m, mjtNum source) {
-  if (mjENABLED(mjENBL_OVERRIDE)) {
-    return m->opt.o_margin;
-  } else {
-    return source;
-  }
-}
-
-
-// compute element bodies and weights for given contact point, return #bodies
-// if v is one of the element vertices, reduce element to fragment
-static int mj_elemBodyWeight(const mjModel* m, const mjData* d, int f, int e, int v,
-                             const mjtNum point[3], int* body, mjtNum* weight) {
-  // get flex info
-  int dim = m->flex_dim[f];
-  const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
-  const mjtNum* vert = d->flexvert_xpos + 3*m->flex_vertadr[f];
-
-  // compute inverse distances from contact point to element vertices
-  // save body ids, find vertex v in element
-  int vid = -1;
-  for (int i=0; i <= dim; i++) {
-    mjtNum dist = mju_dist3(point, vert+3*edata[i]);
-    weight[i] = 1.0/(mju_max(mjMINVAL, dist));
-    body[i] = m->flex_vertadr[f] + edata[i];
-
-    // check if element vertex matches v
-    if (edata[i] == v) {
-      vid = i;
-    }
-  }
-
-  // v found in e: skip and shift remaining
-  if (vid >= 0) {
-    while (vid < dim) {
-      weight[vid] = weight[vid+1];
-      body[vid] = body[vid+1];
-      vid++;
-    }
-    dim--;
-  }
-
-  // normalize weights
-  mjtNum sum = mju_sum(weight, dim+1);
-  if (sum < mjMINVAL) {
-    mjERROR("element body weight sum < mjMINVAL");
-  }
-  mju_scl(weight, weight, 1.0/sum, dim+1);
-  return dim+1;
-}
-
-
-// compute body weights for a given contact vertex, return #bodies
-static int mj_vertBodyWeight(const mjModel* m, const mjData* d, int f, int* v,
-                             int* body, mjtNum* bweight, const mjtNum* vweight, int nw) {
-  if (nw == 0) {
-    return 0;
-  }
-
-  // determine sign: vweight may be negative for side-0 of a contact pair
-  mjtNum sign = vweight[0] < 0 ? -1 : 1;
-
-  // compute parametric coordinates using absolute weights
-  mjtNum coord[3] = {0, 0, 0};
-  for (int i = 0; i < nw; i++) {
-    mju_addToScl3(coord, m->flex_vert0 + 3*v[i], mju_abs(vweight[i]));
-  }
-
-  int interp = m->flex_interp[f];
-  int order = interp < 0 ? -interp : interp;
-  int npc = (order+1)*(order+1)*(order+1);  // number of nodes per cell
-
-  // grid dimensions for shell mode
-  int nx = 0, ny = 0, nz = 0;
-  if (interp < 0) {
-    nx = m->flex_cellnum[3*f+0] * order + 1;
-    ny = m->flex_cellnum[3*f+1] * order + 1;
-    nz = m->flex_cellnum[3*f+2] * order + 1;
-  }
-
-  // cell lookup: get local coords and node indices
-  mjtNum local[3];
-  int nodeindices[27];  // max npc for quadratic: 3^3 = 27
-  mju_cellLookup(coord, m->flex_cellnum+3*f, order, local, nodeindices);
-
-  // evaluate basis functions for this cell's local nodes
-  int nstart = m->flex_nodeadr[f];
-  int nb = 0;
-
-  if (!m->flex_nodebodyid) {
-    return 0;
-  }
-
-  if (npc > 27) {
-    for (int j = 0; j < npc; j++) {
-      mjtNum w = mju_evalBasis(local, j, order);
-      if (w < 1e-5) {
-        continue;
-      }
-
-      int idx = nodeindices[j];
-
-      // shell mode: map interior nodes to boundary
-      if (interp < 0) {
-        int k_idx = idx % nz;
-        int rest = idx / nz;
-        int j_idx = rest % ny;
-        int i_idx = rest / ny;
-
-        if (i_idx > 0 && i_idx < nx-1 && j_idx > 0 && j_idx < ny-1 && k_idx > 0 && k_idx < nz-1) {
-          mju_shellTFIWeights(nx, ny, nz, i_idx, j_idx, k_idx, sign * w, &nb, body, bweight, m->flex_nodebodyid, nstart);
-          continue;
-        }
-      }
-
-      // add node, check for duplicates (especially needed when combining with TFI)
-      int b = m->flex_nodebodyid[nstart + idx];
-      int found = 0;
-      for (int k = 0; k < nb; k++) {
-        if (body[k] == b) {
-          if (bweight) bweight[k] += sign * w;
-          found = 1;
-          break;
-        }
-      }
-      if (!found) {
-        if (bweight) bweight[nb] = sign * w;
-        body[nb++] = b;
-      }
-    }
-  } else {
-    mjtNum basis[27];
-    mju_evalBasisArray(basis, local, order);
-
-    for (int j = 0; j < npc; j++) {
-      mjtNum w = basis[j];
-      if (w < 1e-5) {
-        continue;
-      }
-
-      int idx = nodeindices[j];
-
-      // shell mode: map interior nodes to boundary
-      if (interp < 0) {
-        int k_idx = idx % nz;
-        int rest = idx / nz;
-        int j_idx = rest % ny;
-        int i_idx = rest / ny;
-
-        if (i_idx > 0 && i_idx < nx-1 && j_idx > 0 && j_idx < ny-1 && k_idx > 0 && k_idx < nz-1) {
-          mju_shellTFIWeights(nx, ny, nz, i_idx, j_idx, k_idx, sign * w, &nb, body, bweight, m->flex_nodebodyid, nstart);
-          continue;
-        }
-      }
-
-      // add node, check for duplicates (especially needed when combining with TFI)
-      int b = m->flex_nodebodyid[nstart + idx];
-      int found = 0;
-      for (int k = 0; k < nb; k++) {
-        if (body[k] == b) {
-          if (bweight) bweight[k] += sign * w;
-          found = 1;
-          break;
-        }
-      }
-      if (!found) {
-        if (bweight) bweight[nb] = sign * w;
-        body[nb++] = b;
-      }
-    }
-  }
-
-
-  return nb;
-}
-
-
-// add contact to d->contact list; return 0 if success; 1 if buffer full
-int mj_addContact(const mjModel* m, mjData* d, const mjContact* con) {
-  // move arena pointer back to the end of the existing contact array and invalidate efc_ arrays
-  d->parena = d->ncon * sizeof(mjContact);
-#ifdef mjUSEASAN
-  ASAN_POISON_MEMORY_REGION(
-    (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
-#endif
-  mj_clearEfc(d);
-
-  // copy contact
-  mjContact* dst = mj_arenaAllocByte(d, sizeof(mjContact), _Alignof(mjContact));
-  if (!dst) {
-    mj_warning(d, mjWARN_CONTACTFULL, d->ncon);
-    return 1;
-  }
-  *dst = *con;
-
-  // increase counter, return success
-  d->ncon++;
-  return 0;
-}
-
-
-// add #size rows to constraint Jacobian; set pos, margin, frictionloss, type, id
-static void mj_addConstraint(const mjModel* m, mjData* d,
-                             const mjtNum* jac, const mjtNum* pos,
-                             const mjtNum* margin, mjtNum frictionloss,
-                             int size, int type, int id, int NV, const int* chain) {
-  int empty, nv = m->nv, nefc = d->nefc;
-  int *nnz = d->efc_J_rownnz, *adr = d->efc_J_rowadr, *ind = d->efc_J_colind;
-  mjtNum *J = d->efc_J;
-
-  // init empty guard for constraints other than contact
-  if (type == mjCNSTR_CONTACT_FRICTIONLESS ||
-      type == mjCNSTR_CONTACT_PYRAMIDAL ||
-      type == mjCNSTR_CONTACT_ELLIPTIC) {
-    empty = 0;
-  } else {
-    empty = 1;
-  }
-
-  // dense: copy entire Jacobian
-  if (!mj_isSparse(m)) {
-    // make sure jac is not empty
-    if (empty) {
-      for (int i=0; i < size*nv; i++) {
-        if (jac[i]) {
-          empty = 0;
-          break;
-        }
-      }
-    }
-
-    // copy if not empty
-    if (!empty) {
-      mju_copy(J + nefc*nv, jac, size*nv);
-    }
-  }
-
-  // sparse: copy chain
-  else {
-    // clamp NV (in case -1 was used in constraint construction)
-    NV = mjMAX(0, NV);
-
-    if (NV) {
-      empty = 0;
-    } else if (empty) {
-      // all rows are empty, return early
-      return;
-    }
-
-    // chain required in sparse mode
-    if (NV && !chain) {
-      mjERROR("called with dense arguments");
-    }
-
-    // process size elements
-    for (int i=0; i < size; i++) {
-      // set row address
-      adr[nefc+i] = (nefc+i ? adr[nefc+i-1]+nnz[nefc+i-1] : 0);
-
-      // set row descriptor
-      nnz[nefc+i] = NV;
-
-      // copy if not empty
-      if (NV) {
-        mju_copyInt(ind + adr[nefc+i], chain, NV);
-        mju_copy(J + adr[nefc+i], jac + i*NV, NV);
-      }
-    }
-
-    // set J row supernodes; 1: next row has same pattern, 0: different pattern
-
-    // cross-boundary: does previous row have same pattern?
-    if (nefc > 0 && NV == nnz[nefc-1] &&
-        (NV == 0 || mju_compare(ind + adr[nefc], ind + adr[nefc-1], NV))) {
-      d->efc_J_rowsuper[nefc-1] = 1;
-    }
-
-    // within-constraint: consecutive rows always share same pattern
-    mju_fillInt(d->efc_J_rowsuper + nefc, 1, size-1);
-    d->efc_J_rowsuper[nefc+size-1] = 0;
-  }
-
-  // all rows empty: skip constraint
-  if (empty) {
-    return;
-  }
-
-  // set constraint pos, margin, frictionloss, type, id
-  for (int i=0; i < size; i++) {
-    d->efc_pos[nefc+i] = (pos ? pos[i] : 0);
-    d->efc_margin[nefc+i] = (margin ? margin[i] : 0);
-    d->efc_frictionloss[nefc+i] = frictionloss;
-    d->efc_type[nefc+i] = type;
-    d->efc_id[nefc+i] = id;
-  }
-
-  // increase counters
-  d->nefc += size;
-  if (type == mjCNSTR_EQUALITY) {
-    d->ne += size;
-  } else if (type == mjCNSTR_FRICTION_DOF || type == mjCNSTR_FRICTION_TENDON) {
-    d->nf += size;
-  } else if (type == mjCNSTR_LIMIT_JOINT || type == mjCNSTR_LIMIT_TENDON) {
-    d->nl += size;
-  }
-}
-
-
-// multiply Jacobian by vector
-void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
-  // exit if no constraints
-  if (!d->nefc) {
-    return;
-  }
-
-  // sparse Jacobian
-  if (mj_isSparse(m))
-    mju_mulMatVecSparse(res, d->efc_J, vec, d->nefc,
-                        d->efc_J_rownnz, d->efc_J_rowadr,
-                        d->efc_J_colind, d->efc_J_rowsuper);
-
-  // dense Jacobian
-  else {
-    mju_mulMatVec(res, d->efc_J, vec, d->nefc, m->nv);
-  }
-}
-
-
-// multiply JacobianT by vector
-void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
-  // exit if no constraints
-  if (!d->nefc) {
-    return;
-  }
-
-  // sparse Jacobian
-  if (mj_isSparse(m)) {
-    mju_mulMatTVecSparse(res, d->efc_J, vec, d->nefc, m->nv,
-                        d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind);
-  }
-
-  // dense Jacobian
-  else {
-    mju_mulMatTVec(res, d->efc_J, vec, d->nefc, m->nv);
-  }
-}
-
-
-// compute global anchor points for connect/weld equality constraints
-static void mj_equalityAnchors(const mjModel* m, const mjData* d, int eq_id,
-                               mjtNum pos1[3], mjtNum pos2[3],
-                               int* body1, int* body2) {
-  mjtEq type = (mjtEq) m->eq_type[eq_id];
-  int obj1 = m->eq_obj1id[eq_id];
-  int obj2 = m->eq_obj2id[eq_id];
-
-  if (m->eq_objtype[eq_id] == mjOBJ_BODY) {
-    const mjtNum* data = m->eq_data + mjNEQDATA*eq_id;
-    if (type == mjEQ_CONNECT) {
-      mju_mulMatVec3(pos1, d->xmat + 9*obj1, data);
-      mju_addTo3(pos1, d->xpos + 3*obj1);
-      mju_mulMatVec3(pos2, d->xmat + 9*obj2, data + 3);
-      mju_addTo3(pos2, d->xpos + 3*obj2);
-    } else {
-      // weld uses data+3*(1-j) for anchor
-      mju_mulMatVec3(pos1, d->xmat + 9*obj1, data + 3);
-      mju_addTo3(pos1, d->xpos + 3*obj1);
-      mju_mulMatVec3(pos2, d->xmat + 9*obj2, data);
-      mju_addTo3(pos2, d->xpos + 3*obj2);
-    }
-    *body1 = obj1;
-    *body2 = obj2;
-  } else {
-    mju_copy3(pos1, d->site_xpos + 3*obj1);
-    mju_copy3(pos2, d->site_xpos + 3*obj2);
-    *body1 = m->site_bodyid[obj1];
-    *body2 = m->site_bodyid[obj2];
-  }
-}
-
-
-//--------------------- instantiate constraints by type --------------------------------------------
-
-// equality constraints
-void mj_instantiateEquality(const mjModel* m, mjData* d) {
-  int issparse = mj_isSparse(m), nv = m->nv;
-  int id[2], size, NV, NV2, *chain = NULL, *chain2 = NULL;
-  int flex_edgeadr, flex_edgenum;
-  int flex_vertadr, flex_vertnum;
-  mjtNum cpos[6], pos[2][3], ref[2], dif, deriv;
-  mjtNum quat[4], quat1[4], quat2[4], quat3[4], axis[3];
-  mjtNum *jac[2], *jacdif, *data;
-
-  // disabled or no equality constraints: return
-  if (mjDISABLED(mjDSBL_EQUALITY) || m->nemax == 0) {
-    return;
-  }
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-
-  mj_markStack(d);
-
-  // allocate space
-  jac[0] = mjSTACKALLOC(d, 6*nv, mjtNum);
-  jac[1] = mjSTACKALLOC(d, 6*nv, mjtNum);
-  jacdif = mjSTACKALLOC(d, 6*nv, mjtNum);
-  if (issparse) {
-    chain = mjSTACKALLOC(d, nv, int);
-    chain2 = mjSTACKALLOC(d, nv, int);
-  }
-
-  // find active equality constraints
-  for (int i=0; i < m->neq; i++) {
-    // skip inactive
-    if (!d->eq_active[i]) {
-      continue;
-    }
-
-    // skip sleeping
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_EQUALITY, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    // get constraint data
-    data = m->eq_data + mjNEQDATA*i;
-    id[0] = m->eq_obj1id[i];
-    id[1] = m->eq_obj2id[i];
-    size = 0;
-    NV = 0;
-    NV2 = 0;
-    int body_id[2];
-
-    // process according to type
-    switch ((mjtEq) m->eq_type[i]) {
-    case mjEQ_CONNECT:              // connect bodies with ball joint
-      // find global points, body semantic
-      mj_equalityAnchors(m, d, i, pos[0], pos[1], body_id, body_id + 1);
-
-      // compute position error
-      mju_sub3(cpos, pos[0], pos[1]);
-
-      // compute Jacobian difference (opposite of contact: 0 - 1)
-      NV = mj_jacDifPair(m, d, chain, body_id[1], body_id[0], pos[1], pos[0],
-                         jac[1], jac[0], jacdif, NULL, NULL, NULL, issparse,
-                         /*flg_skipcommon=*/0);
-
-      // copy difference into jac[0]
-      mju_copy(jac[0], jacdif, 3*NV);
-
-      size = 3;
-      break;
-
-    case mjEQ_WELD:                 // fix relative position and orientation
-      // find global points, body semantic
-      mj_equalityAnchors(m, d, i, pos[0], pos[1], body_id, body_id + 1);
-
-      // compute position error
-      mju_sub3(cpos, pos[0], pos[1]);
-
-      // get torquescale coefficient
-      mjtNum torquescale = data[10];
-
-      // compute error Jacobian (opposite of contact: 0 - 1)
-      NV = mj_jacDifPair(m, d, chain, body_id[1], body_id[0], pos[1], pos[0],
-                          jac[1], jac[0], jacdif,
-                          jac[1]+3*nv, jac[0]+3*nv, jacdif+3*nv, issparse,
-                          /*flg_skipcommon=*/0);
-
-      // copy difference into jac[0], compress translation:rotation if sparse
-      mju_copy(jac[0], jacdif, 3*NV);
-      mju_copy(jac[0]+3*NV, jacdif+3*nv, 3*NV);
-
-      // orientation, body semantic
-      if (m->eq_objtype[i] == mjOBJ_BODY) {
-        // compute orientation error: neg(q1) * q0 * relpose (axis components only)
-        mjtNum* relpose = data+6;
-        mju_mulQuat(quat, d->xquat+4*id[0], relpose);   // quat = q0*relpose
-        mju_negQuat(quat1, d->xquat+4*id[1]);           // quat1 = neg(q1)
-      }
-
-      // orientation, site semantic
-      else {
-        mjtNum quat_site1[4];
-        mju_mulQuat(quat, d->xquat+4*body_id[0], m->site_quat+4*id[0]);
-        mju_mulQuat(quat_site1, d->xquat+4*body_id[1], m->site_quat+4*id[1]);
-        mju_negQuat(quat1, quat_site1);
-      }
-
-      mju_mulQuat(quat2, quat1, quat);
-      mju_scl3(cpos+3, quat2+1, torquescale);         // scale axis components by torquescale
-
-      // correct rotation Jacobian: 0.5 * neg(q1) * (jac0-jac1) * q0 * relpose
-      for (int j=0; j < NV; j++) {
-        // axis = [jac0-jac1]_col(j)
-        axis[0] = jac[0][3*NV+j];
-        axis[1] = jac[0][4*NV+j];
-        axis[2] = jac[0][5*NV+j];
-
-        // apply formula
-        mju_mulQuatAxis(quat2, quat1, axis);    // quat2 = neg(q1)*(jac0-jac1)
-        mju_mulQuat(quat3, quat2, quat);        // quat3 = neg(q1)*(jac0-jac1)*q0*relpose
-
-        // correct Jacobian
-        jac[0][3*NV+j] = 0.5*quat3[1];
-        jac[0][4*NV+j] = 0.5*quat3[2];
-        jac[0][5*NV+j] = 0.5*quat3[3];
-      }
-
-      // scale rotational jacobian by torquescale
-      mju_scl(jac[0]+3*NV, jac[0]+3*NV, torquescale, 3*NV);
-
-      size = 6;
-      break;
-
-    case mjEQ_JOINT:                // couple joint values with cubic
-    case mjEQ_TENDON:               // couple tendon lengths with cubic
-      // get scalar positions and their Jacobians
-      for (int j=0; j < 1+(id[1] >= 0); j++) {
-        if (m->eq_type[i] == mjEQ_JOINT) {    // joint object
-          pos[j][0] = d->qpos[m->jnt_qposadr[id[j]]];
-          ref[j] = m->qpos0[m->jnt_qposadr[id[j]]];
-
-          // make Jacobian: sparse or dense
-          if (issparse) {
-            // add first or second joint
-            if (j == 0) {
-              NV = 1;
-              chain[0] = m->jnt_dofadr[id[j]];
-              jac[j][0] = 1;
-            } else {
-              NV2 = 1;
-              chain2[0] = m->jnt_dofadr[id[j]];
-              jac[j][0] = 1;
-            }
-          } else {
-            mju_zero(jac[j], nv);
-            jac[j][m->jnt_dofadr[id[j]]] = 1;
-          }
-        } else {                            // tendon object
-          pos[j][0] = d->ten_length[id[j]];
-          ref[j] = m->tendon_length0[id[j]];
-
-          // set tendon_efcadr
-          if (d->tendon_efcadr[id[j]] == -1) {
-            d->tendon_efcadr[id[j]] = i;
-          }
-
-          // copy Jacobian: sparse or dense
-          if (issparse) {
-            if (j == 0) {
-              NV = m->ten_J_rownnz[id[j]];
-              mju_copyInt(chain, m->ten_J_colind+m->ten_J_rowadr[id[j]], NV);
-              mju_copy(jac[j], d->ten_J+m->ten_J_rowadr[id[j]], NV);
-            } else {
-              NV2 = m->ten_J_rownnz[id[j]];
-              mju_copyInt(chain2, m->ten_J_colind+m->ten_J_rowadr[id[j]], NV2);
-              mju_copy(jac[j], d->ten_J+m->ten_J_rowadr[id[j]], NV2);
-            }
-          } else {
-            mju_sparse2dense(jac[j], d->ten_J, 1, nv, m->ten_J_rownnz+id[j], m->ten_J_rowadr+id[j], m->ten_J_colind);
-          }
-        }
-      }
-
-      // both objects defined
-      if (id[1] >= 0) {
-        // compute position error
-        dif = pos[1][0] - ref[1];
-        cpos[0] = pos[0][0] - ref[0] - data[0] -
-                  (data[1]*dif + data[2]*dif*dif + data[3]*dif*dif*dif + data[4]*dif*dif*dif*dif);
-
-        // compute derivative
-        deriv = data[1] + 2*data[2]*dif + 3*data[3]*dif*dif + 4*data[4]*dif*dif*dif;
-
-        // compute Jacobian: sparse or dense
-        if (issparse) {
-          NV = mju_combineSparse(jac[0], jac[1], 1, -deriv, NV, NV2, chain, chain2);
-        } else {
-          mju_addToScl(jac[0], jac[1], -deriv, nv);
-        }
-      }
-
-      // only one object defined
-      else {
-        // compute position error
-        cpos[0] = pos[0][0] - ref[0] - data[0];
-
-        // jac[0] already has the correct Jacobian
-      }
-
-      size = 1;
-      break;
-
-    case mjEQ_FLEXSTRAIN: {
-      // each constraint represents a single element (3D cell or 2D face)
-      int f = id[0];
-      int nodenum = m->flex_nodenum[f];
-      int interp = m->flex_interp[f];
-      int order = interp < 0 ? -interp : interp;
-      int shell_mode = (interp < 0);
-
-      // skip if not interpolated (order == 0 or no nodes)
-      if (!order || !nodenum) {
-        break;
-      }
-
-      // only order 1 (trilinear) and 2 (quadratic) are supported
-      if (order > 2) {
-        mjERROR("flex strain constraints only support order 1 and 2, got %d", order);
-      }
-
-      int cx = m->flex_cellnum[3*f+0];
-      int cy = m->flex_cellnum[3*f+1];
-      int cz = m->flex_cellnum[3*f+2];
-      int nstart = m->flex_nodeadr[f];
-      int* bodyid = m->flex_nodebodyid + nstart;
-
-      // nodes per element and element index
-      int npe;
-      int elem_idx;
-      if (shell_mode) {
-        npe = (order+1) * (order+1);
-        elem_idx = (int)data[0];  // face element index
-      } else {
-        npe = (order+1) * (order+1) * (order+1);
-        int ci = (int)data[0];
-        int cj = (int)data[1];
-        int ck = (int)data[2];
-        elem_idx = ci * cy * cz + cj * cz + ck;
-      }
-
-      mj_markStack(d);
-
-      // get element node indices
-      int gindices[125];  // max npc = 125 for quadratic
-      if (shell_mode) {
-        mju_flexGatherFaceState(order, cx, cy, cz, elem_idx,
-                                NULL, NULL, NULL, NULL, NULL, NULL, gindices, NULL);
-      } else {
-        int ci = (int)data[0], cj = (int)data[1], ck = (int)data[2];
-        mju_flexGatherCellState(order, cy, cz, ci, cj, ck,
-                                NULL, NULL, NULL, NULL, NULL, NULL, gindices, NULL);
-      }
-
-      // compute positions only for element nodes (npe << nodenum)
-      mjtNum* xpos_e = mjSTACKALLOC(d, 3*npe, mjtNum);
-      mjtNum* refpos_e = mjSTACKALLOC(d, 3*npe, mjtNum);
-      for (int n = 0; n < npe; n++) {
-        int gn = gindices[n];
-        if (m->flex_centered[f] ||
-            (m->flex_node[3*(gn + nstart)+0] == 0 &&
-             m->flex_node[3*(gn + nstart)+1] == 0 &&
-             m->flex_node[3*(gn + nstart)+2] == 0)) {
-          mju_copy3(xpos_e + 3*n, d->xpos + 3*bodyid[gn]);
-        } else {
-          mju_mulMatVec3(xpos_e + 3*n, d->xmat + 9*bodyid[gn], m->flex_node + 3*(gn + nstart));
-          mju_addTo3(xpos_e + 3*n, d->xpos + 3*bodyid[gn]);
-        }
-        mju_copy3(refpos_e + 3*n, m->flex_node0 + 3*(gn + nstart));
-      }
-
-      // compute corotational quaternion
-      mjtNum elem_quat[4] = {1, 0, 0, 0};
-      if (shell_mode) {
-        // determine face normal axis from elem_idx
-        int face_sizes[6] = {cy*cz, cy*cz, cx*cz, cx*cz, cx*cy, cx*cy};
-        int face_normals[6] = {0, 0, 1, 1, 2, 2};
-        int cumul = 0, normal_axis = 0;
-        for (int ff = 0; ff < 6; ff++) {
-          if (elem_idx < cumul + face_sizes[ff]) {
-            normal_axis = face_normals[ff];
-            break;
-          }
-          cumul += face_sizes[ff];
-        }
-        int na0 = (normal_axis + 1) % 3;
-        int na1 = (normal_axis + 2) % 3;
-
-        // compute corotational rotation from 2D deformation gradient at face center
-        mjtNum p[2] = {.5, .5};
-        mju_flexInterpRotation2D(order, xpos_e, npe, na0, na1, normal_axis, p, elem_quat);
-      } else {
-        mjtNum center[3] = {0.5, 0.5, 0.5};
-        mjtNum mat[9];
-        mju_defGradient(mat, center, xpos_e, order);
-        mju_mat2Rot(elem_quat, mat);
-        mju_negQuat(elem_quat, elem_quat);
-      }
-
-      // build per-element sparse chain and node Jacobians
-      int* elem_chain = mjSTACKALLOC(d, nv, int);
-      int elem_nnz = 0;
-      mjtNum* elem_node_jac = cell_pos_and_jac(m, d, f, npe, gindices, nv, xpos_e, elem_chain,
-                                               &elem_nnz);
-
-
-      mjtNum* strain_jac = mjSTACKALLOC(d, elem_nnz, mjtNum);
-      mjtNum* dSdx_local = mjSTACKALLOC(d, 3*npe, mjtNum);
-
-      // for dense mode: allocate and zero a dense Jacobian buffer once
-      mjtNum* dense_jac = NULL;
-      if (!issparse) {
-        dense_jac = mjSTACKALLOC(d, nv, mjtNum);
-        mju_zero(dense_jac, nv);
-      }
-
-      // read eigenmode data from flex_stiffness
-      int ndof_elem = 3 * npe;
-      int stiffnessadr = m->flex_stiffnessadr[f];
-      int neig = 0;
-      const mjtNum* k_elem = NULL;
-      if (stiffnessadr >= 0) {
-        k_elem = m->flex_stiffness + stiffnessadr
-               + elem_idx * ndof_elem * ndof_elem;
-        neig = (int)k_elem[0];
-      }
-
-      // compute displacement in corotational frame
-      mjtNum* displ_e = mjSTACKALLOC(d, ndof_elem, mjtNum);
-      for (int n = 0; n < npe; n++) {
-        // rotate xpos_e to corotational frame
-        mjtNum xrot[3];
-        mju_rotVecQuat(xrot, xpos_e + 3*n, elem_quat);
-        displ_e[3*n + 0] = xrot[0] - refpos_e[3*n + 0];
-        displ_e[3*n + 1] = xrot[1] - refpos_e[3*n + 1];
-        displ_e[3*n + 2] = xrot[2] - refpos_e[3*n + 2];
-      }
-
-      // compute inverse quaternion for rotating eigenvectors to world frame
-      mjtNum elem_quat_inv[4];
-      mju_negQuat(elem_quat_inv, elem_quat);
-
-      // loop over eigenmodes
-      for (int eig = 0; eig < neig; eig++) {
-        const mjtNum* eigvec = k_elem + 1 + eig * ndof_elem;
-
-        // constraint residual: dot product of scaled eigenvector with displacement
-        mjtNum residual = 0;
-        for (int j = 0; j < ndof_elem; j++) {
-          residual += eigvec[j] * displ_e[j];
-        }
-        cpos[0] = residual;
-
-        // rotate eigenvector to world frame for Jacobian
-        for (int n = 0; n < npe; n++) {
-          mju_rotVecQuat(dSdx_local + 3*n, eigvec + 3*n, elem_quat_inv);
-        }
-
-        // contract with elem_node_jac to get sparse Jacobian
-        cell_strain_jacobian(npe, elem_nnz, dSdx_local, elem_node_jac, strain_jac);
-
-        if (issparse) {
-          mj_addConstraint(m, d, strain_jac, cpos, 0, 0, 1, mjCNSTR_EQUALITY, i,
-                           elem_nnz, elem_chain);
-        } else {
-          for (int k = 0; k < elem_nnz; k++) {
-            dense_jac[elem_chain[k]] = strain_jac[k];
-          }
-          mj_addConstraint(m, d, dense_jac, cpos, 0, 0, 1, mjCNSTR_EQUALITY, i, 0, NULL);
-          for (int k = 0; k < elem_nnz; k++) {
-            dense_jac[elem_chain[k]] = 0;
-          }
-        }
-      }
-
-      mj_freeStack(d);
-      break;
-    }
-
-  case mjEQ_FLEX:
-    // edge constraint mode: add one constraint per non-rigid edge
-    flex_edgeadr = m->flex_edgeadr[id[0]];
-    flex_edgenum = m->flex_edgenum[id[0]];
-    for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
-      // skip rigid
-      if (m->flexedge_rigid[e]) {
-        continue;
-      }
-
-      // position error
-      cpos[0] = d->flexedge_length[e] - m->flexedge_length0[e];
-
-      // add constraint: sparse or dense
-      if (issparse) {
-        mj_addConstraint(m, d, d->flexedge_J+m->flexedge_J_rowadr[e], cpos, 0, 0,
-                          1, mjCNSTR_EQUALITY, i,
-                          m->flexedge_J_rownnz[e],
-                          m->flexedge_J_colind+m->flexedge_J_rowadr[e]);
-      } else {
-        mju_zero(jac[0], nv);  // reuse first row of jac[0]
-        int rowadr = m->flexedge_J_rowadr[e];
-        int rownnz = m->flexedge_J_rownnz[e];
-        for (int k=0; k<rownnz; k++) {
-          jac[0][m->flexedge_J_colind[rowadr+k]] = d->flexedge_J[rowadr+k];
-        }
-        mj_addConstraint(m, d, jac[0], cpos, 0, 0, 1, mjCNSTR_EQUALITY, i, 0, NULL);
-      }
-    }
-    break;
-
-    case mjEQ_FLEXVERT:
-      // add two constraints per vertex
-      flex_vertadr = m->flex_vertadr[id[0]];
-      flex_vertnum = m->flex_vertnum[id[0]];
-      for (int v=flex_vertadr; v < flex_vertadr+flex_vertnum; v++) {
-        for (int j=0; j < 2; j++) {
-          cpos[0] = d->flexvert_length[2*v+j];
-          int row = 2*v+j;
-          if (issparse) {
-            mj_addConstraint(m, d, d->flexvert_J + m->flexvert_J_rowadr[row],
-                             cpos, 0, 0, 1, mjCNSTR_EQUALITY, i,
-                             m->flexvert_J_rownnz[row],
-                             m->flexvert_J_colind + m->flexvert_J_rowadr[row]);
-          } else {
-            mju_zero(jac[0], nv);  // reuse first row of jac[0]
-            int rowadr = m->flexvert_J_rowadr[row];
-            int rownnz = m->flexvert_J_rownnz[row];
-            for (int k=0; k<rownnz; k++) {
-              jac[0][m->flexvert_J_colind[rowadr+k]] = d->flexvert_J[rowadr+k];
-            }
-            mj_addConstraint(m, d, jac[0], cpos, 0, 0, 1, mjCNSTR_EQUALITY, i, 0, NULL);
-          }
-        }
-      }
-      break;
-
-    default:                    // SHOULD NOT OCCUR
-      mjERROR("invalid equality constraint type %d", m->eq_type[i]);
-    }
-
-    // add constraint
-    if (size) {
-      mj_addConstraint(m, d, jac[0], cpos, 0, 0,
-                       size, mjCNSTR_EQUALITY, i,
-                       issparse ? NV : 0,
-                       issparse ? chain : NULL);
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-// subtract Jdot*v correction from result vector for equality constraints
-void mj_Jdotv(const mjModel* m, mjData* d, mjtNum* result) {
-  int nv = m->nv, ne = d->ne;
-
-  // nothing to do
-  if (!ne || !nv) {
-    return;
-  }
-
-  int issparse = mj_isSparse(m);
-
-  mj_markStack(d);
-
-  // allocate scratch for jacDot matrices (translational and rotational)
-  int* chain = issparse ? mjSTACKALLOC(d, nv, int) : NULL;
-  mjtNum* jacdot1 = NULL;
-  mjtNum* jacdot2 = NULL;
-  mjtNum* jacrdot1 = NULL;
-  mjtNum* jacrdot2 = NULL;
-
-  // iterate over equality constraint efc rows
-  int row = 0;
-  while (row < ne) {
-    int eq_id = d->efc_id[row];
-    mjtEq type = (mjtEq) m->eq_type[eq_id];
-
-    // connect or weld: compute Jdot*v for translational part
-    if (type == mjEQ_CONNECT || type == mjEQ_WELD) {
-      mjtNum* data = m->eq_data + mjNEQDATA*eq_id;
-
-      // allocate translational scratch on first connect or weld
-      if (!jacdot1) {
-        jacdot1 = mjSTACKALLOC(d, 3*nv, mjtNum);
-        jacdot2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-      }
-
-      // allocate rotational scratch on first weld
-      if (type == mjEQ_WELD && !jacrdot1) {
-        jacrdot1 = mjSTACKALLOC(d, 3*nv, mjtNum);
-        jacrdot2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-      }
-
-      // compute global anchor points and body ids
-      int obj1 = m->eq_obj1id[eq_id];
-      int obj2 = m->eq_obj2id[eq_id];
-      mjtNum pos1[3], pos2[3];
-      int body1, body2;
-      mj_equalityAnchors(m, d, eq_id, pos1, pos2, &body1, &body2);
-
-      // compute jacDot*v for each body point
-      mjtNum jdv1[3], jdv2[3];
-      mjtNum jrdv1[3] = {0}, jrdv2[3] = {0};
-      if (issparse) {
-        // get merged chain for the two bodies
-        int NV = mj_mergeChain(m, chain, body1, body2, /*flg_skipcommon=*/0);
-
-        if (NV) {
-          // sparse: translational and rotational
-          mjtNum* jacr1 = (type == mjEQ_WELD) ? jacrdot1 : NULL;
-          mjtNum* jacr2 = (type == mjEQ_WELD) ? jacrdot2 : NULL;
-          mj_jacDotSparse(m, d, jacdot1, jacr1, pos1, body1, NV, chain);
-          mj_jacDotSparse(m, d, jacdot2, jacr2, pos2, body2, NV, chain);
-
-          // translational jdv = jacDot * qvel
-          mju_dotSparseX3(jdv1, jdv1+1, jdv1+2, jacdot1, jacdot1+NV, jacdot1+2*NV,
-                          d->qvel, NV, chain);
-          mju_dotSparseX3(jdv2, jdv2+1, jdv2+2, jacdot2, jacdot2+NV, jacdot2+2*NV,
-                          d->qvel, NV, chain);
-
-          // rotational jdv for welds
-          if (type == mjEQ_WELD) {
-            mju_dotSparseX3(jrdv1, jrdv1+1, jrdv1+2, jacrdot1, jacrdot1+NV, jacrdot1+2*NV,
-                            d->qvel, NV, chain);
-            mju_dotSparseX3(jrdv2, jrdv2+1, jrdv2+2, jacrdot2, jacrdot2+NV, jacrdot2+2*NV,
-                            d->qvel, NV, chain);
-          }
-        } else {
-          mju_zero3(jdv1);
-          mju_zero3(jdv2);
-        }
-      } else {
-        // dense: translational and rotational
-        mjtNum* jacr1 = (type == mjEQ_WELD) ? jacrdot1 : NULL;
-        mjtNum* jacr2 = (type == mjEQ_WELD) ? jacrdot2 : NULL;
-        mj_jacDot(m, d, jacdot1, jacr1, pos1, body1);
-        mj_jacDot(m, d, jacdot2, jacr2, pos2, body2);
-
-        // translational jdv = jacDot * qvel
-        mju_mulMatVec(jdv1, jacdot1, d->qvel, 3, nv);
-        mju_mulMatVec(jdv2, jacdot2, d->qvel, 3, nv);
-
-        // rotational jdv for welds
-        if (type == mjEQ_WELD) {
-          mju_mulMatVec(jrdv1, jacrdot1, d->qvel, 3, nv);
-          mju_mulMatVec(jrdv2, jacrdot2, d->qvel, 3, nv);
-        }
-      }
-
-      // subtract translational Jdot*v
-      result[row+0] -= jdv1[0] - jdv2[0];
-      result[row+1] -= jdv1[1] - jdv2[1];
-      result[row+2] -= jdv1[2] - jdv2[2];
-
-      // advance past translational rows
-      row += 3;
-
-      // weld: compute rotational Jdot*v
-      if (type == mjEQ_WELD) {
-        mjtNum torquescale = data[10];
-
-        // get body quaternions and relpose, following mj_instantiateEquality
-        mjtNum q0r[4], negq1[4];   // q0r = q0*relpose, negq1 = neg(q1)
-        if (m->eq_objtype[eq_id] == mjOBJ_BODY) {
-          mjtNum* relpose = data+6;
-          mju_mulQuat(q0r, d->xquat+4*body1, relpose);
-          mju_negQuat(negq1, d->xquat+4*body2);
-        } else {
-          mju_mulQuat(q0r, d->xquat+4*body1, m->site_quat+4*obj1);
-          mjtNum qsite1[4];
-          mju_mulQuat(qsite1, d->xquat+4*body2, m->site_quat+4*obj2);
-          mju_negQuat(negq1, qsite1);
-        }
-
-        // angular velocities from cvel (first 3 components are angular)
-        const mjtNum* omega1 = d->cvel+6*body1;
-        const mjtNum* omega2 = d->cvel+6*body2;
-
-        // relative angular velocity: domega = omega1 - omega2
-        mjtNum domega[3];
-        mju_sub3(domega, omega1, omega2);
-
-        // quaternion derivatives: qdot = 0.5 * q * (0, omega)
-        mjtNum qdot0[4];
-        if (m->eq_objtype[eq_id] == mjOBJ_BODY) {
-          mju_derivQuat(qdot0, d->xquat+4*body1, omega1);
-        } else {
-          mjtNum qfull0[4];
-          mju_mulQuat(qfull0, d->xquat+4*body1, m->site_quat+4*obj1);
-          mju_derivQuat(qdot0, qfull0, omega1);
-        }
-        mjtNum qdot0r[4];  // d/dt(q0 * relpose) = qdot0 * relpose
-        if (m->eq_objtype[eq_id] == mjOBJ_BODY) {
-          mju_mulQuat(qdot0r, qdot0, data+6);
-        } else {
-          mju_copy4(qdot0r, qdot0);
-        }
-
-        // neg(qdot1): d/dt(neg(q1)) = neg(qdot1)
-        mjtNum negqdot1[4];
-        if (m->eq_objtype[eq_id] == mjOBJ_BODY) {
-          mjtNum qdot1[4];
-          mju_derivQuat(qdot1, d->xquat+4*body2, omega2);
-          mju_negQuat(negqdot1, qdot1);
-        } else {
-          mjtNum qfull1[4], qdot1[4];
-          mju_mulQuat(qfull1, d->xquat+4*body2, m->site_quat+4*obj2);
-          mju_derivQuat(qdot1, qfull1, omega2);
-          mju_negQuat(negqdot1, qdot1);
-        }
-
-        // Jdot_rot * v differentiates: 0.5 * neg(q1) * (J0-J1)*v * q0*relpose
-        // three terms from product rule:
-
-        // djrdv = Jrdot0*v - Jrdot1*v (rotational jacDot difference * v)
-        mjtNum djrdv[3];
-        mju_sub3(djrdv, jrdv1, jrdv2);
-
-        // term1: neg(qdot1) * domega * q0r
-        mjtNum t1a[4], t1[4];
-        mju_mulQuatAxis(t1a, negqdot1, domega);
-        mju_mulQuat(t1, t1a, q0r);
-
-        // term2: neg(q1) * djrdv * q0r
-        mjtNum t2a[4], t2[4];
-        mju_mulQuatAxis(t2a, negq1, djrdv);
-        mju_mulQuat(t2, t2a, q0r);
-
-        // term3: neg(q1) * domega * qdot0r
-        mjtNum t3a[4], t3[4];
-        mju_mulQuatAxis(t3a, negq1, domega);
-        mju_mulQuat(t3, t3a, qdot0r);
-
-        // combine: 0.5 * (term1 + term2 + term3), take vector part, scale
-        result[row+0] -= 0.5 * (t1[1] + t2[1] + t3[1]) * torquescale;
-        result[row+1] -= 0.5 * (t1[2] + t2[2] + t3[2]) * torquescale;
-        result[row+2] -= 0.5 * (t1[3] + t2[3] + t3[3]) * torquescale;
-
-        row += 3;
-      }
-    }
-
-    // other types: advance past all rows with this efc_id
-    else {
-      while (row < ne && d->efc_id[row] == eq_id) {
-        row++;
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// return number of constraint non-zeros, handle dense and dof-less cases
-static inline int mj_addConstraintCount(const mjModel* m, int size, int NV) {
-  // over count for dense allocation
-  if (!mj_isSparse(m)) {
-    return m->nv ? size : 0;
-  }
-  return mjMAX(0, NV) ? size : 0;
-}
-
-
-// frictional DOFs and tendons
-// count_only: count constraints and Jacobian nonzeros without instantiating
-static int mj_instantiateFriction(const mjModel* m, mjData* d, int count_only, int* nnz) {
-  int nv = m->nv, issparse = mj_isSparse(m);
-  int nf = 0;
-  mjtNum* jac = NULL;
-
-  // disabled: return
-  if (mjDISABLED(mjDSBL_FRICTIONLOSS)) {
-    return 0;
-  }
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-
-  if (!count_only) {
-    mj_markStack(d);
-
-    // allocate Jacobian
-    jac = mjSTACKALLOC(d, nv, mjtNum);
-  }
-
-  // find frictional DOFs
-  for (int i=0; i < nv; i++) {
-    // no friction loss: skip
-    if (!m->dof_frictionloss[i]) {
-      continue;
-    }
-
-    // sleeping tree: skip
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_DOF, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    if (count_only) {
-      nf += mj_addConstraintCount(m, 1, 1);
-      if (nnz) *nnz += 1;
-    } else {
-      // prepare Jacobian: sparse or dense
-      if (issparse) {
-        jac[0] = 1;
-      } else {
-        mju_zero(jac, nv);
-        jac[i] = 1;
-      }
-
-      // add constraint
-      mj_addConstraint(m, d, jac, 0, 0, m->dof_frictionloss[i],
-                        1, mjCNSTR_FRICTION_DOF, i,
-                        issparse ? 1 : 0,
-                        issparse ? &i : NULL);
-    }
-  }
-
-  // find frictional tendons
-  for (int i=0; i < m->ntendon; i++) {
-    if (m->tendon_frictionloss[i] > 0) {
-      if (count_only) {
-        nf += mj_addConstraintCount(m, 1, m->ten_J_rownnz[i]);
-        if (nnz) *nnz += m->ten_J_rownnz[i];
-      } else {
-        int efcadr = d->nefc;
-        // add constraint
-        if (issparse) {
-          mj_addConstraint(m, d, d->ten_J + m->ten_J_rowadr[i],
-                           0, 0, m->tendon_frictionloss[i],
-                           1, mjCNSTR_FRICTION_TENDON, i,
-                           m->ten_J_rownnz[i],
-                           m->ten_J_colind+m->ten_J_rowadr[i]);
-        } else {
-          mju_sparse2dense(jac, d->ten_J, 1, nv, m->ten_J_rownnz+i, m->ten_J_rowadr+i, m->ten_J_colind);
-          mj_addConstraint(m, d, jac, 0, 0, m->tendon_frictionloss[i],
-                           1, mjCNSTR_FRICTION_TENDON, i, 0, NULL);
-        }
-        // set tendon_efcadr
-        if (d->tendon_efcadr[i] == -1) {
-          d->tendon_efcadr[i] = efcadr;
-        }
-      }
-    }
-  }
-
-  if (!count_only) {
-    mj_freeStack(d);
-  }
-
-  return nf;
-}
-
-
-// joint and tendon limits
-// count_only: count constraints and Jacobian nonzeros without instantiating
-static int mj_instantiateLimit(const mjModel* m, mjData* d, int count_only, int* nnz) {
-  int nv = m->nv, issparse = mj_isSparse(m);
-  int nl = 0;
-  mjtNum margin, value, dist, angleAxis[3];
-  mjtNum *jac = NULL;
-
-  // disabled: return
-  if (mjDISABLED(mjDSBL_LIMIT)) {
-    return 0;
-  }
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-
-  if (!count_only) {
-    mj_markStack(d);
-
-    // allocate Jacobian
-    jac = mjSTACKALLOC(d, nv, mjtNum);
-  }
-
-  // find joint limits
-  for (int i=0; i < m->njnt; i++) {
-    // no limit: skip
-    if (!m->jnt_limited[i]) {
-      continue;
-    }
-
-    // sleeping tree: skip
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_JOINT, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    // get margin
-    margin = m->jnt_margin[i];
-
-    // HINGE or SLIDE joint
-    if (m->jnt_type[i] == mjJNT_SLIDE || m->jnt_type[i] == mjJNT_HINGE) {
-      // get joint value
-      value = d->qpos[m->jnt_qposadr[i]];
-
-      // process lower and upper limits
-      for (int side=-1; side <= 1; side+=2) {
-        // compute distance (negative: penetration)
-        dist = side * (m->jnt_range[2*i+(side+1)/2] - value);
-
-        // detect joint limit
-        if (dist < margin) {
-          if (count_only) {
-            nl += mj_addConstraintCount(m, 1, 1);
-            if (nnz) *nnz += 1;
-          } else {
-            // prepare Jacobian: sparse or dense
-            if (issparse) {
-              jac[0] = -(mjtNum)side;
-            } else {
-              mju_zero(jac, nv);
-              jac[m->jnt_dofadr[i]] = -(mjtNum)side;
-            }
-
-            // add constraint
-            mj_addConstraint(m, d, jac, &dist, &margin, 0,
-                             1, mjCNSTR_LIMIT_JOINT, i,
-                             issparse ? 1 : 0,
-                             issparse ? m->jnt_dofadr+i : NULL);
-          }
-        }
-      }
-    }
-
-    // BALL joint
-    else if (m->jnt_type[i] == mjJNT_BALL) {
-      // convert joint quaternion to axis-angle
-      int adr = m->jnt_qposadr[i];
-      mjtNum quat[4] = {d->qpos[adr], d->qpos[adr+1], d->qpos[adr+2], d->qpos[adr+3]};
-      mju_normalize4(quat);
-      mju_quat2Vel(angleAxis, quat, 1);
-
-      // get rotation angle, normalize
-      value = mju_normalize3(angleAxis);
-
-      // compute distance, using max of range (negative: penetration)
-      dist = mju_max(m->jnt_range[2*i], m->jnt_range[2*i+1]) - value;
-
-      // detect joint limit
-      if (dist < margin) {
-        if (count_only) {
-          nl += mj_addConstraintCount(m, 1, 3);
-          if (nnz) *nnz += 3;
-        }
-
-        // sparse
-        else if (issparse) {
-          // prepare dof index array
-          int chain[3] = {
-            m->jnt_dofadr[i] + 0,
-            m->jnt_dofadr[i] + 1,
-            m->jnt_dofadr[i] + 2
-          };
-
-          // prepare Jacobian
-          mju_scl3(jac, angleAxis, -1);
-
-          // add constraint
-          mj_addConstraint(m, d, jac, &dist, &margin, 0,
-                           1, mjCNSTR_LIMIT_JOINT, i, 3, chain);
-        }
-
-        // dense
-        else {
-          // prepare Jacobian
-          mju_zero(jac, nv);
-          mju_scl3(jac + m->jnt_dofadr[i], angleAxis, -1);
-
-          // add constraint
-          mj_addConstraint(m, d, jac, &dist, &margin, 0,
-                           1, mjCNSTR_LIMIT_JOINT, i, 0, 0);
-        }
-      }
-    }
-  }
-
-  // find tendon limits
-  for (int i=0; i < m->ntendon; i++) {
-    if (!m->tendon_limited[i]) {
-      continue;
-    }
-
-    // get value = length, margin
-    value = d->ten_length[i];
-    margin = m->tendon_margin[i];
-
-    // process lower and upper limits
-    for (int side=-1; side <= 1; side+=2) {
-      // compute distance (negative: penetration)
-      dist = side * (m->tendon_range[2*i+(side+1)/2] - value);
-
-      // detect tendon limit
-      if (dist < margin) {
-        if (count_only) {
-          nl += mj_addConstraintCount(m, 1, m->ten_J_rownnz[i]);
-          if (nnz) *nnz += m->ten_J_rownnz[i];
-        } else {
-          // prepare Jacobian
-          int efcadr = d->nefc;
-          if (issparse) {
-            mju_scl(jac, d->ten_J+m->ten_J_rowadr[i], -side, m->ten_J_rownnz[i]);
-            mj_addConstraint(m, d, jac, &dist, &margin, 0,
-                             1, mjCNSTR_LIMIT_TENDON, i,
-                             m->ten_J_rownnz[i],
-                             m->ten_J_colind+m->ten_J_rowadr[i]);
-          } else {
-            mju_sparse2dense(jac, d->ten_J, 1, nv, m->ten_J_rownnz+i, m->ten_J_rowadr+i, m->ten_J_colind);
-            mju_scl(jac, jac, -side, nv);
-            mj_addConstraint(m, d, jac, &dist, &margin, 0,
-                             1, mjCNSTR_LIMIT_TENDON, i, 0, NULL);
-          }
-          // set tendon_efcadr
-          if (d->tendon_efcadr[i] == -1) {
-            d->tendon_efcadr[i] = efcadr;
-          }
-        }
-      }
-    }
-  }
-
-  if (!count_only) {
-    mj_freeStack(d);
-  }
-
-  return nl;
-}
-
-
-// compute Jacobian for contact, return number of DOFs affected
-int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int dim,
-                       mjtNum* jacdifp, mjtNum* jacdifr,
-                       mjtNum* jac1p, mjtNum* jac2p,
-                       mjtNum* jac1r, mjtNum* jac2r, int* chain) {
-  // special case: single body on each side
-  if ((con->geom[0] >= 0 || (con->vert[0] >= 0 && m->flex_interp[con->flex[0]] == 0)) &&
-      (con->geom[1] >= 0 || (con->vert[1] >= 0 && m->flex_interp[con->flex[1]] == 0))) {
-    // get bodies
-    int bid[2];
-    for (int side=0; side < 2; side++) {
-      bid[side] = (con->geom[side] >= 0) ?
-                  m->geom_bodyid[con->geom[side]] :
-                  m->flex_vertbodyid[m->flex_vertadr[con->flex[side]] + con->vert[side]];
-    }
-    // compute Jacobian differences, skipping common DOFs
-    if (dim > 3) {
-      return mj_jacDifPair(m, d, chain, bid[0], bid[1], con->pos, con->pos,
-                           jac1p, jac2p, jacdifp, jac1r, jac2r, jacdifr, mj_isSparse(m), 1);
-    } else {
-      return mj_jacDifPair(m, d, chain, bid[0], bid[1], con->pos, con->pos,
-                           jac1p, jac2p, jacdifp, NULL, NULL, NULL, mj_isSparse(m), 1);
-    }
-  }
-
-  // general case: flex elements involved
-  else {
-    // get bodies and weights
-    int nb = 0;
-    int bid[729];  // 729 = 27*27
-    mjtNum bweight[729];
-    for (int side=0; side < 2; side++) {
-      // geom
-      if (con->geom[side] >= 0) {
-        bid[nb] = m->geom_bodyid[con->geom[side]];
-        bweight[nb] = side ? +1 : -1;
-        nb++;
-      }
-
-      // flex
-      else {
-        int nw = 0;
-        int vid[4];
-        mjtNum vweight[4];
-
-        // vert
-        if (con->vert[side] >= 0) {
-          vid[0] = m->flex_vertadr[con->flex[side]] + con->vert[side];
-          vweight[0] = side ? +1 : -1;
-          nw = 1;
-        }
-
-        // elem
-        else {
-          nw = mj_elemBodyWeight(m, d, con->flex[side], con->elem[side],
-                                con->vert[1-side], con->pos, vid, vweight);
-
-          // negative sign for first side of contact
-          if (side == 0) {
-            mju_scl(vweight, vweight, -1, nw);
-          }
-        }
-
-        // get body or node ids and weights
-        if (m->flex_interp[con->flex[side]] == 0) {
-          for (int k=0; k < nw; k++) {
-            bid[nb] = m->flex_vertbodyid[vid[k]];
-            bweight[nb] = vweight[k];
-            nb++;
-          }
-        } else {
-          nb += mj_vertBodyWeight(m, d, con->flex[side], vid, bid+nb, bweight+nb, vweight, nw);
-        }
-      }
-    }
-
-    // combine weighted Jacobians
-    return mj_jacSum(m, d, chain, nb, bid, bweight, con->pos, jacdifp, jacdifr, dim > 3);
-  }
-}
-
-
-// frictionless and frictional contacts
-void mj_instantiateContact(const mjModel* m, mjData* d) {
-  int ispyramid = mj_isPyramidal(m), issparse = mj_isSparse(m), ncon = d->ncon;
-  int dim, NV, nv = m->nv, *chain = NULL;
-  mjContact* con;
-  mjtNum cpos[6], cmargin[6], *jac, *jacdifp, *jacdifr, *jac1p, *jac2p, *jac1r, *jac2r;
-
-  if (mjDISABLED(mjDSBL_CONTACT) || ncon == 0 || nv == 0) {
-    return;
-  }
-
-  mj_markStack(d);
-
-  // allocate Jacobian
-  jac = mjSTACKALLOC(d, 6*nv, mjtNum);
-  jacdifp = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jacdifr = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac1p = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac2p = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac1r = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac2r = mjSTACKALLOC(d, 3*nv, mjtNum);
-  if (issparse) {
-    chain = mjSTACKALLOC(d, nv, int);
-  }
-
-  // find contacts to be included
-  for (int i=0; i < ncon; i++) {
-    if (d->contact[i].exclude) {
-      continue;
-    }
-
-    // get contact info, save efc_address
-    con = d->contact + i;
-    dim = con->dim;
-    con->efc_address = d->nefc;
-    NV = mj_contactJacobian(m, d, con, dim, jacdifp, jacdifr,
-                            jac1p, jac2p, jac1r, jac2r, chain);
-
-    // skip contact if no DOFs affected
-    if (NV == 0) {
-      con->efc_address = -1;
-      con->exclude = 3;
-      continue;
-    }
-
-    // rotate Jacobian differences to contact frame
-    mju_mulMatMat(jac, con->frame, jacdifp, dim > 1 ? 3 : 1, 3, NV);
-    if (dim > 3) {
-      mju_mulMatMat(jac + 3*NV, con->frame, jacdifr, dim-3, 3, NV);
-    }
-
-    // make frictionless contact
-    if (dim == 1) {
-      // add constraint
-      mj_addConstraint(m, d, jac, &(con->dist), &(con->includemargin), 0,
-                       1, mjCNSTR_CONTACT_FRICTIONLESS, i,
-                       issparse ? NV : 0,
-                       issparse ? chain : NULL);
-    }
-
-    // make pyramidal friction cone
-    else if (ispyramid) {
-      // pos = dist
-      cpos[0] = cpos[1] = con->dist;
-      cmargin[0] = cmargin[1] = con->includemargin;
-
-      // one pair per friction dimension
-      for (int k=1; k < con->dim; k++) {
-        // Jacobian for pair of opposing pyramid edges
-        mju_addScl(jacdifp, jac, jac + k*NV, con->friction[k-1], NV);
-        mju_addScl(jacdifp + NV, jac, jac + k*NV, -con->friction[k-1], NV);
-
-        // add constraint
-        mj_addConstraint(m, d, jacdifp, cpos, cmargin, 0,
-                         2, mjCNSTR_CONTACT_PYRAMIDAL, i,
-                         issparse ? NV : 0,
-                         issparse ? chain : NULL);
-      }
-    }
-
-    // make elliptic friction cone
-    else {
-      // normal pos = dist, all others 0
-      mju_zero(cpos, con->dim);
-      mju_zero(cmargin, con->dim);
-      cpos[0] = con->dist;
-      cmargin[0] = con->includemargin;
-
-      // add constraint
-      mj_addConstraint(m, d, jac, cpos, cmargin, 0,
-                       con->dim, mjCNSTR_CONTACT_ELLIPTIC, i,
-                       issparse ? NV : 0,
-                       issparse ? chain : NULL);
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-//------------------------ compute constraint parameters -------------------------------------------
-
-// compute diagApprox
-void mj_diagApprox(const mjModel* m, mjData* d) {
-  int id, dim, b1, b2, f, weldcnt = 0;
-  int nefc = d->nefc;
-  mjtNum tran, rot, fri, *dA = d->efc_diagA;
-  mjContact* con = NULL;
-
-  // loop over all constraints, compute approximate inverse inertia
-  for (int i=0; i < nefc; i++) {
-    // get constraint id
-    id = d->efc_id[i];
-
-    // process according to constraint type
-    switch ((mjtConstraint) d->efc_type[i]) {
-    case mjCNSTR_EQUALITY:
-      // process according to equality-constraint type
-      switch (m->eq_type[id]) {
-      case mjEQ_CONNECT:
-        b1 = m->eq_obj1id[id];
-        b2 = m->eq_obj2id[id];
-
-        // get body ids if using site semantics
-        if (m->eq_objtype[id] == mjOBJ_SITE) {
-          b1 = m->site_bodyid[b1];
-          b2 = m->site_bodyid[b2];
-        }
-
-        // body translation
-        dA[i] = m->body_invweight0[2*b1] + m->body_invweight0[2*b2];
-        break;
-
-      case mjEQ_WELD:  // distinguish translation and rotation inertia
-        b1 = m->eq_obj1id[id];
-        b2 = m->eq_obj2id[id];
-
-        // get body ids if using site semantics
-        if (m->eq_objtype[id] == mjOBJ_SITE) {
-          b1 = m->site_bodyid[b1];
-          b2 = m->site_bodyid[b2];
-        }
-
-        // body translation or rotation depending on weldcnt
-        dA[i] = m->body_invweight0[2*b1 + (weldcnt > 2)] +
-                m->body_invweight0[2*b2 + (weldcnt > 2)];
-        weldcnt = (weldcnt + 1) % 6;
-        break;
-
-      case mjEQ_JOINT:
-      case mjEQ_TENDON:
-        // object 1 contribution
-        dA[i] = (m->eq_type[id] == mjEQ_JOINT ?
-                 m->dof_invweight0[m->jnt_dofadr[m->eq_obj1id[id]]] :
-                 m->tendon_invweight0[m->eq_obj1id[id]]);
-
-        // add object 2 contribution if present
-        if (m->eq_obj2id[id] >= 0)
-          dA[i] += (m->eq_type[id] == mjEQ_JOINT ?
-                    m->dof_invweight0[m->jnt_dofadr[m->eq_obj2id[id]]] :
-                    m->tendon_invweight0[m->eq_obj2id[id]]);
-        break;
-
-      case mjEQ_FLEX:
-        // process all non-rigid edges for this flex
-        f = m->eq_obj1id[id];
-        int flex_edgeadr = m->flex_edgeadr[f];
-        int flex_edgenum = m->flex_edgenum[f];
-        for (int e=flex_edgeadr; e<flex_edgeadr+flex_edgenum; e++) {
-          if (!m->flexedge_rigid[e]) {
-            dA[i++] = m->flexedge_invweight0[e];
-          }
-        }
-
-        // adjust constraint counter
-        i--;
-        break;
-
-      case mjEQ_FLEXVERT:
-        // process all vertices for this flex
-        f = m->eq_obj1id[id];
-        int vertadr = m->flex_vertadr[f];
-        int vertnum = m->flex_vertnum[f];
-        for (int v=vertadr; v<vertadr+vertnum; v++) {
-          int bodyid = m->flex_vertbodyid[v];
-          dA[i++] = m->body_invweight0[2*bodyid];
-          dA[i++] = m->body_invweight0[2*bodyid];
-        }
-
-        // adjust constraint counter
-        i--;
-        break;
-
-      case mjEQ_FLEXSTRAIN: {
-        // strain constraints: use avg inv weight of element's nodes
-        int flex_id = m->eq_obj1id[id];
-        int nstart = m->flex_nodeadr[flex_id];
-        int interp = m->flex_interp[flex_id];
-        int order = interp < 0 ? -interp : interp;
-        int is_shell = (interp < 0);
-
-        int cx = m->flex_cellnum[3*flex_id+0];
-        int cy = m->flex_cellnum[3*flex_id+1];
-        int cz = m->flex_cellnum[3*flex_id+2];
-
-        // nodes per element
-        int npe;
-        int elem_idx;
-        if (is_shell) {
-          npe = (order+1) * (order+1);
-          elem_idx = (int)m->eq_data[mjNEQDATA*id + 0];
-        } else {
-          npe = (order+1) * (order+1) * (order+1);
-          int ci_cell = (int)m->eq_data[mjNEQDATA*id + 0];
-          int cj_cell = (int)m->eq_data[mjNEQDATA*id + 1];
-          int ck_cell = (int)m->eq_data[mjNEQDATA*id + 2];
-          elem_idx = ci_cell * cy * cz + cj_cell * cz + ck_cell;
-        }
-
-        // read neig from flex_stiffness
-        int ndof_elem = 3 * npe;
-        const mjtNum* k_elem = m->flex_stiffness + m->flex_stiffnessadr[flex_id]
-                             + elem_idx * ndof_elem * ndof_elem;
-        int nconstraint = (int)k_elem[0];
-
-        // get element node indices
-        int gindices[125];
-        if (is_shell) {
-          mju_flexGatherFaceState(order, cx, cy, cz, elem_idx,
-                                  NULL, NULL, NULL, NULL, NULL, NULL, gindices, NULL);
-        } else {
-          int ci_cell = (int)m->eq_data[mjNEQDATA*id + 0];
-          int cj_cell = (int)m->eq_data[mjNEQDATA*id + 1];
-          int ck_cell = (int)m->eq_data[mjNEQDATA*id + 2];
-          mju_flexGatherCellState(order, cy, cz, ci_cell, cj_cell, ck_cell,
-                                  NULL, NULL, NULL, NULL, NULL, NULL, gindices, NULL);
-        }
-
-        mjtNum avg_invweight = 0;
-        for (int n = 0; n < npe; n++) {
-          int bodyid = m->flex_nodebodyid[nstart + gindices[n]];
-          avg_invweight += m->body_invweight0[2*bodyid];
-        }
-        avg_invweight /= npe;
-        for (int c = 0; c < nconstraint; c++) {
-          dA[i++] = avg_invweight;
-        }
-
-        // adjust constraint counter
-        i--;
-        break;
-      }
-
-      default:
-        mjERROR("unknown constraint type %d", d->efc_type[i]);    // SHOULD NOT OCCUR
-      }
-      break;
-
-    case mjCNSTR_FRICTION_DOF:
-      dA[i] = m->dof_invweight0[id];
-      break;
-
-    case mjCNSTR_LIMIT_JOINT:
-      dA[i] = m->dof_invweight0[m->jnt_dofadr[id]];
-      break;
-
-    case mjCNSTR_FRICTION_TENDON:
-    case mjCNSTR_LIMIT_TENDON:
-      dA[i] = m->tendon_invweight0[id];
-      break;
-
-    case mjCNSTR_CONTACT_FRICTIONLESS:
-    case mjCNSTR_CONTACT_PYRAMIDAL:
-    case mjCNSTR_CONTACT_ELLIPTIC:
-      // get contact info
-      con = d->contact + id;
-      dim = con->dim;
-
-      // add the average translation and rotation components from both sides
-      tran = rot = 0;
-      for (int side=0; side < 2; side++) {
-        // get bodies and weights
-        int nb = 0, bid[729];
-        mjtNum bweight[729];
-
-        // geom
-        if (con->geom[side] >= 0) {
-          bid[0] = m->geom_bodyid[con->geom[side]];
-          bweight[0] = 1;
-          nb = 1;
-        }
-
-        // flex
-        else {
-          int nw = 0;
-          int vid[4];
-          mjtNum vweight[4];
-
-          // vert
-          if (con->vert[side] >= 0) {
-            vid[0] = m->flex_vertadr[con->flex[side]] + con->vert[side];
-            vweight[0] = 1;
-            nw = 1;
-          }
-
-          // elem
-          else {
-            nw = mj_elemBodyWeight(m, d, con->flex[side], con->elem[side],
-                                  con->vert[1-side], con->pos, vid, vweight);
-          }
-
-          // convert verted ids and weights to body ids and weights
-          if (m->flex_interp[con->flex[side]] == 0) {
-            for (int k=0; k < nw; k++) {
-              bid[k] = m->flex_vertbodyid[vid[k]];
-              bweight[k] = vweight[k];
-              nb++;
-            }
-          } else {
-            nb += mj_vertBodyWeight(m, d, con->flex[side], vid, bid, bweight, vweight, nw);
-          }
-        }
-
-        // add weighted average over bodies
-        for (int k=0; k < nb; k++) {
-          tran += m->body_invweight0[2*bid[k]] * bweight[k];
-          rot += m->body_invweight0[2*bid[k]+1] * bweight[k];
-        }
-      }
-
-      // set frictionless
-      if (d->efc_type[i] == mjCNSTR_CONTACT_FRICTIONLESS) {
-        dA[i] = tran;
-      }
-
-      // set elliptical
-      else if (d->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {
-        for (int j=0; j < dim; j++) {
-          dA[i+j] = (j < 3 ? tran : rot);
-        }
-
-        // processed dim elements in one i-loop iteration; advance counter
-        i += (dim-1);
-      }
-
-      // set pyramidal
-      else {
-        for (int j=0; j < dim-1; j++) {
-          fri = con->friction[j];
-          dA[i+2*j] = dA[i+2*j+1] = tran + fri*fri*(j < 2 ? tran : rot);
-        }
-
-        // processed 2*dim-2 elements in one i-loop iteration; advance counter
-        i += (2*dim-3);
-      }
-    }
-  }
-}
-
-
-// get solref, solimp for specified constraint
-static void getsolparam(const mjModel* m, const mjData* d, int i,
-                        mjtNum* solref, mjtNum* solreffriction, mjtNum* solimp) {
-  // get constraint id
-  int id = d->efc_id[i];
-
-  // clear solreffriction (applies only to contacts)
-  mju_zero(solreffriction, mjNREF);
-
-  // extract solver parameters from corresponding model element
-  switch ((mjtConstraint) d->efc_type[i]) {
-  case mjCNSTR_EQUALITY:
-    mju_copy(solref, m->eq_solref+mjNREF*id, mjNREF);
-    mju_copy(solimp, m->eq_solimp+mjNIMP*id, mjNIMP);
-    break;
-
-  case mjCNSTR_LIMIT_JOINT:
-    mju_copy(solref, m->jnt_solref+mjNREF*id, mjNREF);
-    mju_copy(solimp, m->jnt_solimp+mjNIMP*id, mjNIMP);
-    break;
-
-  case mjCNSTR_FRICTION_DOF:
-    mju_copy(solref, m->dof_solref+mjNREF*id, mjNREF);
-    mju_copy(solimp, m->dof_solimp+mjNIMP*id, mjNIMP);
-    break;
-
-  case mjCNSTR_LIMIT_TENDON:
-    mju_copy(solref, m->tendon_solref_lim+mjNREF*id, mjNREF);
-    mju_copy(solimp, m->tendon_solimp_lim+mjNIMP*id, mjNIMP);
-    break;
-
-  case mjCNSTR_FRICTION_TENDON:
-    mju_copy(solref, m->tendon_solref_fri+mjNREF*id, mjNREF);
-    mju_copy(solimp, m->tendon_solimp_fri+mjNIMP*id, mjNIMP);
-    break;
-
-  case mjCNSTR_CONTACT_FRICTIONLESS:
-  case mjCNSTR_CONTACT_PYRAMIDAL:
-  case mjCNSTR_CONTACT_ELLIPTIC:
-    mju_copy(solref, d->contact[id].solref, mjNREF);
-    mju_copy(solreffriction, d->contact[id].solreffriction, mjNREF);
-    mju_copy(solimp, d->contact[id].solimp, mjNIMP);
-  }
-
-  // check reference format: standard or direct, cannot be mixed
-  if ((solref[0] > 0) ^ (solref[1] > 0)) {
-    mju_warning("mixed solref format, replacing with default");
-    mj_defaultSolRefImp(solref, NULL);
-  }
-
-  // integrator safety: impose ref[0]>=2*timestep for standard format
-  if (!mjDISABLED(mjDSBL_REFSAFE) && solref[0] > 0) {
-    solref[0] = mju_max(solref[0], 2*m->opt.timestep);
-  }
-
-  // check reference format: standard or direct, cannot be mixed
-  if ((solreffriction[0] > 0) ^ (solreffriction[1] > 0)) {
-    mju_warning("solreffriction values should have the same sign, replacing with default");
-    mju_zero(solreffriction, mjNREF);  // default solreffriction is (0, 0)
-  }
-
-  // integrator safety: impose ref[0]>=2*timestep for standard format
-  if (!mjDISABLED(mjDSBL_REFSAFE) && solreffriction[0] > 0) {
-    solreffriction[0] = mju_max(solreffriction[0], 2*m->opt.timestep);
-  }
-
-  // enforce constraints on solimp
-  solimp[0] = mju_min(mjMAXIMP, mju_max(mjMINIMP, solimp[0]));
-  solimp[1] = mju_min(mjMAXIMP, mju_max(mjMINIMP, solimp[1]));
-  solimp[2] = mju_max(0, solimp[2]);
-  solimp[3] = mju_min(mjMAXIMP, mju_max(mjMINIMP, solimp[3]));
-  solimp[4] = mju_max(1, solimp[4]);
-}
-
-
-// get pos and dim for specified constraint
-static void getposdim(const mjModel* m, const mjData* d, int i, mjtNum* pos, int* dim) {
-  // get id of constraint-related object
-  int id = d->efc_id[i];
-
-  // set (dim, pos) for common case
-  *dim = 1;
-  *pos = d->efc_pos[i];
-
-  // change (dim, distance) for special cases
-  switch ((mjtConstraint) d->efc_type[i]) {
-  case mjCNSTR_CONTACT_ELLIPTIC:
-    *dim = d->contact[id].dim;
-    break;
-
-  case mjCNSTR_CONTACT_PYRAMIDAL:
-    *dim = 2*(d->contact[id].dim-1);
-    break;
-
-  case mjCNSTR_EQUALITY:
-    if (m->eq_type[id] == mjEQ_WELD) {
-      *dim = 6;
-      *pos = mju_norm(d->efc_pos+i, 6);
-    } else if (m->eq_type[id] == mjEQ_CONNECT) {
-      *dim = 3;
-      *pos = mju_norm(d->efc_pos+i, 3);
-    }
-    break;
-  default:
-    // already handled
-    break;
-  }
-}
-
-
-// return a to the power of b, quick return for powers 1 and 2
-// solimp[4] == 2 is the default, so these branches are common
-static mjtNum power(mjtNum a, mjtNum b) {
-  if (b == 1) {
-    return a;
-  } else if (b == 2) {
-    return a*a;
-  }
-  return mju_pow(a, b);
-}
-
-
-// compute impedance and derivative for one constraint
-static void getimpedance(const mjtNum* solimp, mjtNum pos, mjtNum margin,
-                         mjtNum* imp, mjtNum* impP) {
-  // flat function
-  if (solimp[0] == solimp[1] || solimp[2] <= mjMINVAL) {
-    *imp = 0.5*(solimp[0] + solimp[1]);
-    *impP = 0;
-    return;
-  }
-
-  // x = abs((pos-margin) / width)
-  mjtNum x = (pos-margin) / solimp[2];
-  mjtNum sgn = 1;
-  if (x < 0) {
-    x = -x;
-    sgn = -1;
-  }
-
-  // fully saturated
-  if (x >= 1 || x <= 0) {
-    *imp = (x >= 1 ? solimp[1] : solimp[0]);
-    *impP = 0;
-    return;
-  }
-
-  // linear
-  mjtNum y, yP;
-  if (solimp[4] == 1) {
-    y = x;
-    yP = 1;
-  }
-
-  // y(x) = a*x^p if x<=midpoint
-  else if (x <= solimp[3]) {
-    mjtNum a = 1/power(solimp[3], solimp[4]-1);
-    y = a*power(x, solimp[4]);
-    yP = solimp[4] * a*power(x, solimp[4]-1);
-  }
-
-  // y(x) = 1-b*(1-x)^p if x>midpoint
-  else {
-    mjtNum b = 1/power(1-solimp[3], solimp[4]-1);
-    y = 1-b*power(1-x, solimp[4]);
-    yP = solimp[4] * b*power(1-x, solimp[4]-1);
-  }
-
-  // scale
-  *imp = solimp[0] + y*(solimp[1]-solimp[0]);
-  *impP = yP * sgn * (solimp[1]-solimp[0]) / solimp[2];
-}
-
-
-// compute efc_R, efc_D, efc_KBIP, adjust efc_diagA
-void mj_makeImpedance(const mjModel* m, mjData* d) {
-  int dim, nefc = d->nefc;
-  mjtNum *R = d->efc_R, *KBIP = d->efc_KBIP;
-  mjtNum pos, imp, impP, Rpy, solref[mjNREF], solreffriction[mjNREF], solimp[mjNIMP];
-
-  // set efc_R, efc_KBIP
-  for (int i=0; i < nefc; i++) {
-    // get solref and solimp
-    getsolparam(m, d, i, solref, solreffriction, solimp);
-
-    // get pos and dim
-    getposdim(m, d, i, &pos, &dim);
-
-    // get imp and impP
-    getimpedance(solimp, pos, d->efc_margin[i], &imp, &impP);
-
-    // set R and KBIP for all constraint dimensions
-    for (int j=0; j < dim; j++) {
-      // R = (1-imp)/imp * diagApprox
-      R[i+j] = mju_max(mjMINVAL, (1-imp)*d->efc_diagA[i+j]/imp);
-
-      // constraint type
-      int tp = d->efc_type[i+j];
-
-      // elliptic contacts use solreffriction in non-normal directions, if non-zero
-      int elliptic_friction = (tp == mjCNSTR_CONTACT_ELLIPTIC) && (j > 0);
-      mjtNum* ref = elliptic_friction && (solreffriction[0] || solreffriction[1]) ?
-                    solreffriction : solref;
-
-      // friction: K = 0
-      if (tp == mjCNSTR_FRICTION_DOF || tp == mjCNSTR_FRICTION_TENDON || elliptic_friction) {
-        KBIP[4*(i+j)] = 0;
-      }
-
-      // standard: K = 1 / (d_width^2 * timeconst^2 * dampratio^2)
-      else if (ref[0] > 0)
-        KBIP[4*(i+j)] = 1 / mju_max(mjMINVAL, solimp[1]*solimp[1] * ref[0]*ref[0] * ref[1]*ref[1]);
-
-      // direct: K = -solref[0] / d_width^2
-      else {
-        KBIP[4*(i+j)] = -ref[0] / mju_max(mjMINVAL, solimp[1]*solimp[1]);
-      }
-
-      // standard: B = 2 / (d_width*timeconst)
-      if (ref[1] > 0) {
-        KBIP[4*(i+j)+1] = 2 / mju_max(mjMINVAL, solimp[1]*ref[0]);
-      }
-
-      // direct: B = -solref[1] / d_width
-      else {
-        KBIP[4*(i+j)+1] = -ref[1] / mju_max(mjMINVAL, solimp[1]);
-      }
-
-      // I = imp, P = imp'
-      KBIP[4*(i+j)+2] = imp;
-      KBIP[4*(i+j)+3] = impP;
-    }
-
-    // skip the rest of this constraint
-    i += (dim-1);
-  }
-
-  // frictional contacts: adjust R in friction dimensions, set contact master mu
-  for (int i=d->ne+d->nf; i < nefc; i++) {
-    if (d->efc_type[i] == mjCNSTR_CONTACT_PYRAMIDAL ||
-        d->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {
-      // extract id, dim, mu
-      int id = d->efc_id[i];
-      dim = d->contact[id].dim;
-      mjtNum* friction = d->contact[id].friction;
-
-      // set R[1] = R[0]/impratio
-      R[i+1] = R[i]/mju_max(mjMINVAL, m->opt.impratio);
-
-      // set mu of regularized cone = mu[1]*sqrt(R[1]/R[0])
-      d->contact[id].mu = friction[0] * mju_sqrt(R[i+1]/R[i]);
-
-      // elliptic
-      if (d->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {
-        // set remaining R's such that R[j]*mu[j]^2 = R[1]*mu[1]^2
-        for (int j=1; j < dim-1; j++) {
-          R[i+j+1] = R[i+1]*friction[0]*friction[0]/(friction[j]*friction[j]);
-        }
-
-        // skip the rest of this contact
-        i += (dim-1);
-      }
-
-      // pyramidal: common R matching friction impedance of elliptic model
-      else {
-        // D0_el = 2*(dim-1)*D_py : normal match
-        // D0_el = 2*mu^2*D_py    : friction match
-        Rpy = 2*d->contact[id].mu*d->contact[id].mu*R[i];
-
-        // assign Rpy to all pyramidal R
-        for (int j=0; j < 2*(dim-1); j++) {
-          R[i+j] = Rpy;
-        }
-
-        // skip the rest of this contact
-        i += 2*(dim-1) - 1;
-      }
-    }
-  }
-
-  // set D = 1 / R
-  for (int i=0; i < nefc; i++) {
-    d->efc_D[i] = 1 / R[i];
-  }
-
-  // adjust diagA so that R = (1-imp)/imp * diagA
-  for (int i=0; i < nefc; i++) {
-    d->efc_diagA[i] = R[i] * KBIP[4*i+2] / (1-KBIP[4*i+2]);
-  }
-}
-
-
-//------------------------------------- constraint counting ----------------------------------------
-
-// count the non-zero columns of the Jacobian returned by mj_jacSum
-static int mj_jacSumCount(const mjModel* m, mjData* d, int* chain,
-                          int n, const int* body) {
-  int nv = m->nv, NV;
-
-  mj_markStack(d);
-  int* bodychain = mjSTACKALLOC(d, nv, int);
-  int* tempchain = mjSTACKALLOC(d, nv, int);
-
-  // set first
-  NV = mj_bodyChain(m, body[0], chain);
-
-  // accumulate remaining
-  for (int i=1; i < n; i++) {
-    // get body chain
-    int bodyNV = mj_bodyChain(m, body[i], bodychain);
-    if (!bodyNV) {
-      continue;
-    }
-
-    // accumulate chains
-    NV = mju_addChains(tempchain, nv, NV, bodyNV, chain, bodychain);
-    if (NV) {
-      mju_copyInt(chain, tempchain, NV);
-    }
-  }
-
-  mj_freeStack(d);
-  return NV;
-}
-
-// count equality constraints, count Jacobian nonzeros if nnz is not NULL
-static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
-  int ne = 0, nnze = 0;
-  int nv = m->nv, neq = m->neq;
-  int id[2], size, NV, NV2, *chain = NULL, *chain2 = NULL;
-  int issparse = (nnz != NULL);
-  int flex_edgeadr, flex_edgenum, flex_vertadr, flex_vertnum;
-
-  // disabled or no equality constraints: return
-  if (mjDISABLED(mjDSBL_EQUALITY) || m->nemax == 0) {
-    return 0;
-  }
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-
-  mj_markStack(d);
-
-  if (nnz) {
-    chain = mjSTACKALLOC(d, nv, int);
-    chain2 = mjSTACKALLOC(d, nv, int);
-  }
-
-  // pre-allocate buffer for cell body IDs (max npc = 125 for order=2)
-  int* cell_bodies = nnz ? mjSTACKALLOC(d, 125, int) : NULL;
-
-  // find active equality constraints
-  for (int i=0; i < neq; i++) {
-    // skip inactive
-    if (!d->eq_active[i]) {
-      continue;
-    }
-
-    // skip sleeping
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_EQUALITY, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    id[0] = m->eq_obj1id[i];
-    id[1] = m->eq_obj2id[i];
-    size = 0;
-    NV = 0;
-    NV2 = 0;
-
-    // process according to type
-    switch ((mjtEq) m->eq_type[i]) {
-    case mjEQ_CONNECT:
-      size = 3;
-      if (!nnz) {
-        break;
-      }
-
-      // get body ids if using site semantics
-      if (m->eq_objtype[i] == mjOBJ_SITE) {
-        id[0] = m->site_bodyid[id[0]];
-        id[1] = m->site_bodyid[id[1]];
-      }
-
-      NV = mj_jacDifPair(m, NULL, chain, id[1], id[0], NULL, NULL,
-                         NULL, NULL, NULL, NULL, NULL, NULL, issparse,
-                         /*flg_skipcommon=*/0);
-      break;
-
-    case mjEQ_WELD:
-      size = 6;
-      if (!nnz) {
-        break;
-      }
-
-      // get body ids if using site semantics
-      if (m->eq_objtype[i] == mjOBJ_SITE) {
-        id[0] = m->site_bodyid[id[0]];
-        id[1] = m->site_bodyid[id[1]];
-      }
-
-      NV = mj_jacDifPair(m, NULL, chain, id[1], id[0], NULL, NULL,
-                         NULL, NULL, NULL, NULL, NULL, NULL, issparse,
-                         /*flg_skipcommon=*/0);
-      break;
-
-    case mjEQ_JOINT:
-    case mjEQ_TENDON:
-      size = 1;
-      if (!nnz) {
-        break;
-      }
-
-      for (int j=0; j < 1+(id[1] >= 0); j++) {
-        if (m->eq_type[i] == mjEQ_JOINT) {
-          if (!j) {
-            NV = 1;
-            chain[0] = m->jnt_dofadr[id[j]];
-          } else {
-            NV2 = 1;
-            chain2[0] = m->jnt_dofadr[id[j]];
-          }
-        } else {
-          if (!j) {
-            NV = m->ten_J_rownnz[id[j]];
-            mju_copyInt(chain, m->ten_J_colind+m->ten_J_rowadr[id[j]], NV);
-          } else {
-            NV2 = m->ten_J_rownnz[id[j]];
-            mju_copyInt(chain2, m->ten_J_colind+m->ten_J_rowadr[id[j]], NV2);
-          }
-        }
-      }
-
-      if (id[1] >= 0) {
-        NV = mju_combineSparseCount(NV, NV2, chain, chain2);
-      }
-      break;
-
-    case mjEQ_FLEX:
-      flex_edgeadr = m->flex_edgeadr[id[0]];
-      flex_edgenum = m->flex_edgenum[id[0]];
-
-      // init with all edges, subtract rigid later
-      size = flex_edgenum;
-
-      // process edges of this flex
-      for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
-        // rigid: reduce size and skip
-        if (m->flexedge_rigid[e]) {
-          size--;
-          continue;
-        }
-
-        // accumulate NV if needed
-        if (nnz) {
-          int b1 = m->flex_vertbodyid[m->flex_vertadr[id[0]] + m->flex_edge[2*e]];
-          int b2 = m->flex_vertbodyid[m->flex_vertadr[id[0]] + m->flex_edge[2*e+1]];
-          NV += mj_jacDifPair(m, NULL, chain, b1, b2, NULL, NULL,
-                              NULL, NULL, NULL, NULL, NULL, NULL, issparse,
-                              /*flg_skipcommon=*/0);
-        }
-      }
-      break;
-
-    case mjEQ_FLEXVERT:
-      flex_vertadr = m->flex_vertadr[id[0]];
-      flex_vertnum = m->flex_vertnum[id[0]];
-      size = 2 * flex_vertnum;
-      if (nnz) {
-        for (int v=flex_vertadr; v < flex_vertadr+flex_vertnum; v++) {
-          NV += m->flexvert_J_rownnz[2*v+0];
-          NV += m->flexvert_J_rownnz[2*v+1];
-        }
-      }
-      break;
-
-    case mjEQ_FLEXSTRAIN: {
-      // per-element strain constraints: each equality is one cell or face
-      int f = id[0];
-      int interp = m->flex_interp[f];
-      int order = interp < 0 ? -interp : interp;
-      int is_shell = (interp < 0);
-      if (!order || !m->flex_nodenum[f]) {
-        break;
-      }
-
-      int cx = m->flex_cellnum[3*f+0];
-      int cy = m->flex_cellnum[3*f+1];
-      int cz = m->flex_cellnum[3*f+2];
-
-      int npe;
-      int elem_idx;
-      if (is_shell) {
-        npe = (order+1) * (order+1);
-        elem_idx = (int)m->eq_data[mjNEQDATA*i + 0];
-      } else {
-        npe = (order+1) * (order+1) * (order+1);
-        int ci_cell = (int)m->eq_data[mjNEQDATA*i + 0];
-        int cj_cell = (int)m->eq_data[mjNEQDATA*i + 1];
-        int ck_cell = (int)m->eq_data[mjNEQDATA*i + 2];
-        elem_idx = ci_cell * cy * cz + cj_cell * cz + ck_cell;
-      }
-
-      // read eigenmode count from flex_stiffness
-      int ndof_elem = 3 * npe;
-      size = 0;
-      if (m->flex_stiffnessadr[f] >= 0) {
-        const mjtNum* k_elem = m->flex_stiffness + m->flex_stiffnessadr[f]
-                             + elem_idx * ndof_elem * ndof_elem;
-        size = (int)k_elem[0];  // neig stored as first element
-      }
-
-      if (nnz) {
-        // get element node body IDs
-        int gindices[125];
-        if (is_shell) {
-          mju_flexGatherFaceState(order, cx, cy, cz, elem_idx,
-                                  NULL, NULL, NULL, NULL, NULL, NULL, gindices, NULL);
-        } else {
-          int ci_cell = (int)m->eq_data[mjNEQDATA*i + 0];
-          int cj_cell = (int)m->eq_data[mjNEQDATA*i + 1];
-          int ck_cell = (int)m->eq_data[mjNEQDATA*i + 2];
-          mju_flexGatherCellState(order, cy, cz, ci_cell, cj_cell, ck_cell,
-                                  NULL, NULL, NULL, NULL, NULL, NULL, gindices, NULL);
-        }
-        int nstart = m->flex_nodeadr[f];
-        for (int n = 0; n < npe; n++) {
-          cell_bodies[n] = m->flex_nodebodyid[nstart + gindices[n]];
-        }
-        NV = mj_jacSumCount(m, d, chain, npe, cell_bodies);
-        NV = size * NV;
-      }
-      break;
-    }
-
-    default:
-      // might occur in case of the now-removed distance equality constraint
-      mjERROR("unknown constraint type %d", m->eq_type[i]);    // SHOULD NOT OCCUR
-    }
-
-    // accumulate counts; flex NV already accumulated
-    ne += mj_addConstraintCount(m, size, NV);
-    if (m->eq_type[i] == mjEQ_FLEX || m->eq_type[i] == mjEQ_FLEXVERT ||
-        m->eq_type[i] == mjEQ_FLEXSTRAIN) {
-      nnze += NV;
-    } else {
-      nnze += size*NV;
-    }
-  }
-
-  if (nnz) {
-    *nnz += nnze;
-  }
-
-  mj_freeStack(d);
-  return ne;
-}
-
-
-// count contact constraints, count Jacobian nonzeros if nnz is not NULL
-static int mj_nc(const mjModel* m, mjData* d, int* nnz) {
-  int nnzc = 0, nc = 0;
-  int ispyramid = mj_isPyramidal(m), ncon = d->ncon;
-
-  if (mjDISABLED(mjDSBL_CONTACT) || !ncon) {
-    return 0;
-  }
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-
-  mj_markStack(d);
-  int *chain = mjSTACKALLOC(d, m->nv, int);
-
-  for (int i=0; i < ncon; i++) {
-    mjContact* con = d->contact + i;
-
-    // Passive path: flex-flex (including self-collision) and flex-vs-static-geometry, where every
-    // dof is a metric-carried flex vertex so the Hessian is assembled in full. Flex-vs-moving-body
-    // stays on the constraint solver. Passive if either flex asks for it.
-    {
-      int f0 = con->flex[0], f1 = con->flex[1];
-      int wants = (f0 > -1 && m->flex_passive[f0]) || (f1 > -1 && m->flex_passive[f1]);
-      int ok = (f0 > -1 && f1 > -1);   // flex-flex, or a flex with itself
-      for (int s = 0; s < 2 && !ok; s++) {
-        if (con->flex[s] < 0 && con->geom[s] > -1) {
-          ok = (m->body_weldid[m->geom_bodyid[con->geom[s]]] == 0);   // welded to the world
-        }
-      }
-      if (wants && ok) {
-        con->efc_address = -1;
-        con->exclude = 4;
-      }
-    }
-
-    // skip if excluded
-    if (con->exclude) {
-      continue;
-    }
-
-    // check for contact with sleeping tree; SHOULD NOT OCCUR
-    if (sleep_filter) {
-      int g1 = con->geom[0];
-      int g2 = con->geom[1];
-      if (g1 >= 0 && g2 >= 0) {
-        int b1 = m->body_weldid[m->geom_bodyid[g1]];
-        int b2 = m->body_weldid[m->geom_bodyid[g2]];
-        int asleep1 = d->body_awake[b1] == mjS_ASLEEP;
-        int asleep2 = d->body_awake[b2] == mjS_ASLEEP;
-        if (asleep1 || asleep2) {
-          mjERROR("contact %d involves sleeping geom %d", i, asleep1 ? g1 : g2);
-        }
-      }
-
-      // check flex contact sides
-      for (int side = 0; side < 2; side++) {
-        if (con->geom[side] >= 0) continue;
-        int b = mj_flexBody(m, con, side);
-        if (d->body_awake[m->body_weldid[b]] == mjS_ASLEEP) {
-          mjERROR("contact %d involves sleeping flex %d", i, con->flex[side]);
-        }
-      }
-    }
-
-    // compute NV only if nnz requested
-    int NV = 0;
-    if (nnz) {
-      // single body on each side (geom-geom or flex vert-vert): skip common dofs
-      if ((con->geom[0] >= 0 || (con->vert[0] >= 0 && m->flex_interp[con->flex[0]] == 0)) &&
-          (con->geom[1] >= 0 || (con->vert[1] >= 0 && m->flex_interp[con->flex[1]] == 0))) {
-        // get bodies
-        int bid[2];
-        for (int side=0; side < 2; side++) {
-          bid[side] = (con->geom[side] >= 0) ?
-                      m->geom_bodyid[con->geom[side]] :
-                      m->flex_vertbodyid[m->flex_vertadr[con->flex[side]] + con->vert[side]];
-        }
-        NV = mj_jacDifPair(m, NULL, chain, bid[0], bid[1], NULL, NULL,
-                           NULL, NULL, NULL, NULL, NULL, NULL, mj_isSparse(m), 1);
-      }
-
-      // general case: flex elements involved
-      else {
-        // get bodies
-        int nb = 0, bid[729];
-        for (int side=0; side < 2; side++) {
-          // geom
-          if (con->geom[side] >= 0) {
-            bid[nb++] = m->geom_bodyid[con->geom[side]];
-          }
-
-          // flex
-          else {
-            int nw = 0;
-            int vid[4];
-            mjtNum vweight[4];
-
-            // flex vert
-            if (con->vert[side] >= 0) {
-              vid[nw++] = m->flex_vertadr[con->flex[side]] + con->vert[side];
-              vweight[0] = 1;
-            }
-
-            // flex elem
-            else {
-              int f = con->flex[side];
-              int fdim = m->flex_dim[f];
-              const int* edata = m->flex_elem + m->flex_elemdataadr[f] + con->elem[side]*(fdim+1);
-              for (int k=0; k <= fdim; k++) {
-                vid[nw++] = m->flex_vertadr[f] + edata[k];
-              }
-
-              if (m->flex_interp[f]) {
-                nw = mj_elemBodyWeight(m, d, con->flex[side], con->elem[side],
-                                      con->vert[1-side], con->pos, vid, vweight);
-              }
-            }
-
-            // get body or node ids and weights
-            if (m->flex_interp[con->flex[side]] == 0) {
-              for (int k=0; k < nw; k++) {
-                bid[nb] = m->flex_vertbodyid[vid[k]];
-                nb++;
-              }
-            } else {
-              nb += mj_vertBodyWeight(m, d, con->flex[side], vid, bid+nb, NULL, vweight, nw);
-            }
-          }
-        }
-
-        // count non-zeros in merged chain
-        NV = mj_jacSumCount(m, d, chain, nb, bid);
-      }
-      if (!NV) {
-        continue;
-      }
-    }
-
-    // count according to friction type
-    int dim = con->dim;
-    if (dim == 1) {
-      nc++;
-      nnzc += NV;
-    } else if (ispyramid) {
-      nc += 2*(dim-1);
-      nnzc += 2*(dim-1)*NV;
-    } else {
-      nc += dim;
-      nnzc += dim*NV;
-    }
-  }
-
-  if (nnz) {
-    *nnz += nnzc;
-  }
-
-  mj_freeStack(d);
-  return nc;
-}
-
-
-// pre-count Y_rownnz, Y_rowadr, return total nonzeros nY
-//   Y has the sparsity of J * inv(L'), where L is the Cholesky factor of M
-static int computeY_precount(int* Y_rownnz, int* Y_rowadr, int nefc, int nv,
-                             const int* J_rownnz, const int* J_rowadr, const int* J_colind,
-                             const int* M_rownnz, const int* M_rowadr, const int* M_colind,
-                             int* marker) {
-  mju_fillInt(marker, -1, nv);
-
-  Y_rowadr[0] = 0;
-  for (int r=0; r < nefc; r++) {
-    int nnz = 0;  // nonzeros in row r of Y
-
-    // traverse row r of J in reverse, count unique nonzeros
-    int start = J_rowadr[r];
-    int end = start + J_rownnz[r];
-    for (int i=end-1; i >= start; i--) {
-      int j = J_colind[i];
-
-      // if dof j is marked, it was already counted by a child dof: skip it
-      if (marker[j] == r) {
-        continue;
-      }
-
-      // traverse row j of M, marking new unique nonzeros
-      int nnzM = M_rownnz[j];
-      int adrM = M_rowadr[j];
-      for (int k=0; k < nnzM; k++) {
-        int c = M_colind[adrM + k];
-        if (marker[c] != r) {
-          marker[c] = r;
-          nnz++;
-        }
-      }
-    }
-
-    // update rownnz and rowadr
-    Y_rownnz[r] = nnz;
-    if (r < nefc - 1) {
-      Y_rowadr[r+1] = Y_rowadr[r] + nnz;
-    }
-  }
-
-  // total non-zeros in Y
-  return Y_rowadr[nefc-1] + Y_rownnz[nefc-1];
-}
-
-
-// fill Y column indices and values from J, chaining up the kinematic tree
-static void computeY_fill(mjtNum* Y, int* Y_colind,
-                          const int* Y_rownnz, const int* Y_rowadr, int nefc,
-                          const mjtNum* J, const int* J_rownnz, const int* J_rowadr,
-                          const int* J_colind, const int* dof_parentid) {
-  for (int r=0; r < nefc; r++) {
-    // init row
-    int end = Y_rowadr[r] + Y_rownnz[r];
-    int adrJ = J_rowadr[r];
-    int remainJ = J_rownnz[r];
-    int nnzY = 0;
-
-    // complete chain in reverse
-    while (1) {
-      // get previous dof in src and dst
-      int prev_src = (remainJ > 0 ? J_colind[adrJ + remainJ - 1] : -1);
-      int prev_dst = (nnzY > 0 ? dof_parentid[Y_colind[end - nnzY]] : -1);
-
-      // both finished: break
-      if (prev_src < 0 && prev_dst < 0) {
-        break;
-      }
-
-      // add src
-      else if (prev_src >= prev_dst) {
-        nnzY++;
-        remainJ--;
-        Y_colind[end - nnzY] = prev_src;
-        Y[end - nnzY] = J[adrJ + remainJ];
-      }
-
-      // add dst
-      else {
-        nnzY++;
-        Y_colind[end - nnzY] = prev_dst;
-        Y[end - nnzY] = 0;
-      }
-    }
-
-    // compare with Y_rownnz: SHOULD NOT OCCUR
-    if (nnzY != Y_rownnz[r]) {
-      mjERROR("pre and post-count of Y_rownnz are not equal on row %d", r);
-    }
-  }
-}
-
-
-// in-place sparse back-substitution:  Y <- Y * M^{-1/2}
-static void computeY_backsub(mjtNum* Y, const int* Y_rownnz, const int* Y_rowadr,
-                             const int* Y_colind, int nefc,
-                             const mjtNum* qLD, const int* M_rownnz, const int* M_rowadr,
-                             const int* M_colind, const mjtNum* sqrtInvD) {
-  for (int r=0; r < nefc; r++) {
-    int nnzY = Y_rownnz[r];
-    int adrY = Y_rowadr[r];
-
-    // Y(r,:) <- inv(L') * Y(r,:), exploit sparsity of input vector
-    for (int i=adrY + nnzY-1; i >= adrY; i--) {
-      mjtNum val = Y[i];
-      if (val == 0) {
-        continue;
-      }
-      int j = Y_colind[i];
-      int adrM = M_rowadr[j];
-      mju_addToSclSparseInc(Y + adrY, qLD + adrM,
-                            nnzY, Y_colind + adrY,
-                            M_rownnz[j]-1, M_colind + adrM, -val);
-    }
-
-    // Y(r,:) <- sqrt(inv(D)) * Y(r,:)
-    for (int i=adrY; i < adrY + nnzY; i++) {
-      int j = Y_colind[i];
-      Y[i] *= sqrtInvD[j];
-    }
-  }
-}
-
-
-//---------------------------- top-level API for constraint construction ---------------------------
-
-// driver: call all functions above
-void mj_makeConstraint(const mjModel* m, mjData* d) {
-  // clear sizes
-  d->ne = d->nf = d->nl = d->nefc = d->nJ = d->nA = d->nY = 0;
-
-  // disabled or Jacobian not allocated: return
-  if (mjDISABLED(mjDSBL_CONSTRAINT)) {
-    return;
-  }
-
-  // precount sizes for constraint Jacobian matrices
-  int *nnz = mj_isSparse(m) ? &(d->nJ) : NULL;
-  int ne_allocated = mj_ne(m, d, nnz);
-  int nf_allocated = mj_instantiateFriction(m, d, 1, nnz);
-  int nl_allocated = mj_instantiateLimit(m, d, 1, nnz);
-  int nc_allocated = mj_nc(m, d, nnz);
-  int nefc_allocated = ne_allocated + nf_allocated + nl_allocated + nc_allocated;
-  if (!mj_isSparse(m)) {
-    d->nJ = nefc_allocated * m->nv;
-  }
-  d->nefc = nefc_allocated;
-
-  // allocate efc arrays on arena
-  if (!arenaAllocEfc(m, d)) {
-    return;
-  }
-
-  // clear tendon_efcadr
-  mju_fillInt(d->tendon_efcadr, -1, m->ntendon);
-
-  // reset nefc for the instantiation functions, instantiate all elements of Jacobian
-  d->nefc = 0;
-  mj_instantiateEquality(m, d);
-  mj_instantiateFriction(m, d, 0, NULL);
-  mj_instantiateLimit(m, d, 0, NULL);
-  mj_instantiateContact(m, d);
-
-  // check sparse allocation
-  if (mj_isSparse(m)) {
-    if (d->ne != ne_allocated) {
-      mjERROR("ne mis-allocation: found ne=%d but allocated %d", d->ne, ne_allocated);
-    }
-
-    if (d->nf != nf_allocated) {
-      mjERROR("nf mis-allocation: found nf=%d but allocated %d", d->nf, nf_allocated);
-    }
-
-    if (d->nl != nl_allocated) {
-      mjERROR("nl mis-allocation: found nl=%d but allocated %d", d->nl, nl_allocated);
-    }
-
-    // check that nefc was computed correctly
-    if (d->nefc != nefc_allocated) {
-      mjERROR("nefc mis-allocation: found nefc=%d but allocated %d", d->nefc, nefc_allocated);
-    }
-
-    // check that nJ was computed correctly
-    if (d->nefc > 0) {
-      int nJ = d->efc_J_rownnz[d->nefc - 1] + d->efc_J_rowadr[d->nefc - 1];
-      if (d->nJ != nJ) {
-        mjERROR("constraint Jacobian mis-allocation: found nJ=%d but allocated %d", nJ, d->nJ);
-      }
-    }
-  } else if (d->nefc > nefc_allocated) {
-    mjERROR("nefc under-allocation: found nefc=%d but allocated only %d",
-            d->nefc, nefc_allocated);
-  }
-
-  // collect memory use statistics
-  d->maxuse_con = mjMAX(d->maxuse_con, d->ncon);
-  d->maxuse_efc = mjMAX(d->maxuse_efc, d->nefc);
-
-  // no constraints: return
-  if (!d->nefc) {
-    return;
-  }
-
-  // accumulate J row supernodes (reverse cumsum of 0/1 flags set at assembly time)
-  if (mj_isSparse(m) && d->nefc) {
-    for (int r=d->nefc-2; r >= 0; r--) {
-      if (d->efc_J_rowsuper[r]) {
-        d->efc_J_rowsuper[r] += d->efc_J_rowsuper[r+1];
-      }
-    }
-  }
-
-  // compute diagApprox
-  mj_diagApprox(m, d);
-
-  // compute KBIP, D, R, adjust diagA
-  mj_makeImpedance(m, d);
-}
-
-
-// compute Y = J*M^{-1/2}; if flg_diagexact, overwrite efc_diagA with ||Y_i||^2
-static void mj_makeY(const mjModel* m, mjData* d, int flg_diagexact) {
-  int nefc = d->nefc, nv = m->nv;
-
-  mj_markStack(d);
-
-  // inverse square root of D from inertia LDL decomposition
-  mjtNum* sqrtInvD = mjSTACKALLOC(d, nv, mjtNum);
-  for (int i=0; i < nv; i++) {
-    int diag = m->M_rowadr[i] + m->M_rownnz[i] - 1;
-    sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
-  }
-
-  // sparse Y = backsubM2(J')' and its transpose
-  if (mj_isSparse(m)) {
-    // arena-allocate Y rownnz and rowadr
-    d->efc_Y_rownnz = mj_arenaAllocByte(d, sizeof(int) * nefc, _Alignof(int));
-    d->efc_Y_rowadr = mj_arenaAllocByte(d, sizeof(int) * nefc, _Alignof(int));
-    if (!d->efc_Y_rownnz || !d->efc_Y_rowadr) {
-      mj_warning(d, mjWARN_CNSTRFULL, d->narena);
-      mj_clearEfc(d);
-      d->parena = d->ncon * sizeof(mjContact);
-      mj_freeStack(d);
-      return;
-    }
-
-    // pre-count Y_rownnz, Y_rowadr, nY (total nonzeros)
-    int* marker = mjSTACKALLOC(d, nv, int);
-    d->nY = computeY_precount(d->efc_Y_rownnz, d->efc_Y_rowadr, nefc, nv,
-                              d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
-                              m->M_rownnz, m->M_rowadr, m->M_colind, marker);
-
-    // arena-allocate values and column indices
-    d->efc_Y = mj_arenaAllocByte(d, sizeof(mjtNum) * d->nY, _Alignof(mjtNum));
-    d->efc_Y_colind = mj_arenaAllocByte(d, sizeof(int) * d->nY, _Alignof(int));
-    if (!d->efc_Y || !d->efc_Y_colind) {
-      mj_warning(d, mjWARN_CNSTRFULL, d->narena);
-      mj_clearEfc(d);
-      d->parena = d->ncon * sizeof(mjContact);
-      mj_freeStack(d);
-      return;
-    }
-
-    // fill in Y column indices, copy values from J
-    computeY_fill(d->efc_Y, d->efc_Y_colind, d->efc_Y_rownnz, d->efc_Y_rowadr, nefc,
-                  d->efc_J, d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
-                  m->dof_parentid);
-
-    // in-place sparse back-substitution:  Y <- Y * M^-1/2
-    computeY_backsub(d->efc_Y, d->efc_Y_rownnz, d->efc_Y_rowadr,
-                     d->efc_Y_colind, nefc,
-                     d->qLD, m->M_rownnz, m->M_rowadr, m->M_colind, sqrtInvD);
-
-    // overwrite diagA with exact diagonal: diagA[i] = ||Y_i||^2
-    if (flg_diagexact) {
-      for (int i=0; i < nefc; i++) {
-        int adr = d->efc_Y_rowadr[i];
-        int nnz = d->efc_Y_rownnz[i];
-        d->efc_diagA[i] = mju_dot(d->efc_Y+adr, d->efc_Y+adr, nnz);
-      }
-    }
-  }
-
-  // dense Y = backsubM2(J')' and its transpose
-  else {
-    // arena-allocate efc_Y
-    d->nY = nefc * nv;
-    d->efc_Y = mj_arenaAllocByte(d, sizeof(mjtNum) * d->nY, _Alignof(mjtNum));
-    if (!d->efc_Y) {
-      mj_warning(d, mjWARN_CNSTRFULL, d->narena);
-      mj_clearEfc(d);
-      d->parena = d->ncon * sizeof(mjContact);
-      mj_freeStack(d);
-      return;
-    }
-
-    // Y = backsubM2(J')'
-    mj_solveM2(m, d, d->efc_Y, d->efc_J, sqrtInvD, nefc);
-
-    // overwrite diagA with exact diagonal: diagA[i] = ||Y_i||^2
-    if (flg_diagexact) {
-      for (int i=0; i < nefc; i++) {
-        d->efc_diagA[i] = mju_dot(d->efc_Y+i*nv, d->efc_Y+i*nv, nv);
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// assemble AR = Y*Y' + diag(R) for dual solver
-static void mj_makeAR(const mjModel* m, mjData* d) {
-  int nefc = d->nefc, nv = m->nv;
-
-  mj_markStack(d);
-
-  // sparse
-  if (mj_isSparse(m)) {
-    // Y supernodes are identical to J supernodes
-    const int* Y_rowsuper = d->efc_J_rowsuper;
-
-    // construct Y transposed
-    int* YT_rownnz = mjSTACKALLOC(d, nv, int);
-    int* YT_rowadr = mjSTACKALLOC(d, nv, int);
-    int* YT_colind = mjSTACKALLOC(d, d->nY, int);
-    mjtNum* YT = mjSTACKALLOC(d, d->nY, mjtNum);
-    mju_transposeSparse(YT, d->efc_Y, nefc, nv,
-                        YT_rownnz, YT_rowadr, YT_colind, NULL,
-                        d->efc_Y_rownnz, d->efc_Y_rowadr, d->efc_Y_colind);
-
-    // allocate AR row nonzeros and addresses on arena
-    d->efc_AR_rownnz = mj_arenaAllocByte(d, sizeof(int) * nefc, _Alignof(int));
-    d->efc_AR_rowadr = mj_arenaAllocByte(d, sizeof(int) * nefc, _Alignof(int));
-    if (!d->efc_AR_rownnz || !d->efc_AR_rowadr) {
-      mj_warning(d, mjWARN_CNSTRFULL, d->narena);
-      mj_clearEfc(d);
-      d->parena = d->ncon * sizeof(mjContact);
-      mj_freeStack(d);
-      return;
-    }
-
-    int* diagind = mjSTACKALLOC(d, nefc, int);
-    d->nA = mju_sqrMatTDSparseSymbolic(
-        d->efc_AR_rownnz, d->efc_AR_rowadr, NULL, diagind,
-        nv, nefc, YT_rownnz, YT_rowadr, YT_colind,
-        d->efc_Y_rownnz, d->efc_Y_rowadr, d->efc_Y_colind, Y_rowsuper, d);
-
-    // allocate A values and column indices on arena
-    d->efc_AR = mj_arenaAllocByte(d, sizeof(mjtNum) * d->nA, _Alignof(mjtNum));
-    d->efc_AR_colind = mj_arenaAllocByte(d, sizeof(int) * d->nA, _Alignof(int));
-    if (!d->efc_AR || !d->efc_AR_colind) {
-      mj_warning(d, mjWARN_CNSTRFULL, d->narena);
-      mj_clearEfc(d);
-      d->parena = d->ncon * sizeof(mjContact);
-      mj_freeStack(d);
-      return;
-    }
-
-    // A = Y * Y': symbolic phase
-    mju_sqrMatTDSparseSymbolic(
-        d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind, diagind,
-        nv, nefc, YT_rownnz, YT_rowadr, YT_colind,
-        d->efc_Y_rownnz, d->efc_Y_rowadr, d->efc_Y_colind, Y_rowsuper, d);
-
-    // A = Y * Y': numeric phase
-    mju_sqrMatTDSparseNumeric(
-        d->efc_AR, nefc, d->efc_AR_rownnz, d->efc_AR_rowadr,
-        d->efc_AR_colind, diagind, YT, YT_rownnz, YT_rowadr,
-        YT_colind, d->efc_Y, d->efc_Y_rownnz, d->efc_Y_rowadr,
-        d->efc_Y_colind, Y_rowsuper, NULL, d);
-
-    // AR = A + diag(R)
-    for (int i=0; i < nefc; i++) {
-      d->efc_AR[diagind[i]] += d->efc_R[i];
-    }
-  }
-
-  // dense Y = backsubM2(J')' and its transpose
-  else {
-    // arena-allocate efc_AR
-    d->nA = nefc * nefc;
-    d->efc_AR = mj_arenaAllocByte(d, sizeof(mjtNum) * d->nA, _Alignof(mjtNum));
-    if (!d->efc_AR) {
-      mj_warning(d, mjWARN_CNSTRFULL, d->narena);
-      mj_clearEfc(d);
-      d->parena = d->ncon * sizeof(mjContact);
-      mj_freeStack(d);
-      return;
-    }
-
-    // construct YT on stack
-    mjtNum* YT = mjSTACKALLOC(d, nv*nefc, mjtNum);
-    mju_transpose(YT, d->efc_Y, nefc, nv);
-
-    // AR = Y * Y'
-    mju_sqrMatTD(d->efc_AR, YT, NULL, nv, nefc);
-
-    // add R to diagonal of AR
-    for (int r=0; r < nefc; r++) {
-      d->efc_AR[r*(nefc+1)] += d->efc_R[r];
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// compute efc_Y, optionally efc_diagA, optionally efc_AR
-void mj_projectConstraint(const mjModel* m, mjData* d) {
-  int nefc = d->nefc;
-
-  // nothing to do
-  if (!nefc) {
-    return;
-  }
-
-  int isDual = mj_isDual(m);
-  int diagexact = mjENABLED(mjENBL_DIAGEXACT);
-
-  // compute Y = J*M^{-1/2}; overwrite diagApprox if diagexact
-  if (isDual || diagexact) {
-    mj_makeY(m, d, diagexact);
-  }
-
-  // recompute impedance from exact diagonal
-  if (diagexact && d->nefc) {
-    mj_makeImpedance(m, d);
-
-    // re-gather island D/R
-    if (d->nisland) {
-      mju_gather(d->iefc_D, d->efc_D, d->map_iefc2efc, d->nefc);
-      mju_gather(d->iefc_R, d->efc_R, d->map_iefc2efc, d->nefc);
-    }
-  }
-
-  // assemble AR for dual solver
-  if (isDual && d->nefc) {
-    mj_makeAR(m, d);
-  }
-}
-
-
-// add relative surface velocity of contacting geoms to contact rows of efc_vel
-static void mj_addSurfaceVel(const mjModel* m, mjData* d) {
-  // no surface velocity on any geom: quick return
-  if (!m->flg_surfacevel) {
-    return;
-  }
-
-  int ispyramid = mj_isPyramidal(m);
-  int ncon = d->ncon;
-
-  // loop over contacts, add surface velocity to efc_vel
-  for (int i=0; i < ncon; i++) {
-    // get contact, skip excluded
-    const mjContact* con = d->contact + i;
-    if (con->efc_address < 0) { continue; }
-
-    // relative surface velocity in world frame: geom2 minus geom1, linear and angular
-    mjtNum svel[3] = {0, 0, 0}, sang[3] = {0, 0, 0};
-    int active = 0;
-    for (int side=0; side < 2; side++) {
-      int g = con->geom[side];
-      if (g < 0) {
-        // TODO(team): support flex
-        continue;
-      }
-      const mjtNum* sv = m->geom_surfacevel + 6*g;
-
-      // skip geom with no surface velocity
-      if (!sv[0] && !sv[1] && !sv[2] && !sv[3] && !sv[4] && !sv[5]) {
-        continue;
-      }
-      active = 1;
-
-      // rotate to world frame, add angular contribution at contact point
-      mjtNum sgn = side ? 1 : -1;
-      mjtNum vw[3], ww[3];
-      mj_geomSurfaceVelocity(m, d, g, con->pos, vw, ww);
-      mju_addToScl3(svel, vw, sgn);
-      mju_addToScl3(sang, ww, sgn);
-    }
-    if (!active) {
-      continue;
-    }
-
-    // rotate to contact frame: (normal, tangent1, tangent2, spin, roll1, roll2)
-    mjtNum cs[6];
-    mju_mulMatVec3(cs, con->frame, svel);
-    mju_mulMatVec3(cs + 3, con->frame, sang);
-
-    // surface velocity acts in the tangent plane and torsional direction only
-    cs[0] = 0;  // no normal push
-    cs[4] = 0;  // no rolling drive
-    cs[5] = 0;  // no rolling drive
-
-    // add to contact rows
-    int adr = con->efc_address, dim = con->dim;
-    if (dim == 1 || !ispyramid) {
-      for (int j=0; j < dim; j++) {
-        d->efc_vel[adr + j] += cs[j];
-      }
-    } else {
-      for (int k=1; k < dim; k++) {
-        mjtNum mu = con->friction[k-1];
-        d->efc_vel[adr + 2*(k-1)]     += cs[0] + mu*cs[k];
-        d->efc_vel[adr + 2*(k-1) + 1] += cs[0] - mu*cs[k];
-      }
-    }
-  }
-}
-
-
-
-// bias aref of adhesive contact rows: makes the compression branch of the net
-// force-penetration curve independent of adhesion (exact translated-cone semantics)
-static void mj_adhesionRef(const mjModel* m, mjData* d) {
-  // no adhesion on any geom or pair: quick return
-  if (!m->flg_adhesion) {
-    return;
-  }
-
-  int ispyramid = mj_isPyramidal(m), ncon = d->ncon;
-
-  for (int i=0; i < ncon; i++) {
-    const mjContact* con = d->contact + i;
-    if (!con->adhesion || con->efc_address < 0) {
-      continue;
-    }
-
-    int adr = con->efc_address, dim = con->dim;
-    if (dim == 1 || !ispyramid) {
-      // normal row
-      d->efc_aref[adr] += d->efc_R[adr] * con->adhesion;
-    } else {
-      // pyramid rows: the normal decomposes equally over the 2*(dim-1) edges
-      mjtNum edge = con->adhesion / (2*(dim-1));
-      for (int j=0; j < 2*(dim-1); j++) {
-        d->efc_aref[adr+j] += d->efc_R[adr+j] * edge;
-      }
-    }
-  }
-}
-
-
-
-// compute efc_vel, efc_aref
-void mj_referenceConstraint(const mjModel* m, mjData* d) {
-  int nefc = d->nefc;
-  mjtNum* KBIP = d->efc_KBIP;
-
-  // compute efc_vel
-  mj_mulJacVec(m, d, d->efc_vel, d->qvel);
-
-  // add relative surface velocity to contact rows
-  mj_addSurfaceVel(m, d);
-
-  // compute aref = -B*vel - K*I*(pos-margin)
-  for (int i=0; i < nefc; i++) {
-    d->efc_aref[i] = -KBIP[4*i+1]*d->efc_vel[i]
-                     -KBIP[4*i]*KBIP[4*i+2]*(d->efc_pos[i]-d->efc_margin[i]);
-  }
-
-  // bias adhesive contact rows
-  mj_adhesionRef(m, d);
-
-  // subtract Jdot*v correction for connect/weld equality constraints
-  if (d->ne > 0) {
-    mj_Jdotv(m, d, d->efc_aref);
-  }
-}
-
-
-//---------------------------- update constraint state ---------------------------------------------
-
-// compute efc_state, efc_force
-//  optional: cost(qacc) = s_hat(jar); cone Hessians
-void mj_constraintUpdate_impl(int ne, int nf, int nefc,
-                              const mjtNum* D, const mjtNum* R, const mjtNum* floss,
-                              const mjtNum* jar, const int* type, const int* id,
-                              mjContact* contact, int* state, mjtNum* force, mjtNum cost[1],
-                              int flg_coneHessian) {
-  mjtNum s = 0;
-
-  // no constraints: clear cost, return
-  if (!nefc) {
-    if (cost) {
-      *cost = 0;
-    }
-    return;
-  }
-
-  // compute unconstrained efc_force
-  for (int i=0; i < nefc; i++) {
-    force[i] = -D[i]*jar[i];
-  }
-
-  // update constraints
-  for (int i=0; i < nefc; i++) {
-    // ==== equality
-    if (i < ne) {
-      if (cost) {
-        s += 0.5*D[i]*jar[i]*jar[i];
-      }
-      state[i] = mjCNSTRSTATE_QUADRATIC;
-      continue;
-    }
-
-    // ==== friction
-    if (i < ne + nf) {
-      // linear negative
-      if (jar[i] <= -R[i]*floss[i]) {
-        if (cost) {
-          s += -0.5*R[i]*floss[i]*floss[i] - floss[i]*jar[i];
-        }
-
-        force[i] = floss[i];
-        state[i] = mjCNSTRSTATE_LINEARNEG;
-      }
-
-      // linear positive
-      else if (jar[i] >= R[i]*floss[i]) {
-        if (cost) {
-          s += -0.5*R[i]*floss[i]*floss[i] + floss[i]*jar[i];
-        }
-
-        force[i] = -floss[i];
-        state[i] = mjCNSTRSTATE_LINEARPOS;
-      }
-
-      // quadratic
-      else {
-        if (cost) {
-          s += 0.5*D[i]*jar[i]*jar[i];
-        }
-        state[i] = mjCNSTRSTATE_QUADRATIC;
-      }
-      continue;
-    }
-
-    // ==== contact
-
-    // non-negative constraint
-    if (type[i] != mjCNSTR_CONTACT_ELLIPTIC) {
-      // constraint is satisfied: no cost
-      if (jar[i] >= 0) {
-        force[i] = 0;
-
-        state[i] = mjCNSTRSTATE_SATISFIED;
-      }
-
-      // quadratic
-      else {
-        if (cost) {
-          s += 0.5*D[i]*jar[i]*jar[i];
-        }
-        state[i] = mjCNSTRSTATE_QUADRATIC;
-      }
-    }
-
-    // contact with elliptic cone
-    else {
-      // get contact
-      mjContact* con = contact + id[i];
-      mjtNum mu = con->mu, *friction = con->friction;
-      int dim = con->dim;
-
-      // map to regular dual cone space
-      mjtNum U[6];
-      U[0] = jar[i]*mu;
-      for (int j=1; j < dim; j++) {
-        U[j] = jar[i+j]*friction[j-1];
-      }
-
-      // decompose into normal and tangent
-      mjtNum N = U[0];
-      mjtNum T = mju_norm(U+1, dim-1);
-
-      // top zone
-      if (N >= mu*T || (T <= 0 && N >= 0)) {
-        mju_zero(force+i, dim);
-        state[i] = mjCNSTRSTATE_SATISFIED;
-      }
-
-      // bottom zone
-      else if (mu*N+T <= 0 || (T <= 0 && N < 0)) {
-        if (cost) {
-          for (int j=0; j < dim; j++) {
-            s += 0.5*D[i+j]*jar[i+j]*jar[i+j];
-          }
-        }
-        state[i] = mjCNSTRSTATE_QUADRATIC;
-      }
-
-      // middle zone
-      else {
-        // cost: 0.5*D0/(mu*mu*(1+mu*mu))*(N-mu*T)^2
-        mjtNum Dm = D[i]/(mu*mu*(1+mu*mu));
-        mjtNum NmT = N - mu*T;
-
-        if (cost) {
-          s += 0.5*Dm*NmT*NmT;
-        }
-
-        // force: - ds/djar = dU/djar * ds/dU  (dU/djar = diag(mu, friction))
-        force[i] = -Dm*NmT*mu;
-        for (int j=1; j < dim; j++) {
-          force[i+j] = -force[i]/T*U[j]*friction[j-1];
-        }
-
-        // set state
-        state[i] = mjCNSTRSTATE_CONE;
-
-        // cone Hessian
-        if (flg_coneHessian) {
-          // get Hessian pointer
-          mjtNum* H = contact[id[i]].H;
-
-          // set first row: (1, -mu/T * U)
-          mjtNum scl = -mu/T;
-          H[0] = 1;
-          for (int j=1; j < dim; j++) {
-            H[j] = scl*U[j];
-          }
-
-          // set upper block: mu*N/T^3 * U*U'
-          scl = mu*N/(T*T*T);
-          for (int k=1; k < dim; k++) {
-            for (int j=k; j < dim; j++) {
-              H[k*dim+j] = scl*U[j]*U[k];
-            }
-          }
-
-          // add to diagonal: (mu^2 - mu*N/T) * I
-          scl = mu*mu - mu*N/T;
-          for (int j=1; j < dim; j++) {
-            H[j*(dim+1)] += scl;
-          }
-
-          // pre and post multiply by diag(mu, friction), scale by Dm
-          for (int k=0; k < dim; k++) {
-            scl = Dm * (k == 0 ? mu : friction[k-1]);
-            for (int j=k; j < dim; j++) {
-              H[k*dim+j] *= scl * (j == 0 ? mu : friction[j-1]);
-            }
-          }
-
-          // make symmetric: copy upper into lower
-          for (int k=0; k < dim; k++) {
-            for (int j=k+1; j < dim; j++) {
-              H[j*dim+k] = H[k*dim+j];
-            }
-          }
-        }
-      }
-
-      // replicate state in all cone dimensions
-      for (int j=1; j < dim; j++) {
-        state[i+j] = state[i];
-      }
-
-      // advance to end of contact
-      i += (dim-1);
-    }
-  }
-
-  // assign cost
-  if (cost) {
-    *cost = s;
-  }
-}
-
-
-// compute efc_state, efc_force, qfrc_constraint
-// optional: cost(qacc) = s_hat(jar) where jar = Jac*qacc-aref; cone Hessians
-void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
-                         mjtNum cost[1], int flg_coneHessian) {
-  mj_constraintUpdate_impl(d->ne, d->nf, d->nefc, d->efc_D, d->efc_R, d->efc_frictionloss,
-                           jar, d->efc_type, d->efc_id, d->contact, d->efc_state, d->efc_force,
-                           cost, flg_coneHessian);
-  mj_mulJacTVec(m, d, d->qfrc_constraint, d->efc_force);
-}
diff --git a/src/engine/engine_core_constraint.h b/src/engine/engine_core_constraint.h
deleted file mode 100644
index cfe506b5..00000000
--- a/src/engine/engine_core_constraint.h
+++ /dev/null
@@ -1,129 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_CORE_CONSTRAINT_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_CORE_CONSTRAINT_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//-------------------------- Jacobian-related ------------------------------------------------------
-
-// determine type of solver
-MJAPI int mj_isDual(const mjModel* m);
-
-// multiply Jacobian by vector
-MJAPI void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// multiply JacobianT by vector
-MJAPI void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// subtract Jdot*v correction from result vector
-MJAPI void mj_Jdotv(const mjModel* m, mjData* d, mjtNum* result);
-
-
-//-------------------------- utility functions -----------------------------------------------------
-
-// assign/override solver reference parameters
-void mj_assignRef(const mjModel* m, mjtNum* target, const mjtNum* source);
-
-// assign/override solver impedance parameters
-void mj_assignImp(const mjModel* m, mjtNum* target, const mjtNum* source);
-
-// assign/clamp contact friction parameters
-void mj_assignFriction(const mjModel* m, mjtNum* target, const mjtNum* source);
-
-// assign/override geom margin
-mjtNum mj_assignMargin(const mjModel* m, mjtNum source);
-
-// add contact to d->contact list; return 0 if success; 1 if buffer full
-MJAPI int mj_addContact(const mjModel* m, mjData* d, const mjContact* con);
-
-//-------------------------- constraint instantiation ----------------------------------------------
-
-// equality constraints
-void mj_instantiateEquality(const mjModel* m, mjData* d);
-
-// frictionless and frictional contacts
-void mj_instantiateContact(const mjModel* m, mjData* d);
-
-// compute Jacobian for contact, return number of DOFs affected
-//
-// Arguments:
-//   m:       model structure (mjModel)
-//   d:       data structure (mjData)
-//   con:     contact information
-//   dim:     contact dimension (1 to 6)
-//   jacdifp: translational Jacobian difference [3 * (NV or nv)]
-//   jacdifr: rotational Jacobian difference    [3 * (NV or nv)], nullable, unused if dim <= 3
-//   jac1p:   translational Jacobian for body 1 [3 * (NV or nv)], nullable
-//   jac2p:   translational Jacobian for body 2 [3 * (NV or nv)], nullable
-//   jac1r:   rotational Jacobian for body 1    [3 * (NV or nv)], nullable, unused if dim <= 3
-//   jac2r:   rotational Jacobian for body 2    [3 * (NV or nv)], nullable, unused if dim <= 3
-//   chain:   list of DOF indices affecting contact [NV], unused if dense
-//
-// Returns:
-//   number of DOFs affected (NV for sparse, nv for dense)
-MJAPI int mj_contactJacobian(const mjModel* m, mjData* d, const mjContact* con, int dim,
-                             mjtNum* jacdifp, mjtNum* jacdifr,
-                             mjtNum* jac1p, mjtNum* jac2p,
-                             mjtNum* jac1r, mjtNum* jac2r, int* chain);
-
-
-//------------------------ parameter computation/extraction ----------------------------------------
-
-// compute efc_diagA
-void mj_diagApprox(const mjModel* m, mjData* d);
-
-// compute efc_R, efc_D, efc_KDIP, adjust diagA
-void mj_makeImpedance(const mjModel* m, mjData* d);
-
-
-//---------------------------- top-level API for constraint construction ---------------------------
-
-// main driver: call all functions above
-MJAPI void mj_makeConstraint(const mjModel* m, mjData* d);
-
-// compute efc_AR
-MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
-
-// compute efc_vel, efc_aref
-MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
-
-// compute efc_state, efc_force
-//  optional: cost(qacc) = s_hat(jar); cone Hessians
-MJAPI void mj_constraintUpdate_impl(int ne, int nf, int nefc,
-                                    const mjtNum* D, const mjtNum* R, const mjtNum* floss,
-                                    const mjtNum* jar, const int* type, const int* id,
-                                    mjContact* contact, int* state, mjtNum* force, mjtNum cost[1],
-                                    int flg_coneHessian);
-
-// compute efc_state, efc_force, qfrc_constraint
-// optional: cost(qacc) = s_hat(jar) where jar = Jac*qacc-aref; cone Hessians
-MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
-                               mjtNum cost[1], int flg_coneHessian);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_CORE_CONSTRAINT_H_
diff --git a/src/engine/engine_core_smooth.c b/src/engine/engine_core_smooth.c
deleted file mode 100644
index 0ee2da8d..00000000
--- a/src/engine/engine_core_smooth.c
+++ /dev/null
@@ -1,2641 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_core_smooth.h"
-
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_core_constraint.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_crossplatform.h"
-#include "engine/engine_inline.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_sleep.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse.h"
-#include "engine/engine_util_spatial.h"
-
-
-//--------------------------- position -------------------------------------------------------------
-
-// forward kinematics part 1: bodies
-void mj_kinematics1(const mjModel* m, mjData* d) {
-  int nbody = m->nbody;
-
-  // set world position and orientation
-  mju_zero3(d->xpos);
-  mju_unit4(d->xquat);
-  mju_zero3(d->xipos);
-  mju_zero(d->xmat, 9);
-  mju_zero(d->ximat, 9);
-  d->xmat[0] = d->xmat[4] = d->xmat[8] = 1;
-  d->ximat[0] = d->ximat[4] = d->ximat[8] = 1;
-
-  int sleep_filter = mjENABLED(mjENBL_SLEEP);
-
-  // compute global cartesian positions and orientations of all bodies
-  for (int i=1; i < nbody; i++) {
-    // skip static bodies
-    if (sleep_filter) {
-      if (d->body_awake[i] == mjS_STATIC) continue;
-    }
-
-    mjtNum xpos[3], xquat[4];
-    int jntadr = m->body_jntadr[i];
-    int jntnum = m->body_jntnum[i];
-
-    // free joint
-    if (jntnum == 1 && m->jnt_type[jntadr] == mjJNT_FREE) {
-      // get qpos address
-      int qadr = m->jnt_qposadr[jntadr];
-
-      // copy pos and quat from qpos
-      mji_copy3(xpos, d->qpos+qadr);
-      mji_copy4(xquat, d->qpos+qadr+3);
-      mju_normalize4(xquat);
-
-      // assign xanchor and xaxis
-      mji_copy3(d->xanchor+3*jntadr, xpos);
-      mji_copy3(d->xaxis+3*jntadr, m->jnt_axis+3*jntadr);
-    }
-
-    // regular or no joint
-    else {
-      int pid = m->body_parentid[i];
-
-      // get body pos and quat: from model or mocap
-      mjtNum *bodypos, *bodyquat, quat[4];
-      if (m->body_mocapid[i] >= 0) {
-        bodypos = d->mocap_pos + 3*m->body_mocapid[i];
-        mji_copy4(quat, d->mocap_quat + 4*m->body_mocapid[i]);
-        mju_normalize4(quat);
-        bodyquat = quat;
-      } else {
-        bodypos = m->body_pos+3*i;
-        bodyquat = m->body_quat+4*i;
-      }
-
-      // apply fixed translation and rotation relative to parent
-      if (pid) {
-        mji_mulMatVec3(xpos, d->xmat+9*pid, bodypos);
-        mji_addTo3(xpos, d->xpos+3*pid);
-        mji_mulQuat(xquat, d->xquat+4*pid, bodyquat);
-      } else {
-        // parent is the world
-        mji_copy3(xpos, bodypos);
-        mji_copy4(xquat, bodyquat);
-      }
-
-      // accumulate joints, compute xpos and xquat for this body
-      mjtNum xanchor[3], xaxis[3];
-      for (int j=0; j < jntnum; j++) {
-        // get joint id, qpos address, joint type
-        int jid = jntadr + j;
-        int qadr = m->jnt_qposadr[jid];
-        mjtJoint jtype = m->jnt_type[jid];
-
-        // compute axis in global frame; ball jnt_axis is (0,0,1), set by compiler
-        mji_rotVecQuat(xaxis, m->jnt_axis+3*jid, xquat);
-
-        // compute anchor in global frame
-        mji_rotVecQuat(xanchor, m->jnt_pos+3*jid, xquat);
-        mji_addTo3(xanchor, xpos);
-
-        // apply joint transformation
-        switch (jtype) {
-        case mjJNT_SLIDE:
-          mji_addToScl3(xpos, xaxis, d->qpos[qadr] - m->qpos0[qadr]);
-          break;
-
-        case mjJNT_BALL:
-        case mjJNT_HINGE:
-          {
-            // compute local quaternion rotation
-            mjtNum qloc[4];
-            if (jtype == mjJNT_BALL) {
-              mji_copy4(qloc, d->qpos+qadr);
-              mju_normalize4(qloc);
-            } else {
-              mji_axisAngle2Quat(qloc, m->jnt_axis+3*jid, d->qpos[qadr] - m->qpos0[qadr]);
-            }
-
-            // apply rotation
-            mju_mulQuat(xquat, xquat, qloc);
-
-            // correct for off-center rotation
-            mjtNum vec[3];
-            mji_rotVecQuat(vec, m->jnt_pos+3*jid, xquat);
-            mji_sub3(xpos, xanchor, vec);
-          }
-          break;
-
-        default:
-          mjERROR("unknown joint type %d", jtype);  // SHOULD NOT OCCUR
-        }
-
-        // assign xanchor and xaxis
-        mji_copy3(d->xanchor+3*jid, xanchor);
-        mji_copy3(d->xaxis+3*jid, xaxis);
-      }
-    }
-
-    // normalize quaternion
-    mju_normalize4(xquat);
-
-    // sleeping body, check for mismatch
-    if (sleep_filter && jntnum && d->body_awake[i] == mjS_ASLEEP) {
-      // compare new and existing xpos and xquat
-      const mjtNum* pos = d->xpos+3*i;
-      const mjtNum* xq = d->xquat+4*i;
-      int match = xpos[0] == pos[0] && xpos[1] == pos[1] && xpos[2] == pos[2] &&
-                  xquat[0] == xq[0] && xquat[1] == xq[1] && xquat[2] == xq[2] && xquat[3] == xq[3];
-
-      // match: continue to next body
-      if (match) {
-        continue;
-      }
-
-      // mismatch: mark the tree for waking later (in mj_wake)
-      else {
-        d->tree_awake[m->body_treeid[i]] = 1;
-      }
-    }
-
-    // assign xquat and xpos, construct xmat
-    mji_copy4(d->xquat+4*i, xquat);
-    mji_copy3(d->xpos+3*i, xpos);
-    mju_quat2Mat(d->xmat+9*i, xquat);
-  }
-}
-
-
-// forward kinematics part 2: body inertias, geoms and sites
-void mj_kinematics2(const mjModel* m, mjData* d) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-
-  // compute/copy Cartesian positions and orientations of body inertial frames
-  for (int b=1; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    mj_local2Global(d, d->xipos+3*i, d->ximat+9*i,
-                    m->body_ipos+3*i, m->body_iquat+4*i,
-                    i, m->body_sameframe[i]);
-  }
-
-  // compute/copy Cartesian positions and orientations of geoms
-  for (int b=0; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    // skip geom in sleeping or static body
-    if (sleep_filter && d->body_awake[i] != mjS_AWAKE) continue;
-
-    int start = m->body_geomadr[i];
-    int end = start + m->body_geomnum[i];
-    for (int g=start; g < end; g++) {
-      mj_local2Global(d, d->geom_xpos+3*g, d->geom_xmat+9*g,
-                      m->geom_pos+3*g, m->geom_quat+4*g,
-                      m->geom_bodyid[g], m->geom_sameframe[g]);
-    }
-  }
-
-  // compute/copy Cartesian positions and orientations of sites
-  int nsite = m->nsite;
-  for (int i=0; i < nsite; i++) {
-    int bodyid = m->site_bodyid[i];
-
-    // skip site in sleeping or static body
-    if (sleep_filter && d->body_awake[bodyid] != mjS_AWAKE) continue;
-
-    mj_local2Global(d, d->site_xpos+3*i, d->site_xmat+9*i,
-                    m->site_pos+3*i, m->site_quat+4*i,
-                    bodyid, m->site_sameframe[i]);
-  }
-}
-
-
-// forward kinematics
-void mj_kinematics(const mjModel* m, mjData* d) {
-  mj_kinematics1(m, d);
-  if (mj_wake(m, d)) {
-    mj_updateSleep(m, d);
-  }
-  mj_kinematics2(m, d);
-}
-
-
-// map inertias and motion dofs to global frame centered at subtree-CoM
-void mj_comPos(const mjModel* m, mjData* d) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-  int nparent = sleep_filter ? d->nparent_awake : m->nbody;
-
-  // subtree_com: initialize with body moment
-  for (int b=0; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    mji_scl3(d->subtree_com+3*i, d->xipos+3*i, m->body_mass[i]);
-  }
-
-  // subtree_com: accumulate to parent in backward pass
-  for (int b=nparent-1; b >= 0; b--) {
-    int i = sleep_filter ? d->parent_awake_ind[b] : b;
-    if (!i) continue;
-
-    // accumulate moment to parent, rescale if sleeping
-    int parent = m->body_parentid[i];
-    if (sleep_filter && d->body_awake[i] == mjS_ASLEEP) {
-      mjtNum child_moment[3];
-      mji_scl3(child_moment, d->subtree_com+3*i, m->body_subtreemass[i]);
-      mji_addTo3(d->subtree_com+3*parent, child_moment);
-    } else {
-      mji_addTo3(d->subtree_com+3*parent, d->subtree_com+3*i);
-    }
-  }
-
-  // subtree_com: normalize
-  for (int b=0; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    if (m->body_subtreemass[i] < mjMINVAL) {
-      mji_copy3(d->subtree_com+3*i, d->xipos+3*i);
-    } else {
-      mju_scl3(d->subtree_com + 3 * i, d->subtree_com + 3 * i,
-               1.0 / m->body_subtreemass[i]);
-    }
-  }
-
-  // zero out CoM frame inertia for the world body
-  mju_zero(d->cinert, 10);
-
-  // map inertias to frame centered at subtree_com
-  for (int b=1; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    mjtNum offset[3];
-    mji_sub3(offset, d->xipos+3*i, d->subtree_com+3*m->body_rootid[i]);
-    mju_inertCom(d->cinert+10*i, m->body_inertia+3*i, d->ximat+9*i, offset, m->body_mass[i]);
-  }
-
-  // map motion dofs to global frame centered at subtree_com
-  for (int b=1; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    int jntnum = m->body_jntnum[i];
-    if (!jntnum) continue;
-
-    int start = m->body_jntadr[i];
-    int end = start + jntnum;
-    for (int j=start; j < end; j++) {
-      // get cdof address
-      int da = 6*m->jnt_dofadr[j];
-
-      // compute com-anchor vector
-      mjtNum offset[3], axis[3];
-      mji_sub3(offset, d->subtree_com+3*m->body_rootid[i], d->xanchor+3*j);
-
-      // create motion dof
-      int skip = 0;
-      switch ((mjtJoint) m->jnt_type[j]) {
-      case mjJNT_FREE:
-        // translation components: x, y, z in global frame
-        mju_zero(d->cdof+da, 18);
-        d->cdof[da+3+7*0] = 1;
-        d->cdof[da+3+7*1] = 1;
-        d->cdof[da+3+7*2] = 1;
-
-        // rotation components: same as ball
-        skip = 18;
-        mjFALLTHROUGH;
-
-      case mjJNT_BALL:
-        for (int k=0; k < 3; k++) {
-          // I_3 rotation in child frame (assume no subsequent rotations)
-          axis[0] = d->xmat[9*i + k + 0];
-          axis[1] = d->xmat[9*i + k + 3];
-          axis[2] = d->xmat[9*i + k + 6];
-
-          mju_dofCom(d->cdof+da+skip+6*k, axis, offset);
-        }
-        break;
-
-      case mjJNT_SLIDE:
-        mju_dofCom(d->cdof+da, d->xaxis+3*j, 0);
-        break;
-
-      case mjJNT_HINGE:
-        mju_dofCom(d->cdof+da, d->xaxis+3*j, offset);
-        break;
-      }
-    }
-  }
-}
-
-
-// compute camera and light positions and orientations
-void mj_camlight(const mjModel* m, mjData* d) {
-  int ncam = m->ncam, nlight = m->nlight;
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-
-  // compute Cartesian positions and orientations of cameras
-  for (int i=0; i < ncam; i++) {
-    // get camera body id and target body id
-    int id = m->cam_bodyid[i];
-    int id1 = m->cam_targetbodyid[i];
-
-    // skip camera if both body and target body are asleep or static
-    if (sleep_filter && d->body_awake[id] != mjS_AWAKE) {
-      if (id1 < 0 || d->body_awake[id1] != mjS_AWAKE) {
-        continue;
-      }
-    }
-
-    // default processing for fixed mode
-    mj_local2Global(d, d->cam_xpos+3*i, d->cam_xmat+9*i,
-                    m->cam_pos+3*i, m->cam_quat+4*i, id, 0);
-
-    // adjust for mode
-    switch ((mjtCamLight) m->cam_mode[i]) {
-    case mjCAMLIGHT_FIXED:
-      break;
-    case mjCAMLIGHT_TRACK:
-    case mjCAMLIGHT_TRACKCOM:
-      // fixed global orientation
-      mji_copy9(d->cam_xmat+9*i, m->cam_mat0+9*i);
-
-      // position: track camera body
-      if (m->cam_mode[i] == mjCAMLIGHT_TRACK) {
-        mji_add3(d->cam_xpos+3*i, d->xpos+3*id, m->cam_pos0+3*i);
-      }
-
-      // position: track subtree com
-      else {
-        mji_add3(d->cam_xpos+3*i, d->subtree_com+3*id, m->cam_poscom0+3*i);
-      }
-      break;
-
-    case mjCAMLIGHT_TARGETBODY:
-    case mjCAMLIGHT_TARGETBODYCOM:
-      // only if target body is specified
-      if (id1 >= 0) {
-        mjtNum pos[3];
-        // get position to look at
-        if (m->cam_mode[i] == mjCAMLIGHT_TARGETBODY) {
-          mji_copy3(pos, d->xpos+3*id1);
-        } else {
-          mji_copy3(pos, d->subtree_com+3*id1);
-        }
-
-        // zaxis = -desired camera direction, in global frame
-        mjtNum matT[9];
-        mji_sub3(matT+6, d->cam_xpos+3*i, pos);
-        mju_normalize3(matT+6);
-
-        // xaxis: orthogonal to zaxis and to (0,0,1)
-        matT[3] = 0;
-        matT[4] = 0;
-        matT[5] = 1;
-        mji_cross(matT, matT+3, matT+6);
-        mju_normalize3(matT);
-
-        // yaxis: orthogonal to xaxis and zaxis
-        mji_cross(matT+3, matT+6, matT);
-        mju_normalize3(matT+3);
-
-        // set camera frame
-        mju_transpose(d->cam_xmat+9*i, matT, 3, 3);
-      }
-    }
-  }
-
-  // compute Cartesian positions and directions of lights
-  for (int i=0; i < nlight; i++) {
-    // get light body id and target body id
-    int id = m->light_bodyid[i];
-    int id1 = m->light_targetbodyid[i];
-
-    // skip light if both body and target body are asleep or static
-    if (sleep_filter && d->body_awake[id] != mjS_AWAKE) {
-      if (id1 < 0 || d->body_awake[id1] != mjS_AWAKE) {
-        continue;
-      }
-    }
-
-    // default processing for fixed mode
-    mj_local2Global(d, d->light_xpos+3*i, 0, m->light_pos+3*i, 0, id, 0);
-    mji_rotVecQuat(d->light_xdir+3*i, m->light_dir+3*i, d->xquat+4*id);
-
-    // adjust for mode
-    switch ((mjtCamLight) m->light_mode[i]) {
-    case mjCAMLIGHT_FIXED:
-      break;
-    case mjCAMLIGHT_TRACK:
-    case mjCAMLIGHT_TRACKCOM:
-      // fixed global orientation
-      mji_copy3(d->light_xdir+3*i, m->light_dir0+3*i);
-
-      // position: track light body
-      if (m->light_mode[i] == mjCAMLIGHT_TRACK) {
-        mji_add3(d->light_xpos+3*i, d->xpos+3*id, m->light_pos0+3*i);
-      }
-
-      // position: track subtree com
-      else {
-        mji_add3(d->light_xpos+3*i, d->subtree_com+3*id, m->light_poscom0+3*i);
-      }
-      break;
-
-    case mjCAMLIGHT_TARGETBODY:
-    case mjCAMLIGHT_TARGETBODYCOM:
-      // only if target body is specified
-      if (id1 >= 0) {
-        // get position to look at
-        mjtNum lookat[3];
-        if (m->light_mode[i] == mjCAMLIGHT_TARGETBODY) {
-          mji_copy3(lookat, d->xpos+3*id1);
-        } else {
-          mji_copy3(lookat, d->subtree_com+3*id1);
-        }
-
-        // set dir
-        mji_sub3(d->light_xdir+3*i, lookat, d->light_xpos+3*i);
-      }
-    }
-
-    // normalize dir
-    mju_normalize3(d->light_xdir+3*i);
-  }
-}
-
-
-// update dynamic BVH; leaf aabbs must be updated before call
-void mj_updateDynamicBVH(const mjModel* m, mjData* d, int bvhadr, int bvhnum) {
-  mj_markStack(d);
-  int* modified = mjSTACKALLOC(d, bvhnum, int);
-  mju_zeroInt(modified, bvhnum);
-
-  // mark leafs as modified
-  for (int i=0; i < bvhnum; i++) {
-    if (m->bvh_nodeid[bvhadr+i] >= 0) {
-      modified[i] = 1;
-    }
-  }
-
-  // update non-leafs in backward pass (parents come before children)
-  for (int i=bvhnum-1; i >= 0; i--) {
-    if (m->bvh_nodeid[bvhadr+i] < 0) {
-      int child1 = m->bvh_child[2*(bvhadr+i)];
-      int child2 = m->bvh_child[2*(bvhadr+i)+1];
-
-      // update if either child is modified
-      if (modified[child1] || modified[child2]) {
-        mjtNum* aabb = d->bvh_aabb_dyn + 6*(bvhadr - m->nbvhstatic + i);
-        const mjtNum* aabb1 = d->bvh_aabb_dyn + 6*(bvhadr - m->nbvhstatic + child1);
-        const mjtNum* aabb2 = d->bvh_aabb_dyn + 6*(bvhadr - m->nbvhstatic + child2);
-
-        // compute new (min, max)
-        mjtNum xmin[3], xmax[3];
-        for (int k=0; k < 3; k++) {
-          xmin[k] = mju_min(aabb1[k] - aabb1[k+3], aabb2[k] - aabb2[k+3]);
-          xmax[k] = mju_max(aabb1[k] + aabb1[k+3], aabb2[k] + aabb2[k+3]);
-        }
-
-        // convert to (center, size)
-        for (int k=0; k < 3; k++) {
-          aabb[k]   = 0.5*(xmax[k]+xmin[k]);
-          aabb[k+3] = 0.5*(xmax[k]-xmin[k]);
-        }
-
-        modified[i] = 1;
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// C(3x2) = A(3x2) * B(2x2)
-static inline void mju_mulMatMat322(mjtNum* C, const mjtNum* A, const mjtNum* B) {
-  C[0] = A[0]*B[0] + A[1]*B[2];
-  C[1] = A[0]*B[1] + A[1]*B[3];
-  C[2] = A[2]*B[0] + A[3]*B[2];
-  C[3] = A[2]*B[1] + A[3]*B[3];
-  C[4] = A[4]*B[0] + A[5]*B[2];
-  C[5] = A[4]*B[1] + A[5]*B[3];
-}
-
-
-// compute flex-related quantities
-void mj_flex(const mjModel* m, mjData* d) {
-  int nv = m->nv;
-  int* rowadr = m->flexedge_J_rowadr;
-  int* vrowadr = m->flexvert_J_rowadr, *vrownnz = m->flexvert_J_rownnz;
-
-  // skip if no flexes
-  if (!m->nflex) {
-    return;
-  }
-
-  // compute Cartesian positions of flex vertices
-  for (int f=0; f < m->nflex; f++) {
-    int vstart = m->flex_vertadr[f];
-    int vend = m->flex_vertadr[f] + m->flex_vertnum[f];
-    int nstart = m->flex_nodeadr[f];
-    int nend = m->flex_nodeadr[f] + m->flex_nodenum[f];
-
-    // 0: vertices are the mesh vertices, 1: vertices are interpolated from nodal dofs
-    if (m->flex_interp[f] == 0) {
-      for (int i=vstart; i < vend; i++) {
-        if (m->flex_centered[f] ||
-            (m->flex_vert[3*i+0] == 0 &&
-             m->flex_vert[3*i+1] == 0 &&
-             m->flex_vert[3*i+2] == 0)) {
-          mji_copy3(d->flexvert_xpos+3*i, d->xpos+3*m->flex_vertbodyid[i]);
-        } else {
-          mji_mulMatVec3(d->flexvert_xpos+3*i, d->xmat+9*m->flex_vertbodyid[i], m->flex_vert+3*i);
-          mji_addTo3(d->flexvert_xpos+3*i, d->xpos+3*m->flex_vertbodyid[i]);
-        }
-      }
-    }
-
-    // trilinear/quadratic interpolation
-    else {
-      int nodenum = nend - nstart;
-      mj_markStack(d);
-      mjtNum* nodexpos = mjSTACKALLOC(d, 3*nodenum, mjtNum);
-      for (int i=nstart; i < nend; i++) {
-        int j = i - nstart;
-        if (m->flex_centered[f] ||
-            (m->flex_node[3*i+0] == 0 &&
-             m->flex_node[3*i+1] == 0 &&
-             m->flex_node[3*i+2] == 0)) {
-          mji_copy3(nodexpos + 3*j, d->xpos + 3*m->flex_nodebodyid[i]);
-        } else {
-          mji_mulMatVec3(nodexpos + 3*j, d->xmat + 9*m->flex_nodebodyid[i], m->flex_node + 3*i);
-          mji_addTo3(nodexpos + 3*j, d->xpos + 3*m->flex_nodebodyid[i]);
-        }
-      }
-
-      int interp = m->flex_interp[f];
-      int order = interp < 0 ? -interp : interp;
-      int cx = m->flex_cellnum[3*f+0];
-      int cy = m->flex_cellnum[3*f+1];
-      int cz = m->flex_cellnum[3*f+2];
-      int nx_g = cx * order + 1;
-      int ny_g = cy * order + 1;
-      int nz_g = cz * order + 1;
-      if (nend - nstart != nx_g * ny_g * nz_g) {
-        mjERROR("flex_interp_order mismatch");
-      }
-
-      // shell mode: reconstruct interior node positions from boundary via TFI
-      if (interp < 0) {
-        mju_shellTrackInterior(nodexpos, nx_g, ny_g, nz_g);
-      }
-
-      for (int i=vstart; i < vend; i++) {
-        mju_zero3(d->flexvert_xpos+3*i);
-
-        // cell lookup: get local coords and node indices
-        mjtNum local[3];
-        int nodeindices[27];  // max npc for quadratic: 3^3 = 27
-        mju_cellLookup(m->flex_vert0 + 3*i, m->flex_cellnum+3*f, order, local, nodeindices);
-        mju_interpolate3D(d->flexvert_xpos+3*i, local, nodexpos, order, nodeindices);
-      }
-      mj_freeStack(d);
-    }
-  }
-
-  // compute flex element aabb
-  for (int f=0; f < m->nflex; f++) {
-    int dim = m->flex_dim[f];
-
-    // process elements of this flex
-    int elemnum = m->flex_elemnum[f];
-    for (int e=0; e < elemnum; e++) {
-      const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
-      const mjtNum* vert = d->flexvert_xpos + 3*m->flex_vertadr[f];
-
-      // compute min and max along each global axis
-      mjtNum xmin[3], xmax[3];
-      mji_copy3(xmin, vert+3*edata[0]);
-      mji_copy3(xmax, vert+3*edata[0]);
-      for (int i=1; i <= dim; i++) {
-        for (int j=0; j < 3; j++) {
-          mjtNum value = vert[3*edata[i]+j];
-          xmin[j] = mju_min(xmin[j], value);
-          xmax[j] = mju_max(xmax[j], value);
-        }
-      }
-
-      // compute aabb (center, size)
-      int base = m->flex_elemadr[f] + e;
-      d->flexelem_aabb[6*base+0] = 0.5*(xmax[0]+xmin[0]);
-      d->flexelem_aabb[6*base+1] = 0.5*(xmax[1]+xmin[1]);
-      d->flexelem_aabb[6*base+2] = 0.5*(xmax[2]+xmin[2]);
-      d->flexelem_aabb[6*base+3] = 0.5*(xmax[0]-xmin[0]) + m->flex_radius[f];
-      d->flexelem_aabb[6*base+4] = 0.5*(xmax[1]-xmin[1]) + m->flex_radius[f];
-      d->flexelem_aabb[6*base+5] = 0.5*(xmax[2]-xmin[2]) + m->flex_radius[f];
-    }
-  }
-
-  // update flex bhv_aabb_dyn if needed
-  if (!mjDISABLED(mjDSBL_MIDPHASE)) {
-    for (int f=0; f < m->nflex; f++) {
-      if (m->flex_bvhadr[f] >= 0) {
-        int flex_bvhadr = m->flex_bvhadr[f];
-        int flex_bvhnum = m->flex_bvhnum[f];
-
-        // copy element aabbs to bhv leaf aabbs
-        for (int i=flex_bvhadr; i < flex_bvhadr+flex_bvhnum; i++) {
-          if (m->bvh_nodeid[i] >= 0) {
-            mji_copy6(d->bvh_aabb_dyn + 6*(i - m->nbvhstatic),
-                      d->flexelem_aabb + 6*(m->flex_elemadr[f] + m->bvh_nodeid[i]));
-          }
-        }
-
-        // update dynamic BVH
-        mj_updateDynamicBVH(m, d, m->flex_bvhadr[f], m->flex_bvhnum[f]);
-      }
-    }
-  }
-
-  // allocate space
-  mj_markStack(d);
-  mjtNum* jac1 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jac2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
-  int* chain = mjSTACKALLOC(d, nv, int);
-
-  // clear Jacobian
-  mju_zero(d->flexvert_J, 2*m->nJfv);
-  mju_zero(d->flexedge_J, m->nJfe);
-
-  // compute lengths and Jacobians of edges
-  for (int f=0; f < m->nflex; f++) {
-    // skip if edges cannot generate forces
-    if (m->flex_rigid[f] || m->flex_interp[f]) {
-      continue;
-    }
-
-    // skip edge Jacobian if no built-in passive force is needed
-    int skipjacobian = m->flex_edgeequality[f] != 1 &&
-                       !m->flex_edgedamping[f] &&
-                       !m->flex_edgestiffness[f] &&
-                       !m->flex_damping[f];
-
-    // process edges of this flex
-    int vbase = m->flex_vertadr[f];
-    int ebase = m->flex_edgeadr[f];
-    int edgenum = m->flex_edgenum[f];
-    for (int e=0; e < edgenum; e++) {
-      int v1 = m->flex_edge[2*(ebase+e)];
-      int v2 = m->flex_edge[2*(ebase+e)+1];
-      int b1 = m->flex_vertbodyid[vbase+v1];
-      int b2 = m->flex_vertbodyid[vbase+v2];
-      mjtNum* pos1 = d->flexvert_xpos + 3*(vbase+v1);
-      mjtNum* pos2 = d->flexvert_xpos + 3*(vbase+v2);
-
-      // vec = unit vector from v1 to v2, compute edge length
-      mjtNum vec[3];
-      mji_sub3(vec, pos2, pos1);
-      d->flexedge_length[ebase+e] = mju_normalize3(vec);
-
-      // skip Jacobian if not needed
-      if (skipjacobian) {
-        continue;
-      }
-
-      // get endpoint Jacobians, subtract
-      int NV = mj_jacDifPair(m, d, chain, b1, b2, pos1, pos2,
-                              jac1, jac2, jacdif, NULL, NULL, NULL, /*issparse=*/1,
-                              /*skipcommon=*/0);
-
-      // no dofs: skip
-      if (!NV) {
-        continue;
-      }
-
-      // apply chain rule to compute edge Jacobian
-      mju_mulMatTVec(d->flexedge_J + rowadr[ebase+e], jacdif, vec, 3, NV);
-    }
-
-    // if dim=2 and constraints are active we use the vertex-based constraint defined in
-    // Chen, Kry, and Vouga, "Locking-free Simulation of Isometric Thin Plates", 2019.
-    if (m->flex_dim[f] == 2 && m->flex_edgeequality[f] == 2) {
-      int nvert = m->flex_vertnum[f];
-
-      // use global vertex adjacency list
-      int* v_edge_cnt = m->flex_vertedgenum + vbase;
-      int* v_edge_adr = m->flex_vertedgeadr + vbase;
-      int* adj_edges = m->flex_vertedge;
-
-      mj_markStack(d);
-
-      // clear Jacobian and assemble vertex by vertex
-      int* chain1 = mjSTACKALLOC(d, nv, int);
-      int* chain2 = mjSTACKALLOC(d, nv, int);
-      mjtNum* J0_dense = mjSTACKALLOC(d, nv, mjtNum);
-      mjtNum* J1_dense = mjSTACKALLOC(d, nv, mjtNum);
-      mju_zero(J0_dense, nv);
-      mju_zero(J1_dense, nv);
-
-      // temporary buffer for Jacobian accumulation
-      mjtNum* J_local = mjSTACKALLOC(d, nv, mjtNum);
-
-      for (int v = 0; v < nvert; v++) {
-        mjtNum A[6] = {0};
-        int vadr = vbase + v;
-        mjtNum* metric = m->flex_vertmetric + 4 * vadr;
-
-        for (int k = 0; k < v_edge_cnt[v]; k++) {
-          int e = adj_edges[v_edge_adr[v] + k];
-
-          // compute rest configuration edge vector
-          mjtNum dx[3];
-          int v1 = m->flex_edge[2 * (ebase + e)];
-          int v2 = m->flex_edge[2 * (ebase + e) + 1];
-          mju_sub3(dx, m->flex_vert0 + 3 * (vbase + v2), m->flex_vert0 + 3 * (vbase + v1));
-
-          // apply scaling since they are half sizes
-          dx[0] *= 2 * m->flex_size[3 * f + 0];
-          dx[1] *= 2 * m->flex_size[3 * f + 1];
-          dx[2] *= 2 * m->flex_size[3 * f + 2];
-
-          mjtNum dy[3];
-          mju_sub3(dy, d->flexvert_xpos + 3 * (vbase + v2), d->flexvert_xpos + 3 * (vbase + v1));
-
-          // get mass of neighbor vertex
-          mjtNum weight = 1.0;
-          int neighbor_v = (v == v1) ? v2 : v1;
-          int b_neighbor = m->flex_vertbodyid[vbase + neighbor_v];
-          if (b_neighbor >= 0) {
-            weight = m->body_mass[b_neighbor];
-            if (weight < mjMINVAL) weight = mjMINVAL;
-          }
-
-          // accumulate A += w * dy * dx'
-          A[0] += weight * dy[0] * dx[0];
-          A[1] += weight * dy[0] * dx[1];
-          A[2] += weight * dy[1] * dx[0];
-          A[3] += weight * dy[1] * dx[1];
-          A[4] += weight * dy[2] * dx[0];
-          A[5] += weight * dy[2] * dx[1];
-        }
-
-        mjtNum F[6];
-        mju_mulMatMat322(F, A, metric);
-
-        // compute Cauchy strain tensor F^T F
-        mjtNum cauchy[4];
-        cauchy[0] = F[0] * F[0] + F[2] * F[2] + F[4] * F[4];  // c00
-        cauchy[1] = F[0] * F[1] + F[2] * F[3] + F[4] * F[5];  // c01
-        cauchy[2] = F[1] * F[0] + F[3] * F[2] + F[5] * F[4];  // c10
-        cauchy[3] = F[1] * F[1] + F[3] * F[3] + F[5] * F[5];  // c11
-
-        // mass scaling: scale constraint by sqrt(mass) to improve condition number
-        // note: departure from original algorithm in Chen, Kry, and Vouga 2019
-        mjtNum scale = 1.0;
-        int b = m->flex_vertbodyid[vadr];
-        if (b >= 0) {
-          mjtNum mass = m->body_mass[b];
-          if (mass > mjMINVAL) {
-            scale = mju_sqrt(mass);
-          }
-        }
-
-        // compute tensor invariants
-        d->flexvert_length[2 * vadr + 0] = (cauchy[0] + cauchy[3] - 2) * scale;
-        d->flexvert_length[2 * vadr + 1] =
-            (cauchy[0] * cauchy[3] - cauchy[1] * cauchy[2] - 1) * scale;
-
-        // Jacobian computation
-        mjtNum FB[6], adj[4], Fadj[6], FadjBinv[6];
-        mju_mulMatMat322(FB, F, metric);
-
-        adj[0] = cauchy[3];
-        adj[1] = -cauchy[1];
-        adj[2] = -cauchy[2];
-        adj[3] = cauchy[0];
-        mju_mulMatMat322(Fadj, F, adj);
-        mju_mulMatMat322(FadjBinv, Fadj, metric);
-
-        for (int k = 0; k < v_edge_cnt[v]; ++k) {
-          int e = adj_edges[v_edge_adr[v] + k];
-          mjtNum dx[3];  // rest edge vector
-          int v1 = m->flex_edge[2 * (ebase + e)];
-          int v2 = m->flex_edge[2 * (ebase + e) + 1];
-          mju_sub3(dx, m->flex_vert0 + 3 * (vbase + v2), m->flex_vert0 + 3 * (vbase + v1));
-          dx[0] *= 2 * m->flex_size[3 * f + 0];
-          dx[1] *= 2 * m->flex_size[3 * f + 1];
-          dx[2] *= 2 * m->flex_size[3 * f + 2];
-          mjtNum weight = 1.0;
-          int neighbor_v = (v == v1) ? v2 : v1;
-          int b_neighbor = m->flex_vertbodyid[vbase + neighbor_v];
-          if (b_neighbor >= 0) {
-            weight = m->body_mass[b_neighbor];
-            if (weight < mjMINVAL) weight = mjMINVAL;
-          }
-
-          mjtNum dI1dy1[3], dI1dy2[3], dI2dy[3], dI2dy1[3], dI2dy2[3];
-
-          // dI1/dy1, dI1/dy2 (scaled by weight)
-          mju_mulMatVec(dI1dy1, FB, dx, 3, 2);
-          mju_scl3(dI1dy1, dI1dy1, -2 * weight);
-          mju_scl3(dI1dy2, dI1dy1, -1);
-
-          // dI2/dy1, dI2/dy2 (scaled by weight)
-          mju_mulMatVec(dI2dy, FadjBinv, dx, 3, 2);
-          mju_scl3(dI2dy1, dI2dy, -2 * weight);
-          mju_scl3(dI2dy2, dI2dy1, -1);
-
-          // get endpoint Jacobians
-          int b1 = m->flex_vertbodyid[vbase+v1];
-          int b2 = m->flex_vertbodyid[vbase+v2];
-          int NV1 = mj_bodyChain(m, b1, chain1);
-          mj_jacSparse(m, d, jac1, NULL, d->flexvert_xpos + 3*(vbase+v1), b1, NV1, chain1,
-                       /*flg_skipcommon=*/0);
-          int NV2 = mj_bodyChain(m, b2, chain2);
-          mj_jacSparse(m, d, jac2, NULL, d->flexvert_xpos + 3*(vbase+v2), b2, NV2, chain2,
-                       /*flg_skipcommon=*/0);
-
-          // accumulate dense Jacobians for vertex v
-          mju_mulMatTVec(J_local, jac1, dI1dy1, 3, NV1);
-          for (int j=0; j<NV1; j++) {
-            J0_dense[chain1[j]] += J_local[j];
-          }
-          mju_mulMatTVec(J_local, jac2, dI1dy2, 3, NV2);
-          for (int j=0; j<NV2; j++) {
-            J0_dense[chain2[j]] += J_local[j];
-          }
-
-          mju_mulMatTVec(J_local, jac1, dI2dy1, 3, NV1);
-          for (int j=0; j<NV1; j++) {
-            J1_dense[chain1[j]] += J_local[j];
-          }
-          mju_mulMatTVec(J_local, jac2, dI2dy2, 3, NV2);
-          for (int j=0; j<NV2; j++) {
-            J1_dense[chain2[j]] += J_local[j];
-          }
-        }
-
-        // copy to sparse flexvert_J
-        int row0 = 2 * vadr;
-        int nnz0 = vrownnz[row0];
-        for (int j = 0; j < nnz0; j++) {
-          int col = m->flexvert_J_colind[vrowadr[row0] + j];
-          d->flexvert_J[vrowadr[row0] + j] += J0_dense[col] * scale;
-          J0_dense[col] = 0;
-        }
-        int row1 = 2 * vadr + 1;
-        int nnz1 = vrownnz[row1];
-        for (int j = 0; j < nnz1; j++) {
-          int col = m->flexvert_J_colind[vrowadr[row1] + j];
-          d->flexvert_J[vrowadr[row1] + j] += J1_dense[col] * scale;
-          J1_dense[col] = 0;
-        }
-      }
-
-      mj_freeStack(d);
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// compute tendon lengths and moments
-void mj_tendon(const mjModel* m, mjData* d) {
-  int nv = m->nv, nten = m->ntendon;
-  const int *rownnz = m->ten_J_rownnz, *rowadr = m->ten_J_rowadr, *colind = m->ten_J_colind;
-  mjtNum *L = d->ten_length, *J = d->ten_J;
-
-  if (!nten) {
-    return;
-  }
-
-  // allocate stack arrays
-  int *chain;
-  mjtNum *jac1, *jac2, *jacdif, *tmp;
-  mj_markStack(d);
-  jac1 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
-  tmp = mjSTACKALLOC(d, nv, mjtNum);
-  chain = mjSTACKALLOC(d, nv, int);
-
-  // clear results
-  mju_zero(L, nten);
-
-  // clear Jacobian
-  mju_zero(J, m->nJten);
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-
-  // loop over tendons
-  int wrapcount = 0;
-  for (int i=0; i < nten; i++) {
-    // skip sleeping tendon
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_TENDON, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    // initialize tendon path
-    int adr = m->tendon_adr[i];
-    d->ten_wrapadr[i] = wrapcount;
-    d->ten_wrapnum[i] = 0;
-    int tendon_num = m->tendon_num[i];
-
-    // process fixed tendon
-    if (m->wrap_type[adr] == mjWRAP_JOINT) {
-      // process all defined joints
-      for (int j=0; j < tendon_num; j++) {
-        // get joint id
-        int k = m->wrap_objid[adr+j];
-
-        // add to length
-        L[i] += m->wrap_prm[adr+j] * d->qpos[m->jnt_qposadr[k]];
-
-        mjtNum coef = 1;
-        int dofadr = m->jnt_dofadr[k];
-        mju_combineSparseInc(J + rowadr[i], &coef, m->nv, 1, m->wrap_prm[adr+j],
-                             rownnz[i], 1, colind + rowadr[i], &dofadr);
-      }
-
-      continue;
-    }
-
-    // process spatial tendon
-    mjtNum divisor = 1;
-    int wraptype, j = 0;
-    while (j < tendon_num-1) {
-      // get 1st and 2nd object
-      int type0 = m->wrap_type[adr+j+0];
-      int type1 = m->wrap_type[adr+j+1];
-      int id0 = m->wrap_objid[adr+j+0];
-      int id1 = m->wrap_objid[adr+j+1];
-
-      // pulley
-      if (type0 == mjWRAP_PULLEY || type1 == mjWRAP_PULLEY) {
-        // get divisor, insert obj=-2
-        if (type0 == mjWRAP_PULLEY) {
-          divisor = m->wrap_prm[adr+j];
-          mju_zero3(d->wrap_xpos+wrapcount*3);
-          d->wrap_obj[wrapcount] = -2;
-          d->ten_wrapnum[i]++;
-          wrapcount++;
-        }
-
-        // move to next
-        j++;
-        continue;
-      }
-
-      // init sequence; assume it starts with site
-      mjtNum wlen = -1;
-      int wrapid = -1;
-      mjtNum wpnt[12];
-      mji_copy3(wpnt, d->site_xpos+3*id0);
-      int wbody[4];
-      wbody[0] = m->site_bodyid[id0];
-
-      // second object is geom: process site-geom-site
-      if (type1 == mjWRAP_SPHERE || type1 == mjWRAP_CYLINDER) {
-        // reassign, get 2nd site info
-        wraptype = type1;
-        wrapid = id1;
-        type1 = m->wrap_type[adr+j+2];
-        id1 = m->wrap_objid[adr+j+2];
-
-        // do wrapping, possibly get 2 extra points (wlen>=0)
-        int sideid = mju_round(m->wrap_prm[adr+j+1]);
-        if (sideid < -1 || sideid >= m->nsite) {
-          mjERROR("invalid sideid %d in wrap_prm", sideid);  // SHOULD NOT OCCUR
-        }
-
-        wlen = mju_wrap(wpnt+3, d->site_xpos+3*id0, d->site_xpos+3*id1,
-                        d->geom_xpos+3*wrapid, d->geom_xmat+9*wrapid, m->geom_size[3*wrapid],
-                        wraptype, (sideid >= 0 ? d->site_xpos+3*sideid : 0));
-      } else {
-        wraptype = mjWRAP_NONE;
-      }
-
-      // complete sequence, accumulate lengths
-      if (wlen < 0) {
-        mji_copy3(wpnt+3, d->site_xpos+3*id1);
-        wbody[1] = m->site_bodyid[id1];
-        L[i] += mju_dist3(wpnt, wpnt+3) / divisor;
-      } else {
-        mji_copy3(wpnt+9, d->site_xpos+3*id1);
-        wbody[1] = wbody[2] = m->geom_bodyid[wrapid];
-        wbody[3] = m->site_bodyid[id1];
-        L[i] += (mju_dist3(wpnt, wpnt+3) + wlen + mju_dist3(wpnt+6, wpnt+9)) / divisor;
-      }
-
-      // accumulate moments if consecutive points are in different bodies
-      for (int k=0; k < (wlen < 0 ? 1 : 3); k++) {
-        if (wbody[k] != wbody[k+1]) {
-          // get 3D position difference, normalize
-          mjtNum dif[3];
-          mji_sub3(dif, wpnt+3*k+3, wpnt+3*k);
-          mju_normalize3(dif);
-
-          // get endpoint Jacobians, subtract
-          int NV = mj_jacDifPair(m, d, chain,
-                                 wbody[k], wbody[k+1], wpnt+3*k, wpnt+3*k+3,
-                                 jac1, jac2, jacdif, NULL, NULL, NULL, /*issparse=*/1,
-                                 /*skipcommon=*/0);
-
-          // no dofs: skip
-          if (!NV) {
-            continue;
-          }
-
-          // apply chain rule to compute tendon Jacobian
-          mju_mulMatTVec(tmp, jacdif, dif, 3, NV);
-
-          // add to existing
-          mju_combineSparseInc(J+rowadr[i], tmp, nv, 1, 1/divisor,
-                              rownnz[i], NV, colind+rowadr[i],
-                              chain);
-        }
-      }
-
-      // assign to wrap
-      if (wlen < 0) {
-        mji_copy3(d->wrap_xpos+wrapcount*3, wpnt);
-      } else {
-        mji_copy9(d->wrap_xpos+wrapcount*3, wpnt);
-      }
-      d->wrap_obj[wrapcount] = -1;
-      if (wlen >= 0) {
-        d->wrap_obj[wrapcount+1] = d->wrap_obj[wrapcount+2] = wrapid;
-      }
-      d->ten_wrapnum[i] += (wlen < 0 ? 1 : 3);
-      wrapcount += (wlen < 0 ? 1 : 3);
-
-      // advance
-      j += (wraptype != mjWRAP_NONE ? 2 : 1);
-
-      // assign last site before pulley or tendon end
-      if (j == tendon_num-1 || m->wrap_type[adr+j+1] == mjWRAP_PULLEY) {
-        mji_copy3(d->wrap_xpos+wrapcount*3, d->site_xpos+3*id1);
-        d->wrap_obj[wrapcount] = -1;
-        d->ten_wrapnum[i]++;
-        wrapcount++;
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// return dot product of tendon Jacobian time derivative with vector
-mjtNum mj_tendonDot(const mjModel* m, mjData* d, int id, const mjtNum* vec) {
-  int nv = m->nv;
-  mjtNum res = 0;
-
-  // tendon id is invalid: return
-  if (id < 0 || id >= m->ntendon) {
-    return 0;
-  }
-
-  // fixed tendon has zero Jdot: return
-  int adr = m->tendon_adr[id];
-  if (m->wrap_type[adr] == mjWRAP_JOINT) {
-    return 0;
-  }
-
-  // allocate stack arrays
-  mj_markStack(d);
-  int issparse = mj_isSparse(m);
-  int* chain = issparse ? mjSTACKALLOC(d, nv, int) : NULL;
-  mjtNum* jac1 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jac2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* tmp = mjSTACKALLOC(d, nv, mjtNum);
-
-  // process spatial tendon
-  mjtNum divisor = 1;
-  int wraptype, j = 0;
-  int num = m->tendon_num[id];
-  while (j < num-1) {
-    // get 1st and 2nd object
-    int type0 = m->wrap_type[adr+j+0];
-    int type1 = m->wrap_type[adr+j+1];
-    int id0 = m->wrap_objid[adr+j+0];
-    int id1 = m->wrap_objid[adr+j+1];
-
-    // pulley
-    if (type0 == mjWRAP_PULLEY || type1 == mjWRAP_PULLEY) {
-      // get divisor, insert obj=-2
-      if (type0 == mjWRAP_PULLEY) {
-        divisor = m->wrap_prm[adr+j];
-      }
-
-      // move to next
-      j++;
-      continue;
-    }
-
-    // init sequence; assume it starts with site
-    mjtNum wpnt[6];
-    mji_copy3(wpnt, d->site_xpos+3*id0);
-    mjtNum vel[6];
-    mj_objectVelocity(m, d, mjOBJ_SITE, id0, vel, /*flg_local=*/0);
-    mjtNum wvel[6] = {vel[3], vel[4], vel[5], 0, 0, 0};
-    int wbody[2];
-    wbody[0] = m->site_bodyid[id0];
-
-    // second object is geom: process site-geom-site
-    if (type1 == mjWRAP_SPHERE || type1 == mjWRAP_CYLINDER) {
-      // TODO(tassa) support geom wrapping (requires derivatives of mju_wrap)
-      mjERROR("geom wrapping not supported");
-    } else {
-      wraptype = mjWRAP_NONE;
-    }
-
-    // complete sequence
-    wbody[1] = m->site_bodyid[id1];
-    mji_copy3(wpnt+3, d->site_xpos+3*id1);
-    mj_objectVelocity(m, d, mjOBJ_SITE, id1, vel, /*flg_local=*/0);
-    mji_copy3(wvel+3, vel+3);
-
-    // accumulate moments if consecutive points are in different bodies
-    if (wbody[0] != wbody[1]) {
-      // dpnt = 3D position difference, normalize
-      mjtNum dpnt[3];
-      mju_sub3(dpnt, wpnt+3, wpnt);
-      mjtNum norm = mju_normalize3(dpnt);
-
-      // dvel = d / dt (dpnt)
-      mjtNum dvel[3];
-      mju_sub3(dvel, wvel+3, wvel);
-      mjtNum dot = mju_dot3(dpnt, dvel);
-      mju_addToScl3(dvel, dpnt, -dot);
-      mju_scl3(dvel, dvel, norm > mjMINVAL ? 1/norm : 0);
-
-      // sparse
-      if (issparse) {
-        // construct merged chain
-        int NV = mj_mergeChain(m, chain, wbody[0], wbody[1], /*flg_skipcommon=*/0);
-
-        if (NV) {
-          // get endpoint JacobianDots, subtract
-          mj_jacDotSparse(m, d, jac1, 0, wpnt, wbody[0], NV, chain);
-          mj_jacDotSparse(m, d, jac2, 0, wpnt+3, wbody[1], NV, chain);
-          mju_sub(jacdif, jac2, jac1, 3*NV);
-
-          // chain rule, first term: Jdot += d/dt(jac2 - jac1) * dpnt
-          mju_mulMatTVec(tmp, jacdif, dpnt, 3, NV);
-
-          for (int k=0; k < NV; k++) {
-            res += (tmp[k] / divisor) * vec[chain[k]];
-          }
-
-          // get endpoint Jacobians, subtract
-          mj_jacSparse(m, d, jac1, 0, wpnt, wbody[0], NV, chain, /*flg_skipcommon=*/0);
-          mj_jacSparse(m, d, jac2, 0, wpnt+3, wbody[1], NV, chain, /*flg_skipcommon=*/0);
-          mju_sub(jacdif, jac2, jac1, 3*NV);
-
-          // chain rule, second term: Jdot += (jac2 - jac1) * d/dt(dpnt)
-          mju_mulMatTVec(tmp, jacdif, dvel, 3, NV);
-
-          for (int k=0; k < NV; k++) {
-            res += (tmp[k] / divisor) * vec[chain[k]];
-          }
-        }
-      }
-
-      // dense
-      else {
-        // get endpoint JacobianDots, subtract
-        mj_jacDot(m, d, jac1, 0, wpnt, wbody[0]);
-        mj_jacDot(m, d, jac2, 0, wpnt+3, wbody[1]);
-        mju_sub(jacdif, jac2, jac1, 3*nv);
-
-        // chain rule, first term: Jdot += d/dt(jac2 - jac1) * dpnt
-        mju_mulMatTVec(tmp, jacdif, dpnt, 3, nv);
-
-        res += mju_dot(tmp, vec, nv) / divisor;
-
-        // get endpoint Jacobians, subtract
-        mj_jac(m, d, jac1, 0, wpnt, wbody[0]);
-        mj_jac(m, d, jac2, 0, wpnt+3, wbody[1]);
-        mju_sub(jacdif, jac2, jac1, 3*nv);
-
-        // chain rule, second term: Jdot += (jac2 - jac1) * d/dt(dpnt)
-        mju_mulMatTVec(tmp, jacdif, dvel, 3, nv);
-
-        res += mju_dot(tmp, vec, nv) / divisor;
-      }
-    }
-
-    // advance
-    j += (wraptype != mjWRAP_NONE ? 2 : 1);
-  }
-
-  mj_freeStack(d);
-  return res;
-}
-
-
-// compute actuator/transmission lengths and moments
-void mj_transmission(const mjModel* m, mjData* d) {
-  int nv = m->nv, nactuator = m->nactuator;
-
-  // nothing to do
-  if (!nactuator) {
-    return;
-  }
-
-  // outputs
-  mjtNum* length = d->actuator_length;
-  mjtNum* moment = d->actuator_moment;
-  int *rownnz = d->moment_rownnz;
-  int *rowadr = d->moment_rowadr;
-  int *colind = d->moment_colind;
-
-  // allocate Jacbians
-  mj_markStack(d);
-  mjtNum* jac  = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jacA = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jacS = mjSTACKALLOC(d, 3*nv, mjtNum);
-
-  // define stack variables required for body transmission, don't allocate
-  int issparse = mj_isSparse(m);
-  mjtNum* efc_force = NULL;  // used as marker for allocation requirement
-  mjtNum *moment_exclude, *jacdifp, *jac1p, *jac2p;
-  int *chain;
-
-  // define stack variables required for site transmission, don't allocate
-  mjtNum *jacref = NULL, *moment_row = NULL;
-
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < nv;
-
-  // compute lengths and moments
-  for (int i=0; i < nactuator; i++) {
-    // address of the actuator's output block (single row for all current types)
-    int out = m->actuator_outadr[i];
-    rowadr[out] = out == 0 ? 0 : rowadr[out-1] + rownnz[out-1];
-    int nnz, adr = rowadr[out];
-
-    // skip sleeping actuator: zero all rows of its output block
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_ACTUATOR, i) == mjS_ASLEEP) {
-      for (int k=0; k < m->actuator_outnum[i]; k++) {
-        rowadr[out+k] = out+k == 0 ? 0 : rowadr[out+k-1] + rownnz[out+k-1];
-        rownnz[out+k] = 0;
-      }
-      continue;
-    }
-
-    // extract info
-    int id = m->actuator_trnid[2*i];
-    mjtNum* gear = m->actuator_gear+6*out;
-
-    // process according to transmission type
-    switch ((mjtTrn) m->actuator_trntype[i]) {
-    case mjTRN_JOINT:                   // joint
-    case mjTRN_JOINTINPARENT:           // joint, force in parent frame
-      // slide and hinge joint: scalar gear
-      if (m->jnt_type[id] == mjJNT_SLIDE || m->jnt_type[id] == mjJNT_HINGE) {
-        // sparsity
-        rownnz[out] = 1;
-        colind[adr] = m->jnt_dofadr[id];
-
-        length[out] = d->qpos[m->jnt_qposadr[id]]*gear[0];
-        moment[adr] = gear[0];
-      }
-
-      // ball joint: 3D wrench gear
-      else if (m->jnt_type[id] == mjJNT_BALL) {
-        // axis: expmap representation of quaternion
-        mjtNum axis[3], quat[4];
-        mji_copy4(quat, d->qpos+m->jnt_qposadr[id]);
-        mju_normalize4(quat);
-        mji_quat2Vel(axis, quat, 1);
-
-        // gearAxis: rotate to parent frame if necessary
-        mjtNum gearAxis[3];
-        if (m->actuator_trntype[i] == mjTRN_JOINT) {
-          mji_copy3(gearAxis, gear);
-        } else {
-          mju_negQuat(quat, quat);
-          mji_rotVecQuat(gearAxis, gear, quat);
-        }
-
-        // length: axis*gearAxis
-        length[out] = mju_dot3(axis, gearAxis);
-
-        // dof start address
-        int jnt_dofadr = m->jnt_dofadr[id];
-
-        // sparsity
-        for (int j = 0; j < 3; j++) {
-          colind[adr+j] = jnt_dofadr + j;
-        }
-        rownnz[out] = 3;
-
-        // moment: gearAxis
-        mji_copy3(moment+adr, gearAxis);
-      }
-
-      // free joint: 6D wrench gear
-      else {
-        // cannot compute meaningful length, set to 0
-        length[out] = 0;
-
-        // gearAxis: rotate to world frame if necessary
-        mjtNum gearAxis[3];
-        if (m->actuator_trntype[i] == mjTRN_JOINT) {
-          mji_copy3(gearAxis, gear+3);
-        } else {
-          mjtNum quat[4];
-          mji_copy4(quat, d->qpos+m->jnt_qposadr[id]+3);
-          mju_normalize4(quat);
-          mju_negQuat(quat, quat);
-          mji_rotVecQuat(gearAxis, gear+3, quat);
-        }
-
-        // dof start address
-        int jnt_dofadr = m->jnt_dofadr[id];
-
-        // sparsity
-        for (int j = 0; j < 6; j++) {
-          colind[adr+j] = jnt_dofadr + j;
-        }
-        rownnz[out] = 6;
-
-        // moment: gear(tran), gearAxis
-        mji_copy3(moment+adr, gear);
-        mji_copy3(moment+adr+3, gearAxis);
-      }
-      break;
-
-    case mjTRN_SLIDERCRANK:             // slider-crank
-      {
-        // get data
-        int idslider = m->actuator_trnid[2*i+1];
-        mjtNum rod = m->actuator_cranklength[out];
-        mjtNum axis[3] = {d->site_xmat[9 * idslider + 2],
-                          d->site_xmat[9 * idslider + 5],
-                          d->site_xmat[9 * idslider + 8]};
-        mjtNum vec[3];
-        mju_sub3(vec, d->site_xpos+3*id, d->site_xpos+3*idslider);
-
-        // compute length and determinant
-        //  length = a'*v - sqrt(det);  det = (a'*v)^2 + r^2 - v'*v)
-        mjtNum av = mju_dot3(vec, axis);
-        mjtNum sdet, det = av*av + rod*rod - mju_dot3(vec, vec);
-        int ok = 1;
-        if (det <= 0) {
-          ok = 0;
-          sdet = 0;
-          length[out] = av;
-        } else {
-          sdet = mju_sqrt(det);
-          length[out] = av - sdet;
-        }
-
-        // compute derivatives of length w.r.t. vec and axis
-        mjtNum dlda[3], dldv[3];
-        if (ok) {
-          mju_scl3(dldv, axis, 1-av/sdet);
-          mju_scl3(dlda, vec, 1/sdet);        // use dlda as temp
-          mji_addTo3(dldv, dlda);
-
-          mju_scl3(dlda, vec, 1-av/sdet);
-        } else {
-          mji_copy3(dlda, vec);
-          mji_copy3(dldv, axis);
-        }
-
-        // get Jacobians of axis(jacA) and vec(jac)
-        mj_jacPointAxis(m, d, jacS, jacA, d->site_xpos+3*idslider,
-                        axis, m->site_bodyid[idslider]);
-        mj_jacSite(m, d, jac, 0, id);
-        mju_subFrom(jac, jacS, 3*nv);
-
-        moment_row = mjSTACKALLOC(d, nv, mjtNum);
-
-        // clear moment
-        mju_zero(moment_row, nv);
-
-        // apply chain rule
-        for (int j=0; j < nv; j++) {
-          for (int k=0; k < 3; k++) {
-            moment_row[j] += dlda[k]*jacA[k*nv+j] + dldv[k]*jac[k*nv+j];
-          }
-        }
-
-        // scale by gear ratio
-        length[out] *= gear[0];
-
-        // sparsity (compress)
-        nnz = 0;
-        for (int j = 0; j < nv; j++) {
-          if (moment_row[j]) {
-            moment[adr+nnz] = moment_row[j] * gear[0];
-            colind[adr+nnz] = j;
-            nnz++;
-          }
-        }
-        rownnz[out] = nnz;
-      }
-      break;
-
-    case mjTRN_TENDON:                  // tendon
-      length[out] = d->ten_length[id]*gear[0];
-
-      // moment
-      {
-        int ten_J_rownnz = m->ten_J_rownnz[id];
-        int ten_J_rowadr = m->ten_J_rowadr[id];
-        rownnz[out] = ten_J_rownnz;
-        mju_copyInt(colind + adr, m->ten_J_colind + ten_J_rowadr, ten_J_rownnz);
-
-        mju_scl(moment + adr, d->ten_J + ten_J_rowadr, gear[0], ten_J_rownnz);
-      }
-      break;
-
-    case mjTRN_SO3:                     // relative orientation: 3 lengths, 3 moment rows
-      // ball joint: lengths = expmap of the joint quaternion, rows = identity at the joint dofs
-      if (m->actuator_trnid[2*i+1] == -1) {
-        mjtNum axis[3], quat[4];
-        mji_copy4(quat, d->qpos+m->jnt_qposadr[id]);
-        mju_normalize4(quat);
-        mji_quat2Vel(axis, quat, 1);
-        for (int k=0; k < 3; k++) {
-          int outk = out + k;
-          rowadr[outk] = k == 0 ? adr : rowadr[outk-1] + rownnz[outk-1];
-          length[outk] = axis[k];
-          rownnz[outk] = 1;
-          colind[rowadr[outk]] = m->jnt_dofadr[id] + k;
-          moment[rowadr[outk]] = 1;
-        }
-      }
-
-      // site+refsite: lengths = relative expmap, rows = relative rotational Jacobian
-      else {
-        int refid = m->actuator_trnid[2*i+1];
-        if (!jacref) jacref = mjSTACKALLOC(d, 3*nv, mjtNum);
-        if (!moment_row) moment_row = mjSTACKALLOC(d, nv, mjtNum);
-
-        // relative rotation as expmap in the refsite frame
-        mjtNum quat[4], refquat[4], vec[3];
-        mji_mulQuat(quat, m->site_quat+4*id, d->xquat+4*m->site_bodyid[id]);
-        mji_mulQuat(refquat, m->site_quat+4*refid, d->xquat+4*m->site_bodyid[refid]);
-        mji_subQuat(vec, quat, refquat);
-
-        // relative rotational Jacobian in global frame
-        mj_jacSite(m, d, NULL, jacS, id);
-        mj_jacSite(m, d, NULL, jacref, refid);
-        mju_subFrom(jacS, jacref, 3*nv);
-
-        // if common ancestral dof exists, clear the columns of its parental chain
-        {
-          int b0 = m->body_weldid[m->site_bodyid[id]];
-          int b1 = m->body_weldid[m->site_bodyid[refid]];
-          int dofadr0 = m->body_dofadr[b0] + m->body_dofnum[b0] - 1;
-          int dofadr1 = m->body_dofadr[b1] + m->body_dofnum[b1] - 1;
-          int dofadr_common = -1;
-          if (dofadr0 >= 0 && dofadr1 >= 0) {
-            while (dofadr0 != dofadr1) {
-              if (dofadr0 < dofadr1) {
-                dofadr1 = m->dof_parentid[dofadr1];
-              } else {
-                dofadr0 = m->dof_parentid[dofadr0];
-              }
-              if (dofadr0 == -1 || dofadr1 == -1) {
-                break;
-              }
-            }
-            if (dofadr0 == dofadr1) {
-              dofadr_common = dofadr0;
-            }
-          }
-          int da = dofadr_common;
-          while (da >= 0) {
-            jacS[nv*0 + da] = 0;
-            jacS[nv*1 + da] = 0;
-            jacS[nv*2 + da] = 0;
-            da = m->dof_parentid[da];
-          }
-        }
-
-        // row k: site axis k in global frame, projected on the relative Jacobian; torque and
-        // velocity components are in the site frame, matching the ball branch's child frame
-        // (the expmap length components are frame-invariant: exp fixes its own axis)
-        for (int k=0; k < 3; k++) {
-          int outk = out + k;
-          rowadr[outk] = k == 0 ? adr : rowadr[outk-1] + rownnz[outk-1];
-          length[outk] = vec[k];
-
-          mjtNum wrench[3] = {d->site_xmat[9*id+k], d->site_xmat[9*id+k+3],
-                              d->site_xmat[9*id+k+6]};
-          mju_mulMatTVec(moment_row, jacS, wrench, 3, nv);
-
-          // sparsity (compress)
-          nnz = 0;
-          for (int j=0; j < nv; j++) {
-            if (moment_row[j]) {
-              moment[rowadr[outk]+nnz] = moment_row[j];
-              colind[rowadr[outk]+nnz] = j;
-              nnz++;
-            }
-          }
-          rownnz[outk] = nnz;
-        }
-      }
-      break;
-
-    case mjTRN_SITE:                    // site
-      // get site translation (jac) and rotation (jacS) Jacobians in global frame
-      mj_jacSite(m, d, jac, jacS, id);
-
-      // clear length
-      length[out] = 0;
-
-      if (!moment_row) moment_row = mjSTACKALLOC(d, nv, mjtNum);
-
-      // reference site undefined
-      if (m->actuator_trnid[2*i+1] == -1) {
-        // wrench: gear expressed in global frame
-        mjtNum wrench[6];
-        mji_mulMatVec3(wrench, d->site_xmat+9*id, gear);      // translation
-        mji_mulMatVec3(wrench+3, d->site_xmat+9*id, gear+3);  // rotation
-
-        // moment: global Jacobian projected on wrench
-        mju_mulMatTVec(moment_row, jac, wrench, 3, nv);       // translation
-        mju_mulMatTVec(jac, jacS, wrench+3, 3, nv);           // rotation
-        mju_addTo(moment_row, jac, nv);                       // add the two
-      }
-
-      // reference site defined
-      else {
-        int refid = m->actuator_trnid[2*i+1];
-        if (!jacref) jacref = mjSTACKALLOC(d, 3*nv, mjtNum);
-
-        // initialize last dof address for each body
-        int b0 = m->body_weldid[m->site_bodyid[id]];
-        int b1 = m->body_weldid[m->site_bodyid[refid]];
-        int dofadr0 = m->body_dofadr[b0] + m->body_dofnum[b0] - 1;
-        int dofadr1 = m->body_dofadr[b1] + m->body_dofnum[b1] - 1;
-
-        // find common ancestral dof, if any
-        int dofadr_common = -1;
-        if (dofadr0 >= 0 && dofadr1 >= 0) {
-          // traverse up the tree until common ancestral dof is found
-          while (dofadr0 != dofadr1) {
-            if (dofadr0 < dofadr1) {
-              dofadr1 = m->dof_parentid[dofadr1];
-            } else {
-              dofadr0 = m->dof_parentid[dofadr0];
-            }
-            if (dofadr0 == -1 || dofadr1 == -1) {
-              // reached tree root, no common ancestral dof
-              break;
-            }
-          }
-
-          // found common ancestral dof
-          if (dofadr0 == dofadr1) {
-            dofadr_common = dofadr0;
-          }
-        }
-
-        // clear moment
-        mju_zero(moment_row, nv);
-
-        // translational transmission
-        if (!mju_isZero(gear, 3)) {
-          // vec: site position in reference site frame
-          mjtNum vec[3];
-          mju_sub3(vec, d->site_xpos+3*id, d->site_xpos+3*refid);
-          mju_mulMatTVec3(vec, d->site_xmat+9*refid, vec);
-
-          // length: dot product with gear
-          length[out] += mju_dot3(vec, gear);
-
-          // jacref: global Jacobian of reference site
-          mj_jacSite(m, d, jacref, NULL, refid);
-
-          // subtract jacref from jac
-          mju_subFrom(jac, jacref, 3*nv);
-
-          // if common ancestral dof was found, clear the columns of its parental chain
-          int da = dofadr_common;
-          while (da >= 0) {
-            jac[nv*0 + da] = 0;
-            jac[nv*1 + da] = 0;
-            jac[nv*2 + da] = 0;
-            da = m->dof_parentid[da];
-          }
-
-          // wrench: translational gear expressed in global frame
-          mjtNum wrench[6];
-          mji_mulMatVec3(wrench, d->site_xmat+9*refid, gear);
-
-          // moment: global Jacobian projected on wrench
-          mju_mulMatTVec(moment_row, jac, wrench, 3, nv);
-        }
-
-        // rotational transmission
-        if (!mju_isZero(gear+3, 3)) {
-          mjtNum refquat[4];
-
-          // get site and refsite quats from parent bodies (avoiding mju_mat2Quat)
-          mjtNum quat[4];
-          mji_mulQuat(quat, m->site_quat+4*id, d->xquat+4*m->site_bodyid[id]);
-          mji_mulQuat(refquat, m->site_quat+4*refid, d->xquat+4*m->site_bodyid[refid]);
-
-          // convert difference to expmap (axis-angle)
-          mjtNum vec[3];
-          mji_subQuat(vec, quat, refquat);
-
-          // add length: dot product with gear
-          length[out] += mju_dot3(vec, gear+3);
-
-          // jacref: global rotational Jacobian of reference site
-          mj_jacSite(m, d, NULL, jacref, refid);
-
-          // subtract jacref from jacS
-          mju_subFrom(jacS, jacref, 3*nv);
-
-          // if common ancestral dof was found, clear the columns of its parental chain
-          int da = dofadr_common;
-          while (da >= 0) {
-            jacS[nv*0 + da] = 0;
-            jacS[nv*1 + da] = 0;
-            jacS[nv*2 + da] = 0;
-            da = m->dof_parentid[da];
-          }
-
-          // wrench: rotational gear expressed in global frame
-          mjtNum wrench[6];
-          mji_mulMatVec3(wrench, d->site_xmat+9*refid, gear+3);
-
-          // global Jacobian projected on wrench, add to moment
-          // reuse jac as temporary storage
-          mju_mulMatTVec(jac, jacS, wrench, 3, nv);
-          mju_addTo(moment_row, jac, nv);
-        }
-      }
-
-      // sparsity (compress)
-      nnz = 0;
-      for (int j = 0; j < nv; j++) {
-        if (moment_row[j]) {
-          moment[adr+nnz] = moment_row[j];
-          colind[adr+nnz] = j;
-          nnz++;
-        }
-      }
-      rownnz[out] = nnz;
-
-      break;
-
-    case mjTRN_BODY:                  // body (adhesive contacts)
-      // cannot compute meaningful length, set to 0
-      length[out] = 0;
-
-      // clear moment
-      if (!moment_row) moment_row = mjSTACKALLOC(d, nv, mjtNum);
-      mju_zero(moment_row, nv);
-
-      // moment is average of all contact normal Jacobians
-      {
-        // allocate stack variables for the first mjTRN_BODY
-        if (!efc_force) {
-          efc_force = mjSTACKALLOC(d, d->nefc, mjtNum);
-          moment_exclude = mjSTACKALLOC(d, nv, mjtNum);
-          jacdifp = mjSTACKALLOC(d, 3*nv, mjtNum);
-          jac1p = mjSTACKALLOC(d, 3*nv, mjtNum);
-          jac2p = mjSTACKALLOC(d, 3*nv, mjtNum);
-          chain = issparse ? mjSTACKALLOC(d, nv, int) : NULL;
-        }
-
-        // clear efc_force and moment_exclude
-        mju_zero(efc_force, d->nefc);
-        mju_zero(moment_exclude, nv);
-
-        // count all relevant contacts, accumulate Jacobians
-        int counter = 0, ncon = d->ncon;
-        for (int j=0; j < ncon; j++) {
-          const mjContact* con = d->contact+j;
-
-          // get geom ids
-          int g1 = con->geom[0];
-          int g2 = con->geom[1];
-
-          // contact involving flex, continue
-          if (g1 < 0 || g2 < 0) {
-            continue;
-          }
-
-          // get body ids
-          int b1 = m->geom_bodyid[g1];
-          int b2 = m->geom_bodyid[g2];
-
-          // irrelevant contact, continue
-          if (b1 != id && b2 != id) {
-            continue;
-          }
-
-          // mark contact normals in efc_force
-          if (!con->exclude) {
-            counter++;
-
-            // condim 1 or elliptic cones: normal is in the first row
-            if (con->dim == 1 || m->opt.cone == mjCONE_ELLIPTIC) {
-              efc_force[con->efc_address] = 1;
-            }
-
-            // pyramidal cones: average all pyramid directions
-            else {
-              int npyramid = con->dim-1;  // number of frictional directions
-              for (int k=0; k < 2*npyramid; k++) {
-                efc_force[con->efc_address+k] = 0.5/npyramid;
-              }
-            }
-          }
-
-          // excluded contact in gap: get sparse or dense Jacobian, accumulate
-          else if (con->exclude == 1) {
-            counter++;
-
-            // get Jacobian difference
-            int NV = mj_jacDifPair(m, d, chain, b1, b2, con->pos, con->pos,
-                                   jac1p, jac2p, jacdifp, NULL, NULL, NULL, issparse,
-                                   /*flg_skipcommon=*/0);
-
-            // project Jacobian along the normal of the contact frame
-            mju_mulMatMat(jac, con->frame, jacdifp, 1, 3, NV);
-
-            // accumulate in moment_exclude
-            if (issparse) {
-              for (int k=0; k < NV; k++) {
-                moment_exclude[chain[k]] += jac[k];
-              }
-            } else {
-              mju_addTo(moment_exclude, jac, nv);
-            }
-          }
-        }
-
-        // moment is average over contact normal Jacobians, make negative for adhesion
-        if (counter) {
-          // accumulate active contact Jacobians into moment
-          mj_mulJacTVec(m, d, moment_row, efc_force);
-
-          // add Jacobians from excluded contacts
-          mju_addTo(moment_row, moment_exclude, nv);
-
-          // normalize by total contacts, flip sign
-          mju_scl(moment_row, moment_row, -1.0/counter, nv);
-        }
-      }
-
-      // sparsity (compress)
-      nnz = 0;
-      for (int j = 0; j < nv; j++) {
-        if (moment_row[j]) {
-          moment[adr+nnz] = moment_row[j];
-          colind[adr+nnz] = j;
-          nnz++;
-        }
-      }
-      rownnz[out] = nnz;
-
-      break;
-
-    default:
-      mjERROR("unknown transmission type %d", m->actuator_trntype[i]);  // SHOULD NOT OCCUR
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-//-------------------------- inertia ---------------------------------------------------------------
-
-// add tendon armature to M
-void mj_tendonArmature(const mjModel* m, mjData* d) {
-  int nv = m->nv, ntendon = m->ntendon;
-  const int* M_rownnz = m->M_rownnz;
-  const int* M_rowadr = m->M_rowadr;
-  const int* M_colind = m->M_colind;
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < nv;
-
-  for (int k=0; k < ntendon; k++) {
-    // skip sleeping tendon
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_TENDON, k) == mjS_ASLEEP) {
-      continue;
-    }
-
-    mjtNum armature = m->tendon_armature[k] + mj_actuatorArmature(m, mjOBJ_TENDON, k);
-    if (!armature) {
-      continue;
-    }
-
-    // get sparse info for tendon k
-    int J_rowadr = m->ten_J_rowadr[k];
-    int J_rownnz = m->ten_J_rownnz[k];
-    const int* J_colind = m->ten_J_colind + J_rowadr;
-    mjtNum* ten_J = d->ten_J + J_rowadr;
-
-    // M += armature * ten_J' * ten_J
-    for (int j=0; j < J_rownnz; j++) {
-      mjtNum ten_J_i = ten_J[j];
-      if (!ten_J_i) {
-        continue;
-      }
-
-      // M[i,:] += armature * ten_J[i] * ten_J
-      int i = J_colind[j];
-      int M_adr = M_rowadr[i];
-      mju_addToSclSparseInc(d->M + M_adr, ten_J,
-                            M_rownnz[i], M_colind + M_adr,
-                            J_rownnz, J_colind, armature * ten_J_i);
-    }
-  }
-}
-
-
-// composite rigid body inertia algorithm
-void mj_crb(const mjModel* m, mjData* d) {
-  // outputs
-  mjtNum* crb = d->crb;
-  mjtNum* M   = d->M;
-
-  // inputs
-  const mjtNum* cinert        = d->cinert;
-  const mjtNum* cdof          = d->cdof;
-  const mjtNum* dof_M0        = m->dof_M0;
-  const mjtNum* dof_armature  = m->dof_armature;
-  const int* body_awake_ind   = d->body_awake_ind;
-  const int* parent_awake_ind = d->parent_awake_ind;
-  const int* dof_awake_ind    = d->dof_awake_ind;
-  const int* rownnz           = m->M_rownnz;
-  const int* rowadr           = m->M_rowadr;
-  const int* body_parentid    = m->body_parentid;
-  const int* dof_parentid     = m->dof_parentid;
-  const int* dof_simplenum    = m->dof_simplenum;
-  const int* dof_bodyid       = m->dof_bodyid;
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < m->nv;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-  int nparent = sleep_filter ? d->nparent_awake : m->nbody;
-  int nv = sleep_filter ? d->nv_awake : m->nv;
-
-  // crb = cinert
-  if (!sleep_filter) {
-    mju_copy(crb, cinert, 10*nbody);
-  } else {
-    mju_copyRows(crb, cinert, body_awake_ind, nbody, 10);
-  }
-
-  // backward pass over bodies, accumulate composite inertias
-  for (int b = nparent - 1; b >= 0; b--) {
-    int i = sleep_filter ? parent_awake_ind[b] : b;
-    if (body_parentid[i] > 0) {
-      mju_addTo(crb + 10*body_parentid[i], crb + 10*i, 10);
-    }
-  }
-
-  // clear M
-  if (!sleep_filter) {
-    mju_zero(M, m->nC);
-  } else {
-    mju_zeroSparse(M, rownnz, rowadr, dof_awake_ind, nv);
-  }
-
-  // dense forward pass over dofs
-  for (int v=0; v < nv; v++) {
-    int i = sleep_filter ? dof_awake_ind[v] : v;
-
-    // simple dof: fixed diagonal inertia
-    int adr = rowadr[i];
-    if (dof_simplenum[i]) {
-      M[adr] = dof_M0[i];
-      continue;
-    }
-
-    // init M(i,i) with armature inertia
-    int Madr_ij = adr + rownnz[i] - 1;
-    M[Madr_ij] = dof_armature[i] + mj_actuatorArmature(m, mjOBJ_JOINT, m->dof_jntid[i]);
-
-    // precompute buf = crb_body_i * cdof_i
-    mjtNum buf[6];
-    mju_mulInertVec(buf, crb+10*dof_bodyid[i], cdof+6*i);
-
-    // sparse backward pass over ancestors
-    for (int j=i; j >= 0; j = dof_parentid[j]) {
-      // M(i,j) += cdof_j * (crb_body_i * cdof_i)
-      M[Madr_ij--] += mji_dot6(cdof+6*j, buf);
-    }
-  }
-}
-
-
-void mj_makeM(const mjModel* m, mjData* d) {
-  TM_START;
-  mj_crb(m, d);
-  mj_tendonArmature(m, d);
-  TM_END(mjTIMER_POS_INERTIA);
-}
-
-
-// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
-void mj_factorM(const mjModel* m, mjData* d) {
-  TM_START;
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < m->nv;
-  const int* index;
-  int nv;
-
-  // no sleep filtering: copy everything
-  if (!sleep_filter) {
-    index = NULL;
-    nv = m->nv;
-    mju_copy(d->qLD, d->M, m->nC);
-  }
-
-  // sleep filtering: copy only awake dofs
-  else {
-    index = d->dof_awake_ind;
-    nv = d->nv_awake;
-    mju_copySparse(d->qLD, d->M, m->M_rownnz, m->M_rowadr, d->dof_awake_ind, d->nv_awake);
-  }
-
-  // factorize
-  mj_factorI(d->qLD, d->qLDiagInv, nv, m->M_rownnz, m->M_rowadr, m->M_colind, index);
-
-  TM_ADD(mjTIMER_POS_INERTIA);
-}
-
-
-// sparse L'*D*L factorizaton of inertia-like matrix M, assumed spd (with dof skipping)
-void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
-                const int* rownnz, const int* rowadr, const int* colind,
-                const int* index) {
-  // backward loop over rows
-  for (int j=nv-1; j >= 0; j--) {
-    int k = index ? index[j] : j;
-
-    // get row k's address, diagonal index, inverse diagonal value
-    int start = rowadr[k];
-    int diag = rownnz[k] - 1;
-    int end = start + diag;
-    mjtNum invD = 1 / mat[end];
-    if (diaginv) diaginv[k] = invD;
-
-    // update triangle above row k
-    for (int adr=end - 1; adr >= start; adr--) {
-      // update row i < k:  L(i, 0..i) -= L(i, 0..i) * L(k, i) / L(k, k)
-      int i = colind[adr];
-      mju_addToScl(mat + rowadr[i], mat + start, -mat[adr] * invD, rownnz[i]);
-    }
-
-    // update row k:  L(k, :) /= L(k, k)
-    mju_scl(mat + start, mat + start, invD, diag);
-  }
-}
-
-
-// in-place sparse backsubstitution:  x = inv(L'*D*L)*x  (with dof skipping)
-void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
-                const int* rownnz, const int* rowadr, const int* colind, const int* index) {
-  // x <- L^-T x
-  for (int k = nv - 1; k >= 0; k--) {
-    int i = index ? index[k] : k;
-
-    // skip diagonal rows
-    if (rownnz[i] == 1) {
-      continue;
-    }
-
-    // one vector
-    if (n == 1) {
-      mjtNum x_i;
-      if ((x_i = x[i])) {
-        int start = rowadr[i];
-        int end = start + rownnz[i] - 1;
-        for (int adr=start; adr < end; adr++) {
-          x[colind[adr]] -= qLD[adr] * x_i;
-        }
-      }
-    }
-
-    // multiple vectors
-    else {
-      int start = rowadr[i];
-      int end = start + rownnz[i] - 1;
-      for (int offset=0; offset < n*nv; offset+=nv) {
-        mjtNum x_i;
-        if ((x_i = x[i+offset])) {
-          for (int adr=start; adr < end; adr++) {
-            x[offset + colind[adr]] -= qLD[adr] * x_i;
-          }
-        }
-      }
-    }
-  }
-
-  // x <- D^-1 x
-  for (int k = 0; k < nv; k++) {
-    int i = index ? index[k] : k;
-
-    mjtNum invD_i = qLDiagInv[i];
-
-    // one vector
-    if (n == 1) {
-      x[i] *= invD_i;
-    }
-
-    // multiple vectors
-    else {
-      for (int offset=0; offset < n*nv; offset+=nv) {
-        x[i+offset] *= invD_i;
-      }
-    }
-  }
-
-  // x <- L^-1 x
-  for (int k = 0; k < nv; k++) {
-    int i = index ? index[k] : k;
-
-    // skip diagonal rows
-    if (rownnz[i] == 1) {
-      continue;
-    }
-
-    int d;
-    if ((d = rownnz[i] - 1) > 0) {
-      int adr = rowadr[i];
-
-      // one vector
-      if (n == 1) {
-        x[i] -= mju_dotSparse(qLD+adr, x, d, colind+adr);
-      }
-
-      // multiple vectors
-      else {
-        for (int offset=0; offset < n*nv; offset+=nv) {
-          x[i+offset] -= mju_dotSparse(qLD+adr, x+offset, d, colind+adr);
-        }
-      }
-    }
-  }
-}
-
-
-// sparse backsubstitution:  x = inv(L'*D*L)*y
-//  use factorization in d
-void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
-  if (x != y) {
-    mju_copy(x, y, n*m->nv);
-  }
-  mj_solveLD(x, d->qLD, d->qLDiagInv, m->nv, n, m->M_rownnz, m->M_rowadr, m->M_colind, NULL);
-}
-
-
-// half of sparse backsubstitution:  x = sqrt(inv(D))*inv(L')*y
-void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
-                const mjtNum* sqrtInvD, int n) {
-  int nv = m->nv;
-
-  // local copies of key variables
-  const int* rownnz = m->M_rownnz;
-  const int* rowadr = m->M_rowadr;
-  const int* colind = m->M_colind;
-  const int* diagnum = m->dof_simplenum;
-  const mjtNum* qLD = d->qLD;
-
-  // x = y
-  mju_copy(x, y, n * nv);
-
-  // x <- L^-T x
-  for (int i=nv-1; i > 0; i--) {
-    // skip diagonal rows
-    if (diagnum[i]) {
-      continue;
-    }
-
-    // prepare row i column address range
-    int start = rowadr[i];
-    int end = start + rownnz[i] - 1;
-
-    // process all vectors
-    for (int offset=0; offset < n*nv; offset+=nv) {
-      mjtNum x_i;
-      if ((x_i = x[i+offset])) {
-        for (int adr=start; adr < end; adr++) {
-          x[offset + colind[adr]] -= qLD[adr] * x_i;
-        }
-      }
-    }
-  }
-
-  // x <- D^-1/2 x
-  for (int i=0; i < nv; i++) {
-    mjtNum invD_i = sqrtInvD[i];
-    for (int offset=0; offset < n*nv; offset+=nv) {
-      x[i+offset] *= invD_i;
-    }
-  }
-}
-
-
-//---------------------------------- velocity ------------------------------------------------------
-
-// compute cvel, cdof_dot
-void mj_comVel(const mjModel* m, mjData* d) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-
-  // set world vel to 0
-  mju_zero(d->cvel, 6);
-
-  // forward pass over bodies
-  for (int b=1; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    // cvel = cvel_parent
-    mjtNum cvel[6];
-    mji_copy6(cvel, d->cvel+6*m->body_parentid[i]);
-
-    // cvel = cvel_parent + cdof * qvel,  cdofdot = cvel x cdof
-    int dofnum = m->body_dofnum[i];
-    int bda = m->body_dofadr[i];
-    mjtNum cdofdot[36];
-    for (int j=0; j < dofnum; j++) {
-      mjtNum tmp[6];
-
-      // compute cvel and cdofdot
-      switch ((mjtJoint) m->jnt_type[m->dof_jntid[bda+j]]) {
-      case mjJNT_FREE:
-        // cdofdot = 0
-        mju_zero(cdofdot, 18);
-
-        // update velocity
-        mju_mulDofVec(tmp, d->cdof+6*bda, d->qvel+bda, 3);
-        mju_addTo(cvel, tmp, 6);
-
-        // continue with rotations
-        j += 3;
-        mjFALLTHROUGH;
-
-      case mjJNT_BALL:
-        // compute all 3 cdofdots using parent velocity
-        mji_crossMotion(cdofdot+6*(j+0), cvel, d->cdof+6*(bda+j+0));
-        mji_crossMotion(cdofdot+6*(j+1), cvel, d->cdof+6*(bda+j+1));
-        mji_crossMotion(cdofdot+6*(j+2), cvel, d->cdof+6*(bda+j+2));
-
-        // update velocity
-        mju_mulDofVec(tmp, d->cdof+6*(bda+j), d->qvel+bda+j, 3);
-        mju_addTo(cvel, tmp, 6);
-
-        // adjust for 3-dof joint
-        j += 2;
-        break;
-
-      default:
-        // in principle we should use the new velocity to compute cdofdot,
-        // but it makes no difference because crossMotion(cdof, cdof) = 0,
-        // and using the old velocity may be more accurate numerically
-        mji_crossMotion(cdofdot+6*j, cvel, d->cdof+6*(bda+j));
-
-        // update velocity
-        mju_mulDofVec(tmp, d->cdof+6*(bda+j), d->qvel+bda+j, 1);
-        mju_addTo(cvel, tmp, 6);
-      }
-    }
-
-    // assign cvel, cdofdot
-    mji_copy6(d->cvel+6*i, cvel);
-    mju_copy(d->cdof_dot+6*bda, cdofdot, 6*dofnum);
-  }
-}
-
-
-// subtree linear velocity and angular momentum
-void mj_subtreeVel(const mjModel* m, mjData* d) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-
-  mj_markStack(d);
-  mjtNum* body_vel = mjSTACKALLOC(d, 6*m->nbody, mjtNum);
-
-  // bodywise quantities
-  for (int b=0; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    // compute and save body velocity
-    mj_objectVelocity(m, d, mjOBJ_BODY, i, body_vel+6*i, 0);
-
-    // body linear momentum
-    mju_scl3(d->subtree_linvel+3*i, body_vel+6*i+3, m->body_mass[i]);
-
-    // body angular momentum
-    mjtNum dv[3];
-    mju_mulMatTVec3(dv, d->ximat+9*i, body_vel+6*i);
-    dv[0] *= m->body_inertia[3*i];
-    dv[1] *= m->body_inertia[3*i+1];
-    dv[2] *= m->body_inertia[3*i+2];
-    mji_mulMatVec3(d->subtree_angmom+3*i, d->ximat+9*i, dv);
-  }
-
-  // subtree linear velocity
-  for (int b=nbody-1; b >= 0; b--) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    // non-world: add linear momentum to parent
-    if (i) {
-      mji_addTo3(d->subtree_linvel+3*m->body_parentid[i], d->subtree_linvel+3*i);
-    }
-
-    // convert linear momentum to linear velocity
-    mju_scl3(d->subtree_linvel+3*i, d->subtree_linvel+3*i,
-             1/mju_max(mjMINVAL, m->body_subtreemass[i]));
-  }
-
-  // subtree angular momentum
-  for (int b=nbody-1; b > 0; b--) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    int parent = m->body_parentid[i];
-
-    // momentum wrt body i
-    mjtNum dx[3], dv[3], dp[3], dL[3];
-    mju_sub3(dx, d->xipos+3*i, d->subtree_com+3*i);
-    mju_sub3(dv, body_vel+6*i+3, d->subtree_linvel+3*i);
-    mju_scl3(dp, dv, m->body_mass[i]);
-    mji_cross(dL, dx, dp);
-
-    // add to subtree i
-    mji_addTo3(d->subtree_angmom+3*i, dL);
-
-    // add to parent
-    mji_addTo3(d->subtree_angmom+3*parent, d->subtree_angmom+3*i);
-
-    // momentum wrt parent
-    mju_sub3(dx, d->subtree_com+3*i, d->subtree_com+3*parent);
-    mju_sub3(dv, d->subtree_linvel+3*i, d->subtree_linvel+3*parent);
-    mju_scl3(dv, dv, m->body_subtreemass[i]);
-    mji_cross(dL, dx, dv);
-
-    // add to parent
-    mji_addTo3(d->subtree_angmom+3*parent, dL);
-  }
-
-  mj_freeStack(d);
-
-  // mark as computed
-  d->flg_subtreevel = 1;
-}
-
-
-//---------------------------------- RNE -----------------------------------------------------------
-
-// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term
-void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-  int nparent = sleep_filter ? d->nparent_awake : m->nbody;
-  int nv = sleep_filter ? d->nv_awake : m->nv;
-
-  mj_markStack(d);
-  mjtNum* loc_cacc = mjSTACKALLOC(d, m->nbody*6, mjtNum);
-  mjtNum* loc_cfrc_body = mjSTACKALLOC(d, m->nbody*6, mjtNum);
-
-  // set world acceleration to -gravity
-  mju_zero(loc_cacc, 6);
-  if (!mjDISABLED(mjDSBL_GRAVITY)) {
-    mju_scl3(loc_cacc+3, m->opt.gravity, -1);
-  }
-
-  // forward pass over bodies: accumulate cacc, set cfrc_body
-  for (int b=1; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    // get body's first dof address
-    int bda = m->body_dofadr[i];
-
-    // cacc = cacc_parent + cdofdot * qvel
-    mjtNum tmp[6];
-    mju_mulDofVec(tmp, d->cdof_dot+6*bda, d->qvel+bda, m->body_dofnum[i]);
-    mju_add(loc_cacc+6*i, loc_cacc+6*m->body_parentid[i], tmp, 6);
-
-    // cacc += cdof * qacc
-    if (flg_acc) {
-      mju_mulDofVec(tmp, d->cdof+6*bda, d->qacc+bda, m->body_dofnum[i]);
-      mju_addTo(loc_cacc+6*i, tmp, 6);
-    }
-
-    // cfrc_body = cinert * cacc + cvel x (cinert * cvel)
-    mju_mulInertVec(loc_cfrc_body+6*i, d->cinert+10*i, loc_cacc+6*i);
-    mju_mulInertVec(tmp, d->cinert+10*i, d->cvel+6*i);
-    mjtNum tmp1[6];
-    mji_crossForce(tmp1, d->cvel+6*i, tmp);
-    mju_addTo(loc_cfrc_body+6*i, tmp1, 6);
-  }
-
-  // clear world cfrc_body
-  mju_zero(loc_cfrc_body, 6);
-
-  // backward pass over bodies: accumulate cfrc_body from children
-  for (int b=nparent-1; b > 0; b--) {
-    int i = sleep_filter ? d->parent_awake_ind[b] : b;
-    int j = m->body_parentid[i];
-
-    if (j) {
-      mju_addTo(loc_cfrc_body+6*j, loc_cfrc_body+6*i, 6);
-    }
-  }
-
-  // result = cdof * cfrc_body
-  for (int v=0; v < nv; v++) {
-    int i = sleep_filter ? d->dof_awake_ind[v] : v;
-    result[i] = mji_dot6(d->cdof+6*i, loc_cfrc_body+6*m->dof_bodyid[i]);
-  }
-
-  mj_freeStack(d);
-}
-
-
-// RNE with complete data: compute cacc, cfrc_ext, cfrc_int
-void mj_rnePostConstraint(const mjModel* m, mjData* d) {
-  int nbody = m->nbody;
-  mjtNum cfrc_com[6], cfrc[6], lfrc[6];
-  mjContact* con;
-
-  // clear cacc, set world acceleration to -gravity
-  mju_zero(d->cacc, 6);
-  if (!mjDISABLED(mjDSBL_GRAVITY)) {
-    mju_scl3(d->cacc+3, m->opt.gravity, -1);
-  }
-
-  // cfrc_ext = perturb
-  mju_zero(d->cfrc_ext, 6*nbody);
-  for (int i=1; i < nbody; i++) {
-    if (!mju_isZero(d->xfrc_applied+6*i, 6)) {
-      // rearrange as torque:force
-      mji_copy3(cfrc, d->xfrc_applied+6*i+3);
-      mji_copy3(cfrc+3, d->xfrc_applied+6*i);
-
-      // map force from application point to com; both world-oriented
-      mju_transformSpatial(cfrc_com, cfrc, 1, d->subtree_com+3*m->body_rootid[i], d->xipos+3*i, 0);
-
-      // accumulate
-      mju_addTo(d->cfrc_ext+6*i, cfrc_com, 6);
-    }
-  }
-
-  // cfrc_ext += contacts
-  int ncon = d->ncon;
-  for (int i=0; i < ncon; i++) {
-    // get contact pointer
-    con = d->contact+i;
-
-    // skip excluded contacts
-    if (con->efc_address < 0) {
-      continue;
-    }
-
-    // skip contact involving flex
-    if (con->geom[0] < 0 || con->geom[1] < 0) {
-      continue;
-    }
-
-    // tmp = contact-local force:torque vector
-    mj_contactForce(m, d, i, lfrc);
-
-    // cfrc = world-oriented torque:force vector (swap in the process)
-    mju_mulMatTVec3(cfrc, con->frame, lfrc+3);
-    mju_mulMatTVec3(cfrc+3, con->frame, lfrc);
-
-    // body 1
-    int k;
-    if ((k = m->geom_bodyid[con->geom[0]])) {
-      // tmp = subtree CoM-based torque_force vector
-      mju_transformSpatial(cfrc_com, cfrc, 1, d->subtree_com+3*m->body_rootid[k], con->pos, 0);
-
-      // apply (opposite for body 1)
-      mju_subFrom(d->cfrc_ext+6*k, cfrc_com, 6);
-    }
-
-    // body 2
-    if ((k = m->geom_bodyid[con->geom[1]])) {
-      // tmp = subtree CoM-based torque_force vector
-      mju_transformSpatial(cfrc_com, cfrc, 1, d->subtree_com+3*m->body_rootid[k], con->pos, 0);
-
-      // apply
-      mju_addTo(d->cfrc_ext+6*k, cfrc_com, 6);
-    }
-  }
-
-  // cfrc_ext += connect, weld, flex constraints
-  int i = 0, ne = d->ne;
-  while (i < ne) {
-    if (d->efc_type[i] != mjCNSTR_EQUALITY) {
-      mjERROR("row %d of efc is not an equality constraint", i);  // SHOULD NOT OCCUR
-    }
-
-    int id = d->efc_id[i];
-    mjtNum* eq_data = m->eq_data + mjNEQDATA*id;
-    mjtNum pos[3], *offset;
-    int k, obj1, obj2, body_semantic;
-    switch ((mjtEq) m->eq_type[id]) {
-    case mjEQ_CONNECT:
-    case mjEQ_WELD:
-      // cfrc = world-oriented torque:force vector
-      mji_copy3(cfrc + 3, d->efc_force + i);
-      if (m->eq_type[id] == mjEQ_WELD) {
-        mji_copy3(cfrc, d->efc_force + i + 3);
-      } else {
-        mju_zero3(cfrc);  // no torque from connect
-      }
-
-      body_semantic = m->eq_objtype[id] == mjOBJ_BODY;
-
-      // body 1
-      obj1 = m->eq_obj1id[id];
-      k = body_semantic ? obj1 : m->site_bodyid[obj1];
-      if (k) {
-        offset = body_semantic ? eq_data + 3 * (m->eq_type[id] == mjEQ_WELD) :
-                                 m->site_pos + 3 * obj1;
-
-        // transform point on body1: local -> global
-        mj_local2Global(d, pos, 0, offset, 0, k, 0);
-
-        // tmp = subtree CoM-based torque_force vector
-        mju_transformSpatial(cfrc_com, cfrc, 1, d->subtree_com+3*m->body_rootid[k], pos, 0);
-
-        // apply (opposite for body 1)
-        mju_addTo(d->cfrc_ext+6*k, cfrc_com, 6);
-      }
-
-      // body 2
-      obj2 = m->eq_obj2id[id];
-      k = body_semantic ? obj2 : m->site_bodyid[obj2];
-      if (k) {
-        offset = body_semantic ? eq_data + 3 * (m->eq_type[id] == mjEQ_CONNECT) :
-                                 m->site_pos + 3 * obj2;
-
-        // transform point on body2: local -> global
-        mj_local2Global(d, pos, 0, offset, 0, k, 0);
-
-        // tmp = subtree CoM-based torque_force vector
-        mju_transformSpatial(cfrc_com, cfrc, 1, d->subtree_com+3*m->body_rootid[k], pos, 0);
-
-        // apply
-        mju_subFrom(d->cfrc_ext+6*k, cfrc_com, 6);
-      }
-
-      // increment rows
-      i += m->eq_type[id] == mjEQ_WELD ? 6 : 3;
-      break;
-
-    case mjEQ_JOINT:
-    case mjEQ_TENDON:
-      // increment 1 row
-      i++;
-      break;
-
-    case mjEQ_FLEX:
-      // increment with number of non-rigid edges
-      k = m->eq_obj1id[id];
-      int flex_edgeadr = m->flex_edgeadr[k];
-      int flex_edgenum = m->flex_edgenum[k];
-
-      for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
-        if (!m->flexedge_rigid[e]) {
-          i++;
-        }
-      }
-      break;
-
-    case mjEQ_FLEXVERT:
-      k = m->eq_obj1id[id];
-      i += 2*m->flex_vertnum[k];
-      break;
-
-    case mjEQ_FLEXSTRAIN: {
-      // increment: trilinear uses 2 center (I1,J-1) + 3*ngauss shear, quadratic uses 6*ngauss
-      k = m->eq_obj1id[id];
-      int interp_k = m->flex_interp[k];
-      int order = interp_k < 0 ? -interp_k : interp_k;
-      int nodenum = m->flex_nodenum[k];
-      if (order && nodenum) {
-        int nquad = order + 1;
-        int ngauss = nquad * nquad * nquad;
-        int ncells = m->flex_cellnum[3*k+0]
-                   * m->flex_cellnum[3*k+1]
-                   * m->flex_cellnum[3*k+2];
-        i += ncells * ((order == 1) ? (2 + 3 * ngauss) : (6 * ngauss));
-      }
-      break;
-    }
-
-    default:
-      mjERROR("unknown constraint type type %d", m->eq_type[id]);    // SHOULD NOT OCCUR
-    }
-  }
-
-  // forward pass over bodies: compute cacc, cfrc_int
-  mjtNum cacc[6], cfrc_body[6], cfrc_corr[6];
-  mju_zero(d->cfrc_int, 6);
-  for (int j=1; j < nbody; j++) {
-    // get body's first dof address
-    int bda = m->body_dofadr[j];
-
-    // cacc = cacc_parent + cdofdot * qvel + cdof * qacc
-    mju_mulDofVec(cacc, d->cdof_dot+6*bda, d->qvel+bda, m->body_dofnum[j]);
-    mju_add(d->cacc+6*j, d->cacc+6*m->body_parentid[j], cacc, 6);
-    mju_mulDofVec(cacc, d->cdof+6*bda, d->qacc+bda, m->body_dofnum[j]);
-    mju_addTo(d->cacc+6*j, cacc, 6);
-
-    // cfrc_body = cinert * cacc + cvel x (cinert * cvel)
-    mju_mulInertVec(cfrc_body, d->cinert+10*j, d->cacc+6*j);
-    mju_mulInertVec(cfrc_corr, d->cinert+10*j, d->cvel+6*j);
-    mji_crossForce(cfrc, d->cvel+6*j, cfrc_corr);
-    mju_addTo(cfrc_body, cfrc, 6);
-
-    // set cfrc_int = cfrc_body - cfrc_ext
-    mju_sub(d->cfrc_int+6*j, cfrc_body, d->cfrc_ext+6*j, 6);
-  }
-
-  // backward pass over bodies: accumulate cfrc_int from children
-  for (int j=nbody-1; j > 0; j--) {
-    mju_addTo(d->cfrc_int+6*m->body_parentid[j], d->cfrc_int+6*j, 6);
-  }
-
-  // mark as computed
-  d->flg_rnepost = 1;
-}
-
-
-// add bias force due to tendon armature
-void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-  int ntendon = m->ntendon;
-
-  // add bias term due to tendon armature
-  for (int i=0; i < ntendon; i++) {
-    // skip sleeping tendon
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_TENDON, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    mjtNum armature = m->tendon_armature[i] + mj_actuatorArmature(m, mjOBJ_TENDON, i);
-
-    // no armature: skip
-    if (!armature) {
-      continue;
-    }
-
-    // get d/dt(tendon Jacobian) dotted with qvel for tendon i
-    mjtNum dot = mj_tendonDot(m, d, i, d->qvel);
-
-    // add bias term:  qfrc += ten_J * armature * dot(ten_Jdot, qvel)
-    mjtNum coef = armature * dot;
-
-    if (coef) {
-      // sparse
-      int nnz = m->ten_J_rownnz[i];
-      int adr = m->ten_J_rowadr[i];
-      const int* colind = m->ten_J_colind + adr;
-      const mjtNum* ten_J = d->ten_J + adr;
-      for (int j=0; j < nnz; j++) {
-        qfrc[colind[j]] += coef * ten_J[j];
-      }
-    }
-  }
-}
diff --git a/src/engine/engine_core_smooth.h b/src/engine/engine_core_smooth.h
deleted file mode 100644
index 9ecf73d3..00000000
--- a/src/engine/engine_core_smooth.h
+++ /dev/null
@@ -1,114 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-//-------------------------- position --------------------------------------------------------------
-
-// forward kinematics part 1: bodies
-void mj_kinematics1(const mjModel* m, mjData* d);
-
-// forward kinematics part 2: body inertias, geoms and sites
-void mj_kinematics2(const mjModel* m, mjData* d);
-
-// forward kinematics
-MJAPI void mj_kinematics(const mjModel* m, mjData* d);
-
-// map inertias and motion dofs to global frame centered at CoM
-MJAPI void mj_comPos(const mjModel* m, mjData* d);
-
-// compute camera and light positions and orientations
-MJAPI void mj_camlight(const mjModel* m, mjData* d);
-
-// compute flex-related quantities
-MJAPI void mj_flex(const mjModel* m, mjData* d);
-
-// compute tendon lengths, velocities and moment arms
-MJAPI void mj_tendon(const mjModel* m, mjData* d);
-
-// return dot product of tendon Jacobian time derivative with vector
-MJAPI mjtNum mj_tendonDot(const mjModel* m, mjData* d, int id, const mjtNum* vec);
-
-// compute actuator transmission lengths and moments
-MJAPI void mj_transmission(const mjModel* m, mjData* d);
-
-
-//-------------------------- inertia ---------------------------------------------------------------
-
-// composite rigid body inertia algorithm
-MJAPI void mj_crb(const mjModel* m, mjData* d);
-
-// add tendon armature to M
-MJAPI void mj_tendonArmature(const mjModel* m, mjData* d);
-
-// make inertia matrix
-MJAPI void mj_makeM(const mjModel* m, mjData* d);
-
-// sparse L'*D*L factorizaton of inertia-like matrix (only dofs in index, if given)
-MJAPI void mj_factorI(mjtNum* mat, mjtNum* diaginv, int nv,
-                      const int* rownnz, const int* rowadr, const int* colind, const int* index);
-
-// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
-MJAPI void mj_factorM(const mjModel* m, mjData* d);
-
-// in-place sparse backsubstitution (only dofs in index, if given):  x = inv(L'*D*L)*x
-//  handle n vectors at once
-MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
-                      const int* rownnz, const int* rowadr, const int* colind, const int* index);
-
-// sparse backsubstitution:  x = inv(L'*D*L)*y, use factorization in d
-MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
-
-// half of sparse backsubstitution:  x = sqrt(inv(D))*inv(L')*y
-MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
-                      const mjtNum* sqrtInvD, int n);
-
-
-//-------------------------- velocity --------------------------------------------------------------
-
-// compute cvel, cdof_dot
-MJAPI void mj_comVel(const mjModel* m, mjData* d);
-
-// subtree linear velocity and angular momentum
-MJAPI void mj_subtreeVel(const mjModel* m, mjData* d);
-
-
-//-------------------------- RNE -------------------------------------------------------------------
-
-// RNE: compute M(qpos)*qacc + C(qpos,qvel); flg_acc=0 removes inertial term
-MJAPI void mj_rne(const mjModel* m, mjData* d, int flg_acc, mjtNum* result);
-
-// RNE with complete data: compute cacc, cfrc_ext, cfrc_int
-MJAPI void mj_rnePostConstraint(const mjModel* m, mjData* d);
-
-
-//-------------------------- tendon bias -----------------------------------------------------------
-
-// add bias force due to tendon armature
-MJAPI void mj_tendonBias(const mjModel* m, mjData* d, mjtNum* qfrc);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_CORE_SMOOTH_H_
diff --git a/src/engine/engine_core_util.c b/src/engine/engine_core_util.c
deleted file mode 100644
index 0c560490..00000000
--- a/src/engine/engine_core_util.c
+++ /dev/null
@@ -1,1238 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_core_util.h"
-
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include "engine/engine_inline.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse.h"
-#include "engine/engine_util_spatial.h"
-
-
-
-// determine type of constraint Jacobian
-int mj_isSparse(const mjModel* m) {
-  if (m->opt.jacobian == mjJAC_SPARSE ||
-      (m->opt.jacobian == mjJAC_AUTO && m->nv >= 60)) {
-    return 1;
-  } else {
-    return 0;
-  }
-}
-
-
-// determine type of friction cone
-int mj_isPyramidal(const mjModel* m) {
-  if (m->opt.cone == mjCONE_PYRAMIDAL) {
-    return 1;
-  } else {
-    return 0;
-  }
-}
-
-
-//-------------------------- sparse chains ---------------------------------------------------------
-
-// merge dof chains for two bodies
-int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2, int flg_skipcommon) {
-  int da1, da2, NV = 0;
-
-  // skip fixed bodies
-  b1 = m->body_weldid[b1];
-  b2 = m->body_weldid[b2];
-
-  // neither weld root has dofs: empty chain
-  if (m->body_dofnum[b1] == 0 && m->body_dofnum[b2] == 0) {
-    return 0;
-  }
-
-  // initialize last dof address for each body
-  da1 = m->body_dofadr[b1] + m->body_dofnum[b1] - 1;
-  da2 = m->body_dofadr[b2] + m->body_dofnum[b2] - 1;
-
-  // merge chains
-  while (da1 >= 0 || da2 >= 0) {
-    int da = mjMAX(da1, da2);
-    if (flg_skipcommon && da1 == da && da2 == da) {
-      break;
-    }
-    chain[NV] = da;
-    if (da1 == da) {
-      da1 = m->dof_parentid[da1];
-    }
-    if (da2 == da) {
-      da2 = m->dof_parentid[da2];
-    }
-    NV++;
-  }
-
-  // reverse order of chain: make it increasing
-  for (int i=0; i < NV/2; i++) {
-    int tmp = chain[i];
-    chain[i] = chain[NV-i-1];
-    chain[NV-i-1] = tmp;
-  }
-
-  return NV;
-}
-
-
-// merge dof chains for two simple bodies
-int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2) {
-  // swap bodies if wrong order
-  if (b1 > b2) {
-    int tmp = b1;
-    b1 = b2;
-    b2 = tmp;
-  }
-
-  // init
-  int n1 = m->body_dofnum[b1];
-  int n2 = m->body_dofnum[b2];
-
-  // both fixed: nothing to do
-  if (n1 == 0 && n2 == 0) {
-    return 0;
-  }
-
-  // copy b1 dofs
-  for (int i=0; i < n1; i++) {
-    chain[i] = m->body_dofadr[b1] + i;
-  }
-
-  // copy b2 dofs
-  for (int i=0; i < n2; i++) {
-    chain[n1+i] = m->body_dofadr[b2] + i;
-  }
-
-  return (n1+n2);
-}
-
-
-// get body chain
-int mj_bodyChain(const mjModel* m, int body, int* chain) {
-  // simple body
-  if (m->body_simple[body]) {
-    int dofnum = m->body_dofnum[body];
-    for (int i=0; i < dofnum; i++) {
-      chain[i] = m->body_dofadr[body] + i;
-    }
-    return dofnum;
-  }
-
-  // general case
-  else {
-    // skip fixed bodies
-    body = m->body_weldid[body];
-
-    // weld root has no dofs: empty chain
-    if (m->body_dofnum[body] == 0) {
-      return 0;
-    }
-
-    // initialize last dof
-    int da = m->body_dofadr[body] + m->body_dofnum[body] - 1;
-    int NV = 0;
-
-    // construct chain from child to parent
-    while (da >= 0) {
-      chain[NV++] = da;
-      da = m->dof_parentid[da];
-    }
-
-    // reverse order of chain: make it increasing
-    for (int i=0; i < NV/2; i++) {
-      int tmp = chain[i];
-      chain[i] = chain[NV-i-1];
-      chain[NV-i-1] = tmp;
-    }
-
-    return NV;
-  }
-}
-
-
-//-------------------------- Jacobians -------------------------------------------------------------
-
-// compute 3/6-by-nv Jacobian of global point attached to given body
-void mj_jac(const mjModel* m, const mjData* d,
-            mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body) {
-  int nv = m->nv;
-  mjtNum offset[3];
-
-  // clear jacobians, compute offset if required
-  if (jacp) {
-    mju_zero(jacp, 3*nv);
-    mju_sub3(offset, point, d->subtree_com+3*m->body_rootid[body]);
-  }
-  if (jacr) {
-    mju_zero(jacr, 3*nv);
-  }
-
-  // skip fixed bodies
-  body = m->body_weldid[body];
-
-  // weld root has no dofs: nothing to do
-  if (m->body_dofnum[body] == 0) {
-    return;
-  }
-
-  // get last dof that affects this (as well as the original) body
-  int i = m->body_dofadr[body] + m->body_dofnum[body] - 1;
-
-  // backward pass over dof ancestor chain
-  while (i >= 0) {
-    mjtNum* cdof = d->cdof+6*i;
-
-    // construct rotation jacobian
-    if (jacr) {
-      jacr[i+0*nv] = cdof[0];
-      jacr[i+1*nv] = cdof[1];
-      jacr[i+2*nv] = cdof[2];
-    }
-
-    // construct translation jacobian (correct for rotation)
-    if (jacp) {
-      mjtNum tmp[3];
-      mji_cross(tmp, cdof, offset);
-      jacp[i+0*nv] = cdof[3] + tmp[0];
-      jacp[i+1*nv] = cdof[4] + tmp[1];
-      jacp[i+2*nv] = cdof[5] + tmp[2];
-    }
-
-    // advance to parent dof
-    i = m->dof_parentid[i];
-  }
-}
-
-
-// compute body Jacobian
-void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body) {
-  mj_jac(m, d, jacp, jacr, d->xpos+3*body, body);
-}
-
-
-// compute body-com Jacobian
-void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body) {
-  mj_jac(m, d, jacp, jacr, d->xipos+3*body, body);
-}
-
-
-// compute subtree-com Jacobian
-void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body) {
-  int nv = m->nv;
-  mj_markStack(d);
-  mjtNum* jacp_b = mjSTACKALLOC(d, 3*nv, mjtNum);
-
-  // clear output
-  mju_zero(jacp, 3*nv);
-
-  // forward pass starting from body
-  for (int b=body; b < m->nbody; b++) {
-    // end of body subtree, break from the loop
-    if (b > body && m->body_parentid[b] < body) {
-      break;
-    }
-
-    // b is in the body subtree, add mass-weighted Jacobian into jacp
-    mj_jac(m, d, jacp_b, NULL, d->xipos+3*b, b);
-    mju_addToScl(jacp, jacp_b, m->body_mass[b], 3*nv);
-  }
-
-  // normalize by subtree mass
-  mju_scl(jacp, jacp, 1/m->body_subtreemass[body], 3*nv);
-
-  mj_freeStack(d);
-}
-
-
-// compute geom Jacobian
-void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom) {
-  mj_jac(m, d, jacp, jacr, d->geom_xpos + 3*geom, m->geom_bodyid[geom]);
-}
-
-
-// compute site Jacobian
-void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site) {
-  mj_jac(m, d, jacp, jacr, d->site_xpos + 3*site, m->site_bodyid[site]);
-}
-
-
-// compute translation Jacobian of point, and rotation Jacobian of axis
-void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis,
-                     const mjtNum point[3], const mjtNum axis[3], int body) {
-  int nv = m->nv;
-
-  // get full Jacobian of point
-  mj_markStack(d);
-  mjtNum* jacp = (jacPoint ? jacPoint : mjSTACKALLOC(d, 3*nv, mjtNum));
-  mjtNum* jacr = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mj_jac(m, d, jacp, jacr, point, body);
-
-  // jacAxis_col = cross(jacr_col, axis)
-  if (jacAxis) {
-    for (int i=0; i < nv; i++) {
-      jacAxis[     i] = jacr[  nv+i]*axis[2] - jacr[2*nv+i]*axis[1];
-      jacAxis[  nv+i] = jacr[2*nv+i]*axis[0] - jacr[     i]*axis[2];
-      jacAxis[2*nv+i] = jacr[     i]*axis[1] - jacr[  nv+i]*axis[0];
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// compute 3/6-by-nv sparse Jacobian of global point attached to given body
-void mj_jacSparse(const mjModel* m, const mjData* d,
-                  mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
-                  int NV, const int* chain, int flg_skipcommon) {
-  // clear jacobians
-  if (jacp) {
-    mju_zero(jacp, 3*NV);
-  }
-  if (jacr) {
-    mju_zero(jacr, 3*NV);
-  }
-
-  // compute point-com offset
-  mjtNum offset[3];
-  mju_sub3(offset, point, d->subtree_com+3*m->body_rootid[body]);
-
-  // skip fixed bodies
-  body = m->body_weldid[body];
-
-  // weld root has no dofs: nothing to do
-  if (m->body_dofnum[body] == 0) {
-    return;
-  }
-
-  // get last dof that affects this (as well as the original) body
-  int da = m->body_dofadr[body] + m->body_dofnum[body] - 1;
-
-  // start and the end of the chain (chain is in increasing order)
-  int ci = NV-1;
-
-  // backward pass over dof ancestor chain
-  while (da >= 0) {
-    // find chain index for this dof
-    while (ci >= 0 && chain[ci] > da) {
-      ci--;
-    }
-
-    // dof not in chain: skip if shared dofs are excluded, otherwise SHOULD NOT OCCUR
-    if (ci < 0 || chain[ci] != da) {
-      if (flg_skipcommon) {
-        da = m->dof_parentid[da];
-        continue;
-      }
-      mjERROR("dof index %d not found in chain", da);
-    }
-
-    const mjtNum* cdof = d->cdof + 6*da;
-
-    // construct rotation jacobian
-    if (jacr) {
-      jacr[ci+0*NV] = cdof[0];
-      jacr[ci+1*NV] = cdof[1];
-      jacr[ci+2*NV] = cdof[2];
-    }
-
-    // construct translation jacobian (correct for rotation)
-    if (jacp) {
-      mjtNum tmp[3];
-      mji_cross(tmp, cdof, offset);
-
-      jacp[ci+0*NV] = cdof[3] + tmp[0];
-      jacp[ci+1*NV] = cdof[4] + tmp[1];
-      jacp[ci+2*NV] = cdof[5] + tmp[2];
-    }
-
-    // advance to parent dof
-    da = m->dof_parentid[da];
-  }
-}
-
-
-// sparse Jacobian difference for simple body contacts
-void mj_jacSparseSimple(const mjModel* m, const mjData* d,
-                        mjtNum* jacdifp, mjtNum* jacdifr, const mjtNum* point,
-                        int body, int flg_second, int NV, int start) {
-  // compute point-com offset
-  mjtNum offset[3];
-  mju_sub3(offset, point, d->subtree_com+3*m->body_rootid[body]);
-
-  // skip fixed body
-  if (!m->body_dofnum[body]) {
-    return;
-  }
-
-  // process dofs
-  int ci = start;
-  int end = m->body_dofadr[body] + m->body_dofnum[body];
-  for (int da=m->body_dofadr[body]; da < end; da++) {
-    mjtNum *cdof = d->cdof+6*da;
-
-    // construct rotation jacobian
-    if (jacdifr) {
-      // plus sign
-      if (flg_second) {
-        jacdifr[ci+0*NV] = cdof[0];
-        jacdifr[ci+1*NV] = cdof[1];
-        jacdifr[ci+2*NV] = cdof[2];
-      }
-
-      // minus sign
-      else {
-        jacdifr[ci+0*NV] = -cdof[0];
-        jacdifr[ci+1*NV] = -cdof[1];
-        jacdifr[ci+2*NV] = -cdof[2];
-      }
-    }
-
-    // construct translation jacobian (correct for rotation)
-    if (jacdifp) {
-      mjtNum tmp[3];
-      mji_cross(tmp, cdof, offset);
-
-      // plus sign
-      if (flg_second) {
-        jacdifp[ci+0*NV] = (cdof[3] + tmp[0]);
-        jacdifp[ci+1*NV] = (cdof[4] + tmp[1]);
-        jacdifp[ci+2*NV] = (cdof[5] + tmp[2]);
-      }
-
-      // minus sign
-      else {
-        jacdifp[ci+0*NV] = -(cdof[3] + tmp[0]);
-        jacdifp[ci+1*NV] = -(cdof[4] + tmp[1]);
-        jacdifp[ci+2*NV] = -(cdof[5] + tmp[2]);
-      }
-    }
-
-    // advance jacdif counter
-    ci++;
-  }
-}
-
-
-// dense or sparse Jacobian difference for two body points: pos2 - pos1, global
-int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
-                  int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
-                  mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
-                  mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr,
-                  int issparse, int flg_skipcommon) {
-  int issimple = (m->body_simple[b1] && m->body_simple[b2]);
-  int NV = m->nv;
-
-  // skip if no DOFs
-  if (!NV) {
-    return 0;
-  }
-
-  // construct merged chain of body dofs
-  if (issparse) {
-    if (issimple) {
-      NV = mj_mergeChainSimple(m, chain, b1, b2);
-    } else {
-      NV = mj_mergeChain(m, chain, b1, b2, flg_skipcommon);
-    }
-  }
-
-  // skip if empty chain
-  if (!NV) {
-    return 0;
-  }
-
-  // count-only mode
-  if (!jacdifp && !jacdifr && !jac1p && !jac1r) {
-    return NV;
-  }
-
-  // sparse case
-  if (issparse) {
-    // simple: fast processing
-    if (issimple) {
-      // first body
-      mj_jacSparseSimple(m, d, jacdifp, jacdifr, pos1, b1, 0, NV,
-                         b1 < b2 ? 0 : m->body_dofnum[b2]);
-
-      // second body
-      mj_jacSparseSimple(m, d, jacdifp, jacdifr, pos2, b2, 1, NV,
-                         b2 < b1 ? 0 : m->body_dofnum[b1]);
-    }
-
-    // regular processing
-    else {
-      // Jacobians
-      mj_jacSparse(m, d, jac1p, jac1r, pos1, b1, NV, chain, flg_skipcommon);
-      mj_jacSparse(m, d, jac2p, jac2r, pos2, b2, NV, chain, flg_skipcommon);
-
-      // differences
-      if (jacdifp) {
-        mju_sub(jacdifp, jac2p, jac1p, 3*NV);
-      }
-      if (jacdifr) {
-        mju_sub(jacdifr, jac2r, jac1r, 3*NV);
-      }
-    }
-  }
-
-  // dense case
-  else {
-    // Jacobians
-    mj_jac(m, d, jac1p, jac1r, pos1, b1);
-    mj_jac(m, d, jac2p, jac2r, pos2, b2);
-
-    // differences
-    if (jacdifp) {
-      mju_sub(jacdifp, jac2p, jac1p, 3*NV);
-    }
-    if (jacdifr) {
-      mju_sub(jacdifr, jac2r, jac1r, 3*NV);
-    }
-  }
-
-  return NV;
-}
-
-
-// dense or sparse weighted sum of multiple body Jacobians at same point
-int mj_jacSum(const mjModel* m, mjData* d, int* chain,
-              int n, const int* body, const mjtNum* weight,
-              const mjtNum point[3], mjtNum* jacp, mjtNum* jacr, int flg_rot) {
-  int nv = m->nv, NV;
-
-  mj_markStack(d);
-  mjtNum* jtmp = mjSTACKALLOC(d, flg_rot ? 6*nv : 3*nv, mjtNum);
-
-  // sparse
-  if (mj_isSparse(m)) {
-    // the sparse merge produces one packed [jacp; jacr] block; split into the outputs at the end
-    mjtNum* jac = mjSTACKALLOC(d, flg_rot ? 6*nv : 3*nv, mjtNum);
-    mjtNum* buf = mjSTACKALLOC(d, flg_rot ? 6*nv : 3*nv, mjtNum);
-    int* buf_ind = mjSTACKALLOC(d, nv, int);
-    int* bodychain = mjSTACKALLOC(d, nv, int);
-
-    // set first (rotational rows packed right after the translational rows, at offset 3*NV)
-    NV = mj_bodyChain(m, body[0], chain);
-    if (NV) {
-      // get Jacobian
-      mjtNum* jr = flg_rot ? jac + 3*NV : NULL;
-      if (m->body_simple[body[0]]) {
-        mj_jacSparseSimple(m, d, jac, jr, point, body[0], 1, NV, 0);
-      } else {
-        mj_jacSparse(m, d, jac, jr, point, body[0], NV, chain, /*flg_skipcommon=*/0);
-      }
-
-      // apply weight
-      mju_scl(jac, jac, weight[0], flg_rot ? 6*NV : 3*NV);
-    }
-
-    // accumulate remaining
-    for (int i=1; i < n; i++) {
-      // get body chain and Jacobian
-      int bodyNV = mj_bodyChain(m, body[i], bodychain);
-      if (!bodyNV) {
-        continue;
-      }
-      mjtNum* jr = flg_rot ? jtmp + 3*bodyNV : NULL;
-      if (m->body_simple[body[i]]) {
-        mj_jacSparseSimple(m, d, jtmp, jr, point, body[i], 1, bodyNV, 0);
-      } else {
-        mj_jacSparse(m, d, jtmp, jr, point, body[i], bodyNV, bodychain, /*flg_skipcommon=*/0);
-      }
-
-      // combine sparse matrices
-      NV = mju_addToSparseMat(jac, jtmp, nv, flg_rot ? 6 : 3, weight[i],
-                              NV, bodyNV, chain, bodychain, buf, buf_ind);
-    }
-
-    // split the packed block into the separate output buffers (each NV-packed)
-    mju_copy(jacp, jac, 3*NV);
-    if (flg_rot) {
-      mju_copy(jacr, jac + 3*NV, 3*NV);
-    }
-  }
-
-  // dense
-  else {
-    mjtNum* jr = flg_rot ? jtmp + 3*nv : NULL;
-
-    // set first
-    mj_jac(m, d, jacp, flg_rot ? jacr : NULL, point, body[0]);
-    mju_scl(jacp, jacp, weight[0], 3*nv);
-    if (flg_rot) {
-      mju_scl(jacr, jacr, weight[0], 3*nv);
-    }
-
-    // accumulate remaining
-    for (int i=1; i < n; i++) {
-      mj_jac(m, d, jtmp, jr, point, body[i]);
-      mju_addToScl(jacp, jtmp, weight[i], 3*nv);
-      if (flg_rot) {
-        mju_addToScl(jacr, jr, weight[i], 3*nv);
-      }
-    }
-
-    NV = nv;
-  }
-
-  mj_freeStack(d);
-
-  return NV;
-}
-
-
-// compute 3/6-by-nv Jacobian time derivative of global point attached to given body
-void mj_jacDot(const mjModel* m, const mjData* d,
-               mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body) {
-  int nv = m->nv;
-  mjtNum offset[3];
-  mjtNum pvel[6];  // point velocity (rot:lin order)
-
-  // clear jacobians, compute offset and pvel if required
-  if (jacp) {
-    mju_zero(jacp, 3*nv);
-    const mjtNum* com = d->subtree_com+3*m->body_rootid[body];
-    mju_sub3(offset, point, com);
-    mju_transformSpatial(pvel, d->cvel+6*body, 0, point, com, 0);
-  }
-  if (jacr) {
-    mju_zero(jacr, 3*nv);
-  }
-
-  // skip fixed bodies
-  body = m->body_weldid[body];
-
-  // weld root has no dofs: nothing to do
-  if (m->body_dofnum[body] == 0) {
-    return;
-  }
-
-  // get last dof that affects this (as well as the original) body
-  int i = m->body_dofadr[body] + m->body_dofnum[body] - 1;
-
-  // backward pass over dof ancestor chain
-  while (i >= 0) {
-    mjtNum cdof_dot[6];
-    mji_copy6(cdof_dot, d->cdof_dot+6*i);
-    mjtNum* cdof = d->cdof+6*i;
-
-    // check for quaternion
-    mjtJoint type = m->jnt_type[m->dof_jntid[i]];
-    int dofadr = m->jnt_dofadr[m->dof_jntid[i]];
-    int is_quat = type == mjJNT_BALL || (type == mjJNT_FREE && i >= dofadr + 3);
-
-    // compute cdof_dot for quaternion (use current body cvel)
-    if (is_quat) {
-      mji_crossMotion(cdof_dot, d->cvel+6*m->dof_bodyid[i], cdof);
-    }
-
-    // construct rotation jacobian
-    if (jacr) {
-      jacr[i+0*nv] += cdof_dot[0];
-      jacr[i+1*nv] += cdof_dot[1];
-      jacr[i+2*nv] += cdof_dot[2];
-    }
-
-    // construct translation jacobian (correct for rotation)
-    if (jacp) {
-      // first correction term, account for varying cdof
-      mjtNum tmp1[3];
-      mji_cross(tmp1, cdof_dot, offset);
-
-      // second correction term, account for point translational velocity
-      mjtNum tmp2[3];
-      mji_cross(tmp2, cdof, pvel + 3);
-
-      jacp[i+0*nv] += cdof_dot[3] + tmp1[0] + tmp2[0];
-      jacp[i+1*nv] += cdof_dot[4] + tmp1[1] + tmp2[1];
-      jacp[i+2*nv] += cdof_dot[5] + tmp1[2] + tmp2[2];
-    }
-
-    // advance to parent dof
-    i = m->dof_parentid[i];
-  }
-}
-
-
-// compute 3/6-by-NV sparse Jacobian time derivative of global point attached to given body
-void mj_jacDotSparse(const mjModel* m, const mjData* d,
-                     mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
-                     int NV, const int* chain) {
-  mjtNum offset[3];
-  mjtNum pvel[6];
-
-  // clear jacobians, compute offset and pvel if required
-  if (jacp) {
-    mju_zero(jacp, 3*NV);
-    const mjtNum* com = d->subtree_com+3*m->body_rootid[body];
-    mju_sub3(offset, point, com);
-    mju_transformSpatial(pvel, d->cvel+6*body, 0, point, com, 0);
-  }
-  if (jacr) {
-    mju_zero(jacr, 3*NV);
-  }
-
-  // skip fixed bodies
-  body = m->body_weldid[body];
-
-  // weld root has no dofs: nothing to do
-  if (m->body_dofnum[body] == 0) {
-    return;
-  }
-
-  // get last dof that affects this body
-  int da = m->body_dofadr[body] + m->body_dofnum[body] - 1;
-
-  // start at end of chain (chain is in increasing order)
-  int ci = NV-1;
-
-  // backward pass over dof ancestor chain
-  while (da >= 0) {
-    // find chain index for this dof
-    while (ci >= 0 && chain[ci] > da) {
-      ci--;
-    }
-
-    // dof not in chain: SHOULD NOT OCCUR
-    if (ci < 0 || chain[ci] != da) {
-      mjERROR("dof index %d not found in chain", da);
-    }
-
-    mjtNum cdof_dot[6];
-    mji_copy6(cdof_dot, d->cdof_dot+6*da);
-    mjtNum* cdof = d->cdof+6*da;
-
-    // check for quaternion
-    mjtJoint type = m->jnt_type[m->dof_jntid[da]];
-    int dofadr = m->jnt_dofadr[m->dof_jntid[da]];
-    int is_quat = type == mjJNT_BALL || (type == mjJNT_FREE && da >= dofadr + 3);
-
-    // compute cdof_dot for quaternion (use current body cvel)
-    if (is_quat) {
-      mji_crossMotion(cdof_dot, d->cvel+6*m->dof_bodyid[da], cdof);
-    }
-
-    // construct rotation jacobian
-    if (jacr) {
-      jacr[ci+0*NV] += cdof_dot[0];
-      jacr[ci+1*NV] += cdof_dot[1];
-      jacr[ci+2*NV] += cdof_dot[2];
-    }
-
-    // construct translation jacobian (correct for rotation)
-    if (jacp) {
-      // first correction term, account for varying cdof
-      mjtNum tmp1[3];
-      mji_cross(tmp1, cdof_dot, offset);
-
-      // second correction term, account for point translational velocity
-      mjtNum tmp2[3];
-      mji_cross(tmp2, cdof, pvel + 3);
-
-      jacp[ci+0*NV] += cdof_dot[3] + tmp1[0] + tmp2[0];
-      jacp[ci+1*NV] += cdof_dot[4] + tmp1[1] + tmp2[1];
-      jacp[ci+2*NV] += cdof_dot[5] + tmp1[2] + tmp2[2];
-    }
-
-    // advance to parent dof
-    da = m->dof_parentid[da];
-  }
-}
-
-
-// compute subtree angular momentum matrix
-void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body) {
-  int nv = m->nv;
-  mj_markStack(d);
-
-  // stack allocations
-  mjtNum* jacp = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jacr = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* term1 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* term2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-
-  // clear output
-  mju_zero(mat, 3*nv);
-
-  // save the location of the subtree COM
-  mjtNum subtree_com[3];
-  mju_copy3(subtree_com, d->subtree_com+3*body);
-
-  for (int b=body; b < m->nbody; b++) {
-    // end of body subtree, break from the loop
-    if (b > body && m->body_parentid[b] < body) {
-      break;
-    }
-
-    // linear and angular velocity Jacobian of the body COM (inertial frame)
-    mj_jacBodyCom(m, d, jacp, jacr, b);
-
-    // orientation of the COM (inertial) frame of b-th body
-    mjtNum ximat[9];
-    mji_copy9(ximat, d->ximat+9*b);
-
-    // save the inertia matrix of b-th body
-    mjtNum inertia[9] = {0};
-    inertia[0] = m->body_inertia[3*b+0];  // inertia(1,1)
-    inertia[4] = m->body_inertia[3*b+1];  // inertia(2,2)
-    inertia[8] = m->body_inertia[3*b+2];  // inertia(3,3)
-
-    // term1 = body angular momentum about self COM in world frame
-    mjtNum tmp1[9], tmp2[9];
-    mji_mulMatMat3(tmp1, ximat, inertia);          // tmp1  = ximat * inertia
-    mju_mulMatMatT3(tmp2, tmp1, ximat);            // tmp2  = ximat * inertia * ximat^T
-    mju_mulMatMat(term1, tmp2, jacr, 3, 3, nv);    // term1 = ximat * inertia * ximat^T * jacr
-
-    // location of body COM w.r.t subtree COM
-    mjtNum com[3];
-    mji_sub3(com, d->xipos+3*b, subtree_com);
-
-    // skew symmetric matrix representing body_com vector
-    mjtNum com_mat[9] = {0};
-    com_mat[1] = -com[2];
-    com_mat[2] = com[1];
-    com_mat[3] = com[2];
-    com_mat[5] = -com[0];
-    com_mat[6] = -com[1];
-    com_mat[7] = com[0];
-
-    // term2 = moment of linear momentum
-    mju_mulMatMat(term2, com_mat, jacp, 3, 3, nv);   // term2 = com_mat * jacp
-    mju_scl(term2, term2, m->body_mass[b], 3 * nv);  // term2 = com_mat * jacp * mass
-
-    // mat += term1 + term2
-    mju_addTo(mat, term1, 3*nv);
-    mju_addTo(mat, term2, 3*nv);
-  }
-
-  mj_freeStack(d);
-}
-
-
-//-------------------------- spatial frame utilities -----------------------------------------------
-
-// compute object 6D velocity in object-centered frame, world/local orientation
-void mj_objectVelocity(const mjModel* m, const mjData* d,
-                       int objtype, int objid, mjtNum res[6], int flg_local) {
-  int bodyid = 0;
-  const mjtNum *pos = 0, *rot = 0;
-
-  // body-inertial
-  if (objtype == mjOBJ_BODY) {
-    bodyid = objid;
-    pos = d->xipos+3*objid;
-    rot = (flg_local ? d->ximat+9*objid : 0);
-  }
-
-  // body-regular
-  else if (objtype == mjOBJ_XBODY) {
-    bodyid = objid;
-    pos = d->xpos+3*objid;
-    rot = (flg_local ? d->xmat+9*objid : 0);
-  }
-
-  // geom
-  else if (objtype == mjOBJ_GEOM) {
-    bodyid = m->geom_bodyid[objid];
-    pos = d->geom_xpos+3*objid;
-    rot = (flg_local ? d->geom_xmat+9*objid : 0);
-  }
-
-  // site
-  else if (objtype == mjOBJ_SITE) {
-    bodyid = m->site_bodyid[objid];
-    pos = d->site_xpos+3*objid;
-    rot = (flg_local ? d->site_xmat+9*objid : 0);
-  }
-
-  // camera
-  else if (objtype == mjOBJ_CAMERA) {
-    bodyid = m->cam_bodyid[objid];
-    pos = d->cam_xpos+3*objid;
-    rot = (flg_local ? d->cam_xmat+9*objid : 0);
-  }
-
-  // object without spatial frame
-  else {
-    mjERROR("invalid object type %d", objtype);
-  }
-
-  // dof-less body (static or mocap): quick return
-  if (m->body_dofnum[m->body_weldid[bodyid]] == 0) {
-    mju_zero(res, 6);
-    return;
-  }
-
-  // transform velocity
-  mju_transformSpatial(res, d->cvel+6*bodyid, 0, pos, d->subtree_com+3*m->body_rootid[bodyid], rot);
-}
-
-
-// compute material surface velocity of a geom at a point, in the world frame
-void mj_geomSurfaceVelocity(const mjModel* m, const mjData* d, int geomid,
-                            const mjtNum point[3], mjtNum linear[3], mjtNum angular[3]) {
-  const mjtNum* sv = m->geom_surfacevel + 6*geomid;
-
-  // rotate local linear and angular surface velocities to the world frame
-  mji_mulMatVec3(linear, d->geom_xmat + 9*geomid, sv);
-  mji_mulMatVec3(angular, d->geom_xmat + 9*geomid, sv + 3);
-
-  // add angular velocity contribution (w x r) at the query point
-  mjtNum arm[3], wxr[3];
-  mji_sub3(arm, point, d->geom_xpos + 3*geomid);
-  mji_cross(wxr, angular, arm);
-  mji_addTo3(linear, wxr);
-}
-
-
-// compute object 6D acceleration in object-centered frame, world/local orientation
-void mj_objectAcceleration(const mjModel* m, const mjData* d,
-                           int objtype, int objid, mjtNum res[6], int flg_local) {
-  int bodyid = 0;
-  const mjtNum *pos = 0, *rot = 0;
-
-  // body-inertial
-  if (objtype == mjOBJ_BODY) {
-    bodyid = objid;
-    pos = d->xipos+3*objid;
-    rot = (flg_local ? d->ximat+9*objid : 0);
-  }
-
-  // body-regular
-  else if (objtype == mjOBJ_XBODY) {
-    bodyid = objid;
-    pos = d->xpos+3*objid;
-    rot = (flg_local ? d->xmat+9*objid : 0);
-  }
-
-  // geom
-  else if (objtype == mjOBJ_GEOM) {
-    bodyid = m->geom_bodyid[objid];
-    pos = d->geom_xpos+3*objid;
-    rot = (flg_local ? d->geom_xmat+9*objid : 0);
-  }
-
-  // site
-  else if (objtype == mjOBJ_SITE) {
-    bodyid = m->site_bodyid[objid];
-    pos = d->site_xpos+3*objid;
-    rot = (flg_local ? d->site_xmat+9*objid : 0);
-  }
-
-  // camera
-  else if (objtype == mjOBJ_CAMERA) {
-    bodyid = m->cam_bodyid[objid];
-    pos = d->cam_xpos+3*objid;
-    rot = (flg_local ? d->cam_xmat+9*objid : 0);
-  }
-
-  // object without spatial frame
-  else {
-    mjERROR("invalid object type %d", objtype);
-  }
-
-  // dof-less body (static or mocap): quick return
-  if (m->body_dofnum[m->body_weldid[bodyid]] == 0) {
-    mju_zero(res, 6);
-    return;
-  }
-
-  // transform com-based acceleration to local frame
-  mju_transformSpatial(res, d->cacc+6*bodyid, 0, pos, d->subtree_com+3*m->body_rootid[bodyid], rot);
-
-  // transform com-based velocity to local frame
-  mjtNum vel[6];
-  mju_transformSpatial(vel, d->cvel+6*bodyid, 0, pos, d->subtree_com+3*m->body_rootid[bodyid], rot);
-
-  // add Coriolis correction due to rotating frame:  acc_tran += vel_rot x vel_tran
-  mjtNum correction[3];
-  mji_cross(correction, vel, vel+3);
-  mji_addTo3(res+3, correction);
-}
-
-
-// map from body local to global Cartesian coordinates
-void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
-                     const mjtNum pos[3], const mjtNum quat[4],
-                     int body, mjtByte sameframe) {
-  mjtSameFrame sf = sameframe;
-
-  // position
-  if (xpos && pos) {
-    switch (sf) {
-    case mjSAMEFRAME_NONE:
-    case mjSAMEFRAME_BODYROT:
-    case mjSAMEFRAME_INERTIAROT:
-      mji_mulMatVec3(xpos, d->xmat+9*body, pos);
-      mji_addTo3(xpos, d->xpos+3*body);
-      break;
-    case mjSAMEFRAME_BODY:
-      mji_copy3(xpos, d->xpos+3*body);
-      break;
-    case mjSAMEFRAME_INERTIA:
-      mji_copy3(xpos, d->xipos+3*body);
-      break;
-    }
-  }
-
-  // orientation
-  if (xmat && quat) {
-    mjtNum tmp[4];
-    switch (sf) {
-    case mjSAMEFRAME_NONE:
-      mji_mulQuat(tmp, d->xquat+4*body, quat);
-      mju_quat2Mat(xmat, tmp);
-      break;
-    case mjSAMEFRAME_BODY:
-    case mjSAMEFRAME_BODYROT:
-      mji_copy9(xmat, d->xmat+9*body);
-      break;
-    case mjSAMEFRAME_INERTIA:
-    case mjSAMEFRAME_INERTIAROT:
-      mji_copy9(xmat, d->ximat+9*body);
-      break;
-    }
-  }
-}
-
-
-//-------------------------- miscellaneous utilities -----------------------------------------------
-
-// gather global node positions and velocities
-void mju_flexGatherState(const mjModel* m, const mjData* d, int f, mjtNum* xpos, mjtNum* vel) {
-  int nodenum = m->flex_nodenum[f];
-  int nstart = m->flex_nodeadr[f];
-  int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[f];
-
-  // compute positions and velocities
-  for (int i=0; i < nodenum; i++) {
-    int bid = bodyid[i];
-    if (m->flex_centered[f] ||
-        (m->flex_node[3*(i+nstart)+0] == 0 &&
-         m->flex_node[3*(i+nstart)+1] == 0 &&
-         m->flex_node[3*(i+nstart)+2] == 0)) {
-      mju_copy3(xpos + 3*i, d->xpos + 3*bid);
-    } else {
-      mju_mulMatVec3(xpos + 3*i, d->xmat + 9*bid, m->flex_node + 3*(i+nstart));
-      mju_addTo3(xpos + 3*i, d->xpos + 3*bid);
-    }
-
-    if (vel) {
-      mjtNum body_vel[6];
-      mj_objectVelocity(m, d, mjOBJ_BODY, bid, body_vel, 0);  // returns [omega, v_CoM] in world frame
-
-      // linear velocity at CoM
-      mju_copy3(vel + 3*i, body_vel + 3);
-
-      // add omega x (xpos - xipos)
-      mjtNum r[3], cross[3];
-      mju_sub3(r, xpos + 3*i, d->xipos + 3*bid);
-      mju_cross(cross, body_vel, r);
-      mju_addTo3(vel + 3*i, cross);
-    }
-  }
-
-  // shell mode: reconstruct interior node positions and velocities via TFI
-  int interp = m->flex_interp[f];
-  if (interp < 0) {
-    int order = -interp;
-    int cx = m->flex_cellnum[3*f+0];
-    int cy = m->flex_cellnum[3*f+1];
-    int cz = m->flex_cellnum[3*f+2];
-    int nx_g = cx * order + 1;
-    int ny_g = cy * order + 1;
-    int nz_g = cz * order + 1;
-
-    mju_shellTrackInterior(xpos, nx_g, ny_g, nz_g);
-    if (vel) {
-      mju_shellTrackInterior(vel, nx_g, ny_g, nz_g);
-    }
-  }
-}
-
-
-// extract 6D force:torque for one contact, in contact frame
-void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]) {
-  mjContact* con;
-
-  // clear result
-  mju_zero(result, 6);
-
-  // make sure contact is valid
-  if (id >= 0 && id < d->ncon && d->contact[id].efc_address >= 0) {
-    // get contact pointer
-    con = d->contact + id;
-
-    if (mj_isPyramidal(m)) {
-      mju_decodePyramid(result, d->efc_force + con->efc_address, con->friction, con->dim);
-    } else {
-      mju_copy(result, d->efc_force + con->efc_address, con->dim);
-    }
-
-    // report the net interface force: the solver's cone force minus the adhesive pull
-    result[0] -= con->adhesion;
-  }
-}
-
-
-// count the number of length limit violations for tendon i (0, 1 or 2)
-int tendonLimit(const mjModel* m, const mjtNum* ten_length, int i) {
-  if (!m->tendon_limited[i]) {
-    return 0;
-  }
-
-  int nl = 0;
-  mjtNum value = ten_length[i];
-  mjtNum margin = m->tendon_margin[i];
-
-  // tendon limits can be bilateral, check both sides
-  for (int side = -1; side <= 1; side += 2) {
-    mjtNum dist = side * (m->tendon_range[2 * i + (side + 1) / 2] - value);
-    if (dist < margin) nl++;
-  }
-
-  return nl;
-}
-
-
-// return actuator damping contribution to joint or tendon
-mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjNPOLY]) {
-  if (type != mjOBJ_TENDON && type != mjOBJ_JOINT) {
-    mjERROR("only joint and tendon objects can inherit damping from actuators");
-    return 0;
-  }
-
-  // get actuator id
-  int actuatorid = type == mjOBJ_JOINT ? m->jnt_actuatorid[id] : m->tendon_actuatorid[id];
-
-  if (actuatorid == -1) {
-    return 0;
-  }
-
-  mjtNum damping = 0;
-
-  // single actuator contributes damping
-  if (actuatorid >= 0) {
-    mjtNum gear2 = m->actuator_gear[6*m->actuator_outadr[actuatorid]] * m->actuator_gear[6*m->actuator_outadr[actuatorid]];
-    damping = m->actuator_damping[actuatorid] * gear2;
-    for (int k = 0; k < mjNPOLY; k++) {
-      poly[k] += m->actuator_dampingpoly[mjNPOLY*actuatorid+k] * gear2;
-    }
-  }
-
-  // actuatorid < -1: scan all actuators for contributions
-  else {
-    for (int k = 0; k < m->nactuator; k++) {
-      // skip actuators that don't actuate the given joint/tendon
-      if (m->actuator_trnid[2*k] != id) {
-        continue;
-      }
-      if (type == mjOBJ_JOINT &&
-          m->actuator_trntype[k] != mjTRN_JOINT &&
-          m->actuator_trntype[k] != mjTRN_JOINTINPARENT) {
-        continue;
-      }
-      if (type == mjOBJ_TENDON && m->actuator_trntype[k] != mjTRN_TENDON) {
-        continue;
-      }
-
-      // accumulate damping contribution
-      mjtNum gear2 = m->actuator_gear[6*m->actuator_outadr[k]] * m->actuator_gear[6*m->actuator_outadr[k]];
-      damping += m->actuator_damping[k] * gear2;
-      for (int j = 0; j < mjNPOLY; j++) {
-        poly[j] += m->actuator_dampingpoly[mjNPOLY*k+j] * gear2;
-      }
-    }
-  }
-
-  return damping;
-}
-
-
-// return actuator armature contribution to joint or tendon
-mjtNum mj_actuatorArmature(const mjModel* m, mjtObj type, int id) {
-  if (type != mjOBJ_TENDON && type != mjOBJ_JOINT) {
-    mjERROR("only joint and tendon objects can inherit armature from actuators");
-    return 0;
-  }
-
-  // get actuator id
-  int actuatorid = type == mjOBJ_JOINT ? m->jnt_actuatorid[id] : m->tendon_actuatorid[id];
-
-  // no actuator contribution
-  if (actuatorid == -1) {
-    return 0;
-  }
-
-  mjtNum armature = 0;
-
-  // single actuator contributes armature
-  if (actuatorid >= 0) {
-    mjtNum gear2 = m->actuator_gear[6*m->actuator_outadr[actuatorid]] * m->actuator_gear[6*m->actuator_outadr[actuatorid]];
-    armature = m->actuator_armature[actuatorid] * gear2;
-  }
-
-  // actuatorid < -1: scan all actuators for contributions
-  else {
-    for (int k = 0; k < m->nactuator; k++) {
-      // skip actuators that don't actuate the given joint/tendon
-      if (m->actuator_trnid[2*k] != id) {
-        continue;
-      }
-      if (type == mjOBJ_JOINT &&
-          m->actuator_trntype[k] != mjTRN_JOINT &&
-          m->actuator_trntype[k] != mjTRN_JOINTINPARENT) {
-        continue;
-      }
-      if (type == mjOBJ_TENDON && m->actuator_trntype[k] != mjTRN_TENDON) {
-        continue;
-      }
-
-      // accumulate armature contribution
-      mjtNum gear2 = m->actuator_gear[6*m->actuator_outadr[k]] * m->actuator_gear[6*m->actuator_outadr[k]];
-      armature += m->actuator_armature[k] * gear2;
-    }
-  }
-
-  return armature;
-}
-
-
-// count warnings, print only the first time
-void mj_warning(mjData* d, int warning, int info) {
-  // check type
-  if (warning < 0 || warning >= mjNWARNING) {
-    mjERROR("invalid warning type %d", warning);
-  }
-
-  // save info (override previous)
-  d->warning[warning].lastinfo = info;
-
-  // print message only the first time this warning is encountered
-  if (!d->warning[warning].number) {
-    mju_warning("%s Time = %.4f.", mju_warningText(warning, info), d->time);
-  }
-
-  // increase counter
-  d->warning[warning].number++;
-}
diff --git a/src/engine/engine_core_util.h b/src/engine/engine_core_util.h
deleted file mode 100644
index b31c15a6..00000000
--- a/src/engine/engine_core_util.h
+++ /dev/null
@@ -1,159 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_CORE_UTIL_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_CORE_UTIL_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-//-------------------------- model properties ------------------------------------------------------
-
-// determine type of friction cone
-MJAPI int mj_isPyramidal(const mjModel* m);
-
-// determine type of constraint Jacobian
-MJAPI int mj_isSparse(const mjModel* m);
-
-
-//-------------------------- sparse chains ---------------------------------------------------------
-
-// merge dof chains for two bodies
-int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2, int flg_skipcommon);
-
-// merge dof chains for two simple bodies
-int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2);
-
-// get body chain
-int mj_bodyChain(const mjModel* m, int body, int* chain);
-
-
-//-------------------------- Jacobians -------------------------------------------------------------
-
-// compute 3/6-by-nv Jacobian of global point attached to given body
-MJAPI void mj_jac(const mjModel* m, const mjData* d,
-                  mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body);
-
-// compute body frame Jacobian
-MJAPI void mj_jacBody(const mjModel* m, const mjData* d,
-                      mjtNum* jacp, mjtNum* jacr, int body);
-
-// compute body center-of-mass Jacobian
-MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d,
-                         mjtNum* jacp, mjtNum* jacr, int body);
-
-// compute subtree center-of-mass Jacobian
-MJAPI void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
-
-// compute geom Jacobian
-MJAPI void mj_jacGeom(const mjModel* m, const mjData* d,
-                      mjtNum* jacp, mjtNum* jacr, int geom);
-
-// compute site Jacobian
-MJAPI void mj_jacSite(const mjModel* m, const mjData* d,
-                      mjtNum* jacp, mjtNum* jacr, int site);
-
-// compute translation Jacobian of point, and rotation Jacobian of axis
-MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d,
-                           mjtNum* jacPoint, mjtNum* jacAxis,
-                           const mjtNum point[3], const mjtNum axis[3], int body);
-
-// compute 3/6-by-nv sparse Jacobian of global point attached to given body
-void mj_jacSparse(const mjModel* m, const mjData* d,
-                  mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
-                  int NV, const int* chain, int flg_skipcommon);
-
-// sparse Jacobian difference for simple body contacts
-void mj_jacSparseSimple(const mjModel* m, const mjData* d,
-                        mjtNum* jacdifp, mjtNum* jacdifr, const mjtNum* point,
-                        int body, int flg_second, int NV, int start);
-
-// compute 3/6-by-NV sparse Jacobian time derivative of global point attached to given body
-MJAPI void mj_jacDotSparse(const mjModel* m, const mjData* d,
-                           mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
-                           int NV, const int* chain);
-
-// dense or sparse Jacobian difference for two body points: pos2 - pos1, global
-MJAPI int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
-                        int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
-                        mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
-                        mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr,
-                        int issparse, int flg_skipcommon);
-
-// dense or sparse weighted sum of multiple body Jacobians at same point
-int mj_jacSum(const mjModel* m, mjData* d, int* chain,
-              int n, const int* body, const mjtNum* weight,
-              const mjtNum point[3], mjtNum* jacp, mjtNum* jacr, int flg_rot);
-
-// compute 3/6-by-nv Jacobian time derivative of global point attached to given body
-MJAPI void mj_jacDot(const mjModel* m, const mjData* d,
-                     mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body);
-
-// compute subtree angular momentum matrix
-MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
-
-
-//-------------------------- coordinate transformation ---------------------------------------------
-
-// compute object 6D velocity in object-centered frame, world/local orientation
-MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
-                             int objtype, int objid, mjtNum res[6], int flg_local);
-
-// compute material surface velocity of a geom at a point, in world frame
-void mj_geomSurfaceVelocity(const mjModel* m, const mjData* d, int geomid,
-                            const mjtNum point[3], mjtNum linear[3], mjtNum angular[3]);
-
-// compute object 6D acceleration in object-centered frame, world/local orientation
-MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
-                                 int objtype, int objid, mjtNum res[6], int flg_local);
-
-// map from body local to global Cartesian coordinates
-MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
-                           const mjtNum pos[3], const mjtNum quat[4],
-                           int body, mjtByte sameframe);
-
-
-//-------------------------- miscellaneous ---------------------------------------------------------
-
-// gather global node positions and velocities
-MJAPI void mju_flexGatherState(const mjModel* m, const mjData* d, int f, mjtNum* xpos, mjtNum* vel);
-
-// extract 6D force:torque for one contact, in contact frame
-MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
-
-// count the number of length limit violations for tendon i (0, 1 or 2)
-int tendonLimit(const mjModel* m, const mjtNum* ten_length, int i);
-
-// return actuator damping contribution to joint or tendon
-MJAPI mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjNPOLY]);
-
-// return actuator armature contribution to joint or tendon
-MJAPI mjtNum mj_actuatorArmature(const mjModel* m, mjtObj type, int id);
-
-// high-level warning function: count warnings in mjData, print only the first time
-MJAPI void mj_warning(mjData* d, int warning, int info);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_CORE_UTIL_H_
diff --git a/src/engine/engine_crossplatform.cc b/src/engine/engine_crossplatform.cc
deleted file mode 100644
index 5250da00..00000000
--- a/src/engine/engine_crossplatform.cc
+++ /dev/null
@@ -1,143 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_crossplatform.h"  // IWYU pragma: keep
-
-#if defined(__APPLE__) && defined(__AVX__)
-#include <sys/sysctl.h>
-
-#include <cstdio>
-#include <cstring>
-
-namespace {
-__attribute__((weak, visibility("default")))
-extern "C" void _mj_rosettaError(const char* msg) {
-  fprintf(stderr, "%s\n", msg);
-  __asm__ __volatile__ ("ud2");  // raises SIGILL but leave this function at the top of the stack
-}
-
-__attribute__((constructor(10000), target("no-avx")))
-void CheckRosetta() {
-  int is_translated = 0;
-  {
-    size_t len = sizeof(is_translated);
-    if (sysctlbyname("sysctl.proc_translated", &is_translated, &len, NULL, 0)) {
-      is_translated = 0;
-    }
-  }
-  if (is_translated) {
-    _mj_rosettaError("MuJoCo cannot be run under Rosetta 2 on an Apple Silicon machine.");
-  }
-}
-}  // namespace
-#endif  // defined(__APPLE__) && defined(__AVX__)
-
-#ifdef mjUSEASAN
-#include <sanitizer/common_interface_defs.h>
-
-#include <array>
-#include <map>
-#include <mutex>
-#include <shared_mutex>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <unordered_set>
-#include <utility>
-
-namespace {
-const std::pair<std::string, std::string>&
-FuncNameAndDebugInfoCached(void* pc) {
-  static const std::unordered_set<std::string>* const kIgnoredInlinedFunctions =
-      []() {
-        return new std::unordered_set<std::string>{
-            "mj_freeStack",
-            "mj_markStack",
-        };
-      }();
-
-  static auto* mu = new std::shared_mutex;
-  static auto* pc_to_func_name_map =
-      new std::unordered_map<void*, std::pair<std::string, std::string>>;
-
-  {
-    std::shared_lock lock(*mu);
-    auto it = pc_to_func_name_map->find(pc);
-    if (it != pc_to_func_name_map->end()) {
-      return it->second;
-    }
-  }
-
-  std::array<char, 256> buf;
-  __sanitizer_symbolize_pc(pc, "%f", buf.data(), buf.size());
-
-  // buf contains sequence of null-terminated strings of inlined function names
-  // so we walk through the sequence until we find the first unignored function
-  std::string_view func_name(buf.data());
-  int idx = 0;
-  while (kIgnoredInlinedFunctions->find(func_name.data()) !=
-         kIgnoredInlinedFunctions->end()) {
-    func_name = func_name.data() + func_name.size() + 1;
-    ++idx;
-  }
-
-  std::array<char, 1024> buf2;
-  __sanitizer_symbolize_pc(pc, "%F at %S", buf2.data(), buf2.size());
-  std::string_view debug_info(buf2.data());
-  for (int i = 0; i < idx; ++i) {
-    debug_info = debug_info.data() + debug_info.size() + 1;
-  }
-
-  {
-    std::unique_lock lock(*mu);
-    return pc_to_func_name_map
-        ->emplace(
-            pc, std::make_pair(std::string(func_name), std::string(debug_info)))
-        .first->second;
-  }
-}
-
-const std::string& SymbolizeCached(void* pc) {
-  return FuncNameAndDebugInfoCached(pc).first;
-}
-
-const std::string& DebugInfoCached(void* pc) {
-  return FuncNameAndDebugInfoCached(pc).second;
-}
-}  // namespace
-
-int mj__comparePcFuncName(void* pc1, void* pc2) {
-  static auto* mu = new std::shared_mutex;
-  static auto* same_func_map = new std::map<std::pair<void*, void*>, bool>;
-
-  auto pc_pair = std::make_pair(pc1, pc2);
-  {
-    std::shared_lock lock(*mu);
-    auto it = same_func_map->find(pc_pair);
-    if (it != same_func_map->end()) {
-      return it->second;
-    }
-  }
-
-  bool is_same = (SymbolizeCached(pc1) == SymbolizeCached(pc2));
-  {
-    std::unique_lock lock(*mu);
-    return same_func_map->emplace(pc_pair, is_same).first->second;
-  }
-}
-
-const char* mj__getPcDebugInfo(void* pc) {
-  return DebugInfoCached(pc).c_str();
-}
-#endif  // ADDRESS_SANITIZER
diff --git a/src/engine/engine_crossplatform.h b/src/engine/engine_crossplatform.h
deleted file mode 100644
index cb69fe85..00000000
--- a/src/engine/engine_crossplatform.h
+++ /dev/null
@@ -1,119 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_
-
-// IWYU pragma: begin_keep
-#if !defined(__cplusplus)
-  #include <stddef.h>
-  #include <stdlib.h>
-#else
-  #include <cstddef>
-  #include <cstdlib>
-#endif
-// IWYU pragma: end_keep
-
-// Case-insensitive comparison functions.
-#ifdef _WIN32
-  #define strcasecmp _stricmp
-  #define strncasecmp _strnicmp
-#else  // assumes POSIX
-  #include <strings.h>
-#endif
-
-// Environment variable handling.
-#ifdef _WIN32
-  #define setenv(name, value, overwrite) _putenv_s(name, value)
-  #define unsetenv(name) _putenv_s(name, "")
-#endif
-
-// Switch-case fallthrough annotation.
-#if defined(__cplusplus)
-  #define mjFALLTHROUGH [[fallthrough]]
-#elif defined(__clang__) || (defined(__GNUC__) && __GNUC__ >= 7)
-  #define mjFALLTHROUGH __attribute__((fallthrough))
-#else
-  #define mjFALLTHROUGH ((void) 0)
-#endif
-
-// MSVC only provides max_align_t in C++.
-#if defined(_MSC_VER) && !defined(__clang__) && !defined(__cplusplus)
-  typedef long double mjtMaxAlign;
-#else
-  typedef max_align_t mjtMaxAlign;
-#endif
-
-// Branch prediction hints.
-#if defined(__GNUC__)
-  #define mjLIKELY(x) __builtin_expect(!!(x), 1)
-  #define mjUNLIKELY(x) __builtin_expect(!!(x), 0)
-#else
-  #define mjLIKELY(x) (x)
-  #define mjUNLIKELY(x) (x)
-#endif
-
-// Define ADDRESS_SANITIZER if implied by other macros.
-#if !defined(ADDRESS_SANITIZER)
-  #if defined(__SANITIZE_ADDRESS__)
-    #define ADDRESS_SANITIZER
-  #elif defined(__has_feature)
-    #if __has_feature(address_sanitizer)
-      #define ADDRESS_SANITIZER
-    #endif
-  #endif
-#endif
-
-#if defined(ADDRESS_SANITIZER) && !defined(_MSC_VER)
-  #define mjUSEASAN
-#endif
-
-// Atomics helper for size_t.
-#if defined(_MSC_VER) && !defined(__clang__)
-  #include <intrin.h>
-  #define mj_atomic_add_size_t(ptr, val) \
-      (size_t)_InterlockedExchangeAdd64((__int64 volatile*)(ptr), (__int64)(val))
-#else
-  #define mj_atomic_add_size_t(ptr, val) \
-      __atomic_fetch_add(ptr, val, __ATOMIC_RELAXED)
-#endif
-
-// Atomics helpers for mjtBool (1-byte _Bool) with acquire/release semantics.
-#if defined(_MSC_VER) && !defined(__clang__)
-  #define mj_atomic_load_bool(ptr) \
-      (mjtBool) _InterlockedCompareExchange8((volatile char*)(ptr), 0, 0)
-  #define mj_atomic_store_bool(ptr, val) \
-      (void)_InterlockedExchange8((volatile char*)(ptr), (char)(val))
-  #define mj_atomic_exchange_bool(ptr, val) \
-      (mjtBool) _InterlockedExchange8((volatile char*)(ptr), (char)(val))
-#else
-  #define mj_atomic_load_bool(ptr) __atomic_load_n(ptr, __ATOMIC_ACQUIRE)
-  #define mj_atomic_store_bool(ptr, val) __atomic_store_n(ptr, val, __ATOMIC_RELEASE)
-  #define mj_atomic_exchange_bool(ptr, val) __atomic_exchange_n(ptr, val, __ATOMIC_ACQ_REL)
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef mjUSEASAN
-int mj__comparePcFuncName(void* pc1, void* pc2);
-const char* mj__getPcDebugInfo(void* pc);
-#endif
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_
diff --git a/src/engine/engine_derivative.c b/src/engine/engine_derivative.c
deleted file mode 100644
index e164b7f3..00000000
--- a/src/engine/engine_derivative.c
+++ /dev/null
@@ -1,3467 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_derivative.h"
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_core_constraint.h"
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_crossplatform.h"
-#include "engine/engine_inline.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_passive.h"
-#include "engine/engine_sleep.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_solve.h"
-#include "engine/engine_util_spatial.h"
-#include "engine/engine_util_sparse.h"
-
-
-//------------------------- derivatives of spatial algebra -----------------------------------------
-
-
-// derivatives of cross product, Da and Db are 3x3
-static void mjd_cross(const mjtNum a[3], const mjtNum b[3],
-                      mjtNum* restrict Da, mjtNum* restrict Db) {
-  // derivative w.r.t a
-  if (Da) {
-    mju_zero(Da, 9);
-    Da[1] =  b[2];
-    Da[2] = -b[1];
-    Da[3] = -b[2];
-    Da[5] =  b[0];
-    Da[6] =  b[1];
-    Da[7] = -b[0];
-  }
-
-  // derivative w.r.t b
-  if (Db) {
-    mju_zero(Db, 9);
-    Db[1] = -a[2];
-    Db[2] =  a[1];
-    Db[3] =  a[2];
-    Db[5] = -a[0];
-    Db[6] = -a[1];
-    Db[7] =  a[0];
-  }
-}
-
-
-// derivative of mju_crossMotion w.r.t velocity
-static void mjd_crossMotion_vel(mjtNum D[36], const mjtNum v[6]) {
-  mju_zero(D, 36);
-
-  // res[0] = -vel[2]*v[1] + vel[1]*v[2]
-  D[0 + 2] = -v[1];
-  D[0 + 1] = v[2];
-
-  // res[1] =  vel[2]*v[0] - vel[0]*v[2]
-  D[6 + 2] = v[0];
-  D[6 + 0] = -v[2];
-
-  // res[2] = -vel[1]*v[0] + vel[0]*v[1]
-  D[12 + 1] = -v[0];
-  D[12 + 0] = v[1];
-
-  // res[3] = -vel[2]*v[4] + vel[1]*v[5] - vel[5]*v[1] + vel[4]*v[2]
-  D[18 + 2] = -v[4];
-  D[18 + 1] = v[5];
-  D[18 + 5] = -v[1];
-  D[18 + 4] = v[2];
-
-  // res[4] =  vel[2]*v[3] - vel[0]*v[5] + vel[5]*v[0] - vel[3]*v[2]
-  D[24 + 2] = v[3];
-  D[24 + 0] = -v[5];
-  D[24 + 5] = v[0];
-  D[24 + 3] = -v[2];
-
-  // res[5] = -vel[1]*v[3] + vel[0]*v[4] - vel[4]*v[0] + vel[3]*v[1]
-  D[30 + 1] = -v[3];
-  D[30 + 0] = v[4];
-  D[30 + 4] = -v[0];
-  D[30 + 3] = v[1];
-}
-
-
-// derivative of mju_crossForce w.r.t. velocity
-static void mjd_crossForce_vel(mjtNum D[36], const mjtNum f[6]) {
-  mju_zero(D, 36);
-
-  // res[0] = -vel[2]*f[1] + vel[1]*f[2] - vel[5]*f[4] + vel[4]*f[5]
-  D[0 + 2] = -f[1];
-  D[0 + 1] = f[2];
-  D[0 + 5] = -f[4];
-  D[0 + 4] = f[5];
-
-  // res[1] =  vel[2]*f[0] - vel[0]*f[2] + vel[5]*f[3] - vel[3]*f[5]
-  D[6 + 2] = f[0];
-  D[6 + 0] = -f[2];
-  D[6 + 5] = f[3];
-  D[6 + 3] = -f[5];
-
-  // res[2] = -vel[1]*f[0] + vel[0]*f[1] - vel[4]*f[3] + vel[3]*f[4]
-  D[12 + 1] = -f[0];
-  D[12 + 0] = f[1];
-  D[12 + 4] = -f[3];
-  D[12 + 3] = f[4];
-
-  // res[3] = -vel[2]*f[4] + vel[1]*f[5]
-  D[18 + 2] = -f[4];
-  D[18 + 1] = f[5];
-
-  // res[4] =  vel[2]*f[3] - vel[0]*f[5]
-  D[24 + 2] = f[3];
-  D[24 + 0] = -f[5];
-
-  // res[5] = -vel[1]*f[3] + vel[0]*f[4]
-  D[30 + 1] = -f[3];
-  D[30 + 0] = f[4];
-}
-
-
-// derivative of mju_crossForce w.r.t. force
-static void mjd_crossForce_frc(mjtNum D[36], const mjtNum vel[6]) {
-  mju_zero(D, 36);
-
-  // res[0] = -vel[2]*f[1] + vel[1]*f[2] - vel[5]*f[4] + vel[4]*f[5]
-  D[0 + 1] = -vel[2];
-  D[0 + 2] = vel[1];
-  D[0 + 4] = -vel[5];
-  D[0 + 5] = vel[4];
-
-  // res[1] =  vel[2]*f[0] - vel[0]*f[2] + vel[5]*f[3] - vel[3]*f[5]
-  D[6 + 0] = vel[2];
-  D[6 + 2] = -vel[0];
-  D[6 + 3] = vel[5];
-  D[6 + 5] = -vel[3];
-
-  // res[2] = -vel[1]*f[0] + vel[0]*f[1] - vel[4]*f[3] + vel[3]*f[4]
-  D[12 + 0] = -vel[1];
-  D[12 + 1] = vel[0];
-  D[12 + 3] = -vel[4];
-  D[12 + 4] = vel[3];
-
-  // res[3] = -vel[2]*f[4] + vel[1]*f[5]
-  D[18 + 4] = -vel[2];
-  D[18 + 5] = vel[1];
-
-  // res[4] =  vel[2]*f[3] - vel[0]*f[5]
-  D[24 + 3] = vel[2];
-  D[24 + 5] = -vel[0];
-
-  // res[5] = -vel[1]*f[3] + vel[0]*f[4]
-  D[30 + 3] = -vel[1];
-  D[30 + 4] = vel[0];
-}
-
-
-// derivative of mju_mulInertVec w.r.t vel
-static void mjd_mulInertVec_vel(mjtNum D[36], const mjtNum i[10]) {
-  mju_zero(D, 36);
-
-  // res[0] = i[0]*v[0] + i[3]*v[1] + i[4]*v[2] - i[8]*v[4] + i[7]*v[5]
-  D[0 + 0] = i[0];
-  D[0 + 1] = i[3];
-  D[0 + 2] = i[4];
-  D[0 + 4] = -i[8];
-  D[0 + 5] = i[7];
-
-  // res[1] = i[3]*v[0] + i[1]*v[1] + i[5]*v[2] + i[8]*v[3] - i[6]*v[5]
-  D[6 + 0] = i[3];
-  D[6 + 1] = i[1];
-  D[6 + 2] = i[5];
-  D[6 + 3] = i[8];
-  D[6 + 5] = -i[6];
-
-  // res[2] = i[4]*v[0] + i[5]*v[1] + i[2]*v[2] - i[7]*v[3] + i[6]*v[4]
-  D[12 + 0] = i[4];
-  D[12 + 1] = i[5];
-  D[12 + 2] = i[2];
-  D[12 + 3] = -i[7];
-  D[12 + 4] = i[6];
-
-  // res[3] = i[8]*v[1] - i[7]*v[2] + i[9]*v[3]
-  D[18 + 1] = i[8];
-  D[18 + 2] = -i[7];
-  D[18 + 3] = i[9];
-
-  // res[4] = i[6]*v[2] - i[8]*v[0] + i[9]*v[4]
-  D[24 + 2] = i[6];
-  D[24 + 0] = -i[8];
-  D[24 + 4] = i[9];
-
-  // res[5] = i[7]*v[0] - i[6]*v[1] + i[9]*v[5]
-  D[30 + 0] = i[7];
-  D[30 + 1] = -i[6];
-  D[30 + 5] = i[9];
-}
-
-
-// derivative of mju_subQuat w.r.t inputs
-void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]) {
-  // no outputs, quick return
-  if (!Da && !Db) {
-    return;
-  }
-
-  // compute axis-angle quaternion difference
-  mjtNum axis[3];
-  mju_subQuat(axis, qa, qb);
-
-  // normalize axis, get half-angle
-  mjtNum half_angle = 0.5 * mju_normalize3(axis);
-
-  // identity
-  mjtNum Da_tmp[9] = {
-    1, 0, 0,
-    0, 1, 0,
-    0, 0, 1
-  };
-
-  // add term linear in cross product matrix K
-  mjtNum K[9] = {
-    0, -axis[2], axis[1],
-    axis[2], 0, -axis[0],
-    -axis[1], axis[0], 0
-  };
-  mju_addToScl(Da_tmp, K, half_angle, 9);
-
-  // add term linear in K * K
-  mjtNum KK[9];
-  mji_mulMatMat3(KK, K, K);
-  mjtNum coef = 1.0 - (half_angle < 6e-8 ? 1.0 : half_angle / mju_tan(half_angle));
-  mju_addToScl(Da_tmp, KK, coef, 9);
-
-  if (Da) {
-    mju_copy9(Da, Da_tmp);
-  }
-
-  if (Db) {  // Db = -Da^T
-    mju_transpose(Db, Da_tmp, 3, 3);
-    mju_scl(Db, Db, -1.0, 9);
-  }
-}
-
-
-// derivative of mju_quatIntegrate w.r.t scaled velocity
-//  reference: https://arxiv.org/abs/1711.02508, Eq. 183
-void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
-                       mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]) {
-  // scaled velocity
-  mjtNum s[3] = {scale*vel[0], scale*vel[1], scale*vel[2]};
-
-  // 3 basis matrices
-  mjtNum eye[9] = {
-    1, 0, 0,
-    0, 1, 0,
-    0, 0, 1
-  };
-  mjtNum cross[9] = {
-    0,     s[2], -s[1],
-   -s[2],  0,     s[0],
-    s[1], -s[0],  0
-  };
-  mjtNum outer[9] = {
-    s[0]*s[0], s[0]*s[1], s[0]*s[2],
-    s[1]*s[0], s[1]*s[1], s[1]*s[2],
-    s[2]*s[0], s[2]*s[1], s[2]*s[2]
-  };
-
-  // squared norm, norm of s
-  mjtNum xx = mju_dot3(s, s);
-  mjtNum x = mju_sqrt(xx);
-
-  // 4 coefficients: a=cos(x), b=sin(x)/x, c=(1-cos(x))/x^2, d=(x-sin(x))/x^3
-  mjtNum a = mju_cos(x);
-  mjtNum b, c, d;
-
-  // x is not small: use full expressions
-  if (mju_abs(x) > 1.0/32) {
-    b = mju_sin(x) / x;
-    c = (1.0 - a) / xx;
-    d = (1.0 - b) / xx;
-  }
-
-  // |x| <= 1/32: use 6th order Taylor expansion (Horner form)
-  else {
-    b =  1 + xx/6  * (xx/20 * (1 - xx/42) - 1);
-    c = (1 + xx/12 * (xx/30 * (1 - xx/56) - 1)) / 2;
-    d = (1 + xx/20 * (xx/42 * (1 - xx/72) - 1)) / 6;
-  }
-
-  // derivatives
-  mjtNum Dvel_[9];
-  for (int i=0; i < 9; i++) {
-    if (Dquat)          Dquat[i] = a*eye[i] + b*cross[i] + c*outer[i];
-    if (Dvel || Dscale) Dvel_[i] = b*eye[i] + c*cross[i] + d*outer[i];
-  }
-  if (Dvel) mju_copy9(Dvel, Dvel_);
-  if (Dscale) mji_mulMatVec3(Dscale, Dvel_, vel);
-}
-
-
-//------------------------- dense derivatives of component functions -------------------------------
-// no longer used, except in tests
-
-// derivative of cvel, cdof_dot w.r.t qvel (dense version)
-static void mjd_comVel_vel_dense(const mjModel* m, mjData* d, mjtNum* Dcvel, mjtNum* Dcdofdot) {
-  int nv = m->nv, nbody = m->nbody;
-  mjtNum mat[36];
-
-  // clear Dcvel
-  mju_zero(Dcvel, nbody*6*nv);
-
-  // forward pass over bodies: accumulate Dcvel, set Dcdofdot
-  for (int i=1; i < nbody; i++) {
-    // Dcvel = Dcvel_parent
-    mju_copy(Dcvel+i*6*nv, Dcvel+m->body_parentid[i]*6*nv, 6*nv);
-
-    // Dcvel += D(cdof * qvel),  Dcdofdot = D(cvel x cdof)
-    for (int j=m->body_dofadr[i]; j < m->body_dofadr[i]+m->body_dofnum[i]; j++) {
-      switch ((mjtJoint) m->jnt_type[m->dof_jntid[j]]) {
-      case mjJNT_FREE:
-        // Dcdofdot = 0
-        mju_zero(Dcdofdot+j*6*nv, 18*nv);
-
-        // Dcvel += cdof * (D qvel)
-        for (int k=0; k < 6; k++) {
-          Dcvel[i*6*nv + k*nv + j+0] += d->cdof[(j+0)*6 + k];
-          Dcvel[i*6*nv + k*nv + j+1] += d->cdof[(j+1)*6 + k];
-          Dcvel[i*6*nv + k*nv + j+2] += d->cdof[(j+2)*6 + k];
-        }
-
-        // continue with rotations
-        j += 3;
-        mjFALLTHROUGH;
-
-      case mjJNT_BALL:
-        // Dcdofdot = D crossMotion(cvel, cdof)
-        for (int k=0; k < 3; k++) {
-          mjd_crossMotion_vel(mat, d->cdof+6*(j+k));
-          mju_mulMatMat(Dcdofdot+(j+k)*6*nv, mat, Dcvel+i*6*nv, 6, 6, nv);
-        }
-
-        // Dcvel += cdof * (D qvel)
-        for (int k=0; k < 6; k++) {
-          Dcvel[i*6*nv + k*nv + j+0] += d->cdof[(j+0)*6 + k];
-          Dcvel[i*6*nv + k*nv + j+1] += d->cdof[(j+1)*6 + k];
-          Dcvel[i*6*nv + k*nv + j+2] += d->cdof[(j+2)*6 + k];
-        }
-
-        // adjust for 3-dof joint
-        j += 2;
-        break;
-
-      default:
-        // Dcdofdot = D crossMotion(cvel, cdof) * Dcvel
-        mjd_crossMotion_vel(mat, d->cdof+6*j);
-        mju_mulMatMat(Dcdofdot+j*6*nv, mat, Dcvel+i*6*nv, 6, 6, nv);
-
-        // Dcvel += cdof * (D qvel)
-        for (int k=0; k < 6; k++) {
-          Dcvel[i*6*nv + k*nv + j] += d->cdof[j*6 + k];
-        }
-      }
-    }
-  }
-}
-
-
-// subtract (d qfrc_bias / d qvel) from qDeriv (dense version)
-void mjd_rne_vel_dense(const mjModel* m, mjData* d) {
-  int nv = m->nv, nbody = m->nbody;
-  mjtNum mat[36], mat1[36], mat2[36], dmul[36], tmp[6];
-
-  mj_markStack(d);
-  mjtNum* Dcvel = mjSTACKALLOC(d, nbody*6*nv, mjtNum);
-  mjtNum* Dcdofdot = mjSTACKALLOC(d, nv*6*nv, mjtNum);
-  mjtNum* Dcacc = mjSTACKALLOC(d, nbody*6*nv, mjtNum);
-  mjtNum* Dcfrcbody = mjSTACKALLOC(d, nbody*6*nv, mjtNum);
-  mjtNum* row = mjSTACKALLOC(d, nv, mjtNum);
-
-  // compute Dcvel and Dcdofdot
-  mjd_comVel_vel_dense(m, d, Dcvel, Dcdofdot);
-
-  // clear Dcacc
-  mju_zero(Dcacc, nbody*6*nv);
-
-  // forward pass over bodies: accumulate Dcacc, set Dcfrcbody
-  for (int i=1; i < nbody; i++) {
-    // Dcacc = Dcacc_parent
-    mju_copy(Dcacc + i*6*nv, Dcacc + m->body_parentid[i]*6*nv, 6*nv);
-
-    // Dcacc += D(cdofdot * qvel)
-    for (int j=m->body_dofadr[i]; j < m->body_dofadr[i]+m->body_dofnum[i]; j++) {
-      // Dcacc += cdofdot * (D qvel)
-      for (int k=0; k < 6; k++) {
-        Dcacc[i*6*nv + k*nv + j] += d->cdof_dot[j*6 + k];
-      }
-
-      // Dcacc += (D cdofdot) * qvel
-      mju_addToScl(Dcacc+i*6*nv, Dcdofdot+j*6*nv, d->qvel[j], 6*nv);
-    }
-
-    //---------- Dcfrcbody = D(cinert * cacc + cvel x (cinert * cvel))
-
-    // Dcfrcbody = (D mul / D cacc) * Dcacc
-    mjd_mulInertVec_vel(dmul, d->cinert+10*i);
-    mju_mulMatMat(Dcfrcbody+i*6*nv, dmul, Dcacc+i*6*nv, 6, 6, nv);
-
-    // mat = (D cross / D cvel) + (D cross / D mul) * (D mul / D cvel)
-    mju_mulInertVec(tmp, d->cinert+10*i, d->cvel+i*6);
-    mjd_crossForce_vel(mat, tmp);
-    mjd_crossForce_frc(mat1, d->cvel+i*6);
-    mju_mulMatMat(mat2, mat1, dmul, 6, 6, 6);
-    mju_addTo(mat, mat2, 36);
-
-    // Dcfrcbody += mat * Dcvel  (use body 0 as temp)
-    mju_mulMatMat(Dcfrcbody, mat, Dcvel+i*6*nv, 6, 6, nv);
-    mju_addTo(Dcfrcbody+i*6*nv, Dcfrcbody, 6*nv);
-  }
-
-  // clear world Dcfrcbody, for style
-  mju_zero(Dcfrcbody, 6*nv);
-
-  // backward pass over bodies: accumulate Dcfrcbody
-  for (int i=nbody-1; i > 0; i--) {
-    if (m->body_parentid[i]) {
-      mju_addTo(Dcfrcbody+m->body_parentid[i]*6*nv, Dcfrcbody+i*6*nv, 6*nv);
-    }
-  }
-
-  // qDeriv -= D(cdof * cfrc_body)
-  for (int i=0; i < nv; i++) {
-    for (int k=0; k < 6; k++) {
-      // compute D(cdof * cfrc_body), store in row
-      mju_scl(row, Dcfrcbody + (m->dof_bodyid[i]*6+k)*nv, d->cdof[i*6+k], nv);
-
-      // dense to sparse: qDeriv -= row
-      int end = m->D_rowadr[i] + m->D_rownnz[i];
-      for (int adr=m->D_rowadr[i]; adr < end; adr++) {
-        d->qDeriv[adr] -= row[m->D_colind[adr]];
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-//------------------------- sparse derivatives of component functions ------------------------------
-// internal sparse format: dense body/dof x sparse dof x 6   (inner size is 6)
-
-// copy sparse B-row from parent, shared ancestors only
-static void copyFromParent(const mjModel* m, mjData* d, mjtNum* mat, int n) {
-  // return if this is world or parent is world
-  if (n == 0 || m->body_weldid[m->body_parentid[n]] == 0) {
-    return;
-  }
-
-  // count dofs in ancestors
-  int ndof = 0;
-  int np = m->body_weldid[m->body_parentid[n]];
-  while (np > 0) {
-    // add self dofs
-    ndof += m->body_dofnum[np];
-
-    // advance to parent
-    np = m->body_weldid[m->body_parentid[np]];
-  }
-
-  // copy: guaranteed to be at beginning of sparse array, due to sorting
-  mju_copy(mat + 6*m->B_rowadr[n], mat + 6*m->B_rowadr[m->body_parentid[n]], 6*ndof);
-}
-
-
-// add sparse B-row to parent, all overlapping nonzeros
-static void addToParent(const mjModel* m, mjData* d, mjtNum* mat, int n) {
-  // return if this is world or parent is world
-  if (n == 0 || m->body_weldid[m->body_parentid[n]] == 0) {
-    return;
-  }
-
-  // find matching nonzeros
-  int np = m->body_parentid[n];
-  int i = 0, ip = 0;
-  while (i < m->B_rownnz[n] && ip < m->B_rownnz[np]) {
-    // columns match
-    if (m->B_colind[m->B_rowadr[n] + i] == m->B_colind[m->B_rowadr[np] + ip]) {
-      mju_addTo(mat + 6*(m->B_rowadr[np] + ip), mat + 6*(m->B_rowadr[n] + i), 6);
-
-      // advance both
-      i++;
-      ip++;
-    }
-
-    // mismatch columns: advance parent
-    else if (m->B_colind[m->B_rowadr[n] + i] > m->B_colind[m->B_rowadr[np] + ip]) {
-      ip++;
-    }
-
-    // child nonzeroes must be subset of parent; SHOULD NOT OCCUR
-    else {
-      mjERROR("child nonzeroes must be subset of parent");
-    }
-  }
-}
-
-
-// derivative of cvel, cdof_dot w.r.t qvel
-static void mjd_comVel_vel(const mjModel* m, mjData* d, mjtNum* Dcvel, mjtNum* Dcdofdot) {
-  int nv = m->nv, nM = m->nM;
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-  int* Badr = m->B_rowadr, * Dadr = m->D_rowadr;
-  mjtNum mat[36], matT[36];   // 6x6 matrices
-
-  // forward pass over bodies: accumulate Dcvel, set Dcdofdot
-  for (int b=1; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    // Dcvel = Dcvel_parent
-    copyFromParent(m, d, Dcvel, i);
-
-    // process all dofs of this body
-    int doflast = m->body_dofadr[i] + m->body_dofnum[i];
-    for (int j = m->body_dofadr[i]; j < doflast; j++) {
-      // number of dof ancestors of dof j
-      int Jadr = (j < nv - 1 ? m->dof_Madr[j + 1] : nM) - (m->dof_Madr[j] + 1);
-
-      // Dcvel += D(cdof * qvel),  Dcdofdot = D(cvel x cdof)
-      switch ((mjtJoint) m->jnt_type[m->dof_jntid[j]]) {
-      case mjJNT_FREE:
-        // Dcdofdot = 0 (already cleared)
-
-        // Dcvel += cdof * D(qvel)
-        mju_addTo(Dcvel + 6*(Badr[i] + Jadr + 0), d->cdof + 6*(j + 0), 6);
-        mju_addTo(Dcvel + 6*(Badr[i] + Jadr + 1), d->cdof + 6*(j + 1), 6);
-        mju_addTo(Dcvel + 6*(Badr[i] + Jadr + 2), d->cdof + 6*(j + 2), 6);
-
-        // continue with rotations
-        j += 3;
-        Jadr += 3;
-        mjFALLTHROUGH;
-
-      case mjJNT_BALL:
-        // Dcdofdot = Dcvel * D crossMotion(cvel, cdof)
-        for (int dj=0; dj < 3; dj++) {
-          mjd_crossMotion_vel(mat, d->cdof + 6 * (j + dj));
-          mju_transpose(matT, mat, 6, 6);
-          mju_mulMatMat(Dcdofdot + 6*Dadr[j + dj], Dcvel + 6*Badr[i], matT, Jadr + dj, 6, 6);
-        }
-
-        // Dcvel += cdof * (D qvel)
-        mju_addTo(Dcvel + 6*(Badr[i] + Jadr + 0), d->cdof + 6*(j + 0), 6);
-        mju_addTo(Dcvel + 6*(Badr[i] + Jadr + 1), d->cdof + 6*(j + 1), 6);
-        mju_addTo(Dcvel + 6*(Badr[i] + Jadr + 2), d->cdof + 6*(j + 2), 6);
-
-        // adjust for 3-dof joint
-        j += 2;
-        break;
-
-      case mjJNT_HINGE:
-      case mjJNT_SLIDE:
-        // Dcdofdot = D crossMotion(cvel, cdof) * Dcvel
-        mjd_crossMotion_vel(mat, d->cdof + 6 * j);
-        mju_transpose(matT, mat, 6, 6);
-        mju_mulMatMat(Dcdofdot + 6*Dadr[j], Dcvel + 6*Badr[i], matT, Jadr, 6, 6);
-
-        // Dcvel += cdof * (D qvel)
-        mju_addTo(Dcvel + 6*(Badr[i] + Jadr), d->cdof + 6*j, 6);
-        break;
-
-      default:
-        mjERROR("unknown joint type");
-      }
-    }
-  }
-}
-
-
-// subtract d qfrc_bias / d qvel from qDeriv
-static void mjd_rne_vel(const mjModel* m, mjData* d) {
-  int nM = m->nM;
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-  int nparent = sleep_filter ? d->nparent_awake : m->nbody;
-  int mnv = m->nv;
-  int nv = sleep_filter ? d->nv_awake : mnv;
-
-  const int* Badr = m->B_rowadr;
-  const int* Dadr = m->D_rowadr;
-  const int* Bnnz = m->B_rownnz;
-
-  mjtNum mat[36], mat1[36], mat2[36], dmul[36], tmp[6];
-
-  mj_markStack(d);
-  mjtNum* Dcdofdot = mjSTACKALLOC(d, 6*m->nD, mjtNum);
-  mjtNum* Dcvel = mjSTACKALLOC(d, 6*m->nB, mjtNum);
-  mjtNum* Dcacc = mjSTACKALLOC(d, 6*m->nB, mjtNum);
-  mjtNum* Dcfrcbody = mjSTACKALLOC(d, 6*m->nB, mjtNum);
-  mjtNum* row = mjSTACKALLOC(d, m->nv, mjtNum);
-
-  // clear
-  if (!sleep_filter) {
-    mju_zero(Dcdofdot,  6*m->nD);
-    mju_zero(Dcvel,     6*m->nB);
-    mju_zero(Dcacc,     6*m->nB);
-    mju_zero(Dcfrcbody, 6*m->nB);
-  } else {
-    for (int i = 0; i < nv; i++) {
-      int dof = d->dof_awake_ind[i];
-      mju_zero(Dcdofdot + 6*m->D_rowadr[dof], 6*m->D_rownnz[dof]);
-    }
-
-    for (int i = 0; i < nbody; i++) {
-      int body = d->body_awake_ind[i];
-      int adr = 6*m->B_rowadr[body];
-      int nnz = 6*m->B_rownnz[body];
-      mju_zero(Dcvel     + adr, nnz);
-      mju_zero(Dcacc     + adr, nnz);
-      mju_zero(Dcfrcbody + adr, nnz);
-    }
-  }
-
-  // compute Dcvel and Dcdofdot
-  mjd_comVel_vel(m, d, Dcvel, Dcdofdot);
-
-  // forward pass over bodies: accumulate Dcacc, set Dcfrcbody
-  for (int b=1; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    // Dcacc = Dcacc_parent
-    copyFromParent(m, d, Dcacc, i);
-
-    // process all dofs of this body
-    int doflast = m->body_dofadr[i] + m->body_dofnum[i];
-    for (int j=m->body_dofadr[i]; j < doflast; j++) {
-      // number of dof ancestors of dof j
-      int Jadr = (j < mnv - 1 ? m->dof_Madr[j + 1] : nM) - (m->dof_Madr[j] + 1);
-
-      // Dcacc += cdofdot * (D qvel)
-      mju_addTo(Dcacc + 6*(Badr[i] + Jadr), d->cdof_dot + 6*j, 6);
-
-      // Dcacc += (D cdofdot) * qvel
-      // Dcacc[row i] and Dcdofdot[row j] have identical sparsity
-      mju_addToScl(Dcacc + 6*Badr[i], Dcdofdot + 6*Dadr[j], d->qvel[j], 6*Bnnz[i]);
-    }
-
-    //---------- Dcfrcbody = D(cinert * cacc + cvel x (cinert * cvel))
-
-    // Dcfrcbody = (D mul / D cacc) * Dcacc
-    mjd_mulInertVec_vel(dmul, d->cinert + 10*i);
-    mju_transpose(mat1, dmul, 6, 6);
-    mju_mulMatMat(Dcfrcbody + 6*Badr[i], Dcacc + 6*Badr[i], mat1, Bnnz[i], 6, 6);
-
-    // mat = (D cross / D cvel) + (D cross / D mul) * (D mul / D cvel)
-    mju_mulInertVec(tmp, d->cinert + 10*i, d->cvel + i*6);
-    mjd_crossForce_vel(mat, tmp);
-    mjd_crossForce_frc(mat1, d->cvel + i*6);
-    mju_mulMatMat(mat2, mat1, dmul, 6, 6, 6);
-    mju_addTo(mat, mat2, 36);
-
-    // Dcfrcbody += mat * Dcvel  (use worldbody as temp)
-    mju_transpose(mat1, mat, 6, 6);
-    mju_mulMatMat(Dcfrcbody, Dcvel + 6*Badr[i], mat1, Bnnz[i], 6, 6);
-    mju_addTo(Dcfrcbody + 6*Badr[i], Dcfrcbody, 6*Bnnz[i]);
-  }
-
-  // clear worldbody Dcfrcbody
-  mju_zero(Dcfrcbody, 6*Bnnz[0]);
-
-  // backward pass over bodies: accumulate Dcfrcbody
-  for (int b=nparent-1; b > 0; b--) {
-    int i = sleep_filter ? d->parent_awake_ind[b] : b;
-    addToParent(m, d, Dcfrcbody, i);
-  }
-
-  // process all dofs, update qDeriv
-  for (int v=0; v < nv; v++) {
-    int j = sleep_filter ? d->dof_awake_ind[v] : v;
-
-    // get body index
-    int i = m->dof_bodyid[j];
-
-    // qDeriv -= D(cdof * cfrc_body)
-    mju_mulMatVec(row, Dcfrcbody + 6*Badr[i], d->cdof + 6*j, Bnnz[i], 6);
-    mju_subFrom(d->qDeriv + Dadr[j], row, Bnnz[i]);
-  }
-
-  mj_freeStack(d);
-}
-
-
-// 3x3 sub-blocks of (d qfrc_bias / d qvel) for a standalone free body
-//   outputs the two 3x3 blocks lin and rot such that the rotational columns
-//   of the full 6x6 bias Jacobian B are  [-mass*lin; rot]  (linear columns are zero)
-//
-// derivation: let R = xmat, s = xipos - xpos, w = R*qvel[rot] (world angular velocity),
-// Iw = ximat * diag(body_inertia) * ximat' (world inertia about the CoM). with qacc = 0,
-// the CoM acceleration is w x (w x s) and the world bias force/torque at the CoM are
-//   f = mass * w x (w x s),   tau = w x Iw*w
-// projected onto the joint coordinates: bias = [f;  R'*(s x f + tau)]. differentiating
-// w.r.t. the rotational dofs (through w = R*qvel[rot]), with K = [w x s]_x + [w]_x [s]_x:
-//   d f / d w   = -mass * K            =>  lin = K * R
-//   d tau / d w = [w]_x Iw - [Iw*w]_x  =>  rot = R' * (-mass*[s]_x K + d tau/d w) * R
-static void freeBias_vel_blocks(mjtNum mass, const mjtNum R[9], const mjtNum Xi[9],
-                                const mjtNum inertia[3], const mjtNum s[3],
-                                const mjtNum qvel_rot[3], mjtNum lin[9], mjtNum rot[9]) {
-  // world-frame angular velocity
-  mjtNum w[3];
-  mji_mulMatVec3(w, R, qvel_rot);
-
-  // world-frame inertia about CoM: Iw = Xi * diag(inertia) * Xi^T
-  mjtNum Xi_I[9];
-  for (int i=0; i < 3; i++) {
-    Xi_I[3*i+0] = Xi[3*i+0] * inertia[0];
-    Xi_I[3*i+1] = Xi[3*i+1] * inertia[1];
-    Xi_I[3*i+2] = Xi[3*i+2] * inertia[2];
-  }
-  mjtNum Iw[9];
-  Iw[0] = Xi_I[0]*Xi[0] + Xi_I[1]*Xi[1] + Xi_I[2]*Xi[2];
-  Iw[4] = Xi_I[3]*Xi[3] + Xi_I[4]*Xi[4] + Xi_I[5]*Xi[5];
-  Iw[8] = Xi_I[6]*Xi[6] + Xi_I[7]*Xi[7] + Xi_I[8]*Xi[8];
-  Iw[1] = Iw[3] = Xi_I[0]*Xi[3] + Xi_I[1]*Xi[4] + Xi_I[2]*Xi[5];
-  Iw[2] = Iw[6] = Xi_I[0]*Xi[6] + Xi_I[1]*Xi[7] + Xi_I[2]*Xi[8];
-  Iw[5] = Iw[7] = Xi_I[3]*Xi[6] + Xi_I[4]*Xi[7] + Xi_I[5]*Xi[8];
-
-  // intermediate vectors: ws = w x s  (CoM offset velocity),  Iww = Iw * w  (angular momentum)
-  mjtNum ws[3], Iww[3];
-  mji_cross(ws, w, s);
-  mji_mulMatVec3(Iww, Iw, w);
-
-  // K = [w x s]_x + [w]_x [s]_x = s w^T - (w . s) I + [ws]_x
-  mjtNum w_dot_s = w[0]*s[0] + w[1]*s[1] + w[2]*s[2];
-  mjtNum K[9];
-  K[0] = s[0]*w[0] - w_dot_s;
-  K[1] = s[0]*w[1] - ws[2];
-  K[2] = s[0]*w[2] + ws[1];
-
-  K[3] = s[1]*w[0] + ws[2];
-  K[4] = s[1]*w[1] - w_dot_s;
-  K[5] = s[1]*w[2] - ws[0];
-
-  K[6] = s[2]*w[0] - ws[1];
-  K[7] = s[2]*w[1] + ws[0];
-  K[8] = s[2]*w[2] - w_dot_s;
-
-  // lin = K * R
-  mji_mulMatMat3(lin, K, R);
-
-  // C = -mass * [s]_x K + [w]_x Iw - [Iww]_x,  column by column
-  // the last term (-[Iww]_x) is the negated cross-product matrix, added via ternaries
-  mjtNum C[9];
-  for (int c=0; c < 3; c++) {
-    mjtNum s_x_K_row0 = s[1]*K[6+c] - s[2]*K[3+c];
-    mjtNum s_x_K_row1 = s[2]*K[c] - s[0]*K[6+c];
-    mjtNum s_x_K_row2 = s[0]*K[3+c] - s[1]*K[c];
-
-    mjtNum w_x_Iw_row0 = w[1]*Iw[6+c] - w[2]*Iw[3+c];
-    mjtNum w_x_Iw_row1 = w[2]*Iw[c] - w[0]*Iw[6+c];
-    mjtNum w_x_Iw_row2 = w[0]*Iw[3+c] - w[1]*Iw[c];
-
-    C[c]     = -mass * s_x_K_row0 + w_x_Iw_row0 + (c == 1 ? Iww[2] : (c == 2 ? -Iww[1] : 0));
-    C[3 + c] = -mass * s_x_K_row1 + w_x_Iw_row1 + (c == 0 ? -Iww[2] : (c == 2 ? Iww[0] : 0));
-    C[6 + c] = -mass * s_x_K_row2 + w_x_Iw_row2 + (c == 0 ? Iww[1] : (c == 1 ? -Iww[0] : 0));
-  }
-
-  // rot = R^T * C * R
-  mjtNum tmp[9];
-  mji_mulMatTMat3(tmp, R, C);
-  mji_mulMatMat3(rot, tmp, R);
-}
-
-
-// 6x6 block B = d qfrc_bias / d qvel for a standalone free body
-//   assembles the full 6x6 from the 3x3 sub-blocks computed by freeBias_vel_blocks
-//   rows/cols ordered like the free joint dofs: [linear(3); rotational(3)]
-//   linear columns are zero: the bias force does not depend on linear velocity
-void mjd_freeBias_vel(const mjModel* m, const mjData* d, int jnt, mjtNum B[36]) {
-  int body = m->jnt_bodyid[jnt];
-  int adr = m->jnt_dofadr[jnt];
-  mjtNum mass = m->body_mass[body];
-  const mjtNum* R = d->xmat + 9*body;    // body  -> world
-  const mjtNum* Xi = d->ximat + 9*body;  // inertia -> world
-  const mjtNum* inertia = m->body_inertia + 3*body;
-
-  // CoM offset from joint origin, world frame
-  mjtNum s[3];
-  mji_sub3(s, d->xipos + 3*body, d->xpos + 3*body);
-
-  mjtNum lin[9], rot[9];
-  freeBias_vel_blocks(mass, R, Xi, inertia, s, d->qvel + adr + 3, lin, rot);
-
-  mju_zero(B, 36);
-  for (int r=0; r < 3; r++) {
-    for (int c=0; c < 3; c++) {
-      B[6*r + 3+c] = -mass * lin[3*r+c];
-      B[6*(3+r) + 3+c] = rot[3*r+c];
-    }
-  }
-}
-
-
-// return 1 if body is a standalone free body (single free joint, no children)
-mjtBool mj_isFreeBody(const mjModel* m, int body) {
-  // must have exactly one joint, of free type
-  if (m->body_jntnum[body] != 1 || m->jnt_type[m->body_jntadr[body]] != mjJNT_FREE) {
-    return false;
-  }
-
-  int adr = m->jnt_dofadr[m->body_jntadr[body]];
-
-  // must be a standalone 6-DOF tree with no children
-  if (m->tree_dofnum[m->dof_treeid[adr]] != 6 ||
-      m->body_subtreemass[body] != m->body_mass[body]) {
-    return false;
-  }
-
-  return true;
-}
-
-
-// 6x6 block A = M - h * (d qfrc_smooth / d qvel) for the free joint of a standalone body
-//   returns 1 and writes A if jnt is the free joint of a standalone awake body, 0 otherwise
-//   requires valid d->qDeriv rows for the block, computed with flg_bias = 0; the bias
-//   derivative excluded from qDeriv is added here via mjd_freeBias_vel
-int mjd_freeMhat(const mjModel* m, const mjData* d, int jnt, mjtNum h, mjtNum A[36]) {
-  int body = m->jnt_bodyid[jnt];
-  int adr = m->jnt_dofadr[jnt];
-
-  // must be a standalone free body, awake
-  if (!mj_isFreeBody(m, body) || !d->tree_awake[m->dof_treeid[adr]]) {
-    return 0;
-  }
-
-  // A = M block (gather from sparse lower triangle)
-  mju_zero(A, 36);
-  for (int r=0; r < 6; r++) {
-    int rowadr = m->M_rowadr[adr+r];
-    int rownnz = m->M_rownnz[adr+r];
-    for (int k=0; k < rownnz; k++) {
-      int c = m->M_colind[rowadr+k] - adr;
-      A[6*r+c] = A[6*c+r] = d->M[rowadr+k];
-    }
-  }
-
-  // A -= h * qDeriv block (actuator and passive derivatives)
-  for (int r=0; r < 6; r++) {
-    int rowadr = m->D_rowadr[adr+r];
-    int rownnz = m->D_rownnz[adr+r];
-    for (int k=0; k < rownnz; k++) {
-      int c = m->D_colind[rowadr+k] - adr;
-      A[6*r+c] -= h * d->qDeriv[rowadr+k];
-    }
-  }
-
-  // A -= h * d(qfrc_smooth)/d(qvel) for the bias term missing from qDeriv;
-  // qfrc_smooth includes -qfrc_bias, so subtracting its derivative adds +h*B
-  mjtNum s[3];
-  mji_sub3(s, d->xipos + 3*body, d->xpos + 3*body);
-
-  mjtNum mass = m->body_mass[body];
-  mjtNum lin[9], rot[9];
-  freeBias_vel_blocks(mass, d->xmat + 9*body, d->ximat + 9*body,
-                      m->body_inertia + 3*body, s, d->qvel + adr + 3, lin, rot);
-
-  mjtNum h_mass = -h * mass;
-  for (int r=0; r < 3; r++) {
-    for (int c=0; c < 3; c++) {
-      A[6*r + 3+c] += h_mass * lin[3*r+c];
-      A[6*(3+r) + 3+c] += h * rot[3*r+c];
-    }
-  }
-
-  return 1;
-}
-
-
-//--------------------- utility functions for (d force / d vel) Jacobians --------------------------
-
-// add J'*B*J to qDeriv
-static void addJTBJ(const mjModel* m, mjData* d, const mjtNum* J, const mjtNum* B, int n) {
-  int nv = m->nv;
-
-  // allocate dense row
-  mj_markStack(d);
-  mjtNum* row = mjSTACKALLOC(d, nv, mjtNum);
-
-  // process non-zero elements of B
-  for (int i=0; i < n; i++) {
-    for (int j=0; j < n; j++) {
-      if (!B[i*n+j]) {
-        continue;
-      }
-      // process non-zero elements of J(i,:)
-      for (int k=0; k < nv; k++) {
-        if (J[i*nv+k]) {
-          // row = J(i,k)*B(i,j)*J(j,:)
-          mju_scl(row, J+j*nv, J[i*nv+k] * B[i*n+j], nv);
-
-          // add row to qDeriv(k,:)
-          int rownnz_k = m->D_rownnz[k];
-          for (int s=0; s < rownnz_k; s++) {
-            int adr = m->D_rowadr[k] + s;
-            d->qDeriv[adr] += row[m->D_colind[adr]];
-          }
-        }
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// add J'*B*J to qDeriv, sparse version
-static void addJTBJSparse(
-  const mjModel* m, mjData* d, const mjtNum* J,
-  const mjtNum* B, int n, int offset,
-  const int* J_rownnz, const int* J_rowadr, const int* J_colind) {
-
-  // compute qDeriv(k,p) += sum_{i,j} ( J(i,k)*B(i,j)*J(j,p) )
-  for (int i = 0; i < n; i++) {
-    for (int j = 0; j < n; j++) {
-      if (!B[i*n+j]) {
-        continue;
-      }
-
-      // loop over non-zero elements of J(i,:)
-      int nnz_i = J_rownnz[offset+i];
-      int adr_i = J_rowadr[offset+i];
-      int nnz_j = J_rownnz[offset+j];
-      int adr_j = J_rowadr[offset+j];
-      for (int k = 0; k < nnz_i; k++) {
-        int ik = adr_i + k;
-        int colik = J_colind[ik];
-
-        // qDeriv(k,:) += J(j,:) * J(i,k)*B(i,j)
-        mju_addToSclSparseInc(d->qDeriv + m->D_rowadr[colik], J + adr_j,
-                              m->D_rownnz[colik], m->D_colind + m->D_rowadr[colik],
-                              nnz_j, J_colind + adr_j,
-                              J[ik]*B[i*n+j]);
-      }
-    }
-  }
-}
-
-
-//----------------------------- derivatives of actuator forces -------------------------------------
-
-// derivative of mju_muscleGain w.r.t velocity
-static mjtNum mjd_muscleGain_vel(mjtNum len, mjtNum vel, const mjtNum lengthrange[2], mjtNum acc0,
-                                 const mjtNum prm[9]) {
-  // unpack parameters
-  mjtNum range[2] = {prm[0], prm[1]};
-  mjtNum force    = prm[2];
-  mjtNum scale    = prm[3];
-  mjtNum lmin     = prm[4];
-  mjtNum lmax     = prm[5];
-  mjtNum vmax     = prm[6];
-  mjtNum fvmax    = prm[8];
-
-  // scale force if negative
-  if (force < 0) {
-    force = scale / mju_max(mjMINVAL, acc0);
-  }
-
-  // optimum length
-  mjtNum L0 = (lengthrange[1]-lengthrange[0]) / mju_max(mjMINVAL, range[1]-range[0]);
-
-  // normalized length and velocity
-  mjtNum L = range[0] + (len-lengthrange[0]) / mju_max(mjMINVAL, L0);
-  mjtNum V = vel / mju_max(mjMINVAL, L0*vmax);
-
-  // length curve
-  mjtNum FL = mju_muscleGainLength(L, lmin, lmax);
-
-  // velocity curve
-  mjtNum dFV;
-  mjtNum y = fvmax-1;
-  if (V <= -1) {
-    // FV = 0
-    dFV = 0;
-  } else if (V <= 0) {
-    // FV = (V+1)*(V+1)
-    dFV = 2*V + 2;
-  } else if (V <= y) {
-    // FV = fvmax - (y-V)*(y-V) / mju_max(mjMINVAL, y)
-    dFV = (-2*V + 2*y) / mju_max(mjMINVAL, y);
-  } else {
-    // FV = fvmax
-    dFV = 0;
-  }
-
-  // compute FVL and scale, make it negative
-  return -force*FL*dFV/mju_max(mjMINVAL, L0*vmax);
-}
-
-
-//--------------------- utility functions for (d force / d pos) * vec Jacobians --------------------
-
-// add J'*B*J*vec to res, sparse version
-static void addJTBJ_mulSparse(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec,
-                              const int* J_rownnz, const int* J_rowadr, const int* J_colind,
-                              const mjtNum* J, const mjtNum* B, int n) {
-  // allocate temp vectors
-  mj_markStack(d);
-  mjtNum* Jv = mjSTACKALLOC(d, n, mjtNum);
-  mjtNum* BJv = mjSTACKALLOC(d, n, mjtNum);
-
-  // Jv = J*vec (Sparse Matrix-Vector Multiplication)
-  mju_zero(Jv, n);
-  for (int i=0; i < n; i++) {
-    int nnz = J_rownnz[i];
-    int adr = J_rowadr[i];
-    for (int k=0; k < nnz; k++) {
-      Jv[i] += J[adr + k] * vec[J_colind[adr + k]];
-    }
-  }
-
-  // BJv = B*Jv (Dense Matrix-Vector Multiplication)
-  mju_mulMatVec(BJv, B, Jv, n, n);
-
-  // res += J'*BJv (Sparse Transpose Matrix-Vector Multiplication)
-  for (int i=0; i < n; i++) {
-    int nnz = J_rownnz[i];
-    int adr = J_rowadr[i];
-    mjtNum val = BJv[i];
-    for (int k=0; k < nnz; k++) {
-      res[J_colind[adr + k]] += J[adr + k] * val;
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// shared kernel for flex interpolation derivatives, scale = s1 + s2*damping
-//  res: output vector (res += J'*K*J*vec), or NULL for cache-only mode
-//  vec: input vector, or NULL for cache-only mode
-//  K_rot_cache: if non-NULL, use pre-cached K_rot values instead of computing them
-//  K_rot_out: if non-NULL and K_rot_cache is NULL, store computed K_rot values here
-static void mjd_flexInterp_kernel(const mjModel* m, mjData* d,
-                                  mjtNum* res, const mjtNum* vec, mjtNum s1, mjtNum s2,
-                                  const mjtNum* K_rot_cache, mjtNum* K_rot_out) {
-  int nv = m->nv;
-
-  // compute upper bounds across all interpolated flexes
-  int max_nodenum = 0;
-  int max_npe = 0;  // max nodes per element (3D cell or 2D face)
-  for (int f = 0; f < m->nflex; f++) {
-    if (!m->flex_interp[f]) continue;
-    if (m->flex_rigid[f]) continue;
-    int order = m->flex_interp[f];
-    int shell_mode = order < 0;
-    order = order < 0 ? -order : order;
-    int npe;
-    if (shell_mode) {
-      npe = (order+1)*(order+1);
-    } else {
-      npe = (order+1)*(order+1)*(order+1);
-    }
-    if (npe > max_npe) max_npe = npe;
-    if (m->flex_nodenum[f] > max_nodenum) max_nodenum = m->flex_nodenum[f];
-  }
-
-  // nothing to do
-  if (max_npe == 0) {
-    return;
-  }
-
-  int max_dim_c = 3 * max_npe;
-
-  // single unconditional markStack
-  mj_markStack(d);
-
-  // per-flex node positions (upper bound)
-  mjtNum* xpos = mjSTACKALLOC(d, 3*max_nodenum, mjtNum);
-
-  // per-element arrays (upper bound)
-  mjtNum* xpos_c = mjSTACKALLOC(d, 3*max_npe, mjtNum);
-  mjtNum* K_rot_cell = mjSTACKALLOC(d, max_dim_c*max_dim_c, mjtNum);
-
-  // sparse Jacobian for one cell (upper bound)
-  int* J_rownnz = mjSTACKALLOC(d, max_dim_c, int);
-  int* J_rowadr = mjSTACKALLOC(d, max_dim_c, int);
-  mjtNum* J_val = mjSTACKALLOC(d, max_dim_c*nv, mjtNum);
-  int* J_colind = mjSTACKALLOC(d, max_dim_c*nv, int);
-
-  // temp allocations for chain
-  int* chain_colind = mjSTACKALLOC(d, nv, int);
-  mjtNum* blk_jac = mjSTACKALLOC(d, 3*nv, mjtNum);
-
-  // temp buffer for fast path element result
-  mjtNum* fast_tmp = mjSTACKALLOC(d, max_dim_c, mjtNum);
-
-  // loop over flexes
-  for (int f=0; f < m->nflex; f++) {
-    // only process flex_interp
-    if (!m->flex_interp[f]) {
-      continue;
-    }
-
-    // get stiffness and damping
-    int stiffnessadr = m->flex_stiffnessadr[f];
-    if (stiffnessadr < 0) {
-      continue;
-    }
-    mjtNum* K = m->flex_stiffness + stiffnessadr;
-
-    // skip if rigid or no stiffness
-    if (m->flex_rigid[f] || K[0] == 0) {
-      continue;
-    }
-
-    // skip if strain constraints present (stiffness handled by constraint solver)
-    if (m->flex_edgeequality[f] == 3) {
-      continue;
-    }
-
-    // compute scale
-    mjtNum damping = m->flex_damping[f];
-    mjtNum scale = s1 + s2 * damping;
-
-    // skip if scale is zero
-    if (scale == 0) {
-      continue;
-    }
-
-    int order = m->flex_interp[f];
-    int shell_mode = order < 0;
-    order = order < 0 ? -order : order;
-
-    int cx = m->flex_cellnum[3*f+0];
-    int cy = m->flex_cellnum[3*f+1];
-    int cz = m->flex_cellnum[3*f+2];
-
-    int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[f];
-
-    // determine element type: 2D boundary quads (shell) or 3D cells (volume)
-    int npe;
-    int nelem_fe;
-    if (shell_mode) {
-      npe = (order+1)*(order+1);
-      nelem_fe = 2*(cy*cz + cx*cz + cx*cy);
-    } else {
-      npe = (order+1)*(order+1)*(order+1);
-      nelem_fe = cx * cy * cz;
-    }
-    int dim_e = 3 * npe;
-
-    // gather raw node positions (unrotated)
-    mju_flexGatherState(m, d, f, xpos, NULL);
-
-    // check if centered fast path applies: centered, all nodes on simple slider
-    // bodies (body_simple == 2 means diag M with sliders only, J = R_body per node)
-    int use_fast_path = m->flex_centered[f];
-    if (use_fast_path) {
-      int nodenum_f = m->flex_nodenum[f];
-      for (int n = 0; n < nodenum_f; n++) {
-        if (m->body_simple[bodyid[n]] != 2) {
-          use_fast_path = 0;
-          break;
-        }
-      }
-    }
-
-    // loop over finite elements
-    for (int fe = 0; fe < nelem_fe; fe++) {
-      // get element stiffness
-      mjtNum* k_elem = K + fe * 3*npe * 3*npe;
-
-      // skip empty elements: stiffness buffer is zero-initialized at compile time
-      // (user_model.cc), and non-empty elements have strictly positive diagonal
-      if (k_elem[0] == 0) {
-        continue;
-      }
-
-      // use cached K_rot or compute from scratch
-      int gindices[125];  // element node indices (max npe = 125 for quadratic 3D)
-      int krot_adr = stiffnessadr + fe * dim_e * dim_e;
-      if (K_rot_cache) {
-        // read K_rot from cache and apply scale
-        for (int i = 0; i < dim_e*dim_e; i++) {
-          K_rot_cell[i] = scale * K_rot_cache[krot_adr + i];
-        }
-
-        // recompute gindices (cheap index-only call, no rotation)
-        if (shell_mode) {
-          mju_flexGatherFaceState(order, cx, cy, cz, fe, NULL, NULL, NULL,
-                                  NULL, NULL, NULL, gindices, NULL);
-        } else {
-          int ci = fe / (cy * cz);
-          int cj = (fe / cz) % cy;
-          int ck = fe % cz;
-          mju_flexGatherCellState(order, cy, cz, ci, cj, ck, NULL, NULL, NULL,
-                                  NULL, NULL, NULL, gindices, NULL);
-        }
-      } else {
-        // gather element-local node positions and rotation
-        mjtNum quat[4];
-        if (shell_mode) {
-          mju_flexGatherFaceState(order, cx, cy, cz, fe, xpos, NULL, NULL,
-                                  xpos_c, NULL, NULL, gindices, quat);
-        } else {
-          int ci = fe / (cy * cz);
-          int cj = (fe / cz) % cy;
-          int ck = fe % cz;
-          mju_flexGatherCellState(order, cy, cz, ci, cj, ck, xpos, NULL, NULL,
-                                  xpos_c, NULL, NULL, gindices, quat);
-        }
-
-        // R = R_global2local, RT = R_local2global
-        mjtNum R[9], RT[9];
-        mju_quat2Mat(R, quat);
-        mju_transpose(RT, R, 3, 3);
-
-        // compute K_rot = RT * K_elem * R (block-wise)
-        mju_zero(K_rot_cell, dim_e*dim_e);
-        for (int a = 0; a < npe; a++) {
-          for (int b = 0; b < npe; b++) {
-            mjtNum blk[9], tmp[9];
-
-            // get K_elem(a,b) 3x3 block
-            int adr_cell = (3*a)*(3*npe) + 3*b;
-            for (int r = 0; r < 3; r++) {
-              for (int c = 0; c < 3; c++) {
-                blk[3*r+c] = k_elem[adr_cell + r*(3*npe) + c];
-              }
-            }
-
-            // tmp = K * R
-            mji_mulMatMat3(tmp, blk, R);
-            // blk = RT * tmp = RT * K * R
-            mji_mulMatMat3(blk, RT, tmp);
-
-            // store in K_rot_cell at (a, b)
-            int adr_out = (3*a)*dim_e + 3*b;
-            for (int r = 0; r < 3; r++) {
-              for (int c = 0; c < 3; c++) {
-                K_rot_cell[adr_out + r*dim_e + c] = scale * blk[3*r+c];
-              }
-            }
-          }
-        }
-
-        // optionally store unscaled K_rot to output cache
-        if (K_rot_out) {
-          for (int i = 0; i < dim_e*dim_e; i++) {
-            K_rot_out[krot_adr + i] = K_rot_cell[i] / scale;
-          }
-        }
-      }
-
-      // skip Jacobian construction and op when only caching (res == NULL)
-      if (!res) {
-        continue;
-      }
-
-      // fast path: centered flex with 3 translational DOFs per body
-      // J = R_body (not I when body is rotated), so J'*K*J*vec = R^T*K*(R*vec)
-      if (use_fast_path) {
-        // apply R_body to vec for each node
-        for (int n = 0; n < npe; n++) {
-          int dof = m->body_dofadr[bodyid[gindices[n]]];
-          mji_mulMatVec3(fast_tmp + 3*n, d->xmat + 9*bodyid[gindices[n]], vec + dof);
-        }
-
-        // compute R^T * K_rot * (R*vec) and add to res
-        for (int a = 0; a < npe; a++) {
-          int dof_a = m->body_dofadr[bodyid[gindices[a]]];
-          mjtNum row[3] = {0, 0, 0};
-          for (int b = 0; b < npe; b++) {
-            int adr = (3*a)*dim_e + 3*b;
-            for (int r = 0; r < 3; r++) {
-              for (int c = 0; c < 3; c++) {
-                row[r] += K_rot_cell[adr + r*dim_e + c] * fast_tmp[3*b + c];
-              }
-            }
-          }
-          // apply R^T and add to res
-          mjtNum qfrc_loc[3];
-          mji_mulMatTVec3(qfrc_loc, d->xmat + 9*bodyid[gindices[a]], row);
-          for (int r = 0; r < 3; r++) {
-            res[dof_a + r] += qfrc_loc[r];
-          }
-        }
-      } else {
-        // general path: construct sparse Jacobian for this element's nodes
-        int current_adr = 0;
-        for (int n = 0; n < npe; n++) {
-          int bid = bodyid[gindices[n]];
-          int chain_nnz = mj_bodyChain(m, bid, chain_colind);
-          mj_jacSparse(m, d, blk_jac, NULL, xpos+3*gindices[n], bid,
-                       chain_nnz, chain_colind, /*flg_skipcommon=*/0);
-
-          for (int r = 0; r < 3; r++) {
-            int row_idx = 3*n + r;
-            J_rownnz[row_idx] = chain_nnz;
-            J_rowadr[row_idx] = current_adr;
-
-            for (int idx = 0; idx < chain_nnz; idx++) {
-              J_colind[current_adr] = chain_colind[idx];
-              J_val[current_adr] = blk_jac[r*chain_nnz + idx];
-              current_adr++;
-            }
-          }
-        }
-
-        // res += J'*K_rot*J*vec
-        addJTBJ_mulSparse(m, d, res, vec, J_rownnz, J_rowadr, J_colind,
-                          J_val, K_rot_cell, dim_e);
-      }
-
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// compute res += (s1 + s2*damping) * J'*K*J * vec, for all interpolated flexes
-//   K_rot_cache: if non-NULL, use pre-cached K_rot (same layout as m->flex_stiffness)
-void mjd_flexInterp_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec,
-                        mjtNum s1, mjtNum s2, const mjtNum* K_rot_cache) {
-  mjd_flexInterp_kernel(m, d, res, vec, s1, s2, K_rot_cache, NULL);
-}
-
-
-// precompute unscaled K_rot for all elements into cache (same layout as m->flex_stiffness)
-void mjd_flexInterp_cacheKrot(const mjModel* m, mjData* d, mjtNum* K_rot_out) {
-  // use s1=1, s2=0 so scale=1 and K_rot_out gets unscaled values
-  mjd_flexInterp_kernel(m, d, NULL, NULL, 1, 0, NULL, K_rot_out);
-}
-
-
-// compute res += scale * K_bend * vec for standard (non-interp) flex bending
-//   scale = s1 + s2 * flex_damping[f]  per flex
-//   for stiffness+damping: s1=h^2, s2=h  =>  scale = h^2 + h*damping
-//   for stiffness only:    s1=h,   s2=0  =>  scale = h
-void mjd_flexBend_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec,
-                      mjtNum s1, mjtNum s2) {
-  for (int f = 0; f < m->nflex; f++) {
-    // skip interp, rigid, or non-2D
-    if (m->flex_interp[f] || m->flex_rigid[f] || m->flex_dim[f] != 2) {
-      continue;
-    }
-
-    int bendingadr = m->flex_bendingadr[f];
-    if (bendingadr < 0) {
-      continue;
-    }
-
-    mjtNum scale = s1 + s2 * m->flex_damping[f];
-    if (!scale) {
-      continue;
-    }
-
-    const mjtNum* b = m->flex_bending + bendingadr;
-    const int* bodyid = m->flex_vertbodyid + m->flex_vertadr[f];
-    int edgenum = m->flex_edgenum[f];
-    int edgeadr = m->flex_edgeadr[f];
-
-    for (int e = 0; e < edgenum; e++) {
-      const int* edge = m->flex_edge + 2*(e + edgeadr);
-      const int* flap = m->flex_edgeflap + 2*(e + edgeadr);
-      int v[4] = {edge[0], edge[1], flap[0], flap[1]};
-
-      // skip boundary edges (no second flap vertex)
-      if (v[3] == -1) {
-        continue;
-      }
-
-      // apply 4x4 bending stencil, coordinate-wise. Pinned vertices (zero-dof bodies) contribute
-      // nothing, as in mjd_flexStretch_mul: they have no dof to write a row into and none to read a
-      // displacement from, and body_dofadr is negative there, so an unguarded index runs off both
-      // res and vec.
-      // The stencil is built from WORLD-space vertex positions while the slide dofs live in each
-      // vertex body's own (possibly rotated) frame, so the operator is sandwiched with R (dof ->
-      // world) and R^T (world -> dof), as mjd_flexStretch_mul does. Without it the operator is not
-      // the Jacobian of mj_flexPassiveBend's force whenever a flex parent is rotated.
-      for (int i = 0; i < 4; i++) {
-        int bi = bodyid[v[i]];
-        if (!m->body_dofnum[bi]) {
-          continue;
-        }
-        mjtNum vw[3] = {0, 0, 0};
-        for (int j = 0; j < 4; j++) {
-          int bj = bodyid[v[j]];
-          if (!m->body_dofnum[bj]) {
-            continue;
-          }
-          mjtNum wj[3];
-          mji_mulMatVec3(wj, d->xmat + 9*bj, vec + m->body_dofadr[bj]);
-          mjtNum q = b[17*e + 4*i + j];
-          for (int x = 0; x < 3; x++) {
-            vw[x] += q * wj[x];
-          }
-        }
-        mjtNum vl[3];
-        mji_mulMatTVec3(vl, d->xmat + 9*bi, vw);
-        int dof_i = m->body_dofadr[bi];
-        for (int x = 0; x < 3; x++) {
-          res[dof_i + x] += scale * vl[x];
-        }
-      }
-    }
-  }
-}
-
-
-// local edge-based vertex indexing for 2D and 3D elements (mirrors engine_passive.c: the
-// flex_stiffness metric ordering is tied to this edge order)
-static const int stretch_edges[2][6][2] = {
-  {{1, 2}, {2, 0}, {0, 1}, {0, 0}, {0, 0}, {0, 0}},
-  {{0, 1}, {1, 2}, {2, 0}, {2, 3}, {0, 3}, {1, 3}}};
-
-// compute res += (s1 + s2*flex_damping) * K_stretch * vec for standard (non-interp) flex
-// stretch, where K_stretch is the Hessian of the passive stretch force in mj_flexPassiveStretch:
-// with elongation e_a = L_a^2 - L0_a^2 and force f = -sum_ab M_ab e_a grad(e_b)/2,
-//   K = 2 sum_ab M_ab (s_a d_a)(s_b d_b)^T  +  sum_a Me_a (Laplacian_a (x) I3),
-// d_a the current edge vector and Me_a = sum_b M_ab e_b the edge tension. The first (Gauss-Newton)
-// term alone is not the Jacobian of the force: without the second (geometric) term the operator is
-// only first-order correct, which shows up directly as finite-difference error against
-// -d(qfrc_passive)/dq. Pinned vertices (zero-dof bodies) contribute nothing.
-void mjd_flexStretch_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec,
-                         mjtNum s1, mjtNum s2) {
-  for (int f = 0; f < m->nflex; f++) {
-    // skip interp, rigid, or 1D
-    if (m->flex_interp[f] || m->flex_rigid[f] || m->flex_dim[f] < 2) {
-      continue;
-    }
-
-    int stiffnessadr = m->flex_stiffnessadr[f];
-    if (stiffnessadr < 0 || m->flex_stiffness[stiffnessadr] == 0) {
-      continue;
-    }
-
-    mjtNum scale = s1 + s2 * m->flex_damping[f];
-    if (!scale) {
-      continue;
-    }
-
-    int dim = m->flex_dim[f];
-    int nedge = (dim == 2) ? 3 : 6;
-    const int (*edge)[2] = stretch_edges[dim-2];
-    const int* elem = m->flex_elem + m->flex_elemdataadr[f];
-    const mjtNum* xpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
-    const int* bodyid = m->flex_vertbodyid + m->flex_vertadr[f];
-    const mjtNum* k = m->flex_stiffness + stiffnessadr;
-    const int* edgeelem = m->flex_elemedge + m->flex_elemedgeadr[f];
-    const mjtNum* deformed = d->flexedge_length + m->flex_edgeadr[f];
-    const mjtNum* reference = m->flexedge_length0 + m->flex_edgeadr[f];
-    int elemnum = m->flex_elemnum[f];
-
-    for (int t = 0; t < elemnum; t++) {
-      const int* vert = elem + (dim+1)*t;
-
-      // current edge vectors and g_a = d_a . (vec_{a0} - vec_{a1}), zero on pinned vertices
-      mjtNum dvec[6][3], dw[6][3];
-      mjtNum g[6];
-      for (int e = 0; e < nedge; e++) {
-        int v0 = vert[edge[e][0]], v1 = vert[edge[e][1]];
-        int b0 = bodyid[v0],       b1 = bodyid[v1];
-        g[e] = 0;
-
-        // the vertex bodies' slide dofs are expressed in their own (possibly rotated) frame while
-        // the stiffness is built from world-space edge vectors, so the operator must be sandwiched
-        // with R (dof -> world) and R^T (world -> dof); mj_flexPassiveStretch applies the same R^T
-        // to its world-space force. R = I for the common case of an unrotated parent body.
-        mjtNum w0[3] = {0}, w1[3] = {0};
-        if (m->body_dofnum[b0]) {
-          mji_mulMatVec3(w0, d->xmat + 9*b0, vec + m->body_dofadr[b0]);
-        }
-        if (m->body_dofnum[b1]) {
-          mji_mulMatVec3(w1, d->xmat + 9*b1, vec + m->body_dofadr[b1]);
-        }
-        for (int x = 0; x < 3; x++) {
-          dvec[e][x] = xpos[3*v0+x] - xpos[3*v1+x];
-          dw[e][x] = w0[x] - w1[x];
-          g[e] += dvec[e][x]*dw[e][x];
-        }
-      }
-
-      // unpack upper triangular metric (21 elements, matching mj_flexPassiveStretch)
-      mjtNum metric[36];
-      int id = 0;
-
-      for (int e1 = 0; e1 < nedge; e1++) {
-        for (int e2 = e1; e2 < nedge; e2++) {
-          metric[nedge*e1 + e2] = k[21*t + id];
-          metric[nedge*e2 + e1] = k[21*t + id++];
-        }
-      }
-
-      // Edge tension for the geometric term, keeping only its TENSILE part. The geometric block is
-      // Me_a*[[I,-I],[-I,I]] over the edge's two vertices, which is PSD iff Me_a >= 0; a compressed
-      // edge would make K indefinite, and its consumers (the CG constraint solver and the PCG in
-      // mjd_effSolve) both require SPD. The clamp is structural, so no eigendecomposition is
-      // needed. mj_flexPassiveStretch keeps the full Me_a: the force is unchanged, only the
-      // operator is projected.
-      mjtNum Me[6];
-      for (int e = 0; e < nedge; e++) {
-        Me[e] = 0;
-        for (int a = 0; a < nedge; a++) {
-          int idx = edgeelem[t*nedge + a];
-          Me[e] += metric[nedge*e + a]*(deformed[idx]*deformed[idx] -
-                                        reference[idx]*reference[idx]);
-        }
-        Me[e] = mju_max(Me[e], 0);
-      }
-
-      // scatter: res_{b0/b1} +/-= 2*scale*(sum_a M_ba g_a) * d_b + scale*Me_b * (vec_b0 - vec_b1)
-      for (int e = 0; e < nedge; e++) {
-        mjtNum coef = 0;
-        for (int a = 0; a < nedge; a++) {
-          coef += metric[nedge*e + a]*g[a];
-        }
-        coef *= 2*scale;
-        int b0 = bodyid[vert[edge[e][0]]], b1 = bodyid[vert[edge[e][1]]];
-        mjtNum rw[3], rl[3];
-        for (int x = 0; x < 3; x++) {
-          rw[x] = coef*dvec[e][x] + scale*Me[e]*dw[e][x];
-        }
-        if (m->body_dofnum[b0]) {   // world -> dof frame
-          mji_mulMatTVec3(rl, d->xmat + 9*b0, rw);
-          for (int x = 0; x < 3; x++) {
-            res[m->body_dofadr[b0]+x] += rl[x];
-          }
-        }
-        if (m->body_dofnum[b1]) {
-          mji_mulMatTVec3(rl, d->xmat + 9*b1, rw);
-          for (int x = 0; x < 3; x++) {
-            res[m->body_dofadr[b1]+x] -= rl[x];
-          }
-        }
-      }
-    }
-  }
-}
-
-
-// returns true if the interpolated flex is processed by mjd_flexInterp_mul
-static mjtBool flexInterp_processed(const mjModel* m, int f) {
-  if (!m->flex_interp[f]) {
-    return 0;
-  }
-  int sa = m->flex_stiffnessadr[f];
-  if (sa < 0 || m->flex_rigid[f] || m->flex_stiffness[sa] == 0) {
-    return 0;
-  }
-  if (m->flex_edgeequality[f] == 3) {
-    return 0;
-  }
-  return 1;
-}
-
-
-// can ALL operator-processed interp flexes be assembled to dof-level CSR? Requires every node
-// to sit on a simple slider body (body_simple == 2: sliders only, so the point Jacobian is I3
-// regardless of the node offset -- flex_centered is NOT required) or to be fixed (0 dofs, row
-// dropped like a pinned vertex). All-or-nothing: mjd_flexInterp_mul applies every interp flex,
-// so the CSR can replace the operator only if it covers them all.
-mjtBool mjd_flexInterpAssemblable(const mjModel* m) {
-  for (int f = 0; f < m->nflex; f++) {
-    if (!flexInterp_processed(m, f)) {
-      continue;
-    }
-    const int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[f];
-    for (int n = 0; n < m->flex_nodenum[f]; n++) {
-      int dofnum = m->body_dofnum[bodyid[n]];
-      if (dofnum == 0) {
-        continue;
-      }
-      if (m->body_simple[bodyid[n]] != 2 || dofnum != 3) {
-        return 0;
-      }
-    }
-  }
-  return 1;
-}
-
-
-// element walk shared by the interp assembly passes: geometry of interp finite elements
-// (mirrors mjd_flexInterp_kernel; index-only gather calls)
-#define FLEXINTERP_WALK(f, body)                                             \
-  {                                                                          \
-    int order_ = m->flex_interp[f];                                          \
-    int shell_ = order_ < 0;                                                 \
-    order_ = order_ < 0 ? -order_ : order_;                                  \
-    int cx_ = m->flex_cellnum[3 * (f) + 0];                                  \
-    int cy_ = m->flex_cellnum[3 * (f) + 1];                                  \
-    int cz_ = m->flex_cellnum[3 * (f) + 2];                                  \
-    int npe = shell_ ? (order_ + 1) * (order_ + 1)                           \
-                     : (order_ + 1) * (order_ + 1) * (order_ + 1);           \
-    int nelem_fe_ =                                                          \
-        shell_ ? 2 * (cy_ * cz_ + cx_ * cz_ + cx_ * cy_) : cx_ * cy_ * cz_;  \
-    const mjtNum* K_ = m->flex_stiffness + m->flex_stiffnessadr[f];          \
-    int gindices[125];                                                       \
-    for (int fe = 0; fe < nelem_fe_; fe++) {                                 \
-      if (K_[(size_t)fe * 3 * npe * 3 * npe] == 0) continue;                 \
-      if (shell_) {                                                          \
-        mju_flexGatherFaceState(order_, cx_, cy_, cz_, fe, NULL, NULL, NULL, \
-                                NULL, NULL, NULL, gindices, NULL);           \
-      } else {                                                               \
-        int ci_ = fe / (cy_ * cz_), cj_ = (fe / cz_) % cy_, ck_ = fe % cz_;  \
-        mju_flexGatherCellState(order_, cy_, cz_, ci_, cj_, ck_, NULL, NULL, \
-                                NULL, NULL, NULL, NULL, gindices, NULL);     \
-      }                                                                      \
-      body                                                                   \
-    }                                                                        \
-  }
-
-// does ANY flex contribute assemblable implicit stiffness? (cheap existence check for the
-// solver gate: stretch stiffness on a standard flex, or -- when Krot will be supplied -- an
-// operator-processed interp flex)
-// does any flex use the passive contact path? Distinct from elasticity: an empty CSR is valid for
-// elastic models (matrix-free operators) but means "nothing" for a contact-only flex.
-static mjtBool flexPassiveContact_any(const mjModel* m) {
-  for (int f = 0; f < m->nflex; f++) {
-    if (!m->flex_interp[f] && !m->flex_rigid[f] && m->flex_dim[f] >= 2 && m->flex_passive[f]) {
-      return 1;
-    }
-  }
-  return 0;
-}
-
-// res += scale * K_contact * vec, where K_contact = sum_c k_c * J_c^T J_c over passive flex
-// contacts. Any class that contributes to K must also contribute to the shift -h*K*v (see
-// mjd_effShift), otherwise the contact is stiff but undamped.
-void mjd_flexContact_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec,
-                         mjtNum scale) {
-  if (!d->ncon) {
-    return;
-  }
-  int nv = m->nv;
-  mj_markStack(d);
-  mjtNum* jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jac1 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jac2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jacn = mjSTACKALLOC(d, 3*nv, mjtNum);
-  int* chain = mjSTACKALLOC(d, nv, int);
-  for (int i = 0; i < d->ncon; i++) {
-    const mjContact* con = d->contact + i;
-    if (con->exclude != 4) {
-      continue;
-    }
-    mjtNum k = mjd_flexContactStiffness(m, d, con);
-    if (k <= 0) {
-      continue;
-    }
-    int NV = mj_contactJacobian(m, d, con, con->dim, jacdif, NULL, jac1, jac2, NULL, NULL, chain);
-    if (!NV) {
-      continue;
-    }
-    mju_mulMatMat(jacn, con->frame, jacdif, con->dim > 1 ? 3 : 1, 3, NV);
-    mjtNum Jv = 0;
-    for (int a = 0; a < NV; a++) {
-      Jv += jacn[a] * vec[chain[a]];
-    }
-    mjtNum s = scale * k * Jv;
-    for (int a = 0; a < NV; a++) {
-      res[chain[a]] += s * jacn[a];
-    }
-  }
-  mj_freeStack(d);
-}
-
-mjtBool mjd_flexStiff_any(const mjModel* m, int flg_interp) {
-  for (int f = 0; f < m->nflex; f++) {
-    if (flg_interp && flexInterp_processed(m, f)) {
-      return 1;
-    }
-    if (!m->flex_interp[f] && !m->flex_rigid[f] && m->flex_dim[f] >= 2 &&
-        m->flex_stiffnessadr[f] >= 0 && m->flex_stiffness[m->flex_stiffnessadr[f]] != 0) {
-      return 1;
-    }
-  }
-  return 0;
-}
-
-
-// does this standard flex contribute implicit stiffness under the given term flags?
-// A flex participates if it has elasticity OR passive contacts: the contact stiffness may be the
-// only stiffness, so vertex slots must exist either way.
-static mjtBool flexMetric_participates(const mjModel* m, int f, int flg_bend, int flg_stretch,
-                                       int flg_contact);
-
-static mjtBool flexStiff_active(const mjModel* m, int f, int flg_bend, int flg_stretch) {
-  if (m->flex_interp[f] || m->flex_rigid[f] || m->flex_dim[f] < 2) {
-    return 0;
-  }
-  int bend = flg_bend && m->flex_bendingadr[f] >= 0;
-  int stretch = flg_stretch && m->flex_stiffnessadr[f] >= 0 &&
-                m->flex_stiffness[m->flex_stiffnessadr[f]] != 0;
-  return bend || stretch;
-}
-
-// Passive contact stiffness: k = omega^2 * m_min, a natural frequency scaled by the smallest
-// nonzero participating mass (pinned vertices carry mass 0 and are skipped).
-#define mjFLEXCONTACT_OMEGA2 5e7
-
-mjtNum mjd_flexContactStiffness(const mjModel* m, const mjData* d, const mjContact* con) {
-  mjtNum mmin = 0;
-  for (int side = 0; side < 2; side++) {
-    int f = con->flex[side];
-    if (f < 0) {
-      continue;
-    }
-    int gv[8], ngv = 0;
-    if (con->vert[side] >= 0) {
-      gv[ngv++] = m->flex_vertadr[f] + con->vert[side];
-    } else if (con->elem[side] >= 0) {
-      int nvrt = m->flex_dim[f] + 1;
-      const int* e = m->flex_elem + m->flex_elemdataadr[f] + nvrt*con->elem[side];
-      for (int j = 0; j < nvrt && ngv < 8; j++) {
-        gv[ngv++] = m->flex_vertadr[f] + e[j];
-      }
-    }
-    for (int j = 0; j < ngv; j++) {
-      int b = m->flex_vertbodyid[gv[j]];
-      if (m->body_dofnum[b] != 3) {
-        continue;
-      }
-      int da = m->body_dofadr[b];
-      mjtNum mv = d->M[m->M_rowadr[da] + m->M_rownnz[da] - 1];   // diagonal: the point mass
-      if (mv > 0 && (mmin == 0 || mv < mmin)) {
-        mmin = mv;
-      }
-    }
-  }
-  return mjFLEXCONTACT_OMEGA2 * mmin;   // 0 if every participant is massless: no stiffness, no NaN
-}
-
-// The flex vertex slots a passive contact couples: the vertex itself for a vertex side, the
-// element's vertices for an element side. Duplicates dropped, and slots outside the metric skipped.
-static int contactFlexSlots(const mjModel* m, const mjContact* con, const int* vslot,
-                            int* out, int cap) {
-  int n = 0;
-  for (int side = 0; side < 2; side++) {
-    int f = con->flex[side];
-    if (f < 0) {
-      continue;
-    }
-    int gv[8], ngv = 0;
-    if (con->vert[side] >= 0) {
-      gv[ngv++] = m->flex_vertadr[f] + con->vert[side];
-    } else if (con->elem[side] >= 0) {
-      int nvrt = m->flex_dim[f] + 1;
-      const int* e = m->flex_elem + m->flex_elemdataadr[f] + nvrt*con->elem[side];
-      for (int j = 0; j < nvrt && ngv < 8; j++) {
-        gv[ngv++] = m->flex_vertadr[f] + e[j];
-      }
-    }
-    for (int j = 0; j < ngv; j++) {
-      int s = vslot[gv[j]];
-      if (s < 0) {
-        continue;
-      }
-      int dup = 0;
-      for (int q = 0; q < n; q++) {
-        if (out[q] == s) { dup = 1; break; }
-      }
-      if (!dup && n < cap) {
-        out[n++] = s;
-      }
-    }
-  }
-  return n;
-}
-
-static mjtBool flexMetric_participates(const mjModel* m, int f, int flg_bend, int flg_stretch,
-                                       int flg_contact) {
-  if (flexStiff_active(m, f, flg_bend, flg_stretch)) {
-    return 1;
-  }
-  return flg_contact && m->flex_passive[f] && !m->flex_rigid[f] && !m->flex_interp[f] &&
-         m->flex_dim[f] >= 2;
-}
-
-
-// assemble the standard-flex implicit stiffness K = (s1 + s2*damping) * (K_bend + K_stretch)
-// into dof-level CSR (same terms mjd_flexBend_mul / mjd_flexStretch_mul apply matrix-free; the
-// matrix is constant during a solve, so assembling once and applying as a sparse matvec avoids
-// re-walking stencils and re-unpacking metrics on every apply). Rows/columns exist only on the
-// dofs of unpinned vertices of standard dim>=2 flexes with bending or stretch stiffness.
-// Phase 1 (colind == NULL): fill rownnz/rowadr over nv, return total nnz.
-// Phase 2: fill colind and val (rownnz/rowadr must come from phase 1).
-// Interp flexes are assembled iff Krot (the mjd_flexInterp_cacheKrot cache) is non-NULL and
-// they qualify for the centered fast path (caller checks mjd_flexInterpAssemblable): rows on
-// node body dofs, corotated 3x3 blocks, with the operator's NEGATED sign convention folded in
-// so one CSR replaces all three matrix-free operators uniformly.
-int mjd_flexStiff_assemble(const mjModel* m, mjData* d, int* rownnz, int* rowadr,
-                           int* colind, mjtNum* val, mjtNum s1, mjtNum s2,
-                           int flg_bend, int flg_stretch, int flg_contact, const mjtNum* Krot) {
-  int nv = m->nv;
-  mj_markStack(d);
-
-  // collect participating vertices: global flex vertex id -> local slot, dofadr
-  int nvert = 0;
-  int* vslot = mjSTACKALLOC(d, m->nflexvert > 0 ? m->nflexvert : 1, int);
-  for (int i = 0; i < m->nflexvert; i++) {
-    vslot[i] = -1;
-  }
-  for (int f = 0; f < m->nflex; f++) {
-    if (!flexMetric_participates(m, f, flg_bend, flg_stretch, flg_contact)) {
-      continue;
-    }
-    for (int lv = 0; lv < m->flex_vertnum[f]; lv++) {
-      int gv = m->flex_vertadr[f] + lv;
-      if (m->body_dofnum[m->flex_vertbodyid[gv]] == 3) {
-        vslot[gv] = nvert++;
-      }
-    }
-  }
-
-  // interp nodes participate when the caller supplies the K_rot cache (centered fast path)
-  int* nslot = mjSTACKALLOC(d, m->nflexnode > 0 ? (int)m->nflexnode : 1, int);
-  for (int i = 0; i < m->nflexnode; i++) {
-    nslot[i] = -1;
-  }
-  if (Krot) {
-    for (int f = 0; f < m->nflex; f++) {
-      if (!flexInterp_processed(m, f)) {
-        continue;
-      }
-      const int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[f];
-      for (int ln = 0; ln < m->flex_nodenum[f]; ln++) {
-        if (m->body_dofnum[bodyid[ln]] == 3) {
-          nslot[m->flex_nodeadr[f] + ln] = nvert++;
-        }
-      }
-    }
-  }
-
-  if (!nvert) {
-    mju_zeroInt(rownnz, nv);
-    if (rowadr) mju_zeroInt(rowadr, nv);
-    mj_freeStack(d);
-    return 0;
-  }
-  int* vdof = mjSTACKALLOC(d, nvert, int);
-  for (int gv = 0; gv < m->nflexvert; gv++) {
-    if (vslot[gv] >= 0) {
-      vdof[vslot[gv]] = m->body_dofadr[m->flex_vertbodyid[gv]];
-    }
-  }
-  for (int gn = 0; gn < m->nflexnode; gn++) {
-    if (nslot[gn] >= 0) {
-      vdof[nslot[gn]] = m->body_dofadr[m->flex_nodebodyid[gn]];
-    }
-  }
-
-  // count stencil incidence per vertex slot (with duplicates)
-  int* ncand = mjSTACKALLOC(d, nvert, int);
-  mju_zeroInt(ncand, nvert);
-  for (int f = 0; f < m->nflex; f++) {
-    if (!flexStiff_active(m, f, flg_bend, flg_stretch)) {
-      continue;
-    }
-    int dim = m->flex_dim[f], nvrt = dim + 1;
-    // bending stencils: 4-vertex flaps per edge
-    if (flg_bend && m->flex_bendingadr[f] >= 0) {
-      for (int e = 0; e < m->flex_edgenum[f]; e++) {
-        const int* edge = m->flex_edge + 2*(e + m->flex_edgeadr[f]);
-        const int* flap = m->flex_edgeflap + 2*(e + m->flex_edgeadr[f]);
-        if (flap[1] == -1) continue;
-        int v[4] = {edge[0], edge[1], flap[0], flap[1]};
-        for (int i = 0; i < 4; i++) {
-          int si = vslot[m->flex_vertadr[f] + v[i]];
-          if (si >= 0) ncand[si] += 4;
-        }
-      }
-    }
-    // stretch elements: (dim+1)-vertex cliques
-    if (flg_stretch && m->flex_stiffnessadr[f] >= 0 &&
-        m->flex_stiffness[m->flex_stiffnessadr[f]] != 0) {
-      const int* elem = m->flex_elem + m->flex_elemdataadr[f];
-      for (int t = 0; t < m->flex_elemnum[f]; t++) {
-        for (int i = 0; i < nvrt; i++) {
-          int si = vslot[m->flex_vertadr[f] + elem[(dim+1)*t + i]];
-          if (si >= 0) ncand[si] += nvrt;
-        }
-      }
-    }
-  }
-
-  // interp stencils: npe-node element cliques (counting)
-  if (Krot) {
-    for (int f = 0; f < m->nflex; f++) {
-      if (!flexInterp_processed(m, f)) {
-        continue;
-      }
-      FLEXINTERP_WALK(f, {
-        for (int i = 0; i < npe; i++) {
-          int si = nslot[m->flex_nodeadr[f] + gindices[i]];
-          if (si >= 0) ncand[si] += npe;
-        }
-      })
-    }
-  }
-
-  // passive contacts (counting): each contact makes its vertices mutual neighbours in the CSR.
-  if (flg_contact) {
-    for (int i = 0; i < d->ncon; i++) {
-      const mjContact* con = d->contact + i;
-      if (con->exclude != 4) {
-        continue;
-      }
-      int cs[8], ncs = contactFlexSlots(m, con, vslot, cs, 8);
-      for (int a = 0; a < ncs; a++) {
-        ncand[cs[a]] += ncs;
-      }
-    }
-  }
-
-  // gather candidate neighbor lists (vertex slots, with duplicates)
-  int* cadr = mjSTACKALLOC(d, nvert + 1, int);
-  cadr[0] = 0;
-  for (int s = 0; s < nvert; s++) {
-    cadr[s+1] = cadr[s] + ncand[s];
-  }
-  int* cand = mjSTACKALLOC(d, cadr[nvert] > 0 ? cadr[nvert] : 1, int);
-  mju_zeroInt(ncand, nvert);
-  for (int f = 0; f < m->nflex; f++) {
-    if (!flexStiff_active(m, f, flg_bend, flg_stretch)) {
-      continue;
-    }
-    int dim = m->flex_dim[f], nvrt = dim + 1;
-    if (flg_bend && m->flex_bendingadr[f] >= 0) {
-      for (int e = 0; e < m->flex_edgenum[f]; e++) {
-        const int* edge = m->flex_edge + 2*(e + m->flex_edgeadr[f]);
-        const int* flap = m->flex_edgeflap + 2*(e + m->flex_edgeadr[f]);
-        if (flap[1] == -1) continue;
-        int v[4] = {edge[0], edge[1], flap[0], flap[1]};
-        for (int i = 0; i < 4; i++) {
-          int si = vslot[m->flex_vertadr[f] + v[i]];
-          if (si < 0) continue;
-          for (int j = 0; j < 4; j++) {
-            int sj = vslot[m->flex_vertadr[f] + v[j]];
-            if (sj >= 0) cand[cadr[si] + ncand[si]++] = sj;
-          }
-        }
-      }
-    }
-    if (flg_stretch && m->flex_stiffnessadr[f] >= 0 &&
-        m->flex_stiffness[m->flex_stiffnessadr[f]] != 0) {
-      const int* elem = m->flex_elem + m->flex_elemdataadr[f];
-      for (int t = 0; t < m->flex_elemnum[f]; t++) {
-        const int* vert = elem + (dim+1)*t;
-        for (int i = 0; i < nvrt; i++) {
-          int si = vslot[m->flex_vertadr[f] + vert[i]];
-          if (si < 0) continue;
-          for (int j = 0; j < nvrt; j++) {
-            int sj = vslot[m->flex_vertadr[f] + vert[j]];
-            if (sj >= 0) cand[cadr[si] + ncand[si]++] = sj;
-          }
-        }
-      }
-    }
-  }
-
-  // interp stencils: npe-node element cliques (filling)
-  if (Krot) {
-    for (int f = 0; f < m->nflex; f++) {
-      if (!flexInterp_processed(m, f)) {
-        continue;
-      }
-      FLEXINTERP_WALK(f, {
-        for (int i = 0; i < npe; i++) {
-          int si = nslot[m->flex_nodeadr[f] + gindices[i]];
-          if (si < 0) continue;
-          for (int j = 0; j < npe; j++) {
-            int sj = nslot[m->flex_nodeadr[f] + gindices[j]];
-            if (sj >= 0) cand[cadr[si] + ncand[si]++] = sj;
-          }
-        }
-      })
-    }
-  }
-
-  // passive contacts (filling)
-  if (flg_contact) {
-    for (int i = 0; i < d->ncon; i++) {
-      const mjContact* con = d->contact + i;
-      if (con->exclude != 4) {
-        continue;
-      }
-      int cs[8], ncs = contactFlexSlots(m, con, vslot, cs, 8);
-      for (int a = 0; a < ncs; a++) {
-        for (int b = 0; b < ncs; b++) {
-          cand[cadr[cs[a]] + ncand[cs[a]]++] = cs[b];
-        }
-      }
-    }
-  }
-
-  // per vertex: sort by neighbor dofadr, unique -> neighbor lists
-  int* nadr = mjSTACKALLOC(d, nvert + 1, int);
-  int* neigh = mjSTACKALLOC(d, cadr[nvert] > 0 ? cadr[nvert] : 1, int);
-  nadr[0] = 0;
-  for (int s = 0; s < nvert; s++) {
-    int* c = cand + cadr[s];
-    int n = ncand[s];
-    // insertion sort by dof address (stencil-local lists are short)
-    for (int i = 1; i < n; i++) {
-      int key = c[i], kd = vdof[key], j = i - 1;
-      while (j >= 0 && vdof[c[j]] > kd) {
-        c[j+1] = c[j];
-        j--;
-      }
-      c[j+1] = key;
-    }
-    int nn = 0;
-    for (int i = 0; i < n; i++) {
-      if (nn == 0 || neigh[nadr[s] + nn - 1] != c[i]) {
-        neigh[nadr[s] + nn++] = c[i];
-      }
-    }
-    nadr[s+1] = nadr[s] + nn;
-  }
-
-  // dof-level CSR structure: each vertex contributes 3 rows of 3*nneigh entries
-  mju_zeroInt(rownnz, nv);
-  int nnz = 0;
-  for (int s = 0; s < nvert; s++) {
-    int nn = nadr[s+1] - nadr[s];
-    for (int k = 0; k < 3; k++) {
-      rownnz[vdof[s] + k] = 3*nn;
-    }
-    nnz += 9*nn;
-  }
-  if (rowadr) {
-    rowadr[0] = 0;
-    for (int i = 1; i < nv; i++) {
-      rowadr[i] = rowadr[i-1] + rownnz[i-1];
-    }
-  }
-
-  // phase 1: structure only
-  if (!colind) {
-    mj_freeStack(d);
-    return nnz;
-  }
-
-  // column indices (per vertex row: the 3 dofs of each neighbor, neighbor-dof-sorted)
-  for (int s = 0; s < nvert; s++) {
-    for (int k = 0; k < 3; k++) {
-      int adr = rowadr[vdof[s] + k];
-      for (int j = nadr[s]; j < nadr[s+1]; j++) {
-        for (int c = 0; c < 3; c++) {
-          colind[adr++] = vdof[neigh[j]] + c;
-        }
-      }
-    }
-  }
-  mju_zero(val, nnz);
-
-// block accumulation helper data: find neighbor position by binary search on dofadr
-#define FLEXSTIFF_BLOCK(si, sj, pos)          \
-  {                                           \
-    int lo = nadr[si], hi = nadr[si + 1] - 1; \
-    pos = -1;                                 \
-    while (lo <= hi) {                        \
-      int mid = (lo + hi) / 2;                \
-      if (vdof[neigh[mid]] == vdof[sj]) {     \
-        pos = mid - nadr[si];                 \
-        break;                                \
-      }                                       \
-      if (vdof[neigh[mid]] < vdof[sj])        \
-        lo = mid + 1;                         \
-      else                                    \
-        hi = mid - 1;                         \
-    }                                         \
-  }
-
-  // values: bending (Q_ij * I3 per 4-vertex stencil) and stretch (GN blocks per element)
-  for (int f = 0; f < m->nflex; f++) {
-    if (!flexStiff_active(m, f, flg_bend, flg_stretch)) {
-      continue;
-    }
-    mjtNum scale = s1 + s2*m->flex_damping[f];
-    if (!scale) {
-      continue;
-    }
-    int dim = m->flex_dim[f], nvrt = dim + 1;
-    int nedge = (dim == 2) ? 3 : 6;
-    const int (*edget)[2] = stretch_edges[dim-2];
-
-    if (flg_bend && m->flex_bendingadr[f] >= 0) {
-      const mjtNum* b = m->flex_bending + m->flex_bendingadr[f];
-      for (int e = 0; e < m->flex_edgenum[f]; e++) {
-        const int* edge = m->flex_edge + 2*(e + m->flex_edgeadr[f]);
-        const int* flap = m->flex_edgeflap + 2*(e + m->flex_edgeadr[f]);
-        if (flap[1] == -1) continue;
-        int v[4] = {edge[0], edge[1], flap[0], flap[1]};
-        for (int i = 0; i < 4; i++) {
-          int si = vslot[m->flex_vertadr[f] + v[i]];
-          if (si < 0) continue;
-          for (int j = 0; j < 4; j++) {
-            int sj = vslot[m->flex_vertadr[f] + v[j]];
-            if (sj < 0) continue;
-            mjtNum q = scale*b[17*e + 4*i + j];
-            if (!q) continue;
-            int pos;
-            FLEXSTIFF_BLOCK(si, sj, pos);
-            for (int k = 0; k < 3; k++) {
-              val[rowadr[vdof[si] + k] + 3*pos + k] += q;
-            }
-          }
-        }
-      }
-    }
-
-    if (flg_stretch && m->flex_stiffnessadr[f] >= 0 &&
-        m->flex_stiffness[m->flex_stiffnessadr[f]] != 0) {
-      const int* elem = m->flex_elem + m->flex_elemdataadr[f];
-      const mjtNum* xpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
-      const mjtNum* kk = m->flex_stiffness + m->flex_stiffnessadr[f];
-      const int* eelem = m->flex_elemedge + m->flex_elemedgeadr[f];
-      const mjtNum* elen = d->flexedge_length + m->flex_edgeadr[f];
-      const mjtNum* elen0 = m->flexedge_length0 + m->flex_edgeadr[f];
-      for (int t = 0; t < m->flex_elemnum[f]; t++) {
-        const int* vert = elem + (dim+1)*t;
-
-        // current edge vectors
-        mjtNum dvec[6][3];
-        for (int e = 0; e < nedge; e++) {
-          int v0 = vert[edget[e][0]], v1 = vert[edget[e][1]];
-          for (int x = 0; x < 3; x++) {
-            dvec[e][x] = xpos[3*v0+x] - xpos[3*v1+x];
-          }
-        }
-
-        // unpack triangular metric
-        mjtNum metric[36];
-        int id = 0;
-        for (int e1 = 0; e1 < nedge; e1++) {
-          for (int e2 = e1; e2 < nedge; e2++) {
-            metric[nedge*e1 + e2] = kk[21*t + id];
-            metric[nedge*e2 + e1] = kk[21*t + id++];
-          }
-        }
-
-        // tensile edge tension for the geometric term (see the clamp note in mjd_flexStretch_mul)
-        mjtNum Me[6];
-        for (int e1 = 0; e1 < nedge; e1++) {
-          Me[e1] = 0;
-          for (int e2 = 0; e2 < nedge; e2++) {
-            int idx = eelem[t*nedge + e2];
-            Me[e1] += metric[nedge*e1 + e2]*(elen[idx]*elen[idx] - elen0[idx]*elen0[idx]);
-          }
-          Me[e1] = mju_max(Me[e1], 0);
-        }
-
-        // per vertex pair: block += 2*scale * sum_ab M_ab s_a,vi s_b,vj d_a d_b^T
-        //                         + scale * (sum_a Me_a s_a,vi s_a,vj) * I3
-        for (int i = 0; i < nvrt; i++) {
-          int si = vslot[m->flex_vertadr[f] + vert[i]];
-          if (si < 0) continue;
-          for (int j = 0; j < nvrt; j++) {
-            int sj = vslot[m->flex_vertadr[f] + vert[j]];
-            if (sj < 0) continue;
-            mjtNum blk[9] = {0};
-            for (int a = 0; a < nedge; a++) {
-              mjtNum sa = (i == edget[a][0]) ? 1 : ((i == edget[a][1]) ? -1 : 0);
-              if (!sa) continue;
-              for (int bb = 0; bb < nedge; bb++) {
-                mjtNum sb = (j == edget[bb][0]) ? 1 : ((j == edget[bb][1]) ? -1 : 0);
-                if (!sb) continue;
-                mjtNum w = 2*scale*metric[nedge*a + bb]*sa*sb;
-                for (int r = 0; r < 3; r++) {
-                  for (int c = 0; c < 3; c++) {
-                    blk[3*r+c] += w*dvec[a][r]*dvec[bb][c];
-                  }
-                }
-              }
-            }
-            // geometric term: a multiple of I3, so the frame sandwich below leaves it unchanged
-            mjtNum geo = 0;
-            for (int a = 0; a < nedge; a++) {
-              mjtNum sa = (i == edget[a][0]) ? 1 : ((i == edget[a][1]) ? -1 : 0);
-              mjtNum sb = (j == edget[a][0]) ? 1 : ((j == edget[a][1]) ? -1 : 0);
-              if (!sa || !sb) continue;
-              geo += Me[a]*sa*sb;
-            }
-            geo *= scale;
-            blk[0] += geo;
-            blk[4] += geo;
-            blk[8] += geo;
-
-            // blk is world-space but the destination dofs are the vertex bodies' own (possibly
-            // rotated) slide axes: blk_dof = R_bi^T * blk_world * R_bj, matching the force path
-            int bi = m->flex_vertbodyid[m->flex_vertadr[f] + vert[i]];
-            int bj = m->flex_vertbodyid[m->flex_vertadr[f] + vert[j]];
-            mjtNum tmp[9], blkd[9];
-            mji_mulMatMat3(tmp, blk, d->xmat + 9*bj);      // tmp  = blk * R_bj
-            mji_mulMatTMat3(blkd, d->xmat + 9*bi, tmp);    // blkd = R_bi^T * tmp
-            int pos;
-            FLEXSTIFF_BLOCK(si, sj, pos);
-            for (int k = 0; k < 3; k++) {
-              for (int c = 0; c < 3; c++) {
-                val[rowadr[vdof[si] + k] + 3*pos + c] += blkd[3*k+c];
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-
-  // values: interp (corotated K_rot 3x3 node blocks per element). The interp operator's sign
-  // convention is opposite to bend/stretch -- FlexBmulAdd calls it with negated scales -- so
-  // the negation is folded in here and one CSR replaces all three operators uniformly.
-  if (Krot) {
-    for (int f = 0; f < m->nflex; f++) {
-      if (!flexInterp_processed(m, f)) {
-        continue;
-      }
-      mjtNum iscale = -(s1 + s2*m->flex_damping[f]);
-      if (!iscale) {
-        continue;
-      }
-      FLEXINTERP_WALK(f, {
-        int dim_e = 3*npe;
-        const mjtNum* kb = Krot + m->flex_stiffnessadr[f] + (size_t)fe*dim_e*dim_e;
-        for (int i = 0; i < npe; i++) {
-          int si = nslot[m->flex_nodeadr[f] + gindices[i]];
-          if (si < 0) continue;
-          int bi = m->flex_nodebodyid[m->flex_nodeadr[f] + gindices[i]];
-          for (int j = 0; j < npe; j++) {
-            int sj = nslot[m->flex_nodeadr[f] + gindices[j]];
-            if (sj < 0) continue;
-            int bj = m->flex_nodebodyid[m->flex_nodeadr[f] + gindices[j]];
-            // extract K_rot 3x3 block for (i,j)
-            mjtNum kb_ij[9];
-            for (int r = 0; r < 3; r++) {
-              for (int c = 0; c < 3; c++) {
-                kb_ij[3*r+c] = iscale*kb[(3*i + r)*dim_e + 3*j + c];
-              }
-            }
-            // apply R_bi^T * kb_ij * R_bj to transform to DOF space
-            mjtNum tmp[9];
-            mjtNum blk[9];
-            mji_mulMatMat3(tmp, kb_ij, d->xmat + 9*bj);     // tmp = kb * R_bj
-            mji_mulMatTMat3(blk, d->xmat + 9*bi, tmp);      // blk = R_bi^T * tmp
-            int pos;
-            FLEXSTIFF_BLOCK(si, sj, pos);
-            for (int r = 0; r < 3; r++) {
-              for (int c = 0; c < 3; c++) {
-                val[rowadr[vdof[si] + r] + 3*pos + c] += blk[3*r+c];
-              }
-            }
-          }
-        }
-      })
-    }
-  }
-  // passive contacts (values): assemble k*J^T*J blocks, where J is the contact-normal Jacobian.
-  // All participants are metric-carried flex vertices, so the block is assembled in full.
-  if (flg_contact && d->ncon) {
-    int* dof2slot = mjSTACKALLOC(d, nv, int);
-    mjtNum* jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
-    mjtNum* jac1 = mjSTACKALLOC(d, 3*nv, mjtNum);
-    mjtNum* jac2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-    mjtNum* jacn = mjSTACKALLOC(d, 3*nv, mjtNum);
-    int* chain = mjSTACKALLOC(d, nv, int);
-    mjtNum* w = mjSTACKALLOC(d, 3*(nvert > 0 ? nvert : 1), mjtNum);
-    for (int i = 0; i < nv; i++) {
-      dof2slot[i] = -1;
-    }
-    for (int s = 0; s < nvert; s++) {
-      for (int k = 0; k < 3; k++) {
-        dof2slot[vdof[s] + k] = s;
-      }
-    }
-    for (int i = 0; i < d->ncon; i++) {
-      const mjContact* con = d->contact + i;
-      if (con->exclude != 4) {
-        continue;
-      }
-      int cs[8], ncs = contactFlexSlots(m, con, vslot, cs, 8);
-      if (ncs < 1) {
-        continue;
-      }
-      mjtNum k = mjd_flexContactStiffness(m, d, con);
-      if (k <= 0) {
-        continue;
-      }
-      int NV = mj_contactJacobian(m, d, con, con->dim, jacdif, NULL, jac1, jac2, NULL, NULL, chain);
-      if (NV == 0) {
-        continue;
-      }
-      // rotate into the contact frame and keep the normal row
-      mju_mulMatMat(jacn, con->frame, jacdif, con->dim > 1 ? 3 : 1, 3, NV);
-      for (int a = 0; a < ncs; a++) {
-        mju_zero(w + 3*cs[a], 3);
-      }
-      for (int a = 0; a < NV; a++) {
-        int s = dof2slot[chain[a]];
-        if (s >= 0) {
-          w[3*s + (chain[a] - vdof[s])] = jacn[a];
-        }
-      }
-      for (int a = 0; a < ncs; a++) {
-        for (int b = 0; b < ncs; b++) {
-          int pos;
-          FLEXSTIFF_BLOCK(cs[a], cs[b], pos);
-          if (pos < 0) {
-            continue;
-          }
-          for (int r = 0; r < 3; r++) {
-            for (int c = 0; c < 3; c++) {
-              val[rowadr[vdof[cs[a]] + r] + 3*pos + c] += s1 * k * w[3*cs[a] + r] * w[3*cs[b] + c];
-            }
-          }
-        }
-      }
-    }
-  }
-
-  #undef FLEXSTIFF_BLOCK
-  #undef FLEXINTERP_WALK
-
-  mj_freeStack(d);
-  return nnz;
-}
-
-
-
-
-// add (d qfrc_actuator / d qvel) to qDeriv
-void mjd_actuator_vel(const mjModel* m, mjData* d) {
-  int nactuator = m->nactuator;
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-
-  // disabled: nothing to add
-  if (mjDISABLED(mjDSBL_ACTUATION)) {
-    return;
-  }
-
-  // process actuators
-  for (int i=0; i < nactuator; i++) {
-    int uadr = m->actuator_ctrladr[i];
-    int oadr = m->actuator_outadr[i];
-
-    // skip if disabled
-    if (mj_actuatorDisabled(m, i)) {
-      continue;
-    }
-
-    // skip if sleeping
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_ACTUATOR, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    // skip if force is clamped by forcerange
-    if (m->actuator_forcelimited[i]) {
-      const mjtNum* range = m->actuator_forcerange + 2*i;
-
-      // SO3: force is norm-clamped (approximation: saturated force still varies tangentially)
-      if (m->actuator_gaintype[i] == mjGAIN_SO3) {
-        if (mju_norm3(d->actuator_force + oadr) >= range[1]) {
-          continue;
-        }
-      } else {
-        mjtNum force = d->actuator_force[oadr];
-        if (force <= range[0] || force >= range[1]) {
-          continue;
-        }
-      }
-    }
-
-    mjtNum bias_vel = 0, gain_vel = 0;
-
-    // affine bias
-    if (m->actuator_biastype[i] == mjBIAS_AFFINE) {
-      // extract bias info: prm = [const, kp, kv]
-      bias_vel = (m->actuator_biasprm + mjNBIAS*i)[2];
-    }
-
-    // SO3 geodesic servo: kv term, applied to each output row below
-    else if (m->actuator_biastype[i] == mjBIAS_SO3) {
-      bias_vel = (m->actuator_biasprm + mjNBIAS*i)[2];
-    }
-
-    // DC motor bias (back-EMF)
-    else if (m->actuator_biastype[i] == mjBIAS_DCMOTOR) {
-      const mjtNum* dynprm = m->actuator_dynprm + mjNDYN*i;
-      const mjtNum* gainprm = m->actuator_gainprm + mjNGAIN*i;
-      if (dynprm[0] <= 0) {
-        mjtNum R = mju_max(mjMINVAL, gainprm[0]);
-        mjtNum K = gainprm[1];
-        bias_vel -= K * K / R;
-      }
-    }
-
-    // affine gain
-    if (m->actuator_gaintype[i] == mjGAIN_AFFINE) {
-      // extract bias info: prm = [const, kp, kv]
-      gain_vel = (m->actuator_gainprm + mjNGAIN*i)[2];
-    }
-
-    // muscle gain
-    else if (m->actuator_gaintype[i] == mjGAIN_MUSCLE) {
-      gain_vel = mjd_muscleGain_vel(d->actuator_length[oadr],
-                                    d->actuator_velocity[oadr],
-                                    m->actuator_lengthrange+2*oadr,
-                                    m->actuator_acc0[oadr],
-                                    m->actuator_gainprm + mjNGAIN*i);
-    }
-
-    // DC motor controller damping and LuGre micro-damping
-    else if (m->actuator_gaintype[i] == mjGAIN_DCMOTOR) {
-      const mjtNum* dynprm = m->actuator_dynprm + mjNDYN*i;
-      const mjtNum* gainprm = m->actuator_gainprm + mjNGAIN*i;
-      mjtNum te = dynprm[0];
-
-      // controller velocity derivative dV/dw: torque-space kd through the tau->V map,
-      // plus the back-EMF compensation K, which cancels the -K^2/R back-EMF bias term so
-      // the net damping of an unclipped torque-mode motor is -kd; Vmax clipping is ignored
-      // here, matching the treatment of the other saturations
-      mjtNum dVdw = 0;
-      if (m->actuator_ctrlspec[i] & (mjINPUT_POS | mjINPUT_VEL | mjINPUT_FF)) {
-        mjtNum R = mju_max(mjMINVAL, gainprm[0]);
-        mjtNum K = gainprm[1];  // K > 0 on this path, enforced by the compiler
-        dVdw = -gainprm[6]*R/K + K;
-      }
-
-      if (te > 0) {
-        // stateful current with actearly: d(K*next_act)/dω
-        // includes both back-EMF (-K) and controller (dVdw) through act_dot
-        mjtNum R = mju_max(mjMINVAL, gainprm[0]);
-        mjtNum K = gainprm[1];
-        mjtNum s = 1 - mju_exp(-m->opt.timestep / te);
-        bias_vel += K * (dVdw - K) * s / R;
-      } else if (dVdw != 0) {
-        // stateless: controller terms only (back-EMF handled in bias block)
-        mjtNum R = mju_max(mjMINVAL, gainprm[0]);
-        mjtNum K = gainprm[1];
-        bias_vel += K * dVdw / R;
-      }
-
-      // LuGre: force includes -sigma1*z_dot, z_dot = a*z + v
-      // d(sigma1*z_dot)/dv = sigma1*(da/dv*z + 1), ignoring higher-order da/dv*z
-      mjtNum sigma1 = dynprm[6];
-      if (sigma1 > 0) {
-        bias_vel -= sigma1;
-      }
-    }
-
-    // force = gain .* [ctrl/act]
-    if (gain_vel != 0) {
-      if (m->actuator_dyntype[i] == mjDYN_NONE) {
-        bias_vel += gain_vel * d->ctrl[uadr];
-      } else {
-        int act_adr = m->actuator_actadr[i] + m->actuator_actnum[i] - 1;
-        mjtNum act = d->act[act_adr];
-
-        // use next activation if actearly is set (matching forward pass)
-        if (m->actuator_actearly[i]) {
-          act = mj_nextActivation(m, d, i, act_adr, d->act_dot[act_adr]);
-        }
-
-        bias_vel += gain_vel * act;
-      }
-    }
-
-    // add, once per output row
-    if (bias_vel != 0) {
-      for (int k=0; k < m->actuator_outnum[i]; k++) {
-        addJTBJSparse(m, d, d->actuator_moment, &bias_vel, 1, oadr+k,
-                      d->moment_rownnz, d->moment_rowadr, d->moment_colind);
-      }
-    }
-  }
-}
-
-
-//----------------- utilities for ellipsoid-based fluid force derivatives --------------------------
-
-static inline mjtNum pow2(const mjtNum val) {
-  return val*val;
-}
-
-
-static inline mjtNum ellipsoid_max_moment(const mjtNum size[3], const int dir) {
-  const mjtNum d0 = size[dir];
-  const mjtNum d1 = size[(dir+1) % 3];
-  const mjtNum d2 = size[(dir+2) % 3];
-  return 8.0/15.0 * mjPI * d0 * pow2(pow2(mju_max(d1, d2)));
-}
-
-
-// add 3x3 matrix D to one of the four quadrants of the 6x6 matrix B
-//   row_quad and col_quad should be either 0 or 1 (not checked)
-static void addToQuadrant(mjtNum* restrict B, const mjtNum D[9], int col_quad, int row_quad) {
-  int r = 3*row_quad, c = 3*col_quad;
-  B[6*(c+0) + r+0] += D[0];
-  B[6*(c+0) + r+1] += D[1];
-  B[6*(c+0) + r+2] += D[2];
-  B[6*(c+1) + r+0] += D[3];
-  B[6*(c+1) + r+1] += D[4];
-  B[6*(c+1) + r+2] += D[5];
-  B[6*(c+2) + r+0] += D[6];
-  B[6*(c+2) + r+1] += D[7];
-  B[6*(c+2) + r+2] += D[8];
-}
-
-
-//----------------- components of ellipsoid-based fluid force derivatives --------------------------
-
-// forces due to fluid mass moving with the body, B is 6x6
-static void mjd_addedMassForces(
-  mjtNum* restrict B, const mjtNum local_vels[6], const mjtNum fluid_density,
-  const mjtNum virtual_mass[3], const mjtNum virtual_inertia[3]) {
-  const mjtNum lin_vel[3] = {local_vels[3], local_vels[4], local_vels[5]};
-  const mjtNum ang_vel[3] = {local_vels[0], local_vels[1], local_vels[2]};
-  const mjtNum virtual_lin_mom[3] = {
-    fluid_density * virtual_mass[0] * lin_vel[0],
-    fluid_density * virtual_mass[1] * lin_vel[1],
-    fluid_density * virtual_mass[2] * lin_vel[2]
-  };
-  const mjtNum virtual_ang_mom[3] = {
-    fluid_density * virtual_inertia[0] * ang_vel[0],
-    fluid_density * virtual_inertia[1] * ang_vel[1],
-    fluid_density * virtual_inertia[2] * ang_vel[2]
-  };
-  mjtNum Da[9];
-  mjtNum Db[9];
-
-  // force[:3] += cross(virtual_ang_mom, ang_vel)
-  mjd_cross(virtual_ang_mom, ang_vel, Da, Db);
-  addToQuadrant(B, Db, 0, 0);
-  for (int i=0; i < 9; ++i) {
-    Da[i] *= fluid_density * virtual_inertia[i % 3];
-  }
-  addToQuadrant(B, Da, 0, 0);
-
-  // force[:3] += cross(virtual_lin_mom, lin_vel)
-  mjd_cross(virtual_lin_mom, lin_vel, Da, Db);
-  addToQuadrant(B, Db, 0, 1);
-  for (int i=0; i < 9; ++i) {
-    Da[i] *= fluid_density * virtual_mass[i % 3];
-  }
-  addToQuadrant(B, Da, 0, 1);
-
-  // force[3:] += cross(virtual_lin_mom, ang_vel)
-  mjd_cross(virtual_lin_mom, ang_vel, Da, Db);
-  addToQuadrant(B, Db, 1, 0);
-  for (int i=0; i < 9; ++i) {
-    Da[i] *= fluid_density * virtual_mass[i % 3];
-  }
-  addToQuadrant(B, Da, 1, 1);
-}
-
-
-// torque due to motion in the fluid, D is 3x3
-static inline void mjd_viscous_torque(
-  mjtNum* restrict D, const mjtNum lvel[6], const mjtNum fluid_density,
-  const mjtNum fluid_viscosity, const mjtNum size[3],
-  const mjtNum slender_drag_coef, const mjtNum ang_drag_coef) {
-  const mjtNum d_max = mju_max(mju_max(size[0], size[1]), size[2]);
-  const mjtNum d_min = mju_min(mju_min(size[0], size[1]), size[2]);
-  const mjtNum d_mid = size[0] + size[1] + size[2] - d_max - d_min;
-  // viscous force and torque in Stokes flow, analytical for spherical bodies
-  const mjtNum eq_sphere_D = 2.0/3.0 * (size[0] + size[1] + size[2]);
-  const mjtNum lin_visc_torq_coef = mjPI * eq_sphere_D*eq_sphere_D*eq_sphere_D;
-
-  // moments of inertia used to compute angular quadratic drag
-  const mjtNum I_max = 8.0/15.0 * mjPI * d_mid * (d_max*d_max)*(d_max*d_max);
-  const mjtNum II[3] = {
-    ellipsoid_max_moment(size, 0),
-    ellipsoid_max_moment(size, 1),
-    ellipsoid_max_moment(size, 2)
-  };
-  const mjtNum x = lvel[0], y = lvel[1], z = lvel[2];
-  const mjtNum mom_coef[3] = {
-    ang_drag_coef*II[0] + slender_drag_coef*(I_max - II[0]),
-    ang_drag_coef*II[1] + slender_drag_coef*(I_max - II[1]),
-    ang_drag_coef*II[2] + slender_drag_coef*(I_max - II[2])
-  };
-  const mjtNum mom_visc[3] = {
-    x * mom_coef[0],
-    y * mom_coef[1],
-    z * mom_coef[2]
-  };
-  const mjtNum density = fluid_density / mju_max(mjMINVAL, mju_norm3(mom_visc));
-
-  // -density * [x, y, z] * mom_coef^2
-  const mjtNum mom_sq[3] = {
-    -density * x * mom_coef[0] * mom_coef[0],
-    -density * y * mom_coef[1] * mom_coef[1],
-    -density * z * mom_coef[2] * mom_coef[2]
-  };
-  const mjtNum lin_coef = fluid_viscosity * lin_visc_torq_coef;
-
-  // initialize
-  mju_zero(D, 9);
-
-  // set diagonal
-  D[0] = D[4] = D[8] = x*mom_sq[0] + y*mom_sq[1] + z*mom_sq[2] - lin_coef;
-
-  // add outer product
-  mju_addToScl3(D, mom_sq, x);
-  mju_addToScl3(D+3, mom_sq, y);
-  mju_addToScl3(D+6, mom_sq, z);
-}
-
-
-// drag due to motion in the fluid, D is 3x3
-static inline void mjd_viscous_drag(
-  mjtNum* restrict D, const mjtNum lvel[6], const mjtNum fluid_density,
-  const mjtNum fluid_viscosity, const mjtNum size[3],
-  const mjtNum blunt_drag_coef, const mjtNum slender_drag_coef) {
-  const mjtNum d_max = mju_max(mju_max(size[0], size[1]), size[2]);
-  const mjtNum d_min = mju_min(mju_min(size[0], size[1]), size[2]);
-  const mjtNum d_mid = size[0] + size[1] + size[2] - d_max - d_min;
-  // viscous force and torque in Stokes flow, analytical for spherical bodies
-  const mjtNum eq_sphere_D = 2.0/3.0 * (size[0] + size[1] + size[2]);
-  const mjtNum A_max = mjPI * d_max * d_mid;
-
-  const mjtNum a = pow2(size[1] * size[2]);
-  const mjtNum b = pow2(size[2] * size[0]);
-  const mjtNum c = pow2(size[0] * size[1]);
-  const mjtNum aa = a*a, bb = b*b, cc = c*c;
-
-  const mjtNum x = lvel[3], y = lvel[4], z = lvel[5];
-  const mjtNum xx = x*x, yy = y*y, zz = z*z, xy=x*y, yz=y*z, xz=x*z;
-
-  const mjtNum proj_denom = aa*xx + bb*yy + cc*zz;
-  const mjtNum proj_num = a*xx + b*yy + c*zz;
-  const mjtNum dA_coef = mjPI / mju_max(mjMINVAL,
-                                        mju_sqrt(proj_num*proj_num*proj_num * proj_denom));
-
-  const mjtNum A_proj = mjPI * mju_sqrt(proj_denom/mju_max(mjMINVAL, proj_num));
-
-  const mjtNum norm = mju_sqrt(xx + yy + zz);
-  const mjtNum inv_norm = 1.0 / mju_max(mjMINVAL, norm);
-
-  const mjtNum lin_coef = fluid_viscosity * 3.0 * mjPI * eq_sphere_D;
-  const mjtNum quad_coef = fluid_density * (
-    A_proj*blunt_drag_coef + slender_drag_coef*(A_max - A_proj));
-  const mjtNum Aproj_coef = fluid_density * norm * (blunt_drag_coef - slender_drag_coef);
-
-  const mjtNum dAproj_dv[3] = {
-    Aproj_coef * dA_coef * a * x * (b * yy * (a - b) + c * zz * (a - c)),
-    Aproj_coef * dA_coef * b * y * (a * xx * (b - a) + c * zz * (b - c)),
-    Aproj_coef * dA_coef * c * z * (a * xx * (c - a) + b * yy * (c - b))
-  };
-
-  // outer product
-  D[0] = xx;  D[1] = xy;  D[2] = xz;
-  D[3] = xy;  D[4] = yy;  D[5] = yz;
-  D[6] = xz;  D[7] = yz;  D[8] = zz;
-
-  // diag(D) += dot([x y z], [x y z])
-  mjtNum inner = xx + yy + zz;
-  D[0] += inner;
-  D[4] += inner;
-  D[8] += inner;
-
-  // scale by -quad_coef*inv_norm
-  mju_scl(D, D, -quad_coef*inv_norm, 9);
-
-  // D += outer_product(-[x y z], dAproj_dv)
-  mju_addToScl3(D+0, dAproj_dv, -x);
-  mju_addToScl3(D+3, dAproj_dv, -y);
-  mju_addToScl3(D+6, dAproj_dv, -z);
-
-  // diag(D) -= lin_coef
-  D[0] -= lin_coef;
-  D[4] -= lin_coef;
-  D[8] -= lin_coef;
-}
-
-
-// Kutta lift due to motion in the fluid, D is 3x3
-static inline void mjd_kutta_lift(
-  mjtNum* restrict D, const mjtNum lvel[6], const mjtNum fluid_density,
-  const mjtNum size[3], const mjtNum kutta_lift_coef) {
-  const mjtNum a = pow2(size[1] * size[2]);
-  const mjtNum b = pow2(size[2] * size[0]);
-  const mjtNum c = pow2(size[0] * size[1]);
-  const mjtNum aa = a*a, bb = b*b, cc = c*c;
-  const mjtNum x = lvel[3], y = lvel[4], z = lvel[5];
-  const mjtNum xx = x*x, yy = y*y, zz = z*z, xy=x*y, yz=y*z, xz=x*z;
-
-  const mjtNum proj_denom = aa * xx + bb * yy + cc * zz;
-  const mjtNum proj_num = a * xx + b * yy + c * zz;
-  const mjtNum norm2 = xx + yy + zz;
-  const mjtNum df_denom = mjPI * kutta_lift_coef * fluid_density / mju_max(
-    mjMINVAL, mju_sqrt(proj_denom * proj_num * norm2));
-
-  const mjtNum dfx_coef = yy * (a - b) + zz * (a - c);
-  const mjtNum dfy_coef = xx * (b - a) + zz * (b - c);
-  const mjtNum dfz_coef = xx * (c - a) + yy * (c - b);
-  const mjtNum proj_term = proj_num / mju_max(mjMINVAL, proj_denom);
-  const mjtNum cos_term = proj_num / mju_max(mjMINVAL, norm2);
-
-  // cosA = proj_num/(norm*proj_denom), A_proj = pi*sqrt(proj_denom/proj_num)
-  // F = cosA * A_proj * (([a,b,c] * vel) \times vel) \times vel
-  // derivative obtained with SymPy
-
-  D[0] = a-a;  D[1] = b-a;  D[2] = c-a;
-  D[3] = a-b;  D[4] = b-b;  D[5] = c-b;
-  D[6] = a-c;  D[7] = b-c;  D[8] = c-c;
-  mju_scl(D, D, 2 * proj_num, 9);
-
-  const mjtNum inner_term[3] = {
-    aa * proj_term - a + cos_term,
-    bb * proj_term - b + cos_term,
-    cc * proj_term - c + cos_term
-  };
-  mju_addToScl3(D + 0, inner_term, dfx_coef);
-  mju_addToScl3(D + 3, inner_term, dfy_coef);
-  mju_addToScl3(D + 6, inner_term, dfz_coef);
-
-  D[0] *= xx;  D[1] *= xy;  D[2] *= xz;
-  D[3] *= xy;  D[4] *= yy;  D[5] *= yz;
-  D[6] *= xz;  D[7] *= yz;  D[8] *= zz;
-
-  D[0] -= dfx_coef * proj_num;
-  D[4] -= dfy_coef * proj_num;
-  D[8] -= dfz_coef * proj_num;
-
-  mju_scl(D, D, df_denom, 9);
-}
-
-
-// Magnus force due to motion in the fluid, B is 6x6
-static inline void mjd_magnus_force(
-  mjtNum* restrict B, const mjtNum lvel[6], const mjtNum fluid_density,
-  const mjtNum size[3], const mjtNum magnus_lift_coef) {
-  const mjtNum volume = 4.0/3.0 * mjPI * size[0] * size[1] * size[2];
-
-  // magnus_coef = magnus_lift_coef * fluid_density * volume
-  const mjtNum magnus_coef = magnus_lift_coef * fluid_density * volume;
-
-  mjtNum D_lin[9], D_ang[9];
-
-  // premultiply by magnus_coef
-  const mjtNum lin_vel[3] = {
-    magnus_coef * lvel[3], magnus_coef * lvel[4], magnus_coef * lvel[5]
-  };
-  const mjtNum ang_vel[3] = {
-    magnus_coef * lvel[0], magnus_coef * lvel[1], magnus_coef * lvel[2]
-  };
-
-  // force[3:] += magnus_coef * cross(ang_vel, lin_vel)
-  mjd_cross(ang_vel, lin_vel, D_ang, D_lin);
-
-  addToQuadrant(B, D_ang, 1, 0);
-  addToQuadrant(B, D_lin, 1, 1);
-}
-
-
-//----------------- fluid force derivatives, ellipsoid and inertia-box models ----------------------
-
-// fluid forces based on ellipsoid approximation
-void mjd_ellipsoidFluid(const mjModel* m, mjData* d, int bodyid) {
-  mj_markStack(d);
-
-  int nv = m->nv;
-  int nnz = nv;
-  int rownnz[6], rowadr[6];
-  mjtNum* J = mjSTACKALLOC(d, 6*nv, mjtNum);
-  mjtNum* tmp = mjSTACKALLOC(d, 3*nv, mjtNum);
-  int* colind = mjSTACKALLOC(d, 6*nv, int);
-  int* colind_compressed = mjSTACKALLOC(d, 6*nv, int);
-
-  mjtNum lvel[6], wind[6], lwind[6];
-  mjtNum geom_interaction_coef, magnus_lift_coef, kutta_lift_coef;
-  mjtNum semiaxes[3], virtual_mass[3], virtual_inertia[3];
-  mjtNum blunt_drag_coef, slender_drag_coef, ang_drag_coef;
-
-  if (mj_isSparse(m)) {
-    // get sparse body Jacobian structure
-    nnz = mj_bodyChain(m, bodyid, colind);
-
-    // prepare rownnz, rowadr, colind for all 6 rows
-    for (int i=0; i < 6; i++) {
-      rownnz[i] = nnz;
-      rowadr[i] = i == 0 ? 0 : rowadr[i-1] + nnz;
-      for (int k=0; k < nnz; k++) {
-        colind_compressed[i*nnz+k] = colind[k];
-      }
-    }
-  }
-
-  for (int j=0; j < m->body_geomnum[bodyid]; j++) {
-    const int geomid = m->body_geomadr[bodyid] + j;
-
-    mju_geomSemiAxes(semiaxes, m->geom_size + 3*geomid, m->geom_type[geomid]);
-
-    readFluidGeomInteraction(
-      m->geom_fluid + mjNFLUID*geomid, &geom_interaction_coef,
-      &blunt_drag_coef, &slender_drag_coef, &ang_drag_coef,
-      &kutta_lift_coef, &magnus_lift_coef,
-      virtual_mass, virtual_inertia);
-
-    // scales all forces, read from MJCF as boolean (0.0 or 1.0)
-    if (geom_interaction_coef == 0.0) {
-      continue;
-    }
-
-    // map from CoM-centered to local body-centered 6D velocity
-    mj_objectVelocity(m, d, mjOBJ_GEOM, geomid, lvel, 1);
-    // compute wind in local coordinates
-    mju_zero(wind, 6);
-    mju_copy3(wind+3, m->opt.wind);
-    mju_transformSpatial(lwind, wind, 0,
-                         d->geom_xpos + 3*geomid,  // Frame of ref's origin.
-                         d->subtree_com + 3*m->body_rootid[bodyid],
-                         d->geom_xmat + 9*geomid);  // Frame of ref's orientation.
-    // subtract translational component from grom velocity
-    mju_subFrom3(lvel+3, lwind+3);
-
-    // get geom global Jacobian: rotation then translation
-    if (mj_isSparse(m)) {
-      mj_jacSparse(m, d, J+3*nnz, J, d->geom_xpos+3*geomid, m->geom_bodyid[geomid], nnz, colind,
-                   /*flg_skipcommon=*/0);
-    } else {
-      mj_jacGeom(m, d, J+3*nv, J, geomid);
-    }
-
-    // rotate (compressed) Jacobian to local frame
-    mju_mulMatTMat(tmp, d->geom_xmat+9*geomid, J, 3, 3, nnz);
-    mju_copy(J, tmp, 3*nnz);
-    mju_mulMatTMat(tmp, d->geom_xmat+9*geomid, J+3*nnz, 3, 3, nnz);
-    mju_copy(J+3*nnz, tmp, 3*nnz);
-
-    mjtNum B[36], D[9];
-    mju_zero(B, 36);
-    mjd_magnus_force(B, lvel, m->opt.density, semiaxes, magnus_lift_coef);
-
-    mjd_kutta_lift(D, lvel, m->opt.density, semiaxes, kutta_lift_coef);
-    addToQuadrant(B, D, 1, 1);
-
-    mjd_viscous_drag(D, lvel, m->opt.density, m->opt.viscosity, semiaxes,
-                     blunt_drag_coef, slender_drag_coef);
-    addToQuadrant(B, D, 1, 1);
-
-    mjd_viscous_torque(D, lvel, m->opt.density, m->opt.viscosity, semiaxes,
-                       slender_drag_coef, ang_drag_coef);
-    addToQuadrant(B, D, 0, 0);
-
-    mjd_addedMassForces(B, lvel, m->opt.density, virtual_mass, virtual_inertia);
-
-    // make B symmetric if integrator is IMPLICITFAST, except for standalone free bodies
-    if (m->opt.integrator == mjINT_IMPLICITFAST && !mj_isFreeBody(m, bodyid)) {
-      mju_symmetrize(B, B, 6);
-    }
-
-    if (mj_isSparse(m)) {
-      addJTBJSparse(m, d, J, B, 6, 0, rownnz, rowadr, colind_compressed);
-    } else {
-      addJTBJ(m, d, J, B, 6);
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// fluid forces based on inertia-box approximation
-void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i) {
-  mj_markStack(d);
-
-  int nv = m->nv;
-  int rownnz[6], rowadr[6];
-  mjtNum* J = mjSTACKALLOC(d, 6*nv, mjtNum);
-  mjtNum* tmp = mjSTACKALLOC(d, 3*nv, mjtNum);
-  int* colind = mjSTACKALLOC(d, 6*nv, int);
-
-  mjtNum lvel[6], wind[6], lwind[6], box[3], B;
-  mjtNum* inertia = m->body_inertia + 3*i;
-
-  // equivalent inertia box
-  box[0] = mju_sqrt(mju_max(mjMINVAL,
-                            (inertia[1] + inertia[2] - inertia[0])) / m->body_mass[i] * 6.0);
-  box[1] = mju_sqrt(mju_max(mjMINVAL,
-                            (inertia[0] + inertia[2] - inertia[1])) / m->body_mass[i] * 6.0);
-  box[2] = mju_sqrt(mju_max(mjMINVAL,
-                            (inertia[0] + inertia[1] - inertia[2])) / m->body_mass[i] * 6.0);
-
-  // map from CoM-centered to local body-centered 6D velocity
-  mj_objectVelocity(m, d, mjOBJ_BODY, i, lvel, 1);
-
-  // compute wind in local coordinates
-  mju_zero(wind, 6);
-  mju_copy3(wind+3, m->opt.wind);
-  mju_transformSpatial(lwind, wind, 0, d->xipos+3*i,
-                       d->subtree_com+3*m->body_rootid[i], d->ximat+9*i);
-
-  // subtract translational component from body velocity
-  mju_subFrom3(lvel+3, lwind+3);
-
-  // init with dense
-  int nnz = nv;
-
-  // sparse Jacobian
-  if (mj_isSparse(m)) {
-    // get sparse body Jacobian structure
-    nnz = mj_bodyChain(m, i, colind);
-
-    // get sparse jacBodyCom
-    mj_jacSparse(m, d, J+3*nnz, J, d->xipos+3*i, i, nnz, colind, /*flg_skipcommon=*/0);
-
-    // prepare rownnz, rowadr, colind for all 6 rows
-    rownnz[0] = nnz;
-    rowadr[0] = 0;
-    for (int j=1; j < 6; j++) {
-      rownnz[j] = nnz;
-      rowadr[j] = rowadr[j-1] + nnz;
-      for (int k=0; k < nnz; k++) {
-        colind[j*nnz+k] = colind[k];
-      }
-    }
-  }
-
-  // dense Jacobian
-  else {
-    mj_jacBodyCom(m, d, J+3*nv, J, i);
-  }
-
-  // rotate (compressed) Jacobian to local frame
-  mju_mulMatTMat(tmp, d->ximat+9*i, J, 3, 3, nnz);
-  mju_copy(J, tmp, 3*nnz);
-  mju_mulMatTMat(tmp, d->ximat+9*i, J+3*nnz, 3, 3, nnz);
-  mju_copy(J+3*nnz, tmp, 3*nnz);
-
-  // add viscous force and torque
-  if (m->opt.viscosity > 0) {
-    // diameter of sphere approximation
-    mjtNum diam = (box[0] + box[1] + box[2])/3.0;
-
-    // mju_scl3(lfrc, lvel, -mjPI*diam*diam*diam*m->opt.viscosity)
-    B = -mjPI*diam*diam*diam*m->opt.viscosity;
-    for (int j=0; j < 3; j++) {
-      if (mj_isSparse(m)) {
-        addJTBJSparse(m, d, J, &B, 1, j, rownnz, rowadr, colind);
-      } else {
-        addJTBJ(m, d, J+j*nv, &B, 1);
-      }
-    }
-
-    // mju_scl3(lfrc+3, lvel+3, -3.0*mjPI*diam*m->opt.viscosity);
-    B = -3.0*mjPI*diam*m->opt.viscosity;
-    for (int j=0; j < 3; j++) {
-      if (mj_isSparse(m)) {
-        addJTBJSparse(m, d, J, &B, 1, 3+j, rownnz, rowadr, colind);
-      } else {
-        addJTBJ(m, d, J+3*nv+j*nv, &B, 1);
-      }
-    }
-  }
-
-  // add lift and drag force and torque
-  if (m->opt.density > 0) {
-    // lfrc[0] -= m->opt.density*box[0]*(box[1]*box[1]*box[1]*box[1]+box[2]*box[2]*box[2]*box[2])*
-    //            mju_abs(lvel[0])*lvel[0]/64.0;
-    B = -m->opt.density*box[0]*(box[1]*box[1]*box[1]*box[1]+box[2]*box[2]*box[2]*box[2])*
-        2*mju_abs(lvel[0])/64.0;
-    if (mj_isSparse(m)) {
-      addJTBJSparse(m, d, J, &B, 1, 0, rownnz, rowadr, colind);
-    } else {
-      addJTBJ(m, d, J, &B, 1);
-    }
-
-    // lfrc[1] -= m->opt.density*box[1]*(box[0]*box[0]*box[0]*box[0]+box[2]*box[2]*box[2]*box[2])*
-    //            mju_abs(lvel[1])*lvel[1]/64.0;
-    B = -m->opt.density*box[1]*(box[0]*box[0]*box[0]*box[0]+box[2]*box[2]*box[2]*box[2])*
-        2*mju_abs(lvel[1])/64.0;
-    if (mj_isSparse(m)) {
-      addJTBJSparse(m, d, J, &B, 1, 1, rownnz, rowadr, colind);
-    } else {
-      addJTBJ(m, d, J+nv, &B, 1);
-    }
-
-    // lfrc[2] -= m->opt.density*box[2]*(box[0]*box[0]*box[0]*box[0]+box[1]*box[1]*box[1]*box[1])*
-    //            mju_abs(lvel[2])*lvel[2]/64.0;
-    B = -m->opt.density*box[2]*(box[0]*box[0]*box[0]*box[0]+box[1]*box[1]*box[1]*box[1])*
-        2*mju_abs(lvel[2])/64.0;
-    if (mj_isSparse(m)) {
-      addJTBJSparse(m, d, J, &B, 1, 2, rownnz, rowadr, colind);
-    } else {
-      addJTBJ(m, d, J+2*nv, &B, 1);
-    }
-
-    // lfrc[3] -= 0.5*m->opt.density*box[1]*box[2]*mju_abs(lvel[3])*lvel[3];
-    B = -0.5*m->opt.density*box[1]*box[2]*2*mju_abs(lvel[3]);
-    if (mj_isSparse(m)) {
-      addJTBJSparse(m, d, J, &B, 1, 3, rownnz, rowadr, colind);
-    } else {
-      addJTBJ(m, d, J+3*nv, &B, 1);
-    }
-
-    // lfrc[4] -= 0.5*m->opt.density*box[0]*box[2]*mju_abs(lvel[4])*lvel[4];
-    B = -0.5*m->opt.density*box[0]*box[2]*2*mju_abs(lvel[4]);
-    if (mj_isSparse(m)) {
-      addJTBJSparse(m, d, J, &B, 1, 4, rownnz, rowadr, colind);
-    } else {
-      addJTBJ(m, d, J+4*nv, &B, 1);
-    }
-
-    // lfrc[5] -= 0.5*m->opt.density*box[0]*box[1]*mju_abs(lvel[5])*lvel[5];
-    B = -0.5*m->opt.density*box[0]*box[1]*2*mju_abs(lvel[5]);
-    if (mj_isSparse(m)) {
-      addJTBJSparse(m, d, J, &B, 1, 5, rownnz, rowadr, colind);
-    } else {
-      addJTBJ(m, d, J+5*nv, &B, 1);
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-//------------------------- derivatives of passive forces ------------------------------------------
-
-// add (d qfrc_passive / d qvel) to qDeriv
-void mjd_passive_vel(const mjModel* m, mjData* d) {
-  // all disabled: nothing to add
-  if (mjDISABLED(mjDSBL_SPRING) && mjDISABLED(mjDSBL_DAMPER)) {
-    return;
-  }
-
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-
-  // fluid drag model, either body-level (inertia box) or geom-level (ellipsoid)
-  if (m->opt.viscosity > 0 || m->opt.density > 0) {
-    for (int b=0; b < nbody; b++) {
-      int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-      if (m->body_mass[i] < mjMINVAL) {
-        continue;
-      }
-
-      int use_ellipsoid_model = 0;
-      // if any child geom uses the ellipsoid model, inertia-box model is disabled for parent body
-      for (int j=0; j < m->body_geomnum[i] && use_ellipsoid_model == 0; j++) {
-        const int geomid = m->body_geomadr[i] + j;
-        use_ellipsoid_model += (m->geom_fluid[mjNFLUID*geomid] > 0);
-      }
-      if (use_ellipsoid_model) {
-        mjd_ellipsoidFluid(m, d, i);
-      } else {
-        mjd_inertiaBoxFluid(m, d, i);
-      }
-    }
-  }
-
-  // disabled: nothing to add
-  if (mjDISABLED(mjDSBL_DAMPER)) {
-    return;
-  }
-
-  // dof damping
-  int nv = m->nv;
-  int nv_awake = sleep_filter ? d->nv_awake : nv;
-  for (int j = 0; j < nv_awake; j++) {
-    int i = sleep_filter ? d->dof_awake_ind[j] : j;
-    mjtNum v = d->qvel[i];
-    mjtNum poly[mjNPOLY];
-    mju_copy(poly, m->dof_dampingpoly + mjNPOLY*i, mjNPOLY);
-    mjtNum damping = m->dof_damping[i] + mj_actuatorDamping(m, mjOBJ_JOINT, m->dof_jntid[i], poly);
-    int adr = m->D_rowadr[i] + m->D_diag[i];
-    d->qDeriv[adr] -= mjd_xPolyForce(damping, poly, v, mjNPOLY, 1);
-  }
-
-  // flex edge damping
-  for (int f=0; f < m->nflex; f++) {
-    mjtNum B = -m->flex_edgedamping[f];
-    if (m->flex_rigid[f] || !B) {
-      continue;
-    }
-
-    int flex_edgeadr = m->flex_edgeadr[f];
-    int flex_edgenum = m->flex_edgenum[f];
-
-    // process non-rigid edges of this flex
-    for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
-      // skip rigid
-      if (m->flexedge_rigid[e]) {
-        continue;
-      }
-
-      // always sparse
-      addJTBJSparse(m, d, d->flexedge_J, &B, 1, e,
-                    m->flexedge_J_rownnz, m->flexedge_J_rowadr, m->flexedge_J_colind);
-    }
-  }
-
-  // tendon damping
-  int ntendon = m->ntendon;
-  for (int i=0; i < ntendon; i++) {
-    // skip tendon in one or two sleeping trees
-    if (sleep_filter) {
-      int treenum = m->tendon_treenum[i];
-      int id1 = m->tendon_treeid[2*i];
-      if (treenum == 1 && !d->tree_awake[id1]) continue;
-      int id2 = m->tendon_treeid[2*i+1];
-      if (treenum == 2 && !d->tree_awake[id1] && !d->tree_awake[id2]) continue;
-    }
-
-    mjtNum v = d->ten_velocity[i];
-    mjtNum poly[mjNPOLY];
-    mju_copy(poly, m->tendon_dampingpoly+mjNPOLY*i, mjNPOLY);
-    mjtNum damping = m->tendon_damping[i] + mj_actuatorDamping(m, mjOBJ_TENDON, i, poly);
-    mjtNum B = -mjd_xPolyForce(damping, poly, v, mjNPOLY, 1);
-
-    if (!B) {
-      continue;
-    }
-
-    // add sparse
-    addJTBJSparse(m, d, d->ten_J, &B, 1, i, m->ten_J_rownnz, m->ten_J_rowadr, m->ten_J_colind);
-  }
-}
-
-
-//------------------------- main entry points ------------------------------------------------------
-
-// analytical derivative of smooth forces w.r.t velocities:
-//   d->qDeriv = d (qfrc_actuator + qfrc_passive - [qfrc_bias]) / d qvel
-void mjd_smooth_vel(const mjModel* m, mjData* d, int flg_bias) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < m->nv;
-
-  // clear qDeriv
-  if (!sleep_filter) {
-    mju_zero(d->qDeriv, m->nD);
-  } else {
-    mju_zeroSparse(d->qDeriv, m->D_rownnz, m->D_rowadr, d->dof_awake_ind, d->nv_awake);
-  }
-
-  // qDeriv += d qfrc_actuator / d qvel
-  mjd_actuator_vel(m, d);
-
-  // qDeriv += d qfrc_passive / d qvel
-  mjd_passive_vel(m, d);
-
-  // qDeriv -= d qfrc_bias / d qvel; optional
-  if (flg_bias) {
-    mjd_rne_vel(m, d);
-  }
-}
-
-
-//------------------------- implicit effective metric Mtilde = M + K -------------------------------
-// K = (h^2 + h*damping) * (K_bend + K_stretch), the PSD implicit flex stiffness. Built once per step on the arena by
-// mjd_effBuild (called from mj_fwdAcceleration under the mj_flexCG gate), then consumed uniformly:
-// the smooth acceleration, the constraint solver and inverse dynamics all see the same metric.
-
-// arena allocation with hard failure (mirrors stack overflow semantics)
-static void* effAlloc(mjData* d, size_t bytes, size_t align) {
-  void* p = mj_arenaAllocByte(d, bytes, align);
-  if (!p) {
-    mjERROR("arena overflow in implicit effective metric");
-  }
-  return p;
-}
-#define EFMALLOC(type, n) (type*) effAlloc(d, sizeof(type)*(size_t)(n), _Alignof(type))
-
-// res += B*vec. The STRETCH (and, when assemblable, bending and interp) part is applied from the
-// per-step assembled CSR; terms not in the CSR fall back to the matrix-free stencil operators.
-void mjd_effMulAdd(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec) {
-  mjtNum h = m->opt.timestep;
-  if (d->nefmK) {
-    int nv = m->nv;
-    for (int i=0; i < nv; i++) {
-      int nnz = d->efm_K_rownnz[i];
-      if (!nnz) {
-        continue;
-      }
-      res[i] += mju_dotSparse(d->efm_K_val + d->efm_K_rowadr[i], vec, nnz,
-                              d->efm_K_colind + d->efm_K_rowadr[i]);
-    }
-  }
-
-  // terms not folded into the CSR fall back to the matrix-free operators; which terms those
-  // are is derivable, not state: the CSR is only ever built with bending included, and with
-  // interp included iff the model is assemblable
-  if (!d->nefmK) {
-    mjd_flexBend_mul(m, d, res, vec, h*h, h);
-  }
-  if (!d->nefmK || !mjd_flexInterpAssemblable(m)) {
-    mjd_flexInterp_mul(m, d, res, vec, -(h*h), -h, d->flexelem_krot);
-  }
-}
-
-
-// Build and factor the per-vertex 3x3 diagonal blocks of the flex part of (M + K), stored in
-// d->efm_L, 9 numbers per covered vertex: O(n) to build and apply, approximate where the sparse
-// factorization it replaces was exact. Both consumers use the blocks as a preconditioner: the CG
-// constraint solver (Mgrad = Mtilde \ grad) and the qacc_smooth PCG in mjd_effSolve, which
-// supplies the accuracy.
-static void effBlocks(const mjModel* m, mjData* d) {
-  int nv = m->nv;
-
-  // covered dofs come in contiguous triples (the 3 slide dofs of one flex point), but the first
-  // one need not be at a multiple of 3: any joint declared before the flex shifts them. Walk the
-  // covered rows rather than striding the dof index, which would straddle point boundaries.
-  int nb = 0;
-  for (int i = 0; i < nv; ) {
-    if (d->efm_K_rownnz[i]) { nb++; i += 3; } else { i++; }
-  }
-  d->nefmdof = 0;
-  mjtNum* B = (mjtNum*) effAlloc(d, sizeof(mjtNum)*9*(nb > 0 ? nb : 1), _Alignof(mjtNum));
-  int* adr = (int*) effAlloc(d, sizeof(int)*(nb > 0 ? nb : 1), _Alignof(int));
-  int k = 0;
-  for (int i = 0; i < nv; ) {
-    if (!d->efm_K_rownnz[i]) {
-      i++;
-      continue;
-    }
-    mjtNum* Bk = B + 9*k;
-    mju_zero(Bk, 9);
-    for (int r = 0; r < 3; r++) {
-      int row = i + r;
-      for (int a = m->M_rowadr[row]; a < m->M_rowadr[row] + m->M_rownnz[row]; a++) {
-        int c = m->M_colind[a];
-        if (c >= i && c < i+3) Bk[3*r + (c-i)] += d->M[a];
-      }
-      for (int a = d->efm_K_rowadr[row]; a < d->efm_K_rowadr[row] + d->efm_K_rownnz[row]; a++) {
-        int c = d->efm_K_colind[a];
-        if (c >= i && c < i+3) Bk[3*r + (c-i)] += d->efm_K_val[a];
-      }
-    }
-    mju_cholFactor(Bk, 3, mjMINVAL);
-    adr[k++] = i;
-    i += 3;
-  }
-  d->efm_L = B;
-  d->efm_dofid = adr;
-  d->nefmdof = nb;
-  d->nefmL = 9*nb;
-}
-
-// Apply the metric preconditioner: the per-step 3x3 blocks when they exist, else the constant
-// bending factor from mj_setConst, on the dofs they cover; M^-1 on all other dofs. PCG requires
-// symmetry, so covered and uncovered dofs must not see each other: zeroing the covered entries
-// of the right-hand side before the qLD sweep keeps the uncovered rows from reading them.
-static void effBlockApply(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* b) {
-  int nv = m->nv;
-  int nbd = m->nefm0dof;
-  int flg_bend = nbd && !d->nefmdof;
-  mj_markStack(d);
-  mjtNum* rhs = mjSTACKALLOC(d, nv, mjtNum);
-  mju_copy(rhs, b, nv);   // b may alias x, which the sweep below overwrites
-
-  // dofs no factor covers
-  mju_copy(x, rhs, nv);
-  for (int k = 0; k < d->nefmdof; k++) {
-    mju_zero(x + d->efm_dofid[k], 3);
-  }
-  if (flg_bend) {
-    for (int i = 0; i < nbd; i++) {
-      x[m->efm0_dofid[i]] = 0;
-    }
-  }
-  mj_solveLD(x, d->qLD, d->qLDiagInv, nv, 1, m->M_rownnz, m->M_rowadr, m->M_colind, NULL);
-
-  // per-step stiffness: 3x3 blocks
-  for (int k = 0; k < d->nefmdof; k++) {
-    int i = d->efm_dofid[k];
-    mju_cholSolve(x + i, d->efm_L + 9*k, rhs + i, 3);
-  }
-
-  // bending-only: exact (M + K_bend)^-1 on the dofs the constant factor covers
-  if (flg_bend) {
-    mjtNum* bfr = mjSTACKALLOC(d, nbd, mjtNum);
-    mjtNum* bfz = mjSTACKALLOC(d, nbd, mjtNum);
-    for (int i = 0; i < nbd; i++) {
-      bfr[i] = rhs[m->efm0_dofid[i]];
-    }
-    mju_cholSolveSparse(bfz, m->efm0_L, bfr, nbd,
-                        m->efm0_L_rownnz, m->efm0_L_rowadr, m->efm0_L_colind);
-    for (int i = 0; i < nbd; i++) {
-      x[m->efm0_dofid[i]] = bfz[i];
-    }
-  }
-  mj_freeStack(d);
-}
-
-
-// accurate solve of (M + K) x = b by PCG with the 3x3 block preconditioner, converging the
-// relative residual to opt.tolerance; used for qacc_smooth. Reaching opt.iterations means the
-// metric is too ill-conditioned for the blocks: warn (mjWARN_INERTIA, worst-residual dof) and
-// return x under-converged.
-void mjd_effSolve(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* b) {
-  if (!d->efm_active) {
-    mjd_effPrec(m, d, x, b);
-    return;
-  }
-  int nv = m->nv;
-  mj_markStack(d);
-  mjtNum* r = mjSTACKALLOC(d, nv, mjtNum);
-  mjtNum* z = mjSTACKALLOC(d, nv, mjtNum);
-  mjtNum* p = mjSTACKALLOC(d, nv, mjtNum);
-  mjtNum* Ap = mjSTACKALLOC(d, nv, mjtNum);
-  mju_copy(r, b, nv);   // before zeroing x: b may alias x
-  mju_zero(x, nv);
-  mjtNum bn = mju_dot(r, r, nv);
-  if (bn > mjMINVAL) {
-    // converge the relative residual to opt.tolerance; both sides are squared norms
-#ifdef mjUSESINGLE
-    // float cannot reach a 1e-8 relative residual (eps ~1.2e-7): without a floor every step of
-    // every covered model would run to opt.iterations and then warn.
-    mjtNum tolerance = mju_max(m->opt.tolerance, 1e-6);
-#else
-    mjtNum tolerance = m->opt.tolerance;
-#endif
-    mjtNum tol = tolerance*tolerance*bn;
-    int capped = 1;   // cleared by either exit below; still set means the cap was reached
-    effBlockApply(m, d, z, r);
-    mju_copy(p, z, nv);
-    mjtNum rz = mju_dot(r, z, nv);
-    for (int it = 0; it < m->opt.iterations; it++) {
-      mju_mulSymVecSparse(Ap, d->M, p, nv, m->M_rownnz, m->M_rowadr, m->M_colind);
-      mjd_effMulAdd(m, d, Ap, p);
-      mjtNum pAp = mju_dot(p, Ap, nv);
-      // curvature breakdown: the metric has no curvature along p, so no further progress is
-      // possible and x is the best available. Not a budget failure, so it does not warn.
-      if (pAp <= 0) { capped = 0; break; }
-      mjtNum alpha = rz/pAp;
-      mju_addToScl(x, p, alpha, nv);
-      mju_addToScl(r, Ap, -alpha, nv);
-      if (mju_dot(r, r, nv) < tol) { capped = 0; break; }
-      effBlockApply(m, d, z, r);
-      mjtNum rznew = mju_dot(r, z, nv);
-      mju_addScl(p, z, p, rznew/rz, nv);
-      rz = rznew;
-    }
-
-    // Ran out of iterations with the residual still above tolerance: the metric is too
-    // ill-conditioned for the blocks to solve within the budget. Blame the dof carrying the
-    // largest residual.
-    // mjWARN_INERTIA is the closest existing warning (reusing it avoids an ABI addition), but on
-    // its own it points the user at their inertia when the cause is the flex stiffness, so say so
-    // first. Gate on the same first-time condition mj_warning uses, or a model that fails every
-    // step would print this thousands of times a second.
-    if (capped && mju_dot(r, r, nv) >= tol) {
-      int worst = 0;
-      for (int i = 1; i < nv; i++) {
-        if (mju_abs(r[i]) > mju_abs(r[worst])) worst = i;
-      }
-      if (!d->warning[mjWARN_INERTIA].number) {
-        mju_warning("Flex stiffness is too ill-conditioned for the effective-metric block "
-                    "preconditioner: the M+K solve ran out of iterations at a relative residual "
-                    "of %.2e and qacc_smooth is under-converged. Reported as a singular inertia "
-                    "below, because M+K is the effective inertia.",
-                    mju_sqrt(mju_dot(r, r, nv)/bn));
-      }
-      mj_warning(d, mjWARN_INERTIA, worst);
-    }
-  }
-  mj_freeStack(d);
-}
-
-void mjd_effPrec(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* b) {
-  int nv = m->nv;
-
-  // active metric: the prefactored 3x3 blocks are the preconditioner
-  if (d->efm_active) {
-    effBlockApply(m, d, x, b);
-    return;
-  }
-
-  // inactive metric: x = M \ b, which is exact
-  if (x != b) {
-    mju_copy(x, b, nv);
-  }
-  mj_solveLD(x, d->qLD, d->qLDiagInv, nv, 1, m->M_rownnz, m->M_rowadr, m->M_colind, NULL);
-}
-
-
-// refresh the smooth-force shift c = h*K*qvel of the active metric (values only, no
-// allocation: called from the velocity stage, mirroring the efc value refresh pattern)
-void mjd_effShift(const mjModel* m, mjData* d) {
-  if (!d->efm_active) {
-    return;
-  }
-  mjtNum h = m->opt.timestep;
-  mju_zero(d->efm_c, m->nv);
-  mjd_flexInterp_mul(m, d, d->efm_c, d->qvel, h, 0, d->flexelem_krot);
-  mjd_flexBend_mul(m, d, d->efm_c, d->qvel, -h, 0);
-  mjd_flexStretch_mul(m, d, d->efm_c, d->qvel, -h, 0);
-  mjd_flexContact_mul(m, d, d->efm_c, d->qvel, -h);
-}
-
-
-// build the per-step implicit effective metric on the arena, or deactivate it. The gate
-// decision (mj_flexCG) is the caller's: the metric module has no dependency on the solver
-// configuration beyond what it is told here.
-void mjd_effBuild(const mjModel* m, mjData* d, int active, int flg_factor) {
-  int nv = m->nv;
-  d->efm_active = 0;
-  d->nefmK = 0;
-  d->nefmdof = 0;
-  d->nefmL = 0;
-  if (!active) {
-    return;
-  }
-  mjtNum h = m->opt.timestep;
-
-  // corotated element stiffness cache (used by the shift and the matrix-free fallback)
-  mju_zero(d->flexelem_krot, m->nflexstiffness);
-  mjd_flexInterp_cacheKrot(m, d, d->flexelem_krot);
-
-  // smooth-force shift c = h*K*qvel (values refreshed by mjd_effShift in the velocity stage)
-  d->efm_c = EFMALLOC(mjtNum, nv);
-
-  // assemble the standard-flex part of B into CSR (constant during the step). With stretch or
-  // assemblable interp present, assemble the FULL matrix (bending included): one CSR then
-  // serves both the matvec and the per-step factor. Bending-only models keep the stencil
-  // operator + the constant mj_setConst factor.
-  const mjtNum* krot = mjd_flexInterpAssemblable(m) ? d->flexelem_krot : NULL;
-  d->efm_K_rownnz = EFMALLOC(int, nv);
-  d->efm_K_rowadr = EFMALLOC(int, nv);
-  if (mjd_flexStiff_any(m, krot != NULL) || flexPassiveContact_any(m)) {
-    d->nefmK = mjd_flexStiff_assemble(m, d, d->efm_K_rownnz, d->efm_K_rowadr,
-                                      NULL, NULL, h*h, h, /*bend*/ 1, /*stretch*/ 1,
-                                      /*contact*/ 1, krot);
-  }
-  if (d->nefmK) {
-    d->efm_K_colind = EFMALLOC(int, d->nefmK);
-    d->efm_K_val    = EFMALLOC(mjtNum, d->nefmK);
-    mjd_flexStiff_assemble(m, d, d->efm_K_rownnz, d->efm_K_rowadr,
-                           d->efm_K_colind, d->efm_K_val, h*h, h,
-                           /*bend*/ 1, /*stretch*/ 1, /*contact*/ 1, krot);
-    // per-step factor of the flex block of (M + K): the stiffness is constant during the
-    // step, so one factorization here turns every preconditioner application into a direct
-    // solve (the stiff flex block stops being iterated on). Consumers that only multiply
-    // (inverse dynamics) skip it.
-    if (flg_factor) {
-      effBlocks(m, d);
-    }
-
-  } else {
-    mju_zeroInt(d->efm_K_rownnz, nv);
-    mju_zeroInt(d->efm_K_rowadr, nv);
-  }
-
-  d->efm_active = 1;
-
-  // fill the shift with the current velocity (refreshed again in the velocity stage)
-  mjd_effShift(m, d);
-}
diff --git a/src/engine/engine_derivative.h b/src/engine/engine_derivative.h
deleted file mode 100644
index e05640b7..00000000
--- a/src/engine/engine_derivative.h
+++ /dev/null
@@ -1,121 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// derivatives of mju_subQuat w.r.t inputs
-MJAPI void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db[9]);
-
-// derivatives of mju_quatIntegrate w.r.t inputs
-MJAPI void mjd_quatIntegrate(const mjtNum vel[3], mjtNum scale,
-                             mjtNum Dquat[9], mjtNum Dvel[9], mjtNum Dscale[3]);
-
-// analytical derivative of smooth forces w.r.t velocities:
-//   d->qDeriv = d (qfrc_actuator + qfrc_passive - [qfrc_bias]) / d qvel
-MJAPI void mjd_smooth_vel(const mjModel* m, mjData* d, int flg_bias);
-
-// add (d qfrc_actuator / d qvel) to qDeriv
-MJAPI void mjd_actuator_vel(const mjModel* m, mjData* d);
-
-// add (d qfrc_passive / d qvel) to qDeriv
-MJAPI void mjd_passive_vel(const mjModel* m, mjData* d);
-
-// subtract (d qfrc_bias / d qvel) from qDeriv (dense version)
-MJAPI void mjd_rne_vel_dense(const mjModel* m, mjData* d);
-
-// return 1 if body is a standalone free body: a free joint with no children
-mjtBool mj_isFreeBody(const mjModel* m, int body);
-
-// 6x6 block B = d qfrc_bias / d qvel for the free joint of a standalone body
-MJAPI void mjd_freeBias_vel(const mjModel* m, const mjData* d, int jnt, mjtNum B[36]);
-
-// 6x6 block A = M - h * (d qfrc_smooth / d qvel) for the free joint of a standalone body
-//   returns 1 and writes A if jnt is the free joint of a standalone awake body, 0 otherwise
-//   requires valid d->qDeriv rows for the block, computed with flg_bias = 0
-MJAPI int mjd_freeMhat(const mjModel* m, const mjData* d, int jnt, mjtNum h, mjtNum A[36]);
-
-// compute res += (s1 + s2*damping) * J'*K*J * vec, for all interpolated flexes
-//   K_rot_cache: if non-NULL, use pre-cached K_rot (same layout as m->flex_stiffness)
-MJAPI void mjd_flexInterp_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec,
-                              mjtNum s1, mjtNum s2, const mjtNum* K_rot_cache);
-
-// precompute unscaled K_rot for all elements into cache (same layout as m->flex_stiffness)
-MJAPI void mjd_flexInterp_cacheKrot(const mjModel* m, mjData* d, mjtNum* K_rot_out);
-
-// compute res += scale * K_bend * vec for standard (non-interp) flex bending
-//   scale = s1 + s2 * flex_damping[f]  per flex
-MJAPI void mjd_flexBend_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec,
-                            mjtNum s1, mjtNum s2);
-
-// compute res += scale * K_stretch * vec for standard (non-interp) flex stretch,
-// K_stretch the Gauss-Newton Hessian of the passive stretch force at the current state
-//   scale = s1 + s2 * flex_damping[f]  per flex
-MJAPI void mjd_flexStretch_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec,
-                               mjtNum s1, mjtNum s2);
-
-// assemble the standard-flex implicit stiffness (s1 + s2*damping)*(K_bend + K_stretch) into
-// dof-level CSR; phase 1 (colind==NULL) fills rownnz/rowadr and returns total nnz, phase 2
-// fills colind/val. Interp flexes are assembled iff Krot (mjd_flexInterp_cacheKrot cache) is
-// non-NULL and the centered fast path applies (check mjd_flexInterpAssemblable first).
-// Passive contact stiffness (omega^2 * m_min); force and Hessian must use the same value.
-// res += scale * K_contact * vec (shift counterpart of the contact stiffness in the metric).
-MJAPI void mjd_flexContact_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec,
-                               mjtNum scale);
-
-MJAPI mjtNum mjd_flexContactStiffness(const mjModel* m, const mjData* d, const mjContact* con);
-
-MJAPI int mjd_flexStiff_assemble(const mjModel* m, mjData* d, int* rownnz, int* rowadr,
-                                 int* colind, mjtNum* val, mjtNum s1, mjtNum s2,
-                                 int flg_bend, int flg_stretch, int flg_contact, const mjtNum* Krot);
-
-// can all interp flexes be assembled to dof-level CSR? (centered fast path everywhere)
-MJAPI mjtBool mjd_flexInterpAssemblable(const mjModel* m);
-
-// does any flex contribute assemblable implicit stiffness? (existence check)
-MJAPI mjtBool mjd_flexStiff_any(const mjModel* m, int flg_interp);
-
-// implicit effective metric Mtilde = M + (h^2+h*d)*K: per-step arena object (see mjdata.h efm_*)
-// build (or deactivate, active==0); the gate decision belongs to the caller
-MJAPI void mjd_effBuild(const mjModel* m, mjData* d, int active, int flg_factor);
-
-// refresh the metric's smooth-force shift c = h*K*qvel (values only, velocity stage)
-MJAPI void mjd_effShift(const mjModel* m, mjData* d);
-
-// res += B*vec (the stiffness part of the metric; caller supplies the M part)
-MJAPI void mjd_effMulAdd(const mjModel* m, mjData* d, mjtNum* res, const mjtNum* vec);
-
-// solve (M + B) x = b by PCG preconditioned with mjd_effPrec, to opt.tolerance on the relative
-// residual; x = M^-1 b when the metric is inactive. Warns (mjWARN_INERTIA) if the iteration cap
-// is reached before convergence, in which case x is returned under-converged.
-MJAPI void mjd_effSolve(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* b);
-
-// apply the metric preconditioner: x ~= (M + B)^-1 b, a cheap fixed linear operator, NOT a solve.
-// Exact only when the metric is inactive (x = M^-1 b); otherwise approximate by construction.
-MJAPI void mjd_effPrec(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* b);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_H_
diff --git a/src/engine/engine_derivative_fd.c b/src/engine/engine_derivative_fd.c
deleted file mode 100644
index 049651d9..00000000
--- a/src/engine/engine_derivative_fd.c
+++ /dev/null
@@ -1,710 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_derivative_fd.h"
-
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_forward.h"
-#include "engine/engine_inverse.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-
-
-
-//--------------------------- finite-differencing utility functions --------------------------------
-
-// get state=[qpos; qvel; act] and optionally sensordata
-static void getState(const mjModel* m, const mjData* d, mjtNum* state, mjtNum* sensordata) {
-  mj_getState(m, d, state, mjSTATE_PHYSICS);
-  if (sensordata) {
-    mju_copy(sensordata, d->sensordata, m->nsensordata);
-  }
-}
-
-
-// dx = (x2 - x1) / h
-static void diff(mjtNum* restrict dx, const mjtNum* x1, const mjtNum* x2, mjtNum h, int n) {
-  mjtNum inv_h = 1/h;
-  for (int i=0; i < n; i++) {
-    dx[i] = inv_h * (x2[i] - x1[i]);
-  }
-}
-
-
-// finite-difference two state vectors ds = (s2 - s1) / h
-static void stateDiff(const mjModel* m, mjtNum* ds, const mjtNum* s1, const mjtNum* s2, mjtNum h) {
-  int nq = m->nq, nv = m->nv, na = m->na;
-
-  if (nq == nv) {
-    diff(ds, s1, s2, h, nq+nv+na);
-  } else {
-    mj_differentiatePos(m, ds, h, s1, s2);
-    diff(ds+nv, s1+nq, s2+nq, h, nv+na);
-  }
-}
-
-
-// finite-difference two vectors, forward, backward or centered
-static void clampedDiff(mjtNum* dx, const mjtNum* x, const mjtNum* x_plus, const mjtNum* x_minus,
-                        mjtNum h, int nx) {
-  if (x_plus && !x_minus) {
-    // forward differencing
-    diff(dx, x, x_plus, h, nx);
-  } else if (!x_plus && x_minus) {
-    // backward differencing
-    diff(dx, x_minus, x, h, nx);
-  } else if (x_plus && x_minus) {
-    // centered differencing
-    diff(dx, x_plus, x_minus, 2*h, nx);
-  } else {
-    // differencing failed, write zeros
-    mju_zero(dx, nx);
-  }
-}
-
-
-// finite-difference two state vectors, forward, backward or centered
-static void clampedStateDiff(const mjModel* m, mjtNum* ds, const mjtNum* s, const mjtNum* s_plus,
-                             const mjtNum* s_minus, mjtNum h) {
-  if (s_plus && !s_minus) {
-    // forward differencing
-    stateDiff(m, ds, s, s_plus, h);
-  } else if (!s_plus && s_minus) {
-    // backward differencing
-    stateDiff(m, ds, s_minus, s, h);
-  } else if (s_plus && s_minus) {
-    // centered differencing
-    stateDiff(m, ds, s_minus, s_plus, 2*h);
-  } else {
-    // differencing failed, write zeros
-    mju_zero(ds, 2*m->nv + m->na);
-  }
-}
-
-
-// check if two numbers are inside a given range
-static int inRange(const mjtNum x1, const mjtNum x2, const mjtNum* range) {
-  return x1 >= range[0] && x1 <= range[1] &&
-         x2 >= range[0] && x2 <= range[1];
-}
-
-
-// advance simulation using control callback, skipstage is mjtStage
-void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
-  TM_START;
-
-  // common to all integrators
-  mj_checkPos(m, d);
-  mj_checkVel(m, d);
-  mj_forwardSkip(m, d, skipstage, skipsensor);
-  mj_checkAcc(m, d);
-
-  // compare forward and inverse solutions if enabled
-  if (mjENABLED(mjENBL_FWDINV)) {
-    mj_compareFwdInv(m, d);
-  }
-
-  // use selected integrator
-  switch ((mjtIntegrator) m->opt.integrator) {
-  case mjINT_EULER:
-    mj_EulerSkip(m, d, skipstage >= mjSTAGE_POS);
-    break;
-
-  case mjINT_RK4:
-    // ignore skipstage
-    mj_RungeKutta(m, d, 4);
-    break;
-
-  case mjINT_IMPLICIT:
-  case mjINT_IMPLICITFAST:
-    mj_implicitSkip(m, d, skipstage >= mjSTAGE_VEL);
-    break;
-
-  default:
-    mjERROR("invalid integrator");
-  }
-
-  TM_END(mjTIMER_STEP);
-}
-
-
-// compute qfrc_inverse, optionally subtracting qfrc_actuator
-static void inverseSkip(const mjModel* m, mjData* d, mjtStage stage, int skipsensor,
-                        int flg_actuation, mjtNum* force) {
-  mj_inverseSkip(m, d, stage, skipsensor);
-  mju_copy(force, d->qfrc_inverse, m->nv);
-  if (flg_actuation) {
-    mj_fwdActuation(m, d);
-    mju_subFrom(force, d->qfrc_actuator, m->nv);
-  }
-}
-
-
-//------------------------- derivatives of passive forces ------------------------------------------
-
-// add forward fin-diff approximation of (d qfrc_passive / d qvel) to qDeriv
-void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps) {
-  int nv = m->nv;
-
-  mj_markStack(d);
-  mjtNum* qfrc_passive = mjSTACKALLOC(d, nv, mjtNum);
-  mjtNum* fd = mjSTACKALLOC(d, nv, mjtNum);
-  int* cnt = mjSTACKALLOC(d, nv, int);
-
-  // clear row counters
-  mju_zeroInt(cnt, nv);
-
-  // save qfrc_passive, assume mj_fwdVelocity was called
-  mju_copy(qfrc_passive, d->qfrc_passive, nv);
-
-  // loop over dofs
-  for (int i=0; i < nv; i++) {
-    // save qvel[i]
-    mjtNum saveqvel = d->qvel[i];
-
-    // eval at qvel[i]+eps
-    d->qvel[i] = saveqvel + eps;
-    mj_fwdVelocity(m, d);
-
-    // restore qvel[i]
-    d->qvel[i] = saveqvel;
-
-    // finite difference result in fd
-    mju_sub(fd, d->qfrc_passive, qfrc_passive, nv);
-    mju_scl(fd, fd, 1/eps, nv);
-
-    // copy to i-th column of qDeriv
-    for (int j=0; j < nv; j++) {
-      int adr = m->D_rowadr[j] + cnt[j];
-      if (cnt[j] < m->D_rownnz[j] && m->D_colind[adr] == i) {
-        d->qDeriv[adr] = fd[j];
-        cnt[j]++;
-      }
-    }
-  }
-
-  // restore
-  mj_fwdVelocity(m, d);
-
-  mj_freeStack(d);
-}
-
-
-//-------------------- derivatives of all smooth (unconstrained) forces ----------------------------
-
-// centered finite difference approximation to mjd_smooth_vel
-void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps) {
-  int nv = m->nv;
-
-  mj_markStack(d);
-  mjtNum* plus = mjSTACKALLOC(d, nv, mjtNum);
-  mjtNum* minus = mjSTACKALLOC(d, nv, mjtNum);
-  mjtNum* fd = mjSTACKALLOC(d, nv, mjtNum);
-  int* cnt = mjSTACKALLOC(d, nv, int);
-
-  // clear row counters
-  mju_zeroInt(cnt, nv);
-
-  // loop over dofs
-  for (int i=0; i < nv; i++) {
-    // save qvel[i]
-    mjtNum saveqvel = d->qvel[i];
-
-    // eval at qvel[i]+eps
-    d->qvel[i] = saveqvel + eps;
-    mj_fwdVelocity(m, d);
-    mj_fwdActuation(m, d);
-    mju_add(plus, d->qfrc_actuator, d->qfrc_passive, nv);
-    mju_subFrom(plus, d->qfrc_bias, nv);
-
-    // eval at qvel[i]-eps
-    d->qvel[i] = saveqvel - eps;
-    mj_fwdVelocity(m, d);
-    mj_fwdActuation(m, d);
-    mju_add(minus, d->qfrc_actuator, d->qfrc_passive, nv);
-    mju_subFrom(minus, d->qfrc_bias, nv);
-
-    // restore qvel[i]
-    d->qvel[i] = saveqvel;
-
-    // finite difference result in fd
-    mju_sub(fd, plus, minus, nv);
-    mju_scl(fd, fd, 0.5/eps, nv);
-
-    // copy to sparse qDeriv
-    for (int j=0; j < nv; j++) {
-      if (cnt[j] < m->D_rownnz[j] && m->D_colind[m->D_rowadr[j]+cnt[j]] == i) {
-        d->qDeriv[m->D_rowadr[j]+cnt[j]] = fd[j];
-        cnt[j]++;
-      }
-    }
-  }
-
-  // make sure final row counters equal rownnz
-  for (int i=0; i < nv; i++) {
-    if (cnt[i] != m->D_rownnz[i]) {
-      mjERROR("error in constructing FD sparse derivative");
-    }
-  }
-
-  // restore
-  mj_fwdVelocity(m, d);
-  mj_fwdActuation(m, d);
-
-  mj_freeStack(d);
-}
-
-
-//------------------------- main entry points ------------------------------------------------------
-
-
-// finite differenced Jacobian of  (next_state, sensors) = mj_step(state, control)
-//   all outputs are optional
-//   output dimensions (transposed w.r.t Control Theory convention):
-//     DyDq: (nv x 2*nv+na)
-//     DyDv: (nv x 2*nv+na)
-//     DyDa: (na x 2*nv+na)
-//     DyDu: (nu x 2*nv+na)
-//     DsDq: (nv x nsensordata)
-//     DsDv: (nv x nsensordata)
-//     DsDa: (na x nsensordata)
-//     DsDu: (nu x nsensordata)
-//   single-letter shortcuts:
-//     inputs: q=qpos, v=qvel, a=act, u=ctrl
-//     outputs: y=next_state (concatenated next qpos, qvel, act), s=sensordata
-void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_centered,
-                mjtNum* DyDq, mjtNum* DyDv, mjtNum* DyDa, mjtNum* DyDu,
-                mjtNum* DsDq, mjtNum* DsDv, mjtNum* DsDa, mjtNum* DsDu) {
-  if (m->nhistory) {
-    mjERROR("delays are not supported");
-  }
-
-  int nq = m->nq, nv = m->nv, na = m->na, nu = m->nu, ns = m->nsensordata;
-  int ndx = 2*nv+na;  // row length of Dy Jacobians
-  mj_markStack(d);
-
-  // state to restore after finite differencing
-  unsigned int restore_spec = mjSTATE_FULLPHYSICS | mjSTATE_CTRL;
-  restore_spec |= mjDISABLED(mjDSBL_WARMSTART) ? 0 : mjSTATE_WARMSTART;
-
-  mjtNum *fullstate  = mjSTACKALLOC(d, mj_stateSize(m, restore_spec), mjtNum);
-  mjtNum *state      = mjSTACKALLOC(d, nq+nv+na, mjtNum);  // current state
-  mjtNum *next       = mjSTACKALLOC(d, nq+nv+na, mjtNum);  // next state
-  mjtNum *next_plus  = mjSTACKALLOC(d, nq+nv+na, mjtNum);  // forward-nudged next state
-  mjtNum *next_minus = mjSTACKALLOC(d, nq+nv+na, mjtNum);  // backward-nudged next state
-
-  // sensors
-  int skipsensor = !DsDq && !DsDv && !DsDa && !DsDu;
-  mjtNum *sensor       = skipsensor ? NULL : mjSTACKALLOC(d, ns, mjtNum);  // sensor values
-  mjtNum *sensor_plus  = skipsensor ? NULL : mjSTACKALLOC(d, ns, mjtNum);  // forward-nudged
-  mjtNum *sensor_minus = skipsensor ? NULL : mjSTACKALLOC(d, ns, mjtNum);  // backward-nudged
-
-  // controls
-  mjtNum *ctrl = mjSTACKALLOC(d, nu, mjtNum);
-
-  // save current inputs
-  mj_getState(m, d, fullstate, restore_spec);
-  mju_copy(ctrl, d->ctrl, nu);
-  getState(m, d, state, NULL);
-
-  // step input
-  mj_stepSkip(m, d, mjSTAGE_NONE, skipsensor);
-
-  // save output
-  getState(m, d, next, sensor);
-
-  // restore input
-  mj_setState(m, d, fullstate, restore_spec);
-
-  // finite-difference controls: skip=mjSTAGE_VEL, handle ctrl at range limits
-  if (DyDu || DsDu) {
-    for (int i=0; i < nu; i++) {
-      int limited = m->actuator_ctrllimited[i];
-      // nudge forward, if possible given ctrlrange
-      int nudge_fwd = !limited || inRange(ctrl[i], ctrl[i]+eps, m->actuator_ctrlrange+2*i);
-      if (nudge_fwd) {
-        // nudge forward
-        d->ctrl[i] += eps;
-
-        // step, get nudged output
-        mj_stepSkip(m, d, mjSTAGE_VEL, skipsensor);
-        getState(m, d, next_plus, sensor_plus);
-
-        // reset
-        mj_setState(m, d, fullstate, restore_spec);
-      }
-
-      // nudge backward, if possible given ctrlrange
-      int nudge_back = (flg_centered || !nudge_fwd) &&
-                       (!limited || inRange(ctrl[i]-eps, ctrl[i], m->actuator_ctrlrange+2*i));
-      if (nudge_back) {
-        // nudge backward
-        d->ctrl[i] -= eps;
-
-        // step, get nudged output
-        mj_stepSkip(m, d, mjSTAGE_VEL, skipsensor);
-        getState(m, d, next_minus, sensor_minus);
-
-        // reset
-        mj_setState(m, d, fullstate, restore_spec);
-      }
-
-      // difference states
-      if (DyDu) {
-        clampedStateDiff(m, DyDu+i*ndx, next, nudge_fwd ? next_plus : NULL,
-                         nudge_back ? next_minus : NULL, eps);
-      }
-
-      // difference sensors
-      if (DsDu) {
-        clampedDiff(DsDu+i*ns, sensor, nudge_fwd ? sensor_plus : NULL,
-                    nudge_back ? sensor_minus : NULL, eps, ns);
-      }
-    }
-  }
-
-  // finite-difference activations: skip=mjSTAGE_VEL
-  if (DyDa || DsDa) {
-    for (int i=0; i < na; i++) {
-      // nudge forward
-      d->act[i] += eps;
-
-      // step, get nudged output
-      mj_stepSkip(m, d, mjSTAGE_VEL, skipsensor);
-      getState(m, d, next_plus, sensor_plus);
-
-      // reset
-      mj_setState(m, d, fullstate, restore_spec);
-
-      // nudge backward
-      if (flg_centered) {
-        // nudge backward
-        d->act[i] -= eps;
-
-        // step, get nudged output
-        mj_stepSkip(m, d, mjSTAGE_VEL, skipsensor);
-        getState(m, d, next_minus, sensor_minus);
-
-        // reset
-        mj_setState(m, d, fullstate, restore_spec);
-      }
-
-      // difference states
-      if (DyDa) {
-        if (!flg_centered) {
-          stateDiff(m, DyDa+i*ndx, next, next_plus, eps);
-        } else {
-          stateDiff(m, DyDa+i*ndx, next_minus, next_plus, 2*eps);
-        }
-      }
-
-      // difference sensors
-      if (DsDa) {
-        if (!flg_centered) {
-          diff(DsDa+i*ns, sensor, sensor_plus, eps, ns);
-        } else {
-          diff(DsDa+i*ns, sensor_minus, sensor_plus, 2*eps, ns);
-        }
-      }
-    }
-  }
-
-
-  // finite-difference velocities: skip=mjSTAGE_POS
-  if (DyDv || DsDv) {
-    for (int i=0; i < nv; i++) {
-      // nudge forward
-      d->qvel[i] += eps;
-
-      // step, get nudged output
-      mj_stepSkip(m, d, mjSTAGE_POS, skipsensor);
-      getState(m, d, next_plus, sensor_plus);
-
-      // reset
-      mj_setState(m, d, fullstate, restore_spec);
-
-      // nudge backward
-      if (flg_centered) {
-        // nudge
-        d->qvel[i] -= eps;
-
-        // step, get nudged output
-        mj_stepSkip(m, d, mjSTAGE_POS, skipsensor);
-        getState(m, d, next_minus, sensor_minus);
-
-        // reset
-        mj_setState(m, d, fullstate, restore_spec);
-      }
-
-      // difference states
-      if (DyDv) {
-        if (!flg_centered) {
-          stateDiff(m, DyDv+i*ndx, next, next_plus, eps);
-        } else {
-          stateDiff(m, DyDv+i*ndx, next_minus, next_plus, 2*eps);
-        }
-      }
-
-      // difference sensors
-      if (DsDv) {
-        if (!flg_centered) {
-          diff(DsDv+i*ns, sensor, sensor_plus, eps, ns);
-        } else {
-          diff(DsDv+i*ns, sensor_minus, sensor_plus, 2*eps, ns);
-        }
-      }
-    }
-  }
-
-  // finite-difference positions: skip=mjSTAGE_NONE
-  if (DyDq || DsDq) {
-    mjtNum *dpos  = mjSTACKALLOC(d, nv, mjtNum);  // allocate position perturbation
-    for (int i=0; i < nv; i++) {
-      // nudge forward
-      mju_zero(dpos, nv);
-      dpos[i] = 1;
-      mj_integratePos(m, d->qpos, dpos, eps);
-
-      // step, get nudged output
-      mj_stepSkip(m, d, mjSTAGE_NONE, skipsensor);
-      getState(m, d, next_plus, sensor_plus);
-
-      // reset
-      mj_setState(m, d, fullstate, restore_spec);
-
-      // nudge backward
-      if (flg_centered) {
-        // nudge backward
-        mju_zero(dpos, nv);
-        dpos[i] = 1;
-        mj_integratePos(m, d->qpos, dpos, -eps);
-
-        // step, get nudged output
-        mj_stepSkip(m, d, mjSTAGE_NONE, skipsensor);
-        getState(m, d, next_minus, sensor_minus);
-
-        // reset
-        mj_setState(m, d, fullstate, restore_spec);
-      }
-
-      // difference states
-      if (DyDq) {
-        if (!flg_centered) {
-          stateDiff(m, DyDq+i*ndx, next, next_plus, eps);
-        } else {
-          stateDiff(m, DyDq+i*ndx, next_minus, next_plus, 2*eps);
-        }
-      }
-
-      // difference sensors
-      if (DsDq) {
-        if (!flg_centered) {
-          diff(DsDq+i*ns, sensor, sensor_plus, eps, ns);
-        } else {
-          diff(DsDq+i*ns, sensor_minus, sensor_plus, 2*eps, ns);
-        }
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// finite differenced transition matrices (control theory notation)
-//   d(x_next) = A*dx + B*du
-//   d(sensor) = C*dx + D*du
-//   required output matrix dimensions:
-//      A: (2*nv+na x 2*nv+na)
-//      B: (2*nv+na x nu)
-//      C: (nsensordata x 2*nv+na)
-//      D: (nsensordata x nu)
-void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_centered,
-                      mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D) {
-  if (m->opt.integrator == mjINT_RK4) {
-    mjERROR("RK4 integrator is not supported");
-  }
-  if (m->nhistory) {
-    mjERROR("delays are not supported");
-  }
-
-  int nv = m->nv, na = m->na, nu = m->nu, ns = m->nsensordata;
-  int ndx = 2*nv+na;  // row length of state Jacobians
-
-  // stepFD() offset pointers, initialised to NULL
-  mjtNum *DyDq, *DyDv, *DyDa, *DsDq, *DsDv, *DsDa;
-  DyDq = DyDv = DyDa = DsDq = DsDv = DsDa = NULL;
-
-  mj_markStack(d);
-
-  // allocate transposed matrices
-  mjtNum *AT = A ? mjSTACKALLOC(d, ndx*ndx, mjtNum) : NULL;  // state-transition     (transposed)
-  mjtNum *BT = B ? mjSTACKALLOC(d, nu*ndx, mjtNum) : NULL;   // control-transition   (transposed)
-  mjtNum *CT = C ? mjSTACKALLOC(d, ndx*ns, mjtNum) : NULL;   // state-observation    (transposed)
-  mjtNum *DT = D ? mjSTACKALLOC(d, nu*ns, mjtNum) : NULL;    // control-observation  (transposed)
-
-  // set offset pointers
-  if (A) {
-    DyDq = AT;
-    DyDv = AT+ndx*nv;
-    DyDa = AT+ndx*2*nv;
-  }
-
-  if (C) {
-    DsDq = CT;
-    DsDv = CT + ns*nv;
-    DsDa = CT + ns*2*nv;
-  }
-
-  // get Jacobians
-  mjd_stepFD(m, d, eps, flg_centered, DyDq, DyDv, DyDa, BT, DsDq, DsDv, DsDa, DT);
-
-
-  // transpose
-  if (A) mju_transpose(A, AT, ndx, ndx);
-  if (B) mju_transpose(B, BT, nu, ndx);
-  if (C) mju_transpose(C, CT, ndx, ns);
-  if (D) mju_transpose(D, DT, nu, ns);
-
-  mj_freeStack(d);
-}
-
-// finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration)
-//   all outputs are optional
-//   output dimensions (transposed w.r.t Control Theory convention):
-//     DfDq: (nv x nv)
-//     DfDv: (nv x nv)
-//     DfDa: (nv x nv)
-//     DsDq: (nv x nsensordata)
-//     DsDv: (nv x nsensordata)
-//     DsDa: (nv x nsensordata)
-//     DmDq: (nv x nC)
-//   single-letter shortcuts:
-//     inputs: q=qpos, v=qvel, a=qacc
-//     outputs: f=qfrc_inverse, s=sensordata, m=M
-//   notes:
-//     optionally compute mass matrix Jacobian DmDq
-//     flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse
-void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuation,
-                   mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
-                   mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
-                   mjtNum *DmDq) {
-  int nq = m->nq, nv = m->nv, nC = m->nC, ns = m->nsensordata;
-
-  if (m->opt.integrator == mjINT_RK4) {
-    mjERROR("RK4 integrator is not supported");
-  }
-
-  if (m->opt.noslip_iterations) {
-    mjERROR("noslip solver is not supported");
-  }
-
-  // skip sensor computations if no sensor Jacobians requested
-  int skipsensor = !DsDq && !DsDv && !DsDa;
-
-  // local vectors
-  mj_markStack(d);
-  mjtNum *pos        = mjSTACKALLOC(d, nq, mjtNum);                      // position
-  mjtNum *force      = mjSTACKALLOC(d, nv, mjtNum);                      // force
-  mjtNum *force_plus = mjSTACKALLOC(d, nv, mjtNum);                      // nudged force
-  mjtNum *sensor     = skipsensor ? NULL : mjSTACKALLOC(d, ns, mjtNum);  // sensor values
-  mjtNum *mass       = DmDq ? mjSTACKALLOC(d, nC, mjtNum) : NULL;        // mass matrix
-
-  // save current positions
-  mju_copy(pos, d->qpos, nq);
-
-  // center point outputs
-  inverseSkip(m, d, mjSTAGE_NONE, skipsensor, flg_actuation, force);
-  if (sensor) mju_copy(sensor, d->sensordata, ns);
-  if (mass) mju_copy(mass, d->M, nC);
-
-  // acceleration: skip = mjSTAGE_VEL
-  if (DfDa || DsDa) {
-    for (int i=0; i < nv; i++) {
-      // nudge acceleration
-      mjtNum tmp = d->qacc[i];
-      d->qacc[i] += eps;
-
-      // inverse dynamics, get force output
-      inverseSkip(m, d, mjSTAGE_VEL, skipsensor, flg_actuation, force_plus);
-
-      // restore
-      d->qacc[i] = tmp;
-
-      // row of force Jacobian
-      if (DfDa) diff(DfDa + i*nv, force, force_plus, eps, nv);
-
-      // row of sensor Jacobian
-      if (DsDa) diff(DsDa + i*ns, sensor, d->sensordata, eps, ns);
-    }
-  }
-
-  // velocity: skip = mjSTAGE_POS
-  if (DfDv || DsDv) {
-    for (int i=0; i < nv; i++) {
-      // nudge velocity
-      mjtNum tmp = d->qvel[i];
-      d->qvel[i] += eps;
-
-      // inverse dynamics, get force output
-      inverseSkip(m, d, mjSTAGE_POS, skipsensor, flg_actuation, force_plus);
-
-      // restore
-      d->qvel[i] = tmp;
-
-      // row of force Jacobian
-      if (DfDv) diff(DfDv + i*nv, force, force_plus, eps, nv);
-
-      // row of sensor Jacobian
-      if (DsDv) diff(DsDv + i*ns, sensor, d->sensordata, eps, ns);
-    }
-  }
-
-  // position: skip = mjSTAGE_NONE
-  if (DfDq || DsDq || DmDq) {
-    mjtNum *dpos  = mjSTACKALLOC(d, nv, mjtNum);  // allocate position perturbation
-    for (int i=0; i < nv; i++) {
-      // nudge
-      mju_zero(dpos, nv);
-      dpos[i] = 1.0;
-      mj_integratePos(m, d->qpos, dpos, eps);
-
-      // inverse dynamics, get force output
-      inverseSkip(m, d, mjSTAGE_NONE, skipsensor, flg_actuation, force_plus);
-
-      // restore
-      mju_copy(d->qpos, pos, nq);
-
-      // row of force Jacobian
-      if (DfDq) diff(DfDq + i*nv, force, force_plus, eps, nv);
-
-      // row of sensor Jacobian
-      if (DsDq) diff(DsDq + i*ns, sensor, d->sensordata, eps, ns);
-
-      // row of inertia Jacobian
-      if (DmDq) diff(DmDq + i*nC, mass, d->M, eps, nC);
-    }
-  }
-
-  mj_freeStack(d);
-}
diff --git a/src/engine/engine_derivative_fd.h b/src/engine/engine_derivative_fd.h
deleted file mode 100644
index 44375491..00000000
--- a/src/engine/engine_derivative_fd.h
+++ /dev/null
@@ -1,49 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// centered finite difference approximation to mjd_smooth_vel
-MJAPI void mjd_smooth_velFD(const mjModel* m, mjData* d, mjtNum eps);
-
-// add forward finite difference approximation of (d qfrc_passive / d qvel) to qDeriv
-MJAPI void mjd_passive_velFD(const mjModel* m, mjData* d, mjtNum eps);
-
-// advance simulation using control callback, skipstage is mjtStage
-MJAPI void mj_stepSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
-
-// finite differenced transition matrices (control theory notation)
-MJAPI void mjd_transitionFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool centered,
-                            mjtNum* A, mjtNum* B, mjtNum* C, mjtNum* D);
-
-// finite differenced Jacobian of  (force, sensors) = mj_inverse(state, acceleration)
-MJAPI void mjd_inverseFD(const mjModel* m, mjData* d, mjtNum eps, mjtBool flg_actuation,
-                         mjtNum *DfDq, mjtNum *DfDv, mjtNum *DfDa,
-                         mjtNum *DsDq, mjtNum *DsDv, mjtNum *DsDa,
-                         mjtNum *DmDq);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_DERIVATIVE_FD_H_
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
deleted file mode 100644
index 858a25a8..00000000
--- a/src/engine/engine_forward.c
+++ /dev/null
@@ -1,1939 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_forward.h"
-
-#include <stddef.h>
-#include <stdio.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjplugin.h>
-#include "engine/engine_callback.h"
-#include "engine/engine_collision_driver.h"
-#include "engine/engine_core_constraint.h"
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_derivative.h"
-#include "engine/engine_inverse.h"
-#include "engine/engine_island.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_passive.h"
-#include "engine/engine_plugin.h"
-#include "engine/engine_sensor.h"
-#include "engine/engine_sleep.h"
-#include "engine/engine_solver.h"
-#include "engine/engine_support.h"
-#include "engine/engine_inline.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_solve.h"
-#include "engine/engine_util_sparse.h"
-#include "engine/engine_thread.h"
-
-
-
-//--------------------------- check values ---------------------------------------------------------
-
-// check positions, reset if bad
-void mj_checkPos(const mjModel* m, mjData* d) {
-  int nq = m->nq;
-  const mjtNum* qpos = d->qpos;
-  for (int i=0; i < nq; i++) {
-    if (mju_isBad(qpos[i])) {
-      mj_warning(d, mjWARN_BADQPOS, i);
-      if (!mjDISABLED(mjDSBL_AUTORESET)) {
-        mj_resetData(m, d);
-      }
-      d->warning[mjWARN_BADQPOS].number++;
-      d->warning[mjWARN_BADQPOS].lastinfo = i;
-      return;
-    }
-  }
-}
-
-
-// check velocities, reset if bad
-void mj_checkVel(const mjModel* m, mjData* d) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < m->nv;
-  int nv = sleep_filter ? d->nv_awake : m->nv;
-
-  for (int j=0; j < nv; j++) {
-    int i = sleep_filter ? d->dof_awake_ind[j] : j;
-
-    if (mju_isBad(d->qvel[i])) {
-      mj_warning(d, mjWARN_BADQVEL, i);
-      if (!mjDISABLED(mjDSBL_AUTORESET)) {
-        mj_resetData(m, d);
-      }
-      d->warning[mjWARN_BADQVEL].number++;
-      d->warning[mjWARN_BADQVEL].lastinfo = i;
-      return;
-    }
-  }
-}
-
-
-// check accelerations, reset if bad
-void mj_checkAcc(const mjModel* m, mjData* d) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < m->nv;
-  int nv = sleep_filter ? d->nv_awake : m->nv;
-
-  for (int j=0; j < nv; j++) {
-    int i = sleep_filter ? d->dof_awake_ind[j] : j;
-
-    if (mju_isBad(d->qacc[i])) {
-      mj_warning(d, mjWARN_BADQACC, i);
-      if (!mjDISABLED(mjDSBL_AUTORESET)) {
-        mj_resetData(m, d);
-      }
-      d->warning[mjWARN_BADQACC].number++;
-      d->warning[mjWARN_BADQACC].lastinfo = i;
-      if (!mjDISABLED(mjDSBL_AUTORESET)) {
-        mj_forward(m, d);
-      }
-      return;
-    }
-  }
-}
-
-
-//-------------------------- solver components -----------------------------------------------------
-
-// kinematics-related computations
-void mj_fwdKinematics(const mjModel* m, mjData* d) {
-  mj_kinematics(m, d);
-  mj_comPos(m, d);
-  mj_camlight(m, d);
-  mj_flex(m, d);
-  mj_tendon(m, d);
-  if (mj_wakeTendon(m, d)) {
-    mj_updateSleep(m, d);
-  }
-}
-
-// position-dependent computations
-void mj_fwdPosition(const mjModel* m, mjData* d) {
-  TM_START1;
-
-  // clear position-dependent flags for lazy evaluation
-  d->flg_energypos = 0;
-
-  TM_START;
-  mj_fwdKinematics(m, d);
-
-  TM_END(mjTIMER_POS_KINEMATICS);
-
-  // inertia, timed internally (POS_INERTIA)
-  mj_makeM(m, d);
-  mj_factorM(m, d);
-
-  // collision, timed internally (POS_COLLISION)
-  mj_collision(m, d);
-
-  if (mj_wakeCollision(m, d)) {
-    mj_updateSleep(m, d);
-    mj_collision(m, d);
-  }
-
-  if (mj_wakeEquality(m, d)) {
-    mj_updateSleep(m, d);
-  }
-
-  TM_RESTART;
-  mj_makeConstraint(m, d);
-  mj_island(m, d);
-  TM_END(mjTIMER_POS_MAKE);
-
-  TM_RESTART;
-  mj_projectConstraint(m, d);
-  TM_END(mjTIMER_POS_PROJECT);
-
-  TM_RESTART;
-  mj_transmission(m, d);
-  TM_ADD(mjTIMER_POS_KINEMATICS);
-
-  // implicit effective metric Mtilde = M + K: build (or deactivate) for this step. Arena
-  // lifetime and skip semantics mirror the constraint data: built once per position stage,
-  // value-refreshed in the velocity stage, consumed downstream.
-  mjd_effBuild(m, d, mj_flexCG(m), /*flg_factor=*/1);
-
-  TM_END1(mjTIMER_POSITION);
-}
-
-
-// velocity-dependent computations
-void mj_fwdVelocity(const mjModel* m, mjData* d) {
-  TM_START;
-
-  // clear velocity-dependent flags for lazy evaluation
-  d->flg_subtreevel = 0;
-  d->flg_energyvel = 0;
-
-  // flexedge velocity: skip interp and rigid flexes (edge Jacobians are zero)
-  mju_zero(d->flexedge_velocity, m->nflexedge);
-  for (int f = 0; f < m->nflex; f++) {
-    if (m->flex_rigid[f] || m->flex_interp[f]) continue;
-    int adr = m->flex_edgeadr[f];
-    int num = m->flex_edgenum[f];
-    mju_mulMatVecSparse(d->flexedge_velocity + adr, d->flexedge_J, d->qvel, num,
-                        m->flexedge_J_rownnz + adr, m->flexedge_J_rowadr + adr,
-                        m->flexedge_J_colind, NULL);
-  }
-
-  // tendon velocity: always sparse
-  mju_mulMatVecSparse(d->ten_velocity, d->ten_J, d->qvel, m->ntendon,
-                      m->ten_J_rownnz, m->ten_J_rowadr, m->ten_J_colind, NULL);
-
-  // actuator velocity: always sparse
-  if (!mjDISABLED(mjDSBL_ACTUATION)) {
-    mju_mulMatVecSparse(d->actuator_velocity, d->actuator_moment, d->qvel, m->nout,
-                        d->moment_rownnz, d->moment_rowadr, d->moment_colind, NULL);
-  } else {
-    mju_zero(d->actuator_velocity, m->nout);
-  }
-
-  // com-based velocities, passive forces, constraint references
-  mj_comVel(m, d);
-  mj_passive(m, d);
-  mj_referenceConstraint(m, d);
-
-  // compute qfrc_bias with abbreviated RNE (without acceleration)
-  mj_rne(m, d, 0, d->qfrc_bias);
-
-  // add bias force due to tendon armature
-  mj_tendonBias(m, d, d->qfrc_bias);
-
-  mjd_effShift(m, d);
-
-  TM_END(mjTIMER_VELOCITY);
-}
-
-
-// unpack servo-family inputs from control block in canonical order [pos, vel, ff]
-// absent input: setpoint 0
-static void unpackServoInputs(const mjtNum* u, int spec, mjtNum out[4]) {
-  int adr = 0;
-  out[0] = (spec & mjINPUT_POS)     ? u[adr++] : 0;
-  out[1] = (spec & mjINPUT_VEL)     ? u[adr++] : 0;
-  out[2] = (spec & mjINPUT_FF)      ? u[adr++] : 0;
-  out[3] = (spec & mjINPUT_VOLTAGE) ? u[adr]   : 0;
-}
-
-
-// helper for DC motor: computes control voltage from PID state
-static mjtNum dcmotorVoltage(const mjtNum* u, int spec, mjtNum length, mjtNum velocity,
-                             mjtNum x_I, const mjtNum* gainprm) {
-  mjtNum voltage = 0;
-
-  // unpack present inputs in canonical order [pos, vel, ff, voltage]; absent input: 0
-  mjtNum u4[4];
-  unpackServoInputs(u, spec, u4);
-
-  // on-board controller: torque-space PID + torque feedforward
-  if (spec & (mjINPUT_POS | mjINPUT_VEL | mjINPUT_FF)) {
-    mjtNum kp = gainprm[4];  // proportional gain
-    mjtNum ki = gainprm[5];  // integral gain
-    mjtNum kd = gainprm[6];  // derivative gain
-    mjtNum torque = kp*(u4[0] - length) + kd*(u4[1] - velocity) + ki*x_I + u4[2];
-
-    // torque mode is current control: V = R/K * torque + K * velocity, the second
-    // term compensating back-EMF; the compiler requires K > 0 on this path
-    mjtNum R = gainprm[0];
-    mjtNum K = gainprm[1];
-    voltage = R/K * torque + K*velocity;
-
-    // driver supply limit
-    mjtNum Vmax = gainprm[7];
-    if (Vmax > 0) voltage = mju_clip(voltage, -Vmax, Vmax);
-  }
-
-  // raw terminal voltage input: downstream of the controller, unclamped
-  return voltage + u4[3];
-}
-
-
-// clamp vector to range
-static void clampVec(mjtNum* vec, const mjtNum* range, const mjtBool* limited, int n,
-                      const int* index) {
-  for (int i=0; i < n; i++) {
-    int j = index ? index[i] : i;
-    if (limited[i]) {
-      vec[j] = mju_clip(vec[j], range[2*i], range[2*i + 1]);
-    }
-  }
-}
-
-
-// expmap (axis-angle) vector to quaternion
-static void expmap2Quat(mjtNum quat[4], const mjtNum v[3]) {
-  mjtNum angle = mju_norm3(v);
-  if (angle < mjMINVAL) {
-    quat[0] = 1;
-    quat[1] = quat[2] = quat[3] = 0;
-  } else {
-    mjtNum axis[3] = {v[0]/angle, v[1]/angle, v[2]/angle};
-    mju_axisAngle2Quat(quat, axis, angle);
-  }
-}
-
-
-// period of the rotational transmission for wrap-eligible servo actuators, 0 otherwise
-static mjtNum wrapPeriod(const mjModel* m, int i) {
-  // servo shape: fixed gain, affine bias, matching kp, setpoint input
-  mjtDyn dyntype = m->actuator_dyntype[i];
-  int servo = m->actuator_gaintype[i] == mjGAIN_FIXED  &&
-              m->actuator_biastype[i] == mjBIAS_AFFINE &&
-              m->actuator_gainprm[mjNGAIN*i] == -m->actuator_biasprm[mjNBIAS*i+1] &&
-              (dyntype == mjDYN_NONE || dyntype == mjDYN_INTEGRATOR);
-
-  // PID shape: kp and kv are single-sourced in the affine bias
-  int pid = m->actuator_gaintype[i] == mjGAIN_PID;
-
-  if (!servo && !pid) {
-    return 0;
-  }
-
-  const mjtNum* gear = m->actuator_gear+6*m->actuator_outadr[i];
-  mjtTrn trntype = m->actuator_trntype[i];
-
-  // site transmission with refsite and purely rotational gear
-  if (trntype == mjTRN_SITE && m->actuator_trnid[2*i+1] >= 0 &&
-      !gear[0] && !gear[1] && !gear[2]) {
-    return 2*mjPI * mju_norm3(gear+3);
-  }
-
-  // joint transmission on a ball joint
-  if ((trntype == mjTRN_JOINT || trntype == mjTRN_JOINTINPARENT) &&
-      m->jnt_type[m->actuator_trnid[2*i]] == mjJNT_BALL) {
-    return 2*mjPI * mju_norm3(gear);
-  }
-
-  return 0;
-}
-
-
-// representative of setpoint u nearest to length, given period
-static mjtNum wrapSetpoint(mjtNum u, mjtNum length, mjtNum period) {
-  mjtNum err = u - length;
-  return u - period * mju_round(err / period);
-}
-
-
-// slew-rate-limit setpoint u given previous effective setpoint u_prev, write act_dot
-// period > 0: wrap u to the representative nearest u_prev before limiting
-static mjtNum slewLimit(mjtNum u, mjtNum u_prev, mjtNum slew_s, mjtNum dt,
-                        mjtNum period, mjtNum* act_dot) {
-  if (period > 0) {
-    u = wrapSetpoint(u, u_prev, period);
-  }
-  mjtNum slew = slew_s * dt;
-  mjtNum u_eff = mju_clip(u, u_prev - slew, u_prev + slew);
-  *act_dot = (u_eff - u_prev) / dt;
-  return u_eff;
-}
-
-
-// (qpos, qvel, ctrl, act) => (qfrc_actuator, actuator_force, act_dot)
-void mj_fwdActuation(const mjModel* m, mjData* d) {
-  TM_START;
-  int nv = m->nv, nu = m->nu, nactuator = m->nactuator, nout = m->nout, ntendon = m->ntendon;
-  mjtNum gain, bias, tau;
-  mjtNum *force = d->actuator_force;
-
-  // clear actuator_force
-  mju_zero(force, nout);
-
-  int sleep_filter = mjENABLED(mjENBL_SLEEP);
-
-  // disabled or no actuation: return
-  if (nactuator == 0 || mjDISABLED(mjDSBL_ACTUATION)) {
-    mju_zero(d->qfrc_actuator, nv);
-    TM_END(mjTIMER_ACTUATION);
-    return;
-  }
-
-  // any tendon transmission targets with force limits
-  int tendon_frclimited = 0;
-
-  // local copy of ctrl
-  mj_markStack(d);
-  mjtNum *ctrl = mjSTACKALLOC(d, nu, mjtNum);
-
-  // read from ctrl or history buffer for delayed actuators
-  for (int i = 0; i < nactuator; i++) {
-    int adr = m->actuator_ctrladr[i];
-    if (m->actuator_delay[i]) {
-      // delayed: read from history buffer (scalar input)
-      int interp = m->actuator_history[2*i+1];
-      ctrl[adr] = mj_readCtrl(m, d, i, d->time, interp);
-    } else {
-      mju_copy(ctrl + adr, d->ctrl + adr, m->actuator_ctrlnum[i]);
-    }
-  }
-
-  // clamp local copy
-  if (!mjDISABLED(mjDSBL_CLAMPCTRL)) {
-    clampVec(ctrl, m->actuator_ctrlrange, m->actuator_ctrllimited, nu, NULL);
-  }
-
-  // check controls, set all to 0 if any are bad
-  for (int i=0; i < nu; i++) {
-    if (mju_isBad(ctrl[i])) {
-      mj_warning(d, mjWARN_BADCTRL, i);
-      mju_zero(ctrl, nu);
-      break;
-    }
-  }
-
-  // act_dot for stateful actuators
-  for (int i=0; i < nactuator; i++) {
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_ACTUATOR, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    int act_first = m->actuator_actadr[i];
-    if (act_first < 0) {
-      continue;
-    }
-
-    // addresses of the actuator's input and output blocks
-    int uadr = m->actuator_ctrladr[i];
-    int oadr = m->actuator_outadr[i];
-
-    // zero act_dot for actuator plugins
-    int actnum = m->actuator_actnum[i];
-    if (actnum) {
-      mju_zero(d->act_dot + act_first, actnum);
-    }
-
-    // extract info
-    const mjtNum* dynprm = m->actuator_dynprm + i*mjNDYN;
-    mjtDyn dyntype = m->actuator_dyntype[i];
-
-    // index into the last element in act. For most actuators it's also the
-    // first element, but actuator plugins might store their own state in act
-    int act_last = act_first + actnum - 1;
-
-    // compute act_dot according to dynamics type
-    switch (dyntype) {
-    case mjDYN_INTEGRATOR: {        // simple integrator, one per control
-      int num = m->actuator_ctrlnum[i];
-      for (int j=0; j < num; j++) {
-        d->act_dot[act_last-num+1+j] = ctrl[uadr+j];
-      }
-      break;
-    }
-
-    case mjDYN_FILTER:              // linear filter: dynprm = tau
-    case mjDYN_FILTEREXACT:
-      tau = mju_max(mjMINVAL, dynprm[0]);
-      d->act_dot[act_last] = (ctrl[uadr] - d->act[act_last]) / tau;
-      break;
-
-    case mjDYN_MUSCLE:              // muscle model: dynprm = (tau_act, tau_deact)
-      d->act_dot[act_last] = mju_muscleDynamics(ctrl[uadr], d->act[act_last], dynprm);
-      break;
-
-    case mjDYN_PID: {               // PID controller states, slot order: slew, integral
-      int adr = act_first;
-      mjtNum period = wrapPeriod(m, i);
-
-      // slew rate limiting of the position setpoint
-      mjtNum slew_s = dynprm[1];
-      if (slew_s > 0) {
-        ctrl[uadr] = slewLimit(ctrl[uadr], d->act[adr], slew_s, m->opt.timestep,
-                               period, d->act_dot + adr);
-        adr++;
-      }
-
-      // integral of the position error
-      if (m->actuator_gainprm[mjNGAIN*i] > 0) {
-        mjtNum err = ctrl[uadr] - d->actuator_length[oadr];
-
-        // rotational transmission: error on the circle
-        if (period > 0) {
-          err -= period*mju_round(err/period);
-        }
-
-        // anti-windup: stop accumulating beyond imax
-        mjtNum imax = dynprm[0];
-        if (imax > 0) {
-          mjtNum z = d->act[adr];
-          if (z >= imax) {
-            err = mju_min(err, 0);
-          } else if (z <= -imax) {
-            err = mju_max(err, 0);
-          }
-        }
-        d->act_dot[adr] = err;
-      }
-      break;
-    }
-
-    case mjDYN_DCMOTOR: {           // DC motor: up to 5 optional states
-      const mjtNum* gainprm = m->actuator_gainprm + mjNGAIN*i;
-
-      // verify allocated state size matches parameters; SHOULD NOT OCCUR
-      if (mj_dcmotorSlots(dynprm, gainprm).num_slots != actnum) {
-        mjERROR("inconsistent state array dimension in DC motor (actuator %d)", i);
-      }
-
-      int adr = act_first;
-      mjtNum velocity = d->actuator_velocity[oadr];
-      mjtNum R = gainprm[0];   // resistance
-      mjtNum K = gainprm[1];   // motor constant
-      mjtNum ki = gainprm[5];  // integral gain
-      mjtNum te = dynprm[0];   // electrical time constant
-
-      // slot order: slew, integral, temperature, bristle, current
-
-      // controller state: slew rate limiting
-      mjtNum slew_s = dynprm[7];  // slew rate limit
-      if (slew_s > 0) {
-        ctrl[uadr] = slewLimit(ctrl[uadr], d->act[adr], slew_s, m->opt.timestep,
-                               0, d->act_dot + adr);
-        adr++;
-      }
-
-      // controller state: integral of the position error (setpoint mode only)
-      mjtNum x_I = 0;
-      if (ki > 0) {
-        x_I = d->act[adr];
-        mjtNum Imax = dynprm[8];   // integral clamp
-        mjtNum act_dot = ctrl[uadr] - d->actuator_length[oadr];
-
-        // clamp act_dot based on integral state
-        if (Imax > 0) {
-          if (x_I >= Imax) {
-            act_dot = mju_min(act_dot, 0);
-          } else if (x_I <= -Imax) {
-            act_dot = mju_max(act_dot, 0);
-          }
-        }
-        d->act_dot[adr] = act_dot;
-        adr++;
-      }
-
-      // compute physical voltage to feed into current and temperature equations
-      mjtNum V = dcmotorVoltage(ctrl + uadr, m->actuator_ctrlspec[i],
-                                d->actuator_length[oadr], velocity, x_I, gainprm);
-
-      // temperature: dT/dt = (R*i^2 - T/RT) / C, where T = delta above ambient
-      mjtNum RT = dynprm[2];  // thermal resistance
-      if (RT > 0) {
-        mjtNum C = dynprm[3];       // thermal capacitance
-        mjtNum Ta = dynprm[4];      // ambient temperature
-        mjtNum alpha = gainprm[2];  // temperature coefficient
-        mjtNum T0 = gainprm[3];     // reference temperature
-        mjtNum T = d->act[adr];     // temperature rise above ambient
-        R *= 1 + alpha * (T + Ta - T0);
-
-        // get current: from act_last if stateful, from (V - K*omega)/R if stateless
-        mjtNum current = (te > 0) ? d->act[act_last] : (V - K * velocity) / R;
-        d->act_dot[adr] = (R*current*current - T / RT) / C;
-        adr++;
-      }
-
-      // LuGre bristle state: dz/dt = v - sigma0 * |v| / g(v) * z
-      mjtNum sigma0 = dynprm[5];  // bristle stiffness
-      if (sigma0 > 0) {
-        const mjtNum* biasprm = m->actuator_biasprm + mjNBIAS*i;
-        mjtNum F_C = biasprm[3];  // Coulomb friction
-        mjtNum F_S = biasprm[4];  // static friction
-        mjtNum v_S = biasprm[5];  // Stribeck velocity
-        mjtNum z = d->act[adr];   // bristle state
-        mjtNum g = mj_lugreStribeck(velocity, F_C, F_S, v_S);
-        mjtNum a = -sigma0 * mju_abs(velocity) / mju_max(mjMINVAL, g);
-        d->act_dot[adr] = a * z + velocity;
-        adr++;
-      }
-
-      // current state: di/dt = (V/R - K/R*omega - i) / te
-      if (te > 0) {
-        mjtNum dimax = dynprm[1];  // current rate limit (di/dt)_max
-        mjtNum i_dot = (V/R - K/R*velocity - d->act[act_last]) / te;
-        if (dimax > 0) {
-          i_dot = mju_clip(i_dot, -dimax, dimax);
-        }
-        d->act_dot[act_last] = i_dot;
-      }
-      break;
-    }
-
-    default:                        // user dynamics
-      if (mjcb_act_dyn) {
-        if (actnum == 1) {
-          // scalar activation dynamics, get act_dot
-          d->act_dot[act_last] = mjcb_act_dyn(m, d, i);
-        } else {
-          // higher-order dynamics, mjcb_act_dyn writes into act_dot directly
-          mjcb_act_dyn(m, d, i);
-        }
-      }
-    }
-  }
-
-  // get act_dot from actuator plugins
-  if (m->nplugin) {
-    const int nslot = mjp_pluginCount();
-    for (int i=0; i < m->nplugin; i++) {
-      const int slot = m->plugin[i];
-      const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
-      if (!plugin) {
-        mjERROR("invalid plugin slot: %d", slot);
-      }
-      if (plugin->capabilityflags & mjPLUGIN_ACTUATOR) {
-        if (plugin->actuator_act_dot) {
-          plugin->actuator_act_dot(m, d, i);
-        }
-      }
-    }
-  }
-
-  // force = gain .* [ctrl/act] + bias
-  for (int i=0; i < nactuator; i++) {
-    // skip if sleeping
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_ACTUATOR, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    // skip if disabled
-    if (mj_actuatorDisabled(m, i)) {
-      continue;
-    }
-
-    // skip actuator plugins -- these are handled after builtin actuator types
-    if (m->actuator_plugin[i] >= 0) {
-      continue;
-    }
-
-    // addresses of the actuator's input and output blocks
-    int uadr = m->actuator_ctrladr[i];
-    int oadr = m->actuator_outadr[i];
-
-    // SO(3) geodesic servo: 3 or 4 inputs and 3 outputs on an SO3 transmission
-    if (m->actuator_gaintype[i] == mjGAIN_SO3) {
-      mjtNum q_tgt[4];
-
-      // quat input: normalize ctrl directly (zero maps to the identity)
-      if (m->actuator_ctrlspec[i] == mjCHART_QUAT) {
-        mju_copy4(q_tgt, ctrl + uadr);
-        mju_normalize4(q_tgt);
-      }
-
-      // expmap input: ctrl block (position) or act block (integrator)
-      else {
-        mjtNum u[3];
-        if (m->actuator_dyntype[i] == mjDYN_NONE) {
-          mju_copy3(u, ctrl + uadr);
-        } else {
-          int act_adr = m->actuator_actadr[i];
-          if (m->actuator_actearly[i]) {
-            for (int k=0; k < 3; k++) {
-              u[k] = mj_nextActivation(m, d, i, act_adr+k, d->act_dot[act_adr+k]);
-            }
-          } else {
-            mju_copy3(u, d->act + act_adr);
-          }
-        }
-        expmap2Quat(q_tgt, u);
-      }
-
-      // error rotation from current to target: e = log(q_cur^-1 * q_tgt), in the local frame
-      // of the transmission, matching the frame of the moment rows and of actuator_velocity
-      // note: the force is invariant to the setpoint representative (exp is ray-periodic),
-      // so no wrapping is required; act is re-anchored at integration time in mj_advance
-      mjtNum q_cur[4], e[3];
-      expmap2Quat(q_cur, d->actuator_length + oadr);
-      mju_subQuat(e, q_tgt, q_cur);
-
-      // output force: kp * error + constant - kv * velocity
-      mjtNum kp = m->actuator_gainprm[mjNGAIN*i];
-      const mjtNum* prm = m->actuator_biasprm + mjNBIAS*i;
-      for (int k=0; k < 3; k++) {
-        force[oadr+k] = kp*e[k] + prm[0] + prm[2]*d->actuator_velocity[oadr+k];
-      }
-      continue;
-    }
-
-    // check for tendon transmission with force limits
-    if (ntendon && !tendon_frclimited && m->actuator_trntype[i] == mjTRN_TENDON) {
-      tendon_frclimited = m->tendon_actfrclimited[m->actuator_trnid[2*i]];
-    }
-
-    // extract info
-    const mjtNum* dynprm = m->actuator_dynprm + mjNDYN*i;
-    const mjtNum* gainprm = m->actuator_gainprm + mjNGAIN*i;
-    mjtGain gaintype = m->actuator_gaintype[i];
-    int actnum = m->actuator_actnum[i];
-
-    // handle SISO actuators according to gain type
-    switch (gaintype) {
-    case mjGAIN_FIXED:              // fixed gain: prm = gain
-      gain = gainprm[0];
-      break;
-
-    case mjGAIN_PID:                // PID servo: input side handled below, state side in bias
-      gain = 0;
-      break;
-
-    case mjGAIN_AFFINE:             // affine: prm = [const, kp, kv]
-      gain = gainprm[0] + gainprm[1]*d->actuator_length[oadr] +
-             gainprm[2]*d->actuator_velocity[oadr];
-      break;
-
-    case mjGAIN_MUSCLE:             // muscle gain
-      gain = mju_muscleGain(d->actuator_length[oadr],
-                            d->actuator_velocity[oadr],
-                            m->actuator_lengthrange+2*oadr,
-                            m->actuator_acc0[oadr],
-                            gainprm);
-      break;
-
-    case mjGAIN_DCMOTOR: {          // DC motor: gain = K or K/R
-      mjtNum R = gainprm[0];  // resistance
-      mjtNum K = gainprm[1];  // motor constant
-      mjDCMotorSlots slots = mj_dcmotorSlots(dynprm, gainprm);
-
-      // verify allocated state size matches parameters; SHOULD NOT OCCUR
-      if (slots.num_slots != actnum) {
-        mjERROR("inconsistent state array dimension in DC motor (actuator %d)", i);
-      }
-
-      int adr = m->actuator_actadr[i];
-
-      // adjust R for temperature if enabled
-      if (slots.temperature >= 0) {
-        mjtNum T = d->act[adr + slots.temperature];
-        mjtNum alpha = gainprm[2];  // temperature coefficient
-        mjtNum T0 = gainprm[3];     // reference temperature
-        mjtNum Ta = dynprm[4];      // ambient temperature
-        R *= 1 + alpha * (T + Ta - T0);
-      }
-
-      // stateful current: gain = K, force = K * act[last] (generic path)
-      // stateless: gain = K/R, force = K/R * ctrl (condition below)
-      gain = (dynprm[0] > 0) ? K : K / mju_max(mjMINVAL, R);
-
-      // controller: compute voltage, override ctrl[uadr] for force computation
-      // (pure raw-voltage motor reads ctrl directly; empty block reads as 0 below)
-      if (m->actuator_ctrlspec[i] != mjINPUT_VOLTAGE && m->actuator_ctrlnum[i] > 0) {
-        mjtNum x_I = (slots.integral >= 0) ? d->act[adr + slots.integral] : 0;
-        ctrl[uadr] = dcmotorVoltage(ctrl + uadr, m->actuator_ctrlspec[i],
-                                    d->actuator_length[oadr],
-                                    d->actuator_velocity[oadr], x_I, gainprm);
-      }
-      break;
-    }
-
-    case mjGAIN_SO3:                // handled above via early continue
-      mjERROR("mjGAIN_SO3 reached SISO switch (actuator %d)", i);
-      break;
-
-    default:                        // user gain
-      if (mjcb_act_gain) {
-        gain = mjcb_act_gain(m, d, i);
-      } else {
-        gain = 1;
-      }
-    }
-
-    // set force = gain .* [ctrl/act]
-
-    // DC motor without current state: use ctrl even if other activations exist
-    int dcmotor_no_current = (gaintype == mjGAIN_DCMOTOR && dynprm[0] <= 0);
-
-    // PID servo: force = kp*(qref - l) + kv*(vref - l_dot) [+ ff] [+ ki*z]
-    // input-side terms computed here; state-side terms added by the affine bias below
-    if (gaintype == mjGAIN_PID) {
-      const mjtNum* prm = m->actuator_biasprm + mjNBIAS*i;
-
-      // unpack present inputs in canonical order [pos, vel, ff]; absent input: setpoint 0
-      mjtNum u4[4];
-      unpackServoInputs(ctrl + uadr, m->actuator_ctrlspec[i], u4);
-      mjtNum qref = u4[0], vref = u4[1], ff = u4[2];
-
-      // position setpoint: representative nearest the length on rotational transmissions
-      mjtNum period = wrapPeriod(m, i);
-      if (period > 0) {
-        qref = wrapSetpoint(qref, d->actuator_length[oadr], period);
-      }
-
-      // kp and kv are single-sourced in the affine bias parameters
-      force[oadr] = -prm[1]*qref - prm[2]*vref + ff;
-
-      // integral state (last slot): force += ki * z
-      if (actnum && gainprm[0] > 0) {
-        int act_adr = m->actuator_actadr[i] + actnum - 1;
-        mjtNum z = m->actuator_actearly[i]
-                       ? mj_nextActivation(m, d, i, act_adr, d->act_dot[act_adr])
-                       : d->act[act_adr];
-        force[oadr] += gainprm[0]*z;
-      }
-    }
-    else if (actnum == 0 || dcmotor_no_current) {
-      // empty input block (passive dcmotor): input is 0
-      mjtNum input = m->actuator_ctrlnum[i] ? ctrl[uadr] : 0;
-
-      // rotational setpoint: use representative nearest the length (local, no state change)
-      mjtNum period = wrapPeriod(m, i);
-      if (period > 0) {
-        input = wrapSetpoint(input, d->actuator_length[oadr], period);
-      }
-      force[oadr] = gain * input;
-    } else {
-      // use last activation variable associated with actuator i
-      int act_adr = m->actuator_actadr[i] + actnum - 1;
-
-      mjtNum act;
-      if (m->actuator_actearly[i]) {
-        act = mj_nextActivation(m, d, i, act_adr, d->act_dot[act_adr]);
-      } else {
-        act = d->act[act_adr];
-      }
-
-      // rotational setpoint: use representative nearest the length (local, no state change)
-      mjtNum period = wrapPeriod(m, i);
-      if (period > 0) {
-        act = wrapSetpoint(act, d->actuator_length[oadr], period);
-      }
-      force[oadr] = gain * act;
-    }
-
-    // extract bias info
-    const mjtNum* biasprm = m->actuator_biasprm + mjNBIAS*i;
-    mjtBias biastype = m->actuator_biastype[i];
-
-    // handle according to bias type
-    switch (biastype) {
-    case mjBIAS_NONE:               // none
-      bias = 0.0;
-      break;
-
-    case mjBIAS_AFFINE:             // affine: biasprm = [const, kp, kv]
-      bias = biasprm[0] + biasprm[1]*d->actuator_length[oadr] +
-             biasprm[2]*d->actuator_velocity[oadr];
-      break;
-
-    case mjBIAS_MUSCLE:             // muscle passive force
-      bias =  mju_muscleBias(d->actuator_length[oadr],
-                             m->actuator_lengthrange+2*oadr,
-                             m->actuator_acc0[oadr],
-                             biasprm);
-      break;
-
-    case mjBIAS_DCMOTOR: {          // DC motor: back-EMF only (current-limited)
-      bias = 0;
-
-      // back-EMF (stateless only; for stateful current it's in the ODE)
-      mjtNum te = m->actuator_dynprm[mjNDYN*i];  // electrical time constant
-      if (te <= 0) {
-        mjtNum K = gainprm[1];   // motor constant
-        bias -= gain * K * d->actuator_velocity[oadr];
-      }
-      break;
-    }
-
-    default:                        // user bias
-      if (mjcb_act_bias) {
-        bias = mjcb_act_bias(m, d, i);
-      } else {
-        bias = 0;
-      }
-    }
-
-    // add bias
-    force[oadr] += bias;
-  }
-
-  // handle actuator plugins
-  if (m->nplugin) {
-    const int nslot = mjp_pluginCount();
-    for (int i=0; i < m->nplugin; i++) {
-      const int slot = m->plugin[i];
-      const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
-      if (!plugin) {
-        mjERROR("invalid plugin slot: %d", slot);
-      }
-      if (plugin->capabilityflags & mjPLUGIN_ACTUATOR) {
-        if (!plugin->compute) {
-          mjERROR("`compute` is a null function pointer for plugin at slot %d", slot);
-        }
-        plugin->compute(m, d, i, mjPLUGIN_ACTUATOR);
-      }
-    }
-  }
-
-  // clamp tendon total actuator force
-  if (tendon_frclimited) {
-    // compute total force for each tendon
-    mjtNum* tendon_total_force = mjSTACKALLOC(d, ntendon, mjtNum);
-    mju_zero(tendon_total_force, ntendon);
-    for (int i=0; i < nactuator; i++) {
-      if (m->actuator_trntype[i] == mjTRN_TENDON) {
-        int tendon_id = m->actuator_trnid[2*i];
-        if (m->tendon_actfrclimited[tendon_id]) {
-          tendon_total_force[tendon_id] += force[m->actuator_outadr[i]];
-        }
-      }
-    }
-
-    // scale tendon actuator forces if limited and outside range
-    for (int i=0; i < nactuator; i++) {
-      if (m->actuator_trntype[i] != mjTRN_TENDON) {
-        continue;
-      }
-      int tendon_id = m->actuator_trnid[2*i];
-      mjtNum tendon_force = tendon_total_force[tendon_id];
-      if (m->tendon_actfrclimited[tendon_id] && tendon_force) {
-        const mjtNum* range = m->tendon_actfrcrange + 2 * tendon_id;
-        if (tendon_force < range[0]) {
-          force[m->actuator_outadr[i]] *= range[0] / tendon_force;
-        } else if (tendon_force > range[1]) {
-          force[m->actuator_outadr[i]] *= range[1] / tendon_force;
-        }
-      }
-    }
-  }
-
-  // clamp actuator_force
-  for (int i=0; i < nactuator; i++) {
-    if (!m->actuator_forcelimited[i]) {
-      continue;
-    }
-    const mjtNum* range = m->actuator_forcerange + 2*i;
-    mjtNum* f = force + m->actuator_outadr[i];
-
-    // SO3: clamp the norm of the output torque, preserving its direction
-    if (m->actuator_gaintype[i] == mjGAIN_SO3) {
-      mjtNum norm = mju_norm3(f);
-      if (norm > range[1]) {
-        mju_scl3(f, f, range[1]/norm);
-      }
-    }
-
-    // otherwise: clamp each output
-    else {
-      int outnum = m->actuator_outnum[i];
-      for (int j=0; j < outnum; j++) {
-        f[j] = mju_clip(f[j], range[0], range[1]);
-      }
-    }
-  }
-
-  // add DC motor mechanical forces (not subject to current limits)
-  for (int i=0; i < nactuator; i++) {
-    if (m->actuator_biastype[i] != mjBIAS_DCMOTOR) {
-      continue;
-    }
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_ACTUATOR, i) == mjS_ASLEEP) {
-      continue;
-    }
-    if (mj_actuatorDisabled(m, i) || m->actuator_plugin[i] >= 0) {
-      continue;
-    }
-
-    const mjtNum* biasprm = m->actuator_biasprm + mjNBIAS*i;
-    const mjtNum* dynprm = m->actuator_dynprm + mjNDYN*i;
-    int oadr = m->actuator_outadr[i];
-
-    // cogging torque
-    mjtNum A = biasprm[0];
-    if (A != 0) {
-      mjtNum Np = biasprm[1];
-      mjtNum phi = biasprm[2];
-      force[oadr] += A * mju_sin(Np*d->actuator_length[oadr] + phi);
-    }
-
-    // LuGre friction
-    mjtNum sigma0 = dynprm[5];
-    if (sigma0 > 0) {
-      mjtNum sigma1 = dynprm[6];
-      mjDCMotorSlots slots = mj_dcmotorSlots(dynprm, m->actuator_gainprm + mjNGAIN*i);
-      int adr = m->actuator_actadr[i] + slots.bristle;
-      mjtNum z = d->act[adr];
-      mjtNum z_dot = d->act_dot[adr];
-      force[oadr] -= sigma0 * z + sigma1 * z_dot;
-    }
-  }
-
-  // qfrc_actuator = moment' * force
-  mju_mulMatTVecSparse(d->qfrc_actuator, d->actuator_moment, force, nout, nv,
-                       d->moment_rownnz, d->moment_rowadr, d->moment_colind);
-
-  // actuator-level gravity compensation
-  if (m->flg_gravcomp && !mjDISABLED(mjDSBL_GRAVITY) && mju_norm3(m->opt.gravity)) {
-    // number of dofs for each joint type: {mjJNT_FREE, mjJNT_BALL, mjJNT_SLIDE, mjJNT_HINGE}
-    static const int jnt_dofnum[4] = {6, 3, 1, 1};
-    int njnt = m->njnt;
-    for (int i=0; i < njnt; i++) {
-      // skip if gravcomp added as passive force
-      if (!m->jnt_actgravcomp[i]) {
-        continue;
-      }
-
-      // add gravcomp force
-      int dofnum = jnt_dofnum[m->jnt_type[i]];
-      int dofadr = m->jnt_dofadr[i];
-      mju_addTo(d->qfrc_actuator + dofadr, d->qfrc_gravcomp + dofadr, dofnum);
-    }
-  }
-
-  // clamp qfrc_actuator to joint-level actuator force limits
-  clampVec(d->qfrc_actuator, m->jnt_actfrcrange, m->jnt_actfrclimited, m->njnt, m->jnt_dofadr);
-
-  mj_freeStack(d);
-  TM_END(mjTIMER_ACTUATION);
-}
-
-
-// add up all non-constraint forces, compute qacc_smooth
-void mj_fwdAcceleration(const mjModel* m, mjData* d) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < m->nv;
-  int nv;
-  const int* index;
-
-  // qfrc_smooth = qfrc_passive - qfrc_bias + qfrc_applied + qfrc_actuator
-  if (!sleep_filter) {
-    nv = m->nv;
-    index = NULL;
-    mju_sub(d->qfrc_smooth, d->qfrc_passive, d->qfrc_bias, nv);
-    mju_addTo(d->qfrc_smooth, d->qfrc_applied, nv);
-    mju_addTo(d->qfrc_smooth, d->qfrc_actuator, nv);
-  } else {
-    nv = d->nv_awake;
-    index = d->dof_awake_ind;
-    mju_subInd(d->qfrc_smooth, d->qfrc_passive, d->qfrc_bias, index, nv);
-    mju_addToInd(d->qfrc_smooth, d->qfrc_applied, index, nv);
-    mju_addToInd(d->qfrc_smooth, d->qfrc_actuator, index, nv);
-  }
-
-  // qfrc_smooth += project(xfrc_applied)
-  mj_xfrcAccumulate(m, d, d->qfrc_smooth);
-
-  // implicit effective metric (built in mj_fwdPosition): the smooth acceleration is that of
-  // the linearly-implicit dynamics, (M + K)*qacc_smooth = qfrc_smooth + c, so the constraint
-  // solver, the no-constraint shortcut and the warmstart all see one consistent metric.
-  if (d->efm_active) {
-    mj_markStack(d);
-    mjtNum* qfrc_eff = mjSTACKALLOC(d, nv, mjtNum);
-    mju_add(qfrc_eff, d->qfrc_smooth, d->efm_c, nv);
-    mjd_effSolve(m, d, d->qacc_smooth, qfrc_eff);
-    mj_freeStack(d);
-    return;
-  }
-
-  // copy for in-place solve: qacc_smooth = qfrc_smooth
-  if (!sleep_filter) {
-    mju_copy(d->qacc_smooth, d->qfrc_smooth, nv);
-  } else {
-    mju_copyInd(d->qacc_smooth, d->qfrc_smooth, index, nv);
-  }
-
-  // qacc_smooth = M \ qfrc_smooth
-  mj_solveLD(d->qacc_smooth, d->qLD, d->qLDiagInv, nv, 1,
-             m->M_rownnz, m->M_rowadr, m->M_colind, index);
-}
-
-
-// warmstart/init solver
-static void warmstart(const mjModel* m, mjData* d) {
-  int nv = m->nv, nefc = d->nefc;
-
-  // warmstart with best of (qacc_warmstart, qacc_smooth)
-  if (!mjDISABLED(mjDSBL_WARMSTART)) {
-    mj_markStack(d);
-    mjtNum* jar = mjSTACKALLOC(d, nefc, mjtNum);
-
-    // start with qacc = qacc_warmstart
-    mju_copy(d->qacc, d->qacc_warmstart, nv);
-
-    // compute jar(qacc_warmstart)
-    mj_mulJacVec(m, d, jar, d->qacc_warmstart);
-    mju_subFrom(jar, d->efc_aref, nefc);
-
-    // update constraints, save cost(qacc_warmstart)
-    mjtNum cost_warmstart;
-    mj_constraintUpdate(m, d, jar, &cost_warmstart, 0);
-
-    // PGS
-    if (m->opt.solver == mjSOL_PGS) {
-      // cost(force_warmstart)
-      mjtNum PGS_warmstart = mju_dot(d->efc_force, d->efc_b, nefc);
-      mjtNum* ARf = mjSTACKALLOC(d, nefc, mjtNum);
-      if (mj_isSparse(m))
-        mju_mulMatVecSparse(ARf, d->efc_AR, d->efc_force, nefc,
-                            d->efc_AR_rownnz, d->efc_AR_rowadr,
-                            d->efc_AR_colind, NULL);
-      else {
-        mju_mulMatVec(ARf, d->efc_AR, d->efc_force, nefc, nefc);
-      }
-      PGS_warmstart += 0.5*mju_dot(d->efc_force, ARf, nefc);
-
-      // use zero if better
-      if (PGS_warmstart > 0) {
-        mju_zero(d->efc_force, nefc);
-        mju_zero(d->qfrc_constraint, nv);
-      }
-    }
-
-    // non-PGS
-    else {
-      // add Gauss to cost(qacc_warmstart)
-      mjtNum* Ma = mjSTACKALLOC(d, nv, mjtNum);
-      mj_mulM(m, d, Ma, d->qacc_warmstart);
-      for (int i=0; i < nv; i++) {
-        cost_warmstart += 0.5*(Ma[i]-d->qfrc_smooth[i])*(d->qacc_warmstart[i]-d->qacc_smooth[i]);
-      }
-
-      // cost(qacc_smooth)
-      mjtNum cost_smooth;
-      mj_constraintUpdate(m, d, d->efc_b, &cost_smooth, 0);
-
-      // use qacc_smooth if better
-      if (cost_warmstart > cost_smooth) {
-        mju_copy(d->qacc, d->qacc_smooth, nv);
-      }
-    }
-
-    // have island structure: unconstrained qacc = qacc_smooth
-    if (d->nisland > 0) {
-      // loop over unconstrained dofs in map_idof2dof[nidof, nv)
-      for (int i=d->nidof; i < nv; i++) {
-        int dof = d->map_idof2dof[i];
-        d->qacc[dof] = d->qacc_smooth[dof];
-      }
-    }
-
-    mj_freeStack(d);
-  }
-
-  // coldstart with qacc = qacc_smooth, efc_force = 0
-  else {
-    mju_copy(d->qacc, d->qacc_smooth, nv);
-    mju_zero(d->efc_force, nefc);
-  }
-}
-
-
-// mju_dispatch callback: solve one island
-static void solveIslandTask(const mjModel* m, mjData* d, void* arg, int thread_id, int island) {
-  if (m->opt.solver == mjSOL_NEWTON) {
-    mj_solNewton_island(m, d, island, m->opt.iterations);
-  } else if (m->opt.solver == mjSOL_CG) {
-    mj_solCG_island(m, d, island, m->opt.iterations);
-  } else {
-    mj_solPGS_island(m, d, island, m->opt.iterations);
-  }
-}
-
-
-// compute efc_b, efc_force, qfrc_constraint; update qacc
-void mj_fwdConstraint(const mjModel* m, mjData* d) {
-  TM_START;
-  int nv = m->nv, nefc = d->nefc, nisland = d->nisland, nidof;
-
-  // always clear qfrc_constraint
-  mju_zero(d->qfrc_constraint, nv);
-
-  // no constraints: copy unconstrained acc, clear forces, return
-  // (with the effective metric active, qacc_smooth is already the implicit answer)
-  if (!nefc) {
-    mju_copy(d->qacc, d->qacc_smooth, nv);
-    mju_zeroInt(d->solver_niter, mjNISLAND);
-    TM_END(mjTIMER_CONSTRAINT);
-    return;
-  }
-
-  // compute efc_b = J*qacc_smooth - aref
-  mj_mulJacVec(m, d, d->efc_b, d->qacc_smooth);
-  mju_subFrom(d->efc_b, d->efc_aref, nefc);
-
-  // check for invalid solver type
-  if (m->opt.solver != mjSOL_PGS && m->opt.solver != mjSOL_CG && m->opt.solver != mjSOL_NEWTON) {
-    mjERROR("unknown solver type %d", m->opt.solver);
-  }
-
-  // warmstart solver
-  warmstart(m, d);
-  mju_zeroInt(d->solver_niter, mjNISLAND);
-
-  // check if islands are supported
-  // TODO: support islands with the implicit effective metric and remove the mj_flexCG
-  // condition. It is here because the metric machinery is monolithic: the efm_c shift and
-  // the Ma/Mv/Mgrad operators (mjd_effMulAdd, mjd_effPrec) act on global dof vectors with
-  // no island-local form. Discovery is already handled: findEdges unions the trees of every
-  // stiffness-active flex, so a flex always lands in one island together with everything it
-  // touches. Removal therefore needs only the solver side: apply the efm_c shift to that
-  // island's dofs, gather/scatter its island-local vectors around the covered-compact
-  // factor solves (the factors themselves need no change), and enable the metric path
-  // (flg_flex) for the flex-containing island alone.
-  int islands_supported = !mjDISABLED(mjDSBL_ISLAND) && nisland > 0 && !mj_flexCG(m);
-
-  // run solver over constraint islands
-  if (islands_supported) {
-    switch ((mjtSolver) m->opt.solver) {
-    case mjSOL_PGS:
-      mju_dispatch(m, d, solveIslandTask, NULL, nisland);
-      break;
-
-    case mjSOL_CG:
-    case mjSOL_NEWTON:
-      // copy inputs to islands (vel+acc deps, pos-dependent already copied in mj_island)
-      nidof = d->nidof;
-      mju_gather(d->ifrc_smooth,     d->qfrc_smooth,     d->map_idof2dof, nidof);
-      mju_gather(d->ifrc_constraint, d->qfrc_constraint, d->map_idof2dof, nidof);
-      mju_gather(d->iacc_smooth,     d->qacc_smooth,     d->map_idof2dof, nidof);
-      mju_gather(d->iacc,            d->qacc,            d->map_idof2dof, nidof);
-      mju_gather(d->iefc_force,      d->efc_force,       d->map_iefc2efc, nefc);
-      mju_gather(d->iefc_aref,       d->efc_aref,        d->map_iefc2efc, nefc);
-
-      mju_dispatch(m, d, solveIslandTask, NULL, nisland);
-
-      // copy back solver outputs (scatter dofs since ni <= nv)
-      mju_scatter(d->qacc,            d->iacc,            d->map_idof2dof, nidof);
-      mju_scatter(d->qfrc_constraint, d->ifrc_constraint, d->map_idof2dof, nidof);
-      mju_gather(d->efc_force, d->iefc_force, d->map_efc2iefc, nefc);
-      break;
-    }
-
-    // run noslip solver per island if enabled
-    if (m->opt.noslip_iterations > 0) {
-      for (int island=0; island < nisland; island++) {
-        mj_solNoSlip_island(m, d, island, m->opt.noslip_iterations);
-      }
-    }
-  }
-
-  // run solver over all constraints (monolithic)
-  else {
-    switch ((mjtSolver) m->opt.solver) {
-    case mjSOL_PGS:                     // PGS
-      mj_solPGS(m, d, m->opt.iterations);
-      break;
-
-    case mjSOL_CG:                      // CG
-      mj_solCG(m, d, m->opt.iterations);
-      break;
-
-    case mjSOL_NEWTON:                  // Newton
-      mj_solNewton(m, d, m->opt.iterations);
-      break;
-    }
-
-    // run noslip solver if enabled
-    if (m->opt.noslip_iterations > 0) {
-      mj_solNoSlip(m, d, m->opt.noslip_iterations);
-    }
-  }
-
-  // dual solvers: map efc_force to joint space (always monolithic)
-  if (m->opt.solver == mjSOL_PGS || m->opt.noslip_iterations > 0) {
-    mj_dualFinish(m, d);
-  }
-
-  TM_END(mjTIMER_CONSTRAINT);
-}
-
-
-//-------------------------- state advancement and integration  ------------------------------------
-
-// advance state and time
-//   act_dot: activation derivatives
-//   qacc:    acceleration used to update d->qvel (d->qvel += h*qacc)
-//   qvel:    optional velocity used for position integration; if NULL, use d->qvel
-static void mj_advance(const mjModel* m, mjData* d,
-                       const mjtNum* act_dot, const mjtNum* qacc, const mjtNum* qvel) {
-  int nactuator = m->nactuator, nsensor = m->nsensor;
-
-  // advance history buffers
-  if (m->nhistory > 0) {
-    // advance ctrl history buffers
-    for (int i = 0; i < nactuator; i++) {
-      int nsample = m->actuator_history[2*i];
-      if (nsample == 0) continue;
-
-      // get history buffer pointer and insert ctrl at current time
-      mjtNum* buf = d->history + m->actuator_historyadr[i];
-      *mju_historyInsert(buf, nsample, /*dim=*/1, d->time) = d->ctrl[m->actuator_ctrladr[i]];
-    }
-
-    // advance sensor history buffers
-    for (int i = 0; i < nsensor; i++) {
-      int nsample = m->sensor_history[2*i];
-      if (nsample == 0) continue;
-
-      // get history buffer parameters
-      int dim = m->sensor_dim[i];
-      mjtNum* buf = d->history + m->sensor_historyadr[i];
-      mjtNum delay = m->sensor_delay[i];
-      mjtNum interval = m->sensor_interval[2*i];
-
-      if (interval > 0) {
-        // interval mode: if condition is satisfied, compute; otherwise copy
-        mjtNum time_prev = buf[0];  // first slot stores previous sensor tick
-        if (time_prev + interval <= d->time) {
-          buf[0] += interval;  // advance by exact interval (continuous time)
-          mjtNum* slot = mju_historyInsert(buf, nsample, dim, d->time);
-          if (delay > 0) {
-            // have delay, compute sensor
-            mj_computeSensor(m, d, i, slot);
-          } else {
-            // no delay, copy from sensordata (already computed)
-            mju_copy(slot, d->sensordata + m->sensor_adr[i], dim);
-          }
-        }
-      } else if (delay > 0) {
-        // delay-only mode: always compute and insert
-        mjtNum* slot = mju_historyInsert(buf, nsample, dim, d->time);
-        mj_computeSensor(m, d, i, slot);
-      } else {
-        // history-only mode: copy from sensordata (already computed)
-        mjtNum* slot = mju_historyInsert(buf, nsample, dim, d->time);
-        mju_copy(slot, d->sensordata + m->sensor_adr[i], dim);
-      }
-    }
-  }
-
-  // advance activations
-  if (m->na && !mjDISABLED(mjDSBL_ACTUATION)) {
-    for (int i=0; i < nactuator; i++) {
-      int actadr = m->actuator_actadr[i];
-      int actadr_end = actadr + m->actuator_actnum[i];
-      for (int j=actadr; j < actadr_end; j++) {
-        // if disabled, set act_dot to 0
-        d->act[j] = mj_nextActivation(m, d, i, j, mj_actuatorDisabled(m, i) ? 0 : act_dot[j]);
-      }
-    }
-
-    // rotational setpoints stored in act: replace with an equivalent bounded representative,
-    // like the actrange clamp above, this is a projection applied at integration time
-    for (int i=0; i < nactuator; i++) {
-      if (m->actuator_dyntype[i] != mjDYN_INTEGRATOR) {
-        continue;
-      }
-
-      // per-axis servo: wrap act to the representative nearest the length
-      mjtNum period = wrapPeriod(m, i);
-      if (period > 0) {
-        int adr = m->actuator_actadr[i] + m->actuator_actnum[i] - 1;
-        d->act[adr] = wrapSetpoint(d->act[adr], d->actuator_length[m->actuator_outadr[i]], period);
-      }
-
-      // SO3 servo: re-anchor the act setpoint to the canonical representative
-      else if (m->actuator_gaintype[i] == mjGAIN_SO3) {
-        int adr = m->actuator_actadr[i];
-        mjtNum angle = mju_norm3(d->act + adr);
-        if (angle > mjPI) {
-          mjtNum scale = (angle - 2*mjPI*mju_round(angle/(2*mjPI))) / angle;
-          for (int k=0; k < 3; k++) {
-            d->act[adr+k] *= scale;
-          }
-        }
-      }
-    }
-  }
-
-  // put islands to sleep according to velocity tolerance
-  if (mj_sleep(m, d)) {
-    // if any trees put to sleep (qvel set to 0), recompute all velocity-dependent quantities
-    mj_forwardSkip(m, d, mjSTAGE_POS, 0);
-
-    // update sleep indices
-    mj_updateSleep(m, d);
-  }
-
-  // advance velocities
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-  if (sleep_filter) {
-    mju_addToSclInd(d->qvel, qacc, d->dof_awake_ind, m->opt.timestep, d->nv_awake);
-  } else {
-    mju_addToScl(d->qvel, qacc, m->opt.timestep, m->nv);
-  }
-
-  // advance positions with qvel if given, d->qvel otherwise (semi-implicit)
-  const int* index = sleep_filter ? d->body_awake_ind : NULL;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-  mj_integratePosInd(m, d->qpos, qvel ? qvel : d->qvel, m->opt.timestep, index, nbody);
-
-  // advance time
-  d->time += m->opt.timestep;
-
-  // advance plugin states
-  if (m->nplugin) {
-    const int nslot = mjp_pluginCount();
-    for (int i = 0; i < m->nplugin; ++i) {
-      const int slot = m->plugin[i];
-      const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
-      if (!plugin) {
-        mjERROR("invalid plugin slot: %d", slot);
-      }
-      if (plugin->advance) {
-        plugin->advance(m, d, i);
-      }
-    }
-  }
-
-  // save qacc for next step warmstart
-  mju_copy(d->qacc_warmstart, d->qacc, m->nv);
-}
-
-// Euler integrator, semi-implicit in velocity, possibly skipping factorisation
-void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
-  TM_START;
-  mj_markStack(d);
-  mjtNum* qfrc = mjSTACKALLOC(d, m->nv, mjtNum);
-  mjtNum* qacc = mjSTACKALLOC(d, m->nv, mjtNum);
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < m->nv;
-  int nv = sleep_filter ? d->nv_awake : m->nv;
-  const int* dof_awake_ind = sleep_filter ? d->dof_awake_ind : NULL;
-
-  // check for dof damping if disable flag is not set
-  int dof_damping = 0;
-  if (!mjDISABLED(mjDSBL_EULERDAMP) && !mjDISABLED(mjDSBL_DAMPER)) {
-    for (int v=0; v < nv; v++) {
-      int i = sleep_filter ? dof_awake_ind[v] : v;
-      if (m->dof_damping[i] > 0 ||
-          !mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY) ||
-          m->jnt_actuatorid[m->dof_jntid[i]] != -1) {
-        dof_damping = 1;
-        break;
-      }
-    }
-  }
-
-  // no damping or disabled: explicit velocity integration
-  if (!dof_damping) {
-    if (sleep_filter) {
-      mju_copyInd(qacc, d->qacc, dof_awake_ind, nv);
-    } else {
-      mju_copy(qacc, d->qacc, nv);
-    }
-  }
-
-  // damping: integrate implicitly
-  else {
-    if (!skipfactor) {
-      // qH = M
-      if (sleep_filter) {
-        mju_copySparse(d->qH, d->M, m->M_rownnz, m->M_rowadr, dof_awake_ind, d->nv_awake);
-      } else {
-        mju_copy(d->qH, d->M, m->nC);
-      }
-
-      // qH += h*diag(B)
-      for (int v=0; v < nv; v++) {
-        int i = sleep_filter ? dof_awake_ind[v] : v;
-        mjtNum qv = d->qvel[i];
-        mjtNum poly[mjNPOLY];
-        mju_copy(poly, m->dof_dampingpoly + mjNPOLY*i, mjNPOLY);
-        mjtNum damping = m->dof_damping[i]
-                         + mj_actuatorDamping(m, mjOBJ_JOINT, m->dof_jntid[i], poly);
-        mjtNum damp_deriv = mjd_xPolyForce(damping, poly, qv, mjNPOLY, 1);
-        d->qH[m->M_rowadr[i] + m->M_rownnz[i] - 1] += m->opt.timestep * damp_deriv;
-      }
-
-      // factorize in-place
-      mj_factorI(d->qH, d->qHDiagInv, nv, m->M_rownnz, m->M_rowadr, m->M_colind, dof_awake_ind);
-    }
-
-    // solve
-    if (sleep_filter) {
-      mju_addInd(qfrc, d->qfrc_smooth, d->qfrc_constraint, dof_awake_ind, nv);
-      mju_copyInd(qacc, qfrc, dof_awake_ind, nv);
-    } else {
-      mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
-      mju_copy(qacc, qfrc, nv);
-    }
-    mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
-               m->M_rownnz, m->M_rowadr, m->M_colind, dof_awake_ind);
-  }
-
-  // advance state and time
-  mj_advance(m, d, d->act_dot, qacc, NULL);
-
-  mj_freeStack(d);
-
-  TM_END(mjTIMER_ADVANCE);
-}
-
-
-// Euler integrator, semi-implicit in velocity
-void mj_Euler(const mjModel* m, mjData* d) {
-  mj_EulerSkip(m, d, 0);
-}
-
-
-// RK4 tableau
-const mjtNum RK4_A[9] = {
-  0.5,    0,      0,
-  0,      0.5,    0,
-  0,      0,      1
-};
-
-const mjtNum RK4_B[4] = {
-  1.0/6.0, 1.0/3.0, 1.0/3.0, 1.0/6.0
-};
-
-
-// Runge Kutta explicit order-N integrator
-//  (A,B) is the tableau, C is set to row_sum(A)
-void mj_RungeKutta(const mjModel* m, mjData* d, int N) {
-  int nv = m->nv, nq = m->nq, na = m->na;
-  mjtNum h = m->opt.timestep, time = d->time;
-  mjtNum C[9], T[9], *X[10], *F[10], *dX;
-  const mjtNum* A = (N == 4 ? RK4_A : 0);
-  const mjtNum* B = (N == 4 ? RK4_B : 0);
-
-  // check order
-  if (!A) {
-    mjERROR("supported RK orders: N=4");
-  }
-
-  // allocate space for intermediate solutions
-  mj_markStack(d);
-  dX = mjSTACKALLOC(d, 2*nv+na, mjtNum);
-  for (int i=0; i < N; i++) {
-    X[i] = mjSTACKALLOC(d, nq+nv+na, mjtNum);
-    F[i] = mjSTACKALLOC(d, nv+na, mjtNum);
-  }
-
-  // precompute C and T;  C,T,A have size (N-1)
-  for (int i=1; i < N; i++) {
-    // C(i) = sum_j A(i,j)
-    C[i-1] = 0;
-    for (int j=0; j < i; j++) {
-      C[i-1] += A[(i-1)*(N-1)+j];
-    }
-
-    // compute T
-    T[i-1] = d->time + C[i-1]*h;
-  }
-
-  // init X[0], F[0]; mj_forward() was already called
-  mju_copy(X[0], d->qpos, nq);
-  mju_copy(X[0]+nq, d->qvel, nv);
-  mju_copy(F[0], d->qacc, nv);
-  if (na) {
-    mju_copy(X[0]+nq+nv, d->act, na);
-    mju_copy(F[0]+nv, d->act_dot, na);
-  }
-
-  // compute the remaining X[i], F[i]
-  for (int i=1; i < N; i++) {
-    // compute dX
-    mju_zero(dX, 2*nv+na);
-    for (int j=0; j < i; j++) {
-      mju_addToScl(dX, X[j]+nq, A[(i-1)*(N-1)+j], nv);
-      mju_addToScl(dX+nv, F[j], A[(i-1)*(N-1)+j], nv+na);
-    }
-
-    // compute X[i] = X[0] '+' dX
-    mju_copy(X[i], X[0], nq+nv+na);
-    mj_integratePos(m, X[i], dX, h);
-    mju_addToScl(X[i]+nq, dX+nv, h, nv+na);
-
-    // set X[i], T[i-1] in mjData
-    mju_copy(d->qpos, X[i], nq);
-    mju_copy(d->qvel, X[i]+nq, nv);
-    if (na) {
-      mju_copy(d->act, X[i]+nq+nv, na);
-    }
-    d->time = T[i-1];
-
-    // evaluate F[i]
-    mj_forwardSkip(m, d, mjSTAGE_NONE, 1);  // 1: do not recompute sensors and energy
-    mju_copy(F[i], d->qacc, nv);
-    if (na) {
-      mju_copy(F[i]+nv, d->act_dot, na);
-    }
-  }
-
-  // compute dX for final update (using B instead of A)
-  mju_zero(dX, 2*nv+na);
-  for (int j=0; j < N; j++) {
-    mju_addToScl(dX, X[j]+nq, B[j], nv);
-    mju_addToScl(dX+nv, F[j], B[j], nv+na);
-  }
-
-  // reset state and time
-  d->time = time;
-  mju_copy(d->qpos, X[0], nq);
-  mju_copy(d->qvel, X[0]+nq, nv);
-  mju_copy(d->act, X[0]+nq+nv, na);
-
-  // advance state and time
-  mj_advance(m, d, dX+2*nv, dX+nv, dX);
-
-  mj_freeStack(d);
-}
-
-
-// return 1 if any flex needs implicit stiffness treatment (interp or bending)
-// return 1 if any non-rigid flex uses passive contacts (needs the metric independently of elasticity)
-static mjtBool flex_has_passive_contact(const mjModel* m) {
-  for (int f=0; f < m->nflex; f++) {
-    if (!m->flex_rigid[f] && m->flex_passive[f]) {
-      return 1;
-    }
-  }
-  return 0;
-}
-
-static mjtBool flex_has_implicit_stiffness(const mjModel* m) {
-  for (int f=0; f < m->nflex; f++) {
-    if (m->flex_rigid[f]) {
-      continue;
-    }
-
-    // interpolated flex with stiffness
-    if (m->flex_interp[f] &&
-        m->flex_edgeequality[f] != 3 &&
-        m->flex_stiffness[m->flex_stiffnessadr[f]] != 0) {
-      return 1;
-    }
-
-    // standard flex with bending
-    if (!m->flex_interp[f] && m->flex_dim[f] == 2 &&
-        m->flex_bendingadr[f] >= 0) {
-      return 1;
-    }
-
-    // standard flex with stretch
-    if (!m->flex_interp[f] && m->flex_dim[f] >= 2 &&
-        m->flex_stiffnessadr[f] >= 0 &&
-        m->flex_stiffness[m->flex_stiffnessadr[f]] != 0) {
-      return 1;
-    }
-  }
-  return 0;
-}
-
-
-// implicit-flex solve gate: with the CG solver, an implicit integrator and flex stiffness
-// present, the CG solve carries the implicit flex stiffness itself -- K = (h^2+h*d) times the flex stiffness enters
-// the objective/gradient/linesearch, and the preconditioned gradient becomes (M+K)\grad by
-// linear matrix-free CG against the existing M factor (the in-solver form of the old post-hoc
-// flexInterp_cgsolve treatment, no factorization anywhere); mj_implicitSkip then folds the
-// implicit flex force of the solver's qacc into qfrc. When active with islands
-// enabled, mj_fwdConstraint forces a monolithic solve (flex mesh coupling is invisible to
-// constraint islanding). solver="Newton" keeps its exact-factorization semantics untouched.
-// Models outside the gate integrate flex elasticity explicitly.
-int mj_flexCG(const mjModel* m) {
-  return m->opt.solver == mjSOL_CG &&
-         (m->opt.integrator == mjINT_IMPLICIT || m->opt.integrator == mjINT_IMPLICITFAST) &&
-         m->opt.cone != mjCONE_ELLIPTIC && !mjENABLED(mjENBL_SLEEP) &&
-         (flex_has_implicit_stiffness(m) || flex_has_passive_contact(m));
-}
-
-
-// fully implicit in velocity, possibly skipping factorization
-void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
-  TM_START;
-  int nD = m->nD, nC = m->nC, njnt = m->njnt;
-
-  mj_markStack(d);
-  mjtNum* qfrc = mjSTACKALLOC(d, m->nv, mjtNum);
-  mjtNum* qacc = mjSTACKALLOC(d, m->nv, mjtNum);
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < m->nv;
-  int nv = sleep_filter ? d->nv_awake : m->nv;
-  const int* dof_awake_ind = sleep_filter ? d->dof_awake_ind : NULL;
-
-  // set qfrc = qfrc_smooth + qfrc_constraint
-  if (sleep_filter) {
-    mju_addInd(qfrc, d->qfrc_smooth, d->qfrc_constraint, dof_awake_ind, nv);
-  } else {
-    mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
-  }
-
-  // implicit flex stiffness is carried by the constraint solver (see mj_flexCG): use the
-  // solver's qacc directly. The qDeriv treatment is skipped for these models -- flex damping
-  // is already implicit inside the solve (the s2 terms of B), joint damping and other velocity
-  // derivatives integrate explicitly. This avoids both the qDeriv machinery and the
-  // sequential flex-vs-qDeriv splitting. Models outside the gate (non-Newton solver, elliptic
-  // cones, islands, sleep) integrate flex elasticity explicitly.
-  int flexcg = !sleep_filter && mj_flexCG(m);
-
-  // factorization
-  if (!skipfactor && !flexcg) {
-    // implicit
-    if (m->opt.integrator == mjINT_IMPLICIT) {
-      // compute analytical derivative qDeriv
-      mjd_smooth_vel(m, d, /* flg_bias = */ 1);
-
-      // gather qLU <- M (lower to full)
-      mju_gatherMasked(d->qLU, d->M, m->mapM2D, nD);
-
-      // set qLU = M - dt*qDeriv
-      mju_addToScl(d->qLU, d->qDeriv, -m->opt.timestep, nD);
-    }
-
-    // implicitfast
-    else if (m->opt.integrator == mjINT_IMPLICITFAST) {
-      // compute analytical derivative qDeriv; skip rne derivative
-      mjd_smooth_vel(m, d, /* flg_bias = */ 0);
-
-      // modified mass matrix: gather qH <- qDeriv (full to lower)
-      mju_gather(d->qH, d->qDeriv, m->mapD2M, nC);
-
-      // set qH = M - dt*qDeriv
-      mju_addScl(d->qH, d->M, d->qH, -m->opt.timestep, nC);
-
-      // standalone free bodies: reset qH block rows to M; their qDeriv rows may be asymmetric and
-      // are handled by the local LU solve; we reset to keep LTL well-defined
-      for (int j=0; j < njnt; j++) {
-        if (m->jnt_type[j] != mjJNT_FREE || !mj_isFreeBody(m, m->jnt_bodyid[j])) {
-          continue;
-        }
-        int adr = m->jnt_dofadr[j];
-        for (int r=0; r < 6; r++) {
-          mju_copy(d->qH + m->M_rowadr[adr+r], d->M + m->M_rowadr[adr+r], m->M_rownnz[adr+r]);
-        }
-      }
-    } else {
-      mjERROR("integrator must be implicit or implicitfast");
-    }
-
-    // standard factorization (implicit / implicitfast)
-    if (m->opt.integrator == mjINT_IMPLICIT) {
-      int* scratch = mjSTACKALLOC(d, nv, int);
-      mju_factorLUSparse(d->qLU, nv, scratch, m->D_rownnz, m->D_rowadr, m->D_colind, dof_awake_ind);
-    } else {
-      mj_factorI(d->qH, d->qHDiagInv, nv, m->M_rownnz, m->M_rowadr, m->M_colind, dof_awake_ind);
-    }
-  }
-
-  // standard sparse solve
-  if (flexcg) {
-    // constraint solver's qacc already carries the implicit flex force
-    mju_copy(qacc, d->qacc, m->nv);
-  } else if (m->opt.integrator == mjINT_IMPLICIT) {
-    mju_solveLUSparse(qacc, d->qLU, qfrc, nv, m->D_rownnz, m->D_rowadr, m->D_diag, m->D_colind,
-                      dof_awake_ind);
-  } else {
-    // implicitfast
-    if (sleep_filter) {
-      mju_copyInd(qacc, qfrc, dof_awake_ind, nv);
-    } else {
-      mju_copy(qacc, qfrc, nv);
-    }
-    mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1, m->M_rownnz, m->M_rowadr, m->M_colind, dof_awake_ind);
-  }
-
-  // implicitfast: local unsymmetric solve for standalone free bodies
-  // adds the bias (gyroscopic) derivative, dropped from the global symmetric solve; the
-  // 6x6 block of M - h*D is decoupled from the rest of the system (D sparsity is tree-local),
-  // so overwriting these rows of qacc leaves all other DOFs unaffected
-  if (m->opt.integrator == mjINT_IMPLICITFAST && !flexcg) {
-    for (int j=0; j < m->njnt; j++) {
-      mjtNum A[36];
-      if (!mjd_freeMhat(m, d, j, m->opt.timestep, A)) {
-        continue;
-      }
-
-      // solve A * qacc_block = qfrc_block
-      int adr = m->jnt_dofadr[j];
-      int pivot[6];
-      if (mju_factorLU6(A, pivot)) {
-        mjtNum x[6];  // local vector for guaranteed memory alignment
-        mju_solveLU6(x, A, qfrc+adr, pivot);
-        mji_copy6(qacc+adr, x);
-      }
-    }
-  }
-
-  // advance state and time
-  mj_advance(m, d, d->act_dot, qacc, NULL);
-
-  mj_freeStack(d);
-
-  TM_END(mjTIMER_ADVANCE);
-}
-
-
-// fully implicit in velocity
-void mj_implicit(const mjModel* m, mjData* d) {
-  mj_implicitSkip(m, d, 0);
-}
-
-
-//-------------------------- top-level API ---------------------------------------------------------
-
-// forward dynamics with skip; skipstage is mjtStage
-void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor) {
-  TM_START;
-
-  // Passive flex contact is too stiff for explicit integration; require the effective metric.
-  if (flex_has_passive_contact(m) && !mj_flexCG(m)) {
-    mjERROR("passive flex contact requires the effective metric: use integrator=\"implicit\" or "
-            "\"implicitfast\" with solver=\"CG\", pyramidal cones and sleep disabled");
-  }
-
-  // position-dependent
-  if (skipstage < mjSTAGE_POS) {
-    mj_fwdPosition(m, d);
-
-    if (!skipsensor) {
-      mj_sensorPos(m, d);
-    }
-
-    if (!d->flg_energypos) {
-      if (mjENABLED(mjENBL_ENERGY)) {
-        mj_energyPos(m, d);
-      } else {
-        d->energy[0] = d->energy[1] = 0;
-      }
-    }
-  }
-
-  // velocity-dependent
-  if (skipstage < mjSTAGE_VEL) {
-    mj_fwdVelocity(m, d);
-
-    if (!skipsensor) {
-      mj_sensorVel(m, d);
-    }
-
-    if (mjENABLED(mjENBL_ENERGY) && !d->flg_energyvel) {
-      mj_energyVel(m, d);
-    }
-  }
-
-  // acceleration-dependent
-  if (mjcb_control && !mjDISABLED(mjDSBL_ACTUATION)) {
-    mjcb_control(m, d);
-  }
-
-  mj_fwdActuation(m, d);
-  mj_fwdAcceleration(m, d);
-  mj_fwdConstraint(m, d);
-  if (!skipsensor) {
-    d->flg_rnepost = 0;  // clear flag for lazy evaluation
-    mj_sensorAcc(m, d);
-  }
-
-  TM_END(mjTIMER_FORWARD);
-}
-
-
-// forward dynamics
-void mj_forward(const mjModel* m, mjData* d) {
-  mj_forwardSkip(m, d, mjSTAGE_NONE, 0);
-}
-
-
-// advance simulation using control callback
-void mj_step(const mjModel* m, mjData* d) {
-  TM_START;
-
-  // common to all integrators
-  mj_checkPos(m, d);
-  mj_checkVel(m, d);
-  mj_forward(m, d);
-  mj_checkAcc(m, d);
-
-  // compare forward and inverse solutions if enabled
-  if (mjENABLED(mjENBL_FWDINV)) {
-    mj_compareFwdInv(m, d);
-  }
-
-  // use selected integrator
-  switch ((mjtIntegrator) m->opt.integrator) {
-  case mjINT_EULER:
-    mj_Euler(m, d);
-    break;
-
-  case mjINT_RK4:
-    mj_RungeKutta(m, d, 4);
-    break;
-
-  case mjINT_IMPLICIT:
-  case mjINT_IMPLICITFAST:
-    mj_implicit(m, d);
-    break;
-
-  default:
-    mjERROR("invalid integrator");
-  }
-
-  TM_END(mjTIMER_STEP);
-}
-
-
-// advance simulation in two phases: before input is set by user
-void mj_step1(const mjModel* m, mjData* d) {
-  TM_START;
-  mj_checkPos(m, d);
-  mj_checkVel(m, d);
-  mj_fwdPosition(m, d);
-  mj_sensorPos(m, d);
-
-  if (!d->flg_energypos) {
-    if (mjENABLED(mjENBL_ENERGY)) {
-      mj_energyPos(m, d);
-    } else {
-      d->energy[0] = d->energy[1] = 0;
-    }
-  }
-
-  mj_fwdVelocity(m, d);
-  mj_sensorVel(m, d);
-  if (mjENABLED(mjENBL_ENERGY) && !d->flg_energyvel) {
-    mj_energyVel(m, d);
-  }
-
-  if (mjcb_control) {
-    mjcb_control(m, d);
-  }
-  TM_END(mjTIMER_STEP);
-}
-
-
-//   >>>>   user can modify ctrl and q/xfrc_applied between step1 and step2   <<<<
-
-
-// advance simulation in two phases: after input is set by user
-void mj_step2(const mjModel* m, mjData* d) {
-  TM_START;
-  mj_fwdActuation(m, d);
-  mj_fwdAcceleration(m, d);
-  mj_fwdConstraint(m, d);
-  d->flg_rnepost = 0;  // clear flag for lazy evaluation
-  mj_sensorAcc(m, d);
-  mj_checkAcc(m, d);
-
-  // compare forward and inverse solutions if enabled
-  if (mjENABLED(mjENBL_FWDINV)) {
-    mj_compareFwdInv(m, d);
-  }
-
-  // integrate with Euler or implicit; RK4 defaults to Euler
-  if (m->opt.integrator == mjINT_IMPLICIT || m->opt.integrator == mjINT_IMPLICITFAST) {
-    mj_implicit(m, d);
-  } else {
-    mj_Euler(m, d);
-  }
-
-  d->timer[mjTIMER_STEP].number--;
-  TM_END(mjTIMER_STEP);
-}
diff --git a/src/engine/engine_forward.h b/src/engine/engine_forward.h
deleted file mode 100644
index 3af01955..00000000
--- a/src/engine/engine_forward.h
+++ /dev/null
@@ -1,96 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_FORWARD_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_FORWARD_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-// check positions, velocities, accelerations; reset if bad
-MJAPI void mj_checkPos(const mjModel* m, mjData* d);
-MJAPI void mj_checkVel(const mjModel* m, mjData* d);
-MJAPI void mj_checkAcc(const mjModel* m, mjData* d);
-
-
-//-------------------------------- top-level API ---------------------------------------------------
-
-// advance simulation: use control callback, no external force, RK4 available
-MJAPI void mj_step(const mjModel* m, mjData* d);
-
-// advance simulation in two steps: before external force/control is set by user
-MJAPI void mj_step1(const mjModel* m, mjData* d);
-
-// advance simulation in two steps: after external force/control is set by user
-MJAPI void mj_step2(const mjModel* m, mjData* d);
-
-// forward dynamics
-MJAPI void mj_forward(const mjModel* m, mjData* d);
-
-// forward dynamics with skip; skipstage is mjtStage
-MJAPI void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor);
-
-
-//-------------------------------- integrators -----------------------------------------------------
-
-// Runge Kutta explicit order-N integrator
-MJAPI void mj_RungeKutta(const mjModel* m, mjData* d, int N);
-
-// Euler integrator, semi-implicit in velocity
-MJAPI void mj_Euler(const mjModel* m, mjData* d);
-
-// Euler integrator, semi-implicit in velocity, possibly skipping factorisation
-MJAPI void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor);
-
-// fully implicit in velocity
-MJAPI void mj_implicit(const mjModel *m, mjData *d);
-
-// fully implicit in velocity, possibly skipping factorization
-MJAPI void mj_implicitSkip(const mjModel *m, mjData *d, int skipfactor);
-
-// implicit-flex solve gate: with solver=CG, an implicit integrator and flex stiffness present,
-// the constraint solve is dispatched to the flex-augmented primal solver (monolithic,
-// pyramidal cones only); solver=Newton keeps its exact-factorization semantics
-int mj_flexCG(const mjModel* m);
-
-//-------------------------------- solver components -----------------------------------------------
-
-// all kinematics-like computations
-MJAPI void mj_fwdKinematics(const mjModel* m, mjData* d);
-
-// computations that depend only on qpos
-MJAPI void mj_fwdPosition(const mjModel* m, mjData* d);
-
-// computations that depend only on qpos and qvel
-MJAPI void mj_fwdVelocity(const mjModel* m, mjData* d);
-
-// compute actuator force
-MJAPI void mj_fwdActuation(const mjModel* m, mjData* d);
-
-// add up all non-constraint forces, compute qacc_smooth
-MJAPI void mj_fwdAcceleration(const mjModel* m, mjData* d);
-
-// forward constraint
-MJAPI void mj_fwdConstraint(const mjModel* m, mjData* d);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_FORWARD_H_
diff --git a/src/engine/engine_global_table.h b/src/engine/engine_global_table.h
deleted file mode 100644
index d619b62f..00000000
--- a/src/engine/engine_global_table.h
+++ /dev/null
@@ -1,282 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_GLOBAL_TABLE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_GLOBAL_TABLE_H_
-
-#include <atomic>
-#include <cctype>
-#include <cstdio>
-#include <mutex>
-#include <new>
-#include <string>
-#include <string_view>
-#include <type_traits>
-
-#include "engine/engine_util_errmem.h"
-
-namespace mujoco {
-static constexpr int kCacheLineBytes = 256;
-
-static inline bool CaseInsensitiveEqual(std::string_view s1, std::string_view s2) {
-  if (s1.length() != s2.length()) {
-    return false;
-  }
-  auto len = s1.length();
-  for (decltype(len) i = 0; i < len; ++i) {
-    if (std::tolower(s1[i]) != std::tolower(s2[i])) {
-      return false;
-    }
-  }
-  return true;
-}
-
-// A table intended for use as global storage for extension objects such as plugins, implemented as
-// a linked list of array "blocks". This is a compromise that maintains a good degree of memory
-// locality while not invalidating existing pointers when growing the table. It is expected that for
-// most users, the number of objects loaded will be small enough to fit in the initial block, and
-// so the global table will behave like an array. Since pointers are never invalidated, we do not
-// need to apply a read lock on the global table when resolving an element.
-template<typename T>
-struct alignas(kCacheLineBytes) TableBlock {
-  static constexpr int kBlockSize = 15;
-
-  TableBlock() : objects{}, next(nullptr) {
-    static_assert(
-        sizeof(TableBlock<T>) / kCacheLineBytes ==
-        sizeof(TableBlock<T>::objects) / kCacheLineBytes
-        + (sizeof(TableBlock<T>::objects) % kCacheLineBytes > 0),
-        "TableBlock::next doesn't fit in the same cache line as the end of TableBlock::objects");
-  }
-
-  T objects[kBlockSize];
-  TableBlock<T>* next;
-};
-
-
-using Mutex = std::mutex;
-
-class ReentrantWriteLock {
- public:
-  ReentrantWriteLock(Mutex& mutex) : mutex_(mutex) {
-    if (LockCountOnCurrentThread() == 0) {
-      mutex_.lock();
-    }
-    ++LockCountOnCurrentThread();
-  }
-
-  ~ReentrantWriteLock() {
-    if (--LockCountOnCurrentThread() == 0) {
-      mutex_.unlock();
-    }
-  }
-
- private:
-  Mutex& mutex_;
-
-  static int& LockCountOnCurrentThread() noexcept {
-    thread_local int counter = 0;
-    return counter;
-  }
-};
-
-template<typename T>
-class GlobalTable {
- public:
-  static GlobalTable<T>& GetSingleton() {
-    static_assert(std::is_trivially_destructible_v<GlobalTable<T>>);
-    static GlobalTable<T> global;
-    return global;
-  }
-
-  // Each extension object type T must implement these.
-  using ErrorMessage = char[512];
-  static const char* HumanReadableTypeName();
-  static std::string_view ObjectKey(const T&);
-  static bool ObjectEqual(const T&, const T&);
-  static bool CopyObject(T& dst, const T& src, ErrorMessage& err);
-
-  int count() {
-    return count_.load(std::memory_order_acquire);
-  }
-
-  ReentrantWriteLock LockExclusively() {
-    return ReentrantWriteLock(mutex());
-  }
-
-  int AppendIfUnique(const T& obj) {
-    ErrorMessage err = "\0";
-
-    // ========= ATTENTION! ========================================================================
-    // Do not handle objects with nontrivial destructors outside of this lambda.
-    // Do not call mju_error inside this lambda.
-    int slot = [&]() {
-      auto lock = LockExclusively();
-
-      int count = count_.load(std::memory_order_acquire);
-      int local_idx = 0;
-      TableBlock<T>* block = &first_block_;
-
-      // check if a non-identical object has already been registered
-      for (int i = 0; i < count; ++i, ++local_idx) {
-        if (local_idx == TableBlock<T>::kBlockSize) {
-          local_idx = 0;
-          block = block->next;
-        }
-        const T& existing = block->objects[local_idx];
-        if (CaseInsensitiveEqual(ObjectKey(obj), ObjectKey(existing))) {
-          if (!ObjectEqual(obj, existing)) {
-            std::snprintf(err, sizeof(err), "%s '%s' is already registered",
-                          HumanReadableTypeName(), std::string(ObjectKey(obj)).c_str());
-            return -1;
-          } else {
-            return i;
-          }
-        }
-      }
-
-      // allocate a new block if the last allocated block is full
-      if (local_idx == TableBlock<T>::kBlockSize) {
-        local_idx = 0;
-        block->next = new(std::nothrow) TableBlock<T>;
-        if (!block->next) {
-          std::snprintf(err, sizeof(err), "failed to allocate memory for a new %s table block",
-                        HumanReadableTypeName());
-          return -1;
-        }
-        block = block->next;
-      }
-
-      // copy the new object into the table
-      if (!CopyObject(block->objects[local_idx], obj, err)) {
-        return -1;
-      }
-
-      // increment the global count with a release memory barrier
-      count_.store(count + 1, std::memory_order_release);
-
-      return count;
-    }();
-    // ========= ATTENTION! ========================================================================
-    // End of safe lambda, do not handle objects with non-trivial destructors beyond this point.
-
-    // registration failed, throw an mju_error
-    if (slot < 0) {
-      err[sizeof(err) - 1] = '\0';
-      mju_error("%s", err);
-    }
-
-    return slot;
-  }
-
-  // look up by slot number, assuming that count() has already been called
-  const T* GetAtSlotUnsafe(int slot, int nslot) {
-    if (slot < 0 || slot >= nslot) {
-      return nullptr;
-    }
-
-    TableBlock<T>* block = &first_block_;
-
-    // iterate over blocks in the global table until the local index is less than the block size
-    int local_idx = slot;
-    while (local_idx >= TableBlock<T>::kBlockSize) {
-      local_idx -= TableBlock<T>::kBlockSize;
-      block = block->next;
-      if (!block) {
-        return nullptr;
-      }
-    }
-
-    // local_idx is now a valid index into the current block
-    T* obj = &(block->objects[local_idx]);
-
-    // check if obj has been initialized
-    if (obj && ObjectKey(*obj).empty()) {
-      return nullptr;
-    }
-
-    return obj;
-  }
-
-  // look up by key, assuming that count() has already been called
-  const T* GetByKeyUnsafe(std::string_view key, int* slot, int nslot) {
-    if (slot) *slot = -1;
-
-    if (key.empty()) {
-      return nullptr;
-    }
-
-    TableBlock<T>* block = &first_block_;
-    int found_slot = 0;
-    while (block) {
-      for (int i = 0;
-          i < TableBlock<T>::kBlockSize && found_slot < nslot;
-          ++i, ++found_slot) {
-        const T& obj = block->objects[i];
-
-        // reached an uninitialized object, which means that iterated beyond the object count
-        // this should never happen if `count` was actually returned by count()
-        std::string_view candidate_key = ObjectKey(obj);
-        if (candidate_key.empty()) {
-          return nullptr;
-        }
-
-        // check if key matches the query
-        if (CaseInsensitiveEqual(candidate_key, key)) {
-          if (slot) *slot = found_slot;
-          return &obj;
-        }
-      }
-
-      block = block->next;
-    }
-
-    return nullptr;
-  }
-
-  const T* GetAtSlot(int slot) {
-    // count() uses memory_order_acquire which acts as a barrier that guarantees that all
-    // objects up to `count` have been completely inserted
-    return GetAtSlotUnsafe(slot, count());
-  }
-
-  const T* GetByKey(std::string_view key, int* slot) {
-    // count() uses memory_order_acquire which acts as a barrier that guarantees that all
-    // objects up to `count` have been completely inserted
-    return GetByKeyUnsafe(key, slot, count());
-  }
-
- private:
-  GlobalTable() {
-    new(mutex_) Mutex;
-  }
-
-  Mutex& mutex() {
-    return *std::launder(reinterpret_cast<Mutex*>(&mutex_));
-  }
-
-  TableBlock<T> first_block_;
-  std::atomic_int count_;
-
-  // A mutex whose destructor is never run.
-  // When a C++ program terminates, the destructors for function static objects and globals will be
-  // executed by whichever thread started that termination but there is no guarantee that other
-  // threads have terminated. In other words, a static object may be accessed by another thread
-  // after it is deleted. We avoid destruction issues by never running the destructor.
-  alignas(Mutex) unsigned char mutex_[sizeof(Mutex)];
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_GLOBAL_TABLE_H_
diff --git a/src/engine/engine_init.c b/src/engine/engine_init.c
deleted file mode 100644
index c910c260..00000000
--- a/src/engine/engine_init.c
+++ /dev/null
@@ -1,246 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_init.h"
-
-#include <string.h>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include "engine/engine_util_blas.h"
-
-#ifdef _MSC_VER
-  #pragma warning (disable: 4305)  // disable MSVC warning: truncation from 'double' to 'float'
-#endif
-
-
-
-//------------------------------- solver parameters ------------------------------------------------
-
-// set default solver parameters
-void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp) {
-  if (solref) {
-    solref[0] = 0.02;       // timeconst
-    solref[1] = 1;          // dampratio
-  }
-
-  if (solimp) {
-    solimp[0] = 0.9;        // dmin
-    solimp[1] = 0.95;       // dmax
-    solimp[2] = 0.001;      // width
-    solimp[3] = 0.5;        // midpoint
-    solimp[4] = 2;          // power
-  }
-}
-
-
-//------------------------------- mjOption ---------------------------------------------------------
-
-// set model options to default values
-void mj_defaultOption(mjOption* opt) {
-  // fill opt with zeros in case struct is padded
-  memset(opt, 0, sizeof(mjOption));
-
-  // timing parameters
-  opt->timestep           = 0.002;
-
-  // solver parameters
-  opt->impratio           = 1;
-  opt->tolerance          = 1e-8;
-  opt->ls_tolerance       = 0.01;
-  opt->noslip_tolerance   = 1e-6;
-  opt->ccd_tolerance      = 1e-6;
-
-  // sleep settings
-  opt->sleep_tolerance    = 1e-3;
-
-  // physical constants
-  opt->gravity[0]         = 0;
-  opt->gravity[1]         = 0;
-  opt->gravity[2]         = -9.81;
-  opt->wind[0]            = 0;
-  opt->wind[1]            = 0;
-  opt->wind[2]            = 0;
-  opt->magnetic[0]        = 0;
-  opt->magnetic[1]        = -0.5;
-  opt->magnetic[2]        = 0;
-  opt->density            = 0;
-  opt->viscosity          = 0;
-
-  // solver overrides
-  opt->o_margin           = 0;
-  mj_defaultSolRefImp(opt->o_solref, opt->o_solimp);
-  opt->o_friction[0] = 1;
-  opt->o_friction[1] = 1;
-  opt->o_friction[2] = 0.005;
-  opt->o_friction[3] = 0.0001;
-  opt->o_friction[4] = 0.0001;
-
-  // discrete options
-  opt->integrator         = mjINT_EULER;
-  opt->cone               = mjCONE_PYRAMIDAL;
-  opt->jacobian           = mjJAC_AUTO;
-  opt->solver             = mjSOL_NEWTON;
-  opt->iterations         = 100;
-  opt->ls_iterations      = 50;
-  opt->noslip_iterations  = 0;
-  opt->ccd_iterations     = 35;
-  opt->disableflags       = 0;
-  opt->enableflags        = 0;
-  opt->disableactuator    = 0;
-
-  // sdf collisions
-  opt->sdf_initpoints     = 40;
-  opt->sdf_iterations     = 10;
-}
-
-
-//------------------------------- mjStatistic ------------------------------------------------------
-
-// set statistics to default values; compute later in compiler
-void mj_defaultStatistic(mjStatistic* stat) {
-  mju_zero3(stat->center);
-  stat->extent = 2;
-  stat->meaninertia = 1;
-  stat->meanmass = 1;
-  stat->meansize = 0.2;
-}
-
-
-//------------------------------- mjVisual ---------------------------------------------------------
-
-// set 4 floats
-static void setf4(float* rgba, float r, float g, float b, float a) {
-  rgba[0] = r;
-  rgba[1] = g;
-  rgba[2] = b;
-  rgba[3] = a;
-}
-
-
-// set visual options to default values
-void mj_defaultVisual(mjVisual* vis) {
-  // global
-  vis->global.cameraid            = -1;
-  vis->global.orthographic        = 0;
-  vis->global.fovy                = 45;
-  vis->global.ipd                 = 0.068;
-  vis->global.azimuth             = 90;
-  vis->global.elevation           = -45;
-  vis->global.linewidth           = 1.0;
-  vis->global.glow                = 0.3;
-  vis->global.offwidth            = 640;
-  vis->global.offheight           = 480;
-  vis->global.realtime            = 1.0;
-  vis->global.ellipsoidinertia    = 0;
-  vis->global.bvactive            = 0;
-
-  // rendering quality
-  vis->quality.shadowsize         = 4096;
-  vis->quality.offsamples         = 4;
-  vis->quality.numslices          = 28;
-  vis->quality.numstacks          = 16;
-  vis->quality.numquads           = 4;
-
-  // head light
-  vis->headlight.ambient[0]       = 0.1;
-  vis->headlight.ambient[1]       = 0.1;
-  vis->headlight.ambient[2]       = 0.1;
-  vis->headlight.diffuse[0]       = 0.4;
-  vis->headlight.diffuse[1]       = 0.4;
-  vis->headlight.diffuse[2]       = 0.4;
-  vis->headlight.specular[0]      = 0.5;
-  vis->headlight.specular[1]      = 0.5;
-  vis->headlight.specular[2]      = 0.5;
-  vis->headlight.active           = 1;
-
-  // map parameters
-  vis->map.stiffness              = 100;
-  vis->map.stiffnessrot           = 500;
-  vis->map.force                  = 0.005;
-  vis->map.torque                 = 0.1;
-  vis->map.alpha                  = 0.3;
-  vis->map.fogstart               = 3.0;
-  vis->map.fogend                 = 10.0;
-  vis->map.znear                  = 0.01;
-  vis->map.zfar                   = 50.0;
-  vis->map.haze                   = 0.3;
-  vis->map.shadowclip             = 1.0;
-  vis->map.shadowscale            = 0.6;
-  vis->map.actuatortendon         = 2.0;
-
-  // size parameters
-  vis->scale.forcewidth           = 0.1;
-  vis->scale.contactwidth         = 0.3;
-  vis->scale.contactheight        = 0.1;
-  vis->scale.connect              = 0.2;
-  vis->scale.com                  = 0.4;
-  vis->scale.camera               = 0.3;
-  vis->scale.light                = 0.3;
-  vis->scale.selectpoint          = 0.2;
-  vis->scale.jointlength          = 1.0;
-  vis->scale.jointwidth           = 0.1;
-  vis->scale.actuatorlength       = 0.7;
-  vis->scale.actuatorwidth        = 0.2;
-  vis->scale.framelength          = 1.0;
-  vis->scale.framewidth           = 0.1;
-  vis->scale.constraint           = 0.1;
-  vis->scale.slidercrank          = 0.2;
-  vis->scale.frustum             = 10.0;
-
-  // colors
-  setf4(vis->rgba.fog,              0., 0., 0., 1.);
-  setf4(vis->rgba.haze,             1., 1., 1., 1.);
-  setf4(vis->rgba.force,            1., .5, .5, 1.);
-  setf4(vis->rgba.inertia,          .8, .2, .2, .6);
-  setf4(vis->rgba.joint,            .2, .6, .8, 1.);
-  setf4(vis->rgba.actuator,         .2, .25, .2, 1);
-  setf4(vis->rgba.actuatornegative, .2, .6, .9, 1.);
-  setf4(vis->rgba.actuatorpositive, .9, .4, .2, 1.);
-  setf4(vis->rgba.com,              .9, .9, .9, 1.);
-  setf4(vis->rgba.camera,           .6, .9, .6, 1);
-  setf4(vis->rgba.light,            .6, .6, .9, 1.);
-  setf4(vis->rgba.selectpoint,      .9, .9, .1, 1.);
-  setf4(vis->rgba.connect,          .2, .2, .8, 1.);
-  setf4(vis->rgba.contactpoint,     .9, .6, .2, 1.);
-  setf4(vis->rgba.contactforce,     .7, .9, .9, 1.);
-  setf4(vis->rgba.contactfriction,  .9, .8, .4, 1.);
-  setf4(vis->rgba.contacttorque,    .9, .7, .9, 1.);
-  setf4(vis->rgba.contactgap,       .5, .8, .9, 1.);
-  setf4(vis->rgba.rangefinder,      1., 1., .1, 1.);
-  setf4(vis->rgba.constraint,       .9, .0, .0, 1.);
-  setf4(vis->rgba.slidercrank,      .5, .3, .8, 1.);
-  setf4(vis->rgba.crankbroken,      .9, .0, .0, 1.);
-  setf4(vis->rgba.frustum,          1., 1., .0, .2);
-  setf4(vis->rgba.bv,               0., 1., .0, .5);
-  setf4(vis->rgba.bvactive,         1., 0., .0, .5);
-}
-
-
-//------------------------------ mjLROpt -----------------------------------------------------------
-
-// set default options for length range computation
-void mj_defaultLROpt(mjLROpt* opt) {
-  opt->mode           = mjLRMODE_MUSCLE;
-  opt->useexisting    = 1;
-  opt->uselimit       = 0;
-
-  opt->accel          = 20;
-  opt->maxforce       = 0;
-  opt->timeconst      = 1;
-  opt->timestep       = 0.01;
-  opt->inttotal       = 10;
-  opt->interval       = 2;
-  opt->tolrange       = 0.05;
-}
diff --git a/src/engine/engine_init.h b/src/engine/engine_init.h
deleted file mode 100644
index 084cc8e3..00000000
--- a/src/engine/engine_init.h
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_INIT_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_INIT_H_
-
-#include <mujoco/mujoco.h>
-
-// set default options for length range computation
-void mj_defaultLROpt(mjLROpt* opt);
-
-// set model options to default values
-void mj_defaultOption(mjOption* opt);
-
-// set visual options to default values
-void mj_defaultVisual(mjVisual* vis);
-
-// set statistics to default values
-void mj_defaultStatistic(mjStatistic* stat);
-
-// set solver parameters to default values
-void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_INIT_H_
diff --git a/src/engine/engine_inline.h b/src/engine/engine_inline.h
deleted file mode 100644
index d5f97a97..00000000
--- a/src/engine/engine_inline.h
+++ /dev/null
@@ -1,503 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_INLINE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_INLINE_H_
-
-#include <assert.h>
-
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-
-#ifdef __cplusplus
-  #define restrict __restrict__
-  extern "C" {
-#endif
-
-/* =================================================================================================
-
-Private, high efficiency inlined functions for internal engine use.
-Inlining on its own does nothing due to LTO, so criteria for mji_ functions are:
-- More efficient assembly output due to `restrict`.
-- Skipped copies due to non-alias guarantee (e.g., compare mju_cross and mji_cross).
-
-mji_ functions:
-- Should be modified as little as possible from their mju_ counterparts.
-- Should be used only on the hotpath to prevent future bugs due to aliasing.
-
-================================================================================================= */
-
-
-//------------------------------ 3D vector and matrix-vector operations ----------------------------
-
-// res = 0
-static inline
-void mji_zero3(mjtNum* restrict res) {
-  res[0] = 0;
-  res[1] = 0;
-  res[2] = 0;
-}
-
-
-// res = vec
-static inline
-void mji_copy3(mjtNum* restrict res, const mjtNum *vec) {
-  res[0] = vec[0];
-  res[1] = vec[1];
-  res[2] = vec[2];
-}
-
-
-// res = vec*scl
-static inline
-void mji_scl3(mjtNum* restrict res, const mjtNum vec[3], mjtNum scl) {
-  res[0] = vec[0] * scl;
-  res[1] = vec[1] * scl;
-  res[2] = vec[2] * scl;
-}
-
-
-// res = vec1 + vec2
-static inline
-void mji_add3(mjtNum* restrict res, const mjtNum vec1[3], const mjtNum vec2[3]) {
-  res[0] = vec1[0] + vec2[0];
-  res[1] = vec1[1] + vec2[1];
-  res[2] = vec1[2] + vec2[2];
-}
-
-
-// res = vec1 - vec2
-static inline
-void mji_sub3(mjtNum* restrict res, const mjtNum vec1[3], const mjtNum vec2[3]) {
-  res[0] = vec1[0] - vec2[0];
-  res[1] = vec1[1] - vec2[1];
-  res[2] = vec1[2] - vec2[2];
-}
-
-
-// res += vec
-static inline
-void mji_addTo3(mjtNum* restrict res, const mjtNum vec[3]) {
-  res[0] += vec[0];
-  res[1] += vec[1];
-  res[2] += vec[2];
-}
-
-
-// res -= vec
-static inline
-void mji_subFrom3(mjtNum* restrict res, const mjtNum vec[3]) {
-  res[0] -= vec[0];
-  res[1] -= vec[1];
-  res[2] -= vec[2];
-}
-
-
-// res += vec*scl
-static inline
-void mji_addToScl3(mjtNum* restrict res, const mjtNum vec[3], mjtNum scl) {
-  res[0] += vec[0] * scl;
-  res[1] += vec[1] * scl;
-  res[2] += vec[2] * scl;
-}
-
-
-// res = vec1 + vec2*scl
-static inline
-void mji_addScl3(mjtNum* restrict res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl) {
-  res[0] = vec1[0] + scl*vec2[0];
-  res[1] = vec1[1] + scl*vec2[1];
-  res[2] = vec1[2] + scl*vec2[2];
-}
-
-
-// normalize vector, return length before normalization
-// (for use in this file only)
-static inline
-mjtNum mji__normalize3(mjtNum vec[3]) {
-  mjtNum norm = mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);
-
-  if (norm < mjMINVAL) {
-    vec[0] = 1;
-    vec[1] = 0;
-    vec[2] = 0;
-  } else {
-    mjtNum normInv = 1/norm;
-    vec[0] *= normInv;
-    vec[1] *= normInv;
-    vec[2] *= normInv;
-  }
-
-  return norm;
-}
-
-
-// multiply vector by 3D rotation matrix
-static inline
-void mji_mulMatVec3(mjtNum* restrict res, const mjtNum mat[9], const mjtNum vec[3]) {
-  assert(res != vec);
-  res[0] = mat[0]*vec[0] + mat[1]*vec[1] + mat[2]*vec[2];
-  res[1] = mat[3]*vec[0] + mat[4]*vec[1] + mat[5]*vec[2];
-  res[2] = mat[6]*vec[0] + mat[7]*vec[1] + mat[8]*vec[2];
-}
-
-
-// multiply vector by transposed 3D rotation matrix
-static inline
-void mji_mulMatTVec3(mjtNum* restrict res, const mjtNum mat[9], const mjtNum vec[3]) {
-  assert(res != vec);
-  res[0] = mat[0]*vec[0] + mat[3]*vec[1] + mat[6]*vec[2];
-  res[1] = mat[1]*vec[0] + mat[4]*vec[1] + mat[7]*vec[2];
-  res[2] = mat[2]*vec[0] + mat[5]*vec[1] + mat[8]*vec[2];
-}
-
-
-// multiply 3x3 matrices,
-static inline
-void mji_mulMatMat3(mjtNum* restrict res, const mjtNum mat1[9], const mjtNum mat2[9]) {
-  assert(res != mat1 && res != mat2);
-  res[0] = mat1[0]*mat2[0] + mat1[1]*mat2[3] + mat1[2]*mat2[6];
-  res[1] = mat1[0]*mat2[1] + mat1[1]*mat2[4] + mat1[2]*mat2[7];
-  res[2] = mat1[0]*mat2[2] + mat1[1]*mat2[5] + mat1[2]*mat2[8];
-  res[3] = mat1[3]*mat2[0] + mat1[4]*mat2[3] + mat1[5]*mat2[6];
-  res[4] = mat1[3]*mat2[1] + mat1[4]*mat2[4] + mat1[5]*mat2[7];
-  res[5] = mat1[3]*mat2[2] + mat1[4]*mat2[5] + mat1[5]*mat2[8];
-  res[6] = mat1[6]*mat2[0] + mat1[7]*mat2[3] + mat1[8]*mat2[6];
-  res[7] = mat1[6]*mat2[1] + mat1[7]*mat2[4] + mat1[8]*mat2[7];
-  res[8] = mat1[6]*mat2[2] + mat1[7]*mat2[5] + mat1[8]*mat2[8];
-}
-
-
-// multiply 3x3 matrices, first argument transposed
-static inline
-void mji_mulMatTMat3(mjtNum* restrict res, const mjtNum mat1[9], const mjtNum mat2[9]) {
-  assert(res != mat1 && res != mat2);
-  res[0] = mat1[0]*mat2[0] + mat1[3]*mat2[3] + mat1[6]*mat2[6];
-  res[1] = mat1[0]*mat2[1] + mat1[3]*mat2[4] + mat1[6]*mat2[7];
-  res[2] = mat1[0]*mat2[2] + mat1[3]*mat2[5] + mat1[6]*mat2[8];
-  res[3] = mat1[1]*mat2[0] + mat1[4]*mat2[3] + mat1[7]*mat2[6];
-  res[4] = mat1[1]*mat2[1] + mat1[4]*mat2[4] + mat1[7]*mat2[7];
-  res[5] = mat1[1]*mat2[2] + mat1[4]*mat2[5] + mat1[7]*mat2[8];
-  res[6] = mat1[2]*mat2[0] + mat1[5]*mat2[3] + mat1[8]*mat2[6];
-  res[7] = mat1[2]*mat2[1] + mat1[5]*mat2[4] + mat1[8]*mat2[7];
-  res[8] = mat1[2]*mat2[2] + mat1[5]*mat2[5] + mat1[8]*mat2[8];
-}
-
-
-// transpose 3x3 matrix
-static inline
-void mji_transpose3(mjtNum* restrict res, const mjtNum mat[9]) {
-  assert(res != mat);
-  res[0] = mat[0];
-  res[1] = mat[3];
-  res[2] = mat[6];
-  res[3] = mat[1];
-  res[4] = mat[4];
-  res[5] = mat[7];
-  res[6] = mat[2];
-  res[7] = mat[5];
-  res[8] = mat[8];
-}
-
-
-//------------------------------ 4D vector and matrix-vector operations ----------------------------
-
-// res = vec
-static inline
-void mji_copy4(mjtNum* restrict res, const mjtNum data[4]) {
-  res[0] = data[0];
-  res[1] = data[1];
-  res[2] = data[2];
-  res[3] = data[3];
-}
-
-
-// normalize vector, return length before normalization
-// (for use in this file only)
-static inline
-mjtNum mji__normalize4(mjtNum vec[4]) {
-  mjtNum norm = mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2] + vec[3]*vec[3]);
-
-  if (norm < mjMINVAL) {
-    vec[0] = 1;
-    vec[1] = 0;
-    vec[2] = 0;
-    vec[3] = 0;
-  } else if (mju_abs(norm - 1) > mjMINVAL) {
-    mjtNum normInv = 1/norm;
-    vec[0] *= normInv;
-    vec[1] *= normInv;
-    vec[2] *= normInv;
-    vec[3] *= normInv;
-  }
-
-  return norm;
-}
-
-
-//------------------------------ quaternion operations ---------------------------------------------
-
-// rotate vector by quaternion
-static inline
-void mji_rotVecQuat(mjtNum* restrict res, const mjtNum vec[3], const mjtNum quat[4]) {
-  assert(res != quat);
-  // null quat: copy vec
-  if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
-    mji_copy3(res, vec);
-  }
-
-  // regular processing
-  else {
-    mjtNum tmp[3];
-    // tmp = q_w * v + cross(q_xyz, v)
-    tmp[0] = quat[0]*vec[0] + quat[2]*vec[2] - quat[3]*vec[1];
-    tmp[1] = quat[0]*vec[1] + quat[3]*vec[0] - quat[1]*vec[2];
-    tmp[2] = quat[0]*vec[2] + quat[1]*vec[1] - quat[2]*vec[0];
-    // res = v + 2 * cross(q_xyz, t)
-    res[0] = vec[0] + 2 * (quat[2]*tmp[2] - quat[3]*tmp[1]);
-    res[1] = vec[1] + 2 * (quat[3]*tmp[0] - quat[1]*tmp[2]);
-    res[2] = vec[2] + 2 * (quat[1]*tmp[1] - quat[2]*tmp[0]);
-  }
-}
-
-
-// negate quaternion
-static inline
-void mji_negQuat(mjtNum* restrict res, const mjtNum quat[4]) {
-  res[0] = quat[0];
-  res[1] = -quat[1];
-  res[2] = -quat[2];
-  res[3] = -quat[3];
-}
-
-
-// multiply quaternions
-static inline
-void mji_mulQuat(mjtNum* restrict res, const mjtNum qa[4], const mjtNum qb[4]) {
-  assert(res != qa && res != qb);
-  res[0] = qa[0]*qb[0] - qa[1]*qb[1] - qa[2]*qb[2] - qa[3]*qb[3];
-  res[1] = qa[0]*qb[1] + qa[1]*qb[0] + qa[2]*qb[3] - qa[3]*qb[2];
-  res[2] = qa[0]*qb[2] - qa[1]*qb[3] + qa[2]*qb[0] + qa[3]*qb[1];
-  res[3] = qa[0]*qb[3] + qa[1]*qb[2] - qa[2]*qb[1] + qa[3]*qb[0];
-}
-
-
-// multiply quaternion and axis
-static inline
-void mji_mulQuatAxis(mjtNum* restrict res, const mjtNum quat[4], const mjtNum axis[3]) {
-  assert(res != quat && res != axis);
-  res[0] = -quat[1]*axis[0] - quat[2]*axis[1] - quat[3]*axis[2];
-  res[1] =  quat[0]*axis[0] + quat[2]*axis[2] - quat[3]*axis[1];
-  res[2] =  quat[0]*axis[1] + quat[3]*axis[0] - quat[1]*axis[2];
-  res[3] =  quat[0]*axis[2] + quat[1]*axis[1] - quat[2]*axis[0];
-}
-
-
-// convert axisAngle to quaternion
-static inline
-void mji_axisAngle2Quat(mjtNum* restrict res, const mjtNum axis[3], mjtNum angle) {
-  // zero angle: null quat
-  if (angle == 0) {
-    res[0] = 1;
-    res[1] = 0;
-    res[2] = 0;
-    res[3] = 0;
-  }
-
-  // regular processing
-  else {
-    mjtNum s = mju_sin(angle*0.5);
-    res[0] = mju_cos(angle*0.5);
-    res[1] = axis[0]*s;
-    res[2] = axis[1]*s;
-    res[3] = axis[2]*s;
-  }
-}
-
-
-// convert quaternion (corresponding to orientation difference) to 3D velocity
-static inline
-void mji_quat2Vel(mjtNum* restrict res, const mjtNum quat[4], mjtNum dt) {
-  mjtNum axis[3] = {quat[1], quat[2], quat[3]};
-  mjtNum sin_a_2 = mji__normalize3(axis);
-  mjtNum speed = 2 * mju_atan2(sin_a_2, quat[0]);
-
-  // when axis-angle is larger than pi, rotation is in the opposite direction
-  if (speed > mjPI) {
-    speed -= 2*mjPI;
-  }
-  speed /= dt;
-
-  mji_scl3(res, axis, speed);
-}
-
-
-// Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.
-static inline
-void mji_subQuat(mjtNum* restrict res, const mjtNum qa[4], const mjtNum qb[4]) {
-  // qdif = neg(qb)*qa
-  mjtNum qneg[4], qdif[4];
-  mji_negQuat(qneg, qb);
-  mji_mulQuat(qdif, qneg, qa);
-
-  // convert to 3D velocity
-  mji_quat2Vel(res, qdif, 1);
-}
-
-
-// convert 3D rotation matrix to quaternion
-static inline
-void mji_mat2Quat(mjtNum* restrict quat, const mjtNum mat[9]) {
-  assert(quat != mat);
-  // q0 largest
-  if (mat[0]+mat[4]+mat[8]>0) {
-    quat[0] = 0.5 * mju_sqrt(1 + mat[0] + mat[4] + mat[8]);
-    quat[1] = 0.25 * (mat[7] - mat[5]) / quat[0];
-    quat[2] = 0.25 * (mat[2] - mat[6]) / quat[0];
-    quat[3] = 0.25 * (mat[3] - mat[1]) / quat[0];
-  }
-
-  // q1 largest
-  else if (mat[0]>mat[4] && mat[0]>mat[8]) {
-    quat[1] = 0.5 * mju_sqrt(1 + mat[0] - mat[4] - mat[8]);
-    quat[0] = 0.25 * (mat[7] - mat[5]) / quat[1];
-    quat[2] = 0.25 * (mat[1] + mat[3]) / quat[1];
-    quat[3] = 0.25 * (mat[2] + mat[6]) / quat[1];
-  }
-
-  // q2 largest
-  else if (mat[4]>mat[8]) {
-    quat[2] = 0.5 * mju_sqrt(1 - mat[0] + mat[4] - mat[8]);
-    quat[0] = 0.25 * (mat[2] - mat[6]) / quat[2];
-    quat[1] = 0.25 * (mat[1] + mat[3]) / quat[2];
-    quat[3] = 0.25 * (mat[5] + mat[7]) / quat[2];
-  }
-
-  // q3 largest
-  else {
-    quat[3] = 0.5 * mju_sqrt(1 - mat[0] - mat[4] + mat[8]);
-    quat[0] = 0.25 * (mat[3] - mat[1]) / quat[3];
-    quat[1] = 0.25 * (mat[2] + mat[6]) / quat[3];
-    quat[2] = 0.25 * (mat[5] + mat[7]) / quat[3];
-  }
-
-  mji__normalize4(quat);
-}
-
-
-// integrate quaternion given 3D angular velocity
-static inline
-void mji_quatIntegrate(mjtNum* restrict quat, const mjtNum vel[3], mjtNum scale) {
-  assert(quat != vel);
-  mjtNum angle, tmp[4], qrot[4];
-
-  // form local rotation quaternion, apply
-  mji_copy3(tmp, vel);
-  angle = scale * mji__normalize3(tmp);
-  mji_axisAngle2Quat(qrot, tmp, angle);
-  mji__normalize4(quat);
-  mji_copy4(tmp, quat);
-  mji_mulQuat(quat, tmp, qrot);
-}
-
-
-//------------------------------ spatial algebra ---------------------------------------------------
-
-// vector cross-product, 3D
-static inline
-void mji_cross(mjtNum* restrict res, const mjtNum a[3], const mjtNum b[3]) {
-  assert(res != a && res != b);
-  res[0] = a[1]*b[2] - a[2]*b[1];
-  res[1] = a[2]*b[0] - a[0]*b[2];
-  res[2] = a[0]*b[1] - a[1]*b[0];
-}
-
-
-// cross-product for motion vector
-static inline
-void mji_crossMotion(mjtNum* restrict res, const mjtNum vel[6], const mjtNum v[6]) {
-  assert(res != vel && res != v);
-  res[0] = -vel[2]*v[1] + vel[1]*v[2];
-  res[1] =  vel[2]*v[0] - vel[0]*v[2];
-  res[2] = -vel[1]*v[0] + vel[0]*v[1];
-  res[3] = -vel[2]*v[4] + vel[1]*v[5];
-  res[4] =  vel[2]*v[3] - vel[0]*v[5];
-  res[5] = -vel[1]*v[3] + vel[0]*v[4];
-
-  res[3] += -vel[5]*v[1] + vel[4]*v[2];
-  res[4] +=  vel[5]*v[0] - vel[3]*v[2];
-  res[5] += -vel[4]*v[0] + vel[3]*v[1];
-}
-
-
-// cross-product for force vectors
-static inline
-void mji_crossForce(mjtNum* restrict res, const mjtNum vel[6], const mjtNum f[6]) {
-  assert(res != vel && res != f);
-  res[0] = -vel[2]*f[1] + vel[1]*f[2];
-  res[1] =  vel[2]*f[0] - vel[0]*f[2];
-  res[2] = -vel[1]*f[0] + vel[0]*f[1];
-  res[3] = -vel[2]*f[4] + vel[1]*f[5];
-  res[4] =  vel[2]*f[3] - vel[0]*f[5];
-  res[5] = -vel[1]*f[3] + vel[0]*f[4];
-
-  res[0] += -vel[5]*f[4] + vel[4]*f[5];
-  res[1] +=  vel[5]*f[3] - vel[3]*f[5];
-  res[2] += -vel[4]*f[3] + vel[3]*f[4];
-}
-
-
-// 6D vector dot-product
-static inline
-mjtNum mji_dot6(const mjtNum vec1[6], const mjtNum vec2[6]) {
-  // match order of operations to mju_dot
-  return ((vec1[0] * vec2[0] + vec1[2] * vec2[2]) +
-          (vec1[1] * vec2[1] + vec1[3] * vec2[3])) +
-          (vec1[4] * vec2[4] + vec1[5] * vec2[5]);
-}
-
-
-// res = vec
-static inline
-void mji_copy6(mjtNum* restrict res, const mjtNum *vec) {
-  res[0] = vec[0];
-  res[1] = vec[1];
-  res[2] = vec[2];
-  res[3] = vec[3];
-  res[4] = vec[4];
-  res[5] = vec[5];
-}
-
-
-// res = vec
-static inline
-void mji_copy9(mjtNum* restrict res, const mjtNum data[9]) {
-  res[0] = data[0];
-  res[1] = data[1];
-  res[2] = data[2];
-  res[3] = data[3];
-  res[4] = data[4];
-  res[5] = data[5];
-  res[6] = data[6];
-  res[7] = data[7];
-  res[8] = data[8];
-}
-
-
-#ifdef __cplusplus
-  }  // extern "C"
-  #undef restrict
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_INLINE_H_
diff --git a/src/engine/engine_inverse.c b/src/engine/engine_inverse.c
deleted file mode 100644
index 4919390c..00000000
--- a/src/engine/engine_inverse.c
+++ /dev/null
@@ -1,342 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_inverse.h"
-
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_collision_driver.h"
-#include "engine/engine_core_constraint.h"
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_derivative.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_forward.h"
-#include "engine/engine_sensor.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse.h"
-
-// position-dependent computations
-void mj_invPosition(const mjModel* m, mjData* d) {
-  TM_START1;
-  TM_START;
-
-  // clear flag for lazy evaluation
-  d->flg_energypos = 0;
-
-  mj_kinematics(m, d);
-  mj_comPos(m, d);
-  mj_camlight(m, d);
-  mj_flex(m, d);
-  mj_tendon(m, d);
-  TM_END(mjTIMER_POS_KINEMATICS);
-
-  mj_makeM(m, d);      // timed internally (POS_INERTIA)
-  mj_factorM(m, d);    // timed internally (POS_INERTIA)
-
-  mj_collision(m, d);  // timed internally (POS_COLLISION)
-
-  TM_RESTART;
-  mj_makeConstraint(m, d);
-  TM_END(mjTIMER_POS_MAKE);
-
-  // compute exact diagonal if enabled
-  if (mjENABLED(mjENBL_DIAGEXACT)) {
-    TM_RESTART;
-    mj_projectConstraint(m, d);
-    TM_END(mjTIMER_POS_PROJECT);
-  }
-
-  TM_RESTART;
-  mj_transmission(m, d);
-  TM_ADD(mjTIMER_POS_KINEMATICS);
-
-  // implicit effective metric: multiply-only build (no factorization) for the inverse
-  mjd_effBuild(m, d, mj_flexCG(m), /*flg_factor=*/0);
-
-  TM_END1(mjTIMER_POSITION);
-}
-
-
-// velocity-dependent computations
-void mj_invVelocity(const mjModel* m, mjData* d) {
-  mj_fwdVelocity(m, d);
-}
-
-
-// convert discrete-time qacc to continuous-time qacc
-static void mj_discreteAcc(const mjModel* m, mjData* d) {
-  int nv = m->nv, nC = m->nC, nD = m->nD, dof_damping;
-  mjtNum *qacc = d->qacc;
-
-  mj_markStack(d);
-  mjtNum* qfrc = mjSTACKALLOC(d, nv, mjtNum);
-
-  // use selected integrator
-  switch ((mjtIntegrator) m->opt.integrator) {
-  case mjINT_RK4:
-    // not supported by RK4
-    mjERROR("discrete inverse dynamics is not supported by RK4 integrator");
-    return;
-
-  case mjINT_EULER:
-    // check for dof damping if disable flag is not set
-    dof_damping = 0;
-    if (!mjDISABLED(mjDSBL_EULERDAMP)) {
-      for (int i=0; i < nv; i++) {
-        if (m->dof_damping[i] > 0 ||
-            !mju_isZero(m->dof_dampingpoly + mjNPOLY*i, mjNPOLY) ||
-            m->jnt_actuatorid[m->dof_jntid[i]] != -1) {
-          dof_damping = 1;
-          break;
-        }
-      }
-    }
-
-    // if disabled or no dof damping, nothing to do
-    if (!dof_damping) {
-      mj_freeStack(d);
-      return;
-    }
-
-    // set qfrc = (M + h*diag(B)) * qacc
-    mj_mulM(m, d, qfrc, qacc);
-    for (int i=0; i < nv; i++) {
-      mjtNum v = d->qvel[i];
-      mjtNum poly[mjNPOLY];
-      mju_copy(poly, m->dof_dampingpoly + mjNPOLY*i, mjNPOLY);
-      mjtNum damping = m->dof_damping[i]
-                       + mj_actuatorDamping(m, mjOBJ_JOINT, m->dof_jntid[i], poly);
-      mjtNum damp_deriv = mjd_xPolyForce(damping, poly, v, mjNPOLY, 1);
-      qfrc[i] += m->opt.timestep * damp_deriv * d->qacc[i];
-    }
-    break;
-
-  case mjINT_IMPLICIT:
-    // compute qDeriv
-    mjd_smooth_vel(m, d, /* flg_bias = */ 1);
-
-    // gather qLU <- M (lower to full)
-    mju_gatherMasked(d->qLU, d->M, m->mapM2D, nD);
-
-    // set qLU = M - dt*qDeriv
-    mju_addToScl(d->qLU, d->qDeriv, -m->opt.timestep, m->nD);
-
-    // set qfrc = qLU * qacc
-    mju_mulMatVecSparse(qfrc, d->qLU, qacc, nv,
-                        m->D_rownnz, m->D_rowadr, m->D_colind, /*rowsuper=*/NULL);
-    break;
-
-  case mjINT_IMPLICITFAST:
-    // compute analytical derivative qDeriv; skip rne derivative
-    mjd_smooth_vel(m, d, /* flg_bias = */ 0);
-
-    // save mass matrix
-    mjtNum* Msave = mjSTACKALLOC(d, m->nC, mjtNum);
-    mju_copy(Msave, d->M, m->nC);
-
-    // modified mass matrix: gather qH <- qDeriv (full to lower)
-    mju_gather(d->qH, d->qDeriv, m->mapD2M, nC);
-
-    // set qH = M - dt*qDeriv
-    mju_addScl(d->qH, d->M, d->qH, -m->opt.timestep, nC);
-
-    // set qfrc = (M - dt*qDeriv) * qacc
-    mju_mulSymVecSparse(qfrc, d->qH, qacc, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind);
-
-    // standalone free bodies: overwrite block rows with the unsymmetric local product,
-    // including the bias (gyroscopic) derivative, mirroring mj_implicitSkip
-    for (int j=0; j < m->njnt; j++) {
-      mjtNum A[36];
-      if (!mjd_freeMhat(m, d, j, m->opt.timestep, A)) {
-        continue;
-      }
-      int adr = m->jnt_dofadr[j];
-      mju_mulMatVec(qfrc+adr, A, qacc+adr, 6, 6);
-    }
-    break;
-  }
-
-  // solve for qacc: qfrc = M * qacc
-  mj_solveM(m, d, qacc, qfrc, 1);
-
-  mj_freeStack(d);
-
-  // refresh the effective-metric velocity shift
-  mjd_effShift(m, d);
-}
-
-
-// inverse constraint solver
-void mj_invConstraint(const mjModel* m, mjData* d) {
-  TM_START;
-  int nefc = d->nefc;
-
-  // no constraints: clear, return
-  if (!nefc) {
-    mju_zero(d->qfrc_constraint, m->nv);
-    TM_END(mjTIMER_CONSTRAINT);
-    return;
-  }
-
-  mj_markStack(d);
-  mjtNum* jar = mjSTACKALLOC(d, nefc, mjtNum);
-
-  // compute jar = Jac*qacc - aref
-  mj_mulJacVec(m, d, jar, d->qacc);
-  mju_subFrom(jar, d->efc_aref, nefc);
-
-  // call update function
-  mj_constraintUpdate(m, d, jar, NULL, 0);
-
-  mj_freeStack(d);
-  TM_END(mjTIMER_CONSTRAINT);
-}
-
-
-// inverse dynamics with skip; skipstage is mjtStage
-void mj_inverseSkip(const mjModel* m, mjData* d,
-                    int skipstage, int skipsensor) {
-  TM_START;
-  mj_markStack(d);
-  mjtNum* qacc;
-  int nv = m->nv;
-
-  // position-dependent
-  if (skipstage < mjSTAGE_POS) {
-    mj_invPosition(m, d);
-    if (!skipsensor) {
-      mj_sensorPos(m, d);
-    }
-    if (mjENABLED(mjENBL_ENERGY) && !d->flg_energypos) {
-      mj_energyPos(m, d);
-    }
-  }
-
-  // velocity-dependent
-  if (skipstage < mjSTAGE_VEL) {
-    mj_invVelocity(m, d);
-    if (!skipsensor) {
-      mj_sensorVel(m, d);
-    }
-    if (mjENABLED(mjENBL_ENERGY) && !d->flg_energyvel) {
-      mj_energyVel(m, d);
-    }
-  }
-
-  if (mjENABLED(mjENBL_INVDISCRETE)) {
-    // save current qacc
-    qacc = mjSTACKALLOC(d, nv, mjtNum);
-    mju_copy(qacc, d->qacc, nv);
-
-    // modify qacc in-place
-    mj_discreteAcc(m, d);
-  }
-
-  // acceleration-dependent
-  mj_invConstraint(m, d);
-
-  // sum of bias forces in qfrc_inverse = centripetal + Coriolis + tendon bias
-  mj_rne(m, d, 0, d->qfrc_inverse);
-  mj_tendonBias(m, d, d->qfrc_inverse);
-
-  if (!skipsensor) {
-    d->flg_rnepost = 0;  // clear flag for lazy evaluation
-    mj_sensorAcc(m, d);
-  }
-
-  // compute Ma = M*qacc
-  mjtNum* Ma = mjSTACKALLOC(d, nv, mjtNum);
-  mj_mulM(m, d, Ma, d->qacc);
-
-  // implicit effective metric (built in mj_invPosition): the forward dynamics solved
-  // (M+K)*qacc = qfrc + c + J'*f, so the discrete-consistent inverse adds K*qacc - c
-  if (d->efm_active) {
-    mjd_effMulAdd(m, d, Ma, d->qacc);
-    mju_subFrom(Ma, d->efm_c, nv);
-  }
-
-  // qfrc_inverse += Ma - qfrc_passive - qfrc_constraint
-  for (int i=0; i < nv; i++) {
-    d->qfrc_inverse[i] += Ma[i] - d->qfrc_passive[i] - d->qfrc_constraint[i];
-  }
-
-  if (mjENABLED(mjENBL_INVDISCRETE)) {
-    // restore qacc
-    mju_copy(d->qacc, qacc, nv);
-  }
-
-  mj_freeStack(d);
-  TM_END(mjTIMER_INVERSE);
-}
-
-
-// inverse dynamics
-void mj_inverse(const mjModel* m, mjData* d) {
-  mj_inverseSkip(m, d, mjSTAGE_NONE, 0);
-}
-
-
-// compare forward and inverse dynamics, without changing results of forward
-//    fwdinv[0] = norm(qfrc_constraint(forward) - qfrc_constraint(inverse))
-//    fwdinv[1] = norm(qfrc_applied(forward) - qfrc_inverse)
-void mj_compareFwdInv(const mjModel* m, mjData* d) {
-  int nv = m->nv, nefc = d->nefc;
-  mjtNum *qforce, *dif, *save_qfrc_constraint, *save_efc_force;
-
-  // clear result, return if no constraints
-  d->solver_fwdinv[0] = d->solver_fwdinv[1] = 0;
-  if (!nefc) {
-    return;
-  }
-
-  // allocate
-  mj_markStack(d);
-  qforce = mjSTACKALLOC(d, nv, mjtNum);
-  dif = mjSTACKALLOC(d, nv, mjtNum);
-  save_qfrc_constraint = mjSTACKALLOC(d, nv, mjtNum);
-  save_efc_force = mjSTACKALLOC(d, nefc, mjtNum);
-
-  // qforce = qfrc_applied + J'*xfrc_applied + qfrc_actuator
-  //  should equal result of inverse dynamics
-  mju_add(qforce, d->qfrc_applied, d->qfrc_actuator, nv);
-  mj_xfrcAccumulate(m, d, qforce);
-
-  // save forward dynamics results that are about to be modified
-  mju_copy(save_qfrc_constraint, d->qfrc_constraint, nv);
-  mju_copy(save_efc_force, d->efc_force, nefc);
-
-  // run inverse dynamics, do not update position and velocity,
-  mj_inverseSkip(m, d, mjSTAGE_VEL, 1);  // 1: do not recompute sensors and energy
-
-  // compute statistics
-  mju_sub(dif, save_qfrc_constraint, d->qfrc_constraint, nv);
-  d->solver_fwdinv[0] = mju_norm(dif, nv);
-  mju_sub(dif, qforce, d->qfrc_inverse, nv);
-  d->solver_fwdinv[1] = mju_norm(dif, nv);
-
-  // restore forward dynamics results
-  mju_copy(d->qfrc_constraint, save_qfrc_constraint, nv);
-  mju_copy(d->efc_force, save_efc_force, nefc);
-
-  mj_freeStack(d);
-}
diff --git a/src/engine/engine_inverse.h b/src/engine/engine_inverse.h
deleted file mode 100644
index 0adf6dd6..00000000
--- a/src/engine/engine_inverse.h
+++ /dev/null
@@ -1,49 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_INVERSE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_INVERSE_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// inverse dynamics
-MJAPI void mj_inverse(const mjModel* m, mjData* d);
-
-// Inverse dynamics with skip; skipstage is mjtStage.
-MJAPI void mj_inverseSkip(const mjModel* m, mjData* d,
-                          int skipstage, int skipsensor);
-
-// position-dependent computations
-MJAPI void mj_invPosition(const mjModel* m, mjData* d);
-
-// velocity-dependent computations
-MJAPI void mj_invVelocity(const mjModel* m, mjData* d);
-
-// inverse constraint solver
-MJAPI void mj_invConstraint(const mjModel* m, mjData* d);
-
-// compare forward and inverse dynamics, without changing results of forward dynamics
-MJAPI void mj_compareFwdInv(const mjModel* m, mjData* d);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_INVERSE_H_
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
deleted file mode 100644
index 99d9d768..00000000
--- a/src/engine/engine_io.c
+++ /dev/null
@@ -1,2242 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_io.h"
-
-#include <inttypes.h>  // IWYU pragma: keep
-#include <limits.h>
-#include <stddef.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjxmacro.h>
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_forward.h"
-#include "engine/engine_init.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_plugin.h"
-#include "engine/engine_sleep.h"
-#include "engine/engine_thread.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-
-#ifdef mjUSEASAN
-  #include <sanitizer/asan_interface.h>
-  #include <sanitizer/common_interface_defs.h>
-#endif
-
-#ifdef MEMORY_SANITIZER
-  #include <sanitizer/msan_interface.h>
-#endif
-
-#ifdef _MSC_VER
-  #pragma warning (disable: 4305)  // disable MSVC warning: truncation from 'double' to 'float'
-#endif
-
-static const int MAX_ARRAY_SIZE = INT_MAX;
-
-
-//----------------------------------- static utility functions -------------------------------------
-
-// id used to identify binary mjModel file/buffer
-static const int ID = 54321;
-
-
-// number of ints in the mjb header
-#define NHEADER 5
-
-
-// macro for referring to a mjModel member in generic expressions
-#define MJMODEL_MEMBER(name) (((mjModel*) NULL)->name)
-
-
-// count mjtSize members in mjModel
-static int getnsize(void) {
-  int cnt = 0;
-
-#define X(name) cnt += _Generic(MJMODEL_MEMBER(name), mjtSize: 1, default: 0);
-  MJMODEL_SIZES
-#undef X
-
-  return cnt;
-}
-
-
-// count pointers in mjModel
-static int getnptr(void) {
-  int cnt = 0;
-
-#define X(type, name, nr, nc) cnt++;
-  MJMODEL_POINTERS
-#undef X
-
-  return cnt;
-}
-
-
-// write to memory buffer
-static void bufwrite(const void* src, int num, mjtSize szbuf, void* buf, mjtSize* ptrbuf) {
-  // check pointers
-  if (!src || !buf || !ptrbuf) {
-    mjERROR("NULL pointer passed to bufwrite");
-  }
-
-  // check size
-  if (*ptrbuf+num > szbuf) {
-    mjERROR("attempting to write outside model buffer");
-  }
-
-  // write, advance pointer
-  memcpy((char*)buf + *ptrbuf, src, num);
-  *ptrbuf += num;
-}
-
-
-// read from memory buffer
-static void bufread(void* dest, int num, mjtSize szbuf, const void* buf, mjtSize* ptrbuf) {
-  // check pointers
-  if (!dest || !buf || !ptrbuf) {
-    mjERROR("NULL pointer passed to bufread");
-  }
-
-  // check size
-  if (*ptrbuf+num > szbuf) {
-    mjERROR("attempting to read outside model buffer");
-  }
-
-  // read, advance pointer
-  memcpy(dest, (char*)buf + *ptrbuf, num);
-  *ptrbuf += num;
-}
-
-
-// number of bytes to be skipped to achieve 64-byte alignment
-static inline unsigned int SKIP(intptr_t offset) {
-  const unsigned int align = 64;
-  // compute skipped bytes
-  return (align - (offset % align)) % align;
-}
-
-
-//----------------------------------- mjModel construction -----------------------------------------
-
-// set pointers in mjModel buffer
-static void mj_setPtrModel(mjModel* m) {
-  char* ptr = (char*)m->buffer;
-
-  // prepare symbols needed by xmacro
-  MJMODEL_POINTERS_PREAMBLE(m);
-
-  // assign pointers with padding
-#define X(type, name, nr, nc)                             \
-  m->name = (type*)(ptr + SKIP((intptr_t)ptr));           \
-  ASAN_POISON_MEMORY_REGION(ptr, PTRDIFF(m->name, ptr));  \
-  ptr += SKIP((intptr_t)ptr) + sizeof(type)*(m->nr)*(nc);
-
-  MJMODEL_POINTERS
-#undef X
-
-  // check size
-  ptrdiff_t sz = ptr - (char*)m->buffer;
-  if (m->nbuffer != sz) {
-    mjERROR(
-        "mjModel buffer size mismatch, "
-        "expected size: %" PRIu64 ",  actual size: %td",
-        m->nbuffer, sz);
-  }
-}
-
-
-// increases buffer size without causing integer overflow, returns 0 if
-// operation would cause overflow
-// performs the following operations:
-// *nbuffer += SKIP(*offset) + type_size*nr*nc;
-// *offset += SKIP(*offset) + type_size*nr*nc;
-static mjtSize safeAddToBufferSize(intptr_t* offset, mjtSize* nbuffer,
-                                   size_t type_size, mjtSize nr, mjtSize nc) {
-  if (type_size < 0 || nr < 0 || nc < 0) {
-    return 0;
-  }
-#if (__has_builtin(__builtin_add_overflow) && __has_builtin(__builtin_mul_overflow)) \
-  || (defined(__GNUC__) && __GNUC__ >= 5)
-  // supported by GCC and Clang
-  size_t to_add = 0;
-  if (__builtin_mul_overflow(nc, nr, &to_add)) return 0;
-  if (__builtin_mul_overflow(to_add, type_size, &to_add)) return 0;
-  if (__builtin_add_overflow(to_add, SKIP(*offset), &to_add)) return 0;
-  if (__builtin_add_overflow(*nbuffer, to_add, nbuffer)) return 0;
-  if (__builtin_add_overflow(*offset, to_add, offset)) return 0;
-#else
-  // safe overflow checks for MSVC and other compilers without __builtin_*_overflow
-  {
-    size_t product;
-    size_t to_add;
-    size_t skip = SKIP(*offset);
-
-    // nc * nr
-    if (nr > 0 && (size_t)nc > SIZE_MAX / (size_t)nr) return 0;
-    product = (size_t)nc * (size_t)nr;
-
-    // product * type_size
-    if (type_size > 0 && product > SIZE_MAX / type_size) return 0;
-    product *= type_size;
-
-    // product + SKIP(*offset)
-    if (product > SIZE_MAX - skip) return 0;
-    to_add = product + skip;
-
-    // *nbuffer + to_add
-    if ((size_t)*nbuffer > SIZE_MAX - to_add) return 0;
-    *nbuffer += to_add;
-
-    // *offset + to_add
-    if (*offset > 0 && to_add > (size_t)(INTPTR_MAX - *offset)) return 0;
-    *offset += to_add;
-  }
-#endif
-
-  return 1;
-}
-
-
-// free model memory without destroying the struct
-static void freeModelBuffers(mjModel* m) {
-  mju_free(m->buffer);
-}
-
-
-// allocate and initialize mjModel structure
-void mj_makeModel(mjModel** dest,
-    mjtSize nq, mjtSize nv, mjtSize nu, mjtSize nactuator, mjtSize nout, mjtSize na,
-    mjtSize nbody, mjtSize nbvh, mjtSize nbvhstatic,
-    mjtSize nbvhdynamic, mjtSize noct, mjtSize njnt, mjtSize ntree, mjtSize nM, mjtSize nB,
-    mjtSize nC, mjtSize nD, mjtSize ngeom, mjtSize nsite, mjtSize ncam, mjtSize nlight,
-    mjtSize nflex, mjtSize nflexnode, mjtSize nflexvert, mjtSize nflexedge, mjtSize nflexelem,
-    mjtSize nflexelemdata, mjtSize nflexstiffness, mjtSize nflexbending,
-    mjtSize nefm0dof, mjtSize nefm0L, mjtSize nflexelemedge,
-    mjtSize nflexshelldata, mjtSize nflexevpair, mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv,
-    mjtSize nmesh, mjtSize nmeshvert, mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface,
-    mjtSize nmeshgraph, mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap,
-    mjtSize nskin, mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
-    mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
-    mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nJten,
-    mjtSize nwrap, mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext,
-    mjtSize ntextdata, mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap,
-    mjtSize nplugin, mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
-    mjtSize nuser_site, mjtSize nuser_cam, mjtSize nuser_tendon, mjtSize nuser_actuator,
-    mjtSize nuser_sensor, mjtSize nnames, mjtSize npaths) {
-  intptr_t offset = 0;
-  int allocate = *dest ? 0 : 1;
-  mjModel* m = NULL;
-
-  // CHECK SIZE PARAMETERS
-  {
-    // dummy variables for MJMODEL_SIZES set after mjModel construction
-    int nnames_map = 0, nJmom = 0, ngravcomp = 0, nemax = 0, njmax = 0, nconmax=0;
-    int npolygonmax = 0, nmeshdegmax = 0;
-    int nuserdata=0, nsensordata=0, npluginstate=0, nhistory=0, narena=0, nbuffer=0;
-
-    // sizes must be non-negative and fit in int, except for the byte arrays texdata and textdata
-    #define X(name)                                                                   \
-      if (name < 0) {                                                                 \
-        mju_warning("Invalid model: %s is negative (%lld).", #name, (long long)name); \
-        return;                                                                       \
-      }                                                                               \
-      if (name >= MAX_ARRAY_SIZE &&                                                   \
-          strcmp(#name, "ntexdata") != 0 && strcmp(#name, "ntextdata") != 0) {        \
-        mju_warning("Invalid model: %s is too large. Expected < %d. Got %lld.",       \
-                    #name, MAX_ARRAY_SIZE, (long long)name);                          \
-        return;                                                                       \
-      }
-    MJMODEL_SIZES
-#undef X
-
-    // suppress unused variable warnings
-    (void)nnames_map; (void)nJmom; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
-    (void)npolygonmax; (void)nmeshdegmax;
-    (void)nuserdata; (void)nsensordata; (void)npluginstate; (void)nhistory; (void)narena;
-    (void)nbuffer;
-  }
-
-  // nbody should always be positive
-  if (nbody == 0) {
-    mju_warning("Invalid model: nbody == 0");
-    return;
-  }
-
-  // allocate mjModel
-  if (!allocate) {
-    m = *dest;
-    freeModelBuffers(m);
-  } else {
-    m = (mjModel*)mju_malloc(sizeof(mjModel));
-  }
-
-  if (!m) {
-    mjERROR("could not allocate mjModel");
-  }
-  memset(m, 0, sizeof(mjModel));
-
-  // set size parameters
-  m->nq = nq;
-  m->nv = nv;
-  m->nu = nu;
-  m->nactuator = nactuator;
-  m->nout = nout;
-  m->na = na;
-  m->nbody = nbody;
-  m->nbvh = nbvh;
-  m->nbvhstatic = nbvhstatic;
-  m->nbvhdynamic = nbvhdynamic;
-  m->noct = noct;
-  m->njnt = njnt;
-  m->ntree = ntree;
-  m->nM = nM;
-  m->nB = nB;
-  m->nC = nC;
-  m->nD = nD;
-  m->ngeom = ngeom;
-  m->nsite = nsite;
-  m->ncam = ncam;
-  m->nlight = nlight;
-  m->nflex = nflex;
-  m->nflexnode = nflexnode;
-  m->nflexvert = nflexvert;
-  m->nflexedge = nflexedge;
-  m->nflexelem = nflexelem;
-  m->nflexelemdata = nflexelemdata;
-  m->nflexstiffness = nflexstiffness;
-  m->nflexbending = nflexbending;
-  m->nefm0dof = nefm0dof;
-  m->nefm0L = nefm0L;
-  m->nflexelemedge = nflexelemedge;
-  m->nflexshelldata = nflexshelldata;
-  m->nflexevpair = nflexevpair;
-  m->nflextexcoord = nflextexcoord;
-  m->nJfe = nJfe;
-  m->nJfv = nJfv;
-  m->nmesh = nmesh;
-  m->nmeshvert = nmeshvert;
-  m->nmeshnormal = nmeshnormal;
-  m->nmeshtexcoord = nmeshtexcoord;
-  m->nmeshface = nmeshface;
-  m->nmeshgraph = nmeshgraph;
-  m->nmeshpoly = nmeshpoly;
-  m->nmeshpolyvert = nmeshpolyvert;
-  m->nmeshpolymap = nmeshpolymap;
-  m->nskin = nskin;
-  m->nskinvert = nskinvert;
-  m->nskintexvert = nskintexvert;
-  m->nskinface = nskinface;
-  m->nskinbone = nskinbone;
-  m->nskinbonevert = nskinbonevert;
-  m->nhfield = nhfield;
-  m->nhfielddata = nhfielddata;
-  m->ntex = ntex;
-  m->ntexdata = ntexdata;
-  m->nmat = nmat;
-  m->npair = npair;
-  m->nexclude = nexclude;
-  m->neq = neq;
-  m->ntendon = ntendon;
-  m->nJten = nJten;
-  m->nwrap = nwrap;
-  m->nsensor = nsensor;
-  m->nnumeric = nnumeric;
-  m->nnumericdata = nnumericdata;
-  m->ntext = ntext;
-  m->ntextdata = ntextdata;
-  m->ntuple = ntuple;
-  m->ntupledata = ntupledata;
-  m->nkey = nkey;
-  m->nmocap = nmocap;
-  m->nplugin = nplugin;
-  m->npluginattr = npluginattr;
-  m->nuser_body = nuser_body;
-  m->nuser_jnt = nuser_jnt;
-  m->nuser_geom = nuser_geom;
-  m->nuser_site = nuser_site;
-  m->nuser_cam = nuser_cam;
-  m->nuser_tendon = nuser_tendon;
-  m->nuser_actuator = nuser_actuator;
-  m->nuser_sensor = nuser_sensor;
-  m->nnames = nnames;
-  long nnames_map = (long)nbody + njnt + ngeom + nsite + ncam + nlight + nflex + nmesh + nskin +
-                    nhfield + ntex + nmat + npair + nexclude + neq + ntendon + nactuator + nsensor +
-                    nnumeric + ntext + ntuple + nkey + nplugin;
-  if (nnames_map >= INT_MAX / mjLOAD_MULTIPLE) {
-    if (allocate) mju_free(m);
-    mju_warning("Invalid model: size of nnames_map is larger than INT_MAX");
-    return;
-  }
-  m->nnames_map = mjLOAD_MULTIPLE * nnames_map;
-  m->npaths = npaths;
-
-  // compute buffer size
-  m->nbuffer = 0;
-#define X(type, name, nr, nc)                                                \
-  if (!safeAddToBufferSize(&offset, &m->nbuffer, sizeof(type), m->nr, nc)) { \
-    if (allocate) mju_free(m);                                               \
-    mju_warning("Invalid model: " #name " too large.");                      \
-    return;                                                                  \
-  }
-
-  MJMODEL_POINTERS
-#undef X
-
-  // allocate buffer
-  m->buffer = mju_malloc(m->nbuffer);
-  if (!m->buffer) {
-    if (allocate) mju_free(m);
-    mjERROR("could not allocate mjModel buffer");
-  }
-
-  // clear, set pointers in buffer
-  memset(m->buffer, 0, m->nbuffer);
-#ifdef MEMORY_SANITIZER
-  // tell msan to treat the entire buffer as uninitialized
-  __msan_allocated_memory(m->buffer, m->nbuffer);
-#endif
-  mj_setPtrModel(m);
-
-  // set default options
-  mj_defaultOption(&m->opt);
-  mj_defaultVisual(&m->vis);
-  mj_defaultStatistic(&m->stat);
-
-  // copy pointer if allocated here
-  if (allocate) {
-    *dest = m;
-  }
-}
-
-
-// copy mjModel, if dest==NULL create new model
-mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
-  // allocate new model if needed
-  if (!dest) {
-    mj_makeModel(
-        &dest, src->nq, src->nv, src->nu, src->nactuator, src->nout, src->na,
-        src->nbody, src->nbvh, src->nbvhstatic,
-        src->nbvhdynamic, src->noct, src->njnt, src->ntree, src->nM, src->nB, src->nC, src->nD,
-        src->ngeom, src->nsite, src->ncam, src->nlight, src->nflex, src->nflexnode, src->nflexvert,
-        src->nflexedge, src->nflexelem, src->nflexelemdata, src->nflexstiffness,
-        src->nflexbending, src->nefm0dof, src->nefm0L, src->nflexelemedge, src->nflexshelldata, src->nflexevpair,
-        src->nflextexcoord, src->nJfe, src->nJfv, src->nmesh, src->nmeshvert, src->nmeshnormal,
-        src->nmeshtexcoord, src->nmeshface, src->nmeshgraph, src->nmeshpoly, src->nmeshpolyvert,
-        src->nmeshpolymap, src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
-        src->nskinbone, src->nskinbonevert, src->nhfield, src->nhfielddata, src->ntex,
-        src->ntexdata, src->nmat, src->npair, src->nexclude, src->neq, src->ntendon, src->nJten,
-        src->nwrap, src->nsensor, src->nnumeric, src->nnumericdata, src->ntext, src->ntextdata,
-        src->ntuple, src->ntupledata, src->nkey, src->nmocap, src->nplugin, src->npluginattr,
-        src->nuser_body, src->nuser_jnt, src->nuser_geom, src->nuser_site, src->nuser_cam,
-        src->nuser_tendon, src->nuser_actuator, src->nuser_sensor, src->nnames, src->npaths);
-  }
-  if (!dest) {
-    mjERROR("failed to make mjModel. Invalid sizes.");
-  }
-
-  // check sizes
-  if (dest->nbuffer != src->nbuffer) {
-    mj_deleteModel(dest);
-    mjERROR("dest and src models have different buffer size");
-  }
-
-  // save buffer ptr, copy struct, restore buffer and other pointers
-  void* save_bufptr = dest->buffer;
-  *dest = *src;
-  dest->buffer = save_bufptr;
-  mj_setPtrModel(dest);
-
-  // copy buffer contents
-  {
-    MJMODEL_POINTERS_PREAMBLE(src)
-    #define X(type, name, nr, nc)  \
-      memcpy((char*)dest->name, (const char*)src->name, sizeof(type)*(src->nr)*nc);
-    MJMODEL_POINTERS
-    #undef X
-  }
-
-  return dest;
-}
-
-
-// copy mjModel, skip large arrays not required for abstract visualization
-void mjv_copyModel(mjModel* dest, const mjModel* src) {
-  // check sizes
-  if (dest->nbuffer != src->nbuffer) {
-    mjERROR("dest and src models have different buffer size");
-  }
-
-  // save buffer ptr, copy struct, restore buffer and other pointers
-  void* save_bufptr = dest->buffer;
-  *dest = *src;
-  dest->buffer = save_bufptr;
-  mj_setPtrModel(dest);
-
-  // redefine XNV to do nothing
-  #undef XNV
-  #define XNV(type, name, nr, nc)
-
-  // copy buffer contents, skipping arrays marked XNV
-  {
-    MJMODEL_POINTERS_PREAMBLE(src)
-    #define X(type, name, nr, nc)    \
-      memcpy((char*)dest->name, (const char*)src->name, sizeof(type)*(src->nr)*nc);
-    MJMODEL_POINTERS
-    #undef X
-  }
-  // redefine XNV to be the same as X
-  #undef XNV
-  #define XNV X
-}
-
-
-// save model to binary file, or memory buffer of szbuf>0
-void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz) {
-  mjtSize ptrbuf = 0;
-
-  // standard header
-  int header[NHEADER] = {ID, sizeof(mjtNum), getnsize(), mj_version(), getnptr()};
-
-  // no buffer: serialize to temporary buffer, then write via resource provider
-  if (!buffer) {
-    mjtSize sz = mj_sizeModel(m);
-    void* tmpbuf = mju_malloc(sz);
-    if (!tmpbuf) {
-      mju_warning("Could not allocate buffer for saving model");
-      return;
-    }
-    mj_saveModel(m, NULL, tmpbuf, (int)sz);
-
-    mjtSize written = mju_writeResource(filename, tmpbuf, sz, NULL, NULL, 0);
-    if (written != sz) {
-      mju_warning("Could not save model to '%s'", filename);
-    }
-    mju_free(tmpbuf);
-    return;
-  }
-
-  // write standard header, info, options, buffer (omit pointers)
-  bufwrite(header, sizeof(header), buffer_sz, buffer, &ptrbuf);
-  #define X(name) bufwrite(&m->name, sizeof(m->name), buffer_sz, buffer, &ptrbuf);
-  MJMODEL_SIZES
-  #undef X
-  bufwrite((void*)&m->opt, sizeof(mjOption), buffer_sz, buffer, &ptrbuf);
-  bufwrite((void*)&m->vis, sizeof(mjVisual), buffer_sz, buffer, &ptrbuf);
-  bufwrite((void*)&m->stat, sizeof(mjStatistic), buffer_sz, buffer, &ptrbuf);
-  bufwrite(&m->flg_gravcomp, sizeof(mjtBool), buffer_sz, buffer, &ptrbuf);
-  bufwrite(&m->flg_surfacevel, sizeof(mjtBool), buffer_sz, buffer, &ptrbuf);
-  {
-    MJMODEL_POINTERS_PREAMBLE(m)
-    #define X(type, name, nr, nc)  \
-      bufwrite((void*)m->name, sizeof(type)*(m->nr)*(nc), buffer_sz, buffer, &ptrbuf);
-    MJMODEL_POINTERS
-    #undef X
-  }
-}
-
-
-// load binary MJB model
-mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
-  mjtSize ptrbuf = 0;
-  mjModel *m = 0;
-
-  if (buffer_sz < NHEADER*sizeof(int)) {
-    mju_warning("Model file has an incomplete header");
-    return NULL;
-  }
-
-  int header[NHEADER] = {0};
-  bufread(header, NHEADER*sizeof(int), buffer_sz, buffer, &ptrbuf);
-
-  // check header
-  int expected_header[NHEADER] = {ID, sizeof(mjtNum), getnsize(), mj_version(), getnptr()};
-  for (int i=0; i < NHEADER; i++) {
-    if (header[i] != expected_header[i]) {
-      switch (i) {
-      case 0:
-        mju_warning("Model missing header ID");
-        return NULL;
-
-      case 1:
-        mju_warning("Model and executable have different floating point precision");
-        return NULL;
-
-      case 2:
-        mju_warning("Model and executable have different number of sizes in mjModel");
-        return NULL;
-
-      case 3:
-        mju_warning("Model and executable use different MuJoCo version");
-        return NULL;
-
-      default:
-        mju_warning("Model and executable have different number of pointers in mjModel");
-        return NULL;
-      }
-    }
-  }
-
-  int nsize = getnsize();  // number of mjtSize fields in mjModel
-
-  if (ptrbuf + sizeof(mjtSize)*nsize > buffer_sz) {
-    mju_warning("Truncated model file - ran out of data while reading sizes");
-    return NULL;
-  }
-
-  // read mjModel construction fields
-  mjtSize sizes[256];
-  bufread(sizes, sizeof(mjtSize)*nsize, buffer_sz, buffer, &ptrbuf);
-
-  // allocate new mjModel
-  mj_makeModel(&m,
-               sizes[0],  sizes[1],  sizes[2],  sizes[3],  sizes[4],  sizes[5],  sizes[6],
-               sizes[7],  sizes[8],  sizes[9],  sizes[10], sizes[11], sizes[12], sizes[13],
-               sizes[14], sizes[15], sizes[16], sizes[17], sizes[18], sizes[19], sizes[20],
-               sizes[21], sizes[22], sizes[23], sizes[24], sizes[25], sizes[26], sizes[27],
-               sizes[28], sizes[29], sizes[30], sizes[31], sizes[32], sizes[33], sizes[34],
-               sizes[35], sizes[36], sizes[37], sizes[38], sizes[39], sizes[40], sizes[41],
-               sizes[42], sizes[43], sizes[44], sizes[45], sizes[46], sizes[47], sizes[48],
-               sizes[49], sizes[50], sizes[51], sizes[52], sizes[53], sizes[54], sizes[55],
-               sizes[56], sizes[57], sizes[58], sizes[59], sizes[60], sizes[61], sizes[62],
-               sizes[63], sizes[64], sizes[65], sizes[66], sizes[67], sizes[68], sizes[69],
-               sizes[70], sizes[71], sizes[72], sizes[73], sizes[74], sizes[75], sizes[76],
-               sizes[77], sizes[78], sizes[79], sizes[80], sizes[81],
-               sizes[82], sizes[83]);
-
-  // mj_makeModel may fail if the input buffer has invalid sizes
-  if (!m) {
-    mju_warning("Invalid sizes, unable to load model");
-    return NULL;
-  }
-
-  // check buffer size (last mjtSize field is nbuffer)
-  if (m->nbuffer != sizes[nsize-1]) {
-    mju_warning("Corrupted model, wrong nbuffer field");
-    mj_deleteModel(m);
-    return NULL;
-  }
-
-  // set integer fields
-  {
-    int int_idx = 0;
-    #define X(name) \
-        m->name = sizes[int_idx++];
-    MJMODEL_SIZES
-    #undef X
-  }
-
-  // read options and buffer
-  if (ptrbuf + sizeof(mjOption) + sizeof(mjVisual) + sizeof(mjStatistic) +
-      sizeof(mjtBool) * 2 > buffer_sz) {
-    mju_warning("Truncated model file - ran out of data while reading structs");
-    return NULL;
-  }
-  bufread((void*)&m->opt, sizeof(mjOption), buffer_sz, buffer, &ptrbuf);
-  bufread((void*)&m->vis, sizeof(mjVisual), buffer_sz, buffer, &ptrbuf);
-  bufread((void*)&m->stat, sizeof(mjStatistic), buffer_sz, buffer, &ptrbuf);
-  bufread(&m->flg_gravcomp, sizeof(mjtBool), buffer_sz, buffer, &ptrbuf);
-  bufread(&m->flg_surfacevel, sizeof(mjtBool), buffer_sz, buffer, &ptrbuf);
-  {
-    MJMODEL_POINTERS_PREAMBLE(m)
-    #define X(type, name, nr, nc)                                           \
-      if (ptrbuf + sizeof(type) * (m->nr) * (nc) > buffer_sz) {             \
-        mju_warning(                                                        \
-            "Truncated model file - ran out of data while reading " #name); \
-        mj_deleteModel(m);                                                  \
-        return NULL;                                                        \
-      }                                                                     \
-      bufread(m->name, sizeof(type)*(m->nr)*(nc), buffer_sz, buffer, &ptrbuf);
-
-    MJMODEL_POINTERS
-    #undef X
-  }
-
-  // make sure buffer is the correct size
-  if (ptrbuf != buffer_sz) {
-    mju_warning("Model file is too large");
-    mj_deleteModel(m);
-    return NULL;
-  }
-
-  const char* validationError = mj_validateReferences(m);
-  if (validationError) {
-    mju_warning("%s", validationError);
-    mj_deleteModel(m);
-    return NULL;
-  }
-
-  return m;
-}
-
-
-// de-allocate mjModel
-void mj_deleteModel(mjModel* m) {
-  if (m) {
-    freeModelBuffers(m);
-    mju_free(m);
-  }
-}
-
-
-// size of buffer needed to hold model
-mjtSize mj_sizeModel(const mjModel* m) {
-  mjtSize size = (
-    sizeof(int)*NHEADER
-    + sizeof(mjtSize)*getnsize()
-    + sizeof(mjOption)
-    + sizeof(mjVisual)
-    + sizeof(mjStatistic)
-    + sizeof(mjtBool)*2);
-
-  MJMODEL_POINTERS_PREAMBLE(m)
-#define X(type, name, nr, nc)         \
-  size += sizeof(type)*(m->nr)*(nc);
-  MJMODEL_POINTERS
-#undef X
-
-  return size;
-}
-
-
-//-------------------------- sparse system matrix construction -------------------------------------
-
-// construct sparse representation of dof-dof matrix
-void mj_makeDofDofSparse(int nv, int nC, int nD, int nM,
-                         const int* dof_parentid, const int* dof_simplenum,
-                         int* rownnz, int* rowadr, int* diag, int* colind,
-                         int reduced, int upper,
-                         int* remaining) {
-  // no dofs, nothing to do
-  if (!nv) {
-    return;
-  }
-
-  // compute rownnz
-  mju_zeroInt(rownnz, nv);
-  for (int i = nv - 1; i >= 0; i--) {
-    // init at diagonal
-    int j = i;
-    rownnz[i]++;
-
-    // process below diagonal unless reduced and dof is simple
-    if (!(reduced && dof_simplenum[i])) {
-      while ((j = dof_parentid[j]) >= 0) {
-        // both reduced and non-reduced have lower triangle
-        rownnz[i]++;
-
-        // add upper triangle if requested
-        if (upper) rownnz[j]++;
-      }
-    }
-  }
-
-  // accumulate rowadr
-  rowadr[0] = 0;
-  for (int i = 1; i < nv; i++) {
-    rowadr[i] = rowadr[i - 1] + rownnz[i - 1];
-  }
-
-  // populate colind
-  mju_copyInt(remaining, rownnz, nv);
-  for (int i = nv - 1; i >= 0; i--) {
-    // init at diagonal
-    remaining[i]--;
-    colind[rowadr[i] + remaining[i]] = i;
-
-    // process below diagonal unless reduced and dof is simple
-    if (!(reduced && dof_simplenum[i])) {
-      int j = i;
-      while ((j = dof_parentid[j]) >= 0) {
-        remaining[i]--;
-        colind[rowadr[i] + remaining[i]] = j;
-
-        // add upper triangle if requested
-        if (upper) {
-          remaining[j]--;
-          colind[rowadr[j] + remaining[j]] = i;
-        }
-      }
-    }
-  }
-
-  // check for remaining; SHOULD NOT OCCUR
-  for (int i = 0; i < nv; i++) {
-    if (remaining[i] != 0) {
-      mjERROR("unexpected remaining");
-    }
-  }
-
-  // check total nnz; SHOULD NOT OCCUR
-  int expected_nnz = upper ? nD : (reduced ? nC : nM);
-  if (rowadr[nv - 1] + rownnz[nv - 1] != expected_nnz) {
-    mjERROR("sum of rownnz different from expected");
-  }
-
-  // find diagonal indices
-  if (diag) {
-    for (int i = 0; i < nv; i++) {
-      int adr = rowadr[i];
-      int j = 0;
-      while (colind[adr + j] < i && j < rownnz[i]) {
-        j++;
-      }
-      if (colind[adr + j] != i) {
-        mjERROR("diagonal index not found");
-      }
-      diag[i] = j;
-    }
-  }
-}
-
-// construct sparse representation of body-dof matrix
-void mj_makeBSparse(int nv, int nbody, int nB,
-                    const int* body_dofnum, const int* body_parentid, const int* body_dofadr,
-                    int* B_rownnz, int* B_rowadr, int* B_colind,
-                    int* count) {
-  // set rownnz to subtree dofs counts, including self
-  mju_zeroInt(B_rownnz, nbody);
-  for (int i = nbody - 1; i > 0; i--) {
-    B_rownnz[i] += body_dofnum[i];
-    B_rownnz[body_parentid[i]] += B_rownnz[i];
-  }
-
-  // check if rownnz[0] != nv; SHOULD NOT OCCUR
-  if (B_rownnz[0] != nv) {
-    mjERROR("rownnz[0] different from nv");
-  }
-
-  // add dofs in ancestors bodies
-  for (int i = 0; i < nbody; i++) {
-    int j = body_parentid[i];
-    while (j > 0) {
-      B_rownnz[i] += body_dofnum[j];
-      j = body_parentid[j];
-    }
-  }
-
-  // compute rowadr
-  B_rowadr[0] = 0;
-  for (int i = 1; i < nbody; i++) {
-    B_rowadr[i] = B_rowadr[i - 1] + B_rownnz[i - 1];
-  }
-
-  // check if total nnz != nB; SHOULD NOT OCCUR
-  if (nB != B_rowadr[nbody - 1] + B_rownnz[nbody - 1]) {
-    mjERROR("sum of rownnz different from nB");
-  }
-
-  // clear incremental row counts
-  mju_zeroInt(count, nbody);
-
-  // add subtree dofs to colind
-  for (int i = nbody - 1; i > 0; i--) {
-    // add this body's dofs to subtree
-    for (int n = 0; n < body_dofnum[i]; n++) {
-      B_colind[B_rowadr[i] + count[i]] = body_dofadr[i] + n;
-      count[i]++;
-    }
-
-    // add body subtree to parent
-    int par = body_parentid[i];
-    for (int n = 0; n < count[i]; n++) {
-      B_colind[B_rowadr[par] + count[par]] = B_colind[B_rowadr[i] + n];
-      count[par]++;
-    }
-  }
-
-  // add all ancestor dofs
-  for (int i = 0; i < nbody; i++) {
-    int par = body_parentid[i];
-    while (par > 0) {
-      // add ancestor body dofs
-      for (int n = 0; n < body_dofnum[par]; n++) {
-        B_colind[B_rowadr[i] + count[i]] = body_dofadr[par] + n;
-        count[i]++;
-      }
-
-      // advance to parent
-      par = body_parentid[par];
-    }
-  }
-
-  // process all bodies
-  for (int i = 0; i < nbody; i++) {
-    // make sure cnt = rownnz; SHOULD NOT OCCUR
-    if (B_rownnz[i] != count[i]) {
-      mjERROR("cnt different from rownnz");
-    }
-
-    // sort colind in each row
-    if (count[i] > 1) {
-      mju_insertionSortInt(B_colind + B_rowadr[i], count[i]);
-    }
-  }
-}
-
-
-// check D and B sparsity for consistency
-static void checkDBSparse(const mjModel* m) {
-  // process all dofs
-  for (int j = 0; j < m->nv; j++) {
-    // get body for this dof
-    int i = m->dof_bodyid[j];
-
-    // D[row j] and B[row i] should be identical
-    if (m->D_rownnz[j] != m->B_rownnz[i]) {
-      mjERROR("rows have different nnz");
-    }
-    for (int k = 0; k < m->D_rownnz[j]; k++) {
-      if (m->D_colind[m->D_rowadr[j] + k] != m->B_colind[m->B_rowadr[i] + k]) {
-        mjERROR("rows have different colind");
-      }
-    }
-  }
-}
-
-
-// integer valued dst[D or C or M] = src[M (legacy)], handle different sparsity representations
-static void copyM2Sparse(int nv,
-                         const int* dof_Madr, const int* dof_simplenum, const int* dof_parentid,
-                         const int* rownnz, const int* rowadr, const int* src,
-                         int* dst,
-                         int reduced, int upper, int* remaining) {
-  // init remaining
-  mju_copyInt(remaining, rownnz, nv);
-
-  // copy data
-  for (int i = nv - 1; i >= 0; i--) {
-    // init at diagonal
-    int adr = dof_Madr[i];
-    remaining[i]--;
-    dst[rowadr[i] + remaining[i]] = src[adr];
-    adr++;
-
-    // process below diagonal unless reduced and dof is simple
-    if (!(reduced && dof_simplenum[i])) {
-      int j = i;
-      while ((j = dof_parentid[j]) >= 0) {
-        remaining[i]--;
-        dst[rowadr[i] + remaining[i]] = src[adr];
-
-        // add upper triangle if requested
-        if (upper) {
-          remaining[j]--;
-          dst[rowadr[j] + remaining[j]] = src[adr];
-        }
-
-        adr++;
-      }
-    }
-  }
-
-  // check that none remaining
-  for (int i=0; i < nv; i++) {
-    if (remaining[i]) {
-      mjERROR("unassigned index");
-    }
-  }
-}
-
-
-// construct index mappings between M <-> D, M -> C, M (legacy) -> M (CSR)
-void mj_makeDofDofMaps(int nv, int nM, int nC, int nD,
-                       const int* dof_Madr, const int* dof_simplenum, const int* dof_parentid,
-                       const int* D_rownnz, const int* D_rowadr, const int* D_colind,
-                       const int* M_rownnz, const int* M_rowadr, const int* M_colind,
-                       int* mapM2D, int* mapD2M, int* mapM2M,
-                       int* M, int* scratch) {
-  // make mapM2D: M -> D (lower to symmetric)
-  mju_lower2SymMap(mapM2D, nv, D_rowadr, D_rownnz, D_colind, M_rowadr, M_rownnz, M_colind, scratch);
-
-  // make mapD2M: D -> M (symmetric to lower)
-  mju_sparseMap(mapD2M, nv, M_rowadr, M_rownnz, M_colind, D_rowadr, D_rownnz, D_colind);
-
-  // make mapM2M
-  for (int i=0; i < nM; i++) M[i] = i;
-  mju_fillInt(mapM2M, -1, nC);
-  copyM2Sparse(nv, dof_Madr, dof_simplenum, dof_parentid, M_rownnz,
-               M_rowadr, M, mapM2M, /*reduced=*/1, /*upper=*/0, scratch);
-
-  // check that all indices are filled in
-  for (int i=0; i < nC; i++) {
-    if (mapM2M[i] < 0) {
-      mjERROR("unassigned index in mapM2M");
-    }
-  }
-}
-
-
-//----------------------------------- mjData construction ------------------------------------------
-
-// set pointers into mjData buffer
-static void mj_setPtrData(const mjModel* m, mjData* d) {
-  char* ptr = (char*)d->buffer;
-
-  // assign pointers with padding
-#define X(type, name, nr, nc)                             \
-  d->name = (type*)(ptr + SKIP((intptr_t)ptr));           \
-  ASAN_POISON_MEMORY_REGION(ptr, PTRDIFF(d->name, ptr));  \
-  ptr += SKIP((intptr_t)ptr) + sizeof(type)*(m->nr)*(nc);
-
-  MJDATA_POINTERS
-#undef X
-
-  // check size
-  ptrdiff_t sz = ptr - (char*)d->buffer;
-  if (d->nbuffer != sz) {
-    mjERROR(
-        "mjData buffer size mismatch, "
-        "expected size: %" PRIu64 ",  actual size: %td",
-        d->nbuffer, sz);
-  }
-
-  // zero-initialize arena pointers
-#define X(type, name, nr, nc) d->name = NULL;
-  MJDATA_ARENA_POINTERS
-#undef X
-
-  d->contact = d->arena;
-}
-
-
-// initialize plugins, copy into d (required for deletion)
-void mj_initPlugin(const mjModel* m, mjData* d) {
-  d->nplugin = m->nplugin;
-  for (int i = 0; i < m->nplugin; ++i) {
-    d->plugin[i] = m->plugin[i];
-    const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
-    if (plugin->init && plugin->init(m, d, i) < 0) {
-      mju_free(d->buffer);
-      mju_free(d->arena);
-      mju_free(d);
-      mjERROR("plugin->init failed for plugin id %d", i);
-    }
-  }
-}
-
-
-// free mjData memory without destroying the struct
-static void freeDataBuffers(mjData* d) {
-#ifdef mjUSEASAN
-    // raise an error if there's a dangling stack frame
-    mj_freeStack(d);
-#endif
-
-    // destroy plugin instances
-    for (int i = 0; i < d->nplugin; ++i) {
-      const mjpPlugin* plugin = mjp_getPluginAtSlot(d->plugin[i]);
-      if (plugin->destroy) {
-        plugin->destroy(d, i);
-      }
-    }
-    mju_free(d->buffer);
-    mju_free(d->arena);
-}
-
-
-// allocate and initialize raw mjData structure
-void mj_makeRawData(mjData** dest, const mjModel* m) {
-  intptr_t offset = 0;
-  int allocate = *dest ? 0 : 1;
-  mjData* d = NULL;
-
-  // allocate mjData
-  if (!allocate) {
-    d = *dest;
-    freeDataBuffers(d);
-  } else {
-    d = (mjData*) mju_malloc(sizeof(mjData));
-  }
-
-  if (!d) {
-    mjERROR("could not allocate mjData");
-  }
-
-  // prevent spurious timing print from mj_resetData before _resetData zeroes the struct
-  d->timer[mjTIMER_STEP].number = 0;
-
-  // compute buffer size
-  d->nbuffer = 0;
-  d->buffer = d->arena = NULL;
-#define X(type, name, nr, nc)                                                \
-  if (!safeAddToBufferSize(&offset, &d->nbuffer, sizeof(type), m->nr, nc)) { \
-    if (allocate) mju_free(d);                                               \
-    mju_warning("Invalid data: " #name " too large.");                       \
-    return;                                                                  \
-  }
-
-  MJDATA_POINTERS
-#undef X
-
-  // copy stack size from model
-  d->narena = m->narena;
-
-  // allocate buffer
-  d->buffer = mju_malloc(d->nbuffer);
-  if (!d->buffer) {
-    if (allocate) mju_free(d);
-    mjERROR("could not allocate mjData buffer");
-  }
-
-  // allocate arena
-  d->arena = mju_malloc(d->narena);
-  if (!d->arena) {
-    mju_free(d->buffer);
-    if (allocate) mju_free(d);
-    mjERROR("could not allocate mjData arena");
-  }
-
-  // set pointers into buffer
-  mj_setPtrData(m, d);
-
-  // clear threadpool
-  d->threadpool = 0;
-  d->threadlock = 0;
-
-  // clear nplugin (overwritten by _initPlugin)
-  d->nplugin = 0;
-
-  // set awake array sizes to default (all awake)
-  d->ntree_awake = m->ntree;
-  d->nbody_awake = d->nparent_awake = m->nbody;
-  d->nv_awake = m->nv;
-
-  // copy pointer if allocated here
-  if (allocate) {
-    *dest = d;
-  }
-}
-
-
-// allocate and initialize mjData structure
-mjData* mj_makeData(const mjModel* m) {
-  mjData* d = NULL;
-  mj_makeRawData(&d, m);
-  if (d) {
-    mj_initPlugin(m, d);
-    mj_resetData(m, d);
-  }
-  return d;
-}
-
-
-// copy mjData, if dest==NULL create new data;
-// flg_all  1: copy all fields,  0: skip fields not required for visualization
-mjData* mj_copyDataVisual(mjData* dest, const mjModel* m, const mjData* src, int flg_all) {
-  void* save_buffer;
-  void* save_arena;
-
-  // allocate new data if needed
-  if (!dest) {
-    mj_makeRawData(&dest, m);
-    mj_initPlugin(m, dest);
-  }
-
-  // check sizes
-  if (dest->nbuffer != src->nbuffer) {
-    mjERROR("dest and src data buffers have different size");
-  }
-  if (dest->narena != src->narena) {
-    mjERROR("dest and src stacks have different size");
-  }
-
-  // stack is in use
-  if (src->pstack) {
-    mjERROR("attempting to copy mjData while stack is in use");
-  }
-
-  // save pointers, copy everything, restore pointers
-  save_buffer = dest->buffer;
-  save_arena = dest->arena;
-  *dest = *src;
-  dest->buffer = save_buffer;
-  dest->arena = save_arena;
-  dest->threadpool = 0;
-  mj_setPtrData(m, dest);
-
-  // save plugin_data, since the X macro copying block below will override it
-  const size_t plugin_data_size = sizeof(*dest->plugin_data) * dest->nplugin;
-  uintptr_t* save_plugin_data = NULL;
-  if (plugin_data_size) {
-    save_plugin_data = (uintptr_t*)mju_malloc(plugin_data_size);
-    if (!save_plugin_data) {
-      mjERROR("failed to allocate temporary memory for plugin_data");
-    }
-    memcpy(save_plugin_data, dest->plugin_data, plugin_data_size);
-  }
-
-  // copy buffer
-  {
-    if (flg_all) {
-      #define X(type, name, nr, nc)  \
-        memcpy((char*)dest->name, (const char*)src->name, sizeof(type)*(m->nr)*nc);
-      MJDATA_POINTERS
-      #undef X
-    } else {
-      // redefine XNV to nothing
-      #undef XNV
-      #define XNV(type, name, nr, nc)
-
-      #define X(type, name, nr, nc)  \
-        memcpy((char*)dest->name, (const char*)src->name, sizeof(type)*(m->nr)*nc);
-      MJDATA_POINTERS
-      #undef X
-
-      // redefine XNV to be the same as X
-      #undef XNV
-      #define XNV X
-    }
-  }
-
-
-  // copy arena memory
-  #undef MJ_D
-  #define MJ_D(n) (src->n)
-  #undef MJ_M
-  #define MJ_M(n) (m->n)
-
-  if (flg_all) {
-    #define X(type, name, nr, nc)                                                \
-    if (src->name) {                                                             \
-      dest->name = (type*)((char*)dest->arena + PTRDIFF(src->name, src->arena)); \
-      ASAN_UNPOISON_MEMORY_REGION(dest->name, sizeof(type) * nr * nc);           \
-      memcpy((char*)dest->name, (const char*)src->name, sizeof(type) * nr * nc); \
-    } else {                                                                     \
-      dest->name = NULL;                                                         \
-    }
-    MJDATA_ARENA_POINTERS
-    #undef X
-  } else {
-    // redefine XNV to nothing
-    #undef XNV
-    #define XNV(type, name, nr, nc)
-
-    #define X(type, name, nr, nc)                                                \
-    if (src->name) {                                                             \
-      dest->name = (type*)((char*)dest->arena + PTRDIFF(src->name, src->arena)); \
-      ASAN_UNPOISON_MEMORY_REGION(dest->name, sizeof(type) * nr * nc);           \
-      memcpy((char*)dest->name, (const char*)src->name, sizeof(type) * nr * nc); \
-    } else {                                                                     \
-      dest->name = NULL;                                                         \
-    }
-    MJDATA_ARENA_POINTERS
-    #undef X
-
-    // redefine XNV to be the same as X
-    #undef XNV
-    #define XNV X
-  }
-
-  #undef MJ_M
-  #define MJ_M(n) n
-  #undef MJ_D
-  #define MJ_D(n) n
-
-  // restore contact pointer
-  dest->contact = dest->arena;
-
-  // restore plugin_data
-  if (plugin_data_size) {
-    memcpy(dest->plugin_data, save_plugin_data, plugin_data_size);
-    mju_free(save_plugin_data);
-    save_plugin_data = NULL;
-  }
-
-  // copy plugin instances
-  dest->nplugin = m->nplugin;
-  for (int i = 0; i < m->nplugin; ++i) {
-    const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
-    if (plugin->copy) {
-      plugin->copy(dest, m, src, i);
-    }
-  }
-
-  return dest;
-}
-
-
-mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src) {
-  return mj_copyDataVisual(dest, m, src, /*flg_all=*/1);
-}
-
-
-mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src) {
-  return mj_copyDataVisual(dest, m, src, /*flg_all=*/0);
-}
-
-
-// clear data, set defaults
-static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
-  // error early if history buffers cannot be initialized
-  mjtNum dt = m->opt.timestep;
-  if (m->nhistory && dt <= 0) {
-    mjERROR("history buffers require positive timestep, got %g", dt);
-  }
-
-  //------------------------------ save plugin state and data
-  mjtNum* plugin_state;
-  uintptr_t* plugindata;
-  if (d->nplugin) {
-    plugin_state = mju_malloc(sizeof(mjtNum) * m->npluginstate);
-    memcpy(plugin_state, d->plugin_state, sizeof(mjtNum) * m->npluginstate);
-    plugindata = mju_malloc(sizeof(uintptr_t) * m->nplugin);
-    memcpy(plugindata, d->plugin_data, sizeof(uintptr_t) * m->nplugin);
-  }
-
-  //------------------------------ clear header
-
-  // clear stack pointer
-  if (!d->threadpool) {
-    d->pstack = 0;
-  }
-  d->pbase = 0;
-
-  // clear arena pointers
-  d->parena = 0;
-
-  // poison the entire arena+stack memory region when built with asan
-#ifdef mjUSEASAN
-  ASAN_POISON_MEMORY_REGION(d->arena, d->narena);
-#endif
-
-#ifdef MEMORY_SANITIZER
-  __msan_allocated_memory(d->arena, d->narena);
-#endif
-
-#define X(type, name, nr, nc) d->name = NULL;
-  MJDATA_ARENA_POINTERS
-#undef X
-  d->contact = d->arena;
-
-  // clear memory utilization stats
-  d->maxuse_stack = 0;
-  d->maxuse_arena = 0;
-  d->maxuse_con = 0;
-  d->maxuse_efc = 0;
-
-  // clear solver diagnostics
-  memset(d->warning, 0, mjNWARNING*sizeof(mjWarningStat));
-  memset(d->timer, 0, mjNTIMER*sizeof(mjTimerStat));
-  memset(d->solver, 0, mjNSOLVER*mjNISLAND*sizeof(mjSolverStat));
-  mju_zeroInt(d->solver_niter, mjNISLAND);
-  mju_zeroInt(d->solver_nnz, mjNISLAND);
-  mju_zero(d->solver_fwdinv, 2);
-
-  // clear variable sizes
-  d->ncon = 0;
-  d->ne = 0;
-  d->nf = 0;
-  d->nl = 0;
-  d->nefc = 0;
-  d->nJ = 0;
-  d->nY = 0;
-  d->nA = 0;
-  d->nisland = 0;
-  d->nidof = 0;
-  d->efm_active = 0;
-  d->nefmK = 0;
-  d->nefmdof = 0;
-  d->nefmL = 0;
-
-  // clear global properties
-  d->time = 0;
-  mju_zero(d->energy, 2);
-
-  // clear lazy evaluation flags
-  d->flg_energypos = 0;
-  d->flg_energyvel = 0;
-  d->flg_subtreevel = 0;
-  d->flg_rnepost = 0;
-
-  //------------------------------ clear buffer, set defaults
-
-  // fill buffer with debug_value (normally 0)
-#ifdef mjUSEASAN
-  {
-    #define X(type, name, nr, nc) memset(d->name, (int)debug_value, sizeof(type)*(m->nr)*(nc));
-    MJDATA_POINTERS
-    #undef X
-  }
-#else
-  memset(d->buffer, (int)debug_value, d->nbuffer);
-#endif
-
-#ifdef MEMORY_SANITIZER
-  // under MSAN, mark the entire buffer as uninitialized
-  __msan_allocated_memory(d->buffer, d->nbuffer);
-#endif
-
-  // zero out user-settable state and input arrays (MSAN: mark as initialized)
-  mju_zero(d->qpos, m->nq);
-  mju_zero(d->qvel, m->nv);
-  mju_zero(d->act, m->na);
-  mj_resetCtrl(m, d);
-  for (int i=0; i < m->neq; i++) d->eq_active[i] = m->eq_active0[i];
-  mju_zero(d->qfrc_applied, m->nv);
-  mju_zero(d->xfrc_applied, 6*m->nbody);
-  mju_zero(d->qacc, m->nv);  // input to inverse dynamics
-  mju_zero(d->qacc_warmstart, m->nv);
-  mju_zero(d->act_dot, m->na);
-  mju_zero(d->userdata, m->nuserdata);
-  mju_zero(d->mocap_pos, 3*m->nmocap);
-  mju_zero(d->mocap_quat, 4*m->nmocap);
-
-  // initialize ctrl history buffers: timestamps at [-n*dt, ..., -dt]
-  for (int i = 0; i < m->nactuator; i++) {
-    int n = m->actuator_history[2*i];
-    if (n > 0) {
-      mjtNum* buf = d->history + m->actuator_historyadr[i];
-      buf[0] = 0;          // user slot
-      buf[1] = n - 1;      // cursor: newest at logical index n-1
-      mjtNum* times = buf + 2;
-      for (int j = 0; j < n; j++) {
-        times[j] = -(n-j)*dt;
-      }
-
-      // clear values
-      mjtNum* values = buf + 2 + n;
-      mju_zero(values, n);
-    }
-  }
-
-  // initialize sensor history buffers
-  for (int i = 0; i < m->nsensor; i++) {
-    int n = m->sensor_history[2*i];
-    if (n > 0) {
-      int dim = m->sensor_dim[i];
-      mjtNum period = m->sensor_interval[2*i];
-      mjtNum phase = m->sensor_interval[2*i+1];
-      mjtNum* buf = d->history + m->sensor_historyadr[i];
-
-      // user slot: last compute time (phase=0 means -period, i.e. first compute at t=0)
-      buf[0] = (period > 0) ? (phase == 0 ? -period : phase) : -dt;
-      buf[1] = n - 1;  // cursor: newest at logical index n-1
-
-      mjtNum* times = buf + 2;
-      if (period > 0) {
-        // samples spaced at period intervals, rounded up to dt grid
-        mjtNum t0 = (phase == 0) ? -period : phase;
-        for (int j = 0; j < n; j++) {
-          mjtNum continuous_t = t0 - (n-1-j)*period;
-          times[j] = mju_ceil(continuous_t / dt) * dt;
-        }
-      } else {
-        // no period: timestamps at [-n*dt, ..., -dt]
-        for (int j = 0; j < n; j++) {
-          times[j] = -(n-j)*dt;
-        }
-      }
-
-      // clear values
-      mjtNum* values = buf + 2 + n;
-      mju_zero(values, n*dim);
-    }
-  }
-
-  // copy qpos0 from model
-  if (m->qpos0) {
-    mju_copy(d->qpos, m->qpos0, m->nq);
-  }
-
-  static int kAwake = -(1+mjMINAWAKE);  // tree_asleep value for fully awake tree
-
-  // set all trees to awake
-  mju_fillInt(d->tree_asleep, kAwake, m->ntree);
-
-  // sleep enabled: handle static bodies and trees marked as mjSLEEP_INIT
-  if (mjENABLED(mjENBL_SLEEP)) {
-    // count trees initialized as asleep
-    int num_asleep_init = 0;
-    for (int i=0; i < m->ntree; i++) {
-      num_asleep_init += (m->tree_sleep_policy[i] == mjSLEEP_INIT);
-    }
-
-    // update sleep arrays, treat static bodies as awake
-    mj_updateSleepInit(m, d, /*flg_staticawake*/ 1);
-
-    // partial mj_fwdPosition, functions that update STATIC values
-    if (!num_asleep_init) {
-      mj_kinematics(m, d);
-      mj_comPos(m, d);
-      mj_camlight(m, d);
-      mj_tendon(m, d);
-    }
-
-    // if any trees initialized as sleeping call entire mj_forward, put them to sleep
-    else {
-      mj_forward(m, d);
-
-      // mark asleep-init trees as ready to sleep
-      for (int i=0; i < m->ntree; i++) {
-        int init = m->tree_sleep_policy[i] == mjSLEEP_INIT;
-        d->tree_asleep[i] = init ? -1 : kAwake;
-      }
-
-      int nslept = mj_sleep(m, d);
-
-      // raise error if any failed to sleep
-      if (nslept != num_asleep_init) {
-        // find root body of the first tree that could not be slept
-        int root = -1;
-        for (int i=0; i < m->ntree; i++) {
-          if (m->tree_sleep_policy[i] == mjSLEEP_INIT && d->tree_asleep[i] < 0) {
-            root = m->tree_bodyadr[i];
-            break;
-          }
-        }
-
-        // free all memory held by d just before aborting
-        mj_deleteData(d);
-
-        // raise error and abort
-        const char* hasname = mj_id2name(m, mjOBJ_BODY, root);
-        const char* name = hasname ? hasname : "";
-        mjERROR("%d trees were marked as sleep='init' but only %d could be slept.\n"
-                "Body '%s' (id=%d) is the root of the first tree that could not be slept.",
-                num_asleep_init, nslept, name, root);
-      }
-
-      // clear arrays to avoid MSAN errors upon mid-step wake
-      mju_zero(d->qacc_smooth, m->nv);
-      mju_zero(d->qfrc_smooth, m->nv);
-
-      // clear arena
-      mj_clearEfc(d);
-    }
-  }
-
-  // update sleep arrays and counters
-  mj_updateSleep(m, d);
-
-  // set mocap_pos/quat = body_pos/quat for mocap bodies
-  if (m->body_mocapid) {
-    for (int i=0; i < m->nbody; i++) {
-      int id = m->body_mocapid[i];
-      if (id >= 0) {
-        mju_copy3(d->mocap_pos+3*id, m->body_pos+3*i);
-        mju_copy4(d->mocap_quat+4*id, m->body_quat+4*i);
-      }
-    }
-  } else {
-    // set the mocap_quats to {1, 0, 0, 0}
-    for (int i=0; i < m->nmocap; i++) {
-      d->mocap_quat[4*i] = 1.0;
-    }
-  }
-
-  // check consistency of sparse matrix representations
-  checkDBSparse(m);
-
-  // restore pluginstate and plugindata
-  if (d->nplugin) {
-    memcpy(d->plugin_state, plugin_state, sizeof(mjtNum) * m->npluginstate);
-    mju_free(plugin_state);
-    memcpy(d->plugin_data, plugindata, sizeof(uintptr_t) * m->nplugin);
-    mju_free(plugindata);
-
-    // restore the plugin array back into d and reset the instances
-    for (int i = 0; i < m->nplugin; ++i) {
-      d->plugin[i] = m->plugin[i];
-      const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
-      if (plugin->reset) {
-        plugin->reset(m, &d->plugin_state[m->plugin_stateadr[i]],
-                      (void*)(d->plugin_data[i]), i);
-      }
-    }
-  }
-
-  // copy signature from model
-  d->signature = m->signature;
-}
-
-
-// emit step timing diagnostics
-static void mj_logTimingDiagnostics(const mjData* d) {
-  int nstep = d->timer[mjTIMER_STEP].number;
-  if (nstep <= 0) {
-    return;
-  }
-
-  mjtNum tstep = d->timer[mjTIMER_STEP].duration / nstep;
-  if (tstep <= 0) {
-    return;
-  }
-
-  char buf[2048];
-  int pos = 0;
-  mjtNum components = 0;
-
-  for (int i = mjTIMER_POSITION; i <= mjTIMER_ADVANCE; i++) {
-    if (d->timer[i].number > 0) {
-      mjtNum istep = d->timer[i].duration / d->timer[i].number;
-      components += istep;
-      pos += snprintf(buf + pos, sizeof(buf) - pos,
-                      "%s  %-15s %8.1f  (%5.1f%%)",
-                      pos > 0 ? "\n" : "",
-                      mjTIMERSTRING[i], istep * 1000, 100 * istep / tstep);
-
-      // position sub-breakdown
-      if (i == mjTIMER_POSITION) {
-        for (int p = mjTIMER_POS_KINEMATICS; p <= mjTIMER_POS_PROJECT; p++) {
-          if (d->timer[p].number > 0) {
-            mjtNum pstep = d->timer[p].duration / d->timer[p].number;
-            pos += snprintf(buf + pos, sizeof(buf) - pos,
-                            "\n    %-13s %8.1f  (%5.1f%%)",
-                            mjTIMERSTRING[p] + 4, pstep * 1000, 100 * pstep / tstep);
-
-            // collision sub-breakdown
-            if (p == mjTIMER_POS_COLLISION) {
-              for (int c = mjTIMER_COL_BROAD; c <= mjTIMER_COL_NARROW; c++) {
-                if (d->timer[c].number > 0) {
-                  mjtNum cstep = d->timer[c].duration / d->timer[c].number;
-                  pos += snprintf(buf + pos, sizeof(buf) - pos,
-                                  "\n      %-11s %8.1f  (%5.1f%%)",
-                                  mjTIMERSTRING[c] + 4, cstep * 1000, 100 * cstep / tstep);
-                }
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-
-  mjtNum other = tstep - components;
-  pos += snprintf(buf + pos, sizeof(buf) - pos,
-                  "%s  %-15s %8.1f  (%5.1f%%)",
-                  pos > 0 ? "\n" : "",
-                  "other", other * 1000, 100 * other / tstep);
-
-  pos += snprintf(buf + pos, sizeof(buf) - pos,
-                  "%s  %-15s %8.1f",
-                  pos > 0 ? "\n" : "",
-                  "total", tstep * 1000);
-
-  mjLogMessage msg = {.level = mjLOG_INFO, .topic = mjTOPIC_TIME_STP, .body = buf};
-  snprintf(msg.subject, sizeof(msg.subject),
-           "average time per step (%d steps, units: \u00B5s)", nstep);
-  mju_message(&msg);
-}
-
-
-// set ctrl to neutral values: zero, except quaternion inputs which reset to the identity
-void mj_resetCtrl(const mjModel* m, mjData* d) {
-  mju_zero(d->ctrl, m->nu);
-  for (int i=0; i < m->nactuator; i++) {
-    if (m->actuator_gaintype[i] == mjGAIN_SO3 && m->actuator_ctrlspec[i] == mjCHART_QUAT) {
-      d->ctrl[m->actuator_ctrladr[i]] = 1;
-    }
-  }
-}
-
-
-// clear data, set data->qpos = model->qpos0
-void mj_resetData(const mjModel* m, mjData* d) {
-  // emit step timing diagnostics before timers are cleared
-  mj_logTimingDiagnostics(d);
-
-  _resetData(m, d, 0);
-}
-
-
-
-// clear data, set data->qpos = model->qpos0, fill with debug_value
-void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value) {
-  _resetData(m, d, debug_value);
-}
-
-
-// Reset data. If 0 <= key < nkey, set fields from specified keyframe.
-void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key) {
-  _resetData(m, d, 0);
-
-  // copy keyframe data if key is valid
-  if (key >= 0 && key < m->nkey) {
-    d->time = m->key_time[key];
-    mju_copy(d->qpos, m->key_qpos+key*m->nq, m->nq);
-    mju_copy(d->qvel, m->key_qvel+key*m->nv, m->nv);
-    mju_copy(d->act,  m->key_act+ key*m->na, m->na);
-    mju_copy(d->mocap_pos,  m->key_mpos+key*3*m->nmocap, 3*m->nmocap);
-    mju_copy(d->mocap_quat, m->key_mquat+key*4*m->nmocap, 4*m->nmocap);
-    mju_copy(d->ctrl, m->key_ctrl+key*m->nu, m->nu);
-  }
-}
-
-
-// de-allocate mjData
-void mj_deleteData(mjData* d) {
-  if (d) {
-    mju_threadpool(d, 0);
-    freeDataBuffers(d);
-    mju_free(d);
-  }
-}
-
-
-// number of position and velocity coordinates for each joint type
-const int nPOS[4] = {7, 4, 1, 1};
-const int nVEL[4] = {6, 3, 1, 1};
-
-static int sensorSize(mjtSensor sensor_type, int sensor_dim) {
-  switch (sensor_type) {
-  case mjSENS_TOUCH:
-  case mjSENS_RANGEFINDER:
-  case mjSENS_JOINTPOS:
-  case mjSENS_JOINTVEL:
-  case mjSENS_TENDONPOS:
-  case mjSENS_TENDONVEL:
-  case mjSENS_ACTUATORPOS:
-  case mjSENS_ACTUATORVEL:
-  case mjSENS_ACTUATORFRC:
-  case mjSENS_JOINTACTFRC:
-  case mjSENS_TENDONACTFRC:
-  case mjSENS_JOINTLIMITPOS:
-  case mjSENS_JOINTLIMITVEL:
-  case mjSENS_JOINTLIMITFRC:
-  case mjSENS_TENDONLIMITPOS:
-  case mjSENS_TENDONLIMITVEL:
-  case mjSENS_TENDONLIMITFRC:
-  case mjSENS_GEOMDIST:
-  case mjSENS_INSIDESITE:
-  case mjSENS_E_POTENTIAL:
-  case mjSENS_E_KINETIC:
-  case mjSENS_CLOCK:
-    return 1;
-
-  case mjSENS_CAMPROJECTION:
-    return 2;
-
-  case mjSENS_ACCELEROMETER:
-  case mjSENS_VELOCIMETER:
-  case mjSENS_GYRO:
-  case mjSENS_FORCE:
-  case mjSENS_TORQUE:
-  case mjSENS_MAGNETOMETER:
-  case mjSENS_BALLANGVEL:
-  case mjSENS_FRAMEPOS:
-  case mjSENS_FRAMEXAXIS:
-  case mjSENS_FRAMEYAXIS:
-  case mjSENS_FRAMEZAXIS:
-  case mjSENS_FRAMELINVEL:
-  case mjSENS_FRAMEANGVEL:
-  case mjSENS_FRAMELINACC:
-  case mjSENS_FRAMEANGACC:
-  case mjSENS_SUBTREECOM:
-  case mjSENS_SUBTREELINVEL:
-  case mjSENS_SUBTREEANGMOM:
-  case mjSENS_GEOMNORMAL:
-    return 3;
-
-  case mjSENS_GEOMFROMTO:
-    return 6;
-
-  case mjSENS_BALLQUAT:
-  case mjSENS_FRAMEQUAT:
-    return 4;
-
-  case mjSENS_CONTACT:
-  case mjSENS_TACTILE:
-  case mjSENS_USER:
-    return sensor_dim;
-
-  case mjSENS_PLUGIN:
-    return -1;
-
-    // don't use a 'default' case, so compiler warns about missing values
-  }
-  return -1;
-}
-
-
-// returns the number of objects of the given type
-//   -1: mjOBJ_UNKNOWN
-//   -2: invalid objtype
-static int numObjects(const mjModel* m, mjtObj objtype) {
-  switch (objtype) {
-  case mjOBJ_DEFAULT:
-  case mjOBJ_FRAME:
-  case mjOBJ_UNKNOWN:
-  case mjOBJ_MODEL:
-    return -1;
-  case mjOBJ_BODY:
-  case mjOBJ_XBODY:
-    return m->nbody;
-  case mjOBJ_JOINT:
-    return m->njnt;
-  case mjOBJ_DOF:
-    return m->nv;
-  case mjOBJ_GEOM:
-    return m->ngeom;
-  case mjOBJ_SITE:
-    return m->nsite;
-  case mjOBJ_CAMERA:
-    return m->ncam;
-  case mjOBJ_LIGHT:
-    return m->nlight;
-  case mjOBJ_FLEX:
-    return m->nflex;
-  case mjOBJ_MESH:
-    return m->nmesh;
-  case mjOBJ_SKIN:
-    return m->nskin;
-  case mjOBJ_HFIELD:
-    return m->nhfield;
-  case mjOBJ_TEXTURE:
-    return m->ntex;
-  case mjOBJ_MATERIAL:
-    return m->nmat;
-  case mjOBJ_PAIR:
-    return m->npair;
-  case mjOBJ_EXCLUDE:
-    return m->nexclude;
-  case mjOBJ_EQUALITY:
-    return m->neq;
-  case mjOBJ_TENDON:
-    return m->ntendon;
-  case mjOBJ_ACTUATOR:
-    return m->nactuator;
-  case mjOBJ_SENSOR:
-    return m->nsensor;
-  case mjOBJ_NUMERIC:
-    return m->nnumeric;
-  case mjOBJ_TEXT:
-    return m->ntext;
-  case mjOBJ_TUPLE:
-    return m->ntuple;
-  case mjOBJ_KEY:
-    return m->nkey;
-  case mjOBJ_PLUGIN:
-    return m->nplugin;
-  case mjNOBJECT:
-    return -2;
-  }
-  return -2;
-}
-
-
-// validate reference fields in a model; return null if valid, error message otherwise
-const char* mj_validateReferences(const mjModel* m) {
-  // for each field in mjModel that refers to another field, call X with:
-  //   adrarray: array containing the references
-  //   nadrs:    number of elements in refarray
-  //   ntarget:  number of elements in array where references are pointing
-  //   numarray: if refarray is an adr array, numarray is the corresponding num array, otherwise 0
-#define MJMODEL_REFERENCES                                                       \
-  X(body_parentid,      nbody,          nbody         , 0                      ) \
-  X(body_rootid,        nbody,          nbody         , 0                      ) \
-  X(body_weldid,        nbody,          nbody         , 0                      ) \
-  X(body_mocapid,       nbody,          nmocap        , 0                      ) \
-  X(body_jntadr,        nbody,          njnt          , m->body_jntnum         ) \
-  X(body_dofadr,        nbody,          nv            , m->body_dofnum         ) \
-  X(body_geomadr,       nbody,          ngeom         , m->body_geomnum        ) \
-  X(body_bvhadr,        nbody,          nbvh          , m->body_bvhnum         ) \
-  X(body_plugin,        nbody,          nplugin       , 0                      ) \
-  X(jnt_qposadr,        njnt,           nq            , 0                      ) \
-  X(jnt_dofadr,         njnt,           nv            , 0                      ) \
-  X(jnt_bodyid,         njnt,           nbody         , 0                      ) \
-  X(dof_bodyid,         nv,             nbody         , 0                      ) \
-  X(dof_jntid,          nv,             njnt          , 0                      ) \
-  X(dof_parentid,       nv,             nv            , 0                      ) \
-  X(dof_Madr,           nv,             nM            , 0                      ) \
-  X(tree_bodyadr,       ntree,          nbody         , m->tree_bodynum        ) \
-  X(tree_dofadr,        ntree,          nv            , m->tree_dofnum         ) \
-  X(geom_bodyid,        ngeom,          nbody         , 0                      ) \
-  X(geom_matid,         ngeom,          nmat          , 0                      ) \
-  X(site_bodyid,        nsite,          nbody         , 0                      ) \
-  X(site_matid,         nsite,          nmat          , 0                      ) \
-  X(cam_bodyid,         ncam,           nbody         , 0                      ) \
-  X(cam_targetbodyid,   ncam,           nbody         , 0                      ) \
-  X(light_bodyid,       nlight,         nbody         , 0                      ) \
-  X(light_targetbodyid, nlight,         nbody         , 0                      ) \
-  X(mesh_vertadr,       nmesh,          nmeshvert     , m->mesh_vertnum        ) \
-  X(mesh_normaladr,     nmesh,          nmeshnormal   , m->mesh_normalnum      ) \
-  X(mesh_texcoordadr,   nmesh,          nmeshtexcoord , m->mesh_texcoordnum    ) \
-  X(mesh_faceadr,       nmesh,          nmeshface     , m->mesh_facenum        ) \
-  X(mesh_bvhadr,        nmesh,          nbvh          , m->mesh_bvhnum         ) \
-  X(mesh_graphadr,      nmesh,          nmeshgraph    , 0                      ) \
-  X(mesh_polyadr,       nmesh,          nmeshpoly     , m->mesh_polynum        ) \
-  X(mesh_polyvertadr,   nmeshpoly,      nmeshpolyvert , m->mesh_polyvertnum    ) \
-  X(mesh_polymapadr,    nmeshvert,      nmeshpolymap  , m->mesh_polymapnum     ) \
-  X(flex_vertadr,       nflex,          nflexvert     , m->flex_vertnum        ) \
-  X(flex_edgeadr,       nflex,          nflexedge     , m->flex_edgenum        ) \
-  X(flex_elemadr,       nflex,          nflexelem     , m->flex_elemnum        ) \
-  X(flex_evpairadr,     nflex,          nflexevpair   , m->flex_evpairnum      ) \
-  X(flex_texcoordadr,   nflex,          nflextexcoord , 0                      ) \
-  X(flex_elemdataadr,   nflex,          nflexelemdata , 0                      ) \
-  X(flex_elemedgeadr,   nflex,          nflexelemedge , 0                      ) \
-  X(flex_shelldataadr,  nflex,          nflexshelldata, 0                      ) \
-  X(flex_edge,          nflexedge*2,    nflexvert     , 0                      ) \
-  X(flex_elem,          nflexelemdata,  nflexvert     , 0                      ) \
-  X(flex_elemedge,      nflexelemedge,  nflexedge     , 0                      ) \
-  X(flex_shell,         nflexshelldata, nflexvert     , 0                      ) \
-  X(flex_bvhadr,        nflex,          nbvh          , m->flex_bvhnum         ) \
-  X(skin_matid,         nskin,          nmat          , 0                      ) \
-  X(skin_vertadr,       nskin,          nskinvert     , m->skin_vertnum        ) \
-  X(skin_texcoordadr,   nskin,          nskintexvert  , 0                      ) \
-  X(skin_faceadr,       nskin,          nskinface     , m->skin_facenum        ) \
-  X(skin_boneadr,       nskin,          nskinbone     , m->skin_bonenum        ) \
-  X(skin_bonevertadr,   nskinbone,      nskinbonevert , m->skin_bonevertnum    ) \
-  X(skin_bonebodyid,    nskinbone,      nbody         , 0                      ) \
-  X(skin_bonevertid,    nskinbonevert,  nskinvert     , 0                      ) \
-  X(pair_geom1,         npair,          ngeom         , 0                      ) \
-  X(pair_geom2,         npair,          ngeom         , 0                      ) \
-  X(actuator_plugin,    nactuator,      nplugin       , 0                      ) \
-  X(actuator_actadr,    nactuator,      na            , m->actuator_actnum     ) \
-  X(actuator_ctrladr,   nactuator,      nu            , m->actuator_ctrlnum    ) \
-  X(actuator_outadr,    nactuator,      nout          , m->actuator_outnum     ) \
-  X(sensor_plugin,      nsensor,        nplugin       , 0                      ) \
-  X(plugin_stateadr,    nplugin,        npluginstate  , m->plugin_statenum     ) \
-  X(plugin_attradr,     nplugin,        npluginattr   , 0                      ) \
-  X(tendon_adr,         ntendon,        nwrap         , m->tendon_num          ) \
-  X(tendon_matid,       ntendon,        nmat          , 0                      ) \
-  X(tendon_treeid,      ntendon*2,      ntree         , 0                      ) \
-  X(numeric_adr,        nnumeric,       nnumericdata  , m->numeric_size        ) \
-  X(text_adr,           ntext,          ntextdata     , m->text_size           ) \
-  X(tuple_adr,          ntuple,         ntupledata    , m->tuple_size          ) \
-  X(name_bodyadr,       nbody,          nnames        , 0                      ) \
-  X(name_jntadr,        njnt,           nnames        , 0                      ) \
-  X(name_geomadr,       ngeom,          nnames        , 0                      ) \
-  X(name_siteadr,       nsite,          nnames        , 0                      ) \
-  X(name_camadr,        ncam,           nnames        , 0                      ) \
-  X(name_lightadr,      nlight,         nnames        , 0                      ) \
-  X(name_meshadr,       nmesh,          nnames        , 0                      ) \
-  X(name_skinadr,       nskin,          nnames        , 0                      ) \
-  X(name_hfieldadr,     nhfield,        nnames        , 0                      ) \
-  X(name_texadr,        ntex,           nnames        , 0                      ) \
-  X(name_matadr,        nmat,           nnames        , 0                      ) \
-  X(name_pairadr,       npair,          nnames        , 0                      ) \
-  X(name_excludeadr,    nexclude,       nnames        , 0                      ) \
-  X(name_eqadr,         neq,            nnames        , 0                      ) \
-  X(name_tendonadr,     ntendon,        nnames        , 0                      ) \
-  X(name_actuatoradr,   nactuator,      nnames        , 0                      ) \
-  X(name_sensoradr,     nsensor,        nnames        , 0                      ) \
-  X(name_numericadr,    nnumeric,       nnames        , 0                      ) \
-  X(name_textadr,       ntext,          nnames        , 0                      ) \
-  X(name_tupleadr,      ntuple,         nnames        , 0                      ) \
-  X(name_keyadr,        nkey,           nnames        , 0                      ) \
-  X(hfield_pathadr,     nhfield,        npaths        , 0                      ) \
-  X(mesh_pathadr,       nmesh,          npaths        , 0                      ) \
-  X(skin_pathadr,       nskin,          npaths        , 0                      ) \
-  X(tex_pathadr,        ntex,           npaths        , 0                      )
-
-  #define X(adrarray, nadrs, ntarget, numarray) {             \
-    int *nums = (numarray);                                   \
-    for (int i=0; i<m->nadrs; i++) {                          \
-      int adrsmin = m->adrarray[i];                           \
-      int num = (nums ? nums[i] : 1);                         \
-      if (num < 0) {                                          \
-        return "Invalid model: " #numarray " is negative.";   \
-      }                                                       \
-      if (num > MAX_ARRAY_SIZE) {                             \
-        return "Invalid model: " #numarray " is too large.";  \
-      }                                                       \
-      int adrsmax = m->adrarray[i] + num;                     \
-      if (adrsmax > m->ntarget || adrsmin < -1) {             \
-        return "Invalid model: " #adrarray " out of bounds."; \
-      }                                                       \
-    }                                                         \
-  }
-
-  MJMODEL_REFERENCES;
-  #undef X
-#undef MJMODEL_REFERENCES
-
-  // special logic that doesn't fit in the macro:
-  for (int i=0; i < m->nbody; i++) {
-    if (i > 0 && m->body_parentid[i] >= i) {
-      return "Invalid model: bad body_parentid.";
-    }
-    if (m->body_rootid[i] > i) {
-      return "Invalid model: bad body_rootid.";
-    }
-    if (m->body_weldid[i] > i) {
-      return "Invalid model: bad body_weldid.";
-    }
-  }
-  for (int i=0; i < m->njnt; i++) {
-    if (m->jnt_type[i] >= 4 || m->jnt_type[i] < 0) {
-      return "Invalid model: jnt_type out of bounds.";
-    }
-    int jnt_qposadr = m->jnt_qposadr[i] + nPOS[m->jnt_type[i]];
-    if (jnt_qposadr > m->nq || m->jnt_qposadr[i] < 0) {
-      return "Invalid model: jnt_qposadr out of bounds.";
-    }
-    int jnt_dofadr = m->jnt_dofadr[i] + nVEL[m->jnt_type[i]];
-    if (jnt_dofadr > m->nv || m->jnt_dofadr[i] < 0) {
-      return "Invalid model: jnt_dofadr out of bounds.";
-    }
-  }
-  for (int i=0; i < m->nv; i++) {
-    if (m->dof_parentid[i] >= i) {
-      return "Invalid model: bad dof_parentid.";
-    }
-  }
-  for (int i=0; i < m->ngeom; i++) {
-    if (m->geom_condim[i] > 6 || m->geom_condim[i] < 0) {
-      return "Invalid model: geom_condim out of bounds.";
-    }
-    if (m->geom_type[i] == mjGEOM_HFIELD) {
-      if (m->geom_dataid[i] >= m->nhfield || m->geom_dataid[i] < -1) {
-        return "Invalid model: geom_dataid out of bounds.";
-      }
-    } else if ((m->geom_type[i] == mjGEOM_MESH) || (m->geom_type[i] == mjGEOM_SDF)) {
-      if (m->geom_dataid[i] >= m->nmesh || m->geom_dataid[i] < -1) {
-        return "Invalid model: geom_dataid out of bounds.";
-      }
-    }
-  }
-  for (int i=0; i < m->nhfield; i++) {
-    mjtSize hfield_adr = m->hfield_adr[i] + ((mjtSize) m->hfield_nrow[i]) * m->hfield_ncol[i];
-    if (hfield_adr > m->nhfielddata || m->hfield_adr[i] < 0) {
-      return "Invalid model: hfield_adr out of bounds.";
-    }
-  }
-  for (int i=0; i < m->ntex; i++) {
-    mjtSize nbytes = ((mjtSize) m->tex_nchannel[i]) * m->tex_height[i] * m->tex_width[i];
-    if (m->tex_adr[i] + nbytes > m->ntexdata || m->tex_adr[i] < 0) {
-      return "Invalid model: tex_adr out of bounds.";
-    }
-  }
-  for (int i=0; i < m->npair; i++) {
-    int pair_body1 = (m->pair_signature[i] & 0xFFFF);
-    if (pair_body1 >= m->nbody || pair_body1 < 0) {
-      return "Invalid model: pair_body1 out of bounds.";
-    }
-    int pair_body2 = (m->pair_signature[i] >> 16);
-    if (pair_body2 >= m->nbody || pair_body2 < 0) {
-      return "Invalid model: pair_body2 out of bounds.";
-    }
-  }
-  for (int i=0; i < m->neq; i++) {
-    int obj1id = m->eq_obj1id[i];
-    int obj2id = m->eq_obj2id[i];
-    int objtype = m->eq_objtype[i];
-    switch ((mjtEq) m->eq_type[i]) {
-    case mjEQ_JOINT:
-      if (obj1id >= m->njnt || obj1id < 0) {
-        return "Invalid model: eq_obj1id out of bounds.";
-      }
-      // -1 is the value used if second object is omitted.
-      if (obj2id >= m->njnt || obj2id < -1) {
-        return "Invalid model: eq_obj2id out of bounds.";
-      }
-      break;
-
-    case mjEQ_TENDON:
-      if (obj1id >= m->ntendon || obj1id < 0) {
-        return "Invalid model: eq_obj1id out of bounds.";
-      }
-      // -1 is the value used if second object is omitted.
-      if (obj2id >= m->ntendon || obj2id < -1) {
-        return "Invalid model: eq_obj2id out of bounds.";
-      }
-      break;
-
-    case mjEQ_WELD:
-    case mjEQ_CONNECT:
-      if (objtype == mjOBJ_BODY) {
-        if (obj1id >= m->nbody || obj1id < 0) {
-          return "Invalid model: eq_obj1id out of bounds.";
-        }
-        if (obj2id >= m->nbody || obj2id < 0) {
-          return "Invalid model: eq_obj2id out of bounds.";
-        }
-      } else if (objtype == mjOBJ_SITE) {
-        if (obj1id >= m->nsite || obj1id < 0) {
-          return "Invalid model: eq_obj1id out of bounds.";
-        }
-        if (obj2id >= m->nsite || obj2id < 0) {
-          return "Invalid model: eq_obj2id out of bounds.";
-        }
-      } else {
-        return "Invalid model: eq_objtype is not body or site.";
-      }
-      break;
-
-    case mjEQ_FLEX:
-    case mjEQ_FLEXVERT:
-    case mjEQ_FLEXSTRAIN:
-      if (obj1id >= m->nflex || obj1id < 0) {
-        return "Invalid model: eq_obj1id out of bounds.";
-      }
-
-      // -1 is the value used if second object is omitted
-      if (obj2id != -1) {
-        return "Invalid model: eq_obj2id must be -1.";
-      }
-      break;
-
-    default:
-      // might occur in case of the now-removed distance equality constraint
-      mjERROR("unknown equality constraint type.");
-    }
-  }
-  for (int i=0; i < m->nwrap; i++) {
-    int wrap_objid = m->wrap_objid[i];
-    switch ((mjtWrap) m->wrap_type[i]) {
-    case mjWRAP_NONE:
-    case mjWRAP_PULLEY:
-      // wrap_objid not used.
-      break;
-    case mjWRAP_JOINT:
-      if (wrap_objid >= m->njnt || wrap_objid < 0) {
-        return "Invalid model: wrap_objid out of bounds.";
-      }
-      break;
-    case mjWRAP_SITE:
-      if (wrap_objid >= m->nsite || wrap_objid < 0) {
-        return "Invalid model: wrap_objid out of bounds.";
-      }
-      break;
-    case mjWRAP_SPHERE:
-    case mjWRAP_CYLINDER:
-      if (wrap_objid >= m->ngeom || wrap_objid < 0) {
-        return "Invalid model: wrap_objid out of bounds.";
-      }
-      break;
-    }
-  }
-  for (int i=0; i < m->nactuator; i++) {
-    int actuator_trntype = m->actuator_trntype[i];
-    int id = m->actuator_trnid[2*i];
-    int idslider = m->actuator_trnid[2*i+1];
-    switch ((mjtTrn) actuator_trntype) {
-    case mjTRN_JOINT:
-    case mjTRN_JOINTINPARENT:
-      if (id < 0 || id >= m->njnt) {
-        return "Invalid model: actuator_trnid out of bounds.";
-      }
-      break;
-    case mjTRN_TENDON:
-      if (id < 0 || id >= m->ntendon) {
-        return "Invalid model: actuator_trnid out of bounds.";
-      }
-      break;
-    case mjTRN_SITE:
-      if (id < 0 || id >= m->nsite) {
-        return "Invalid model: actuator_trnid out of bounds.";
-      }
-      break;
-    case mjTRN_SLIDERCRANK:
-      if (id < 0 || id >= m->nsite) {
-        return "Invalid model: actuator_trnid out of bounds.";
-      }
-      if (idslider < 0 || idslider >= m->nsite) {
-        return "Invalid model: actuator_trnid out of bounds.";
-      }
-      break;
-    case mjTRN_BODY:
-      if (id < 0 || id >= m->nbody) {
-        return "Invalid model: actuator_trnid out of bounds.";
-      }
-      break;
-    case mjTRN_SO3:
-      // ball joint target (idslider == -1) or site + refsite target
-      if (idslider == -1) {
-        if (id < 0 || id >= m->njnt) {
-          return "Invalid model: actuator_trnid out of bounds.";
-        }
-      } else {
-        if (id < 0 || id >= m->nsite || idslider < 0 || idslider >= m->nsite) {
-          return "Invalid model: actuator_trnid out of bounds.";
-        }
-      }
-      break;
-    case mjTRN_UNDEFINED:
-      // actuator_trnid not used.
-      break;
-    }
-  }
-  for (int i=0; i < m->nsensor; i++) {
-    mjtSensor sensor_type = m->sensor_type[i];
-    int sensor_size;
-    if (sensor_type == mjSENS_PLUGIN) {
-      const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[m->sensor_plugin[i]]);
-      if (!plugin->nsensordata) {
-        mjERROR("`nsensordata` is a null function pointer for plugin at slot %d",
-                m->plugin[m->sensor_plugin[i]]);
-      }
-      sensor_size = plugin->nsensordata(m, m->sensor_plugin[i], i);
-    } else {
-      sensor_size = sensorSize(sensor_type, m->sensor_dim[i]);
-    }
-    if (sensor_size < 0) {
-      return "Invalid model: Bad sensor_type.";
-    }
-    int sensor_adr = m->sensor_adr[i];
-    if (sensor_adr < 0 || sensor_adr + sensor_size > m->nsensordata) {
-      return "Invalid model: sensor_adr out of bounds.";
-    }
-    int nobj = numObjects(m, m->sensor_objtype[i]);
-    if (nobj == -2) {
-      return "Invalid model: invalid sensor_objtype";
-    }
-    if (nobj != -1 && (m->sensor_objid[i] < 0 || m->sensor_objid[i] >= nobj)) {
-      return "Invalid model: invalid sensor_objid";
-    }
-    nobj = numObjects(m, m->sensor_reftype[i]);
-    if (nobj == -2) {
-      return "Invalid model: invalid sensor_reftype";
-    }
-    if (nobj != -1 && (m->sensor_refid[i] < -1 || m->sensor_refid[i] >= nobj)) {
-      return "Invalid model: invalid sensor_refid";
-    }
-    if (sensor_type == mjSENS_TACTILE) {
-      int parent_body = m->geom_bodyid[m->sensor_refid[i]];
-      int collision_geoms = 0;
-      for (int b = 0; b < m->body_geomnum[parent_body]; ++b) {
-        int geom_id = m->body_geomadr[parent_body]+b;
-        if (m->geom_contype[geom_id] || m->geom_conaffinity[geom_id]) {
-          collision_geoms++;
-        }
-      }
-      if (collision_geoms == 0) {
-        return "Touch sensor requires a body with at least one collision geom";
-      }
-    }
-  }
-  for (int i=0; i < m->nexclude; i++) {
-    int exclude_body1 = (m->exclude_signature[i] & 0xFFFF);
-    if (exclude_body1 >= m->nbody || exclude_body1 < 0) {
-      return "Invalid model: exclude_body1 out of bounds.";
-    }
-    int exclude_body2 = (m->exclude_signature[i] >> 16);
-    if (exclude_body2 >= m->nbody || exclude_body2 < 0) {
-      return "Invalid model: exclude_body2 out of bounds.";
-    }
-  }
-  for (int i=0; i < m->ntuple; i++) {
-    for (int j=0; j < m->tuple_size[i]; j++) {
-      int adr = m->tuple_adr[i] + j;
-      int nobj = numObjects(m, m->tuple_objtype[adr]);
-      if (nobj == -2) {
-        return "Invalid model: invalid tuple_objtype";
-      }
-      if (nobj != -1 && (m->tuple_objid[adr] < 0 || m->tuple_objid[adr] >= nobj)) {
-        return "Invalid model: invalid tuple_objid";
-      }
-    }
-  }
-
-  return NULL;
-}
diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h
deleted file mode 100644
index 54b413cc..00000000
--- a/src/engine/engine_io.h
+++ /dev/null
@@ -1,149 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_IO_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_IO_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-#include <cstddef>
-extern "C" {
-#else
-#include <stddef.h>
-#endif
-
-// internal hash map size factor (2 corresponds to a load factor of 0.5)
-#define mjLOAD_MULTIPLE 2
-
-//------------------------------- initialization ---------------------------------------------------
-
-// Set default options for length range computation.
-MJAPI void mj_defaultLROpt(mjLROpt* opt);
-
-// set options to default values
-MJAPI void mj_defaultOption(mjOption* opt);
-
-// set visual options to default values
-MJAPI void mj_defaultVisual(mjVisual* vis);
-
-// set statistics to default values; compute later in compiler
-void mj_defaultStatistic(mjStatistic* stat);
-
-
-//------------------------------- mjModel ----------------------------------------------------------
-
-// allocate mjModel
-void mj_makeModel(mjModel** dest,
-    mjtSize nq, mjtSize nv, mjtSize nu, mjtSize nactuator, mjtSize nout, mjtSize na,
-    mjtSize nbody, mjtSize nbvh, mjtSize nbvhstatic,
-    mjtSize nbvhdynamic, mjtSize noct, mjtSize njnt, mjtSize ntree, mjtSize nM, mjtSize nB,
-    mjtSize nC, mjtSize nD, mjtSize ngeom, mjtSize nsite, mjtSize ncam, mjtSize nlight,
-    mjtSize nflex, mjtSize nflexnode, mjtSize nflexvert, mjtSize nflexedge, mjtSize nflexelem,
-    mjtSize nflexelemdata, mjtSize nflexstiffness, mjtSize nflexbending,
-    mjtSize nefm0dof, mjtSize nefm0L, mjtSize nflexelemedge,
-    mjtSize nflexshelldata, mjtSize nflexevpair, mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv,
-    mjtSize nmesh, mjtSize nmeshvert, mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface,
-    mjtSize nmeshgraph, mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap,
-    mjtSize nskin, mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
-    mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
-    mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nJten,
-    mjtSize nwrap, mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext,
-    mjtSize ntextdata, mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap,
-    mjtSize nplugin, mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
-    mjtSize nuser_site, mjtSize nuser_cam, mjtSize nuser_tendon, mjtSize nuser_actuator,
-    mjtSize nuser_sensor, mjtSize nnames, mjtSize npaths);
-
-// copy mjModel; allocate new if dest is NULL
-MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
-
-// copy mjModel, skip large arrays not required for abstract visualization
-MJAPI void mjv_copyModel(mjModel* dest, const mjModel* src);
-
-// save model to binary file
-MJAPI void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz);
-
-// load model from binary buffer
-MJAPI mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz);
-
-// deallocate model
-MJAPI void mj_deleteModel(mjModel* m);
-
-// size of buffer needed to hold model
-MJAPI mjtSize mj_sizeModel(const mjModel* m);
-
-// validate reference fields in a model; return null if valid, error message otherwise
-MJAPI const char* mj_validateReferences(const mjModel* m);
-
-// construct sparse representation of dof-dof matrix
-MJAPI void mj_makeDofDofSparse(int nv, int nC, int nD, int nM,
-                               const int* dof_parentid, const int* dof_simplenum,
-                               int* rownnz, int* rowadr, int* diag, int* colind,
-                               int reduced, int upper, int* remaining);
-
-// construct sparse representation of body-dof matrix
-MJAPI void mj_makeBSparse(int nv, int nbody, int nB,
-                          const int* body_dofnum, const int* body_parentid, const int* body_dofadr,
-                          int* B_rownnz, int* B_rowadr, int* B_colind,
-                          int* count);
-
-// construct index mappings between M <-> D, M (legacy) -> M (CSR)
-MJAPI void mj_makeDofDofMaps(int nv, int nM, int nC, int nD,
-                             const int* dof_Madr, const int* dof_simplenum, const int* dof_parentid,
-                             const int* D_rownnz, const int* D_rowadr, const int* D_colind,
-                             const int* M_rownnz, const int* M_rowadr, const int* M_colind,
-                             int* mapM2D, int* mapD2M, int* mapM2M,
-                             int* M, int* scratch);
-
-//------------------------------- mjData -----------------------------------------------------------
-
-// allocate mjData corresponding to given model, initialize plugins, reset the state
-// if the model buffer is unallocated the initial configuration will not be set
-MJAPI mjData* mj_makeData(const mjModel* m);
-
-// allocate mjData corresponding to given model, used internally
-MJAPI void mj_makeRawData(mjData** dest, const mjModel* m);
-
-// Copy mjData.
-// m is only required to contain the size fields from MJMODEL_INTS.
-MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
-
-// copy mjData, skip large arrays not required for abstract visualization
-MJAPI mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
-
-// set ctrl to neutral values: zero, except quaternion inputs which reset to the identity
-MJAPI void mj_resetCtrl(const mjModel* m, mjData* d);
-
-// set data to defaults
-MJAPI void mj_resetData(const mjModel* m, mjData* d);
-
-// set data to defaults, fill everything else with debug_value
-MJAPI void mj_resetDataDebug(const mjModel* m, mjData* d, unsigned char debug_value);
-
-// Reset data. If 0 <= key < nkey, set fields from specified keyframe.
-MJAPI void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
-
-// init plugins
-MJAPI void mj_initPlugin(const mjModel* m, mjData* d);
-
-// deallocate data
-MJAPI void mj_deleteData(mjData* d);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_IO_H_
diff --git a/src/engine/engine_island.c b/src/engine/engine_island.c
deleted file mode 100644
index 6cdaf845..00000000
--- a/src/engine/engine_island.c
+++ /dev/null
@@ -1,639 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_island.h"
-
-#include <stdio.h>
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjxmacro.h>
-#include "engine/engine_core_util.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse.h"
-
-#ifdef MEMORY_SANITIZER
-  #include <sanitizer/msan_interface.h>
-#endif
-
-
-//-------------------------- local utilities -------------------------------------------------------
-
-// clear island-related arena pointers in mjData
-static void clearIsland(mjData* d, size_t parena) {
-#define X(type, name, nr, nc) d->name = NULL;
-  MJDATA_ARENA_POINTERS_ISLAND
-#undef X
-  d->nefc = 0;
-  d->nisland = 0;
-  d->nidof = 0;
-  d->parena = parena;
-
-  // poison remaining memory
-#ifdef mjUSEASAN
-  ASAN_POISON_MEMORY_REGION(
-    (char*)d->arena + d->parena, d->narena - d->pstack - d->parena);
-#endif
-}
-
-
-// allocate island arrays on arena, return 1 on success, 0 on failure
-static int arenaAllocIsland(const mjModel* m, mjData* d) {
-#undef MJ_M
-#define MJ_M(n) m->n
-#undef MJ_D
-#define MJ_D(n) d->n
-
-  size_t parena_old = d->parena;
-
-#define X(type, name, nr, nc)                                                 \
-  d->name = mj_arenaAllocByte(d, sizeof(type) * (nr) * (nc), _Alignof(type)); \
-  if (!d->name) {                                                             \
-    mj_warning(d, mjWARN_CNSTRFULL, d->narena);                               \
-    clearIsland(d, parena_old);                                               \
-    return 0;                                                                 \
-  }
-
-  MJDATA_ARENA_POINTERS_ISLAND
-
-#undef X
-
-#undef MJ_M
-#define MJ_M(n) n
-#undef MJ_D
-#define MJ_D(n) n
-  return 1;
-}
-
-
-//-------------------------- union-find and flood-fill  --------------------------------------------
-
-// find the canonical root of an active tree and compress its path
-int mj_dsuRoot(int* parent, int tree) {
-  int root = tree;
-  while (parent[root] != root) {
-    root = parent[root];
-  }
-
-  while (parent[tree] != tree) {
-    int next = parent[tree];
-    parent[tree] = root;
-    tree = next;
-  }
-
-  return root;
-}
-
-
-// activate and union two incident trees; -1 denotes a static endpoint
-void mj_dsuMerge(int* parent, int tree1, int tree2) {
-  if (tree1 == -1 && tree2 == -1) {
-    mjERROR("self-incidence of the static tree");  // SHOULD NOT OCCUR
-    return;
-  }
-
-  if (tree1 == -1) tree1 = tree2;
-  if (tree2 == -1) tree2 = tree1;
-
-  if (parent[tree1] == -1) parent[tree1] = tree1;
-  if (parent[tree2] == -1) parent[tree2] = tree2;
-
-  if (parent[tree1] == parent[tree2]) return;
-
-  int root1 = mj_dsuRoot(parent, tree1);
-  int root2 = mj_dsuRoot(parent, tree2);
-  if (root1 < root2) {
-    parent[root2] = root1;
-  } else if (root2 < root1) {
-    parent[root1] = root2;
-  }
-}
-
-
-// assign deterministic island ids in ascending canonical-root order
-int mj_dsuAssign(int* island, int* parent, const int* tree_dofnum, int ntree, int* nidof) {
-  int nisland = 0;
-  *nidof = 0;
-  for (int tree=0; tree < ntree; tree++) {
-    if (parent[tree] == -1) {
-      island[tree] = -1;
-      continue;
-    }
-
-    if (parent[tree] == tree) {
-      island[tree] = nisland++;
-    } else {
-      // union always links the larger root to the smaller root. Since trees are visited in
-      // ascending order, this predecessor has already been compressed and assigned an island.
-      parent[tree] = parent[parent[tree]];
-      island[tree] = island[parent[tree]];
-    }
-    *nidof += tree_dofnum[tree];
-  }
-
-  return nisland;
-}
-
-
-// find disjoint subgraphs ("islands") given sparse symmetric adjacency matrix
-//   arguments:
-//     island  (nr)   - island index assigned to vertex, -1 if vertex has no edges
-//     nr             - number of rows/columns of adjacency matrix
-//     rownnz  (nr)   - matrix row nonzeros
-//     rowadr  (nr)   - matrix row addresses
-//     colind  (nnz)  - matrix column indices
-//     stack   (nnz)  - stack space
-//   returns number of islands
-//   note: column indices are not required to be unique or sorted
-int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, const int* colind,
-                 int* stack) {
-  // initialize island count, set ids to -1
-  int nisland = 0;
-  mju_fillInt(island, -1, nr);
-
-  // iterate over vertices, discover islands
-  for (int i=0; i < nr; i++) {
-    // vertex already in island or singleton with no edges: skip
-    if (island[i] != -1 || !rownnz[i]) {
-      continue;
-    }
-
-    // push i onto stack
-    int nstack = 0;
-    stack[nstack++] = i;
-
-    // DFS traversal of island
-    while (nstack) {
-      // pop v from stack
-      int v = stack[--nstack];
-
-      // if v is already assigned, continue
-      if (island[v] != -1) {
-        continue;
-      }
-
-      // assign v to current island
-      island[v] = nisland;
-
-      // push adjacent vertices onto stack
-      mju_copyInt(stack + nstack, colind + rowadr[v], rownnz[v]);
-      nstack += rownnz[v];
-    }
-
-    // island is filled: increment nisland
-    nisland++;
-  }
-
-  return nisland;
-}
-
-
-// state of iterator for finding trees involved in a constraint
-typedef struct {
-  int trees[2];   // pre-calculated trees (special-cased constraints); -2: empty/sentinel
-  int jac_idx;    // generic scan: current lookup index in Jacobian row; -1: scan disabled
-  int tree_prev;  // generic scan: previous tree in ongoing scan
-} mjTreeIter;
-
-
-// return next tree of constraint i from iterator; -2: no more trees
-static int treeNext(const mjModel* m, const mjData* d, int i, mjTreeIter* iter) {
-  // handle special cases
-  if (iter->trees[0] != -2) {
-    // get first tree, queue up second tree, return first tree
-    int tree = iter->trees[0];
-    iter->trees[0] = iter->trees[1];
-    iter->trees[1] = -2;
-    return tree;
-  }
-
-  // special case mode complete
-  if (iter->jac_idx == -1) {
-    return -2;
-  }
-
-  // generic scan mode
-  int j;
-  int tree_next = -2;
-
-  // sparse
-  if (mj_isSparse(m)) {
-    int rownnz = d->efc_J_rownnz[i];
-    const int* colind = d->efc_J_colind + d->efc_J_rowadr[i];
-    for (j = iter->jac_idx; j < rownnz; j++) {
-      int tree_j = m->dof_treeid[colind[j]];
-      if (tree_j != iter->tree_prev) {
-        // found new tree
-        tree_next = tree_j;
-        break;
-      }
-    }
-  }
-
-  // dense
-  else {
-    int nv = m->nv;
-    const mjtNum* J = d->efc_J + nv * i;
-    for (j = iter->jac_idx; j < nv; j++) {
-      if (J[j]) {
-        int tree_j = m->dof_treeid[j];
-        if (tree_j != iter->tree_prev) {
-          // found new tree
-          tree_next = tree_j;
-          break;
-        }
-
-        // skip to end of tree's dof block
-        j = m->tree_dofadr[tree_j] + m->tree_dofnum[tree_j] - 1;
-      }
-    }
-  }
-
-  // update iterator state
-  iter->jac_idx = j;
-  if (tree_next != -2) {
-    iter->tree_prev = tree_next;
-  }
-
-  return tree_next;
-}
-
-
-// initialize tree iterator, handle special cases
-static void treeIterInit(const mjModel* m, const mjData* d, int i, mjTreeIter* iter) {
-  iter->trees[0] = -2;
-  iter->trees[1] = -2;
-  iter->jac_idx = -1;
-  iter->tree_prev = -1;
-
-  int efc_type = d->efc_type[i];
-  int efc_id = d->efc_id[i];
-
-  // ==== special cases: fill iter->trees where possible
-
-  // joint friction
-  if (efc_type == mjCNSTR_FRICTION_DOF) {
-    iter->trees[0] = m->dof_treeid[efc_id];
-  }
-
-  // joint limit
-  else if (efc_type == mjCNSTR_LIMIT_JOINT) {
-    iter->trees[0] = m->dof_treeid[m->jnt_dofadr[efc_id]];
-  }
-
-  // contact
-  else if (efc_type == mjCNSTR_CONTACT_FRICTIONLESS ||
-           efc_type == mjCNSTR_CONTACT_PYRAMIDAL ||
-           efc_type == mjCNSTR_CONTACT_ELLIPTIC) {
-    int g1 = d->contact[efc_id].geom[0];
-    int g2 = d->contact[efc_id].geom[1];
-
-    // geom-geom contact
-    if (g1 >= 0 && g2 >= 0) {
-      iter->trees[0] = m->body_treeid[m->geom_bodyid[g1]];
-      iter->trees[1] = m->body_treeid[m->geom_bodyid[g2]];
-      if (iter->trees[0] < 0 && iter->trees[1] < 0) {
-        mjERROR("contact %d is between two static bodies", efc_id);  // SHOULD NOT OCCUR
-      }
-    }
-
-    // no shortcut for flex contacts: enable generic scan
-    else {
-      iter->jac_idx = 0;
-    }
-  }
-
-  // connect or weld constraints
-  else if (efc_type == mjCNSTR_EQUALITY &&
-           (m->eq_type[efc_id] == mjEQ_CONNECT ||
-            m->eq_type[efc_id] == mjEQ_WELD)) {
-    int b1 = m->eq_obj1id[efc_id];
-    int b2 = m->eq_obj2id[efc_id];
-
-    // get body ids if using site semantics
-    if (m->eq_objtype[efc_id] == mjOBJ_SITE) {
-      b1 = m->site_bodyid[b1];
-      b2 = m->site_bodyid[b2];
-    }
-
-    // get trees
-    iter->trees[0] = m->body_treeid[b1];
-    iter->trees[1] = m->body_treeid[b2];
-    if (iter->trees[0] < 0 && iter->trees[1] < 0) {
-      mjERROR("equality %d is between two static bodies", efc_id);  // SHOULD NOT OCCUR
-    }
-  }
-
-  // otherwise enable generic scan
-  else {
-    iter->jac_idx = 0;
-  }
-}
-
-
-// return whether repeated scalar rows of this constraint require separate tree scans
-static int isFlexEquality(const mjModel* m, int efc_type, int efc_id) {
-  return efc_type == mjCNSTR_EQUALITY &&
-         (m->eq_type[efc_id] == mjEQ_FLEX ||
-          m->eq_type[efc_id] == mjEQ_FLEXVERT ||
-          m->eq_type[efc_id] == mjEQ_FLEXSTRAIN);
-}
-
-
-// activate and union all trees with direct incidence in a constraint
-static const char* unionConstraintTrees(const mjModel* m, const mjData* d, int* parent,
-                                        int* efc_tree, int* err_i) {
-  int nefc = d->nefc;
-  int efc_type = -1;
-  int efc_id = -1;
-
-  // iterate over constraints and union incident trees
-  for (int i=0; i < nefc; i++) {
-    // row i is still in the same constraint: skip it
-    if (i > 0 && efc_type == d->efc_type[i] && efc_id == d->efc_id[i]) {
-      // unless it is a flex equality, where the tree pattern changes per dof
-      if (!isFlexEquality(m, efc_type, efc_id)) {
-        efc_tree[i] = efc_tree[i-1];
-        continue;
-      }
-    }
-    efc_type = d->efc_type[i];
-    efc_id = d->efc_id[i];
-
-    // initialize tree iterator
-    mjTreeIter iter;
-    treeIterInit(m, d, i, &iter);
-
-    // iterate over trees involved in constraint i
-    int tree1 = treeNext(m, d, i, &iter);
-    if (tree1 != -2) {
-      int tree2 = treeNext(m, d, i, &iter);
-      // assign tree to constraint, one of (tree1, tree2) must be non-negative
-      efc_tree[i] = tree1 >= 0 ? tree1 : tree2;
-      if (efc_tree[i] < 0) {
-        *err_i = i;
-        return "constraint %d is between two static bodies";
-      }
-
-      // activate a singleton or union all trees in a multi-tree constraint
-      if (tree2 == -2) {
-        mj_dsuMerge(parent, tree1, -1);
-      } else {
-        while (tree2 != -2) {
-          mj_dsuMerge(parent, tree1, tree2);
-          tree1 = tree2;
-          tree2 = treeNext(m, d, i, &iter);
-        }
-      }
-    } else {
-      *err_i = i;
-      return "no tree found for constraint %d";
-    }
-  }
-
-  // flex stiffness couples all vertices (nodes for interpolated flexes) of a flex without any
-  // constraint row representing the coupling: union the trees of every stiffness-active flex
-  // (star around the first dynamic tree). This keeps the partition valid when the implicit
-  // effective metric (mj_flexCG) carries the stiffness inside the constraint solve. Awake
-  // trees only: sleeping trees must stay out of islands (mj_sleep invariant, matching the
-  // constraint filter); waking a flex as a unit remains the wake machinery's job.
-  for (int f=0; f < m->nflex; f++) {
-    // mirror the stiffness-activity conditions of engine_derivative's flexStiff_active /
-    // flexInterp_processed: deformable dim>=2 flex with bending or nonzero stiffness
-    if (m->flex_rigid[f] || m->flex_dim[f] < 2) {
-      continue;
-    }
-    int sadr = m->flex_stiffnessadr[f];
-    if (m->flex_bendingadr[f] < 0 && (sadr < 0 || m->flex_stiffness[sadr] == 0)) {
-      continue;
-    }
-
-    int num, adr;
-    const int* bodyid;
-    if (m->flex_interp[f]) {
-      num = m->flex_nodenum[f];
-      adr = m->flex_nodeadr[f];
-      bodyid = m->flex_nodebodyid;
-    } else {
-      num = m->flex_vertnum[f];
-      adr = m->flex_vertadr[f];
-      bodyid = m->flex_vertbodyid;
-    }
-
-    int tree1 = -1;
-    for (int j=0; j < num; j++) {
-      int tree2 = m->body_treeid[bodyid[adr+j]];
-      if (tree2 < 0 || tree2 == tree1 || !d->tree_awake[tree2]) {
-        continue;
-      }
-      if (tree1 < 0) {
-        tree1 = tree2;
-      } else {
-        mj_dsuMerge(parent, tree1, tree2);
-      }
-    }
-  }
-
-  return NULL;
-}
-
-
-//-------------------------- main entry-point  -----------------------------------------------------
-
-// discover islands:
-//   nisland, island_idofadr, dof_island, dof_islandnext, island_efcadr, efc_island, efc_islandnext
-void mj_island(const mjModel* m, mjData* d) {
-  int nv = m->nv, nefc = d->nefc, ntree = m->ntree;
-
-  // no constraints or islands disabled: quick return
-  if (mjDISABLED(mjDSBL_ISLAND) || !nefc) {
-    d->nisland = d->nidof = 0;
-    return;
-  }
-
-  mj_markStack(d);
-
-  // union direct tree incidence and assign deterministic components
-  int* efc_tree = mjSTACKALLOC(d, nefc, int);
-  int* parent = mjSTACKALLOC(d, ntree, int);
-  mju_fillInt(parent, -1, ntree);
-  int err_i = -1;
-  const char* err_msg = unionConstraintTrees(m, d, parent, efc_tree, &err_i);
-  if (err_msg) {
-    mj_freeStack(d);
-    mjERROR(err_msg, err_i);
-  }
-  int* tree_island = mjSTACKALLOC(d, ntree, int);
-  int nidof;
-  d->nisland = mj_dsuAssign(tree_island, parent, m->tree_dofnum, ntree, &nidof);
-
-  // no islands found: quick return
-  if (!d->nisland) {
-    d->nidof = 0;
-    mj_freeStack(d);
-    return;
-  }
-
-  d->nidof = nidof;
-
-  // allocate island arrays on arena
-  if (!arenaAllocIsland(m, d)) {
-    mj_freeStack(d);
-    return;
-  }
-
-  // local copy
-  int nisland = d->nisland;
-
-
-  // ------------------------------------- trees ---------------------------------------------------
-
-  // copy tree_island from stack to arena
-  mju_copyInt(d->tree_island, tree_island, ntree);
-
-  // compute island_ntree, number of trees per island
-  mju_zeroInt(d->island_ntree, nisland);
-  for (int i=0; i < ntree; i++) {
-    int island = tree_island[i];
-    if (island >= 0) {
-      d->island_ntree[island]++;
-    }
-  }
-
-  // compute island_itreeadr (cumsum of island_ntree)
-  d->island_itreeadr[0] = 0;
-  for (int i=1; i < nisland; i++) {
-    d->island_itreeadr[i] = d->island_itreeadr[i-1] + d->island_ntree[i-1];
-  }
-  int last_tree = d->island_itreeadr[nisland-1] + d->island_ntree[nisland-1];
-
-  // compute map_itree2tree
-  int* island_ntree2 = mjSTACKALLOC(d, nisland + 1, int);  // last elem counts unconstrained trees
-  mju_zeroInt(island_ntree2, nisland + 1);
-  for (int i=0; i < ntree; i++) {
-    int island = tree_island[i];
-    if (island >= 0) {
-      d->map_itree2tree[d->island_itreeadr[island] + island_ntree2[island]++] = i;
-    } else {
-      d->map_itree2tree[last_tree + island_ntree2[nisland]++] = i;
-    }
-  }
-
-  // SHOULD NOT OCCUR
-  if (!mju_compare(island_ntree2, d->island_ntree, nisland)) mjERROR("island_ntree miscount");
-  if (last_tree + island_ntree2[nisland] != ntree) mjERROR("miscount of unconstrained trees");
-
-
-  // ------------------------------------- degrees of freedom --------------------------------------
-
-  // compute dof_island, island_nv
-  mju_zeroInt(d->island_nv, nisland);
-  for (int i=0; i < nv; i++) {
-    // assign DOFs to islands
-    int island = tree_island[m->dof_treeid[i]];  // -1 if unconstrained
-    d->dof_island[i] = island;
-
-    // increment island_nv
-    if (island >= 0) {
-      d->island_nv[island]++;
-    }
-  }
-
-  // compute island_idofadr (cumsum of island_nv)
-  d->island_idofadr[0] = 0;
-  for (int i=1; i < nisland; i++) {
-    d->island_idofadr[i] = d->island_idofadr[i-1] + d->island_nv[i-1];
-  }
-
-  // compute dof <-> idof maps
-  int* island_nv2 = mjSTACKALLOC(d, nisland + 1, int);  // last element counts unconstrained DOFs
-  mju_zeroInt(island_nv2, nisland + 1);
-  for (int dof=0; dof < nv; dof++) {
-    int island = d->dof_island[dof];
-    int idof;
-    if (island >= 0) {
-      // constrained dof
-      idof = d->island_idofadr[island] + island_nv2[island]++;
-    } else {
-      // unconstrained dof
-      idof = nidof + island_nv2[nisland]++;
-    }
-
-    d->map_dof2idof[dof] = idof;
-    d->map_idof2dof[idof] = dof;  // only the first nidof elements of map_idof2dof are in some island
-  }
-
-  // SHOULD NOT OCCUR
-  if (!mju_compare(island_nv2, d->island_nv, nisland)) mjERROR("island_nv miscount");
-  if (nidof + island_nv2[nisland] != nv) mjERROR("miscount of unconstrained dofs");
-
-  // compute island_dofadr (used for visualization)
-  for (int i=0; i < nisland; i++) {
-    d->island_dofadr[i] = d->map_idof2dof[d->island_idofadr[i]];
-  }
-
-
-  // ------------------------------------- constraints ---------------------------------------------
-
-  // compute efc_island, island_{ne,nf,nefc}
-  mju_zeroInt(d->island_ne, nisland);
-  mju_zeroInt(d->island_nf, nisland);
-  mju_zeroInt(d->island_nefc, nisland);
-  for (int i=0; i < nefc; i++) {
-    d->efc_island[i] = tree_island[efc_tree[i]];
-    int island = d->efc_island[i];
-    d->island_nefc[island]++;
-    switch (d->efc_type[i]) {
-      case mjCNSTR_EQUALITY:
-        d->island_ne[island]++;
-        break;
-      case mjCNSTR_FRICTION_DOF:
-      case mjCNSTR_FRICTION_TENDON:
-        d->island_nf[island]++;
-        break;
-      default:
-        break;
-    }
-  }
-
-  // compute island_iefcadr (cumsum of island_nefc)
-  d->island_iefcadr[0] = 0;
-  for (int i=1; i < nisland; i++) {
-    d->island_iefcadr[i] = d->island_iefcadr[i-1] + d->island_nefc[i-1];
-  }
-
-  // compute efc <-> iefc maps
-  int* island_nefc2 = island_nv2;  // reuse island_nv2
-  mju_zeroInt(island_nefc2, nisland);
-  for (int c=0; c < nefc; c++) {
-    int island = d->efc_island[c];
-    int ic = d->island_iefcadr[island] + island_nefc2[island]++;
-    d->map_efc2iefc[c] = ic;
-    d->map_iefc2efc[ic] = c;
-    d->iefc_type[ic] = d->efc_type[c];
-    d->iefc_id[ic] = d->efc_id[c];
-    d->iefc_frictionloss[ic] = d->efc_frictionloss[c];
-    d->iefc_D[ic] = d->efc_D[c];
-    d->iefc_R[ic] = d->efc_R[c];
-  }
-
-  // SHOULD NOT OCCUR
-  if (!mju_compare(island_nefc2, d->island_nefc, nisland)) mjERROR("island_nefc miscount");
-
-  mj_freeStack(d);
-}
diff --git a/src/engine/engine_island.h b/src/engine/engine_island.h
deleted file mode 100644
index dd6f92f6..00000000
--- a/src/engine/engine_island.h
+++ /dev/null
@@ -1,46 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_ISLAND_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_ISLAND_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// disjoint-set roots are minimum tree indices; mj_dsuRoot requires parent[tree] >= 0
-MJAPI void mj_dsuMerge(int* parent, int tree1, int tree2);
-MJAPI int mj_dsuRoot(int* parent, int tree);
-MJAPI int mj_dsuAssign(int* island, int* parent, const int* tree_dofnum, int ntree, int* nidof);
-
-
-// find disjoint subgraphs ("islands") given sparse symmetric adjacency matrix
-MJAPI int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, const int* colind,
-                       int* stack);
-
-//-------------------------- top-level API for island construction ---------------------------------
-
-// discover islands:
-//   nisland, island_dofadr, dof_island, dof_islandnext, island_efcadr, efc_island, efc_islandnext
-MJAPI void mj_island(const mjModel* m, mjData* d);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_ISLAND_H_
diff --git a/src/engine/engine_macro.h b/src/engine/engine_macro.h
deleted file mode 100644
index ed19d769..00000000
--- a/src/engine/engine_macro.h
+++ /dev/null
@@ -1,51 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
-
-#include <stdint.h>
-
-#include "engine/engine_callback.h"  // IWYU pragma: export
-
-//-------------------------------- utility macros --------------------------------------------------
-
-// thread local macro
-#ifdef _MSC_VER
-  #define mjTHREADLOCAL __declspec(thread)
-#else
-  #define mjTHREADLOCAL _Thread_local
-#endif
-
-
-//-------------------------- timer macros ----------------------------------------------------------
-
-#define TM_START mjtNum _tm = (mjcb_time ? mjcb_time() : 0);
-#define TM_RESTART _tm = (mjcb_time ? mjcb_time() : 0);
-#define TM_END(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm); d->timer[i].number++;}
-#define TM_ADD(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm);}
-#define TM_START1 mjtNum _tm1 = (mjcb_time ? mjcb_time() : 0);
-#define TM_END1(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm1); d->timer[i].number++;}
-
-//-------------------------- compiler builtin ------------------------------------------------------
-
-#ifndef __has_builtin
-  #define __has_builtin(x) 0
-#endif
-
-//-------------------------- pointer arithmetic ----------------------------------------------------
-
-#define PTRDIFF(x, y) ((char*)(x) - (char*)(y))
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
diff --git a/src/engine/engine_memory.c b/src/engine/engine_memory.c
deleted file mode 100644
index d4f91741..00000000
--- a/src/engine/engine_memory.c
+++ /dev/null
@@ -1,365 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_memory.h"
-
-#include <inttypes.h>  // IWYU pragma: keep
-#include <limits.h>
-#include <stddef.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_crossplatform.h"
-#include "engine/engine_util_errmem.h"
-
-
-#ifdef mjUSEASAN
-  #include <sanitizer/asan_interface.h>
-  #include <sanitizer/common_interface_defs.h>
-#endif
-
-#ifdef MEMORY_SANITIZER
-  #include <sanitizer/msan_interface.h>
-#endif
-
-#ifdef _MSC_VER
-  #pragma warning (disable: 4305)  // disable MSVC warning: truncation from 'double' to 'float'
-#endif
-
-// add red zone padding when built with asan, to detect out-of-bound accesses
-#ifdef mjUSEASAN
-  #define mjREDZONE 32
-#else
-  #define mjREDZONE 0
-#endif
-
-// compute a % b with a fast code path if the second argument is a power of 2
-static inline size_t fastmod(size_t a, size_t b) {
-  // (b & (b - 1)) == 0 implies that b is a power of 2
-  if (mjLIKELY((b & (b - 1)) == 0)) {
-    return a & (b - 1);
-  }
-  return a % b;
-}
-
-typedef struct {
-  uintptr_t bottom;      // first memory address available to the stack
-  uintptr_t top;         // current memory address used by the stack
-  uintptr_t limit;       // top limit of the stack (stack grows down)
-  uintptr_t stack_base;  // current stack base for mark and free stack
-} mjStackInfo;
-
-
-typedef struct {
-  size_t pbase;   // value of d->pbase immediately before mj_markStack
-  size_t pstack;  // value of d->pstack immediately before mj_markStack
-  void* pc;       // program counter of the call site of mj_markStack (only set when under asan)
-} mjStackFrame;
-
-static inline mjStackInfo get_stack_info_from_data(const mjData* d) {
-  mjStackInfo stack_info;
-  stack_info.bottom = (uintptr_t)d->arena + (uintptr_t)d->narena;
-  stack_info.top = stack_info.bottom - d->pstack;
-  stack_info.limit = (uintptr_t)d->arena + (uintptr_t)d->parena;
-  stack_info.stack_base = d->pbase;
-
-  return stack_info;
-}
-
-
-#ifdef mjUSEASAN
-// get stack usage from red-zone (under ASAN)
-static size_t stack_usage_redzone(const mjStackInfo* stack_info) {
-  size_t usage = 0;
-
-  // actual stack usage (without red zone bytes) is stored in the red zone
-  if (stack_info->top != stack_info->bottom) {
-    char* prev_pstack_ptr = (char*)(stack_info->top);
-    size_t prev_misalign = (uintptr_t)prev_pstack_ptr % _Alignof(size_t);
-    size_t* prev_usage_ptr =
-      (size_t*)(prev_pstack_ptr +
-                (prev_misalign ? _Alignof(size_t) - prev_misalign : 0));
-    ASAN_UNPOISON_MEMORY_REGION(prev_usage_ptr, sizeof(size_t));
-    usage = *prev_usage_ptr;
-    ASAN_POISON_MEMORY_REGION(prev_usage_ptr, sizeof(size_t));
-  }
-
-  return usage;
-}
-#endif
-
-// allocate memory from the mjData arena
-void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment) {
-  size_t misalignment = fastmod(d->parena, alignment);
-  size_t padding = misalignment ? alignment - misalignment : 0;
-
-  // check size
-  size_t bytes_available = d->narena - d->pstack;
-  if (mjUNLIKELY(d->parena + padding + bytes > bytes_available)) {
-    return NULL;
-  }
-
-  size_t stack_usage = d->pstack;
-
-  // under ASAN, get stack usage from red zone
-#ifdef mjUSEASAN
-  mjStackInfo stack_info = get_stack_info_from_data(d);
-  stack_usage = stack_usage_redzone(&stack_info);
-#endif
-
-  // allocate, update max, return pointer to buffer
-  void* result = (char*)d->arena + d->parena + padding;
-  d->parena += padding + bytes;
-  d->maxuse_arena = mjMAX(d->maxuse_arena, stack_usage + d->parena);
-
-#ifdef mjUSEASAN
-  ASAN_UNPOISON_MEMORY_REGION(result, bytes);
-#endif
-
-#ifdef MEMORY_SANITIZER
-  __msan_allocated_memory(result, bytes);
-#endif
-
-  return result;
-}
-
-
-// internal: allocate size bytes on the provided stack shard
-// declared inline so that modular arithmetic with specific alignments can be optimized out
-static inline void* stackallocinternal(mjData* d, mjStackInfo* stack_info, size_t size,
-    size_t alignment, const char* caller, int line) {
-  // return NULL if empty
-  if (mjUNLIKELY(!size)) {
-    return NULL;
-  }
-
-  // start of the memory to be allocated to the buffer
-  uintptr_t start_ptr = stack_info->top - (size + mjREDZONE);
-
-  // align the pointer
-  start_ptr -= fastmod(start_ptr, alignment);
-
-  // new top of the stack
-  uintptr_t new_top_ptr = start_ptr - mjREDZONE;
-
-  // exclude red zone from stack usage statistics
-  size_t current_alloc_usage = stack_info->top - new_top_ptr - 2 * mjREDZONE;
-  size_t usage = current_alloc_usage + (stack_info->bottom - stack_info->top);
-
-  // check size
-  size_t stack_available_bytes = stack_info->top - stack_info->limit;
-  size_t stack_required_bytes = stack_info->top - new_top_ptr;
-  if (mjUNLIKELY(stack_required_bytes > stack_available_bytes)) {
-    char info[1024];
-    if (caller) {
-      snprintf(info, sizeof(info), " at %s, line %d", caller, line);
-    } else {
-      info[0] = '\0';
-    }
-    mju_error(
-        "mj_stackAlloc: out of memory, stack overflow%s\n"
-        "  max = %" PRIuPTR ", available = %" PRIuPTR ", requested = %" PRIuPTR
-        "\n nefc = %d, ncon = %d",
-        info, stack_info->bottom - stack_info->limit, stack_available_bytes,
-        stack_required_bytes, d->nefc, d->ncon);
-  }
-
-#ifdef mjUSEASAN
-  usage = current_alloc_usage + stack_usage_redzone(stack_info);
-
-  // store new stack usage in the red zone
-  size_t misalign = new_top_ptr % _Alignof(size_t);
-  size_t* usage_ptr =
-    (size_t*)(new_top_ptr + (misalign ? _Alignof(size_t) - misalign : 0));
-  ASAN_UNPOISON_MEMORY_REGION(usage_ptr, sizeof(size_t));
-  *usage_ptr = usage;
-  ASAN_POISON_MEMORY_REGION(usage_ptr, sizeof(size_t));
-
-  // unpoison the actual usable allocation
-  ASAN_UNPOISON_MEMORY_REGION((void*)start_ptr, size);
-#endif
-
-  // update max usage statistics
-  stack_info->top = new_top_ptr;
-  d->maxuse_stack = mjMAX(d->maxuse_stack, usage);
-  d->maxuse_arena = mjMAX(d->maxuse_arena, usage + d->parena);
-
-  return (void*)start_ptr;
-}
-
-
-// internal: allocate size bytes in mjData
-// declared inline so that modular arithmetic with specific alignments can be optimized out
-static inline void* stackalloc(mjData* d, size_t size, size_t alignment,
-                               const char* caller, int line) {
-  // size zero: no-op
-  if (!size) {
-    return NULL;
-  }
-
-  // call in mju_dispatch: atomically reserve space on the stack
-  if (d->threadlock) {
-    size_t alloc_size = size + alignment - 1 + 2 * mjREDZONE;
-    size_t old_pstack = mj_atomic_add_size_t(&d->pstack, alloc_size);
-
-    // check for stack overflow
-    size_t stack_available_bytes = (size_t)d->narena - d->parena;
-    if (mjUNLIKELY(old_pstack + alloc_size > stack_available_bytes)) {
-      char info[1024];
-      if (caller) {
-        snprintf(info, sizeof(info), " at %s, line %d", caller, line);
-      } else {
-        info[0] = '\0';
-      }
-      mju_error(
-          "mj_stackAlloc: out of memory, stack overflow%s (threadlock)\n"
-          "  max = %" PRIuPTR ", available = %" PRIuPTR ", requested = %" PRIuPTR
-          "\n nefc = %d, ncon = %d",
-          info, (uintptr_t)stack_available_bytes,
-          (uintptr_t)(stack_available_bytes - old_pstack),
-          (uintptr_t)alloc_size, d->nefc, d->ncon);
-    }
-
-    uintptr_t bottom = (uintptr_t)d->arena + (uintptr_t)d->narena;
-    uintptr_t start_ptr = bottom - old_pstack - size - mjREDZONE;
-    start_ptr -= fastmod(start_ptr, alignment);
-    ASAN_UNPOISON_MEMORY_REGION((void*)start_ptr, size);
-    return (void*)start_ptr;
-  }
-
-  mjStackInfo stack_info = get_stack_info_from_data(d);
-  void* result = stackallocinternal(d, &stack_info, size, alignment, caller, line);
-  d->pstack = stack_info.bottom - stack_info.top;
-  return result;
-}
-
-
-// mjStackInfo mark stack frame, inline so ASAN errors point to correct code unit
-#ifdef mjUSEASAN
-__attribute__((always_inline))
-#endif
-static inline void markstackinternal(mjData* d, mjStackInfo* stack_info) {
-  size_t top_old = stack_info->top;
-  mjStackFrame* s =
-    (mjStackFrame*) stackallocinternal(d, stack_info, sizeof(mjStackFrame), _Alignof(mjStackFrame), NULL, 0);
-  s->pbase = stack_info->stack_base;
-  s->pstack = top_old;
-#ifdef mjUSEASAN
-  // store the program counter to the caller so that we can compare against mj_freeStack later
-  s->pc = __sanitizer_return_address();
-#endif
-  stack_info->stack_base = (uintptr_t) s;
-}
-
-
-// mjData mark stack frame
-#ifndef mjUSEASAN
-void mj_markStack(mjData* d)
-#else
-void mj__markStack(mjData* d)
-#endif
-{
-  // no-op if called from mju_dispatch
-  if (d->threadlock) {
-    return;
-  }
-
-  mjStackInfo stack_info = get_stack_info_from_data(d);
-  markstackinternal(d, &stack_info);
-  d->pstack = stack_info.bottom - stack_info.top;
-  d->pbase = stack_info.stack_base;
-}
-
-
-#ifdef mjUSEASAN
-__attribute__((always_inline))
-#endif
-static inline void freestackinternal(mjStackInfo* stack_info) {
-  if (mjUNLIKELY(!stack_info->stack_base)) {
-    return;
-  }
-
-  mjStackFrame* s = (mjStackFrame*) stack_info->stack_base;
-#ifdef mjUSEASAN
-  // raise an error if caller function name doesn't match the most recent caller of mj_markStack
-  if (!mj__comparePcFuncName(s->pc, __sanitizer_return_address())) {
-    mjERROR("mj_markStack %s has no corresponding mj_freeStack (detected %s)",
-            mj__getPcDebugInfo(s->pc),
-            mj__getPcDebugInfo(__sanitizer_return_address()));
-  }
-  uintptr_t old_top = stack_info->top;
-#endif
-
-  // restore pbase and pstack
-  stack_info->stack_base = s->pbase;
-  stack_info->top = s->pstack;
-
-  // if running under asan, poison the newly freed memory region
-#ifdef mjUSEASAN
-  ASAN_POISON_MEMORY_REGION((char*)old_top, stack_info->top - old_top);
-#endif
-}
-
-
-// mjData free stack frame
-#ifndef mjUSEASAN
-void mj_freeStack(mjData* d)
-#else
-void mj__freeStack(mjData* d)
-#endif
-{
-  if (d->threadlock) {
-    return;
-  }
-
-  mjStackInfo stack_info = get_stack_info_from_data(d);
-  freestackinternal(&stack_info);
-  d->pstack = stack_info.bottom - stack_info.top;
-  d->pbase = stack_info.stack_base;
-}
-
-
-// allocate bytes on the stack
-void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment) {
-  return stackalloc(d, bytes, alignment, NULL, 0);
-}
-
-
-// allocate bytes on the stack, with caller information
-void* mj_stackAllocInfo(mjData* d, size_t bytes, size_t alignment,
-                        const char* caller, int line) {
-  return stackalloc(d, bytes, alignment, caller, line);
-}
-
-
-// allocate mjtNums on the stack
-mjtNum* mj_stackAllocNum(mjData* d, size_t size) {
-  if (mjUNLIKELY(size >= SIZE_MAX / sizeof(mjtNum))) {
-    mjERROR("requested size is too large (more than 2^64 bytes).");
-  }
-  return (mjtNum*) stackalloc(d, size * sizeof(mjtNum), _Alignof(mjtNum), NULL, 0);
-}
-
-
-// allocate ints on the stack
-int* mj_stackAllocInt(mjData* d, size_t size) {
-  if (mjUNLIKELY(size >= SIZE_MAX / sizeof(int))) {
-    mjERROR("requested size is too large (more than 2^64 bytes).");
-  }
-  return (int*) stackalloc(d, size * sizeof(int), _Alignof(int), NULL, 0);
-}
diff --git a/src/engine/engine_memory.h b/src/engine/engine_memory.h
deleted file mode 100644
index 22c61d38..00000000
--- a/src/engine/engine_memory.h
+++ /dev/null
@@ -1,89 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_MEMORY_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_MEMORY_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjtype.h>
-#include <mujoco/mjxmacro.h>
-
-#ifdef __cplusplus
-#include <cstddef>
-extern "C" {
-#else
-#include <stddef.h>
-#endif
-
-// internal hash map size factor (2 corresponds to a load factor of 0.5)
-#define mjLOAD_MULTIPLE 2
-
-// mjData arena allocate
-MJAPI void* mj_arenaAllocByte(mjData* d, size_t bytes, size_t alignment);
-
-#ifndef mjUSEASAN
-
-// mjData mark stack frame
-MJAPI void mj_markStack(mjData* d);
-
-// mjData free stack frame
-MJAPI void mj_freeStack(mjData* d);
-
-#else
-
-void mj__markStack(mjData* d) __attribute__((noinline));
-void mj__freeStack(mjData* d) __attribute__((noinline));
-
-#endif  // ADDRESS_SANITIZER
-
-// allocate bytes on the stack
-MJAPI void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
-
-// allocate bytes on the stack, with added caller information
-MJAPI void* mj_stackAllocInfo(mjData* d, size_t bytes, size_t alignment,
-                              const char* caller, int line);
-
-// macro to allocate a stack array of given type, adds caller information
-#define mjSTACKALLOC(d, num, type) \
-(type*) mj_stackAllocInfo(d, (num) * sizeof(type), _Alignof(type), __func__, __LINE__)
-
-// mjData stack allocate for array of mjtNums
-MJAPI mjtNum* mj_stackAllocNum(mjData* d, size_t size);
-
-// mjData stack allocate for array of ints
-MJAPI int* mj_stackAllocInt(mjData* d, size_t size);
-
-// clear arena pointers in mjData
-static inline void mj_clearEfc(mjData* d) {
-#define X(type, name, nr, nc) d->name = NULL;
-  MJDATA_ARENA_POINTERS
-#undef X
-  d->nefc = 0;
-  d->nisland = 0;
-  d->nJ = d->nY = d->nA = 0;
-  d->contact = (mjContact*) d->arena;
-
-  // if any contacts are allocated, clear their efc_address
-  for (int i=0; i < d->ncon; i++) {
-    d->contact[i].efc_address = -1;
-  }
-}
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_MEMORY_H_
diff --git a/src/engine/engine_name.c b/src/engine/engine_name.c
deleted file mode 100644
index f199076e..00000000
--- a/src/engine/engine_name.c
+++ /dev/null
@@ -1,316 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_name.h"
-
-#include <stdint.h>
-#include <string.h>
-
-#include <mujoco/mjmodel.h>
-#include "engine/engine_crossplatform.h"
-#include "engine/engine_io.h"
-
-
-
-//-------------------------- name functions --------------------------------------------------------
-// get number of objects and name addresses for given object type
-static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
-  int num = -1;
-  // map address starts at the end, subtract with explicit switch fallthrough below
-  *mapadr = m->nnames_map;
-
-  // get address list and size for object type
-  switch (type) {
-  case mjOBJ_BODY:
-  case mjOBJ_XBODY:
-    *mapadr -= mjLOAD_MULTIPLE*m->nbody;
-    *padr = m->name_bodyadr;
-    num = m->nbody;
-    mjFALLTHROUGH;
-
-  case mjOBJ_JOINT:
-    *mapadr -= mjLOAD_MULTIPLE*m->njnt;
-    if (num < 0) {
-      *padr = m->name_jntadr;
-      num = m->njnt;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_GEOM:
-    *mapadr -= mjLOAD_MULTIPLE*m->ngeom;
-    if (num < 0) {
-      *padr = m->name_geomadr;
-      num = m->ngeom;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_SITE:
-    *mapadr -= mjLOAD_MULTIPLE*m->nsite;
-    if (num < 0) {
-      *padr = m->name_siteadr;
-      num = m->nsite;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_CAMERA:
-    *mapadr -= mjLOAD_MULTIPLE*m->ncam;
-    if (num < 0) {
-      *padr = m->name_camadr;
-      num = m->ncam;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_LIGHT:
-    *mapadr -= mjLOAD_MULTIPLE*m->nlight;
-    if (num < 0) {
-      *padr = m->name_lightadr;
-      num = m->nlight;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_FLEX:
-    *mapadr -= mjLOAD_MULTIPLE*m->nflex;
-    if (num < 0) {
-      *padr = m->name_flexadr;
-      num =  m->nflex;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_MESH:
-    *mapadr -= mjLOAD_MULTIPLE*m->nmesh;
-    if (num < 0) {
-      *padr = m->name_meshadr;
-      num =  m->nmesh;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_SKIN:
-    *mapadr -= mjLOAD_MULTIPLE*m->nskin;
-    if (num < 0) {
-      *padr = m->name_skinadr;
-      num = m->nskin;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_HFIELD:
-    *mapadr -= mjLOAD_MULTIPLE*m->nhfield;
-    if (num < 0) {
-      *padr = m->name_hfieldadr;
-      num = m->nhfield;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_TEXTURE:
-    *mapadr -= mjLOAD_MULTIPLE*m->ntex;
-    if (num < 0) {
-      *padr = m->name_texadr;
-      num = m->ntex;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_MATERIAL:
-    *mapadr -= mjLOAD_MULTIPLE*m->nmat;
-    if (num < 0) {
-      *padr = m->name_matadr;
-      num = m->nmat;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_PAIR:
-    *mapadr -= mjLOAD_MULTIPLE*m->npair;
-    if (num < 0) {
-      *padr = m->name_pairadr;
-      num = m->npair;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_EXCLUDE:
-    *mapadr -= mjLOAD_MULTIPLE*m->nexclude;
-    if (num < 0) {
-      *padr = m->name_excludeadr;
-      num = m->nexclude;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_EQUALITY:
-    *mapadr -= mjLOAD_MULTIPLE*m->neq;
-    if (num < 0) {
-      *padr = m->name_eqadr;
-      num = m->neq;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_TENDON:
-    *mapadr -= mjLOAD_MULTIPLE*m->ntendon;
-    if (num < 0) {
-      *padr = m->name_tendonadr;
-      num = m->ntendon;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_ACTUATOR:
-    *mapadr -= mjLOAD_MULTIPLE*m->nactuator;
-    if (num < 0) {
-      *padr = m->name_actuatoradr;
-      num = m->nactuator;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_SENSOR:
-    *mapadr -= mjLOAD_MULTIPLE*m->nsensor;
-    if (num < 0) {
-      *padr = m->name_sensoradr;
-      num = m->nsensor;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_NUMERIC:
-    *mapadr -= mjLOAD_MULTIPLE*m->nnumeric;
-    if (num < 0) {
-      *padr = m->name_numericadr;
-      num = m->nnumeric;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_TEXT:
-    *mapadr -= mjLOAD_MULTIPLE*m->ntext;
-    if (num < 0) {
-      *padr = m->name_textadr;
-      num = m->ntext;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_TUPLE:
-    *mapadr -= mjLOAD_MULTIPLE*m->ntuple;
-    if (num < 0) {
-      *padr = m->name_tupleadr;
-      num = m->ntuple;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_KEY:
-    *mapadr -= mjLOAD_MULTIPLE*m->nkey;
-    if (num < 0) {
-      *padr = m->name_keyadr;
-      num = m->nkey;
-    }
-    mjFALLTHROUGH;
-
-  case mjOBJ_PLUGIN:
-    *mapadr -= mjLOAD_MULTIPLE*m->nplugin;
-    if (num < 0) {
-      *padr = m->name_pluginadr;
-      num = m->nplugin;
-    }
-    mjFALLTHROUGH;
-
-  default:
-    if (num < 0) {
-      *padr = 0;
-      num = 0;
-    }
-  }
-
-  return num;
-}
-
-// get string hash, see http://www.cse.yorku.ca/~oz/hash.html
-uint64_t mj_hashString(const char* s, uint64_t n) {
-  uint64_t h = 5381;
-  int c;
-  while ((c = *s++)) {
-    h = ((h << 5) + h) ^ c;
-  }
-  return h % n;
-}
-
-// get id of object with the specified mjtObj type and name,
-// returns -1 if id not found
-int mj_name2id(const mjModel* m, int type, const char* name) {
-  int mapadr;
-  int* adr = 0;
-
-  // get number of objects and name addresses
-  int num = mjLOAD_MULTIPLE*_getnumadr(m, type, &adr, &mapadr);
-
-  // search
-  if (num) {    // look up at hash address
-    uint64_t hash = mj_hashString(name, num);
-    uint64_t i = hash;
-
-    do {
-      int j = m->names_map[mapadr + i];
-      if (j < 0) {
-        return -1;
-      }
-
-      if (!strncmp(name, m->names+adr[j], m->nnames-adr[j])) {
-        return j;
-      }
-      if ((++i) == num)i = 0;
-    } while (i != hash);
-  }
-  return -1;
-}
-
-
-// get name of object with the specified mjtObj type and id,
-// returns NULL if name not found
-const char* mj_id2name(const mjModel* m, int type, int id) {
-  int mapadr;
-  int* adr = 0;
-
-  // get number of objects and name addresses
-  int num = _getnumadr(m, type, &adr, &mapadr);
-
-  // id is in [0, num) and the found name is not the empty string "\0"
-  if (id >= 0 && id < num && m->names[adr[id]]) {
-    return m->names+adr[id];
-  }
-
-  return NULL;
-}
-
-
-// get name of actuator input, determined by the actuator type and input signature,
-// returns NULL if the actuator type defines no input names
-const char* mj_actuatorInputName(const mjModel* m, int id, int input) {
-  if (id < 0 || id >= m->nactuator || input < 0 || input >= m->actuator_ctrlnum[id]) {
-    return NULL;
-  }
-
-  // so3 orientation actuator: input names are chart components
-  if (m->actuator_gaintype[id] == mjGAIN_SO3) {
-    static const char* expmap[3] = {"rx", "ry", "rz"};
-    static const char* quat[4] = {"qw", "qx", "qy", "qz"};
-    return m->actuator_ctrlspec[id] == mjCHART_QUAT ? quat[input] : expmap[input];
-  }
-
-  // servo family: input names are the present members of [pos, vel, ff, voltage]
-  if (m->actuator_gaintype[id] == mjGAIN_PID || m->actuator_gaintype[id] == mjGAIN_DCMOTOR) {
-    static const char* servo[4] = {"pos", "vel", "ff", "voltage"};
-    static const int bits[4] = {mjINPUT_POS, mjINPUT_VEL, mjINPUT_FF, mjINPUT_VOLTAGE};
-    int spec = m->actuator_ctrlspec[id];
-    for (int k=0; k < 4; k++) {
-      if (spec & bits[k]) {
-        if (input == 0) {
-          return servo[k];
-        }
-        input--;
-      }
-    }
-  }
-
-  return NULL;
-}
diff --git a/src/engine/engine_name.h b/src/engine/engine_name.h
deleted file mode 100644
index c89b0c72..00000000
--- a/src/engine/engine_name.h
+++ /dev/null
@@ -1,44 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_NAME_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_NAME_H_
-
-#include <stdint.h>
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//-------------------------- name functions --------------------------------------------------------
-
-// get string hash, see http://www.cse.yorku.ca/~oz/hash.html
-uint64_t mj_hashString(const char* s, uint64_t n);
-
-// get id of object with the specified mjtObj type and name, returns -1 if id not found
-MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
-
-// get name of object with the specified mjtObj type and id, returns NULL if name not found
-MJAPI const char* mj_id2name(const mjModel* m, int type, int id);
-
-// get name of actuator input; NULL if the actuator type defines no input names
-MJAPI const char* mj_actuatorInputName(const mjModel* m, int id, int input);
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_NAME_H_
diff --git a/src/engine/engine_passive.c b/src/engine/engine_passive.c
deleted file mode 100644
index f30ea16f..00000000
--- a/src/engine/engine_passive.c
+++ /dev/null
@@ -1,1471 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_passive.h"
-
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include "engine/engine_callback.h"
-#include "engine/engine_core_constraint.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_derivative.h"
-#include "engine/engine_crossplatform.h"
-#include "engine/engine_inline.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_plugin.h"
-#include "engine/engine_sleep.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_spatial.h"
-
-
-//----------------------------- passive forces -----------------------------------------------------
-
-
-// local edge-based vertex indexing for 2D and 3D elements, 2D and 3D elements
-// have 3 and 6 edges, respectively so the missing indexes are set to 0
-static const int edges[2][6][2] = {{{1, 2}, {2, 0}, {0, 1}, {0, 0}, {0, 0}, {0, 0}},
-                                   {{0, 1}, {1, 2}, {2, 0}, {2, 3}, {0, 3}, {1, 3}}};
-
-// compute gradient of squared lengths of edges belonging to a given element
-static void inline GradSquaredLengths(mjtNum gradient[6][2][3],
-                                      const mjtNum* xpos,
-                                      const int vert[4],
-                                      const int edge[6][2],
-                                      int nedge) {
-  for (int e = 0; e < nedge; e++) {
-    for (int d = 0; d < 3; d++) {
-      gradient[e][0][d] = xpos[3*vert[edge[e][0]]+d] - xpos[3*vert[edge[e][1]]+d];
-      gradient[e][1][d] = xpos[3*vert[edge[e][1]]+d] - xpos[3*vert[edge[e][0]]+d];
-    }
-  }
-}
-
-
-// passive forces for interpolated flex (stretch + bending)
-static void mj_flexPassiveInterp(const mjModel* m, mjData* d, int f,
-                                 int enbl_spring, int enbl_damper) {
-  int stiffnessadr = m->flex_stiffnessadr[f];
-  if (stiffnessadr < 0) {
-    return;
-  }
-
-  mjtNum* k = m->flex_stiffness + stiffnessadr;
-  int nodenum = m->flex_nodenum[f];
-
-  int order = m->flex_interp[f];
-  int shell_mode = order < 0;
-  order = order < 0 ? -order : order;
-  int cx = m->flex_cellnum[3*f+0];
-  int cy = m->flex_cellnum[3*f+1];
-  int cz = m->flex_cellnum[3*f+2];
-
-  // determine element type: 2D boundary quads (shell) or 3D cells (volume)
-  int npe;       // nodes per element
-  int nelem_fe;  // total finite elements
-
-  if (shell_mode) {
-    npe = (order+1)*(order+1);
-    nelem_fe = 2*(cy*cz + cx*cz + cx*cy);
-  } else {
-    npe = (order+1)*(order+1)*(order+1);
-    nelem_fe = cx * cy * cz;
-  }
-
-  // check if we have any work to do
-  int has_stretch = k[0] != 0 && m->flex_edgeequality[f] != 3;
-  if (!has_stretch) {
-    return;
-  }
-
-  mj_markStack(d);
-
-  // allocate global arrays
-  mjtNum* xpos_g = mjSTACKALLOC(d, 3*nodenum, mjtNum);
-  mjtNum* vel_g = mjSTACKALLOC(d, 3*nodenum, mjtNum);
-  mjtNum* frc_g = mjSTACKALLOC(d, 3*nodenum, mjtNum);
-  mjtNum* dmp_g = mjSTACKALLOC(d, 3*nodenum, mjtNum);
-  mjtNum* xpos0 = m->flex_node0 + 3*m->flex_nodeadr[f];
-  int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[f];
-
-  // gather global node positions and velocities (unrotated)
-  mju_flexGatherState(m, d, f, xpos_g, vel_g);
-
-  // zero global force accumulators
-  mju_zero(frc_g, 3*nodenum);
-  mju_zero(dmp_g, 3*nodenum);
-
-  // per-element arrays (sized for npe)
-  mjtNum* xpos_e = mjSTACKALLOC(d, 3*npe, mjtNum);
-  mjtNum* vel_e = mjSTACKALLOC(d, 3*npe, mjtNum);
-  mjtNum* xpos0_e = mjSTACKALLOC(d, 3*npe, mjtNum);
-  mjtNum* displ_e = mjSTACKALLOC(d, 3*npe, mjtNum);
-  mjtNum* frc_e = mjSTACKALLOC(d, 3*npe, mjtNum);
-  mjtNum* dmp_e = mjSTACKALLOC(d, 3*npe, mjtNum);
-  int* gindices = mjSTACKALLOC(d, npe, int);
-
-  // -------------------- stretch forces --------------------
-  if (has_stretch) {
-    for (int fe = 0; fe < nelem_fe; fe++) {
-      // get element stiffness matrix
-      mjtNum* k_elem = k + fe * 3*npe * 3*npe;
-
-      // skip empty elements (zero stiffness)
-      if (k_elem[0] == 0) {
-        continue;
-      }
-
-      // gather element-local node data and compute corotational rotation
-      mjtNum quat[4];
-      if (shell_mode) {
-        mju_flexGatherFaceState(order, cx, cy, cz, fe, xpos_g, vel_g, xpos0,
-                                xpos_e, vel_e, xpos0_e, gindices, quat);
-      } else {
-        int ci = fe / (cy * cz);
-        int cj = (fe / cz) % cy;
-        int ck = fe % cz;
-        mju_flexGatherCellState(order, cy, cz, ci, cj, ck, xpos_g, vel_g,
-                                xpos0, xpos_e, vel_e, xpos0_e, gindices,
-                                quat);
-      }
-
-      // rotate to corotational frame
-      for (int n = 0; n < npe; n++) {
-        mju_rotVecQuat(xpos_e+3*n, xpos_e+3*n, quat);
-        mju_rotVecQuat(vel_e+3*n, vel_e+3*n, quat);
-      }
-
-      // compute displacement
-      for (int n = 0; n < npe; n++) {
-        mji_addScl3(displ_e+3*n, xpos_e+3*n, xpos0_e+3*n, -1);
-      }
-
-      // compute force in corotational frame
-      if (enbl_spring) {
-        mju_mulMatVec(frc_e, k_elem, displ_e, 3*npe, 3*npe);
-      }
-      if (enbl_damper) {
-        mju_mulMatVec(dmp_e, k_elem, vel_e, 3*npe, 3*npe);
-      }
-
-      // rotate back to global frame and scatter using node indices
-      mju_negQuat(quat, quat);
-      for (int n = 0; n < npe; n++) {
-        mjtNum qfrc[3], qdmp[3];
-        mji_rotVecQuat(qfrc, frc_e+3*n, quat);
-        mji_rotVecQuat(qdmp, dmp_e+3*n, quat);
-        int gidx = gindices[n];
-        if (enbl_spring) {
-          mji_addTo3(frc_g + 3*gidx, qfrc);
-        }
-        if (enbl_damper) {
-          mji_addTo3(dmp_g + 3*gidx, qdmp);
-        }
-      }
-    }
-  }
-
-  // apply accumulated forces to bodies
-  for (int i = 0; i < nodenum; i++) {
-    mju_scl3(dmp_g+3*i, dmp_g+3*i, m->flex_damping[f]);
-    int bid = bodyid[i];
-    int nidx = i + m->flex_nodeadr[f];
-
-    // fast path: node at body origin (not pinned), direct DOF write
-    if (m->body_dofnum[bid] > 0 &&
-        (m->flex_centered[f] ||
-         (m->flex_node[3*nidx+0] == 0 &&
-          m->flex_node[3*nidx+1] == 0 &&
-          m->flex_node[3*nidx+2] == 0))) {
-      if (enbl_spring) {
-        mjtNum qfrc_loc[3];
-        mju_mulMatTVec3(qfrc_loc, d->xmat+9*bid, frc_g+3*i);
-        mji_addTo3(d->qfrc_spring + m->body_dofadr[bid], qfrc_loc);
-      }
-      if (enbl_damper) {
-        mjtNum qdmp_loc[3];
-        mju_mulMatTVec3(qdmp_loc, d->xmat+9*bid, dmp_g+3*i);
-        mji_addTo3(d->qfrc_damper + m->body_dofadr[bid], qdmp_loc);
-      }
-    } else {
-      if (enbl_spring) mj_applyFT(m, d, frc_g+3*i, 0, xpos_g+3*i, bid, d->qfrc_spring);
-      if (enbl_damper) mj_applyFT(m, d, dmp_g+3*i, 0, xpos_g+3*i, bid, d->qfrc_damper);
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// 2D shape function gradient: dir=0 returns dphi(s0,l0)*phi(s1,l1),
-//                             dir=1 returns phi(s0,l0)*dphi(s1,l1)
-static inline mjtNum mju_dphi2D(mjtNum s0, int l0, mjtNum s1, int l1,
-                                int order, int dir) {
-  if (dir == 0) {
-    return mju_flexDphi(s0, l0, order) * mju_flexPhi(s1, l1, order);
-  } else {
-    return mju_flexPhi(s0, l0, order) * mju_flexDphi(s1, l1, order);
-  }
-}
-
-
-// per-edge data layout in flex_bending for interpolated shell bending
-#define BEND_EDGE_SIZE 10
-
-
-// passive bending forces for interpolated flex shell
-//
-// Current approach: discrete Crouzeix-Raviart — point evaluation of the
-// normal jump at each edge midpoint, with energy E = D/(2h) * |Δn - Δn₀|² * l.
-//
-// TODO(quaglino): upgrade to a Galerkin formulation by precomputing a bending
-// stiffness matrix K_bend in the corotated frame using edge normal-jump residuals
-// as DOFs and Gauss integration over each face. At runtime, rotate the residual
-// vector into the corotated frame, multiply by K_bend, and rotate back. This
-// would give implicit derivatives for free (K_bend is constant) and better
-// accuracy for elements with varying curvature.
-static void mj_flexPassiveBendInterp(const mjModel* m, mjData* d, int f,
-                                      int enbl_spring, int enbl_damper) {
-  if (m->flex_interp[f] >= 0) {
-    return;
-  }
-
-  int bendingadr = m->flex_bendingadr[f];
-  if (bendingadr < 0) {
-    return;
-  }
-
-  // read bending edge data
-  const mjtNum* bdata = m->flex_bending + bendingadr;
-  int nedge = (int)bdata[0];
-  if (nedge == 0) return;
-
-  int order = -m->flex_interp[f];  // shell_mode: interp < 0
-  int cx = m->flex_cellnum[3*f+0];
-  int cy = m->flex_cellnum[3*f+1];
-  int cz = m->flex_cellnum[3*f+2];
-  int npe = (order+1)*(order+1);
-  int nodenum = m->flex_nodenum[f];
-
-  mj_markStack(d);
-
-  // gather global state
-  mjtNum* xpos_g = mjSTACKALLOC(d, 3*nodenum, mjtNum);
-  mjtNum* vel_g = mjSTACKALLOC(d, 3*nodenum, mjtNum);
-  mjtNum* frc_g = mjSTACKALLOC(d, 3*nodenum, mjtNum);
-  mjtNum* dmp_g = mjSTACKALLOC(d, 3*nodenum, mjtNum);
-  mju_flexGatherState(m, d, f, xpos_g, vel_g);
-  mju_zero(frc_g, 3*nodenum);
-  mju_zero(dmp_g, 3*nodenum);
-
-  // precompute per-face cache: each face appears in multiple bending edges,
-  // so caching avoids redundant position gathering and quaternion computation
-  int nfaces = 2*(cy*cz + cx*cz + cx*cy);
-  mjtNum* face_xpos = mjSTACKALLOC(d, nfaces * 3*npe, mjtNum);
-  int* face_gidx = mjSTACKALLOC(d, nfaces * npe, int);
-  mjtNum* face_quat = mjSTACKALLOC(d, nfaces * 4, mjtNum);
-  for (int fi = 0; fi < nfaces; fi++) {
-    mju_flexGatherFaceState(order, cx, cy, cz, fi, xpos_g,
-                            NULL, NULL,
-                            face_xpos + fi * 3*npe, NULL, NULL,
-                            face_gidx + fi * npe, face_quat + fi * 4);
-  }
-
-  // check cached node indices are in bounds
-  for (int i = 0; i < nfaces * npe; i++) {
-    if (face_gidx[i] < 0 || face_gidx[i] >= nodenum) {
-      mjERROR("cached node index out of range: face_gidx[%d]=%d, nodenum=%d",
-              i, face_gidx[i], nodenum);
-    }
-  }
-
-  // per-edge temporaries
-  mjtNum* xpos_A = mjSTACKALLOC(d, 3*npe, mjtNum);
-  mjtNum* xpos_B = mjSTACKALLOC(d, 3*npe, mjtNum);
-  int* gidx_A = mjSTACKALLOC(d, npe, int);
-  int* gidx_B = mjSTACKALLOC(d, npe, int);
-
-  mjtNum kD = m->opt.timestep > 0 ? m->flex_damping[f] / m->opt.timestep : 0;
-  if (enbl_damper && kD > 0) {
-    mju_warning("Bending damping is not yet supported for interpolated flex shells.");
-  }
-
-  for (int e = 0; e < nedge; e++) {
-    const mjtNum* edata = bdata + 1 + e * BEND_EDGE_SIZE;
-    int fe_A = (int)edata[0];
-    int fe_B = (int)edata[1];
-    mjtNum local_A[2] = {edata[2], edata[3]};
-    mjtNum local_B[2] = {edata[4], edata[5]};
-    mjtNum stiffness = edata[6];
-    mjtNum dn0[3] = {edata[7], edata[8], edata[9]};
-
-    if (stiffness == 0) continue;
-
-    // look up cached face data instead of recomputing
-    mju_copy(xpos_A, face_xpos + fe_A * 3*npe, 3*npe);
-    mju_copy(xpos_B, face_xpos + fe_B * 3*npe, 3*npe);
-    mju_copyInt(gidx_A, face_gidx + fe_A * npe, npe);
-    mju_copyInt(gidx_B, face_gidx + fe_B * npe, npe);
-    mjtNum quat_A[4], quat_B[4];
-    mju_copy(quat_A, face_quat + fe_A * 4, 4);
-    mju_copy(quat_B, face_quat + fe_B * 4, 4);
-
-
-    // compute deformed normals at edge midpoint
-    mjtNum n_A[3], t1_A[3], t2_A[3];
-    mjtNum n_B[3], t1_B[3], t2_B[3];
-    mju_flexFaceNormal2D(n_A, t1_A, t2_A, order, xpos_A, local_A);
-    mju_flexFaceNormal2D(n_B, t1_B, t2_B, order, xpos_B, local_B);
-
-    // normalize normals
-    mjtNum len_A = mju_norm3(n_A);
-    mjtNum len_B = mju_norm3(n_B);
-    if (len_A < mjMINVAL || len_B < mjMINVAL) continue;
-    mjtNum inv_A = 1.0 / len_A;
-    mjtNum inv_B = 1.0 / len_B;
-    n_A[0] *= inv_A; n_A[1] *= inv_A; n_A[2] *= inv_A;
-    n_B[0] *= inv_B; n_B[1] *= inv_B; n_B[2] *= inv_B;
-
-    // average corotational frame: symmetric under face swap
-    // quat_A and quat_B encode R^{-1}; average them, then negate to get R_avg
-    // ensure quaternions are in the same hemisphere before averaging
-    if (mju_dot(quat_A, quat_B, 4) < 0) {
-      mju_scl(quat_B, quat_B, -1, 4);
-    }
-    mjtNum quat_avg[4];
-    mju_add(quat_avg, quat_A, quat_B, 4);
-    mju_normalize(quat_avg, 4);  // NLERP = SLERP at t=0.5 for two quaternions
-    // negate to get R_avg (from rest frame to current frame)
-    mju_negQuat(quat_avg, quat_avg);
-
-    // rotate dn0 from rest frame to current frame using average corotational R
-    mjtNum dn0_rot[3];
-    mju_rotVecQuat(dn0_rot, dn0, quat_avg);
-
-    // normal jump residual: r = (n_A - n_B) - R_avg * dn0
-    mjtNum r[3];
-    mji_sub3(r, n_A, n_B);
-    r[0] -= dn0_rot[0]; r[1] -= dn0_rot[1]; r[2] -= dn0_rot[2];
-
-    // --- spring force ---
-    if (enbl_spring) {
-      // w_A = P_A * r = (r - n_A*(n_A.r)) / |c_A|
-      mjtNum dot_A = mju_dot3(n_A, r);
-      mjtNum w_A[3];
-      w_A[0] = (r[0] - n_A[0]*dot_A) * inv_A;
-      w_A[1] = (r[1] - n_A[1]*dot_A) * inv_A;
-      w_A[2] = (r[2] - n_A[2]*dot_A) * inv_A;
-
-      mjtNum dot_B = mju_dot3(n_B, r);
-      mjtNum w_B[3];
-      w_B[0] = (r[0] - n_B[0]*dot_B) * inv_B;
-      w_B[1] = (r[1] - n_B[1]*dot_B) * inv_B;
-      w_B[2] = (r[2] - n_B[2]*dot_B) * inv_B;
-
-      // precompute cross products: wA x t2_A, wA x t1_A
-      mjtNum wAt2[3], wAt1[3], wBt2[3], wBt1[3];
-      mji_cross(wAt2, w_A, t2_A);
-      mji_cross(wAt1, w_A, t1_A);
-      mji_cross(wBt2, w_B, t2_B);
-      mji_cross(wBt1, w_B, t1_B);
-
-      // force on face A nodes: f_k = stiffness * [g0_k * (wA x t2_A) -
-      //                                           g1_k * (wA x t1_A)]
-      int idx = 0;
-      for (int l0 = 0; l0 <= order; l0++) {
-        for (int l1 = 0; l1 <= order; l1++) {
-          mjtNum g0 = mju_dphi2D(local_A[0], l0, local_A[1], l1, order, 0);
-          mjtNum g1 = mju_dphi2D(local_A[0], l0, local_A[1], l1, order, 1);
-          int gi = gidx_A[idx];
-          for (int j = 0; j < 3; j++) {
-            frc_g[3*gi + j] += stiffness * (g0 * wAt2[j] - g1 * wAt1[j]);
-          }
-          idx++;
-        }
-      }
-
-      // force on face B nodes (negative sign: ∂Δn/∂x = -∂n_B/∂x)
-      idx = 0;
-      for (int l0 = 0; l0 <= order; l0++) {
-        for (int l1 = 0; l1 <= order; l1++) {
-          mjtNum g0 = mju_dphi2D(local_B[0], l0, local_B[1], l1, order, 0);
-          mjtNum g1 = mju_dphi2D(local_B[0], l0, local_B[1], l1, order, 1);
-          int gi = gidx_B[idx];
-          for (int j = 0; j < 3; j++) {
-            frc_g[3*gi + j] -= stiffness * (g0 * wBt2[j] - g1 * wBt1[j]);
-          }
-          idx++;
-        }
-      }
-    }
-
-    // --- damping force ---
-    // TODO(quaglino): bending damping is disabled because at corner edges
-    // with nonzero rest normal jump, dΔn/dt = ω × Δn₀ ≠ 0 under rigid
-    // rotation, producing anti-conservative forces. A correct implementation
-    // would subtract the rigid-body velocity component before computing the
-    // damping residual.
-  }
-
-  // apply accumulated forces to bodies
-  int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[f];
-  for (int i = 0; i < nodenum; i++) {
-    int bid = bodyid[i];
-    int nidx = i + m->flex_nodeadr[f];
-
-    // fast path: node at body origin, direct DOF write
-    if (m->body_dofnum[bid] > 0 &&
-        (m->flex_centered[f] ||
-         (m->flex_node[3*nidx+0] == 0 &&
-          m->flex_node[3*nidx+1] == 0 &&
-          m->flex_node[3*nidx+2] == 0))) {
-      if (enbl_spring) {
-        mjtNum qfrc_loc[3];
-        mju_mulMatTVec3(qfrc_loc, d->xmat+9*bid, frc_g+3*i);
-        mji_addTo3(d->qfrc_spring + m->body_dofadr[bid], qfrc_loc);
-      }
-      if (enbl_damper) {
-        mjtNum qdmp_loc[3];
-        mju_mulMatTVec3(qdmp_loc, d->xmat+9*bid, dmp_g+3*i);
-        mji_addTo3(d->qfrc_damper + m->body_dofadr[bid], qdmp_loc);
-      }
-    } else {
-      if (enbl_spring) mj_applyFT(m, d, frc_g+3*i, 0, xpos_g+3*i, bid, d->qfrc_spring);
-      if (enbl_damper) mj_applyFT(m, d, dmp_g+3*i, 0, xpos_g+3*i, bid, d->qfrc_damper);
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// passive forces for flex bending
-static void mj_flexPassiveBend(const mjModel* m, mjData* d, int f,
-                               int enbl_spring, int enbl_damper) {
-  if (m->flex_dim[f] != 2) {
-    return;
-  }
-
-  int bendingadr = m->flex_bendingadr[f];
-  if (bendingadr < 0) {
-    return;
-  }
-
-  int edgenum = m->flex_edgenum[f];
-  mjtNum* xpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
-  int* bodyid = m->flex_vertbodyid + m->flex_vertadr[f];
-  mjtNum* b = m->flex_bending + bendingadr;
-
-  for (int e = 0; e < edgenum; e++) {
-    const int* edge = m->flex_edge + 2*(e+m->flex_edgeadr[f]);
-    const int* flap = m->flex_edgeflap + 2*(e+m->flex_edgeadr[f]);
-    int v[4] = {edge[0], edge[1], flap[0], flap[1]};
-    if (v[3] == -1) {
-      // skip boundary edges
-      continue;
-    }
-
-    // flap edges
-    mjtNum ed[3][3];
-    mji_sub3(ed[0], xpos + 3*v[1], xpos + 3*v[0]);
-    mji_sub3(ed[1], xpos + 3*v[2], xpos + 3*v[0]);
-    mji_sub3(ed[2], xpos + 3*v[3], xpos + 3*v[0]);
-
-    // forces at the vertices due to curved reference
-    mjtNum frc[4][3];
-    mji_cross(frc[1], ed[1], ed[2]);
-    mji_cross(frc[2], ed[2], ed[0]);
-    mji_cross(frc[3], ed[0], ed[1]);
-    frc[0][0] = -(frc[1][0] + frc[2][0] + frc[3][0]);
-    frc[0][1] = -(frc[1][1] + frc[2][1] + frc[3][1]);
-    frc[0][2] = -(frc[1][2] + frc[2][2] + frc[3][2]);
-
-    // a pinned vertex is welded to a static (jointless) parent body: its bending reaction is
-    // absorbed by the pin, so its velocity is zero and (below) no force is applied to it.
-    static const mjtNum zero3[3] = {0, 0, 0};
-    const mjtNum* vel[4]; int isfree[4];
-    for (int i = 0; i < 4; i++) {
-      int bid = bodyid[v[i]];
-      isfree[i] = (m->body_dofnum[bid] == 3);
-      vel[i] = isfree[i] ? (d->qvel + m->body_dofadr[bid]) : zero3;
-    }
-
-    // force
-    mjtNum spring[12] = {0};
-    mjtNum damper[12] = {0};
-    for (int i = 0; i < 4; i++) {
-      for (int x = 0; x < 3; x++) {
-        for (int j = 0; j < 4; j++) {
-          // thin plate bending force
-          if (enbl_spring) spring[3*i+x] += b[17*e+4*i+j] * xpos[3*v[j]+x];
-
-          // thin plate damping force
-          // TODO: do not assume DOFs are in the world frame
-          if (enbl_damper) damper[3*i+x] += b[17*e+4*i+j] * vel[j][x];
-        }
-
-        // curved reference contribution
-        if (enbl_spring) spring[3*i+x] += b[17*e+16] * frc[i][x];
-      }
-    }
-
-    // insert into global force (free flex vertices only: 3 translational dofs, no moment arm).
-    // A pinned vertex has no free flex dof -- its bending reaction is carried by the pin -- so it
-    // is skipped (its POSITION still enters every neighbor's force via the xpos sum above,
-    // which is what the pin constrains).
-    for (int i = 0; i < 4; i++) {
-      if (!isfree[i]) continue;
-      int bi = bodyid[v[i]];
-      int body_dofadr = m->body_dofadr[bi];
-      // spring/damper are world-space; the slide dofs are in the body frame, so rotate before
-      // accumulating (mj_flexPassiveStretch reaches the same frame through mj_applyFT).
-      mjtNum sl[3], dl[3];
-      mji_mulMatTVec3(sl, d->xmat + 9*bi, spring + 3*i);
-      mji_mulMatTVec3(dl, d->xmat + 9*bi, damper + 3*i);
-      for (int x = 0; x < 3; x++) {
-        if (enbl_spring) d->qfrc_spring[body_dofadr+x] -= sl[x];
-        if (enbl_damper) d->qfrc_damper[body_dofadr+x] -= dl[x] * m->flex_damping[f];
-      }
-    }
-  }
-}
-
-
-// passive forces for flex stretch
-static void mj_flexPassiveStretch(const mjModel* m, mjData* d, int f,
-                                  int enbl_spring, int enbl_damper) {
-  int stiffnessadr = m->flex_stiffnessadr[f];
-  if (stiffnessadr < 0) {
-    return;
-  }
-  mjtNum* k = m->flex_stiffness + stiffnessadr;
-  if (k[0] == 0) {
-    return;
-  }
-
-  int dim = m->flex_dim[f];
-  int nedge = (dim == 2) ? 3 : 6;
-  int nvert = (dim == 2) ? 3 : 4;
-  const int* elem = m->flex_elem + m->flex_elemdataadr[f];
-  const int* edgeelem = m->flex_elemedge + m->flex_elemedgeadr[f];
-  mjtNum* xpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
-  mjtNum* vel = d->flexedge_velocity + m->flex_edgeadr[f];
-  mjtNum* deformed = d->flexedge_length + m->flex_edgeadr[f];
-  mjtNum* reference = m->flexedge_length0 + m->flex_edgeadr[f];
-  int* bodyid = m->flex_vertbodyid + m->flex_vertadr[f];
-  mjtNum kD = m->opt.timestep > 0 ? m->flex_damping[f] / m->opt.timestep : 0;
-
-  mj_markStack(d);
-  mjtNum* qfrc = mjSTACKALLOC(d, 3*m->flex_vertnum[f], mjtNum);
-  mju_zero(qfrc, 3*m->flex_vertnum[f]);
-
-  // compute force element-by-element
-  int elemnum = m->flex_elemnum[f];
-  for (int t = 0; t < elemnum; t++)  {
-    const int* vert = elem + (dim+1) * t;
-
-    // compute length gradient with respect to dofs
-    mjtNum gradient[6][2][3];
-    GradSquaredLengths(gradient, xpos, vert, edges[dim-2], nedge);
-
-    // we add generalized Rayleigh damping as described in Section 5.2 of
-    // Kharevych et al., "Geometric, Variational Integrators for Computer
-    // Animation" http://multires.caltech.edu/pubs/DiscreteLagrangian.pdf
-
-    // extract elongation of edges belonging to this element
-    mjtNum elongation[6];
-    for (int e = 0; e < nedge; e++) {
-      int idx = edgeelem[t * nedge + e];
-      mjtNum previous = deformed[idx] - vel[idx] * m->opt.timestep;
-      elongation[e] = deformed[idx]*deformed[idx] - reference[idx]*reference[idx] +
-                     (deformed[idx]*deformed[idx] - previous*previous) * kD;
-    }
-
-    // unpack triangular representation
-    mjtNum metric[36];
-    int id = 0;
-    for (int ed1 = 0; ed1 < nedge; ed1++) {
-      for (int ed2 = ed1; ed2 < nedge; ed2++) {
-        metric[nedge*ed1 + ed2] = k[21*t + id];
-        metric[nedge*ed2 + ed1] = k[21*t + id++];
-      }
-    }
-
-    // compute local force
-    mjtNum force[12] = {0};
-    for (int ed1 = 0; ed1 < nedge; ed1++) {
-      for (int ed2 = 0; ed2 < nedge; ed2++) {
-        for (int i = 0; i < 2; i++) {
-          for (int x = 0; x < 3; x++) {
-            force[3 * edges[dim-2][ed2][i] + x] -=
-                elongation[ed1] * gradient[ed2][i][x] *
-                metric[nedge * ed1 + ed2];
-          }
-        }
-      }
-    }
-
-    // insert into global force
-    for (int i = 0; i < nvert; i++) {
-      for (int x = 0; x < 3; x++) {
-        qfrc[3*vert[i]+x] += force[3*i+x];
-      }
-    }
-  }
-
-  // insert force into qfrc_passive, straightforward for simple bodies,
-  // need to distribute the force in case of pinned vertices
-  for (int v = 0; v < m->flex_vertnum[f]; v++) {
-    int bid = bodyid[v];
-    if (m->body_simple[bid] != 2) {
-      // this should only occur for pinned flex vertices
-      mj_applyFT(m, d, qfrc + 3*v, 0, xpos + 3*v, bid, d->qfrc_spring);
-    } else {
-      int body_dofnum = m->body_dofnum[bid];
-      int body_dofadr = m->body_dofadr[bid];
-      mjtNum qfrc_loc[3];
-      mju_mulMatTVec3(qfrc_loc, d->xmat+9*bid, qfrc+3*v);
-      for (int x = 0; x < body_dofnum; x++) {
-        d->qfrc_spring[body_dofadr+x] += qfrc_loc[x];
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// spring and damper forces
-static void mj_springdamper(const mjModel* m, mjData* d) {
-  int nv = m->nv, ntendon = m->ntendon;
-  int enbl_spring = !mjDISABLED(mjDSBL_SPRING);
-  int enbl_damper = !mjDISABLED(mjDSBL_DAMPER);
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->ntree_awake < m->ntree;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-
-  // joint-level springs
-  if (enbl_spring) {
-    for (int b=0; b < nbody; b++) {
-      int i = sleep_filter ? d->body_awake_ind[b] : b;
-      int jnt_start = m->body_jntadr[i];
-      int jnt_end = jnt_start + m->body_jntnum[i];
-      for (int j=jnt_start; j < jnt_end; j++) {
-        mjtNum stiffness = m->jnt_stiffness[j];
-        const mjtNum* spoly = m->jnt_stiffnesspoly + mjNPOLY*j;
-
-        if (stiffness == 0 && mju_isZero(spoly, mjNPOLY)) {
-          continue;
-        }
-
-        int padr = m->jnt_qposadr[j];
-        int dadr = m->jnt_dofadr[j];
-
-        switch ((mjtJoint) m->jnt_type[j]) {
-        case mjJNT_FREE:
-          // apply force
-          {
-            mjtNum dif[3];
-            mji_sub3(dif, d->qpos+padr, m->qpos_spring+padr);
-            mjtNum r = mju_norm3(dif);
-            mjtNum k = mju_polyForce(stiffness, spoly, r, mjNPOLY, 0);
-            mji_addToScl3(d->qfrc_spring + dadr, dif, -k);
-          }
-
-          // continue with rotations
-          dadr += 3;
-          padr += 3;
-          mjFALLTHROUGH;
-
-        case mjJNT_BALL:
-          {
-            // convert quaternion difference into angular "velocity"
-            mjtNum dif[3], quat[4];
-            mji_copy4(quat, d->qpos+padr);
-            mju_normalize4(quat);
-            mji_subQuat(dif, quat, m->qpos_spring + padr);
-            mjtNum r = mju_norm3(dif);
-            mjtNum k = mju_polyForce(stiffness, spoly, r, mjNPOLY, 0);
-
-            // apply torque
-            mji_addToScl3(d->qfrc_spring + dadr, dif, -k);
-          }
-          break;
-
-        case mjJNT_SLIDE:
-        case mjJNT_HINGE:
-          {
-            // apply force or torque
-            mjtNum x = d->qpos[padr] - m->qpos_spring[padr];
-            d->qfrc_spring[dadr] = -x * mju_polyForce(stiffness, spoly, x, mjNPOLY, 0);
-          }
-          break;
-        }
-      }
-    }
-  }
-
-  // dof-level dampers
-  if (enbl_damper) {
-    int nv_awake = sleep_filter ? d->nv_awake : nv;
-    for (int j = 0; j < nv_awake; j++) {
-      int i = sleep_filter ? d->dof_awake_ind[j] : j;
-      mjtNum poly[mjNPOLY];
-      mju_copy(poly, m->dof_dampingpoly + mjNPOLY*i, mjNPOLY);
-      mjtNum damping = m->dof_damping[i]
-                       + mj_actuatorDamping(m, mjOBJ_JOINT, m->dof_jntid[i], poly);
-      if (damping != 0 || !mju_isZero(poly, mjNPOLY)) {
-        mjtNum v = d->qvel[i];
-        d->qfrc_damper[i] = -v * mju_polyForce(damping, poly, v, mjNPOLY, 1);
-      }
-    }
-  }
-
-  // flex elasticity
-  for (int f=0; f < m->nflex; f++) {
-    if (m->flex_dim[f] == 1 || m->flex_rigid[f]) {
-      continue;
-    }
-
-    if (m->flex_interp[f]) {
-      // interpolated flex: stretch forces
-      mj_flexPassiveInterp(m, d, f, enbl_spring, enbl_damper);
-
-      // interpolated shell bending forces
-      mj_flexPassiveBendInterp(m, d, f, enbl_spring, enbl_damper);
-    } else {
-      // add bending forces
-      mj_flexPassiveBend(m, d, f, enbl_spring, enbl_damper);
-
-      // stretch forces
-      mj_flexPassiveStretch(m, d, f, enbl_spring, enbl_damper);
-    }
-  }
-
-  // flexedge-level spring-dampers
-  for (int f=0; f < m->nflex; f++) {
-    mjtNum stiffness = enbl_spring ? m->flex_edgestiffness[f] : 0;
-    mjtNum damping = enbl_damper ? m->flex_edgedamping[f] : 0;
-
-    // disabled or rigid: nothing to do
-    if (m->flex_rigid[f] || (stiffness == 0 && damping == 0)) {
-      continue;
-    }
-
-    // process non-rigid edges of this flex (global edge index)
-    int edgeend = m->flex_edgeadr[f] + m->flex_edgenum[f];
-    for (int e=m->flex_edgeadr[f]; e < edgeend; e++) {
-      // skip rigid
-      if (m->flexedge_rigid[e]) {
-        continue;
-      }
-
-      // compute spring-damper force along edge
-      mjtNum frc_spring = stiffness * (m->flexedge_length0[e] - d->flexedge_length[e]);
-      mjtNum frc_damper = -damping * d->flexedge_velocity[e];
-
-      // transform to joint torque, add to qfrc_{spring, damper}: always sparse
-      int end = m->flexedge_J_rowadr[e] + m->flexedge_J_rownnz[e];
-      for (int j=m->flexedge_J_rowadr[e]; j < end; j++) {
-        int colind = m->flexedge_J_colind[j];
-        mjtNum J = d->flexedge_J[j];
-        d->qfrc_spring[colind] += J * frc_spring;
-        d->qfrc_damper[colind] += J * frc_damper;
-      }
-    }
-  }
-
-  // tendon-level spring-dampers
-  for (int i=0; i < ntendon; i++) {
-    // skip sleeping or static tendon
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_TENDON, i) != mjS_AWAKE) {
-      continue;
-    }
-
-    mjtNum stiffness = 0;
-    const mjtNum* spoly = NULL;
-    if (enbl_spring) {
-      stiffness = m->tendon_stiffness[i];
-      spoly = m->tendon_stiffnesspoly + mjNPOLY*i;
-    }
-
-    mjtNum damping = 0;
-    mjtNum dpoly[mjNPOLY] = {0};
-    if (enbl_damper) {
-      mju_copy(dpoly, m->tendon_dampingpoly + mjNPOLY*i, mjNPOLY);
-      damping = m->tendon_damping[i] + mj_actuatorDamping(m, mjOBJ_TENDON, i, dpoly);
-    }
-
-    // both zero: nothing to do
-    if (stiffness == 0 && (!enbl_spring || mju_isZero(spoly, mjNPOLY)) &&
-        damping == 0   && mju_isZero(dpoly, mjNPOLY)) {
-      continue;
-    }
-
-    // compute spring force along tendon
-    mjtNum length = d->ten_length[i];
-    mjtNum lower = m->tendon_lengthspring[2*i];
-    mjtNum upper = m->tendon_lengthspring[2*i+1];
-    mjtNum x = (length > upper) ? length - upper : (length < lower) ? length - lower : 0;
-    mjtNum frc_spring = enbl_spring ? -x * mju_polyForce(stiffness, spoly, x, mjNPOLY, 0) : 0;
-
-    // compute damper force along tendon
-    mjtNum v = d->ten_velocity[i];
-    mjtNum frc_damper = enbl_damper ? -v * mju_polyForce(damping, dpoly, v, mjNPOLY, 1) : 0;
-
-    // transform to joint torque, add to qfrc_{spring, damper}
-    if (frc_spring || frc_damper) {
-      int end = m->ten_J_rowadr[i] + m->ten_J_rownnz[i];
-      for (int j=m->ten_J_rowadr[i]; j < end; j++) {
-        int k = m->ten_J_colind[j];
-        mjtNum J = d->ten_J[j];
-        d->qfrc_spring[k] += J * frc_spring;
-        d->qfrc_damper[k] += J * frc_damper;
-      }
-    }
-  }
-}
-
-
-// body-level gravity compensation, return 1 if any, 0 otherwise
-static int mj_gravcomp(const mjModel* m, mjData* d) {
-  if (!m->flg_gravcomp || mjDISABLED(mjDSBL_GRAVITY) || mju_norm3(m->opt.gravity) == 0) {
-    return 0;
-  }
-
-  int has_gravcomp = 0;
-  mjtNum force[3], torque[3]={0};
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-
-  // apply per-body gravity compensation
-  for (int b=1; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-    if (m->body_gravcomp[i]) {
-      has_gravcomp = 1;
-      mji_scl3(force, m->opt.gravity, -(m->body_mass[i]*m->body_gravcomp[i]));
-      mj_applyFT(m, d, force, torque, d->xipos+3*i, i, d->qfrc_gravcomp);
-    }
-  }
-
-  return has_gravcomp;
-}
-
-
-// fluid forces
-static int mj_fluid(const mjModel* m, mjData* d) {
-  // no fluid forces: early return
-  if (!m->opt.viscosity && !m->opt.density) {
-    return 0;
-  }
-
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-  int nbody = sleep_filter ? d->nbody_awake : m->nbody;
-
-  for (int b=0; b < nbody; b++) {
-    int i = sleep_filter ? d->body_awake_ind[b] : b;
-
-    if (m->body_mass[i] < mjMINVAL) {
-      continue;
-    }
-
-    // if any child geom uses the ellipsoid model, inertia-box model is disabled for parent body
-    int use_ellipsoid_model = 0;
-    int geomnum = m->body_geomnum[i];
-    for (int j=0; j < geomnum && use_ellipsoid_model == 0; j++) {
-      const int geomid = m->body_geomadr[i] + j;
-      use_ellipsoid_model += (m->geom_fluid[mjNFLUID*geomid] > 0);
-    }
-
-    if (use_ellipsoid_model) {
-      mj_ellipsoidFluidModel(m, d, i);
-    } else {
-      mj_inertiaBoxFluidModel(m, d, i);
-    }
-  }
-
-  return 1;
-}
-
-
-// passive contact forces
-int mj_contactPassive(const mjModel* m, mjData* d) {
-  int ncon = d->ncon, issparse = mj_isSparse(m);
-  int dim, NV, nv = m->nv, *chain = NULL;
-  mjtNum *jac, *jacdifp, *jac1p, *jac2p, *qfrc;
-  mjContact* con;
-  int has_contact = 0;
-
-  if (mjDISABLED(mjDSBL_CONTACT) || ncon == 0 || nv == 0) {
-    return 0;
-  }
-
-  // early return if no contact to be included
-  for (int i=0; i < ncon; i++) {
-    if (d->contact[i].exclude != 4) {
-      continue;
-    }
-    has_contact = 1;
-  }
-
-  if (!has_contact) {
-    return 0;
-  }
-
-  // allocate Jacobian
-  mj_markStack(d);
-  jac     = mjSTACKALLOC(d, 6*nv, mjtNum);
-  jacdifp = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac1p   = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac2p   = mjSTACKALLOC(d, 3*nv, mjtNum);
-  qfrc    = mjSTACKALLOC(d, nv, mjtNum);
-  if (issparse) {
-    chain = mjSTACKALLOC(d, nv, int);
-  }
-
-  // find contacts to be included
-  for (int i=0; i < ncon; i++) {
-    if (d->contact[i].exclude != 4) {
-      continue;
-    }
-
-    // get contact info, safe efc_address
-    con = d->contact + i;
-    dim = con->dim;
-    con->efc_address = -1;
-    NV = mj_contactJacobian(m, d, con, dim, jacdifp, NULL,
-                            jac1p, jac2p, NULL, NULL, chain);
-
-    // skip contact if no DOFs affected
-    if (NV == 0) {
-      con->efc_address = -1;
-      con->exclude = 3;
-      continue;
-    }
-
-    // rotate Jacobian differences to contact frame
-    mju_mulMatMat(jac, con->frame, jacdifp, dim > 1 ? 3 : 1, 3, NV);
-
-    // compute passive contact force (dim = 1); stiffness shared with the metric Hessian.
-    mjtNum scl = -mjd_flexContactStiffness(m, d, con)*con->dist;
-    if (!issparse) {
-      mju_addToScl(d->qfrc_spring, jac, scl, nv);
-    } else {
-      mju_scl(qfrc, jac, scl, NV);
-      for (int j=0; j < NV; j++) {
-        d->qfrc_spring[chain[j]] += qfrc[j];
-      }
-    }
-  }
-
-  mj_freeStack(d);
-  return has_contact;
-}
-
-
-// adhesion forces: constant attraction along the normals of adhesive contacts
-int mj_adhesion(const mjModel* m, mjData* d) {
-  int ncon = d->ncon, issparse = mj_isSparse(m);
-  int NV, nv = m->nv, *chain = NULL;
-  mjtNum *jac, *jacdif, *jac1p, *jac2p, *qfrc;
-  mjContact* con;
-  int has_adhesion = 0;
-
-  if (!m->flg_adhesion || mjDISABLED(mjDSBL_CONTACT) || ncon == 0 || nv == 0) {
-    return 0;
-  }
-
-  // early return if no adhesive contact
-  for (int i=0; i < ncon; i++) {
-    if (d->contact[i].adhesion && d->contact[i].exclude <= 1) {
-      has_adhesion = 1;
-      break;
-    }
-  }
-  if (!has_adhesion) {
-    return 0;
-  }
-
-  // allocate Jacobian; contacts are normal-only (dim 1): no rotational buffers
-  mj_markStack(d);
-  jac    = mjSTACKALLOC(d, nv, mjtNum);
-  jacdif = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac1p  = mjSTACKALLOC(d, 3*nv, mjtNum);
-  jac2p  = mjSTACKALLOC(d, 3*nv, mjtNum);
-  qfrc   = mjSTACKALLOC(d, nv, mjtNum);
-  if (issparse) {
-    chain = mjSTACKALLOC(d, nv, int);
-  }
-
-  // pull adhesive contacts together along the contact normal
-  for (int i=0; i < ncon; i++) {
-    con = d->contact + i;
-    if (!con->adhesion || con->exclude > 1) {
-      continue;
-    }
-
-    // normal Jacobian
-    NV = mj_contactJacobian(m, d, con, 1, jacdif, NULL,
-                            jac1p, jac2p, NULL, NULL, chain);
-    if (NV == 0) {
-      continue;
-    }
-    mju_mulMatMat(jac, con->frame, jacdif, 1, 3, NV);
-
-    // accumulate qfrc_adhesion += jacN' * (-adhesion)
-    if (!issparse) {
-      mju_addToScl(d->qfrc_adhesion, jac, -con->adhesion, nv);
-    } else {
-      mju_scl(qfrc, jac, -con->adhesion, NV);
-      for (int j=0; j < NV; j++) {
-        d->qfrc_adhesion[chain[j]] += qfrc[j];
-      }
-    }
-  }
-
-  mj_freeStack(d);
-  return 1;
-}
-
-
-// all passive forces
-void mj_passive(const mjModel* m, mjData* d) {
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nv_awake < m->nv;
-  int nv = sleep_filter ? d->nv_awake : m->nv;
-  const int* dof_awake_ind = sleep_filter ? d->dof_awake_ind : NULL;
-
-  // clear passive force vectors for awake dofs
-  if (sleep_filter) {
-    mju_zeroInd(d->qfrc_spring,   nv, dof_awake_ind);
-    mju_zeroInd(d->qfrc_damper,   nv, dof_awake_ind);
-    mju_zeroInd(d->qfrc_gravcomp, nv, dof_awake_ind);
-    mju_zeroInd(d->qfrc_fluid,    nv, dof_awake_ind);
-    mju_zeroInd(d->qfrc_adhesion, nv, dof_awake_ind);
-    mju_zeroInd(d->qfrc_passive,  nv, dof_awake_ind);
-  } else {
-    mju_zero(d->qfrc_spring,   nv);
-    mju_zero(d->qfrc_damper,   nv);
-    mju_zero(d->qfrc_gravcomp, nv);
-    mju_zero(d->qfrc_fluid,    nv);
-    mju_zero(d->qfrc_adhesion, nv);
-    mju_zero(d->qfrc_passive,  nv);
-  }
-
-  // both spring and damping disabled: skip all passive forces
-  if (mjDISABLED(mjDSBL_SPRING) && mjDISABLED(mjDSBL_DAMPER)) {
-    return;
-  }
-
-  // springs and dampers
-  mj_springdamper(m, d);
-
-  // gravity compensation
-  int has_gravcomp = mj_gravcomp(m, d);
-
-  // fluid forces
-  int has_fluid = mj_fluid(m, d);
-
-  // contact forces
-  mj_contactPassive(m, d);
-
-  // adhesion forces
-  int has_adhesion = mj_adhesion(m, d);
-
-  // add passive forces into qfrc_passive
-  if (sleep_filter) {
-    mju_addInd(d->qfrc_passive, d->qfrc_spring, d->qfrc_damper, dof_awake_ind, nv);
-  } else {
-    mju_add(d->qfrc_passive, d->qfrc_spring, d->qfrc_damper, nv);
-  }
-
-  if (has_fluid) {
-    if (sleep_filter) {
-      mju_addToInd(d->qfrc_passive, d->qfrc_fluid, dof_awake_ind, nv);
-    } else {
-      mju_addTo(d->qfrc_passive, d->qfrc_fluid, nv);
-    }
-  }
-
-  if (has_adhesion) {
-    if (sleep_filter) {
-      mju_addToInd(d->qfrc_passive, d->qfrc_adhesion, dof_awake_ind, nv);
-    } else {
-      mju_addTo(d->qfrc_passive, d->qfrc_adhesion, nv);
-    }
-  }
-
-  if (has_gravcomp) {
-    int ndof = sleep_filter ? d->nv_awake : nv;
-    for (int v=0; v < ndof; v++) {
-      int dof = sleep_filter ? d->dof_awake_ind[v] : v;
-
-      // add gravity compensation force unless added via actuators
-      if (!m->jnt_actgravcomp[m->dof_jntid[dof]]) {
-        d->qfrc_passive[dof] += d->qfrc_gravcomp[dof];
-      }
-    }
-  }
-
-  // user callback: add custom passive forces
-  if (mjcb_passive) {
-    mjcb_passive(m, d);
-  }
-
-  // plugin: add custom passive forces
-  if (m->nplugin) {
-    const int nslot = mjp_pluginCount();
-
-    // iterate over plugins, call compute if type is mjPLUGIN_PASSIVE
-    for (int i=0; i < m->nplugin; i++) {
-      const int slot = m->plugin[i];
-      const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
-      if (!plugin) {
-        mjERROR("invalid plugin slot: %d", slot);
-      }
-      if (plugin->capabilityflags & mjPLUGIN_PASSIVE) {
-        if (!plugin->compute) {
-          mjERROR("`compute` is a null function pointer for plugin at slot %d", slot);
-        }
-        plugin->compute(m, d, i, mjPLUGIN_PASSIVE);
-      }
-    }
-  }
-}
-
-
-//---------------------------------- fluid models --------------------------------------------------
-
-// fluid forces based on inertia-box approximation
-void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i) {
-  mjtNum lvel[6], wind[6], lwind[6], lfrc[6], bfrc[6], box[3], diam, *inertia;
-  inertia = m->body_inertia + 3*i;
-  box[0] = mju_sqrt(mju_max(mjMINVAL,
-                            (inertia[1] + inertia[2] - inertia[0])) / m->body_mass[i] * 6.0);
-  box[1] = mju_sqrt(mju_max(mjMINVAL,
-                            (inertia[0] + inertia[2] - inertia[1])) / m->body_mass[i] * 6.0);
-  box[2] = mju_sqrt(mju_max(mjMINVAL,
-                            (inertia[0] + inertia[1] - inertia[2])) / m->body_mass[i] * 6.0);
-
-  // map from CoM-centered to local body-centered 6D velocity
-  mj_objectVelocity(m, d, mjOBJ_BODY, i, lvel, 1);
-
-  // compute wind in local coordinates
-  mju_zero(wind, 6);
-  mji_copy3(wind+3, m->opt.wind);
-  mju_transformSpatial(lwind, wind, 0, d->xipos+3*i,
-                       d->subtree_com+3*m->body_rootid[i], d->ximat+9*i);
-
-  // subtract translational component from body velocity
-  mji_subFrom3(lvel+3, lwind+3);
-  mju_zero(lfrc, 6);
-
-  // set viscous force and torque
-  if (m->opt.viscosity > 0) {
-    // diameter of sphere approximation
-    diam = (box[0] + box[1] + box[2])/3.0;
-
-    // angular viscosity
-    mji_scl3(lfrc, lvel, -mjPI*diam*diam*diam*m->opt.viscosity);
-
-    // linear viscosity
-    mji_scl3(lfrc+3, lvel+3, -3.0*mjPI*diam*m->opt.viscosity);
-  }
-
-  // add lift and drag force and torque
-  if (m->opt.density > 0) {
-    // force
-    lfrc[3] -= 0.5*m->opt.density*box[1]*box[2]*mju_abs(lvel[3])*lvel[3];
-    lfrc[4] -= 0.5*m->opt.density*box[0]*box[2]*mju_abs(lvel[4])*lvel[4];
-    lfrc[5] -= 0.5*m->opt.density*box[0]*box[1]*mju_abs(lvel[5])*lvel[5];
-
-    // torque
-    lfrc[0] -= m->opt.density*box[0]*(box[1]*box[1]*box[1]*box[1]+box[2]*box[2]*box[2]*box[2])*
-               mju_abs(lvel[0])*lvel[0]/64.0;
-    lfrc[1] -= m->opt.density*box[1]*(box[0]*box[0]*box[0]*box[0]+box[2]*box[2]*box[2]*box[2])*
-               mju_abs(lvel[1])*lvel[1]/64.0;
-    lfrc[2] -= m->opt.density*box[2]*(box[0]*box[0]*box[0]*box[0]+box[1]*box[1]*box[1]*box[1])*
-               mju_abs(lvel[2])*lvel[2]/64.0;
-  }
-  // rotate to global orientation: lfrc -> bfrc
-  mji_mulMatVec3(bfrc, d->ximat+9*i, lfrc);
-  mji_mulMatVec3(bfrc+3, d->ximat+9*i, lfrc+3);
-
-  // apply force and torque to body com
-  mj_applyFT(m, d, bfrc+3, bfrc, d->xipos+3*i, i, d->qfrc_fluid);
-}
-
-
-// fluid forces based on ellipsoid approximation
-void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid) {
-  mjtNum lvel[6], wind[6], lwind[6], lfrc[6], bfrc[6];
-  mjtNum geom_interaction_coef, magnus_lift_coef, kutta_lift_coef;
-  mjtNum semiaxes[3], virtual_mass[3], virtual_inertia[3];
-  mjtNum blunt_drag_coef, slender_drag_coef, ang_drag_coef;
-
-  for (int j=0; j < m->body_geomnum[bodyid]; j++) {
-    const int geomid = m->body_geomadr[bodyid] + j;
-
-    mju_geomSemiAxes(semiaxes, m->geom_size + 3*geomid, m->geom_type[geomid]);
-
-    readFluidGeomInteraction(
-      m->geom_fluid + mjNFLUID*geomid, &geom_interaction_coef,
-      &blunt_drag_coef, &slender_drag_coef, &ang_drag_coef,
-      &kutta_lift_coef, &magnus_lift_coef,
-      virtual_mass, virtual_inertia);
-
-    // scales all forces, read from MJCF as boolean (0.0 or 1.0)
-    if (geom_interaction_coef == 0.0) {
-      continue;
-    }
-
-    // map from CoM-centered to local body-centered 6D velocity
-    mj_objectVelocity(m, d, mjOBJ_GEOM, geomid, lvel, 1);
-
-    // compute wind in local coordinates
-    mju_zero(wind, 6);
-    mji_copy3(wind+3, m->opt.wind);
-    mju_transformSpatial(lwind, wind, 0,
-                         d->geom_xpos + 3*geomid,  // Frame of ref's origin.
-                         d->subtree_com + 3*m->body_rootid[bodyid],
-                         d->geom_xmat + 9*geomid);  // Frame of ref's orientation.
-
-    // subtract translational component from grom velocity
-    mji_subFrom3(lvel+3, lwind+3);
-
-    // initialize viscous force and torque
-    mju_zero(lfrc, 6);
-
-    // added-mass forces and torques
-    mj_addedMassForces(lvel, NULL, m->opt.density, virtual_mass, virtual_inertia, lfrc);
-
-    // lift force orthogonal to lvel from Kutta-Joukowski theorem
-    mj_viscousForces(lvel, m->opt.density, m->opt.viscosity, semiaxes, magnus_lift_coef,
-                     kutta_lift_coef, blunt_drag_coef, slender_drag_coef, ang_drag_coef, lfrc);
-
-    // scale by geom_interaction_coef (1.0 by default)
-    mju_scl(lfrc, lfrc, geom_interaction_coef, 6);
-
-    // rotate to global orientation: lfrc -> bfrc
-    mji_mulMatVec3(bfrc, d->geom_xmat + 9*geomid, lfrc);
-    mji_mulMatVec3(bfrc+3, d->geom_xmat + 9*geomid, lfrc+3);
-
-    // apply force and torque to body com
-    mj_applyFT(m, d, bfrc+3, bfrc,
-               d->geom_xpos + 3*geomid,  // point where FT is generated
-               bodyid, d->qfrc_fluid);
-  }
-}
-
-
-// compute forces due to fluid mass moving with the body
-void mj_addedMassForces(const mjtNum local_vels[6], const mjtNum local_accels[6],
-                        const mjtNum fluid_density, const mjtNum virtual_mass[3],
-                        const mjtNum virtual_inertia[3], mjtNum local_force[6])
-{
-  const mjtNum lin_vel[3] = {local_vels[3], local_vels[4], local_vels[5]};
-  const mjtNum ang_vel[3] = {local_vels[0], local_vels[1], local_vels[2]};
-  const mjtNum virtual_lin_mom[3] = {
-    fluid_density * virtual_mass[0] * lin_vel[0],
-    fluid_density * virtual_mass[1] * lin_vel[1],
-    fluid_density * virtual_mass[2] * lin_vel[2]
-  };
-  const mjtNum virtual_ang_mom[3] = {
-    fluid_density * virtual_inertia[0] * ang_vel[0],
-    fluid_density * virtual_inertia[1] * ang_vel[1],
-    fluid_density * virtual_inertia[2] * ang_vel[2]
-  };
-
-  // disabled due to dependency on qacc but included for completeness
-  if (local_accels) {
-    local_force[0] -= fluid_density * virtual_inertia[0] * local_accels[0];
-    local_force[1] -= fluid_density * virtual_inertia[1] * local_accels[1];
-    local_force[2] -= fluid_density * virtual_inertia[2] * local_accels[2];
-    local_force[3] -= fluid_density * virtual_mass[0] * local_accels[3];
-    local_force[4] -= fluid_density * virtual_mass[1] * local_accels[4];
-    local_force[5] -= fluid_density * virtual_mass[2] * local_accels[5];
-  }
-
-  mjtNum added_mass_force[3], added_mass_torque1[3], added_mass_torque2[3];
-  mji_cross(added_mass_force, virtual_lin_mom, ang_vel);
-  mji_cross(added_mass_torque1, virtual_lin_mom, lin_vel);
-  mji_cross(added_mass_torque2, virtual_ang_mom, ang_vel);
-
-  mji_addTo3(local_force, added_mass_torque1);
-  mji_addTo3(local_force, added_mass_torque2);
-  mji_addTo3(local_force+3, added_mass_force);
-}
-
-
-// inlined helper functions
-static inline mjtNum mji_pow4(const mjtNum val) {
-  return (val*val)*(val*val);
-}
-
-static inline mjtNum mji_pow2(const mjtNum val) {
-  return val*val;
-}
-
-static inline mjtNum mji_ellipsoid_max_moment(const mjtNum size[3], const int dir) {
-  const mjtNum d0 = size[dir], d1 = size[(dir+1) % 3], d2 = size[(dir+2) % 3];
-  return 8.0/15.0 * mjPI * d0 * mji_pow4(mju_max(d1, d2));
-}
-
-
-// lift and drag forces due to motion in the fluid
-void mj_viscousForces(
-  const mjtNum local_vels[6], const mjtNum fluid_density,
-  const mjtNum fluid_viscosity, const mjtNum size[3],
-  const mjtNum magnus_lift_coef, const mjtNum kutta_lift_coef,
-  const mjtNum blunt_drag_coef, const mjtNum slender_drag_coef,
-  const mjtNum ang_drag_coef, mjtNum local_force[6])
-{
-  const mjtNum lin_vel[3] = {local_vels[3], local_vels[4], local_vels[5]};
-  const mjtNum ang_vel[3] = {local_vels[0], local_vels[1], local_vels[2]};
-  const mjtNum volume = 4.0/3.0 * mjPI * size[0] * size[1] * size[2];
-  const mjtNum d_max = mju_max(mju_max(size[0], size[1]), size[2]);
-  const mjtNum d_min = mju_min(mju_min(size[0], size[1]), size[2]);
-  const mjtNum d_mid = size[0] + size[1] + size[2] - d_max - d_min;
-  const mjtNum A_max = mjPI * d_max * d_mid;
-
-  mjtNum magnus_force[3];
-  mji_cross(magnus_force, ang_vel, lin_vel);
-  magnus_force[0] *= magnus_lift_coef * fluid_density * volume;
-  magnus_force[1] *= magnus_lift_coef * fluid_density * volume;
-  magnus_force[2] *= magnus_lift_coef * fluid_density * volume;
-
-  // the dot product between velocity and the normal to the cross-section that
-  // defines the body's projection along velocity is proj_num/sqrt(proj_denom)
-  const mjtNum proj_denom = mji_pow4(size[1] * size[2]) * mji_pow2(lin_vel[0]) +
-                            mji_pow4(size[2] * size[0]) * mji_pow2(lin_vel[1]) +
-                            mji_pow4(size[0] * size[1]) * mji_pow2(lin_vel[2]);
-  const mjtNum proj_num = mji_pow2(size[1] * size[2] * lin_vel[0]) +
-                          mji_pow2(size[2] * size[0] * lin_vel[1]) +
-                          mji_pow2(size[0] * size[1] * lin_vel[2]);
-
-  // projected surface in the direction of the velocity
-  const mjtNum A_proj = mjPI * mju_sqrt(proj_denom/mju_max(mjMINVAL, proj_num));
-
-  // not-unit normal to ellipsoid's projected area in the direction of velocity
-  const mjtNum norm[3] = {
-    mji_pow2(size[1] * size[2]) * lin_vel[0],
-    mji_pow2(size[2] * size[0]) * lin_vel[1],
-    mji_pow2(size[0] * size[1]) * lin_vel[2]
-  };
-
-  // cosine between velocity and normal to the surface
-  // divided by proj_denom instead of sqrt(proj_denom) to account for skipped normalization in norm
-  const mjtNum cos_alpha = proj_num / mju_max(
-    mjMINVAL, mju_norm3(lin_vel) * proj_denom);
-  mjtNum kutta_circ[3];
-  mji_cross(kutta_circ, norm, lin_vel);
-  kutta_circ[0] *= kutta_lift_coef * fluid_density * cos_alpha * A_proj;
-  kutta_circ[1] *= kutta_lift_coef * fluid_density * cos_alpha * A_proj;
-  kutta_circ[2] *= kutta_lift_coef * fluid_density * cos_alpha * A_proj;
-  mjtNum kutta_force[3];
-  mji_cross(kutta_force, kutta_circ, lin_vel);
-
-  // viscous force and torque in Stokes flow, analytical for spherical bodies
-  const mjtNum eq_sphere_D = 2.0/3.0 * (size[0] + size[1] + size[2]);
-  const mjtNum lin_visc_force_coef = 3.0 * mjPI * eq_sphere_D;
-  const mjtNum lin_visc_torq_coef = mjPI * eq_sphere_D*eq_sphere_D*eq_sphere_D;
-
-  // moments of inertia used to compute angular quadratic drag
-  const mjtNum I_max = 8.0/15.0 * mjPI * d_mid * mji_pow4(d_max);
-  const mjtNum II[3] = {
-    mji_ellipsoid_max_moment(size, 0),
-    mji_ellipsoid_max_moment(size, 1),
-    mji_ellipsoid_max_moment(size, 2)
-  };
-  const mjtNum mom_visc[3] = {
-    ang_vel[0] * (ang_drag_coef*II[0] + slender_drag_coef*(I_max - II[0])),
-    ang_vel[1] * (ang_drag_coef*II[1] + slender_drag_coef*(I_max - II[1])),
-    ang_vel[2] * (ang_drag_coef*II[2] + slender_drag_coef*(I_max - II[2]))
-  };
-
-  const mjtNum drag_lin_coef =  // linear plus quadratic
-                               fluid_viscosity*lin_visc_force_coef + fluid_density*mju_norm3(lin_vel)*(
-    A_proj*blunt_drag_coef + slender_drag_coef*(A_max - A_proj));
-  const mjtNum drag_ang_coef =  // linear plus quadratic
-                               fluid_viscosity * lin_visc_torq_coef +
-                               fluid_density * mju_norm3(mom_visc);
-
-  local_force[0] -= drag_ang_coef * ang_vel[0];
-  local_force[1] -= drag_ang_coef * ang_vel[1];
-  local_force[2] -= drag_ang_coef * ang_vel[2];
-  local_force[3] += magnus_force[0] + kutta_force[0] - drag_lin_coef*lin_vel[0];
-  local_force[4] += magnus_force[1] + kutta_force[1] - drag_lin_coef*lin_vel[1];
-  local_force[5] += magnus_force[2] + kutta_force[2] - drag_lin_coef*lin_vel[2];
-}
-
-
-// read the geom_fluid_coefs array into its constituent parts
-void readFluidGeomInteraction(const mjtNum* geom_fluid_coefs,
-                              mjtNum* geom_fluid_coef,
-                              mjtNum* blunt_drag_coef,
-                              mjtNum* slender_drag_coef,
-                              mjtNum* ang_drag_coef,
-                              mjtNum* kutta_lift_coef,
-                              mjtNum* magnus_lift_coef,
-                              mjtNum virtual_mass[3],
-                              mjtNum virtual_inertia[3]) {
-  int i = 0;
-  geom_fluid_coef[0]   = geom_fluid_coefs[i++];
-  blunt_drag_coef[0]   = geom_fluid_coefs[i++];
-  slender_drag_coef[0] = geom_fluid_coefs[i++];
-  ang_drag_coef[0]     = geom_fluid_coefs[i++];
-  kutta_lift_coef[0]   = geom_fluid_coefs[i++];
-  magnus_lift_coef[0]  = geom_fluid_coefs[i++];
-  virtual_mass[0]      = geom_fluid_coefs[i++];
-  virtual_mass[1]      = geom_fluid_coefs[i++];
-  virtual_mass[2]      = geom_fluid_coefs[i++];
-  virtual_inertia[0]   = geom_fluid_coefs[i++];
-  virtual_inertia[1]   = geom_fluid_coefs[i++];
-  virtual_inertia[2]   = geom_fluid_coefs[i++];
-  if (i != mjNFLUID) {
-    mjERROR("wrong number of entries.");
-  }
-}
-
-
-// write components into geom_fluid_coefs array
-void writeFluidGeomInteraction (mjtNum* geom_fluid_coefs,
-                                const mjtNum* geom_fluid_coef,
-                                const mjtNum* blunt_drag_coef,
-                                const mjtNum* slender_drag_coef,
-                                const mjtNum* ang_drag_coef,
-                                const mjtNum* kutta_lift_coef,
-                                const mjtNum* magnus_lift_coef,
-                                const mjtNum virtual_mass[3],
-                                const mjtNum virtual_inertia[3]) {
-  int i = 0;
-  geom_fluid_coefs[i++] = geom_fluid_coef[0];
-  geom_fluid_coefs[i++] = blunt_drag_coef[0];
-  geom_fluid_coefs[i++] = slender_drag_coef[0];
-  geom_fluid_coefs[i++] = ang_drag_coef[0];
-  geom_fluid_coefs[i++] = kutta_lift_coef[0];
-  geom_fluid_coefs[i++] = magnus_lift_coef[0];
-  geom_fluid_coefs[i++] = virtual_mass[0];
-  geom_fluid_coefs[i++] = virtual_mass[1];
-  geom_fluid_coefs[i++] = virtual_mass[2];
-  geom_fluid_coefs[i++] = virtual_inertia[0];
-  geom_fluid_coefs[i++] = virtual_inertia[1];
-  geom_fluid_coefs[i++] = virtual_inertia[2];
-  if (i != mjNFLUID) {
-    mjERROR("wrong number of entries.");
-  }
-}
diff --git a/src/engine/engine_passive.h b/src/engine/engine_passive.h
deleted file mode 100644
index eca7c927..00000000
--- a/src/engine/engine_passive.h
+++ /dev/null
@@ -1,84 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//------------------------- passive forces ---------------------------------------------------------
-
-// all passive forces
-MJAPI void mj_passive(const mjModel* m, mjData* d);
-
-// adhesion forces: constant attraction along the normals of adhesive contacts
-int mj_adhesion(const mjModel* m, mjData* d);
-
-
-
-
-//------------------------- fluid models -----------------------------------------------------------
-
-// fluid forces based on inertia-box approximation
-void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i);
-
-// fluid forces based on ellipsoid approximation
-void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid);
-
-// compute forces due to added mass (potential flow)
-void mj_addedMassForces(
-    const mjtNum local_vels[6], const mjtNum local_accels[6],
-    mjtNum fluid_density, const mjtNum virtual_mass[3],
-    const mjtNum virtual_inertia[3], mjtNum local_force[6]);
-
-// compute forces due to viscous effects
-void mj_viscousForces(
-    const mjtNum local_vels[6], mjtNum fluid_density,
-    mjtNum fluid_viscosity, const mjtNum size[3],
-    mjtNum magnus_lift_coef, mjtNum kutta_lift_coef,
-    mjtNum blunt_drag_coef, mjtNum slender_drag_coef,
-    mjtNum ang_drag_coef, mjtNum local_force[6]);
-
-void readFluidGeomInteraction(const mjtNum* geom_fluid_coefs,
-                              mjtNum* geom_fluid_coef,
-                              mjtNum* blunt_drag_coef,
-                              mjtNum* slender_drag_coef,
-                              mjtNum* ang_drag_coef,
-                              mjtNum* kutta_lift_coef,
-                              mjtNum* magnus_lift_coef,
-                              mjtNum virtual_mass[3],
-                              mjtNum virtual_inertia[3]);
-
-void writeFluidGeomInteraction (mjtNum* geom_fluid_coefs,
-                                const mjtNum* geom_fluid_coef,
-                                const mjtNum* blunt_drag_coef,
-                                const mjtNum* slender_drag_coef,
-                                const mjtNum* ang_drag_coef,
-                                const mjtNum* kutta_lift_coef,
-                                const mjtNum* magnus_lift_coef,
-                                const mjtNum virtual_mass[3],
-                                const mjtNum virtual_inertia[3]);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_
diff --git a/src/engine/engine_plugin.cc b/src/engine/engine_plugin.cc
deleted file mode 100644
index 6e74a3b8..00000000
--- a/src/engine/engine_plugin.cc
+++ /dev/null
@@ -1,779 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Plugin registration is implemented in C++, unlike the rest of the engine code which is in C.
-// This is because C++ provides a standard cross-platform mutex, which we use to guard the global
-// plugin table in order to make the API thread-safe. We only expose a C API externally, and this
-// entire file can in principle be re-implemented in C if necessary, without breaking any external
-// or internal MuJoCo code elsewhere.
-
-#include "engine/engine_plugin.h"
-
-#include <cctype>
-#include <cstdio>
-#include <cstring>
-#include <memory>
-#include <new>
-#include <sstream>
-#include <string>
-#include <string_view>
-
-extern "C" {
-#if defined(_WIN32) || defined(__CYGWIN__)
-  #include <windows.h>
-#else
-  #include <dirent.h>
-  #include <dlfcn.h>
-  #include <sys/stat.h>
-#endif
-}
-
-#include <mujoco/mjplugin.h>
-#include "engine/engine_global_table.h"
-#include "engine/engine_util_errmem.h"
-
-// set default plugin definition
-void mjp_defaultPlugin(mjpPlugin* plugin) {
-  std::memset(plugin, 0, sizeof(*plugin));
-}
-
-namespace {
-using mujoco::GlobalTable;
-
-constexpr int kMaxNameLength = 1024;
-constexpr int kMaxAttributes = 255;
-
-// return the length of a null-terminated string, or -1 if it is not terminated after kMaxNameLength
-int strklen(const char* s) {
-  for (int i = 0; i < kMaxNameLength; ++i) {
-    if (!s[i]) {
-      return i;
-    }
-  }
-  return -1;
-}
-
-// return filename extension
-std::string getext(std::string_view filename) {
-  size_t dot = filename.find_last_of('.');
-
-  if (dot == std::string::npos) {
-    return "";
-  }
-  return std::string(filename.substr(dot, filename.size() - dot));
-}
-
-// copy a null-terminated string into a new heap-allocated char array managed by a unique_ptr
-std::unique_ptr<char[]> CopyName(const char* s) {
-  int len = strklen(s);
-  if (len == -1) {
-    return nullptr;
-  }
-  std::unique_ptr<char[]> out(new(std::nothrow) char[len + 1]);
-  if (!out) {
-    return nullptr;
-  }
-  std::strncpy(out.get(), s, len);
-  out.get()[len] = '\0';
-  return out;
-}
-
-// check if prefix is a valid URI scheme format
-bool IsValidURISchemeFormat(const char* prefix) {
-  int len;
-
-  // prefix is NULL or empty
-  if (prefix == nullptr || !(len = std::strlen(prefix))) {
-    return false;
-  }
-
-  // first character must be a letter
-  if (!std::isalpha(prefix[0])) {
-    return false;
-  }
-
-  for (int i = 1; i < len; i++) {
-    // each following character must be a letter, digit, '+', '.', or '-'
-    if (!std::isalnum(prefix[i]) &&
-        (prefix[i] != '+') &&
-        (prefix[i] != '.') &&
-        (prefix[i] != '-')) {
-      return false;
-    }
-  }
-  return true;
-}
-
-// seek the nth config attrib of a plugin instance by counting null terminators
-const char* PluginAttrSeek(const mjModel* m, int plugin_id, int attrib_id) {
-  const char* ptr = m->plugin_attr + m->plugin_attradr[plugin_id];
-  for (int i = 0; i < attrib_id; ++i) {
-    while (*ptr) {
-      ++ptr;
-    }
-    ++ptr;
-  }
-  return ptr;
-}
-}  // namespace
-
-template <>
-const char* GlobalTable<mjpPlugin>::HumanReadableTypeName() {
-  return "plugin";
-}
-
-template <>
-std::string_view GlobalTable<mjpPlugin>::ObjectKey(const mjpPlugin& plugin) {
-  return std::string_view(plugin.name, strklen(plugin.name));
-}
-
-// check if two plugins are identical
-template <>
-bool GlobalTable<mjpPlugin>::ObjectEqual(const mjpPlugin& plugin1, const mjpPlugin& plugin2) {
-  if (plugin1.name && !plugin2.name) {
-    return false;
-  }
-  if (plugin2.name && !plugin1.name) {
-    return false;
-  }
-  if (plugin1.name && plugin2.name &&
-      std::strncmp(plugin1.name, plugin2.name, kMaxNameLength)) {
-    return false;
-  }
-
-  if (plugin1.nattribute != plugin2.nattribute) {
-    return false;
-  }
-  for (int i = 0; i < plugin1.nattribute; ++i) {
-    if (plugin1.attributes[i] && !plugin2.attributes[i]) {
-      return false;
-    }
-    if (plugin1.attributes[i] && !plugin2.attributes[i]) {
-      return false;
-    }
-    if (plugin1.attributes[i] && plugin2.attributes[i] &&
-        std::strncmp(plugin1.attributes[i], plugin2.attributes[i],
-                     kMaxNameLength)) {
-      return false;
-    }
-  }
-
-  const char* ptr1 = reinterpret_cast<const char*>(&plugin1.attributes) +
-                     sizeof(plugin1.attributes);
-  const char* ptr2 = reinterpret_cast<const char*>(&plugin2.attributes) +
-                     sizeof(plugin2.attributes);
-  std::size_t remaining_size =
-      sizeof(mjpPlugin) - (ptr1 - reinterpret_cast<const char*>(&plugin1));
-  return !std::memcmp(ptr1, ptr2, remaining_size);
-}
-
-template <>
-bool GlobalTable<mjpPlugin>::CopyObject(mjpPlugin& dst, const mjpPlugin& src, ErrorMessage& err) {
-  // check and copy the plugin name
-  std::unique_ptr<char[]> name = CopyName(src.name);
-  if (!name) {
-    if (strklen(src.name) == -1) {
-      std::snprintf(err, sizeof(err),
-                    "plugin->name length exceeds the maximum limit of %d", kMaxNameLength);
-    } else {
-      std::snprintf(err, sizeof(err), "failed to allocate memory for plugin name");
-    }
-    return false;
-  }
-
-  // check and copy plugin attributes
-  std::unique_ptr<std::unique_ptr<char[]>[]> attributes_list;
-  if (src.nattribute) {
-    attributes_list.reset(new(std::nothrow) std::unique_ptr<char[]>[src.nattribute]);
-    if (!attributes_list) {
-      std::snprintf(err, sizeof(err), "failed to allocate memory for plugin attribute list");
-      return false;
-    }
-    for (int i = 0; i < src.nattribute; ++i) {
-      std::unique_ptr<char[]> attr = CopyName(src.attributes[i]);
-      if (!attr) {
-        if (strklen(src.attributes[i]) == -1) {
-          std::snprintf(
-              err, sizeof(err),
-              "length of plugin attribute %d exceeds the maximum limit of %d", i, kMaxAttributes);
-        } else {
-          std::snprintf(err, sizeof(err), "failed to allocate memory for plugin attribute %d", i);
-        }
-        return false;
-      }
-      attributes_list[i].swap(attr);
-    }
-  }
-
-  // release the attribute names from unique_ptr into a plain array
-  const char** attributes = nullptr;
-  if (src.nattribute) {
-    attributes = new(std::nothrow) const char*[src.nattribute];
-    if (!attributes) {
-      std::snprintf(err, sizeof(err), "failed to allocate memory for plugin attribute array");
-      return -1;
-    }
-    for (int i = 0; i < src.nattribute; ++i) {
-      attributes[i] = attributes_list[i].release();
-    }
-  }
-
-  dst = src;
-  dst.name = name.release();
-  dst.attributes = attributes;
-
-  return true;
-}
-
-template <>
-const char* GlobalTable<mjpResourceProvider>::HumanReadableTypeName() {
-  return "resource provider";
-}
-
-template <>
-std::string_view GlobalTable<mjpResourceProvider>::ObjectKey(const mjpResourceProvider& plugin) {
-  return std::string_view(plugin.prefix, strklen(plugin.prefix));
-}
-
-// check if two resource providers are identical
-template <>
-bool GlobalTable<mjpResourceProvider>::ObjectEqual(const mjpResourceProvider& p1, const mjpResourceProvider& p2) {
-  return (CaseInsensitiveEqual(p1.prefix, p2.prefix) && p1.open == p2.open &&
-          p1.read == p2.read && p1.close == p2.close &&
-          p1.modified == p2.modified &&
-          p1.write == p2.write &&
-          p1.data == p2.data);
-}
-
-template <>
-bool GlobalTable<mjpResourceProvider>::CopyObject(mjpResourceProvider& dst, const mjpResourceProvider& src, ErrorMessage& err) {
-  // copy prefix
-  std::unique_ptr<char[]> prefix = CopyName(src.prefix);
-  if (!prefix) {
-    if (strklen(src.prefix) == -1) {
-      std::snprintf(err, sizeof(err),
-                    "provider->prefix length exceeds the maximum limit of %d", kMaxNameLength);
-    } else {
-      std::snprintf(err, sizeof(err), "failed to allocate memory for resource provider prefix");
-    }
-    return false;
-  }
-
-  dst = src;
-  dst.prefix = prefix.release();
-  return true;
-}
-
-template <>
-const char* GlobalTable<mjpDecoder>::HumanReadableTypeName() {
-  return "resource decoder";
-}
-
-template <>
-std::string_view GlobalTable<mjpDecoder>::ObjectKey(const mjpDecoder& decoder) {
-  // When registering decoders, if the user provides both a content type and an extension we add two
-  // entries to the table. One with content_type set and extension unset, and one with the opposite.
-  // This means that within a vector, we will only ever have either content_type or extension.
-  if (decoder.content_type) {
-    if (int len = strklen(decoder.content_type); len != -1) {
-      return std::string_view(decoder.content_type, len);
-    }
-  }
-  return std::string_view(decoder.extension, strklen(decoder.extension));
-}
-
-// return true if two resource providers are identical
-template <>
-bool GlobalTable<mjpDecoder>::ObjectEqual(const mjpDecoder& d1, const mjpDecoder& d2) {
-  // check content_type
-  bool content_type_match = false;
-  if (d1.content_type && d2.content_type) {
-    content_type_match = CaseInsensitiveEqual(d1.content_type, d2.content_type);
-  } else {
-    content_type_match = (d1.content_type == d2.content_type);
-  }
-
-  // check extension
-  bool extension_match = false;
-  if (d1.extension && d2.extension) {
-    extension_match = CaseInsensitiveEqual(d1.extension, d2.extension);
-  } else {
-    extension_match = (d1.extension == d2.extension);
-  }
-
-  return content_type_match && extension_match && d1.decode == d2.decode &&
-         d1.can_decode == d2.can_decode;
-}
-
-template <>
-bool GlobalTable<mjpDecoder>::CopyObject(mjpDecoder& dst, const mjpDecoder& src, ErrorMessage& err) {
-  // Just a list of pointers so copy directly.
-  dst = src;
-  dst.content_type = nullptr;
-  dst.extension = nullptr;
-
-  if (src.content_type) {
-    std::unique_ptr<char[]> content_type = CopyName(src.content_type);
-    if (!content_type) {
-      if (strklen(src.content_type) == -1) {
-        std::snprintf(err, sizeof(err),
-                      "decoder->content_type length exceeds the maximum limit of %d", kMaxNameLength);
-      } else {
-        std::snprintf(err, sizeof(err), "failed to allocate memory for decoder content_type");
-      }
-      return false;
-    }
-
-    dst.content_type = content_type.release();
-  }
-
-  if (src.extension) {
-    std::unique_ptr<char[]> extension = CopyName(src.extension);
-    if (!extension) {
-      if (strklen(src.extension) == -1) {
-        std::snprintf(err, sizeof(err),
-                      "decoder->extension length exceeds the maximum limit of %d", kMaxNameLength);
-      } else {
-        std::snprintf(err, sizeof(err), "failed to allocate memory for decoder extension");
-      }
-      return false;
-    }
-
-    dst.extension = extension.release();
-  }
-
-  return true;
-}
-
-template <>
-const char* GlobalTable<mjpEncoder>::HumanReadableTypeName() {
-  return "resource encoder";
-}
-
-template <>
-std::string_view GlobalTable<mjpEncoder>::ObjectKey(const mjpEncoder& encoder) {
-  if (encoder.content_type) {
-    if (int len = strklen(encoder.content_type); len != -1) {
-      return std::string_view(encoder.content_type, len);
-    }
-  }
-  return std::string_view(encoder.extension, strklen(encoder.extension));
-}
-
-template <>
-bool GlobalTable<mjpEncoder>::ObjectEqual(const mjpEncoder& e1,
-                                          const mjpEncoder& e2) {
-  bool content_type_match = false;
-  if (e1.content_type && e2.content_type) {
-    content_type_match = CaseInsensitiveEqual(e1.content_type, e2.content_type);
-  } else {
-    content_type_match = (e1.content_type == e2.content_type);
-  }
-
-  bool extension_match = false;
-  if (e1.extension && e2.extension) {
-    extension_match = CaseInsensitiveEqual(e1.extension, e2.extension);
-  } else {
-    extension_match = (e1.extension == e2.extension);
-  }
-
-  return content_type_match && extension_match
-         && e1.encode == e2.encode
-         && e1.close_resource == e2.close_resource;
-}
-
-template <>
-bool GlobalTable<mjpEncoder>::CopyObject(mjpEncoder& dst, const mjpEncoder& src, ErrorMessage& err) {
-  dst = src;
-  dst.content_type = nullptr;
-  dst.extension = nullptr;
-
-  if (src.content_type) {
-    std::unique_ptr<char[]> content_type = CopyName(src.content_type);
-    if (!content_type) {
-      if (strklen(src.content_type) == -1) {
-        std::snprintf(
-            err, sizeof(err),
-            "encoder->content_type length exceeds the maximum limit of %d",
-            kMaxNameLength);
-      } else {
-        std::snprintf(err, sizeof(err), "failed to allocate memory for encoder content_type");
-      }
-      return false;
-    }
-
-    dst.content_type = content_type.release();
-  }
-
-  if (src.extension) {
-    std::unique_ptr<char[]> extension = CopyName(src.extension);
-    if (!extension) {
-      if (strklen(src.extension) == -1) {
-        std::snprintf(
-            err, sizeof(err),
-            "encoder->extension length exceeds the maximum limit of %d",
-            kMaxNameLength);
-      } else {
-        std::snprintf(err, sizeof(err), "failed to allocate memory for encoder extension");
-      }
-      return false;
-    }
-
-    dst.extension = extension.release();
-  }
-
-  return true;
-}
-
-// globally register a plugin (thread-safe), return new slot id
-int mjp_registerPlugin(const mjpPlugin* plugin) {
-  if (!plugin->name) {
-    mju_error("plugin->name is a null pointer");
-  } else if (plugin->name[0] == '\0') {
-    mju_error("plugin->name is an empty string");
-  } else if (plugin->nattribute < 0) {
-    mju_error("plugin->nattribute is negative");
-  } else if (plugin->nattribute > kMaxAttributes) {
-    mju_error("plugin->nattribute exceeds the maximum limit of %i",
-              kMaxAttributes);
-  }
-
-  return GlobalTable<mjpPlugin>::GetSingleton().AppendIfUnique(*plugin);
-}
-
-// look up plugin by slot number, assuming that mjp_pluginCount has already been called
-const mjpPlugin* mjp_getPluginAtSlotUnsafe(int slot, int nslot) {
-  return GlobalTable<mjpPlugin>::GetSingleton().GetAtSlotUnsafe(slot, nslot);
-}
-
-// look up plugin by name, assuming that mjp_pluginCount has already been called
-const mjpPlugin* mjp_getPluginUnsafe(const char* name, int* slot, int nslot) {
-  return GlobalTable<mjpPlugin>::GetSingleton().GetByKeyUnsafe(name, slot, nslot);
-}
-
-// return the number of globally registered plugins
-int mjp_pluginCount() {
-  return GlobalTable<mjpPlugin>::GetSingleton().count();
-}
-
-// look up a plugin by slot number
-const mjpPlugin* mjp_getPluginAtSlot(int slot) {
-  return GlobalTable<mjpPlugin>::GetSingleton().GetAtSlot(slot);
-}
-
-// look up a plugin by name, optionally also get its registered slot number
-const mjpPlugin* mjp_getPlugin(const char* name, int* slot) {
-  return GlobalTable<mjpPlugin>::GetSingleton().GetByKey(name, slot);
-}
-
-// return a config attribute of a plugin instance
-// NULL: invalid plugin instance ID or attribute name
-const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib) {
-  if (plugin_id < 0 || plugin_id >= m->nplugin || attrib == nullptr) {
-    return nullptr;
-  }
-
-  const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[plugin_id]);
-  if (!plugin) {
-    return nullptr;
-  }
-
-  for (int i = 0; i < plugin->nattribute; ++i) {
-    if (std::strcmp(plugin->attributes[i], attrib) == 0) {
-      return PluginAttrSeek(m, plugin_id, i);
-    }
-  }
-
-  return nullptr;
-}
-
-// set default resource provider definition
-void mjp_defaultResourceProvider(mjpResourceProvider* provider) {
-  std::memset(provider, 0, sizeof(*provider));
-}
-
-// globally register a resource provider (thread-safe), return new slot id
-int mjp_registerResourceProvider(const mjpResourceProvider* provider) {
-  // check if prefix is valid URI scheme format
-  if (!IsValidURISchemeFormat(provider->prefix)) {
-    mju_warning("provider->prefix is '%s' which is not a valid URI scheme format",
-                provider->prefix);
-    return -1;
-  }
-
-  if (!provider->open || !provider->read || !provider->close) {
-    mju_warning("provider must have the open, read, and close callbacks defined");
-    return -1;
-  }
-
-  return GlobalTable<mjpResourceProvider>::GetSingleton().AppendIfUnique(*provider) + 1;
-}
-
-// return the number of globally registered resource providers
-int mjp_resourceProviderCount() {
-  return GlobalTable<mjpResourceProvider>::GetSingleton().count();
-}
-
-// look up a resource provider that matches its prefix against the given resource scheme
-const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name) {
-  if (!resource_name || !resource_name[0]) {
-    return nullptr;
-  }
-
-  const char* ch = std::strchr(resource_name, ':');
-  if (ch == nullptr) {
-    return nullptr;
-  }
-
-  int n = ch - resource_name;
-  std::string file_prefix = std::string(resource_name, n);
-
-  // return NULL if file_prefix doesn't have a valid URI scheme syntax
-  if (!IsValidURISchemeFormat(file_prefix.c_str())) {
-    return nullptr;
-  }
-
-  return GlobalTable<mjpResourceProvider>::GetSingleton().GetByKey(file_prefix.c_str(), nullptr);
-}
-
-// look up a resource provider by slot number
-const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot) {
-  // shift slot to be zero-indexed
-  return GlobalTable<mjpResourceProvider>::GetSingleton().GetAtSlot(slot - 1);
-}
-
-// register a resource decoder
-void mjp_registerDecoder(const mjpDecoder* decoder) {
-  if (!decoder->decode || !decoder->can_decode) {
-    mju_warning("decoder must provide decode and can_decode callbacks.");
-    return;
-  }
-
-  if (!decoder->content_type && !decoder->extension) {
-    mju_warning("decoder must provide content_type and/or extensions.");
-    return;
-  }
-
-  mjpDecoder decoder_copy = *decoder;
-
-  // Register with content_type
-  if (decoder->content_type) {
-    decoder_copy.extension = nullptr;
-    GlobalTable<mjpDecoder>::GetSingleton().AppendIfUnique(decoder_copy);
-  }
-
-  // Register with extensions
-  if (decoder->extension) {
-    decoder_copy.content_type = nullptr;
-    std::string extensions_str(decoder->extension);
-    std::stringstream ss(extensions_str);
-    std::string extension;
-    while (std::getline(ss, extension, '|')) {
-      if (!extension.empty()) {
-        decoder_copy.extension = extension.c_str();
-        GlobalTable<mjpDecoder>::GetSingleton().AppendIfUnique(decoder_copy);
-      }
-    }
-  }
-}
-
-// set default resource decoder definition
-void mjp_defaultDecoder(mjpDecoder* decoder) {
-  std::memset(decoder, 0, sizeof(*decoder));
-}
-
-// find a decoder that can process a given resource and content_type
-const mjpDecoder* mjp_findDecoder(const mjResource* resource, const char* content_type) {
-  auto extension = getext(resource->name);
-  if (strklen(content_type) == -1 && extension.empty()) {
-    mju_warning("Must provide extension or content_type to mjp_findDecoder.");
-    return nullptr;
-  }
-
-  if (strklen(content_type) > 0) {
-    auto* decoder = GlobalTable<mjpDecoder>::GetSingleton().GetByKey(content_type, nullptr);
-    if (decoder && decoder->can_decode(resource)) {
-      return decoder;
-    }
-  }
-
-  if (!extension.empty()) {
-    auto* decoder = GlobalTable<mjpDecoder>::GetSingleton().GetByKey(extension.c_str(), nullptr);
-    if (decoder && decoder->can_decode(resource)) {
-      return decoder;
-    }
-  }
-
-  return nullptr;
-}
-
-void mjp_registerEncoder(const mjpEncoder* encoder) {
-  if (!encoder->encode) {
-    mju_warning("encoder must provide an encode callback.");
-    return;
-  }
-
-  if (!encoder->close_resource) {
-    mju_warning("encoder must provide a close_resource callback.");
-    return;
-  }
-
-  if (!encoder->content_type && !encoder->extension) {
-    mju_warning("encoder must provide content_type and/or extensions.");
-    return;
-  }
-
-  mjpEncoder encoder_copy = *encoder;
-
-  if (encoder->content_type) {
-    encoder_copy.extension = nullptr;
-    GlobalTable<mjpEncoder>::GetSingleton().AppendIfUnique(encoder_copy);
-  }
-
-  if (encoder->extension) {
-    encoder_copy.content_type = nullptr;
-    std::string extensions_str(encoder->extension);
-    std::stringstream ss(extensions_str);
-    std::string extension;
-    while (std::getline(ss, extension, '|')) {
-      if (!extension.empty()) {
-        encoder_copy.extension = extension.c_str();
-        GlobalTable<mjpEncoder>::GetSingleton().AppendIfUnique(encoder_copy);
-      }
-    }
-  }
-}
-
-void mjp_defaultEncoder(mjpEncoder* encoder) {
-  std::memset(encoder, 0, sizeof(*encoder));
-}
-
-const mjpEncoder* mjp_findEncoder(const char* filename,
-                                  const char* content_type) {
-  auto extension = getext(filename ? filename : "");
-  bool has_content_type = content_type && strklen(content_type) > 0;
-  if (!has_content_type && extension.empty()) {
-    mju_warning("Must provide extension or content_type to mjp_findEncoder.");
-    return nullptr;
-  }
-
-  if (has_content_type) {
-    auto* encoder =
-        GlobalTable<mjpEncoder>::GetSingleton().GetByKey(content_type, nullptr);
-    if (encoder) {
-      return encoder;
-    }
-  }
-
-  if (!extension.empty()) {
-    auto* encoder = GlobalTable<mjpEncoder>::GetSingleton().GetByKey(
-        extension.c_str(), nullptr);
-    if (encoder) {
-      return encoder;
-    }
-  }
-
-  return nullptr;
-}
-
-// load plugins from a dynamic library
-void mj_loadPluginLibrary(const char* path) {
-#if defined(_WIN32) || defined(__CYGWIN__)
-  LoadLibraryA(path);
-#else
-  void* handle = dlopen(path, RTLD_NOW | RTLD_LOCAL);
-  if (!handle) {
-    const char* error = dlerror();
-    if (error) {
-      mju_error("Error loading plugin library '%s': %s\n", path, error);
-    } else {
-      mju_error("Unknown error loading plugin library '%s'\n", path);
-    }
-  }
-#endif
-}
-
-// scan a directory and load all dynamic libraries
-void mj_loadAllPluginLibraries(const char* directory,
-                               mjfPluginLibraryLoadCallback callback) {
-  auto load_dso_and_call_callback = [&](const std::string& filename,
-                                        const std::string& dso_path) {
-    int nplugin_before;
-    int nplugin_after;
-
-    auto& plugin_table = GlobalTable<mjpPlugin>::GetSingleton();
-    {
-      auto lock = plugin_table.LockExclusively();
-      nplugin_before = mjp_pluginCount();
-      mj_loadPluginLibrary(dso_path.c_str());
-      nplugin_after = mjp_pluginCount();
-    }
-
-    if (callback) {
-      int count = nplugin_after - nplugin_before;
-      int first = count ? nplugin_before : -1;
-      callback(filename.c_str(), first, count);
-    }
-  };
-
-  // define platform-specific strings
-#if defined(_WIN32) || defined(__CYGWIN__)
-  const std::string sep = "\\";
-  WIN32_FIND_DATAA find_data;
-  HANDLE hfile = FindFirstFileA(
-      (directory + sep + "*.dll").c_str(), &find_data);
-  if (!hfile) {
-    return;
-  }
-
-  // go through each file in the directory
-  bool keep_going = true;
-  while (keep_going) {
-    const std::string name(find_data.cFileName);
-    // load the library and check for plugins
-    const std::string dso_path = directory + sep + name;
-    load_dso_and_call_callback(name.c_str(), dso_path.c_str());
-    keep_going = FindNextFileA(hfile, &find_data);
-  }
-  FindClose(hfile);
-#else
-  const std::string sep = "/";
-  #if defined(__APPLE__)
-    const std::string dso_suffix = ".dylib";
-  #else
-    const std::string dso_suffix = ".so";
-  #endif
-
-  DIR* dirp = opendir(directory);
-  if (!dirp) {
-    return;
-  }
-
-  // go through each entry in the directory
-  for (struct dirent* dp; (dp = readdir(dirp));) {
-    const std::string name(dp->d_name);
-    if (name.size() > dso_suffix.size() &&
-        name.substr(name.size() - dso_suffix.size()) == dso_suffix) {
-      const std::string dso_path = directory + sep + name;
-
-      // use stat to resolve symlinks and check that the target is a regular file
-      struct stat file_stat;
-      if (stat(dso_path.c_str(), &file_stat) == 0 && S_ISREG(file_stat.st_mode)) {
-        load_dso_and_call_callback(name.c_str(), dso_path.c_str());
-      }
-    }
-  }
-  closedir(dirp);
-#endif
-}
diff --git a/src/engine/engine_plugin.h b/src/engine/engine_plugin.h
deleted file mode 100644
index 048148ca..00000000
--- a/src/engine/engine_plugin.h
+++ /dev/null
@@ -1,104 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_PLUGIN_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_PLUGIN_H_
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjplugin.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// set default plugin definition
-MJAPI void mjp_defaultPlugin(mjpPlugin* plugin);
-
-// globally register a plugin (thread-safe), return new slot id
-MJAPI int mjp_registerPlugin(const mjpPlugin* plugin);
-
-// globally register a resource provider (thread-safe), return new slot id
-MJAPI int mjp_registerResourceProvider(const mjpResourceProvider* provider);
-
-// return the number of globally registered plugins
-MJAPI int mjp_pluginCount(void);
-
-// return the number of globally registered resource providers
-MJAPI int mjp_resourceProviderCount(void);
-
-// look up a plugin by name, optionally also get its registered slot number
-MJAPI const mjpPlugin* mjp_getPlugin(const char* name, int* slot);
-
-// set default resource provider definition
-MJAPI void mjp_defaultResourceProvider(mjpResourceProvider* provider);
-
-// look up a resource provider that matches its prefix against the given resource name
-MJAPI const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name);
-
-// look up a plugin by slot number
-MJAPI const mjpPlugin* mjp_getPluginAtSlot(int slot);
-
-// look up a resource provider by slot number
-MJAPI const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot);
-
-// return a config attribute of a plugin instance
-// NULL: invalid plugin instance ID or attribute name
-MJAPI const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib);
-
-// load plugins from a dynamic library
-MJAPI void mj_loadPluginLibrary(const char* path);
-
-// scan a directory and load all dynamic libraries
-MJAPI void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
-
-// registers a resource decoder
-MJAPI void mjp_registerDecoder(const mjpDecoder* decoder);
-
-// set default decoder definition
-MJAPI void mjp_defaultDecoder(mjpDecoder* decoder);
-
-// find a decoder that can process a given resource
-MJAPI const mjpDecoder* mjp_findDecoder(const mjResource* resource, const char* content_type);
-
-// registers a resource encoder
-MJAPI void mjp_registerEncoder(const mjpEncoder* encoder);
-
-// set default encoder definition
-MJAPI void mjp_defaultEncoder(mjpEncoder* encoder);
-
-// find an encoder that can write a given format
-MJAPI const mjpEncoder* mjp_findEncoder(const char* filename, const char* content_type);
-
-// =================================================================================================
-// MuJoCo-internal functions beyond this point.
-// "Unsafe" suffix indicates that improper use of these functions may result in data races.
-//
-// The unsafe functions assume that mjp_pluginCount has already been called, and that all plugins
-// up to `count` have been completely written into the global table.
-// =================================================================================================
-
-// internal version of mjp_registerResourceProvider without prechecks on reserved prefixes
-MJAPI int mjp_registerResourceProviderInternal(const mjpResourceProvider* provider);
-
-// look up a plugin by name, assuming that mjp_pluginCount has already been called
-const mjpPlugin* mjp_getPluginUnsafe(const char* name, int* slot, int nslot);
-
-// look up a plugin by slot number, assuming that mjp_pluginCount has already been called
-const mjpPlugin* mjp_getPluginAtSlotUnsafe(int slot, int nslot);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_PLUGIN_H_
diff --git a/src/engine/engine_print.c b/src/engine/engine_print.c
deleted file mode 100644
index 96d8b1fd..00000000
--- a/src/engine/engine_print.c
+++ /dev/null
@@ -1,1888 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_print.h"
-
-#include <inttypes.h>  // IWYU pragma: keep
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdio.h>
-#include <string.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjtype.h>
-#include <mujoco/mjxmacro.h>
-#include "engine/engine_core_constraint.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_io.h"
-#include "engine/engine_name.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_vis_init.h"
-
-#ifdef MEMORY_SANITIZER
-  #include <sanitizer/msan_interface.h>
-#endif
-
-#define FLOAT_FORMAT "% -9.2g"
-#define FLOAT_FORMAT_MAX_LEN 20
-#define INT_FORMAT " %d"
-#define SIZE_FORMAT " %" PRId64
-#define NAME_FORMAT "%-21s"
-
-
-
-//----------------------------------- static utility functions -------------------------------------
-
-static void printInt(FILE* fp, const char* name, int value) {
-  fprintf(fp, NAME_FORMAT, name);
-  fprintf(fp, INT_FORMAT, value);
-  fprintf(fp, "\n");
-}
-
-static void printStr(FILE* fp, const char* name, const char* value) {
-  fprintf(fp, NAME_FORMAT, name);
-  fprintf(fp, "%s", value ? value : "");
-  fprintf(fp, "\n");
-}
-
-static void printNum(FILE* fp, const char* name, float value, const char* float_format) {
-  fprintf(fp, NAME_FORMAT, name);
-  fprintf(fp, float_format, value);
-  fprintf(fp, "\n");
-}
-
-static void printArr(FILE* fp, const char* name, const float* data, int n, const char* float_format) {
-  if (!data) {
-    return;
-  }
-  fprintf(fp, NAME_FORMAT, name);
-  for (int i = 0; i < n; ++i) {
-    fprintf(fp, float_format, data[i]);
-    fprintf(fp, " ");
-  }
-  fprintf(fp, "\n");
-}
-
-// print 2D array of mjtNum into file
-static void printArray2d(const char* str, int nr, int nc, const mjtNum* data, FILE* fp,
-                         const char* float_format) {
-  if (!data) {
-    return;
-  }
-  if (nr && nc) {
-    fprintf(fp, "%s\n", str);
-    for (int r=0; r < nr; r++) {
-      fprintf(fp, " ");
-      for (int c=0; c < nc; c++) {
-        fprintf(fp, " ");
-        fprintf(fp, float_format, data[c + r*nc]);
-      }
-      fprintf(fp, "\n");
-    }
-    fprintf(fp, "\n");
-  }
-}
-
-
-// print 2D array of int into file
-static void printArray2dInt(const char* str, int nr, int nc, const int* data, FILE* fp) {
-  if (!data) {
-    return;
-  }
-  if (nr && nc) {
-    fprintf(fp, "%s\n", str);
-    for (int r=0; r < nr; r++) {
-      fprintf(fp, " ");
-      for (int c=0; c < nc; c++) {
-        fprintf(fp, " ");
-        fprintf(fp, "%d", data[c + r*nc]);
-      }
-      fprintf(fp, "\n");
-    }
-    fprintf(fp, "\n");
-  }
-}
-
-
-// print history buffer with semantic labels
-static void printDelayBuffer(const char* name, const mjtNum* buf, int nhistory, int dim,
-                             FILE* fp, const char* float_format) {
-  if (!buf || nhistory <= 0) {
-    return;
-  }
-  fprintf(fp, "  %s:\n", name);
-
-  // user value (first slot)
-  fprintf(fp, "    phase  = ");
-  fprintf(fp, float_format, buf[0]);
-  fprintf(fp, "\n");
-
-  // cursor (second slot, stored as mjtNum but is an integer)
-  fprintf(fp, "    cursor =  %d\n", (int)buf[1]);
-
-  // timestamps
-  const mjtNum* times = buf + 2;
-  fprintf(fp, "    times  = ");
-  for (int i = 0; i < nhistory; i++) {
-    fprintf(fp, float_format, times[i]);
-  }
-  fprintf(fp, "\n");
-
-  // values
-  const mjtNum* values = times + nhistory;
-  if (dim == 1) {
-    fprintf(fp, "    values = ");
-    for (int i = 0; i < nhistory; i++) {
-      fprintf(fp, float_format, values[i]);
-    }
-    fprintf(fp, "\n");
-  } else {
-    fprintf(fp, "    values:\n");
-    for (int i = 0; i < nhistory; i++) {
-      fprintf(fp, "      [%d] =", i);
-      for (int j = 0; j < dim; j++) {
-        fprintf(fp, float_format, values[i*dim + j]);
-      }
-      fprintf(fp, "\n");
-    }
-  }
-}
-
-
-// print sparse matrix
-static void printSparse(const char* str, const mjtNum* mat, int nr,
-                        const int* rownnz, const int* rowadr,
-                        const int* colind, FILE* fp, const char* float_format) {
-  // if no data, or too many rows to be visually useful, return
-  if (!mat || !nr || nr > 300) {
-    return;
-  }
-  fprintf(fp, "%s\n", str);
-
-  for (int r=0; r < nr; r++) {
-    fprintf(fp, "  ");
-    for (int adr=rowadr[r]; adr < rowadr[r]+rownnz[r]; adr++) {
-      fprintf(fp, "  ");
-      fprintf(fp, "%2d: ", colind[adr]);
-      fprintf(fp, float_format, mat[adr]);
-    }
-    fprintf(fp, "\n");
-  }
-  fprintf(fp, "\n");
-}
-
-
-// print block-diagonal dense matrix, embedded in a larger matrix
-static void printBlockArray(const char* str, const mjtNum* data, int nc,
-                            int nisland, const int* island_nr, const int* island_nc,
-                            const int* island_r, const int* island_c,
-                            const int* map_r, const int* map_c,
-                            FILE* fp, const char* float_format) {
-  if (!data || !nisland) {
-    return;
-  }
-
-  fprintf(fp, "%s\n", str);
-
-  // determine the width of the float format (already validated by validateFloatFormat)
-  char dummy_buffer[100];
-  int format_width = snprintf(dummy_buffer, sizeof(dummy_buffer), float_format, 0.0);
-
-  for (int b = 0; b < nisland; b++) {
-    int bnr = island_nr[b];
-    int bnc = island_nc[b];
-    int r_start = island_r[b];
-    int c_start = island_c[b];
-
-    // print rows for this block
-    for (int r_block = 0; r_block < bnr; r_block++) {
-      fprintf(fp, " ");
-      // leading dots
-      for (int c = 0; c < c_start; c++) {
-        for (int i = 0; i < format_width; i++) fprintf(fp, ".");
-        fprintf(fp, " ");
-      }
-
-      int row = map_r[r_start + r_block];
-
-      // block data
-      for (int c = 0; c < bnc; c++) {
-        int col = map_c[c_start + c];
-        fprintf(fp, " ");
-        fprintf(fp, float_format, data[row * nc + col]);
-      }
-
-      // trailing dots
-      for (int c = c_start + bnc; c < nc; c++) {
-        for (int i = 0; i < format_width; i++) fprintf(fp, ".");
-        fprintf(fp, " ");
-      }
-      fprintf(fp, "\n");
-    }
-  }
-
-  fprintf(fp, "\n");
-}
-
-
-
-// print sparse matrix structure
-void mj_printSparsity(const char* str, int nr, int nc, const int* rowadr, const int* diag,
-                      const int* rownnz, const int* rowsuper, const int* colind, FILE* fp) {
-  // if no rows / columns, or too many columns to be visually useful, return
-  if (!nr || !nc || nc > 300) {
-    return;
-  }
-  fprintf(fp, "%s\n", str);
-
-  for (int c=0; c < nc+2; c++) fprintf(fp, "-");
-  fprintf(fp, "\n ");
-
-  for (int r=0; r < nr; r++) {
-    int adr = rowadr[r];
-    int nnz = 0;
-    for (int c=0; c < nc; c++) {
-      if (nnz < rownnz[r] && colind[adr + nnz] == c) {
-        if (diag && diag[r] == nnz) {
-          fprintf(fp, "D");
-        } else {
-          fprintf(fp, "x");
-        }
-        nnz++;
-      } else {
-        fprintf(fp, " ");
-      }
-    }
-    fprintf(fp, " |");
-    if (rowsuper && rowsuper[r] > 0) fprintf(fp, " %d", rowsuper[r]);
-    fprintf(fp, "\n");
-    if (r < nr-1) fprintf(fp, " ");
-  }
-  for (int c=0; c < nc+2; c++) fprintf(fp, "-");
-  fprintf(fp, "\n\n");
-}
-
-
-// print block-diagonal sparse matrix structure
-void mj_printBlockSparsity(const char* str, int nr, int nc, int nisland,
-                           const int* island_block_ncols,
-                           const int* island_col_offset,
-                           const int* entity_island,
-                           const int* map_row_to_entity,
-                           const int* map_col_to_entity,
-                           const int* rownnz, const int* rowadr, const int* colind,
-                           const int* rowsuper, FILE* fp) {
-  // if no rows / columns, or too many columns to be visually useful, return
-  if (!nr || !nc || nc > 300) {
-    return;
-  }
-  fprintf(fp, "%s\n", str);
-
-  for (int c = 0; c < nc + 2; c++) fprintf(fp, "-");
-  fprintf(fp, "\n");
-
-  for (int r = 0; r < nr; r++) {
-    fprintf(fp, " ");
-    int entity_r = map_row_to_entity[r];
-    int island = entity_island[entity_r];
-
-    // SHOULD NOT OCCUR
-    if (island < 0 || island >= nisland) {
-      for (int c = 0; c < nc; c++) fprintf(fp, " ");
-      fprintf(fp, " | Error: invalid island %d for row %d (entity %d)\n", island, r, entity_r);
-      continue;
-    }
-
-    int c_start = island_col_offset[island];
-    int bnc = island_block_ncols[island];
-    int adr = rowadr[entity_r];
-    int nnz = rownnz[entity_r];
-    char nz_char = (island < 10) ? ('0' + island) : 'x';
-
-    for (int c = 0; c < nc; c++) {  // c is the block-space column index
-      bool nonzero = false;
-      if (c >= c_start && c < c_start + bnc) {
-        int target_col = map_col_to_entity[c];
-        for (int i = 0; i < nnz; i++) {
-          if (colind[adr + i] == target_col) {
-            nonzero = true;
-            break;
-          }
-        }
-      }
-      fprintf(fp, "%c", nonzero ? nz_char : ' ');
-    }
-    fprintf(fp, " |");
-    if (rowsuper && rowsuper[entity_r] > 0) fprintf(fp, " %d", rowsuper[entity_r]);
-    fprintf(fp, "\n");
-  }
-  for (int c = 0; c < nc + 2; c++) fprintf(fp, "-");
-  fprintf(fp, "\n\n");
-}
-
-
-// print vector
-static void printVector(const char* str, const mjtNum* data, int n, FILE* fp,
-                        const char* float_format) {
-  if (!data || !n) {
-    return;
-  }
-  // print str
-  fprintf(fp, "%s", str);
-
-  // print data
-  for (int i=0; i < n; i++) {
-    fprintf(fp, " ");
-    fprintf(fp, float_format, data[i]);
-  }
-  fprintf(fp, "\n");
-}
-
-
-// print human readable memory size
-static const char* memorySize(size_t nbytes) {
-  static mjTHREADLOCAL char message[32];
-  int k = 1024;
-
-  if (nbytes < k) {
-    snprintf(message, sizeof(message), "%5zu bytes", nbytes);
-  } else {
-    snprintf(message, sizeof(message), "%7.0f KB", (double)nbytes / (k));
-  }
-
-  return message;
-}
-
-
-// return memory footprint of all significant mesh-related arrays
-static size_t sizeMesh(const mjModel* m) {
-  size_t nbytes = 0;
-  nbytes += sizeof(float)  * 3*m->nmeshvert;      // mesh_vert
-  nbytes += sizeof(float)  * 3*m->nmeshnormal;    // mesh_normal
-  nbytes += sizeof(float)  * 2*m->nmeshtexcoord;  // mesh_texcoord
-  nbytes += sizeof(int)    * 3*m->nmeshface;      // mesh_face
-  nbytes += sizeof(int)    * 3*m->nmeshface;      // mesh_facenormal
-  nbytes += sizeof(int)    * 3*m->nmeshface;      // mesh_facetexcoord
-  nbytes += sizeof(int)    * m->nmeshgraph;       // mesh_graph
-  nbytes += sizeof(mjtNum) * 3*m->nmeshpoly;      // mesh_polynormal
-  nbytes += sizeof(int)    * m->nmeshpoly;        // mesh_polyvertadr
-  nbytes += sizeof(int)    * m->nmeshpoly;        // mesh_polyvertnum
-  nbytes += sizeof(int)    * m->nmeshpolyvert;    // mesh_polyvert
-  nbytes += sizeof(int)    * m->nmeshvert;        // mesh_polymapadr
-  nbytes += sizeof(int)    * m->nmeshvert;        // mesh_polymapnum
-  nbytes += sizeof(int)    * m->nmeshpolymap;     // mesh_polymap
-  return nbytes;
-}
-
-
-// return memory footprint of all significant skin-related arrays
-static size_t sizeSkin(const mjModel* m) {
-  size_t nbytes = 0;
-  nbytes += sizeof(float) * 3*m->nskinvert;        // skin_vert
-  nbytes += sizeof(float) * 2*m->nskintexvert;     // skin_texcoord
-  nbytes += sizeof(int)   * 3*m->nskinface;        // skin_face
-  nbytes += sizeof(int)   * m->nskinbone;          // skin_bonevertadr
-  nbytes += sizeof(int)   * m->nskinbone;          // skin_bonevertnum
-  nbytes += sizeof(float) * 3*m->nskinbone;        // skin_bonebindpos
-  nbytes += sizeof(float) * 4*m->nskinbone;        // skin_bonebindquat
-  nbytes += sizeof(int)   * m->nskinbone;          // skin_bonebodyid
-  nbytes += sizeof(int)   * m->nskinbonevert;      // skin_bonevertid
-  nbytes += sizeof(float) * m->nskinbonevert;      // skin_bonevertweight
-  return nbytes;
-}
-
-
-// return memory footprint of all BVH-related arrays
-static size_t sizeBVH(const mjModel* m) {
-  size_t nbytes = 0;
-  nbytes += sizeof(int)    * m->nbvh;               // bvh_depth
-  nbytes += sizeof(int)    * 2*m->nbvh;             // bvh_child
-  nbytes += sizeof(int)    * m->nbvh;               // bvh_nodeid
-  nbytes += sizeof(mjtNum) * 6*m->nbvhstatic;       // bvh_aabb
-  nbytes += sizeof(int)    * m->noct;               // oct_depth
-  nbytes += sizeof(int)    * 8*m->noct;             // oct_child
-  nbytes += sizeof(mjtNum) * 6*m->noct;             // oct_aabb
-  nbytes += sizeof(mjtNum) * 8*m->noct;             // oct_coeff
-  return nbytes;
-}
-
-
-// return whether float_format is a valid format string for a single float
-static bool validateFloatFormat(const char* float_format) {
-  // check for nullptr;
-  if (!float_format) {
-    return false;
-  }
-
-  // example valid format string: "% -9.2g"
-  if (strnlen(float_format, FLOAT_FORMAT_MAX_LEN + 1) > FLOAT_FORMAT_MAX_LEN) {
-    mju_warning("Format string longer than limit of %d.", FLOAT_FORMAT_MAX_LEN);
-    return false;
-  }
-
-  int cur_idx = 0;
-  if (float_format[cur_idx] != '%') {
-    mju_warning("Format string must start with '%%'.");
-    return false;
-  }
-  cur_idx++;
-
-  // flag characters. allow at most one of each flag
-  const char flag_characters[] = "-+ #0";
-  int flag_character_counts[sizeof(flag_characters)] = { 0 };
-  const char* c;
-  while (c = strchr(flag_characters, float_format[cur_idx]), c != NULL) {
-    int flag_idx = (c - flag_characters)/sizeof(char);
-    flag_character_counts[flag_idx]++;
-    if (flag_character_counts[flag_idx] > 1) {
-      mju_warning("Format string contains repeated flag.");
-      return false;
-    }
-    cur_idx++;
-  }
-
-  // width. disallow *, which requires additional argument
-  while (strchr("0123456789", float_format[cur_idx]) != NULL) {
-    cur_idx++;
-  }
-
-  // precision. disallow *, which requires additional argument
-  if (float_format[cur_idx] == '.') {
-    cur_idx++;
-    while (strchr("0123456789", float_format[cur_idx]) != NULL) {
-      cur_idx++;
-    }
-  }
-
-  // length
-  if (float_format[cur_idx] == 'L') {
-    cur_idx++;
-  }
-
-  // specifier must be a valid float format
-  if (strchr("fgGeE", float_format[cur_idx]) == NULL) {
-    mju_warning("Format string specifier must be one of \"fgGeE\".");
-    return false;
-  }
-  cur_idx++;
-
-  if (float_format[cur_idx] == '\0') {
-    return true;
-  } else {
-    mju_warning("Unable to match format string %s with expected pattern for a single float.",
-                float_format);
-    return false;
-  }
-}
-
-
-   // Clang sometimes goes OOM when the -Wuninitialized warning is enabled for this function
- #ifdef __clang__
- #pragma clang diagnostic push
- #pragma clang diagnostic ignored "-Wuninitialized"
- #endif
-
-//------------------------------ printing functions ------------------------------------------------
-
-// print mjModel to text file, specifying format. float_format must be a
-// valid printf-style format string for a single float value
-// NOLINTBEGIN(readability/fn_size)
-void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format) {
-  // get file
-  FILE* fp;
-  if (filename) {
-    fp = fopen(filename, "wt");
-  } else {
-    fp = stdout;
-  }
-
-  // check for nullptr
-  if (!fp) {
-    mju_warning("Could not open file '%s' for writing mjModel", filename);
-    return;
-  }
-
-  // validate format string
-  if (!validateFloatFormat(float_format)) {
-    mju_warning("WARNING: Received invalid float_format. Using default instead.");
-    float_format = FLOAT_FORMAT;
-  }
-
-  // compute total body mass
-  mjtNum totalmass = 0;
-  for (int i=0; i < m->nbody; i++) {
-    totalmass += m->body_mass[i];
-  }
-
-  // software version and model name
-  fprintf(fp, "MuJoCo version %s\n", mj_versionString());
-  fprintf(fp, "model name     %s\n\n", m->names);
-
-  // memory footprint
-  fprintf(fp, "MEMORY\n");
-  size_t sz_total = mj_sizeModel(m);
-  size_t sz_mesh = m->nmesh ? sizeMesh(m) : 0;
-  size_t sz_bvh = (m->nbvh || m->noct) ? sizeBVH(m) : 0;
-  size_t sz_tex = m->ntex ? m->ntexdata : 0;
-  size_t sz_skin = m->nskin ? sizeSkin(m) : 0;
-  size_t sz_other = sz_total - sz_mesh - sz_bvh - sz_tex - sz_skin;
-  fprintf(fp, "  total       %s\n", memorySize(sz_total));
-  if (sz_mesh)  fprintf(fp, "  meshes      %s\n", memorySize(sz_mesh));
-  if (sz_bvh)   fprintf(fp, "  bvhs        %s\n", memorySize(sz_bvh));
-  if (sz_tex)   fprintf(fp, "  textures    %s\n", memorySize(sz_tex));
-  if (sz_skin)  fprintf(fp, "  skins       %s\n", memorySize(sz_skin));
-  if (sz_other) fprintf(fp, "  other       %s\n", memorySize(sz_other));
-  fprintf(fp, "\n");
-
-
-  // sizes
-  fprintf(fp, "SIZES\n");
-#define X( name )                                 \
-  if (m->name) {                                  \
-    const char* format = _Generic(                \
-        m->name,                                  \
-        mjtSize : SIZE_FORMAT,                    \
-        default : INT_FORMAT);                    \
-    fprintf(fp, NAME_FORMAT, "  " #name);         \
-    fprintf(fp, format, m->name);                 \
-    fprintf(fp, "\n");                            \
-  }
-
-  MJMODEL_SIZES
-#undef X
-  fprintf(fp, "\n");
-
-  // flags
-  fprintf(fp, "FLAG\n");
-  printInt(fp, "  flg_gravcomp", m->flg_gravcomp);
-  printInt(fp, "  flg_surfacevel", m->flg_surfacevel);
-  fprintf(fp, "\n");
-
-  // options
-  fprintf(fp, "OPTION\n");
-#define X(type, name, sz)                                             \
-  fprintf(fp, NAME_FORMAT, "  " #name);                               \
-  {                                                                   \
-    const char* format =                                              \
-        _Generic(m->opt.name, mjtNum: float_format, int: INT_FORMAT); \
-    fprintf(fp, format, m->opt.name);                                 \
-  }                                                                   \
-  fprintf(fp, "\n");
-#define XVEC(type, name, sz)                                             \
-  fprintf(fp, NAME_FORMAT, "  " #name);                                  \
-  {                                                                      \
-    const char* format =                                                 \
-        _Generic(m->opt.name[0], mjtNum: float_format, int: INT_FORMAT); \
-    for (int i = 0; i < sz; i++) {                                       \
-      fprintf(fp, format, m->opt.name[i]);                               \
-    }                                                                    \
-  }                                                                      \
-  fprintf(fp, "\n");
-
-  MJOPTION_FIELDS
-#undef XVEC
-#undef X
-  fprintf(fp, "\n");
-
-  // visual
-  fprintf(fp, "VISUAL\n");
-
-  fprintf(fp, "  GLOBAL\n");
-#define X(type, name, sz)                                                   \
-  fprintf(fp, NAME_FORMAT, "    " #name);                                   \
-  {                                                                         \
-    const char* format =                                                    \
-        _Generic(m->vis.global.name, float: float_format, int: INT_FORMAT); \
-    fprintf(fp, format, m->vis.global.name);                                \
-  }                                                                         \
-  fprintf(fp, "\n");
-
-  MJVISUAL_GLOBAL_FIELDS
-#undef X
-
-  fprintf(fp, "  QUALITY\n");
-#define X(type, name, sz)                        \
-  fprintf(fp, NAME_FORMAT, "    " #name);        \
-  fprintf(fp, INT_FORMAT, m->vis.quality.name);  \
-  fprintf(fp, "\n");
-
-  MJVISUAL_QUALITY_FIELDS
-#undef X
-
-  fprintf(fp, "  HEADLIGHT\n");
-#define X(type, name, sz)                                                      \
-  fprintf(fp, NAME_FORMAT, "    " #name);                                      \
-  {                                                                            \
-    const char* format =                                                       \
-        _Generic(m->vis.headlight.name, float: float_format, int: INT_FORMAT); \
-    fprintf(fp, format, m->vis.headlight.name);                                \
-  }                                                                            \
-  fprintf(fp, "\n");
-#define XVEC(type, name, sz)                                \
-  fprintf(fp, NAME_FORMAT, "    " #name);                   \
-  {                                                         \
-    const char* format = _Generic(                          \
-        m->vis.headlight.name[0],                           \
-        float: float_format,                                \
-        int: INT_FORMAT);                                   \
-    for (int i = 0; i < sz; i++) {                          \
-      fprintf(fp, format, m->vis.headlight.name[i]);        \
-    }                                                       \
-  }                                                         \
-  fprintf(fp, "\n");
-  MJVISUAL_HEADLIGHT_FIELDS
-#undef XVEC
-#undef X
-
-  fprintf(fp, "  MAP\n");
-#define X(type, name, sz)                      \
-  fprintf(fp, NAME_FORMAT, "    " #name);      \
-  fprintf(fp, float_format, m->vis.map.name);  \
-  fprintf(fp, "\n");
-
-  MJVISUAL_MAP_FIELDS
-#undef X
-
-  fprintf(fp, "  SCALE\n");
-#define X(type, name, sz)                        \
-  fprintf(fp, NAME_FORMAT, "    " #name);        \
-  fprintf(fp, float_format, m->vis.scale.name);  \
-  fprintf(fp, "\n");
-
-  MJVISUAL_SCALE_FIELDS
-#undef X
-
-  fprintf(fp, "  RGBA\n");
-#define XVEC(type, name, sz)                          \
-  fprintf(fp, NAME_FORMAT, "    " #name);             \
-  {                                                   \
-    for (int i = 0; i < sz; i++) {                    \
-      fprintf(fp, float_format, m->vis.rgba.name[i]); \
-    }                                                 \
-  }                                                   \
-  fprintf(fp, "\n");
-  MJVISUAL_RGBA_FIELDS
-#undef XVEC
-  fprintf(fp, "\n");
-
-  // total mass
-  fprintf(fp, NAME_FORMAT, "totalmass");
-  fprintf(fp, float_format, totalmass);
-  fprintf(fp, "\n\n");
-
-  // statistics
-  fprintf(fp, "STATISTIC\n");
-#define X(name, sz)                                             \
-  fprintf(fp, NAME_FORMAT, "  " #name);                         \
-  {                                                             \
-    for (int i = 0; i < sz; i++) {                              \
-      fprintf(fp, float_format, ((mjtNum*)(&m->stat.name))[i]); \
-    }                                                           \
-  }                                                             \
-  fprintf(fp, "\n");
-#define XVEC X
-
-  MJSTATISTIC_FIELDS
-#undef XVEC
-#undef X
-  fprintf(fp, "\n");
-
-  // qpos0
-  fprintf(fp, NAME_FORMAT, "qpos0");
-  for (int i=0; i < m->nq; i++) {
-    fprintf(fp, float_format, m->qpos0[i]);
-    fprintf(fp, " ");
-  }
-  fprintf(fp, "\n\n");
-
-  // qpos_spring
-  fprintf(fp, NAME_FORMAT, "qpos_spring");
-  for (int i=0; i < m->nq; i++) {
-    fprintf(fp, float_format, m->qpos_spring[i]);
-    fprintf(fp, " ");
-  }
-  fprintf(fp, "\n\n");
-
-  // values used by MJMODEL_POINTERS macro
-  MJMODEL_POINTERS_PREAMBLE(m)
-
-  // touch unused sizes to avoid unused variable warning
-  (void)nq;
-  (void)nv;
-  (void)na;
-  (void)nu;
-  (void)nmocap;
-
-  const mjtSize* object_class;
-
-#define X(type, name, num, sz)                                              \
-  if (&m->num == object_class && sz > 0) {                                  \
-    const char* format = _Generic(*m->name,                                 \
-                                  double:  float_format,                    \
-                                  float:   float_format,                    \
-                                  int:     INT_FORMAT,                      \
-                                  mjtByte: INT_FORMAT,                      \
-                                  mjtBool: INT_FORMAT,                      \
-                                  mjtSize: SIZE_FORMAT,                     \
-                                  default: NULL);                           \
-    if (format) {                                                           \
-      fprintf(fp, "  ");                                                    \
-      fprintf(fp, NAME_FORMAT, #name);                                      \
-      for (int j = 0; j < sz; j++) {                                        \
-          fprintf(fp, format, m->name[sz * i + j]);                         \
-          fprintf(fp, " ");                                                 \
-      }                                                                     \
-      fprintf(fp, "\n");                                                    \
-    }                                                                       \
-  }
-#define XNV X
-
-  // bodies
-  object_class = &m->nbody;
-  for (int i=0; i < m->nbody; i++) {
-    fprintf(fp, "\nBODY %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_bodyadr[i]);
-    MJMODEL_POINTERS_BODY
-  }
-  if (m->nbody) fprintf(fp, "\n");
-
-  // joints
-  object_class = &m->njnt;
-  for (int i=0; i < m->njnt; i++) {
-    fprintf(fp, "\nJOINT %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_jntadr[i]);
-    MJMODEL_POINTERS_JOINT
-  }
-  if (m->njnt) fprintf(fp, "\n");
-
-  // dofs
-  object_class = &m->nv;
-  for (int i=0; i < m->nv; i++) {
-    fprintf(fp, "\nDOF %d:\n", i);
-    MJMODEL_POINTERS_DOF
-  }
-  if (m->nv) fprintf(fp, "\n");
-
-  // trees
-  object_class = &m->ntree;
-  for (int i=0; i < m->ntree; i++) {
-    fprintf(fp, "\nTREE %d:\n", i);
-    MJMODEL_POINTERS_TREE
-  }
-  if (m->ntree) fprintf(fp, "\n");
-
-  // geoms
-  object_class = &m->ngeom;
-  for (int i=0; i < m->ngeom; i++) {
-    fprintf(fp, "\nGEOM %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_geomadr[i]);
-    MJMODEL_POINTERS_GEOM
-  }
-  if (m->ngeom) fprintf(fp, "\n");
-
-  // sites
-  object_class = &m->nsite;
-  for (int i=0; i < m->nsite; i++) {
-    fprintf(fp, "\nSITE %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_siteadr[i]);
-    MJMODEL_POINTERS_SITE
-  }
-  if (m->nsite) fprintf(fp, "\n");
-
-  // cameras
-  object_class = &m->ncam;
-  for (int i=0; i < m->ncam; i++) {
-    fprintf(fp, "\nCAMERA %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_camadr[i]);
-    MJMODEL_POINTERS_CAMERA
-  }
-  if (m->ncam) fprintf(fp, "\n");
-
-  // lights
-  object_class = &m->nlight;
-  for (int i=0; i < m->nlight; i++) {
-    fprintf(fp, "\nLIGHT %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_lightadr[i]);
-    MJMODEL_POINTERS_LIGHT
-  }
-  if (m->nlight) fprintf(fp, "\n");
-
-  // flexes
-  object_class = &m->nflex;
-  for (int i=0; i < m->nflex; i++) {
-    fprintf(fp, "\nFLEX %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_flexadr[i]);
-    MJMODEL_POINTERS_FLEX
-  }
-  if (m->nflex) fprintf(fp, "\n");
-
-  // meshes
-  object_class = &m->nmesh;
-  for (int i=0; i < m->nmesh; i++) {
-    fprintf(fp, "\nMESH %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_meshadr[i]);
-    MJMODEL_POINTERS_MESH
-    if (m->mesh_graphadr[i] >= 0) {
-      fprintf(fp, "  " NAME_FORMAT, "qhull face");
-      fprintf(fp, " %d\n", m->mesh_graph[m->mesh_graphadr[i]+1]);
-      fprintf(fp, "  " NAME_FORMAT, "qhull vert");
-      fprintf(fp, " %d\n", m->mesh_graph[m->mesh_graphadr[i]]);
-    }
-  }
-  if (m->nmesh) fprintf(fp, "\n");
-
-  // skins
-  object_class = &m->nskin;
-  for (int i=0; i < m->nskin; i++) {
-    fprintf(fp, "\nSKIN %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_skinadr[i]);
-    MJMODEL_POINTERS_SKIN
-  }
-  if (m->nskin) fprintf(fp, "\n");
-
-  // hfields
-  object_class = &m->nhfield;
-  for (int i=0; i < m->nhfield; i++) {
-    fprintf(fp, "\nHEIGHTFIELD %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, "  %s\n", m->names + m->name_hfieldadr[i]);
-    MJMODEL_POINTERS_HFIELD
-  }
-  if (m->nhfield) fprintf(fp, "\n");
-
-  // textures
-  object_class = &m->ntex;
-  for (int i=0; i < m->ntex; i++) {
-    fprintf(fp, "\nTEXTURE %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_texadr[i]);
-    MJMODEL_POINTERS_TEXTURE
-  }
-  if (m->ntex) fprintf(fp, "\n");
-
-  // materials
-  object_class = &m->nmat;
-  for (int i=0; i < m->nmat; i++) {
-    fprintf(fp, "\nMATERIAL %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_matadr[i]);
-    MJMODEL_POINTERS_MATERIAL
-  }
-  if (m->nmat) fprintf(fp, "\n");
-
-  // pairs
-  object_class = &m->npair;
-  for (int i=0; i < m->npair; i++) {
-    fprintf(fp, "\nPAIR %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_pairadr[i]);
-    MJMODEL_POINTERS_PAIR
-  }
-  if (m->npair) fprintf(fp, "\n");
-
-  // excludes
-  object_class = &m->nexclude;
-  for (int i=0; i < m->nexclude; i++) {
-    fprintf(fp, "\nEXCLUDE %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_excludeadr[i]);
-    MJMODEL_POINTERS_EXCLUDE
-  }
-  if (m->nexclude) fprintf(fp, "\n");
-
-  // equality constraints
-  object_class = &m->neq;
-  for (int i=0; i < m->neq; i++) {
-    fprintf(fp, "\nEQUALITY %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_eqadr[i]);
-    MJMODEL_POINTERS_EQUALITY
-  }
-  if (m->neq) fprintf(fp, "\n");
-
-  // tendons
-  object_class = &m->ntendon;
-  for (int i=0; i < m->ntendon; i++) {
-    fprintf(fp, "\nTENDON %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_tendonadr[i]);
-    MJMODEL_POINTERS_TENDON
-    fprintf(fp, "  path\n");
-    fprintf(fp, "    type  objid  prm\n");
-    for (int j=0; j < m->tendon_num[i]; j++) {
-      int k = m->tendon_adr[i]+j;
-      fprintf(fp, "    %d     %d     ", m->wrap_type[k], m->wrap_objid[k]);
-      fprintf(fp, float_format, m->wrap_prm[k]);
-      fprintf(fp, "\n");
-    }
-    fprintf(fp, "\n");
-  }
-  if (m->ntendon) fprintf(fp, "\n");
-
-  // actuators: per-actuator fields, then per-input (nu) and per-output (nout) blocks
-  for (int i=0; i < m->nactuator; i++) {
-    fprintf(fp, "\nACTUATOR %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_actuatoradr[i]);
-    object_class = &m->nactuator;
-    MJMODEL_POINTERS_ACTUATOR
-    {
-      int actuator = i;
-      int ctrladr = m->actuator_ctrladr[actuator];
-      int ctrlnum = m->actuator_ctrlnum[actuator];
-      int outadr = m->actuator_outadr[actuator];
-      int outnum = m->actuator_outnum[actuator];
-      object_class = &m->nu;
-      i = ctrladr;
-      while (i < ctrladr + ctrlnum) {
-        MJMODEL_POINTERS_ACTUATOR
-        i++;
-      }
-      object_class = &m->nout;
-      i = outadr;
-      while (i < outadr + outnum) {
-        MJMODEL_POINTERS_ACTUATOR
-        i++;
-      }
-      i = actuator;
-    }
-  }
-  if (m->nactuator) fprintf(fp, "\n");
-
-  // sensors
-  object_class = &m->nsensor;
-  for (int i=0; i < m->nsensor; i++) {
-    fprintf(fp, "\nSENSOR %d:\n", i);
-    fprintf(fp, "  " NAME_FORMAT, "name");
-    fprintf(fp, " %s\n", m->names + m->name_sensoradr[i]);
-    MJMODEL_POINTERS_SENSOR
-  }
-  if (m->nsensor) fprintf(fp, "\n");
-
-  // custom numeric parameters
-  for (int i=0; i < m->nnumeric; i++) {
-    fprintf(fp, "\nNUMERIC %d:\n", i);
-    fprintf(fp, "  name         %s\n", m->names + m->name_numericadr[i]);
-    fprintf(fp, "  size         %d\n", m->numeric_size[i]);
-    fprintf(fp, "  value       ");
-    for (int j=0; j < m->numeric_size[i]; j++) {
-      fprintf(fp, float_format, m->numeric_data[m->numeric_adr[i]+j]);
-    }
-    fprintf(fp, "\n");
-  }
-  if (m->nnumeric) fprintf(fp, "\n");
-
-  // custom text parameters
-  for (int i=0; i < m->ntext; i++) {
-    fprintf(fp, "\nTEXT %d:\n", i);
-    fprintf(fp, "  name         %s\n", m->names + m->name_textadr[i]);
-    fprintf(fp, "  size         %d\n", m->text_size[i]);
-    fprintf(fp, "  value        %s\n", m->text_data + m->text_adr[i]);
-  }
-  if (m->ntext) fprintf(fp, "\n");
-
-  // custom tuple parameters
-  for (int i=0; i < m->ntuple; i++) {
-    fprintf(fp, "\nTUPLE %d:\n", i);
-    fprintf(fp, "  name         %s\n", m->names + m->name_tupleadr[i]);
-    fprintf(fp, "  size         %d\n", m->tuple_size[i]);
-    fprintf(fp, "  elements\n");
-    for (int j=m->tuple_adr[i]; j < m->tuple_adr[i]+m->tuple_size[i]; j++) {
-      fprintf(fp, "       %s %d, prm = ",
-              mju_type2Str(m->tuple_objtype[j]), m->tuple_objid[j]);
-      fprintf(fp, float_format, m->tuple_objprm[j]);
-      fprintf(fp, "\n");
-    }
-  }
-  if (m->ntuple) fprintf(fp, "\n");
-
-  // keyframes (only if different from default)
-  for (int i=0; i < m->nkey; i++) {
-    // print name
-    if (m->names[m->name_keyadr[i]]) {
-      fprintf(fp, "key_name%d    %s\n", i, m->names + m->name_keyadr[i]);
-    }
-
-    // print time if non-0
-    if (m->key_time[i] != 0) {
-      fprintf(fp, "key_time%d    %.4f\n", i, m->key_time[i]);
-    }
-
-    // check qpos for difference
-    int k = 0;
-    for (int j=0; j < m->nq; j++)
-      if (m->qpos0[j] != m->key_qpos[i*m->nq + j]) {
-        k = 1;
-      }
-
-    // print if different
-    if (k == 1) {
-      fprintf(fp, "key_qpos%d   ", i);
-      for (int j=0; j < m->nq; j++) {
-        fprintf(fp, float_format, m->key_qpos[i*m->nq + j]);
-      }
-      fprintf(fp, "\n");
-    }
-
-    // check qvel for nonzero
-    for (int j=0; j < m->nv; j++)
-      if (m->key_qvel[i*m->nv + j]) {
-        k = 2;
-      }
-
-    // print if nonzero
-    if (k == 2) {
-      fprintf(fp, "key_qvel%d   ", i);
-      for (int j=0; j < m->nv; j++) {
-        fprintf(fp, float_format, m->key_qvel[i*m->nv + j]);
-      }
-      fprintf(fp, "\n");
-    }
-
-    // check act for nonzero
-    for (int j=0; j < m->na; j++)
-      if (m->key_act[i*m->na + j]) {
-        k = 3;
-      }
-
-    // print if nonzero
-    if (k == 3) {
-      fprintf(fp, "key_act%d   ", i);
-      for (int j=0; j < m->na; j++) {
-        fprintf(fp, float_format, m->key_act[i*m->na + j]);
-      }
-      fprintf(fp, "\n");
-    }
-
-    // check mpos for difference
-    if (m->nmocap) {
-      for (int j=0; j < m->nbody; j++) {
-        if (m->body_mocapid[j] >= 0) {
-          int id = m->body_mocapid[j];
-          if (m->body_pos[3*j] != m->key_mpos[i*3*m->nmocap + 3*id] ||
-              m->body_pos[3*j+1] != m->key_mpos[i*3*m->nmocap + 3*id+1] ||
-              m->body_pos[3*j+2] != m->key_mpos[i*3*m->nmocap + 3*id+2]) {
-            k = 4;
-            break;
-          }
-        }
-      }
-    }
-
-    // print if nonzero
-    if (k == 4) {
-      fprintf(fp, "key_mpos%d   ", i);
-      for (int j=0; j < 3*m->nmocap; j++) {
-        fprintf(fp, float_format, m->key_mpos[i*3*m->nmocap + j]);
-      }
-      fprintf(fp, "\n");
-    }
-
-    // check mquat for difference
-    if (m->nmocap) {
-      for (int j=0; j < m->nbody; j++) {
-        if (m->body_mocapid[j] >= 0) {
-          int id = m->body_mocapid[j];
-          if (m->body_quat[4*j] != m->key_mquat[i*4*m->nmocap + 4*id] ||
-              m->body_quat[4*j+1] != m->key_mquat[i*4*m->nmocap + 4*id+1] ||
-              m->body_quat[4*j+2] != m->key_mquat[i*4*m->nmocap + 4*id+2] ||
-              m->body_quat[4*j+3] != m->key_mquat[i*4*m->nmocap + 4*id+3]) {
-            k = 5;
-            break;
-          }
-        }
-      }
-    }
-
-    // print if nonzero
-    if (k == 5) {
-      fprintf(fp, "key_mquat%d   ", i);
-      for (int j=0; j < 4*m->nmocap; j++) {
-        fprintf(fp, float_format, m->key_mquat[i*4*m->nmocap + j]);
-      }
-      fprintf(fp, "\n");
-    }
-
-    // check ctrl for nonzero
-    for (int j=0; j < m->nu; j++) {
-      if (m->key_ctrl[i*m->nu + j]) {
-        k = 6;
-        break;
-      }
-    }
-
-    // print if nonzero
-    if (k == 6) {
-      fprintf(fp, "key_ctrl%d   ", i);
-      for (int j=0; j < m->nu; j++) {
-        fprintf(fp, float_format, m->key_ctrl[i*m->nu + j]);
-      }
-      fprintf(fp, "\n");
-    }
-
-
-    // new line if any data was written
-    if (k) {
-      fprintf(fp, "\n");
-    }
-  }
-
-#undef X
-
-  // B sparse structure
-  mj_printSparsity("B: body-dof matrix", m->nbody, m->nv, m->B_rowadr, NULL, m->B_rownnz, NULL,
-                   m->B_colind, fp);
-  printArray2dInt("B_ROWNNZ", 1, m->nbody, m->B_rownnz, fp);
-  printArray2dInt("B_ROWADR", 1, m->nbody, m->B_rowadr, fp);
-  printArray2dInt("B_COLIND", 1, m->nB,    m->B_colind, fp);
-
-  // M sparse structure
-  mj_printSparsity("M: reduced inertia matrix", m->nv, m->nv, m->M_rowadr, NULL, m->M_rownnz,
-                   NULL, m->M_colind, fp);
-  printArray2dInt("M_ROWNNZ", 1, m->nv, m->M_rownnz, fp);
-  printArray2dInt("M_ROWADR", 1, m->nv, m->M_rowadr, fp);
-  printArray2dInt("M_COLIND", 1, m->nC, m->M_colind, fp);
-  printArray2dInt("MAPM2M",   1, m->nC, m->mapM2M,   fp);
-
-  // D sparse structure
-  mj_printSparsity("D: dof-dof matrix", m->nv, m->nv,
-                   m->D_rowadr, m->D_diag, m->D_rownnz, NULL, m->D_colind, fp);
-  printArray2dInt("D_ROWNNZ", 1, m->nv, m->D_rownnz, fp);
-  printArray2dInt("D_ROWADR", 1, m->nv, m->D_rowadr, fp);
-  printArray2dInt("D_COLIND", 1, m->nD, m->D_colind, fp);
-  printArray2dInt("MAPM2D",   1, m->nD, m->mapM2D,   fp);
-  printArray2dInt("MAPD2M",   1, m->nC, m->mapD2M,   fp);
-
-  // signature
-  fprintf(fp, "\nSIGNATURE\n");
-  fprintf(fp, "  %lu\n", (unsigned long) m->signature);
-  fprintf(fp, "\n");
-
-  // BVHs
-  fprintf(fp, "BVH:\n");
-  fprintf(fp, "  %-8s%-8s%-8s%-10s%-s\n", "id", "depth", "nodeid", "child[0]", "child[1]");
-  for (int i=0; i < m->nbvh; i++) {
-    fprintf(fp, "  %-8d%-8d% -8d% -10d% -d\n",
-            i, m->bvh_depth[i], m->bvh_nodeid[i], m->bvh_child[2*i], m->bvh_child[2*i+1]);
-  }
-  fprintf(fp, "\n");
-
-  if (filename) {
-    fclose(fp);
-  }
-}
-// NOLINTEND(readability/fn_size)
-
-// print mjModel to text file
-void mj_printModel(const mjModel* m, const char* filename) {
-  mj_printFormattedModel(m, filename, FLOAT_FORMAT);
-}
-
-
-// print mjModel to text file, specifying format. float_format must be a
-// valid printf-style format string for a single float value
-void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filename,
-                           const char* float_format) {
-  // stack in use, SHOULD NOT OCCUR
-  if (d->pstack) {
-    mjERROR("attempting to print mjData when stack is in use");
-  }
-
-  // check format string
-  if (!validateFloatFormat(float_format)) {
-    mju_warning("WARNING: Received invalid float_format. Using default instead.");
-    float_format = FLOAT_FORMAT;
-  }
-
-  // get file
-  FILE* fp;
-  if (filename) {
-    fp = fopen(filename, "wt");
-  } else {
-    fp = stdout;
-  }
-
-  // check for nullptr
-  if (!fp) {
-    mju_warning("Could not open file '%s' for writing mjModel", filename);
-    return;
-  }
-
-#ifdef MEMORY_SANITIZER
-  // If memory sanitizer is active, d->buffer will be marked as poisoned, even
-  // though it's really initialized to 0. This catches unintentionally
-  // using uninitialized values, but in engine_print it's OK to output zeroes.
-
-  // save current poison status of buffer before marking unpoisoned
-  void* shadow = mju_malloc(d->nbuffer);
-  __msan_copy_shadow(shadow, d->buffer, d->nbuffer);
-  __msan_unpoison(d->buffer, d->nbuffer);
-#endif
-
-  fprintf(fp, "MEMORY\n");
-  fprintf(fp, "  total         %s\n",   memorySize(sizeof(mjData) + d->nbuffer + d->narena));
-  fprintf(fp, "  struct        %s\n",   memorySize(sizeof(mjData)));
-  fprintf(fp, "  buffer        %s\n",   memorySize(d->nbuffer));
-  double arena_percent = 100 * d->maxuse_arena/(double)(d->narena);
-  fprintf(fp, "  arena         %s, used %.1f%%\n\n", memorySize(d->narena), arena_percent);
-
-  // ---------------------------------- print mjData fields
-
-  fprintf(fp, "SIZES\n");
-#define X(type, name)                                                         \
-  if (strcmp(#name, "pstack") != 0 &&                                         \
-      strcmp(#name, "pbase") != 0 &&                                          \
-      strcmp(#name, "parena") != 0 &&                                         \
-      strcmp(#name, "threadpool") != 0) {                                     \
-    const char* format = _Generic(                                            \
-        d->name,                                                              \
-        int : INT_FORMAT,                                                     \
-        mjtSize : SIZE_FORMAT,                                                \
-        mjtByte : INT_FORMAT,                                                 \
-        mjtBool : INT_FORMAT,                                                 \
-        default : NULL);                                                      \
-    if (format) {                                                             \
-      fprintf(fp, "  ");                                                      \
-      fprintf(fp, NAME_FORMAT, #name);                                        \
-      fprintf(fp, format, d->name);                                           \
-      fprintf(fp, "\n");                                                      \
-    }                                                                         \
-  }
-
-  MJDATA_SCALAR
-#undef X
-
-  int threadpool = 0;
-  if (d->threadpool) {
-    threadpool = 1;
-  }
-  fprintf(fp, "  ");
-  fprintf(fp, NAME_FORMAT, "threadpool");
-  fprintf(fp, INT_FORMAT, threadpool);
-  fprintf(fp, "\n");
-
-  fprintf(fp, "\n");
-
-  // WARNING
-  int active_warnings = 0;
-  for (int i=0; i < mjNWARNING; i++) {
-    active_warnings += d->warning[i].number;
-  }
-  if (active_warnings) {
-    fprintf(fp, "WARNING\n");
-    for (int i=0; i < mjNWARNING; i++)
-      if (d->warning[i].number)
-        fprintf(fp, "    %d:  lastinfo = %d   number = %d\n",
-                i, d->warning[i].lastinfo, d->warning[i].number);
-    fprintf(fp, "\n");
-  }
-
-  // TIMER
-  mjtNum active_timers = 0;
-  for (int i=0; i < mjNTIMER; i++) {
-    active_timers += d->timer[i].duration;
-  }
-  if (active_timers) {
-    fprintf(fp, "TIMER\n");
-    for (int i=0; i < mjNTIMER; i++) {
-      fprintf(fp, "    %d:  duration = ", i);
-      fprintf(fp, float_format, d->timer[i].duration);
-      fprintf(fp, "   number = %d\n", d->timer[i].number);
-    }
-    fprintf(fp, "\n");
-  }
-
-  // SOLVER STAT
-  if (d->nefc) {
-    fprintf(fp, "SOLVER STAT\n");
-    printVector("  solver_fwdinv = ", d->solver_fwdinv, 2, fp, float_format);
-    int nisland_stat = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
-    for (int island=0; island < nisland_stat; island++) {
-      int niter_stat = mjMIN(mjNSOLVER, d->solver_niter[island]);
-      if (niter_stat) {
-        fprintf(fp, "  ISLAND %d\n", island);
-        fprintf(fp, "    solver_niter = %d\n", d->solver_niter[island]);
-        fprintf(fp, "    solver_nnz = %d\n",  d->solver_nnz[island]);
-        for (int i=0; i < niter_stat; i++) {
-          const mjSolverStat* stat = d->solver + island*mjNSOLVER + i;
-          fprintf(fp, "      %d:  improvement = ", i);
-          fprintf(fp, float_format, stat->improvement);
-          fprintf(fp, "    gradient = ");
-          fprintf(fp, float_format, stat->gradient);
-          fprintf(fp, "    lineslope = ");
-          fprintf(fp, float_format, stat->lineslope);
-          fprintf(fp, "\n");
-          fprintf(fp, "          nactive = %d   nchange = %d   neval = %d   nupdate = %d\n",
-                  stat->nactive, stat->nchange,
-                  stat->neval, stat->nupdate);
-        }
-        fprintf(fp, "\n");
-      }
-    }
-  }
-
-  printVector("ENERGY = ", d->energy, 2, fp, float_format);
-  fprintf(fp, "\n");
-
-  fprintf(fp, "TIME = ");
-  fprintf(fp, float_format, d->time);
-  fprintf(fp, "\n\n");
-
-  printArray2d("QPOS", m->nq, 1, d->qpos, fp, float_format);
-  printArray2d("QVEL", m->nv, 1, d->qvel, fp, float_format);
-  printArray2d("ACT", m->na, 1, d->act, fp, float_format);
-
-  // print history buffers with semantic structure
-  if (m->nhistory) {
-    fprintf(fp, "DELAY\n");
-
-    // actuator history buffers
-    for (int i = 0; i < m->nactuator; i++) {
-      int adr = m->actuator_historyadr[i];
-      if (adr >= 0) {
-        char name[100];
-        const char* actuator_name = mj_id2name(m, mjOBJ_ACTUATOR, i);
-        snprintf(name, sizeof(name), "actuator %d '%s'", i, actuator_name ? actuator_name : "");
-        printDelayBuffer(name, d->history + adr, m->actuator_history[2*i], 1, fp, float_format);
-      }
-    }
-
-    // sensor history buffers
-    for (int i = 0; i < m->nsensor; i++) {
-      int adr = m->sensor_historyadr[i];
-      if (adr >= 0) {
-        char name[100];
-        const char* sensor_name = mj_id2name(m, mjOBJ_SENSOR, i);
-        snprintf(name, sizeof(name), "sensor %d  '%s'", i, sensor_name ? sensor_name : "");
-        printDelayBuffer(name, d->history + adr, m->sensor_history[2*i], m->sensor_dim[i],
-                         fp, float_format);
-      }
-    }
-
-    fprintf(fp, "\n");
-  }
-  printArray2d("QACC_WARMSTART", m->nv, 1, d->qacc_warmstart, fp, float_format);
-  printArray2d("CTRL", m->nu, 1, d->ctrl, fp, float_format);
-  printArray2d("QFRC_APPLIED", m->nv, 1, d->qfrc_applied, fp, float_format);
-  printArray2d("XFRC_APPLIED", m->nbody, 6, d->xfrc_applied, fp, float_format);
-  if (m->neq) {
-    fprintf(fp, NAME_FORMAT, "EQ_ACTIVE");
-    for (int c=0; c < m->neq; c++) {
-      fprintf(fp, " %d", d->eq_active[c]);
-    }
-    fprintf(fp, "\n\n");
-  }
-  printArray2d("MOCAP_POS", m->nmocap, 3, d->mocap_pos, fp, float_format);
-  printArray2d("MOCAP_QUAT", m->nmocap, 4, d->mocap_quat, fp, float_format);
-  printArray2d("QACC", m->nv, 1, d->qacc, fp, float_format);
-  printArray2d("ACT_DOT", m->na, 1, d->act_dot, fp, float_format);
-  printArray2d("USERDATA", m->nuserdata, 1, d->userdata, fp, float_format);
-  printArray2d("SENSOR", m->nsensordata, 1, d->sensordata, fp, float_format);
-  printArray2dInt("TREE_ASLEEP", m->ntree, 1, d->tree_asleep, fp);
-
-  printArray2d("XPOS", m->nbody, 3, d->xpos, fp, float_format);
-  printArray2d("XQUAT", m->nbody, 4, d->xquat, fp, float_format);
-  printArray2d("XMAT", m->nbody, 9, d->xmat, fp, float_format);
-  printArray2d("XIPOS", m->nbody, 3, d->xipos, fp, float_format);
-  printArray2d("XIMAT", m->nbody, 9, d->ximat, fp, float_format);
-  printArray2d("XANCHOR", m->njnt, 3, d->xanchor, fp, float_format);
-  printArray2d("XAXIS", m->njnt, 3, d->xaxis, fp, float_format);
-  printArray2d("GEOM_XPOS", m->ngeom, 3, d->geom_xpos, fp, float_format);
-  printArray2d("GEOM_XMAT", m->ngeom, 9, d->geom_xmat, fp, float_format);
-  printArray2d("SITE_XPOS", m->nsite, 3, d->site_xpos, fp, float_format);
-  printArray2d("SITE_XMAT", m->nsite, 9, d->site_xmat, fp, float_format);
-  printArray2d("CAM_XPOS", m->ncam, 3, d->cam_xpos, fp, float_format);
-  printArray2d("CAM_XMAT", m->ncam, 9, d->cam_xmat, fp, float_format);
-  printArray2d("LIGHT_XPOS", m->nlight, 3, d->light_xpos, fp, float_format);
-  printArray2d("LIGHT_XDIR", m->nlight, 3, d->light_xdir, fp, float_format);
-
-  printArray2d("SUBTREE_COM", m->nbody, 3, d->subtree_com, fp, float_format);
-  printArray2d("CDOF", m->nv, 6, d->cdof, fp, float_format);
-  printArray2d("CINERT", m->nbody, 10, d->cinert, fp, float_format);
-
-  printArray2d("FLEXVERT_XPOS", m->nflexvert, 3, d->flexvert_xpos, fp, float_format);
-  printArray2d("FLEXELEM_AABB", m->nflexelem, 6, d->flexelem_aabb, fp, float_format);
-  mj_printSparsity("FLEXEDGE_J: flex edge connectivity", m->nflexedge, m->nv,
-                    m->flexedge_J_rowadr, NULL, m->flexedge_J_rownnz, NULL, m->flexedge_J_colind,
-                    fp);
-  printSparse("FLEXEDGE_J", d->flexedge_J, m->nflexedge, m->flexedge_J_rownnz,
-                            m->flexedge_J_rowadr, m->flexedge_J_colind, fp, float_format);
-  printArray2d("FLEXEDGE_LENGTH", m->nflexedge, 1, d->flexedge_length, fp, float_format);
-
-  printArray2d("TEN_LENGTH", m->ntendon, 1, d->ten_length, fp, float_format);
-  mj_printSparsity("TEN_J: tendon moments", m->ntendon, m->nv, m->ten_J_rowadr, NULL,
-                   m->ten_J_rownnz, NULL, m->ten_J_colind, fp);
-  printArray2dInt("TEN_J_ROWNNZ", m->ntendon, 1, m->ten_J_rownnz, fp);
-  printArray2dInt("TEN_J_ROWADR", m->ntendon, 1, m->ten_J_rowadr, fp);
-  printSparse("TEN_J", d->ten_J, m->ntendon, m->ten_J_rownnz,
-              m->ten_J_rowadr, m->ten_J_colind, fp, float_format);
-  for (int i=0; i < m->ntendon; i++) {
-    fprintf(fp, "TENDON %d: %d wrap points\n", i, d->ten_wrapnum[i]);
-    for (int j=0; j < d->ten_wrapnum[i]; j++) {
-      fprintf(fp, "    %d:  ", d->wrap_obj[d->ten_wrapadr[i]+j]);
-      printVector("", d->wrap_xpos+3*(d->ten_wrapadr[i]+j), 3, fp, float_format);
-    }
-    fprintf(fp, "\n");
-  }
-
-  printArray2d("ACTUATOR_LENGTH", m->nout, 1, d->actuator_length, fp, float_format);
-  mj_printSparsity("actuator_moment", m->nout, m->nv,
-                   d->moment_rowadr, NULL, d->moment_rownnz, NULL, d->moment_colind, fp);
-  printSparse("ACTUATOR_MOMENT", d->actuator_moment, m->nout, d->moment_rownnz,
-              d->moment_rowadr, d->moment_colind, fp, float_format);
-  printArray2d("CRB", m->nbody, 10, d->crb, fp, float_format);
-  printSparse("M", d->M, m->nv, m->M_rownnz,
-              m->M_rowadr, m->M_colind, fp, float_format);
-  printSparse("QLD", d->qLD, m->nv, m->M_rownnz,
-              m->M_rowadr, m->M_colind, fp, float_format);
-  printArray2d("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
-  if (d->nisland) {
-    // the static full inertia structure is already printed in printModel, so we only repeat it here
-    // if islands are present, for comparison
-    mj_printSparsity("M: inertia structure", m->nv, m->nv, m->M_rowadr, NULL,
-                     m->M_rownnz, NULL, m->M_colind, fp);
-    mj_printBlockSparsity("iM: block-diagonal inertia (nnzs are island ids)",
-                          d->nidof, d->nidof, d->nisland,
-                          d->island_nv, d->island_idofadr,
-                          d->dof_island, d->map_idof2dof, d->map_idof2dof,
-                          m->M_rownnz, m->M_rowadr, m->M_colind, NULL, fp);
-  }
-
-  if (!mju_isZero(d->qHDiagInv, m->nv)) {
-    printSparse("QH", d->qH, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind, fp, float_format);
-    printArray2d("QHDIAGINV", m->nv, 1, d->qHDiagInv, fp, float_format);
-  }
-
-  // computed sleep state
-  printArray2dInt("TREE_AWAKE", 1, m->ntree, d->tree_awake, fp);
-  printArray2dInt("BODY_AWAKE", 1, m->nbody, d->body_awake, fp);
-  printArray2dInt("BODY_AWAKE_IND", 1, d->nbody_awake, d->body_awake_ind, fp);
-  printArray2dInt("PARENT_AWAKE_IND", 1, d->nparent_awake, d->parent_awake_ind, fp);
-  printArray2dInt("DOF_AWAKE_IND", 1, d->nv_awake, d->dof_awake_ind, fp);
-
-  // print qDeriv
-  if (!mju_isZero(d->qDeriv, m->nD)) {
-    printSparse("QDERIV", d->qDeriv, m->nv, m->D_rownnz, m->D_rowadr, m->D_colind,
-                fp, float_format);
-  }
-
-  // print qLU
-  if (!mju_isZero(d->qLU, m->nD)) {
-    printSparse("QLU", d->qLU, m->nv, m->D_rownnz, m->D_rowadr, m->D_colind, fp, float_format);
-  }
-
-  // contact
-  if (d->ncon) fprintf(fp, "CONTACT\n");
-  for (int i=0; i < d->ncon; i++) {
-    fprintf(fp, "  %d:\n     dim           %d\n", i, d->contact[i].dim);
-    int g1 = d->contact[i].geom[0];
-    int g2 = d->contact[i].geom[1];
-
-    // special case for geom-geom contacts
-    if (g1 > -1 && g2 > -1) {
-      fprintf(fp, "     geoms         ");
-      const char* geom1 = mj_id2name(m, mjOBJ_GEOM, g1);
-      const char* geom2 = mj_id2name(m, mjOBJ_GEOM, g2);
-      if (geom1) {
-        fprintf(fp, "%s : ", geom1);
-      } else {
-        fprintf(fp, "%d : ", g1);
-      }
-      if (geom2) {
-        fprintf(fp, "%s\n", geom2);
-      } else {
-        fprintf(fp, "%d\n", g2);
-      }
-    } else {
-      fprintf(fp, "     gfev          %d %d %d %d : %d %d %d %d\n",
-              d->contact[i].geom[0], d->contact[i].flex[0],
-              d->contact[i].elem[0], d->contact[i].vert[0],
-              d->contact[i].geom[1], d->contact[i].flex[1],
-              d->contact[i].elem[1], d->contact[i].vert[1]);
-    }
-    fprintf(fp, "     exclude       %d\n     efc_address   %d\n",
-            d->contact[i].exclude, d->contact[i].efc_address);
-    printVector("     solref       ", d->contact[i].solref, mjNREF, fp, float_format);
-    printVector("     solimp       ", d->contact[i].solimp, mjNIMP, fp, float_format);
-    printVector("     dist         ", &d->contact[i].dist, 1, fp, float_format);
-    printVector("     includemargin", &d->contact[i].includemargin, 1, fp, float_format);
-    printVector("     pos          ", d->contact[i].pos, 3, fp, float_format);
-    printVector("     frame        ", d->contact[i].frame, 9, fp, float_format);
-    printVector("     friction     ", d->contact[i].friction, 5, fp, float_format);
-    printVector("     mu           ", &d->contact[i].mu, 1, fp, float_format);
-    mjtNum force[6] = {0};
-    mj_contactForce(m, d, i, force);
-    printVector("     force        ", force, 6, fp, float_format);
-  }
-  if (d->ncon) fprintf(fp, "\n");
-
-  printArray2dInt("EFC_TYPE", d->nefc, 1, d->efc_type, fp);
-  printArray2dInt("EFC_ID", d->nefc, 1, d->efc_id, fp);
-
-  if (!mj_isSparse(m)) {
-    printArray2d("EFC_J", d->nefc, m->nv, d->efc_J, fp, float_format);
-    if (d->nisland) {
-      printBlockArray("IEFC_J", d->efc_J, m->nv,
-                      d->nisland, d->island_nefc, d->island_nv,
-                      d->island_iefcadr, d->island_idofadr,
-                      d->map_iefc2efc, d->map_idof2dof,
-                      fp, float_format);
-    }
-    printArray2d("EFC_AR", d->nefc, d->nefc, d->efc_AR, fp, float_format);
-  } else {
-    printArray2dInt("EFC_J_ROWNNZ", d->nefc, 1, d->efc_J_rownnz, fp);
-    printArray2dInt("EFC_J_ROWADR", d->nefc, 1, d->efc_J_rowadr, fp);
-    printSparse("EFC_J", d->efc_J, d->nefc, d->efc_J_rownnz,
-                d->efc_J_rowadr, d->efc_J_colind, fp, float_format);
-    mj_printSparsity("J: constraint Jacobian", d->nefc, m->nv, d->efc_J_rowadr, NULL,
-                     d->efc_J_rownnz, d->efc_J_rowsuper, d->efc_J_colind, fp);
-    if (d->nY) {
-      mj_printSparsity("EFC_Y: inverse constraint inertia square root", d->nefc, m->nv,
-                       d->efc_Y_rowadr, NULL, d->efc_Y_rownnz, d->efc_J_rowsuper,
-                       d->efc_Y_colind, fp);
-    }
-    if (d->nisland) {
-      mj_printBlockSparsity("IEFC_J: block-diagonalized constraint Jacobian (nnzs are island ids)",
-                            d->nefc, d->nidof, d->nisland,
-                            d->island_nv, d->island_idofadr,
-                            d->efc_island, d->map_iefc2efc, d->map_idof2dof,
-                            d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
-                            d->efc_J_rowsuper, fp);
-    }
-
-    if (mj_isDual(m)) {
-      printArray2dInt("EFC_AR_ROWNNZ", d->nefc, 1, d->efc_AR_rownnz, fp);
-      printArray2dInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, fp);
-      printSparse("EFC_AR", d->efc_AR, d->nefc, d->efc_AR_rownnz,
-                  d->efc_AR_rowadr, d->efc_AR_colind, fp, float_format);
-      mj_printSparsity("EFC_AR: inverse constraint inertia", d->nefc, d->nefc, d->efc_AR_rowadr,
-                       NULL, d->efc_AR_rownnz, NULL, d->efc_AR_colind, fp);
-    }
-  }
-
-  printArray2d("EFC_POS", d->nefc, 1, d->efc_pos, fp, float_format);
-  printArray2d("EFC_MARGIN", d->nefc, 1, d->efc_margin, fp, float_format);
-  printArray2d("EFC_FRICTIONLOSS", d->nefc, 1, d->efc_frictionloss, fp, float_format);
-  printArray2d("EFC_DIAGA", d->nefc, 1, d->efc_diagA, fp, float_format);
-  printArray2d("EFC_KBIP", d->nefc, 4, d->efc_KBIP, fp, float_format);
-  printArray2d("EFC_D", d->nefc, 1, d->efc_D, fp, float_format);
-  printArray2d("EFC_R", d->nefc, 1, d->efc_R, fp, float_format);
-
-  printArray2d("FLEXEDGE_VELOCITY", m->nflexedge, 1, d->flexedge_velocity, fp, float_format);
-  printArray2d("TEN_VELOCITY", m->ntendon, 1, d->ten_velocity, fp, float_format);
-  printArray2d("ACTUATOR_VELOCITY", m->nout, 1, d->actuator_velocity, fp, float_format);
-
-  printArray2d("CVEL", m->nbody, 6, d->cvel, fp, float_format);
-  printArray2d("CDOF_DOT", m->nv, 6, d->cdof_dot, fp, float_format);
-
-  printArray2d("QFRC_BIAS", m->nv, 1, d->qfrc_bias, fp, float_format);
-
-  printArray2d("QFRC_SPRING",   m->nv, 1, d->qfrc_spring,   fp, float_format);
-  printArray2d("QFRC_DAMPER",   m->nv, 1, d->qfrc_damper,   fp, float_format);
-  printArray2d("QFRC_GRAVCOMP", m->nv, 1, d->qfrc_gravcomp, fp, float_format);
-  printArray2d("QFRC_FLUID",    m->nv, 1, d->qfrc_fluid,    fp, float_format);
-  printArray2d("QFRC_PASSIVE",  m->nv, 1, d->qfrc_passive,  fp, float_format);
-
-  printArray2d("EFC_VEL", d->nefc, 1, d->efc_vel, fp, float_format);
-  printArray2d("EFC_AREF", d->nefc, 1, d->efc_aref, fp, float_format);
-
-  printArray2d("SUBTREE_LINVEL", m->nbody, 3, d->subtree_linvel, fp, float_format);
-  printArray2d("SUBTREE_ANGMOM", m->nbody, 3, d->subtree_angmom, fp, float_format);
-
-  printArray2d("ACTUATOR_FORCE", m->nout, 1, d->actuator_force, fp, float_format);
-  printArray2d("QFRC_ACTUATOR", m->nv, 1, d->qfrc_actuator, fp, float_format);
-
-  printArray2d("QFRC_SMOOTH", m->nv, 1, d->qfrc_smooth, fp, float_format);
-  printArray2d("QACC_SMOOTH", m->nv, 1, d->qacc_smooth, fp, float_format);
-
-  printArray2d("EFC_B", d->nefc, 1, d->efc_b, fp, float_format);
-  printArray2d("EFC_FORCE", d->nefc, 1, d->efc_force, fp, float_format);
-  printArray2dInt("EFC_STATE", d->nefc, 1, d->efc_state, fp);
-  printArray2d("QFRC_CONSTRAINT", m->nv, 1, d->qfrc_constraint, fp, float_format);
-
-  printArray2d("QFRC_INVERSE", m->nv, 1, d->qfrc_inverse, fp, float_format);
-
-  printArray2d("CACC", m->nbody, 6, d->cacc, fp, float_format);
-  printArray2d("CFRC_INT", m->nbody, 6, d->cfrc_int, fp, float_format);
-  printArray2d("CFRC_EXT", m->nbody, 6, d->cfrc_ext, fp, float_format);
-
-  if (d->nisland) {
-    printArray2dInt("TREE_ISLAND", 1, m->ntree, d->tree_island, fp);
-    printArray2dInt("ISLAND_NTREE", 1, d->nisland, d->island_ntree, fp);
-    printArray2dInt("ISLAND_ITREEADR", 1, d->nisland, d->island_itreeadr, fp);
-    printArray2dInt("MAP_ITREE2TREE", 1, m->ntree, d->map_itree2tree, fp);
-
-    fprintf(fp, NAME_FORMAT, "DOF_ISLAND");
-    for (int i = 0; i < m->nv; i++) {
-      fprintf(fp, " %d", d->dof_island[i]);
-    }
-    fprintf(fp, "\n\n");
-
-    fprintf(fp, NAME_FORMAT, "ISLAND_NV");
-    for (int i = 0; i < d->nisland; i++) {
-      fprintf(fp, " %d", d->island_nv[i]);
-    }
-    fprintf(fp, "\n\n");
-
-    fprintf(fp, NAME_FORMAT, "ISLAND_IDOFADR");
-    for (int i = 0; i < d->nisland; i++) {
-      fprintf(fp, " %d", d->island_idofadr[i]);
-    }
-    fprintf(fp, "\n\n");
-
-    fprintf(fp, NAME_FORMAT, "MAP_IDOF2DOF");
-    for (int i = 0; i < m->nv; i++) {
-      int dof = d->map_idof2dof[i];
-      if (i > 0) {
-        int dofprev = d->map_idof2dof[i-1];
-
-        // print '|' at island boundaries
-        if (d->dof_island[dof] != d->dof_island[dofprev]) {
-          fprintf(fp, " |");
-        }
-      }
-      fprintf(fp, " %d", dof);
-    }
-    fprintf(fp, "\n\n");
-
-    fprintf(fp, NAME_FORMAT, "EFC_ISLAND");
-    for (int i = 0; i < d->nefc; i++) {
-      fprintf(fp, " %d", d->efc_island[i]);
-    }
-    fprintf(fp, "\n\n");
-
-    fprintf(fp, NAME_FORMAT, "ISLAND_NEFC");
-    for (int i = 0; i < d->nisland; i++) {
-      fprintf(fp, " %d", d->island_nefc[i]);
-    }
-    fprintf(fp, "\n\n");
-
-    fprintf(fp, NAME_FORMAT, "ISLAND_IEFCADR");
-    for (int i = 0; i < d->nisland; i++) {
-      fprintf(fp, " %d", d->island_iefcadr[i]);
-    }
-    fprintf(fp, "\n\n");
-
-    fprintf(fp, NAME_FORMAT, "MAP_IEFC2EFC");
-    for (int i = 0; i < d->nefc; i++) {
-      int efc = d->map_iefc2efc[i];
-      if (i > 0) {
-        int efcprev = d->map_iefc2efc[i-1];
-
-        // print '|' at island boundaries
-        if (d->efc_island[efc] != d->efc_island[efcprev]) {
-          fprintf(fp, " |");
-        }
-      }
-      fprintf(fp, " %d", efc);
-    }
-    fprintf(fp, "\n\n");
-  }
-
-  if (m->ntendon) {
-    fprintf(fp, NAME_FORMAT, "TENDON_EFCADR");
-    for (int i = 0; i < m->ntendon; i++) {
-      fprintf(fp, " %d", d->tendon_efcadr[i]);
-    }
-    fprintf(fp, "\n\n");
-  }
-
-#ifdef MEMORY_SANITIZER
-  // restore poisoned status
-  __msan_copy_shadow(d->buffer, shadow, d->nbuffer);
-  mju_free(shadow);
-#endif
-
-  if (filename) {
-    fclose(fp);
-  }
-}
-
-
- #ifdef __clang__
- #pragma clang diagnostic pop
- #endif
-
-
-// print mjData to text file
-void mj_printData(const mjModel* m, const mjData* d, const char* filename) {
-  mj_printFormattedData(m, d, filename, FLOAT_FORMAT);
-}
-
-void mj_printScene(const mjvScene* s, const char* filename) {
-  mj_printFormattedScene(s, filename, FLOAT_FORMAT);
-}
-
-void mj_printFormattedScene(const mjvScene* s, const char* filename, const char* float_format) {
-  // get file
-  FILE* fp;
-  if (filename) {
-    fp = fopen(filename, "wt");
-  } else {
-    fp = stdout;
-  }
-
-  // check for nullptr
-  if (!fp) {
-    mju_warning("Could not open file '%s' for writing mjModel", filename);
-    return;
-  }
-
-  // validate format string
-  if (!validateFloatFormat(float_format)) {
-    mju_warning("WARNING: Received invalid float_format. Using default instead.");
-    float_format = FLOAT_FORMAT;
-  }
-
-  fprintf(fp, "GEOMS %d\n", s->ngeom);
-  for (int i = 0; i < s->ngeom; ++i) {
-    const mjvGeom* geom = &s->geoms[i];
-    fprintf(fp,  "  GEOM %d\n", i);
-    printInt(fp, "    type", geom->type);
-    printInt(fp, "    category", geom->category);
-    printStr(fp, "    label", geom->label);
-    printInt(fp, "    objtype", geom->objtype);
-    printInt(fp, "    objid", geom->objid);
-    printArr(fp, "    pos", geom->pos, 3, float_format);
-    printArr(fp, "    mat", geom->mat, 9, float_format);
-    printArr(fp, "    size", geom->size, 3, float_format);
-    printInt(fp, "    segid", geom->segid);
-    printInt(fp, "    dataid", geom->dataid);
-    printInt(fp, "    matid", geom->matid);
-    printInt(fp, "    texcoord", geom->texcoord);
-    printArr(fp, "    rgba", geom->rgba, 4, float_format);
-    printNum(fp, "    emission", geom->emission, float_format);
-    printNum(fp, "    specular", geom->specular, float_format);
-    printNum(fp, "    shininess", geom->shininess, float_format);
-    printNum(fp, "    reflectance", geom->reflectance, float_format);
-    fprintf(fp,  "\n");
-  }
-  fprintf(fp,  "\n");
-
-  fprintf(fp, "LIGHTS %d\n", s->nlight);
-  for (int i = 0; i < s->nlight; ++i) {
-    const mjvLight* light = &s->lights[i];
-    fprintf(fp,  "  LIGHT %d\n", i);
-    printInt(fp, "    id", light->id);
-    printArr(fp, "    pos", light->pos, 3, float_format);
-    printArr(fp, "    dir", light->dir, 3, float_format);
-    printInt(fp, "    type", light->type);
-    printInt(fp, "    castshadow", light->castshadow);
-    printInt(fp, "    headlight", light->headlight);
-    printNum(fp, "    intensity", light->intensity, float_format);
-    printNum(fp, "    range", light->range, float_format);
-    printArr(fp, "    ambient", light->ambient, 3, float_format);
-    printArr(fp, "    diffuse", light->diffuse, 3, float_format);
-    printArr(fp, "    specular", light->specular, 3, float_format);
-    printInt(fp, "    texid", light->texid);
-    printNum(fp, "    exponent", light->exponent, float_format);
-    printArr(fp, "    attenuation", light->attenuation, 3, float_format);
-    printNum(fp, "    cutoff", light->cutoff, float_format);
-    printNum(fp, "    bulbradius", light->bulbradius, float_format);
-    fprintf(fp,  "\n");
-  }
-  fprintf(fp,  "\n");
-
-  fprintf(fp, "CAMERAS %d\n", 2);
-  for (int i = 0; i < 2; ++i) {
-    const mjvGLCamera* camera = &s->camera[i];
-    fprintf(fp,  "  CAMERA %d\n", i);
-    printArr(fp, "    pos", camera->pos, 3, float_format);
-    printArr(fp, "    forward", camera->forward, 3, float_format);
-    printArr(fp, "    up", camera->up, 3, float_format);
-    printInt(fp, "    orthographic", camera->orthographic);
-    printNum(fp, "    frustum_center", camera->frustum_center, float_format);
-    printNum(fp, "    frustum_width", camera->frustum_width, float_format);
-    printNum(fp, "    frustum_bottom", camera->frustum_bottom, float_format);
-    printNum(fp, "    frustum_top", camera->frustum_top, float_format);
-    printNum(fp, "    frustum_near", camera->frustum_near, float_format);
-    printNum(fp, "    frustum_far", camera->frustum_far, float_format);
-    fprintf(fp,  "\n");
-  }
-  fprintf(fp,  "\n");
-
-  fprintf(fp, "FLEX DATA %d\n", s->nflex);
-  for (int i = 0; i < s->nflex; ++i) {
-    fprintf(fp,  "  FLEX DATA %d\n", i);
-    printInt(fp, "    face_used", s->flexfaceused[i]);
-    printInt(fp, "    edge_adr", s->flexedgeadr[i]);
-    printInt(fp, "    edge_num", s->flexedgenum[i]);
-    printInt(fp, "    vert_adr", s->flexvertadr[i]);
-    printInt(fp, "    vert_num", s->flexvertnum[i]);
-    printInt(fp, "    face_adr", s->flexfaceadr[i]);
-    printInt(fp, "    face_num", s->flexfacenum[i]);
-    printStr(fp, "    edges", "...");  // int* flexedge: 2*nflexedge
-    printStr(fp, "    verts", "...");  // float* flexvert: 3*nflexvert
-    printStr(fp, "    faces", "...");  // float* flexface: 9*sum(flexfacenum)
-    printStr(fp, "    normals", "...");  // float* flexnormal: 9*sum(flexfacenum)
-    printStr(fp, "    texcoords", "...");  // float* flextexcoord: 6*sum(flexfacenum)
-    fprintf(fp,  "\n");
-  }
-  fprintf(fp,  "\n");
-
-  fprintf(fp, "SKIN DATA %d\n", s->nskin);
-  for (int i = 0; i < s->nskin; ++i) {
-    fprintf(fp,  "  SKIN DATA %d\n", i);
-    printInt(fp, "    face_num", s->skinfacenum[i]);
-    printInt(fp, "    vert_adr", s->skinvertadr[i]);
-    printInt(fp, "    vert_num", s->skinvertnum[i]);
-    printStr(fp, "    verts", "...");  // float* skinvert: 3*nskinvert
-    printStr(fp, "    normals", "...");  // float* skinnormal: 3*nskinvert
-    fprintf(fp,  "\n");
-  }
-  fprintf(fp,  "\n");
-
-  fprintf(fp, "FLAGS\n");
-  for (int i = 0; i < mjNRNDFLAG; ++i) {
-    fprintf(fp, "  ");
-    fprintf(fp, NAME_FORMAT, mjRNDSTRING[i][0]);
-    fprintf(fp, INT_FORMAT, s->flags[i]);
-    fprintf(fp, "\n");
-  }
-  printInt(fp, "  flexvertopt", s->flexvertopt);
-  printInt(fp, "  flexedgeopt", s->flexedgeopt);
-  printInt(fp, "  flexfaceopt", s->flexfaceopt);
-  printInt(fp, "  flexskinopt", s->flexskinopt);
-  printInt(fp, "  stereo", s->stereo);
-  fprintf(fp,  "\n\n");
-
-  fprintf(fp, "TRANSFORM %d\n", s->enabletransform);
-  if (s->enabletransform) {
-    printArr(fp, "  translate", s->translate, 3, float_format);
-    printArr(fp, "  rotate", s->rotate, 4, float_format);
-    printNum(fp, "  scale", s->scale, float_format);
-    fprintf(fp, "\n");
-  }
-  fprintf(fp, "\n");
-
-  fflush(fp);
-  if (filename) {
-    fclose(fp);
-  }
-}
diff --git a/src/engine/engine_print.h b/src/engine/engine_print.h
deleted file mode 100644
index 27036240..00000000
--- a/src/engine/engine_print.h
+++ /dev/null
@@ -1,62 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_PRINT_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_PRINT_H_
-
-#include <stdio.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjvisualize.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// print mjModel to text file, specifying format
-// float_format must be a valid printf-style format string for a single float value
-MJAPI void mj_printFormattedModel(const mjModel* m, const char* filename,
-                                  const char* float_format);
-
-// print model and option to text file
-MJAPI void mj_printModel(const mjModel* m, const char* filename);
-
-
-// print mjData to text file, specifying format
-// float_format must be a valid printf-style format string for a single float value
-MJAPI void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filename,
-                                 const char* float_format);
-
-// print data to text file
-MJAPI void mj_printData(const mjModel* m, const mjData* d, const char* filename);
-
-// print sparse matrix structure
-MJAPI void mj_printSparsity(const char* str, int nr, int nc, const int* rowadr, const int* diag,
-                            const int* rownnz, const int* rowsuper, const int* colind, FILE* fp);
-
-// print scene to text file
-MJAPI void mj_printScene(const mjvScene* s, const char* filename);
-
-// print scene to text file, specifying format
-// float_format must be a valid printf-style format string for a single float value
-MJAPI void mj_printFormattedScene(const mjvScene* s, const char* filename,
-                                  const char* float_format);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_PRINT_H_
diff --git a/src/engine/engine_ray.c b/src/engine/engine_ray.c
deleted file mode 100644
index 056d2f86..00000000
--- a/src/engine/engine_ray.c
+++ /dev/null
@@ -1,1570 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//---------------------------------//
-
-#include "engine/engine_ray.h"
-
-#include <math.h>
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjvisualize.h>
-#include "engine/engine_collision_sdf.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_spatial.h"
-
-
-
-//---------------------------- utility functions ---------------------------------------------------
-
-// map ray to local geom frame
-static void ray_map(const mjtNum pos[3], const mjtNum mat[9],
-                    const mjtNum pnt[3], const mjtNum vec[3],
-                    mjtNum lpnt[3], mjtNum lvec[3]) {
-  const mjtNum dif[3] = {pnt[0]-pos[0], pnt[1]-pos[1], pnt[2]-pos[2]};
-
-  // lpnt = mat' * dif
-  lpnt[0] = mat[0]*dif[0] + mat[3]*dif[1] + mat[6]*dif[2];
-  lpnt[1] = mat[1]*dif[0] + mat[4]*dif[1] + mat[7]*dif[2];
-  lpnt[2] = mat[2]*dif[0] + mat[5]*dif[1] + mat[8]*dif[2];
-
-  // lvec = mat' * vec
-  lvec[0] = mat[0]*vec[0] + mat[3]*vec[1] + mat[6]*vec[2];
-  lvec[1] = mat[1]*vec[0] + mat[4]*vec[1] + mat[7]*vec[2];
-  lvec[2] = mat[2]*vec[0] + mat[5]*vec[1] + mat[8]*vec[2];
-}
-
-
-// map to azimuth angle in spherical coordinates
-static mjtNum longitude(const mjtNum vec[3]) {
-  return mju_atan2(vec[1], vec[0]);
-}
-
-
-// map to elevation angle in spherical coordinates
-static mjtNum latitude(const mjtNum vec[3]) {
-  return mju_atan2(mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1]), vec[2]);
-}
-
-
-// eliminate geom
-static int ray_eliminate(const mjModel* m, const mjData* d, int geomid,
-                         const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude) {
-  // body exclusion
-  if (m->geom_bodyid[geomid] == bodyexclude) {
-    return 1;
-  }
-
-  // invisible geom exclusion
-  if (m->geom_matid[geomid] < 0 && m->geom_rgba[4*geomid+3] == 0) {
-    return 1;
-  }
-
-  // invisible material exclusion
-  if (m->geom_matid[geomid] >= 0 && m->mat_rgba[4*m->geom_matid[geomid]+3] == 0) {
-    return 1;
-  }
-
-  // static exclusion
-  if (!flg_static && m->body_weldid[m->geom_bodyid[geomid]] == 0) {
-    return 1;
-  }
-
-  // no geomgroup inclusion
-  if (!geomgroup) {
-    return 0;
-  }
-
-  // group inclusion/exclusion
-  int groupid = mjMIN(mjNGROUP-1, mjMAX(0, m->geom_group[geomid]));
-
-  return (geomgroup[groupid] == 0);
-}
-
-
-// compute both real solutions of a*x^2 + 2*b*x + c = 0, return smallest non-negative solution if any
-static mjtNum ray_quad(mjtNum a, mjtNum b, mjtNum c, mjtNum x[2]) {
-  // compute determinant
-  mjtNum det = b*b - a*c;
-
-  // return if real finite solutions don't exist
-  if (det < 0 || a < mjMINVAL) {
-    x[0] = -1;
-    x[1] = -1;
-    return -1;
-  }
-
-  // compute the two solutions, x[0] <= x[1] is guaranteed
-  det = mju_sqrt(det);
-  x[0] = (-b-det)/a;
-  x[1] = (-b+det)/a;
-
-  // return smallest non-negative solution
-  if (x[0] >= 0) {
-    return x[0];
-  } else if (x[1] >= 0) {
-    return x[1];
-  }
-
-  // both solutions are negative
-  return -1;
-}
-
-
-// intersect ray with triangle
-mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
-                    const mjtNum b0[3], const mjtNum b1[3], mjtNum normal[3]) {
-  // clear normal if given
-  if (normal) mju_zero3(normal);
-
-  // dif = v[i] - lpnt
-  mjtNum dif[3][3];
-  for (int i=0; i < 3; i++) {
-    for (int j=0; j < 3; j++) {
-      dif[i][j] = v[i][j] - lpnt[j];
-    }
-  }
-
-  // project difference vectors in normal plane
-  mjtNum planar[3][2];
-  for (int i=0; i < 3; i++) {
-    planar[i][0] = mju_dot3(b0, dif[i]);
-    planar[i][1] = mju_dot3(b1, dif[i]);
-  }
-
-  // reject if on the same side of any coordinate axis
-  if ((planar[0][0] > 0 && planar[1][0] > 0 && planar[2][0] > 0) ||
-      (planar[0][0] < 0 && planar[1][0] < 0 && planar[2][0] < 0) ||
-      (planar[0][1] > 0 && planar[1][1] > 0 && planar[2][1] > 0) ||
-      (planar[0][1] < 0 && planar[1][1] < 0 && planar[2][1] < 0)) {
-    return -1;
-  }
-
-  // determine if origin is inside planar projection of triangle
-  // A = (p0-p2, p1-p2), b = -p2, solve A*t = b
-  mjtNum A[4] = {planar[0][0]-planar[2][0], planar[1][0]-planar[2][0],
-                 planar[0][1]-planar[2][1], planar[1][1]-planar[2][1]};
-  mjtNum b[2] = {-planar[2][0], -planar[2][1]};
-  mjtNum det = A[0]*A[3] - A[1]*A[2];
-  if (mju_abs(det) < mjMINVAL) {
-    return -1;
-  }
-  mjtNum t0 = ( A[3]*b[0] - A[1]*b[1]) / det;
-  mjtNum t1 = (-A[2]*b[0] + A[0]*b[1]) / det;
-
-  // check if outside
-  if (t0 < 0 || t1 < 0|| t0+t1 > 1) {
-    return -1;
-  }
-
-  // intersect ray with plane of triangle
-  mju_sub3(dif[0], v[0], v[2]);       // v0-v2
-  mju_sub3(dif[1], v[1], v[2]);       // v1-v2
-  mju_sub3(dif[2], lpnt, v[2]);       // lp-v2
-  mjtNum nrm[3];
-  mju_cross(nrm, dif[0], dif[1]);     // normal to triangle plane
-  mjtNum denom = mju_dot3(lvec, nrm);
-  if (mju_abs(denom) < mjMINVAL) {
-    return -1;
-  }
-
-  // compute distance
-  mjtNum x = -mju_dot3(dif[2], nrm) / denom;
-
-  // compute normal if given
-  if (normal) {
-    mju_normalize3(nrm);
-    mju_copy3(normal, nrm);
-  }
-
-  return x;
-}
-
-
-//---------------------------- geom-specific intersection functions --------------------------------
-
-// plane
-static mjtNum ray_plane(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
-                        const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]) {
-  // clear normal if given
-  if (normal) mju_zero3(normal);
-
-  // map to local frame
-  mjtNum lpnt[3], lvec[3];
-  ray_map(pos, mat, pnt, vec, lpnt, lvec);
-
-  // z-vec not pointing towards front face: reject
-  if (lvec[2] > -mjMINVAL) {
-    return -1;
-  }
-
-  // intersection with plane
-  const mjtNum x = -lpnt[2]/lvec[2];
-  if (x < 0) {
-    return -1;
-  }
-  mjtNum p0 = lpnt[0] + x*lvec[0];
-  mjtNum p1 = lpnt[1] + x*lvec[1];
-
-  // accept only within rendered rectangle
-  if ((size[0] <= 0 || mju_abs(p0) <= size[0]) &&
-      (size[1] <= 0 || mju_abs(p1) <= size[1])) {
-    if (normal) {
-      normal[0] = mat[2];
-      normal[1] = mat[5];
-      normal[2] = mat[8];
-    }
-    return x;
-  } else {
-    return -1;
-  }
-}
-
-
-// sphere
-static mjtNum ray_sphere(const mjtNum pos[3], const mjtNum mat[9], mjtNum dist_sqr,
-                         const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]) {
-  // (x*vec+pnt-pos)'*(x*vec+pnt-pos) = size[0]*size[0]
-  mjtNum dif[3] = {pnt[0]-pos[0], pnt[1]-pos[1], pnt[2]-pos[2]};
-  mjtNum a = vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2];
-  mjtNum b = vec[0]*dif[0] + vec[1]*dif[1] + vec[2]*dif[2];
-  mjtNum c = dif[0]*dif[0] + dif[1]*dif[1] + dif[2]*dif[2] - dist_sqr;
-
-  // solve a*x^2 + 2*b*x + c = 0
-  mjtNum xx[2];
-  mjtNum x = ray_quad(a, b, c, xx);
-
-  // compute normal if required
-  if (normal) {
-    if (x < 0) {
-      mju_zero3(normal);
-    } else {
-      // normal at surface intersection s (global frame)
-      mjtNum s[3];
-      mju_addScl3(s, pnt, vec, x);
-      mju_sub3(normal, s, pos);
-      mju_normalize3(normal);
-    }
-  }
-
-  return x;
-}
-
-
-// capsule
-static mjtNum ray_capsule(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
-                          const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]) {
-  // bounding sphere test
-  mjtNum ssz = size[0] + size[1];
-  if (ray_sphere(pos, NULL, ssz * ssz, pnt, vec, NULL) < 0) {
-    if (normal) mju_zero3(normal);
-    return -1;
-  }
-
-  // map to local frame
-  mjtNum lpnt[3], lvec[3];
-  ray_map(pos, mat, pnt, vec, lpnt, lvec);
-
-  // init solution
-  mjtNum x = -1, sol, xx[2];
-  int type;  // -1: bottom, 0: cylinder, 1: top
-
-  // cylinder round side: (x*lvec+lpnt)'*(x*lvec+lpnt) = size[0]*size[0]
-  mjtNum a = lvec[0]*lvec[0] + lvec[1]*lvec[1];
-  mjtNum b = lvec[0]*lpnt[0] + lvec[1]*lpnt[1];
-  mjtNum c = lpnt[0]*lpnt[0] + lpnt[1]*lpnt[1] - size[0]*size[0];
-
-  // solve a*x^2 + 2*b*x + c = 0
-  sol = ray_quad(a, b, c, xx);
-
-  // make sure round solution is between flat sides
-  if (sol >= 0 && mju_abs(lpnt[2]+sol*lvec[2]) <= size[1]) {
-    if (x < 0 || sol < x) {
-      x = sol;
-      type = 0;
-    }
-  }
-
-  // top cap
-  mjtNum ldif[3] = {lpnt[0], lpnt[1], lpnt[2]-size[1]};
-  a = lvec[0]*lvec[0] + lvec[1]*lvec[1] + lvec[2]*lvec[2];
-  b = lvec[0]*ldif[0] + lvec[1]*ldif[1] + lvec[2]*ldif[2];
-  c = ldif[0]*ldif[0] + ldif[1]*ldif[1] + ldif[2]*ldif[2] - size[0]*size[0];
-  ray_quad(a, b, c, xx);
-
-  // accept only top half of sphere
-  for (int i=0; i < 2; i++) {
-    if (xx[i] >= 0 && lpnt[2]+xx[i]*lvec[2] >= size[1]) {
-      if (x < 0 || xx[i] < x) {
-        x = xx[i];
-        type = 1;
-      }
-    }
-  }
-
-  // bottom cap
-  ldif[2] = lpnt[2]+size[1];
-  b = lvec[0]*ldif[0] + lvec[1]*ldif[1] + lvec[2]*ldif[2];
-  c = ldif[0]*ldif[0] + ldif[1]*ldif[1] + ldif[2]*ldif[2] - size[0]*size[0];
-  ray_quad(a, b, c, xx);
-
-  // accept only bottom half of sphere
-  for (int i=0; i < 2; i++) {
-    if (xx[i] >= 0 && lpnt[2]+xx[i]*lvec[2] <= -size[1]) {
-      if (x < 0 || xx[i] < x) {
-        x = xx[i];
-        type = -1;
-      }
-    }
-  }
-
-  // compute normal if required
-  if (normal) {
-    if (x < 0) {
-      mju_zero3(normal);
-    } else {
-      normal[0] = lpnt[0] + lvec[0] * x;
-      normal[1] = lpnt[1] + lvec[1] * x;
-      normal[2] = (type == 0) ? 0 : lpnt[2] + lvec[2] * x - size[1] * type;
-
-      // normalize, rotate into global frame
-      mju_normalize3(normal);
-      mju_mulMatVec3(normal, mat, normal);
-    }
-  }
-
-  return x;
-}
-
-
-// ellipsoid
-static mjtNum ray_ellipsoid(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
-                            const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]) {
-  // map to local frame
-  mjtNum lpnt[3], lvec[3];
-  ray_map(pos, mat, pnt, vec, lpnt, lvec);
-
-  // invert size^2
-  mjtNum s[3] = {1/(size[0]*size[0]), 1/(size[1]*size[1]), 1/(size[2]*size[2])};
-
-  // (x*lvec+lpnt)' * diag(1./size^2) * (x*lvec+lpnt) = 1
-  mjtNum a = s[0]*lvec[0]*lvec[0] + s[1]*lvec[1]*lvec[1] + s[2]*lvec[2]*lvec[2];
-  mjtNum b = s[0]*lvec[0]*lpnt[0] + s[1]*lvec[1]*lpnt[1] + s[2]*lvec[2]*lpnt[2];
-  mjtNum c = s[0]*lpnt[0]*lpnt[0] + s[1]*lpnt[1]*lpnt[1] + s[2]*lpnt[2]*lpnt[2] - 1;
-
-  // solve a*x^2 + 2*b*x + c = 0
-  mjtNum xx[2];
-  mjtNum x = ray_quad(a, b, c, xx);
-
-  // compute normal if required
-  if (normal) {
-    if (x < 0) {
-      mju_zero3(normal);
-    } else {
-      // surface intersection (local frame)
-      mjtNum l[3];
-      mju_addScl3(l, lpnt, lvec, x);
-
-      // gradient of ellipsoid function
-      normal[0] = s[0] * l[0];
-      normal[1] = s[1] * l[1];
-      normal[2] = s[2] * l[2];
-
-      // normalize, rotate into global frame
-      mju_normalize3(normal);
-      mju_mulMatVec3(normal, mat, normal);
-    }
-  }
-
-  return x;
-}
-
-
-// cylinder
-static mjtNum ray_cylinder(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
-                           const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]) {
-  // bounding sphere test
-  mjtNum ssz = size[0]*size[0] + size[1]*size[1];
-  if (ray_sphere(pos, NULL, ssz, pnt, vec, NULL) < 0) {
-    if (normal) mju_zero3(normal);
-    return -1;
-  }
-
-  // map to local frame
-  mjtNum lpnt[3], lvec[3];
-  ray_map(pos, mat, pnt, vec, lpnt, lvec);
-
-  // init solution
-  mjtNum x = -1, sol;
-  int type = 0;  // -1: bottom, 0: round, 1: top
-
-  // flat sides
-  int side;
-  if (mju_abs(lvec[2]) > mjMINVAL) {
-    for (side=-1; side <= 1; side+=2) {
-      // solution of: lpnt[2] + x*lvec[2] = side*height_size
-      sol = (side*size[1]-lpnt[2])/lvec[2];
-
-      // process if non-negative
-      if (sol >= 0) {
-        // intersection with horizontal face
-        mjtNum p0 = lpnt[0] + sol*lvec[0];
-        mjtNum p1 = lpnt[1] + sol*lvec[1];
-
-        // accept within radius
-        if (p0*p0 + p1*p1 <= size[0]*size[0]) {
-          if (x < 0 || sol < x) {
-            x = sol;
-            type = side;
-          }
-        }
-      }
-    }
-  }
-
-  // round side: (x*lvec+lpnt)'*(x*lvec+lpnt) = size[0]*size[0]
-  mjtNum a = lvec[0]*lvec[0] + lvec[1]*lvec[1];
-  mjtNum b = lvec[0]*lpnt[0] + lvec[1]*lpnt[1];
-  mjtNum c = lpnt[0]*lpnt[0] + lpnt[1]*lpnt[1] - size[0]*size[0];
-
-  // solve a*x^2 + 2*b*x + c = 0
-  mjtNum xx[2];
-  sol = ray_quad(a, b, c, xx);
-
-  // make sure round solution is between flat sides
-  if (sol >= 0 && mju_abs(lpnt[2]+sol*lvec[2]) <= size[1]) {
-    if (x < 0 || sol < x) {
-      x = sol;
-      type = 0;
-    }
-  }
-
-  // compute normal if required
-  if (normal) {
-    if (x < 0) {
-      mju_zero3(normal);
-    } else {
-      // round side
-      if (type == 0) {
-        // normal at surface intersection (local frame)
-        normal[0] = lpnt[0] + lvec[0] * x;
-        normal[1] = lpnt[1] + lvec[1] * x;
-        normal[2] = 0;
-        mju_normalize3(normal);
-      }
-
-      // flat sides
-      else {
-        normal[0] = 0;
-        normal[1] = 0;
-        normal[2] = type;
-      }
-
-      // rotate into global frame
-      mju_mulMatVec3(normal, mat, normal);
-    }
-  }
-
-  return x;
-}
-
-
-// box
-static mjtNum ray_box(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
-                      const mjtNum pnt[3], const mjtNum vec[3], mjtNum all[6], mjtNum normal[3]) {
-  // clear outputs
-  if (all) all[0] = all[1] = all[2] = all[3] = all[4] = all[5] = -1;
-  if (normal) mju_zero3(normal);
-
-  // bounding sphere test
-  mjtNum ssz = size[0]*size[0] + size[1]*size[1] + size[2]*size[2];
-  if (ray_sphere(pos, NULL, ssz, pnt, vec, NULL) < 0) {
-    return -1;
-  }
-
-  // faces
-  const int iface[3][2] = {
-    {1, 2},
-    {0, 2},
-    {0, 1}
-  };
-
-  // map to local frame
-  mjtNum lpnt[3], lvec[3];
-  ray_map(pos, mat, pnt, vec, lpnt, lvec);
-
-  // init solution
-  mjtNum x = -1, sol;
-  int face_side, face_axis = -1;
-
-  // loop over axes with non-zero vec
-  for (int i=0; i < 3; i++) {
-    if (mju_abs(lvec[i]) > mjMINVAL) {
-      for (int side=-1; side <= 1; side+=2) {
-        // solution of: lpnt[i] + x*lvec[i] = side*size[i]
-        sol = (side*size[i]-lpnt[i])/lvec[i];
-
-        // process if non-negative
-        if (sol >= 0) {
-          // intersection with face
-          mjtNum p0 = lpnt[iface[i][0]] + sol*lvec[iface[i][0]];
-          mjtNum p1 = lpnt[iface[i][1]] + sol*lvec[iface[i][1]];
-
-          // accept within rectangle
-          if (mju_abs(p0) <= size[iface[i][0]] &&
-              mju_abs(p1) <= size[iface[i][1]]) {
-            // update
-            if (x < 0 || sol < x) {
-              x = sol;
-              face_axis = i;
-              face_side = side;
-            }
-
-            // save in all
-            if (all) {
-              all[2*i+(side+1)/2] = sol;
-            }
-          }
-        }
-      }
-    }
-  }
-
-  // compute normal if required
-  if (normal && x >= 0) {
-    mjtNum n_local[3] = {0, 0, 0};
-    n_local[face_axis] = face_side;
-    mju_mulMatVec3(normal, mat, n_local);
-  }
-
-  return x;
-}
-
-
-// intersect ray with hfield, compute normal if given
-mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
-                    const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]) {
-  // clear normal if given
-  if (normal) mju_zero3(normal);
-
-  // check geom type
-  if (m->geom_type[geomid] != mjGEOM_HFIELD) {
-    mjERROR("geom with hfield type expected");
-  }
-
-  // hfield id and dimensions
-  int hid = m->geom_dataid[geomid];
-  int nrow = m->hfield_nrow[hid];
-  int ncol = m->hfield_ncol[hid];
-  const mjtNum* size = m->hfield_size + 4*hid;
-  const float* data = m->hfield_data + m->hfield_adr[hid];
-
-  // compute size and pos of base box
-  mjtNum base_size[3] = {size[0], size[1], size[3]*0.5};
-  const mjtNum* xmat = d->geom_xmat + 9*geomid;
-  const mjtNum* xpos = d->geom_xpos + 3*geomid;
-  mjtNum base_pos[3] = {
-    xpos[0] - xmat[2]*size[3]*0.5,
-    xpos[1] - xmat[5]*size[3]*0.5,
-    xpos[2] - xmat[8]*size[3]*0.5
-  };
-
-  // compute size and pos of top box
-  mjtNum top_size[3] = {size[0], size[1], size[2]*0.5};
-  mjtNum top_pos[3] = {
-    xpos[0] + xmat[2]*size[2]*0.5,
-    xpos[1] + xmat[5]*size[2]*0.5,
-    xpos[2] + xmat[8]*size[2]*0.5
-  };
-
-  // init: intersection with base box
-  mjtNum normal_base[3];
-  mjtNum x = ray_box(base_pos, xmat, base_size, pnt, vec,
-                     NULL, normal ? normal_base : NULL);
-
-  // check top box: done if no intersection
-  mjtNum all[6];
-  mjtNum top_intersect = ray_box(top_pos, xmat, top_size, pnt, vec, all, NULL);
-  if (top_intersect < 0) {
-    if (normal && x >= 0) mju_copy3(normal, normal_base);
-    return x;
-  }
-
-  // map to local frame
-  mjtNum lpnt[3], lvec[3];
-  ray_map(xpos, xmat, pnt, vec, lpnt, lvec);
-
-  // construct basis vectors of normal plane
-  mjtNum b0[3] = {1, 1, 1}, b1[3];
-  if (mju_abs(lvec[0]) >= mju_abs(lvec[1]) &&
-      mju_abs(lvec[0]) >= mju_abs(lvec[2])) {
-    b0[0] = 0;
-  } else if (mju_abs(lvec[1]) >= mju_abs(lvec[2])) {
-    b0[1] = 0;
-  } else {
-    b0[2] = 0;
-  }
-  mju_addScl3(b1, b0, lvec, -mju_dot3(lvec, b0)/mju_dot3(lvec, lvec));
-  mju_normalize3(b1);
-  mju_cross(b0, b1, lvec);
-  mju_normalize3(b0);
-
-  // find ray segment intersecting top box
-  mjtNum seg[2] = {0, top_intersect};
-  for (int i=0; i < 6; i++) {
-    if (all[i] > seg[1]) {
-      seg[0] = top_intersect;
-      seg[1] = all[i];
-    }
-  }
-
-  // project segment endpoints in horizontal plane, discretize
-  mjtNum dx = (2.0*size[0]) / (ncol-1);
-  mjtNum dy = (2.0*size[1]) / (nrow-1);
-  mjtNum SX[2], SY[2];
-  for (int i=0; i < 2; i++) {
-    SX[i] = (lpnt[0] + seg[i]*lvec[0] + size[0]) / dx;
-    SY[i] = (lpnt[1] + seg[i]*lvec[1] + size[1]) / dy;
-  }
-
-  // compute ranges, with +1 padding
-  int cmin = mjMAX(0,     (int)mju_floor(mjMIN(SX[0], SX[1]))-1);
-  int cmax = mjMIN(ncol-1, (int)mju_ceil(mjMAX(SX[0], SX[1]))+1);
-  int rmin = mjMAX(0,     (int)mju_floor(mjMIN(SY[0], SY[1]))-1);
-  int rmax = mjMIN(nrow-1, (int)mju_ceil(mjMAX(SY[0], SY[1]))+1);
-
-  // local normal, initialize with base box normal (if any), in local frame
-  mjtNum normal_local[3] = {0, 0, 0};
-  if (normal && x >= 0) {
-    mju_mulMatTVec3(normal_local, xmat, normal_base);
-  }
-
-  // check triangles within bounds
-  for (int r=rmin; r < rmax; r++) {
-    for (int c=cmin; c < cmax; c++) {
-      // triangle normal
-      mjtNum normal_tri[3];
-
-      // first triangle: swap v1 and v2 for consistent CCW winding (normals point up)
-      mjtNum va[3][3] = {
-        {dx*c-size[0], dy*r-size[1], data[r*ncol+c]*size[2]},
-        {dx*(c+1)-size[0], dy*(r+0)-size[1], data[(r+0)*ncol+(c+1)]*size[2]},
-        {dx*(c+1)-size[0], dy*(r+1)-size[1], data[(r+1)*ncol+(c+1)]*size[2]}
-      };
-      mjtNum sol = ray_triangle(va, lpnt, lvec, b0, b1, normal ? normal_tri : NULL);
-      if (sol >= 0 && (x < 0 || sol < x)) {
-        x = sol;
-        if (normal) mju_copy3(normal_local, normal_tri);
-      }
-
-      // second triangle
-      mjtNum vb[3][3] = {
-        {dx*c-size[0], dy*r-size[1], data[r*ncol+c]*size[2]},
-        {dx*(c+1)-size[0], dy*(r+1)-size[1], data[(r+1)*ncol+(c+1)]*size[2]},
-        {dx*(c+0)-size[0], dy*(r+1)-size[1], data[(r+1)*ncol+(c+0)]*size[2]}
-      };
-      sol = ray_triangle(vb, lpnt, lvec, b0, b1, normal ? normal_tri : NULL);
-      if (sol >= 0 && (x < 0 || sol < x)) {
-        x = sol;
-        if (normal) mju_copy3(normal_local, normal_tri);
-      }
-    }
-  }
-
-  // check viable sides of top box
-  for (int i=0; i < 4; i++) {
-    if (all[i] >= 0 && (all[i] < x || x < 0)) {
-      // normalized height of intersection point
-      mjtNum z = (lpnt[2] + all[i]*lvec[2]) / size[2];
-
-      // rectangle points
-      mjtNum y, y0, z0, z1;
-
-      // side normal to x-axis
-      if (i < 2) {
-        y = (lpnt[1] + all[i]*lvec[1] + size[1]) / dy;
-        y0 = mjMAX(0, mjMIN(nrow-2, mju_floor(y)));
-        z0 = (mjtNum)data[mju_round(y0+0)*ncol + (i == 1 ? ncol-1 : 0)];
-        z1 = (mjtNum)data[mju_round(y0+1)*ncol + (i == 1 ? ncol-1 : 0)];
-      }
-
-      // side normal to y-axis
-      else {
-        y = (lpnt[0] + all[i]*lvec[0] + size[0]) / dx;
-        y0 = mjMAX(0, mjMIN(ncol-2, mju_floor(y)));
-        z0 = (mjtNum)data[mju_round(y0+0) + (i == 3 ? (nrow-1)*ncol : 0)];
-        z1 = (mjtNum)data[mju_round(y0+1) + (i == 3 ? (nrow-1)*ncol : 0)];
-      }
-
-      // check if point is below line segment
-      if (z < z0*(y0+1-y) + z1*(y-y0)) {
-        x = all[i];
-
-        // compute normal
-        if (normal) {
-          mju_zero3(normal_local);
-          if (i == 0) normal_local[0] = -1;
-          else if (i == 1) normal_local[0] = 1;
-          else if (i == 2) normal_local[1] = -1;
-          else if (i == 3) normal_local[1] = 1;
-        }
-      }
-    }
-  }
-
-  // rotate normal to global frame
-  if (normal && x >= 0) {
-    mju_mulMatVec3(normal, xmat, normal_local);
-  }
-
-  return x;
-}
-
-
-// ray vs axis-aligned bounding box using slab method
-// see Ericson, Real-time Collision Detection section 5.3.3.
-int mju_raySlab(const mjtNum aabb[6], const mjtNum xpos[3],
-                const mjtNum xmat[9], const mjtNum pnt[3], const mjtNum vec[3]) {
-  mjtNum tmin = 0.0, tmax = INFINITY;
-
-  // compute min and max
-  mjtNum min[3] = {aabb[0]-aabb[3], aabb[1]-aabb[4], aabb[2]-aabb[5]};
-  mjtNum max[3] = {aabb[0]+aabb[3], aabb[1]+aabb[4], aabb[2]+aabb[5]};
-
-  // compute ray in local coordinates
-  mjtNum src[3], dir[3];
-  ray_map(xpos, xmat, pnt, vec, src, dir);
-
-  // check intersections
-  mjtNum invdir[3] = { 1.0 / dir[0], 1.0 / dir[1], 1.0 / dir[2] };
-  for (int d = 0; d < 3; ++d) {
-    mjtNum t1 = (min[d] - src[d]) * invdir[d];
-    mjtNum t2 = (max[d] - src[d]) * invdir[d];
-    mjtNum minval = t1 < t2 ? t1 : t2;
-    mjtNum maxval = t1 < t2 ? t2 : t1;
-    tmin = tmin > minval ? tmin : minval;
-    tmax = tmax < maxval ? tmax : maxval;
-  }
-
-  return tmin < tmax;
-}
-
-
-// ray vs tree intersection
-mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3],
-                   const mjtNum vec[3], mjtNum normal[3]) {
-  // clear normal if given
-  if (normal) mju_zero3(normal);
-
-  int mark_active = m->vis.global.bvactive;
-  const int meshid = m->geom_dataid[id];
-  const int bvhadr = m->mesh_bvhadr[meshid];
-  const int* faceid = m->bvh_nodeid + bvhadr;
-  const mjtNum* bvh = m->bvh_aabb + 6*bvhadr;
-  const int* child = m->bvh_child + 2*bvhadr;
-
-  if (meshid == -1) {
-    mjERROR("mesh id of geom %d is -1", meshid);  // SHOULD NOT OCCUR
-  }
-
-  // initialize stack
-  int stack[mjMAXTREEDEPTH];
-  int nstack = 0;
-  stack[nstack] = 0;
-  nstack++;
-
-  // map to local frame
-  mjtNum lpnt[3], lvec[3];
-  ray_map(d->geom_xpos+3*id, d->geom_xmat+9*id, pnt, vec, lpnt, lvec);
-
-  // construct basis vectors of normal plane
-  mjtNum b0[3] = {1, 1, 1}, b1[3];
-  if (mju_abs(lvec[0]) >= mju_abs(lvec[1]) && mju_abs(lvec[0]) >= mju_abs(lvec[2])) {
-    b0[0] = 0;
-  } else if (mju_abs(lvec[1]) >= mju_abs(lvec[2])) {
-    b0[1] = 0;
-  } else {
-    b0[2] = 0;
-  }
-  mju_addScl3(b1, b0, lvec, -mju_dot3(lvec, b0)/mju_dot3(lvec, lvec));
-  mju_normalize3(b1);
-  mju_cross(b0, b1, lvec);
-  mju_normalize3(b0);
-
-  // init solution
-  mjtNum x = -1, sol;
-  mjtNum normal_local[3];
-
-  while (nstack) {
-    // pop from stack
-    nstack--;
-    int node = stack[nstack];
-
-    // intersection test
-    int intersect = mju_raySlab(bvh+6*node, d->geom_xpos+3*id, d->geom_xmat+9*id, pnt, vec);
-
-    // if no intersection, skip
-    if (!intersect) {
-      continue;
-    }
-
-    // node1 is a leaf
-    if (faceid[node] != -1) {
-      int face = faceid[node] + m->mesh_faceadr[meshid];
-
-      // get float vertices
-      float* vf[3];
-      vf[0] = m->mesh_vert + 3*(m->mesh_face[3*face+0] + m->mesh_vertadr[meshid]);
-      vf[1] = m->mesh_vert + 3*(m->mesh_face[3*face+1] + m->mesh_vertadr[meshid]);
-      vf[2] = m->mesh_vert + 3*(m->mesh_face[3*face+2] + m->mesh_vertadr[meshid]);
-
-      // convert to mjtNum
-      mjtNum v[3][3];
-      for (int i=0; i < 3; i++) {
-        for (int j=0; j < 3; j++) {
-          v[i][j] = (mjtNum)vf[i][j];
-        }
-      }
-
-      // solve
-      sol = ray_triangle(v, lpnt, lvec, b0, b1, normal ? normal_local : NULL);
-
-      // update
-      if (sol >= 0 && (x < 0 || sol < x)) {
-        x = sol;
-        if (normal) mju_copy3(normal, normal_local);
-        if (mark_active) d->bvh_active[node + bvhadr] = true;
-      }
-      continue;
-    }
-
-    // used for rendering
-    if (mark_active) {
-      d->bvh_active[node + bvhadr] = true;
-    }
-
-    // add children to the stack
-    for (int i=0; i < 2; i++) {
-      if (child[2*node+i] != -1) {
-        if (nstack >= mjMAXTREEDEPTH) {
-          mjERROR("BVH stack depth exceeded in geom %d.", id);
-        }
-        stack[nstack] = child[2*node+i];
-        nstack++;
-      }
-    }
-  }
-
-  // rotate normal to global frame
-  if (normal && x >= 0) {
-    mju_mulMatVec3(normal, d->geom_xmat+9*id, normal);
-  }
-
-  return x;
-}
-
-
-// intersect ray with signed distance field, compute normal if given
-static mjtNum mj_raySdf(const mjModel* m, const mjData* d, int g,
-                        const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]) {
-  if (normal) mju_zero3(normal);
-
-  mjtNum distance_total = 0;
-  mjtNum p[3];
-  mjtNum kMinDist = 1e-7;
-
-  // exclude using bounding box
-  if (ray_box(d->geom_xpos+3*g, d->geom_xmat+9*g, m->geom_size+3*g, pnt, vec, NULL, NULL) < 0) {
-    return -1;
-  }
-
-  // get sdf plugin
-  int instance = m->geom_plugin[g];
-  const mjpPlugin* sdf_ptr = instance == -1 ? NULL : mjc_getSDF(m, g);
-  instance = instance == -1 ? m->geom_dataid[g] : instance;
-  mjtGeom geomtype = mjGEOM_SDF;
-
-  // construct sdf struct
-  mjSDF sdf;
-  sdf.id = &instance;
-  sdf.type = mjSDFTYPE_SINGLE;
-  sdf.plugin = &sdf_ptr;
-  sdf.geomtype = &geomtype;
-
-  // reset counter
-  if (sdf_ptr) {
-    sdf_ptr->reset(m, NULL, (void*)(d->plugin_data[instance]), instance);
-  }
-
-  // map to local frame
-  mjtNum lpnt[3], lvec[3];
-  ray_map(d->geom_xpos + 3*g, d->geom_xmat + 9*g, pnt, vec, lpnt, lvec);
-
-  // unit direction
-  mju_normalize3(lvec);
-
-  // ray marching, see e.g. https://en.wikipedia.org/wiki/Ray_marching
-  for (int i=0; i < 40; i++) {
-    mju_addScl3(p, lpnt, lvec, distance_total);
-    mjtNum distance = mju_abs(mjc_distance(m, d, &sdf, p));
-    distance_total += distance;
-    if (mju_abs(distance) < kMinDist) {
-      if (normal) {
-        mju_addScl3(p, lpnt, lvec, distance_total);
-        mjc_gradient(m, d, &sdf, normal, p);
-        mju_normalize3(normal);
-        mju_mulMatVec3(normal, d->geom_xmat + 9*g, normal);
-      }
-      return distance_total;
-    }
-    if (distance > 1e6) {
-      // no intersection
-      break;
-    }
-  }
-
-  // reset counter
-  if (sdf_ptr) {
-    sdf_ptr->reset(m, NULL, (void*)(d->plugin_data[instance]), instance);
-  }
-
-  return -1;
-}
-
-// intersect ray with mesh, compute normal if given
-mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3],
-                  const mjtNum vec[3], mjtNum normal[3]) {
-  // clear normal if given
-  if (normal) mju_zero3(normal);
-
-  // check geom type
-  if (m->geom_type[id] != mjGEOM_MESH) {
-    mjERROR("geom with mesh type expected");
-  }
-
-  // bounding box test
-  if (ray_box(d->geom_xpos+3*id, d->geom_xmat+9*id, m->geom_size+3*id, pnt, vec, NULL, NULL) < 0) {
-    return -1;
-  }
-
-  return mju_rayTree(m, d, id, pnt, vec, normal);
-}
-
-
-// intersect ray with primitive geom, no meshes or hfields, compute normal if given
-mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
-                   const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
-                   mjtNum normal[3]) {
-  switch ((mjtGeom) geomtype) {
-  case mjGEOM_PLANE:
-    return ray_plane(pos, mat, size, pnt, vec, normal);
-
-  case mjGEOM_SPHERE:
-    return ray_sphere(pos, mat, size[0] * size[0], pnt, vec, normal);
-
-  case mjGEOM_CAPSULE:
-    return ray_capsule(pos, mat, size, pnt, vec, normal);
-
-  case mjGEOM_ELLIPSOID:
-    return ray_ellipsoid(pos, mat, size, pnt, vec, normal);
-
-  case mjGEOM_CYLINDER:
-    return ray_cylinder(pos, mat, size, pnt, vec, normal);
-
-  case mjGEOM_BOX:
-    return ray_box(pos, mat, size, pnt, vec, NULL, normal);
-
-  default:
-    mjERROR("unexpected geom type %d", geomtype);
-    return -1;
-  }
-}
-
-
-// intersect ray with flex, return nearest vertex id, compute normal if given
-mjtNum mj_rayFlex(const mjModel* m, const mjData* d, int flex_layer,
-                  mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
-                  mjtBool flg_skin, int flexid, const mjtNum pnt[3],
-                  const mjtNum vec[3], int vertid[1], mjtNum normal[3]) {
-  int dim = m->flex_dim[flexid];
-
-  // clear normal if given
-  if (normal) mju_zero3(normal);
-
-  // compute bounding box
-  mjtNum box[3][2] = {{0, 0}, {0, 0}, {0, 0}};
-  mjtNum* vert = d->flexvert_xpos + 3*m->flex_vertadr[flexid];
-  for (int i=0; i < m->flex_vertnum[flexid]; i++) {
-    for (int j=0; j < 3; j++) {
-      // update minimum along side j
-      if (box[j][0] > vert[3*i+j] || i == 0) {
-        box[j][0] = vert[3*i+j];
-      }
-
-      // update maximum along side j
-      if (box[j][1] < vert[3*i+j] || i == 0) {
-        box[j][1] = vert[3*i+j];
-      }
-    }
-  }
-
-  // adjust box for radius
-  mjtNum radius = m->flex_radius[flexid];
-  for (int j=0; j < 3; j++) {
-    box[j][0] -= radius;
-    box[j][1] += radius;
-  }
-
-  // construct box geom
-  mjtNum pos[3], size[3], mat[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-  for (int j=0; j < 3; j++) {
-    pos[j] = 0.5*(box[j][0]+box[j][1]);
-    size[j] = 0.5*(box[j][1]-box[j][0]);
-  }
-
-  // apply bounding-box filter
-  if (ray_box(pos, mat, size, pnt, vec, NULL, NULL) < 0) {
-    return -1;
-  }
-
-  // construct basis vectors of normal plane
-  mjtNum b0[3] = {1, 1, 1}, b1[3];
-  if (mju_abs(vec[0]) >= mju_abs(vec[1]) && mju_abs(vec[0]) >= mju_abs(vec[2])) {
-    b0[0] = 0;
-  } else if (mju_abs(vec[1]) >= mju_abs(vec[2])) {
-    b0[1] = 0;
-  } else {
-    b0[2] = 0;
-  }
-  mju_addScl3(b1, b0, vec, -mju_dot3(vec, b0)/mju_dot3(vec, vec));
-  mju_normalize3(b1);
-  mju_cross(b0, b1, vec);
-  mju_normalize3(b0);
-
-  // init solution
-  mjtNum x = -1;
-  mjtNum normal_local[3];
-
-  // check edges if rendered, or if skin
-  if (flg_edge || (dim > 1 && flg_skin)) {
-    int edge_end = m->flex_edgeadr[flexid]+m->flex_edgenum[flexid];
-    for (int e=m->flex_edgeadr[flexid]; e < edge_end; e++) {
-      // get vertices for this edge
-      mjtNum* v1 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid]+m->flex_edge[2*e]);
-      mjtNum* v2 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid]+m->flex_edge[2*e+1]);
-
-      // construct capsule geom
-      mju_add3(pos, v1, v2);
-      mju_scl3(pos, pos, 0.5);
-      mjtNum dif[3] = {v2[0]-v1[0], v2[1]-v1[1], v2[2]-v1[2]};
-      size[0] = radius;
-      size[1] = 0.5*mju_normalize3(dif);
-      mjtNum quat[4];
-      mju_quatZ2Vec(quat, dif);
-      mju_quat2Mat(mat, quat);
-
-      // intersect ray with capsule
-      mjtNum sol = mju_rayGeom(pos, mat, size, pnt, vec, mjGEOM_CAPSULE,
-                               normal ? normal_local : NULL);
-
-      // update
-      if (sol >= 0 && (x < 0 || sol < x)) {
-        x = sol;
-        if (normal) mju_copy3(normal, normal_local);
-
-        // construct intersection point
-        mjtNum intersect[3];
-        mju_addScl3(intersect, pnt, vec, sol);
-
-        // find nearest vertex
-        if (vertid) {
-          if (mju_dist3(v1, intersect) < mju_dist3(v2, intersect)) {
-            *vertid = m->flex_edge[2*e];
-          } else {
-            *vertid = m->flex_edge[2*e+1];
-          }
-        }
-      }
-    }
-  }
-
-  // check vertices if rendered (and edges not checked)
-  else if (flg_vert && !(dim > 1 && flg_skin)) {
-    for (int v=0; v < m->flex_vertnum[flexid]; v++) {
-      // get vertex
-      mjtNum* vpos = d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + v);
-
-      // construct sphere geom
-      size[0] = radius;
-
-      // intersect ray with sphere
-      mjtNum sol = mju_rayGeom(vpos, NULL, size, pnt, vec, mjGEOM_SPHERE,
-                               normal ? normal_local : NULL);
-
-      // update
-      if (sol >= 0 && (x < 0 || sol < x)) {
-        x = sol;
-        if (normal) mju_copy3(normal, normal_local);
-        if (vertid) *vertid = v;
-      }
-    }
-  }
-
-  // check faces if rendered
-  if (dim > 1 && (flg_face || flg_skin)) {
-    for (int e=0; e < m->flex_elemnum[flexid]; e++) {
-      // skip if 3D element is not visible
-      int elayer = m->flex_elemlayer[m->flex_elemadr[flexid]+e];
-      if (dim == 3 && ((flg_skin && elayer > 0) || (!flg_skin && elayer != flex_layer))) {
-        continue;
-      }
-
-      // get element data
-      const int* edata = m->flex_elem + m->flex_elemdataadr[flexid] + e*(dim+1);
-      mjtNum* v1 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + edata[0]);
-      mjtNum* v2 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + edata[1]);
-      mjtNum* v3 = d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + edata[2]);
-      mjtNum* v4 = dim == 2 ? NULL : d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + edata[3]);
-      mjtNum* vptr[4][3] = {{v1, v2, v3}, {v1, v2, v4}, {v1, v3, v4}, {v2, v3, v4}};
-      int vid[4][3] = {{0, 1, 2}, {0, 1, 3}, {0, 2, 3}, {1, 2, 3}};
-
-      // process triangles of this element
-      for (int i = 0; i < (dim == 2 ? 1 : 4); i++) {
-        // copy vertices into triangle representation
-        mjtNum v[3][3];
-        for (int j=0; j < 3; j++)
-          mju_copy3(v[j], vptr[i][j]);
-
-        // intersect ray with triangle
-        mjtNum sol = ray_triangle(v, pnt, vec, b0, b1, normal ? normal_local : NULL);
-
-        // update
-        if (sol >= 0 && (x < 0 || sol < x)) {
-          x = sol;
-          if (normal) mju_copy3(normal, normal_local);
-
-          // construct intersection point
-          mjtNum intersect[3];
-          mju_addScl3(intersect, pnt, vec, sol);
-
-          // find nearest vertex
-          mjtNum dist[3] = {
-            mju_dist3(v[0], intersect),
-            mju_dist3(v[1], intersect),
-            mju_dist3(v[2], intersect)
-          };
-          if (vertid) {
-            if (dist[0] <= dist[1] && dist[0] <= dist[2]) {
-              *vertid = edata[vid[i][0]];
-            } else if (dist[1] <= dist[2]){
-              *vertid = edata[vid[i][1]];
-            } else {
-              *vertid = edata[vid[i][2]];
-            }
-          }
-        }
-      }
-    }
-  }
-
-  return x;
-}
-
-// intersect ray with skin, return nearest vertex id
-mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
-                   const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]) {
-  // compute bounding box
-  mjtNum box[3][2] = {{0, 0}, {0, 0}, {0, 0}};
-  for (int i=0; i < nvert; i++) {
-    for (int j=0; j < 3; j++) {
-      // update minimum along side j
-      if (box[j][0] > vert[3*i+j] || i == 0) {
-        box[j][0] = vert[3*i+j];
-      }
-
-      // update maximum along side j
-      if (box[j][1] < vert[3*i+j] || i == 0) {
-        box[j][1] = vert[3*i+j];
-      }
-    }
-  }
-
-  // construct box geom
-  mjtNum pos[3], size[3], mat[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-  for (int j=0; j < 3; j++) {
-    pos[j] = 0.5*(box[j][0]+box[j][1]);
-    size[j] = 0.5*(box[j][1]-box[j][0]);
-  }
-
-  // apply bounding-box filter
-  if (ray_box(pos, mat, size, pnt, vec, NULL, NULL) < 0) {
-    return -1;
-  }
-
-  // construct basis vectors of normal plane
-  mjtNum b0[3] = {1, 1, 1}, b1[3];
-  if (mju_abs(vec[0]) >= mju_abs(vec[1]) && mju_abs(vec[0]) >= mju_abs(vec[2])) {
-    b0[0] = 0;
-  } else if (mju_abs(vec[1]) >= mju_abs(vec[2])) {
-    b0[1] = 0;
-  } else {
-    b0[2] = 0;
-  }
-  mju_addScl3(b1, b0, vec, -mju_dot3(vec, b0)/mju_dot3(vec, vec));
-  mju_normalize3(b1);
-  mju_cross(b0, b1, vec);
-  mju_normalize3(b0);
-
-  // init solution
-  mjtNum x = -1;
-
-  // process all faces
-  for (int i=0; i < nface; i++) {
-    // get float vertices
-    const float* vf[3];
-    vf[0] = vert + 3*(face[3*i]);
-    vf[1] = vert + 3*(face[3*i+1]);
-    vf[2] = vert + 3*(face[3*i+2]);
-
-    // convert to mjtNum
-    mjtNum v[3][3];
-    for (int j=0; j < 3; j++) {
-      for (int k=0; k < 3; k++) {
-        v[j][k] = (mjtNum)vf[j][k];
-      }
-    }
-
-    // solve
-    mjtNum sol = ray_triangle(v, pnt, vec, b0, b1, NULL);
-
-    // update
-    if (sol >= 0 && (x < 0 || sol < x)) {
-      x = sol;
-
-      // construct intersection point
-      mjtNum intersect[3];
-      mju_addScl3(intersect, pnt, vec, sol);
-
-      // find nearest vertex
-      mjtNum dist = mju_dist3(intersect, v[0]);
-      if (vertid) *vertid = face[3*i];
-      for (int j=1; j < 3; j++) {
-        mjtNum newdist = mju_dist3(intersect, v[j]);
-        if (newdist < dist) {
-          dist = newdist;
-          if (vertid) *vertid = face[3*i+j];
-        }
-      }
-    }
-  }
-
-  return x;
-}
-
-
-// return 1 if point is inside object-aligned bounding box, 0 otherwise
-static int point_in_box(const mjtNum aabb[6], const mjtNum xpos[3],
-                        const mjtNum xmat[9], const mjtNum pnt[3]) {
-  mjtNum point[3];
-
-  // compute point in local coordinates of the box
-  mju_sub3(point, pnt, xpos);
-  mju_mulMatTVec3(point, xmat, point);
-  mju_subFrom3(point, aabb);
-
-  // check intersections
-  for (int j=0; j < 3; j++) {  // directions
-    if (mju_abs(point[j]) > aabb[3+j]) {
-      return 0;
-    }
-  }
-
-  return 1;
-}
-
-
-//---------------------------- main entry point ----------------------------------------------------
-
-// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude
-//  return geomid and distance (x) to nearest surface, or -1 if no intersection
-//  geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion
-mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
-              const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
-              int geomid[1], mjtNum normal[3]) {
-  int ngeom = m->ngeom;
-  mjtNum dist, newdist;
-  mjtNum normal_local[3];
-  mjtNum* p_normal = normal ? normal_local : NULL;
-
-  // check vector length
-  if (mju_norm3(vec) < mjMINVAL) {
-    mjERROR("vector length is too small");
-  }
-
-  // clear result
-  dist = -1;
-  if (geomid) *geomid = -1;
-  if (normal) mju_zero3(normal);
-
-  // loop over geoms not eliminated by mask and bodyexclude
-  for (int i=0; i < ngeom; i++) {
-    if (!ray_eliminate(m, d, i, geomgroup, flg_static, bodyexclude)) {
-      int type = m->geom_type[i];
-      if (type == mjGEOM_MESH) {
-        newdist = mj_rayMesh(m, d, i, pnt, vec, p_normal);
-      } else if (type == mjGEOM_HFIELD) {
-        newdist = mj_rayHfield(m, d, i, pnt, vec, p_normal);
-      } else if (type == mjGEOM_SDF) {
-        newdist = mj_raySdf(m, d, i, pnt, vec, p_normal);
-      } else {
-        newdist = mju_rayGeom(d->geom_xpos+3*i, d->geom_xmat+9*i,
-                                    m->geom_size+3*i, pnt, vec, type, p_normal);
-      }
-
-      // update if closer intersection found
-      if (newdist >= 0 && (newdist < dist || dist < 0)) {
-        dist = newdist;
-        if (geomid) *geomid = i;
-        if (normal) mju_copy3(normal, normal_local);
-      }
-    }
-  }
-
-  return dist;
-}
-
-
-// Initializes spherical bounding angles (geom_ba) and flag vector for a given source
-void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
-                         const mjtNum ray_xmat[9], const mjtByte* geomgroup, mjtBool flg_static,
-                         int bodyexclude, mjtNum cutoff, mjtNum* geom_ba, int* geom_eliminate) {
-  if (ray_xmat) {
-    mjERROR("ray_xmat is currently unused, should be NULL");
-  }
-
-  // compute eliminate flag for all geoms
-  for (int geomid=0; geomid < m->ngeom; geomid++)
-    geom_eliminate[geomid] = ray_eliminate(m, d, geomid, geomgroup, flg_static, bodyexclude);
-
-  for (int b=0; b < m->nbody; b++) {
-    // skip precomputation if no bounding volume is available
-    if (m->body_bvhadr[b] == -1) {
-      continue;
-    }
-
-    // loop over child geoms, compute bounding angles
-    for (int i=0; i < m->body_geomnum[b]; i++) {
-      int g = i + m->body_geomadr[b];
-      mjtNum AABB[4] = {mjMAXVAL, mjMAXVAL, -mjMAXVAL, -mjMAXVAL};
-      mjtNum* aabb = m->geom_aabb + 6*g;
-      mjtNum* xpos = d->geom_xpos + 3*g;
-      mjtNum* xmat = d->geom_xmat + 9*g;
-
-      // skip if eliminated by flags
-      if (geom_eliminate[g]) {
-        continue;
-      }
-
-      // add to geom_eliminate if distance of bounding sphere is above cutoff
-      if (mju_dist3(d->geom_xpos+3*g, pnt) > cutoff+m->geom_rbound[g]) {
-        geom_eliminate[g] = 1;
-        continue;
-      }
-
-      if (point_in_box(aabb, xpos, xmat, pnt)) {
-        (geom_ba+4*g)[0] = -mjPI;
-        (geom_ba+4*g)[1] = 0;
-        (geom_ba+4*g)[2] = mjPI;
-        (geom_ba+4*g)[3] = mjPI;
-        continue;
-      }
-
-      // loop over box vertices, compute spherical aperture
-      for (int v=0; v < 8; v++) {
-        mjtNum vert[3], box[3];
-        vert[0] = (v&1 ? aabb[0]+aabb[3] : aabb[0]-aabb[3]);
-        vert[1] = (v&2 ? aabb[1]+aabb[4] : aabb[1]-aabb[4]);
-        vert[2] = (v&4 ? aabb[2]+aabb[5] : aabb[2]-aabb[5]);
-
-        // rotate to the world frame
-        mju_mulMatVec3(box, xmat, vert);
-        mju_addTo3(box, xpos);
-
-        // spherical coordinates
-        mju_sub3(vert, box, pnt);
-        mjtNum azimuth = longitude(vert);
-        mjtNum elevation = latitude(vert);
-
-        // update bounds
-        AABB[0] = mju_min(AABB[0], azimuth);
-        AABB[1] = mju_min(AABB[1], elevation);
-        AABB[2] = mju_max(AABB[2], azimuth);
-        AABB[3] = mju_max(AABB[3], elevation);
-      }
-
-      // add distance-dependent angular margin to account for edge/face curvature
-      // margin = atan(max_half_size / dist) bounds the angular deviation of face centers
-      mjtNum max_half = mju_max(aabb[3], mju_max(aabb[4], aabb[5]));
-      mjtNum dist = mju_dist3(pnt, xpos);
-      if (dist > mjMINVAL) {
-        mjtNum margin = mju_atan2(max_half, dist);
-        AABB[0] -= margin;
-        AABB[1] -= margin;
-        AABB[2] += margin;
-        AABB[3] += margin;
-      }
-
-      // azimuth crosses discontinuity, fall back to no angular culling
-      if (AABB[2]-AABB[0] > mjPI) {
-        AABB[0] = -mjPI;
-        AABB[1] = 0;
-        AABB[2] =  mjPI;
-        AABB[3] =  mjPI;
-      }
-
-      // elevation overflow, fall back to no angular culling
-      if (AABB[3]-AABB[1] > mjPI) {
-        AABB[0] = -mjPI;
-        AABB[1] = 0;
-        AABB[2] =  mjPI;
-        AABB[3] =  mjPI;
-      }
-
-      mju_copy(geom_ba+4*g, AABB, 4);
-    }
-  }
-}
-
-
-// Performs single ray intersection, compute normal if given
-static mjtNum mju_singleRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
-                            int* ray_eliminate, mjtNum* geom_ba, int geomid[1],
-                            mjtNum normal[3]) {
-  mjtNum dist, newdist;
-  mjtNum normal_local[3];
-  mjtNum* p_normal = normal ? normal_local : NULL;
-
-  // clear result
-  dist = -1;
-  if (geomid) *geomid = -1;
-  if (normal) mju_zero3(normal);
-
-  // get ray spherical coordinates
-  mjtNum azimuth = longitude(vec);
-  mjtNum elevation = latitude(vec);
-
-  // loop over bodies not eliminated by bodyexclude
-  for (int b=0; b < m->nbody; b++) {
-    // exclude body using bounding sphere test
-    if (m->body_bvhadr[b] != -1) {
-      mjtNum* pos = m->bvh_aabb + 6*m->body_bvhadr[b];
-      mjtNum center[3];
-      mjtNum* size = pos + 3;
-      mjtNum ssz = size[0]*size[0] + size[1]*size[1] + size[2]*size[2];
-      mju_add3(center, pos, d->xipos+3*b);
-      if (ray_sphere(center, NULL, ssz, pnt, vec, NULL) < 0) {
-        continue;
-      }
-    }
-
-    // loop over geoms if bounding sphere test fails
-    for (int g=0; g < m->body_geomnum[b]; g++) {
-      int i = m->body_geomadr[b] + g;
-      if (ray_eliminate[i]) {
-        continue;
-      }
-
-      // exclude geom using bounding angles
-      if (m->body_bvhadr[b] != -1) {
-        mjtNum az_min = (geom_ba+4*i)[0];
-        mjtNum az_max = (geom_ba+4*i)[2];
-        mjtNum el_min = (geom_ba+4*i)[1];
-        mjtNum el_max = (geom_ba+4*i)[3];
-
-        // check elevation
-        if (elevation < el_min || elevation > el_max) {
-          continue;
-        }
-
-        // check azimuth with wraparound
-        mjtNum az_center = (az_min + az_max) * 0.5;
-        mjtNum az_half_width = (az_max - az_min) * 0.5;
-        mjtNum az_diff = azimuth - az_center;
-        if (az_diff > mjPI) az_diff -= 2*mjPI;
-        else if (az_diff < -mjPI) az_diff += 2*mjPI;
-        if (mju_abs(az_diff) > az_half_width) {
-          continue;
-        }
-      }
-
-      // dispatch to type-specific ray function
-      int type = m->geom_type[i];
-      if (type == mjGEOM_MESH) {
-        newdist = mj_rayMesh(m, d, i, pnt, vec, p_normal);
-      } else if (type == mjGEOM_HFIELD) {
-        newdist = mj_rayHfield(m, d, i, pnt, vec, p_normal);
-      } else if (type == mjGEOM_SDF) {
-        newdist = mj_raySdf(m, d, i, pnt, vec, p_normal);
-      } else {
-        newdist = mju_rayGeom(d->geom_xpos+3*i, d->geom_xmat+9*i,
-                              m->geom_size+3*i, pnt, vec, type, p_normal);
-      }
-
-      // update if closer intersection found
-      if (newdist >= 0 && (newdist < dist || dist < 0)) {
-        dist = newdist;
-        if (geomid) *geomid = i;
-        if (normal) mju_copy3(normal, normal_local);
-      }
-    }
-  }
-
-  return dist;
-}
-
-
-// performs multiple ray intersections, compute normals if given
-void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
-                 const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
-                 int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff) {
-  mj_markStack(d);
-
-  // allocate source
-  mjtNum* geom_ba = mjSTACKALLOC(d, 4*m->ngeom, mjtNum);
-  int* geom_eliminate = mjSTACKALLOC(d, m->ngeom, int);
-
-  // initialize source
-  mju_multiRayPrepare(m, d, pnt, NULL, geomgroup, flg_static, bodyexclude,
-                      cutoff, geom_ba, geom_eliminate);
-
-  // loop over rays
-  for (int i=0; i < nray; i++) {
-    if (mju_dot3(vec+3*i, vec+3*i) < mjMINVAL) {
-      dist[i] = -1;
-    } else {
-      int* p_geomid = geomid ? geomid + i : NULL;
-      dist[i] = mju_singleRay(m, d, pnt, vec+3*i, geom_eliminate, geom_ba, p_geomid,
-                            normal ? normal+3*i : NULL);
-    }
-  }
-
-  mj_freeStack(d);
-}
-
diff --git a/src/engine/engine_ray.h b/src/engine/engine_ray.h
deleted file mode 100644
index 7fa5de07..00000000
--- a/src/engine/engine_ray.h
+++ /dev/null
@@ -1,77 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_RAY_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_RAY_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-MJAPI void mju_multiRayPrepare(const mjModel* m, const mjData* d,
-                               const mjtNum pnt[3], const mjtNum ray_xmat[9],
-                               const mjtByte* geomgroup, mjtBool flg_static,
-                               int bodyexclude, mjtNum cutoff, mjtNum* geom_ba,
-                               int* geom_eliminate);
-
-// intersect multiple rays emanating from a single source, compute normals if given
-//  similar semantics to mj_ray, but vec, normal and dist are arrays
-MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
-                       const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
-                       int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff);
-
-
-// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude
-//  return geomid and distance (x) to nearest surface, or -1 if no intersection
-//  geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion
-MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
-                    const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
-                    int geomid[1], mjtNum normal[3]);
-
-// intersect ray with hfield, compute normal if given
-MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
-                          const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
-
-// intersect ray with triangle
-MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
-                          const mjtNum b0[3], const mjtNum b1[3], mjtNum normal[3]);
-
-// intersect ray with mesh, compute normal if given
-MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
-                        const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
-
-// intersect ray with primitive geom, no meshes or hfields, compute normal if given
-MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
-                         const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
-                         mjtNum normal[3]);
-
-// intersect ray with flex, return nearest vertex id, compute normal if given
-MJAPI mjtNum mj_rayFlex(const mjModel* m, const mjData* d, int flex_layer,
-                        mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
-                        mjtBool flg_skin, int flexid, const mjtNum pnt[3],
-                        const mjtNum vec[3], int vertid[1], mjtNum normal[3]);
-
-// intersect ray with skin, return nearest vertex id
-MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
-                         const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_RAY_H_
diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
deleted file mode 100644
index ffeacddd..00000000
--- a/src/engine/engine_sensor.c
+++ /dev/null
@@ -1,1778 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_sensor.h"
-
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_callback.h"
-#include "engine/engine_collision_sdf.h"
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_crossplatform.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_plugin.h"
-#include "engine/engine_ray.h"
-#include "engine/engine_sleep.h"
-#include "engine/engine_sort.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_spatial.h"
-#include "engine/engine_thread.h"
-
-
-
-//-------------------------------- utility ---------------------------------------------------------
-
-
-typedef struct {
-  mjtNum criterion;  // criterion for partial sort
-  int id;            // index in d->contact
-  int flip;          // 0: don't flip the normal, 1: flip the normal
-} ContactInfo;
-
-// define ContactSelect: find the k smallest elements of a ContactInfo array
-static int ContactInfoCompare(const ContactInfo* a, const ContactInfo* b, void* context) {
-  if (a->criterion < b->criterion) return -1;
-  if (a->criterion > b->criterion) return 1;
-
-  if (a->id < b->id) return -1;
-  if (a->id > b->id) return 1;
-
-  return 0;
-}
-mjPARTIAL_SORT(ContactSelect, ContactInfo, ContactInfoCompare);
-
-
-// arguments for parallel tactile sensor computation
-typedef struct mjTactileTaskArgs_ {
-  int sensor_id;
-  int mesh_id;
-  int geom_id;
-  int parent_weld;
-  int ncontact;
-  int nchannel;
-  int* contact_geom_ids;
-  int start_taxel;
-  int end_taxel;
-  mjtNum* forcesT;
-} mjTactileTaskArgs;
-
-
-// worker function for parallel tactile computation over taxel batches
-static void* tactile_taxel_batch(const mjModel* m, mjData* d, void* args) {
-  mjTactileTaskArgs* t = (mjTactileTaskArgs*)args;
-  int mesh_id = t->mesh_id;
-  int geom_id = t->geom_id;
-  int parent_weld = t->parent_weld;
-  int ncon = m->mesh_vertnum[mesh_id];
-
-  mjtNum* geom_pos = d->geom_xpos + 3*geom_id;
-  mjtNum* geom_mat = d->geom_xmat + 9*geom_id;
-  float* mesh_vert = m->mesh_vert + 3*m->mesh_vertadr[mesh_id];
-  float* mesh_normal = m->mesh_normal + 3*m->mesh_normaladr[mesh_id];
-
-  int has_frame = (m->mesh_normalnum[mesh_id] == 3 * m->mesh_vertnum[mesh_id]);
-  int normal_stride = has_frame ? 9 : 3;
-
-  // process taxels in [start_taxel, end_taxel)
-  for (int j = t->start_taxel; j < t->end_taxel; j++) {
-    mjtNum pos[3] = {mesh_vert[3*j + 0], mesh_vert[3*j + 1], mesh_vert[3*j + 2]};
-
-    mjtNum xpos[3];
-    mju_mulMatVec3(xpos, geom_mat, pos);
-    mju_addTo3(xpos, geom_pos);
-
-    // iterate over colliding geoms
-    for (int g = 0; g < t->ncontact; g++) {
-      int geom = t->contact_geom_ids[g];
-      int body = m->geom_bodyid[geom];
-
-      // set up SDF for this contact geom
-      int sdf_instance[2] = {-1, -1};
-      mjtGeom geomtype[2] = {mjGEOM_SDF, mjGEOM_SPHERE};
-      const mjpPlugin* sdf_ptr[2] = {NULL, NULL};
-      if (m->geom_type[geom] == mjGEOM_SDF) {
-        sdf_instance[0] = m->geom_plugin[geom];
-        sdf_ptr[0] = mjc_getSDF(m, geom);
-      } else if (m->geom_type[geom] == mjGEOM_MESH) {
-        sdf_instance[0] = m->geom_dataid[geom];
-        geomtype[0] = (mjtGeom)m->geom_type[geom];
-      } else {
-        sdf_instance[0] = geom;
-        geomtype[0] = (mjtGeom)m->geom_type[geom];
-      }
-
-      // skip mesh geoms not having an octree
-      if (geomtype[0] == mjGEOM_MESH &&
-          m->mesh_octadr[m->geom_dataid[geom]] == -1) {
-        continue;
-      }
-
-      mjSDF geom_sdf;
-      geom_sdf.id = &sdf_instance[0];
-      geom_sdf.type = mjSDFTYPE_SINGLE;
-      geom_sdf.plugin = &sdf_ptr[0];
-      geom_sdf.geomtype = &geomtype[0];
-
-      // position in other geom frame
-      mjtNum tmp[3], lpos[3];
-      mju_sub3(tmp, xpos, d->geom_xpos + 3*geom);
-      mju_mulMatTVec3(lpos, d->geom_xmat + 9*geom, tmp);
-
-      // SDF plugins are in the original mesh frame
-      if (sdf_ptr[0] != NULL) {
-        mjtNum mesh_mat[9];
-        mju_quat2Mat(mesh_mat, m->mesh_quat + 4 * m->geom_dataid[geom]);
-        mju_mulMatVec3(lpos, mesh_mat, lpos);
-        mju_addTo3(lpos, m->mesh_pos + 3 * m->geom_dataid[geom]);
-      }
-
-      // compute distance
-      mjtNum depth = mju_min(mjc_distance(m, d, &geom_sdf, lpos), 0);
-      if (depth == 0) {
-        continue;
-      }
-
-      // get velocity in global frame
-      mjtNum vel_sensor[6], vel_other[6], vel_rel[3];
-      mju_transformSpatial(
-          vel_sensor, d->cvel + 6 * parent_weld, 0, xpos,
-          d->subtree_com + 3 * m->body_rootid[parent_weld], NULL);
-      mju_transformSpatial(
-          vel_other, d->cvel + 6 * body, 0, d->geom_xpos + 3 * geom,
-          d->subtree_com + 3 * m->body_rootid[body], NULL);
-      mju_sub3(vel_rel, vel_sensor+3, vel_other+3);
-
-      // get normal
-      mjtNum normal[3] = {mesh_normal[normal_stride*j + 0],
-                          mesh_normal[normal_stride*j + 1],
-                          mesh_normal[normal_stride*j + 2]};
-      mju_rotVecQuat(normal, normal, m->mesh_quat + 4 * mesh_id);
-
-      // take max penetration depth (SDF distance is negative; negate for positive output)
-      t->forcesT[0*ncon + j] = mju_max(t->forcesT[0*ncon + j], -depth);
-
-      if (has_frame) {
-        mjtNum tang1[3] = {mesh_normal[normal_stride*j + 3],
-                           mesh_normal[normal_stride*j + 4],
-                           mesh_normal[normal_stride*j + 5]};
-        mjtNum tang2[3] = {mesh_normal[normal_stride*j + 6],
-                           mesh_normal[normal_stride*j + 7],
-                           mesh_normal[normal_stride*j + 8]};
-        mju_rotVecQuat(tang1, tang1, m->mesh_quat + 4 * mesh_id);
-        mju_rotVecQuat(tang2, tang2, m->mesh_quat + 4 * mesh_id);
-        t->forcesT[1*ncon + j] += mju_abs(mju_dot3(vel_rel, tang1));
-        t->forcesT[2*ncon + j] += mju_abs(mju_dot3(vel_rel, tang2));
-      }
-    }
-  }
-  return NULL;
-}
-
-
-static void tactileTask(const mjModel* m, mjData* d, void* arg, int thread_id, int task_id) {
-  mjTactileTaskArgs* args_array = (mjTactileTaskArgs*)arg;
-  tactile_taxel_batch(m, d, &args_array[task_id]);
-}
-
-
-// apply cutoff to sensor i, clamping values in data buffer
-static void apply_cutoff(const mjModel* m, int i, mjtNum* data) {
-  mjtNum cutoff = m->sensor_cutoff[i];
-  if (cutoff <= 0) {
-    return;
-  }
-
-  // cutoff ignored for contact and fromto sensors (but used by fromto sensors in a different way)
-  mjtSensor type = (mjtSensor)m->sensor_type[i];
-  if (type == mjSENS_CONTACT || type == mjSENS_GEOMFROMTO) {
-    return;
-  }
-
-  int dim = m->sensor_dim[i];
-
-  for (int j=0; j < dim; j++) {
-    // real: apply on both sides
-    if (m->sensor_datatype[i] == mjDATATYPE_REAL) {
-      data[j] = mju_clip(data[j], -cutoff, cutoff);
-    }
-
-    // positive: apply on positive side only
-    else if (m->sensor_datatype[i] == mjDATATYPE_POSITIVE) {
-      data[j] = mju_min(cutoff, data[j]);
-    }
-  }
-}
-
-
-// get xpos and xmat pointers to an object in mjData
-static void get_xpos_xmat(const mjData* d, mjtObj type, int id, int sensor_id,
-                          mjtNum **xpos, mjtNum **xmat) {
-  switch (type) {
-  case mjOBJ_XBODY:
-    *xpos = d->xpos + 3*id;
-    *xmat = d->xmat + 9*id;
-    break;
-  case mjOBJ_BODY:
-    *xpos = d->xipos + 3*id;
-    *xmat = d->ximat + 9*id;
-    break;
-  case mjOBJ_GEOM:
-    *xpos = d->geom_xpos + 3*id;
-    *xmat = d->geom_xmat + 9*id;
-    break;
-  case mjOBJ_SITE:
-    *xpos = d->site_xpos + 3*id;
-    *xmat = d->site_xmat + 9*id;
-    break;
-  case mjOBJ_CAMERA:
-    *xpos = d->cam_xpos + 3*id;
-    *xmat = d->cam_xmat + 9*id;
-    break;
-  default:
-    mjERROR("invalid object type in sensor %d", sensor_id);
-  }
-}
-
-
-// get global quaternion of an object in mjData
-static void get_xquat(const mjModel* m, const mjData* d, mjtObj type, int id, int sensor_id,
-                      mjtNum *quat) {
-  switch (type) {
-  case mjOBJ_XBODY:
-    mju_copy4(quat, d->xquat+4*id);
-    break;
-  case mjOBJ_BODY:
-    mju_mulQuat(quat, d->xquat+4*id, m->body_iquat+4*id);
-    break;
-  case mjOBJ_GEOM:
-    mju_mulQuat(quat, d->xquat+4*m->geom_bodyid[id], m->geom_quat+4*id);
-    break;
-  case mjOBJ_SITE:
-    mju_mulQuat(quat, d->xquat+4*m->site_bodyid[id], m->site_quat+4*id);
-    break;
-  case mjOBJ_CAMERA:
-    mju_mulQuat(quat, d->xquat+4*m->cam_bodyid[id], m->cam_quat+4*id);
-    break;
-  default:
-    mjERROR("invalid object type in sensor %d", sensor_id);
-  }
-}
-
-
-static void cam_project(mjtNum sensordata[2], const mjtNum target_xpos[3],
-                        const mjtNum cam_xpos[3], const mjtNum cam_xmat[9],
-                        const int cam_res[2], mjtNum cam_fovy,
-                        const float cam_intrinsic[4], const float cam_sensorsize[2]) {
-  mjtNum fx, fy;
-
-  // focal transformation
-  if (cam_sensorsize[0] && cam_sensorsize[1]) {
-    fx = cam_intrinsic[0] / cam_sensorsize[0] * cam_res[0];
-    fy = cam_intrinsic[1] / cam_sensorsize[1] * cam_res[1];
-  } else {
-    fx = fy = .5 / mju_tan(cam_fovy * mjPI / 360.) * cam_res[1];
-  }
-
-  // relative position in world frame
-  mjtNum relative_pos[3];
-  mju_sub3(relative_pos, target_xpos, cam_xpos);
-
-  // project to camera frame: cam_pos = cam_xmat^T * relative_pos
-  mjtNum cam_pos[3];
-  mju_mulMatTVec(cam_pos, cam_xmat, relative_pos, 3, 3);
-
-  // avoid dividing by tiny numbers
-  mjtNum denom = cam_pos[2];
-  if (mju_abs(denom) < mjMINVAL) {
-    if (denom < 0) {
-      denom = mju_min(denom, -mjMINVAL);
-    } else {
-      denom = mju_max(denom, mjMINVAL);
-    }
-  }
-
-  // compute projection
-  sensordata[0] = -fx * (cam_pos[0] / denom) + 0.5 * (mjtNum)cam_res[0];
-  sensordata[1] =  fy * (cam_pos[1] / denom) + 0.5 * (mjtNum)cam_res[1];
-}
-
-
-// check if a contact body/geom matches a sensor spec (type, id)
-static int checkMatch(const mjModel* m, int body, int geom, mjtObj type, int id) {
-  if (type == mjOBJ_UNKNOWN) return 1;
-  if (type == mjOBJ_SITE)    return 1;  // already passed site filter test
-  if (type == mjOBJ_GEOM)    return id == geom;
-  if (type == mjOBJ_BODY)    return id == body;
-  if (type == mjOBJ_XBODY) {
-    // traverse up the tree from body, return true if we land on id
-    while (body > id) {
-      body = m->body_parentid[body];
-    }
-    return body == id;
-  }
-
-  return 0;
-}
-
-//   0: no match
-//   1: match, use contact normal
-//  -1: match, flip contact normal
-static int matchContact(const mjModel* m, const mjData* d, int conid,
-                        mjtObj type1, int id1, mjtObj type2, int id2) {
-  // no criterion: quick match
-  if (type1 == mjOBJ_UNKNOWN && type2 == mjOBJ_UNKNOWN) {
-    return 1;
-  }
-
-  // site filter
-  if (type1 == mjOBJ_SITE) {
-    if (!mju_insideGeom(d->site_xpos + 3 * id1, d->site_xmat + 9 * id1,
-                        m->site_size + 3 * id1, m->site_type[id1], d->contact[conid].pos)) {
-      return 0;
-    }
-  }
-
-  // get geom, body ids
-  int geom1 = d->contact[conid].geom[0];
-  int geom2 = d->contact[conid].geom[1];
-  int body1 = geom1 >= 0
-      ? m->geom_bodyid[geom1]
-      : mj_flexBody(m, &d->contact[conid], 0);
-  int body2 = geom2 >= 0
-      ? m->geom_bodyid[geom2]
-      : mj_flexBody(m, &d->contact[conid], 1);
-
-  // check match of sensor objects with contact objects
-  int match11 = checkMatch(m, body1, geom1, type1, id1);
-  int match12 = checkMatch(m, body2, geom2, type1, id1);
-  int match21 = checkMatch(m, body1, geom1, type2, id2);
-  int match22 = checkMatch(m, body2, geom2, type2, id2);
-
-  // if a sensor object is specified, it must be involved in the contact
-  if (!match11 && !match12) return 0;
-  if (!match21 && !match22) return 0;
-
-  // determine direction
-  if (type1 != mjOBJ_UNKNOWN && type2 != mjOBJ_UNKNOWN) {
-    // both obj1 and obj2 specified: direction depends on order
-    int order_regular = match11 && match22;
-    int order_reverse = match12 && match21;
-    if (order_regular && !order_reverse) return 1;
-    if (order_reverse && !order_regular) return -1;
-    if (order_regular && order_reverse)  return 1;  // ambiguous, return 1
-  } else if (type1 != mjOBJ_UNKNOWN) {
-    // only obj1 specified: normal points away from obj1
-    return match11 ? 1 : -1;
-  } else if (type2 != mjOBJ_UNKNOWN) {
-    // only obj2 specified: normal points towards obj2
-    return match22 ? 1 : -1;
-  }
-
-  // should not occur, all conditions are covered above
-  return 0;
-}
-
-
-// fill in output data for contact sensor for all fields
-//   if flg_flip > 0, normal/tangent rotate 180 about frame[2]
-//   force/torque flip-z s.t. force is equal-and-opposite in new contact frame
-static void copySensorData(const mjModel* m, const mjData* d,
-                           mjtNum* data[mjNCONDATA], int id, int flg_flip, int nfound) {
-  // found flag
-  if (data[mjCONDATA_FOUND]) *data[mjCONDATA_FOUND] = nfound;
-
-  // contact force and torque
-  if (data[mjCONDATA_FORCE] || data[mjCONDATA_TORQUE]) {
-    mjtNum forcetorque[6];
-    mj_contactForce(m, d, id, forcetorque);
-    if (data[mjCONDATA_FORCE]) {
-      mju_copy3(data[mjCONDATA_FORCE], forcetorque);
-      if (flg_flip) data[mjCONDATA_FORCE][2] *= -1;
-    }
-    if (data[mjCONDATA_TORQUE]) {
-      mju_copy3(data[mjCONDATA_TORQUE], forcetorque+3);
-      if (flg_flip) data[mjCONDATA_TORQUE][2] *= -1;
-    }
-  }
-
-  // contact penetration distance
-  if (data[mjCONDATA_DIST]) {
-    *data[mjCONDATA_DIST] = d->contact[id].dist;
-  }
-
-  // contact position
-  if (data[mjCONDATA_POS]) {
-    mju_copy3(data[mjCONDATA_POS], d->contact[id].pos);
-  }
-
-  // contact normal
-  if (data[mjCONDATA_NORMAL]) {
-    mju_copy3(data[mjCONDATA_NORMAL], d->contact[id].frame);
-    if (flg_flip) mju_scl3(data[mjCONDATA_NORMAL], data[mjCONDATA_NORMAL], -1);
-  }
-
-  // contact first tangent
-  if (data[mjCONDATA_TANGENT]) {
-    mju_copy3(data[mjCONDATA_TANGENT], d->contact[id].frame+3);
-    if (flg_flip) mju_scl3(data[mjCONDATA_TANGENT], data[mjCONDATA_TANGENT], -1);
-  }
-}
-
-
-// compute total wrench about one point, in the global frame
-static void total_wrench(mjtNum force[3], mjtNum torque[3], const mjtNum point[3], int n,
-                        const mjtNum *wrench, const mjtNum *pos, const mjtNum *frame) {
-  mju_zero3(force);
-  mju_zero3(torque);
-
-  for (int j = 0; j < n; ++j) {
-    // rotate force, torque from contact frame to global frame
-    mjtNum force_j[3], torque_j[3];
-    mju_mulMatTVec3(force_j, frame + 9*j, wrench + 6*j);
-    mju_mulMatTVec3(torque_j, frame + 9*j, wrench + 6*j + 3);
-
-    // add to total force, torque
-    mju_addTo3(force, force_j);
-    mju_addTo3(torque, torque_j);
-
-    // add induced moment:  torque += (pos - point) x force
-    mjtNum diff[3];
-    mju_sub3(diff, pos + 3*j, point);
-    mjtNum induced_torque[3];
-    mju_cross(induced_torque, diff, force_j);
-    mju_addTo3(torque, induced_torque);
-  }
-}
-
-
-//-------------------------------- sensor ----------------------------------------------------------
-
-// fill one pixel's worth of rangefinder data, advance ptr
-static mjtNum* fill_raydata(mjtNum* ptr, int dataspec, mjtNum dist,
-                            const mjtNum origin[3], const mjtNum direction[3],
-                            const mjtNum normal[3], const mjtNum cam_xpos[3],
-                            const mjtNum cam_z[3]) {
-  int hit = (dist >= 0);
-
-  if (dataspec & (1 << mjRAYDATA_DIST)) {
-    *ptr++ = dist;
-  }
-  if (dataspec & (1 << mjRAYDATA_DIR)) {
-    if (hit) mju_copy3(ptr, direction);
-    else     mju_zero3(ptr);
-    ptr += 3;
-  }
-  if (dataspec & (1 << mjRAYDATA_ORIGIN)) {
-    mju_copy3(ptr, origin);
-    ptr += 3;
-  }
-
-  // compute point if needed for POINT or DEPTH fields
-  mjtNum point[3] = {0, 0, 0};
-  if ((dataspec & (1 << mjRAYDATA_POINT)) || (dataspec & (1 << mjRAYDATA_DEPTH))) {
-    if (hit) mju_addScl3(point, origin, direction, dist);
-  }
-
-  if (dataspec & (1 << mjRAYDATA_POINT)) {
-    mju_copy3(ptr, point);
-    ptr += 3;
-  }
-  if (dataspec & (1 << mjRAYDATA_NORMAL)) {
-    if (hit) mju_copy3(ptr, normal);
-    else     mju_zero3(ptr);
-    ptr += 3;
-  }
-  if (dataspec & (1 << mjRAYDATA_DEPTH)) {
-    if (hit) {
-      if (cam_z) {
-        // camera depth: project onto camera z-axis
-        mjtNum delta[3];
-        mju_sub3(delta, point, cam_xpos);
-        *ptr++ = -mju_dot3(delta, cam_z);
-      } else {
-        // site sensor: depth = dist
-        *ptr++ = dist;
-      }
-    } else {
-      *ptr++ = -1;
-    }
-  }
-
-  return ptr;
-}
-
-
-// compute position-stage sensor value, write to data buffer
-static void mj_computeSensorPos(const mjModel* m, mjData* d, int i, mjtNum* sensordata) {
-  int ne = d->ne, nf = d->nf, nefc = d->nefc;
-  mjtSensor type = (mjtSensor)m->sensor_type[i];
-  int objtype = m->sensor_objtype[i];
-  int objid = m->sensor_objid[i];
-  int refid = m->sensor_refid[i];
-  int reftype = m->sensor_reftype[i];
-
-  mjtNum rvec[3], *xpos, *xmat, *xpos_ref, *xmat_ref;
-
-  // process according to type
-  switch (type) {
-  case mjSENS_MAGNETOMETER:                           // magnetometer
-    mju_mulMatTVec(sensordata, d->site_xmat+9*objid, m->opt.magnetic, 3, 3);
-    break;
-
-  case mjSENS_CAMPROJECTION:                          // camera projection
-    cam_project(sensordata, d->site_xpos+3*objid, d->cam_xpos+3*refid,
-                d->cam_xmat+9*refid, m->cam_resolution+2*refid, m->cam_fovy[refid],
-                m->cam_intrinsic+4*refid, m->cam_sensorsize+2*refid);
-    break;
-
-  case mjSENS_RANGEFINDER:                            // rangefinder
-    {
-      // get dataspec
-      int dataspec = m->sensor_intprm[i*mjNSENS];
-
-      if (objtype == mjOBJ_SITE) {
-        // site-attached rangefinder: single ray
-        rvec[0] = d->site_xmat[9*objid+2];
-        rvec[1] = d->site_xmat[9*objid+5];
-        rvec[2] = d->site_xmat[9*objid+8];
-        const mjtNum* origin = d->site_xpos + 3*objid;
-
-        int geomid;
-        mjtNum normal[3];
-        mjtNum* p_normal = (dataspec & (1 << mjRAYDATA_NORMAL)) ? normal : NULL;
-        mjtNum dist = mj_ray(m, d, origin, rvec, NULL, 1,
-                             m->site_bodyid[objid], &geomid, p_normal);
-
-        // for site sensor: pass NULL for cam_z so depth = dist
-        fill_raydata(sensordata, dataspec, dist, origin, rvec, normal, NULL, NULL);
-
-      } else {
-        // camera-attached rangefinder: depth image
-        const int width = m->cam_resolution[2*objid];
-        const int height = m->cam_resolution[2*objid+1];
-        const int bodyexclude = m->cam_bodyid[objid];
-        const mjtNum* cam_xpos = d->cam_xpos + 3*objid;
-        const mjtNum* cam_xmat = d->cam_xmat + 9*objid;
-        const int projection = m->cam_projection[objid];
-
-        // camera z-axis (pointing into scene, negative of optical axis)
-        mjtNum cam_z[3] = {cam_xmat[2], cam_xmat[5], cam_xmat[8]};
-
-        // compute focal length in pixels using helper
-        mjtNum fx, fy, cx, cy, ortho_extent;
-        mju_camIntrinsics(m, objid, &fx, &fy, &cx, &cy, &ortho_extent);
-
-        if (projection == mjPROJ_PERSPECTIVE) {
-          // perspective: all rays share origin, different directions
-          const int npixel = width * height;
-          mj_markStack(d);
-          mjtNum* vec = mjSTACKALLOC(d, 3*npixel, mjtNum);
-          int* geomid = mjSTACKALLOC(d, npixel, int);
-          mjtNum* dist = mjSTACKALLOC(d, npixel, mjtNum);
-          mjtNum* normals = NULL;
-          if (dataspec & (1 << mjRAYDATA_NORMAL)) {
-            normals = mjSTACKALLOC(d, 3*npixel, mjtNum);
-          }
-
-          // compute ray directions using helper (normalized)
-          for (int row = 0; row < height; row++) {
-            for (int col = 0; col < width; col++) {
-              int idx = row*width + col;
-              mjtNum origin[3];
-              mju_camPixelRay(origin, vec + 3*idx, cam_xpos, cam_xmat,
-                              col, row, fx, fy, cx, cy, projection, ortho_extent);
-            }
-          }
-
-          // cast all rays with normals if needed
-          mj_multiRay(m, d, cam_xpos, vec, NULL, 1, bodyexclude,
-                      geomid, dist, normals, npixel, mjMAXVAL);
-
-          // fill in output for each pixel
-          for (int row = 0; row < height; row++) {
-            for (int col = 0; col < width; col++) {
-              int idx = row*width + col;
-              mjtNum* normal_ptr = normals ? normals + 3*idx : NULL;
-              sensordata = fill_raydata(sensordata, dataspec, dist[idx], cam_xpos,
-                                        vec + 3*idx, normal_ptr, cam_xpos, cam_z);
-            }
-          }
-
-          mj_freeStack(d);
-        } else {
-          // orthographic: parallel rays, different origins
-          for (int row = 0; row < height; row++) {
-            for (int col = 0; col < width; col++) {
-              mjtNum origin[3], direction[3];
-              mju_camPixelRay(origin, direction, cam_xpos, cam_xmat,
-                              col, row, fx, fy, cx, cy, projection, ortho_extent);
-
-              int geomid;
-              mjtNum normal[3];
-              mjtNum dist = mj_ray(m, d, origin, direction, NULL, 1,
-                                   bodyexclude, &geomid, normal);
-
-              sensordata = fill_raydata(sensordata, dataspec, dist, origin, direction,
-                                 normal, cam_xpos, cam_z);
-            }
-          }
-        }
-      }
-    }
-
-    break;
-
-  case mjSENS_JOINTPOS:                               // joint position
-    sensordata[0] = d->qpos[m->jnt_qposadr[objid]];
-    break;
-
-  case mjSENS_TENDONPOS:                              // tendon position
-    sensordata[0] = d->ten_length[objid];
-    break;
-
-  case mjSENS_ACTUATORPOS:                            // actuator position, one per output
-    mju_copy(sensordata, d->actuator_length + m->actuator_outadr[objid], m->sensor_dim[i]);
-    break;
-
-  case mjSENS_BALLQUAT:                               // ball joint quaternion
-    mju_copy4(sensordata, d->qpos+m->jnt_qposadr[objid]);
-    mju_normalize4(sensordata);
-    break;
-
-  case mjSENS_JOINTLIMITPOS:                          // joint limit distance-margin
-    sensordata[0] = 0;
-    for (int j=ne+nf; j < nefc; j++) {
-      if (d->efc_type[j] == mjCNSTR_LIMIT_JOINT && d->efc_id[j] == objid) {
-        sensordata[0] = d->efc_pos[j] - d->efc_margin[j];
-        break;
-      }
-    }
-    break;
-
-  case mjSENS_TENDONLIMITPOS:                         // tendon limit distance-margin
-    sensordata[0] = 0;
-    for (int j=ne+nf; j < nefc; j++) {
-      if (d->efc_type[j] == mjCNSTR_LIMIT_TENDON && d->efc_id[j] == objid) {
-        sensordata[0] = d->efc_pos[j] - d->efc_margin[j];
-        break;
-      }
-    }
-    break;
-
-  case mjSENS_FRAMEPOS:                               // 3D position
-  case mjSENS_FRAMEXAXIS:                             // x-axis of object's frame
-  case mjSENS_FRAMEYAXIS:                             // y-axis of object's frame
-  case mjSENS_FRAMEZAXIS:                             // z-axis of object's frame
-    // get xpos and xmat pointers for object frame
-    get_xpos_xmat(d, objtype, objid, i, &xpos, &xmat);
-
-    // reference frame unspecified: global frame
-    if (refid == -1) {
-      if (type == mjSENS_FRAMEPOS) {
-        mju_copy3(sensordata, xpos);
-      } else {
-        // offset = (0 or 1 or 2) for (x or y or z)-axis sensors, respectively
-        int offset = type - mjSENS_FRAMEXAXIS;
-        sensordata[0] = xmat[offset+0];
-        sensordata[1] = xmat[offset+3];
-        sensordata[2] = xmat[offset+6];
-      }
-    }
-
-    // reference frame specified
-    else {
-      get_xpos_xmat(d, reftype, refid, i, &xpos_ref, &xmat_ref);
-      if (type == mjSENS_FRAMEPOS) {
-        mju_sub3(rvec, xpos, xpos_ref);
-        mju_mulMatTVec3(sensordata, xmat_ref, rvec);
-      } else {
-        // offset = (0 or 1 or 2) for (x or y or z)-axis sensors, respectively
-        int offset = type - mjSENS_FRAMEXAXIS;
-        mjtNum axis[3] = {xmat[offset], xmat[offset+3], xmat[offset+6]};
-        mju_mulMatTVec3(sensordata, xmat_ref, axis);
-      }
-    }
-    break;
-
-  case mjSENS_FRAMEQUAT:                              // orientation quaternion
-  {
-    // get global object quaternion
-    mjtNum objquat[4];
-    get_xquat(m, d, objtype, objid, i, objquat);
-
-    // reference frame unspecified: copy object quaternion
-    if (refid == -1) {
-      mju_copy4(sensordata, objquat);
-    } else {
-      // reference frame specified, get global reference quaternion
-      mjtNum refquat[4];
-      get_xquat(m, d, reftype, refid, i, refquat);
-
-      // relative quaternion
-      mju_negQuat(refquat, refquat);
-      mju_mulQuat(sensordata, refquat, objquat);
-    }
-  }
-  break;
-
-  case mjSENS_SUBTREECOM:                             // subtree center of mass
-    mju_copy3(sensordata, d->subtree_com+3*objid);
-    break;
-
-  case mjSENS_INSIDESITE:                             // 1 if object is inside site
-    get_xpos_xmat(d, objtype, objid, i, &xpos, &xmat);
-
-    // for massless bodies with positive subtree mass (e.g., flex parents),
-    // xipos is the static body frame origin; use subtree_com instead
-    if (objtype == mjOBJ_BODY && objid > 0 &&
-        m->body_mass[objid] < mjMINVAL &&
-        m->body_subtreemass[objid] >= mjMINVAL) {
-      xpos = d->subtree_com + 3*objid;
-    }
-
-    sensordata[0] = mju_insideGeom(d->site_xpos + 3*refid,
-                                   d->site_xmat + 9*refid,
-                                   m->site_size + 3*refid,
-                                   m->site_type[refid],
-                                   xpos);
-    break;
-
-  case mjSENS_GEOMDIST:                               // signed distance between two geoms
-  case mjSENS_GEOMNORMAL:                             // normal direction between two geoms
-  case mjSENS_GEOMFROMTO:                             // segment between two geoms
-    {
-      mjtNum cutoff = m->sensor_cutoff[i];
-
-      // initialize outputs
-      mjtNum dist = cutoff;    // collision distance
-      mjtNum fromto[6] = {0};  // segment between geoms
-
-      // get lists of geoms to collide
-      int n1, id1;
-      if (objtype == mjOBJ_BODY) {
-        n1 = m->body_geomnum[objid];
-        id1 = m->body_geomadr[objid];
-      } else {
-        n1 = 1;
-        id1 = objid;
-      }
-      int n2, id2;
-      if (reftype == mjOBJ_BODY) {
-        n2 = m->body_geomnum[refid];
-        id2 = m->body_geomadr[refid];
-      } else {
-        n2 = 1;
-        id2 = refid;
-      }
-
-      // collide all pairs
-      for (int geom1=id1; geom1 < id1+n1; geom1++) {
-        for (int geom2=id2; geom2 < id2+n2; geom2++) {
-          mjtNum fromto_new[6] = {0};
-          mjtNum dist_new = mj_geomDistance(m, d, geom1, geom2, cutoff, fromto_new);
-          if (dist_new < dist) {
-            dist = dist_new;
-            mju_copy(fromto, fromto_new, 6);
-          }
-        }
-      }
-
-      // write data
-      if (type == mjSENS_GEOMDIST) {
-        sensordata[0] = dist;
-      } else if (type == mjSENS_GEOMNORMAL) {
-        mjtNum normal[3] = {fromto[3]-fromto[0], fromto[4]-fromto[1], fromto[5]-fromto[2]};
-        if (normal[0] || normal[1] || normal[2]) {
-          mju_normalize3(normal);
-        }
-        mju_copy3(sensordata, normal);
-      } else {  // mjSENS_GEOMFROMTO
-        mju_copy(sensordata, fromto, 6);
-      }
-    }
-    break;
-
-  case mjSENS_E_POTENTIAL:                            // potential energy
-    if (!d->flg_energypos) {
-      mj_energyPos(m, d);
-    }
-    sensordata[0] = d->energy[0];
-    break;
-
-  case mjSENS_E_KINETIC:                              // kinetic energy
-    if (!d->flg_energyvel) {
-      mj_energyVel(m, d);
-    }
-    sensordata[0] = d->energy[1];
-    break;
-
-  case mjSENS_CLOCK:                                  // simulation time
-    sensordata[0] = d->time;
-    break;
-
-  default:
-    mjERROR("invalid sensor type in POS stage, sensor %d", i);
-  }
-}
-
-
-// compute velocity-stage sensor value, write to data buffer
-static void mj_computeSensorVel(const mjModel* m, mjData* d, int i, mjtNum* sensordata) {
-  int ne = d->ne, nf = d->nf, nefc = d->nefc;
-  mjtSensor type = (mjtSensor)m->sensor_type[i];
-  int objtype = m->sensor_objtype[i];
-  int objid = m->sensor_objid[i];
-  int refid = m->sensor_refid[i];
-  int reftype = m->sensor_reftype[i];
-
-  mjtNum xvel[6];
-
-  // call mj_subtreeVel for sensors that need it (unless already computed)
-  if (!d->flg_subtreevel &&
-      (type == mjSENS_SUBTREELINVEL || type == mjSENS_SUBTREEANGMOM)) {
-    mj_subtreeVel(m, d);
-  }
-
-  // process according to type
-  switch (type) {
-  case mjSENS_VELOCIMETER:                            // velocimeter
-    // xvel = site velocity, in site frame
-    mj_objectVelocity(m, d, mjOBJ_SITE, objid, xvel, 1);
-
-    // assign linear velocity
-    mju_copy3(sensordata, xvel+3);
-    break;
-
-  case mjSENS_GYRO:                                   // gyro
-    // xvel = site velocity, in site frame
-    mj_objectVelocity(m, d, mjOBJ_SITE, objid, xvel, 1);
-
-    // assign angular velocity
-    mju_copy3(sensordata, xvel);
-    break;
-
-  case mjSENS_JOINTVEL:                               // joint velocity
-    sensordata[0] = d->qvel[m->jnt_dofadr[objid]];
-    break;
-
-  case mjSENS_TENDONVEL:                              // tendon velocity
-    sensordata[0] = d->ten_velocity[objid];
-    break;
-
-  case mjSENS_ACTUATORVEL:                            // actuator velocity, one per output
-    mju_copy(sensordata, d->actuator_velocity + m->actuator_outadr[objid], m->sensor_dim[i]);
-    break;
-
-  case mjSENS_BALLANGVEL:                             // ball joint angular velocity
-    mju_copy3(sensordata, d->qvel+m->jnt_dofadr[objid]);
-    break;
-
-  case mjSENS_JOINTLIMITVEL:                          // joint limit velocity
-    sensordata[0] = 0;
-    for (int j=ne+nf; j < nefc; j++) {
-      if (d->efc_type[j] == mjCNSTR_LIMIT_JOINT && d->efc_id[j] == objid) {
-        sensordata[0] = d->efc_vel[j];
-        break;
-      }
-    }
-    break;
-
-  case mjSENS_TENDONLIMITVEL:                         // tendon limit velocity
-    sensordata[0] = 0;
-    for (int j=ne+nf; j < nefc; j++) {
-      if (d->efc_type[j] == mjCNSTR_LIMIT_TENDON && d->efc_id[j] == objid) {
-        sensordata[0] = d->efc_vel[j];
-        break;
-      }
-    }
-    break;
-
-  case mjSENS_FRAMELINVEL:                            // 3D linear velocity
-  case mjSENS_FRAMEANGVEL:                            // 3D angular velocity
-    // xvel = 6D object velocity, in global frame
-    mj_objectVelocity(m, d, objtype, objid, xvel, 0);
-
-    if (refid > -1) {  // reference frame specified
-      mjtNum *xpos, *xmat, *xpos_ref, *xmat_ref, xvel_ref[6], rel_vel[6], cross[3], rvec[3];
-
-      // in global frame: object and reference position, reference orientation and velocity
-      get_xpos_xmat(d, objtype, objid, i, &xpos, &xmat);
-      get_xpos_xmat(d, reftype, refid, i, &xpos_ref, &xmat_ref);
-      mj_objectVelocity(m, d, reftype, refid, xvel_ref, 0);
-
-      // subtract velocities
-      mju_sub(rel_vel, xvel, xvel_ref, 6);
-
-      // linear velocity: add correction due to rotating reference frame
-      mju_sub3(rvec, xpos, xpos_ref);
-      mju_cross(cross, rvec, xvel_ref);
-      mju_addTo3(rel_vel+3, cross);
-
-      // project into reference frame
-      mju_mulMatTVec3(xvel, xmat_ref, rel_vel);
-      mju_mulMatTVec3(xvel+3, xmat_ref, rel_vel+3);
-    }
-
-    // copy linear or angular component
-    if (type == mjSENS_FRAMELINVEL) {
-      mju_copy3(sensordata, xvel+3);
-    } else {
-      mju_copy3(sensordata, xvel);
-    }
-    break;
-
-  case mjSENS_SUBTREELINVEL:                          // subtree linear velocity
-    mju_copy3(sensordata, d->subtree_linvel+3*objid);
-    break;
-
-  case mjSENS_SUBTREEANGMOM:                          // subtree angular momentum
-    mju_copy3(sensordata, d->subtree_angmom+3*objid);
-    break;
-
-  default:
-    mjERROR("invalid type in VEL stage, sensor %d", i);
-  }
-}
-
-
-// compute acceleration-stage sensor value, write to data buffer
-static void mj_computeSensorAcc(const mjModel* m, mjData* d, int i, mjtNum* sensordata) {
-  int ne = d->ne, nf = d->nf, nefc = d->nefc, nactuator = m->nactuator;
-  mjtSensor type = (mjtSensor)m->sensor_type[i];
-  int objtype = m->sensor_objtype[i];
-  int objid = m->sensor_objid[i];
-
-  mjtNum tmp[6], conforce[6], conray[3], frc;
-  const mjContact* con;
-  int rootid, bodyid;
-
-  // call mj_rnePostConstraint for sensors that need it (unless already computed)
-  if (!d->flg_rnepost &&
-      (type == mjSENS_ACCELEROMETER ||
-       type == mjSENS_FORCE         ||
-       type == mjSENS_TORQUE        ||
-       type == mjSENS_FRAMELINACC   ||
-       type == mjSENS_FRAMEANGACC)) {
-    mj_rnePostConstraint(m, d);
-  }
-
-  // process according to type
-  switch (type) {
-  case mjSENS_TOUCH:                                  // touch
-    // extract body data
-    bodyid = m->site_bodyid[objid];
-
-    // clear result
-    sensordata[0] = 0;
-
-    // find contacts in sensor zone, add normal forces
-    for (int j=0; j < d->ncon; j++) {
-      // contact pointer, contacting bodies  (-1 for flex)
-      con = d->contact + j;
-      int conbody[2];
-      for (int k=0; k < 2; k++) {
-        conbody[k] = (con->geom[k] >= 0)
-            ? m->geom_bodyid[con->geom[k]]
-            : mj_flexBody(m, con, k);
-      }
-
-      // select contacts involving sensorized body
-      if (con->efc_address >= 0 && (bodyid == conbody[0] || bodyid == conbody[1])) {
-        // get contact force:torque in contact frame
-        mj_contactForce(m, d, j, conforce);
-
-        // nothing to do if normal is zero
-        if (conforce[0] <= 0) {
-          continue;
-        }
-
-        // convert contact normal force to global frame, normalize
-        mju_scl3(conray, con->frame, conforce[0]);
-        mju_normalize3(conray);
-
-        // flip ray direction if sensor is on body2
-        if (bodyid == conbody[1]) {
-          mju_scl3(conray, conray, -1);
-        }
-
-        // add if ray-zone intersection (always true when con->pos inside zone)
-        if (mju_rayGeom(d->site_xpos+3*objid, d->site_xmat+9*objid,
-                        m->site_size+3*objid, con->pos, conray,
-                        m->site_type[objid], NULL) >= 0) {
-          sensordata[0] += conforce[0];
-        }
-      }
-    }
-    break;
-
-  case mjSENS_CONTACT:                                // contact
-    {
-      // local reduce enum for readability
-      enum {
-        REDUCE_NONE     = 0,
-        REDUCE_MINDIST  = 1,
-        REDUCE_MAXFORCE = 2,
-        REDUCE_NETFORCE = 3,
-      };
-
-      // prepare sizes and indices
-      int dataspec = m->sensor_intprm[i*mjNSENS];
-      int size = mju_condataSize(dataspec);  // size of each slot
-      int dim = m->sensor_dim[i];            // total sensor array dimension
-      int num = dim / size;                  // number of slots
-      int reftype = m->sensor_reftype[i];
-      int refid = m->sensor_refid[i];
-      int reduce = m->sensor_intprm[i*mjNSENS+1];
-
-      // clear all outputs, prepare data pointers
-      mju_zero(sensordata, dim);
-      mjtNum* data[mjNCONDATA] = {NULL};
-      for (int j=0; j < mjNCONDATA; j++) {
-        if (dataspec & (1 << j)) {
-          data[j] = sensordata;
-          sensordata += mjCONDATA_SIZE[j];
-        }
-      }
-
-      // prepare for matching loop
-      int nmatch = 0;
-      mj_markStack(d);
-      ContactInfo *match = mjSTACKALLOC(d, d->ncon, ContactInfo);
-
-      // find matching contacts
-      for (int j=0; j < d->ncon; j++) {
-        // check match condition
-        int match_j = matchContact(m, d, j, objtype, objid, reftype, refid);
-        if (!match_j) {
-          continue;
-        }
-
-        // save id and flip flag
-        match[nmatch].id = j;
-        match[nmatch].flip = match_j < 0;
-
-        // save sorting criterion, if required
-        if (reduce == REDUCE_MINDIST) {
-          match[nmatch].criterion = d->contact[j].dist;
-        } else if (reduce == REDUCE_MAXFORCE) {
-          mjtNum forcetorque[6];
-          mj_contactForce(m, d, j, forcetorque);
-          match[nmatch].criterion = -mju_dot3(forcetorque, forcetorque);
-        }
-
-        // increment number of matching contacts
-        nmatch++;
-      }
-
-      // number of slots to be filled
-      int nslot = mjMIN(num, nmatch);
-
-      // partial sort to get bottom nslot contacts if sorted reduction
-      if (reduce == REDUCE_MINDIST || reduce == REDUCE_MAXFORCE) {
-        ContactInfo *heap = mjSTACKALLOC(d, nslot, ContactInfo);
-        ContactSelect(match, heap, nmatch, nslot, NULL);
-      }
-
-      // netforce reduction
-      else if (reduce == REDUCE_NETFORCE) {
-        mjtNum *wrench = mjSTACKALLOC(d, nmatch * 6, mjtNum);
-        mjtNum *pos = mjSTACKALLOC(d, nmatch * 3, mjtNum);
-        mjtNum *frame = mjSTACKALLOC(d, nmatch * 9, mjtNum);
-
-        // precompute wrenches, positions, and frames, maybe flip wrench
-        for (int j=0; j < nmatch; j++) {
-          int conid = match[j].id;
-          mj_contactForce(m, d, conid, wrench + 6*j);
-          mju_copy3(pos + 3*j, d->contact[conid].pos);
-          mju_copy9(frame + 9*j, d->contact[conid].frame);
-          if (match[j].flip) {
-            mju_scl(wrench + 6*j , wrench + 6*j, -1, 6);
-          }
-        }
-
-        // compute point: force-weighted centroid of contact positions
-        mjtNum point[3] = {0};
-        mjtNum total_force = 0;
-        for (int j=0; j < nmatch; j++) {
-          mjtNum weight = mju_norm3(wrench + 6*j);
-          mju_addToScl3(point, pos + 3*j, weight);
-          total_force += weight;
-        }
-        mju_scl3(point, point, 1.0 / mjMAX(total_force, mjMINVAL));
-
-        // compute total wrench about point, in the global frame
-        mjtNum force[3], torque[3];
-        total_wrench(force, torque, point, nmatch, wrench, pos, frame);
-
-        // write data to slot 0
-        if (data[mjCONDATA_FOUND])   *data[mjCONDATA_FOUND] = nmatch;
-        if (data[mjCONDATA_FORCE])   mju_copy3(data[mjCONDATA_FORCE], force);
-        if (data[mjCONDATA_TORQUE])  mju_copy3(data[mjCONDATA_TORQUE], torque);
-        if (data[mjCONDATA_DIST])    *data[mjCONDATA_DIST] = 0;
-        if (data[mjCONDATA_POS])     mju_copy3(data[mjCONDATA_POS], point);
-        if (data[mjCONDATA_NORMAL])  data[mjCONDATA_NORMAL][0] = 1;
-        if (data[mjCONDATA_TANGENT]) data[mjCONDATA_TANGENT][1] = 1;
-
-        // done with this sensor
-        mj_freeStack(d);
-        break;
-      }
-
-      // copy data into slots, increment pointers
-      for (int j=0; j < nslot; j++) {
-        copySensorData(m, d, data, match[j].id, match[j].flip, nmatch);
-        for (int k=0; k < mjNCONDATA; k++) {
-          if (data[k]) data[k] += size;
-        }
-      }
-
-      mj_freeStack(d);
-    }
-    break;
-
-  case mjSENS_TACTILE:                                // tactile
-    {
-      mj_markStack(d);
-
-      // get parent weld id
-      int mesh_id = m->sensor_objid[i];
-      int geom_id = m->sensor_refid[i];
-      int parent_body = m->geom_bodyid[geom_id];
-      int parent_weld = m->body_weldid[parent_body];
-      int nchannel = m->sensor_dim[i] / m->mesh_vertnum[mesh_id];
-
-      // clear sensordata and distance matrix
-      mju_zero(sensordata, m->sensor_dim[i]);
-
-      // count contacts and get contact geom ids
-      // TODO: use a more efficient C version of unordered_set
-      int* contact_geom_ids = mj_stackAllocInt(d, d->ncon);
-      int ncontact = 0;
-      for (int k = 0; k < d->ncon; k++) {
-        int body1 = (d->contact[k].geom1 >= 0)
-            ? m->body_weldid[m->geom_bodyid[d->contact[k].geom1]]
-            : m->body_weldid[mj_flexBody(m, &d->contact[k], 0)];
-        int body2 = (d->contact[k].geom2 >= 0)
-            ? m->body_weldid[m->geom_bodyid[d->contact[k].geom2]]
-            : m->body_weldid[mj_flexBody(m, &d->contact[k], 1)];
-        if (body1 == parent_weld) {
-          int add = 1;
-          for (int j = 0; j < ncontact; j++) {
-            if (contact_geom_ids[j] == d->contact[k].geom2) {
-              add = 0;
-              break;
-            }
-          }
-          if (add) {
-            contact_geom_ids[ncontact] = d->contact[k].geom2;
-            ncontact++;
-          }
-        }
-        if (body2 == parent_weld) {
-          int add = 1;
-          for (int j = 0; j < ncontact; j++) {
-            if (contact_geom_ids[j] == d->contact[k].geom1) {
-              add = 0;
-              break;
-            }
-          }
-          if (add) {
-            contact_geom_ids[ncontact] = d->contact[k].geom1;
-            ncontact++;
-          }
-        }
-      }
-
-      // no contacts, return
-      if (ncontact == 0) {
-        mj_freeStack(d);
-        break;
-      }
-
-      // all of the quadrature points are contact points
-      int ncon = m->mesh_vertnum[mesh_id];
-
-      // allocate contact forces and positions
-      mjtNum* forcesT = mj_stackAllocNum(d, ncon*3);
-      mju_zero(forcesT, ncon*3);
-
-      // threshold for parallelization (taxel count below which sequential is faster)
-      const int kTactileParallelThreshold = 1000;
-
-      // parallel path: use mj_batch to process taxel batches
-      int nthread = mju_numThread(d);
-      if (nthread > 0 && ncon >= kTactileParallelThreshold) {
-        int batch_size = (ncon + nthread - 1) / nthread;
-        int ntask = (ncon + batch_size - 1) / batch_size;
-
-        mjTactileTaskArgs* task_args = mjSTACKALLOC(d, ntask, mjTactileTaskArgs);
-
-        for (int t = 0; t < ntask; t++) {
-          task_args[t].sensor_id = i;
-          task_args[t].mesh_id = mesh_id;
-          task_args[t].geom_id = geom_id;
-          task_args[t].parent_weld = parent_weld;
-          task_args[t].ncontact = ncontact;
-          task_args[t].nchannel = nchannel;
-          task_args[t].contact_geom_ids = contact_geom_ids;
-          task_args[t].start_taxel = t * batch_size;
-          task_args[t].end_taxel = mju_min((t+1) * batch_size, ncon);
-          task_args[t].forcesT = forcesT;
-        }
-
-        mju_dispatch(m, d, tactileTask, task_args, ntask);
-      }
-      // sequential path: call tactile_taxel_batch with full range
-      else {
-        mjTactileTaskArgs args;
-        args.sensor_id = i;
-        args.mesh_id = mesh_id;
-        args.geom_id = geom_id;
-        args.parent_weld = parent_weld;
-        args.ncontact = ncontact;
-        args.nchannel = nchannel;
-        args.contact_geom_ids = contact_geom_ids;
-        args.start_taxel = 0;
-        args.end_taxel = ncon;
-        args.forcesT = forcesT;
-        tactile_taxel_batch(m, d, &args);
-      }
-
-      // compute sensor output
-      for (int c = 0; c < nchannel; c++) {
-        if (!mju_isZero(forcesT + c*ncon, ncon)) {
-          mju_addTo(sensordata + c*ncon, forcesT + c*ncon, ncon);
-        }
-      }
-
-      mj_freeStack(d);
-    }
-    break;
-
-  case mjSENS_ACCELEROMETER:                          // accelerometer
-    // tmp = site acceleration, in site frame
-    mj_objectAcceleration(m, d, mjOBJ_SITE, objid, tmp, 1);
-
-    // assign linear acceleration
-    mju_copy3(sensordata, tmp+3);
-    break;
-
-  case mjSENS_FORCE:                                  // force
-    // extract body data
-    bodyid = m->site_bodyid[objid];
-    rootid = m->body_rootid[bodyid];
-
-    // tmp = interaction force between body and parent, in site frame
-    mju_transformSpatial(tmp, d->cfrc_int+6*bodyid, 1,
-                         d->site_xpos+3*objid, d->subtree_com+3*rootid, d->site_xmat+9*objid);
-
-    // assign force
-    mju_copy3(sensordata, tmp+3);
-    break;
-
-  case mjSENS_TORQUE:                                 // torque
-    // extract body data
-    bodyid = m->site_bodyid[objid];
-    rootid = m->body_rootid[bodyid];
-
-    // tmp = interaction force between body and parent, in site frame
-    mju_transformSpatial(tmp, d->cfrc_int+6*bodyid, 1,
-                         d->site_xpos+3*objid, d->subtree_com+3*rootid, d->site_xmat+9*objid);
-
-    // assign torque
-    mju_copy3(sensordata, tmp);
-    break;
-
-  case mjSENS_ACTUATORFRC:                            // actuator force, one per output
-    mju_copy(sensordata, d->actuator_force + m->actuator_outadr[objid], m->sensor_dim[i]);
-    break;
-
-  case mjSENS_JOINTACTFRC:                            // actuator force at joint
-    sensordata[0] = d->qfrc_actuator[m->jnt_dofadr[objid]];
-    break;
-
-  case mjSENS_TENDONACTFRC:                           // actuator force at tendon
-    frc = 0.0;
-    for (int j=0; j < nactuator; j++) {
-      if (m->actuator_trntype[j] == mjTRN_TENDON && m->actuator_trnid[2*j] == objid) {
-        frc += d->actuator_force[m->actuator_outadr[j]];
-      }
-    }
-    sensordata[0] = frc;
-    break;
-
-  case mjSENS_JOINTLIMITFRC:                          // joint limit force
-    sensordata[0] = 0;
-    for (int j=ne+nf; j < nefc; j++) {
-      if (d->efc_type[j] == mjCNSTR_LIMIT_JOINT && d->efc_id[j] == objid) {
-        sensordata[0] = d->efc_force[j];
-        break;
-      }
-    }
-    break;
-
-  case mjSENS_TENDONLIMITFRC:                         // tendon limit force
-    sensordata[0] = 0;
-    for (int j=ne+nf; j < nefc; j++) {
-      if (d->efc_type[j] == mjCNSTR_LIMIT_TENDON && d->efc_id[j] == objid) {
-        sensordata[0] = d->efc_force[j];
-        break;
-      }
-    }
-    break;
-
-  case mjSENS_FRAMELINACC:                            // 3D linear acceleration
-  case mjSENS_FRAMEANGACC:                            // 3D angular acceleration
-    // get 6D object acceleration, in global frame
-    mj_objectAcceleration(m, d, objtype, objid, tmp, 0);
-
-    // copy linear or angular component
-    if (type == mjSENS_FRAMELINACC) {
-      mju_copy3(sensordata, tmp+3);
-    } else {
-      mju_copy3(sensordata, tmp);
-    }
-    break;
-
-  default:
-    mjERROR("invalid type in ACC stage, sensor %d", i);
-  }
-}
-
-
-// compute value for one sensor, write to sensordata, apply cutoff
-void mj_computeSensor(const mjModel* m, mjData* d, int i, mjtNum* sensordata) {
-  switch (m->sensor_needstage[i]) {
-  case mjSTAGE_POS:
-    mj_computeSensorPos(m, d, i, sensordata);
-    break;
-
-  case mjSTAGE_VEL:
-    mj_computeSensorVel(m, d, i, sensordata);
-    break;
-
-  case mjSTAGE_ACC:
-    mj_computeSensorAcc(m, d, i, sensordata);
-    break;
-
-  default:
-    mjERROR("invalid sensor stage for sensor %d", i);
-  }
-
-  // apply cutoff
-  apply_cutoff(m, i, sensordata);
-}
-
-
-// compute sensor or read from history buffer (handles delay and interval logic)
-static void compute_or_read_sensor(const mjModel* m, mjData* d, int i, mjtNum* sensordata) {
-  int nsample = m->sensor_history[2*i];
-
-  // no history: compute directly
-  if (nsample <= 0) {
-    mj_computeSensor(m, d, i, sensordata);
-    return;
-  }
-
-  mjtNum delay = m->sensor_delay[i];
-  int dim = m->sensor_dim[i];
-
-  // delay > 0: read delayed value from buffer
-  if (delay > 0) {
-    int interp = m->sensor_history[2*i+1];
-    const mjtNum* ptr = mj_readSensor(m, d, i, d->time, sensordata, interp);
-    if (ptr) mju_copy(sensordata, ptr, dim);
-    return;
-  }
-
-  // interval > 0: compute if interval condition satisfied, else read from buffer
-  mjtNum interval = m->sensor_interval[2*i];
-  if (interval > 0) {
-    int historyadr = m->sensor_historyadr[i];
-    mjtNum* buf = d->history + historyadr;
-    mjtNum time_prev = buf[0];  // first slot stores time_prev
-
-    if (time_prev + interval <= d->time) {
-      // interval condition satisfied: compute new sensor value
-      mj_computeSensor(m, d, i, sensordata);
-    } else {
-      // interval condition not satisfied: read from buffer
-      int interp = m->sensor_history[2*i+1];
-      const mjtNum* ptr = mj_readSensor(m, d, i, d->time, sensordata, interp);
-      if (ptr) mju_copy(sensordata, ptr, dim);
-    }
-    return;
-  }
-
-  // history only, no delay or interval: compute directly
-  mj_computeSensor(m, d, i, sensordata);
-}
-
-
-// compute user sensors: call user callback and apply cutoff
-static void compute_user_sensors(const mjModel* m, mjData* d, mjtStage stage) {
-  if (mjcb_sensor) {
-    mjcb_sensor(m, d, stage);
-  }
-
-  // apply cutoff to user sensors
-  for (int i=0; i < m->nsensor; i++) {
-    if (m->sensor_type[i] == mjSENS_USER && m->sensor_needstage[i] == stage) {
-      apply_cutoff(m, i, d->sensordata + m->sensor_adr[i]);
-    }
-  }
-}
-
-
-// compute plugin sensors: call plugin compute and apply cutoff
-static void compute_plugin_sensors(const mjModel* m, mjData* d, mjtStage stage) {
-  if (!m->nplugin) {
-    return;
-  }
-
-  const int nslot = mjp_pluginCount();
-  for (int i=0; i < m->nplugin; i++) {
-    const int slot = m->plugin[i];
-    const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
-    if (!plugin) {
-      mjERROR("invalid plugin slot: %d", slot);
-    }
-
-    // check if plugin is a sensor plugin matching this stage
-    if (!(plugin->capabilityflags & mjPLUGIN_SENSOR)) {
-      continue;
-    }
-    // match if needstage equals stage, OR stage is POS and needstage is NONE
-    int matches_stage = (plugin->needstage == stage) ||
-                        (stage == mjSTAGE_POS && plugin->needstage == mjSTAGE_NONE);
-    if (!matches_stage) {
-      continue;
-    }
-
-    if (!plugin->compute) {
-      mjERROR("`compute` is a null function pointer for plugin at slot %d", slot);
-    }
-
-    // call stage-specific preparation if needed
-    // TODO(b/247107630): add a flag to allow plugin to specify whether it actually needs this
-    if (stage == mjSTAGE_VEL && !d->flg_subtreevel) {
-      mj_subtreeVel(m, d);
-    } else if (stage == mjSTAGE_ACC && !d->flg_rnepost) {
-      mj_rnePostConstraint(m, d);
-    }
-
-    plugin->compute(m, d, i, mjPLUGIN_SENSOR);
-
-    // apply cutoff to all sensors attached to this plugin
-    for (int j=0; j < m->nsensor; j++) {
-      if (m->sensor_type[j] == mjSENS_PLUGIN &&
-          m->sensor_plugin[j] == i &&
-          m->sensor_needstage[j] == stage) {
-        apply_cutoff(m, j, d->sensordata + m->sensor_adr[j]);
-      }
-    }
-  }
-}
-
-
-// position-dependent sensors
-void mj_sensorPos(const mjModel* m, mjData* d) {
-  int nsensor = m->nsensor;
-  int nusersensor = 0;
-
-  // disabled sensors: return
-  if (mjDISABLED(mjDSBL_SENSOR)) {
-    return;
-  }
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-
-  // process sensors matching stage
-  for (int i=0; i < nsensor; i++) {
-    mjtSensor type = (mjtSensor) m->sensor_type[i];
-
-    // skip sleeping sensor
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_SENSOR, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    // skip sensor plugins -- these are handled after builtin sensor types
-    if (type == mjSENS_PLUGIN) {
-      continue;
-    }
-
-    if (m->sensor_needstage[i] == mjSTAGE_POS) {
-      int adr = m->sensor_adr[i];
-      mjtNum* sensordata = d->sensordata + adr;
-
-      if (type == mjSENS_USER) {
-        // clear result, compute later
-        mju_zero(sensordata, m->sensor_dim[i]);
-        nusersensor++;
-      } else {
-        compute_or_read_sensor(m, d, i, sensordata);
-      }
-    }
-  }
-
-  // fill in user sensors if detected
-  if (nusersensor) {
-    compute_user_sensors(m, d, mjSTAGE_POS);
-  }
-
-  // compute plugin sensor values
-  compute_plugin_sensors(m, d, mjSTAGE_POS);
-}
-
-
-// velocity-dependent sensors
-void mj_sensorVel(const mjModel* m, mjData* d) {
-  int nusersensor = 0;
-
-  // disabled sensors: return
-  if (mjDISABLED(mjDSBL_SENSOR)) {
-    return;
-  }
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-
-  // process sensors matching stage
-  for (int i=0; i < m->nsensor; i++) {
-    // skip sensor plugins -- these are handled after builtin sensor types
-    if (m->sensor_type[i] == mjSENS_PLUGIN) {
-      continue;
-    }
-
-    // skip sleeping sensor
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_SENSOR, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    if (m->sensor_needstage[i] == mjSTAGE_VEL) {
-      mjtSensor type = m->sensor_type[i];
-      int adr = m->sensor_adr[i];
-      mjtNum* sensordata = d->sensordata + adr;
-
-      if (type == mjSENS_USER) {
-        // call mj_subtreeVel for user sensors
-        if (!d->flg_subtreevel) {
-          mj_subtreeVel(m, d);
-        }
-
-        // clear result, compute later
-        mju_zero(sensordata, m->sensor_dim[i]);
-        nusersensor++;
-      } else {
-        compute_or_read_sensor(m, d, i, sensordata);
-      }
-    }
-  }
-
-  // fill in user sensors if detected
-  if (nusersensor) {
-    compute_user_sensors(m, d, mjSTAGE_VEL);
-  }
-
-  // trigger computation of plugins
-  compute_plugin_sensors(m, d, mjSTAGE_VEL);
-}
-
-
-// acceleration/force-dependent sensors
-void mj_sensorAcc(const mjModel* m, mjData* d) {
-  int nusersensor = 0;
-
-  // disabled sensors: return
-  if (mjDISABLED(mjDSBL_SENSOR)) {
-    return;
-  }
-
-  // sleep filtering
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-
-  // process sensors matching stage
-  for (int i=0; i < m->nsensor; i++) {
-    // skip sleeping sensor
-    if (sleep_filter && mj_sleepState(m, d, mjOBJ_SENSOR, i) == mjS_ASLEEP) {
-      continue;
-    }
-
-    // skip sensor plugins -- these are handled after builtin sensor types
-    if (m->sensor_type[i] == mjSENS_PLUGIN) {
-      continue;
-    }
-
-    if (m->sensor_needstage[i] == mjSTAGE_ACC) {
-      mjtSensor type = m->sensor_type[i];
-      int adr = m->sensor_adr[i];
-      mjtNum* sensordata = d->sensordata + adr;
-
-      if (type == mjSENS_USER) {
-        // call mj_rnePostConstraint for user sensors
-        if (!d->flg_rnepost) {
-          mj_rnePostConstraint(m, d);
-        }
-
-        // clear result, compute later
-        mju_zero(sensordata, m->sensor_dim[i]);
-        nusersensor++;
-      } else {
-        compute_or_read_sensor(m, d, i, sensordata);
-      }
-    }
-  }
-
-  // fill in user sensors if detected
-  if (nusersensor) {
-    compute_user_sensors(m, d, mjSTAGE_ACC);
-  }
-
-  // trigger computation of plugins
-  compute_plugin_sensors(m, d, mjSTAGE_ACC);
-}
-
-
-//-------------------------------- energy ----------------------------------------------------------
-
-// position-dependent energy (potential)
-void mj_energyPos(const mjModel* m, mjData* d) {
-  int padr;
-  mjtNum dif[3], quat[4], stiffness, x;
-
-  // init potential energy:  -sum_i body(i).mass * mju_dot(body(i).pos, gravity)
-  d->energy[0] = 0;
-  if (!mjDISABLED(mjDSBL_GRAVITY)) {
-    for (int i=1; i < m->nbody; i++) {
-      d->energy[0] -= m->body_mass[i] * mju_dot3(m->opt.gravity, d->xipos+3*i);
-    }
-  }
-
-  int sleep_filter = mjENABLED(mjENBL_SLEEP) && d->nbody_awake < m->nbody;
-
-  // add joint-level springs
-  if (!mjDISABLED(mjDSBL_SPRING)) {
-    int nbody = m->nbody;
-    for (int b=1; b < nbody; b++) {
-      if (sleep_filter && d->body_awake[b] != mjS_AWAKE) continue;
-
-      int jnt_start = m->body_jntadr[b];
-      int jnt_end = jnt_start + m->body_jntnum[b];
-      for (int j=jnt_start; j < jnt_end; j++) {
-        stiffness = m->jnt_stiffness[j];
-        const mjtNum* poly = m->jnt_stiffnesspoly + mjNPOLY*j;
-        if (stiffness == 0 && mju_isZero(poly, mjNPOLY)) {
-          continue;
-        }
-        padr = m->jnt_qposadr[j];
-
-        switch ((mjtJoint) m->jnt_type[j]) {
-        case mjJNT_FREE:
-          mju_sub3(dif, d->qpos+padr, m->qpos_spring+padr);
-          x = mju_norm3(dif);
-          d->energy[0] += mju_polyPotential(stiffness, poly, x, mjNPOLY, 0);
-          // continue with rotations
-          padr += 3;
-          mjFALLTHROUGH;
-
-        case mjJNT_BALL:
-          // convert quaternion difference into angular "velocity"
-          mju_copy4(quat, d->qpos+padr);
-          mju_normalize4(quat);
-          mju_subQuat(dif, d->qpos + padr, m->qpos_spring + padr);
-          x = mju_norm3(dif);
-          d->energy[0] += mju_polyPotential(stiffness, poly, x, mjNPOLY, 0);
-
-          break;
-
-        case mjJNT_SLIDE:
-        case mjJNT_HINGE:
-          x = d->qpos[padr] - m->qpos_spring[padr];
-          d->energy[0] += mju_polyPotential(stiffness, poly, x, mjNPOLY, 0);
-          break;
-        }
-      }
-    }
-  }
-
-  // add tendon-level springs
-  if (!mjDISABLED(mjDSBL_SPRING)) {
-    for (int i=0; i < m->ntendon; i++) {
-      // skip sleeping or static tendon
-      if (sleep_filter && mj_sleepState(m, d, mjOBJ_TENDON, i) != mjS_AWAKE) {
-        continue;
-      }
-
-      stiffness = m->tendon_stiffness[i];
-      const mjtNum* poly = m->tendon_stiffnesspoly + mjNPOLY*i;
-      mjtNum length = d->ten_length[i];
-
-      // compute spring displacement x
-      mjtNum lower = m->tendon_lengthspring[2*i];
-      mjtNum upper = m->tendon_lengthspring[2*i+1];
-      x = (length > upper) ? length - upper : (length < lower) ? length - lower : 0;
-
-      // add potential energy
-      d->energy[0] += mju_polyPotential(stiffness, poly, x, mjNPOLY, 0);
-    }
-  }
-
-  // add flex-level springs for dim=1
-  if (!mjDISABLED(mjDSBL_SPRING)) {
-    for (int i=0; i < m->nflex; i++) {
-      stiffness = m->flex_edgestiffness[i];
-      if (m->flex_rigid[i] || stiffness == 0 || m->flex_dim[i] > 1) {
-        continue;
-      }
-
-      // process non-rigid edges of this flex
-      int flex_edgeadr = m->flex_edgeadr[i];
-      int flex_edgenum = m->flex_edgenum[i];
-      for (int e=flex_edgeadr; e < flex_edgeadr+flex_edgenum; e++) {
-        if (!m->flexedge_rigid[e]) {
-          mjtNum displacement = m->flexedge_length0[e] - d->flexedge_length[e];
-          d->energy[0] += 0.5*stiffness*displacement*displacement;
-        };
-      }
-    }
-  }
-
-  // mark as computed
-  d->flg_energypos = 1;
-}
-
-
-// velocity-dependent energy (kinetic)
-void mj_energyVel(const mjModel* m, mjData* d) {
-  mj_markStack(d);
-  mjtNum *vec = mjSTACKALLOC(d, m->nv, mjtNum);
-
-  // kinetic energy:  0.5 * qvel' * M * qvel
-  mj_mulM(m, d, vec, d->qvel);
-  d->energy[1] = 0.5*mju_dot(vec, d->qvel, m->nv);
-
-  mj_freeStack(d);
-
-  // mark as computed
-  d->flg_energyvel = 1;
-}
diff --git a/src/engine/engine_sensor.h b/src/engine/engine_sensor.h
deleted file mode 100644
index deef11f8..00000000
--- a/src/engine/engine_sensor.h
+++ /dev/null
@@ -1,53 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_SENSOR_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_SENSOR_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//-------------------------------- sensors ---------------------------------------------------------
-
-// compute value for one sensor, write to sensordata, apply cutoff
-void mj_computeSensor(const mjModel* m, mjData* d, int i, mjtNum* sensordata);
-
-// position-dependent sensors
-MJAPI void mj_sensorPos(const mjModel* m, mjData* d);
-
-// velocity-dependent sensors
-MJAPI void mj_sensorVel(const mjModel* m, mjData* d);
-
-// acceleration/force-dependent sensors
-MJAPI void mj_sensorAcc(const mjModel* m, mjData* d);
-
-
-//-------------------------------- energy ----------------------------------------------------------
-
-// position-dependent energy (potential)
-MJAPI void mj_energyPos(const mjModel* m, mjData* d);
-
-// velocity-dependent energy (kinetic)
-MJAPI void mj_energyVel(const mjModel* m, mjData* d);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_SENSOR_H_
diff --git a/src/engine/engine_setconst.c b/src/engine/engine_setconst.c
deleted file mode 100644
index a85f4bc3..00000000
--- a/src/engine/engine_setconst.c
+++ /dev/null
@@ -1,1725 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_setconst.h"
-
-#include <stdio.h>
-#include <string.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_derivative.h"
-#include "engine/engine_forward.h"
-#include "engine/engine_io.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_solve.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse.h"
-#include "engine/engine_util_spatial.h"
-
-
-// compute dof_M0 via composite rigid body algorithm
-static void mj_setM0(mjModel* m, mjData* d) {
-  mjtNum buf[6];
-  mjtNum* crb = d->crb;
-  int last_body = m->nbody - 1, nv = m->nv;
-
-  // copy cinert into crb
-  mju_copy(crb, d->cinert, 10*m->nbody);
-
-  // backward pass over bodies, accumulate composite inertias
-  for (int i=last_body; i > 0; i--) {
-    if (m->body_parentid[i] > 0) {
-      mju_addTo(crb+10*m->body_parentid[i], crb+10*i, 10);
-    }
-  }
-
-  for (int i=0; i < nv; i++) {
-    // precomute buf = crb_body_i * cdof_i
-    mju_mulInertVec(buf, crb+10*m->dof_bodyid[i], d->cdof+6*i);
-
-    // dof_M0(i) = armature inertia + cdof_i * (crb_body_i * cdof_i)
-    mjtNum armature = m->dof_armature[i] + mj_actuatorArmature(m, mjOBJ_JOINT, m->dof_jntid[i]);
-    m->dof_M0[i] = armature + mju_dot(d->cdof+6*i, buf, 6);
-  }
-}
-
-
-// helper function to get the tree id of a wrap object
-static int GetWrapBodyTreeId(const mjModel* m, int wrap_index) {
-  int bodyid = -1;
-  int objid = m->wrap_objid[wrap_index];
-  switch ((mjtWrap)m->wrap_type[wrap_index]) {
-  case mjWRAP_JOINT:
-    bodyid = m->jnt_bodyid[objid];
-    break;
-  case mjWRAP_SITE:
-    bodyid = m->site_bodyid[objid];
-    break;
-  case mjWRAP_SPHERE:
-  case mjWRAP_CYLINDER:
-    bodyid = m->geom_bodyid[objid];
-    break;
-  case mjWRAP_PULLEY:
-  case mjWRAP_NONE:
-    break;
-  }
-  return (bodyid != -1) ? m->body_treeid[bodyid] : -1;
-}
-
-
-// tolerance for frame comparison, must match compiler's kFrameEps
-static const mjtNum kSameFrameEps = 1e-6;
-
-
-// return 1 if all 3 elements are near zero
-static int isNullVec3(const mjtNum v[3]) {
-  return mju_abs(v[0]) < kSameFrameEps &&
-         mju_abs(v[1]) < kSameFrameEps &&
-         mju_abs(v[2]) < kSameFrameEps;
-}
-
-
-// return 1 if quaternion is near identity (1,0,0,0), accounting for double-cover
-static int isNullQuat(const mjtNum q[4]) {
-  int plus  = mju_abs(q[0] - 1) < kSameFrameEps &&
-              mju_abs(q[1]) < kSameFrameEps &&
-              mju_abs(q[2]) < kSameFrameEps &&
-              mju_abs(q[3]) < kSameFrameEps;
-  int minus = mju_abs(q[0] + 1) < kSameFrameEps &&
-              mju_abs(q[1]) < kSameFrameEps &&
-              mju_abs(q[2]) < kSameFrameEps &&
-              mju_abs(q[3]) < kSameFrameEps;
-  return plus || minus;
-}
-
-
-// return 1 if two quaternions are near equal, accounting for double-cover
-static int isSameQuat(const mjtNum q1[4], const mjtNum q2[4]) {
-  int plus  = mju_abs(q1[0] - q2[0]) < kSameFrameEps &&
-              mju_abs(q1[1] - q2[1]) < kSameFrameEps &&
-              mju_abs(q1[2] - q2[2]) < kSameFrameEps &&
-              mju_abs(q1[3] - q2[3]) < kSameFrameEps;
-  int minus = mju_abs(q1[0] + q2[0]) < kSameFrameEps &&
-              mju_abs(q1[1] + q2[1]) < kSameFrameEps &&
-              mju_abs(q1[2] + q2[2]) < kSameFrameEps &&
-              mju_abs(q1[3] + q2[3]) < kSameFrameEps;
-  return plus || minus;
-}
-
-
-// return 1 if two 3-vectors are near equal
-static int isSameVec3(const mjtNum v1[3], const mjtNum v2[3]) {
-  return mju_abs(v1[0] - v2[0]) < kSameFrameEps &&
-         mju_abs(v1[1] - v2[1]) < kSameFrameEps &&
-         mju_abs(v1[2] - v2[2]) < kSameFrameEps;
-}
-
-
-// recompute body_sameframe, geom_sameframe, site_sameframe from model geometry
-static void setSameframe(mjModel* m) {
-  // body_sameframe: compare body inertial frame to body frame
-  for (int i=1; i < m->nbody; i++) {
-    mjtNum* ipos = m->body_ipos+3*i;
-    mjtNum* iquat = m->body_iquat+4*i;
-    if (isNullVec3(ipos) && isNullQuat(iquat)) {
-      m->body_sameframe[i] = mjSAMEFRAME_BODY;
-    } else if (isNullQuat(iquat)) {
-      m->body_sameframe[i] = mjSAMEFRAME_BODYROT;
-    } else {
-      m->body_sameframe[i] = mjSAMEFRAME_NONE;
-    }
-  }
-
-  // geom_sameframe: compare geom frame to body and inertial frames
-  for (int i=0; i < m->ngeom; i++) {
-    int b = m->geom_bodyid[i];
-    mjtNum* gpos = m->geom_pos+3*i;
-    mjtNum* gquat = m->geom_quat+4*i;
-    mjtNum* ipos = m->body_ipos+3*b;
-    mjtNum* iquat = m->body_iquat+4*b;
-    if (isNullVec3(gpos) && isNullQuat(gquat)) {
-      m->geom_sameframe[i] = mjSAMEFRAME_BODY;
-    } else if (isNullQuat(gquat)) {
-      m->geom_sameframe[i] = mjSAMEFRAME_BODYROT;
-    } else if (isSameVec3(gpos, ipos) && isSameQuat(gquat, iquat)) {
-      m->geom_sameframe[i] = mjSAMEFRAME_INERTIA;
-    } else if (isSameQuat(gquat, iquat)) {
-      m->geom_sameframe[i] = mjSAMEFRAME_INERTIAROT;
-    } else {
-      m->geom_sameframe[i] = mjSAMEFRAME_NONE;
-    }
-  }
-
-  // site_sameframe: compare site frame to body and inertial frames
-  for (int i=0; i < m->nsite; i++) {
-    int b = m->site_bodyid[i];
-    mjtNum* spos = m->site_pos+3*i;
-    mjtNum* squat = m->site_quat+4*i;
-    mjtNum* ipos = m->body_ipos+3*b;
-    mjtNum* iquat = m->body_iquat+4*b;
-    if (isNullVec3(spos) && isNullQuat(squat)) {
-      m->site_sameframe[i] = mjSAMEFRAME_BODY;
-    } else if (isNullQuat(squat)) {
-      m->site_sameframe[i] = mjSAMEFRAME_BODYROT;
-    } else if (isSameVec3(spos, ipos) && isSameQuat(squat, iquat)) {
-      m->site_sameframe[i] = mjSAMEFRAME_INERTIA;
-    } else if (isSameQuat(squat, iquat)) {
-      m->site_sameframe[i] = mjSAMEFRAME_INERTIAROT;
-    } else {
-      m->site_sameframe[i] = mjSAMEFRAME_NONE;
-    }
-  }
-}
-
-
-// set fixed quantities (do not depend on qpos0)
-static void setFixed(mjModel* m, mjData* d) {
-  mj_markStack(d);
-
-  // ----- general
-
-  // compute subtreemass
-  for (int i=0; i < m->nbody; i++) {
-    m->body_subtreemass[i] = m->body_mass[i];
-  }
-  for (int i=m->nbody-1; i > 0; i--) {
-    m->body_subtreemass[m->body_parentid[i]] += m->body_subtreemass[i];
-  }
-
-  // compute ngravcomp: number of bodies with gravity compensation
-  int ngravcomp = 0;
-  for (int i=0; i < m->nbody; i++) {
-    ngravcomp += (m->body_gravcomp[i] > 0);
-  }
-  m->ngravcomp = ngravcomp;
-  m->flg_gravcomp = (ngravcomp > 0);
-
-  // compute flg_surfacevel: whether any geom has nonzero surfacevel
-  mjtBool flg_surfacevel = 0;
-  for (int i=0; i < m->ngeom; i++) {
-    const mjtNum* sv = m->geom_surfacevel + 6*i;
-    if (sv[0] || sv[1] || sv[2] || sv[3] || sv[4] || sv[5]) {
-      flg_surfacevel = 1;
-      break;
-    }
-  }
-  m->flg_surfacevel = flg_surfacevel;
-
-  // compute flg_adhesion: whether any geom or pair has nonzero adhesion
-  mjtBool flg_adhesion = 0;
-  for (int i=0; i < m->ngeom; i++) {
-    if (m->geom_adhesion[i]) {
-      flg_adhesion = 1;
-      break;
-    }
-  }
-  for (int i=0; i < m->npair && !flg_adhesion; i++) {
-    if (m->pair_adhesion[i]) {
-      flg_adhesion = 1;
-    }
-  }
-  m->flg_adhesion = flg_adhesion;
-
-  // set jnt_actuatorid and tendon_actuatorid
-  mju_fillInt(m->jnt_actuatorid, -1, m->njnt);
-  mju_fillInt(m->tendon_actuatorid, -1, m->ntendon);
-  for (int i=0; i < m->nactuator; i++) {
-    // skip actuator with no damping and no armature
-    if (m->actuator_damping[i] == 0 &&
-        mju_isZero(m->actuator_dampingpoly+mjNPOLY*i, mjNPOLY) &&
-        m->actuator_armature[i] == 0) {
-      continue;
-    }
-
-    // joint or jointinparent transmission
-    if (m->actuator_trntype[i] == mjTRN_JOINT ||
-        m->actuator_trntype[i] == mjTRN_JOINTINPARENT) {
-      int jntid = m->actuator_trnid[2*i];
-
-      // first actuator: set id to i
-      if (m->jnt_actuatorid[jntid] == -1) {
-        m->jnt_actuatorid[jntid] = i;
-      }
-
-      // multiple actuators acting on single transmission: use -2 sentinel
-      else {
-        m->jnt_actuatorid[jntid] = -2;
-      }
-    }
-
-    // tendon transmission
-    else if (m->actuator_trntype[i] == mjTRN_TENDON) {
-      int tenid = m->actuator_trnid[2*i];
-
-      // first actuator: set id to i
-      if (m->tendon_actuatorid[tenid] == -1) {
-        m->tendon_actuatorid[tenid] = i;
-      }
-
-      // multiple actuators acting on single transmission: use -2 sentinel
-      else {
-        m->tendon_actuatorid[tenid] = -2;
-      }
-    }
-  }
-
-  // ----- tree related (body_treeid and dof_treeid already computed)
-
-  // compute body_treeid
-  for (int i=0; i < m->nbody; i++) {
-    int weldid = m->body_weldid[i];
-    if (m->body_dofnum[weldid]) {
-      m->body_treeid[i] = m->dof_treeid[m->body_dofadr[weldid]];
-    } else {
-      m->body_treeid[i] = -1;
-    }
-  }
-
-  // compute tree_bodyadr, tree_bodynum
-  mju_zeroInt(m->tree_bodynum, m->ntree);
-  int tree_current = -1;
-  for (int i=1; i < m->nbody; i++) {
-    int treeid = m->body_treeid[i];
-    if (treeid != -1) {
-      if (treeid > tree_current) {
-        m->tree_bodyadr[++tree_current] = i;
-      }
-      m->tree_bodynum[tree_current]++;
-    }
-  }
-
-  // compute tree_dofadr, tree_dofnum
-  mju_zeroInt(m->tree_dofnum, m->ntree);
-  tree_current = -1;
-  for (int i=0; i < m->nv; i++) {
-    if (m->dof_treeid[i] > tree_current) {
-      m->tree_dofadr[++tree_current] = i;
-    }
-    m->tree_dofnum[tree_current]++;
-  }
-
-  // compute tendon_treeid, tendon_treenum
-  int* tree_marker = mjSTACKALLOC(d, m->ntree, int);  // 1 if tree has been visited, 0 otherwise
-  for (int i = 0; i < m->ntendon; i++) {
-    mju_zeroInt(tree_marker, m->ntree);
-    m->tendon_treenum[i] = 0;
-    m->tendon_treeid[2*i] = -1;
-    m->tendon_treeid[2*i+1] = -1;
-
-    for (int j = m->tendon_adr[i]; j < m->tendon_adr[i] + m->tendon_num[i]; j++) {
-      int wrap_treeid = GetWrapBodyTreeId(m, j);
-      if (wrap_treeid != -1 && !tree_marker[wrap_treeid]) {
-        tree_marker[wrap_treeid] = 1;
-        if (m->tendon_treenum[i] == 0) {
-          m->tendon_treeid[2*i] = wrap_treeid;
-        } else if (m->tendon_treenum[i] == 1) {
-          m->tendon_treeid[2*i+1] = wrap_treeid;
-        }
-        m->tendon_treenum[i]++;
-      }
-    }
-  }
-
-  // ----- apply compiler AUTO tree sleep policy
-
-  // actuators: trees with any actuated joint, site, body, or tendon do not auto-sleep
-  for (int i=0; i < m->nactuator; i++) {
-    int bodyid = -1;
-    int tid = m->actuator_trnid[2*i];
-    switch ((mjtTrn)m->actuator_trntype[i]) {
-    case mjTRN_JOINT:
-    case mjTRN_JOINTINPARENT:
-      bodyid = m->jnt_bodyid[tid];
-      break;
-    case mjTRN_SO3:
-      bodyid = m->actuator_trnid[2*i+1] >= 0 ? m->site_bodyid[tid] : m->jnt_bodyid[tid];
-      break;
-    case mjTRN_SITE:
-    case mjTRN_SLIDERCRANK:
-      bodyid = m->site_bodyid[tid];
-      break;
-    case mjTRN_BODY:
-      bodyid = tid;
-      break;
-    case mjTRN_TENDON:
-      // wake all trees connected by this actuated tendon
-      for (int j = m->tendon_adr[tid]; j < m->tendon_adr[tid] + m->tendon_num[tid]; j++) {
-        int treeid = GetWrapBodyTreeId(m, j);
-        if (treeid != -1 && m->tree_sleep_policy[treeid] == mjSLEEP_AUTO) {
-          m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
-        }
-      }
-      continue;  // next actuator
-    case mjTRN_UNDEFINED:
-      continue;  // next actuator
-    }
-
-    // wake tree containing bodyid, if any
-    if (bodyid != -1) {
-      int treeid = m->body_treeid[bodyid];
-      if (treeid != -1 && m->tree_sleep_policy[treeid] == mjSLEEP_AUTO) {
-        m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
-      }
-    }
-  }
-
-  // trees with inter-tree tendons that have non-zero stiffness or damping do not auto-sleep
-  // if the tendon spans more than 2 trees.
-  for (int i=0; i < m->ntendon; i++) {
-    int treenum = m->tendon_treenum[i];
-
-    // tendon spans 1 or 0 trees: skip
-    if (treenum < 2) {
-      continue;
-    }
-
-    // tendon spans 2 trees and has no stiffness or damping: skip
-    if (treenum == 2 &&
-        m->tendon_stiffness[i] == 0 && mju_isZero(m->tendon_stiffnesspoly+mjNPOLY*i, mjNPOLY) &&
-        m->tendon_damping[i] == 0   && mju_isZero(m->tendon_dampingpoly+mjNPOLY*i, mjNPOLY) &&
-        m->tendon_actuatorid[i] == -1) {
-      continue;
-    }
-
-    // tendon spans two trees with stiffness or damping or more than two trees: wake all trees
-    mju_zeroInt(tree_marker, m->ntree);
-    for (int j = m->tendon_adr[i]; j < m->tendon_adr[i] + m->tendon_num[i]; j++) {
-      int treeid = GetWrapBodyTreeId(m, j);
-
-      // if the tree is not yet marked, mark it and wake it up
-      if (treeid != -1 && !tree_marker[treeid]) {
-        tree_marker[treeid] = 1;
-        int policy = m->tree_sleep_policy[treeid];
-
-        // mark tree as never sleeping
-        if (policy == mjSLEEP_AUTO) {
-          m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
-        }
-
-        // if the user marked it as sleepable, throw an error
-        else if (policy == mjSLEEP_ALLOWED || policy == mjSLEEP_INIT) {
-          mj_freeStack(d);
-          if (treenum > 2) {
-            mjERROR("tree %d connected to tendon %d which spans more than 2 trees, "
-                    "sleeping not allowed", treeid, i);
-          } else {
-            mjERROR("tree %d connected to tendon %d with non-zero stiffness or damping, "
-                    "sleeping not allowed", treeid, i);
-          }
-        }
-      }
-    }
-  }
-
-  // flexes: constraint-free trees are not allowed to sleep
-  for (int i = 0; i < m->nflex; ++i) {
-    // constrained flexes are allowed to sleep
-    if (m->flex_edgeequality[i]) {
-      continue;
-    }
-
-    // node-based flex
-    if (m->flex_interp[i]) {
-      int nodenum = m->flex_nodenum[i];
-      int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[i];
-      for (int j = 0; j < nodenum; ++j) {
-        int treeid = m->body_treeid[bodyid[j]];
-        if (treeid != -1 && m->tree_sleep_policy[treeid] == mjSLEEP_AUTO) {
-          m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
-        }
-      }
-    }
-
-    // vertex-based flex
-    else {
-      int vertnum = m->flex_vertnum[i];
-      int* bodyid = m->flex_vertbodyid + m->flex_vertadr[i];
-      for (int j = 0; j < vertnum; ++j) {
-        int treeid = m->body_treeid[bodyid[j]];
-        if (treeid != -1 && m->tree_sleep_policy[treeid] == mjSLEEP_AUTO) {
-          m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
-        }
-      }
-    }
-  }
-
-  // set remaining trees with mjSLEEP_AUTO policy to mjSLEEP_AUTO_ALLOWED
-  for (int i = 0; i < m->ntree; i++) {
-    if (m->tree_sleep_policy[i] == mjSLEEP_AUTO) {
-      m->tree_sleep_policy[i] = mjSLEEP_AUTO_ALLOWED;
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-// compute tendon Jacobian sparsity
-static void makeTendonSparse(mjModel* m) {
-  int ntendon = m->ntendon;
-  int* rownnz = m->ten_J_rownnz;
-  int* rowadr = m->ten_J_rowadr;
-  int* colind = m->ten_J_colind;
-
-  if (!ntendon) {
-    return;
-  }
-
-  // clear
-  mju_zeroInt(rownnz, ntendon);
-  mju_zeroInt(rowadr, ntendon);
-
-  // compute rownnz, rowadr, and colind for each tendon
-  for (int i = 0; i < ntendon; i++) {
-    rowadr[i] = (i > 0 ? rowadr[i-1] + rownnz[i-1] : 0);
-    int adr = m->tendon_adr[i];
-    int num = m->tendon_num[i];
-
-    // joint tendon: each wrap object is a joint, colind is its dofadr
-    if (m->wrap_type[adr] == mjWRAP_JOINT) {
-      for (int j = 0; j < num; j++) {
-        colind[rowadr[i] + j] = m->jnt_dofadr[m->wrap_objid[adr + j]];
-      }
-      rownnz[i] = num;
-    } else {
-      // spatial tendon: collect used dofs from wrap object bodies
-      int nnz = 0;
-      for (int j = 0; j < num; j++) {
-        int type = m->wrap_type[adr + j];
-
-        // get body id from site or geom wrap object
-        int bodyid = -1;
-        if (type == mjWRAP_SITE) {
-          bodyid = m->site_bodyid[m->wrap_objid[adr + j]];
-        } else if (type == mjWRAP_SPHERE || type == mjWRAP_CYLINDER) {
-          bodyid = m->geom_bodyid[m->wrap_objid[adr + j]];
-        }
-
-        // walk up the body tree, collecting used dofs
-        if (bodyid > 0) {
-          int bid = bodyid;
-          while (bid > 0) {
-            int bdofadr = m->body_dofadr[bid];
-            int bdofnum = m->body_dofnum[bid];
-            for (int k = 0; k < bdofnum; k++) {
-              int dof = bdofadr + k;
-
-              // check if dof already in colind
-              int found = 0;
-              for (int l = 0; l < nnz; l++) {
-                if (colind[rowadr[i] + l] == dof) {
-                  found = 1;
-                  break;
-                }
-              }
-
-              // append new dof
-              if (!found) {
-                colind[rowadr[i] + nnz] = dof;
-                nnz++;
-              }
-            }
-            bid = m->body_parentid[bid];
-          }
-        }
-      }
-      rownnz[i] = nnz;
-    }
-
-    // sort colind for this tendon
-    int nnz = rownnz[i];
-    for (int j = 0; j < nnz - 1; j++) {
-      for (int k = j + 1; k < nnz; k++) {
-        // swap out-of-order entries
-        if (colind[rowadr[i] + k] < colind[rowadr[i] + j]) {
-          int tmp = colind[rowadr[i] + j];
-          colind[rowadr[i] + j] = colind[rowadr[i] + k];
-          colind[rowadr[i] + k] = tmp;
-        }
-      }
-    }
-  }
-}
-
-// compute flex sparsity: flexedge_J_{rowadr,rownnz,colind} and flexvert_J_{rowadr,rownnz}
-static void makeFlexSparse(mjModel* m, mjData* d) {
-  int nv = m->nv;
-  int* rowadr = m->flexedge_J_rowadr;
-  int* rownnz = m->flexedge_J_rownnz;
-  int* colind = m->flexedge_J_colind;
-  int* vrowadr = m->flexvert_J_rowadr;
-  int* vrownnz = m->flexvert_J_rownnz;
-
-  if (!m->nflex) {
-    return;
-  }
-
-  mj_markStack(d);
-  int* chain = mjSTACKALLOC(d, nv, int);
-  int* chain1 = mjSTACKALLOC(d, nv, int);
-  int* chain2 = mjSTACKALLOC(d, nv, int);
-  int* buf_ind = mjSTACKALLOC(d, nv, int);
-  mjtNum* dummy_pos = mjSTACKALLOC(d, 3, mjtNum);
-  mju_zero(dummy_pos, 3);
-
-  // clear
-  mju_zeroInt(rowadr, m->nflexedge);
-  mju_zeroInt(rownnz, m->nflexedge);
-  mju_zeroInt(vrowadr, 2 * m->nflexvert);
-  mju_zeroInt(vrowadr, 2 * m->nflexvert);
-  mju_zeroInt(vrownnz, 2 * m->nflexvert);
-  mju_zeroInt(m->flex_vertedgeadr, m->nflexvert);
-  mju_zeroInt(m->flex_vertedgenum, m->nflexvert);
-  mju_zeroInt(m->flex_vertedge, 2 * m->nflexedge);
-  mju_zeroInt(m->flex_vertedge, 2 * m->nflexedge);
-  mju_zero(m->flex_vertmetric, 4 * m->nflexvert);
-  mju_zeroInt(m->flexedge_J_colind, m->nJfe);
-  mju_zeroInt(m->flexvert_J_colind, 2 * m->nJfv);
-  int current_adj_offset = 0;
-
-  // compute lengths and Jacobians of edges
-  for (int f = 0; f < m->nflex; f++) {
-    // skip if edges cannot generate forces
-    if (m->flex_rigid[f] || m->flex_interp[f]) {
-      continue;
-    }
-
-    // skip Jacobian if no built-in passive force is needed
-    int skipjacobian = !m->flex_edgeequality[f] && !m->flex_edgedamping[f] &&
-                       !m->flex_edgestiffness[f] && !m->flex_damping[f];
-
-    // process edges of this flex
-    int vbase = m->flex_vertadr[f];
-    int ebase = m->flex_edgeadr[f];
-    for (int e = 0; e < m->flex_edgenum[f]; e++) {
-      if (skipjacobian) {
-        continue;
-      }
-
-      // set rowadr
-      if (ebase + e > 0) {
-        rowadr[ebase + e] = rowadr[ebase + e - 1] + rownnz[ebase + e - 1];
-      }
-
-      int v1 = m->flex_edge[2 * (ebase + e)];
-      int v2 = m->flex_edge[2 * (ebase + e) + 1];
-      int b1 = m->flex_vertbodyid[vbase + v1];
-      int b2 = m->flex_vertbodyid[vbase + v2];
-
-      // get sparsity
-      int NV = mj_jacDifPair(m, d, chain, b1, b2, dummy_pos, dummy_pos, NULL,
-                             NULL, NULL, NULL, NULL, NULL, /*issparse=*/1, /*skipcommon=*/0);
-
-      // copy sparsity info
-      rownnz[ebase + e] = NV;
-      mju_copyInt(colind + rowadr[ebase + e], chain, NV);
-    }
-
-    // if dim=2 and constraints are active we use the vertex-based constraint
-    if (m->flex_dim[f] == 2 && m->flex_edgeequality[f] == 2) {
-      int nvert = m->flex_vertnum[f];
-
-      // populate global vertex adjacency list
-      int* v_edge_cnt = m->flex_vertedgenum + vbase;
-      int* v_edge_adr = m->flex_vertedgeadr + vbase;
-      int* adj_edges = m->flex_vertedge;  // global array
-
-      for (int e = 0; e < m->flex_edgenum[f]; ++e) {
-        v_edge_cnt[m->flex_edge[2 * (ebase + e) + 0]]++;
-        v_edge_cnt[m->flex_edge[2 * (ebase + e) + 1]]++;
-      }
-      int total_adj_edges = 0;
-      for (int v = 0; v < nvert; ++v) {
-        v_edge_adr[v] = current_adj_offset + total_adj_edges;
-        total_adj_edges += v_edge_cnt[v];
-      }
-      int* v_edge_fill = mjSTACKALLOC(d, nvert, int);
-      mju_zeroInt(v_edge_fill, nvert);
-      for (int e = 0; e < m->flex_edgenum[f]; ++e) {
-        int v1 = m->flex_edge[2 * (ebase + e) + 0];
-        int v2 = m->flex_edge[2 * (ebase + e) + 1];
-        adj_edges[v_edge_adr[v1] + v_edge_fill[v1]] = e;
-        v_edge_fill[v1]++;
-        adj_edges[v_edge_adr[v2] + v_edge_fill[v2]] = e;
-        v_edge_fill[v2]++;
-      }
-
-      // precompute metric (Binv)
-      for (int v = 0; v < nvert; ++v) {
-        mjtNum B[4] = {0};
-        int v_global = vbase + v;
-
-        for (int k = 0; k < v_edge_cnt[v]; ++k) {
-          int e = adj_edges[v_edge_adr[v] + k];
-
-          // compute rest edge vector
-          mjtNum dx[3];
-          int v1 = m->flex_edge[2 * (ebase + e)];
-          int v2 = m->flex_edge[2 * (ebase + e) + 1];
-          mju_sub3(dx, m->flex_vert0 + 3 * (vbase + v2),
-                   m->flex_vert0 + 3 * (vbase + v1));
-
-          // apply scaling since they are half sizes
-          dx[0] *= 2 * m->flex_size[3 * f + 0];
-          dx[1] *= 2 * m->flex_size[3 * f + 1];
-          dx[2] *= 2 * m->flex_size[3 * f + 2];
-
-          if (mju_abs(dx[2]) > mjMINVAL) {
-            mjERROR("flex vertices are not in the same plane");
-          }
-
-          // get mass of neighbor vertex
-          mjtNum weight = 1.0;
-          int neighbor_v = (v == v1) ? v2 : v1;
-          int b_neighbor = m->flex_vertbodyid[vbase + neighbor_v];
-          if (b_neighbor >= 0) {
-            weight = m->body_mass[b_neighbor];
-            if (weight < mjMINVAL) weight = mjMINVAL;
-          }
-
-          // accumulate B += w * dx * dx'
-          for (int row = 0; row < 2; row++) {
-            for (int col = 0; col < 2; col++) {
-              B[2 * row + col] += weight * dx[row] * dx[col];
-            }
-          }
-        }
-
-        mjtNum* metric = m->flex_vertmetric + 4 * v_global;
-        mjtNum det = B[0] * B[3] - B[1] * B[2];
-
-        if (mju_abs(det) < mjMINVAL) {
-          mju_zero(metric, 4);
-        } else {
-          mjtNum invdet = 1.0 / det;
-          metric[0] = B[3] * invdet;
-          metric[1] = -B[1] * invdet;
-          metric[2] = -B[2] * invdet;
-          metric[3] = B[0] * invdet;
-        }
-      }
-
-      // advance global offset
-      current_adj_offset += total_adj_edges;
-
-      // determine start address for this flex
-      int v0_base = 2 * vbase;
-      int current_adr = 0;
-      if (v0_base > 0) {
-        current_adr = vrowadr[v0_base - 1] + vrownnz[v0_base - 1];
-      }
-      vrowadr[v0_base] = current_adr;
-
-      for (int v = 0; v < nvert; ++v) {
-        // clear buf_ind
-        mju_zeroInt(buf_ind, nv);
-        int current_nnz = 0;
-        for (int i = 0; i < v_edge_cnt[v]; ++i) {
-          int e = adj_edges[v_edge_adr[v] + i];
-          int v1 = m->flex_edge[2 * (ebase + e)];
-          int v2 = m->flex_edge[2 * (ebase + e) + 1];
-
-          // chains from edge e
-          int b1 = m->flex_vertbodyid[vbase + v1];
-          int b2 = m->flex_vertbodyid[vbase + v2];
-          int NV1 = mj_bodyChain(m, b1, chain1);
-          int NV2 = mj_bodyChain(m, b2, chain2);
-
-          for (int j = 0; j < NV1; ++j) {
-            if (!buf_ind[chain1[j]]) {
-              buf_ind[chain1[j]] = 1;
-              current_nnz++;
-            }
-          }
-          for (int j = 0; j < NV2; ++j) {
-            if (!buf_ind[chain2[j]]) {
-              buf_ind[chain2[j]] = 1;
-              current_nnz++;
-            }
-          }
-        }
-        int row0 = 2 * (vbase + v);
-        int row1 = 2 * (vbase + v) + 1;
-        vrownnz[row0] = vrownnz[row1] = current_nnz;
-
-        // set rowadr for next rows
-        vrowadr[row1] = vrowadr[row0] + current_nnz;
-        if (row1 + 1 < 2 * m->nflexvert) {
-          vrowadr[row1 + 1] = vrowadr[row1] + current_nnz;
-        }
-
-        // fill colind
-        int count = 0;
-        for (int j = 0; j < nv; j++) {
-          if (buf_ind[j]) {
-            m->flexvert_J_colind[vrowadr[row0] + count] = j;
-            m->flexvert_J_colind[vrowadr[row1] + count] = j;
-            count++;
-          }
-        }
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// align 2D flexes to the XY plane
-static void mj_alignFlex(mjModel* m, mjData* d) {
-  for (int f = 0; f < m->nflex; f++) {
-    // only for 2D flexes with vertex equality constraints
-    if (m->flex_dim[f] == 2 && m->flex_edgeequality[f] == 2) {
-      // get element data
-      int t_adr = m->flex_elemdataadr[f];
-      int vbase = m->flex_vertadr[f];
-      int t0 = m->flex_elem[t_adr];
-      int t1 = m->flex_elem[t_adr + 1];
-      int t2 = m->flex_elem[t_adr + 2];
-
-      // compute normal from first element
-      mjtNum edge1[3], edge2[3], normal[3];
-      mju_sub3(edge1, m->flex_vert0 + 3 * (vbase + t1), m->flex_vert0 + 3 * (vbase + t0));
-      mju_sub3(edge2, m->flex_vert0 + 3 * (vbase + t2),
-               m->flex_vert0 + 3 * (vbase + t0));
-      mju_cross(normal, edge1, edge2);
-      mju_normalize3(normal);
-
-      // compute rotation to Z
-      mjtNum quat[4], mat[9];
-      mju_quatZ2Vec(quat, normal);
-      mju_quat2Mat(mat, quat);
-
-      // rotate all vertices of this flex
-      int nvert = m->flex_vertnum[f];
-      for (int v = 0; v < nvert; v++) {
-        mjtNum* vert = m->flex_vert0 + 3 * (vbase + v);
-        mjtNum res[3];
-
-        mju_mulMatTVec3(res, mat, vert);
-        mju_copy3(vert, res);
-
-        // check planarity (warning if not planar)
-        if (mju_abs(vert[2] - m->flex_vert0[3 * (vbase + t0) + 2]) > 100 * mjMINVAL) {
-          static int warned = 0;
-          if (!warned) {
-            warned = 1;
-            mju_warning("flex %d is not planar", f);
-          }
-        }
-      }
-    }
-  }
-}
-
-// set quantities that depend on qpos0
-static void set0(mjModel* m, mjData* d) {
-  makeTendonSparse(m);
-  makeFlexSparse(m, d);
-
-  mj_alignFlex(m, d);
-  int nv = m->nv;
-  mjtNum A[36] = {0}, pos[3], quat[4];
-  mj_markStack(d);
-  mjtNum* jac = mjSTACKALLOC(d, 6*nv, mjtNum);
-  mjtNum* tmp = mjSTACKALLOC(d, 6*nv, mjtNum);
-  mjtNum* moment = mjSTACKALLOC(d, nv, mjtNum);
-  int* cammode = 0;
-  int* lightmode = 0;
-
-  // save camera and light mode, set to fixed
-  if (m->ncam) {
-    cammode = mjSTACKALLOC(d, m->ncam, int);
-    for (int i=0; i < m->ncam; i++) {
-      cammode[i] = m->cam_mode[i];
-      m->cam_mode[i] = mjCAMLIGHT_FIXED;
-    }
-  }
-  if (m->nlight) {
-    lightmode = mjSTACKALLOC(d, m->nlight, int);
-    for (int i=0; i < m->nlight; i++) {
-      lightmode[i] = m->light_mode[i];
-      m->light_mode[i] = mjCAMLIGHT_FIXED;
-    }
-  }
-
-  // run computations in qpos0
-  mju_copy(d->qpos, m->qpos0, m->nq);
-  mj_kinematics(m, d);
-  mj_comPos(m, d);
-  mj_camlight(m, d);
-
-  // compute dof_M0 for CRB algorithm
-  mj_setM0(m, d);
-
-  // save flex_rigid, temporarily make all flexes non-rigid
-  mjtByte* rigid = NULL;
-  if (m->nflex) {
-    rigid = mjSTACKALLOC(d, m->nflex, mjtByte);
-    memcpy(rigid, m->flex_rigid, m->nflex);
-    memset(m->flex_rigid, 0, m->nflex);
-  }
-
-  // run remaining computations
-  mj_tendon(m, d);
-  mj_makeM(m, d);
-  mj_factorM(m, d);
-  mj_flex(m, d);
-  mj_transmission(m, d);
-
-  // restore flex rigidity
-  if (m->nflex) {
-    memcpy(m->flex_rigid, rigid, m->nflex);
-  }
-
-  // restore camera and light mode
-  for (int i=0; i < m->ncam; i++) {
-    m->cam_mode[i] = cammode[i];
-  }
-  for (int i=0; i < m->nlight; i++) {
-    m->light_mode[i] = lightmode[i];
-  }
-
-  // copy fields
-  mju_copy(m->flexedge_length0, d->flexedge_length, m->nflexedge);
-  mju_copy(m->tendon_length0, d->ten_length, m->ntendon);
-  mju_copy(m->actuator_length0, d->actuator_length, m->nout);
-
-  // compute body_invweight0
-  m->body_invweight0[0] = m->body_invweight0[1] = 0.0;
-  for (int i=1; i < m->nbody; i++) {
-    // bodies with no dofs (static and mocap): zero invweight0
-    if (m->body_dofnum[m->body_weldid[i]] == 0) {
-      m->body_invweight0[2*i] = m->body_invweight0[2*i+1] = 0;
-    }
-
-    // accelerate simple bodies with no rotations
-    else if (m->body_simple[i] == 2) {
-      mjtNum mass = m->body_mass[i];
-      if (!mass) {  // SHOULD NOT OCCUR
-        mjERROR("moving body %d has 0 mass", i);
-      }
-      m->body_invweight0[2*i+0] = 1/mju_max(mjMINVAL, mass);
-      m->body_invweight0[2*i+1] = 0;
-    }
-
-    // general body: full inertia
-    else {
-      if (nv) {
-        // inverse spatial inertia: A = J*inv(M)*J'
-        mj_jacBodyCom(m, d, jac, jac+3*nv, i);
-        mj_solveM(m, d, tmp, jac, 6);
-        mju_mulMatMatT(A, jac, tmp, 6, nv, 6);
-      }
-
-      // average diagonal and assign
-      m->body_invweight0[2*i] = (A[0] + A[7] + A[14])/3;
-      m->body_invweight0[2*i+1] = (A[21] + A[28] + A[35])/3;
-    }
-  }
-
-  // compute dof_invweight0
-  for (int i=0; i < m->njnt; i++) {
-    // simple body with no rotations: no off-diagonal inertia
-    if (m->body_simple[m->jnt_bodyid[i]] == 2) {
-      int id = m->jnt_dofadr[i];
-      int bi = m->jnt_bodyid[i];
-      mjtNum mass = m->body_mass[bi];
-      if (!mass) {  // SHOULD NOT OCCUR
-        mjERROR("moving body %d has 0 mass", bi);
-      }
-      m->dof_invweight0[id] = 1/mju_max(mjMINVAL, mass);
-    }
-
-    // general joint: full inertia
-    else {
-      int dnum, id = m->jnt_dofadr[i];
-
-      // get number of components
-      if (m->jnt_type[i] == mjJNT_FREE) {
-        dnum = 6;
-      } else if (m->jnt_type[i] == mjJNT_BALL) {
-        dnum = 3;
-      } else {
-        dnum = 1;
-      }
-
-      // inverse joint inertia:  A = J*inv(M)*J'
-      if (nv) {
-        mju_zero(jac, dnum*nv);
-        for (int j=0; j < dnum; j++) {
-          jac[j*(nv+1) + id] = 1;
-        }
-        mj_solveM(m, d, tmp, jac, dnum);
-        mju_mulMatMatT(A, jac, tmp, dnum, nv, dnum);
-      }
-
-      // average diagonal and assign
-      if (dnum == 6) {
-        m->dof_invweight0[id] = m->dof_invweight0[id+1] = m->dof_invweight0[id+2] =
-          (A[0] + A[7] + A[14])/3;
-        m->dof_invweight0[id+3] = m->dof_invweight0[id+4] = m->dof_invweight0[id+5] =
-          (A[21] + A[28] + A[35])/3;
-      } else if (dnum == 3) {
-        m->dof_invweight0[id] = m->dof_invweight0[id+1] = m->dof_invweight0[id+2] =
-          (A[0] + A[4] + A[8])/3;
-      } else {
-        m->dof_invweight0[id] = A[0];
-      }
-    }
-  }
-
-  // compute flexedge_invweight0, tendon_invweight0, actuator_acc0
-  if (nv) {
-    // compute flexedge_invweight0
-    for (int f=0; f < m->nflex; f++) {
-      if (m->flex_interp[f]) {
-        continue;
-      }
-
-      for (int i=m->flex_edgeadr[f]; i < m->flex_edgeadr[f]+m->flex_edgenum[f]; i++) {
-        // bodies connected by edge
-        int b1 = m->flex_vertbodyid[m->flex_vertadr[f] + m->flex_edge[2*i]];
-        int b2 = m->flex_vertbodyid[m->flex_vertadr[f] + m->flex_edge[2*i+1]];
-
-        // rigid edge: set to 0
-        if (m->flexedge_rigid[i]) {
-          m->flexedge_invweight0[i] = 0;
-        }
-
-        // accelerate edges that connect simple bodies with no rotations
-        else if (m->body_simple[b1] == 2 && m->body_simple[b2] == 2) {
-          m->flexedge_invweight0[i] = (1/m->body_mass[b1] + 1/m->body_mass[b2])/2;
-        }
-
-        // handle general edge
-        else {
-          // make dense vector into tmp
-          mju_zero(tmp, nv);
-          int end = m->flexedge_J_rowadr[i] + m->flexedge_J_rownnz[i];
-          for (int j=m->flexedge_J_rowadr[i]; j < end; j++) {
-            tmp[m->flexedge_J_colind[j]] = d->flexedge_J[j];
-          }
-
-          // solve into tmp+nv
-          mj_solveM(m, d, tmp+nv, tmp, 1);
-          m->flexedge_invweight0[i] = mju_dot(tmp, tmp+nv, nv);
-        }
-      }
-    }
-
-    // compute tendon_invweight0
-    for (int i=0; i < m->ntendon; i++) {
-      mju_sparse2dense(tmp, d->ten_J, 1, nv, m->ten_J_rownnz+i, m->ten_J_rowadr+i, m->ten_J_colind);
-
-      // solve into tmp+nv
-      mj_solveM(m, d, tmp+nv, tmp, 1);
-      m->tendon_invweight0[i] = mju_dot(tmp, tmp+nv, nv);
-    }
-
-    // compute actuator_acc0, one per force output (moment row)
-    for (int i=0; i < m->nout; i++) {
-      mju_sparse2dense(moment, d->actuator_moment, 1, nv, d->moment_rownnz + i,
-                       d->moment_rowadr + i, d->moment_colind);
-      mj_solveM(m, d, tmp, moment, 1);
-      m->actuator_acc0[i] = mju_norm(tmp, nv);
-    }
-  } else {
-    mju_zero(m->tendon_invweight0, m->ntendon);
-    mju_zero(m->actuator_acc0, m->nout);
-  }
-
-  // compute missing eq_data for body constraints
-  for (int i=0; i < m->neq; i++) {
-    // get ids
-    int id1 = m->eq_obj1id[i];
-    int id2 = m->eq_obj2id[i];
-
-    // connect constraint
-    if (m->eq_type[i] == mjEQ_CONNECT) {
-      switch ((mjtObj) m->eq_objtype[i]) {
-        case mjOBJ_BODY:
-          // pos = anchor position in global frame
-          mj_local2Global(d, pos, 0, m->eq_data+mjNEQDATA*i, 0, id1, 0);
-
-          // data[3-5] = anchor position in body2 local frame
-          mju_subFrom3(pos, d->xpos+3*id2);
-          mju_mulMatTVec3(m->eq_data+mjNEQDATA*i+3, d->xmat+9*id2, pos);
-          break;
-        case mjOBJ_SITE:
-          // site-based connect, eq_data is unused
-          mju_zero(m->eq_data+mjNEQDATA*i, mjNEQDATA);
-          break;
-        default:
-          mjERROR("invalid objtype in connect constraint %d", i);
-      }
-    }
-
-    // weld constraint
-    else if (m->eq_type[i] == mjEQ_WELD) {
-      switch ((mjtObj) m->eq_objtype[i]) {
-        case mjOBJ_BODY: {
-          // skip if user has set any quaternion data
-          if (!mju_isZero(m->eq_data + mjNEQDATA*i + 6, 4)) {
-            // normalize quaternion just in case
-            mju_normalize4(m->eq_data+mjNEQDATA*i+6);
-            continue;
-          }
-
-          // anchor position is in body2 local frame
-          mj_local2Global(d, pos, 0, m->eq_data+mjNEQDATA*i, 0, id2, 0);
-
-          // data[3-5] = anchor position in body1 local frame
-          mju_subFrom3(pos, d->xpos+3*id1);
-          mju_mulMatTVec3(m->eq_data+mjNEQDATA*i+3, d->xmat+9*id1, pos);
-
-          // data[6-9] = neg(xquat1)*xquat2 = "xquat2-xquat1" in body1 local frame
-          mju_negQuat(quat, d->xquat+4*id1);
-          mju_mulQuat(m->eq_data+mjNEQDATA*i+6, quat, d->xquat+4*id2);
-          break;
-        }
-        case mjOBJ_SITE: {
-          break;
-        }
-        default:
-          mjERROR("invalid objtype in weld constraint %d", i);
-      }
-    }
-  }
-
-  // camera compos0, pos0, mat0
-  for (int i=0; i < m->ncam; i++) {
-    // get body ids
-    int id = m->cam_bodyid[i];              // camera body
-    int id1 = m->cam_targetbodyid[i];       // target body
-
-    // compute positional offsets
-    mju_sub3(m->cam_pos0+3*i, d->cam_xpos+3*i, d->xpos+3*id);
-    mju_sub3(m->cam_poscom0+3*i, d->cam_xpos+3*i, d->subtree_com+ (id1 >= 0 ? 3*id1 : 3*id));
-
-    // copy mat
-    mju_copy9(m->cam_mat0+9*i, d->cam_xmat+9*i);
-  }
-
-  // light compos0, pos0, dir0
-  for (int i=0; i < m->nlight; i++) {
-    // get body ids
-    int id = m->light_bodyid[i];            // light body
-    int id1 = m->light_targetbodyid[i];     // target body
-
-    // compute positional offsets
-    mju_sub3(m->light_pos0+3*i, d->light_xpos+3*i, d->xpos+3*id);
-    mju_sub3(m->light_poscom0+3*i, d->light_xpos+3*i, d->subtree_com + (id1 >= 0 ? 3*id1 : 3*id));
-
-    // copy dir
-    mju_copy3(m->light_dir0+3*i, d->light_xdir+3*i);
-  }
-
-  // compute actuator damping from dampratio
-  for (int i=0; i < m->nactuator; i++) {
-    // get bias, gain parameters
-    mjtNum* biasprm = m->actuator_biasprm + i*mjNBIAS;
-    mjtNum* gainprm = m->actuator_gainprm + i*mjNGAIN;
-
-    // not a position-like actuator: skip (PID single-sources kp in biasprm[1])
-    int is_pid = m->actuator_gaintype[i] == mjGAIN_PID;
-    if (!is_pid && gainprm[0] != -biasprm[1]) {
-      continue;
-    }
-
-    // damping is 0 or negative (interpreted as regular "kv"): skip
-    if (biasprm[2] <= 0) {
-      continue;
-    }
-
-    // === interpret biasprm[2] > 0 as dampratio for position-like actuators
-
-    // "reflected" inertia (inversely scaled by transmission squared)
-    int rownnz = d->moment_rownnz[m->actuator_outadr[i]];
-    int rowadr = d->moment_rowadr[m->actuator_outadr[i]];
-    mjtNum* transmission = d->actuator_moment + rowadr;
-    mjtNum mass = 0;
-    for (int j=0; j < rownnz; j++) {
-      mjtNum trn = mju_abs(transmission[j]);
-      mjtNum trn2 = trn*trn;  // transmission squared
-      if (trn2 > mjMINVAL) {
-        int dof = d->moment_colind[rowadr + j];
-        mass += m->dof_M0[dof] / trn2;
-      }
-    }
-
-    // damping = dampratio * 2 * sqrt(kp * mass)
-    mjtNum kp = is_pid ? -biasprm[1] : gainprm[0];
-    mjtNum damping = biasprm[2] * 2 * mju_sqrt(kp * mass);
-
-    // set biasprm[2] to negative damping
-    biasprm[2] = -damping;
-  }
-
-  mj_freeStack(d);
-}
-
-
-// accumulate bounding box
-static void updateBox(mjtNum* xmin, mjtNum* xmax, mjtNum* pos, mjtNum radius) {
-  for (int i=0; i < 3; i++) {
-    xmin[i] = mjMIN(xmin[i], pos[i] - radius);
-    xmax[i] = mjMAX(xmax[i], pos[i] + radius);
-  }
-}
-
-
-// compute stat; assume computations already executed in qpos0
-static void setStat(mjModel* m, mjData* d) {
-  mjtNum xmin[3] = {1E+10, 1E+10, 1E+10};
-  mjtNum xmax[3] = {-1E+10, -1E+10, -1E+10};
-  mjtNum rbound;
-  mj_markStack(d);
-
-  // approximate length associated with each body
-  mjtNum* body = mjSTACKALLOC(d, m->nbody, mjtNum);
-
-  // compute bounding box of bodies, joint centers, geoms and sites
-  for (int i=1; i < m->nbody; i++) {
-    updateBox(xmin, xmax, d->xpos+3*i, 0);
-    updateBox(xmin, xmax, d->xipos+3*i, 0);
-  }
-  for (int i=0; i < m->njnt; i++) {
-    updateBox(xmin, xmax, d->xanchor+3*i, 0);
-  }
-  for (int i=0; i < m->nsite; i++) {
-    updateBox(xmin, xmax, d->site_xpos+3*i, 0);
-  }
-  for (int i=0; i < m->ngeom; i++) {
-    // set rbound: regular geom rbound, or 0.1 of plane or hfield max size
-    rbound = 0;
-    if (m->geom_rbound[i] > 0) {
-      rbound = m->geom_rbound[i];
-    } else if (m->geom_type[i] == mjGEOM_PLANE) {
-      // finite in at least one direction
-      if (m->geom_size[3*i] || m->geom_size[3*i+1]) {
-        rbound = mjMAX(m->geom_size[3*i], m->geom_size[3*i+1]) * 0.1;
-      }
-
-      // infinite in both directions
-      else {
-        rbound = 0.01;
-      }
-    } else if (m->geom_type[i] == mjGEOM_HFIELD) {
-      int j = m->geom_dataid[i];
-      rbound = mjMAX(m->hfield_size[4*j],
-                     mjMAX(m->hfield_size[4*j+1],
-                           mjMAX(m->hfield_size[4*j+2], m->hfield_size[4*j+3]))) * 0.1;
-    }
-
-    updateBox(xmin, xmax, d->geom_xpos+3*i, rbound);
-  }
-
-  // compute center
-  mju_add3(m->stat.center, xmin, xmax);
-  mju_scl3(m->stat.center, m->stat.center, 0.5);
-
-  // compute bounding box size
-  if (xmax[0] > xmin[0])
-    m->stat.extent = mju_max(1E-5,
-                             mju_max(xmax[0]-xmin[0], mju_max(xmax[1]-xmin[1], xmax[2]-xmin[2])));
-
-  // set body size to max com-joint distance
-  mju_zero(body, m->nbody);
-  for (int i=0; i < m->njnt; i++) {
-    // handle this body
-    int id = m->jnt_bodyid[i];
-    body[id] = mju_max(body[id], mju_dist3(d->xipos+3*id, d->xanchor+3*i));
-
-    // handle parent body
-    id = m->body_parentid[id];
-    body[id] = mju_max(body[id], mju_dist3(d->xipos+3*id, d->xanchor+3*i));
-  }
-  body[0] = 0;
-
-  // set body size to max of old value, and geom rbound + com-geom dist
-  for (int i=1; i < m->nbody; i++) {
-    for (int id=m->body_geomadr[i]; id < m->body_geomadr[i]+m->body_geomnum[i]; id++) {
-      if (m->geom_rbound[id] > 0) {
-        body[i] = mju_max(body[i], m->geom_rbound[id] + mju_dist3(d->xipos+3*i, d->geom_xpos+3*id));
-      }
-    }
-  }
-
-  // adjust body size for flex edges involving body
-  for (int f=0; f < m->nflex; f++) {
-    if (m->flex_interp[f]) {
-      for (int v1=m->flex_nodeadr[f]; v1 < m->flex_nodeadr[f]+m->flex_nodenum[f]; v1++) {
-        for (int v2=m->flex_nodeadr[f]; v2 < m->flex_nodeadr[f]+m->flex_nodenum[f]; v2++) {
-          mjtNum edge = mju_dist3(d->xpos+3*m->flex_nodebodyid[v1],
-                                  d->xpos+3*m->flex_nodebodyid[v2]);
-          body[m->flex_nodebodyid[v1]] = mju_max(body[m->flex_nodebodyid[v1]], edge);
-        }
-      }
-      continue;
-    }
-    for (int e=m->flex_edgeadr[f]; e < m->flex_edgeadr[f]+m->flex_edgenum[f]; e++) {
-      int b1 = m->flex_vertbodyid[m->flex_vertadr[f]+m->flex_edge[2*e]];
-      int b2 = m->flex_vertbodyid[m->flex_vertadr[f]+m->flex_edge[2*e+1]];
-
-      body[b1] = mju_max(body[b1], m->flexedge_length0[e]);
-      body[b2] = mju_max(body[b2], m->flexedge_length0[e]);
-    }
-  }
-
-  // compute meansize, make sure all sizes are above min
-  if (m->nbody > 1) {
-    m->stat.meansize = 0;
-    for (int i=1; i < m->nbody; i++) {
-      body[i] = mju_max(body[i], 1E-5);
-      m->stat.meansize += body[i]/(m->nbody-1);
-    }
-  }
-
-  // inherit dof length from parent body
-  for (int i=0; i < m->nv; i++) {
-    // default to linear dof, already has length units
-    m->dof_length[i] = 1;
-
-    // if rotational dof, inherit from body
-    int jnt = m->dof_jntid[i];
-    mjtJoint type = m->jnt_type[jnt];
-    int offset = i - m->jnt_dofadr[jnt];
-    if (type == mjJNT_BALL  ||
-        type == mjJNT_HINGE ||
-        (type == mjJNT_FREE && offset >= 3)) {
-      m->dof_length[i] = body[m->dof_bodyid[i]];
-    }
-  }
-
-  // fix extent if too small compared to meanbody
-  m->stat.extent = mju_max(m->stat.extent, 2 * m->stat.meansize);
-
-  // compute meanmass
-  if (m->nbody > 1) {
-    m->stat.meanmass = 0;
-    for (int i=1; i < m->nbody; i++) {
-      m->stat.meanmass += m->body_mass[i];
-    }
-    m->stat.meanmass /= (m->nbody-1);
-  }
-
-  // compute meaninertia
-  if (m->nv) {
-    m->stat.meaninertia = 0;
-    for (int i=0; i < m->nv; i++) {
-      m->stat.meaninertia += d->M[m->M_rowadr[i] + m->M_rownnz[i] - 1];
-    }
-    m->stat.meaninertia /= m->nv;
-  }
-
-  mj_freeStack(d);
-}
-
-
-// set quantities that depend qpos_spring
-static void setSpring(mjModel* m, mjData* d) {
-  // run computations in qpos_spring
-  mju_copy(d->qpos, m->qpos_spring, m->nq);
-  mj_kinematics(m, d);
-  mj_comPos(m, d);
-  mj_tendon(m, d);
-  mj_transmission(m, d);
-
-  // copy if model spring length is -1
-  for (int i=0; i < m->ntendon; i++) {
-    if (m->tendon_lengthspring[2*i] == -1 && m->tendon_lengthspring[2*i+1] == -1) {
-      // explicit springlength unused, set equal to ten_length
-      m->tendon_lengthspring[2*i] = m->tendon_lengthspring[2*i+1] = d->ten_length[i];
-    }
-  }
-}
-
-
-// entry point: set all remaining constant fields of mjModel, except for lengthrange
-
-// constant part of the implicit effective metric factor (currently dim-2 bending): sparse
-// reverse-Cholesky of M + (h^2 + h*damping)*K_bend over
-// the dofs of unpinned vertices of standard dim-2 flexes with bending. The matrix is constant
-// (flat-rest bending stiffness, point masses), so the factor is computed here once and reused
-// by the implicit-flex constraint solve every step. Bending couples only same-coordinate dofs,
-// so the pattern is three interleaved copies of the vertex flap adjacency. Row order (flex
-// order, vertex order, coordinate fastest) and the resulting fill count must match the
-// compiler's symbolic sizing (checked below).
-static void setEfm0Factor(mjModel* m, mjData* d) {
-  int nbd = m->nefm0dof;
-  if (!nbd) {
-    return;
-  }
-  mj_markStack(d);
-  mjtNum h = m->opt.timestep;
-
-  // enumerate covered vertices: compact slot per unpinned vertex of qualifying flexes
-  // (filter matches the compiler's sizing and, for bending, flexStiff_active in
-  // engine_derivative.c: bending data exists only for dim-2 flexes)
-  int* vslot = mjSTACKALLOC(d, m->nflexvert > 0 ? m->nflexvert : 1, int);
-  for (int i=0; i < m->nflexvert; i++) {
-    vslot[i] = -1;
-  }
-  int nfree = 0;
-  for (int f=0; f < m->nflex; f++) {
-    if (m->flex_interp[f] || m->flex_rigid[f] || m->flex_dim[f] != 2 ||
-        m->flex_bendingadr[f] < 0) {
-      continue;
-    }
-    for (int lv=0; lv < m->flex_vertnum[f]; lv++) {
-      int gv = m->flex_vertadr[f] + lv;
-      if (m->body_dofnum[m->flex_vertbodyid[gv]] == 3) {
-        vslot[gv] = nfree;
-        nfree++;
-      }
-    }
-  }
-  if (3*nfree != nbd) {
-    mj_freeStack(d);
-    mjERROR("constant metric factor dof count mismatch: compiler sized %d, engine found %d",
-            nbd, 3*nfree);
-  }
-
-  // fill row -> dof address (row 3*slot + k, coordinate fastest)
-  for (int gv=0; gv < m->nflexvert; gv++) {
-    if (vslot[gv] >= 0) {
-      int da = m->body_dofadr[m->flex_vertbodyid[gv]];
-      for (int k=0; k < 3; k++) {
-        m->efm0_dofid[3*vslot[gv] + k] = da + k;
-      }
-    }
-  }
-
-  // assemble the bending-only stiffness K = (h^2 + h*damping)*K_bend over all dofs with the
-  // shared stencil walker from engine_derivative: bending values are configuration-independent
-  // and stretch/interp are gated off, so the call is valid at set-constants time (d is used
-  // for stack scratch only)
-  int nv = m->nv;
-  int* K_rownnz = mjSTACKALLOC(d, nv, int);
-  int* K_rowadr = mjSTACKALLOC(d, nv, int);
-  int nK = mjd_flexStiff_assemble(m, d, K_rownnz, K_rowadr, NULL, NULL, h*h, h,
-                                  /*flg_bend=*/1, /*flg_stretch=*/0, /*flg_contact=*/0,
-                                  NULL);
-  int* K_colind = mjSTACKALLOC(d, nK > 0 ? nK : 1, int);
-  mjtNum* K_val = mjSTACKALLOC(d, nK > 0 ? nK : 1, mjtNum);
-  mjd_flexStiff_assemble(m, d, K_rownnz, K_rowadr, K_colind, K_val, h*h, h, 1, 0, 0, NULL);
-
-  // inverse map: dof address -> compact factor row (monotone: slots follow dof order)
-  int* dofrow = mjSTACKALLOC(d, nv, int);
-  for (int i=0; i < nv; i++) {
-    dofrow[i] = -1;
-  }
-  for (int r=0; r < nbd; r++) {
-    dofrow[m->efm0_dofid[r]] = r;
-  }
-
-  // compact B to covered rows, keeping same-coordinate entries only: bending blocks are
-  // isotropic (q * I3), so the off-coordinate entries of assemble's 3x3 block pattern are
-  // structurally zero and dropping them preserves the pattern the compiler sized.
-  // H = M + (h^2+h*d)*K_bend in compact dof indices: lower CSR (values) + upper CSR (pattern)
-  int nHl = 0, nHu = 0;
-  for (int r=0; r < nbd; r++) {
-    int dof = m->efm0_dofid[r];
-    for (int c=0; c < K_rownnz[dof]; c++) {
-      int rc = dofrow[K_colind[K_rowadr[dof] + c]];
-      if (rc < 0 || (rc - r) % 3 != 0) continue;  // uncovered or off-coordinate
-      if (rc < r) nHl++;
-      else if (rc > r) nHu++;
-    }
-  }
-  nHl += nbd;  // diagonals: always present, also for rows without bending entries
-  int* Hl_rownnz = mjSTACKALLOC(d, nbd, int);
-  int* Hl_rowadr = mjSTACKALLOC(d, nbd, int);
-  int* Hl_colind = mjSTACKALLOC(d, nHl, int);
-  mjtNum* Hl_val  = mjSTACKALLOC(d, nHl, mjtNum);
-  int* Hu_rownnz = mjSTACKALLOC(d, nbd, int);
-  int* Hu_rowadr = mjSTACKALLOC(d, nbd, int);
-  int* Hu_colind = mjSTACKALLOC(d, nHu > 0 ? nHu : 1, int);
-
-  int ladr = 0, uadr = 0;
-  for (int r=0; r < nbd; r++) {
-    int dof = m->efm0_dofid[r];
-    Hl_rowadr[r] = ladr;
-    Hu_rowadr[r] = uadr;
-    mjtNum diag = 0;
-    // B columns are dof-ascending, so filtered lower/upper columns stay ascending
-    for (int c=0; c < K_rownnz[dof]; c++) {
-      int adr = K_rowadr[dof] + c;
-      int rc = dofrow[K_colind[adr]];
-      if (rc < 0 || (rc - r) % 3 != 0) continue;
-      if (rc < r) {
-        Hl_colind[ladr] = rc;
-        Hl_val[ladr++] = K_val[adr];
-      } else if (rc > r) {
-        Hu_colind[uadr++] = rc;
-      } else {
-        diag = K_val[adr];
-      }
-    }
-    // diagonal last: point mass + armature + bending diagonal
-    Hl_colind[ladr] = r;
-    Hl_val[ladr++] = m->body_mass[m->dof_bodyid[dof]] + m->dof_armature[dof] + diag;
-    Hl_rownnz[r] = ladr - Hl_rowadr[r];
-    Hu_rownnz[r] = uadr - Hu_rowadr[r];
-  }
-
-  // symbolic factorization: counting phase (from the upper-triangle pattern)
-  int* LT_rownnz = mjSTACKALLOC(d, nbd, int);
-  int* LT_rowadr = mjSTACKALLOC(d, nbd, int);
-  int nnz = mju_cholFactorSymbolic(NULL, m->efm0_L_rownnz, m->efm0_L_rowadr,
-                                   NULL, LT_rownnz, LT_rowadr, NULL,
-                                   Hu_rownnz, Hu_rowadr, Hu_colind, nbd, d);
-  if (nnz != m->nefm0L) {
-    mj_freeStack(d);
-    mjERROR("constant metric factor size mismatch: compiler sized %d, symbolic found %d",
-            (int)m->nefm0L, nnz);
-  }
-
-  // symbolic factorization: filling phase
-  int* LT_colind = mjSTACKALLOC(d, nnz, int);
-  int* LT_map = mjSTACKALLOC(d, nnz, int);
-  mju_cholFactorSymbolic(m->efm0_L_colind, m->efm0_L_rownnz, m->efm0_L_rowadr,
-                         LT_colind, LT_rownnz, LT_rowadr, LT_map,
-                         Hu_rownnz, Hu_rowadr, Hu_colind, nbd, d);
-
-  // numeric factorization
-  int rank = mju_cholFactorNumeric(m->efm0_L, nbd, mjMINVAL,
-                                   m->efm0_L_rownnz, m->efm0_L_rowadr, m->efm0_L_colind,
-                                   LT_rownnz, LT_rowadr, LT_colind, LT_map,
-                                   Hl_val, Hl_rownnz, Hl_rowadr, Hl_colind, d);
-  if (rank != nbd) {
-    mj_freeStack(d);
-    mjERROR("constant metric factor is rank-deficient (%d of %d)", rank, nbd);
-  }
-
-  mj_freeStack(d);
-}
-
-
-void mj_setConst(mjModel* m, mjData* d) {
-  // compute npolygonmax and nmeshdegmax
-  m->npolygonmax = 0;
-  for (int i=0; i < m->nmeshpoly; i++) {
-    m->npolygonmax = mjMAX(m->npolygonmax, m->mesh_polyvertnum[i]);
-  }
-
-  m->nmeshdegmax = 0;
-  for (int i=0; i < m->nmeshvert; i++) {
-    m->nmeshdegmax = mjMAX(m->nmeshdegmax, m->mesh_polymapnum[i]);
-  }
-
-  // recompute sameframe flags from current model geometry
-  setSameframe(m);
-
-  // error if simple body lost sameframe (user must set simple="false")
-  for (int i = 1; i < m->nbody; i++) {
-    if (m->body_simple[i] > 0 && m->body_sameframe[i] != mjSAMEFRAME_BODY) {
-      mjERROR("body %d is compiled as simple but sameframe no longer holds, "
-              "use body/simple='false'", i);
-    }
-  }
-
-  // set fixed quantities
-  setFixed(m, d);
-
-  // set quantities that depend on qpos0
-  set0(m, d);
-
-  // compute statistics
-  setStat(m, d);
-
-  // set quantities that depend qpos_spring
-  setSpring(m, d);
-
-  // precompute the constant part of the implicit effective metric factor
-  setEfm0Factor(m, d);
-}
-
-
-//----------------------------- actuator length range computation ----------------------------------
-
-// evaluate actuator length, advance special dynamics
-static mjtNum evalAct(const mjModel* m, mjData* d, int index, int side,
-                      const mjLROpt* opt) {
-  int nv = m->nv;
-  int out = m->actuator_outadr[index];
-
-  // reduce velocity
-  mju_scl(d->qvel, d->qvel, mju_exp(-m->opt.timestep/mjMAX(0.01, opt->timeconst)), nv);
-
-  // step1: compute inertia and actuator moments
-  mj_step1(m, d);
-
-  // dense actuator_moment row
-  mj_markStack(d);
-  mjtNum* moment = mjSTACKALLOC(d, nv, mjtNum);
-  mju_sparse2dense(moment, d->actuator_moment, 1, nv, d->moment_rownnz + out,
-                   d->moment_rowadr + out, d->moment_colind);
-
-  // set force to generate desired acceleration
-  mj_solveM(m, d, d->qfrc_applied, moment, 1);
-  mjtNum nrm = mju_norm(d->qfrc_applied, nv);
-  mju_scl(d->qfrc_applied, moment, (2*side-1)*opt->accel/mjMAX(mjMINVAL, nrm), nv);
-
-  // impose maxforce
-  nrm = mju_norm(d->qfrc_applied, nv);
-  if (opt->maxforce > 0 && nrm > opt->maxforce) {
-    mju_scl(d->qfrc_applied, d->qfrc_applied, opt->maxforce/mjMAX(mjMINVAL, nrm), nv);
-  }
-
-  // step2: apply force
-  mj_step2(m, d);
-
-  mj_freeStack(d);
-
-  // return actuator length
-  return d->actuator_length[out];
-}
-
-
-// Set length range for specified actuator, return 1 if ok, 0 if error.
-int mj_setLengthRange(mjModel* m, mjData* d, int index,
-                      const mjLROpt* opt, char* error, int error_sz) {
-  // check index
-  if (index < 0 || index >= m->nactuator) {
-    mjERROR("invalid actuator index");
-  }
-  int out = m->actuator_outadr[index];
-
-  // skip depending on mode and type
-  int ismuscle = (m->actuator_gaintype[index] == mjGAIN_MUSCLE ||
-                  m->actuator_biastype[index] == mjBIAS_MUSCLE);
-  int isuser = (m->actuator_gaintype[index] == mjGAIN_USER ||
-                m->actuator_biastype[index] == mjBIAS_USER);
-  if ((opt->mode == mjLRMODE_NONE) ||
-      (opt->mode == mjLRMODE_MUSCLE && !ismuscle) ||
-      (opt->mode == mjLRMODE_MUSCLEUSER && !ismuscle && !isuser)) {
-    return 1;
-  }
-
-  // use existing length range if available
-  if (opt->useexisting && (m->actuator_lengthrange[2*out] < m->actuator_lengthrange[2*out+1])) {
-    return 1;
-  }
-
-  // get transmission id
-  int threadid = m->actuator_trnid[index];
-
-  // use joint and tendon limits if available
-  if (opt->uselimit) {
-    // joint or jointinparent
-    if (m->actuator_trntype[index] == mjTRN_JOINT ||
-        m->actuator_trntype[index] == mjTRN_JOINTINPARENT) {
-      // make sure joint is limited
-      if (m->jnt_limited[threadid]) {
-        // copy range
-        m->actuator_lengthrange[2*out] = m->jnt_range[2*threadid];
-        m->actuator_lengthrange[2*out+1] = m->jnt_range[2*threadid+1];
-
-        // skip optimization
-        return 1;
-      }
-    }
-
-    // tendon
-    if (m->actuator_trntype[index] == mjTRN_TENDON) {
-      // make sure tendon is limited
-      if (m->tendon_limited[threadid]) {
-        // copy range
-        m->actuator_lengthrange[2*out] = m->tendon_range[2*threadid];
-        m->actuator_lengthrange[2*out+1] = m->tendon_range[2*threadid+1];
-
-        // skip optimization
-        return 1;
-      }
-    }
-  }
-
-  // optimize in both directions
-  mjtNum lmin[2] = {0, 0}, lmax[2] = {0, 0};
-  int side;
-  for (side=0; side < 2; side++) {
-    // init at qpos0
-    mj_resetData(m, d);
-
-    // simulate
-    int updated = 0;
-    while (d->time < opt->inttotal) {
-      // advance and get length
-      mjtNum len = evalAct(m, d, index, side, opt);
-
-      // reset: cannot proceed
-      if (d->time == 0) {
-        snprintf(error, error_sz, "Unstable lengthrange simulation in actuator %d", index);
-        return 0;
-      }
-
-      // update limits
-      if (d->time > opt->inttotal-opt->interval) {
-        if (len < lmin[side] || !updated) {
-          lmin[side] = len;
-        }
-        if (len > lmax[side] || !updated) {
-          lmax[side] = len;
-        }
-
-        updated = 1;
-      }
-    }
-
-    // assign
-    m->actuator_lengthrange[2*index+side] = (side == 0 ? lmin[side] : lmax[side]);
-  }
-
-  // check range
-  mjtNum dif = m->actuator_lengthrange[2*out+1] - m->actuator_lengthrange[2*out];
-  if (dif <= 0) {
-    snprintf(error, error_sz,
-             "Invalid lengthrange (%g, %g) in actuator %d",
-             m->actuator_lengthrange[2*out],
-             m->actuator_lengthrange[2*out+1], index);
-    return 0;
-  }
-
-  // check convergence, side 0
-  if (lmax[0]-lmin[0] > opt->tolrange*dif) {
-    snprintf(error, error_sz,
-             "Lengthrange computation did not converge in actuator %d:\n"
-             "  eval (%g, %g)\n  range (%g, %g)",
-             index, lmin[0], lmax[0],
-             m->actuator_lengthrange[2*out],
-             m->actuator_lengthrange[2*out+1]);
-    return 0;
-  }
-
-  // check convergence, side 1
-  if (lmax[1]-lmin[1] > opt->tolrange*dif) {
-    snprintf(error, error_sz,
-             "Lengthrange computation did not converge in actuator %d:\n"
-             "  eval (%g, %g)\n range (%g, %g)",
-             index, lmin[1], lmax[1],
-             m->actuator_lengthrange[2*out],
-             m->actuator_lengthrange[2*out+1]);
-    return 0;
-  }
-
-  return 1;
-}
diff --git a/src/engine/engine_setconst.h b/src/engine/engine_setconst.h
deleted file mode 100644
index cc730e73..00000000
--- a/src/engine/engine_setconst.h
+++ /dev/null
@@ -1,37 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_SETCONST_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_SETCONST_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// Set constant fields of mjModel, corresponding to qpos0 configuration.
-MJAPI void mj_setConst(mjModel* m, mjData* d);
-
-// Set actuator_lengthrange for specified actuator; return 1 if ok, 0 if error.
-MJAPI int mj_setLengthRange(mjModel* m, mjData* d, int index,
-                            const mjLROpt* opt, char* error, int error_sz);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_SETCONST_H_
diff --git a/src/engine/engine_sleep.c b/src/engine/engine_sleep.c
deleted file mode 100644
index 418c475a..00000000
--- a/src/engine/engine_sleep.c
+++ /dev/null
@@ -1,874 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_sleep.h"
-
-#include <stdio.h>
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include "engine/engine_core_util.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-
-
-//-------------------------------- update ----------------------------------------------------------
-
-// compute sleeping arrays from tree_asleep, if flg_staticawake is set treat static bodies as awake
-void mj_updateSleepInit(const mjModel* m, mjData* d, int flg_staticawake) {
-  int ntree = m->ntree, nbody = m->nbody, nv = m->nv;
-
-  // input arrays
-  const int* tree_asleep   = d->tree_asleep;  // sleep state source of truth
-  const int* body_treeid   = m->body_treeid;
-  const int* body_parentid = m->body_parentid;
-  const int* body_rootid   = m->body_rootid;
-  const int* body_mocapid  = m->body_mocapid;
-  const int* dof_bodyid    = m->dof_bodyid;
-
-  // output arrays
-  int* tree_awake        = d->tree_awake;
-  int* body_awake        = d->body_awake;
-  int* dof_awake_ind     = d->dof_awake_ind;
-  int* body_awake_ind    = d->body_awake_ind;
-  int* parent_awake_ind  = d->parent_awake_ind;
-
-  // tree_awake
-  int ntree_awake = 0;
-  for (int i=0; i < ntree; i++) {
-    tree_awake[i] = tree_asleep[i] < 0;
-    ntree_awake += tree_awake[i];
-  }
-  d->ntree_awake = ntree_awake;
-
-  // {body,parent}_awake_ind
-  int nbody_awake = 0;
-  int nparent_awake = 0;
-  for (int i=0; i < nbody; i++) {
-    // static body
-    if (body_treeid[i] < 0) {
-      if (body_mocapid[body_rootid[i]] >= 0) {
-        // mocap body are always awake
-        body_awake[i] = mjS_AWAKE;
-      } else {
-        // mark static body unless flg_staticawake is set
-        body_awake[i] = flg_staticawake ? mjS_AWAKE : mjS_STATIC;
-      }
-    }
-
-    // dynamic body
-    else {
-      body_awake[i] = tree_awake[body_treeid[i]] ? mjS_AWAKE : mjS_ASLEEP;
-    }
-
-    // body_awake_ind: list of awake and static bodies
-    if (body_awake[i] != mjS_ASLEEP) {
-      body_awake_ind[nbody_awake++] = i;
-    }
-
-    // parent_awake_ind: list of bodies with awake or static parents
-    if (i && body_awake[body_parentid[i]] != mjS_ASLEEP) {
-      parent_awake_ind[nparent_awake++] = i;
-    }
-  }
-  d->nbody_awake = nbody_awake;
-  d->nparent_awake = nparent_awake;
-
-  // dof_awake_ind: list of awake degrees of freedom
-  int nv_awake = 0;
-  for (int i=0; i < nv; i++) {
-    int bodyid = dof_bodyid[i];
-    if (body_treeid[bodyid] >= 0 && body_awake[bodyid] == mjS_AWAKE) {
-      dof_awake_ind[nv_awake++] = i;
-    }
-  }
-  d->nv_awake = nv_awake;
-}
-
-// compute sleep arrays from tree_asleep
-void mj_updateSleep(const mjModel* m, mjData* d) {
-  mj_updateSleepInit(m, d, /*flg_staticawake*/0);
-}
-
-
-//-------------------------------- utilities -------------------------------------------------------
-
-// return 1 if the weighted infinity norm of vec is smaller than tol, 0 otherwise
-static int isSmaller(const mjtNum* vec, const mjtNum* weight, int n, mjtNum tol) {
-  mjtNum max = 0;
-  for (int i=0; i < n; i++) {
-    max = mju_max(max, weight[i] * mju_abs(vec[i]));
-    if (max >= tol) {
-      return 0;
-    }
-  }
-  return 1;
-}
-
-
-// return 1 if tree i can sleep, 0 otherwise
-static int treeCanSleep(const mjModel* m, const mjData* d, int i, mjtNum tol) {
-  // check sleep policy
-  if (m->tree_sleep_policy[i] == mjSLEEP_NEVER ||
-      m->tree_sleep_policy[i] == mjSLEEP_AUTO_NEVER) {
-    return 0;
-  }
-
-  // check xfrc_applied
-  int adr = m->tree_bodyadr[i];
-  int num = m->tree_bodynum[i];
-  if (!mju_isZeroByte((const unsigned char*)(d->xfrc_applied+6*adr), 6*num*sizeof(mjtNum))) {
-    return 0;
-  }
-
-  // check qfrc_applied
-  adr = m->tree_dofadr[i];
-  num = m->tree_dofnum[i];
-  if (!mju_isZeroByte((const unsigned char*)(d->qfrc_applied+adr), num*sizeof(mjtNum))) {
-    return 0;
-  }
-
-  // check qvel
-  if (tol) {
-    return isSmaller(d->qvel+adr, m->dof_length+adr, num, tol);
-  } else {
-    return mju_isZeroByte((const unsigned char*)(d->qvel+adr), num*sizeof(mjtNum));
-  }
-}
-
-
-// return the first tree in the sleep cycle that starts at i, -1 if error
-int mj_sleepCycle(const int* tree_asleep, int ntree, int i) {
-  if (i < 0 || i >= ntree) {
-    return -1;  // index i out of bounds
-  }
-
-  int smallest = i;
-  int current = i;
-  int count = 0;
-
-  do {
-    if (count > ntree) {
-      return -1;  // cycle detection failed (too many steps)
-    }
-
-    int next = tree_asleep[current];
-
-    if (next < 0 || next >= ntree) {
-      return -1;  // next index out of bounds
-    }
-
-    if (next < smallest) {
-      smallest = next;
-    }
-
-    current = next;
-    count++;
-  } while (current != i);
-
-  return smallest;
-}
-
-
-//-------------------------------- wake ------------------------------------------------------------
-
-// helper for pluralizing in log messages
-static inline const char* plural(int n) {
-  return n > 1 ? "s" : "";
-}
-
-
-// wake tree i and its associated cycle, return number of woke trees
-int mj_wakeIsland(int* tree_asleep, int ntree, int i, int wakeval, const char* reason, mjtNum time) {
-  int nwoke = 0;
-
-  // i is invalid; SHOULD NOT OCCUR
-  if (i < 0 || i >= ntree) {
-    mjERROR("invalid tree %d", i);
-    return nwoke;
-  }
-
-  // tree i already awake: set to wakeval if larger than current value
-  int asleep_val = tree_asleep[i];
-  if (asleep_val < 0) {
-    tree_asleep[i] = mjMIN(wakeval, asleep_val);
-    return nwoke;
-  }
-
-  // tree i asleep: wake up tree and its island cycle
-  else {
-    int current = i;
-    int woke_trees[1024];  // buffer for woke tree indices
-    do {
-      // get the index of the next tree in the cycle
-      int next = tree_asleep[current];
-
-      // next is invalid; SHOULD NOT OCCUR
-      if (next < 0 || next >= ntree) {
-        mjERROR("invalid sleep state index %d when waking tree %d", next, i);
-        return 0;
-      }
-
-      // wake the current tree, record index, increment and advance to next
-      tree_asleep[current] = wakeval;
-      if (nwoke < 1024) woke_trees[nwoke] = current;
-      nwoke++;
-      current = next;
-    } while (current != i && nwoke < ntree);
-
-    // did not come back to tree i, not a cycle; SHOULD NOT OCCUR
-    if (current != i) {
-      mjERROR("tree %d is not in a cycle", i);
-      return 0;
-    }
-
-#ifndef MJ_DISABLE_DEBUG_TRACING
-    if (reason && mju_isTopicEnabled(mjTOPIC_SLEEP)) {
-      int nprint = mjMIN(nwoke, 1024);
-      char buf[1024];
-      int pos = snprintf(buf, sizeof(buf), "t=%6.3g, woke due to %s tree%s ", time, reason, plural(nprint));
-      for (int j = 0; j < nprint; j++) {
-        pos += snprintf(buf + pos, sizeof(buf) - pos, "%d%s", woke_trees[j],
-                        (j == nprint - 1) ? "" : " ");
-      }
-      mjLogMessage msg = {.level = mjLOG_DEBUG, .topic = mjTOPIC_SLEEP, .func = __func__};
-      mju_strncpy(msg.subject, buf, sizeof(msg.subject));
-      mju_message(&msg);
-    }
-#endif
-  }
-
-  return nwoke;
-}
-
-
-static int kAwake = -(1+mjMINAWAKE);  // tree_asleep value for fully awake tree
-
-// wake sleeping trees due to changes by user, return number of woke trees
-int mj_wake(const mjModel* m, mjData* d) {
-  int ntree = m->ntree, nwoke = 0;
-
-  // sleep disabled
-  if (!mjENABLED(mjENBL_SLEEP)) {
-    // sleep disabled but some trees still asleep: wake all
-    if (d->ntree_awake < ntree) {
-      mju_fillInt(d->tree_asleep, kAwake, ntree);
-    }
-    return ntree - d->ntree_awake;
-  }
-
-  // sweep over trees, wake if required
-  for (int i=0; i < ntree; i++) {
-    int asleep = d->tree_asleep[i] >= 0;
-
-    // awake: nothing to do
-    if (!asleep) {
-      continue;
-    }
-
-    // if qpos mismatch or cannot sleep: wake up
-    if (d->tree_awake[i] || !treeCanSleep(m, d, i, 0)) {
-      nwoke += mj_wakeIsland(d->tree_asleep, ntree, i, kAwake, "perturbation", d->time);
-    }
-  }
-
-  return nwoke;
-}
-
-
-// get a representative body from a flex contact side
-int mj_flexBody(const mjModel* m, const mjContact* con, int side) {
-  int f = con->flex[side];
-
-  // flex vertex contact (non-interpolated)
-  if (con->vert[side] >= 0 && m->flex_interp[f] == 0) {
-    return m->flex_vertbodyid[m->flex_vertadr[f] + con->vert[side]];
-  }
-
-  // flex element contact
-  if (con->elem[side] >= 0) {
-    if (m->flex_interp[f] == 0) {
-      int dim = m->flex_dim[f];
-      const int* edata = m->flex_elem + m->flex_elemdataadr[f] + con->elem[side]*(dim+1);
-      return m->flex_vertbodyid[m->flex_vertadr[f] + edata[0]];
-    } else {
-      return m->flex_nodebodyid[m->flex_nodeadr[f]];
-    }
-  }
-
-  // flex vertex contact (interpolated): use first node
-  return m->flex_nodebodyid[m->flex_nodeadr[f]];
-}
-
-
-// wake sleeping trees with collision contact, return number of woke trees
-int mj_wakeCollision(const mjModel* m, mjData* d) {
-  int ntree = m->ntree, ncon = d->ncon, nwoke = 0;
-
-  if (!mjENABLED(mjENBL_SLEEP)) {
-    return nwoke;
-  }
-
-  // sweep over contacts, wake trees if required
-  for (int i=0; i < ncon; i++) {
-    const mjContact* con = d->contact + i;
-
-    // resolve body on each side
-    int b1 = con->geom[0] >= 0 ? m->geom_bodyid[con->geom[0]] : mj_flexBody(m, con, 0);
-    int b2 = con->geom[1] >= 0 ? m->geom_bodyid[con->geom[1]] : mj_flexBody(m, con, 1);
-
-    int tree1 = m->body_treeid[b1];
-    int tree2 = m->body_treeid[b2];
-
-    // contact with a dof-less body: wake if it is marked awake (mocap), otherwise nothing to do
-    if (tree1 < 0 || tree2 < 0) {
-      int tree = tree1 < 0 ? tree2 : tree1;
-      int b = tree1 < 0 ? b1 : b2;
-      if (tree >= 0 && !d->tree_awake[tree] && d->body_awake[b] == mjS_AWAKE) {
-        nwoke += mj_wakeIsland(d->tree_asleep, ntree, tree, kAwake, "mocap contact with", d->time);
-      }
-      continue;
-    }
-
-    int awake1 = d->tree_awake[tree1];
-    int awake2 = d->tree_awake[tree2];
-
-    // both trees awake, nothing to do
-    if (awake1 && awake2) {
-      continue;
-    }
-
-    // both trees asleep; SHOULD NOT OCCUR
-    if (!awake1 && !awake2) {
-      mjERROR("contact between sleeping bodies %d and %d", b1, b2);
-    }
-
-    // wake sleeping tree
-    int sleeping_tree = awake1 ? tree2 : tree1;
-    int wakeval = awake1 ? d->tree_asleep[tree1] : d->tree_asleep[tree2];
-    nwoke += mj_wakeIsland(d->tree_asleep, ntree, sleeping_tree, wakeval, "contact", d->time);
-  }
-
-  return nwoke;
-}
-
-
-// wake sleeping trees with a constrained tendon to a waking tree, return number of woke trees
-int mj_wakeTendon(const mjModel* m, mjData* d) {
-  int ntendon = m->ntendon, nwoke = 0;
-
-  if (!mjENABLED(mjENBL_SLEEP)) {
-    return nwoke;
-  }
-
-  // sweep over tendons, wake trees if required
-  for (int i=0; i < ntendon; i++) {
-    if (m->tendon_treenum[i] != 2 || !tendonLimit(m, d->ten_length, i)) {
-      continue;
-    }
-
-    int tree1 = m->tendon_treeid[2*i];
-    int tree2 = m->tendon_treeid[2*i + 1];
-    int awake1 = d->tree_awake[tree1];
-    int awake2 = d->tree_awake[tree2];
-    if (awake1 != awake2) {
-      int sleeping_tree = awake1 ? tree2 : tree1;
-      int wakeval = awake1 ? d->tree_asleep[tree1] : d->tree_asleep[tree2];
-      nwoke += mj_wakeIsland(d->tree_asleep, m->ntree, sleeping_tree, wakeval,
-                             "tendon constraint", d->time);
-    }
-  }
-
-  return nwoke;
-}
-
-
-// wake sleeping trees with an equality to a waking tree, return number of woke trees
-int mj_wakeEquality(const mjModel* m, mjData* d) {
-  int neq = m->neq, nwoke = 0;
-
-  if (!mjENABLED(mjENBL_SLEEP)) {
-    return nwoke;
-  }
-
-  // sweep over equalities, wake trees if required
-  for (int i=0; i < neq; i++) {
-    // skip inactive
-    if (!d->eq_active[i]) continue;
-
-    mjtEq eqtype = m->eq_type[i];
-    int id1 = m->eq_obj1id[i];
-    int id2 = m->eq_obj2id[i];
-    int tree1, tree2;
-    int body1 = -1, body2 = -1;
-
-    switch (eqtype) {
-    case mjEQ_CONNECT:
-    case mjEQ_WELD:
-      if (m->eq_objtype[i] == mjOBJ_BODY) {
-        body1 = id1;
-        body2 = id2;
-      } else {
-        body1 = m->site_bodyid[id1];
-        body2 = m->site_bodyid[id2];
-      }
-      tree1 = m->body_treeid[body1];
-      tree2 = m->body_treeid[body2];
-      break;
-
-    case mjEQ_JOINT:
-      body1 = id1 >= 0 ? m->jnt_bodyid[id1] : -1;
-      body2 = id2 >= 0 ? m->jnt_bodyid[id2] : -1;
-      tree1 = body1 >= 0 ? m->body_treeid[body1] : -1;
-      tree2 = body2 >= 0 ? m->body_treeid[body2] : -1;
-      break;
-
-    case mjEQ_TENDON:
-      mjERROR("tendon equality does not yet support sleeping");
-      continue;
-
-    case mjEQ_FLEX:
-    case mjEQ_FLEXVERT:
-    case mjEQ_FLEXSTRAIN: {
-      int f = id1;
-      int num, adr;
-      const int* bodyid;
-      if (m->flex_interp[f]) {
-        num = m->flex_nodenum[f];
-        adr = m->flex_nodeadr[f];
-        bodyid = m->flex_nodebodyid;
-      } else {
-        num = m->flex_vertnum[f];
-        adr = m->flex_vertadr[f];
-        bodyid = m->flex_vertbodyid;
-      }
-
-      // find the first awake tree, if any
-      int awake_tree = -1;
-      for (int j = 0; j < num; j++) {
-        int treeid = m->body_treeid[bodyid[adr+j]];
-        if (treeid >= 0 && d->tree_awake[treeid]) {
-          awake_tree = treeid;
-          break;
-        }
-      }
-
-      // wake sleeping island: find first sleeping tree, wakeTree wakes them all
-      if (awake_tree >= 0) {
-        int wakeval = d->tree_asleep[awake_tree];
-        for (int j = 0; j < num; j++) {
-          int treeid = m->body_treeid[bodyid[adr+j]];
-          if (treeid >= 0 && !d->tree_awake[treeid]) {
-            nwoke += mj_wakeIsland(d->tree_asleep, m->ntree, treeid, wakeval,
-                                   "flex equality", d->time);
-            break;
-          }
-        }
-      }
-      continue;
-    }
-
-    default:
-      continue;
-    }
-
-    // get sleep state; dof-less bodies marked awake (mocap) count as awake
-    mjtSleepState s1 = tree1 >= 0 ? (mjtSleepState)d->tree_awake[tree1]
-                                  : (body1 >= 0 ? (mjtSleepState)d->body_awake[body1] : mjS_STATIC);
-    mjtSleepState s2 = tree2 >= 0 ? (mjtSleepState)d->tree_awake[tree2]
-                                  : (body2 >= 0 ? (mjtSleepState)d->body_awake[body2] : mjS_STATIC);
-
-    // neither is asleep, nothing to do
-    if (s1 != mjS_ASLEEP && s2 != mjS_ASLEEP) {
-      continue;
-    }
-
-    // one is static, nothing to do
-    if (s1 == mjS_STATIC || s2 == mjS_STATIC) {
-      continue;
-    }
-
-    // equality within the same tree, nothing to do
-    if (tree1 == tree2) {
-      continue;
-    }
-
-    // both are asleep, wake if in different islands
-    if (s1 == mjS_ASLEEP && s2 == mjS_ASLEEP) {
-      int cycle1 = mj_sleepCycle(d->tree_asleep, m->ntree, tree1);
-      int cycle2 = mj_sleepCycle(d->tree_asleep, m->ntree, tree2);
-      if (cycle1 != cycle2) {
-        int nwoke1 = mj_wakeIsland(d->tree_asleep, m->ntree, tree1, kAwake, "equality", d->time);
-        int nwoke2 = mj_wakeIsland(d->tree_asleep, m->ntree, tree2, kAwake, "equality", d->time);
-
-        nwoke += nwoke1 + nwoke2;
-      }
-      continue;
-    }
-
-    // one is asleep and one is awake, wake the sleeping tree
-    int sleeping_tree = s1 == mjS_ASLEEP ? tree1 : tree2;
-    nwoke += mj_wakeIsland(d->tree_asleep, m->ntree, sleeping_tree, kAwake, "equality", d->time);
-  }
-
-  return nwoke;
-}
-
-
-//-------------------------------- sleep -----------------------------------------------------------
-
-// put n trees to sleep (create cycle), set their velocity and acceleration to zero
-static inline void mj_sleepTrees(const mjModel* m, mjData* d, const int* tree, int n) {
-  for (int i=0; i < n; i++) {
-    // create cycle
-    int current = tree[i];
-    int next = (i == n - 1) ? tree[0] : tree[i + 1];
-    if (d->tree_asleep[current] == -1) {
-      d->tree_asleep[current] = next;
-    }
-
-    // SHOULD NOT OCCUR
-    else if (d->tree_asleep[current] >= 0) {
-      mjERROR("trying to sleep tree %d which is already asleep", i);
-    } else {
-      mjERROR("trying to sleep tree %d which is not ready to sleep", i);
-    }
-
-    // set tree velocity and acceleration to zero
-    int adr = m->tree_dofadr[current];
-    int num = m->tree_dofnum[current];
-    mju_zero(d->qvel+adr, num);
-    mju_zero(d->qacc+adr, num);
-  }
-
-#ifndef MJ_DISABLE_DEBUG_TRACING
-  if (mju_isTopicEnabled(mjTOPIC_SLEEP)) {
-    char buf[1024];
-    int pos = snprintf(buf, sizeof(buf), "t=%6.2g, slept tree%s ", d->time, plural(n));
-    for (int i = 0; i < n; i++) {
-      pos += snprintf(buf + pos, sizeof(buf) - pos, "%d%s", tree[i], (i == n - 1) ? "" : " ");
-    }
-    mjLogMessage msg = {.level = mjLOG_DEBUG, .topic = mjTOPIC_SLEEP, .func = __func__};
-    mju_strncpy(msg.subject, buf, sizeof(msg.subject));
-    mju_message(&msg);
-  }
-#endif
-}
-
-
-// put trees to sleep according to tolerance, return number of slept trees
-int mj_sleep(const mjModel* m, mjData* d) {
-  int ntree = m->ntree, nisland = d->nisland, nslept = 0;
-
-  // sleep disabled: nothing to do
-  if (!mjENABLED(mjENBL_SLEEP)) {
-    return nslept;
-  }
-
-  // have constraints but no island structure: can't sleep
-  if (d->nefc && !nisland) {
-    return nslept;
-  }
-
-  // sweep over awake trees, increment tree_asleep if under tolerance
-  for (int i=0; i < ntree; i++) {
-    // skip sleeping tree
-    if (d->tree_asleep[i] >= 0) {
-      continue;
-    }
-
-    // increment tree_asleep if tree can sleep, otherwise wake up
-    if (treeCanSleep(m, d, i, m->opt.sleep_tolerance)) {
-      d->tree_asleep[i] += (d->tree_asleep[i] < -1);
-    } else {
-      d->tree_asleep[i] = -(1+mjMINAWAKE);
-    }
-  }
-
-  // sweep over islands, put to sleep if all trees are under tolerance
-  for (int i=0; i < nisland; i++) {
-    // check if all trees in the island can sleep
-    int can_sleep = 1;
-    int start = d->island_itreeadr[i];
-    int end = start + d->island_ntree[i];
-    for (int j=start; j < end; j++) {
-      int tree_asleep = d->tree_asleep[d->map_itree2tree[j]];
-      if (tree_asleep < -1) {
-        can_sleep = 0;
-        break;
-      }
-
-      // sleeping tree in an island; SHOULD NOT OCCUR
-      else if (tree_asleep >= 0) {
-        mjERROR("found sleeping tree %d in island %d", d->map_itree2tree[j], i);
-      }
-    }
-
-    // put island to sleep
-    if (can_sleep) {
-      const int* tree = d->map_itree2tree + start;
-      int n = d->island_ntree[i];
-      mj_sleepTrees(m, d, tree, n);
-      nslept += n;
-    }
-  }
-
-  // sleep unconstrained trees (with or without island structure)
-  int start = nisland ? d->island_itreeadr[nisland-1] + d->island_ntree[nisland-1] : 0;
-  for (int j=start; j < ntree; j++) {
-    int i = nisland ? d->map_itree2tree[j] : j;
-    if (d->tree_asleep[i] == -1) {
-      mj_sleepTrees(m, d, &i, 1);
-      nslept++;
-    }
-  }
-
-  return nslept;
-}
-
-
-//-------------------------------- sleep state -----------------------------------------------------
-
-// return sleep state of tendon i
-static mjtSleepState mj_tendonSleepState(const mjModel* m, const mjData* d, int i) {
-  int treenum = m->tendon_treenum[i];
-
-  // no trees: tendon is static
-  if (treenum == 0) {
-    return mjS_STATIC;
-  }
-
-  // single tree: awake if tree is awake, asleep otherwise
-  int id1 = m->tendon_treeid[2*i];
-  if (treenum == 1) {
-    return d->tree_awake[id1] ? mjS_AWAKE : mjS_ASLEEP;
-  }
-
-  // two trees: asleep only if both are asleep
-  int id2 = m->tendon_treeid[2*i+1];
-  if (treenum == 2) {
-    return (d->tree_awake[id1] || d->tree_awake[id2]) ? mjS_AWAKE : mjS_ASLEEP;
-  }
-
-  return mjS_AWAKE;
-}
-
-
-// return sleep state of actuator i
-static mjtSleepState mj_actuatorSleepState(const mjModel* m, const mjData* d, int i) {
-  mjtSleepState s1, s2;
-  int trnid = m->actuator_trnid[i*2];
-
-  switch ((mjtTrn)m->actuator_trntype[i]) {
-  case mjTRN_JOINT:
-  case mjTRN_JOINTINPARENT:
-    return mj_sleepState(m, d, mjOBJ_JOINT, trnid);
-
-  case mjTRN_SLIDERCRANK:
-    s1 = mj_sleepState(m, d, mjOBJ_SITE, trnid);
-    s2 = mj_sleepState(m, d, mjOBJ_SITE, m->actuator_trnid[i*2+1]);
-    return (s1 == mjS_AWAKE || s2 == mjS_AWAKE) ? mjS_AWAKE : mjS_ASLEEP;
-
-  case mjTRN_TENDON:
-    return mj_tendonSleepState(m, d, trnid);
-
-  case mjTRN_SITE:
-    return mj_sleepState(m, d, mjOBJ_SITE, trnid);
-
-  case mjTRN_SO3:
-    // ball joint target or site + refsite target
-    if (m->actuator_trnid[i*2+1] == -1) {
-      return mj_sleepState(m, d, mjOBJ_JOINT, trnid);
-    }
-    s1 = mj_sleepState(m, d, mjOBJ_SITE, trnid);
-    s2 = mj_sleepState(m, d, mjOBJ_SITE, m->actuator_trnid[i*2+1]);
-    return (s1 == mjS_AWAKE || s2 == mjS_AWAKE) ? mjS_AWAKE : mjS_ASLEEP;
-
-  case mjTRN_BODY:
-    return mj_sleepState(m, d, mjOBJ_BODY, trnid);
-
-  case mjTRN_UNDEFINED:
-    return mjS_AWAKE;
-  }
-
-  return mjS_AWAKE;
-}
-
-
-// return sleep state of equality i
-static mjtSleepState mj_equalitySleepState(const mjModel* m, const mjData* d, int i) {
-  mjtEq eqtype = m->eq_type[i];
-  mjtObj objtype;
-
-  switch (eqtype) {
-    case mjEQ_CONNECT:
-    case mjEQ_WELD:
-      objtype = m->eq_objtype[i];
-      break;
-    case mjEQ_JOINT:
-      objtype = mjOBJ_JOINT;
-      break;
-    case mjEQ_TENDON:
-      objtype = mjOBJ_TENDON;
-      break;
-    case mjEQ_FLEX:
-    case mjEQ_FLEXVERT:
-    case mjEQ_FLEXSTRAIN:
-      objtype = mjOBJ_FLEX;
-      break;
-    default:
-      return mjS_AWAKE;
-  }
-
-  int id1 = m->eq_obj1id[i];
-  int id2 = m->eq_obj2id[i];
-  mjtSleepState s1 = (id1 >= 0) ? mj_sleepState(m, d, objtype, id1) : mjS_STATIC;
-  mjtSleepState s2 = (id2 >= 0) ? mj_sleepState(m, d, objtype, id2) : mjS_STATIC;
-
-  // return ASLEEP if both objects are asleep or static, AWAKE otherwise
-  int neither_awake = (s1 != mjS_AWAKE && s2 != mjS_AWAKE);
-  return neither_awake ? mjS_ASLEEP : mjS_AWAKE;
-}
-
-
-// return sleep state of sensor i (AWAKE or ASLEEP, never STATIC)
-static mjtSleepState mj_sensorSleepState(const mjModel* m, const mjData* d, int i) {
-  mjtSensor type = m->sensor_type[i];
-  mjtObj objtype = m->sensor_objtype[i];
-  mjtObj reftype = m->sensor_reftype[i];
-
-  // special handling for specific sensor types
-  switch (type) {
-
-  // USER and PLUGIN sensors: always awake
-  case mjSENS_USER:
-  case mjSENS_PLUGIN:
-    return mjS_AWAKE;
-
-  // contact sensors with site specifiers: always awake
-  case mjSENS_CONTACT:
-    // site used to define a volume: always awake
-    if (objtype == mjOBJ_SITE || reftype == mjOBJ_SITE) {
-      return mjS_AWAKE;
-    }
-    break;
-
-  // rangefinder output does not depend on sleep state: always awake
-  case mjSENS_RANGEFINDER:
-    return mjS_AWAKE;
-
-  default:
-    break;
-  }
-
-  // get sleep state of the primary and reference objects
-  mjtSleepState s_obj = mj_sleepState(m, d, objtype, m->sensor_objid[i]);
-  mjtSleepState s_ref = mj_sleepState(m, d, reftype, m->sensor_refid[i]);
-
-  // special handling for UNKNOWN objects
-
-  // if both are UNKNOWN, return AWAKE
-  if (objtype == mjOBJ_UNKNOWN && reftype == mjOBJ_UNKNOWN) {
-    return mjS_AWAKE;
-  }
-
-  // if one is UNKNOWN, return the other's sleep state (if STATIC, return AWAKE)
-  if (objtype == mjOBJ_UNKNOWN) {
-    return s_ref == mjS_ASLEEP ? mjS_ASLEEP : mjS_AWAKE;
-  } else if (reftype == mjOBJ_UNKNOWN) {
-    return s_obj == mjS_ASLEEP ? mjS_ASLEEP : mjS_AWAKE;
-  }
-
-  // if either object is awake, return AWAKE
-  if (s_obj == mjS_AWAKE || s_ref == mjS_AWAKE) {
-    return mjS_AWAKE;
-  }
-
-  // otherwise return ASLEEP
-  return mjS_ASLEEP;
-}
-
-
-// return sleep state of object i
-mjtSleepState mj_sleepState(const mjModel* m, const mjData* d, mjtObj type, int i) {
-  const char* typename;
-
-  switch (type) {
-
-  // simple types
-  case mjOBJ_BODY:
-  case mjOBJ_XBODY:
-    return (mjtSleepState) d->body_awake[i];
-  case mjOBJ_JOINT:
-    return (mjtSleepState) d->body_awake[m->jnt_bodyid[i]];
-  case mjOBJ_SITE:
-    return (mjtSleepState) d->body_awake[m->site_bodyid[i]];
-  case mjOBJ_DOF:
-    return (mjtSleepState) d->body_awake[m->dof_bodyid[i]];
-  case mjOBJ_GEOM:
-    return (mjtSleepState) d->body_awake[m->geom_bodyid[i]];
-  case mjOBJ_CAMERA:
-    return (mjtSleepState) d->body_awake[m->cam_bodyid[i]];
-  case mjOBJ_LIGHT:
-    return (mjtSleepState) d->body_awake[m->light_bodyid[i]];
-
-  // complex types
-  case mjOBJ_EQUALITY:
-    return mj_equalitySleepState(m, d, i);
-  case mjOBJ_TENDON:
-    return mj_tendonSleepState(m, d, i);
-  case mjOBJ_ACTUATOR:
-    return mj_actuatorSleepState(m, d, i);
-  case mjOBJ_SENSOR:
-    return mj_sensorSleepState(m, d, i);
-
-  case mjOBJ_FLEX: {
-    // all dynamic bodies share sleep state: find and check the first one
-    int num, adr;
-    const int* bodyid;
-    if (m->flex_interp[i]) {
-      num = m->flex_nodenum[i];
-      adr = m->flex_nodeadr[i];
-      bodyid = m->flex_nodebodyid;
-    } else {
-      num = m->flex_vertnum[i];
-      adr = m->flex_vertadr[i];
-      bodyid = m->flex_vertbodyid;
-    }
-    for (int j = 0; j < num; j++) {
-      int b = bodyid[adr+j];
-      if (m->body_treeid[b] >= 0) {
-        return (mjtSleepState) d->body_awake[b];
-      }
-    }
-    return mjS_STATIC;
-  }
-
-  // undefined sleep state, return AWAKE
-  case mjOBJ_UNKNOWN:
-    return mjS_AWAKE;
-
-  // unsupported
-  default:
-    typename = mju_type2Str(type);
-    if (typename) {
-      mjERROR("unsupported object type '%s'", typename);
-    } else {
-      mjERROR("unsupported object type %d", type);
-    }
-    return mjS_AWAKE;
-  }
-}
diff --git a/src/engine/engine_sleep.h b/src/engine/engine_sleep.h
deleted file mode 100644
index 45e1febe..00000000
--- a/src/engine/engine_sleep.h
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_SLEEP_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_SLEEP_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// compute sleeping arrays from tree_asleep, if flg_staticawake is set, treat static bodies as awake
-void mj_updateSleepInit(const mjModel* m, mjData* d, int flg_staticawake);
-
-// compute {ntree,nbody,nv}_awake, {tree,body}_awake, {body,dof}_awake_ind from tree_asleep
-MJAPI void mj_updateSleep(const mjModel* m, mjData* d);
-
-// return the first tree in the sleep cycle that starts at i, -1 if error
-MJAPI int mj_sleepCycle(const int* tree_asleep, int ntree, int i);
-
-// wake tree i and its related island cycle, return number of woke trees
-MJAPI int mj_wakeIsland(int* tree_asleep, int ntree, int i, int wakeval,
-                        const char* reason, mjtNum time);
-
-// wake trees with nonzero velocity or external forces, return number of woke trees
-int mj_wake(const mjModel* m, mjData* d);
-
-// wake sleeping trees that touch awake trees, return number of woke trees
-int mj_wakeCollision(const mjModel* m, mjData* d);
-
-// wake sleeping trees with a constrained tendon to a waking tree, return number of woke trees
-int mj_wakeTendon(const mjModel* m, mjData* d);
-
-// wake sleeping trees with an equality to a waking tree, return number of woke trees
-int mj_wakeEquality(const mjModel* m, mjData* d);
-
-// put trees to sleep according to tolerance, return number of slept trees
-int mj_sleep(const mjModel* m, mjData* d);
-
-// get a representative body from a flex contact side
-int mj_flexBody(const mjModel* m, const mjContact* con, int side);
-
-// return sleep state of object i
-MJAPI mjtSleepState mj_sleepState(const mjModel* m, const mjData* d, mjtObj type, int i);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_SLEEP_H_
diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
deleted file mode 100644
index 1aa1ea3b..00000000
--- a/src/engine/engine_solver.c
+++ /dev/null
@@ -1,2587 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_solver.h"
-
-#include <stddef.h>
-#include <stdint.h>
-#include <string.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_core_constraint.h"
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_derivative.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_solve.h"
-#include "engine/engine_util_sparse.h"
-
-
-//---------------------------------- utility functions ---------------------------------------------
-
-// save solver statistics
-static void saveStats(const mjModel* m, mjData* d, int island, int iter,
-                      mjtNum improvement, mjtNum gradient, mjtNum lineslope,
-                      int nactive, int nchange, int neval, int nupdate) {
-  // if island out of range, return
-  if (island >= mjNISLAND) {
-    return;
-  }
-
-  // if no islands, use first island
-  island = mjMAX(0, island);
-
-  // if iter out of range, return
-  if (iter >= mjNSOLVER) {
-    return;
-  }
-
-  // get mjSolverStat pointer
-  mjSolverStat* stat = d->solver + island*mjNSOLVER + iter;
-
-  // save stats
-  stat->improvement = improvement;
-  stat->gradient = gradient;
-  stat->lineslope = lineslope;
-  stat->nactive = nactive;
-  stat->nchange = nchange;
-  stat->neval = neval;
-  stat->nupdate = nupdate;
-}
-
-
-// finalize dual solver: map to joint space
-static void dualFinish(const mjModel* m, mjData* d) {
-  // map constraint force to joint space
-  mj_mulJacTVec(m, d, d->qfrc_constraint, d->efc_force);
-
-  // compute constrained acceleration in joint space
-  mj_solveM(m, d, d->qacc, d->qfrc_constraint, 1);
-  mju_addTo(d->qacc, d->qacc_smooth, m->nv);
-}
-
-
-// PGS: map efc_force to joint space
-void mj_dualFinish(const mjModel* m, mjData* d) {
-  dualFinish(m, d);
-}
-
-
-// compute 1/diag(AR)
-//   res[c] = 1 / AR[efclist[c], efclist[c]] for c = 0..nefc-1
-//   efclist is NULL for monolithic (sequential) iteration
-static void ARdiaginv(const mjModel* m, const mjData* d, mjtNum* res,
-                      int nefc, const int* efclist, int flg_subR) {
-  const mjtNum *AR = d->efc_AR;
-  const mjtNum *R = d->efc_R;
-
-  // sparse
-  if (mj_isSparse(m)) {
-    const int *rowadr = d->efc_AR_rowadr;
-    const int *rownnz = d->efc_AR_rownnz;
-    const int *colind = d->efc_AR_colind;
-
-    for (int c=0; c < nefc; c++) {
-      int i = efclist ? efclist[c] : c;
-      int nnz = rownnz[i];
-      for (int j=0; j < nnz; j++) {
-        int adr = rowadr[i] + j;
-        if (i == colind[adr]) {
-          res[c] = 1 / (flg_subR ? mju_max(mjMINVAL, AR[adr] - R[i]) : AR[adr]);
-          break;
-        }
-      }
-    }
-  }
-
-  // dense
-  else {
-    int d_nefc = d->nefc;  // global nefc
-    for (int c=0; c < nefc; c++) {
-      int i = efclist ? efclist[c] : c;
-      int adr = i * (d_nefc + 1);
-      res[c] = 1 / (flg_subR ? mju_max(mjMINVAL, AR[adr] - R[i]) : AR[adr]);
-    }
-  }
-}
-
-
-// extract diagonal block from AR, clamp diag to 1e-10 if flg_subR
-static void extractBlock(const mjModel* m, const mjData* d, mjtNum* Ac,
-                         int start, int n, int flg_subR) {
-  int nefc = d->nefc;
-  const mjtNum *AR = d->efc_AR;
-
-  // sparse
-  if (mj_isSparse(m)) {
-    const int* rownnz = d->efc_AR_rownnz;
-    const int* rowadr = d->efc_AR_rowadr;
-    const int* colind = d->efc_AR_colind;
-    /*
-            // GENERAL CASE
-            mju_zero(Ac, n*n);
-            for( j=0; j<n; j++ )
-                for( k=0; k<rownnz[start+j]; k++ )
-                {
-                    int col = colind[rowadr[start+j]+k];
-                    if( col>=start && col<start+n )
-                        Ac[j*n+col-start] = AR[rowadr[start+j]+k];
-                }
-     */
-    // assume full sub-matrix, find starting k: same for all rows
-    int k;
-    for (k=0; k < rownnz[start]; k++) {
-      if (colind[rowadr[start]+k] == start) {
-        break;
-      }
-    }
-
-    // SHOULD NOT OCCUR
-    if (k >= rownnz[start]) {
-      mjERROR("internal error");
-    }
-
-    // copy rows
-    for (int j=0; j < n; j++) {
-      mju_copy(Ac+j*n, AR+rowadr[start+j]+k, n);
-    }
-  }
-
-  // dense
-  else {
-    for (int j=0; j < n; j++) {
-      mju_copy(Ac+j*n, AR+start+(start+j)*nefc, n);
-    }
-  }
-
-  // subtract R from diagonal, clamp to 1e-10 from below
-  if (flg_subR) {
-    const mjtNum *R = d->efc_R;
-    for (int j=0; j < n; j++) {
-      Ac[j*(n+1)] -= R[start+j];
-      Ac[j*(n+1)] = mju_max(1e-10, Ac[j*(n+1)]);
-    }
-  }
-}
-
-
-// compute residual for one block
-static void residual(const mjModel* m, const mjData* d, mjtNum* res, int i, int dim, int flg_subR) {
-  int nefc = d->nefc;
-
-  // sparse
-  if (mj_isSparse(m)) {
-    for (int j=0; j < dim; j++) {
-      res[j] = d->efc_b[i+j] + mju_dotSparse(d->efc_AR + d->efc_AR_rowadr[i+j],
-                                             d->efc_force,
-                                             d->efc_AR_rownnz[i+j],
-                                             d->efc_AR_colind + d->efc_AR_rowadr[i+j]);
-    }
-  }
-
-  // dense
-  else {
-    for (int j=0; j < dim; j++) {
-      res[j] = d->efc_b[i+j] + mju_dot(d->efc_AR+(i+j)*nefc, d->efc_force, nefc);
-    }
-  }
-
-  if (flg_subR) {
-    for (int j=0; j < dim; j++) {
-      res[j] -= d->efc_R[i+j]*d->efc_force[i+j];
-    }
-  }
-}
-
-
-// compute cost change
-static mjtNum costChange(const mjtNum* A, mjtNum* force, const mjtNum* oldforce,
-                         const mjtNum* res, int dim) {
-  mjtNum change;
-
-  // compute change
-  if (dim == 1) {
-    mjtNum delta = force[0] - oldforce[0];
-    change = 0.5*delta*delta*A[0] + delta*res[0];
-  } else {
-    mjtNum delta[6];
-    mju_sub(delta, force, oldforce, dim);
-    change = 0.5*mju_mulVecMatVec(delta, A, delta, dim) + mju_dot(delta, res, dim);
-  }
-
-  // positive change: restore force
-  if (change > 1e-10) {
-    mju_copy(force, oldforce, dim);
-    change = 0;
-  }
-
-  return change;
-}
-
-
-// PCG32 random number generator state
-typedef struct {
-  uint64_t state;
-  uint64_t inc;
-} pcg32_state;
-
-
-// generate next 32-bit pseudorandom integer
-static uint32_t pcg32_next(pcg32_state* rng) {
-  uint64_t oldstate = rng->state;
-  rng->state = oldstate * 6364136223846793005ULL + (rng->inc | 1);
-  uint32_t xorshifted = ((oldstate >> 18u) ^ oldstate) >> 27u;
-  uint32_t rot = oldstate >> 59u;
-  return (xorshifted >> rot) | (xorshifted << ((-rot) & 31));
-}
-
-
-// Fisher-Yates shuffle of integer array
-static void shuffle_int(int* array, int n, pcg32_state* rng) {
-  for (int i = n - 1; i > 0; i--) {
-    uint32_t j = pcg32_next(rng) % (i + 1);
-    int temp = array[i];
-    array[i] = array[j];
-    array[j] = temp;
-  }
-}
-
-
-// set efc_state to dual constraint state; return nactive
-//   iterates over efclist (or sequentially if NULL), classifies by ne/nf ranges
-static int dualState(const mjData* d, int* state,
-                     int ne, int nf, int nefc, const int* efclist) {
-  const mjtNum* force = d->efc_force;
-  const mjtNum* floss = d->efc_frictionloss;
-
-  // equality and friction always active
-  int nactive = ne + nf;
-
-  // equality
-  for (int c=0; c < ne; c++) {
-    int i = efclist ? efclist[c] : c;
-    state[i] = mjCNSTRSTATE_QUADRATIC;
-  }
-
-  // friction
-  for (int c=ne; c < ne+nf; c++) {
-    int i = efclist ? efclist[c] : c;
-    if (force[i] <= -floss[i]) {
-      state[i] = mjCNSTRSTATE_LINEARPOS;  // opposite of primal
-    } else if (force[i] >= floss[i]) {
-      state[i] = mjCNSTRSTATE_LINEARNEG;
-    } else {
-      state[i] = mjCNSTRSTATE_QUADRATIC;
-    }
-  }
-
-  // limit and contact
-  for (int c=ne+nf; c < nefc; c++) {
-    int i = efclist ? efclist[c] : c;
-
-    // non-negative
-    if (d->efc_type[i] != mjCNSTR_CONTACT_ELLIPTIC) {
-      if (force[i] <= 0) {
-        state[i] = mjCNSTRSTATE_SATISFIED;
-      } else {
-        state[i] = mjCNSTRSTATE_QUADRATIC;
-        nactive++;
-      }
-    }
-
-    // elliptic
-    else {
-      // get contact dimensionality, friction, mu
-      mjContact* con = d->contact + d->efc_id[i];
-      int dim = con->dim, result = 0;
-      mjtNum mu = con->mu, f[6];
-
-      // f = map force to regular-cone space
-      f[0] = force[i]/mu;
-      for (int j=1; j < dim; j++) {
-        f[j] = force[i+j]/con->friction[j-1];
-      }
-
-      // N = normal, T = norm of tangent vector
-      mjtNum N = f[0];
-      mjtNum T = mju_norm(f+1, dim-1);
-
-      // top zone
-      if (mu*N >= T) {
-        result = mjCNSTRSTATE_SATISFIED;
-      }
-
-      // bottom zone
-      else if (N+mu*T <= 0) {
-        result = mjCNSTRSTATE_QUADRATIC;
-        nactive += dim;
-      }
-
-      // middle zone
-      else {
-        result = mjCNSTRSTATE_CONE;
-        nactive += dim;
-      }
-
-      // replicate state in all cone dimensions
-      mju_fillInt(state+i, result, dim);
-
-      // advance
-      c += (dim-1);
-    }
-  }
-
-  return nactive;
-}
-
-
-// update constraint state, return nactive and nchange
-static int dualStateChange(const mjData* d, int* state, int* oldstate,
-                           int ne, int nf, int nefc,
-                           const int* efclist, int* nchange) {
-  // save old state
-  for (int c=0; c < nefc; c++) {
-    int i = efclist ? efclist[c] : c;
-    oldstate[c] = state[i];
-  }
-
-  // update state
-  int nactive = dualState(d, state, ne, nf, nefc, efclist);
-
-  // count state changes
-  *nchange = 0;
-  for (int c=0; c < nefc; c++) {
-    int i = efclist ? efclist[c] : c;
-    *nchange += (oldstate[c] != state[i]);
-  }
-
-  return nactive;
-}
-
-
-// project onto friction ellipsoid, write to force[i+1..i+dim-1]
-// project tangential force onto friction ellipsoid: sum(f_t[j]^2/mu[j]^2) <= f_n^2
-// if feasible is true, only scale down if outside the ellipsoid
-// if feasible is false, always scale to the boundary
-static void projectEllipsoid(mjtNum* friction, mjtNum normal, const mjtNum* mu,
-                             int dim, int feasible) {
-  mjtNum s = 0;
-  for (int j=0; j < dim-1; j++) {
-    s += friction[j]*friction[j] / (mu[j]*mu[j]);
-  }
-
-  mjtNum normal2 = normal*normal;
-  if (!feasible || s > normal2) {
-    mjtNum scl = mju_sqrt(normal2 / mju_max(mjMINVAL, s));
-    for (int j=0; j < dim-1; j++) {
-      friction[j] *= scl;
-    }
-  }
-}
-
-
-// solve QCQP and project onto friction ellipsoid, write to force[i+1..i+dim-1]
-static void solveQCQP(mjtNum* force, int i, int dim,
-                      mjtNum* Ac, mjtNum* bc, const mjtNum* mu) {
-  int flg_active;
-  mjtNum v[6];
-
-  // solve
-  if (dim == 3) {
-    flg_active = mju_QCQP2(v, Ac, bc, mu, force[i]);
-  } else if (dim == 4) {
-    flg_active = mju_QCQP3(v, Ac, bc, mu, force[i]);
-  } else {  // dim == 5
-    flg_active = mju_QCQP(v, Ac, bc, mu, force[i], dim-1);
-  }
-
-  // on constraint: put v on ellipsoid, in case QCQP is approximate
-  if (flg_active) {
-    projectEllipsoid(v, force[i], mu, dim, /*feasible=*/0);
-  }
-
-  // assign
-  mju_copy(force+i+1, v, dim-1);
-}
-
-
-// project contact force block onto friction cone (pyramidal or elliptic)
-static void projectCone(mjtNum* force, const mjtNum* mu, int dim, int type) {
-  // elliptic cone: project onto friction ellipsoid
-  if (type == mjCNSTR_CONTACT_ELLIPTIC) {
-    // clamp normal force
-    if (force[0] < 0) {
-      mju_zero(force, dim);
-    } else {
-      projectEllipsoid(force+1, force[0], mu, dim, /*feasible=*/1);
-    }
-  }
-
-  // pyramidal or scalar: clamp to non-negative
-  else {
-    if (force[0] < 0) {
-      force[0] = 0;
-    }
-  }
-}
-
-
-// global variable to toggle Nesterov momentum (for benchmarks/tests)
-mjTHREADLOCAL int mj_nesterov_momentum = 1;
-
-
-//---------------------------- PGS solver ----------------------------------------------------------
-
-// core PGS solver: iterates over constraints specified by efclist
-//   island: island index for stats (use -1 for monolithic, mapped to 0)
-//   ne, nf, nefc: constraint type counts
-//   efclist: maps list position c to monolithic efc index (NULL for sequential)
-static void solPGS(const mjModel* m, mjData* d, int island,
-                   int ne, int nf, int nefc,
-                   const int* efclist, int maxiter) {
-  const mjtNum *floss = d->efc_frictionloss;
-  mjtNum *force = d->efc_force;
-  mj_markStack(d);
-  mjtNum* ARinv = mjSTACKALLOC(d, nefc, mjtNum);
-  int* oldstate = mjSTACKALLOC(d, 2*nefc, int);
-  int* blockstart = oldstate + nefc;
-
-  // Nesterov momentum
-  mjtBool nesterov = (mj_nesterov_momentum != 0);
-  mjtNum* force_prev = NULL;
-  mjtNum* force_momentum = NULL;
-  if (nesterov) {
-    force_prev = mjSTACKALLOC(d, nefc, mjtNum);
-    force_momentum = mjSTACKALLOC(d, nefc, mjtNum);
-    mju_gather(force_prev, force, efclist, nefc);
-  }
-
-  int island_stat = mjMAX(0, island);  // island index for diagnostic stats
-  mjtNum scale = 1 / (m->stat.meaninertia * mjMAX(1, m->nv));
-
-  // precompute inverse diagonal of AR
-  ARdiaginv(m, d, ARinv, nefc, efclist, 0);
-
-  // initial constraint state
-  dualState(d, d->efc_state, ne, nf, nefc, efclist);
-
-  // build block-index array: one entry per constraint block
-  int nblocks = 0;
-  for (int c=0; c < nefc; ) {
-    blockstart[nblocks++] = c;
-    int i = efclist ? efclist[c] : c;
-    if (d->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {
-      c += d->contact[d->efc_id[i]].dim;
-    } else {
-      c++;
-    }
-  }
-
-  // seed PCG32 RNG with a fixed seed
-  pcg32_state rng;
-  rng.state = 0;
-  rng.inc = 1;
-  pcg32_next(&rng);
-
-  // main iteration
-  int iter = 0;
-  int nesterov_k = 0;  // Nesterov counter (resets on adaptive restart)
-  while (iter < maxiter) {
-    // Nesterov momentum extrapolation
-    if (nesterov) {
-      mjtNum beta = 0;
-      if (iter > 0) {
-        beta = (mjtNum)(nesterov_k - 1) / (mjtNum)(nesterov_k + 2);
-      }
-
-      // update with momentum, save pre-extrapolation value
-      if (beta > 0) {
-        for (int c=0; c < nefc; c++) {
-          int i = efclist ? efclist[c] : c;
-          mjtNum f_save = force[i];
-          force[i] += beta*(force[i] - force_prev[c]);
-          force_prev[c] = f_save;
-        }
-
-        // friction loss: project onto bounds
-        for (int c=ne; c < ne+nf; c++) {
-          int i = efclist ? efclist[c] : c;
-          force[i] = mju_clip(force[i], -floss[i], floss[i]);
-        }
-
-        // contact force: project onto friction cone
-        for (int c=ne+nf; c < nefc; ) {
-          int i = efclist ? efclist[c] : c;
-          int dim = 1;
-          int type = d->efc_type[i];
-          const mjtNum* mu = NULL;
-
-          if (type == mjCNSTR_CONTACT_ELLIPTIC) {
-            dim = d->contact[d->efc_id[i]].dim;
-            mu = d->contact[d->efc_id[i]].friction;
-          }
-
-          projectCone(force+i, mu, dim, type);
-          c += dim;
-        }
-      }
-
-      // iter == 0 or beta <= 0 (nesterov_k <= 1): just save current force
-      else {
-        mju_gather(force_prev, force, efclist, nefc);
-      }
-
-      // save extrapolated point for gradient restart check
-      mju_gather(force_momentum, force, efclist, nefc);
-    }
-
-    // clear improvement
-    mjtNum improvement = 0;
-
-    // shuffle constraint visitation order
-    shuffle_int(blockstart, nblocks, &rng);
-
-    // perform one sweep over constraint blocks
-    for (int bi=0; bi < nblocks; bi++) {
-      int c = blockstart[bi];
-      int i = efclist ? efclist[c] : c;
-
-      // get constraint dimensionality
-      int dim;
-      if (d->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {
-        dim = d->contact[d->efc_id[i]].dim;
-      } else {
-        dim = 1;
-      }
-
-      // compute residual for this constraint
-      mjtNum res[6];
-      residual(m, d, res, i, dim, 0);
-
-      // save old force
-      mjtNum oldforce[6];
-      mju_copy(oldforce, force+i, dim);
-
-      // allocate AR submatrix, required later for costChage
-      mjtNum Athis[36];
-
-      // simple constraint
-      if (d->efc_type[i] != mjCNSTR_CONTACT_ELLIPTIC) {
-        // unconstrained minimum
-        force[i] -= res[0]*ARinv[c];
-
-        // impose interval and inequality constraints
-        if (c >= ne && c < ne+nf) {
-          if (force[i] < -floss[i]) {
-            force[i] = -floss[i];
-          } else if (force[i] > floss[i]) {
-            force[i] = floss[i];
-          }
-        } else if (c >= ne+nf) {
-          if (force[i] < 0) {
-            force[i] = 0;
-          }
-        }
-      }
-
-      // elliptic cone constraint
-      else {
-        // get friction
-        mjtNum *mu = d->contact[d->efc_id[i]].friction;
-
-        //-------------------- perform normal or ray update
-
-        // Athis = AR(this,this)
-        extractBlock(m, d, Athis, i, dim, 0);
-
-        // normal force too small: normal update
-        if (force[i] < mjMINVAL) {
-          // unconstrained minimum
-          force[i] -= res[0]*ARinv[c];
-
-          // clamp
-          if (force[i] < 0) {
-            force[i] = 0;
-          }
-
-          // clear friction (just in case)
-          mju_zero(force+i+1, dim-1);
-        }
-
-        // ray update
-        else {
-          // v = ray
-          mjtNum v[6];
-          mju_copy(v, force+i, dim);
-
-          // denom = v' * AR(this,this) * v
-          mjtNum v1[6];
-          mju_mulMatVec(v1, Athis, v, dim, dim);
-          mjtNum denom = mju_dot(v, v1, dim);
-
-          // avoid division by 0
-          if (denom >= mjMINVAL) {
-            // x = v' * res / denom
-            mjtNum x = -mju_dot(v, res, dim) / denom;
-
-            // make sure normal is non-negative
-            if (force[i]+x*v[0] < 0) {
-              x = -v[0]/force[i];
-            }
-
-            //  add x*v to f
-            for (int j=0; j < dim; j++) {
-              force[i+j] += x*v[j];
-            }
-          }
-        }
-
-        //-------------------- perform friction update, keep normal fixed
-
-        // Ac = AR-submatrix; bc = b-subvector + Ac,rest * f_rest
-        mjtNum bc[5], Ac[25];
-        mju_copy(bc, res+1, dim-1);
-        for (int j=0; j < dim-1; j++) {
-          mju_copy(Ac+j*(dim-1), Athis+(j+1)*dim+1, dim-1);
-          bc[j] -= mju_dot(Ac+j*(dim-1), oldforce+1, dim-1);
-          bc[j] += Athis[(j+1)*dim]*(force[i]-oldforce[0]);
-        }
-
-        // guard for f_normal==0
-        if (force[i] < mjMINVAL) {
-          mju_zero(force+i+1, dim-1);
-        }
-
-        // QCQP
-        else {
-          solveQCQP(force, i, dim, Ac, bc, mu);
-        }
-      }
-
-      // accumulate improvement
-      if (dim == 1) {
-        Athis[0] = 1/ARinv[c];
-      }
-      improvement -= costChange(Athis, force+i, oldforce, res, dim);
-    }
-
-    // update constraint state
-    int nchange;
-    int nactive = dualStateChange(d, d->efc_state, oldstate, ne, nf, nefc, efclist, &nchange);
-
-    // scale improvement, save stats
-    improvement *= scale;
-    saveStats(m, d, island_stat, iter, improvement, 0, 0, nactive, nchange, 0, 0);
-
-    // Nesterov gradient restart (O'Donoghue-Candès): reset when correction opposes extrapolation
-    if (nesterov) {
-      mjtBool restart = false;
-      if (iter > 0) {
-        mjtNum dot_corr_extr = 0;
-        for (int c=0; c < nefc; c++) {
-          int i = efclist ? efclist[c] : c;
-          mjtNum correction = force[i] - force_momentum[c];
-          mjtNum extrapolation = force_momentum[c] - force_prev[c];
-          dot_corr_extr += correction * extrapolation;
-        }
-        restart = (dot_corr_extr < 0);
-      }
-
-      if (restart) {
-        nesterov_k = 0;
-      } else {
-        nesterov_k++;
-      }
-    }
-
-    // increment iteration count
-    iter++;
-
-    // terminate
-    if (improvement < m->opt.tolerance) {
-      break;
-    }
-  }
-
-  // finalize statistics
-  if (island_stat < mjNISLAND) {
-    // update solver iterations
-    d->solver_niter[island_stat] += iter;
-
-    // set nnz
-    if (mj_isSparse(m)) {
-      d->solver_nnz[island_stat] = 0;
-      for (int c=0; c < nefc; c++) {
-        d->solver_nnz[island_stat] += d->efc_AR_rownnz[efclist ? efclist[c] : c];
-      }
-    } else {
-      d->solver_nnz[island_stat] = nefc*nefc;
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// PGS entry point (monolithic, no dualFinish — caller handles it)
-void mj_solPGS(const mjModel* m, mjData* d, int maxiter) {
-  solPGS(m, d, /*island=*/-1, d->ne, d->nf, d->nefc, /*efclist=*/NULL, maxiter);
-}
-
-
-// PGS entry point (one island)
-void mj_solPGS_island(const mjModel* m, mjData* d, int island, int maxiter) {
-  int ne = d->island_ne[island];
-  int nf = d->island_nf[island];
-  int nefc = d->island_nefc[island];
-  int iefcadr = d->island_iefcadr[island];
-
-  solPGS(m, d, island, ne, nf, nefc, d->map_iefc2efc + iefcadr, maxiter);
-}
-
-
-//---------------------------- NoSlip solver -------------------------------------------------------
-
-// core NoSlip solver: iterates over constraints specified by efclist
-//   island: island index for stats (use -1 for monolithic, mapped to 0)
-//   ne, nf, nefc: constraint type counts
-//   efclist: maps list position c to monolithic efc index (NULL for sequential)
-static void solNoSlip(const mjModel* m, mjData* d, int island,
-                      int ne, int nf, int nefc,
-                      const int* efclist, int maxiter) {
-  int dim, iter = 0;
-  const mjtNum *floss = d->efc_frictionloss;
-  mjtNum *force = d->efc_force;
-  mjtNum *mu, improvement;
-  mjtNum Ac[25], bc[5], res[5], oldforce[5], delta[5], mid, y, K0, K1;
-  mjContact* con;
-  mj_markStack(d);
-  mjtNum* ARinv = mjSTACKALLOC(d, nefc, mjtNum);
-  int* oldstate = mjSTACKALLOC(d, nefc, int);
-
-  int island_stat = mjMAX(0, island);
-  mjtNum scale = 1 / (m->stat.meaninertia * mjMAX(1, m->nv));
-
-  // precompute inverse diagonal of A
-  ARdiaginv(m, d, ARinv, nefc, efclist, 1);
-
-  // initial constraint state
-  dualState(d, d->efc_state, ne, nf, nefc, efclist);
-
-  // main iteration
-  while (iter < maxiter) {
-    // clear improvement
-    improvement = 0;
-
-    // correct for cost change at iter 0
-    if (iter == 0) {
-      for (int c=0; c < nefc; c++) {
-        int i = efclist ? efclist[c] : c;
-        improvement += 0.5*force[i]*force[i]*d->efc_R[i];
-      }
-    }
-
-    // perform one sweep: dry friction
-    for (int c=ne; c < ne+nf; c++) {
-      int i = efclist ? efclist[c] : c;
-
-      // compute residual, save old
-      residual(m, d, res, i, 1, 1);
-      oldforce[0] = force[i];
-
-      // unconstrained minimum
-      force[i] -= res[0]*ARinv[c];
-
-      // impose interval constraints
-      if (force[i] < -floss[i]) {
-        force[i] = -floss[i];
-      } else if (force[i] > floss[i]) {
-        force[i] = floss[i];
-      }
-
-      // add to improvement
-      delta[0] = force[i] - oldforce[0];
-      improvement -= 0.5*delta[0]*delta[0]/ARinv[c] + delta[0]*res[0];
-    }
-
-    // perform one sweep: contact friction
-    for (int c=ne+nf; c < nefc; c++) {
-      int i = efclist ? efclist[c] : c;
-
-      // pyramidal contact
-      if (d->efc_type[i] == mjCNSTR_CONTACT_PYRAMIDAL) {
-        // get contact info
-        con = d->contact + d->efc_id[i];
-        dim = con->dim;
-        mu = con->friction;
-
-        // loop over pairs of opposing pyramid edges
-        for (int j=i; j < i+2*(dim-1); j+=2) {
-          // compute residual, save old
-          residual(m, d, res, j, 2, 1);
-          mju_copy(oldforce, force+j, 2);
-
-          // Ac = AR-submatirx
-          extractBlock(m, d, Ac, j, 2, 1);
-
-          // bc = b-subvector + Ac,rest * f_rest
-          mju_copy(bc, res, 2);
-          for (int k=0; k < 2; k++) {
-            bc[k] -= mju_dot(Ac+k*2, oldforce, 2);
-          }
-
-          // f0 = mid+y, f1 = mid-y
-          mid = 0.5*(force[j]+force[j+1]);
-          y = 0.5*(force[j]-force[j+1]);
-
-          // K1 = A00 + A11 - 2*A01,  K0 = mid*A00 - mid*A11 + b0 - b1
-          K1 = Ac[0] + Ac[3] - Ac[1] - Ac[2];
-          K0 = mid*(Ac[0] - Ac[3]) + bc[0] - bc[1];
-
-          // guard against Ac==0
-          if (K1 < mjMINVAL) {
-            force[j] = force[j+1] = mid;
-          }
-
-          // otherwise minimize over y \in [-mid, mid]
-          else {
-            // unconstrained minimum
-            y = -K0/K1;
-
-            // clamp and assign
-            if (y < -mid) {
-              force[j] = 0;
-              force[j+1] = 2*mid;
-            } else if (y > mid) {
-              force[j] = 2*mid;
-              force[j+1] = 0;
-            } else {
-              force[j] = mid+y;
-              force[j+1] = mid-y;
-            }
-          }
-
-          // accumulate improvement
-          improvement -= costChange(Ac, force+j, oldforce, res, 2);
-        }
-
-        // skip the rest of this contact
-        c += 2*(dim-1)-1;
-      }
-
-      // elliptic contact
-      else if (d->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {
-        // get contact info
-        con = d->contact + d->efc_id[i];
-        dim = con->dim;
-        mu = con->friction;
-
-        // compute residual, save old
-        residual(m, d, res, i+1, dim-1, 1);
-        mju_copy(oldforce, force+i+1, dim-1);
-
-        // Ac = AR-submatrix
-        extractBlock(m, d, Ac, i+1, dim-1, 1);
-
-        // bc = b-subvector + Ac,rest * f_rest
-        mju_copy(bc, res, dim-1);
-        for (int j=0; j < dim-1; j++) {
-          bc[j] -= mju_dot(Ac+j*(dim-1), oldforce, dim-1);
-        }
-
-        // guard for f_normal==0
-        if (force[i] < mjMINVAL) {
-          mju_zero(force+i+1, dim-1);
-        }
-
-        // QCQP
-        else {
-          solveQCQP(force, i, dim, Ac, bc, mu);
-        }
-
-        // accumulate improvement
-        improvement -= costChange(Ac, force+i+1, oldforce, res, dim-1);
-
-        // skip the rest of this contact
-        c += (dim-1);
-      }
-    }
-
-    // update constraint state
-    int nchange;
-    int nactive = dualStateChange(d, d->efc_state, oldstate, ne, nf, nefc, efclist, &nchange);
-
-    // scale improvement, save stats
-    improvement *= scale;
-
-    // save noslip stats after all the entries from regular solver
-    if (island_stat < mjNISLAND) {
-      int stats_iter = iter + d->solver_niter[island_stat];
-      saveStats(m, d, island_stat, stats_iter, improvement, 0, 0, nactive, nchange, 0, 0);
-    }
-
-    // increment iteration count
-    iter++;
-
-    // terminate
-    if (improvement < m->opt.noslip_tolerance) {
-      break;
-    }
-  }
-
-  // update solver iterations
-  if (island_stat < mjNISLAND) {
-    d->solver_niter[island_stat] += iter;
-  }
-
-  mj_freeStack(d);
-}
-
-
-// NoSlip entry point (monolithic, no dualFinish — caller handles it)
-void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter) {
-  solNoSlip(m, d, /*island=*/-1, d->ne, d->nf, d->nefc, /*efclist=*/NULL, maxiter);
-}
-
-
-// NoSlip entry point (one island)
-void mj_solNoSlip_island(const mjModel* m, mjData* d, int island, int maxiter) {
-  int ne = d->island_ne[island];
-  int nf = d->island_nf[island];
-  int nefc = d->island_nefc[island];
-  int iefcadr = d->island_iefcadr[island];
-
-  solNoSlip(m, d, island, ne, nf, nefc, d->map_iefc2efc + iefcadr, maxiter);
-}
-
-
-//------------------------- Primal solvers ---------------------------------------------------------
-
-// Primal context
-typedef struct {
-  int is_sparse;          // 1: sparse, 0: dense
-  int is_elliptic;        // 1: elliptic, 0: pyramidal
-  int island;             // current island index, -1 if monolithic
-
-  // sizes
-  int nv;                 // number of dofs
-  int ne;                 // number of equalities
-  int nf;                 // number of friction constraints
-  int nefc;               // number of all constraints
-  int nJ;                 // number of nonzeros in Jacobian
-
-  // contact array
-  mjContact* contact;
-
-  // dof arrays
-  const mjtNum* qfrc_smooth;
-  const mjtNum* qacc_smooth;
-  mjtNum* qfrc_constraint;
-  mjtNum* qacc;
-
-  // inertia
-  int* M_rownnz;
-  int* M_rowadr;
-  int* M_colind;
-  mjtNum* M;
-  mjtNum* qLD;
-  mjtNum* qLDiagInv;
-
-  // efc arrays
-  const mjtNum* efc_D;
-  const mjtNum* efc_R;
-  const mjtNum* efc_frictionloss;
-  const mjtNum* efc_aref;
-  const int* efc_id;
-  const int* efc_type;
-  mjtNum* efc_force;
-  int* efc_state;
-
-  // Jacobians
-  int* J_rownnz;
-  int* J_rowadr;
-  int* J_rowsuper;
-  int* J_colind;
-  mjtNum* J;
-  int* JT_rownnz;
-  int* JT_rowadr;
-  int* JT_rowsuper;
-  int* JT_colind;
-  mjtNum* JT;
-
-  // common arrays (PrimalAllocate)
-  mjtNum* Jaref;          // Jac*qacc - aref                              (nefc x 1)
-  mjtNum* Jv;             // Jac*search                                   (nefc x 1)
-  mjtNum* Ma;             // M*qacc                                       (nv x 1)
-  mjtNum* Mv;             // M*search                                     (nv x 1)
-  mjtNum* grad;           // gradient of master cost                      (nv x 1)
-  mjtNum* Mgrad;          // M\grad or H\grad                             (nv x 1)
-  mjtNum* search;         // linesearch vector                            (nv x 1)
-  mjtNum* quad;           // quadratic polynomials for constraint costs   (nefc x 3)
-  int* oldstate;          // previous constraint state                    (nefc x 1)
-
-  // CG arrays (PrimalAllocate, CG only)
-  mjtNum* gradold;        // previous gradient                            (nv x 1)
-  mjtNum* Mgradold;       // previous preconditioned gradient             (nv x 1)
-  mjtNum* graddif;        // grad - gradold                               (nv x 1)
-  mjtNum* Mgraddif;       // M\(grad - gradold)                           (nv x 1)
-
-  // Newton arrays, known-size (PrimalAllocate)
-  mjtNum* D;              // constraint inertia                           (nefc x 1)
-  mjtNum* cholupd;        // scratch for rank-1 Cholesky updates          (nv x 1)
-  mjtNum* LTJ;            // L'*J for cone Cholesky updates               (6 x nv)
-  int* H_rowadr;          // Hessian row addresses                        (nv x 1)
-  int* H_rownnz;          // Hessian row nonzeros                         (nv x 1)
-  int* HT_rownnz;         // Hessian transpose row nonzeros               (nv x 1)
-  int* HT_rowadr;         // Hessian transpose row addresses              (nv x 1)
-  int* L_rownnz;          // Hessian factor row nonzeros                  (nv x 1)
-  int* L_rowadr;          // Hessian factor row addresses                 (nv x 1)
-  int* LT_rownnz;         // Hessian factor transpose row nonzeros        (nv x 1)
-  int* LT_rowadr;         // Hessian factor transpose row addresses       (nv x 1)
-
-  // Newton arrays, computed-size (MakeHessian)
-  int nH;                 // number of nonzeros in Hessian H
-  int* H_colind;          // Hessian column indices                       (nH x 1)
-  int* HT_colind;         // Hessian transpose column indices             (nH x 1)
-  mjtNum* H;              // Hessian                                      (nH x 1)
-  int nL;                 // number of nonzeros in Cholesky factor L
-  int* L_colind;          // Cholesky factor column indices               (nL x 1)
-  int* LT_colind;         // Cholesky factor transpose column indices     (nL x 1)
-  int* LT_map;            // CSC-to-CSR index mapping                     (nL x 1)
-  mjtNum* L;              // Cholesky factor                              (nL x 1)
-  mjtNum* Lcone;          // Cholesky factor with cone contributions      (nL x 1)
-
-  // implicit effective metric for flex: Mtilde = M + K (built per step in mj_fwdPosition): when
-  // active, ctx.qfrc_smooth is pre-shifted by +c and Ma/Mv carry the B term, so the stock
-  // objective/gradient/linesearch formulas below operate in the Mtilde metric unchanged
-  int flg_flex;           // effective metric active for this solve
-  const mjModel* fm;      // model, for the metric calls
-  mjData* fd;             // data, for the metric calls
-
-  // globals
-  mjtNum cost;            // constraint + Gauss cost
-  mjtNum quadGauss[3];    // quadratic polynomial for Gauss cost
-  mjtNum scale;           // scaling factor for improvement and gradient
-  int nactive;            // number of active constraints
-  int ncone;              // number of contacts in cone state
-  int nupdate;            // number of Cholesky updates
-
-  // linesearch diagnostics
-  int LSiter;             // number of linesearch iterations
-  int LSresult;           // linesearch result
-  mjtNum LSslope;         // linesearch slope at solution
-} mjPrimalContext;
-
-
-// set sizes and pointers to mjData arrays in mjPrimalContext
-static void PrimalPointers(const mjModel* m, const mjData* d, mjPrimalContext* ctx, int island) {
-  // clear everything
-  memset(ctx, 0, sizeof(mjPrimalContext));
-
-  // globals
-  ctx->is_sparse = mj_isSparse(m);
-  ctx->is_elliptic = (m->opt.cone == mjCONE_ELLIPTIC);
-  ctx->contact = d->contact;
-  ctx->island = island;
-
-  // set sizes and pointers (monolithic)
-  if (island < 0) {
-    // sizes
-    ctx->nv               = m->nv;
-    ctx->ne               = d->ne;
-    ctx->nf               = d->nf;
-    ctx->nefc             = d->nefc;
-    ctx->nJ               = d->nJ;
-
-    // dof arrays
-    ctx->qfrc_smooth      = d->qfrc_smooth;
-    ctx->qfrc_constraint  = d->qfrc_constraint;
-    ctx->qacc_smooth      = d->qacc_smooth;
-    ctx->qacc             = d->qacc;
-
-    // inertia
-    ctx->M_rownnz         = m->M_rownnz;
-    ctx->M_rowadr         = m->M_rowadr;
-    ctx->M_colind         = m->M_colind;
-    ctx->M                = d->M;
-    ctx->qLD              = d->qLD;
-    ctx->qLDiagInv        = d->qLDiagInv;
-
-    // efc arrays
-    ctx->efc_D            = d->efc_D;
-    ctx->efc_R            = d->efc_R;
-    ctx->efc_frictionloss = d->efc_frictionloss;
-    ctx->efc_aref         = d->efc_aref;
-    ctx->efc_id           = d->efc_id;
-    ctx->efc_type         = d->efc_type;
-    ctx->efc_force        = d->efc_force;
-    ctx->efc_state        = d->efc_state;
-
-    // Jacobians
-    ctx->J                = d->efc_J;
-    if (ctx->is_sparse) {
-      ctx->J_rownnz       = d->efc_J_rownnz;
-      ctx->J_rowadr       = d->efc_J_rowadr;
-      ctx->J_rowsuper     = d->efc_J_rowsuper;
-      ctx->J_colind       = d->efc_J_colind;
-    }
-  }
-
-  // set sizes and pointers (per-island)
-  else {
-    // sizes
-    ctx->nv               = d->island_nv[island];
-    ctx->ne               = d->island_ne[island];
-    ctx->nf               = d->island_nf[island];
-    ctx->nefc             = d->island_nefc[island];
-
-    // dof arrays
-    int idofadr           = d->island_idofadr[island];
-    ctx->qfrc_smooth      = d->ifrc_smooth       + idofadr;
-    ctx->qfrc_constraint  = d->ifrc_constraint   + idofadr;
-    ctx->qacc_smooth      = d->iacc_smooth       + idofadr;
-    ctx->qacc             = d->iacc              + idofadr;
-
-    // efc arrays
-    int iefcadr           = d->island_iefcadr[island];
-    ctx->efc_D            = d->iefc_D            + iefcadr;
-    ctx->efc_R            = d->iefc_R            + iefcadr;
-    ctx->efc_frictionloss = d->iefc_frictionloss + iefcadr;
-    ctx->efc_aref         = d->iefc_aref         + iefcadr;
-    ctx->efc_id           = d->iefc_id           + iefcadr;
-    ctx->efc_type         = d->iefc_type         + iefcadr;
-    ctx->efc_force        = d->iefc_force        + iefcadr;
-    ctx->efc_state        = d->iefc_state        + iefcadr;
-  }
-}
-
-
-// allocate fixed-size arrays in mjPrimalContext
-//  mj_{mark/free}Stack in calling function!
-static void PrimalAllocate(const mjModel* m, mjData* d, mjPrimalContext* ctx, int flg_Newton) {
-  // local sizes and flags
-  int nv = ctx->nv;
-  int nefc = ctx->nefc;
-  int is_sparse = ctx->is_sparse;
-  int is_elliptic = ctx->is_elliptic;
-  int nJ = is_sparse ? d->nJ : 0;
-
-  // compute island matrix sizes if needed
-  int nC = 0;
-  if (ctx->island >= 0) {
-    // count nC: number of nonzeros in M block of island (always sparse)
-    int island = ctx->island;
-    int idofadr = d->island_idofadr[island];
-    for (int i = 0; i < nv; i++) {
-      int dof = d->map_idof2dof[idofadr + i];
-      nC += m->M_rownnz[dof];
-    }
-
-    // count nJ: number of nonzeros in J block of island (sparse or dense)
-    if (is_sparse) {
-      nJ = 0;
-      int iefcadr = d->island_iefcadr[island];
-      for (int i = 0; i < nefc; i++) {
-        int efc = d->map_iefc2efc[iefcadr + i];
-        nJ += d->efc_J_rownnz[efc];
-      }
-    } else {
-      nJ = nefc * nv;
-    }
-    ctx->nJ = nJ;
-  }
-
-  // compute mjtNum block size
-  size_t nNum = 5*nefc + 5*nv;         // common arrays
-  if (is_sparse) nNum += nJ;           // JT
-  if (flg_Newton) {
-    nNum += nefc + nv;                 // D, cholupd
-    if (is_elliptic) nNum += 6*nv;     // LTJ
-    if (!is_sparse) {
-      nNum += nv*nv;                   // L (dense)
-      if (is_elliptic) nNum += nv*nv;  // Lcone (dense)
-    }
-  } else {
-    nNum += 4*nv;                      // CG arrays
-  }
-
-  // add island matrix sizes
-  if (ctx->island >= 0) {
-    nNum += 2 * nC + nv + nJ;          // iM, iLD, iLDiagInv, iefc_J
-  }
-
-  // compute int block size
-  size_t nInt = nefc;                  // oldstate
-  if (is_sparse) {
-    nInt += 3*nv + nJ;                 // JT sparse
-    if (flg_Newton) nInt += 8*nv;      // Newton sparse
-  }
-
-  // add island matrix sizes
-  if (ctx->island >= 0) {
-    nInt += 2 * nv + nC;               // iM_{rownnz, rowadr, colind}
-    if (is_sparse) {
-      nInt += 3 * nefc + nJ;           // iefc_J_{rownnz, rowadr, rowsuper, colind}
-    }
-  }
-
-  // allocate mjtNum and int blocks
-  mjtNum* numblock = mjSTACKALLOC(d, nNum, mjtNum);
-  int* intblock    = mjSTACKALLOC(d, nInt, int);
-
-  // populate island matrices if needed
-  if (ctx->island >= 0) {
-    int island = ctx->island;
-
-    int idofadr = d->island_idofadr[island];
-    int iefcadr = d->island_iefcadr[island];
-
-    ctx->M_rownnz = intblock; intblock += nv;
-    ctx->M_rowadr = intblock; intblock += nv;
-    ctx->M_colind = intblock; intblock += nC;
-
-    ctx->M = numblock; numblock += nC;
-    ctx->qLD = numblock; numblock += nC;
-    ctx->qLDiagInv = numblock; numblock += nv;
-
-    mju_blockSparse(ctx->qLD, ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
-                    d->qLD, m->M_rownnz, m->M_rowadr, m->M_colind,
-                    nv, d->map_idof2dof + idofadr, d->map_dof2idof,
-                    d->island_idofadr[island], 0, ctx->M, d->M);
-    mju_gather(ctx->qLDiagInv, d->qLDiagInv, d->map_idof2dof + idofadr, nv);
-
-    ctx->J = numblock; numblock += nJ;
-    if (!is_sparse) {
-      mju_block(ctx->J, d->efc_J, m->nv, nv, nefc,
-                d->map_iefc2efc + iefcadr, d->map_idof2dof + idofadr);
-    } else {
-      ctx->J_rownnz = intblock; intblock += nefc;
-      ctx->J_rowadr = intblock; intblock += nefc;
-      ctx->J_rowsuper = intblock; intblock += nefc;
-      ctx->J_colind = intblock; intblock += nJ;
-
-      mju_blockSparse(ctx->J, ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind,
-                      d->efc_J, d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
-                      nefc, d->map_iefc2efc + iefcadr, d->map_dof2idof,
-                      d->island_idofadr[island], 0, NULL, NULL);
-
-      mju_superSparse(nefc, ctx->J_rowsuper, ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind);
-    }
-  }
-
-  // carve mjtNum block
-  ctx->Jaref  = numblock;  numblock += nefc;
-  ctx->Jv     = numblock;  numblock += nefc;
-  ctx->Ma     = numblock;  numblock += nv;
-  ctx->Mv     = numblock;  numblock += nv;
-  ctx->grad   = numblock;  numblock += nv;
-  ctx->Mgrad  = numblock;  numblock += nv;
-  ctx->search = numblock;  numblock += nv;
-  ctx->quad   = numblock;  numblock += 3*nefc;
-  if (is_sparse) {
-    ctx->JT   = numblock;  numblock += nJ;
-  }
-  if (flg_Newton) {
-    ctx->D       = numblock;  numblock += nefc;
-    ctx->cholupd = numblock;  numblock += nv;
-    if (is_elliptic) {
-      ctx->LTJ = numblock;  numblock += 6*nv;
-    }
-    if (!is_sparse) {
-      ctx->nL = nv*nv;
-      ctx->L     = numblock;  numblock += ctx->nL;
-      ctx->Lcone = is_elliptic ? numblock : NULL;
-      if (is_elliptic) numblock += ctx->nL;
-    }
-  } else {
-    ctx->gradold  = numblock;  numblock += nv;
-    ctx->Mgradold = numblock;  numblock += nv;
-    ctx->graddif  = numblock;  numblock += nv;
-    ctx->Mgraddif = numblock;  numblock += nv;
-  }
-
-  // carve int block
-  ctx->oldstate = intblock;  intblock += nefc;
-  if (is_sparse) {
-    ctx->JT_rownnz   = intblock;  intblock += nv;
-    ctx->JT_rowadr   = intblock;  intblock += nv;
-    ctx->JT_rowsuper = intblock;  intblock += nv;
-    ctx->JT_colind   = intblock;  intblock += nJ;
-  }
-  if (flg_Newton && is_sparse) {
-    ctx->H_rowadr   = intblock;  intblock += nv;
-    ctx->H_rownnz   = intblock;  intblock += nv;
-    ctx->HT_rownnz  = intblock;  intblock += nv;
-    ctx->HT_rowadr  = intblock;  intblock += nv;
-    ctx->L_rownnz   = intblock;  intblock += nv;
-    ctx->L_rowadr   = intblock;  intblock += nv;
-    ctx->LT_rownnz  = intblock;  intblock += nv;
-    ctx->LT_rowadr  = intblock;  intblock += nv;
-  }
-
-  // sparse: compute Jacobian transpose
-  if (is_sparse) {
-    if (nefc) {
-      int offset = ctx->J_rowadr[0];
-      mju_transposeSparse(ctx->JT, ctx->J + offset, nefc, nv,
-                          ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind, ctx->JT_rowsuper,
-                          ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind + offset);
-    } else {
-      // no constraints (reachable via the flex CG dispatch): valid empty transpose structures
-      mju_zeroInt(ctx->JT_rownnz, nv);
-      mju_zeroInt(ctx->JT_rowadr, nv);
-      mju_zeroInt(ctx->JT_rowsuper, nv);
-    }
-  }
-
-  // implicit effective metric (built in mj_fwdPosition): route Ma/Mv/Mgrad through the
-  // metric operators and shift the smooth force, so the stock objective/gradient/linesearch
-  // formulas operate in the Mtilde = M+K metric
-  if (ctx->island < 0 && !is_elliptic && !flg_Newton && d->efm_active) {
-    ctx->flg_flex = 1;
-    ctx->fm = m;
-    ctx->fd = d;
-    mjtNum* qfrc_eff = mjSTACKALLOC(d, nv, mjtNum);
-    mju_add(qfrc_eff, ctx->qfrc_smooth, d->efm_c, nv);
-    ctx->qfrc_smooth = qfrc_eff;
-  }
-}
-
-
-// update efc_force, qfrc_constraint, cost-related
-static void PrimalUpdateConstraint(mjPrimalContext* ctx, int flg_HessianCone) {
-  int nefc = ctx->nefc, nv = ctx->nv;
-
-  // update constraints
-  mj_constraintUpdate_impl(ctx->ne, ctx->nf, ctx->nefc, ctx->efc_D, ctx->efc_R,
-                           ctx->efc_frictionloss, ctx->Jaref, ctx->efc_type, ctx->efc_id,
-                           ctx->contact, ctx->efc_state, ctx->efc_force,
-                           &(ctx->cost), flg_HessianCone);
-
-  // compute qfrc_constraint (dense or sparse)
-  if (!ctx->is_sparse) {
-    mju_mulMatTVec(ctx->qfrc_constraint, ctx->J, ctx->efc_force, nefc, nv);
-  } else {
-    mju_mulMatVecSparse(ctx->qfrc_constraint, ctx->JT, ctx->efc_force, nv,
-                        ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind, ctx->JT_rowsuper);
-  }
-
-  // count active and cone
-  ctx->nactive = 0;
-  ctx->ncone = 0;
-  for (int i=0; i < nefc; i++) {
-    ctx->nactive += (ctx->efc_state[i] != mjCNSTRSTATE_SATISFIED);
-    ctx->ncone += (ctx->efc_state[i] == mjCNSTRSTATE_CONE);
-  }
-
-  // add Gauss cost, set in quadratic[0]
-  mjtNum Gauss = 0;
-  for (int i=0; i < nv; i++) {
-    Gauss += 0.5 * (ctx->Ma[i] - ctx->qfrc_smooth[i]) * (ctx->qacc[i] - ctx->qacc_smooth[i]);
-  }
-
-  ctx->quadGauss[0] = Gauss;
-  ctx->cost += Gauss;
-}
-
-
-// update grad = M*qacc - qfrc_smooth - qfrc_constraint
-static void PrimalUpdateGrad(mjPrimalContext* ctx) {
-  int nv = ctx->nv;
-  for (int i=0; i < nv; i++) {
-    ctx->grad[i] = ctx->Ma[i] - ctx->qfrc_smooth[i] - ctx->qfrc_constraint[i];
-  }
-}
-
-
-// update Mgrad;  Newton: Mgrad = H \ grad,  CG: Mgrad = M \ grad
-static void PrimalUpdateMgrad(mjPrimalContext* ctx, int flg_Newton) {
-  int nv = ctx->nv;
-
-  // Newton: Mgrad = H \ grad
-  if (flg_Newton) {
-    if (ctx->is_sparse) {
-      mju_cholSolveSparse(ctx->Mgrad, (ctx->ncone ? ctx->Lcone : ctx->L),
-                          ctx->grad, nv, ctx->L_rownnz, ctx->L_rowadr, ctx->L_colind);
-    } else {
-      mju_cholSolve(ctx->Mgrad, (ctx->ncone ? ctx->Lcone : ctx->L), ctx->grad, nv);
-    }
-  }
-
-  // CG: Mgrad = Mtilde \ grad
-  else if (ctx->flg_flex) {
-    mjd_effPrec(ctx->fm, ctx->fd, ctx->Mgrad, ctx->grad);
-  }
-
-  // CG: Mgrad = M \ grad
-  else {
-    mju_copy(ctx->Mgrad, ctx->grad, nv);
-    mj_solveLD(ctx->Mgrad, ctx->qLD, ctx->qLDiagInv, nv, 1,
-               ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind, NULL);
-  }
-}
-
-
-// update grad, Mgrad
-static void PrimalUpdateGradient(mjPrimalContext* ctx, int flg_Newton) {
-  PrimalUpdateGrad(ctx);
-  PrimalUpdateMgrad(ctx, flg_Newton);
-}
-
-
-// prepare quadratic polynomials and contact cone quantities
-static void PrimalPrepare(mjPrimalContext* ctx) {
-  int nv = ctx->nv, nefc = ctx->nefc;
-  const mjtNum* v = ctx->search;
-
-  // Gauss: alpha^2*0.5*v'*M*v + alpha*v'*(Ma-qfrc_smooth) + 0.5*(a-qacc_smooth)'*(Ma-qfrc_smooth)
-  //  quadGauss[0] already computed in PrimalUpdateConstraint
-  ctx->quadGauss[1] = mju_dot(v, ctx->Ma, nv) - mju_dot(ctx->qfrc_smooth, v, nv);
-  ctx->quadGauss[2] = 0.5*mju_dot(v, ctx->Mv, nv);
-
-  // process constraints
-  for (int i=0; i < nefc; i++) {
-    // pointers to numeric data
-    const mjtNum* Jv = ctx->Jv + i;
-    const mjtNum* Jaref = ctx->Jaref + i;
-    const mjtNum* D = ctx->efc_D + i;
-
-    // pointer to this quadratic
-    mjtNum* quad = ctx->quad + 3*i;
-
-    // init with scalar quadratic
-    mjtNum DJ0 = D[0]*Jaref[0];
-    quad[0] = Jaref[0]*DJ0;
-    quad[1] = Jv[0]*DJ0;
-    quad[2] = Jv[0]*D[0]*Jv[0];
-
-    // elliptic cone: extra processing
-    if (ctx->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {
-      // extract contact info
-      const mjContact* con = ctx->contact + ctx->efc_id[i];
-      int dim = con->dim;
-      mjtNum U[6], V[6], UU = 0, UV = 0, VV = 0, mu = con->mu;
-      const mjtNum* friction = con->friction;
-
-      // complete vector quadratic (for bottom zone)
-      for (int j=1; j < dim; j++) {
-        mjtNum DJj = D[j]*Jaref[j];
-        quad[0] += Jaref[j]*DJj;
-        quad[1] += Jv[j]*DJj;
-        quad[2] += Jv[j]*D[j]*Jv[j];
-      }
-
-      // rescale to make primal cone circular
-      U[0] = Jaref[0]*mu;
-      V[0] = Jv[0]*mu;
-      for (int j=1; j < dim; j++) {
-        U[j] = Jaref[j]*friction[j-1];
-        V[j] = Jv[j]*friction[j-1];
-      }
-
-      // accumulate sums of squares
-      for (int j=1; j < dim; j++) {
-        UU += U[j]*U[j];
-        UV += U[j]*V[j];
-        VV += V[j]*V[j];
-      }
-
-      // store in quad[3-8], using the fact that dim>=3
-      quad[3] = U[0];
-      quad[4] = V[0];
-      quad[5] = UU;
-      quad[6] = UV;
-      quad[7] = VV;
-      quad[8] = D[0] / ((mu*mu) * (1 + (mu*mu)));
-
-      // advance to next constraint
-      i += (dim-1);
-    }
-
-    // apply scaling
-    quad[0] *= 0.5;
-    quad[2] *= 0.5;
-  }
-}
-
-
-// linesearch evaluation point
-struct _mjPrimalPnt {
-  mjtNum alpha;
-  mjtNum cost;
-  mjtNum deriv[2];
-};
-typedef struct _mjPrimalPnt mjPrimalPnt;
-
-
-// Huber cost of a single friction constraint at a given point x
-static mjtNum frictionCost(mjtNum x, mjtNum f, mjtNum Rf, mjtNum D) {
-  // -bound < x < bound : quadratic
-  if (-Rf < x && x < Rf) return 0.5*D*x*x;
-
-  // x < -bound : linear negative
-  else if (x <= -Rf) return f*(-0.5*Rf - x);
-
-  // bound < x : linear positive
-  else return f*(-0.5*Rf + x);
-}
-
-
-// Huber cost difference of a single friction constraint: cost(x) - cost(start)
-static mjtNum frictionCostDif(mjtNum start, mjtNum x, mjtNum f, mjtNum Rf, mjtNum D) {
-  int state_start = (-Rf < start && start < Rf) ? 0 : (start <= -Rf ? -1 : 1);
-  int state_x = (-Rf < x && x < Rf) ? 0 : (x <= -Rf ? -1 : 1);
-
-  // both quadratic
-  if (state_start == 0 && state_x == 0) {
-    return 0.5*D*(x - start)*(x + start);
-  }
-
-  // both linear negative
-  if (state_start == -1 && state_x == -1) {
-    return f*(start - x);
-  }
-
-  // both linear positive
-  if (state_start == 1 && state_x == 1) {
-    return f*(x - start);
-  }
-
-  // otherwise different zones: compute absolute costs and subtract
-  return frictionCost(x, f, Rf, D) - frictionCost(start, f, Rf, D);
-}
-
-
-// compute cost difference of an elliptic cone at a given alpha: cost(alpha) - cost(0)
-static mjtNum ellipticCostDif(const mjtNum* quad, mjtNum alpha, mjtNum mu, mjtNum Dm) {
-  mjtNum U0 = quad[3], V0 = quad[4], UU = quad[5];
-  mjtNum UV = quad[6], VV = quad[7];
-
-  // determine zone and cost at alpha=0
-  int zone0 = 0;
-  mjtNum T0 = 0;
-  if (UU <= 0) {
-    zone0 = (U0 < 0) ? 2 : 1;
-  } else {
-    T0 = mju_sqrt(UU);
-    if (U0 >= mu*T0) {
-      zone0 = 1;  // top zone
-    } else if (mu*U0 + T0 <= 0) {
-      zone0 = 2;  // bottom zone
-    } else {
-      zone0 = 3;  // middle zone
-    }
-  }
-
-  // determine zone at alpha
-  mjtNum N = U0 + alpha*V0;
-  mjtNum Tsqr = UU + alpha*(2*UV + alpha*VV);
-  int zone_alpha = 0;
-  mjtNum T = 0;
-
-  if (Tsqr <= 0) {
-    zone_alpha = (N < 0) ? 2 : 1;  // bottom or top zone
-  } else {
-    T = mju_sqrt(Tsqr);
-    if (N >= mu*T) {
-      zone_alpha = 1;  // top zone
-    } else if (mu*N + T <= 0) {
-      zone_alpha = 2;  // bottom zone
-    } else {
-      zone_alpha = 3;  // middle zone
-    }
-  }
-
-  // both top zone
-  if (zone0 == 1 && zone_alpha == 1) {
-    return 0;
-  }
-
-  // both bottom zone
-  if (zone0 == 2 && zone_alpha == 2) {
-    return alpha*alpha*quad[2] + alpha*quad[1];
-  }
-
-  // both middle zone: apply rationalized formula to avoid cancellation
-  if (zone0 == 3 && zone_alpha == 3) {
-    mjtNum Tsqr_delta = alpha*(2*UV + alpha*VV);
-    mjtNum T_delta = Tsqr_delta / (T + T0);
-    mjtNum r_delta = alpha*V0 - mu*T_delta;
-    mjtNum r0 = U0 - mu*T0;
-    return 0.5*Dm*r_delta*(2*r0 + r_delta);
-  }
-
-  // CONE -> QUADRATIC (3 -> 2)
-  if (zone0 == 3 && zone_alpha == 2) {
-    mjtNum dq = alpha*(alpha*quad[2] + quad[1]);
-    mjtNum boundary0 = mu*U0 + T0;
-    mjtNum gap0 = 0.5*Dm*boundary0*boundary0;
-    return dq + gap0;
-  }
-
-  // QUADRATIC -> CONE (2 -> 3)
-  if (zone0 == 2 && zone_alpha == 3) {
-    mjtNum dq = alpha*(alpha*quad[2] + quad[1]);
-    mjtNum boundary = mu*N + T;
-    mjtNum gap = 0.5*Dm*boundary*boundary;
-    return dq - gap;
-  }
-
-  // SATISFIED -> QUADRATIC (1 -> 2)
-  if (zone0 == 1 && zone_alpha == 2) {
-    return alpha*alpha*quad[2] + alpha*quad[1] + quad[0];
-  }
-
-  // SATISFIED -> CONE (1 -> 3)
-  if (zone0 == 1 && zone_alpha == 3) {
-    mjtNum r = N - mu*T;
-    return 0.5*Dm*r*r;
-  }
-
-  // CONE -> SATISFIED (3 -> 1)
-  if (zone0 == 3 && zone_alpha == 1) {
-    mjtNum r0 = U0 - mu*T0;
-    return -0.5*Dm*r0*r0;
-  }
-
-  // QUADRATIC -> SATISFIED (2 -> 1)
-  if (zone0 == 2 && zone_alpha == 1) {
-    return -quad[0];
-  }
-
-  return 0;
-}
-
-
-// evaluate shifted linesearch cost: cost(alpha) - cost(0), and derivatives
-static void PrimalEval(mjPrimalContext* ctx, mjPrimalPnt* p) {
-  int ne = ctx->ne, nf = ctx->nf, nefc = ctx->nefc;
-
-  // clear result
-  mjtNum cost = 0, alpha = p->alpha;
-  mjtNum deriv[2] = {0, 0};
-
-  // init quad with Gauss, shifted: drop quadGauss[0]
-  mjtNum quadTotal[3] = {0, ctx->quadGauss[1], ctx->quadGauss[2]};
-
-  // process constraints
-  for (int i=0; i < nefc; i++) {
-    // equality: shifted quad (skip quad[0])
-    if (i < ne) {
-      quadTotal[1] += ctx->quad[3*i+1];
-      quadTotal[2] += ctx->quad[3*i+2];
-      continue;
-    }
-
-    // friction: compute cost(alpha) - cost(0) directly
-    if (i < ne + nf) {
-      // search point, friction loss, bound (Rf)
-      mjtNum start = ctx->Jaref[i];
-      mjtNum dir = ctx->Jv[i];
-      mjtNum x = start + alpha*dir;
-      mjtNum f = ctx->efc_frictionloss[i];
-      mjtNum D = ctx->efc_D[i];
-      mjtNum Rf = ctx->efc_R[i]*f;
-
-      // cost delta
-      cost += frictionCostDif(start, x, f, Rf, D);
-
-      // -bound < x < bound : quadratic
-      if (-Rf < x && x < Rf) {
-        deriv[0] += D*x*dir;
-        deriv[1] += D*dir*dir;
-      }
-
-      // x < -bound : linear negative
-      else if (x <= -Rf) {
-        deriv[0] += -f*dir;
-      }
-
-      // bound < x : linear positive
-      else {
-        deriv[0] += f*dir;
-      }
-      continue;
-    }
-
-    // limit and contact
-    if (ctx->efc_type[i] == mjCNSTR_CONTACT_ELLIPTIC) {         // elliptic cone
-      // extract contact info
-      const mjContact* con = ctx->contact + ctx->efc_id[i];
-      mjtNum* quad = ctx->quad + 3*i;
-      int dim = con->dim;
-      mjtNum mu = con->mu;
-
-      // unpack quad
-      mjtNum U0 = quad[3];
-      mjtNum V0 = quad[4];
-      mjtNum UU = quad[5];
-      mjtNum UV = quad[6];
-      mjtNum VV = quad[7];
-      mjtNum Dm = quad[8];
-
-      // shifted cost
-      cost += ellipticCostDif(quad, alpha, mu, Dm);
-
-      // compute N, Tsqr for derivatives
-      mjtNum N = U0 + alpha*V0;
-      mjtNum Tsqr = UU + alpha*(2*UV + alpha*VV);
-
-      // no tangential force : top or bottom zone
-      if (Tsqr <= 0) {
-        // bottom zone: quadratic derivatives
-        if (N < 0) {
-          deriv[0] += 2*alpha*quad[2] + quad[1];
-          deriv[1] += 2*quad[2];
-        }
-
-        // top zone: nothing to do
-      }
-
-      // otherwise regular processing
-      else {
-        // tangential force
-        mjtNum T = mju_sqrt(Tsqr);
-
-        // N>=mu*T : top zone
-        if (N >= mu*T) {
-          // nothing to do
-        }
-
-        // mu*N+T<=0 : bottom zone
-        else if (mu*N+T <= 0) {
-          deriv[0] += 2*alpha*quad[2] + quad[1];
-          deriv[1] += 2*quad[2];
-        }
-
-        // otherwise middle zone
-        else {
-          // derivatives
-          mjtNum N1 = V0;
-          mjtNum T1 = (UV + alpha*VV)/T;
-          mjtNum T2 = VV/T - (UV + alpha*VV)*T1/(T*T);
-          deriv[0] += Dm*(N-mu*T)*(N1-mu*T1);
-          deriv[1] += Dm*((N1-mu*T1)*(N1-mu*T1) + (N-mu*T)*(-mu*T2));
-        }
-      }
-
-      // advance to next constraint
-      i += (dim-1);
-    } else {                                                  // inequality
-      // search point
-      mjtNum start = ctx->Jaref[i];
-      mjtNum x = start + alpha*ctx->Jv[i];
-      mjtNum cost0 = start < 0 ? ctx->quad[3*i] : 0;
-
-      // active
-      if (x < 0) {
-        // shifted quad: add quad[1], quad[2] and (quad[0] - cost0)
-        quadTotal[0] += ctx->quad[3*i] - cost0;
-        quadTotal[1] += ctx->quad[3*i+1];
-        quadTotal[2] += ctx->quad[3*i+2];
-      } else {
-        cost -= cost0;
-      }
-    }
-  }
-
-  // add total quadratic (quadTotal[0] contains only shifted residuals)
-  cost += alpha*alpha*quadTotal[2] + alpha*quadTotal[1] + quadTotal[0];
-  deriv[0] += 2*alpha*quadTotal[2] + quadTotal[1];
-  deriv[1] += 2*quadTotal[2];
-
-  // check for convexity; SHOULD NOT OCCUR
-  if (deriv[1] <= 0) {
-    mju_warning("Linesearch objective is not convex");
-    deriv[1] = mjMINVAL;
-  }
-
-  // assign and count
-  p->cost = cost;
-  p->deriv[0] = deriv[0];
-  p->deriv[1] = deriv[1];
-  ctx->LSiter++;
-}
-
-
-// update bracket point given 3 candidate points
-static int updateBracket(mjPrimalContext* ctx,
-                         mjPrimalPnt* p, const mjPrimalPnt candidates[3], mjPrimalPnt* pnext) {
-  int flag = 0;
-  for (int i=0; i < 3; i++) {
-    // negative deriv
-    if (p->deriv[0] < 0 && candidates[i].deriv[0] < 0 && p->deriv[0] < candidates[i].deriv[0]) {
-      *p = candidates[i];
-      flag = 1;
-    }
-
-    // positive deriv
-    else if (p->deriv[0] > 0 &&
-             candidates[i].deriv[0] > 0 &&
-             p->deriv[0] > candidates[i].deriv[0]) {
-      *p = candidates[i];
-      flag = 2;
-    }
-  }
-
-  // compute next point if updated
-  if (flag) {
-    pnext->alpha = p->alpha - p->deriv[0]/p->deriv[1];
-    PrimalEval(ctx, pnext);
-  }
-
-  return flag;
-}
-
-
-// line search
-static mjtNum PrimalSearch(mjPrimalContext* ctx, mjtNum tolerance, mjtNum ls_iterations,
-                           mjtNum* improvement) {
-  int nv = ctx->nv, nefc = ctx->nefc;
-  mjPrimalPnt p0, p1, p2, pmid, p1next, p2next;
-
-  // clear results
-  ctx->LSiter = 0;
-  ctx->LSresult = 0;
-  ctx->LSslope = 1;       // means not computed
-  *improvement = 0;
-
-  // save search vector length, check
-  mjtNum snorm = mju_norm(ctx->search, nv);
-  if (snorm < mjMINVAL) {
-    ctx->LSresult = 1;                          // search vector too small
-    return 0;
-  }
-
-  // compute scaled gradtol and slope scaling
-  mjtNum gtol = tolerance * snorm / ctx->scale;
-  mjtNum slopescl = ctx->scale / snorm;
-
-  // compute Mv = Mtilde * v
-  mju_mulSymVecSparse(ctx->Mv, ctx->M, ctx->search, nv,
-                      ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind);
-  if (ctx->flg_flex) {
-    mjd_effMulAdd(ctx->fm, ctx->fd, ctx->Mv, ctx->search);
-  }
-
-  // compute Jv = J * search  (dense or sparse)
-  if (!ctx->is_sparse) {
-    mju_mulMatVec(ctx->Jv, ctx->J, ctx->search, nefc, nv);
-  } else {
-    mju_mulMatVecSparse(ctx->Jv, ctx->J, ctx->search, nefc,
-                        ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind, ctx->J_rowsuper);
-  }
-
-  // prepare quadratics and cones
-  PrimalPrepare(ctx);
-
-  // init at alpha = 0, save
-  p0.alpha = 0;
-  PrimalEval(ctx, &p0);
-
-  // always attempt one Newton step
-  p1.alpha = p0.alpha - p0.deriv[0]/p0.deriv[1];
-  PrimalEval(ctx, &p1);
-
-  // check for initial convergence
-  if (mju_abs(p1.deriv[0]) < gtol && (p1.alpha == 0 || p1.cost < 0)) {
-    if (p1.alpha == 0) {
-      ctx->LSresult = 2;  // no improvement, initial convergence
-    } else {
-      ctx->LSresult = 0;  // SUCCESS
-    }
-    ctx->LSslope = mju_abs(p1.deriv[0])*slopescl;
-    *improvement = -p1.cost;
-    return p1.alpha;
-  }
-
-  // save direction
-  int dir = (p1.deriv[0] < 0 ? +1 : -1);
-
-  // SANITY CHECKS
-  /*
-     // descent direction
-     if( mju_dot(ctx->grad, ctx->search, m->nv)>=0 )
-      printf("NOT A DESCENT:  grad %g   search %g   dot %g\n",
-          mju_norm(ctx->grad, m->nv),
-          mju_norm(ctx->search, m->nv),
-          mju_dot(ctx->grad, ctx->search, m->nv));
-
-     // 2nd derivative for Newton cone
-     if( ctx->flg_Newton && ctx->ncone )
-     {
-      mjtNum dd = -p0.deriv[0]/p0.deriv[1];
-
-      if( mju_abs(dd-1)>1e-6 )
-          printf("2nd DERIVATIVE FAIL: d0  %g   d1  %g   alpha %g\n",
-              p0.deriv[0], p0.deriv[1], dd);
-     }
-
-     // cost and gradient at 0: full-space vs. linesearch
-     mjtNum grd = mju_dot(ctx->grad, ctx->search, m->nv);
-     if( mju_abs(p0.cost-ctx->cost)/mjMAX(mjMINVAL,mju_abs(p0.cost+ctx->cost)) > 1e-6 ||
-      mju_abs(p0.deriv[0]-grd)/mjMAX(mjMINVAL,mju_abs(p0.deriv[0]+grd)) > 1e-6 )
-     {
-      printf("LSiter = %d:\n", ctx->LSiter);
-      printf("COST:  %g  %g  %g\n",
-          p0.cost, ctx->cost,
-          mju_abs(p0.cost-ctx->cost)/mjMAX(mjMINVAL,mju_abs(p0.cost+ctx->cost)));
-      printf("GRAD:  %g  %g  %g\n",
-          p0.deriv[0], grd,
-          mju_abs(p0.deriv[0]-grd)/mjMAX(mjMINVAL,mju_abs(p0.deriv[0]+grd)));
-     }
-   */
-
-  // one-sided search
-  p2 = p0;
-  int p2update = 1;
-  while (p1.deriv[0]*dir <= -gtol && ctx->LSiter < ls_iterations) {
-    // save current
-    p2 = p1;
-    p2update = 1;
-
-    // move to Newton point w.r.t current
-    p1.alpha -= p1.deriv[0]/p1.deriv[1];
-    PrimalEval(ctx, &p1);
-
-    // check for convergence
-    if (mju_abs(p1.deriv[0]) < gtol && p1.cost < 0) {
-      ctx->LSslope = mju_abs(p1.deriv[0])*slopescl;
-      *improvement = -p1.cost;
-      return p1.alpha;                          // SUCCESS
-    }
-  }
-
-  // check for failure to bracket
-  if (ctx->LSiter >= ls_iterations) {
-    ctx->LSresult = 3;                          // could not bracket
-    ctx->LSslope = mju_abs(p1.deriv[0])*slopescl;
-    *improvement = -p1.cost;
-    return p1.alpha;
-  }
-
-  // check for p2 update; SHOULD NOT OCCUR
-  if (!p2update) {
-    ctx->LSresult = 6;                          // no p2 update
-    ctx->LSslope = mju_abs(p1.deriv[0])*slopescl;
-    *improvement = -p1.cost;
-    return p1.alpha;
-  }
-
-  // compute next-points for bracket
-  p2next = p1;
-  p1next.alpha = p1.alpha - p1.deriv[0]/p1.deriv[1];
-  PrimalEval(ctx, &p1next);
-
-  // bracketed search
-  while (ctx->LSiter < ls_iterations) {
-    // evaluate at midpoint
-    pmid.alpha = 0.5*(p1.alpha + p2.alpha);
-    PrimalEval(ctx, &pmid);
-
-    // make list of candidates
-    mjPrimalPnt candidates[3] = {p1next, p2next, pmid};
-
-    // check candidates for convergence
-    mjtNum bestcost = 0;
-    int bestind = -1;
-    for (int i=0; i < 3; i++) {
-      if (mju_abs(candidates[i].deriv[0]) < gtol &&
-          (bestind == -1 || candidates[i].cost < bestcost)) {
-        bestcost = candidates[i].cost;
-        bestind = i;
-      }
-    }
-    if (bestind >= 0) {
-      ctx->LSslope = mju_abs(candidates[bestind].deriv[0])*slopescl;
-      *improvement = -candidates[bestind].cost;
-      return candidates[bestind].alpha;       // SUCCESS
-    }
-
-    // update brackets
-    int b1 = updateBracket(ctx, &p1, candidates, &p1next);
-    int b2 = updateBracket(ctx, &p2, candidates, &p2next);
-
-    // no update possible: numerical accuracy reached, use midpoint
-    if (!b1 && !b2) {
-      if (pmid.cost < 0) {
-        ctx->LSresult = 0;  // SUCCESS
-      } else {
-        ctx->LSresult = 7;  // no improvement, could not bracket
-      }
-
-      ctx->LSslope = mju_abs(pmid.deriv[0])*slopescl;
-      *improvement = -pmid.cost;
-      return pmid.alpha;
-    }
-  }
-
-  // choose bracket with best cost
-  if (p1.cost <= p2.cost && p1.cost < 0) {
-    ctx->LSresult = 4;                          // improvement but no convergence
-    ctx->LSslope = mju_abs(p1.deriv[0])*slopescl;
-    *improvement = -p1.cost;
-    return p1.alpha;
-  } else if (p2.cost <= p1.cost && p2.cost < 0) {
-    ctx->LSresult = 4;                          // improvement but no convergence
-    ctx->LSslope = mju_abs(p2.deriv[0])*slopescl;
-    *improvement = -p2.cost;
-    return p2.alpha;
-  } else {
-    ctx->LSresult = 5;                          // no improvement
-    return 0;
-  }
-}
-
-
-// allocate and compute Hessian given efc_state
-//  mj_{mark/free}Stack in caller function!
-static void MakeHessian(mjData* d, mjPrimalContext* ctx) {
-  int nv = ctx->nv, nefc = ctx->nefc;
-
-  // compute constraint inertia
-  for (int i=0; i < nefc; i++) {
-    ctx->D[i] = ctx->efc_state[i] == mjCNSTRSTATE_QUADRATIC ? ctx->efc_D[i] : 0;
-  }
-
-  // sparse
-  if (ctx->is_sparse) {
-    // count Hessian nonzeros, initialize rowadr, rownnz
-    ctx->nH = mju_sqrMatTDSparseSymbolic(
-        ctx->H_rownnz, ctx->H_rowadr, NULL, NULL,
-        nefc, nv, ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind,
-        ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind, ctx->JT_rowsuper, d);
-
-    // add M nonzeros to Hessian total (unavoidable overcounting since H_colind is still unknown)
-    ctx->nH += ctx->M_rowadr[nv - 1] + ctx->M_rownnz[nv - 1];
-
-    // nH is known: allocate H, H_colind, HT_colind
-    ctx->H          = mjSTACKALLOC(d, ctx->nH, mjtNum);
-    int* H_intblock = mjSTACKALLOC(d, 2*ctx->nH, int);
-    ctx->H_colind   = H_intblock;
-    ctx->HT_colind  = H_intblock + ctx->nH;
-
-    // shift H row addresses to make room for M
-    int shift = 0;
-    for (int r = 0; r < nv - 1; r++) {
-      shift += ctx->M_rownnz[r];
-      ctx->H_rowadr[r + 1] += shift;
-    }
-
-    // compute H = J'*D*J: symbolic phase
-    mju_sqrMatTDSparseSymbolic(
-        ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind, NULL,
-        nefc, nv, ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind,
-        ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind, ctx->JT_rowsuper, d);
-
-    // compute H = J'*D*J: numeric phase
-    mju_sqrMatTDSparseNumeric(
-        ctx->H, nv, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
-        NULL, ctx->J, ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind,
-        ctx->JT, ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind,
-        ctx->JT_rowsuper, ctx->D, d);
-
-    // add mass matrix: H = J'*D*J + M
-    mju_addToMatSparse(ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind, nv,
-                       ctx->M, ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind);
-
-    // compute H' sparse structure (upper triangle, required for symbolic Cholesky)
-    mju_transposeSparse(NULL, NULL, nv, nv, ctx->HT_rownnz, ctx->HT_rowadr, ctx->HT_colind, NULL,
-                        ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind);
-
-    // count total and row non-zeros of reverse-Cholesky factors L and LT
-    ctx->nL = mju_cholFactorSymbolic(NULL, ctx->L_rownnz, ctx->L_rowadr, NULL,
-                                     ctx->LT_rownnz, ctx->LT_rowadr, NULL,
-                                     ctx->HT_rownnz, ctx->HT_rowadr, ctx->HT_colind,
-                                     nv, d);
-
-    // nL is known: allocate blocks and carve L_colind, LT_colind, LT_map, L, Lcone
-    size_t nL_int = 2*ctx->nL + ctx->nL;                     // L_colind + LT_colind + LT_map
-    size_t nL_num = ctx->is_elliptic ? 2*ctx->nL : ctx->nL;  // L + Lcone
-    int* L_intblock    = mjSTACKALLOC(d, nL_int, int);
-    mjtNum* L_numblock = mjSTACKALLOC(d, nL_num, mjtNum);
-    ctx->L_colind      = L_intblock;
-    ctx->LT_colind     = L_intblock + ctx->nL;
-    ctx->LT_map        = L_intblock + 2*ctx->nL;
-    ctx->L             = L_numblock;
-    ctx->Lcone         = ctx->is_elliptic ? L_numblock + ctx->nL : NULL;
-
-    // symbolic Cholesky: populate L_colind and LT structures
-    mju_cholFactorSymbolic(ctx->L_colind, ctx->L_rownnz, ctx->L_rowadr,
-                           ctx->LT_colind, ctx->LT_rownnz, ctx->LT_rowadr, ctx->LT_map,
-                           ctx->HT_rownnz, ctx->HT_rowadr, ctx->HT_colind,
-                           nv, d);
-  }
-
-  // dense
-  else {
-    // compute H = M + J'*D*J
-    mju_sqrMatTD_impl(ctx->L, ctx->J, ctx->D, nefc, nv, /*flg_upper=*/ 0);
-    mju_addToSymSparse(ctx->L, ctx->M, ctx->nv,
-                       ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
-                       /*flg_upper=*/ 0);
-  }
-}
-
-
-// forward declaration of HessianCone (for readability)
-static void HessianCone(mjData* d, mjPrimalContext* ctx);
-
-// factorize Hessian: L = chol(H), maybe (re)compute H given efc_state
-static void FactorizeHessian(mjData* d, mjPrimalContext* ctx, int flg_recompute) {
-  int nv = ctx->nv, nefc = ctx->nefc;
-
-  // maybe compute constraint inertia
-  if (flg_recompute) {
-    for (int i=0; i < nefc; i++) {
-      ctx->D[i] = ctx->efc_state[i] == mjCNSTRSTATE_QUADRATIC ? ctx->efc_D[i] : 0;
-    }
-  }
-
-  // sparse
-  if (ctx->is_sparse) {
-    // maybe compute H = M + J'*D*J
-    if (flg_recompute) {
-      // compute H = J'*D*J: symbolic phase
-      mju_sqrMatTDSparseSymbolic(
-          ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind, NULL,
-          nefc, nv, ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind,
-          ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind, ctx->JT_rowsuper, d);
-
-      // compute H = J'*D*J: numeric phase
-      mju_sqrMatTDSparseNumeric(
-          ctx->H, nv, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind,
-          NULL, ctx->J, ctx->J_rownnz, ctx->J_rowadr, ctx->J_colind,
-          ctx->JT, ctx->JT_rownnz, ctx->JT_rowadr, ctx->JT_colind,
-          ctx->JT_rowsuper, ctx->D, d);
-
-      // add mass matrix: H = J'*D*J + C
-      mju_addToMatSparse(ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind, nv,
-                         ctx->M, ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind);
-    }
-
-    // numeric sparse factorization: L = chol(H) using pre-computed sparsity pattern
-    int rank = mju_cholFactorNumeric(
-        ctx->L, nv, mjMINVAL,
-        ctx->L_rownnz, ctx->L_rowadr, ctx->L_colind,
-        ctx->LT_rownnz, ctx->LT_rowadr, ctx->LT_colind, ctx->LT_map,
-        ctx->H, ctx->H_rownnz, ctx->H_rowadr, ctx->H_colind, d);
-
-    // rank-deficient; SHOULD NOT OCCUR
-    if (rank != nv) {
-      mjERROR("rank-deficient sparse Hessian");
-    }
-  }
-
-  // dense
-  else {
-    // maybe compute H = M + J'*D*J
-    if (flg_recompute) {
-      mju_sqrMatTD_impl(ctx->L, ctx->J, ctx->D, nefc, nv, /*flg_upper=*/ 0);
-      mju_addToSymSparse(ctx->L, ctx->M, ctx->nv,
-                         ctx->M_rownnz, ctx->M_rowadr, ctx->M_colind,
-                         /*flg_upper=*/ 0);
-    }
-
-    // factorize H
-    mju_cholFactor(ctx->L, nv, mjMINVAL);
-  }
-
-  // add cones to factor if present
-  if (ctx->ncone) {
-    HessianCone(d, ctx);
-  }
-
-  // mark full update
-  ctx->nupdate = nefc;
-}
-
-
-// elliptic case: Hcone = H + cone_contributions
-static void HessianCone(mjData* d, mjPrimalContext* ctx) {
-  int nv = ctx->nv, nefc = ctx->nefc;
-  mjtNum* LTJ = ctx->LTJ;
-  mjtNum local[36];
-
-  // start with Hcone = H
-  mju_copy(ctx->Lcone, ctx->L, ctx->nL);
-
-  // add contributions
-  for (int i=0; i < nefc; i++) {
-    if (ctx->efc_state[i] == mjCNSTRSTATE_CONE) {
-      mjContact* con = ctx->contact + ctx->efc_id[i];
-      int dim = con->dim;
-
-      // Cholesky of local Hessian
-      mju_copy(local, con->H, dim*dim);
-      mju_cholFactor(local, dim, mjMINVAL);
-
-      // sparse
-      if (ctx->is_sparse) {
-        // get nnz for row i (same for all rows in contact)
-        const int nnz = ctx->J_rownnz[i];
-
-        // compute LTJ = L'*J for this contact
-        mju_zero(LTJ, dim*nnz);
-        for (int r=0; r < dim; r++) {
-          for (int c=0; c <= r; c++) {
-            mju_addToScl(LTJ+c*nnz, ctx->J+ctx->J_rowadr[i+r], local[r*dim+c], nnz);
-          }
-        }
-
-        // update
-        for (int r=0; r < dim; r++) {
-          mju_cholUpdateSparse(ctx->Lcone, LTJ+r*nnz, nv, 1,
-                               ctx->L_rownnz, ctx->L_rowadr, ctx->L_colind, nnz,
-                               ctx->J_colind+ctx->J_rowadr[i+r], d);
-        }
-      }
-
-      // dense
-      else {
-        // compute LTJ = L'*J for this contact row
-        mju_zero(LTJ, dim*nv);
-        for (int r=0; r < dim; r++) {
-          for (int c=0; c <= r; c++) {
-            mju_addToScl(LTJ+c*nv, ctx->J+(i+r)*nv, local[r*dim+c], nv);
-          }
-        }
-
-        // update
-        for (int r=0; r < dim; r++) {
-          mju_cholUpdate(ctx->Lcone, LTJ+r*nv, nv, 1);
-        }
-      }
-
-      // count updates
-      ctx->nupdate += dim;
-
-      // advance to next constraint
-      i += (dim-1);
-    }
-  }
-}
-
-
-// incremental update to Hessian factor due to changes in efc_state
-static void HessianIncremental(mjData* d, mjPrimalContext* ctx, const int* oldstate) {
-  int rank, nv = ctx->nv, nefc = ctx->nefc;
-  mjtNum* cholupd = ctx->cholupd;
-
-  // clear update counter
-  ctx->nupdate = 0;
-
-  // update H factorization
-  for (int i=0; i < nefc; i++) {
-    int flag_update = -1;
-
-    // add quad
-    if (oldstate[i] != mjCNSTRSTATE_QUADRATIC && ctx->efc_state[i] == mjCNSTRSTATE_QUADRATIC) {
-      flag_update = 1;
-    }
-
-    // subtract quad
-    else if (oldstate[i] == mjCNSTRSTATE_QUADRATIC && ctx->efc_state[i] != mjCNSTRSTATE_QUADRATIC) {
-      flag_update = 0;
-    }
-
-    // perform update if flagged
-    if (flag_update != -1) {
-      // update with cholupd = J(i,:)*sqrt(D[i]))
-      if (ctx->is_sparse) {
-        // get nnz and adr of row i
-        const int nnz = ctx->J_rownnz[i], adr = ctx->J_rowadr[i];
-
-        // scale cholupd
-        mju_scl(cholupd, ctx->J+adr, mju_sqrt(ctx->efc_D[i]), nnz);
-
-        // sparse update or downdate
-        rank = mju_cholUpdateSparse(ctx->L, cholupd, nv, flag_update,
-                                    ctx->L_rownnz, ctx->L_rowadr, ctx->L_colind, nnz,
-                                    ctx->J_colind+adr, d);
-      } else {
-        mju_scl(cholupd, ctx->J+i*nv, mju_sqrt(ctx->efc_D[i]), nv);
-        rank = mju_cholUpdate(ctx->L, cholupd, nv, flag_update);
-      }
-      ctx->nupdate++;
-
-      // recompute H directly if accuracy lost
-      if (rank < nv) {
-        FactorizeHessian(d, ctx, /*flg_recompute=*/1);
-
-        // nothing else to do
-        return;
-      }
-    }
-  }
-
-  // add cones if present
-  if (ctx->ncone) {
-    HessianCone(d, ctx);
-  }
-}
-
-
-// driver
-static void mj_solPrimal(const mjModel* m, mjData* d, int island, int maxiter, int flg_Newton) {
-  int iter = 0;
-  mjtNum alpha, beta;
-  mjPrimalContext ctx;
-  mj_markStack(d);
-
-  // make context
-  PrimalPointers(m, d, &ctx, island);
-  PrimalAllocate(m, d, &ctx, flg_Newton);
-
-  // local copies
-  int nv   = ctx.nv;
-  int nefc = ctx.nefc;
-  int* oldstate = ctx.oldstate;
-
-  // compute Ma = Mtilde * qacc
-  mju_mulSymVecSparse(ctx.Ma, ctx.M, ctx.qacc, nv,
-                      ctx.M_rownnz, ctx.M_rowadr, ctx.M_colind);
-  if (ctx.flg_flex) {
-    mjd_effMulAdd(m, d, ctx.Ma, ctx.qacc);
-  }
-
-
-  // compute Jaref = J * qacc - aref  (dense or sparse)
-  if (!ctx.is_sparse) {
-    mju_mulMatVec(ctx.Jaref, ctx.J, ctx.qacc, nefc, nv);
-  } else {
-    mju_mulMatVecSparse(ctx.Jaref, ctx.J, ctx.qacc, nefc,
-                        ctx.J_rownnz, ctx.J_rowadr, ctx.J_colind, ctx.J_rowsuper);
-  }
-  mju_subFrom(ctx.Jaref, ctx.efc_aref, nefc);
-
-  // first update
-  PrimalUpdateConstraint(&ctx, flg_Newton & (m->opt.cone == mjCONE_ELLIPTIC));
-  PrimalUpdateGrad(&ctx);
-
-  // compute and save scaling factor
-  mjtNum scale;
-  if (island < 0) {
-    scale = 1 / (m->stat.meaninertia * mjMAX(1, m->nv));
-  } else {
-    mjtNum island_inertia = 0;
-    for (int i=0; i < nv; i++) {
-      int diag_i = ctx.M_rowadr[i] + ctx.M_rownnz[i] - 1;
-      island_inertia += ctx.M[diag_i];
-    }
-    scale = 1 / island_inertia;
-  }
-  ctx.scale = scale;
-
-  // Mgrad = M \ grad: the CG preconditioned gradient, also the convergence certificate
-  PrimalUpdateMgrad(&ctx, /*flg_Newton=*/0);
-
-  // convergence certificate: the cost is strongly convex in the M-norm, bounding the
-  // suboptimality by the duality gap at the current constraint forces:
-  //   cost(qacc) - cost* <= 0.5 * grad'*M^-1*grad
-  // if already below tolerance (e.g. good warmstart), skip the Hessian and the main loop
-  int flg_gap = mju_max(0, 0.5*scale*mju_dot(ctx.grad, ctx.Mgrad, nv)) < m->opt.tolerance;
-
-  // the gap bounds the *cost* suboptimality; on stiff constraints this permits force
-  // errors of order sqrt(2*gap*stiffness). Newton solutions are characteristically
-  // force-accurate, so Newton zero-iteration exits also require the gradient criterion;
-  // CG solutions are characteristically cost-accurate and exit on the gap alone
-  int flg_gradient = scale*mju_norm(ctx.grad, nv) < m->opt.tolerance;
-  int flg_certificate = flg_gap && (!flg_Newton || flg_gradient);
-  int flg_done = flg_certificate;
-
-  // Newton: compute and factorize Hessian, Mgrad = H \ grad
-  if (!flg_done && flg_Newton) {
-    MakeHessian(d, &ctx);
-    FactorizeHessian(d, &ctx, /*flg_recompute=*/0);
-    PrimalUpdateMgrad(&ctx, /*flg_Newton=*/1);
-
-    // Newton decrement already below tolerance: converged, skip the first line search
-    // (gradient-gated like the certificate: H^-1 suppresses stiff-direction force errors)
-    flg_done = flg_gradient &&
-               mju_max(0, 0.5*scale*mju_dot(ctx.grad, ctx.Mgrad, nv)) < m->opt.tolerance;
-  }
-
-  // start both with preconditioned gradient
-  if (!flg_done) {
-    mju_scl(ctx.search, ctx.Mgrad, -1, nv);
-  }
-
-  // main loop
-  while (!flg_done && iter < maxiter) {
-    // perform linesearch
-    mjtNum ls_improvement;
-    alpha = PrimalSearch(&ctx, m->opt.tolerance * m->opt.ls_tolerance, m->opt.ls_iterations,
-                         &ls_improvement);
-
-    // no improvement: done
-    if (alpha == 0) {
-      break;
-    }
-
-    // move to new solution
-    mju_addToScl(ctx.qacc, ctx.search, alpha, nv);
-    mju_addToScl(ctx.Ma, ctx.Mv, alpha, nv);
-    mju_addToScl(ctx.Jaref, ctx.Jv, alpha, nefc);
-
-    // save old
-    if (!flg_Newton) {
-      mju_copy(ctx.gradold, ctx.grad, nv);
-      mju_copy(ctx.Mgradold, ctx.Mgrad, nv);
-    }
-    mju_copyInt(oldstate, ctx.efc_state, nefc);
-
-    // update
-    PrimalUpdateConstraint(&ctx, flg_Newton & (m->opt.cone == mjCONE_ELLIPTIC));
-    if (flg_Newton) {
-      HessianIncremental(d, &ctx, oldstate);
-    }
-    PrimalUpdateGradient(&ctx, flg_Newton);
-
-    // count state changes
-    int nchange = 0;
-    for (int i=0; i < nefc; i++) {
-      nchange += (ctx.efc_state[i] != oldstate[i]);
-    }
-
-    // scale improvement, gradient, save stats
-    mjtNum improvement = scale * ls_improvement;
-    mjtNum gradient = scale * mju_norm(ctx.grad, nv);
-    saveStats(m, d, island, iter, improvement, gradient, ctx.LSslope,
-              ctx.nactive, nchange, ctx.LSiter, ctx.nupdate);
-
-    // Newton decrement: 0.5*grad'*H^-1*grad, the model's predicted improvement of the
-    // next step; clamp to 0 so that tolerance == 0 keeps early termination disabled
-    mjtNum decrement = flg_Newton ? mju_max(0, 0.5*scale*mju_dot(ctx.grad, ctx.Mgrad, nv)) : 0;
-
-    // increment iteration count
-    iter++;
-
-    // termination
-    if ((improvement > 0 && improvement < m->opt.tolerance) ||
-         gradient < m->opt.tolerance ||
-         (flg_Newton && decrement < m->opt.tolerance)) {
-      break;
-    }
-
-    // update direction
-    if (flg_Newton) {
-      mju_scl(ctx.search, ctx.Mgrad, -1, nv);
-    } else {
-#ifndef mjCG_PRP
-      // Hager-Zhang conjugate direction update
-      mjtNum d_dot_y, y_dot_My, y_dot_Mgrad, d_dot_grad;
-      mjtNum beta_hz;
-      mjtNum d_norm, grad_norm, eta_k;
-      const mjtNum eta = 0.01;
-
-      // graddif = grad - gradold, Mgraddif = Mgrad - Mgradold
-      mju_sub(ctx.graddif, ctx.grad, ctx.gradold, nv);
-      mju_sub(ctx.Mgraddif, ctx.Mgrad, ctx.Mgradold, nv);
-
-      // compute d'*y; restart to steepest descent if conjugacy is lost
-      d_dot_y = mju_dot(ctx.search, ctx.graddif, nv);
-      if (d_dot_y < mjMINVAL) {
-        beta = 0;
-      } else {
-        // compute remaining inner products for the HZ formula
-        y_dot_My = mju_dot(ctx.graddif, ctx.Mgraddif, nv);
-        y_dot_Mgrad = mju_dot(ctx.graddif, ctx.Mgrad, nv);
-        d_dot_grad = mju_dot(ctx.search, ctx.grad, nv);
-
-        // primary Hager-Zhang beta coefficient
-        beta_hz = (y_dot_Mgrad - 2*(y_dot_My/d_dot_y)*d_dot_grad) / d_dot_y;
-
-        // dynamic truncation threshold to ensure d is not orthogonal to grad
-        d_norm = mju_norm(ctx.search, nv);
-        grad_norm = mju_norm(ctx.grad, nv);
-        eta_k = -1.0 / mju_max(mjMINVAL, d_norm * mju_min(eta, grad_norm));
-
-        // apply lower bound
-        beta = mju_max(eta_k, beta_hz);
-      }
-#else
-      // Polak-Ribiere-Plus conjugate direction update
-      mju_sub(ctx.Mgraddif, ctx.Mgrad, ctx.Mgradold, nv);
-      beta = mju_dot(ctx.grad, ctx.Mgraddif, nv) /
-             mju_max(mjMINVAL, mju_dot(ctx.gradold, ctx.Mgradold, nv));
-
-      // reset if negative
-      if (beta < 0) {
-        beta = 0;
-      }
-#endif
-
-      // update
-      for (int i=0; i < nv; i++) {
-        ctx.search[i] = -ctx.Mgrad[i] + beta*ctx.search[i];
-      }
-    }
-  }
-
-  // finalize statistics
-  if (island < mjNISLAND) {
-    // if island is -1 (monolithic), clamp to 0
-    int island_stat = island < 0 ? 0 : island;
-
-    // update solver iterations
-    d->solver_niter[island_stat] += iter;
-
-    // set solver_nnz; if the certificate fired, no Hessian was built: report Jacobian nnz
-    if (flg_Newton && !flg_certificate) {
-      if (mj_isSparse(m)) {
-        // two L factors if Lcone is present
-        int num_factors = 1 + (ctx.Lcone != NULL);
-        d->solver_nnz[island_stat] = num_factors * ctx.nL + ctx.nH;
-      } else {
-        d->solver_nnz[island_stat] = nv*nv;
-      }
-    } else {
-      d->solver_nnz[island_stat] = ctx.nJ;
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// CG entry point
-void mj_solCG(const mjModel* m, mjData* d, int maxiter) {
-  mj_solPrimal(m, d, /*island=*/-1, maxiter, /*flg_Newton=*/0);
-}
-
-
-// CG entry point (one island)
-void mj_solCG_island(const mjModel* m, mjData* d, int island, int maxiter) {
-  mj_solPrimal(m, d, island, maxiter, /*flg_Newton=*/0);
-}
-
-
-// Newton entry point
-void mj_solNewton(const mjModel* m, mjData* d, int maxiter) {
-  mj_solPrimal(m, d, /*island=*/-1, maxiter, /*flg_Newton=*/1);
-}
-
-
-// Newton entry point (one island)
-void mj_solNewton_island(const mjModel* m, mjData* d, int island, int maxiter) {
-  mj_solPrimal(m, d, island, maxiter, /*flg_Newton=*/1);
-}
diff --git a/src/engine/engine_solver.h b/src/engine/engine_solver.h
deleted file mode 100644
index 46657619..00000000
--- a/src/engine/engine_solver.h
+++ /dev/null
@@ -1,53 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-
-//------------------------------ monolithic solvers ------------------------------------------------
-
-// PGS solver
-void mj_solPGS(const mjModel* m, mjData* d, int maxiter);
-
-// No Slip solver (modified PGS)
-void mj_solNoSlip(const mjModel* m, mjData* d, int maxiter);
-
-// CG solver
-void mj_solCG(const mjModel* m, mjData* d, int maxiter);
-
-// Newton solver
-void mj_solNewton(const mjModel* m, mjData* d, int maxiter);
-
-
-//------------------------------ per-island solvers ------------------------------------------------
-
-// PGS solver (one island, no dualFinish — caller handles it)
-void mj_solPGS_island(const mjModel* m, mjData* d, int island, int maxiter);
-
-// NoSlip solver (one island, no dualFinish — caller handles it)
-void mj_solNoSlip_island(const mjModel* m, mjData* d, int island, int maxiter);
-
-// CG solver
-void mj_solCG_island(const mjModel* m, mjData* d, int island, int maxiter);
-
-// Newton entry point
-void mj_solNewton_island(const mjModel* m, mjData* d, int island, int maxiter);
-
-// map efc_force to joint space (used after dual island dispatch)
-void mj_dualFinish(const mjModel* m, mjData* d);
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_SOLVER_H_
diff --git a/src/engine/engine_sort.h b/src/engine/engine_sort.h
deleted file mode 100644
index 7ede45ee..00000000
--- a/src/engine/engine_sort.h
+++ /dev/null
@@ -1,111 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_SORT_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_SORT_H_
-
-// threshold size of a run to do insertion sort on
-#define _mjRUNSIZE 32
-
-// insertion sort sub-macro that runs on a sub-array [start, ..., end)
-#define _mjINSERTION_SORT(type, arr, start, end, cmp, context)                                     \
-{                                                                                                  \
-  for (int j = start + 1; j < end; j++) {                                                          \
-    type tmp = arr[j];                                                                             \
-    int k = j - 1;                                                                                 \
-    for (; k >= start && cmp(arr + k, &tmp, context) > 0; k--) {                                   \
-      arr[k + 1] = arr[k];                                                                         \
-    }                                                                                              \
-    arr[k + 1] = tmp;                                                                              \
-  }                                                                                                \
-}
-
-// sub-macro that merges two sub-sorted arrays [start, ..., mid), [mid, ..., end) together
-#define _mjMERGE(type, src, dest, start, mid, end, cmp, context)                                   \
-{                                                                                                  \
-  int i = start, j = mid, k = start;                                                               \
-  while (i < mid && j < end) {                                                                     \
-    if (cmp(src + i, src + j, context) <= 0) {                                                     \
-       dest[k++] = src[i++];                                                                       \
-    } else {                                                                                       \
-      dest[k++] = src[j++];                                                                        \
-    }                                                                                              \
-  }                                                                                                \
-  if      (i < mid) memcpy(dest + k, src + i, (mid - i) * sizeof(type));                           \
-  else if (j < end) memcpy(dest + k, src + j, (end - j) * sizeof(type));                           \
-}
-
-// defines an inline stable sorting function via tiled merge sorting (timsort)
-// function is of form:
-// void name(type* arr, type* buf, int n, void* context)
-// where arr is the array of size n to be sorted inplace and buf is a buffer of size n.
-#define mjSORT(name, type, cmp)                                                                    \
-  static inline void name(type* arr, type* buf, int n, void* context) {                            \
-    for (int start = 0; start < n; start += _mjRUNSIZE) {                                          \
-      int end = (start + _mjRUNSIZE < n) ? start + _mjRUNSIZE : n;                                 \
-      _mjINSERTION_SORT(type, arr, start, end, cmp, context);                                      \
-    }                                                                                              \
-    type* src = arr, *dest = buf, *tmp;                                                            \
-    for (int len = _mjRUNSIZE; len < n; len *= 2) {                                                \
-      for (int start = 0; start < n; start += 2*len) {                                             \
-        int mid = start + len;                                                                     \
-        int end = (start + 2*len < n) ? start + 2*len : n;                                         \
-        if (mid < end) {                                                                           \
-          _mjMERGE(type, src, dest, start, mid, end, cmp, context);                                \
-        } else {                                                                                   \
-          memcpy(dest + start, src + start, (end - start) * sizeof(type));                         \
-        }                                                                                          \
-      }                                                                                            \
-      tmp = src; src = dest; dest = tmp;                                                           \
-    }                                                                                              \
-    if (src != arr) memcpy(arr, src, n * sizeof(type));                                            \
-  } static inline void name(type* arr, type* buf, int n, void* context)
-
-
-// sub-macro that sifts down a node in a max heap to its correct position
-#define _mjSIFT_DOWN(type, buf, start, end, cmp, context)                                          \
-{                                                                                                  \
-  int root = start;                                                                                \
-  while (2 * root + 1 < end) {                                                                     \
-    int child = 2 * root + 1;                                                                      \
-    int swap = root;                                                                               \
-    if (cmp(buf + swap, buf + child, context) < 0) swap = child;                                   \
-    if (child + 1 < end && cmp(buf + swap, buf + child + 1, context) < 0) swap = child + 1;        \
-    if (swap == root) break;                                                                       \
-    type tmp = buf[root]; buf[root] = buf[swap]; buf[swap] = tmp;                                  \
-    root = swap;                                                                                   \
-  }                                                                                                \
-}
-
-// defines an inline function that selects the bottom k elements using partial heap sort
-// buf needs to be of size k
-#define mjPARTIAL_SORT(name, type, cmp)                                                            \
-  static inline void name(type* arr, type* buf, int n, int k, void* context) {                     \
-    if (k <= 0 || n < k) return;                                                                   \
-    /* fill initial heap */                                                                        \
-    for (int i = 0; i < k; i++) buf[i] = arr[i];                                                   \
-    for (int j = (k - 2) / 2; j >= 0; j--) _mjSIFT_DOWN(type, buf, j, k, cmp, context);            \
-    /* scan remaining elements */                                                                  \
-    for (int i = k; i < n; i++) {                                                                  \
-      if (cmp(arr + i, buf, context) < 0) {                                                        \
-        buf[0] = arr[i];                                                                           \
-        _mjSIFT_DOWN(type, buf, 0, k, cmp, context);                                               \
-      }                                                                                            \
-    }                                                                                              \
-    /* copy back and sort the result */                                                            \
-    for (int j = 0; j < k; j++) arr[j] = buf[j];                                                   \
-    _mjINSERTION_SORT(type, arr, 0, k, cmp, context);                                              \
-  } static inline void name(type* arr, type* buf, int n, int k, void* context)
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_SORT_H_
diff --git a/src/engine/engine_support.c b/src/engine/engine_support.c
deleted file mode 100644
index e4c6ef35..00000000
--- a/src/engine/engine_support.c
+++ /dev/null
@@ -1,992 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_support.h"
-
-#include <inttypes.h>  // IWYU pragma: keep
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_collision_convex.h"
-#include "engine/engine_collision_driver.h"
-#include "engine/engine_collision_gjk.h"
-#include "engine/engine_collision_primitive.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_crossplatform.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse.h"
-#include "engine/engine_util_spatial.h"
-
-#ifdef mjUSEPLATFORMSIMD
-  #if defined(__AVX__) && !defined(mjUSESINGLE)
-    #define mjUSEAVX
-    #include "immintrin.h"
-  #endif
-#endif
-
-//-------------------------- Constants -------------------------------------------------------------
-
- #define mjVERSION 3012000
-#define mjVERSIONSTRING "3.12.0"
-
-// names of disable flags
-const char* mjDISABLESTRING[mjNDISABLE] = {
-  "Constraint",
-  "Equality",
-  "Frictionloss",
-  "Limit",
-  "Contact",
-  "Spring",
-  "Damper",
-  "Gravity",
-  "Clampctrl",
-  "Warmstart",
-  "Filterparent",
-  "Actuation",
-  "Refsafe",
-  "Sensor",
-  "Midphase",
-  "Eulerdamp",
-  "AutoReset",
-  "NativeCCD",
-  "Island",
-  "MultiCCD"
-};
-
-
-// names of enable flags
-const char* mjENABLESTRING[mjNENABLE] = {
-  "Override",
-  "Energy",
-  "Fwdinv",
-  "InvDiscrete",
-  "Sleep",
-  "DiagExact"
-};
-
-
-// names of timers
-const char* mjTIMERSTRING[mjNTIMER]= {
-  "step",
-  "forward",
-  "inverse",
-  "position",
-  "velocity",
-  "actuation",
-  "constraint",
-  "advance",
-  "pos_kinematics",
-  "pos_inertia",
-  "pos_collision",
-  "pos_make",
-  "pos_project",
-  "col_broadphase",
-  "col_narrowphase"
-};
-
-
-// names of log topics (index i corresponds to topic i+1)
-const char* mjTOPICSTRING[mjNTOPIC] = {
-  "Step timing",
-  "Compile timing",
-  "Sleep/wake"
-};
-
-
-// size of contact data fields
-const int mjCONDATA_SIZE[mjNCONDATA] = {
-  1,  // mjCONDATA_FOUND
-  3,  // mjCONDATA_FORCE
-  3,  // mjCONDATA_TORQUE
-  1,  // mjCONDATA_DIST
-  3,  // mjCONDATA_POS
-  3,  // mjCONDATA_NORMAL
-  3   // mjCONDATA_TANGENT
-};
-
-
-// size of ray data fields
-const int mjRAYDATA_SIZE[mjNRAYDATA] = {
-  1,  // mjRAYDATA_DIST
-  3,  // mjRAYDATA_DIR
-  3,  // mjRAYDATA_ORIGIN
-  3,  // mjRAYDATA_POINT
-  3,  // mjRAYDATA_NORMAL
-  1   // mjRAYDATA_DEPTH
-};
-
-//-------------------------- get/set state ---------------------------------------------------------
-
-// return size of a single state element
-static inline int mj_stateElemSize(const mjModel* m, mjtState sig) {
-  switch (sig) {
-  case mjSTATE_TIME:          return 1;
-  case mjSTATE_QPOS:          return m->nq;
-  case mjSTATE_QVEL:          return m->nv;
-  case mjSTATE_ACT:           return m->na;
-  case mjSTATE_HISTORY:       return m->nhistory;
-  case mjSTATE_WARMSTART:     return m->nv;
-  case mjSTATE_CTRL:          return m->nu;
-  case mjSTATE_QFRC_APPLIED:  return m->nv;
-  case mjSTATE_XFRC_APPLIED:  return 6*m->nbody;
-  case mjSTATE_EQ_ACTIVE:     return m->neq;    // mjtByte, stored as mjtNum in state vector
-  case mjSTATE_MOCAP_POS:     return 3*m->nmocap;
-  case mjSTATE_MOCAP_QUAT:    return 4*m->nmocap;
-  case mjSTATE_USERDATA:      return m->nuserdata;
-  case mjSTATE_PLUGIN:        return m->npluginstate;
-  default:
-    mjERROR("invalid state element %u", sig);
-    return 0;
-  }
-}
-
-
-// return pointer to a single state element
-static inline mjtNum* mj_stateElemPtr(const mjModel* m, mjData* d, mjtState sig) {
-  switch (sig) {
-  case mjSTATE_TIME:          return &d->time;
-  case mjSTATE_QPOS:          return d->qpos;
-  case mjSTATE_QVEL:          return d->qvel;
-  case mjSTATE_ACT:           return d->act;
-  case mjSTATE_HISTORY:       return d->history;
-  case mjSTATE_WARMSTART:     return d->qacc_warmstart;
-  case mjSTATE_CTRL:          return d->ctrl;
-  case mjSTATE_QFRC_APPLIED:  return d->qfrc_applied;
-  case mjSTATE_XFRC_APPLIED:  return d->xfrc_applied;
-  case mjSTATE_MOCAP_POS:     return d->mocap_pos;
-  case mjSTATE_MOCAP_QUAT:    return d->mocap_quat;
-  case mjSTATE_USERDATA:      return d->userdata;
-  case mjSTATE_PLUGIN:        return d->plugin_state;
-  default:
-    mjERROR("invalid state element %u", sig);
-    return NULL;
-  }
-}
-
-
-static inline const mjtNum* mj_stateElemConstPtr(const mjModel* m, const mjData* d, mjtState sig) {
-  return mj_stateElemPtr(m, (mjData*) d, sig);  // discard const qualifier from d
-}
-
-
-// get size of state signature
-int mj_stateSize(const mjModel* m, int sig) {
-  if (sig < 0) {
-    mjERROR("invalid state signature %d < 0", sig);
-    return 0;
-  }
-
-  if (sig >= (1<<mjNSTATE)) {
-    mjERROR("invalid state signature %d >= 2^mjNSTATE", sig);
-    return 0;
-  }
-
-  int size = 0;
-  for (int i=0; i < mjNSTATE; i++) {
-    mjtState element = 1<<i;
-    if (element & sig) {
-      size += mj_stateElemSize(m, element);
-    }
-  }
-
-  return size;
-}
-
-
-// get state
-void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig) {
-  if (sig < 0) {
-    mjERROR("invalid state signature %d < 0", sig);
-    return;
-  }
-
-  if (sig >= (1<<mjNSTATE)) {
-    mjERROR("invalid state signature %d >= 2^mjNSTATE", sig);
-    return;
-  }
-
-  int adr = 0;
-  for (int i=0; i < mjNSTATE; i++) {
-    mjtState element = 1<<i;
-    if (element & sig) {
-      int size = mj_stateElemSize(m, element);
-
-      // special handling of eq_active (mjtBool)
-      if (element == mjSTATE_EQ_ACTIVE) {
-        int neq = m->neq;
-        for (int j=0; j < neq; j++) {
-          state[adr++] = d->eq_active[j];
-        }
-      }
-
-      // regular state components (mjtNum)
-      else {
-        const mjtNum* ptr = mj_stateElemConstPtr(m, d, element);
-        mju_copy(state + adr, ptr, size);
-        adr += size;
-      }
-    }
-  }
-}
-
-
-// extract a sub-state from a state
-void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig, mjtNum* dst, int dstsig) {
-  if (srcsig < 0) {
-    mjERROR("invalid srcsig %d < 0", srcsig);
-    return;
-  }
-
-  if (srcsig >= (1<<mjNSTATE)) {
-    mjERROR("invalid srcsig %d >= 2^mjNSTATE", srcsig);
-    return;
-  }
-
-  if ((srcsig & dstsig) != dstsig) {
-    mjERROR("dstsig is not a subset of srcsig");
-    return;
-  }
-
-  for (int i=0; i < mjNSTATE; i++) {
-    mjtState element = 1<<i;
-    if (element & srcsig) {
-      int size = mj_stateElemSize(m, element);
-      if (element & dstsig) {
-        mju_copy(dst, src, size);
-        dst += size;
-      }
-      src += size;
-    }
-  }
-}
-
-
-// set state
-void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig) {
-  if (sig < 0) {
-    mjERROR("invalid state signature %d < 0", sig);
-    return;
-  }
-
-  if (sig >= (1<<mjNSTATE)) {
-    mjERROR("invalid state signature %d >= 2^mjNSTATE", sig);
-    return;
-  }
-
-  int adr = 0;
-  for (int i=0; i < mjNSTATE; i++) {
-    mjtState element = 1<<i;
-    if (element & sig) {
-      int size = mj_stateElemSize(m, element);
-
-      // special handling of eq_active (mjtBool)
-      if (element == mjSTATE_EQ_ACTIVE) {
-        int neq = m->neq;
-        for (int j=0; j < neq; j++) {
-          d->eq_active[j] = state[adr++];
-        }
-      }
-
-      // regular state components (mjtNum)
-      else {
-        mjtNum* ptr = mj_stateElemPtr(m, d, element);
-        mju_copy(ptr, state + adr, size);
-        adr += size;
-      }
-    }
-  }
-}
-
-
-// copy state from src to dst
-void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig) {
-  if (sig < 0) {
-    mjERROR("invalid state signature %d < 0", sig);
-    return;
-  }
-
-  if (sig >= (1<<mjNSTATE)) {
-    mjERROR("invalid state signature %d >= 2^mjNSTATE", sig);
-    return;
-  }
-
-  for (int i=0; i < mjNSTATE; i++) {
-    mjtState element = 1<<i;
-    if (element & sig) {
-      int size = mj_stateElemSize(m, element);
-
-      // special handling of eq_active (mjtBool)
-      if (element == mjSTATE_EQ_ACTIVE) {
-        int neq = m->neq;
-        for (int j=0; j < neq; j++) {
-          dst->eq_active[j] = src->eq_active[j];
-        }
-      }
-
-      // regular state components (mjtNum)
-      else {
-        mjtNum* dst_ptr = mj_stateElemPtr(m, dst, element);
-        const mjtNum* src_ptr = mj_stateElemConstPtr(m, src, element);
-        mju_copy(dst_ptr, src_ptr, size);
-      }
-    }
-  }
-}
-
-
-// copy current state to the k-th model keyframe
-void mj_setKeyframe(mjModel* m, const mjData* d, int k) {
-  // check keyframe index
-  if (k >= m->nkey) {
-    mjERROR("index must be smaller than %" PRId64 " (keyframes allocated in model)", m->nkey);
-  }
-  if (k < 0) {
-    mjERROR("keyframe index cannot be negative");
-  }
-
-  // copy state to model keyframe
-  m->key_time[k] = d->time;
-  mju_copy(m->key_qpos + k*m->nq, d->qpos, m->nq);
-  mju_copy(m->key_qvel + k*m->nv, d->qvel, m->nv);
-  mju_copy(m->key_act + k*m->na, d->act, m->na);
-  mju_copy(m->key_mpos + k*3*m->nmocap, d->mocap_pos, 3*m->nmocap);
-  mju_copy(m->key_mquat + k*4*m->nmocap, d->mocap_quat, 4*m->nmocap);
-  mju_copy(m->key_ctrl + k*m->nu, d->ctrl, m->nu);
-}
-
-
-//-------------------------- inertia functions -----------------------------------------------------
-
-// convert sparse inertia matrix M into full matrix
-void mj_fullM(const mjModel* m, const mjData* d, mjtNum* dst) {
-  mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind);
-}
-
-
-// multiply vector by inertia matrix
-void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
-  mju_mulSymVecSparse(res, d->M, vec, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind);
-}
-
-
-// multiply vector by M^(1/2)
-void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec) {
-  int  nv = m->nv;
-  const mjtNum* qLD = d->qLD;
-
-  mju_zero(res, nv);
-
-  // res = L * vec
-  for (int i=0; i < nv; i++) {
-    // diagonal
-    res[i] = vec[i];
-
-    // non-simple: add off-diagonals
-    if (!m->dof_simplenum[i]) {
-      int adr = m->M_rowadr[i];
-      res[i] += mju_dotSparse(qLD+adr, vec, m->M_rownnz[i] - 1, m->M_colind+adr);
-    }
-  }
-
-  // res *= sqrt(D)
-  for (int i=0; i < nv; i++) {
-    int diag = m->M_rowadr[i] + m->M_rownnz[i] - 1;
-    res[i] *= mju_sqrt(qLD[diag]);
-  }
-}
-
-
-// add inertia matrix to destination matrix
-//  destination can be sparse or dense when all int* are NULL
-void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
-             int* rownnz, int* rowadr, int* colind) {
-  int nv = m->nv;
-
-  // sparse
-  if (rownnz && rowadr && colind) {
-    mju_addToMatSparse(dst, rownnz, rowadr, colind, nv, d->M,
-                       m->M_rownnz, m->M_rowadr, m->M_colind);
-  }
-
-  // dense
-  else {
-    mju_addToSymSparse(dst, d->M, nv, m->M_rownnz, m->M_rowadr, m->M_colind, /*flg_upper*/ 0);
-  }
-}
-
-
-//-------------------------- perturbations ---------------------------------------------------------
-
-// add Cartesian force and torque to qfrc_target
-void mj_applyFT(const mjModel* m, mjData* d,
-                const mjtNum force[3], const mjtNum torque[3],
-                const mjtNum point[3], int body, mjtNum* qfrc_target) {
-  int nv = m->nv;
-
-  // allocate local variables
-  mj_markStack(d);
-  mjtNum* jacp = force ? mjSTACKALLOC(d, 3*nv, mjtNum) : NULL;
-  mjtNum* jacr = torque ? mjSTACKALLOC(d, 3*nv, mjtNum) : NULL;
-  mjtNum* qforce = mjSTACKALLOC(d, nv, mjtNum);
-
-  // make sure body is in range
-  if (body < 0 || body >= m->nbody) {
-    mjERROR("invalid body %d", body);
-  }
-
-  // sparse case
-  if (mj_isSparse(m)) {
-    // construct chain and sparse Jacobians
-    int* chain = mjSTACKALLOC(d, nv, int);
-    int NV = mj_bodyChain(m, body, chain);
-    mj_jacSparse(m, d, jacp, jacr, point, body, NV, chain, /*flg_skipcommon=*/0);
-
-    // compute J'*f and accumulate
-    if (force) {
-      mju_mulMatTVec(qforce, jacp, force, 3, NV);
-      for (int i=0; i < NV; i++) {
-        qfrc_target[chain[i]] += qforce[i];
-      }
-    }
-    if (torque) {
-      mju_mulMatTVec(qforce, jacr, torque, 3, NV);
-      for (int i=0; i < NV; i++) {
-        qfrc_target[chain[i]] += qforce[i];
-      }
-    }
-  }
-
-  // dense case
-  else {
-    // compute Jacobians
-    mj_jac(m, d, jacp, jacr, point, body);
-
-    // compute J'*f and accumulate
-    if (force) {
-      mju_mulMatTVec(qforce, jacp, force, 3, nv);
-      mju_addTo(qfrc_target, qforce, nv);
-    }
-    if (torque) {
-      mju_mulMatTVec(qforce, jacr, torque, 3, nv);
-      mju_addTo(qfrc_target, qforce, nv);
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// accumulate xfrc_applied in qfrc
-void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc) {
-  int nbody = m->nbody;
-  const mjtNum *xfrc = d->xfrc_applied;
-
-  // quick return if identically zero (efficient memcmp implementation)
-  if (mju_isZeroByte((const unsigned char*)(xfrc+6), 6*(nbody-1)*sizeof(mjtNum))) {
-    return;
-  }
-
-  // some non-zero wrenches, apply them
-  for (int i=1; i < nbody; i++) {
-    if (!mju_isZero(xfrc+6*i, 6)) {
-      mj_applyFT(m, d, xfrc+6*i, xfrc+6*i+3, d->xipos+3*i, i, qfrc);
-    }
-  }
-}
-
-
-
-//-------------------------- miscellaneous ---------------------------------------------------------
-
-// returns the smallest distance between two geoms (using nativeccd)
-static mjtNum mj_geomDistanceCCD(const mjModel* m, mjData* d, int g1, int g2,
-                                 mjtNum distmax, mjtNum fromto[6]) {
-  mj_markStack(d);
-  mjCCDConfig config;
-  mjCCDStatus status;
-
-  // set config
-  config.max_iterations = m->opt.ccd_iterations;
-  config.tolerance = m->opt.ccd_tolerance;
-  config.npolygonmax = 0;
-  config.nmeshdegmax = 0;
-  config.max_contacts = 1;        // want contacts
-  config.dist_cutoff = distmax;   // want geom distances
-  config.buffer = mj_stackAllocByte(d, mjc_ccdSize(0, 0, config.max_iterations), sizeof(mjtNum));
-
-  mjCCDObj obj1, obj2;
-  mjc_initCCDObj(&obj1, m, d, g1, 0);
-  mjc_initCCDObj(&obj2, m, d, g2, 0);
-
-  mjtNum dist = mjc_ccd(&config, &status, &obj1, &obj2);
-  mj_freeStack(d);
-
-  // witness points are only computed if dist <= distmax
-  if (fromto && status.nx > 0) {
-    mju_copy3(fromto, status.x1);
-    mju_copy3(fromto+3, status.x2);
-  }
-
-  // clamp dist to distmax as mjc_ccd returns DBL_MAX if dist > distmax
-  return dist < distmax ? dist : distmax;
-}
-
-
-// returns the smallest distance between two geoms
-mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
-                       mjtNum fromto[6]) {
-  mjPreContact con[mjMAXCONPAIR];
-  mjtNum dist = distmax;
-  if (fromto) mju_zero(fromto, 6);
-
-  // flip geom order if required
-  int flip = m->geom_type[geom1] > m->geom_type[geom2];
-  int g1 = flip ? geom2 : geom1;
-  int g2 = flip ? geom1 : geom2;
-  int type1 = m->geom_type[g1];
-  int type2 = m->geom_type[g2];
-
-  mjfCollision func = mjCOLLISIONFUNC[type1][type2];
-
-  // call collision function if it exists
-  if (!func) {
-    return dist;
-  }
-
-  // use nativeccd if flag is enabled
-  if (!mjDISABLED(mjDSBL_NATIVECCD)) {
-    if (func == mjc_Convex || func == mjc_BoxBox) {
-      return mj_geomDistanceCCD(m, d, geom1, geom2, distmax, fromto);
-    }
-  }
-
-  // call collision function with distmax as margin
-  int num = func(m, d, con, g1, g2, distmax);
-
-  // find smallest distance
-  int smallest = -1;
-  for (int i=0; i < num; i++) {
-    mjtNum dist_i = con[i].dist;
-    if (dist_i < dist) {
-      dist = dist_i;
-      smallest = i;
-    }
-  }
-
-  // write fromto if given and a collision has been found
-  if (fromto && smallest >= 0) {
-    mjtNum sign = flip ? -1 : 1;
-    mju_addScl3(fromto+0, con[smallest].pos, con[smallest].normal, -0.5*sign*dist);
-    mju_addScl3(fromto+3, con[smallest].pos, con[smallest].normal, 0.5*sign*dist);
-  }
-
-  return dist;
-}
-
-
-// compute velocity by finite-differencing two positions
-void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
-                         const mjtNum* qpos1, const mjtNum* qpos2) {
-  // loop over joints
-  for (int j=0; j < m->njnt; j++) {
-    // get addresses in qpos and qvel
-    int padr = m->jnt_qposadr[j];
-    int vadr = m->jnt_dofadr[j];
-
-    switch ((mjtJoint) m->jnt_type[j]) {
-    case mjJNT_FREE:
-      for (int i=0; i < 3; i++) {
-        qvel[vadr+i] = (qpos2[padr+i] - qpos1[padr+i]) / dt;
-      }
-      vadr += 3;
-      padr += 3;
-
-      // continue with rotations
-      mjFALLTHROUGH;
-
-    case mjJNT_BALL:
-      // solve:  qpos1 * quat(qvel * dt) = qpos2
-      mju_subQuat(qvel+vadr, qpos2+padr, qpos1+padr);
-      mju_scl3(qvel+vadr, qvel+vadr, 1/dt);
-      break;
-
-    case mjJNT_HINGE:
-    case mjJNT_SLIDE:
-      qvel[vadr] = (qpos2[padr] - qpos1[padr]) / dt;
-    }
-  }
-}
-
-
-// integrate qpos with given qvel for given body indices
-void mj_integratePosInd(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt,
-                        const int* index, int nbody) {
-  for (int b=1; b < nbody; b++) {
-    int k = index ? index[b] : b;
-    int start = m->body_jntadr[k];
-    int end = start + m->body_jntnum[k];
-    for (int j=start; j < end; j++) {
-      // get addresses in qpos and qvel
-      int padr = m->jnt_qposadr[j];
-      int vadr = m->jnt_dofadr[j];
-
-      switch ((mjtJoint) m->jnt_type[j]) {
-      case mjJNT_FREE:
-        // position update
-        for (int i=0; i < 3; i++) {
-          qpos[padr+i] += dt * qvel[vadr+i];
-        }
-        padr += 3;
-        vadr += 3;
-
-        // continue with rotation update
-        mjFALLTHROUGH;
-
-      case mjJNT_BALL:
-        // quaternion update
-        mju_quatIntegrate(qpos+padr, qvel+vadr, dt);
-        break;
-
-      case mjJNT_HINGE:
-      case mjJNT_SLIDE:
-        // scalar update: same for rotation and translation
-        qpos[padr] += dt * qvel[vadr];
-      }
-    }
-  }
-}
-
-
-// integrate qpos with given qvel
-void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt) {
-  mj_integratePosInd(m, qpos, qvel, dt, NULL, m->nbody);
-}
-
-
-// normalize all quaternions in qpos-type vector
-void mj_normalizeQuat(const mjModel* m, mjtNum* qpos) {
-  // find quaternion fields and normalize
-  for (int i=0; i < m->njnt; i++) {
-    if (m->jnt_type[i] == mjJNT_BALL || m->jnt_type[i] == mjJNT_FREE) {
-      mju_normalize4(qpos+m->jnt_qposadr[i]+3*(m->jnt_type[i] == mjJNT_FREE));
-    }
-  }
-}
-
-
-// return 1 if actuator i is disabled, 0 otherwise
-int mj_actuatorDisabled(const mjModel* m, int i) {
-  int group = m->actuator_group[i];
-  if (group < 0 || group > 30) {
-    return 0;
-  } else {
-    return m->opt.disableactuator & (1 << group) ? 1 : 0;
-  }
-}
-
-
-// returns the next activation given current act_dot, after clamping
-mjtNum mj_nextActivation(const mjModel* m, const mjData* d,
-                         int actuator_id, int act_adr, mjtNum act_dot) {
-  mjtNum act = d->act[act_adr];
-  int dyntype = m->actuator_dyntype[actuator_id];
-
-  if (dyntype == mjDYN_FILTEREXACT) {
-    // exact filter integration
-    // act_dot(0) = (ctrl-act(0)) / tau
-    // act(h) = act(0) + (ctrl-act(0)) (1 - exp(-h / tau))
-    //        = act(0) + act_dot(0) * tau * (1 - exp(-h / tau))
-    mjtNum tau = mju_max(mjMINVAL, m->actuator_dynprm[actuator_id*mjNDYN]);
-    act = act + act_dot * tau * (1 - mju_exp(-m->opt.timestep / tau));
-  } else if (dyntype == mjDYN_DCMOTOR) {
-    const mjtNum* dynprm = m->actuator_dynprm + actuator_id * mjNDYN;
-    const mjtNum* gainprm = m->actuator_gainprm + actuator_id * mjNGAIN;
-    mjDCMotorSlots slots = mj_dcmotorSlots(dynprm, gainprm);
-
-    int offset = act_adr - m->actuator_actadr[actuator_id];
-
-    // current filter: exact integration
-    if (offset == slots.current) {
-      mjtNum te = mju_max(mjMINVAL, dynprm[0]);
-      act = act + act_dot * te * (1 - mju_exp(-m->opt.timestep / te));
-    }
-
-    // LuGre bristle:  dz/dt = a*z + v  where a = -sigma0*|v|/g(v)
-    else if (offset == slots.bristle) {
-      const mjtNum* biasprm = m->actuator_biasprm + mjNBIAS*actuator_id;
-      mjtNum F_C = biasprm[3];    // Coulomb friction
-      mjtNum F_S = biasprm[4];    // static friction
-      mjtNum v_S = biasprm[5];    // Stribeck velocity
-      mjtNum sigma0 = dynprm[5];  // bristle stiffness
-      mjtNum velocity = d->actuator_velocity[m->actuator_outadr[actuator_id]];
-      mjtNum g = mj_lugreStribeck(velocity, F_C, F_S, v_S);
-
-      // ZOH exact ZOH integration: z(h) = exp(ah)*z(0) + ((exp(ah)-1)/a)*v
-      mjtNum a = -sigma0 * mju_abs(velocity) / mju_max(mjMINVAL, g);  // decay rate
-      mjtNum h = m->opt.timestep;
-      mjtNum exp_ah = mju_exp(a * h);                                 // state transition
-      mjtNum int_h = mju_abs(a) > mjMINVAL ? (exp_ah - 1) / a : h;    // input integral
-      act = exp_ah * act + int_h * velocity;
-    }
-
-    // integral state: Euler integration with anti-windup clamp
-    else if (offset == slots.integral) {
-      act = act + act_dot * m->opt.timestep;
-      mjtNum Imax = dynprm[8];
-      if (Imax > 0) {
-        act = mju_clip(act, -Imax, Imax);
-      }
-    }
-
-    // temperature and slew: Euler integration
-    else {
-      act = act + act_dot * m->opt.timestep;
-    }
-  }
-
-  // otherwise Euler integration
-  else {
-    act = act + act_dot * m->opt.timestep;
-  }
-
-  // clamp to actrange unless DC motor
-  if (dyntype != mjDYN_DCMOTOR && m->actuator_actlimited[actuator_id]) {
-    const mjtNum* actrange = m->actuator_actrange + 2*actuator_id;
-    act = mju_clip(act, actrange[0], actrange[1]);
-  }
-
-  return act;
-}
-
-
-// sum all body masses
-mjtNum mj_getTotalmass(const mjModel* m) {
-  mjtNum res = 0;
-
-  for (int i=1; i < m->nbody; i++) {
-    res += m->body_mass[i];
-  }
-
-  return res;
-}
-
-
-// scale all body masses and inertias to achieve specified total mass
-void mj_setTotalmass(mjModel* m, mjtNum newmass) {
-  // compute scale factor, avoid zeros
-  mjtNum scale = mju_max(mjMINVAL, newmass / mju_max(mjMINVAL, mj_getTotalmass(m)));
-
-  // scale all masses and inertias
-  for (int i=1; i < m->nbody; i++) {
-    m->body_mass[i] *= scale;
-    m->body_inertia[3*i] *= scale;
-    m->body_inertia[3*i+1] *= scale;
-    m->body_inertia[3*i+2] *= scale;
-  }
-
-  // don't forget to call mj_set0 after changing masses
-}
-
-
-// version number
-int mj_version(void) {
-  return mjVERSION;
-}
-
-
-// current version of MuJoCo as a null-terminated string
-const char* mj_versionString(void) {
-  static const char versionstring[] = mjVERSIONSTRING;
-  return versionstring;
-}
-
-
-// return total size of data in a contact sensor bitfield specification
-int mju_condataSize(int dataspec) {
-  int size = 0;
-  for (int i=0; i < mjNCONDATA; i++) {
-    if (dataspec & (1 << i)) {
-      size += mjCONDATA_SIZE[i];
-    }
-  }
-  return size;
-}
-
-
-// return total size of data in a rangefinder sensor bitfield specification
-int mju_raydataSize(int dataspec) {
-  int size = 0;
-  for (int i=0; i < mjNRAYDATA; i++) {
-    if (dataspec & (1 << i)) {
-      size += mjRAYDATA_SIZE[i];
-    }
-  }
-  return size;
-}
-
-
-// compute camera pixel parameters from model, output are:
-//   pixel units: fx, fy (focal lengths), cx, cy (principal point)
-//   length units: extent
-void mju_camIntrinsics(const mjModel* m, int camid,
-                       mjtNum* fx, mjtNum* fy, mjtNum* cx, mjtNum* cy, mjtNum* extent) {
-  const int width = m->cam_resolution[2*camid];
-  const int height = m->cam_resolution[2*camid+1];
-  const float* sensorsize = m->cam_sensorsize + 2*camid;
-  const float* intrinsic = m->cam_intrinsic + 4*camid;
-  const mjtProjection projection = (mjtProjection)m->cam_projection[camid];
-
-  switch (projection) {
-  case mjPROJ_PERSPECTIVE:
-    if (sensorsize[0] && sensorsize[1]) {
-      // intrinsic-based perspective camera
-      *fx = intrinsic[0] / sensorsize[0] * width;
-      *fy = intrinsic[1] / sensorsize[1] * height;
-      *cx = intrinsic[2] / sensorsize[0] * width;
-      *cy = intrinsic[3] / sensorsize[1] * height;
-    } else {
-      // fovy-based perspective camera
-      *fx = *fy = 0.5 / mju_tan(m->cam_fovy[camid] * mjPI / 360.0) * height;
-      *cx = (mjtNum)width / 2.0;
-      *cy = (mjtNum)height / 2.0;
-    }
-    break;
-  case mjPROJ_ORTHOGRAPHIC:
-    // orthographic: normalize pixel offset to [-1, 1]
-    *fx = (mjtNum)width / 2.0;
-    *fy = (mjtNum)height / 2.0;
-    *cx = *fx;
-    *cy = *fy;
-    break;
-  }
-
-  // extent only used for orthographic cameras
-  *extent = m->cam_fovy[camid];
-}
-
-
-// read delayed ctrl value for actuator at given time
-mjtNum mj_readCtrl(const mjModel* m, const mjData* d, int id, mjtNum time, int interp) {
-  // validate actuator id
-  if (id < 0 || id >= m->nactuator) {
-    mjERROR("invalid actuator id %d", id);
-    return 0;
-  }
-
-  // no delay: return current ctrl value
-  int nsample = m->actuator_history[2*id];
-  if (nsample == 0) {
-    return d->ctrl[m->actuator_ctrladr[id]];
-  }
-
-  // resolve interpolation order: use model's interp if argument is -1
-  if (interp < 0) interp = m->actuator_history[2*id+1];
-
-  // get buffer pointer and read from history buffer
-  mjtNum delay = m->actuator_delay[id];
-  const mjtNum* buf = d->history + m->actuator_historyadr[id];
-  mjtNum res;
-  const mjtNum* ptr = mju_historyRead(buf, nsample, /*dim=*/1, &res, time - delay, interp);
-  return ptr ? *ptr : res;
-}
-
-
-// read sensor value from history buffer at given time
-const mjtNum* mj_readSensor(const mjModel* m, const mjData* d, int id, mjtNum time,
-                            mjtNum* result, int interp) {
-  // validate sensor id
-  if (id < 0 || id >= m->nsensor) {
-    mjERROR("invalid sensor id %d", id);
-    return NULL;
-  }
-
-  // no history: return current sensor value
-  int nsample = m->sensor_history[2*id];
-  if (nsample == 0) {
-    return d->sensordata + m->sensor_adr[id];
-  }
-
-  // resolve interpolation order: use model's interp if argument is -1
-  if (interp < 0) interp = m->sensor_history[2*id+1];
-
-  // get buffer pointer and read from history buffer
-  int dim = m->sensor_dim[id];
-  mjtNum delay = m->sensor_delay[id];
-  const mjtNum* buf = d->history + m->sensor_historyadr[id];
-  return mju_historyRead(buf, nsample, dim, result, time - delay, interp);
-}
-
-
-// initialize history buffer for actuator
-void mj_initCtrlHistory(const mjModel* m, mjData* d, int id,
-                        const mjtNum* times, const mjtNum* values) {
-  // validate actuator id
-  if (id < 0 || id >= m->nactuator) {
-    mjERROR("invalid actuator id %d", id);
-    return;
-  }
-
-  // check that actuator has a history buffer
-  int nsample = m->actuator_history[2*id];
-  if (nsample == 0) {
-    mjERROR("actuator %d has no history buffer", id);
-    return;
-  }
-
-  // get buffer pointer
-  mjtNum* buf = d->history + m->actuator_historyadr[id];
-
-  // if times is NULL, use existing buffer times
-  const mjtNum* buf_times = times ? times : buf + 2;
-
-  // get existing user value (preserve it)
-  mjtNum user = buf[0];
-
-  // initialize history buffer
-  mju_historyInit(buf, nsample, 1, buf_times, values, user);
-}
-
-
-// initialize history buffer for sensor
-void mj_initSensorHistory(const mjModel* m, mjData* d, int id,
-                          const mjtNum* times, const mjtNum* values, mjtNum phase) {
-  // validate sensor id
-  if (id < 0 || id >= m->nsensor) {
-    mjERROR("invalid sensor id %d", id);
-    return;
-  }
-
-  // check that sensor has a history buffer
-  int nsample = m->sensor_history[2*id];
-  if (nsample == 0) {
-    mjERROR("sensor %d has no history buffer", id);
-    return;
-  }
-
-  // get buffer pointer and dimension
-  mjtNum* buf = d->history + m->sensor_historyadr[id];
-  int dim = m->sensor_dim[id];
-
-  // if times is NULL, use existing buffer times
-  const mjtNum* buf_times = times ? times : buf + 2;
-
-  // initialize history buffer with provided phase
-  mju_historyInit(buf, nsample, dim, buf_times, values, phase);
-}
diff --git a/src/engine/engine_support.h b/src/engine/engine_support.h
deleted file mode 100644
index 700498ab..00000000
--- a/src/engine/engine_support.h
+++ /dev/null
@@ -1,165 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// strings
-MJAPI extern const char* mjDISABLESTRING[mjNDISABLE];
-MJAPI extern const char* mjENABLESTRING[mjNENABLE];
-MJAPI extern const char* mjTIMERSTRING[mjNTIMER];
-MJAPI extern const char* mjTOPICSTRING[mjNTOPIC];
-
-// arrays
-MJAPI extern const int mjCONDATA_SIZE[mjNCONDATA];  // TODO(tassa): expose in public header?
-extern const int mjRAYDATA_SIZE[mjNRAYDATA];
-
-
-//-------------------------- get/set state ---------------------------------------------------------
-
-// return size of state signature
-MJAPI int mj_stateSize(const mjModel* m, int sig);
-
-// get state
-MJAPI void mj_getState(const mjModel* m, const mjData* d, mjtNum* state, int sig);
-
-// extract a sub-state from a state
-MJAPI void mj_extractState(const mjModel* m, const mjtNum* src, int srcsig,
-                           mjtNum* dst, int dstsig);
-
-// set state
-MJAPI void mj_setState(const mjModel* m, mjData* d, const mjtNum* state, int sig);
-
-// copy state from src to dst
-MJAPI void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig);
-
-// copy current state to the k-th model keyframe
-MJAPI void mj_setKeyframe(mjModel* m, const mjData* d, int k);
-
-//-------------------------- inertia functions -----------------------------------------------------
-
-// convert sparse inertia matrix M into full matrix
-MJAPI void mj_fullM(const mjModel* m, const mjData* d, mjtNum* dst);
-
-// multiply vector by inertia matrix
-MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// multiply vector by (inertia matrix)^(1/2)
-MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
-
-// add inertia matrix to destination matrix (lower triangle only)
-//  destination can be sparse or dense when all int* are NULL
-MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
-                   int* rownnz, int* rowadr, int* colind);
-
-
-//-------------------------- perturbations ---------------------------------------------------------
-
-// apply Cartesian force and torque
-MJAPI void mj_applyFT(const mjModel* m, mjData* d,
-                      const mjtNum force[3], const mjtNum torque[3],
-                      const mjtNum point[3], int body, mjtNum* qfrc_target);
-
-// accumulate xfrc_applied in qfrc
-void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc);
-
-
-//-------------------------- miscellaneous ---------------------------------------------------------
-
-// returns the smallest distance between two geoms
-MJAPI mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
-                             mjtNum fromto[6]);
-
-// compute velocity by finite-differencing two positions
-MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
-                               const mjtNum* qpos1, const mjtNum* qpos2);
-
-// integrate qpos with given qvel for given body indices
-MJAPI void mj_integratePosInd(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt,
-                              const int* index, int nbody);
-
-// integrate position with given velocity
-MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt);
-
-// normalize all quaternions in qpos-type vector
-MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos);
-
-// return 1 if actuator i is disabled, 0 otherwise
-MJAPI int mj_actuatorDisabled(const mjModel* m, int i);
-
-// returns the next activation given current act_dot, after clamping
-mjtNum mj_nextActivation(const mjModel* m, const mjData* d,
-                         int actuator_id, int act_adr, mjtNum act_dot);
-
-// sum all body masses
-MJAPI mjtNum mj_getTotalmass(const mjModel* m);
-
-// scale body masses and inertias to achieve specified total mass
-MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass);
-
-// version number
-MJAPI int mj_version(void);
-
-// current version of MuJoCo as a null-terminated string
-MJAPI const char* mj_versionString(void);
-
-// return total size of data fields in a contact sensor bitfield specification
-MJAPI int mju_condataSize(int dataSpec);
-
-// return total size of data fields in a rangefinder sensor bitfield specification
-int mju_raydataSize(int dataspec);
-
-// compute camera pixel parameters from model
-// outputs: fx, fy (focal length in pixels), cx, cy (principal point), ortho_extent
-void mju_camIntrinsics(const mjModel* m, int camid,
-                       mjtNum* fx, mjtNum* fy, mjtNum* cx, mjtNum* cy,
-                       mjtNum* ortho_extent);
-
-// read ctrl value for actuator at given time
-// returns d->ctrl[id] if no history, otherwise reads from history buffer
-// interp: 0=zero-order-hold, 1=linear, 2=cubic spline
-MJAPI mjtNum mj_readCtrl(const mjModel* m, const mjData* d, int id, mjtNum time, int interp);
-
-// read sensor value from history buffer at given time
-// returns pointer to sensordata (no history) or history buffer (exact match),
-// or NULL if interpolation performed (writes to result)
-// interp: 0=zero-order-hold, 1=linear, 2=cubic spline
-MJAPI const mjtNum* mj_readSensor(const mjModel* m, const mjData* d, int id, mjtNum time,
-                                  mjtNum* result, int interp);
-
-// initialize history buffer for actuator with given values
-// if times is NULL, uses existing buffer timestamps
-MJAPI void mj_initCtrlHistory(const mjModel* m, mjData* d, int id,
-                              const mjtNum* times, const mjtNum* values);
-
-// initialize history buffer for sensor with given values
-// if times is NULL, uses existing buffer timestamps
-// phase sets the user slot (last computation time for interval sensors)
-MJAPI void mj_initSensorHistory(const mjModel* m, mjData* d, int id,
-                                const mjtNum* times, const mjtNum* values, mjtNum phase);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_
diff --git a/src/engine/engine_thread.cc b/src/engine/engine_thread.cc
deleted file mode 100644
index 7b422c85..00000000
--- a/src/engine/engine_thread.cc
+++ /dev/null
@@ -1,189 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_thread.h"
-
-#include <atomic>
-#include <cstdint>
-#include <thread>
-#include <vector>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include "engine/engine_memory.h"
-
-// context for thread pool stored on mjData
-class ThreadPoolContext {
- public:
-  explicit ThreadPoolContext(int nthread) : threads_(nthread) {
-    for (int i = 0; i < nthread; i++) {
-      threads_[i] = std::thread(&ThreadPoolContext::Worker, this, i + 1);
-    }
-  }
-
-  // non-copyable, non-movable
-  ThreadPoolContext(const ThreadPoolContext&) = delete;
-  ThreadPoolContext& operator=(const ThreadPoolContext&) = delete;
-
-  ~ThreadPoolContext() {
-    signal_.store(0, std::memory_order_release);
-    signal_.notify_all();
-    for (auto& thread : threads_) {
-      if (thread.joinable()) {
-        thread.join();
-      }
-    }
-  }
-
-  // dispatch tasks to the thread pool and work on them on the main thread
-  void Dispatch(const mjModel* model, mjData* data, mjTaskFunc func, void* arg,
-                int ntask) {
-    func_ = func;
-    model_ = model;
-    data_ = data;
-    arg_ = arg;
-    ntask_ = ntask;
-    next_.store(0, std::memory_order_relaxed);
-    ndone_.store(0, std::memory_order_relaxed);
-    signal_.store(-signal_.load(std::memory_order_relaxed),
-                 std::memory_order_release);
-    signal_.notify_all();
-
-    // process tasks on main thread
-    while (true) {
-      int taskId = next_.fetch_add(1, std::memory_order_relaxed);
-      if (taskId >= ntask_) {
-        break;
-      }
-      func_(model_, data_, arg_, 0, taskId);
-    }
-
-    // busy wait for rest of workers to finish
-    int nthread = threads_.size();
-    while (ndone_.load(std::memory_order_acquire) < nthread) {
-    }
-  }
-
-  int ThreadCount() const { return threads_.size(); }
-
- private:
-  // worker loop for each worker thread
-  void Worker(int threadId) {
-    int status = 1;
-
-    // main loop waiting for next batch of tasks
-    while (true) {
-      // wait until signal atomic is notified and sign flips
-      signal_.wait(status, std::memory_order_acquire);
-
-      // if signal was set to zero, halt
-      status = signal_.load(std::memory_order_acquire);
-      if (status == 0) {
-        return;
-      }
-
-      // subloop to process tasks for the current batch
-      while (true) {
-        int taskId = next_.fetch_add(1, std::memory_order_relaxed);
-        if (taskId >= ntask_) {
-          break;
-        }
-        func_(model_, data_, arg_, threadId, taskId);
-      }
-
-      // let main thread know this worker is done
-      ndone_.fetch_add(1, std::memory_order_release);
-    }
-  }
-
-  // arguments for the current batch set by Dispatch
-  const mjModel* model_;
-  mjData* data_;
-  mjTaskFunc func_;
-  void* arg_;
-  int ntask_;  // total number of tasks for workers to do
-
-  // atomic for each worker to grab the next task
-  std::atomic<int> next_{0};
-
-  // atomic counter for number of workers who completed their tasks
-  alignas(64) std::atomic<int> ndone_{0};
-
-  // alternating signal from -1, 1 to start / halt the worker threads,
-  // set to 0 to force all workers to exit
-  std::atomic<int> signal_{1};
-
-  std::vector<std::thread> threads_;
-};
-
-
-// create a thread pool with nthread threads
-void mju_threadpool(mjData* d, int nthread) {
-  if (d->threadpool) {
-    ThreadPoolContext* ctx =
-        reinterpret_cast<ThreadPoolContext*>(d->threadpool);
-    // same size, nothing to do
-    if (nthread == ctx->ThreadCount()) {
-        return;
-    }
-    delete ctx;
-    d->threadpool = 0;  // null out in case nthread == 0
-  }
-
-  if (nthread >= 1) {
-    d->threadpool = reinterpret_cast<uintptr_t>(new ThreadPoolContext(nthread));
-  }
-}
-
-
-// dispatch ntask tasks to the thread pool; passes arg into func along with
-// thread_id and task_id
-void mju_dispatch(const mjModel* m, mjData* d, mjTaskFunc func, void* arg,
-                  int ntask) {
-  // no thread pool or trivial number of tasks: run on main thread
-  if (!d->threadpool || ntask < 2) {
-    for (int i = 0; i < ntask; i++) {
-      func(m, d, arg, 0, i);
-    }
-    return;
-  }
-
-  ThreadPoolContext& ctx = *reinterpret_cast<ThreadPoolContext*>(d->threadpool);
-
-  // lock mjData and mark stack frame, memory will be freed after thread completion
-  if (!d->threadlock) {
-    mj_markStack(d);
-    d->threadlock = true;
-  }
-
-  ctx.Dispatch(m, d, func, arg, ntask);
-
-  if (d->threadlock) {
-    // update max usage statistics
-    d->maxuse_stack = mjMAX(d->maxuse_stack, d->pstack);
-    d->maxuse_arena = mjMAX(d->maxuse_arena, d->pstack + d->parena);
-
-    // unlock mjData and free stack used during worker execution
-    d->threadlock = false;
-    mj_freeStack(d);
-  }
-}
-
-
-// return total number of threads in the pool (including main thread)
-int mju_numThread(const mjData* d) {
-  ThreadPoolContext* ctx = reinterpret_cast<ThreadPoolContext*>(d->threadpool);
-  return ctx ? ctx->ThreadCount() + 1 : 1;
-}
diff --git a/src/engine/engine_thread.h b/src/engine/engine_thread.h
deleted file mode 100644
index 52f8ba64..00000000
--- a/src/engine/engine_thread.h
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_THREAD_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_THREAD_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// dispatch function for mju_dispatch
-typedef void (*mjTaskFunc)(const mjModel* m, mjData* d, void* arg, int thread_id, int task_id);
-
-// create a thread pool with nthread worker threads.
-MJAPI void mju_threadpool(mjData* d, int nthread);
-
-// return total number of threads in the pool (including main thread)
-MJAPI int mju_numThread(const mjData* d);
-
-// dispatch ntask tasks to the thread pool; passes arg into func along with thread_id and task_id
-MJAPI void mju_dispatch(const mjModel* m, mjData* d, mjTaskFunc func, void* arg, int ntask);
-
-#ifdef __cplusplus
-}
-#endif
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_THREAD_H_
diff --git a/src/engine/engine_util_blas.c b/src/engine/engine_util_blas.c
deleted file mode 100644
index e829fea0..00000000
--- a/src/engine/engine_util_blas.c
+++ /dev/null
@@ -1,704 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_util_blas.h"
-
-#include <string.h>
-
-#include <mujoco/mjtype.h>
-
-#include "engine/engine_util_blas_avx.h"  // IWYU pragma: keep
-
-
-
-//------------------------------ 3D vector and matrix-vector operations ----------------------------
-
-// res = 0
-void mju_zero3(mjtNum res[3]) {
-  res[0] = 0;
-  res[1] = 0;
-  res[2] = 0;
-}
-
-
-// vec1 == vec2
-int mju_equal3(const mjtNum vec1[3], const mjtNum vec2[3]) {
-  return mju_abs(vec1[0] - vec2[0]) < mjMINVAL &&
-         mju_abs(vec1[1] - vec2[1]) < mjMINVAL &&
-         mju_abs(vec1[2] - vec2[2]) < mjMINVAL;
-}
-
-
-// res = vec
-void mju_copy3(mjtNum res[3], const mjtNum vec[3]) {
-  res[0] = vec[0];
-  res[1] = vec[1];
-  res[2] = vec[2];
-}
-
-// res = mat
-void mju_copy9(mjtNum res[9], const mjtNum mat[9]) {
-  res[0] = mat[0];  res[1] = mat[1];  res[2] = mat[2];
-  res[3] = mat[3];  res[4] = mat[4];  res[5] = mat[5];
-  res[6] = mat[6];  res[7] = mat[7];  res[8] = mat[8];
-}
-
-
-// res = vec*scl
-void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl) {
-  res[0] = vec[0] * scl;
-  res[1] = vec[1] * scl;
-  res[2] = vec[2] * scl;
-}
-
-
-// res = vec1 + vec2
-void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]) {
-  res[0] = vec1[0] + vec2[0];
-  res[1] = vec1[1] + vec2[1];
-  res[2] = vec1[2] + vec2[2];
-}
-
-
-// res = vec1 - vec2
-void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]) {
-  res[0] = vec1[0] - vec2[0];
-  res[1] = vec1[1] - vec2[1];
-  res[2] = vec1[2] - vec2[2];
-}
-
-
-// res += vec
-void mju_addTo3(mjtNum res[3], const mjtNum vec[3]) {
-  res[0] += vec[0];
-  res[1] += vec[1];
-  res[2] += vec[2];
-}
-
-
-// res -= vec
-void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]) {
-  res[0] -= vec[0];
-  res[1] -= vec[1];
-  res[2] -= vec[2];
-}
-
-
-// res += vec*scl
-void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl) {
-  res[0] += vec[0] * scl;
-  res[1] += vec[1] * scl;
-  res[2] += vec[2] * scl;
-}
-
-
-// res = vec1 + vec2*scl
-void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl) {
-  res[0] = vec1[0] + scl*vec2[0];
-  res[1] = vec1[1] + scl*vec2[1];
-  res[2] = vec1[2] + scl*vec2[2];
-}
-
-
-// normalize vector, return length before normalization
-mjtNum mju_normalize3(mjtNum vec[3]) {
-  mjtNum norm = mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);
-
-  if (norm < mjMINVAL) {
-    vec[0] = 1;
-    vec[1] = 0;
-    vec[2] = 0;
-  } else {
-    mjtNum normInv = 1/norm;
-    vec[0] *= normInv;
-    vec[1] *= normInv;
-    vec[2] *= normInv;
-  }
-
-  return norm;
-}
-
-
-// compute vector length (without normalizing)
-mjtNum mju_norm3(const mjtNum vec[3]) {
-  return mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]);
-}
-
-
-// vector dot-product
-mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]) {
-  return vec1[0]*vec2[0] + vec1[1]*vec2[1] + vec1[2]*vec2[2];
-}
-
-
-// Cartesian distance between 3D vectors
-mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]) {
-  mjtNum dif[3] = {pos1[0]-pos2[0], pos1[1]-pos2[1], pos1[2]-pos2[2]};
-  return mju_sqrt(dif[0]*dif[0] + dif[1]*dif[1] + dif[2]*dif[2]);
-}
-
-
-// multiply 3-by-3 matrix by vector
-void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
-  mjtNum tmp[3] = {
-    mat[0]*vec[0] + mat[1]*vec[1] + mat[2]*vec[2],
-    mat[3]*vec[0] + mat[4]*vec[1] + mat[5]*vec[2],
-    mat[6]*vec[0] + mat[7]*vec[1] + mat[8]*vec[2]
-  };
-  res[0] = tmp[0];
-  res[1] = tmp[1];
-  res[2] = tmp[2];
-}
-
-
-// multiply transposed 3-by-3 matrix by vector
-void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]) {
-  mjtNum tmp[3] = {
-    mat[0]*vec[0] + mat[3]*vec[1] + mat[6]*vec[2],
-    mat[1]*vec[0] + mat[4]*vec[1] + mat[7]*vec[2],
-    mat[2]*vec[0] + mat[5]*vec[1] + mat[8]*vec[2]
-  };
-  res[0] = tmp[0];
-  res[1] = tmp[1];
-  res[2] = tmp[2];
-}
-
-
-// multiply 3x3 matrices,
-void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]) {
-  res[0] = mat1[0]*mat2[0] + mat1[1]*mat2[3] + mat1[2]*mat2[6];
-  res[1] = mat1[0]*mat2[1] + mat1[1]*mat2[4] + mat1[2]*mat2[7];
-  res[2] = mat1[0]*mat2[2] + mat1[1]*mat2[5] + mat1[2]*mat2[8];
-  res[3] = mat1[3]*mat2[0] + mat1[4]*mat2[3] + mat1[5]*mat2[6];
-  res[4] = mat1[3]*mat2[1] + mat1[4]*mat2[4] + mat1[5]*mat2[7];
-  res[5] = mat1[3]*mat2[2] + mat1[4]*mat2[5] + mat1[5]*mat2[8];
-  res[6] = mat1[6]*mat2[0] + mat1[7]*mat2[3] + mat1[8]*mat2[6];
-  res[7] = mat1[6]*mat2[1] + mat1[7]*mat2[4] + mat1[8]*mat2[7];
-  res[8] = mat1[6]*mat2[2] + mat1[7]*mat2[5] + mat1[8]*mat2[8];
-}
-
-
-// multiply 3x3 matrices, first argument transposed
-void mju_mulMatTMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]) {
-  res[0] = mat1[0]*mat2[0] + mat1[3]*mat2[3] + mat1[6]*mat2[6];
-  res[1] = mat1[0]*mat2[1] + mat1[3]*mat2[4] + mat1[6]*mat2[7];
-  res[2] = mat1[0]*mat2[2] + mat1[3]*mat2[5] + mat1[6]*mat2[8];
-  res[3] = mat1[1]*mat2[0] + mat1[4]*mat2[3] + mat1[7]*mat2[6];
-  res[4] = mat1[1]*mat2[1] + mat1[4]*mat2[4] + mat1[7]*mat2[7];
-  res[5] = mat1[1]*mat2[2] + mat1[4]*mat2[5] + mat1[7]*mat2[8];
-  res[6] = mat1[2]*mat2[0] + mat1[5]*mat2[3] + mat1[8]*mat2[6];
-  res[7] = mat1[2]*mat2[1] + mat1[5]*mat2[4] + mat1[8]*mat2[7];
-  res[8] = mat1[2]*mat2[2] + mat1[5]*mat2[5] + mat1[8]*mat2[8];
-}
-
-
-// multiply 3x3 matrices, second argument transposed
-void mju_mulMatMatT3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]) {
-  res[0] = mat1[0]*mat2[0] + mat1[1]*mat2[1] + mat1[2]*mat2[2];
-  res[1] = mat1[0]*mat2[3] + mat1[1]*mat2[4] + mat1[2]*mat2[5];
-  res[2] = mat1[0]*mat2[6] + mat1[1]*mat2[7] + mat1[2]*mat2[8];
-  res[3] = mat1[3]*mat2[0] + mat1[4]*mat2[1] + mat1[5]*mat2[2];
-  res[4] = mat1[3]*mat2[3] + mat1[4]*mat2[4] + mat1[5]*mat2[5];
-  res[5] = mat1[3]*mat2[6] + mat1[4]*mat2[7] + mat1[5]*mat2[8];
-  res[6] = mat1[6]*mat2[0] + mat1[7]*mat2[1] + mat1[8]*mat2[2];
-  res[7] = mat1[6]*mat2[3] + mat1[7]*mat2[4] + mat1[8]*mat2[5];
-  res[8] = mat1[6]*mat2[6] + mat1[7]*mat2[7] + mat1[8]*mat2[8];
-}
-
-
-//------------------------------ 4D vector and matrix-vector operations ----------------------------
-
-// res = 0
-void mju_zero4(mjtNum res[4]) {
-  res[0] = 0;
-  res[1] = 0;
-  res[2] = 0;
-  res[3] = 0;
-}
-
-
-// res = (1,0,0,0)
-void mju_unit4(mjtNum res[4]) {
-  res[0] = 1;
-  res[1] = 0;
-  res[2] = 0;
-  res[3] = 0;
-}
-
-
-// res = vec
-void mju_copy4(mjtNum res[4], const mjtNum data[4]) {
-  res[0] = data[0];
-  res[1] = data[1];
-  res[2] = data[2];
-  res[3] = data[3];
-}
-
-
-// normalize vector, return length before normalization
-mjtNum mju_normalize4(mjtNum vec[4]) {
-  mjtNum norm = mju_sqrt(vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2] + vec[3]*vec[3]);
-
-  if (norm < mjMINVAL) {
-    vec[0] = 1;
-    vec[1] = 0;
-    vec[2] = 0;
-    vec[3] = 0;
-  } else if (mju_abs(norm - 1) > mjMINVAL) {
-    mjtNum normInv = 1/norm;
-    vec[0] *= normInv;
-    vec[1] *= normInv;
-    vec[2] *= normInv;
-    vec[3] *= normInv;
-  }
-
-  return norm;
-}
-
-
-//------------------------------ vector operations -------------------------------------------------
-
-// res = 0
-void mju_zero(mjtNum* res, int n) {
-  memset(res, 0, n*sizeof(mjtNum));
-}
-
-
-// res = 0, at given indices
-void mju_zeroInd(mjtNum* res, int n, const int* ind) {
-  for (int i = 0; i < n; i++) {
-    res[ind[i]] = 0;
-  }
-}
-
-
-// res = val
-void mju_fill(mjtNum* res, mjtNum val, int n) {
-  for (int i=0; i < n; i++) {
-    res[i] = val;
-  }
-}
-
-
-// res = vec
-void mju_copy(mjtNum* res, const mjtNum* vec, int n) {
-  memcpy(res, vec, n*sizeof(mjtNum));
-}
-
-
-// res = vec, at given indices
-void mju_copyInd(mjtNum* res, const mjtNum* vec, const int* ind, int n) {
-  for (int i = 0; i < n; i++) {
-    res[ind[i]] = vec[ind[i]];
-  }
-}
-
-
-// sum(vec)
-mjtNum mju_sum(const mjtNum* vec, int n) {
-  mjtNum res = 0;
-
-  for (int i=0; i < n; i++) {
-    res += vec[i];
-  }
-
-  return res;
-}
-
-
-// sum(abs(vec))
-mjtNum mju_L1(const mjtNum* vec, int n) {
-  mjtNum res = 0;
-
-  for (int i=0; i < n; i++) {
-    res += mju_abs(vec[i]);
-  }
-
-  return res;
-}
-
-
-// res = vec*scl
-void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
-  int i = 0;
-
-#ifdef mjUSEAVX
-  i = mju_scl_avx(res, vec, scl, n);
-#endif
-
-  for (; i < n; i++) {
-    res[i] = vec[i]*scl;
-  }
-}
-
-
-// res = vec1 + vec2
-void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
-  int i = 0;
-
-#ifdef mjUSEAVX
-  i = mju_add_avx(res, vec1, vec2, n);
-#endif
-
-  for (; i < n; i++) {
-    res[i] = vec1[i] + vec2[i];
-  }
-}
-
-
-// res = vec1 + vec2, at selected indices
-void mju_addInd(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, const int* ind, int n) {
-  for (int i = 0; i < n; i++) {
-    int j = ind[i];
-    res[j] = vec1[j] + vec2[j];
-  }
-}
-
-
-// res = vec1 - vec2
-void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
-  int i = 0;
-
-#ifdef mjUSEAVX
-  i = mju_sub_avx(res, vec1, vec2, n);
-#endif
-
-  for (; i < n; i++) {
-    res[i] = vec1[i] - vec2[i];
-  }
-}
-
-
-// res = vec1 - vec2, at selected indices
-void mju_subInd(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, const int* ind, int n) {
-  for (int i = 0; i < n; i++) {
-    int j = ind[i];
-    res[j] = vec1[j] - vec2[j];
-  }
-}
-
-
-// res += vec
-void mju_addTo(mjtNum* res, const mjtNum* vec, int n) {
-  int i = 0;
-
-#ifdef mjUSEAVX
-  i = mju_addTo_avx(res, vec, n);
-#endif
-
-  for (; i < n; i++) {
-    res[i] += vec[i];
-  }
-}
-
-
-// res += vec, at selected indices
-void mju_addToInd(mjtNum* res, const mjtNum* vec, const int* ind, int n) {
-  for (int i = 0; i < n; i++) {
-    int j = ind[i];
-    res[j] += vec[j];
-  }
-}
-
-
-// res -= vec
-void mju_subFrom(mjtNum* res, const mjtNum* vec, int n) {
-  int i = 0;
-
-#ifdef mjUSEAVX
-  i = mju_subFrom_avx(res, vec, n);
-#endif
-
-  for (; i < n; i++) {
-    res[i] -= vec[i];
-  }
-}
-
-
-// res += vec*scl
-void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
-  int i = 0;
-
-#ifdef mjUSEAVX
-  i = mju_addToScl_avx(res, vec, scl, n);
-#endif
-
-  for (; i < n; i++) {
-    res[i] += vec[i]*scl;
-  }
-}
-
-
-
-// res += vec*scl, at given indices
-void mju_addToSclInd(mjtNum* res, const mjtNum* vec, const int* ind, mjtNum scl, int n) {
-  for (int i=0; i < n; i++) {
-    int k = ind[i];
-    res[k] += vec[k]*scl;
-  }
-}
-
-
-
-// res = vec1 + vec2*scl
-void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n) {
-  int i = 0;
-
-#ifdef mjUSEAVX
-  i = mju_addScl_avx(res, vec1, vec2, scl, n);
-#endif
-
-  for (; i < n; i++) {
-    res[i] = vec1[i] + vec2[i]*scl;
-  }
-}
-
-
-// normalize vector, return length before normalization
-mjtNum mju_normalize(mjtNum* res, int n) {
-  mjtNum norm = mju_sqrt(mju_dot(res, res, n));
-
-  if (norm < mjMINVAL) {
-    res[0] = 1;
-    mju_zero(res + 1, n - 1);
-  } else {
-    mjtNum normInv = 1 / norm;
-    for (int i=0; i < n; i++) {
-      res[i] *= normInv;
-    }
-  }
-
-  return norm;
-}
-
-
-// compute vector length (without normalizing)
-mjtNum mju_norm(const mjtNum* res, int n) {
-  return mju_sqrt(mju_dot(res, res, n));
-}
-
-
-// vector dot-product
-mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n) {
-  mjtNum res = 0;
-  int i = 0;
-#ifdef mjUSEAVX
-  res = mju_dot_avx(vec1, vec2, n, &i);
-#else
-  // do the same order of additions as the AVX intrinsics implementation.
-  // this is faster than the simple for loop you'd expect for a dot product,
-  // and produces exactly the same results.
-  int n_4 = n - 4;
-  mjtNum res0 = 0;
-  mjtNum res1 = 0;
-  mjtNum res2 = 0;
-  mjtNum res3 = 0;
-
-  for (; i <= n_4; i+=4) {
-    res0 += vec1[i] * vec2[i];
-    res1 += vec1[i+1] * vec2[i+1];
-    res2 += vec1[i+2] * vec2[i+2];
-    res3 += vec1[i+3] * vec2[i+3];
-  }
-  res = (res0 + res2) + (res1 + res3);
-#endif
-
-  // process remaining
-  int n_i = n - i;
-  if (n_i == 3) {
-    res += vec1[i]*vec2[i] + vec1[i+1]*vec2[i+1] + vec1[i+2]*vec2[i+2];
-  } else if (n_i == 2) {
-    res += vec1[i]*vec2[i] + vec1[i+1]*vec2[i+1];
-  } else if (n_i == 1) {
-    res += vec1[i]*vec2[i];
-  }
-  return res;
-}
-
-
-
-// vector dot-product, at given indices
-mjtNum mju_dotInd(const mjtNum* vec1, const mjtNum* vec2, const int* ind, int n) {
-  mjtNum res = 0;
-  for (int i = 0; i < n; i++) {
-    int k = ind[i];
-    res += vec1[k] * vec2[k];
-  }
-  return res;
-}
-
-
-
-//------------------------------ matrix-vector operations ------------------------------------------
-
-// multiply matrix and vector
-void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc) {
-  for (int r=0; r < nr; r++) {
-    res[r] = mju_dot(mat + r*nc, vec, nc);
-  }
-}
-
-
-// multiply transposed matrix and vector
-void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc) {
-  mjtNum tmp;
-  mju_zero(res, nc);
-
-  for (int r=0; r < nr; r++) {
-    if ((tmp = vec[r])) {
-      mju_addToScl(res, mat+r*nc, tmp, nc);
-    }
-  }
-}
-
-
-// multiply square matrix with vectors on both sides: return vec1'*mat*vec2
-mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n) {
-  mjtNum res = 0;
-  for (int i=0; i < n; i++) {
-    res += vec1[i] * mju_dot(mat + i*n, vec2, n);
-  }
-  return res;
-}
-
-
-//------------------------------ matrix operations -------------------------------------------------
-
-// transpose matrix
-void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc) {
-  for (int i=0; i < nr; i++) {
-    for (int j=0; j < nc; j++) {
-      res[j*nr+i] = mat[i*nc+j];
-    }
-  }
-}
-
-
-// symmetrize square matrix res = (mat + mat')/2
-void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n) {
-  for (int i=0; i < n; i++) {
-    res[i*(n+1)] = mat[i*(n+1)];
-    for (int j=0; j < i; j++) {
-      res[i*n+j] = res[j*n+i] = 0.5 * (mat[i*n+j] + mat[j*n+i]);
-    }
-  }
-}
-
-
-// identity matrix
-void mju_eye(mjtNum* mat, int n) {
-  mju_zero(mat, n*n);
-  for (int i=0; i < n; i++) {
-    mat[i*(n + 1)] = 1;
-  }
-}
-
-
-// res[ind, :] = mat[ind, :]
-void mju_copyRows(mjtNum* res, const mjtNum* mat, const int* ind, int n, int nc) {
-  for (int i = 0; i < n; i++) {
-    mju_copy(res + nc*ind[i], mat + nc*ind[i], nc);
-  }
-}
-
-
-//------------------------------ matrix-matrix operations ------------------------------------------
-
-// multiply matrices, exploit sparsity of mat1
-void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                   int r1, int c1, int c2) {
-  mjtNum tmp;
-
-  mju_zero(res, r1*c2);
-
-  for (int i=0; i < r1; i++) {
-    for (int k=0; k < c1; k++) {
-      if ((tmp = mat1[i*c1+k])) {
-        mju_addToScl(res+i*c2, mat2+k*c2, tmp, c2);
-      }
-    }
-  }
-}
-
-
-// multiply matrices, second argument transposed
-void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                    int r1, int c1, int r2) {
-  for (int i=0; i < r1; i++) {
-    for (int j=0; j < r2; j++) {
-      res[i*r2+j] = mju_dot(mat1+i*c1, mat2+j*c1, c1);
-    }
-  }
-}
-
-
-// compute M'*diag*M (diag=NULL: compute M'*M), upper triangle optional
-void mju_sqrMatTD_impl(mjtNum* res, const mjtNum* mat, const mjtNum* diag,
-                       int nr, int nc, int flg_upper) {
-  mjtNum tmp;
-
-  // half of MatMat routine: only lower triangle
-  mju_zero(res, nc*nc);
-  if (diag) {
-    for (int j=0; j < nr; j++) {
-      if (diag[j]) {
-        for (int i=0; i < nc; i++) {
-          if ((tmp = mat[j*nc+i])) {
-            mju_addToScl(res+i*nc, mat+j*nc, tmp*diag[j], i+1);
-          }
-        }
-      }
-    }
-  } else {
-    for (int i=0; i < nc; i++) {
-      for (int j=0; j < nr; j++) {
-        if ((tmp = mat[j*nc+i])) {
-          mju_addToScl(res+i*nc, mat+j*nc, tmp, i+1);
-        }
-      }
-    }
-  }
-
-  // flg_upper is set: make symmetric
-  if (flg_upper) {
-    for (int i=0; i < nc; i++) {
-      for (int j=i+1; j < nc; j++) {
-        res[i*nc+j] = res[j*nc+i];
-      }
-    }
-  }
-}
-
-
-// compute M'*diag*M (diag=NULL: compute M'*M)
-void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc) {
-  mju_sqrMatTD_impl(res, mat, diag, nr, nc, /*flg_upper=*/ 1);
-}
-
-
-// multiply matrices, first argument transposed
-void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                    int r1, int c1, int c2) {
-  mjtNum tmp;
-
-  mju_zero(res, c1*c2);
-
-  for (int i=0; i < r1; i++) {
-    for (int j=0; j < c1; j++) {
-      if ((tmp = mat1[i*c1+j])) {
-        mju_addToScl(res+j*c2, mat2+i*c2, tmp, c2);
-      }
-    }
-  }
-}
diff --git a/src/engine/engine_util_blas.h b/src/engine/engine_util_blas.h
deleted file mode 100644
index c5f83ac3..00000000
--- a/src/engine/engine_util_blas.h
+++ /dev/null
@@ -1,260 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_BLAS_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_BLAS_H_
-
-#include <math.h>
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//------------------------------ standard library functions ----------------------------------------
-
-#if !defined(mjUSESINGLE)
-  #define mju_sqrt    sqrt
-  #define mju_exp     exp
-  #define mju_sin     sin
-  #define mju_cos     cos
-  #define mju_tan     tan
-  #define mju_asin    asin
-  #define mju_acos    acos
-  #define mju_atan2   atan2
-  #define mju_tanh    tanh
-  #define mju_pow     pow
-  #define mju_abs     fabs
-  #define mju_log     log
-  #define mju_log10   log10
-  #define mju_floor   floor
-  #define mju_ceil    ceil
-
-#else
-  #define mju_sqrt    sqrtf
-  #define mju_exp     expf
-  #define mju_sin     sinf
-  #define mju_cos     cosf
-  #define mju_tan     tanf
-  #define mju_asin    asinf
-  #define mju_acos    acosf
-  #define mju_atan2   atan2f
-  #define mju_tanh    tanhf
-  #define mju_pow     powf
-  #define mju_abs     fabsf
-  #define mju_log     logf
-  #define mju_log10   log10f
-  #define mju_floor   floorf
-  #define mju_ceil    ceilf
-#endif  // !defined(mjUSESINGLE)
-
-
-//------------------------------ 3D vector and matrix-vector operations ----------------------------
-
-// res = 0
-MJAPI void mju_zero3(mjtNum res[3]);
-
-// vec1 == vec2
-MJAPI int mju_equal3(const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// res = vec
-MJAPI void mju_copy3(mjtNum res[3], const mjtNum vec[3]);
-
-// res = mat
-void mju_copy9(mjtNum res[9], const mjtNum mat[9]);
-
-// res = vec*scl
-MJAPI void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
-
-// res = vec1 + vec2
-MJAPI void mju_add3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// res = vec1 - vec2
-MJAPI void mju_sub3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// res += vec
-MJAPI void mju_addTo3(mjtNum res[3], const mjtNum vec[3]);
-
-// res -= vec
-MJAPI void mju_subFrom3(mjtNum res[3], const mjtNum vec[3]);
-
-// res += vec*scl
-MJAPI void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
-
-// res = vec1 + vec2*scl
-MJAPI void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
-
-// normalize vector, return length before normalization, set to [1, 0, 0] if norm is tiny
-MJAPI mjtNum mju_normalize3(mjtNum vec[3]);
-
-// compute vector length (without normalizing)
-MJAPI mjtNum mju_norm3(const mjtNum vec[3]);
-
-// vector dot-product
-MJAPI mjtNum mju_dot3(const mjtNum vec1[3], const mjtNum vec2[3]);
-
-// Cartesian distance between 3D vectors
-MJAPI mjtNum mju_dist3(const mjtNum pos1[3], const mjtNum pos2[3]);
-
-// multiply 3-by-3 matrix by vector
-MJAPI void mju_mulMatVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
-
-// multiply transposed 3-by-3 matrix by vector
-MJAPI void mju_mulMatTVec3(mjtNum res[3], const mjtNum mat[9], const mjtNum vec[3]);
-
-// multiply 3x3 matrices
-MJAPI void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
-
-// multiply 3x3 matrices, first argument transposed
-MJAPI void mju_mulMatTMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
-
-// multiply 3x3 matrices, second argument transposed
-MJAPI void mju_mulMatMatT3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
-
-//------------------------------ 4D/quaternion operations ------------------------------------------
-
-// res = 0
-MJAPI void mju_zero4(mjtNum res[4]);
-
-// res = (1,0,0,0)
-MJAPI void mju_unit4(mjtNum res[4]);
-
-// res = vec
-MJAPI void mju_copy4(mjtNum res[4], const mjtNum data[4]);
-
-// normalize vector, return length before normalization
-MJAPI mjtNum mju_normalize4(mjtNum vec[4]);
-
-
-//------------------------------ general vector operations -----------------------------------------
-
-// res = 0
-MJAPI void mju_zero(mjtNum* res, int n);
-
-// res = 0, at given indices
-void mju_zeroInd(mjtNum* res, int n, const int* ind);
-
-// res = val
-MJAPI void mju_fill(mjtNum* res, mjtNum val, int n);
-
-// res = vec
-MJAPI void mju_copy(mjtNum* res, const mjtNum* vec, int n);
-
-// res = vec, at given indices
-void mju_copyInd(mjtNum* res, const mjtNum* vec, const int* ind, int n);
-
-// sum(vec)
-MJAPI mjtNum mju_sum(const mjtNum* vec, int n);
-
-// sum(abs(vec))
-MJAPI mjtNum mju_L1(const mjtNum* vec, int n);
-
-// res = vec*scl
-MJAPI void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
-
-// res = vec1 + vec2
-MJAPI void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
-
-// res = vec1 + vec2, at given indices
-void mju_addInd(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, const int* ind, int n);
-
-// res = vec1 - vec2
-MJAPI void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
-
-// res = vec1 - vec2, at selected indices
-void mju_subInd(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, const int* ind, int n);
-
-// res += vec
-MJAPI void mju_addTo(mjtNum* res, const mjtNum* vec, int n);
-
-// res += vec, at selected indices
-void mju_addToInd(mjtNum* res, const mjtNum* vec, const int* ind, int n);
-
-// res -= vec
-MJAPI void mju_subFrom(mjtNum* res, const mjtNum* vec, int n);
-
-// res += vec*scl
-MJAPI void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
-
-// res += vec*scl, at given indices
-void mju_addToSclInd(mjtNum* res, const mjtNum* vec, const int* ind, mjtNum scl, int n);
-
-// res = vec1 + vec2*scl
-MJAPI void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
-
-// normalize vector, return length before normalization
-MJAPI mjtNum mju_normalize(mjtNum* res, int n);
-
-// compute vector length (without normalizing)
-MJAPI mjtNum mju_norm(const mjtNum* res, int n);
-
-// vector dot-product
-MJAPI mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n);
-
-// vector dot-product, at given indices
-mjtNum mju_dotInd(const mjtNum* vec1, const mjtNum* vec2, const int* ind, int n);
-
-//------------------------------ matrix-vector operations ------------------------------------------
-
-// multiply matrix and vector
-MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
-
-// multiply transposed matrix and vector
-MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
-
-// multiply square matrix with vectors on both sides: return vec1'*mat*vec2
-MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
-
-
-//------------------------------ matrix operations -------------------------------------------------
-
-// transpose matrix
-MJAPI void mju_transpose(mjtNum* res, const mjtNum* mat, int nr, int nc);
-
-// symmetrize square matrix res = (mat + mat')/2
-MJAPI void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
-
-// identity matrix
-MJAPI void mju_eye(mjtNum* mat, int n);
-
-// copy selected rows:  res[ind, :] = mat[ind, :]
-void mju_copyRows(mjtNum* res, const mjtNum* mat, const int* ind, int n, int nc);
-
-//------------------------------ matrix-matrix operations ------------------------------------------
-
-// multiply matrices
-MJAPI void mju_mulMatMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                         int r1, int c1, int c2);
-
-// multiply matrices, second argument transposed
-MJAPI void mju_mulMatMatT(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                          int r1, int c1, int r2);
-
-// multiply matrices, first argument transposed
-MJAPI void mju_mulMatTMat(mjtNum* res, const mjtNum* mat1, const mjtNum* mat2,
-                          int r1, int c1, int c2);
-
-// compute M'*diag*M (diag=NULL: compute M'*M), upper triangle optional
-void mju_sqrMatTD_impl(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc,
-                       int flg_upper);
-
-// compute M'*diag*M (diag=NULL: compute M'*M)
-MJAPI void mju_sqrMatTD(mjtNum* res, const mjtNum* mat, const mjtNum* diag, int nr, int nc);
-
-#ifdef __cplusplus
-}
-#endif
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_BLAS_H_
diff --git a/src/engine/engine_util_blas_avx.h b/src/engine/engine_util_blas_avx.h
deleted file mode 100644
index f86e34cc..00000000
--- a/src/engine/engine_util_blas_avx.h
+++ /dev/null
@@ -1,160 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_BLAS_AVX_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_BLAS_AVX_H_
-
-#ifdef mjUSEPLATFORMSIMD
-#if defined(__AVX__) && !defined(mjUSESINGLE)
-
-#define mjUSEAVX
-
-#include <immintrin.h>
-
-#include <mujoco/mjtype.h>
-
-// res = vec*scl
-static inline
-int mju_scl_avx(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
-  int i = 0;
-  int n_4 = n - 4;
-  if (n_4 >= 0) {
-    __m256d sclpar = _mm256_set1_pd(scl);
-    while (i <= n_4) {
-      _mm256_storeu_pd(res+i, _mm256_mul_pd(_mm256_loadu_pd(vec+i), sclpar));
-      i += 4;
-    }
-  }
-  return i;
-}
-
-// res = vec1 + vec2
-static inline
-int mju_add_avx(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
-  int i = 0;
-  int n_4 = n - 4;
-  if (n_4 >= 0) {
-    while (i <= n_4) {
-      _mm256_storeu_pd(res+i, _mm256_add_pd(_mm256_loadu_pd(vec1+i), _mm256_loadu_pd(vec2+i)));
-      i += 4;
-    }
-  }
-  return i;
-}
-
-// res = vec1 - vec2
-static inline
-int mju_sub_avx(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n) {
-  int i = 0;
-  int n_4 = n - 4;
-  if (n_4 >= 0) {
-    while (i <= n_4) {
-      _mm256_storeu_pd(res+i, _mm256_sub_pd(_mm256_loadu_pd(vec1+i), _mm256_loadu_pd(vec2+i)));
-      i += 4;
-    }
-  }
-  return i;
-}
-
-// res += vec
-static inline
-int mju_addTo_avx(mjtNum* res, const mjtNum* vec, int n) {
-  int i = 0;
-  int n_4 = n - 4;
-  if (n_4 >= 0) {
-    while (i <= n_4) {
-      _mm256_storeu_pd(res+i, _mm256_add_pd(_mm256_loadu_pd(res+i), _mm256_loadu_pd(vec+i)));
-      i += 4;
-    }
-  }
-  return i;
-}
-
-// res -= vec
-static inline
-int mju_subFrom_avx(mjtNum* res, const mjtNum* vec, int n) {
-  int i = 0;
-  int n_4 = n - 4;
-  if (n_4 >= 0) {
-    while (i <= n_4) {
-      _mm256_storeu_pd(res+i, _mm256_sub_pd(_mm256_loadu_pd(res+i), _mm256_loadu_pd(vec+i)));
-      i += 4;
-    }
-  }
-  return i;
-}
-
-// res += vec*scl
-static inline
-int mju_addToScl_avx(mjtNum* res, const mjtNum* vec, mjtNum scl, int n) {
-  int i = 0;
-  int n_4 = n - 4;
-  if (n_4 >= 0) {
-    __m256d sclpar = _mm256_set1_pd(scl);
-    while (i <= n_4) {
-      __m256d val1 = _mm256_loadu_pd(res+i);
-      __m256d val2 = _mm256_loadu_pd(vec+i);
-      _mm256_storeu_pd(res+i, _mm256_add_pd(val1, _mm256_mul_pd(val2, sclpar)));
-      i += 4;
-    }
-  }
-  return i;
-}
-
-// res = vec1 + vec2*scl
-static inline
-int mju_addScl_avx(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n) {
-  int i = 0;
-  int n_4 = n - 4;
-  if (n_4 >= 0) {
-    __m256d sclpar = _mm256_set1_pd(scl);
-    while (i <= n_4) {
-      __m256d val1 = _mm256_loadu_pd(vec1+i);
-      __m256d val2 = _mm256_loadu_pd(vec2+i);
-      _mm256_storeu_pd(res+i, _mm256_add_pd(val1, _mm256_mul_pd(val2, sclpar)));
-      i += 4;
-    }
-  }
-  return i;
-}
-
-// vector dot-product
-static inline
-mjtNum mju_dot_avx(const mjtNum* vec1, const mjtNum* vec2, int n, int* processed) {
-  mjtNum res = 0;
-  int i = 0;
-  int n_4 = n - 4;
-  if (n_4 >= 0) {
-    __m256d sum = _mm256_mul_pd(_mm256_loadu_pd(vec1), _mm256_loadu_pd(vec2));
-    i = 4;
-
-    while (i <= n_4) {
-      sum = _mm256_add_pd(sum, _mm256_mul_pd(_mm256_loadu_pd(vec1+i), _mm256_loadu_pd(vec2+i)));
-      i += 4;
-    }
-
-    __m128d vlow = _mm256_castpd256_pd128(sum);
-    __m128d vhigh = _mm256_extractf128_pd(sum, 1);
-    vlow = _mm_add_pd(vlow, vhigh);
-    __m128d high64 = _mm_unpackhi_pd(vlow, vlow);
-    res = _mm_cvtsd_f64(_mm_add_sd(vlow, high64));
-  }
-  *processed = i;
-  return res;
-}
-
-#endif  // defined(__AVX__) && !defined(mjUSESINGLE)
-#endif  // mjUSEPLATFORMSIMD
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_BLAS_AVX_H_
diff --git a/src/engine/engine_util_errmem.c b/src/engine/engine_util_errmem.c
deleted file mode 100644
index 9eb93992..00000000
--- a/src/engine/engine_util_errmem.c
+++ /dev/null
@@ -1,393 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_util_errmem.h"
-
-#include <stddef.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdarg.h>
-#include <string.h>
-#include <time.h>
-
-#if defined(_WIN32)
-#include <windows.h>
-#elif defined(__unix__) || (defined(__APPLE__) && defined(__MACH__)) || defined(__EMSCRIPTEN__)
-#include <sched.h>
-#endif
-
-#if defined (__unix__) || (defined (__APPLE__) && defined (__MACH__))
-#include <unistd.h>
-#endif
-
-#include "engine/engine_crossplatform.h"  // IWYU pragma: keep
-#include "engine/engine_macro.h"
-
-//------------------------- cross-platform aligned malloc/free -------------------------------------
-
-// forward declaration for active log handler dispatch
-static void mju_defaultLogHandler(const mjLogMessage* msg);
-
-
-//------------------------------ malloc and free ---------------------------------------------------
-
-// user memory handlers
-void* (*mju_user_malloc) (size_t) = 0;
-void (*mju_user_free) (void*) = 0;
-
-// cross-platform aligned malloc
-static inline void* mju_alignedMalloc(size_t size, size_t align) {
-#ifdef _WIN32
-  return _aligned_malloc(size, align);
-#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
-  return aligned_alloc(align, size);
-#endif
-}
-
-// cross-platform aligned free
-static inline void mju_alignedFree(void* ptr) {
-#ifdef _WIN32
-  _aligned_free(ptr);
-#else
-  free(ptr);
-#endif
-}
-
-// allocate memory; byte-align on 64; pad size to multiple of 64
-void* mju_malloc(size_t size) {
-  void* ptr = 0;
-
-  if (mju_user_malloc) {
-    ptr = mju_user_malloc(size);
-  } else {
-    if (size > 0 && (size % 64)) {
-      size += 64 - (size % 64);
-    }
-    if (size > 0) {
-      ptr = mju_alignedMalloc(size, 64);
-    }
-  }
-
-  if (!ptr && size > 0) {
-    mju_error("Could not allocate memory");
-  }
-  return ptr;
-}
-
-// free memory
-void mju_free(void* ptr) {
-  if (!ptr) return;
-  if (mju_user_free) {
-    mju_user_free(ptr);
-  } else {
-    mju_alignedFree(ptr);
-  }
-}
-
-
-//------------------------------ logging configuration and handlers --------------------------------
-
-// global log handler
-static mjfLogHandler global_log_handler = mju_defaultLogHandler;
-
-// legacy error/warning handlers (deprecated)
-void (*mju_user_error) (const char*) = 0;
-void (*mju_user_warning) (const char*) = 0;
-
-// default handler configuration
-static mjLogConfig log_config = {.logto_console = true,
-                                 .logto_file = true,
-                                 .logfile = "MUJOCO_LOG.TXT",
-                                 .topics = 0};
-static mjtBool env_init_claimed = 0;  // claimed by first thread to enter init
-static mjtBool env_init_done = 0;     // set after log_config init completes
-
-// parse MUJOCO_LOG_TOPICS env var to seed initial topic bitmask
-// example: MUJOCO_LOG_TOPICS="time_stp,sleep"
-static void mju_initLogTopicsFromEnv(void) {
-  const char* env = getenv("MUJOCO_LOG_TOPICS");
-  if (!env) return;
-
-  // mjTOPIC_X enum names with the mjTOPIC_ prefix stripped and lowercased; keep in sync with mjtLogTopic
-  static const char* topic_names[mjNTOPIC] = {"time_stp", "time_cmp", "sleep"};
-  char buf[256];
-  strncpy(buf, env, sizeof(buf) - 1);
-  buf[sizeof(buf) - 1] = '\0';
-
-  char* token = buf;
-  while (*token) {
-    while (*token == ' ' || *token == ',') token++;
-    if (!*token) break;
-
-    char* end = token;
-    while (*end && *end != ',') end++;
-    bool trailing_comma = (*end == ',');
-
-    char* tEnd = end - 1;
-    while (tEnd > token && *tEnd == ' ') tEnd--;
-    *(tEnd + 1) = '\0';
-
-    for (int i = 0; i < mjNTOPIC; i++) {
-      if (strcasecmp(token, topic_names[i]) == 0) {
-        log_config.topics |= (1 << i);
-        break;
-      }
-    }
-    token = trailing_comma ? end + 1 : end;
-  }
-}
-
-// private pointer getter encapsulates lazy init with zero copy overhead
-static const mjLogConfig* mju_getLogConfigPtr(void) {
-  if (!mj_atomic_load_bool(&env_init_done)) {
-    // atomically claim right to initialize; only one thread gets old value 0
-    if (!mj_atomic_exchange_bool(&env_init_claimed, 1)) {
-      mju_initLogTopicsFromEnv();
-      mj_atomic_store_bool(&env_init_done, 1);
-    } else {
-      // another thread is initializing; spin until it completes
-      while (!mj_atomic_load_bool(&env_init_done)) {
-#if defined(_WIN32)
-        Sleep(0);
-#elif defined(__unix__) || (defined(__APPLE__) && defined(__MACH__)) || defined(__EMSCRIPTEN__)
-        sched_yield();
-#endif
-      }
-    }
-  }
-  return &log_config;
-}
-
-// check whether an info topic is enabled
-mjtBool mju_isTopicEnabled(int topic) {
-  if (!topic) return 1;
-  const mjLogConfig* cfg = mju_getLogConfigPtr();
-  return ((cfg->topics & (1 << (topic - 1))) != 0);
-}
-
-// set the active log handler; return the previous handler
-mjfLogHandler mju_setLogHandler(mjfLogHandler handler) {
-  mjfLogHandler prev = global_log_handler;
-  global_log_handler = handler ? handler : mju_defaultLogHandler;
-  return prev;
-}
-
-// get default handler configuration
-mjLogConfig mju_getLogConfig(void) {
-  return *mju_getLogConfigPtr();
-}
-
-// set default handler configuration
-void mju_setLogConfig(mjLogConfig config) {
-  log_config = config;
-  mj_atomic_store_bool(&env_init_claimed, 1);
-  mj_atomic_store_bool(&env_init_done, 1);
-}
-
-// restore default processing
-void mju_clearHandlers(void) {
-  global_log_handler = mju_defaultLogHandler;
-  log_config = (mjLogConfig){.logto_console = true,
-                             .logto_file = true,
-                             .logfile = "MUJOCO_LOG.TXT",
-                             .topics = 0};
-  mj_atomic_store_bool(&env_init_claimed, 1);
-  mju_initLogTopicsFromEnv();
-  mj_atomic_store_bool(&env_init_done, 1);
-
-  mju_user_error = 0;
-  mju_user_warning = 0;
-  mju_user_malloc = 0;
-  mju_user_free = 0;
-}
-
-// fill buffer with formatted local time string (thread-safe)
-static void mju_localTimeStr(char* buf, int buf_sz) {
-  time_t rawtime;
-  struct tm timeinfo;
-  time(&rawtime);
-
-#if defined(_POSIX_C_SOURCE) || defined(__APPLE__) || defined(__STDC_VERSION_TIME_H__) || defined(__EMSCRIPTEN__)
-  localtime_r(&rawtime, &timeinfo);
-#elif defined(_WIN32)
-  localtime_s(&timeinfo, &rawtime);
-#elif __STDC_LIB_EXT1__
-  localtime_s(&rawtime, &timeinfo);
-#else
-  #error "Thread-safe version of `localtime` is not present in the standard C library"
-#endif
-
-  strftime(buf, buf_sz, "%c", &timeinfo);
-}
-
-// write formatted message to stream
-static void mju_fprint_message(FILE* stream, const char* timestr,
-                               const mjLogMessage* msg) {
-  const char* type = msg->level == mjLOG_ERROR   ? "ERROR" :
-                     msg->level == mjLOG_WARNING ? "WARNING" :
-                     msg->level == mjLOG_INFO    ? "INFO" : "DEBUG";
-  fprintf(stream, "%s", type);
-  if (msg->func) fprintf(stream, " %s", msg->func);
-  if (msg->file && msg->line) fprintf(stream, " (%s:%d)", BaseName(msg->file), msg->line);
-  if (timestr[0]) fprintf(stream, " %s", timestr);
-  fprintf(stream, ": %s\n", msg->subject);
-  if (msg->body) fprintf(stream, "%s\n", msg->body);
-
-  // add blank line after message except for DEBUG, for compactness
-  if (msg->level != mjLOG_DEBUG) fprintf(stream, "\n");
-}
-
-// format legacy adapter string: "func: subject" or just "subject"
-static const char* mju_legacy_text(const mjLogMessage* msg, char* buf, int bufsz) {
-  if (msg->func) {
-    snprintf(buf, bufsz, "%s: %s", msg->func, msg->subject);
-    return buf;
-  }
-  return msg->subject;
-}
-
-// default log handler: topic filtering, console/file output, legacy compat, exit on error
-static void mju_defaultLogHandler(const mjLogMessage* msg) {
-  const mjLogConfig* cfg = mju_getLogConfigPtr();
-
-  if ((msg->level == mjLOG_INFO || msg->level == mjLOG_DEBUG) && !mju_isTopicEnabled(msg->topic)) {
-    return;
-  }
-
-  if (msg->level == mjLOG_ERROR && mju_user_error) {
-    char buf[2048];
-    mju_user_error(mju_legacy_text(msg, buf, sizeof(buf)));
-    return;
-  }
-
-  if (msg->level == mjLOG_WARNING && mju_user_warning) {
-    char buf[2048];
-    mju_user_warning(mju_legacy_text(msg, buf, sizeof(buf)));
-    return;
-  }
-
-  char timestr[64] = "";
-  if (msg->timestamp || (cfg->logto_file && cfg->logfile[0])) {
-    mju_localTimeStr(timestr, sizeof(timestr));
-  }
-
-  if (cfg->logto_file && cfg->logfile[0]) {
-    FILE* fp = fopen(cfg->logfile, "a+t");
-    if (fp) {
-      mju_fprint_message(fp, timestr, msg);
-      fclose(fp);
-    }
-  }
-
-  if (cfg->logto_console) {
-    FILE* stream = (msg->level >= mjLOG_WARNING) ? stderr : stdout;
-    mju_fprint_message(stream, msg->timestamp ? timestr : "", msg);
-  }
-
-  if (msg->level == mjLOG_ERROR) {
-    exit(EXIT_FAILURE);
-  }
-}
-
-
-//------------------------------ public message logging --------------------------------------------
-
-// thread-local log handler override
-static mjTHREADLOCAL mjfLogHandler _mjPRIVATE_tls_log_handler = NULL;
-
-// recursion guard for log handler
-static mjTHREADLOCAL bool in_log = false;
-
-// dispatch to active handler (TLS > global)
-static inline mjfLogHandler mju_activeHandler(void) {
-  return _mjPRIVATE_tls_log_handler ? _mjPRIVATE_tls_log_handler : global_log_handler;
-}
-
-// dispatch a structured log message to the active handler
-void mju_message(const mjLogMessage* msg) {
-  // recursion guard: silently drop messages dispatched from within a handler
-  if (in_log) return;
-
-  // error handlers are expected to not return (longjmp or exit); we cannot set in_log
-  // around the call because longjmp would leave it permanently true on this thread
-  if (msg->level != mjLOG_ERROR) {
-    in_log = true;
-    mju_activeHandler()(msg);
-    in_log = false;
-  } else {
-    mju_activeHandler()(msg);
-  }
-}
-
-void mju_error_v(const char* msg, va_list args) {
-  mjLogMessage m = {.level = mjLOG_ERROR};
-  vsnprintf(m.subject, sizeof(m.subject), msg, args);
-  mju_message(&m);
-}
-
-// write message to logfile and console, pause and exit
-void mju_error(const char* msg, ...) {
-  va_list args;
-  va_start(args, msg);
-  mju_error_v(msg, args);
-  va_end(args);
-}
-
-// write message to logfile and console
-void mju_warning(const char* msg, ...) {
-  mjLogMessage m = {.level = mjLOG_WARNING};
-  va_list args;
-  va_start(args, msg);
-  vsnprintf(m.subject, sizeof(m.subject), msg, args);
-  va_end(args);
-  mju_message(&m);
-}
-
-// log an info message
-void mju_info(int topic, const char* msg, ...) {
-  mjLogMessage m = {.level = mjLOG_INFO, .topic = topic};
-  va_list args;
-  va_start(args, msg);
-  vsnprintf(m.subject, sizeof(m.subject), msg, args);
-  va_end(args);
-  mju_message(&m);
-}
-
-// (deprecated) write datetime, type: message to MUJOCO_LOG.TXT
-void mju_writeLog(const char* type, const char* msg) {
-  char timestr[64];
-  mju_localTimeStr(timestr, sizeof(timestr));
-
-  FILE* fp = fopen("MUJOCO_LOG.TXT", "a+t");
-  if (fp) {
-    fprintf(fp, "%s\n%s: %s\n\n", timestr, type, msg);
-    fclose(fp);
-  }
-}
-
-
-//------------------------------ internal helpers --------------------------------------------------
-
-// set thread-local log handler; return previous
-mjfLogHandler _mjPRIVATE_setTlsLogHandler(mjfLogHandler handler) {
-  mjfLogHandler prev = _mjPRIVATE_tls_log_handler;
-  _mjPRIVATE_tls_log_handler = handler;
-  return prev;
-}
-
-
-// get the currently active global log handler (read-only, no modification)
-mjfLogHandler _mjPRIVATE_getGlobalLogHandler(void) {
-  return global_log_handler;
-}
diff --git a/src/engine/engine_util_errmem.h b/src/engine/engine_util_errmem.h
deleted file mode 100644
index 3a1a623b..00000000
--- a/src/engine/engine_util_errmem.h
+++ /dev/null
@@ -1,139 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_ERRMEM_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_ERRMEM_H_
-
-#include <stdarg.h>
-#include <stddef.h>
-#include <stdio.h>
-#include <string.h>
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef mjPRINTFLIKE
-  #if defined(__GNUC__)
-    #define mjPRINTFLIKE(n, m) __attribute__((format(printf, n, m)))
-  #else
-    #define mjPRINTFLIKE(n, m)
-  #endif  // __GNUC__
-#endif  // mjPRINTFLIKE
-
-
-//------------------------------ malloc and free ---------------------------------------------------
-
-// allocate memory; byte-align on 8; pad size to multiple of 8
-MJAPI void* mju_malloc(size_t size);
-
-// free memory with free() by default
-MJAPI void mju_free(void* ptr);
-
-// user memory handlers
-MJAPI extern void* (*mju_user_malloc)(size_t);
-MJAPI extern void (*mju_user_free)(void*);
-
-
-//------------------------------ logging configuration and handlers --------------------------------
-
-// set the active log handler, return the previous handler
-// if handler is NULL, restore the default handler
-MJAPI mjfLogHandler mju_setLogHandler(mjfLogHandler handler);
-
-// set/get default handler configuration
-MJAPI mjLogConfig mju_getLogConfig(void);
-MJAPI void mju_setLogConfig(mjLogConfig config);
-
-// clear user handlers; restore default processing
-MJAPI void mju_clearHandlers(void);
-
-// legacy error/warning handlers (deprecated: prefer mju_setLogHandler)
-MJAPI extern void (*mju_user_error)(const char*);
-MJAPI extern void (*mju_user_warning)(const char*);
-
-
-//------------------------------ public message logging --------------------------------------------
-
-// log a fatal error message, write to logfile and console, pause and exit
-MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
-MJAPI void mju_error_v(const char* msg, va_list args);
-
-// log a warning message, write to logfile and console
-MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
-
-// log an info message with optional topic filtering
-MJAPI void mju_info(int topic, const char* msg, ...) mjPRINTFLIKE(2, 3);
-
-// dispatch a structured log message to the active handler
-MJAPI void mju_message(const mjLogMessage* msg);
-
-// (deprecated) write [datetime, type: message] to MUJOCO_LOG.TXT
-MJAPI void mju_writeLog(const char* type, const char* msg);
-
-
-//------------------------------ internal helpers and macros ---------------------------------------
-
-// set thread-local log handler; return previous thread-local handler
-MJAPI mjfLogHandler _mjPRIVATE_setTlsLogHandler(mjfLogHandler handler);
-
-// get the currently active global log handler (read-only, no modification)
-MJAPI mjfLogHandler _mjPRIVATE_getGlobalLogHandler(void);
-
-// check whether an info topic is enabled
-MJAPI mjtBool mju_isTopicEnabled(int topic);
-
-// strip directory from __FILE__ (cross-platform)
-static inline const char* BaseName(const char* path) {
-  const char* slash = strrchr(path, '/');
-  const char* bslash = strrchr(path, '\\');
-  if (slash && bslash) return (slash > bslash ? slash : bslash) + 1;
-  if (slash) return slash + 1;
-  if (bslash) return bslash + 1;
-  return path;
-}
-
-// internal macro to emit a structured error with source location
-#define mjERROR(...)                                           \
-  {                                                            \
-    mjLogMessage _msg = {.level = mjLOG_ERROR,                 \
-                         .func = __func__,                     \
-                         .file = __FILE__,                     \
-                         .line = __LINE__};                    \
-    snprintf(_msg.subject, sizeof(_msg.subject), __VA_ARGS__); \
-    mju_message(&_msg);                                        \
-  }
-
-// internal macro to emit a structured debug trace with fast producer-side topic filtering
-#ifndef MJ_DISABLE_DEBUG_TRACING
-#define mjDEBUG(_topic, ...)                                   \
-  if (mju_isTopicEnabled(_topic)) {                            \
-    mjLogMessage _msg = {.level = mjLOG_DEBUG,                 \
-                         .topic = _topic,                      \
-                         .func = __func__};                    \
-    snprintf(_msg.subject, sizeof(_msg.subject), __VA_ARGS__); \
-    mju_message(&_msg);                                        \
-  }
-#else
-#define mjDEBUG(_topic, ...) ((void)0)
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_ERRMEM_H_
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
deleted file mode 100644
index d3f5dedc..00000000
--- a/src/engine/engine_util_misc.c
+++ /dev/null
@@ -1,2371 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_util_misc.h"
-
-#include <ctype.h>
-#include <limits.h>
-#include <math.h>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include "engine/engine_array_safety.h"
-#include "engine/engine_macro.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_spatial.h"
-
-//------------------------------ tendon wrapping ---------------------------------------------------
-
-// check for intersection of two 2D line segments
-static mjtBool is_intersect(const mjtNum* p1, const mjtNum* p2,
-                            const mjtNum* p3, const mjtNum* p4) {
-  mjtNum a, b;
-
-  // compute determinant, check
-  mjtNum det = (p4[1]-p3[1])*(p2[0]-p1[0]) - (p4[0]-p3[0])*(p2[1]-p1[1]);
-  if (mju_abs(det) < mjMINVAL) {
-    return false;
-  }
-
-  // compute intersection point on each line
-  a = ((p4[0]-p3[0])*(p1[1]-p3[1]) - (p4[1]-p3[1])*(p1[0]-p3[0])) / det;
-  b = ((p2[0]-p1[0])*(p1[1]-p3[1]) - (p2[1]-p1[1])*(p1[0]-p3[0])) / det;
-
-  return ((a >= 0 && a <= 1 && b >= 0 && b <= 1) ? true : false);
-}
-
-
-// curve length along circle
-static mjtNum length_circle(const mjtNum* p0, const mjtNum* p1, int ind, mjtNum radius) {
-  mjtNum p0n[2] = {p0[0], p0[1]};
-  mjtNum p1n[2] = {p1[0], p1[1]};
-
-  // compute angle between 0 and pi
-  mju_normalize(p0n, 2);
-  mju_normalize(p1n, 2);
-  mjtNum angle = mju_acos(mju_dot(p0n, p1n, 2));
-
-  // flip if necessary
-  mjtNum cross = p0[1]*p1[0]-p0[0]*p1[1];
-  if ((cross > 0 && ind) || (cross < 0 && !ind)) {
-    angle = 2*mjPI - angle;
-  }
-
-  return radius*angle;
-}
-
-
-// 2D circle wrap
-//  input:  pair of 2D endpoints in end[4], optional 2D side point in side[2], radius
-//  output: return length of circular wrap or -1
-//          pair of 2D points in pnt[4]
-static mjtNum wrap_circle(mjtNum pnt[4], const mjtNum end[4], const mjtNum* side, mjtNum radius) {
-  mjtNum sqlen0 = end[0]*end[0] + end[1]*end[1];
-  mjtNum sqlen1 = end[2]*end[2] + end[3]*end[3];
-  mjtNum sqrad = radius*radius;
-
-  // either point inside circle or circle too small: no wrap
-  if (sqlen0 < sqrad || sqlen1 < sqrad || radius < mjMINVAL) {
-    return -1;
-  }
-
-  // points too close: no wrap
-  mjtNum dif[2] = {end[2]-end[0], end[3]-end[1]};
-  mjtNum dd = dif[0]*dif[0] + dif[1]*dif[1];
-  if (dd < mjMINVAL) {
-    return -1;
-  }
-
-  // find nearest point on line segment to origin: a*dif + d0
-  mjtNum a = -(dif[0]*end[0]+dif[1]*end[1])/dd;
-  if (a < 0) {
-    a = 0;
-  } else if (a > 1) {
-    a = 1;
-  }
-
-  // check for intersection and side
-  mjtNum tmp[2] = {a*dif[0] + end[0], a*dif[1] + end[1]};
-  if (tmp[0]*tmp[0]+tmp[1]*tmp[1] > sqrad && (!side || mju_dot(side, tmp, 2) >= 0)) {
-    return -1;
-  }
-
-  mjtNum sqrt0 = mju_sqrt(sqlen0 - sqrad);
-  mjtNum sqrt1 = mju_sqrt(sqlen1 - sqrad);
-
-  // construct the two solutions, compute goodness
-  mjtNum sol[2][2][2], good[2];
-  for (int i=0; i < 2; i++) {
-    int sgn = (i == 0 ? 1 : -1);
-
-    sol[i][0][0] = (end[0]*sqrad + sgn*radius*end[1]*sqrt0)/sqlen0;
-    sol[i][0][1] = (end[1]*sqrad - sgn*radius*end[0]*sqrt0)/sqlen0;
-    sol[i][1][0] = (end[2]*sqrad - sgn*radius*end[3]*sqrt1)/sqlen1;
-    sol[i][1][1] = (end[3]*sqrad + sgn*radius*end[2]*sqrt1)/sqlen1;
-
-    // goodness: close to sd, or shorter path
-    if (side) {
-      mju_add(tmp, sol[i][0], sol[i][1], 2);
-      mju_normalize(tmp, 2);
-      good[i] = mju_dot(tmp, side, 2);
-    } else {
-      mju_sub(tmp, sol[i][0], sol[i][1], 2);
-      good[i] = -mju_dot(tmp, tmp, 2);
-    }
-
-    // penalize for intersection
-    if (is_intersect(end, sol[i][0], end+2, sol[i][1])) {
-      good[i] = -10000;
-    }
-  }
-
-  // select the better solution
-  int i = (good[0] > good[1] ? 0 : 1);
-  pnt[0] = sol[i][0][0];
-  pnt[1] = sol[i][0][1];
-  pnt[2] = sol[i][1][0];
-  pnt[3] = sol[i][1][1];
-
-  // check for intersection
-  if (is_intersect(end, pnt, end+2, pnt+2)) {
-    return -1;
-  }
-
-  // return curve length
-  return length_circle(sol[i][0], sol[i][1], i, radius);
-}
-
-
-// 2D inside wrap
-//  input: pair of 2D endpoints in end[4], radius
-//  output: pair of 2D points in pnt[4]; return 0 if wrap, -1 if no wrap
-static mjtNum wrap_inside(mjtNum pnt[4], const mjtNum end[4], mjtNum radius) {
-  // algorithm parameters
-  const int maxiter = 20;
-  const mjtNum zinit = 1 - 1e-7;
-  const mjtNum tolerance = 1e-6;
-
-  // constants
-  mjtNum len0 = mju_norm(end, 2);
-  mjtNum len1 = mju_norm(end+2, 2);
-  mjtNum dif[2] = {end[2]-end[0], end[3]-end[1]};
-  mjtNum dd = dif[0]*dif[0] + dif[1]*dif[1];
-
-  // either point inside circle or circle too small: no wrap
-  if (len0 <= radius || len1 <= radius || radius < mjMINVAL || len0 < mjMINVAL || len1 < mjMINVAL) {
-    return -1;
-  }
-
-  // segment-circle intersection: no wrap
-  if (dd > mjMINVAL) {
-    // find nearest point on line segment to origin: d0 + a*dif
-    mjtNum a = -(dif[0]*end[0] + dif[1]*end[1]) / dd;
-
-    // in segment
-    if (a > 0 && a < 1) {
-      mjtNum tmp[2];
-      mju_addScl(tmp, end, dif, a, 2);
-      if (mju_norm(tmp, 2) <= radius) {
-        return -1;
-      }
-    }
-  }
-
-  // prepare default in case of numerical failure: average
-  pnt[0] = 0.5*(end[0] + end[2]);
-  pnt[1] = 0.5*(end[1] + end[3]);
-  mju_normalize(pnt, 2);
-  mju_scl(pnt, pnt, radius, 2);
-  pnt[2] = pnt[0];
-  pnt[3] = pnt[1];
-
-  // compute function parameters: asin(A*z) + asin(B*z) - 2*asin(z) + G = 0
-  mjtNum A = radius/len0;
-  mjtNum B = radius/len1;
-  mjtNum cosG = (len0*len0 + len1*len1 - dd) / (2*len0*len1);
-  if (cosG < -1+mjMINVAL) {
-    return -1;
-  } else if (cosG > 1-mjMINVAL) {
-    return 0;
-  }
-  mjtNum G = mju_acos(cosG);
-
-  // init
-  mjtNum z = zinit;
-  mjtNum f = mju_asin(A*z) + mju_asin(B*z) - 2*mju_asin(z) + G;
-
-  // make sure init is not on the other side
-  if (f > 0) {
-    return 0;
-  }
-
-  // Newton method
-  int iter;
-  for (iter=0; iter < maxiter && mju_abs(f) > tolerance; iter++) {
-    // derivative
-    mjtNum df = A/mju_max(mjMINVAL, mju_sqrt(1-z*z*A*A)) +
-                B/mju_max(mjMINVAL, mju_sqrt(1-z*z*B*B)) -
-                2/mju_max(mjMINVAL, mju_sqrt(1-z*z));
-
-    // check sign; SHOULD NOT OCCUR
-    if (df > -mjMINVAL) {
-      return 0;
-    }
-
-    // new point
-    mjtNum z1 = z - f/df;
-
-    // make sure we are moving to the left; SHOULD NOT OCCUR
-    if (z1 > z) {
-      return 0;
-    }
-
-    // update solution
-    z = z1;
-    f = mju_asin(A*z) + mju_asin(B*z) - 2*mju_asin(z) + G;
-
-    // exit if positive; SHOULD NOT OCCUR
-    if (f > tolerance) {
-      return 0;
-    }
-  }
-
-  // check convergence
-  if (iter >= maxiter) {
-    return 0;
-  }
-
-  // finalize: rotation by ang from vec = a or b, depending on cross(a,b) sign
-  mjtNum vec[2];
-  mjtNum ang;
-  if (end[0]*end[3] - end[1]*end[2] > 0) {
-    mju_copy(vec, end, 2);
-    ang = mju_asin(z) - mju_asin(A*z);
-  } else {
-    mju_copy(vec, end+2, 2);
-    ang = mju_asin(z) - mju_asin(B*z);
-  }
-  mju_normalize(vec, 2);
-  pnt[0] = radius*(mju_cos(ang)*vec[0] - mju_sin(ang)*vec[1]);
-  pnt[1] = radius*(mju_sin(ang)*vec[0] + mju_cos(ang)*vec[1]);
-  pnt[2] = pnt[0];
-  pnt[3] = pnt[1];
-
-  return 0;
-}
-
-
-// wrap tendons around spheres and cylinders
-//  input:  x0, x1: pair of 3D endpoints
-//          xpos, xmat, radius: position, orientation and radius of geom
-//          type: wrap type (mjtWrap)
-//          side: 3D position of sidesite
-//  output: return wrap length, -1 if no wrap
-//          wpnt: pair of 3D wrap points
-mjtNum mju_wrap(mjtNum wpnt[6], const mjtNum x0[3], const mjtNum x1[3],
-                const mjtNum xpos[3], const mjtNum xmat[9], mjtNum radius,
-                int type, const mjtNum side[3]) {
-  // check object type;  SHOULD NOT OCCUR
-  if (type != mjWRAP_SPHERE && type != mjWRAP_CYLINDER) {
-    mjERROR("unknown wrapping object type %d", type);
-  }
-
-  // map sites to wrap object's local frame
-  mjtNum tmp[3];
-  mju_sub3(tmp, x0, xpos);
-  mjtNum p[2][3];
-  mju_mulMatTVec3(p[0], xmat, tmp);
-  mju_sub3(tmp, x1, xpos);
-  mju_mulMatTVec3(p[1], xmat, tmp);
-
-  // too close to origin: return
-  if (mju_norm3(p[0]) < mjMINVAL || mju_norm3(p[1]) < mjMINVAL) {
-    return -1;
-  }
-
-  // construct 2D frame for circle wrap
-  mjtNum axis[2][3];
-  if (type == mjWRAP_SPHERE) {
-    // 1st axis = p0
-    mju_copy3(axis[0], p[0]);
-    mju_normalize3(axis[0]);
-
-    // normal to p0-0-p1 plane = cross(p0, p1)
-    mjtNum normal[3];
-    mju_cross(normal, p[0], p[1]);
-    mjtNum nrm = mju_normalize3(normal);
-
-    // if (p0, p1) parallel: different normal
-    if (nrm < mjMINVAL) {
-      // find max component of axis0
-      int i = 0;
-      if (mju_abs(axis[0][1]) > mju_abs(axis[0][0]) &&
-          mju_abs(axis[0][1]) > mju_abs(axis[0][2])) {
-        i = 1;
-      }
-      if (mju_abs(axis[0][2]) > mju_abs(axis[0][0]) &&
-          mju_abs(axis[0][2]) > mju_abs(axis[0][1])) {
-        i = 2;
-      }
-
-      // init second axis: 0 at i; 1 elsewhere
-      axis[1][0] = 1;
-      axis[1][1] = 1;
-      axis[1][2] = 1;
-      axis[1][i] = 0;
-
-      // recompute normal
-      mju_cross(normal, axis[0], axis[1]);
-      mju_normalize3(normal);
-    }
-
-    // 2nd axis = cross(normal, p0)
-    mju_cross(axis[1], normal, axis[0]);
-    mju_normalize3(axis[1]);
-  } else {
-    // 1st axis = x
-    axis[0][0] = 1;
-    axis[0][1] = axis[0][2] = 0;
-
-    // 2nd axis = y
-    axis[1][1] = 1;
-    axis[1][0] = axis[1][2] = 0;
-  }
-
-  // project points in 2D frame: p => d
-  mjtNum s[3], d[4], sd[2];
-  d[0] = mju_dot3(p[0], axis[0]);
-  d[1] = mju_dot3(p[0], axis[1]);
-  d[2] = mju_dot3(p[1], axis[0]);
-  d[3] = mju_dot3(p[1], axis[1]);
-
-  // handle sidesite
-  if (side) {
-    // side point: apply same projection as x0, x1
-    mju_sub3(tmp, side, xpos);
-    mju_mulMatTVec3(s, xmat, tmp);
-
-    // side point: project and rescale
-    sd[0] = mju_dot3(s, axis[0]);
-    sd[1] = mju_dot3(s, axis[1]);
-    mju_normalize(sd, 2);
-    mju_scl(sd, sd, radius, 2);
-  }
-
-  // apply inside wrap
-  mjtNum wlen;
-  mjtNum pnt[4];
-  if (side && mju_norm3(s) < radius) {
-    wlen = wrap_inside(pnt, d, radius);
-  }
-
-  // apply circle wrap
-  else {
-    wlen = wrap_circle(pnt, d, (side ? sd : NULL), radius);
-  }
-
-  // no wrap: return
-  if (wlen < 0) {
-    return -1;
-  }
-
-  // reconstruct 3D points in local frame: res
-  mjtNum res[6];
-  for (int i=0; i < 2; i++) {
-    // res = axis0*d0 + axis1*d1
-    mju_scl3(res+3*i, axis[0], pnt[2*i]);
-    mju_scl3(tmp, axis[1], pnt[2*i+1]);
-    mju_addTo3(res+3*i, tmp);
-  }
-
-  // cylinder: correct along z
-  if (type == mjWRAP_CYLINDER) {
-    // set vertical coordinates
-    mjtNum L0 = mju_sqrt((p[0][0]-res[0])*(p[0][0]-res[0]) + (p[0][1]-res[1])*(p[0][1]-res[1]));
-    mjtNum L1 = mju_sqrt((p[1][0]-res[3])*(p[1][0]-res[3]) + (p[1][1]-res[4])*(p[1][1]-res[4]));
-    res[2] = p[0][2] + (p[1][2] - p[0][2])*L0 / (L0+wlen+L1);
-    res[5] = p[0][2] + (p[1][2] - p[0][2])*(L0+wlen) / (L0+wlen+L1);
-
-    // correct wlen for height
-    mjtNum height = mju_abs(res[5] - res[2]);
-    wlen = mju_sqrt(wlen*wlen + height*height);
-  }
-
-  // map back to global frame: wpnt
-  mju_mulMatVec3(wpnt, xmat, res);
-  mju_mulMatVec3(wpnt+3, xmat, res+3);
-  mju_addTo3(wpnt, xpos);
-  mju_addTo3(wpnt+3, xpos);
-
-  return wlen;
-}
-
-
-//------------------------------ misc geometry -----------------------------------------------------
-
-// all 3 semi-axes of a geom
-void mju_geomSemiAxes(mjtNum semiaxes[3], const mjtNum size[3], mjtGeom type) {
-  switch (type) {
-  case mjGEOM_SPHERE:
-    semiaxes[0] = size[0];
-    semiaxes[1] = size[0];
-    semiaxes[2] = size[0];
-    break;
-
-  case mjGEOM_CAPSULE:
-    semiaxes[0] = size[0];
-    semiaxes[1] = size[0];
-    semiaxes[2] = size[1] + size[0];
-    break;
-
-  case mjGEOM_CYLINDER:
-    semiaxes[0] = size[0];
-    semiaxes[1] = size[0];
-    semiaxes[2] = size[1];
-    break;
-
-  default:
-    semiaxes[0] = size[0];
-    semiaxes[1] = size[1];
-    semiaxes[2] = size[2];
-  }
-}
-
-
-// return 1 if point is inside a primitive geom, 0 otherwise
-int mju_insideGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3], mjtGeom type,
-                   const mjtNum point[3]) {
-  // vector from geom to point
-  mjtNum vec[3];
-  mju_sub3(vec, point, pos);
-
-  // quick return for spheres, frame rotation not required
-  if (type == mjGEOM_SPHERE) {
-    return mju_dot3(vec, vec) < size[0]*size[0];
-  }
-
-  // rotate into local frame
-  mjtNum plocal[3];
-  mju_mulMatTVec3(plocal, mat, vec);
-
-  // handle other geom types
-  switch (type) {
-  case mjGEOM_CAPSULE: {
-    mjtNum z = plocal[2];
-    mjtNum z_clamped = mju_clip(z, -size[1], size[1]);
-    mjtNum z_dist_sq = (z - z_clamped) * (z - z_clamped);
-    return (plocal[0]*plocal[0] + plocal[1]*plocal[1] + z_dist_sq < size[0]*size[0]);
-  }
-
-  case mjGEOM_ELLIPSOID:
-    return (plocal[0]*plocal[0]/(size[0]*size[0]) +
-            plocal[1]*plocal[1]/(size[1]*size[1]) +
-            plocal[2]*plocal[2]/(size[2]*size[2]) < 1);
-
-  case mjGEOM_CYLINDER:
-    return (mju_abs(plocal[2]) < size[1] &&
-            plocal[0]*plocal[0] + plocal[1]*plocal[1] < size[0]*size[0]);
-
-  case mjGEOM_BOX:
-    return (mju_abs(plocal[0]) < size[0] &&
-            mju_abs(plocal[1]) < size[1] &&
-            mju_abs(plocal[2]) < size[2]);
-
-  case mjGEOM_PLANE:
-    return plocal[2] < 0;
-
-  default:
-    return 0;
-  }
-}
-
-
-// compute ray origin and direction for pixel (col, row) in camera image
-// for perspective: origin is unchanged, direction is computed
-// for orthographic: direction is -Z in camera frame, origin is offset from camera center
-void mju_camPixelRay(mjtNum origin[3], mjtNum direction[3],
-                     const mjtNum cam_xpos[3], const mjtNum cam_xmat[9],
-                     int col, int row, mjtNum fx, mjtNum fy, mjtNum cx, mjtNum cy,
-                     int projection, mjtNum ortho_extent) {
-  // pixel center (row 0 = top of image)
-  mjtNum px = col + 0.5 - cx;
-  mjtNum py = row + 0.5 - cy;
-
-  if (projection == mjPROJ_PERSPECTIVE) {
-    // origin is camera position
-    mju_copy3(origin, cam_xpos);
-
-    // direction in camera frame: (x/fx, -y/fy, -1), then normalized
-    mjtNum dir_cam[3] = {px / fx, -py / fy, -1.0};
-    mju_mulMatVec3(direction, cam_xmat, dir_cam);
-    mju_normalize3(direction);
-  } else {
-    // orthographic: parallel rays, direction is -Z in camera frame
-    direction[0] = -cam_xmat[2];
-    direction[1] = -cam_xmat[5];
-    direction[2] = -cam_xmat[8];
-
-    // origin offset in camera frame (ortho_extent is full height, use half for each side)
-    mjtNum half_extent = ortho_extent / 2;
-    mjtNum offset_cam[3] = {px / fx * half_extent, -py / fy * half_extent, 0};
-    mjtNum offset_world[3];
-    mju_mulMatVec3(offset_world, cam_xmat, offset_cam);
-    mju_add3(origin, cam_xpos, offset_world);
-  }
-}
-
-
-// ----------------------------- flex interpolation ------------------------------------------------
-
-// use shared shape functions from engine_util_misc.h
-#define phi mju_flexPhi
-#define dphi mju_flexDphi
-
-// evaluate the deformation gradient at p using the nodal dof values
-void mju_defGradient(mjtNum res[9], const mjtNum p[3], const mjtNum* dof, int order) {
-  int idx = 0;
-  mjtNum gradient[3];
-  mju_zero(res, 9);
-  for (int i = 0; i <= order; i++) {
-    for (int j = 0; j <= order; j++) {
-      for (int k = 0; k <= order; k++) {
-        gradient[0] = dphi(p[0], i, order) *  phi(p[1], j, order) *  phi(p[2], k, order);
-        gradient[1] =  phi(p[0], i, order) * dphi(p[1], j, order) *  phi(p[2], k, order);
-        gradient[2] =  phi(p[0], i, order) *  phi(p[1], j, order) * dphi(p[2], k, order);
-        res[0] += dof[3*idx+0] * gradient[0];
-        res[1] += dof[3*idx+0] * gradient[1];
-        res[2] += dof[3*idx+0] * gradient[2];
-        res[3] += dof[3*idx+1] * gradient[0];
-        res[4] += dof[3*idx+1] * gradient[1];
-        res[5] += dof[3*idx+1] * gradient[2];
-        res[6] += dof[3*idx+2] * gradient[0];
-        res[7] += dof[3*idx+2] * gradient[1];
-        res[8] += dof[3*idx+2] * gradient[2];
-        idx++;
-      }
-    }
-  }
-}
-
-// evaluate the basis function at x for the i-th node
-mjtNum mju_evalBasis(const mjtNum x[3], int i, int order) {
-  if (order == 1) {
-    return phi(x[2], i&1, order) * phi(x[1], i&2, order) * phi(x[0], i&4, order);
-  } else if (order == 2) {
-    return phi(x[2], i % 3, order) * phi(x[1], (i / 3) % 3, order) * phi(x[0], i / 9, order);
-  } else {
-    return -1;
-  }
-}
-
-// evaluate the basis functions at x for all nodes in the cell
-void mju_evalBasisArray(mjtNum* basis, const mjtNum x[3], int order) {
-  if (order == 1) {
-    mjtNum p[3][2] = {
-      {1 - x[0], x[0]},
-      {1 - x[1], x[1]},
-      {1 - x[2], x[2]}
-    };
-    int j = 0;
-    for (int i0=0; i0<2; i0++) {
-      mjtNum w0 = p[0][i0];
-      for (int i1=0; i1<2; i1++) {
-        mjtNum w01 = w0 * p[1][i1];
-        for (int i2=0; i2<2; i2++) {
-          basis[j++] = w01 * p[2][i2];
-        }
-      }
-    }
-  } else if (order == 2) {
-    mjtNum p[3][3];
-    for (int d=0; d<3; d++) {
-      for (int i=0; i<3; i++) {
-        p[d][i] = phi(x[d], i, 2);
-      }
-    }
-    int j = 0;
-    for (int i0=0; i0<3; i0++) {
-      mjtNum w0 = p[0][i0];
-      for (int i1=0; i1<3; i1++) {
-        mjtNum w01 = w0 * p[1][i1];
-        for (int i2=0; i2<3; i2++) {
-          basis[j++] = w01 * p[2][i2];
-        }
-      }
-    }
-  } else {
-    int npoint = (order + 1) * (order + 1) * (order + 1);
-    for (int j=0; j < npoint; j++) {
-      basis[j] = mju_evalBasis(x, j, order);
-    }
-  }
-}
-
-// map global parametric coord to cell-local coord and build node indices
-//   coord: [0,1]^3 parametric coordinates
-//   cellnum: cell counts (cx, cy, cz)
-//   order: interpolation order (1=trilinear, 2=triquadratic)
-//   local: output local parametric coordinates within cell [0,1]^3
-//   nodeindices: output array of global node indices for the cell (size (order+1)^3, may be NULL)
-//   returns: number of nodes per cell (order+1)^3
-int mju_cellLookup(const mjtNum coord[3], const int cellnum[3], int order, mjtNum local[3],
-                   int* nodeindices) {
-  int cx = cellnum[0], cy = cellnum[1], cz = cellnum[2];
-
-  // find containing cell
-  int ci = (int)mju_floor(coord[0] * cx);
-  int cj = (int)mju_floor(coord[1] * cy);
-  int ck = (int)mju_floor(coord[2] * cz);
-  ci = mjMIN(ci, cx - 1); ci = mjMAX(ci, 0);
-  cj = mjMIN(cj, cy - 1); cj = mjMAX(cj, 0);
-  ck = mjMIN(ck, cz - 1); ck = mjMAX(ck, 0);
-
-  // local parametric coordinates within cell
-  local[0] = mju_clip(coord[0] * cx - ci, 0, 1);
-  local[1] = mju_clip(coord[1] * cy - cj, 0, 1);
-  local[2] = mju_clip(coord[2] * cz - ck, 0, 1);
-
-  // build node indices for this cell
-  if (nodeindices) {
-    int gi_base = ci * order;
-    int gj_base = cj * order;
-    int gk_base = ck * order;
-    int ny_g = cy * order + 1;
-    int nz_g = cz * order + 1;
-    int ni = 0;
-    for (int li = 0; li <= order; li++) {
-      int gi = gi_base + li;
-      int gi_stride = gi * ny_g * nz_g;
-      for (int lj = 0; lj <= order; lj++) {
-        int gj = gj_base + lj;
-        int gj_stride = gi_stride + gj * nz_g;
-        for (int lk = 0; lk <= order; lk++) {
-          int gk = gk_base + lk;
-          nodeindices[ni++] = gj_stride + gk;
-        }
-      }
-    }
-  }
-
-  int npc = (order + 1) * (order + 1) * (order + 1);
-  return npc;
-}
-
-
-// interpolate a function at x with given interpolation coefficients and order n
-void mju_interpolate3D(mjtNum res[3], const mjtNum x[3], const mjtNum* coeff, int order,
-                       const int* nodeindices) {
-  int npoint = (order + 1) * (order + 1) * (order + 1);
-
-  if (npoint > 27) {
-    for (int j=0; j < npoint; j++) {
-      int idx = nodeindices ? nodeindices[j] : j;
-      mju_addToScl3(res, coeff+3*idx, mju_evalBasis(x, j, order));
-    }
-    return;
-  }
-
-  mjtNum basis[27];
-  mju_evalBasisArray(basis, x, order);
-
-  for (int j=0; j < npoint; j++) {
-    int idx = nodeindices ? nodeindices[j] : j;
-    mju_addToScl3(res, coeff+3*idx, basis[j]);
-  }
-}
-
-
-static void flexInterpRotation(int order, const mjtNum* xpos_c,
-                               const mjtNum local[3], mjtNum* quat) {
-  mjtNum mat[9] = {0};
-
-  if (order > 0) {
-    mju_defGradient(mat, local, xpos_c, order);
-  } else {
-    // order 0: fallback to identity matrix
-    mat[0] = 1;
-    mat[4] = 1;
-    mat[8] = 1;
-  }
-
-  // find rotation
-  quat[0] = 1;
-  quat[1] = 0;
-  quat[2] = 0;
-  quat[3] = 0;
-  mju_mat2Rot(quat, mat);
-  mju_negQuat(quat, quat);
-}
-
-
-// gather cell-local quantities and optionally compute rotation
-void mju_flexGatherCellState(int order, int cy, int cz, int ci, int cj, int ck,
-                             const mjtNum* xpos_g, const mjtNum* vel_g, const mjtNum* xpos0_g,
-                             mjtNum* xpos_c, mjtNum* vel_c, mjtNum* xpos0_c,
-                             int* nodeindices, mjtNum* quat) {
-  int ny_g = cy * order + 1;
-  int nz_g = cz * order + 1;
-
-  int local = 0;
-  for (int li = 0; li <= order; li++) {
-    for (int lj = 0; lj <= order; lj++) {
-      for (int lk = 0; lk <= order; lk++) {
-        int gi = ci*order + li;
-        int gj = cj*order + lj;
-        int gk = ck*order + lk;
-        int gidx = gi*ny_g*nz_g + gj*nz_g + gk;
-
-        if (xpos_c && xpos_g) mju_copy3(xpos_c + 3*local, xpos_g + 3*gidx);
-        if (vel_c && vel_g) mju_copy3(vel_c + 3*local, vel_g + 3*gidx);
-        if (xpos0_c && xpos0_g) mju_copy3(xpos0_c + 3*local, xpos0_g + 3*gidx);
-        if (nodeindices) nodeindices[local] = gidx;
-
-        local++;
-      }
-    }
-  }
-
-  if (quat && xpos_c) {
-    mjtNum p[3] = {.5, .5, .5};
-    flexInterpRotation(order, xpos_c, p, quat);
-  }
-}
-
-
-// compute corotational rotation from 2D deformation gradient on a flat face
-void mju_flexInterpRotation2D(int order, const mjtNum* xpos_f, int npe,
-                              int axis0, int axis1, int normal_axis,
-                              const mjtNum local[2], mjtNum* quat) {
-  // compute 3x2 deformation gradient F at parametric point local
-  mjtNum t1[3] = {0, 0, 0};  // tangent along axis0
-  mjtNum t2[3] = {0, 0, 0};  // tangent along axis1
-  int idx = 0;
-  for (int l0 = 0; l0 <= order; l0++) {
-    for (int l1 = 0; l1 <= order; l1++) {
-      mjtNum grad0 = dphi(local[0], l0, order) * phi(local[1], l1, order);
-      mjtNum grad1 = phi(local[0], l0, order) * dphi(local[1], l1, order);
-      for (int d = 0; d < 3; d++) {
-        t1[d] += xpos_f[3*idx + d] * grad0;
-        t2[d] += xpos_f[3*idx + d] * grad1;
-      }
-      idx++;
-    }
-  }
-
-  // normal = t1 x t2
-  mjtNum normal[3];
-  mju_cross(normal, t1, t2);
-
-  // build 3x3 matrix with columns assigned to canonical axes (row-major)
-  // axis0 → t1, axis1 → t2, normal_axis → normal
-  // this ensures identity rotation for axis-aligned grids
-  mjtNum mat[9] = {0};
-  mjtNum* vecs[3];
-  vecs[axis0] = t1;
-  vecs[axis1] = t2;
-  vecs[normal_axis] = normal;
-
-  for (int col = 0; col < 3; col++) {
-    mat[0*3 + col] = vecs[col][0];
-    mat[1*3 + col] = vecs[col][1];
-    mat[2*3 + col] = vecs[col][2];
-  }
-
-  // extract rotation via polar decomposition
-  quat[0] = 1;
-  quat[1] = 0;
-  quat[2] = 0;
-  quat[3] = 0;
-  mju_mat2Rot(quat, mat);
-  mju_negQuat(quat, quat);
-}
-
-
-// gather face-element-local quantities and optionally compute rotation (shell mode)
-//
-// face element enumeration for a grid with cell counts (cx, cy, cz):
-//   face 0: x=0     cy*cz quads (normal=0)
-//   face 1: x=max   cy*cz quads (normal=0)
-//   face 2: y=0     cx*cz quads (normal=1)
-//   face 3: y=max   cx*cz quads (normal=1)
-//   face 4: z=0     cx*cy quads (normal=2)
-//   face 5: z=max   cx*cy quads (normal=2)
-void mju_flexGatherFaceState(int order, int cx, int cy, int cz,
-                             int face_elem_idx,
-                             const mjtNum* xpos_g, const mjtNum* vel_g,
-                             const mjtNum* xpos0_g,
-                             mjtNum* xpos_f, mjtNum* vel_f, mjtNum* xpos0_f,
-                             int* nodeindices, mjtNum* quat) {
-  int ny_g = cy * order + 1;
-  int nz_g = cz * order + 1;
-  int npe = (order + 1) * (order + 1);
-
-  // face sizes and properties
-  int face_sizes[6] = {cy*cz, cy*cz, cx*cz, cx*cz, cx*cy, cx*cy};
-  int face_normal[6] = {0, 0, 1, 1, 2, 2};
-  int face_count1[6] = {cz, cz, cx, cx, cy, cy};
-  int face_fixed_vals[6];
-  face_fixed_vals[0] = 0;
-  face_fixed_vals[1] = cx * order;
-  face_fixed_vals[2] = 0;
-  face_fixed_vals[3] = cy * order;
-  face_fixed_vals[4] = 0;
-  face_fixed_vals[5] = cz * order;
-
-  // determine which face and quad within face
-  int face_id = 0;
-  int within_face = face_elem_idx;
-  int cumul = 0;
-  for (int f = 0; f < 6; f++) {
-    if (face_elem_idx < cumul + face_sizes[f]) {
-      face_id = f;
-      within_face = face_elem_idx - cumul;
-      break;
-    }
-    cumul += face_sizes[f];
-  }
-
-  int normal_axis = face_normal[face_id];
-  int na0 = (normal_axis + 1) % 3;  // slow in-plane axis
-  int na1 = (normal_axis + 2) % 3;  // fast in-plane axis
-  int c1 = face_count1[face_id];
-  int g_fixed = face_fixed_vals[face_id];
-  int q0 = within_face / c1;
-  int q1 = within_face % c1;
-
-  // gather nodes
-  int local = 0;
-  for (int l0 = 0; l0 <= order; l0++) {
-    for (int l1 = 0; l1 <= order; l1++) {
-      int g[3];
-      g[normal_axis] = g_fixed;
-      g[na0] = q0 * order + l0;
-      g[na1] = q1 * order + l1;
-      int gidx = g[0] * ny_g * nz_g + g[1] * nz_g + g[2];
-
-      if (xpos_f && xpos_g) mju_copy3(xpos_f + 3*local, xpos_g + 3*gidx);
-      if (vel_f && vel_g) mju_copy3(vel_f + 3*local, vel_g + 3*gidx);
-      if (xpos0_f && xpos0_g) mju_copy3(xpos0_f + 3*local, xpos0_g + 3*gidx);
-      if (nodeindices) nodeindices[local] = gidx;
-
-      local++;
-    }
-  }
-
-  if (quat && xpos_f) {
-    mjtNum p[2] = {.5, .5};
-    mju_flexInterpRotation2D(order, xpos_f, npe, na0, na1, normal_axis, p, quat);
-  }
-}
-
-
-// compute unnormalized surface normal and tangent vectors at a parametric point
-// on a 2D face element; normal = t1 x t2 (unnormalized)
-void mju_flexFaceNormal2D(mjtNum normal[3], mjtNum t1[3], mjtNum t2[3],
-                          int order, const mjtNum* xpos_f,
-                          const mjtNum local[2]) {
-  mju_zero3(t1);
-  mju_zero3(t2);
-  int idx = 0;
-  for (int l0 = 0; l0 <= order; l0++) {
-    for (int l1 = 0; l1 <= order; l1++) {
-      mjtNum grad0 = dphi(local[0], l0, order) *  phi(local[1], l1, order);
-      mjtNum grad1 =  phi(local[0], l0, order) * dphi(local[1], l1, order);
-      for (int d = 0; d < 3; d++) {
-        t1[d] += xpos_f[3*idx + d] * grad0;
-        t2[d] += xpos_f[3*idx + d] * grad1;
-      }
-      idx++;
-    }
-  }
-  mju_cross(normal, t1, t2);
-}
-
-
-// helper: get nodexpos value for node (i,j,k) in an nx*ny*nz grid
-static inline const mjtNum* nodeAt(const mjtNum* nodexpos, int ny, int nz, int i, int j, int k) {
-  return nodexpos + 3*(i*ny*nz + j*nz + k);
-}
-
-// reconstruct interior node positions from boundary nodes via Transfinite Interpolation
-void mju_shellTrackInterior(mjtNum* nodexpos, int nx, int ny, int nz) {
-  // need at least 3 nodes in each direction to have interior nodes
-  if (nx < 3 || ny < 3 || nz < 3) {
-    return;
-  }
-
-  for (int i = 1; i < nx-1; i++) {
-    for (int j = 1; j < ny-1; j++) {
-      for (int k = 1; k < nz-1; k++) {
-        // parametric coordinates in [0, 1]
-        mjtNum s = (mjtNum)i / (nx-1);
-        mjtNum t = (mjtNum)j / (ny-1);
-        mjtNum u = (mjtNum)k / (nz-1);
-
-        mjtNum result[3] = {0, 0, 0};
-
-        // --- face contributions (bilinear interpolation on each face pair) ---
-        // x-faces: i=0 and i=nx-1
-        for (int d = 0; d < 3; d++) {
-          result[d] += (1-s) * nodeAt(nodexpos, ny, nz, 0, j, k)[d]
-                     +    s  * nodeAt(nodexpos, ny, nz, nx-1, j, k)[d];
-        }
-        // y-faces: j=0 and j=ny-1
-        for (int d = 0; d < 3; d++) {
-          result[d] += (1-t) * nodeAt(nodexpos, ny, nz, i, 0, k)[d]
-                     +    t  * nodeAt(nodexpos, ny, nz, i, ny-1, k)[d];
-        }
-        // z-faces: k=0 and k=nz-1
-        for (int d = 0; d < 3; d++) {
-          result[d] += (1-u) * nodeAt(nodexpos, ny, nz, i, j, 0)[d]
-                     +    u  * nodeAt(nodexpos, ny, nz, i, j, nz-1)[d];
-        }
-
-        // --- edge corrections (subtract 12 edges, each linearly interpolated) ---
-        // edges along x (4 edges: (j,k) at corners of y-z face)
-        for (int d = 0; d < 3; d++) {
-          result[d] -= (1-t)*(1-u) * nodeAt(nodexpos, ny, nz, i, 0, 0)[d];
-          result[d] -= (1-t)*   u  * nodeAt(nodexpos, ny, nz, i, 0, nz-1)[d];
-          result[d] -=    t *(1-u) * nodeAt(nodexpos, ny, nz, i, ny-1, 0)[d];
-          result[d] -=    t *   u  * nodeAt(nodexpos, ny, nz, i, ny-1, nz-1)[d];
-        }
-        // edges along y (4 edges: (i,k) at corners of x-z face)
-        for (int d = 0; d < 3; d++) {
-          result[d] -= (1-s)*(1-u) * nodeAt(nodexpos, ny, nz, 0, j, 0)[d];
-          result[d] -= (1-s)*   u  * nodeAt(nodexpos, ny, nz, 0, j, nz-1)[d];
-          result[d] -=    s *(1-u) * nodeAt(nodexpos, ny, nz, nx-1, j, 0)[d];
-          result[d] -=    s *   u  * nodeAt(nodexpos, ny, nz, nx-1, j, nz-1)[d];
-        }
-        // edges along z (4 edges: (i,j) at corners of x-y face)
-        for (int d = 0; d < 3; d++) {
-          result[d] -= (1-s)*(1-t) * nodeAt(nodexpos, ny, nz, 0, 0, k)[d];
-          result[d] -= (1-s)*   t  * nodeAt(nodexpos, ny, nz, 0, ny-1, k)[d];
-          result[d] -=    s *(1-t) * nodeAt(nodexpos, ny, nz, nx-1, 0, k)[d];
-          result[d] -=    s *   t  * nodeAt(nodexpos, ny, nz, nx-1, ny-1, k)[d];
-        }
-
-        // --- corner corrections (add 8 corners back) ---
-        for (int d = 0; d < 3; d++) {
-          result[d] += (1-s)*(1-t)*(1-u) * nodeAt(nodexpos, ny, nz, 0, 0, 0)[d];
-          result[d] += (1-s)*(1-t)*   u  * nodeAt(nodexpos, ny, nz, 0, 0, nz-1)[d];
-          result[d] += (1-s)*   t *(1-u) * nodeAt(nodexpos, ny, nz, 0, ny-1, 0)[d];
-          result[d] += (1-s)*   t *   u  * nodeAt(nodexpos, ny, nz, 0, ny-1, nz-1)[d];
-          result[d] +=    s *(1-t)*(1-u) * nodeAt(nodexpos, ny, nz, nx-1, 0, 0)[d];
-          result[d] +=    s *(1-t)*   u  * nodeAt(nodexpos, ny, nz, nx-1, 0, nz-1)[d];
-          result[d] +=    s *   t *(1-u) * nodeAt(nodexpos, ny, nz, nx-1, ny-1, 0)[d];
-          result[d] +=    s *   t *   u  * nodeAt(nodexpos, ny, nz, nx-1, ny-1, nz-1)[d];
-        }
-
-        // write result to interior node
-        mju_copy3(nodexpos + 3*(i*ny*nz + j*nz + k), result);
-      }
-    }
-  }
-}
-
-
-// helper to accumulate weights in a sparse list
-static void addWeight(int* nb, int* body, mjtNum* bweight, int b, mjtNum w) {
-  for (int i = 0; i < *nb; i++) {
-    if (body[i] == b) {
-      if (bweight) {
-        bweight[i] += w;
-      }
-      return;
-    }
-  }
-  body[*nb] = b;
-  if (bweight) {
-    bweight[*nb] = w;
-  }
-  (*nb)++;
-}
-
-// compute TFI weights for an interior node (i,j,k) and distribute to boundary nodes
-void mju_shellTFIWeights(int nx, int ny, int nz, int i, int j, int k,
-                         mjtNum w, int* nb, int* body, mjtNum* bweight,
-                         const int* nodebodyid, int nstart) {
-  mjtNum s = (mjtNum)i / (nx-1);
-  mjtNum t = (mjtNum)j / (ny-1);
-  mjtNum u = (mjtNum)k / (nz-1);
-
-  // face contributions
-  addWeight(nb, body, bweight, nodebodyid[nstart + 0*ny*nz + j*nz + k], w * (1-s));
-  addWeight(nb, body, bweight, nodebodyid[nstart + (nx-1)*ny*nz + j*nz + k], w * s);
-
-  addWeight(nb, body, bweight, nodebodyid[nstart + i*ny*nz + 0*nz + k], w * (1-t));
-  addWeight(nb, body, bweight, nodebodyid[nstart + i*ny*nz + (ny-1)*nz + k], w * t);
-
-  addWeight(nb, body, bweight, nodebodyid[nstart + i*ny*nz + j*nz + 0], w * (1-u));
-  addWeight(nb, body, bweight, nodebodyid[nstart + i*ny*nz + j*nz + (nz-1)], w * u);
-
-  // edge corrections
-  addWeight(nb, body, bweight, nodebodyid[nstart + i*ny*nz + 0*nz + 0], -w * (1-t)*(1-u));
-  addWeight(nb, body, bweight, nodebodyid[nstart + i*ny*nz + 0*nz + (nz-1)], -w * (1-t)*u);
-  addWeight(nb, body, bweight, nodebodyid[nstart + i*ny*nz + (ny-1)*nz + 0], -w * t*(1-u));
-  addWeight(nb, body, bweight, nodebodyid[nstart + i*ny*nz + (ny-1)*nz + (nz-1)], -w * t*u);
-
-  addWeight(nb, body, bweight, nodebodyid[nstart + 0*ny*nz + j*nz + 0], -w * (1-s)*(1-u));
-  addWeight(nb, body, bweight, nodebodyid[nstart + 0*ny*nz + j*nz + (nz-1)], -w * (1-s)*u);
-  addWeight(nb, body, bweight, nodebodyid[nstart + (nx-1)*ny*nz + j*nz + 0], -w * s*(1-u));
-  addWeight(nb, body, bweight, nodebodyid[nstart + (nx-1)*ny*nz + j*nz + (nz-1)], -w * s*u);
-
-  addWeight(nb, body, bweight, nodebodyid[nstart + 0*ny*nz + 0*nz + k], -w * (1-s)*(1-t));
-  addWeight(nb, body, bweight, nodebodyid[nstart + 0*ny*nz + (ny-1)*nz + k], -w * (1-s)*t);
-  addWeight(nb, body, bweight, nodebodyid[nstart + (nx-1)*ny*nz + 0*nz + k], -w * s*(1-t));
-  addWeight(nb, body, bweight, nodebodyid[nstart + (nx-1)*ny*nz + (ny-1)*nz + k], -w * s*t);
-
-  // corner corrections
-  addWeight(nb, body, bweight, nodebodyid[nstart + 0*ny*nz + 0*nz + 0], w * (1-s)*(1-t)*(1-u));
-  addWeight(nb, body, bweight, nodebodyid[nstart + 0*ny*nz + 0*nz + (nz-1)], w * (1-s)*(1-t)*u);
-  addWeight(nb, body, bweight, nodebodyid[nstart + 0*ny*nz + (ny-1)*nz + 0], w * (1-s)*t*(1-u));
-  addWeight(nb, body, bweight, nodebodyid[nstart + 0*ny*nz + (ny-1)*nz + (nz-1)], w * (1-s)*t*u);
-  addWeight(nb, body, bweight, nodebodyid[nstart + (nx-1)*ny*nz + 0*nz + 0], w * s*(1-t)*(1-u));
-  addWeight(nb, body, bweight, nodebodyid[nstart + (nx-1)*ny*nz + 0*nz + (nz-1)], w * s*(1-t)*u);
-  addWeight(nb, body, bweight, nodebodyid[nstart + (nx-1)*ny*nz + (ny-1)*nz + 0], w * s*t*(1-u));
-  addWeight(nb, body, bweight, nodebodyid[nstart + (nx-1)*ny*nz + (ny-1)*nz + (nz-1)], w * s*t*u);
-}
-
-
-//------------------------------ actuator models ---------------------------------------------------
-
-// normalized muscle length-gain curve
-mjtNum mju_muscleGainLength(mjtNum length, mjtNum lmin, mjtNum lmax) {
-  if (lmin <= length && length <= lmax) {
-    // mid-ranges (maximum is at 1.0)
-    mjtNum a = 0.5*(lmin+1);
-    mjtNum b = 0.5*(1+lmax);
-
-    if (length <= a) {
-      mjtNum x = (length-lmin) / mjMAX(mjMINVAL, a-lmin);
-      return 0.5*x*x;
-    } else if (length <= 1) {
-      mjtNum x = (1-length) / mjMAX(mjMINVAL, 1-a);
-      return 1 - 0.5*x*x;
-    } else if (length <= b) {
-      mjtNum x = (length-1) / mjMAX(mjMINVAL, b-1);
-      return 1 - 0.5*x*x;
-    } else {
-      mjtNum x = (lmax-length) / mjMAX(mjMINVAL, lmax-b);
-      return 0.5*x*x;
-    }
-  }
-
-  return 0.0;
-}
-
-
-// muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax)
-mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
-                      mjtNum acc0, const mjtNum prm[9]) {
-  // unpack parameters
-  mjtNum range[2] = {prm[0], prm[1]};
-  mjtNum force    = prm[2];
-  mjtNum scale    = prm[3];
-  mjtNum lmin     = prm[4];
-  mjtNum lmax     = prm[5];
-  mjtNum vmax     = prm[6];
-  mjtNum fvmax    = prm[8];
-
-  // scale force if negative
-  if (force < 0) {
-    force = scale / mjMAX(mjMINVAL, acc0);
-  }
-
-  // optimum length
-  mjtNum L0 = (lengthrange[1]-lengthrange[0]) / mjMAX(mjMINVAL, range[1]-range[0]);
-
-  // normalized length and velocity
-  mjtNum L = range[0] + (len-lengthrange[0]) / mjMAX(mjMINVAL, L0);
-  mjtNum V = vel / mjMAX(mjMINVAL, L0*vmax);
-
-  // length curve
-  mjtNum FL = mju_muscleGainLength(L, lmin, lmax);
-
-  // velocity curve
-  mjtNum FV;
-  mjtNum y = fvmax-1;
-  if (V <= -1) {
-    FV = 0;
-  } else if (V <= 0) {
-    FV = (V+1)*(V+1);
-  } else if (V <= y) {
-    FV = fvmax - (y-V)*(y-V) / mjMAX(mjMINVAL, y);
-  } else {
-    FV = fvmax;
-  }
-
-  // compute FVL and scale, make it negative
-  return -force*FL*FV;
-}
-
-
-// muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax)
-mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
-                      mjtNum acc0, const mjtNum prm[9]) {
-  // unpack parameters
-  mjtNum range[2] = {prm[0], prm[1]};
-  mjtNum force    = prm[2];
-  mjtNum scale    = prm[3];
-  mjtNum lmax     = prm[5];
-  mjtNum fpmax    = prm[7];
-
-  // scale force if negative
-  if (force < 0) {
-    force = scale / mjMAX(mjMINVAL, acc0);
-  }
-
-  // optimum length
-  mjtNum L0 = (lengthrange[1]-lengthrange[0]) / mjMAX(mjMINVAL, range[1]-range[0]);
-
-  // normalized length
-  mjtNum L = range[0] + (len-lengthrange[0]) / mjMAX(mjMINVAL, L0);
-
-  // half-quadratic to (L0+lmax)/2, linear beyond
-  mjtNum b = 0.5*(1+lmax);
-  if (L <= 1) {
-    return 0;
-  } else if (L <= b) {
-    mjtNum x = (L-1) / mjMAX(mjMINVAL, b-1);
-    return -force*fpmax*0.5*x*x;
-  } else {
-    mjtNum x = (L-b) / mjMAX(mjMINVAL, b-1);
-    return -force*fpmax*(0.5 + x);
-  }
-}
-
-
-// muscle time constant with optional smoothing
-mjtNum mju_muscleDynamicsTimescale(mjtNum dctrl, mjtNum tau_act, mjtNum tau_deact,
-                                   mjtNum smoothing_width) {
-  mjtNum tau;
-
-  // hard switching
-  if (smoothing_width < mjMINVAL) {
-    tau = dctrl > 0 ? tau_act : tau_deact;
-  }
-
-  // smooth switching
-  else {
-    // scale by width, center around 0.5 midpoint, rescale to bounds
-    tau = tau_deact + (tau_act-tau_deact)*mju_sigmoid(dctrl/smoothing_width + 0.5);
-  }
-  return tau;
-}
-
-
-// muscle activation dynamics, prm = (tau_act, tau_deact, smoothing_width)
-mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]) {
-  // clamp control
-  mjtNum ctrlclamp = mju_clip(ctrl, 0, 1);
-
-  // clamp activation
-  mjtNum actclamp = mju_clip(act, 0, 1);
-
-  // compute timescales as in Millard et al. (2013) https://doi.org/10.1115/1.4023390
-  mjtNum tau_act = prm[0] * (0.5 + 1.5*actclamp);    // activation timescale
-  mjtNum tau_deact = prm[1] / (0.5 + 1.5*actclamp);  // deactivation timescale
-  mjtNum smoothing_width = prm[2];                   // width of smoothing sigmoid
-  mjtNum dctrl = ctrlclamp - act;                    // excess excitation
-
-  mjtNum tau = mju_muscleDynamicsTimescale(dctrl, tau_act, tau_deact, smoothing_width);
-
-  // filter output
-  return dctrl / mjMAX(mjMINVAL, tau);
-}
-
-
-// LuGre Stribeck function: g(v) = F_C + (F_S - F_C) * exp(-(v/v_S)^2)
-mjtNum mj_lugreStribeck(mjtNum velocity, mjtNum F_C, mjtNum F_S, mjtNum v_S) {
-  mjtNum ratio = velocity / mju_max(mjMINVAL, v_S);
-  return F_C + (F_S - F_C) * mju_exp(-ratio*ratio);
-}
-
-
-// compute DC motor activation slot indices from parameter arrays
-mjDCMotorSlots mj_dcmotorSlots(const mjtNum* dynprm, const mjtNum* gainprm) {
-  mjDCMotorSlots s = {-1, -1, -1, -1, -1, 0};
-  if (dynprm[7] > 0)  s.slew        = s.num_slots++;  // slew rate limiting
-  if (gainprm[5] > 0) s.integral    = s.num_slots++;  // PI integral
-  if (dynprm[2] > 0)  s.temperature = s.num_slots++;  // thermal model
-  if (dynprm[5] > 0)  s.bristle     = s.num_slots++;  // LuGre bristle
-  if (dynprm[0] > 0)  s.current     = s.num_slots++;  // current filter
-
-  return s;
-}
-
-
-//---------------------------------------- Base64 --------------------------------------------------
-
-// decoding function for Base64
-static uint32_t _decode(char ch) {
-  if (ch >= 'A' && ch <= 'Z') {
-    return ch - 'A';
-  }
-
-  if (ch >= 'a' && ch <= 'z') {
-    return (ch - 'a') + 26;
-  }
-
-  if (ch >= '0' && ch <= '9') {
-    return (ch - '0') + 52;
-  }
-
-  if (ch == '+') {
-    return 62;
-  }
-
-  if (ch == '/') {
-    return 63;
-  }
-
-  return 0;
-}
-
-
-// encode data as Base64 into buf (including padding and null char)
-// returns number of chars written in buf: 4 * [(ndata + 2) / 3] + 1
-size_t mju_encodeBase64(char* buf, const uint8_t* data, size_t ndata) {
-  static const char *table =
-    "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/";
-
-  int i = 0, j = 0;
-
-  // loop over 24 bit chunks
-  while (i + 3 <= ndata) {
-    // take next 24 bit chunk (3 bytes)
-    uint32_t byte_1 = data[i++];
-    uint32_t byte_2 = data[i++];
-    uint32_t byte_3 = data[i++];
-
-    // merge bytes into one 32 bit int
-    uint32_t k = (byte_1 << 16) | (byte_2 << 8) | byte_3;
-
-    // encode 6 bit chucks into four chars
-    buf[j++] = table[(k >> 18) & 63];
-    buf[j++] = table[(k >> 12) & 63];
-    buf[j++] = table[(k >>  6) & 63];
-    buf[j++] = table[(k >>  0) & 63];
-  }
-
-  // one byte left
-  if (i + 1 == ndata) {
-    uint32_t byte_1 = data[i];
-    uint32_t k = byte_1 << 16;
-    buf[j++] = table[(k >> 18) & 63];
-    buf[j++] = table[(k >> 12) & 63];
-    buf[j++] = '=';  // padding
-    buf[j++] = '=';  // padding
-  }
-
-  // two bytes left
-  if (i + 2 == ndata) {
-    uint32_t byte_1 = data[i++];
-    uint32_t byte_2 = data[i];
-
-    uint32_t k = (byte_1 << 16) + (byte_2 << 8);
-
-    buf[j++] = table[(k >> 18) & 63];
-    buf[j++] = table[(k >> 12) & 63];
-    buf[j++] = table[(k >>  6) & 63];
-    buf[j++] = '=';  // padding
-  }
-
-  buf[j] = '\0';
-  return 4 * ((ndata + 2) / 3) + 1;
-}
-
-
-// return size in decoded bytes if s is a valid Base64 encoding
-// return 0 if s is empty or invalid Base64 encoding
-size_t mju_isValidBase64(const char* s) {
-  size_t i = 0;
-  int pad = 0;  // 0, 1, or 2 zero padding at the end of s
-
-  // validate chars
-  for (; s[i] && s[i] != '='; i++) {
-    if (!isalnum(s[i]) && s[i] != '/' && s[i] != '+') {
-      return 0;
-    }
-  }
-
-  // padding at end
-  if (s[i] == '=') {
-    if (!s[i + 1]) {
-      pad = 1;  // one '=' padding at end
-    } else if (s[i + 1] == '=' && !s[i + 2]) {
-      pad = 2;  // two '=' padding at end
-    } else {
-      return 0;
-    }
-  }
-
-  // strlen(s) must be a multiple of 4
-  int len = i + pad;
-  return len % 4 ? 0 : 3 * (len / 4) - pad;
-}
-
-
-// decode valid Base64 in string s into buf, undefined behavior if s is not valid Base64
-// returns number of bytes decoded (upper limit of 3 * (strlen(s) / 4))
-size_t mju_decodeBase64(uint8_t* buf, const char* s) {
-  size_t i = 0, j = 0;
-
-  // loop over 24 bit chunks
-  while (s[i] != '\0') {
-    // take next 24 bit chuck (4 chars; 6 bits each)
-    uint32_t char_1 = _decode(s[i++]);
-    uint32_t char_2 = _decode(s[i++]);
-    uint32_t char_3 = _decode(s[i++]);
-    uint32_t char_4 = _decode(s[i++]);
-
-    // merge into 32 bit int
-    uint32_t k = (char_1 << 18) | (char_2 << 12) | (char_3 << 6) | char_4;
-
-
-    // write up to three bytes (exclude padding at end)
-    buf[j++] = (k >> 16) & 0xFF;
-    if (s[i - 2] != '=') {
-      buf[j++] = (k >> 8) & 0xFF;
-    }
-    if (s[i - 1] != '=') {
-      buf[j++] =  k & 0xFF;
-    }
-  }
-  return j;
-}
-
-
-//------------------------------ history buffers ---------------------------------------------------
-
-// convert logical index (0=oldest, n-1=newest) to physical index
-// cursor points to the newest element (logical index n-1)
-static inline int historyPhysicalIndex(int cursor, int n, int logical) {
-  return (cursor + 1 + logical) % n;
-}
-
-
-// find logical index i such that times[i-1] < t <= times[i], using circular binary search
-// returns 0 if t <= times[oldest], n if t > times[newest]
-// cursor points to the newest element (logical index n-1)
-static int historyFindIndex(const mjtNum* times, int n, int cursor, mjtNum t) {
-  // get oldest and newest timestamps
-  int oldest_phys = historyPhysicalIndex(cursor, n, 0);
-  int newest_phys = historyPhysicalIndex(cursor, n, n-1);
-  mjtNum t_oldest = times[oldest_phys];
-  mjtNum t_newest = times[newest_phys];
-
-  // before or at first element
-  if (t <= t_oldest) {
-    return 0;
-  }
-
-  // after last element
-  if (t > t_newest) {
-    return n;
-  }
-
-  // circular binary search: find smallest logical i such that times[phys(i)] >= t
-  int lo = 0;
-  int hi = n - 1;
-  while (hi - lo > 1) {
-    int mid = (lo + hi) / 2;
-    int mid_phys = historyPhysicalIndex(cursor, n, mid);
-    if (times[mid_phys] < t) {
-      lo = mid;
-    } else {
-      hi = mid;
-    }
-  }
-
-  return hi;
-}
-
-
-// initialize history buffer with given times and values; times must be strictly increasing
-// buffer layout: [user(1), cursor(1), times(n), values(n*dim)]
-void mju_historyInit(mjtNum* buf, int n, int dim, const mjtNum* times, const mjtNum* values,
-                     mjtNum user) {
-  // check strict monotonicity of times
-  for (int i = 0; i < n-1; i++) {
-    if (times[i+1] - times[i] < mjMINVAL) {
-      mjERROR("times must be strictly increasing, got times[%d]=%g >= times[%d]=%g",
-              i, times[i], i+1, times[i+1]);
-    }
-  }
-
-  // buf layout: [user(1), cursor(1), times(n), values(n*dim)]
-  buf[0] = user;           // user value
-  buf[1] = (mjtNum)(n-1);  // cursor points to newest (logical index n-1 = physical index n-1)
-
-  mjtNum* buf_times = buf + 2;
-  mjtNum* buf_values = buf + 2 + n;
-
-  if (times != buf_times) mju_copy(buf_times, times, n);
-  if (values) mju_copy(buf_values, values, n*dim);
-}
-
-
-// find insertion slot for time t, maintaining sorted order
-// if t matches an existing timestamp, returns pointer to that slot
-// if a new sample is inserted, the oldest sample is dropped
-// returns pointer to value slot where caller should write dim values
-mjtNum* mju_historyInsert(mjtNum* buf, int n, int dim, mjtNum t) {
-  int cursor = (int)buf[1];
-  mjtNum* times = buf + 2;
-  mjtNum* values = buf + 2 + n;
-
-  // find logical insertion index: times[i-1] < t <= times[i]
-  int i = historyFindIndex(times, n, cursor, t);
-
-  // exact match at logical i: return pointer to existing slot
-  if (i < n) {
-    int phys_i = historyPhysicalIndex(cursor, n, i);
-    if (mju_abs(t - times[phys_i]) < mjMINVAL) {
-      return values + phys_i*dim;
-    }
-  }
-
-  // logical i == 0: new sample is older than oldest, replace oldest slot
-  if (i == 0) {
-    int oldest_phys = historyPhysicalIndex(cursor, n, 0);
-    times[oldest_phys] = t;
-    return values + oldest_phys*dim;
-  }
-
-  // logical i == n: new sample is newer than newest, advance cursor and write
-  if (i == n) {
-    cursor = (cursor + 1) % n;
-    buf[1] = (mjtNum)cursor;
-
-    // cursor now points to the new newest slot (which was the old oldest)
-    times[cursor] = t;
-    return values + cursor*dim;
-  }
-
-  // 0 < i < n: out-of-order insertion, shift [1, i-1] left (dropping 0), insert at i-1
-  for (int j = 0; j < i-1; j++) {
-    int src_phys = historyPhysicalIndex(cursor, n, j+1);
-    int dst_phys = historyPhysicalIndex(cursor, n, j);
-    times[dst_phys] = times[src_phys];
-    mju_copy(values + dst_phys*dim, values + src_phys*dim, dim);
-  }
-  int insert_phys = historyPhysicalIndex(cursor, n, i-1);
-  times[insert_phys] = t;
-  return values + insert_phys*dim;
-}
-
-
-// read vector value at time t; interp: 0=zero-order-hold, 1=linear, 2=cubic spline
-// returns pointer to sample in buffer on exact match or ZOH (res untouched)
-// returns NULL and writes interpolated result to res on interpolation
-const mjtNum* mju_historyRead(const mjtNum* buf, int n, int dim, mjtNum* res, mjtNum t, int interp) {
-  int cursor = (int)buf[1];
-  const mjtNum* times = buf + 2;
-  const mjtNum* values = buf + 2 + n;
-
-  int oldest_phys = historyPhysicalIndex(cursor, n, 0);
-  int newest_phys = historyPhysicalIndex(cursor, n, n-1);
-  mjtNum t_oldest = times[oldest_phys];
-  mjtNum t_newest = times[newest_phys];
-
-  // extrapolate before oldest: return pointer to oldest value
-  if (t <= t_oldest + mjMINVAL) {
-    return values + oldest_phys*dim;
-  }
-
-  // extrapolate after newest: return pointer to newest value
-  if (t >= t_newest - mjMINVAL) {
-    return values + newest_phys*dim;
-  }
-
-  // find bracketing logical index: times[i-1] < t <= times[i]
-  int i = historyFindIndex(times, n, cursor, t);
-  int phys_i = historyPhysicalIndex(cursor, n, i);
-
-  // check for exact match at i
-  if (mju_abs(t - times[phys_i]) < mjMINVAL) {
-    return values + phys_i*dim;
-  }
-
-  // lo = i-1, hi = i (we know i > 0 because t > t_oldest)
-  int phys_lo = historyPhysicalIndex(cursor, n, i-1);
-  int phys_hi = phys_i;
-
-  // zero-order hold: return pointer to lo (most recent sample <= t)
-  if (interp == 0) {
-    return values + phys_lo*dim;
-  }
-
-  mjtNum dt = times[phys_hi] - times[phys_lo];
-  mjtNum alpha = (t - times[phys_lo]) / dt;
-
-  // piecewise linear interpolation
-  if (interp == 1) {
-    for (int d = 0; d < dim; d++) {
-      res[d] = values[phys_lo*dim+d] + alpha * (values[phys_hi*dim+d] - values[phys_lo*dim+d]);
-    }
-  }
-
-  // cubic spline interpolation
-  else {
-    // Hermite basis functions
-    mjtNum alpha2 = alpha * alpha;
-    mjtNum alpha3 = alpha2 * alpha;
-    mjtNum h00 = 2*alpha3 - 3*alpha2 + 1;
-    mjtNum h10 = alpha3 - 2*alpha2 + alpha;
-    mjtNum h01 = -2*alpha3 + 3*alpha2;
-    mjtNum h11 = alpha3 - alpha2;
-
-    for (int d = 0; d < dim; d++) {
-      // finite differenced catmull-rom slopes, 0 at endpoints (constant extrapolation)
-
-      mjtNum m_lo = 0;
-      if (i > 1) {
-        int phys_lo_prev = historyPhysicalIndex(cursor, n, i-2);
-        mjtNum dt_lo = times[phys_hi] - times[phys_lo_prev];
-        m_lo = (values[phys_hi*dim+d] - values[phys_lo_prev*dim+d]) / dt_lo;
-      }
-
-      mjtNum m_hi = 0;
-      if (i < n - 1) {
-        int phys_hi_next = historyPhysicalIndex(cursor, n, i+1);
-        mjtNum dt_hi = times[phys_hi_next] - times[phys_lo];
-        m_hi = (values[phys_hi_next*dim+d] - values[phys_lo*dim+d]) / dt_hi;
-      }
-
-      res[d] = h00 * values[phys_lo*dim+d] +
-               h10 * dt * m_lo +
-               h01 * values[phys_hi*dim+d] +
-               h11 * dt * m_hi;
-    }
-  }
-
-  return NULL;
-}
-
-
-//------------------------------ miscellaneous -----------------------------------------------------
-
-// convert contact force to pyramid representation
-// the pyramid frame is: V0_i = N + mu_i*T_i
-//                       V1_i = N - mu_i*T_i
-void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force, const mjtNum* mu, int dim) {
-  mjtNum a = force[0]/(dim-1), b;
-
-  // arbitrary redundancy resolution:
-  //  pyramid0_i + pyramid1_i = force_normal/(dim-1) = a
-  //  pyramid0_i - pyramid1_i = force_tangent_i/mu_i = b
-  for (int i=0; i < dim-1; i++) {
-    b = mju_min(a, force[i+1]/mu[i]);
-    pyramid[2*i] = 0.5*(a+b);
-    pyramid[2*i+1] = 0.5*(a-b);
-  }
-}
-
-
-// convert pyramid representation to contact force
-void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid, const mjtNum* mu, int dim) {
-  // special handling of frictionless contacts
-  if (dim == 1) {
-    force[0] = pyramid[0];
-    return;
-  }
-
-  // force_normal = sum(pyramid0_i + pyramid1_i)
-  force[0] = 0;
-  for (int i=0; i < 2*(dim-1); i++) {
-    force[0] += pyramid[i];
-  }
-
-  // force_tangent_i = (pyramid0_i - pyramid1_i) * mu_i
-  for (int i=0; i < dim-1; i++) {
-    force[i+1] = (pyramid[2*i] - pyramid[2*i+1]) * mu[i];
-  }
-}
-
-
-// integrate spring-damper analytically, return pos(t)
-mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum k, mjtNum b, mjtNum t) {
-  mjtNum det, c1, c2, r1, r2, w;
-
-  // determinant of characteristic equation
-  det = b*b - 4*k;
-
-  // overdamping
-  //  pos(t) = c1*exp(r1*t) + c2*exp(r2*t);  r12 = (-b +- sqrt(det))/2
-  if (det > mjMINVAL) {
-    // compute w = sqrt(det)/2
-    w = mju_sqrt(det)/2;
-
-    // compute r1,r2
-    r1 = -b/2 + w;
-    r2 = -b/2 - w;
-
-    // compute coefficients
-    c1 = (pos0*r2-vel0) / (r2-r1);
-    c2 = (pos0*r1-vel0) / (r1-r2);
-
-    // evaluate result
-    return c1*mju_exp(r1*t) + c2*mju_exp(r2*t);
-  }
-
-  // critical damping
-  //  pos(t) = exp(-b*t/2) * (c1 + c2*t)
-  else if (det <= mjMINVAL && det >= -mjMINVAL) {
-    // compute coefficients
-    c1 = pos0;
-    c2 = vel0 + b*c1/2;
-
-    // evaluate result
-    return mju_exp(-b*t/2) * (c1 + c2*t);
-  }
-
-  // underdamping
-  //  pos(t) = exp(-b*t/2) * (c1*cos(w*t) + c2*sin(w*t));  w = sqrt(abs(det))/2
-  else {
-    // compute w
-    w = mju_sqrt(mju_abs(det))/2;
-
-    // compute coefficients
-    c1 = pos0;
-    c2 = (vel0 + b*c1/2)/w;
-
-    // evaluate result
-    return mju_exp(-b*t/2) * (c1*mju_cos(w*t) + c2*mju_sin(w*t));
-  }
-}
-
-
-// return 1 if point is outside box given by pos, mat, size * inflate
-// return -1 if point is inside box given by pos, mat, size / inflate
-// return 0 if point is between the inflated and deflated boxes
-int mju_outsideBox(const mjtNum point[3], const mjtNum pos[3], const mjtNum mat[9],
-                   const mjtNum size[3], mjtNum inflate) {
-  // check inflation coefficient
-  if (inflate < 1) {
-    mjERROR("inflation coefficient must be >= 1")
-  }
-
-  // vector from pos to point, projected to box frame
-  mjtNum vec[3] = {point[0]-pos[0], point[1]-pos[1], point[2]-pos[2]};
-  mju_mulMatTVec3(vec, mat, vec);
-
-  // big: inflated box
-  mjtNum big[3] = {size[0], size[1], size[2]};
-  if (inflate > 1) {
-    mju_scl3(big, big, inflate);
-  }
-
-  // check if outside big box
-  if (vec[0] > big[0] || vec[0] < -big[0] ||
-      vec[1] > big[1] || vec[1] < -big[1] ||
-      vec[2] > big[2] || vec[2] < -big[2]) {
-    return 1;
-  }
-
-  // quick return if no inflation
-  if (inflate == 1) {
-    return -1;
-  }
-
-  // check if inside small (deflated) box
-  mjtNum small[3] = {size[0]/inflate, size[1]/inflate, size[2]/inflate};
-  if (vec[0] < small[0] && vec[0] > -small[0] &&
-      vec[1] < small[1] && vec[1] > -small[1] &&
-      vec[2] < small[2] && vec[2] > -small[2]) {
-    return -1;
-  }
-
-  // within margin between small and big box
-  return 0;
-}
-
-
-// print matrix to screen
-void mju_printMat(const mjtNum* mat, int nr, int nc) {
-  for (int r=0; r < nr; r++) {
-    for (int c=0; c < nc; c++) {
-      printf("%.8f ", mat[r*nc+c]);
-    }
-    printf("\n");
-  }
-  printf("\n");
-}
-
-
-// print sparse matrix to screen
-void mju_printMatSparse(const mjtNum* mat, int nr,
-                        const int* rownnz, const int* rowadr,
-                        const int* colind) {
-  for (int r=0; r < nr; r++) {
-    for (int adr=rowadr[r]; adr < rowadr[r]+rownnz[r]; adr++) {
-      printf("(%d %d): %9.6f  ", r, colind[adr], mat[adr]);
-    }
-    printf("\n");
-  }
-  printf("\n");
-}
-
-
-// min function, avoid re-evaluation
-mjtNum mju_min(mjtNum a, mjtNum b) {
-  return a <= b ? a : b;
-}
-
-
-// max function, avoid re-evaluation
-mjtNum mju_max(mjtNum a, mjtNum b) {
-  return a >= b ? a : b;
-}
-
-
-// clip x to the range [min, max]
-mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max) {
-  return x < min ? min : (x > max ? max : x);
-}
-
-
-// sign function
-mjtNum mju_sign(mjtNum x) {
-  return (x > 0.0) - (x < 0.0);
-}
-
-
-// round to nearest integer
-int mju_round(mjtNum x) {
-  double d = (double)x;
-  if (d > INT_MAX) return INT_MAX;
-  if (d < INT_MIN) return INT_MIN;
-  return (int)round(d);
-}
-
-
-// convert type id to type name
-const char* mju_type2Str(int type) {
-  switch ((mjtObj) type) {
-  case mjOBJ_BODY:
-    return "body";
-
-  case mjOBJ_XBODY:
-    return "xbody";
-
-  case mjOBJ_JOINT:
-    return "joint";
-
-  case mjOBJ_DOF:
-    return "dof";
-
-  case mjOBJ_GEOM:
-    return "geom";
-
-  case mjOBJ_SITE:
-    return "site";
-
-  case mjOBJ_CAMERA:
-    return "camera";
-
-  case mjOBJ_LIGHT:
-    return "light";
-
-  case mjOBJ_FLEX:
-    return "flex";
-
-  case mjOBJ_MESH:
-    return "mesh";
-
-  case mjOBJ_SKIN:
-    return "skin";
-
-  case mjOBJ_HFIELD:
-    return "hfield";
-
-  case mjOBJ_TEXTURE:
-    return "texture";
-
-  case mjOBJ_MATERIAL:
-    return "material";
-
-  case mjOBJ_PAIR:
-    return "pair";
-
-  case mjOBJ_EXCLUDE:
-    return "exclude";
-
-  case mjOBJ_EQUALITY:
-    return "equality";
-
-  case mjOBJ_TENDON:
-    return "tendon";
-
-  case mjOBJ_ACTUATOR:
-    return "actuator";
-
-  case mjOBJ_SENSOR:
-    return "sensor";
-
-  case mjOBJ_NUMERIC:
-    return "numeric";
-
-  case mjOBJ_TEXT:
-    return "text";
-
-  case mjOBJ_TUPLE:
-    return "tuple";
-
-  case mjOBJ_KEY:
-    return "key";
-
-  case mjOBJ_PLUGIN:
-    return "plugin";
-
-  case mjOBJ_FRAME:
-    return "frame";
-
-  default:
-    return 0;
-  }
-}
-
-
-// convert type id to type name
-int mju_str2Type(const char* str) {
-  if (!strcmp(str, "body")) {
-    return mjOBJ_BODY;
-  }
-
-  else if (!strcmp(str, "xbody")) {
-    return mjOBJ_XBODY;
-  }
-
-  else if (!strcmp(str, "joint")) {
-    return mjOBJ_JOINT;
-  }
-
-  else if (!strcmp(str, "dof")) {
-    return mjOBJ_DOF;
-  }
-
-  else if (!strcmp(str, "geom")) {
-    return mjOBJ_GEOM;
-  }
-
-  else if (!strcmp(str, "site")) {
-    return mjOBJ_SITE;
-  }
-
-  else if (!strcmp(str, "camera")) {
-    return mjOBJ_CAMERA;
-  }
-
-  else if (!strcmp(str, "light")) {
-    return mjOBJ_LIGHT;
-  }
-
-  else if (!strcmp(str, "flex")) {
-    return mjOBJ_FLEX;
-  }
-
-  else if (!strcmp(str, "mesh")) {
-    return mjOBJ_MESH;
-  }
-
-  else if (!strcmp(str, "skin")) {
-    return mjOBJ_SKIN;
-  }
-
-  else if (!strcmp(str, "hfield")) {
-    return mjOBJ_HFIELD;
-  }
-
-  else if (!strcmp(str, "texture")) {
-    return mjOBJ_TEXTURE;
-  }
-
-  else if (!strcmp(str, "material")) {
-    return mjOBJ_MATERIAL;
-  }
-
-  else if (!strcmp(str, "pair")) {
-    return mjOBJ_PAIR;
-  }
-
-  else if (!strcmp(str, "exclude")) {
-    return mjOBJ_EXCLUDE;
-  }
-
-  else if (!strcmp(str, "equality")) {
-    return mjOBJ_EQUALITY;
-  }
-
-  else if (!strcmp(str, "tendon")) {
-    return mjOBJ_TENDON;
-  }
-
-  else if (!strcmp(str, "actuator")) {
-    return mjOBJ_ACTUATOR;
-  }
-
-  else if (!strcmp(str, "sensor")) {
-    return mjOBJ_SENSOR;
-  }
-
-  else if (!strcmp(str, "numeric")) {
-    return mjOBJ_NUMERIC;
-  }
-
-  else if (!strcmp(str, "text")) {
-    return mjOBJ_TEXT;
-  }
-
-  else if (!strcmp(str, "tuple")) {
-    return mjOBJ_TUPLE;
-  }
-
-  else if (!strcmp(str, "key")) {
-    return mjOBJ_KEY;
-  }
-
-  else if (!strcmp(str, "plugin")) {
-    return mjOBJ_PLUGIN;
-  }
-
-  else {
-    return mjOBJ_UNKNOWN;
-  }
-}
-
-
-// return human readable number of bytes using standard letter suffix
-const char* mju_writeNumBytes(size_t nbytes) {
-  int i;
-  static mjTHREADLOCAL char message[20];
-  static const char suffix[] = " KMGTPE";
-  for (i=0; i < 6; i++) {
-    const size_t bits = (size_t)(1) << (10*(6-i));
-    if (nbytes >= bits && !(nbytes & (bits - 1))) {
-      break;
-    }
-  }
-  if (i < 6) {
-    mjSNPRINTF(message, "%zu%c", nbytes >> (10*(6-i)), suffix[6-i]);
-  } else {
-    mjSNPRINTF(message, "%zu", nbytes >> (10*(6-i)));
-  }
-  return message;
-}
-
-
-// warning text
-const char* mju_warningText(int warning, size_t info) {
-  static mjTHREADLOCAL char str[1000];
-
-  switch ((mjtWarning) warning) {
-  case mjWARN_INERTIA:
-    mjSNPRINTF(str, "Inertia matrix is too close to singular at DOF %zu. Check model.", info);
-    break;
-
-  case mjWARN_CONTACTFULL:
-    mjSNPRINTF(str,
-               "Too many contacts. The arena memory is full, increase arena memory allocation."
-               "(ncon = %zu)", info);
-    break;
-
-  case mjWARN_CNSTRFULL:
-    mjSNPRINTF(str,
-               "Insufficient arena memory for the number of constraints generated. "
-               "Increase arena memory allocation above %s bytes.", mju_writeNumBytes(info));
-    break;
-
-  case mjWARN_BADQPOS:
-    mjSNPRINTF(str, "Nan, Inf or huge value in QPOS at DOF %zu. The simulation is unstable.", info);
-    break;
-
-  case mjWARN_BADQVEL:
-    mjSNPRINTF(str, "Nan, Inf or huge value in QVEL at DOF %zu. The simulation is unstable.", info);
-    break;
-
-  case mjWARN_BADQACC:
-    mjSNPRINTF(str, "Nan, Inf or huge value in QACC at DOF %zu. The simulation is unstable.", info);
-    break;
-
-  case mjWARN_BADCTRL:
-    mjSNPRINTF(str, "Nan, Inf or huge value in CTRL at ACTUATOR %zu. The simulation is unstable.",
-               info);
-    break;
-
-  default:
-    mjSNPRINTF(str, "Unknown warning type %d.", warning);
-  }
-
-  return str;
-}
-
-
-// return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise
-int mju_isBad(mjtNum x) {
-  return (x != x || x > mjMAXVAL || x < -mjMAXVAL);
-}
-
-
-// return 1 if all elements are 0
-int mju_isZero(const mjtNum* vec, int n) {
-  for (int i=0; i < n; i++) {
-    if (vec[i] != 0) {
-      return 0;
-    }
-  }
-
-  return 1;
-}
-
-
-// return 1 if all elements are 0
-int mju_isZeroByte(const unsigned char* vec, int n) {
-  if (!n || *vec) return !n;
-  return memcmp(vec, vec + 1, n - 1) == 0;
-}
-
-
-// set integer vector to 0
-void mju_zeroInt(int* res, int n) {
-  memset(res, 0, n*sizeof(int));
-}
-
-
-// copy int vector vec into res
-void mju_copyInt(int* res, const int* vec, int n) {
-  memcpy(res, vec, n*sizeof(int));
-}
-
-// fill int vector with val
-void mju_fillInt(int* res, int val, int n) {
-  for (int i = 0; i < n; i++) {
-    res[i] = val;
-  }
-}
-
-// standard normal random number generator (optional second number)
-mjtNum mju_standardNormal(mjtNum* num2) {
-  const mjtNum scale = 2.0/((mjtNum)RAND_MAX);
-  mjtNum x1, x2, w;
-
-  do {
-    x1 = scale * (mjtNum)rand() - 1.0;
-    x2 = scale * (mjtNum)rand() - 1.0;
-    w = x1 * x1 + x2 * x2;
-  } while (w >= 1.0 || w == 0);
-
-  w = mju_sqrt((-2.0 * mju_log(w)) / w);
-  if (num2) {
-    *num2 = x2 * w;
-  }
-
-  return (x1 * w);
-}
-
-
-// convert from float to mjtNum
-void mju_f2n(mjtNum* res, const float* vec, int n) {
-  for (int i=0; i < n; i++) {
-    res[i] = (mjtNum) vec[i];
-  }
-}
-
-
-// convert from mjtNum to float
-void mju_n2f(float* res, const mjtNum* vec, int n) {
-  for (int i=0; i < n; i++) {
-    res[i] = (float) vec[i];
-  }
-}
-
-
-// convert from double to mjtNum
-void mju_d2n(mjtNum* res, const double* vec, int n) {
-  for (int i=0; i < n; i++) {
-    res[i] = (mjtNum) vec[i];
-  }
-}
-
-
-// convert from mjtNum to double
-void mju_n2d(double* res, const mjtNum* vec, int n) {
-  for (int i=0; i < n; i++) {
-    res[i] = (double) vec[i];
-  }
-}
-
-
-// gather: res[i] = vec[ind[i]], or copy if ind is NULL
-void mju_gather(mjtNum* restrict res, const mjtNum* restrict vec, const int* restrict ind, int n) {
-  if (!ind) {
-    mju_copy(res, vec, n);
-    return;
-  }
-
-  for (int i=0; i < n; i++) {
-    res[i] = vec[ind[i]];
-  }
-}
-
-
-// masked gather (set to 0 at negative indices)
-void mju_gatherMasked(mjtNum* restrict res, const mjtNum* restrict vec,
-                      const int* restrict ind, int n) {
-  for (int i=0; i < n; i++) {
-    res[i] = ind[i] >= 0 ? vec[ind[i]] : 0;
-  }
-}
-
-
-// scatter: res[ind[i]] = vec[i], or copy if ind is NULL
-void mju_scatter(mjtNum* restrict res, const mjtNum* restrict vec, const int* restrict ind, int n) {
-  if (!ind) {
-    mju_copy(res, vec, n);
-    return;
-  }
-
-  for (int i=0; i < n; i++) {
-    res[ind[i]] = vec[i];
-  }
-}
-
-
-// gather integers
-void mju_gatherInt(int* restrict res, const int* restrict vec, const int* restrict ind, int n) {
-  for (int i=0; i < n; i++) {
-    res[i] = vec[ind[i]];
-  }
-}
-
-
-// scatter integers
-void mju_scatterInt(int* restrict res, const int* restrict vec, const int* restrict ind, int n) {
-  for (int i=0; i < n; i++) {
-    res[ind[i]] = vec[i];
-  }
-}
-
-
-// build gather indices mapping src to res, assumes pattern(res) \subseteq pattern(src)
-void mju_sparseMap(int* map, int nr,
-                   const int* res_rowadr, const int* res_rownnz, const int* res_colind,
-                   const int* src_rowadr, const int* src_rownnz, const int* src_colind) {
-  for (int i = 0; i < nr; i++) {
-    int res_cursor = res_rowadr[i];
-    int res_end    = res_cursor + res_rownnz[i];
-    int src_cursor = src_rowadr[i];
-    int src_end    = src_cursor + src_rownnz[i];
-
-    while (res_cursor < res_end) {
-      int res_col = res_colind[res_cursor];
-      while (src_cursor < src_end && src_colind[src_cursor] < res_col) {
-        src_cursor++;
-      }
-
-      // found match, set index and advance cursors
-      map[res_cursor++] = src_cursor++;
-    }
-  }
-}
-
-
-// build masked-gather map to copy a lower-triangular src into symmetric res
-//  `cursor` is a preallocated buffer of size `nr`
-void mju_lower2SymMap(int* map, int nr,
-                      const int* res_rowadr, const int* res_rownnz, const int* res_colind,
-                      const int* src_rowadr, const int* src_rownnz, const int* src_colind,
-                      int* cursor) {
-  if (!nr) return;
-
-  // default all map entries to "no source"
-  int nnz = res_rowadr[nr-1] + res_rownnz[nr-1];
-  mju_fillInt(map, -1, nnz);
-
-  // initialize per-row cursor
-  for (int i = 0; i < nr; i++) {
-    cursor[i] = res_rowadr[i];
-  }
-
-  // sweep src rows; for each lower (i,j) set res(i,j) and res(j,i)
-  for (int i = 0; i < nr; i++) {
-    int src_start = src_rowadr[i];
-    int src_end   = src_start + src_rownnz[i];
-
-    // sweep src row
-    for (int k = src_start; k < src_end; k++) {
-      int j = src_colind[k];
-      if (j > i) break;  // use only lower triangle of src
-
-      // --- lower triangle: res(i, j)
-      int res_start = res_rowadr[i];
-      int res_end   = res_start + res_rownnz[i];
-      int c         = cursor[i];
-
-      // increment c until there is a match
-      while (c < res_end && res_colind[c] < j) c++;
-
-      // found match, set index, advance and save cursor
-      if (c < res_end && res_colind[c] == j) {
-        map[c] = k;
-        c++;
-      }
-      cursor[i] = c;
-
-
-      // --- upper mirror: res(j, i)
-      if (j != i) {
-        res_start = res_rowadr[j];
-        res_end   = res_start + res_rownnz[j];
-        c         = cursor[j];
-
-        // increment c until there is a match
-        while (c < res_end && res_colind[c] < i) c++;
-
-        // found match, set index and advance and save cursor
-        if (c < res_end && res_colind[c] == i) {
-          map[c] = k;
-          c++;
-        }
-        cursor[j] = c;
-      }
-    }
-  }
-}
-
-
-// insertion sort, increasing order
-void mju_insertionSort(mjtNum* list, int n) {
-  for (int i=1; i < n; i++) {
-    mjtNum x = list[i];
-    int j = i-1;
-    while (j >= 0 && list[j] > x) {
-      list[j+1] = list[j];
-      j--;
-    }
-    list[j+1] = x;
-  }
-}
-
-
-// integer insertion sort, increasing order
-void mju_insertionSortInt(int* list, int n) {
-  for (int i=1; i < n; i++) {
-    int x = list[i];
-    int j = i-1;
-    while (j >= 0 && list[j] > x) {
-      list[j+1] = list[j];
-      j--;
-    }
-    list[j+1] = x;
-  }
-}
-
-
-// Halton sequence
-mjtNum mju_Halton(int index, int base) {
-  int n0 = index;
-  mjtNum b = (mjtNum)base;
-  mjtNum f = 1/b, hn = 0;
-
-  while (n0 > 0) {
-    int n1 = n0/base;
-    int r = n0 - n1*base;
-    hn += f*r;
-    f /= b;
-    n0 = n1;
-  }
-
-  return hn;
-}
-
-
-// Call strncpy, then set dst[n-1] = 0.
-char* mju_strncpy(char *dst, const char *src, int n) {
-  if (dst && src && n > 0) {
-    strncpy(dst, src, n);
-    dst[n-1] = 0;
-  }
-
-  return dst;
-}
-
-
-// polynomial force coefficient: force = -x * mju_polyForce(...)
-//   flg_odd=0: linear + poly[0]*x   + poly[1]*x^2 + ...
-//   flg_odd=1: linear + poly[0]*|x| + poly[1]*x^2 + ...  (p is even, p*x is odd)
-mjtNum mju_polyForce(mjtNum linear, const mjtNum* poly, mjtNum x, int n, int flg_odd) {
-  x = flg_odd ? mju_abs(x) : x;
-  mjtNum res = linear;
-
-  mjtNum xpow = 1;
-  for (int i=0; i < n; i++) {
-    xpow *= x;
-    res += poly[i] * xpow;
-  }
-
-  return res;
-}
-
-
-// derivative of (x * mju_polyForce) w.r.t. x
-mjtNum mjd_xPolyForce(mjtNum linear, const mjtNum* poly, mjtNum x, int n, int flg_odd) {
-  x = flg_odd ? mju_abs(x) : x;
-  mjtNum res = linear;
-
-  mjtNum xpow = 1;
-  for (int i=0; i < n; i++) {
-    xpow *= x;
-    res += (i+2) * poly[i] * xpow;
-  }
-
-  return res;
-}
-
-
-// potential energy: integral from 0 to x of mju_polyForce(t) * t dt
-mjtNum mju_polyPotential(mjtNum linear, const mjtNum* poly, mjtNum x, int n, int flg_odd) {
-  x = flg_odd ? mju_abs(x) : x;
-  mjtNum res = 0.5 * linear * (x * x);
-
-  mjtNum xpow = x;
-  for (int i=0; i < n; i++) {
-    xpow *= x;
-    res += poly[i] / (i+3) * (xpow * x);
-  }
-
-  return res;
-}
-
-
-// sigmoid function over 0<=x<=1 using quintic polynomial
-mjtNum mju_sigmoid(mjtNum x) {
-  // fast return
-  if (x <= 0) {
-    return 0;
-  }
-  if (x >= 1) {
-    return 1;
-  }
-
-  // sigmoid: f(x) = 6*x^5 - 15*x^4 + 10*x^3
-  // solution of f(0) = f'(0) = f''(0) = 0, f(1) = 1, f'(1) = f''(1) = 0
-  return x*x*x * (3*x * (2*x - 5) + 10);
-}
diff --git a/src/engine/engine_util_misc.h b/src/engine/engine_util_misc.h
deleted file mode 100644
index 80dbcd1f..00000000
--- a/src/engine/engine_util_misc.h
+++ /dev/null
@@ -1,340 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_MISC_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_MISC_H_
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stddef.h>
-#include <stdint.h>
-
-//------------------------------ tendons and actuators ---------------------------------------------
-
-// wrap tendons around spheres and cylinders
-mjtNum mju_wrap(mjtNum wpnt[6], const mjtNum x0[3], const mjtNum x1[3], const mjtNum xpos[3],
-                const mjtNum xmat[9], mjtNum radius, int type, const mjtNum side[3]);
-
-// normalized muscle length-gain curve
-MJAPI mjtNum mju_muscleGainLength(mjtNum length, mjtNum lmin, mjtNum lmax);
-
-// muscle active force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax)
-MJAPI mjtNum mju_muscleGain(mjtNum len, mjtNum vel, const mjtNum lengthrange[2],
-                            mjtNum acc0, const mjtNum prm[9]);
-
-// muscle passive force, prm = (range[2], force, scale, lmin, lmax, vmax, fpmax, fvmax)
-MJAPI mjtNum mju_muscleBias(mjtNum len, const mjtNum lengthrange[2],
-                            mjtNum acc0, const mjtNum prm[9]);
-
-// muscle time constant with optional smoothing
-MJAPI mjtNum mju_muscleDynamicsTimescale(mjtNum dctrl, mjtNum tau_act, mjtNum tau_deact,
-                                         mjtNum smoothing_width);
-
-// muscle activation dynamics, prm = (tau_act, tau_deact, smoothing_width)
-MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]);
-
-// LuGre Stribeck function: g(v) = F_C + (F_S - F_C) * exp(-(v/v_S)^2)
-mjtNum mj_lugreStribeck(mjtNum velocity, mjtNum F_C, mjtNum F_S, mjtNum v_S);
-
-// DC motor activation slot indices (-1 = slot not active)
-typedef struct {
-  int slew;         // slew rate state
-  int integral;     // integral state
-  int temperature;  // temperature state
-  int bristle;      // LuGre bristle state
-  int current;      // current state
-  int num_slots;    // number of DC motor states
-} mjDCMotorSlots;
-
-// compute activation slot indices for a DC motor actuator
-// dynprm = actuator_dynprm row, gainprm = actuator_gainprm row
-mjDCMotorSlots mj_dcmotorSlots(const mjtNum* dynprm, const mjtNum* gainprm);
-
-// all 3 semi-axes of a geom
-MJAPI void mju_geomSemiAxes(mjtNum semiaxes[3], const mjtNum size[3], mjtGeom type);
-
-// return 1 if point is inside a primitive geom, 0 otherwise
-int mju_insideGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3], mjtGeom type,
-                   const mjtNum point[3]);
-
-// compute ray origin and direction for pixel (col, row) in camera image
-// directions are normalized so ray functions return actual 3D distance
-void mju_camPixelRay(mjtNum origin[3], mjtNum direction[3],
-                     const mjtNum cam_xpos[3], const mjtNum cam_xmat[9],
-                     int col, int row, mjtNum fx, mjtNum fy, mjtNum cx, mjtNum cy,
-                     int projection, mjtNum ortho_extent);
-
-// ----------------------------- Flex interpolation ------------------------------------------------
-
-// evaluate the deformation gradient at p using the nodal dof values
-MJAPI void mju_defGradient(mjtNum res[9], const mjtNum p[3], const mjtNum* dof, int order);
-
-// evaluate the basis function at x for the i-th node
-MJAPI mjtNum mju_evalBasis(const mjtNum x[3], int i, int order);
-
-// evaluate the basis functions at x for all nodes in the cell
-MJAPI void mju_evalBasisArray(mjtNum* basis, const mjtNum x[3], int order);
-
-// map global parametric coord to cell-local coord and build node indices
-MJAPI int mju_cellLookup(const mjtNum coord[3], const int cellnum[3], int order, mjtNum local[3],
-                         int* nodeindices);
-
-// interpolate a function at x with given interpolation coefficients and order n
-MJAPI void mju_interpolate3D(mjtNum res[3], const mjtNum x[3], const mjtNum* coeff, int order,
-                             const int* nodeindices);
-
-// gather cell-local quantities and optionally compute rotation
-MJAPI void mju_flexGatherCellState(int order, int cy, int cz, int ci, int cj, int ck,
-                                   const mjtNum* xpos_g, const mjtNum* vel_g,
-                                   const mjtNum* xpos0_g, mjtNum* xpos_c, mjtNum* vel_c,
-                                   mjtNum* xpos0_c, int* nodeindices, mjtNum* quat);
-
-// gather face-element-local quantities and optionally compute rotation (shell mode)
-MJAPI void mju_flexGatherFaceState(int order, int cx, int cy, int cz,
-                                   int face_elem_idx,
-                                   const mjtNum* xpos_g, const mjtNum* vel_g,
-                                   const mjtNum* xpos0_g,
-                                   mjtNum* xpos_f, mjtNum* vel_f, mjtNum* xpos0_f,
-                                   int* nodeindices, mjtNum* quat);
-
-// compute corotational rotation from 2D deformation gradient on a flat face
-MJAPI void mju_flexInterpRotation2D(int order, const mjtNum* xpos_f, int npe,
-                                    int axis0, int axis1, int normal_axis,
-                                    const mjtNum local[2], mjtNum* quat);
-
-// compute unnormalized surface normal and tangent vectors at a parametric point
-// on a 2D face element; normal = t1 x t2 (unnormalized)
-MJAPI void mju_flexFaceNormal2D(mjtNum normal[3], mjtNum t1[3], mjtNum t2[3],
-                                int order, const mjtNum* xpos_f,
-                                const mjtNum local[2]);
-
-
-// 1D shape function: order 1 (linear) or 2 (quadratic), node index i
-static inline mjtNum mju_flexPhi(mjtNum s, int i, int order) {
-  if (order == 1) return i == 0 ? 1 - s : s;
-  switch (i) {
-    case 0: return 2*s*s - 3*s + 1;
-    case 1: return 4*(s - s*s);
-    case 2: return 2*s*s - s;
-    default: return 0;
-  }
-}
-
-// 1D shape function gradient
-static inline mjtNum mju_flexDphi(mjtNum s, int i, int order) {
-  if (order == 1) return i == 0 ? -1 : 1;
-  switch (i) {
-    case 0: return 4*s - 3;
-    case 1: return 4*(1 - 2*s);
-    case 2: return 4*s - 1;
-    default: return 0;
-  }
-}
-// reconstruct interior node positions from boundary nodes via Transfinite Interpolation
-MJAPI void mju_shellTrackInterior(mjtNum* nodexpos, int nx, int ny, int nz);
-
-// compute TFI weights for an interior node (i,j,k) and distribute to boundary nodes
-MJAPI void mju_shellTFIWeights(int nx, int ny, int nz, int i, int j, int k,
-                               mjtNum w, int* nb, int* body, mjtNum* bweight,
-                               const int* nodebodyid, int nstart);
-
-
-// ----------------------------- Base64 ------------------------------------------------------------
-
-// encode data as Base64 into buf (including padding and null char)
-// returns number of chars written in buf: 4 * [(ndata + 2) / 3] + 1
-MJAPI size_t mju_encodeBase64(char* buf, const uint8_t* data, size_t ndata);
-
-// return size in decoded bytes if s is a valid Base64 encoding
-// return 0 if s is empty or invalid Base64 encoding
-MJAPI size_t mju_isValidBase64(const char* s);
-
-// decode valid Base64 in string s into buf, undefined behavior if s is not valid Base64
-// returns number of bytes decoded (upper limit of 3 * (strlen(s) / 4))
-MJAPI size_t mju_decodeBase64(uint8_t* buf, const char* s);
-
-//------------------------------ history buffers ---------------------------------------------------
-
-// buffer layout: [user(1), cursor(1), times(n), values(n*dim)]
-// - user: 1 mjtNum reserved for user data (ignored by these functions)
-// - cursor: 1 mjtNum for circular buffer index (integer stored as mjtNum)
-// - times: n timestamps, contiguous at buf[2..n+1]
-// - values: n*dim values, contiguous at buf[n+2..n+2+n*dim-1]
-// total buffer size: 2 + n*(1 + dim)
-
-// initialize history buffer with given times and values; times must be strictly increasing
-// values is size n x dim
-MJAPI void mju_historyInit(mjtNum* buf, int n, int dim, const mjtNum* times,
-                           const mjtNum* values, mjtNum user);
-
-// find insertion slot for sample at time t, maintaining sorted order
-// returns pointer to value slot (size dim) where caller should write
-MJAPI mjtNum* mju_historyInsert(mjtNum* buf, int n, int dim, mjtNum t);
-
-// read vector value at time t; interp: 0=zero-order-hold, 1=linear, 2=cubic spline
-// returns pointer to sample in buffer on exact match (res untouched)
-// returns NULL and writes interpolated result to res otherwise
-MJAPI const mjtNum* mju_historyRead(const mjtNum* buf, int n, int dim,
-                                    mjtNum* res, mjtNum t, int interp);
-
-//------------------------------ miscellaneous -----------------------------------------------------
-
-// convert contact force to pyramid representation
-MJAPI void mju_encodePyramid(mjtNum* pyramid, const mjtNum* force,
-                             const mjtNum* mu, int dim);
-
-// convert pyramid representation to contact force
-MJAPI void mju_decodePyramid(mjtNum* force, const mjtNum* pyramid,
-                             const mjtNum* mu, int dim);
-
-// integrate spring-damper analytically, return pos(dt)
-MJAPI mjtNum mju_springDamper(mjtNum pos0, mjtNum vel0, mjtNum Kp, mjtNum Kv, mjtNum dt);
-
-// return 1 if point is outside box given by pos, mat, size * inflate
-// return -1 if point is inside box given by pos, mat, size / inflate
-// return 0 if point is between the inflated and deflated boxes
-MJAPI int mju_outsideBox(const mjtNum point[3], const mjtNum pos[3], const mjtNum mat[9],
-                         const mjtNum size[3], mjtNum inflate);
-
-// print matrix
-MJAPI void mju_printMat(const mjtNum* mat, int nr, int nc);
-
-// print sparse matrix to screen
-MJAPI void mju_printMatSparse(const mjtNum* mat, int nr,
-                              const int* rownnz, const int* rowadr,
-                              const int* colind);
-
-// min function, single evaluation of a and b
-MJAPI mjtNum mju_min(mjtNum a, mjtNum b);
-
-// max function, single evaluation of a and b
-MJAPI mjtNum mju_max(mjtNum a, mjtNum b);
-
-// clip x to the range [min, max]
-MJAPI mjtNum mju_clip(mjtNum x, mjtNum min, mjtNum max);
-
-// sign function
-MJAPI mjtNum mju_sign(mjtNum x);
-
-// round to nearest integer
-MJAPI int mju_round(mjtNum x);
-
-// convert type id (mjtObj) to type name
-MJAPI const char* mju_type2Str(int type);
-
-// convert type name to type id (mjtObj)
-MJAPI int mju_str2Type(const char* str);
-
-// return human readable number of bytes using standard letter suffix
-MJAPI const char* mju_writeNumBytes(size_t nbytes);
-
-// warning text
-MJAPI const char* mju_warningText(int warning, size_t info);
-
-// return 1 if nan or abs(x)>mjMAXVAL, 0 otherwise
-MJAPI int mju_isBad(mjtNum x);
-
-// return 1 if all elements are numerically 0 (-0.0 treated as zero)
-MJAPI int mju_isZero(const mjtNum* vec, int n);
-
-// return 1 if all elements are 0x00, faster than mju_isZero
-MJAPI int mju_isZeroByte(const unsigned char* vec, int n);
-
-// set integer vector to 0
-MJAPI void mju_zeroInt(int* res, int n);
-
-// copy int vector vec into res
-MJAPI void mju_copyInt(int* res, const int* vec, int n);
-
-// fill int vector with val
-void mju_fillInt(int* res, int val, int n);
-
-// standard normal random number generator (optional second number)
-MJAPI mjtNum mju_standardNormal(mjtNum* num2);
-
-// convert from float to mjtNum
-MJAPI void mju_f2n(mjtNum* res, const float* vec, int n);
-
-// convert from mjtNum to float
-MJAPI void mju_n2f(float* res, const mjtNum* vec, int n);
-
-// convert from double to mjtNum
-MJAPI void mju_d2n(mjtNum* res, const double* vec, int n);
-
-// convert from mjtNum to double
-MJAPI void mju_n2d(double* res, const mjtNum* vec, int n);
-
-// gather mjtNums: res[i] = vec[ind[i]], or copy if ind is NULL
-MJAPI void mju_gather(mjtNum* res, const mjtNum* vec, const int* ind, int n);
-
-// gather mjtNums, set to 0 at negative indices
-MJAPI void mju_gatherMasked(mjtNum* res, const mjtNum* vec, const int* ind, int n);
-
-// scatter mjtNums: res[ind[i]] = vec[i], or copy if ind is NULL
-MJAPI void mju_scatter(mjtNum* res, const mjtNum* vec, const int* ind, int n);
-
-// gather integers
-MJAPI void mju_gatherInt(int* res, const int* vec, const int* ind, int n);
-
-// scatter integers
-MJAPI void mju_scatterInt(int* res, const int* vec, const int* ind, int n);
-
-// build gather indices mapping src to res, assumes pattern(res) \subseteq pattern(src)
-MJAPI void mju_sparseMap(int* map, int nr,
-                         const int* res_rowadr, const int* res_rownnz, const int* res_colind,
-                         const int* src_rowadr, const int* src_rownnz, const int* src_colind);
-
-// build masked-gather map to copy a lower-triangular src into symmetric res
-//  `cursor` is a preallocated buffer of size `nr`
-MJAPI void mju_lower2SymMap(int* map, int nr,
-                            const int* res_rowadr, const int* res_rownnz, const int* res_colind,
-                            const int* src_rowadr, const int* src_rownnz, const int* src_colind,
-                            int* cursor);
-
-// insertion sort, increasing order
-MJAPI void mju_insertionSort(mjtNum* list, int n);
-
-// integer insertion sort, increasing order
-MJAPI void mju_insertionSortInt(int* list, int n);
-
-// Halton sequence
-MJAPI mjtNum mju_Halton(int index, int base);
-
-// call strncpy, then set dst[n-1] = 0
-MJAPI char* mju_strncpy(char *dst, const char *src, int n);
-
-// polynomial force coefficient: force = -mju_polyForce(...) * x
-//   flg_odd=0: linear + poly[0]*x   + poly[1]*x^2 + ...
-//   flg_odd=1: linear + poly[0]*|x| + poly[1]*x^2 + ...
-MJAPI mjtNum mju_polyForce(mjtNum linear, const mjtNum* poly, mjtNum x, int n, int flg_odd);
-
-// derivative of (mju_polyForce * x) w.r.t. x
-MJAPI mjtNum mjd_xPolyForce(mjtNum linear, const mjtNum* poly, mjtNum x, int n, int flg_odd);
-
-// potential energy: integral from 0 to x of mju_polyForce * t dt
-MJAPI mjtNum mju_polyPotential(mjtNum linear, const mjtNum* poly, mjtNum x, int n, int flg_odd);
-
-// sigmoid function over 0<=x<=1 using quintic polynomial
-MJAPI mjtNum mju_sigmoid(mjtNum x);
-
-#ifdef __cplusplus
-}
-#endif
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_MISC_H_
diff --git a/src/engine/engine_util_solve.c b/src/engine/engine_util_solve.c
deleted file mode 100644
index ca35a5c5..00000000
--- a/src/engine/engine_util_solve.c
+++ /dev/null
@@ -1,1785 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_util_solve.h"
-
-#include <stdio.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include "engine/engine_inline.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_util_spatial.h"
-
-//---------------------------- dense Cholesky ------------------------------------------------------
-
-// Cholesky decomposition: mat = L*L'; return 'rank'
-int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag) {
-  int rank = n;
-  mjtNum tmp;
-
-  // in-place Cholesky factorization
-  for (int j=0; j < n; j++) {
-    // compute new diagonal
-    tmp = mat[j*(n+1)];
-    if (j) {
-      tmp -= mju_dot(mat+j*n, mat+j*n, j);
-    }
-
-    // correct diagonal values below threshold
-    int deficient = tmp < mindiag;
-    if (deficient) {
-      tmp = mindiag;
-      rank--;
-    }
-
-    // save diagonal
-    mat[j*(n+1)] = mju_sqrt(tmp);
-
-    // process off-diagonal entries
-    if (deficient) {
-      // clear off-diagonals if deficient
-      for (int i=j+1; i < n; i++) {
-        mat[i*n+j] = 0;
-      }
-    } else {
-      tmp = 1/mat[j*(n+1)];
-      for (int i=j+1; i < n; i++) {
-        mat[i*n+j] = (mat[i*n+j] - mju_dot(mat+i*n, mat+j*n, j)) * tmp;
-      }
-    }
-  }
-
-  return rank;
-}
-
-
-// Cholesky solve
-void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n) {
-  // copy if source and destination are different
-  if (res != vec) {
-    mju_copy(res, vec, n);
-  }
-
-  // forward substitution: solve L*res = vec
-  for (int i=0; i < n; i++) {
-    if (i) {
-      res[i] -= mju_dot(mat+i*n, res, i);
-    }
-
-    // diagonal
-    res[i] /= mat[i*(n+1)];
-  }
-
-  // backward substitution: solve L'*res = res
-  for (int i=n-1; i >= 0; i--) {
-    if (i < n-1) {
-      for (int j=i+1; j < n; j++) {
-        res[i] -= mat[j*n+i] * res[j];
-      }
-    }
-    // diagonal
-    res[i] /= mat[i*(n+1)];
-  }
-}
-
-
-// Cholesky rank-one update: L*L' +/- x*x'; return rank
-int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus) {
-  int rank = n;
-  mjtNum r, c, cinv, s, Lkk, tmp;
-
-  for (int k=0; k < n; k++) {
-    if (x[k]) {
-      // prepare constants
-      Lkk = mat[k*(n+1)];
-      tmp = Lkk*Lkk + (flg_plus ? x[k]*x[k] : -x[k]*x[k]);
-      if (tmp < mjMINVAL) {
-        tmp = mjMINVAL;
-        rank--;
-      }
-      r = mju_sqrt(tmp);
-      c = r / Lkk;
-      cinv = 1 / c;
-      s = x[k] / Lkk;
-
-      // update diagonal
-      mat[k*(n+1)] = r;
-
-      // update mat
-      if (flg_plus) {
-        for (int i=k+1; i < n; i++) {
-          mat[i*n+k] = (mat[i*n+k] + s*x[i])*cinv;
-        }
-      } else {
-        for (int i=k+1; i < n; i++) {
-          mat[i*n+k] = (mat[i*n+k] - s*x[i])*cinv;
-        }
-      }
-
-      // update x
-      for (int i=k+1; i < n; i++) {
-        x[i] = c*x[i] - s*mat[i*n+k];
-      }
-    }
-  }
-
-  return rank;
-}
-
-
-//---------------------------- sparse Cholesky -----------------------------------------------------
-
-// sparse reverse-order Cholesky decomposition: mat = L'*L; return 'rank'
-//  mat must be lower-triangular, have preallocated space for fill-in
-int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
-                         int* rownnz, const int* rowadr, int* colind,
-                         mjData* d) {
-  int rank = n;
-  (void) d;
-
-  // backpass over rows
-  for (int r=n-1; r >= 0; r--) {
-    // get rownnz and rowadr for row r
-    int nnz = rownnz[r], adr = rowadr[r];
-
-    // update row r diagonal
-    mjtNum tmp = mat[adr+nnz-1];
-    if (tmp < mindiag) {
-      tmp = mindiag;
-      rank--;
-    }
-    mat[adr+nnz-1] = mju_sqrt(tmp);
-    tmp = 1/mat[adr+nnz-1];
-
-    // update row r before diagonal
-    for (int i=0; i < nnz-1; i++) {
-      mat[adr+i] *= tmp;
-    }
-
-    // update row c<r where mat(r,c)!=0
-    for (int i=0; i < nnz-1; i++) {
-      // get column index
-      int c = colind[adr+i];
-
-      // mat(c,0:c) = mat(c,0:c) - mat(r,c) * mat(r,0:c)
-      int nnz_c = mju_combineSparse(mat + rowadr[c], mat+rowadr[r], 1, -mat[adr+i],
-                                    rownnz[c], i+1, colind+rowadr[c], colind+rowadr[r]);
-
-      // assign new nnz to row c
-      rownnz[c] = nnz_c;
-    }
-  }
-
-  return rank;
-}
-
-// symbolic reverse-Cholesky: compute both L (CSR) and LT (CSC) structures
-//   if L_colind is NULL, perform counting logic (fill rownnz/rowadr arrays and return total nnz)
-//   if L_colind is not NULL, assume rownnz/rowadr are precomputed and fill colind/map arrays
-//   reads pattern from upper triangle
-//   based on ldl_symbolic from 'Algorithm 8xx: a concise sparse Cholesky factorization package'
-int mju_cholFactorSymbolic(int* restrict L_colind, int* restrict L_rownnz, int* restrict L_rowadr,
-                           int* restrict LT_colind, int* restrict LT_rownnz,
-                           int* restrict LT_rowadr, int* restrict LT_map,
-                           const int* rownnz, const int* rowadr, const int* colind, int n,
-                           mjData* d) {
-  // d supplies stack scratch; if NULL, scratch is heap-allocated
-  if (d) {
-    mj_markStack(d);
-  }
-  int* restrict parent = d ? mjSTACKALLOC(d, n, int) : (int*) mju_malloc(sizeof(int)*n);
-  int* restrict flag = d ? mjSTACKALLOC(d, n, int) : (int*) mju_malloc(sizeof(int)*n);
-  int* restrict cursor = NULL;
-  int* LT_write = NULL;
-
-  // filling phase: initialize write positions
-  if (L_colind) {
-    cursor = d ? mjSTACKALLOC(d, n, int) : (int*) mju_malloc(sizeof(int)*n);
-    LT_write = d ? mjSTACKALLOC(d, n, int) : (int*) mju_malloc(sizeof(int)*n);
-    for (int r = 0; r < n; r++) {
-      cursor[r] = L_rowadr[r] + L_rownnz[r] - 2;  // end of row r (before diagonal)
-      LT_write[r] = LT_rowadr[r];                 // start of LT row r
-    }
-  }
-
-  // loop over rows in reverse order
-  for (int r = n - 1; r >= 0; r--) {
-    parent[r] = -1;
-    flag[r] = r;
-
-    // counting phase: start with 1 for diagonal
-    if (!L_colind) {
-      L_rownnz[r] = 1;
-      LT_rownnz[r] = 1;
-    }
-
-    // filling phase: write diagonals
-    else {
-      int diag_idx = L_rowadr[r] + L_rownnz[r] - 1;
-      L_colind[diag_idx] = r;
-      int write_idx = LT_write[r];
-      LT_colind[write_idx] = r;
-      LT_map[write_idx] = diag_idx;
-      LT_write[r]++;
-    }
-
-    // loop over non-zero columns of upper triangle
-    int start = rowadr[r];
-    int end = start + rownnz[r];
-    for (int c = start; c < end; c++) {
-      int i = colind[c];
-
-      // skip lower triangle
-      if (i <= r) {
-        continue;
-      }
-
-      // traverse from i to ancestor, stop when row is flagged
-      while (flag[i] != r) {
-        // if not yet set, set parent to current row
-        if (parent[i] == -1) {
-          parent[i] = r;
-        }
-
-        // counting phase: increment non-zeros
-        if (!L_colind) {
-          L_rownnz[i]++;
-          LT_rownnz[r]++;
-        }
-
-        // filling phase: write L[i, r] and LT[r, i]
-        else {
-          int L_idx = cursor[i];
-          cursor[i]--;
-          L_colind[L_idx] = r;
-          LT_colind[LT_write[r]] = i;
-          LT_map[LT_write[r]] = L_idx;
-          LT_write[r]++;
-        }
-
-        // flag row i, advance to parent
-        flag[i] = r;
-        i = parent[i];
-      }
-    }
-  }
-
-  if (d) {
-    mj_freeStack(d);
-  } else {
-    mju_free(parent);
-    mju_free(flag);
-    mju_free(cursor);
-    mju_free(LT_write);
-  }
-
-  // counting phase: compute row addresses, add up total non-zeros
-  int nnz = 0;
-  if (!L_colind) {
-    nnz = L_rownnz[0];
-    L_rowadr[0] = 0;
-    LT_rowadr[0] = 0;
-    for (int r = 1; r < n; r++) {
-      L_rowadr[r] = L_rowadr[r - 1] + L_rownnz[r - 1];
-      LT_rowadr[r] = LT_rowadr[r - 1] + LT_rownnz[r - 1];
-      nnz += L_rownnz[r];
-    }
-  }
-
-  return nnz;
-}
-
-// numeric reverse-Cholesky: compute L values given fixed sparsity pattern, returns rank
-//  L_colind must already contain the correct sparsity pattern (from mju_cholFactorSymbolic)
-//  LT_map[k] gives index in L for LT_colind[k]
-int mju_cholFactorNumeric(mjtNum* restrict L, int n, mjtNum mindiag,
-                          const int* L_rownnz, const int* L_rowadr, const int* L_colind,
-                          const int* LT_rownnz, const int* LT_rowadr, const int* LT_colind,
-                          const int* LT_map, const mjtNum* H,
-                          const int* H_rownnz, const int* H_rowadr, const int* H_colind,
-                          mjData* d) {
-  int rank = n;
-
-  // single-row dense accumulator
-  mj_markStack(d);
-  mjtNum* restrict dense = mjSTACKALLOC(d, n, mjtNum);
-  mju_zero(dense, n);
-
-  // backpass over rows
-  for (int r = n - 1; r >= 0; r--) {
-    // scatter H[r, 0:r] into dense
-    mju_scatter(dense, H + H_rowadr[r], H_colind + H_rowadr[r], H_rownnz[r]);
-
-    // accumulate updates from rows c > r where L[c,r] != 0
-    // use CSC transpose: LT column r contains rows that have column r
-    // start from k=1 to skip the diagonal entry (LT_colind[LT_adr] = r)
-    int LT_adr = LT_rowadr[r];
-    int LT_nnz = LT_rownnz[r];
-    for (int k = 1; k < LT_nnz; k++) {
-      int c = LT_colind[LT_adr + k];  // row c has L[c,r] != 0, c > r guaranteed
-
-      // get L[c,r] index directly from LT_map
-      int L_cr_idx = LT_map[LT_adr + k];
-      mjtNum L_cr = L[L_cr_idx];
-
-      // get row c info
-      int c_adr = L_rowadr[c];
-
-      // dense[j] -= L[c,r] * L[c,j] for all j <= r in L[c]
-      // L_cr_idx - c_adr gives the position of r in row c
-      int num_cols = L_cr_idx - c_adr + 1;
-      const int* colptr = L_colind + c_adr;
-      const mjtNum* Lptr = L + c_adr;
-      for (int i = 0; i < num_cols; i++) {
-        dense[colptr[i]] -= L_cr * Lptr[i];
-      }
-    }
-
-    // factor row r diagonal, handle rank-deficient case
-    mjtNum diag = dense[r];
-    if (diag < mindiag) {
-      diag = mindiag;
-      rank--;
-    }
-
-    // scale off-diagonals
-    mjtNum L_rr = mju_sqrt(diag);
-    mjtNum L_rr_inv = 1.0 / L_rr;
-    int L_adr = L_rowadr[r];
-    int L_nnz = L_rownnz[r];
-    const int* colptr = L_colind + L_adr;
-    mjtNum* Lptr = L + L_adr;
-    for (int i = 0; i < L_nnz - 1; i++) {
-      Lptr[i] = dense[colptr[i]] * L_rr_inv;
-    }
-
-    // store diagonal
-    L[L_adr + L_nnz - 1] = L_rr;
-
-    // clear dense workspace
-    for (int i = 0; i < L_nnz; i++) {
-      dense[colptr[i]] = 0;
-    }
-  }
-
-  mj_freeStack(d);
-  return rank;
-}
-
-// sparse reverse-order Cholesky solve
-void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
-                         const int* rownnz, const int* rowadr, const int* colind) {
-  // copy input into result
-  mju_copy(res, vec, n);
-
-  // vec <- L^-T vec
-  for (int i=n-1; i >= 0; i--) {
-    if (res[i]) {
-      // get rowadr[i], rownnz[i]
-      const int adr = rowadr[i], nnz = rownnz[i];
-
-      // x(i) /= L(i,i)
-      res[i] /= mat[adr+nnz-1];
-      mjtNum tmp = res[i];
-
-      // x(j) -= L(i,j)*x(i), j=0:i-1
-      for (int j=0; j < nnz-1; j++) {
-        res[colind[adr+j]] -= mat[adr+j]*tmp;
-      }
-    }
-  }
-
-  // vec <- L^-1 vec
-  for (int i=0; i < n; i++) {
-    // get rowadr[i], rownnz[i]
-    const int adr = rowadr[i], nnz = rownnz[i];
-
-    // x(i) -= sum_j L(i,j)*x(j), j=0:i-1
-    if (nnz > 1) {
-      res[i] -= mju_dotSparse(mat+adr, res, nnz-1, colind+adr);
-      // modulo AVX, the above line does
-      // for (int j=0; j<nnz-1; j++)
-      //   res[i] -= mat[adr+j]*res[colind[adr+j]];
-    }
-
-
-    // x(i) /= L(i,i)
-    res[i] /= mat[adr+nnz-1];
-  }
-}
-
-
-// sparse reverse-order Cholesky rank-one update: L'*L +/- x*x'; return rank
-//  x is sparse, change in sparsity pattern of mat is not allowed
-int mju_cholUpdateSparse(mjtNum* restrict mat, const mjtNum* restrict x, int n, int flg_plus,
-                         const int* restrict rownnz, const int* restrict rowadr,
-                         const int* restrict colind, int x_nnz, const int* restrict x_ind,
-                         mjData* d) {
-  // early return if x is empty
-  if (x_nnz == 0) {
-    return n;
-  }
-
-  // get starting row: last non-zero entry in x
-  int start = x_ind[x_nnz - 1];
-
-  // allocate dense accumulator for x
-  mj_markStack(d);
-  mjtNum* restrict dense = mjSTACKALLOC(d, start + 1, mjtNum);
-  mju_zero(dense, start + 1);
-
-  // scatter x into dense
-  mju_scatter(dense, x, x_ind, x_nnz);
-
-  // backpass over rows from start down to 0
-  int rank = n;
-  for (int row = start; row >= 0; row--) {
-    // skip if zero
-    if (dense[row] == 0) continue;
-
-    // get rownnz (excluding diagonal), rowadr
-    int nnz = rownnz[row] - 1;
-    int adr = rowadr[row];
-
-    // update diagonal, handle rank-deficient case
-    mjtNum diag = mat[adr + nnz];
-    mjtNum x_row = dense[row];
-    mjtNum tmp = diag*diag + (flg_plus ? x_row*x_row : -x_row*x_row);
-    if (tmp < mjMINVAL) {
-      tmp = mjMINVAL;
-      rank--;
-    }
-    mjtNum r = mju_sqrt(tmp);
-    mat[adr + nnz] = r;
-
-    // compute Givens rotation parameters https://en.wikipedia.org/wiki/Givens_rotation
-    mjtNum c = diag / r;
-    mjtNum s = -x_row / r;
-    mjtNum s_signed = flg_plus ? -s : s;
-
-    // update row
-    for (int i = 0; i < nnz; i++) {
-      int j = colind[adr + i];
-      mjtNum dense_j = dense[j];
-      mjtNum mat_val = mat[adr + i];
-
-      // update mat and dense using the Givens rotation
-      mat[adr + i] = c*mat_val + s_signed*dense_j;
-      dense[j]     = s*mat_val + c*dense_j;
-    }
-  }
-
-  mj_freeStack(d);
-  return rank;
-}
-
-//---------------------------- banded Cholesky -----------------------------------------------------
-
-// band-dense Cholesky decomposition
-//  returns minimum value in the factorized diagonal, or 0 if rank-deficient
-//  mat has (ntotal-ndense) x nband + ndense x ntotal elements
-//  the first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive
-//  the second ndense x ntotal store the band part as entire dense rows
-//  add diagadd+diagmul*mat_ii to diagonal before factorization
-mjtNum mju_cholFactorBand(mjtNum* mat, int ntotal, int nband, int ndense,
-                          mjtNum diagadd, mjtNum diagmul) {
-  int nsparse = ntotal - ndense;
-  mjtNum mindiag = -1;
-
-  // sparse part, including sparse-sparse and sparse-dense
-  for (int j=0; j < nsparse; j++) {
-    // number of non-zeros left of (j,j)
-    int width_jj = mjMIN(j, nband-1);
-
-    // number of non-zeros below (j,j), sparse part
-    int height = mjMIN(nsparse-j-1, nband-1);
-
-    // address of (j,j)
-    int adr_jj = (j+1)*nband-1;
-
-    // compute L(j,j), before sqrt
-    mjtNum left_ij = width_jj > 0 ? mju_dot(mat+adr_jj-width_jj, mat+adr_jj-width_jj, width_jj) : 0;
-    mjtNum Ljj = diagadd + diagmul*mat[adr_jj] + mat[adr_jj] - left_ij;
-
-    // update mindiag
-    if (Ljj < mindiag || mindiag < 0) {
-      mindiag = Ljj;
-    }
-
-    // stop if rank-deficient
-    if (Ljj < mjMINVAL) {
-      return 0;
-    }
-
-    // compute Ljj, scale = 1/Ljj
-    Ljj = mju_sqrt(Ljj);
-    mjtNum scale = 1/Ljj;
-
-    // compute L(i,j) for i>j, sparse part
-    for (int i=j+1; i <= j+height; i++)   {
-      // number of non-zeros left of (i,j)
-      int width_ij = mjMIN(j, nband-1-i+j);
-
-      // address of (i,j)
-      int adr_ij = (i+1)*nband-1-i+j;
-
-      // in-place computation of L(i,j)
-      left_ij = width_ij > 0 ? mju_dot(mat+adr_jj-width_ij, mat+adr_ij-width_ij, width_ij) : 0;
-      mat[adr_ij] = scale * (mat[adr_ij] - left_ij);
-    }
-
-    // compute L(i,j) for i>j, dense part
-    for (int i=nsparse; i < ntotal; i++)   {
-      // address of (i,j)
-      int adr_ij = nsparse*nband + (i-nsparse)*ntotal + j;
-
-      // in-place computation of L(i,j)
-      //  number of non-zeros left of (i,j) now equals width_jj
-      left_ij = width_jj > 0 ? mju_dot(mat+adr_jj-width_jj, mat+adr_ij-width_jj, width_jj) : 0;
-      mat[adr_ij] = scale * (mat[adr_ij] - left_ij);
-    }
-
-    // save L(j,j)
-    mat[adr_jj] = Ljj;
-  }
-
-  // dense part
-  for (int j=nsparse; j < ntotal; j++) {
-    // address of (j,j)
-    int adr_jj = nsparse*nband + (j-nsparse)*ntotal + j;
-
-    // compute Ljj
-    mjtNum Ljj = diagadd + diagmul*mat[adr_jj] + mat[adr_jj] -
-                 mju_dot(mat+adr_jj-j, mat+adr_jj-j, j);
-
-    // update mindiag
-    if (Ljj < mindiag || mindiag < 0) {
-      mindiag = Ljj;
-    }
-
-    // stop if rank-deficient
-    if (Ljj < mjMINVAL) {
-      return 0;
-    }
-
-    // compute Ljj, scale = 1/Ljj
-    Ljj = mju_sqrt(Ljj);
-    mjtNum scale = 1/Ljj;
-
-    // compute L(i,j) for i>j
-    for (int i=j+1; i < ntotal; i++) {
-      // address of off-diagonal element
-      int adr_ij = adr_jj + ntotal*(i-j);
-
-      // in-place computation of L(i,j)
-      mat[adr_ij] = scale * (mat[adr_ij] - mju_dot(mat+adr_jj-j, mat+adr_ij-j, j));
-    }
-
-    // save L(j,j)
-    mat[adr_jj] = Ljj;
-  }
-
-  return mindiag;
-}
-
-
-// solve with band-Cholesky decomposition
-void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                       int ntotal, int nband, int ndense) {
-  int width, height, nsparse = ntotal - ndense;
-
-  // copy into result if different
-  if (res != vec) {
-    mju_copy(res, vec, ntotal);
-  }
-
-  //------- forward substitution: solve L*res = vec
-
-  // sparse part
-  for (int i=0; i < nsparse; i++) {
-    // number of non-zeros left of (i,i)
-    width = mjMIN(i, nband-1);
-
-    if (width) {
-      res[i] -= mju_dot(mat+(i+1)*nband-1-width, res+i-width, width);
-    }
-
-    // diagonal
-    res[i] /= mat[(i+1)*nband-1];
-  }
-
-  // dense part
-  for (int i=nsparse; i < ntotal; i++) {
-    res[i] -= mju_dot(mat+nsparse*nband+(i-nsparse)*ntotal, res, i);
-
-    // diagonal
-    res[i] /= mat[nsparse*nband+(i-nsparse)*ntotal+i];
-  }
-
-  //------- backward substitution: solve L'*res = res
-
-  // dense part
-  for (int i=ntotal-1; i >= nsparse; i--) {
-    for (int j=i+1; j < ntotal; j++) {
-      res[i] -= mat[nsparse*nband+(j-nsparse)*ntotal+i] * res[j];
-    }
-
-    // diagonal
-    res[i] /= mat[nsparse*nband+(i-nsparse)*ntotal+i];
-  }
-
-  // sparse part
-  for (int i=nsparse-1; i >= 0; i--) {
-    // number of non-zeros below (i,i), sparse part
-    height = mjMIN(nsparse-1-i, nband-1);
-
-    // sparse rows
-    for (int j=i+1; j <= i+height; j++)
-      res[i] -= mat[(j+1)*nband-1-(j-i)] * res[j];
-
-    // dense rows
-    for (int j=nsparse; j < ntotal; j++)
-      res[i] -= mat[nsparse*nband+(j-nsparse)*ntotal+i] * res[j];
-
-    // diagonal
-    res[i] /= mat[(i+1)*nband-1];
-  }
-}
-
-
-// address of diagonal element i in band-dense matrix representation
-int mju_bandDiag(int i, int ntotal, int nband, int ndense) {
-  int nsparse = ntotal-ndense;
-
-  // sparse part
-  if (i < nsparse) {
-    return i*nband + nband-1;
-  }
-
-  // dense part
-  else {
-    return nsparse*nband + (i-nsparse)*ntotal + i;
-  }
-}
-
-
-// convert band matrix to dense matrix
-void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
-                    mjtBool flg_sym) {
-  int nsparse = ntotal-ndense;
-
-  // clear all
-  mju_zero(res, ntotal*ntotal);
-
-  // sparse part
-  for (int i=0; i < nsparse; i++) {
-    // number of non-zeros left of (i,i)
-    int width = mjMIN(i, nband-1);
-
-    // copy data
-    mju_copy(res + i*ntotal + i-width, mat + (i+1)*nband - (width+1), width+1);
-  }
-
-  // dense part
-  for (int i=nsparse; i < ntotal; i++) {
-    mju_copy(res + i*ntotal, mat + nsparse*nband + (i-nsparse)*ntotal, i+1);
-  }
-
-  // make symmetric
-  if (flg_sym) {
-    for (int i=0; i < ntotal; i++) {
-      for (int j=i+1; j < ntotal; j++) {
-        res[i*ntotal + j] = res[j*ntotal + i];
-      }
-    }
-  }
-}
-
-
-// convert dense matrix to band matrix
-void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense) {
-  int nsparse = ntotal-ndense;
-
-  // sparse part
-  for (int i=0; i < nsparse; i++) {
-    // number of non-zeros left of (i,i)
-    int width = mjMIN(i, nband-1);
-
-    // copy data
-    mju_copy(res + (i+1)*nband - (width+1), mat + i*ntotal + i-width, width+1);
-  }
-
-  // dense part
-  for (int i=nsparse; i < ntotal; i++) {
-    mju_copy(res + nsparse*nband + (i-nsparse)*ntotal, mat + i*ntotal, i+1);
-  }
-}
-
-
-// multiply band-diagonal matrix with vector
-void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                       int ntotal, int nband, int ndense, int nvec, mjtBool flg_sym) {
-  int nsparse = ntotal-ndense;
-
-  // handle multiple vectors
-  for (int j=0; j < nvec; j++) {
-    // precompute pointer to corresponding vector in vec and res
-    const mjtNum* vec_j = vec + ntotal*j;
-    mjtNum* res_j = res + ntotal*j;
-
-    // sparse part
-    for (int i=0; i < nsparse; i++) {
-      int width = mjMIN(i+1, nband);
-      int adr = i*nband + nband - width;
-      int offset = mjMAX(0, i-nband+1);
-      res_j[i] = mju_dot(mat+adr, vec_j+offset, width);  // lower triangle
-      if (flg_sym) {
-        // strict upper triangle
-        mju_addToScl(res_j+offset, mat+adr, vec_j[i], width-1);
-      }
-    }
-
-    // dense part
-    for (int i=nsparse; i < ntotal; i++) {
-      int adr = nsparse*nband + (i-nsparse)*ntotal;
-      res_j[i] = mju_dot(mat+adr, vec_j, i+1);
-      if (flg_sym) {
-        // strict upper triangle
-        mju_addToScl(res_j, mat+adr, vec_j[i], i);
-      }
-    }
-  }
-}
-
-
-//------------------------------ dense LU factorization --------------------------------------------
-
-// dense LU factorization with partial pivoting
-//   factorizes n x n row-major matrix A in-place into L and U
-//   L has unit diagonal (not stored), U has explicit diagonal
-//   pivot stores row permutation: row i of original = row pivot[i] of result
-//   return 1 if successful, 0 if singular (diagonal element < mjMINVAL)
-int mju_factorLU(mjtNum* restrict A, int n, int* pivot) {
-  for (int k=0; k < n; k++) {
-    // initialize pivot
-    pivot[k] = k;
-
-    // find pivot: max absolute value in column k, rows k..n-1
-    mjtNum maxval = mju_abs(A[k*n+k]);
-    int maxrow = k;
-    for (int i=k+1; i < n; i++) {
-      mjtNum val = mju_abs(A[i*n+k]);
-      if (val > maxval) {
-        maxval = val;
-        maxrow = i;
-      }
-    }
-
-    // check singularity
-    if (maxval < mjMINVAL) {
-      return 0;
-    }
-
-    // swap rows k and maxrow
-    if (maxrow != k) {
-      pivot[k] = maxrow;
-      for (int j=0; j < n; j++) {
-        mjtNum tmp = A[k*n+j];
-        A[k*n+j] = A[maxrow*n+j];
-        A[maxrow*n+j] = tmp;
-      }
-    }
-
-    // compute multipliers and update trailing submatrix
-    mjtNum diaginv = 1.0 / A[k*n+k];
-    for (int i=k+1; i < n; i++) {
-      A[i*n+k] *= diaginv;
-      mjtNum Aik = A[i*n+k];
-      for (int j=k+1; j < n; j++) {
-        A[i*n+j] -= Aik * A[k*n+j];
-      }
-    }
-  }
-
-  return 1;
-}
-
-
-// solve A*x = b given LU factorization of A, LU and pivot are output of mju_factorLU
-void mju_solveLU(mjtNum* restrict x, const mjtNum* LU, const mjtNum* b, const int* pivot, int n) {
-  // copy b into x
-  mju_copy(x, b, n);
-
-  // apply row permutation and forward substitution: solve L*y = P*b
-  for (int i=0; i < n; i++) {
-    // apply pivot swap
-    if (pivot[i] != i) {
-      mjtNum tmp = x[i];
-      x[i] = x[pivot[i]];
-      x[pivot[i]] = tmp;
-    }
-
-    // subtract known terms
-    for (int j=0; j < i; j++) {
-      x[i] -= LU[i*n+j] * x[j];
-    }
-  }
-
-  // back substitution: solve U*x = y
-  for (int i=n-1; i >= 0; i--) {
-    for (int j=i+1; j < n; j++) {
-      x[i] -= LU[i*n+j] * x[j];
-    }
-    x[i] /= LU[i*n+i];
-  }
-}
-
-
-// 6x6 specialization of mju_factorLU: same algorithm with compile-time size,
-// allowing full unrolling; produces identical results
-int mju_factorLU6(mjtNum A[36], int pivot[6]) {
-  for (int k=0; k < 6; k++) {
-    // initialize pivot
-    pivot[k] = k;
-
-    // find pivot: max absolute value in column k, rows k..n-1
-    mjtNum maxval = mju_abs(A[k*6+k]);
-    int maxrow = k;
-    for (int i=k+1; i < 6; i++) {
-      mjtNum val = mju_abs(A[i*6+k]);
-      if (val > maxval) {
-        maxval = val;
-        maxrow = i;
-      }
-    }
-
-    // check singularity
-    if (maxval < mjMINVAL) {
-      return 0;
-    }
-
-    // swap rows k and maxrow
-    if (maxrow != k) {
-      pivot[k] = maxrow;
-      for (int j=0; j < 6; j++) {
-        mjtNum tmp = A[k*6+j];
-        A[k*6+j] = A[maxrow*6+j];
-        A[maxrow*6+j] = tmp;
-      }
-    }
-
-    // compute multipliers and update trailing submatrix
-    mjtNum diaginv = 1.0 / A[k*6+k];
-    for (int i=k+1; i < 6; i++) {
-      A[i*6+k] *= diaginv;
-      mjtNum Aik = A[i*6+k];
-      for (int j=k+1; j < 6; j++) {
-        A[i*6+j] -= Aik * A[k*6+j];
-      }
-    }
-  }
-
-  return 1;
-}
-
-
-// solve A*x = b given 6x6 LU factorization from mju_factorLU6
-void mju_solveLU6(mjtNum x[6], const mjtNum LU[36], const mjtNum b[6], const int pivot[6]) {
-  for (int i=0; i < 6; i++) {
-    x[i] = b[i];
-  }
-
-  // apply row permutation and forward substitution: solve L*y = P*b
-  for (int i=0; i < 6; i++) {
-    // apply pivot swap
-    if (pivot[i] != i) {
-      mjtNum tmp = x[i];
-      x[i] = x[pivot[i]];
-      x[pivot[i]] = tmp;
-    }
-
-    // subtract known terms
-    for (int j=0; j < i; j++) {
-      x[i] -= LU[i*6+j] * x[j];
-    }
-  }
-
-  // back substitution: solve U*x = y
-  for (int i=6-1; i >= 0; i--) {
-    for (int j=i+1; j < 6; j++) {
-      x[i] -= LU[i*6+j] * x[j];
-    }
-    x[i] /= LU[i*6+i];
-  }
-}
-
-
-//------------------------------ sparse LU factorization -------------------------------------------
-
-// sparse reverse-order LU factorization, no fill-in (assuming tree topology)
-//   result: LU = L + U; original = (U+I) * L; scratch size is n
-void mju_factorLUSparse(mjtNum* LU, int n, int* scratch,
-                        const int* rownnz, const int* rowadr, const int* colind,
-                        const int* index) {
-  int* remaining = scratch;
-
-  // set remaining = rownnz
-  if (index) {
-    for (int i=0; i < n; i++) {
-      remaining[i] = rownnz[index[i]];
-    }
-  } else {
-    mju_copyInt(remaining, rownnz, n);
-  }
-
-  // diagonal elements (i,i)
-  for (int r=n-1; r >= 0; r--) {
-    int i = index ? index[r] : r;
-
-    // get address of last remaining element of row i, adjust remaining counter
-    int ii = rowadr[i] + remaining[r] - 1;
-    remaining[r]--;
-
-    // make sure ii is on diagonal
-    if (colind[ii] != i) {
-      mjERROR("missing diagonal element");
-    }
-
-    // make sure diagonal is not too small
-    if (mju_abs(LU[ii]) < mjMINVAL) {
-      mjERROR("diagonal element too small");
-    }
-
-    // rows j above i
-    for (int c=r-1; c >= 0; c--) {
-      int j = index ? index[c] : c;
-
-      // get address of last remaining element of row j
-      int ji = rowadr[j] + remaining[c] - 1;
-
-      // process row j if (j,i) is non-zero
-      if (colind[ji] == i) {
-        // adjust remaining counter
-        remaining[c]--;
-
-        // (j,i) = (j,i) / (i,i)
-        LU[ji] = LU[ji] / LU[ii];
-        mjtNum LUji = LU[ji];
-
-        // (j,k) = (j,k) - (i,k) * (j,i) for k<i; handle incompatible sparsity
-        int icnt = rowadr[i], jcnt = rowadr[j];
-        while (jcnt < rowadr[j]+remaining[c]) {
-          // both non-zero
-          if (colind[icnt] == colind[jcnt]) {
-            // update LU, advance counters
-            LU[jcnt++] -= LU[icnt++] * LUji;
-          }
-
-          // only (j,k) non-zero
-          else if (colind[icnt] > colind[jcnt]) {
-            // advance j counter
-            jcnt++;
-          }
-
-          // only (i,k) non-zero
-          else {
-            mjERROR("requires fill-in");
-          }
-        }
-
-        // make sure both rows fully processed
-        if (icnt != rowadr[i]+remaining[r] || jcnt != rowadr[j]+remaining[c]) {
-          mjERROR("row processing incomplete");
-        }
-      }
-    }
-  }
-
-  // make sure remaining points to diagonal
-  for (int r=0; r < n; r++) {
-    int i = index ? index[r] : r;
-    if (remaining[r] < 0 || colind[rowadr[i]+remaining[r]] != i) {
-      mjERROR("unexpected sparse matrix structure");
-    }
-  }
-}
-
-
-// solve mat*res=vec given LU factorization of mat
-void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
-                       const int* rownnz, const int* rowadr, const int* diag, const int* colind,
-                       const int* index) {
-  // solve (U+I)*res = vec
-  for (int k=n-1; k >= 0; k--) {
-    int i = index ? index[k] : k;
-
-    // init: diagonal of (U+I) is 1
-    res[i] = vec[i];
-
-    int d1 = diag[i]+1;
-    int nnz = rownnz[i] - d1;
-    if (nnz > 0) {
-      int adr = rowadr[i] + d1;
-      res[i] -= mju_dotSparse(LU+adr, res, nnz, colind+adr);
-    }
-  }
-
-  //------------------ solve L*res(new) = res
-  for (int k=0; k < n; k++) {
-    int i = index ? index[k] : k;
-
-    // res[i] -= sum_k<i res[k]*LU(i,k)
-    int d = diag[i];
-    int adr = rowadr[i];
-    if (d > 0) {
-      res[i] -= mju_dotSparse(LU+adr, res, d, colind+adr);
-    }
-
-    // divide by diagonal element of L
-    res[i] /= LU[adr + d];
-  }
-}
-
-
-//--------------------------- 3x3 linear solve -----------------------------------------------------
-
-// solve 3x3 linear system A*x = b using Gaussian elimination
-void mju_solve3(mjtNum x[3], const mjtNum A[9], const mjtNum b[3]) {
-  mjtNum M[3][4] = {
-    {A[0], A[1], A[2], b[0]},
-    {A[3], A[4], A[5], b[1]},
-    {A[6], A[7], A[8], b[2]}
-  };
-
-  for (int i=0; i<3; i++) {
-    mjtNum pivot = M[i][i];
-    for (int j=i; j<4; j++) {
-      M[i][j] /= pivot;
-    }
-
-    for (int k=0; k<3; k++) {
-      if (k != i) {
-        mjtNum factor = M[k][i];
-        for (int j=i; j<4; j++) {
-          M[k][j] -= factor * M[i][j];
-        }
-      }
-    }
-  }
-  x[0] = M[0][3];
-  x[1] = M[1][3];
-  x[2] = M[2][3];
-}
-
-
-//--------------------------- eigen decomposition --------------------------------------------------
-
-// eigenvalue decomposition of symmetric 3x3 matrix
-static const mjtNum eigEPS = mjMINVAL * 1000;
-int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]) {
-  mjtNum D[9], tmp[9];
-  mjtNum tau, t, c;
-  int iter, rk, ck, rotk;
-
-  // initialize with unit quaternion
-  quat[0] = 1;
-  quat[1] = quat[2] = quat[3] = 0;
-
-  // Jacobi iteration
-  for (iter=0; iter < 500; iter++) {
-    // make quaternion matrix eigvec, compute D = eigvec'*mat*eigvec
-    mju_quat2Mat(eigvec, quat);
-    mji_mulMatTMat3(tmp, eigvec, mat);
-    mji_mulMatMat3(D, tmp, eigvec);
-
-    // assign eigenvalues
-    eigval[0] = D[0];
-    eigval[1] = D[4];
-    eigval[2] = D[8];
-
-    // find max off-diagonal element, set indices
-    if (mju_abs(D[1]) > mju_abs(D[2]) && mju_abs(D[1]) > mju_abs(D[5])) {
-      rk = 0;     // row
-      ck = 1;     // column
-      rotk = 2;   // rotation axis
-    } else if (mju_abs(D[2]) > mju_abs(D[5])) {
-      rk = 0;
-      ck = 2;
-      rotk = 1;
-    } else {
-      rk = 1;
-      ck = 2;
-      rotk = 0;
-    }
-
-    // terminate if max off-diagonal element too small
-    if (mju_abs(D[3*rk+ck]) < eigEPS) {
-      break;
-    }
-
-    // 2x2 symmetric Schur decomposition
-    tau = (D[4*ck]-D[4*rk])/(2*D[3*rk+ck]);
-    if (tau >= 0) {
-      t = 1.0/(tau + mju_sqrt(1 + tau*tau));
-    } else {
-      t = -1.0/(-tau + mju_sqrt(1 + tau*tau));
-    }
-    c = 1.0/mju_sqrt(1 + t*t);
-
-    // terminate if cosine too close to 1
-    if (c > 1.0-eigEPS) {
-      break;
-    }
-
-    // express rotation as quaternion
-    tmp[1] = tmp[2] = tmp[3] = 0;
-    tmp[rotk+1] = (tau >= 0 ? -mju_sqrt(0.5-0.5*c) : mju_sqrt(0.5-0.5*c));
-    if (rotk == 1) {
-      tmp[rotk+1] = -tmp[rotk+1];
-    }
-    tmp[0] = mju_sqrt(1.0 - tmp[rotk+1]*tmp[rotk+1]);
-    mju_normalize4(tmp);
-
-    // accumulate quaternion rotation
-    mju_mulQuat(quat, quat, tmp);
-    mju_normalize4(quat);
-  }
-
-  // sort eigenvalues in decreasing order (bubble sort: 0, 1, 0)
-  for (int j=0; j < 3; j++) {
-    int j1 = j%2;       // lead index
-
-    // only swap if the eigenvalues are different
-    if (eigval[j1]+eigEPS < eigval[j1+1]) {
-      // swap eigenvalues
-      t = eigval[j1];
-      eigval[j1] = eigval[j1+1];
-      eigval[j1+1] = t;
-
-      // rotate quaternion
-      tmp[0] = 0.707106781186548;  // = cos(pi/4) = sin(pi/4)
-      tmp[1] = tmp[2] = tmp[3] = 0;
-      tmp[(j1+2)%3+1] = tmp[0];
-      mju_mulQuat(quat, quat, tmp);
-      mju_normalize4(quat);
-    }
-  }
-
-  // recompute eigvec
-  mju_quat2Mat(eigvec, quat);
-
-  return iter;
-}
-
-
-//---------------------------------- QCQP ----------------------------------------------------------
-
-// solve QCQP in 2 dimensions:
-//  min  0.5*x'*A*x + x'*b  s.t.  sum (xi/di)^2 <= r^2
-// return 0 if unconstrained, 1 if constrained
-int mju_QCQP2(mjtNum* res, const mjtNum* Ain, const mjtNum* bin,
-              const mjtNum* d, mjtNum r) {
-  mjtNum A11, A22, A12, b1, b2;
-  mjtNum P11, P22, P12, det, detinv, v1, v2, la, val, deriv;
-
-  // scale A,b so that constraint becomes x'*x <= r*r
-  b1 = bin[0]*d[0];
-  b2 = bin[1]*d[1];
-  A11 = Ain[0]*d[0]*d[0];
-  A22 = Ain[3]*d[1]*d[1];
-  A12 = Ain[1]*d[0]*d[1];
-
-  // Newton iteration
-  la = 0;
-  for (int iter=0; iter < 20; iter++) {
-    // det(A+la)
-    det = (A11+la)*(A22+la) - A12*A12;
-
-    // check SPD, with 1e-10 threshold
-    if (det < 1e-10) {
-      res[0] = 0;
-      res[1] = 0;
-      return 0;
-    }
-
-    // P = inv(A+la)
-    detinv = 1/det;
-    P11 = (A22+la)*detinv;
-    P22 = (A11+la)*detinv;
-    P12 = -A12*detinv;
-
-    // v = -P*b
-    v1 = -P11*b1 - P12*b2;
-    v2 = -P12*b1 - P22*b2;
-
-    // val = v'*v - r*r
-    val = v1*v1 + v2*v2 - r*r;
-
-    // check for convergence, or initial solution inside constraint set
-    if (val < 1e-10) {
-      break;
-    }
-
-    // deriv = -2 * v' * P * v
-    deriv = -2.0*(P11*v1*v1 + 2.0*P12*v1*v2 + P22*v2*v2);
-
-    // compute update, exit if too small
-    mjtNum delta = -val/deriv;
-    if (delta < 1e-10) {
-      break;
-    }
-
-    // update
-    la += delta;
-  }
-
-  // undo scaling
-  res[0] = v1*d[0];
-  res[1] = v2*d[1];
-
-  return (la != 0);
-}
-
-
-// solve QCQP in 3 dimensions:
-//  min  0.5*x'*A*x + x'*b  s.t.  sum (xi/di)^2 <= r^2
-// return 0 if unconstrained, 1 if constrained
-int mju_QCQP3(mjtNum* res, const mjtNum* Ain, const mjtNum* bin,
-              const mjtNum* d, mjtNum r) {
-  mjtNum A11, A22, A33, A12, A13, A23, b1, b2, b3;
-  mjtNum P11, P22, P33, P12, P13, P23, det, detinv, v1, v2, v3, la, val, deriv;
-
-  // scale A,b so that constraint becomes x'*x <= r*r
-  b1 = bin[0]*d[0];
-  b2 = bin[1]*d[1];
-  b3 = bin[2]*d[2];
-  A11 = Ain[0]*d[0]*d[0];
-  A22 = Ain[4]*d[1]*d[1];
-  A33 = Ain[8]*d[2]*d[2];
-  A12 = Ain[1]*d[0]*d[1];
-  A13 = Ain[2]*d[0]*d[2];
-  A23 = Ain[5]*d[1]*d[2];
-
-  // Newton iteration
-  la = 0;
-  for (int iter=0; iter < 20; iter++) {
-    // unscaled P
-    P11 = (A22+la)*(A33+la) - A23*A23;
-    P22 = (A11+la)*(A33+la) - A13*A13;
-    P33 = (A11+la)*(A22+la) - A12*A12;
-    P12 = A13*A23 - A12*(A33+la);
-    P13 = A12*A23 - A13*(A22+la);
-    P23 = A12*A13 - A23*(A11+la);
-
-    // det(A+la)
-    det = (A11+la)*P11 + A12*P12 + A13*P13;
-
-    // check SPD, with 1e-10 threshold
-    if (det < 1e-10) {
-      res[0] = 0;
-      res[1] = 0;
-      res[2] = 0;
-      return 0;
-    }
-
-    // detinv
-    detinv = 1/det;
-
-    // final P
-    P11 *= detinv;
-    P22 *= detinv;
-    P33 *= detinv;
-    P12 *= detinv;
-    P13 *= detinv;
-    P23 *= detinv;
-
-    // v = -P*b
-    v1 = -P11*b1 - P12*b2 - P13*b3;
-    v2 = -P12*b1 - P22*b2 - P23*b3;
-    v3 = -P13*b1 - P23*b2 - P33*b3;
-
-    // val = v'*v - r*r
-    val = v1*v1 + v2*v2 + v3*v3 - r*r;
-
-    // check for convergence, or initial solution inside constraint set
-    if (val < 1e-10) {
-      break;
-    }
-
-    // deriv = -2 * v' * P * v
-    deriv = -2.0*(P11*v1*v1 + P22*v2*v2 + P33*v3*v3)
-            -4.0*(P12*v1*v2 + P13*v1*v3 + P23*v2*v3);
-
-    // compute update, exit if too small
-    mjtNum delta = -val/deriv;
-    if (delta < 1e-10) {
-      break;
-    }
-
-    // update
-    la += delta;
-  }
-
-  // undo scaling
-  res[0] = v1*d[0];
-  res[1] = v2*d[1];
-  res[2] = v3*d[2];
-
-  return (la != 0);
-}
-
-
-// solve QCQP in n dimensions:
-//  min  0.5*x'*A*x + x'*b  s.t.  sum (xi/di)^2 <= r^2
-// return 0 if unconstrained, 1 if constrained
-int mju_QCQP(mjtNum* res, const mjtNum* Ain, const mjtNum* bin,
-             const mjtNum* d, mjtNum r, int n) {
-  mjtNum A[25], Ala[25], b[5];
-  mjtNum la, val, deriv, tmp[5];
-
-  // check size
-  if (n > 5) {
-    mjERROR("n is only supported up to 5");
-  }
-
-  // scale A,b so that constraint becomes x'*x <= r*r
-  for (int i=0; i < n; i++) {
-    b[i] = bin[i] * d[i];
-
-    for (int j=0; j < n; j++) {
-      A[j+i*n] = Ain[j+i*n] * d[i] * d[j];
-    }
-  }
-
-  // Newton iteration
-  la = 0;
-  for (int iter=0; iter < 20; iter++) {
-    // make A+la
-    mju_copy(Ala, A, n*n);
-    for (int i=0; i < n; i++) {
-      Ala[i*(n+1)] += la;
-    }
-
-    // factorize, check rank with 1e-10 threshold
-    if (mju_cholFactor(Ala, n, 1e-10) < n) {
-      mju_zero(res, n);
-      return 0;
-    }
-
-    // set res = -Ala \ b
-    mju_cholSolve(res, Ala, b, n);
-    mju_scl(res, res, -1, n);
-
-    // val = b' * Ala^-2 * b - r*r
-    val = mju_dot(res, res, n) - r*r;
-
-    // check for convergence, or initial solution inside constraint set
-    if (val < 1e-10) {
-      break;
-    }
-
-    // deriv = -2 * b' * Ala^-3 * b
-    mju_cholSolve(tmp, Ala, res, n);
-    deriv = -2.0 * mju_dot(res, tmp, n);
-
-    // compute update, exit if too small
-    mjtNum delta = -val/deriv;
-    if (delta < 1e-10) {
-      break;
-    }
-
-    // update
-    la += delta;
-  }
-
-  // undo scaling
-  for (int i=0; i < n; i++) {
-    res[i] = res[i] * d[i];
-  }
-
-  return (la != 0);
-}
-
-
-//--------------------------- box-constrained quadratic program ------------------------------------
-
-// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <= upper, return rank or -1 if failed
-//   inputs:
-//     n           - problem dimension
-//     H           - SPD matrix                n*n
-//     g           - bias vector               n
-//     lower       - lower bounds              n
-//     upper       - upper bounds              n
-//     res         - solution warmstart        n
-//   return value:
-//     nfree <= n  - rank of unconstrained subspace, -1 if failure
-//   outputs (required):
-//     res         - solution                  n
-//     R           - subspace Cholesky factor  nfree*nfree    allocated: n*(n+7)
-//   outputs (optional):
-//     index       - set of free dimensions    nfree          allocated: n
-//   notes:
-//     the initial value of res is used to warmstart the solver
-//     R must have allocatd size n*(n+7), but only nfree*nfree values are used in output
-//     index (if given) must have allocated size n, but only nfree values are used in output
-//     only lower triangles of H and R and read from and written to, respectively
-int mju_boxQP(mjtNum* res, mjtNum* R, int* index,
-              const mjtNum* H, const mjtNum* g, int n,
-              const mjtNum* lower, const mjtNum* upper) {
-  // algorithm options
-  int    maxiter    = 100;    // maximum number of iterations
-  mjtNum mingrad    = 1E-16;  // minimum squared norm of (unclamped) gradient
-  mjtNum backtrack  = 0.5;    // backtrack factor for decreasing stepsize
-  mjtNum minstep    = 1E-22;  // minimum stepsize for linesearch
-  mjtNum armijo     = 0.1;    // Armijo parameter (fraction of expected linear improvement)
-
-  // logging (disabled)
-  char*  log        = NULL;   // buffer to write log messages into
-  int    logsz      = 0;      // size of log buffer
-
-  return mju_boxQPoption(res, R, index, H, g, n, lower, upper,
-                         maxiter, mingrad, backtrack, minstep, armijo, log, logsz);
-}
-
-
-// allocate heap memory for box-constrained Quadratic Program
-//   as in mju_boxQP, index, lower and upper are optional
-//   free all pointers with mju_free()
-void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index,
-                     mjtNum** H, mjtNum** g, int n,
-                     mjtNum** lower, mjtNum** upper) {
-  // required arrays
-  *res = (mjtNum*) mju_malloc(sizeof(mjtNum)*n);
-  *R   = (mjtNum*) mju_malloc(sizeof(mjtNum)*n*(n+7));
-  *H   = (mjtNum*) mju_malloc(sizeof(mjtNum)*n*n);
-  *g   = (mjtNum*) mju_malloc(sizeof(mjtNum)*n);
-
-  // optional arrays
-  if (lower) *lower = (mjtNum*) mju_malloc(sizeof(mjtNum)*n);
-  if (upper) *upper = (mjtNum*) mju_malloc(sizeof(mjtNum)*n);
-  if (index) *index = (int*) mju_malloc(sizeof(int)*n);
-}
-
-
-// local enum encoding mju_boxQP solver status (purely for readability)
-enum mjtStatusBoxQP {
-  mjBOXQP_NOT_SPD     = -1,        //  Hessian is not positive definite
-  mjBOXQP_NO_DESCENT  = 0,         //  no descent direction found
-  mjBOXQP_MAX_ITER    = 1,         //  maximum main iterations exceeded
-  mjBOXQP_MAX_LS_ITER = 2,         //  maximum line-search iterations exceeded
-  mjBOXQP_TOL_GRAD    = 3,         //  gradient norm smaller than tolerance
-  mjBOXQP_UNBOUNDED   = 4,         //  no dimensions clamped, returning Newton point
-  mjBOXQP_ALL_CLAMPED = 5,         //  all dimensions clamped
-
-  mjNBOXQP            = 7          //  number of boxQP status values
-};
-
-
-// multiply symmetric matrix with vector on both sides: return vec'*mat*vec
-//   assumes symmetry of mat, ignores upper triangle
-static mjtNum mulVecMatVecSym(const mjtNum* vec, const mjtNum* mat, int n) {
-  mjtNum res = 0;
-  for (int i=0; i < n; i++) {
-    res += vec[i] * mat[n*i+i] * vec[i];           // diagonal
-    res += 2 * vec[i] * mju_dot(mat+n*i, vec, i);  // off-diagonal
-  }
-  return res;
-}
-
-
-// multiply symmetric matrix with vector: res = mat*vec
-//   assumes symmetry of mat, ignores upper triangle, res must not alias vec
-static void mulSymVec(mjtNum* restrict res, const mjtNum* mat, const mjtNum* vec, int n) {
-  for (int i=0; i < n; i++) {
-    // diagonal + strict lower triangle: res[i] = sum_{j<=i} mat[i,j] * vec[j]
-    res[i] = mat[n*i+i]*vec[i] + mju_dot(mat+n*i, vec, i);
-
-    // strict upper mirror contribution: res[k] += mat[i,k] * vec[i] for k < i
-    mju_addToScl(res, mat+n*i, vec[i], i);
-  }
-}
-
-
-// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <=upper, explicit options
-//  additional arguments to mju_boxQP (see mju_boxQP documentation):
-//   maxiter     maximum number of iterations
-//   mingrad     minimum squared norm of (unclamped) gradient
-//   backtrack   backtrack factor for decreasing stepsize
-//   minstep     minimum stepsize for linesearch
-//   armijo      Armijo parameter (fraction of expected linear improvement)
-//   log         buffer to write log messages into
-//   logsz       size of log buffer
-int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index,               // outputs
-                    const mjtNum* H, const mjtNum* g, int n,          // QP definition
-                    const mjtNum* lower, const mjtNum* upper,         // bounds
-                    int maxiter, mjtNum mingrad, mjtNum backtrack,    // options
-                    mjtNum minstep, mjtNum armijo,                    // options
-                    char* log, int logsz)                             // logging
-{
-  int status = mjBOXQP_NO_DESCENT;  // initial status: no descent direction found
-  int factorize = 1;                // always factorize on the first iteration
-  int nfree = n;                    // initialise nfree with n
-  int nfactor = 0;
-  mjtNum sdotg, improvement=0, value=0, norm2=0;
-
-  // basic checks
-  if (n <= 0) {
-    mjERROR("problem size n must be positive");
-  }
-  if (upper && lower) {
-    for (int i=0; i < n; i++) {
-      if (lower[i] >= upper[i]) {
-        mjERROR("upper bounds must be stricly larger than lower bounds");
-      }
-    }
-  }
-
-  // local scratch vectors, allocate in R
-  mjtNum* scratch   = R + n*n;
-  mjtNum* grad      = scratch + 0*n;
-  mjtNum* search    = scratch + 1*n;
-  mjtNum* candidate = scratch + 2*n;
-  mjtNum* temp      = scratch + 3*n;
-  int* clamped      = (int*) (scratch + 4*n);
-  int* oldclamped   = (int*) (scratch + 5*n);
-
-  // if index vector not given, use scratch space
-  if (!index) {
-    index = (int*) (scratch + 6*n);
-  }
-
-  static const char status_string[mjNBOXQP][50]= {
-    "Hessian is not positive definite",
-    "No descent direction found",
-    "Maximum main iterations exceeded",
-    "Maximum line-search iterations exceeded",
-    "Gradient norm smaller than tolerance",
-    "No dimensions clamped, returning Newton point",
-    "All dimensions clamped"
-  };
-
-  // no bounds: return Newton point
-  if (!lower && !upper) {
-    // try to factorize
-    mju_copy(R, H, n*n);
-    int rank = mju_cholFactor(R, n, mjMINVAL);
-    if (rank == n) {
-      mju_cholSolve(res, R, g, n);
-      mju_scl(res, res, -1, n);
-      nfactor = 1;
-      status = mjBOXQP_UNBOUNDED;
-    } else {
-      status = mjBOXQP_NOT_SPD;
-    }
-
-    // full index set (no clamping)
-    for (int i=0; i < n; i++) {
-      index[i] = i;
-    }
-  }
-
-  // have bounds: clamp res
-  else {
-    for (int i=0; i < n; i++) {
-      if (lower) {
-        res[i] = mju_max(res[i], lower[i]);
-      }
-      if (upper) {
-        res[i] = mju_min(res[i], upper[i]);
-      }
-    }
-  }
-
-  // ------ main loop
-  int iter, logptr = 0;
-  mjtNum oldvalue;
-  for (iter=0; iter < maxiter; iter++) {
-    if (status != mjBOXQP_NO_DESCENT) {
-      break;
-    }
-
-    // compute objective: value = 0.5*res'*H*res + res'*g
-    value = 0.5 * mulVecMatVecSym(res, H, n) + mju_dot(res, g, n);
-
-    // save last value
-    oldvalue = value;
-
-    // compute gradient
-    mulSymVec(grad, H, res, n);
-    mju_addTo(grad, g, n);
-
-    // find clamped dimensions
-    for (int i=0; i < n; i++) {
-      clamped[i] = ( lower && res[i] == lower[i] && grad[i] > 0 ) ||
-                   ( upper && res[i] == upper[i] && grad[i] < 0 );
-    }
-
-    // build index of free dimensions, count them
-    nfree = 0;
-    for (int i=0; i < n; i++) {
-      if (!clamped[i]) {
-        index[nfree++] = i;
-      }
-    }
-
-    // all dimensions are clamped: minimum found
-    if (!nfree) {
-      status = mjBOXQP_ALL_CLAMPED;
-      break;
-    }
-
-    // re-factorize if clamped dimensions have changed
-    if (iter) {
-      factorize = 0;
-      for (int i=0; i < n; i++) {
-        if (clamped[i] != oldclamped[i]) {
-          factorize = 1;
-          break;
-        }
-      }
-    }
-
-    // save last clamped
-    for (int i=0; i < n; i++) {
-      oldclamped[i] = clamped[i];
-    }
-
-    // get search direction: search = g + H_all,clamped * res_clamped
-    for (int i=0; i < n; i++) {
-      temp[i] = clamped[i] ? res[i] : 0;
-    }
-    mulSymVec(search, H, temp, n);
-    mju_addTo(search, g, n);
-
-    // search = compress_free(search)
-    for (int i=0; i < nfree; i++) {
-      search[i] = search[index[i]];
-    }
-
-    // R = compress_free(H)
-    if (factorize) {
-      for (int i=0; i < nfree; i++) {
-        for (int j=0; j < i+1; j++) {
-          R[i*nfree+j] = H[index[i]*n+index[j]];
-        }
-      }
-    }
-
-    // re-factorize and increment counter, if required
-    int rank = factorize ? mju_cholFactor(R, nfree, mjMINVAL) : nfree;
-    nfactor += factorize;
-
-    // abort if factorization failed
-    if (rank != nfree) {
-      status = mjBOXQP_NOT_SPD;
-      break;
-    }
-
-    // temp = H_free,free \ search_free
-    mju_cholSolve(temp, R, search, nfree);
-
-    // search_free = expand_free(-temp) - x_free
-    mju_zero(search, n);
-    for (int i=0; i < nfree; i++) {
-      search[index[i]] = -temp[i] -res[index[i]];
-    }
-
-    // ------ check gradient
-
-    // squared norm of free gradient
-    norm2 = 0;
-    for (int i=0; i < nfree; i++) {
-      mjtNum grad_i = grad[index[i]];
-      norm2 += grad_i*grad_i;
-    }
-
-    // small gradient: minimum found
-    if (norm2 < mingrad) {
-      status = nfree == n ? mjBOXQP_UNBOUNDED : mjBOXQP_TOL_GRAD;
-      break;
-    }
-
-    // sanity check: make sure we have a descent direction
-    if ((sdotg = mju_dot(search, grad, n)) >= 0) {
-      break;  // SHOULD NOT OCCUR
-    }
-
-    // ------ projected Armijo line search
-    mjtNum step = 1;
-    int nstep = 0;
-    do {
-      // candidate = clamp(x + step*search)
-      mju_scl(candidate, search, step, n);
-      mju_addTo(candidate, res, n);
-      for (int i=0; i < n; i++) {
-        if (lower && candidate[i] < lower[i]) {
-          candidate[i] = lower[i];
-        } else if (upper && candidate[i] > upper[i]) {
-          candidate[i] = upper[i];
-        }
-      }
-
-      // new objective value
-      value = 0.5 * mulVecMatVecSym(candidate, H, n) + mju_dot(candidate, g, n);
-
-      // increment and break if step is too small
-      nstep++;
-      step = step*backtrack;
-      if (step < minstep) {
-        status = mjBOXQP_MAX_LS_ITER;
-        break;
-      }
-
-      // repeat until relative improvement >= Armijo
-      improvement = (value - oldvalue) / (step*sdotg);
-    } while (improvement < armijo);
-
-
-    // print iteration info
-    if (log && logptr < logsz) {
-      int written = snprintf(log+logptr, logsz-logptr,
-                             "iter %-3d:  |grad|: %-8.2g  reduction: %-8.2g  improvement: %-8.4g  "
-                             "linesearch: %g^%-2d  factorized: %d  nfree: %d\n",
-                             iter+1, mju_sqrt(norm2), oldvalue-value, improvement,
-                             backtrack, nstep-1, factorize, nfree);
-      if (written > 0) {
-        logptr = mjMIN(logptr + written, logsz);
-      }
-    }
-
-    // accept candidate
-    mju_copy(res, candidate, n);
-  }
-
-  // max iterations exceeded
-  if (iter == maxiter) {
-    status = mjBOXQP_MAX_ITER;
-  }
-
-  // print final info
-  if (log && logptr < logsz) {
-    snprintf(log+logptr, logsz-logptr, "BOXQP: %s.\n"
-             "iterations= %d,  factorizations= %d,  |grad|= %-12.6g, final value= %-12.6g\n",
-             status_string[status+1], iter, nfactor, mju_sqrt(norm2), value);
-  }
-
-  // return nf or -1 if failure
-  return (status == mjBOXQP_NO_DESCENT || status == mjBOXQP_NOT_SPD) ? -1 : nfree;
-}
diff --git a/src/engine/engine_util_solve.h b/src/engine/engine_util_solve.h
deleted file mode 100644
index d0f0644a..00000000
--- a/src/engine/engine_util_solve.h
+++ /dev/null
@@ -1,169 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_SOLVE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SOLVE_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// Cholesky decomposition: mat = L*L'; return rank
-MJAPI int mju_cholFactor(mjtNum* mat, int n, mjtNum mindiag);
-
-// Cholesky solve
-MJAPI void mju_cholSolve(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
-
-// Cholesky rank-one update: L*L' +/- x*x'; return rank
-MJAPI int mju_cholUpdate(mjtNum* mat, mjtNum* x, int n, int flg_plus);
-
-// sparse reverse-order Cholesky decomposition: mat = L'*L; return 'rank'
-//  mat must be lower-triangular, have preallocated space for fill-in
-MJAPI int mju_cholFactorSparse(mjtNum* mat, int n, mjtNum mindiag,
-                               int* rownnz, const int* rowadr, int* colind, mjData* d);
-
-// symbolic reverse-Cholesky: compute both L (CSR) and LT (CSC) structures
-//   if L_colind is NULL, perform counting logic (fill rownnz/rowadr arrays and return total nnz)
-//   if L_colind is not NULL, assume rownnz/rowadr are precomputed and fill colind/map arrays
-//   reads pattern from upper triangle
-//   d may be NULL: scratch is then heap-allocated
-//   based on ldl_symbolic from 'Algorithm 8xx: a concise sparse Cholesky factorization package'
-MJAPI int mju_cholFactorSymbolic(int* L_colind, int* L_rownnz, int* L_rowadr,
-                                 int* LT_colind, int* LT_rownnz, int* LT_rowadr, int* LT_map,
-                                 const int* rownnz, const int* rowadr, const int* colind,
-                                 int n, mjData* d);
-
-// numeric reverse-Cholesky: compute L values given fixed sparsity pattern, returns rank
-//  L_colind must already contain the correct sparsity pattern (from mju_cholFactorSymbolic)
-//  LT_map[k] gives index in L for LT_colind[k]
-MJAPI int mju_cholFactorNumeric(mjtNum* L, int n, mjtNum mindiag,
-                                const int* L_rownnz, const int* L_rowadr, const int* L_colind,
-                                const int* LT_rownnz, const int* LT_rowadr, const int* LT_colind,
-                                const int* LT_map, const mjtNum* H,
-                                const int* H_rownnz, const int* H_rowadr, const int* H_colind,
-                                mjData* d);
-
-// sparse reverse-order Cholesky solve
-void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
-                         const int* rownnz, const int* rowadr, const int* colind);
-
-// sparse reverse-order Cholesky rank-one update: L'*L +/i x*x'; return rank
-//  x is sparse, change in sparsity pattern of mat is not allowed
-MJAPI int mju_cholUpdateSparse(mjtNum* mat, const mjtNum* x, int n, int flg_plus,
-                               const int* rownnz, const int* rowadr, const int* colind,
-                               int x_nnz, const int* x_ind, mjData* d);
-
-// band-dense Cholesky decomposition
-//  returns minimum value in the factorized diagonal, or 0 if rank-deficient
-//  mat has (ntotal-ndense) x nband + ndense x ntotal elements
-//  the first (ntotal-ndense) x nband store the band part, left of diagonal, inclusive
-//  the second ndense x ntotal store the band part as entire dense rows
-//  add diagadd+diagmul*mat_ii to diagonal before factorization
-MJAPI mjtNum mju_cholFactorBand(mjtNum* mat, int ntotal, int nband, int ndense,
-                                mjtNum diagadd, mjtNum diagmul);
-
-// solve (mat*mat')*res = vec with band-Cholesky decomposition
-MJAPI void mju_cholSolveBand(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                             int ntotal, int nband, int ndense);
-
-// convert banded matrix to dense matrix, fill upper triangle if flg_sym>0
-MJAPI void mju_band2Dense(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense,
-                          mjtBool flg_sym);
-
-// convert dense matrix to banded matrix
-MJAPI void mju_dense2Band(mjtNum* res, const mjtNum* mat, int ntotal, int nband, int ndense);
-
-// multiply band-diagonal matrix with vector, include upper triangle if flg_sym>0
-MJAPI void mju_bandMulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                             int ntotal, int nband, int ndense, int nvec, mjtBool flg_sym);
-
-// address of diagonal element i in band-dense matrix representation
-MJAPI int mju_bandDiag(int i, int ntotal, int nband, int ndense);
-
-// dense LU factorization with partial pivoting
-//   factorizes n x n row-major matrix A in-place into L and U
-//   L has unit diagonal (not stored), U has explicit diagonal
-//   pivot stores row permutation: row i of original = row pivot[i] of result
-//   return 1 if successful, 0 if singular (diagonal element < mjMINVAL)
-MJAPI int mju_factorLU(mjtNum* A, int n, int* pivot);
-
-// solve A*x = b given LU factorization of A, LU and pivot are output of mju_factorLU
-MJAPI void mju_solveLU(mjtNum* x, const mjtNum* LU, const mjtNum* b, const int* pivot, int n);
-
-// 6x6 specialization of mju_factorLU (identical results, allows full unrolling)
-MJAPI int mju_factorLU6(mjtNum A[36], int pivot[6]);
-
-// solve A*x = b given 6x6 LU factorization from mju_factorLU6
-MJAPI void mju_solveLU6(mjtNum x[6], const mjtNum LU[36], const mjtNum b[6], const int pivot[6]);
-
-// sparse reverse-order LU factorization, assume tree topology (only dofs in index, if given)
-//  LU = L + U; original = (U+I) * L; scratch is size n
-void mju_factorLUSparse(mjtNum *LU, int n, int* scratch,
-                        const int *rownnz, const int *rowadr, const int *colind, const int *index);
-
-// solve mat*res=vec given LU factorization of mat (only dofs in index, if given)
-void mju_solveLUSparse(mjtNum *res, const mjtNum *LU, const mjtNum* vec, int n,
-                       const int *rownnz, const int *rowadr, const int* diag, const int *colind,
-                       const int *index);
-
-// solve 3x3 linear system A*x = b using Gaussian elimination
-void mju_solve3(mjtNum x[3], const mjtNum A[9], const mjtNum b[3]);
-
-// eigenvalue decomposition of symmetric 3x3 matrix
-MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);
-
-// solve QCQP in 2 dimensions:
-//  min  0.5*x'*A*x + x'*b  s.t.  sum (xi/di)^2 <= r^2
-// return 0 if unconstrained, 1 if constrained
-MJAPI int mju_QCQP2(mjtNum* res, const mjtNum* Ain, const mjtNum* bin, const mjtNum* d, mjtNum r);
-
-// solve QCQP in 3 dimensions:
-//  min  0.5*x'*A*x + x'*b  s.t.  sum (xi/di)^2 <= r^2
-// return 0 if unconstrained, 1 if constrained
-MJAPI int mju_QCQP3(mjtNum* res, const mjtNum* Ain, const mjtNum* bin, const mjtNum* d, mjtNum r);
-
-// solve QCQP in n<=5 dimensions:
-//  min  0.5*x'*A*x + x'*b  s.t.  sum (xi/di)^2 <= r^2
-// return 0 if unconstrained, 1 if constrained
-int mju_QCQP(mjtNum* res, const mjtNum* Ain, const mjtNum* bin, const mjtNum* d, mjtNum r, int n);
-
-// solve box-constrained Quadratic Program
-//  min 0.5*x'*H*x + x'*g  s.t. lower <= x <=upper
-// return rank of unconstrained subspace or -1 on failure
-MJAPI int mju_boxQP(mjtNum* res, mjtNum* R, int* index,
-                    const mjtNum* H, const mjtNum* g, int n,
-                    const mjtNum* lower, const mjtNum* upper);
-
-// allocate memory for box-constrained Quadratic Program
-MJAPI void mju_boxQPmalloc(mjtNum** res, mjtNum** R, int** index,
-                           mjtNum** H, mjtNum** g, int n,
-                           mjtNum** lower, mjtNum** upper);
-
-// minimize 0.5*x'*H*x + x'*g  s.t. lower <= x <=upper, explicit options (see implementation)
-MJAPI int mju_boxQPoption(mjtNum* res, mjtNum* R, int* index,
-                          const mjtNum* H, const mjtNum* g, int n,
-                          const mjtNum* lower, const mjtNum* upper,
-                          int maxiter, mjtNum mingrad, mjtNum backtrack,
-                          mjtNum minstep, mjtNum armijo,
-                          char* log, int logsz);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_SOLVE_H_
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
deleted file mode 100644
index bd3cbc3b..00000000
--- a/src/engine/engine_util_sparse.c
+++ /dev/null
@@ -1,1520 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_util_sparse.h"
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjtype.h>
-#include "engine/engine_memory.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_sparse_avx.h"  // IWYU pragma: keep
-
-//------------------------------ sparse operations -------------------------------------------------
-
-
-// dot-productX3, first vector is sparse; supernode of size 3
-void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,
-                     const mjtNum* vec10, const mjtNum* vec11, const mjtNum* vec12,
-                     const mjtNum* vec2, int nnz1, const int* ind1) {
-#ifdef mjUSEAVX
-  mju_dotSparseX3_avx(res0, res1, res2, vec10, vec11, vec12, vec2, nnz1, ind1);
-#else
-  int i = 0;
-
-  // clear result
-  mjtNum RES0 = 0;
-  mjtNum RES1 = 0;
-  mjtNum RES2 = 0;
-
-  for (; i < nnz1; i++) {
-    mjtNum v2 = vec2[ind1[i]];
-
-    RES0 += vec10[i] * v2;
-    RES1 += vec11[i] * v2;
-    RES2 += vec12[i] * v2;
-  }
-
-  // copy result
-  *res0 = RES0;
-  *res1 = RES1;
-  *res2 = RES2;
-#endif  // mjUSEAVX
-}
-
-
-// dot-product, both vectors are sparse
-mjtNum mju_dotSparse2(const mjtNum* vec1, const int* ind1, int nnz1,
-                      const mjtNum* vec2, const int* ind2, int nnz2) {
-  int i1 = 0, i2 = 0;
-  mjtNum res = 0;
-
-  // check for empty array
-  if (!nnz1 || !nnz2) {
-    return 0;
-  }
-
-  while (i1 < nnz1 && i2 < nnz2) {
-    // get current indices
-    int adr1 = ind1[i1], adr2 = ind2[i2];
-
-    // match: accumulate result, advance both
-    if (adr1 == adr2) {
-      res += vec1[i1++] * vec2[i2++];
-    }
-
-    // otherwise advance smaller
-    else if (adr1 < adr2) {
-      i1++;
-    } else {
-      i2++;
-    }
-  }
-
-  return res;
-}
-
-
-// convert matrix from dense to sparse
-//  nnz is size of res and colind, return 1 if too small, 0 otherwise
-int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                     int* rownnz, int* rowadr, int* colind, int nnz) {
-  if (nnz <= 0) {
-    return 1;
-  }
-
-  int adr = 0;
-
-  // find non-zeros and construct sparse
-  for (int r=0; r < nr; r++) {
-    // init row
-    rownnz[r] = 0;
-    rowadr[r] = adr;
-
-    // find non-zeros
-    for (int c=0; c < nc; c++) {
-      if (mat[r*nc+c]) {
-        // check for out of bounds
-        if (adr >= nnz) {
-          return 1;
-        }
-
-        // record index and count
-        colind[adr] = c;
-        rownnz[r]++;
-
-        // copy element
-        res[adr++] = mat[r*nc+c];
-      }
-    }
-  }
-  return 0;
-}
-
-
-// convert matrix from sparse to dense
-void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                      const int* rownnz, const int* rowadr, const int* colind) {
-  // clear
-  mju_zero(res, nr*nc);
-
-  // copy non-zeros
-  for (int r=0; r < nr; r++) {
-    for (int i=0; i < rownnz[r]; i++) {
-      res[r*nc + colind[rowadr[r]+i]] = mat[rowadr[r]+i];
-    }
-  }
-}
-
-
-// convert lower-triangular symmetric CSR matrix to full dense matrix
-void mju_sym2dense(mjtNum* res, const mjtNum* mat, int n,
-                   const int* rownnz, const int* rowadr, const int* colind) {
-  mju_zero(res, n*n);
-  for (int i = 0; i < n; i++) {
-    int adr = rowadr[i];
-    for (int j = 0; j < rownnz[i]; j++) {
-      int col = colind[adr+j];
-      if (col <= i) {
-        res[i*n+col] = mat[adr+j];
-        res[col*n+i] = mat[adr+j];
-      }
-    }
-  }
-}
-
-
-// res[row, :] = mat[row, :]
-void mju_copySparse(mjtNum* res, const mjtNum* mat, const int* rownnz, const int* rowadr,
-                    const int* row, int nrow) {
-  for (int i=0; i < nrow; i++) {
-    int r = row[i];
-    mju_copy(res + rowadr[r], mat + rowadr[r], rownnz[r]);
-  }
-}
-
-
-// res[row, :] = 0
-void mju_zeroSparse(mjtNum* res, const int* rownnz, const int* rowadr, const int* row, int nrow) {
-  for (int i=0; i < nrow; i++) {
-    int r = row[i];
-    mju_zero(res + rowadr[r], rownnz[r]);
-  }
-}
-
-
-// multiply sparse matrix and dense vector:  res = mat * vec.
-void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                         int nr, const int* rownnz, const int* rowadr,
-                         const int* colind, const int* rowsuper) {
-#ifdef mjUSEAVX
-  mju_mulMatVecSparse_avx(res, mat, vec, nr, rownnz, rowadr, colind, rowsuper);
-#else
-  // regular sparse dot-product
-  for (int r=0; r < nr; r++) {
-    res[r] = mju_dotSparse(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
-  }
-#endif  // mjUSEAVX
-}
-
-
-// multiply transposed sparse matrix and dense vector:  res = mat' * vec.
-void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc,
-                          const int* rownnz, const int* rowadr, const int* colind) {
-  // clear res
-  mju_zero(res, nc);
-
-  for (int i=0; i < nr; i++) {
-    mjtNum scl = vec[i];
-
-    // skip if 0
-    if (!scl) continue;
-
-    // add row scaled by the corresponding vector element
-    int nnz = rownnz[i];
-    int adr = rowadr[i];
-    const int* ind = colind + adr;
-    const mjtNum* row = mat + adr;
-    for (int j=0; j < nnz; j++) {
-      res[ind[j]] += row[j] * scl;
-    }
-  }
-}
-
-
-// add sparse matrix M to sparse destination matrix
-void mju_addToMatSparse(mjtNum* dst, int* rownnz, int* rowadr, int* colind, int nr,
-                        const mjtNum* M, const int* M_rownnz, const int* M_rowadr,
-                        const int* M_colind) {
-  for (int i=0; i < nr; i++) {
-    rownnz[i] = mju_combineSparse(dst + rowadr[i], M + M_rowadr[i], 1, 1,
-                                  rownnz[i], M_rownnz[i], colind + rowadr[i],
-                                  M_colind + M_rowadr[i]);
-  }
-}
-
-
-// add symmetric matrix (lower triangle) to dense matrix, upper triangle optional
-void mju_addToSymSparse(mjtNum* res, const mjtNum* mat, int n,
-                        const int* rownnz, const int* rowadr, const int* colind, int flg_upper) {
-  for (int i=0; i < n; i++) {
-    int start = rowadr[i];
-    int end = start + rownnz[i];
-    for (int adr=start; adr < end; adr++) {
-      mjtNum val = mat[adr];
-      int j = colind[adr];
-
-      // lower + diagonal
-      res[i*n + j] += val;
-
-      // strict upper
-      if (flg_upper && j < i) {
-        res[j*n + i] += val;
-      }
-    }
-  }
-}
-
-
-// multiply symmetric matrix (only lower triangle represented) by vector:
-//  res = (mat + strict_upper(mat')) * vec
-void mju_mulSymVecSparse(mjtNum* restrict res, const mjtNum* restrict mat,
-                         const mjtNum* restrict vec, int n,
-                         const int* restrict rownnz, const int* restrict rowadr,
-                         const int* restrict colind) {
-  // clear res
-  mju_zero(res, n);
-
-  // multiply
-  for (int i=0; i < n; i++) {
-    int adr = rowadr[i];
-    int diag = rownnz[i] - 1;
-    const mjtNum* row = mat + adr;
-
-    // diagonal
-    res[i] = row[diag] * vec[i];
-
-    // off-diagonals
-    const int* ind = colind + adr;
-    for (int k=diag-1; k >= 0; k--) {
-      int j = ind[k];
-      mjtNum val = row[k];
-      res[i] += val * vec[j];  // strict lower
-      res[j] += val * vec[i];  // strict upper
-    }
-  }
-}
-
-
-// count the number of non-zeros in the sum of two sparse vectors
-int mju_combineSparseCount(int a_nnz, int b_nnz, const int* a_ind, const int* b_ind) {
-  int a = 0, b = 0, c_nnz = 0;
-
-  // count c_nnz: nonzero indices common to both a and b
-  while (a < a_nnz && b < b_nnz) {
-    // common index, increment everything
-    if (a_ind[a] == b_ind[b]) {
-      c_nnz++;
-      a++;
-      b++;
-    }
-
-    // update smallest index
-    else if (a_ind[a] < b_ind[b]) {
-      a++;
-    } else {
-      b++;
-    }
-  }
-
-  // union minus the intersection
-  return a_nnz + b_nnz - c_nnz;
-}
-
-
-// incomplete combine sparse: dst = a*dst + b*src at common indices
-void mju_combineSparseInc(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
-                          int dst_nnz, int src_nnz, const int* dst_ind, const int* src_ind) {
-  // check for identical pattern
-  if (dst_nnz == src_nnz) {
-    if (mju_compare(dst_ind, src_ind, dst_nnz)) {
-      // combine mjtNum data directly
-      mju_addToSclScl(dst, src, a, b, dst_nnz);
-      return;
-    }
-  }
-
-  // scale dst by a
-  if (a != 1) {
-    mju_scl(dst, dst, a, dst_nnz);
-  }
-
-  // prepare to merge
-  int di = 0, si = 0;
-  int dadr = di < dst_nnz ? dst_ind[di] : n+1;
-  int sadr = si < src_nnz ? src_ind[si] : n+1;
-
-  // add src*b at common indices
-  while (di < dst_nnz) {
-    // both
-    if (dadr == sadr) {
-      dst[di++] += b*src[si++];
-
-      dadr = di < dst_nnz ? dst_ind[di] : n+1;
-      sadr = si < src_nnz ? src_ind[si] : n+1;
-    }
-
-    // dst only
-    else if (dadr < sadr) {
-      di++;
-      dadr = di < dst_nnz ? dst_ind[di] : n+1;
-    }
-
-    // src only
-    else {
-      si++;
-      sadr = si < src_nnz ? src_ind[si] : n+1;
-    }
-  }
-}
-
-
-// dst += scl*src, only at common non-zero indices
-void mju_addToSclSparseInc(mjtNum* restrict dst, const mjtNum* restrict src,
-                           int nnzdst, const int* restrict inddst,
-                           int nnzsrc, const int* restrict indsrc, mjtNum scl) {
-  if (!nnzdst || !nnzsrc) {
-    return;
-  }
-
-  int adrs = 0, adrd = 0;
-  while (adrs < nnzsrc && adrd < nnzdst) {
-    int inds = indsrc[adrs];
-    int indd = inddst[adrd];
-
-    if (inds == indd) {
-      dst[adrd] += scl * src[adrs];
-      adrs++;
-      adrd++;
-    } else if (inds < indd) {
-      adrs++;
-    } else {
-      adrd++;
-    }
-  }
-}
-
-
-// add to sparse matrix: dst = dst + scl*src, return nnz of result
-int mju_addToSparseMat(mjtNum* dst, const mjtNum* src, int n, int nrow, mjtNum scl,
-                       int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,
-                       mjtNum* buf, int* buf_ind) {
-  // check for identical pattern
-  if (dst_nnz == src_nnz) {
-    if (dst_nnz == 0) {
-      return 0;
-    }
-    if (mju_compare(dst_ind, src_ind, dst_nnz)) {
-      // combine mjtNum data directly
-      mju_addToScl(dst, src, scl, nrow*dst_nnz);
-      return dst_nnz;
-    }
-  }
-
-  // prepare to merge scr and dst into buf^T
-  int si = 0, di = 0, nnz = 0;
-  int sadr = src_nnz ? src_ind[0] : n+1;
-  int dadr = dst_nnz ? dst_ind[0] : n+1;
-
-  // merge matrices
-  while (si < src_nnz || di < dst_nnz) {
-    // both
-    if (sadr == dadr) {
-      for (int k=0; k < nrow; k++) {
-        buf[nrow*nnz + k] = dst[di + k*dst_nnz] + scl*src[si + k*src_nnz];
-      }
-
-      buf_ind[nnz++] = sadr;
-      si++;
-      di++;
-      sadr = si < src_nnz ? src_ind[si] : n+1;
-      dadr = di < dst_nnz ? dst_ind[di] : n+1;
-    }
-
-    // dst only
-    else if (dadr < sadr) {
-      for (int k=0; k < nrow; k++) {
-        buf[nrow*nnz + k] = dst[di + k*dst_nnz];
-      }
-
-      buf_ind[nnz++] = dadr;
-      di++;
-      dadr = di < dst_nnz ? dst_ind[di] : n+1;
-    }
-
-    // src only
-    else {
-      for (int k=0; k < nrow; k++) {
-        buf[nrow*nnz + k] = scl*src[si + k*src_nnz];
-      }
-
-      buf_ind[nnz++] = sadr;
-      si++;
-      sadr = si < src_nnz ? src_ind[si] : n+1;
-    }
-  }
-
-  // copy transposed buf into dst
-  mju_transpose(dst, buf, nnz, nrow);
-  mju_copyInt(dst_ind, buf_ind, nnz);
-
-  return nnz;
-}
-
-
-// add(merge) two chains
-int mju_addChains(int* res, int n, int NV1, int NV2,
-                  const int* chain1, const int* chain2) {
-  // check for identical pattern
-  if (NV1 == NV2) {
-    if (NV1 == 0) {
-      return 0;
-    }
-    if (mju_compare(chain1, chain2, NV1)) {
-      mju_copyInt(res, chain1, NV1);
-      return NV1;
-    }
-  }
-
-  // prepare to merge
-  int i1 = 0, i2 = 0, NV = 0;
-  int adr1 = NV1 ? chain1[0] : n+1;
-  int adr2 = NV2 ? chain2[0] : n+1;
-
-  // merge chains
-  while (i1 < NV1 || i2 < NV2) {
-    // both
-    if (adr1 == adr2) {
-      res[NV++] = adr1;
-      i1++;
-      i2++;
-      adr1 = i1 < NV1 ? chain1[i1] : n+1;
-      adr2 = i2 < NV2 ? chain2[i2] : n+1;
-    }
-
-    // chain1 only
-    else if (adr1 < adr2) {
-      res[NV++] = adr1;
-      i1++;
-      adr1 = i1 < NV1 ? chain1[i1] : n+1;
-    }
-
-    // chain2 only
-    else {
-      res[NV++] = adr2;
-      i2++;
-      adr2 = i2 < NV2 ? chain2[i2] : n+1;
-    }
-  }
-
-  return NV;
-}
-
-
-// compress sparse matrix, remove elements with abs(value) <= minval, return total non-zeros
-int mju_compressSparse(mjtNum* mat, int nr, int nc, int* rownnz, int* rowadr, int* colind,
-                       mjtNum minval) {
-  int remove_small = minval >= 0;
-  int adr = 0;
-  for (int r=0; r < nr; r++) {
-    // save old rowadr, record new
-    int rowadr_old = rowadr[r];
-    rowadr[r] = adr;
-
-    // shift mat and colind
-    int nnz = 0;
-    int end = rowadr_old + rownnz[r];
-    for (int adr_old=rowadr_old; adr_old < end; adr_old++) {
-      if (remove_small && mju_abs(mat[adr_old]) <= minval) {
-        continue;
-      }
-      if (adr != adr_old) {
-        mat[adr] = mat[adr_old];
-        colind[adr] = colind[adr_old];
-      }
-      adr++;
-      if (remove_small) nnz++;
-    }
-    if (remove_small) rownnz[r] = nnz;
-  }
-
-  return rowadr[nr-1] + rownnz[nr-1];
-}
-
-
-// transpose sparse matrix, optionally compute row supernodes
-void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                         int* res_rownnz, int* res_rowadr, int* res_colind, int* res_rowsuper,
-                         const int* rownnz, const int* rowadr, const int* colind) {
-  if (!nr || !nc) return;
-
-  // clear number of non-zeros for each row of transposed
-  mju_zeroInt(res_rownnz, nc);
-
-  // handle the case where the first row of mat is nonzero (offset wrt the base pointers)
-  int row_offset = rowadr[0];
-
-  // count the number of non-zeros for each row of the transposed matrix
-  for (int r = 0; r < nr; r++) {
-    int start = rowadr[r] - row_offset;
-    int end = start + rownnz[r];
-    for (int j = start; j < end; j++) {
-      res_rownnz[colind[j]]++;
-    }
-  }
-
-  // init res_rowsuper
-  if (res_rowsuper) {
-    for (int i = 0; i < nc - 1; i++) {
-      res_rowsuper[i] = (res_rownnz[i] == res_rownnz[i + 1]);
-    }
-    res_rowsuper[nc - 1] = 0;
-  }
-
-  // compute the row addresses for the transposed matrix
-  res_rowadr[0] = 0;
-  for (int i = 1; i < nc; i++) {
-    res_rowadr[i] = res_rowadr[i-1] + res_rownnz[i-1];
-  }
-
-  // iterate through each row (column) of mat (res)
-  for (int r = 0; r < nr; r++) {
-    int c_prev = -1;
-    int start = rowadr[r] - row_offset;
-    int end = start + rownnz[r];
-    for (int i = start; i < end; i++) {
-      // swap rows with columns and increment res_rowadr
-      int c = colind[i];
-      int adr = res_rowadr[c]++;
-      res_colind[adr] = r;
-      if (res) {
-        res[adr] = mat[i];
-      }
-
-      // mark non-supernodes
-      if (res_rowsuper) {
-        if (c > 0 && c != c_prev + 1 && res_rowsuper[c - 1]) {
-          res_rowsuper[c - 1] = 0;
-        }
-        c_prev = c;
-      }
-    }
-  }
-
-  // shift back row addresses
-  for (int i = nc-1; i > 0; i--) {
-    res_rowadr[i] = res_rowadr[i-1];
-  }
-  res_rowadr[0] = 0;
-
-  // accumulate supernodes
-  if (res_rowsuper) {
-    for (int i = nc - 2; i >= 0; i--) {
-      if (res_rowsuper[i]) {
-        res_rowsuper[i] += res_rowsuper[i + 1];
-      }
-    }
-  }
-}
-
-
-// construct row supernodes
-void mju_superSparse(int nr, int* rowsuper,
-                     const int* rownnz, const int* rowadr, const int* colind) {
-  // no rows: nothing to do
-  if (!nr) {
-    return;
-  }
-
-  // find match to child
-  for (int r=0; r < nr-1; r++) {
-    // different number of nonzeros: cannot be a match
-    if (rownnz[r] != rownnz[r+1]) {
-      rowsuper[r] = 0;
-    }
-
-    // same number of nonzeros: compare colind vectors
-    else {
-      rowsuper[r] = mju_compare(colind+rowadr[r], colind+rowadr[r+1], rownnz[r]);
-    }
-  }
-
-  // clear last (by definition)
-  rowsuper[nr-1] = 0;
-
-  // accumulate in reverse
-  for (int r=nr-2; r >= 0; r--) {
-    if (rowsuper[r]) {
-      rowsuper[r] += rowsuper[r+1];
-    }
-  }
-}
-
-
-// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse, return total non-zeros
-int mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
-                            const int* rownnz, const int* rowadr, const int* colind,
-                            const int* rownnzT, const int* rowadrT, const int* colindT,
-                            const int* rowsuperT, mjData* d, int flg_upper) {
-  mj_markStack(d);
-  int* chain = mjSTACKALLOC(d, 2*nr, int);
-  int nchain = 0;
-  int* res_colind = NULL;
-
-  for (int r=0; r < nr; r++) {
-    // supernode; copy everything to next row
-    if (rowsuperT && r > 0 && rowsuperT[r-1] > 0) {
-      res_rownnz[r] = res_rownnz[r - 1];
-
-      // fill in upper triangle
-      if (flg_upper) {
-        for (int j=0; j < nchain; j++) {
-          res_rownnz[res_colind[j]]++;
-        }
-      }
-
-      // update chain with diagonal
-      if (rownnzT[r]) {
-        res_colind[nchain++] = r;
-        res_rownnz[r]++;
-      }
-    } else {
-      int inew = 0, iold = nr;
-      nchain = 0;
-
-      for (int i=0; i < rownnzT[r]; i++) {
-        int c = colindT[rowadrT[r] + i];
-
-        int adr = inew;
-        inew = iold;
-        iold = adr;
-
-        int nnewchain = 0;
-        adr = 0;
-        int end = rowadr[c] + rownnz[c];
-        for (int adr1=rowadr[c]; adr1 < end; adr1++) {
-          int col_mat = colind[adr1];
-          while (adr < nchain && chain[iold + adr] < col_mat && chain[iold + adr] <= r) {
-            chain[inew + nnewchain++] = chain[iold + adr++];
-          }
-
-          // skip upper triangle
-          if (col_mat > r) {
-            break;
-          }
-
-          if (adr < nchain && chain[iold + adr] == col_mat) {
-            adr++;
-          }
-          chain[inew + nnewchain++] = col_mat;
-        }
-
-        while (adr < nchain && chain[iold + adr] <= r) {
-          chain[inew + nnewchain++] = chain[iold + adr++];
-        }
-        nchain = nnewchain;
-      }
-
-      // only computed for lower triangle
-      res_rownnz[r] = nchain;
-      res_colind = chain + inew;
-
-      // update upper triangle
-      if (flg_upper) {
-        int nchain_end = nchain;
-
-        // avoid double counting
-        if (nchain > 0 && res_colind[nchain-1] == r) {
-          nchain_end = nchain - 1;
-        }
-
-        for (int j=0; j < nchain_end; j++) {
-          res_rownnz[res_colind[j]]++;
-        }
-      }
-    }
-  }
-
-  res_rowadr[0] = 0;
-  for (int r = 1; r < nr; r++) {
-    res_rowadr[r] = res_rowadr[r-1] + res_rownnz[r-1];
-  }
-
-  mj_freeStack(d);
-
-  return res_rowadr[nr-1] + res_rownnz[nr-1];
-}
-
-
-// precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
-void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc) {
-  for (int r=0; r < nc; r++) {
-    res_rowadr[r] = r*nc;
-  }
-}
-
-
-// max number of supernodes handled by column-based matrix squaring functions
-#define mjMAXSUPER 8
-
-// column-based symbolic phase for sparse matrix squaring: compute sparsity pattern of M'*M
-//   if res_colind is NULL: count mode, fill res_rownnz/res_rowadr, return nnz
-//   if res_colind is not NULL: fill mode, write sorted column indices
-//   if res_diagind is not NULL: also fill upper triangle and output diagonal indices
-int mju_sqrMatTDSparseSymbolic(
-    int* restrict res_rownnz, int* restrict res_rowadr,
-    int* restrict res_colind, int* restrict res_diagind, int nr, int nc,
-    const int* rownnz, const int* rowadr, const int* colind,
-    const int* rownnzT, const int* rowadrT, const int* colindT, const int* rowsuperT, mjData* d) {
-  mj_markStack(d);
-
-  // reinterpret M^T as CSC
-  const int* colnnz = rownnzT;
-  const int* coladr = rowadrT;
-  const int* rowind = colindT;
-  const int* colsuper = rowsuperT;
-
-  // reinterpret M as CSC
-  const int* colnnzT = rownnz;
-  const int* coladrT = rowadr;
-  const int* rowindT = colind;
-
-  // marker[j] = 1 if row j has been visited in current column batch
-  int* marker = mjSTACKALLOC(d, nc, int);
-  mju_zeroInt(marker, nc);
-
-  // buffer_idx: list of row indices with nonzeros in current column batch
-  int* buffer_idx = mjSTACKALLOC(d, nc, int);
-
-  // rowstart[r]: first index in row r of M where column > current result column
-  int* rowstart = mjSTACKALLOC(d, nr, int);
-  mju_zeroInt(rowstart, nr);
-
-  // clear res_rownnz (used for both counting and filling)
-  mju_zeroInt(res_rownnz, nc);
-
-  // process result columns c = 0, 1, ..., nc-1
-  int ns;  // set in the loop
-  for (int c = 0; c < nc; c += ns) {
-    int buffer_nnz = 0;
-
-    // column c of M^T
-    int nnz_c = colnnz[c];
-    int adr_c = coladr[c];
-    const int* ind_c = rowind + adr_c;
-
-    // supernode size: how many consecutive columns share the same sparsity pattern
-    ns = 1;
-    int cs;
-    if (colsuper && (cs = colsuper[c])) {
-      ns += mjMIN(cs, mjMAXSUPER - 1);
-    }
-
-    // for each row r where M^T[r, c] != 0, look at row r of M
-    for (int i = 0; i < nnz_c; i++) {
-      int r = ind_c[i];
-      int adrT = coladrT[r];
-      int nnzT = colnnzT[r];
-      const int* indT = rowindT + adrT;
-
-      // scan row r of M, starting from rowstart[r]
-      for (int k = rowstart[r]; k < nnzT; k++) {
-        int j = indT[k];
-
-        // skip if j <= c: only fill the strict lower triangle
-        if (j <= c) {
-          rowstart[r]++;
-          continue;
-        }
-
-        // new nonzero in row j of result
-        if (!marker[j]) {
-          marker[j] = 1;
-          buffer_idx[buffer_nnz++] = j;
-        }
-      }
-    }
-
-    // scatter: update result rows j > c that have nonzeros in this column batch
-
-    // fill mode: write column indices, clear markers
-    if (res_colind) {
-      for (int i = 0; i < buffer_nnz; i++) {
-        int j = buffer_idx[i];
-        marker[j] = 0;
-        int nm = mjMIN(ns, j - c);
-        int adr_j = res_rowadr[j] + res_rownnz[j];
-        for (int s = 0; s < nm; s++) {
-          res_colind[adr_j + s] = c + s;
-        }
-        res_rownnz[j] += nm;
-      }
-
-      // write diagonal entries
-      for (int s = 0; s < ns; s++) {
-        int col = c + s;
-        if (colnnz[col]) {
-          res_colind[res_rowadr[col] + res_rownnz[col]] = col;
-          res_rownnz[col]++;
-        }
-      }
-    }
-
-    // count mode: just count and clear markers
-    else {
-      for (int i = 0; i < buffer_nnz; i++) {
-        int j = buffer_idx[i];
-        marker[j] = 0;
-        int nm = mjMIN(ns, j - c);
-        res_rownnz[j] += nm;
-        if (res_diagind) {
-          for (int s = 0; s < nm; s++) {
-            res_rownnz[c + s]++;
-          }
-        }
-      }
-
-      // count diagonal entries
-      for (int s = 0; s < ns; s++) {
-        int col = c + s;
-        if (colnnz[col]) {
-          res_rownnz[col]++;
-        }
-      }
-    }
-  }
-
-  // count mode: compute res_rowadr from res_rownnz
-  if (!res_colind) {
-    res_rowadr[0] = 0;
-    for (int r = 1; r < nc; r++) {
-      res_rowadr[r] = res_rowadr[r - 1] + res_rownnz[r - 1];
-    }
-  }
-
-  // fill mode with upper triangle: record diagonal positions and mirror from lower
-  if (res_colind && res_diagind) {
-    // save current counts (lower + diagonal)
-    int* lower_nnz = mjSTACKALLOC(d, nc, int);
-    mju_copyInt(lower_nnz, res_rownnz, nc);
-
-    // save diagonal indices
-    for (int r = 0; r < nc; r++) {
-      res_diagind[r] = res_rowadr[r] + lower_nnz[r] - 1;
-    }
-
-    // fill upper triangle: for each (r, c) with c < r, write to (c, r)
-    for (int r = 0; r < nc; r++) {
-      int adr = res_rowadr[r];
-      int nnz = lower_nnz[r];
-      for (int j = 0; j < nnz; j++) {
-        int col = res_colind[adr + j];
-        if (col < r) {
-          res_colind[res_rowadr[col] + res_rownnz[col]++] = r;
-        }
-      }
-    }
-  }
-
-  mj_freeStack(d);
-
-  return res_rowadr[nc - 1] + res_rownnz[nc - 1];
-}
-
-
-// numeric phase for sparse matrix squaring: compute values given pre-computed sparsity
-//   diagind can be NULL, otherwise fills upper triangle and saves diagonal indices
-void mju_sqrMatTDSparseNumeric(
-    mjtNum* restrict res, int nc,
-    const int* res_rownnz, const int* res_rowadr, const int* res_colind, const int* res_diagind,
-    const mjtNum* mat, const int* rownnz, const int* rowadr, const int* colind,
-    const mjtNum* matT, const int* rownnzT, const int* rowadrT, const int* colindT,
-    const int* rowsuperT, const mjtNum* diag, mjData* d) {
-  mj_markStack(d);
-
-  // dense accumulator for current result row (or batch of rows)
-  mjtNum* restrict buffer = mjSTACKALLOC(d, nc * mjMAXSUPER, mjtNum);
-  mju_zero(buffer, nc * mjMAXSUPER);
-
-  // process result rows
-  int ns;  // set in the loop
-  for (int r = 0; r < nc; r += ns) {
-    // determine supernode size
-    ns = 1;
-    if (rowsuperT) {
-      ns = rowsuperT[r] + 1;
-      if (ns > mjMAXSUPER) ns = mjMAXSUPER;
-    }
-
-    // single row
-    if (ns == 1) {
-      int nnzT_r = rownnzT[r];
-      int adr_r = rowadrT[r];
-
-      // accumulate: res[r, :] = sum over k in M'[r, :] of diag[k] * M'[r, k] * M[k, :]
-      for (int i = 0; i < nnzT_r; i++) {
-        int k = colindT[adr_r + i];
-        mjtNum valT = matT[adr_r + i];
-        mjtNum scale = diag ? diag[k] * valT : valT;
-        if (scale == 0) continue;
-
-        int adr_k = rowadr[k];
-        int nnz_k = rownnz[k];
-        const int* ind_k = colind + adr_k;
-        const mjtNum* val_k = mat + adr_k;
-
-        for (int j = 0; j < nnz_k; j++) {
-          int c = ind_k[j];
-          if (c > r) break;
-          buffer[c] += scale * val_k[j];
-        }
-      }
-
-      // scatter from dense buffer to sparse result
-      int res_adr = res_rowadr[r];
-      int res_nnz = res_rownnz[r];
-      const int* res_ind = res_colind + res_adr;
-      mjtNum* res_val = res + res_adr;
-
-      for (int j = 0; j < res_nnz; j++) {
-        int c = res_ind[j];
-        res_val[j] = buffer[c];
-        buffer[c] = 0;
-      }
-    }
-
-    // supernode: ns > 1 rows share the same sparsity pattern
-    else {
-      int nnzT_r = rownnzT[r];
-      int adr_r = rowadrT[r];
-
-      // accumulate for ns rows
-      for (int i = 0; i < nnzT_r; i++) {
-        int k = colindT[adr_r + i];
-
-        // compute scale for all rows
-        mjtNum scale[mjMAXSUPER];
-        if (diag) {
-          mjtNum dk = diag[k];
-          if (dk == 0) continue;
-          for (int s = 0; s < ns; s++) {
-            scale[s] = dk * matT[rowadrT[r + s] + i];
-          }
-        } else {
-          for (int s = 0; s < ns; s++) {
-            scale[s] = matT[rowadrT[r + s] + i];
-          }
-        }
-
-        int adr_k = rowadr[k];
-        int nnz_k = rownnz[k];
-        const int* ind_k = colind + adr_k;
-        const mjtNum* val_k = mat + adr_k;
-
-        for (int j = 0; j < nnz_k; j++) {
-          int c = ind_k[j];
-          if (c > r + ns - 1) break;  // skip if beyond block
-          mjtNum v = val_k[j];
-
-          for (int s = 0; s < ns; s++) {
-            if (c <= r + s) {
-              buffer[s * nc + c] += scale[s] * v;
-            }
-          }
-        }
-      }
-
-      // scatter
-      for (int s = 0; s < ns; s++) {
-        int row = r + s;
-        int res_adr = res_rowadr[row];
-        int res_nnz = res_rownnz[row];
-        const int* res_ind = res_colind + res_adr;
-        mjtNum* res_val = res + res_adr;
-        for (int j = 0; j < res_nnz; j++) {
-          int c = res_ind[j];
-          res_val[j] = buffer[s*nc + c];
-          buffer[s*nc + c] = 0;
-        }
-      }
-    }
-  }
-
-  // fill upper triangle: mirror values from lower triangle
-  if (res_diagind) {
-    // initialize write positions after diagonal
-    int* upper_pos = mjSTACKALLOC(d, nc, int);
-    for (int r = 0; r < nc; r++) {
-      upper_pos[r] = res_diagind[r] + 1;
-    }
-
-    // for each (r, c) with c < r, write r to row c
-    for (int r = 0; r < nc; r++) {
-      int adr = res_rowadr[r];
-      int lower_nnz = res_diagind[r] - adr + 1;
-      for (int j = 0; j < lower_nnz; j++) {
-        int c = res_colind[adr + j];
-        if (c < r) {
-          res[upper_pos[c]++] = res[adr + j];
-        }
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// compute sparse M'*diag*M (diag=NULL: compute M'*M), res_rowadr must be precomputed
-void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
-                        const mjtNum* diag, int nr, int nc,
-                        int* res_rownnz, const int* res_rowadr, int* res_colind,
-                        const int* rownnz, const int* rowadr,
-                        const int* colind, const int* rowsuper,
-                        const int* rownnzT, const int* rowadrT,
-                        const int* colindT, const int* rowsuperT,
-                        mjData* d, int* diagind) {
-  mj_markStack(d);
-
-  // reinterpret transposed matrices as compressed sparse column
-  const mjtNum* mat_csc  = matT;
-  const int* colnnz      = rownnzT;
-  const int* coladr      = rowadrT;
-  const int* rowind      = colindT;
-  const int* colsuper    = rowsuperT;
-  const mjtNum* matT_csc = mat;
-  const int* colnnzT     = rownnz;
-  const int* coladrT     = rowadr;
-  const int* rowindT     = colind;
-  // rowsuper is unused
-
-  // marker[i] = 1 if row i is set in current column
-  int* marker = mjSTACKALLOC(d, nc, int);
-  mju_zeroInt(marker, nc);
-
-  // dense buffer (considered column-major) containing up to mjMAXSUPER columns
-  mjtNum* buffer = mjSTACKALLOC(d, nc*mjMAXSUPER, mjtNum);
-
-  // dense index vector of the current column (unsorted)
-  int* buffer_idx = mjSTACKALLOC(d, nc, int);
-
-  // rowstart[i]: address of first row in column mat'[:, i] with index > current column
-  int* rowstart = mjSTACKALLOC(d, nr, int);
-  mju_zeroInt(rowstart, nr);
-
-  // clear res_rownnz
-  mju_zeroInt(res_rownnz, nc);
-
-  // construct res[lower+diagonal], by column
-  for (int c=0; c < nc; c++) {
-    int buffer_nnz = 0;
-
-    // prepare column c of mat
-    int nnz = colnnz[c];
-    int adr = coladr[c];
-    const int* ind = rowind + adr;
-
-    // val: array of ns > 0 column pointers with identical pattern to c
-    const mjtNum* val[mjMAXSUPER];
-
-    // first column is c
-    int ns = 1;
-    val[0] = mat_csc + adr;
-
-    // add c's supernodes, if any
-    int cs;
-    if (colsuper && (cs = colsuper[c])) {
-      ns += mjMIN(cs, mjMAXSUPER - 1);
-      for (int s=1; s < ns; s++) {
-        val[s] = mat_csc + coladr[c + s];
-      }
-    }
-
-    // diagonal special-case: dense dot product of column c, with/out diag
-    mjtNum diag_c[mjMAXSUPER];
-    if (diag) {
-      for (int s=0; s < ns; s++) {
-        mjtNum ds = 0;
-        for (int k=0; k < nnz; k++) {
-          ds += (val[s][k] * val[s][k]) * diag[ind[k]];
-        }
-        diag_c[s] = ds;
-      }
-    } else {
-      for (int s=0; s < ns; s++) {
-        diag_c[s] = mju_dot(val[s], val[s], nnz);
-      }
-    }
-
-    // in the strict lower triangle, compute
-    // res[:, c] = mat' * mat[:, c] = sum_r(diag[r] * mat'[:, r] * mat[:, c])
-    for (int i=0; i < nnz; i++) {
-      // prepare column r of mat'
-      int r = ind[i];
-      int adrT = coladrT[r];
-      int nnzT = colnnzT[r];
-      const int* indT = rowindT + adrT;
-      const mjtNum* valT = matT_csc + adrT;
-
-      // get v[s] = diag[r] * mat[r, c + s] for s in [0, ns)
-      mjtNum v[mjMAXSUPER];
-      if (diag) {
-        mjtNum diag_r = diag[r];
-        for (int s=0; s < ns; s++) {
-          v[s] = diag_r * val[s][i];
-        }
-      } else {
-        for (int s=0; s < ns; s++) {
-          v[s] = val[s][i];
-        }
-      }
-
-      // gather to dense buffer columns:  buffer[:, s] += mat'[:, r] * v[s]
-      for (int k=rowstart[r]; k < nnzT; k++) {
-        int j = indT[k];
-
-        // if j is not in the strict lower triangle, increment rowstart and continue
-        if (j <= c) {
-          rowstart[r]++;
-          continue;
-        }
-
-        // first nonzero in row j: mark and set value
-        if (!marker[j]) {
-          // mark j and save it
-          marker[j] = 1;
-          buffer_idx[buffer_nnz++] = j;
-
-          // set value
-          mjtNum vk = valT[k];
-          for (int s=0; s < ns; s++) {
-            buffer[s*nc + j] = vk * v[s];
-          }
-        }
-
-        // otherwise existing nonzero in row j: add to value
-        else {
-          mjtNum vk = valT[k];
-          for (int s=0; s < ns; s++) {
-            buffer[s*nc + j] += vk * v[s];
-          }
-        }
-      }
-    }
-
-    // scatter to res from dense buffer:  res[:, c + s] = buffer[:, s] for s in [0, ns)
-
-    // write values under diagonal
-    for (int i=0; i < buffer_nnz; i++) {
-      int j = buffer_idx[i];
-      marker[j] = 0;
-      int adr_j = res_rowadr[j] + res_rownnz[j];
-
-      // truncate row to strict lower triangle
-      int lower = j - c;
-      int nm = mjMIN(ns, lower);
-
-      // increment nonzeros
-      res_rownnz[j] += nm;
-
-      // write value
-      for (int s=0; s < nm; s++) {
-        res[adr_j + s] = buffer[s*nc + j];
-      }
-
-      // write index
-      for (int s=0; s < nm; s++) {
-        res_colind[adr_j + s] = c + s;
-      }
-    }
-
-    // write diagonal value
-    for (int s=0; s < ns; s++) {
-      int adr_s = res_rowadr[c + s] + res_rownnz[c + s]++;
-      res_colind[adr_s] = c + s;
-      res[adr_s] = diag_c[s];
-    }
-
-    // supernode: skip ahead if ns > 1
-    c += ns - 1;
-  }
-
-  // upper triangle requested: save diagonal indices and fill
-  if (diagind) {
-    // save diagonal indices
-    for (int i=0; i < nc; i++) {
-      diagind[i] = res_rowadr[i] + res_rownnz[i] - 1;
-    }
-
-    // fill upper triangle
-    for (int i=0; i < nc; i++) {
-      int start = res_rowadr[i];
-      int end = start + res_rownnz[i] - 1;
-      for (int j=start; j < end; j++) {
-        int adr = res_rowadr[res_colind[j]] + res_rownnz[res_colind[j]]++;
-        res[adr] = res[j];
-        res_colind[adr] = i;
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-#undef mjMAXSUPER
-
-
-
-// legacy row-based implementation (reference)
-void mju_sqrMatTDSparse_row(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
-                            const mjtNum* diag, int nr, int nc,
-                            int* res_rownnz, const int* res_rowadr, int* res_colind,
-                            const int* rownnz, const int* rowadr,
-                            const int* colind, const int* rowsuper,
-                            const int* rownnzT, const int* rowadrT,
-                            const int* colindT, const int* rowsuperT,
-                            mjData* d, int* diagind) {
-  // allocate space for accumulation buffer and matT
-  mj_markStack(d);
-
-  // a dense row buffer that stores the current row in the resulting matrix
-  mjtNum* buffer = mjSTACKALLOC(d, nc, mjtNum);
-
-  // these mark the currently set columns in the dense row buffer,
-  // used for when creating the resulting sparse row
-  int* markers = mjSTACKALLOC(d, nc, int);
-
-  for (int i=0; i < nc; i++) {
-    int rowadr_i = res_rowadr[i];
-    int* cols = res_colind + rowadr_i;
-
-    res_rownnz[i] = 0;
-    buffer[i] = 0;
-    markers[i] = 0;
-
-    // if rowsuper, use the previous row sparsity structure
-    if (rowsuperT && i > 0 && rowsuperT[i-1]) {
-      res_rownnz[i] = res_rownnz[i-1];
-      mju_copyInt(cols, res_colind+res_rowadr[i-1], res_rownnz[i]);
-    }
-
-    // iterate through each row of M'
-    int adrT = rowadrT[i];
-    int end_r = adrT + rownnzT[i];
-    for (int r = adrT; r < end_r; r++) {
-      int t = colindT[r];
-      int adr = rowadr[t];
-      int end_c = adr + rownnz[t];
-      for (int c=adr; c < end_c; c++) {
-        int cc = colind[c];
-
-        // ignore upper triangle
-        if (cc > i) {
-          break;
-        }
-
-        // add value to buffer
-        if (diag) {
-          buffer[cc] += matT[r] * diag[t] * mat[c];
-        } else {
-          buffer[cc] += matT[r] * mat[c];
-        }
-
-        // only need to insert nnz if not marked
-        if (!markers[cc]) {
-          markers[cc] = 1;
-
-          // since i is the rightmost column, it can be inserted at the end
-          if (cc == i) {
-            cols[res_rownnz[i]++] = cc;
-            continue;
-          }
-
-          // insert col in order via binary search
-          int l = 0, h = res_rownnz[i];
-          while (l < h) {
-            int m = (l + h) >> 1;
-            if (cols[m] < cc) {
-              l = m + 1;
-            } else {
-              h = m;
-            }
-          }
-
-          // cc is the rightmost column so far, it can be inserted at the end
-          if (l == res_rownnz[i]) {
-            cols[l] = cc;
-            res_rownnz[i]++;
-            continue;
-          }
-
-          // move the cols to the right
-          h = res_rownnz[i];
-          while (l < h) {
-            cols[h] = cols[h-1];
-            h--;
-          }
-
-          // insert
-          cols[l] = cc;
-          res_rownnz[i]++;
-        }
-      }
-    }
-
-    end_r = res_rownnz[i];
-
-    // rowsuperT: reuse sparsity, copy into res
-    if (rowsuperT && rowsuperT[i]) {
-      for (int r=0; r < end_r; r++) {
-        int c = cols[r];
-        res[rowadr_i + r] = buffer[c];
-        buffer[c] = 0;
-      }
-    }
-
-    // clear out buffers, sparsity cannot be reused
-    else {
-      for (int r=0; r < end_r; r++) {
-        int c = cols[r];
-        int adr = rowadr_i + r;
-        res[adr] = buffer[c];
-        res_colind[adr] = c;
-        buffer[c] = 0;
-        markers[c] = 0;
-      }
-    }
-  }
-
-
-  // diagonal indices requested: fill upper triangle
-  if (diagind) {
-    // save diagonal indices
-    for (int i=0; i < nc; i++) {
-      diagind[i] = res_rowadr[i] + res_rownnz[i] - 1;
-    }
-
-    // fill upper triangle
-    for (int i=0; i < nc; i++) {
-      int start = res_rowadr[i];
-      int end = start + res_rownnz[i] - 1;
-      for (int j=start; j < end; j++) {
-        int adr = res_rowadr[res_colind[j]] + res_rownnz[res_colind[j]]++;
-        res[adr] = res[j];
-        res_colind[adr] = i;
-      }
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-// extract a single block of a dense matrix
-//   res         output matrix
-//   mat         input matrix
-//   nc_mat      number of columns in mat
-//   nc_res      number of columns in res
-//   nr          number of rows in res
-//   perm_r      reverse permutation of rows (res -> mat)
-//   perm_c      reverse permutation of columns (res -> mat)
-void mju_block(mjtNum* restrict res, const mjtNum* restrict mat,
-               int nc_mat, int nc_res, int nr,
-               const int* restrict perm_r, const int* restrict perm_c) {
-  for (int r = 0; r < nr; r++) {
-    mjtNum* res_r = res + r * nc_res;
-    const mjtNum* mat_r = mat + perm_r[r] * nc_mat;
-    mju_gather(res_r, mat_r, perm_c, nc_res);
-  }
-}
-
-// block-diagonalize a dense matrix
-//   res         target matrix
-//   mat         source full matrix
-//   nc_mat      number of columns in source matrix
-//   nc_res      number of columns in the block-diagonal target matrix
-//   nb          number of blocks
-//   perm_r      reverse permutation of rows (res -> mat)
-//   perm_c      reverse permutation of columns (res -> mat)
-//   block_nr    number of rows in each block
-//   block_nc    number of columns in each block
-//   block_r     first row of each block
-//   block_c     first column of each block
-void mju_blockDiag(mjtNum* restrict res, const mjtNum* restrict mat,
-                   int nc_mat, int nc_res, int nb,
-                   const int* restrict perm_r, const int* restrict perm_c,
-                   const int* restrict block_nr, const int* restrict block_nc,
-                   const int* restrict block_r, const int* restrict block_c) {
-  for (int b = 0; b < nb; b++) {
-    int adr = nc_res * block_r[b];
-    mju_block(res + adr, mat, nc_mat, block_nc[b], block_nr[b],
-              perm_r + block_r[b], perm_c + block_c[b]);
-  }
-}
-
-
-// extract a single block of a sparse matrix
-//   res, res2     target matrix values
-//   res_rownnz    non-zeros in each row of target matrix
-//   res_rowadr    row address of each initial row in target matrix
-//   res_colind    column indices for each extracted value (relative)
-//   mat, mat2     source matrix values
-//   rownnz        non-zeros in each row of source matrix
-//   rowadr        addresses within the source matrix values
-//   colind        source matrix column indices
-//   nr            number of rows to extract
-//   perm_r        row permutation (maps local row to source row)
-//   perm_c        column permutation (maps source col to local col)
-//   col_offset    subtrahend to shift mapped absolute columns into relative block space
-//   res_offset    rowadr starting offset for the extracted submatrix
-void mju_blockSparse(mjtNum* restrict res, int* restrict res_rownnz,
-                     int* restrict res_rowadr, int* restrict res_colind,
-                     const mjtNum* restrict mat, const int* restrict rownnz,
-                     const int* restrict rowadr, const int* restrict colind,
-                     int nr,
-                     const int* restrict perm_r, const int* restrict perm_c,
-                     int col_offset, int res_offset,
-                     mjtNum* restrict res2, const mjtNum* restrict mat2) {
-  for (int r = 0; r < nr; r++) {
-    int k = perm_r[r];
-    int nnz = rownnz[k];
-    res_rownnz[r] = nnz;
-
-    int res_adr = (r == 0) ? res_offset : (res_rowadr[r-1] + res_rownnz[r-1]);
-    res_rowadr[r] = res_adr;
-
-    int* res_colind_r = res_colind + (res_adr - res_offset);
-    int mat_adr = rowadr[k];
-    const int* colind_k = colind + mat_adr;
-    for (int j = 0; j < nnz; j++) {
-      res_colind_r[j] = perm_c[colind_k[j]] - col_offset;
-    }
-
-    mju_copy(res + (res_adr - res_offset), mat + mat_adr, nnz);
-    if (mat2 && res2) {
-      mju_copy(res2 + (res_adr - res_offset), mat2 + mat_adr, nnz);
-    }
-  }
-}
-
-
-// block-diagonalize a sparse matrix
-//   res         values of the target matrix res
-//   res_rownnz  number of non-zeros in each row of res
-//   res_rowadr  row address of each non-zero in res
-//   res_colind  column index of each non-zero in res
-//   mat         values of the source matrix mat
-//   mat_rownnz  number of non-zeros in each row of mat
-//   mat_rowadr  row address of each non-zero in mat
-//   mat_colind  column index of each non-zero in mat
-//   nr          number of rows in mat/res
-//   nb          number of blocks
-//   perm_r      reverse permutation of rows (res -> mat)
-//   perm_c      forward permutation of columns (mat -> res)
-//   block_r     first row of each block in res
-//   block_c     first column of each block in res
-//   mat2        optional additional source matrix (same structure as mat)
-//   res2        optional additional target matrix (same structure as res)
-void mju_blockDiagSparse(mjtNum* restrict res, int* restrict res_rownnz,
-                         int* restrict res_rowadr, int* restrict res_colind,
-                         const mjtNum* restrict mat, const int* restrict rownnz,
-                         const int* restrict rowadr, const int* restrict colind,
-                         int nr, int nb,
-                         const int* restrict perm_r, const int* restrict perm_c,
-                         const int* restrict block_r, const int* restrict block_c,
-                         mjtNum* restrict res2, const mjtNum* restrict mat2) {
-  for (int b = 0; b < nb; b++) {
-    int nr_block = (b + 1 < nb ? block_r[b + 1] : nr) - block_r[b];
-    int res_adr = (block_r[b] == 0) ? 0 : (res_rowadr[block_r[b] - 1] + res_rownnz[block_r[b] - 1]);
-
-    mju_blockSparse(res + res_adr, res_rownnz + block_r[b],
-                    res_rowadr + block_r[b], res_colind + res_adr,
-                    mat, rownnz, rowadr, colind,
-                    nr_block, perm_r + block_r[b], perm_c,
-                    block_c[b], res_adr,
-                    res2 ? res2 + res_adr : NULL, mat2);
-  }
-}
diff --git a/src/engine/engine_util_sparse.h b/src/engine/engine_util_sparse.h
deleted file mode 100644
index ba5fc5ab..00000000
--- a/src/engine/engine_util_sparse.h
+++ /dev/null
@@ -1,379 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_H_
-
-#include <string.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjtype.h>
-#include "engine/engine_util_sparse_avx.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-//------------------------------ sparse operations -------------------------------------------------
-
-// dot-product, both vectors are sparse
-MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const int* ind1, int nnz1,
-                            const mjtNum* vec2, const int* ind2, int nnz2);
-
-// dot-productX3, first vector is sparse; supernode of size 3
-void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,
-                     const mjtNum* vec10, const mjtNum* vec11, const mjtNum* vec12,
-                     const mjtNum* vec2, int nnz1, const int* ind1);
-
-// convert matrix from dense to sparse
-//  nnz is size of res and colind, return 1 if too small, 0 otherwise
-MJAPI int mju_dense2sparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                           int* rownnz, int* rowadr, int* colind, int nnz);
-
-// convert matrix from sparse to dense
-MJAPI void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc, const int* rownnz,
-                            const int* rowadr, const int* colind);
-
-// convert lower-triangular symmetric CSR matrix to full dense matrix
-MJAPI void mju_sym2dense(mjtNum* res, const mjtNum* mat, int n,
-                         const int* rownnz, const int* rowadr, const int* colind);
-
-// res[row, :] = mat[row, :]
-void mju_copySparse(mjtNum* res, const mjtNum* mat, const int* rownnz, const int* rowadr,
-                    const int* row, int nrow);
-
-// res[row, :] = 0
-void mju_zeroSparse(mjtNum* res, const int* rownnz, const int* rowadr, const int* row, int nrow);
-
-// multiply sparse matrix and dense vector:  res = mat * vec
-MJAPI void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                               int nr, const int* rownnz, const int* rowadr,
-                               const int* colind, const int* rowsuper);
-
-// multiply transposed sparse matrix and dense vector:  res = mat' * vec
-MJAPI void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc,
-                                const int* rownnz, const int* rowadr, const int* colind);
-
-// add sparse matrix M to sparse destination matrix
-MJAPI void mju_addToMatSparse(mjtNum* dst, int* rownnz, int* rowadr, int* colind, int nr,
-                              const mjtNum* M, const int* M_rownnz, const int* M_rowadr,
-                              const int* M_colind);
-
-// add symmetric matrix (only lower triangle represented) to dense matrix
-MJAPI void mju_addToSymSparse(mjtNum* res, const mjtNum* mat, int n,
-                              const int* rownnz, const int* rowadr, const int* colind,
-                              int flg_upper);
-
-// multiply symmetric matrix (only lower triangle represented) by vector:
-//  res = (mat + strict_upper(mat')) * vec
-MJAPI void mju_mulSymVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n,
-                               const int* rownnz, const int* rowadr, const int* colind);
-
-// compress sparse matrix, remove elements with abs(value) <= minval, return total non-zeros
-MJAPI int mju_compressSparse(mjtNum* mat, int nr, int nc,
-                             int* rownnz, int* rowadr, int* colind, mjtNum minval);
-
-// count the number of nonzeros in the sum of two sparse vectors
-MJAPI int mju_combineSparseCount(int a_nnz, int b_nnz, const int* a_ind, const int* b_ind);
-
-// incomplete combine sparse: dst = a*dst + b*src at common indices
-void mju_combineSparseInc(mjtNum* dst, const mjtNum* src, int n, mjtNum a, mjtNum b,
-                          int dst_nnz, int src_nnz, const int* dst_ind, const int* src_ind);
-
-// dst += scl * src, only at common non-zero indices
-void mju_addToSclSparseInc(mjtNum* dst, const mjtNum* src,
-                           int nnzdst, const int* inddst,
-                           int nnzsrc, const int* indsrc, mjtNum scl);
-
-// add to sparse matrix: dst = dst + scl*src, return nnz of result
-int mju_addToSparseMat(mjtNum* dst, const mjtNum* src, int n, int nrow, mjtNum scl,
-                       int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind,
-                       mjtNum* buf, int* buf_ind);
-
-// add(merge) two chains
-int mju_addChains(int* res, int n, int NV1, int NV2,
-                  const int* chain1, const int* chain2);
-
-// transpose sparse matrix, optionally compute row supernodes
-MJAPI void mju_transposeSparse(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                               int* res_rownnz, int* res_rowadr, int* res_colind, int* res_rowsuper,
-                               const int* rownnz, const int* rowadr, const int* colind);
-
-// construct row supernodes
-MJAPI void mju_superSparse(int nr, int* rowsuper,
-                           const int* rownnz, const int* rowadr, const int* colind);
-
-// compute sparse M'*diag*M (diag=NULL: compute M'*M), res_rowadr must be precomputed
-MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
-                              const mjtNum* diag, int nr, int nc,
-                              int* res_rownnz, const int* res_rowadr, int* res_colind,
-                              const int* rownnz, const int* rowadr,
-                              const int* colind, const int* rowsuper,
-                              const int* rownnzT, const int* rowadrT,
-                              const int* colindT, const int* rowsuperT,
-                              mjData* d, int* diagind);
-
-// LEGACY: row-based implementation
-MJAPI void mju_sqrMatTDSparse_row(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
-                                  const mjtNum* diag, int nr, int nc,
-                                  int* res_rownnz, const int* res_rowadr, int* res_colind,
-                                  const int* rownnz, const int* rowadr,
-                                  const int* colind, const int* rowsuper,
-                                  const int* rownnzT, const int* rowadrT,
-                                  const int* colindT, const int* rowsuperT,
-                                  mjData* d, int* diagind);
-
-// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse, return total non-zeros
-MJAPI int mju_sqrMatTDSparseCount(int* res_rownnz, int* res_rowadr, int nr,
-                                  const int* rownnz, const int* rowadr, const int* colind,
-                                  const int* rownnzT, const int* rowadrT, const int* colindT,
-                                  const int* rowsuperT, mjData* d, int flg_upper);
-
-// symbolic phase for mju_sqrMatTDSparse: compute sparsity pattern of M'*M
-//   if res_colind is NULL: count mode, fill res_rownnz/res_rowadr, return nnz
-//   if res_colind is not NULL: fill mode, write sorted column indices
-//   if res_diagind is not NULL: also fill upper triangle and output diagonal indices
-MJAPI int mju_sqrMatTDSparseSymbolic(
-    int* res_rownnz, int* res_rowadr, int* res_colind, int* res_diagind, int nr, int nc,
-    const int* rownnz, const int* rowadr, const int* colind,
-    const int* rownnzT, const int* rowadrT, const int* colindT, const int* rowsuperT, mjData* d);
-
-// numeric phase for mju_sqrMatTDSparse: compute values given pre-computed sparsity
-//   res_colind, res_rownnz, res_rowadr must be pre-computed by mju_sqrMatTDSparseSymbolic
-MJAPI void mju_sqrMatTDSparseNumeric(
-    mjtNum* res, int nc,
-    const int* res_rownnz, const int* res_rowadr, const int* res_colind, const int* res_diagind,
-    const mjtNum* mat, const int* rownnz, const int* rowadr, const int* colind,
-    const mjtNum* matT, const int* rownnzT, const int* rowadrT, const int* colindT,
-    const int* rowsuperT, const mjtNum* diag, mjData* d);
-
-// precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
-MJAPI void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc);
-
-// extract a single block of a dense matrix
-void mju_block(mjtNum* res, const mjtNum* mat, int nc_mat, int nc_res, int nr,
-               const int* perm_r, const int* perm_c);
-
-// block-diagonalize a dense matrix
-MJAPI void mju_blockDiag(mjtNum* res, const mjtNum* mat, int nc_mat, int nc_res, int nb,
-                         const int* perm_r, const int* perm_c,
-                         const int* block_nr, const int* block_nc,
-                         const int* block_r, const int* block_c);
-
-// extract a single block of a sparse matrix
-void mju_blockSparse(
-  mjtNum* res, int* res_rownnz, int* res_rowadr, int* res_colind,
-  const mjtNum* mat, const int* rownnz, const int* rowadr, const int* colind,
-  int nr,
-  const int* perm_r, const int* perm_c,
-  int col_offset, int res_offset,
-  mjtNum* res2, const mjtNum* mat2);
-
-// block-diagonalize a sparse matrix
-MJAPI void mju_blockDiagSparse(
-  mjtNum* res, int* res_rownnz, int* res_rowadr, int* res_colind,
-  const mjtNum* mat, const int* rownnz, const int* rowadr, const int* colind,
-  int nr, int nb,
-  const int* perm_r, const int* perm_c,
-  const int* block_r, const int* block_c,
-  mjtNum* res2, const mjtNum* mat2);
-
-// ------------------------------ inlined functions ------------------------------------------------
-
-// dot-product, first vector is sparse
-static inline
-mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1) {
-#ifdef mjUSEAVX
-  return mju_dotSparse_avx(vec1, vec2, nnz1, ind1);
-#else
-  int i = 0;
-  mjtNum res = 0;
-  int n_4 = nnz1 - 4;
-  mjtNum res0 = 0;
-  mjtNum res1 = 0;
-  mjtNum res2 = 0;
-  mjtNum res3 = 0;
-
-  for (; i <= n_4; i+=4) {
-    res0 += vec1[i+0] * vec2[ind1[i+0]];
-    res1 += vec1[i+1] * vec2[ind1[i+1]];
-    res2 += vec1[i+2] * vec2[ind1[i+2]];
-    res3 += vec1[i+3] * vec2[ind1[i+3]];
-  }
-
-  res = (res0 + res2) + (res1 + res3);
-
-  // scalar part
-  for (; i < nnz1; i++) {
-    res += vec1[i] * vec2[ind1[i]];
-  }
-
-  return res;
-#endif  // mjUSEAVX
-}
-
-
-
-// return 1 if vec1==vec2, 0 otherwise
-static inline
-int mju_compare(const int* vec1, const int* vec2, int n) {
-#ifdef mjUSEAVX
-  return mju_compare_avx(vec1, vec2, n);
-#else
-  return !memcmp(vec1, vec2, n*sizeof(int));
-#endif  // mjUSEAVX
-}
-
-
-
-// merge unique sorted integers, merge array must be large enough (not checked for)
-static inline
-int mj_mergeSorted(int* merge, const int* chain1, int n1, const int* chain2, int n2) {
-  // special case: one or both empty
-  if (n1 == 0) {
-    if (n2 == 0) {
-      return 0;
-    }
-    memcpy(merge, chain2, n2 * sizeof(int));
-    return n2;
-  } else if (n2 == 0) {
-    memcpy(merge, chain1, n1 * sizeof(int));
-    return n1;
-  }
-
-  // special case: identical pattern
-  if (n1 == n2 && mju_compare(chain1, chain2, n1)) {
-    memcpy(merge, chain1, n1 * sizeof(int));
-    return n1;
-  }
-
-  // merge while both chains are non-empty
-  int i = 0, j = 0, k = 0;
-  while (i < n1 && j < n2) {
-    int c1 = chain1[i];
-    int c2 = chain2[j];
-
-    if (c1 < c2) {
-      merge[k++] = c1;
-      i++;
-    } else if (c1 > c2) {
-      merge[k++] = c2;
-      j++;
-    } else {  // c1 == c2
-      merge[k++] = c1;
-      i++;
-      j++;
-    }
-  }
-
-  // copy remaining
-  if (i < n1) {
-    memcpy(merge + k, chain1 + i, (n1 - i)*sizeof(int));
-    k += n1 - i;
-  } else if (j < n2) {
-    memcpy(merge + k, chain2 + j, (n2 - j)*sizeof(int));
-    k += n2 - j;
-  }
-
-  return k;
-}
-
-
-
-// res = res*scl1 + vec*scl2
-static inline
-void mju_addToSclScl(mjtNum* res, const mjtNum* vec, mjtNum scl1, mjtNum scl2, int n) {
-#ifdef mjUSEAVX
-  mju_addToSclScl_avx(res, vec, scl1, scl2, n);
-#else
-  for (int i=0; i < n; i++) {
-    res[i] = res[i]*scl1 + vec[i]*scl2;
-  }
-#endif  // mjUSEAVX
-}
-
-
-
-// combine two sparse vectors: dst = a*dst + b*src, return nnz of result
-static inline
-int mju_combineSparse(mjtNum* dst, const mjtNum* src, mjtNum a, mjtNum b,
-                      int dst_nnz, int src_nnz, int* dst_ind, const int* src_ind) {
-  // check for identical pattern
-  if (dst_nnz == src_nnz) {
-    if (mju_compare(dst_ind, src_ind, dst_nnz)) {
-      // combine mjtNum data directly
-      mju_addToSclScl(dst, src, a, b, dst_nnz);
-      return dst_nnz;
-    }
-  }
-
-  // compute total nnz of result
-  int nnz = mju_combineSparseCount(dst_nnz, src_nnz, dst_ind, src_ind);
-
-  // set up read/write pointers at end of arrays
-  int bi = dst_nnz - 1, si = src_nnz - 1, w = nnz - 1;
-
-  // merge backwards
-  while (bi >= 0 && si >= 0) {
-    int badr = dst_ind[bi];
-    int sadr = src_ind[si];
-
-    if (badr == sadr) {
-      dst[w] = a*dst[bi] + b*src[si];
-      dst_ind[w] = badr;
-      bi--;
-      si--;
-    }
-
-    // dst only
-    else if (badr > sadr) {
-      dst[w] = a*dst[bi];
-      dst_ind[w] = badr;
-      bi--;
-    }
-
-    // src only
-    else {
-      dst[w] = b*src[si];
-      dst_ind[w] = sadr;
-      si--;
-    }
-    w--;
-  }
-
-  // remaining src elements
-  while (si >= 0) {
-    dst[w] = b*src[si];
-    dst_ind[w] = src_ind[si];
-    si--;
-    w--;
-  }
-
-  // remaining dst elements: already in place, scale by a
-  if (a != 1) {
-    while (bi >= 0) {
-      dst[bi] *= a;
-      bi--;
-    }
-  }
-
-  return nnz;
-}
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_H_
diff --git a/src/engine/engine_util_sparse_avx.h b/src/engine/engine_util_sparse_avx.h
deleted file mode 100644
index e9edfeff..00000000
--- a/src/engine/engine_util_sparse_avx.h
+++ /dev/null
@@ -1,292 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_AVX_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_AVX_H_
-
-#ifdef mjUSEPLATFORMSIMD
-#if defined(__AVX__) && !defined(mjUSESINGLE)
-
-#define mjUSEAVX
-
-#include <immintrin.h>
-#include <string.h>
-
-#include <mujoco/mjtype.h>
-
-
-//------------------------------ sparse operations using avx ---------------------------------------
-
-// dot-product, first vector is sparse
-static inline
-mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1) {
-  int i = 0;
-  mjtNum res = 0;
-  int nnz1_4 = nnz1 - 4;
-
-  // vector part
-  if (nnz1_4>=0) {
-    __m256d sum, prod, val1, val2;
-    __m128d vlow, vhigh, high64;
-
-    // init
-    val2 = _mm256_set_pd(vec2[ind1[3]],
-                         vec2[ind1[2]],
-                         vec2[ind1[1]],
-                         vec2[ind1[0]]);
-
-    val1 = _mm256_loadu_pd(vec1);
-
-    sum = _mm256_mul_pd(val1, val2);
-    i = 4;
-
-    // parallel computation
-    while (i<=nnz1_4) {
-      val1 = _mm256_loadu_pd(vec1+i);
-      val2 = _mm256_set_pd(vec2[ind1[i+3]],
-                            vec2[ind1[i+2]],
-                            vec2[ind1[i+1]],
-                            vec2[ind1[i+0]]);
-      prod = _mm256_mul_pd(val1, val2);
-      sum = _mm256_add_pd(sum, prod);
-      i += 4;
-    }
-
-    // reduce
-    vlow = _mm256_castpd256_pd128(sum);
-    vhigh = _mm256_extractf128_pd(sum, 1);
-    vlow = _mm_add_pd(vlow, vhigh);
-    high64 = _mm_unpackhi_pd(vlow, vlow);
-    res = _mm_cvtsd_f64(_mm_add_sd(vlow, high64));
-  }
-
-  // scalar part
-  for (; i < nnz1; i++) {
-    res += vec1[i] * vec2[ind1[i]];
-  }
-
-  return res;
-}
-
-
-
-// dot-productX3, first vector is sparse; supernode of size 3
-static inline
-void mju_dotSparseX3_avx(mjtNum* res0, mjtNum* res1, mjtNum* res2, const mjtNum* vec10,
-                         const mjtNum* vec11, const mjtNum* vec12, const mjtNum* vec2,
-                         int nnz1, const int* ind1) {
-  int i = 0;
-
-  // clear result
-  mjtNum RES0 = 0;
-  mjtNum RES1 = 0;
-  mjtNum RES2 = 0;
-  int nnz1_4 = nnz1 - 4;
-
-  // vector part
-  if (nnz1_4>=0) {
-    __m256d sum0, sum1, sum2, prod, val1, val2;
-    __m128d vlow, vhigh, high64;
-
-    // init
-    val2 = _mm256_set_pd(vec2[ind1[3]],
-                         vec2[ind1[2]],
-                         vec2[ind1[1]],
-                         vec2[ind1[0]]);
-    val1 = _mm256_loadu_pd(vec10);
-    sum0 = _mm256_mul_pd(val1, val2);
-    val1 = _mm256_loadu_pd(vec11);
-    sum1 = _mm256_mul_pd(val1, val2);
-    val1 = _mm256_loadu_pd(vec12);
-    sum2 = _mm256_mul_pd(val1, val2);
-    i = 4;
-
-    // parallel computation
-    while (i<=nnz1_4) {
-      // get val2 only once
-      val2 = _mm256_set_pd(vec2[ind1[i+3]],
-                           vec2[ind1[i+2]],
-                           vec2[ind1[i+1]],
-                           vec2[ind1[i+0]]);
-
-      // process each val1
-      val1 = _mm256_loadu_pd(vec10+i);
-      prod = _mm256_mul_pd(val1, val2);
-      sum0 = _mm256_add_pd(sum0, prod);
-
-      val1 = _mm256_loadu_pd(vec11+i);
-      prod = _mm256_mul_pd(val1, val2);
-      sum1 = _mm256_add_pd(sum1, prod);
-
-      val1 = _mm256_loadu_pd(vec12+i);
-      prod = _mm256_mul_pd(val1, val2);
-      sum2 = _mm256_add_pd(sum2, prod);
-
-      i += 4;
-    }
-
-    // reduce
-    vlow   = _mm256_castpd256_pd128(sum0);
-    vhigh  = _mm256_extractf128_pd(sum0, 1);
-    vlow   = _mm_add_pd(vlow, vhigh);
-    high64 = _mm_unpackhi_pd(vlow, vlow);
-    RES0   = _mm_cvtsd_f64(_mm_add_sd(vlow, high64));
-
-    vlow   = _mm256_castpd256_pd128(sum1);
-    vhigh  = _mm256_extractf128_pd(sum1, 1);
-    vlow   = _mm_add_pd(vlow, vhigh);
-    high64 = _mm_unpackhi_pd(vlow, vlow);
-    RES1   = _mm_cvtsd_f64(_mm_add_sd(vlow, high64));
-
-    vlow   = _mm256_castpd256_pd128(sum2);
-    vhigh  = _mm256_extractf128_pd(sum2, 1);
-    vlow   = _mm_add_pd(vlow, vhigh);
-    high64 = _mm_unpackhi_pd(vlow, vlow);
-    RES2   = _mm_cvtsd_f64(_mm_add_sd(vlow, high64));
-  }
-
-  // scalar part
-  for (; i<nnz1; i++) {
-    mjtNum v2 = vec2[ind1[i]];
-
-    RES0 += vec10[i] * v2;
-    RES1 += vec11[i] * v2;
-    RES2 += vec12[i] * v2;
-  }
-
-  // copy result
-  *res0 = RES0;
-  *res1 = RES1;
-  *res2 = RES2;
-}
-
-// multiply sparse matrix and dense vector:  res = mat * vec.
-static inline
-void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
-                             int nr, const int* rownnz, const int* rowadr,
-                             const int* colind, const int* rowsuper) {
-  if (!rowsuper) {
-    // regular sparse dot-product
-    for (int r=0; r<nr; r++) {
-      res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
-    }
-
-    return;
-  }
-
-  // regular or supernode
-  for (int r=0; r<nr; r++) {
-    if (rowsuper[r]) {
-      int rs = rowsuper[r]+1;
-
-      // handle rows in blocks of 3
-      while (rs>=3) {
-        mju_dotSparseX3_avx(res+r, res+r+1, res+r+2,
-                            mat+rowadr[r], mat+rowadr[r+1], mat+rowadr[r+2],
-                            vec, rownnz[r], colind+rowadr[r]);
-
-        r += 3;
-        rs -= 3;
-      }
-
-      // handle remaining rows
-      while (rs>0) {
-        res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
-
-        r++;
-        rs--;
-      }
-
-      // go back one, because of outer for loop
-      r--;
-    }
-
-    else {
-      res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
-    }
-  }
-}
-
-// res = res*scl1 + vec*scl2
-static inline
-void mju_addToSclScl_avx(mjtNum* res, const mjtNum* vec, mjtNum scl1, mjtNum scl2, int n) {
-  int i = 0;
-
-  int n_4 = n - 4;
-
-  // vector part
-  if (n_4>=0) {
-    __m256d sclpar1, sclpar2, sum, val1, val2;
-
-    // init
-    sclpar1 = _mm256_set1_pd(scl1);
-    sclpar2 = _mm256_set1_pd(scl2);
-
-    // parallel computation
-    while (i<=n_4) {
-      val1 = _mm256_loadu_pd(res+i);
-      val2 = _mm256_loadu_pd(vec+i);
-      val1 = _mm256_mul_pd(val1, sclpar1);
-      val2 = _mm256_mul_pd(val2, sclpar2);
-      sum = _mm256_add_pd(val1, val2);
-      _mm256_storeu_pd(res+i, sum);
-      i += 4;
-    }
-  }
-
-  // process remaining
-  int n_i = n - i;
-  if (n_i==3) {
-    res[i] = res[i]*scl1 + vec[i]*scl2;
-    res[i+1] = res[i+1]*scl1 + vec[i+1]*scl2;
-    res[i+2] = res[i+2]*scl1 + vec[i+2]*scl2;
-  } else if (n_i==2) {
-    res[i] = res[i]*scl1 + vec[i]*scl2;
-    res[i+1] = res[i+1]*scl1 + vec[i+1]*scl2;
-  } else if (n_i==1) {
-    res[i] = res[i]*scl1 + vec[i]*scl2;
-  }
-}
-
-// return 1 if vec1==vec2, 0 otherwise
-static inline
-int mju_compare_avx(const int* vec1, const int* vec2, int n) {
-  int i = 0;
-  int n_4 = n - 4;
-
-  // vector part
-  if (n_4>=0) {
-    __m128i val1, val2, cmp;
-
-    // parallel computation
-    while (i<=n_4) {
-      val1 = _mm_loadu_si128((const __m128i*)(vec1+i));
-      val2 = _mm_loadu_si128((const __m128i*)(vec2+i));
-      cmp = _mm_cmpeq_epi32(val1, val2);
-      if (_mm_movemask_epi8(cmp)!= 0xFFFF) {
-        return 0;
-      }
-      i += 4;
-    }
-  }
-
-  // scalar part
-  return !memcmp(vec1+i, vec2+i, (n-i)*sizeof(int));
-}
-
-#endif  // defined(__AVX__) && !defined(mjUSESINGLE)
-
-#endif  // mjUSEPLATFORMSIMD
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPARSE_AVX_H_
diff --git a/src/engine/engine_util_spatial.c b/src/engine/engine_util_spatial.c
deleted file mode 100644
index 012cb370..00000000
--- a/src/engine/engine_util_spatial.c
+++ /dev/null
@@ -1,575 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_util_spatial.h"
-
-#include <math.h>
-
-#include <mujoco/mjmodel.h>
-#include "engine/engine_inline.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-
-
-//------------------------------ quaternion operations ---------------------------------------------
-
-// rotate vector by quaternion
-void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]) {
-  // zero vec: zero res
-  if (vec[0] == 0 && vec[1] == 0 && vec[2] == 0) {
-    mju_zero3(res);
-  }
-
-  // null quat: copy vec
-  else if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
-    mji_copy3(res, vec);
-  }
-
-  // regular processing
-  else {
-    // tmp = q_w * v + cross(q_xyz, v)
-    mjtNum tmp[3] = {
-      quat[0]*vec[0] + quat[2]*vec[2] - quat[3]*vec[1],
-      quat[0]*vec[1] + quat[3]*vec[0] - quat[1]*vec[2],
-      quat[0]*vec[2] + quat[1]*vec[1] - quat[2]*vec[0]
-    };
-
-    // res = v + 2 * cross(q_xyz, t)
-    res[0] = vec[0] + 2 * (quat[2]*tmp[2] - quat[3]*tmp[1]);
-    res[1] = vec[1] + 2 * (quat[3]*tmp[0] - quat[1]*tmp[2]);
-    res[2] = vec[2] + 2 * (quat[1]*tmp[1] - quat[2]*tmp[0]);
-  }
-}
-
-
-// negate quaternion
-void mju_negQuat(mjtNum res[4], const mjtNum quat[4]) {
-  res[0] = quat[0];
-  res[1] = -quat[1];
-  res[2] = -quat[2];
-  res[3] = -quat[3];
-}
-
-
-// multiply quaternions
-void mju_mulQuat(mjtNum res[4], const mjtNum qa[4], const mjtNum qb[4]) {
-  mjtNum tmp[4] = {
-    qa[0]*qb[0] - qa[1]*qb[1] - qa[2]*qb[2] - qa[3]*qb[3],
-    qa[0]*qb[1] + qa[1]*qb[0] + qa[2]*qb[3] - qa[3]*qb[2],
-    qa[0]*qb[2] - qa[1]*qb[3] + qa[2]*qb[0] + qa[3]*qb[1],
-    qa[0]*qb[3] + qa[1]*qb[2] - qa[2]*qb[1] + qa[3]*qb[0]
-  };
-  res[0] = tmp[0];
-  res[1] = tmp[1];
-  res[2] = tmp[2];
-  res[3] = tmp[3];
-}
-
-
-// multiply quaternion and axis
-void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]) {
-  mjtNum tmp[4] = {
-    -quat[1]*axis[0] - quat[2]*axis[1] - quat[3]*axis[2],
-    quat[0]*axis[0] + quat[2]*axis[2] - quat[3]*axis[1],
-    quat[0]*axis[1] + quat[3]*axis[0] - quat[1]*axis[2],
-    quat[0]*axis[2] + quat[1]*axis[1] - quat[2]*axis[0]
-  };
-  res[0] = tmp[0];
-  res[1] = tmp[1];
-  res[2] = tmp[2];
-  res[3] = tmp[3];
-}
-
-
-// convert axisAngle to quaternion
-void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle) {
-  // zero angle: null quat
-  if (angle == 0) {
-    res[0] = 1;
-    res[1] = 0;
-    res[2] = 0;
-    res[3] = 0;
-  }
-
-  // regular processing
-  else {
-    mjtNum s = mju_sin(angle*0.5);
-    res[0] = mju_cos(angle*0.5);
-    res[1] = axis[0]*s;
-    res[2] = axis[1]*s;
-    res[3] = axis[2]*s;
-  }
-}
-
-
-// convert quaternion (corresponding to orientation difference) to 3D velocity
-void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt) {
-  mjtNum axis[3] = {quat[1], quat[2], quat[3]};
-  mjtNum sin_a_2 = mju_normalize3(axis);
-  mjtNum speed = 2 * mju_atan2(sin_a_2, quat[0]);
-
-  // when axis-angle is larger than pi, rotation is in the opposite direction
-  if (speed > mjPI) {
-    speed -= 2*mjPI;
-  }
-  speed /= dt;
-
-  mji_scl3(res, axis, speed);
-}
-
-
-// Subtract quaternions, express as 3D velocity: qb*quat(res) = qa.
-void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]) {
-  // qdif = neg(qb)*qa
-  mjtNum qneg[4], qdif[4];
-  mji_negQuat(qneg, qb);
-  mji_mulQuat(qdif, qneg, qa);
-
-  // convert to 3D velocity
-  mji_quat2Vel(res, qdif, 1);
-}
-
-
-// convert quaternion to 3D rotation matrix
-void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]) {
-  // null quat: identity
-  if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
-    res[0] = 1;
-    res[1] = 0;
-    res[2] = 0;
-    res[3] = 0;
-    res[4] = 1;
-    res[5] = 0;
-    res[6] = 0;
-    res[7] = 0;
-    res[8] = 1;
-  }
-
-  // regular processing
-  else {
-    mjtNum q00 = quat[0]*quat[0];
-    mjtNum q01 = quat[0]*quat[1];
-    mjtNum q02 = quat[0]*quat[2];
-    mjtNum q03 = quat[0]*quat[3];
-    mjtNum q11 = quat[1]*quat[1];
-    mjtNum q12 = quat[1]*quat[2];
-    mjtNum q13 = quat[1]*quat[3];
-    mjtNum q22 = quat[2]*quat[2];
-    mjtNum q23 = quat[2]*quat[3];
-    mjtNum q33 = quat[3]*quat[3];
-
-    res[0] = q00 + q11 - q22 - q33;
-    res[4] = q00 - q11 + q22 - q33;
-    res[8] = q00 - q11 - q22 + q33;
-
-    res[1] = 2*(q12 - q03);
-    res[2] = 2*(q13 + q02);
-    res[3] = 2*(q12 + q03);
-    res[5] = 2*(q23 - q01);
-    res[6] = 2*(q13 - q02);
-    res[7] = 2*(q23 + q01);
-  }
-}
-
-
-// convert 3D rotation matrix to quaternion
-void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]) {
-  // q0 largest
-  if (mat[0]+mat[4]+mat[8] > 0) {
-    quat[0] = 0.5 * mju_sqrt(1 + mat[0] + mat[4] + mat[8]);
-    quat[1] = 0.25 * (mat[7] - mat[5]) / quat[0];
-    quat[2] = 0.25 * (mat[2] - mat[6]) / quat[0];
-    quat[3] = 0.25 * (mat[3] - mat[1]) / quat[0];
-  }
-
-  // q1 largest
-  else if (mat[0] > mat[4] && mat[0] > mat[8]) {
-    quat[1] = 0.5 * mju_sqrt(1 + mat[0] - mat[4] - mat[8]);
-    quat[0] = 0.25 * (mat[7] - mat[5]) / quat[1];
-    quat[2] = 0.25 * (mat[1] + mat[3]) / quat[1];
-    quat[3] = 0.25 * (mat[2] + mat[6]) / quat[1];
-  }
-
-  // q2 largest
-  else if (mat[4] > mat[8]) {
-    quat[2] = 0.5 * mju_sqrt(1 - mat[0] + mat[4] - mat[8]);
-    quat[0] = 0.25 * (mat[2] - mat[6]) / quat[2];
-    quat[1] = 0.25 * (mat[1] + mat[3]) / quat[2];
-    quat[3] = 0.25 * (mat[5] + mat[7]) / quat[2];
-  }
-
-  // q3 largest
-  else {
-    quat[3] = 0.5 * mju_sqrt(1 - mat[0] - mat[4] + mat[8]);
-    quat[0] = 0.25 * (mat[3] - mat[1]) / quat[3];
-    quat[1] = 0.25 * (mat[2] + mat[6]) / quat[3];
-    quat[2] = 0.25 * (mat[5] + mat[7]) / quat[3];
-  }
-
-  mju_normalize4(quat);
-}
-
-
-// time-derivative of quaternion, given 3D rotational velocity
-void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]) {
-  res[0] = 0.5*(-vel[0]*quat[1] - vel[1]*quat[2] - vel[2]*quat[3]);
-  res[1] = 0.5*( vel[0]*quat[0] + vel[1]*quat[3] - vel[2]*quat[2]);
-  res[2] = 0.5*(-vel[0]*quat[3] + vel[1]*quat[0] + vel[2]*quat[1]);
-  res[3] = 0.5*( vel[0]*quat[2] - vel[1]*quat[1] + vel[2]*quat[0]);
-}
-
-
-// integrate quaternion given 3D angular velocity
-void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale) {
-  mjtNum angle, tmp[4], qrot[4];
-
-  // form local rotation quaternion, apply
-  mji_copy3(tmp, vel);
-  angle = scale * mju_normalize3(tmp);
-  mji_axisAngle2Quat(qrot, tmp, angle);
-  mju_normalize4(quat);
-  mju_mulQuat(quat, quat, qrot);
-}
-
-
-// compute quaternion performing rotation from z-axis to given vector
-void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]) {
-  mjtNum axis[3], a, vn[3] = {vec[0], vec[1], vec[2]}, z[3] = {0, 0, 1};
-
-  // set default result to no-rotation quaternion
-  quat[0] = 1;
-  mju_zero3(quat+1);
-
-  // normalize vector; if too small, no rotation
-  if (mju_normalize3(vn) < mjMINVAL) {
-    return;
-  }
-
-  // compute angle and axis
-  mji_cross(axis, z, vn);
-  a = mju_normalize3(axis);
-
-  // almost parallel
-  if (mju_abs(a) < mjMINVAL) {
-    // opposite: 180 deg rotation around x axis
-    if (mju_dot3(vn, z) < 0) {
-      quat[0] = 0;
-      quat[1] = 1;
-    }
-
-    return;
-  }
-
-  // make quaternion from angle and axis
-  a = mju_atan2(a, mju_dot3(vn, z));
-  mji_axisAngle2Quat(quat, axis, a);
-}
-
-
-// extract 3D rotation from an arbitrary 3x3 matrix
-#ifdef mjUSESINGLE
-static const mjtNum rotEPS = 1e-6f;
-#else
-static const mjtNum rotEPS = 1e-9;
-#endif
-int mju_mat2Rot(mjtNum quat[4], const mjtNum mat[9]) {
-  // Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin.
-  // "A robust method to extract the rotational part of deformations."
-  // In Proceedings of the 9th International Conference on Motion in Games,
-  // pp. 55-60. 2016.
-
-  int iter;
-  mjtNum col1_mat[3] = {mat[0], mat[3], mat[6]};
-  mjtNum col2_mat[3] = {mat[1], mat[4], mat[7]};
-  mjtNum col3_mat[3] = {mat[2], mat[5], mat[8]};
-  for (iter = 0; iter < 500; iter++) {
-    mjtNum rot[9];
-    mju_quat2Mat(rot, quat);
-    mjtNum col1_rot[3] = {rot[0], rot[3], rot[6]};
-    mjtNum col2_rot[3] = {rot[1], rot[4], rot[7]};
-    mjtNum col3_rot[3] = {rot[2], rot[5], rot[8]};
-    mjtNum omega[3], vec1[3], vec2[3], vec3[3];
-    mji_cross(vec1, col1_rot, col1_mat);
-    mji_cross(vec2, col2_rot, col2_mat);
-    mji_cross(vec3, col3_rot, col3_mat);
-    mji_add3(omega, vec1, vec2);
-    mji_addTo3(omega, vec3);
-    mju_scl3(omega, omega, 1.0 / (mju_abs(mju_dot3(col1_rot, col1_mat) +
-                                          mju_dot3(col2_rot, col2_mat) +
-                                          mju_dot3(col3_rot, col3_mat)) + mjMINVAL));
-    mjtNum w = mju_normalize3(omega);
-    if (w < rotEPS) {
-      break;
-    }
-    mjtNum qrot[4];
-    mji_axisAngle2Quat(qrot, omega, w);
-    mju_mulQuat(quat, qrot, quat);
-    mju_normalize4(quat);
-  }
-  return iter;
-}
-
-
-//------------------------------ pose operations (quat, pos) ---------------------------------------
-
-// multiply two poses
-void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
-                 const mjtNum pos1[3], const mjtNum quat1[4],
-                 const mjtNum pos2[3], const mjtNum quat2[4]) {
-  // quatres = quat1*quat2
-  mji_mulQuat(quatres, quat1, quat2);
-  mju_normalize4(quatres);
-
-  // posres = quat1*pos2 + pos1
-  mji_rotVecQuat(posres, pos2, quat1);
-  mji_addTo3(posres, pos1);
-}
-
-
-// negate pose
-void mju_negPose(mjtNum posres[3], mjtNum quatres[4], const mjtNum pos[3], const mjtNum quat[4]) {
-  // qres = neg(quat)
-  mji_negQuat(quatres, quat);
-
-  // pres = -neg(quat)*pos
-  mji_rotVecQuat(posres, pos, quatres);
-  mju_scl3(posres, posres, -1);
-}
-
-
-// transform vector by pose
-void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4], const mjtNum vec[3]) {
-  // res = quat*vec + pos
-  mji_rotVecQuat(res, vec, quat);
-  mji_addTo3(res, pos);
-}
-
-
-//------------------------------ spatial algebra ---------------------------------------------------
-
-// vector cross-product, 3D
-void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]) {
-  mjtNum tmp[3] = {
-    a[1]*b[2] - a[2]*b[1],
-    a[2]*b[0] - a[0]*b[2],
-    a[0]*b[1] - a[1]*b[0]
-  };
-  res[0] = tmp[0];
-  res[1] = tmp[1];
-  res[2] = tmp[2];
-}
-
-
-// cross-product for motion vector
-void mju_crossMotion(mjtNum res[6], const mjtNum vel[6], const mjtNum v[6]) {
-  res[0] = -vel[2]*v[1] + vel[1]*v[2];
-  res[1] =  vel[2]*v[0] - vel[0]*v[2];
-  res[2] = -vel[1]*v[0] + vel[0]*v[1];
-  res[3] = -vel[2]*v[4] + vel[1]*v[5];
-  res[4] =  vel[2]*v[3] - vel[0]*v[5];
-  res[5] = -vel[1]*v[3] + vel[0]*v[4];
-
-  res[3] += -vel[5]*v[1] + vel[4]*v[2];
-  res[4] +=  vel[5]*v[0] - vel[3]*v[2];
-  res[5] += -vel[4]*v[0] + vel[3]*v[1];
-}
-
-
-// cross-product for force vectors
-void mju_crossForce(mjtNum res[6], const mjtNum vel[6], const mjtNum f[6]) {
-  res[0] = -vel[2]*f[1] + vel[1]*f[2];
-  res[1] =  vel[2]*f[0] - vel[0]*f[2];
-  res[2] = -vel[1]*f[0] + vel[0]*f[1];
-  res[3] = -vel[2]*f[4] + vel[1]*f[5];
-  res[4] =  vel[2]*f[3] - vel[0]*f[5];
-  res[5] = -vel[1]*f[3] + vel[0]*f[4];
-
-  res[0] += -vel[5]*f[4] + vel[4]*f[5];
-  res[1] +=  vel[5]*f[3] - vel[3]*f[5];
-  res[2] += -vel[4]*f[3] + vel[3]*f[4];
-}
-
-
-// express inertia in com-based frame
-void mju_inertCom(mjtNum* restrict res, const mjtNum inert[3], const mjtNum mat[9],
-                  const mjtNum dif[3], mjtNum mass) {
-  // tmp = diag(inert) * mat'  (mat is local-to-global rotation)
-  mjtNum tmp[9] = {mat[0]*inert[0], mat[3]*inert[0], mat[6]*inert[0],
-                   mat[1]*inert[1], mat[4]*inert[1], mat[7]*inert[1],
-                   mat[2]*inert[2], mat[5]*inert[2], mat[8]*inert[2]};
-
-  // res_rot = mat * diag(inert) * mat'
-  res[0] = mat[0]*tmp[0] + mat[1]*tmp[3] + mat[2]*tmp[6];
-  res[1] = mat[3]*tmp[1] + mat[4]*tmp[4] + mat[5]*tmp[7];
-  res[2] = mat[6]*tmp[2] + mat[7]*tmp[5] + mat[8]*tmp[8];
-  res[3] = mat[0]*tmp[1] + mat[1]*tmp[4] + mat[2]*tmp[7];
-  res[4] = mat[0]*tmp[2] + mat[1]*tmp[5] + mat[2]*tmp[8];
-  res[5] = mat[3]*tmp[2] + mat[4]*tmp[5] + mat[5]*tmp[8];
-
-  // res_rot -= mass * dif_cross * dif_cross
-  res[0] += mass*(dif[1]*dif[1] + dif[2]*dif[2]);
-  res[1] += mass*(dif[0]*dif[0] + dif[2]*dif[2]);
-  res[2] += mass*(dif[0]*dif[0] + dif[1]*dif[1]);
-  res[3] -= mass*dif[0]*dif[1];
-  res[4] -= mass*dif[0]*dif[2];
-  res[5] -= mass*dif[1]*dif[2];
-
-  // res_tran = mass * dif
-  res[6] = mass*dif[0];
-  res[7] = mass*dif[1];
-  res[8] = mass*dif[2];
-
-  // res_mass = mass
-  res[9] = mass;
-}
-
-
-// multiply 6D vector (rotation, translation) by 6D inertia matrix
-void mju_mulInertVec(mjtNum* restrict res, const mjtNum i[10], const mjtNum v[6]) {
-  res[0] = i[0]*v[0] + i[3]*v[1] + i[4]*v[2] - i[8]*v[4] + i[7]*v[5];
-  res[1] = i[3]*v[0] + i[1]*v[1] + i[5]*v[2] + i[8]*v[3] - i[6]*v[5];
-  res[2] = i[4]*v[0] + i[5]*v[1] + i[2]*v[2] - i[7]*v[3] + i[6]*v[4];
-  res[3] = i[8]*v[1] - i[7]*v[2] + i[9]*v[3];
-  res[4] = i[6]*v[2] - i[8]*v[0] + i[9]*v[4];
-  res[5] = i[7]*v[0] - i[6]*v[1] + i[9]*v[5];
-}
-
-
-// express motion axis in com-based frame
-void mju_dofCom(mjtNum* restrict res, const mjtNum axis[3], const mjtNum offset[3]) {
-  // hinge
-  if (offset) {
-    mji_copy3(res, axis);
-    mji_cross(res+3, axis, offset);
-  }
-
-  // slide
-  else {
-    mju_zero3(res);
-    mji_copy3(res+3, axis);
-  }
-}
-
-
-// multiply dof matrix (6-by-n, transposed) by vector (n-by-1)
-void mju_mulDofVec(mjtNum* res, const mjtNum* dof, const mjtNum* vec, int n) {
-  if (n == 1) {
-    mju_scl(res, dof, vec[0], 6);
-  } else if (n <= 0) {
-    mju_zero(res, 6);
-  } else {
-    mju_mulMatTVec(res, dof, vec, n, 6);
-  }
-}
-
-
-// transform 6D motion or force vector between frames
-//   flg_force: determines vector type (motion or force)
-//   rotnew2old: rotation that maps vectors from new to old frame,
-//               its columns are the new frame's axes, expressed in the old frame
-//   oldpos and newpos are expressed in old frame
-void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
-                          const mjtNum newpos[3], const mjtNum oldpos[3],
-                          const mjtNum rotnew2old[9]) {
-  mjtNum cros[3], dif[3], tran[6];
-
-  // apply translation
-  mju_copy(tran, vec, 6);
-  mji_sub3(dif, newpos, oldpos);
-  if (flg_force) {
-    mji_cross(cros, dif, vec+3);
-    mji_sub3(tran, vec, cros);
-  } else {
-    mji_cross(cros, dif, vec);
-    mji_sub3(tran+3, vec+3, cros);
-  }
-
-  // if provided, apply old -> new rotation
-  if (rotnew2old) {
-    mji_mulMatTVec3(res, rotnew2old, tran);
-    mji_mulMatTVec3(res+3, rotnew2old, tran+3);
-  }
-
-  // otherwise copy
-  else {
-    mji_copy6(res, tran);
-  }
-}
-
-
-// make 3D frame given x-axis (normal) and possibly y-axis (tangent 1)
-void mju_makeFrame(mjtNum frame[9]) {
-  mjtNum tmp[3];
-
-  // normalize xaxis
-  if (mju_normalize3(frame) < 0.5) {
-    mjERROR("xaxis of contact frame undefined");
-  }
-
-  // if yaxis undefined, set yaxis to (0,1,0) if possible, otherwise (0,0,1)
-  if (mju_dot3(frame+3, frame+3) < 0.25) {
-    mju_zero3(frame+3);
-
-    if (frame[1] < 0.5 && frame[1] > -0.5) {
-      frame[4] = 1;
-    } else {
-      frame[5] = 1;
-    }
-  }
-
-  // make yaxis orthogonal to xaxis
-  mji_scl3(tmp, frame, mju_dot3(frame, frame+3));
-  mji_subFrom3(frame+3, tmp);
-  mju_normalize3(frame+3);
-
-  // zaxis = cross(xaxis, yaxis)
-  mji_cross(frame+6, frame, frame+3);
-}
-
-
-// convert sequence of Euler angles (radians) to quaternion
-// seq[0,1,2] must be in 'xyzXYZ', lower/upper-case mean intrinsic/extrinsic rotations
-void mju_euler2Quat(mjtNum quat[4], const mjtNum euler[3], const char* seq) {
-  if (strnlen(seq, 4) != 3) {
-    mjERROR("seq must contain exactly 3 characters");
-  }
-
-  // init
-  mjtNum tmp[4] = {1, 0, 0, 0};
-
-  // loop over euler angles, accumulate rotations
-  for (int i=0; i<3; i++) {
-    // construct quaternion rotation
-    mjtNum rot[4] = {cos(euler[i]/2), 0, 0, 0};
-    mjtNum sa = sin(euler[i]/2);
-    if (seq[i]=='x' || seq[i]=='X') {
-      rot[1] = sa;
-    } else if (seq[i]=='y' || seq[i]=='Y') {
-      rot[2] = sa;
-    } else if (seq[i]=='z' || seq[i]=='Z') {
-      rot[3] = sa;
-    } else {
-      mjERROR("seq[%d] is '%c', should be one of x, y, z, X, Y, Z", i, seq[i]);
-    }
-
-    // accumulate rotation
-    if (seq[i]=='x' || seq[i]=='y' || seq[i]=='z') {
-      mju_mulQuat(tmp, tmp, rot);  // moving axes: post-multiply
-    } else {
-      mju_mulQuat(tmp, rot, tmp);  // fixed axes: pre-multiply
-    }
-  }
-
-  mji_copy4(quat, tmp);
-}
diff --git a/src/engine/engine_util_spatial.h b/src/engine/engine_util_spatial.h
deleted file mode 100644
index 8b73de09..00000000
--- a/src/engine/engine_util_spatial.h
+++ /dev/null
@@ -1,122 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPATIAL_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPATIAL_H_
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-//------------------------------ quaternion operations ---------------------------------------------
-
-// rotate vector by quaternion
-MJAPI void mju_rotVecQuat(mjtNum res[3], const mjtNum vec[3], const mjtNum quat[4]);
-
-// compute conjugate quaternion, corresponding to opposite rotation
-MJAPI void mju_negQuat(mjtNum res[4], const mjtNum quat[4]);
-
-// multiply quaternions
-MJAPI void mju_mulQuat(mjtNum res[4], const mjtNum quat1[4], const mjtNum quat2[4]);
-
-// multiply quaternion and axis
-MJAPI void mju_mulQuatAxis(mjtNum res[4], const mjtNum quat[4], const mjtNum axis[3]);
-
-// convert axisAngle to quaternion
-MJAPI void mju_axisAngle2Quat(mjtNum res[4], const mjtNum axis[3], mjtNum angle);
-
-// convert quaternion (corresponding to orientation difference) to 3D velocity
-MJAPI void mju_quat2Vel(mjtNum res[3], const mjtNum quat[4], mjtNum dt);
-
-// subtract quaternions, convert to 3D velocity: qb*quat(res) = qa
-MJAPI void mju_subQuat(mjtNum res[3], const mjtNum qa[4], const mjtNum qb[4]);
-
-// convert quaternion to 3D rotation matrix
-MJAPI void mju_quat2Mat(mjtNum res[9], const mjtNum quat[4]);
-
-// convert 3D rotation matrix to quaternion
-MJAPI void mju_mat2Quat(mjtNum quat[4], const mjtNum mat[9]);
-
-// time-derivative of quaternion, given 3D rotational velocity
-MJAPI void mju_derivQuat(mjtNum res[4], const mjtNum quat[4], const mjtNum vel[3]);
-
-// integrate quaternion given 3D angular velocity
-MJAPI void mju_quatIntegrate(mjtNum quat[4], const mjtNum vel[3], mjtNum scale);
-
-// compute quaternion performing rotation from z-axis to given vector
-MJAPI void mju_quatZ2Vec(mjtNum quat[4], const mjtNum vec[3]);
-
-// extract 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion
-// returns the number of iterations required to converge
-MJAPI int mju_mat2Rot(mjtNum quat[4], const mjtNum mat[9]);
-
-
-//------------------------------ pose operations (pos, quat) ---------------------------------------
-
-// multiply two poses
-MJAPI void mju_mulPose(mjtNum posres[3], mjtNum quatres[4],
-                       const mjtNum pos1[3], const mjtNum quat1[4],
-                       const mjtNum pos2[3], const mjtNum quat2[4]);
-
-// compute conjugate pose, corresponding to the opposite spatial transformation
-MJAPI void mju_negPose(mjtNum posres[3], mjtNum quatres[4],
-                       const mjtNum pos[3], const mjtNum quat[4]);
-
-// transform vector by pose
-MJAPI void mju_trnVecPose(mjtNum res[3], const mjtNum pos[3], const mjtNum quat[4],
-                          const mjtNum vec[3]);
-
-// convert sequence of Euler angles (radians) to quaternion
-// seq[0,1,2] must be in 'xyzXYZ', lower/upper-case mean intrinsic/extrinsic rotations
-MJAPI void mju_euler2Quat(mjtNum quat[4], const mjtNum euler[3], const char* seq);
-
-//------------------------------ spatial algebra ---------------------------------------------------
-
-// vector cross-product, 3D
-MJAPI void mju_cross(mjtNum res[3], const mjtNum a[3], const mjtNum b[3]);
-
-// cross-product for motion vector
-void mju_crossMotion(mjtNum res[6], const mjtNum vel[6], const mjtNum v[6]);
-
-// cross-product for force vectors
-void mju_crossForce(mjtNum res[6], const mjtNum vel[6], const mjtNum f[6]);
-
-// express inertia in com-based frame
-void mju_inertCom(mjtNum* res, const mjtNum inert[3], const mjtNum mat[9],
-                  const mjtNum dif[3], mjtNum mass);
-
-// express motion axis in com-based frame
-void mju_dofCom(mjtNum* res, const mjtNum axis[3], const mjtNum offset[3]);
-
-// multiply 6D vector (rotation, translation) by 6D inertia matrix
-MJAPI void mju_mulInertVec(mjtNum* res, const mjtNum inert[10], const mjtNum vec[6]);
-
-// multiply dof matrix by vector
-void mju_mulDofVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int n);
-
-// coordinate transform of 6D motion or force vector in rotation:translation format
-//  rotnew2old is 3-by-3, NULL means no rotation; flg_force specifies force or motion type
-MJAPI void mju_transformSpatial(mjtNum res[6], const mjtNum vec[6], int flg_force,
-                                const mjtNum newpos[3], const mjtNum oldpos[3],
-                                const mjtNum rotnew2old[9]);
-
-// make 3D frame given X axis (and possibly Y axis)
-void mju_makeFrame(mjtNum frame[9]);
-
-#ifdef __cplusplus
-}
-#endif
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_UTIL_SPATIAL_H_
diff --git a/src/engine/engine_vis_init.c b/src/engine/engine_vis_init.c
deleted file mode 100644
index 5f8a50eb..00000000
--- a/src/engine/engine_vis_init.c
+++ /dev/null
@@ -1,476 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_vis_init.h"
-
-#include <math.h>
-#include <string.h>
-
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjvisualize.h>
-#include "engine/engine_array_safety.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-
-#ifdef _MSC_VER
-  #pragma warning (disable: 4305)  // disable MSVC warning: truncation from 'double' to 'float'
-#endif
-
-
-//--------------------------------- Strings --------------------------------------------------------
-
-// label names
-const char* mjLABELSTRING[mjNLABEL] = {
-  "None",
-  "Body",
-  "Joint",
-  "Geom",
-  "Site",
-  "Camera",
-  "Light",
-  "Tendon",
-  "Actuator",
-  "Constraint",
-  "Flex",
-  "Skin",
-  "Selection",
-  "SelPoint",
-  "Contact",
-  "ContactForce",
-  "Island"
-};
-
-
-// frame names
-const char* mjFRAMESTRING[mjNFRAME] = {
-  "None",
-  "Body",
-  "Geom",
-  "Site",
-  "Camera",
-  "Light",
-  "Contact",
-  "World"
-};
-
-
-// visual options: {name, initial value, shortcut}
-const char* mjVISSTRING[mjNVISFLAG][3] = {
-  {"Convex Hull",     "0", "H"},
-  {"Texture",         "1", "X"},
-  {"Joint",           "0", "J"},
-  {"Camera",          "0", "Q"},
-  {"Actuator",        "0", "U"},
-  {"Activation",      "0", ","},
-  {"Light",           "0", "Z"},
-  {"Tendon",          "1", "V"},
-  {"Range Finder",    "1", "Y"},
-  {"Equality",        "0", "E"},
-  {"Inertia",         "0", "I"},
-  {"Scale Inertia",   "0", "'"},
-  {"Perturb Force",   "0", "B"},
-  {"Perturb Object",  "1", "O"},
-  {"Contact Point",   "0", "C"},
-  {"Island",          "0", "N"},
-  {"Contact Force",   "0", "F"},
-  {"Contact Split",   "0", "P"},
-  {"Transparent",     "0", "T"},
-  {"Auto Connect",    "0", "A"},
-  {"Center of Mass",  "0", "M"},
-  {"Select Point",    "0", ""},
-  {"Static Body",     "1", "D"},
-  {"Skin",            "1", ";"},
-  {"Flex Vert",       "0", ""},
-  {"Flex Edge",       "1", ""},
-  {"Flex Face",       "0", ""},
-  {"Flex Skin",       "1", ""},
-  {"Body Tree",       "0", "`"},
-  {"Mesh Tree",       "0", "\\"},
-  {"SDF iters",       "0", ""}
-};
-
-
-// render options: {name, initial value, shortcut}
-const char* mjRNDSTRING[mjNRNDFLAG][3] = {
-  {"Shadow",      "1", "S"},
-  {"Wireframe",   "0", "W"},
-  {"Reflection",  "1", "R"},
-  {"Additive",    "0", "L"},
-  {"Skybox",      "1", "K"},
-  {"Fog",         "0", "G"},
-  {"Haze",        "1", "/"},
-  {"Depth",       "0", ""},
-  {"Segment",     "0", ","},
-  {"Id Color",    "0", ""},
-  {"Cull Face",   "1", ""}
-};
-
-
-
-//--------------------------------- Implementation -------------------------------------------------
-
-
-// allocate and init abstract scene
-void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom) {
-  // free previous
-  mjv_freeScene(scn);
-
-  // allocate geom buffers
-  if (maxgeom > 0) {
-    // allocate
-    scn->maxgeom = maxgeom;
-    scn->geoms = (mjvGeom*) mju_malloc(maxgeom*sizeof(mjvGeom));
-    scn->geomorder = (int*) mju_malloc(maxgeom*sizeof(int));
-
-    // check allocation
-    if (!scn->geoms || !scn->geomorder) {
-      mjERROR("could not allocate geom buffers");
-    }
-  }
-
-  // set default OpenGL options
-  for (int i=0; i < mjNRNDFLAG; i++) {
-    scn->flags[i] = (mjRNDSTRING[i][1][0] == '1');
-  }
-
-  // set default model transformation
-  scn->scale = 1;
-  scn->rotate[0] = 1;
-
-  // set number of flexes
-  scn->nflex = m ? m->nflex : 0;
-
-  // allocate flex data
-  if (scn->nflex) {
-    int nflex = scn->nflex;
-
-    // allocate fixed
-    scn->flexedgeadr = (int*) mju_malloc(nflex*sizeof(int));
-    scn->flexedgenum = (int*) mju_malloc(nflex*sizeof(int));
-    scn->flexvertadr = (int*) mju_malloc(nflex*sizeof(int));
-    scn->flexvertnum = (int*) mju_malloc(nflex*sizeof(int));
-    scn->flexfaceadr = (int*) mju_malloc(nflex*sizeof(int));
-    scn->flexfacenum = (int*) mju_malloc(nflex*sizeof(int));
-    scn->flexfaceused= (int*) mju_malloc(nflex*sizeof(int));
-    scn->flexedge    = (int*) mju_malloc(2*m->nflexedge*sizeof(int));
-    scn->flexvert    = (float*) mju_malloc(3*m->nflexvert*sizeof(float));
-
-    // count max number of flex faces to be rendered (depending on vis options)
-    int nface = 0;
-    for (int f=0; f < nflex; f++) {
-      // 1D : 0
-      if (m->flex_dim[f] == 0) {
-        scn->flexfacenum[f] = 0;
-      }
-
-      // 2D: 2*fragments + 2*elements
-      else if (m->flex_dim[f] == 2) {
-        scn->flexfacenum[f] = 2*m->flex_shellnum[f] + 2*m->flex_elemnum[f];
-      }
-
-      // 3D: max(fragments, 4*maxlayer)
-      else {
-        // find number of elements in biggest layer
-        int maxlayer = 0, layer = 0, nlayer = 1;
-        while (nlayer) {
-          // count elements in this layer
-          nlayer = 0;
-          for (int e=0; e < m->flex_elemnum[f]; e++) {
-            if (m->flex_elemlayer[m->flex_elemadr[f]+e] == layer) {
-              nlayer++;
-            }
-          }
-
-          // accumulate max over layers, advance layer
-          maxlayer = mjMAX(maxlayer, nlayer);
-          layer++;
-        }
-
-        scn->flexfacenum[f] = mjMAX(m->flex_shellnum[f], 4*maxlayer);
-      }
-
-      // accumulate over flexes
-      nface += scn->flexfacenum[f];
-    }
-
-    // allocate face-related
-    scn->flexface     = nface ? (float*) mju_malloc(9*nface*sizeof(float)) : NULL;
-    scn->flexnormal   = nface ? (float*) mju_malloc(9*nface*sizeof(float)) : NULL;
-    scn->flextexcoord = nface ? (float*) mju_malloc(6*nface*sizeof(float)) : NULL;
-
-    // check allocation
-    if (!scn->flexedgeadr ||
-        !scn->flexedgenum ||
-        !scn->flexfaceadr ||
-        !scn->flexfacenum ||
-        !scn->flexfaceused||
-        !scn->flexvertadr ||
-        !scn->flexvertnum ||
-        !scn->flexedge    ||
-        !scn->flexvert    ||
-        (nface && !scn->flexface)   ||
-        (nface && !scn->flexnormal) ||
-        (nface && !scn->flextexcoord)) {
-      mju_error("Could not allocate flex buffers");
-    }
-
-    // copy constant edge and vertex data
-    memcpy(scn->flexedgeadr, m->flex_edgeadr, nflex*sizeof(int));
-    memcpy(scn->flexedgenum, m->flex_edgenum, nflex*sizeof(int));
-    memcpy(scn->flexvertadr, m->flex_vertadr, nflex*sizeof(int));
-    memcpy(scn->flexvertnum, m->flex_vertnum, nflex*sizeof(int));
-    memcpy(scn->flexedge, m->flex_edge, 2*m->nflexedge*sizeof(int));
-
-    // compute flexfaceadr
-    for (int f=0; f < nflex; f++) {
-      scn->flexfaceadr[f] = f == 0 ? 0 : scn->flexfaceadr[f-1]+scn->flexfacenum[f-1];
-    }
-  }
-
-  // set number of skins
-  if (m) {
-    scn->nskin = m->nskin;
-  } else {
-    scn->nskin = 0;
-  }
-
-  // allocate skin data
-  if (scn->nskin) {
-    int nskin = m->nskin;
-
-    // allocate
-    scn->skinfacenum = (int*) mju_malloc(nskin*sizeof(int));
-    scn->skinvertadr = (int*) mju_malloc(nskin*sizeof(int));
-    scn->skinvertnum = (int*) mju_malloc(nskin*sizeof(int));
-    scn->skinvert    = (float*) mju_malloc(3*m->nskinvert*sizeof(float));
-    scn->skinnormal  = (float*) mju_malloc(3*m->nskinvert*sizeof(float));
-
-    // check allocation
-    if (!scn->skinfacenum ||
-        !scn->skinvertadr ||
-        !scn->skinvertnum ||
-        !scn->skinvert    ||
-        !scn->skinnormal) {
-      mjERROR("could not allocate skin buffers");
-    }
-
-    // copy constant data
-    mju_copyInt(scn->skinfacenum, m->skin_facenum, nskin);
-    mju_copyInt(scn->skinvertadr, m->skin_vertadr, nskin);
-    mju_copyInt(scn->skinvertnum, m->skin_vertnum, nskin);
-  }
-
-  // mjvGeom, mjvLight, mjvGLCamera objects are invalid
-}
-
-
-// free abstract scene
-void mjv_freeScene(mjvScene* scn) {
-  // free buffers allocated by mjv_makeScene
-  mju_free(scn->geoms);
-  mju_free(scn->geomorder);
-
-  mju_free(scn->flexedgeadr);
-  mju_free(scn->flexedgenum);
-  mju_free(scn->flexvertadr);
-  mju_free(scn->flexvertnum);
-  mju_free(scn->flexfaceadr);
-  mju_free(scn->flexfacenum);
-  mju_free(scn->flexfaceused);
-  mju_free(scn->flexedge);
-  mju_free(scn->flexvert);
-  mju_free(scn->flexface);
-  mju_free(scn->flexnormal);
-  mju_free(scn->flextexcoord);
-
-  mju_free(scn->skinfacenum);
-  mju_free(scn->skinvertadr);
-  mju_free(scn->skinvertnum);
-  mju_free(scn->skinvert);
-  mju_free(scn->skinnormal);
-
-  // clear data structure
-  mjv_defaultScene(scn);
-}
-
-
-// set default scene
-void mjv_defaultScene(mjvScene* scn) {
-  memset(scn, 0, sizeof(mjvScene));
-}
-
-
-// set default visualization options
-void mjv_defaultOption(mjvOption* vopt) {
-  vopt->label = mjLABEL_NONE;
-  vopt->frame = mjFRAME_NONE;
-
-  for (int i=0; i < mjNGROUP; i++) {
-    int state = (i < 3 ? 1 : 0);
-    vopt->geomgroup[i] = state;
-    vopt->sitegroup[i] = state;
-    vopt->jointgroup[i] = state;
-    vopt->tendongroup[i] = state;
-    vopt->actuatorgroup[i] = state;
-    vopt->flexgroup[i] = state;
-    vopt->skingroup[i] = state;
-  }
-
-  for (int i=0; i < mjNVISFLAG; i++) {
-    vopt->flags[i] = (mjVISSTRING[i][1][0] == '1');
-  }
-
-  vopt->bvh_depth = 1;
-  vopt->flex_layer = 0;
-}
-
-
-// set default camera
-void mjv_defaultCamera(mjvCamera* cam) {
-  memset(cam, 0, sizeof(mjvCamera));
-
-  cam->type        = mjCAMERA_FREE;
-  cam->fixedcamid  = -1;
-  cam->trackbodyid = -1;
-  cam->distance    = 2;
-  cam->azimuth     = 90;
-  cam->elevation   = -45;
-}
-
-
-// set default free camera
-void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam) {
-  memset(cam, 0, sizeof(mjvCamera));
-
-  cam->type         = mjCAMERA_FREE;
-  cam->fixedcamid   = -1;
-  cam->trackbodyid  = -1;
-  cam->lookat[0]    = m->stat.center[0];
-  cam->lookat[1]    = m->stat.center[1];
-  cam->lookat[2]    = m->stat.center[2];
-  cam->distance     = 1.5 * m->stat.extent;
-  cam->azimuth      = m->vis.global.azimuth;
-  cam->elevation    = m->vis.global.elevation;
-  cam->orthographic = m->vis.global.orthographic;
-}
-
-
-// set default perturbation
-void mjv_defaultPerturb(mjvPerturb* pert) {
-  memset(pert, 0, sizeof(mjvPerturb));
-
-  pert->flexselect = -1;
-  pert->skinselect = -1;
-  pert->refquat[0] = 1;
-  pert->scale = 1;
-}
-
-
-// predefined line colors
-static const float _linergb[8][3] = {
-  {1.0, 0.3, 0.3},
-  {0.1, 1.0, 0.1},
-  {0.3, 0.3, 1.0},
-  {0.1, 1.0, 1.0},
-  {1.0, 0.2, 1.0},
-  {1.0, 1.0, 0.1},
-  {1.0, 0.6, 0.2},
-  {0.6, 0.7, 0.4}
-};
-
-
-
-// set default figure
-void mjv_defaultFigure(mjvFigure* fig) {
-  // set everything to zero
-  memset(fig, 0, sizeof(mjvFigure));
-
-  // disable highlight
-  fig->highlightid = -1;
-
-  // set enable flags
-  fig->flg_legend = 1;
-  fig->flg_ticklabel[0] = 1;
-  fig->flg_ticklabel[1] = 1;
-  fig->flg_extend = 1;
-
-  // set style
-  fig->linewidth = 3;
-  fig->gridwidth = 1;
-  fig->gridsize[0] = 2;
-  fig->gridsize[1] = 2;
-  fig->gridrgb[0] = 0.4f;
-  fig->gridrgb[1] = 0.4f;
-  fig->gridrgb[2] = 0.4f;
-  fig->figurergba[3] = 1;
-  fig->panergba[3] = 1;
-  fig->legendrgba[3] = 0.3f;
-  fig->textrgb[0] = 1;
-  fig->textrgb[1] = 1;
-  fig->textrgb[2] = 1;
-  fig->range[0][0] = 0;
-  fig->range[0][1] = 1;
-  fig->range[1][0] = 0;
-  fig->range[1][1] = 1;
-  mjSTRNCPY(fig->xformat, "%.0f");
-  mjSTRNCPY(fig->yformat, "%.2g");
-  mjSTRNCPY(fig->minwidth, "XXX");
-
-  // set line colors
-  for (int n=0; n < mjMAXLINE; n++) {
-    // predefined colors
-    if (n < 8) {
-      fig->linergb[n][0] = _linergb[n][0];
-      fig->linergb[n][1] = _linergb[n][1];
-      fig->linergb[n][2] = _linergb[n][2];
-    }
-
-    // automatically generated colors: Halton sequence
-    else {
-      fig->linergb[n][0] = 0.1f + 0.8f*mju_Halton(n, 2);
-      fig->linergb[n][1] = 0.1f + 0.8f*mju_Halton(n, 3);
-      fig->linergb[n][2] = 0.1f + 0.8f*mju_Halton(n, 5);
-    }
-  }
-}
-
-
-// compute rbound for mjvGeom
-float mjv_rbound(const mjvGeom* geom) {
-  // model geom: return
-  if (geom->objtype == mjOBJ_GEOM) {
-    return geom->modelrbound;
-  }
-
-  // compute rbound according to type
-  const float* s = geom->size;
-  switch ((mjtGeom) geom->type) {
-  case mjGEOM_SPHERE:
-    return s[0];
-
-  case mjGEOM_CAPSULE:
-    return (s[0]+s[2]);
-
-  case mjGEOM_CYLINDER:
-    return sqrtf(s[0]*s[0] + s[2]*s[2]);
-
-  case mjGEOM_BOX:
-    return sqrtf(s[0]*s[0] + s[1]*s[1] + s[2]*s[2]);
-    break;
-
-  default:  // not accurate for arrows, but they are not transparent
-    return mjMAX(s[0], mjMAX(s[1], s[2]));
-  }
-}
diff --git a/src/engine/engine_vis_init.h b/src/engine/engine_vis_init.h
deleted file mode 100644
index eb4399f6..00000000
--- a/src/engine/engine_vis_init.h
+++ /dev/null
@@ -1,64 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjvisualize.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// strings
-MJAPI extern const char* mjLABELSTRING[mjNLABEL];
-MJAPI extern const char* mjFRAMESTRING[mjNFRAME];
-MJAPI extern const char* mjVISSTRING[mjNVISFLAG][3];
-MJAPI extern const char* mjRNDSTRING[mjNRNDFLAG][3];
-
-
-// set default scene
-MJAPI void mjv_defaultScene(mjvScene* scn);
-
-// allocate and init abstract scene
-MJAPI void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
-
-// free abstract scene
-MJAPI void mjv_freeScene(mjvScene* scn);
-
-// set default visualization options
-MJAPI void mjv_defaultOption(mjvOption* vopt);
-
-// set default free camera
-MJAPI void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam);
-
-// set default camera
-MJAPI void mjv_defaultCamera(mjvCamera* cam);
-
-// set default perturbation
-MJAPI void mjv_defaultPerturb(mjvPerturb* pert);
-
-// set default figure
-MJAPI void mjv_defaultFigure(mjvFigure* fig);
-
-// compute rbound for mjvGeom
-float mjv_rbound(const mjvGeom* geom);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_VIS_INIT_H_
diff --git a/src/engine/engine_vis_interact.c b/src/engine/engine_vis_interact.c
deleted file mode 100644
index af9d91f0..00000000
--- a/src/engine/engine_vis_interact.c
+++ /dev/null
@@ -1,1064 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_vis_interact.h"
-
-#include <stddef.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjvisualize.h>
-#include "engine/engine_core_smooth.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_ray.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_spatial.h"
-#include "engine/engine_vis_visualize.h"
-
-// transform pose from room to model space
-void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos,
-                    const mjtNum* roomquat, const mjvScene* scn) {
-  mjtNum translate[3], rotate[4], invpos[3], invquat[4];
-
-  // check scale
-  if (scn->scale < mjMINVAL) {
-    mjERROR("mjvScene scale too small");
-  }
-
-  // enabled: transform
-  if (scn->enabletransform) {
-    // convert translate, rotate to mjtNum
-    mju_f2n(translate, scn->translate, 3);
-    mju_f2n(rotate, scn->rotate, 4);
-
-    // invert model pose (without scale)
-    mju_negPose(invpos, invquat, translate, rotate);
-
-    // map from room to model space
-    mju_mulPose(modelpos, modelquat, invpos, invquat, roompos, roomquat);
-
-    // divide position by scale
-    mju_scl3(modelpos, modelpos, 1.0/scn->scale);
-  }
-
-  // disabled: copy
-  else {
-    mju_copy3(modelpos, roompos);
-    mju_copy4(modelquat, roomquat);
-  }
-}
-
-
-// transform pose from model to room space
-void mjv_model2room(mjtNum* roompos, mjtNum* roomquat, const mjtNum* modelpos,
-                    const mjtNum* modelquat, const mjvScene* scn) {
-  mjtNum translate[3], rotate[4];
-
-  // check scale
-  if (scn->scale < mjMINVAL) {
-    mjERROR("mjvScene scale too small");
-  }
-
-  // enabled: transform
-  if (scn->enabletransform) {
-    // convert translate, rotate to mjtNum
-    mju_f2n(translate, scn->translate, 3);
-    mju_f2n(rotate, scn->rotate, 4);
-
-    // map from model to room space
-    mju_mulPose(roompos, roomquat, translate, rotate, modelpos, modelquat);
-
-    // scale position
-    mju_scl3(roompos, roompos, scn->scale);
-  }
-
-  // disabled: copy
-  else {
-    mju_copy3(roompos, modelpos);
-    mju_copy4(roomquat, modelquat);
-  }
-}
-
-
-// get camera info in model space: average left and right OpenGL cameras
-void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvScene* scn) {
-  mjtNum pos[3], fwd[3], u[3], quat[4];
-  mjtNum modelpos[3], modelquat[4], modelmat[9];
-
-  // check znear
-  if (scn->camera[0].frustum_near < mjMINVAL || scn->camera[1].frustum_near < mjMINVAL) {
-    mjERROR("mjvScene frustum_near too small");
-  }
-
-  // clear results
-  if (headpos) {
-    mju_zero3(headpos);
-  }
-  if (forward) {
-    mju_zero3(forward);
-  }
-  if (up) {
-    mju_zero3(up);
-  }
-
-  // average over cameras
-  for (int n=0; n < 2; n++) {
-    // convert pos, fwd, u
-    mju_f2n(pos, scn->camera[n].pos, 3);
-    mju_f2n(fwd, scn->camera[n].forward, 3);
-    mju_f2n(u, scn->camera[n].up, 3);
-
-    // normalize just in case
-    mju_normalize3(fwd);
-    mju_normalize3(u);
-
-    // make orientation matrix: x = left, y = up, z = forward
-    mjtNum left[3];
-    mju_cross(left, u, fwd);
-    mju_normalize3(left);
-    mjtNum mat[9] = {
-      left[0], u[0], fwd[0],
-      left[1], u[1], fwd[1],
-      left[2], u[2], fwd[2]
-    };
-    mju_mat2Quat(quat, mat);
-
-    // convert to model space, make orientation matrix
-    mjv_room2model(modelpos, modelquat, pos, quat, scn);
-    mju_quat2Mat(modelmat, modelquat);
-
-    // finalize results
-    if (headpos) {
-      mju_addToScl3(headpos, modelpos, 0.5);
-    }
-    if (forward) {
-      forward[0] += 0.5*modelmat[2];
-      forward[1] += 0.5*modelmat[5];
-      forward[2] += 0.5*modelmat[8];
-    }
-    if (up) {
-      up[0] += 0.5*modelmat[1];
-      up[1] += 0.5*modelmat[4];
-      up[2] += 0.5*modelmat[7];
-    }
-  }
-
-  // normalize forward and up
-  if (forward) {
-    mju_normalize3(forward);
-  }
-  if (up) {
-    mju_normalize3(up);
-  }
-}
-
-
-// get camera info in room space: average left and right OpenGL cameras
-void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up, const mjvScene* scn) {
-  mjtNum pos[3], fwd[3], u[3];
-
-  // check znear
-  if (scn->camera[0].frustum_near < mjMINVAL || scn->camera[1].frustum_near < mjMINVAL) {
-    mjERROR("mjvScene frustum_near too small");
-  }
-
-  // clear results
-  if (headpos) {
-    mju_zero3(headpos);
-  }
-  if (forward) {
-    mju_zero3(forward);
-  }
-  if (up) {
-    mju_zero3(up);
-  }
-
-  // average over cameras
-  for (int n=0; n < 2; n++) {
-    // convert pos, fwd, u
-    mju_f2n(pos, scn->camera[n].pos, 3);
-    mju_f2n(fwd, scn->camera[n].forward, 3);
-    mju_f2n(u, scn->camera[n].up, 3);
-
-    // finalize results
-    if (headpos) {
-      mju_addToScl3(headpos, pos, 0.5);
-    }
-    if (forward) {
-      mju_addToScl3(forward, fwd, 0.5);
-    }
-    if (up) {
-      mju_addToScl3(up, u, 0.5);
-    }
-  }
-
-  // normalize
-  if (forward) {
-    mju_normalize3(forward);
-  }
-  if (up) {
-    mju_normalize3(up);
-  }
-}
-
-
-// get frustum height at unit distance from camera; average left and right OpenGL cameras
-mjtNum mjv_frustumHeight(const mjvScene* scn) {
-  const mjvGLCamera* cam1 = scn->camera;
-  const mjvGLCamera* cam2 = scn->camera + 1;
-
-  if (cam1->orthographic != cam2->orthographic) {
-    mjERROR("cannot average frustums of perspective and orthographic cameras");
-  }
-
-  // get height
-  mjtNum height;
-  if (!cam1->orthographic) {
-    // check znear
-    if (cam1->frustum_near < mjMINVAL || cam2->frustum_near < mjMINVAL) {
-      mjERROR("mjvScene frustum_near too small");
-    }
-
-    // add normalized height for left and right cameras
-    height = (cam1->frustum_top - cam1->frustum_bottom) / cam1->frustum_near +
-             (cam2->frustum_top - cam2->frustum_bottom) / cam2->frustum_near;
-  } else {
-    // add height for left and right cameras
-    height = (cam1->frustum_top - cam1->frustum_bottom) +
-             (cam2->frustum_top - cam2->frustum_bottom);
-  }
-
-  // average
-  return 0.5*height;
-}
-
-
-static mjtNum cameraFrustumHeight(const mjModel* m, const mjvCamera* cam) {
-  float zclip[2] = {0, 0}, zver[2] = {0, 0};
-  mjv_cameraFrustum(zver, NULL, zclip, m, cam);
-  if (cam->orthographic) {
-    return (zver[1] + zver[0]);
-  } else {
-    if (zclip[0] < mjMINVAL) {
-      mjERROR("mjvScene frustum_near too small");
-    }
-    return (zver[1] + zver[0]) / zclip[0];
-  }
-}
-
-
-// rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y)
-void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward) {
-  mjtNum xaxis[2], yaxis[2];
-
-  // forward-aligned y-axis
-  mju_copy(yaxis, forward, 2);
-  mju_normalize(yaxis, 2);
-
-  // corresponding x-axis
-  xaxis[0] = yaxis[1];
-  xaxis[1] = -yaxis[0];
-
-  // apply horizontal rotation
-  res[0] = vec[0]*xaxis[0] + vec[1]*yaxis[0];
-  res[1] = vec[0]*xaxis[1] + vec[1]*yaxis[1];
-  res[2] = vec[2];
-}
-
-
-// convert 2D mouse motion to z-aligned 3D world coordinates
-static void convert2D(mjtNum* res, int action, mjtNum dx, mjtNum dy, const mjtNum* forward) {
-  mjtNum vec[3];
-
-  // construct 3D vector
-  switch ((mjtMouse) action) {
-  case mjMOUSE_ROTATE_V:
-    vec[0] = dy;
-    vec[1] = 0;
-    vec[2] = dx;
-    break;
-
-  case mjMOUSE_ROTATE_H:
-    vec[0] = dy;
-    vec[1] = dx;
-    vec[2] = 0;
-    break;
-
-  case mjMOUSE_MOVE_V:
-  case mjMOUSE_MOVE_V_REL:
-    vec[0] = dx;
-    vec[1] = 0;
-    vec[2] = -dy;
-    break;
-
-  case mjMOUSE_MOVE_H:
-  case mjMOUSE_MOVE_H_REL:
-    vec[0] = dx;
-    vec[1] = -dy;
-    vec[2] = 0;
-    break;
-
-  case mjMOUSE_ZOOM:
-    break;
-
-  default:
-    mjERROR("unexpected mouse action %d in convert2D", action);
-  }
-
-  // call 3D converter
-  mjv_alignToCamera(res, vec, forward);
-}
-
-
-// move camera with mouse; action is mjtMouse
-void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam) {
-  mjtNum headpos[3], forward[3], up[3], right[3];
-  mjtNum vec[3], dif[3], scl;
-
-  // fixed camera: nothing to do
-  // note: mjv_cameraFrame, which we use below, requires mjData for non-fixed camera
-  if (cam->type == mjCAMERA_FIXED) {
-    return;
-  }
-
-  // process action
-  switch ((mjtMouse) action) {
-  case mjMOUSE_ROTATE_V:
-  case mjMOUSE_ROTATE_H:
-    cam->azimuth -= reldx * 180.0;
-    cam->elevation -= reldy * 180.0;
-    break;
-
-  case mjMOUSE_MOVE_V:
-  case mjMOUSE_MOVE_H:
-    // do not move lookat point of tracking camera
-    if (cam->type == mjCAMERA_TRACKING) {
-      return;
-    }
-
-    // get camera info and align
-    mjv_cameraFrame(headpos, forward, NULL, NULL, NULL, cam);
-    convert2D(vec, action, reldx, reldy, forward);
-
-    // compute scaling: rendered lookat displacement = mouse displacement
-    mju_sub3(dif, cam->lookat, headpos);
-    scl = cameraFrustumHeight(m, cam) * mju_dot3(dif, forward);
-
-    // multiply by mystery coefficient TODO: b/346130949
-    if (cam->orthographic) scl *= 0.15;
-
-    // move lookat point in opposite direction
-    mju_addToScl3(cam->lookat, vec, -scl);
-    break;
-
-  case mjMOUSE_TURN_V:
-  case mjMOUSE_TURN_H:
-    if (cam->type == mjCAMERA_TRACKING) {
-      return;
-    }
-
-    mjv_cameraFrame(headpos, forward, NULL, NULL, NULL, cam);
-    if (action == mjMOUSE_TURN_H) {
-      cam->azimuth -= reldx * 180.0;
-    }
-    if (action == mjMOUSE_TURN_V) {
-      cam->elevation -= reldy * 180.0;
-    }
-    mjv_cameraFrame(NULL, forward, NULL, NULL, NULL, cam);
-
-    // move lookat point so that camera faces new direction
-    mju_addScl3(cam->lookat, headpos, forward, cam->distance);
-    break;
-
-  case mjMOUSE_ZOOM:
-    cam->distance -= mju_log(1 + cam->distance/m->stat.extent/3) * reldy * 9 * m->stat.extent;
-    break;
-
-  case mjMOUSE_MOVE_V_REL:
-  case mjMOUSE_MOVE_H_REL:
-    // do not move lookat point of tracking camera
-    if (cam->type == mjCAMERA_TRACKING) {
-      return;
-    }
-
-    mjv_cameraFrame(headpos, forward, up, NULL, NULL, cam);
-    mju_cross(right, forward, up);
-
-    // y-axis movement moves forward/backward (ie. camera dolly) on horizontal plane or up/down
-    // (ie. camera pedestal) on vertical plane
-    mju_addToScl3(cam->lookat, (action == mjMOUSE_MOVE_V_REL) ? up : forward, reldy);
-
-    // x-axis movement strafes left/right (ie. camera truck)
-    mju_addToScl3(cam->lookat, right, reldx);
-
-    break;
-
-  default:
-    mjERROR("unexpected action %d", action);
-  }
-
-  // clamp camera parameters
-  if (cam->azimuth > 180) {
-    cam->azimuth -= 360;
-  }
-  if (cam->azimuth < -180) {
-    cam->azimuth += 360;
-  }
-  if (cam->elevation > 89) {
-    cam->elevation = 89;
-  }
-  if (cam->elevation < -89) {
-    cam->elevation = -89;
-  }
-  if (cam->distance < 0.01*m->stat.extent) {
-    cam->distance = 0.01*m->stat.extent;
-  }
-  if (cam->distance > 100*m->stat.extent) {
-    cam->distance = 100*m->stat.extent;
-  }
-}
-
-
-// move perturb object with mouse; action is mjtMouse
-void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
-                     mjtNum reldy, const mjvScene* scn, mjvPerturb* pert) {
-  const mjtNum xaxis[3] = {1, 0, 0};
-  const mjtNum yaxis[3] = {0, 1, 0};
-  const mjtNum zaxis[3] = {0, 0, 1};
-
-  int sel = pert->select;
-  const mjtNum* xmat = d->xmat+9*sel;
-  mjtNum forward[3], vec[3], scl, q1[4], xiquat[4];
-
-  // get camera info and align
-  mjv_cameraInModel(NULL, forward, NULL, scn);
-  convert2D(vec, action, reldx, reldy, forward);
-
-  // process action
-  switch ((mjtMouse) action) {
-  case mjMOUSE_MOVE_V:
-  case mjMOUSE_MOVE_H:
-    // move along world-space horizontal/vertical planes relative to camera
-    mju_addToScl3(pert->refpos, vec, pert->scale);
-    mju_addToScl3(pert->refselpos, vec, pert->scale);
-    break;
-
-  case mjMOUSE_MOVE_V_REL:
-  case mjMOUSE_MOVE_H_REL:
-    // move along object's local coordinate frame
-    if (action == mjMOUSE_MOVE_H_REL) {
-      mju_mulMatVec3(vec, xmat, xaxis);
-      mju_addToScl3(pert->refpos, vec, pert->scale * reldy);
-      mju_addToScl3(pert->refselpos, vec, pert->scale * reldy);
-    } else {
-      mju_mulMatVec3(vec, xmat, zaxis);
-      mju_addToScl3(pert->refpos, vec, pert->scale * reldy);
-      mju_addToScl3(pert->refselpos, vec, pert->scale * reldy);
-    }
-
-    mju_mulMatVec3(vec, xmat, yaxis);
-    mju_addToScl3(pert->refpos, vec, pert->scale * reldx);
-    mju_addToScl3(pert->refselpos, vec, pert->scale * reldx);
-    break;
-
-  case mjMOUSE_ROTATE_V:
-  case mjMOUSE_ROTATE_H:
-    // normalize vector, get length
-    scl = mju_normalize3(vec);
-
-    // make quaternion and apply
-    mju_axisAngle2Quat(q1, vec, scl*mjPI*2);
-    mju_mulQuat(pert->refquat, q1, pert->refquat);
-    mju_normalize4(pert->refquat);
-
-    // compute xiquat
-    mju_mulQuat(xiquat, d->xquat+4*sel, m->body_iquat+4*sel);
-
-    // limit rotation relative to selected body
-    if (sel > 0 && sel < m->nbody) {
-      // q2 = neg(selbody) * refquat
-      mjtNum q2[4];
-      mju_negQuat(q1, xiquat);
-      mju_mulQuat(q2, q1, pert->refquat);
-
-      // convert q2 to axis-angle
-      mjtNum dif[3];
-      mju_quat2Vel(dif, q2, 1);
-      scl = mju_normalize3(dif);
-
-      // check limit: +/- 90 deg allowed
-      if (scl < -mjPI*0.5 || scl > mjPI*0.5) {
-        // clamp angle
-        scl = mju_max(-mjPI*0.5, mju_min(mjPI*0.5, scl));
-
-        // reconstruct q2
-        mju_axisAngle2Quat(q2, dif, scl);
-
-        // set refquat = selbody * q2_new
-        mju_mulQuat(pert->refquat, xiquat, q2);
-      }
-    }
-    break;
-
-  case mjMOUSE_ZOOM:
-    break;
-
-  default:
-    mjERROR("unexpected mouse action %d", action);
-  }
-}
-
-
-// move model with mouse; action is mjtMouse
-void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
-                   const mjtNum roomup[3], mjvScene* scn) {
-  mjtNum roomforward[3], roomright[3], camforward[3];
-  mjtNum vec[3], scl, quat[4], rotate[4], result[4];
-
-  // transformation disabled: nothing to do
-  if (!scn->enabletransform) {
-    return;
-  }
-
-  // get camera forward in room space
-  mjv_cameraInRoom(NULL, camforward, NULL, scn);
-
-  // make orthogonal to roomright
-  mju_addScl3(roomforward, camforward, roomup, -mju_dot3(camforward, roomup));
-  mju_normalize3(roomforward);
-
-  // compute roomright
-  mju_cross(roomright, roomforward, roomup);
-  mju_normalize3(roomright);
-
-  // process action
-  switch ((mjtMouse) action) {
-  case mjMOUSE_ROTATE_V:
-  case mjMOUSE_ROTATE_H:
-    // construct rotation vector
-    for (int i=0; i < 3; i++) {
-      if (action == mjMOUSE_ROTATE_V) {
-        vec[i] = roomup[i]*reldx + roomright[i]*reldy;
-      } else {
-        vec[i] = roomforward[i]*reldx + roomright[i]*reldy;
-      }
-    }
-
-    // make quaternion from angle-axis
-    scl = mju_normalize3(vec);
-    mju_axisAngle2Quat(quat, vec, scl*mjPI);
-
-    // get current model rotation
-    mju_f2n(rotate, scn->rotate, 4);
-
-    // compose rotation, normalize and set
-    mju_mulQuat(result, quat, rotate);
-    mju_normalize4(result);
-    mju_n2f(scn->rotate, result, 4);
-    break;
-
-  case mjMOUSE_MOVE_V:
-  case mjMOUSE_MOVE_V_REL:
-    for (int i=0; i < 3; i++) {
-      scn->translate[i] += (float)(roomright[i]*reldx - roomup[i]*reldy) * m->stat.extent;
-    }
-    break;
-
-  case mjMOUSE_MOVE_H:
-  case mjMOUSE_MOVE_H_REL:
-    for (int i=0; i < 3; i++) {
-      scn->translate[i] += (float)(roomright[i]*reldx - roomforward[i]*reldy) * m->stat.extent;
-    }
-    break;
-
-  case mjMOUSE_ZOOM:
-    scn->scale += (float)(mju_log(1 + scn->scale/3) * reldy * 3);
-    if (scn->scale < 0.01f) {
-      scn->scale = 0.01f;
-    } else if (scn->scale > 100.0f) {
-      scn->scale = 100.0f;
-    }
-    break;
-
-  default:
-    mjERROR("unexpected action %d", action);
-  }
-}
-
-
-// copy perturb pos,quat from selected body; set scale for perturbation
-void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert) {
-  mj_markStack(d);
-
-  int nv  = m->nv;
-  int sel = pert->select;
-  mjtNum headpos[3], forward[3], dif[3];
-
-  mjtNum* jac = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* jacM2 = mjSTACKALLOC(d, 3*nv, mjtNum);
-  mjtNum* sqrtInvD = mjSTACKALLOC(d, nv, mjtNum);
-
-  // invalid selected body: return
-  if (sel <= 0 || sel >= m->nbody) {
-    mj_freeStack(d);
-    return;
-  }
-
-  // compute selection point in world coordinates
-  mjtNum selpos[3];
-  mju_mulMatVec3(selpos, d->xmat+9*sel, pert->localpos);
-  mju_addTo3(selpos, d->xpos+3*sel);
-
-  // compute average spatial inertia at selection point
-  for (int i=0; i < nv; i++) {
-    sqrtInvD[i] = mju_sqrt(d->qLDiagInv[i]);
-  }
-  mj_jac(m, d, jac, NULL, selpos, sel);
-  mj_solveM2(m, d, jacM2, jac, sqrtInvD, 3);
-  mjtNum invmass = mju_dot(jacM2+0*nv, jacM2+0*nv, nv) +
-                   mju_dot(jacM2+1*nv, jacM2+1*nv, nv) +
-                   mju_dot(jacM2+2*nv, jacM2+2*nv, nv);
-  pert->localmass = (invmass == 0) ? 1 : 3 / mju_max(invmass, mjMINVAL);
-
-  // scale localmass with flex average number of edges per vertex
-  if (pert->flexselect >= 0 && !m->flex_rigid[pert->flexselect]) {
-    pert->localmass *= (2.0*m->flex_edgenum[pert->flexselect]) /
-                       (mjtNum)m->flex_vertnum[pert->flexselect];
-  }
-
-  // copy
-  mju_copy3(pert->refpos, d->xipos+3*sel);
-  mju_mulQuat(pert->refquat, d->xquat+4*sel, m->body_iquat+4*sel);
-  mju_copy3(pert->refselpos, selpos);
-
-  // get camera info
-  mjv_cameraInModel(headpos, forward, NULL, scn);
-
-  // compute scaling: rendered pert->refselpos displacement = mouse displacement
-  mju_sub3(dif, pert->refselpos, headpos);
-  pert->scale = mjv_frustumHeight(scn) * mju_dot3(dif, forward);
-
-  // multiply by mystery coefficient TODO: b/346130949
-  if (scn->camera[0].orthographic) pert->scale *= 0.15;
-
-  mj_freeStack(d);
-}
-
-
-// set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise
-//  d->qpos written only if flg_paused and subtree root for selected body has free joint
-void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert, int flg_paused) {
-  int rootid = 0, sel = pert->select;
-  mjtNum pos1[3], quat1[4], pos2[3], quat2[4], refpos[3], refquat[4];
-  mjtNum *Rpos, *Rquat, *Cpos, *Cquat;
-
-  // exit if nothing to do
-  if (sel <= 0 || sel >= m->nbody || !(pert->active | pert->active2)) {
-    return;
-  }
-
-  // get rootid above selected body
-  rootid = m->body_rootid[sel];
-
-  // transform refpos,refquat from I-frame to X-frame of body[sel]
-  mju_negPose(pos1, quat1, m->body_ipos+3*sel, m->body_iquat+4*sel);
-  mju_mulPose(refpos, refquat, pert->refpos, pert->refquat, pos1, quat1);
-
-  // mocap body
-  if (m->body_mocapid[sel] >= 0) {
-    // copy ref pose into mocap pose
-    mju_copy3(d->mocap_pos + 3*m->body_mocapid[sel], refpos);
-    mju_copy4(d->mocap_quat + 4*m->body_mocapid[sel], refquat);
-  }
-
-  // floating body, paused
-  else if (flg_paused && m->body_jntnum[sel] == 1 &&
-           m->jnt_type[m->body_jntadr[sel]] == mjJNT_FREE) {
-    // copy ref pose into qpos
-    mju_copy3(d->qpos + m->jnt_qposadr[m->body_jntadr[sel]], refpos);
-    mju_copy4(d->qpos + m->jnt_qposadr[m->body_jntadr[sel]] + 3, refquat);
-  }
-
-  // child of floating body, paused
-  else if (flg_paused && m->body_jntnum[rootid] == 1 &&
-           m->jnt_type[m->body_jntadr[rootid]] == mjJNT_FREE) {
-    // get pointers to root
-    Rpos = d->qpos + m->jnt_qposadr[m->body_jntadr[rootid]];
-    Rquat = Rpos + 3;
-
-    // get pointers to child
-    Cpos = d->xpos + 3*sel;
-    Cquat = d->xquat + 4*sel;
-
-    // set root <- ref*neg(child)*root
-    mju_negPose(pos1, quat1, Cpos, Cquat);                      // neg(child)
-    mju_mulPose(pos2, quat2, pos1, quat1, Rpos, Rquat);         // neg(child)*root
-    mju_mulPose(Rpos, Rquat, refpos, refquat, pos2, quat2);     // ref*neg(child)*root
-  }
-}
-
-
-// set perturb force,torque in d->xfrc_applied, if selected body is dynamic
-void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert) {
-  int sel = pert->select;
-
-  // exit if nothing to do
-  if (sel < 0 || sel >= m->nbody || !(pert->active | pert->active2)) {
-    return;
-  }
-
-  // pointers to body xfrc_applied, force and torque
-  mjtNum *force = d->xfrc_applied + 6*sel;
-  mjtNum *torque = d->xfrc_applied + 6*sel + 3;
-
-  // pointers to global selbody velocity, linear and rotational
-  mjtNum bvel[6];
-  mj_objectVelocity(m, d, mjOBJ_BODY, sel, bvel, 0);
-  mjtNum *body_linvel = bvel + 3;
-  mjtNum *body_rotvel = bvel;
-
-  // body rotational inertia
-  mjtNum invweight = m->body_invweight0[2*sel+1];
-  mjtNum inertia = invweight ? 1.0/mju_max(mjMINVAL, invweight) : 1;
-
-  if (((pert->active | pert->active2) & mjPERT_TRANSLATE)) {
-    // compute selection point in world coordinates
-    mjtNum selpos[3];
-    mju_mulMatVec3(selpos, d->xmat+9*sel, pert->localpos);
-    mju_addTo3(selpos, d->xpos+3*sel);
-
-    // displacement of selection point from reference point
-    mjtNum diff[3];
-    mju_sub3(diff, selpos, pert->refselpos);
-
-    // spring perturbation force
-    mjtNum stiffness = m->vis.map.stiffness;
-    mju_copy3(force, diff);
-    mju_scl3(force, force, -stiffness*pert->localmass);
-
-    // moment arm w.r.t body com
-    mjtNum moment_arm[3];
-    mju_sub3(moment_arm, selpos, d->xipos+3*sel);
-
-    // translational velocity of selection point
-    mjtNum svel[3];
-    mju_cross(svel, body_rotvel, moment_arm);
-    mju_addTo3(svel, body_linvel);
-
-    // add critical damping force of selection point
-    mju_addToScl3(force, svel, -mju_sqrt(stiffness)*pert->localmass);
-
-    // torque on body com due to force
-    mju_cross(torque, moment_arm, force);
-
-    // add critically damped torsional torque along displacement axis
-    stiffness = m->vis.map.stiffnessrot;
-    mju_normalize3(diff);
-    mju_addToScl3(torque, diff, -mju_sqrt(stiffness)*inertia*mju_dot3(diff, body_rotvel));
-  }
-
-  if (((pert->active | pert->active2) & mjPERT_ROTATE)) {
-    // spring perturbation torque, with critical damping
-    mjtNum stiffness = m->vis.map.stiffnessrot;
-    mjtNum xiquat[4], difquat[4];
-    mju_mulQuat(xiquat, d->xquat+4*sel, m->body_iquat+4*sel);
-    mju_negQuat(xiquat, xiquat);
-    mju_mulQuat(difquat, pert->refquat, xiquat);
-    mju_quat2Vel(torque, difquat, 1.0/(stiffness*inertia));
-    mju_addToScl3(torque, body_rotvel, -mju_sqrt(stiffness)*inertia);
-  }
-}
-
-
-// return the average of two OpenGL cameras
-mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2) {
-  mjtNum pos[3], forward[3], up[3], projection, tmp1[3], tmp2[3];
-  mjvGLCamera cam;
-
-  // compute pos
-  mju_f2n(tmp1, cam1->pos, 3);
-  mju_f2n(tmp2, cam2->pos, 3);
-  mju_add3(pos, tmp1, tmp2);
-  mju_scl3(pos, pos, 0.5);
-
-  // compute forward
-  mju_f2n(tmp1, cam1->forward, 3);
-  mju_f2n(tmp2, cam2->forward, 3);
-  mju_add3(forward, tmp1, tmp2);
-  mju_normalize3(forward);
-
-  // compute up, make it orthogonal to forward
-  mju_f2n(tmp1, cam1->up, 3);
-  mju_f2n(tmp2, cam2->up, 3);
-  mju_add3(up, tmp1, tmp2);
-  projection = mju_dot3(up, forward);
-  mju_addToScl3(up, forward, -projection);
-  mju_normalize3(up);
-
-  // assign 3d quantities
-  mju_n2f(cam.pos, pos, 3);
-  mju_n2f(cam.forward, forward, 3);
-  mju_n2f(cam.up, up, 3);
-
-  // average frustum
-  cam.frustum_bottom = 0.5f * (cam1->frustum_bottom + cam2->frustum_bottom);
-  cam.frustum_top    = 0.5f * (cam1->frustum_top + cam2->frustum_top);
-  cam.frustum_center = 0.5f * (cam1->frustum_center + cam2->frustum_center);
-  cam.frustum_width  = 0.5f * (cam1->frustum_width + cam2->frustum_width);
-  cam.frustum_near   = 0.5f * (cam1->frustum_near + cam2->frustum_near);
-  cam.frustum_far    = 0.5f * (cam1->frustum_far + cam2->frustum_far);
-
-  if (cam1->orthographic != cam2->orthographic) {
-    mjERROR("cannot average perspective and orthographic cameras");
-  } else {
-    cam.orthographic = cam1->orthographic;
-  }
-
-  return cam;
-}
-
-
-// converts a mjvCamera to a mjvGLCamera
-mjvGLCamera mjv_camera2GLCamera(const mjModel* model, const mjData* data,
-                                const mjvCamera* mjv_camera) {
-  mjvGLCamera gl_camera;
-  gl_camera.orthographic = model->vis.global.orthographic;
-  if (mjv_camera->type == mjCAMERA_FIXED) {
-    const int cid = mjv_camera->fixedcamid;
-    if (cid >= 0 &&  cid < model->ncam) {
-      gl_camera.orthographic = model->cam_projection[cid] == mjPROJ_ORTHOGRAPHIC;
-    }
-  }
-
-  mjtNum headpos[3], forward[3], up[3];
-  mjv_cameraFrame(headpos, forward, up, NULL, data, mjv_camera);
-  for (int i = 0; i < 3; i++) {
-    gl_camera.pos[i] = (float)(headpos[i]);
-    gl_camera.forward[i] = (float)forward[i];
-    gl_camera.up[i] = (float)up[i];
-  }
-
-  float zver[2], zhor[2], zclip[2];
-  mjv_cameraFrustum(zver, zhor, zclip, model, mjv_camera);
-  gl_camera.frustum_top = zver[0];
-  gl_camera.frustum_bottom = -zver[1];
-  gl_camera.frustum_center = (zhor[1] - zhor[0]) / 2;
-  gl_camera.frustum_width = (zhor[1] + zhor[0]) / 2;
-  gl_camera.frustum_near = zclip[0];
-  gl_camera.frustum_far = zclip[1];
-  return gl_camera;
-}
-
-
-// return body id, compute position of a vertex in a flex
-int mjv_flexBodyId(const mjModel* m, const mjData* d, int flexid, int vertid, mjtNum flexpnt[3]) {
-  int flexbodyid = -1;
-  if (m->flex_interp[flexid]) {
-    mjtNum* coord = m->flex_vert0 + 3*(m->flex_vertadr[flexid] + vertid);
-    int order = m->flex_interp[flexid];
-    order = order < 0 ? -order : order;
-    int npc = (order+1)*(order+1)*(order+1);
-
-    // cell lookup: get local coords and node indices
-    mjtNum loc[3];
-    int nodeindices[27];  // max npc for quadratic: 3^3 = 27
-    mju_cellLookup(coord, m->flex_cellnum+3*flexid, order, loc, nodeindices);
-
-    // find node with largest weight in this cell
-    // in shell mode, skip interior nodes (pinned to worldbody)
-    int nodeid = -1;
-    int nstart = m->flex_nodeadr[flexid];
-    mjtNum w = 0;
-    int shell_mode = m->flex_interp[flexid] < 0;
-    for (int j = 0; j < npc; j++) {
-      mjtNum ww = mju_evalBasis(loc, j, order);
-      int nid = nodeindices[j];
-      // skip interior nodes in shell mode (they map to worldbody)
-      if (shell_mode && m->body_dofnum[m->flex_nodebodyid[nstart + nid]] == 0) {
-        continue;
-      }
-      if (ww > w) {
-        w = ww;
-        nodeid = nid;
-      }
-    }
-    flexbodyid = m->flex_nodebodyid[nstart + nodeid];
-    if (m->flex_centered[flexid]) {
-      mju_copy3(flexpnt, d->xpos + 3*flexbodyid);
-    } else {
-      mju_mulMatVec3(flexpnt, d->xmat + 9*flexbodyid, m->flex_node + 3*(nstart + nodeid));
-      mju_addTo3(flexpnt, d->xpos + 3*flexbodyid);
-    }
-  } else {
-    flexbodyid = m->flex_vertbodyid[m->flex_vertadr[flexid] + vertid];
-    mju_copy3(flexpnt, d->flexvert_xpos + 3*(m->flex_vertadr[flexid] + vertid));
-  }
-  return flexbodyid;
-}
-
-// Select geom, flex or skin with mouse, return bodyid; -1: none selected.
-int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
-               mjtNum aspectratio, mjtNum relx, mjtNum rely,
-               const mjvScene* scn, mjtNum selpnt[3],
-               int geomid[1], int flexid[1], int skinid[1]) {
-  // get average camera
-  mjvGLCamera cam = mjv_averageCamera(scn->camera, scn->camera+1);
-
-  // get camera pose in model space
-  mjtNum pos[3], forward[3], up[3], left[3];
-  mjv_cameraInModel(pos, forward, up, scn);
-  mju_cross(left, up, forward);
-  mju_normalize3(left);
-
-  // compute frustum halfwidth so as to match viewport aspect ratio
-  mjtNum halfwidth = 0.5*aspectratio*(cam.frustum_top - cam.frustum_bottom);
-
-  // compute up and left offsets from normalized cursor
-  mjtNum d_up = cam.frustum_bottom + rely*(cam.frustum_top-cam.frustum_bottom);
-  mjtNum d_left = -(cam.frustum_center + (2*relx-1)*halfwidth);
-
-  // define ray
-  mjtNum ray[3];
-
-  // construct ray for orthographic camera: fixed direction, modify pos
-  if (cam.orthographic) {
-    mju_copy3(ray, forward);
-    mju_addToScl3(pos, up, d_up);
-    mju_addToScl3(pos, left, d_left);
-  }
-
-  // construct ray for perspective camera: fixed pos, modify direction
-  else {
-    mju_scl3(ray, forward, cam.frustum_near);
-    mju_addToScl3(ray, up, d_up);
-    mju_addToScl3(ray, left, d_left);
-    mju_normalize3(ray);
-  }
-
-  // find intersection with geoms
-  *geomid = -1;
-  mjtNum geomdist = mj_ray(m, d, pos, ray,
-                           vopt->geomgroup, vopt->flags[mjVIS_STATIC], -1, geomid, NULL);
-
-  // find intersection with flexes
-  int flexbodyid = -1;
-  mjtNum flexdist = -1;
-  mjtNum flexpnt[3] = {0, 0, 0};
-  *flexid = -1;
-  if (vopt->flags[mjVIS_FLEXVERT] || vopt->flags[mjVIS_FLEXEDGE] ||
-      vopt->flags[mjVIS_FLEXFACE] || vopt->flags[mjVIS_FLEXSKIN]) {
-    for (int i=0; i < m->nflex; i++) {
-      // process one flex
-      int vertid;
-      mjtNum newdist =
-          mj_rayFlex(m, d, vopt->flex_layer, vopt->flags[mjVIS_FLEXVERT],
-                     vopt->flags[mjVIS_FLEXEDGE], vopt->flags[mjVIS_FLEXFACE],
-                     vopt->flags[mjVIS_FLEXSKIN], i, pos, ray, &vertid, NULL);
-
-      // update if closer intersection found
-      if (newdist >= 0 && (newdist < flexdist || flexdist < 0)) {
-        flexdist = newdist;
-        *flexid = i;
-        flexbodyid = mjv_flexBodyId(m, d, *flexid, vertid, flexpnt);
-      }
-    }
-  }
-
-  // find intersection with skins
-  int skinbodyid = -1;
-  mjtNum skindist = -1;
-  mjtNum skinpnt[3] = {0, 0, 0};
-  *skinid = -1;
-  if (vopt->flags[mjVIS_SKIN]) {
-    for (int i=0; i < m->nskin; i++) {
-      // process one skin
-      int vertid;
-      mjtNum newdist = mju_raySkin(m->skin_facenum[i], m->skin_vertnum[i],
-                                   m->skin_face + 3*m->skin_faceadr[i],
-                                   scn->skinvert + 3*m->skin_vertadr[i],
-                                   pos, ray, &vertid);
-
-      // update if closer intersection found
-      if (newdist >= 0 && (newdist < skindist || skindist < 0)) {
-        skindist = newdist;
-
-        // find body with largest weight for this vertex
-        float bestweight = -1;
-        for (int j=m->skin_boneadr[i];
-             j < m->skin_boneadr[i]+m->skin_bonenum[i];
-             j++) {
-          for (int k=m->skin_bonevertadr[j];
-               k < m->skin_bonevertadr[j]+m->skin_bonevertnum[j];
-               k++) {
-            // get vertex id and weight
-            int vid = m->skin_bonevertid[k];
-            float vweight = m->skin_bonevertweight[k];
-
-            // update if matching id and bigger weight
-            if (vid == vertid && vweight > bestweight) {
-              bestweight = vweight;
-              skinbodyid = m->skin_bonebodyid[j];
-              *skinid = i;
-              mju_f2n(skinpnt, scn->skinvert + 3*(m->skin_vertadr[i] + vertid), 3);
-            }
-          }
-        }
-      }
-    }
-  }
-
-  // no intersection
-  if (geomdist < 0 && flexdist < 0 && skindist < 0) {
-    return -1;
-  }
-
-  // find smallest non-negative distance
-  mjtNum raydist[3] = {geomdist, flexdist, skindist};
-  int best = -1;
-  for (int i=0; i < 3; i++) {
-    if (raydist[i] >= 0) {
-      if (best < 0 || raydist[best] > raydist[i]) {
-        best = i;
-      }
-    }
-  }
-
-  // geom
-  if (best == 0) {
-    *flexid = -1;
-    *skinid = -1;
-    mju_addScl3(selpnt, pos, ray, raydist[best]);
-    return m->geom_bodyid[*geomid];
-  }
-
-  // flex
-  else if (best == 1) {
-    *geomid = -1;
-    *skinid = -1;
-    mju_copy3(selpnt, flexpnt);
-    return flexbodyid;
-  }
-
-  // skin
-  else {
-    *geomid = -1;
-    *flexid = -1;
-    mju_copy3(selpnt, skinpnt);
-    return skinbodyid;
-  }
-}
diff --git a/src/engine/engine_vis_interact.h b/src/engine/engine_vis_interact.h
deleted file mode 100644
index cce561e8..00000000
--- a/src/engine/engine_vis_interact.h
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_VIS_INTERACT_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_VIS_INTERACT_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// transform pose from room to model space
-MJAPI void mjv_room2model(mjtNum* modelpos, mjtNum* modelquat, const mjtNum* roompos,
-                          const mjtNum* roomquat, const mjvScene* scn);
-
-// transform pose from model to room space
-MJAPI void mjv_model2room(mjtNum* roompos, mjtNum* roomquat, const mjtNum* modelpos,
-                          const mjtNum* modelquat, const mjvScene* scn);
-
-// get camera info in model space: average left and right OpenGL cameras
-MJAPI void mjv_cameraInModel(mjtNum* headpos, mjtNum* forward, mjtNum* up,
-                             const mjvScene* scn);
-
-// get camera info in room space: average left and right OpenGL cameras
-MJAPI void mjv_cameraInRoom(mjtNum* headpos, mjtNum* forward, mjtNum* up,
-                            const mjvScene* scn);
-
-// get frustum height at unit distance from camera; average left and right OpenGL cameras
-MJAPI mjtNum mjv_frustumHeight(const mjvScene* scn);
-
-// rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_y)
-MJAPI void mjv_alignToCamera(mjtNum* res, const mjtNum* vec, const mjtNum* forward);
-
-// move camera with mouse; action is mjtMouse
-MJAPI void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy, mjvCamera* cam);
-
-// move perturb object with mouse; action is mjtMouse
-MJAPI void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
-                           mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
-
-// move model with mouse; action is mjtMouse
-MJAPI void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
-                         const mjtNum roomup[3], mjvScene* scn);
-
-// copy perturb pos,quat from selected body; set scale perturbation
-MJAPI void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
-
-// set perturb pos,quat in d->mocap when selected body is mocap, and in d->qpos otherwise
-//  d->qpos written only if flg_paused and subtree root for selected body has free joint
-MJAPI void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
-                                int flg_paused);
-
-// set perturb force,torque in d->xfrc_applied, if selected body is dynamic
-MJAPI void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
-
-// return the average of two OpenGL cameras
-MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
-
-// converts a mjvCamera to a mjvGLCamera
-MJAPI mjvGLCamera mjv_camera2GLCamera(const mjModel* model, const mjData* data,
-                                      const mjvCamera* mjv_camera);
-
-// Select geom, flex or skin with mouse, return bodyid; -1: none selected.
-MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
-                     mjtNum aspectratio, mjtNum relx, mjtNum rely,
-                     const mjvScene* scn, mjtNum selpnt[3],
-                     int geomid[1], int flexid[1], int skinid[1]);
-
-// return body id, compute position of a vertex in a flex
-MJAPI int mjv_flexBodyId(const mjModel* m, const mjData* d, int flexid, int vertid,
-                         mjtNum flexpnt[3]);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_VIS_INTERACT_H_
diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
deleted file mode 100644
index aa580fa4..00000000
--- a/src/engine/engine_vis_visualize.c
+++ /dev/null
@@ -1,3740 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "engine/engine_vis_visualize.h"
-
-#include <math.h>
-#include <stddef.h>
-#include <string.h>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjsan.h>  // IWYU pragma: keep
-#include <mujoco/mjvisualize.h>
-#include "engine/engine_array_safety.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_memory.h"
-#include "engine/engine_name.h"
-#include "engine/engine_plugin.h"
-#include "engine/engine_sleep.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_util_spatial.h"
-#include "engine/engine_vis_init.h"
-#include "engine/engine_vis_interact.h"
-
-
-//----------------------------- utility functions and macros ---------------------------------------
-
-static const mjtNum IDENTITY[9] = {1, 0, 0,
-                                   0, 1, 0,
-                                   0, 0, 1};
-
-
-// copy float array
-static void f2f(float* dest, const float* src, int n) {
-  memcpy(dest, src, n*sizeof(float));
-}
-
-
-// make text label
-static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
-  const char* typestr = mju_type2Str(type);
-  const char* namestr = mj_id2name(m, type, id);
-  char txt[100];
-
-  // copy existing name or make numeric name
-  if (namestr) {
-    mjSNPRINTF(txt, "%s", namestr);
-  } else if (typestr) {
-    mjSNPRINTF(txt, "%s %d", typestr, id);
-  } else {
-    mjSNPRINTF(txt, "%d", id);
-  }
-
-  // copy result into label
-  strncpy(label, txt, 100);
-  label[99] = '\0';
-}
-
-
-// convert HSV to RGB
-void hsv2rgb(float *RGB, float H, float S, float V) {
-  float R, G, B;
-
-  if (S <= 0) {
-    R = G = B = V;
-  } else {
-    float hh = H * 6;
-    int i = (int)hh;
-    float ff = hh - i;
-    float p = V * (1 - S);
-    float q = V * (1 - (S * ff));
-    float t = V * (1 - (S * (1 - ff)));
-    if (i == 0) {
-      R=V;  G=t;  B=p;
-    } else if (i == 1) {
-      R=q;  G=V;  B=p;
-    } else if (i == 2) {
-      R=p;  G=V;  B=t;
-    } else if (i == 3) {
-      R=p;  G=q;  B=V;
-    } else if (i == 4) {
-      R=t;  G=p;  B=V;
-    } else {
-      R=V;  G=p;  B=q;
-    }
-  }
-
-  RGB[0] = R;
-  RGB[1] = G;
-  RGB[2] = B;
-}
-
-
-// assign pseudo-random rgba to constraint island using Halton sequence
-static void islandColor(float rgba[4], int h, int awake) {
-  // default to gray R = G = B = 0.7;
-  float hue        = 1.0f;
-  float saturation = 0.0f;
-  float value      = 0.7f;
-
-  // island index given, use Halton sequence to generate pseudo-random color
-  if (h >= 0) {
-    // hue in [0, 1]
-    hue = mju_Halton(h + 1, 7);
-
-    // saturation in [0.5, 1.0]
-    saturation = .5 + .5*mju_Halton(h + 1, 3);
-
-    // value in [0.6, 1.0]
-    value = .6 + .4*mju_Halton(h + 1, 5);
-  }
-
-  // if asleep, decrease saturation and value
-  if (!awake) {
-    value      *= 0.6;
-    saturation *= 0.7;
-  }
-
-  hsv2rgb(rgba, hue, saturation, value);
-  rgba[3] = 1;
-}
-
-
-// mix colors for perturbation object
-static void mixcolor(float rgba[4], const float ref[4], int flg1, int flg2) {
-  rgba[0] = flg1 ? ref[0] : 0;
-  if (flg2) {
-    rgba[0] = mjMAX(rgba[0], ref[1]);
-  }
-
-  rgba[1] = flg1 ? ref[1] : 0;
-  if (flg2) {
-    rgba[1] = mjMAX(rgba[1], ref[0]);
-  }
-
-  rgba[2] = ref[2];
-  rgba[3] = ref[3];
-}
-
-
-// a body is static if it is welded to the world (mocap subtrees are their own weld)
-static int bodycategory(const mjModel* m, int bodyid) {
-  if (m->body_weldid[bodyid] == 0) {
-    return mjCAT_STATIC;
-  } else {
-    return mjCAT_DYNAMIC;
-  }
-}
-
-
-//----------------------------- geom functions -----------------------------------------------------
-
-// acquires and initializes the next available geom in the scene
-mjvGeom* acquireGeom(mjvScene* scn, int objid, int category, int objtype) {
-  // check for overflow, SHOULD NOT OCCUR
-  if (scn->ngeom >= scn->maxgeom) {
-    if (!scn->status) {
-      mju_warning("Pre-allocated visual geom buffer is full. "
-                  "Increase maxgeom above %d.", scn->maxgeom);
-      scn->status = 1;
-    }
-    return NULL;
-  }
-
-  mjvGeom* thisgeom = scn->geoms + scn->ngeom;
-  memset(thisgeom, 0, sizeof(mjvGeom));
-  mjv_initGeom(thisgeom, mjGEOM_NONE, NULL, NULL, NULL, NULL);
-  thisgeom->objtype = objtype;
-  thisgeom->objid = objid;
-  thisgeom->category = category;
-  thisgeom->segid = scn->ngeom;
-  return thisgeom;
-}
-
-
-// mark geom as used, set its pointer to NULL, increment scn->ngeom
-void releaseGeom(mjvGeom** geom, mjvScene* scn) {
-  // check geom being released was most recently acquired, SHOULD NOT OCCUR
-  if (*geom != scn->geoms + scn->ngeom) {
-    mju_error("Unexpected geom pointer; did you call acquireGeom?");
-  }
-
-  scn->ngeom++;
-  *geom = NULL;
-}
-
-
-// add a triangle to the scene
-static void addTriangle(mjvScene* scn, const mjtNum v0[3], const mjtNum v1[3],
-                        const mjtNum v2[3], const float rgba[4],
-                        int objid, int category, int objtype) {
-  mjvGeom* thisgeom = acquireGeom(scn, objid, category, objtype);
-  if (!thisgeom) {
-    return;
-  }
-  mjtNum e1[3] =  {v1[0] - v0[0], v1[1] - v0[1], v1[2] - v0[2]};
-  mjtNum e2[3] =  {v2[0] - v0[0], v2[1] - v0[1], v2[2] - v0[2]};
-  mjtNum normal[3];
-  mju_cross(normal, e1, e2);
-  mjtNum lengths[3] = {mju_normalize3(e1), mju_normalize3(e2), mju_normalize3(normal)};
-  mjtNum xmat[9] = {e1[0], e2[0], normal[0],
-                    e1[1], e2[1], normal[1],
-                    e1[2], e2[2], normal[2]};
-  mjv_initGeom(thisgeom, mjGEOM_TRIANGLE, lengths, v0, xmat, rgba);
-  releaseGeom(&thisgeom, scn);
-}
-
-
-// copy material fields from model to visual geom
-static void setMaterial(const mjModel* m, mjvGeom* geom, int matid, const float* rgba,
-                        const mjtByte* flags) {
-  // set material properties if given
-  if (matid >= 0) {
-    f2f(geom->rgba, m->mat_rgba + 4*matid, 4);
-    geom->emission = m->mat_emission[matid];
-    geom->specular = m->mat_specular[matid];
-    geom->shininess = m->mat_shininess[matid];
-    geom->reflectance = m->mat_reflectance[matid];
-  }
-
-  // use rgba if different from default, or no material given
-  if (rgba[0] != 0.5f || rgba[1] != 0.5f || rgba[2] != 0.5f || rgba[3] != 1.0f || matid < 0) {
-    f2f(geom->rgba, rgba, 4);
-  }
-
-  // set texture
-  if (flags[mjVIS_TEXTURE] && matid >= 0) {
-    geom->matid = matid;
-    geom->texid = m->mat_texid[matid*mjNTEXROLE + mjTEXROLE_RGB];
-    geom->texuniform = m->mat_texuniform[matid];
-    geom->texrepeat[0] = m->mat_texrepeat[2*matid];
-    geom->texrepeat[1] = m->mat_texrepeat[2*matid+1];
-  }
-
-  // scale alpha for dynamic geoms only
-  if (flags[mjVIS_TRANSPARENT] && (geom->category == mjCAT_DYNAMIC)) {
-    geom->rgba[3] *= m->vis.map.alpha;
-  }
-}
-
-
-// set (type, size, pos, mat) connector-type geom between given points
-//  assume that mjv_initGeom was already called to set all other properties
-void mjv_connector(mjvGeom* geom, int type, mjtNum width,
-                   const mjtNum from[3], const mjtNum to[3]) {
-  mjtNum quat[4], mat[9], dif[3] = {to[0]-from[0], to[1]-from[1], to[2]-from[2]};
-
-  // require connector-compatible type
-  if (type != mjGEOM_CAPSULE && type != mjGEOM_CYLINDER &&
-      type != mjGEOM_ARROW && type != mjGEOM_ARROW1 && type != mjGEOM_ARROW2
-      && type != mjGEOM_LINE) {
-    mjERROR("invalid geom type %d for connector", type);
-  }
-
-  // assign type
-  geom->type = type;
-
-  // compute size for XYZ scaling
-  geom->size[0] = geom->size[1] = (float)width;
-  geom->size[2] = (float)mju_norm3(dif);
-
-  // cylinder and capsule are centered, and size[0] is "radius"
-  if (type == mjGEOM_CAPSULE || type == mjGEOM_CYLINDER) {
-    geom->pos[0] = 0.5*(from[0] + to[0]);
-    geom->pos[1] = 0.5*(from[1] + to[1]);
-    geom->pos[2] = 0.5*(from[2] + to[2]);
-    geom->size[2] *= 0.5;
-  }
-
-  // arrow is not centered
-  else {
-    geom->pos[0] = from[0];
-    geom->pos[1] = from[1];
-    geom->pos[2] = from[2];
-  }
-
-  // set mat to minimal rotation aligning b-a with z axis
-  mju_quatZ2Vec(quat, dif);
-  mju_quat2Mat(mat, quat);
-  mju_n2f(geom->mat, mat, 9);
-}
-
-
-// add a connector to the scene
-static void addConnector(mjvScene* scn, int type, mjtNum width,
-                         const mjtNum from[3], const mjtNum to[3],
-                         const float rgba[4], int objid, int category, int objtype) {
-  mjvGeom* thisgeom = acquireGeom(scn, objid, category, objtype);
-  if (!thisgeom) {
-    return;
-  }
-  mjv_connector(thisgeom, type, width, from, to);
-  if (rgba) f2f(thisgeom->rgba, rgba, 4);
-  releaseGeom(&thisgeom, scn);
-}
-
-
-// initialize given fields when not NULL, set the rest to their default values
-void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
-                  const mjtNum* pos, const mjtNum* mat, const float* rgba) {
-  // assign type
-  geom->type = type;
-
-  // set size (for XYZ scaling)
-  if (size) {
-    switch ((mjtGeom) type) {
-    case mjGEOM_SPHERE:
-      geom->size[0] = (float)size[0];
-      geom->size[1] = (float)size[0];
-      geom->size[2] = (float)size[0];
-      break;
-
-    case mjGEOM_CAPSULE:
-      geom->size[0] = (float)size[0];
-      geom->size[1] = (float)size[0];
-      geom->size[2] = (float)size[1];
-      break;
-
-    case mjGEOM_CYLINDER:
-      geom->size[0] = (float)size[0];
-      geom->size[1] = (float)size[0];
-      geom->size[2] = (float)size[1];
-      break;
-
-    default:
-      mju_n2f(geom->size, size, 3);
-    }
-  } else {
-    geom->size[0] = 0.1f;
-    geom->size[1] = 0.1f;
-    geom->size[2] = 0.1f;
-  }
-
-  // set pos
-  if (pos) {
-    mju_n2f(geom->pos, pos, 3);
-  } else {
-    geom->pos[0] = 0;
-    geom->pos[1] = 0;
-    geom->pos[2] = 0;
-  }
-
-  // set mat
-  if (mat) {
-    mju_n2f(geom->mat, mat, 9);
-  } else {
-    geom->mat[0] = 1;
-    geom->mat[1] = 0;
-    geom->mat[2] = 0;
-    geom->mat[3] = 0;
-    geom->mat[4] = 1;
-    geom->mat[5] = 0;
-    geom->mat[6] = 0;
-    geom->mat[7] = 0;
-    geom->mat[8] = 1;
-  }
-
-  // set rgba
-  if (rgba) {
-    f2f(geom->rgba, rgba, 4);
-  } else {
-    geom->rgba[0] = 0.5;
-    geom->rgba[1] = 0.5;
-    geom->rgba[2] = 0.5;
-    geom->rgba[3] = 1;
-  }
-
-  // set defaults that cannot be assigned via this function
-  geom->dataid       = -1;
-  geom->matid        = -1;
-  geom->texid        = -1;
-  geom->texuniform   = 0;
-  geom->texrepeat[0] = 0;
-  geom->texrepeat[1] = 0;
-  geom->texcoord     = 0;
-  geom->emission     = 0;
-  geom->specular     = 0.5;
-  geom->shininess    = 0.5;
-  geom->reflectance  = 0;
-  geom->label[0]     = 0;
-  geom->modelrbound  = 0;
-}
-
-
-// mark geom as selected
-static void markselected(const mjVisual* vis, mjvGeom* geom) {
-  // add emission
-  geom->emission += vis->global.glow;
-}
-
-
-// draw 3 cylinders representing a "frame" decor element
-void addFrame(mjvScene* scn, int objid, const mjtNum pos[3], const mjtNum rot[9], float length,
-              float width) {
-  // draw separate geoms for each axis
-  for (int j=0; j < 3; j++) {
-    mjtNum axis[3];
-    for (int k=0; k < 3; k++) {
-      axis[k] = (j == k ? length : 0);
-    }
-
-    mjtNum vec[3];
-    mju_mulMatVec3(vec, rot, axis);
-
-    // create a cylinder
-    mjtNum to[3];
-    mju_add3(to, pos, vec);
-
-    mjvGeom* thisgeom = acquireGeom(scn, objid, mjCAT_DECOR, mjOBJ_UNKNOWN);
-    if (!thisgeom) {
-      return;
-    }
-
-    mjv_connector(thisgeom, mjGEOM_CYLINDER, width, pos, to);
-    for (int k=0; k < 3; k++) {
-      thisgeom->rgba[k] = (j == k ? 0.9 : 0);
-    }
-    thisgeom->rgba[3] = 1;
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-//----------------------------- camera functions --------------------------------------------------
-
-// computes the camera frustum
-static void getFrustum(float zver[2], float zhor[2], float znear,
-                       const float intrinsic[4], const float sensorsize[2]) {
-  if (zhor) {
-    zhor[0] = znear / intrinsic[0] * (sensorsize[0]/2.f - intrinsic[2]);
-    zhor[1] = znear / intrinsic[0] * (sensorsize[0]/2.f + intrinsic[2]);
-  }
-  if (zver) {
-    zver[0] = znear / intrinsic[1] * (sensorsize[1]/2.f - intrinsic[3]);
-    zver[1] = znear / intrinsic[1] * (sensorsize[1]/2.f + intrinsic[3]);
-  }
-}
-
-
-void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
-                     const mjData* d, const mjvCamera* cam) {
-  switch (cam->type) {
-    case mjCAMERA_FREE:
-    case mjCAMERA_TRACKING: {
-      const mjtNum ca = mju_cos(cam->azimuth/180.0*mjPI);
-      const mjtNum sa = mju_sin(cam->azimuth/180.0*mjPI);
-      const mjtNum ce = mju_cos(cam->elevation/180.0*mjPI);
-      const mjtNum se = mju_sin(cam->elevation/180.0*mjPI);
-      if (forward) {
-        forward[0] = ce*ca;
-        forward[1] = ce*sa;
-        forward[2] = se;
-      }
-      if (up) {
-        up[0] = -se*ca;
-        up[1] = -se*sa;
-        up[2] = ce;
-      }
-      if (right) {
-        right[0] = sa;
-        right[1] = -ca;
-        right[2] = 0;
-      }
-      if (headpos) {
-        if (cam->type == mjCAMERA_TRACKING && cam->trackbodyid >= 0) {
-          if (!d) {
-            mjERROR("data pointer is NULL");
-          }
-          mju_addScl3(headpos, d->subtree_com + 3*cam->trackbodyid, forward, -cam->distance);
-        } else {
-          mju_addScl3(headpos, cam->lookat, forward, -cam->distance);
-        }
-      }
-      break;
-    }
-
-    case mjCAMERA_FIXED: {
-      const int cid = cam->fixedcamid;
-      if (!d) {
-        mjERROR("data pointer is NULL");
-      }
-      const mjtNum* mat = d->cam_xmat + 9*cid;
-      if (forward) {
-        forward[0] = -mat[2];
-        forward[1] = -mat[5];
-        forward[2] = -mat[8];
-      }
-      if (up) {
-        up[0] = mat[1];
-        up[1] = mat[4];
-        up[2] = mat[7];
-      }
-      if (right) {
-        right[0] = mat[0];
-        right[1] = mat[3];
-        right[2] = mat[6];
-      }
-      if (headpos) {
-        mju_copy3(headpos, d->cam_xpos + 3*cid);
-      }
-      break;
-    }
-
-    default: {
-      mjERROR("unknown camera type");
-    }
-  }
-}
-
-
-void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2], const mjModel* m,
-                       const mjvCamera* cam) {
-  mjtNum fovy;
-  int orthographic = 0, cid = 0;
-  float* intrinsic = NULL;
-  float* sensorsize = NULL;
-
-  // get ipd, fovy, orthographic, intrinsic
-  switch (cam->type) {
-  case mjCAMERA_FREE:
-  case mjCAMERA_TRACKING:
-    orthographic = m->vis.global.orthographic;
-    fovy = m->vis.global.fovy;
-    break;
-
-  case mjCAMERA_FIXED:
-    // get id, check range
-    cid = cam->fixedcamid;
-    if (cid < 0 || cid >= m->ncam) {
-      mjERROR("fixed camera id is outside valid range");
-    }
-    orthographic = m->cam_projection[cid] == mjPROJ_ORTHOGRAPHIC;
-    fovy = m->cam_fovy[cid];
-
-    // if positive sensorsize, get sensorsize and intrinsic
-    if (m->cam_sensorsize[2*cid+1]) {
-      sensorsize = m->cam_sensorsize + 2*cid;
-      intrinsic = m->cam_intrinsic + 4*cid;
-    }
-    break;
-
-  default:
-    mjERROR("unknown camera type");
-  }
-
-  const float znear = m->vis.map.znear * m->stat.extent;
-
-  if (orthographic) {
-    if (zver) zver[0] = zver[1] = fovy / 2;
-    if (zhor) zhor[0] = zhor[1] = 0.0f;
-  } else if (intrinsic) {
-    getFrustum(zver, zhor, znear, intrinsic, sensorsize);
-  } else {
-    if (zver) zver[0] = zver[1] = znear * mju_tan(fovy * mjPI/360.0);
-    if (zhor) zhor[0] = zhor[1] = 0.0f;
-  }
-
-  if (zclip) {
-    zclip[0] = znear;
-    zclip[1] = m->vis.map.zfar * m->stat.extent;
-  }
-}
-
-
-//----------------------------- main API functions -------------------------------------------------
-
-// add contact-related geoms in mjvObject
-static void addContactGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn,
-                           int catmask) {
-  if (!vopt->flags[mjVIS_CONTACTPOINT] && !vopt->flags[mjVIS_CONTACTFORCE] &&
-      vopt->frame != mjFRAME_CONTACT) {
-    return;
-  }
-
-  int objtype = mjOBJ_UNKNOWN, category = mjCAT_DECOR;
-  mjtNum mat[9], tmp[9], vec[3], frc[3], confrc[6];
-  mjtNum framewidth, framelength, scl = m->stat.meansize;
-  mjContact* con;
-  mjvGeom* thisgeom;
-  mjtByte split;
-
-  // loop over contacts
-  for (int i=0; i < d->ncon; i++) {
-    // get pointer
-    con = d->contact + i;
-
-    // mat = contact rotation matrix (normal along z)
-    mju_copy(tmp, con->frame+3, 6);
-    mju_copy(tmp+6, con->frame, 3);
-    mju_transpose(mat, tmp, 3, 3);
-
-    // contact point
-    if (vopt->flags[mjVIS_CONTACTPOINT]) {
-      thisgeom = acquireGeom(scn, i, category, objtype);
-      if (!thisgeom) {
-        return;
-      }
-
-      thisgeom->type = mjGEOM_CYLINDER;
-      thisgeom->size[0] = thisgeom->size[1] = m->vis.scale.contactwidth * scl;
-      float halfheight = m->vis.scale.contactheight * scl;
-      float halfdepth = -con->dist / 2;
-      thisgeom->size[2] = mjMAX(halfheight, halfdepth);
-      mju_n2f(thisgeom->pos, con->pos, 3);
-      mju_n2f(thisgeom->mat, mat, 9);
-
-      int efc_adr = d->contact[i].efc_address;
-
-      // override standard colors if visualizing islands
-      if (vopt->flags[mjVIS_ISLAND] && efc_adr >= 0) {
-        // set hue using island's first dof
-        int h = d->nisland > 0 ? d->island_dofadr[d->efc_island[efc_adr]] : -1;
-        islandColor(thisgeom->rgba, h, /*awake*/1);
-      }
-
-      // otherwise regular colors (different for included and excluded contacts)
-      else {
-        if (efc_adr >= 0) {
-          f2f(thisgeom->rgba, m->vis.rgba.contactpoint, 4);
-        } else {
-          f2f(thisgeom->rgba, m->vis.rgba.contactgap, 4);
-        }
-      }
-
-      // label contacting geom names or ids
-      if (vopt->label == mjLABEL_CONTACTPOINT) {
-        char contactlabel[2][48];
-        for (int k=0; k < 2; k++) {
-          // make geom label
-          if (con->geom[k] >= 0) {
-            const char* geomname = mj_id2name(m, mjOBJ_GEOM, con->geom[k]);
-            if (geomname) {
-              mjSNPRINTF(contactlabel[k], "%s", geomname);
-            } else {
-              mjSNPRINTF(contactlabel[k], "g%d", con->geom[k]);
-            }
-          }
-
-          // make flex elem or vert label
-          else {
-            const char* flexname = mj_id2name(m, mjOBJ_FLEX, con->flex[k]);
-            if (flexname) {
-              if (con->elem[k] >= 0) {
-                mjSNPRINTF(contactlabel[k], "%s.e%d", flexname, con->elem[k]);
-              } else {
-                mjSNPRINTF(contactlabel[k], "%s.v%d", flexname, con->vert[k]);
-              }
-            }
-            else {
-              if (con->elem[k] >= 0) {
-                mjSNPRINTF(contactlabel[k], "f%d.e%d", con->flex[k], con->elem[k]);
-              } else {
-                mjSNPRINTF(contactlabel[k], "f%d.v%d", con->flex[k], con->vert[k]);
-              }
-            }
-          }
-        }
-
-        mjSNPRINTF(thisgeom->label, "%s | %s", contactlabel[0], contactlabel[1]);
-      }
-
-      float contactrgba[4];
-      f2f(contactrgba, thisgeom->rgba, 4);
-      releaseGeom(&thisgeom, scn);
-
-      // surface velocity: one arrow per moving surface, pointing along the
-      // tangential material velocity at the contact point
-      const mjtNum kVelocityMap = 0.5;  // units of time: arrow length = velocity * kVelocityMap
-      for (int side=0; side < 2; side++) {
-        int g = con->geom[side];
-        if (g < 0) {
-          // TODO(team): support flex
-          continue;
-        }
-        const mjtNum* sv = m->geom_surfacevel + 6*g;
-        if (!sv[0] && !sv[1] && !sv[2] && !sv[3] && !sv[4] && !sv[5]) {
-          continue;
-        }
-
-        // material velocity at the contact point, world frame
-        mjtNum vw[3], ww[3];
-        mj_geomSurfaceVelocity(m, d, g, con->pos, vw, ww);
-
-        // project out the normal component: only the tangential part acts
-        mjtNum vn = mju_dot3(vw, con->frame);
-        mju_addToScl3(vw, con->frame, -vn);
-        if (mju_norm3(vw) < mjMINVAL) {
-          continue;
-        }
-
-        // anchor slightly off the contact point on the owning geom's side
-        mjtNum from[3], to[3];
-        mjtNum offset = (side ? 1 : -1) * 0.5 * m->vis.scale.forcewidth * scl;
-        mju_addScl3(from, con->pos, con->frame, offset);
-        mju_addScl3(to, from, vw, kVelocityMap);
-
-        thisgeom = acquireGeom(scn, i, category, objtype);
-        if (!thisgeom) {
-          return;
-        }
-        mjv_connector(thisgeom, mjGEOM_ARROW, m->vis.scale.forcewidth * scl, from, to);
-        f2f(thisgeom->rgba, contactrgba, 4);
-        releaseGeom(&thisgeom, scn);
-      }
-    }
-
-    // mat = contact frame rotation matrix (normal along x)
-    mju_transpose(mat, con->frame, 3, 3);
-
-    // contact frame
-    if (vopt->frame == mjFRAME_CONTACT) {
-      // set length and width of axis cylinders using half regular frame scaling
-      framelength = m->vis.scale.framelength * scl / 2;
-      framewidth = m->vis.scale.framewidth * scl / 2;
-      addFrame(scn, i, con->pos, mat, framelength, framewidth);
-    }
-
-    // nothing else to do for excluded contacts
-    if (d->contact[i].efc_address < 0) {
-      continue;
-    }
-
-    // get contact force:torque in contact frame
-    mj_contactForce(m, d, i, confrc);
-
-    // contact force
-    if (vopt->flags[mjVIS_CONTACTFORCE]) {
-      // get force, fill zeros if only normal
-      mju_zero3(frc);
-      mju_copy(frc, confrc, mjMIN(3, con->dim));
-      if (mju_norm3(frc) < mjMINVAL) {
-        continue;
-      }
-
-      // render combined or split
-      split = (vopt->flags[mjVIS_CONTACTSPLIT] && con->dim > 1);
-      for (int j = (split ? 1 : 0); j < (split ? 3 : 1); j++) {
-        // set vec to combined, normal or friction force, in world frame
-        switch (j) {
-        case 0:             // combined
-          mju_mulMatVec(vec, mat, frc, 3, 3);
-          break;
-        case 1:             // normal
-          vec[0] = mat[0]*frc[0];
-          vec[1] = mat[3]*frc[0];
-          vec[2] = mat[6]*frc[0];
-          break;
-        case 2:             // friction
-          vec[0] = mat[1]*frc[1] + mat[2]*frc[2];
-          vec[1] = mat[4]*frc[1] + mat[5]*frc[2];
-          vec[2] = mat[7]*frc[1] + mat[8]*frc[2];
-          break;
-        }
-
-        // scale vector
-        mju_scl3(vec, vec, m->vis.map.force/m->stat.meanmass);
-
-        // get bodyflex ids
-        int bf[2];
-        for (int k=0; k < 2; k++) {
-          bf[k] = (con->geom[k] >= 0) ? m->geom_bodyid[con->geom[k]] :
-                                        m->nbody + con->flex[k];
-        }
-
-        // make sure arrow points towards bodyflex with higher id
-        if (bf[0] > bf[1]) {
-          mju_scl3(vec, vec, -1);
-        }
-
-        // one-directional arrow for friction and world, symmetric otherwise
-        thisgeom = acquireGeom(scn, i, category, objtype);
-        if (!thisgeom) {
-          return;
-        }
-
-        mjtNum* from = con->pos;
-        mjtNum to[3];
-        mju_add3(to, from, vec);
-        mjv_connector(thisgeom,
-                      bf[0] > 0 && bf[1] > 0 && !split ? mjGEOM_ARROW2 : mjGEOM_ARROW,
-                      m->vis.scale.forcewidth * scl, from, to);
-        f2f(thisgeom->rgba, j == 2 ? m->vis.rgba.contactfriction : m->vis.rgba.contactforce, 4);
-        if (vopt->label == mjLABEL_CONTACTFORCE && j == (split ? 1 : 0)) {
-          mjSNPRINTF(thisgeom->label, "%-.3g", mju_norm3(frc));
-        }
-        releaseGeom(&thisgeom, scn);
-      }
-    }
-  }
-}
-
-
-static void addFlexGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                         const mjvPerturb* pert, int catmask, mjvScene* scn) {
-  const int category = mjCAT_DYNAMIC;
-  if (!(category & catmask)) {
-    return;
-  }
-  if (!vopt->flags[mjVIS_FLEXVERT] && !vopt->flags[mjVIS_FLEXEDGE] &&
-      !vopt->flags[mjVIS_FLEXFACE] && !vopt->flags[mjVIS_FLEXSKIN]) {
-    return;
-  }
-
-  for (int i=0; i < m->nflex; i++) {
-    if (!vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[i]))]) {
-      continue;
-    }
-
-    mjvGeom* thisgeom = acquireGeom(scn, i, category, mjOBJ_FLEX);
-    if (!thisgeom) {
-      return;
-    }
-
-    // construct geom, pos = first vertex
-    mjv_initGeom(thisgeom, mjGEOM_FLEX, NULL,
-                  d->flexvert_xpos + 3*m->flex_vertadr[i], NULL, NULL);
-    thisgeom->size[0] = m->flex_radius[i];
-    setMaterial(m, thisgeom, m->flex_matid[i], m->flex_rgba+4*i, vopt->flags);
-
-    // override if visualizing islands
-    if (vopt->flags[mjVIS_ISLAND]) {
-      // find first dynamic body in flex
-      int bodyid = -1;
-      if (m->flex_interp[i]) {
-        int nodeadr = m->flex_nodeadr[i];
-        for (int j=0; j < m->flex_nodenum[i] && bodyid < 0; j++) {
-          int b = m->flex_nodebodyid[nodeadr+j];
-          if (m->body_treeid[b] >= 0) bodyid = b;
-        }
-      } else {
-        int vertadr = m->flex_vertadr[i];
-        for (int j=0; j < m->flex_vertnum[i] && bodyid < 0; j++) {
-          int b = m->flex_vertbodyid[vertadr+j];
-          if (m->body_treeid[b] >= 0) bodyid = b;
-        }
-      }
-
-      if (bodyid >= 0) {
-        // strip material
-        thisgeom->matid = -1;
-
-        int weld_id = m->body_weldid[bodyid];
-        int dof = m->body_dofadr[weld_id];
-        int island = d->nisland ? d->dof_island[dof] : -1;
-        int h = island >= 0 ? d->island_dofadr[island] : -1;
-        int awake = d->body_awake[bodyid];
-
-        // if sleep is enabled, color by first tree dof
-        if (h == -1 && mjENABLED(mjENBL_SLEEP)) {
-          int tree = m->dof_treeid[dof];
-          if (!awake) tree = mj_sleepCycle(d->tree_asleep, m->ntree, tree);
-          h = m->tree_dofadr[tree];
-        }
-
-        islandColor(thisgeom->rgba, h, awake);
-      }
-    }
-
-    // set texcoord
-    if (m->flex_texcoordadr[i] >= 0) {
-      thisgeom->texcoord = 1;
-    } else {
-      thisgeom->matid = -1;
-    }
-
-    // glow flex if selected
-    if (pert->flexselect == i) {
-      markselected(&m->vis, thisgeom);
-    }
-
-    // skip if alpha is 0
-    if (thisgeom->rgba[3] == 0) {
-      continue;
-    }
-
-    // vopt->label
-    if (vopt->label == mjLABEL_FLEX) {
-      makeLabel(m, mjOBJ_FLEX, i, thisgeom->label);
-    }
-
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-static void addSkinGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                         const mjvPerturb* pert, int catmask, mjvScene* scn) {
-  const int category = mjCAT_DYNAMIC;
-  if (!(category & catmask)) {
-    return;
-  }
-  if (!vopt->flags[mjVIS_SKIN]) {
-    return;
-  }
-
-  for (int i=0; i < m->nskin; i++) {
-    if (!vopt->skingroup[mjMAX(0, mjMIN(mjNGROUP-1, m->skin_group[i]))]) {
-      continue;
-    }
-    mjvGeom* thisgeom = acquireGeom(scn, i, category, mjOBJ_SKIN);
-    if (!thisgeom) {
-      return;
-    }
-
-    // construct geom, pos = first bone
-    mjv_initGeom(thisgeom, mjGEOM_SKIN, NULL,
-                  d->xpos + 3*m->skin_bonebodyid[m->skin_boneadr[i]], NULL, NULL);
-
-    // set material properties
-    setMaterial(m, thisgeom, m->skin_matid[i], m->skin_rgba+4*i, vopt->flags);
-
-    // glow skin if selected
-    if (pert->skinselect == i) {
-      markselected(&m->vis, thisgeom);
-    }
-
-    // set texcoord
-    if (m->skin_texcoordadr[i] >= 0) {
-      thisgeom->texcoord = 1;
-    }
-
-    // skip if alpha is 0
-    if (thisgeom->rgba[3] == 0) {
-      continue;
-    }
-
-    // vopt->label
-    if (vopt->label == mjLABEL_SKIN) {
-      makeLabel(m, mjOBJ_SKIN, i, thisgeom->label);
-    }
-
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-static void addGeomGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                         const mjvPerturb* pert, int catmask, mjvScene* scn) {
-  const int objtype = mjOBJ_GEOM;
-  int planeid = -1;
-  for (int i=0; i < m->ngeom; i++) {
-    // count planes, put current plane number in geom->dataid
-    if (m->geom_type[i] == mjGEOM_PLANE) {
-      planeid++;
-    }
-
-    // skip if category is masked
-    int category = bodycategory(m, m->geom_bodyid[i]);
-    if (!(category & catmask)) {
-      continue;
-    }
-
-    // skip if group is disabled
-    if (!vopt->geomgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->geom_group[i]))]) {
-      continue;
-    }
-
-    mjvGeom* thisgeom = acquireGeom(scn, i, category, objtype);
-    if (!thisgeom) {
-      return;
-    }
-
-    // construct geom
-    mjv_initGeom(thisgeom, m->geom_type[i], m->geom_size+3*i,
-                  d->geom_xpos+3*i, d->geom_xmat+9*i, NULL);
-    thisgeom->dataid = m->geom_dataid[i];
-
-    // copy rbound from model
-    thisgeom->modelrbound = (float)m->geom_rbound[i];
-
-    // set material properties
-    float* rgba = m->geom_rgba+4*i;
-    int geom_matid = m->geom_matid[i];
-    setMaterial(m, thisgeom, geom_matid, rgba, vopt->flags);
-
-    // override if visualizing islands
-    if (vopt->flags[mjVIS_ISLAND]) {
-      int weld_id = m->body_weldid[m->geom_bodyid[i]];
-      if (m->body_dofnum[weld_id]) {
-        // strip materials off moving geom
-        thisgeom->matid = -1;
-
-        // set hue using first island dof, -1 if no island
-        int dof = m->body_dofadr[weld_id];
-        int island = d->nisland ? d->dof_island[dof] : -1;
-        int h = island >= 0 ? d->island_dofadr[island] : -1;
-        int awake = d->body_awake[m->geom_bodyid[i]];
-
-        // if sleep is enabled, color by first tree dof
-        if (h == -1 && mjENABLED(mjENBL_SLEEP)) {
-          int tree = m->dof_treeid[dof];
-          if (!awake) tree = mj_sleepCycle(d->tree_asleep, m->ntree, tree);
-          h = m->tree_dofadr[tree];
-        }
-
-        islandColor(thisgeom->rgba, h, awake);
-      }
-    }
-
-    // set texcoord
-    if ((m->geom_type[i] == mjGEOM_MESH || m->geom_type[i] == mjGEOM_SDF) &&
-        m->geom_dataid[i] >= 0 &&
-        m->mesh_texcoordadr[m->geom_dataid[i]] >= 0) {
-      thisgeom->texcoord = 1;
-    }
-
-    // skip if alpha is 0
-    if (thisgeom->rgba[3] == 0) {
-      continue;
-    }
-
-    // glow geoms of selected body
-    if (pert->select > 0 && pert->select == m->geom_bodyid[i]) {
-      markselected(&m->vis, thisgeom);
-    }
-
-    // vopt->label
-    if (vopt->label == mjLABEL_GEOM) {
-      makeLabel(m, mjOBJ_GEOM, i, thisgeom->label);
-    }
-
-    // mesh: 2*i is original, 2*i+1 is convex hull
-    if (m->geom_type[i] == mjGEOM_MESH || m->geom_type[i] == mjGEOM_SDF) {
-      thisgeom->dataid *= 2;
-      if (m->mesh_graphadr[m->geom_dataid[i]] >= 0 && vopt->flags[mjVIS_CONVEXHULL] &&
-          (m->geom_contype[i] || m->geom_conaffinity[i])) {
-        thisgeom->dataid += 1;
-      }
-    }
-
-    // plane
-    else if (m->geom_type[i] == mjGEOM_PLANE) {
-      // use current planeid
-      thisgeom->dataid = planeid;
-
-      // save initial pos
-      mjtNum tmp[9];
-      mju_copy3(tmp, d->geom_xpos+3*i);
-
-      // re-center infinite plane
-      if (m->geom_size[3*i] <= 0 || m->geom_size[3*i+1] <= 0) {
-        // vec = headpos - geompos
-        mjtNum vec[3];
-        for (int j=0; j < 3; j++) {
-          vec[j] = 0.5*(scn->camera[0].pos[j] + scn->camera[1].pos[j]) - d->geom_xpos[3*i+j];
-        }
-
-        // construct axes
-        mjtNum ax[9];
-        mju_transpose(ax, d->geom_xmat+9*i, 3, 3);
-
-        // loop over (x,y)
-        for (int k=0; k < 2; k++) {
-          if (m->geom_size[3*i+k] <= 0) {
-            // compute zfar
-            mjtNum zfar = m->vis.map.zfar * m->stat.extent;
-
-            // get size increment
-            mjtNum sX;
-            int matid = m->geom_matid[i];
-            if (matid >= 0 && m->mat_texrepeat[2*matid+k] > 0) {
-              sX = 2/m->mat_texrepeat[2*matid+k];
-            } else {
-              sX = 2.1*zfar/(mjMAXPLANEGRID-2);
-            }
-
-            // project on frame, round to integer increment of size
-            mjtNum dX = mju_dot3(vec, ax+3*k);
-            dX = 2*sX*mju_round(0.5*dX/sX);
-
-            // translate
-            mju_addToScl3(tmp, ax+3*k, dX);
-          }
-        }
-      }
-
-      // set final pos
-      mju_n2f(thisgeom->pos, tmp, 3);
-    }
-
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-static void addSiteGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                         const mjvPerturb* pert, int catmask, mjvScene* scn) {
-  for (int i=0; i < m->nsite; i++) {
-    // skip if category is masked
-    int category = bodycategory(m, m->site_bodyid[i]);
-    if (!(category & catmask)) {
-      continue;
-    }
-
-    // skip if group disabled
-    if (!vopt->sitegroup[mjMAX(0, mjMIN(mjNGROUP-1, m->site_group[i]))]) {
-      continue;
-    }
-    mjvGeom* thisgeom = acquireGeom(scn, i, category, mjOBJ_SITE);
-    if (!thisgeom) {
-      return;
-    }
-
-    // construct geom
-    mjv_initGeom(thisgeom, m->site_type[i], m->site_size+3*i,
-                  d->site_xpos+3*i, d->site_xmat+9*i, NULL);
-
-    // set material if given
-    setMaterial(m, thisgeom, m->site_matid[i], m->site_rgba+4*i, vopt->flags);
-
-    // skip if alpha is 0
-    if (thisgeom->rgba[3] == 0) {
-      continue;
-    }
-
-    // glow
-    if (pert->select > 0 && pert->select == m->site_bodyid[i]) {
-      markselected(&m->vis, thisgeom);
-    }
-
-    // vopt->label
-    if (vopt->label == mjLABEL_SITE) {
-      makeLabel(m, mjOBJ_SITE, i, thisgeom->label);
-    }
-
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-int mjv_isCatenary(const mjModel* m, const mjData* d, int i, mjtNum* length) {
-  int has_stiffness = m->tendon_stiffness[i] ||
-                      !mju_isZero(m->tendon_stiffnesspoly+mjNPOLY*i, mjNPOLY);
-
-  // tendon has a deadband spring
-  int limitedspring =
-    has_stiffness                         &&    // positive stiffness
-    m->tendon_lengthspring[2*i] == 0      &&    // range lower-bound is 0
-    m->tendon_lengthspring[2*i+1] > 0;          // range upper-bound is positive
-
-  // tendon has a simple length constraint, but is currently not limited
-  mjtNum ten_length = d->ten_length[i];
-  mjtNum lower = m->tendon_range[2*i];
-  mjtNum upper = m->tendon_range[2*i + 1];
-  int limitedconstraint =
-    !has_stiffness                        &&    // zero stiffness
-    m->tendon_limited[i] == 1             &&    // limited length range
-    lower == 0                            &&    // range lower-bound is 0
-    ten_length < upper;                         // current length is smaller than upper bound
-
-  int has_damping = m->tendon_damping[i] || !mju_isZero(m->tendon_dampingpoly+mjNPOLY*i, mjNPOLY);
-
-  // conditions for drawing a catenary
-  int draw_catenary =
-    !mjDISABLED(mjDSBL_GRAVITY)           &&    // gravity enabled
-    mju_norm3(m->opt.gravity) > mjMINVAL  &&    // gravity strictly nonzero
-    m->tendon_num[i] == 2                 &&    // only two sites on the tendon
-    (limitedspring != limitedconstraint)  &&    // either spring or constraint length limits
-    !has_damping                          &&    // no damping
-    m->tendon_frictionloss[i] == 0;             // no frictionloss
-
-  // no actuator
-  if (draw_catenary) {
-    for (int j=0; j < m->nactuator; j++) {
-      if (m->actuator_trntype[j] == mjTRN_TENDON && m->actuator_trnid[2*j] == i) {
-        draw_catenary = 0;
-        break;
-      }
-    }
-  }
-
-  if (draw_catenary) {
-    // length of the tendon
-    if (limitedconstraint) {
-      *length = m->tendon_range[2*i+1];
-    } else {
-      *length = m->tendon_lengthspring[2*i+1];
-    }
-  }
-
-  return draw_catenary;
-}
-
-
-
-static void addSpatialTendonGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, int catmask,
-                                  mjvScene* scn) {
-  const int category = mjCAT_DYNAMIC;
-  if (!(category & catmask)) {
-    return;
-  }
-  if (!vopt->flags[mjVIS_TENDON]) {
-    return;
-  }
-
-  for (int i=0; i < m->ntendon; i++) {
-    if (!vopt->tendongroup[mjMAX(0, mjMIN(mjNGROUP-1, m->tendon_group[i]))]) {
-      continue;
-    }
-
-    mjtNum length;
-    int draw_catenary = mjv_isCatenary(m, d, i, &length);
-
-    // conditions not met: draw straight lines
-    if (!draw_catenary) {
-      for (int j=d->ten_wrapadr[i]; j < d->ten_wrapadr[i]+d->ten_wrapnum[i]-1; j++) {
-        if (d->wrap_obj[j] != -2 && d->wrap_obj[j+1] != -2) {
-          mjvGeom* thisgeom = acquireGeom(scn, i, category, mjOBJ_TENDON);
-          if (!thisgeom) {
-            return;
-          }
-
-          // determine width: smaller for segments inside wrapping objects
-          mjtNum width;
-          if (d->wrap_obj[j] >= 0 && d->wrap_obj[j+1] >= 0) {
-            width = 0.5 * m->tendon_width[i];
-          } else {
-            width = m->tendon_width[i];
-          }
-
-          // construct geom
-          mjv_connector(thisgeom, mjGEOM_CAPSULE, width, d->wrap_xpos+3*j, d->wrap_xpos+3*j+3);
-
-          // set material properties
-          int tendon_matid = m->tendon_matid[i];
-          float rgba[4];
-          f2f(rgba, m->tendon_rgba+4*i, 4);
-
-          // if tendon has no material and the color is the default gray, re-color it using limit impedance
-          if (tendon_matid == -1 && rgba[0] == 0.5 && rgba[1] == 0.5 && rgba[2] == 0.5 && rgba[3] == 1) {
-            // loop over limit constraints, get impedance if this tendon is limited
-            mjtNum imp = 0;
-            int efc_start = d->ne + d->nf;
-            int efc_end = efc_start + d->nl;
-            for (int k=efc_start; k < efc_end; k++) {
-              if (d->efc_type[k] == mjCNSTR_LIMIT_TENDON && d->efc_id[k] == i) {
-                imp = d->efc_KBIP[4*k + 2];
-              }
-            }
-
-            // use impedance to mix tendon and constraint colors
-            rgba[0] = (1-imp) * rgba[0] + imp * m->vis.rgba.constraint[0];
-            rgba[1] = (1-imp) * rgba[1] + imp * m->vis.rgba.constraint[1];
-            rgba[2] = (1-imp) * rgba[2] + imp * m->vis.rgba.constraint[2];
-          }
-
-          setMaterial(m, thisgeom, tendon_matid, rgba, vopt->flags);
-
-          // override if visualizing islands
-          if (vopt->flags[mjVIS_ISLAND]) {
-            // strip material
-            thisgeom->matid = -1;
-
-              // set hue with first island dof, if constrained
-              int h = -1;
-              if (d->nisland && d->tendon_efcadr[i] >= 0) {
-                h = d->island_dofadr[d->efc_island[d->tendon_efcadr[i]]];
-              }
-              islandColor(thisgeom->rgba, h, 1);
-            }
-
-          // vopt->label: only the first segment
-          if (vopt->label == mjLABEL_TENDON && j == d->ten_wrapadr[i]) {
-            makeLabel(m, mjOBJ_TENDON, i, thisgeom->label);
-          }
-
-          releaseGeom(&thisgeom, scn);
-        }
-      }
-    }
-
-    // special case handling of string-like tendons under gravity
-    else {
-      // two hanging points: x0, x1
-      mjtNum x0[3], x1[3];
-      mju_copy3(x0, d->wrap_xpos + 3*d->ten_wrapadr[i]);
-      mju_copy3(x1, d->wrap_xpos + 3*d->ten_wrapadr[i] + 3);
-
-      // get number of points along catenary path (capped at 100)
-      int ncatenary = mjMIN(m->vis.quality.numslices + 1, 100);
-      mjtNum catenary[300];
-
-      // points along catenary path
-      int npoints = mjv_catenary(x0, x1, m->opt.gravity, length, catenary, ncatenary);
-
-      // draw npoints-1 segments
-      for (int j=0; j < npoints-1; j++) {
-        mjvGeom* thisgeom = acquireGeom(scn, i, category, mjOBJ_TENDON);
-        if (!thisgeom) {
-          return;
-        }
-
-        // construct geom
-        mjv_connector(thisgeom, mjGEOM_CAPSULE, m->tendon_width[i], catenary+3*j, catenary+3*j+3);
-
-        // set material if given
-        setMaterial(m, thisgeom, m->tendon_matid[i], m->tendon_rgba+4*i, vopt->flags);
-
-        // vopt->label: only the first segment
-        if (vopt->label == mjLABEL_TENDON && npoints/2) {
-          makeLabel(m, mjOBJ_TENDON, i, thisgeom->label);
-        }
-
-        releaseGeom(&thisgeom, scn);
-      }
-    }
-  }
-}
-
-
-static void addSliderCrankGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, int catmask,
-                                mjvScene* scn) {
-  const int category = mjCAT_DYNAMIC;
-  if (!(category & catmask)) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  for (int i=0; i < m->nactuator; i++) {
-    if (m->actuator_trntype[i] == mjTRN_SLIDERCRANK) {
-      // get data
-      int j = m->actuator_trnid[2*i];                 // crank
-      int k = m->actuator_trnid[2*i+1];               // slider
-      mjtNum rod = m->actuator_cranklength[i];
-      mjtNum axis[3];
-      axis[0] = d->site_xmat[9*k+2];
-      axis[1] = d->site_xmat[9*k+5];
-      axis[2] = d->site_xmat[9*k+8];
-
-      // compute crank length
-      mjtNum vec[3];
-      mju_sub(vec, d->site_xpos+3*j, d->site_xpos+3*k, 3);
-      mjtNum len = mju_dot3(vec, axis);
-      mjtNum det = len*len + rod*rod - mju_dot3(vec, vec);
-      mjtByte broken = 0;
-      if (det < 0) {
-        det = 0;
-        broken = 1;
-      }
-      len = len - mju_sqrt(det);
-
-      // compute slider endpoint
-      mjtNum end[3];
-      mju_scl3(end, axis, len);
-      mju_addTo3(end, d->site_xpos+3*k);
-
-      // render slider
-      mjvGeom* thisgeom = acquireGeom(scn, i, category, mjOBJ_ACTUATOR);
-      if (!thisgeom) {
-        return;
-      }
-
-      mjv_connector(thisgeom, mjGEOM_CYLINDER, scl * m->vis.scale.slidercrank,
-                    d->site_xpos+3*k, end);
-      f2f(thisgeom->rgba, m->vis.rgba.slidercrank, 4);
-      if (vopt->label == mjLABEL_ACTUATOR) {
-        makeLabel(m, mjOBJ_ACTUATOR, i, thisgeom->label);
-      }
-      releaseGeom(&thisgeom, scn);
-
-      thisgeom = acquireGeom(scn, i, category, mjOBJ_ACTUATOR);
-      if (!thisgeom) {
-        return;
-      }
-
-      mjv_connector(thisgeom, mjGEOM_CAPSULE, scl * m->vis.scale.slidercrank/2.0,
-                    end, d->site_xpos+3*j);
-      if (broken) {
-        f2f(thisgeom->rgba, m->vis.rgba.crankbroken, 4);
-      } else {
-        f2f(thisgeom->rgba, m->vis.rgba.slidercrank, 4);
-      }
-      releaseGeom(&thisgeom, scn);
-    }
-  }
-}
-
-
-static void addGeomFrameGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, int catmask,
-                              mjvScene* scn) {
-  if (vopt->frame != mjFRAME_GEOM) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  for (int i=0; i < m->ngeom; i++) {
-    if (!(bodycategory(m, m->geom_bodyid[i]) & catmask)) {
-      continue;
-    }
-    if (!vopt->geomgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->geom_group[i]))]) {
-      continue;
-    }
-
-    // base element is invisible; don't show decors
-    int matid = m->geom_matid[i];
-    float* rgba = (matid >= 0) ? (m->mat_rgba + 4*matid) : (m->geom_rgba + 4*i);
-    if (rgba[3] == 0) {
-      continue;
-    }
-
-    // construct geom frame
-    mjtNum width = m->vis.scale.framewidth * scl;
-    mjtNum length = m->vis.scale.framelength * scl;
-    addFrame(scn, i, d->geom_xpos+3*i, d->geom_xmat+9*i, length, width);
-  }
-}
-
-
-static void addSiteFrameGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, int catmask,
-                              mjvScene* scn) {
-  if (vopt->frame != mjFRAME_SITE) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  for (int i=0; i < m->nsite; i++) {
-    if (!(bodycategory(m, m->site_bodyid[i]) & catmask)) {
-      continue;
-    }
-    if (!vopt->sitegroup[mjMAX(0, mjMIN(mjNGROUP-1, m->site_group[i]))]) {
-      continue;
-    }
-
-    // base element is invisible; don't show decors
-    int matid = m->site_matid[i];
-    float* rgba = (matid >= 0) ? (m->mat_rgba + 4*matid) : (m->site_rgba + 4*i);
-    if (rgba[3] == 0) {
-      continue;
-    }
-
-    // construct site frame
-    mjtNum width = m->vis.scale.framewidth * scl;
-    mjtNum length = m->vis.scale.framelength * scl;
-    addFrame(scn, i, d->site_xpos+3*i, d->site_xmat+9*i, length, width);
-  }
-}
-
-
-static void addBodyBvhGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_BODYBVH]) {
-    return;
-  }
-
-  for (int i = 0; i < m->nbvhstatic; i++) {
-    int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
-    if (m->bvh_depth[i] != vopt->bvh_depth) {
-      if (!isleaf || m->bvh_depth[i] > vopt->bvh_depth) {
-        continue;
-      }
-    }
-
-    // find geom number
-    int bodyid = 0;
-    int geomid = m->bvh_nodeid[i];
-    while (i >= m->body_bvhadr[bodyid] + m->body_bvhnum[bodyid]) {
-      if (++bodyid >= m->nbody) {
-        break;
-      }
-    }
-
-    // stop after body bvh are finished
-    if (bodyid >= m->nbody) {
-      break;
-    }
-
-    // get xpos, xmat, size
-    const mjtNum* xpos = isleaf ? d->geom_xpos + 3 * geomid : d->xipos + 3 * bodyid;
-    const mjtNum* xmat = isleaf ? d->geom_xmat + 9 * geomid : d->ximat + 9 * bodyid;
-    const mjtNum* size = isleaf ? m->geom_aabb + 6*geomid + 3 : m->bvh_aabb + 6*i + 3;
-
-    // offset xpos with aabb center (not always at frame origin)
-    const mjtNum* center = isleaf ? m->geom_aabb + 6*geomid : m->bvh_aabb + 6*i;
-    mjtNum pos[3];
-    mju_mulMatVec3(pos, xmat, center);
-    mju_addTo3(pos, xpos);
-
-    // set box color
-    const float* rgba = m->vis.rgba.bv;
-    if (m->vis.global.bvactive && d->bvh_active[i]) {
-      rgba = m->vis.rgba.bvactive;
-    }
-
-    mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-    if (!thisgeom) {
-      return;
-    }
-
-    mjv_initGeom(thisgeom, mjGEOM_LINEBOX, size, pos, xmat, rgba);
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-static void addFlexBvhGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_MESHBVH]) {
-    return;
-  }
-  for (int f=0; f < m->nflex; f++) {
-    if (m->flex_bvhnum[f] && vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[f]))]) {
-      for (int i=m->flex_bvhadr[f]; i < m->flex_bvhadr[f]+m->flex_bvhnum[f]; i++) {
-        int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
-        if (m->bvh_depth[i] != vopt->bvh_depth) {
-          if (!isleaf || m->bvh_depth[i] > vopt->bvh_depth) {
-            continue;
-          }
-        }
-
-        // get box data
-        mjtNum* aabb = d->bvh_aabb_dyn + 6*(i - m->nbvhstatic);
-
-        // set box color
-        const float* rgba = m->vis.rgba.bv;
-        if (m->vis.global.bvactive && d->bvh_active[i]) {
-          rgba = m->vis.rgba.bvactive;
-        }
-
-        mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-        if (!thisgeom) {
-          return;
-        }
-        mjv_initGeom(thisgeom, mjGEOM_LINEBOX, aabb+3, aabb, NULL, rgba);
-        releaseGeom(&thisgeom, scn);
-      }
-    }
-
-    if (!m->flex_interp[f]) {
-      continue;
-    }
-
-    // control points box
-    mjtNum* xpos = mjSTACKALLOC(d, 3*m->flex_nodenum[f], mjtNum);
-    int nstart = m->flex_nodeadr[f];
-    int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[f];
-    if (m->flex_centered[f]) {
-      for (int i=0; i < m->flex_nodenum[f]; i++) {
-        mju_copy3(xpos + 3*i, d->xpos + 3*bodyid[i]);
-      }
-    } else {
-      for (int i=0; i < m->flex_nodenum[f]; i++) {
-        mju_mulMatVec3(xpos + 3*i, d->xmat + 9*bodyid[i], m->flex_node + 3*(i+nstart));
-        mju_addTo3(xpos + 3*i, d->xpos + 3*bodyid[i]);
-      }
-    }
-
-    int cx = m->flex_cellnum[3*f+0];
-    int cy = m->flex_cellnum[3*f+1];
-    int cz = m->flex_cellnum[3*f+2];
-    int order = m->flex_interp[f];
-    order = order < 0 ? -order : order;
-    int NX = cx * order + 1;
-    int NY = cy * order + 1;
-    int NZ = cz * order + 1;
-
-    int shell_mode = m->flex_interp[f] < 0;
-
-    for (int i=0; i < NX; i++) {
-      for (int j=0; j < NY; j++) {
-        for (int k=0; k < NZ; k++) {
-          int n0 = i*NY*NZ + j*NZ + k;
-
-          // skip if this node is pinned (no joints on its body)
-          if (m->body_jntnum[bodyid[n0]] == 0) {
-            continue;
-          }
-
-          // shell mode: skip interior nodes entirely
-          int is_boundary = (i == 0 || i == NX-1 ||
-                             j == 0 || j == NY-1 ||
-                             k == 0 || k == NZ-1);
-          if (shell_mode && !is_boundary) {
-            continue;
-          }
-
-          int offset  = 3*n0;
-          int offset1 = 3*((i+1)*NY*NZ + j*NZ + k);
-          int offset2 = 3*(i*NY*NZ + (j+1)*NZ + k);
-          int offset3 = 3*(i*NY*NZ + j*NZ + (k+1));
-
-          // edge along i: draw if neighbor is also on boundary (shell) or has joints
-          if (i < NX-1 && m->body_jntnum[bodyid[(i+1)*NY*NZ + j*NZ + k]] > 0) {
-            int nb_boundary = ((i+1) == 0 || (i+1) == NX-1 ||
-                               j == 0 || j == NY-1 ||
-                               k == 0 || k == NZ-1);
-            if (!shell_mode || nb_boundary) {
-              mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-              if (!thisgeom) {
-                return;
-              }
-              mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset1);
-              releaseGeom(&thisgeom, scn);
-            }
-          }
-          if (j < NY-1 && m->body_jntnum[bodyid[i*NY*NZ + (j+1)*NZ + k]] > 0) {
-            int nb_boundary = (i == 0 || i == NX-1 ||
-                               (j+1) == 0 || (j+1) == NY-1 ||
-                               k == 0 || k == NZ-1);
-            if (!shell_mode || nb_boundary) {
-              mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-              if (!thisgeom) {
-                return;
-              }
-              mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset2);
-              releaseGeom(&thisgeom, scn);
-            }
-          }
-          if (k < NZ-1 && m->body_jntnum[bodyid[i*NY*NZ + j*NZ + (k+1)]] > 0) {
-            int nb_boundary = (i == 0 || i == NX-1 ||
-                               j == 0 || j == NY-1 ||
-                               (k+1) == 0 || (k+1) == NZ-1);
-            if (!shell_mode || nb_boundary) {
-              mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-              if (!thisgeom) {
-                return;
-              }
-              mjv_connector(thisgeom, mjGEOM_LINE, 3, xpos+offset, xpos+offset3);
-              releaseGeom(&thisgeom, scn);
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-
-static void addMeshBvhGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_MESHBVH]) {
-    return;
-  }
-  for (int geomid = 0; geomid < m->ngeom; geomid++) {
-    int meshid = m->geom_dataid[geomid];
-    // skip if not a mesh or if there is an octree
-    if (meshid == -1 || m->geom_type[geomid] == mjGEOM_SDF || m->mesh_octadr[meshid] >= 0) {
-      continue;
-    }
-
-    for (int b = 0; b < m->mesh_bvhnum[meshid]; b++) {
-      int i = b + m->mesh_bvhadr[meshid];
-      int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
-      if (m->bvh_depth[i] != vopt->bvh_depth) {
-        if (!isleaf || m->bvh_depth[i] > vopt->bvh_depth) {
-          continue;
-        }
-      }
-
-      // box color
-      const float* rgba = m->vis.rgba.bv;
-      if (m->vis.global.bvactive) {
-        if (d->bvh_active[i]) {
-          rgba = m->vis.rgba.bvactive;
-        } else {
-          // when marking active bvs, skip inactive volumes
-          continue;
-        }
-      }
-
-      // get xpos, xmat, size
-      const mjtNum* xpos = d->geom_xpos + 3 * geomid;
-      const mjtNum* xmat = d->geom_xmat + 9 * geomid;
-      const mjtNum* size = m->bvh_aabb + 6*i + 3;
-
-      // offset xpos with aabb center (not always at geom origin)
-      const mjtNum* center = m->bvh_aabb + 6*i;
-      mjtNum pos[3];
-      mju_mulMatVec3(pos, xmat, center);
-      mju_addTo3(pos, xpos);
-
-      mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-      if (!thisgeom) {
-        return;
-      }
-      mjv_initGeom(thisgeom, mjGEOM_LINEBOX, size, pos, xmat, rgba);
-      releaseGeom(&thisgeom, scn);
-    }
-  }
-}
-
-
-static void addMeshOctreeGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_MESHBVH]) {
-    return;
-  }
-  for (int geomid = 0; geomid < m->ngeom; geomid++) {
-    int meshid = m->geom_dataid[geomid];
-    if (meshid == -1 || m->geom_type[geomid] == mjGEOM_HFIELD || m->mesh_octadr[meshid] == -1) {
-      continue;
-    }
-
-    for (int b = 0; b < m->mesh_octnum[meshid]; b++) {
-      int i = b + m->mesh_octadr[meshid];
-      if (m->oct_depth[i] != vopt->bvh_depth) {
-        continue;
-      }
-
-      mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-      if (!thisgeom) {
-        return;
-      }
-
-      const float* rgba = m->vis.rgba.bv;
-      const mjtNum* xpos = d->geom_xpos + 3 * geomid;
-      const mjtNum* xmat = d->geom_xmat + 9 * geomid;
-      const mjtNum* size = m->oct_aabb + 6*i + 3;
-
-      // offset xpos with aabb center (not always at geom origin)
-      const mjtNum* center = m->oct_aabb + 6*i;
-      mjtNum pos[3];
-      mju_mulMatVec3(pos, xmat, center);
-      mju_addTo3(pos, xpos);
-
-      mjv_initGeom(thisgeom, mjGEOM_LINEBOX, size, pos, xmat, rgba);
-      releaseGeom(&thisgeom, scn);
-    }
-  }
-}
-
-
-static void addTactileSensorGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                                  mjvScene* scn) {
-  if (!vopt->flags[mjVIS_CONTACTPOINT]) {
-    return;
-  }
-  for (int id = 0; id < m->nsensor; id++) {
-    if (m->sensor_type[id] == mjSENS_TACTILE) {
-      // get site id and frame
-      int mesh_id = m->sensor_objid[id];
-      int geom_id = m->sensor_refid[id];
-      mjtNum* geom_pos = d->geom_xpos + 3*geom_id;
-      mjtNum* geom_mat = d->geom_xmat + 9*geom_id;
-      mjtNum geom_quat[4];
-      mju_mat2Quat(geom_quat, geom_mat);
-
-      // get sensor data
-      mjtNum* sensordata = d->sensordata + m->sensor_adr[id];
-      int nchannel = m->sensor_dim[id] / m->mesh_vertnum[mesh_id];
-
-      // get maximum absolute normal force
-      mjtNum maxval = 0;
-      for (int j=0; j < m->mesh_vertnum[mesh_id]; j++) {
-        maxval = mju_max(maxval, mju_abs(sensordata[j]));
-      }
-
-      // if no normal force readings, quick return
-      if (!maxval || m->geom_rbound[geom_id] < mjMINVAL) {
-        continue;
-      }
-
-      // draw geoms
-      float* mesh_vert = m->mesh_vert + 3*m->mesh_vertadr[mesh_id];
-      int* face = m->mesh_face + 3*m->mesh_faceadr[mesh_id];
-      for (int i=0; i < m->mesh_facenum[mesh_id]; i++) {
-        // triangle in global frame
-        mjtNum pos[3][3];
-        for (int j = 0; j < 3; j++) {
-          mjtNum v[3] = {mesh_vert[3 * face[3 * i + j] + 0],
-                          mesh_vert[3 * face[3 * i + j] + 1],
-                          mesh_vert[3 * face[3 * i + j] + 2]};
-          mju_mulMatVec3(pos[j], geom_mat, v);
-          mju_addTo3(pos[j], geom_pos);
-        }
-
-        // color
-        float rgba[4] = {0, 0, 0, 1.0};
-        mjtNum nval[3] = {0, 0, 0};
-        for (int r = 0; r < mjMIN(nchannel, 3); r++) {
-          for (int j = 0; j < 3; j++) {
-            mjtNum val = sensordata[r*m->mesh_vertnum[mesh_id] + face[3*i+j]];
-            rgba[r] += mju_abs(val) / maxval;
-            if (val) {
-              nval[r] += 1;
-            }
-          }
-          if (nval[r]) {
-            rgba[r] /= nval[r];
-          }
-        }
-
-        if (rgba[0]==0 && rgba[1]==0 && rgba[2]==0) {
-          rgba[3] = .1;
-        }
-
-        // draw triangles, one per side
-        addTriangle(scn, pos[0], pos[1], pos[2], rgba, id, mjCAT_DECOR, mjOBJ_SENSOR);
-      }
-    }
-  }
-}
-
-
-static void addInertiaGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                            const mjvPerturb* pert, int catmask, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_INERTIA]) {
-    return;
-  }
-  int ellipsoid = m->vis.global.ellipsoidinertia == 1;
-  for (int i=1; i < m->nbody; i++) {
-    if (m->body_mass[i] <= mjMINVAL) {
-      continue;
-    }
-    if (!(bodycategory(m, i) & catmask)) {
-      continue;
-    }
-
-    mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_BODY);
-    if (!thisgeom) {
-      return;
-    }
-
-    mjtNum Ixx = m->body_inertia[3*i+0];
-    mjtNum Iyy = m->body_inertia[3*i+1];
-    mjtNum Izz = m->body_inertia[3*i+2];
-    mjtNum mass = m->body_mass[i];
-    mjtNum scale_inertia = ellipsoid ? mju_sqrt(5) : mju_sqrt(3);
-
-    mjtNum sz[3];
-    sz[0] = mju_sqrt((Iyy + Izz - Ixx) / (2 * mass)) * scale_inertia;
-    sz[1] = mju_sqrt((Ixx + Izz - Iyy) / (2 * mass)) * scale_inertia;
-    sz[2] = mju_sqrt((Ixx + Iyy - Izz) / (2 * mass)) * scale_inertia;
-
-    // scale with mass if enabled
-    if (vopt->flags[mjVIS_SCLINERTIA]) {
-      // density = mass / volume
-      mjtNum scale_volume = ellipsoid ? 4.0/3.0*mjPI : 8.0;
-      mjtNum volume = scale_volume * sz[0]*sz[1]*sz[2];
-      mjtNum density = mass / mju_max(mjMINVAL, volume);
-
-      // scale = root3(density)
-      mjtNum scale = mju_pow(density*0.001, 1.0/3.0);
-
-      // scale sizes, so that box/ellipsoid with density of 1000 has same mass
-      sz[0] *= scale;
-      sz[1] *= scale;
-      sz[2] *= scale;
-    }
-
-    // construct geom
-    mjtGeom type = ellipsoid ? mjGEOM_ELLIPSOID : mjGEOM_BOX;
-    mjv_initGeom(thisgeom, type, sz, d->xipos+3*i, d->ximat+9*i, m->vis.rgba.inertia);
-
-    // glow
-    if (pert->select == i) {
-      markselected(&m->vis, thisgeom);
-    }
-
-    // vopt->label
-    if (vopt->label == mjLABEL_BODY ||
-        (vopt->label == mjLABEL_SELECTION && pert->select == i)) {
-      makeLabel(m, mjOBJ_BODY, i, thisgeom->label);
-    }
-
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-static void addPerturbGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                            const mjvPerturb* pert, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_PERTOBJ]) {
-    return;
-  }
-  if (pert->select <= 0) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  if ((pert->active | pert->active2) & mjPERT_TRANSLATE) {
-    mjvGeom* thisgeom = acquireGeom(scn, pert->select, mjCAT_DECOR, mjOBJ_UNKNOWN);
-    if (!thisgeom) {
-      return;
-    }
-
-    // compute selection point in world coordinates
-    mjtNum selpos[3];
-    mju_mulMatVec3(selpos, d->xmat+9*pert->select, pert->localpos);
-    mju_addTo3(selpos, d->xpos+3*pert->select);
-
-    // construct geom
-    mjtNum sz[3];
-    sz[0] = scl * m->vis.scale.constraint;
-    mjv_connector(thisgeom, mjGEOM_CAPSULE, sz[0], selpos, pert->refselpos);
-
-    // prepare color
-    float rgba[4];
-    mixcolor(rgba, m->vis.rgba.constraint,
-              (pert->active & mjPERT_TRANSLATE) > 0,
-              (pert->active2 & mjPERT_TRANSLATE) > 0);
-
-    f2f(thisgeom->rgba, rgba, 4);
-
-    releaseGeom(&thisgeom, scn);
-
-    // add small sphere at end-effector
-    thisgeom = acquireGeom(scn, pert->select, mjCAT_DECOR, mjOBJ_UNKNOWN);
-    if (!thisgeom) {
-      return;
-    }
-
-    // construct geom
-    sz[0] = 2*sz[0];
-    sz[1] = sz[2] = sz[0];
-
-    mjtNum mat[9];
-    mju_quat2Mat(mat, pert->refquat);
-    mjv_initGeom(thisgeom, mjGEOM_SPHERE, sz, pert->refselpos, mat, rgba);
-
-    releaseGeom(&thisgeom, scn);
-  }
-
-  if ((pert->active | pert->active2) & mjPERT_ROTATE) {
-    mjvGeom* thisgeom = acquireGeom(scn, pert->select, mjCAT_DECOR, mjOBJ_UNKNOWN);
-    if (!thisgeom) {
-      return;
-    }
-
-    // prepare color, use inertia color
-    float rgba[4];
-    mixcolor(rgba, m->vis.rgba.inertia,
-              (pert->active & mjPERT_ROTATE) > 0,
-              (pert->active2 & mjPERT_ROTATE) > 0);
-
-    // construct geom: if body i has a collision aabb, use that
-    mjtNum pos[3] = {0};
-    mjtNum sz[3];
-    if (m->body_bvhnum[pert->select]) {
-      mjtNum* aabb = m->bvh_aabb+6*m->body_bvhadr[pert->select];
-      mju_copy3(sz, aabb+3);
-      mju_mulMatVec3(pos, d->ximat+9*pert->select, aabb);
-    }
-
-    // otherwise box of size meansize
-    else {
-      sz[0] = sz[1] = sz[2] = scl;
-    }
-
-    mjtNum mat[9];
-    mju_quat2Mat(mat, pert->refquat);
-    mju_addTo3(pos, d->xipos+3*pert->select);
-    mjv_initGeom(thisgeom, mjGEOM_LINEBOX, sz, pos, mat, rgba);
-
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-static void addWorldBodyFrameGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, int catmask,
-                                   mjvScene* scn) {
-  const float scl = m->stat.meansize;
-  for (int i = (vopt->frame == mjFRAME_WORLD ? 0 : 1);
-        i < (vopt->frame == mjFRAME_BODY ? m->nbody : 1);
-        i++) {
-    // skip if body is static and static bodies are masked
-    if (i > 0 && bodycategory(m, i) & ~catmask) {
-      continue;
-    }
-
-    // set length(1) and width(0) of the axis cylinders
-    mjtNum sz[2];
-    if (i == 0) {
-      sz[1] = m->vis.scale.framelength * scl * 2;
-      sz[0] = m->vis.scale.framewidth * scl * 2;
-    } else {
-      sz[1] = m->vis.scale.framelength * scl;
-      sz[0] = m->vis.scale.framewidth * scl;
-    }
-
-    mjtNum* xmat = vopt->flags[mjVIS_INERTIA] ? d->ximat+9*i : d->xmat+9*i;
-    mjtNum* xpos = vopt->flags[mjVIS_INERTIA] ? d->xipos+3*i : d->xpos+3*i;
-    addFrame(scn, i, xpos, xmat, sz[1], sz[0]);
-  }
-}
-
-
-static void addSelectionPointGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                                   const mjvPerturb* pert, mjvScene* scn) {
-  if (pert->select <= 0) {
-    return;
-  }
-  if (!vopt->flags[mjVIS_SELECT]) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-
-  // compute selection point in world coordinates
-  mjtNum selpos[3];
-  mju_mulMatVec3(selpos, d->xmat+9*pert->select, pert->localpos);
-  mju_addTo3(selpos, d->xpos+3*pert->select);
-
-  mjvGeom* thisgeom = acquireGeom(scn, pert->select, mjCAT_DECOR, mjOBJ_UNKNOWN);
-  if (!thisgeom) {
-    return;
-  }
-
-  thisgeom->type = mjGEOM_SPHERE;
-  thisgeom->size[0] = thisgeom->size[1] = thisgeom->size[2] = scl * m->vis.scale.selectpoint;
-  mju_n2f(thisgeom->pos, selpos, 3);
-  mju_n2f(thisgeom->mat, IDENTITY, 9);
-  f2f(thisgeom->rgba, m->vis.rgba.selectpoint, 4);
-  if (vopt->label == mjLABEL_SELPNT) {
-    mjSNPRINTF(
-      thisgeom->label, "%.3f %.3f %.3f (local %.3f %.3f %.3f)",
-      selpos[0], selpos[1], selpos[2],
-      pert->localpos[0], pert->localpos[1], pert->localpos[2]);
-  }
-  releaseGeom(&thisgeom, scn);
-}
-
-
-static void addBodyLabelGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                              const mjvPerturb* pert, int catmask, mjvScene* scn) {
-  if (vopt->flags[mjVIS_INERTIA]) {
-    return;
-  }
-  if (vopt->label != mjLABEL_SELECTION && vopt->label != mjLABEL_BODY) {
-    return;
-  }
-  for (int i=1; i < m->nbody; i++) {
-    if (vopt->label == mjLABEL_SELECTION && pert->select != i) {
-      continue;
-    }
-    if (bodycategory(m, i) & ~catmask) {
-      continue;
-    }
-
-    mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-    if (!thisgeom) {
-      return;
-    }
-
-    thisgeom->type = mjGEOM_LABEL;
-    mju_n2f(thisgeom->pos, d->xpos+3*i, 3);
-    mju_n2f(thisgeom->mat, d->xmat+9*i, 9);
-    makeLabel(m, mjOBJ_BODY, i, thisgeom->label);
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-static void addJointGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_JOINT]) {
-    return;
-  }
-  const float scl = m->stat.meansize;
-  for (int i=0; i < m->njnt; i++) {
-    if (!vopt->jointgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->jnt_group[i]))]) {
-      continue;
-    }
-
-    mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_JOINT);
-    if (!thisgeom) {
-      return;
-    }
-
-    // set sz = {width, length} of the connectors
-    mjtNum sz[2];
-    sz[1] = m->vis.scale.jointlength * scl;
-    sz[0] = m->vis.scale.jointwidth * scl;
-
-    // set type, size, pos, mat depending on joint type
-    int j = m->jnt_bodyid[i];
-    mjtNum* from;
-    mjtNum to[3];
-    switch ((mjtJoint) m->jnt_type[i]) {
-    case mjJNT_FREE:
-      thisgeom->type = mjGEOM_BOX;
-      thisgeom->size[0] = thisgeom->size[1] = thisgeom->size[2] = 0.3*sz[1];
-      mju_n2f(thisgeom->pos, d->xanchor+3*i, 3);
-      mju_n2f(thisgeom->mat, d->xmat+9*j, 9);
-      break;
-
-    case mjJNT_BALL:
-      thisgeom->type = mjGEOM_SPHERE;
-      thisgeom->size[0] = thisgeom->size[1] = thisgeom->size[2] = 0.3*sz[1];
-      mju_n2f(thisgeom->pos, d->xanchor+3*i, 3);
-      mju_n2f(thisgeom->mat, d->xmat+9*j, 9);
-      break;
-
-    case mjJNT_SLIDE:
-    case mjJNT_HINGE:
-      from = d->xanchor+3*i;
-      mju_addScl3(to, from, d->xaxis+3*i, sz[1]);
-      mjv_connector(thisgeom, m->jnt_type[i] == mjJNT_SLIDE ? mjGEOM_ARROW : mjGEOM_ARROW1,
-                    sz[0], from, to);
-      break;
-
-    default:
-      mjERROR("unknown joint type %d", m->jnt_type[i]);
-    }
-
-    // loop over limit constraints, get impedance if this joint is limited
-    mjtNum imp = 0;
-    int efc_start = d->ne + d->nf;
-    int efc_end = efc_start + d->nl;
-    for (int k=efc_start; k < efc_end; k++) {
-      if (d->efc_type[k] == mjCNSTR_LIMIT_JOINT && d->efc_id[k] == i) {
-        imp = d->efc_KBIP[4*k + 2];
-      }
-    }
-
-    // use impedance to mix joint and constraint colors
-    float rgba[4];
-    rgba[0] = (1-imp) * m->vis.rgba.joint[0] + imp * m->vis.rgba.constraint[0];
-    rgba[1] = (1-imp) * m->vis.rgba.joint[1] + imp * m->vis.rgba.constraint[1];
-    rgba[2] = (1-imp) * m->vis.rgba.joint[2] + imp * m->vis.rgba.constraint[2];
-    rgba[3] = 1;
-
-    f2f(thisgeom->rgba, rgba, 4);
-
-    // vopt->label
-    if (vopt->label == mjLABEL_JOINT) {
-      makeLabel(m, mjOBJ_JOINT, i, thisgeom->label);
-    }
-
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-static void addActuatorGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_ACTUATOR]) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  for (int i=0; i < m->nactuator; i++) {
-    if (!vopt->actuatorgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->actuator_group[i]))]) {
-      continue;
-    }
-    if (mj_actuatorDisabled(m, i)) {
-      continue;
-    }
-
-    // determine extended range
-    mjtNum rng[3] = {-1, 0, +1};
-    mjtNum rmin = -1, rmax = 1, act = 0;
-    if (m->actuator_ctrllimited[m->actuator_ctrladr[i]]) {
-      rmin = m->actuator_ctrlrange[2*m->actuator_ctrladr[i]];
-      rmax = m->actuator_ctrlrange[2*m->actuator_ctrladr[i]+1];
-    } else if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_actlimited[i]) {
-      rmin = m->actuator_actrange[2*i];
-      rmax = m->actuator_actrange[2*i+1];
-    }
-    if (rmin >= 0) {
-      rng[0] = -1;
-      rng[1] = rmin;
-      rng[2] = rmax;
-    } else if (rmax <= 0) {
-      rng[0] = rmin;
-      rng[1] = rmax;
-      rng[2] = +1;
-    } else {
-      rng[0] = rmin;
-      rng[1] = 0;
-      rng[2] = rmax;
-    }
-
-    // adjust small ranges
-    if (rng[1]-rng[0] < mjMINVAL) {
-      rng[0] = rng[1] - mjMINVAL;
-    }
-    if (rng[2]-rng[1] < mjMINVAL) {
-      rng[2] = rng[1] + mjMINVAL;
-    }
-
-    // clamp act to extended range
-    if (vopt->flags[mjVIS_ACTIVATION] && m->actuator_dyntype[i]) {
-      act = mju_clip(d->act[m->actuator_actadr[i] + m->actuator_actnum[i] - 1], rng[0], rng[2]);
-    } else {
-      act = mju_clip(d->ctrl[m->actuator_ctrladr[i]], rng[0], rng[2]);
-    }
-
-    // compute interpolants
-    float amin, amean, amax;
-    if (act <= rng[1]) {
-      amin = (rng[1]-act) / mjMAX(mjMINVAL, rng[1]-rng[0]);
-      amean = 1 - amin;
-      amax = 0;
-    } else {
-      amax = (act-rng[1]) / mjMAX(mjMINVAL, rng[2]-rng[1]);
-      amean = 1 - amax;
-      amin = 0;
-    }
-
-    // interpolated color
-    float rgba[4];
-    for (int j=0; j < 4; j++) {
-      rgba[j] = amin*m->vis.rgba.actuatornegative[j] +
-                amean*m->vis.rgba.actuator[j] +
-                amax*m->vis.rgba.actuatorpositive[j];
-    }
-
-    // get transmission object id
-    int j = m->actuator_trnid[2*i];
-
-    // slide and hinge joint actuators
-    if (m->actuator_trntype[i] == mjTRN_JOINT ||
-        m->actuator_trntype[i] == mjTRN_JOINTINPARENT ||
-        m->actuator_trntype[i] == mjTRN_SITE) {
-      mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_ACTUATOR);
-      if (!thisgeom) {
-        return;
-      }
-
-      // site actuators
-      mjtNum sz[3];
-      if (m->actuator_trntype[i] == mjTRN_SITE) {
-        // inflate sizes by 5%
-        mju_scl3(sz, m->site_size+3*j, 1.05);
-
-        // make geom
-        mjv_initGeom(thisgeom,
-                      m->site_type[j], sz,
-                      d->site_xpos + 3*j,
-                      d->site_xmat + 9*j,
-                      thisgeom->rgba);
-      } else if (m->jnt_type[j] == mjJNT_HINGE || m->jnt_type[j] == mjJNT_SLIDE) {
-        // set length(1) and width(0) of the connectors
-        sz[1] = m->vis.scale.actuatorlength * scl;
-        sz[0] = m->vis.scale.actuatorwidth * scl;
-
-        // make geom
-        mjtNum* from = d->xanchor + 3*j;
-        mjtNum to[3];
-        mju_addScl3(to, from, d->xaxis+3*j, sz[1]);
-        mjv_connector(thisgeom, m->jnt_type[j] == mjJNT_SLIDE ? mjGEOM_ARROW : mjGEOM_ARROW1,
-                      sz[0], from, to);
-      }
-
-      // ball or free joint
-      else if (m->jnt_type[j] == mjJNT_BALL || m->jnt_type[j] == mjJNT_FREE) {
-        sz[0] = sz[1] = sz[2] = m->vis.scale.jointlength * scl * 0.33;
-
-        // make geom
-        mjv_initGeom(thisgeom,
-                      m->jnt_type[j] == mjJNT_BALL ? mjGEOM_SPHERE : mjGEOM_BOX, sz,
-                      d->xanchor + 3*j,
-                      d->xmat + 9*m->jnt_bodyid[j],
-                      thisgeom->rgba);
-      }
-
-      // set interpolated color
-      f2f(thisgeom->rgba, rgba, 4);
-
-      // vopt->label
-      if (vopt->label == mjLABEL_ACTUATOR) {
-        makeLabel(m, mjOBJ_ACTUATOR, i, thisgeom->label);
-      }
-
-      releaseGeom(&thisgeom, scn);
-    }
-
-    // body actuators
-    else if (m->actuator_trntype[i] == mjTRN_BODY) {
-      // iterate over body's geoms
-      int geomnum = m->body_geomnum[j];
-      int geomadr = m->body_geomadr[j];
-      for (int k=geomadr; k < geomadr+geomnum; k++) {
-        int geomtype = m->geom_type[k];
-        // add inflated geom if it is a regular primitive
-        if (geomtype != mjGEOM_PLANE && geomtype != mjGEOM_HFIELD &&
-            geomtype != mjGEOM_MESH  && geomtype != mjGEOM_SDF) {
-          mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_ACTUATOR);
-          if (!thisgeom) {
-            return;
-          }
-
-          // inflate sizes by 5%
-          mjtNum sz[3];
-          mju_scl3(sz, m->geom_size+3*k, 1.05);
-
-          // make geom
-          mjv_initGeom(thisgeom,
-                        m->geom_type[k], sz,
-                        d->geom_xpos + 3*k,
-                        d->geom_xmat + 9*k,
-                        thisgeom->rgba);
-
-          // set interpolated color
-          f2f(thisgeom->rgba, rgba, 4);
-
-          releaseGeom(&thisgeom, scn);
-        }
-      }
-    }
-
-    // spatial tendon actuators
-    else if (m->actuator_trntype[i] == mjTRN_TENDON && d->ten_wrapnum[j]) {
-      for (int k=d->ten_wrapadr[j]; k < d->ten_wrapadr[j]+d->ten_wrapnum[j]-1; k++) {
-        if (d->wrap_obj[k] != -2 && d->wrap_obj[k+1] != -2) {
-          mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_ACTUATOR);
-          if (!thisgeom) {
-            return;
-          }
-
-          // determine width: smaller for segments inside wrapping objects
-          mjtNum width;
-          if (d->wrap_obj[k] >= 0 && d->wrap_obj[k+1] >= 0) {
-            width = 0.5 * m->tendon_width[j];
-          } else {
-            width = m->tendon_width[j];
-          }
-
-          // increase width for actuator
-          width *= m->vis.map.actuatortendon;
-
-          // construct geom
-          mjv_connector(thisgeom, mjGEOM_CAPSULE, width, d->wrap_xpos+3*k, d->wrap_xpos+3*k+3);
-
-          // set material if given
-          setMaterial(m, thisgeom, m->tendon_matid[j], m->tendon_rgba+4*j, vopt->flags);
-
-          // set interpolated color
-          f2f(thisgeom->rgba, rgba, 4);
-
-          // vopt->label: only the first segment
-          if (vopt->label == mjLABEL_ACTUATOR && k == d->ten_wrapadr[j]) {
-            makeLabel(m, mjOBJ_ACTUATOR, i, thisgeom->label);
-          }
-
-          releaseGeom(&thisgeom, scn);
-        }
-      }
-    }
-  }
-}
-
-
-static void addIslandLabelGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                                mjvScene* scn) {
-  if (vopt->label != mjLABEL_ISLAND || !d->nisland) {
-    return;
-  }
-  for (int i=1; i < m->nbody; i++) {
-    int weld_id = m->body_weldid[i];
-    if (!m->body_dofnum[weld_id]) {
-      continue;
-    }
-    int islandid = d->dof_island[m->body_dofadr[weld_id]];
-    if (islandid <= -1) {
-      continue;
-    }
-
-    mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-    if (!thisgeom) {
-      return;
-    }
-
-    thisgeom->type = mjGEOM_LABEL;
-    mju_n2f(thisgeom->pos, d->xipos+3*i, 3);
-    mju_n2f(thisgeom->mat, d->ximat+9*i, 9);
-    mjSNPRINTF(thisgeom->label, "%d", islandid);
-
-    releaseGeom(&thisgeom, scn);
-  }
-}
-
-
-static void addCameraGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_CAMERA]) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  for (int i=0; i < m->ncam; i++) {
-    // copy camera rgba
-    float cam_rgba[4];
-    f2f(cam_rgba, m->vis.rgba.camera, 4);
-
-    // draw frustum if resolution larger than (1, 1)
-    if (m->cam_resolution[2*i] > 1 || m->cam_resolution[2*i+1] > 1) {
-      // when drawing frustum, make camera translucent
-      cam_rgba[3] = 0.3;
-
-      // locals
-      const float* rgba = m->vis.rgba.frustum;
-      mjtNum vnear[4][3], vfar[4][3];
-      mjtNum center[3];
-      mjtNum znear = m->vis.map.znear * m->stat.extent;
-      mjtNum zfar = m->vis.scale.frustum * scl;
-      float zver[2], zhor[2];
-      int orthographic = m->cam_projection[i] == mjPROJ_ORTHOGRAPHIC;
-
-      // get frustum
-      if (orthographic) {
-        float aspect = (float)m->cam_resolution[2*i] / m->cam_resolution[2*i+1];
-        zver[0] = zver[1] = m->cam_fovy[i] / 2;
-        zhor[0] = zhor[1] = m->cam_fovy[i] * aspect / 2;
-      } else if (m->cam_sensorsize[2*i] && m->cam_sensorsize[2*i+1]) {
-        // intrinsic-based perspective camera
-        getFrustum(zver, zhor, znear, m->cam_intrinsic+4*i, m->cam_sensorsize+2*i);
-      } else {
-        // fovy-based perspective camera
-        float aspect = (float)m->cam_resolution[2*i] / m->cam_resolution[2*i+1];
-        zver[0] = zver[1] = znear * mju_tan(m->cam_fovy[i] * mjPI / 360.0);
-        zhor[0] = zhor[1] = zver[0] * aspect;
-      }
-
-      // frustum frame to convert from planes to vertex representation
-      mjtNum* cam_xpos = d->cam_xpos+3*i;
-      mjtNum* cam_xmat = d->cam_xmat+9*i;
-      mjtNum x[] = {cam_xmat[0], cam_xmat[3], cam_xmat[6]};
-      mjtNum y[] = {cam_xmat[1], cam_xmat[4], cam_xmat[7]};
-      mjtNum z[] = {cam_xmat[2], cam_xmat[5], cam_xmat[8]};
-
-      // vertices of the near plane
-      mju_addScl3(center, cam_xpos, z, -znear);
-      mju_addScl3(vnear[0], center, x, -zhor[0]);
-      mju_addScl3(vnear[1], center, x,  zhor[1]);
-      mju_addScl3(vnear[2], center, x,  zhor[1]);
-      mju_addScl3(vnear[3], center, x, -zhor[0]);
-      mju_addToScl3(vnear[0], y, -zver[0]);
-      mju_addToScl3(vnear[1], y, -zver[0]);
-      mju_addToScl3(vnear[2], y,  zver[1]);
-      mju_addToScl3(vnear[3], y,  zver[1]);
-
-      // vertices of the far plane: scale for perspective, average(width, height) for orthographic
-      if (!orthographic) {
-        zhor[0] *= zfar / znear;
-        zhor[1] *= zfar / znear;
-        zver[0] *= zfar / znear;
-        zver[1] *= zfar / znear;
-      } else {
-        zfar = (zhor[0] + zver[0]) / 2;
-      }
-      mju_addScl3(center, cam_xpos, z, -zfar);
-      mju_addScl3(vfar[0], center, x, -zhor[0]);
-      mju_addScl3(vfar[1], center, x,  zhor[1]);
-      mju_addScl3(vfar[2], center, x,  zhor[1]);
-      mju_addScl3(vfar[3], center, x, -zhor[0]);
-      mju_addToScl3(vfar[0], y, -zver[0]);
-      mju_addToScl3(vfar[1], y, -zver[0]);
-      mju_addToScl3(vfar[2], y,  zver[1]);
-      mju_addToScl3(vfar[3], y,  zver[1]);
-
-      // triangulation and wireframe of the frustum
-      for (int e=0; e < 4; e++) {
-        addTriangle(scn, vnear[e], vfar[e], vnear[(e+1)%4], rgba,
-                    i, mjCAT_DECOR, mjOBJ_CAMERA);
-        addTriangle(scn, vfar[e], vfar[(e+1)%4], vnear[(e+1)%4], rgba,
-                    i, mjCAT_DECOR, mjOBJ_CAMERA);
-        addConnector(scn, mjGEOM_LINE, 3, vnear[e], vnear[(e+1)%4], rgba,
-                     i, mjCAT_DECOR, mjOBJ_CAMERA);
-        addConnector(scn, mjGEOM_LINE, 3, vfar[e], vfar[(e+1)%4], rgba,
-                     i, mjCAT_DECOR, mjOBJ_CAMERA);
-        addConnector(scn, mjGEOM_LINE, 3, vnear[e], vfar[e], rgba,
-                     i, mjCAT_DECOR, mjOBJ_CAMERA);
-      }
-    }
-
-    mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_CAMERA);
-    if (!thisgeom) {
-      return;
-    }
-
-    // construct geom: camera body
-    thisgeom->type = mjGEOM_BOX;
-    thisgeom->size[0] = scl * m->vis.scale.camera * 1.0;
-    thisgeom->size[1] = scl * m->vis.scale.camera * 0.8;
-    thisgeom->size[2] = scl * m->vis.scale.camera * 0.4;
-    mju_n2f(thisgeom->pos, d->cam_xpos+3*i, 3);
-    mju_n2f(thisgeom->mat, d->cam_xmat+9*i, 9);
-    f2f(thisgeom->rgba, cam_rgba, 4);
-
-    // vopt->label
-    if (vopt->label == mjLABEL_CAMERA) {
-      makeLabel(m, mjOBJ_CAMERA, i, thisgeom->label);
-    }
-
-    releaseGeom(&thisgeom, scn);
-
-    thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_CAMERA);
-    if (!thisgeom) {
-      return;
-    }
-
-    // construct geom: lens
-    thisgeom->pos[0] = (float)(d->cam_xpos[3*i] -
-                                scl*m->vis.scale.camera*0.6 * d->cam_xmat[9*i+2]);
-    thisgeom->pos[1] = (float)(d->cam_xpos[3*i+1] -
-                                scl*m->vis.scale.camera*0.6 * d->cam_xmat[9*i+5]);
-    thisgeom->pos[2] = (float)(d->cam_xpos[3*i+2] -
-                                scl*m->vis.scale.camera*0.6 * d->cam_xmat[9*i+8]);
-    thisgeom->type = mjGEOM_CYLINDER;
-    thisgeom->size[0] = scl * m->vis.scale.camera * 0.4;
-    thisgeom->size[1] = scl * m->vis.scale.camera * 0.4;
-    thisgeom->size[2] = scl * m->vis.scale.camera * 0.3;
-    mju_n2f(thisgeom->mat, d->cam_xmat+9*i, 9);
-    f2f(thisgeom->rgba, cam_rgba, 4);
-    for (int k=0; k < 3; k++) {
-      thisgeom->rgba[k] *= 0.5;  // make lens body darker
-    }
-
-    releaseGeom(&thisgeom, scn);
-
-    if (vopt->frame != mjFRAME_CAMERA) {
-      continue;
-    }
-    mjtNum width = m->vis.scale.framewidth * scl;
-    mjtNum length = m->vis.scale.framelength * scl;
-    addFrame(scn, i, d->cam_xpos+3*i, d->cam_xmat+9*i, length, width);
-  }
-}
-
-
-static void addLightGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_LIGHT]) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  for (int i=0; i < m->nlight; i++) {
-    // make light frame
-    mjtNum quat[4];
-    mju_quatZ2Vec(quat, d->light_xdir+3*i);
-
-    mjtNum mat[9];
-    mju_quat2Mat(mat, quat);
-
-    // make light position: offset backward, to avoid casting shadow
-    mjtNum vec[3];
-    mju_addScl3(vec, d->light_xpos+3*i, d->light_xdir+3*i, -scl * m->vis.scale.light -0.0001);
-
-    mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_LIGHT);
-    if (!thisgeom) {
-      return;
-    }
-
-    // construct geom
-    thisgeom->type = mjGEOM_CYLINDER;
-    thisgeom->size[0] = scl * m->vis.scale.light * 0.8;
-    thisgeom->size[1] = scl * m->vis.scale.light * 0.8;
-    thisgeom->size[2] = scl * m->vis.scale.light * 1.0;
-    mju_n2f(thisgeom->pos, vec, 3);
-    mju_n2f(thisgeom->mat, mat, 9);
-    f2f(thisgeom->rgba, m->vis.rgba.light, 4);
-
-    // vopt->label
-    if (vopt->label == mjLABEL_LIGHT) {
-      makeLabel(m, mjOBJ_LIGHT, i, thisgeom->label);
-    }
-
-    releaseGeom(&thisgeom, scn);
-
-    if (vopt->frame != mjFRAME_LIGHT) {
-      continue;
-    }
-    mjtNum width = m->vis.scale.framewidth * scl;
-    mjtNum length = m->vis.scale.framelength * scl;
-    addFrame(scn, i, d->light_xpos+3*i, mat, length, width);
-  }
-}
-
-
-static void addCenterOfMassGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                                 mjvScene* scn) {
-  // center of mass for root bodies
-  if (!vopt->flags[mjVIS_COM]) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  for (int i=1; i < m->nbody; i++) {
-    if (m->body_rootid[i] == i) {
-      mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-      if (!thisgeom) {
-        return;
-      }
-
-      thisgeom->type = mjGEOM_SPHERE;
-      thisgeom->size[0] = thisgeom->size[1] = thisgeom->size[2] = scl * m->vis.scale.com;
-      mju_n2f(thisgeom->pos, d->subtree_com+3*i, 3);
-      mju_n2f(thisgeom->mat, IDENTITY, 9);
-      f2f(thisgeom->rgba, m->vis.rgba.com, 4);
-      releaseGeom(&thisgeom, scn);
-    }
-  }
-}
-
-
-static void addAutoConnectGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                                mjvScene* scn) {
-  if (!vopt->flags[mjVIS_AUTOCONNECT]) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  for (int i=1; i < m->nbody; i++) {
-    // do not connect to world
-    if (m->body_parentid[i] == 0) {
-      continue;
-    }
-
-    // start at body com, connect joint centers in reverse order
-    mjtNum* cur = d->xipos+3*i;
-    if (m->body_jntnum[i]) {
-      for (int j=m->body_jntadr[i]+m->body_jntnum[i]-1; j >= m->body_jntadr[i]; j--) {
-        mjtNum* nxt = d->xanchor+3*j;
-
-        // construct geom
-        addConnector(scn, mjGEOM_CAPSULE, scl * m->vis.scale.connect, cur, nxt,
-                     m->vis.rgba.connect, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-
-        cur = nxt;
-      }
-    }
-
-    // connect first joint (or com) to parent com
-    mjtNum* first = d->xipos+3*m->body_parentid[i];
-    addConnector(scn, mjGEOM_CAPSULE, scl * m->vis.scale.connect, cur, first,
-                 m->vis.rgba.connect, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-  }
-}
-
-
-static void addRangefinderGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                                mjvScene* scn) {
-  if (!vopt->flags[mjVIS_RANGEFINDER]) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  mjtNum framewidth = m->vis.scale.framewidth * scl;
-  mjtNum framelength = m->vis.scale.framelength * scl;
-
-  for (int i=0; i < m->nsensor; i++) {
-    if (m->sensor_type[i] == mjSENS_RANGEFINDER) {
-      int objid = m->sensor_objid[i];
-      int adr = m->sensor_adr[i];
-
-      // get dataspec and compute field offsets
-      int dataspec = m->sensor_intprm[i*mjNSENS];
-      int size = mju_raydataSize(dataspec);
-      int offset[mjNRAYDATA] = {0};
-      int increment = 0;
-      for (int j=0; j < mjNRAYDATA; j++) {
-        offset[j] = increment;
-        if (dataspec & (1 << j)) {
-          increment += mjRAYDATA_SIZE[j];
-        }
-      }
-
-      // site-attached rangefinder
-      if (m->sensor_objtype[i] == mjOBJ_SITE) {
-        const mjtNum* ptr = d->sensordata + adr;
-
-        // get distance (if present)
-        mjtNum dist = -1;
-        if (dataspec & (1 << mjRAYDATA_DIST)) {
-          dist = ptr[offset[mjRAYDATA_DIST]];
-        }
-
-        // get point and draw line if dist is valid
-        mjtNum point[3] = {0};
-        if (dist >= 0) {
-          mjtNum* origin = d->site_xpos + 3*objid;
-          point[0] = origin[0] + d->site_xmat[9*objid+2]*dist;
-          point[1] = origin[1] + d->site_xmat[9*objid+5]*dist;
-          point[2] = origin[2] + d->site_xmat[9*objid+8]*dist;
-          addConnector(scn, mjGEOM_LINE, 3, origin, point, m->vis.rgba.rangefinder,
-                       i, mjCAT_DECOR, mjOBJ_SENSOR);
-        }
-
-        // draw point if present and non-zero
-        if (dataspec & (1 << mjRAYDATA_POINT)) {
-          const mjtNum* point_data = ptr + offset[mjRAYDATA_POINT];
-          if (point_data[0] || point_data[1] || point_data[2]) {
-            mju_copy3(point, point_data);
-            mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_SENSOR);
-            if (thisgeom) {
-              thisgeom->type = mjGEOM_SPHERE;
-              thisgeom->size[0] = thisgeom->size[1] = thisgeom->size[2] = 1.5 * framewidth;
-              mju_n2f(thisgeom->pos, point, 3);
-              mju_n2f(thisgeom->mat, IDENTITY, 9);
-              f2f(thisgeom->rgba, m->vis.rgba.rangefinder, 4);
-              releaseGeom(&thisgeom, scn);
-            }
-          }
-        }
-
-        // draw normal if present and point is valid
-        int valid_point = dist >= 0 || point[0] || point[1] || point[2];
-        if (valid_point && (dataspec & (1 << mjRAYDATA_NORMAL))) {
-          const mjtNum* normal = ptr + offset[mjRAYDATA_NORMAL];
-          mjtNum to[3];
-          mju_addScl3(to, point, normal, 2*framelength);
-          addConnector(scn, mjGEOM_ARROW1, framewidth, point, to,
-                       m->vis.rgba.rangefinder, i, mjCAT_DECOR, mjOBJ_SENSOR);
-        }
-      }
-
-      // camera-attached rangefinder
-      else if (m->sensor_objtype[i] == mjOBJ_CAMERA) {
-        const int width = m->cam_resolution[2*objid];
-        const int height = m->cam_resolution[2*objid+1];
-        const mjtNum* cam_xpos = d->cam_xpos + 3*objid;
-        const mjtNum* cam_xmat = d->cam_xmat + 9*objid;
-        const int projection = m->cam_projection[objid];
-
-        // compute focal length in pixels using helper
-        mjtNum fx, fy, cx, cy, ortho_extent;
-        mju_camIntrinsics(m, objid, &fx, &fy, &cx, &cy, &ortho_extent);
-
-        // draw for each pixel
-        for (int row = 0; row < height; row++) {
-          for (int col = 0; col < width; col++) {
-            int idx = row*width + col;
-            const mjtNum* ptr = d->sensordata + adr + idx*size;
-
-            // get distance (if present)
-            mjtNum dist = -1;
-            if (dataspec & (1 << mjRAYDATA_DIST)) {
-              dist = ptr[offset[mjRAYDATA_DIST]];
-            }
-
-            // compute ray origin and direction
-            mjtNum origin[3], direction[3];
-            mju_camPixelRay(origin, direction, cam_xpos, cam_xmat,
-                            col, row, fx, fy, cx, cy, projection, ortho_extent);
-
-            // get point and draw line if dist is valid
-            mjtNum point[3] = {0};
-            if (dist >= 0) {
-              mju_addScl3(point, origin, direction, dist);
-              addConnector(scn, mjGEOM_LINE, 3, origin, point, m->vis.rgba.rangefinder,
-                           i, mjCAT_DECOR, mjOBJ_SENSOR);
-            }
-
-            // draw point if present and non-zero
-            if (dataspec & (1 << mjRAYDATA_POINT)) {
-              const mjtNum* point_data = ptr + offset[mjRAYDATA_POINT];
-              if (point_data[0] || point_data[1] || point_data[2]) {
-                mju_copy3(point, point_data);
-                mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_SENSOR);
-                if (thisgeom) {
-                  thisgeom->type = mjGEOM_SPHERE;
-                  thisgeom->size[0] = thisgeom->size[1] = thisgeom->size[2] = 1.3 * framewidth;
-                  mju_n2f(thisgeom->pos, point, 3);
-                  mju_n2f(thisgeom->mat, IDENTITY, 9);
-                  f2f(thisgeom->rgba, m->vis.rgba.rangefinder, 4);
-                  releaseGeom(&thisgeom, scn);
-                }
-              }
-            }
-
-            // draw normal if present and point is valid
-            int valid_point = dist >= 0 || point[0] || point[1] || point[2];
-            if (valid_point && (dataspec & (1 << mjRAYDATA_NORMAL))) {
-              const mjtNum* normal = ptr + offset[mjRAYDATA_NORMAL];
-              mjtNum to[3];
-              mju_addScl3(to, point, normal, 2*framelength);
-              addConnector(scn, mjGEOM_ARROW1, framewidth, point, to,
-                           m->vis.rgba.rangefinder, i, mjCAT_DECOR, mjOBJ_SENSOR);
-            }
-          }
-        }
-      }
-    } else if (m->sensor_type[i] == mjSENS_GEOMFROMTO) {
-      // sensor data
-      mjtNum* fromto = d->sensordata + m->sensor_adr[i];
-
-      // null output: nothing to render
-      if (mju_isZero(fromto, 6)) {
-        continue;
-      }
-
-      // make ray
-      addConnector(scn, mjGEOM_LINE, 3, fromto, fromto+3, m->vis.rgba.rangefinder,
-                   i, mjCAT_DECOR, mjOBJ_SENSOR);
-    }
-  }
-}
-
-
-static void addExternalPerturbGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                                    mjvScene* scn) {
-  if (!vopt->flags[mjVIS_PERTFORCE]) {
-    return;
-  }
-
-  const float scl = m->stat.meansize;
-  for (int i=1; i < m->nbody; i++) {
-    if (mju_isZero(d->xfrc_applied+6*i, 6)) {
-      continue;
-    }
-    // force perturbation
-    mjtNum* xfrc = d->xfrc_applied+6*i;
-    if (mju_norm3(xfrc) <= mjMINVAL) {
-      continue;
-    }
-
-    mjtNum* from = d->xipos+3*i;
-
-    // map force to spatial vector in world frame
-    mjtNum vec[3];
-    mju_scl3(vec, xfrc, m->vis.map.force/m->stat.meanmass);
-    mjtNum to[3];
-    mju_add3(to, from, vec);
-
-    addConnector(scn, mjGEOM_ARROW, m->vis.scale.forcewidth * scl, from, to,
-                 m->vis.rgba.force, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
-  }
-}
-
-
-static void addConstraintGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn) {
-  if (!vopt->flags[mjVIS_CONSTRAINT]) {
-    return;
-  }
-
-  // connect or weld
-  const float scl = m->stat.meansize;
-  for (int i=0; i < m->neq; i++) {
-    int is_weld = m->eq_type[i] == mjEQ_WELD;
-    int is_connect = m->eq_type[i] == mjEQ_CONNECT;
-    if (d->eq_active[i] && (is_connect || is_weld)) {
-      // compute endpoints in global coordinates
-      mjtNum vec[3], end[3];
-      mjtNum *xmat_j, *xmat_k;
-      int j = m->eq_obj1id[i], k = m->eq_obj2id[i];
-      if (m->eq_objtype[i] == mjOBJ_SITE) {
-        mju_copy3(vec, d->site_xpos+3*j);
-        mju_copy3(end, d->site_xpos+3*k);
-        xmat_j = d->site_xmat+9*j;
-        xmat_k = d->site_xmat+9*k;
-      } else {
-        mju_mulMatVec3(vec, d->xmat+9*j, m->eq_data+mjNEQDATA*i+3*is_weld);
-        mju_addTo3(vec, d->xpos+3*j);
-        mju_mulMatVec3(end, d->xmat+9*k, m->eq_data+mjNEQDATA*i+3*is_connect);
-        mju_addTo3(end, d->xpos+3*k);
-        xmat_j = d->xmat+9*j;
-        xmat_k = d->xmat+9*k;
-      }
-
-      // construct geom
-      mjtNum sz[3];
-      sz[0] = scl * m->vis.scale.constraint;
-
-      mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_EQUALITY);
-      if (!thisgeom) {
-        return;
-      }
-
-      mjv_initGeom(thisgeom, mjGEOM_SPHERE, sz, vec, xmat_j, m->vis.rgba.connect);
-      if (vopt->label == mjLABEL_CONSTRAINT) {
-        makeLabel(m, mjOBJ_EQUALITY, i, thisgeom->label);
-      }
-      releaseGeom(&thisgeom, scn);
-
-      thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_EQUALITY);
-      if (!thisgeom) {
-        return;
-      }
-
-      mjv_initGeom(thisgeom, mjGEOM_SPHERE, sz, end, xmat_k, m->vis.rgba.constraint);
-      if (vopt->label == mjLABEL_CONSTRAINT) {
-        makeLabel(m, mjOBJ_EQUALITY, i, thisgeom->label);
-      }
-      releaseGeom(&thisgeom, scn);
-    }
-  }
-}
-
-
-// add abstract geoms
-void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
-                  const mjvPerturb* pert, int catmask, mjvScene* scn) {
-  // make default pert if missing
-  mjvPerturb localpert;
-  if (!pert) {
-    mjv_defaultPerturb(&localpert);
-    pert = &localpert;
-  }
-
-  // clear mjCAT_STATIC bit if mjVIS_STATIC is not set
-  if (!vopt->flags[mjVIS_STATIC]) {
-    catmask &= (~mjCAT_STATIC);
-  }
-
-  addFlexGeoms(m, d, vopt, pert, catmask, scn);
-  addSkinGeoms(m, d, vopt, pert, catmask, scn);
-  addGeomGeoms(m, d, vopt, pert, catmask, scn);
-  addSiteGeoms(m, d, vopt, pert, catmask, scn);
-  addSpatialTendonGeoms(m, d, vopt, catmask, scn);
-  addSliderCrankGeoms(m, d, vopt, catmask, scn);
-
-  // remaining functions only add decor elements
-  if (!(catmask & mjCAT_DECOR)) {
-    return;
-  }
-
-  addGeomFrameGeoms(m, d, vopt, catmask, scn);
-  addSiteFrameGeoms(m, d, vopt, catmask, scn);
-  addBodyBvhGeoms(m, d, vopt, scn);
-  addFlexBvhGeoms(m, d, vopt, scn);
-  addMeshBvhGeoms(m, d, vopt, scn);
-  addMeshOctreeGeoms(m, d, vopt, scn);
-  addTactileSensorGeoms(m, d, vopt, scn);
-  addInertiaGeoms(m, d, vopt, pert, catmask, scn);
-  addPerturbGeoms(m, d, vopt, pert, scn);
-  addWorldBodyFrameGeoms(m, d, vopt, catmask, scn);
-  addSelectionPointGeoms(m, d, vopt, pert, scn);
-  addBodyLabelGeoms(m, d, vopt, pert, catmask, scn);
-  addJointGeoms(m, d, vopt, scn);
-  addActuatorGeoms(m, d, vopt, scn);
-  addIslandLabelGeoms(m, d, vopt, scn);
-  addCameraGeoms(m, d, vopt, scn);
-  addLightGeoms(m, d, vopt, scn);
-  addCenterOfMassGeoms(m, d, vopt, scn);
-  addAutoConnectGeoms(m, d, vopt, scn);
-  addRangefinderGeoms(m, d, vopt, scn);
-  addExternalPerturbGeoms(m, d, vopt, scn);
-  addConstraintGeoms(m, d, vopt, scn);
-  addContactGeoms(m, d, vopt, scn, catmask);
-}
-
-
-// make list of lights only
-void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn) {
-  mjvLight* thislight;
-
-  // clear counter
-  scn->nlight = 0;
-
-  // headlight
-  if (m->vis.headlight.active) {
-    // get pointer
-    thislight = scn->lights;
-
-    // set default properties
-    memset(thislight, 0, sizeof(mjvLight));
-    thislight->id = -1;
-    thislight->headlight = 1;
-    thislight->texid = -1;
-    thislight->type = mjLIGHT_DIRECTIONAL;
-    thislight->castshadow = 0;
-    thislight->bulbradius = 0.02;
-    thislight->intensity = 0;
-    thislight->range = 10;
-
-    // compute head position and gaze direction in model space
-    mjtNum hpos[3], hfwd[3];
-    mjv_cameraInModel(hpos, hfwd, NULL, scn);
-    mju_n2f(thislight->pos, hpos, 3);
-    mju_n2f(thislight->dir, hfwd, 3);
-
-    // copy colors
-    f2f(thislight->ambient, m->vis.headlight.ambient, 3);
-    f2f(thislight->diffuse, m->vis.headlight.diffuse, 3);
-    f2f(thislight->specular, m->vis.headlight.specular, 3);
-
-    // advance counter
-    scn->nlight++;
-  }
-
-  // remaining lights
-  for (int i=0; i < m->nlight && scn->nlight < mjMAXLIGHT; i++) {
-    if (m->light_active[i]) {
-      // get pointer
-      thislight = scn->lights + scn->nlight;
-
-      // copy properties
-      memset(thislight, 0, sizeof(mjvLight));
-      thislight->id = i;
-      thislight->type = m->light_type[i];
-      thislight->texid = m->light_texid[i];
-      thislight->castshadow = m->light_castshadow[i];
-      thislight->bulbradius = m->light_bulbradius[i];
-      thislight->intensity = m->light_intensity[i];
-      thislight->range = m->light_range[i];
-      if (thislight->type == mjLIGHT_SPOT) {
-        f2f(thislight->attenuation, m->light_attenuation+3*i, 3);
-        thislight->exponent = m->light_exponent[i];
-        thislight->cutoff = m->light_cutoff[i];
-        thislight->softness = m->light_softness[i];
-      }
-
-      // copy colors
-      f2f(thislight->ambient, m->light_ambient+3*i, 3);
-      f2f(thislight->diffuse, m->light_diffuse+3*i, 3);
-      f2f(thislight->specular, m->light_specular+3*i, 3);
-
-      // copy position and direction
-      mju_n2f(thislight->pos, d->light_xpos+3*i, 3);
-      mju_n2f(thislight->dir, d->light_xdir+3*i, 3);
-
-      // advance counter
-      scn->nlight++;
-    }
-  }
-}
-
-
-// update camera only
-void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn) {
-  // return if nothing to do
-  if (!m || !cam || cam->type == mjCAMERA_USER) {
-    return;
-  }
-
-  // move lookat for tracking
-  if (cam->type == mjCAMERA_TRACKING) {
-    // get id and check
-    int bid = cam->trackbodyid;
-    if (bid < 0 || bid >= m->nbody) {
-      mjERROR("track body id is outside valid range");
-    }
-
-    mju_copy3(cam->lookat, d->subtree_com + 3*bid);
-  }
-
-  // get camera frame
-  mjtNum headpos[3], forward[3], up[3], right[3];
-  mjv_cameraFrame(headpos, forward, up, right, d, cam);
-
-  // get camera frustum
-  float zver[2], zhor[2], zclip[2] = {0, 0};
-  mjv_cameraFrustum(zver, zhor, zclip, m, cam);
-
-  // get ipd, orthographic
-  int cid, orthographic = 0;
-  mjtNum ipd;
-
-  switch (cam->type) {
-  case mjCAMERA_FREE:
-  case mjCAMERA_TRACKING:
-    ipd = m->vis.global.ipd;
-    orthographic = m->vis.global.orthographic;
-    break;
-  case mjCAMERA_FIXED:
-    // get id, check range
-    cid = cam->fixedcamid;
-    if (cid < 0 || cid >= m->ncam) {
-      mjERROR("fixed camera id is outside valid range");
-    }
-    ipd = m->cam_ipd[cid];
-    orthographic = m->cam_projection[cid] == mjPROJ_ORTHOGRAPHIC;
-    break;
-
-  default:
-    mjERROR("unknown camera type");
-  }
-
-  // compute GL cameras
-  for (int view=0; view < 2; view++) {
-    // set frame
-    for (int i=0; i < 3; i++) {
-      scn->camera[view].pos[i] = (float)(headpos[i] + (view ? ipd : -ipd)*0.5*right[i]);
-      scn->camera[view].forward[i] = (float)forward[i];
-      scn->camera[view].up[i] = (float)up[i];
-    }
-
-    // set orthographic
-    scn->camera[view].orthographic = orthographic;
-
-    // set symmetric frustum using intrinsic camera matrix
-    scn->camera[view].frustum_top = zver[0];
-    scn->camera[view].frustum_bottom = -zver[1];
-    scn->camera[view].frustum_center = (zhor[1] - zhor[0]) / 2;
-    scn->camera[view].frustum_width = (zhor[1] + zhor[0]) / 2;
-    scn->camera[view].frustum_near = zclip[0];
-    scn->camera[view].frustum_far = zclip[1];
-  }
-
-  // disable model transformation (do not clear float data; user may need it later)
-  scn->enabletransform = 0;
-}
-
-
-// construct face, flat normals
-static void makeFace(float* _face, float* _normal,  mjtNum radius, const mjtNum* vertxpos,
-                     int nface, int i0, int i1, int i2) {
-  float* face = _face + 9*nface;
-  float* normal = _normal + 9*nface;
-  const mjtNum* v0 = vertxpos + 3*i0;
-  const mjtNum* v1 = vertxpos + 3*i1;
-  const mjtNum* v2 = vertxpos + 3*i2;
-
-  // compute normal
-  mjtNum v01[3] = {v1[0]-v0[0], v1[1]-v0[1], v1[2]-v0[2]};
-  mjtNum v02[3] = {v2[0]-v0[0], v2[1]-v0[1], v2[2]-v0[2]};
-  mjtNum nrm[3];
-  mju_cross(nrm, v01, v02);
-  mju_normalize3(nrm);
-
-  // set vertices: offset by radius*normal
-  mjtNum temp[3];
-  mju_addScl3(temp, v0, nrm, radius);
-  mju_n2f(face, temp, 3);
-  mju_addScl3(temp, v1, nrm, radius);
-  mju_n2f(face+3, temp, 3);
-  mju_addScl3(temp, v2, nrm, radius);
-  mju_n2f(face+6, temp, 3);
-
-  // set normals
-  mju_n2f(normal, nrm, 3);
-  mju_n2f(normal+3, nrm, 3);
-  mju_n2f(normal+6, nrm, 3);
-}
-
-
-// add face normal to vertices
-static void addNormal(mjtNum* vertnorm, const mjtNum* vertxpos,
-                      int i0, int i1, int i2) {
-  // compute normal*area
-  const mjtNum* v0 = vertxpos + 3*i0;
-  const mjtNum* v1 = vertxpos + 3*i1;
-  const mjtNum* v2 = vertxpos + 3*i2;
-  mjtNum v01[3] = {v1[0]-v0[0], v1[1]-v0[1], v1[2]-v0[2]};
-  mjtNum v02[3] = {v2[0]-v0[0], v2[1]-v0[1], v2[2]-v0[2]};
-  mjtNum nrm[3];
-  mju_cross(nrm, v01, v02);
-  mju_normalize3(nrm);
-
-  // accumulate at each vertex
-  mju_addTo3(vertnorm + 3*i0, nrm);
-  mju_addTo3(vertnorm + 3*i1, nrm);
-  mju_addTo3(vertnorm + 3*i2, nrm);
-}
-
-
-// construct face, smooth normals
-static void makeSmooth(float* _face, float* _normal, mjtNum radius, mjtByte flg_flat,
-                       const mjtNum* vertnorm, const mjtNum* vertxpos,
-                       int nface, int i0, int i1, int i2) {
-  float* face = _face + 9*nface;
-  float* normal = _normal + 9*nface;
-  int ind[3] = {i0, i1, i2};
-  int sign = radius > 0 ? 1 : -1;
-
-  // flat shading
-  if (flg_flat) {
-    // compute face normal
-    const mjtNum* v0 = vertxpos + 3*i0;
-    const mjtNum* v1 = vertxpos + 3*i1;
-    const mjtNum* v2 = vertxpos + 3*i2;
-    mjtNum v01[3] = {v1[0]-v0[0], v1[1]-v0[1], v1[2]-v0[2]};
-    mjtNum v02[3] = {v2[0]-v0[0], v2[1]-v0[1], v2[2]-v0[2]};
-    mjtNum nrm[3];
-    mju_cross(nrm, v01, v02);
-    mju_normalize3(nrm);
-
-    // set all vertex normals equal to face normal
-    for (int k=0; k < 3; k++){
-      normal[3*k+0] = (float) (sign*nrm[0]);
-      normal[3*k+1] = (float) (sign*nrm[1]);
-      normal[3*k+2] = (float) (sign*nrm[2]);
-    }
-  }
-
-  // smooth shading
-  else {
-    for (int k=0; k < 3; k++){
-      normal[3*k+0] = (float) (sign*vertnorm[3*ind[k]+0]);
-      normal[3*k+1] = (float) (sign*vertnorm[3*ind[k]+1]);
-      normal[3*k+2] = (float) (sign*vertnorm[3*ind[k]+2]);
-    }
-  }
-
-  // set positions: vertices offset by radius*normal
-  for (int k=0; k < 3; k++){
-    face[3*k+0] = (float) (vertxpos[3*ind[k]+0] + radius*vertnorm[3*ind[k]+0]);
-    face[3*k+1] = (float) (vertxpos[3*ind[k]+1] + radius*vertnorm[3*ind[k]+1]);
-    face[3*k+2] = (float) (vertxpos[3*ind[k]+2] + radius*vertnorm[3*ind[k]+2]);
-  }
-}
-
-
-// construct side in 2D face
-static void makeSide(float* _face, float* _normal, mjtNum radius,
-                     const mjtNum* vertnorm, const mjtNum* vertxpos,
-                     int nface, int i0, int i1) {
-  float* face = _face + 9*nface;
-  float* normal = _normal + 9*nface;
-
-  // compute normal
-  const mjtNum* v0 = vertxpos + 3*i0;
-  const mjtNum* v1 = vertxpos + 3*i1;
-  mjtNum v01[3] = {v1[0]-v0[0], v1[1]-v0[1], v1[2]-v0[2]};
-  mjtNum nrm[3];
-  mju_cross(nrm, v01, vertnorm+3*i1);
-  if (radius < 0) {
-    mju_scl3(nrm, nrm, -1);
-  }
-  mju_normalize3(nrm);
-
-  // set normals
-  for (int k=0; k < 3; k++){
-    normal[3*k+0] = (float) nrm[0];
-    normal[3*k+1] = (float) nrm[1];
-    normal[3*k+2] = (float) nrm[2];
-  }
-
-  // set positions
-  int ind[3] = {i0, i1, i1};
-  for (int k=0; k < 3; k++){
-    mjtNum sign = (k == 1 ? -1 : +1);
-    face[3*k+0] = (float) (vertxpos[3*ind[k]+0] + sign*radius*vertnorm[3*ind[k]+0]);
-    face[3*k+1] = (float) (vertxpos[3*ind[k]+1] + sign*radius*vertnorm[3*ind[k]+1]);
-    face[3*k+2] = (float) (vertxpos[3*ind[k]+2] + sign*radius*vertnorm[3*ind[k]+2]);
-  }
-}
-
-
-// copy texcoord for face
-static void copyTex(float* dst, const float* src, int nface, int i0, int i1, int i2) {
-  if (!dst || !src) {
-    return;
-  }
-
-  dst[6*nface+0] = src[2*i0];
-  dst[6*nface+1] = src[2*i0+1];
-  dst[6*nface+2] = src[2*i1];
-  dst[6*nface+3] = src[2*i1+1];
-  dst[6*nface+4] = src[2*i2];
-  dst[6*nface+5] = src[2*i2+1];
-}
-
-
-// update visible flexes only
-void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt) {
-  // save flex visualization flags in scene (needed by renderer)
-  scn->flexvertopt = opt->flags[mjVIS_FLEXVERT];
-  scn->flexedgeopt = opt->flags[mjVIS_FLEXEDGE];
-  scn->flexfaceopt = opt->flags[mjVIS_FLEXFACE];
-  scn->flexskinopt = opt->flags[mjVIS_FLEXSKIN];
-
-  // convert vertex positions from mjtNum to float
-  for (int v=0; v < 3*m->nflexvert; v++) {
-    scn->flexvert[v] = (float) d->flexvert_xpos[v];
-  }
-
-  // construct faces
-  for (int f=0; f < m->nflex; f++) {
-    int dim = m->flex_dim[f];
-    mjtNum radius = m->flex_radius[f];
-    mjtByte flg_flat = m->flex_flatskin[f];
-    const mjtNum* vertxpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
-    float* face = scn->flexface + 9*scn->flexfaceadr[f];
-    float* normal = scn->flexnormal + 9*scn->flexfaceadr[f];
-    float* texdst = m->flex_texcoordadr[f] >= 0 ?
-                    scn->flextexcoord + 6*scn->flexfaceadr[f] : NULL;
-    const float* texsrc = m->flex_texcoordadr[f] >= 0 ?
-                          m->flex_texcoord + 2*m->flex_texcoordadr[f] : NULL;
-
-    // 1D, or face and skin disabled: no faces
-    if (dim == 1 || (!opt->flags[mjVIS_FLEXFACE] && !opt->flags[mjVIS_FLEXSKIN])) {
-      scn->flexfaceused[f] = 0;
-    }
-
-    // 2D or 3D face: faces from elements, flat normals, texture
-    else if (!opt->flags[mjVIS_FLEXSKIN]) {
-      int nface = 0;
-      for (int e=0; e < m->flex_elemnum[f]; e++) {
-        // in 3D, show only elements in selected layer
-        if (dim == 2 || m->flex_elemlayer[m->flex_elemadr[f]+e] == opt->flex_layer) {
-          // get element data
-          const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
-          const int* tdata = m->flex_elemtexcoord + m->flex_elemdataadr[f] + e*(dim+1);
-
-          // triangles: two faces per element
-          if (dim == 2) {
-            makeFace(face, normal, radius, vertxpos, nface, edata[0], edata[1], edata[2]);
-            copyTex(texdst, texsrc, nface, tdata[0], tdata[1], tdata[2]);
-            nface++;
-
-            makeFace(face, normal, radius, vertxpos, nface, edata[0], edata[2], edata[1]);
-            copyTex(texdst, texsrc, nface, tdata[0], tdata[2], tdata[1]);
-            nface++;
-          }
-
-          // tetrahedra: four faces per element
-          else {
-            makeFace(face, normal, radius, vertxpos,
-                     nface, edata[0], edata[1], edata[2]);
-            copyTex(texdst, texsrc, nface, tdata[0], tdata[1], tdata[2]);
-            nface++;
-
-            makeFace(face, normal, radius, vertxpos,
-                     nface, edata[0], edata[2], edata[3]);
-            copyTex(texdst, texsrc, nface, tdata[0], tdata[2], tdata[3]);
-            nface++;
-
-            makeFace(face, normal, radius, vertxpos,
-                     nface, edata[0], edata[3], edata[1]);
-            copyTex(texdst, texsrc, nface, tdata[0], tdata[3], tdata[1]);
-            nface++;
-
-            makeFace(face, normal, radius, vertxpos,
-                     nface, edata[1], edata[3], edata[2]);
-            copyTex(texdst, texsrc, nface, tdata[1], tdata[3], tdata[2]);
-            nface++;
-          }
-        }
-      }
-
-      // save face count
-      scn->flexfaceused[f] = nface;
-    }
-
-    // 2D or 3D skin: faces from elements (2D) or shells (3D), smooth normals, texture
-    else {
-      // allocate and clear vertex normals for smoothing
-      mj_markStack(d);
-      mjtNum* vertnorm = mjSTACKALLOC(d, 3*m->flex_vertnum[f], mjtNum);
-      mju_zero(vertnorm, 3*m->flex_vertnum[f]);
-
-      // add vertex normals: top element sides in 2D, shell fragments in 3D
-      if (dim == 2) {
-        for (int e=0; e < m->flex_elemnum[f]; e++) {
-          const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
-          addNormal(vertnorm, vertxpos, edata[0], edata[1], edata[2]);
-        }
-      } else {
-        for (int s=0; s < m->flex_shellnum[f]; s++) {
-          const int* sdata = m->flex_shell + m->flex_shelldataadr[f] + s*dim;
-          addNormal(vertnorm, vertxpos, sdata[0], sdata[1], sdata[2]);
-        }
-      }
-
-      // normalize vertex normals
-      for (int i=0; i < m->flex_vertnum[f]; i++) {
-        mju_normalize3(vertnorm+3*i);
-      }
-
-      // create faces, offset along smoothed vertex normals, and texcoord
-      int nface = 0;
-      if (dim == 2) {
-        for (int e=0; e < m->flex_elemnum[f]; e++) {
-          const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
-          const int* tdata = m->flex_elemtexcoord + m->flex_elemdataadr[f] + e*(dim+1);
-          makeSmooth(face, normal, radius, flg_flat, vertnorm, vertxpos,
-                     nface, edata[0], edata[1], edata[2]);
-          copyTex(texdst, texsrc, nface, tdata[0], tdata[1], tdata[2]);
-          nface++;
-          makeSmooth(face, normal, -radius, flg_flat, vertnorm, vertxpos,
-                     nface, edata[0], edata[2], edata[1]);
-          copyTex(texdst, texsrc, nface, tdata[0], tdata[2], tdata[1]);
-          nface++;
-        }
-      } else {
-        for (int s=0; s < m->flex_shellnum[f]; s++) {
-          const int* sdata = m->flex_shell + m->flex_shelldataadr[f] + s*dim;
-          makeSmooth(face, normal, radius, flg_flat, vertnorm, vertxpos,
-                     nface, sdata[0], sdata[1], sdata[2]);
-          copyTex(texdst, texsrc, nface, sdata[0], sdata[1], sdata[2]);
-          nface++;
-        }
-      }
-
-      // 2D: close sides using shell fragments
-      if (dim == 2) {
-        for (int s=0; s < m->flex_shellnum[f]; s++) {
-          const int* sdata = m->flex_shell + m->flex_shelldataadr[f] + s*dim;
-          makeSide(face, normal, radius, vertnorm, vertxpos,
-                   nface, sdata[0], sdata[1]);
-          copyTex(texdst, texsrc, nface, sdata[0], sdata[1], sdata[1]);
-          nface++;
-          makeSide(face, normal, -radius, vertnorm, vertxpos,
-                   nface, sdata[1], sdata[0]);
-          copyTex(texdst, texsrc, nface, sdata[1], sdata[0], sdata[0]);
-          nface++;
-        }
-      }
-
-      // save face count
-      scn->flexfaceused[f] = nface;
-      mj_freeStack(d);
-    }
-
-    // check face count, SHOULD NOT OCCUR
-    if (scn->flexfaceused[f] > scn->flexfacenum[f]) {
-      mju_error("too many flex faces in mjv_updateActiveFlex");
-    }
-  }
-}
-
-
-// update all skins, here for backward API compatibility
-void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn) {
-  mjvOption opt;
-  mjv_defaultOption(&opt);
-  mjv_updateActiveSkin(m, d, scn, &opt);
-  mju_warning("mjv_updateSkin is deprecated, please use mjv_updateActiveSkin.");
-}
-
-
-// update visible skins only
-void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, const mjvOption* opt) {
-  // process skins
-  for (int i=0; i < m->nskin; i++) {
-    // get info
-    int vertadr = m->skin_vertadr[i];
-    int vertnum = m->skin_vertnum[i];
-    int faceadr = m->skin_faceadr[i];
-    int facenum = m->skin_facenum[i];
-
-    // clear positions and normals
-    memset(scn->skinvert + 3*vertadr, 0, 3*vertnum*sizeof(float));
-    memset(scn->skinnormal + 3*vertadr, 0, 3*vertnum*sizeof(float));
-
-    // update only if visible
-    if (opt->skingroup[mjMAX(0, mjMIN(mjNGROUP-1, m->skin_group[i]))]) {
-      // accumulate positions from all bones
-      for (int j=m->skin_boneadr[i];
-           j < m->skin_boneadr[i]+m->skin_bonenum[i];
-           j++) {
-        // get bind pose
-        mjtNum bindpos[3] = {
-          (mjtNum) m->skin_bonebindpos[3*j],
-          (mjtNum) m->skin_bonebindpos[3*j+1],
-          (mjtNum) m->skin_bonebindpos[3*j+2]
-        };
-        mjtNum bindquat[4] = {
-          (mjtNum) m->skin_bonebindquat[4*j],
-          (mjtNum) m->skin_bonebindquat[4*j+1],
-          (mjtNum) m->skin_bonebindquat[4*j+2],
-          (mjtNum) m->skin_bonebindquat[4*j+3]
-        };
-
-        // compute rotation
-        int bodyid = m->skin_bonebodyid[j];
-        mjtNum quat[4], quatneg[4], rotate[9];
-        mju_negQuat(quatneg, bindquat);
-        mju_mulQuat(quat, d->xquat+4*bodyid, quatneg);
-        mju_quat2Mat(rotate, quat);
-
-        // compute translation
-        mjtNum translate[3];
-        mju_mulMatVec3(translate, rotate, bindpos);
-        mju_sub3(translate, d->xpos+3*bodyid, translate);
-
-        // process all bone vertices
-        for (int k=m->skin_bonevertadr[j];
-             k < m->skin_bonevertadr[j]+m->skin_bonevertnum[j];
-             k++) {
-          // vertex id and weight
-          int vid = m->skin_bonevertid[k];
-          float vweight = m->skin_bonevertweight[k];
-
-          // get original position
-          mjtNum pos[3] = {
-            (mjtNum) m->skin_vert[3*(vertadr+vid)],
-            (mjtNum) m->skin_vert[3*(vertadr+vid)+1],
-            (mjtNum) m->skin_vert[3*(vertadr+vid)+2],
-          };
-
-          // transform
-          mjtNum pos1[3];
-          mju_mulMatVec3(pos1, rotate, pos);
-          mju_addTo3(pos1, translate);
-
-          // accumulate position
-          scn->skinvert[3*(vertadr+vid)] += vweight*(float)pos1[0];
-          scn->skinvert[3*(vertadr+vid)+1] += vweight*(float)pos1[1];
-          scn->skinvert[3*(vertadr+vid)+2] += vweight*(float)pos1[2];
-        }
-      }
-
-      // compute vertex normals from face normals
-      for (int k=faceadr; k < faceadr+facenum; k++) {
-        // get face vertex indices
-        int vid[3] = {
-          m->skin_face[3*k],
-          m->skin_face[3*k+1],
-          m->skin_face[3*k+2]
-        };
-
-        // get triangle edges
-        mjtNum vec01[3], vec02[3];
-        for (int r=0; r < 3; r++) {
-          vec01[r] = scn->skinvert[3*(vertadr+vid[1])+r] - scn->skinvert[3*(vertadr+vid[0])+r];
-          vec02[r] = scn->skinvert[3*(vertadr+vid[2])+r] - scn->skinvert[3*(vertadr+vid[0])+r];
-        }
-
-        // compute face normal
-        mjtNum nrm[3];
-        mju_cross(nrm, vec01, vec02);
-
-        // add normal to each vertex with weight = area
-        for (int r=0; r < 3; r++) {
-          for (int t=0; t < 3; t++) {
-            scn->skinnormal[3*(vertadr+vid[r])+t] += nrm[t];
-          }
-        }
-      }
-
-      // normalize normals
-      for (int k=vertadr; k < vertadr+vertnum; k++) {
-        float s = sqrtf(
-          scn->skinnormal[3*k+0]*scn->skinnormal[3*k+0] +
-          scn->skinnormal[3*k+1]*scn->skinnormal[3*k+1] +
-          scn->skinnormal[3*k+2]*scn->skinnormal[3*k+2]
-          );
-        float scl = 1/mjMAX(mjMINVAL, s);
-
-        scn->skinnormal[3*k] *= scl;
-        scn->skinnormal[3*k+1] *= scl;
-        scn->skinnormal[3*k+2] *= scl;
-      }
-
-      // inflate
-      if (m->skin_inflate[i]) {
-        float inflate = m->skin_inflate[i];
-        for (int k=vertadr; k < vertadr+vertnum; k++) {
-          scn->skinvert[3*k]   += inflate*scn->skinnormal[3*k];
-          scn->skinvert[3*k+1] += inflate*scn->skinnormal[3*k+1];
-          scn->skinvert[3*k+2] += inflate*scn->skinnormal[3*k+2];
-        }
-      }
-    }
-  }
-}
-
-
-// update entire scene
-void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
-                     const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn) {
-  // clear geoms
-  scn->ngeom = 0;
-
-  // trigger plugin visualization hooks
-  if (m->nplugin) {
-    const int nslot = mjp_pluginCount();
-    // iterate over plugins, call visualize if defined
-    for (int i=0; i < m->nplugin; i++) {
-      const int slot = m->plugin[i];
-      const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
-      if (!plugin) {
-        mjERROR("invalid plugin slot: %d", slot);
-      }
-      if (plugin->visualize) {
-        plugin->visualize(m, d, opt, scn, i);
-      }
-    }
-  }
-
-  // add all categories
-  mjv_addGeoms(m, d, opt, pert, catmask, scn);
-
-  // update camera
-  mjv_updateCamera(m, d, cam, scn);
-
-  // add lights
-  mjv_makeLights(m, d, scn);
-
-  // update flexes
-  if (opt->flags[mjVIS_FLEXVERT] || opt->flags[mjVIS_FLEXEDGE] ||
-      opt->flags[mjVIS_FLEXFACE] || opt->flags[mjVIS_FLEXSKIN]) {
-    mjv_updateActiveFlex(m, d, scn, opt);
-  }
-
-  // update skins
-  if (opt->flags[mjVIS_SKIN]) {
-    mjv_updateActiveSkin(m, d, scn, opt);
-  }
-}
-
-
-//----------------------------------- catenary functions -------------------------------------------
-
-// returns hyperbolic cosine and optionally computes hyperbolic sine
-static inline mjtNum cosh_sinh(mjtNum x, mjtNum* sinh) {
-  mjtNum expx = mju_exp(x);
-  if (sinh) {
-    *sinh = 0.5 * (expx - 1/expx);
-  }
-  return 0.5 * (expx + 1/expx);
-}
-
-
-// returns intercept of the catenary equation
-static inline mjtNum catenary_intercept(mjtNum v, mjtNum h, mjtNum length) {
-  return 1/mju_sqrt(mju_sqrt(length*length - v*v)/h - 1);
-}
-
-
-// returns residual of catenary equation and optionally computes its gradient w.r.t b
-static inline mjtNum catenary_residual(mjtNum b, mjtNum intercept, mjtNum* grad) {
-  mjtNum a = 0.5 / b;
-  mjtNum sinh, cosh = cosh_sinh(a, &sinh);
-  if (grad) {
-    *grad = (a*cosh - sinh) * mju_pow(2*b*sinh - 1, -1.5);
-  }
-  return 1/mju_sqrt(2*b*sinh - 1) - intercept;
-}
-
-
-// convergence tolerance for catenary solver
-static const mjtNum tolerance = 1e-9;
-
-
-
-// solve transcendental catenary equation using change of variables proposed in
-//   https://math.stackexchange.com/a/1002996
-static inline mjtNum solve_catenary(mjtNum v, mjtNum h, mjtNum length) {
-  mjtNum intercept = catenary_intercept(v, h, length);
-
-  // initial guess using linear approximation to catenary_residual
-  mjtNum b = intercept / mju_sqrt(24);
-
-  // Newton steps to convergence (usually ~ 5 steps)
-  for (int i=0; i < 50; i++) {
-    // get value and gradient
-    mjtNum grad;
-    mjtNum res = catenary_residual(b, intercept, &grad);
-
-    if (mju_abs(res) < tolerance) {
-      break;
-    }
-
-    // Newton step
-    mjtNum step = -res / grad;
-
-    // backtracking line-search is not essential but can reduce number of iterations
-    for (int j=0; j < 10; j++) {
-      mjtNum new_res = catenary_residual(b + step, intercept, NULL);
-      if (mju_abs(new_res) < mju_abs(res)) {
-        break;
-      } else {
-        step *= 0.5;
-      }
-    }
-
-    // take step
-    b += step;
-  }
-
-  return b;
-}
-
-
-// points along catenary of given length between x0 and x1, returns number of points
-int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3], mjtNum length,
-                 mjtNum* catenary, int ncatenary) {
-  mjtNum dist = mju_dist3(x0, x1);
-
-  // tendon is stretched longer than length: draw straight line
-  if (dist > length) {
-    // copy start and end points
-    mju_copy3(catenary+0, x0);
-    mju_copy3(catenary+3, x1);
-
-    return 2;
-  }
-
-  // tendon is shorter than length
-  else {
-    // normalized up vector
-    mjtNum up[3];
-    mju_scl3(up, gravity, -1);
-    mju_normalize3(up);
-
-    // x0 to x1
-    mjtNum x01[3];
-    mju_sub3(x01, x1, x0);
-
-    // make across orthonormal to up, points from x0 to x1
-    mjtNum across[3];
-    mju_copy3(across, x01);
-    mjtNum tmp[3];
-    mju_scl3(tmp, up, mju_dot3(up, across));
-    mju_subFrom3(across, tmp);
-    mjtNum norm = mju_normalize3(across);
-
-    // if across is numerically tiny, just set to 0
-    if (norm < mjMINVAL) {
-      mju_zero3(across);
-    }
-
-    // extents in the suspension plane
-    mjtNum h = mju_dot3(x01, across);  // horizontal suspension extent
-    mjtNum v = mju_dot3(x01, up);      // vertical height difference of x1 and x0
-
-    // near vertical tendon, use hanging bead approximation: 3 points
-    if (length > 100*h) {
-      // solve for location of bead hanging on tendon
-      mjtNum d_up = -0.5*(mju_sqrt(length*length - h*h) - v);  // down from x0
-      mjtNum d_across = h*d_up / (2*d_up - v);                 // across from x0
-
-      // start point
-      mju_copy3(catenary+0, x0);
-
-      // midpoint: bead location
-      mju_copy3(catenary+3, x0);
-      mju_addToScl3(catenary+3, up, d_up);
-      mju_addToScl3(catenary+3, across, d_across);
-
-      // end point
-      mju_copy3(catenary+6, x1);
-
-      return 3;
-    }
-
-    // compute full catenary: ncatenary points
-    else {
-      // b*h: scaled catenary flatness
-      mjtNum bh = solve_catenary(v, h, length) * h;
-
-      // horizontal and vertical offsets
-      mjtNum h_offset = -0.5 * (mju_log((length+v) / (length-v)) * bh - h);
-      mjtNum v_offset = -cosh_sinh(h_offset / bh, NULL) * bh;
-
-      // start point
-      mju_copy3(catenary+0, x0);
-
-      // hanging points
-      for (int i=1; i < ncatenary-1; i++) {
-        // linearly spaced horizontal offset
-        mjtNum horizontal = i*h/ncatenary;
-        mju_addScl3(catenary+3*i, x0, across, horizontal);
-
-        // vertical offset, evaluate catenary values
-        mjtNum vertical = bh * cosh_sinh((horizontal - h_offset) / bh, NULL) + v_offset;
-        mju_addToScl3(catenary+3*i, up, vertical);
-      }
-
-      // end point
-      mju_copy3(catenary+3*(ncatenary-1), x1);
-
-      return ncatenary;
-    }
-  }
-
-  return 0;  // SHOULD NOT OCCUR
-}
diff --git a/src/engine/engine_vis_visualize.h b/src/engine/engine_vis_visualize.h
deleted file mode 100644
index f5bd51ea..00000000
--- a/src/engine/engine_vis_visualize.h
+++ /dev/null
@@ -1,82 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_VIS_VISUALIZE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_VIS_VISUALIZE_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjvisualize.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// set (type, size, pos, mat) connector-type geom between given points
-//  assume that mjv_initGeom was already called to set all other properties
-MJAPI void mjv_connector(mjvGeom* geom, int type, mjtNum width,
-                         const mjtNum from[3], const mjtNum to[3]);
-
-// initialize given fields when not NULL, set the rest to their default values
-MJAPI void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
-                        const mjtNum* pos, const mjtNum* mat, const float* rgba);
-
-// update entire scene
-MJAPI void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
-                           const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
-
-// add geoms from selected categories to existing scene
-MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
-                        const mjvPerturb* pert, int catmask, mjvScene* scn);
-
-// make list of lights only
-MJAPI void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
-
-// update camera only
-MJAPI void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScene* scn);
-
-// update visible flexes only
-MJAPI void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvOption* opt);
-
-// update skins only
-MJAPI void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
-
-// update visible skins only
-MJAPI void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn,
-                                const mjvOption* opt);
-
-// computes the camera position, forward, up, and right vectors
-MJAPI void mjv_cameraFrame(mjtNum headpos[3], mjtNum forward[3], mjtNum up[3], mjtNum right[3],
-                           const mjData* d, const mjvCamera* cam);
-
-// computes the camera frustums, i.e. vertical, horizontal, and clip planes
-MJAPI void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  const mjModel* m,
-                             const mjvCamera* cam);
-
-// determines if tendon should be rendered as a catenary curve and, if so, computes its length
-MJAPI int mjv_isCatenary(const mjModel* m, const mjData* d, int i, mjtNum* length);
-
-// computes points along a catenary curve
-MJAPI int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3],
-                       mjtNum length, mjtNum* catenary, int ncatenary);
-
-// convert HSV to RGB
-MJAPI void hsv2rgb(float *RGB, float H, float S, float V);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_VIS_VISUALIZE_H_
diff --git a/src/experimental/filament/CMakeLists.txt b/src/experimental/filament/CMakeLists.txt
deleted file mode 100644
index 321170da..00000000
--- a/src/experimental/filament/CMakeLists.txt
+++ /dev/null
@@ -1,48 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-cmake_minimum_required(VERSION 3.16)
-
-set(MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME mujoco_filament_experimental)
-
-add_library(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME} STATIC)
-target_compile_definitions(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME} PRIVATE MJ_STATIC)
-
-target_sources(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME}
-    PUBLIC
-        compat/scene_bridge.cc
-        compat/scene_bridge.h
-        compat/scene_geom_util.cc
-        compat/scene_geom_util.h
-        compat/scene_objects.cc
-        compat/scene_objects.h
-)
-if(MUJOCO_USE_FILAMENT_MJR_COMPAT)
-    target_sources(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME}
-        PUBLIC
-            mjr_compat.cc
-    )
-endif()
-
-target_include_directories(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME}
-    PUBLIC
-        ${PROJECT_SOURCE_DIR}/include
-        ${PROJECT_SOURCE_DIR}/src
-)
-
-target_link_libraries(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME}
-    mujoco_filament
-)
-
-add_library(mujoco::filament_experimental ALIAS ${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME})
diff --git a/src/experimental/filament/compat/scene_bridge.cc b/src/experimental/filament/compat/scene_bridge.cc
deleted file mode 100644
index 55c1fea2..00000000
--- a/src/experimental/filament/compat/scene_bridge.cc
+++ /dev/null
@@ -1,272 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/filament/compat/scene_bridge.h"
-
-#include <memory>
-#include <optional>
-#include <utility>
-
-#include <math/TMatHelpers.h>
-#include <math/TVecHelpers.h>
-#include <math/mat4.h>
-#include <math/mathfwd.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "experimental/filament/compat/scene_geom_util.h"
-#include "experimental/filament/compat/scene_objects.h"
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/filament_util.h"
-#include "render/filament/support/model_lights.h"
-#include "render/filament/support/model_objects.h"
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::float4;
-using filament::math::mat3;
-using filament::math::mat4;
-
-SceneBridge::SceneBridge(mjrfContext* ctx, mjrfScene* scene, const mjModel* model)
-    : ctx_(ctx), scene_(scene) {
-  model_objects_ = std::make_unique<ModelObjects>(model, ctx_);
-  scene_objects_ = std::make_unique<SceneObjects>(ctx_);
-
-  mjrf_configureSceneFromModel(scene_, model);
-
-  auto clear_color = ReadElement(model, "filament.clearColor",
-                                 filament::math::float4(0, 0, 0, 1));
-  mjrf_setClearColor(ctx_, &clear_color[0]);
-
-  model_lights_ = std::make_unique<ModelLights>(scene_, model_objects_.get());
-}
-
-SceneBridge::~SceneBridge() {
-  model_lights_.reset();
-  for (auto& iter : renderables_) {
-    mjrf_removeRenderableFromScene(scene_, iter.get());
-  }
-  renderables_.clear();
-}
-
-std::optional<float3> SceneBridge::ClipFromWorld(const float3& pos) const{
-  const float4 clip_pos = clip_from_world_ * float4(pos, 1.0f);
-  if (clip_pos.w == 0.0f) {
-    return std::nullopt;
-  }
-  return clip_pos.xyz / clip_pos.w;
-}
-
-mat4 CalculateClipFromWorld(const mjrRect& viewport, const mjrCamera& cam) {
-  const float3 cam_pos(cam.pos[0], cam.pos[1], cam.pos[2]);
-  const float3 cam_fwd(cam.forward[0], cam.forward[1], cam.forward[2]);
-  const float3 cam_up(cam.up[0], cam.up[1], cam.up[2]);
-  const float3 cam_at = cam_pos + cam_fwd;
-  const float aspect_ratio = (float)viewport.width / (float)viewport.height;
-  const float halfwidth =
-      cam.frustum_width
-          ? cam.frustum_width
-          : 0.5f * aspect_ratio * (cam.frustum_top - cam.frustum_bottom);
-  const float left = cam.frustum_center - halfwidth;
-  const float right = cam.frustum_center + halfwidth;
-
-  mat4 projection;
-  if (cam.orthographic) {
-    projection = mat4::ortho(left, right, cam.frustum_bottom, cam.frustum_top,
-                             cam.frustum_near, cam.frustum_far);
-  } else {
-    projection = mat4::frustum(left, right, cam.frustum_bottom, cam.frustum_top,
-                               cam.frustum_near, cam.frustum_far);
-    projection[2][2] = -1.0f;
-    projection[3][2] = -2.0f * cam.frustum_near;
-  }
-  mat4 look_at = mat4::lookAt(cam_pos, cam_at, cam_up);
-  return projection * inverse(look_at);
-}
-
-void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
-  const mjModel* model = model_objects_->GetModel();
-
-  model_lights_->Update();
-
-  mjtNum hpos[3], hfwd[3];
-  float headpos[3], gazedir[3];
-  mjv_cameraInModel(hpos, hfwd, nullptr, scene);
-  mju_n2f(headpos, hpos, 3);
-  mju_n2f(gazedir, hfwd, 3);
-
-  camera_ = mjv_averageCamera(scene->camera, scene->camera + 1);
-  clip_from_world_ = CalculateClipFromWorld(viewport, camera_);
-
-  // Remove all drawables from previous render and prepare new ones.
-  for (auto& iter : renderables_) {
-    mjrf_removeRenderableFromScene(scene_, iter.get());
-  }
-  renderables_.clear();
-  for (int i = 0; i < scene->ngeom; ++i) {
-    const mjvGeom* geom = scene->geoms + i;
-
-    if (draw_text_callback_ && geom->label[0] != 0) {
-      if (auto pos = ClipFromWorld(ReadFloat3(geom->pos))) {
-        draw_text_callback_(geom->label, pos->x, pos->y, pos->z);
-      }
-    }
-
-    // Draw flex edges and vertices as separate renderables.
-    if (geom->type == mjGEOM_FLEX &&
-        (!scene->flexskinopt || model->flex_dim[geom->objid] == 1)) {
-      mjrfMaterial material;
-      mjrf_defaultMaterial(&material);
-      material.color[0] = model->flex_rgba[4 * geom->objid + 0];
-      material.color[1] = model->flex_rgba[4 * geom->objid + 1];
-      material.color[2] = model->flex_rgba[4 * geom->objid + 2];
-      material.color[3] = model->flex_rgba[4 * geom->objid + 3];
-
-      mjrfRenderableParams params;
-      mjrf_defaultRenderableParams(&params);
-
-      const int vertadr = scene->flexvertadr[geom->objid];
-      const int vertnum = scene->flexvertnum[geom->objid];
-      const float radius = model->flex_radius[geom->objid];
-
-      if (scene->flexvertopt) {
-        // Use small spheres to represent vertices.
-        const float rot[] = {1.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 1.f};
-        const float size[] = {radius, radius, radius};
-        for (int v = vertadr; v < vertadr + vertnum; ++v) {
-          auto vertex = CreateRenderable(ctx_, params);
-          mjrf_setRenderableGeomMesh(vertex.get(), mjGEOM_SPHERE, 3, 3, 3);
-          mjrf_setRenderableMaterial(vertex.get(), &material);
-          mjrf_setRenderableSize(vertex.get(), size);
-          mjrf_setRenderableTransform(vertex.get(), scene->flexvert + 3*v, rot);
-          mjrf_addRenderableToScene(scene_, vertex.get());
-          renderables_.push_back(std::move(vertex));
-        }
-      }
-
-      if (scene->flexedgeopt) {
-        const int edgeadr = scene->flexedgeadr[geom->objid];
-        const int edgenum = scene->flexedgenum[geom->objid];
-
-        // Use small thin cylinders to represent the edges.
-        for (int e = edgeadr; e < edgeadr + edgenum; ++e) {
-          const float* v1 = scene->flexvert + 3 * (vertadr + scene->flexedge[2*e]);
-          const float* v2 = scene->flexvert + 3 * (vertadr + scene->flexedge[2*e+1]);
-          const mjtNum vec[3] = {v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2]};
-
-          const float pos[3]{
-              (v1[0] + v2[0]) * 0.5f,
-              (v1[1] + v2[1]) * 0.5f,
-              (v1[2] + v2[2]) * 0.5f,
-          };
-
-          mjtNum quat[4];
-          mju_quatZ2Vec(quat, vec);
-          mjtNum edgemat[9];
-          mju_quat2Mat(edgemat, quat);
-          const float rot[9] = {
-            static_cast<float>(edgemat[0]),
-            static_cast<float>(edgemat[1]),
-            static_cast<float>(edgemat[2]),
-            static_cast<float>(edgemat[3]),
-            static_cast<float>(edgemat[4]),
-            static_cast<float>(edgemat[5]),
-            static_cast<float>(edgemat[6]),
-            static_cast<float>(edgemat[7]),
-            static_cast<float>(edgemat[8]),
-          };
-
-          const float len = static_cast<float>(mju_norm3(vec));
-          const float size[3] = {radius, radius, len * 0.5f};
-
-          auto vertex = CreateRenderable(ctx_, params);
-          mjrf_setRenderableGeomMesh(vertex.get(), mjGEOM_CYLINDER, 3, 3, 3);
-          mjrf_setRenderableMaterial(vertex.get(), &material);
-          mjrf_setRenderableSize(vertex.get(), size);
-          mjrf_setRenderableTransform(vertex.get(), pos, rot);
-          mjrf_addRenderableToScene(scene_, vertex.get());
-          renderables_.push_back(std::move(vertex));
-        }
-      }
-    }
-
-    if (geom->type == mjGEOM_FLEX || geom->type == mjGEOM_SKIN) {
-      if (!scene_objects_->CreateSkinFlexMesh(scene, model_objects_->GetModel(),
-                                              *geom)) {
-        continue;
-      }
-    }
-
-    UniquePtr<mjrfRenderable> renderable = CreateGeomRenderable(
-        *geom, ctx_, model_objects_.get(), scene_objects_.get());
-
-    mjrf_addRenderableToScene(scene_, renderable.get());
-    renderables_.push_back(std::move(renderable));
-  }
-
-  mjrfLight* headlight = nullptr;
-  bool headlight_enabled = false;
-  for (int i = 0; i < scene->nlight; ++i) {
-    const mjvLight& scene_light = scene->lights[i];
-    if (scene_light.id < 0 && scene_light.headlight) {
-      // The headlight, if it exists, is assigned the id `scene->nlight`.
-      headlight = model_lights_->GetLight(scene->nlight);
-      if (!headlight) {
-        continue;
-      }
-      // We position the headlight slightly behind the camera to avoid some
-      // odd clipping issues.
-      headlight_enabled = true;
-      headpos[0] -= gazedir[0] * 0.05f;
-      headpos[1] -= gazedir[1] * 0.05f;
-      headpos[2] -= gazedir[2] * 0.05f;
-
-      mjrf_setLightColor(headlight, scene_light.diffuse);
-      mjrf_setLightTransform(headlight, headpos, gazedir);
-      continue;
-    } else if (mjrfLight* light = model_lights_->GetLight(scene_light.id)) {
-      mjrf_setLightColor(light, scene_light.diffuse);
-      mjrf_setLightTransform(light, scene_light.pos, scene_light.dir);
-    } else {
-      mju_error("Unexpected light id: %d", scene_light.id);
-    }
-  }
-
-  // Enable/disable the headlight based on whether or not it's in the scene.
-  if (headlight) {
-    mjrf_setLightEnabled(headlight, headlight_enabled);
-  }
-}
-
-void SceneBridge::UploadMesh(const mjModel* model, int id) {
-  model_objects_->UploadMesh(model, id);
-}
-
-void SceneBridge::UploadTexture(const mjModel* model, int id) {
-  model_objects_->UploadTexture(model, id);
-}
-
-void SceneBridge::UploadHeightField(const mjModel* model, int id) {
-  model_objects_->UploadHeightField(model, id);
-}
-
-void SceneBridge::SetDrawTextFunction(DrawTextAtFn fn) {
-  draw_text_callback_ = std::move(fn);
-}
-
-mjrCamera SceneBridge::GetCamera() const { return camera_; }
-
-}  // namespace mujoco
diff --git a/src/experimental/filament/compat/scene_bridge.h b/src/experimental/filament/compat/scene_bridge.h
deleted file mode 100644
index 61b8b847..00000000
--- a/src/experimental/filament/compat/scene_bridge.h
+++ /dev/null
@@ -1,78 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
-
-#include <functional>
-#include <memory>
-#include <optional>
-#include <vector>
-
-#include <math/mat4.h>
-#include <math/vec3.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "experimental/filament/compat/scene_objects.h"
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/model_lights.h"
-#include "render/filament/support/model_objects.h"
-
-namespace mujoco {
-
-// Manages all mjModel data and updates a SceneView using an mjvScene.
-class SceneBridge {
- public:
-  SceneBridge(mjrfContext* ctx, mjrfScene* scene, const mjModel* model);
-  ~SceneBridge();
-
-  // Updates the Entities in the filament Scene to match the current mjvScene
-  // state.
-  void Update(const mjrRect& viewport, const mjvScene* scene);
-
-  // Creates the filament objects from the mjModel.
-  void UploadMesh(const mjModel* model, int id);
-  void UploadTexture(const mjModel* model, int id);
-  void UploadHeightField(const mjModel* model, int id);
-
-  using DrawTextAtFn = std::function<void(const char*, float, float, float)>;
-  void SetDrawTextFunction(DrawTextAtFn fn);
-
-  // Returns the camera used for rendering the scene.
-  mjrCamera GetCamera() const;
-
-  SceneBridge(const SceneBridge&) = delete;
-  SceneBridge& operator=(const SceneBridge&) = delete;
-
- private:
-  // Converts a point in world space to clip space, eg. in the range [-1,-1, 0]
-  // to [1, 1, 1]. Returns std::nullopt if the point is behind the camera.
-  std::optional<filament::math::float3> ClipFromWorld(
-      const filament::math::float3& pos) const;
-
-  mjrfContext* ctx_ = nullptr;
-  mjrfScene* scene_ = nullptr;
-  std::unique_ptr<ModelObjects> model_objects_;
-  std::unique_ptr<SceneObjects> scene_objects_;
-  std::unique_ptr<ModelLights> model_lights_;
-  mjrCamera camera_;
-  DrawTextAtFn draw_text_callback_;
-  std::vector<UniquePtr<mjrfRenderable>> renderables_;
-  filament::math::mat4 clip_from_world_;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
diff --git a/src/experimental/filament/compat/scene_geom_util.cc b/src/experimental/filament/compat/scene_geom_util.cc
deleted file mode 100644
index 8bb62134..00000000
--- a/src/experimental/filament/compat/scene_geom_util.cc
+++ /dev/null
@@ -1,266 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/filament/compat/scene_geom_util.h"
-
-#include <cmath>
-#include <cstdint>
-#include <cstring>
-#include <memory>
-
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "experimental/filament/compat/scene_objects.h"
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/model_objects.h"
-
-namespace mujoco {
-
-static void PrepareGeomMeshes(mjrfRenderable* renderable, const mjvGeom& geom,
-                              ModelObjects* model_objs,
-                              SceneObjects* scene_objs) {
-  const mjModel* model = model_objs->GetModel();
-  const int nstack = model->vis.quality.numstacks;
-  const int nslice = model->vis.quality.numslices;
-  const int nquad = model->vis.quality.numquads;
-
-  float position[3];
-  std::memcpy(position, &geom.pos, 3 * sizeof(float));
-  float rotation[9];
-  std::memcpy(rotation, &geom.mat, 9 * sizeof(float));
-
-  const mjtGeom geom_type = (mjtGeom)geom.type;
-  switch (geom_type) {
-    case mjGEOM_MESH:
-    case mjGEOM_SDF:
-      mjrf_setRenderableMesh(renderable, model_objs->GetMesh(geom.dataid), 0, 0);
-      break;
-    case mjGEOM_HFIELD:
-      mjrf_setRenderableMesh(renderable, model_objs->GetHeightField(geom.dataid), 0, 0);
-      break;
-    case mjGEOM_PLANE: {
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      // Planes only define an xy size, so set the z-dimension to 1.0f.
-      const float size[3] = {geom.size[0], geom.size[1], 1.0f};
-      mjrf_setRenderableSize(renderable, size);
-      break;
-    }
-    case mjGEOM_SPHERE:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_ELLIPSOID:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_BOX:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_CAPSULE:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_CYLINDER:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_ARROW:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_ARROW1:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_ARROW2:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_LINE:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_LINEBOX:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_TRIANGLE:
-      mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
-      mjrf_setRenderableSize(renderable, geom.size);
-      break;
-    case mjGEOM_FLEX:
-      mjrf_setRenderableMesh(renderable, scene_objs->GetFlexMesh(geom.objid), 0, 0);
-      // Flexes are defined in global space.
-      std::memset(position, 0, sizeof(position));
-      std::memset(rotation, 0, sizeof(rotation));
-      rotation[0] = 1.f;
-      rotation[4] = 1.f;
-      rotation[8] = 1.f;
-      break;
-    case mjGEOM_SKIN:
-      mjrf_setRenderableMesh(renderable, scene_objs->GetSkinMesh(geom.objid), 0, 0);
-      // Skins are defined in global space.
-      std::memset(position, 0, sizeof(position));
-      std::memset(rotation, 0, sizeof(rotation));
-      rotation[0] = 1.f;
-      rotation[4] = 1.f;
-      rotation[8] = 1.f;
-      break;
-    case mjGEOM_NONE:
-    case mjGEOM_LABEL:
-      // Do nothing.
-      break;
-    case mjNGEOMTYPES:
-      mju_warning("Unsupported geom type: %d", geom.type);
-      break;
-  }
-
-  mjrf_setRenderableTransform(renderable, position, rotation);
-}
-
-static void UpdateGeomMaterial(mjrfRenderable* renderable, const mjvGeom& geom,
-                               ModelObjects* model_objs) {
-  const mjModel* model = model_objs->GetModel();
-
-  mjrfMaterial material;
-  mjrf_defaultMaterial(&material);
-
-  if (geom.category == mjCAT_DECOR) {
-    material.decor_ux = true;
-  }
-
-  material.color[0] = geom.rgba[0];
-  material.color[1] = geom.rgba[1];
-  material.color[2] = geom.rgba[2];
-  material.color[3] = geom.rgba[3];
-
-  if (geom.matid >= 0 && geom.matid < model->nmat) {
-    auto get_texture = [&](int role) -> const mjrfTexture* {
-      const int tex_id = model->mat_texid[geom.matid * mjNTEXROLE + role];
-      return tex_id >= 0 ? model_objs->GetTexture(tex_id) : nullptr;
-    };
-    material.color_texture = get_texture(mjTEXROLE_RGB);
-    material.normal_texture = get_texture(mjTEXROLE_NORMAL);
-    material.opacity_texture = get_texture(mjTEXROLE_OPACITY);
-    material.emissive_texture = get_texture(mjTEXROLE_EMISSIVE);
-    material.orm_texture = get_texture(mjTEXROLE_ORM);
-    material.metallic_texture = get_texture(mjTEXROLE_METALLIC);
-    material.roughness_texture = get_texture(mjTEXROLE_ROUGHNESS);
-    material.occlusion_texture = get_texture(mjTEXROLE_OCCLUSION);
-  }
-  if (geom.texid >= 0) {
-    material.color_texture = model_objs->GetTexture(geom.texid);
-  }
-
-  material.reflectance = geom.reflectance;
-  material.emissive = geom.emission;
-  material.specular = geom.specular;
-  material.glossiness = geom.shininess;
-  if (geom.matid >= 0) {
-    material.metallic = model->mat_metallic[geom.matid];
-    material.roughness = model->mat_roughness[geom.matid];
-  }
-
-  material.segmentation_id = geom.segid;
-
-  // Assume an emissive object is a selected object.
-  if (geom.emission > 0 && geom.emission == model->vis.global.glow) {
-    material.selected = true;
-    material.emissive = 0.0f;
-  }
-
-  // UvScale only applies to objects that don't have explicit UV coordinates
-  // in their vertex buffer. Instead, we set the UV coordinate to be the same
-  // as the vertex position.
-  //
-  // The material's `texuniform` and `texrepeat` parameters allow us to scale
-  // the programmatic UVs.
-
-  if (material.color_texture) {
-    bool tex_uniform;
-    float tex_repeat[2];
-    if (geom.texid >= 0) {
-      tex_uniform = geom.texuniform;
-      tex_repeat[0] = geom.texrepeat[0];
-      tex_repeat[1] = geom.texrepeat[1];
-    } else {
-      tex_uniform = model->mat_texuniform[geom.matid];
-      tex_repeat[0] = model->mat_texrepeat[(geom.matid * 2) + 0];
-      tex_repeat[1] = model->mat_texrepeat[(geom.matid * 2) + 1];
-    }
-    if (mjrf_getTextureSamplerType(material.color_texture) == mjTEXTURE_2D) {
-      // For 2D textures, `tex_repeat` specifies how many times the texture
-      // image is repeated. The `tex_uniform` flag determines if the repetition
-      // is applied at in object space (false) or in world space (true).
-      material.uv_scale[0] = tex_repeat[0];
-      material.uv_scale[1] = tex_repeat[1];
-
-      const bool is_infinite_plane =
-          geom.type == mjGEOM_PLANE && (geom.size[0] <= 0 || geom.size[1] <= 0);
-      if (is_infinite_plane) {
-        const float plane_scale = static_cast<float>(mjMAXPLANEGRID) / 2.0f;
-
-        const float dot_pos_axis_x = geom.pos[0] * geom.mat[0] +
-                                     geom.pos[1] * geom.mat[3] +
-                                     geom.pos[2] * geom.mat[6];
-        const float dot_pos_axis_y = geom.pos[0] * geom.mat[1] +
-                                     geom.pos[1] * geom.mat[4] +
-                                     geom.pos[2] * geom.mat[7];
-
-        material.uv_scale[0] *= plane_scale;
-        material.uv_scale[1] *= plane_scale;
-        // The vertex UVs in PlaneBuilder are u0 = 0.5*x + 0.5, v0 = -0.5*y + 0.5.
-        // To keep the world-space texture coordinate u = 0.5*worldX*texrepeat - 0.5
-        // independent of the snapped geomPos, uv_offset must compensate by 0.5*dot_pos.
-        material.uv_offset[0] =
-            (0.5f * dot_pos_axis_x - 0.5f * plane_scale) * tex_repeat[0] - 0.5f;
-        material.uv_offset[1] =
-            (-0.5f * dot_pos_axis_y - 0.5f * plane_scale) * tex_repeat[1] - 0.5f;
-      } else if (tex_uniform) {
-        material.uv_scale[0] *= (geom.size[0] ? geom.size[0] : 1.0f);
-        material.uv_scale[1] *= (geom.size[1] ? geom.size[1] : 1.0f);
-      }
-    } else {
-      // For cube maps, if `tex_uniform` is true, then scale the texture so that
-      // it covers a 1x1 area of world space rather than the area of the object.
-      if (tex_uniform) {
-        material.uv_scale[0] = 1.0f / (geom.size[0] ? geom.size[0] : 1.0f);
-        material.uv_scale[1] = 1.0f / (geom.size[1] ? geom.size[1] : 1.0f);
-        material.uv_scale[2] = 1.0f / (geom.size[2] ? geom.size[2] : 1.0f);
-      }
-    }
-  }
-
-  // Apply material multipliers from the model.
-  material.emissive *= model_objs->GetEmissiveMultiplier();
-  material.specular *= model_objs->GetSpecularMultiplier();
-  material.glossiness *= model_objs->GetShininessMultiplier();
-
-  mjrf_setRenderableMaterial(renderable, &material);
-}
-
-UniquePtr<mjrfRenderable> CreateGeomRenderable(const mjvGeom& geom,
-                                               mjrfContext* ctx,
-                                               ModelObjects* model_objs,
-                                               SceneObjects* scene_objs) {
-  mjrfRenderableParams params;
-  mjrf_defaultRenderableParams(&params);
-  auto renderable = CreateRenderable(ctx, params);
-  PrepareGeomMeshes(renderable.get(), geom, model_objs, scene_objs);
-  UpdateGeomMaterial(renderable.get(), geom, model_objs);
-  return renderable;
-}
-}  // namespace mujoco
diff --git a/src/experimental/filament/compat/scene_geom_util.h b/src/experimental/filament/compat/scene_geom_util.h
deleted file mode 100644
index 857c274f..00000000
--- a/src/experimental/filament/compat/scene_geom_util.h
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_
-
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "experimental/filament/compat/scene_objects.h"
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/model_objects.h"
-
-namespace mujoco {
-
-// Creates a Renderable from the given mjvGeom.
-UniquePtr<mjrfRenderable> CreateGeomRenderable(const mjvGeom& geom,
-                                               mjrfContext* ctx,
-                                               ModelObjects* model_objs,
-                                               SceneObjects* scene_objs);
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_
diff --git a/src/experimental/filament/compat/scene_objects.cc b/src/experimental/filament/compat/scene_objects.cc
deleted file mode 100644
index 656ed6e9..00000000
--- a/src/experimental/filament/compat/scene_objects.cc
+++ /dev/null
@@ -1,184 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/filament/compat/scene_objects.h"
-
-#include <cstddef>
-#include <memory>
-#include <span>
-#include <utility>
-
-#include <math/vec2.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-
-namespace mujoco {
-
-using filament::math::float2;
-using filament::math::float3;
-using filament::math::float4;
-
-static std::span<const float> GetPositions(const mjModel* model,
-                                           const mjvScene* scene,
-                                           const mjvGeom& geom) {
-  if (geom.type == mjGEOM_FLEX) {
-    const int num = 9 * scene->flexfaceused[geom.objid];
-    const int addr = scene->flexfaceadr[geom.objid];
-    const float* ptr = scene->flexface + (9 * addr);
-    return {ptr, static_cast<size_t>(num)};
-  } else {
-    const int num = 3 * scene->skinvertnum[geom.objid];
-    const int addr = scene->skinvertadr[geom.objid];
-    const float* ptr = scene->skinvert + (3 * addr);
-    return {ptr, static_cast<size_t>(num)};
-  }
-}
-
-static std::span<const float> GetNormals(const mjModel* model,
-                                         const mjvScene* scene,
-                                         const mjvGeom& geom) {
-  if (geom.type == mjGEOM_FLEX) {
-    const int num = 9 * scene->flexfaceused[geom.objid];
-    const int addr = scene->flexfaceadr[geom.objid];
-    const float* ptr = scene->flexnormal + (9 * addr);
-    return {ptr, static_cast<size_t>(num)};
-  } else {
-    const int num = 3 * scene->skinvertnum[geom.objid];
-    const int addr = scene->skinvertadr[geom.objid];
-    const float* ptr = scene->skinnormal + (3 * addr);
-    return {ptr, static_cast<size_t>(num)};
-  }
-}
-
-static std::span<const float> GetUvs(const mjModel* model,
-                                     const mjvScene* scene,
-                                     const mjvGeom& geom) {
-  if (geom.type == mjGEOM_FLEX) {
-    if (geom.texcoord && geom.matid >= 0) {
-      const int num = 6 * scene->flexfaceused[geom.objid];
-      const int addr = scene->flexfaceadr[geom.objid];
-      const float* ptr = scene->flextexcoord + (6 * addr);
-      return {ptr, static_cast<size_t>(num)};
-    } else {
-      const float* ptr = nullptr;
-      return {ptr, 0};
-    }
-  } else {
-    if (model->skin_texcoordadr[geom.objid] >= 0) {
-      const int num = 3 * scene->skinvertnum[geom.objid];
-      const int addr = model->skin_texcoordadr[geom.objid];
-      const float* ptr = model->skin_texcoord + (2 * addr);
-      return {ptr, static_cast<size_t>(num)};
-    } else {
-      const float* ptr = nullptr;
-      return {ptr, 0};
-    }
-  }
-}
-
-static std::span<const int> GetIndices(const mjModel* model,
-                                       const mjvScene* scene,
-                                       const mjvGeom& geom) {
-  if (geom.type == mjGEOM_FLEX) {
-    const int* ptr = nullptr;
-    return {ptr, 0};
-  } else {
-    const int num = 3 * model->skin_facenum[geom.objid];
-    const int* ptr = model->skin_face + 3 * model->skin_faceadr[geom.objid];
-    return {ptr, static_cast<size_t>(num)};
-  }
-}
-
-SceneObjects::SceneObjects(mjrfContext* ctx) : ctx_(ctx) {}
-
-bool SceneObjects::CreateSkinFlexMesh(const mjvScene* scene,
-                                      const mjModel* model,
-                                      const mjvGeom& geom) {
-  auto positions = GetPositions(model, scene, geom);
-  if (positions.empty()) {
-    return false;
-  }
-
-  auto normals = GetNormals(model, scene, geom);
-  auto uvs = GetUvs(model, scene, geom);
-  auto indices = GetIndices(model, scene, geom);
-
-  int num_indices = indices.size();
-  if (num_indices == 0 && geom.type == mjGEOM_FLEX) {
-    num_indices = 3 * scene->flexfaceused[geom.objid];
-  }
-
-  mjrfMeshConfig config;
-  mjrf_defaultMeshConfig(&config);
-  config.num_attributes = uvs.data() ? 3 : 2;
-  config.attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
-  config.attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-  config.attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_NORMAL;
-  config.attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-  config.attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
-  config.attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
-  config.max_vertices = positions.size() / 3;
-  config.max_indices = num_indices;
-  config.index_type = mjINDEX_TYPE_U32;
-  config.primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
-
-  mjrfMeshData data;
-  mjrf_defaultMeshData(&data);
-  data.vertices[0] = positions.data();
-  data.vertices[1] = normals.data();
-  data.vertices[2] = uvs.data();
-  data.num_vertices = positions.size() / 3;
-  data.num_indices = num_indices;
-  data.indices = indices.data();
-  data.compute_bounds = true;
-  data.release = nullptr;
-  data.user_data = nullptr;
-
-  if (geom.type == mjGEOM_FLEX) {
-    auto iter = flexes_.find(geom.objid);
-    if (iter == flexes_.end()) {
-      iter = flexes_.insert({geom.objid, CreateMesh(ctx_, config)}).first;
-    }
-    mjrf_setMeshData(iter->second.get(), &data);
-  } else if (geom.type == mjGEOM_SKIN) {
-    auto iter = skins_.find(geom.objid);
-    if (iter == skins_.end()) {
-      iter = skins_.insert({geom.objid, CreateMesh(ctx_, config)}).first;
-    }
-    mjrf_setMeshData(iter->second.get(), &data);
-  } else {
-    mju_error("Unsupported dynamic mesh type: %d", geom.type);
-  }
-  return true;
-}
-
-const mjrfMesh* SceneObjects::GetFlexMesh(int geom_id) const {
-  if (auto it = flexes_.find(geom_id); it != flexes_.end()) {
-    return it->second.get();
-  }
-  mju_error("Unknown flex mesh %d", geom_id);
-  return nullptr;
-}
-
-const mjrfMesh* SceneObjects::GetSkinMesh(int geom_id) const {
-  if (auto it = skins_.find(geom_id); it != skins_.end()) {
-    return it->second.get();
-  }
-  mju_error("Unknown skin mesh %d", geom_id);
-  return nullptr;
-}
-}  // namespace mujoco
diff --git a/src/experimental/filament/compat/scene_objects.h b/src/experimental/filament/compat/scene_objects.h
deleted file mode 100644
index bebf020d..00000000
--- a/src/experimental/filament/compat/scene_objects.h
+++ /dev/null
@@ -1,51 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_OBJECTS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_OBJECTS_H_
-
-#include <unordered_map>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-
-namespace mujoco {
-
-// Creates and owns meshes read from an mjvScene.
-class SceneObjects {
- public:
-  explicit SceneObjects(mjrfContext* ctx);
-
-  // Creates a skin or flex mesh from the given geom in the mjvScene.
-  bool CreateSkinFlexMesh(const mjvScene* scene, const mjModel* model,
-                          const mjvGeom& geom);
-
-  // Returns the mesh for the given geom id, as created by CreateSkinFlexMesh.
-  const mjrfMesh* GetSkinMesh(int geom_id) const;
-  const mjrfMesh* GetFlexMesh(int geom_id) const;
-
-  SceneObjects(const SceneObjects&) = delete;
-  SceneObjects& operator=(const SceneObjects&) = delete;
-
- private:
-  mjrfContext* ctx_ = nullptr;
-  std::unordered_map<int, UniquePtr<mjrfMesh>> skins_;
-  std::unordered_map<int, UniquePtr<mjrfMesh>> flexes_;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_OBJECTS_H_
diff --git a/src/experimental/filament/mjr_compat.cc b/src/experimental/filament/mjr_compat.cc
deleted file mode 100644
index fd6ab006..00000000
--- a/src/experimental/filament/mjr_compat.cc
+++ /dev/null
@@ -1,315 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstdint>
-#include <cstring>
-#include <memory>
-
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "experimental/filament/compat/scene_bridge.h"
-#include "render/filament/mjrfilament_cpp.h"
-
-// This library implements the entirety of mujoco's mjr API. You can link this
-// library with your application (instead of the "classic" mujoco renderer) to
-// use the same APIs but with Filament rendering instead. Note that some
-// functionality (e.g. ux-related functions like mjr_text, mjr_label, etc.)
-// will call mju_error if called.
-//
-// You should consider using filament's mjrf API directly as it will provide you
-// with access to more features and optimizations.
-
-namespace mujoco {
-namespace {
-
-class CompatContext {
- public:
-  CompatContext(const mjrfContextConfig* config, const mjModel* model);
-
-  void Render(const mjrRect& viewport, const mjvScene* scene);
-
-  void ReadPixels(mjrRect viewport, unsigned char* rgb, float* depth);
-
-  void SetFrameBuffer(int framebuffer) {
-    framebuffer_ = (mjtFramebuffer)framebuffer;
-  }
-
-  void UploadMesh(const mjModel* model, int id) {
-    scene_bridge_->UploadMesh(model, id);
-  }
-
-  void UploadTexture(const mjModel* model, int id) {
-    scene_bridge_->UploadTexture(model, id);
-  }
-
-  void UploadHeightField(const mjModel* model, int id) {
-    scene_bridge_->UploadHeightField(model, id);
-  }
-
-  mjrfContext* Context() const { return context_.get(); }
-
- private:
-  mjrDrawMode draw_mode_ = mjDRAW_MODE_DEFAULT;
-  UniquePtr<mjrfContext> context_{nullptr, nullptr};
-  UniquePtr<mjrfScene> scene_{nullptr, nullptr};
-  std::unique_ptr<SceneBridge> scene_bridge_;
-  mjtFramebuffer framebuffer_ = mjFB_WINDOW;
-  UniquePtr<mjrfRenderTarget> color_target_{nullptr, nullptr};
-  UniquePtr<mjrfRenderTarget> depth_target_{nullptr, nullptr};
-};
-
-CompatContext::CompatContext(const mjrfContextConfig* config,
-                             const mjModel* model) {
-  context_ = CreateContext(*config);
-  scene_ = CreateScene(context_.get(), {});
-  scene_bridge_ =
-      std::make_unique<SceneBridge>(context_.get(), scene_.get(), model);
-}
-
-void CompatContext::Render(const mjrRect& viewport, const mjvScene* scene) {
-  scene_bridge_->Update(viewport, scene);
-
-  if (scene->flags[mjRND_SEGMENT]) {
-    if (scene->flags[mjRND_IDCOLOR]) {
-      draw_mode_ = mjDRAW_MODE_SEGMENTATION_BY_ID;
-    } else {
-      draw_mode_ = mjDRAW_MODE_SEGMENTATION_BY_COLOR;
-    }
-  } else if (scene->flags[mjRND_DEPTH]) {
-    draw_mode_ = mjDRAW_MODE_DEPTH;
-  } else if (scene->flags[mjRND_WIREFRAME]) {
-    draw_mode_ = mjDRAW_MODE_WIREFRAME;
-  } else {
-    draw_mode_ = mjDRAW_MODE_DEFAULT;
-  }
-
-  if (framebuffer_ == mjFB_WINDOW) {
-    mjrfRenderRequest req;
-    mjrf_defaultRenderRequest(&req);
-    req.scene = scene_.get();
-    req.draw_mode = draw_mode_;
-    req.camera = scene_bridge_->GetCamera();
-    req.viewport = viewport;
-    mjrf_render(context_.get(), &req, 1, nullptr, 0);
-  }
-}
-
-void CompatContext::ReadPixels(mjrRect viewport, unsigned char* rgb,
-                               float* depth) {
-  if (framebuffer_ == mjFB_WINDOW) {
-    mju_error("ReadPixels is only supported for offscreen rendering.");
-  }
-
-  const int width = viewport.width;
-  const int height = viewport.height;
-
-  if (rgb) {
-    if (!color_target_) {
-      mjrfRenderTargetConfig config;
-      mjrf_defaultRenderTargetConfig(&config);
-      config.color_format = mjPIXEL_FORMAT_RGB8;
-      config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
-      color_target_ = CreateRenderTarget(context_.get(), config);
-    }
-    mjrf_resizeRenderTarget(color_target_.get(), width, height);
-
-    mjrfRenderRequest req;
-    mjrf_defaultRenderRequest(&req);
-    req.scene = scene_.get();
-    req.draw_mode = draw_mode_;
-    req.camera = scene_bridge_->GetCamera();
-    req.viewport = viewport;
-    req.target = color_target_.get();
-
-    mjrfReadPixelsRequest read_req;
-    mjrf_defaultReadPixelsRequest(&read_req);
-    read_req.target = color_target_.get();
-    read_req.output = rgb;
-    read_req.num_bytes = viewport.width * viewport.height * 3;
-
-    const mjrfFrameHandle frame = mjrf_render(context_.get(), &req, 1, &read_req, 1);
-    mjrf_waitForFrame(context_.get(), frame);
-  }
-
-  if (depth) {
-    if (!depth_target_) {
-      mjrfRenderTargetConfig config;
-      mjrf_defaultRenderTargetConfig(&config);
-      config.color_format = mjPIXEL_FORMAT_R32F;
-      config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
-      depth_target_ = CreateRenderTarget(context_.get(), config);
-    }
-    mjrf_resizeRenderTarget(depth_target_.get(), width, height);
-
-    mjrfRenderRequest req;
-    mjrf_defaultRenderRequest(&req);
-    req.scene = scene_.get();
-    req.draw_mode = mjDRAW_MODE_DEPTH;
-    req.camera = scene_bridge_->GetCamera();
-    req.viewport = viewport;
-    req.target = depth_target_.get();
-
-    mjrfReadPixelsRequest read_req;
-    mjrf_defaultReadPixelsRequest(&read_req);
-    read_req.target = depth_target_.get();
-    read_req.output = reinterpret_cast<uint8_t*>(depth);
-    read_req.num_bytes = viewport.width * viewport.height * sizeof(float);
-
-    const mjrfFrameHandle frame = mjrf_render(context_.get(), &req, 1, &read_req, 1);
-    mjrf_waitForFrame(context_.get(), frame);
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
-
-static thread_local mujoco::CompatContext* g_context = nullptr;
-
-static mujoco::CompatContext* GetCheckedContext() {
-  if (g_context == nullptr) {
-    mju_error("Missing context; did you call mjr_makeContext?");
-  }
-  return g_context;
-}
-
-extern "C" {
-
-// mjr functions that are supported by the filament renderer.
-
-void mjr_defaultContext(mjrContext* con) {
-  memset(con, 0, sizeof(mjrContext));
-}
-
-void mjr_defaultRendererInfo(mjrRendererInfo* info) {
-  memset(info, 0, sizeof(mjrRendererInfo));
-  info->renderer = "filament";
-  info->backend = "";
-}
-
-void mjr_getRendererInfo(mjrRendererInfo* info) {
-  mjr_defaultRendererInfo(info);
-  if (g_context) {
-    mjrf_getRendererInfo(g_context->Context(), info);
-  }
-}
-
-void mjr_makeFilamentContext(const mjModel* m, const mjrfContextConfig* cfg,
-                             mjrContext* con) {
-  if (g_context != nullptr) {
-    mju_error("Context already exists!");
-  }
-  g_context = new mujoco::CompatContext(cfg, m);
-}
-
-void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
-  mjr_freeContext(con);
-
-  mjrfContextConfig cfg;
-  mjrf_defaultContextConfig(&cfg);
-  mjr_makeFilamentContext(m, &cfg, con);
-}
-
-void mjr_freeContext(mjrContext* con) {
-  // mjr_freeContext may be called multiple times.
-  if (g_context) {
-    delete g_context;
-    g_context = nullptr;
-  }
-  mjr_defaultContext(con);
-}
-
-void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
-  GetCheckedContext()->Render(viewport, scn);
-}
-void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
-  GetCheckedContext()->UploadMesh(m, meshid);
-}
-void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
-  GetCheckedContext()->UploadTexture(m, texid);
-}
-void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
-  GetCheckedContext()->UploadHeightField(m, hfieldid);
-}
-void mjr_setBuffer(int framebuffer, mjrContext* con) {
-  GetCheckedContext()->SetFrameBuffer(framebuffer);
-}
-void mjr_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
-                          const mjrContext* con) {
-  GetCheckedContext()->ReadPixels(viewport, rgb, depth);
-}
-
-// mjr functions that are NOT supported by the filament renderer.
-
-void mjr_setAux(int index, const mjrContext* con) {
-  mju_error("mjr_setAux not implemented.");
-}
-void mjr_restoreBuffer(const mjrContext* con) {
-  mju_error("mjr_restoreBuffer not implemented.");
-}
-void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a) {
-  mju_error("mjr_rectangle not implemented.");
-}
-void mjr_blitAux(int index, mjrRect src, int left, int bottom,
-                 const mjrContext* con) {
-  mju_error("mjr_blitAux not implemented.");
-}
-void mjr_changeFont(int fontscale, mjrContext* con) {
-  mju_error("mjr_changeFont not implemented.");
-}
-void mjr_addAux(int index, int width, int height, int samples,
-                mjrContext* con) {
-  mju_error("mjr_addAux not implemented.");
-}
-void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
-  mju_error("mjr_resizeOffscreen not implemented.");
-}
-void mjr_drawPixels(const unsigned char* rgb, const float* depth,
-                    mjrRect viewport, const mjrContext* con) {
-  mju_error("mjr_drawPixels not implemented.");
-}
-void mjr_blitBuffer(mjrRect src, mjrRect dst, int flg_color, int flg_depth,
-                    const mjrContext* con) {
-  mju_error("mjr_blitBuffer not implemented.");
-}
-void mjr_text(int font, const char* txt, const mjrContext* con, float x,
-              float y, float r, float g, float b) {
-  mju_error("mjr_text not implemented.");
-}
-void mjr_overlay(int font, int gridpos, mjrRect viewport, const char* overlay,
-                 const char* overlay2, const mjrContext* con) {
-  mju_error("mjr_overlay not implemented.");
-}
-void mjr_label(mjrRect viewport, int font, const char* txt, float r, float g,
-               float b, float a, float rt, float gt, float bt,
-               const mjrContext* con) {
-  mju_error("mjr_label not implemented.");
-}
-void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
-  mju_error("mjr_figure not implemented.");
-}
-void mjr_finish() { mju_error("mjr_finish not implemented."); }
-int mjr_getError() {
-  mju_error("mjr_getError not implemented.");
-  return 0;
-}
-mjrRect mjr_maxViewport(const mjrContext* con) {
-  mju_error("mjr_maxViewport not implemented.");
-  return mjrRect{};
-}
-int mjr_findRect(int x, int y, int nrect, const mjrRect* rect) {
-  mju_error("mjr_findRect not implemented.");
-  return 0;
-}
-
-}  // extern "C"
diff --git a/src/experimental/platform/CMakeLists.txt b/src/experimental/platform/CMakeLists.txt
deleted file mode 100644
index 56d63b14..00000000
--- a/src/experimental/platform/CMakeLists.txt
+++ /dev/null
@@ -1,124 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-cmake_minimum_required(VERSION 3.16)
-
-set(MUJOCO_PLATFORM_TARGET_NAME mujoco_platform)
-
-add_library(${MUJOCO_PLATFORM_TARGET_NAME} STATIC)
-
-target_sources(${MUJOCO_PLATFORM_TARGET_NAME}
-    PUBLIC
-        helpers.cc
-        helpers.h
-        resources.cc
-        resources.h
-        sys_utils.cc
-        sys_utils.h
-        hal/classic_renderer.cc
-        hal/classic_renderer.h
-        hal/egl_utils.cc
-        hal/egl_utils.h
-        hal/filament_renderer.cc
-        hal/filament_renderer.h
-        hal/graphics_mode.cc
-        hal/graphics_mode.h
-        hal/renderer.h
-        hal/window.cc
-        hal/window.h
-        sim/model_holder.cc
-        sim/model_holder.h
-        sim/sim_history.cc
-        sim/sim_history.h
-        sim/sim_profiler.cc
-        sim/sim_profiler.h
-        sim/step_control.cc
-        sim/step_control.h
-        ux/enum_utils.h
-        ux/file_dialog.h
-        ux/fonts.cc
-        ux/fonts.h
-        ux/gui.cc
-        ux/gui.h
-        ux/gui_spec.cc
-        ux/gui_spec.h
-        ux/imgui_bridge.cc
-        ux/imgui_bridge.h
-        ux/imgui_widgets.cc
-        ux/imgui_widgets.h
-        ux/interaction.cc
-        ux/interaction.h
-        ux/picture_gui.h
-        ux/picture_gui.cc
-        ux/plugin.cc
-        ux/plugin.h
-        ux/spec_editor.cc
-        ux/spec_editor.h
-        ux/well_tempered.h
-)
-
-if(NOT WIN32)
-  target_sources(${MUJOCO_PLATFORM_TARGET_NAME}
-      PUBLIC
-          ux/object_launcher_plugin.cc
-  )
-endif()
-
-if(APPLE)
-    set_source_files_properties(hal/window_osx.mm PROPERTIES
-        COMPILE_FLAGS "-x objective-c++")
-    target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        hal/window_osx.mm
-        ux/file_dialog_cocoa.mm
-    )
-elseif(UNIX AND NOT APPLE)
-    target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        ux/file_dialog_zenity.cc
-    )
-elseif(WIN32)
-    target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        ux/file_dialog_win.cc
-    )
-else()
-    target_sources(${MUJOCO_PLATFORM_TARGET_NAME} PUBLIC
-        ux/file_dialog.cc
-    )
-endif()
-
-target_include_directories(${MUJOCO_PLATFORM_TARGET_NAME}
-    PUBLIC
-        ${PROJECT_SOURCE_DIR}/include
-        ${PROJECT_SOURCE_DIR}/src
-)
-
-include(third_party_deps/sdl2)
-include(third_party_deps/dear_imgui)
-mujoco_add_dear_imgui_sdl2_backend()
-include(third_party_deps/implot)
-include(third_party_deps/libwebp)
-
-target_link_libraries(${MUJOCO_PLATFORM_TARGET_NAME}
-    dear_imgui
-    dear_imgui_SDL2
-    dear_imgui_OpenGL3
-    dear_imgui_stdlib
-    implot
-    mujoco::filament
-    mujoco::filament_experimental
-    webp
-    SDL2::SDL2-static
-    ${MUJOCO_PLATFORM_RENDER_DEPS}
-)
-
-add_library(mujoco::platform ALIAS ${MUJOCO_PLATFORM_TARGET_NAME})
diff --git a/src/experimental/platform/hal/classic_renderer.cc b/src/experimental/platform/hal/classic_renderer.cc
deleted file mode 100644
index 36c2298e..00000000
--- a/src/experimental/platform/hal/classic_renderer.cc
+++ /dev/null
@@ -1,202 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/hal/classic_renderer.h"
-
-#include <algorithm>
-#include <chrono>
-#include <cstddef>
-#include <memory>
-#include <span>
-#include <utility>
-
-#include <backends/imgui_impl_opengl3.h>
-#include <imgui.h>
-#include <mujoco/mujoco.h>
-#if !defined(__EMSCRIPTEN__) && !defined(__APPLE__)
-#include "experimental/platform/hal/egl_utils.h"
-#endif
-#include "experimental/platform/hal/graphics_mode.h"
-
-namespace mujoco::platform {
-
-static void FlipImage(unsigned char* pixels, int width, int height, int bpp) {
-  const int row_size = width * bpp;
-  for (int i = 0; i < height / 2; ++i) {
-    unsigned char* top_row = pixels + i * row_size;
-    unsigned char* bottom_row = pixels + (height - 1 - i) * row_size;
-    for (int j = 0; j < row_size; ++j) {
-      std::swap(top_row[j], bottom_row[j]);
-    }
-  }
-}
-
-ClassicRenderer::ClassicRenderer(void* native_window, GraphicsMode gfx)
-    : gfx_(gfx) {
-  if (native_window == nullptr) {
-#if !defined(__EMSCRIPTEN__) && !defined(__APPLE__)
-    graphics_api_context_ = CreateEglContext();
-#endif
-  }
-  if (ImGui::GetCurrentContext()) {
-    ImGui_ImplOpenGL3_Init();
-  }
-}
-
-ClassicRenderer::~ClassicRenderer() {
-  if (ImGui::GetCurrentContext()) {
-    ImGui_ImplOpenGL3_Shutdown();
-  }
-
-  Deinit();
-  graphics_api_context_.reset();
-}
-
-void ClassicRenderer::Init(const mjModel* model) {
-  Deinit();
-  if (model) {
-    mjr_defaultContext(&render_context_);
-    mjr_makeContext(model, &render_context_, mjFONTSCALE_150);
-    mjv_defaultScene(&scene_);
-    mjv_makeScene(model, &scene_, 2000);
-    initialized_ = true;
-  }
-}
-
-void ClassicRenderer::Deinit() {
-  if (initialized_) {
-    mjv_freeScene(&scene_);
-    mjr_freeContext(&render_context_);
-    initialized_ = false;
-  }
-}
-
-void ClassicRenderer::Render(const mjModel* model, mjData* data,
-                             const mjvPerturb* perturb, mjvCamera* camera,
-                             const mjvOption* vis_option, int width, int height,
-                             std::span<std::byte> pixels,
-                             std::span<mjvGeom> extra_geoms) {
-  if (!initialized_) {
-    return;
-  }
-
-  mjvCamera default_cam;
-  if (camera == nullptr) {
-    if (model) {
-      mjv_defaultFreeCamera(model, &default_cam);
-    } else {
-      mjv_defaultCamera(&default_cam);
-    }
-    camera = &default_cam;
-  }
-
-  mjvOption default_opt;
-  if (vis_option == nullptr) {
-    mjv_defaultOption(&default_opt);
-    vis_option = &default_opt;
-  }
-
-  mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL, &scene_);
-  const int nextra_geoms =
-      std::min<int>(extra_geoms.size(), scene_.maxgeom - scene_.ngeom);
-  for (int i = 0; i < nextra_geoms; ++i) {
-    scene_.geoms[scene_.ngeom++] = extra_geoms[i];
-  }
-
-  const bool render_to_texture = !pixels.empty();
-  if (render_to_texture) {
-    // mjr_readPixels reads to a RGB buffer (i.e. 3 bytes per pixel).
-    if (pixels.size() != width * height * 3) {
-      mju_error("Offscreen mode requires a pixel buffer of size %d.",
-                width * height * 3);
-    }
-    mjr_resizeOffscreen(width, height, &render_context_);
-
-    framebuffer_mode_ = mjFB_OFFSCREEN;
-    mjr_setBuffer(mjFB_OFFSCREEN, &render_context_);
-  }
-
-  const mjrRect viewport = {0, 0, width, height};
-  mjr_render(viewport, &scene_, &render_context_);
-
-  // The filament backend knows how to renders the ImGui draw data. For the
-  // classic backend, we need to render the ImGui draw data ourselves.
-  if (ImGui::GetCurrentContext()) {
-    ImGui_ImplOpenGL3_NewFrame();
-    ImGui::Render();
-    ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
-  }
-
-  if (render_to_texture) {
-    unsigned char* ptr = reinterpret_cast<unsigned char*>(pixels.data());
-    DoReadPixels(width, height, ptr);
-  }
-
-  UpdateFps();
-}
-
-void ClassicRenderer::RenderToTexture(const mjModel* model, mjData* data,
-                                      mjvCamera* camera, int width, int height,
-                                      std::byte* output) {
-  if (!initialized_) {
-    return;
-  }
-
-  mjv_updateCamera(model, data, camera, &scene_);
-  unsigned char* ptr = reinterpret_cast<unsigned char*>(output);
-
-  framebuffer_mode_ = mjFB_OFFSCREEN;
-  mjr_setBuffer(mjFB_OFFSCREEN, &render_context_);
-  const mjrRect viewport = {0, 0, width, height};
-  mjr_render(viewport, &scene_, &render_context_);
-  DoReadPixels(width, height, ptr);
-}
-
-int ClassicRenderer::UploadImage(int texture_id, const std::byte* pixels,
-                                 int width, int height, int bpp) {
-  // unsupported
-  return 0;
-}
-
-void ClassicRenderer::DoReadPixels(int width, int height, unsigned char* rgb) {
-  if (!rgb) {
-    return;
-  }
-  if (framebuffer_mode_ == mjFB_WINDOW) {
-    mju_warning("ReadPixels is only supported for offscreen rendering.");
-    return;
-  }
-
-  const mjrRect viewport = {0, 0, width, height};
-  mjr_readPixels(rgb, nullptr, viewport, &render_context_);
-  mjr_setBuffer(mjFB_WINDOW, &render_context_);
-  FlipImage(rgb, viewport.width, viewport.height, 3);
-  framebuffer_mode_ = mjFB_WINDOW;
-  mjr_setBuffer(mjFB_WINDOW, &render_context_);
-}
-
-double ClassicRenderer::GetFps() { return fps_; }
-
-void ClassicRenderer::UpdateFps() {
-  TimePoint now = std::chrono::steady_clock::now();
-  TimePoint::duration delta_time = now - last_fps_update_;
-  const double interval = std::chrono::duration<double>(delta_time).count();
-  ++frames_;
-  if (interval > 0.2) {  // only update FPS stat at most 5 times per second
-    last_fps_update_ = now;
-    fps_ = frames_ / interval;
-    frames_ = 0;
-  }
-}
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/hal/classic_renderer.h b/src/experimental/platform/hal/classic_renderer.h
deleted file mode 100644
index 499d4e31..00000000
--- a/src/experimental/platform/hal/classic_renderer.h
+++ /dev/null
@@ -1,91 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_CLASSIC_RENDERER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_CLASSIC_RENDERER_H_
-
-#include <chrono>
-#include <cstddef>
-#include <memory>
-#include <span>
-
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/platform/hal/renderer.h"
-
-namespace mujoco::platform {
-
-// Renders the mujoco simulation and the imgui state using the Classic MuJoCo
-// OpenGL renderer.
-class ClassicRenderer : public Renderer {
- public:
-  ClassicRenderer(void* native_window, GraphicsMode gfx_mode);
-  ~ClassicRenderer();
-
-  ClassicRenderer(const ClassicRenderer&) = delete;
-  ClassicRenderer& operator=(const ClassicRenderer&) = delete;
-
-  // Initializes the renderer with the given mjModel.
-  void Init(const mjModel* model) override;
-
-  // Renders the simulation and ux state. Renders into `pixels` if provided,
-  // otherwise renders to the `native_window` provided at construction.
-  void Render(const mjModel* model, mjData* data, const mjvPerturb* perturb,
-              mjvCamera* camera, const mjvOption* vis_option, int width,
-              int height, std::span<std::byte> pixels = {},
-              std::span<mjvGeom> extra_geoms = {}) override;
-
-  // Populates the given output buffer with RGB888 pixel data. The size of the
-  // output buffer must be at least width * height * 3.
-  void RenderToTexture(const mjModel* model, mjData* data, mjvCamera* camera,
-                       int width, int height, std::byte* output) override;
-
-  // Uploads an image to the backend for GUI rendering, returning the texture
-  // ID for the texture. The ID can be used in subsequent calls to update the
-  // texture data. A nullptr pixels argument will free the texture if it exists.
-  // A texture ID of 0 will create a new texture.
-  int UploadImage(int texture_id, const std::byte* pixels, int width,
-                  int height, int bpp) override;
-
-  // Rendering flags.
-  mjtByte* GetRenderFlags() override { return scene_.flags; }
-
-  // Returns the current frame rate.
-  double GetFps() override;
-
- private:
-  using Clock = std::chrono::steady_clock;
-  using TimePoint = std::chrono::time_point<Clock>;
-
-  // Resets the renderer; no rendering will occur until Init() is called again.
-  void Deinit();
-
-  void UpdateFps();
-
-  void DoReadPixels(int width, int height, unsigned char* rgb);
-
-  GraphicsMode gfx_ = GraphicsMode::ClassicOpenGl;
-  std::shared_ptr<void> graphics_api_context_ = nullptr;
-  mjrContext render_context_;
-  mjvScene scene_;
-  TimePoint last_fps_update_;
-  int framebuffer_mode_ = 0;
-  int frames_ = 0;
-  double fps_ = 0;
-  bool initialized_ = false;
-};
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_CLASSIC_RENDERER_H_
diff --git a/src/experimental/platform/hal/egl_utils.cc b/src/experimental/platform/hal/egl_utils.cc
deleted file mode 100644
index 7ec0fc48..00000000
--- a/src/experimental/platform/hal/egl_utils.cc
+++ /dev/null
@@ -1,156 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/hal/egl_utils.h"
-
-#include <memory>
-
-#if __has_include("third_party/GL/gl/include/EGL/egl.h")
-  #define MUJOCO_HAS_EGL
-  #include <EGL/egl.h>
-  #include <EGL/eglext.h>
-#endif
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-#ifdef MUJOCO_HAS_EGL
-
-static EGLDisplay CreateInitializedEglDisplay() {
-  auto eglQueryDevicesEXT =
-      (PFNEGLQUERYDEVICESEXTPROC)eglGetProcAddress("eglQueryDevicesEXT");
-  auto eglGetPlatformDisplayEXT =
-      (PFNEGLGETPLATFORMDISPLAYEXTPROC)eglGetProcAddress(
-          "eglGetPlatformDisplayEXT");
-
-  if (!eglQueryDevicesEXT || !eglGetPlatformDisplayEXT) {
-    mju_error("Failed to load EGL functions");
-    return EGL_NO_DISPLAY;
-  }
-
-  // Query all available EGL devices.
-  constexpr int kMaxDevices = 32;
-  EGLDeviceEXT devices[kMaxDevices];
-  int ndevice = 0;
-  if (!eglQueryDevicesEXT(kMaxDevices, devices, &ndevice)) {
-    mju_error("eglQueryDevices error: 0x%x", eglGetError());
-    return EGL_NO_DISPLAY;
-  }
-
-  // Initialize the first valid EGL display.
-  for (int i = 0; i < ndevice; ++i) {
-    EGLDisplay display =
-        eglGetPlatformDisplayEXT(EGL_PLATFORM_DEVICE_EXT, devices[i], nullptr);
-    if (display != EGL_NO_DISPLAY) {
-      int major, minor;
-      EGLBoolean initialized = eglInitialize(display, &major, &minor);
-      if (initialized) {
-        return display;
-      }
-    }
-  }
-  mju_error("Failed to create and initialize a valid EGL display!");
-  return EGL_NO_DISPLAY;
-}
-
-static EGLContext InitializeEglContext(EGLDisplay display) {
-  constexpr EGLint config_attribs[] = {EGL_RED_SIZE,
-                                       8,
-                                       EGL_GREEN_SIZE,
-                                       8,
-                                       EGL_BLUE_SIZE,
-                                       8,
-                                       EGL_ALPHA_SIZE,
-                                       8,
-                                       EGL_DEPTH_SIZE,
-                                       24,
-                                       EGL_STENCIL_SIZE,
-                                       8,
-                                       EGL_COLOR_BUFFER_TYPE,
-                                       EGL_RGB_BUFFER,
-                                       EGL_SURFACE_TYPE,
-                                       EGL_PBUFFER_BIT,
-                                       EGL_RENDERABLE_TYPE,
-                                       EGL_OPENGL_BIT,
-                                       EGL_NONE};
-  EGLint nconfig;
-  EGLConfig config;
-  if (!eglChooseConfig(display, config_attribs, &config, 1, &nconfig)) {
-    mju_error("eglChooseConfig error: 0x%x", eglGetError());
-  }
-
-  // Bind the OpenGL API to the EGL.
-  if (!eglBindAPI(EGL_OPENGL_API)) {
-    mju_error("eglBindAPI error: 0x%x", eglGetError());
-  }
-
-  // Create an EGL context.
-  constexpr EGLint context_attribs[] = {
-      EGL_CONTEXT_MAJOR_VERSION,
-      1,
-      EGL_CONTEXT_MINOR_VERSION,
-      5,
-      EGL_CONTEXT_OPENGL_PROFILE_MASK,
-      EGL_CONTEXT_OPENGL_COMPATIBILITY_PROFILE_BIT,
-      EGL_NONE};
-  EGLContext context =
-      eglCreateContext(display, config, EGL_NO_CONTEXT, context_attribs);
-  if (context == EGL_NO_CONTEXT) {
-    mju_error("eglCreateContext error: 0x%x", eglGetError());
-    return EGL_NO_CONTEXT;
-  }
-
-  // Make the EGL context current.
-  if (!eglMakeCurrent(display, nullptr, nullptr, context)) {
-    mju_error("eglMakeCurrent error: 0x%x", eglGetError());
-    return EGL_NO_CONTEXT;
-  }
-  return context;
-}
-
-struct EglContext {
-  EglContext() {
-    display_ = CreateInitializedEglDisplay();
-    context_ = InitializeEglContext(display_);
-  }
-
-  ~EglContext() {
-    if (context_ != EGL_NO_CONTEXT) {
-      eglMakeCurrent(display_, nullptr, nullptr, EGL_NO_CONTEXT);
-      eglDestroyContext(display_, context_);
-      context_ = EGL_NO_CONTEXT;
-    }
-    if (display_ != EGL_NO_DISPLAY) {
-      eglTerminate(display_);
-      display_ = EGL_NO_DISPLAY;
-    }
-  }
-
-  EGLDisplay display_;
-  EGLContext context_;
-};
-
-#endif  // MUJOCO_HAS_EGL
-
-std::shared_ptr<void> CreateEglContext() {
-  #ifdef MUJOCO_HAS_EGL
-  auto egl_context = std::make_shared<EglContext>();
-  return std::static_pointer_cast<void>(egl_context);
-  #else
-  mju_error("EGL is not supported");
-  return nullptr;
-  #endif
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/hal/egl_utils.h b/src/experimental/platform/hal/egl_utils.h
deleted file mode 100644
index 342b15b9..00000000
--- a/src/experimental/platform/hal/egl_utils.h
+++ /dev/null
@@ -1,28 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_EGL_UTILS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_EGL_UTILS_H_
-
-#include <memory>
-
-namespace mujoco::platform {
-
-// Creates an opaque handle to an initialized EGL context and display.
-// Resetting this handle will destroy the context and release the display.
-std::shared_ptr<void> CreateEglContext();
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_EGL_UTILS_H_
diff --git a/src/experimental/platform/hal/filament_renderer.cc b/src/experimental/platform/hal/filament_renderer.cc
deleted file mode 100644
index 5c9a6f46..00000000
--- a/src/experimental/platform/hal/filament_renderer.cc
+++ /dev/null
@@ -1,290 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/hal/filament_renderer.h"
-
-#include <cstddef>
-#include <functional>
-#include <memory>
-#include <span>
-
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/platform/ux/imgui_bridge.h"
-#include "experimental/platform/ux/imgui_widgets.h"
-#include "experimental/platform/ux/plugin.h"
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/model_decorations.h"
-#include "render/filament/support/model_lights.h"
-#include "render/filament/support/model_objects.h"
-#include "render/filament/support/model_renderables.h"
-
-namespace mujoco::platform {
-
-static std::function<void()> g_update_gui_callback = nullptr;
-static void PluginUpdate(GuiPlugin* plugin) {
-  if (g_update_gui_callback) {
-    g_update_gui_callback();
-  }
-}
-
-FilamentRenderer::FilamentRenderer(void* native_window, GraphicsMode gfx)
-    : native_window_(native_window), gfx_(gfx) {
-  g_update_gui_callback = [this]() {
-    if (main_scene_) {
-      mjrf_DEBUG_drawImguiEditor(main_scene_.get());
-    }
-  };
-}
-
-FilamentRenderer::~FilamentRenderer() {
-  g_update_gui_callback = nullptr;
-  Deinit();
-}
-
-void FilamentRenderer::Init(const mjModel* model) {
-  Deinit();
-  if (model) {
-    for (int i = 0; i < mjNRNDFLAG; i++) {
-      render_flags_[i] = (mjRNDSTRING[i][1][0] == '1');
-    }
-
-    mjrfContextConfig cfg;
-    mjrf_defaultContextConfig(&cfg);
-    cfg.native_window = native_window_;
-    cfg.force_software_rendering = IsSoftware(gfx_);
-    cfg.graphics_api = IsOpenGl(gfx_) || IsWebGl(gfx_) ? mjGRAPHICS_API_OPENGL
-                                                       : mjGRAPHICS_API_VULKAN;
-    filament_context_ = CreateContext(cfg);
-
-    float clear_color[4] = {0.0f, 0.0f, 0.0f, 1.0f};
-    const int id = mj_name2id(model, mjOBJ_NUMERIC, "filament.clearColor");
-    if (id >= 0 && model->numeric_size[id] == 4) {
-      const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-      for (int i = 0; i < 4; ++i) {
-        clear_color[i] = static_cast<float>(ptr[i]);
-      }
-    }
-    mjrf_setClearColor(filament_context_.get(), &clear_color[0]);
-
-    main_scene_ = CreateScene(filament_context_.get(), {});
-    mjrf_configureSceneFromModel(main_scene_.get(), model);
-    model_objects_ =
-        std::make_unique<ModelObjects>(model, filament_context_.get());
-    model_lights_ =
-        std::make_unique<ModelLights>(main_scene_.get(), model_objects_.get());
-    model_renderables_ = std::make_unique<ModelRenderables>(
-        main_scene_.get(), model_objects_.get());
-    model_decorations_ = std::make_unique<ModelDecorations>(
-        filament_context_.get(), main_scene_.get(), model);
-
-    ux_scene_ = CreateScene(filament_context_.get(), {});
-    imgui_bridge_ =
-        std::make_unique<ImguiBridge>(filament_context_.get(), ux_scene_.get());
-
-    mjrfRenderTargetConfig config;
-    mjrf_defaultRenderTargetConfig(&config);
-    config.color_format = mjPIXEL_FORMAT_RGB8;
-    config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
-    render_target_ = CreateRenderTarget(filament_context_.get(), config);
-  }
-}
-
-void FilamentRenderer::Deinit() {
-  if (filament_context_) {
-    model_objects_.reset();
-    model_lights_.reset();
-    model_renderables_.reset();
-    model_decorations_.reset();
-    imgui_bridge_.reset();
-    render_target_.reset();
-    ux_scene_.reset();
-    main_scene_.reset();
-    filament_context_.reset();
-  }
-}
-
-void FilamentRenderer::Render(const mjModel* model, mjData* data,
-                              const mjvPerturb* perturb, mjvCamera* camera,
-                              const mjvOption* vis_option, int width,
-                              int height, std::span<std::byte> pixels,
-                              std::span<mjvGeom> extra_geoms) {
-  if (!filament_context_) {
-    return;
-  }
-
-  const mjrRect viewport = {0, 0, width, height};
-
-  mjvCamera default_cam;
-  if (camera == nullptr) {
-    if (model) {
-      mjv_defaultFreeCamera(model, &default_cam);
-    } else {
-      mjv_defaultCamera(&default_cam);
-    }
-    camera = &default_cam;
-  }
-
-  mjvOption default_opt;
-  if (vis_option == nullptr) {
-    mjv_defaultOption(&default_opt);
-    vis_option = &default_opt;
-  }
-
-  mjvPerturb default_perturb;
-  if (perturb == nullptr) {
-    mjv_defaultPerturb(&default_perturb);
-    perturb = &default_perturb;
-  }
-
-  model_lights_->Update(data);
-  model_renderables_->Update(data);
-
-  if (vis_option) {
-    model_renderables_->SetOptions(*vis_option);
-  }
-  if (perturb->select > 0) {
-    model_renderables_->MarkAsSelected(mjOBJ_BODY, perturb->select);
-  } else if (perturb->flexselect >= 0) {
-    model_renderables_->MarkAsSelected(mjOBJ_FLEX, perturb->flexselect);
-  } else if (perturb->skinselect >= 0) {
-    model_renderables_->MarkAsSelected(mjOBJ_SKIN, perturb->skinselect);
-  } else {
-    model_renderables_->MarkAsSelected(mjOBJ_UNKNOWN, -1);
-  }
-
-  model_decorations_->Update(data, vis_option, perturb, camera, viewport,
-                             DrawTextAt, extra_geoms);
-
-  imgui_bridge_->Update();
-
-  mjrfRenderRequest reqs[2];
-  BuildMainRenderRequest(&reqs[0], viewport,
-                         mjv_camera2GLCamera(model, data, camera));
-  BuildUxRenderRequest(&reqs[1], viewport);
-
-  mjrfFrameHandle frame = 0;
-  if (pixels.empty()) {
-    frame = mjrf_render(filament_context_.get(), &reqs[0], 2, nullptr, 0);
-  } else {
-    if (pixels.size() != width * height * 3) {
-      mju_error("Offscreen mode requires a pixel buffer of size %d.",
-                width * height * 3);
-    }
-
-    mjrf_resizeRenderTarget(render_target_.get(), width, height);
-    reqs[0].target = render_target_.get();
-    reqs[1].target = render_target_.get();
-
-    mjrfReadPixelsRequest read_request;
-    mjrf_defaultReadPixelsRequest(&read_request);
-    read_request.target = render_target_.get();
-    read_request.output = pixels.data();
-    read_request.num_bytes = viewport.width * viewport.height * 3;
-
-    frame = mjrf_render(filament_context_.get(), &reqs[0], 2, &read_request, 1);
-  }
-
-  mjrf_waitForFrame(filament_context_.get(), frame);
-
-  mjrfFrameStats stats;
-  mjrf_defaultFrameStats(&stats);
-  mjrf_getFrameStats(filament_context_.get(), frame, &stats);
-  fps_ = stats.frame_rate;
-}
-
-void FilamentRenderer::RenderToTexture(const mjModel* model, mjData* data,
-                                       mjvCamera* camera, int width, int height,
-                                       std::byte* output) {
-  if (!filament_context_) {
-    return;
-  }
-  if (!output) {
-    return;
-  }
-
-  mjrf_resizeRenderTarget(render_target_.get(), width, height);
-
-  mjrfRenderRequest request;
-  BuildMainRenderRequest(&request, {0, 0, width, height},
-                         mjv_camera2GLCamera(model, data, camera));
-  request.target = render_target_.get();
-
-  mjrfReadPixelsRequest read_request;
-  mjrf_defaultReadPixelsRequest(&read_request);
-  read_request.target = render_target_.get();
-  read_request.output = output;
-  read_request.num_bytes = width * height * 3;
-
-  const mjrfFrameHandle frame =
-      mjrf_render(filament_context_.get(), &request, 1, &read_request, 1);
-  mjrf_waitForFrame(filament_context_.get(), frame);
-}
-
-int FilamentRenderer::UploadImage(int texture_id, const std::byte* pixels,
-                                  int width, int height, int bpp) {
-  return imgui_bridge_->UploadImage(
-      texture_id, reinterpret_cast<const unsigned char*>(pixels), width, height,
-      bpp);
-}
-
-double FilamentRenderer::GetFps() { return fps_; }
-
-void FilamentRenderer::BuildMainRenderRequest(mjrfRenderRequest* request,
-                                              const mjrRect& viewport,
-                                              const mjrCamera& camera) {
-  mjrDrawMode draw_mode = mjDRAW_MODE_DEFAULT;
-  if (render_flags_[mjRND_SEGMENT]) {
-    if (render_flags_[mjRND_IDCOLOR]) {
-      draw_mode = mjDRAW_MODE_SEGMENTATION_BY_ID;
-    } else {
-      draw_mode = mjDRAW_MODE_SEGMENTATION_BY_COLOR;
-    }
-  } else if (render_flags_[mjRND_DEPTH]) {
-    draw_mode = mjDRAW_MODE_DEPTH;
-  } else if (render_flags_[mjRND_WIREFRAME]) {
-    draw_mode = mjDRAW_MODE_WIREFRAME;
-  }
-
-  mjrf_defaultRenderRequest(request);
-  request->scene = main_scene_.get();
-  request->draw_mode = draw_mode;
-  request->camera = camera;
-  request->viewport = viewport;
-  request->enable_shadows = render_flags_[mjRND_SHADOW];
-  request->enable_reflections = render_flags_[mjRND_REFLECTION];
-}
-
-void FilamentRenderer::BuildUxRenderRequest(mjrfRenderRequest* request,
-                                            const mjrRect& viewport) {
-  mjrf_defaultRenderRequest(request);
-  request->scene = ux_scene_.get();
-  request->draw_mode = mjDRAW_MODE_DEFAULT;
-  request->camera = imgui_bridge_->GetCamera(viewport.width, viewport.height);
-  request->viewport = viewport;
-  request->enable_shadows = false;
-  request->enable_reflections = false;
-  request->enable_post_processing = false;
-}
-}  // namespace mujoco::platform
-
-mjPLUGIN_LIB_INIT(renderer) {
-  mujoco::platform::GuiPlugin plugin;
-  plugin.name = "Filament";
-  plugin.update = [](mujoco::platform::GuiPlugin* self) {
-    mujoco::platform::PluginUpdate(self);
-  };
-  mujoco::platform::RegisterPlugin(plugin);
-}
diff --git a/src/experimental/platform/hal/filament_renderer.h b/src/experimental/platform/hal/filament_renderer.h
deleted file mode 100644
index b90ed3e7..00000000
--- a/src/experimental/platform/hal/filament_renderer.h
+++ /dev/null
@@ -1,107 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_FILAMENT_RENDERER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_FILAMENT_RENDERER_H_
-
-#include <cstddef>
-#include <memory>
-#include <span>
-
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/platform/hal/renderer.h"
-#include "experimental/platform/ux/imgui_bridge.h"
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/model_decorations.h"
-#include "render/filament/support/model_lights.h"
-#include "render/filament/support/model_objects.h"
-#include "render/filament/support/model_renderables.h"
-
-namespace mujoco::platform {
-
-// Renders the mujoco simulation and the imgui state using the Filament-based
-// MuJoCo renderer.
-//
-// For OpenGL, two different Filament configurations are available: normal and
-// headless. Normal rendering assumes that we will be rendering to an x11
-// window and therefore will use a x11-based context. Headless assumes that we
-// will be rendering to a texture and will use an EGL context. Vulkan and WebGL
-// have no need for such a distinction. If rendering to a window surface (e.g.
-// x11), it requires a pointer to the native window to do so.
-class FilamentRenderer : public Renderer {
- public:
-  FilamentRenderer(void* native_window, GraphicsMode gfx_mode);
-  ~FilamentRenderer();
-
-  FilamentRenderer(const FilamentRenderer&) = delete;
-  FilamentRenderer& operator=(const FilamentRenderer&) = delete;
-
-  // Initializes the renderer with the given mjModel.
-  void Init(const mjModel* model) override;
-
-  // Renders the simulation and ux state. Renders into `pixels` if provided,
-  // otherwise renders to the `native_window` provided at construction.
-  void Render(const mjModel* model, mjData* data, const mjvPerturb* perturb,
-              mjvCamera* camera, const mjvOption* vis_option, int width,
-              int height, std::span<std::byte> pixels = {},
-              std::span<mjvGeom> extra_geoms = {}) override;
-
-  // Populates the given output buffer with RGB888 pixel data. The size of the
-  // output buffer must be at least width * height * 3.
-  void RenderToTexture(const mjModel* model, mjData* data, mjvCamera* camera,
-                       int width, int height, std::byte* output) override;
-
-  // Uploads an image to the backend for GUI rendering, returning the texture
-  // ID for the texture. The ID can be used in subsequent calls to update the
-  // texture data. A nullptr pixels argument will free the texture if it exists.
-  // A texture ID of 0 will create a new texture.
-  int UploadImage(int texture_id, const std::byte* pixels, int width,
-                  int height, int bpp) override;
-
-  // Rendering flags.
-  mjtByte* GetRenderFlags() override { return render_flags_; }
-
-  // Returns the current frame rate.
-  double GetFps() override;
-
- private:
-  // Resets the renderer; no rendering will occur until Init() is called again.
-  void Deinit();
-
-  void BuildMainRenderRequest(mjrfRenderRequest* request,
-                              const mjrRect& viewport, const mjrCamera& camera);
-  void BuildUxRenderRequest(mjrfRenderRequest* request,
-                            const mjrRect& viewport);
-
-  void* native_window_ = nullptr;
-  GraphicsMode gfx_ = GraphicsMode::FilamentVulkan;
-  UniquePtr<mjrfContext> filament_context_{nullptr, nullptr};
-  UniquePtr<mjrfScene> main_scene_{nullptr, nullptr};
-  UniquePtr<mjrfScene> ux_scene_{nullptr, nullptr};
-  UniquePtr<mjrfRenderTarget> render_target_{nullptr, nullptr};
-  std::unique_ptr<ImguiBridge> imgui_bridge_;
-  std::unique_ptr<ModelObjects> model_objects_;
-  std::unique_ptr<ModelLights> model_lights_;
-  std::unique_ptr<ModelRenderables> model_renderables_;
-  std::unique_ptr<ModelDecorations> model_decorations_;
-  mjtByte render_flags_[mjNRNDFLAG];
-  int framebuffer_mode_ = 0;
-  double fps_ = 0;
-};
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_FILAMENT_RENDERER_H_
diff --git a/src/experimental/platform/hal/graphics_mode.cc b/src/experimental/platform/hal/graphics_mode.cc
deleted file mode 100644
index c87e0cd3..00000000
--- a/src/experimental/platform/hal/graphics_mode.cc
+++ /dev/null
@@ -1,91 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/hal/graphics_mode.h"
-
-#include <string_view>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-bool IsClassic(GraphicsMode gfx_mode) {
-  return gfx_mode == GraphicsMode::ClassicOpenGl ||
-         gfx_mode == GraphicsMode::ClassicOpenGlHeadless;
-}
-
-bool IsFilament(GraphicsMode gfx_mode) {
-  return gfx_mode == GraphicsMode::FilamentOpenGl ||
-         gfx_mode == GraphicsMode::FilamentVulkan ||
-         gfx_mode == GraphicsMode::FilamentVulkanSoftware ||
-         gfx_mode == GraphicsMode::FilamentWebGl ||
-         gfx_mode == GraphicsMode::FilamentOpenGlHeadless ||
-         gfx_mode == GraphicsMode::FilamentOpenGlSoftware;
-}
-
-bool IsOpenGl(GraphicsMode gfx_mode) {
-  return gfx_mode == GraphicsMode::ClassicOpenGl ||
-         gfx_mode == GraphicsMode::ClassicOpenGlHeadless ||
-         gfx_mode == GraphicsMode::FilamentOpenGl ||
-         gfx_mode == GraphicsMode::FilamentOpenGlHeadless ||
-         gfx_mode == GraphicsMode::FilamentOpenGlSoftware;
-}
-
-bool IsVulkan(GraphicsMode gfx_mode) {
-  return gfx_mode == GraphicsMode::FilamentVulkan ||
-         gfx_mode == GraphicsMode::FilamentVulkanSoftware;
-}
-
-bool IsWebGl(GraphicsMode gfx_mode) {
-  return gfx_mode == GraphicsMode::FilamentWebGl;
-}
-
-bool IsHeadless(GraphicsMode gfx_mode) {
-  return gfx_mode == GraphicsMode::ClassicOpenGlHeadless ||
-         gfx_mode == GraphicsMode::FilamentOpenGlHeadless ||
-         gfx_mode == GraphicsMode::FilamentOpenGlSoftware;
-}
-
-bool IsSoftware(GraphicsMode gfx_mode) {
-  return gfx_mode == GraphicsMode::FilamentOpenGlSoftware ||
-         gfx_mode == GraphicsMode::FilamentVulkanSoftware;
-}
-
-GraphicsMode GraphicsModeFromString(std::string_view str,
-                                    GraphicsMode default_mode) {
-  if (str == "classic") {
-    return GraphicsMode::ClassicOpenGl;
-  } else if (str == "classic_headless") {
-    return GraphicsMode::ClassicOpenGlHeadless;
-  } else if (str == "opengl") {
-    return GraphicsMode::FilamentOpenGl;
-  } else if (str == "vulkan") {
-    return GraphicsMode::FilamentVulkan;
-  } else if (str == "vulkan_software") {
-    return GraphicsMode::FilamentVulkanSoftware;
-  } else if (str == "web" || str == "webgl") {
-    return GraphicsMode::FilamentWebGl;
-  } else if (str == "opengl_headless") {
-    return GraphicsMode::FilamentOpenGlHeadless;
-  } else if (str == "opengl_software") {
-    return GraphicsMode::FilamentOpenGlSoftware;
-  } else if (str.empty()) {
-    return default_mode;
-  } else {
-    mju_error("Unsupported graphics mode: %s", str.data());
-    return default_mode;
-  }
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/hal/graphics_mode.h b/src/experimental/platform/hal/graphics_mode.h
deleted file mode 100644
index 9b8045fc..00000000
--- a/src/experimental/platform/hal/graphics_mode.h
+++ /dev/null
@@ -1,62 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_GRAPHICS_MODE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_GRAPHICS_MODE_H_
-
-#include <string_view>
-
-namespace mujoco::platform {
-
-// Describes the configuration of the graphics and rendering systems.
-enum class GraphicsMode {
-  // The classic MuJoCo OpenGL renderer.
-  ClassicOpenGl,
-
-  // The classic MuJoCo OpenGL renderer.
-  ClassicOpenGlHeadless,
-
-  // The Filament-based renderer running on OpenGL.
-  FilamentOpenGl,
-
-  // The Filament-based renderer running on Vulkan.
-  FilamentVulkan,
-
-  // The Filament-based renderer running on Vulkan using software rendering.
-  FilamentVulkanSoftware,
-
-  // The Filament-based renderer running on WebGL.
-  FilamentWebGl,
-
-  // Similar to FilamentOpenGl, but assumes "headless" rendering.
-  FilamentOpenGlHeadless,
-
-  // Similar to FilamentOpenGl, but forces software rendering.
-  FilamentOpenGlSoftware,
-};
-
-bool IsClassic(GraphicsMode gfx_mode);
-bool IsFilament(GraphicsMode gfx_mode);
-bool IsOpenGl(GraphicsMode gfx_mode);
-bool IsVulkan(GraphicsMode gfx_mode);
-bool IsWebGl(GraphicsMode gfx_mode);
-bool IsHeadless(GraphicsMode gfx_mode);
-bool IsSoftware(GraphicsMode gfx_mode);
-
-GraphicsMode GraphicsModeFromString(std::string_view str,
-                                    GraphicsMode default_mode);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_GRAPHICS_MODE_H_
diff --git a/src/experimental/platform/hal/renderer.h b/src/experimental/platform/hal/renderer.h
deleted file mode 100644
index ff060023..00000000
--- a/src/experimental/platform/hal/renderer.h
+++ /dev/null
@@ -1,67 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_RENDERER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_RENDERER_H_
-
-#include <cstddef>
-#include <span>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-// Renders the mujoco simulation and the imgui state.
-class Renderer {
- public:
-  Renderer() = default;
-  virtual ~Renderer() = default;
-
-  Renderer(const Renderer&) = delete;
-  Renderer& operator=(const Renderer&) = delete;
-
-  // Initializes the renderer with the given mjModel.
-  virtual void Init(const mjModel* model) = 0;
-
-  // Renders the simulation and ux state. Renders into `pixels` if provided,
-  // otherwise renders to the `native_window` provided at construction.
-  virtual void Render(const mjModel* model, mjData* data,
-                      const mjvPerturb* perturb, mjvCamera* camera,
-                      const mjvOption* vis_option, int width, int height,
-                      std::span<std::byte> pixels = {},
-                      std::span<mjvGeom> extra_geoms = {}) = 0;
-
-  // Populates the given output buffer with RGB888 pixel data. The size of the
-  // output buffer must be at least width * height * 3.
-  virtual void RenderToTexture(const mjModel* model, mjData* data,
-                               mjvCamera* camera, int width, int height,
-                               std::byte* output) = 0;
-
-  // Uploads an image to the backend for GUI rendering, returning the texture
-  // ID for the texture. The ID can be used in subsequent calls to update the
-  // texture data. A nullptr pixels argument will free the texture if it exists.
-  // A texture ID of 0 will create a new texture.
-  virtual int UploadImage(int texture_id, const std::byte* pixels, int width,
-                          int height, int bpp) = 0;
-
-  // Rendering flags.
-  virtual mjtByte* GetRenderFlags() = 0;
-
-  // Returns the current frame rate.
-  virtual double GetFps() = 0;
-};
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_RENDERER_H_
diff --git a/src/experimental/platform/hal/renderer_test.cc b/src/experimental/platform/hal/renderer_test.cc
deleted file mode 100644
index af8d5496..00000000
--- a/src/experimental/platform/hal/renderer_test.cc
+++ /dev/null
@@ -1,127 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include "experimental/platform/hal/filament_renderer.h"
-
-#include <cstddef>
-#include <memory>
-#include <vector>
-
-#include "third_party/mujoco/google/gfx/opengl_dynamic_loader.h"
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/platform/sim/model_holder.h"
-
-#include "testing/base/public/gunit.h"
-
-namespace mujoco::platform {
-namespace {
-
-class RendererTest : public ::testing::Test {
- public:
-  void SetUp() {
-    mjSpec* spec = mj_makeSpec();
-    // Set a clear color.
-    const double clear_color[] = {1.0, 1.0, 1.0, 1.0};
-    mjsNumeric* numeric = mjs_addNumeric(spec);
-    mjs_setName(numeric->element, "filament.clearColor");
-    numeric->size = 4;
-    mjs_setDouble(numeric->data, clear_color, numeric->size);
-    holder_ = ModelHolder::FromSpec(spec);
-    holder_->model()->vis.global.offwidth = width_;
-    holder_->model()->vis.global.offheight = height_;
-  }
-
-  void Test();
-
-  int width_ = 2;
-  int height_ = 2;
-  std::unique_ptr<ModelHolder> holder_;
-};
-
-TEST_F(RendererTest, OpengGlSoftware) {
-  FilamentRenderer renderer(nullptr, GraphicsMode::FilamentOpenGlSoftware);
-  renderer.Init(holder_->model());
-
-  gl::DriverType driver_type = gl::GetLoadedDriverType();
-  ASSERT_EQ(driver_type, gl::DriverType::kOsMesa);
-
-  std::vector<std::byte> pixels(width_ * height_ * 3);
-  renderer.Render(holder_->model(), holder_->data(), nullptr, nullptr, nullptr,
-              width_, height_, pixels);
-  // We set the clear color to white, but we don't know the exact color due to
-  // post processing, but it should definitely not be black.
-  for (int i = 0; i < pixels.size(); i += 3) {
-    EXPECT_NE((int)pixels[i + 0], 0);
-    EXPECT_NE((int)pixels[i + 1], 0);
-    EXPECT_NE((int)pixels[i + 2], 0);
-  }
-}
-
-TEST_F(RendererTest, OpengGlHeadless) {
-  FilamentRenderer renderer(nullptr, GraphicsMode::FilamentOpenGlHeadless);
-  renderer.Init(holder_->model());
-
-  gl::DriverType driver_type = gl::GetLoadedDriverType();
-  #if TEST_HAS_GPU
-  ASSERT_EQ(driver_type, gl::DriverType::kEgl);
-  #else
-  ASSERT_EQ(driver_type, gl::DriverType::kOsMesa);
-  #endif
-
-  std::vector<std::byte> pixels(width_ * height_ * 3);
-  renderer.Render(holder_->model(), holder_->data(), nullptr, nullptr, nullptr,
-              width_, height_, pixels);
-  // We set the clear color to white, but we don't know the exact color due to
-  // post processing, but it should definitely not be black.
-  for (int i = 0; i < pixels.size(); i += 3) {
-    EXPECT_NE((int)pixels[i + 0], 0);
-    EXPECT_NE((int)pixels[i + 1], 0);
-    EXPECT_NE((int)pixels[i + 2], 0);
-  }
-}
-
-TEST_F(RendererTest, VulkanSoftware) {
-  FilamentRenderer renderer(nullptr, GraphicsMode::FilamentVulkanSoftware);
-  renderer.Init(holder_->model());
-
-  std::vector<std::byte> pixels(width_ * height_ * 3);
-  renderer.Render(holder_->model(), holder_->data(), nullptr, nullptr, nullptr,
-              width_, height_, pixels);
-  // We set the clear color to white, but we don't know the exact color due to
-  // post processing, but it should definitely not be black.
-  for (int i = 0; i < pixels.size(); i += 3) {
-    EXPECT_NE((int)pixels[i + 0], 0);
-    EXPECT_NE((int)pixels[i + 1], 0);
-    EXPECT_NE((int)pixels[i + 2], 0);
-  }
-}
-
-TEST_F(RendererTest, VulkanHeadless) {
-  FilamentRenderer renderer(nullptr, GraphicsMode::FilamentVulkan);
-  renderer.Init(holder_->model());
-
-  std::vector<std::byte> pixels(width_ * height_ * 3);
-  renderer.Render(holder_->model(), holder_->data(), nullptr, nullptr, nullptr,
-              width_, height_, pixels);
-  // We set the clear color to white, but we don't know the exact color due to
-  // post processing, but it should definitely not be black.
-  for (int i = 0; i < pixels.size(); i += 3) {
-    EXPECT_NE((int)pixels[i + 0], 0);
-    EXPECT_NE((int)pixels[i + 1], 0);
-    EXPECT_NE((int)pixels[i + 2], 0);
-  }
-}
-
-}  // namespace
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/hal/window.cc b/src/experimental/platform/hal/window.cc
deleted file mode 100644
index ca74fcb3..00000000
--- a/src/experimental/platform/hal/window.cc
+++ /dev/null
@@ -1,261 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/hal/window.h"
-
-#include <algorithm>
-#include <cstddef>
-#include <string>
-#include <string_view>
-
-#include <SDL.h>
-#include <SDL_error.h>
-#include <SDL_events.h>
-#include <SDL_hints.h>
-#include <SDL_render.h>
-#include <SDL_surface.h>
-#include <SDL_syswm.h>
-#include <SDL_version.h>
-#include <SDL_video.h>
-#include <backends/imgui_impl_sdl2.h>
-#include <imgui.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/platform/ux/fonts.h"
-#include "user/user_resource.h"
-
-// Because X11/Xlib.h defines Status.
-#ifdef Status
-#undef Status
-#endif
-
-#if defined(__APPLE__)
-extern void* GetNativeWindowOsx(void* window);
-#endif
-
-namespace mujoco::platform {
-
-static void InitImGui(SDL_Window* window, float content_scale,
-                      bool load_fonts) {
-  ImGui::CreateContext();
-
-  ImGuiIO& io = ImGui::GetIO();
-  io.BackendFlags |= ImGuiBackendFlags_RendererHasTextures;
-  io.ConfigFlags |= ImGuiConfigFlags_DockingEnable;
-  io.IniFilename = nullptr;
-  io.ConfigDpiScaleFonts = true;
-  io.ConfigDpiScaleViewports = true;
-  ImGui::StyleColorsDark();
-  ImGui_ImplSDL2_InitForOther(window);
-
-  ImGuiStyle& style = ImGui::GetStyle();
-  style.ScaleAllSizes(content_scale);
-  style.FontScaleDpi = content_scale;
-
-  if (load_fonts) {
-    AddStudioFonts(LoadFontResource);
-  }
-}
-
-Window::Window(std::string_view title, int width, int height, Config config)
-    : width_(width), height_(height), config_(config) {
-  if (IsHeadless(config_.gfx_mode)) {
-    SDL_SetHint(SDL_HINT_RENDER_DRIVER, "software");
-    SDL_SetHint(SDL_HINT_FRAMEBUFFER_ACCELERATION, "0");
-  } else {
-    SDL_SetHint(SDL_HINT_FRAMEBUFFER_ACCELERATION, "1");
-    SDL_GL_SetAttribute(SDL_GL_MULTISAMPLEBUFFERS, 1);
-    SDL_GL_SetAttribute(SDL_GL_MULTISAMPLESAMPLES, 16);
-  }
-
-  if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_EVENTS) != 0) {
-    mju_error("Error initializing SDL: %s", SDL_GetError());
-  }
-
-  int window_flags = SDL_WINDOW_RESIZABLE | SDL_WINDOW_ALLOW_HIGHDPI;
-  if (IsHeadless(config_.gfx_mode)) {
-    // No additional window flags needed for headless rendering.
-  } else if (IsVulkan(config_.gfx_mode)) {
-    window_flags |= SDL_WINDOW_VULKAN;
-  } else if (IsWebGl(config_.gfx_mode)) {
-    window_flags |= SDL_WINDOW_OPENGL;
-    SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 3);
-    SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 0);
-    SDL_GL_SetAttribute(SDL_GL_CONTEXT_PROFILE_MASK, SDL_GL_CONTEXT_PROFILE_ES);
-  } else if (IsOpenGl(config_.gfx_mode)) {
-    window_flags |= SDL_WINDOW_OPENGL;
-    SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 3);
-    SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 0);
-  } else {
-    mju_error("Unsupported window config: %d", config_.gfx_mode);
-  }
-
-  const float content_scale =
-      std::max(1.0f, ImGui_ImplSDL2_GetContentScaleForDisplay(0));
-  width_ = width * content_scale;
-  height_ = height * content_scale;
-  sdl_window_ =
-      SDL_CreateWindow(title.data(), SDL_WINDOWPOS_UNDEFINED,
-                       SDL_WINDOWPOS_UNDEFINED, width_, height_, window_flags);
-  if (!sdl_window_) {
-    mju_error("Error creating window: %s", SDL_GetError());
-  }
-
-  InitImGui(sdl_window_, content_scale, config.load_fonts);
-
-  // Filament (except WebGL) manages its own swap chain including when to swap.
-  // In all other cases, we'll use SDL to manage the swap chain.
-  if (config_.gfx_mode == GraphicsMode::FilamentWebGl ||
-      config_.gfx_mode == GraphicsMode::ClassicOpenGl) {
-    SDL_GLContext gl_context = SDL_GL_CreateContext(sdl_window_);
-    SDL_GL_MakeCurrent(sdl_window_, gl_context);
-  }
-
-  // In headless mode, we'll render to a texture and then blit the texture onto
-  // the window surface. In this case, we'll use SDL's software renderer to
-  // perform the blitting. Since we're in charge of the window, we don't need
-  // to get the native window handle for the renderer.
-  if (IsHeadless(config_.gfx_mode)) {
-    sdl_renderer_ = SDL_CreateRenderer(sdl_window_, -1, SDL_RENDERER_SOFTWARE);
-  } else {
-    SDL_SysWMinfo wmi;
-    SDL_VERSION(&wmi.version);
-    SDL_GetWindowWMInfo(sdl_window_, &wmi);
-
-#if defined(__linux__)
-    native_window_ = reinterpret_cast<void*>(wmi.info.x11.window);
-#elif defined(__WIN32__)
-    native_window_ = reinterpret_cast<void*>(wmi.info.win.window);
-#elif defined(__APPLE__)
-    native_window_ =
-        GetNativeWindowOsx(reinterpret_cast<void*>(wmi.info.cocoa.window));
-#endif
-  }
-
-  int drawable_width = width_;
-  int drawable_height = height_;
-  SDL_GL_GetDrawableSize(sdl_window_, &drawable_width, &drawable_height);
-  scale_ = (float)drawable_width / (float)width_;
-}
-
-Window::~Window() {
-  ImGui_ImplSDL2_Shutdown();
-  SDL_DestroyWindow(sdl_window_);
-  SDL_Quit();
-}
-
-void Window::SetTitle(std::string_view title) {
-  SDL_SetWindowTitle(sdl_window_, title.data());
-}
-
-void Window::Resize(int width, int height) {
-  SDL_SetWindowSize(sdl_window_, width, height);
-  SDL_SetWindowPosition(sdl_window_, SDL_WINDOWPOS_CENTERED,
-                        SDL_WINDOWPOS_CENTERED);
-
-  SDL_GetWindowSize(sdl_window_, &width_, &height_);
-  int drawable_width = width_;
-  int drawable_height = height_;
-  SDL_GL_GetDrawableSize(sdl_window_, &drawable_width, &drawable_height);
-  scale_ = (float)drawable_width / (float)width_;
-}
-
-void Window::DisableWindowResizing() {
-  SDL_SetWindowResizable(sdl_window_, SDL_FALSE);
-}
-void Window::EnableWindowResizing() {
-  SDL_SetWindowResizable(sdl_window_, SDL_TRUE);
-}
-
-std::string Window::GetDropFile() {
-  std::string tmp;
-  std::swap(tmp, drop_file_);
-  return tmp;
-}
-
-Window::Status Window::NewFrame() {
-  SDL_Event event;
-  while (SDL_PollEvent(&event)) {
-    ImGui_ImplSDL2_ProcessEvent(&event);
-
-    if (event.type == SDL_QUIT) {
-      should_exit_ = true;
-    } else if (event.type == SDL_APP_WILLENTERBACKGROUND) {
-      should_exit_ = true;
-    } else if (event.type == SDL_WINDOWEVENT) {
-      if (event.window.event == SDL_WINDOWEVENT_RESIZED) {
-        SDL_GetWindowSize(sdl_window_, &width_, &height_);
-        int drawable_width = width_;
-        int drawable_height = height_;
-        SDL_GL_GetDrawableSize(sdl_window_, &drawable_width, &drawable_height);
-        scale_ = (float)drawable_width / (float)width_;
-      } else if (event.window.event == SDL_WINDOWEVENT_CLOSE) {
-        should_exit_ = true;
-      }
-    } else if (event.type == SDL_DROPFILE) {
-      drop_file_ = event.drop.file;
-    }
-  }
-
-  ImGui_ImplSDL2_NewFrame();
-  ImGui::NewFrame();
-
-  return should_exit_ ? kQuitting : kRunning;
-}
-
-void Window::EndFrame() {
-  // We use ImGui for input management in addition to GUI rendering so its
-  // important to call ImGui::EndFrame even if we don't call ImGui::Render.
-  // Note ImGui::Render internally calls ImGui::EndFrame, but so long as
-  // ImGui::NewFrame has been called, ImGui::EndFrame may be called multiple
-  // times; it will be a no-op.
-  ImGui::EndFrame();
-}
-
-void Window::Present(std::span<const std::byte> pixels) {
-  // In headless mode, we assume the caller has renderered the scene to an RGB
-  // buffer of size width_ * height_ * 3.
-  if (IsHeadless(config_.gfx_mode)) {
-    if (pixels.size() != width_ * height_ * 3) {
-      mju_error("Offscreen mode expects RGB buffer of size %d",
-                width_ * height_ * 3);
-    }
-
-    SDL_Surface* surface = SDL_GetWindowSurface(sdl_window_);
-    const unsigned char* src =
-        reinterpret_cast<const unsigned char*>(pixels.data());
-    unsigned char* dst = static_cast<unsigned char*>(surface->pixels);
-
-    for (int i = 0; i < height_; ++i) {
-      for (int j = 0; j < width_; ++j) {
-        // Swap the RGB channels and add an alpha value of 1.0
-        dst[0] = src[2];
-        dst[1] = src[1];
-        dst[2] = src[0];
-        dst[3] = 0xff;
-        dst += 4;
-        src += 3;
-      }
-    }
-
-    SDL_RenderPresent(sdl_renderer_);
-  } else if (config_.gfx_mode != GraphicsMode::FilamentVulkan &&
-             config_.gfx_mode != GraphicsMode::FilamentOpenGl) {
-    SDL_GL_SwapWindow(sdl_window_);
-  }
-}
-
-GraphicsMode Window::GetGraphicsMode() const { return config_.gfx_mode; }
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/hal/window.h b/src/experimental/platform/hal/window.h
deleted file mode 100644
index 2cc61452..00000000
--- a/src/experimental/platform/hal/window.h
+++ /dev/null
@@ -1,110 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_WINDOW_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_WINDOW_H_
-
-#include <cstddef>
-#include <span>
-#include <string>
-#include <string_view>
-
-#include <SDL_render.h>
-#include <SDL_video.h>
-#include "experimental/platform/hal/graphics_mode.h"
-
-namespace mujoco::platform {
-
-// Platform-independent window abstraction using SDL2.
-//
-// Initializes the SDL2 and ImGui libraries, creates/owns the native window, and
-// handles events from the window.
-class Window {
- public:
-  struct Config {
-    GraphicsMode gfx_mode = GraphicsMode::FilamentVulkan;
-    bool load_fonts = true;
-  };
-
-  Window(std::string_view title, int width, int height, Config config);
-  ~Window();
-
-  Window(const Window&) = delete;
-  Window& operator=(const Window&) = delete;
-
-  // The status of the window.
-  enum Status {
-    kRunning,
-    kQuitting,
-  };
-
-  // Processes all pendings window events and prepares ImGui for input handling
-  // and GUI rendering. Returns the status of the window.
-  Status NewFrame();
-
-  // Finalizes ImGui input handling. Must call NewFrame first.
-  void EndFrame();
-
-  // Swaps and presents the window buffer.
-  void Present(std::span<const std::byte> pixels = {});
-
-  // Sets the title of the window.
-  void SetTitle(std::string_view title);
-
-  // Returns information related to the current size of the window.
-  int GetWidth() const { return width_; }
-  int GetHeight() const { return height_; }
-  float GetScale() const { return scale_; }
-  float GetAspectRatio() const {
-    return height_ > 0
-               ? static_cast<float>(width_) / static_cast<float>(height_)
-               : 1.0f;
-  }
-
-  // Returns the path to a file that was dropped on the window. Once called,
-  // the value will be cleared until the next time a file is dropped.
-  std::string GetDropFile();
-
-  // Returns the graphics configuration of the window.
-  GraphicsMode GetGraphicsMode() const;
-
-  // Resizes the window to the given width and height.
-  void Resize(int width, int height);
-
-  // Enables window resizing.
-  void EnableWindowResizing();
-
-  // Disables window resizing.
-  void DisableWindowResizing();
-
-  // Returns the handle to the underlying native window.
-  void* GetNativeWindowHandle() { return native_window_; }
-
- private:
-  void InitOffscreenEglContext();
-
-  int width_ = 0;
-  int height_ = 0;
-  float scale_ = 1.0f;
-  Config config_;
-  void* native_window_ = nullptr;
-  SDL_Window* sdl_window_ = nullptr;
-  SDL_Renderer* sdl_renderer_ = nullptr;
-  bool should_exit_ = false;
-  std::string drop_file_;
-};
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HAL_WINDOW_H_
diff --git a/src/experimental/platform/hal/window_osx.mm b/src/experimental/platform/hal/window_osx.mm
deleted file mode 100644
index 5601d471..00000000
--- a/src/experimental/platform/hal/window_osx.mm
+++ /dev/null
@@ -1,22 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#import <AppKit/NSWindow.h>
-#import <AppKit/NSView.h>
-
-void* GetNativeWindowOsx(void* window) {
-  NSWindow* ns_window = (__bridge NSWindow*)window;
-  NSView* ns_view = [ns_window contentView];
-  return (__bridge void*)ns_view;
-}
diff --git a/src/experimental/platform/helpers.cc b/src/experimental/platform/helpers.cc
deleted file mode 100644
index e10d8e8d..00000000
--- a/src/experimental/platform/helpers.cc
+++ /dev/null
@@ -1,208 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/helpers.h"
-
-#include <algorithm>
-#include <cstddef>
-#include <cstdint>
-#include <cstdio>
-#include <cstring>
-#include <filesystem>
-#include <fstream>
-#include <ios>
-#include <iterator>
-#include <string>
-#include <vector>
-
-#include "webp/encode.h"
-#include "webp/types.h"
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_vis_visualize.h"
-
-namespace mujoco::platform {
-
-void SaveText(const std::string& contents, const std::string& filename) {
-  std::ofstream file(filename);
-  file.write(contents.data(), contents.size());
-  file.close();
-}
-
-std::string LoadText(const std::string& filename) {
-  std::ifstream file(filename);
-  std::string contents((std::istreambuf_iterator<char>(file)),
-                       std::istreambuf_iterator<char>());
-  file.close();
-  return contents;
-}
-
-static std::string CheckPathForFile(const std::filesystem::path& path,
-                                    const std::string& filename) {
-  std::filesystem::path resolved = path / filename;
-  if (std::filesystem::exists(resolved)) {
-    return resolved.string();
-  }
-  resolved += ".xml";
-  if (std::filesystem::exists(resolved)) {
-    return resolved.string();
-  }
-  return "";
-}
-
-std::string ResolveFile(const std::string& filename,
-                        const std::vector<std::string>& search_paths) {
-  if (std::filesystem::exists(filename)) {
-    return filename;
-  }
-
-  std::string resolved;
-  for (const std::string& path : search_paths) {
-    if (!std::filesystem::exists(path) ||
-        !std::filesystem::is_directory(path)) {
-      continue;
-    }
-
-    resolved = CheckPathForFile(std::filesystem::path(path), filename);
-    if (!resolved.empty()) {
-      return resolved;
-    }
-
-    std::vector<std::filesystem::path> entries;
-    for (const auto& it : std::filesystem::recursive_directory_iterator(path)) {
-      entries.push_back(it.path());
-    }
-    std::sort(entries.begin(), entries.end());
-    for (const auto& entry : entries) {
-      resolved = CheckPathForFile(entry, filename);
-      if (!resolved.empty()) {
-        return resolved;
-      }
-    }
-  }
-  return filename;
-}
-
-void SaveToWebp(int width, int height, const std::byte* data,
-                const std::string& filename) {
-  uint8_t* webp = nullptr;
-  const size_t size = WebPEncodeLosslessRGB(
-      reinterpret_cast<const uint8_t*>(data), width, height, width * 3, &webp);
-  std::ofstream file(filename, std::ios::binary);
-  file.write(reinterpret_cast<const char*>(webp), size);
-  file.close();
-  WebPFree(webp);
-}
-
-const void* GetValue(const mjModel* model, const mjData* data,
-                     const char* field, int index) {
-#define X(TYPE, NAME, NR, NC)                                        \
-  if (!std::strcmp(#NAME, field) && !std::strcmp(#TYPE, "mjtNum")) { \
-    if (index >= 0 && index < model->NR * NC) {                      \
-      return &data->NAME[index];                                     \
-    } else {                                                         \
-      return nullptr;                                                \
-    }                                                                \
-  }
-  MJDATA_POINTERS
-#undef X
-  return nullptr;  // Invalid field.
-}
-
-std::string CameraToString(const mjData* data, const mjvCamera* camera) {
-  mjtNum pos[3], forward[3], up[3], right[3];
-  mjv_cameraFrame(pos, forward, up, right, data, camera);
-  char str[500];
-  std::snprintf(str, sizeof(str),
-                "<camera pos=\"%.3f %.3f %.3f\" xyaxes=\"%.3f %.3f %.3f %.3f "
-                "%.3f %.3f\"/>\n",
-                pos[0], pos[1], pos[2], right[0], right[1], right[2],
-                up[0], up[1], up[2]);
-  return str;
-}
-
-std::string KeyframeToString(const mjModel* model, const mjData* data,
-                             bool full_precision) {
-  const int kStrLen = 5000;
-
-  char buf[200];
-  const char p_regular[] = "%g";
-  const char p_full[] = "%-22.16g";
-  const char* format = full_precision ? p_full : p_regular;
-
-  char str[kStrLen] = "<key\n";
-
-  // time
-  std::strncat(str, " time=\"", kStrLen);
-  std::snprintf(buf, sizeof(buf), format, data->time);
-  std::strncat(str, buf, kStrLen);
-
-  // qpos
-  std::strncat(str, "\"\n  qpos=\"", kStrLen);
-  for (int i = 0; i < model->nq; i++) {
-    std::snprintf(buf, sizeof(buf), format, data->qpos[i]);
-    if (i < model->nq - 1) std::strncat(buf, " ", 200);
-    std::strncat(str, buf, kStrLen);
-  }
-
-  // qvel
-  std::strncat(str, "\"\n  qvel=\"", kStrLen);
-  for (int i = 0; i < model->nv; i++) {
-    std::snprintf(buf, sizeof(buf), format, data->qvel[i]);
-    if (i < model->nv - 1) std::strncat(buf, " ", 200);
-    std::strncat(str, buf, kStrLen);
-  }
-
-  // act
-  if (model->na > 0) {
-    std::strncat(str, "\"\n  act=\"", kStrLen);
-    for (int i = 0; i < model->na; i++) {
-      std::snprintf(buf, sizeof(buf), format, data->act[i]);
-      if (i < model->na - 1) std::strncat(buf, " ", 200);
-      std::strncat(str, buf, kStrLen);
-    }
-  }
-
-  // ctrl
-  if (model->nu > 0) {
-    std::strncat(str, "\"\n  ctrl=\"", kStrLen);
-    for (int i = 0; i < model->nu; i++) {
-      std::snprintf(buf, sizeof(buf), format, data->ctrl[i]);
-      if (i < model->nu - 1) std::strncat(buf, " ", 200);
-      std::strncat(str, buf, kStrLen);
-    }
-  }
-
-  if (model->nmocap > 0) {
-    std::strncat(str, "\"\n  mpos=\"", kStrLen);
-    for (int i = 0; i < 3 * model->nmocap; i++) {
-      std::snprintf(buf, sizeof(buf), format, data->mocap_pos[i]);
-      if (i < 3 * model->nmocap - 1) std::strncat(buf, " ", 200);
-      std::strncat(str, buf, kStrLen);
-    }
-
-    // mocap_quat
-    std::strncat(str, "\"\n  mquat=\"", kStrLen);
-    for (int i = 0; i < 4 * model->nmocap; i++) {
-      std::snprintf(buf, sizeof(buf), format, data->mocap_quat[i]);
-      if (i < 4 * model->nmocap - 1) std::strncat(buf, " ", 200);
-      std::strncat(str, buf, kStrLen);
-    }
-  }
-
-  std::strncat(str, "\"\n/>", kStrLen);
-  return str;
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/helpers.h b/src/experimental/platform/helpers.h
deleted file mode 100644
index 3ad988d9..00000000
--- a/src/experimental/platform/helpers.h
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Standalone functions used by Simulate.
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HELPERS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HELPERS_H_
-
-#include <cstddef>
-#include <functional>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-// Save/load for simple ascii files.
-void SaveText(const std::string& contents, const std::string& filename);
-std::string LoadText(const std::string& filename);
-
-// Attempts to find a file with the given name by recursively searching the
-// given search paths.
-std::string ResolveFile(const std::string& filename,
-                        const std::vector<std::string>& search_paths);
-
-// Exports the given image (assumed to be RGB888) to a webp file.
-void SaveToWebp(int width, int height, const std::byte* data,
-                const std::string& filename);
-
-// Returns a pointer to the value of the given field in the given data.
-// Returns nullptr if the field is not found or the index is out of bounds.
-const void* GetValue(const mjModel* model, const mjData* data,
-                     const char* field, int index);
-
-// Returns an XML string representation of the camera.
-std::string CameraToString(const mjData* data, const mjvCamera* camera);
-
-// Returns an XML string representation of current data keyframe.
-std::string KeyframeToString(const mjModel* model, const mjData* data,
-                             bool full_precision = false);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_HELPERS_H_
diff --git a/src/experimental/platform/resources.cc b/src/experimental/platform/resources.cc
deleted file mode 100644
index b0fcb727..00000000
--- a/src/experimental/platform/resources.cc
+++ /dev/null
@@ -1,108 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/resources.h"
-
-#include <filesystem>  // NOLINT(build/c++17)
-#include <fstream>
-#include <ios>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "experimental/platform/sys_utils.h"
-
-namespace mujoco::platform {
-
-namespace {
-
-std::string Resolve(std::string_view path) {
-  std::string_view subpath = path.substr(path.find(':') + 1);
-  std::filesystem::path exe_dir = mujoco::platform::GetModuleDir((void*)&Resolve);
-  if (exe_dir.empty()) {
-    return std::string("assets/") + std::string(subpath);
-  }
-  std::filesystem::path resources_dir = exe_dir.parent_path() / "Resources";
-  if (std::filesystem::exists(resources_dir / "assets")) {
-    return (resources_dir / "assets" / subpath).string();
-  }
-  return (exe_dir / "assets" / subpath).string();
-}
-
-class FileResource {
- public:
-  explicit FileResource(const std::string& path)
-      : file_(path, std::ios::binary | std::ios::ate) {
-    if (!file_.is_open()) {
-      mju_warning("Cannot open file %s", path.c_str());
-      return;
-    }
-
-    size_ = file_.tellg();
-    file_.seekg(0, std::ios::beg);
-  }
-
-  int Read(const void** buffer) {
-    buffer_.resize(size_);
-    if (!file_.read(reinterpret_cast<char*>(buffer_.data()), size_)) {
-      return 0;
-    }
-    *buffer = buffer_.data();
-    return size_;
-  }
-
-  int Size() const { return size_; }
-
-  FileResource(const FileResource&) = delete;
-  FileResource& operator=(const FileResource&) = delete;
-
- private:
-  std::ifstream file_;
-  std::vector<char> buffer_;
-  int size_ = 0;
-};
-
-}  // namespace
-
-void RegisterResourceProviders() {
-  mjpResourceProvider resource_provider;
-  mjp_defaultResourceProvider(&resource_provider);
-
-  resource_provider.open = [](mjResource* resource) {
-    const std::string resolved_path = Resolve(resource->name);
-    FileResource* f = new FileResource(resolved_path);
-    if (f->Size() == 0) {
-      delete f;
-      return 0;
-    }
-    resource->data = f;
-    return f->Size();
-  };
-  resource_provider.read = [](mjResource* resource, const void** buffer) {
-    FileResource* f = static_cast<FileResource*>(resource->data);
-    return f->Read(buffer);
-  };
-  resource_provider.close = [](mjResource* resource) {
-    delete static_cast<FileResource*>(resource->data);
-    resource->data = nullptr;
-  };
-
-  resource_provider.prefix = "font";
-  mjp_registerResourceProvider(&resource_provider);
-  resource_provider.prefix = "filament";
-  mjp_registerResourceProvider(&resource_provider);
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/resources.h b/src/experimental/platform/resources.h
deleted file mode 100644
index 804a3683..00000000
--- a/src/experimental/platform/resources.h
+++ /dev/null
@@ -1,25 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RESOURCES_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RESOURCES_H_
-
-namespace mujoco::platform {
-
-// Registers MuJoCo resource providers for font and filament assets.
-void RegisterResourceProviders();
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_RESOURCES_H_
diff --git a/src/experimental/platform/sim/model_holder.cc b/src/experimental/platform/sim/model_holder.cc
deleted file mode 100644
index ab5ac0b0..00000000
--- a/src/experimental/platform/sim/model_holder.cc
+++ /dev/null
@@ -1,168 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/sim/model_holder.h"
-
-#include <cstddef>
-#include <cstring>
-#include <memory>
-#include <span>  // NOLINT
-#include <string_view>
-
-#include <mujoco/mujoco.h>
-#include "user/user_resource.h"
-
-namespace mujoco::platform {
-
-struct BufferProvider : public mjpResourceProvider {
-  BufferProvider(std::span<const std::byte> buffer) : buffer(buffer) {
-    mjp_defaultResourceProvider(this);
-    open = [](mjResource* resource) {
-      return 1;
-    };
-    read = [](mjResource* resource, const void** buffer) {
-      BufferProvider* self = (BufferProvider*)resource->provider;
-      *buffer = self->buffer.data();
-      return static_cast<int>(self->buffer.size());
-    };
-    close = [](mjResource* resource) {};
-  }
-  std::span<const std::byte> buffer;
-};
-
-std::unique_ptr<ModelHolder> ModelHolder::FromSpec(mjSpec* spec) {
-  auto mh = std::unique_ptr<ModelHolder>(new ModelHolder());
-  mh->InitFromSpec(spec);
-  return mh;
-}
-
-std::unique_ptr<ModelHolder> ModelHolder::FromFile(std::string_view filepath) {
-  auto mh = std::unique_ptr<ModelHolder>(new ModelHolder());
-  mh->InitFromFile(filepath);
-  return mh;
-}
-
-std::unique_ptr<ModelHolder> ModelHolder::FromBuffer(
-    std::span<const std::byte> buffer, std::string_view content_type,
-    std::string_view filename) {
-  auto mh = std::unique_ptr<ModelHolder>(new ModelHolder());
-  mh->InitFromBuffer(buffer, content_type, filename);
-  return mh;
-}
-
-ModelHolder::ModelHolder() {
-  mj_defaultVFS(&vfs_);
-}
-
-ModelHolder::~ModelHolder() {
-  if (data_) {
-    mj_deleteData(data_);
-  }
-  if (model_) {
-    mj_deleteModel(model_);
-  }
-  if (spec_) {
-    mj_deleteSpec(spec_);
-  }
-  mj_deleteVFS(&vfs_);
-}
-
-void ModelHolder::PostInit() {
-  if (spec_ && !model_) {
-#ifdef __EMSCRIPTEN__
-    // Disable threaded compilation on WASM since pthreads are not available.
-    spec_->compiler.usethread = 0;
-#endif
-    model_ = mj_compile(spec_, &vfs_);
-    if (!model_) {
-      SetLoadError(mjs_getError(spec_));
-      return;
-    }
-    int num_warnings = mjs_numWarnings(spec_);
-    for (int i = 0; i < num_warnings; ++i) {
-      if (!warning_.empty()) warning_ += '\n';
-      warning_ += mjs_getWarning(spec_, i);
-    }
-  }
-  data_ = mj_makeData(model_);
-  if (!data_) {
-    SetLoadError("Error making data for model.");
-  }
-}
-
-void ModelHolder::InitFromSpec(mjSpec* spec) {
-  spec_ = spec;
-  PostInit();
-}
-
-void ModelHolder::InitFromFile(std::string_view filepath) {
-  if (filepath.ends_with(".mjb")) {
-    model_ = mj_loadModel(filepath.data(), &vfs_);
-  } else {
-    spec_ = mj_parse(filepath.data(), nullptr, &vfs_, error_, sizeof(error_));
-  }
-  if (error_[0] == 0) {
-    PostInit();
-  }
-}
-
-void ModelHolder::InitFromBuffer(std::span<const std::byte> buffer,
-                                 std::string_view content_type,
-                                 std::string_view filename) {
-  if (content_type == "text/xml") {
-    const char* ptr = reinterpret_cast<const char*>(buffer.data());
-    spec_ = mj_parseXMLString(ptr, nullptr, error_, sizeof(error_));
-  } else if (content_type == "application/mjb") {
-    model_ = mj_loadModelBuffer(buffer.data(), buffer.size());
-  } else if (content_type == "application/zip") {
-    BufferProvider provider(buffer);
-    mjResource resource;
-    std::memset(&resource, 0, sizeof(mjResource));
-    resource.vfs = &vfs_;
-    resource.provider = &provider;
-    resource.name = const_cast<char*>(filename.data());
-    spec_ = mju_decodeResource(&resource, content_type.data(), &vfs_);
-  } else {
-    SetLoadError(
-        "Unknown content type; expected text/xml or application/mjb");
-  }
-  if (error_[0] == 0) {
-    PostInit();
-  }
-}
-
-void ModelHolder::SetLoadError(std::string_view error) {
-  strncpy(error_, error.data(), sizeof(error_) - 1);
-  error_[sizeof(error_) - 1] = 0;
-}
-
-mjSpec* ModelHolder::ReleaseSpec() {
-  mjSpec* spec = spec_;
-  spec_ = nullptr;
-  return spec;
-}
-
-mjData* ModelHolder::ReleaseData() {
-  mjData* data = data_;
-  data_ = nullptr;
-  return data;
-}
-
-mjModel* ModelHolder::ReleaseModel() {
-  mjModel* model = model_;
-  model_ = nullptr;
-  return model;
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/sim/model_holder.h b/src/experimental/platform/sim/model_holder.h
deleted file mode 100644
index 44794bd1..00000000
--- a/src/experimental/platform/sim/model_holder.h
+++ /dev/null
@@ -1,89 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_MODEL_HOLDER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_MODEL_HOLDER_H_
-
-#include <memory>
-#include <cstddef>
-#include <span>  // NOLINT
-#include <string>
-#include <string_view>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-// Container for storing an mjModel as well as its associated mjData. Also, if
-// applicable, stores the mjSpec and mjVFS from which the model was constructed.
-class ModelHolder {
- public:
-  ModelHolder(const ModelHolder&) = delete;
-  ModelHolder& operator=(const ModelHolder&) = delete;
-  ~ModelHolder();
-
-  // Creates an mjModel from an existing mjSpec. This class takes ownership of
-  // the spec and will `mj_deleteSpec` it on destruction.
-  static std::unique_ptr<ModelHolder> FromSpec(mjSpec* spec);
-
-  // Creates an mjModel by attempting to open and parse the give file.
-  static std::unique_ptr<ModelHolder> FromFile(std::string_view filepath);
-
-  // Creates an mjModel by attempting to decode the given buffer.
-  static std::unique_ptr<ModelHolder> FromBuffer(
-      std::span<const std::byte> buffer, std::string_view content_type,
-      std::string_view filename);
-
-  // Accessors to the MuJoCo structures managed by this object.
-  mjVFS* vfs() { return &vfs_; }
-  mjSpec* spec() { return spec_; }
-  mjData* data() { return data_; }
-  mjModel* model() { return model_; }
-
-  // Returns true if the holder holds a valid model (and data).
-  bool ok() const { return error_[0] == 0 && model_ && data_; }
-
-  // Returns the error message if the model failed to load.
-  std::string_view error() const { return error_; }
-
-  // Returns the warning message(s), newline-separated.
-  std::string_view warning() const { return warning_; }
-
-  // Releases ownership of the underlying MuJoCo structures. Callers are now
-  // responsible for calling the appropriate `mj_delete*` function on these
-  // objects.
-  mjSpec* ReleaseSpec();
-  mjData* ReleaseData();
-  mjModel* ReleaseModel();
-
- private:
-  ModelHolder();
-  void InitFromSpec(mjSpec* spec);
-  void InitFromFile(std::string_view filepath);
-  void InitFromBuffer(std::span<const std::byte> buffer,
-                      std::string_view content_type,
-                      std::string_view filename);
-  void PostInit();
-  void SetLoadError(std::string_view error);
-
-  mjVFS vfs_;
-  mjSpec* spec_ = nullptr;
-  mjModel* model_ = nullptr;
-  mjData* data_ = nullptr;
-  char error_[1000] = "";
-  std::string warning_;
-};
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_MODEL_HOLDER_H_
diff --git a/src/experimental/platform/sim/sim_history.cc b/src/experimental/platform/sim/sim_history.cc
deleted file mode 100644
index a8a63fd1..00000000
--- a/src/experimental/platform/sim/sim_history.cc
+++ /dev/null
@@ -1,75 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/sim/sim_history.h"
-
-#include <algorithm>
-#include <climits>
-#include <span>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-void SimHistory::Init(int state_size, int max_history, int max_bytes) {
-  // History buffer will be smaller of number of states and total memory.
-  const int state_bytes = state_size * sizeof(mjtNum);
-  const int history_length = std::min(INT_MAX / state_bytes, max_history);
-  const int history_bytes = std::min(state_bytes * history_length, max_bytes);
-
-  const int max_states = std::max(1, history_bytes / state_bytes);
-  history_.resize(max_states);
-
-  for (State& state : history_) {
-    state.resize(state_size, 0);
-  }
-  cursor_ = 0;
-  offset_ = 0;
-  size_ = 0;
-}
-
-std::span<mjtNum> SimHistory::AddToHistory() {
-  const int max_size = history_.size();
-  if (offset_ != 0) {
-    // offset will be a negative number between 1 - history_.size() and 0.
-    size_ += offset_;
-    cursor_ += offset_;
-    if (cursor_ < 0) {
-      cursor_ += max_size;
-    }
-    offset_ = 0;
-  }
-
-  std::span<mjtNum> state;
-  if (max_size > 0 && cursor_ < max_size) {
-    state = history_[cursor_];
-    cursor_ = (cursor_ + 1) % max_size;
-    size_ = std::min(size_ + 1, max_size);
-  }
-  return state;
-}
-
-std::span<mjtNum> SimHistory::SetIndex(int offset) {
-  if (history_.empty() || size_ <= 0) {
-    return {};
-  }
-
-  offset_ = std::clamp<int>(offset, 1 - size_, 0);
-
-  const int actual_index =
-      (cursor_ - 1 + offset_ + history_.size()) % history_.size();
-  return history_[actual_index];
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/sim/sim_history.h b/src/experimental/platform/sim/sim_history.h
deleted file mode 100644
index cb1bf065..00000000
--- a/src/experimental/platform/sim/sim_history.h
+++ /dev/null
@@ -1,94 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_HISTORY_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_HISTORY_H_
-
-#include <span>
-#include <vector>
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-// A historical buffer of simulation data.
-class SimHistory {
- public:
-  SimHistory() = default;
-
-  // Simulation data is stored a an array of mjtNum; see mj_getState().
-  using State = std::vector<mjtNum>;
-
-  // Clears and initializes the history buffer to store state.
-  void Init(int state_size, int max_history = 2000, int max_bytes = 1e8);
-
-  // Adds an uninitialized state to the history and returns a reference to it
-  // so that the caller can populate the data. Also resets the current index to
-  // 0; see SetIndex() for details.
-  std::span<mjtNum> AddToHistory();
-
-  // Returns the history at the given index (i.e. the number of steps) in the
-  // past. The `offset` will be clamped internally to the range [0, Size() - 1].
-  // This function returns the valid, clamped value.
-  //
-  // For example, calling SetIndex(0) will return the most recently recorded
-  // state. Calling SetIndex(-N) will return the state from N steps ago.
-  //
-  // Note that future calls to `AddToHistory` will begin recording from the
-  // newly set index, effectively creating a new "branch" of the history buffer.
-  // If you do not want to lose any states, you must call `SetIndex(0)` before
-  // before resuming playback.
-  //
-  // For example, consider you have recorded 6 states:
-  //   N(-5)   N(-4)   N(-3)   N(-2)   N(-1)   N(0)
-  //   -----------------------------------------^
-  //
-  // You then call `SetIndex(-3)`:
-  //   N(-5)   N(-4)   N(-3)   N(-2)   N(-1)   N(0)
-  //   ------------------^
-  //
-  // And then call `AddToHistory()
-  //   N(-5)   N(-4)   N(-3)   N(-2)   N(-1)   N(0)
-  //     |       |       |       x       x       x
-  //     v       v       v
-  //   N'(-3)  N'(-2)  N'(-1)  N'(0)
-  //   -------------------------^
-  //
-  // In this case, we effectively erase states 0 to -3 of the previous history,
-  // "copy" the older states into the new branch, and add the most recent state
-  // at the "head" of the history buffer.
-  std::span<mjtNum> SetIndex(int offset);
-
-  // Returns the currently set index.
-  int GetIndex() const { return offset_; }
-
-  // Returns the number of states in the history buffer.
-  int Size() const { return size_; }
-
- private:
-  // The history of states.
-  std::vector<State> history_;
-
-  // The index at which the next AddToHistory() call will write.
-  int cursor_ = 0;
-
-  // The most recently requested offset from SetIndex().
-  int offset_ = 0;
-
-  // The total number of states available in the history buffer.
-  int size_ = 0;
-};
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_HISTORY_H_
diff --git a/src/experimental/platform/sim/sim_profiler.cc b/src/experimental/platform/sim/sim_profiler.cc
deleted file mode 100644
index 2fe150a6..00000000
--- a/src/experimental/platform/sim/sim_profiler.cc
+++ /dev/null
@@ -1,253 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/sim/sim_profiler.h"
-
-#include <algorithm>
-#include <cmath>
-#include <cstdio>
-#include <string>
-#include <vector>
-
-#include <imgui.h>
-#include <implot.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/ux/imgui_widgets.h"
-
-namespace mujoco::platform {
-
-SimProfiler::SimProfiler() { Clear(); }
-
-void SimProfiler::Clear() {
-  constexpr int kProfilerMaxFrames = 200;
-  cpu_total_.clear();
-  cpu_collision_.clear();
-  cpu_prepare_.clear();
-  cpu_solve_.clear();
-  cpu_other_.clear();
-  dim_dof_.clear();
-  dim_body_.clear();
-  dim_constraint_.clear();
-  dim_nnz_.clear();
-  dim_contact_.clear();
-  dim_iteration_.clear();
-
-  cpu_total_.resize(kProfilerMaxFrames, 0);
-  cpu_collision_.resize(kProfilerMaxFrames, 0);
-  cpu_prepare_.resize(kProfilerMaxFrames, 0);
-  cpu_solve_.resize(kProfilerMaxFrames, 0);
-  cpu_other_.resize(kProfilerMaxFrames, 0);
-  dim_dof_.resize(kProfilerMaxFrames, 0);
-  dim_body_.resize(kProfilerMaxFrames, 0);
-  dim_constraint_.resize(kProfilerMaxFrames, 0);
-  dim_nnz_.resize(kProfilerMaxFrames, 0);
-  dim_contact_.resize(kProfilerMaxFrames, 0);
-  dim_iteration_.resize(kProfilerMaxFrames, 0);
-}
-
-void SimProfiler::Update(const mjModel* model, const mjData* data) {
-  // CPU timers.
-  mjtNum total = data->timer[mjTIMER_STEP].duration;
-  mjtNum number = static_cast<mjtNum>(data->timer[mjTIMER_STEP].number);
-  if (number == 0.0) {
-    total = data->timer[mjTIMER_FORWARD].duration;
-    number = static_cast<mjtNum>(data->timer[mjTIMER_FORWARD].number);
-  }
-  if (number == 0.0) {
-    // This can happen if the simulation is paused.
-    return;
-  }
-
-  mjtNum avg_total = 1000.0 * total / number;
-  cpu_total_.erase(cpu_total_.begin());
-  cpu_total_.push_back(avg_total);
-
-  mjtNum collision = 1000.0 * data->timer[mjTIMER_POS_COLLISION].duration / number;
-  cpu_collision_.erase(cpu_collision_.begin());
-  cpu_collision_.push_back(collision);
-
-  mjtNum prepare = 1000.0 * ((data->timer[mjTIMER_POS_MAKE].duration / number) +
-                             (data->timer[mjTIMER_POS_PROJECT].duration / number));
-  cpu_prepare_.erase(cpu_prepare_.begin());
-  cpu_prepare_.push_back(prepare);
-
-  mjtNum solve = 1000.0 * data->timer[mjTIMER_CONSTRAINT].duration / number;
-  cpu_solve_.erase(cpu_solve_.begin());
-  cpu_solve_.push_back(solve);
-
-  mjtNum other = avg_total - collision - prepare - solve;
-  cpu_other_.erase(cpu_other_.begin());
-  cpu_other_.push_back(other);
-
-  // Solver diagnostics.
-  mjtNum nnz = 0;
-  int solver_niter = 0;
-  const int nisland =
-      data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
-  for (int island = 0; island < nisland; island++) {
-    nnz += data->solver_nnz[island];
-    solver_niter += data->solver_niter[island];
-  }
-
-  dim_dof_.erase(dim_dof_.begin());
-  int nv = (model->opt.enableflags & mjENBL_SLEEP) ? data->nv_awake : model->nv;
-  dim_dof_.push_back(nv);
-
-  dim_body_.erase(dim_body_.begin());
-  int nbody = (model->opt.enableflags & mjENBL_SLEEP) ? data->nbody_awake
-                                                      : model->nbody;
-  dim_body_.push_back(nbody);
-
-  dim_constraint_.erase(dim_constraint_.begin());
-  dim_constraint_.push_back(data->nefc);
-
-  dim_nnz_.erase(dim_nnz_.begin());
-  dim_nnz_.push_back(nnz);
-
-  dim_contact_.erase(dim_contact_.begin());
-  dim_contact_.push_back(data->ncon);
-
-  dim_iteration_.erase(dim_iteration_.begin());
-  dim_iteration_.push_back(static_cast<float>(solver_niter) /
-                           mjMAX(1, nisland));
-}
-
-// Returns a dynamically padded legend label for ImPlot.
-static std::string GetLegendLabel(const char* name, const std::vector<float>& values) {
-  float sum = 0.f;
-  int count = 0;
-  for (float val : values) {
-    if (val != 0.f) {
-      sum += val;
-      count++;
-    }
-  }
-  float avg = count > 0 ? (sum / count) : 0.f;
-
-  char buf[128];
-  std::snprintf(buf, sizeof(buf), "%-9s (%4.0f)###%s", name, avg, name);
-  return std::string(buf);
-}
-
-// Returns a dynamically padded legend label for the Dimensions plot.
-static std::string GetDimensionLabel(const char* name, float value) {
-  char buf[128];
-  std::snprintf(buf, sizeof(buf), "%-10s: %5.0f###%s", name, value, name);
-  return std::string(buf);
-}
-
-void SimProfiler::CpuTimeGraph(ImVec2 plot_size) {
-  ScopedStyle style;
-  style.Font(ScopedFont::kMono);
-
-  ImPlotFlags flags =
-      ImPlot_SetupPlotFlags(plot_size) | ImPlotFlags_NoMouseText;
-  if (ImPlot::BeginPlot("CPU microseconds (avg) vs frame", plot_size, flags)) {
-    ImPlot::PushStyleVar(ImPlotStyleVar_LineWeight, 2.0f);
-    ImPlot_SetupTimeAxis(plot_size, "");
-    ImPlot_SetupValueAxis(plot_size, "", "%.0f");
-    float max_val = 0.f;
-    for (float val : cpu_total_) {
-      if (val > max_val) {
-        max_val = val;
-      }
-    }
-    float rounded_max = std::max(100.0f, std::ceil(max_val / 100.0f) * 100.0f);
-    ImPlot::SetupAxisLimits(ImAxis_Y1, 0.0, rounded_max, ImPlotCond_Always);
-    ImPlot::SetupLegend(ImPlotLocation_NorthEast);
-    ImPlot::SetupFinish();
-
-    ImPlot::PlotLine(GetLegendLabel("total", cpu_total_).c_str(),
-                     cpu_total_.data(), cpu_total_.size(), 1,
-                     -(int)cpu_total_.size());
-    ImPlot::PlotLine(GetLegendLabel("prepare", cpu_prepare_).c_str(),
-                     cpu_prepare_.data(), cpu_prepare_.size(), 1,
-                     -(int)cpu_prepare_.size());
-    ImPlot::PlotLine(GetLegendLabel("solve", cpu_solve_).c_str(),
-                     cpu_solve_.data(), cpu_solve_.size(), 1,
-                     -(int)cpu_solve_.size());
-    ImPlot::PlotLine(GetLegendLabel("collision", cpu_collision_).c_str(),
-                     cpu_collision_.data(), cpu_collision_.size(), 1,
-                     -(int)cpu_collision_.size());
-    ImPlot::PlotLine(GetLegendLabel("other", cpu_other_).c_str(),
-                     cpu_other_.data(), cpu_other_.size(), 1,
-                     -(int)cpu_other_.size());
-    ImPlot::PopStyleVar();
-    ImPlot::EndPlot();
-  }
-}
-
-void SimProfiler::DimensionsGraph(ImVec2 plot_size) {
-  ScopedStyle style;
-  style.Font(ScopedFont::kMono);
-
-  ImPlotFlags flags =
-      ImPlot_SetupPlotFlags(plot_size) | ImPlotFlags_NoMouseText;
-  if (ImPlot::BeginPlot("Dimensions: current vs frame", plot_size, flags)) {
-    ImPlot::PushStyleVar(ImPlotStyleVar_LineWeight, 2.0f);
-    ImPlot_SetupTimeAxis(plot_size, "");
-    ImPlot_SetupValueAxis(plot_size, "", "%.0f");
-    ImPlot::SetupAxisScale(ImAxis_Y1, ImPlotScale_Log10);
-    float max_val = 10.f;
-    for (float val : dim_dof_) { max_val = std::max(max_val, val); }
-    for (float val : dim_body_) { max_val = std::max(max_val, val); }
-    for (float val : dim_constraint_) { max_val = std::max(max_val, val); }
-    for (float val : dim_nnz_) { max_val = std::max(max_val, val); }
-    for (float val : dim_contact_) { max_val = std::max(max_val, val); }
-    for (float val : dim_iteration_) { max_val = std::max(max_val, val); }
-    float log_max = std::log10(max_val);
-    float y_max = std::pow(10.f, log_max + 0.1f);
-    ImPlot::SetupAxisLimits(ImAxis_Y1, 1.0, y_max, ImPlotCond_Always);
-    ImPlot::SetupLegend(ImPlotLocation_NorthEast);
-    ImPlot::SetupFinish();
-
-    const int count = static_cast<int>(dim_dof_.size());
-    struct GetterData {
-      const std::vector<float>* vec;
-      int count;
-    };
-    auto getter = +[](int idx, void* user_data) -> ImPlotPoint {
-      const auto* gd = static_cast<const GetterData*>(user_data);
-      float val = (*gd->vec)[idx];
-      double x = -gd->count + idx;
-      double y = (val <= 0.0f) ? std::nan("") : static_cast<double>(val);
-      return ImPlotPoint{x, y};
-    };
-
-    GetterData nnz_data{&dim_nnz_, count};
-    ImPlot::PlotLineG(GetDimensionLabel("nnz", dim_nnz_.back()).c_str(),
-                      getter, &nnz_data, count);
-    GetterData constraint_data{&dim_constraint_, count};
-    ImPlot::PlotLineG(
-        GetDimensionLabel("constraint", dim_constraint_.back()).c_str(),
-        getter, &constraint_data, count);
-    GetterData dof_data{&dim_dof_, count};
-    ImPlot::PlotLineG(GetDimensionLabel("dof", dim_dof_.back()).c_str(),
-                      getter, &dof_data, count);
-    GetterData contact_data{&dim_contact_, count};
-    ImPlot::PlotLineG(GetDimensionLabel("contact", dim_contact_.back()).c_str(),
-                      getter, &contact_data, count);
-    GetterData body_data{&dim_body_, count};
-    ImPlot::PlotLineG(GetDimensionLabel("body", dim_body_.back()).c_str(),
-                      getter, &body_data, count);
-    GetterData iteration_data{&dim_iteration_, count};
-    ImPlot::PlotLineG(
-        GetDimensionLabel("iteration", dim_iteration_.back()).c_str(),
-        getter, &iteration_data, count);
-    ImPlot::PopStyleVar();
-    ImPlot::EndPlot();
-  }
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/sim/sim_profiler.h b/src/experimental/platform/sim/sim_profiler.h
deleted file mode 100644
index d9afdcd6..00000000
--- a/src/experimental/platform/sim/sim_profiler.h
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
-
-#include <vector>
-
-#include <imgui.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-// Collects and displays profiling data for MuJoCo simulations.
-class SimProfiler {
- public:
-  SimProfiler();
-
-  // Clears all captured profiling data.
-  void Clear();
-
-  // Updates the profiling data with the latest simulation data.
-  void Update(const mjModel* model, const mjData* data);
-
-  // Displays the profiling data using ImPlot.
-  void CpuTimeGraph(ImVec2 plot_size = ImVec2(-1, 0));
-  void DimensionsGraph(ImVec2 plot_size = ImVec2(-1, 0));
-
- private:
-  std::vector<float> cpu_total_;
-  std::vector<float> cpu_collision_;
-  std::vector<float> cpu_prepare_;
-  std::vector<float> cpu_solve_;
-  std::vector<float> cpu_other_;
-  std::vector<float> dim_dof_;
-  std::vector<float> dim_body_;
-  std::vector<float> dim_constraint_;
-  std::vector<float> dim_nnz_;
-  std::vector<float> dim_contact_;
-  std::vector<float> dim_iteration_;
-};
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_SIM_PROFILER_H_
diff --git a/src/experimental/platform/sim/step_control.cc b/src/experimental/platform/sim/step_control.cc
deleted file mode 100644
index bbb0c7fa..00000000
--- a/src/experimental/platform/sim/step_control.cc
+++ /dev/null
@@ -1,235 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/sim/step_control.h"
-
-#include <algorithm>
-#include <chrono>
-#include <cstdlib>
-#include <functional>
-#include <ratio>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-static mjtNum Timer() {
-  using Clock = std::chrono::steady_clock;
-  using Milliseconds = std::chrono::duration<double, std::milli>;
-  static Clock::time_point start = Clock::now();
-  return Milliseconds(Clock::now() - start).count();
-}
-
-
-
-
-StepControl::StepControl() { mjcb_time = Timer; }
-
-float StepControl::GetSpeedMeasured() const { return speed_measured_; }
-
-float StepControl::GetSpeed() const { return speed_; }
-
-void StepControl::SetSpeed(float speed_percent_real_time) {
-  float prev_speed = speed_;
-  speed_ = std::clamp(speed_percent_real_time, .1f, 100.f);
-  if (speed_ != prev_speed) {
-    ForceSync();
-  }
-}
-
-void StepControl::ForceSync() { force_sync_ = true; }
-
-void StepControl::GetNoiseParameters(float& ctrl_noise_scale,
-                                     float& ctrl_noise_rate) const {
-  ctrl_noise_scale = ctrl_noise_std_;
-  ctrl_noise_rate = ctrl_noise_rate_;
-}
-
-void StepControl::SetNoiseParameters(float ctrl_noise_scale,
-                                     float ctrl_noise_rate) {
-  ctrl_noise_std_ = ctrl_noise_scale;
-  ctrl_noise_rate_ = ctrl_noise_rate;
-}
-
-void StepControl::SetPauseState(PauseState state) {
-  pause_state_ = state;
-}
-
-StepControl::PauseState StepControl::GetPauseState() const {
-  return pause_state_;
-}
-
-StepControl::Status StepControl::Advance(mjModel* m, mjData* d) {
-  if (!m) {
-    return Status::kOk;
-  }
-
-
-  if (pause_state_ == PauseState::kNormalPaused) {
-    // When we eventually unpause, we need to make sure we sync to immediately
-    // and step once. Without this we could step many times before rendering
-    // resulting in a noticeable delay before the simulation restarts
-    // (especially for large slowdowns).
-    force_sync_ = true;
-
-    if (!single_step_) {
-      // Run mj_forward to update rendering and joint sliders.
-      mj_forward(m, d);
-      if (pause_update_) {
-        mju_copy(d->qacc_warmstart, d->qacc, m->nv);
-      }
-      return Status::kPaused;
-    }
-    single_step_ = false;
-  }
-
-  const Clock::time_point start_cpu = Clock::now();
-  const double slowdown = 100. / std::clamp<double>(speed_, 0.001, 100.);
-  double elapsed_cpu = Seconds(start_cpu - sync_cpu_).count();
-  double elapsed_sim = d->time - sync_sim_;
-
-  bool resync = false;
-
-  // Resync if we're forced to.
-  if (force_sync_) {
-    force_sync_ = false;
-    resync = true;
-  }
-
-  // Resync if we've never synced.
-  if (sync_cpu_.time_since_epoch().count() == 0) {
-    resync = true;
-  }
-
-  // Resync if any elapsed time is negative.
-  if (elapsed_cpu < 0 || elapsed_sim < 0) {
-    resync = true;
-  }
-
-  // Resync if the distance from the target simulation time is bigger than
-  // sync_misalign_ (misalignment condition).
-  if (std::abs(elapsed_cpu / slowdown - elapsed_sim) > sync_misalign_) {
-    resync = true;
-  }
-
-  if (resync) {
-    // Reset sync times.
-    sync_cpu_ = start_cpu;
-    sync_sim_ = d->time;
-  }
-
-  // Stepping loop.
-  while (true) {
-    const Clock::time_point now_cpu = Clock::now();
-    elapsed_cpu = Seconds(now_cpu - sync_cpu_).count();
-    elapsed_sim = d->time - sync_sim_;
-
-    // Stop stepping if simulation no longer lags cpu.
-    if (elapsed_sim * slowdown >= elapsed_cpu) {
-      return Status::kOk;
-    }
-
-    // Stop stepping if simulation is taking too long to catch up.
-    // Note: 12ms == 70% of 1/60 seconds/frame.
-    constexpr Clock::duration kMaxCpuTimeForSim = std::chrono::milliseconds(12);
-    if (now_cpu - start_cpu >= kMaxCpuTimeForSim) {
-      // Note: GetSpeed() and GetSpeedMeasured() will be different in this case.
-      return Status::kOk;
-    }
-
-    // Measure slowdown here in first viable in-sync step. This update location
-    // is chosen to minimize visual noise caused by changing measurements.
-    if (elapsed_sim > 0) {
-      double measured_slowdown = elapsed_cpu / elapsed_sim;
-      speed_measured_ = 100. / measured_slowdown;
-    }
-
-    mjtNum prev_time = d->time;
-    InjectNoise(m, d);
-    if (pre_step_) {
-      pre_step_(m, d);
-    }
-    mj_step(m, d);
-    if (post_step_) {
-      post_step_(m, d);
-    }
-
-    if (mjDISABLED(mjDSBL_AUTORESET)) {
-      for (mjtWarning w : kDivergedWarnings) {
-        if (d->warning[w].number > 0) {
-          // Stop stepping if the simulation diverged.
-          SetPauseState(PauseState::kNormalPaused);
-          return Status::kDiverged;
-        }
-      }
-    } else {
-      // Stop stepping if we auto reset.
-      if (d->time < prev_time) {
-        return Status::kAutoReset;
-      }
-    }
-
-    // Stop after one step if we resynced; next iteration will deal with timing.
-    if (resync) {
-      return Status::kOk;
-    }
-  }
-
-  return Status::kDiverged;  // Unreachable
-}
-
-void StepControl::InjectNoise(const mjModel* m, mjData* d) {
-  // no noise, return
-  if (ctrl_noise_std_ <= 0) {
-    return;
-  }
-
-  // convert rate and scale to discrete time (Ornstein–Uhlenbeck)
-  mjtNum rate = mju_exp(-m->opt.timestep / ctrl_noise_rate_);
-  mjtNum scale = ctrl_noise_std_ * mju_sqrt(1 - rate * rate);
-
-  for (int i = 0; i < m->nu; i++) {
-    mjtNum bottom = 0;
-    mjtNum top = 0;
-    mjtNum midpoint = 0;
-    mjtNum halfrange = 1;
-    if (m->actuator_ctrllimited[i]) {
-      bottom = m->actuator_ctrlrange[2 * i];
-      top = m->actuator_ctrlrange[2 * i + 1];
-      midpoint = 0.5 * (top + bottom);   // target of exponential decay
-      halfrange = 0.5 * (top - bottom);  // scales noise
-    }
-
-    // exponential convergence to midpoint at ctrl_noise_rate
-    d->ctrl[i] = rate * d->ctrl[i] + (1 - rate) * midpoint;
-
-    // add noise
-    d->ctrl[i] += scale * halfrange * mju_standardNormal(nullptr);
-
-    // clip to range if limited
-    if (m->actuator_ctrllimited[i]) {
-      d->ctrl[i] = mju_clip(d->ctrl[i], bottom, top);
-    }
-  }
-}
-
-void StepControl::SetPreStepCallback(StepFn step_fn) {
-  pre_step_ = step_fn;
-}
-
-void StepControl::SetPostStepCallback(StepFn step_fn) {
-  post_step_ = step_fn;
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/sim/step_control.h b/src/experimental/platform/sim/step_control.h
deleted file mode 100644
index fdc82acf..00000000
--- a/src/experimental/platform/sim/step_control.h
+++ /dev/null
@@ -1,132 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_STEP_CONTROL_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_STEP_CONTROL_H_
-
-#include <chrono>
-#include <functional>
-#include <string>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-using Seconds = std::chrono::duration<double>;
-using Clock = std::chrono::steady_clock;
-using StepFn = std::function<void(mjModel*, mjData*)>;
-
-// State and logic for physics synchronization and stepping.
-class StepControl {
- public:
-  StepControl();
-
-  enum class Status {
-    kOk,
-
-    // Simulation was not stepped because it is paused.
-    kPaused,
-
-
-    // Simulation diverged with autoreset enabled.
-    kAutoReset,
-
-    // Simulation diverged with autoreset disabled.
-    // Note: Consider reporting mjData warning diagnostics in kDivergedWarnings.
-    kDiverged,
-  };
-
-  // List of warnings that are checked to determine simulation divergence.
-  static constexpr mjtWarning kDivergedWarnings[] = {
-      mjWARN_BADQACC, mjWARN_BADQVEL, mjWARN_BADQPOS};
-
-  // Steps physics forward, respecting speed settings and refresh budget.
-  Status Advance(mjModel* m, mjData* d);
-
-  // Ensures the next call to Advance() will synchronize time and step once.
-  void ForceSync();
-
-  // Gets/sets the desired simulation speed as a percentage of real time.
-  float GetSpeed() const;
-  float GetSpeedMeasured() const;
-  void SetSpeed(float speed);  // speed is clamped to [0.1%, 100%]
-
-  // Gets/sets the control noise parameters applied before stepping.
-  void GetNoiseParameters(float& noise_scale, float& noise_rate) const;
-  void SetNoiseParameters(float noise_scale, float noise_rate);
-
-  // Callbacks that will be invoked before/after each call to mj_step.
-  void SetPreStepCallback(StepFn step_fn);
-  void SetPostStepCallback(StepFn step_fn);
-
-  enum class PauseState { kUnpaused, kNormalPaused };
-
-  // Sets the pause state of the simulation.
-  void SetPauseState(PauseState state);
-
-  // Gets the current pause state of the simulation.
-  PauseState GetPauseState() const;
-
-  // If the simulation is paused, will perform a single step on the next
-  // Advance() call.
-  void RequestSingleStep() { single_step_ = true; }
-
- private:
-  std::string AdvanceOneStep(const mjModel* m, mjData* d);
-
-  void InjectNoise(const mjModel* m, mjData* d);
-
-  // Control noise standard deviation
-  double ctrl_noise_std_ = 0;
-
-  // Control noise correlation rate
-  double ctrl_noise_rate_ = 0;
-
-  // Desired simulation speed as a percentage of real time
-  float speed_ = 100;
-
-  // Measured simulation speed as a percentage of real time
-  float speed_measured_ = -1;
-
-  // If true, the next call to Advance() will synchronize time step once.
-  bool force_sync_ = true;
-
-  // CPU time (aka wall time) of the last synchronization event
-  std::chrono::time_point<Clock> sync_cpu_;
-
-  // Simulation time of the last synchronization event
-  mjtNum sync_sim_ = 0;
-
-  // Maximum mis-alignment before re-sync (simulation seconds)
-  double sync_misalign_ = .1;
-
-  PauseState pause_state_ = PauseState::kUnpaused;
-
-  // Perform only a single step on the next call to Advance() if the simulation
-  // is paused.
-  bool single_step_ = false;
-
-  // If true and paused, d->qacc_warmstart is set to d->qacc after mj_forward
-  // which has the effect of making the constraint solver eventually converge
-  // while the simulation is paused.
-  bool pause_update_ = false;
-
-  // Callbacks that can be invoked before/after physics is stepped.
-  StepFn pre_step_ = nullptr;
-  StepFn post_step_ = nullptr;
-};
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SIM_STEP_CONTROL_H_
diff --git a/src/experimental/platform/sys_utils.cc b/src/experimental/platform/sys_utils.cc
deleted file mode 100644
index 45df2f8c..00000000
--- a/src/experimental/platform/sys_utils.cc
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/sys_utils.h"
-
-#include <filesystem>  // NOLINT(build/c++17)
-#include <string>
-#include <system_error>
-#if defined(_WIN32) || defined(__CYGWIN__)
-  #include <windows.h>
-#else
-  #include <dlfcn.h>
-#endif
-
-namespace mujoco::platform {
-
-std::string GetModuleDir(void* addr) {
-#if defined(_WIN32) || defined(__CYGWIN__)
-  HMODULE hModule = NULL;
-  if (GetModuleHandleExA(GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS |
-                         GET_MODULE_HANDLE_EX_FLAG_UNCHANGED_REFCOUNT,
-                         (LPCSTR)addr, &hModule)) {
-    char path[MAX_PATH];
-    DWORD written = GetModuleFileNameA(hModule, path, sizeof(path));
-    if (written > 0 && written < sizeof(path)) {
-      return std::filesystem::path(path).parent_path().string();
-    }
-  }
-  return "";
-#else
-  Dl_info info;
-  if (dladdr(addr, &info) != 0 && info.dli_fname != nullptr) {
-    std::filesystem::path p(info.dli_fname);
-    if (p.is_absolute()) {
-      return p.parent_path().string();
-    }
-    std::error_code ec;
-    std::filesystem::path cwd = std::filesystem::current_path(ec);
-    if (!ec) {
-      return (cwd / p).parent_path().string();
-    }
-    return p.parent_path().string();
-  }
-  return "";
-#endif
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/sys_utils.h b/src/experimental/platform/sys_utils.h
deleted file mode 100644
index ae790adc..00000000
--- a/src/experimental/platform/sys_utils.h
+++ /dev/null
@@ -1,27 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SYS_UTILS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SYS_UTILS_H_
-
-#include <string>
-
-namespace mujoco::platform {
-
-// Returns the path to the directory of the current module (exe or shared lib).
-std::string GetModuleDir(void* addr);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_SYS_UTILS_H_
diff --git a/src/experimental/platform/ux/enum_utils.h b/src/experimental/platform/ux/enum_utils.h
deleted file mode 100644
index 16ca6607..00000000
--- a/src/experimental/platform/ux/enum_utils.h
+++ /dev/null
@@ -1,170 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_ENUM_UTILS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_ENUM_UTILS_H_
-
-#include <array>
-#include <bit>
-#include <cstdio>
-#include <string_view>
-#include <utility>
-
-// Provides compile-time utilities for C++ enums, inspired by magic_enum.
-// https://github.com/Neargye/magic_enum.
-//
-// It provides two useful functions:
-// - enum_to_string: converts an enum to a string.
-// - entries_v: returns an array of pairs of enums and their names.
-//
-// It relies on non-standard language extensions, so use should be limited to
-// non-critical debugging code only. Specifically, it makes assumptions about
-// the format of __PRETTY_FUNCTION__ in order to extract the name of an enum
-// from a template function.
-
-namespace mujoco::platform::enum_utils {
-
-// Range of values to check for valid enums. This range should be large enough
-// to accommodate MuJoCo enums, but not flags. Any enum value that falls outside
-// of this range will be ignored by this library.
-constexpr int ENUM_MIN_VALUE = -1;
-constexpr int ENUM_MAX_VALUE = 1024;
-
-// Fixed-size string for use in compile-time expressions.
-template <int N>
-struct fixed_string {
-  constexpr fixed_string(std::string_view sv) noexcept {
-    for (int n = 0; n < N; ++n) str[n] = sv[n];
-  }
-  constexpr operator std::string_view() const noexcept {
-    return {str.data(), N};
-  }
-  std::array<char, N + 1> str{};
-};
-
-// Characters that are valid parts of an enum name.
-constexpr auto is_valid_char(char ch) noexcept {
-  return (ch >= 'a' && ch <= 'z') || (ch >= 'A' && ch <= 'Z') || (ch == '_') ||
-         (ch >= '0' && ch <= '9');
-}
-
-// Extracts the name of an enum from a string generated by __PRETTY_FUNCTION__.
-constexpr auto pretty_name(std::string_view sv) noexcept {
-  for (int n = sv.size() - 1; n > 0; --n) {
-    if (!is_valid_char(sv[n])) {
-      sv.remove_prefix(n + 1);
-      break;
-    }
-  }
-  if (sv[0] >= '0' && sv[0] <= '9') {
-    return std::string_view();
-  }
-  return sv;
-}
-
-// Returns the name of the V which is an enum value of type E.
-template <typename E, E V>
-constexpr auto n() noexcept {
-#if defined(__GNUC__) || defined(__clang__)
-  return pretty_name({__PRETTY_FUNCTION__, sizeof(__PRETTY_FUNCTION__) - 2});
-#elif defined(_MSC_VER)
-  return pretty_name({__FUNCSIG__, sizeof(__FUNCSIG__) - 17});
-#endif
-}
-
-// Returns true if the value V is a valid enum value of type E.
-template <typename E, int V>
-constexpr auto is_valid() {
-  return !n<E, std::bit_cast<E>(V)>().empty();
-}
-
-// Returns the value of the Nth element of enum E.
-template <typename E>
-constexpr auto nth(int v) {
-  return std::bit_cast<E>(ENUM_MIN_VALUE + v);
-}
-
-// Returns the number of bits set to true in the given array.
-template <int N>
-constexpr auto count_values(const bool (&valid)[N]) {
-  int count = 0;
-  for (int n = 0; n < N; ++n)
-    if (valid[n]) ++count;
-  return count;
-}
-
-// Returns an array of the valid values of enum E. This is a subset of the
-// values in the range defined by the index sequence. If an enum has a value
-// outside this range, it will be ignored.
-template <typename E, std::size_t... I>
-constexpr auto values(std::index_sequence<I...>) noexcept {
-  constexpr bool valid[sizeof...(I)] = {is_valid<E, nth<E>(I)>()...};
-  constexpr auto num_valid = count_values(valid);
-  static_assert(num_valid > 0, "no support for empty enums");
-
-  std::array<E, num_valid> values = {};
-  for (int offset = 0, n = 0; n < num_valid; ++offset) {
-    if (valid[offset]) {
-      values[n] = nth<E>(offset);
-      ++n;
-    }
-  }
-  return values;
-}
-
-// Returns an array of valid values of enum E. The possible range of values is
-// defined by the range [ENUM_MIN_VALUE, ENUM_MAX_VALUE]. If the enum has a
-// value outside this range, it will be ignored.
-template <typename E>
-constexpr auto values() noexcept {
-  constexpr int enum_size = ENUM_MAX_VALUE - ENUM_MIN_VALUE + 1;
-  return values<E>(std::make_index_sequence<enum_size>({}));
-}
-
-template <typename E>
-inline constexpr auto values_v = values<E>();
-
-// Returns the name of V which is an enum value of type E.
-template <typename E, E V>
-constexpr auto enum_name() {
-  constexpr auto name = n<E, V>();
-  return fixed_string<name.size()>(name);
-}
-
-template <typename E, E V>
-inline constexpr auto enum_name_v = enum_name<E, V>();
-
-// Returns an array of pairs of enum values and their names.
-template <typename E, std::size_t... I>
-constexpr auto entries(std::index_sequence<I...>) noexcept {
-  return std::array<std::pair<E, std::string_view>, sizeof...(I)>{
-      {{values_v<E>[I], enum_name_v<E, values_v<E>[I]>}...}};
-}
-
-template <typename E>
-inline constexpr auto entries_v =
-    entries<E>(std::make_index_sequence<values_v<E>.size()>());
-
-// Returns the name of the given enum value.
-template <typename E>
-constexpr std::string_view enum_to_string(E value) {
-  for (const auto& [key, name] : entries_v<E>) {
-    if (value == key) return name;
-  }
-  return {};
-}
-
-}  // namespace mujoco::platform::enum_utils
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_ENUM_UTILS_H_
diff --git a/src/experimental/platform/ux/file_dialog.cc b/src/experimental/platform/ux/file_dialog.cc
deleted file mode 100644
index a34d9ee2..00000000
--- a/src/experimental/platform/ux/file_dialog.cc
+++ /dev/null
@@ -1,69 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/file_dialog.h"
-
-#include <cstring>
-#include <span>
-#include <string>
-#include <string_view>
-
-#include <imgui.h>
-
-namespace mujoco::platform {
-
-static DialogResult ImGui_FileDialog(std::string_view path) {
-  static constexpr int kBufferSize = 1024;
-  char buf[kBufferSize];
-  std::strncpy(buf, path.data(), sizeof(buf));
-  buf[sizeof(buf) - 1] = '\0';
-
-  DialogResult::Status status = DialogResult::kPending;
-
-  ImGui::Text("Filename");
-  ImGui::SameLine();
-  ImGui::SetNextItemWidth(600);
-  if (ImGui::InputText("##Filename", buf, kBufferSize,
-                       ImGuiInputTextFlags_EnterReturnsTrue)) {
-    status = DialogResult::kAccepted;
-  }
-  if (ImGui::Button("OK", ImVec2(120, 0)) ||
-      ImGui::IsKeyChordPressed(ImGuiKey_Enter)) {
-    status = DialogResult::kAccepted;
-  }
-  ImGui::SetItemDefaultFocus();
-  ImGui::SameLine();
-  if (ImGui::Button("Cancel", ImVec2(120, 0)) ||
-      ImGui::IsKeyChordPressed(ImGuiKey_Escape)) {
-    status = DialogResult::kCancelled;
-  }
-
-  return DialogResult{.status = status, .path = std::string(buf)};
-}
-
-DialogResult OpenFileDialog(std::string_view path,
-                            std::span<std::string_view> filters) {
-  return ImGui_FileDialog(path);
-}
-
-DialogResult SaveFileDialog(std::string_view path,
-                            std::span<std::string_view> filters) {
-  return ImGui_FileDialog(path);
-}
-
-DialogResult SelectPathDialog(std::string_view path) {
-  return ImGui_FileDialog(path);
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/file_dialog.h b/src/experimental/platform/ux/file_dialog.h
deleted file mode 100644
index 2ae80b09..00000000
--- a/src/experimental/platform/ux/file_dialog.h
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FILE_DIALOG_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FILE_DIALOG_H_
-
-#include <span>
-#include <string>
-#include <string_view>
-
-namespace mujoco::platform {
-
-// Result returned by various file dialog functions.
-struct DialogResult {
-  // The status of the dialog.
-  enum Status {
-    // The dialog is still open.
-    kPending,
-    // A file/folder was selected.
-    kAccepted,
-    // The dialog was dismissed.
-    kCancelled,
-    // An error occurred.
-    kError,
-  };
-
-  // The status of the dialog.
-  Status status = kPending;
-
-  // The path selected by the dialog if Status is kAccepted. If status is
-  // kError, the path may contain an error message. Empty otherwise.
-  std::string path;
-};
-
-// Opens a file dialog used for selecting a file to open.
-DialogResult OpenFileDialog(std::string_view path,
-                            std::span<std::string_view> filters = {});
-
-// Opens a file dialog used for selecting a file to save.
-DialogResult SaveFileDialog(std::string_view path,
-                            std::span<std::string_view> filters = {});
-
-// Opens a file dialog used for selecting a folder.
-DialogResult SelectPathDialog(std::string_view path);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FILE_DIALOG_H_
diff --git a/src/experimental/platform/ux/file_dialog_cocoa.mm b/src/experimental/platform/ux/file_dialog_cocoa.mm
deleted file mode 100644
index 54992b17..00000000
--- a/src/experimental/platform/ux/file_dialog_cocoa.mm
+++ /dev/null
@@ -1,81 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <sstream>
-#include <string>
-
-#include <Cocoa/Cocoa.h>
-#include "experimental/platform/ux/file_dialog.h"
-
-namespace mujoco::platform {
-
-// Points the panel at the directory of `path` with its filename pre-filled,
-// falling back to the user's Documents directory when no path is given.
-// NSOpenPanel inherits from NSSavePanel.
-static void SetInitialPath(NSSavePanel* panel, std::string_view path) {
-  NSString* str = [[NSString alloc] initWithBytes:path.data()
-                                           length:path.size()
-                                         encoding:NSUTF8StringEncoding];
-  if (str.length > 0) {
-    [panel setDirectoryURL:
-        [NSURL fileURLWithPath:[str stringByDeletingLastPathComponent]
-                   isDirectory:YES]];
-    [panel setNameFieldStringValue:[str lastPathComponent]];
-  } else {
-    NSURL* userDocumentsDir =
-        [NSFileManager.defaultManager URLsForDirectory:NSDocumentDirectory
-                                             inDomains:NSUserDomainMask].firstObject;
-    [panel setDirectoryURL:userDocumentsDir];
-  }
-}
-
-DialogResult OpenFileDialog(std::string_view path,
-                            std::span<std::string_view> filters) {
-  NSOpenPanel* panel = [NSOpenPanel openPanel];
-  SetInitialPath(panel, path);
-
-  DialogResult result;
-  if ([panel runModal] == NSModalResponseOK) {
-    std::ostringstream s;
-    s << [panel.URL.path cStringUsingEncoding:NSUTF8StringEncoding];
-    result.path = s.str();
-    result.status = DialogResult::kAccepted;
-  } else {
-    result.status = DialogResult::kCancelled;
-  }
-  return result;
-}
-
-DialogResult SaveFileDialog(std::string_view path,
-                            std::span<std::string_view> filters) {
-  NSSavePanel* panel = [NSSavePanel savePanel];
-  SetInitialPath(panel, path);
-
-  DialogResult result;
-  if ([panel runModal] == NSModalResponseOK) {
-    std::ostringstream s;
-    s << [panel.URL.path cStringUsingEncoding:NSUTF8StringEncoding];
-    result.path = s.str();
-    result.status = DialogResult::kAccepted;
-  } else {
-    result.status = DialogResult::kCancelled;
-  }
-  return result;
-}
-
-DialogResult SelectPathDialog(std::string_view path) {
-  return OpenFileDialog(path);
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/file_dialog_win.cc b/src/experimental/platform/ux/file_dialog_win.cc
deleted file mode 100644
index 37a774df..00000000
--- a/src/experimental/platform/ux/file_dialog_win.cc
+++ /dev/null
@@ -1,260 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/file_dialog.h"
-
-#ifndef UNICODE
-#define UNICODE
-#endif
-
-#define _CRTDBG_MAP_ALLOC
-#include <assert.h>
-#include <crtdbg.h>
-#include <shobjidl.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <wchar.h>
-#include <windows.h>
-
-#include <functional>
-#include <memory>
-#include <span>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <vector>
-
-namespace mujoco::platform {
-
-static DialogResult SetError(std::string err) {
-  return {.status = DialogResult::kError, .path = std::move(err)};
-}
-
-static std::string WCharToChar(const wchar_t* str) {
-  int wlen = static_cast<int>(wcslen(str));
-  int num_bytes =
-      WideCharToMultiByte(CP_UTF8, 0, str, wlen, NULL, 0, NULL, NULL);
-  assert(num_bytes);
-  num_bytes += 1;
-
-  std::string out;
-  out.resize(num_bytes);
-  WideCharToMultiByte(CP_UTF8, 0, str, -1, out.data(), num_bytes, NULL, NULL);
-  return out;
-}
-
-static std::unique_ptr<wchar_t[]> CharToWChar(std::string_view str) {
-  int len = static_cast<int>(str.size());
-  int num_wchars = MultiByteToWideChar(CP_UTF8, 0, str.data(), len, NULL, 0);
-  assert(num_wchars);
-  num_wchars += 1;  // terminator
-
-  wchar_t* ptr = new wchar_t[num_wchars];
-  MultiByteToWideChar(CP_UTF8, 0, str.data(), num_wchars, ptr, num_wchars);
-  ptr[num_wchars - 1] = '\0';
-  return std::unique_ptr<wchar_t[]>(ptr);
-}
-
-static std::unique_ptr<wchar_t[]> ReadFilter(std::string_view filter) {
-  std::string filter_str;
-  while (!filter.empty()) {
-    if (auto pos = filter.find(','); pos != std::string_view::npos) {
-      filter_str += "*." + std::string(filter.substr(0, pos)) + ";";
-      filter = filter.substr(pos + 1);
-    }
-    if (!filter.empty()) {
-      filter_str += "*." + std::string(filter);
-    }
-  }
-  return CharToWChar(filter_str);
-}
-
-static bool AddFilters(IFileDialog* dialog,
-                       std::span<std::string_view> filters = {}) {
-  // +1 to include *.* wildcard.
-  const int num_filters = filters.size() + 1;
-
-  std::vector<COMDLG_FILTERSPEC> specs;
-  std::vector<std::unique_ptr<wchar_t[]>> names;
-  names.reserve(num_filters);
-  specs.reserve(num_filters);
-
-  for (std::string_view filter : filters) {
-    auto wfilter = ReadFilter(filter);
-    auto& spec = specs.emplace_back();
-    spec.pszName = wfilter.get();
-    spec.pszSpec = wfilter.get();
-    names.push_back(std::move(wfilter));
-  }
-
-  const wchar_t WILDCARD[] = L"*.*";
-  auto& last = specs.emplace_back();
-  last.pszSpec = WILDCARD;
-  last.pszName = WILDCARD;
-
-  dialog->SetFileTypes(num_filters, specs.data());
-  return true;
-}
-
-static bool SetDefaultPath(IFileDialog* dialog, std::string_view path) {
-  if (path.empty() || path.front() == 0) {
-    return true;
-  }
-
-  auto wpath = CharToWChar(path);
-
-  IShellItem* folder(NULL);
-  HRESULT hresult =
-      SHCreateItemFromParsingName(wpath.get(), NULL, IID_PPV_ARGS(&folder));
-  if (hresult == HRESULT_FROM_WIN32(ERROR_FILE_NOT_FOUND) ||
-      hresult == HRESULT_FROM_WIN32(ERROR_INVALID_DRIVE)) {
-    return true;
-  }
-  if (SUCCEEDED(hresult)) {
-    dialog->SetFolder(folder);
-    folder->Release();
-    return true;
-  }
-
-  return false;
-}
-
-template <typename T>
-static std::unique_ptr<T, std::function<void(T*)>> MakeDialog(REFCLSID class_id,
-                                                              REFIID ref_id) {
-  T* ptr = nullptr;
-  HRESULT hresult = ::CoCreateInstance(class_id, NULL, CLSCTX_ALL, ref_id,
-                                       reinterpret_cast<void**>(&ptr));
-  if (!SUCCEEDED(hresult) || ptr == nullptr) {
-    return nullptr;
-  }
-  return {ptr, [](T* dialog) { dialog->Release(); }};
-}
-
-static DialogResult RunDialog(IFileDialog* dialog,
-                              std::string_view default_path,
-                              std::span<std::string_view> filters = {}) {
-  if (!dialog) {
-    return SetError("Could not create dialog.");
-  }
-  if (!SetDefaultPath(dialog, default_path)) {
-    return SetError("Could not set path.");
-  }
-  if (!AddFilters(dialog, filters)) {
-    return SetError("Could not create dialog.");
-  }
-
-  HRESULT hresult = dialog->Show(nullptr);
-
-  if (SUCCEEDED(hresult)) {
-    IShellItem* item = nullptr;
-    hresult = dialog->GetResult(&item);
-    if (!SUCCEEDED(hresult)) {
-      item->Release();
-      return SetError("Could not get file path for selected.");
-    }
-
-    wchar_t* wselected = nullptr;
-    hresult = item->GetDisplayName(SIGDN_DESKTOPABSOLUTEPARSING, &wselected);
-    if (!SUCCEEDED(hresult)) {
-      item->Release();
-      return SetError("GetDisplayName for IShellItem failed.");
-    }
-
-    std::string selected_path = WCharToChar(wselected);
-    CoTaskMemFree(wselected);
-    item->Release();
-
-    if (selected_path.empty()) {
-      return SetError("");
-
-    } else {
-      return {.status = DialogResult::kAccepted,
-              .path = std::move(selected_path)};
-    }
-
-  } else if (hresult == HRESULT_FROM_WIN32(ERROR_CANCELLED)) {
-    return {.status = DialogResult::kCancelled};
-
-  } else {
-    return SetError("File dialog box show failed.");
-  }
-}
-
-namespace {
-struct ScopedCom {
-  ScopedCom() {
-    hresult = ::CoInitializeEx(
-        NULL, ::COINIT_APARTMENTTHREADED | ::COINIT_DISABLE_OLE1DDE);
-  }
-
-  ~ScopedCom() {
-    if (SUCCEEDED(hresult)) {
-      ::CoUninitialize();
-    }
-  }
-
-  bool ok() {
-    if (hresult == RPC_E_CHANGED_MODE) {
-      return true;
-    }
-    return SUCCEEDED(hresult);
-  }
-
-  HRESULT hresult;
-};
-}  // namespace
-
-DialogResult OpenFileDialog(std::string_view path,
-                            std::span<std::string_view> filters) {
-  ScopedCom com;
-  if (!com.ok()) {
-    return SetError("Could not initialize COM.");
-  }
-
-  auto dialog =
-      MakeDialog<IFileOpenDialog>(CLSID_FileOpenDialog, IID_IFileOpenDialog);
-  return RunDialog(dialog.get(), path, filters);
-}
-
-DialogResult SaveFileDialog(std::string_view path,
-                            std::span<std::string_view> filters) {
-  ScopedCom com;
-  if (!com.ok()) {
-    return SetError("Could not initialize COM.");
-  }
-
-  auto dialog =
-      MakeDialog<IFileSaveDialog>(CLSID_FileSaveDialog, IID_IFileSaveDialog);
-  return RunDialog(dialog.get(), path, filters);
-}
-
-DialogResult SelectPathDialog(std::string_view path) {
-  ScopedCom com;
-  if (!com.ok()) {
-    return SetError("Could not initialize COM.");
-  }
-
-  auto dialog =
-      MakeDialog<IFileOpenDialog>(CLSID_FileOpenDialog, IID_IFileOpenDialog);
-  DWORD options = 0;
-  if (!SUCCEEDED(dialog->GetOptions(&options))) {
-    return SetError("GetOptions for IFileDialog failed.");
-  }
-  if (!SUCCEEDED(dialog->SetOptions(options | FOS_PICKFOLDERS))) {
-    return SetError("SetOptions for IFileDialog failed.");
-  }
-  return RunDialog(dialog.get(), path);
-}
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/file_dialog_zenity.cc b/src/experimental/platform/ux/file_dialog_zenity.cc
deleted file mode 100644
index 2913649d..00000000
--- a/src/experimental/platform/ux/file_dialog_zenity.cc
+++ /dev/null
@@ -1,106 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <assert.h>
-#include <fcntl.h>
-#include <stdarg.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <sys/wait.h>
-#include <unistd.h>
-
-#include <cstring>
-#include <span>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include "experimental/platform/ux/file_dialog.h"
-
-namespace mujoco::platform {
-
-static DialogResult RunZenity(std::vector<std::string>& args) {
-  std::string cmd = "zenity";
-  for (const std::string& arg : args) {
-    cmd += " " + arg;
-  }
-
-  static constexpr int kBufferSize = 1024;
-  FILE* output = popen(cmd.c_str(), "r");
-  if (!output) {
-    return DialogResult{.status = DialogResult::kCancelled};
-  }
-  char buffer[kBufferSize];
-  auto ret = fgets(buffer, kBufferSize, output);
-  if (ret == nullptr || ferror(output)) {
-    return DialogResult{.status = DialogResult::kError};
-  }
-  // Zenity outputs a newline at the end of the buffer which we need to remove.
-  const int len = std::strlen(buffer);
-  if (len > 0) {
-    buffer[len - 1] = '\0';
-  }
-  return DialogResult{.status = DialogResult::kAccepted,
-                      .path = std::string(buffer)};
-}
-
-static void UpdateArgs(std::vector<std::string>& args, std::string_view path,
-                       std::span<std::string_view> filters = {}) {
-  if (!path.empty() && path.front() != 0) {
-    args.push_back("--filename=" + std::string(path.data()));
-  }
-  for (std::string_view filter : filters) {
-    std::string filter_str = "--file-filter=";
-    while (!filter.empty()) {
-      if (auto pos = filter.find(','); pos != std::string_view::npos) {
-        filter_str += "*." + std::string(filter.substr(0, pos)) + " ";
-        filter = filter.substr(pos + 1);
-      }
-      if (!filter.empty()) {
-        filter_str += "*." + std::string(filter);
-      }
-    }
-    args.push_back(filter_str);
-  }
-}
-
-DialogResult OpenFileDialog(std::string_view path,
-                            std::span<std::string_view> filters) {
-  std::vector<std::string> args;
-  args.push_back("--file-selection");
-  args.push_back("--title=Open File");
-  UpdateArgs(args, path, filters);
-  return RunZenity(args);
-}
-
-DialogResult SaveFileDialog(std::string_view path,
-                            std::span<std::string_view> filters) {
-  std::vector<std::string> args;
-  args.push_back("--file-selection");
-  args.push_back("--title=Save File");
-  args.push_back("--save");
-  UpdateArgs(args, path, filters);
-  return RunZenity(args);
-}
-
-DialogResult SelectPathDialog(std::string_view path) {
-  std::vector<std::string> args;
-  args.push_back("--file-selection");
-  args.push_back("--title=Select Folder");
-  args.push_back("--directory");
-  UpdateArgs(args, path);
-  return RunZenity(args);
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/fonts.cc b/src/experimental/platform/ux/fonts.cc
deleted file mode 100644
index bb9d3c12..00000000
--- a/src/experimental/platform/ux/fonts.cc
+++ /dev/null
@@ -1,106 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/fonts.h"
-
-#include <cstddef>
-#include <cstring>
-#include <filesystem>  // NOLINT(build/c++17)
-#include <fstream>
-#include <ios>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <imgui.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-namespace {
-
-// Copies `data` into ImGui-owned memory and adds it to the current context's
-// atlas; the atlas frees the copy with the context.
-ImFont* AddFontCopy(const std::vector<std::byte>& data, float size_pixels,
-                    const ImFontConfig* config = nullptr,
-                    const ImWchar* glyph_ranges = nullptr) {
-  void* copy = ImGui::MemAlloc(data.size());
-  memcpy(copy, data.data(), data.size());
-  return ImGui::GetIO().Fonts->AddFontFromMemoryTTF(
-      copy, static_cast<int>(data.size()), size_pixels, config, glyph_ranges);
-}
-
-}  // namespace
-
-std::vector<std::byte> LoadFontAsset(const std::string& assets_dir,
-                                     std::string_view filename) {
-  if (assets_dir.empty()) return {};
-  const std::string file_path =
-      (std::filesystem::path(assets_dir) / filename).string();
-
-  std::ifstream file(file_path, std::ios::binary | std::ios::ate);
-  if (!file.is_open()) {
-    return {};
-  }
-  const std::streamsize file_size = file.tellg();
-  file.seekg(0, std::ios::beg);
-  std::vector<std::byte> buffer(file_size);
-  if (!file.read(reinterpret_cast<char*>(buffer.data()), file_size)) {
-    return {};
-  }
-  return buffer;
-}
-
-std::vector<std::byte> LoadFontResource(std::string_view filename) {
-  const std::string name = std::string("font:") + std::string(filename);
-  mjResource* resource =
-      mju_openResource("", name.c_str(), nullptr, nullptr, 0);
-  if (resource == nullptr) {
-    return {};
-  }
-  const void* data = nullptr;
-  const int size = mju_readResource(resource, &data);
-  std::vector<std::byte> buffer;
-  if (size > 0) {
-    const std::byte* bytes = static_cast<const std::byte*>(data);
-    buffer.assign(bytes, bytes + size);
-  }
-  // Resource can be closed because the font atlas owns a copy of the data.
-  mju_closeResource(resource);
-  return buffer;
-}
-
-void AddStudioFonts(const FontLoaderFn& load) {
-  const std::vector<std::byte> main_data = load(kMainFontFile);
-  if (!main_data.empty()) {
-    AddFontCopy(main_data, 16.0f);
-  }
-
-  // The icon font merges into the font added above; without a base font the
-  // merge has nothing to attach to, so skip it.
-  const std::vector<std::byte> icon_data = load(kIconFontFile);
-  if (!icon_data.empty() && !main_data.empty()) {
-    ImFontConfig icon_config;
-    icon_config.MergeMode = true;
-    static constexpr ImWchar kIconRanges[] = {0xf000, 0xf3ff, 0};
-    AddFontCopy(icon_data, 13.0f, &icon_config, kIconRanges);
-  }
-
-  const std::vector<std::byte> mono_data = load(kMonoFontFile);
-  if (!mono_data.empty()) {
-    AddFontCopy(mono_data, 14.0f);
-  }
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/fonts.h b/src/experimental/platform/ux/fonts.h
deleted file mode 100644
index c3983fd2..00000000
--- a/src/experimental/platform/ux/fonts.h
+++ /dev/null
@@ -1,48 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     https://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FONTS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FONTS_H_
-
-#include <cstddef>
-#include <functional>
-#include <string>
-#include <string_view>
-#include <vector>
-
-namespace mujoco::platform {
-
-// The Studio UI font files (every viewer loads this same files).
-inline constexpr char kMainFontFile[] = "AtkinsonHyperlegibleNext[wght].ttf";
-inline constexpr char kIconFontFile[] = "fontawesome-webfont.ttf";
-inline constexpr char kMonoFontFile[] = "AtkinsonHyperlegibleMono-Regular.ttf";
-
-// Maps a Studio font filename to its TTF bytes; empty means unavailable.
-using FontLoaderFn = std::function<std::vector<std::byte>(std::string_view)>;
-
-// A FontLoaderFn that reads font `filename` from an `assets_dir` folder.
-std::vector<std::byte> LoadFontAsset(const std::string& assets_dir,
-                                     std::string_view filename);
-
-// A FontLoaderFn that reads font `font:<filename>` using a resource provider.
-std::vector<std::byte> LoadFontResource(std::string_view filename);
-
-// Adds the Studio fonts to the current ImGui context's atlas, fetching font
-// data via `load`. The ImGui font atlas will own a copy of the data so it can
-// rebuild at new DPI scales without buffers used by `load` staying alive.
-void AddStudioFonts(const FontLoaderFn& load);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_FONTS_H_
diff --git a/src/experimental/platform/ux/gui.cc b/src/experimental/platform/ux/gui.cc
deleted file mode 100644
index 6183c4cf..00000000
--- a/src/experimental/platform/ux/gui.cc
+++ /dev/null
@@ -1,2217 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/gui.h"
-
-#include <algorithm>
-#include <array>
-#include <cmath>
-#include <cstdio>
-#include <limits>
-#include <span>
-#include <string>
-#include <string_view>
-#include <thread>
-#include <vector>
-
-#include <imgui.h>
-#include <imgui_internal.h>
-#include <implot.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/helpers.h"
-#include "experimental/platform/sim/sim_history.h"
-#include "experimental/platform/sim/sim_profiler.h"
-#include "experimental/platform/sim/step_control.h"
-#include "experimental/platform/ux/imgui_widgets.h"
-#include "experimental/platform/ux/interaction.h"
-
-namespace mujoco::platform {
-namespace {
-struct SpeedStatus {
-  bool misaligned;
-  float measured;
-};
-
-// Reports whether the measured step speed has drifted from the desired speed
-// enough for the toolbar to surface it, plus the measured value itself.
-static SpeedStatus IsSpeedMisaligned(const StepControl& step_control) {
-  static bool misaligned = false;
-
-  const float desired = step_control.GetSpeed();
-  const float measured = step_control.GetSpeedMeasured();
-  const float deviation = std::abs(measured - desired);
-
-  // Hysteresis: a raw threshold flips at exactly the 10% band edge, and
-  // measurement noise straddling it would toggle the preview text (and with it
-  // the combo width) every few frames causing layout flicker. Require the state
-  // to leave a wider band before switching back: become misaligned past 12%,
-  // return to aligned only under 8%, and follow an extreme deviation (>20%)
-  // immediately.
-  const bool misaligned_now = deviation > 0.1f * desired;
-  misaligned = misaligned ? (deviation > 0.08f * desired)
-                          : (deviation > 0.12f * desired);
-  if (misaligned_now != misaligned && deviation > 0.2f * desired) {
-    misaligned = misaligned_now;  // far outside both bands: follow immediately
-  }
-
-  return {misaligned, measured};
-}
-}  // namespace
-
-static ImVec2 GetFlexElementSize(int num_cols) {
-  const float width =
-      (GetStableAvailWidth() / num_cols) - ImGui::GetStyle().FramePadding.x * 2;
-  return ImVec2(width, 0);
-}
-
-bool SectionHeader(const char* label, ImGuiTreeNodeFlags flags,
-                   float arrow_scale) {
-  const bool is_framed = (flags & ImGuiTreeNodeFlags_Framed) != 0;
-
-  ImGuiContext& g = *GImGui;
-  ImGuiWindow* window = ImGui::GetCurrentWindow();
-  if (window->SkipItems) return false;
-
-  const ImGuiStyle& style = g.Style;
-  const ImGuiID id = window->GetID(label);
-
-  // Control the bar height via FramePadding.y.
-  // Main (framed): a bit of padding. Sub (unframed): less padding to be
-  // visually thinner.
-  const float pad_y = (is_framed ? 3.0f : 2.0f) * style.FontScaleDpi;
-  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding,
-                      ImVec2(style.FramePadding.x, pad_y));
-
-  // Push transparent text color to hide the default arrow and label rendered by
-  // TreeNodeBehavior.
-  ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(0, 0, 0, 0));
-
-  // Record cursor position before the widget so we can compute the arrow
-  // position.
-  const ImVec2 cursor_before = ImGui::GetCursorScreenPos();
-
-  // Use TreeNodeBehavior (the same function CollapsingHeader uses internally).
-  // This gives us proper click-to-toggle and open/close state management.
-  // We do NOT add _Leaf here so toggling works, and we don't add
-  // _NoTreePushOnOpen so the callers' TreePop() still works.
-  //
-  // For unframed nodes, add _FramePadding so TreeNodeBehavior uses
-  // FramePadding.y for layout (making arrow Y position predictable = cursor.y +
-  // pad_y). Also add _SpanAvailWidth for consistent full-width hit testing.
-  ImGuiTreeNodeFlags effective_flags = flags;
-  if (!is_framed) {
-    effective_flags |=
-        ImGuiTreeNodeFlags_FramePadding | ImGuiTreeNodeFlags_SpanAvailWidth;
-  }
-  bool is_open = ImGui::TreeNodeBehavior(id, effective_flags, label);
-
-  // Restore style state before manual rendering (so we get the correct text
-  // color).
-  ImGui::PopStyleColor();
-  ImGui::PopStyleVar();
-
-  // --- Render custom arrow and text manually ---
-  ImDrawList* dl = ImGui::GetWindowDrawList();
-  const ImU32 text_col = ImGui::GetColorU32(ImGuiCol_Text);
-
-  // Match position offsets used by TreeNodeBehavior.
-  // Arrow coordinate: (cursor_before.x + FramePadding.x, cursor_before.y +
-  // pad_y)
-  const float pad_x = style.FramePadding.x;
-  const float arrow_x = cursor_before.x + pad_x;
-  const float arrow_y = cursor_before.y + pad_y;
-  const float full_arrow_size = g.FontSize;
-
-  // Draw the custom smaller arrow, centered within the same region.
-  const float custom_size = full_arrow_size * arrow_scale;
-  const float offset = (full_arrow_size - custom_size) * 0.5f;
-  const ImGuiDir arrow_dir = is_open ? ImGuiDir_Down : ImGuiDir_Right;
-  ImGui::RenderArrow(dl, ImVec2(arrow_x + offset, arrow_y + offset), text_col,
-                     arrow_dir, arrow_scale);
-
-  // Render text manually.
-  // text_offset_x = FontSize + padding.x * (display_frame ? 3 : 2)
-  const float text_offset_x =
-      full_arrow_size + pad_x * (is_framed ? 3.0f : 2.0f);
-  ImGui::RenderText(
-      ImVec2(cursor_before.x + text_offset_x, cursor_before.y + pad_y), label);
-
-  return is_open;
-}
-
-void SetupTheme(GuiTheme theme) {
-  ImGuiStyle& s = ImGui::GetStyle();
-  ImVec4* c = s.Colors;
-  if (theme == GuiTheme::kDark) {
-    ImGui::StyleColorsDark(&s);
-
-    // Cool slate backgrounds with subtle blue undertone.
-    c[ImGuiCol_Text] = ImVec4(0.92, 0.93, 0.95, 1.00);
-    c[ImGuiCol_TextDisabled] = ImVec4(0.45, 0.47, 0.50, 1.00);
-    c[ImGuiCol_WindowBg] = ImVec4(0.16, 0.17, 0.19, 1.00);
-    c[ImGuiCol_ChildBg] = ImVec4(0.16, 0.17, 0.19, 1.00);
-    c[ImGuiCol_PopupBg] = ImVec4(0.24, 0.25, 0.28, 1.00);
-    c[ImGuiCol_Border] = ImVec4(0.10, 0.10, 0.12, 0.40);
-    c[ImGuiCol_BorderShadow] = ImVec4(0.00, 0.00, 0.00, 0.00);
-
-    // Input fields: subtle inset, no transparency.
-    c[ImGuiCol_FrameBg] = ImVec4(0.22, 0.23, 0.26, 1.00);
-    c[ImGuiCol_FrameBgHovered] = ImVec4(0.26, 0.27, 0.30, 1.00);
-    c[ImGuiCol_FrameBgActive] = ImVec4(0.30, 0.31, 0.35, 1.00);
-
-    // Title bars: darkest layer.
-    c[ImGuiCol_TitleBg] = ImVec4(0.12, 0.13, 0.15, 1.00);
-    c[ImGuiCol_TitleBgActive] = ImVec4(0.14, 0.15, 0.17, 1.00);
-    c[ImGuiCol_TitleBgCollapsed] = ImVec4(0.12, 0.13, 0.15, 0.90);
-    c[ImGuiCol_MenuBarBg] = ImVec4(0.12, 0.13, 0.15, 1.00);
-
-    // Scrollbars: transparent background, visible thumb only.
-    c[ImGuiCol_ScrollbarBg] = ImVec4(0.00, 0.00, 0.00, 0.00);
-    c[ImGuiCol_ScrollbarGrab] = ImVec4(0.34, 0.35, 0.38, 1.00);
-    c[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.42, 0.43, 0.46, 1.00);
-    c[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.55, 0.56, 0.60, 1.00);
-
-    // Interactive elements.
-    c[ImGuiCol_CheckMark] = ImVec4(0.35, 0.50, 0.72, 1.00);
-    c[ImGuiCol_SliderGrab] = ImVec4(0.28, 0.40, 0.58, 1.00);
-    c[ImGuiCol_SliderGrabActive] = ImVec4(0.35, 0.50, 0.72, 1.00);
-
-    // Buttons: slightly lighter than frame background (0.22) to provide subtle
-    // but visible contrast.
-    c[ImGuiCol_Button] = ImVec4(0.28, 0.29, 0.33, 1.00);
-    c[ImGuiCol_ButtonHovered] = ImVec4(0.34, 0.36, 0.40, 1.00);
-    c[ImGuiCol_ButtonActive] = ImVec4(0.32, 0.45, 0.66, 1.00);
-
-    // Headers and tree nodes: muted warm-slate accent.
-    c[ImGuiCol_Header] = ImVec4(0.22, 0.23, 0.26, 1.00);
-    c[ImGuiCol_HeaderHovered] = ImVec4(0.32, 0.36, 0.42, 0.60);
-    c[ImGuiCol_HeaderActive] = ImVec4(0.36, 0.41, 0.48, 0.85);
-
-    // Separators: crisp dividers.
-    c[ImGuiCol_Separator] = ImVec4(0.08, 0.08, 0.10, 0.50);
-    c[ImGuiCol_SeparatorHovered] = ImVec4(0.36, 0.41, 0.48, 0.50);
-    c[ImGuiCol_SeparatorActive] = ImVec4(0.36, 0.41, 0.48, 0.80);
-
-    c[ImGuiCol_ResizeGrip] = ImVec4(0.36, 0.41, 0.48, 0.25);
-    c[ImGuiCol_ResizeGripHovered] = ImVec4(0.36, 0.41, 0.48, 0.67);
-    c[ImGuiCol_ResizeGripActive] = ImVec4(0.36, 0.41, 0.48, 0.95);
-
-    c[ImGuiCol_PlotLines] = ImVec4(0.35, 0.50, 0.72, 1.00);
-    c[ImGuiCol_PlotLinesHovered] = ImVec4(1.00, 0.43, 0.35, 1.00);
-    c[ImGuiCol_PlotHistogram] = ImVec4(0.35, 0.50, 0.72, 1.00);
-    c[ImGuiCol_PlotHistogramHovered] = ImVec4(0.36, 0.41, 0.48, 1.00);
-    c[ImGuiCol_TextSelectedBg] = ImVec4(0.32, 0.36, 0.42, 0.50);
-    c[ImGuiCol_ModalWindowDimBg] = ImVec4(0.00, 0.00, 0.00, 0.50);
-    c[ImGuiCol_DragDropTarget] = ImVec4(0.35, 0.50, 0.72, 0.90);
-    c[ImGuiCol_NavCursor] = ImVec4(0.36, 0.41, 0.48, 1.00);
-    c[ImGuiCol_NavWindowingHighlight] = ImVec4(1.00, 1.00, 1.00, 0.70);
-    c[ImGuiCol_NavWindowingDimBg] = ImVec4(0.00, 0.00, 0.00, 0.30);
-
-    // Tabs.
-    c[ImGuiCol_DockingEmptyBg] = ImVec4(0.14, 0.15, 0.17, 1.00);
-    c[ImGuiCol_Tab] = ImVec4(0.16, 0.17, 0.19, 1.00);
-    c[ImGuiCol_TabHovered] = ImVec4(0.32, 0.36, 0.42, 0.60);
-    c[ImGuiCol_TabSelected] = ImVec4(0.22, 0.23, 0.26, 1.00);
-    c[ImGuiCol_TabDimmed] = ImVec4(0.14, 0.15, 0.17, 1.00);
-    c[ImGuiCol_TabDimmedSelected] = ImVec4(0.20, 0.21, 0.24, 1.00);
-    c[ImGuiCol_DockingPreview] = ImVec4(0.36, 0.41, 0.48, 0.40);
-  } else if (theme == GuiTheme::kLight) {
-    ImGui::StyleColorsLight(&s);
-
-    // Clean, warm-white palette with blue accent.
-    ImVec4 text = ImVec4(0.14, 0.15, 0.18, 1.00);
-    ImVec4 text_dim = ImVec4(0.45, 0.47, 0.50, 1.00);
-    ImVec4 bg = ImVec4(0.96, 0.96, 0.97, 1.00);
-    ImVec4 surface = ImVec4(1.00, 1.00, 1.00, 1.00);
-    ImVec4 border = ImVec4(0.82, 0.83, 0.85, 1.00);
-    ImVec4 input = ImVec4(0.93, 0.93, 0.95, 1.00);
-    ImVec4 accent = ImVec4(0.38, 0.60, 0.90, 1.00);
-    ImVec4 accent_hover = ImVec4(0.38, 0.60, 0.90, 0.18);
-    ImVec4 accent_dim = ImVec4(0.38, 0.60, 0.90, 0.10);
-    ImVec4 header = ImVec4(0.90, 0.91, 0.92, 1.00);
-    ImVec4 grab = ImVec4(0.70, 0.71, 0.73, 1.00);
-
-    c[ImGuiCol_Text] = text;
-    c[ImGuiCol_TextDisabled] = text_dim;
-    c[ImGuiCol_WindowBg] = bg;
-    c[ImGuiCol_ChildBg] = bg;
-    c[ImGuiCol_PopupBg] = ImVec4(0.94, 0.94, 0.95, 1.00);
-    c[ImGuiCol_Border] = border;
-    c[ImGuiCol_BorderShadow] = ImVec4(0.00, 0.00, 0.00, 0.00);
-
-    c[ImGuiCol_FrameBg] = input;
-    c[ImGuiCol_FrameBgHovered] = accent_hover;
-    c[ImGuiCol_FrameBgActive] = ImVec4(0.38, 0.60, 0.90, 0.30);
-
-    c[ImGuiCol_TitleBg] = header;
-    c[ImGuiCol_TitleBgActive] = ImVec4(0.88, 0.89, 0.90, 1.00);
-    c[ImGuiCol_TitleBgCollapsed] = ImVec4(0.92, 0.93, 0.94, 0.90);
-    c[ImGuiCol_MenuBarBg] = header;
-
-    c[ImGuiCol_ScrollbarBg] = ImVec4(0.00, 0.00, 0.00, 0.00);
-    c[ImGuiCol_ScrollbarGrab] = grab;
-    c[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.56, 0.57, 0.60, 1.00);
-    c[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.42, 0.43, 0.46, 1.00);
-
-    c[ImGuiCol_CheckMark] = accent;
-    c[ImGuiCol_SliderGrab] = accent;
-    c[ImGuiCol_SliderGrabActive] = ImVec4(0.30, 0.52, 0.82, 1.00);
-
-    // Buttons: slightly darker than frame background (0.93) to provide subtle
-    // but visible contrast.
-    c[ImGuiCol_Button] = ImVec4(0.86, 0.87, 0.89, 1.00);
-    c[ImGuiCol_ButtonHovered] = accent_hover;
-    c[ImGuiCol_ButtonActive] = accent;
-    c[ImGuiCol_Header] = header;
-    c[ImGuiCol_HeaderHovered] = accent_hover;
-    c[ImGuiCol_HeaderActive] = ImVec4(0.38, 0.60, 0.90, 0.30);
-
-    c[ImGuiCol_Separator] = border;
-    c[ImGuiCol_SeparatorHovered] = accent;
-    c[ImGuiCol_SeparatorActive] = accent;
-
-    c[ImGuiCol_ResizeGrip] = accent_dim;
-    c[ImGuiCol_ResizeGripHovered] = accent_hover;
-    c[ImGuiCol_ResizeGripActive] = accent;
-
-    c[ImGuiCol_Tab] = bg;
-    c[ImGuiCol_TabHovered] = accent_hover;
-    c[ImGuiCol_TabSelected] = surface;
-    c[ImGuiCol_TabDimmed] = bg;
-    c[ImGuiCol_TabDimmedSelected] = ImVec4(0.97, 0.97, 0.98, 1.00);
-    c[ImGuiCol_DockingEmptyBg] = header;
-    c[ImGuiCol_DockingPreview] = ImVec4(0.22, 0.47, 0.82, 0.30);
-
-    c[ImGuiCol_TextSelectedBg] = accent_hover;
-    c[ImGuiCol_DragDropTarget] = accent;
-    c[ImGuiCol_NavCursor] = accent;
-    c[ImGuiCol_ModalWindowDimBg] = ImVec4(0.00, 0.00, 0.00, 0.30);
-  } else {
-    ImGui::StyleColorsDark(&s);
-    ImVec4 black = ImVec4(0.00, 0.00, 0.00, 1.0);
-    ImVec4 window = ImVec4(0.25, 0.25, 0.25, 1.0);
-    ImVec4 font_active = ImVec4(1.00, 1.00, 1.00, 1.0);
-    ImVec4 font_inactive = ImVec4(0.50, 0.50, 0.50, 1.0);
-    ImVec4 thumb = ImVec4(0.12, 0.12, 0.12, 1.0);
-    ImVec4 section = ImVec4(0.40, 0.15, 0.15, 1.0);
-    ImVec4 button = ImVec4(0.60, 0.40, 0.40, 1.0);
-    ImVec4 check = ImVec4(0.40, 0.40, 0.70, 1.0);
-    ImVec4 frame = ImVec4(0.40, 0.30, 0.40, 1.0);
-    ImVec4 slider = ImVec4(0.60, 0.40, 0.60, 1.0);
-
-    c[ImGuiCol_WindowBg] = window;
-    c[ImGuiCol_ChildBg] = black;
-    c[ImGuiCol_PopupBg] = window;
-    c[ImGuiCol_Text] = font_active;
-    c[ImGuiCol_TextDisabled] = font_inactive;
-    c[ImGuiCol_CheckMark] = font_active;
-    c[ImGuiCol_Header] = section;
-    c[ImGuiCol_HeaderHovered] = section;
-    c[ImGuiCol_HeaderActive] = section;
-    c[ImGuiCol_TitleBgActive] = window;
-    c[ImGuiCol_ScrollbarBg] = window;
-    c[ImGuiCol_ScrollbarGrab] = thumb;
-    c[ImGuiCol_ScrollbarGrabHovered] = thumb;
-    c[ImGuiCol_ScrollbarGrabActive] = thumb;
-    c[ImGuiCol_FrameBg] = frame;
-    c[ImGuiCol_FrameBgHovered] = frame;
-    c[ImGuiCol_FrameBgActive] = frame;
-    c[ImGuiCol_SliderGrab] = slider;
-    c[ImGuiCol_SliderGrabActive] = slider;
-    c[ImGuiCol_Button] = window;
-    c[ImGuiCol_ButtonHovered] = button;
-    c[ImGuiCol_ButtonActive] = button;
-    c[ImGuiCol_Tab] = window;
-    c[ImGuiCol_TabHovered] = check;
-    c[ImGuiCol_TabSelected] = check;
-    c[ImGuiCol_TabDimmed] = window;
-    c[ImGuiCol_TabDimmedSelected] = check;
-  }
-
-  float scale = s.FontScaleDpi;
-
-  int hspacing = 3;
-  int vspacing = 2;
-  float rounding = 3.0f;
-  s.DisplaySafeAreaPadding = ImVec2(0, 0);
-  s.WindowPadding = ImTrunc(ImVec2(6.0f * scale, 6.0f * scale));
-  s.FramePadding = ImTrunc(ImVec2(hspacing * scale, 4.0f * scale));
-  s.ItemSpacing = ImTrunc(ImVec2(hspacing * scale, vspacing * scale));
-  s.ItemInnerSpacing = ImTrunc(ImVec2(hspacing * scale, vspacing * scale));
-  s.WindowRounding = ImTrunc(rounding * scale);
-  s.FrameRounding = ImTrunc(rounding * scale);
-  s.TabRounding = ImTrunc(rounding * scale);
-  s.ScrollbarRounding = ImTrunc(rounding * scale);
-  s.ChildRounding = ImTrunc(rounding * scale);
-  s.GrabRounding = ImTrunc(rounding * scale);
-  s.PopupRounding = ImTrunc(rounding * scale);
-  s.WindowBorderSize = 0.0f;
-  s.FrameBorderSize = 1.0f;
-  s.PopupBorderSize = 1.0f;
-  s.IndentSpacing = ImTrunc(10.0f * scale);
-  s.ScrollbarSize = ImTrunc(10.0f * scale);
-  s.GrabMinSize = ImTrunc(5.0f * scale);
-  s.WindowMenuButtonPosition = ImGuiDir_None;
-  s.TabCloseButtonMinWidthSelected = 0.0f;
-  s.DockingNodeHasCloseButton = false;
-}
-
-void RescaleDock(float ratio) {
-  if (ratio == 1) return;
-  ImGuiID root = ImGui::GetID("Root");
-  ImGuiDockNode* root_node = ImGui::DockBuilderGetNode(root);
-  if (root_node) {
-    struct ScaleNodes {
-      static void Apply(ImGuiDockNode* node, float r) {
-        node->SizeRef.x *= r;
-        if (node->ChildNodes[0]) Apply(node->ChildNodes[0], r);
-        if (node->ChildNodes[1]) Apply(node->ChildNodes[1], r);
-      }
-    };
-    ScaleNodes::Apply(root_node, ratio);
-  }
-}
-
-ImVec4 ConfigureDockingLayout(bool show_toolbar, bool show_status_bar) {
-  ImGuiViewport* viewport = ImGui::GetMainViewport();
-  const float scale = ImGui::GetWindowDpiScale();
-  const float font_scale = ImGui::GetIO().FontGlobalScale;
-
-  const float kOptionsRelWidth = 0.15f;
-  const float kInspectorRelWidth = 0.22f;
-  const float kPropertiesRelHeight = 0.3f;
-  const float kToolsBarHeight = show_toolbar ? 36.f * scale * font_scale : 0.0f;
-  const float kStatusBarHeight =
-      show_status_bar ? 32.f * scale * font_scale : 0.0f;
-
-  // Lay out from the absolute viewport origin with an explicitly computed
-  // menu bar height, NOT from WorkPos/WorkSize: the work area only reflects
-  // the menu bar's reservation from the previous frame, so any hiccup in
-  // that reservation shifts the whole dock layout by a menu-bar height for
-  // a frame and every docked window re-clips (visible as UI-wide flicker).
-  // The menu bar's height equals the frame height by definition.
-  const float menu_bar_height = ImGui::GetFrameHeight();
-  const ImVec2 toolbar_pos{viewport->Pos.x, viewport->Pos.y + menu_bar_height};
-  const ImVec2 dockspace_pos{
-      viewport->Pos.x, viewport->Pos.y + menu_bar_height + kToolsBarHeight};
-  const ImVec2 dockspace_size{
-      viewport->Size.x,
-      viewport->Size.y - menu_bar_height - kToolsBarHeight - kStatusBarHeight};
-
-  ImGuiID root = ImGui::GetID("Root");
-  const bool first_time = (ImGui::DockBuilderGetNode(root) == nullptr);
-
-  if (first_time) {
-    ImGui::DockBuilderRemoveNode(root);
-    ImGui::DockBuilderAddNode(root, ImGuiDockNodeFlags_DockSpace);
-    ImGui::DockBuilderSetNodeSize(root, dockspace_size);
-
-    // Slice up the main dock space.
-    ImGuiID main = root;
-
-    ImGuiID options = 0;
-    ImGui::DockBuilderSplitNode(main, ImGuiDir_Left, kOptionsRelWidth, &options,
-                                &main);
-
-    ImGuiID inspector = 0;
-    ImGui::DockBuilderSplitNode(main, ImGuiDir_Right, kInspectorRelWidth,
-                                &inspector, &main);
-
-    ImGuiID properties = 0;
-    ImGui::DockBuilderSplitNode(inspector, ImGuiDir_Down, kPropertiesRelHeight,
-                                &properties, &inspector);
-
-    ImGuiID profiler = 0;
-    ImGui::DockBuilderSplitNode(main, ImGuiDir_Right, 0.42f, &profiler, &main);
-
-    ImGui::DockBuilderDockWindow("Dockspace", main);
-    ImGui::DockBuilderDockWindow("Options", options);
-    ImGui::DockBuilderDockWindow("Explorer", inspector);
-    ImGui::DockBuilderDockWindow("Editor", inspector);
-    ImGui::DockBuilderDockWindow("Inspector", inspector);
-    ImGui::DockBuilderDockWindow("Properties", properties);
-    ImGui::DockBuilderDockWindow("Profiler", profiler);
-    ImGui::DockBuilderFinish(root);
-  }
-
-  // Create a dummy window filling the entire workspace in which we can perform
-  // docking.
-  ImGui::SetNextWindowPos(dockspace_pos);
-  ImGui::SetNextWindowSize(dockspace_size);
-  ImGui::SetNextWindowViewport(viewport->ID);
-
-  const ImGuiWindowFlags kWorkspaceFlags =
-      ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoCollapse |
-      ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
-      ImGuiWindowFlags_NoDocking | ImGuiWindowFlags_NoBringToFrontOnFocus |
-      ImGuiWindowFlags_NoNavFocus | ImGuiWindowFlags_NoBackground;
-
-  const ImGuiWindowFlags kFixedFlags =
-      ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoMove |
-      ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoScrollbar |
-      ImGuiWindowFlags_NoDocking;
-
-  // Main workspace area in which we can dock other windows.
-  {
-    platform::ScopedStyle style;
-    style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
-    style.Var(ImGuiStyleVar_WindowBorderSize, 0.0f);
-    style.Var(ImGuiStyleVar_WindowPadding, ImVec2(0.0f, 0.0f));
-    ImGui::Begin("Dockspace", nullptr, kWorkspaceFlags);
-    const ImGuiDockNodeFlags kDockSpaceFlags =
-        ImGuiDockNodeFlags_PassthruCentralNode |
-        ImGuiDockNodeFlags_NoDockingOverCentralNode;
-    ImGui::DockSpace(root, ImVec2(0.0f, 0.0f), kDockSpaceFlags);
-    ImGui::End();
-  }
-
-  // Toolbar is fixed at the top.
-  if (show_toolbar) {
-    platform::ScopedStyle style;
-    style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
-    style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
-    style.Var(ImGuiStyleVar_WindowMinSize, ImVec2(1, 1));
-    const float toolbar_vpad = std::max(
-        0.f, (36.f * scale * font_scale - ImGui::GetFrameHeight()) * 0.5f);
-    style.Var(ImGuiStyleVar_WindowPadding, ImVec2(4 * scale, toolbar_vpad));
-    ImGui::SetNextWindowPos(toolbar_pos, ImGuiCond_Always);
-    ImGui::SetNextWindowSize(
-        ImVec2(viewport->Size.x, 36.f * scale * font_scale), ImGuiCond_Always);
-    ImGui::Begin("ToolBar", nullptr, kFixedFlags);
-    ImGui::End();
-  }
-
-  // StatusBar is fixed at the bottom.
-  if (show_status_bar) {
-    platform::ScopedStyle style;
-    style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
-    style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
-    style.Var(ImGuiStyleVar_WindowMinSize, ImVec2(1, 1));
-    ImGui::SetNextWindowPos(ImVec2(0, viewport->Size.y - kStatusBarHeight),
-                            ImGuiCond_Always);
-    ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kStatusBarHeight),
-                             ImGuiCond_Always);
-    ImGui::Begin("StatusBar", nullptr, kFixedFlags);
-    ImGui::End();
-  }
-
-  ImGuiDockNode* central = ImGui::DockBuilderGetCentralNode(root);
-  if (central) {
-    return ImVec4(central->Pos.x, central->Pos.y, central->Size.x,
-                  central->Size.y);
-  }
-  const int settings_width = dockspace_size.x * kOptionsRelWidth;
-  const int inspector_width = dockspace_size.x * kInspectorRelWidth;
-  const float workspace_x = dockspace_pos.x + settings_width;
-  const float workspace_y = dockspace_pos.y;
-  const float workspace_w = dockspace_size.x - settings_width - inspector_width;
-  const float workspace_h = dockspace_size.y;
-  return ImVec4(workspace_x, workspace_y, workspace_w, workspace_h);
-}
-
-void StepControlGui(StepControl* step_control, int& speed_index) {
-  platform::ScopedStyle style;
-
-  bool is_dark = ImGui::GetStyle().Colors[ImGuiCol_WindowBg].x < 0.5f;
-  const ImColor yellow =
-      is_dark ? ImColor(158, 115, 18, 255) : ImColor(255, 215, 0, 255);
-  const ImColor green =
-      is_dark ? ImColor(40, 125, 60, 255) : ImColor(40, 180, 40, 255);
-
-  auto make_button = [&](const char* icon, StepControl::PauseState target_state,
-                         ImColor color, ImDrawFlags corners,
-                         const char* tooltip = "", float hover_alpha = 1.f,
-                         float width_scale = 1.f) {
-    ImVec2 size(0, 0);
-    if (width_scale != 1.f) {
-      const ImGuiStyle& s = ImGui::GetStyle();
-      const float w = ImGui::CalcTextSize(icon).x + s.FramePadding.x * 2;
-      size.x = w * width_scale;
-    }
-    bool active = step_control->GetPauseState() == target_state;
-    if (ImGui_ColorButtonEx(icon, active, color, corners, size, hover_alpha)) {
-      step_control->SetPauseState(target_state);
-    }
-    if (!std::string_view(tooltip).empty()) {
-      ImGui::SetItemTooltip("%s", tooltip);
-    }
-  };
-
-  make_button(ICON_FA_PAUSE, StepControl::PauseState::kNormalPaused, yellow,
-              ImDrawFlags_RoundCornersLeft, "Pause", .3f, 1.6f);
-  ImGui::SameLine(0.f, 0.f);
-  make_button(ICON_FA_PLAY, StepControl::PauseState::kUnpaused, green,
-              ImDrawFlags_RoundCornersRight, "", .3f, 1.6f);
-
-  // Speed selection.
-  style.Reset();
-  ImGui::SameLine(0, ImGui::GetFrameHeight() * .6f);
-  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding,
-                      ImVec2(ImGui::GetStyle().FramePadding.x +
-                                 5.f * ImGui::GetStyle().FontScaleDpi,
-                             ImGui::GetStyle().FramePadding.y));
-
-  const auto [misaligned, measured] = IsSpeedMisaligned(*step_control);
-
-  char speed_preview[64];
-  if (misaligned) {
-    snprintf(speed_preview, sizeof(speed_preview), "%s %s (%-4.1f%%)",
-             ICON_FA_TACHOMETER, kPercentRealTime[speed_index], measured);
-  } else {
-    snprintf(speed_preview, sizeof(speed_preview), "%s %s", ICON_FA_TACHOMETER,
-             kPercentRealTime[speed_index]);
-  }
-
-  // Size the combo for the worst-case text so toggling the measured-speed
-  // suffix (or its digit count changing) never shifts the toolbar layout.
-  char speed_sizing[64];
-  snprintf(speed_sizing, sizeof(speed_sizing), "%s %s (-99.9%%)",
-           ICON_FA_TACHOMETER, kPercentRealTime[speed_index]);
-  ImGui::SetNextItemWidth(ImGui::CalcTextSize(speed_sizing).x +
-                          ImGui::GetStyle().FramePadding.x * 2.f);
-  if (ImGui::BeginCombo("##Speed", speed_preview,
-                        ImGuiComboFlags_NoArrowButton)) {
-    for (int n = 0; n < kPercentRealTime.size(); n++) {
-      if (ImGui::Selectable(kPercentRealTime[n], (speed_index == n))) {
-        SetSpeedIndex(step_control, speed_index, n);
-      }
-    }
-    ImGui::EndCombo();
-  }
-
-  ImGui::PopStyleVar();
-  if (misaligned) {
-    ImGui::SetItemTooltip("%s", "Desired Speed (Measured Speed)");
-  } else {
-    ImGui::SetItemTooltip("%s", "Desired Speed");
-  }
-}
-
-void SetSpeedIndex(StepControl* step_control, int& speed_index,
-                   int request_idx) {
-  if (!step_control || request_idx == speed_index || kPercentRealTime.empty()) {
-    return;
-  }
-
-  speed_index = std::clamp<int>(request_idx, 0, kPercentRealTime.size() - 1);
-  float speed = std::stof(kPercentRealTime[speed_index]);
-  step_control->SetSpeed(speed);
-}
-
-
-void LoadHistoryFrame(SimHistory& history, StepControl& step_control,
-                      const mjModel* model, mjData* data, int index) {
-  std::span<mjtNum> state = history.SetIndex(index);
-  if (!state.empty()) {
-    // Pause simulation when entering history mode.
-    step_control.SetPauseState(StepControl::PauseState::kNormalPaused);
-    mj_setState(model, data, state.data(), mjSTATE_INTEGRATION);
-    mj_forward(model, data);
-  }
-}
-
-static std::string FormatTimelineTime(double time_in_s) {
-  if (time_in_s < 0.0) time_in_s = 0.0;
-  char buf[64];
-  if (time_in_s == 0.0) {
-    return "0.00s";
-  } else if (time_in_s < 1e-3) {
-    // Microseconds range.
-    const double t_us = time_in_s * 1e6;
-    if (t_us >= 100.0) {
-      std::snprintf(buf, sizeof(buf), "%.0f\xC2\xB5s", t_us);
-    } else if (t_us >= 10.0) {
-      std::snprintf(buf, sizeof(buf), "%.1f\xC2\xB5s", t_us);
-    } else {
-      std::snprintf(buf, sizeof(buf), "%.2f\xC2\xB5s", t_us);
-    }
-  } else if (time_in_s < 1.0) {
-    // Milliseconds range.
-    const double t_ms = time_in_s * 1e3;
-    if (t_ms >= 100.0) {
-      std::snprintf(buf, sizeof(buf), "%.0fms", t_ms);
-    } else if (t_ms >= 10.0) {
-      std::snprintf(buf, sizeof(buf), "%.1fms", t_ms);
-    } else {
-      std::snprintf(buf, sizeof(buf), "%.2fms", t_ms);
-    }
-  } else {
-    // Seconds range.
-    if (time_in_s >= 100.0) {
-      std::snprintf(buf, sizeof(buf), "%.0fs", time_in_s);
-    } else if (time_in_s >= 10.0) {
-      std::snprintf(buf, sizeof(buf), "%.1fs", time_in_s);
-    } else {
-      std::snprintf(buf, sizeof(buf), "%.2fs", time_in_s);
-    }
-  }
-  return buf;
-}
-
-void TimelineScrubberGui(const mjModel* model, mjData* data,
-                         StepControl& step_control, SimHistory& history,
-                         SimulationTimelineState& timeline) {
-  // Timeline scrubber: spine + sliding knob widget.
-  const double max_time = timeline.sim_head_time;
-  const int hist_size = history.Size();
-  const int hist_min = 1 - hist_size;  // most negative index (oldest)
-  const int hist_max = 0;              // index 0 = most recent
-  int current_index = history.GetIndex();
-  const bool locked = (hist_size <= 1);
-
-  // Compute current timestamp for LH label.
-  double curr_time =
-      ((data != nullptr) && current_index == history.GetIndex())
-          ? data->time
-          : (max_time +
-             current_index *
-                 ((model != nullptr) ? model->opt.timestep : 0.002));
-  if (curr_time < 0.0) curr_time = 0.0;
-
-  const int curr_step = ((model != nullptr) && model->opt.timestep > 0)
-                            ? static_cast<int>(std::round(
-                                  curr_time / model->opt.timestep))
-                            : 0;
-  const int max_step =
-      ((model != nullptr) && model->opt.timestep > 0)
-          ? static_cast<int>(std::round(max_time / model->opt.timestep))
-          : 0;
-
-  // Both LH and RH labels aim to be at 3 digits, switching units
-  // independently.
-  std::string lh_top_str = FormatTimelineTime(curr_time);
-  std::string rh_top_str = FormatTimelineTime(max_time);
-  std::string lh_bot_str = "(" + std::to_string(curr_step) + ")";
-  std::string rh_bot_str = "(" + std::to_string(max_step) + ")";
-  const char* lh_top_label = lh_top_str.c_str();
-  const char* rh_top_label = rh_top_str.c_str();
-  const char* lh_bot_label = lh_bot_str.c_str();
-  const char* rh_bot_label = rh_bot_str.c_str();
-
-  // Use slightly smaller text for timeline labels (e.g. 90% scale).
-  ImGui::SetWindowFontScale(0.9f);
-
-  const ImVec2 cursor = ImGui::GetCursorScreenPos();
-  const float spacing = ImGui::GetStyle().ItemSpacing.x;
-  const float base_label_w =
-      std::max(ImGui::CalcTextSize("88.8 ms").x,
-               ImGui::CalcTextSize("88.8 \xC2\xB5s").x);
-  const float curr_lh_w =
-      std::max({base_label_w, ImGui::CalcTextSize(lh_top_label).x,
-                ImGui::CalcTextSize(lh_bot_label).x});
-  if (curr_lh_w > timeline.lh_width) {
-    timeline.lh_width = curr_lh_w;
-  }
-  const float curr_rh_w =
-      std::max({base_label_w, ImGui::CalcTextSize(rh_top_label).x,
-                ImGui::CalcTextSize(rh_bot_label).x});
-  if (curr_rh_w > timeline.rh_width) {
-    timeline.rh_width = curr_rh_w;
-  }
-  const float lh_box_w = timeline.lh_width;
-  const float rh_box_w = timeline.rh_width;
-  const float track_w =
-      std::max(10.0f, ImGui::GetContentRegionAvail().x - lh_box_w -
-                          rh_box_w - spacing * 2.0f);
-
-  const float spine_h = 3.0f;
-  const float knob_w = 12.0f;
-  const float knob_h = 27.0f;  // 1.5x taller than 18.0f
-  const float text_line_h = ImGui::GetTextLineHeight();
-  const float custom_line_spacing =
-      1.0f;  // Decreased spacing between the two lines
-  const float text_2lines_h = text_line_h * 2.0f + custom_line_spacing;
-  const float total_h = std::max(knob_h, text_2lines_h);
-
-  // Vertical center of the track row.
-  const float row_center_y = cursor.y + total_h * 0.5f;
-  const float track_x0 = cursor.x + lh_box_w + spacing;
-  const float spine_y0 = row_center_y - spine_h * 0.5f;
-  const float spine_y1 = row_center_y + spine_h * 0.5f;
-  const float spine_x0 = track_x0;
-  const float spine_x1 = track_x0 + track_w;
-
-  // Compute knob position [0,1] along the spine.
-  float t = 1.0f;  // Default: pinned to right end.
-  if (!locked) {
-    t = static_cast<float>(current_index - hist_min) /
-        static_cast<float>(hist_max - hist_min);
-  }
-  const float knob_cx = spine_x0 + t * (track_w - knob_w) + knob_w * 0.5f;
-
-  // Invisible interaction button over the full track area.
-  ImGui::SetCursorScreenPos(
-      ImVec2(track_x0, row_center_y - total_h * 0.5f));
-  ImGui::InvisibleButton("##Scrubber", ImVec2(track_w, total_h));
-  const bool hovered = ImGui::IsItemHovered();
-  const bool active = ImGui::IsItemActive();
-
-  // Handle dragging.
-  if (!locked && (active || (hovered && ImGui::IsMouseDown(
-                                            ImGuiMouseButton_Left)))) {
-    const float mouse_x = ImGui::GetIO().MousePos.x;
-    if (!timeline.scrubber_active) {
-      timeline.scrubber_active = true;
-      if (std::abs(mouse_x - knob_cx) <= knob_w) {
-        timeline.scrubber_grab_offset = mouse_x - knob_cx;
-      } else {
-        timeline.scrubber_grab_offset = 0.0f;
-      }
-    }
-
-    const float effective_mouse_x = mouse_x - timeline.scrubber_grab_offset;
-    const float raw_t = (effective_mouse_x - spine_x0 - knob_w * 0.5f) /
-                        std::max(1.0f, track_w - knob_w);
-    const float clamped_t = std::clamp(raw_t, 0.0f, 1.0f);
-
-    int new_index = current_index;
-    const float snap_eps = std::max(
-        0.02f, std::min(0.05f, 8.0f / std::max(1.0f, track_w - knob_w)));
-    if (clamped_t <= snap_eps ||
-        effective_mouse_x <= spine_x0 + knob_w * 0.5f + 6.0f) {
-      new_index = hist_min;
-    } else if (clamped_t >= 1.0f - snap_eps ||
-               effective_mouse_x >= spine_x1 - knob_w * 0.5f - 6.0f) {
-      new_index = hist_max;
-    } else {
-      const float inner_t =
-          (clamped_t - snap_eps) / (1.0f - 2.0f * snap_eps);
-      new_index =
-          hist_min +
-          static_cast<int>(std::round(inner_t * (hist_max - hist_min)));
-    }
-
-    if (new_index != current_index) {
-      LoadHistoryFrame(history, step_control, model, data, new_index);
-      current_index = new_index;
-      t = static_cast<float>(current_index - hist_min) /
-          static_cast<float>(hist_max - hist_min);
-      if ((data != nullptr) && current_index == history.GetIndex()) {
-        curr_time = data->time;
-        if (curr_time < 0.0) curr_time = 0.0;
-        lh_top_str = FormatTimelineTime(curr_time);
-        lh_top_label = lh_top_str.c_str();
-        const int updated_curr_step =
-            ((model != nullptr) && model->opt.timestep > 0)
-                ? static_cast<int>(
-                      std::round(curr_time / model->opt.timestep))
-                : 0;
-        lh_bot_str = "(" + std::to_string(updated_curr_step) + ")";
-        lh_bot_label = lh_bot_str.c_str();
-        const float updated_lh_w =
-            std::max({base_label_w, ImGui::CalcTextSize(lh_top_label).x,
-                      ImGui::CalcTextSize(lh_bot_label).x});
-        if (updated_lh_w > timeline.lh_width) {
-          timeline.lh_width = updated_lh_w;
-        }
-      }
-    }
-  } else {
-    timeline.scrubber_active = false;
-  }
-
-  // Draw LH labels (two lines, both right-aligned).
-  const float text_y0 = row_center_y - text_2lines_h * 0.5f;
-  const float text_y1 = text_y0 + text_line_h + custom_line_spacing;
-
-  const float lh_top_x =
-      cursor.x + lh_box_w - ImGui::CalcTextSize(lh_top_label).x;
-  ImGui::SetCursorScreenPos(ImVec2(lh_top_x, text_y0));
-  ImGui::TextUnformatted(lh_top_label);
-
-  const float lh_bot_x =
-      cursor.x + lh_box_w - ImGui::CalcTextSize(lh_bot_label).x;
-  ImGui::SetCursorScreenPos(ImVec2(lh_bot_x, text_y1));
-  ImGui::TextUnformatted(lh_bot_label);
-
-  // Draw RH labels (two lines, both left-aligned).
-  const float rh_x0 = track_x0 + track_w + spacing;
-  ImGui::SetCursorScreenPos(ImVec2(rh_x0, text_y0));
-  ImGui::TextUnformatted(rh_top_label);
-
-  ImGui::SetCursorScreenPos(ImVec2(rh_x0, text_y1));
-  ImGui::TextUnformatted(rh_bot_label);
-
-  // Restore window font scale.
-  ImGui::SetWindowFontScale(1.0f);
-
-  // Draw spine and knob on the draw list.
-  ImDrawList* dl = ImGui::GetWindowDrawList();
-  const ImGuiStyle& style = ImGui::GetStyle();
-
-  // Spine.
-  const ImVec4 scrollbar_bg =
-      ImGui::GetStyle().Colors[ImGuiCol_ScrollbarBg];
-  ImGuiCol bg_col_idx;
-  if (active) {
-    bg_col_idx = ImGuiCol_FrameBgActive;
-  } else if (hovered) {
-    bg_col_idx = ImGuiCol_FrameBgHovered;
-  } else {
-    bg_col_idx = (scrollbar_bg.w > 0.01f) ? ImGuiCol_ScrollbarBg
-                                          : ImGuiCol_FrameBg;
-  }
-  const ImU32 spine_col = ImGui::GetColorU32(bg_col_idx);
-  dl->AddRectFilled(ImVec2(spine_x0, spine_y0),
-                    ImVec2(spine_x1, spine_y1), spine_col,
-                    spine_h * 0.5f);
-
-  // Knob rectangle.
-  const float knob_x0 = knob_cx - knob_w * 0.5f;
-  const float knob_x1 = knob_cx + knob_w * 0.5f;
-  const float knob_y0 = row_center_y - knob_h * 0.5f;
-  const float knob_y1 = row_center_y + knob_h * 0.5f;
-
-  ImU32 knob_col;
-  if (active) {
-    knob_col = ImGui::GetColorU32(ImGuiCol_SliderGrabActive);
-  } else if (hovered) {
-    knob_col = ImGui::GetColorU32(ImGuiCol_SliderGrab);
-  } else {
-    knob_col = ImGui::GetColorU32(ImGuiCol_SliderGrab);
-  }
-  dl->AddRectFilled(ImVec2(knob_x0, knob_y0), ImVec2(knob_x1, knob_y1),
-                    knob_col, style.GrabRounding);
-  // Knob border.
-  dl->AddRect(ImVec2(knob_x0, knob_y0), ImVec2(knob_x1, knob_y1),
-              ImGui::GetColorU32(ImGuiCol_Border), style.GrabRounding);
-
-  // Advance layout cursor past this row.
-  ImGui::SetCursorScreenPos(ImVec2(cursor.x, cursor.y + total_h));
-  ImGui::Dummy(ImVec2(0.0f, 0.0f));
-}
-
-void SimulationGui(const SimulationGuiContext& ctx) {
-  const ImGuiChildFlags child_flags =
-      ImGuiChildFlags_AutoResizeY | ImGuiChildFlags_AlwaysAutoResize;
-  const ImGuiTreeNodeFlags node_flags =
-      ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_Framed;
-
-  ImGui::BeginChild("SimulationGui", {0, 0}, child_flags);
-  if (SectionHeader(
-          "Simulation", node_flags | ImGuiTreeNodeFlags_DefaultOpen, 0.65f)) {
-    ImGui::PushID("SimSection");
-
-    const float slider_w = -ImGui::CalcTextSize(" Keyframe").x -
-                           ImGui::GetStyle().ItemInnerSpacing.x;
-
-    bool is_dark = ImGui::GetStyle().Colors[ImGuiCol_WindowBg].x < 0.5f;
-    const ImColor green =
-        is_dark ? ImColor(40, 125, 60, 255) : ImColor(40, 180, 40, 255);
-    const ImColor yellow =
-        is_dark ? ImColor(158, 115, 18, 255) : ImColor(255, 215, 0, 255);
-
-    // Reset / Reload / Align buttons.
-    {
-      char reset_label[32];
-      std::snprintf(reset_label, sizeof(reset_label), "%s  Reset",
-                    ICON_FA_UNDO);
-      char reload_label[32];
-      std::snprintf(reload_label, sizeof(reload_label), "%s  Reload",
-                    ICON_FA_REFRESH);
-      char align_label[32];
-      std::snprintf(align_label, sizeof(align_label), "%s  Align",
-                    ICON_FA_CROSSHAIRS);
-
-      const float avail = ImGui::GetContentRegionAvail().x;
-      const float spacing = ImGui::GetStyle().ItemSpacing.x;
-      const float btn_w = (avail - spacing * 2) / 3.0f;
-
-      if (ImGui::Button(reset_label, ImVec2(btn_w, 0))) {
-        ctx.reset();
-      }
-      ImGui::SameLine();
-      if (ImGui::Button(reload_label, ImVec2(btn_w, 0))) {
-        ctx.reload();
-      }
-      ImGui::SameLine();
-      if (ImGui::Button(align_label, ImVec2(btn_w, 0))) {
-        ctx.align();
-      }
-    }
-
-    // Pause / Run toggle.
-    {
-      ImGui::Spacing();
-      char pause_label[32];
-      std::snprintf(pause_label, sizeof(pause_label), "%s  Pause",
-                    ICON_FA_PAUSE);
-      char run_label[32];
-      std::snprintf(run_label, sizeof(run_label), "%s  Run",
-                    ICON_FA_PLAY);
-
-      bool paused = ctx.step_control->GetPauseState() != StepControl::PauseState::kUnpaused;
-      bool running = ctx.step_control->GetPauseState() == StepControl::PauseState::kUnpaused;
-
-      const float avail = ImGui::GetContentRegionAvail().x;
-      const float half = avail * 0.5f;
-      const float h = ImGui::GetFrameHeight() * 1.4f;
-
-      ImGui::SetWindowFontScale(1.3f);
-      if (ImGui_ColorButtonEx(pause_label, paused, yellow,
-                                        ImDrawFlags_RoundCornersLeft,
-                                        ImVec2(half, h))) {
-        ctx.step_control->SetPauseState(StepControl::PauseState::kNormalPaused);
-      }
-      ImGui::SameLine(0.f, 0.f);
-      if (ImGui_ColorButtonEx(run_label, running, green,
-                                        ImDrawFlags_RoundCornersRight,
-                                        ImVec2(half, h))) {
-        ctx.step_control->SetPauseState(StepControl::PauseState::kUnpaused);
-      }
-      ImGui::SetWindowFontScale(1.0f);
-    }
-
-    // Speed slider.
-    {
-      const int max_idx = kPercentRealTime.size() - 1;
-      int slider_val = max_idx - (*ctx.speed_index);
-      float speed_pct = std::stof(kPercentRealTime[(*ctx.speed_index)]);
-
-      char fmt[64];
-      const float desired = ctx.step_control->GetSpeed();
-      const float measured = ctx.step_control->GetSpeedMeasured();
-      bool misaligned = std::abs(measured - desired) > 0.1f * desired;
-      if (misaligned) {
-        std::snprintf(fmt, sizeof(fmt), "%.1f%%%% (%.1f%%%%)", speed_pct,
-                      measured);
-      } else {
-        std::snprintf(fmt, sizeof(fmt), "%.1f%%%%", speed_pct);
-      }
-
-      ImGui::SetNextItemWidth(slider_w);
-      if (ImGui::SliderInt("Speed", &slider_val, 0, max_idx, fmt)) {
-        SetSpeedIndex(ctx.step_control, *ctx.speed_index, max_idx - slider_val);
-      }
-      if (misaligned) {
-        ImGui::SetItemTooltip("%s", "Desired Speed (Measured Speed)");
-      } else {
-        ImGui::SetItemTooltip("%s", "Percent of real-time");
-      }
-    }
-
-    // History controls (Frame Scrubber).
-    {
-      ImGui::Spacing();
-      ImGui::Separator();
-      ImGui::Spacing();
-      char prev_label[32];
-      std::snprintf(prev_label, sizeof(prev_label), "%s Step Back",
-                    ICON_FA_CARET_LEFT);
-      char next_label[32];
-      std::snprintf(next_label, sizeof(next_label), "%s Step Fwd",
-                    ICON_FA_CARET_RIGHT);
-
-      const float avail = ImGui::GetContentRegionAvail().x;
-      const float spacing = ImGui::GetStyle().ItemSpacing.x;
-      const float btn_w = (avail - spacing) / 2.0f;
-
-      if (ImGui::Button(prev_label, ImVec2(btn_w, 0))) {
-        LoadHistoryFrame(*ctx.history, *ctx.step_control, ctx.model, ctx.data, ctx.history->GetIndex() - 1);
-      }
-      ImGui::SetItemTooltip("%s", "Load previous frame from history");
-      ImGui::SameLine();
-      if (ImGui::Button(next_label, ImVec2(btn_w, 0))) {
-        if (ctx.history->GetIndex() == 0) {
-          ctx.step_control->RequestSingleStep();
-        } else {
-          LoadHistoryFrame(*ctx.history, *ctx.step_control, ctx.model, ctx.data, ctx.history->GetIndex() + 1);
-        }
-      }
-      ImGui::SetItemTooltip("%s", "Load next frame from history / Single step");
-
-      // Timeline scrubber.
-      TimelineScrubberGui(ctx.model, ctx.data, *ctx.step_control, *ctx.history, *ctx.timeline);
-    }
-
-    // Keyframe controls.
-    if (ctx.model->nkey > 0) {
-      ImGui::Spacing();
-      ImGui::Separator();
-      ImGui::Spacing();
-      {
-        char key_fmt[128];
-        const char* key_name = mj_id2name(ctx.model, mjOBJ_KEY, (*ctx.key_idx));
-        if (key_name) {
-          std::snprintf(key_fmt, sizeof(key_fmt), "%s", key_name);
-        } else {
-          std::snprintf(key_fmt, sizeof(key_fmt), "Key %d", (*ctx.key_idx));
-        }
-        ImGui::SetNextItemWidth(slider_w);
-        ImGui::SliderInt("Keyframe", &(*ctx.key_idx), 0, ctx.model->nkey - 1,
-                         key_fmt);
-      }
-
-      // Keyframe buttons.
-      {
-        char load_label[32];
-        std::snprintf(load_label, sizeof(load_label), "%s Load key",
-                      ICON_FA_DOWNLOAD);
-        char save_label[32];
-        std::snprintf(save_label, sizeof(save_label), "%s Save key",
-                      ICON_FA_UPLOAD);
-        char copy_label[32];
-        std::snprintf(copy_label, sizeof(copy_label), "%s Copy key",
-                      ICON_FA_COPY);
-
-        const float avail = ImGui::GetContentRegionAvail().x;
-        const float spacing = ImGui::GetStyle().ItemSpacing.x;
-        const float btn_w = (avail - spacing * 2) / 3.0f;
-
-        if (ImGui::Button(load_label, ImVec2(btn_w, 0))) {
-          mj_resetDataKeyframe(ctx.model, ctx.data, (*ctx.key_idx));
-          mj_forward(ctx.model, ctx.data);
-        }
-        ImGui::SetItemTooltip("%s", "Load selected keyframe to active state");
-        ImGui::SameLine();
-        if (ImGui::Button(save_label, ImVec2(btn_w, 0))) {
-          mj_setKeyframe(ctx.model, ctx.data, (*ctx.key_idx));
-        }
-        ImGui::SetItemTooltip("%s", "Save active state to selected keyframe");
-        ImGui::SameLine();
-        if (ImGui::Button(copy_label, ImVec2(btn_w, 0))) {
-          std::string str = KeyframeToString(ctx.model, ctx.data, false);
-          MaybeSaveToClipboard(str);
-        }
-        ImGui::SetItemTooltip(
-            "%s", "Copy selected keyframe to clipboard as MJCF XML");
-      }
-    }
-
-    ImGui::Spacing();
-    ImGui::Separator();
-    ImGui::Spacing();
-
-    // Thread control.
-    ImGui::SetNextItemWidth(slider_w);
-    ImGui::BeginDisabled(std::thread::hardware_concurrency() <= 1);
-    if (ImGui::SliderInt("Threads", &(*ctx.nthread), 0, 8, "%d worker threads")) {
-      (*ctx.update_threadpool) = true;
-    }
-    ImGui::EndDisabled();
-    ImGui::SetItemTooltip("%s", "Number of worker threads in threadpool");
-    ImGui::Spacing();
-
-    ImGui::PopID();
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-}
-
-bool ThemeSelectGui(GuiTheme* theme, const ImVec2& size) {
-  static constexpr const char* ICON_DARKMODE = ICON_FA_CIRCLE;
-  static constexpr const char* ICON_LIGHTMODE = ICON_FA_CIRCLE_O;
-  static constexpr const char* ICON_CLASSICMODE = ICON_FA_ADJUST;
-  const char* theme_icons[] = {ICON_LIGHTMODE, ICON_DARKMODE, ICON_CLASSICMODE};
-
-  int theme_idx = static_cast<int>(*theme);
-  if (ImGui::Button(theme_icons[theme_idx], size)) {
-    theme_idx = (theme_idx + 1) % IM_ARRAYSIZE(theme_icons);
-    *theme = static_cast<GuiTheme>(theme_idx);
-    return true;
-  }
-  ImGui::SetItemTooltip("%s", "Toggle theme");
-
-  return false;
-}
-
-bool LabelSelectionGui(mjvOption* opts) {
-  static constexpr const char* ICON_LABEL = ICON_FA_COMMENT;
-  static constexpr const char* kLabelNames[] = {
-      "None",      "Body",    "Joint",    "Geom",       "Site",  "Camera",
-      "Light",     "Tendon",  "Actuator", "Constraint", "Flex",  "Skin",
-      "Selection", "Sel Pnt", "Contact",  "Force",      "Island"};
-
-  bool changed = false;
-  const std::string label_preview =
-      opts->label == 0
-          ? std::string(ICON_LABEL) + " Label"
-          : std::string(ICON_LABEL) + " " + kLabelNames[opts->label];
-  ImGui::SetNextItemWidth(GetExpectedLabelWidth());
-  if (ImGui::BeginCombo("##Label", label_preview.c_str(),
-                        ImGuiComboFlags_NoArrowButton)) {
-    for (int n = 0; n < IM_ARRAYSIZE(kLabelNames); n++) {
-      if (ImGui::Selectable(kLabelNames[n], (opts->label == n))) {
-        changed = true;
-        opts->label = n;
-      }
-    }
-    ImGui::EndCombo();
-  }
-  ImGui::SetItemTooltip("%s", "Label");
-  return changed;
-}
-
-bool FrameSelectionGui(mjvOption* opts) {
-  static constexpr const char* ICON_FRAME = ICON_FA_ARROWS;
-  static constexpr const char* kFrameNames[] = {
-      "None", "Body", "Geom", "Site", "Camera", "Light", "Contact", "World"};
-
-  bool changed = false;
-  const std::string frame_preview =
-      opts->frame == 0
-          ? std::string(ICON_FRAME) + " Frame"
-          : std::string(ICON_FRAME) + " " + kFrameNames[opts->frame];
-  ImGui::SetNextItemWidth(GetExpectedLabelWidth());
-  if (ImGui::BeginCombo("##Frame", frame_preview.c_str(),
-                        ImGuiComboFlags_NoArrowButton)) {
-    for (int n = 0; n < IM_ARRAYSIZE(kFrameNames); n++) {
-      if (ImGui::Selectable(kFrameNames[n], (opts->frame == n))) {
-        opts->frame = n;
-        changed = true;
-      }
-    }
-    ImGui::EndCombo();
-  }
-  ImGui::SetItemTooltip("%s", "Frame");
-  return changed;
-}
-
-std::string GetCameraName(const mjModel* model, const mjvCamera& camera,
-                          int index) {
-  static constexpr char kCameraTumbleName[] = "Free: tumble";
-  static constexpr char kCameraWasdName[] = "Free: wasd";
-  static constexpr char kCameraUnnamedName[] = "Unnamed";
-
-  if (index == kTumbleCameraIdx) {
-    return kCameraTumbleName;
-  } else if (index == kFreeCameraIdx) {
-    return kCameraWasdName;
-  } else if (index == kTrackingCameraIdx) {
-    return "Tracking (" + std::to_string(camera.trackbodyid) + ")";
-  } else if (const char* cam_name = mj_id2name(model, mjOBJ_CAMERA, index)) {
-    return cam_name;
-  } else {
-    return kCameraUnnamedName;
-  }
-}
-
-bool CameraSelectionGui(const mjModel* model, mjData* data, mjvCamera& camera,
-                        int& index) {
-  static constexpr const char* ICON_CAMERA = ICON_FA_CAMERA;
-  static constexpr const char* ICON_COPY_CAMERA = ICON_FA_COPY;
-
-  // Copy camera button.
-  const float btn_size = ImGui::GetFrameHeight();
-  const ImVec2 square_size(btn_size, btn_size);
-  if (ImGui::Button(ICON_COPY_CAMERA, square_size)) {
-    std::string camera_string = CameraToString(data, &camera);
-    MaybeSaveToClipboard(camera_string);
-  }
-  ImGui::SetItemTooltip("%s", "Copy Camera");
-  ImGui::SameLine(0, 0);
-
-  ImGui::SetNextItemWidth(GetExpectedLabelWidth());
-
-  auto select = [&](int type, int idx) {
-    if (ImGui::Selectable(GetCameraName(model, camera, type).c_str(),
-                          (type == idx))) {
-      return true;
-    }
-    return false;
-  };
-
-  bool changed = false;
-
-  const std::string preview =
-      std::string(ICON_CAMERA) + " " + GetCameraName(model, camera, index);
-  if (ImGui::BeginCombo("##Camera", preview.c_str(),
-                        ImGuiComboFlags_NoArrowButton)) {
-    if (select(kTumbleCameraIdx, index)) {
-      index = SetCamera(model, &camera, kTumbleCameraIdx);
-      changed = true;
-    }
-    if (select(kFreeCameraIdx, index)) {
-      index = SetCamera(model, &camera, kFreeCameraIdx);
-      changed = true;
-    }
-    if (select(kTrackingCameraIdx, index)) {
-      index = SetCamera(model, &camera, kTrackingCameraIdx);
-      changed = true;
-    }
-    for (int cam = 0; cam < model->ncam; cam++) {
-      if (select(cam, index)) {
-        index = SetCamera(model, &camera, cam);
-        changed = true;
-      }
-    }
-    ImGui::EndCombo();
-  }
-  ImGui::SetItemTooltip("%s", "Camera");
-  return changed;
-}
-
-void SensorGui(const mjModel* model, const mjData* data) {
-  if (model->nsensor == 0) {
-    return;
-  }
-
-  ImPlot::PushStyleVar(ImPlotStyleVar_FitPadding, ImVec2(0.1f, 0.1f));
-  if (ImPlot::BeginPlot("Sensors", ImVec2(-1, 0),
-                        ImPlotFlags_NoLegend | ImPlotFlags_NoMouseText)) {
-    ImPlot::SetupLegend(ImPlotLocation_NorthEast, ImPlotLegendFlags_None);
-
-    ImPlot::SetupAxis(ImAxis_X1, "sensor",
-                      ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_NoLabel);
-    ImPlot::SetupAxisLimits(ImAxis_X1, 0, 5, ImPlotCond_Once);
-
-    ImPlot::SetupAxis(ImAxis_Y1, "value",
-                      ImPlotAxisFlags_AutoFit | ImPlotAxisFlags_NoLabel);
-    ImPlot::SetupAxisFormat(ImAxis_Y1, "%.1f");
-    ImPlot::SetupAxisLimits(ImAxis_Y1, -100, 100, ImPlotCond_Once);
-    ImPlot::SetupFinish();
-
-    // The values to be plotted.
-    std::vector<ImPlotPoint> sensor_values;
-
-    // The x-value of the bar to be plotted. Multiple bars will belong to the
-    // same sensor (i.e. the sensor_dim), but each group of bars will be appear
-    // in sequence along the x-axis.
-    float x_value = 0.f;
-
-    // The index of the sensor being plotted, based on sensor_type.
-    int sensor_index = 0;
-
-    // Function that plots the current group of sensor bars.
-    auto plot_lines = [](int sensor_idx, const ImPlotPoint* values, int count) {
-      constexpr float bar_weight = 5.0f;
-      ImPlot::SetNextLineStyle(IMPLOT_AUTO_COL, bar_weight);
-      std::string sensor_label = "Sensor " + std::to_string(sensor_idx);
-      ImPlot::PlotLine(sensor_label.c_str(), &values->x, &values->y, count,
-                       ImPlotLineFlags_Segments, 0, 2 * sizeof(double));
-    };
-
-    for (int n = 0; n < model->nsensor; n++) {
-      if (n > 0 && model->sensor_type[n] != model->sensor_type[n - 1]) {
-        plot_lines(sensor_index, sensor_values.data(), sensor_values.size());
-        sensor_values.clear();
-        ++sensor_index;
-      }
-
-      const int adr = model->sensor_adr[n];
-      const int dim = model->sensor_dim[n];
-      const mjtNum cutoff =
-          (model->sensor_cutoff[n] > 0 ? model->sensor_cutoff[n] : 1);
-      for (int i = 0; i < dim; ++i) {
-        sensor_values.push_back({x_value, 0});
-        sensor_values.push_back({x_value, data->sensordata[adr + i] / cutoff});
-        x_value += 1.f;
-      }
-    }
-
-    // Ensure the last group of sensors is plotted.
-    plot_lines(sensor_index, sensor_values.data(), sensor_values.size());
-    ImPlot::EndPlot();
-  }
-  ImPlot::PopStyleVar();
-}
-
-void StateGui(const mjModel* model, mjData* data, std::vector<mjtNum>& state,
-              int& state_sig, float min_width) {
-  const float available_width =
-      GetStableAvailWidth() - ImGui::GetTreeNodeToLabelSpacing();
-  const int num_cols = std::clamp(
-      static_cast<int>(std::floor(available_width / min_width)), 1, 4);
-  const ImVec2 size = GetFlexElementSize(num_cols);
-
-  ImGui::Unindent(0.5f * ImGui::GetTreeNodeToLabelSpacing());
-  // State component names and tooltips.
-  static constexpr const char* name_and_tooltip[mjNSTATE][2] = {
-      {"TIME", "Time"},
-      {"QPOS", "Position"},
-      {"QVEL", "Velocity"},
-      {"ACT", "Actuator activation"},
-      {"HISTORY", "History buffers (control, sensor)"},
-      {"WARMSTART", "Acceleration used for warmstart"},
-      {"CTRL", "Control"},
-      {"QFRC_APPLIED", "Applied generalized force"},
-      {"XFRC_APPLIED", "Applied Cartesian force/torque"},
-      {"EQ_ACTIVE", "Enable/disable constraints"},
-      {"MOCAP_POS", "Positions of mocap bodies"},
-      {"MOCAP_QUAT", "Orientations of mocap bodies"},
-      {"USERDATA", "User data"},
-      {"PLUGIN", "Plugin state"},
-  };
-
-  int prev_state_sig = state_sig;
-
-  // State component checkboxes.
-  if (ImGui::BeginTable("##StateSignature", num_cols)) {
-    for (int i = 0; i < mjNSTATE; ++i) {
-      ImGui::TableNextColumn();
-      bool checked = state_sig & (1 << i);
-      ImGui::Checkbox(name_and_tooltip[i][0], &checked);
-      if (ImGui::IsItemHovered()) {
-        ImGui::SetTooltip("%s", name_and_tooltip[i][1]);
-      }
-      state_sig = checked ? (state_sig | (1 << i)) : (state_sig & ~(1 << i));
-    }
-    ImGui::EndTable();
-  }
-
-  // Buttons to select commonly used state signatures.
-  if (ImGui::BeginTable("##CommonSignatures", num_cols)) {
-    ImGui::TableNextColumn();
-    if (ImGui::Button("Physics", size)) {
-      state_sig = (state_sig == mjSTATE_PHYSICS) ? 0 : mjSTATE_PHYSICS;
-    }
-    ImGui::TableNextColumn();
-    if (ImGui::Button("Full Physics", size)) {
-      state_sig = (state_sig == mjSTATE_FULLPHYSICS) ? 0 : mjSTATE_FULLPHYSICS;
-    }
-    ImGui::TableNextColumn();
-    if (ImGui::Button("User", size)) {
-      state_sig = (state_sig == mjSTATE_USER) ? 0 : mjSTATE_USER;
-    }
-    ImGui::TableNextColumn();
-    if (ImGui::Button("Integration", size)) {
-      state_sig = (state_sig == mjSTATE_INTEGRATION) ? 0 : mjSTATE_INTEGRATION;
-    }
-    ImGui::EndTable();
-  }
-
-  if (state_sig != prev_state_sig) {
-    const int size = mj_stateSize(model, state_sig);
-    state.resize(size);
-  }
-
-  if (state.empty()) {
-    // The state size is 0, let the user know why.
-    ImGui::Separator();
-    ImGui::BeginDisabled();
-    ImGui::TextWrapped(
-        state_sig == 0
-            ? "No state components are selected."
-            : "Selected state components do not exist in the model.");
-    ImGui::EndDisabled();
-  } else {
-    mj_getState(model, data, state.data(), state_sig);
-    bool changed = false;
-
-    if (ImGui::BeginTable(
-            "State", 3,
-            ImGuiTableFlags_RowBg | ImGuiTableFlags_BordersOuter |
-                ImGuiTableFlags_BordersV | ImGuiTableFlags_Resizable |
-                ImGuiTableFlags_ScrollY,
-            ImVec2(0, ImGui::GetTextLineHeightWithSpacing() * 20))) {
-      ImGui::TableSetupColumn("Index");
-      ImGui::TableSetupColumn("Name");
-      ImGui::TableSetupColumn("Value", ImGuiTableColumnFlags_WidthStretch);
-      ImGui::TableSetupScrollFreeze(0, 1);
-      ImGui::TableHeadersRow();
-
-      ImGuiListClipper clipper;
-      clipper.Begin(state.size());
-      while (clipper.Step()) {
-        int global = 0;
-        for (int i = 0; i < mjNSTATE; ++i) {
-          if (state_sig & (1 << i)) {
-            for (int local = 0; local < mj_stateSize(model, (1 << i));
-                 ++local, ++global) {
-              if (global < clipper.DisplayStart) {
-                continue;
-              }
-              if (global >= clipper.DisplayEnd) {
-                break;
-              }
-              ImGui::TableNextRow();
-
-              ImGui::TableNextColumn();
-              ImGui::Text("%d", global);
-
-              ImGui::TableNextColumn();
-              ImGui::Text("%s[%d]", name_and_tooltip[i][0], local);
-
-              ImGui::TableNextColumn();
-              float value = state[global];
-              ImGui::PushItemWidth(-std::numeric_limits<float>::min());
-              ImGui::PushID(global);
-              if (ImGui::DragFloat("##value", &value, 0.01f, 0, 0, "%.3f")) {
-                changed = true;
-              }
-              ImGui::PopID();
-              ImGui::PopItemWidth();
-              state[global] = value;
-            }
-          }
-        }
-      }
-      ImGui::EndTable();
-    }
-
-    if (changed) {
-      mj_setState(model, data, state.data(), state_sig);
-    }
-  }
-
-  ImGui::Indent(0.5f * ImGui::GetTreeNodeToLabelSpacing());
-}
-
-void WatchGui(const mjModel* model, const mjData* data, char* field_name,
-              int field_len, int& field_index) {
-  const float item_width = ImGui::GetWindowWidth() * .6f;
-  ImGui::PushItemWidth(item_width);
-
-  ImGui::InputText("Field", field_name, field_len);
-  ImGui::InputInt("Index", &field_index);
-  const mjtNum* value = static_cast<const mjtNum*>(
-      GetValue(model, data, field_name, field_index));
-
-  ScopedStyle style;
-  style.Color(ImGuiCol_FrameBg, ImGui::GetStyle().Colors[ImGuiCol_WindowBg]);
-
-  if (value) {
-    char buf[100];
-    int size = std::snprintf(buf, sizeof(buf), "%0.3f", *value);
-    ImGui::InputText("Value", buf, size, ImGuiInputTextFlags_ReadOnly);
-  } else {
-    ImGui::BeginDisabled();
-    style.Color(ImGuiCol_Text, ImColor(255, 0, 0, 255));
-    char buf[] = "Invalid field/index!";
-    ImGui::InputText("Value", buf, sizeof(buf), ImGuiInputTextFlags_ReadOnly);
-    ImGui::EndDisabled();
-  }
-
-  ImGui::PopItemWidth();
-}
-
-void PhysicsGui(mjModel* model, float min_width) {
-  const float available_width =
-      GetStableAvailWidth() - ImGui::GetTreeNodeToLabelSpacing();
-  const int num_cols = std::clamp(
-      static_cast<int>(std::floor(available_width / min_width)), 1, 6);
-
-  const float item_width = ImGui::GetWindowWidth() * .6f;
-  ImGui::PushItemWidth(item_width);
-
-  auto& opt = model->opt;
-
-  const char* opts0[] = {"Euler", "RK4", "implicit", "implicitfast"};
-  ImGui::Combo("Integrator", &opt.integrator, opts0, IM_ARRAYSIZE(opts0));
-
-  const char* opts1[] = {"Pyramidal", "Elliptic"};
-  ImGui::Combo("Cone", &opt.cone, opts1, IM_ARRAYSIZE(opts1));
-
-  const char* opts2[] = {"Dense", "Sparse", "Auto"};
-  ImGui::Combo("Jacobian", &opt.jacobian, opts2, IM_ARRAYSIZE(opts2));
-
-  const char* opts3[] = {"PGS", "CG", "Newton"};
-  ImGui::Combo("Solver", &opt.solver, opts3, IM_ARRAYSIZE(opts3));
-
-  if (SectionHeader("Algorithmic Parameters", ImGuiTreeNodeFlags_DefaultOpen)) {
-    ImGui_LogStepper("Timestep", &opt.timestep, {0, 1});
-    ImGui_Input("Iterations", &opt.iterations, {0, 1000, 1, 10});
-    ImGui_LogStepper("Tolerance", &opt.tolerance, {.min = 0.0, .max = 1.0, .zero_below = 1e-10});
-    ImGui_Input("LS Iter", &opt.ls_iterations, {0, 100, 1, 0.1});
-    ImGui_LogStepper("LS Tol", &opt.ls_tolerance, {.min = 0.0, .max = 0.1, .zero_below = 1e-4});
-    ImGui_Input("Noslip Iter", &opt.noslip_iterations, {0, 1000, 1, 100});
-    ImGui_LogStepper("Noslip Tol", &opt.noslip_tolerance, {.min = 0.0, .max = 1.0, .zero_below = 1e-8});
-    ImGui_Input("CCD Iter", &opt.ccd_iterations, {0, 1000, 1, 100});
-    ImGui_LogStepper("CCD Tol", &opt.ccd_tolerance, {.min = 0.0, .max = 1.0, .zero_below = 1e-8});
-    ImGui_LogStepper("Sleep Tol", &opt.sleep_tolerance, {.min = 0.0, .max = 1.0, .zero_below = 1e-6});
-    ImGui_Input("SDF Iter", &opt.sdf_iterations, {1, 20, 1, 10});
-    ImGui_Input("SDF Init", &opt.sdf_initpoints, {1, 100, 1, 10});
-    ImGui::TreePop();
-  }
-
-  if (SectionHeader("Physical Parameters")) {
-    // Viscous posing mode toggle: disables gravity and passive springs, adds
-    // viscosity. All changes are directly visible in the parameters below.
-    {
-      constexpr mjtNum kPosingViscosity = 10;
-      bool active = (opt.disableflags & mjDSBL_GRAVITY) &&
-                    (opt.disableflags & mjDSBL_SPRING) &&
-                    (opt.viscosity >= kPosingViscosity);
-      if (ImGui_ButtonToggle("Viscous posing mode", &active)) {
-        if (active) {
-          opt.disableflags |= mjDSBL_GRAVITY;
-          opt.disableflags |= mjDSBL_SPRING;
-          opt.viscosity += kPosingViscosity;
-        } else {
-          opt.disableflags &= ~mjDSBL_GRAVITY;
-          opt.disableflags &= ~mjDSBL_SPRING;
-          opt.viscosity = std::max<mjtNum>(0, opt.viscosity - kPosingViscosity);
-        }
-      }
-      ImGui::SetItemTooltip(
-          "Disable gravity and passive springs,\n"
-          "add viscosity for easier posing.");
-    }
-    ImGui::Spacing();
-
-    ImGui_InputN("Gravity", opt.gravity, 3);
-    ImGui_InputN("Wind", opt.wind, 3);
-    ImGui_InputN("Magnetic", opt.magnetic, 3);
-    ImGui_Input("Density", &opt.density, {.min = 0.0});
-    ImGui_Input("Viscosity", &opt.viscosity, {.min = 0.0});
-    ImGui_LogStepper("Imp Ratio", &opt.impratio, {.min = 0.0});
-    ImGui::TreePop();
-  };
-
-  if (SectionHeader("Flags", ImGuiTreeNodeFlags_DefaultOpen)) {
-    if (ImGui::BeginTable("##PhysicsFlagsTable", num_cols)) {
-      const ImVec2 size = GetFlexElementSize(num_cols);
-      for (int i = 0; i < mjNDISABLE; ++i) {
-        ImGui::TableNextColumn();
-        int flipped = ~opt.disableflags;
-        ImGui_BitToggle(mjDISABLESTRING[i], &flipped, 1 << i, size);
-        opt.disableflags = ~flipped;
-      }
-      for (int i = 0; i < mjNENABLE; ++i) {
-        ImGui::TableNextColumn();
-        ImGui_BitToggle(mjENABLESTRING[i], &opt.enableflags, 1 << i, size);
-      }
-      ImGui::EndTable();
-    }
-    ImGui::TreePop();
-  }
-
-  if (SectionHeader("Contact Override")) {
-    ImGui_Input("Margin", &opt.o_margin, {.min = 0.0});
-    ImGui_InputN("Sol Imp", opt.o_solimp, 5, {.format = "%0.3f"});
-    ImGui_InputN("Sol Ref", opt.o_solref, 2, {.format = "%0.3f"});
-    ImGui_InputN("Friction", opt.o_friction, 5, {.format = "%.3f"});
-    ImGui::TreePop();
-  }
-
-  if (SectionHeader("Actuator Groups")) {
-    if (ImGui::BeginTable("##ActuatorGroupsTable", num_cols)) {
-      const ImVec2 size = GetFlexElementSize(num_cols);
-      for (int i = 0; i < 6; ++i) {
-        char label[64];
-        std::snprintf(label, sizeof(label), "Act Group %d", i);
-        ImGui::TableNextColumn();
-        int flipped = ~opt.disableactuator;
-        ImGui_BitToggle(label, &flipped, 1 << i, size);
-        opt.disableactuator = ~flipped;
-      }
-      ImGui::EndTable();
-    }
-    ImGui::TreePop();
-  }
-
-  ImGui::PopItemWidth();
-}
-
-void VisualizationGui(mjModel* model, mjvOption* vis_options, mjvCamera* camera,
-                      float min_width) {
-  auto& vis = model->vis;
-  auto& stat = model->stat;
-
-  const float item_width = ImGui::GetWindowWidth() * .6f;
-  ImGui::PushItemWidth(item_width);
-
-  ImGui::SliderInt("Tree depth", &vis_options->bvh_depth, 0, 20);
-  ImGui::SliderInt("Flex layer", &vis_options->flex_layer, 0, 10);
-
-  if (SectionHeader("Headlight")) {
-    ImGui_SwitchToggle("Active", &vis.headlight.active);
-    ImGui::ColorEdit3("Ambient", vis.headlight.ambient);
-    ImGui::ColorEdit3("Diffuse", vis.headlight.diffuse);
-    ImGui::ColorEdit3("Specular", vis.headlight.specular);
-    ImGui::TreePop();
-  }
-  if (SectionHeader("Free Camera")) {
-    ImGui_SwitchToggle("Orthographic", &vis.global.orthographic);
-    ImGui_Input("FOV", &vis.global.fovy, {.format = "%0.2f"});
-    ImGui_InputN("Center", stat.center, 3, {.format = "%0.2f"});
-    ImGui_Input("Azimuth", &vis.global.azimuth, {.format = "%0.2f"});
-    ImGui_Input("Elevation", &vis.global.elevation, {.format = "%0.2f"});
-    if (ImGui::Button("Align")) {
-      mjv_defaultFreeCamera(model, camera);
-    }
-    ImGui::TreePop();
-  }
-  if (SectionHeader("Global")) {
-    ImGui_Input("Extent", &stat.extent);
-    const char* opts[] = {"Box", "Ellipsoid"};
-    ImGui::SliderInt("Inertia", &vis.global.ellipsoidinertia, 0, 1,
-                     opts[vis.global.ellipsoidinertia]);
-    ImGui_ButtonToggle("BVH active", &vis.global.bvactive);
-    ImGui::TreePop();
-  }
-  if (SectionHeader("Mapping")) {
-    ImGui::PushItemWidth(ImGui::GetWindowWidth() * 0.3f);
-    ImGui_Input("Stiffness", &vis.map.stiffness);
-    ImGui_Input("Rot stiffness", &vis.map.stiffnessrot);
-    ImGui_Input("Force", &vis.map.force);
-    ImGui_Input("Torque", &vis.map.torque);
-    ImGui_Input("Alpha", &vis.map.alpha);
-    ImGui_Input("Fog start", &vis.map.fogstart);
-    ImGui_Input("Fog end", &vis.map.fogend);
-    ImGui_Input("Z near", &vis.map.znear);
-    ImGui_Input("Z far", &vis.map.zfar);
-    ImGui_Input("Haze", &vis.map.haze);
-    ImGui_Input("Shadow clip", &vis.map.shadowclip);
-    ImGui_Input("Shadow scale", &vis.map.shadowscale);
-    ImGui::PopItemWidth();
-    ImGui::TreePop();
-  }
-  if (SectionHeader("Scale")) {
-    ImGui::PushItemWidth(ImGui::GetWindowWidth() * 0.3f);
-    ImGui_Input("All (meansize)", &stat.meansize, {.format = "%0.3f"});
-    ImGui_Input("Force width", &vis.scale.forcewidth);
-    ImGui_Input("Contact width", &vis.scale.contactwidth);
-    ImGui_Input("Contact height", &vis.scale.contactheight);
-    ImGui_Input("Connect", &vis.scale.connect);
-    ImGui_Input("Com", &vis.scale.com);
-    ImGui_Input("Camera", &vis.scale.camera);
-    ImGui_Input("Light", &vis.scale.light);
-    ImGui_Input("Select point", &vis.scale.selectpoint);
-    ImGui_Input("Joint length", &vis.scale.jointlength);
-    ImGui_Input("Joint width", &vis.scale.jointwidth);
-    ImGui_Input("Actuator length", &vis.scale.actuatorlength);
-    ImGui_Input("Actuator width", &vis.scale.actuatorwidth);
-    ImGui_Input("Frame length", &vis.scale.framelength);
-    ImGui_Input("Frame width", &vis.scale.framewidth);
-    ImGui_Input("Constraint", &vis.scale.constraint);
-    ImGui_Input("Slider-crank", &vis.scale.slidercrank);
-    ImGui::PopItemWidth();
-    ImGui::TreePop();
-  }
-  if (ImGui::TreeNodeEx("Colors")) {
-    ImGui::ColorEdit4("Fog", vis.rgba.fog);
-    ImGui::ColorEdit4("Haze", vis.rgba.haze);
-    ImGui::ColorEdit4("Force", vis.rgba.force);
-    ImGui::ColorEdit4("Inertia", vis.rgba.inertia);
-    ImGui::ColorEdit4("Joint", vis.rgba.joint);
-    ImGui::ColorEdit4("Actuator", vis.rgba.actuator);
-    ImGui::ColorEdit4("Act. Negative", vis.rgba.actuatornegative);
-    ImGui::ColorEdit4("Act. Positive", vis.rgba.actuatorpositive);
-    ImGui::ColorEdit4("Center of Mass", vis.rgba.com);
-    ImGui::ColorEdit4("Camera", vis.rgba.camera);
-    ImGui::ColorEdit4("Light", vis.rgba.light);
-    ImGui::ColorEdit4("Select Point", vis.rgba.selectpoint);
-    ImGui::ColorEdit4("Auto Connect", vis.rgba.connect);
-    ImGui::ColorEdit4("Contact Point", vis.rgba.contactpoint);
-    ImGui::ColorEdit4("Contact Force", vis.rgba.contactforce);
-    ImGui::ColorEdit4("Contact Friction", vis.rgba.contactfriction);
-    ImGui::ColorEdit4("Contact Torque", vis.rgba.contacttorque);
-    ImGui::ColorEdit4("Contact Gap", vis.rgba.contactgap);
-    ImGui::ColorEdit4("Range Finder", vis.rgba.rangefinder);
-    ImGui::ColorEdit4("Constraint", vis.rgba.constraint);
-    ImGui::ColorEdit4("Slider Crank", vis.rgba.slidercrank);
-    ImGui::ColorEdit4("Crank Broken", vis.rgba.crankbroken);
-    ImGui::ColorEdit4("Frustum", vis.rgba.frustum);
-    ImGui::ColorEdit4("Bounding Vol.", vis.rgba.bv);
-    ImGui::ColorEdit4("BV Active", vis.rgba.bvactive);
-    ImGui::TreePop();
-  }
-
-  ImGui::PopItemWidth();
-}
-
-void RenderingGui(const mjModel* model, mjvOption* vis_options,
-                  mjtByte* render_flags, float min_width) {
-  const float available_width =
-      GetStableAvailWidth() - ImGui::GetTreeNodeToLabelSpacing();
-  const int num_cols = std::clamp(
-      static_cast<int>(std::floor(available_width / min_width)), 1, 6);
-
-  if (ImGui::TreeNodeEx("Model Elements", ImGuiTreeNodeFlags_DefaultOpen)) {
-    if (ImGui::BeginTable("##ModelElementsTable", num_cols)) {
-      const ImVec2 size = GetFlexElementSize(num_cols);
-      for (int i = 0; i < mjNVISFLAG; ++i) {
-        ImGui::TableNextColumn();
-        ImGui_ButtonToggle(mjVISSTRING[i][0], &vis_options->flags[i], size);
-      }
-      ImGui::EndTable();
-    }
-    ImGui::TreePop();
-  }
-
-  if (ImGui::TreeNodeEx("Render Flags", ImGuiTreeNodeFlags_DefaultOpen)) {
-    if (ImGui::BeginTable("##RenderFlagsTable", num_cols)) {
-      const ImVec2 size = GetFlexElementSize(num_cols);
-      for (int i = 0; i < mjNRNDFLAG; ++i) {
-        ImGui::TableNextColumn();
-        ImGui_ButtonToggle(mjRNDSTRING[i][0], &render_flags[i], size);
-      }
-      ImGui::EndTable();
-    }
-    ImGui::TreePop();
-  }
-}
-
-void GroupsGui(const mjModel* model, mjvOption* vis_options, float min_width) {
-  const float available_width = GetStableAvailWidth();
-  // We limit the number of columns to 1, 2, 3, or 6 depending on how much
-  // space the window has available.
-  int num_cols = std::clamp(
-      static_cast<int>(std::floor(available_width / min_width)), 1, 6);
-  if (num_cols == 4 || num_cols == 5) {
-    num_cols = 3;
-  }
-
-  auto GroupGui = [&](const char* name, mjtByte* group) {
-    if (ImGui::TreeNodeEx(name, ImGuiTreeNodeFlags_DefaultOpen)) {
-      char label[64];
-      std::snprintf(label, sizeof(label), "##%s", name);
-      if (ImGui::BeginTable(label, num_cols)) {
-        const ImVec2 size = GetFlexElementSize(num_cols);
-        for (int i = 0; i < 6; ++i) {
-          ImGui::TableNextColumn();
-          std::snprintf(label, sizeof(label), "%s %d", name, i);
-          ImGui_ButtonToggle(label, &group[i], size);
-        }
-
-        ImGui::EndTable();
-      }
-      ImGui::TreePop();
-    }
-  };
-
-  GroupGui("Geoms", vis_options->geomgroup);
-  GroupGui("Sites", vis_options->sitegroup);
-  GroupGui("Joints", vis_options->jointgroup);
-  GroupGui("Tendons", vis_options->tendongroup);
-  GroupGui("Actuators", vis_options->actuatorgroup);
-  GroupGui("Flexes", vis_options->flexgroup);
-  GroupGui("Skins", vis_options->skingroup);
-}
-
-void NoiseGui(StepControl* step_control) {
-  float noise_scale, noise_rate;
-  step_control->GetNoiseParameters(noise_scale, noise_rate);
-  const float item_width = ImGui::GetWindowWidth() * .6f;
-  ImGui::PushItemWidth(item_width);
-  ImGui::SliderFloat("Noise scale", &noise_scale, 0, 1);
-  ImGui::SliderFloat("Noise rate", &noise_rate, 0, 4);
-  ImGui::PopItemWidth();
-  step_control->SetNoiseParameters(noise_scale, noise_rate);
-}
-
-// Slider row with a clipped label and a right-aligned reset button; the
-// button is disabled while the value is at its reset target.
-static void SliderRowWithReset(const char* name, mjtNum* value, mjtNum min,
-                               mjtNum max, mjtNum reset) {
-  const float btn = ImGui::GetFrameHeight();
-  const float spacing = ImGui::GetStyle().ItemSpacing.x;
-  const float usable_end =
-      ImGui::GetWindowContentRegionMax().x - btn - spacing;
-  const float usable = usable_end - ImGui::GetCursorPosX();
-  ImGui::SetNextItemWidth(usable * 0.5f);
-  char hidden[104];
-  std::snprintf(hidden, sizeof(hidden), "##%s", name);
-  ImGui_Slider(hidden, value, min, max);
-  ImGui::SameLine();
-  const ImVec2 clip_min = ImGui::GetCursorScreenPos();
-  const ImVec2 clip_max(ImGui::GetWindowPos().x + usable_end,
-                        clip_min.y + ImGui::GetFrameHeight());
-  ImGui::PushClipRect(clip_min, clip_max, true);
-  ImGui::TextUnformatted(name);
-  ImGui::PopClipRect();
-  ImGui::BeginDisabled(*value == reset);
-  if (ImGui_ResetButton(name)) {
-    *value = reset;
-  }
-  ImGui::EndDisabled();
-}
-
-void JointsGui(const mjModel* model, const mjData* data,
-               const mjvOption* vis_options) {
-  char name[100];
-  for (int i = 0; i < model->njnt; ++i) {
-    if (model->jnt_type[i] != mjJNT_HINGE &&
-        model->jnt_type[i] != mjJNT_SLIDE) {
-      continue;
-    }
-    const int group = std::clamp(model->jnt_group[i], 0, mjNGROUP - 1);
-    if (!vis_options->jointgroup[group]) {
-      continue;
-    }
-
-    const char* jnt_name = mj_id2name(model, mjOBJ_JOINT, i);
-    if (jnt_name) {
-      std::snprintf(name, sizeof(name), "%s", jnt_name);
-    } else {
-      std::snprintf(name, sizeof(name), "joint %d", i);
-    }
-
-    double min = -1.0;
-    double max = 1.0;
-    if (model->jnt_limited[i]) {
-      min = model->jnt_range[2 * i + 0];
-      max = model->jnt_range[2 * i + 1];
-    } else if (model->jnt_type[i] == mjJNT_SLIDE) {
-      min = -1.0;
-      max = 1.0;
-    } else {
-      min = -3.1416;
-      max = 3.1416;
-    }
-
-    const int data_adr = model->jnt_qposadr[i];
-    SliderRowWithReset(name, &data->qpos[data_adr], min, max,
-                       model->qpos0[data_adr]);
-  }
-}
-
-void ControlsGui(const mjModel* model, mjData* data,
-                 const mjvOption* vis_options) {
-  if (ImGui::Button("Clear All")) {
-    mj_resetCtrl(model, data);
-  }
-
-  char name[100];
-  for (int i = 0; i < model->nactuator; i++) {
-    int group = std::clamp(model->actuator_group[i], 0, mjNGROUP - 1);
-    if (!vis_options->actuatorgroup[group]) {
-      continue;
-    }
-    if (group >= 0 && group <= 30 &&
-        model->opt.disableactuator & (1 << group)) {
-      continue;
-    }
-
-    // one slider per control; multi-input actuators suffix the input name
-    const char* act_name = mj_id2name(model, mjOBJ_ACTUATOR, i);
-    int ctrlnum = model->actuator_ctrlnum[i];
-    for (int k = 0; k < ctrlnum; k++) {
-      int j = model->actuator_ctrladr[i] + k;
-      if (act_name && ctrlnum > 1) {
-        const char* input_name = mj_actuatorInputName(model, i, k);
-        if (input_name) {
-          std::snprintf(name, sizeof(name), "%s/%s", act_name, input_name);
-        } else {
-          std::snprintf(name, sizeof(name), "%s/%d", act_name, k);
-        }
-      } else if (act_name) {
-        std::snprintf(name, sizeof(name), "%s", act_name);
-      } else {
-        std::snprintf(name, sizeof(name), "control %d", j);
-      }
-
-      double min = -1.0;
-      double max = 1.0;
-      // a defined ctrlrange sets the slider range, even when ctrl is not clamped
-      if (model->actuator_ctrlrange[2 * j] < model->actuator_ctrlrange[2 * j + 1]) {
-        min = model->actuator_ctrlrange[2 * j + 0];
-        max = model->actuator_ctrlrange[2 * j + 1];
-      }
-      SliderRowWithReset(name, &data->ctrl[j], min, max,
-                         mju_clip(0.0, min, max));
-    }
-  }
-}
-
-static int GetPlotXLimit(const mjData* data) {
-  int max_niter = 0;
-  const int nisland0 =
-      data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
-  for (int k = 0; k < nisland0; k++) {
-    max_niter = mjMAX(max_niter, data->solver_niter[k]);
-  }
-  return max_niter <= 10 ? 10 : ((max_niter + 59) / 60) * 60;
-}
-
-void ConvergenceGui(const mjModel* model, mjData* data, ImVec2 plot_size) {
-  ScopedStyle style;
-  style.Font(ScopedFont::kMono);
-
-  int xlim = GetPlotXLimit(data);
-  ImPlotFlags flags =
-      ImPlot_SetupPlotFlags(plot_size) | ImPlotFlags_NoMouseText;
-  if (ImPlot::BeginPlot("Convergence vs iter", plot_size, flags)) {
-    ImPlot::PushStyleVar(ImPlotStyleVar_LineWeight, 2.0f);
-    ImPlot::SetupAxis(ImAxis_X1, "", ImPlotAxisFlags_AutoFit);
-    ImPlot::SetupAxisLimits(ImAxis_X1, 0, xlim, ImPlotCond_Always);
-    ImPlot::SetupAxisFormat(ImAxis_Y1, "%.0e");
-    ImPlot::SetupAxisLimits(ImAxis_Y1, 1e-15, 1e0, ImPlotCond_Always);
-    ImPlot::SetupAxisScale(ImAxis_Y1, ImPlotScale_Log10);
-    const double ticks[] = {1e-15, 1e-12, 1e-9, 1e-6, 1e-3, 1e0};
-    ImPlot::SetupAxisTicks(ImAxis_Y1, ticks, 6);
-    ImPlot::SetupLegend(ImPlotLocation_NorthEast);
-    ImPlot::SetupFinish();
-
-    const int nisland =
-        data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
-    for (int k = 0; k < nisland; k++) {
-      mjSolverStat* stats = data->solver + k * mjNSOLVER;
-      const int npoints =
-          mjMIN(mjMIN(data->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
-
-      ImPlot::PlotLineG(
-          "improvement",
-          +[](int i, void* user_data) {
-            const mjSolverStat* stats =
-                static_cast<const mjSolverStat*>(user_data);
-            const float x = static_cast<float>(i);
-            const float y = mju_max(mjMINVAL, stats[i].improvement);
-            return ImPlotPoint{x, y};
-          },
-          stats, npoints);
-
-      if (model->opt.solver == mjSOL_PGS) {
-        continue;
-      }
-
-      ImPlot::PlotLineG(
-          "gradient",
-          +[](int i, void* user_data) {
-            const mjSolverStat* stats =
-                static_cast<const mjSolverStat*>(user_data);
-            const float x = static_cast<float>(i);
-            const float y = mju_max(mjMINVAL, stats[i].gradient);
-            return ImPlotPoint{x, y};
-          },
-          stats, npoints);
-
-      ImPlot::PlotLineG(
-          "lineslope",
-          +[](int i, void* user_data) {
-            const mjSolverStat* stats =
-                static_cast<const mjSolverStat*>(user_data);
-            const float x = static_cast<float>(i);
-            const float y = mju_max(mjMINVAL, stats[i].lineslope);
-            return ImPlotPoint{x, y};
-          },
-          stats, npoints);
-    }
-
-    ImPlot::PopStyleVar();
-    ImPlot::EndPlot();
-  }
-}
-
-void CountsGui(const mjModel* model, mjData* data, ImVec2 plot_size) {
-  ScopedStyle style;
-  style.Font(ScopedFont::kMono);
-
-  int xlim = GetPlotXLimit(data);
-  ImPlotFlags flags =
-      ImPlot_SetupPlotFlags(plot_size) | ImPlotFlags_NoMouseText;
-  if (ImPlot::BeginPlot("Counts vs iter", plot_size, flags)) {
-    ImPlot::PushStyleVar(ImPlotStyleVar_LineWeight, 2.0f);
-    ImPlot::SetupAxis(ImAxis_X1, "", ImPlotAxisFlags_AutoFit);
-    ImPlot::SetupAxisLimits(ImAxis_X1, 0, xlim, ImPlotCond_Always);
-    ImPlot::SetupAxisFormat(ImAxis_Y1, "%.0f");
-    ImPlot::SetupAxisLimits(ImAxis_Y1, 0, 80, ImPlotCond_Always);
-    ImPlot::SetupLegend(ImPlotLocation_NorthEast);
-    ImPlot::SetupFinish();
-
-    const int nisland =
-        data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
-    for (int k = 0; k < nisland; k++) {
-      const int npoints =
-          mjMIN(mjMIN(data->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
-
-      mjSolverStat* stats = data->solver + k * mjNSOLVER;
-
-      int nefc = nisland == 1 ? data->nefc : data->island_nefc[k];
-
-      ImPlot::PlotLineG(
-          "total",
-          +[](int i, void* user_data) {
-            const float x = static_cast<float>(i);
-            const float y = *(static_cast<int*>(user_data));
-            return ImPlotPoint{x, y};
-          },
-          &nefc, npoints);
-
-      ImPlot::PlotLineG(
-          "active",
-          +[](int i, void* user_data) {
-            const mjSolverStat* stats =
-                static_cast<const mjSolverStat*>(user_data);
-            const float x = static_cast<float>(i);
-            const float y = stats[i].nactive;
-            return ImPlotPoint{x, y};
-          },
-          stats, npoints);
-
-      ImPlot::PlotLineG(
-          "changed",
-          +[](int i, void* user_data) {
-            const mjSolverStat* stats =
-                static_cast<const mjSolverStat*>(user_data);
-            const float x = static_cast<float>(i);
-            const float y = stats[i].nchange;
-            return ImPlotPoint{x, y};
-          },
-          stats, npoints);
-
-      if (model->opt.solver == mjSOL_PGS) {
-        continue;
-      }
-
-      ImPlot::PlotLineG(
-          "evals",
-          +[](int i, void* user_data) {
-            const mjSolverStat* stats =
-                static_cast<const mjSolverStat*>(user_data);
-            const float x = static_cast<float>(i);
-            const float y = stats[i].neval;
-            return ImPlotPoint{x, y};
-          },
-          stats, npoints);
-
-      if (model->opt.solver == mjSOL_CG) {
-        continue;
-      }
-
-      ImPlot::PlotLineG(
-          "updates",
-          +[](int i, void* user_data) {
-            const mjSolverStat* stats =
-                static_cast<const mjSolverStat*>(user_data);
-            const float x = static_cast<float>(i);
-            const float y = stats[i].nupdate;
-            return ImPlotPoint{x, y};
-          },
-          stats, npoints);
-    }
-
-    ImPlot::PopStyleVar();
-    ImPlot::EndPlot();
-  }
-}
-
-void InfoGui(const mjModel* model, const mjData* data, bool paused, float fps) {
-  const int num_islands = std::clamp(data->nisland, 1, mjNISLAND);
-
-  // compute solver error (maximum over islands)
-  mjtNum solver_err = 0;
-  int solver_iter = 0;
-  for (int i = 0; i < num_islands; i++) {
-    solver_iter += data->solver_niter[i];
-
-    mjtNum solerr_i = 0;
-    if (data->solver_niter[i]) {
-      const int ind = mjMIN(data->solver_niter[i], mjNSOLVER) - 1;
-      const mjSolverStat* stat = data->solver + i * mjNSOLVER + ind;
-      solerr_i = mju_min(stat->improvement, stat->gradient);
-      if (solerr_i == 0) {
-        solerr_i = mju_max(stat->improvement, stat->gradient);
-      }
-    }
-    solver_err = mju_max(solver_err, solerr_i);
-  }
-  solver_err = mju_log10(mju_max(mjMINVAL, solver_err));
-
-  auto type = paused ? mjTIMER_FORWARD : mjTIMER_STEP;
-  auto cpu = data->timer[type].duration / mjMAX(1, data->timer[type].number);
-  auto mempct = 100 * data->maxuse_arena / (double)(data->narena);
-  auto memlimit = mju_writeNumBytes(data->narena);
-
-  ImGui::Columns(2);
-  ImGui::SetColumnWidth(0, ImGui::GetWindowWidth() * 0.4f);
-  ImGui::SetColumnWidth(1, ImGui::GetWindowWidth() * 0.6f);
-
-  ImGui::Text("Time");
-  ImGui::Text("Size");
-  ImGui::Text("CPU");
-  ImGui::Text("Solver");
-  ImGui::Text("FPS");
-  ImGui::Text("Memory");
-  if (model->opt.enableflags & mjENBL_ENERGY) {
-    ImGui::Text("Energy");
-  }
-  if (model->opt.enableflags & mjENBL_FWDINV) {
-    ImGui::Text("FwdInv");
-  }
-  if (!(model->opt.disableflags & mjDSBL_ISLAND)) {
-    ImGui::Text("Islands");
-  }
-
-  ImGui::NextColumn();
-  ImGui::Text("%-9.3f", data->time);
-  ImGui::Text("%d (%d con)", data->nefc, data->ncon);
-  ImGui::Text("%.3f", cpu);
-  ImGui::Text("%.1f (%d it)", solver_err, solver_iter);
-  ImGui::Text("%0.1f", fps);
-  ImGui::Text("%.1f%% of %s", mempct, memlimit);
-  if (model->opt.enableflags & mjENBL_ENERGY) {
-    ImGui::Text("%.3f", data->energy[0] + data->energy[1]);
-  }
-  if (model->opt.enableflags & mjENBL_FWDINV) {
-    ImGui::Text("%.1f %.1f",
-                mju_log10(mju_max(mjMINVAL, data->solver_fwdinv[0])),
-                mju_log10(mju_max(mjMINVAL, data->solver_fwdinv[1])));
-  }
-  if (!(model->opt.disableflags & mjDSBL_ISLAND)) {
-    ImGui::Text("%d", data->nisland);
-  }
-  ImGui::Columns();
-}
-
-void ProfilerGui(const mjModel* model, mjData* data, SimProfiler* profiler,
-                 bool show_iter) {
-  ImVec2 avail = ImGui::GetContentRegionAvail();
-  const float pad = ImGui::GetStyle().ItemSpacing.x;
-  const float aspect = avail.y > 0 ? avail.x / avail.y : 1.0f;
-
-  ImVec2 plot_size;
-  int cols;
-
-  int current_col = 0;
-  auto advance = [&]() {
-    current_col++;
-    if (current_col < cols) {
-      ImGui::SameLine();
-    } else {
-      current_col = 0;
-    }
-  };
-
-  if (!show_iter) {
-    if (aspect < 0.8f) {
-      plot_size.x = avail.x;
-      plot_size.y = (avail.y - pad) * 0.5f;
-      cols = 1;
-    } else {
-      plot_size.x = (avail.x - pad) * 0.5f;
-      plot_size.y = avail.y;
-      cols = 2;
-    }
-    profiler->DimensionsGraph(plot_size);
-    advance();
-    profiler->CpuTimeGraph(plot_size);
-  } else {
-    if (aspect < 0.8f) {
-      plot_size.x = avail.x;
-      plot_size.y = (avail.y - pad * 3.0f) * 0.25f;
-      cols = 1;
-    } else if (aspect < 1.8f) {
-      plot_size.x = (avail.x - pad) * 0.5f;
-      plot_size.y = (avail.y - pad) * 0.5f;
-      cols = 2;
-    } else {
-      plot_size.x = (avail.x - pad * 3.0f) * 0.25f;
-      plot_size.y = avail.y;
-      cols = 4;
-    }
-
-    if (cols == 2) {
-      // In 2x2 layout, vertically stack charts with the same x-axis.
-      CountsGui(model, data, plot_size);
-      advance();
-      profiler->DimensionsGraph(plot_size);
-      advance();
-      ConvergenceGui(model, data, plot_size);
-      advance();
-      profiler->CpuTimeGraph(plot_size);
-    } else {
-      CountsGui(model, data, plot_size);
-      advance();
-      ConvergenceGui(model, data, plot_size);
-      advance();
-      profiler->DimensionsGraph(plot_size);
-      advance();
-      profiler->CpuTimeGraph(plot_size);
-    }
-  }
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/gui.h b/src/experimental/platform/ux/gui.h
deleted file mode 100644
index a0f0540e..00000000
--- a/src/experimental/platform/ux/gui.h
+++ /dev/null
@@ -1,216 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_H_
-
-// A collection of functions for building ImGui panels for common MuJoCo
-// visualization and manipulation UX. These functions are primarily used by
-// Studio, but are available for other applications.
-//
-// Like most ImGui functions, the actual "storage" for the GUI state is managed
-// by the caller. In most cases, this is already stored in mjModel, mjData,
-// mjvOption, etc. But, some functions take additional arguments as needed.
-
-#include <array>
-#include <functional>
-#include <string>
-#include <vector>
-
-#include <imgui.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/sim/sim_history.h"
-#include "experimental/platform/sim/sim_profiler.h"
-#include "experimental/platform/sim/step_control.h"
-
-namespace mujoco::platform {
-
-// Standard default UX themes for MuJoCo applications.
-enum class GuiTheme {
-  kLight,
-  kDark,
-  kClassic,
-};
-
-// Render a section header with custom, visually-balanced smaller expand/collapse arrow.
-bool SectionHeader(const char* label, ImGuiTreeNodeFlags flags = 0, float arrow_scale = 0.55f);
-
-// Updates the ImGui internal style state to match the requested theme.
-void SetupTheme(GuiTheme theme);
-
-// Rescales all dock node widths by the given ratio.
-void RescaleDock(float ratio);
-
-// Configures the ImGui docking module to the standard layout used by Studio.
-// This includes the following named sections:
-//   "ToolBar": fixed size bar spanning the top of the window; for placing
-//       buttons and other controls that are always needed.
-//   "StatusBar": fixed size bar spanning the bottom of the window; for
-//       placing information and controls that are always needed.
-//   "Options": resizable section of the left; designed for GUI elements that
-//       are used to configure the simulation (e.g. PhysicsGui).
-//   "Inspector": resizable section of the right; designed for inspecting
-//       or manipulating mjData elements (e.g. ControlsGui).
-//   "Explorer": secondary tab connected to the Inspector; designed for
-//       displaying the tree of mjSpec elements.
-//   "Properties": resizable section below the explorer; designed for displaying
-//       properties of mjSpec elements (e.g. BodyPropertiesGui); hidden by
-//       default.
-//
-// Returns the size and position of the remaining workspace area which can then
-// be used to place additional elements (e.g. floating charts).
-ImVec4 ConfigureDockingLayout(bool show_toolbar = true, bool show_status_bar = false);
-
-// logarithmically spaced real-time slow-down coefficients (percent)
-// clang-format off
-static constexpr std::array<const char*, 31> kPercentRealTime = {
-"100.0 ", " 80.0 ", " 63.0 ", " 50.0 ", " 40.0 ", " 32.0 ", " 25.0 ", " 20.0 ", " 16.0 ", " 13.0 ",
-" 10.0 ", "  8.0 ", "  6.3 ", "  5.0 ", "  4.0 ", "  3.2 ", "  2.5 ", "  2.0 ", "  1.6 ", "  1.3 ",
-"  1.0 ", "  0.8 ", "  0.63", "  0.5 ", "  0.4 ", "  0.32", "  0.25", "  0.2 ", "  0.16", "  0.13",
-"  0.1 ",
-};
-// clang-format on
-
-// UX for controlling the simulation stepping. `speed_index` is an index into
-// kPercentRealTime, an array of available speeds (indices in range [0, 30] map
-// to real-time percentages in range [100%, 0.1%]).
-void StepControlGui(StepControl* step_control, int& speed_index);
-
-// Sets the simulation speed index and updates the StepControl object.
-void SetSpeedIndex(StepControl* step_control, int& speed_index,
-                   int request_idx);
-
-// Loads history frame `index` into `data`, pausing the simulation. A no-op if
-// the requested frame is empty.
-void LoadHistoryFrame(SimHistory& history, StepControl& step_control,
-                      const mjModel* model, mjData* data, int index);
-
-// Persistent state of the timeline scrubber: the time at the head of history,
-// the (monotonically-growing) label box widths, and the current drag.
-struct SimulationTimelineState {
-  double sim_head_time = 0.0;
-  float lh_width = 0.0f;
-  float rh_width = 0.0f;
-  bool scrubber_active = false;
-  float scrubber_grab_offset = 0.0f;
-};
-
-// The timeline scrubber row: a spine with a draggable knob that scrubs through
-// the simulation history. Used by the Simulation panel and the toolbar.
-void TimelineScrubberGui(const mjModel* model, mjData* data,
-                         StepControl& step_control, SimHistory& history,
-                         SimulationTimelineState& timeline);
-
-// Everything the Simulation panel reads or drives. All pointers are owned by
-// the caller and edited in place; the callbacks perform application actions the
-// panel cannot do on its own.
-struct SimulationGuiContext {
-  mjModel* model = nullptr;  // non-const: saving a keyframe writes to the model
-  mjData* data = nullptr;
-  StepControl* step_control = nullptr;
-  SimHistory* history = nullptr;
-  SimulationTimelineState* timeline = nullptr;
-  int* speed_index = nullptr;
-  int* key_idx = nullptr;
-  int* nthread = nullptr;
-  bool* update_threadpool = nullptr;
-  std::function<void()> reset;   // reset the physics state
-  std::function<void()> reload;  // reload the model
-  std::function<void()> align;   // recenter the camera on the model
-};
-
-// The Simulation panel: reset / reload / align, a pause-run toggle, the speed
-// slider, the history scrubber, keyframe controls and the thread count. This is
-// a reusable view over the platform simulation objects; it holds no application
-// state of its own.
-void SimulationGui(const SimulationGuiContext& ctx);
-
-// UX for selecting the GUI theme.
-bool ThemeSelectGui(GuiTheme* theme, const ImVec2& size = ImVec2(0, 0));
-
-// UX for selecting the visualization label option.
-bool LabelSelectionGui(mjvOption* opts);
-
-// UX for selecting the visualization frame option.
-bool FrameSelectionGui(mjvOption* opts);
-
-// Get the display name for a camera given its index.
-std::string GetCameraName(const mjModel* model, const mjvCamera& camera,
-                          int index);
-
-// UX for selecting the camera.
-bool CameraSelectionGui(const mjModel* model, mjData* data, mjvCamera& camera,
-                        int& index);
-
-// UX for controlling the physics simulation parameters (e.g. integrator,
-// solver, etc.) in mjModel.
-void PhysicsGui(mjModel* model, float min_width);
-
-// UX for enabling/disabling visualization groups in mjvOption.
-void GroupsGui(const mjModel* model, mjvOption* vis_options, float min_width);
-
-// UX for enabling/disabling rendering (mjtRndFlag) and visualization
-// (mjtVisFlag) flags. We combine these into a single function because the sets
-// of flags are closely related.
-void RenderingGui(const mjModel* model, mjvOption* vis_options,
-                  mjtByte* render_flags, float min_width);
-
-// UX for controlling the mjvOption and mjvCamera settings used for visualizing
-// scenes (mjvScene).
-void VisualizationGui(mjModel* model, mjvOption* vis_options, mjvCamera* camera,
-                      float min_width);
-
-// UX for visualizing actuator controls data in mjData.
-void ControlsGui(const mjModel* model, mjData* data,
-                 const mjvOption* vis_options);
-
-// UX for visualizing joint data in mjData.
-void JointsGui(const mjModel* model, const mjData* data,
-               const mjvOption* vis_options);
-
-// UX for visualizing sensor data in mjData.
-void SensorGui(const mjModel* model, const mjData* data);
-
-// UX for visualizing the data as returned from mj_getState(). We use a
-// user-supplied vector here to avoid allocating memory every frame.
-void StateGui(const mjModel* model, mjData* data, std::vector<mjtNum>& state,
-              int& state_sig, float min_width);
-
-// UX for visualizing a named field from mjData. `field_name` and `field_index`
-// are used to index into the data buffer.
-void WatchGui(const mjModel* model, const mjData* data, char* field_name,
-              int field_len, int& field_index);
-
-// UX for controlling noise parameters which can then be applied to the
-// simulation via StepControl::SetNoiseParameters / StepControl::InjectNoise.
-void NoiseGui(StepControl* step_control);
-
-// UX for the solver convergence chart.
-void ConvergenceGui(const mjModel* model, mjData* data,
-                    ImVec2 plot_size = ImVec2(-1, 0));
-
-// UX for the solver counts chart.
-void CountsGui(const mjModel* model, mjData* data,
-               ImVec2 plot_size = ImVec2(-1, 0));
-
-// UX for Profiler panel combining Solver and Performance metrics.
-void ProfilerGui(const mjModel* model, mjData* data, SimProfiler* profiler, bool show_iter);
-
-// UX for displaying basic simulation information. Note that the pause state and
-// FPS needs to be tracked by the caller and passed here to be displayed.
-void InfoGui(const mjModel* model, const mjData* data, bool paused, float fps);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_H_
diff --git a/src/experimental/platform/ux/gui_spec.cc b/src/experimental/platform/ux/gui_spec.cc
deleted file mode 100644
index 00495c59..00000000
--- a/src/experimental/platform/ux/gui_spec.cc
+++ /dev/null
@@ -1,891 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/gui_spec.h"
-
-#include <string>
-#include <string_view>
-
-#include <imgui.h>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/ux/gui.h"
-#include "experimental/platform/ux/imgui_widgets.h"
-#include "experimental/platform/ux/spec_editor.h"
-
-// Define the mujoco X macros to add fields to the ImGui_DataTable.
-// We limit the fields to the ones with a matching element by comparing the
-// array size field (e.g. nbody) with the MATCH constexpr value.
-#define X(TYPE, NAME, NELEM, SIZE) \
-  if constexpr (#NELEM == MATCH) table.DataPtr(#NAME, ptr->NAME, index, SIZE);
-
-// Simple wrapper around MJMODEL_POINTERS that prepares values we need for the
-// X macro above.
-#define MJMODEL_POINTERS_X(M)           \
-  constexpr std::string_view MATCH(#M); \
-  const auto* ptr = model;              \
-  MJMODEL_POINTERS
-
-// Simple wrapper around MJDATA_POINTERS that prepares values we need for the
-// X macro above.
-#define MJDATA_POINTERS_X(M)            \
-  constexpr std::string_view MATCH(#M); \
-  const auto* ptr = data;               \
-  MJDATA_POINTERS
-
-namespace mujoco::platform {
-
-// Returns the index of the element in the spec. This is different from
-// mjs_getId which returns the runtime ID of an element.
-static int GetElementIndexInSpec(mjsElement* element) {
-  int n = 0;
-  mjSpec* spec = mjs_getSpec(element);
-  mjsElement* iter = mjs_firstElement(spec, element->elemtype);
-  while (iter) {
-    if (iter == element) {
-      return n;
-    }
-    iter = mjs_nextElement(spec, iter);
-    ++n;
-  }
-  return -1;
-}
-
-// Returns a name for the element; either the element has a name, or we
-// construct a unique name from the element's id (using mjs_getId) or index
-// (using GetElementIndexInSpec).
-static std::string GetElementName(mjsElement* element) {
-  const mjString* name = mjs_getName(element);
-  std::string label = *name;
-  if (label.empty()) {
-    int id = mjs_getId(element);
-    if (id == -1) {
-      id = GetElementIndexInSpec(element);
-    }
-    const char* type_name = mju_type2Str(element->elemtype);
-    label = "(" + std::string(type_name) + " " + std::to_string(id) + ")";
-  }
-  return label;
-}
-
-static void AddEditorButtons(mjsElement* element, mjsElement** selected_element,
-                             SpecEditor& editor) {
-  // Right-align the buttons.
-  float x = ImGui::GetWindowContentRegionMax().x;
-  x -= ImGui::GetStyle().FramePadding.x * 2;
-  x -= ImGui::CalcTextSize(ICON_FA_TRASH_CAN).x;
-  if (element->elemtype == mjOBJ_BODY) {
-    x -= ImGui::GetStyle().FramePadding.x * 2;
-    x -= ImGui::CalcTextSize(ICON_FA_PLUS).x;
-  }
-  ImGui::SameLine(x);
-  if (element->elemtype == mjOBJ_BODY) {
-    if (ImGui::SmallButton(ICON_FA_PLUS)) {
-      ImGui::OpenPopupOnItemClick("BodyAddChild", 0);
-    }
-
-    if (ImGui::BeginPopupContextItem("BodyAddChild")) {
-      mjsBody* body = mjs_asBody(element);
-      auto option = [&](const char* label, mjtObj type) {
-        if (ImGui::Selectable(label)) {
-          *selected_element = editor.AddBodyElement(body, type);
-        }
-      };
-      option("Camera", mjOBJ_CAMERA);
-      option("Frame", mjOBJ_FRAME);
-      option("Geom", mjOBJ_GEOM);
-      option("Joint", mjOBJ_JOINT);
-      option("Light", mjOBJ_LIGHT);
-      option("Site", mjOBJ_SITE);
-      ImGui::EndPopup();
-    }
-
-    ImGui::SameLine();
-  }
-  if (ImGui::SmallButton(ICON_FA_TRASH_CAN)) {
-    editor.DeleteActiveElement();
-    *selected_element = nullptr;
-  }
-}
-
-static void SelectableElement(mjsElement* element,
-                              mjsElement** selected_element,
-                              SpecEditor* editor) {
-  constexpr ImGuiSelectableFlags flags = ImGuiSelectableFlags_AllowOverlap;
-
-  const std::string name = GetElementName(element);
-  const bool selected = (element == *selected_element);
-  if (ImGui::Selectable(name.c_str(), selected, flags)) {
-    *selected_element = element;
-  }
-  if (selected && editor) {
-    AddEditorButtons(element, selected_element, *editor);
-  }
-}
-
-static void BodyChildrenGui(const char* heading, mjtObj type,
-                            mjsElement** element, mjsBody* body,
-                            SpecEditor* editor) {
-  mjsElement* iter = mjs_firstChild(body, type, 0);
-  if (!iter) {
-    return;
-  }
-
-  constexpr ImGuiTreeNodeFlags tree_flags =
-      ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_DrawLinesFull;
-  if (SectionHeader(heading, tree_flags, 0.55f)) {
-    while (iter) {
-      mjsElement* next = mjs_nextChild(body, iter, 0);
-      SelectableElement(iter, element, editor);
-      iter = next;
-    }
-    ImGui::TreePop();
-  }
-}
-
-static void ElementListGui(const char* heading, mjtObj type,
-                           mjsElement** element, mjSpec* spec,
-                           SpecEditor* editor) {
-  mjsElement* iter = mjs_firstElement(spec, type);
-  if (!iter) {
-    return;
-  }
-
-  constexpr ImGuiTreeNodeFlags tree_flags =
-      ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_Framed;
-  if (SectionHeader(heading, tree_flags, 0.55f)) {
-    while (iter) {
-      mjsElement* next = mjs_nextElement(spec, iter);
-      SelectableElement(iter, element, editor);
-      iter = next;
-    }
-    ImGui::TreePop();
-  }
-}
-
-static void BodyTreeGuiRecursive(mjsElement** element, mjsBody* body,
-                                 SpecEditor* editor) {
-  const std::string label = GetElementName(body->element);
-
-  ImGui::PushID(label.c_str());
-
-  ImGuiTreeNodeFlags flags =
-      ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_Framed |
-      ImGuiTreeNodeFlags_DrawLinesFull | ImGuiTreeNodeFlags_AllowOverlap;
-
-  if (*element == body->element) {
-    flags |= ImGuiTreeNodeFlags_Selected;
-  }
-
-  const bool tree_open = SectionHeader(label.c_str(), flags, 0.55f);
-  if (ImGui::IsItemClicked()) {
-    *element = body->element;
-  }
-  if (editor && *element == body->element) {
-    AddEditorButtons(body->element, element, *editor);
-  }
-
-  if (tree_open) {
-    mjsElement* iter = mjs_firstChild(body, mjOBJ_BODY, 0);
-    while (iter) {
-      mjsElement* next = mjs_nextChild(body, iter, 0);
-      BodyTreeGuiRecursive(element, mjs_asBody(iter), editor);
-      iter = next;
-    }
-
-    BodyChildrenGui("Frames", mjOBJ_FRAME, element, body, editor);
-    BodyChildrenGui("Sites", mjOBJ_SITE, element, body, editor);
-    BodyChildrenGui("Joints", mjOBJ_JOINT, element, body, editor);
-    BodyChildrenGui("Geoms", mjOBJ_GEOM, element, body, editor);
-    BodyChildrenGui("Lights", mjOBJ_LIGHT, element, body, editor);
-    BodyChildrenGui("Cameras", mjOBJ_CAMERA, element, body, editor);
-    ImGui::TreePop();
-  }
-  ImGui::PopID();
-}
-
-void SpecTreeGui(mjsElement** element, mjSpec* spec, SpecEditor* editor) {
-  const ImGuiTreeNodeFlags flags =
-      ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_Framed;
-
-  ScopedStyle style;
-  style.Var(ImGuiStyleVar_ItemSpacing, ImVec2(4, 2));
-  style.Var(ImGuiStyleVar_FramePadding, ImVec2(4, 0));
-  style.Color(ImGuiCol_Border, ImGuiCol_WindowBg);
-
-  if (SectionHeader("Body Tree", flags, 0.65f)) {
-    mjsElement* root = mjs_firstElement(spec, mjOBJ_BODY);
-    if (root) {
-      mjsBody* body = mjs_asBody(root);
-      if (body) {
-        BodyTreeGuiRecursive(element, body, editor);
-      }
-    }
-    ImGui::TreePop();
-  }
-
-  auto list = [&](const char* heading, mjtObj type) {
-    ElementListGui(heading, type, element, spec, editor);
-  };
-
-  ImGui::PushID("$spec$");
-
-  // Non-tree elements.
-  if (SectionHeader("Elements", flags, 0.65f)) {
-    list("Actuators", mjOBJ_ACTUATOR);
-    list("Sensors", mjOBJ_SENSOR);
-    list("Flexes", mjOBJ_FLEX);
-    list("Tendons", mjOBJ_TENDON);
-    list("Pair", mjOBJ_PAIR);
-    list("Exclude", mjOBJ_EXCLUDE);
-    list("Equality", mjOBJ_EQUALITY);
-    list("Numeric", mjOBJ_NUMERIC);
-    list("Text", mjOBJ_TEXT);
-    list("Tuple", mjOBJ_TUPLE);
-    list("Key", mjOBJ_KEY);
-    list("Default", mjOBJ_DEFAULT);
-    ImGui::TreePop();
-  }
-
-  // Assets.
-  if (SectionHeader("Assets", flags, 0.65f)) {
-    list("Meshes", mjOBJ_MESH);
-    list("Height Fields", mjOBJ_HFIELD);
-    list("Skins", mjOBJ_SKIN);
-    list("Textures", mjOBJ_TEXTURE);
-    list("Materials", mjOBJ_MATERIAL);
-    ImGui::TreePop();
-  }
-
-  ImGui::PopID();
-}
-
-void ElementSpecGui(mjsElement* element, SpecEditor* editor) {
-  if (element == nullptr) {
-    return;
-  }
-
-  // if editor, assert that element == editor->GetActiveElement();
-  mjsElement* ref_element = editor ? editor->GetRefElement() : element;
-
-#define FIELD(NAME, TIP) table(#NAME, elem->NAME, ref->NAME, TIP);
-#define QFIELD(NAME, ALT, TIP) \
-  table(#NAME, #ALT, elem->NAME, ref->NAME, elem->ALT, ref->ALT, TIP);
-
-  ImGui_SpecElementTable table(editor == nullptr);
-  switch (element->elemtype) {
-    case mjOBJ_BODY: {
-      mjsBody* elem = mjs_asBody(element);
-      mjsBody* ref = mjs_asBody(ref_element);
-      FIELD(childclass, "childclass name");
-      FIELD(pos, "frame position");
-      QFIELD(quat, alt, "frame orientation");
-      FIELD(ipos, "inertial frame position");
-      QFIELD(iquat, ialt, "inertial frame orientation");
-      FIELD(mass, "mass");
-      FIELD(inertia, "diagonal inertia (in i-frame)");
-      FIELD(fullinertia, "non-axis-aligned inertia matrix");
-      FIELD(mocap, "is this a mocap body");
-      FIELD(gravcomp, "gravity compensation");
-      FIELD(explicitinertial,
-            "whether to save the body with explicit inertial clause");
-      FIELD(sleep, "sleep policy");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_JOINT: {
-      mjsJoint* elem = mjs_asJoint(element);
-      mjsJoint* ref = mjs_asJoint(ref_element);
-      FIELD(pos, "anchor position");
-      FIELD(axis, "joint axis");
-      FIELD(ref, "value at reference configuration: qpos0");
-      FIELD(align, "align free joint with body com (mjtAlignFree)");
-      FIELD(stiffness, "stiffness coefficient");
-      FIELD(springref, "spring reference value: qpos_spring");
-      FIELD(springdamper, "timeconst, dampratio");
-      FIELD(limited, "does joint have limits (mjtLimited)");
-      FIELD(range, "joint limits");
-      FIELD(margin, "margin value for joint limit detection");
-      FIELD(solref_limit, "solver reference: joint limits");
-      FIELD(solimp_limit, "solver impedance: joint limits");
-      FIELD(actfrclimited, "are actuator forces on joint limited (mjtLimited)");
-      FIELD(actfrcrange, "actuator force limits");
-      FIELD(armature, "armature inertia (mass for slider)");
-      FIELD(damping, "damping coefficient");
-      FIELD(frictionloss, "friction loss");
-      FIELD(solref_friction, "solver reference: dof friction");
-      FIELD(solimp_friction, "solver impedance: dof friction");
-      FIELD(group, "group");
-      FIELD(actgravcomp, "is gravcomp force applied via actuators");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_ACTUATOR: {
-      mjsActuator* elem = mjs_asActuator(element);
-      mjsActuator* ref = mjs_asActuator(ref_element);
-      FIELD(gaintype, "gain type");
-      FIELD(gainprm, "gain parameters");
-      FIELD(biastype, "bias type");
-      FIELD(biasprm, "bias parameters");
-      FIELD(dyntype, "dynamics type");
-      FIELD(dynprm, "dynamics parameters");
-      FIELD(actdim, "number of activation variables");
-      FIELD(actearly, "apply next activations to qfrc");
-      FIELD(trntype, "transmission type");
-      FIELD(gear, "length and transmitted force scaling");
-      FIELD(target, "name of transmission target");
-      FIELD(refsite, "reference site, for site transmission");
-      FIELD(slidersite, "site defining cylinder, for slider-crank");
-      FIELD(cranklength, "crank length, for slider-crank");
-      FIELD(lengthrange, "transmission length range");
-      FIELD(inheritrange,
-            "automatic range setting for position and intvelocity");
-      FIELD(ctrllimited, "are control limits defined (mjtLimited)");
-      FIELD(ctrlrange, "control range");
-      FIELD(forcelimited, "are force limits defined (mjtLimited)");
-      FIELD(forcerange, "force range");
-      FIELD(actlimited, "are activation limits defined (mjtLimited)");
-      FIELD(actrange, "activation range");
-      FIELD(group, "group");
-      FIELD(nsample, "number of samples in history buffer");
-      FIELD(interp, "interpolation order (0=ZOH, 1=linear, 2=cubic)");
-      FIELD(delay, "delay time in seconds; 0: no delay");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_SENSOR: {
-      mjsSensor* elem = mjs_asSensor(element);
-      mjsSensor* ref = mjs_asSensor(ref_element);
-      FIELD(type, "type of sensor");
-      FIELD(objtype, "type of sensorized object");
-      FIELD(objname, "name of sensorized object");
-      FIELD(reftype, "type of referenced object");
-      FIELD(refname, "name of referenced object");
-      FIELD(intprm, "integer parameters");
-      FIELD(datatype, "data type for sensor measurement");
-      FIELD(needstage, "compute stage needed to simulate sensor");
-      FIELD(dim, "number of scalar outputs");
-      FIELD(cutoff, "cutoff for real and positive datatypes");
-      FIELD(noise, "noise stdev");
-      FIELD(nsample, "number of samples in history buffer");
-      FIELD(interp, "interpolation order (0=ZOH, 1=linear, 2=cubic)");
-      FIELD(delay, "delay time in seconds");
-      FIELD(interval, "[period, time_prev] in seconds");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_SITE: {
-      mjsSite* elem = mjs_asSite(element);
-      mjsSite* ref = mjs_asSite(ref_element);
-      FIELD(pos, "position");
-      QFIELD(quat, alt, "orientation");
-      FIELD(fromto, "alternative for capsule, cylinder, box, ellipsoid");
-      FIELD(size, "geom size");
-      FIELD(type, "geom type");
-      FIELD(material, "name of material");
-      FIELD(group, "group");
-      FIELD(rgba, "rgba when material is omitted");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_FRAME: {
-      mjsFrame* elem = mjs_asFrame(element);
-      mjsFrame* ref = mjs_asFrame(ref_element);
-      FIELD(childclass, "childclass name");
-      FIELD(pos, "position");
-      QFIELD(quat, alt, "orientation");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_GEOM: {
-      mjsGeom* elem = mjs_asGeom(element);
-      mjsGeom* ref = mjs_asGeom(ref_element);
-      FIELD(type, "geom type");
-      FIELD(pos, "position");
-      QFIELD(quat, alt, "orientation");
-      FIELD(fromto, "alternative for capsule, cylinder, box, ellipsoid");
-      FIELD(size, "type-specific size");
-      FIELD(contype, "contact type");
-      FIELD(conaffinity, "contact affinity");
-      FIELD(condim, "contact dimensionality");
-      FIELD(priority, "contact priority");
-      FIELD(friction, "one-sided friction coefficients: slide, roll, spin");
-      FIELD(solmix, "solver mixing for contact pairs");
-      FIELD(solref, "solver reference");
-      FIELD(solimp, "solver impedance");
-      FIELD(margin, "margin for contact detection");
-      FIELD(gap, "additional contact detection buffer");
-      FIELD(mass, "used to compute density");
-      FIELD(density, "used to compute mass and inertia from volume or surface");
-      FIELD(typeinertia, "selects between surface and volume inertia");
-      FIELD(fluid_ellipsoid, "whether ellipsoid-fluid model is active");
-      FIELD(fluid_coefs, "ellipsoid-fluid interaction coefs");
-      FIELD(material, "name of material");
-      FIELD(rgba, "rgba when material is omitted");
-      FIELD(group, "group");
-      FIELD(hfieldname, "heightfield attached to geom");
-      FIELD(meshname, "mesh attached to geom");
-      FIELD(fitscale, "scale mesh uniformly");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_LIGHT: {
-      mjsLight* elem = mjs_asLight(element);
-      mjsLight* ref = mjs_asLight(ref_element);
-      FIELD(pos, "position");
-      FIELD(dir, "direction");
-      FIELD(mode, "tracking mode");
-      FIELD(targetbody, "target body for targeting");
-      FIELD(active, "is light active");
-      FIELD(type, "type of light");
-      FIELD(texture, "texture name for image lights");
-      FIELD(castshadow, "does light cast shadows");
-      FIELD(bulbradius, "bulb radius, for soft shadows");
-      FIELD(intensity, "intensity, in candelas");
-      FIELD(range, "range of effectiveness");
-      FIELD(attenuation, "OpenGL attenuation (quadratic model)");
-      FIELD(cutoff, "OpenGL cutoff");
-      FIELD(exponent, "OpenGL exponent");
-      FIELD(ambient, "ambient color");
-      FIELD(diffuse, "diffuse color");
-      FIELD(specular, "specular color");
-      FIELD(info, "message appended to compiler errorsx");
-      break;
-    }
-    case mjOBJ_CAMERA: {
-      mjsCamera* elem = mjs_asCamera(element);
-      mjsCamera* ref = mjs_asCamera(ref_element);
-      FIELD(pos, "position");
-      QFIELD(quat, alt, "orientation");
-      FIELD(mode, "tracking mode");
-      FIELD(targetbody, "target body for tracking/targeting");
-      FIELD(proj, "camera projection type");
-      FIELD(resolution, "resolution (pixel)");
-      FIELD(output, "bit flags for output type");
-      FIELD(fovy, "y-field of view");
-      FIELD(ipd, "inter-pupillary distance");
-      FIELD(intrinsic, "camera intrinsics (length)");
-      FIELD(sensor_size, "sensor size (length)");
-      FIELD(focal_length, "focal length (length)");
-      FIELD(focal_pixel, "focal length (pixel)");
-      FIELD(principal_length, "principal point (length)");
-      FIELD(principal_pixel, "principal point (pixel)");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_MESH: {
-      mjsMesh* elem = mjs_asMesh(element);
-      mjsMesh* ref = mjs_asMesh(ref_element);
-      FIELD(content_type, "content type of file");
-      FIELD(file, "mesh file");
-      FIELD(refpos, "reference position");
-      FIELD(refquat, "reference orientation");
-      FIELD(scale, "rescale mesh");
-      FIELD(inertia, "inertia type (convex, legacy, exact, shell)");
-      FIELD(smoothnormal, "do not exclude large-angle faces from normals");
-      FIELD(needsdf, "compute sdf from mesh");
-      FIELD(maxhullvert, "maximum vertex count for the convex hull");
-      FIELD(material, "name of material");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_HFIELD: {
-      mjsHField* elem = mjs_asHField(element);
-      mjsHField* ref = mjs_asHField(ref_element);
-      FIELD(content_type, "content type of file");
-      FIELD(file, "file: (nrow, ncol, [elevation data])");
-      FIELD(size, "hfield size (ignore referencing geom size)");
-      FIELD(nrow, "number of rows");
-      FIELD(ncol, "number of columns");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_SKIN: {
-      mjsSkin* elem = mjs_asSkin(element);
-      mjsSkin* ref = mjs_asSkin(ref_element);
-      FIELD(file, "skin file");
-      FIELD(material, "name of material used for rendering");
-      FIELD(rgba, "rgba when material is omitted");
-      FIELD(inflate, "inflate in normal direction");
-      FIELD(group, "group for visualization");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_FLEX: {
-      mjsFlex* elem = mjs_asFlex(element);
-      mjsFlex* ref = mjs_asFlex(ref_element);
-      FIELD(contype, "contact type");
-      FIELD(conaffinity, "contact affinity");
-      FIELD(condim, "contact dimensionality");
-      FIELD(priority, "contact priority");
-      FIELD(friction, "one-sided friction coefficients: slide, roll, spin");
-      FIELD(solmix, "solver mixing for contact pairs");
-      FIELD(solref, "solver reference");
-      FIELD(solimp, "solver impedance");
-      FIELD(margin, "margin for contact detection");
-      FIELD(gap, "additional contact detection buffer");
-      FIELD(dim, "element dimensionality");
-      FIELD(radius, "radius around primitive element");
-      FIELD(size, "vertex bounding box half sizes in qpos0");
-      FIELD(internal, "enable internal collisions");
-      FIELD(flatskin, "render flex skin with flat shading");
-      FIELD(selfcollide, "mode for flex self collision");
-      FIELD(passive, "mode for passive collisions");
-      FIELD(activelayers, "number of active element layers in 3D");
-      FIELD(group, "group for visualization");
-      FIELD(edgestiffness, "edge stiffness");
-      FIELD(edgedamping, "edge damping");
-      FIELD(rgba, "rgba when material is omitted");
-      FIELD(material, "name of material used for rendering");
-      FIELD(young, "Young's modulus");
-      FIELD(poisson, "Poisson's ratio");
-      FIELD(damping, "Rayleigh's damping");
-      FIELD(thickness, "thickness (2D only)");
-      FIELD(elastic2d,
-            "2D passive forces; 0: none, 1: bending, 2: stretching, 3: both");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_TENDON: {
-      mjsTendon* elem = mjs_asTendon(element);
-      mjsTendon* ref = mjs_asTendon(ref_element);
-      FIELD(stiffness, "stiffness coefficient");
-      FIELD(springlength, "spring resting length; {-1, -1}: use qpos_spring");
-      FIELD(damping, "damping coefficient");
-      FIELD(frictionloss, "friction loss");
-      FIELD(solref_friction, "solver reference: tendon friction");
-      FIELD(solimp_friction, "solver impedance: tendon friction");
-      FIELD(armature, "inertia associated with tendon velocity");
-      FIELD(limited, "does tendon have limits (mjtLimited)");
-      FIELD(actfrclimited, "does tendon have actuator force limits");
-      FIELD(range, "length limits");
-      FIELD(actfrcrange, "actuator force limits");
-      FIELD(margin, "margin value for tendon limit detection");
-      FIELD(solref_limit, "solver reference: tendon limits");
-      FIELD(solimp_limit, "solver impedance: tendon limits");
-      FIELD(material, "name of material for rendering");
-      FIELD(width, "width for rendering");
-      FIELD(rgba, "rgba when material is omitted");
-      FIELD(group, "group");
-      FIELD(info, "message appended to errors");
-      break;
-    }
-    case mjOBJ_TEXTURE: {
-      mjsTexture* elem = mjs_asTexture(element);
-      mjsTexture* ref = mjs_asTexture(ref_element);
-      FIELD(type, "texture type");
-      FIELD(colorspace, "colorspace");
-      FIELD(builtin, "builtin type (mjtBuiltin)");
-      FIELD(mark, "mark type (mjtMark)");
-      FIELD(rgb1, "first color for builtin");
-      FIELD(rgb2, "second color for builtin");
-      FIELD(markrgb, "mark color");
-      FIELD(random, "probability of random dots");
-      FIELD(height, "height in pixels (square for cube and skybox)");
-      FIELD(width, "width in pixels");
-      FIELD(nchannel, "number of channels");
-      FIELD(content_type, "content type of file");
-      FIELD(file, "png file to load; use for all sides of cube");
-      FIELD(gridsize, "size of grid for composite file; (1,1)-repeat");
-      FIELD(gridlayout, "row-major: L,R,F,B,U,D for faces; . for unused");
-      FIELD(cubefiles, "different file for each side of the cube");
-      FIELD(hflip, "horizontal flip");
-      FIELD(vflip, "vertical flip");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_MATERIAL: {
-      mjsMaterial* elem = mjs_asMaterial(element);
-      mjsMaterial* ref = mjs_asMaterial(ref_element);
-      FIELD(textures, "names of textures (empty: none)");
-      FIELD(texuniform, "make texture cube uniform");
-      FIELD(texrepeat, "texture repetition for 2D mapping");
-      FIELD(emission, "emission");
-      FIELD(specular, "specular");
-      FIELD(shininess, "shininess");
-      FIELD(reflectance, "reflectance");
-      FIELD(metallic, "metallic");
-      FIELD(roughness, "roughness");
-      FIELD(rgba, "rgba");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_PAIR: {
-      mjsPair* elem = mjs_asPair(element);
-      mjsPair* ref = mjs_asPair(ref_element);
-      FIELD(geomname1, "name of geom 1");
-      FIELD(geomname2, "name of geom 2");
-      FIELD(condim, "contact dimensionality");
-      FIELD(solref, "solver reference, normal direction");
-      FIELD(solreffriction, "solver reference, frictional directions");
-      FIELD(solimp, "solver impedance");
-      FIELD(margin, "margin for contact detection");
-      FIELD(gap, "additional contact detection buffer");
-      FIELD(friction, "full contact friction");
-      FIELD(info, "message appended to errors");
-      break;
-    }
-    case mjOBJ_EQUALITY: {
-      mjsEquality* elem = mjs_asEquality(element);
-      mjsEquality* ref = mjs_asEquality(ref_element);
-      FIELD(type, "constraint type");
-      FIELD(data, "type-dependent data");
-      FIELD(active, "is equality initially active");
-      FIELD(name1, "name of object 1");
-      FIELD(name2, "name of object 2");
-      FIELD(objtype, "type of both objects");
-      FIELD(solref, "solver reference");
-      FIELD(solimp, "solver impedance");
-      FIELD(info, "message appended to errors");
-      break;
-    }
-    case mjOBJ_EXCLUDE: {
-      mjsExclude* elem = mjs_asExclude(element);
-      mjsExclude* ref = mjs_asExclude(ref_element);
-      FIELD(bodyname1, "name of geom 1");
-      FIELD(bodyname2, "name of geom 2");
-      FIELD(info, "message appended to errors");
-      break;
-    }
-    case mjOBJ_NUMERIC: {
-      mjsNumeric* elem = mjs_asNumeric(element);
-      mjsNumeric* ref = mjs_asNumeric(ref_element);
-      FIELD(data, "initialization data");
-      FIELD(size, "array size, can be bigger than data size");
-      FIELD(info, "message appended to errors");
-      break;
-    }
-    case mjOBJ_TEXT: {
-      mjsText* elem = mjs_asText(element);
-      mjsText* ref = mjs_asText(ref_element);
-      FIELD(data, "text string");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_TUPLE: {
-      mjsTuple* elem = mjs_asTuple(element);
-      mjsTuple* ref = mjs_asTuple(ref_element);
-      FIELD(objtype, "object types");
-      FIELD(objname, "object names");
-      FIELD(objprm, "object parameters");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_KEY: {
-      mjsKey* elem = mjs_asKey(element);
-      mjsKey* ref = mjs_asKey(ref_element);
-      FIELD(time, "time");
-      FIELD(qpos, "qpos");
-      FIELD(qvel, "qvel");
-      FIELD(act, "act");
-      FIELD(mpos, "mocap pos");
-      FIELD(mquat, "mocap quat");
-      FIELD(ctrl, "ctrl");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    case mjOBJ_PLUGIN: {
-      mjsPlugin* elem = mjs_asPlugin(element);
-      mjsPlugin* ref = mjs_asPlugin(ref_element);
-      FIELD(name, "instance name");
-      FIELD(plugin_name, "plugin name");
-      FIELD(active, "is the plugin active");
-      FIELD(info, "message appended to compiler errors");
-      break;
-    }
-    default:
-      // ignore other types
-      break;
-  }
-
-#undef FIELD
-
-  if (editor && table.WasModified()) {
-    editor->CommitChanges(element);
-  }
-}
-
-void ElementModelGui(const mjModel* model, mjsElement* element) {
-  if (element == nullptr) {
-    return;
-  }
-
-  ImGui_DataPtrTable table;
-  const int index = mjs_getId(element);
-
-  MJMODEL_POINTERS_PREAMBLE(model);
-  switch (element->elemtype) {
-    case mjOBJ_BODY: {
-      table.SetPrefix("body_");
-      MJMODEL_POINTERS_X(nbody)
-      break;
-    }
-    case mjOBJ_JOINT: {
-      table.SetPrefix("jnt_");
-      MJMODEL_POINTERS_X(njnt)
-      break;
-    }
-    case mjOBJ_ACTUATOR: {
-      table.SetPrefix("actuator_");
-      MJMODEL_POINTERS_X(nu)
-      break;
-    }
-    case mjOBJ_SENSOR: {
-      table.SetPrefix("sensor_");
-      MJMODEL_POINTERS_X(nsensor)
-      break;
-    }
-    case mjOBJ_SITE: {
-      table.SetPrefix("site_");
-      MJMODEL_POINTERS_X(nsite)
-      break;
-    }
-    case mjOBJ_GEOM: {
-      table.SetPrefix("geom_");
-      MJMODEL_POINTERS_X(ngeom)
-      break;
-    }
-    case mjOBJ_LIGHT: {
-      table.SetPrefix("light_");
-      MJMODEL_POINTERS_X(nlight)
-      break;
-    }
-    case mjOBJ_CAMERA: {
-      table.SetPrefix("cam_");
-      MJMODEL_POINTERS_X(ncam)
-      break;
-    }
-    case mjOBJ_MESH: {
-      table.SetPrefix("mesh_");
-      MJMODEL_POINTERS_X(nmesh)
-      break;
-    }
-    case mjOBJ_HFIELD: {
-      table.SetPrefix("hfield_");
-      MJMODEL_POINTERS_X(nhfield)
-      break;
-    }
-    case mjOBJ_SKIN: {
-      table.SetPrefix("skin_");
-      MJMODEL_POINTERS_X(nskin)
-      break;
-    }
-    case mjOBJ_FLEX: {
-      table.SetPrefix("flex_");
-      MJMODEL_POINTERS_X(nflex)
-      break;
-    }
-    case mjOBJ_TENDON: {
-      table.SetPrefix("tendon_");
-      MJMODEL_POINTERS_X(ntendon)
-      break;
-    }
-    case mjOBJ_TEXTURE: {
-      table.SetPrefix("tex_");
-      MJMODEL_POINTERS_X(ntex)
-      break;
-    }
-    case mjOBJ_MATERIAL: {
-      table.SetPrefix("mat_");
-      MJMODEL_POINTERS_X(nmat)
-      break;
-    }
-    default:
-      // ignore other types
-      break;
-  }
-}
-
-void ElementDataGui(const mjData* data, mjsElement* element) {
-  if (element == nullptr) {
-    return;
-  }
-
-  ImGui_DataPtrTable table;
-  const int index = mjs_getId(element);
-
-  switch (element->elemtype) {
-    case mjOBJ_BODY: {
-      MJDATA_POINTERS_X(nbody)
-      break;
-    }
-    case mjOBJ_JOINT: {
-      MJDATA_POINTERS_X(njnt)
-      break;
-    }
-    case mjOBJ_SITE: {
-      table.SetPrefix("site_");
-      MJDATA_POINTERS_X(nsite)
-      break;
-    }
-    case mjOBJ_GEOM: {
-      table.SetPrefix("geom_");
-      MJDATA_POINTERS_X(ngeom)
-      break;
-    }
-    case mjOBJ_CAMERA: {
-      table.SetPrefix("cam_");
-      MJDATA_POINTERS_X(ncam)
-      break;
-    }
-    case mjOBJ_LIGHT: {
-      table.SetPrefix("light_");
-      MJDATA_POINTERS_X(nlight)
-      break;
-    }
-    case mjOBJ_SENSOR: {
-      table.SetPrefix("sensor_");
-      MJDATA_POINTERS_X(nsensor)
-      break;
-    }
-    case mjOBJ_MESH: {
-      table.SetPrefix("mesh_");
-      MJDATA_POINTERS_X(nmesh)
-      break;
-    }
-    case mjOBJ_HFIELD: {
-      table.SetPrefix("hfield_");
-      MJDATA_POINTERS_X(nhfield)
-      break;
-    }
-    case mjOBJ_SKIN: {
-      table.SetPrefix("skin_");
-      MJDATA_POINTERS_X(nskin)
-      break;
-    }
-    case mjOBJ_FLEX: {
-      table.SetPrefix("flex_");
-      MJDATA_POINTERS_X(nflex)
-      break;
-    }
-    case mjOBJ_TENDON: {
-      table.SetPrefix("ten_");
-      MJDATA_POINTERS_X(ntendon)
-      break;
-    }
-    case mjOBJ_TEXTURE: {
-      table.SetPrefix("tex_");
-      MJDATA_POINTERS_X(ntex)
-      break;
-    }
-    case mjOBJ_MATERIAL: {
-      table.SetPrefix("mat_");
-      MJDATA_POINTERS_X(nmat)
-      break;
-    }
-    default:
-      break;
-  }
-}
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/gui_spec.h b/src/experimental/platform/ux/gui_spec.h
deleted file mode 100644
index 21b437ab..00000000
--- a/src/experimental/platform/ux/gui_spec.h
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_SPEC_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_SPEC_H_
-
-#include <mujoco/mujoco.h>
-#include "experimental/platform/ux/spec_editor.h"
-
-namespace mujoco::platform {
-
-// Displaying the mjSpec as a tree. `element` is the currently selected
-// element and will be updated if a new element is selected. The `editor` is
-// optional; if provided, it will allow the user to modify the spec (e.g.
-// add/delete elements) on the assumption that `element` and `spec` were
-// obtained from the editor.
-void SpecTreeGui(mjsElement** element, mjSpec* spec,
-                 SpecEditor* editor = nullptr);
-
-// Displays the properties of the given element in the table. If `editor` is
-// provided, the user will be able to modify the properties of the element,
-// updating the editor of any changes on the assumption that `element` was
-// obtained from the editor.
-void ElementSpecGui(mjsElement* element, SpecEditor* editor = nullptr);
-
-// Displays a (read-only) data table of the mjData values that correspond to the
-// given element.
-void ElementDataGui(const mjData* data, mjsElement* element);
-
-// Displays a (read-only) data table of the mjModel values that correspond to
-// the given element.
-void ElementModelGui(const mjModel* model, mjsElement* element);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_GUI_SPEC_H_
diff --git a/src/experimental/platform/ux/imgui_bridge.cc b/src/experimental/platform/ux/imgui_bridge.cc
deleted file mode 100644
index 9baa1db9..00000000
--- a/src/experimental/platform/ux/imgui_bridge.cc
+++ /dev/null
@@ -1,333 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/imgui_bridge.h"
-
-#include <algorithm>
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-#include <memory>
-#include <utility>
-#include <vector>
-
-#include <imgui.h>
-#include <math/mat3.h>
-#include <math/vec3.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::mat3f;
-
-ImguiBridge::ImguiBridge(mjrfContext* ctx, mjrfScene* scene)
-    : ctx_(ctx), scene_(scene) {
-  mjrfSceneParams params;
-  mjrf_defaultSceneParams(&params);
-}
-
-ImguiBridge::~ImguiBridge() {
-  PrepareRenderables(0);
-
-  // Destroy all textures tracked by ImGui.
-  if (ImGui::GetCurrentContext()) {
-    for (ImTextureData* tex : ImGui::GetPlatformIO().Textures) {
-      if (tex->Status != ImTextureStatus_Destroyed) {
-        DestroyTexture(tex);
-      }
-    }
-  }
-}
-
-uintptr_t ImguiBridge::UploadImage(uintptr_t tex_id, const uint8_t* pixels,
-                                   int width, int height, int bpp) {
-  if (bpp != 4 && bpp != 3) {
-    mju_error("Unsupported image bpp. Got %d, wanted 3 or 4", bpp);
-  }
-
-  if (pixels == nullptr) {
-    // If the pixels are nullptr, we destroy the texture.
-    if (tex_id != 0) {
-      textures_.erase(tex_id);
-    }
-    return 0;
-  }
-
-  // Assign a new texture ID.
-  if (tex_id == 0) {
-    tex_id = next_tex_id_++;
-  }
-
-  mjrfTexture* texture = GetTexture(tex_id);
-
-  // If the texture does not exist or the dimensions have changed, we create a
-  // new texture.
-  if (texture == nullptr || mjrf_getTextureWidth(texture) != width ||
-      mjrf_getTextureHeight(texture) != height) {
-    mjrfTextureConfig config;
-    mjrf_defaultTextureConfig(&config);
-    config.width = width;
-    config.height = height;
-    config.sampler_type = mjTEXTURE_2D;
-    config.format = bpp == 4 ? mjPIXEL_FORMAT_RGBA8 : mjPIXEL_FORMAT_RGB8;
-    config.color_space = mjCOLORSPACE_LINEAR;
-    UniquePtr<mjrfTexture> new_texture = ::mujoco::CreateTexture(ctx_, config);
-    texture = new_texture.get();
-    textures_.insert_or_assign(tex_id, std::move(new_texture));
-  }
-
-  // Create a copy of the image to pass it to filament as we don't know the
-  // lifetime of the data.
-  const size_t num_bytes = width * height * bpp;
-  std::byte* bytes = new std::byte[num_bytes];
-  const auto callback =
-      +[](void* user) { delete[] reinterpret_cast<std::byte*>(user); };
-
-  mjrfTextureData texture_data;
-  mjrf_defaultTextureData(&texture_data);
-  texture_data.bytes = bytes;
-  texture_data.num_bytes = num_bytes;
-  texture_data.user_data = bytes;
-  texture_data.release = callback;
-
-  std::memcpy(bytes, pixels, num_bytes);
-  mjrf_setTextureData(texture, &texture_data);
-  return tex_id;
-}
-
-void ImguiBridge::CreateTexture(ImTextureData* data) {
-  if (data->Format != ImTextureFormat_RGBA32) {
-    mju_error("Unsupported texture format.");
-  }
-
-  mjrfTextureConfig config;
-  mjrf_defaultTextureConfig(&config);
-  config.width = data->Width;
-  config.height = data->Height;
-  config.sampler_type = mjTEXTURE_2D;
-  config.format = mjPIXEL_FORMAT_RGBA8;
-  config.color_space = mjCOLORSPACE_LINEAR;
-
-  const uintptr_t tex_id = next_tex_id_++;
-  textures_.insert_or_assign(tex_id, ::mujoco::CreateTexture(ctx_, config));
-  data->SetTexID((ImTextureID)tex_id);
-  UpdateTexture(data);
-}
-
-void ImguiBridge::UpdateTexture(ImTextureData* data) {
-  auto iter = textures_.find(data->TexID);
-  if (iter == textures_.end()) {
-    mju_error("Texture not found: %llu", data->TexID);
-  }
-
-  mjrfTextureData texture_data;
-  mjrf_defaultTextureData(&texture_data);
-  texture_data.bytes = data->GetPixels();
-  texture_data.num_bytes = data->Width * data->Height * 4;
-  texture_data.user_data = nullptr;
-  texture_data.release = nullptr;
-  mjrf_setTextureData(iter->second.get(), &texture_data);
-  data->SetStatus(ImTextureStatus_OK);
-}
-
-void ImguiBridge::DestroyTexture(ImTextureData* data) {
-  auto iter = textures_.find(data->TexID);
-  if (iter != textures_.end()) {
-    textures_.erase(data->TexID);
-    data->SetTexID(ImTextureID_Invalid);
-    data->SetStatus(ImTextureStatus_Destroyed);
-  }
-}
-
-mjrfTexture* ImguiBridge::GetTexture(uintptr_t tex_id) const {
-  auto iter = textures_.find(tex_id);
-  if (iter == textures_.end()) {
-    return nullptr;
-  }
-  return iter->second.get();
-}
-
-void ImguiBridge::Update() {
-  if (!ImGui::GetCurrentContext()) {
-    PrepareRenderables(0);
-    return;
-  }
-
-  // Prepare the imgui draw commands. We must call this function even if we do
-  // not plan on rendering anything to ensure imgui state is updated.
-  ImGui::Render();
-
-  ImGuiIO& io = ImGui::GetIO();
-  const ImVec2& size = io.DisplaySize;
-  const ImVec2& scale = io.DisplayFramebufferScale;
-  ImDrawData* commands = ImGui::GetDrawData();
-  if (!commands || size.x == 0 || size.y == 0) {
-    PrepareRenderables(0);
-    return;
-  }
-
-  // 2 floats for position, 2 floats for uv, 4 bytes for color.
-  constexpr size_t kExpectedVertexSize =
-      sizeof(float) * 4 + sizeof(uint8_t) * 4;
-
-  int num_elements = 0;
-  for (int n = 0; n < commands->CmdListsCount; ++n) {
-    const ImDrawList* cmds = commands->CmdLists[n];
-    if (kExpectedVertexSize != sizeof(cmds->VtxBuffer.Data[0])) {
-      mju_error("Invalid vertex buffer size.");
-    }
-    if (sizeof(uint16_t) != sizeof(cmds->IdxBuffer.Data[0])) {
-      mju_error("Invalid index buffer size.");
-    }
-    num_elements += cmds->CmdBuffer.size();
-  }
-
-  if (commands->Textures != nullptr) {
-    for (ImTextureData* tex : *commands->Textures) {
-      if (tex->Status == ImTextureStatus_WantCreate) {
-        CreateTexture(tex);
-      } else if (tex->Status == ImTextureStatus_WantUpdates) {
-        UpdateTexture(tex);
-      } else if (tex->Status == ImTextureStatus_WantDestroy &&
-                 tex->UnusedFrames >= 3) {
-        DestroyTexture(tex);
-      }
-    }
-  }
-
-  PrepareRenderables(num_elements);
-  if (num_elements == 0) {
-    return;
-  }
-
-  meshes_.clear();
-  int renderable_index = 0;
-  for (int n = 0; n < commands->CmdListsCount; ++n) {
-    const ImDrawList* cmds = commands->CmdLists[n];
-
-    mjrfMeshConfig config;
-    mjrf_defaultMeshConfig(&config);
-    config.num_attributes = 3;
-    config.attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
-    config.attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
-    config.attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
-    config.attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
-    config.attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_COLOR;
-    config.attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_UBYTE4;
-    config.max_vertices = cmds->VtxBuffer.Size;
-    config.max_indices = cmds->IdxBuffer.Size;
-    config.interleaved = true;
-    config.index_type = mjINDEX_TYPE_U16;
-    config.primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
-    meshes_.push_back(CreateMesh(ctx_, config));
-    mjrfMesh* mesh = meshes_.back().get();
-
-    mjrfMeshData data;
-    mjrf_defaultMeshData(&data);
-    data.num_vertices = cmds->VtxBuffer.Size;
-    data.vertices[0] = cmds->VtxBuffer.Data;
-    data.vertices[1] = cmds->VtxBuffer.Data + sizeof(float) * 2;
-    data.vertices[2] = cmds->VtxBuffer.Data + sizeof(float) * 4;
-    data.num_indices = cmds->IdxBuffer.Size;
-    data.indices = cmds->IdxBuffer.Data;
-    mjrf_setMeshData(mesh, &data);
-
-    int index_offset = 0;
-    for (const ImDrawCmd& command : cmds->CmdBuffer) {
-      const int width = size.x * scale.x;
-      const int height = size.y * scale.y;
-
-      UniquePtr<mjrfRenderable>& renderable = renderables_[renderable_index];
-      mjrf_setRenderableMesh(renderable.get(), mesh, index_offset,
-                             command.ElemCount);
-
-      mjrfMaterial material;
-      mjrf_defaultMaterial(&material);
-      material.color_texture = GetTexture(command.GetTexID());
-
-      material.decor_ux = true;
-      // Scale clip rects to physical pixels here instead of using
-      // ScaleClipRects, which previously caused flickering and clipping bugs:
-      // it mutates draw data in place, so draw lists that are re-rendered
-      // across frames get scaled repeatedly (this happens in the web viewer,
-      // where the same draw lists are rendered until a new network frame
-      // arrives). We also clamp to the viewport because clip rects may extend
-      // slightly outside it (modal dialogs by design; fractional DPI rounding
-      // for bottom or right-docked windows), and filament rejects out-of-window
-      // scissor rects.
-      const float clip_x0 = std::clamp(command.ClipRect.x * scale.x, 0.0f,
-                                       static_cast<float>(width));
-      const float clip_y0 = std::clamp(command.ClipRect.y * scale.y, 0.0f,
-                                       static_cast<float>(height));
-      const float clip_x1 = std::clamp(command.ClipRect.z * scale.x, clip_x0,
-                                       static_cast<float>(width));
-      const float clip_y1 = std::clamp(command.ClipRect.w * scale.y, clip_y0,
-                                       static_cast<float>(height));
-      material.scissor[0] = clip_x0;
-      material.scissor[1] = height - clip_y1;
-      material.scissor[2] = clip_x1 - clip_x0;
-      material.scissor[3] = clip_y1 - clip_y0;
-      mjrf_setRenderableMaterial(renderable.get(), &material);
-
-      const float size[] = {scale.x, scale.y, 1.0f};
-      mjrf_setRenderableSize(renderable.get(), size);
-
-      index_offset += command.ElemCount;
-      ++renderable_index;
-    }
-  }
-}
-
-void ImguiBridge::PrepareRenderables(int count) {
-  while (renderables_.size() < count) {
-    mjrfRenderableParams params;
-    mjrf_defaultRenderableParams(&params);
-    params.cast_shadows = false;
-    params.receive_shadows = false;
-    params.blend_order = static_cast<std::uint16_t>(renderables_.size() + 1);
-    auto& renderable =
-        renderables_.emplace_back(CreateRenderable(ctx_, params));
-    mjrf_addRenderableToScene(scene_, renderable.get());
-  }
-  while (renderables_.size() > count) {
-    mjrf_removeRenderableFromScene(scene_, renderables_.back().get());
-    renderables_.pop_back();
-  }
-}
-
-mjrCamera ImguiBridge::GetCamera(int width, int height) const {
-  mjrCamera camera;
-  camera.orthographic = true;
-  camera.pos[0] = 0.0f;
-  camera.pos[1] = 0.0f;
-  camera.pos[2] = 1.0f;
-  camera.forward[0] = 0.0f;
-  camera.forward[1] = 0.0f;
-  camera.forward[2] = -1.0f;
-  camera.up[0] = 0.0f;
-  camera.up[1] = 1.0f;
-  camera.up[2] = 0.0f;
-  camera.frustum_top = 0.0f;
-  camera.frustum_near = 0.0f;
-  camera.frustum_far = 1.0f;
-  camera.frustum_center = width / 2.0f;
-  camera.frustum_width = width / 2.0f;
-  camera.frustum_bottom = height;
-  return camera;
-}
-
-}  // namespace mujoco
diff --git a/src/experimental/platform/ux/imgui_bridge.h b/src/experimental/platform/ux/imgui_bridge.h
deleted file mode 100644
index beec4a5c..00000000
--- a/src/experimental/platform/ux/imgui_bridge.h
+++ /dev/null
@@ -1,69 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_BRIDGE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_BRIDGE_H_
-
-#include <cstdint>
-#include <unordered_map>
-#include <vector>
-
-#include <imgui.h>
-#include <mujoco/mjrfilament.h>
-#include "render/filament/mjrfilament_cpp.h"
-
-namespace mujoco {
-
-// Creates and manages a SceneView using data read from ImGui.
-class ImguiBridge {
- public:
-  explicit ImguiBridge(mjrfContext* ctx, mjrfScene* scene);
-  ~ImguiBridge();
-
-  // Prepares the Renderables using data from the current ImGui state. This
-  // function must be called once per frame to ensure ImGui state is correctly
-  // synced.
-  void Update();
-
-  // Returns the camera used for rendering the UX scene.
-  mjrCamera GetCamera(int width, int height) const;
-
-  // Uploads texture to be used with ImGui's Image and ImageButton functions.
-  uintptr_t UploadImage(uintptr_t tex_id, const uint8_t* pixels, int width,
-                        int height, int bpp);
-
-  ImguiBridge(const ImguiBridge&) = delete;
-  ImguiBridge& operator=(const ImguiBridge&) = delete;
-
- private:
-  // Ensures exactly `count` Renderables exist, creating or destroying them as
-  // needed.
-  void PrepareRenderables(int count);
-
-  void CreateTexture(ImTextureData* data);
-  void UpdateTexture(ImTextureData* data);
-  void DestroyTexture(ImTextureData* data);
-  mjrfTexture* GetTexture(uintptr_t tex_id) const;
-
-  mjrfContext* ctx_ = nullptr;
-  mjrfScene* scene_ = nullptr;
-  std::vector<UniquePtr<mjrfRenderable>> renderables_;
-  std::vector<UniquePtr<mjrfMesh>> meshes_;
-  std::unordered_map<uintptr_t, UniquePtr<mjrfTexture>> textures_;
-  uintptr_t next_tex_id_ = 1;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_BRIDGE_H_
diff --git a/src/experimental/platform/ux/imgui_widgets.cc b/src/experimental/platform/ux/imgui_widgets.cc
deleted file mode 100644
index 3698addb..00000000
--- a/src/experimental/platform/ux/imgui_widgets.cc
+++ /dev/null
@@ -1,634 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/imgui_widgets.h"
-
-#include <algorithm>
-#include <cfloat>
-#include <cstdint>
-#include <cstring>
-#include <sstream>
-#include <string>
-#include <type_traits>
-#include <unordered_map>
-#include <vector>
-
-#include <imgui.h>
-#include <implot.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-void AppendIniSection(std::string& ini, const std::string& section,
-                      const KeyValues& key_values) {
-  if (section.front() != '[' || section.back() != ']') {
-    mju_error("Section must be enclosed in square brackets.");
-  }
-  ini += "\n" + std::string(section) + "\n";
-  for (auto& [key, value] : key_values) {
-    ini += key + "=" + value + "\n";
-  }
-}
-
-KeyValues ReadIniSection(const std::string& contents,
-                         const std::string& section) {
-  if (section.front() != '[' || section.back() != ']') {
-    mju_error("Section must be enclosed in square brackets.");
-  }
-  bool in_section = false;
-
-  KeyValues key_values;
-  std::istringstream f(contents);
-  std::string line;
-  while (std::getline(f, line)) {
-    if (line[0] == '[') {
-      in_section = (line == section);
-    } else if (in_section) {
-      std::string::size_type pos = line.find('=');
-      if (pos != std::string::npos) {
-        key_values[line.substr(0, pos)] = line.substr(pos + 1);
-      }
-    }
-  }
-  return key_values;
-}
-
-ImGui_DataPtrTable::ImGui_DataPtrTable(float w1, float w2) {
-  ImGui::BeginTable("##PropertiesTable", 2, ImGuiTableFlags_RowBg);
-  const float width = GetStableAvailWidth();
-  ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w1);
-  ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, width * w2);
-  ImGui::PushStyleVar(ImGuiStyleVar_FramePadding, ImVec2(3.0f, 0.0f));
-}
-ImGui_DataPtrTable::~ImGui_DataPtrTable() {
-  ImGui::PopStyleVar();
-  ImGui::EndTable();
-}
-
-void ImGui_DataPtrTable::SetPrefix(const char* prefix) {
-  prefix_ = strlen(prefix);
-}
-
-void ImGui_DataPtrTable::DataPtr(const char* label, const uintptr_t* ptr,
-                                 int index, int n) {
-  for (int i = 0; i < n; ++i) {
-    MakeLabel(label, i, n);
-    ImGui::Text("(%s)", &ptr[index + i] ? "[ptr]" : "null");
-  }
-}
-
-void ImGui_DataPtrTable::DataPtr(const char* label, const char* ptr, int index,
-                                 int n) {
-  MakeLabel(label);
-  ScopedStyle style;
-  style.Color(ImGuiCol_Text, ImColor(255, 0, 0, 255));
-  ImGui::Text("%s", "(char not implemented, please report bug)");
-}
-
-void ImGui_DataPtrTable::DataPtr(const char* label, const mjtByte* ptr,
-                                 int index, int n) {
-  for (int i = 0; i < n; ++i) {
-    MakeLabel(label, i, n);
-    ImGui::Text("%s", ptr[index + i] ? "true" : "false");
-  }
-}
-
-void ImGui_DataPtrTable::DataPtr(const char* label, const mjtBool* ptr,
-                                 int index, int n) {
-  for (int i = 0; i < n; ++i) {
-    MakeLabel(label, i, n);
-    ImGui::Text("%s", ptr[index + i] ? "true" : "false");
-  }
-}
-
-void ImGui_DataPtrTable::DataPtr(const char* label, const mjtSize* ptr,
-                                 int index, int n) {
-  Numeric(label, ptr, index, n);
-}
-
-void ImGui_DataPtrTable::DataPtr(const char* label, const int* ptr, int index,
-                                 int n) {
-  Numeric(label, ptr, index, n);
-}
-
-void ImGui_DataPtrTable::DataPtr(const char* label, const float* ptr, int index,
-                                 int n) {
-  Numeric(label, ptr, index, n);
-}
-
-void ImGui_DataPtrTable::DataPtr(const char* label, const double* ptr,
-                                 int index, int n) {
-  Numeric(label, ptr, index, n);
-}
-
-template <typename T>
-void ImGui_DataPtrTable::Numeric(const char* label, const T* ptr, int index,
-                                 int n) {
-  const T* addr = ptr + index * n;
-
-  using U = std::conditional_t<std::is_floating_point_v<T>, float, int>;
-
-  // special treatment for NaNs.
-  if constexpr (std::is_same_v<U, float>) {
-    if (*addr != *addr) {
-      MakeLabel(label);
-      ImGui::Text("nan");
-      return;
-    }
-  }
-
-  constexpr const char* fmt1 = std::is_floating_point_v<U> ? "%f" : "%d";
-  constexpr const char* fmt2 =
-      std::is_floating_point_v<U> ? "%f  %f" : "%d  %d";
-  constexpr const char* fmt3 =
-      std::is_floating_point_v<U> ? "%f  %f  %f" : "%d  %d  %d";
-  constexpr const char* fmt4 =
-      std::is_floating_point_v<U> ? "%f  %f  %f  %f" : "%d  %d  %d  %d";
-
-  auto text1 = [&](int offset) { ImGui::Text(fmt1, (U)(addr[offset])); };
-  auto text2 = [&](int offset) {
-    ImGui::Text(fmt2, (U)(addr[offset + 0]), (U)(addr[offset + 1]));
-  };
-  auto text3 = [&](int offset) {
-    ImGui::Text(fmt3, (U)(addr[offset + 0]), (U)(addr[offset + 1]),
-                (U)(addr[offset + 2]));
-  };
-  auto text4 = [&](int offset) {
-    ImGui::Text(fmt4, (U)(addr[offset + 0]), (U)(addr[offset + 1]),
-                (U)(addr[offset + 2]), (U)(addr[offset + 3]));
-  };
-
-  if (n == 1) {
-    MakeLabel(label);
-    text1(0);
-  } else if (n == 2) {
-    MakeLabel(label);
-    text2(0);
-  } else if (n == 3) {
-    MakeLabel(label);
-    text3(0);
-  } else if (n == 4) {
-    MakeLabel(label);
-    text4(0);
-  } else if (n == 6) {
-    MakeLabel(label);
-    text3(0);
-    ImGui::TableNextColumn();
-    ImGui::TableNextColumn();
-    text3(3);
-  } else if (n == 9) {
-    MakeLabel(label);
-    text3(0);
-    ImGui::TableNextColumn();
-    ImGui::TableNextColumn();
-    text3(3);
-    ImGui::TableNextColumn();
-    ImGui::TableNextColumn();
-    text3(6);
-  } else {
-    for (int i = 0; i < n; ++i) {
-      MakeLabel(label, i, n);
-      text1(i);
-    }
-  }
-}
-
-void ImGui_DataPtrTable::MakeLabel(const char* label, int index, int total) {
-  if (total == 1) {
-    ImGui::TableNextColumn();
-    ImGui::Text("%s", &label[prefix_]);
-    ImGui::TableNextColumn();
-  } else {
-    const std::string tmp =
-        std::string(&label[prefix_]) + "[" + std::to_string(index) + "]";
-    ImGui::TableNextColumn();
-    ImGui::Text("%s", tmp.c_str());
-    ImGui::TableNextColumn();
-  }
-}
-
-void ImGui_SpecElementTable::operator()(const char* label, mjtByte& val,
-                                        const mjtByte& ref,
-                                        const char* tooltip) {
-  Label(label, tooltip);
-  Input(val, ref);
-}
-
-void ImGui_SpecElementTable::operator()(const char* label, bool& val,
-                                        const bool& ref, const char* tooltip) {
-  Label(label, tooltip);
-  Input(val, ref);
-}
-
-void ImGui_SpecElementTable::operator()(const char* label, mjtSize& val,
-                                        const mjtSize& ref,
-                                        const char* tooltip) {
-  Label(label, tooltip);
-  Input(val, ref);
-}
-
-void ImGui_SpecElementTable::operator()(const char* label, int& val,
-                                        const int& ref, const char* tooltip) {
-  Label(label, tooltip);
-  Input(val, ref);
-}
-
-void ImGui_SpecElementTable::operator()(const char* label, float& val,
-                                        const float& ref, const char* tooltip) {
-  Label(label, tooltip);
-  Input(val, ref);
-}
-
-void ImGui_SpecElementTable::operator()(const char* label, double& val,
-                                        const double& ref,
-                                        const char* tooltip) {
-  Label(label, tooltip);
-  Input(val, ref);
-}
-
-void ImGui_SpecElementTable::operator()(const char* label, std::string* ptr,
-                                        const std::string* ref,
-                                        const char* tooltip) {
-  Label(label, tooltip);
-  Input(*ptr, *ref);
-}
-
-void ImGui_SpecElementTable::operator()(const char* label,
-                                        std::vector<int>* ptr,
-                                        const std::vector<int>* ref,
-                                        const char* tooltip) {
-  Label(label, tooltip);
-  if (ptr == nullptr || ptr->empty()) {
-    ImGui::Text("[empty]");
-  } else {
-    ImGui::Text("[%zu values]", ptr->size());
-  }
-}
-
-void ImGui_SpecElementTable::operator()(const char* label,
-                                        std::vector<double>* ptr,
-                                        const std::vector<double>* ref,
-                                        const char* tooltip) {
-  Label(label, tooltip);
-  if (ptr == nullptr || ptr->empty()) {
-    ImGui::Text("[empty]");
-  } else {
-    ImGui::Text("[%zu values]", ptr->size());
-  }
-}
-
-void ImGui_SpecElementTable::operator()(const char* label,
-                                        std::vector<std::string>* ptr,
-                                        const std::vector<std::string>* ref,
-                                        const char* tooltip) {
-  for (int i = 0; i < ptr->size(); ++i) {
-    Label(label, tooltip, i, ptr->size());
-    Input(ptr->at(i));
-  }
-}
-
-void ImGui_SpecElementTable::operator()(const char* name, const char* alt_name,
-                                        double (&quat)[4],
-                                        const double (&ref_quat)[4],
-                                        mjsOrientation& alt,
-                                        const mjsOrientation& ref_alt,
-                                        const char* tooltip) {
-  auto aname = [&](const char* label) {
-    return std::string(alt_name) + "." + label;
-  };
-
-  switch (alt.type) {
-    case mjORIENTATION_QUAT:
-      (*this)(name, quat, ref_quat, tooltip);
-      break;
-    case mjORIENTATION_AXISANGLE:
-      (*this)(aname("axisangle").c_str(), alt.axisangle, ref_alt.axisangle,
-              tooltip);
-      break;
-    case mjORIENTATION_XYAXES:
-      (*this)(aname("xyaxes").c_str(), alt.xyaxes, ref_alt.xyaxes, tooltip);
-      break;
-    case mjORIENTATION_ZAXIS:
-      (*this)(aname("zaxis").c_str(), alt.zaxis, ref_alt.zaxis, tooltip);
-      break;
-    case mjORIENTATION_EULER:
-      (*this)(aname("euler").c_str(), alt.euler, ref_alt.euler, tooltip);
-      break;
-  }
-}
-
-void ImGui_SpecElementTable::Label(const char* label, const char* tooltip,
-                                   int i, int n) {
-  MakeLabel(label, i, n);
-  ImGui::SetItemTooltip("%s", tooltip);
-}
-
-bool ImGui_Slider(const char* name, mjtNum* value, mjtNum min, mjtNum max) {
-  float f = *value;
-  const bool res = ImGui::SliderFloat(name, &f, min, max);
-  if (res) {
-    *value = mju_clip(f, min, max);
-  }
-  return res;
-}
-
-bool ImGui_SliderLog(const char* name, mjtNum* value, mjtNum min, mjtNum max) {
-  constexpr ImGuiDataType type = sizeof(mjtNum) == sizeof(double)
-                                     ? ImGuiDataType_Double
-                                     : ImGuiDataType_Float;
-  return ImGui::SliderScalar(name, type, value, &min, &max, "%.3g",
-                             ImGuiSliderFlags_Logarithmic);
-}
-
-bool ImGui_ResetButton(const char* id, const char* icon,
-                       const char* tooltip) {
-  const float size = ImGui::GetFrameHeight();
-  ImGui::SameLine();
-  ImGui::SetCursorPosX(ImGui::GetWindowContentRegionMax().x - size);
-  ImGui::PushID(id);
-  const bool clicked = ImGui::SmallButton(icon);
-  ImGui::PopID();
-  ImGui::SetItemTooltip("%s", tooltip);
-  return clicked;
-}
-
-bool ImGui_BeginHSplit(const char* id, float* height, bool* open) {
-  const ImVec2 region = ImGui::GetContentRegionAvail();
-  if (*height < 0) {
-    *height = region.y / 2;
-  }
-  // If the split is closed, use the full region height.
-  const float h = *open ? *height : region.y;
-  return ImGui::BeginChild(id, ImVec2(0, h), 0);
-}
-
-bool ImGui_HSplit(const char* id, float* height, bool* open) {
-  // End the parent child.
-  ImGui::EndChild();
-
-  const ImVec2 region = ImGui::GetContentRegionAvail();
-  if (*open) {
-    // Just to make the splitter bar centered.
-    ImGui::InvisibleButton("##empty", ImVec2(10.0f, 8.0f));
-
-    // The splitter bar; drag to change the height.
-    ImGui::SameLine();
-    ImGui::Button(id, ImVec2(region.x - 30.0f, 8.0f));
-    if (ImGui::IsItemActive()) {
-      *height += ImGui::GetIO().MouseDelta.y;
-      if (*height < 0) *height = 0;
-    }
-
-    // The collapse button.
-    ImGui::SameLine();
-    if (ImGui::Button("x", ImVec2(10.0f, 8.0f))) {
-      *open = false;
-    }
-  }
-  if (*open) {
-    return ImGui::BeginChild(id, ImVec2(region.x, 0), 1);
-  } else {
-    return false;
-  }
-}
-
-void ImGui_EndHSplit(bool open) {
-  if (open) {
-    ImGui::EndChild();
-  }
-}
-
-void MaybeSaveToClipboard(const std::string& contents) {
-  ImGui::SetClipboardText(contents.c_str());
-}
-
-float GetExpectedLabelWidth() {
-  static float expected_label_width = 0;
-  if (expected_label_width == 0) {
-    int longest = 0;
-    const char* longest_label = "";
-    for (int i = 0; i < mjNVISFLAG; ++i) {
-      int length = static_cast<int>(std::strlen(mjVISSTRING[i][0]));
-      if (length > longest) {
-        longest_label = mjVISSTRING[i][0];
-        longest = length;
-      }
-    }
-    expected_label_width = ImGui::CalcTextSize(longest_label).x + 16;
-  }
-  return expected_label_width;
-}
-
-ImPlotFlags ImPlot_SetupPlotFlags(ImVec2 plot_size) {
-  ImPlotFlags flags = ImPlotFlags_None;
-  if (plot_size.x > 0 && plot_size.y > 0) {
-    const float min_dim = std::min(plot_size.x, plot_size.y);
-    if (min_dim < 150) {
-      flags |= ImPlotFlags_NoTitle;
-    }
-    if (min_dim < 140) {
-      flags |= ImPlotFlags_NoLegend;
-    }
-  }
-  return flags;
-}
-
-void ImPlot_SetupTimeAxis(ImVec2 plot_size, const char* label,
-                          ImPlotAxisFlags extra_flags) {
-  ImPlotAxisFlags flags = extra_flags;
-  if (plot_size.x > 0 && plot_size.x < 180) {
-    flags |= ImPlotAxisFlags_NoTickLabels;
-  }
-  ImPlot::SetupAxis(ImAxis_X1, label, flags);
-}
-
-void ImPlot_SetupValueAxis(ImVec2 plot_size, const char* label,
-                           const char* format, ImPlotAxisFlags extra_flags) {
-  ImPlotAxisFlags flags = extra_flags;
-  if (plot_size.y > 0 && plot_size.y < 90) {
-    flags |= ImPlotAxisFlags_NoTickLabels;
-  }
-  ImPlot::SetupAxis(ImAxis_Y1, label, flags);
-  if (format) {
-    ImPlot::SetupAxisFormat(ImAxis_Y1, format);
-  }
-}
-
-void ImPlot_SetupFixedAxis(ImVec2 plot_size, double y_min, double y_max,
-                           const char* label, const char* format,
-                           const double* tick_values,
-                           const char* const* tick_labels, int n_ticks) {
-  ImPlotAxisFlags flags = ImPlotAxisFlags_None;
-  if (plot_size.y > 0 && plot_size.y < 90) {
-    flags |= ImPlotAxisFlags_NoTickLabels;
-  }
-  ImPlot::SetupAxis(ImAxis_Y1, label, flags);
-  ImPlot::SetupAxisLimits(ImAxis_Y1, y_min, y_max, ImPlotCond_Always);
-  if (format) {
-    ImPlot::SetupAxisFormat(ImAxis_Y1, format);
-  }
-  if (tick_values && n_ticks > 0) {
-    ImPlot::SetupAxisTicks(ImAxis_Y1, tick_values, n_ticks, tick_labels);
-  }
-}
-
-ImPlotPairLayout ImPlot_ComputePairLayout() {
-  ImVec2 avail = ImGui::GetContentRegionAvail();
-  bool is_wide = avail.x > avail.y;
-
-  const float item_spacing = ImGui::GetStyle().ItemSpacing.y;
-  ImVec2 plot_size(is_wide ? (avail.x - item_spacing) * 0.5f : avail.x,
-                   is_wide ? avail.y : (avail.y - item_spacing) * 0.5f);
-
-  return {
-      plot_size,
-      is_wide ? ImPlotLayoutDirection::kHorizontal
-              : ImPlotLayoutDirection::kVertical,
-  };
-}
-
-static ImVec2 ClipSpaceToWindowCoordinates(float x, float y) {
-  const ImVec2& display_size = ImGui::GetIO().DisplaySize;
-  const float pos_x = display_size.x * ((x + 1) * 0.5f);
-  const float pos_y = display_size.y * (1.0f - ((y + 1) * 0.5f));
-  return ImVec2(pos_x, pos_y);
-}
-
-void DrawTextAt(const char* text, float x, float y, float z) {
-  if (x < -1 || y < -1 || x > 1 || y > 1 || z < -1 || z > 1) {
-    return;
-  }
-
-  const ImVec2 center_pos = ClipSpaceToWindowCoordinates(x, y);
-  const ImVec2 size = ImGui::CalcTextSize(text);
-
-  const ImVec2 pos = ImVec2(center_pos.x - size.x / 2, center_pos.y);
-  const ImVec2 shadow_pos = ImVec2(pos.x + 2, pos.y + 2);
-  const int flags = ImGuiWindowFlags_NoBringToFrontOnFocus |
-                    ImGuiWindowFlags_NoFocusOnAppearing |
-                    ImGuiWindowFlags_NoBackground |
-                    ImGuiWindowFlags_NoDecoration | ImGuiWindowFlags_NoInputs |
-                    ImGuiWindowFlags_NoNav;
-
-  ImGui::Begin("labels", nullptr, flags);
-  ImGui::BeginChild("labels", ImGui::GetIO().DisplaySize, 0, flags);
-  ImDrawList* draw_list = ImGui::GetWindowDrawList();
-  draw_list->AddText(shadow_pos, IM_COL32_BLACK, text);
-  draw_list->AddText(pos, IM_COL32_WHITE, text);
-  ImGui::EndChild();
-  ImGui::End();
-}
-namespace {
-
-void SetNextWindowPosInside(OverlayPos pos, ImVec4 rect) {
-  // compute anchor point and pivot from position enum
-  ImVec2 anchor, pivot;
-  float x = rect.x, y = rect.y, w = rect.z, h = rect.w;
-  float scale = ImGui::GetWindowDpiScale();
-  float margin = 8.0f * scale;
-  switch (pos) {
-    case OverlayPos::kTopLeft:
-      anchor = {x + margin, y + margin};
-      pivot = {0.0f, 0.0f};
-      break;
-    case OverlayPos::kTop:
-      anchor = {x + w * 0.5f, y + margin};
-      pivot = {0.5f, 0.0f};
-      break;
-    case OverlayPos::kTopRight:
-      anchor = {x + w - margin, y + margin};
-      pivot = {1.0f, 0.0f};
-      break;
-    case OverlayPos::kBottomLeft:
-      anchor = {x + margin, y + h - margin};
-      pivot = {0.0f, 1.0f};
-      break;
-    case OverlayPos::kBottom:
-      anchor = {x + w * 0.5f, y + h - margin};
-      pivot = {0.5f, 1.0f};
-      break;
-    case OverlayPos::kBottomRight:
-      anchor = {x + w - margin, y + h - margin};
-      pivot = {1.0f, 1.0f};
-      break;
-  }
-
-  ImGui::SetNextWindowPos(anchor, ImGuiCond_Always, pivot);
-}
-
-}  // namespace
-
-bool BeginOverlay(const char* id, OverlayPos pos, ImVec4 rect, float min_width,
-                  float alpha) {
-  SetNextWindowPosInside(pos, rect);
-
-  if (min_width > 0.0f) {
-    ImGui::SetNextWindowSizeConstraints(ImVec2(min_width, -1.0f),
-                                        ImVec2(FLT_MAX, -1.0f));
-  }
-
-  constexpr ImGuiWindowFlags kFlags =
-      ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize |
-      ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
-      ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoSavedSettings;
-
-  ImGui::PushStyleVar(ImGuiStyleVar_Alpha, alpha);
-  return ImGui::Begin(id, nullptr, kFlags);
-}
-
-void EndOverlay() {
-  ImGui::End();
-  ImGui::PopStyleVar();
-}
-
-void TextOverlay(const char* id, OverlayPos pos, ImVec4 workspace_rect,
-                 const char* text, ImVec4 color, float font_scale, float alpha,
-                 float min_width) {
-  float scale = ImGui::GetWindowDpiScale();
-  float padding = 30.0f * scale;
-  float max_width = std::max(0.0f, workspace_rect.z - 20.0f);
-  float text_width = ImGui::CalcTextSize(text).x * font_scale;
-  float min_target = std::min(min_width * scale, max_width);
-  float target = 0.0f;
-  if (text_width + padding > max_width || min_width > 0.0f) {
-    target = std::clamp(text_width + padding, min_target, max_width);
-  }
-
-  if (BeginOverlay(id, pos, workspace_rect, target, alpha)) {
-    if (font_scale != 1.0f) {
-      ImGui::SetWindowFontScale(font_scale);
-    }
-    bool has_color =
-        color.x != 0 || color.y != 0 || color.z != 0 || color.w != 0;
-    if (has_color) {
-      ImGui::PushStyleColor(ImGuiCol_Text, color);
-    }
-    if (text_width + padding > max_width) {
-      ImGui::PushTextWrapPos(max_width - padding);
-      ImGui::TextUnformatted(text);
-      ImGui::PopTextWrapPos();
-    } else {
-      ImGui::TextUnformatted(text);
-    }
-    if (has_color) {
-      ImGui::PopStyleColor();
-    }
-    if (font_scale != 1.0f) {
-      ImGui::SetWindowFontScale(1.0f);
-    }
-  }
-  EndOverlay();
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/imgui_widgets.h b/src/experimental/platform/ux/imgui_widgets.h
deleted file mode 100644
index 42a82b09..00000000
--- a/src/experimental/platform/ux/imgui_widgets.h
+++ /dev/null
@@ -1,831 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_
-
-#include <cstddef>
-#include <cstdint>
-#include <optional>
-#include <string>
-#include <type_traits>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include <imgui.h>
-#include <imgui_internal.h>
-#include <misc/cpp/imgui_stdlib.h>
-#include <implot.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/ux/enum_utils.h"
-#include "experimental/platform/ux/well_tempered.h"
-
-namespace mujoco::platform {
-
-// Helper to get available content region width that does not change/reflow
-// when the vertical scrollbar appears or disappears.
-// Walks up the parent window chain to find the scroll-owning ancestor (the
-// actual panel window, not a child window), and reserves scrollbar width
-// when that panel's scrollbar is not currently visible.
-inline float GetStableAvailWidth() {
-  ImGuiWindow* window = ImGui::GetCurrentWindow();
-  float avail_x = ImGui::GetContentRegionAvail().x;
-
-  // Walk up past child windows to the actual panel that owns the scrollbar.
-  ImGuiWindow* scroll_owner = window;
-  while (scroll_owner && (scroll_owner->Flags & ImGuiWindowFlags_ChildWindow) &&
-         scroll_owner->ParentWindow) {
-    scroll_owner = scroll_owner->ParentWindow;
-  }
-
-  if (scroll_owner && !(scroll_owner->Flags & ImGuiWindowFlags_NoScrollbar) &&
-      !scroll_owner->ScrollbarY) {
-    avail_x -= ImGui::GetStyle().ScrollbarSize;
-  }
-  return avail_x;
-}
-
-// Draws one line of text horizontally centered in the current window.
-inline void CenteredLine(const char* text, const ImVec4* color = nullptr) {
-  ImGui::SetCursorPosX(ImMax(
-      0.0f, (ImGui::GetWindowWidth() - ImGui::CalcTextSize(text).x) * 0.5f));
-  if (color != nullptr) {
-    ImGui::TextColored(*color, "%s", text);
-  } else {
-    ImGui::TextUnformatted(text);
-  }
-}
-
-// Large centered banner text.
-inline void CenteredBanner(const char* text, const ImVec4& color) {
-  ImGui::SetWindowFontScale(1.6f);
-  ImGui::SetCursorPosX(ImMax(
-      0.0f, (ImGui::GetWindowWidth() - ImGui::CalcTextSize(text).x) * 0.5f));
-  ImGui::TextColored(color, "%s", text);
-  ImGui::SetWindowFontScale(1.0f);
-}
-
-// FontAwesome icon codes.
-static constexpr const char ICON_FA_ADJUST[] = "\xEF\x81\x82";
-static constexpr const char ICON_FA_ARROWS[] = "\xEF\x81\x87";
-static constexpr const char ICON_FA_CAMERA[] = "\xEF\x80\xBD";
-static constexpr const char ICON_FA_CARET_LEFT[] = "\xEF\x83\x99";
-static constexpr const char ICON_FA_CARET_RIGHT[] = "\xEF\x83\x9A";
-static constexpr const char ICON_FA_CHECK_SQUARE_O[] = "\xEF\x81\x9D";
-static constexpr const char ICON_FA_CIRCLE_O[] = "\xEF\x84\x8C";
-static constexpr const char ICON_FA_CIRCLE[] = "\xEF\x84\x91";
-static constexpr const char ICON_FA_COMMENT[] = "\xEF\x83\xA5";
-static constexpr const char ICON_FA_COPY[] = "\xEF\x83\x85";
-static constexpr const char ICON_FA_CROSSHAIRS[] = "\xEF\x81\x9B";
-static constexpr const char ICON_FA_DIAMOND[] = "\xEF\x88\x99";
-static constexpr const char ICON_FA_DOWNLOAD[] = "\xEF\x80\x99";
-static constexpr const char ICON_FA_EJECT[] = "\xEF\x81\x92";
-static constexpr const char ICON_FA_FAST_FORWARD[] = "\xEF\x81\x90";
-static constexpr const char ICON_FA_MAGIC[] = "\xEF\x83\x90";
-static constexpr const char ICON_FA_MOON[] = "\xEF\x86\x86";
-static constexpr const char ICON_FA_PAUSE[] = "\xEF\x81\x8C";
-static constexpr const char ICON_FA_PLAY[] = "\xEF\x81\x8B";
-static constexpr const char ICON_FA_PLUS[] = "\xEF\x81\xA7";
-static constexpr const char ICON_FA_REFRESH[] = "\xEF\x80\xA1";
-static constexpr const char ICON_FA_REPEAT[] = "\xEF\x80\x9E";
-static constexpr const char ICON_FA_SQUARE_O[] = "\xEF\x87\x9B";
-static constexpr const char ICON_FA_SUN[] = "\xEF\x86\x85";
-static constexpr const char ICON_FA_TACHOMETER[] = "\xEF\x83\xA4";
-static constexpr const char ICON_FA_TRASH_CAN[] = "\xEF\x87\xB8";
-static constexpr const char ICON_FA_UNDO[] = "\xEF\x83\xA2";
-static constexpr const char ICON_FA_UPLOAD[] = "\xEF\x82\x93";
-
-using KeyValues = std::unordered_map<std::string, std::string>;
-
-// This is a workaround to fix compilation on gcc <= 12 and clang <= 16
-template <typename T>
-struct dependent_false : std::false_type {};
-
-template <typename T>
-bool ImGui_Checkbox(const char* name, T& value);
-
-// Appends key/value pairs to an Ini file.
-void AppendIniSection(std::string& ini, const std::string& section,
-                      const KeyValues& key_values);
-
-// Reads key/value pairs from an Ini file section.
-KeyValues ReadIniSection(const std::string& contents,
-                         const std::string& section);
-
-template <typename T>
-T ReadIniValue(const KeyValues& key_values, const std::string& key, T def) {
-  auto iter = key_values.find(key);
-  if (iter == key_values.end()) {
-    return def;
-  }
-  if constexpr (std::is_same_v<T, int>) {
-    return std::stoi(iter->second);
-  } else if constexpr (std::is_same_v<T, float>) {
-    return std::stof(iter->second);
-  } else if constexpr (std::is_same_v<T, double>) {
-    return std::stod(iter->second);
-  } else if constexpr (std::is_same_v<T, std::string>) {
-    return iter->second;
-  } else if constexpr (std::is_enum_v<T>) {
-    return static_cast<T>(std::stoi(iter->second));
-  } else {
-    static_assert(dependent_false<T>::value, "Unsupported type");
-  }
-}
-
-enum class ScopedFont {
-  kDefault = 0,
-  kMono = 1,
-};
-
-// Helper class for setting ImGui style options; automatically resets the
-// styles when going out of scope.
-struct ScopedStyle {
-  ScopedStyle() = default;
-  ~ScopedStyle() { Reset(); }
-
-  ScopedStyle(const ScopedStyle&) = delete;
-  ScopedStyle& operator=(const ScopedStyle&) = delete;
-  ScopedStyle(ScopedStyle&& other) { Swap(other); }
-  ScopedStyle& operator=(ScopedStyle&& other) {
-    Swap(other);
-    return *this;
-  }
-
-  void Swap(ScopedStyle& other) {
-    std::swap(num_colors, other.num_colors);
-    std::swap(num_vars, other.num_vars);
-    std::swap(num_fonts, other.num_fonts);
-  }
-
-  ScopedStyle& Font(int index) {
-    ImFontAtlas* atlas = ImGui::GetIO().Fonts;
-    if (atlas && index >= 0 && index < atlas->Fonts.Size) {
-      ImGui::PushFont(atlas->Fonts[index]);
-      ++num_fonts;
-    }
-    return *this;
-  }
-
-  ScopedStyle& Font(ScopedFont font) { return Font(static_cast<int>(font)); }
-
-  ScopedStyle& Color(ImGuiCol col, ImColor color) {
-    ImGui::PushStyleColor(col, (ImU32)color);
-    ++num_colors;
-    return *this;
-  }
-
-  ScopedStyle& Color(ImGuiCol col, ImGuiCol col2) {
-    ImGui::PushStyleColor(col, CurrentColor(col2));
-    ++num_colors;
-    return *this;
-  }
-
-  ScopedStyle& Var(ImGuiStyleVar var, float value) {
-    ImGui::PushStyleVar(var, value);
-    ++num_vars;
-    return *this;
-  }
-
-  ScopedStyle& Var(ImGuiStyleVar var, const ImVec2& value) {
-    ImGui::PushStyleVar(var, value);
-    ++num_vars;
-    return *this;
-  }
-
-  ImVec4 CurrentColor(ImGuiCol col) { return ImGui::GetStyle().Colors[col]; }
-
-  void Reset() {
-    for (int i = 0; i < num_fonts; ++i) {
-      ImGui::PopFont();
-    }
-    ImGui::PopStyleVar(num_vars);
-    ImGui::PopStyleColor(num_colors);
-    num_colors = 0;
-    num_vars = 0;
-    num_fonts = 0;
-  }
-
-  int num_colors = 0;
-  int num_vars = 0;
-  int num_fonts = 0;
-};
-
-// Helper for displaying rows of key/value pairs in an ImGui table.
-class ImGui_DataPtrTable {
- public:
-  // Starts the table (i.e. ImGui::BeginTable()) with two columns of the
-  // specified widths.
-  ImGui_DataPtrTable(float w1 = 0.25f, float w2 = 0.75f);
-
-  // Ends the table (e.g. ImGui::EndTable().
-  ~ImGui_DataPtrTable();
-
-  ImGui_DataPtrTable(const ImGui_DataPtrTable& other) = delete;
-  ImGui_DataPtrTable& operator=(const ImGui_DataPtrTable& other) = delete;
-
-  // Displays a labelled value in the table. These functions are intended
-  // specifically for displaying data from mjModel and mjData which store data
-  // in contiguous arrays. Each value to be displayed is at a given
-  // index into the array (based on the object's ID) and then has a
-  // dimensionality of n.
-  void DataPtr(const char* label, const char* ptr, int index, int n);
-  void DataPtr(const char* label, const mjtByte* ptr, int index, int n);
-  void DataPtr(const char* label, const mjtBool* ptr, int index, int n);
-  void DataPtr(const char* label, const mjtSize* ptr, int index, int n);
-  void DataPtr(const char* label, const int* ptr, int index, int n);
-  void DataPtr(const char* label, const float* ptr, int index, int n);
-  void DataPtr(const char* label, const double* ptr, int index, int n);
-  void DataPtr(const char* label, const uintptr_t* ptr, int index, int n);
-
-  // Sets the prefix that will be removed from all labels. Note: that we simply
-  // remove the first N characters of the label without actually comparing
-  // against this prefix. This works well with mjModel and mjData because
-  // data belonging to a given object type has a common prefix (e.g. all joints
-  // properties are prefixed with "jnt_").
-  void SetPrefix(const char* prefix);
-
- protected:
-  template <typename T>
-  void Numeric(const char* label, const T* ptr, int index, int n);
-  void MakeLabel(const char* label, int index = 0, int total = 1);
-
-  int prefix_ = 0;
-};
-
-// Helper for displaying mjSpec elements in an ImGui table.
-class ImGui_SpecElementTable : public ImGui_DataPtrTable {
- public:
-  explicit ImGui_SpecElementTable(bool read_only = true)
-      : read_only_(read_only) {}
-
-  // Scalar values used by mjSpec elements.
-  void operator()(const char* label, mjtByte& val, const mjtByte& ref,
-                  const char* tooltip);
-  void operator()(const char* label, bool& val, const bool& ref,
-                  const char* tooltip);
-  void operator()(const char* label, mjtSize& val, const mjtSize& ref,
-                  const char* tooltip);
-  void operator()(const char* label, int& val, const int& ref,
-                  const char* tooltip);
-  void operator()(const char* label, float& val, const float& ref,
-                  const char* tooltip);
-  void operator()(const char* label, double& val, const double& ref,
-                  const char* tooltip);
-
-  // C++ container values used by mjSpec elements.
-  void operator()(const char* label, std::string* ptr, const std::string* ref,
-                  const char* tooltip);
-  void operator()(const char* label, std::vector<int>* ptr,
-                  const std::vector<int>* ref, const char* tooltip);
-  void operator()(const char* label, std::vector<double>* ptr,
-                  const std::vector<double>* ref, const char* tooltip);
-  void operator()(const char* label, std::vector<std::string>* ptr,
-                  const std::vector<std::string>* ref, const char* tooltip);
-
-  // C-style array values used by mjSpec elements.
-  template <std::size_t N>
-  void operator()(const char* label, int (&val)[N], const int (&ref)[N],
-                  const char* tooltip) {
-    for (int i = 0; i < N; ++i) {
-      Label(label, tooltip, i, N);
-      Input(val[i], ref[i]);
-    }
-  }
-  template <std::size_t N>
-  void operator()(const char* label, float (&val)[N], const float (&ref)[N],
-                  const char* tooltip) {
-    for (int i = 0; i < N; ++i) {
-      Label(label, tooltip, i, N);
-      Input(val[i], ref[i]);
-    }
-  }
-  template <std::size_t N>
-  void operator()(const char* label, double (&val)[N], const double (&ref)[N],
-                  const char* tooltip) {
-    for (int i = 0; i < N; ++i) {
-      Label(label, tooltip, i, N);
-      Input(val[i], ref[i]);
-    }
-  }
-
-  // Special handling for fixed-length character arrays.
-  template <std::size_t N>
-  void operator()(const char* label, char (&val)[N], const char (&ref)[N],
-                  const char* tooltip) {
-    Label(label, tooltip);
-
-    char buf[N + 1];
-    strncpy(buf, val, N);
-    buf[N] = 0;
-    if (read_only_) {
-      ImGui::Text("%s", buf);
-    } else {
-      ImGui::PushID(&val);
-      if (ImGui::InputText("##", buf, N + 1)) {
-        strncpy(val, buf, N);
-        modified_ = true;
-      }
-      ImGui::PopID();
-    }
-  }
-
-  // Special handling for treating enum values as integers.
-  template <typename T, typename U = std::enable_if_t<std::is_enum_v<T>, T>>
-  void operator()(const char* label, T& val, const T& ref,
-                  const char* tooltip) {
-    Label(label, tooltip);
-    Input(val, ref);
-  }
-
-  // Special handling for quaternion/orientation pairs.
-  void operator()(const char* name, const char* alt_name, double (&quat)[4],
-                  const double (&ref_quat)[4], mjsOrientation& alt,
-                  const mjsOrientation& ref_alt, const char* tooltip);
-
-  // Returns true if any value in the table was modified.
-  bool WasModified() const { return modified_; }
-
- private:
-  void Label(const char* label, const char* tooltip, int i = 0, int n = 1);
-
-  template <typename T>
-  void Input(T& val, const T& ref = T()) {
-    ScopedStyle style;
-    if (!read_only_ && val != ref) {
-      constexpr ImVec4 kModifiedColor = ImVec4(1.0f, 0.6f, 0.2f, 1.0f);
-      style.Color(ImGuiCol_Text, kModifiedColor);
-    }
-
-    ImGui::PushID(&val);
-    ImGui::SetNextItemWidth(-1.0f);
-    if constexpr (std::is_same_v<T, mjtByte> || std::is_same_v<T, mjtBool>) {
-      if (read_only_) {
-        ImGui::Text("%s", val ? "true" : "false");
-      } else {
-        const int flags = ImGuiComboFlags_NoArrowButton;
-        if (ImGui::BeginCombo("##", val ? "true" : "false", flags)) {
-          if (ImGui::Selectable("true", val != 0)) {
-            val = 1;
-            modified_ = true;
-          }
-          if (ImGui::Selectable("false", val == 0)) {
-            val = 0;
-            modified_ = true;
-          }
-          ImGui::EndCombo();
-        }
-      }
-    } else if constexpr (std::is_enum_v<T>) {
-      const std::string preview(enum_utils::enum_to_string(val));
-      if (read_only_) {
-        ImGui::Text("%s", preview.c_str());
-      } else {
-        const int flags = ImGuiComboFlags_NoArrowButton;
-        if (ImGui::BeginCombo("##", preview.c_str(), flags)) {
-          for (const auto& [v, n] : enum_utils::entries_v<T>) {
-            if (ImGui::Selectable(std::string(n).c_str(), val == v)) {
-              val = v;
-              modified_ = true;
-            }
-          }
-          ImGui::EndCombo();
-        }
-      }
-    } else if constexpr (std::is_same_v<T, int>) {
-      if (read_only_) {
-        ImGui::Text("%d", val);
-      } else {
-        if (ImGui::InputInt("##", &val)) {
-          modified_ = true;
-        }
-      }
-    } else if constexpr (std::is_same_v<T, float>) {
-      if (read_only_) {
-        ImGui::Text("%f", val);
-      } else {
-        if (ImGui::InputFloat("##", &val)) {
-          modified_ = true;
-        }
-      }
-    } else if constexpr (std::is_same_v<T, double>) {
-      if (read_only_) {
-        ImGui::Text("%f", val);
-      } else {
-        if (ImGui::InputDouble("##", &val)) {
-          modified_ = true;
-        }
-      }
-    } else if constexpr (std::is_same_v<T, int64_t>) {
-      if (read_only_) {
-        ImGui::Text("%lld", val);
-      } else {
-        if (ImGui::InputScalarN("##", ImGuiDataType_S64, &val, 1)) {
-          modified_ = true;
-        }
-      }
-    } else if constexpr (std::is_same_v<T, std::string>) {
-      if (read_only_) {
-        ImGui::Text("%s", val.c_str());
-      } else {
-        if (ImGui::InputText("##", &val)) {
-          modified_ = true;
-        }
-      }
-    }
-
-    if (!read_only_) {
-      if (ImGui::IsItemClicked(ImGuiMouseButton_Right)) {
-        val = ref;
-        modified_ = true;
-      }
-    }
-
-    ImGui::PopID();
-  }
-
-  bool modified_ = false;
-  bool read_only_ = false;
-};
-
-// ImGui horizontal splitter. `height` is the height of the upper pane.
-// `open` is whether the bottom pane is open.  Usage is:
-//
-//   if (ImGui_BeginHSplit("top", &height, &open)) {
-//     // Contents of the upper pane.
-//     if (ImGui_HSplit("bottom", &height, &open)) {
-//       // Contents of the bottom pane.
-//     }
-//     ImGui_EndHSplit(open);
-//   }
-bool ImGui_BeginHSplit(const char* id, float* height, bool* open);
-bool ImGui_HSplit(const char* id, float* height, bool* open);
-void ImGui_EndHSplit(bool open);
-
-// ImGui Slider that supports both float and double types.
-bool ImGui_Slider(const char* name, mjtNum* value, mjtNum min, mjtNum max);
-
-// Logarithmic slider; the geometric mean of min and max sits mid-slider.
-// Ctrl+Click values typed by the user may exceed [min, max].
-bool ImGui_SliderLog(const char* name, mjtNum* value, mjtNum min, mjtNum max);
-
-// Small right-aligned reset button on the current line; returns true when
-// clicked. Use after a widget to give it a visible reset affordance.
-bool ImGui_ResetButton(const char* id, const char* icon = ICON_FA_UNDO,
-                       const char* tooltip = "Reset");
-
-template <typename T>
-bool ImGui_Checkbox(const char* name, T& value) {
-  static_assert(std::is_integral<T>());
-  bool b = (value != 0);
-  const bool res = ImGui::Checkbox(name, &b);
-  if (res) {
-    value = b ? 1 : 0;
-  }
-  return res;
-}
-
-template <typename T>
-bool ImGui_ButtonToggle(const char* label, T* boolean,
-                        const ImVec2& size = ImVec2(0, 0)) {
-  static_assert(std::is_integral_v<T>, "Toggle only supports integral types.");
-
-  ScopedStyle style;
-  const int color = *boolean ? ImGuiCol_TabSelected : ImGuiCol_WindowBg;
-  style.Color(ImGuiCol_Button, ImGui::GetStyle().Colors[color]);
-  style.Var(ImGuiStyleVar_ButtonTextAlign, ImVec2(0.0f, 0.5f));
-
-  const std::string txt =
-      std::string(" ") +
-      std::string(*boolean ? ICON_FA_CHECK_SQUARE_O : ICON_FA_SQUARE_O) + "  " +
-      label;
-  if (ImGui::Button(txt.c_str(), size)) {
-    *boolean = !(*boolean);
-    return true;
-  }
-  return false;
-}
-
-template <typename T>
-bool ImGui_SwitchToggle(const char* label, T* boolean,
-                        const ImVec2& size = ImVec2(0, 0)) {
-  static_assert(std::is_integral_v<T>, "Toggle only supports integral types.");
-
-  int i = static_cast<int>(*boolean);
-  const ImGuiSliderFlags flags = ImGuiSliderFlags_NoInput;
-  if (size.x > 0) {
-    ImGui::SetNextItemWidth(size.x);
-  }
-  const bool changed = ImGui::SliderInt(label, &i, 0, 1, label, flags);
-  *boolean = (i != 0);
-  return changed;
-}
-
-inline bool ImGui_BitToggle(const char* label, int* flags, int flags_value,
-                            const ImVec2& size = ImVec2(0, 0)) {
-  bool boolean = (*flags) & flags_value;
-  const bool changed = ImGui_ButtonToggle(label, &boolean, size);
-  if (changed) {
-    *flags = boolean ? ((*flags) | flags_value) : ((*flags) & ~flags_value);
-  }
-  return changed;
-}
-
-// Options for ImGui_InputN (see below).
-template <typename T>
-struct ImGuiOpts {
-  std::optional<T> min;
-  std::optional<T> max;
-  std::optional<T> step;
-  std::optional<T> step_fast;
-  std::optional<float> width;
-  const char* format = std::is_floating_point_v<T> ? "%.3g" : "%d";
-  // ImGui_LogStepper only: the ladder's bottom rung is 0 below this value.
-  std::optional<T> zero_below;
-};
-
-// A compile-time wrapper around ImGui::InputScalarN. This is useful because
-// MuJoCo uses an `mjtNum` type which is an alias for float or double.
-//
-// Options can be used to specify step sizes, clamp ranges, and formatting.
-template <typename T>
-bool ImGui_InputN(const char* name, T* value, int num, ImGuiOpts<T> opts = {}) {
-  bool res = false;
-  if (opts.width) {
-    ImGui::SetNextItemWidth(opts.width.value());
-  }
-  if constexpr (std::is_same_v<T, int>) {
-    const int step = opts.step.value_or(1);
-    const int step_fast = opts.step_fast.value_or(100);
-    const char* format = opts.format;
-    res = ImGui::InputScalarN(name, ImGuiDataType_S32, value, num, &step,
-                              &step_fast, format);
-
-  } else if constexpr (std::is_same_v<T, float>) {
-    const float step = opts.step.value_or(0.f);
-    const float step_fast = opts.step_fast.value_or(0.f);
-    const float* pstep = opts.step.has_value() ? &step : nullptr;
-    const float* pstep_fast = opts.step_fast.has_value() ? &step_fast : nullptr;
-    const char* format = opts.format ? opts.format : "%.3f";
-    res = ImGui::InputScalarN(name, ImGuiDataType_Float, value, num, pstep,
-                              pstep_fast, format);
-
-  } else if constexpr (std::is_same_v<T, double>) {
-    const double step = opts.step.value_or(0.0);
-    const double step_fast = opts.step_fast.value_or(0.0);
-    const double* pstep = opts.step.has_value() ? &step : nullptr;
-    const double* pstep_fast =
-        opts.step_fast.has_value() ? &step_fast : nullptr;
-    const char* format = opts.format ? opts.format : "%.3f";
-    res = ImGui::InputScalarN(name, ImGuiDataType_Double, value, num, pstep,
-                              pstep_fast, format);
-  } else {
-    static_assert(dependent_false<T>::value, "Unsupported type");
-  }
-
-  if (opts.min.has_value()) {
-    if (*value < *opts.min) *value = *opts.min;
-  }
-  if (opts.max.has_value()) {
-    if (*value > *opts.max) *value = *opts.max;
-  }
-  return res;
-}
-
-template <typename T>
-bool ImGui_Input(const char* name, T* value, ImGuiOpts<T> opts = {}) {
-  return ImGui_InputN(name, value, 1, opts);
-}
-
-// A numeric input whose - / + buttons step through a "well-tempered" logarithmic
-// ladder (see WellTemperedStep): round numbers spaced evenly in log space that
-// close each decade on a power of ten. Typed edits are applied on enter or focus
-// change, like ImGui_Input. Suited to quantities spanning several orders of
-// magnitude, such as the simulation timestep. The buttons auto-repeat when held.
-template <typename T>
-bool ImGui_LogStepper(const char* name, T* value, ImGuiOpts<T> opts = {}) {
-  const float button = ImGui::GetFrameHeight();
-  const float spacing = ImGui::GetStyle().ItemInnerSpacing.x;
-  float input_width = ImGui::CalcItemWidth() - 2 * (button + spacing);
-  if (input_width < 1) input_width = 1;
-
-  const double zero_below =
-      opts.zero_below ? static_cast<double>(*opts.zero_below) : 0.0;
-  auto clamp = [&](T v) {
-    if (opts.min && v < *opts.min) v = *opts.min;
-    if (opts.max && v > *opts.max) v = *opts.max;
-    return v;
-  };
-
-  bool changed = false;
-  ImGui::PushID(name);
-
-  // Lay out like ImGui's own InputScalar stepper: the field, then the - / +
-  // buttons to its right, then the label.
-  ImGuiOpts<T> field = opts;
-  field.step = std::nullopt;  // suppress ImGui's own linear step buttons
-  field.step_fast = std::nullopt;
-  field.width = input_width;
-  if (ImGui_InputN("##value", value, 1, field)) changed = true;
-
-  ImGui::PushButtonRepeat(true);
-  ImGui::SameLine(0, spacing);
-  if (ImGui::Button("-", ImVec2(button, button))) {
-    *value = clamp(static_cast<T>(WellTemperedStep(*value, -1, zero_below)));
-    changed = true;
-  }
-  ImGui::SameLine(0, spacing);
-  if (ImGui::Button("+", ImVec2(button, button))) {
-    *value = clamp(static_cast<T>(WellTemperedStep(*value, +1, zero_below)));
-    changed = true;
-  }
-  ImGui::PopButtonRepeat();
-
-  ImGui::SameLine(0, spacing);
-  ImGui::TextUnformatted(name);
-  ImGui::PopID();
-  return changed;
-}
-
-// Returns true if the given chord is has _just_ been pressed in this frame.
-// (This is opposed to "Pressed" which means the chord is active, i.e. the user
-// is holding down the keys.)
-inline bool ImGui_IsChordJustPressed(ImGuiKeyChord chord) {
-  return ImGui::IsKeyChordPressed(chord, 0);
-}
-
-// Stateful button that displays the given color when active, and shows a
-// semi-transparent hover color (controlled by hover_alpha) when inactive.
-inline bool ImGui_ColorButton(const char* label, bool active, ImColor color,
-                              const ImVec2& size = ImVec2(0, 0),
-                              float hover_alpha = 0.5f) {
-  ScopedStyle style;
-  const ImColor hover(color.Value.x, color.Value.y, color.Value.z,
-                      color.Value.w * hover_alpha);
-  if (active) {
-    style.Color(ImGuiCol_Button, color);
-    style.Color(ImGuiCol_ButtonHovered, color);
-  } else {
-    style.Color(ImGuiCol_ButtonHovered, hover);
-  }
-  style.Color(ImGuiCol_ButtonActive, color);
-  return ImGui::Button(label, size);
-}
-
-// Like ImGui_ColorButton, but with per-corner rounding control via ImDrawFlags.
-// Use ImDrawFlags_RoundCornersLeft, ImDrawFlags_RoundCornersRight,
-// ImDrawFlags_RoundCornersNone, ImDrawFlags_RoundCornersAll, etc.
-inline bool ImGui_ColorButtonEx(const char* label, bool active, ImColor color,
-                                ImDrawFlags corners,
-                                const ImVec2& size = ImVec2(0, 0),
-                                float hover_alpha = 0.5f) {
-  const ImGuiStyle& s = ImGui::GetStyle();
-  const ImVec2 label_size = ImGui::CalcTextSize(label, nullptr, true);
-  const ImVec2 btn_size(
-      size.x > 0 ? size.x : label_size.x + s.FramePadding.x * 2,
-      size.y > 0 ? size.y : label_size.y + s.FramePadding.y * 2);
-
-  const ImVec2 pos = ImGui::GetCursorScreenPos();
-  ImGui::InvisibleButton(label, btn_size);
-  const bool clicked = ImGui::IsItemClicked();
-  const bool hovered = ImGui::IsItemHovered();
-
-  // Determine background color.
-  const ImColor hover_color(color.Value.x, color.Value.y, color.Value.z,
-                            color.Value.w * hover_alpha);
-  ImColor bg;
-  if (active) {
-    bg = color;
-  } else if (hovered) {
-    bg = hover_color;
-  } else {
-    bg = ImGui::GetColorU32(ImGuiCol_Button);
-  }
-
-  // Draw background with per-corner rounding.
-  ImDrawList* dl = ImGui::GetWindowDrawList();
-  const ImVec2 max(pos.x + btn_size.x, pos.y + btn_size.y);
-  dl->AddRectFilled(pos, max, bg, s.FrameRounding, corners);
-
-  // Draw border.
-  if (s.FrameBorderSize > 0) {
-    dl->AddRect(pos, max, ImGui::GetColorU32(ImGuiCol_Border), s.FrameRounding,
-                corners, s.FrameBorderSize);
-  }
-
-  // Draw label centered.
-  const ImVec2 text_pos(pos.x + (btn_size.x - label_size.x) * 0.5f,
-                        pos.y + (btn_size.y - label_size.y) * 0.5f);
-  dl->AddText(text_pos, ImGui::GetColorU32(ImGuiCol_Text), label);
-
-  return clicked;
-}
-
-// Begin a boxed section with outer borders - use EndBoxSection to close.
-inline bool BeginBoxSection(const char* id, ImGuiTableFlags extra_flags = 0) {
-  ImGuiTableFlags flags = ImGuiTableFlags_BordersOuter | extra_flags;
-  if (ImGui::BeginTable(id, 1, flags)) {
-    ImGui::TableNextRow();
-    ImGui::TableNextColumn();
-    return true;
-  }
-  return false;
-}
-
-inline void EndBoxSection() { ImGui::EndTable(); }
-
-// Saves the given contents to the clipboard if the clipboard is available.
-void MaybeSaveToClipboard(const std::string& contents);
-
-// Returns the expected width of a UI label based on MuJoCo visualization flags.
-float GetExpectedLabelWidth();
-
-// Returns plot flags with title/legend conditionally hidden when the plot
-// area is too small.  `plot_size` is the final rendered size of the plot.
-ImPlotFlags ImPlot_SetupPlotFlags(ImVec2 plot_size);
-
-// Sets up the X axis as a "time/frame" axis.
-// Hides tick labels when the plot is narrow.
-// Uses `label` as the axis label (empty string to hide) and auto-fit limits.
-void ImPlot_SetupTimeAxis(
-    ImVec2 plot_size, const char* label = "",
-    ImPlotAxisFlags extra_flags = ImPlotAxisFlags_AutoFit);
-
-// Sets up a Y axis with auto-fit limits.
-// Hides tick labels when the plot is short.
-void ImPlot_SetupValueAxis(
-    ImVec2 plot_size, const char* label = "", const char* format = nullptr,
-    ImPlotAxisFlags extra_flags = ImPlotAxisFlags_AutoFit);
-
-// Sets up a Y axis with fixed limits and optional explicit ticks.
-// Hides tick labels when the plot is short.
-void ImPlot_SetupFixedAxis(ImVec2 plot_size, double y_min, double y_max,
-                           const char* label = "", const char* format = nullptr,
-                           const double* tick_values = nullptr,
-                           const char* const* tick_labels = nullptr,
-                           int n_ticks = 0);
-
-enum class ImPlotLayoutDirection {
-  kHorizontal,
-  kVertical,
-};
-
-struct ImPlotPairLayout {
-  ImVec2 plot_size;  // Size for each individual plot.
-  ImPlotLayoutDirection direction;
-};
-
-// Computes a responsive layout for two plots that share the available
-// content region.  When the region is wider than tall, the plots are placed
-// side-by-side; otherwise they are stacked vertically.
-ImPlotPairLayout ImPlot_ComputePairLayout();
-
-// Draws text at the given screen coordinates in clip space (i.e. [-1,-1,-1] to
-// [1,1,1]).
-void DrawTextAt(const char* text, float x, float y, float z);
-
-// Grid position for overlays within a viewport rectangle.
-enum class OverlayPos {
-  kTopLeft,
-  kTop,
-  kTopRight,
-  kBottomLeft,
-  kBottom,
-  kBottomRight,
-};
-
-// Begin an overlay window at the given grid position within a workspace rect.
-// workspace_rect: (x, y, width, height) of the viewport area.
-// min_width:      minimum window width in scaled pixels (0 = auto).
-// alpha:          window transparency (0.0-1.0).
-// Returns true if the overlay is visible (like ImGui::Begin).
-// Must be paired with EndOverlay(), even if this returns false.
-bool BeginOverlay(const char* id, OverlayPos pos, ImVec4 workspace_rect,
-                  float min_width = 0.0f, float alpha = 0.8f);
-void EndOverlay();
-
-// One-liner: display a text overlay with automatic width sizing.
-// Measures the longest line in `text`, clamps to workspace width, wraps text
-// if needed.
-// color: text color. If all components are 0, uses the theme default.
-// font_scale: scale factor for the default font (1.0 = normal).
-void TextOverlay(const char* id, OverlayPos pos, ImVec4 workspace_rect,
-                 const char* text, ImVec4 color = ImVec4(0, 0, 0, 0),
-                 float font_scale = 1.0f, float alpha = 0.8f,
-                 float min_width = 0.0f);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_
diff --git a/src/experimental/platform/ux/interaction.cc b/src/experimental/platform/ux/interaction.cc
deleted file mode 100644
index bf3cfc08..00000000
--- a/src/experimental/platform/ux/interaction.cc
+++ /dev/null
@@ -1,602 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/interaction.h"
-
-#include <algorithm>
-#include <cmath>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "engine/engine_vis_interact.h"
-#include "engine/engine_vis_visualize.h"
-
-namespace mujoco::platform {
-
-static mjtNum CalculateMovementScale(const mjModel* m, const mjvCamera* cam) {
-  float zclip[2] = {0, 0}, zver[2] = {0, 0};
-  mjv_cameraFrustum(zver, nullptr, zclip, m, cam);
-  if (cam->orthographic) {
-    // TODO(b/346130949): multiply by mystery coefficient
-    return (zver[1] + zver[0]) * 0.15;
-  } else if (zclip[0] >= mjMINVAL) {
-    return (zver[1] + zver[0]) / zclip[0];
-  } else {
-    mjERROR("mjvScene frustum_near too small");
-    return 0;
-  }
-}
-
-static void AlignToCamera(mjtNum res[3], mjtMouse action, mjtNum dx, mjtNum dy,
-                          const mjtNum forward[3]) {
-  mjtNum vec[3];
-  switch (action) {
-    case mjMOUSE_ROTATE_V:
-      vec[0] = dy;
-      vec[1] = 0;
-      vec[2] = dx;
-      break;
-    case mjMOUSE_ROTATE_H:
-      vec[0] = dy;
-      vec[1] = dx;
-      vec[2] = 0;
-      break;
-    case mjMOUSE_MOVE_V:
-    case mjMOUSE_MOVE_V_REL:
-      vec[0] = dx;
-      vec[1] = 0;
-      vec[2] = -dy;
-      break;
-    case mjMOUSE_MOVE_H:
-    case mjMOUSE_MOVE_H_REL:
-      vec[0] = dx;
-      vec[1] = -dy;
-      vec[2] = 0;
-      break;
-    case mjMOUSE_ZOOM:
-      break;
-    default:
-      mjERROR("unexpected mouse action %d in AlignToCamera", action);
-  }
-
-  // call 3D converter
-  mjv_alignToCamera(res, vec, forward);
-}
-
-void InitPerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
-                 mjvPerturb* pert, mjtPertBit active) {
-  // compute selection point in world coordinates
-  const int sel = pert->select;
-  mjtNum selpos[3];
-  mju_mulMatVec3(selpos, d->xmat + 9 * sel, pert->localpos);
-  mju_addTo3(selpos, d->xpos + 3 * sel);
-
-  // compute average spatial inertia at selection point
-  const int nv = m->nv;
-  std::vector<mjtNum> sqrtInvD(nv);
-  for (int i = 0; i < nv; i++) {
-    sqrtInvD[i] = mju_sqrt(d->qLDiagInv[i]);
-  }
-
-  std::vector<mjtNum> jac(3 * nv);
-  mj_jac(m, d, jac.data(), nullptr, selpos, sel);
-
-  std::vector<mjtNum> jacM2(3 * nv);
-  mj_solveM2(m, const_cast<mjData*>(d), jacM2.data(), jac.data(),
-             sqrtInvD.data(), 3);
-  mjtNum invmass = mju_dot(jacM2.data() + 0 * nv, jacM2.data() + 0 * nv, nv) +
-                   mju_dot(jacM2.data() + 1 * nv, jacM2.data() + 1 * nv, nv) +
-                   mju_dot(jacM2.data() + 2 * nv, jacM2.data() + 2 * nv, nv);
-  pert->localmass = (invmass == 0) ? 1 : 3 / mju_max(invmass, mjMINVAL);
-
-  // scale localmass with flex average number of edges per vertex
-  if (pert->flexselect >= 0 && !m->flex_rigid[pert->flexselect]) {
-    pert->localmass *= (2.0 * m->flex_edgenum[pert->flexselect]) /
-                       (mjtNum)m->flex_vertnum[pert->flexselect];
-  }
-
-  // copy
-  mju_copy3(pert->refpos, d->xipos + 3 * sel);
-  mju_mulQuat(pert->refquat, d->xquat + 4 * sel, m->body_iquat + 4 * sel);
-  mju_copy3(pert->refselpos, selpos);
-
-  // get camera info
-  mjtNum headpos[3], forward[3];
-  mjv_cameraFrame(headpos, forward, nullptr, nullptr, d, cam);
-
-  // compute scaling: rendered pert->refselpos displacement = mouse displacement
-  mjtNum dif[3];
-  mju_sub3(dif, pert->refselpos, headpos);
-  pert->scale = CalculateMovementScale(m, cam) * mju_dot3(dif, forward);
-  pert->active = active;
-}
-
-void MovePerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
-                 mjvPerturb* pert, mjtMouse action, mjtNum reldx,
-                 mjtNum reldy) {
-  const mjtNum xaxis[3] = {1, 0, 0};
-  const mjtNum yaxis[3] = {0, 1, 0};
-  const mjtNum zaxis[3] = {0, 0, 1};
-
-  int sel = pert->select;
-  const mjtNum* xmat = d->xmat + 9 * sel;
-  mjtNum forward[3], vec[3], scl, q1[4], xiquat[4];
-
-  // get camera info and align
-  mjv_cameraFrame(nullptr, forward, nullptr, nullptr, d, cam);
-  AlignToCamera(vec, action, reldx, reldy, forward);
-
-  // process action
-  switch ((mjtMouse)action) {
-    case mjMOUSE_MOVE_V:
-    case mjMOUSE_MOVE_H:
-      // move along world-space horizontal/vertical planes relative to camera
-      mju_addToScl3(pert->refpos, vec, pert->scale);
-      mju_addToScl3(pert->refselpos, vec, pert->scale);
-      break;
-
-    case mjMOUSE_MOVE_V_REL:
-    case mjMOUSE_MOVE_H_REL:
-      // move along object's local coordinate frame
-      if (action == mjMOUSE_MOVE_H_REL) {
-        mju_mulMatVec3(vec, xmat, xaxis);
-        mju_addToScl3(pert->refpos, vec, pert->scale * reldy);
-        mju_addToScl3(pert->refselpos, vec, pert->scale * reldy);
-      } else {
-        mju_mulMatVec3(vec, xmat, zaxis);
-        mju_addToScl3(pert->refpos, vec, pert->scale * reldy);
-        mju_addToScl3(pert->refselpos, vec, pert->scale * reldy);
-      }
-
-      mju_mulMatVec3(vec, xmat, yaxis);
-      mju_addToScl3(pert->refpos, vec, pert->scale * reldx);
-      mju_addToScl3(pert->refselpos, vec, pert->scale * reldx);
-      break;
-
-    case mjMOUSE_ROTATE_V:
-    case mjMOUSE_ROTATE_H:
-      // normalize vector, get length
-      scl = mju_normalize3(vec);
-
-      // make quaternion and apply
-      mju_axisAngle2Quat(q1, vec, scl * mjPI * 2);
-      mju_mulQuat(pert->refquat, q1, pert->refquat);
-      mju_normalize4(pert->refquat);
-
-      // compute xiquat
-      mju_mulQuat(xiquat, d->xquat + 4 * sel, m->body_iquat + 4 * sel);
-
-      // limit rotation relative to selected body
-      if (sel > 0 && sel < m->nbody) {
-        // q2 = neg(selbody) * refquat
-        mjtNum q2[4];
-        mju_negQuat(q1, xiquat);
-        mju_mulQuat(q2, q1, pert->refquat);
-
-        // convert q2 to axis-angle
-        mjtNum dif[3];
-        mju_quat2Vel(dif, q2, 1);
-        scl = mju_normalize3(dif);
-
-        // check limit: +/- 90 deg allowed
-        if (scl < -mjPI * 0.5 || scl > mjPI * 0.5) {
-          // clamp angle
-          scl = mju_max(-mjPI * 0.5, mju_min(mjPI * 0.5, scl));
-
-          // reconstruct q2
-          mju_axisAngle2Quat(q2, dif, scl);
-
-          // set refquat = selbody * q2_new
-          mju_mulQuat(pert->refquat, xiquat, q2);
-        }
-      }
-      break;
-
-    case mjMOUSE_ZOOM:
-      break;
-
-    default:
-      mjERROR("unexpected mouse action %d", action);
-  }
-}
-
-void MoveCamera(const mjModel* m, const mjData* d, mjvCamera* cam,
-                CameraMotion motion, mjtNum dx, mjtNum dy) {
-  if (cam->type == mjCAMERA_FIXED) {
-    return;
-  }
-
-  mjtNum headpos[3], forward[3], up[3], right[3];
-  mjtNum vec[3], dif[3], scl;
-
-  switch (motion) {
-    case CameraMotion::ZOOM:
-      // Zoom the camera towards the target by adjusting its distance to the
-      // target.
-      cam->distance -= mju_log(1 + cam->distance / m->stat.extent / 3) * dy *
-                       9 * m->stat.extent;
-      break;
-
-    case CameraMotion::ORBIT:
-      cam->azimuth -= dx * 180.0;
-      cam->elevation -= dy * 180.0;
-      break;
-
-    case CameraMotion::TRUCK_PEDESTAL:
-    case CameraMotion::TRUCK_DOLLY:
-      if (cam->type == mjCAMERA_TRACKING) {
-        return;
-      }
-
-      mjv_cameraFrame(headpos, forward, up, nullptr, d, cam);
-      mju_cross(right, forward, up);
-
-      // y movement: either dolly (forward/back) or pedestal (up/down)
-      mju_addToScl3(cam->lookat,
-                    (motion == CameraMotion::TRUCK_PEDESTAL) ? up : forward,
-                    dy);
-
-      // x movement: camera truck (left/right)
-      mju_addToScl3(cam->lookat, right, dx);
-
-      break;
-
-    case CameraMotion::PAN_TILT:
-      if (cam->type == mjCAMERA_TRACKING) {
-        return;
-      }
-
-      mjv_cameraFrame(headpos, forward, nullptr, nullptr, d, cam);
-      cam->azimuth -= dx * 180.0;
-      cam->elevation -= dy * 180.0;
-      mjv_cameraFrame(nullptr, forward, nullptr, nullptr, d, cam);
-      mju_addScl3(cam->lookat, headpos, forward, cam->distance);
-      break;
-
-    case CameraMotion::PLANAR_MOVE_V:
-    case CameraMotion::PLANAR_MOVE_H:
-      // do not move lookat point of tracking camera
-      if (cam->type == mjCAMERA_TRACKING) {
-        return;
-      }
-
-      // get camera info and align
-      mjv_cameraFrame(headpos, forward, nullptr, nullptr, d, cam);
-      AlignToCamera(vec,
-                    (motion == CameraMotion::PLANAR_MOVE_V) ? mjMOUSE_MOVE_V
-                                                            : mjMOUSE_MOVE_H,
-                    dx, dy, forward);
-
-      // compute scaling: rendered lookat displacement = mouse displacement
-      mju_sub3(dif, cam->lookat, headpos);
-      scl = CalculateMovementScale(m, cam) * mju_dot3(dif, forward);
-
-      // move lookat point in opposite direction
-      mju_addToScl3(cam->lookat, vec, -scl);
-      break;
-  }
-
-  // clamp camera parameters
-  if (cam->azimuth > 180) {
-    cam->azimuth -= 360;
-  }
-  if (cam->azimuth < -180) {
-    cam->azimuth += 360;
-  }
-  if (cam->elevation > 89) {
-    cam->elevation = 89;
-  }
-  if (cam->elevation < -89) {
-    cam->elevation = -89;
-  }
-  if (cam->distance < 0.01 * m->stat.extent) {
-    cam->distance = 0.01 * m->stat.extent;
-  }
-  if (cam->distance > 100 * m->stat.extent) {
-    cam->distance = 100 * m->stat.extent;
-  }
-}
-
-static void MakePickRay(mjtNum pos[3], mjtNum ray[3], const mjModel* m,
-                        const mjData* d, const mjvCamera* camera, float relx,
-                        float rely, float aspect_ratio) {
-  mjtNum forward[3], up[3], right[3];
-  mjv_cameraFrame(pos, forward, up, right, d, camera);
-
-  float zver[2], zhor[2], zclip[2] = {0, 0};
-  mjv_cameraFrustum(zver, zhor, zclip, m, camera);
-
-  // compute frustum halfwidth to match viewport aspect ratio
-  mjtNum half_width = 0.5 * aspect_ratio * (zver[0] + zver[1]);
-  mjtNum frustum_center = (zhor[1] - zhor[0]) / 2;
-
-  // compute up and right offsets from normalized cursor
-  mjtNum d_up = -zver[0] + rely * (zver[0] + zver[1]);
-  mjtNum d_right = frustum_center + (2 * relx - 1) * half_width;
-
-  if (camera->orthographic) {
-    mju_copy3(ray, forward);
-    mju_addToScl3(pos, up, d_up);
-    mju_addToScl3(pos, right, d_right);
-  } else {
-    mju_scl3(ray, forward, zclip[0]);
-    mju_addToScl3(ray, up, d_up);
-    mju_addToScl3(ray, right, d_right);
-    mju_normalize3(ray);
-  }
-}
-
-static PickResult PickGeom(const mjModel* m, const mjData* d,
-                           const mjtNum ray_pos[3], const mjtNum ray_dir[3],
-                           const mjvOption* vis_options) {
-  PickResult result;
-  result.dist =
-      mj_ray(m, d, ray_pos, ray_dir, vis_options->geomgroup,
-             vis_options->flags[mjVIS_STATIC], -1, &result.geom, nullptr);
-  mju_addScl3(result.point, ray_pos, ray_dir, result.dist);
-  result.body = m->geom_bodyid[result.geom];
-  return result;
-}
-
-static PickResult PickFlex(const mjModel* m, const mjData* d,
-                           const mjtNum ray_pos[3], const mjtNum ray_dir[3],
-                           const mjvOption* vis_options) {
-  const mjtByte flag_vert = vis_options->flags[mjVIS_FLEXVERT];
-  const mjtByte flag_edge = vis_options->flags[mjVIS_FLEXEDGE];
-  const mjtByte flag_face = vis_options->flags[mjVIS_FLEXFACE];
-  const mjtByte flag_skin = vis_options->flags[mjVIS_FLEXSKIN];
-
-  PickResult result;
-  if (!flag_vert && !flag_edge && !flag_face && !flag_skin) {
-    return result;
-  }
-
-  for (int i = 0; i < m->nflex; i++) {
-    int vertid;
-    const mjtNum test_dist =
-        mj_rayFlex(m, d, vis_options->flex_layer, flag_vert, flag_edge,
-                   flag_face, flag_skin, i, ray_pos, ray_dir, &vertid, nullptr);
-
-    if (test_dist < 0) {
-      continue;
-    } else if (result.dist >= 0 && test_dist >= result.dist) {
-      continue;
-    }
-
-    result.dist = test_dist;
-    result.flex = i;
-    result.body = mjv_flexBodyId(m, d, i, vertid, result.point);
-  }
-  return result;
-}
-
-static void MakeSkin(const mjModel* m, const mjData* d, const mjvOption* opt,
-                     int i, float* skinnormal, float* skinvert) {
-  int vertadr = m->skin_vertadr[i];
-  int vertnum = m->skin_vertnum[i];
-  int faceadr = m->skin_faceadr[i];
-  int facenum = m->skin_facenum[i];
-
-  // accumulate positions from all bones
-  for (int j = m->skin_boneadr[i]; j < m->skin_boneadr[i] + m->skin_bonenum[i];
-       j++) {
-    // get bind pose
-    mjtNum bindpos[3] = {(mjtNum)m->skin_bonebindpos[3 * j + 0],
-                         (mjtNum)m->skin_bonebindpos[3 * j + 1],
-                         (mjtNum)m->skin_bonebindpos[3 * j + 2]};
-    mjtNum bindquat[4] = {(mjtNum)m->skin_bonebindquat[4 * j + 0],
-                          (mjtNum)m->skin_bonebindquat[4 * j + 1],
-                          (mjtNum)m->skin_bonebindquat[4 * j + 2],
-                          (mjtNum)m->skin_bonebindquat[4 * j + 3]};
-
-    // compute rotation
-    int bodyid = m->skin_bonebodyid[j];
-    mjtNum quat[4], quatneg[4], rotate[9];
-    mju_negQuat(quatneg, bindquat);
-    mju_mulQuat(quat, d->xquat + 4 * bodyid, quatneg);
-    mju_quat2Mat(rotate, quat);
-
-    // compute translation
-    mjtNum translate[3];
-    mju_mulMatVec3(translate, rotate, bindpos);
-    mju_sub3(translate, d->xpos + 3 * bodyid, translate);
-
-    // process all bone vertices
-    for (int k = m->skin_bonevertadr[j];
-         k < m->skin_bonevertadr[j] + m->skin_bonevertnum[j]; k++) {
-      // vertex id and weight
-      int vid = m->skin_bonevertid[k];
-      float vweight = m->skin_bonevertweight[k];
-
-      // get original position
-      mjtNum pos[3] = {
-          (mjtNum)m->skin_vert[3 * (vertadr + vid)],
-          (mjtNum)m->skin_vert[3 * (vertadr + vid) + 1],
-          (mjtNum)m->skin_vert[3 * (vertadr + vid) + 2],
-      };
-
-      // transform
-      mjtNum pos1[3];
-      mju_mulMatVec3(pos1, rotate, pos);
-      mju_addTo3(pos1, translate);
-
-      // accumulate position
-      skinvert[(3 * vid)] += vweight * (float)pos1[0];
-      skinvert[(3 * vid) + 1] += vweight * (float)pos1[1];
-      skinvert[(3 * vid) + 2] += vweight * (float)pos1[2];
-    }
-  }
-
-  // inflate
-  if (m->skin_inflate[i] && skinnormal != nullptr) {
-    // compute vertex normals from face normals
-    for (int k = faceadr; k < faceadr + facenum; k++) {
-      // get face vertex indices
-      int vid[3] = {m->skin_face[3 * k], m->skin_face[3 * k + 1],
-                    m->skin_face[3 * k + 2]};
-
-      // get triangle edges
-      mjtNum vec01[3], vec02[3];
-      for (int r = 0; r < 3; r++) {
-        vec01[r] = skinvert[3 * (vid[1]) + r] - skinvert[3 * (vid[0]) + r];
-        vec02[r] = skinvert[3 * (vid[2]) + r] - skinvert[3 * (vid[0]) + r];
-      }
-
-      // compute face normal
-      mjtNum nrm[3];
-      mju_cross(nrm, vec01, vec02);
-
-      // add normal to each vertex with weight = area
-      for (int r = 0; r < 3; r++) {
-        for (int t = 0; t < 3; t++) {
-          skinnormal[3 * (vid[r]) + t] += nrm[t];
-        }
-      }
-    }
-
-    // normalize normals
-    for (int k = 0; k < vertnum; k++) {
-      float s = sqrtf(skinnormal[3 * (k) + 0] * skinnormal[3 * k + 0] +
-                      skinnormal[3 * (k) + 1] * skinnormal[3 * k + 1] +
-                      skinnormal[3 * (k) + 2] * skinnormal[3 * k + 2]);
-
-      float scl = 1 / mjMAX(mjMINVAL, s);
-      skinnormal[3 * k] *= scl;
-      skinnormal[3 * k + 1] *= scl;
-      skinnormal[3 * k + 2] *= scl;
-    }
-
-    float inflate = m->skin_inflate[i];
-    for (int k = 0; k < vertnum; k++) {
-      skinvert[3 * k] += inflate * skinnormal[3 * k];
-      skinvert[3 * k + 1] += inflate * skinnormal[3 * k + 1];
-      skinvert[3 * k + 2] += inflate * skinnormal[3 * k + 2];
-    }
-  }
-}
-
-static PickResult PickSkin(const mjModel* m, const mjData* d,
-                           const mjtNum ray_pos[3], const mjtNum ray_dir[3],
-                           const mjvOption* vis_options) {
-  PickResult result;
-  if (!vis_options->flags[mjVIS_SKIN]) {
-    return result;
-  }
-
-  std::vector<float> vertex_buffer;
-  std::vector<float> normal_buffer;
-
-  for (int i = 0; i < m->nskin; i++) {
-    const int skin_group = mjMAX(0, mjMIN(mjNGROUP - 1, m->skin_group[i]));
-    if (!vis_options->skingroup[skin_group]) {
-      continue;
-    }
-
-    vertex_buffer.resize(3 * m->skin_vertnum[i]);
-    if (m->skin_inflate[i]) {
-      normal_buffer.resize(3 * m->skin_vertnum[i]);
-    }
-
-    float* skinvert = vertex_buffer.data();
-    float* skinnormal = m->skin_inflate[i] ? normal_buffer.data() : nullptr;
-    MakeSkin(m, d, vis_options, i, skinvert, skinnormal);
-
-    int vertid;
-    mjtNum test_dist = mju_raySkin(m->skin_facenum[i], m->skin_vertnum[i],
-                                   m->skin_face + 3 * m->skin_faceadr[i],
-                                   skinvert, ray_pos, ray_dir, &vertid);
-    if (test_dist < 0) {
-      continue;
-    } else if (result.dist >= 0 && test_dist >= result.dist) {
-      continue;
-    }
-
-    result.dist = test_dist;
-
-    // find body with largest weight for this vertex
-    float best_weight = -1;
-    for (int j = m->skin_boneadr[i];
-         j < m->skin_boneadr[i] + m->skin_bonenum[i]; j++) {
-      for (int k = m->skin_bonevertadr[j];
-           k < m->skin_bonevertadr[j] + m->skin_bonevertnum[j]; k++) {
-        // get vertex id and weight
-        const int vertex_id = m->skin_bonevertid[k];
-        const float vertex_weight = m->skin_bonevertweight[k];
-
-        // update if matching id and bigger weight
-        if (vertex_id == vertid && vertex_weight > best_weight) {
-          best_weight = vertex_weight;
-          result.body = m->skin_bonebodyid[j];
-          result.skin = i;
-          mju_f2n(result.point, skinvert + 3 * vertid, 3);
-        }
-      }
-    }
-  }
-
-  return result;
-}
-
-PickResult Pick(const mjModel* m, const mjData* d, const mjvCamera* camera,
-                float x, float y, float aspect_ratio,
-                const mjvOption* vis_options) {
-  mjtNum ray_pos[3];
-  mjtNum ray_dir[3];
-  MakePickRay(ray_pos, ray_dir, m, d, camera, x, 1.0 - y, aspect_ratio);
-
-  PickResult results[3];
-  results[0] = PickGeom(m, d, ray_pos, ray_dir, vis_options);
-  results[1] = PickFlex(m, d, ray_pos, ray_dir, vis_options);
-  results[2] = PickSkin(m, d, ray_pos, ray_dir, vis_options);
-
-  PickResult best_result;
-  for (int i = 0; i < 3; i++) {
-    if (results[i].dist < 0) {
-      continue;
-    }
-    if (best_result.dist < 0 || results[i].dist < best_result.dist) {
-      best_result = results[i];
-    }
-  }
-  return best_result;
-}
-
-int SetCamera(const mjModel* m, mjvCamera* camera, int request_idx) {
-  const int ncam = m ? m->ncam : 0;
-  const int camera_idx = std::clamp(request_idx, kTumbleCameraIdx, ncam - 1);
-
-  if (camera_idx == kTumbleCameraIdx) {
-    camera->type = mjCAMERA_FREE;
-    camera->fixedcamid = -1;
-  } else if (camera_idx == kFreeCameraIdx) {
-    camera->type = mjCAMERA_FREE;
-    camera->distance = 2.0f;
-    camera->fixedcamid = -1;
-  } else if (camera_idx == kTrackingCameraIdx) {
-    if (camera->trackbodyid >= 0) {
-      camera->type = mjCAMERA_TRACKING;
-    } else {
-      camera->type = mjCAMERA_FREE;
-    }
-    camera->fixedcamid = -1;
-  } else {
-    camera->type = mjCAMERA_FIXED;
-    camera->fixedcamid = camera_idx;
-  }
-
-  return camera_idx;
-}
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/interaction.h b/src/experimental/platform/ux/interaction.h
deleted file mode 100644
index 9e6e9972..00000000
--- a/src/experimental/platform/ux/interaction.h
+++ /dev/null
@@ -1,84 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_INTERACTION_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_INTERACTION_H_
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-// The result of a pick operation.
-struct PickResult {
-  mjtNum point[3] = {0, 0, 0};  // World coordinates
-  mjtNum dist = -1;             // Distance from the camera.
-  int body = -1;
-  int geom = -1;
-  int flex = -1;
-  int skin = -1;
-};
-
-// Returns information about the object (if any) under the mouse cursor.
-PickResult Pick(const mjModel* m, const mjData* d, const mjvCamera* camera,
-                float x, float y, float aspect_ratio,
-                const mjvOption* vis_options);
-
-// Indices for cameras that are not defined in the model.
-static constexpr int kTumbleCameraIdx = -3;
-static constexpr int kFreeCameraIdx = -2;
-static constexpr int kTrackingCameraIdx = -1;
-
-// Updates the camera according to the requested index.
-//
-// The function returns the new index of the camera which may differ from the
-// request if the request was invalid (e.g. request was out of range).
-int SetCamera(const mjModel* m, mjvCamera* camera, int request_idx);
-
-// Camera motions are either relative to a target or the camera itself.
-//
-// We use the following camera nomenclature:
-//   - Truck: moves the camera left/right along a horizontal plane.
-//   - Pedestal: moves the camera up/down along a vertical plane.
-//   - Dolly: moves the camera forward/backward along a horizontal plane.
-//   - Pan: turns the camera left/right.
-//   - Tilt: turns the camera upwards/downwards.
-//   - Zoom: moves the camera closer to or away from the target. This is
-//           different from dolly in that the movement is relative to the
-//           target. (It's also not actually a camera zoom, which is an
-//           action of lens of the camera, rather than the camera itself.)
-//   - Orbit: moves the camera around the target.
-//   - Planer: creates a horizontal or vertical plane based on the cameras
-//             position and orientation, then moves the camera along that plane.
-enum class CameraMotion {
-  ZOOM,
-  ORBIT,
-  TRUCK_PEDESTAL,
-  TRUCK_DOLLY,
-  PAN_TILT,
-  PLANAR_MOVE_H,
-  PLANAR_MOVE_V,
-};
-
-void MoveCamera(const mjModel* m, const mjData* d, mjvCamera* cam,
-                CameraMotion motion, mjtNum dx, mjtNum dy);
-
-void InitPerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
-                 mjvPerturb* pert, mjtPertBit active);
-
-void MovePerturb(const mjModel* m, const mjData* d, const mjvCamera* cam,
-                 mjvPerturb* pert, mjtMouse action, mjtNum reldx, mjtNum reldy);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_INTERACTION_H_
diff --git a/src/experimental/platform/ux/object_launcher_plugin.cc b/src/experimental/platform/ux/object_launcher_plugin.cc
deleted file mode 100644
index f0a2e989..00000000
--- a/src/experimental/platform/ux/object_launcher_plugin.cc
+++ /dev/null
@@ -1,285 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <cmath>
-#include <cstring>
-#include <random>
-#include <string>
-#include <vector>
-
-#include <imgui.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/ux/imgui_widgets.h"
-#include "experimental/platform/ux/plugin.h"
-
-namespace mujoco::studio {
-
-inline constexpr char kObjectLauncherName[] = "ObjectLauncher";
-
-class ObjectLauncher {
- public:
-  ObjectLauncher() : rng_(std::random_device{}()) {}
-
-  void UpdateGui() {
-    using platform::ImGui_ResetButton;
-    using platform::ImGui_SliderLog;
-
-    constexpr mjtNum kLifeDefault = 2.0;
-    ImGui_SliderLog("Size", &size_, size_seed_ * 0.1, size_seed_ * 10);
-    ImGui::BeginDisabled(size_ == size_seed_);
-    if (ImGui_ResetButton("Size")) size_ = size_seed_;
-    ImGui::EndDisabled();
-    ImGui_SliderLog("Speed", &speed_, speed_seed_ * 0.1, speed_seed_ * 10);
-    ImGui::BeginDisabled(speed_ == speed_seed_);
-    if (ImGui_ResetButton("Speed")) speed_ = speed_seed_;
-    ImGui::EndDisabled();
-    ImGui_SliderLog("Mass", &mass_, mass_seed_ * 0.1, mass_seed_ * 100);
-    ImGui::BeginDisabled(mass_ == mass_seed_);
-    if (ImGui_ResetButton("Mass")) mass_ = mass_seed_;
-    ImGui::EndDisabled();
-    ImGui_SliderLog("Life", &lifetime_, 0.5, 50.0);
-    ImGui::BeginDisabled(lifetime_ == kLifeDefault);
-    if (ImGui_ResetButton("Life")) lifetime_ = kLifeDefault;
-    ImGui::EndDisabled();
-
-    int shape = type_ == mjGEOM_BOX ? 0 : 1;
-    const char* names[] = {"Box", "Sphere"};
-    ImGui::Combo("Shape", &shape, names, 2);
-    type_ = shape == 0 ? mjGEOM_BOX : mjGEOM_SPHERE;
-
-    if (ImGui::Button("Launch (Enter)", ImVec2(-1.0f, 0.0f))) {
-      active_ = true;
-    }
-
-    if (ImGui::Button("Clear")) {
-      for (auto& object : objects_) {
-        object.expiration = -1;
-      }
-    }
-  }
-
-  void HandleKeyboardEvent() {
-    // The key binding is armed only while the plugin window is open.
-    platform::ForEachPlugin<platform::GuiPlugin>([this](auto* gui) {
-      if (gui->active && !std::strcmp(gui->name, kObjectLauncherName)) {
-        active_ = true;
-      }
-    });
-  }
-
-  void OnModelLoaded(const mjModel* model) {
-    if (!model) return;
-    // Geometric mean of two length estimates -- the mean geom size, and the
-    // length implied by the mean mass at density 1000 -- so a bad meansize or
-    // meanmass only half-poisons the seed (they agree for a consistent model).
-    const mjtNum len_size = model->stat.meansize;
-    const mjtNum len_mass = std::cbrt(model->stat.meanmass / 1000.0);
-    mjtNum len = mju_sqrt(len_size * len_mass);
-    if (!(len > 0)) len = len_size > 0 ? len_size : len_mass;
-    const mjtNum size = 0.5 * len;
-    Seed(size, &size_, &size_seed_);
-    // Mass giving the default box (volume (2*size)^3) density 1000, MuJoCo's
-    // default geom density. Units are unspecified, so 1000 is just a convention.
-    const mjtNum box_volume = 8.0 * size * size * size;
-    Seed(1000.0 * box_volume, &mass_, &mass_seed_);
-    const mjtNum gravity = mju_norm3(model->opt.gravity);
-    const mjtNum g = gravity > mjMINVAL ? gravity : 9.81;
-    // Ballistic scale: the launch arc spans a few model extents.
-    Seed(3.0 * mju_sqrt(model->stat.extent * g), &speed_, &speed_seed_);
-  }
-
-  bool UpdateSpecPreCompile(mjSpec* spec, const mjModel* model,
-                            const mjData* data, const mjvCamera* camera) {
-    // Objects live on [creation_time, expiration]: drop them when the lifetime
-    // elapses, or when the sim rewinds before launch (so a reset clears them).
-    auto it = std::remove_if(
-        objects_.begin(), objects_.end(), [&](const ObjectInfo& o) {
-          if (o.body_id < 0) {
-            return false;  // not yet compiled into the model
-          }
-          const bool expired = o.expiration != 0 && o.expiration < data->time;
-          const bool rewound = data->time < o.creation_time;
-          const bool remove = expired || rewound;
-          if (remove) {
-            mjsBody* body = mjs_findBody(spec, o.name.c_str());
-            if (body) {
-              mjs_delete(spec, body->element);
-            }
-          }
-          return remove;
-        });
-    if (it != objects_.end()) {
-      objects_.erase(it, objects_.end());
-      return true;
-    }
-
-    if (!active_) return false;
-    active_ = false;
-
-    mjsBody* world = mjs_findBody(spec, "world");
-    if (!world) return false;
-    mjsBody* body = mjs_addBody(world, nullptr);
-    if (!body) return false;
-    mjsJoint* joint = mjs_addJoint(body, nullptr);
-    if (!joint) return false;
-    mjsGeom* geom = mjs_addGeom(body, nullptr);
-    if (!geom) return false;
-
-    ObjectInfo& object = objects_.emplace_back();
-    object.name = "projectile" + std::to_string(counter_++);
-    object.creation_time = data->time;
-    object.expiration = data->time + lifetime_;
-
-    mjtNum pos[3];
-    mjtNum dir[3];
-    mjv_cameraFrame(pos, dir, nullptr, nullptr, data, camera);
-    mjs_setName(body->element, object.name.c_str());
-
-    joint->type = mjJNT_FREE;
-    body->mass = mass_;
-    geom->type = type_;
-    geom->size[0] = size_;
-    geom->size[1] = size_;
-    geom->size[2] = size_;
-    // Slightly in front of the camera.
-    body->pos[0] = pos[0] + (dir[0] * 0.1);
-    body->pos[1] = pos[1] + (dir[1] * 0.1);
-    body->pos[2] = pos[2] + (dir[2] * 0.1);
-    // Randomize the color.
-    geom->rgba[0] = std::uniform_real_distribution<float>(0.3f, 1.0f)(rng_);
-    geom->rgba[1] = std::uniform_real_distribution<float>(0.3f, 1.0f)(rng_);
-    geom->rgba[2] = std::uniform_real_distribution<float>(0.3f, 1.0f)(rng_);
-    geom->rgba[3] = 1.0;
-    launch_vel_[0] = dir[0] * speed_;
-    launch_vel_[1] = dir[1] * speed_;
-    launch_vel_[2] = dir[2] * speed_;
-    return true;
-  }
-
-  void UpdateSpecPostCompile(const mjSpec* spec, const mjModel* model,
-                             mjData* data) {
-    if (objects_.empty()) {
-      return;
-    }
-
-    ObjectInfo& object = objects_.back();
-    if (object.launched) {
-      return;
-    }
-    object.launched = true;
-
-    const int body_id = mj_name2id(model, mjOBJ_BODY, object.name.c_str());
-    if (body_id < 0) {
-      return;
-    }
-    int joint_id = model->body_jntadr[body_id];
-    if (joint_id < 0 || model->jnt_type[joint_id] != mjJNT_FREE) {
-      return;
-    }
-    int qvel_addr = model->jnt_dofadr[joint_id];
-    if (qvel_addr < 0) {
-      return;
-    }
-    object.body_id = body_id;
-    data->qvel[qvel_addr + 0] = launch_vel_[0];
-    data->qvel[qvel_addr + 1] = launch_vel_[1];
-    data->qvel[qvel_addr + 2] = launch_vel_[2];
-  }
-
- private:
-  // Update value with the new seed, unless the user has edited it.
-  static void Seed(mjtNum seed, mjtNum* value, mjtNum* prev_seed) {
-    if (seed <= 0 || !std::isfinite(seed)) return;
-    if (*value == *prev_seed) *value = seed;
-    *prev_seed = seed;
-  }
-
-  struct ObjectInfo {
-    std::string name;
-    int body_id = -1;
-    mjtNum creation_time = 0;
-    mjtNum expiration = 0;
-    bool launched = false;
-  };
-
-  std::mt19937 rng_;
-  int counter_ = 0;
-  bool active_ = false;
-  mjtNum size_ = 0.1;
-  mjtNum speed_ = 10.0;
-  mjtNum mass_ = 10.0;
-  mjtNum lifetime_ = 2.0;
-  mjtNum size_seed_ = 0.1;
-  mjtNum speed_seed_ = 10.0;
-  mjtNum mass_seed_ = 10.0;
-  mjtGeom type_ = mjGEOM_BOX;
-  mjtNum launch_vel_[3] = {0, 0, 0};
-  std::vector<ObjectInfo> objects_;
-};
-
-}  // namespace mujoco::studio
-
-mjPLUGIN_LIB_INIT(object_launcher) {
-  using mujoco::studio::ObjectLauncher;
-
-  static ObjectLauncher plugin;
-
-  mujoco::platform::GuiPlugin gui;
-  gui.data = &plugin;
-  gui.name = mujoco::studio::kObjectLauncherName;
-  gui.update = [](mujoco::platform::GuiPlugin* self) {
-    auto* plugin = static_cast<mujoco::studio::ObjectLauncher*>(self->data);
-    plugin->UpdateGui();
-  };
-  mujoco::platform::RegisterPlugin(gui);
-
-  mujoco::platform::KeyHandlerPlugin key_handler;
-  key_handler.data = &plugin;
-  key_handler.name = mujoco::studio::kObjectLauncherName;
-  key_handler.key_chord = ImGuiKey_Enter;
-  key_handler.on_key_pressed = [](mujoco::platform::KeyHandlerPlugin* self) {
-    auto* plugin = static_cast<mujoco::studio::ObjectLauncher*>(self->data);
-    plugin->HandleKeyboardEvent();
-  };
-  mujoco::platform::RegisterPlugin(key_handler);
-
-  mujoco::platform::ModelPlugin model_plugin;
-  model_plugin.data = &plugin;
-  model_plugin.name = mujoco::studio::kObjectLauncherName;
-  model_plugin.post_model_loaded = [](mujoco::platform::ModelPlugin* self,
-                                      const mjModel* model,
-                                      const char* model_path) {
-    auto* plugin = static_cast<mujoco::studio::ObjectLauncher*>(self->data);
-    plugin->OnModelLoaded(model);
-  };
-  mujoco::platform::RegisterPlugin(model_plugin);
-
-  mujoco::platform::SpecEditorPlugin spec_editor;
-  spec_editor.data = &plugin;
-  spec_editor.name = mujoco::studio::kObjectLauncherName;
-  spec_editor.pre_compile = [](mujoco::platform::SpecEditorPlugin* self,
-                               mjSpec* spec, const mjModel* model,
-                               const mjData* data, const mjvCamera* camera) {
-    auto* plugin = static_cast<mujoco::studio::ObjectLauncher*>(self->data);
-    return plugin->UpdateSpecPreCompile(spec, model, data, camera);
-  };
-  spec_editor.post_compile = [](mujoco::platform::SpecEditorPlugin* self,
-                                const mjSpec* spec, const mjModel* model,
-                                mjData* data) {
-    auto* plugin = static_cast<mujoco::studio::ObjectLauncher*>(self->data);
-    return plugin->UpdateSpecPostCompile(spec, model, data);
-  };
-  mujoco::platform::RegisterPlugin(spec_editor);
-}
diff --git a/src/experimental/platform/ux/picture_gui.cc b/src/experimental/platform/ux/picture_gui.cc
deleted file mode 100644
index 7133a8b2..00000000
--- a/src/experimental/platform/ux/picture_gui.cc
+++ /dev/null
@@ -1,120 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/picture_gui.h"
-
-#include <cstddef>
-#include <vector>
-
-#include <imgui.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/renderer.h"
-#include "experimental/platform/ux/imgui_widgets.h"
-
-namespace mujoco::platform {
-
-// Returns false if the user requests that this picture-in-picture widget be
-// removed from the GUI.
-static bool PipGuiImpl(const mjModel* model, mjData* data, float aspect_ratio,
-                       platform::Renderer* renderer, PipState* pip) {
-  bool result = true;
-
-  auto get_camera_name = [model](int i) -> const char* {
-    if (const char* name = mj_id2name(model, mjOBJ_CAMERA, i)) {
-      return name;
-    } else {
-      return "Unnamed";
-    }
-  };
-
-  const int width = ImGui::GetContentRegionAvail().x;
-  const int height = aspect_ratio != 0.f ? width / aspect_ratio : width;
-  std::vector<std::byte> output(width * height * 3);
-
-  const int combo_width = (width - 30) / 2;
-
-  ImGui::PushID(pip);
-  ImGui::SetNextItemWidth(combo_width);
-  if (ImGui::BeginCombo("##PipCamera", get_camera_name(pip->camera))) {
-    for (int i = 0; i < model->ncam; i++) {
-      if (ImGui::Selectable(get_camera_name(i), (pip->camera == i))) {
-        pip->camera = i;
-      }
-    }
-    ImGui::EndCombo();
-  }
-
-  mjvCamera camera;
-  mjv_defaultCamera(&camera);
-  camera.type = mjCAMERA_FIXED;
-  camera.fixedcamid = pip->camera;
-
-  const char* mode_names[] = {"Color", "Depth", "Segmentation"};
-  ImGui::SameLine();
-  ImGui::SetNextItemWidth(combo_width);
-  if (ImGui::BeginCombo("##PipMode", mode_names[pip->mode])) {
-    for (int i = 0; i < 3; i++) {
-      if (ImGui::Selectable(mode_names[i], (pip->mode == i))) {
-        pip->mode = static_cast<PipState::Mode>(i);
-      }
-    }
-    ImGui::EndCombo();
-  }
-
-  ImGui::SameLine();
-  if (ImGui::Button(ICON_FA_TRASH_CAN)) {
-    result = false;
-  }
-
-  mjtByte* flags = renderer->GetRenderFlags();
-  const int prev_depth = flags[mjRND_DEPTH];
-  const int prev_segment = flags[mjRND_SEGMENT];
-  flags[mjRND_DEPTH] = (pip->mode == PipState::Depth) ? 1 : 0;
-  flags[mjRND_SEGMENT] = (pip->mode == PipState::Segmentation) ? 1 : 0;
-  renderer->RenderToTexture(model, data, &camera, width, height, output.data());
-  pip->texture =
-      renderer->UploadImage(pip->texture, output.data(), width, height, 3);
-
-  // Restore previous render flags.
-  flags[mjRND_DEPTH] = prev_depth;
-  flags[mjRND_SEGMENT] = prev_segment;
-
-  ImGui::Image(pip->texture, {(float)width, (float)height});
-  ImGui::PopID();
-  return result;
-}
-
-void PipGui(const mjModel* model, mjData* data, float aspect_ratio,
-            platform::Renderer* renderer, std::vector<PipState>* pips) {
-  if (pips->empty()) {
-    pips->emplace_back();
-  }
-
-  std::vector<int> to_delete;
-  for (int i = 0; i < pips->size(); ++i) {
-    PipState& pip = pips->at(i);
-    if (PipGuiImpl(model, data, aspect_ratio, renderer, &pip) == false) {
-      to_delete.push_back(i);
-    };
-    ImGui::Separator();
-  }
-  for (int i = to_delete.size() - 1; i >= 0; --i) {
-    pips->erase(pips->begin() + to_delete[i]);
-  }
-  if (ImGui::Button("+")) {
-    pips->emplace_back();
-  };
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/picture_gui.h b/src/experimental/platform/ux/picture_gui.h
deleted file mode 100644
index ab4f9146..00000000
--- a/src/experimental/platform/ux/picture_gui.h
+++ /dev/null
@@ -1,39 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PICTURE_GUI_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PICTURE_GUI_H_
-
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/renderer.h"
-
-namespace mujoco::platform {
-
-// Manages the state of a single picture-in-picture widget.
-struct PipState {
-  enum Mode { Color, Depth, Segmentation };
-  int camera = 0;
-  int texture = 0;
-  Mode mode = Color;
-};
-
-// Renders the GUI for a set of picture-in-picture widgets.
-void PipGui(const mjModel* model, mjData* data, float aspect_ratio,
-            platform::Renderer* renderer, std::vector<PipState>* pips);
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PICTURE_GUI_H_
diff --git a/src/experimental/platform/ux/plugin.cc b/src/experimental/platform/ux/plugin.cc
deleted file mode 100644
index 341b628a..00000000
--- a/src/experimental/platform/ux/plugin.cc
+++ /dev/null
@@ -1,75 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/plugin.h"
-
-#include <functional>
-#include <string_view>
-
-#include <mujoco/mujoco.h>
-#include "engine/engine_global_table.h"
-
-namespace mujoco::platform {
-
-template <typename T>
-void RegisterPlugin(T plugin) {
-  if (plugin.name == nullptr || plugin.name[0] == '\0') {
-    mju_error("Plugin name must not be empty or null.");
-  }
-  GlobalTable<T>::GetSingleton().AppendIfUnique(plugin);
-}
-
-template <typename T>
-void ForEachPlugin(const std::function<void(T*)>& fn) {
-  auto& table = mujoco::GlobalTable<T>::GetSingleton();
-  for (int i = 0; i < table.count(); ++i) {
-    const T* plugin = table.GetAtSlot(i);
-    fn(const_cast<T*>(plugin));
-  }
-}
-
-}  // namespace mujoco::platform
-
-#define MUJOCO_SPECIALIZE_PLUGIN(PLUGIN, NAME)                                 \
-  template <>                                                                  \
-  const char* mujoco::GlobalTable<PLUGIN>::HumanReadableTypeName() {           \
-    return NAME;                                                               \
-  }                                                                            \
-  template <>                                                                  \
-  std::string_view mujoco::GlobalTable<PLUGIN>::ObjectKey(const PLUGIN& p) {   \
-    return std::string_view(p.name);                                           \
-  }                                                                            \
-  template <>                                                                  \
-  bool mujoco::GlobalTable<PLUGIN>::ObjectEqual(const PLUGIN& p1,              \
-                                                const PLUGIN& p2) {            \
-    return CaseInsensitiveEqual(p1.name, p2.name);                             \
-  }                                                                            \
-  template <>                                                                  \
-  bool mujoco::GlobalTable<PLUGIN>::CopyObject(PLUGIN& dst, const PLUGIN& src, \
-                                               ErrorMessage& err) {            \
-    dst = src;                                                                 \
-    return true;                                                               \
-  }                                                                            \
-  namespace mujoco::platform {                                                 \
-  template void RegisterPlugin<PLUGIN>(PLUGIN plugin);                         \
-  template void ForEachPlugin<PLUGIN>(const std::function<void(PLUGIN*)>& fn); \
-  }
-
-MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::GuiPlugin, "gui plugin");
-MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::ModelPlugin, "model plugin");
-MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::ScenePlugin, "scene plugin");
-MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::KeyHandlerPlugin,
-                         "key handler plugin");
-MUJOCO_SPECIALIZE_PLUGIN(mujoco::platform::SpecEditorPlugin,
-                         "spec editor plugin");
diff --git a/src/experimental/platform/ux/plugin.h b/src/experimental/platform/ux/plugin.h
deleted file mode 100644
index 5fa95edf..00000000
--- a/src/experimental/platform/ux/plugin.h
+++ /dev/null
@@ -1,155 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PLUGIN_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PLUGIN_H_
-
-#include <functional>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco::platform {
-
-// Registers plugins with the global registry. The plugins must have a
-// case-insensitive unique name for the plugin type. Note that plugins are
-// copied by value, so do not use inheritance.
-template <typename T>
-void RegisterPlugin(T plugin);
-
-// Executes the given function for each registered plugin of type T.
-template <typename T>
-void ForEachPlugin(const std::function<void(T*)>& fn);
-
-// Plugin for processing custom UI windows. The plugin will be listed in the
-// "Plugins" main menu and, when selected, an ImGui window will be opened with
-// the name of the plugin as the title. The `update` function can then be used
-// to process the GUI. All functions will be called by passing `this` as the
-// first argument.
-struct GuiPlugin final {
-  using UpdateFn = void (*)(GuiPlugin* self);
-
-  // Whether or not to display the plugin window.
-  bool active = false;
-
-  // The name of the plugin; must be unique.
-  const char* name = "";
-
-  // The function that will update the plugin's window. Plugin GUI updates
-  // happen when the window is `active` and after all other Studio GUI updates.
-  UpdateFn update = nullptr;
-
-  // Optional data pointer.
-  void* data = nullptr;
-};
-
-// Plugin for adding additional scene geoms.
-struct ScenePlugin final {
-  using EnhanceSceneFn = void (*)(ScenePlugin* self, const mjModel* model,
-                                  mjData* data, mjvScene* scene);
-
-  // The name of the plugin; must be unique.
-  const char* name = "";
-
-  // This function will add additional mjvGeom objects to the mjvScene.
-  EnhanceSceneFn enhance_scene = nullptr;
-
-  // Optional data pointer.
-  void* data = nullptr;
-};
-
-// Plugin for loading and updating models.
-struct ModelPlugin final {
-  using GetModelToLoadFn = const char* (*)(ModelPlugin* self, int* size,
-                                           char* content_type,
-                                           int content_type_size,
-                                           char* model_name,
-                                           int model_name_size);
-  using PostModelLoadedFn = void (*)(ModelPlugin* self, const mjModel* model,
-                                     const char* model_path);
-  using DoUpdateFn = bool (*)(ModelPlugin* self, mjModel* model, mjData* data);
-  using PreStepFn = void (*)(ModelPlugin* self, const mjModel* model,
-                             mjData* data);
-  using PostStepFn = void (*)(ModelPlugin* self, const mjModel* model,
-                              mjData* data);
-
-  // The name of the plugin; must be unique.
-  const char* name = "";
-
-  // Callback for when the plugin wants to load a new model. This function will
-  // return a buffer containing the model data as well as the content type of
-  // the buffer. If buf == model_name, then we assume that model_name stores the
-  // path of the model to load. Returns nullptr if no model needs to be loaded.
-  GetModelToLoadFn get_model_to_load = nullptr;
-
-  // Callback when a new model is loaded.
-  PostModelLoadedFn post_model_loaded = nullptr;
-
-  // Callback when the physics simulation is updated. Returns true if the
-  // simulation should be stepped.
-  DoUpdateFn do_update = nullptr;
-
-  // Callback immediately before mj_step is called on the model. This may be
-  // called multiple times per update/frame.
-  PreStepFn pre_step = nullptr;
-
-  // Callback immediately after mj_step is called on the model. This may be
-  // called multiple times per update/frame.
-  PostStepFn post_step = nullptr;
-
-  // Optional data pointer.
-  void* data = nullptr;
-};
-
-// Plugin for handling custom keyboard events.
-struct KeyHandlerPlugin final {
-  using OnKeyPressedFn = void (*)(KeyHandlerPlugin* self);
-
-  // The name of the plugin; must be unique.
-  const char* name = "";
-
-  // The ImGui key codes for the key combination that triggers the plugin.
-  int key_chord = 0;
-
-  // The function to be called when the above key combination is pressed.
-  OnKeyPressedFn on_key_pressed = nullptr;
-
-  // Optional data pointer.
-  void* data = nullptr;
-};
-
-// Plugin for editing the mjSpec.
-struct SpecEditorPlugin final {
-  using PreCompileFn = bool (*)(SpecEditorPlugin* self, mjSpec* spec,
-                                const mjModel* model, const mjData* data,
-                                const mjvCamera* camera);
-  using PostCompileFn = void (*)(SpecEditorPlugin* self, const mjSpec* spec,
-                                 const mjModel* model, mjData* data);
-
-  // The name of the plugin; must be unique.
-  const char* name = "";
-
-  // Callback that edits the spec. If it returns true, then the spec will be
-  // recompiled and `post_compile` will be called with the result.
-  PreCompileFn pre_compile = nullptr;
-
-  // Callback that is called after the spec has been recompiled.
-  PostCompileFn post_compile = nullptr;
-
-  // Optional data pointer.
-  void* data = nullptr;
-};
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_PLUGIN_H_
diff --git a/src/experimental/platform/ux/spec_editor.cc b/src/experimental/platform/ux/spec_editor.cc
deleted file mode 100644
index ae3b7d7c..00000000
--- a/src/experimental/platform/ux/spec_editor.cc
+++ /dev/null
@@ -1,408 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/platform/ux/spec_editor.h"
-
-#include <memory>
-#include <utility>
-
-#include <mujoco/mujoco.h>
-#include "experimental/platform/sim/model_holder.h"
-
-namespace mujoco::platform {
-
-SpecEditor::SpecEditor(int history_size) : capacity_(history_size) {}
-
-void SpecEditor::Reset() {
-  ref_spec_.reset();
-  active_spec_.reset();
-}
-
-void SpecEditor::Reset(const mjSpec& spec) {
-  active_element_key_ = kInvalidElementKey;
-  active_element_ = nullptr;
-  ref_element_ = nullptr;
-
-  ref_spec_ = Copy(&spec);
-  active_spec_ = Copy(&spec);
-
-  // Build the initial element maps.
-  for (int i = mjOBJ_UNKNOWN + 1; i < mjNOBJECT; ++i) {
-    const mjtObj type = static_cast<mjtObj>(i);
-    mjsElement* element = mjs_firstElement(ref_spec_.get(), type);
-    while (element) {
-      ref_map_.Append(type, next_element_key_++);
-      element = mjs_nextElement(ref_spec_.get(), element);
-    }
-  }
-  active_map_ = ref_map_;
-
-  // Seed the history buffer with the initial spec.
-  history_.clear();
-  history_.push_back(HistoryEntry{
-      .spec = Copy(ref_spec_.get()),
-      .op = kInitialize,
-      .key = kInvalidElementKey,
-      .type_index = kInvalidTypeIndex,
-  });
-  cursor_ = 1;
-}
-
-std::unique_ptr<ModelHolder> SpecEditor::Compile() {
-  if (!active_spec_) {
-    return nullptr;
-  }
-
-  auto holder = ModelHolder::FromSpec(mj_copySpec(active_spec_.get()));
-  if (holder->ok()) {
-    ref_spec_ = Copy(active_spec_.get());
-    ref_map_ = active_map_;
-  }
-  return holder;
-}
-
-mjSpec* SpecEditor::GetActiveSpec() const { return active_spec_.get(); }
-
-mjsElement* SpecEditor::AddElement(mjtObj type) {
-  if (!active_spec_) {
-    return nullptr;
-  }
-
-  // TODO: check that type is only for spec elements.
-  mjsElement* element = AddElementToSpec(active_spec_.get(), type);
-  if (element) {
-    const ElementKey key = next_element_key_++;
-    const int index = active_map_.Append(element->elemtype, key);
-    AppendHistory(HistoryEntry{
-        .spec = Copy(active_spec_.get()),
-        .op = kAdd,
-        .key = key,
-        .type_index = {element->elemtype, index},
-    });
-  }
-  return element;
-}
-
-mjsElement* SpecEditor::AddBodyElement(mjsBody* body, mjtObj type) {
-  if (!active_spec_) {
-    return nullptr;
-  }
-
-  // TODO: check that type is only for body elements.
-  mjsElement* element = AddElementToSpec(active_spec_.get(), type, body);
-  if (element) {
-    const ElementKey key = next_element_key_++;
-    const int index = active_map_.Append(element->elemtype, key);
-    AppendHistory(HistoryEntry{
-        .spec = Copy(active_spec_.get()),
-        .op = kAdd,
-        .key = key,
-        .type_index = {element->elemtype, index},
-    });
-  }
-  return element;
-}
-
-void SpecEditor::DeleteActiveElement() {
-  if (!active_spec_) {
-    return;
-  }
-
-  if (active_element_) {
-    const mjtObj type = active_element_->elemtype;
-    const int index = active_map_.Remove(active_element_key_);
-    mjs_delete(active_spec_.get(), active_element_);
-    AppendHistory(HistoryEntry{
-        .spec = Copy(active_spec_.get()),
-        .op = kDelete,
-        .key = active_element_key_,
-        .type_index = {type, index},
-    });
-
-    ref_element_ = nullptr;
-    active_element_ = nullptr;
-    active_element_key_ = kInvalidElementKey;
-  }
-}
-
-void SpecEditor::SetActiveElement(mjsElement* element) {
-  if (!active_spec_) {
-    return;
-  }
-
-  if (element == nullptr) {
-    ref_element_ = nullptr;
-    active_element_ = nullptr;
-    active_element_key_ = kInvalidElementKey;
-    return;
-  }
-
-  mjSpec* spec = mjs_getSpec(element);
-  if (spec != active_spec_.get()) {
-    mju_warning("Element is not owned by the active spec.");
-    return;
-  }
-
-  const mjtObj type = element->elemtype;
-  active_element_ = element;
-
-  int index = 0;
-  for (mjsElement* iter = mjs_firstElement(spec, type); iter != nullptr;
-       iter = mjs_nextElement(spec, iter), ++index) {
-    if (iter == element) {
-      active_element_key_ = active_map_.LookupElementKey({type, index});
-      if (active_element_key_ == kInvalidElementKey) {
-        mju_warning("Element not found in active spec.");
-      }
-      UpdateReferenceElement();
-      return;
-    }
-  }
-
-  mju_warning("Element not found in active spec.");
-  ref_element_ = nullptr;
-  active_element_ = nullptr;
-  active_element_key_ = kInvalidElementKey;
-}
-
-void SpecEditor::UpdateReferenceElement() {
-  if (!active_spec_) {
-    return;
-  }
-
-  if (active_element_ == nullptr) {
-    ref_element_ = nullptr;
-  } else {
-    const mjtObj type = active_element_->elemtype;
-    ref_element_ = ref_map_.Resolve(ref_spec_.get(), active_element_key_);
-    if (ref_element_ == nullptr) {
-      ref_element_ = mjs_firstElement(dummy_spec_.get(), type);
-    }
-    if (ref_element_ == nullptr) {
-      ref_element_ = AddElementToSpec(dummy_spec_.get(), type);
-    }
-    if (ref_element_ == nullptr) {
-      mju_warning("Failed to create reference element.");
-      ref_element_ = active_element_;
-    }
-  }
-}
-
-mjsElement* SpecEditor::GetActiveElement() const { return active_element_; }
-
-mjsElement* SpecEditor::GetRefElement() const { return ref_element_; }
-
-void SpecEditor::CommitChanges(mjsElement* element) {
-  if (!active_spec_) {
-    return;
-  }
-
-  if (element == nullptr) {
-    mju_warning("Element is null.");
-    return;
-  }
-  if (mjs_getSpec(element) != active_spec_.get()) {
-    mju_warning("Element is not owned by the active spec.");
-    return;
-  }
-
-  AppendHistory({
-      .spec = Copy(active_spec_.get()),
-      .op = kModify,
-      .key = active_element_key_,
-      .type_index = active_map_.LookupTypeIndex(active_element_key_),
-  });
-}
-
-void SpecEditor::Undo() {
-  if (CanUndo()) {
-    --cursor_;
-
-    auto& entry = history_[cursor_];
-    active_spec_ = Copy(entry.spec.get());
-    if (entry.op == kAdd) {
-      active_map_.Remove(entry.key);
-    } else if (entry.op == kDelete) {
-      active_map_.Insert(entry.key, entry.type_index);
-    }
-
-    active_element_ =
-        active_map_.Resolve(active_spec_.get(), active_element_key_);
-    UpdateReferenceElement();
-  }
-}
-
-bool SpecEditor::CanUndo() const { return cursor_ > 0; }
-
-void SpecEditor::Redo() {
-  if (CanRedo()) {
-    ++cursor_;
-
-    auto& entry = history_[cursor_];
-    active_spec_ = Copy(entry.spec.get());
-    if (entry.op == kAdd) {
-      active_map_.Insert(entry.key, entry.type_index);
-    } else if (entry.op == kDelete) {
-      active_map_.Remove(entry.key);
-    }
-
-    active_element_ =
-        active_map_.Resolve(active_spec_.get(), active_element_key_);
-    UpdateReferenceElement();
-  }
-}
-
-bool SpecEditor::CanRedo() const { return cursor_ < history_.size() - 1; }
-
-void SpecEditor::AppendHistory(HistoryEntry entry) {
-  if (!active_spec_) {
-    return;
-  }
-
-  ++cursor_;
-  while (history_.size() > cursor_) {
-    history_.pop_back();
-  }
-  history_.push_back(std::move(entry));
-  if (cursor_ > capacity_) {
-    history_.pop_front();
-    --cursor_;
-  }
-}
-
-int SpecEditor::ElementKeyMap::Append(mjtObj type, ElementKey key) {
-  const int index = keys_[type].size();
-  keys_[type].push_back(key);
-  return index;
-}
-
-int SpecEditor::ElementKeyMap::Remove(ElementKey key) {
-  const TypeIndex type_index = LookupTypeIndex(key);
-  auto& list = keys_[type_index.type];
-  list.erase(list.begin() + type_index.index);
-  return type_index.index;
-}
-
-void SpecEditor::ElementKeyMap::Insert(ElementKey key, TypeIndex type_index) {
-  auto& list = keys_[type_index.type];
-  list.insert(list.begin() + type_index.index, key);
-}
-
-SpecEditor::TypeIndex SpecEditor::ElementKeyMap::LookupTypeIndex(
-    ElementKey key) const {
-  for (int type = mjOBJ_UNKNOWN + 1; type < mjNOBJECT; ++type) {
-    const auto& list = keys_[type];
-    for (int index = 0; index < list.size(); ++index) {
-      if (list[index] == key) {
-        return {static_cast<mjtObj>(type), index};
-      }
-    }
-  }
-  return kInvalidTypeIndex;
-}
-
-SpecEditor::ElementKey SpecEditor::ElementKeyMap::LookupElementKey(
-    TypeIndex type_index) const {
-  if (type_index.type == mjOBJ_UNKNOWN) {
-    return kInvalidElementKey;
-  }
-  auto& list = keys_[type_index.type];
-  if (type_index.index >= list.size()) {
-    return kInvalidElementKey;
-  }
-  return list[type_index.index];
-}
-
-mjsElement* SpecEditor::ElementKeyMap::Resolve(mjSpec* spec,
-                                               ElementKey key) const {
-  const TypeIndex type_index = LookupTypeIndex(key);
-  if (type_index.type == mjOBJ_UNKNOWN) {
-    return nullptr;
-  }
-
-  mjsElement* element = mjs_firstElement(spec, type_index.type);
-  for (int i = 0; i < type_index.index && element; ++i) {
-    element = mjs_nextElement(spec, element);
-  }
-  return element;
-}
-
-SpecEditor::SpecPtr SpecEditor::Copy(const mjSpec* spec) {
-  return SpecPtr(mj_copySpec(spec), mj_deleteSpec);
-}
-
-mjsElement* SpecEditor::AddElementToSpec(mjSpec* spec, mjtObj type,
-                                         mjsBody* body) {
-  if (spec == nullptr || type == mjOBJ_UNKNOWN) {
-    return nullptr;
-  }
-  if (body == nullptr) {
-    body = mjs_asBody(mjs_firstElement(spec, mjOBJ_BODY));
-  }
-
-  const mjsDefault* def = nullptr;
-  switch (type) {
-    case mjOBJ_ACTUATOR:
-      return mjs_addActuator(spec, def)->element;
-    case mjOBJ_EQUALITY:
-      return mjs_addEquality(spec, def)->element;
-    case mjOBJ_EXCLUDE:
-      return mjs_addExclude(spec)->element;
-    case mjOBJ_FLEX:
-      return mjs_addFlex(spec)->element;
-    case mjOBJ_HFIELD:
-      return mjs_addHField(spec)->element;
-    case mjOBJ_KEY:
-      return mjs_addKey(spec)->element;
-    case mjOBJ_MATERIAL:
-      return mjs_addMaterial(spec, def)->element;
-    case mjOBJ_MESH:
-      return mjs_addMesh(spec, def)->element;
-    case mjOBJ_NUMERIC:
-      return mjs_addNumeric(spec)->element;
-    case mjOBJ_PAIR:
-      return mjs_addPair(spec, def)->element;
-    case mjOBJ_SENSOR:
-      return mjs_addSensor(spec)->element;
-    case mjOBJ_SKIN:
-      return mjs_addSkin(spec)->element;
-    case mjOBJ_TENDON:
-      return mjs_addTendon(spec, def)->element;
-    case mjOBJ_TEXT:
-      return mjs_addText(spec)->element;
-    case mjOBJ_TEXTURE:
-      return mjs_addTexture(spec)->element;
-    case mjOBJ_TUPLE:
-      return mjs_addTuple(spec)->element;
-    case mjOBJ_PLUGIN:
-      return mjs_addPlugin(spec)->element;
-    case mjOBJ_BODY:
-      return mjs_addBody(body, def)->element;
-    case mjOBJ_SITE:
-      return mjs_addSite(body, def)->element;
-    case mjOBJ_JOINT:
-      return mjs_addJoint(body, def)->element;
-    case mjOBJ_GEOM:
-      return mjs_addGeom(body, def)->element;
-    case mjOBJ_CAMERA:
-      return mjs_addCamera(body, def)->element;
-    case mjOBJ_LIGHT:
-      return mjs_addLight(body, def)->element;
-    default:
-      mju_warning("Unsupported element type: %d", type);
-      return nullptr;
-  }
-}
-
-}  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/spec_editor.h b/src/experimental/platform/ux/spec_editor.h
deleted file mode 100644
index 779a149a..00000000
--- a/src/experimental/platform/ux/spec_editor.h
+++ /dev/null
@@ -1,180 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_SPEC_EDITOR_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_SPEC_EDITOR_H_
-
-#include <array>
-#include <cstddef>
-#include <deque>
-#include <memory>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "experimental/platform/sim/model_holder.h"
-
-namespace mujoco::platform {
-
-// Manages everything related to mjSpec editing including compiling, undo/redo,
-// etc.
-//
-// The primary responsibility of the SpecEditor is to manage an "active" spec
-// and element. This is the spec/element that is currently being edited. It
-// also keeps track of the most recently compiled spec which is used as a
-// reference spec for editing. Finally, it tracks a history of specs in
-// order to support undo/redo operations.
-class SpecEditor {
- public:
-  explicit SpecEditor(int history_size = 256);
-
-  // Resets the editor with an empty spec. No editing will be allowed.
-  void Reset();
-
-  // Resets the editor to manage the given spec, clearing all cached data.
-  // Assumes the given spec is correctly formed (i.e. compilable).
-  void Reset(const mjSpec& spec);
-
-  // Attempts to compile the active spec, returning a ModelHolder. If the
-  // compilation was successfully, it will also update the reference spec to be
-  // the source spec.
-  std::unique_ptr<ModelHolder> Compile();
-
-  // Returns the active spec being edited. That said, users should not directly
-  // modify this spec. Instead, they should use the add/delete operations below.
-  mjSpec* GetActiveSpec() const;
-
-  // Adds an element to the active spec.
-  mjsElement* AddElement(mjtObj type);
-
-  // Adds an element to the given body of the active spec.
-  mjsElement* AddBodyElement(mjsBody* body, mjtObj type);
-
-  // Deletes the currently active element from the active spec.
-  void DeleteActiveElement();
-
-  // Marks the given element as the active element being edited. This element
-  // must be owned by the active spec (i.e. the spec at the current point in
-  // the history buffer). Note that some operations (e.g. DeleteElement) will
-  // set the active element to nullptr.
-  void SetActiveElement(mjsElement* element);
-
-  // Returns the element that is currently being edited. If this element is
-  // modified, then the caller should call CommitChanges() below (otherwise
-  // the change will not be saved in the history buffer).
-  mjsElement* GetActiveElement() const;
-
-  // Commits any changes made to the given element. This effectively updates
-  // the history buffer to support undo/redo operations.
-  void CommitChanges(mjsElement* element);
-
-  // Undoes the last change, making a new spec the active spec.
-  void Undo();
-  bool CanUndo() const;
-
-  // Redoes the last change, making a new spec the active spec.
-  void Redo();
-  bool CanRedo() const;
-
-  // Returns the reference element against which the active element is being
-  // edited. This is either an element from the "reference" spec that matches
-  // the active element, or, in the case of a newly added element, a default
-  // element of the same type.
-  mjsElement* GetRefElement() const;
-
- private:
-  // A unique pointer to an mjSpec that will be deleted by mj_deleteSpec.
-  using SpecPtr = std::unique_ptr<mjSpec, decltype(&mj_deleteSpec)>;
-
-  // A simple tuple of mjtObj type and int index.
-  struct TypeIndex {
-    mjtObj type;
-    int index;
-  };
-  static constexpr TypeIndex kInvalidTypeIndex = {mjOBJ_UNKNOWN, 0};
-
-  // Every element encountered by this class is assigned a unique ElementKey.
-  // This allows us to track elements across copies of the spec.
-  using ElementKey = std::size_t;
-  static constexpr ElementKey kInvalidElementKey = 0;
-
-  // A bidirectional mapping of ElementKey to TypeIndex. This allows us to
-  // efficiently track elements across copies of a spec.
-  //
-  // The map should be initialized from a base spec, assigning a unique key
-  // to every element. When elements are added or removed (usually from copies
-  // of the spec), this mapping can be updated to reflect the changes. We can
-  // then "resolve" an element from a spec based on its key.
-  class ElementKeyMap {
-   public:
-    int Append(mjtObj type, ElementKey key);
-
-    int Remove(ElementKey key);
-    void Insert(ElementKey key, TypeIndex type_index);
-
-    TypeIndex LookupTypeIndex(ElementKey key) const;
-    ElementKey LookupElementKey(TypeIndex type_index) const;
-
-    // Returns the element in the spec that corresponds to the given key.
-    mjsElement* Resolve(mjSpec* spec, ElementKey key) const;
-
-   private:
-    std::array<std::vector<ElementKey>, mjNOBJECT> keys_;
-  };
-
-  // The operation that was performed on the spec, used for undo/redo.
-  enum Operation {
-    kInitialize,
-    kModify,
-    kAdd,
-    kDelete,
-  };
-
-  // A single entry in the history buffer.
-  struct HistoryEntry {
-    SpecPtr spec;          // A full copy of a spec.
-    Operation op;          // The operation performed on the spec.
-    ElementKey key;        // The key of the element being modified.
-    TypeIndex type_index;  // The type/index of the element after the change.
-  };
-
-  // Appends a new HistoryEntry to the history buffer.
-  void AppendHistory(HistoryEntry entry);
-
-  // Updates the reference element to be the element in the reference spec that
-  // corresponds the active element.
-  void UpdateReferenceElement();
-
-  // Adds an element to the spec with the given type and (optional) body.
-  static mjsElement* AddElementToSpec(mjSpec* spec, mjtObj type,
-                                      mjsBody* body = nullptr);
-
-  // Creates a copy of the given spec.
-  static SpecPtr Copy(const mjSpec* spec);
-
-  std::deque<HistoryEntry> history_;
-  SpecPtr ref_spec_ = SpecPtr(nullptr, mj_deleteSpec);
-  SpecPtr active_spec_ = SpecPtr(nullptr, mj_deleteSpec);
-  SpecPtr dummy_spec_ = SpecPtr(mj_makeSpec(), mj_deleteSpec);
-  ElementKeyMap active_map_;
-  ElementKeyMap ref_map_;
-  mjsElement* active_element_ = nullptr;
-  mjsElement* ref_element_ = nullptr;
-  ElementKey active_element_key_ = kInvalidElementKey;
-  ElementKey next_element_key_ = 1;
-  int capacity_ = 0;
-  int cursor_ = 0;
-};
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_SPEC_EDITOR_H_
diff --git a/src/experimental/platform/ux/well_tempered.h b/src/experimental/platform/ux/well_tempered.h
deleted file mode 100644
index a1f103a1..00000000
--- a/src/experimental/platform/ux/well_tempered.h
+++ /dev/null
@@ -1,76 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_WELL_TEMPERED_H_
-#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_WELL_TEMPERED_H_
-
-#include <array>
-#include <cmath>
-
-namespace mujoco::platform {
-
-// Steps `value` to the next value in a "well-tempered" logarithmic ladder, in
-// the given direction (+1 up, -1 down). The ladder is spaced roughly evenly in
-// log space -- like clicks of a slowdown control -- but each rung is snapped to
-// a round number so that ten steps multiply by exactly ten, closing the decade
-// on a power of ten:
-//
-//   ... 1, 1.3, 1.6, 2, 2.5, 3.2, 4, 5, 6.3, 8, 10, ...
-//
-// The step always lands strictly on the far side of `value`, so a value between
-// two rungs snaps onto the ladder.
-//
-// `zero_below` gives the ladder a bottom rung of exactly zero: any value below
-// it collapses to 0, so stepping down snaps to 0 and stepping up off 0 lands on
-// `zero_below`. This lets quantities for which zero is meaningful (e.g. a solver
-// tolerance) reach it. Quantities that never want zero leave `zero_below` at 0,
-// in which case a non-positive value (or a zero direction) is returned
-// unchanged.
-inline double WellTemperedStep(double value, int direction,
-                               double zero_below = 0.0) {
-  static constexpr std::array<double, 10> kLadder = {
-      1.0, 1.3, 1.6, 2.0, 2.5, 3.2, 4.0, 5.0, 6.3, 8.0};
-  if (direction == 0) {
-    return value;
-  }
-  if (zero_below > 0 && value < zero_below) {
-    return direction > 0 ? zero_below : 0.0;
-  }
-  if (!(value > 0)) {
-    return value;
-  }
-  const double decade = std::floor(std::log10(value) + 1e-9);
-  const double scale = std::pow(10.0, decade);
-  const double mantissa = value / scale;  // in [1, 10)
-  if (direction > 0) {
-    for (double rung : kLadder) {
-      if (rung > mantissa * (1.0 + 1e-6)) {
-        return rung * scale;
-      }
-    }
-    return 10.0 * scale;  // carry up: 1.0 in the next decade
-  }
-  double next = 0.8 * scale;  // carry down: 8.0 in the previous decade
-  for (int i = kLadder.size() - 1; i >= 0; --i) {
-    if (kLadder[i] < mantissa * (1.0 - 1e-6)) {
-      next = kLadder[i] * scale;
-      break;
-    }
-  }
-  return (zero_below > 0 && next < zero_below) ? 0.0 : next;
-}
-
-}  // namespace mujoco::platform
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_WELL_TEMPERED_H_
diff --git a/src/experimental/studio/CMakeLists.txt b/src/experimental/studio/CMakeLists.txt
deleted file mode 100644
index 0bf76f8e..00000000
--- a/src/experimental/studio/CMakeLists.txt
+++ /dev/null
@@ -1,205 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-cmake_minimum_required(VERSION 3.16)
-
-include(third_party_deps/dear_imgui)
-include(third_party_deps/implot)
-include(third_party_deps/atkinson_hyperlegible_next)
-include(third_party_deps/atkinson_hyperlegible_mono)
-include(third_party_deps/font_awesome)
-
-# Common configuration shared between mujoco_studio and mujoco_live.
-function(configure_studio_target TARGET_NAME)
-    target_sources(${TARGET_NAME}
-        PRIVATE
-            app.cc
-            app.h
-    )
-
-    target_include_directories(${TARGET_NAME}
-        PUBLIC
-            ${PROJECT_SOURCE_DIR}/include
-            ${PROJECT_SOURCE_DIR}/src
-    )
-
-    if (WIN32)
-        target_compile_definitions(${TARGET_NAME}
-            PRIVATE
-            -D_USE_MATH_DEFINES
-        )
-        set_target_properties(${TARGET_NAME}
-            PROPERTIES
-                VS_DEBUGGER_WORKING_DIRECTORY "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}"
-        )
-    endif()
-
-    target_link_libraries(${TARGET_NAME}
-        PRIVATE
-            absl::flags
-            absl::flags_parse
-            dear_imgui
-            implot
-            mujoco::mujoco
-            mujoco::platform
-    )
-
-    get_target_property(IS_BUNDLE ${TARGET_NAME} MACOSX_BUNDLE)
-    if(IS_BUNDLE)
-        set(STUDIO_ASSETS_DIR $<TARGET_FILE_DIR:${TARGET_NAME}>/../Resources/assets)
-    else()
-        set(STUDIO_ASSETS_DIR ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets)
-    endif()
-
-    add_custom_command(
-        TARGET ${TARGET_NAME}
-        POST_BUILD
-        COMMAND ${CMAKE_COMMAND} -E make_directory ${STUDIO_ASSETS_DIR}
-        COMMAND ${CMAKE_COMMAND}
-            -E copy
-                "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../_deps/atkinson_hyperlegible_next-src/fonts/variable/AtkinsonHyperlegibleNext[wght].ttf"
-                ${STUDIO_ASSETS_DIR}/AtkinsonHyperlegibleNext[wght].ttf
-        COMMENT "Copying AtkinsonHyperlegibleNext font to build directory"
-    )
-    add_custom_command(
-        TARGET ${TARGET_NAME}
-        POST_BUILD
-        COMMAND ${CMAKE_COMMAND} -E make_directory ${STUDIO_ASSETS_DIR}
-        COMMAND ${CMAKE_COMMAND}
-            -E copy
-                ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../_deps/font_awesome-src/fonts/fontawesome-webfont.ttf
-                ${STUDIO_ASSETS_DIR}
-        COMMENT "Copying fontawesome-webfont.ttf to build directory"
-    )
-    add_custom_command(
-        TARGET ${TARGET_NAME}
-        POST_BUILD
-        COMMAND ${CMAKE_COMMAND} -E make_directory ${STUDIO_ASSETS_DIR}
-        COMMAND ${CMAKE_COMMAND}
-            -E copy
-                "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../_deps/atkinson_hyperlegible_mono-src/fonts/ttf/AtkinsonHyperlegibleMono-Regular.ttf"
-                ${STUDIO_ASSETS_DIR}/AtkinsonHyperlegibleMono-Regular.ttf
-        COMMENT "Copying AtkinsonHyperlegibleMono-Regular font to build directory"
-    )
-
-    # Filament backend requires additional files to be copied into an "assets" folder.
-    if(MUJOCO_USE_FILAMENT)
-        add_custom_command(
-            TARGET ${TARGET_NAME}
-            POST_BUILD
-            COMMAND ${CMAKE_COMMAND} -E make_directory ${STUDIO_ASSETS_DIR}
-            COMMAND ${CMAKE_COMMAND}
-                -E copy_directory
-                    ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../src/render/filament/assets
-                    ${STUDIO_ASSETS_DIR}
-            COMMENT "Copying Filament assets to build directory"
-        )
-    endif()
-endfunction()
-
-# Desktop Studio target.
-if(NOT EMSCRIPTEN)
-    if(APPLE)
-        set(STUDIO_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../../dist/mujoco_studio.icns)
-    elseif(WIN32)
-        set(STUDIO_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../../dist/mujoco_studio.rc)
-    else()
-        set(STUDIO_RESOURCE_FILES "")
-    endif()
-
-    add_executable(mujoco_studio
-        main.cc
-        launcher.cc
-        launcher.h
-        ${STUDIO_RESOURCE_FILES}
-    )
-    if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
-        set_target_properties(mujoco_studio PROPERTIES
-            MACOSX_BUNDLE TRUE
-            INSTALL_RPATH "@executable_path/../Frameworks;@executable_path/../../.."
-            BUILD_WITH_INSTALL_RPATH TRUE
-            RESOURCE "${STUDIO_RESOURCE_FILES}"
-            MACOSX_BUNDLE_ICON_FILE "mujoco_studio.icns"
-        )
-    endif()
-    if(WIN32)
-        add_custom_command(
-            TARGET mujoco_studio
-            PRE_BUILD
-            COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/../../../dist/mujoco_studio.ico
-                    ${CMAKE_CURRENT_SOURCE_DIR}
-            POST_BUILD
-            COMMAND ${CMAKE_COMMAND} -E rm ${CMAKE_CURRENT_SOURCE_DIR}/mujoco_studio.ico
-        )
-    endif()
-    configure_studio_target(mujoco_studio)
-    if(NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS))
-        include(TargetAddRpath)
-        target_add_rpath(
-          TARGETS
-          mujoco_studio
-          INSTALL_DIRECTORY
-          "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
-          LIB_DIRS
-          "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}"
-          DEPENDS
-          MUJOCO_ENABLE_RPATH
-        )
-    endif()
-    install(
-      TARGETS mujoco_studio
-      RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT studio
-      BUNDLE DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT studio
-    )
-    get_target_property(IS_BUNDLE mujoco_studio MACOSX_BUNDLE)
-    if(NOT IS_BUNDLE)
-        install(
-          DIRECTORY "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets"
-          DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT studio
-        )
-    endif()
-endif()
-
-# WASM Live target.
-if(EMSCRIPTEN)
-    add_executable(mujoco_studio)
-    target_sources(mujoco_studio PRIVATE emscripten.cc)
-    target_compile_options(mujoco_studio PRIVATE -g)
-    configure_studio_target(mujoco_studio)
-    target_link_libraries(mujoco_studio PRIVATE mujoco::render_noop)
-
-    # Ensure resource decoder plugins are linked into the WASM binary.
-    target_link_options(mujoco_studio PRIVATE
-        -Wl,--whole-archive $<TARGET_FILE:mujoco> -Wl,--no-whole-archive
-    )
-
-    # Filament's OpenGL backend requires WebGL2 / full ES3 bindings.
-    target_link_options(mujoco_studio PRIVATE
-        --bind
-        -sUSE_WEBGL2=1
-        -sFULL_ES3
-        -sMIN_WEBGL_VERSION=2
-        -sMAX_WEBGL_VERSION=2
-        -sALLOW_MEMORY_GROWTH=1
-        -sASYNCIFY=1
-        -sFETCH=1
-        -sGL_PREINITIALIZED_CONTEXT=1
-        -sSTACK_SIZE=32mb
-        -sINITIAL_MEMORY=1024mb
-        -sMAXIMUM_MEMORY=4gb
-        -sASSERTIONS=1
-        -fexceptions
-        -g
-    )
-endif()
diff --git a/src/experimental/studio/README.md b/src/experimental/studio/README.md
deleted file mode 100644
index 867e9856..00000000
--- a/src/experimental/studio/README.md
+++ /dev/null
@@ -1,69 +0,0 @@
-# MuJoCo Studio
-
-MuJoCo Studio 是 [simulate](../../../simulate) 应用程序的下一代演进版本。UI 界面已使用 [Dear ImGui](https://github.com/ocornut/imgui) 重新实现，默认渲染器已切换为 Filament。该应用程序目前仍处于开发中（WIP），详情请参阅[未来工作](#未来工作)部分。
-
-## 使用说明
-
-在项目顶级根目录下运行以下命令来配置并构建 MuJoCo Studio，然后按照打印的提示运行可执行文件：
-
-```bash
-bash build.sh
-```
-
-> [!NOTE]
-> 目前 [`build.sh`](build.sh) 脚本在 Windows 系统的 Git Bash 环境下可用。
-
-为了将 Studio 构建产物与其他 MuJoCo 构建分开，您也可以手动配置一个隔离的构建目录：
-
-```bash
-cmake -B build-studio \
-  -DCMAKE_BUILD_TYPE=Release \
-  -DUSE_STATIC_LIBCXX=OFF \
-  -DBUILD_SHARED_LIB=OFF \
-  -DMUJOCO_USE_FILAMENT=ON \
-  -DMUJOCO_BUILD_EXAMPLES=OFF \
-  -DMUJOCO_BUILD_SIMULATE=OFF \
-  -DMUJOCO_BUILD_TESTS=OFF \
-  -DMUJOCO_TEST_PYTHON_UTIL=OFF \
-  -DMUJOCO_WITH_USD=OFF \
-  -DMUJOCO_BUILD_STUDIO=ON \
-  -DFILAMENT_SKIP_SAMPLES=ON \
-  -DCMAKE_CXX_FLAGS=-Wno-error=deprecated-declarations \
-  -DFILAMENT_SHORTEN_MSVC_COMPILATION=OFF
-cmake --build build-studio --config Release --target mujoco_studio --parallel
-```
-
-从构建输出目录运行 `mujoco_studio`，以便它能够找到复制的字体和 Filament 资产：
-
-```bash
-cd build-studio/bin
-./mujoco_studio --gfx=opengl
-```
-
-在 macOS 上，Studio 默认使用 Filament OpenGL。OpenGL 实现可能由 Apple 基于 Metal 的 OpenGL 层提供，因此运行时日志可能会同时提及 OpenGL 和 Metal/Apple GPU 详细信息。
-
-### 故障排除（Troubleshooting）
-
-如果配置在解析 Filament 依赖项时失败，请检查 CMake 是否找到了来自 Anaconda 等环境的包管理器 CMake 配置文件。特别是，无关的 `abslConfig.cmake` 可能会与 MuJoCo 拉取的 Abseil 目标发生冲突。请从 `CMAKE_PREFIX_PATH` 中移除该前缀，或在配置时将 `CMAKE_IGNORE_PREFIX_PATH` 指向冲突的环境前缀。
-
-## 开发指南
-
-[`build.sh`](build.sh) 脚本旨在让您快速上手运行。如果您打算开发该应用程序，可能更倾向于在 IDE 中工作：
-
-* [CLion](https://www.jetbrains.com/clion/)：您可以将其配置为与我们提供的 CMake 文件配合工作。
-
-* [VSCode](https://code.visualstudio.com/)：我们发现微软的 [CMake Tools](https://marketplace.visualstudio.com/items?itemName=ms-vscode.cmake-tools) 扩展效果很好。
-
-* [Visual Studio](https://visualstudio.microsoft.com/)：请遵循这些[操作说明](https://learn.microsoft.com/en-us/cpp/build/cmake-projects-in-visual-studio?view=msvc-170)。
-
-## 已知问题
-
-* MuJoCo Studio 目前在 Linux 的 Wayland 下尚无法正常工作，请改用 X11。
-
-## 未来工作
-
-1. **稳定性与健壮性**：我们需要用户反馈来发现和修复 Bug。
-
-2. **UI/UX 改进**：我们移植了 simulate UI 以方便用户过渡切换。我们将进一步修改以充分利用 Dear ImGui 提供的灵活性（[示例参考](https://github.com/ocornut/imgui/issues/8942)）。
-
-3. **Python 集成**：与 simulate 一样，我们希望让 Studio 可以通过 Python 调用和使用。
diff --git a/src/experimental/studio/app.cc b/src/experimental/studio/app.cc
deleted file mode 100644
index bf61638d..00000000
--- a/src/experimental/studio/app.cc
+++ /dev/null
@@ -1,2213 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/studio/app.h"
-
-#include <algorithm>
-#include <array>
-#include <cfloat>
-#include <cmath>
-#include <cstddef>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <filesystem>
-#include <functional>
-#include <memory>
-#include <optional>
-#include <span>
-#include <string>
-#include <string_view>
-#include <thread>
-#include <utility>
-#include <vector>
-
-#include <imgui.h>
-#include <imgui_internal.h>
-#include <implot.h>
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/classic_renderer.h"
-#include "experimental/platform/hal/filament_renderer.h"
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/platform/hal/renderer.h"
-#include "experimental/platform/hal/window.h"
-#include "experimental/platform/helpers.h"
-#include "experimental/platform/sim/model_holder.h"
-#include "experimental/platform/sim/step_control.h"
-#include "experimental/platform/ux/file_dialog.h"
-#include "experimental/platform/ux/gui.h"
-#include "experimental/platform/ux/gui_spec.h"
-#include "experimental/platform/ux/imgui_widgets.h"
-#include "experimental/platform/ux/interaction.h"
-#include "experimental/platform/ux/picture_gui.h"
-#include "experimental/platform/ux/plugin.h"
-
-namespace mujoco::studio {
-
-using PauseState = platform::StepControl::PauseState;
-
-static void ToggleFlag(mjtByte& flag) { flag = flag ? 0 : 1; }
-
-static void ToggleWindow(bool& window) {
-  window = !window;
-  ImGui::GetIO().WantSaveIniSettings = true;
-}
-
-static void SelectParentPerturb(const mjModel* model, mjvPerturb& perturb) {
-  if (perturb.select > 0) {
-    perturb.select = model->body_parentid[perturb.select];
-    perturb.flexselect = -1;
-    perturb.skinselect = -1;
-    if (perturb.select <= 0) {
-      perturb.active = 0;
-    }
-  }
-  // TODO: update selected element!
-}
-
-static constexpr const char* ICON_COPY_CAMERA = platform::ICON_FA_COPY;
-static constexpr const char* ICON_RELOAD_MODEL = platform::ICON_FA_REFRESH;
-static constexpr const char* ICON_RESET_MODEL = platform::ICON_FA_UNDO;
-static constexpr const char* ICON_PREV_FRAME = platform::ICON_FA_CARET_LEFT;
-static constexpr const char* ICON_NEXT_FRAME = platform::ICON_FA_CARET_RIGHT;
-static constexpr const char* ICON_CURR_FRAME = platform::ICON_FA_FAST_FORWARD;
-static constexpr const char* ICON_UNDO_SPEC = platform::ICON_FA_UNDO;
-static constexpr const char* ICON_REDO_SPEC = platform::ICON_FA_REPEAT;
-
-App::App(Config config)
-    : app_title_(std::move(config.title)),
-      ini_path_(std::move(config.ini_path)),
-      gfx_mode_(config.gfx_mode) {
-  SwitchGraphicsMode(config.width, config.height, config.gfx_mode);
-
-  if (config.initial_theme.has_value()) {
-    ui_.theme = *config.initial_theme;
-  }
-
-  ImPlot::CreateContext();
-  mjv_defaultPerturb(&perturb_);
-  mjv_defaultCamera(&camera_);
-  mjv_defaultOption(&vis_options_);
-  std::memset(&plugin_scene_, 0, sizeof(mjvScene));
-  mjv_makeScene(nullptr, &plugin_scene_, 2000);
-
-  profiler_.Clear();
-
-  step_control_.SetPreStepCallback(
-      [this](const mjModel* m, mjData* d) { PreStep(m, d); });
-  step_control_.SetPostStepCallback(
-      [this](const mjModel* m, mjData* d) { PostStep(m, d); });
-}
-
-App::~App() {
-  // ImGui's autosave is on a timer and covers only state it tracks, so recent
-  // changes and plugin visibility would be lost. window_ owns the ImGui context
-  // and outlives this body.
-  SaveSettings();
-  mjv_freeScene(&plugin_scene_);
-}
-
-void App::SwitchGraphicsMode(int width, int height,
-                             platform::GraphicsMode mode) {
-  renderer_.reset();
-  window_.reset();
-  gfx_mode_ = mode;
-
-  platform::Window::Config window_config;
-  window_config.gfx_mode = gfx_mode_;
-  window_ = std::make_unique<platform::Window>(app_title_, width, height,
-                                               window_config);
-  if (platform::IsClassic(gfx_mode_)) {
-    renderer_ = std::make_unique<platform::ClassicRenderer>(
-        window_->GetNativeWindowHandle(), gfx_mode_);
-
-  } else {
-    renderer_ = std::make_unique<platform::FilamentRenderer>(
-        window_->GetNativeWindowHandle(), gfx_mode_);
-  }
-
-  // TODO: Figure out why this breaks on some platforms.
-  // LoadSettings();
-  if (ui_.window_width > 0 && ui_.window_height > 0) {
-    window_->Resize(ui_.window_width, ui_.window_height);
-  }
-}
-
-void App::Recompile() {
-  mj_recompile(model_holder_->spec(), model_holder_->vfs(),
-               model_holder_->model(), model_holder_->data());
-  const int state_size = mj_stateSize(model(), mjSTATE_INTEGRATION);
-  sim_history_.Init(state_size);
-  if (has_model() && has_data()) {
-    std::span<mjtNum> state = sim_history_.AddToHistory();
-    if (!state.empty()) {
-      mj_getState(model(), data(), state.data(), mjSTATE_INTEGRATION);
-    }
-  }
-  timeline_.sim_head_time = has_data() ? data()->time : 0.0;
-  timeline_.lh_width = 0.0f;
-  timeline_.rh_width = 0.0f;
-  timeline_.scrubber_active = false;
-  timeline_.scrubber_grab_offset = 0.0f;
-}
-
-void App::RequestModelLoad(std::string model_file) {
-  pending_load_ = std::move(model_file);
-}
-
-void App::RequestModelReload() {
-  if (model_kind_ == kModelFromFile ||
-      (model_kind_ == kEmptyModel && !model_path_.empty())) {
-    pending_load_ = model_path_;
-    preserve_camera_on_load_ = true;
-  }
-}
-
-void App::InitEmptyModel() {
-  model_holder_ = platform::ModelHolder::FromSpec(mj_makeSpec());
-  OnModelLoaded("", kEmptyModel);
-  spec_editor_.Reset(*spec());
-}
-
-void App::LoadModelFromFile(const std::string& filepath) {
-  const std::string resolved_file =
-      platform::ResolveFile(filepath, search_paths_);
-  model_holder_ = platform::ModelHolder::FromFile(resolved_file);
-  if (model_holder_->ok()) {
-    OnModelLoaded(filepath, kModelFromFile);
-    if (spec()) {
-      spec_editor_.Reset(*spec());
-    } else {
-      spec_editor_.Reset();
-    }
-    UpdateFilePaths(resolved_file);
-    if (model() && model()->names) {
-      // Assumes the first string in the model is the name of the model itself.
-      window_->SetTitle(app_title_ + " : " + std::string(model()->names));
-    } else {
-      window_->SetTitle(app_title_ + " : " +
-                        std::filesystem::path(filepath).stem().string());
-    }
-  } else {
-    SetLoadError(std::string(model_holder_->error()));
-    // Keep track of the attempted load in case the user fixes the error and
-    // tries to reload the same file again.
-    model_path_ = resolved_file;
-  }
-}
-
-void App::LoadModelFromBuffer(std::span<const std::byte> buffer,
-                              std::string_view content_type,
-                              std::string_view filename) {
-  model_holder_ =
-      platform::ModelHolder::FromBuffer(buffer, content_type, filename);
-  if (model_holder_->ok()) {
-    OnModelLoaded(std::string(filename), kModelFromFile);
-  } else {
-    SetLoadError(std::string(model_holder_->error()));
-  }
-  if (spec()) {
-    spec_editor_.Reset(*spec());
-  } else {
-    spec_editor_.Reset();
-  }
-}
-
-void App::OnModelLoaded(std::string filename, ModelKind model_kind) {
-  load_error_ = "";
-  step_error_ = "";
-  edit_error_ = "";
-
-  if (!model_holder_->warning().empty()) {
-    load_error_ = model_holder_->warning();
-  }
-  model_path_ = std::move(filename);
-
-  if (model_kind_ == kEmptyModel) {
-    step_control_.SetPauseState(PauseState::kUnpaused);
-  }
-  model_kind_ = model_kind;
-  if (model_kind_ == kEmptyModel || !load_error_.empty()) {
-    step_control_.SetPauseState(PauseState::kNormalPaused);
-  }
-
-  // Reset/reinitialize everything that depends on the new mjModel.
-  mjModel* model = model_holder_->model();
-  renderer_->Init(model);
-  const int state_size = mj_stateSize(model, mjSTATE_INTEGRATION);
-  sim_history_.Init(state_size);
-  if (has_model() && has_data()) {
-    std::span<mjtNum> state = sim_history_.AddToHistory();
-    if (!state.empty()) {
-      mj_getState(model, data(), state.data(), mjSTATE_INTEGRATION);
-    }
-  }
-  timeline_.sim_head_time = has_data() ? data()->time : 0.0;
-  timeline_.lh_width = 0.0f;
-  timeline_.rh_width = 0.0f;
-  timeline_.scrubber_active = false;
-  timeline_.scrubber_grab_offset = 0.0f;
-
-  if (!preserve_camera_on_load_) {
-    const int model_cam = model->vis.global.cameraid;
-    if (model_cam >= 0 && model_cam < model->ncam) {
-      ui_.camera_idx = platform::SetCamera(model, &camera_, model_cam);
-    } else {
-      mjv_defaultFreeCamera(model, &camera_);
-    }
-  }
-  preserve_camera_on_load_ = false;
-
-  // Initialize the speed based on the model's default real-time setting.
-  float min_error = FLT_MAX;
-  const float desired = mju_log(100 * model->vis.global.realtime);
-  for (int i = 0; i < platform::kPercentRealTime.size(); ++i) {
-    const float speed = std::stof(platform::kPercentRealTime[i]);
-    const float error = mju_abs(mju_log(speed) - desired);
-    if (error < min_error) {
-      min_error = error;
-      SetSpeedIndex(i);
-    }
-  }
-
-  platform::ForEachPlugin<platform::ModelPlugin>([&](auto* plugin) {
-    if (plugin->post_model_loaded) {
-      plugin->post_model_loaded(plugin, model, model_path_.c_str());
-    }
-  });
-  tmp_.update_threadpool = true;
-  last_pause_state_ = step_control_.GetPauseState();
-}
-
-void App::UpdateFilePaths(const std::string& resolved_path) {
-  if (!resolved_path.empty()) {
-    const std::filesystem::path path(resolved_path);
-    const std::string base_path = path.parent_path().string() + "/";
-    const std::string model_name = path.stem().string();
-    tmp_.last_path[UiTempState::FileDialog_Load] =
-        base_path + model_name + ".xml";
-    tmp_.last_path[UiTempState::FileDialog_SaveMjb] =
-        base_path + model_name + "_saved.mjb";
-    tmp_.last_path[UiTempState::FileDialog_SaveXml] =
-        base_path + model_name + "_saved.xml";
-    tmp_.last_path[UiTempState::FileDialog_PrintModel] =
-        base_path + model_name + "_MJMODEL.TXT";
-    tmp_.last_path[UiTempState::FileDialog_PrintData] =
-        base_path + model_name + "_MJDATA.TXT";
-    tmp_.last_path[UiTempState::FileDialog_SaveScreenshot] =
-        base_path + "screenshot.webp";
-  }
-}
-
-void App::SetLoadError(std::string error) {
-  InitEmptyModel();
-  load_error_ = std::move(error);
-  step_error_ = "";
-  edit_error_ = "";
-}
-
-void App::ResetPhysics() {
-  mj_resetData(model(), data());
-  mj_forward(model(), data());
-  if (has_model()) {
-    const int state_size = mj_stateSize(model(), mjSTATE_INTEGRATION);
-    sim_history_.Init(state_size);
-  }
-  if (has_model() && has_data()) {
-    std::span<mjtNum> state = sim_history_.AddToHistory();
-    if (!state.empty()) {
-      mj_getState(model(), data(), state.data(), mjSTATE_INTEGRATION);
-    }
-  }
-  timeline_.sim_head_time = has_data() ? data()->time : 0.0;
-  timeline_.lh_width = 0.0f;
-  timeline_.rh_width = 0.0f;
-  timeline_.scrubber_active = false;
-  timeline_.scrubber_grab_offset = 0.0f;
-  step_error_ = "";
-  edit_error_ = "";
-}
-
-void App::UpdatePhysics() {
-  if (!has_model()) {
-    return;
-  }
-
-  if (tmp_.update_threadpool) {
-    mju_threadpool(data(), ui_.nthread);
-    tmp_.update_threadpool = false;
-  }
-
-  bool plugin_stepped = false;
-  platform::ForEachPlugin<platform::ModelPlugin>([&](auto* plugin) {
-    if (plugin->do_update) {
-      if (plugin->do_update(plugin, model(), data())) {
-        plugin_stepped = true;
-      }
-    }
-  });
-
-  bool stepped = plugin_stepped;
-  if (!plugin_stepped) {
-    if (step_control_.GetPauseState() != PauseState::kNormalPaused) {
-      mju_zero(data()->xfrc_applied, 6 * model()->nbody);
-      mjv_applyPerturbPose(model(), data(), &perturb_, 0);
-      mjv_applyPerturbForce(model(), data(), &perturb_);
-    } else {
-      mjv_applyPerturbPose(model(), data(), &perturb_, 1);
-    }
-
-    if (has_data()) {
-      for (int i = 0; i < mjNTIMER; i++) {
-        data()->timer[i].duration = 0;
-        data()->timer[i].number = 0;
-      }
-    }
-
-    platform::StepControl::Status status =
-        step_control_.Advance(model(), data());
-    if (status == platform::StepControl::Status::kPaused) {
-      profiler_.Update(model(), data());
-    } else if (status == platform::StepControl::Status::kOk) {
-      stepped = true;
-      // If we are adding to the history we didn't have a divergence error
-      step_error_ = "";
-    } else if (status == platform::StepControl::Status::kAutoReset) {
-      ResetPhysics();
-    } else if (status == platform::StepControl::Status::kDiverged) {
-      stepped = true;
-      for (mjtWarning w : platform::StepControl::kDivergedWarnings) {
-        if (data()->warning[w].number > 0) {
-          step_error_ = mju_warningText(w, data()->warning[w].lastinfo);
-        }
-      }
-    }
-  }
-
-  if (stepped) {
-    profiler_.Update(model(), data());
-    if (plugin_stepped) {
-      std::span<mjtNum> state = sim_history_.AddToHistory();
-      if (!state.empty()) {
-        mj_getState(model(), data(), state.data(), mjSTATE_INTEGRATION);
-        timeline_.sim_head_time = data()->time;
-      }
-    }
-  }
-}
-
-void App::PreStep(const mjModel* m, mjData* d) {
-  platform::ForEachPlugin<platform::ModelPlugin>([&](auto* plugin) {
-    if (plugin->pre_step) {
-      plugin->pre_step(plugin, m, d);
-    }
-  });
-}
-
-void App::PostStep(const mjModel* m, mjData* d) {
-  platform::ForEachPlugin<platform::ModelPlugin>([&](auto* plugin) {
-    if (plugin->post_step) {
-      plugin->post_step(plugin, m, d);
-    }
-  });
-
-  std::span<mjtNum> state = sim_history_.AddToHistory();
-  if (!state.empty()) {
-    mj_getState(m, d, state.data(), mjSTATE_INTEGRATION);
-    timeline_.sim_head_time = d->time;
-  }
-}
-
-void App::LoadHistory(int offset) {
-  platform::LoadHistoryFrame(sim_history_, step_control_, model(), data(),
-                             offset);
-}
-
-bool App::Update() {
-  // Must precede the first NewFrame: the dockspace is built lazily on the frame
-  // that finds no root node, so the saved nodes have to be there already or the
-  // default layout wins.
-  if (tmp_.first_frame) {
-    LoadSettings();
-    tmp_.first_frame = false;
-  }
-
-  const platform::Window::Status status = window_->NewFrame();
-
-  HandleWindowEvents();
-  HandleMouseEvents();
-  HandleKeyboardEvents();
-
-  ProcessPendingLoads();
-
-  PauseState current_pause = step_control_.GetPauseState();
-  if (current_pause != last_pause_state_) {
-    load_error_ = "";
-    last_pause_state_ = current_pause;
-  }
-
-  // Only update the simulation if a popup window is not open. Note that the
-  // simulation itself will only update if it is not paused.
-  if (tmp_.file_dialog == UiTempState::FileDialog_None) {
-    UpdatePhysics();
-  }
-
-  return status == platform::Window::Status::kRunning && !tmp_.should_exit;
-}
-
-void App::Render() {
-  const float width = window_->GetWidth();
-  const float height = window_->GetHeight();
-  const float scale = window_->GetScale();
-  if (IsHeadless(window_->GetGraphicsMode())) {
-    pixels_.resize(width * height * 3);
-  } else {
-    pixels_.clear();
-  }
-
-  plugin_scene_.ngeom = 0;
-  platform::ForEachPlugin<platform::ScenePlugin>([&](auto* plugin) {
-    if (plugin->enhance_scene) {
-      plugin->enhance_scene(plugin, model(), data(), &plugin_scene_);
-    }
-  });
-
-  renderer_->Render(model(), data(), &perturb_, &camera_, &vis_options_,
-                    width * scale, height * scale, pixels_,
-                    {plugin_scene_.geoms, (size_t)plugin_scene_.ngeom});
-
-  window_->EndFrame();
-  window_->Present(pixels_);
-
-  if (has_data()) {
-    for (int i = 0; i < mjNTIMER; i++) {
-      data()->timer[i].duration = 0;
-      data()->timer[i].number = 0;
-    }
-  }
-}
-
-void App::ProcessPendingLoads() {
-  // Check to see if we need to load a new model.
-  if (pending_load_.has_value()) {
-    std::string load_data = std::move(pending_load_.value());
-    pending_load_.reset();
-
-    if (load_data.empty()) {
-      InitEmptyModel();
-    } else {
-      LoadModelFromFile(load_data);
-    }
-  }
-
-  if (pending_op_) {
-    pending_op_();
-    pending_op_ = nullptr;
-  }
-
-  // Allow plugins to edit the spec as well.
-  platform::ForEachPlugin<platform::SpecEditorPlugin>([&](auto* plugin) {
-    if (plugin->pre_compile) {
-      if (plugin->pre_compile(plugin, spec(), model(), data(), &camera_)) {
-        Recompile();
-        if (plugin->post_compile) {
-          plugin->post_compile(plugin, spec(), model(), data());
-        }
-      };
-    }
-  });
-
-  // Check plugins to see if we need to load a new model.
-  platform::ForEachPlugin<platform::ModelPlugin>([&](auto* plugin) {
-    if (plugin->get_model_to_load) {
-      char model_name[1000] = "";
-      char content_type[1000] = "";
-      int size = 0;
-      const char* buf = plugin->get_model_to_load(
-          plugin, &size, content_type, sizeof(content_type), model_name,
-          sizeof(model_name));
-      if (buf && buf == model_name) {
-        LoadModelFromFile(model_name);
-      } else if (buf && size) {
-        const std::byte* bytes = reinterpret_cast<const std::byte*>(buf);
-        LoadModelFromBuffer({bytes, bytes + size}, content_type, model_name);
-      }
-    }
-  });
-}
-
-void App::HandleWindowEvents() {
-  const std::string drop_file = window_->GetDropFile();
-  if (!drop_file.empty()) {
-    RequestModelLoad(drop_file);
-  }
-}
-
-void App::HandleMouseEvents() {
-  auto& io = ImGui::GetIO();
-  if (io.WantCaptureMouse) {
-    return;
-  }
-
-  if (!has_model() || !has_data()) {
-    return;
-  }
-
-  // Normalize mouse positions and movement to display size.
-  const float mouse_x = io.MousePos.x / io.DisplaySize.x;
-  const float mouse_y = io.MousePos.y / io.DisplaySize.y;
-  const float mouse_dx = io.MouseDelta.x / io.DisplaySize.x;
-  const float mouse_dy = io.MouseDelta.y / io.DisplaySize.y;
-  const float mouse_scroll = io.MouseWheel / 50.0f;
-  const bool is_mouse_moving = (mouse_dx != 0.0f || mouse_dy != 0.0f);
-  const bool is_any_mouse_down = ImGui::IsMouseDown(ImGuiMouseButton_Left) ||
-                                 ImGui::IsMouseDown(ImGuiMouseButton_Right) ||
-                                 ImGui::IsMouseDown(ImGuiMouseButton_Middle);
-  const bool is_mouse_dragging = is_mouse_moving && is_any_mouse_down;
-
-  // If no mouse buttons are down, end any active perturbations.
-  if (!is_any_mouse_down) {
-    perturb_.active = 0;
-  }
-
-  // Handle perturbation mouse actions.
-  if (is_mouse_dragging && io.KeyCtrl) {
-    if (perturb_.select > 0) {
-      mjtMouse action = mjMOUSE_NONE;
-      if (ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
-        if (io.KeyAlt) {
-          action = io.KeyShift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
-        } else {
-          action = io.KeyShift ? mjMOUSE_ROTATE_H : mjMOUSE_ROTATE_V;
-        }
-      } else if (ImGui::IsMouseDown(ImGuiMouseButton_Right)) {
-        action = io.KeyShift ? mjMOUSE_MOVE_H : mjMOUSE_MOVE_V;
-      } else if (ImGui::IsMouseDown(ImGuiMouseButton_Middle)) {
-        action = mjMOUSE_ZOOM;
-      }
-      const mjtPertBit active =
-          (action == mjMOUSE_MOVE_V || action == mjMOUSE_MOVE_H)
-              ? mjPERT_TRANSLATE
-              : mjPERT_ROTATE;
-      if (active != perturb_.active) {
-        platform::InitPerturb(model(), data(), &camera_, &perturb_, active);
-      }
-      platform::MovePerturb(model(), data(), &camera_, &perturb_, action,
-                            mouse_dx, mouse_dy);
-    }
-  }
-  // Handle camera movement actions.
-  else if (is_mouse_dragging) {
-    if (ui_.camera_idx == platform::kFreeCameraIdx) {
-      if (ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
-        mjv_moveCamera(model(), mjMOUSE_TURN_H, mouse_dx, 0.f, &camera_);
-        mjv_moveCamera(model(), mjMOUSE_TURN_V, 0.f, mouse_dy, &camera_);
-      }
-    } else {
-      if (ImGui::IsMouseDown(ImGuiMouseButton_Left)) {
-        mjv_moveCamera(model(), mjMOUSE_ROTATE_H, mouse_dx, 0.f, &camera_);
-        mjv_moveCamera(model(), mjMOUSE_ROTATE_V, 0.f, mouse_dy, &camera_);
-      } else if (ImGui::IsMouseDown(ImGuiMouseButton_Middle)) {
-        mjv_moveCamera(model(), mjMOUSE_ZOOM, 0.f, mouse_dy, &camera_);
-      }
-    }
-
-    // Right mouse movement is relative to the horizontal and vertical planes.
-    if (ImGui::IsMouseDown(ImGuiMouseButton_Right) && io.KeyShift) {
-      mjv_moveCamera(model(), mjMOUSE_MOVE_H, mouse_dx, mouse_dy, &camera_);
-    } else if (ImGui::IsMouseDown(ImGuiMouseButton_Right)) {
-      mjv_moveCamera(model(), mjMOUSE_MOVE_V, mouse_dx, mouse_dy, &camera_);
-    }
-  }
-
-  // Mouse scroll zooms the camera towards/away from the lookat point.
-  // Ignored by user-centered free cameras which don't have a lookat point.
-  if (mouse_scroll != 0.0f && ui_.camera_idx != platform::kFreeCameraIdx) {
-    mjv_moveCamera(model(), mjMOUSE_ZOOM, 0.f, -mouse_scroll, &camera_);
-  }
-
-  // Left double click.
-  if (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left)) {
-    platform::PickResult picked =
-        platform::Pick(model(), data(), &camera_, mouse_x, mouse_y,
-                       window_->GetAspectRatio(), &vis_options_);
-    if (picked.body >= 0) {
-      perturb_.select = picked.body;
-      perturb_.flexselect = picked.flex;
-      perturb_.skinselect = picked.skin;
-
-      // Select the corresponding element in the spec.
-      tmp_.curr_element = nullptr;
-      if (has_spec()) {
-        mjsElement* element = mjs_firstElement(spec(), mjOBJ_BODY);
-        while (element) {
-          if (mjs_getId(element) == picked.body) {
-            tmp_.curr_element = element;
-            break;
-          }
-          element = mjs_nextElement(spec(), element);
-        }
-      }
-
-      // Compute the local position of the selected object in the world.
-      mjtNum tmp[3];
-      mju_sub3(tmp, picked.point, data()->xpos + 3 * picked.body);
-      mju_mulMatTVec(perturb_.localpos, data()->xmat + 9 * picked.body, tmp, 3,
-                     3);
-    } else {
-      mjv_defaultPerturb(&perturb_);
-    }
-  }
-
-  // Right double click.
-  if (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Right)) {
-    platform::PickResult picked =
-        platform::Pick(model(), data(), &camera_, mouse_x, mouse_y,
-                       window_->GetAspectRatio(), &vis_options_);
-    mju_copy3(camera_.lookat, picked.point);
-    if (picked.body > 0 && io.KeyCtrl) {
-      // Switch camera to tracking mode and track the selected body.
-      camera_.type = mjCAMERA_TRACKING;
-      camera_.trackbodyid = picked.body;
-      camera_.fixedcamid = -1;
-      ui_.camera_idx = platform::kTrackingCameraIdx;
-    }
-  }
-}
-
-void App::HandleKeyboardEvents() {
-  using platform::ImGui_IsChordJustPressed;
-  if (ImGui::GetIO().WantCaptureKeyboard) {
-    return;
-  }
-
-  constexpr auto ImGuiMod_CtrlShift = ImGuiMod_Ctrl | ImGuiMod_Shift;
-
-  bool is_freecam_wasd = ui_.camera_idx == platform::kFreeCameraIdx;
-
-  // Menu shortcuts.
-  if (ImGui_IsChordJustPressed(ImGuiKey_O | ImGuiMod_Ctrl)) {
-    tmp_.file_dialog = UiTempState::FileDialog_Load;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_S | ImGuiMod_CtrlShift)) {
-    tmp_.file_dialog = UiTempState::FileDialog_SaveMjb;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_S | ImGuiMod_Ctrl)) {
-    tmp_.file_dialog = UiTempState::FileDialog_SaveXml;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_M | ImGuiMod_Ctrl)) {
-    tmp_.file_dialog = UiTempState::FileDialog_PrintModel;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_D | ImGuiMod_Ctrl)) {
-    tmp_.file_dialog = UiTempState::FileDialog_PrintData;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_P | ImGuiMod_Ctrl)) {
-    tmp_.file_dialog = UiTempState::FileDialog_SaveScreenshot;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_C | ImGuiMod_Ctrl)) {
-    std::string keyframe = platform::KeyframeToString(model(), data(), false);
-    platform::MaybeSaveToClipboard(keyframe);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_L | ImGuiMod_Ctrl)) {
-    RequestModelReload();
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Q | ImGuiMod_Ctrl)) {
-    tmp_.should_exit = true;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_A | ImGuiMod_Ctrl)) {
-    const int cam_id = model()->vis.global.cameraid;
-    if (cam_id >= 0 && cam_id < model()->ncam) {
-      ui_.camera_idx = platform::SetCamera(model(), &camera_, cam_id);
-    } else {
-      mjv_defaultFreeCamera(model(), &camera_);
-    }
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Tab | ImGuiMod_Shift)) {
-    tmp_.inspector_panel = !tmp_.inspector_panel;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Tab)) {
-    tmp_.options_panel = !tmp_.options_panel;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Minus | ImGuiMod_Ctrl)) {
-    float old_scale = ui_.font_scale;
-    ui_.font_scale = std::clamp(ui_.font_scale - 0.1f, 0.5f, 3.0f);
-    platform::RescaleDock(ui_.font_scale / old_scale);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Equal | ImGuiMod_Ctrl)) {
-    float old_scale = ui_.font_scale;
-    ui_.font_scale = std::clamp(ui_.font_scale + 0.1f, 0.5f, 3.0f);
-    platform::RescaleDock(ui_.font_scale / old_scale);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Minus)) {
-    SetSpeedIndex(tmp_.speed_index + 1);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Equal)) {
-    SetSpeedIndex(tmp_.speed_index - 1);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_LeftArrow)) {
-    if (step_control_.GetPauseState() == PauseState::kNormalPaused) {
-      LoadHistory(sim_history_.GetIndex() - 1);
-    }
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_RightArrow)) {
-    if (step_control_.GetPauseState() == PauseState::kNormalPaused) {
-      if (sim_history_.GetIndex() == 0) {
-        step_control_.RequestSingleStep();
-      } else {
-        LoadHistory(sim_history_.GetIndex() + 1);
-      }
-    }
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Space)) {
-    if (step_control_.GetPauseState() == PauseState::kUnpaused) {
-      step_control_.SetPauseState(PauseState::kNormalPaused);
-    } else {
-      step_control_.SetPauseState(PauseState::kUnpaused);
-    }
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Backspace)) {
-    ResetPhysics();
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Delete)) {
-    // TODO: SpecDeleteElement(tmp_.curr_element);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_PageUp)) {
-    SelectParentPerturb(model(), perturb_);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_F1)) {
-    ToggleWindow(tmp_.help);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_F2)) {
-    ToggleWindow(tmp_.info);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_F3)) {
-    // Cycle through profiler views.
-    if (!tmp_.profiler) {
-      tmp_.profiler = true;
-      tmp_.profiler_show_iter = false;
-    } else if (!tmp_.profiler_show_iter) {
-      tmp_.profiler_show_iter = true;
-    } else {
-      tmp_.profiler = false;
-    }
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_F6)) {
-    vis_options_.frame = (vis_options_.frame + 1) % mjNFRAME;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_F7)) {
-    vis_options_.label = (vis_options_.label + 1) % mjNLABEL;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_F11)) {
-    tmp_.full_screen = !tmp_.full_screen;
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_H)) {
-    ToggleFlag(vis_options_.flags[mjVIS_CONVEXHULL]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_X)) {
-    ToggleFlag(vis_options_.flags[mjVIS_TEXTURE]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_J)) {
-    ToggleFlag(vis_options_.flags[mjVIS_JOINT]);
-  } else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_Q)) {
-    ToggleFlag(vis_options_.flags[mjVIS_CAMERA]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_U)) {
-    ToggleFlag(vis_options_.flags[mjVIS_ACTUATOR]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Comma)) {
-    ToggleFlag(vis_options_.flags[mjVIS_ACTIVATION]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Z)) {
-    ToggleFlag(vis_options_.flags[mjVIS_LIGHT]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_V)) {
-    ToggleFlag(vis_options_.flags[mjVIS_TENDON]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Y)) {
-    ToggleFlag(vis_options_.flags[mjVIS_RANGEFINDER]);
-  } else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_E)) {
-    ToggleFlag(vis_options_.flags[mjVIS_CONSTRAINT]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_I)) {
-    ToggleFlag(vis_options_.flags[mjVIS_INERTIA]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Apostrophe)) {
-    ToggleFlag(vis_options_.flags[mjVIS_SCLINERTIA]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_B)) {
-    ToggleFlag(vis_options_.flags[mjVIS_PERTFORCE]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_O)) {
-    ToggleFlag(vis_options_.flags[mjVIS_PERTOBJ]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_C)) {
-    ToggleFlag(vis_options_.flags[mjVIS_CONTACTPOINT]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_N)) {
-    ToggleFlag(vis_options_.flags[mjVIS_ISLAND]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_F)) {
-    ToggleFlag(vis_options_.flags[mjVIS_CONTACTFORCE]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_P)) {
-    ToggleFlag(vis_options_.flags[mjVIS_CONTACTSPLIT]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_T)) {
-    ToggleFlag(vis_options_.flags[mjVIS_TRANSPARENT]);
-  } else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_A)) {
-    ToggleFlag(vis_options_.flags[mjVIS_AUTOCONNECT]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_M)) {
-    ToggleFlag(vis_options_.flags[mjVIS_COM]);
-  } else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_D)) {
-    ToggleFlag(vis_options_.flags[mjVIS_STATIC]);
-  } else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_W)) {
-    ToggleFlag(renderer_->GetRenderFlags()[mjRND_WIREFRAME]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Semicolon)) {
-    ToggleFlag(vis_options_.flags[mjVIS_SKIN]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_GraveAccent)) {
-    ToggleFlag(vis_options_.flags[mjVIS_BODYBVH]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_Backslash)) {
-    ToggleFlag(vis_options_.flags[mjVIS_MESHBVH]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_0 | ImGuiMod_Shift)) {
-    ToggleFlag(vis_options_.sitegroup[0]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_1 | ImGuiMod_Shift)) {
-    ToggleFlag(vis_options_.sitegroup[1]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_2 | ImGuiMod_Shift)) {
-    ToggleFlag(vis_options_.sitegroup[2]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_3 | ImGuiMod_Shift)) {
-    ToggleFlag(vis_options_.sitegroup[3]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_4 | ImGuiMod_Shift)) {
-    ToggleFlag(vis_options_.sitegroup[4]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_5 | ImGuiMod_Shift)) {
-    ToggleFlag(vis_options_.sitegroup[5]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_0)) {
-    ToggleFlag(vis_options_.geomgroup[0]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_1)) {
-    ToggleFlag(vis_options_.geomgroup[1]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_2)) {
-    ToggleFlag(vis_options_.geomgroup[2]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_3)) {
-    ToggleFlag(vis_options_.geomgroup[3]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_4)) {
-    ToggleFlag(vis_options_.geomgroup[4]);
-  } else if (ImGui_IsChordJustPressed(ImGuiKey_5)) {
-    ToggleFlag(vis_options_.geomgroup[5]);
-  } else if (has_model() && ImGui_IsChordJustPressed(ImGuiKey_Escape)) {
-    ui_.camera_idx =
-        platform::SetCamera(model(), &camera_, platform::kTumbleCameraIdx);
-  } else if (has_model() && ImGui_IsChordJustPressed(ImGuiKey_LeftBracket)) {
-    ui_.camera_idx = platform::SetCamera(model(), &camera_, ui_.camera_idx - 1);
-  } else if (has_model() && ImGui_IsChordJustPressed(ImGuiKey_RightBracket)) {
-    ui_.camera_idx = platform::SetCamera(model(), &camera_, ui_.camera_idx + 1);
-    // WASD camera controls for free camera.
-  } else if (is_freecam_wasd &&
-             (ImGui::IsKeyDown(ImGuiKey_W) || ImGui::IsKeyDown(ImGuiKey_S) ||
-              ImGui::IsKeyDown(ImGuiKey_A) || ImGui::IsKeyDown(ImGuiKey_D) ||
-              ImGui::IsKeyDown(ImGuiKey_Q) || ImGui::IsKeyDown(ImGuiKey_E))) {
-    bool moved = false;
-
-    // Move (dolly) forward/backward using W and S keys.
-    if (ImGui::IsKeyDown(ImGuiKey_W)) {
-      mjv_moveCamera(model(), mjMOUSE_MOVE_H_REL, 0, tmp_.cam_speed, &camera_);
-      moved = true;
-    } else if (ImGui::IsKeyDown(ImGuiKey_S)) {
-      mjv_moveCamera(model(), mjMOUSE_MOVE_H_REL, 0, -tmp_.cam_speed, &camera_);
-      moved = true;
-    }
-
-    // Strafe (truck) left/right using A and D keys.
-    if (ImGui::IsKeyDown(ImGuiKey_A)) {
-      mjv_moveCamera(model(), mjMOUSE_MOVE_H_REL, -tmp_.cam_speed, 0, &camera_);
-      moved = true;
-    } else if (ImGui::IsKeyDown(ImGuiKey_D)) {
-      mjv_moveCamera(model(), mjMOUSE_MOVE_H_REL, tmp_.cam_speed, 0, &camera_);
-      moved = true;
-    }
-
-    // Move (pedestal) up/down using Q and E keys.
-    if (ImGui::IsKeyDown(ImGuiKey_Q)) {
-      mjv_moveCamera(model(), mjMOUSE_MOVE_V_REL, 0, tmp_.cam_speed, &camera_);
-      moved = true;
-    } else if (ImGui::IsKeyDown(ImGuiKey_E)) {
-      mjv_moveCamera(model(), mjMOUSE_MOVE_V_REL, 0, -tmp_.cam_speed, &camera_);
-      moved = true;
-    }
-
-    if (moved) {
-      tmp_.cam_speed += 0.001f;
-
-      const float max_speed = ImGui::GetIO().KeyShift ? 0.1 : 0.01f;
-      if (tmp_.cam_speed > max_speed) {
-        tmp_.cam_speed = max_speed;
-      }
-    } else {
-      tmp_.cam_speed = 0.001f;
-    }
-  } else {
-    platform::ForEachPlugin<platform::KeyHandlerPlugin>([&](auto* plugin) {
-      if (plugin->key_chord && plugin->on_key_pressed) {
-        if (ImGui_IsChordJustPressed(plugin->key_chord)) {
-          plugin->on_key_pressed(plugin);
-        }
-      }
-    });
-  }
-}
-
-void App::LoadSettings() {
-  if (!ini_path_.empty()) {
-    std::string settings = platform::LoadText(ini_path_);
-    if (!settings.empty()) {
-      ui_.FromDict(platform::ReadIniSection(settings, "[Studio][UX]"));
-      ImGui::LoadIniSettingsFromMemory(settings.data(), settings.size());
-
-      platform::KeyValues plugin_names =
-          platform::ReadIniSection(settings, "[Studio][Plugins]");
-      platform::ForEachPlugin<platform::GuiPlugin>([&](auto* plugin) {
-        auto it = plugin_names.find(plugin->name);
-        if (it != plugin_names.end()) {
-          plugin->active = std::stoi(it->second) != 0;
-        }
-      });
-
-      // Applied later: the owning windows do not exist until first submitted.
-      window_state_storage_ =
-          platform::ReadIniSection(settings, "[Studio][WindowStateStorage]");
-    }
-  }
-}
-
-// Key for one entry in state storage; the window name locates its owner on load.
-static std::string WindowStateStorageKey(const char* window_name, ImGuiID id) {
-  char id_str[16];
-  std::snprintf(id_str, sizeof(id_str), "%08X", id);
-  return std::string(window_name) + "/" + id_str;
-}
-
-void App::ApplyWindowStateStorage() {
-  for (auto it = window_state_storage_.begin(); it != window_state_storage_.end();) {
-    const std::string::size_type sep = it->first.rfind('/');
-    if (sep == std::string::npos) {
-      it = window_state_storage_.erase(it);
-      continue;
-    }
-    // Child windows are "<parent>/<child>_<id>": id follows the last '/'.
-    ImGuiWindow* window =
-        ImGui::FindWindowByName(it->first.substr(0, sep).c_str());
-    if (window == nullptr) {
-      ++it;  // Window not submitted yet; try again next frame.
-      continue;
-    }
-    const ImGuiID id = std::strtoul(it->first.c_str() + sep + 1, nullptr, 16);
-    window->StateStorage.SetInt(id, std::stoi(it->second) != 0);
-    it = window_state_storage_.erase(it);
-  }
-}
-
-void App::SaveSettings() {
-  if (!ini_path_.empty()) {
-    std::string settings = ImGui::SaveIniSettingsToMemory();
-    if (window_) {
-      ui_.window_width = window_->GetWidth();
-      ui_.window_height = window_->GetHeight();
-    }
-    platform::AppendIniSection(settings, "[Studio][UX]", ui_.ToDict());
-
-    platform::KeyValues plugin_names;
-    platform::ForEachPlugin<platform::GuiPlugin>([&](auto* plugin) {
-      plugin_names[plugin->name] = std::to_string((int)plugin->active);
-    });
-    platform::AppendIniSection(settings, "[Studio][Plugins]", plugin_names);
-
-    // Pending entries first, so state for windows never opened this session is
-    // not dropped, then let the live windows override. Merge into a local copy:
-    // window_state_storage_ must stay pending-only, or a stale value could re-apply
-    // over a newer toggle.
-    platform::KeyValues window_state_storage = window_state_storage_;
-    ImGuiContext& g = *ImGui::GetCurrentContext();
-    for (ImGuiWindow* window : g.Windows) {
-      for (const ImGuiStoragePair& pair : window->StateStorage.Data) {
-        window_state_storage[WindowStateStorageKey(window->Name, pair.key)] =
-            std::to_string(pair.val_i);
-      }
-    }
-    platform::AppendIniSection(settings, "[Studio][WindowStateStorage]",
-                               window_state_storage);
-
-    platform::SaveText(settings, ini_path_);
-  }
-}
-
-void App::SetSpeedIndex(int idx) {
-  platform::SetSpeedIndex(&step_control_, tmp_.speed_index, idx);
-}
-
-void App::BuildGui() {
-  if (tmp_.full_screen) {
-    return;
-  }
-
-  if (!tmp_.style_editor) {
-    platform::SetupTheme(ui_.theme);
-  }
-
-  ImGui::GetIO().FontGlobalScale = ui_.font_scale;
-
-  const ImVec4 workspace_rect =
-      platform::ConfigureDockingLayout(tmp_.toolbar, tmp_.status_bar);
-
-  // Place charts in bottom right corner of the workspace.
-  const ImVec2 chart_size(250, 500);
-  const ImVec2 chart_pos(workspace_rect.x + workspace_rect.z - chart_size.x,
-                         workspace_rect.y + workspace_rect.w - chart_size.y);
-
-  MainMenuGui();
-
-  if (tmp_.toolbar) {
-    if (ImGui::Begin("ToolBar")) {
-      ToolBarGui();
-    }
-    ImGui::End();
-  }
-
-  if (tmp_.status_bar) {
-    platform::ScopedStyle style;
-    style.Var(ImGuiStyleVar_CellPadding, ImVec2(0, 0));
-    style.Var(ImGuiStyleVar_FramePadding, ImVec2(0, 0));
-    style.Var(ImGuiStyleVar_WindowPadding, ImVec2(0, 0));
-    if (ImGui::Begin("StatusBar")) {
-      StatusBarGui();
-    }
-    ImGui::End();
-  }
-
-  if (tmp_.options_panel) {
-    if (ImGui::Begin("Options", &tmp_.options_panel)) {
-      ModelOptionsGui();
-    }
-    ImGui::End();
-  }
-
-  if (tmp_.inspector_panel) {
-    if (ImGui::Begin("Explorer", &tmp_.inspector_panel)) {
-      SpecExplorerGui();
-    }
-    ImGui::End();
-
-    if (ImGui::Begin("Inspector", &tmp_.inspector_panel)) {
-      DataInspectorGui();
-    }
-    ImGui::End();
-  }
-
-  if (tmp_.editor_panel) {
-    if (ImGui::Begin("Editor", &tmp_.editor_panel)) {
-      SpecEditorGui();
-    }
-    ImGui::End();
-  }
-
-  if (tmp_.profiler) {
-    if (ImGui::Begin("Profiler", &tmp_.profiler,
-                     ImGuiWindowFlags_NoScrollbar |
-                         ImGuiWindowFlags_NoScrollWithMouse)) {
-      platform::ProfilerGui(model(), data(), &profiler_,
-                            tmp_.profiler_show_iter);
-    }
-    ImGui::End();
-  }
-
-  if (tmp_.picture_in_picture) {
-    if (ImGui::Begin("Picture-in-Picture", &tmp_.picture_in_picture)) {
-      platform::PipGui(model(), data(), window_->GetAspectRatio(),
-                       renderer_.get(), &tmp_.pips);
-    }
-    ImGui::End();
-  }
-
-  if (tmp_.help) {
-    platform::ScopedStyle style;
-    style.Var(ImGuiStyleVar_Alpha, 0.8f);
-    ImGui::SetNextWindowPos(ImVec2(workspace_rect.x, workspace_rect.y),
-                            ImGuiCond_Appearing);
-    ImGui::SetNextWindowSize(ImVec2(0, 0), ImGuiCond_Appearing);
-    if (ImGui::Begin("Help", &tmp_.help, ImGuiWindowFlags_AlwaysAutoResize)) {
-      ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(2.0f, 5.0f));
-      HelpGui();
-      ImGui::PopStyleVar();
-    }
-    ImGui::End();
-  }
-
-  if (!load_error_.empty()) {
-    const float scale = ImGui::GetWindowDpiScale();
-    const float max_line_width = ImGui::CalcTextSize(load_error_.c_str()).x;
-    const float padding = 30.0f * scale;
-    const float max_workspace_width = std::max(0.0f, workspace_rect.z - 20.0f);
-    const float min_target_width =
-        std::min(350.0f * scale, max_workspace_width);
-    const float target_width = std::clamp(
-        max_line_width + padding, min_target_width, max_workspace_width);
-
-    if (platform::BeginOverlay("WarningOverlay", platform::OverlayPos::kBottom,
-                               workspace_rect, target_width, 0.8f)) {
-      const bool is_dark = ImGui::GetStyle().Colors[ImGuiCol_WindowBg].x < 0.5f;
-      if (!model_holder_->warning().empty()) {
-        const ImVec4 warning_color = is_dark ? ImVec4(1.0f, 0.8f, 0.2f, 1.0f)
-                                             : ImVec4(0.7f, 0.45f, 0.0f, 1.0f);
-        ImGui::TextColored(warning_color, "Warning:");
-      } else {
-        const ImVec4 error_color = is_dark ? ImVec4(1.0f, 0.4f, 0.4f, 1.0f)
-                                           : ImVec4(0.8f, 0.1f, 0.1f, 1.0f);
-        ImGui::TextColored(error_color, "Compiler Error:");
-      }
-      ImGui::Separator();
-      if (max_line_width + padding > max_workspace_width) {
-        ImGui::PushTextWrapPos(max_workspace_width - padding);
-        ImGui::TextUnformatted(load_error_.c_str());
-        ImGui::PopTextWrapPos();
-      } else {
-        ImGui::TextUnformatted(load_error_.c_str());
-      }
-    }
-    platform::EndOverlay();
-  }
-
-  if (tmp_.info) {
-    const float scale = ImGui::GetWindowDpiScale();
-    if (platform::BeginOverlay("Info", platform::OverlayPos::kBottomLeft,
-                               workspace_rect, 180.0f * scale)) {
-      const float fps = renderer_->GetFps();
-      platform::InfoGui(
-          model(), data(),
-          step_control_.GetPauseState() == PauseState::kNormalPaused, fps);
-    }
-    platform::EndOverlay();
-  }
-
-  // pause overlay
-  if (tmp_.info && has_model() &&
-      step_control_.GetPauseState() == PauseState::kNormalPaused) {
-    platform::TextOverlay("Pause", platform::OverlayPos::kTop, workspace_rect,
-                          "PAUSE", ImVec4(0, 0, 0, 0), 3.0f);
-  }
-
-  // realtime factor overlay
-  if (has_model() && step_control_.GetPauseState() == PauseState::kUnpaused) {
-    const float desired = step_control_.GetSpeed();
-    const float measured = step_control_.GetSpeedMeasured();
-    if (desired != 100.0f || mju_abs(measured - desired) > 0.1f * desired) {
-      char rtlabel[30];
-      bool misaligned = mju_abs(measured - desired) > 0.1f * desired;
-      if (misaligned) {
-        std::snprintf(rtlabel, sizeof(rtlabel), "%g%% (%-4.1f%%)", desired,
-                      measured);
-      } else {
-        std::snprintf(rtlabel, sizeof(rtlabel), "%g%%", desired);
-      }
-      platform::TextOverlay("Realtime", platform::OverlayPos::kTopLeft,
-                            workspace_rect, rtlabel, ImVec4(0, 0, 0, 0), 2.0f);
-    }
-  }
-
-  // Display a drag-and-drop message if no model is loaded.
-  if (model_kind_ == kEmptyModel) {
-#ifndef __EMSCRIPTEN__
-    const char* text = "Load model file or drag-and-drop model file here.";
-
-    const float width = window_->GetWidth() * ImGui::GetWindowDpiScale();
-    const float height = window_->GetHeight() * ImGui::GetWindowDpiScale();
-    const ImVec2 text_size = ImGui::CalcTextSize(text);
-
-    ImGui::SetNextWindowPos(ImVec2((width - text_size.x) / 2, height / 2),
-                            ImGuiCond_Always);
-    ImGui::SetNextWindowSize(ImVec2(text_size.x + 10, text_size.y + 10),
-                             ImGuiCond_Always);
-    const ImGuiWindowFlags kOverlayFlags =
-        ImGuiWindowFlags_NoDecoration | ImGuiWindowFlags_NoBackground |
-        ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_NoDocking;
-    if (ImGui::Begin("##Overlay", 0, kOverlayFlags)) {
-      platform::ScopedStyle style;
-      style.Color(ImGuiCol_Text, ImVec4(1, 1, 1, 1));
-      ImGui::Text("%s", text);
-    }
-    ImGui::End();
-#endif  // !__EMSCRIPTEN__
-  }
-
-  FileDialogGui();
-
-  if (tmp_.imgui_demo) {
-    ImGui::ShowDemoWindow();
-  }
-  if (tmp_.implot_demo) {
-    ImPlot::ShowDemoWindow();
-  }
-  if (tmp_.style_editor) {
-    if (ImGui::Begin("Style Editor", &tmp_.style_editor)) {
-      ImGui::ShowStyleEditor();
-    }
-    ImGui::End();
-  }
-
-  platform::ForEachPlugin<platform::GuiPlugin>([](auto* plugin) {
-    if (!plugin->update) {
-      return;
-    }
-    if (ImGui::BeginMainMenuBar()) {
-      if (ImGui::BeginMenu("Plugins")) {
-        if (ImGui::MenuItem(plugin->name, "", plugin->active)) {
-          plugin->active = !plugin->active;
-        }
-        ImGui::EndMenu();
-      }
-      ImGui::EndMainMenuBar();
-    }
-    if (plugin->active) {
-      if (ImGui::Begin(plugin->name, &plugin->active)) {
-        plugin->update(plugin);
-      }
-      ImGui::End();
-    }
-  });
-
-  // This frame's windows are submitted, so pending state storage can be restored.
-  // Must precede the save below, which would otherwise write the defaults.
-  ApplyWindowStateStorage();
-
-  ImGuiIO& io = ImGui::GetIO();
-  if (io.WantSaveIniSettings) {
-    SaveSettings();
-    io.WantSaveIniSettings = false;
-  }
-}
-
-void App::ModelOptionsGui() {
-  const float min_width = platform::GetExpectedLabelWidth();
-  const ImGuiChildFlags child_flags =
-      ImGuiChildFlags_AutoResizeY | ImGuiChildFlags_AlwaysAutoResize;
-  const ImGuiTreeNodeFlags node_flags =
-      ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_Framed;
-
-  const platform::SimulationGuiContext sim_ctx = {
-      .model = model(),
-      .data = data(),
-      .step_control = &step_control_,
-      .history = &sim_history_,
-      .timeline = &timeline_,
-      .speed_index = &tmp_.speed_index,
-      .key_idx = &ui_.key_idx,
-      .nthread = &ui_.nthread,
-      .update_threadpool = &tmp_.update_threadpool,
-      .reset = [this] { ResetPhysics(); },
-      .reload = [this] { RequestModelReload(); },
-      .align =
-          [this] {
-            const int cam_id = model()->vis.global.cameraid;
-            if (cam_id >= 0 && cam_id < model()->ncam) {
-              ui_.camera_idx = platform::SetCamera(model(), &camera_, cam_id);
-            } else {
-              mjv_defaultFreeCamera(model(), &camera_);
-            }
-          },
-  };
-  platform::SimulationGui(sim_ctx);
-
-  ImGui::BeginChild("PhysicsGui", {0, 0}, child_flags);
-  if (platform::SectionHeader("Physics", node_flags, 0.65f)) {
-    platform::PhysicsGui(model(), min_width);
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-
-  ImGui::BeginChild("RenderingGui", {0, 0}, child_flags);
-  if (platform::SectionHeader("Rendering", node_flags, 0.65f)) {
-    ImGui::PushID("RenderingSection");
-
-    // Compute combo width so labels align on the right.
-    char frame_label_tmp[32];
-    std::snprintf(frame_label_tmp, sizeof(frame_label_tmp), " %s  Camera",
-                  platform::ICON_FA_CAMERA);
-    const float combo_w = -ImGui::CalcTextSize(frame_label_tmp).x -
-                          ImGui::GetStyle().ItemInnerSpacing.x;
-
-    // Camera selector.
-    {
-      std::string cam_name =
-          platform::GetCameraName(model(), camera_, ui_.camera_idx);
-
-      char camera_text[32];
-      std::snprintf(camera_text, sizeof(camera_text), "%s  Camera",
-                    platform::ICON_FA_CAMERA);
-
-      ImGui::SetNextItemWidth(combo_w);
-      if (ImGui::BeginCombo(camera_text, cam_name.c_str())) {
-        auto select = [&](int idx) {
-          std::string name = platform::GetCameraName(model(), camera_, idx);
-          if (ImGui::Selectable(name.c_str(), (ui_.camera_idx == idx))) {
-            ui_.camera_idx = platform::SetCamera(model(), &camera_, idx);
-          }
-        };
-        select(platform::kTumbleCameraIdx);
-        select(platform::kFreeCameraIdx);
-        select(platform::kTrackingCameraIdx);
-        for (int c = 0; c < model()->ncam; c++) {
-          select(c);
-        }
-        ImGui::EndCombo();
-      }
-    }
-
-    // Label selector.
-    {
-      char label_text[32];
-      std::snprintf(label_text, sizeof(label_text), "%s  Label",
-                    platform::ICON_FA_COMMENT);
-      ImGui::SetNextItemWidth(combo_w);
-      if (ImGui::BeginCombo(label_text, mjLABELSTRING[vis_options_.label])) {
-        for (int n = 0; n < mjNLABEL; n++) {
-          if (ImGui::Selectable(mjLABELSTRING[n], (vis_options_.label == n))) {
-            vis_options_.label = n;
-          }
-        }
-        ImGui::EndCombo();
-      }
-    }
-
-    // Frame selector.
-    {
-      char frame_text[32];
-      std::snprintf(frame_text, sizeof(frame_text), "%s  Frame",
-                    platform::ICON_FA_ARROWS);
-      ImGui::SetNextItemWidth(combo_w);
-      if (ImGui::BeginCombo(frame_text, mjFRAMESTRING[vis_options_.frame])) {
-        for (int n = 0; n < mjNFRAME; n++) {
-          if (ImGui::Selectable(mjFRAMESTRING[n], (vis_options_.frame == n))) {
-            vis_options_.frame = n;
-          }
-        }
-        ImGui::EndCombo();
-      }
-    }
-
-    // Copy camera button.
-    {
-      char copy_cam_label[48];
-      std::snprintf(copy_cam_label, sizeof(copy_cam_label), "%s  Copy Camera",
-                    platform::ICON_FA_COPY);
-      if (ImGui::Button(copy_cam_label)) {
-        std::string camera_string = platform::CameraToString(data(), &camera_);
-        platform::MaybeSaveToClipboard(camera_string);
-      }
-      ImGui::SetItemTooltip(
-          "%s", "Copy the current camera pose as an MJCF XML string");
-    }
-
-    ImGui::Spacing();
-    ImGui::Separator();
-    ImGui::Spacing();
-
-    ImGui::PopID();
-
-    platform::RenderingGui(model(), &vis_options_, renderer_->GetRenderFlags(),
-                           min_width);
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-
-  ImGui::BeginChild("GroupsGui", {0, 0}, child_flags);
-  if (platform::SectionHeader("Visibility Groups", node_flags, 0.65f)) {
-    platform::GroupsGui(model(), &vis_options_, min_width);
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-
-  ImGui::BeginChild("VisualizationGui", {0, 0}, child_flags);
-  if (platform::SectionHeader("Visualization", node_flags, 0.65f)) {
-    platform::VisualizationGui(model(), &vis_options_, &camera_, min_width);
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-}
-
-void App::DataInspectorGui() {
-  if (!has_data()) {
-    ImGui::Text("No mjData loaded.");
-    return;
-  }
-
-  const float min_width = platform::GetExpectedLabelWidth();
-  const ImGuiChildFlags child_flags =
-      ImGuiChildFlags_AutoResizeY | ImGuiChildFlags_AlwaysAutoResize;
-  const ImGuiTreeNodeFlags node_flags =
-      ImGuiTreeNodeFlags_SpanAvailWidth | ImGuiTreeNodeFlags_Framed;
-
-  ImGui::BeginChild("JointsGui", {0, 0}, child_flags);
-  if (platform::SectionHeader("Joints", node_flags, 0.65f)) {
-    platform::JointsGui(model(), data(), &vis_options_);
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-
-  ImGui::BeginChild("ControlsGui", {0, 0}, child_flags);
-  if (platform::SectionHeader("Controls", node_flags, 0.65f)) {
-    platform::NoiseGui(&step_control_);
-    ImGui::Separator();
-
-    platform::ControlsGui(model(), data(), &vis_options_);
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-
-  ImGui::BeginChild("SensorGui", {0, 0}, child_flags);
-  if (platform::SectionHeader("Sensor", node_flags, 0.65f)) {
-    platform::SensorGui(model(), data());
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-
-  ImGui::BeginChild("WatchGui", {0, 0}, child_flags);
-  if (platform::SectionHeader("Watch", node_flags, 0.65f)) {
-    platform::WatchGui(model(), data(), ui_.watch_field,
-                       sizeof(ui_.watch_field), ui_.watch_index);
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-
-  ImGui::BeginChild("StateGui", {0, 0}, child_flags);
-  if (platform::SectionHeader("State", node_flags, 0.65f)) {
-    platform::StateGui(model(), data(), tmp_.state, tmp_.state_sig, min_width);
-    ImGui::TreePop();
-  }
-  ImGui::EndChild();
-}
-
-void App::SpecExplorerGui() {
-  if (!has_spec()) {
-    ImGui::Text("No mjSpec loaded.");
-    return;
-  }
-
-  // Initialize the split height.
-  const ImVec2 region = ImGui::GetContentRegionAvail();
-  if (tmp_.explorer_split < 0) {
-    tmp_.explorer_split = region.y * 0.7f;
-  }
-  tmp_.explorer_split = std::clamp(tmp_.explorer_split, 20.f, region.y - 40.f);
-
-  mjsElement* element = tmp_.curr_element;
-  bool open = element != nullptr;
-  if (platform::ImGui_BeginHSplit("SpecExplorerTree", &tmp_.explorer_split,
-                                  &open)) {
-    platform::SpecTreeGui(&element, spec());
-
-    if (element != tmp_.curr_element) {
-      tmp_.curr_element = element;
-
-      // A different element was selected, so select it for perturb.
-      if (element) {
-        open = true;
-        const int element_id = mjs_getId(element);
-        if (element->elemtype == mjOBJ_BODY && perturb_.select != element_id) {
-          mjv_defaultPerturb(&perturb_);
-          perturb_.select = element_id;
-        }
-      }
-    }
-
-    if (platform::ImGui_HSplit("SpecExplorerProperties", &tmp_.explorer_split,
-                               &open)) {
-      ImGui::Text("%s", mju_type2Str(tmp_.curr_element->elemtype));
-      ImGui::SameLine();
-      ImGui::Text("(%d)", mjs_getId(tmp_.curr_element));
-      ImGui::SameLine(ImGui::GetContentRegionAvail().x - 100.0f);
-
-      auto mode_button = [&](const char* label, const char* tooltip,
-                             SpecPropertiesMode mode) {
-        platform::ScopedStyle style;
-        style.Var(ImGuiStyleVar_FramePadding, ImVec2(0, 0));
-        if (tmp_.spec_prop_mode == mode) {
-          style.Color(ImGuiCol_Button, ImGuiCol_ButtonActive);
-        }
-        if (ImGui::Button(label, ImVec2(24.0f, 20.0f))) {
-          tmp_.spec_prop_mode = mode;
-        }
-        ImGui::SetItemTooltip("%s", tooltip);
-      };
-
-      mode_button("S", "Spec", SpecPropertiesMode::kSpec);
-      ImGui::SameLine();
-      mode_button("M", "Model", SpecPropertiesMode::kModel);
-      ImGui::SameLine();
-      mode_button("D", "Data", SpecPropertiesMode::kData);
-
-      ImGui::Separator();
-
-      if (tmp_.spec_prop_mode == SpecPropertiesMode::kSpec) {
-        platform::ElementSpecGui(element);
-      } else if (tmp_.spec_prop_mode == SpecPropertiesMode::kModel) {
-        platform::ElementModelGui(model(), tmp_.curr_element);
-      } else {
-        platform::ElementDataGui(data(), tmp_.curr_element);
-      }
-    }
-    if (!open) {
-      tmp_.curr_element = nullptr;
-    }
-  }
-  platform::ImGui_EndHSplit(open);
-}
-
-void App::SpecEditorGui() {
-  if (ImGui::BeginChild("SpecEditor", ImVec2(-1, 36))) {
-    if (ImGui::BeginTable("##SpecEditorHeader", 3)) {
-      ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 50.0f);
-      ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthStretch);
-      ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, 30.0f);
-
-      ImGui::TableNextColumn();
-      ImGui::BeginDisabled(!spec_editor_.CanUndo());
-      if (ImGui::Button(ICON_UNDO_SPEC)) {
-        spec_editor_.Undo();
-      }
-      ImGui::EndDisabled();
-      ImGui::SameLine();
-      ImGui::BeginDisabled(!spec_editor_.CanRedo());
-      if (ImGui::Button(ICON_REDO_SPEC)) {
-        spec_editor_.Redo();
-      }
-      ImGui::EndDisabled();
-
-      ImGui::TableNextColumn();
-      bool is_dark = ImGui::GetStyle().Colors[ImGuiCol_WindowBg].x < 0.5f;
-      ImColor compile_green =
-          is_dark ? ImColor(40, 125, 60, 255) : ImColor(40, 180, 40, 255);
-      ImGui::PushStyleColor(ImGuiCol_Button, compile_green.Value);
-      if (ImGui::Button("Compile and Reload", ImVec2(-1, 0))) {
-        pending_op_ = [this]() {
-          auto tmp_holder = spec_editor_.Compile();
-          if (tmp_holder->ok()) {
-            model_holder_ = std::move(tmp_holder);
-            OnModelLoaded(model_name_, model_kind_);
-          } else {
-            load_error_ = std::move(tmp_holder->error());
-          }
-        };
-      }
-      ImGui::PopStyleColor();
-
-      ImGui::TableNextColumn();
-      if (ImGui::Button(" + ")) {
-        ImGui::OpenPopupOnItemClick("SpecAddElement", 0);
-      }
-      if (ImGui::BeginPopupContextItem("SpecAddElement")) {
-        auto option = [&](const char* label, mjtObj type) {
-          if (ImGui::Selectable(label)) {
-            mjsElement* element = spec_editor_.AddElement(type);
-            spec_editor_.SetActiveElement(element);
-          }
-        };
-
-        option("Actuator", mjOBJ_ACTUATOR);
-        option("Equality", mjOBJ_EQUALITY);
-        option("Exclude", mjOBJ_EXCLUDE);
-        option("Flex", mjOBJ_FLEX);
-        option("Height Field", mjOBJ_HFIELD);
-        option("Key", mjOBJ_KEY);
-        option("Material", mjOBJ_MATERIAL);
-        option("Mesh", mjOBJ_MESH);
-        option("Numeric", mjOBJ_NUMERIC);
-        option("Pair", mjOBJ_PAIR);
-        option("Sensor", mjOBJ_SENSOR);
-        option("Skin", mjOBJ_SKIN);
-        option("Tendon", mjOBJ_TENDON);
-        option("Text", mjOBJ_TEXT);
-        option("Texture", mjOBJ_TEXTURE);
-        option("Tuple", mjOBJ_TUPLE);
-        ImGui::EndPopup();
-      }
-
-      ImGui::EndTable();
-    }
-  }
-  ImGui::EndChild();
-
-  // Initialize the split height.
-  const ImVec2 region = ImGui::GetContentRegionAvail();
-  if (tmp_.editor_split < 0) {
-    tmp_.editor_split = region.y * 0.7f;
-  }
-  tmp_.editor_split = std::clamp(tmp_.editor_split, 20.0f, region.y - 40.0f);
-
-  mjsElement* element = spec_editor_.GetActiveElement();
-
-  bool open = element != nullptr;
-  if (platform::ImGui_BeginHSplit("SpecEditorTree", &tmp_.editor_split,
-                                  &open)) {
-    platform::SpecTreeGui(&element, spec_editor_.GetActiveSpec(),
-                          &spec_editor_);
-    open = element != nullptr;
-    spec_editor_.SetActiveElement(element);
-
-    if (platform::ImGui_HSplit("SpecEditorProperties", &tmp_.editor_split,
-                               &open)) {
-      ImGui::Text("%s", mju_type2Str(element->elemtype));
-      ImGui::SameLine();
-      ImGui::Text("(%d)", mjs_getId(element));
-      ImGui::Separator();
-
-      platform::ElementSpecGui(element, &spec_editor_);
-    }
-    platform::ImGui_EndHSplit(open);
-    if (!open) {
-      spec_editor_.SetActiveElement(nullptr);
-    }
-  }
-}
-
-void App::HelpGui() {
-  // With ConfigMacOSXBehaviors, imgui swaps the Cmd and Ctrl keys, so
-  // ImGuiMod_Ctrl chords and io.KeyCtrl match the Command key on macOS.
-  const char* mod = ImGui::GetIO().ConfigMacOSXBehaviors ? "Cmd" : "Ctrl";
-
-  const float pad = ImGui::GetStyle().ItemSpacing.x;
-  const float indent = pad * 2;
-  const float col0 = ImGui::CalcTextSize("Toggle Fullscreen").x + pad;
-  const float col1 = ImGui::CalcTextSize("Ctrl+R-Dblclick").x + pad + indent;
-  const float col2 = ImGui::CalcTextSize("Center of Mass").x + pad + indent;
-  const float col3 = ImGui::CalcTextSize("M").x + pad + indent;
-  ImGui::Dummy(ImVec2(col0 + col1 + col2 + col3, 0));
-  ImGui::Columns(4);
-  ImGui::SetColumnWidth(0, col0);
-  ImGui::SetColumnWidth(1, col1);
-  ImGui::SetColumnWidth(2, col2);
-  ImGui::SetColumnWidth(3, col3);
-
-  ImGui::SeparatorText("Windows & UI");
-  ImGui::Text("Help");
-  ImGui::Text("Info");
-  ImGui::Text("Profiler");
-  ImGui::Text("Toggle Fullscreen");
-  ImGui::Text("Toggle Left UI");
-  ImGui::Text("Toggle Right UI");
-  ImGui::Text("Font Bigger");
-  ImGui::Text("Font Smaller");
-  ImGui::SeparatorText("Simulation");
-  ImGui::Text("Toggle Pause");
-  ImGui::Text("Reset Sim");
-  ImGui::Text("Step Back");
-  ImGui::Text("Step Forward");
-  ImGui::Text("Speed Up");
-  ImGui::Text("Speed Down");
-  ImGui::Text("Copy Keyframe");
-  ImGui::SeparatorText("Camera");
-  ImGui::Text("Tumble Camera");
-  ImGui::Text("Prev Camera");
-  ImGui::Text("Next Camera");
-  ImGui::Text("Align Camera");
-  ImGui::Text("Orbit Camera");
-  ImGui::Text("Pan Camera");
-  ImGui::Text("Zoom Camera");
-  ImGui::Text("Center Camera");
-  ImGui::Text("Track Camera");
-  ImGui::SeparatorText("Selection");
-  ImGui::Text("Select");
-  ImGui::Text("Select Parent");
-  ImGui::Text("Rotate Object");
-  ImGui::Text("Move Object");
-  ImGui::SeparatorText("Visualization");
-  ImGui::Text("Cycle Frames");
-  ImGui::Text("Cycle Labels");
-  ImGui::Text("Geom Group");
-  ImGui::Text("Site Group");
-
-  ImGui::NextColumn();
-  ImGui::Indent(indent);
-  ImGui::SeparatorText("");
-  ImGui::Text("F1");
-  ImGui::Text("F2");
-  ImGui::Text("F3");
-  ImGui::Text("F11");
-  ImGui::Text("Tab");
-  ImGui::Text("Sh+Tab");
-  ImGui::Text("%s+=", mod);
-  ImGui::Text("%s+-", mod);
-  ImGui::SeparatorText("");
-  ImGui::Text("Spc");
-  ImGui::Text("Bksp");
-  ImGui::Text("Left");
-  ImGui::Text("Right");
-  ImGui::Text("+");
-  ImGui::Text("-");
-  ImGui::Text("%s+C", mod);
-  ImGui::SeparatorText("");
-  ImGui::Text("Esc");
-  ImGui::Text("[");
-  ImGui::Text("]");
-  ImGui::Text("%s+A", mod);
-  ImGui::Text("L-Drag");
-  ImGui::Text("[Sh+]R-Drag");
-  ImGui::Text("Scroll");
-  ImGui::Text("R-Dblclick");
-  ImGui::Text("%s+R-Dblclick", mod);
-  ImGui::SeparatorText("");
-  ImGui::Text("Dblclick");
-  ImGui::Text("PgUp");
-  ImGui::Text("%s+L-Drag", mod);
-  ImGui::Text("%s+R-Drag", mod);
-  ImGui::SeparatorText("");
-  ImGui::Text("F6");
-  ImGui::Text("F7");
-  ImGui::Text("0-5");
-  ImGui::Text("Sh+0-5");
-
-  ImGui::NextColumn();
-  ImGui::Indent(indent);
-  ImGui::SeparatorText("Flags");
-  ImGui::Text("Activation");
-  ImGui::Text("Actuator");
-  ImGui::Text("Auto Connect");
-  ImGui::Text("Body Tree");
-  ImGui::Text("Camera");
-  ImGui::Text("Center of Mass");
-  ImGui::Text("Constraint");
-  ImGui::Text("Contact Force");
-  ImGui::Text("Contact Point");
-  ImGui::Text("Contact Split");
-  ImGui::Text("Convex Hull");
-  ImGui::Text("Inertia");
-  ImGui::Text("Island");
-  ImGui::Text("Joint");
-  ImGui::Text("Light");
-  ImGui::Text("Mesh Tree");
-  ImGui::Text("Perturb Force");
-  ImGui::Text("Perturb Object");
-  ImGui::Text("Range Finder");
-  ImGui::Text("Scale Inertia");
-  ImGui::Text("Skin");
-  ImGui::Text("Static Body");
-  ImGui::Text("Tendon");
-  ImGui::Text("Texture");
-  ImGui::Text("Transparent");
-  ImGui::Text("Wireframe");
-
-  ImGui::NextColumn();
-  ImGui::Indent(indent);
-  ImGui::SeparatorText("");
-  ImGui::Text(",");
-  ImGui::Text("U");
-  ImGui::Text("A");
-  ImGui::Text("`");
-  ImGui::Text("Q");
-  ImGui::Text("M");
-  ImGui::Text("E");
-  ImGui::Text("F");
-  ImGui::Text("C");
-  ImGui::Text("P");
-  ImGui::Text("H");
-  ImGui::Text("I");
-  ImGui::Text("N");
-  ImGui::Text("J");
-  ImGui::Text("Z");
-  ImGui::Text("\\");
-  ImGui::Text("B");
-  ImGui::Text("O");
-  ImGui::Text("Y");
-  ImGui::Text("'");
-  ImGui::Text(";");
-  ImGui::Text("D");
-  ImGui::Text("V");
-  ImGui::Text("X");
-  ImGui::Text("T");
-  ImGui::Text("W");
-
-  ImGui::Columns();
-}
-
-void App::ToolBarGui() {
-  ImGui::PushStyleVar(ImGuiStyleVar_CellPadding, ImVec2(0, 0));
-  if (ImGui::BeginTable("##ToolBarTable", 2)) {
-    platform::ScopedStyle style;
-    style.Var(ImGuiStyleVar_ItemSpacing,
-              ImVec2(ImGui::GetStyle().ItemSpacing.x * 2.0f,
-                     ImGui::GetStyle().ItemSpacing.y));
-
-    const float label_width = platform::GetExpectedLabelWidth();
-    const float copy_btn_width = ImGui::GetFrameHeight();
-    const float sp = ImGui::GetStyle().ItemSpacing.x;
-    const float right_width =
-        copy_btn_width + label_width + sp + label_width + sp + label_width;
-    const float separator_width = ImGui::GetFrameHeight() * .6f;
-
-    ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthStretch);
-    ImGui::TableSetupColumn("", ImGuiTableColumnFlags_WidthFixed, right_width);
-
-    ImGui::TableNextColumn();
-    ImGui::Dummy(ImVec2(ImGui::GetStyle().WindowPadding.x, 0.0f));
-    ImGui::SameLine(0.0f, 0.0f);
-
-    const float btn_size = ImGui::GetFrameHeight();
-    const ImVec2 square_size(btn_size, btn_size);
-
-    // Reload button.
-    {
-      style.Var(ImGuiStyleVar_FrameRounding, 2.0f);
-      if (ImGui::Button(ICON_RELOAD_MODEL, square_size)) {
-        RequestModelReload();
-      }
-      ImGui::SetItemTooltip("%s", "Reload");
-    }
-
-    // Reset button.
-    ImGui::SameLine(0, 0.5 * separator_width);
-    if (ImGui::Button(ICON_RESET_MODEL, square_size)) {
-      ResetPhysics();
-    }
-    ImGui::SetItemTooltip("%s", "Reset");
-
-    // Combined (Pause, Play) widget and Speed selection.
-    ImGui::SameLine(0, separator_width);
-    platform::StepControlGui(&step_control_, tmp_.speed_index);
-
-    ImGui::SameLine(0, separator_width);
-    platform::TimelineScrubberGui(model(), data(), step_control_,
-                                  sim_history_, timeline_);
-
-    ImGui::TableNextColumn();
-
-    platform::CameraSelectionGui(model(), data(), camera_, ui_.camera_idx);
-
-    ImGui::SameLine();
-    platform::LabelSelectionGui(&vis_options_);
-
-    ImGui::SameLine();
-    platform::FrameSelectionGui(&vis_options_);
-
-    ImGui::EndTable();
-  }
-  ImGui::PopStyleVar();
-}
-
-void App::StatusBarGui() {
-  if (ImGui::BeginTable("##StatusBarTable", 1)) {
-    ImGui::TableNextColumn();
-
-    if (!has_model()) {
-      ImGui::Text("No model loaded");
-    } else if (step_control_.GetPauseState() == PauseState::kNormalPaused) {
-      ImGui::Text("Paused");
-    } else {
-      ImGui::Text("Running");
-    }
-
-    if (!step_error_.empty()) {
-      ImGui::SameLine();
-      ImGui::Text(" | Step Error: %s", step_error_.c_str());
-    } else if (!edit_error_.empty()) {
-      ImGui::SameLine();
-      ImGui::Text(" | Edit Error: %s", edit_error_.c_str());
-    }
-
-    ImGui::EndTable();
-  }
-}
-
-void App::MainMenuGui() {
-  ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing,
-                      ImVec2(12.0f * ImGui::GetStyle().FontScaleDpi,
-                             ImGui::GetStyle().ItemSpacing.y));
-  if (ImGui::BeginMainMenuBar()) {
-    if (ImGui::BeginMenu("File")) {
-#ifndef __EMSCRIPTEN__
-      if (ImGui::MenuItem("Open Model File", "Ctrl+O")) {
-        tmp_.file_dialog = UiTempState::FileDialog_Load;
-      }
-      ImGui::Separator();
-      if (ImGui::MenuItem("Save XML", "Ctrl+S")) {
-        tmp_.file_dialog = UiTempState::FileDialog_SaveXml;
-      }
-      if (ImGui::MenuItem("Save MJB", "Ctrl+Shift+S")) {
-        tmp_.file_dialog = UiTempState::FileDialog_SaveMjb;
-      }
-      if (ImGui::MenuItem("Save Screenshot", "Ctrl+P")) {
-        tmp_.file_dialog = UiTempState::FileDialog_SaveScreenshot;
-      }
-      ImGui::Separator();
-      if (ImGui::MenuItem("Print Model", "Ctrl+M")) {
-        tmp_.file_dialog = UiTempState::FileDialog_PrintModel;
-      }
-      if (ImGui::MenuItem("Print Data", "Ctrl+D")) {
-        tmp_.file_dialog = UiTempState::FileDialog_PrintData;
-      }
-      ImGui::Separator();
-#endif  // !__EMSCRIPTEN__
-      if (ImGui::MenuItem("Unload", "Ctrl+U")) {
-        InitEmptyModel();
-      }
-#ifndef __EMSCRIPTEN__
-      ImGui::Separator();
-      if (ImGui::MenuItem("Quit", "Ctrl+Q")) {
-        tmp_.should_exit = true;
-      }
-#endif  // !__EMSCRIPTEN__
-      ImGui::EndMenu();
-    }
-
-    if (ImGui::BeginMenu("Simulation")) {
-      if (ImGui::MenuItem(
-              "Pause", "Space",
-              step_control_.GetPauseState() == PauseState::kNormalPaused)) {
-        if (step_control_.GetPauseState() != PauseState::kNormalPaused) {
-          step_control_.SetPauseState(PauseState::kNormalPaused);
-        } else {
-          step_control_.SetPauseState(PauseState::kUnpaused);
-        }
-      }
-      if (ImGui::MenuItem("Reset", "Backspace")) {
-        ResetPhysics();
-      }
-      if (ImGui::MenuItem("Reload", "Ctrl+L")) {
-        RequestModelReload();
-      }
-      ImGui::Separator();
-      if (ImGui::BeginMenu("Keyframes")) {
-        ImGui::SetNextItemWidth(200);
-        ImGui::SliderInt("##Key", &ui_.key_idx, 0, model()->nkey);
-        if (ImGui::MenuItem("Load")) {
-          mj_resetDataKeyframe(model(), data(), ui_.key_idx);
-          mj_forward(model(), data());
-        }
-        if (ImGui::MenuItem("Save")) {
-          mj_setKeyframe(model(), data(), ui_.key_idx);
-        }
-        if (ImGui::MenuItem("Copy")) {
-          std::string str = platform::KeyframeToString(model(), data(), false);
-          platform::MaybeSaveToClipboard(str);
-        }
-        ImGui::EndMenu();
-      }
-      ImGui::EndMenu();
-    }
-
-    if (ImGui::BeginMenu("View")) {
-      if (ImGui::MenuItem("Save Config")) {
-        SaveSettings();
-      }
-      if (ImGui::MenuItem("Reset Config")) {
-        platform::SaveText("\n\n", ini_path_);
-        LoadSettings();
-      }
-      ImGui::Separator();
-
-      if (ImGui::MenuItem(tmp_.options_panel ? "Hide Options" : "Show Options",
-                          "Tab")) {
-        tmp_.options_panel = !tmp_.options_panel;
-      }
-      if (ImGui::MenuItem(
-              tmp_.inspector_panel ? "Hide Inspector" : "Show Inspector",
-              "Shift+Tab")) {
-        tmp_.inspector_panel = !tmp_.inspector_panel;
-      }
-      if (ImGui::MenuItem(tmp_.editor_panel ? "Hide Editor" : "Show Editor")) {
-        tmp_.editor_panel = !tmp_.editor_panel;
-        if (tmp_.editor_panel) {
-          tmp_.inspector_panel = true;
-        }
-      }
-      if (ImGui::MenuItem(tmp_.toolbar ? "Hide Toolbar" : "Show Toolbar")) {
-        tmp_.toolbar = !tmp_.toolbar;
-      }
-      if (ImGui::MenuItem(tmp_.status_bar ? "Hide Status Bar"
-                                          : "Show Status Bar")) {
-        tmp_.status_bar = !tmp_.status_bar;
-      }
-      if (ImGui::MenuItem("Full Screen", "F11")) {
-        tmp_.full_screen = !tmp_.full_screen;
-      }
-      ImGui::Separator();
-
-      if (ImGui::MenuItem("Info", "F2", tmp_.info)) {
-        ToggleWindow(tmp_.info);
-      }
-      if (ImGui::MenuItem("Profiler", "F3", tmp_.profiler)) {
-        if (!tmp_.profiler) {
-          tmp_.profiler = true;
-          tmp_.profiler_show_iter = false;
-        } else if (!tmp_.profiler_show_iter) {
-          tmp_.profiler_show_iter = true;
-        } else {
-          tmp_.profiler = false;
-        }
-      }
-      ImGui::Separator();
-
-      if (ImGui::MenuItem("Picture-in-Picture")) {
-        tmp_.picture_in_picture = !tmp_.picture_in_picture;
-      }
-      ImGui::Separator();
-
-      if (ImGui::BeginMenu("Theme")) {
-        if (ImGui::MenuItem("Light", nullptr,
-                            ui_.theme == platform::GuiTheme::kLight)) {
-          ui_.theme = platform::GuiTheme::kLight;
-          platform::SetupTheme(ui_.theme);
-          ImGui::GetIO().WantSaveIniSettings = true;
-        }
-        if (ImGui::MenuItem("Dark", nullptr,
-                            ui_.theme == platform::GuiTheme::kDark)) {
-          ui_.theme = platform::GuiTheme::kDark;
-          platform::SetupTheme(ui_.theme);
-          ImGui::GetIO().WantSaveIniSettings = true;
-        }
-        if (ImGui::MenuItem("Classic", nullptr,
-                            ui_.theme == platform::GuiTheme::kClassic)) {
-          ui_.theme = platform::GuiTheme::kClassic;
-          platform::SetupTheme(ui_.theme);
-          ImGui::GetIO().WantSaveIniSettings = true;
-        }
-        ImGui::EndMenu();
-      }
-
-#ifdef __linux__
-      if (ImGui::BeginMenu("Graphics Mode (Experimental)")) {
-        std::optional<platform::GraphicsMode> mode;
-        if (ImGui::MenuItem(
-                "Classic OpenGL", nullptr,
-                gfx_mode_ == platform::GraphicsMode::ClassicOpenGl)) {
-          mode = platform::GraphicsMode::ClassicOpenGl;
-        }
-        if (ImGui::MenuItem(
-                "Classic OpenGL Headless", nullptr,
-                gfx_mode_ == platform::GraphicsMode::ClassicOpenGlHeadless)) {
-          mode = platform::GraphicsMode::ClassicOpenGlHeadless;
-        }
-        if (ImGui::MenuItem(
-                "Filament OpenGL", nullptr,
-                gfx_mode_ == platform::GraphicsMode::FilamentOpenGl)) {
-          mode = platform::GraphicsMode::FilamentOpenGl;
-        }
-        if (ImGui::MenuItem(
-                "Filament OpenGL Headless", nullptr,
-                gfx_mode_ == platform::GraphicsMode::FilamentOpenGlHeadless)) {
-          mode = platform::GraphicsMode::FilamentOpenGlHeadless;
-        }
-        if (ImGui::MenuItem(
-                "Filament OpenGL Software", nullptr,
-                gfx_mode_ == platform::GraphicsMode::FilamentOpenGlSoftware)) {
-          mode = platform::GraphicsMode::FilamentOpenGlSoftware;
-        }
-        if (ImGui::MenuItem(
-                "Filament Vulkan", nullptr,
-                gfx_mode_ == platform::GraphicsMode::FilamentVulkan)) {
-          mode = platform::GraphicsMode::FilamentVulkan;
-        }
-        if (ImGui::MenuItem(
-                "Filament Vulkan Software", nullptr,
-                gfx_mode_ == platform::GraphicsMode::FilamentVulkanSoftware)) {
-          mode = platform::GraphicsMode::FilamentVulkanSoftware;
-        }
-        if (mode.has_value()) {
-          pending_op_ = [=, this]() {
-            const int width = window_->GetWidth();
-            const int height = window_->GetHeight();
-            SwitchGraphicsMode(width, height, *mode);
-            // TODO: figure out why ImGui doesn't work unless we do this twice.
-            if (IsClassic(*mode)) {
-              SwitchGraphicsMode(width, height, *mode);
-            }
-            renderer_->Init(model());
-          };
-        }
-        ImGui::EndMenu();
-      }
-#endif  // __linux__
-
-      ImGui::EndMenu();
-    }
-
-    if (ImGui::BeginMenu("Plugins")) {
-      // Placeholder menu item that will be populated by plugins later on. We
-      // do this now in so that the menu is present at the right place.
-      ImGui::EndMenu();
-    }
-    if (ImGui::BeginMenu("Help")) {
-      if (ImGui::MenuItem("Help", "F1", tmp_.help)) {
-        ToggleWindow(tmp_.help);
-      }
-      ImGui::Separator();
-      if (ImGui::MenuItem("Style Editor", "", tmp_.style_editor)) {
-        tmp_.style_editor = !tmp_.style_editor;
-      }
-      ImGui::Separator();
-      if (ImGui::MenuItem("ImGui Demo")) {
-        tmp_.imgui_demo = !tmp_.imgui_demo;
-      }
-      if (ImGui::MenuItem("ImPlot Demo")) {
-        tmp_.implot_demo = !tmp_.implot_demo;
-      }
-      ImGui::Separator();
-      std::string version = "Version " + std::string(mj_versionString());
-      ImGui::MenuItem(version.c_str());
-      ImGui::EndMenu();
-    }
-    ImGui::EndMainMenuBar();
-  }
-  ImGui::PopStyleVar();
-}
-
-void App::FileDialogGui() {
-  if (tmp_.file_dialog == UiTempState::FileDialog_None) {
-    return;
-  }
-
-  ImVec2 center = ImGui::GetMainViewport()->GetCenter();
-  ImGui::SetNextWindowPos(center, ImGuiCond_Appearing, ImVec2(0.5f, 0.5f));
-  if (ImGui::BeginPopupModal("FileDialog", NULL,
-                             ImGuiWindowFlags_AlwaysAutoResize)) {
-    const platform::DialogResult res =
-        tmp_.file_dialog == UiTempState::FileDialog_Load
-            ? platform::OpenFileDialog(tmp_.filename)
-            : platform::SaveFileDialog(tmp_.filename);
-
-    if (res.status == platform::DialogResult::kAccepted) {
-      tmp_.last_path[tmp_.file_dialog] = res.path;
-      switch (tmp_.file_dialog) {
-        case UiTempState::FileDialog_Load:
-          RequestModelLoad(res.path);
-          break;
-        case UiTempState::FileDialog_SaveXml:
-          mj_saveLastXML(res.path.c_str(), model(), nullptr, 0);
-          break;
-        case UiTempState::FileDialog_SaveMjb:
-          mj_saveModel(model(), res.path.c_str(), nullptr, 0);
-          break;
-        case UiTempState::FileDialog_SaveScreenshot: {
-          const int width = window_->GetWidth();
-          const int height = window_->GetHeight();
-          std::vector<std::byte> buffer(width * height * 3);
-          renderer_->RenderToTexture(model(), data(), &camera_, width, height,
-                                     buffer.data());
-          platform::SaveToWebp(width, height, buffer.data(), res.path);
-          break;
-        }
-        case UiTempState::FileDialog_PrintModel:
-          mj_printModel(model(), res.path.c_str());
-          break;
-        case UiTempState::FileDialog_PrintData:
-          mj_printData(model(), data(), res.path.c_str());
-          break;
-        default:
-          break;
-      }
-    }
-
-    if (res.status != platform::DialogResult::kError) {
-      strncpy(tmp_.filename, res.path.c_str(), res.path.size());
-      tmp_.filename[res.path.size()] = 0;
-    }
-    if (res.status != platform::DialogResult::kPending) {
-      tmp_.file_dialog = UiTempState::FileDialog_None;
-      ImGui::CloseCurrentPopup();
-      window_->EnableWindowResizing();
-    }
-    ImGui::EndPopup();
-  }
-
-  if (!ImGui::IsPopupOpen("FileDialog") &&
-      tmp_.file_dialog != UiTempState::FileDialog_None) {
-    const std::string& src = tmp_.last_path[tmp_.file_dialog];
-    strncpy(tmp_.filename, src.c_str(), src.size());
-    tmp_.filename[src.size()] = 0;
-    ImGui::OpenPopup("FileDialog");
-    window_->DisableWindowResizing();
-  }
-}
-
-App::UiState::Dict App::UiState::ToDict() const {
-  return {
-      {"theme", std::to_string(static_cast<int>(theme))},
-      {"font_scale", std::to_string(font_scale)},
-      {"window_width", std::to_string(window_width)},
-      {"window_height", std::to_string(window_height)},
-      {"nthread", std::to_string(nthread)},
-  };
-}
-
-void App::UiState::FromDict(const Dict& dict) {
-  using platform::ReadIniValue;
-
-  *this = UiState();
-  theme = ReadIniValue(dict, "theme", theme);
-  window_width = ReadIniValue(dict, "window_width", window_width);
-  window_height = ReadIniValue(dict, "window_height", window_height);
-  font_scale = ReadIniValue(dict, "font_scale", font_scale);
-  nthread = ReadIniValue(dict, "nthread", nthread);
-}
-}  // namespace mujoco::studio
diff --git a/src/experimental/studio/app.h b/src/experimental/studio/app.h
deleted file mode 100644
index 9ba0723f..00000000
--- a/src/experimental/studio/app.h
+++ /dev/null
@@ -1,286 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_STUDIO_APP_H_
-#define MUJOCO_SRC_EXPERIMENTAL_STUDIO_APP_H_
-
-#include <cstddef>
-#include <functional>
-#include <memory>
-#include <optional>
-#include <span>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/platform/hal/renderer.h"
-#include "experimental/platform/hal/window.h"
-#include "experimental/platform/sim/model_holder.h"
-#include "experimental/platform/sim/sim_history.h"
-#include "experimental/platform/sim/sim_profiler.h"
-#include "experimental/platform/sim/step_control.h"
-#include "experimental/platform/ux/gui.h"
-#include "experimental/platform/ux/gui_spec.h"
-#include "experimental/platform/ux/imgui_widgets.h"
-#include "experimental/platform/ux/interaction.h"
-#include "experimental/platform/ux/picture_gui.h"
-#include "experimental/platform/ux/spec_editor.h"
-
-namespace mujoco::studio {
-
-// Owns, updates, and renders a MuJoCo simulation.
-class App {
- public:
-  // Configuration/initialization options for the application.
-  struct Config {
-    // The original width and height of the window.
-    int width = 0;
-    int height = 0;
-
-    // The path to the ini file containing the user settings.
-    std::string ini_path;
-
-    // The graphics configuration used for initializing the window.
-    platform::GraphicsMode gfx_mode = platform::GraphicsMode::FilamentVulkan;
-
-    // The initial GUI theme. If set, overrides the default (kLight).
-    std::optional<platform::GuiTheme> initial_theme;
-
-    // The application title shown in the window title bar.
-    std::string title = "MuJoCo Studio";
-  };
-
-  explicit App(Config config);
-  ~App();
-
-  // Loads an empty mjModel.
-  void InitEmptyModel();
-
-  // Loads an mjModel from the given file. This extension should be one of:
-  // .xml, .mjb, or .mjz.
-  void LoadModelFromFile(const std::string& filepath);
-
-  // Loads an mjModel from the given memory buffer. The content_type should be
-  // one of: "text/xml", "application/mjb", or "application/mjz". For zip files,
-  // a name is required in order to uniquely identify the model within the
-  // archive.
-  void LoadModelFromBuffer(std::span<const std::byte> buffer,
-                           std::string_view content_type,
-                           std::string_view name);
-
-  // Processes window events and advances the state of the simulation.
-  bool Update();
-
-  // Builds the GUI. We do this after Sync() to ensure we have the latest data
-  // for building the GUI.
-  void BuildGui();
-
-  // Renders everything (e.g. the simulation and the GUI).
-  void Render();
-
- private:
-  // The kind of model that is currently loaded.
-  enum ModelKind {
-    kEmptyModel,
-    kModelFromFile,
-    kModelFromBuffer,
-  };
-
-  enum class SpecPropertiesMode {
-    kSpec,
-    kModel,
-    kData,
-  };
-
-  // UI state that is persisted across application runs
-  struct UiState {
-    char watch_field[1000] = "qpos";
-    int watch_index = 0;
-    int camera_idx = platform::kTumbleCameraIdx;
-    int key_idx = 0;
-    platform::GuiTheme theme = platform::GuiTheme::kDark;
-    float font_scale = 1.0f;
-    int window_width = 0;
-    int window_height = 0;
-    int nthread = 0;
-
-    using Dict = std::unordered_map<std::string, std::string>;
-    Dict ToDict() const;
-    void FromDict(const Dict& dict);
-  };
-
-  // UI state that is transient and only needed while the application runs
-  struct UiTempState {
-    bool should_exit = false;
-    bool first_frame = true;
-    bool update_threadpool = false;
-
-    // Windows.
-    bool help = false;
-    bool info = false;
-    bool profiler = false;
-    bool profiler_show_iter = false;
-    bool picture_in_picture = false;
-    bool options_panel = true;
-    bool toolbar = false;
-    bool status_bar = false;
-    bool inspector_panel = true;
-    bool editor_panel = false;
-    bool full_screen = false;
-    bool style_editor = false;
-    bool imgui_demo = false;
-    bool implot_demo = false;
-    float editor_split = -1;
-    float explorer_split = -1;
-
-    // Controls.
-    bool perturb_active = false;
-    int speed_index = 0;
-    float cam_speed = 0.0f;
-
-    // Cached data.
-    float expected_label_width = 0;
-    std::vector<std::string> camera_names;
-    std::vector<std::string> speed_names;
-
-    // Spec editing.
-    SpecPropertiesMode spec_prop_mode = SpecPropertiesMode::kSpec;
-    mjsElement* curr_element = nullptr;
-
-    // State.
-    int state_sig = 0;
-    std::vector<mjtNum> state;
-
-    // Picture-in-Picture.
-    std::vector<platform::PipState> pips;
-
-    // File dialogs.
-    enum FileDialog {
-      FileDialog_None,
-      FileDialog_Load,
-      FileDialog_SaveXml,
-      FileDialog_SaveMjb,
-      FileDialog_PrintModel,
-      FileDialog_PrintData,
-      FileDialog_SaveScreenshot,
-      NumFileDialogs,
-    };
-    FileDialog file_dialog = FileDialog_None;
-    std::string last_path[NumFileDialogs];
-    char filename[1000] = "";
-  };
-
-  // Requests that the model be loaded from the given file at the next update.
-  void RequestModelLoad(std::string model_file);
-
-  // Requests that the currently loaded model be reloaded at the next update.
-  void RequestModelReload();
-
-  // Recompiles the spec, updating the model and data.
-  void Recompile();
-
-  // Updates the currently loaded model to the given model. If model is null,
-  // then compile the spec to a model.
-  void OnModelLoaded(std::string filename, ModelKind model_kind);
-
-  void SwitchGraphicsMode(int width, int height, platform::GraphicsMode mode);
-
-  void SetLoadError(std::string error);
-  void UpdateFilePaths(const std::string& resolved_path);
-
-  void ResetPhysics();
-  void UpdatePhysics();
-  void PreStep(const mjModel* m, mjData* d);
-  void PostStep(const mjModel* m, mjData* d);
-
-  void LoadSettings();
-  void SaveSettings();
-  void ApplyWindowStateStorage();
-
-  void LoadHistory(int offset);
-
-  void SetSpeedIndex(int idx);
-
-  void HandleWindowEvents();
-  void HandleMouseEvents();
-  void HandleKeyboardEvents();
-
-  void ProcessPendingLoads();
-
-  void SetupTheme(platform::GuiTheme theme);
-
-  void MainMenuGui();
-  void ToolBarGui();
-  void StatusBarGui();
-  void HelpGui();
-  void FileDialogGui();
-  void ModelOptionsGui();
-  void DataInspectorGui();
-  void SpecExplorerGui();
-  void SpecEditorGui();
-
-  mjSpec* spec() { return model_holder_->spec(); }
-  mjModel* model() { return model_holder_->model(); }
-  mjData* data() { return model_holder_->data(); }
-  bool has_spec() const { return model_holder_ && model_holder_->spec(); }
-  bool has_model() const { return model_holder_ && model_holder_->model(); }
-  bool has_data() const { return model_holder_ && model_holder_->data(); }
-
-  std::string app_title_;
-  std::string ini_path_;
-  // Window state storage (e.g. collapsing header open/closed state), keyed
-  // "<window name>/<id>", which ImGui does not serialize. Entries stay
-  // pending until their window is first created.
-  platform::KeyValues window_state_storage_;
-  std::string model_name_;  // Used if model_kind_ is kModelFromBuffer.
-  std::string model_path_;
-  std::string load_error_;
-  std::string step_error_;
-  std::string edit_error_;
-  platform::StepControl::PauseState last_pause_state_ =
-      platform::StepControl::PauseState::kNormalPaused;
-
-  std::optional<std::string> pending_load_;
-  std::function<void()> pending_op_;
-  bool preserve_camera_on_load_ = false;
-  ModelKind model_kind_ = kEmptyModel;
-  platform::GraphicsMode gfx_mode_ = platform::GraphicsMode::FilamentVulkan;
-
-  std::unique_ptr<platform::Window> window_;
-  std::unique_ptr<platform::Renderer> renderer_;
-  std::unique_ptr<platform::ModelHolder> model_holder_;
-
-  platform::StepControl step_control_;
-  platform::SimProfiler profiler_;
-  platform::SimHistory sim_history_;
-  platform::SimulationTimelineState timeline_;
-  platform::SpecEditor spec_editor_;
-  std::vector<std::string> search_paths_;
-  std::vector<std::byte> pixels_;
-
-  mjvCamera camera_;
-  mjvPerturb perturb_;
-  mjvOption vis_options_;
-  mjvScene plugin_scene_;
-
-  UiState ui_;
-  UiTempState tmp_;
-};
-
-}  // namespace mujoco::studio
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_STUDIO_APP_H_
diff --git a/src/experimental/studio/build.sh b/src/experimental/studio/build.sh
deleted file mode 100755
index 59b521ca..00000000
--- a/src/experimental/studio/build.sh
+++ /dev/null
@@ -1,105 +0,0 @@
-#!/bin/bash
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-
-# Detect the operating system
-OS="$(uname -s)"
-case "${OS}" in
-    Linux*)     export OS_NAME="linux" ;;
-    Darwin*)    export OS_NAME="macos" ;;
-    MINGW* | CYGWIN* | MSYS*) export OS_NAME="windows" ;;
-    *)          echo "Unsupported OS: ${OS}" >&2; exit 1 ;;
-esac
-
-# Parse arguments
-do_configure=false
-do_build=false
-build_type="Release"
-explicit_action=false
-
-for arg in "$@"; do
-    case "$arg" in
-        configure|config)
-            do_configure=true
-            explicit_action=true
-            ;;
-        build)
-            do_build=true
-            explicit_action=true
-            ;;
-        debug|dbg)
-            build_type="Debug"
-            ;;
-    esac
-done
-
-# If no specific action (configure/build) was requested, do both by default.
-if [[ "$explicit_action" == false ]]; then
-    do_configure=true
-    do_build=true
-fi
-
-GIT_ROOT="${GIT_ROOT:-$(git rev-parse --show-toplevel)}"
-cd "${GIT_ROOT}"
-
-# Configure MuJoCo Studio
-if [[ "$do_configure" == true ]]; then
-    echo "Configuring MuJoCo Studio (${build_type})..."
-    CMAKE_CONFIG_ARGS=(
-        "-B build"
-        "-DCMAKE_BUILD_TYPE=${build_type}"
-        "-DUSE_STATIC_LIBCXX=OFF"
-        "-DBUILD_SHARED_LIB=OFF"
-        "-DMUJOCO_USE_FILAMENT=ON"
-        "-DMUJOCO_BUILD_EXAMPLES=OFF"
-        "-DMUJOCO_BUILD_SIMULATE=OFF"
-        "-DMUJOCO_BUILD_TESTS=OFF"
-        "-DMUJOCO_TEST_PYTHON_UTIL=OFF"
-        "-DMUJOCO_WITH_USD=OFF"
-        "-DMUJOCO_BUILD_STUDIO=ON"
-        "-DFILAMENT_SKIP_SAMPLES=ON"
-        # Several dependencies generate deprecated warnings on MacOS.
-        "-DCMAKE_CXX_FLAGS=\"-Wno-error=deprecated-declarations\""
-        # This flag defines _ITERATOR_DEBUG_LEVEL=0 which conflicts with debug
-        # builds.
-        "-DFILAMENT_SHORTEN_MSVC_COMPILATION=OFF"
-    )
-
-    # Add user-defined CMAKE_ARGS at the end so they override other settings.
-    if [[ -n "${CMAKE_ARGS}" ]]; then
-        read -a cmake_args_arr <<<"$CMAKE_ARGS"
-        CMAKE_CONFIG_ARGS+=("${cmake_args_arr[@]}")
-    fi
-
-    cmake ${CMAKE_CONFIG_ARGS[@]}
-
-    echo "Configuring MuJoCo Studio (${build_type})... DONE"
-fi
-
-# Build MuJoCo Studio
-if [[ "$do_build" == true ]]; then
-    echo "Building MuJoCo Studio..."
-    cmake --build build --config=${build_type} --target mujoco_studio --parallel
-    echo "Building MuJoCo Studio... DONE"
-
-    # Print the command to run the built MuJoCo Studio from the right directory.
-    echo "Use the following command to run mujoco_studio"
-    echo ""
-    if [[ "${OS_NAME}" == "windows" ]]; then
-        echo " cd ${GIT_ROOT}/build/bin && ./${build_type}/mujoco_studio.exe "
-    else
-        echo " cd ${GIT_ROOT}/build/bin && ./mujoco_studio "
-    fi
-fi
diff --git a/src/experimental/studio/emscripten.cc b/src/experimental/studio/emscripten.cc
deleted file mode 100644
index b69fae6b..00000000
--- a/src/experimental/studio/emscripten.cc
+++ /dev/null
@@ -1,342 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Main entry point for the Filament-based MuJoCo web app.
-
-#include <emscripten.h>
-#include <emscripten/bind.h>
-#include <emscripten/val.h>
-
-#include <cstdint>
-#include <cstdlib>
-#include <cstring>
-#include <filesystem>
-#include <memory>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/studio/app.h"
-
-// Global app instance. Lifetime is controlled by Init/Deinit calls which are
-// triggered by Javascript.
-mujoco::studio::App* g_app = nullptr;
-
-// Static registry of assets that are loaded in JSON before the main App is
-// initialized.
-class AssetRegistry {
- public:
-  // Returns the singleton instance of the registry.
-  static AssetRegistry& Instance() {
-    static AssetRegistry instance;
-    return instance;
-  }
-
-  // Registers asset contents with the given filename.
-  void RegisterAsset(std::string filename, std::string contents) {
-    std::filesystem::path(filename).filename().string();
-    assets_[filename] = std::move(contents);
-  }
-
-  const std::string& Get(std::string_view filename) const {
-    filename = filename.substr(filename.find_first_of(':') + 1);
-    static std::string empty;
-    auto it = assets_.find(std::string(filename));
-    return it != assets_.end() ? it->second : empty;
-  }
-
- private:
-  std::unordered_map<std::string, std::string> assets_;
-};
-
-// ---------------------------------------------------------------------------
-// HTTP/HTTPS resource fetching via the JS fetch API (uses ASYNCIFY to yield).
-// ---------------------------------------------------------------------------
-
-// Fetches a URL using the JS fetch API. Returns a malloc'd buffer and its size.
-// The caller is responsible for freeing the buffer. Returns 0 on failure.
-EM_ASYNC_JS(int, FetchUrl,
-            (const char* url, char** out_data, std::int32_t* out_size), {
-              const urlStr = UTF8ToString(url);
-              const filename = urlStr.split('/').pop() || urlStr;
-              const dlEl = document.getElementById('loadingDownload');
-              const dlFileEl = document.getElementById('loadingDownloadFile');
-              if (dlEl) {
-                dlEl.style.display = 'block';
-              }
-              if (dlFileEl) {
-                dlFileEl.textContent = filename + '\u2026';
-              }
-              try {
-                const response = await fetch(urlStr);
-                if (!response.ok) {
-                  console.error('Fetch failed: ' + response.status + ' ' +
-                                urlStr);
-                  return 0;
-                }
-                const buffer = await response.arrayBuffer();
-                const bytes = new Uint8Array(buffer);
-                const ptr = _malloc(bytes.length);
-                HEAPU8.set(bytes, ptr);
-                setValue(out_data, ptr, '*');
-                setValue(out_size, bytes.length, 'i32');
-                return 1;
-              } catch (e) {
-                console.error('Fetch error:', e);
-                return 0;
-              } finally {
-                if (dlEl) {
-                  dlEl.style.display = 'none';
-                }
-                if (dlFileEl) {
-                  dlFileEl.textContent = "";
-                }
-              }
-            });
-
-// Cache for data fetched via HTTP/HTTPS. Stores downloaded (or pre-primed)
-// bytes keyed by the resource URL so that the resource provider's read()
-// can return a pointer into stable storage.
-class FetchCache {
- public:
-  static FetchCache& Instance() {
-    static FetchCache instance;
-    return instance;
-  }
-
-  // Returns the size of the entry for `url`, fetching it over the network
-  // if necessary. Entries that have been pre-populated via Prime() are
-  // returned without touching the network. Returns 0 on fetch failure.
-  int Fetch(const char* url) {
-    if (auto it = entries_.find(url); it != entries_.end()) {
-      return static_cast<int>(it->second.size());
-    }
-    char* buf = nullptr;
-    std::int32_t size = 0;
-    if (!FetchUrl(url, &buf, &size)) {
-      return 0;
-    }
-    // FetchUrl hands us a malloc'd buffer; take ownership of the bytes via
-    // a std::string and release the original allocation.
-    std::string bytes(buf, size);
-    std::free(buf);
-    return static_cast<int>(entries_.emplace(url, std::move(bytes))
-                                .first->second.size());
-  }
-
-  // Pre-populates the cache so a subsequent Fetch() of the same URL hits
-  // memory instead of the network. First writer wins.
-  void Prime(std::string url, std::string bytes) {
-    entries_.try_emplace(std::move(url), std::move(bytes));
-  }
-
-  // Hands back a pointer into the cached bytes for the given URL.
-  // Returns -1 if the URL has not been fetched or primed.
-  int Read(const char* url, const void** buffer) const {
-    auto it = entries_.find(url);
-    if (it == entries_.end()) return -1;
-    *buffer = it->second.data();
-    return static_cast<int>(it->second.size());
-  }
-
-  void Close(const char* url) { entries_.erase(url); }
-
- private:
-  std::unordered_map<std::string, std::string> entries_;
-};
-
-// ---------------------------------------------------------------------------
-
-// Javascript-facing function to register a build-time asset (font, IBL,
-// .filamat material) that is fetched via the static AssetRegistry rather
-// than over HTTP.
-void RegisterAsset(std::string filename, std::string contents) {
-  AssetRegistry::Instance().RegisterAsset(std::move(filename),
-                                          std::move(contents));
-}
-
-// Javascript-facing function to pre-populate the HTTP/HTTPS fetch cache.
-// Used by the JS-side parallel prefetcher to feed already-downloaded asset
-// bytes to MuJoCo's compiler before LoadUrl is invoked, sidestepping the
-// otherwise strictly-serial EM_ASYNC_JS fetch chain.
-void PrimeFetchCache(std::string url, std::string bytes) {
-  FetchCache::Instance().Prime(std::move(url), std::move(bytes));
-}
-
-// Javascript-facing wrapper around mju_getXMLDependencies. Returns the
-// list of resource URLs that the given root XML transitively references
-// (meshes, textures, includes, ...), per MuJoCo's compiler rules.
-std::vector<std::string> GetXMLDependencies(const std::string& root_url) {
-  mjStringVec deps;
-  mju_getXMLDependencies(root_url.c_str(), &deps);
-  return deps;
-}
-
-// Javascript-facing function to initialize the app.
-void Init(const std::string& title, bool dark_theme) {
-  // Note: dimensions do not matter as window will be resized to fit canvas.
-  const int width = 100;
-  const int height = 100;
-  const std::string ini_path = "";
-
-  mjpResourceProvider resource_provider;
-  mjp_defaultResourceProvider(&resource_provider);
-
-  resource_provider.open = [](mjResource* resource) {
-    AssetRegistry& r = AssetRegistry::Instance();
-    return static_cast<int>(r.Get(resource->name).size());
-  };
-  resource_provider.read = [](mjResource* resource, const void** buffer) {
-    AssetRegistry& r = AssetRegistry::Instance();
-    const std::string& contents = r.Get(resource->name);
-    *buffer = contents.data();
-    return static_cast<int>(contents.size());
-  };
-  resource_provider.close = [](mjResource* resource) {};
-
-  resource_provider.prefix = "font";
-  mjp_registerResourceProvider(&resource_provider);
-  resource_provider.prefix = "filament";
-  mjp_registerResourceProvider(&resource_provider);
-
-  // Register HTTP/HTTPS resource providers so that models loaded from URLs
-  // can automatically fetch referenced assets (meshes, textures, etc.) over
-  // the network.
-  mjpResourceProvider http_provider;
-  mjp_defaultResourceProvider(&http_provider);
-
-  http_provider.open = [](mjResource* resource) {
-    return FetchCache::Instance().Fetch(resource->name);
-  };
-  http_provider.read = [](mjResource* resource, const void** buffer) {
-    return FetchCache::Instance().Read(resource->name, buffer);
-  };
-  http_provider.close = [](mjResource* resource) {
-    FetchCache::Instance().Close(resource->name);
-  };
-
-  http_provider.prefix = "http";
-  mjp_registerResourceProvider(&http_provider);
-  http_provider.prefix = "https";
-  mjp_registerResourceProvider(&http_provider);
-
-  // Register a "github:" resource provider that resolves
-  // github:org/repo/branch/path/to/file.xml to
-  // https://raw.githubusercontent.com/org/repo/branch/path/to/file.xml
-  mjpResourceProvider github_provider;
-  mjp_defaultResourceProvider(&github_provider);
-
-  github_provider.open = [](mjResource* resource) {
-    std::string name(resource->name);
-    // Strip the "github:" prefix and prepend the raw.githubusercontent URL.
-    std::string url =
-        "https://raw.githubusercontent.com/" + name.substr(strlen("github:"));
-    return FetchCache::Instance().Fetch(url.c_str());
-  };
-  github_provider.read = [](mjResource* resource, const void** buffer) {
-    std::string name(resource->name);
-    std::string url =
-        "https://raw.githubusercontent.com/" + name.substr(strlen("github:"));
-    return FetchCache::Instance().Read(url.c_str(), buffer);
-  };
-  github_provider.close = [](mjResource* resource) {
-    std::string name(resource->name);
-    std::string url =
-        "https://raw.githubusercontent.com/" + name.substr(strlen("github:"));
-    FetchCache::Instance().Close(url.c_str());
-  };
-
-  github_provider.prefix = "github";
-  mjp_registerResourceProvider(&github_provider);
-
-  mujoco::studio::App::Config config;
-  config.width = width;
-  config.height = height;
-  config.ini_path = ini_path;
-  config.gfx_mode = mujoco::platform::GraphicsMode::FilamentWebGl;
-  config.initial_theme = dark_theme ? mujoco::platform::GuiTheme::kDark
-                                    : mujoco::platform::GuiTheme::kLight;
-  if (!title.empty()) {
-    config.title = title;
-  }
-  g_app = new mujoco::studio::App(std::move(config));
-  g_app->InitEmptyModel();
-}
-
-// Javascript-facing function to load a model from an uploaded file.
-void LoadFile(const std::string& filename, const std::string& data) {
-  if (!g_app) {
-    return;
-  }
-
-  std::string content_type;
-  if (filename.ends_with(".mjb")) {
-    content_type = "application/mjb";
-  } else if (filename.ends_with(".mjz")) {
-    content_type = "application/zip";
-  } else if (filename.ends_with(".zip")) {
-    content_type = "application/zip";
-  } else if (filename.ends_with(".xml")) {
-    content_type = "text/xml";
-  } else {
-    return;
-  }
-
-  const auto ptr = reinterpret_cast<const std::byte*>(data.data());
-  g_app->LoadModelFromBuffer({ptr, ptr + data.size()}, content_type, filename);
-}
-
-// Javascript-facing function to load a model from a URL.
-// The URL is passed directly to LoadModelFromFile, which will use the
-// registered HTTP/HTTPS resource providers to fetch the model and any
-// referenced assets.
-void LoadUrl(const std::string& url) {
-  if (!g_app) {
-    return;
-  }
-  g_app->LoadModelFromFile(url);
-}
-
-// Javascript-facing function to render a single frame.
-void RenderFrame() {
-  if (g_app) {
-    if (g_app->Update()) {
-      g_app->BuildGui();
-      g_app->Render();
-    }
-  }
-}
-
-// Javascript-facing function to deinitialize the app.
-void Deinit() {
-  delete g_app;
-  g_app = nullptr;
-}
-
-EMSCRIPTEN_BINDINGS(studio_bindings) {
-  // Matches the C-level `mjStringVec` typedef in mjspec.h.
-  emscripten::register_vector<std::string>("mjStringVec");
-  emscripten::function("registerAsset", &RegisterAsset);
-  emscripten::function("primeFetchCache", &PrimeFetchCache);
-  emscripten::function("getXMLDependencies", &GetXMLDependencies);
-  emscripten::function("init", &Init);
-  emscripten::function("loadFile", &LoadFile);
-  emscripten::function("loadUrl", &LoadUrl);
-  emscripten::function("renderFrame", &RenderFrame);
-  emscripten::function("deinit", &Deinit);
-}
diff --git a/src/experimental/studio/favicon.ico b/src/experimental/studio/favicon.ico
deleted file mode 100644
index 1db85336..00000000
Binary files a/src/experimental/studio/favicon.ico and /dev/null differ
diff --git a/src/experimental/studio/launcher.cc b/src/experimental/studio/launcher.cc
deleted file mode 100644
index e6eb6aaa..00000000
--- a/src/experimental/studio/launcher.cc
+++ /dev/null
@@ -1,82 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "experimental/studio/launcher.h"
-
-#include <cstdlib>
-#include <cstring>
-#include <string>
-#include <string_view>
-
-#include <mujoco/mujoco.h>
-#include "experimental/platform/hal/graphics_mode.h"
-#include "experimental/platform/resources.h"
-#include "experimental/studio/app.h"
-
-namespace mujoco::studio {
-
-int LaunchStudio(int argc, char** argv, LauncherConfig config) {
-  const char* home = std::getenv("HOME");
-  const std::string ini_path = std::string(home ? home : ".") + "/.mujoco.ini";
-
-  mujoco::platform::RegisterResourceProviders();
-
-  if (config.gfx_mode.empty()) {
-    const char* display = std::getenv("DISPLAY");
-    if (display && strcmp(display, ":20") == 0) {
-      config.gfx_mode = "opengl_headless";
-    }
-  }
-
-  const char* session_type = std::getenv("XDG_SESSION_TYPE");
-  const char* wayland_display = std::getenv("WAYLAND_DISPLAY");
-  if ((session_type && std::string_view(session_type) == "wayland") ||
-      wayland_display) {
-    if (config.gfx_mode.empty()) {
-      config.gfx_mode = "opengl_headless";
-    } else if (config.gfx_mode == "opengl") {
-      mju_error(
-          "Wayland does not support '%s' graphics mode. "
-          "Restart with a different graphics mode, or login using X11.",
-          config.gfx_mode.c_str());
-    }
-  }
-
-  mujoco::platform::GraphicsMode gfx_mode =
-      mujoco::platform::GraphicsModeFromString(
-          config.gfx_mode, mujoco::platform::GraphicsMode::FilamentOpenGl);
-
-  // Use config values if they are set (non-default), otherwise use flags.
-  mujoco::studio::App app({
-    .width = config.window_width,
-    .height = config.window_height,
-    .ini_path = ini_path,
-    .gfx_mode = gfx_mode,
-    .title = config.title,
-  });
-
-  if (config.model_file.empty()) {
-    app.InitEmptyModel();
-  } else {
-    app.LoadModelFromFile(config.model_file);
-  }
-
-  while (app.Update()) {
-    app.BuildGui();
-    app.Render();
-  }
-  return 0;
-}
-
-}  // namespace mujoco::studio
diff --git a/src/experimental/studio/launcher.h b/src/experimental/studio/launcher.h
deleted file mode 100644
index a92cb74d..00000000
--- a/src/experimental/studio/launcher.h
+++ /dev/null
@@ -1,49 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_STUDIO_LAUNCHER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_STUDIO_LAUNCHER_H_
-
-#include <string>
-#include "experimental/studio/app.h"
-
-namespace mujoco::studio {
-
-struct LauncherConfig {
-  // Title of the window.
-  std::string title = "MuJoCo Studio";
-
-  // Initial window width.
-  int window_width = 1400;
-
-  // Initial window height.
-  int window_height = 720;
-
-  // Model file to load on startup. If empty, the launcher will try to load
-  // from flags or command line arguments.
-  std::string model_file = "";
-
-  std::string gfx_mode = "";
-};
-
-// Runs the MuJoCo Studio application.
-// This function handles resource provider registration, graphics mode detection,
-// app creation, and the main loop.
-//
-// Expects absl::ParseCommandLine to have been called before this.
-int LaunchStudio(int argc, char** argv, LauncherConfig config = {});
-
-}  // namespace mujoco::studio
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_STUDIO_LAUNCHER_H_
diff --git a/src/experimental/studio/live.css b/src/experimental/studio/live.css
deleted file mode 100644
index d72872db..00000000
--- a/src/experimental/studio/live.css
+++ /dev/null
@@ -1,147 +0,0 @@
-#loadingOverlay {
-  position: fixed;
-  top: 0;
-  left: 0;
-  width: 100%;
-  height: 100%;
-  background: radial-gradient(circle at 50% 50%, #092057 0%, #090f23 100%);
-  z-index: 10000;
-  display: none;
-  align-items: center;
-  justify-content: center;
-  overflow: hidden;
-  transition: opacity 0.3s ease;
-}
-#loadingOverlay::before {
-  /* 3D Ground Grid */
-  content: '';
-  position: absolute;
-  top: 0;
-  left: 0;
-  width: 100%;
-  height: 100%;
-  background-image:
-    linear-gradient(rgba(123, 147, 232, 0.2) 0.5px, transparent 0.5px),
-    linear-gradient(90deg, rgba(123, 147, 232, 0.2) 0.5px, transparent 0.5px);
-  background-size: 50px 50px;
-  background-position: center center;
-  transform: perspective(500px) rotateX(60deg) scale(2.5);
-  transform-origin: center center;
-  opacity: 0.8;
-  pointer-events: none;
-  animation: grid-drift 60s linear infinite;
-}
-@keyframes grid-drift {
-  0% {
-    background-position: center 0;
-  }
-  100% {
-    background-position: center 1000px;
-  }
-}
-.loading-container {
-  color: #fff;
-  font-size: 24px;
-  font-family: "Atkinson Hyperlegible Next", sans-serif;
-  text-align: center;
-}
-.loading-visual {
-  position: relative;
-  display: flex;
-  align-items: center;
-  justify-content: center;
-  margin-bottom: 20px;
-}
-.wireframe-cage {
-  position: absolute;
-  width: 320px;
-  height: 320px;
-  transform-origin: center center;
-  animation: spin-cage 25s linear infinite;
-  opacity: 0.65;
-  z-index: 0;
-  pointer-events: none;
-}
-@keyframes spin-cage {
-  0% {
-    transform: rotate(0deg) scale(0.9);
-  }
-  50% {
-    transform: rotate(180deg) scale(1.04);
-  }
-  100% {
-    transform: rotate(360deg) scale(0.9);
-  }
-}
-.logo-container-svg {
-  position: relative;
-  width: 300px;
-  height: 100px;
-  display: flex;
-  align-items: center;
-  justify-content: center;
-  z-index: 1;
-}
-.brand-logo-svg {
-  width: 100%;
-  height: auto;
-}
-.loading-title {
-  font-size: 26px;
-  font-family: "Atkinson Hyperlegible Next", sans-serif;
-  font-weight: 700;
-  margin-top: 120px; /* Push down below the bottom vertices of the rotating cube. */
-  color: rgba(255, 255, 255, 0.75);
-}
-.loading-download {
-  display: none;
-  margin-top: 16px;
-  opacity: 0.6;
-}
-.loading-download-label {
-  font-size: 16px;
-  font-family: "Atkinson Hyperlegible Next", sans-serif;
-  font-weight: 400;
-}
-.loading-download-file {
-  font-size: 16px;
-  font-family: "Atkinson Hyperlegible Next", sans-serif;
-  font-weight: 400;
-}
-#dropOverlay {
-  position: fixed;
-  top: 0;
-  left: 0;
-  width: 100%;
-  height: 100%;
-  background: rgba(0,0,0,0.5);
-  z-index: 9999;
-  display: none;
-  pointer-events: none;
-  align-items: center;
-  justify-content: center;
-}
-.drop-message {
-  color: #fff;
-  font-size: 24px;
-  font-family: "Atkinson Hyperlegible Next", sans-serif;
-  padding: 32px 48px;
-  border: 3px dashed #fff;
-  border-radius: 16px;
-}
-#commitHash {
-  position: absolute;
-  top: 3px;
-  right: 3px;
-  z-index: 1;
-  font-family: monospace;
-  font-size: 7pt;
-  color: #fff;
-  mix-blend-mode: difference;
-  user-select: all;
-}
-#canvas {
-  width: 100vw;
-  height: 100vh;
-  display: block;
-}
diff --git a/src/experimental/studio/live.html b/src/experimental/studio/live.html
deleted file mode 100644
index 4b4c9c2a..00000000
--- a/src/experimental/studio/live.html
+++ /dev/null
@@ -1,58 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="utf-8" />
-    <link rel="preconnect" href="https://fonts.googleapis.com">
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
-    <link href="https://fonts.googleapis.com/css2?family=Atkinson+Hyperlegible+Next:wght@200..800&display=swap" rel="stylesheet">
-    <link rel="stylesheet" href="live.css">
-    <link rel="icon" href="favicon.ico" sizes="16x16 32x32 48x48">
-    <title>MuJoCo Live</title>
-  </head>
-  <body style="margin: 0; overflow: hidden">
-    <div id="loadingOverlay">
-      <div class="loading-container">
-        <div class="loading-visual">
-          <!-- Rotating neon light-blue physics wireframe cage. -->
-          <svg class="wireframe-cage" viewBox="0 0 200 200">
-            <g class="cage-lines">
-              <polygon points="130,10 190,130 96,190 10,96" fill="none" stroke="#00f5d4" stroke-width="0.8" opacity="0.75" />
-              <line x1="10" y1="96" x2="45" y2="106" stroke="#00f5d4" stroke-width="0.6" opacity="0.55" />
-              <line x1="45" y1="106" x2="130" y2="10" stroke="#00f5d4" stroke-width="0.6" opacity="0.55" />
-              <line x1="45" y1="106" x2="96" y2="190" stroke="#00f5d4" stroke-width="0.6" opacity="0.55" />
-              <line x1="45" y1="106" x2="190" y2="130" stroke="#00f5d4" stroke-width="0.5" opacity="0.45" />
-              <line x1="150" y1="100" x2="130" y2="10" stroke="#00f5d4" stroke-width="0.6" opacity="0.55" />
-              <line x1="150" y1="100" x2="96" y2="190" stroke="#00f5d4" stroke-width="0.6" opacity="0.55" />
-              <line x1="150" y1="100" x2="190" y2="130" stroke="#00f5d4" stroke-width="0.6" opacity="0.55" />
-              <line x1="150" y1="100" x2="45" y2="106" stroke="#00f5d4" stroke-width="0.4" opacity="0.35" />
-            </g>
-          </svg>
-
-          <!-- Centered MuJoCo SVG Logo -->
-          <div class="logo-container-svg">
-            <svg viewBox="90 30 415 90" class="brand-logo-svg" title="MuJoCo">
-              <g fill="rgba(255, 255, 255, 0.98)" filter="drop-shadow(0 0 6px rgba(123, 147, 232, 0.25)) drop-shadow(0 0 1px rgba(255, 255, 255, 0.25))">
-                <path d="M136.1,118.4l-19.7-47.3l-7.1,41.6H96.5l15.4-80.9l0,0L136.4,90l25.5-58.1l0,0l13.9,80.9H163l-6.3-41.6 L136.1,118.4L136.1,118.4L136.1,118.4z M211.9,113.2c-4.5,0-8.6-0.9-12.1-2.6c-3.5-1.7-6.3-4.3-8.3-7.6c-2-3.4-3-7.5-3-12.3V55.2h13.6v34.1 c0,2.8,0.4,5,1.1,6.7c0.7,1.7,1.8,3,3.3,3.9s3.2,1.3,5.3,1.3s3.9-0.4,5.3-1.3s2.5-2.2,3.3-3.9c0.7-1.7,1.1-4,1.1-6.8V55.2h13.6 v35.5c0,4.8-1,9-3,12.3c-2,3.4-4.7,5.9-8.3,7.6C220.4,112.4,216.4,113.2,211.9,113.2L211.9,113.2z M260.1,113.6c-3,0-5.9-0.5-8.7-1.4c-2.8-0.9-5.3-2.4-7.6-4.2l6.1-10.8c1.6,1.3,3.1,2.3,4.5,2.9s2.9,1,4.2,1 c1.9,0,3.5-0.4,4.6-1.2s1.9-2,2.4-3.7c0.5-1.7,0.8-4,0.8-6.9V36.1h13.3V90c0,5.3-0.7,9.7-2.2,13.2c-1.5,3.5-3.6,6.1-6.5,7.8 C268.2,112.8,264.5,113.6,260.1,113.6L260.1,113.6z M325.8,113.2c-5.4,0-10.5-1.3-15.1-3.7c-4.6-2.5-8.4-6-11.1-10.5c-2.8-4.5-4.2-9.6-4.2-15.3s1.4-10.4,4.2-15 c2.8-4.5,6.5-8.1,11.2-10.6c4.7-2.6,9.8-3.9,15.3-3.9c5.5,0,10.6,1.3,15.2,3.9c4.6,2.6,8.4,6.1,11.1,10.6 c2.8,4.5,4.2,9.6,4.2,15.1s-1.4,10.6-4.2,15.1c-2.8,4.5-6.5,8-11.2,10.5C336.5,111.9,331.3,113.2,325.8,113.2L325.8,113.2z M325.8,100.9c3.2,0,6.1-0.7,8.6-2.2c2.6-1.5,4.6-3.5,6.1-6.1c1.5-2.6,2.2-5.5,2.2-8.7c0-3.2-0.7-6.1-2.2-8.7 c-1.5-2.7-3.5-4.7-6-6.2s-5.4-2.3-8.6-2.3s-5.9,0.8-8.5,2.3c-2.6,1.5-4.6,3.6-6.1,6.2c-1.5,2.6-2.2,5.5-2.2,8.7s0.8,6.2,2.3,8.9 c1.5,2.6,3.5,4.7,6.1,6.1C320.1,100.1,322.8,100.9,325.8,100.9L325.8,100.9z M408.1,113.6c-7.3,0-13.9-1.7-19.9-5.2c-6-3.5-10.7-8.2-14.2-14.2c-3.5-6-5.2-12.5-5.2-19.7 s1.7-13.8,5.2-19.9c3.5-6.1,8.3-10.9,14.4-14.5c6.1-3.6,13-5.4,20.5-5.4c3.4,0,6.7,0.5,9.9,1.4c3.3,0.9,6.5,2.2,9.6,4l0.1,15.4 c-3.2-2.8-6.5-4.8-9.8-6.2c-3.3-1.4-6.7-2.1-10.2-2.1c-4.8,0-9.2,1.2-13.2,3.6c-4,2.4-7.2,5.7-9.6,9.9c-2.4,4.2-3.5,8.8-3.5,13.8 s1.2,9.4,3.5,13.5c2.4,4.1,5.5,7.3,9.6,9.7c4,2.4,8.5,3.6,13.4,3.6c2.6,0,5-0.3,7.1-0.8c2.1-0.5,4.1-1.4,6.2-2.7 c2-1.2,4.2-2.9,6.7-5l-0.1,15.5c-3.1,1.7-6.4,3.1-9.9,4C415.1,113.2,411.6,113.6,408.1,113.6L408.1,113.6z M473.7,113.2c-5.4,0-10.5-1.3-15.1-3.7c-4.6-2.5-8.4-6-11.1-10.5c-2.8-4.5-4.2-9.6-4.2-15.3s1.4-10.4,4.2-15 c2.8-4.5,6.5-8.1,11.2-10.6s9.8-3.9,15.3-3.9c5.5,0,10.6,1.3,15.2,3.9c4.6,2.6,8.4,6.1,11.1,10.6c2.8,4.5,4.2,9.6,4.2,15.1 s-1.4,10.6-4.2,15.1c-2.8,4.5-6.5,8-11.2,10.5C484.4,111.9,479.3,113.2,473.7,113.2L473.7,113.2z M473.7,100.9 c3.2,0,6.1-0.7,8.6-2.2c2.6-1.5,4.6-3.5,6.1-6.1c1.5-2.6,2.2-5.5,2.2-8.7c0-3.2-0.7-6.1-2.2-8.7c-1.5-2.7-3.5-4.7-6-6.2 s-5.4-2.3-8.6-2.3c-3.2,0-5.9,0.8-8.5,2.3c-2.6,1.5-4.6,3.6-6.1,6.2c-1.5,2.6-2.2,5.5-2.2,8.7s0.8,6.2,2.3,8.9s3.5,4.7,6.1,6.1 C468,100.1,470.7,100.9,473.7,100.9L473.7,100.9z"/>
-              </g>
-            </svg>
-          </div>
-        </div>
-
-        <div class="loading-title">Loading model</div>
-
-        <!-- Asset Download Indicator -->
-        <div id="loadingDownload" class="loading-download">
-          <div class="loading-download-label">Downloading asset file</div>
-          <div id="loadingDownloadFile" class="loading-download-file"></div>
-        </div>
-      </div>
-    </div>
-    <div id="dropOverlay">
-      <div class="drop-message">Drop model file here</div>
-    </div>
-    <div id="commitHash">__COMMIT_HASH_PLACEHOLDER__</div>
-    <canvas id="canvas" class="emscripten" oncontextmenu="event.preventDefault()"></canvas>
-    <script src="live.js"></script>
-    <script async src="bin/mujoco_studio.js"></script>
-  </body>
-</html>
diff --git a/src/experimental/studio/live.js b/src/experimental/studio/live.js
deleted file mode 100644
index 9e3c64cd..00000000
--- a/src/experimental/studio/live.js
+++ /dev/null
@@ -1,318 +0,0 @@
-// Copyright 2026 Google LLC
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// --- Loading overlay (shown while model is compiling) ---
-const loadingOverlay = document.getElementById('loadingOverlay');
-function showLoading() {
-  loadingOverlay.style.display = 'flex';
-}
-function hideLoading() {
-  loadingOverlay.style.display = 'none';
-}
-
-// ---------------------------------------------------------------------------
-// Parallel asset prefetcher.
-//
-// MuJoCo's XML compiler synchronously opens each referenced asset via
-// mjpResourceProvider. In WASM that becomes a chain of ASYNCIFY-suspended
-// fetch() calls, strictly serial, one RTT per asset. For Menagerie models
-// that's ~80 round trips and ~10 s of avoidable wall time on a cold cache.
-//
-// To sidestep this we let MuJoCo itself enumerate the dependencies (via
-// mju_getXMLDependencies, exposed to JS as Module.getXMLDependencies), then
-// fetch them all in parallel and feed the bytes into the WASM-side
-// FetchCache via Module.primeFetchCache. When Module.loadUrl subsequently
-// runs, every resource the compiler opens is already in memory.
-//
-// Discovery rules live in src/xml/xml_util.cc; the JS only has to know
-// the scheme rewrites used by the resource providers in emscripten.cc.
-// ---------------------------------------------------------------------------
-
-// MuJoCo Live custom URL schemes that the C++ resource providers rewrite
-// before fetching. JS must do the same so primed cache keys match what
-// the providers eventually request.
-function resolveScheme(url) {
-  if (url.startsWith('github:')) {
-    return 'https://raw.githubusercontent.com/' + url.slice('github:'.length);
-  }
-  return url;
-}
-
-async function prefetchModelAssets(rootUrl, onProgress) {
-  // Only prefetch when the root URL is one we know how to fetch from
-  // Javascript. Other resource-provider-backed schemes (e.g., uploaded files
-  // via the drag-and-drop path) skip the prefetcher entirely and let
-  // Module.loadUrl handle take the existing slow path.
-  if (!/^(https?:|github:)/.test(rootUrl)) {
-    return { files: 0, bytes: 0, errors: 0 };
-  }
-
-  const primed = new Set();   // URLs we've already pushed into FetchCache
-  const stats = { files: 0, bytes: 0, errors: 0 };
-
-  // Fetch + prime, dedup against `primed`. Returns true on success.
-  async function fetchAndPrime(httpUrl) {
-    if (primed.has(httpUrl)) return true;
-    primed.add(httpUrl);
-    try {
-      const resp = await fetch(httpUrl);
-      if (!resp.ok) {
-        console.warn('[prefetch] HTTP', resp.status, httpUrl);
-        stats.errors++;
-        return false;
-      }
-      const bytes = new Uint8Array(await resp.arrayBuffer());
-      Module.primeFetchCache(httpUrl, bytes);
-      stats.files++;
-      stats.bytes += bytes.length;
-      onProgress?.(stats);
-      return true;
-    } catch (err) {
-      console.warn('[prefetch]', httpUrl, err);
-      stats.errors++;
-      return false;
-    }
-  }
-
-  // Step 1: fetch the root XML so mju_getXMLDependencies (which reads it
-  // through the resource provider) hits cache instead of the network.
-  // Also gives the loading screen an immediate progress tick.
-  const rootHttp = resolveScheme(rootUrl);
-  if (!await fetchAndPrime(rootHttp)) {
-    throw new Error(`could not fetch root model ${rootHttp}`);
-  }
-
-  // Step 2: ask MuJoCo for the transitive dependency list. The call is
-  // async because reading recursively included XMLs may suspend on
-  // ASYNCIFY fetches; those XMLs end up in FetchCache as a side effect.
-  // The result is an embind mjStringVec we copy out and release.
-  const depsVec = await Module.getXMLDependencies(rootUrl);
-  const deps = [];
-  for (let i = 0; i < depsVec.size(); ++i) deps.push(depsVec.get(i));
-  depsVec.delete();
-
-  // Step 3: fetch every dependency in parallel, deduped against URLs
-  // already primed in step 1 (and earlier deps within this batch).
-  await Promise.all(deps.map((depUrl) => fetchAndPrime(resolveScheme(depUrl))));
-  return stats;
-}
-
-var Module = {
-  preRun: [],
-  postRun: [],
-  locateFile: function (path) {
-    const baseURL = window.location.origin + window.location.pathname.substring(0, window.location.pathname.lastIndexOf("/"));
-    return baseURL + "/bin/" + path;
-  },
-  print: console.log,
-  printErr: text => {
-    console.error(text + "\n" + new Error().stack);
-  },
-  canvas: (() => {
-    const canvas = document.getElementById("canvas");
-    // As a default initial behavior, pop up an alert when webgl context is lost. To make your
-    // application robust, you may want to override this behavior before shipping!
-    // See http://www.khronos.org/registry/webgl/specs/latest/1.0/#5.15.2
-    canvas.addEventListener(
-      "webglcontextlost",
-      e => {
-        alert("WebGL context lost. You will need to reload the page.");
-        e.preventDefault();
-      },
-      false,
-    );
-    return canvas;
-  })(),
-  setStatus(text) { },
-  totalDependencies: 0,
-  monitorRunDependencies(left) { },
-  onRuntimeInitialized: () => {
-    const assetsToPrefetch = [
-      "assets/fontawesome-webfont.ttf",
-      "assets/ibl.ktx",
-      "assets/AtkinsonHyperlegibleNext[wght].ttf",
-      "assets/AtkinsonHyperlegibleMono-Regular.ttf",
-      "assets/pbr.filamat",
-      "assets/pbr_reflect.filamat",
-      "assets/pbr_packed_reflect.filamat",
-      "assets/pbr_transparent.filamat",
-      "assets/pbr_packed.filamat",
-      "assets/pbr_packed_transparent.filamat",
-      "assets/phong_2d_fade.filamat",
-      "assets/phong_2d.filamat",
-      "assets/phong_2d_uv_fade.filamat",
-      "assets/phong_2d_uv.filamat",
-      "assets/phong_2d_uv_reflect.filamat",
-      "assets/phong_color_fade.filamat",
-      "assets/phong_color.filamat",
-      "assets/phong_color_reflect.filamat",
-      "assets/phong_cube_fade.filamat",
-      "assets/phong_cube.filamat",
-      "assets/phong_cube_reflect.filamat",
-      "assets/outline_composite.filamat",
-      "assets/outline_flatten.filamat",
-      "assets/outline_jumpflood.filamat",
-      "assets/decor.filamat",
-      "assets/unlit_depth.filamat",
-      "assets/unlit_segmentation.filamat",
-      "assets/unlit_ui.filamat"
-    ];
-
-    const assetPromises = assetsToPrefetch.map(async (relativePath) => {
-      const assetUrl = Module.locateFile(relativePath);
-      try {
-        const response = await fetch(assetUrl);
-        if (!response.ok) {
-          throw new Error(`Failed to fetch ${assetUrl}: ${response.statusText}`);
-        }
-        const buffer = await response.arrayBuffer();
-        const filename = relativePath.substring(relativePath.lastIndexOf('/') + 1);
-        Module.registerAsset(filename, new Uint8Array(buffer));
-        console.log(`Registered asset: ${filename}`);
-      } catch (error) {
-        console.error(`Error prefetching asset ${assetUrl}:`, error);
-        throw error;  // Re-throw to be caught by Promise.all
-      }
-    });
-
-    Promise.all(assetPromises)
-      .then(() => {
-        try {
-          const prefersDark = true;
-          Module.init("MuJoCo Live", prefersDark);
-
-          // Check for a ?model= URL parameter and load from URL.
-          const params = new URLSearchParams(window.location.search);
-          const modelUrl = params.get('model');
-          if (modelUrl) {
-            // loadUrl uses ASYNCIFY (via EM_ASYNC_JS fetch), which
-            // suspends the WASM module. We must not start the animation
-            // loop until the load completes, otherwise renderFrame will
-            // hit "Cannot have multiple async operations in flight".
-            showLoading();
-            // Surface prefetch progress on the loading screen.
-            const dlEl = document.getElementById('loadingDownload');
-            const dlFileEl = document.getElementById('loadingDownloadFile');
-            if (dlEl) dlEl.style.display = 'block';
-            const onProgress = (s) => {
-              if (dlFileEl) {
-                dlFileEl.textContent =
-                    `${s.files} files · ${(s.bytes/1024/1024).toFixed(1)} MB`;
-              }
-            };
-            requestAnimationFrame(() => {
-              requestAnimationFrame(async () => {
-                try {
-                  await prefetchModelAssets(modelUrl, onProgress);
-                  await Module.loadUrl(modelUrl);
-                } catch (error) {
-                  console.error('Failed to load model from URL:', error);
-                } finally {
-                  if (dlEl) dlEl.style.display = 'none';
-                  hideLoading();
-                  requestAnimationFrame(Module.animate);
-                }
-              });
-            });
-          } else {
-            requestAnimationFrame(Module.animate);
-          }
-        } catch (error) {
-          console.error('Failed to initialize app.', error);
-        }
-      })
-      .catch((error) => {
-        console.error('Failed to prefetch one or more assets.', error);
-      });
-  },
-  animate: async () => {
-    try {
-      await Module.renderFrame();
-    } catch (error) {
-      console.error('Update error:', error);
-    }
-    requestAnimationFrame(Module.animate);
-  },
-};
-// Ensure the canvas is resized when the window is resized.
-window.addEventListener("resize", function () {
-  Module.canvas.style.width = window.innerWidth + "px";
-  Module.canvas.style.height = window.innerHeight + "px";
-});
-
-function handleFile(file) {
-  const reader = new FileReader();
-  reader.onload = (e) => {
-    const buffer = e.target.result;
-    // Show the loading overlay, then defer the blocking WASM call by two
-    // animation frames so the browser has a chance to paint the overlay.
-    showLoading();
-    requestAnimationFrame(() => {
-      requestAnimationFrame(() => {
-        try {
-          Module.loadFile(file.name, buffer);
-        } catch (error) {
-          console.error('Failed to load model from file:', error);
-        } finally {
-          hideLoading();
-        }
-      });
-    });
-  };
-  reader.onerror = (e) => {
-    console.error('Error reading file:', e);
-  };
-  reader.readAsArrayBuffer(file);
-}
-
-document.addEventListener('DOMContentLoaded', () => {
-  // Remove commit hash if not substituted
-  var el = document.getElementById('commitHash');
-  if (el && el.textContent === '__COMMIT_HASH_PLACEHOLDER__') el.remove();
-
-  // --- Drag-and-drop support ---
-  const dropOverlay = document.getElementById('dropOverlay');
-
-  let dragCounter = 0;
-
-  document.addEventListener('dragenter', (e) => {
-    e.preventDefault();
-    dragCounter++;
-    if (dragCounter === 1) {
-      dropOverlay.style.display = 'flex';
-    }
-  });
-
-  document.addEventListener('dragleave', (e) => {
-    e.preventDefault();
-    dragCounter--;
-    if (dragCounter === 0) {
-      dropOverlay.style.display = 'none';
-    }
-  });
-
-  document.addEventListener('dragover', (e) => {
-    e.preventDefault();
-  });
-
-  document.addEventListener('drop', (e) => {
-    e.preventDefault();
-    dragCounter = 0;
-    dropOverlay.style.display = 'none';
-    const files = e.dataTransfer.files;
-    for (let i = 0; i < files.length; i++) {
-      handleFile(files[i]);
-    }
-  });
-});
diff --git a/src/experimental/studio/main.cc b/src/experimental/studio/main.cc
deleted file mode 100644
index c0f6ce7b..00000000
--- a/src/experimental/studio/main.cc
+++ /dev/null
@@ -1,40 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <string>
-
-#include <absl/flags/flag.h>
-#include <absl/flags/parse.h>
-#include "experimental/studio/launcher.h"
-
-ABSL_FLAG(int, window_width, 1400, "Window width");
-ABSL_FLAG(int, window_height, 720, "Window height");
-ABSL_FLAG(std::string, model_file, "", "MuJoCo model file.");
-ABSL_FLAG(std::string, gfx, "", "Graphics API");
-
-int main(int argc, char** argv) {
-  absl::ParseCommandLine(argc, argv);
-
-  std::string model_file = absl::GetFlag(FLAGS_model_file);
-  if (model_file.empty() && argc > 1 && argv[1][0] != '-') {
-    model_file = argv[1];
-  }
-
-  return mujoco::studio::LaunchStudio(argc, argv, {
-      .window_width = absl::GetFlag(FLAGS_window_width),
-      .window_height = absl::GetFlag(FLAGS_window_height),
-      .model_file = model_file,
-      .gfx_mode = absl::GetFlag(FLAGS_gfx),
-  });
-}
diff --git a/src/experimental/usd/CMakeLists.txt b/src/experimental/usd/CMakeLists.txt
deleted file mode 100644
index 0464ef72..00000000
--- a/src/experimental/usd/CMakeLists.txt
+++ /dev/null
@@ -1,268 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#   https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# --- Global Configuration ---
-
-# Plugin target names (used for library and plugInfo.json)
-set(MJCF_PLUGIN_TARGET_NAME usdMjcf)
-set(MJC_PHYSICS_PLUGIN_TARGET_NAME mjcPhysics)
-
-# Installation directory for USD plugins
-set(MJ_USD_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/mujoco-usd-resources)
-
-# Common OpenUSD libraries
-set(OPENUSD_CORE_LIBS
-  usd ar kind tf gf vt usdShade usdLux usdGeom usdPhysics
-)
-
-# We need to set the visibility to default until core type symbol visibility
-# is resolved in OpenUSD https://github.com/PixarAnimationStudios/OpenUSD/issues/1475
-set(DEFAULT_CXX_VISIBILITY_PROPS
-  CXX_VISIBILITY_PRESET default
-)
-
-# --- Helper Functions ---
-function(configure_and_install_usd_plugin_info plugin_name source_subpath install_base_dir)
-  # Determine shared library prefix
-  if(CMAKE_SHARED_LIBRARY_PREFIX)
-    set(LIB_PREFIX ${CMAKE_SHARED_LIBRARY_PREFIX})
-  else()
-    set(LIB_PREFIX "")
-  endif()
-
-  set(PLUG_INFO_LIBRARY_PATH "../../${LIB_PREFIX}${plugin_name}${CMAKE_SHARED_LIBRARY_SUFFIX}")
-  set(OUTPUT_DIR "${CMAKE_BINARY_DIR}/${install_base_dir}/${plugin_name}")
-  set(OUTPUT_FILE "${OUTPUT_DIR}/plugInfo.json")
-
-  # Create the output directory if it doesn't exist
-  file(MAKE_DIRECTORY "${OUTPUT_DIR}")
-
-  # Configure the plugInfo.json file to replace @PLUG_INFO_LIBRARY_PATH@ instances.
-  configure_file(
-    "${CMAKE_CURRENT_SOURCE_DIR}/${source_subpath}/plugInfo.json"
-    "${OUTPUT_FILE}"
-    @ONLY
-  )
-
-  install(FILES "${OUTPUT_FILE}"
-    DESTINATION "${install_base_dir}/${plugin_name}"
-  )
-endfunction()
-
-# Function to apply Houdini-specific link directories and include paths
-function(configure_houdini_target target_name link_scope include_scope)
-  set(HOUDINI_LIBS_DIR "${HOUDINI_HFS_DIR}/../Libraries")
-  get_filename_component(HOUDINI_LIBS_DIR "${HOUDINI_LIBS_DIR}" ABSOLUTE) # Normalize the path
-
-  # Assume everyone using Houdini on 3.11 for now.
-  set(USD_MJCF_PYTHON_LIB python3.11)
-  set(USD_MJCF_PYTHON_LIB_NUMBER python311) # For boost library names
-  set(PYTHON_LIB "${HOUDINI_HFS_DIR}/Frameworks/Python.framework/Versions/3.11/Python")
-  set(PXR_LIB_PREFIX "pxr_")
-
-  # Houdini-specific PXR and other libraries
-  set(HOUDINI_SPECIFIC_LIBS
-    ${PXR_LIB_PREFIX}usd
-    ${PXR_LIB_PREFIX}ar
-    ${PXR_LIB_PREFIX}kind
-    ${PXR_LIB_PREFIX}tf
-    ${PXR_LIB_PREFIX}gf
-    ${PXR_LIB_PREFIX}vt
-    ${PXR_LIB_PREFIX}sdf
-    ${PXR_LIB_PREFIX}usdShade
-    ${PXR_LIB_PREFIX}usdLux
-    ${PXR_LIB_PREFIX}usdGeom
-    ${PXR_LIB_PREFIX}usdImaging
-    ${PXR_LIB_PREFIX}usdPhysics
-    tbb
-    hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
-    ${PYTHON_LIB}
-  )
-
-  target_link_directories(${target_name} ${link_scope} ${HOUDINI_LIBS_DIR})
-  target_include_directories(${target_name} ${include_scope}
-    "${HOUDINI_HFS_DIR}/toolkit/include"
-    "${HOUDINI_HFS_DIR}/toolkit/include/python3.11"
-  )
-  target_link_libraries(${target_name} ${link_scope}
-    ${HOUDINI_SPECIFIC_LIBS}
-    mujoco
-    tinyxml2
-  )
-endfunction()
-
-## usdMjcf
-
-add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED)
-target_sources(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
-  plugins/mjcf/mjcf_file_format.cc
-  plugins/mjcf/mjcf_file_format.h
-  plugins/mjcf/mujoco_to_usd.cc
-  plugins/mjcf/mujoco_to_usd.h
-  plugins/mjcf/utils.cc
-  plugins/mjcf/utils.h
-)
-set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
-  OUTPUT_NAME ${MJCF_PLUGIN_TARGET_NAME}
-  ${DEFAULT_CXX_VISIBILITY_PROPS}
-)
-target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
-  "${CMAKE_CURRENT_SOURCE_DIR}/plugins"
-)
-
-## ----- mjcPhysics -----
-
-add_library(${MJC_PHYSICS_PLUGIN_TARGET_NAME} SHARED)
-target_sources(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
-  mjcPhysics/actuator.cpp
-  mjcPhysics/collisionAPI.cpp
-  mjcPhysics/equalityAPI.cpp
-  mjcPhysics/equalityConnectAPI.cpp
-  mjcPhysics/equalityJointAPI.cpp
-  mjcPhysics/equalityWeldAPI.cpp
-  mjcPhysics/imageableAPI.cpp
-  mjcPhysics/jointAPI.cpp
-  mjcPhysics/keyframe.cpp
-  mjcPhysics/materialAPI.cpp
-  mjcPhysics/meshCollisionAPI.cpp
-  mjcPhysics/sceneAPI.cpp
-  mjcPhysics/siteAPI.cpp
-  mjcPhysics/tendon.cpp
-  mjcPhysics/tokens.cpp
-)
-set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
-  OUTPUT_NAME ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
-  ${DEFAULT_CXX_VISIBILITY_PROPS}
-)
-target_include_directories(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../../include>
-)
-
-## ----- mujoco USD utils -----
-
-target_sources(mujoco PRIVATE
-  layer_sink.cc
-  utils.cc
-  writer.cc
-)
-
-# pxr/usd/tf/hashset.h might include deprecated headers so disable this check
-# when compiling with USD enabled.
-target_compile_options(
-     mujoco
-     PRIVATE -Wno-deprecated
-)
-
-# Configure RPATH for macOS and UNIX.
-if(APPLE)
-  set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
-    BUILD_RPATH "${USD_INSTALL_ROOT}"
-    INSTALL_RPATH "@loader_path")
-
-  set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
-    BUILD_RPATH "${USD_INSTALL_ROOT}"
-    INSTALL_RPATH "@loader_path")
-elseif(UNIX)
-  set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
-    BUILD_RPATH "${USD_INSTALL_ROOT}"
-    INSTALL_RPATH "$ORIGIN")
-
-  set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
-    BUILD_RPATH "${USD_INSTALL_ROOT}"
-    INSTALL_RPATH "$ORIGIN")
-endif()
-
-target_link_libraries(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
-  ${OPENUSD_CORE_LIBS}
-)
-
-target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
-  ${OPENUSD_CORE_LIBS}
-  mujoco
-  tinyxml2
-  ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
-)
-
-target_link_libraries(mujoco PUBLIC
-  ${OPENUSD_CORE_LIBS}
-  ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
-)
-
-## ----- Newton USD Schemas (codeless plugin) -----
-
-function(install_newton_usd_plugin install_base_dir)
-  include(FetchContent)
-
-  FetchContent_Declare(
-    newton-usd-schemas
-    GIT_REPOSITORY https://github.com/newton-physics/newton-usd-schemas.git
-    GIT_TAG v0.4.0
-    GIT_SHALLOW TRUE
-    UPDATE_DISCONNECTED TRUE
-  )
-
-  FetchContent_GetProperties(newton-usd-schemas)
-  if(NOT newton-usd-schemas_POPULATED)
-    FetchContent_Populate(newton-usd-schemas)
-  endif()
-
-  set(NEWTON_USD_DIR "${newton-usd-schemas_SOURCE_DIR}/newton_usd_schemas")
-  if(NOT EXISTS "${NEWTON_USD_DIR}")
-    message(FATAL_ERROR "newton_usd_schemas directory not found in fetched repository")
-  endif()
-
-  set(NEWTON_BUILD_DIR "${CMAKE_BINARY_DIR}/${install_base_dir}/newton")
-  file(MAKE_DIRECTORY "${NEWTON_BUILD_DIR}")
-  configure_file("${NEWTON_USD_DIR}/plugInfo.json" "${NEWTON_BUILD_DIR}/plugInfo.json" COPYONLY)
-  configure_file("${NEWTON_USD_DIR}/generatedSchema.usda" "${NEWTON_BUILD_DIR}/generatedSchema.usda" COPYONLY)
-
-  install(FILES "${NEWTON_BUILD_DIR}/plugInfo.json"
-    DESTINATION "${install_base_dir}/newton"
-  )
-  install(FILES "${NEWTON_BUILD_DIR}/generatedSchema.usda"
-    DESTINATION "${install_base_dir}/newton"
-  )
-endfunction()
-
-## Installation
-
-# Generate and install plugInfo.json for each plugin
-configure_and_install_usd_plugin_info(
-  ${MJCF_PLUGIN_TARGET_NAME}
-  plugins/mjcf
-  ${MJ_USD_INSTALL_DIR_LIB}
-)
-configure_and_install_usd_plugin_info(
-  ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
-  mjcPhysics
-  ${MJ_USD_INSTALL_DIR_LIB}
-)
-
-# Install specific resources that are not plugInfo.json (like generatedSchema.usda)
-install(FILES
-  mjcPhysics/generatedSchema.usda
-  DESTINATION ${MJ_USD_INSTALL_DIR_LIB}/mjcPhysics
-)
-
-install_newton_usd_plugin(
-  ${MJ_USD_INSTALL_DIR_LIB}
-)
-
-# Install shared libraries
-install(TARGETS
-  ${MJCF_PLUGIN_TARGET_NAME}
-  ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
-  EXPORT ${PROJECT_NAME}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-)
diff --git a/src/experimental/usd/layer_sink.cc b/src/experimental/usd/layer_sink.cc
deleted file mode 100644
index 5a7dfb24..00000000
--- a/src/experimental/usd/layer_sink.cc
+++ /dev/null
@@ -1,131 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <mujoco/experimental/usd/layer_sink.h>
-
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include <pxr/base/gf/declare.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/quaternion.h>
-#include <pxr/base/gf/rotation.h>
-#include <pxr/base/gf/transform.h>
-#include <pxr/base/tf/staticTokens.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/vt/types.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/sdf/attributeSpec.h>
-#include <pxr/usd/sdf/changeBlock.h>
-#include <pxr/usd/sdf/childrenPolicies.h>
-#include <pxr/usd/sdf/primSpec.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/sdf/valueTypeName.h>
-#include <pxr/usd/usd/common.h>
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usd/timeCode.h>
-#include <pxr/usd/usdGeom/tokens.h>
-#include <pxr/usd/usdGeom/xformCache.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-TF_DEFINE_PRIVATE_TOKENS(_layer_sink_tokens,
-                         ((xformOpTransform, "xformOp:transform:mujoco")));
-PXR_NAMESPACE_CLOSE_SCOPE
-
-namespace {
-pxr::SdfAttributeSpecHandle GetOrCreateAttribute(
-    pxr::SdfLayerHandle layer, pxr::SdfPrimSpecHandle prim_spec,
-    const pxr::SdfPath& path, const pxr::TfToken& token,
-    const pxr::SdfValueTypeName& type, pxr::SdfVariability variability) {
-  // Find or create transform attribute.
-  pxr::SdfAttributeSpecHandle attr =
-      layer->GetAttributeAtPath(path.AppendProperty(token));
-
-  if (!attr) {
-    attr = pxr::SdfAttributeSpec::New(prim_spec, token, type, variability);
-  }
-  return attr;
-}
-}  // namespace
-
-namespace mujoco {
-namespace usd {
-LayerSink::LayerSink(pxr::UsdStageRefPtr stage) : stage_(stage) {}
-
-void LayerSink::Update(const mjData* const data,
-                       std::vector<pxr::SdfPath> body_paths) {
-  pxr::SdfLayerHandle layer = stage_->GetEditTarget().GetLayer();
-
-  pxr::UsdTimeCode timecode = data->time * layer->GetTimeCodesPerSecond();
-  pxr::UsdGeomXformCache xform_cache(timecode);
-
-  pxr::SdfChangeBlock change_block;
-  // TODO(shaves) this can be parallelised.
-  for (int i = 0; i < body_paths.size(); i++) {
-    const pxr::SdfPath& path = body_paths[i];
-
-    // Author transform timesample
-    // Convert pose data.
-    mjtNum* xpos = &data->xpos[i * 3];
-    mjtNum* xquat = &data->xquat[i * 4];
-    pxr::GfVec3d translation(xpos[0], xpos[1], xpos[2]);
-    pxr::GfVec3d imag_part(xquat[1], xquat[2], xquat[3]);
-    // Some bodies such as the world body don't have mapped USD prims to
-    // transform.
-    if (path.IsEmpty()) {
-      continue;
-    }
-
-    pxr::SdfPrimSpecHandle prim_spec = pxr::SdfCreatePrimInLayer(layer, path);
-
-    // Find or create transform attribute.
-    pxr::SdfAttributeSpecHandle xform_attr = GetOrCreateAttribute(
-        layer, prim_spec, path, pxr::_layer_sink_tokens->xformOpTransform,
-        pxr::SdfValueTypeNames->Matrix4d, pxr::SdfVariabilityVarying);
-
-    pxr::GfQuaternion quat(xquat[0], imag_part);
-    pxr::GfRotation rotation(quat);
-
-    // Identities
-    pxr::GfVec3d scale(1.0);
-    pxr::GfVec3d pivot_position(0);
-    pxr::GfRotation pivot_rotation(pxr::GfQuaternion::GetIdentity());
-
-    // Set time sample
-    pxr::GfTransform xform(translation, rotation, scale, pivot_position,
-                           pivot_rotation);
-    pxr::GfMatrix4d parent_xform =
-        xform_cache.GetParentToWorldTransform(stage_->GetPrimAtPath(path));
-    pxr::GfMatrix4d relative_xform =
-        xform.GetMatrix() * parent_xform.GetInverse();
-    layer->SetTimeSample(xform_attr->GetPath(), timecode.GetValue(),
-                         relative_xform);
-
-    // Create xformop_order attribute if missing.
-    pxr::SdfAttributeSpecHandle op_order_attr = GetOrCreateAttribute(
-        layer, prim_spec, path, pxr::UsdGeomTokens->xformOpOrder,
-        pxr::SdfValueTypeNames->TokenArray, pxr::SdfVariabilityUniform);
-
-    // Override all local transforms so that this is the absolute position.
-    // We don't reset the xform stack here, so parent transforms will still
-    // affect the world pose.
-    const pxr::VtTokenArray xformop_order(
-        {pxr::_layer_sink_tokens->xformOpTransform});
-
-    op_order_attr->SetDefaultValue(pxr::VtValue(xformop_order));
-  }
-}
-}  // namespace usd
-}  // namespace mujoco
diff --git a/src/experimental/usd/mjcPhysics/README.md b/src/experimental/usd/mjcPhysics/README.md
deleted file mode 100644
index 9fd74b3e..00000000
--- a/src/experimental/usd/mjcPhysics/README.md
+++ /dev/null
@@ -1,7 +0,0 @@
-# mjcPhysics -- OpenUSD 的 MuJoCo 物理模式定义（Schemas）
-
-本目录包含 `mjcPhysics` 的 USD Schema（模式定义）及其附带代码。这些 Schema 允许直接在 USD 内部详细指定 MuJoCo 仿真环境。其目标不是取代 UsdPhysics，而是在现有概念的基础上进行扩展，仅在必要时创建新类型。
-
-这些 Schema 可以无代码使用（codeless），也可以与其 C++ 绑定一起构建。我们已经在此处通过 usdGenSchema 预生成了代码供 MuJoCo 内部使用，但它也应该能在原生支持 USD 的外部应用程序（如 Omniverse、Houdini 和 Maya）中正常工作。
-
-有关更详细的信息，请参阅[我们的 OpenUSD 文档](https://mujoco.readthedocs.io/en/latest/OpenUSD/index.html)。
diff --git a/src/experimental/usd/mjcPhysics/actuator.cpp b/src/experimental/usd/mjcPhysics/actuator.cpp
deleted file mode 100644
index 7d6b9ce8..00000000
--- a/src/experimental/usd/mjcPhysics/actuator.cpp
+++ /dev/null
@@ -1,421 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsActuator, TfType::Bases<UsdTyped> >();
-
-  // Register the usd prim typename as an alias under UsdSchemaBase. This
-  // enables one to call
-  // TfType::Find<UsdSchemaBase>().FindDerivedByName("MjcActuator")
-  // to find TfType<MjcPhysicsActuator>, which is how IsA queries are
-  // answered.
-  TfType::AddAlias<UsdSchemaBase, MjcPhysicsActuator>("MjcActuator");
-}
-
-/* virtual */
-MjcPhysicsActuator::~MjcPhysicsActuator() {}
-
-/* static */
-MjcPhysicsActuator MjcPhysicsActuator::Get(const UsdStagePtr& stage,
-                                           const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsActuator();
-  }
-  return MjcPhysicsActuator(stage->GetPrimAtPath(path));
-}
-
-/* static */
-MjcPhysicsActuator MjcPhysicsActuator::Define(const UsdStagePtr& stage,
-                                              const SdfPath& path) {
-  static TfToken usdPrimTypeName("MjcActuator");
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsActuator();
-  }
-  return MjcPhysicsActuator(stage->DefinePrim(path, usdPrimTypeName));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsActuator::_GetSchemaKind() const {
-  return MjcPhysicsActuator::schemaKind;
-}
-
-/* static */
-const TfType& MjcPhysicsActuator::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsActuator>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsActuator::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsActuator::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsActuator::GetGroupAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateGroupAttr(VtValue const& defaultValue,
-                                                 bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcCtrlLimitedAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlLimited);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcCtrlLimitedAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCtrlLimited, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcForceLimitedAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceLimited);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcForceLimitedAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcForceLimited, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcActLimitedAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActLimited);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcActLimitedAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActLimited, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcCtrlRangeMinAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlRangeMin);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMinAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCtrlRangeMin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcCtrlRangeMaxAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlRangeMax);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMaxAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCtrlRangeMax, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcForceRangeMinAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceRangeMin);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMinAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcForceRangeMin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcForceRangeMaxAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceRangeMax);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMaxAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcForceRangeMax, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcActRangeMinAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActRangeMin);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMinAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActRangeMin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcActRangeMaxAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActRangeMax);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMaxAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActRangeMax, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcLengthRangeMinAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcLengthRangeMin);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMinAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcLengthRangeMin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcLengthRangeMaxAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcLengthRangeMax);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMaxAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcLengthRangeMax, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcGearAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGear);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcGearAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGear, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcCrankLengthAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCrankLength);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcCrankLengthAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCrankLength, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcJointInParentAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcJointInParent);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcJointInParentAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcJointInParent, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcActDimAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActDim);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcActDimAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActDim, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcDynTypeAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDynType);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcDynTypeAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcDynType, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcGainTypeAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGainType);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcGainTypeAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGainType, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcBiasTypeAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcBiasType);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcBiasTypeAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcBiasType, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcDynPrmAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDynPrm);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcDynPrmAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcDynPrm, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcGainPrmAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGainPrm);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcGainPrmAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGainPrm, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcBiasPrmAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcBiasPrm);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcBiasPrmAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcBiasPrm, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcActEarlyAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActEarly);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcActEarlyAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActEarly, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsActuator::GetMjcInheritRangeAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcInheritRange);
-}
-
-UsdAttribute MjcPhysicsActuator::CreateMjcInheritRangeAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcInheritRange, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdRelationship MjcPhysicsActuator::GetMjcTargetRel() const {
-  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcTarget);
-}
-
-UsdRelationship MjcPhysicsActuator::CreateMjcTargetRel() const {
-  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcTarget,
-                                      /* custom = */ false);
-}
-
-UsdRelationship MjcPhysicsActuator::GetMjcRefSiteRel() const {
-  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcRefSite);
-}
-
-UsdRelationship MjcPhysicsActuator::CreateMjcRefSiteRel() const {
-  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcRefSite,
-                                      /* custom = */ false);
-}
-
-UsdRelationship MjcPhysicsActuator::GetMjcSliderSiteRel() const {
-  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcSliderSite);
-}
-
-UsdRelationship MjcPhysicsActuator::CreateMjcSliderSiteRel() const {
-  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcSliderSite,
-                                      /* custom = */ false);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsActuator::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcGroup,          MjcPhysicsTokens->mjcCtrlLimited,
-      MjcPhysicsTokens->mjcForceLimited,   MjcPhysicsTokens->mjcActLimited,
-      MjcPhysicsTokens->mjcCtrlRangeMin,   MjcPhysicsTokens->mjcCtrlRangeMax,
-      MjcPhysicsTokens->mjcForceRangeMin,  MjcPhysicsTokens->mjcForceRangeMax,
-      MjcPhysicsTokens->mjcActRangeMin,    MjcPhysicsTokens->mjcActRangeMax,
-      MjcPhysicsTokens->mjcLengthRangeMin, MjcPhysicsTokens->mjcLengthRangeMax,
-      MjcPhysicsTokens->mjcGear,           MjcPhysicsTokens->mjcCrankLength,
-      MjcPhysicsTokens->mjcJointInParent,  MjcPhysicsTokens->mjcActDim,
-      MjcPhysicsTokens->mjcDynType,        MjcPhysicsTokens->mjcGainType,
-      MjcPhysicsTokens->mjcBiasType,       MjcPhysicsTokens->mjcDynPrm,
-      MjcPhysicsTokens->mjcGainPrm,        MjcPhysicsTokens->mjcBiasPrm,
-      MjcPhysicsTokens->mjcActEarly,       MjcPhysicsTokens->mjcInheritRange,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdTyped::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/collisionAPI.cpp b/src/experimental/usd/mjcPhysics/collisionAPI.cpp
deleted file mode 100644
index 6e10e761..00000000
--- a/src/experimental/usd/mjcPhysics/collisionAPI.cpp
+++ /dev/null
@@ -1,218 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsCollisionAPI, TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsCollisionAPI::~MjcPhysicsCollisionAPI() {}
-
-/* static */
-MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Get(const UsdStagePtr& stage,
-                                                   const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsCollisionAPI();
-  }
-  return MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsCollisionAPI::_GetSchemaKind() const {
-  return MjcPhysicsCollisionAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsCollisionAPI::CanApply(const UsdPrim& prim,
-                                      std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsCollisionAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Apply(const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsCollisionAPI>()) {
-    return MjcPhysicsCollisionAPI(prim);
-  }
-  return MjcPhysicsCollisionAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsCollisionAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsCollisionAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsCollisionAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsCollisionAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::GetGroupAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::CreateGroupAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::GetShellInertiaAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcShellinertia);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::CreateShellInertiaAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcShellinertia, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::GetPriorityAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPriority);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::CreatePriorityAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPriority, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::GetConDimAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCondim);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::CreateConDimAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCondim, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::GetSolMixAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolmix);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::CreateSolMixAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolmix, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::GetSolRefAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolref);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::CreateSolRefAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolref, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::GetSolImpAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimp);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::CreateSolImpAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolimp, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::GetMarginAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMargin);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::CreateMarginAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcMargin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::GetGapAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGap);
-}
-
-UsdAttribute MjcPhysicsCollisionAPI::CreateGapAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGap, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsCollisionAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcGroup,    MjcPhysicsTokens->mjcShellinertia,
-      MjcPhysicsTokens->mjcPriority, MjcPhysicsTokens->mjcCondim,
-      MjcPhysicsTokens->mjcSolmix,   MjcPhysicsTokens->mjcSolref,
-      MjcPhysicsTokens->mjcSolimp,   MjcPhysicsTokens->mjcMargin,
-      MjcPhysicsTokens->mjcGap,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/equalityAPI.cpp b/src/experimental/usd/mjcPhysics/equalityAPI.cpp
deleted file mode 100644
index fc716561..00000000
--- a/src/experimental/usd/mjcPhysics/equalityAPI.cpp
+++ /dev/null
@@ -1,146 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/equalityAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsEqualityAPI, TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsEqualityAPI::~MjcPhysicsEqualityAPI() {}
-
-/* static */
-MjcPhysicsEqualityAPI MjcPhysicsEqualityAPI::Get(const UsdStagePtr& stage,
-                                                 const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsEqualityAPI();
-  }
-  return MjcPhysicsEqualityAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsEqualityAPI::_GetSchemaKind() const {
-  return MjcPhysicsEqualityAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsEqualityAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsEqualityAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsEqualityAPI MjcPhysicsEqualityAPI::Apply(const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsEqualityAPI>()) {
-    return MjcPhysicsEqualityAPI(prim);
-  }
-  return MjcPhysicsEqualityAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsEqualityAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsEqualityAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsEqualityAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsEqualityAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsEqualityAPI::GetSolRefAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolref);
-}
-
-UsdAttribute MjcPhysicsEqualityAPI::CreateSolRefAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolref, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsEqualityAPI::GetSolImpAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimp);
-}
-
-UsdAttribute MjcPhysicsEqualityAPI::CreateSolImpAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolimp, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdRelationship MjcPhysicsEqualityAPI::GetMjcTargetRel() const {
-  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcTarget);
-}
-
-UsdRelationship MjcPhysicsEqualityAPI::CreateMjcTargetRel() const {
-  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcTarget,
-                                      /* custom = */ false);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsEqualityAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcSolref,
-      MjcPhysicsTokens->mjcSolimp,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/equalityConnectAPI.cpp b/src/experimental/usd/mjcPhysics/equalityConnectAPI.cpp
deleted file mode 100644
index adeb228b..00000000
--- a/src/experimental/usd/mjcPhysics/equalityConnectAPI.cpp
+++ /dev/null
@@ -1,104 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsEqualityConnectAPI,
-                 TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsEqualityConnectAPI::~MjcPhysicsEqualityConnectAPI() {}
-
-/* static */
-MjcPhysicsEqualityConnectAPI MjcPhysicsEqualityConnectAPI::Get(
-    const UsdStagePtr& stage, const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsEqualityConnectAPI();
-  }
-  return MjcPhysicsEqualityConnectAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsEqualityConnectAPI::_GetSchemaKind() const {
-  return MjcPhysicsEqualityConnectAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsEqualityConnectAPI::CanApply(const UsdPrim& prim,
-                                            std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsEqualityConnectAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsEqualityConnectAPI MjcPhysicsEqualityConnectAPI::Apply(
-    const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsEqualityConnectAPI>()) {
-    return MjcPhysicsEqualityConnectAPI(prim);
-  }
-  return MjcPhysicsEqualityConnectAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsEqualityConnectAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsEqualityConnectAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsEqualityConnectAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsEqualityConnectAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-/*static*/
-const TfTokenVector& MjcPhysicsEqualityConnectAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames;
-  static TfTokenVector allNames =
-      UsdAPISchemaBase::GetSchemaAttributeNames(true);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/equalityJointAPI.cpp b/src/experimental/usd/mjcPhysics/equalityJointAPI.cpp
deleted file mode 100644
index 3dc3651e..00000000
--- a/src/experimental/usd/mjcPhysics/equalityJointAPI.cpp
+++ /dev/null
@@ -1,206 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/equalityJointAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsEqualityJointAPI,
-                 TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsEqualityJointAPI::~MjcPhysicsEqualityJointAPI() {}
-
-/* static */
-MjcPhysicsEqualityJointAPI MjcPhysicsEqualityJointAPI::Get(
-    const UsdStagePtr& stage, const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsEqualityJointAPI();
-  }
-  return MjcPhysicsEqualityJointAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsEqualityJointAPI::_GetSchemaKind() const {
-  return MjcPhysicsEqualityJointAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsEqualityJointAPI::CanApply(const UsdPrim& prim,
-                                          std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsEqualityJointAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsEqualityJointAPI MjcPhysicsEqualityJointAPI::Apply(
-    const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsEqualityJointAPI>()) {
-    return MjcPhysicsEqualityJointAPI(prim);
-  }
-  return MjcPhysicsEqualityJointAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsEqualityJointAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsEqualityJointAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsEqualityJointAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsEqualityJointAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::GetSolImpAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimp);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::CreateSolImpAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolimp, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::GetSolRefAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolref);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::CreateSolRefAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolref, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::GetCoef0Attr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCoef0);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::CreateCoef0Attr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCoef0, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::GetCoef1Attr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCoef1);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::CreateCoef1Attr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCoef1, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::GetCoef2Attr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCoef2);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::CreateCoef2Attr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCoef2, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::GetCoef3Attr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCoef3);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::CreateCoef3Attr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCoef3, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::GetCoef4Attr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCoef4);
-}
-
-UsdAttribute MjcPhysicsEqualityJointAPI::CreateCoef4Attr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCoef4, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdRelationship MjcPhysicsEqualityJointAPI::GetMjcTargetRel() const {
-  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcTarget);
-}
-
-UsdRelationship MjcPhysicsEqualityJointAPI::CreateMjcTargetRel() const {
-  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcTarget,
-                                      /* custom = */ false);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsEqualityJointAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcSolimp, MjcPhysicsTokens->mjcSolref,
-      MjcPhysicsTokens->mjcCoef0,  MjcPhysicsTokens->mjcCoef1,
-      MjcPhysicsTokens->mjcCoef2,  MjcPhysicsTokens->mjcCoef3,
-      MjcPhysicsTokens->mjcCoef4,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/equalityWeldAPI.cpp b/src/experimental/usd/mjcPhysics/equalityWeldAPI.cpp
deleted file mode 100644
index 59c354a4..00000000
--- a/src/experimental/usd/mjcPhysics/equalityWeldAPI.cpp
+++ /dev/null
@@ -1,127 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsEqualityWeldAPI, TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsEqualityWeldAPI::~MjcPhysicsEqualityWeldAPI() {}
-
-/* static */
-MjcPhysicsEqualityWeldAPI MjcPhysicsEqualityWeldAPI::Get(
-    const UsdStagePtr& stage, const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsEqualityWeldAPI();
-  }
-  return MjcPhysicsEqualityWeldAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsEqualityWeldAPI::_GetSchemaKind() const {
-  return MjcPhysicsEqualityWeldAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsEqualityWeldAPI::CanApply(const UsdPrim& prim,
-                                         std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsEqualityWeldAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsEqualityWeldAPI MjcPhysicsEqualityWeldAPI::Apply(
-    const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsEqualityWeldAPI>()) {
-    return MjcPhysicsEqualityWeldAPI(prim);
-  }
-  return MjcPhysicsEqualityWeldAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsEqualityWeldAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsEqualityWeldAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsEqualityWeldAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsEqualityWeldAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsEqualityWeldAPI::GetTorqueScaleAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcTorqueScale);
-}
-
-UsdAttribute MjcPhysicsEqualityWeldAPI::CreateTorqueScaleAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcTorqueScale, SdfValueTypeNames->Float,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsEqualityWeldAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcTorqueScale,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
deleted file mode 100644
index f742c183..00000000
--- a/src/experimental/usd/mjcPhysics/generatedSchema.usda
+++ /dev/null
@@ -1,790 +0,0 @@
-#usda 1.0
-(
-    "WARNING: THIS FILE IS GENERATED BY usdGenSchema.  DO NOT EDIT."
-)
-
-class "MjcSceneAPI" (
-    apiSchemas = ["NewtonSceneAPI"]
-    doc = "API providing global simulation options for MuJoCo."
-)
-{
-    uniform bool mjc:compiler:alignFree = 0 (
-        displayName = "Align Free"
-        doc = "This attribute toggles the default behaviour of an optimization that applies to bodies with a free joint and no child bodies. When True, the body frame and free joint will automatically be aligned with inertial frame, which leads to both faster and more stable simulation."
-    )
-    uniform token mjc:compiler:angle = "degree" (
-        allowedTokens = ["degree", "radian"]
-        displayName = "Angle"
-        doc = "This attribute specifies whether the angles in mjcPhysics attributes have units of degrees or radians if not otherwise noted."
-    )
-    uniform bool mjc:compiler:autoLimits = 1 (
-        displayName = "Automatic Limits"
-        doc = 'This attribute affects the behavior of attributes such as "limited" (on MjcJointAPI), "forcelimited" "ctrllimited", and "actlimited" (on MjcActuator). If True, these attributes are unnecessary and their value will be inferred from the presence of their corresponding "range" attribute. If False, no such inference will happen: For a joint to be limited, both limited=True and range:min/max must be specified. In this mode, it is an error to specify a range without a limit.'
-    )
-    uniform bool mjc:compiler:balanceInertia = 0 (
-        displayName = "Balance Inertia"
-        doc = 'A valid diagonal inertia matrix must satisfy A+B>=C for all permutations of the three diagonal elements. Some poorly designed models violate this constraint, which will normally result in a compile error. If this attribute is set to "true", the compiler will silently set all three diagonal elements to their average value whenever the above condition is violated.'
-    )
-    uniform double mjc:compiler:boundInertia = 0 (
-        displayName = "Bound Inertia"
-        doc = "This attribute imposes a lower bound on the diagonal inertia components of each body except for the world body."
-    )
-    uniform double mjc:compiler:boundMass = 0 (
-        displayName = "Bound Mass"
-        doc = "This attribute imposes a lower bound on the mass of each body except for the world body."
-    )
-    uniform bool mjc:compiler:fitAABB = 0 (
-        displayName = "Fit AABB"
-        doc = "The compiler is able to replace a mesh with a geometric primitive fitted to that mesh. If this attribute is True, the fitting procedure uses the axis-aligned bounding box (AABB) of the mesh. Otherwise it uses the equivalent-inertia box of the mesh."
-    )
-    uniform bool mjc:compiler:fuseStatic = 0 (
-        displayName = "Fuse Static"
-        doc = """This attribute controls a compiler optimization feature where static bodies are fused with their parent, and any elements defined in those bodies are reassigned to the parent. Static bodies are fused with their parent unless
-
-* They are referenced by another element in the model.
-
-* They contain a site which is referenced by a force or torque sensor.
-"""
-    )
-    uniform token mjc:compiler:inertiaFromGeom = "auto" (
-        allowedTokens = ["false", "true", "auto"]
-        displayName = "Inertia From Geom"
-        doc = 'This attribute controls the automatic inference of body masses and inertias from geoms attached to the body. If this setting is "false", no automatic inference is performed. In that case each body must have explicitly defined mass and inertia with the inertial element, or else a compile error will be generated. If this setting is "true", the mass and inertia of each body will be inferred from the geoms attached to it, overriding any values specified with the inertial element. The default setting "auto" means that masses and inertias are inferred automatically only when the inertial element is missing in the body definition. One reason to set this attribute to "true" instead of "auto" is to override inertial data imported from a poorly designed model.'
-    )
-    uniform int mjc:compiler:inertiaGroupRange:max = 5 (
-        displayName = "Inertia Group Range Max"
-        doc = "This attribute specifies the maximum of the geom group range that is used to infer body masses and inertias (when such inference is enabled). The group attribute of geom is an integer. If this integer falls in the range specified here, the geom will be used in the inertial computation, otherwise it will be ignored. This feature is useful in models that have redundant sets of geoms for collision and visualization. Note that the world body does not participate in the inertial computations, so any geoms attached to it are automatically ignored. Therefore it is not necessary to adjust this attribute and the geom-specific groups so as to exclude world geoms from the inertial computation."
-    )
-    uniform int mjc:compiler:inertiaGroupRange:min = 0 (
-        displayName = "Inertia Group Range Min"
-        doc = "This attribute specifies the maximum of the geom group range that is used to infer body masses and inertias (when such inference is enabled). The group attribute of geom is an integer. If this integer falls in the range specified here, the collider will be used in the inertial computation, otherwise it will be ignored. Note that the world body does not participate in the inertial computations, so any geoms attached to it are automatically ignored. Therefore it is not necessary to adjust this attribute and the geom-specific groups so as to exclude world geoms from the inertial computation."
-    )
-    uniform bool mjc:compiler:saveInertial = 0 (
-        displayName = "Save Inertial"
-        doc = "If True, the compiler will save explicit inertial clauses for all bodies."
-    )
-    uniform double mjc:compiler:setTotalMass = -1 (
-        displayName = "Set Total Mass"
-        doc = "If this value is positive, the compiler will scale the masses and inertias of all bodies in the model, so that the total mass equals the value specified here. The world body has mass 0 and does not participate in any mass-related computations. This scaling is performed last, after all other operations affecting the body mass and inertia. The same scaling operation can be applied at runtime to the compiled mjModel with the function mj_setTotalmass."
-    )
-    uniform bool mjc:compiler:useThread = 1 (
-        displayName = "Use Thread"
-        doc = "If this is True, the model compiler will run in multi-threaded mode. Currently multi-threading is used for computing the length ranges of actuators and for parallel loading of meshes."
-    )
-    uniform bool mjc:flag:actuation = 1 (
-        displayName = "Actuation Forces Toggle"
-        doc = "Enables all standard computations related to actuator forces, including actuator dynamics."
-    )
-    uniform bool mjc:flag:autoreset = 1 (
-        displayName = "Automatic Simulation Reset Toggle"
-        doc = "Enables the automatic resetting of the simulation state when numerical issues are detected."
-    )
-    uniform bool mjc:flag:clampctrl = 1 (
-        displayName = "Control Input Clamping Toggle"
-        doc = "Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."
-    )
-    uniform bool mjc:flag:constraint = 1 (
-        displayName = "Constraint Solver Toggle"
-        doc = "Enables constraint solver."
-    )
-    uniform bool mjc:flag:contact = 1 (
-        displayName = "Contact Constraints and Collision Detection Toggle"
-        doc = "Enables collision detection and all standard computations related to contact constraints."
-    )
-    uniform bool mjc:flag:damper = 1 (
-        displayName = "Damper Forces Toggle"
-        doc = "Enables the simulation of joint and tendon dampers."
-    )
-    uniform bool mjc:flag:energy = 0 (
-        displayName = "Energy Computation Toggle"
-        doc = "Enables the computation of potential and kinetic energy (mjData.energy[0,1])."
-    )
-    uniform bool mjc:flag:equality = 1 (
-        displayName = "Equality Constraints Toggle"
-        doc = "Enables all standard computations related to equality constraints."
-    )
-    uniform bool mjc:flag:eulerdamp = 1 (
-        displayName = "Euler Integrator Damping Toggle"
-        doc = "Enables implicit integration with respect to joint damping in the Euler integrator."
-    )
-    uniform bool mjc:flag:filterparent = 1 (
-        displayName = "Parent-Child Contact Filtering Toggle"
-        doc = "Enables the filtering of contact pairs where the two geoms belong to a parent and child body."
-    )
-    uniform bool mjc:flag:frictionloss = 1 (
-        displayName = "Friction Loss Constraints Toggle"
-        doc = "Enables all standard computations related to friction loss constraints."
-    )
-    uniform bool mjc:flag:fwdinv = 0 (
-        displayName = "Forward/Inverse Dynamics Comparison Toggle"
-        doc = "Enables the automatic comparison of forward and inverse dynamics."
-    )
-    uniform bool mjc:flag:gravity = 1 (
-        displayName = "Gravity Toggle"
-        doc = """DEPRECATED: Use newton:gravityEnabled instead.
-
-        Enables the application of gravitational acceleration as defined in mjOption."""
-    )
-    uniform bool mjc:flag:invdiscrete = 0 (
-        displayName = "Discrete-Time Inverse Dynamics Toggle"
-        doc = "Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."
-    )
-    uniform bool mjc:flag:island = 1 (
-        displayName = "Constraint Island Discovery Toggle"
-        doc = "Enables the discovery of constraint islands."
-    )
-    uniform bool mjc:flag:limit = 1 (
-        displayName = "Joint and Tendon Limit Constraints Toggle"
-        doc = "Enables all standard computations related to joint and tendon limit constraints."
-    )
-    uniform bool mjc:flag:midphase = 1 (
-        displayName = "Mid-Phase Collision Filtering Toggle"
-        doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."
-    )
-    uniform bool mjc:flag:multiccd = 1 (
-        displayName = "Multiple Contact Collision Detection (CCD) Toggle"
-        doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."
-    )
-    uniform bool mjc:flag:nativeccd = 1 (
-        displayName = "Native Convex Collision Detection Toggle"
-        doc = "Enables the native convex collision detection pipeline instead of using the libccd library."
-    )
-    uniform bool mjc:flag:override = 0 (
-        displayName = "Contact Override Mechanism Toggle"
-        doc = "Enables the contact override mechanism."
-    )
-    uniform bool mjc:flag:refsafe = 1 (
-        displayName = "Solver Reference Safety Mechanism Toggle"
-        doc = "Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."
-    )
-    uniform bool mjc:flag:sensor = 1 (
-        displayName = "Sensor Computations Toggle"
-        doc = "Enables all computations related to sensors."
-    )
-    uniform bool mjc:flag:spring = 1 (
-        displayName = "Spring Forces Toggle"
-        doc = "Enables the simulation of joint and tendon springs."
-    )
-    uniform bool mjc:flag:warmstart = 1 (
-        displayName = "Solver Warm-Starting Toggle"
-        doc = "Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."
-    )
-    uniform int[] mjc:option:actuatorgroupdisable = [] (
-        displayName = "Actuator Group Disable"
-        doc = "List of actuator groups to disable."
-    )
-    uniform int mjc:option:ccd_iterations = 35 (
-        displayName = "CCD Iterations"
-        doc = "Maximum number of iterations of the algorithm used for convex collisions."
-    )
-    uniform double mjc:option:ccd_tolerance = 0.000001 (
-        displayName = "CCD Tolerance"
-        doc = """Tolerance threshold used for early termination of the convex
-        collision algorithm."""
-    )
-    uniform token mjc:option:cone = "pyramidal" (
-        allowedTokens = ["pyramidal", "elliptic"]
-        displayName = "Friction Cone Type"
-        doc = "The type of contact friction cone."
-    )
-    uniform double mjc:option:density = 0 (
-        displayName = "Density"
-        doc = "Density of medium."
-    )
-    uniform double mjc:option:impratio = 1 (
-        displayName = "Impedance Ratio"
-        doc = """Ratio of frictional-to-normal constraint impedance for elliptic
-        friction cones."""
-    )
-    uniform token mjc:option:integrator = "euler" (
-        allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
-        displayName = "Integrator"
-        doc = "Numerical integrator to be used."
-    )
-    uniform int mjc:option:iterations = 100 (
-        displayName = "Solver Iterations"
-        doc = """DEPRECATED: Use newton:maxSolverIterations instead.
-
-        Maximum number of iterations of the constraint solver."""
-    )
-    uniform token mjc:option:jacobian = "auto" (
-        allowedTokens = ["auto", "dense", "sparse"]
-        displayName = "Jacobian Type"
-        doc = "The type of constraint Jacobian and matrices computed from it."
-    )
-    uniform int mjc:option:ls_iterations = 50 (
-        displayName = "Linesearch Iterations"
-        doc = """Maximum number of linesearch iterations performed by CG/Newton
-        constraint solvers."""
-    )
-    uniform double mjc:option:ls_tolerance = 0.01 (
-        displayName = "Linesearch Tolerance"
-        doc = "Tolerance threshold used for early termination of the linesearch algorithm."
-    )
-    uniform double3 mjc:option:magnetic = (0, -0.5, 0) (
-        displayName = "Magnetic Flux"
-        doc = "Global magnetic flux."
-    )
-    uniform int mjc:option:noslip_iterations = 0 (
-        displayName = "Noslip Iterations"
-        doc = "Maximum number of iterations of the Noslip solver."
-    )
-    uniform double mjc:option:noslip_tolerance = 0.000001 (
-        displayName = "Noslip Tolerance"
-        doc = "Tolerance threshold used for early termination of the Noslip solver."
-    )
-    uniform double[] mjc:option:o_friction = [1, 1, 0.005, 0.0001, 0.0001] (
-        displayName = "Contact Override Friction"
-        doc = """Replaces the friction parameter of all active contact pairs when
-        Contact override is enabled."""
-    )
-    uniform double mjc:option:o_margin = 0 (
-        displayName = "Contact Override Margin"
-        doc = """Replaces the margin parameter of all active contact pairs when
-        Contact override is enabled."""
-    )
-    uniform double[] mjc:option:o_solimp = [0.9, 0.95, 0.001, 0.5, 2] (
-        displayName = "Contact Override SolImp"
-        doc = """Replaces the solimp parameter of all active contact pairs when
-        Contact override is enabled."""
-    )
-    uniform double[] mjc:option:o_solref = [0.02, 1] (
-        displayName = "Contact Override SolRef"
-        doc = """Replaces the solref parameter of all active contact pairs when
-        Contact override is enabled."""
-    )
-    uniform int mjc:option:sdf_initpoints = 40 (
-        displayName = "SDF Initial Points"
-        doc = """Number of starting points used for finding contacts with Signed
-        Distance Field collisions."""
-    )
-    uniform int mjc:option:sdf_iterations = 10 (
-        displayName = "SDF Iterations"
-        doc = """Number of iterations used for Signed Distance Field collisions
-        (per initial point)."""
-    )
-    uniform token mjc:option:solver = "newton" (
-        allowedTokens = ["pgs", "cg", "newton"]
-        displayName = "Solver"
-        doc = "Constraint solver algorithm to be used."
-    )
-    uniform double mjc:option:timestep = 0.002 (
-        displayName = "Timestep"
-        doc = """DEPRECATED: Use newton:timeStepsPerSecond instead.
-
-        Controls the timestep in seconds used by MuJoCo."""
-    )
-    uniform double mjc:option:tolerance = 1e-8 (
-        displayName = "Solver Tolerance"
-        doc = """Tolerance threshold used for early termination of the iterative
-        solver."""
-    )
-    uniform double mjc:option:viscosity = 0 (
-        displayName = "Viscosity"
-        doc = "Viscosity of medium."
-    )
-    uniform double3 mjc:option:wind = (0, 0, 0) (
-        displayName = "Wind Velocity"
-        doc = "Velocity vector of medium (i.e. wind)."
-    )
-}
-
-class "MjcSiteAPI" (
-    apiSchemas = ["NewtonSiteAPI"]
-    doc = "API describing a MuJoCo site."
-)
-{
-    uniform int mjc:group = 0 (
-        displayName = "Group"
-        doc = "Integer MuJoCo group to which the collider belongs."
-    )
-}
-
-class "MjcImageableAPI" (
-    doc = "API describing attributes for visual entities in MuJoCo."
-)
-{
-    uniform int mjc:group = 0 (
-        displayName = "Group"
-        doc = "Integer MuJoCo group to which the imageable belongs."
-    )
-}
-
-class "MjcCollisionAPI" (
-    apiSchemas = ["NewtonCollisionAPI"]
-    doc = "API describing a MuJoCo collider."
-)
-{
-    uniform int mjc:condim = 3 (
-        displayName = "ConDim"
-        doc = "The dimensionality of the contact space for a dynamically generated contact pair is set to the maximum of the condim values of the two participating geoms."
-    )
-    uniform double mjc:gap = 0 (
-        displayName = "Gap"
-        doc = """DEPRECATED: Use newton:contactGap instead.
-
-        Additional contact detection buffer beyond margin. Contacts are detected at distance margin + gap but forces are only generated at distance margin."""
-    )
-    uniform int mjc:group = 0 (
-        displayName = "Group"
-        doc = "Integer MuJoCo group to which the collider belongs."
-    )
-    uniform double mjc:margin = 0 (
-        displayName = "Margin"
-        doc = """DEPRECATED: Use newton:contactMargin and newton:contactGap instead.
-
-        Geometric inflation of the geom surface for the purpose of contact force generation."""
-    )
-    uniform int mjc:priority = 0 (
-        displayName = "Priority"
-        doc = "Priority determining how the properties of two colliders are combined to form the properties of the contact."
-    )
-    uniform bool mjc:shellinertia = 0 (
-        displayName = "Shell Inertia"
-        doc = """DEPRECATED: Use NewtonMassAPI's newton:massModel = \"shell\" instead.
-
-        Enables handling of the inertia assuming mass is concentrated on the surface."""
-    )
-    uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2] (
-        displayName = "SolImp"
-        doc = "Specifies the weight used for averaging of contact parameters, and interacts with the priority attribute."
-    )
-    uniform double mjc:solmix = 1 (
-        displayName = "SolMix"
-        doc = "Specifies the weight used for averaging of contact parameters, and interacts with the priority attribute."
-    )
-    uniform double[] mjc:solref = [0.02, 1] (
-        displayName = "SolMix"
-        doc = "Specifies the weight used for averaging of contact parameters, and interacts with the priority attribute."
-    )
-}
-
-class "MjcMeshCollisionAPI" (
-    apiSchemas = ["NewtonMeshCollisionAPI"]
-    doc = "API describing a MuJoCo mesh collider."
-)
-{
-    uniform token mjc:inertia = "legacy" (
-        allowedTokens = ["legacy", "convex", "exact", "shell"]
-        displayName = "Inertia"
-        doc = """DEPRECATED: Use NewtonMassAPI's newton:massModel or UsdPhysics's physics:approximation instead.
-
-        Controls how a mesh is used when mass and inertia are inferred from geometry."""
-    )
-    uniform int mjc:maxhullvert = -1 (
-        displayName = "Maximum Hull Vertices"
-        doc = """DEPRECATED: Use newton:maxHullVertices instead.
-
-        Sets an upper limit on the number of vertices in the meshes convex hull. The default value of -1 means unlimited."""
-    )
-}
-
-class MjcActuator "MjcActuator" (
-    doc = "Known as actuator in MuJoCo, this prim represents force transmission to joints, bodies, or sites."
-)
-{
-    uniform int mjc:actDim = -1 (
-        doc = "Dimension of the activation state. The default value of -1 instructs the compiler to set the dimension according to the dyntype. Values larger than 1 are only allowed for user-defined activation dynamics, as native types require dimensions of only 0 or 1. For activation dimensions bigger than 1, the last element is used to generate force."
-    )
-    uniform bool mjc:actEarly = 0 (
-        doc = "If true, force computation will use the next value of the activation variable rather than the current one. Setting this flag reduces the delay between the control and accelerations by one time-step."
-    )
-    uniform token mjc:actLimited = "auto" (
-        allowedTokens = ["false", "true", "auto"]
-        doc = "If true, the internal state (activation) associated with this actuator is automatically clamped to actrange at runtime. If false, activation clamping is disabled. If 'auto' and autolimits is set in compiler, activation clamping will automatically be set to true if actrange is defined without explicitly setting this attribute to 'true'. See the Activation clamping section for more details."
-    )
-    uniform double mjc:actRange:max = 0 (
-        doc = "Maximum range for clamping the activation state. The first value must be no greater than the second value. See the Activation clamping section for more details. Setting this attribute without specifying actlimited is an error if autolimits is 'false' in compiler."
-    )
-    uniform double mjc:actRange:min = 0 (
-        doc = "Minimum range for clamping the activation state. The first value must be no greater than the second value. See the Activation clamping section for more details. Setting this attribute without specifying actlimited is an error if autolimits is 'false' in compiler."
-    )
-    uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
-        doc = "Bias parameters. The affine bias type uses three parameters. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
-    )
-    uniform token mjc:biasType = "none" (
-        allowedTokens = ["none", "affine", "muscle", "user"]
-        doc = "The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be affine."
-    )
-    uniform double mjc:crankLength = 0 (
-        doc = "Used only for the slider-crank transmission type. Specifies the length of the connecting rod. The compiler expects this value to be positive when a slider-crank transmission is present."
-    )
-    uniform token mjc:ctrlLimited = "auto" (
-        allowedTokens = ["false", "true", "auto"]
-        doc = "If true, the control input to this actuator is automatically clamped to ctrlrange at runtime. If false, control input clamping is disabled. If 'auto' and autolimits is set in compiler, control clamping will automatically be set to true if ctrlrange is defined without explicitly setting this attribute to 'true'. Note that control input clamping can also be globally disabled with the clampctrl attribute of option/flag."
-    )
-    uniform double mjc:ctrlRange:max = 0 (
-        doc = "Maximum range for clamping the control input. The first value must be smaller than the second value. Setting this attribute without specifying ctrllimited is an error if autolimits is 'false' in compiler."
-    )
-    uniform double mjc:ctrlRange:min = 0 (
-        doc = "Minimum range for clamping the control input. The first value must be smaller than the second value. Setting this attribute without specifying ctrllimited is an error if autolimits is 'false' in compiler."
-    )
-    uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
-        doc = "Activation dynamics parameters. The built-in activation types (except for muscle) use only the first parameter, but we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
-    )
-    uniform token mjc:dynType = "none" (
-        allowedTokens = ["none", "integrator", "filter", "filterexact", "muscle", "user"]
-        doc = "Activation dynamics type for the actuator. The available dynamics types were already described in the Actuation model section."
-    )
-    uniform token mjc:forceLimited = "auto" (
-        allowedTokens = ["false", "true", "auto"]
-        doc = "If true, the force output of this actuator is automatically clamped to forcerange at runtime. If false, force clamping is disabled. If 'auto' and autolimits is set in compiler, force clamping will automatically be set to true if forcerange is defined without explicitly setting this attribute to 'true'."
-    )
-    uniform double mjc:forceRange:max = 0 (
-        doc = "Maximum range for clamping the force output. The first value must be no greater than the second value. Setting this attribute without specifying forcelimited is an error if autolimits is 'false' in compiler."
-    )
-    uniform double mjc:forceRange:min = 0 (
-        doc = "Minimum range for clamping the force output. The first value must be no greater than the second value. Setting this attribute without specifying forcelimited is an error if autolimits is 'false' in compiler."
-    )
-    uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
-        doc = "Gain parameters. The built-in gain types (except for muscle) use only the first parameter, but we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
-    )
-    uniform token mjc:gainType = "fixed" (
-        allowedTokens = ["fixed", "affine", "muscle", "user"]
-        doc = "The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be affine."
-    )
-    uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0] (
-        doc = "This attribute scales the length (and consequently moment arms, velocity and force) of the actuator, for all transmission types. It is different from the gain in the force generation mechanism, because the gain only scales the force output and does not affect the length, moment arms and velocity. For actuators with scalar transmission, only the first element of this vector is used. The remaining elements are needed for joint, jointinparent and site transmissions where this attribute is used to specify 3D force and torque axes."
-    )
-    uniform int mjc:group = 0 (
-        displayName = "Group"
-        doc = "Integer MuJoCo group to which the transmission belongs."
-    )
-    uniform double mjc:inheritRange = 0 (
-        doc = "Automatically set the actuator’s ctrlrange to match the transmission target’s range. The default value means disabled. A positive value X sets the ctrlrange around the midpoint of the target range, scaled by X. For example if the target joint has range of [0, 1], then a value of 1.0 will set ctrlrange to [0, 1]; values of 0.8 and 1.2 will set the ctrlrange to [0.1, 0.9] and [-0.1, 1.1], respectively. Values smaller than 1 are useful for not hitting the limits; values larger than 1 are useful for maintaining control authority at the limits (being able to push on them). This attribute is exclusive with ctrlrange and available only for joint and tendon transmissions which have range defined."
-    )
-    uniform bool mjc:jointInParent = 0 (
-        doc = "If true and applied to ball and free joints, the 3d rotation axis given by gear is defined in the parent frame (which is the world frame for free joints) rather than the child frame."
-    )
-    uniform double mjc:lengthRange:max = 0 (
-        doc = "Maximum range of feasible lengths of the actuator's transmission."
-    )
-    uniform double mjc:lengthRange:min = 0 (
-        doc = "Minimum range of feasible lengths of the actuator's transmission."
-    )
-    rel mjc:refSite (
-        doc = "When applied to a site, measure the translation and rotation w.r.t the frame of the refsite. In this case the actuator does have length and position actuators can be used to directly control an end effector, see refsite.xml example model. As above, the length is the dot product of the gear vector and the frame difference. So gear='0 1 0 0 0 0' means 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means rotation 'Z- rotation of site in the refsite frame'. It is recommended to use a normalized gear vector with nonzeros in only the first 3 or the last 3 elements of gear, so the actuator length will be in either length units or radians, respectively. As with ball joints (see joint above), for rotations which exceed a total angle of pi will wrap around, so tighter limits are recommended."
-    )
-    rel mjc:sliderSite (
-        doc = "Used only for the slider-crank transmission type. The target site is the pin joining the slider and the connecting rod. The slider moves along the z-axis of the slidersite frame. Therefore the site should be oriented as needed when it is defined in the kinematic tree; its orientation cannot be changed in the actuator definition."
-    )
-    rel mjc:target (
-        doc = "Actuator transmission target."
-    )
-}
-
-class MjcKeyframe "MjcKeyframe" (
-    doc = "Represents time independent keyframe values."
-)
-{
-    double[] mjc:act (
-        doc = "Vector of actuator activations, copied into mjData.act when the simulation state is set to this keyframe."
-    )
-    double[] mjc:ctrl (
-        doc = "Vector of controls, copied into mjData.ctrl when the simulation state is set to this keyframe."
-    )
-    double[] mjc:mpos (
-        doc = "Vector of mocap body positions, copied into mjData.mocap_pos when the simulation state is set to this keyframe."
-    )
-    double[] mjc:mquat (
-        doc = "Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe."
-    )
-    double[] mjc:qpos (
-        doc = "Vector of joint positions, copied into mjData.qpos when the simulation state is set to this keyframe."
-    )
-    double[] mjc:qvel (
-        doc = "Vector of joint velocities, copied into mjData.qvel when the simulation state is set to this keyframe."
-    )
-}
-
-class "MjcJointAPI" (
-    apiSchemas = ["NewtonJointAPI"]
-    doc = "API describing a MuJoCo joint."
-)
-{
-    uniform token mjc:actuatorfrclimited = "auto" (
-        allowedTokens = ["false", "true", "auto"]
-        doc = "This attribute specifies whether actuator forces acting on the joint should be clamped. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. This attribute interacts with the actuatorfrcrange attribute. If this attribute is 'false', actuator force clamping is disabled. If it is 'true', actuator force clamping is enabled. If this attribute is 'auto', and autolimits is set in compiler, actuator force clamping will be enabled if actuatorfrcrange is defined."
-    )
-    uniform double mjc:actuatorfrcrange:max = 0 (
-        doc = "Maximum range for clamping total actuator forces acting on this joint. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. The compiler expects the first value to be smaller than the second value. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is 'false'."
-    )
-    uniform double mjc:actuatorfrcrange:min = 0 (
-        doc = "Minimum range for clamping total actuator forces acting on this joint. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. The compiler expects the first value to be smaller than the second value. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is 'false'."
-    )
-    uniform bool mjc:actuatorgravcomp = 0 (
-        doc = "If this flag is enabled, gravity compensation applied to this joint is added to actuator forces (mjData.qfrc_actuator) rather than passive forces (mjData.qfrc_passive). Notionally, this means that gravity compensation is the result of a control system rather than natural buoyancy. In practice, enabling this flag is useful when joint-level actuator force clamping is used. In this case, the total actuation force applied on a joint, including gravity compensation, is guaranteed to not exceed the specified limits. See Force limits and actuatorfrcrange for more details on this type of force limit."
-    )
-    uniform double mjc:armature = 0 (
-        doc = """DEPRECATED: Use newton:armature instead.
-
-        Additional inertia associated with movement of the joint that is not due to body mass. This added inertia is usually due to a rotor (a.k.a armature) spinning faster than the joint itself due to a geared transmission. The value applies to all degrees of freedom created by this joint. Besides increasing the realism of joints with geared transmission, positive armature significantly improves simulation stability, even for small values, and is a recommended possible fix when encountering stability issues."""
-    )
-    uniform double mjc:damping = 0 (
-        doc = """DEPRECATED: Use newton:damping instead.
-
-        Damping applied to all degrees of freedom created by this joint. Unlike friction loss which is computed by the constraint solver, damping is simply a force linear in velocity. It is included in the passive forces. Despite this simplicity, larger damping values can make numerical integrators unstable, which is why our Euler integrator handles damping implicitly. See Integration in the Computation chapter."""
-    )
-    uniform double mjc:frictionloss = 0 (
-        doc = """DEPRECATED: Use newton:friction instead.
-
-        Friction loss due to dry friction. This value is the same for all degrees of freedom created by this joint. Semantically friction loss does not make sense for free joints, but the compiler allows it. To enable friction loss, set this attribute to a positive value."""
-    )
-    uniform int mjc:group = 0 (
-        displayName = "Group"
-        doc = "Integer MuJoCo group to which the joint belongs."
-    )
-    uniform double mjc:margin = 0 (
-        doc = "The distance threshold below which limits become active. Recall that the Constraint solver normally generates forces as soon as a constraint becomes active, even if the margin parameter makes that happen at a distance. This attribute together with solreflimit and solimplimit can be used to model a soft joint limit."
-    )
-    uniform double mjc:ref = 0 (
-        doc = "The reference position or angle of the joint. This attribute is only used for slide and hinge joints. It defines the joint value corresponding to the initial model configuration. The amount of spatial transformation that the joint applies at runtime equals the current joint value stored in mjData.qpos minus this reference value stored in mjModel.qpos0. The meaning of these vectors was discussed in the Stand-alone section in the Overview chapter."
-    )
-    uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001, 0.5, 2] (
-        doc = "Constraint solver parameters for simulating dry friction."
-    )
-    uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001, 0.5, 2] (
-        doc = "Constraint solver parameters for simulating joint limits."
-    )
-    uniform double[] mjc:solreffriction = [0.02, 1] (
-        doc = "Constraint solver parameters for simulating dry friction."
-    )
-    uniform double[] mjc:solreflimit = [0.02, 1] (
-        doc = "Constraint solver parameters for simulating joint limits."
-    )
-    uniform double[] mjc:springdamper = [0, 0] (
-        doc = "When both numbers are positive, the compiler will override any stiffness and damping values specified with the attributes below, and will instead set them automatically so that the resulting mass-spring-damper for this joint has the desired time constant (first value) and damping ratio (second value). This is done by taking into account the joint inertia in the model reference configuration. Note that the format is the same as the solref parameter of the constraint solver."
-    )
-    uniform double mjc:springref = 0 (
-        doc = "The joint position or angle in which the joint spring (if any) achieves equilibrium. Similar to the vector mjModel.qpos0 which stores all joint reference values specified with the ref attribute above, all spring reference values specified with this attribute are stored in the vector mjModel.qpos_spring. The model configuration corresponding to mjModel.qpos_spring is also used to compute the spring reference lengths of all tendons, stored in mjModel.tendon_lengthspring. This is because tendons can also have springs."
-    )
-    uniform double mjc:stiffness = 0 (
-        doc = "Joint stiffness. If this value is positive, a spring will be created with equilibrium position given by springref below. The spring force is computed along with the other passive forces."
-    )
-}
-
-class "MjcMaterialAPI" (
-    apiSchemas = ["NewtonMaterialAPI"]
-    doc = """DEPRECATED: Use NewtonMaterialAPI instead. All attributes on this API have been superseded by Newton equivalents.
-
-    API providing extension attributes to represent physical MuJoCo materials."""
-)
-{
-    uniform double mjc:rollingfriction = 0.0001 (
-        displayName = "Rolling Friction"
-        doc = """DEPRECATED: Use newton:rollingFriction instead.
-
-        Friction value acting around both axes on the contact tangent plane."""
-    )
-    uniform double mjc:torsionalfriction = 0.005 (
-        displayName = "Torsional Friction"
-        doc = """DEPRECATED: Use newton:torsionalFriction instead.
-
-        Friction value acting around contact normal."""
-    )
-}
-
-class "MjcEqualityAPI" (
-    doc = "Base API for equality constraints."
-)
-{
-    uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2] (
-        displayName = "SolImp"
-        doc = "Constraint solver parameter for equality constraint simulation."
-    )
-    uniform double[] mjc:solref = [0.02, 1] (
-        displayName = "SolRef"
-        doc = "Constraint solver parameter for equality constraint simulation."
-    )
-    rel mjc:target (
-        doc = "Secondary target of the equality constraint."
-    )
-}
-
-class "MjcEqualityConnectAPI" (
-    apiSchemas = ["MjcEqualityAPI"]
-    doc = "API providing extension attributes to represent equality/connect constraints."
-)
-{
-}
-
-class "MjcEqualityWeldAPI" (
-    apiSchemas = ["MjcEqualityAPI"]
-    doc = "API providing extension attributes to represent equality/weld constraints."
-)
-{
-    uniform float mjc:torqueScale = 1 (
-        displayName = "Torque Scale"
-        doc = "A constant that scales the angular residual (angular constraint violation). Notionally in units of torque/force = length. Intuitively this coefficient defines how much the weld “cares” about rotational displacements vs. translational displacements."
-    )
-}
-
-class "MjcEqualityJointAPI" (
-    apiSchemas = ["NewtonMimicAPI"]
-    doc = """API providing extension attributes to represent equality/joint constraints.
-
-    This API is applied to a joint prim which acts as the follower (joint0). The leader
-    joint (joint1) is specified via the newton:mimicJoint relationship inherited from
-    NewtonMimicAPI.
-
-    The follower's position or angle is constrained to be a quartic polynomial of the
-    leader's position or angle:
-        joint0 = coef0 + coef1*(joint1) + coef2*(joint1)^2 + coef3*(joint1)^3 + coef4*(joint1)^4
-
-    The constant (coef0) and linear (coef1) coefficients are provided by NewtonMimicAPI
-    as newton:mimicCoef0 and newton:mimicCoef1. The higher-order coefficients (coef2-coef4)
-    are provided by this API.
-
-    Only scalar joint types (slide and hinge) can be used."""
-)
-{
-    uniform double mjc:coef0 = 0 (
-        displayName = "Coefficient 0"
-        doc = """DEPRECATED: Use newton:mimicCoef0 instead.
-
-        Constant coefficient a0 of the quartic polynomial. The constraint is:
-        y = y0 + a0 + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4."""
-    )
-    uniform double mjc:coef1 = 1 (
-        displayName = "Coefficient 1"
-        doc = """DEPRECATED: Use newton:mimicCoef1 instead.
-
-        Linear coefficient a1 of the quartic polynomial."""
-    )
-    uniform double mjc:coef2 = 0 (
-        displayName = "Coefficient 2"
-        doc = "Quadratic coefficient a2 of the quartic polynomial."
-    )
-    uniform double mjc:coef3 = 0 (
-        displayName = "Coefficient 3"
-        doc = "Cubic coefficient a3 of the quartic polynomial."
-    )
-    uniform double mjc:coef4 = 0 (
-        displayName = "Coefficient 4"
-        doc = "Quartic coefficient a4 of the quartic polynomial."
-    )
-    uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2] (
-        displayName = "SolImp"
-        doc = "Constraint solver parameter for equality constraint simulation."
-    )
-    uniform double[] mjc:solref = [0.02, 1] (
-        displayName = "SolRef"
-        doc = "Constraint solver parameter for equality constraint simulation."
-    )
-    rel mjc:target (
-        doc = """DEPRECATED: Use newton:mimicJoint instead.
-
-        Secondary target of the equality constraint (the leader/reference joint)."""
-    )
-}
-
-class MjcTendon "MjcTendon" (
-    doc = "Type describing fixed and spatial tendons."
-)
-{
-    uniform token mjc:actuatorfrclimited = "auto" (
-        allowedTokens = ["false", "true", "auto"]
-        displayName = "Actuator Force Limited"
-        doc = "This attribute specifies whether actuator forces acting on the tendon should be clamped. See Force limits for details. This attribute interacts with the actuatorfrcrange attribute. If this attribute is “false”, actuator force clamping is disabled. If it is “true”, actuator force clamping is enabled. If this attribute is “auto”, and autolimits is set in compiler, actuator force clamping will be enabled if actuatorfrcrange is defined."
-    )
-    uniform double mjc:actuatorfrcrange:max = 0 (
-        displayName = "Actuator Force Range Max"
-        doc = "Maximum range for clamping total actuator forces acting on this tendon. See Force limits for details. The compiler expects the upper bound to be nonnegative. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is “false”."
-    )
-    uniform double mjc:actuatorfrcrange:min = 0 (
-        displayName = "Actuator Force Range Min"
-        doc = "Minimum range for clamping total actuator forces acting on this tendon. See Force limits for details. The compiler expects the lower bound to be nonpositive. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is “false”."
-    )
-    uniform double mjc:armature = 0 (
-        displayName = "Armature"
-        doc = "Inertia associated with changes in tendon length."
-    )
-    uniform double mjc:damping = 0 (
-        displayName = "Damping"
-        doc = "Damping coefficient. A positive value generates a damping force (linear in velocity) acting along the tendon. Unlike joint damping which is integrated implicitly by the Euler method, tendon damping is not integrated implicitly, thus joint damping should be used if possible."
-    )
-    uniform double mjc:frictionloss = 0 (
-        displayName = "Friction Loss"
-        doc = "Friction loss caused by dry friction. To enable friction loss, set this attribute to a positive value."
-    )
-    uniform int mjc:group = 0 (
-        displayName = "Group"
-        doc = "Integer MuJoCo group to which the tendon belongs."
-    )
-    uniform token mjc:limited = "auto" (
-        allowedTokens = ["auto", "true", "false"]
-        displayName = "Limited"
-        doc = "If true, the tendon length is limited to the range specified by mjc:range:min/max."
-    )
-    uniform double mjc:margin = 0 (
-        displayName = "Margin"
-        doc = "The limit constraint becomes active when the absolute value of the difference between the tendon length and either limit of the specified range falls below this margin. Similar to contacts, the margin parameter is subtracted from the difference between the range limit and the tendon length. The resulting constraint distance is always negative when the constraint is active. This quantity is used to compute constraint impedance as a function of distance."
-    )
-    rel mjc:path (
-        doc = "For spatial tendons, this describes a list of unique of sites and geoms the tendon wraps. For fixed tendons, this is instead a list of joints."
-    )
-    uniform double[] mjc:path:coef = [] (
-        doc = "For fixed tendons passing through joints this represents a multiplicative factor on the position or angle of the targeted joint."
-    )
-    uniform double[] mjc:path:divisors = [] (
-        doc = "For spatial tendons, this represents an indexed array of divisors. A tendon path segments' length contribution to the overall tendon length is divided by its divisor."
-    )
-    uniform int[] mjc:path:indices = [] (
-        doc = "This list represents the order in which the tendon wraps the sites in mjc:path."
-    )
-    uniform int[] mjc:path:segments = [] (
-        doc = "For spatial tendons, this holds the index of the segment each tendon path wrap point belongs to."
-    )
-    uniform double mjc:range:max = 0 (
-        displayName = "Range Max"
-        doc = "Maximum allowed tendon length. Setting this attribute without specifying limited is an error, unless autolimits is set in compiler."
-    )
-    uniform double mjc:range:min = 0 (
-        displayName = "Range Min"
-        doc = "Minimum allowed tendon length. Setting this attribute without specifying limited is an error, unless autolimits is set in compiler."
-    )
-    uniform color4f mjc:rgba = (0.5, 0.5, 0.5, 1) (
-        displayName = "RGBA"
-        doc = "Color and transparency of the tendon in MuJoCo."
-    )
-    rel mjc:sideSites (
-        doc = "For spatial tendons, a geom wrapped by the tendon may specify which side of the geom the tendon wraps around via a site prim. This is a list of sites that are used as side sites in mjc:path."
-    )
-    uniform int[] mjc:sideSites:indices = [] (
-        doc = "For spatial tendons, if mjc:sideSites has targets then index 'i' in this list represents the position in the relationship targets of mjc:sideSites that the geom at index 'i' in mjc:path uses as a side site. It is considered an authoring error to assign a side site to something other than a geom. Geoms that do not use a side site should use index value '-1'."
-    )
-    uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001, 0.5, 2] (
-        displayName = "Solver Impedance Friction"
-        doc = "Constraint solver parameters for simulating dry friction in the tendon."
-    )
-    uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001, 0.5, 2] (
-        displayName = "Solver Impedance Limit"
-        doc = "Constraint solver parameters for simulating tendon limits."
-    )
-    uniform double[] mjc:solreffriction = [0.02, 1] (
-        displayName = "Solver Reference Friction"
-        doc = "Constraint solver parameters for simulating dry friction in the tendon."
-    )
-    uniform double[] mjc:solreflimit = [0.02, 1] (
-        displayName = "Solver Reference Limit"
-        doc = "Constraint solver parameters for simulating tendon limits."
-    )
-    uniform double[] mjc:springlength = [-1, -1] (
-        displayName = "Spring Length"
-        doc = "Spring resting position, can take either one or two values. If one value is given, it corresponds to the length of the tendon at rest. If it is -1, the tendon resting length is determined from the model reference configuration in mjModel.qpos0. Note that the default value of -1, which invokes the automatic length computation, was designed with spatial tendons in mind, which can only have nonegative length. In order to set the springlength of a fixed tendon to -1, use a nearby value like -0.99999. If two non-decreasing values are given, they define a dead-band range. If the tendon length is between the two values, the force is 0. If it is outside this range, the force behaves like a regular spring, with the rest-point corresponding to the nearest springlength value. A deadband can be used to define tendons whose limits are enforced by springs rather than constraints."
-    )
-    uniform double mjc:stiffness = 0 (
-        displayName = "Stiffness"
-        doc = "Stiffness coefficient. A positive value generates a spring force (linear in position) acting along the tendon."
-    )
-    uniform token mjc:type = "spatial" (
-        allowedTokens = ["spatial", "fixed"]
-        displayName = "Type"
-        doc = "Type of tendon, valid values are 'spatial' and 'fixed'."
-    )
-    uniform double mjc:width = 0.003 (
-        displayName = "Width"
-        doc = "Radius of the cross-section area of the spatial tendon, used for rendering in MuJoCo. Parts of the tendon that wrap around geom obstacles are rendered with reduced width."
-    )
-}
-
diff --git a/src/experimental/usd/mjcPhysics/imageableAPI.cpp b/src/experimental/usd/mjcPhysics/imageableAPI.cpp
deleted file mode 100644
index 6f38613c..00000000
--- a/src/experimental/usd/mjcPhysics/imageableAPI.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/imageableAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsImageableAPI, TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsImageableAPI::~MjcPhysicsImageableAPI() {}
-
-/* static */
-MjcPhysicsImageableAPI MjcPhysicsImageableAPI::Get(const UsdStagePtr& stage,
-                                                   const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsImageableAPI();
-  }
-  return MjcPhysicsImageableAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsImageableAPI::_GetSchemaKind() const {
-  return MjcPhysicsImageableAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsImageableAPI::CanApply(const UsdPrim& prim,
-                                      std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsImageableAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsImageableAPI MjcPhysicsImageableAPI::Apply(const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsImageableAPI>()) {
-    return MjcPhysicsImageableAPI(prim);
-  }
-  return MjcPhysicsImageableAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsImageableAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsImageableAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsImageableAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsImageableAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsImageableAPI::GetGroupAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
-}
-
-UsdAttribute MjcPhysicsImageableAPI::CreateGroupAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsImageableAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcGroup,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/jointAPI.cpp b/src/experimental/usd/mjcPhysics/jointAPI.cpp
deleted file mode 100644
index 381f1b9f..00000000
--- a/src/experimental/usd/mjcPhysics/jointAPI.cpp
+++ /dev/null
@@ -1,317 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsJointAPI, TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsJointAPI::~MjcPhysicsJointAPI() {}
-
-/* static */
-MjcPhysicsJointAPI MjcPhysicsJointAPI::Get(const UsdStagePtr& stage,
-                                           const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsJointAPI();
-  }
-  return MjcPhysicsJointAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsJointAPI::_GetSchemaKind() const {
-  return MjcPhysicsJointAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsJointAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsJointAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsJointAPI MjcPhysicsJointAPI::Apply(const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsJointAPI>()) {
-    return MjcPhysicsJointAPI(prim);
-  }
-  return MjcPhysicsJointAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsJointAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsJointAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsJointAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsJointAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetGroupAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateGroupAttr(VtValue const& defaultValue,
-                                                 bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcSpringdamperAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringdamper);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringdamperAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSpringdamper, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcSolreflimitAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolreflimit);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreflimitAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolreflimit, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcSolimplimitAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimplimit);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimplimitAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolimplimit, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcSolreffrictionAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolreffriction);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreffrictionAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolreffriction, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcSolimpfrictionAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimpfriction);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimpfrictionAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolimpfriction, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcStiffnessAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcStiffness);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcStiffnessAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcStiffness, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrcrangeMinAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrcrangeMin);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMinAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActuatorfrcrangeMin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrcrangeMaxAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrcrangeMax);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMaxAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActuatorfrcrangeMax, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrclimited);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrclimitedAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActuatorfrclimited, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorgravcompAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorgravcomp);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorgravcompAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActuatorgravcomp, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcMarginAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMargin);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcMarginAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcMargin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcRefAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcRef);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcRefAttr(VtValue const& defaultValue,
-                                                  bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcRef, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcSpringrefAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringref);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringrefAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSpringref, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcArmatureAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcArmature);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcArmatureAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcArmature, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcDampingAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDamping);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcDampingAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcDamping, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsJointAPI::GetMjcFrictionlossAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFrictionloss);
-}
-
-UsdAttribute MjcPhysicsJointAPI::CreateMjcFrictionlossAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFrictionloss, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsJointAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcGroup,
-      MjcPhysicsTokens->mjcSpringdamper,
-      MjcPhysicsTokens->mjcSolreflimit,
-      MjcPhysicsTokens->mjcSolimplimit,
-      MjcPhysicsTokens->mjcSolreffriction,
-      MjcPhysicsTokens->mjcSolimpfriction,
-      MjcPhysicsTokens->mjcStiffness,
-      MjcPhysicsTokens->mjcActuatorfrcrangeMin,
-      MjcPhysicsTokens->mjcActuatorfrcrangeMax,
-      MjcPhysicsTokens->mjcActuatorfrclimited,
-      MjcPhysicsTokens->mjcActuatorgravcomp,
-      MjcPhysicsTokens->mjcMargin,
-      MjcPhysicsTokens->mjcRef,
-      MjcPhysicsTokens->mjcSpringref,
-      MjcPhysicsTokens->mjcArmature,
-      MjcPhysicsTokens->mjcDamping,
-      MjcPhysicsTokens->mjcFrictionloss,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/keyframe.cpp b/src/experimental/usd/mjcPhysics/keyframe.cpp
deleted file mode 100644
index 9541c89a..00000000
--- a/src/experimental/usd/mjcPhysics/keyframe.cpp
+++ /dev/null
@@ -1,187 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/keyframe.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsKeyframe, TfType::Bases<UsdTyped> >();
-
-  // Register the usd prim typename as an alias under UsdSchemaBase. This
-  // enables one to call
-  // TfType::Find<UsdSchemaBase>().FindDerivedByName("MjcKeyframe")
-  // to find TfType<MjcPhysicsKeyframe>, which is how IsA queries are
-  // answered.
-  TfType::AddAlias<UsdSchemaBase, MjcPhysicsKeyframe>("MjcKeyframe");
-}
-
-/* virtual */
-MjcPhysicsKeyframe::~MjcPhysicsKeyframe() {}
-
-/* static */
-MjcPhysicsKeyframe MjcPhysicsKeyframe::Get(const UsdStagePtr& stage,
-                                           const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsKeyframe();
-  }
-  return MjcPhysicsKeyframe(stage->GetPrimAtPath(path));
-}
-
-/* static */
-MjcPhysicsKeyframe MjcPhysicsKeyframe::Define(const UsdStagePtr& stage,
-                                              const SdfPath& path) {
-  static TfToken usdPrimTypeName("MjcKeyframe");
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsKeyframe();
-  }
-  return MjcPhysicsKeyframe(stage->DefinePrim(path, usdPrimTypeName));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsKeyframe::_GetSchemaKind() const {
-  return MjcPhysicsKeyframe::schemaKind;
-}
-
-/* static */
-const TfType& MjcPhysicsKeyframe::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsKeyframe>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsKeyframe::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsKeyframe::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsKeyframe::GetMjcQposAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQpos);
-}
-
-UsdAttribute MjcPhysicsKeyframe::CreateMjcQposAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcQpos, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsKeyframe::GetMjcQvelAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQvel);
-}
-
-UsdAttribute MjcPhysicsKeyframe::CreateMjcQvelAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcQvel, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsKeyframe::GetMjcActAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcAct);
-}
-
-UsdAttribute MjcPhysicsKeyframe::CreateMjcActAttr(VtValue const& defaultValue,
-                                                  bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcAct, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsKeyframe::GetMjcCtrlAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrl);
-}
-
-UsdAttribute MjcPhysicsKeyframe::CreateMjcCtrlAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCtrl, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsKeyframe::GetMjcMposAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMpos);
-}
-
-UsdAttribute MjcPhysicsKeyframe::CreateMjcMposAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcMpos, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsKeyframe::GetMjcMquatAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMquat);
-}
-
-UsdAttribute MjcPhysicsKeyframe::CreateMjcMquatAttr(VtValue const& defaultValue,
-                                                    bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcMquat, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsKeyframe::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcQpos, MjcPhysicsTokens->mjcQvel,
-      MjcPhysicsTokens->mjcAct,  MjcPhysicsTokens->mjcCtrl,
-      MjcPhysicsTokens->mjcMpos, MjcPhysicsTokens->mjcMquat,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdTyped::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/materialAPI.cpp b/src/experimental/usd/mjcPhysics/materialAPI.cpp
deleted file mode 100644
index d0d6adf2..00000000
--- a/src/experimental/usd/mjcPhysics/materialAPI.cpp
+++ /dev/null
@@ -1,137 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/materialAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsMaterialAPI, TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsMaterialAPI::~MjcPhysicsMaterialAPI() {}
-
-/* static */
-MjcPhysicsMaterialAPI MjcPhysicsMaterialAPI::Get(const UsdStagePtr& stage,
-                                                 const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsMaterialAPI();
-  }
-  return MjcPhysicsMaterialAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsMaterialAPI::_GetSchemaKind() const {
-  return MjcPhysicsMaterialAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsMaterialAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsMaterialAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsMaterialAPI MjcPhysicsMaterialAPI::Apply(const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsMaterialAPI>()) {
-    return MjcPhysicsMaterialAPI(prim);
-  }
-  return MjcPhysicsMaterialAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsMaterialAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsMaterialAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsMaterialAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsMaterialAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsMaterialAPI::GetTorsionalFrictionAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcTorsionalfriction);
-}
-
-UsdAttribute MjcPhysicsMaterialAPI::CreateTorsionalFrictionAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcTorsionalfriction, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsMaterialAPI::GetRollingFrictionAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcRollingfriction);
-}
-
-UsdAttribute MjcPhysicsMaterialAPI::CreateRollingFrictionAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcRollingfriction, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsMaterialAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcTorsionalfriction,
-      MjcPhysicsTokens->mjcRollingfriction,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp b/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
deleted file mode 100644
index 1e002b17..00000000
--- a/src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp
+++ /dev/null
@@ -1,140 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsMeshCollisionAPI,
-                 TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsMeshCollisionAPI::~MjcPhysicsMeshCollisionAPI() {}
-
-/* static */
-MjcPhysicsMeshCollisionAPI MjcPhysicsMeshCollisionAPI::Get(
-    const UsdStagePtr& stage, const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsMeshCollisionAPI();
-  }
-  return MjcPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsMeshCollisionAPI::_GetSchemaKind() const {
-  return MjcPhysicsMeshCollisionAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsMeshCollisionAPI::CanApply(const UsdPrim& prim,
-                                          std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsMeshCollisionAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsMeshCollisionAPI MjcPhysicsMeshCollisionAPI::Apply(
-    const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsMeshCollisionAPI>()) {
-    return MjcPhysicsMeshCollisionAPI(prim);
-  }
-  return MjcPhysicsMeshCollisionAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsMeshCollisionAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsMeshCollisionAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsMeshCollisionAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsMeshCollisionAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsMeshCollisionAPI::GetInertiaAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcInertia);
-}
-
-UsdAttribute MjcPhysicsMeshCollisionAPI::CreateInertiaAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcInertia, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsMeshCollisionAPI::GetMaxHullVertAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMaxhullvert);
-}
-
-UsdAttribute MjcPhysicsMeshCollisionAPI::CreateMaxHullVertAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcMaxhullvert, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsMeshCollisionAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcInertia,
-      MjcPhysicsTokens->mjcMaxhullvert,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/plugInfo.json b/src/experimental/usd/mjcPhysics/plugInfo.json
deleted file mode 100644
index bac90147..00000000
--- a/src/experimental/usd/mjcPhysics/plugInfo.json
+++ /dev/null
@@ -1,155 +0,0 @@
-{
-  "Plugins": [
-    {
-      "Info": {
-        "Types": {
-          "MjcPhysicsActuator": {
-            "alias": {
-              "UsdSchemaBase": "MjcActuator"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdTyped"
-            ],
-            "schemaKind": "concreteTyped"
-          },
-          "MjcPhysicsCollisionAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcCollisionAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsEqualityAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcEqualityAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsEqualityConnectAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcEqualityConnectAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsEqualityJointAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcEqualityJointAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsEqualityWeldAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcEqualityWeldAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsImageableAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcImageableAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsJointAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcJointAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsKeyframe": {
-            "alias": {
-              "UsdSchemaBase": "MjcKeyframe"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdTyped"
-            ],
-            "schemaKind": "concreteTyped"
-          },
-          "MjcPhysicsMaterialAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcMaterialAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsMeshCollisionAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcMeshCollisionAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsSceneAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcSceneAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsSiteAPI": {
-            "alias": {
-              "UsdSchemaBase": "MjcSiteAPI"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdAPISchemaBase"
-            ],
-            "schemaKind": "singleApplyAPI"
-          },
-          "MjcPhysicsTendon": {
-            "alias": {
-              "UsdSchemaBase": "MjcTendon"
-            },
-            "autoGenerated": true,
-            "bases": [
-              "UsdTyped"
-            ],
-            "schemaKind": "concreteTyped"
-          }
-        }
-      },
-      "LibraryPath": "@PLUG_INFO_LIBRARY_PATH@",
-      "Name": "mjcPhysics",
-      "ResourcePath": "",
-      "Root": ".",
-      "Type": "library"
-    }
-  ]
-}
diff --git a/src/experimental/usd/mjcPhysics/sceneAPI.cpp b/src/experimental/usd/mjcPhysics/sceneAPI.cpp
deleted file mode 100644
index 95aad5a4..00000000
--- a/src/experimental/usd/mjcPhysics/sceneAPI.cpp
+++ /dev/null
@@ -1,873 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsSceneAPI, TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsSceneAPI::~MjcPhysicsSceneAPI() {}
-
-/* static */
-MjcPhysicsSceneAPI MjcPhysicsSceneAPI::Get(const UsdStagePtr& stage,
-                                           const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsSceneAPI();
-  }
-  return MjcPhysicsSceneAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsSceneAPI::_GetSchemaKind() const {
-  return MjcPhysicsSceneAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsSceneAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsSceneAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsSceneAPI MjcPhysicsSceneAPI::Apply(const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsSceneAPI>()) {
-    return MjcPhysicsSceneAPI(prim);
-  }
-  return MjcPhysicsSceneAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsSceneAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsSceneAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsSceneAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsSceneAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetTimestepAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionTimestep);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateTimestepAttr(VtValue const& defaultValue,
-                                                    bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionTimestep, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetImpRatioAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionImpratio);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateImpRatioAttr(VtValue const& defaultValue,
-                                                    bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionImpratio, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetWindAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionWind);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateWindAttr(VtValue const& defaultValue,
-                                                bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionWind, SdfValueTypeNames->Double3,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetMagneticAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionMagnetic);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateMagneticAttr(VtValue const& defaultValue,
-                                                    bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionMagnetic, SdfValueTypeNames->Double3,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetDensityAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionDensity);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateDensityAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionDensity, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetViscosityAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionViscosity);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateViscosityAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionViscosity, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetOMarginAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_margin);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateOMarginAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionO_margin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetOSolRefAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solref);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateOSolRefAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionO_solref, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetOSolImpAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solimp);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateOSolImpAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionO_solimp, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetOFrictionAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_friction);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateOFrictionAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionO_friction, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetIntegratorAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionIntegrator);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateIntegratorAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionIntegrator, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetConeAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCone);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateConeAttr(VtValue const& defaultValue,
-                                                bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionCone, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetJacobianAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionJacobian);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateJacobianAttr(VtValue const& defaultValue,
-                                                    bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionJacobian, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetSolverAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSolver);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateSolverAttr(VtValue const& defaultValue,
-                                                  bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionSolver, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionIterations);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateIterationsAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionIterations, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetToleranceAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionTolerance);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateToleranceAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionTolerance, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetLSIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionLs_iterations);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateLSIterationsAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionLs_iterations, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetLSToleranceAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionLs_tolerance);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateLSToleranceAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionLs_tolerance, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetNoslipIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionNoslip_iterations);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateNoslipIterationsAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionNoslip_iterations, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetNoslipToleranceAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionNoslip_tolerance);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateNoslipToleranceAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionNoslip_tolerance, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetCCDIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCcd_iterations);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateCCDIterationsAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionCcd_iterations, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetCCDToleranceAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCcd_tolerance);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateCCDToleranceAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionCcd_tolerance, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetSDFIterationsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSdf_iterations);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateSDFIterationsAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionSdf_iterations, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetSDFInitPointsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSdf_initpoints);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateSDFInitPointsAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionSdf_initpoints, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetActuatorGroupDisableAttr() const {
-  return GetPrim().GetAttribute(
-      MjcPhysicsTokens->mjcOptionActuatorgroupdisable);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateActuatorGroupDisableAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionActuatorgroupdisable,
-      SdfValueTypeNames->IntArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetConstraintFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagConstraint);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateConstraintFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagConstraint, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetEqualityFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagEquality);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateEqualityFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagEquality, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetFrictionLossFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagFrictionloss);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateFrictionLossFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagFrictionloss, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetLimitFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagLimit);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateLimitFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagLimit, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetContactFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagContact);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateContactFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagContact, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetSpringFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagSpring);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateSpringFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagSpring, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetDamperFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagDamper);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateDamperFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagDamper, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetGravityFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagGravity);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateGravityFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagGravity, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetClampCtrlFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagClampctrl);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateClampCtrlFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagClampctrl, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetWarmStartFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagWarmstart);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateWarmStartFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagWarmstart, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetFilterParentFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagFilterparent);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateFilterParentFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagFilterparent, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetActuationFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagActuation);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateActuationFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagActuation, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetRefSafeFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagRefsafe);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateRefSafeFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagRefsafe, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetSensorFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagSensor);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateSensorFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagSensor, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetMidPhaseFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagMidphase);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateMidPhaseFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagMidphase, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetNativeCCDFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagNativeccd);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateNativeCCDFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagNativeccd, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetEulerDampFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagEulerdamp);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateEulerDampFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagEulerdamp, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetAutoResetFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagAutoreset);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateAutoResetFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagAutoreset, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetOverrideFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagOverride);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateOverrideFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagOverride, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetEnergyFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagEnergy);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateEnergyFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagEnergy, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetFwdinvFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagFwdinv);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateFwdinvFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagFwdinv, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetInvDiscreteFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagInvdiscrete);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateInvDiscreteFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagInvdiscrete, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetMultiCCDFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagMulticcd);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateMultiCCDFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagMulticcd, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetIslandFlagAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagIsland);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateIslandFlagAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFlagIsland, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetAutoLimitsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerAutoLimits);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateAutoLimitsAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerAutoLimits, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetBoundMassAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerBoundMass);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateBoundMassAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerBoundMass, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetBoundInertiaAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerBoundInertia);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateBoundInertiaAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerBoundInertia, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetSetTotalMassAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerSetTotalMass);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateSetTotalMassAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerSetTotalMass, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetUseThreadAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerUseThread);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateUseThreadAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerUseThread, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetBalanceInertiaAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerBalanceInertia);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateBalanceInertiaAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerBalanceInertia, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetAngleAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerAngle);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateAngleAttr(VtValue const& defaultValue,
-                                                 bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerAngle, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetFitAABBAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerFitAABB);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateFitAABBAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerFitAABB, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetFuseStaticAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerFuseStatic);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateFuseStaticAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerFuseStatic, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetInertiaFromGeomAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerInertiaFromGeom);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateInertiaFromGeomAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerInertiaFromGeom, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetAlignFreeAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerAlignFree);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateAlignFreeAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerAlignFree, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetInertiaGroupRangeMinAttr() const {
-  return GetPrim().GetAttribute(
-      MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMin);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateInertiaGroupRangeMinAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMin, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetInertiaGroupRangeMaxAttr() const {
-  return GetPrim().GetAttribute(
-      MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMax);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateInertiaGroupRangeMaxAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMax, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::GetSaveInertialAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCompilerSaveInertial);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateSaveInertialAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcCompilerSaveInertial, SdfValueTypeNames->Bool,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsSceneAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcOptionTimestep,
-      MjcPhysicsTokens->mjcOptionImpratio,
-      MjcPhysicsTokens->mjcOptionWind,
-      MjcPhysicsTokens->mjcOptionMagnetic,
-      MjcPhysicsTokens->mjcOptionDensity,
-      MjcPhysicsTokens->mjcOptionViscosity,
-      MjcPhysicsTokens->mjcOptionO_margin,
-      MjcPhysicsTokens->mjcOptionO_solref,
-      MjcPhysicsTokens->mjcOptionO_solimp,
-      MjcPhysicsTokens->mjcOptionO_friction,
-      MjcPhysicsTokens->mjcOptionIntegrator,
-      MjcPhysicsTokens->mjcOptionCone,
-      MjcPhysicsTokens->mjcOptionJacobian,
-      MjcPhysicsTokens->mjcOptionSolver,
-      MjcPhysicsTokens->mjcOptionIterations,
-      MjcPhysicsTokens->mjcOptionTolerance,
-      MjcPhysicsTokens->mjcOptionLs_iterations,
-      MjcPhysicsTokens->mjcOptionLs_tolerance,
-      MjcPhysicsTokens->mjcOptionNoslip_iterations,
-      MjcPhysicsTokens->mjcOptionNoslip_tolerance,
-      MjcPhysicsTokens->mjcOptionCcd_iterations,
-      MjcPhysicsTokens->mjcOptionCcd_tolerance,
-      MjcPhysicsTokens->mjcOptionSdf_iterations,
-      MjcPhysicsTokens->mjcOptionSdf_initpoints,
-      MjcPhysicsTokens->mjcOptionActuatorgroupdisable,
-      MjcPhysicsTokens->mjcFlagConstraint,
-      MjcPhysicsTokens->mjcFlagEquality,
-      MjcPhysicsTokens->mjcFlagFrictionloss,
-      MjcPhysicsTokens->mjcFlagLimit,
-      MjcPhysicsTokens->mjcFlagContact,
-      MjcPhysicsTokens->mjcFlagSpring,
-      MjcPhysicsTokens->mjcFlagDamper,
-      MjcPhysicsTokens->mjcFlagGravity,
-      MjcPhysicsTokens->mjcFlagClampctrl,
-      MjcPhysicsTokens->mjcFlagWarmstart,
-      MjcPhysicsTokens->mjcFlagFilterparent,
-      MjcPhysicsTokens->mjcFlagActuation,
-      MjcPhysicsTokens->mjcFlagRefsafe,
-      MjcPhysicsTokens->mjcFlagSensor,
-      MjcPhysicsTokens->mjcFlagMidphase,
-      MjcPhysicsTokens->mjcFlagNativeccd,
-      MjcPhysicsTokens->mjcFlagEulerdamp,
-      MjcPhysicsTokens->mjcFlagAutoreset,
-      MjcPhysicsTokens->mjcFlagOverride,
-      MjcPhysicsTokens->mjcFlagEnergy,
-      MjcPhysicsTokens->mjcFlagFwdinv,
-      MjcPhysicsTokens->mjcFlagInvdiscrete,
-      MjcPhysicsTokens->mjcFlagMulticcd,
-      MjcPhysicsTokens->mjcFlagIsland,
-      MjcPhysicsTokens->mjcCompilerAutoLimits,
-      MjcPhysicsTokens->mjcCompilerBoundMass,
-      MjcPhysicsTokens->mjcCompilerBoundInertia,
-      MjcPhysicsTokens->mjcCompilerSetTotalMass,
-      MjcPhysicsTokens->mjcCompilerUseThread,
-      MjcPhysicsTokens->mjcCompilerBalanceInertia,
-      MjcPhysicsTokens->mjcCompilerAngle,
-      MjcPhysicsTokens->mjcCompilerFitAABB,
-      MjcPhysicsTokens->mjcCompilerFuseStatic,
-      MjcPhysicsTokens->mjcCompilerInertiaFromGeom,
-      MjcPhysicsTokens->mjcCompilerAlignFree,
-      MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMin,
-      MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMax,
-      MjcPhysicsTokens->mjcCompilerSaveInertial,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
deleted file mode 100644
index bf937d8f..00000000
--- a/src/experimental/usd/mjcPhysics/schema.usda
+++ /dev/null
@@ -1,1448 +0,0 @@
-#usda 1.0
-(
-  subLayers = [
-        @usd/schema.usda@,
-  ]
-)
-
-over "GLOBAL" (
-  customData = {
-    string libraryName = "mjcPhysics"
-    string libraryPath = "."
-    string libraryPrefix = "MjcPhysics"
-    bool useLiteralIdentifier = 0
-    dictionary libraryTokens = {
-        dictionary euler = {
-            string doc = """
-            This token represents the Euler numerical integrator.
-            """
-        }
-
-        dictionary rk4 = {
-            string doc = """
-            This token represents the RK4 numerical integrator.
-            """
-        }
-
-        dictionary implicit = {
-            string doc = """
-            This token represents the implicit numerical integrator.
-            """
-        }
-
-        dictionary implicitfast = {
-            string doc = """
-            This token represents the implicitfast numerical integrator.
-            """
-        }
-
-        dictionary pyramidal = {
-            string doc = """
-            This token represents the pyramidal contact friction cone type.
-            """
-        }
-
-        dictionary elliptic = {
-            string doc = """
-            This token represents the elliptic contact friction cone type.
-            """
-        }
-
-        dictionary dense = {
-            string doc = """
-            This token represents the dense constraint Jacobian and matrices
-            computed from it.
-            """
-        }
-
-        dictionary sparse = {
-            string doc = """
-            This token represents the sparse constraint Jacobian and matrices
-            computed from it.
-            """
-        }
-
-        dictionary auto = {
-            string doc = """
-            This token represents the auto constraint Jacobian and matrices
-            computed from it.
-            """
-        }
-
-        dictionary pgs = {
-            string doc = """
-            This token represents the PGS constraint solver algorithm.
-            """
-        }
-
-        dictionary cg = {
-            string doc = """
-            This token represents the CG constraint solver algorithm.
-            """
-        }
-
-        dictionary newton = {
-            string doc = """
-            This token represents the Newton constraint solver algorithm.
-            """
-        }
-      }
-  }
-)
-{
-
-}
-
-class "MjcSceneAPI"
-(
-    customData = {
-        string className = "SceneAPI"
-    }
-    doc = """API providing global simulation options for MuJoCo."""
-
-    prepend apiSchemas = ["NewtonSceneAPI"]
-    inherits = </APISchemaBase>
-)
-{
-    uniform double mjc:option:timestep = 0.002 (
-        customData = {
-            string apiName = "Timestep"
-        }
-        displayName = "Timestep"
-        doc = """DEPRECATED: Use newton:timeStepsPerSecond instead.
-
-        Controls the timestep in seconds used by MuJoCo."""
-    )
-
-    uniform double mjc:option:impratio = 1.0 (
-        customData = {
-            string apiName = "ImpRatio"
-        }
-        displayName = "Impedance Ratio"
-        doc = """Ratio of frictional-to-normal constraint impedance for elliptic
-        friction cones."""
-    )
-
-    uniform double3 mjc:option:wind = (0.0, 0.0, 0.0) (
-        customData = {
-            string apiName = "Wind"
-        }
-        displayName = "Wind Velocity"
-        doc = """Velocity vector of medium (i.e. wind)."""
-    )
-
-    uniform double3 mjc:option:magnetic = (0.0, -0.5, 0.0) (
-        customData = {
-            string apiName = "Magnetic"
-        }
-        displayName = "Magnetic Flux"
-        doc = """Global magnetic flux."""
-    )
-
-    uniform double mjc:option:density = 0.0 (
-        customData = {
-            string apiName = "Density"
-        }
-        displayName = "Density"
-        doc = """Density of medium."""
-    )
-
-    uniform double mjc:option:viscosity = 0.0 (
-        customData = {
-            string apiName = "Viscosity"
-        }
-        displayName = "Viscosity"
-        doc = """Viscosity of medium."""
-    )
-
-    uniform double mjc:option:o_margin = 0.0 (
-        customData = {
-            string apiName = "OMargin"
-        }
-        displayName = "Contact Override Margin"
-        doc = """Replaces the margin parameter of all active contact pairs when
-        Contact override is enabled."""
-    )
-
-    uniform double[] mjc:option:o_solref = [0.02, 1.0] (
-        customData = {
-            string apiName = "OSolRef"
-        }
-        displayName = "Contact Override SolRef"
-        doc = """Replaces the solref parameter of all active contact pairs when
-        Contact override is enabled."""
-    )
-
-    uniform double[] mjc:option:o_solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
-        customData = {
-            string apiName = "OSolImp"
-        }
-        displayName = "Contact Override SolImp"
-        doc = """Replaces the solimp parameter of all active contact pairs when
-        Contact override is enabled."""
-    )
-
-    uniform double[] mjc:option:o_friction = [1.0, 1.0, 0.005, 0.0001, 0.0001] (
-        customData = {
-            string apiName = "OFriction"
-        }
-        displayName = "Contact Override Friction"
-        doc = """Replaces the friction parameter of all active contact pairs when
-        Contact override is enabled."""
-    )
-
-    uniform token mjc:option:integrator = "euler" (
-        allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
-        customData = {
-            string apiName = "Integrator"
-        }
-        displayName = "Integrator"
-        doc = """Numerical integrator to be used."""
-    )
-
-    uniform token mjc:option:cone = "pyramidal" (
-        allowedTokens = ["pyramidal", "elliptic"]
-        customData = {
-            string apiName = "Cone"
-        }
-        displayName = "Friction Cone Type"
-        doc = """The type of contact friction cone."""
-    )
-
-    uniform token mjc:option:jacobian = "auto" (
-        allowedTokens = ["auto", "dense", "sparse"]
-        customData = {
-            string apiName = "Jacobian"
-        }
-        displayName = "Jacobian Type"
-        doc = """The type of constraint Jacobian and matrices computed from it."""
-    )
-
-    uniform token mjc:option:solver = "newton" (
-        allowedTokens = ["pgs", "cg", "newton"]
-        customData = {
-            string apiName = "Solver"
-        }
-        displayName = "Solver"
-        doc = """Constraint solver algorithm to be used."""
-    )
-
-    uniform int mjc:option:iterations = 100 (
-        customData = {
-            string apiName = "Iterations"
-        }
-        displayName = "Solver Iterations"
-        doc = """DEPRECATED: Use newton:maxSolverIterations instead.
-
-        Maximum number of iterations of the constraint solver."""
-    )
-
-    uniform double mjc:option:tolerance = 1e-08 (
-        customData = {
-            string apiName = "Tolerance"
-        }
-        displayName = "Solver Tolerance"
-        doc = """Tolerance threshold used for early termination of the iterative
-        solver."""
-    )
-
-    uniform int mjc:option:ls_iterations = 50 (
-        customData = {
-            string apiName = "LSIterations"
-        }
-        displayName = "Linesearch Iterations"
-        doc = """Maximum number of linesearch iterations performed by CG/Newton
-        constraint solvers."""
-    )
-
-    uniform double mjc:option:ls_tolerance = 0.01 (
-        customData = {
-            string apiName = "LSTolerance"
-        }
-        displayName = "Linesearch Tolerance"
-        doc = """Tolerance threshold used for early termination of the linesearch algorithm."""
-    )
-
-    uniform int mjc:option:noslip_iterations = 0 (
-        customData = {
-            string apiName = "NoslipIterations"
-        }
-        displayName = "Noslip Iterations"
-        doc = """Maximum number of iterations of the Noslip solver."""
-    )
-
-    uniform double mjc:option:noslip_tolerance = 1e-06 (
-        customData = {
-            string apiName = "NoslipTolerance"
-        }
-        displayName = "Noslip Tolerance"
-        doc = """Tolerance threshold used for early termination of the Noslip solver."""
-    )
-
-    uniform int mjc:option:ccd_iterations = 35 (
-        customData = {
-            string apiName = "CCDIterations"
-        }
-        displayName = "CCD Iterations"
-        doc = """Maximum number of iterations of the algorithm used for convex collisions."""
-    )
-
-    uniform double mjc:option:ccd_tolerance = 1e-06 (
-        customData = {
-            string apiName = "CCDTolerance"
-        }
-        displayName = "CCD Tolerance"
-        doc = """Tolerance threshold used for early termination of the convex
-        collision algorithm."""
-    )
-
-    uniform int mjc:option:sdf_iterations = 10 (
-        customData = {
-            string apiName = "SDFIterations"
-        }
-        displayName = "SDF Iterations"
-        doc = """Number of iterations used for Signed Distance Field collisions
-        (per initial point)."""
-    )
-
-    uniform int mjc:option:sdf_initpoints = 40 (
-        customData = {
-            string apiName = "SDFInitPoints"
-        }
-        displayName = "SDF Initial Points"
-        doc = """Number of starting points used for finding contacts with Signed
-        Distance Field collisions."""
-    )
-
-    uniform int[] mjc:option:actuatorgroupdisable  = [] (
-        customData = {
-            string apiName = "ActuatorGroupDisable"
-        }
-        displayName = "Actuator Group Disable"
-        doc = """List of actuator groups to disable."""
-    )
-
-    uniform bool mjc:flag:constraint = True (
-        customData = {
-            string apiName = "ConstraintFlag"
-        }
-        displayName = "Constraint Solver Toggle"
-        doc = """Enables constraint solver."""
-    )
-
-    uniform bool mjc:flag:equality = True (
-        customData = {
-            string apiName = "EqualityFlag"
-        }
-        displayName = "Equality Constraints Toggle"
-        doc = """Enables all standard computations related to equality constraints."""
-    )
-
-    uniform bool mjc:flag:frictionloss = True (
-        customData = {
-            string apiName = "FrictionLossFlag"
-        }
-        displayName = "Friction Loss Constraints Toggle"
-        doc = """Enables all standard computations related to friction loss constraints."""
-    )
-
-    uniform bool mjc:flag:limit = True (
-        customData = {
-            string apiName = "LimitFlag"
-        }
-        displayName = "Joint and Tendon Limit Constraints Toggle"
-        doc = """Enables all standard computations related to joint and tendon limit constraints."""
-    )
-
-    uniform bool mjc:flag:contact = True (
-        customData = {
-            string apiName = "ContactFlag"
-        }
-        displayName = "Contact Constraints and Collision Detection Toggle"
-        doc = """Enables collision detection and all standard computations related to contact constraints."""
-    )
-
-    uniform bool mjc:flag:spring = True (
-        customData = {
-            string apiName = "SpringFlag"
-        }
-        displayName = "Spring Forces Toggle"
-        doc = """Enables the simulation of joint and tendon springs."""
-    )
-
-    uniform bool mjc:flag:damper = True (
-        customData = {
-            string apiName = "DamperFlag"
-        }
-        displayName = "Damper Forces Toggle"
-        doc = """Enables the simulation of joint and tendon dampers."""
-    )
-
-    uniform bool mjc:flag:gravity = True (
-        customData = {
-            string apiName = "GravityFlag"
-        }
-        displayName = "Gravity Toggle"
-        doc = """DEPRECATED: Use newton:gravityEnabled instead.
-
-        Enables the application of gravitational acceleration as defined in mjOption."""
-    )
-
-    uniform bool mjc:flag:clampctrl = True (
-        customData = {
-            string apiName = "ClampCtrlFlag"
-        }
-        displayName = "Control Input Clamping Toggle"
-        doc = """Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."""
-    )
-
-    uniform bool mjc:flag:warmstart = True (
-        customData = {
-            string apiName = "WarmStartFlag"
-        }
-        displayName = "Solver Warm-Starting Toggle"
-        doc = """Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."""
-    )
-
-    uniform bool mjc:flag:filterparent = True (
-        customData = {
-            string apiName = "FilterParentFlag"
-        }
-        displayName = "Parent-Child Contact Filtering Toggle"
-        doc = """Enables the filtering of contact pairs where the two geoms belong to a parent and child body."""
-    )
-
-    uniform bool mjc:flag:actuation = True (
-        customData = {
-            string apiName = "ActuationFlag"
-        }
-        displayName = "Actuation Forces Toggle"
-        doc = """Enables all standard computations related to actuator forces, including actuator dynamics."""
-    )
-
-    uniform bool mjc:flag:refsafe = True (
-        customData = {
-            string apiName = "RefSafeFlag"
-        }
-        displayName = "Solver Reference Safety Mechanism Toggle"
-        doc = """Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."""
-    )
-
-    uniform bool mjc:flag:sensor = True (
-        customData = {
-            string apiName = "SensorFlag"
-        }
-        displayName = "Sensor Computations Toggle"
-        doc = """Enables all computations related to sensors."""
-    )
-
-    uniform bool mjc:flag:midphase = True (
-        customData = {
-            string apiName = "MidPhaseFlag"
-        }
-        displayName = "Mid-Phase Collision Filtering Toggle"
-        doc = """Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."""
-    )
-
-    uniform bool mjc:flag:nativeccd = True (
-        customData = {
-            string apiName = "NativeCCDFlag"
-        }
-        displayName = "Native Convex Collision Detection Toggle"
-        doc = """Enables the native convex collision detection pipeline instead of using the libccd library."""
-    )
-
-    uniform bool mjc:flag:eulerdamp = True (
-        customData = {
-            string apiName = "EulerDampFlag"
-        }
-        displayName = "Euler Integrator Damping Toggle"
-        doc = """Enables implicit integration with respect to joint damping in the Euler integrator."""
-    )
-
-    uniform bool mjc:flag:autoreset = True (
-        customData = {
-            string apiName = "AutoResetFlag"
-        }
-        displayName = "Automatic Simulation Reset Toggle"
-        doc = """Enables the automatic resetting of the simulation state when numerical issues are detected."""
-    )
-
-    uniform bool mjc:flag:override = False (
-        customData = {
-            string apiName = "OverrideFlag"
-        }
-        displayName = "Contact Override Mechanism Toggle"
-        doc = """Enables the contact override mechanism."""
-    )
-
-    uniform bool mjc:flag:energy = False (
-        customData = {
-            string apiName = "EnergyFlag"
-        }
-        displayName = "Energy Computation Toggle"
-        doc = """Enables the computation of potential and kinetic energy (mjData.energy[0,1])."""
-    )
-
-    uniform bool mjc:flag:fwdinv = False (
-        customData = {
-            string apiName = "FwdinvFlag"
-        }
-        displayName = "Forward/Inverse Dynamics Comparison Toggle"
-        doc = """Enables the automatic comparison of forward and inverse dynamics."""
-    )
-
-    uniform bool mjc:flag:invdiscrete = False (
-        customData = {
-            string apiName = "InvDiscreteFlag"
-        }
-        displayName = "Discrete-Time Inverse Dynamics Toggle"
-        doc = """Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."""
-    )
-
-    uniform bool mjc:flag:multiccd = True (
-        customData = {
-            string apiName = "MultiCCDFlag"
-        }
-        displayName = "Multiple Contact Collision Detection (CCD) Toggle"
-        doc = """Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."""
-    )
-
-    uniform bool mjc:flag:island = True (
-        customData = {
-            string apiName = "IslandFlag"
-        }
-        displayName = "Constraint Island Discovery Toggle"
-        doc = """Enables the discovery of constraint islands."""
-    )
-
-    uniform bool mjc:compiler:autoLimits = True (
-        customData = {
-            string apiName = "AutoLimits"
-        }
-        displayName = "Automatic Limits"
-        doc = """This attribute affects the behavior of attributes such as "limited" (on MjcJointAPI), "forcelimited" "ctrllimited", and "actlimited" (on MjcActuator). If True, these attributes are unnecessary and their value will be inferred from the presence of their corresponding "range" attribute. If False, no such inference will happen: For a joint to be limited, both limited=True and range:min/max must be specified. In this mode, it is an error to specify a range without a limit."""
-    )
-
-    uniform double mjc:compiler:boundMass = 0.0 (
-        customData = {
-            string apiName = "BoundMass"
-        }
-        displayName = "Bound Mass"
-        doc = """This attribute imposes a lower bound on the mass of each body except for the world body."""
-    )
-
-    uniform double mjc:compiler:boundInertia = 0.0 (
-        customData = {
-            string apiName = "BoundInertia"
-        }
-        displayName = "Bound Inertia"
-        doc = """This attribute imposes a lower bound on the diagonal inertia components of each body except for the world body."""
-    )
-
-    uniform double mjc:compiler:setTotalMass = -1.0 (
-        customData = {
-            string apiName = "SetTotalMass"
-        }
-        displayName = "Set Total Mass"
-        doc = """If this value is positive, the compiler will scale the masses and inertias of all bodies in the model, so that the total mass equals the value specified here. The world body has mass 0 and does not participate in any mass-related computations. This scaling is performed last, after all other operations affecting the body mass and inertia. The same scaling operation can be applied at runtime to the compiled mjModel with the function mj_setTotalmass."""
-    )
-
-    uniform bool mjc:compiler:useThread = True (
-        customData = {
-            string apiName = "UseThread"
-        }
-        displayName = "Use Thread"
-        doc = """If this is True, the model compiler will run in multi-threaded mode. Currently multi-threading is used for computing the length ranges of actuators and for parallel loading of meshes."""
-    )
-
-    uniform bool mjc:compiler:balanceInertia = False (
-        customData = {
-            string apiName = "BalanceInertia"
-        }
-        displayName = "Balance Inertia"
-        doc = """A valid diagonal inertia matrix must satisfy A+B>=C for all permutations of the three diagonal elements. Some poorly designed models violate this constraint, which will normally result in a compile error. If this attribute is set to "true", the compiler will silently set all three diagonal elements to their average value whenever the above condition is violated."""
-    )
-
-    uniform token mjc:compiler:angle = "degree" (
-        allowedTokens = ["degree", "radian"]
-        customData = {
-            string apiName = "Angle"
-        }
-        displayName = "Angle"
-        doc = """This attribute specifies whether the angles in mjcPhysics attributes have units of degrees or radians if not otherwise noted."""
-    )
-
-    uniform bool mjc:compiler:fitAABB = False (
-        customData = {
-            string apiName = "FitAABB"
-        }
-        displayName = "Fit AABB"
-        doc = """The compiler is able to replace a mesh with a geometric primitive fitted to that mesh. If this attribute is True, the fitting procedure uses the axis-aligned bounding box (AABB) of the mesh. Otherwise it uses the equivalent-inertia box of the mesh."""
-    )
-
-    uniform bool mjc:compiler:fuseStatic = False (
-        customData = {
-            string apiName = "FuseStatic"
-        }
-        displayName = "Fuse Static"
-        doc = """This attribute controls a compiler optimization feature where static bodies are fused with their parent, and any elements defined in those bodies are reassigned to the parent. Static bodies are fused with their parent unless
-
-* They are referenced by another element in the model.
-
-* They contain a site which is referenced by a force or torque sensor.
-"""
-    )
-
-    uniform token mjc:compiler:inertiaFromGeom = "auto" (
-        allowedTokens = ["false", "true", "auto"]
-        customData = {
-            string apiName = "InertiaFromGeom"
-        }
-        displayName = "Inertia From Geom"
-        doc = """This attribute controls the automatic inference of body masses and inertias from geoms attached to the body. If this setting is "false", no automatic inference is performed. In that case each body must have explicitly defined mass and inertia with the inertial element, or else a compile error will be generated. If this setting is "true", the mass and inertia of each body will be inferred from the geoms attached to it, overriding any values specified with the inertial element. The default setting "auto" means that masses and inertias are inferred automatically only when the inertial element is missing in the body definition. One reason to set this attribute to "true" instead of "auto" is to override inertial data imported from a poorly designed model."""
-    )
-
-    uniform bool mjc:compiler:alignFree = False (
-        customData = {
-            string apiName = "AlignFree"
-        }
-        displayName = "Align Free"
-        doc = """This attribute toggles the default behaviour of an optimization that applies to bodies with a free joint and no child bodies. When True, the body frame and free joint will automatically be aligned with inertial frame, which leads to both faster and more stable simulation."""
-    )
-
-    uniform int mjc:compiler:inertiaGroupRange:min = 0 (
-        customData = {
-            string apiName = "InertiaGroupRangeMin"
-        }
-        displayName = "Inertia Group Range Min"
-        doc = """This attribute specifies the maximum of the geom group range that is used to infer body masses and inertias (when such inference is enabled). The group attribute of geom is an integer. If this integer falls in the range specified here, the collider will be used in the inertial computation, otherwise it will be ignored. Note that the world body does not participate in the inertial computations, so any geoms attached to it are automatically ignored. Therefore it is not necessary to adjust this attribute and the geom-specific groups so as to exclude world geoms from the inertial computation."""
-    )
-
-    uniform int mjc:compiler:inertiaGroupRange:max = 5 (
-        customData = {
-            string apiName = "InertiaGroupRangeMax"
-        }
-        displayName = "Inertia Group Range Max"
-        doc = """This attribute specifies the maximum of the geom group range that is used to infer body masses and inertias (when such inference is enabled). The group attribute of geom is an integer. If this integer falls in the range specified here, the geom will be used in the inertial computation, otherwise it will be ignored. This feature is useful in models that have redundant sets of geoms for collision and visualization. Note that the world body does not participate in the inertial computations, so any geoms attached to it are automatically ignored. Therefore it is not necessary to adjust this attribute and the geom-specific groups so as to exclude world geoms from the inertial computation."""
-    )
-
-    uniform bool mjc:compiler:saveInertial = False (
-        customData = {
-            string apiName = "SaveInertial"
-        }
-        displayName = "Save Inertial"
-        doc = """If True, the compiler will save explicit inertial clauses for all bodies."""
-    )
-}
-
-class "MjcSiteAPI"
-(
-    customData = {
-        string className = "SiteAPI"
-    }
-    doc = """API describing a MuJoCo site."""
-
-    prepend apiSchemas = ["NewtonSiteAPI"]
-    inherits = </APISchemaBase>
-)
-{
-    uniform int mjc:group = 0 (
-      customData = {
-          string apiName = "Group"
-      }
-      displayName = "Group"
-      doc = """Integer MuJoCo group to which the collider belongs."""
-    )
-}
-
-class "MjcImageableAPI"
-(
-    customData = {
-        string className = "ImageableAPI"
-    }
-    doc = """API describing attributes for visual entities in MuJoCo."""
-
-    inherits = </APISchemaBase>
-)
-{
-    uniform int mjc:group = 0 (
-      customData = {
-          string apiName = "Group"
-      }
-      displayName = "Group"
-      doc = """Integer MuJoCo group to which the imageable belongs."""
-    )
-}
-
-class "MjcCollisionAPI"
-(
-    customData = {
-        string className = "CollisionAPI"
-    }
-    doc = """API describing a MuJoCo collider."""
-
-    prepend apiSchemas = ["NewtonCollisionAPI"]
-    inherits = </APISchemaBase>
-)
-{
-    uniform int mjc:group = 0 (
-      customData = {
-          string apiName = "Group"
-      }
-      displayName = "Group"
-      doc = """Integer MuJoCo group to which the collider belongs."""
-    )
-
-    uniform bool mjc:shellinertia = False (
-        customData = {
-            string apiName = "ShellInertia"
-        }
-        displayName = "Shell Inertia"
-        doc = """DEPRECATED: Use NewtonMassAPI's newton:massModel = "shell" instead.
-
-        Enables handling of the inertia assuming mass is concentrated on the surface."""
-    )
-
-    uniform int mjc:priority = 0 (
-      customData = {
-          string apiName = "Priority"
-      }
-      displayName = "Priority"
-      doc = """Priority determining how the properties of two colliders are combined to form the properties of the contact."""
-    )
-
-    uniform int mjc:condim = 3 (
-      customData = {
-          string apiName = "ConDim"
-      }
-      displayName = "ConDim"
-      doc = """The dimensionality of the contact space for a dynamically generated contact pair is set to the maximum of the condim values of the two participating geoms."""
-    )
-
-    uniform double mjc:solmix = 1.0 (
-      customData = {
-          string apiName = "SolMix"
-      }
-      displayName = "SolMix"
-      doc = """Specifies the weight used for averaging of contact parameters, and interacts with the priority attribute."""
-    )
-
-    uniform double[] mjc:solref = [0.02, 1.0] (
-      customData = {
-          string apiName = "SolRef"
-      }
-      displayName = "SolMix"
-      doc = """Specifies the weight used for averaging of contact parameters, and interacts with the priority attribute."""
-    )
-
-    uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
-      customData = {
-          string apiName = "SolImp"
-      }
-      displayName = "SolImp"
-      doc = """Specifies the weight used for averaging of contact parameters, and interacts with the priority attribute."""
-    )
-
-    uniform double mjc:margin = 0.0 (
-      customData = {
-          string apiName = "Margin"
-      }
-      displayName = "Margin"
-      doc = """DEPRECATED: Use newton:contactMargin and newton:contactGap instead.
-
-        Geometric inflation of the geom surface for the purpose of contact force generation."""
-    )
-
-    uniform double mjc:gap = 0.0 (
-      customData = {
-          string apiName = "Gap"
-      }
-      displayName = "Gap"
-      doc = """DEPRECATED: Use newton:contactGap instead.
-
-        Additional contact detection buffer beyond margin. Contacts are detected at distance margin + gap but forces are only generated at distance margin."""
-    )
-}
-
-class "MjcMeshCollisionAPI"
-(
-    customData = {
-        string className = "MeshCollisionAPI"
-    }
-    doc = """API describing a MuJoCo mesh collider."""
-
-    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
-    inherits = </APISchemaBase>
-)
-{
-    uniform token mjc:inertia = "legacy" (
-        allowedTokens = ["legacy", "convex", "exact", "shell"]
-        customData = {
-            string apiName = "Inertia"
-        }
-        displayName = "Inertia"
-        doc = """DEPRECATED: Use NewtonMassAPI's newton:massModel or UsdPhysics's physics:approximation instead.
-
-        Controls how a mesh is used when mass and inertia are inferred from geometry."""
-    )
-
-    uniform int mjc:maxhullvert = -1 (
-        customData = {
-            string apiName = "MaxHullVert"
-        }
-        displayName = "Maximum Hull Vertices"
-        doc = """DEPRECATED: Use newton:maxHullVertices instead.
-
-        Sets an upper limit on the number of vertices in the meshes convex hull. The default value of -1 means unlimited."""
-    )
-}
-
-class MjcActuator "MjcActuator"
-(
-    customData = {
-        string className = "Actuator"
-    }
-    doc = """Known as actuator in MuJoCo, this prim represents force transmission to joints, bodies, or sites."""
-
-    inherits = </Typed>
-)
-{
-    uniform int mjc:group = 0 (
-      customData = {
-          string apiName = "Group"
-      }
-      displayName = "Group"
-      doc = """Integer MuJoCo group to which the transmission belongs."""
-    )
-
-    rel mjc:target (
-        doc = "Actuator transmission target."
-    )
-
-    # Control/Force/Activation Limits
-    uniform token mjc:ctrlLimited = "auto" (
-        doc = "If true, the control input to this actuator is automatically clamped to ctrlrange at runtime. If false, control input clamping is disabled. If 'auto' and autolimits is set in compiler, control clamping will automatically be set to true if ctrlrange is defined without explicitly setting this attribute to 'true'. Note that control input clamping can also be globally disabled with the clampctrl attribute of option/flag."
-        allowedTokens = ["false", "true", "auto"]
-    )
-
-    uniform token mjc:forceLimited = "auto" (
-        doc = "If true, the force output of this actuator is automatically clamped to forcerange at runtime. If false, force clamping is disabled. If 'auto' and autolimits is set in compiler, force clamping will automatically be set to true if forcerange is defined without explicitly setting this attribute to 'true'."
-        allowedTokens = ["false", "true", "auto"]
-    )
-
-    uniform token mjc:actLimited = "auto" (
-        doc = "If true, the internal state (activation) associated with this actuator is automatically clamped to actrange at runtime. If false, activation clamping is disabled. If 'auto' and autolimits is set in compiler, activation clamping will automatically be set to true if actrange is defined without explicitly setting this attribute to 'true'. See the Activation clamping section for more details."
-        allowedTokens = ["false", "true", "auto"]
-    )
-
-    uniform double mjc:ctrlRange:min = 0 (
-        doc = "Minimum range for clamping the control input. The first value must be smaller than the second value. Setting this attribute without specifying ctrllimited is an error if autolimits is 'false' in compiler."
-    )
-
-    uniform double mjc:ctrlRange:max = 0 (
-        doc = "Maximum range for clamping the control input. The first value must be smaller than the second value. Setting this attribute without specifying ctrllimited is an error if autolimits is 'false' in compiler."
-    )
-
-    uniform double mjc:forceRange:min = 0 (
-        doc = "Minimum range for clamping the force output. The first value must be no greater than the second value. Setting this attribute without specifying forcelimited is an error if autolimits is 'false' in compiler."
-    )
-
-    uniform double mjc:forceRange:max = 0 (
-        doc = "Maximum range for clamping the force output. The first value must be no greater than the second value. Setting this attribute without specifying forcelimited is an error if autolimits is 'false' in compiler."
-    )
-
-    uniform double mjc:actRange:min = 0 (
-        doc = "Minimum range for clamping the activation state. The first value must be no greater than the second value. See the Activation clamping section for more details. Setting this attribute without specifying actlimited is an error if autolimits is 'false' in compiler."
-    )
-
-    uniform double mjc:actRange:max = 0 (
-        doc = "Maximum range for clamping the activation state. The first value must be no greater than the second value. See the Activation clamping section for more details. Setting this attribute without specifying actlimited is an error if autolimits is 'false' in compiler."
-    )
-
-    uniform double mjc:lengthRange:min = 0 (
-        doc = "Minimum range of feasible lengths of the actuator's transmission."
-    )
-
-    uniform double mjc:lengthRange:max = 0 (
-        doc = "Maximum range of feasible lengths of the actuator's transmission."
-    )
-
-    # Transmission Properties
-    uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0] (
-        doc = "This attribute scales the length (and consequently moment arms, velocity and force) of the actuator, for all transmission types. It is different from the gain in the force generation mechanism, because the gain only scales the force output and does not affect the length, moment arms and velocity. For actuators with scalar transmission, only the first element of this vector is used. The remaining elements are needed for joint, jointinparent and site transmissions where this attribute is used to specify 3D force and torque axes."
-    )
-
-    uniform double mjc:crankLength = 0.0 (
-        doc = "Used only for the slider-crank transmission type. Specifies the length of the connecting rod. The compiler expects this value to be positive when a slider-crank transmission is present."
-    )
-
-    uniform bool mjc:jointInParent = False (
-        doc = "If true and applied to ball and free joints, the 3d rotation axis given by gear is defined in the parent frame (which is the world frame for free joints) rather than the child frame."
-    )
-
-    rel mjc:refSite (
-        doc = "When applied to a site, measure the translation and rotation w.r.t the frame of the refsite. In this case the actuator does have length and position actuators can be used to directly control an end effector, see refsite.xml example model. As above, the length is the dot product of the gear vector and the frame difference. So gear='0 1 0 0 0 0' means 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means rotation 'Z- rotation of site in the refsite frame'. It is recommended to use a normalized gear vector with nonzeros in only the first 3 or the last 3 elements of gear, so the actuator length will be in either length units or radians, respectively. As with ball joints (see joint above), for rotations which exceed a total angle of pi will wrap around, so tighter limits are recommended."
-    )
-
-    rel mjc:sliderSite (
-        doc = "Used only for the slider-crank transmission type. The target site is the pin joining the slider and the connecting rod. The slider moves along the z-axis of the slidersite frame. Therefore the site should be oriented as needed when it is defined in the kinematic tree; its orientation cannot be changed in the actuator definition."
-    )
-
-    # Activation Dynamics and Force Generation
-    uniform int mjc:actDim = -1 (
-        doc = "Dimension of the activation state. The default value of -1 instructs the compiler to set the dimension according to the dyntype. Values larger than 1 are only allowed for user-defined activation dynamics, as native types require dimensions of only 0 or 1. For activation dimensions bigger than 1, the last element is used to generate force."
-    )
-
-    uniform token mjc:dynType = "none" (
-        doc = "Activation dynamics type for the actuator. The available dynamics types were already described in the Actuation model section."
-        allowedTokens = ["none", "integrator", "filter", "filterexact", "muscle", "user"]
-    )
-
-    uniform token mjc:gainType = "fixed" (
-        doc = "The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be affine."
-        allowedTokens = ["fixed", "affine", "muscle", "user"]
-    )
-
-    uniform token mjc:biasType = "none" (
-        doc = "The gain and bias together determine the output of the force generation mechanism, which is currently assumed to be affine."
-        allowedTokens = ["none", "affine", "muscle", "user"]
-    )
-
-    uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
-        doc = "Activation dynamics parameters. The built-in activation types (except for muscle) use only the first parameter, but we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
-    )
-
-    uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
-        doc = "Gain parameters. The built-in gain types (except for muscle) use only the first parameter, but we provide additional parameters in case user callbacks implement a more elaborate model. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
-    )
-
-    uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0] (
-        doc = "Bias parameters. The affine bias type uses three parameters. The length of this array is not enforced by the parser, so the user can enter as many parameters as needed. These defaults are not compatible with muscle actuators."
-    )
-
-    uniform bool mjc:actEarly = False (
-        doc = "If true, force computation will use the next value of the activation variable rather than the current one. Setting this flag reduces the delay between the control and accelerations by one time-step."
-    )
-
-    uniform double mjc:inheritRange = 0 (
-        doc = "Automatically set the actuator’s ctrlrange to match the transmission target’s range. The default value means disabled. A positive value X sets the ctrlrange around the midpoint of the target range, scaled by X. For example if the target joint has range of [0, 1], then a value of 1.0 will set ctrlrange to [0, 1]; values of 0.8 and 1.2 will set the ctrlrange to [0.1, 0.9] and [-0.1, 1.1], respectively. Values smaller than 1 are useful for not hitting the limits; values larger than 1 are useful for maintaining control authority at the limits (being able to push on them). This attribute is exclusive with ctrlrange and available only for joint and tendon transmissions which have range defined."
-    )
-}
-
-
-class MjcKeyframe "MjcKeyframe"
-(
-    customData = {
-        string className = "Keyframe"
-    }
-    doc = """Represents time independent keyframe values."""
-
-    inherits = </Typed>
-)
-{
-  double[] mjc:qpos (
-    doc = "Vector of joint positions, copied into mjData.qpos when the simulation state is set to this keyframe."
-  )
-
-  double[] mjc:qvel (
-    doc = "Vector of joint velocities, copied into mjData.qvel when the simulation state is set to this keyframe."
-  )
-
-  double[] mjc:act (
-    doc = "Vector of actuator activations, copied into mjData.act when the simulation state is set to this keyframe."
-  )
-
-  double[] mjc:ctrl (
-    doc = "Vector of controls, copied into mjData.ctrl when the simulation state is set to this keyframe."
-  )
-
-  double[] mjc:mpos (
-    doc = "Vector of mocap body positions, copied into mjData.mocap_pos when the simulation state is set to this keyframe."
-  )
-
-  double[] mjc:mquat (
-    doc = "Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe."
-  )
-}
-
-class "MjcJointAPI"
-(
-    customData = {
-        string className = "JointAPI"
-    }
-    doc = """API describing a MuJoCo joint."""
-
-    prepend apiSchemas = ["NewtonJointAPI"]
-    inherits = </APISchemaBase>
-)
-{
-    uniform int mjc:group = 0 (
-      customData = {
-          string apiName = "Group"
-      }
-      displayName = "Group"
-      doc = """Integer MuJoCo group to which the joint belongs."""
-    )
-
-    uniform double[] mjc:springdamper = [0, 0] (
-        doc = "When both numbers are positive, the compiler will override any stiffness and damping values specified with the attributes below, and will instead set them automatically so that the resulting mass-spring-damper for this joint has the desired time constant (first value) and damping ratio (second value). This is done by taking into account the joint inertia in the model reference configuration. Note that the format is the same as the solref parameter of the constraint solver."
-    )
-
-    uniform double[] mjc:solreflimit = [0.02, 1.0] (
-        doc = "Constraint solver parameters for simulating joint limits."
-    )
-
-    uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001, 0.5, 2.0] (
-        doc = "Constraint solver parameters for simulating joint limits."
-    )
-
-    uniform double[] mjc:solreffriction = [0.02, 1.0] (
-        doc = "Constraint solver parameters for simulating dry friction."
-    )
-
-    uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001, 0.5, 2.0] (
-        doc = "Constraint solver parameters for simulating dry friction."
-    )
-
-    uniform double mjc:stiffness = 0 (
-        doc = "Joint stiffness. If this value is positive, a spring will be created with equilibrium position given by springref below. The spring force is computed along with the other passive forces."
-    )
-
-    uniform double mjc:actuatorfrcrange:min = 0 (
-        doc = "Minimum range for clamping total actuator forces acting on this joint. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. The compiler expects the first value to be smaller than the second value. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is 'false'."
-    )
-
-    uniform double mjc:actuatorfrcrange:max = 0 (
-        doc = "Maximum range for clamping total actuator forces acting on this joint. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. The compiler expects the first value to be smaller than the second value. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is 'false'."
-    )
-
-    uniform token mjc:actuatorfrclimited = "auto" (
-        doc = "This attribute specifies whether actuator forces acting on the joint should be clamped. See Force limits for details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. This attribute interacts with the actuatorfrcrange attribute. If this attribute is 'false', actuator force clamping is disabled. If it is 'true', actuator force clamping is enabled. If this attribute is 'auto', and autolimits is set in compiler, actuator force clamping will be enabled if actuatorfrcrange is defined."
-        allowedTokens = ["false", "true", "auto"]
-    )
-
-    uniform bool mjc:actuatorgravcomp = false (
-        doc = "If this flag is enabled, gravity compensation applied to this joint is added to actuator forces (mjData.qfrc_actuator) rather than passive forces (mjData.qfrc_passive). Notionally, this means that gravity compensation is the result of a control system rather than natural buoyancy. In practice, enabling this flag is useful when joint-level actuator force clamping is used. In this case, the total actuation force applied on a joint, including gravity compensation, is guaranteed to not exceed the specified limits. See Force limits and actuatorfrcrange for more details on this type of force limit."
-    )
-
-    uniform double mjc:margin = 0 (
-        doc = "The distance threshold below which limits become active. Recall that the Constraint solver normally generates forces as soon as a constraint becomes active, even if the margin parameter makes that happen at a distance. This attribute together with solreflimit and solimplimit can be used to model a soft joint limit."
-    )
-
-    uniform double mjc:ref = 0 (
-        doc = "The reference position or angle of the joint. This attribute is only used for slide and hinge joints. It defines the joint value corresponding to the initial model configuration. The amount of spatial transformation that the joint applies at runtime equals the current joint value stored in mjData.qpos minus this reference value stored in mjModel.qpos0. The meaning of these vectors was discussed in the Stand-alone section in the Overview chapter."
-    )
-
-    uniform double mjc:springref = 0 (
-        doc = "The joint position or angle in which the joint spring (if any) achieves equilibrium. Similar to the vector mjModel.qpos0 which stores all joint reference values specified with the ref attribute above, all spring reference values specified with this attribute are stored in the vector mjModel.qpos_spring. The model configuration corresponding to mjModel.qpos_spring is also used to compute the spring reference lengths of all tendons, stored in mjModel.tendon_lengthspring. This is because tendons can also have springs."
-    )
-
-    uniform double mjc:armature = 0 (
-        doc = """DEPRECATED: Use newton:armature instead.
-
-        Additional inertia associated with movement of the joint that is not due to body mass. This added inertia is usually due to a rotor (a.k.a armature) spinning faster than the joint itself due to a geared transmission. The value applies to all degrees of freedom created by this joint. Besides increasing the realism of joints with geared transmission, positive armature significantly improves simulation stability, even for small values, and is a recommended possible fix when encountering stability issues."""
-    )
-
-    uniform double mjc:damping = 0 (
-        doc = """DEPRECATED: Use newton:damping instead.
-
-        Damping applied to all degrees of freedom created by this joint. Unlike friction loss which is computed by the constraint solver, damping is simply a force linear in velocity. It is included in the passive forces. Despite this simplicity, larger damping values can make numerical integrators unstable, which is why our Euler integrator handles damping implicitly. See Integration in the Computation chapter."""
-    )
-
-    uniform double mjc:frictionloss = 0 (
-        doc = """DEPRECATED: Use newton:friction instead.
-
-        Friction loss due to dry friction. This value is the same for all degrees of freedom created by this joint. Semantically friction loss does not make sense for free joints, but the compiler allows it. To enable friction loss, set this attribute to a positive value."""
-    )
-}
-
-class "MjcMaterialAPI"
-(
-    customData = {
-        string className = "MaterialAPI"
-    }
-    doc = """DEPRECATED: Use NewtonMaterialAPI instead. All attributes on this API have been superseded by Newton equivalents.
-
-    API providing extension attributes to represent physical MuJoCo materials."""
-
-    prepend apiSchemas = ["NewtonMaterialAPI"]
-    inherits = </APISchemaBase>
-)
-{
-    uniform double mjc:torsionalfriction = 0.005 (
-        customData = {
-            string apiName = "TorsionalFriction"
-        }
-        displayName = "Torsional Friction"
-        doc = """DEPRECATED: Use newton:torsionalFriction instead.
-
-        Friction value acting around contact normal."""
-    )
-
-    uniform double mjc:rollingfriction = 0.0001 (
-        customData = {
-            string apiName = "RollingFriction"
-        }
-        displayName = "Rolling Friction"
-        doc = """DEPRECATED: Use newton:rollingFriction instead.
-
-        Friction value acting around both axes on the contact tangent plane."""
-    )
-}
-
-class "MjcEqualityAPI" (
-    customData = {
-        string className = "EqualityAPI"
-    }
-    doc = """Base API for equality constraints."""
-
-    inherits = </APISchemaBase>
-)
-{
-    rel mjc:target (
-      doc = "Secondary target of the equality constraint."
-    )
-
-    uniform double[] mjc:solref = [0.02, 1.0] (
-        customData = {
-            string apiName = "SolRef"
-        }
-        displayName = "SolRef"
-        doc = """Constraint solver parameter for equality constraint simulation."""
-    )
-
-    uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
-        customData = {
-            string apiName = "SolImp"
-        }
-        displayName = "SolImp"
-        doc = """Constraint solver parameter for equality constraint simulation."""
-    )
-}
-
-class "MjcEqualityConnectAPI" (
-    customData = {
-        string className = "EqualityConnectAPI"
-    }
-    doc = """API providing extension attributes to represent equality/connect constraints."""
-
-    prepend apiSchemas = ["MjcEqualityAPI"]
-    inherits = </APISchemaBase>
-){}
-
-class "MjcEqualityWeldAPI" (
-    customData = {
-        string className = "EqualityWeldAPI"
-    }
-    doc = """API providing extension attributes to represent equality/weld constraints."""
-
-    prepend apiSchemas = ["MjcEqualityAPI"]
-    inherits = </APISchemaBase>
-)
-{
-    uniform float mjc:torqueScale = 1.0 (
-        customData = {
-            string apiName = "TorqueScale"
-        }
-        displayName = "Torque Scale"
-        doc = """A constant that scales the angular residual (angular constraint violation). Notionally in units of torque/force = length. Intuitively this coefficient defines how much the weld “cares” about rotational displacements vs. translational displacements."""
-    )
-}
-
-class "MjcEqualityJointAPI" (
-    customData = {
-        string className = "EqualityJointAPI"
-    }
-    doc = """API providing extension attributes to represent equality/joint constraints.
-
-    This API is applied to a joint prim which acts as the follower (joint0). The leader
-    joint (joint1) is specified via the newton:mimicJoint relationship inherited from
-    NewtonMimicAPI.
-
-    The follower's position or angle is constrained to be a quartic polynomial of the
-    leader's position or angle:
-        joint0 = coef0 + coef1*(joint1) + coef2*(joint1)^2 + coef3*(joint1)^3 + coef4*(joint1)^4
-
-    The constant (coef0) and linear (coef1) coefficients are provided by NewtonMimicAPI
-    as newton:mimicCoef0 and newton:mimicCoef1. The higher-order coefficients (coef2-coef4)
-    are provided by this API.
-
-    Only scalar joint types (slide and hinge) can be used."""
-
-    prepend apiSchemas = ["NewtonMimicAPI"]
-    inherits = </APISchemaBase>
-)
-{
-    uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2] (
-        customData = {
-            string apiName = "SolImp"
-        }
-        displayName = "SolImp"
-        doc = """Constraint solver parameter for equality constraint simulation."""
-    )
-
-    uniform double[] mjc:solref = [0.02, 1] (
-        customData = {
-            string apiName = "SolRef"
-        }
-        displayName = "SolRef"
-        doc = """Constraint solver parameter for equality constraint simulation."""
-    )
-
-    rel mjc:target (
-        customData = {
-            string apiName = "MjcTarget"
-        }
-        doc = """DEPRECATED: Use newton:mimicJoint instead.
-
-        Secondary target of the equality constraint (the leader/reference joint)."""
-    )
-
-    uniform double mjc:coef0 = 0 (
-        customData = {
-            string apiName = "Coef0"
-        }
-        displayName = "Coefficient 0"
-        doc = """DEPRECATED: Use newton:mimicCoef0 instead.
-
-        Constant coefficient a0 of the quartic polynomial. The constraint is:
-        y = y0 + a0 + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4."""
-    )
-
-    uniform double mjc:coef1 = 1 (
-        customData = {
-            string apiName = "Coef1"
-        }
-        displayName = "Coefficient 1"
-        doc = """DEPRECATED: Use newton:mimicCoef1 instead.
-
-        Linear coefficient a1 of the quartic polynomial."""
-    )
-
-    uniform double mjc:coef2 = 0 (
-        customData = {
-            string apiName = "Coef2"
-        }
-        displayName = "Coefficient 2"
-        doc = """Quadratic coefficient a2 of the quartic polynomial."""
-    )
-
-    uniform double mjc:coef3 = 0 (
-        customData = {
-            string apiName = "Coef3"
-        }
-        displayName = "Coefficient 3"
-        doc = """Cubic coefficient a3 of the quartic polynomial."""
-    )
-
-    uniform double mjc:coef4 = 0 (
-        customData = {
-            string apiName = "Coef4"
-        }
-        displayName = "Coefficient 4"
-        doc = """Quartic coefficient a4 of the quartic polynomial."""
-    )
-}
-
-class MjcTendon "MjcTendon"
-(
-    customData = {
-        string className = "Tendon"
-    }
-    doc = """Type describing fixed and spatial tendons."""
-
-    inherits = </Typed>
-)
-{
-    uniform token mjc:type = "spatial" (
-      allowedTokens = ["spatial", "fixed"]
-      customData = {
-        string apiName = "Type"
-      }
-      displayName = "Type"
-      doc = """Type of tendon, valid values are 'spatial' and 'fixed'."""
-    )
-
-    rel mjc:path (
-      doc = "For spatial tendons, this describes a list of unique of sites and geoms the tendon wraps. For fixed tendons, this is instead a list of joints."
-    )
-
-    rel mjc:sideSites (
-      doc = "For spatial tendons, a geom wrapped by the tendon may specify which side of the geom the tendon wraps around via a site prim. This is a list of sites that are used as side sites in mjc:path."
-    )
-
-    uniform int[] mjc:path:indices = [] (
-      doc = "This list represents the order in which the tendon wraps the sites in mjc:path."
-    )
-
-    uniform int[] mjc:sideSites:indices = [] (
-      doc = "For spatial tendons, if mjc:sideSites has targets then index 'i' in this list represents the position in the relationship targets of mjc:sideSites that the geom at index 'i' in mjc:path uses as a side site. It is considered an authoring error to assign a side site to something other than a geom. Geoms that do not use a side site should use index value '-1'."
-    )
-
-    uniform int[] mjc:path:segments = [] (
-      doc = "For spatial tendons, this holds the index of the segment each tendon path wrap point belongs to."
-    )
-
-    uniform double[] mjc:path:divisors = [] (
-      doc = "For spatial tendons, this represents an indexed array of divisors. A tendon path segments' length contribution to the overall tendon length is divided by its divisor."
-    )
-
-    uniform double[] mjc:path:coef = [] (
-      doc = "For fixed tendons passing through joints this represents a multiplicative factor on the position or angle of the targeted joint."
-    )
-
-    uniform int mjc:group = 0 (
-      customData = {
-        string apiName = "Group"
-      }
-      displayName = "Group"
-      doc = """Integer MuJoCo group to which the tendon belongs."""
-    )
-
-    uniform token mjc:limited = "auto" (
-        allowedTokens = ["auto", "true", "false"]
-        customData = {
-            string apiName = "Limited"
-        }
-        displayName = "Limited"
-        doc = """If true, the tendon length is limited to the range specified by mjc:range:min/max."""
-    )
-
-    uniform token mjc:actuatorfrclimited = "auto" (
-        allowedTokens = ["false", "true", "auto"]
-        customData = {
-            string apiName = "ActuatorFrcLimited"
-        }
-        displayName = "Actuator Force Limited"
-        doc = """This attribute specifies whether actuator forces acting on the tendon should be clamped. See Force limits for details. This attribute interacts with the actuatorfrcrange attribute. If this attribute is “false”, actuator force clamping is disabled. If it is “true”, actuator force clamping is enabled. If this attribute is “auto”, and autolimits is set in compiler, actuator force clamping will be enabled if actuatorfrcrange is defined."""
-    )
-
-    uniform double mjc:range:min = 0 (
-        customData = {
-            string apiName = "RangeMin"
-        }
-        displayName = "Range Min"
-        doc = """Minimum allowed tendon length. Setting this attribute without specifying limited is an error, unless autolimits is set in compiler."""
-    )
-
-    uniform double mjc:range:max = 0 (
-        customData = {
-            string apiName = "RangeMax"
-        }
-        displayName = "Range Max"
-        doc = """Maximum allowed tendon length. Setting this attribute without specifying limited is an error, unless autolimits is set in compiler."""
-    )
-
-    uniform double mjc:actuatorfrcrange:min = 0 (
-        customData = {
-            string apiName = "ActuatorFrcRangeMin"
-        }
-        displayName = "Actuator Force Range Min"
-        doc = """Minimum range for clamping total actuator forces acting on this tendon. See Force limits for details. The compiler expects the lower bound to be nonpositive. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is “false”."""
-    )
-
-    uniform double mjc:actuatorfrcrange:max = 0 (
-        customData = {
-            string apiName = "ActuatorFrcRangeMax"
-        }
-        displayName = "Actuator Force Range Max"
-        doc = """Maximum range for clamping total actuator forces acting on this tendon. See Force limits for details. The compiler expects the upper bound to be nonnegative. Setting this attribute without specifying actuatorfrclimited is an error if compiler-autolimits is “false”."""
-    )
-
-    uniform double[] mjc:solreflimit = [0.02, 1.0] (
-        customData = {
-            string apiName = "SolRefLimit"
-        }
-        displayName = "Solver Reference Limit"
-        doc = """Constraint solver parameters for simulating tendon limits."""
-    )
-
-    uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001, 0.5, 2.0] (
-        customData = {
-            string apiName = "SolImpLimit"
-        }
-        displayName = "Solver Impedance Limit"
-        doc = """Constraint solver parameters for simulating tendon limits."""
-    )
-
-    uniform double[] mjc:solreffriction = [0.02, 1.0] (
-        customData = {
-            string apiName = "SolRefFriction"
-        }
-        displayName = "Solver Reference Friction"
-        doc = """Constraint solver parameters for simulating dry friction in the tendon."""
-    )
-
-    uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001, 0.5, 2.0] (
-        customData = {
-            string apiName = "SolImpFriction"
-        }
-        displayName = "Solver Impedance Friction"
-        doc = """Constraint solver parameters for simulating dry friction in the tendon."""
-    )
-
-    uniform double mjc:margin = 0.0 (
-        customData = {
-            string apiName = "Margin"
-        }
-        displayName = "Margin"
-        doc = """The limit constraint becomes active when the absolute value of the difference between the tendon length and either limit of the specified range falls below this margin. Similar to contacts, the margin parameter is subtracted from the difference between the range limit and the tendon length. The resulting constraint distance is always negative when the constraint is active. This quantity is used to compute constraint impedance as a function of distance."""
-    )
-
-    uniform double mjc:frictionloss = 0.0 (
-        customData = {
-            string apiName = "FrictionLoss"
-        }
-        displayName = "Friction Loss"
-        doc = """Friction loss caused by dry friction. To enable friction loss, set this attribute to a positive value."""
-    )
-
-    uniform double mjc:width = 0.003 (
-        customData = {
-            string apiName = "Width"
-        }
-        displayName = "Width"
-        doc = """Radius of the cross-section area of the spatial tendon, used for rendering in MuJoCo. Parts of the tendon that wrap around geom obstacles are rendered with reduced width."""
-    )
-
-    uniform color4f mjc:rgba = (0.5, 0.5, 0.5, 1.0) (
-        customData = {
-            string apiName = "Rgba"
-        }
-        displayName = "RGBA"
-        doc = """Color and transparency of the tendon in MuJoCo."""
-    )
-
-    uniform double[] mjc:springlength = [-1, -1] (
-        customData = {
-            string apiName = "SpringLength"
-        }
-        displayName = "Spring Length"
-        doc = """Spring resting position, can take either one or two values. If one value is given, it corresponds to the length of the tendon at rest. If it is -1, the tendon resting length is determined from the model reference configuration in mjModel.qpos0. Note that the default value of -1, which invokes the automatic length computation, was designed with spatial tendons in mind, which can only have nonegative length. In order to set the springlength of a fixed tendon to -1, use a nearby value like -0.99999. If two non-decreasing values are given, they define a dead-band range. If the tendon length is between the two values, the force is 0. If it is outside this range, the force behaves like a regular spring, with the rest-point corresponding to the nearest springlength value. A deadband can be used to define tendons whose limits are enforced by springs rather than constraints."""
-    )
-
-    uniform double mjc:stiffness = 0.0 (
-        customData = {
-            string apiName = "Stiffness"
-        }
-        displayName = "Stiffness"
-        doc = """Stiffness coefficient. A positive value generates a spring force (linear in position) acting along the tendon."""
-    )
-
-    uniform double mjc:damping = 0.0 (
-        customData = {
-            string apiName = "Damping"
-        }
-        displayName = "Damping"
-        doc = """Damping coefficient. A positive value generates a damping force (linear in velocity) acting along the tendon. Unlike joint damping which is integrated implicitly by the Euler method, tendon damping is not integrated implicitly, thus joint damping should be used if possible."""
-    )
-
-    uniform double mjc:armature = 0.0 (
-        customData = {
-            string apiName = "Armature"
-        }
-        displayName = "Armature"
-        doc = """Inertia associated with changes in tendon length."""
-    )
-}
diff --git a/src/experimental/usd/mjcPhysics/siteAPI.cpp b/src/experimental/usd/mjcPhysics/siteAPI.cpp
deleted file mode 100644
index d7b359a8..00000000
--- a/src/experimental/usd/mjcPhysics/siteAPI.cpp
+++ /dev/null
@@ -1,125 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsSiteAPI, TfType::Bases<UsdAPISchemaBase> >();
-}
-
-/* virtual */
-MjcPhysicsSiteAPI::~MjcPhysicsSiteAPI() {}
-
-/* static */
-MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Get(const UsdStagePtr& stage,
-                                         const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsSiteAPI();
-  }
-  return MjcPhysicsSiteAPI(stage->GetPrimAtPath(path));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsSiteAPI::_GetSchemaKind() const {
-  return MjcPhysicsSiteAPI::schemaKind;
-}
-
-/* static */
-bool MjcPhysicsSiteAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
-  return prim.CanApplyAPI<MjcPhysicsSiteAPI>(whyNot);
-}
-
-/* static */
-MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Apply(const UsdPrim& prim) {
-  if (prim.ApplyAPI<MjcPhysicsSiteAPI>()) {
-    return MjcPhysicsSiteAPI(prim);
-  }
-  return MjcPhysicsSiteAPI();
-}
-
-/* static */
-const TfType& MjcPhysicsSiteAPI::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsSiteAPI>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsSiteAPI::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsSiteAPI::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsSiteAPI::GetGroupAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
-}
-
-UsdAttribute MjcPhysicsSiteAPI::CreateGroupAttr(VtValue const& defaultValue,
-                                                bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsSiteAPI::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcGroup,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/tendon.cpp b/src/experimental/usd/mjcPhysics/tendon.cpp
deleted file mode 100644
index 5446fe49..00000000
--- a/src/experimental/usd/mjcPhysics/tendon.cpp
+++ /dev/null
@@ -1,436 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/tendon.h>
-
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/usd/schemaRegistry.h>
-#include <pxr/usd/usd/typed.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// Register the schema with the TfType system.
-TF_REGISTRY_FUNCTION(TfType) {
-  TfType::Define<MjcPhysicsTendon, TfType::Bases<UsdTyped> >();
-
-  // Register the usd prim typename as an alias under UsdSchemaBase. This
-  // enables one to call
-  // TfType::Find<UsdSchemaBase>().FindDerivedByName("MjcTendon")
-  // to find TfType<MjcPhysicsTendon>, which is how IsA queries are
-  // answered.
-  TfType::AddAlias<UsdSchemaBase, MjcPhysicsTendon>("MjcTendon");
-}
-
-/* virtual */
-MjcPhysicsTendon::~MjcPhysicsTendon() {}
-
-/* static */
-MjcPhysicsTendon MjcPhysicsTendon::Get(const UsdStagePtr& stage,
-                                       const SdfPath& path) {
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsTendon();
-  }
-  return MjcPhysicsTendon(stage->GetPrimAtPath(path));
-}
-
-/* static */
-MjcPhysicsTendon MjcPhysicsTendon::Define(const UsdStagePtr& stage,
-                                          const SdfPath& path) {
-  static TfToken usdPrimTypeName("MjcTendon");
-  if (!stage) {
-    TF_CODING_ERROR("Invalid stage");
-    return MjcPhysicsTendon();
-  }
-  return MjcPhysicsTendon(stage->DefinePrim(path, usdPrimTypeName));
-}
-
-/* virtual */
-UsdSchemaKind MjcPhysicsTendon::_GetSchemaKind() const {
-  return MjcPhysicsTendon::schemaKind;
-}
-
-/* static */
-const TfType& MjcPhysicsTendon::_GetStaticTfType() {
-  static TfType tfType = TfType::Find<MjcPhysicsTendon>();
-  return tfType;
-}
-
-/* static */
-bool MjcPhysicsTendon::_IsTypedSchema() {
-  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
-  return isTyped;
-}
-
-/* virtual */
-const TfType& MjcPhysicsTendon::_GetTfType() const {
-  return _GetStaticTfType();
-}
-
-UsdAttribute MjcPhysicsTendon::GetTypeAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcType);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateTypeAttr(VtValue const& defaultValue,
-                                              bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcType, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetMjcPathIndicesAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPathIndices);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateMjcPathIndicesAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPathIndices, SdfValueTypeNames->IntArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetMjcSideSitesIndicesAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSideSitesIndices);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateMjcSideSitesIndicesAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSideSitesIndices, SdfValueTypeNames->IntArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetMjcPathSegmentsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPathSegments);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateMjcPathSegmentsAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPathSegments, SdfValueTypeNames->IntArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetMjcPathDivisorsAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPathDivisors);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateMjcPathDivisorsAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPathDivisors, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetMjcPathCoefAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPathCoef);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateMjcPathCoefAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcPathCoef, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetGroupAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateGroupAttr(VtValue const& defaultValue,
-                                               bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetLimitedAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcLimited);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateLimitedAttr(VtValue const& defaultValue,
-                                                 bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcLimited, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetActuatorFrcLimitedAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrclimited);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateActuatorFrcLimitedAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActuatorfrclimited, SdfValueTypeNames->Token,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetRangeMinAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcRangeMin);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateRangeMinAttr(VtValue const& defaultValue,
-                                                  bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcRangeMin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetRangeMaxAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcRangeMax);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateRangeMaxAttr(VtValue const& defaultValue,
-                                                  bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcRangeMax, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetActuatorFrcRangeMinAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrcrangeMin);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateActuatorFrcRangeMinAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActuatorfrcrangeMin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetActuatorFrcRangeMaxAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrcrangeMax);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateActuatorFrcRangeMaxAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcActuatorfrcrangeMax, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetSolRefLimitAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolreflimit);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateSolRefLimitAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolreflimit, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetSolImpLimitAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimplimit);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateSolImpLimitAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolimplimit, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetSolRefFrictionAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolreffriction);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateSolRefFrictionAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolreffriction, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetSolImpFrictionAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimpfriction);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateSolImpFrictionAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSolimpfriction, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetMarginAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMargin);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateMarginAttr(VtValue const& defaultValue,
-                                                bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcMargin, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetFrictionLossAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFrictionloss);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateFrictionLossAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcFrictionloss, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetWidthAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcWidth);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateWidthAttr(VtValue const& defaultValue,
-                                               bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcWidth, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetRgbaAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcRgba);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateRgbaAttr(VtValue const& defaultValue,
-                                              bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcRgba, SdfValueTypeNames->Color4f,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetSpringLengthAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringlength);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateSpringLengthAttr(
-    VtValue const& defaultValue, bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcSpringlength, SdfValueTypeNames->DoubleArray,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetStiffnessAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcStiffness);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateStiffnessAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcStiffness, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetDampingAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDamping);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateDampingAttr(VtValue const& defaultValue,
-                                                 bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcDamping, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdAttribute MjcPhysicsTendon::GetArmatureAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcArmature);
-}
-
-UsdAttribute MjcPhysicsTendon::CreateArmatureAttr(VtValue const& defaultValue,
-                                                  bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcArmature, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
-UsdRelationship MjcPhysicsTendon::GetMjcPathRel() const {
-  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcPath);
-}
-
-UsdRelationship MjcPhysicsTendon::CreateMjcPathRel() const {
-  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcPath,
-                                      /* custom = */ false);
-}
-
-UsdRelationship MjcPhysicsTendon::GetMjcSideSitesRel() const {
-  return GetPrim().GetRelationship(MjcPhysicsTokens->mjcSideSites);
-}
-
-UsdRelationship MjcPhysicsTendon::CreateMjcSideSitesRel() const {
-  return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcSideSites,
-                                      /* custom = */ false);
-}
-
-namespace {
-static inline TfTokenVector _ConcatenateAttributeNames(
-    const TfTokenVector& left, const TfTokenVector& right) {
-  TfTokenVector result;
-  result.reserve(left.size() + right.size());
-  result.insert(result.end(), left.begin(), left.end());
-  result.insert(result.end(), right.begin(), right.end());
-  return result;
-}
-}  // namespace
-
-/*static*/
-const TfTokenVector& MjcPhysicsTendon::GetSchemaAttributeNames(
-    bool includeInherited) {
-  static TfTokenVector localNames = {
-      MjcPhysicsTokens->mjcType,
-      MjcPhysicsTokens->mjcPathIndices,
-      MjcPhysicsTokens->mjcSideSitesIndices,
-      MjcPhysicsTokens->mjcPathSegments,
-      MjcPhysicsTokens->mjcPathDivisors,
-      MjcPhysicsTokens->mjcPathCoef,
-      MjcPhysicsTokens->mjcGroup,
-      MjcPhysicsTokens->mjcLimited,
-      MjcPhysicsTokens->mjcActuatorfrclimited,
-      MjcPhysicsTokens->mjcRangeMin,
-      MjcPhysicsTokens->mjcRangeMax,
-      MjcPhysicsTokens->mjcActuatorfrcrangeMin,
-      MjcPhysicsTokens->mjcActuatorfrcrangeMax,
-      MjcPhysicsTokens->mjcSolreflimit,
-      MjcPhysicsTokens->mjcSolimplimit,
-      MjcPhysicsTokens->mjcSolreffriction,
-      MjcPhysicsTokens->mjcSolimpfriction,
-      MjcPhysicsTokens->mjcMargin,
-      MjcPhysicsTokens->mjcFrictionloss,
-      MjcPhysicsTokens->mjcWidth,
-      MjcPhysicsTokens->mjcRgba,
-      MjcPhysicsTokens->mjcSpringlength,
-      MjcPhysicsTokens->mjcStiffness,
-      MjcPhysicsTokens->mjcDamping,
-      MjcPhysicsTokens->mjcArmature,
-  };
-  static TfTokenVector allNames = _ConcatenateAttributeNames(
-      UsdTyped::GetSchemaAttributeNames(true), localNames);
-
-  if (includeInherited)
-    return allNames;
-  else
-    return localNames;
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-// ===================================================================== //
-// Feel free to add custom code below this line. It will be preserved by
-// the code generator.
-//
-// Just remember to wrap code in the appropriate delimiters:
-// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
-// ===================================================================== //
-// --(BEGIN CUSTOM CODE)--
diff --git a/src/experimental/usd/mjcPhysics/tokens.cpp b/src/experimental/usd/mjcPhysics/tokens.cpp
deleted file mode 100644
index cb69db80..00000000
--- a/src/experimental/usd/mjcPhysics/tokens.cpp
+++ /dev/null
@@ -1,404 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-MjcPhysicsTokensType::MjcPhysicsTokensType()
-    : affine("affine", TfToken::Immortal),
-      auto_("auto", TfToken::Immortal),
-      cg("cg", TfToken::Immortal),
-      convex("convex", TfToken::Immortal),
-      degree("degree", TfToken::Immortal),
-      dense("dense", TfToken::Immortal),
-      elliptic("elliptic", TfToken::Immortal),
-      euler("euler", TfToken::Immortal),
-      exact("exact", TfToken::Immortal),
-      false_("false", TfToken::Immortal),
-      filter("filter", TfToken::Immortal),
-      filterexact("filterexact", TfToken::Immortal),
-      fixed("fixed", TfToken::Immortal),
-      implicit("implicit", TfToken::Immortal),
-      implicitfast("implicitfast", TfToken::Immortal),
-      integrator("integrator", TfToken::Immortal),
-      legacy("legacy", TfToken::Immortal),
-      mjcAct("mjc:act", TfToken::Immortal),
-      mjcActDim("mjc:actDim", TfToken::Immortal),
-      mjcActEarly("mjc:actEarly", TfToken::Immortal),
-      mjcActLimited("mjc:actLimited", TfToken::Immortal),
-      mjcActRangeMax("mjc:actRange:max", TfToken::Immortal),
-      mjcActRangeMin("mjc:actRange:min", TfToken::Immortal),
-      mjcActuatorfrclimited("mjc:actuatorfrclimited", TfToken::Immortal),
-      mjcActuatorfrcrangeMax("mjc:actuatorfrcrange:max", TfToken::Immortal),
-      mjcActuatorfrcrangeMin("mjc:actuatorfrcrange:min", TfToken::Immortal),
-      mjcActuatorgravcomp("mjc:actuatorgravcomp", TfToken::Immortal),
-      mjcArmature("mjc:armature", TfToken::Immortal),
-      mjcBiasPrm("mjc:biasPrm", TfToken::Immortal),
-      mjcBiasType("mjc:biasType", TfToken::Immortal),
-      mjcCoef0("mjc:coef0", TfToken::Immortal),
-      mjcCoef1("mjc:coef1", TfToken::Immortal),
-      mjcCoef2("mjc:coef2", TfToken::Immortal),
-      mjcCoef3("mjc:coef3", TfToken::Immortal),
-      mjcCoef4("mjc:coef4", TfToken::Immortal),
-      mjcCompilerAlignFree("mjc:compiler:alignFree", TfToken::Immortal),
-      mjcCompilerAngle("mjc:compiler:angle", TfToken::Immortal),
-      mjcCompilerAutoLimits("mjc:compiler:autoLimits", TfToken::Immortal),
-      mjcCompilerBalanceInertia("mjc:compiler:balanceInertia",
-                                TfToken::Immortal),
-      mjcCompilerBoundInertia("mjc:compiler:boundInertia", TfToken::Immortal),
-      mjcCompilerBoundMass("mjc:compiler:boundMass", TfToken::Immortal),
-      mjcCompilerFitAABB("mjc:compiler:fitAABB", TfToken::Immortal),
-      mjcCompilerFuseStatic("mjc:compiler:fuseStatic", TfToken::Immortal),
-      mjcCompilerInertiaFromGeom("mjc:compiler:inertiaFromGeom",
-                                 TfToken::Immortal),
-      mjcCompilerInertiaGroupRangeMax("mjc:compiler:inertiaGroupRange:max",
-                                      TfToken::Immortal),
-      mjcCompilerInertiaGroupRangeMin("mjc:compiler:inertiaGroupRange:min",
-                                      TfToken::Immortal),
-      mjcCompilerSaveInertial("mjc:compiler:saveInertial", TfToken::Immortal),
-      mjcCompilerSetTotalMass("mjc:compiler:setTotalMass", TfToken::Immortal),
-      mjcCompilerUseThread("mjc:compiler:useThread", TfToken::Immortal),
-      mjcCondim("mjc:condim", TfToken::Immortal),
-      mjcCrankLength("mjc:crankLength", TfToken::Immortal),
-      mjcCtrl("mjc:ctrl", TfToken::Immortal),
-      mjcCtrlLimited("mjc:ctrlLimited", TfToken::Immortal),
-      mjcCtrlRangeMax("mjc:ctrlRange:max", TfToken::Immortal),
-      mjcCtrlRangeMin("mjc:ctrlRange:min", TfToken::Immortal),
-      mjcDamping("mjc:damping", TfToken::Immortal),
-      mjcDynPrm("mjc:dynPrm", TfToken::Immortal),
-      mjcDynType("mjc:dynType", TfToken::Immortal),
-      mjcFlagActuation("mjc:flag:actuation", TfToken::Immortal),
-      mjcFlagAutoreset("mjc:flag:autoreset", TfToken::Immortal),
-      mjcFlagClampctrl("mjc:flag:clampctrl", TfToken::Immortal),
-      mjcFlagConstraint("mjc:flag:constraint", TfToken::Immortal),
-      mjcFlagContact("mjc:flag:contact", TfToken::Immortal),
-      mjcFlagDamper("mjc:flag:damper", TfToken::Immortal),
-      mjcFlagEnergy("mjc:flag:energy", TfToken::Immortal),
-      mjcFlagEquality("mjc:flag:equality", TfToken::Immortal),
-      mjcFlagEulerdamp("mjc:flag:eulerdamp", TfToken::Immortal),
-      mjcFlagFilterparent("mjc:flag:filterparent", TfToken::Immortal),
-      mjcFlagFrictionloss("mjc:flag:frictionloss", TfToken::Immortal),
-      mjcFlagFwdinv("mjc:flag:fwdinv", TfToken::Immortal),
-      mjcFlagGravity("mjc:flag:gravity", TfToken::Immortal),
-      mjcFlagInvdiscrete("mjc:flag:invdiscrete", TfToken::Immortal),
-      mjcFlagIsland("mjc:flag:island", TfToken::Immortal),
-      mjcFlagLimit("mjc:flag:limit", TfToken::Immortal),
-      mjcFlagMidphase("mjc:flag:midphase", TfToken::Immortal),
-      mjcFlagMulticcd("mjc:flag:multiccd", TfToken::Immortal),
-      mjcFlagNativeccd("mjc:flag:nativeccd", TfToken::Immortal),
-      mjcFlagOverride("mjc:flag:override", TfToken::Immortal),
-      mjcFlagRefsafe("mjc:flag:refsafe", TfToken::Immortal),
-      mjcFlagSensor("mjc:flag:sensor", TfToken::Immortal),
-      mjcFlagSpring("mjc:flag:spring", TfToken::Immortal),
-      mjcFlagWarmstart("mjc:flag:warmstart", TfToken::Immortal),
-      mjcForceLimited("mjc:forceLimited", TfToken::Immortal),
-      mjcForceRangeMax("mjc:forceRange:max", TfToken::Immortal),
-      mjcForceRangeMin("mjc:forceRange:min", TfToken::Immortal),
-      mjcFrictionloss("mjc:frictionloss", TfToken::Immortal),
-      mjcGainPrm("mjc:gainPrm", TfToken::Immortal),
-      mjcGainType("mjc:gainType", TfToken::Immortal),
-      mjcGap("mjc:gap", TfToken::Immortal),
-      mjcGear("mjc:gear", TfToken::Immortal),
-      mjcGroup("mjc:group", TfToken::Immortal),
-      mjcInertia("mjc:inertia", TfToken::Immortal),
-      mjcInheritRange("mjc:inheritRange", TfToken::Immortal),
-      mjcJointInParent("mjc:jointInParent", TfToken::Immortal),
-      mjcLengthRangeMax("mjc:lengthRange:max", TfToken::Immortal),
-      mjcLengthRangeMin("mjc:lengthRange:min", TfToken::Immortal),
-      mjcLimited("mjc:limited", TfToken::Immortal),
-      mjcMargin("mjc:margin", TfToken::Immortal),
-      mjcMaxhullvert("mjc:maxhullvert", TfToken::Immortal),
-      mjcMpos("mjc:mpos", TfToken::Immortal),
-      mjcMquat("mjc:mquat", TfToken::Immortal),
-      mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
-                                    TfToken::Immortal),
-      mjcOptionCcd_iterations("mjc:option:ccd_iterations", TfToken::Immortal),
-      mjcOptionCcd_tolerance("mjc:option:ccd_tolerance", TfToken::Immortal),
-      mjcOptionCone("mjc:option:cone", TfToken::Immortal),
-      mjcOptionDensity("mjc:option:density", TfToken::Immortal),
-      mjcOptionImpratio("mjc:option:impratio", TfToken::Immortal),
-      mjcOptionIntegrator("mjc:option:integrator", TfToken::Immortal),
-      mjcOptionIterations("mjc:option:iterations", TfToken::Immortal),
-      mjcOptionJacobian("mjc:option:jacobian", TfToken::Immortal),
-      mjcOptionLs_iterations("mjc:option:ls_iterations", TfToken::Immortal),
-      mjcOptionLs_tolerance("mjc:option:ls_tolerance", TfToken::Immortal),
-      mjcOptionMagnetic("mjc:option:magnetic", TfToken::Immortal),
-      mjcOptionNoslip_iterations("mjc:option:noslip_iterations",
-                                 TfToken::Immortal),
-      mjcOptionNoslip_tolerance("mjc:option:noslip_tolerance",
-                                TfToken::Immortal),
-      mjcOptionO_friction("mjc:option:o_friction", TfToken::Immortal),
-      mjcOptionO_margin("mjc:option:o_margin", TfToken::Immortal),
-      mjcOptionO_solimp("mjc:option:o_solimp", TfToken::Immortal),
-      mjcOptionO_solref("mjc:option:o_solref", TfToken::Immortal),
-      mjcOptionSdf_initpoints("mjc:option:sdf_initpoints", TfToken::Immortal),
-      mjcOptionSdf_iterations("mjc:option:sdf_iterations", TfToken::Immortal),
-      mjcOptionSolver("mjc:option:solver", TfToken::Immortal),
-      mjcOptionTimestep("mjc:option:timestep", TfToken::Immortal),
-      mjcOptionTolerance("mjc:option:tolerance", TfToken::Immortal),
-      mjcOptionViscosity("mjc:option:viscosity", TfToken::Immortal),
-      mjcOptionWind("mjc:option:wind", TfToken::Immortal),
-      mjcPath("mjc:path", TfToken::Immortal),
-      mjcPathCoef("mjc:path:coef", TfToken::Immortal),
-      mjcPathDivisors("mjc:path:divisors", TfToken::Immortal),
-      mjcPathIndices("mjc:path:indices", TfToken::Immortal),
-      mjcPathSegments("mjc:path:segments", TfToken::Immortal),
-      mjcPriority("mjc:priority", TfToken::Immortal),
-      mjcQpos("mjc:qpos", TfToken::Immortal),
-      mjcQvel("mjc:qvel", TfToken::Immortal),
-      mjcRangeMax("mjc:range:max", TfToken::Immortal),
-      mjcRangeMin("mjc:range:min", TfToken::Immortal),
-      mjcRef("mjc:ref", TfToken::Immortal),
-      mjcRefSite("mjc:refSite", TfToken::Immortal),
-      mjcRgba("mjc:rgba", TfToken::Immortal),
-      mjcRollingfriction("mjc:rollingfriction", TfToken::Immortal),
-      mjcShellinertia("mjc:shellinertia", TfToken::Immortal),
-      mjcSideSites("mjc:sideSites", TfToken::Immortal),
-      mjcSideSitesIndices("mjc:sideSites:indices", TfToken::Immortal),
-      mjcSliderSite("mjc:sliderSite", TfToken::Immortal),
-      mjcSolimp("mjc:solimp", TfToken::Immortal),
-      mjcSolimpfriction("mjc:solimpfriction", TfToken::Immortal),
-      mjcSolimplimit("mjc:solimplimit", TfToken::Immortal),
-      mjcSolmix("mjc:solmix", TfToken::Immortal),
-      mjcSolref("mjc:solref", TfToken::Immortal),
-      mjcSolreffriction("mjc:solreffriction", TfToken::Immortal),
-      mjcSolreflimit("mjc:solreflimit", TfToken::Immortal),
-      mjcSpringdamper("mjc:springdamper", TfToken::Immortal),
-      mjcSpringlength("mjc:springlength", TfToken::Immortal),
-      mjcSpringref("mjc:springref", TfToken::Immortal),
-      mjcStiffness("mjc:stiffness", TfToken::Immortal),
-      mjcTarget("mjc:target", TfToken::Immortal),
-      mjcTorqueScale("mjc:torqueScale", TfToken::Immortal),
-      mjcTorsionalfriction("mjc:torsionalfriction", TfToken::Immortal),
-      mjcType("mjc:type", TfToken::Immortal),
-      mjcWidth("mjc:width", TfToken::Immortal),
-      muscle("muscle", TfToken::Immortal),
-      newton("newton", TfToken::Immortal),
-      none("none", TfToken::Immortal),
-      pgs("pgs", TfToken::Immortal),
-      pyramidal("pyramidal", TfToken::Immortal),
-      radian("radian", TfToken::Immortal),
-      rk4("rk4", TfToken::Immortal),
-      shell("shell", TfToken::Immortal),
-      sparse("sparse", TfToken::Immortal),
-      spatial("spatial", TfToken::Immortal),
-      true_("true", TfToken::Immortal),
-      user("user", TfToken::Immortal),
-      MjcActuator("MjcActuator", TfToken::Immortal),
-      MjcCollisionAPI("MjcCollisionAPI", TfToken::Immortal),
-      MjcEqualityAPI("MjcEqualityAPI", TfToken::Immortal),
-      MjcEqualityConnectAPI("MjcEqualityConnectAPI", TfToken::Immortal),
-      MjcEqualityJointAPI("MjcEqualityJointAPI", TfToken::Immortal),
-      MjcEqualityWeldAPI("MjcEqualityWeldAPI", TfToken::Immortal),
-      MjcImageableAPI("MjcImageableAPI", TfToken::Immortal),
-      MjcJointAPI("MjcJointAPI", TfToken::Immortal),
-      MjcKeyframe("MjcKeyframe", TfToken::Immortal),
-      MjcMaterialAPI("MjcMaterialAPI", TfToken::Immortal),
-      MjcMeshCollisionAPI("MjcMeshCollisionAPI", TfToken::Immortal),
-      MjcSceneAPI("MjcSceneAPI", TfToken::Immortal),
-      MjcSiteAPI("MjcSiteAPI", TfToken::Immortal),
-      MjcTendon("MjcTendon", TfToken::Immortal),
-      allTokens({affine,
-                 auto_,
-                 cg,
-                 convex,
-                 degree,
-                 dense,
-                 elliptic,
-                 euler,
-                 exact,
-                 false_,
-                 filter,
-                 filterexact,
-                 fixed,
-                 implicit,
-                 implicitfast,
-                 integrator,
-                 legacy,
-                 mjcAct,
-                 mjcActDim,
-                 mjcActEarly,
-                 mjcActLimited,
-                 mjcActRangeMax,
-                 mjcActRangeMin,
-                 mjcActuatorfrclimited,
-                 mjcActuatorfrcrangeMax,
-                 mjcActuatorfrcrangeMin,
-                 mjcActuatorgravcomp,
-                 mjcArmature,
-                 mjcBiasPrm,
-                 mjcBiasType,
-                 mjcCoef0,
-                 mjcCoef1,
-                 mjcCoef2,
-                 mjcCoef3,
-                 mjcCoef4,
-                 mjcCompilerAlignFree,
-                 mjcCompilerAngle,
-                 mjcCompilerAutoLimits,
-                 mjcCompilerBalanceInertia,
-                 mjcCompilerBoundInertia,
-                 mjcCompilerBoundMass,
-                 mjcCompilerFitAABB,
-                 mjcCompilerFuseStatic,
-                 mjcCompilerInertiaFromGeom,
-                 mjcCompilerInertiaGroupRangeMax,
-                 mjcCompilerInertiaGroupRangeMin,
-                 mjcCompilerSaveInertial,
-                 mjcCompilerSetTotalMass,
-                 mjcCompilerUseThread,
-                 mjcCondim,
-                 mjcCrankLength,
-                 mjcCtrl,
-                 mjcCtrlLimited,
-                 mjcCtrlRangeMax,
-                 mjcCtrlRangeMin,
-                 mjcDamping,
-                 mjcDynPrm,
-                 mjcDynType,
-                 mjcFlagActuation,
-                 mjcFlagAutoreset,
-                 mjcFlagClampctrl,
-                 mjcFlagConstraint,
-                 mjcFlagContact,
-                 mjcFlagDamper,
-                 mjcFlagEnergy,
-                 mjcFlagEquality,
-                 mjcFlagEulerdamp,
-                 mjcFlagFilterparent,
-                 mjcFlagFrictionloss,
-                 mjcFlagFwdinv,
-                 mjcFlagGravity,
-                 mjcFlagInvdiscrete,
-                 mjcFlagIsland,
-                 mjcFlagLimit,
-                 mjcFlagMidphase,
-                 mjcFlagMulticcd,
-                 mjcFlagNativeccd,
-                 mjcFlagOverride,
-                 mjcFlagRefsafe,
-                 mjcFlagSensor,
-                 mjcFlagSpring,
-                 mjcFlagWarmstart,
-                 mjcForceLimited,
-                 mjcForceRangeMax,
-                 mjcForceRangeMin,
-                 mjcFrictionloss,
-                 mjcGainPrm,
-                 mjcGainType,
-                 mjcGap,
-                 mjcGear,
-                 mjcGroup,
-                 mjcInertia,
-                 mjcInheritRange,
-                 mjcJointInParent,
-                 mjcLengthRangeMax,
-                 mjcLengthRangeMin,
-                 mjcLimited,
-                 mjcMargin,
-                 mjcMaxhullvert,
-                 mjcMpos,
-                 mjcMquat,
-                 mjcOptionActuatorgroupdisable,
-                 mjcOptionCcd_iterations,
-                 mjcOptionCcd_tolerance,
-                 mjcOptionCone,
-                 mjcOptionDensity,
-                 mjcOptionImpratio,
-                 mjcOptionIntegrator,
-                 mjcOptionIterations,
-                 mjcOptionJacobian,
-                 mjcOptionLs_iterations,
-                 mjcOptionLs_tolerance,
-                 mjcOptionMagnetic,
-                 mjcOptionNoslip_iterations,
-                 mjcOptionNoslip_tolerance,
-                 mjcOptionO_friction,
-                 mjcOptionO_margin,
-                 mjcOptionO_solimp,
-                 mjcOptionO_solref,
-                 mjcOptionSdf_initpoints,
-                 mjcOptionSdf_iterations,
-                 mjcOptionSolver,
-                 mjcOptionTimestep,
-                 mjcOptionTolerance,
-                 mjcOptionViscosity,
-                 mjcOptionWind,
-                 mjcPath,
-                 mjcPathCoef,
-                 mjcPathDivisors,
-                 mjcPathIndices,
-                 mjcPathSegments,
-                 mjcPriority,
-                 mjcQpos,
-                 mjcQvel,
-                 mjcRangeMax,
-                 mjcRangeMin,
-                 mjcRef,
-                 mjcRefSite,
-                 mjcRgba,
-                 mjcRollingfriction,
-                 mjcShellinertia,
-                 mjcSideSites,
-                 mjcSideSitesIndices,
-                 mjcSliderSite,
-                 mjcSolimp,
-                 mjcSolimpfriction,
-                 mjcSolimplimit,
-                 mjcSolmix,
-                 mjcSolref,
-                 mjcSolreffriction,
-                 mjcSolreflimit,
-                 mjcSpringdamper,
-                 mjcSpringlength,
-                 mjcSpringref,
-                 mjcStiffness,
-                 mjcTarget,
-                 mjcTorqueScale,
-                 mjcTorsionalfriction,
-                 mjcType,
-                 mjcWidth,
-                 muscle,
-                 newton,
-                 none,
-                 pgs,
-                 pyramidal,
-                 radian,
-                 rk4,
-                 shell,
-                 sparse,
-                 spatial,
-                 true_,
-                 user,
-                 MjcActuator,
-                 MjcCollisionAPI,
-                 MjcEqualityAPI,
-                 MjcEqualityConnectAPI,
-                 MjcEqualityJointAPI,
-                 MjcEqualityWeldAPI,
-                 MjcImageableAPI,
-                 MjcJointAPI,
-                 MjcKeyframe,
-                 MjcMaterialAPI,
-                 MjcMeshCollisionAPI,
-                 MjcSceneAPI,
-                 MjcSiteAPI,
-                 MjcTendon}) {}
-
-TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
-
-PXR_NAMESPACE_CLOSE_SCOPE
diff --git a/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc b/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
deleted file mode 100644
index 4fcdc505..00000000
--- a/src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
+++ /dev/null
@@ -1,294 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "mjcf/mjcf_file_format.h"
-
-#include <array>
-#include <memory>
-#include <stack>
-#include <string>
-#include <unordered_set>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "mjcf/mujoco_to_usd.h"
-#include "tinyxml2.h"
-#include <pxr/base/tf/diagnostic.h>
-#include <pxr/base/tf/enum.h>
-#include <pxr/base/tf/pathUtils.h>
-#include <pxr/base/tf/registryManager.h>
-#include <pxr/base/tf/staticTokens.h>
-#include <pxr/base/tf/stringUtils.h>
-#include <pxr/base/tf/type.h>
-#include <pxr/base/work/loops.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/ar/asset.h>
-#include <pxr/usd/ar/resolvedPath.h>
-#include <pxr/usd/ar/resolver.h>
-#include <pxr/usd/sdf/changeBlock.h>
-#include <pxr/usd/sdf/declareHandles.h>
-#include <pxr/usd/sdf/fileFormat.h>
-#include <pxr/usd/sdf/layer.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-TF_DEFINE_PUBLIC_TOKENS(UsdMjcfFileFormatTokens, USD_MJCF_FILE_FORMAT_TOKENS);
-
-TF_REGISTRY_FUNCTION(TfType) {
-  SDF_DEFINE_FILE_FORMAT(UsdMjcfFileFormat, SdfFileFormat);
-}
-
-enum ErrorCodes { XmlParsingError };
-TF_REGISTRY_FUNCTION(TfEnum) {
-  TF_ADD_ENUM_NAME(XmlParsingError, "Error when parsing XML.");
-};
-
-namespace {
-
-bool IsAbsolutePath(const std::string &path) {
-  // empty: not absolute
-  if (path.empty()) {
-    return false;
-  }
-
-  // path is scheme:filename which we consider an absolute path
-  // e.g. file URI's are always absolute paths
-  if (mjp_getResourceProvider(path.c_str()) != nullptr) {
-    return true;
-  }
-
-  // check first char
-  const char *str = path.c_str();
-  if (str[0] == '\\' || str[0] == '/') {
-    return true;
-  }
-
-  // find ":/" or ":\"
-  if (path.find(":/") != std::string::npos ||
-      path.find(":\\") != std::string::npos) {
-    return true;
-  }
-
-  return false;
-}
-
-void ResolveMjcfDependencies(const std::string &xml_string,
-                             const std::string &resolved_path);
-
-void AccumulateFiles(std::unordered_set<std::string> &files,
-                     tinyxml2::XMLElement *root,
-                     const std::string &resolved_path) {
-  const char *asset_dir = nullptr;
-  const char *mesh_dir = nullptr;
-  const char *texture_dir = nullptr;
-  std::vector<std::string> texture_files;
-  std::vector<std::string> mesh_files;
-  std::vector<std::string> hfield_files;
-
-  const std::string parent_dir = TfNormPath(TfGetPathName(resolved_path));
-
-  auto accumulate_files = [&](const std::vector<std::string> &candidate_files,
-                              const char *prefix_path) {
-    for (const auto &file : candidate_files) {
-      std::string file_with_prefix = prefix_path == nullptr ? file : TfStringCatPaths(prefix_path, file);
-      if (IsAbsolutePath(file)) {
-        auto identifier = pxr::ArGetResolver().CreateIdentifier(file);
-        // If this path is an absolute path, insert that path.
-        files.insert(identifier);
-      } else if (IsAbsolutePath(file_with_prefix)) {
-        auto identifier =
-            pxr::ArGetResolver().CreateIdentifier(file_with_prefix);
-        // Else if prefix is an absolute path, insert prefix / file.
-        files.insert(identifier);
-      } else {
-        // Else insert resolved_path / prefix / file.
-        auto identifier = pxr::ArGetResolver().CreateIdentifier(
-            file_with_prefix, pxr::ArResolvedPath(resolved_path));
-        files.insert(identifier);
-      }
-    }
-  };
-
-  std::stack<tinyxml2::XMLElement *> elements;
-  elements.push(root);
-  while (!elements.empty()) {
-    tinyxml2::XMLElement *elem = elements.top();
-    elements.pop();
-
-    if (!strcasecmp(elem->Value(), "include") ||
-        !strcasecmp(elem->Value(), "model")) {
-      const char *file = elem->Attribute("file");
-      if (file != nullptr) {
-        auto identifier = pxr::ArGetResolver().CreateIdentifier(
-            std::string(file), pxr::ArResolvedPath(resolved_path));
-        auto include_resolved_path = pxr::ArGetResolver().Resolve(identifier);
-        auto asset = pxr::ArGetResolver().OpenAsset(include_resolved_path);
-        ResolveMjcfDependencies(asset->GetBuffer().get(),
-                                include_resolved_path);
-
-        // Neither of these elements should have children.
-        continue;
-      }
-    } else if (!strcasecmp(elem->Value(), "compiler")) {
-      asset_dir = elem->Attribute("assetdir");
-      mesh_dir = elem->Attribute("meshdir");
-      texture_dir = elem->Attribute("texturedir");
-
-      // compiler elements don't have children.
-      continue;
-    } else if (!strcasecmp(elem->Value(), "mesh")) {
-      // mesh elements don't have children.
-      const char *file = elem->Attribute("file");
-      if (file != nullptr) {
-        mesh_files.emplace_back(file);
-      }
-      continue;
-    } else if (!strcasecmp(elem->Value(), "hfield")) {
-      // hfield elements don't have children.
-      const char *file = elem->Attribute("file");
-      if (file != nullptr) {
-        hfield_files.emplace_back(file);
-      }
-      continue;
-    } else if (!strcasecmp(elem->Value(), "texture")) {
-      static const char *attributes[] = {"file",     "fileright", "fileup",
-                                         "fileleft", "filedown",  "filefront",
-                                         "fileback"};
-      for (const auto &attribute : attributes) {
-        const char *file = elem->Attribute(attribute);
-        if (file != nullptr) {
-          texture_files.emplace_back(file);
-        }
-      }
-    }
-
-    tinyxml2::XMLElement *child = elem->FirstChildElement();
-    while (child) {
-      elements.push(child);
-      child = child->NextSiblingElement();
-    }
-  }
-
-  accumulate_files(texture_files,
-                   texture_dir == nullptr ? asset_dir : texture_dir);
-  accumulate_files(mesh_files, mesh_dir == nullptr ? asset_dir : mesh_dir);
-  accumulate_files(hfield_files, asset_dir);
-}
-
-void ResolveMjcfDependencies(const std::string &xml_string,
-                             const std::string &resolved_path) {
-  // load XML file or parse string
-  tinyxml2::XMLDocument doc;
-  doc.Parse(xml_string.c_str());
-
-  // error checking
-  if (doc.Error()) {
-    TF_ERROR(XmlParsingError, "%d:\n%s\n", doc.ErrorID(), doc.ErrorStr());
-    return;
-  }
-
-  // get top-level element
-  tinyxml2::XMLElement *root = doc.RootElement();
-  if (!root) {
-    TF_ERROR(XmlParsingError, "XML root element not found");
-    return;
-  }
-
-  // Accumulate file dependencies.
-  std::unordered_set<std::string> files = {};
-  AccumulateFiles(files, root, resolved_path);
-
-  auto open_asset = [](const std::string &identifier) {
-    pxr::ArGetResolver().OpenAsset(pxr::ArGetResolver().Resolve(identifier));
-  };
-  // Open all assets in parallel.
-  pxr::WorkParallelForEach(files.begin(), files.end(), open_asset);
-}
-}  // namespace
-
-UsdMjcfFileFormat::UsdMjcfFileFormat()
-    : SdfFileFormat(
-          UsdMjcfFileFormatTokens->Id, UsdMjcfFileFormatTokens->Version,
-          UsdMjcfFileFormatTokens->Target, UsdMjcfFileFormatTokens->Id) {}
-
-UsdMjcfFileFormat::~UsdMjcfFileFormat() {}
-
-bool UsdMjcfFileFormat::CanRead(const std::string &filePath) const {
-  auto extension = pxr::TfGetExtension(filePath);
-  if (extension.empty()) {
-    return false;
-  }
-
-  return extension == this->GetFormatId();
-}
-
-bool UsdMjcfFileFormat::ReadImpl(pxr::SdfLayer *layer, mjSpec *spec) const {
-  auto args = layer->GetFileFormatArguments();
-  auto data = InitData(args);
-
-  pxr::SdfChangeBlock block;
-  pxr::SdfLayerRefPtr spec_layer = pxr::SdfLayer::CreateAnonymous();
-  auto success = mujoco::usd::WriteSpecToData(spec, spec_layer);
-  mj_deleteSpec(spec);
-  if (!success) {
-    return false;
-  }
-
-  layer->TransferContent(spec_layer);
-
-  return true;
-}
-
-bool UsdMjcfFileFormat::ReadFromString(pxr::SdfLayer *layer,
-                                       const std::string &str) const {
-  std::array<char, 1024> error;
-  mjSpec *spec =
-      mj_parseXMLString(str.c_str(), nullptr, error.data(), error.size());
-  if (spec == nullptr) {
-    TF_WARN(XmlParsingError, "%s", error.data());
-    return false;
-  }
-
-  return ReadImpl(layer, spec);
-}
-
-bool UsdMjcfFileFormat::Read(pxr::SdfLayer *layer,
-                             const std::string &resolved_path,
-                             bool metadata_only) const {
-  // Resolved all dependencies so that they are accessible when parsing
-  // the XML.
-  std::shared_ptr<pxr::ArAsset> asset =
-      pxr::ArGetResolver().OpenAsset(pxr::ArResolvedPath(resolved_path));
-  auto buffer = asset->GetBuffer();
-  ResolveMjcfDependencies(buffer.get(), resolved_path);
-
-  // Parse to USD.
-  std::array<char, 1024> error;
-  mjSpec *spec =
-      mj_parseXML(resolved_path.c_str(), nullptr, error.data(), error.size());
-
-  if (spec == nullptr) {
-    TF_WARN(XmlParsingError, "%s", error.data());
-    return false;
-  }
-  return ReadImpl(layer, spec);
-}
-
-bool UsdMjcfFileFormat::WriteToString(const SdfLayer &layer, std::string *str,
-                                      const std::string &comment) const {
-  return SdfFileFormat::FindById(pxr::TfToken("usda"))
-      ->WriteToString(layer, str, comment);
-}
-
-PXR_NAMESPACE_CLOSE_SCOPE
diff --git a/src/experimental/usd/plugins/mjcf/mjcf_file_format.h b/src/experimental/usd/plugins/mjcf/mjcf_file_format.h
deleted file mode 100644
index becaaeb2..00000000
--- a/src/experimental/usd/plugins/mjcf/mjcf_file_format.h
+++ /dev/null
@@ -1,89 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MJCF_FILE_FORMAT_H_
-#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MJCF_FILE_FORMAT_H_
-
-#include <string>
-
-#include <mujoco/mujoco.h>
-#include <pxr/base/tf/declarePtrs.h>
-#include <pxr/base/tf/staticTokens.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/sdf/declareHandles.h>
-#include <pxr/usd/sdf/fileFormat.h>
-#include <pxr/usd/usd/api.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-
-// clang-format off
-// The Id should realistically be mjcf, but the id and extension need to match.
-// So near term it just assumes the only .xml file we would import is MJCF.
-#define USD_MJCF_FILE_FORMAT_TOKENS  \
-    ((Id, "xml"))                    \
-    ((Version, "1.0"))               \
-    ((Target, "usd"))                \
-// clang-format on
-
-TF_DECLARE_PUBLIC_TOKENS(UsdMjcfFileFormatTokens, USD_MJCF_FILE_FORMAT_TOKENS);
-
-TF_DECLARE_WEAK_AND_REF_PTRS(UsdMjcfFileFormat);
-
-class UsdMjcfFileFormat : public SdfFileFormat {
- public:
-  using SdfFileFormat::FileFormatArguments;
-
-  // Returns true if 'file' can be read by this format plugin.
-  USD_API
-  bool CanRead(const std::string &file) const override;
-
-  // Reads scene description from the asset specified by resolved_path into
-  // 'layer'.
-  //
-  // metadataOnly is a flag that asks for only the layer metadata to be read in,
-  // which can be much faster if that is all that is required but currently we
-  // ignore it.
-  //
-  // Returns true if the asset is successfully read into layer, false otherwise.
-  USD_API
-  bool Read(pxr::SdfLayer *layer, const std::string &resolved_path,
-            bool metadata_only) const override;
-
-  // Reads data in the string 'str' into 'layer'.
-  //
-  // If the file is successfully read, this method returns true. Otherwise,
-  // false is returned and errors are posted.
-  USD_API
-  bool ReadFromString(SdfLayer *layer, const std::string &str) const override;
-
-  // Writes the contents in 'layer' to 'str'. This just forwards to the usda
-  // implementation.
-  USD_API
-  bool WriteToString(const SdfLayer &layer, std::string *str,
-                     const std::string &comment) const override;
-
- protected:
-  SDF_FILE_FORMAT_FACTORY_ACCESS;
-
-  UsdMjcfFileFormat();
-  virtual ~UsdMjcfFileFormat();
-
- private:
-  // Function delegated to by Read and ReadFromString.
-  bool ReadImpl(SdfLayer *layer, mjSpec *spec) const;
-};
-
-PXR_NAMESPACE_CLOSE_SCOPE
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MJCF_FILE_FORMAT_H_
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
deleted file mode 100644
index 5e0350fc..00000000
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ /dev/null
@@ -1,2425 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "mjcf/mujoco_to_usd.h"
-
-#include <algorithm>
-#include <cmath>
-#include <cstddef>
-#include <numbers>
-#include <string>
-#include <unordered_map>
-#include <unordered_set>
-#include <utility>
-#include <vector>
-
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include <mujoco/experimental/usd/utils.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "mjcf/utils.h"
-#include <pxr/base/arch/attributes.h>
-#include <pxr/base/gf/matrix4d.h>
-#include <pxr/base/gf/quatf.h>
-#include <pxr/base/gf/rotation.h>
-#include <pxr/base/gf/vec2f.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/callContext.h>
-#include <pxr/base/tf/diagnostic.h>
-#include <pxr/base/tf/diagnosticHelper.h>
-#include <pxr/base/tf/enum.h>
-#include <pxr/base/tf/registryManager.h>
-#include <pxr/base/tf/staticData.h>
-#include <pxr/base/tf/staticTokens.h>
-#include <pxr/base/tf/stringUtils.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/vt/array.h>
-#include <pxr/base/vt/dictionary.h>
-#include <pxr/base/vt/types.h>
-#include <pxr/base/vt/value.h>
-#include <pxr/usd/kind/registry.h>
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/declareHandles.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/sdf/schema.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/sdf/valueTypeName.h>
-#include <pxr/usd/usdGeom/metrics.h>
-#include <pxr/usd/usdGeom/tokens.h>
-#include <pxr/usd/usdLux/tokens.h>
-#include <pxr/usd/usdPhysics/fixedJoint.h>
-#include <pxr/usd/usdPhysics/joint.h>
-#include <pxr/usd/usdPhysics/prismaticJoint.h>
-#include <pxr/usd/usdPhysics/revoluteJoint.h>
-#include <pxr/usd/usdPhysics/sphericalJoint.h>
-#include <pxr/usd/usdPhysics/tokens.h>
-#include <pxr/usd/usdShade/tokens.h>
-
-namespace {
-
-// The ID of the World in mjModel and mjData.
-static constexpr int kWorldIndex = 0;
-
-// Using to satisfy TF_DEFINE_PRIVATE_TOKENS macro below and avoid operating in
-// PXR_NS.
-using pxr::TfToken;
-template <typename T>
-using TfStaticData = pxr::TfStaticData<T>;
-
-// clang-format off
-TF_DEFINE_PRIVATE_TOKENS(kTokens,
-                         ((body, "Body"))
-                         ((body_name, "mujoco:body_name"))
-                         ((geom, "Geom"))
-                         ((light, "Light"))
-                         ((meshScope, "MeshSources"))
-                         ((materialsScope, "Materials"))
-                         ((physicsMaterialsScope, "PhysicsMaterials"))
-                         ((previewSurface, "PreviewSurface"))
-                         ((keyframesScope, "Keyframes"))
-                         ((actuatorsScope, "Actuators"))
-                         ((keyframe, "Keyframe"))
-                         ((surface, "PreviewSurface"))
-                         ((world, "World"))
-                         ((xformOpTransform, "xformOp:transform"))
-                         ((xformOpScale, "xformOp:scale"))
-                         (st)
-                         ((primvarsSt, "primvars:st"))
-                         ((outputsSt, "outputs:st"))
-                         ((inputsSt, "inputs:st"))
-                         ((inputsVarname, "inputs:varname"))
-                         ((inputsFile, "inputs:file"))
-                         ((inputsWrapS, "inputs:wrapS"))
-                         ((inputsWrapT, "inputs:wrapT"))
-                         ((inputsDiffuseColor, "inputs:diffuseColor"))
-                         ((inputsEmissiveColor, "inputs:emissiveColor"))
-                         ((outputsRgb, "outputs:rgb"))
-                         ((outputsR, "outputs:r"))
-                         ((outputsG, "outputs:g"))
-                         ((outputsB, "outputs:b"))
-                         ((inputsMetallic, "inputs:metallic"))
-                         ((inputsOcclusion, "inputs:occlusion"))
-                         ((inputsRoughness, "inputs:roughness"))
-                         (repeat)
-                         ((sourceMesh, pxr::UsdGeomTokens->Mesh))
-                         ((inputsNormal, "inputs:normal"))
-                         ((joint, "Joint"))
-                         (UsdPrimvarReader_float2)
-                         (UsdUVTexture)
-                         (UsdPreviewSurface)
-                         ((NewtonMaterialAPI, "NewtonMaterialAPI"))
-                         ((NewtonMeshCollisionAPI, "NewtonMeshCollisionAPI"))
-                         ((NewtonJointAPI, "NewtonJointAPI"))
-                         ((NewtonMassAPI, "NewtonMassAPI"))
-                         ((newtonTorsionalFriction, "newton:torsionalFriction"))
-                         ((newtonRollingFriction, "newton:rollingFriction"))
-                         ((newtonArmature, "newton:armature"))
-                         ((newtonDamping, "newton:damping"))
-                         ((newtonFriction, "newton:friction"))
-                         ((newtonMassModel, "newton:massModel"))
-                         ((newtonMaxHullVertices, "newton:maxHullVertices"))
-                         ((newtonMaxSolverIterations, "newton:maxSolverIterations"))
-                         ((newtonTimeStepsPerSecond, "newton:timeStepsPerSecond"))
-                         ((newtonGravityEnabled, "newton:gravityEnabled"))
-                         ((newtonContactMargin, "newton:contactMargin"))
-                         ((newtonContactGap, "newton:contactGap"))
-                         ((newtonContactAdhesion, "newton:contactAdhesion"))
-                        );
-
-// Using to satisfy TF_REGISTRY_FUNCTION macro below and avoid operating in PXR_NS.
-using pxr::TfEnum;
-using pxr::Tf_RegistryStaticInit;
-using pxr::Tf_RegistryInit;
-using pxr::TfEnum;
-template <typename T>
-using Arch_PerLibInit = pxr::Arch_PerLibInit<T>;
-#if defined(ARCH_OS_DARWIN)
-using Arch_ConstructorEntry = pxr::Arch_ConstructorEntry;
-#endif
-enum ErrorCodes { UnsupportedActuatorTypeError, UnsupportedGeomTypeError, MujocoCompilationError };
-
-TF_REGISTRY_FUNCTION(pxr::TfEnum) {
-  TF_ADD_ENUM_NAME(UnsupportedGeomTypeError, "UsdGeom type is unsupported.")
-  TF_ADD_ENUM_NAME(MujocoCompilationError, "Mujoco spec failed to compile.")
-}
-
-// Usings to satisfy TF_ERROR macro.
-using pxr::TfCallContext;
-using pxr::Tf_PostErrorHelper;
-// clang-format on
-
-using pxr::MjcPhysicsTokens;
-
-using mujoco::usd::AddAttributeConnection;
-using mujoco::usd::AddPrimInherit;
-using mujoco::usd::AddPrimReference;
-using mujoco::usd::ApplyApiSchema;
-using mujoco::usd::CreateAttributeSpec;
-using mujoco::usd::CreateClassSpec;
-using mujoco::usd::CreatePrimSpec;
-using mujoco::usd::CreateRelationshipSpec;
-using mujoco::usd::SetAttributeDefault;
-using mujoco::usd::SetAttributeTimeSample;
-using mujoco::usd::SetLayerMetadata;
-using mujoco::usd::SetPrimKind;
-using mujoco::usd::SetPrimPurpose;
-
-pxr::GfMatrix4d MujocoPosQuatToTransform(mjtNum *pos, mjtNum *quat) {
-  pxr::GfQuatd quaternion = pxr::GfQuatd::GetIdentity();
-  quaternion.SetReal(quat[0]);
-  quaternion.SetImaginary(quat[1], quat[2], quat[3]);
-  pxr::GfRotation rotation(quaternion);
-
-  pxr::GfVec3d translation(0.0, 0.0, 0.0);
-  translation.Set(pos[0], pos[1], pos[2]);
-
-  pxr::GfMatrix4d transform;
-  transform.SetTransform(rotation, translation);
-  return transform;
-}
-
-}  // namespace
-
-class ModelWriter {
- public:
-  ModelWriter(mjSpec* spec, mjModel* model, pxr::SdfLayerRefPtr layer,
-              bool skip_elems_from_usd)
-      : spec_(spec),
-        model_(model),
-        layer_(layer),
-        skip_elems_from_usd_(skip_elems_from_usd),
-        class_path_("/Bad_Path") {
-    body_paths_ = std::vector<pxr::SdfPath>(model->nbody);
-    site_paths_ = std::vector<pxr::SdfPath>(model->nsite);
-    joint_paths_ = std::vector<pxr::SdfPath>(model->njnt);
-  }
-  ~ModelWriter() { mj_deleteModel(model_); }
-
-  bool ShouldWrite(mjsElement* element) {
-    // If we've been told to skip over spec elements that originated from USD,
-    // check the user value and if it has a primpath then it came from decoding
-    // a USD stage into an MjSpec.
-    return !skip_elems_from_usd_ || mujoco::usd::GetUsdPrimPathUserValue(element).IsEmpty();
-  }
-
-  void Write() {
-    // Create top level class holder.
-    class_path_ = CreateClassSpec(layer_, pxr::SdfPath::AbsoluteRootPath(),
-                                  pxr::TfToken("__class__"))->GetPath();
-
-    // Create the world body.
-    body_paths_[kWorldIndex] = WriteWorldBody(kWorldIndex)->GetPath();
-
-    layer_->SetDocumentation("Generated by mujoco model writer.");
-    // Set the world body to be the default prim for referencing/payloads.
-    layer_->SetDefaultPrim(body_paths_[kWorldIndex].GetNameToken());
-    // Mujoco is Z up by default.
-    SetLayerMetadata(layer_, pxr::UsdGeomTokens->upAxis, pxr::UsdGeomTokens->z);
-    // Mujoco is authored in meters by default.
-    SetLayerMetadata(layer_, pxr::UsdGeomTokens->metersPerUnit,
-                     pxr::UsdGeomLinearUnits::meters);
-
-    WritePhysicsScene();
-
-    // Author mesh scope + mesh prims to be referenced.
-    WriteMeshes();
-    WriteMaterials();
-    WriteBodies();
-    WriteActuators();
-    WriteKeyframes();
-  }
-
- private:
-  mjSpec *spec_;
-  mjModel *model_;
-  pxr::SdfLayerRefPtr layer_;
-
-  bool skip_elems_from_usd_ = false;
-  // Path to top level class spec that all classes should be children of.
-  pxr::SdfPath class_path_;
-  // Mapping from Mujoco body id to SdfPath.
-  std::vector<pxr::SdfPath> body_paths_;
-  // Mapping from Mujoco site id to SdfPath.
-  std::vector<pxr::SdfPath> site_paths_;
-  // Mapping from Mujoco joint id to SdfPath.
-  std::vector<pxr::SdfPath> joint_paths_;
-  // Mapping from mesh names to Mesh prim path.
-  std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
-  // Set of body ids that have had the articulation root API applied.
-  std::unordered_set<int> articulation_roots_;
-
-  // Given a name index and a parent prim path this returns a
-  // token such that appending it to the parent prim path does not
-  // identify an existing prim spec.
-  //
-  // This is necessary since mujoco does not require names for elements
-  // so we must differentiate between elements of the same type.
-  //
-  // For example:
-  // <mujoco model="model with two planes">
-  //    <worldbody>
-  //      <geom type="plane"/>
-  //      <geom type="plane"/>
-  //    </worldbody>
-  //  </mujoco>
-  //
-  //  We expect that the occurrence of this happens little enough that linear
-  //  searching is plenty efficient.
-  pxr::TfToken GetAvailablePrimName(const std::string base_name,
-                                    const pxr::TfToken fallback_name,
-                                    const pxr::SdfPath &parent_path) {
-    const auto valid_base_name = pxr::TfMakeValidIdentifier(
-        base_name.empty() ? fallback_name : base_name);
-    std::string name = valid_base_name;
-    pxr::SdfPath test_path = parent_path.AppendChild(pxr::TfToken(name));
-    int count = 1;
-    while (layer_->HasSpec(test_path) &&
-           layer_->GetSpecType(test_path) == pxr::SdfSpecType::SdfSpecTypePrim) {
-      name = pxr::TfStringPrintf("%s_%d", valid_base_name.c_str(), count++);
-      test_path = parent_path.AppendChild(pxr::TfToken(name));
-    }
-    return pxr::TfToken(name);
-  }
-
-  // This function, conversely to GetAvailablePrimName will not handle
-  // collisions. This is useful when looking up a prim path that might exist or
-  // a path that you know must be unique.
-  pxr::TfToken GetValidPrimName(const std::string name) {
-    return pxr::TfToken(pxr::TfMakeValidIdentifier(name));
-  }
-
-  struct BodyPathComponents {
-    pxr::SdfPath parent_path;
-    pxr::TfToken body_name;
-  };
-
-  void WriteScaleXformOp(const pxr::SdfPrimSpecHandle prim_spec,
-                         const pxr::GfVec3f &scale) {
-    auto scale_attr_spec =
-        CreateAttributeSpec(layer_, prim_spec, kTokens->xformOpScale,
-                            pxr::SdfValueTypeNames->Float3);
-    SetAttributeDefault(layer_, scale_attr_spec, scale);
-  }
-
-  void WriteTransformXformOp(const pxr::SdfPrimSpecHandle prim_spec,
-                             const pxr::GfMatrix4d &transform) {
-    auto transform_op_spec =
-        CreateAttributeSpec(layer_, prim_spec, kTokens->xformOpTransform,
-                            pxr::SdfValueTypeNames->Matrix4d);
-    SetAttributeDefault(layer_, transform_op_spec, transform);
-  }
-
-  void WriteXformOpOrder(const pxr::SdfPrimSpecHandle prim_spec,
-                         const pxr::VtArray<pxr::TfToken> &order) {
-    auto xform_op_order_spec =
-        CreateAttributeSpec(layer_, prim_spec, pxr::UsdGeomTokens->xformOpOrder,
-                            pxr::SdfValueTypeNames->TokenArray);
-    SetAttributeDefault(layer_, xform_op_order_spec, order);
-  }
-
-  template <typename T>
-  void WriteUniformAttribute(const pxr::SdfPrimSpecHandle prim_spec,
-                             const pxr::SdfValueTypeName &value_type_name,
-                             const pxr::TfToken &token, const T &value) {
-    auto attr_spec = CreateAttributeSpec(
-        layer_, prim_spec, token, value_type_name, pxr::SdfVariabilityUniform);
-    SetAttributeDefault(layer_, attr_spec, value);
-  }
-
-  template <typename T>
-  void WriteColorAndOpacityAttributes(const pxr::SdfPrimSpecHandle prim_spec,
-                                      const T &element) {
-    // If rgba is not the default (0.5, 0.5, 0.5, 1), then set the
-    // displayColor attribute.
-    // No effort is made to properly handle the interaction between rgba
-    // and the material if both are specified.
-    if (element->rgba[0] != 0.5f || element->rgba[1] != 0.5f ||
-        element->rgba[2] != 0.5f || element->rgba[3] != 1.0f) {
-      // Set the displayColor attribute.
-      auto display_color_attr = CreateAttributeSpec(
-          layer_, prim_spec, pxr::UsdGeomTokens->primvarsDisplayColor,
-          pxr::SdfValueTypeNames->Color3fArray);
-      SetAttributeDefault(
-          layer_, display_color_attr,
-          pxr::VtArray<pxr::GfVec3f>{
-              {element->rgba[0], element->rgba[1], element->rgba[2]}});
-      // Set the displayOpacity attribute, only if the opacity is not 1.
-      if (element->rgba[3] != 1.0f) {
-        auto display_opacity_attr = CreateAttributeSpec(
-            layer_, prim_spec, pxr::UsdGeomTokens->primvarsDisplayOpacity,
-            pxr::SdfValueTypeNames->FloatArray);
-        SetAttributeDefault(layer_, display_opacity_attr,
-                            pxr::VtArray<float>{element->rgba[3]});
-      }
-    }
-  }
-
-  void PrependToXformOpOrder(const pxr::SdfPrimSpecHandle prim_spec,
-                             const pxr::VtArray<pxr::TfToken> &order) {
-    auto xform_op_order_path =
-        prim_spec->GetPath().AppendProperty(pxr::UsdGeomTokens->xformOpOrder);
-    if (!prim_spec->HasField(pxr::UsdGeomTokens->xformOpOrder)) {
-      WriteXformOpOrder(prim_spec, order);
-      return;
-    }
-
-    auto existing_order =
-        prim_spec->GetField(pxr::UsdGeomTokens->xformOpOrder).Get<pxr::VtArray<pxr::TfToken>>();
-
-    pxr::VtArray<pxr::TfToken> new_order(order.size() + existing_order.size());
-    std::copy(order.begin(), order.end(), new_order.begin());
-    std::copy(existing_order.begin(), existing_order.end(),
-              new_order.begin() + order.size());
-
-    SetAttributeDefault(layer_, layer_->GetAttributeAtPath(xform_op_order_path), new_order);
-  }
-
-  void WriteMesh(const mjsMesh *mesh, const pxr::SdfPath &parent_path) {
-    auto name = GetAvailablePrimName(*mjs_getName(mesh->element),
-                                     pxr::UsdGeomTokens->Mesh, parent_path);
-    auto subcomponent_spec =
-        CreatePrimSpec(layer_, parent_path, name, pxr::UsdGeomTokens->Xform);
-    auto mesh_spec =
-        CreatePrimSpec(layer_, subcomponent_spec->GetPath(), kTokens->sourceMesh,
-                       pxr::UsdGeomTokens->Mesh);
-    mesh_paths_[*mjs_getName(mesh->element)] = subcomponent_spec->GetPath();
-
-    ApplyApiSchema(layer_, mesh_spec, MjcPhysicsTokens->MjcMeshCollisionAPI);
-
-    pxr::TfToken inertia = MjcPhysicsTokens->legacy;
-    if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_EXACT) {
-      inertia = MjcPhysicsTokens->exact;
-    } else if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_CONVEX) {
-      inertia = MjcPhysicsTokens->convex;
-    } else if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_SHELL) {
-      inertia = MjcPhysicsTokens->shell;
-    }
-
-    WriteUniformAttribute(mesh_spec, pxr::SdfValueTypeNames->Token,
-                          MjcPhysicsTokens->mjcInertia, inertia);
-
-    // Newton mass model attribute (partially replaces deprecated mjc:inertia)
-    if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_SHELL) {
-      ApplyApiSchema(layer_, mesh_spec, kTokens->NewtonMassAPI);
-      WriteUniformAttribute(mesh_spec, pxr::SdfValueTypeNames->Token,
-                            kTokens->newtonMassModel, MjcPhysicsTokens->shell);
-    }
-
-    // Newton mesh attribute (replaces deprecated mjc:maxhullvert)
-    if (mesh->maxhullvert != -1) {
-      WriteUniformAttribute(mesh_spec, pxr::SdfValueTypeNames->Int,
-                            kTokens->newtonMaxHullVertices, mesh->maxhullvert);
-    }
-
-    // NOTE: The geometry data taken from the spec is the post-compilation
-    // data after it has been mjCMesh::Compile'd. So don't be surprised if
-    // things like user defined vertices have moved due to re-centering to
-    // CoM and other modifications (see mjCMesh::Process for other xforms).
-    int mesh_id = mjs_getId(mesh->element);
-    int vert_start_offset = model_->mesh_vertadr[mesh_id] * 3;
-    int nvert = model_->mesh_vertnum[mesh_id];
-    pxr::VtArray<pxr::GfVec3f> points;
-    points.reserve(nvert);
-    for (int i = vert_start_offset; i < vert_start_offset + nvert * 3; i += 3) {
-      points.emplace_back(&model_->mesh_vert[i]);
-    }
-
-    auto points_attr =
-        CreateAttributeSpec(layer_, mesh_spec, pxr::UsdGeomTokens->points,
-                            pxr::SdfValueTypeNames->Vector3fArray);
-    SetAttributeDefault(layer_, points_attr, points);
-
-    // NOTE: nface is never 0.
-    int nface = model_->mesh_facenum[mesh_id];
-    pxr::VtArray<int> faces;
-    faces.reserve(nface * 3);
-    int face_start_offset = model_->mesh_faceadr[mesh_id] * 3;
-    for (int i = face_start_offset; i < face_start_offset + nface * 3; i += 3) {
-      faces.push_back(model_->mesh_face[i]);
-      faces.push_back(model_->mesh_face[i + 1]);
-      faces.push_back(model_->mesh_face[i + 2]);
-    }
-    auto face_vertex_idx_attr= CreateAttributeSpec(
-        layer_, mesh_spec, pxr::UsdGeomTokens->faceVertexIndices,
-        pxr::SdfValueTypeNames->IntArray);
-    SetAttributeDefault(layer_, face_vertex_idx_attr, faces);
-
-    pxr::VtArray<int> vertex_counts;
-    for (int i = 0; i < nface; ++i) {
-      // Mujoco is always triangles.
-      vertex_counts.push_back(3);
-    }
-    auto face_vertex_counts_attr= CreateAttributeSpec(
-        layer_, mesh_spec, pxr::UsdGeomTokens->faceVertexCounts,
-        pxr::SdfValueTypeNames->IntArray);
-    SetAttributeDefault(layer_, face_vertex_counts_attr, vertex_counts);
-
-    if (model_->mesh_normalnum[mesh_id]) {
-      // We have to convert from Mujoco's indexed normals to USD's faceVarying
-      // normals.
-      pxr::VtArray<pxr::GfVec3f> normals;
-      normals.reserve(nface * 3);
-      int normal_start_adr = model_->mesh_normaladr[mesh_id];
-      int face_start_offset = model_->mesh_faceadr[mesh_id] * 3;
-      for (int i = face_start_offset; i < face_start_offset + nface * 3; ++i) {
-        int normal_adr = normal_start_adr + model_->mesh_facenormal[i];
-        normals.emplace_back(&model_->mesh_normal[normal_adr * 3]);
-      }
-      auto normals_attr=
-          CreateAttributeSpec(layer_, mesh_spec, pxr::UsdGeomTokens->normals,
-                              pxr::SdfValueTypeNames->Vector3fArray);
-      SetAttributeDefault(layer_, normals_attr, normals);
-      normals_attr->SetField(pxr::UsdGeomTokens->interpolation,
-                           pxr::UsdGeomTokens->faceVarying);
-    }
-
-    if (model_->mesh_texcoordnum[mesh_id]) {
-      // We have to convert from Mujoco's indexed texcoords to USD's faceVarying
-      // texcoords.
-      pxr::VtArray<pxr::GfVec2f> texcoords;
-      texcoords.reserve(nface * 3);
-      int texcoord_start_adr = model_->mesh_texcoordadr[mesh_id];
-      int face_start_offset = model_->mesh_faceadr[mesh_id] * 3;
-      for (int i = face_start_offset; i < face_start_offset + nface * 3; ++i) {
-        int texcoord_adr = texcoord_start_adr + model_->mesh_facetexcoord[i];
-        // Invert the V coordinate, Mujoco assumes OpenGL 0,0 is top left.
-        // But USD UVs use image bottom left 0,0 convention.
-        pxr::GfVec2f uv(&model_->mesh_texcoord[texcoord_adr * 2]);
-        uv[1] = 1.0f - uv[1];
-        texcoords.push_back(uv);
-      }
-
-      auto texcoords_attr=
-          CreateAttributeSpec(layer_, mesh_spec, kTokens->primvarsSt,
-                              pxr::SdfValueTypeNames->TexCoord2fArray);
-      SetAttributeDefault(layer_, texcoords_attr, texcoords);
-      texcoords_attr->SetField(pxr::UsdGeomTokens->interpolation,
-                           pxr::UsdGeomTokens->faceVarying);
-    }
-
-    // Default subdivision scheme is catmull clark so explicitly set it
-    // to none here.
-    auto subdivision_scheme= CreateAttributeSpec(
-        layer_, mesh_spec, pxr::UsdGeomTokens->subdivisionScheme,
-        pxr::SdfValueTypeNames->Token);
-    SetAttributeDefault(layer_, subdivision_scheme,
-                        pxr::UsdGeomTokens->none);
-  }
-
-  void WritePhysicsScene() {
-    auto physics_scene_spec = CreatePrimSpec(
-        layer_, body_paths_[kWorldIndex], pxr::UsdPhysicsTokens->PhysicsScene,
-        pxr::UsdPhysicsTokens->PhysicsScene);
-
-    ApplyApiSchema(layer_, physics_scene_spec, MjcPhysicsTokens->MjcSceneAPI);
-
-    const std::vector<std::pair<pxr::TfToken, double>>
-        option_double_attributes = {
-            // mjc:option:timestep deprecated in favor of newton:timeStepsPerSecond
-            {MjcPhysicsTokens->mjcOptionTolerance, spec_->option.tolerance},
-            {MjcPhysicsTokens->mjcOptionLs_tolerance,
-             spec_->option.ls_tolerance},
-            {MjcPhysicsTokens->mjcOptionNoslip_tolerance,
-             spec_->option.noslip_tolerance},
-            {MjcPhysicsTokens->mjcOptionCcd_tolerance,
-             spec_->option.ccd_tolerance},
-            {MjcPhysicsTokens->mjcOptionImpratio, spec_->option.impratio},
-            {MjcPhysicsTokens->mjcOptionDensity, spec_->option.density},
-            {MjcPhysicsTokens->mjcOptionViscosity, spec_->option.viscosity},
-            {MjcPhysicsTokens->mjcOptionO_margin, spec_->option.o_margin},
-        };
-    for (const auto &[token, value] : option_double_attributes) {
-      WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Double,
-                            token, value);
-    }
-
-    const std::vector<std::pair<pxr::TfToken, int>> option_int_attributes = {
-        // mjc:option:iterations deprecated in favor of newton:maxSolverIterations
-        {MjcPhysicsTokens->mjcOptionLs_iterations, spec_->option.ls_iterations},
-        {MjcPhysicsTokens->mjcOptionNoslip_iterations,
-         spec_->option.noslip_iterations},
-        {MjcPhysicsTokens->mjcOptionCcd_iterations,
-         spec_->option.ccd_iterations},
-        {MjcPhysicsTokens->mjcOptionSdf_iterations,
-         spec_->option.sdf_iterations},
-        {MjcPhysicsTokens->mjcOptionSdf_initpoints,
-         spec_->option.sdf_initpoints},
-    };
-    for (const auto &[token, value] : option_int_attributes) {
-      WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Int,
-                            token, value);
-    }
-
-    auto cone_attr = CreateAttributeSpec(
-        layer_, physics_scene_spec, MjcPhysicsTokens->mjcOptionCone,
-        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
-
-    switch (spec_->option.cone) {
-      case mjCONE_PYRAMIDAL:
-        SetAttributeDefault(layer_, cone_attr, MjcPhysicsTokens->pyramidal);
-        break;
-      case mjCONE_ELLIPTIC:
-        SetAttributeDefault(layer_, cone_attr, MjcPhysicsTokens->elliptic);
-        break;
-      default:
-        break;
-    }
-
-    auto jacobian_attr = CreateAttributeSpec(
-        layer_, physics_scene_spec, MjcPhysicsTokens->mjcOptionJacobian,
-        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
-
-    switch (spec_->option.jacobian) {
-      case mjJAC_AUTO:
-        SetAttributeDefault(layer_, jacobian_attr, MjcPhysicsTokens->auto_);
-        break;
-      case mjJAC_DENSE:
-        SetAttributeDefault(layer_, jacobian_attr, MjcPhysicsTokens->dense);
-        break;
-      case mjJAC_SPARSE:
-        SetAttributeDefault(layer_, jacobian_attr, MjcPhysicsTokens->sparse);
-        break;
-      default:
-        break;
-    }
-
-    auto solver_attr = CreateAttributeSpec(
-        layer_, physics_scene_spec, MjcPhysicsTokens->mjcOptionSolver,
-        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
-    switch (spec_->option.solver) {
-      case mjSOL_NEWTON:
-        SetAttributeDefault(layer_, solver_attr, MjcPhysicsTokens->newton);
-        break;
-      case mjSOL_PGS:
-        SetAttributeDefault(layer_, solver_attr, MjcPhysicsTokens->pgs);
-        break;
-      case mjSOL_CG:
-        SetAttributeDefault(layer_, solver_attr, MjcPhysicsTokens->cg);
-        break;
-      default:
-        break;
-    }
-
-    pxr::GfVec3f gravity(spec_->option.gravity[0], spec_->option.gravity[1],
-                         spec_->option.gravity[2]);
-    // Normalize will normalize gravity in place and return the magnitude before
-    // normalization.
-    float gravity_magnitude = gravity.Normalize();
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Float,
-                          pxr::UsdPhysicsTokens->physicsGravityMagnitude,
-                          gravity_magnitude);
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Vector3f,
-                          pxr::UsdPhysicsTokens->physicsGravityDirection,
-                          gravity);
-
-    pxr::GfVec3d wind(spec_->option.wind[0], spec_->option.wind[1],
-                      spec_->option.wind[2]);
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Double3,
-                          MjcPhysicsTokens->mjcOptionWind, wind);
-
-    pxr::GfVec3d magnetic(spec_->option.magnetic[0], spec_->option.magnetic[1],
-                          spec_->option.magnetic[2]);
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Double3,
-                          MjcPhysicsTokens->mjcOptionMagnetic, magnetic);
-
-    pxr::VtArray<double> o_solref(spec_->option.o_solref,
-                                  spec_->option.o_solref + mjNREF);
-    WriteUniformAttribute(physics_scene_spec,
-                          pxr::SdfValueTypeNames->DoubleArray,
-                          MjcPhysicsTokens->mjcOptionO_solref, o_solref);
-
-    pxr::VtArray<double> o_solimp(spec_->option.o_solimp,
-                                  spec_->option.o_solimp + mjNIMP);
-    WriteUniformAttribute(physics_scene_spec,
-                          pxr::SdfValueTypeNames->DoubleArray,
-                          MjcPhysicsTokens->mjcOptionO_solimp, o_solimp);
-
-    pxr::VtArray<double> o_friction(spec_->option.o_friction,
-                                    spec_->option.o_friction + 5);
-    WriteUniformAttribute(physics_scene_spec,
-                          pxr::SdfValueTypeNames->DoubleArray,
-                          MjcPhysicsTokens->mjcOptionO_friction, o_friction);
-
-    auto integrator_attr = CreateAttributeSpec(
-        layer_, physics_scene_spec, MjcPhysicsTokens->mjcOptionIntegrator,
-        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
-    switch (spec_->option.integrator) {
-      case mjINT_EULER:
-        SetAttributeDefault(layer_, integrator_attr, MjcPhysicsTokens->euler);
-        break;
-      case mjINT_RK4:
-        SetAttributeDefault(layer_, integrator_attr, MjcPhysicsTokens->rk4);
-        break;
-      default:
-        break;
-    }
-
-    auto create_flag_attr = [&](pxr::TfToken token, int flag, bool enable) {
-      int flags =
-          enable ? spec_->option.enableflags : spec_->option.disableflags;
-      bool value = enable ? (flags & flag) : !(flags & flag);
-      WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Bool,
-                            token, value);
-    };
-
-    const std::vector<std::pair<pxr::TfToken, int>> enable_flags = {
-        {MjcPhysicsTokens->mjcFlagFwdinv, mjENBL_FWDINV},
-        {MjcPhysicsTokens->mjcFlagEnergy, mjENBL_ENERGY},
-        {MjcPhysicsTokens->mjcFlagOverride, mjENBL_OVERRIDE},
-        {MjcPhysicsTokens->mjcFlagInvdiscrete, mjENBL_INVDISCRETE}};
-    for (const auto &[token, flag] : enable_flags) {
-      create_flag_attr(token, flag, true);
-    }
-
-    const std::vector<std::pair<pxr::TfToken, int>> disable_flags = {
-        {MjcPhysicsTokens->mjcFlagConstraint, mjDSBL_CONSTRAINT},
-        {MjcPhysicsTokens->mjcFlagEquality, mjDSBL_EQUALITY},
-        {MjcPhysicsTokens->mjcFlagFrictionloss, mjDSBL_FRICTIONLOSS},
-        {MjcPhysicsTokens->mjcFlagLimit, mjDSBL_LIMIT},
-        {MjcPhysicsTokens->mjcFlagContact, mjDSBL_CONTACT},
-        {MjcPhysicsTokens->mjcFlagSpring, mjDSBL_SPRING},
-        {MjcPhysicsTokens->mjcFlagDamper, mjDSBL_DAMPER},
-        // mjc:flag:gravity deprecated in favor of newton:gravityEnabled
-        {MjcPhysicsTokens->mjcFlagClampctrl, mjDSBL_CLAMPCTRL},
-        {MjcPhysicsTokens->mjcFlagWarmstart, mjDSBL_WARMSTART},
-        {MjcPhysicsTokens->mjcFlagFilterparent, mjDSBL_FILTERPARENT},
-        {MjcPhysicsTokens->mjcFlagActuation, mjDSBL_ACTUATION},
-        {MjcPhysicsTokens->mjcFlagRefsafe, mjDSBL_REFSAFE},
-        {MjcPhysicsTokens->mjcFlagSensor, mjDSBL_SENSOR},
-        {MjcPhysicsTokens->mjcFlagMidphase, mjDSBL_MIDPHASE},
-        {MjcPhysicsTokens->mjcFlagEulerdamp, mjDSBL_EULERDAMP},
-        {MjcPhysicsTokens->mjcFlagAutoreset, mjDSBL_AUTORESET},
-        {MjcPhysicsTokens->mjcFlagNativeccd, mjDSBL_NATIVECCD},
-        {MjcPhysicsTokens->mjcFlagIsland, mjDSBL_ISLAND},
-        {MjcPhysicsTokens->mjcFlagMulticcd, mjDSBL_MULTICCD}};
-    for (const auto &[token, flag] : disable_flags) {
-      create_flag_attr(token, flag, false);
-    }
-
-    // Compiler attributes
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Bool,
-                          MjcPhysicsTokens->mjcCompilerAutoLimits,
-                          (bool)spec_->compiler.autolimits);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Double,
-                          MjcPhysicsTokens->mjcCompilerBoundMass,
-                          spec_->compiler.boundmass);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Double,
-                          MjcPhysicsTokens->mjcCompilerBoundInertia,
-                          spec_->compiler.boundinertia);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Double,
-                          MjcPhysicsTokens->mjcCompilerSetTotalMass,
-                          spec_->compiler.settotalmass);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Bool,
-                          MjcPhysicsTokens->mjcCompilerUseThread,
-                          (bool)spec_->compiler.usethread);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Bool,
-                          MjcPhysicsTokens->mjcCompilerBalanceInertia,
-                          (bool)spec_->compiler.balanceinertia);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Token,
-                          MjcPhysicsTokens->mjcCompilerAngle,
-                          spec_->compiler.degree ? MjcPhysicsTokens->degree
-                                                 : MjcPhysicsTokens->radian);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Bool,
-                          MjcPhysicsTokens->mjcCompilerFitAABB,
-                          (bool)spec_->compiler.fitaabb);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Bool,
-                          MjcPhysicsTokens->mjcCompilerFuseStatic,
-                          (bool)spec_->compiler.fusestatic);
-
-    pxr::TfToken inertiafromgeom_token = MjcPhysicsTokens->auto_;
-    if (spec_->compiler.inertiafromgeom ==
-        mjINERTIAFROMGEOM_TRUE) {  // mjINERTIA_TRUE
-      inertiafromgeom_token = MjcPhysicsTokens->true_;
-    } else if (spec_->compiler.inertiafromgeom ==
-               mjINERTIAFROMGEOM_FALSE) {  // mjINERTIA_FALSE
-      inertiafromgeom_token = MjcPhysicsTokens->false_;
-    }
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Token,
-                          MjcPhysicsTokens->mjcCompilerInertiaFromGeom,
-                          inertiafromgeom_token);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Bool,
-                          MjcPhysicsTokens->mjcCompilerAlignFree,
-                          (bool)spec_->compiler.alignfree);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Int,
-                          MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMin,
-                          spec_->compiler.inertiagrouprange[0]);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Int,
-                          MjcPhysicsTokens->mjcCompilerInertiaGroupRangeMax,
-                          spec_->compiler.inertiagrouprange[1]);
-
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Bool,
-                          MjcPhysicsTokens->mjcCompilerSaveInertial,
-                          (bool)spec_->compiler.saveinertial);
-
-    // Newton scene attributes (auto-applied via MjcSceneAPI -> NewtonSceneAPI)
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Int,
-                          kTokens->newtonMaxSolverIterations,
-                          spec_->option.iterations);
-    if (spec_->option.timestep > 0) {
-      WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Int,
-                            kTokens->newtonTimeStepsPerSecond,
-                            static_cast<int>(std::round(1.0 / spec_->option.timestep)));
-    }
-    bool gravity_disabled = spec_->option.disableflags & mjDSBL_GRAVITY;
-    WriteUniformAttribute(physics_scene_spec, pxr::SdfValueTypeNames->Bool,
-                          kTokens->newtonGravityEnabled, !gravity_disabled);
-  }
-
-  void WriteMeshes() {
-    // Create a scope for the meshes to keep things organized
-    auto scope =
-        CreatePrimSpec(layer_, body_paths_[kWorldIndex], kTokens->meshScope,
-                       pxr::UsdGeomTokens->Scope);
-
-    // Make the mesh scope invisible since they will be referenced by the bits
-    // that should be visible.
-    scope->SetField(pxr::SdfFieldKeys->Active, false);
-
-    mjsMesh *mesh = mjs_asMesh(mjs_firstElement(spec_, mjOBJ_MESH));
-    while (mesh) {
-      if (ShouldWrite(mesh->element)) {
-        WriteMesh(mesh, scope->GetPath());
-      }
-      mesh = mjs_asMesh(mjs_nextElement(spec_, mesh->element));
-    }
-  }
-
-  pxr::SdfAttributeSpecHandle AddUVTextureShader(
-      const pxr::SdfPrimSpecHandle material_spec, const pxr::TfToken &name) {
-    auto uvmap_shader_spec =
-        CreatePrimSpec(layer_, material_spec->GetPath(), name, pxr::UsdShadeTokens->Shader);
-
-    auto uvmap_info_id_attr = CreateAttributeSpec(
-        layer_, uvmap_shader_spec, pxr::UsdShadeTokens->infoId,
-        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
-    SetAttributeDefault(layer_, uvmap_info_id_attr,
-                        kTokens->UsdPrimvarReader_float2);
-
-    auto uvmap_varname_attr =
-        CreateAttributeSpec(layer_, uvmap_shader_spec, kTokens->inputsVarname,
-                            pxr::SdfValueTypeNames->Token);
-    SetAttributeDefault(layer_, uvmap_varname_attr, kTokens->st);
-
-    auto uvmap_st_output_attr =
-        CreateAttributeSpec(layer_, uvmap_shader_spec, kTokens->outputsSt,
-                            pxr::SdfValueTypeNames->Float2);
-
-    return uvmap_st_output_attr;
-  }
-
-  std::vector<pxr::SdfAttributeSpecHandle> AddTextureShader(
-      const pxr::SdfPrimSpecHandle material_spec, const char *texture_file,
-      const pxr::TfToken &name,
-      const pxr::SdfAttributeSpecHandle uvmap_st_output_attr,
-      const std::vector<pxr::TfToken> &output_channels) {
-    auto texture_shader_spec =
-        CreatePrimSpec(layer_, material_spec->GetPath(), name, pxr::UsdShadeTokens->Shader);
-    auto texture_info_id_attr = CreateAttributeSpec(
-        layer_, texture_shader_spec, pxr::UsdShadeTokens->infoId,
-        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
-    SetAttributeDefault(layer_, texture_info_id_attr,
-                        kTokens->UsdUVTexture);
-
-    auto texture_file_attr =
-        CreateAttributeSpec(layer_, texture_shader_spec, kTokens->inputsFile,
-                            pxr::SdfValueTypeNames->Asset);
-    SetAttributeDefault(layer_, texture_file_attr,
-                        pxr::SdfAssetPath(texture_file));
-
-    auto texture_st_input_attr =
-        CreateAttributeSpec(layer_, texture_shader_spec, kTokens->inputsSt,
-                            pxr::SdfValueTypeNames->Float2);
-    AddAttributeConnection(layer_, texture_st_input_attr, uvmap_st_output_attr);
-
-    auto texture_wrap_s_attr =
-        CreateAttributeSpec(layer_, texture_shader_spec, kTokens->inputsWrapS,
-                            pxr::SdfValueTypeNames->Token);
-    SetAttributeDefault(layer_, texture_wrap_s_attr, kTokens->repeat);
-
-    auto texture_wrap_t_attr =
-        CreateAttributeSpec(layer_, texture_shader_spec, kTokens->inputsWrapT,
-                            pxr::SdfValueTypeNames->Token);
-    SetAttributeDefault(layer_, texture_wrap_t_attr, kTokens->repeat);
-
-    std::vector<pxr::SdfAttributeSpecHandle> texture_output_attrs;
-    for (const auto &output_channel : output_channels) {
-      pxr::SdfValueTypeName value_type;
-      if (output_channel == kTokens->outputsRgb) {
-        value_type = pxr::SdfValueTypeNames->Float3;
-      } else {
-        // Assume the other specified channels are outputR, outputG, outputB.
-        value_type = pxr::SdfValueTypeNames->Float;
-      }
-      texture_output_attrs.push_back(CreateAttributeSpec(
-          layer_, texture_shader_spec, output_channel, value_type));
-    }
-    return texture_output_attrs;
-  }
-
-  pxr::SdfPrimSpecHandle WritePhysicsMaterial(mjsGeom *geom) {
-    pxr::SdfPath scope_path =
-        body_paths_[kWorldIndex].AppendChild(kTokens->physicsMaterialsScope);
-
-    pxr::SdfPrimSpecHandle scope_spec = layer_->GetPrimAtPath(scope_path);
-    if (!scope_spec) {
-      scope_spec = CreatePrimSpec(layer_, body_paths_[kWorldIndex],
-                                  kTokens->physicsMaterialsScope,
-                                  pxr::UsdGeomTokens->Scope);
-    }
-
-    auto name = GetAvailablePrimName(*mjs_getName(geom->element),
-                                     pxr::UsdShadeTokens->Material, scope_path);
-    auto material_spec =
-        CreatePrimSpec(layer_, scope_spec->GetPath(), name, pxr::UsdShadeTokens->Material);
-
-    ApplyApiSchema(layer_, material_spec,
-                   pxr::UsdPhysicsTokens->PhysicsMaterialAPI);
-    ApplyApiSchema(layer_, material_spec, MjcPhysicsTokens->MjcMaterialAPI);
-
-    mjsGeom *geom_default = mjs_getDefault(geom->element)->geom;
-    if (geom->friction[0] != geom_default->friction[0]) {
-      // Since MuJoCo has no concept of static friction, only write dynamic
-      // friction to remain truthful to how MuJoCo perceives the data.
-      WriteUniformAttribute(material_spec, pxr::SdfValueTypeNames->Float,
-                            pxr::UsdPhysicsTokens->physicsDynamicFriction,
-                            (float)geom->friction[0]);
-    }
-    // Newton material attributes (replaces deprecated mjc:torsionalfriction / mjc:rollingfriction)
-    WriteUniformAttribute(material_spec, pxr::SdfValueTypeNames->Float,
-                          kTokens->newtonTorsionalFriction,
-                          (float)geom->friction[1]);
-    WriteUniformAttribute(material_spec, pxr::SdfValueTypeNames->Float,
-                          kTokens->newtonRollingFriction,
-                          (float)geom->friction[2]);
-    if (geom->adhesion != 0.0f) {
-      WriteUniformAttribute(material_spec, pxr::SdfValueTypeNames->Float,
-                            kTokens->newtonContactAdhesion,
-                            (float)geom->adhesion);
-    }
-
-    return material_spec;
-  }
-
-  void WriteMaterial(mjsMaterial *material, const pxr::SdfPath &parent_path) {
-    // Create a Material prim.
-    auto name =
-        GetAvailablePrimName(*mjs_getName(material->element),
-                             pxr::UsdShadeTokens->Material, parent_path);
-    auto material_spec =
-        CreatePrimSpec(layer_, parent_path, name, pxr::UsdShadeTokens->Material);
-
-    // Create a Shader prim "PreviewSurface" under the Material prim.
-    auto preview_surface_shader_spec =
-        CreatePrimSpec(layer_, material_spec->GetPath(), kTokens->previewSurface,
-                       pxr::UsdShadeTokens->Shader);
-
-    // Set the Shader'sinfoId attribute to UsdPreviewSurface, a standard surface
-    // shader.
-    auto info_id_attr = CreateAttributeSpec(
-        layer_, preview_surface_shader_spec, pxr::UsdShadeTokens->infoId,
-        pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
-    SetAttributeDefault(layer_, info_id_attr,
-                        kTokens->UsdPreviewSurface);
-
-    // Connect material's surface output to the preview surface's surface
-    // output.
-    auto surface_output_attr = CreateAttributeSpec(
-        layer_, preview_surface_shader_spec, pxr::UsdShadeTokens->outputsSurface,
-        pxr::SdfValueTypeNames->Token);
-    auto material_surface_output_attr = CreateAttributeSpec(
-        layer_, material_spec, pxr::UsdShadeTokens->outputsSurface,
-        pxr::SdfValueTypeNames->Token);
-    AddAttributeConnection(layer_, material_surface_output_attr,
-                           surface_output_attr);
-
-    // Connect material's displacement output to the preview surface's
-    // displacement output.
-    auto displacement_output_attr =
-        CreateAttributeSpec(layer_, preview_surface_shader_spec,
-                            pxr::UsdShadeTokens->outputsDisplacement,
-                            pxr::SdfValueTypeNames->Token);
-    auto material_displacement_output_attr = CreateAttributeSpec(
-        layer_, material_spec, pxr::UsdShadeTokens->outputsDisplacement,
-        pxr::SdfValueTypeNames->Token);
-    AddAttributeConnection(layer_, material_displacement_output_attr,
-                           displacement_output_attr);
-
-    // Add an st (uv) Shader, a prim var reader for the UV coordinates.
-    const pxr::SdfAttributeSpecHandle &uvmap_st_output_attr =
-        AddUVTextureShader(material_spec, pxr::TfToken("uvmap"));
-    const mjStringVec &textures = *(material->textures);
-
-    // Set the values of metallic, roughness and occlusion. These can come from
-    // an ORM packed texture, as individual textures, or as a values defined in
-    // mjsMaterial_ (with the exception of occlusion).
-    auto metallic_attr = CreateAttributeSpec(
-        layer_, preview_surface_shader_spec, kTokens->inputsMetallic,
-        pxr::SdfValueTypeNames->Float);
-    auto roughness_attr = CreateAttributeSpec(
-        layer_, preview_surface_shader_spec, kTokens->inputsRoughness,
-        pxr::SdfValueTypeNames->Float);
-    // Find the occlusion, roughness, and metallic textures.
-    if (mjTEXROLE_ORM < textures.size()) {
-      std::string orm_texture_name = textures[mjTEXROLE_ORM];
-      mjsTexture *orm_texture = mjs_asTexture(
-          mjs_findElement(spec_, mjOBJ_TEXTURE, orm_texture_name.c_str()));
-      std::string occlusion_texture_name = textures[mjTEXROLE_OCCLUSION];
-      mjsTexture *occlusion_texture = mjs_asTexture(mjs_findElement(
-          spec_, mjOBJ_TEXTURE, occlusion_texture_name.c_str()));
-      std::string roughness_texture_name = textures[mjTEXROLE_ROUGHNESS];
-      mjsTexture *roughness_texture = mjs_asTexture(mjs_findElement(
-          spec_, mjOBJ_TEXTURE, roughness_texture_name.c_str()));
-      std::string metallic_texture_name = textures[mjTEXROLE_METALLIC];
-      mjsTexture *metallic_texture = mjs_asTexture(
-          mjs_findElement(spec_, mjOBJ_TEXTURE, metallic_texture_name.c_str()));
-      if (orm_texture) {
-        // Create the ORM shader and connect its output to the preview
-        // surface ORM attrs.
-        const std::vector<pxr::SdfAttributeSpecHandle> orm_output_attrs =
-            AddTextureShader(
-                material_spec, orm_texture->file->c_str(),
-                pxr::TfToken("orm_packed"), uvmap_st_output_attr,
-                {kTokens->outputsR, kTokens->outputsG, kTokens->outputsB});
-        if (orm_output_attrs.size() == 3) {
-          auto occlusion_attr = CreateAttributeSpec(
-              layer_, preview_surface_shader_spec, kTokens->inputsOcclusion,
-              pxr::SdfValueTypeNames->Float);
-          AddAttributeConnection(layer_, occlusion_attr, orm_output_attrs[0]);
-          AddAttributeConnection(layer_, roughness_attr, orm_output_attrs[1]);
-          AddAttributeConnection(layer_, metallic_attr, orm_output_attrs[2]);
-        }
-      } else {
-        if (metallic_texture) {
-          const std::vector<pxr::SdfAttributeSpecHandle> metallic_output_attrs =
-              AddTextureShader(material_spec, metallic_texture->file->c_str(),
-                               pxr::TfToken("metallic"), uvmap_st_output_attr,
-                               {kTokens->outputsRgb});
-          if (metallic_output_attrs.size() == 1) {
-            AddAttributeConnection(layer_, metallic_attr,
-                                   metallic_output_attrs[0]);
-          }
-        } else {
-          SetAttributeDefault(layer_, metallic_attr, material->metallic);
-        }
-        if (roughness_texture) {
-          const std::vector<pxr::SdfAttributeSpecHandle> roughness_output_attrs =
-              AddTextureShader(material_spec, roughness_texture->file->c_str(),
-                               pxr::TfToken("roughness"), uvmap_st_output_attr,
-                               {kTokens->outputsRgb});
-          if (roughness_output_attrs.size() == 1) {
-            AddAttributeConnection(layer_, roughness_attr,
-                                   roughness_output_attrs[0]);
-          }
-        } else {
-          SetAttributeDefault(layer_, roughness_attr, material->roughness);
-        }
-        if (occlusion_texture) {
-          auto occlusion_attr = CreateAttributeSpec(
-              layer_, preview_surface_shader_spec, kTokens->inputsOcclusion,
-              pxr::SdfValueTypeNames->Float);
-          const std::vector<pxr::SdfAttributeSpecHandle> occlusion_output_attrs =
-              AddTextureShader(material_spec, occlusion_texture->file->c_str(),
-                               pxr::TfToken("occlusion"), uvmap_st_output_attr,
-                               {kTokens->outputsRgb});
-          if (occlusion_output_attrs.size() == 1) {
-            AddAttributeConnection(layer_, occlusion_attr,
-                                   occlusion_output_attrs[0]);
-          }
-        }
-      }
-    }
-    // Find the normal texture if specified.
-    if (mjTEXROLE_NORMAL < textures.size()) {
-      std::string normal_texture_name = textures[mjTEXROLE_NORMAL];
-      mjsTexture *normal_texture = mjs_asTexture(
-          mjs_findElement(spec_, mjOBJ_TEXTURE, normal_texture_name.c_str()));
-      if (normal_texture) {
-        auto normal_attr = CreateAttributeSpec(
-            layer_, preview_surface_shader_spec, kTokens->inputsNormal,
-            pxr::SdfValueTypeNames->Normal3f);
-        // Create the normal map shader and connect its output to the preview
-        // surface normal attr.
-        const std::vector<pxr::SdfAttributeSpecHandle> normal_map_output_attrs =
-            AddTextureShader(material_spec, normal_texture->file->c_str(),
-                             pxr::TfToken("normal"), uvmap_st_output_attr,
-                             {kTokens->outputsRgb});
-        if (normal_map_output_attrs.size() == 1) {
-          AddAttributeConnection(layer_, normal_attr,
-                                 normal_map_output_attrs[0]);
-        }
-      }
-    }
-
-    // Connect an emissive texture if specified.
-    if (mjTEXROLE_EMISSIVE < textures.size()) {
-      std::string emissive_texture_name = textures[mjTEXROLE_EMISSIVE];
-      mjsTexture *emissive_texture = mjs_asTexture(
-          mjs_findElement(spec_, mjOBJ_TEXTURE, emissive_texture_name.c_str()));
-      if (emissive_texture) {
-        auto emissive_attr = CreateAttributeSpec(
-            layer_, preview_surface_shader_spec, kTokens->inputsEmissiveColor,
-            pxr::SdfValueTypeNames->Color3f);
-        const std::vector<pxr::SdfAttributeSpecHandle> emissive_map_output_attrs =
-            AddTextureShader(material_spec, emissive_texture->file->c_str(),
-                             pxr::TfToken("emissive"), uvmap_st_output_attr,
-                             {kTokens->outputsRgb});
-        if (emissive_map_output_attrs.size() == 1) {
-          AddAttributeConnection(layer_, emissive_attr,
-                                 emissive_map_output_attrs[0]);
-        }
-      }
-    }
-
-    // Set the value of diffuse color. This can come from a diffuse texture
-    // or as a value defined in mjsMaterial_.
-    auto diffuse_color_attr = CreateAttributeSpec(
-        layer_, preview_surface_shader_spec, kTokens->inputsDiffuseColor,
-        pxr::SdfValueTypeNames->Color3f);
-
-    // Find the main texture if specified.
-    std::string main_texture_name = textures[mjTEXROLE_RGB];
-    mjsTexture *main_texture = mjs_asTexture(
-        mjs_findElement(spec_, mjOBJ_TEXTURE, main_texture_name.c_str()));
-    if (main_texture) {
-      // Create the texture shader and connect it to the diffuse color
-      // attribute.
-      const std::vector<pxr::SdfAttributeSpecHandle>
-          texture_diffuse_output_attrs =
-              AddTextureShader(material_spec, main_texture->file->c_str(),
-                               pxr::TfToken("diffuse"), uvmap_st_output_attr,
-                               {kTokens->outputsRgb});
-      if (texture_diffuse_output_attrs.size() == 1) {
-        AddAttributeConnection(layer_, diffuse_color_attr,
-                               texture_diffuse_output_attrs[0]);
-      }
-    } else {
-      // If no texture is specified, use the rgba diffuse color.
-      SetAttributeDefault(layer_, diffuse_color_attr,
-                          pxr::GfVec3f(material->rgba[0], material->rgba[1],
-                                       material->rgba[2]));
-    }
-  }
-
-  void WriteMaterials() {
-    // Create a scope for the meshes to keep things organized
-    auto scope =
-        CreatePrimSpec(layer_, body_paths_[kWorldIndex], kTokens->materialsScope,
-                       pxr::UsdGeomTokens->Scope);
-
-    mjsMaterial *material =
-        mjs_asMaterial(mjs_firstElement(spec_, mjOBJ_MATERIAL));
-    while (material) {
-      WriteMaterial(material, scope->GetPath());
-      material = mjs_asMaterial(mjs_nextElement(spec_, material->element));
-    }
-  }
-
-  void WriteKeyframesWithName(const std::string &name,
-                              const std::vector<mjsKey *> &keyframes,
-                              const pxr::SdfPath &parent_path) {
-    if (keyframes.empty()) {
-      return;
-    }
-    const auto keyframe_name = pxr::TfToken(pxr::TfMakeValidIdentifier(
-        name.empty() ? MjcPhysicsTokens->MjcKeyframe : name));
-    pxr::SdfPath keyframe_path = parent_path.AppendChild(keyframe_name);
-    auto keyframe_spec =
-        layer_->HasSpec(keyframe_path)
-            ? layer_->GetPrimAtPath(keyframe_path)
-            : CreatePrimSpec(layer_, parent_path, keyframe_name,
-                             pxr::MjcPhysicsTokens->MjcKeyframe);
-
-    auto set_attribute_data = [&](const pxr::SdfAttributeSpecHandle &attr_spec,
-                                  const pxr::VtDoubleArray &value,
-                                  mjsKey *keyframe) {
-      // If the keyframe time is the default, and there are no other keyframes
-      // set the attribute at the default time code.
-      if (keyframe->time == 0 && keyframes.size() == 1) {
-        SetAttributeDefault(layer_, attr_spec, value);
-      } else {
-        SetAttributeTimeSample(layer_, attr_spec, keyframe->time, value);
-      }
-    };
-
-    for (auto *keyframe : keyframes) {
-      auto qpos_attr =
-          CreateAttributeSpec(layer_, keyframe_spec, MjcPhysicsTokens->mjcQpos,
-                              pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(
-          qpos_attr,
-          pxr::VtDoubleArray(keyframe->qpos->begin(), keyframe->qpos->end()),
-          keyframe);
-
-      auto qvel_attr =
-          CreateAttributeSpec(layer_, keyframe_spec, MjcPhysicsTokens->mjcQvel,
-                              pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(
-          qvel_attr,
-          pxr::VtDoubleArray(keyframe->qvel->begin(), keyframe->qvel->end()),
-          keyframe);
-
-      auto act_attr =
-          CreateAttributeSpec(layer_, keyframe_spec, MjcPhysicsTokens->mjcAct,
-                              pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(
-          act_attr,
-          pxr::VtDoubleArray(keyframe->act->begin(), keyframe->act->end()),
-          keyframe);
-
-      auto ctrl_attr =
-          CreateAttributeSpec(layer_, keyframe_spec, MjcPhysicsTokens->mjcCtrl,
-                              pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(
-          ctrl_attr,
-          pxr::VtDoubleArray(keyframe->ctrl->begin(), keyframe->ctrl->end()),
-          keyframe);
-
-      auto mpos_attr =
-          CreateAttributeSpec(layer_, keyframe_spec, MjcPhysicsTokens->mjcMpos,
-                              pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(
-          mpos_attr,
-          pxr::VtDoubleArray(keyframe->mpos->begin(), keyframe->mpos->end()),
-          keyframe);
-
-      auto mquat_attr_path =
-          CreateAttributeSpec(layer_, keyframe_spec, MjcPhysicsTokens->mjcMquat,
-                              pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(
-          mquat_attr_path,
-          pxr::VtDoubleArray(keyframe->mquat->begin(), keyframe->mquat->end()),
-          keyframe);
-    }
-  }
-
-  void WriteKeyframes() {
-    std::unordered_map<std::string, std::vector<mjsKey *>> keyframes_map;
-    mjsKey *keyframe = mjs_asKey(mjs_firstElement(spec_, mjOBJ_KEY));
-    while (keyframe) {
-      if (ShouldWrite(keyframe->element)) {
-        std::string keyframe_name = mjs_getName(keyframe->element)->empty()
-                                        ? kTokens->keyframe
-                                        : *mjs_getName(keyframe->element);
-        keyframes_map[keyframe_name].push_back(keyframe);
-      }
-      keyframe = mjs_asKey(mjs_nextElement(spec_, keyframe->element));
-    }
-
-    auto scope =
-        CreatePrimSpec(layer_, body_paths_[kWorldIndex], kTokens->keyframesScope,
-                       pxr::UsdGeomTokens->Scope);
-    for (const auto &[keyframe_name, keyframes] : keyframes_map) {
-      WriteKeyframesWithName(keyframe_name, keyframes, scope->GetPath());
-    }
-  }
-
-  void WriteActuator(mjsActuator *actuator, const pxr::SdfPath &parent_path) {
-    const pxr::TfToken valid_name = GetValidPrimName(*mjs_getName(actuator->element));
-    const pxr::SdfPath actuator_path = parent_path.AppendChild(valid_name);
-    pxr::SdfPrimSpecHandle actuator_spec;
-    if (layer_->HasSpec(actuator_path)) {
-      actuator_spec = layer_->GetPrimAtPath(actuator_path);
-    } else {
-      actuator_spec = CreatePrimSpec(layer_, parent_path, valid_name,
-                     pxr::MjcPhysicsTokens->MjcActuator);
-    }
-
-    pxr::SdfPath target_path;
-    if (actuator->trntype == mjtTrn::mjTRN_BODY) {
-      int body_id = mj_name2id(model_, mjOBJ_BODY, actuator->target->c_str());
-      target_path = body_paths_[body_id];
-    } else if (actuator->trntype == mjtTrn::mjTRN_SITE ||
-               actuator->trntype == mjtTrn::mjTRN_SLIDERCRANK) {
-      int site_id = mj_name2id(model_, mjOBJ_SITE, actuator->target->c_str());
-      target_path = site_paths_[site_id];
-    } else if (actuator->trntype == mjtTrn::mjTRN_JOINT) {
-      int joint_id = mj_name2id(model_, mjOBJ_JOINT, actuator->target->c_str());
-      target_path = joint_paths_[joint_id];
-    } else {
-      TF_WARN(UnsupportedActuatorTypeError,
-              "Unsupported transmission type for actuator %d",
-              mjs_getId(actuator->element));
-      return;
-    }
-
-    CreateRelationshipSpec(layer_, actuator_spec, MjcPhysicsTokens->mjcTarget,
-                           target_path, pxr::SdfVariabilityUniform);
-
-    WriteUniformAttribute(actuator_spec, pxr::SdfValueTypeNames->Int,
-                          MjcPhysicsTokens->mjcGroup, actuator->group);
-
-    if (!actuator->refsite->empty()) {
-      int refsite_id =
-          mj_name2id(model_, mjOBJ_SITE, actuator->refsite->c_str());
-      pxr::SdfPath refsite_path = site_paths_[refsite_id];
-      CreateRelationshipSpec(layer_, actuator_spec, MjcPhysicsTokens->mjcRefSite,
-                             refsite_path, pxr::SdfVariabilityUniform);
-    }
-
-    if (!actuator->slidersite->empty()) {
-      int slidersite_id =
-          mj_name2id(model_, mjOBJ_SITE, actuator->slidersite->c_str());
-      pxr::SdfPath slidersite_path = site_paths_[slidersite_id];
-      CreateRelationshipSpec(layer_, actuator_spec,
-                             MjcPhysicsTokens->mjcSliderSite, slidersite_path,
-                             pxr::SdfVariabilityUniform);
-    }
-
-    const std::vector<std::pair<pxr::TfToken, int>> limited_attributes = {
-        {MjcPhysicsTokens->mjcCtrlLimited, actuator->ctrllimited},
-        {MjcPhysicsTokens->mjcForceLimited, actuator->forcelimited},
-        {MjcPhysicsTokens->mjcActLimited, actuator->actlimited},
-    };
-    for (const auto &[token, value] : limited_attributes) {
-      pxr::TfToken limited_token = pxr::MjcPhysicsTokens->auto_;
-      if (value == mjLIMITED_TRUE) {
-        limited_token = pxr::MjcPhysicsTokens->true_;
-      } else if (value == mjLIMITED_FALSE) {
-        limited_token = pxr::MjcPhysicsTokens->false_;
-      }
-      WriteUniformAttribute(actuator_spec, pxr::SdfValueTypeNames->Token, token,
-                            limited_token);
-    }
-
-    const std::vector<std::pair<pxr::TfToken, double>>
-        actuator_double_attributes = {
-            {MjcPhysicsTokens->mjcCtrlRangeMin, actuator->ctrlrange[0]},
-            {MjcPhysicsTokens->mjcCtrlRangeMax, actuator->ctrlrange[1]},
-            {MjcPhysicsTokens->mjcForceRangeMin, actuator->forcerange[0]},
-            {MjcPhysicsTokens->mjcForceRangeMax, actuator->forcerange[1]},
-            {MjcPhysicsTokens->mjcActRangeMin, actuator->actrange[0]},
-            {MjcPhysicsTokens->mjcActRangeMax, actuator->actrange[1]},
-            {MjcPhysicsTokens->mjcLengthRangeMin, actuator->lengthrange[0]},
-            {MjcPhysicsTokens->mjcLengthRangeMax, actuator->lengthrange[1]},
-            {MjcPhysicsTokens->mjcCrankLength, actuator->cranklength},
-        };
-    for (const auto &[token, value] : actuator_double_attributes) {
-      WriteUniformAttribute(actuator_spec, pxr::SdfValueTypeNames->Double,
-                            token, value);
-    }
-
-    WriteUniformAttribute(actuator_spec, pxr::SdfValueTypeNames->Int,
-                          MjcPhysicsTokens->mjcActDim, actuator->actdim);
-    WriteUniformAttribute(actuator_spec, pxr::SdfValueTypeNames->Bool,
-                          MjcPhysicsTokens->mjcActEarly,
-                          (bool)actuator->actearly);
-    WriteUniformAttribute(actuator_spec, pxr::SdfValueTypeNames->Double,
-                          MjcPhysicsTokens->mjcInheritRange,
-                          actuator->inheritrange);
-
-    WriteUniformAttribute(
-        actuator_spec, pxr::SdfValueTypeNames->DoubleArray,
-        MjcPhysicsTokens->mjcGear,
-        pxr::VtDoubleArray(actuator->gear, actuator->gear + 6));
-
-    pxr::TfToken dyn_type;
-    if (actuator->dyntype == mjtDyn::mjDYN_NONE) {
-      dyn_type = MjcPhysicsTokens->none;
-    } else if (actuator->dyntype == mjtDyn::mjDYN_INTEGRATOR) {
-      dyn_type = MjcPhysicsTokens->integrator;
-    } else if (actuator->dyntype == mjtDyn::mjDYN_FILTER) {
-      dyn_type = MjcPhysicsTokens->filter;
-    } else if (actuator->dyntype == mjtDyn::mjDYN_FILTEREXACT) {
-      dyn_type = MjcPhysicsTokens->filterexact;
-    } else if (actuator->dyntype == mjtDyn::mjDYN_MUSCLE) {
-      dyn_type = MjcPhysicsTokens->muscle;
-    } else if (actuator->dyntype == mjtDyn::mjDYN_USER) {
-      dyn_type = MjcPhysicsTokens->user;
-    }
-    WriteUniformAttribute(actuator_spec, pxr::SdfValueTypeNames->Token,
-                          MjcPhysicsTokens->mjcDynType, dyn_type);
-    WriteUniformAttribute(
-        actuator_spec, pxr::SdfValueTypeNames->DoubleArray,
-        MjcPhysicsTokens->mjcDynPrm,
-        pxr::VtDoubleArray(actuator->dynprm, actuator->dynprm + 10));
-
-    pxr::TfToken gain_type;
-    if (actuator->gaintype == mjtGain::mjGAIN_FIXED) {
-      gain_type = MjcPhysicsTokens->fixed;
-    } else if (actuator->gaintype == mjtGain::mjGAIN_AFFINE) {
-      gain_type = MjcPhysicsTokens->affine;
-    } else if (actuator->gaintype == mjtGain::mjGAIN_MUSCLE) {
-      gain_type = MjcPhysicsTokens->muscle;
-    } else if (actuator->gaintype == mjtGain::mjGAIN_USER) {
-      gain_type = MjcPhysicsTokens->user;
-    }
-    WriteUniformAttribute(actuator_spec, pxr::SdfValueTypeNames->Token,
-                          MjcPhysicsTokens->mjcGainType, gain_type);
-    WriteUniformAttribute(
-        actuator_spec, pxr::SdfValueTypeNames->DoubleArray,
-        MjcPhysicsTokens->mjcGainPrm,
-        pxr::VtDoubleArray(actuator->gainprm, actuator->gainprm + 10));
-
-    pxr::TfToken bias_type;
-    if (actuator->biastype == mjtBias::mjBIAS_NONE) {
-      bias_type = MjcPhysicsTokens->fixed;
-    } else if (actuator->biastype == mjtBias::mjBIAS_AFFINE) {
-      bias_type = MjcPhysicsTokens->affine;
-    } else if (actuator->biastype == mjtBias::mjBIAS_MUSCLE) {
-      bias_type = MjcPhysicsTokens->muscle;
-    } else if (actuator->biastype == mjtBias::mjBIAS_USER) {
-      bias_type = MjcPhysicsTokens->user;
-    }
-    WriteUniformAttribute(actuator_spec, pxr::SdfValueTypeNames->Token,
-                          MjcPhysicsTokens->mjcBiasType, bias_type);
-    WriteUniformAttribute(
-        actuator_spec, pxr::SdfValueTypeNames->DoubleArray,
-        MjcPhysicsTokens->mjcBiasPrm,
-        pxr::VtDoubleArray(actuator->biasprm, actuator->biasprm + 10));
-  }
-
-  void WriteActuators() {
-    auto scope =
-        CreatePrimSpec(layer_, body_paths_[kWorldIndex], kTokens->actuatorsScope,
-                       pxr::UsdGeomTokens->Scope);
-    mjsActuator *actuator =
-        mjs_asActuator(mjs_firstElement(spec_, mjOBJ_ACTUATOR));
-    while (actuator) {
-      if (ShouldWrite(actuator->element)) {
-        WriteActuator(actuator, scope->GetPath());
-      }
-      actuator = mjs_asActuator(mjs_nextElement(spec_, actuator->element));
-    }
-  }
-
-  pxr::SdfPrimSpecHandle WriteMeshGeom(const mjsGeom *geom,
-                             const pxr::SdfPath &body_path) {
-    std::string mj_name = mjs_getName(geom->element)->empty()
-                              ? *geom->meshname
-                              : *mjs_getName(geom->element);
-    auto name =
-        GetAvailablePrimName(mj_name, pxr::UsdGeomTokens->Mesh, body_path);
-    auto subcomponent_spec =
-        CreatePrimSpec(layer_, body_path, name, pxr::UsdGeomTokens->Xform);
-
-    // Reference the mesh asset written in WriteMeshes.
-    AddPrimReference(layer_, subcomponent_spec, mesh_paths_[*geom->meshname]);
-
-    // We want to use instancing with meshes, and it requires creating a parent
-    // scope to be referenced, with the Mesh prim as a child.
-    // To be able to actually manipulate the Mesh prim, we need to create and
-    // return the corresponding `over` prim as a child of the referencing prim.
-    auto over_mesh_spec =
-        CreatePrimSpec(layer_, subcomponent_spec->GetPath(), kTokens->sourceMesh,
-                       pxr::UsdGeomTokens->Mesh, pxr::SdfSpecifierOver);
-
-    return over_mesh_spec;
-  }
-
-  pxr::SdfPrimSpecHandle WriteSiteGeom(const mjsSite *site,
-                             const pxr::SdfPath &body_path) {
-    auto name = GetAvailablePrimName(*mjs_getName(site->element),
-                                     pxr::UsdGeomTokens->Cube, body_path);
-
-    int site_idx = mjs_getId(site->element);
-    const mjtNum *size = &model_->site_size[site_idx * 3];
-    pxr::SdfPrimSpecHandle site_spec;
-    switch (site->type) {
-      case mjGEOM_BOX:
-        site_spec = WriteBox(name, size, body_path);
-        break;
-      case mjGEOM_SPHERE:
-        site_spec = WriteSphere(name, size, body_path);
-        break;
-      case mjGEOM_CAPSULE:
-        site_spec = WriteCapsule(name, size, body_path);
-        break;
-      case mjGEOM_CYLINDER:
-        site_spec = WriteCylinder(name, size, body_path);
-        break;
-      case mjGEOM_ELLIPSOID:
-        site_spec = WriteEllipsoid(name, size, body_path);
-        break;
-      default:
-        break;
-    }
-
-    return site_spec;
-  }
-
-  pxr::SdfPrimSpecHandle WriteBox(const pxr::TfToken &name, const mjtNum *size,
-                        const pxr::SdfPath &body_path) {
-    pxr::SdfPrimSpecHandle box_spec =
-        CreatePrimSpec(layer_, body_path, name, pxr::UsdGeomTokens->Cube);
-    // MuJoCo uses half sizes. Always set size to 2 (and correspondingly extent
-    // from -1 to 1), and let scale determine the actual size.
-    auto size_attr_spec =
-        CreateAttributeSpec(layer_, box_spec, pxr::UsdGeomTokens->size,
-                            pxr::SdfValueTypeNames->Double);
-    SetAttributeDefault(layer_, size_attr_spec, 2.0);
-
-    auto extent_attr_spec =
-        CreateAttributeSpec(layer_, box_spec, pxr::UsdGeomTokens->extent,
-                            pxr::SdfValueTypeNames->Float3Array);
-    SetAttributeDefault(layer_, extent_attr_spec,
-                        pxr::VtArray<pxr::GfVec3f>(
-                            {pxr::GfVec3f(-1, -1, -1), pxr::GfVec3f(1, 1, 1)}));
-
-    pxr::GfVec3f scale(static_cast<float>(size[0]), static_cast<float>(size[1]),
-                       static_cast<float>(size[2]));
-    WriteScaleXformOp(box_spec, scale);
-    WriteXformOpOrder(box_spec,
-                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpScale});
-    return box_spec;
-  }
-
-  pxr::SdfPrimSpecHandle WriteBoxGeom(const mjsGeom *geom,
-                            const pxr::SdfPath &body_path) {
-    auto name = GetAvailablePrimName(*mjs_getName(geom->element),
-                                     pxr::UsdGeomTokens->Cube, body_path);
-
-    int geom_idx = mjs_getId(geom->element);
-    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
-    return WriteBox(name, geom_size, body_path);
-  }
-
-  pxr::SdfPrimSpecHandle WriteCapsule(const pxr::TfToken name, const mjtNum *size,
-                            const pxr::SdfPath &body_path) {
-    auto capsule_spec =
-        CreatePrimSpec(layer_, body_path, name, pxr::UsdGeomTokens->Capsule);
-
-    auto radius_attr_spec =
-        CreateAttributeSpec(layer_, capsule_spec, pxr::UsdGeomTokens->radius,
-                            pxr::SdfValueTypeNames->Double);
-    SetAttributeDefault(layer_, radius_attr_spec, (double)size[0]);
-
-    auto height_attr_spec =
-        CreateAttributeSpec(layer_, capsule_spec, pxr::UsdGeomTokens->height,
-                            pxr::SdfValueTypeNames->Double);
-    // MuJoCo uses half sizes.
-    SetAttributeDefault(layer_, height_attr_spec, (double)(size[1] * 2));
-    return capsule_spec;
-  }
-
-  pxr::SdfPrimSpecHandle WriteCapsuleGeom(const mjsGeom *geom,
-                                const pxr::SdfPath &body_path) {
-    auto name = GetAvailablePrimName(*mjs_getName(geom->element),
-                                     pxr::UsdGeomTokens->Capsule, body_path);
-    int geom_idx = mjs_getId(geom->element);
-    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
-
-    return WriteCapsule(name, geom_size, body_path);
-  }
-
-  pxr::SdfPrimSpecHandle WriteCylinder(const pxr::TfToken name, const mjtNum *size,
-                             const pxr::SdfPath &body_path) {
-    auto cylinder_spec =
-        CreatePrimSpec(layer_, body_path, name, pxr::UsdGeomTokens->Cylinder);
-
-    auto radius_attr_spec =
-        CreateAttributeSpec(layer_, cylinder_spec, pxr::UsdGeomTokens->radius,
-                            pxr::SdfValueTypeNames->Double);
-    SetAttributeDefault(layer_, radius_attr_spec, (double)size[0]);
-
-    auto height_attr_spec =
-        CreateAttributeSpec(layer_, cylinder_spec, pxr::UsdGeomTokens->height,
-                            pxr::SdfValueTypeNames->Double);
-    // MuJoCo uses half sizes.
-    SetAttributeDefault(layer_, height_attr_spec, (double)(size[1] * 2));
-    return cylinder_spec;
-  }
-
-  pxr::SdfPrimSpecHandle WriteCylinderGeom(const mjsGeom *geom,
-                                 const pxr::SdfPath &body_path) {
-    auto name = GetAvailablePrimName(*mjs_getName(geom->element),
-                                     pxr::UsdGeomTokens->Cylinder, body_path);
-
-    int geom_idx = mjs_getId(geom->element);
-    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
-    return WriteCylinder(name, geom_size, body_path);
-  }
-
-  pxr::SdfPrimSpecHandle WriteEllipsoid(const pxr::TfToken name, const mjtNum *size,
-                              const pxr::SdfPath &body_path) {
-    auto ellipsoid_spec =
-        CreatePrimSpec(layer_, body_path, name, pxr::UsdGeomTokens->Sphere);
-
-    pxr::GfVec3f scale = {static_cast<float>(size[0]),
-                          static_cast<float>(size[1]),
-                          static_cast<float>(size[2])};
-
-    auto radius_attr_spec =
-        CreateAttributeSpec(layer_, ellipsoid_spec, pxr::UsdGeomTokens->radius,
-                            pxr::SdfValueTypeNames->Double);
-    SetAttributeDefault(layer_, radius_attr_spec, 1.0);
-
-    WriteScaleXformOp(ellipsoid_spec, scale);
-    WriteXformOpOrder(ellipsoid_spec,
-                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpScale});
-    return ellipsoid_spec;
-  }
-
-  pxr::SdfPrimSpecHandle WriteEllipsoidGeom(const mjsGeom *geom,
-                                  const pxr::SdfPath &body_path) {
-    auto name = GetAvailablePrimName(*mjs_getName(geom->element),
-                                     pxr::UsdGeomTokens->Sphere, body_path);
-    int geom_idx = mjs_getId(geom->element);
-    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
-
-    return WriteEllipsoid(name, geom_size, body_path);
-  }
-
-  pxr::SdfPrimSpecHandle WriteSphere(const pxr::TfToken name, const mjtNum *size,
-                           const pxr::SdfPath &body_path) {
-    auto sphere_spec =
-        CreatePrimSpec(layer_, body_path, name, pxr::UsdGeomTokens->Sphere);
-
-    auto radius_attr_spec =
-        CreateAttributeSpec(layer_, sphere_spec, pxr::UsdGeomTokens->radius,
-                            pxr::SdfValueTypeNames->Double);
-    SetAttributeDefault(layer_, radius_attr_spec, (double)size[0]);
-    return sphere_spec;
-  }
-
-  pxr::SdfPrimSpecHandle WriteSphereGeom(const mjsGeom *geom,
-                               const pxr::SdfPath &body_path) {
-    auto name = GetAvailablePrimName(*mjs_getName(geom->element),
-                                     pxr::UsdGeomTokens->Sphere, body_path);
-    int geom_idx = mjs_getId(geom->element);
-    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
-    return WriteSphere(name, geom_size, body_path);
-  }
-
-  pxr::SdfPrimSpecHandle WritePlane(const pxr::TfToken &name, const mjtNum *size,
-                          const pxr::SdfPath &body_path) {
-    auto plane_spec =
-        CreatePrimSpec(layer_, body_path, name, pxr::UsdGeomTokens->Plane);
-
-    // MuJoCo uses half sizes.
-    // Note that UsdGeomPlane is infinite for simulation purposes but can have
-    // width/length for visualization, same as MuJoCo.
-    double width = size[0] * 2.0;
-    double length = size[1] * 2.0;
-
-    auto width_attr_spec =
-        CreateAttributeSpec(layer_, plane_spec, pxr::UsdGeomTokens->width,
-                            pxr::SdfValueTypeNames->Double);
-    SetAttributeDefault(layer_, width_attr_spec, width);
-
-    auto length_attr_spec =
-        CreateAttributeSpec(layer_, plane_spec, pxr::UsdGeomTokens->length,
-                            pxr::SdfValueTypeNames->Double);
-    SetAttributeDefault(layer_, length_attr_spec, length);
-
-    // MuJoCo plane is always a XY plane with +Z up.
-    // UsdGeomPlane is also a XY plane if axis is 'Z', which is default.
-    // So no need to set axis attribute explicitly.
-
-    return plane_spec;
-  }
-
-  pxr::SdfPrimSpecHandle WritePlaneGeom(const mjsGeom *geom,
-                              const pxr::SdfPath &body_path) {
-    auto name = GetAvailablePrimName(*mjs_getName(geom->element),
-                                     pxr::UsdGeomTokens->Plane, body_path);
-    int geom_idx = mjs_getId(geom->element);
-    mjtNum *geom_size = &model_->geom_size[geom_idx * 3];
-    return WritePlane(name, geom_size, body_path);
-  }
-
-  void WriteSite(mjsSite *site, const mjsBody *body) {
-    const int body_id = mjs_getId(body->element);
-    const auto &body_path = body_paths_[body_id];
-    auto name = GetAvailablePrimName(*mjs_getName(site->element),
-                                     pxr::UsdGeomTokens->Xform, body_path);
-
-    // Create a geom primitive and set its purpose to guide so it won't be
-    // rendered.
-    auto site_spec = WriteSiteGeom(site, body_path);
-    SetPrimPurpose(layer_, site_spec, pxr::UsdGeomTokens->guide);
-
-    ApplyApiSchema(layer_, site_spec, MjcPhysicsTokens->MjcSiteAPI);
-
-    WriteUniformAttribute(site_spec, pxr::SdfValueTypeNames->Int,
-                          MjcPhysicsTokens->mjcGroup, site->group);
-
-    WriteColorAndOpacityAttributes(site_spec, site);
-
-    int site_id = mjs_getId(site->element);
-    auto transform = MujocoPosQuatToTransform(&model_->site_pos[3 * site_id],
-                                              &model_->site_quat[4 * site_id]);
-    WriteTransformXformOp(site_spec, transform);
-
-    PrependToXformOpOrder(
-        site_spec, pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
-
-    site_paths_[site_id] = site_spec->GetPath();
-  }
-
-  void WriteGeom(mjsGeom *geom, const mjsBody *body) {
-    const int body_id = mjs_getId(body->element);
-    const auto &body_path = body_paths_[body_id];
-
-    pxr::SdfPrimSpecHandle geom_spec;
-    int geom_id = mjs_getId(geom->element);
-    switch (geom->type) {
-      case mjGEOM_PLANE:
-        geom_spec = WritePlaneGeom(geom, body_path);
-        break;
-      case mjGEOM_MESH:
-        geom_spec = WriteMeshGeom(geom, body_path);
-        break;
-      case mjGEOM_BOX:
-        geom_spec = WriteBoxGeom(geom, body_path);
-        break;
-      case mjGEOM_CAPSULE:
-        geom_spec = WriteCapsuleGeom(geom, body_path);
-        break;
-      case mjGEOM_CYLINDER:
-        geom_spec = WriteCylinderGeom(geom, body_path);
-        break;
-      case mjGEOM_ELLIPSOID:
-        geom_spec = WriteEllipsoidGeom(geom, body_path);
-        break;
-      case mjGEOM_SPHERE:
-        geom_spec = WriteSphereGeom(geom, body_path);
-        break;
-      default:
-        TF_WARN(UnsupportedGeomTypeError, "Unsupported geom type for geom %d",
-                geom_id);
-        return;
-    }
-
-    WriteUniformAttribute(geom_spec, pxr::SdfValueTypeNames->Int,
-                          MjcPhysicsTokens->mjcGroup, geom->group);
-
-    if (model_->geom_contype[geom_id] == 0 &&
-        model_->geom_conaffinity[geom_id] == 0) {
-      // If the geom is purely visual, apply the imageable API.
-      ApplyApiSchema(layer_, geom_spec, MjcPhysicsTokens->MjcImageableAPI);
-    }
-
-    // Apply the physics schemas if we are writing physics and the
-    // geom participates in collisions.
-    if (model_->geom_contype[geom_id] != 0 ||
-        model_->geom_conaffinity[geom_id] != 0) {
-      ApplyApiSchema(layer_, geom_spec,
-                     pxr::UsdPhysicsTokens->PhysicsCollisionAPI);
-      ApplyApiSchema(layer_, geom_spec, MjcPhysicsTokens->MjcCollisionAPI);
-
-      if (geom->typeinertia == mjtGeomInertia::mjINERTIA_SHELL) {
-        ApplyApiSchema(layer_, geom_spec, kTokens->NewtonMassAPI);
-        WriteUniformAttribute(geom_spec, pxr::SdfValueTypeNames->Token,
-                              kTokens->newtonMassModel,
-                              MjcPhysicsTokens->shell);
-      }
-
-      WriteUniformAttribute(geom_spec, pxr::SdfValueTypeNames->Int,
-                            MjcPhysicsTokens->mjcPriority, geom->priority);
-
-      WriteUniformAttribute(geom_spec, pxr::SdfValueTypeNames->Int,
-                            MjcPhysicsTokens->mjcCondim, geom->condim);
-
-      WriteUniformAttribute(geom_spec, pxr::SdfValueTypeNames->Double,
-                            MjcPhysicsTokens->mjcSolmix, geom->solmix);
-
-      WriteUniformAttribute(geom_spec, pxr::SdfValueTypeNames->Double,
-                            MjcPhysicsTokens->mjcSolmix, geom->solmix);
-
-      WriteUniformAttribute(
-          geom_spec, pxr::SdfValueTypeNames->DoubleArray,
-          MjcPhysicsTokens->mjcSolref,
-          pxr::VtArray<double>(geom->solref, geom->solref + mjNREF));
-
-      WriteUniformAttribute(
-          geom_spec, pxr::SdfValueTypeNames->DoubleArray,
-          MjcPhysicsTokens->mjcSolimp,
-          pxr::VtArray<double>(geom->solimp, geom->solimp + mjNIMP));
-
-      // Newton collision attributes (replaces deprecated mjc:margin / mjc:gap)
-      WriteUniformAttribute(geom_spec, pxr::SdfValueTypeNames->Float,
-                            kTokens->newtonContactMargin,
-                            static_cast<float>(geom->margin));
-      WriteUniformAttribute(geom_spec, pxr::SdfValueTypeNames->Float,
-                            kTokens->newtonContactGap,
-                            static_cast<float>(geom->gap));
-
-      if (geom->mass >= mjMINVAL || geom->density >= mjMINVAL) {
-        ApplyApiSchema(layer_, geom_spec, pxr::UsdPhysicsTokens->PhysicsMassAPI);
-      }
-
-      if (geom->mass >= mjMINVAL) {
-        auto mass_attr_spec = CreateAttributeSpec(
-            layer_, geom_spec, pxr::UsdPhysicsTokens->physicsMass,
-            pxr::SdfValueTypeNames->Float, pxr::SdfVariabilityUniform);
-
-        // Make sure to cast to float here since mjtNum might be a double.
-        SetAttributeDefault(layer_, mass_attr_spec, (float)geom->mass);
-      }
-
-      // Even though density is not used for mass computation when mass exists
-      // we want to retain the information anyways.
-      if (geom->density >= mjMINVAL) {
-        auto density_attr_spec = CreateAttributeSpec(
-            layer_, geom_spec, pxr::UsdPhysicsTokens->physicsDensity,
-            pxr::SdfValueTypeNames->Float, pxr::SdfVariabilityUniform);
-
-        // Make sure to cast to float here since mjtNum might be a double.
-        SetAttributeDefault(layer_, density_attr_spec, (float)geom->density);
-      }
-
-      mjsDefault *geom_default = mjs_getDefault(geom->element);
-
-      if (geom->friction[0] != geom_default->geom->friction[0] ||
-          geom->friction[1] != geom_default->geom->friction[1] ||
-          geom->friction[2] != geom_default->geom->friction[2]) {
-        auto physics_material_spec = WritePhysicsMaterial(geom);
-        ApplyApiSchema(layer_, geom_spec, pxr::UsdShadeTokens->MaterialBindingAPI);
-        // Bind the material to this geom.
-        CreateRelationshipSpec(
-            layer_, geom_spec,
-            pxr::UsdShadeTokens->materialBinding, physics_material_spec->GetPath(),
-            pxr::SdfVariabilityUniform);
-      }
-
-      // For meshes, also apply PhysicsMeshCollisionAPI and set the
-      // approximation attribute.
-      if (geom->type == mjGEOM_MESH) {
-        ApplyApiSchema(layer_, geom_spec,
-                       pxr::UsdPhysicsTokens->PhysicsMeshCollisionAPI);
-
-        // Note: MuJoCo documentation states that for collision purposes, meshes
-        // are always replaced with their convex hulls. Therefore, we set the
-        // approximation attribute to convexHull explicitly.
-        auto approximation_attr_spec = CreateAttributeSpec(
-            layer_, geom_spec, pxr::UsdPhysicsTokens->physicsApproximation,
-            pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
-        SetAttributeDefault(layer_, approximation_attr_spec,
-                            pxr::UsdPhysicsTokens->convexHull);
-      }
-    } else {
-      // Currently imageable only has a group API. But since it's the same
-      // naming in MjcCollisionsAPI we've already set it earlier in this
-      // function.
-      ApplyApiSchema(layer_, geom_spec, MjcPhysicsTokens->MjcImageableAPI);
-    }
-
-    mjsDefault *spec_default = mjs_getDefault(geom->element);
-    pxr::TfToken valid_class_name =
-        GetValidPrimName(*mjs_getName(spec_default->element));
-    pxr::SdfPath geom_class_path = class_path_.AppendChild(valid_class_name);
-    if (!layer_->HasSpec(geom_class_path)) {
-      auto class_spec =
-          CreateClassSpec(layer_, class_path_, valid_class_name);
-      auto visibility_attr_spec =
-          CreateAttributeSpec(layer_, class_spec, pxr::UsdGeomTokens->visibility,
-                              pxr::SdfValueTypeNames->Token);
-      SetAttributeDefault(layer_, visibility_attr_spec,
-                          pxr::UsdGeomTokens->inherited);
-    }
-
-    // Bind material if it exists.
-    if (!geom->material->empty()) {
-      pxr::SdfPath material_path =
-          body_paths_[kWorldIndex]
-              .AppendChild(kTokens->materialsScope)
-              .AppendChild(GetValidPrimName(*geom->material));
-      if (layer_->HasSpec(material_path)) {
-        ApplyApiSchema(layer_, geom_spec,
-                       pxr::UsdShadeTokens->MaterialBindingAPI);
-        // Bind the material to this geom.
-        CreateRelationshipSpec(layer_, geom_spec,
-                               pxr::UsdShadeTokens->materialBinding,
-                               material_path, pxr::SdfVariabilityUniform);
-      }
-    }
-
-    WriteColorAndOpacityAttributes(geom_spec, geom);
-
-    if (body_id == kWorldIndex) {
-      SetPrimKind(layer_, geom_spec, pxr::KindTokens->component);
-    }
-    // Inherit from class.
-    AddPrimInherit(layer_, geom_spec, geom_class_path);
-
-    auto transform = MujocoPosQuatToTransform(&model_->geom_pos[3 * geom_id],
-                                              &model_->geom_quat[4 * geom_id]);
-    WriteTransformXformOp(geom_spec, transform);
-
-    PrependToXformOpOrder(
-        geom_spec, pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
-  }
-
-  void WriteSites(mjsBody *body) {
-    mjsSite *site = mjs_asSite(mjs_firstChild(body, mjOBJ_SITE, false));
-    while (site) {
-      if (ShouldWrite(site->element)) {
-        WriteSite(site, body);
-      }
-      site = mjs_asSite(mjs_nextChild(body, site->element, false));
-    }
-  }
-
-  void WriteGeoms(mjsBody *body) {
-    mjsGeom *geom = mjs_asGeom(mjs_firstChild(body, mjOBJ_GEOM, false));
-    while (geom) {
-      if (ShouldWrite(geom->element)) {
-        WriteGeom(geom, body);
-      }
-      geom = mjs_asGeom(mjs_nextChild(body, geom->element, false));
-    }
-  }
-
-  void WriteJoints(mjsBody *body) {
-    int body_id = mjs_getId(body->element);
-    if (body_id == kWorldIndex) return;
-
-    mjsJoint *joint = mjs_asJoint(mjs_firstChild(body, mjOBJ_JOINT, false));
-
-    if (!joint) {
-      // If no joint is found, then we pass nullptr to create a FixedJoint.
-      // WriteJoint properly handles the case where the parent is the worldbody.
-      WriteJoint(nullptr, body);
-    } else {
-      if (ShouldWrite(joint->element)) {
-        WriteJoint(joint, body);
-      }
-      if (mjs_asJoint(mjs_nextChild(body, joint->element, false))) {
-        TF_WARN(
-            "Multiple joints found for body %d. Only writing the first one.",
-            body_id);
-      }
-    }
-  }
-
-  // Write the joint. If null, then a FixedJoint is created.
-  void WriteJoint(mjsJoint *joint, const mjsBody *parent_mj_body) {
-    // Default to fixed joint if joint is null.
-    pxr::TfToken joint_prim_type = pxr::UsdPhysicsTokens->PhysicsFixedJoint;
-
-    int joint_id = -1;
-    if (joint) {
-      joint_id = mjs_getId(joint->element);
-      mjtJoint type = (mjtJoint)model_->jnt_type[joint_id];
-      switch (type) {
-        case mjJNT_FREE:
-          // Free joints are guaranteed to only ever be on the top-level body so
-          // we just write no joint. As a top-level body with no joint it will
-          // be considered a floating-base body.
-          return;
-        case mjJNT_HINGE:
-          joint_prim_type = pxr::UsdPhysicsTokens->PhysicsRevoluteJoint;
-          break;
-        case mjJNT_SLIDE:
-          joint_prim_type = pxr::UsdPhysicsTokens->PhysicsPrismaticJoint;
-          break;
-        default:
-          TF_WARN("Unsupported joint type '%d' for joint '%s'. Skipping.",
-                  (int)type, mjs_getName(joint->element)->c_str());
-          return;
-      }
-    }
-
-    int body_id = mjs_getId(parent_mj_body->element);
-
-    // the joint connects the current body as body1, to its parent body as
-    // body0.
-    int body1_id_usd = body_id;
-    int body0_id_usd = model_->body_parentid[body_id];
-
-    const pxr::SdfPath &body1_path_usd = body_paths_[body1_id_usd];
-    auto joint_name = joint ? *mjs_getName(joint->element) : "FixedJoint";
-    pxr::TfToken joint_name_token =
-        GetAvailablePrimName(joint_name, kTokens->joint, body1_path_usd);
-    auto joint_spec = CreatePrimSpec(layer_, body1_path_usd,
-                                             joint_name_token, joint_prim_type);
-
-    // Set body0 and body1 relationships
-    // For the initial joints that connect to the world, we signal this by
-    // keeping the body0 relationship empty.
-    if (body0_id_usd != kWorldIndex) {
-      const pxr::SdfPath &body0_path_usd = body_paths_[body0_id_usd];
-      CreateRelationshipSpec(layer_, joint_spec,
-                             pxr::UsdPhysicsTokens->physicsBody0,
-                             body0_path_usd, pxr::SdfVariabilityUniform);
-    }
-    CreateRelationshipSpec(layer_, joint_spec,
-                           pxr::UsdPhysicsTokens->physicsBody1, body1_path_usd,
-                           pxr::SdfVariabilityUniform);
-
-    // Joint frame in MuJoCo is defined by jnt_pos and jnt_axis in body1's frame
-    // For FixedJoint, these are both unity.
-    pxr::GfVec3d mj_jnt_pos = pxr::GfVec3d(0.0);
-    pxr::GfVec3d mj_jnt_axis = pxr::GfVec3d(0.0, 0.0, 1.0);
-    if (joint) {
-      mj_jnt_pos = pxr::GfVec3d(&model_->jnt_pos[joint_id * 3]);
-      mj_jnt_axis = pxr::GfVec3d(&model_->jnt_axis[joint_id * 3]);
-    }
-
-    // Local joint frame for body1
-    pxr::GfVec3f local_pos1(mj_jnt_pos);
-    pxr::GfQuatf local_rot1(
-        pxr::GfRotation(pxr::GfVec3f::ZAxis(), mj_jnt_axis).GetQuat());
-
-    SetAttributeDefault(
-        layer_,
-        CreateAttributeSpec(layer_, joint_spec,
-                            pxr::UsdPhysicsTokens->physicsLocalPos1,
-                            pxr::SdfValueTypeNames->Float3),
-        local_pos1);
-    if (joint_prim_type == pxr::UsdPhysicsTokens->PhysicsRevoluteJoint ||
-        joint_prim_type == pxr::UsdPhysicsTokens->PhysicsPrismaticJoint) {
-      SetAttributeDefault(
-          layer_,
-          CreateAttributeSpec(layer_, joint_spec,
-                              pxr::UsdPhysicsTokens->physicsLocalRot1,
-                              pxr::SdfValueTypeNames->Quatf),
-          local_rot1);
-    } else {
-      SetAttributeDefault(
-          layer_,
-          CreateAttributeSpec(layer_, joint_spec,
-                              pxr::UsdPhysicsTokens->physicsLocalRot1,
-                              pxr::SdfValueTypeNames->Quatf),
-          pxr::GfQuatf::GetIdentity());
-    }
-
-    // Calculate local joint frame for body0
-    pxr::GfMatrix4d body1_transform_local =
-        MujocoPosQuatToTransform(&model_->body_pos[body1_id_usd * 3],
-                                 &model_->body_quat[body1_id_usd * 4]);
-    pxr::GfVec3d jnt_pos_parent_local =
-        body1_transform_local.Transform(mj_jnt_pos);
-    pxr::GfVec3d jnt_axis_parent_local =
-        body1_transform_local.TransformDir(mj_jnt_axis);
-
-    pxr::GfVec3f local_pos0(jnt_pos_parent_local);
-
-    SetAttributeDefault(
-        layer_,
-        CreateAttributeSpec(layer_, joint_spec,
-                            pxr::UsdPhysicsTokens->physicsLocalPos0,
-                            pxr::SdfValueTypeNames->Float3),
-        local_pos0);
-
-    if (joint_prim_type == pxr::UsdPhysicsTokens->PhysicsRevoluteJoint ||
-        joint_prim_type == pxr::UsdPhysicsTokens->PhysicsPrismaticJoint) {
-      pxr::GfQuatf other_rot0(
-          pxr::GfRotation(pxr::GfVec3f::ZAxis(), jnt_axis_parent_local)
-              .GetQuat());
-
-      SetAttributeDefault(
-          layer_,
-          CreateAttributeSpec(layer_, joint_spec,
-                              pxr::UsdPhysicsTokens->physicsLocalRot0,
-                              pxr::SdfValueTypeNames->Quatf),
-          other_rot0);
-    } else {
-      // Fixed joints have no frame and no axis per se. We simply need the
-      // rotation quaternion of the body its on.
-      SetAttributeDefault(
-          layer_,
-          CreateAttributeSpec(layer_, joint_spec,
-                              pxr::UsdPhysicsTokens->physicsLocalRot0,
-                              pxr::SdfValueTypeNames->Quatf),
-          body1_transform_local.ExtractRotationQuat());
-    }
-
-    if (joint) {
-      mjtJoint type = (mjtJoint)model_->jnt_type[joint_id];
-
-      // Joint-specific attributes
-      if (type == mjJNT_HINGE || type == mjJNT_SLIDE) {
-        // The joint motion occurs around/along the Z-axis of the joint frame
-        // established by localRot0/1.
-        SetAttributeDefault(
-            layer_,
-            CreateAttributeSpec(layer_, joint_spec,
-                                pxr::UsdPhysicsTokens->physicsAxis,
-                                pxr::SdfValueTypeNames->Token),
-            pxr::UsdPhysicsTokens->z);  // "Z" axis
-      }
-
-      if (model_->jnt_limited[joint_id]) {
-        float lower_limit = model_->jnt_range[joint_id * 2];
-        float upper_limit = model_->jnt_range[joint_id * 2 + 1];
-
-        if (type == mjJNT_HINGE) {
-          // Convert radians to degrees for USD
-          // As per the XML Reference, "mjModel always uses radians"
-          lower_limit *= (180.0 / mjPI);
-          upper_limit *= (180.0 / mjPI);
-          SetAttributeDefault(
-              layer_,
-              CreateAttributeSpec(layer_, joint_spec,
-                                  pxr::UsdPhysicsTokens->physicsLowerLimit,
-                                  pxr::SdfValueTypeNames->Float),
-              lower_limit);
-          SetAttributeDefault(
-              layer_,
-              CreateAttributeSpec(layer_, joint_spec,
-                                  pxr::UsdPhysicsTokens->physicsUpperLimit,
-                                  pxr::SdfValueTypeNames->Float),
-              upper_limit);
-        } else if (type == mjJNT_SLIDE) {
-          SetAttributeDefault(
-              layer_,
-              CreateAttributeSpec(layer_, joint_spec,
-                                  pxr::UsdPhysicsTokens->physicsLowerLimit,
-                                  pxr::SdfValueTypeNames->Float),
-              lower_limit);
-          SetAttributeDefault(
-              layer_,
-              CreateAttributeSpec(layer_, joint_spec,
-                                  pxr::UsdPhysicsTokens->physicsUpperLimit,
-                                  pxr::SdfValueTypeNames->Float),
-              upper_limit);
-        }
-      }
-
-      // Finally write the mjcPhysicsJointAPI attributes.
-      ApplyApiSchema(layer_, joint_spec, MjcPhysicsTokens->MjcJointAPI);
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Int,
-                            MjcPhysicsTokens->mjcGroup, joint->group);
-
-      WriteUniformAttribute(
-          joint_spec, pxr::SdfValueTypeNames->DoubleArray,
-          MjcPhysicsTokens->mjcSpringdamper,
-          pxr::VtArray<double>(joint->springdamper, joint->springdamper + 2));
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->DoubleArray,
-                            MjcPhysicsTokens->mjcSolreflimit,
-                            pxr::VtArray<double>(joint->solref_limit,
-                                                 joint->solref_limit + mjNREF));
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->DoubleArray,
-                            MjcPhysicsTokens->mjcSolimplimit,
-                            pxr::VtArray<double>(joint->solimp_limit,
-                                                 joint->solimp_limit + mjNIMP));
-
-      WriteUniformAttribute(
-          joint_spec, pxr::SdfValueTypeNames->DoubleArray,
-          MjcPhysicsTokens->mjcSolreffriction,
-          pxr::VtArray<double>(joint->solref_friction,
-                               joint->solref_friction + mjNREF));
-
-      WriteUniformAttribute(
-          joint_spec, pxr::SdfValueTypeNames->DoubleArray,
-          MjcPhysicsTokens->mjcSolimpfriction,
-          pxr::VtArray<double>(joint->solimp_friction,
-                               joint->solimp_friction + mjNIMP));
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
-                            MjcPhysicsTokens->mjcStiffness, joint->stiffness[0]);
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
-                            MjcPhysicsTokens->mjcActuatorfrcrangeMin,
-                            joint->actfrcrange[0]);
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
-                            MjcPhysicsTokens->mjcActuatorfrcrangeMax,
-                            joint->actfrcrange[1]);
-
-      pxr::TfToken actuatorfrclimited_token = MjcPhysicsTokens->auto_;
-      if (joint->actfrclimited == mjLIMITED_TRUE) {
-        actuatorfrclimited_token = MjcPhysicsTokens->true_;
-      } else if (joint->actfrclimited == mjLIMITED_FALSE) {
-        actuatorfrclimited_token = MjcPhysicsTokens->false_;
-      }
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Token,
-                            MjcPhysicsTokens->mjcActuatorfrclimited,
-                            actuatorfrclimited_token);
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Bool,
-                            MjcPhysicsTokens->mjcActuatorgravcomp,
-                            static_cast<bool>(joint->actgravcomp));
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
-                            MjcPhysicsTokens->mjcMargin, joint->margin);
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
-                            MjcPhysicsTokens->mjcRef, joint->ref);
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Double,
-                            MjcPhysicsTokens->mjcSpringref, joint->springref);
-
-      // Newton joint attributes (replaces deprecated mjc:armature / mjc:damping
-      // / mjc:frictionloss)
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Float,
-                            kTokens->newtonArmature,
-                            static_cast<float>(joint->armature));
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Float,
-                            kTokens->newtonDamping,
-                            static_cast<float>(joint->damping[0]));
-
-      WriteUniformAttribute(joint_spec, pxr::SdfValueTypeNames->Float,
-                            kTokens->newtonFriction,
-                            static_cast<float>(joint->frictionloss));
-    }
-    if (joint_id >= 0) {
-      joint_paths_[joint_id] = joint_spec->GetPath();
-    }
-  }
-
-  void WriteCamera(mjsCamera *spec_cam, const mjsBody *body) {
-    const auto &body_path = body_paths_[mjs_getId(body->element)];
-    auto name = GetAvailablePrimName(*mjs_getName(spec_cam->element),
-                                     pxr::UsdGeomTokens->Camera, body_path);
-    // Create a root Xform for the world body with the model name if it exists
-    // otherwise called 'World'.
-    auto camera_spec =
-        CreatePrimSpec(layer_, body_path, name, pxr::UsdGeomTokens->Camera);
-
-    int cam_id = mjs_getId(spec_cam->element);
-    auto transform = MujocoPosQuatToTransform(&model_->cam_pos[3 * cam_id],
-                                              &model_->cam_quat[4 * cam_id]);
-    WriteTransformXformOp(camera_spec, transform);
-    WriteXformOpOrder(camera_spec,
-                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
-
-    // If the camera intrinsics are specified, then it is important that we
-    // reproduce the code in mujoco/src/engine/engine_vis_visualize.c
-    const float *cam_sensorsize = &model_->cam_sensorsize[cam_id * 2];
-    bool use_intrinsic = cam_sensorsize[1] > 0.0f;
-    float znear = spec_->visual.map.znear * model_->stat.extent * 100;
-    float zfar = spec_->visual.map.zfar * model_->stat.extent * 100;
-    mjtNum fovy = model_->cam_fovy[cam_id];
-    const float *cam_intrinsic = &model_->cam_intrinsic[cam_id * 4];
-
-    const float aspect_ratio =
-        use_intrinsic ? cam_sensorsize[0] / cam_sensorsize[1] : 4.0f / 3;
-    float vertical_apperture =
-        2 * znear *
-        (use_intrinsic ? 1.0f / cam_intrinsic[1] *
-                             (cam_sensorsize[1] / 2.f - cam_intrinsic[3])
-                       : mju_tan((fovy / 2) * (std::numbers::pi / 180.0)));
-    float horizontal_aperture =
-        use_intrinsic ? 2 * znear / cam_intrinsic[0] *
-                            (cam_sensorsize[0] / 2.f - cam_intrinsic[2])
-                      : vertical_apperture * aspect_ratio;
-
-    WriteUniformAttribute(camera_spec, pxr::SdfValueTypeNames->Float2,
-                          pxr::UsdGeomTokens->clippingRange,
-                          pxr::GfVec2f(znear, zfar));
-    WriteUniformAttribute(camera_spec, pxr::SdfValueTypeNames->Float,
-                          pxr::UsdGeomTokens->focalLength, znear);
-    WriteUniformAttribute(camera_spec, pxr::SdfValueTypeNames->Float,
-                          pxr::UsdGeomTokens->verticalAperture,
-                          vertical_apperture);
-    WriteUniformAttribute(camera_spec, pxr::SdfValueTypeNames->Float,
-                          pxr::UsdGeomTokens->horizontalAperture,
-                          horizontal_aperture);
-  }
-
-  void WriteCameras(mjsBody *body) {
-    mjsCamera *cam = mjs_asCamera(mjs_firstChild(body, mjOBJ_CAMERA, false));
-    while (cam) {
-      if (ShouldWrite(cam->element)) {
-        WriteCamera(cam, body);
-      }
-      cam = mjs_asCamera(mjs_nextChild(body, cam->element, false));
-    }
-  }
-
-  void WriteLight(mjsLight *light, const mjsBody *body) {
-    const auto &body_path = body_paths_[mjs_getId(body->element)];
-    auto name = GetAvailablePrimName(*mjs_getName(light->element),
-                                     kTokens->light, body_path);
-    // Create a root Xform for the world body with the model name if it exists
-    // otherwise called 'World'.
-    auto light_spec =
-        CreatePrimSpec(layer_, body_path, name, pxr::UsdLuxTokens->SphereLight);
-
-    int light_id = mjs_getId(light->element);
-    auto transform = MujocoPosQuatToTransform(&model_->light_pos[3 * light_id],
-                                              &model_->light_dir[4 * light_id]);
-    WriteTransformXformOp(light_spec, transform);
-    WriteXformOpOrder(light_spec,
-                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
-  }
-
-  void WriteLights(mjsBody *body) {
-    mjsLight *light = mjs_asLight(mjs_firstChild(body, mjOBJ_LIGHT, false));
-    while (light) {
-      if (ShouldWrite(light->element)) {
-        WriteLight(light, body);
-      }
-      light = mjs_asLight(mjs_nextChild(body, light->element, false));
-    }
-  }
-
-  void WriteBody(mjsBody *body) {
-    int body_id = mjs_getId(body->element);
-    // This should be safe as we process parent bodies before children.
-    mjsBody *parent = mjs_getParent(body->element);
-    int parent_id = mjs_getId(parent->element);
-    pxr::SdfPath parent_path = body_paths_[parent_id];
-    pxr::TfToken body_name = GetValidPrimName(*mjs_getName(body->element));
-
-    // Create Xform prim for body.
-    auto body_spec = CreatePrimSpec(layer_, parent_path, body_name,
-                                            pxr::UsdGeomTokens->Xform);
-    // The parent_path will be a component which makes the actual articulated
-    // bodies subcomponents.
-    auto kind = parent_id == kWorldIndex ? pxr::KindTokens->component
-                                         : pxr::KindTokens->subcomponent;
-    SetPrimKind(layer_, body_spec, kind);
-
-    // If the parent is not the world body, but is child of the world body
-    // then we need to apply the articulation root API.
-    if (parent_id != kWorldIndex) {
-      int parent_parent_id = mjs_getId(mjs_getParent(parent->element)->element);
-      // We guard against applying the API more than once, which can happen when
-      // there are multiple children.
-      if (parent_parent_id == kWorldIndex &&
-          articulation_roots_.find(parent_id) == articulation_roots_.end()) {
-        ApplyApiSchema(layer_, layer_->GetPrimAtPath(parent_path),
-                       pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
-        articulation_roots_.insert(parent_id);
-      }
-    }
-
-    // If the body had a mass specified then it must have either inertia or
-    // fullinertia specified per inertia element XML documentation.
-    // Therefore it is sufficient to check if the mass is non-zero to see if
-    // we should set inertial attributes on the body.
-    //
-    // Note that if the user has NOT specified any inertial properties then
-    // we don't want to pull values from the compiled model since coming back
-    // into Mujoco would take those values instead of computing them
-    // automatically from the subtree.
-    if (body->mass > 0) {
-      // User might have specified the inertia via fullinertia and the
-      // compiler has extracted all values properly. So leverage those
-      // instead of doing the computation ourselves here.
-      ApplyApiSchema(layer_, body_spec, pxr::UsdPhysicsTokens->PhysicsMassAPI);
-      WriteUniformAttribute(body_spec, pxr::SdfValueTypeNames->Float,
-                            pxr::UsdPhysicsTokens->physicsMass,
-                            (float)model_->body_mass[body_id]);
-
-      mjtNum *body_ipos = &model_->body_ipos[body_id * 3];
-      pxr::GfVec3f inertial_pos(body_ipos[0], body_ipos[1], body_ipos[2]);
-      WriteUniformAttribute(body_spec, pxr::SdfValueTypeNames->Point3f,
-                            pxr::UsdPhysicsTokens->physicsCenterOfMass,
-                            inertial_pos);
-
-      mjtNum *body_iquat = &model_->body_iquat[body_id * 4];
-      pxr::GfQuatf inertial_frame(body_iquat[0], body_iquat[1], body_iquat[2],
-                                  body_iquat[3]);
-      WriteUniformAttribute(body_spec, pxr::SdfValueTypeNames->Quatf,
-                            pxr::UsdPhysicsTokens->physicsPrincipalAxes,
-                            inertial_frame);
-
-      mjtNum *inertia = &model_->body_inertia[body_id * 3];
-      pxr::GfVec3f diag_inertia(inertia[0], inertia[1], inertia[2]);
-      WriteUniformAttribute(body_spec, pxr::SdfValueTypeNames->Float3,
-                            pxr::UsdPhysicsTokens->physicsDiagonalInertia,
-                            diag_inertia);
-    }
-
-    ApplyApiSchema(layer_, body_spec,
-                   pxr::UsdPhysicsTokens->PhysicsRigidBodyAPI);
-
-    // Create classes if necessary
-    mjsDefault *spec_default = mjs_getDefault(body->element);
-
-    pxr::TfToken body_class_name =
-        GetValidPrimName(*mjs_getName(spec_default->element));
-    pxr::SdfPath body_class_path = class_path_.AppendChild(body_class_name);
-    if (!layer_->HasSpec(body_class_path)) {
-      CreateClassSpec(layer_, class_path_, body_class_name);
-    }
-
-    // Create XformOp attribute for body transform.
-
-    auto xform_op_spec =
-        CreateAttributeSpec(layer_, body_spec, kTokens->xformOpTransform,
-                            pxr::SdfValueTypeNames->Matrix4d);
-    // mjModel will have all frames already accounted for so no need to worry
-    // about them here.
-    auto body_xform = MujocoPosQuatToTransform(&model_->body_pos[body_id * 3],
-                                               &model_->body_quat[body_id * 4]);
-    SetAttributeDefault(layer_, xform_op_spec, body_xform);
-
-    // Create XformOpOrder attribute for body transform order.
-    // For us this is simply the transform we authored above.
-    WriteXformOpOrder(body_spec,
-                      pxr::VtArray<pxr::TfToken>{kTokens->xformOpTransform});
-
-    pxr::VtDictionary customData;
-    customData[kTokens->body_name] = *mjs_getName(body->element);
-    body_spec->SetField(pxr::SdfFieldKeys->CustomData, customData);
-
-    body_paths_[body_id] = body_spec->GetPath();
-    mujoco::usd::SetUsdPrimPathUserValue(body->element, body_spec->GetPath());
-  }
-
-  void WriteBodies() {
-    mjsBody *body = mjs_asBody(mjs_firstElement(spec_, mjOBJ_BODY));
-    while (body) {
-      // If this body originally came from USD, don't try and write it
-      // again.
-      if (ShouldWrite(body->element)) {
-        // Only write a rigidbody if we are not the world body.
-        // We fall through since the world body might have static
-        // geom children.
-        if (mjs_getId(body->element) != kWorldIndex) {
-          WriteBody(body);
-        }
-        WriteSites(body);
-        WriteGeoms(body);
-        WriteJoints(body);
-        WriteCameras(body);
-        WriteLights(body);
-      }
-      body = mjs_asBody(mjs_nextElement(spec_, body->element));
-    }
-  }
-
-  pxr::SdfPrimSpecHandle WriteWorldBody(const size_t body_index) {
-    // Create a root Xform for the world body with the model name if it exists
-    // otherwise called 'World'.
-    auto name = GetAvailablePrimName(*spec_->modelname, kTokens->world,
-                                     pxr::SdfPath::AbsoluteRootPath());
-    auto world_group_spec =
-        CreatePrimSpec(layer_, pxr::SdfPath::AbsoluteRootPath(), name,
-                       pxr::UsdGeomTokens->Xform);
-    SetPrimKind(layer_, world_group_spec, pxr::KindTokens->group);
-
-    return world_group_spec;
-  }
-};
-
-namespace mujoco {
-namespace usd {
-
-bool WriteSpecToData(mjSpec *spec, pxr::SdfLayerRefPtr layer, bool skip_elems_from_usd) {
-  mjModel *model = mj_compile(spec, nullptr);
-  if (model == nullptr) {
-    TF_ERROR(MujocoCompilationError, "%s", mjs_getError(spec));
-    return false;
-  }
-
-  ModelWriter(spec, model, layer, skip_elems_from_usd).Write();
-
-  return true;
-}
-
-}  // namespace usd
-}  // namespace mujoco
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h
deleted file mode 100644
index 9256bba7..00000000
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.h
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MUJOCO_TO_USD_H_
-#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MUJOCO_TO_USD_H_
-
-#include <mujoco/mujoco.h>
-#include <pxr/usd/sdf/declareHandles.h>
-
-namespace mujoco {
-namespace usd {
-// Given an mjSpec, writes a USD representation of the data to the given layer.
-//
-// Args:
-//   spec: mjSpec built programmatically or via parsed XML.
-//   layer: SdfLayerRefPtr that will be written to.
-//   skip_elems_from_usd: If true, skips over elements in the spec that have a usd_prim_path
-//   custom attribute set.
-bool WriteSpecToData(mjSpec* spec, pxr::SdfLayerRefPtr layer, bool skip_elems_from_usd = false);
-}  // namespace usd
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_MUJOCO_TO_USD_H_
diff --git a/src/experimental/usd/plugins/mjcf/plugInfo.json b/src/experimental/usd/plugins/mjcf/plugInfo.json
deleted file mode 100644
index da1f9ebd..00000000
--- a/src/experimental/usd/plugins/mjcf/plugInfo.json
+++ /dev/null
@@ -1,25 +0,0 @@
-{
-  "Plugins": [
-    {
-      "Info": {
-        "Types": {
-          "UsdMjcfFileFormat": {
-            "bases": ["SdfFileFormat"],
-            "displayName": "MJCF USD File Format",
-            "extensions": ["xml"],
-            "formatId": "xml",
-            "primary": true,
-            "supportsReading": true,
-            "supportsWriting": false,
-            "target": "usd"
-          }
-        }
-      },
-      "LibraryPath": "@PLUG_INFO_LIBRARY_PATH@",
-      "Name": "usdMjcf",
-      "ResourcePath": "",
-      "Root": ".",
-      "Type": "library"
-    }
-  ]
-}
diff --git a/src/experimental/usd/plugins/mjcf/utils.cc b/src/experimental/usd/plugins/mjcf/utils.cc
deleted file mode 100644
index b8c5f894..00000000
--- a/src/experimental/usd/plugins/mjcf/utils.cc
+++ /dev/null
@@ -1,155 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "mjcf/utils.h"
-
-#include <string>
-
-#include <pxr/base/tf/token.h>
-#include <pxr/usd/sdf/attributeSpec.h>
-#include <pxr/usd/sdf/declareHandles.h>
-#include <pxr/usd/sdf/layer.h>
-#include <pxr/usd/sdf/listOp.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/sdf/primSpec.h>
-#include <pxr/usd/sdf/reference.h>
-#include <pxr/usd/sdf/relationshipSpec.h>
-#include <pxr/usd/sdf/schema.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/sdf/valueTypeName.h>
-#include <pxr/usd/usd/tokens.h>
-#include <pxr/usd/usdGeom/tokens.h>
-namespace {
-
-template <typename T>
-void AppendListOp(pxr::SdfLayerRefPtr layer,
-                  const pxr::SdfPrimSpecHandle& prim_spec, const pxr::TfToken& field,
-                  const T& item) {
-  pxr::SdfListOp<T> listOp =
-      prim_spec->GetInfo(field).Get<pxr::SdfListOp<T>>();
-  auto items = listOp.GetExplicitItems();
-  items.push_back(item);
-  listOp.SetExplicitItems(items);
-  prim_spec->SetInfo(field, pxr::VtValue::Take(listOp));
-}
-
-template <typename T>
-void PrependListOp(pxr::SdfLayerRefPtr layer,
-                   const pxr::SdfPrimSpecHandle& prim_spec, const pxr::TfToken& field,
-                   const T& item) {
-  pxr::SdfListOp<T> listOp =
-      prim_spec->GetInfo(field).Get<pxr::SdfListOp<T>>();
-  auto prependedItems = listOp.GetPrependedItems();
-  prependedItems.insert(prependedItems.begin(), item);
-  listOp.SetPrependedItems(prependedItems);
-  prim_spec->SetInfo(field, pxr::VtValue::Take(listOp));
-}
-}  // namespace
-
-namespace mujoco {
-namespace usd {
-
-pxr::SdfPrimSpecHandle CreatePrimSpec(pxr::SdfLayerRefPtr layer,
-                            const pxr::SdfPath& parent_path,
-                            const pxr::TfToken& name, const pxr::TfToken& type,
-                            pxr::SdfSpecifier specifier) {
-  const pxr::SdfPath prim_path = parent_path.AppendChild(name);
-  pxr::SdfPrimSpecHandle prim_spec = pxr::SdfCreatePrimInLayer(layer, prim_path);
-  layer->SetField(prim_path, pxr::SdfFieldKeys->Specifier, specifier);
-  if (!type.IsEmpty()) {
-    layer->SetField(prim_path, pxr::SdfFieldKeys->TypeName, type);
-  }
-
-  return prim_spec;
-}
-
-pxr::SdfAttributeSpecHandle CreateAttributeSpec(pxr::SdfLayerRefPtr layer,
-                                 const pxr::SdfPrimSpecHandle& prim_spec,
-                                 const pxr::TfToken& name,
-                                 const pxr::SdfValueTypeName& type_name,
-                                 pxr::SdfVariability variability) {
-  const pxr::SdfPath propertyPath = prim_spec->GetPath().AppendProperty(name);
-
-  // Early exit if the attribute spec already exists.
-  if (layer->HasSpec(propertyPath)) {
-    return layer->GetAttributeAtPath(propertyPath);
-  }
-
-  auto spec = pxr::SdfAttributeSpec::New(prim_spec,
-      name, type_name, variability);
-
-  return spec;
-}
-
-pxr::SdfRelationshipSpecHandle CreateRelationshipSpec(pxr::SdfLayerRefPtr layer,
-                                    const pxr::SdfPrimSpecHandle& prim_spec,
-                                    const pxr::TfToken& relationship_name,
-                                    const pxr::SdfPath& relationship_path,
-                                    pxr::SdfVariability variability) {
-  auto spec = pxr::SdfRelationshipSpec::New(prim_spec, relationship_name);
-  spec->GetTargetPathList().Append(relationship_path);
-
-  return spec;
-}
-
-pxr::SdfPrimSpecHandle CreateClassSpec(pxr::SdfLayerRefPtr layer,
-                             const pxr::SdfPath& prim_path,
-                             const pxr::TfToken& class_name) {
-  pxr::SdfPath class_path = prim_path.AppendChild(class_name);
-  pxr::SdfPrimSpecHandle prim_spec = pxr::SdfCreatePrimInLayer(layer, class_path);
-  layer->SetField(class_path, pxr::SdfFieldKeys->Specifier, pxr::SdfSpecifier::SdfSpecifierClass);
-
-  return prim_spec;
-}
-
-void AddAttributeConnection(pxr::SdfLayerRefPtr layer,
-                            const pxr::SdfAttributeSpecHandle& attribute_spec,
-                            const pxr::SdfAttributeSpecHandle& target_attribute_spec) {
-  attribute_spec->GetConnectionPathList().GetExplicitItems() = {target_attribute_spec->GetPath()};
-}
-
-void AddPrimReference(pxr::SdfLayerRefPtr layer,
-                      const pxr::SdfPrimSpecHandle& prim_spec,
-                      const pxr::SdfPath& referenced_prim_path) {
-  PrependListOp(layer, prim_spec, pxr::SdfFieldKeys->References,
-                pxr::SdfReference("", referenced_prim_path));
-}
-
-void AddPrimInherit(pxr::SdfLayerRefPtr layer,
-                    const pxr::SdfPrimSpecHandle& prim_spec,
-                    const pxr::SdfPath& class_path) {
-  PrependListOp(layer, prim_spec, pxr::SdfFieldKeys->InheritPaths, class_path);
-}
-
-void ApplyApiSchema(pxr::SdfLayerRefPtr layer,
-                    const pxr::SdfPrimSpecHandle& prim_spec,
-                    const pxr::TfToken& schema_name) {
-  PrependListOp(layer, prim_spec, pxr::UsdTokens->apiSchemas, schema_name);
-}
-
-void SetPrimKind(pxr::SdfLayerRefPtr layer,
-                 const pxr::SdfPrimSpecHandle& prim_spec, pxr::TfToken kind) {
-  prim_spec->SetField(pxr::SdfFieldKeys->Kind, kind);
-}
-
-void SetPrimPurpose(pxr::SdfLayerRefPtr layer,
-                    const pxr::SdfPrimSpecHandle& prim_spec, pxr::TfToken purpose) {
-  const pxr::SdfAttributeSpecHandle& attr = CreateAttributeSpec(
-      layer, prim_spec, pxr::UsdGeomTokens->purpose,
-      pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
-  SetAttributeDefault(layer, attr, purpose);
-}
-
-}  // namespace usd
-}  // namespace mujoco
diff --git a/src/experimental/usd/plugins/mjcf/utils.h b/src/experimental/usd/plugins/mjcf/utils.h
deleted file mode 100644
index 7579b8a3..00000000
--- a/src/experimental/usd/plugins/mjcf/utils.h
+++ /dev/null
@@ -1,127 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
-
-#include <pxr/base/tf/token.h>
-#include <pxr/usd/sdf/attributeSpec.h>
-#include <pxr/usd/sdf/declareHandles.h>
-#include <pxr/usd/sdf/layer.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/sdf/schema.h>
-#include <pxr/usd/sdf/types.h>
-#include <pxr/usd/sdf/valueTypeName.h>
-
-namespace mujoco {
-namespace usd {
-
-// Create a prim spec and append it as a child of parent_path.
-pxr::SdfPrimSpecHandle CreatePrimSpec(
-    pxr::SdfLayerRefPtr layer, const pxr::SdfPath& parent_path,
-    const pxr::TfToken& name, const pxr::TfToken& type = pxr::TfToken(),
-    pxr::SdfSpecifier specifier = pxr::SdfSpecifier::SdfSpecifierDef);
-
-// Create an attribute spec and append it as a child of parent_path.
-// By default the attribute will be varying.
-pxr::SdfAttributeSpecHandle CreateAttributeSpec(
-    pxr::SdfLayerRefPtr layer, const pxr::SdfPrimSpecHandle& prim_spec,
-    const pxr::TfToken& name, const pxr::SdfValueTypeName& type_name,
-    pxr::SdfVariability variability = pxr::SdfVariabilityVarying);
-
-// Create a relationship spec and append it as a child of prim_path.
-pxr::SdfRelationshipSpecHandle CreateRelationshipSpec(
-    pxr::SdfLayerRefPtr layer, const pxr::SdfPrimSpecHandle& prim_spec,
-    const pxr::TfToken& relationship_name,
-    const pxr::SdfPath& relationship_path,
-    pxr::SdfVariability variability = pxr::SdfVariabilityVarying);
-
-pxr::SdfPrimSpecHandle CreateClassSpec(pxr::SdfLayerRefPtr layer,
-                             const pxr::SdfPath& prim_path,
-                             const pxr::TfToken& class_name);
-
-void AddAttributeConnection(pxr::SdfLayerRefPtr layer,
-                            const pxr::SdfAttributeSpecHandle& attribute_spec,
-                            const pxr::SdfAttributeSpecHandle& target_attribute_spec);
-
-void AddPrimReference(pxr::SdfLayerRefPtr layer,
-                      const pxr::SdfPrimSpecHandle& prim_spec,
-                      const pxr::SdfPath& referenced_prim_path);
-
-void AddPrimInherit(pxr::SdfLayerRefPtr layer,
-                    const pxr::SdfPrimSpecHandle& prim_spec,
-                    const pxr::SdfPath& class_path);
-
-void ApplyApiSchema(pxr::SdfLayerRefPtr layer,
-                    const pxr::SdfPrimSpecHandle& prim_spec,
-                    const pxr::TfToken& schema_name);
-
-void SetPrimKind(pxr::SdfLayerRefPtr layer,
-                 const pxr::SdfPrimSpecHandle& prim_spec, pxr::TfToken kind);
-
-void SetPrimPurpose(pxr::SdfLayerRefPtr layer,
-                    const pxr::SdfPrimSpecHandle& prim_spec, pxr::TfToken purpose);
-
-// Set the value specified by key on any field at field_path.
-template <typename T>
-void SetField(pxr::SdfLayerRefPtr layer, const pxr::SdfPath& field_path,
-              const pxr::TfToken key, T&& value) {
-  layer->SetField(field_path, key, value);
-}
-
-// Set the value specified by key on any field at field_path.
-template <typename T>
-void SetFieldTimeSample(pxr::SdfLayerRefPtr layer,
-                        const pxr::SdfPath& field_path, double time,
-                        T&& value) {
-  layer->SetTimeSample(field_path, time, value);
-}
-
-
-// Set the value specified by key on an attribute spec at attribute_path.
-template <typename T>
-void SetAttributeMetadata(pxr::SdfLayerRefPtr layer,
-                          const pxr::SdfPath& attribute_path,
-                          const pxr::TfToken key, T&& value) {
-  SetAttribute(layer, attribute_path, key, value);
-}
-
-// Set the default value on an attribute spec at attribute_path.
-template <typename T>
-void SetAttributeDefault(pxr::SdfLayerRefPtr layer,
-                         const pxr::SdfAttributeSpecHandle& attribute,
-                         T&& default_value) {
-  attribute->SetField(pxr::SdfFieldKeys->Default, default_value);
-}
-
-// Set the default value on an attribute spec at attribute_path.
-template <typename T>
-void SetAttributeTimeSample(pxr::SdfLayerRefPtr layer,
-                         const pxr::SdfAttributeSpecHandle& attr_spec,
-                         double time,
-                         T&& default_value) {
-  layer->SetTimeSample(attr_spec->GetPath(), time, default_value);
-}
-
-// Set the value specified by key on the root layer.
-template <typename T>
-void SetLayerMetadata(pxr::SdfLayerRefPtr layer, const pxr::TfToken& key,
-                      T&& value) {
-  layer->SetField(pxr::SdfPath::AbsoluteRootPath(), key, value);
-}
-
-}  // namespace usd
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
diff --git a/src/experimental/usd/utils.cc b/src/experimental/usd/utils.cc
deleted file mode 100644
index 01f0183d..00000000
--- a/src/experimental/usd/utils.cc
+++ /dev/null
@@ -1,109 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// clang-format off
-#include <cstddef>
-#include <string>
-
-#if defined(_WIN32) || defined(__CYGWIN__)
-#include <windows.h>
-#else
-#include <dlfcn.h>
-#endif
-#include <pxr/base/plug/registry.h>
-// clang-format on
-
-#include <mujoco/experimental/usd/utils.h>
-
-#include <mujoco/mujoco.h>
-#include <pxr/usd/sdf/path.h>
-
-namespace mujoco {
-namespace usd {
-
-constexpr const char* kUsdPrimPathKey = "usd_primpath";
-
-void SetUsdPrimPathUserValue(mjsElement* element,
-                             const pxr::SdfPath& prim_path) {
-  // The value is a pointer to a newly allocated SdfPath, which will be deleted
-  // when the mjsElement is deleted.
-  const pxr::SdfPath* usd_primpath = new pxr::SdfPath(prim_path);
-  mjs_setUserValueWithCleanup(
-      element, kUsdPrimPathKey, usd_primpath,
-      [](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
-}
-
-pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element) {
-  const void* user_data = mjs_getUserValue(element, kUsdPrimPathKey);
-  if (user_data) {
-    return *static_cast<const pxr::SdfPath*>(user_data);
-  }
-  return pxr::SdfPath();
-}
-
-}  // namespace usd
-}  // namespace mujoco
-
-namespace {
-//Automatically register USD plugins when the library is loaded.
-//This avoids the need for users to manually set PXR_PLUGINPATH_NAME.
-[[maybe_unused]]
-bool RegisterMujocoUsdPlugins() {
-  std::string plugin_path;
-
-#if defined(_WIN32) || defined(__CYGWIN__)
-  HMODULE hModule = NULL;
-  if (GetModuleHandleEx(GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS |
-                            GET_MODULE_HANDLE_EX_FLAG_UNCHANGED_REFCOUNT,
-                        (LPCTSTR)&mujoco::usd::SetUsdPrimPathUserValue,
-                        &hModule)) {
-    char path[MAX_PATH];
-    if (GetModuleFileName(hModule, path, MAX_PATH)) {
-      std::string lib_path(path);
-      // Remove filename to get directory
-      size_t last_slash = lib_path.find_last_of("\\/");
-      if (last_slash != std::string::npos) {
-        plugin_path = lib_path.substr(0, last_slash);
-      }
-    }
-  }
-#else
-  Dl_info info;
-  if (dladdr((void*)&mujoco::usd::SetUsdPrimPathUserValue, &info)) {
-    std::string lib_path(info.dli_fname);
-    // Remove filename to get directory
-    size_t last_slash = lib_path.find_last_of('/');
-    if (last_slash != std::string::npos) {
-      plugin_path = lib_path.substr(0, last_slash);
-    }
-  }
-#endif
-
-  if (!plugin_path.empty()) {
-#if defined(_WIN32) || defined(__CYGWIN__)
-    std::string full_path =
-        plugin_path + "\\" + "mujoco-usd-resources" + "\\**\\plugInfo.json";
-#else
-    std::string full_path =
-        plugin_path + "/" + "mujoco-usd-resources" + "/**/plugInfo.json";
-#endif
-    pxr::PlugRegistry::GetInstance().RegisterPlugins(full_path);
-  }
-  return true;
-}
-
-// Force registration at library load time.
-bool registered = RegisterMujocoUsdPlugins();
-
-}  // namespace
diff --git a/src/experimental/usd/writer.cc b/src/experimental/usd/writer.cc
deleted file mode 100644
index cd85d306..00000000
--- a/src/experimental/usd/writer.cc
+++ /dev/null
@@ -1,79 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <mujoco/experimental/usd/writer.h>
-
-#include <utility>
-#include <vector>
-
-#include <mujoco/experimental/usd/utils.h>
-#include <mujoco/mujoco.h>
-#include "experimental/usd/plugins/mjcf/mujoco_to_usd.h"
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/usd/common.h>
-#include <pxr/usd/usd/stage.h>
-
-namespace mujoco {
-namespace usd {
-
-// Writer is the main entry point for mj_usd. It is responsible
-// for converting the USD scene into a Mujoco model and exposing stepping
-// API.
-Writer::Writer(pxr::UsdStageRefPtr stage, mjSpec* spec, mjModel_* model)
-    : stage_(stage), spec_(spec), model_(model) {
-  WriteSpecsWithoutUSDOriginToLayer();
-  BuildMjUsdMapping();
-}
-
-Writer::~Writer() = default;
-
-void Writer::WriteSpecsWithoutUSDOriginToLayer() {
-  // The user may have constructed the spec from sources other than USD.
-  // In this case, we will write write all those spec elements to a new layer in
-  // the stage. This allows us to keep the same writing API for a simulation regardless
-  // of how a spec was produced.
-  mujoco::usd::WriteSpecToData(spec_, stage_->GetEditTarget().GetLayer(), true);
-}
-
-void Writer::BuildMjUsdMapping() {
-  body_id_to_path_.assign(model_->nbody, pxr::SdfPath());
-
-  // World body (ID 0) maps to an empty SdfPath.
-  if (model_->nbody > 0) {
-    body_id_to_path_[0] = pxr::SdfPath();
-  }
-
-  // Iterate over MuJoCo body IDs from the mjModel.
-  for (int body_idx = 1; body_idx < model_->nbody; ++body_idx) {
-    const char* body_name = mj_id2name(model_, mjOBJ_BODY, body_idx);
-    if (body_name) {
-      mjsBody* spec_body = mjs_findBody(spec_, body_name);
-      body_id_to_path_[body_idx] =
-          mujoco::usd::GetUsdPrimPathUserValue(spec_body->element);
-    }
-  }
-}
-
-void Writer::Update(const mjData* const data) {
-  for (const auto& sink_fn : pose_sinks_) {
-    sink_fn(data, body_id_to_path_);
-  }
-}
-
-void Writer::AddSink(PoseSinkFn sink_fn) {
-  pose_sinks_.push_back(std::move(sink_fn));
-}
-
-}  // namespace usd
-}  // namespace mujoco
diff --git a/src/render/classic/CMakeLists.txt b/src/render/classic/CMakeLists.txt
deleted file mode 100644
index ac3335f6..00000000
--- a/src/render/classic/CMakeLists.txt
+++ /dev/null
@@ -1,34 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_RENDER_SRCS
-    glad/glad.c
-    glad/glad.h
-    glad/loader.cc
-    render_context.c
-    render_context.h
-    render_gl2.c
-    render_gl2.h
-    render_gl3.c
-    render_gl3.h
-    render_util.c
-    render_util.h
-)
-
-target_sources(mujoco PRIVATE ${MUJOCO_RENDER_SRCS})
-
-# GLAD needs dlopen/dlsym
-if(CMAKE_DL_LIBS)
-  target_link_libraries(mujoco PRIVATE ${CMAKE_DL_LIBS})
-endif()
diff --git a/src/render/classic/font/back100.inc b/src/render/classic/font/back100.inc
deleted file mode 100644
index e801a600..00000000
--- a/src/render/classic/font/back100.inc
+++ /dev/null
@@ -1,364 +0,0 @@
-const unsigned char font_back100[] = {
-
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-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0,
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-0, 0, 0, 252, 252, 252, 252, 252, 252, 252,
-252, 252, 252, 252, 252, 252, 0, 0,
-34, 6, 18,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 254,
-254, 254, 254, 254, 254, 254, 0, 0,
-35, 9, 18,
-0, 0, 0, 0, 0, 0, 255, 0, 255, 128,
-255, 128, 255, 255, 255, 255, 255, 255, 255, 255,
-255, 255, 255, 255, 255, 255, 255, 255, 127, 192,
-63, 192, 0, 0, 0, 0,
-36, 8, 18,
-0, 0, 0, 62, 255, 255, 255, 255, 255, 255,
-255, 255, 255, 255, 255, 127, 62, 0,
-37, 12, 18,
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-127, 248, 127, 248, 255, 248, 255, 248, 255, 248,
-255, 248, 255, 248, 255, 240, 255, 224, 255, 224,
-255, 224, 0, 0, 0, 0,
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-0, 0, 0, 0, 0, 0, 127, 224, 255, 224,
-255, 224, 255, 224, 255, 224, 255, 224, 255, 224,
-255, 224, 127, 128, 127, 128, 127, 128, 127, 128,
-63, 0, 0, 0, 0, 0,
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-248, 248, 248, 248, 248, 248, 0, 0,
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-0, 124, 252, 252, 252, 252, 248, 248, 248, 248,
-252, 252, 252, 252, 252, 124, 0, 0,
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-0, 240, 248, 252, 252, 252, 252, 252, 124, 252,
-252, 252, 252, 248, 248, 240, 0, 0,
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-0, 0, 0, 0, 0, 0, 0, 127, 127, 127,
-255, 255, 255, 255, 255, 62, 62, 0,
-43, 8, 18,
-0, 0, 0, 0, 0, 62, 62, 255, 255, 255,
-255, 255, 62, 62, 62, 0, 0, 0,
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-0, 0, 0, 0, 0, 0, 0, 0,
-45, 5, 18,
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-255, 0, 0, 0, 0, 0, 0, 0,
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-0, 0, 0, 0, 0, 0, 0, 0,
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-254, 127, 127, 63, 63, 31, 0, 0,
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-255, 255, 255, 255, 127, 63, 0, 0,
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-31, 255, 255, 255, 255, 255, 0, 0,
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-255, 255, 255, 254, 248, 0, 0, 0,
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-255, 255, 255, 255, 255, 254, 0, 0,
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-255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
-255, 255, 255, 255, 255, 255, 127, 255, 63, 248,
-31, 240, 0, 0, 0, 0,
-65, 10, 18,
-0, 0, 0, 0, 241, 255, 241, 255, 251, 255,
-255, 255, 255, 255, 255, 255, 255, 224, 255, 224,
-127, 192, 127, 192, 63, 128, 63, 128, 31, 0,
-31, 0, 0, 0, 0, 0,
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-0, 0, 0, 0, 255, 192, 255, 224, 255, 224,
-255, 224, 255, 224, 255, 224, 255, 224, 255, 224,
-255, 224, 255, 224, 255, 224, 255, 224, 255, 224,
-255, 192, 0, 0, 0, 0,
-67, 10, 18,
-0, 0, 0, 0, 63, 192, 127, 224, 255, 255,
-255, 255, 255, 255, 255, 255, 249, 255, 249, 255,
-255, 255, 255, 255, 255, 255, 255, 255, 127, 224,
-63, 192, 0, 0, 0, 0,
-68, 11, 18,
-0, 0, 0, 0, 255, 192, 255, 224, 255, 240,
-255, 240, 255, 240, 251, 240, 249, 240, 249, 240,
-251, 240, 255, 240, 255, 240, 255, 240, 255, 224,
-255, 192, 0, 0, 0, 0,
-69, 10, 18,
-0, 0, 0, 0, 255, 224, 255, 224, 255, 224,
-255, 224, 255, 224, 255, 192, 255, 192, 255, 192,
-255, 192, 255, 224, 255, 224, 255, 224, 255, 224,
-255, 224, 0, 0, 0, 0,
-70, 9, 18,
-0, 0, 0, 0, 248, 0, 248, 0, 248, 0,
-248, 0, 248, 0, 255, 192, 255, 192, 255, 192,
-255, 192, 255, 255, 255, 255, 255, 255, 255, 255,
-255, 255, 0, 0, 0, 0,
-71, 11, 18,
-0, 0, 0, 0, 63, 240, 127, 240, 255, 240,
-255, 240, 255, 240, 255, 240, 255, 240, 255, 240,
-255, 240, 255, 240, 255, 240, 255, 240, 127, 224,
-63, 192, 0, 0, 0, 0,
-72, 11, 18,
-0, 0, 0, 0, 249, 240, 249, 240, 249, 240,
-249, 240, 249, 240, 255, 240, 255, 240, 255, 240,
-255, 240, 255, 240, 249, 240, 249, 240, 249, 240,
-249, 240, 0, 0, 0, 0,
-73, 4, 18,
-0, 0, 248, 248, 248, 248, 248, 248, 248, 248,
-248, 248, 248, 248, 248, 248, 0, 0,
-74, 8, 18,
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-15, 15, 15, 15, 15, 15, 0, 0,
-75, 9, 18,
-0, 0, 0, 0, 251, 255, 255, 255, 255, 255,
-255, 255, 255, 255, 255, 192, 255, 128, 255, 0,
-255, 128, 255, 192, 255, 192, 255, 192, 255, 192,
-255, 192, 0, 0, 0, 0,
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-255, 255, 255, 0, 0, 0, 0, 0,
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-255, 255, 255, 0, 0, 0, 0, 0,
-123, 6, 18,
-0, 126, 126, 126, 126, 126, 252, 252, 252, 252,
-252, 126, 126, 126, 126, 126, 0, 0,
-124, 8, 18,
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-};
diff --git a/src/render/classic/font/back150.inc b/src/render/classic/font/back150.inc
deleted file mode 100644
index a22de338..00000000
--- a/src/render/classic/font/back150.inc
+++ /dev/null
@@ -1,616 +0,0 @@
-const unsigned char font_back150[] = {
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-};
diff --git a/src/render/classic/font/back200.inc b/src/render/classic/font/back200.inc
deleted file mode 100644
index ca3c5832..00000000
--- a/src/render/classic/font/back200.inc
+++ /dev/null
@@ -1,939 +0,0 @@
-const unsigned char font_back200[] = {
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diff --git a/src/render/classic/font/back250.inc b/src/render/classic/font/back250.inc
deleted file mode 100644
index eada4943..00000000
--- a/src/render/classic/font/back250.inc
+++ /dev/null
@@ -1,1400 +0,0 @@
-const unsigned char font_back250[] = {
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diff --git a/src/render/classic/font/back300.inc b/src/render/classic/font/back300.inc
deleted file mode 100644
index 2e8ed6ec..00000000
--- a/src/render/classic/font/back300.inc
+++ /dev/null
@@ -1,1764 +0,0 @@
-const unsigned char font_back300[] = {
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-3, 255, 7, 255, 7, 255, 7, 255, 7, 255,
-7, 252, 7, 248, 7, 248, 7, 248, 7, 248,
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-255, 248, 31, 248, 15, 248, 7, 248, 7, 248,
-7, 248, 7, 248, 7, 248, 7, 248, 7, 252,
-7, 255, 7, 255, 7, 255, 7, 255, 3, 255,
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-0, 127, 0, 0, 127, 0, 0, 127, 0, 0,
-127, 0, 0, 127, 0, 0, 127, 0, 0, 127,
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-127, 0, 0, 127, 0, 0, 127, 0, 0, 127,
-0, 0, 127, 0, 0, 127, 0, 0, 127, 0,
-0, 127, 0, 0, 127, 0, 0, 127, 0, 0,
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-0, 0, 127, 0, 0, 127, 0, 0, 127, 0,
-0, 127, 0, 0, 127, 0, 0, 127, 0, 0,
-127, 0, 0, 127, 0, 0, 127, 0, 0, 127,
-0, 0, 127, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0,
-125, 15, 54,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 254, 0, 255, 128,
-255, 192, 255, 224, 255, 224, 255, 224, 255, 224,
-63, 224, 31, 224, 31, 224, 31, 224, 31, 224,
-31, 224, 31, 224, 31, 240, 31, 248, 31, 255,
-31, 255, 31, 255, 15, 255, 31, 255, 31, 255,
-31, 255, 31, 248, 31, 240, 31, 224, 31, 224,
-31, 224, 31, 224, 31, 224, 31, 224, 63, 224,
-255, 224, 255, 224, 255, 224, 255, 224, 255, 192,
-255, 128, 254, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0,
-126, 23, 54,
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-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0, 124, 31,
-248, 126, 255, 252, 127, 255, 254, 127, 255, 254,
-127, 255, 254, 127, 255, 254, 127, 255, 254, 63,
-255, 126, 31, 248, 62, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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-0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0, 0,
-
-123
-};
diff --git a/src/render/classic/font/back50.inc b/src/render/classic/font/back50.inc
deleted file mode 100644
index a2611f62..00000000
--- a/src/render/classic/font/back50.inc
+++ /dev/null
@@ -1,294 +0,0 @@
-const unsigned char font_back50[] = {
-
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-0, 124, 254, 254, 254, 254, 254, 254, 254, 248,
-0,
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-0, 127, 127, 255, 255, 255, 255, 255, 255, 255,
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-240, 255, 255, 255, 255, 255, 255, 255, 255, 240,
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-0, 0, 248, 252, 252, 252, 252, 252, 248, 0,
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-240, 240, 240, 240, 240, 240, 0, 0, 0, 0,
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-0, 124, 255, 255, 255, 255, 255, 252, 252, 124,
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-0, 252, 252, 252, 252, 252, 252, 252, 252, 252,
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-0, 248, 252, 252, 255, 255, 255, 255, 255, 255,
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-0, 255, 255, 255, 255, 255, 255, 252, 252, 252,
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-127, 255, 255, 255, 255, 255, 255, 255, 255, 255,
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-247,
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-255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
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-255, 192, 255, 192, 255, 192, 255, 128, 0, 0,
-0, 0,
-110, 6, 11,
-254, 254, 254, 254, 254, 254, 254, 254, 252, 0,
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-111, 6, 11,
-252, 254, 254, 254, 254, 254, 254, 254, 252, 0,
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-252, 254, 254, 254, 254, 254, 254, 254, 252, 0,
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-254, 254, 254, 254, 254, 254, 254, 254, 254, 0,
-0,
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-240, 240, 240, 240, 248, 248, 248, 248, 248, 0,
-0,
-115, 6, 11,
-252, 254, 254, 254, 254, 254, 254, 254, 254, 0,
-0,
-116, 4, 11,
-248, 248, 248, 248, 248, 248, 248, 248, 248, 240,
-0,
-117, 6, 11,
-254, 254, 254, 254, 254, 254, 254, 254, 254, 0,
-0,
-118, 7, 11,
-124, 254, 254, 255, 255, 255, 255, 255, 255, 0,
-0,
-119, 9, 11,
-255, 128, 255, 128, 255, 192, 255, 192, 255, 192,
-255, 192, 255, 192, 255, 192, 255, 192, 0, 0,
-0, 0,
-120, 6, 11,
-254, 254, 254, 254, 254, 254, 254, 254, 254, 0,
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-248, 252, 254, 254, 254, 254, 254, 254, 254, 0,
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-254, 254, 254, 254, 254, 254, 254, 254, 254, 0,
-0,
-123, 3, 11,
-255, 255, 255, 255, 255, 255, 255, 255, 255, 255,
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-124, 5, 11,
-124, 124, 124, 124, 124, 124, 124, 124, 124, 124,
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-125, 3, 11,
-240, 240, 240, 255, 255, 255, 255, 255, 240, 240,
-0,
-126, 5, 11,
-0, 0, 0, 252, 252, 252, 252, 252, 0, 0,
-0,
-
-123
-};
diff --git a/src/render/classic/font/big100.inc b/src/render/classic/font/big100.inc
deleted file mode 100644
index bbe6a739..00000000
--- a/src/render/classic/font/big100.inc
+++ /dev/null
@@ -1,939 +0,0 @@
-const unsigned char font_big100[] = {
-
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-57, 192, 57, 192, 57, 192, 57, 192, 57, 192,
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-0, 0, 0, 12, 48, 0, 6, 48, 0, 6,
-48, 0, 6, 24, 0, 6, 24, 0, 6, 24,
-0, 63, 255, 128, 63, 255, 128, 2, 24, 0,
-3, 12, 0, 3, 12, 0, 1, 12, 0, 31,
-255, 192, 31, 255, 192, 1, 134, 0, 1, 134,
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-1, 140, 1, 140, 1, 140, 1, 184, 1, 240,
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-48, 6, 48, 6, 48, 6, 48, 6, 48, 6,
-48, 6, 24, 12, 24, 12, 12, 24, 15, 240,
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diff --git a/src/render/classic/font/big150.inc b/src/render/classic/font/big150.inc
deleted file mode 100644
index 2c09782f..00000000
--- a/src/render/classic/font/big150.inc
+++ /dev/null
@@ -1,1764 +0,0 @@
-const unsigned char font_big150[] = {
-
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diff --git a/src/render/classic/font/big200.inc b/src/render/classic/font/big200.inc
deleted file mode 100644
index 44dc9ef0..00000000
--- a/src/render/classic/font/big200.inc
+++ /dev/null
@@ -1,2827 +0,0 @@
-const unsigned char font_big200[] = {
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diff --git a/src/render/classic/font/big250.inc b/src/render/classic/font/big250.inc
deleted file mode 100644
index 008ff283..00000000
--- a/src/render/classic/font/big250.inc
+++ /dev/null
@@ -1,4339 +0,0 @@
-const unsigned char font_big250[] = {
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diff --git a/src/render/classic/font/big300.inc b/src/render/classic/font/big300.inc
deleted file mode 100644
index e8039c58..00000000
--- a/src/render/classic/font/big300.inc
+++ /dev/null
@@ -1,6015 +0,0 @@
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diff --git a/src/render/classic/font/big50.inc b/src/render/classic/font/big50.inc
deleted file mode 100644
index 1ef77156..00000000
--- a/src/render/classic/font/big50.inc
+++ /dev/null
@@ -1,364 +0,0 @@
-const unsigned char font_big50[] = {
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diff --git a/src/render/classic/font/normal100.inc b/src/render/classic/font/normal100.inc
deleted file mode 100644
index d6194a37..00000000
--- a/src/render/classic/font/normal100.inc
+++ /dev/null
@@ -1,364 +0,0 @@
-const unsigned char font_normal100[] = {
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diff --git a/src/render/classic/font/normal150.inc b/src/render/classic/font/normal150.inc
deleted file mode 100644
index 69c9abd6..00000000
--- a/src/render/classic/font/normal150.inc
+++ /dev/null
@@ -1,616 +0,0 @@
-const unsigned char font_normal150[] = {
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diff --git a/src/render/classic/font/normal200.inc b/src/render/classic/font/normal200.inc
deleted file mode 100644
index 4a83efcf..00000000
--- a/src/render/classic/font/normal200.inc
+++ /dev/null
@@ -1,939 +0,0 @@
-const unsigned char font_normal200[] = {
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diff --git a/src/render/classic/font/normal250.inc b/src/render/classic/font/normal250.inc
deleted file mode 100644
index e184e081..00000000
--- a/src/render/classic/font/normal250.inc
+++ /dev/null
@@ -1,1400 +0,0 @@
-const unsigned char font_normal250[] = {
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diff --git a/src/render/classic/font/normal300.inc b/src/render/classic/font/normal300.inc
deleted file mode 100644
index 6dd4b801..00000000
--- a/src/render/classic/font/normal300.inc
+++ /dev/null
@@ -1,1764 +0,0 @@
-const unsigned char font_normal300[] = {
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diff --git a/src/render/classic/font/normal50.inc b/src/render/classic/font/normal50.inc
deleted file mode 100644
index bceec24d..00000000
--- a/src/render/classic/font/normal50.inc
+++ /dev/null
@@ -1,294 +0,0 @@
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-0, 0, 60, 32, 32, 60, 32, 32, 60, 0,
-0,
-70, 7, 11,
-0, 0, 32, 32, 32, 60, 32, 32, 60, 0,
-0,
-71, 8, 11,
-0, 0, 30, 34, 34, 38, 32, 34, 28, 0,
-0,
-72, 8, 11,
-0, 0, 34, 34, 34, 62, 34, 34, 34, 0,
-0,
-73, 4, 11,
-0, 0, 32, 32, 32, 32, 32, 32, 32, 0,
-0,
-74, 6, 11,
-0, 0, 48, 72, 8, 8, 8, 8, 8, 0,
-0,
-75, 7, 11,
-0, 0, 34, 36, 40, 48, 40, 36, 34, 0,
-0,
-76, 6, 11,
-0, 0, 60, 32, 32, 32, 32, 32, 32, 0,
-0,
-77, 10, 11,
-0, 0, 0, 0, 32, 128, 36, 128, 42, 128,
-42, 128, 49, 128, 32, 128, 32, 128, 0, 0,
-0, 0,
-78, 8, 11,
-0, 0, 34, 38, 38, 42, 50, 50, 34, 0,
-0,
-79, 8, 11,
-0, 0, 28, 34, 34, 34, 34, 34, 28, 0,
-0,
-80, 7, 11,
-0, 0, 32, 32, 32, 60, 34, 34, 60, 0,
-0,
-81, 8, 11,
-0, 2, 28, 38, 34, 34, 34, 34, 28, 0,
-0,
-82, 8, 11,
-0, 0, 34, 34, 36, 60, 34, 34, 60, 0,
-0,
-83, 7, 11,
-0, 0, 24, 36, 4, 24, 32, 36, 24, 0,
-0,
-84, 6, 11,
-0, 0, 16, 16, 16, 16, 16, 16, 124, 0,
-0,
-85, 8, 11,
-0, 0, 28, 34, 34, 34, 34, 34, 34, 0,
-0,
-86, 8, 11,
-0, 0, 8, 20, 20, 34, 34, 65, 65, 0,
-0,
-87, 10, 11,
-0, 0, 0, 0, 17, 0, 17, 0, 17, 0,
-42, 128, 42, 128, 68, 64, 68, 64, 0, 0,
-0, 0,
-88, 7, 11,
-0, 0, 66, 36, 24, 24, 24, 36, 66, 0,
-0,
-89, 6, 11,
-0, 0, 16, 16, 16, 16, 40, 68, 68, 0,
-0,
-90, 7, 11,
-0, 0, 60, 32, 16, 16, 8, 4, 60, 0,
-0,
-91, 4, 11,
-48, 32, 32, 32, 32, 32, 32, 32, 48, 0,
-0,
-92, 4, 11,
-0, 0, 16, 16, 32, 32, 32, 64, 64, 0,
-0,
-93, 4, 11,
-96, 32, 32, 32, 32, 32, 32, 32, 96, 0,
-0,
-94, 6, 11,
-0, 0, 0, 0, 0, 0, 68, 40, 16, 0,
-0,
-95, 6, 11,
-124, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-0,
-96, 4, 11,
-0, 0, 0, 0, 0, 0, 0, 0, 32, 64,
-0,
-97, 6, 11,
-0, 0, 56, 72, 56, 8, 112, 0, 0, 0,
-0,
-98, 6, 11,
-0, 0, 112, 72, 72, 72, 112, 64, 64, 0,
-0,
-99, 6, 11,
-0, 0, 48, 72, 64, 72, 48, 0, 0, 0,
-0,
-100, 6, 11,
-0, 0, 56, 72, 72, 72, 56, 8, 8, 0,
-0,
-101, 6, 11,
-0, 0, 56, 64, 120, 72, 48, 0, 0, 0,
-0,
-102, 4, 11,
-0, 0, 64, 64, 64, 64, 96, 64, 32, 0,
-0,
-103, 6, 11,
-112, 8, 56, 72, 72, 72, 56, 0, 0, 0,
-0,
-104, 6, 11,
-0, 0, 72, 72, 72, 72, 112, 64, 64, 0,
-0,
-105, 3, 11,
-0, 0, 64, 64, 64, 64, 64, 0, 64, 0,
-0,
-106, 3, 11,
-128, 64, 64, 64, 64, 64, 64, 0, 64, 0,
-0,
-107, 6, 11,
-0, 0, 72, 80, 96, 80, 72, 64, 64, 0,
-0,
-108, 3, 11,
-0, 0, 64, 64, 64, 64, 64, 64, 64, 0,
-0,
-109, 9, 11,
-0, 0, 0, 0, 73, 0, 73, 0, 73, 0,
-73, 0, 126, 0, 0, 0, 0, 0, 0, 0,
-0, 0,
-110, 6, 11,
-0, 0, 72, 72, 72, 72, 112, 0, 0, 0,
-0,
-111, 6, 11,
-0, 0, 48, 72, 72, 72, 48, 0, 0, 0,
-0,
-112, 6, 11,
-64, 64, 112, 72, 72, 72, 112, 0, 0, 0,
-0,
-113, 6, 11,
-8, 8, 56, 72, 72, 72, 56, 0, 0, 0,
-0,
-114, 4, 11,
-0, 0, 64, 64, 64, 64, 96, 0, 0, 0,
-0,
-115, 6, 11,
-0, 0, 112, 8, 48, 64, 56, 0, 0, 0,
-0,
-116, 4, 11,
-0, 0, 96, 64, 64, 64, 96, 64, 0, 0,
-0,
-117, 6, 11,
-0, 0, 56, 72, 72, 72, 72, 0, 0, 0,
-0,
-118, 7, 11,
-0, 0, 16, 40, 40, 68, 68, 0, 0, 0,
-0,
-119, 9, 11,
-0, 0, 0, 0, 34, 0, 34, 0, 85, 0,
-73, 0, 73, 0, 0, 0, 0, 0, 0, 0,
-0, 0,
-120, 6, 11,
-0, 0, 72, 72, 48, 72, 72, 0, 0, 0,
-0,
-121, 6, 11,
-192, 32, 32, 48, 72, 72, 72, 0, 0, 0,
-0,
-122, 6, 11,
-0, 0, 120, 64, 48, 8, 120, 0, 0, 0,
-0,
-123, 3, 11,
-0, 0, 32, 32, 32, 96, 32, 32, 0, 0,
-0,
-124, 5, 11,
-0, 16, 16, 16, 16, 16, 16, 16, 0, 0,
-0,
-125, 3, 11,
-0, 0, 64, 64, 64, 96, 64, 64, 0, 0,
-0,
-126, 5, 11,
-0, 0, 0, 0, 0, 112, 0, 0, 0, 0,
-0,
-
-123
-};
diff --git a/src/render/classic/glad/glad.c b/src/render/classic/glad/glad.c
deleted file mode 100644
index 41fe00ae..00000000
--- a/src/render/classic/glad/glad.c
+++ /dev/null
@@ -1,1525 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-// Based on the OpenGL loader generated by glad 0.1.34 on Thu Jun 22 14:40:03 2023.
-//
-// The original generated code is distributed under CC0.
-// https://creativecommons.org/publicdomain/zero/1.0/
-//
-// Language/Generator: C/C++
-// Specification: gl
-// APIs: gl=1.5
-// Profile: compatibility
-// Extensions:
-//     GL_ARB_clip_control,
-//     GL_ARB_depth_buffer_float,
-//     GL_ARB_framebuffer_object,
-//     GL_ARB_seamless_cube_map,
-//     GL_ARB_vertex_buffer_object,
-//     GL_EXT_texture_sRGB,
-//     GL_KHR_debug
-// Loader: True
-// Local files: False
-// Omit khrplatform: False
-// Reproducible: False
-//
-// Commandline:
-//     --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_EXT_texture_sRGB,GL_KHR_debug"
-// Online:
-//     https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_EXT_texture_sRGB&extensions=GL_KHR_debug
-
-#if defined(__GNUC__) && !defined(__clang__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
-#endif
-
-#if !defined(_WIN32) && !defined(__CYGWIN__) && !defined(__APPLE__) && \
-    !defined(__HAIKU__) && !defined(_GNU_SOURCE)
-#define _GNU_SOURCE
-#endif
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "engine/engine_util_errmem.h"
-#include "render/classic/glad/glad.h"
-
-static void* mjGlad_get_proc(const char *namez);
-
-#if defined(_WIN32) || defined(__CYGWIN__)
-#ifndef _WINDOWS_
-#undef APIENTRY
-#endif
-#include <windows.h>
-static HMODULE mjGlad_libGL;
-
-typedef void* (APIENTRYP PFNWGLGETPROCADDRESSPROC_PRIVATE)(const char*);
-static PFNWGLGETPROCADDRESSPROC_PRIVATE mjGladGetProcAddressPtr;
-
-#ifdef _MSC_VER
-#ifdef __has_include
-  #if __has_include(<winapifamily.h>)
-    #define HAVE_WINAPIFAMILY 1
-  #endif
-#elif _MSC_VER >= 1700 && !_USING_V110_SDK71_
-  #define HAVE_WINAPIFAMILY 1
-#endif
-#endif
-
-#ifdef HAVE_WINAPIFAMILY
-  #include <winapifamily.h>
-  #if !WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP) && \
-      WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP)
-    #define IS_UWP 1
-  #endif
-#endif
-
-static
-int mjGlad_open_gl(void* get_proc_address) {
-#ifndef IS_UWP
-  mjGlad_libGL = LoadLibraryW(L"opengl32.dll");
-  if(mjGlad_libGL != NULL) {
-    void (* tmp)(void);
-    tmp = (void(*)(void)) GetProcAddress(mjGlad_libGL, "wglGetProcAddress");
-    mjGladGetProcAddressPtr = (PFNWGLGETPROCADDRESSPROC_PRIVATE) tmp;
-    return mjGladGetProcAddressPtr != NULL;
-  }
-#endif
-
-    return 0;
-}
-
-static
-void mjGlad_close_gl(void) {
-  if(mjGlad_libGL != NULL) {
-    FreeLibrary((HMODULE) mjGlad_libGL);
-    mjGlad_libGL = NULL;
-  }
-}
-#else
-#include <dlfcn.h>
-static void* mjGlad_libGL;
-
-#if !defined(__APPLE__) && !defined(__HAIKU__)
-#include <link.h>
-
-typedef void* (APIENTRYP PFNGLXGETPROCADDRESSPROC_PRIVATE)(const char*);
-static PFNGLXGETPROCADDRESSPROC_PRIVATE mjGladGetProcAddressPtr;
-
-typedef enum mjtGLPlatform {
-  mjGL_NONE,
-  mjGL_GLX,
-  mjGL_EGL,
-  mjGL_OSMESA
-} mjtGLPlatform;
-
-static int mjGlad_str_startswith(const char* s, const char* prefix) {
-  for (size_t i = 0; prefix[i] != '\0'; ++i) {
-    if (s[i] != prefix[i]) {
-      return 0;
-    }
-  }
-  return 1;
-}
-
-// There are two versions of basename on a Linux system (see man 3 basename), and one of them can
-// modify the original string. To prevent bad things from happening, we implement our own.
-// This function assums that s is null-terminated, but since we are only using it with
-// dl_phdr_info.dlpi_name that comes from dl_iterate_phdr, this is guaranteed.
-static const char* mjGlad_platform_basename(const char* s) {
-  const char* last_slash = NULL;
-  for (const char* ss = s; *ss != '\0'; ++ss) {
-    if (*ss == '/') {
-      last_slash = ss;
-    }
-  }
-  return last_slash ? last_slash + 1 : s;
-}
-
-// See `man 3 dl_iterate_phdr` for detail on how this works.
-static int mjGlad_dl_iterate_callback(struct dl_phdr_info* info, size_t size, void* data) {
-  mjtGLPlatform result = mjGL_NONE;
-  const char* const libname = mjGlad_platform_basename(info->dlpi_name);
-  if (mjGlad_str_startswith(libname, "libGLX.so") || mjGlad_str_startswith(libname, "libGL.so")) {
-    result = mjGL_GLX;
-  } else if (mjGlad_str_startswith(libname, "libEGL.so")) {
-    result = mjGL_EGL;
-  } else if (mjGlad_str_startswith(libname, "libOSMesa.so")) {
-    result = mjGL_OSMESA;
-  }
-  if (data) {
-    *(const char**)data = result ? info->dlpi_name : NULL;
-  }
-  return result;
-}
-
-static int mjGlad_open_gl(void* get_proc_address) {
-  mjGladGetProcAddressPtr = (PFNGLXGETPROCADDRESSPROC_PRIVATE)get_proc_address;
-  if (mjGladGetProcAddressPtr != NULL) {
-    return 1;
-  }
-
-  // We try to load a GetProcAddress symbol that's already been loaded into the process first.
-  // Since MuJoCo relies on user code to set up a working OpenGL environment, one of these symbols
-  // may already be present. We go through all supported GetProcAddress functions until we find one.
-  void* handle = dlopen(NULL, RTLD_NOW | RTLD_GLOBAL);
-  if (handle) {
-    // Try EGL.
-    mjGladGetProcAddressPtr = (PFNGLXGETPROCADDRESSPROC_PRIVATE)dlsym(handle,
-        "eglGetProcAddress");
-    if (mjGladGetProcAddressPtr) { return 1; }
-
-    // Try OSMesa.
-    mjGladGetProcAddressPtr = (PFNGLXGETPROCADDRESSPROC_PRIVATE)dlsym(handle,
-        "OSMesaGetProcAddress");
-    if (mjGladGetProcAddressPtr) { return 1; }
-
-    // Try GLX.
-    mjGladGetProcAddressPtr = (PFNGLXGETPROCADDRESSPROC_PRIVATE)dlsym(handle,
-        "glXGetProcAddressARB");
-    if (mjGladGetProcAddressPtr) { return 1; }
-  }
-
-  // If *GetProcAddress isn't already present in the symbol table, we try to load in a dynamic
-  // library. Since mjr_makeContext cannot succeed without a valid OpenGL having already been
-  // created, we assume that some GL platform library has already been dynamically loaded, but
-  // the symbols aren't visible because the load was done with RTLD_LOCAL. We walk through the
-  // list of DSOs already loaded to see which platform we should be using.
-  const char* libname = NULL;
-  const mjtGLPlatform platform = dl_iterate_phdr(&mjGlad_dl_iterate_callback, &libname);
-  if (!platform) {
-    mju_error("an OpenGL platform library has not been loaded into this process, "
-              "this most likely means that a valid OpenGL context has not been created before "
-              "mjr_makeContext was called");
-  }
-  if (!libname) {
-    mju_error("unexpected error: dl_iterate_phdr found an OpenGL platform library "
-              "but its name pointer is null");
-  }
-
-  handle = dlopen(libname, RTLD_NOW | RTLD_LOCAL);
-  if (!handle) {
-    mju_error("failed to dlopen %s", libname);
-  }
-
-  if (platform == mjGL_GLX) {
-    mjGladGetProcAddressPtr =
-        (PFNGLXGETPROCADDRESSPROC_PRIVATE)dlsym(handle, "glXGetProcAddressARB");
-  } else if (platform == mjGL_EGL) {
-    mjGladGetProcAddressPtr =
-        (PFNGLXGETPROCADDRESSPROC_PRIVATE)dlsym(handle, "eglGetProcAddress");
-  } else if (platform == mjGL_OSMESA) {
-    mjGladGetProcAddressPtr =
-        (PFNGLXGETPROCADDRESSPROC_PRIVATE)dlsym(handle, "OSMesaGetProcAddress");
-  }
-
-  return mjGladGetProcAddressPtr ? 1 : 0;
-}
-#else
-static int mjGlad_open_gl(void* get_proc_address) {
-  static const char *NAMES[] = {
-      "../Frameworks/OpenGL.framework/OpenGL",
-      "/Library/Frameworks/OpenGL.framework/OpenGL",
-      "/System/Library/Frameworks/OpenGL.framework/OpenGL",
-      "/System/Library/Frameworks/OpenGL.framework/Versions/Current/OpenGL"
-  };
-
-  unsigned int index = 0;
-  for (index = 0; index < (sizeof(NAMES) / sizeof(NAMES[0])); index++) {
-    mjGlad_libGL = dlopen(NAMES[index], RTLD_NOW | RTLD_GLOBAL);
-
-    if (mjGlad_libGL != NULL) {
-      return 1;
-    }
-  }
-
-  return 0;
-}
-#endif
-
-static
-void mjGlad_close_gl(void) {
-  if(mjGlad_libGL != NULL) {
-    dlclose(mjGlad_libGL);
-    mjGlad_libGL = NULL;
-  }
-}
-#endif
-
-static
-void* mjGlad_get_proc(const char *namez) {
-  void* result = NULL;
-
-#if !defined(__APPLE__) && !defined(__HAIKU__)
-  if(mjGladGetProcAddressPtr != NULL) {
-    result = mjGladGetProcAddressPtr(namez);
-  }
-#endif
-  if(result == NULL) {
-    if(mjGlad_libGL == NULL) return NULL;
-#if defined(_WIN32) || defined(__CYGWIN__)
-    result = (void*)GetProcAddress((HMODULE) mjGlad_libGL, namez);
-#else
-    result = dlsym(mjGlad_libGL, namez);
-#endif
-  }
-
-  return result;
-}
-
-struct gladGLversionStruct mjGLVersion = { 0, 0 };
-
-#if defined(GL_ES_VERSION_3_0) || defined(GL_VERSION_3_0)
-#define _GLAD_IS_SOME_NEW_VERSION 1
-#endif
-
-static int mjGlad_max_loaded_major;
-static int mjGlad_max_loaded_minor;
-
-static const char *mjGlad_exts = NULL;
-static int mjGlad_num_exts_i = 0;
-static char **mjGlad_exts_i = NULL;
-
-static int mjGlad_get_exts(void) {
-#ifdef _GLAD_IS_SOME_NEW_VERSION
-  if(mjGlad_max_loaded_major < 3) {
-#endif
-    mjGlad_exts = (const char *)glGetString(GL_EXTENSIONS);
-#ifdef _GLAD_IS_SOME_NEW_VERSION
-  } else {
-    unsigned int index;
-
-    mjGlad_num_exts_i = 0;
-    glGetIntegerv(GL_NUM_EXTENSIONS, &mjGlad_num_exts_i);
-    if (mjGlad_num_exts_i > 0) {
-      mjGlad_exts_i = (char **)malloc((size_t)mjGlad_num_exts_i * (sizeof *mjGlad_exts_i));
-    }
-
-    if (mjGlad_exts_i == NULL) {
-      return 0;
-    }
-
-    for(index = 0; index < (unsigned)mjGlad_num_exts_i; index++) {
-      const char *gl_str_tmp = (const char*)glGetStringi(GL_EXTENSIONS, index);
-      size_t len = strlen(gl_str_tmp);
-
-      char *local_str = (char*)malloc((len+1) * sizeof(char));
-      if(local_str != NULL) {
-        memcpy(local_str, gl_str_tmp, (len+1) * sizeof(char));
-      }
-      mjGlad_exts_i[index] = local_str;
-    }
-  }
-#endif
-  return 1;
-}
-
-static void mjGlad_free_exts(void) {
-  if (mjGlad_exts_i != NULL) {
-    int index;
-    for(index = 0; index < mjGlad_num_exts_i; index++) {
-        free((char *)mjGlad_exts_i[index]);
-    }
-    free((void *)mjGlad_exts_i);
-    mjGlad_exts_i = NULL;
-  }
-}
-
-static int mjGlad_has_ext(const char *ext) {
-#ifdef _GLAD_IS_SOME_NEW_VERSION
-  if(mjGlad_max_loaded_major < 3) {
-#endif
-  const char *extensions;
-  const char *loc;
-  const char *terminator;
-  extensions = mjGlad_exts;
-  if(extensions == NULL || ext == NULL) {
-    return 0;
-  }
-
-  while(1) {
-    loc = strstr(extensions, ext);
-    if(loc == NULL) {
-      return 0;
-    }
-
-    terminator = loc + strlen(ext);
-    if((loc == extensions || *(loc - 1) == ' ') &&
-      (*terminator == ' ' || *terminator == '\0')) {
-      return 1;
-    }
-    extensions = terminator;
-  }
-#ifdef _GLAD_IS_SOME_NEW_VERSION
-  } else {
-    int index;
-    if(mjGlad_exts_i == NULL) return 0;
-    for(index = 0; index < mjGlad_num_exts_i; index++) {
-      const char *e = mjGlad_exts_i[index];
-
-      if(mjGlad_exts_i[index] != NULL && strcmp(e, ext) == 0) {
-        return 1;
-      }
-    }
-  }
-#endif
-
-  return 0;
-}
-int mjGLAD_GL_VERSION_1_0 = 0;
-int mjGLAD_GL_VERSION_1_1 = 0;
-int mjGLAD_GL_VERSION_1_2 = 0;
-int mjGLAD_GL_VERSION_1_3 = 0;
-int mjGLAD_GL_VERSION_1_4 = 0;
-int mjGLAD_GL_VERSION_1_5 = 0;
-PFNGLACCUMPROC mjGlad_glAccum = NULL;
-PFNGLACTIVETEXTUREPROC mjGlad_glActiveTexture = NULL;
-PFNGLALPHAFUNCPROC mjGlad_glAlphaFunc = NULL;
-PFNGLARETEXTURESRESIDENTPROC mjGlad_glAreTexturesResident = NULL;
-PFNGLARRAYELEMENTPROC mjGlad_glArrayElement = NULL;
-PFNGLBEGINPROC mjGlad_glBegin = NULL;
-PFNGLBEGINQUERYPROC mjGlad_glBeginQuery = NULL;
-PFNGLBINDBUFFERPROC mjGlad_glBindBuffer = NULL;
-PFNGLBINDTEXTUREPROC mjGlad_glBindTexture = NULL;
-PFNGLBITMAPPROC mjGlad_glBitmap = NULL;
-PFNGLBLENDCOLORPROC mjGlad_glBlendColor = NULL;
-PFNGLBLENDEQUATIONPROC mjGlad_glBlendEquation = NULL;
-PFNGLBLENDFUNCPROC mjGlad_glBlendFunc = NULL;
-PFNGLBLENDFUNCSEPARATEPROC mjGlad_glBlendFuncSeparate = NULL;
-PFNGLBUFFERDATAPROC mjGlad_glBufferData = NULL;
-PFNGLBUFFERSUBDATAPROC mjGlad_glBufferSubData = NULL;
-PFNGLCALLLISTPROC mjGlad_glCallList = NULL;
-PFNGLCALLLISTSPROC mjGlad_glCallLists = NULL;
-PFNGLCLEARPROC mjGlad_glClear = NULL;
-PFNGLCLEARACCUMPROC mjGlad_glClearAccum = NULL;
-PFNGLCLEARCOLORPROC mjGlad_glClearColor = NULL;
-PFNGLCLEARDEPTHPROC mjGlad_glClearDepth = NULL;
-PFNGLCLEARINDEXPROC mjGlad_glClearIndex = NULL;
-PFNGLCLEARSTENCILPROC mjGlad_glClearStencil = NULL;
-PFNGLCLIENTACTIVETEXTUREPROC mjGlad_glClientActiveTexture = NULL;
-PFNGLCLIPPLANEPROC mjGlad_glClipPlane = NULL;
-PFNGLCOLOR3BPROC mjGlad_glColor3b = NULL;
-PFNGLCOLOR3BVPROC mjGlad_glColor3bv = NULL;
-PFNGLCOLOR3DPROC mjGlad_glColor3d = NULL;
-PFNGLCOLOR3DVPROC mjGlad_glColor3dv = NULL;
-PFNGLCOLOR3FPROC mjGlad_glColor3f = NULL;
-PFNGLCOLOR3FVPROC mjGlad_glColor3fv = NULL;
-PFNGLCOLOR3IPROC mjGlad_glColor3i = NULL;
-PFNGLCOLOR3IVPROC mjGlad_glColor3iv = NULL;
-PFNGLCOLOR3SPROC mjGlad_glColor3s = NULL;
-PFNGLCOLOR3SVPROC mjGlad_glColor3sv = NULL;
-PFNGLCOLOR3UBPROC mjGlad_glColor3ub = NULL;
-PFNGLCOLOR3UBVPROC mjGlad_glColor3ubv = NULL;
-PFNGLCOLOR3UIPROC mjGlad_glColor3ui = NULL;
-PFNGLCOLOR3UIVPROC mjGlad_glColor3uiv = NULL;
-PFNGLCOLOR3USPROC mjGlad_glColor3us = NULL;
-PFNGLCOLOR3USVPROC mjGlad_glColor3usv = NULL;
-PFNGLCOLOR4BPROC mjGlad_glColor4b = NULL;
-PFNGLCOLOR4BVPROC mjGlad_glColor4bv = NULL;
-PFNGLCOLOR4DPROC mjGlad_glColor4d = NULL;
-PFNGLCOLOR4DVPROC mjGlad_glColor4dv = NULL;
-PFNGLCOLOR4FPROC mjGlad_glColor4f = NULL;
-PFNGLCOLOR4FVPROC mjGlad_glColor4fv = NULL;
-PFNGLCOLOR4IPROC mjGlad_glColor4i = NULL;
-PFNGLCOLOR4IVPROC mjGlad_glColor4iv = NULL;
-PFNGLCOLOR4SPROC mjGlad_glColor4s = NULL;
-PFNGLCOLOR4SVPROC mjGlad_glColor4sv = NULL;
-PFNGLCOLOR4UBPROC mjGlad_glColor4ub = NULL;
-PFNGLCOLOR4UBVPROC mjGlad_glColor4ubv = NULL;
-PFNGLCOLOR4UIPROC mjGlad_glColor4ui = NULL;
-PFNGLCOLOR4UIVPROC mjGlad_glColor4uiv = NULL;
-PFNGLCOLOR4USPROC mjGlad_glColor4us = NULL;
-PFNGLCOLOR4USVPROC mjGlad_glColor4usv = NULL;
-PFNGLCOLORMASKPROC mjGlad_glColorMask = NULL;
-PFNGLCOLORMATERIALPROC mjGlad_glColorMaterial = NULL;
-PFNGLCOLORPOINTERPROC mjGlad_glColorPointer = NULL;
-PFNGLCOMPRESSEDTEXIMAGE1DPROC mjGlad_glCompressedTexImage1D = NULL;
-PFNGLCOMPRESSEDTEXIMAGE2DPROC mjGlad_glCompressedTexImage2D = NULL;
-PFNGLCOMPRESSEDTEXIMAGE3DPROC mjGlad_glCompressedTexImage3D = NULL;
-PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC mjGlad_glCompressedTexSubImage1D = NULL;
-PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC mjGlad_glCompressedTexSubImage2D = NULL;
-PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC mjGlad_glCompressedTexSubImage3D = NULL;
-PFNGLCOPYPIXELSPROC mjGlad_glCopyPixels = NULL;
-PFNGLCOPYTEXIMAGE1DPROC mjGlad_glCopyTexImage1D = NULL;
-PFNGLCOPYTEXIMAGE2DPROC mjGlad_glCopyTexImage2D = NULL;
-PFNGLCOPYTEXSUBIMAGE1DPROC mjGlad_glCopyTexSubImage1D = NULL;
-PFNGLCOPYTEXSUBIMAGE2DPROC mjGlad_glCopyTexSubImage2D = NULL;
-PFNGLCOPYTEXSUBIMAGE3DPROC mjGlad_glCopyTexSubImage3D = NULL;
-PFNGLCULLFACEPROC mjGlad_glCullFace = NULL;
-PFNGLDELETEBUFFERSPROC mjGlad_glDeleteBuffers = NULL;
-PFNGLDELETELISTSPROC mjGlad_glDeleteLists = NULL;
-PFNGLDELETEQUERIESPROC mjGlad_glDeleteQueries = NULL;
-PFNGLDELETETEXTURESPROC mjGlad_glDeleteTextures = NULL;
-PFNGLDEPTHFUNCPROC mjGlad_glDepthFunc = NULL;
-PFNGLDEPTHMASKPROC mjGlad_glDepthMask = NULL;
-PFNGLDEPTHRANGEPROC mjGlad_glDepthRange = NULL;
-PFNGLDISABLEPROC mjGlad_glDisable = NULL;
-PFNGLDISABLECLIENTSTATEPROC mjGlad_glDisableClientState = NULL;
-PFNGLDRAWARRAYSPROC mjGlad_glDrawArrays = NULL;
-PFNGLDRAWBUFFERPROC mjGlad_glDrawBuffer = NULL;
-PFNGLDRAWELEMENTSPROC mjGlad_glDrawElements = NULL;
-PFNGLDRAWPIXELSPROC mjGlad_glDrawPixels = NULL;
-PFNGLDRAWRANGEELEMENTSPROC mjGlad_glDrawRangeElements = NULL;
-PFNGLEDGEFLAGPROC mjGlad_glEdgeFlag = NULL;
-PFNGLEDGEFLAGPOINTERPROC mjGlad_glEdgeFlagPointer = NULL;
-PFNGLEDGEFLAGVPROC mjGlad_glEdgeFlagv = NULL;
-PFNGLENABLEPROC mjGlad_glEnable = NULL;
-PFNGLENABLECLIENTSTATEPROC mjGlad_glEnableClientState = NULL;
-PFNGLENDPROC mjGlad_glEnd = NULL;
-PFNGLENDLISTPROC mjGlad_glEndList = NULL;
-PFNGLENDQUERYPROC mjGlad_glEndQuery = NULL;
-PFNGLEVALCOORD1DPROC mjGlad_glEvalCoord1d = NULL;
-PFNGLEVALCOORD1DVPROC mjGlad_glEvalCoord1dv = NULL;
-PFNGLEVALCOORD1FPROC mjGlad_glEvalCoord1f = NULL;
-PFNGLEVALCOORD1FVPROC mjGlad_glEvalCoord1fv = NULL;
-PFNGLEVALCOORD2DPROC mjGlad_glEvalCoord2d = NULL;
-PFNGLEVALCOORD2DVPROC mjGlad_glEvalCoord2dv = NULL;
-PFNGLEVALCOORD2FPROC mjGlad_glEvalCoord2f = NULL;
-PFNGLEVALCOORD2FVPROC mjGlad_glEvalCoord2fv = NULL;
-PFNGLEVALMESH1PROC mjGlad_glEvalMesh1 = NULL;
-PFNGLEVALMESH2PROC mjGlad_glEvalMesh2 = NULL;
-PFNGLEVALPOINT1PROC mjGlad_glEvalPoint1 = NULL;
-PFNGLEVALPOINT2PROC mjGlad_glEvalPoint2 = NULL;
-PFNGLFEEDBACKBUFFERPROC mjGlad_glFeedbackBuffer = NULL;
-PFNGLFINISHPROC mjGlad_glFinish = NULL;
-PFNGLFLUSHPROC mjGlad_glFlush = NULL;
-PFNGLFOGCOORDPOINTERPROC mjGlad_glFogCoordPointer = NULL;
-PFNGLFOGCOORDDPROC mjGlad_glFogCoordd = NULL;
-PFNGLFOGCOORDDVPROC mjGlad_glFogCoorddv = NULL;
-PFNGLFOGCOORDFPROC mjGlad_glFogCoordf = NULL;
-PFNGLFOGCOORDFVPROC mjGlad_glFogCoordfv = NULL;
-PFNGLFOGFPROC mjGlad_glFogf = NULL;
-PFNGLFOGFVPROC mjGlad_glFogfv = NULL;
-PFNGLFOGIPROC mjGlad_glFogi = NULL;
-PFNGLFOGIVPROC mjGlad_glFogiv = NULL;
-PFNGLFRONTFACEPROC mjGlad_glFrontFace = NULL;
-PFNGLFRUSTUMPROC mjGlad_glFrustum = NULL;
-PFNGLGENBUFFERSPROC mjGlad_glGenBuffers = NULL;
-PFNGLGENLISTSPROC mjGlad_glGenLists = NULL;
-PFNGLGENQUERIESPROC mjGlad_glGenQueries = NULL;
-PFNGLGENTEXTURESPROC mjGlad_glGenTextures = NULL;
-PFNGLGETBOOLEANVPROC mjGlad_glGetBooleanv = NULL;
-PFNGLGETBUFFERPARAMETERIVPROC mjGlad_glGetBufferParameteriv = NULL;
-PFNGLGETBUFFERPOINTERVPROC mjGlad_glGetBufferPointerv = NULL;
-PFNGLGETBUFFERSUBDATAPROC mjGlad_glGetBufferSubData = NULL;
-PFNGLGETCLIPPLANEPROC mjGlad_glGetClipPlane = NULL;
-PFNGLGETCOMPRESSEDTEXIMAGEPROC mjGlad_glGetCompressedTexImage = NULL;
-PFNGLGETDOUBLEVPROC mjGlad_glGetDoublev = NULL;
-PFNGLGETERRORPROC mjGlad_glGetError = NULL;
-PFNGLGETFLOATVPROC mjGlad_glGetFloatv = NULL;
-PFNGLGETINTEGERVPROC mjGlad_glGetIntegerv = NULL;
-PFNGLGETLIGHTFVPROC mjGlad_glGetLightfv = NULL;
-PFNGLGETLIGHTIVPROC mjGlad_glGetLightiv = NULL;
-PFNGLGETMAPDVPROC mjGlad_glGetMapdv = NULL;
-PFNGLGETMAPFVPROC mjGlad_glGetMapfv = NULL;
-PFNGLGETMAPIVPROC mjGlad_glGetMapiv = NULL;
-PFNGLGETMATERIALFVPROC mjGlad_glGetMaterialfv = NULL;
-PFNGLGETMATERIALIVPROC mjGlad_glGetMaterialiv = NULL;
-PFNGLGETPIXELMAPFVPROC mjGlad_glGetPixelMapfv = NULL;
-PFNGLGETPIXELMAPUIVPROC mjGlad_glGetPixelMapuiv = NULL;
-PFNGLGETPIXELMAPUSVPROC mjGlad_glGetPixelMapusv = NULL;
-PFNGLGETPOINTERVPROC mjGlad_glGetPointerv = NULL;
-PFNGLGETPOLYGONSTIPPLEPROC mjGlad_glGetPolygonStipple = NULL;
-PFNGLGETQUERYOBJECTIVPROC mjGlad_glGetQueryObjectiv = NULL;
-PFNGLGETQUERYOBJECTUIVPROC mjGlad_glGetQueryObjectuiv = NULL;
-PFNGLGETQUERYIVPROC mjGlad_glGetQueryiv = NULL;
-PFNGLGETSTRINGPROC mjGlad_glGetString = NULL;
-PFNGLGETTEXENVFVPROC mjGlad_glGetTexEnvfv = NULL;
-PFNGLGETTEXENVIVPROC mjGlad_glGetTexEnviv = NULL;
-PFNGLGETTEXGENDVPROC mjGlad_glGetTexGendv = NULL;
-PFNGLGETTEXGENFVPROC mjGlad_glGetTexGenfv = NULL;
-PFNGLGETTEXGENIVPROC mjGlad_glGetTexGeniv = NULL;
-PFNGLGETTEXIMAGEPROC mjGlad_glGetTexImage = NULL;
-PFNGLGETTEXLEVELPARAMETERFVPROC mjGlad_glGetTexLevelParameterfv = NULL;
-PFNGLGETTEXLEVELPARAMETERIVPROC mjGlad_glGetTexLevelParameteriv = NULL;
-PFNGLGETTEXPARAMETERFVPROC mjGlad_glGetTexParameterfv = NULL;
-PFNGLGETTEXPARAMETERIVPROC mjGlad_glGetTexParameteriv = NULL;
-PFNGLHINTPROC mjGlad_glHint = NULL;
-PFNGLINDEXMASKPROC mjGlad_glIndexMask = NULL;
-PFNGLINDEXPOINTERPROC mjGlad_glIndexPointer = NULL;
-PFNGLINDEXDPROC mjGlad_glIndexd = NULL;
-PFNGLINDEXDVPROC mjGlad_glIndexdv = NULL;
-PFNGLINDEXFPROC mjGlad_glIndexf = NULL;
-PFNGLINDEXFVPROC mjGlad_glIndexfv = NULL;
-PFNGLINDEXIPROC mjGlad_glIndexi = NULL;
-PFNGLINDEXIVPROC mjGlad_glIndexiv = NULL;
-PFNGLINDEXSPROC mjGlad_glIndexs = NULL;
-PFNGLINDEXSVPROC mjGlad_glIndexsv = NULL;
-PFNGLINDEXUBPROC mjGlad_glIndexub = NULL;
-PFNGLINDEXUBVPROC mjGlad_glIndexubv = NULL;
-PFNGLINITNAMESPROC mjGlad_glInitNames = NULL;
-PFNGLINTERLEAVEDARRAYSPROC mjGlad_glInterleavedArrays = NULL;
-PFNGLISBUFFERPROC mjGlad_glIsBuffer = NULL;
-PFNGLISENABLEDPROC mjGlad_glIsEnabled = NULL;
-PFNGLISLISTPROC mjGlad_glIsList = NULL;
-PFNGLISQUERYPROC mjGlad_glIsQuery = NULL;
-PFNGLISTEXTUREPROC mjGlad_glIsTexture = NULL;
-PFNGLLIGHTMODELFPROC mjGlad_glLightModelf = NULL;
-PFNGLLIGHTMODELFVPROC mjGlad_glLightModelfv = NULL;
-PFNGLLIGHTMODELIPROC mjGlad_glLightModeli = NULL;
-PFNGLLIGHTMODELIVPROC mjGlad_glLightModeliv = NULL;
-PFNGLLIGHTFPROC mjGlad_glLightf = NULL;
-PFNGLLIGHTFVPROC mjGlad_glLightfv = NULL;
-PFNGLLIGHTIPROC mjGlad_glLighti = NULL;
-PFNGLLIGHTIVPROC mjGlad_glLightiv = NULL;
-PFNGLLINESTIPPLEPROC mjGlad_glLineStipple = NULL;
-PFNGLLINEWIDTHPROC mjGlad_glLineWidth = NULL;
-PFNGLLISTBASEPROC mjGlad_glListBase = NULL;
-PFNGLLOADIDENTITYPROC mjGlad_glLoadIdentity = NULL;
-PFNGLLOADMATRIXDPROC mjGlad_glLoadMatrixd = NULL;
-PFNGLLOADMATRIXFPROC mjGlad_glLoadMatrixf = NULL;
-PFNGLLOADNAMEPROC mjGlad_glLoadName = NULL;
-PFNGLLOADTRANSPOSEMATRIXDPROC mjGlad_glLoadTransposeMatrixd = NULL;
-PFNGLLOADTRANSPOSEMATRIXFPROC mjGlad_glLoadTransposeMatrixf = NULL;
-PFNGLLOGICOPPROC mjGlad_glLogicOp = NULL;
-PFNGLMAP1DPROC mjGlad_glMap1d = NULL;
-PFNGLMAP1FPROC mjGlad_glMap1f = NULL;
-PFNGLMAP2DPROC mjGlad_glMap2d = NULL;
-PFNGLMAP2FPROC mjGlad_glMap2f = NULL;
-PFNGLMAPBUFFERPROC mjGlad_glMapBuffer = NULL;
-PFNGLMAPGRID1DPROC mjGlad_glMapGrid1d = NULL;
-PFNGLMAPGRID1FPROC mjGlad_glMapGrid1f = NULL;
-PFNGLMAPGRID2DPROC mjGlad_glMapGrid2d = NULL;
-PFNGLMAPGRID2FPROC mjGlad_glMapGrid2f = NULL;
-PFNGLMATERIALFPROC mjGlad_glMaterialf = NULL;
-PFNGLMATERIALFVPROC mjGlad_glMaterialfv = NULL;
-PFNGLMATERIALIPROC mjGlad_glMateriali = NULL;
-PFNGLMATERIALIVPROC mjGlad_glMaterialiv = NULL;
-PFNGLMATRIXMODEPROC mjGlad_glMatrixMode = NULL;
-PFNGLMULTMATRIXDPROC mjGlad_glMultMatrixd = NULL;
-PFNGLMULTMATRIXFPROC mjGlad_glMultMatrixf = NULL;
-PFNGLMULTTRANSPOSEMATRIXDPROC mjGlad_glMultTransposeMatrixd = NULL;
-PFNGLMULTTRANSPOSEMATRIXFPROC mjGlad_glMultTransposeMatrixf = NULL;
-PFNGLMULTIDRAWARRAYSPROC mjGlad_glMultiDrawArrays = NULL;
-PFNGLMULTIDRAWELEMENTSPROC mjGlad_glMultiDrawElements = NULL;
-PFNGLMULTITEXCOORD1DPROC mjGlad_glMultiTexCoord1d = NULL;
-PFNGLMULTITEXCOORD1DVPROC mjGlad_glMultiTexCoord1dv = NULL;
-PFNGLMULTITEXCOORD1FPROC mjGlad_glMultiTexCoord1f = NULL;
-PFNGLMULTITEXCOORD1FVPROC mjGlad_glMultiTexCoord1fv = NULL;
-PFNGLMULTITEXCOORD1IPROC mjGlad_glMultiTexCoord1i = NULL;
-PFNGLMULTITEXCOORD1IVPROC mjGlad_glMultiTexCoord1iv = NULL;
-PFNGLMULTITEXCOORD1SPROC mjGlad_glMultiTexCoord1s = NULL;
-PFNGLMULTITEXCOORD1SVPROC mjGlad_glMultiTexCoord1sv = NULL;
-PFNGLMULTITEXCOORD2DPROC mjGlad_glMultiTexCoord2d = NULL;
-PFNGLMULTITEXCOORD2DVPROC mjGlad_glMultiTexCoord2dv = NULL;
-PFNGLMULTITEXCOORD2FPROC mjGlad_glMultiTexCoord2f = NULL;
-PFNGLMULTITEXCOORD2FVPROC mjGlad_glMultiTexCoord2fv = NULL;
-PFNGLMULTITEXCOORD2IPROC mjGlad_glMultiTexCoord2i = NULL;
-PFNGLMULTITEXCOORD2IVPROC mjGlad_glMultiTexCoord2iv = NULL;
-PFNGLMULTITEXCOORD2SPROC mjGlad_glMultiTexCoord2s = NULL;
-PFNGLMULTITEXCOORD2SVPROC mjGlad_glMultiTexCoord2sv = NULL;
-PFNGLMULTITEXCOORD3DPROC mjGlad_glMultiTexCoord3d = NULL;
-PFNGLMULTITEXCOORD3DVPROC mjGlad_glMultiTexCoord3dv = NULL;
-PFNGLMULTITEXCOORD3FPROC mjGlad_glMultiTexCoord3f = NULL;
-PFNGLMULTITEXCOORD3FVPROC mjGlad_glMultiTexCoord3fv = NULL;
-PFNGLMULTITEXCOORD3IPROC mjGlad_glMultiTexCoord3i = NULL;
-PFNGLMULTITEXCOORD3IVPROC mjGlad_glMultiTexCoord3iv = NULL;
-PFNGLMULTITEXCOORD3SPROC mjGlad_glMultiTexCoord3s = NULL;
-PFNGLMULTITEXCOORD3SVPROC mjGlad_glMultiTexCoord3sv = NULL;
-PFNGLMULTITEXCOORD4DPROC mjGlad_glMultiTexCoord4d = NULL;
-PFNGLMULTITEXCOORD4DVPROC mjGlad_glMultiTexCoord4dv = NULL;
-PFNGLMULTITEXCOORD4FPROC mjGlad_glMultiTexCoord4f = NULL;
-PFNGLMULTITEXCOORD4FVPROC mjGlad_glMultiTexCoord4fv = NULL;
-PFNGLMULTITEXCOORD4IPROC mjGlad_glMultiTexCoord4i = NULL;
-PFNGLMULTITEXCOORD4IVPROC mjGlad_glMultiTexCoord4iv = NULL;
-PFNGLMULTITEXCOORD4SPROC mjGlad_glMultiTexCoord4s = NULL;
-PFNGLMULTITEXCOORD4SVPROC mjGlad_glMultiTexCoord4sv = NULL;
-PFNGLNEWLISTPROC mjGlad_glNewList = NULL;
-PFNGLNORMAL3BPROC mjGlad_glNormal3b = NULL;
-PFNGLNORMAL3BVPROC mjGlad_glNormal3bv = NULL;
-PFNGLNORMAL3DPROC mjGlad_glNormal3d = NULL;
-PFNGLNORMAL3DVPROC mjGlad_glNormal3dv = NULL;
-PFNGLNORMAL3FPROC mjGlad_glNormal3f = NULL;
-PFNGLNORMAL3FVPROC mjGlad_glNormal3fv = NULL;
-PFNGLNORMAL3IPROC mjGlad_glNormal3i = NULL;
-PFNGLNORMAL3IVPROC mjGlad_glNormal3iv = NULL;
-PFNGLNORMAL3SPROC mjGlad_glNormal3s = NULL;
-PFNGLNORMAL3SVPROC mjGlad_glNormal3sv = NULL;
-PFNGLNORMALPOINTERPROC mjGlad_glNormalPointer = NULL;
-PFNGLORTHOPROC mjGlad_glOrtho = NULL;
-PFNGLPASSTHROUGHPROC mjGlad_glPassThrough = NULL;
-PFNGLPIXELMAPFVPROC mjGlad_glPixelMapfv = NULL;
-PFNGLPIXELMAPUIVPROC mjGlad_glPixelMapuiv = NULL;
-PFNGLPIXELMAPUSVPROC mjGlad_glPixelMapusv = NULL;
-PFNGLPIXELSTOREFPROC mjGlad_glPixelStoref = NULL;
-PFNGLPIXELSTOREIPROC mjGlad_glPixelStorei = NULL;
-PFNGLPIXELTRANSFERFPROC mjGlad_glPixelTransferf = NULL;
-PFNGLPIXELTRANSFERIPROC mjGlad_glPixelTransferi = NULL;
-PFNGLPIXELZOOMPROC mjGlad_glPixelZoom = NULL;
-PFNGLPOINTPARAMETERFPROC mjGlad_glPointParameterf = NULL;
-PFNGLPOINTPARAMETERFVPROC mjGlad_glPointParameterfv = NULL;
-PFNGLPOINTPARAMETERIPROC mjGlad_glPointParameteri = NULL;
-PFNGLPOINTPARAMETERIVPROC mjGlad_glPointParameteriv = NULL;
-PFNGLPOINTSIZEPROC mjGlad_glPointSize = NULL;
-PFNGLPOLYGONMODEPROC mjGlad_glPolygonMode = NULL;
-PFNGLPOLYGONOFFSETPROC mjGlad_glPolygonOffset = NULL;
-PFNGLPOLYGONSTIPPLEPROC mjGlad_glPolygonStipple = NULL;
-PFNGLPOPATTRIBPROC mjGlad_glPopAttrib = NULL;
-PFNGLPOPCLIENTATTRIBPROC mjGlad_glPopClientAttrib = NULL;
-PFNGLPOPMATRIXPROC mjGlad_glPopMatrix = NULL;
-PFNGLPOPNAMEPROC mjGlad_glPopName = NULL;
-PFNGLPRIORITIZETEXTURESPROC mjGlad_glPrioritizeTextures = NULL;
-PFNGLPUSHATTRIBPROC mjGlad_glPushAttrib = NULL;
-PFNGLPUSHCLIENTATTRIBPROC mjGlad_glPushClientAttrib = NULL;
-PFNGLPUSHMATRIXPROC mjGlad_glPushMatrix = NULL;
-PFNGLPUSHNAMEPROC mjGlad_glPushName = NULL;
-PFNGLRASTERPOS2DPROC mjGlad_glRasterPos2d = NULL;
-PFNGLRASTERPOS2DVPROC mjGlad_glRasterPos2dv = NULL;
-PFNGLRASTERPOS2FPROC mjGlad_glRasterPos2f = NULL;
-PFNGLRASTERPOS2FVPROC mjGlad_glRasterPos2fv = NULL;
-PFNGLRASTERPOS2IPROC mjGlad_glRasterPos2i = NULL;
-PFNGLRASTERPOS2IVPROC mjGlad_glRasterPos2iv = NULL;
-PFNGLRASTERPOS2SPROC mjGlad_glRasterPos2s = NULL;
-PFNGLRASTERPOS2SVPROC mjGlad_glRasterPos2sv = NULL;
-PFNGLRASTERPOS3DPROC mjGlad_glRasterPos3d = NULL;
-PFNGLRASTERPOS3DVPROC mjGlad_glRasterPos3dv = NULL;
-PFNGLRASTERPOS3FPROC mjGlad_glRasterPos3f = NULL;
-PFNGLRASTERPOS3FVPROC mjGlad_glRasterPos3fv = NULL;
-PFNGLRASTERPOS3IPROC mjGlad_glRasterPos3i = NULL;
-PFNGLRASTERPOS3IVPROC mjGlad_glRasterPos3iv = NULL;
-PFNGLRASTERPOS3SPROC mjGlad_glRasterPos3s = NULL;
-PFNGLRASTERPOS3SVPROC mjGlad_glRasterPos3sv = NULL;
-PFNGLRASTERPOS4DPROC mjGlad_glRasterPos4d = NULL;
-PFNGLRASTERPOS4DVPROC mjGlad_glRasterPos4dv = NULL;
-PFNGLRASTERPOS4FPROC mjGlad_glRasterPos4f = NULL;
-PFNGLRASTERPOS4FVPROC mjGlad_glRasterPos4fv = NULL;
-PFNGLRASTERPOS4IPROC mjGlad_glRasterPos4i = NULL;
-PFNGLRASTERPOS4IVPROC mjGlad_glRasterPos4iv = NULL;
-PFNGLRASTERPOS4SPROC mjGlad_glRasterPos4s = NULL;
-PFNGLRASTERPOS4SVPROC mjGlad_glRasterPos4sv = NULL;
-PFNGLREADBUFFERPROC mjGlad_glReadBuffer = NULL;
-PFNGLREADPIXELSPROC mjGlad_glReadPixels = NULL;
-PFNGLRECTDPROC mjGlad_glRectd = NULL;
-PFNGLRECTDVPROC mjGlad_glRectdv = NULL;
-PFNGLRECTFPROC mjGlad_glRectf = NULL;
-PFNGLRECTFVPROC mjGlad_glRectfv = NULL;
-PFNGLRECTIPROC mjGlad_glRecti = NULL;
-PFNGLRECTIVPROC mjGlad_glRectiv = NULL;
-PFNGLRECTSPROC mjGlad_glRects = NULL;
-PFNGLRECTSVPROC mjGlad_glRectsv = NULL;
-PFNGLRENDERMODEPROC mjGlad_glRenderMode = NULL;
-PFNGLROTATEDPROC mjGlad_glRotated = NULL;
-PFNGLROTATEFPROC mjGlad_glRotatef = NULL;
-PFNGLSAMPLECOVERAGEPROC mjGlad_glSampleCoverage = NULL;
-PFNGLSCALEDPROC mjGlad_glScaled = NULL;
-PFNGLSCALEFPROC mjGlad_glScalef = NULL;
-PFNGLSCISSORPROC mjGlad_glScissor = NULL;
-PFNGLSECONDARYCOLOR3BPROC mjGlad_glSecondaryColor3b = NULL;
-PFNGLSECONDARYCOLOR3BVPROC mjGlad_glSecondaryColor3bv = NULL;
-PFNGLSECONDARYCOLOR3DPROC mjGlad_glSecondaryColor3d = NULL;
-PFNGLSECONDARYCOLOR3DVPROC mjGlad_glSecondaryColor3dv = NULL;
-PFNGLSECONDARYCOLOR3FPROC mjGlad_glSecondaryColor3f = NULL;
-PFNGLSECONDARYCOLOR3FVPROC mjGlad_glSecondaryColor3fv = NULL;
-PFNGLSECONDARYCOLOR3IPROC mjGlad_glSecondaryColor3i = NULL;
-PFNGLSECONDARYCOLOR3IVPROC mjGlad_glSecondaryColor3iv = NULL;
-PFNGLSECONDARYCOLOR3SPROC mjGlad_glSecondaryColor3s = NULL;
-PFNGLSECONDARYCOLOR3SVPROC mjGlad_glSecondaryColor3sv = NULL;
-PFNGLSECONDARYCOLOR3UBPROC mjGlad_glSecondaryColor3ub = NULL;
-PFNGLSECONDARYCOLOR3UBVPROC mjGlad_glSecondaryColor3ubv = NULL;
-PFNGLSECONDARYCOLOR3UIPROC mjGlad_glSecondaryColor3ui = NULL;
-PFNGLSECONDARYCOLOR3UIVPROC mjGlad_glSecondaryColor3uiv = NULL;
-PFNGLSECONDARYCOLOR3USPROC mjGlad_glSecondaryColor3us = NULL;
-PFNGLSECONDARYCOLOR3USVPROC mjGlad_glSecondaryColor3usv = NULL;
-PFNGLSECONDARYCOLORPOINTERPROC mjGlad_glSecondaryColorPointer = NULL;
-PFNGLSELECTBUFFERPROC mjGlad_glSelectBuffer = NULL;
-PFNGLSHADEMODELPROC mjGlad_glShadeModel = NULL;
-PFNGLSTENCILFUNCPROC mjGlad_glStencilFunc = NULL;
-PFNGLSTENCILMASKPROC mjGlad_glStencilMask = NULL;
-PFNGLSTENCILOPPROC mjGlad_glStencilOp = NULL;
-PFNGLTEXCOORD1DPROC mjGlad_glTexCoord1d = NULL;
-PFNGLTEXCOORD1DVPROC mjGlad_glTexCoord1dv = NULL;
-PFNGLTEXCOORD1FPROC mjGlad_glTexCoord1f = NULL;
-PFNGLTEXCOORD1FVPROC mjGlad_glTexCoord1fv = NULL;
-PFNGLTEXCOORD1IPROC mjGlad_glTexCoord1i = NULL;
-PFNGLTEXCOORD1IVPROC mjGlad_glTexCoord1iv = NULL;
-PFNGLTEXCOORD1SPROC mjGlad_glTexCoord1s = NULL;
-PFNGLTEXCOORD1SVPROC mjGlad_glTexCoord1sv = NULL;
-PFNGLTEXCOORD2DPROC mjGlad_glTexCoord2d = NULL;
-PFNGLTEXCOORD2DVPROC mjGlad_glTexCoord2dv = NULL;
-PFNGLTEXCOORD2FPROC mjGlad_glTexCoord2f = NULL;
-PFNGLTEXCOORD2FVPROC mjGlad_glTexCoord2fv = NULL;
-PFNGLTEXCOORD2IPROC mjGlad_glTexCoord2i = NULL;
-PFNGLTEXCOORD2IVPROC mjGlad_glTexCoord2iv = NULL;
-PFNGLTEXCOORD2SPROC mjGlad_glTexCoord2s = NULL;
-PFNGLTEXCOORD2SVPROC mjGlad_glTexCoord2sv = NULL;
-PFNGLTEXCOORD3DPROC mjGlad_glTexCoord3d = NULL;
-PFNGLTEXCOORD3DVPROC mjGlad_glTexCoord3dv = NULL;
-PFNGLTEXCOORD3FPROC mjGlad_glTexCoord3f = NULL;
-PFNGLTEXCOORD3FVPROC mjGlad_glTexCoord3fv = NULL;
-PFNGLTEXCOORD3IPROC mjGlad_glTexCoord3i = NULL;
-PFNGLTEXCOORD3IVPROC mjGlad_glTexCoord3iv = NULL;
-PFNGLTEXCOORD3SPROC mjGlad_glTexCoord3s = NULL;
-PFNGLTEXCOORD3SVPROC mjGlad_glTexCoord3sv = NULL;
-PFNGLTEXCOORD4DPROC mjGlad_glTexCoord4d = NULL;
-PFNGLTEXCOORD4DVPROC mjGlad_glTexCoord4dv = NULL;
-PFNGLTEXCOORD4FPROC mjGlad_glTexCoord4f = NULL;
-PFNGLTEXCOORD4FVPROC mjGlad_glTexCoord4fv = NULL;
-PFNGLTEXCOORD4IPROC mjGlad_glTexCoord4i = NULL;
-PFNGLTEXCOORD4IVPROC mjGlad_glTexCoord4iv = NULL;
-PFNGLTEXCOORD4SPROC mjGlad_glTexCoord4s = NULL;
-PFNGLTEXCOORD4SVPROC mjGlad_glTexCoord4sv = NULL;
-PFNGLTEXCOORDPOINTERPROC mjGlad_glTexCoordPointer = NULL;
-PFNGLTEXENVFPROC mjGlad_glTexEnvf = NULL;
-PFNGLTEXENVFVPROC mjGlad_glTexEnvfv = NULL;
-PFNGLTEXENVIPROC mjGlad_glTexEnvi = NULL;
-PFNGLTEXENVIVPROC mjGlad_glTexEnviv = NULL;
-PFNGLTEXGENDPROC mjGlad_glTexGend = NULL;
-PFNGLTEXGENDVPROC mjGlad_glTexGendv = NULL;
-PFNGLTEXGENFPROC mjGlad_glTexGenf = NULL;
-PFNGLTEXGENFVPROC mjGlad_glTexGenfv = NULL;
-PFNGLTEXGENIPROC mjGlad_glTexGeni = NULL;
-PFNGLTEXGENIVPROC mjGlad_glTexGeniv = NULL;
-PFNGLTEXIMAGE1DPROC mjGlad_glTexImage1D = NULL;
-PFNGLTEXIMAGE2DPROC mjGlad_glTexImage2D = NULL;
-PFNGLTEXIMAGE3DPROC mjGlad_glTexImage3D = NULL;
-PFNGLTEXPARAMETERFPROC mjGlad_glTexParameterf = NULL;
-PFNGLTEXPARAMETERFVPROC mjGlad_glTexParameterfv = NULL;
-PFNGLTEXPARAMETERIPROC mjGlad_glTexParameteri = NULL;
-PFNGLTEXPARAMETERIVPROC mjGlad_glTexParameteriv = NULL;
-PFNGLTEXSUBIMAGE1DPROC mjGlad_glTexSubImage1D = NULL;
-PFNGLTEXSUBIMAGE2DPROC mjGlad_glTexSubImage2D = NULL;
-PFNGLTEXSUBIMAGE3DPROC mjGlad_glTexSubImage3D = NULL;
-PFNGLTRANSLATEDPROC mjGlad_glTranslated = NULL;
-PFNGLTRANSLATEFPROC mjGlad_glTranslatef = NULL;
-PFNGLUNMAPBUFFERPROC mjGlad_glUnmapBuffer = NULL;
-PFNGLVERTEX2DPROC mjGlad_glVertex2d = NULL;
-PFNGLVERTEX2DVPROC mjGlad_glVertex2dv = NULL;
-PFNGLVERTEX2FPROC mjGlad_glVertex2f = NULL;
-PFNGLVERTEX2FVPROC mjGlad_glVertex2fv = NULL;
-PFNGLVERTEX2IPROC mjGlad_glVertex2i = NULL;
-PFNGLVERTEX2IVPROC mjGlad_glVertex2iv = NULL;
-PFNGLVERTEX2SPROC mjGlad_glVertex2s = NULL;
-PFNGLVERTEX2SVPROC mjGlad_glVertex2sv = NULL;
-PFNGLVERTEX3DPROC mjGlad_glVertex3d = NULL;
-PFNGLVERTEX3DVPROC mjGlad_glVertex3dv = NULL;
-PFNGLVERTEX3FPROC mjGlad_glVertex3f = NULL;
-PFNGLVERTEX3FVPROC mjGlad_glVertex3fv = NULL;
-PFNGLVERTEX3IPROC mjGlad_glVertex3i = NULL;
-PFNGLVERTEX3IVPROC mjGlad_glVertex3iv = NULL;
-PFNGLVERTEX3SPROC mjGlad_glVertex3s = NULL;
-PFNGLVERTEX3SVPROC mjGlad_glVertex3sv = NULL;
-PFNGLVERTEX4DPROC mjGlad_glVertex4d = NULL;
-PFNGLVERTEX4DVPROC mjGlad_glVertex4dv = NULL;
-PFNGLVERTEX4FPROC mjGlad_glVertex4f = NULL;
-PFNGLVERTEX4FVPROC mjGlad_glVertex4fv = NULL;
-PFNGLVERTEX4IPROC mjGlad_glVertex4i = NULL;
-PFNGLVERTEX4IVPROC mjGlad_glVertex4iv = NULL;
-PFNGLVERTEX4SPROC mjGlad_glVertex4s = NULL;
-PFNGLVERTEX4SVPROC mjGlad_glVertex4sv = NULL;
-PFNGLVERTEXPOINTERPROC mjGlad_glVertexPointer = NULL;
-PFNGLVIEWPORTPROC mjGlad_glViewport = NULL;
-PFNGLWINDOWPOS2DPROC mjGlad_glWindowPos2d = NULL;
-PFNGLWINDOWPOS2DVPROC mjGlad_glWindowPos2dv = NULL;
-PFNGLWINDOWPOS2FPROC mjGlad_glWindowPos2f = NULL;
-PFNGLWINDOWPOS2FVPROC mjGlad_glWindowPos2fv = NULL;
-PFNGLWINDOWPOS2IPROC mjGlad_glWindowPos2i = NULL;
-PFNGLWINDOWPOS2IVPROC mjGlad_glWindowPos2iv = NULL;
-PFNGLWINDOWPOS2SPROC mjGlad_glWindowPos2s = NULL;
-PFNGLWINDOWPOS2SVPROC mjGlad_glWindowPos2sv = NULL;
-PFNGLWINDOWPOS3DPROC mjGlad_glWindowPos3d = NULL;
-PFNGLWINDOWPOS3DVPROC mjGlad_glWindowPos3dv = NULL;
-PFNGLWINDOWPOS3FPROC mjGlad_glWindowPos3f = NULL;
-PFNGLWINDOWPOS3FVPROC mjGlad_glWindowPos3fv = NULL;
-PFNGLWINDOWPOS3IPROC mjGlad_glWindowPos3i = NULL;
-PFNGLWINDOWPOS3IVPROC mjGlad_glWindowPos3iv = NULL;
-PFNGLWINDOWPOS3SPROC mjGlad_glWindowPos3s = NULL;
-PFNGLWINDOWPOS3SVPROC mjGlad_glWindowPos3sv = NULL;
-int mjGLAD_GL_ARB_clip_control = 0;
-int mjGLAD_GL_ARB_depth_buffer_float = 0;
-int mjGLAD_GL_ARB_framebuffer_object = 0;
-int mjGLAD_GL_ARB_seamless_cube_map = 0;
-int mjGLAD_GL_ARB_vertex_buffer_object = 0;
-int mjGLAD_GL_EXT_texture_sRGB = 0;
-int mjGLAD_GL_KHR_debug = 0;
-PFNGLCLIPCONTROLPROC mjGlad_glClipControl = NULL;
-PFNGLISRENDERBUFFERPROC mjGlad_glIsRenderbuffer = NULL;
-PFNGLBINDRENDERBUFFERPROC mjGlad_glBindRenderbuffer = NULL;
-PFNGLDELETERENDERBUFFERSPROC mjGlad_glDeleteRenderbuffers = NULL;
-PFNGLGENRENDERBUFFERSPROC mjGlad_glGenRenderbuffers = NULL;
-PFNGLRENDERBUFFERSTORAGEPROC mjGlad_glRenderbufferStorage = NULL;
-PFNGLGETRENDERBUFFERPARAMETERIVPROC mjGlad_glGetRenderbufferParameteriv = NULL;
-PFNGLISFRAMEBUFFERPROC mjGlad_glIsFramebuffer = NULL;
-PFNGLBINDFRAMEBUFFERPROC mjGlad_glBindFramebuffer = NULL;
-PFNGLDELETEFRAMEBUFFERSPROC mjGlad_glDeleteFramebuffers = NULL;
-PFNGLGENFRAMEBUFFERSPROC mjGlad_glGenFramebuffers = NULL;
-PFNGLCHECKFRAMEBUFFERSTATUSPROC mjGlad_glCheckFramebufferStatus = NULL;
-PFNGLFRAMEBUFFERTEXTURE1DPROC mjGlad_glFramebufferTexture1D = NULL;
-PFNGLFRAMEBUFFERTEXTURE2DPROC mjGlad_glFramebufferTexture2D = NULL;
-PFNGLFRAMEBUFFERTEXTURE3DPROC mjGlad_glFramebufferTexture3D = NULL;
-PFNGLFRAMEBUFFERRENDERBUFFERPROC mjGlad_glFramebufferRenderbuffer = NULL;
-PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC mjGlad_glGetFramebufferAttachmentParameteriv = NULL;
-PFNGLGENERATEMIPMAPPROC mjGlad_glGenerateMipmap = NULL;
-PFNGLBLITFRAMEBUFFERPROC mjGlad_glBlitFramebuffer = NULL;
-PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC mjGlad_glRenderbufferStorageMultisample = NULL;
-PFNGLFRAMEBUFFERTEXTURELAYERPROC mjGlad_glFramebufferTextureLayer = NULL;
-PFNGLBINDBUFFERARBPROC mjGlad_glBindBufferARB = NULL;
-PFNGLDELETEBUFFERSARBPROC mjGlad_glDeleteBuffersARB = NULL;
-PFNGLGENBUFFERSARBPROC mjGlad_glGenBuffersARB = NULL;
-PFNGLISBUFFERARBPROC mjGlad_glIsBufferARB = NULL;
-PFNGLBUFFERDATAARBPROC mjGlad_glBufferDataARB = NULL;
-PFNGLBUFFERSUBDATAARBPROC mjGlad_glBufferSubDataARB = NULL;
-PFNGLGETBUFFERSUBDATAARBPROC mjGlad_glGetBufferSubDataARB = NULL;
-PFNGLMAPBUFFERARBPROC mjGlad_glMapBufferARB = NULL;
-PFNGLUNMAPBUFFERARBPROC mjGlad_glUnmapBufferARB = NULL;
-PFNGLGETBUFFERPARAMETERIVARBPROC mjGlad_glGetBufferParameterivARB = NULL;
-PFNGLGETBUFFERPOINTERVARBPROC mjGlad_glGetBufferPointervARB = NULL;
-PFNGLDEBUGMESSAGECONTROLPROC mjGlad_glDebugMessageControl = NULL;
-PFNGLDEBUGMESSAGEINSERTPROC mjGlad_glDebugMessageInsert = NULL;
-PFNGLDEBUGMESSAGECALLBACKPROC mjGlad_glDebugMessageCallback = NULL;
-PFNGLGETDEBUGMESSAGELOGPROC mjGlad_glGetDebugMessageLog = NULL;
-PFNGLPUSHDEBUGGROUPPROC mjGlad_glPushDebugGroup = NULL;
-PFNGLPOPDEBUGGROUPPROC mjGlad_glPopDebugGroup = NULL;
-PFNGLOBJECTLABELPROC mjGlad_glObjectLabel = NULL;
-PFNGLGETOBJECTLABELPROC mjGlad_glGetObjectLabel = NULL;
-PFNGLOBJECTPTRLABELPROC mjGlad_glObjectPtrLabel = NULL;
-PFNGLGETOBJECTPTRLABELPROC mjGlad_glGetObjectPtrLabel = NULL;
-PFNGLDEBUGMESSAGECONTROLKHRPROC mjGlad_glDebugMessageControlKHR = NULL;
-PFNGLDEBUGMESSAGEINSERTKHRPROC mjGlad_glDebugMessageInsertKHR = NULL;
-PFNGLDEBUGMESSAGECALLBACKKHRPROC mjGlad_glDebugMessageCallbackKHR = NULL;
-PFNGLGETDEBUGMESSAGELOGKHRPROC mjGlad_glGetDebugMessageLogKHR = NULL;
-PFNGLPUSHDEBUGGROUPKHRPROC mjGlad_glPushDebugGroupKHR = NULL;
-PFNGLPOPDEBUGGROUPKHRPROC mjGlad_glPopDebugGroupKHR = NULL;
-PFNGLOBJECTLABELKHRPROC mjGlad_glObjectLabelKHR = NULL;
-PFNGLGETOBJECTLABELKHRPROC mjGlad_glGetObjectLabelKHR = NULL;
-PFNGLOBJECTPTRLABELKHRPROC mjGlad_glObjectPtrLabelKHR = NULL;
-PFNGLGETOBJECTPTRLABELKHRPROC mjGlad_glGetObjectPtrLabelKHR = NULL;
-PFNGLGETPOINTERVKHRPROC mjGlad_glGetPointervKHR = NULL;
-static void mjGlad_load_GL_VERSION_1_0(GLADloadproc load) {
-  if(!mjGLAD_GL_VERSION_1_0) return;
-  mjGlad_glCullFace = (PFNGLCULLFACEPROC)load("glCullFace");
-  mjGlad_glFrontFace = (PFNGLFRONTFACEPROC)load("glFrontFace");
-  mjGlad_glHint = (PFNGLHINTPROC)load("glHint");
-  mjGlad_glLineWidth = (PFNGLLINEWIDTHPROC)load("glLineWidth");
-  mjGlad_glPointSize = (PFNGLPOINTSIZEPROC)load("glPointSize");
-  mjGlad_glPolygonMode = (PFNGLPOLYGONMODEPROC)load("glPolygonMode");
-  mjGlad_glScissor = (PFNGLSCISSORPROC)load("glScissor");
-  mjGlad_glTexParameterf = (PFNGLTEXPARAMETERFPROC)load("glTexParameterf");
-  mjGlad_glTexParameterfv = (PFNGLTEXPARAMETERFVPROC)load("glTexParameterfv");
-  mjGlad_glTexParameteri = (PFNGLTEXPARAMETERIPROC)load("glTexParameteri");
-  mjGlad_glTexParameteriv = (PFNGLTEXPARAMETERIVPROC)load("glTexParameteriv");
-  mjGlad_glTexImage1D = (PFNGLTEXIMAGE1DPROC)load("glTexImage1D");
-  mjGlad_glTexImage2D = (PFNGLTEXIMAGE2DPROC)load("glTexImage2D");
-  mjGlad_glDrawBuffer = (PFNGLDRAWBUFFERPROC)load("glDrawBuffer");
-  mjGlad_glClear = (PFNGLCLEARPROC)load("glClear");
-  mjGlad_glClearColor = (PFNGLCLEARCOLORPROC)load("glClearColor");
-  mjGlad_glClearStencil = (PFNGLCLEARSTENCILPROC)load("glClearStencil");
-  mjGlad_glClearDepth = (PFNGLCLEARDEPTHPROC)load("glClearDepth");
-  mjGlad_glStencilMask = (PFNGLSTENCILMASKPROC)load("glStencilMask");
-  mjGlad_glColorMask = (PFNGLCOLORMASKPROC)load("glColorMask");
-  mjGlad_glDepthMask = (PFNGLDEPTHMASKPROC)load("glDepthMask");
-  mjGlad_glDisable = (PFNGLDISABLEPROC)load("glDisable");
-  mjGlad_glEnable = (PFNGLENABLEPROC)load("glEnable");
-  mjGlad_glFinish = (PFNGLFINISHPROC)load("glFinish");
-  mjGlad_glFlush = (PFNGLFLUSHPROC)load("glFlush");
-  mjGlad_glBlendFunc = (PFNGLBLENDFUNCPROC)load("glBlendFunc");
-  mjGlad_glLogicOp = (PFNGLLOGICOPPROC)load("glLogicOp");
-  mjGlad_glStencilFunc = (PFNGLSTENCILFUNCPROC)load("glStencilFunc");
-  mjGlad_glStencilOp = (PFNGLSTENCILOPPROC)load("glStencilOp");
-  mjGlad_glDepthFunc = (PFNGLDEPTHFUNCPROC)load("glDepthFunc");
-  mjGlad_glPixelStoref = (PFNGLPIXELSTOREFPROC)load("glPixelStoref");
-  mjGlad_glPixelStorei = (PFNGLPIXELSTOREIPROC)load("glPixelStorei");
-  mjGlad_glReadBuffer = (PFNGLREADBUFFERPROC)load("glReadBuffer");
-  mjGlad_glReadPixels = (PFNGLREADPIXELSPROC)load("glReadPixels");
-  mjGlad_glGetBooleanv = (PFNGLGETBOOLEANVPROC)load("glGetBooleanv");
-  mjGlad_glGetDoublev = (PFNGLGETDOUBLEVPROC)load("glGetDoublev");
-  mjGlad_glGetError = (PFNGLGETERRORPROC)load("glGetError");
-  mjGlad_glGetFloatv = (PFNGLGETFLOATVPROC)load("glGetFloatv");
-  mjGlad_glGetIntegerv = (PFNGLGETINTEGERVPROC)load("glGetIntegerv");
-  mjGlad_glGetString = (PFNGLGETSTRINGPROC)load("glGetString");
-  mjGlad_glGetTexImage = (PFNGLGETTEXIMAGEPROC)load("glGetTexImage");
-  mjGlad_glGetTexParameterfv = (PFNGLGETTEXPARAMETERFVPROC)load("glGetTexParameterfv");
-  mjGlad_glGetTexParameteriv = (PFNGLGETTEXPARAMETERIVPROC)load("glGetTexParameteriv");
-  mjGlad_glGetTexLevelParameterfv = (PFNGLGETTEXLEVELPARAMETERFVPROC)load("glGetTexLevelParameterfv");
-  mjGlad_glGetTexLevelParameteriv = (PFNGLGETTEXLEVELPARAMETERIVPROC)load("glGetTexLevelParameteriv");
-  mjGlad_glIsEnabled = (PFNGLISENABLEDPROC)load("glIsEnabled");
-  mjGlad_glDepthRange = (PFNGLDEPTHRANGEPROC)load("glDepthRange");
-  mjGlad_glViewport = (PFNGLVIEWPORTPROC)load("glViewport");
-  mjGlad_glNewList = (PFNGLNEWLISTPROC)load("glNewList");
-  mjGlad_glEndList = (PFNGLENDLISTPROC)load("glEndList");
-  mjGlad_glCallList = (PFNGLCALLLISTPROC)load("glCallList");
-  mjGlad_glCallLists = (PFNGLCALLLISTSPROC)load("glCallLists");
-  mjGlad_glDeleteLists = (PFNGLDELETELISTSPROC)load("glDeleteLists");
-  mjGlad_glGenLists = (PFNGLGENLISTSPROC)load("glGenLists");
-  mjGlad_glListBase = (PFNGLLISTBASEPROC)load("glListBase");
-  mjGlad_glBegin = (PFNGLBEGINPROC)load("glBegin");
-  mjGlad_glBitmap = (PFNGLBITMAPPROC)load("glBitmap");
-  mjGlad_glColor3b = (PFNGLCOLOR3BPROC)load("glColor3b");
-  mjGlad_glColor3bv = (PFNGLCOLOR3BVPROC)load("glColor3bv");
-  mjGlad_glColor3d = (PFNGLCOLOR3DPROC)load("glColor3d");
-  mjGlad_glColor3dv = (PFNGLCOLOR3DVPROC)load("glColor3dv");
-  mjGlad_glColor3f = (PFNGLCOLOR3FPROC)load("glColor3f");
-  mjGlad_glColor3fv = (PFNGLCOLOR3FVPROC)load("glColor3fv");
-  mjGlad_glColor3i = (PFNGLCOLOR3IPROC)load("glColor3i");
-  mjGlad_glColor3iv = (PFNGLCOLOR3IVPROC)load("glColor3iv");
-  mjGlad_glColor3s = (PFNGLCOLOR3SPROC)load("glColor3s");
-  mjGlad_glColor3sv = (PFNGLCOLOR3SVPROC)load("glColor3sv");
-  mjGlad_glColor3ub = (PFNGLCOLOR3UBPROC)load("glColor3ub");
-  mjGlad_glColor3ubv = (PFNGLCOLOR3UBVPROC)load("glColor3ubv");
-  mjGlad_glColor3ui = (PFNGLCOLOR3UIPROC)load("glColor3ui");
-  mjGlad_glColor3uiv = (PFNGLCOLOR3UIVPROC)load("glColor3uiv");
-  mjGlad_glColor3us = (PFNGLCOLOR3USPROC)load("glColor3us");
-  mjGlad_glColor3usv = (PFNGLCOLOR3USVPROC)load("glColor3usv");
-  mjGlad_glColor4b = (PFNGLCOLOR4BPROC)load("glColor4b");
-  mjGlad_glColor4bv = (PFNGLCOLOR4BVPROC)load("glColor4bv");
-  mjGlad_glColor4d = (PFNGLCOLOR4DPROC)load("glColor4d");
-  mjGlad_glColor4dv = (PFNGLCOLOR4DVPROC)load("glColor4dv");
-  mjGlad_glColor4f = (PFNGLCOLOR4FPROC)load("glColor4f");
-  mjGlad_glColor4fv = (PFNGLCOLOR4FVPROC)load("glColor4fv");
-  mjGlad_glColor4i = (PFNGLCOLOR4IPROC)load("glColor4i");
-  mjGlad_glColor4iv = (PFNGLCOLOR4IVPROC)load("glColor4iv");
-  mjGlad_glColor4s = (PFNGLCOLOR4SPROC)load("glColor4s");
-  mjGlad_glColor4sv = (PFNGLCOLOR4SVPROC)load("glColor4sv");
-  mjGlad_glColor4ub = (PFNGLCOLOR4UBPROC)load("glColor4ub");
-  mjGlad_glColor4ubv = (PFNGLCOLOR4UBVPROC)load("glColor4ubv");
-  mjGlad_glColor4ui = (PFNGLCOLOR4UIPROC)load("glColor4ui");
-  mjGlad_glColor4uiv = (PFNGLCOLOR4UIVPROC)load("glColor4uiv");
-  mjGlad_glColor4us = (PFNGLCOLOR4USPROC)load("glColor4us");
-  mjGlad_glColor4usv = (PFNGLCOLOR4USVPROC)load("glColor4usv");
-  mjGlad_glEdgeFlag = (PFNGLEDGEFLAGPROC)load("glEdgeFlag");
-  mjGlad_glEdgeFlagv = (PFNGLEDGEFLAGVPROC)load("glEdgeFlagv");
-  mjGlad_glEnd = (PFNGLENDPROC)load("glEnd");
-  mjGlad_glIndexd = (PFNGLINDEXDPROC)load("glIndexd");
-  mjGlad_glIndexdv = (PFNGLINDEXDVPROC)load("glIndexdv");
-  mjGlad_glIndexf = (PFNGLINDEXFPROC)load("glIndexf");
-  mjGlad_glIndexfv = (PFNGLINDEXFVPROC)load("glIndexfv");
-  mjGlad_glIndexi = (PFNGLINDEXIPROC)load("glIndexi");
-  mjGlad_glIndexiv = (PFNGLINDEXIVPROC)load("glIndexiv");
-  mjGlad_glIndexs = (PFNGLINDEXSPROC)load("glIndexs");
-  mjGlad_glIndexsv = (PFNGLINDEXSVPROC)load("glIndexsv");
-  mjGlad_glNormal3b = (PFNGLNORMAL3BPROC)load("glNormal3b");
-  mjGlad_glNormal3bv = (PFNGLNORMAL3BVPROC)load("glNormal3bv");
-  mjGlad_glNormal3d = (PFNGLNORMAL3DPROC)load("glNormal3d");
-  mjGlad_glNormal3dv = (PFNGLNORMAL3DVPROC)load("glNormal3dv");
-  mjGlad_glNormal3f = (PFNGLNORMAL3FPROC)load("glNormal3f");
-  mjGlad_glNormal3fv = (PFNGLNORMAL3FVPROC)load("glNormal3fv");
-  mjGlad_glNormal3i = (PFNGLNORMAL3IPROC)load("glNormal3i");
-  mjGlad_glNormal3iv = (PFNGLNORMAL3IVPROC)load("glNormal3iv");
-  mjGlad_glNormal3s = (PFNGLNORMAL3SPROC)load("glNormal3s");
-  mjGlad_glNormal3sv = (PFNGLNORMAL3SVPROC)load("glNormal3sv");
-  mjGlad_glRasterPos2d = (PFNGLRASTERPOS2DPROC)load("glRasterPos2d");
-  mjGlad_glRasterPos2dv = (PFNGLRASTERPOS2DVPROC)load("glRasterPos2dv");
-  mjGlad_glRasterPos2f = (PFNGLRASTERPOS2FPROC)load("glRasterPos2f");
-  mjGlad_glRasterPos2fv = (PFNGLRASTERPOS2FVPROC)load("glRasterPos2fv");
-  mjGlad_glRasterPos2i = (PFNGLRASTERPOS2IPROC)load("glRasterPos2i");
-  mjGlad_glRasterPos2iv = (PFNGLRASTERPOS2IVPROC)load("glRasterPos2iv");
-  mjGlad_glRasterPos2s = (PFNGLRASTERPOS2SPROC)load("glRasterPos2s");
-  mjGlad_glRasterPos2sv = (PFNGLRASTERPOS2SVPROC)load("glRasterPos2sv");
-  mjGlad_glRasterPos3d = (PFNGLRASTERPOS3DPROC)load("glRasterPos3d");
-  mjGlad_glRasterPos3dv = (PFNGLRASTERPOS3DVPROC)load("glRasterPos3dv");
-  mjGlad_glRasterPos3f = (PFNGLRASTERPOS3FPROC)load("glRasterPos3f");
-  mjGlad_glRasterPos3fv = (PFNGLRASTERPOS3FVPROC)load("glRasterPos3fv");
-  mjGlad_glRasterPos3i = (PFNGLRASTERPOS3IPROC)load("glRasterPos3i");
-  mjGlad_glRasterPos3iv = (PFNGLRASTERPOS3IVPROC)load("glRasterPos3iv");
-  mjGlad_glRasterPos3s = (PFNGLRASTERPOS3SPROC)load("glRasterPos3s");
-  mjGlad_glRasterPos3sv = (PFNGLRASTERPOS3SVPROC)load("glRasterPos3sv");
-  mjGlad_glRasterPos4d = (PFNGLRASTERPOS4DPROC)load("glRasterPos4d");
-  mjGlad_glRasterPos4dv = (PFNGLRASTERPOS4DVPROC)load("glRasterPos4dv");
-  mjGlad_glRasterPos4f = (PFNGLRASTERPOS4FPROC)load("glRasterPos4f");
-  mjGlad_glRasterPos4fv = (PFNGLRASTERPOS4FVPROC)load("glRasterPos4fv");
-  mjGlad_glRasterPos4i = (PFNGLRASTERPOS4IPROC)load("glRasterPos4i");
-  mjGlad_glRasterPos4iv = (PFNGLRASTERPOS4IVPROC)load("glRasterPos4iv");
-  mjGlad_glRasterPos4s = (PFNGLRASTERPOS4SPROC)load("glRasterPos4s");
-  mjGlad_glRasterPos4sv = (PFNGLRASTERPOS4SVPROC)load("glRasterPos4sv");
-  mjGlad_glRectd = (PFNGLRECTDPROC)load("glRectd");
-  mjGlad_glRectdv = (PFNGLRECTDVPROC)load("glRectdv");
-  mjGlad_glRectf = (PFNGLRECTFPROC)load("glRectf");
-  mjGlad_glRectfv = (PFNGLRECTFVPROC)load("glRectfv");
-  mjGlad_glRecti = (PFNGLRECTIPROC)load("glRecti");
-  mjGlad_glRectiv = (PFNGLRECTIVPROC)load("glRectiv");
-  mjGlad_glRects = (PFNGLRECTSPROC)load("glRects");
-  mjGlad_glRectsv = (PFNGLRECTSVPROC)load("glRectsv");
-  mjGlad_glTexCoord1d = (PFNGLTEXCOORD1DPROC)load("glTexCoord1d");
-  mjGlad_glTexCoord1dv = (PFNGLTEXCOORD1DVPROC)load("glTexCoord1dv");
-  mjGlad_glTexCoord1f = (PFNGLTEXCOORD1FPROC)load("glTexCoord1f");
-  mjGlad_glTexCoord1fv = (PFNGLTEXCOORD1FVPROC)load("glTexCoord1fv");
-  mjGlad_glTexCoord1i = (PFNGLTEXCOORD1IPROC)load("glTexCoord1i");
-  mjGlad_glTexCoord1iv = (PFNGLTEXCOORD1IVPROC)load("glTexCoord1iv");
-  mjGlad_glTexCoord1s = (PFNGLTEXCOORD1SPROC)load("glTexCoord1s");
-  mjGlad_glTexCoord1sv = (PFNGLTEXCOORD1SVPROC)load("glTexCoord1sv");
-  mjGlad_glTexCoord2d = (PFNGLTEXCOORD2DPROC)load("glTexCoord2d");
-  mjGlad_glTexCoord2dv = (PFNGLTEXCOORD2DVPROC)load("glTexCoord2dv");
-  mjGlad_glTexCoord2f = (PFNGLTEXCOORD2FPROC)load("glTexCoord2f");
-  mjGlad_glTexCoord2fv = (PFNGLTEXCOORD2FVPROC)load("glTexCoord2fv");
-  mjGlad_glTexCoord2i = (PFNGLTEXCOORD2IPROC)load("glTexCoord2i");
-  mjGlad_glTexCoord2iv = (PFNGLTEXCOORD2IVPROC)load("glTexCoord2iv");
-  mjGlad_glTexCoord2s = (PFNGLTEXCOORD2SPROC)load("glTexCoord2s");
-  mjGlad_glTexCoord2sv = (PFNGLTEXCOORD2SVPROC)load("glTexCoord2sv");
-  mjGlad_glTexCoord3d = (PFNGLTEXCOORD3DPROC)load("glTexCoord3d");
-  mjGlad_glTexCoord3dv = (PFNGLTEXCOORD3DVPROC)load("glTexCoord3dv");
-  mjGlad_glTexCoord3f = (PFNGLTEXCOORD3FPROC)load("glTexCoord3f");
-  mjGlad_glTexCoord3fv = (PFNGLTEXCOORD3FVPROC)load("glTexCoord3fv");
-  mjGlad_glTexCoord3i = (PFNGLTEXCOORD3IPROC)load("glTexCoord3i");
-  mjGlad_glTexCoord3iv = (PFNGLTEXCOORD3IVPROC)load("glTexCoord3iv");
-  mjGlad_glTexCoord3s = (PFNGLTEXCOORD3SPROC)load("glTexCoord3s");
-  mjGlad_glTexCoord3sv = (PFNGLTEXCOORD3SVPROC)load("glTexCoord3sv");
-  mjGlad_glTexCoord4d = (PFNGLTEXCOORD4DPROC)load("glTexCoord4d");
-  mjGlad_glTexCoord4dv = (PFNGLTEXCOORD4DVPROC)load("glTexCoord4dv");
-  mjGlad_glTexCoord4f = (PFNGLTEXCOORD4FPROC)load("glTexCoord4f");
-  mjGlad_glTexCoord4fv = (PFNGLTEXCOORD4FVPROC)load("glTexCoord4fv");
-  mjGlad_glTexCoord4i = (PFNGLTEXCOORD4IPROC)load("glTexCoord4i");
-  mjGlad_glTexCoord4iv = (PFNGLTEXCOORD4IVPROC)load("glTexCoord4iv");
-  mjGlad_glTexCoord4s = (PFNGLTEXCOORD4SPROC)load("glTexCoord4s");
-  mjGlad_glTexCoord4sv = (PFNGLTEXCOORD4SVPROC)load("glTexCoord4sv");
-  mjGlad_glVertex2d = (PFNGLVERTEX2DPROC)load("glVertex2d");
-  mjGlad_glVertex2dv = (PFNGLVERTEX2DVPROC)load("glVertex2dv");
-  mjGlad_glVertex2f = (PFNGLVERTEX2FPROC)load("glVertex2f");
-  mjGlad_glVertex2fv = (PFNGLVERTEX2FVPROC)load("glVertex2fv");
-  mjGlad_glVertex2i = (PFNGLVERTEX2IPROC)load("glVertex2i");
-  mjGlad_glVertex2iv = (PFNGLVERTEX2IVPROC)load("glVertex2iv");
-  mjGlad_glVertex2s = (PFNGLVERTEX2SPROC)load("glVertex2s");
-  mjGlad_glVertex2sv = (PFNGLVERTEX2SVPROC)load("glVertex2sv");
-  mjGlad_glVertex3d = (PFNGLVERTEX3DPROC)load("glVertex3d");
-  mjGlad_glVertex3dv = (PFNGLVERTEX3DVPROC)load("glVertex3dv");
-  mjGlad_glVertex3f = (PFNGLVERTEX3FPROC)load("glVertex3f");
-  mjGlad_glVertex3fv = (PFNGLVERTEX3FVPROC)load("glVertex3fv");
-  mjGlad_glVertex3i = (PFNGLVERTEX3IPROC)load("glVertex3i");
-  mjGlad_glVertex3iv = (PFNGLVERTEX3IVPROC)load("glVertex3iv");
-  mjGlad_glVertex3s = (PFNGLVERTEX3SPROC)load("glVertex3s");
-  mjGlad_glVertex3sv = (PFNGLVERTEX3SVPROC)load("glVertex3sv");
-  mjGlad_glVertex4d = (PFNGLVERTEX4DPROC)load("glVertex4d");
-  mjGlad_glVertex4dv = (PFNGLVERTEX4DVPROC)load("glVertex4dv");
-  mjGlad_glVertex4f = (PFNGLVERTEX4FPROC)load("glVertex4f");
-  mjGlad_glVertex4fv = (PFNGLVERTEX4FVPROC)load("glVertex4fv");
-  mjGlad_glVertex4i = (PFNGLVERTEX4IPROC)load("glVertex4i");
-  mjGlad_glVertex4iv = (PFNGLVERTEX4IVPROC)load("glVertex4iv");
-  mjGlad_glVertex4s = (PFNGLVERTEX4SPROC)load("glVertex4s");
-  mjGlad_glVertex4sv = (PFNGLVERTEX4SVPROC)load("glVertex4sv");
-  mjGlad_glClipPlane = (PFNGLCLIPPLANEPROC)load("glClipPlane");
-  mjGlad_glColorMaterial = (PFNGLCOLORMATERIALPROC)load("glColorMaterial");
-  mjGlad_glFogf = (PFNGLFOGFPROC)load("glFogf");
-  mjGlad_glFogfv = (PFNGLFOGFVPROC)load("glFogfv");
-  mjGlad_glFogi = (PFNGLFOGIPROC)load("glFogi");
-  mjGlad_glFogiv = (PFNGLFOGIVPROC)load("glFogiv");
-  mjGlad_glLightf = (PFNGLLIGHTFPROC)load("glLightf");
-  mjGlad_glLightfv = (PFNGLLIGHTFVPROC)load("glLightfv");
-  mjGlad_glLighti = (PFNGLLIGHTIPROC)load("glLighti");
-  mjGlad_glLightiv = (PFNGLLIGHTIVPROC)load("glLightiv");
-  mjGlad_glLightModelf = (PFNGLLIGHTMODELFPROC)load("glLightModelf");
-  mjGlad_glLightModelfv = (PFNGLLIGHTMODELFVPROC)load("glLightModelfv");
-  mjGlad_glLightModeli = (PFNGLLIGHTMODELIPROC)load("glLightModeli");
-  mjGlad_glLightModeliv = (PFNGLLIGHTMODELIVPROC)load("glLightModeliv");
-  mjGlad_glLineStipple = (PFNGLLINESTIPPLEPROC)load("glLineStipple");
-  mjGlad_glMaterialf = (PFNGLMATERIALFPROC)load("glMaterialf");
-  mjGlad_glMaterialfv = (PFNGLMATERIALFVPROC)load("glMaterialfv");
-  mjGlad_glMateriali = (PFNGLMATERIALIPROC)load("glMateriali");
-  mjGlad_glMaterialiv = (PFNGLMATERIALIVPROC)load("glMaterialiv");
-  mjGlad_glPolygonStipple = (PFNGLPOLYGONSTIPPLEPROC)load("glPolygonStipple");
-  mjGlad_glShadeModel = (PFNGLSHADEMODELPROC)load("glShadeModel");
-  mjGlad_glTexEnvf = (PFNGLTEXENVFPROC)load("glTexEnvf");
-  mjGlad_glTexEnvfv = (PFNGLTEXENVFVPROC)load("glTexEnvfv");
-  mjGlad_glTexEnvi = (PFNGLTEXENVIPROC)load("glTexEnvi");
-  mjGlad_glTexEnviv = (PFNGLTEXENVIVPROC)load("glTexEnviv");
-  mjGlad_glTexGend = (PFNGLTEXGENDPROC)load("glTexGend");
-  mjGlad_glTexGendv = (PFNGLTEXGENDVPROC)load("glTexGendv");
-  mjGlad_glTexGenf = (PFNGLTEXGENFPROC)load("glTexGenf");
-  mjGlad_glTexGenfv = (PFNGLTEXGENFVPROC)load("glTexGenfv");
-  mjGlad_glTexGeni = (PFNGLTEXGENIPROC)load("glTexGeni");
-  mjGlad_glTexGeniv = (PFNGLTEXGENIVPROC)load("glTexGeniv");
-  mjGlad_glFeedbackBuffer = (PFNGLFEEDBACKBUFFERPROC)load("glFeedbackBuffer");
-  mjGlad_glSelectBuffer = (PFNGLSELECTBUFFERPROC)load("glSelectBuffer");
-  mjGlad_glRenderMode = (PFNGLRENDERMODEPROC)load("glRenderMode");
-  mjGlad_glInitNames = (PFNGLINITNAMESPROC)load("glInitNames");
-  mjGlad_glLoadName = (PFNGLLOADNAMEPROC)load("glLoadName");
-  mjGlad_glPassThrough = (PFNGLPASSTHROUGHPROC)load("glPassThrough");
-  mjGlad_glPopName = (PFNGLPOPNAMEPROC)load("glPopName");
-  mjGlad_glPushName = (PFNGLPUSHNAMEPROC)load("glPushName");
-  mjGlad_glClearAccum = (PFNGLCLEARACCUMPROC)load("glClearAccum");
-  mjGlad_glClearIndex = (PFNGLCLEARINDEXPROC)load("glClearIndex");
-  mjGlad_glIndexMask = (PFNGLINDEXMASKPROC)load("glIndexMask");
-  mjGlad_glAccum = (PFNGLACCUMPROC)load("glAccum");
-  mjGlad_glPopAttrib = (PFNGLPOPATTRIBPROC)load("glPopAttrib");
-  mjGlad_glPushAttrib = (PFNGLPUSHATTRIBPROC)load("glPushAttrib");
-  mjGlad_glMap1d = (PFNGLMAP1DPROC)load("glMap1d");
-  mjGlad_glMap1f = (PFNGLMAP1FPROC)load("glMap1f");
-  mjGlad_glMap2d = (PFNGLMAP2DPROC)load("glMap2d");
-  mjGlad_glMap2f = (PFNGLMAP2FPROC)load("glMap2f");
-  mjGlad_glMapGrid1d = (PFNGLMAPGRID1DPROC)load("glMapGrid1d");
-  mjGlad_glMapGrid1f = (PFNGLMAPGRID1FPROC)load("glMapGrid1f");
-  mjGlad_glMapGrid2d = (PFNGLMAPGRID2DPROC)load("glMapGrid2d");
-  mjGlad_glMapGrid2f = (PFNGLMAPGRID2FPROC)load("glMapGrid2f");
-  mjGlad_glEvalCoord1d = (PFNGLEVALCOORD1DPROC)load("glEvalCoord1d");
-  mjGlad_glEvalCoord1dv = (PFNGLEVALCOORD1DVPROC)load("glEvalCoord1dv");
-  mjGlad_glEvalCoord1f = (PFNGLEVALCOORD1FPROC)load("glEvalCoord1f");
-  mjGlad_glEvalCoord1fv = (PFNGLEVALCOORD1FVPROC)load("glEvalCoord1fv");
-  mjGlad_glEvalCoord2d = (PFNGLEVALCOORD2DPROC)load("glEvalCoord2d");
-  mjGlad_glEvalCoord2dv = (PFNGLEVALCOORD2DVPROC)load("glEvalCoord2dv");
-  mjGlad_glEvalCoord2f = (PFNGLEVALCOORD2FPROC)load("glEvalCoord2f");
-  mjGlad_glEvalCoord2fv = (PFNGLEVALCOORD2FVPROC)load("glEvalCoord2fv");
-  mjGlad_glEvalMesh1 = (PFNGLEVALMESH1PROC)load("glEvalMesh1");
-  mjGlad_glEvalPoint1 = (PFNGLEVALPOINT1PROC)load("glEvalPoint1");
-  mjGlad_glEvalMesh2 = (PFNGLEVALMESH2PROC)load("glEvalMesh2");
-  mjGlad_glEvalPoint2 = (PFNGLEVALPOINT2PROC)load("glEvalPoint2");
-  mjGlad_glAlphaFunc = (PFNGLALPHAFUNCPROC)load("glAlphaFunc");
-  mjGlad_glPixelZoom = (PFNGLPIXELZOOMPROC)load("glPixelZoom");
-  mjGlad_glPixelTransferf = (PFNGLPIXELTRANSFERFPROC)load("glPixelTransferf");
-  mjGlad_glPixelTransferi = (PFNGLPIXELTRANSFERIPROC)load("glPixelTransferi");
-  mjGlad_glPixelMapfv = (PFNGLPIXELMAPFVPROC)load("glPixelMapfv");
-  mjGlad_glPixelMapuiv = (PFNGLPIXELMAPUIVPROC)load("glPixelMapuiv");
-  mjGlad_glPixelMapusv = (PFNGLPIXELMAPUSVPROC)load("glPixelMapusv");
-  mjGlad_glCopyPixels = (PFNGLCOPYPIXELSPROC)load("glCopyPixels");
-  mjGlad_glDrawPixels = (PFNGLDRAWPIXELSPROC)load("glDrawPixels");
-  mjGlad_glGetClipPlane = (PFNGLGETCLIPPLANEPROC)load("glGetClipPlane");
-  mjGlad_glGetLightfv = (PFNGLGETLIGHTFVPROC)load("glGetLightfv");
-  mjGlad_glGetLightiv = (PFNGLGETLIGHTIVPROC)load("glGetLightiv");
-  mjGlad_glGetMapdv = (PFNGLGETMAPDVPROC)load("glGetMapdv");
-  mjGlad_glGetMapfv = (PFNGLGETMAPFVPROC)load("glGetMapfv");
-  mjGlad_glGetMapiv = (PFNGLGETMAPIVPROC)load("glGetMapiv");
-  mjGlad_glGetMaterialfv = (PFNGLGETMATERIALFVPROC)load("glGetMaterialfv");
-  mjGlad_glGetMaterialiv = (PFNGLGETMATERIALIVPROC)load("glGetMaterialiv");
-  mjGlad_glGetPixelMapfv = (PFNGLGETPIXELMAPFVPROC)load("glGetPixelMapfv");
-  mjGlad_glGetPixelMapuiv = (PFNGLGETPIXELMAPUIVPROC)load("glGetPixelMapuiv");
-  mjGlad_glGetPixelMapusv = (PFNGLGETPIXELMAPUSVPROC)load("glGetPixelMapusv");
-  mjGlad_glGetPolygonStipple = (PFNGLGETPOLYGONSTIPPLEPROC)load("glGetPolygonStipple");
-  mjGlad_glGetTexEnvfv = (PFNGLGETTEXENVFVPROC)load("glGetTexEnvfv");
-  mjGlad_glGetTexEnviv = (PFNGLGETTEXENVIVPROC)load("glGetTexEnviv");
-  mjGlad_glGetTexGendv = (PFNGLGETTEXGENDVPROC)load("glGetTexGendv");
-  mjGlad_glGetTexGenfv = (PFNGLGETTEXGENFVPROC)load("glGetTexGenfv");
-  mjGlad_glGetTexGeniv = (PFNGLGETTEXGENIVPROC)load("glGetTexGeniv");
-  mjGlad_glIsList = (PFNGLISLISTPROC)load("glIsList");
-  mjGlad_glFrustum = (PFNGLFRUSTUMPROC)load("glFrustum");
-  mjGlad_glLoadIdentity = (PFNGLLOADIDENTITYPROC)load("glLoadIdentity");
-  mjGlad_glLoadMatrixf = (PFNGLLOADMATRIXFPROC)load("glLoadMatrixf");
-  mjGlad_glLoadMatrixd = (PFNGLLOADMATRIXDPROC)load("glLoadMatrixd");
-  mjGlad_glMatrixMode = (PFNGLMATRIXMODEPROC)load("glMatrixMode");
-  mjGlad_glMultMatrixf = (PFNGLMULTMATRIXFPROC)load("glMultMatrixf");
-  mjGlad_glMultMatrixd = (PFNGLMULTMATRIXDPROC)load("glMultMatrixd");
-  mjGlad_glOrtho = (PFNGLORTHOPROC)load("glOrtho");
-  mjGlad_glPopMatrix = (PFNGLPOPMATRIXPROC)load("glPopMatrix");
-  mjGlad_glPushMatrix = (PFNGLPUSHMATRIXPROC)load("glPushMatrix");
-  mjGlad_glRotated = (PFNGLROTATEDPROC)load("glRotated");
-  mjGlad_glRotatef = (PFNGLROTATEFPROC)load("glRotatef");
-  mjGlad_glScaled = (PFNGLSCALEDPROC)load("glScaled");
-  mjGlad_glScalef = (PFNGLSCALEFPROC)load("glScalef");
-  mjGlad_glTranslated = (PFNGLTRANSLATEDPROC)load("glTranslated");
-  mjGlad_glTranslatef = (PFNGLTRANSLATEFPROC)load("glTranslatef");
-}
-static void mjGlad_load_GL_VERSION_1_1(GLADloadproc load) {
-  if(!mjGLAD_GL_VERSION_1_1) return;
-  mjGlad_glDrawArrays = (PFNGLDRAWARRAYSPROC)load("glDrawArrays");
-  mjGlad_glDrawElements = (PFNGLDRAWELEMENTSPROC)load("glDrawElements");
-  mjGlad_glGetPointerv = (PFNGLGETPOINTERVPROC)load("glGetPointerv");
-  mjGlad_glPolygonOffset = (PFNGLPOLYGONOFFSETPROC)load("glPolygonOffset");
-  mjGlad_glCopyTexImage1D = (PFNGLCOPYTEXIMAGE1DPROC)load("glCopyTexImage1D");
-  mjGlad_glCopyTexImage2D = (PFNGLCOPYTEXIMAGE2DPROC)load("glCopyTexImage2D");
-  mjGlad_glCopyTexSubImage1D = (PFNGLCOPYTEXSUBIMAGE1DPROC)load("glCopyTexSubImage1D");
-  mjGlad_glCopyTexSubImage2D = (PFNGLCOPYTEXSUBIMAGE2DPROC)load("glCopyTexSubImage2D");
-  mjGlad_glTexSubImage1D = (PFNGLTEXSUBIMAGE1DPROC)load("glTexSubImage1D");
-  mjGlad_glTexSubImage2D = (PFNGLTEXSUBIMAGE2DPROC)load("glTexSubImage2D");
-  mjGlad_glBindTexture = (PFNGLBINDTEXTUREPROC)load("glBindTexture");
-  mjGlad_glDeleteTextures = (PFNGLDELETETEXTURESPROC)load("glDeleteTextures");
-  mjGlad_glGenTextures = (PFNGLGENTEXTURESPROC)load("glGenTextures");
-  mjGlad_glIsTexture = (PFNGLISTEXTUREPROC)load("glIsTexture");
-  mjGlad_glArrayElement = (PFNGLARRAYELEMENTPROC)load("glArrayElement");
-  mjGlad_glColorPointer = (PFNGLCOLORPOINTERPROC)load("glColorPointer");
-  mjGlad_glDisableClientState = (PFNGLDISABLECLIENTSTATEPROC)load("glDisableClientState");
-  mjGlad_glEdgeFlagPointer = (PFNGLEDGEFLAGPOINTERPROC)load("glEdgeFlagPointer");
-  mjGlad_glEnableClientState = (PFNGLENABLECLIENTSTATEPROC)load("glEnableClientState");
-  mjGlad_glIndexPointer = (PFNGLINDEXPOINTERPROC)load("glIndexPointer");
-  mjGlad_glInterleavedArrays = (PFNGLINTERLEAVEDARRAYSPROC)load("glInterleavedArrays");
-  mjGlad_glNormalPointer = (PFNGLNORMALPOINTERPROC)load("glNormalPointer");
-  mjGlad_glTexCoordPointer = (PFNGLTEXCOORDPOINTERPROC)load("glTexCoordPointer");
-  mjGlad_glVertexPointer = (PFNGLVERTEXPOINTERPROC)load("glVertexPointer");
-  mjGlad_glAreTexturesResident = (PFNGLARETEXTURESRESIDENTPROC)load("glAreTexturesResident");
-  mjGlad_glPrioritizeTextures = (PFNGLPRIORITIZETEXTURESPROC)load("glPrioritizeTextures");
-  mjGlad_glIndexub = (PFNGLINDEXUBPROC)load("glIndexub");
-  mjGlad_glIndexubv = (PFNGLINDEXUBVPROC)load("glIndexubv");
-  mjGlad_glPopClientAttrib = (PFNGLPOPCLIENTATTRIBPROC)load("glPopClientAttrib");
-  mjGlad_glPushClientAttrib = (PFNGLPUSHCLIENTATTRIBPROC)load("glPushClientAttrib");
-}
-static void mjGlad_load_GL_VERSION_1_2(GLADloadproc load) {
-  if(!mjGLAD_GL_VERSION_1_2) return;
-  mjGlad_glDrawRangeElements = (PFNGLDRAWRANGEELEMENTSPROC)load("glDrawRangeElements");
-  mjGlad_glTexImage3D = (PFNGLTEXIMAGE3DPROC)load("glTexImage3D");
-  mjGlad_glTexSubImage3D = (PFNGLTEXSUBIMAGE3DPROC)load("glTexSubImage3D");
-  mjGlad_glCopyTexSubImage3D = (PFNGLCOPYTEXSUBIMAGE3DPROC)load("glCopyTexSubImage3D");
-}
-static void mjGlad_load_GL_VERSION_1_3(GLADloadproc load) {
-  if(!mjGLAD_GL_VERSION_1_3) return;
-  mjGlad_glActiveTexture = (PFNGLACTIVETEXTUREPROC)load("glActiveTexture");
-  mjGlad_glSampleCoverage = (PFNGLSAMPLECOVERAGEPROC)load("glSampleCoverage");
-  mjGlad_glCompressedTexImage3D = (PFNGLCOMPRESSEDTEXIMAGE3DPROC)load("glCompressedTexImage3D");
-  mjGlad_glCompressedTexImage2D = (PFNGLCOMPRESSEDTEXIMAGE2DPROC)load("glCompressedTexImage2D");
-  mjGlad_glCompressedTexImage1D = (PFNGLCOMPRESSEDTEXIMAGE1DPROC)load("glCompressedTexImage1D");
-  mjGlad_glCompressedTexSubImage3D = (PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC)load("glCompressedTexSubImage3D");
-  mjGlad_glCompressedTexSubImage2D = (PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC)load("glCompressedTexSubImage2D");
-  mjGlad_glCompressedTexSubImage1D = (PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC)load("glCompressedTexSubImage1D");
-  mjGlad_glGetCompressedTexImage = (PFNGLGETCOMPRESSEDTEXIMAGEPROC)load("glGetCompressedTexImage");
-  mjGlad_glClientActiveTexture = (PFNGLCLIENTACTIVETEXTUREPROC)load("glClientActiveTexture");
-  mjGlad_glMultiTexCoord1d = (PFNGLMULTITEXCOORD1DPROC)load("glMultiTexCoord1d");
-  mjGlad_glMultiTexCoord1dv = (PFNGLMULTITEXCOORD1DVPROC)load("glMultiTexCoord1dv");
-  mjGlad_glMultiTexCoord1f = (PFNGLMULTITEXCOORD1FPROC)load("glMultiTexCoord1f");
-  mjGlad_glMultiTexCoord1fv = (PFNGLMULTITEXCOORD1FVPROC)load("glMultiTexCoord1fv");
-  mjGlad_glMultiTexCoord1i = (PFNGLMULTITEXCOORD1IPROC)load("glMultiTexCoord1i");
-  mjGlad_glMultiTexCoord1iv = (PFNGLMULTITEXCOORD1IVPROC)load("glMultiTexCoord1iv");
-  mjGlad_glMultiTexCoord1s = (PFNGLMULTITEXCOORD1SPROC)load("glMultiTexCoord1s");
-  mjGlad_glMultiTexCoord1sv = (PFNGLMULTITEXCOORD1SVPROC)load("glMultiTexCoord1sv");
-  mjGlad_glMultiTexCoord2d = (PFNGLMULTITEXCOORD2DPROC)load("glMultiTexCoord2d");
-  mjGlad_glMultiTexCoord2dv = (PFNGLMULTITEXCOORD2DVPROC)load("glMultiTexCoord2dv");
-  mjGlad_glMultiTexCoord2f = (PFNGLMULTITEXCOORD2FPROC)load("glMultiTexCoord2f");
-  mjGlad_glMultiTexCoord2fv = (PFNGLMULTITEXCOORD2FVPROC)load("glMultiTexCoord2fv");
-  mjGlad_glMultiTexCoord2i = (PFNGLMULTITEXCOORD2IPROC)load("glMultiTexCoord2i");
-  mjGlad_glMultiTexCoord2iv = (PFNGLMULTITEXCOORD2IVPROC)load("glMultiTexCoord2iv");
-  mjGlad_glMultiTexCoord2s = (PFNGLMULTITEXCOORD2SPROC)load("glMultiTexCoord2s");
-  mjGlad_glMultiTexCoord2sv = (PFNGLMULTITEXCOORD2SVPROC)load("glMultiTexCoord2sv");
-  mjGlad_glMultiTexCoord3d = (PFNGLMULTITEXCOORD3DPROC)load("glMultiTexCoord3d");
-  mjGlad_glMultiTexCoord3dv = (PFNGLMULTITEXCOORD3DVPROC)load("glMultiTexCoord3dv");
-  mjGlad_glMultiTexCoord3f = (PFNGLMULTITEXCOORD3FPROC)load("glMultiTexCoord3f");
-  mjGlad_glMultiTexCoord3fv = (PFNGLMULTITEXCOORD3FVPROC)load("glMultiTexCoord3fv");
-  mjGlad_glMultiTexCoord3i = (PFNGLMULTITEXCOORD3IPROC)load("glMultiTexCoord3i");
-  mjGlad_glMultiTexCoord3iv = (PFNGLMULTITEXCOORD3IVPROC)load("glMultiTexCoord3iv");
-  mjGlad_glMultiTexCoord3s = (PFNGLMULTITEXCOORD3SPROC)load("glMultiTexCoord3s");
-  mjGlad_glMultiTexCoord3sv = (PFNGLMULTITEXCOORD3SVPROC)load("glMultiTexCoord3sv");
-  mjGlad_glMultiTexCoord4d = (PFNGLMULTITEXCOORD4DPROC)load("glMultiTexCoord4d");
-  mjGlad_glMultiTexCoord4dv = (PFNGLMULTITEXCOORD4DVPROC)load("glMultiTexCoord4dv");
-  mjGlad_glMultiTexCoord4f = (PFNGLMULTITEXCOORD4FPROC)load("glMultiTexCoord4f");
-  mjGlad_glMultiTexCoord4fv = (PFNGLMULTITEXCOORD4FVPROC)load("glMultiTexCoord4fv");
-  mjGlad_glMultiTexCoord4i = (PFNGLMULTITEXCOORD4IPROC)load("glMultiTexCoord4i");
-  mjGlad_glMultiTexCoord4iv = (PFNGLMULTITEXCOORD4IVPROC)load("glMultiTexCoord4iv");
-  mjGlad_glMultiTexCoord4s = (PFNGLMULTITEXCOORD4SPROC)load("glMultiTexCoord4s");
-  mjGlad_glMultiTexCoord4sv = (PFNGLMULTITEXCOORD4SVPROC)load("glMultiTexCoord4sv");
-  mjGlad_glLoadTransposeMatrixf = (PFNGLLOADTRANSPOSEMATRIXFPROC)load("glLoadTransposeMatrixf");
-  mjGlad_glLoadTransposeMatrixd = (PFNGLLOADTRANSPOSEMATRIXDPROC)load("glLoadTransposeMatrixd");
-  mjGlad_glMultTransposeMatrixf = (PFNGLMULTTRANSPOSEMATRIXFPROC)load("glMultTransposeMatrixf");
-  mjGlad_glMultTransposeMatrixd = (PFNGLMULTTRANSPOSEMATRIXDPROC)load("glMultTransposeMatrixd");
-}
-static void mjGlad_load_GL_VERSION_1_4(GLADloadproc load) {
-  if(!mjGLAD_GL_VERSION_1_4) return;
-  mjGlad_glBlendFuncSeparate = (PFNGLBLENDFUNCSEPARATEPROC)load("glBlendFuncSeparate");
-  mjGlad_glMultiDrawArrays = (PFNGLMULTIDRAWARRAYSPROC)load("glMultiDrawArrays");
-  mjGlad_glMultiDrawElements = (PFNGLMULTIDRAWELEMENTSPROC)load("glMultiDrawElements");
-  mjGlad_glPointParameterf = (PFNGLPOINTPARAMETERFPROC)load("glPointParameterf");
-  mjGlad_glPointParameterfv = (PFNGLPOINTPARAMETERFVPROC)load("glPointParameterfv");
-  mjGlad_glPointParameteri = (PFNGLPOINTPARAMETERIPROC)load("glPointParameteri");
-  mjGlad_glPointParameteriv = (PFNGLPOINTPARAMETERIVPROC)load("glPointParameteriv");
-  mjGlad_glFogCoordf = (PFNGLFOGCOORDFPROC)load("glFogCoordf");
-  mjGlad_glFogCoordfv = (PFNGLFOGCOORDFVPROC)load("glFogCoordfv");
-  mjGlad_glFogCoordd = (PFNGLFOGCOORDDPROC)load("glFogCoordd");
-  mjGlad_glFogCoorddv = (PFNGLFOGCOORDDVPROC)load("glFogCoorddv");
-  mjGlad_glFogCoordPointer = (PFNGLFOGCOORDPOINTERPROC)load("glFogCoordPointer");
-  mjGlad_glSecondaryColor3b = (PFNGLSECONDARYCOLOR3BPROC)load("glSecondaryColor3b");
-  mjGlad_glSecondaryColor3bv = (PFNGLSECONDARYCOLOR3BVPROC)load("glSecondaryColor3bv");
-  mjGlad_glSecondaryColor3d = (PFNGLSECONDARYCOLOR3DPROC)load("glSecondaryColor3d");
-  mjGlad_glSecondaryColor3dv = (PFNGLSECONDARYCOLOR3DVPROC)load("glSecondaryColor3dv");
-  mjGlad_glSecondaryColor3f = (PFNGLSECONDARYCOLOR3FPROC)load("glSecondaryColor3f");
-  mjGlad_glSecondaryColor3fv = (PFNGLSECONDARYCOLOR3FVPROC)load("glSecondaryColor3fv");
-  mjGlad_glSecondaryColor3i = (PFNGLSECONDARYCOLOR3IPROC)load("glSecondaryColor3i");
-  mjGlad_glSecondaryColor3iv = (PFNGLSECONDARYCOLOR3IVPROC)load("glSecondaryColor3iv");
-  mjGlad_glSecondaryColor3s = (PFNGLSECONDARYCOLOR3SPROC)load("glSecondaryColor3s");
-  mjGlad_glSecondaryColor3sv = (PFNGLSECONDARYCOLOR3SVPROC)load("glSecondaryColor3sv");
-  mjGlad_glSecondaryColor3ub = (PFNGLSECONDARYCOLOR3UBPROC)load("glSecondaryColor3ub");
-  mjGlad_glSecondaryColor3ubv = (PFNGLSECONDARYCOLOR3UBVPROC)load("glSecondaryColor3ubv");
-  mjGlad_glSecondaryColor3ui = (PFNGLSECONDARYCOLOR3UIPROC)load("glSecondaryColor3ui");
-  mjGlad_glSecondaryColor3uiv = (PFNGLSECONDARYCOLOR3UIVPROC)load("glSecondaryColor3uiv");
-  mjGlad_glSecondaryColor3us = (PFNGLSECONDARYCOLOR3USPROC)load("glSecondaryColor3us");
-  mjGlad_glSecondaryColor3usv = (PFNGLSECONDARYCOLOR3USVPROC)load("glSecondaryColor3usv");
-  mjGlad_glSecondaryColorPointer = (PFNGLSECONDARYCOLORPOINTERPROC)load("glSecondaryColorPointer");
-  mjGlad_glWindowPos2d = (PFNGLWINDOWPOS2DPROC)load("glWindowPos2d");
-  mjGlad_glWindowPos2dv = (PFNGLWINDOWPOS2DVPROC)load("glWindowPos2dv");
-  mjGlad_glWindowPos2f = (PFNGLWINDOWPOS2FPROC)load("glWindowPos2f");
-  mjGlad_glWindowPos2fv = (PFNGLWINDOWPOS2FVPROC)load("glWindowPos2fv");
-  mjGlad_glWindowPos2i = (PFNGLWINDOWPOS2IPROC)load("glWindowPos2i");
-  mjGlad_glWindowPos2iv = (PFNGLWINDOWPOS2IVPROC)load("glWindowPos2iv");
-  mjGlad_glWindowPos2s = (PFNGLWINDOWPOS2SPROC)load("glWindowPos2s");
-  mjGlad_glWindowPos2sv = (PFNGLWINDOWPOS2SVPROC)load("glWindowPos2sv");
-  mjGlad_glWindowPos3d = (PFNGLWINDOWPOS3DPROC)load("glWindowPos3d");
-  mjGlad_glWindowPos3dv = (PFNGLWINDOWPOS3DVPROC)load("glWindowPos3dv");
-  mjGlad_glWindowPos3f = (PFNGLWINDOWPOS3FPROC)load("glWindowPos3f");
-  mjGlad_glWindowPos3fv = (PFNGLWINDOWPOS3FVPROC)load("glWindowPos3fv");
-  mjGlad_glWindowPos3i = (PFNGLWINDOWPOS3IPROC)load("glWindowPos3i");
-  mjGlad_glWindowPos3iv = (PFNGLWINDOWPOS3IVPROC)load("glWindowPos3iv");
-  mjGlad_glWindowPos3s = (PFNGLWINDOWPOS3SPROC)load("glWindowPos3s");
-  mjGlad_glWindowPos3sv = (PFNGLWINDOWPOS3SVPROC)load("glWindowPos3sv");
-  mjGlad_glBlendColor = (PFNGLBLENDCOLORPROC)load("glBlendColor");
-  mjGlad_glBlendEquation = (PFNGLBLENDEQUATIONPROC)load("glBlendEquation");
-}
-static void mjGlad_load_GL_VERSION_1_5(GLADloadproc load) {
-  if(!mjGLAD_GL_VERSION_1_5) return;
-  mjGlad_glGenQueries = (PFNGLGENQUERIESPROC)load("glGenQueries");
-  mjGlad_glDeleteQueries = (PFNGLDELETEQUERIESPROC)load("glDeleteQueries");
-  mjGlad_glIsQuery = (PFNGLISQUERYPROC)load("glIsQuery");
-  mjGlad_glBeginQuery = (PFNGLBEGINQUERYPROC)load("glBeginQuery");
-  mjGlad_glEndQuery = (PFNGLENDQUERYPROC)load("glEndQuery");
-  mjGlad_glGetQueryiv = (PFNGLGETQUERYIVPROC)load("glGetQueryiv");
-  mjGlad_glGetQueryObjectiv = (PFNGLGETQUERYOBJECTIVPROC)load("glGetQueryObjectiv");
-  mjGlad_glGetQueryObjectuiv = (PFNGLGETQUERYOBJECTUIVPROC)load("glGetQueryObjectuiv");
-  mjGlad_glBindBuffer = (PFNGLBINDBUFFERPROC)load("glBindBuffer");
-  mjGlad_glDeleteBuffers = (PFNGLDELETEBUFFERSPROC)load("glDeleteBuffers");
-  mjGlad_glGenBuffers = (PFNGLGENBUFFERSPROC)load("glGenBuffers");
-  mjGlad_glIsBuffer = (PFNGLISBUFFERPROC)load("glIsBuffer");
-  mjGlad_glBufferData = (PFNGLBUFFERDATAPROC)load("glBufferData");
-  mjGlad_glBufferSubData = (PFNGLBUFFERSUBDATAPROC)load("glBufferSubData");
-  mjGlad_glGetBufferSubData = (PFNGLGETBUFFERSUBDATAPROC)load("glGetBufferSubData");
-  mjGlad_glMapBuffer = (PFNGLMAPBUFFERPROC)load("glMapBuffer");
-  mjGlad_glUnmapBuffer = (PFNGLUNMAPBUFFERPROC)load("glUnmapBuffer");
-  mjGlad_glGetBufferParameteriv = (PFNGLGETBUFFERPARAMETERIVPROC)load("glGetBufferParameteriv");
-  mjGlad_glGetBufferPointerv = (PFNGLGETBUFFERPOINTERVPROC)load("glGetBufferPointerv");
-}
-static void mjGlad_load_GL_ARB_clip_control(GLADloadproc load) {
-  if(!mjGLAD_GL_ARB_clip_control) return;
-  mjGlad_glClipControl = (PFNGLCLIPCONTROLPROC)load("glClipControl");
-}
-static void mjGlad_load_GL_ARB_framebuffer_object(GLADloadproc load) {
-  if(!mjGLAD_GL_ARB_framebuffer_object) return;
-  mjGlad_glIsRenderbuffer = (PFNGLISRENDERBUFFERPROC)load("glIsRenderbuffer");
-  mjGlad_glBindRenderbuffer = (PFNGLBINDRENDERBUFFERPROC)load("glBindRenderbuffer");
-  mjGlad_glDeleteRenderbuffers = (PFNGLDELETERENDERBUFFERSPROC)load("glDeleteRenderbuffers");
-  mjGlad_glGenRenderbuffers = (PFNGLGENRENDERBUFFERSPROC)load("glGenRenderbuffers");
-  mjGlad_glRenderbufferStorage = (PFNGLRENDERBUFFERSTORAGEPROC)load("glRenderbufferStorage");
-  mjGlad_glGetRenderbufferParameteriv = (PFNGLGETRENDERBUFFERPARAMETERIVPROC)load("glGetRenderbufferParameteriv");
-  mjGlad_glIsFramebuffer = (PFNGLISFRAMEBUFFERPROC)load("glIsFramebuffer");
-  mjGlad_glBindFramebuffer = (PFNGLBINDFRAMEBUFFERPROC)load("glBindFramebuffer");
-  mjGlad_glDeleteFramebuffers = (PFNGLDELETEFRAMEBUFFERSPROC)load("glDeleteFramebuffers");
-  mjGlad_glGenFramebuffers = (PFNGLGENFRAMEBUFFERSPROC)load("glGenFramebuffers");
-  mjGlad_glCheckFramebufferStatus = (PFNGLCHECKFRAMEBUFFERSTATUSPROC)load("glCheckFramebufferStatus");
-  mjGlad_glFramebufferTexture1D = (PFNGLFRAMEBUFFERTEXTURE1DPROC)load("glFramebufferTexture1D");
-  mjGlad_glFramebufferTexture2D = (PFNGLFRAMEBUFFERTEXTURE2DPROC)load("glFramebufferTexture2D");
-  mjGlad_glFramebufferTexture3D = (PFNGLFRAMEBUFFERTEXTURE3DPROC)load("glFramebufferTexture3D");
-  mjGlad_glFramebufferRenderbuffer = (PFNGLFRAMEBUFFERRENDERBUFFERPROC)load("glFramebufferRenderbuffer");
-  mjGlad_glGetFramebufferAttachmentParameteriv = (PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC)load("glGetFramebufferAttachmentParameteriv");
-  mjGlad_glGenerateMipmap = (PFNGLGENERATEMIPMAPPROC)load("glGenerateMipmap");
-  mjGlad_glBlitFramebuffer = (PFNGLBLITFRAMEBUFFERPROC)load("glBlitFramebuffer");
-  mjGlad_glRenderbufferStorageMultisample = (PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC)load("glRenderbufferStorageMultisample");
-  mjGlad_glFramebufferTextureLayer = (PFNGLFRAMEBUFFERTEXTURELAYERPROC)load("glFramebufferTextureLayer");
-}
-static void mjGlad_load_GL_ARB_vertex_buffer_object(GLADloadproc load) {
-  if(!mjGLAD_GL_ARB_vertex_buffer_object) return;
-  mjGlad_glBindBufferARB = (PFNGLBINDBUFFERARBPROC)load("glBindBufferARB");
-  mjGlad_glDeleteBuffersARB = (PFNGLDELETEBUFFERSARBPROC)load("glDeleteBuffersARB");
-  mjGlad_glGenBuffersARB = (PFNGLGENBUFFERSARBPROC)load("glGenBuffersARB");
-  mjGlad_glIsBufferARB = (PFNGLISBUFFERARBPROC)load("glIsBufferARB");
-  mjGlad_glBufferDataARB = (PFNGLBUFFERDATAARBPROC)load("glBufferDataARB");
-  mjGlad_glBufferSubDataARB = (PFNGLBUFFERSUBDATAARBPROC)load("glBufferSubDataARB");
-  mjGlad_glGetBufferSubDataARB = (PFNGLGETBUFFERSUBDATAARBPROC)load("glGetBufferSubDataARB");
-  mjGlad_glMapBufferARB = (PFNGLMAPBUFFERARBPROC)load("glMapBufferARB");
-  mjGlad_glUnmapBufferARB = (PFNGLUNMAPBUFFERARBPROC)load("glUnmapBufferARB");
-  mjGlad_glGetBufferParameterivARB = (PFNGLGETBUFFERPARAMETERIVARBPROC)load("glGetBufferParameterivARB");
-  mjGlad_glGetBufferPointervARB = (PFNGLGETBUFFERPOINTERVARBPROC)load("glGetBufferPointervARB");
-}
-static void mjGlad_load_GL_KHR_debug(GLADloadproc load) {
-  if(!mjGLAD_GL_KHR_debug) return;
-  mjGlad_glDebugMessageControl = (PFNGLDEBUGMESSAGECONTROLPROC)load("glDebugMessageControl");
-  mjGlad_glDebugMessageInsert = (PFNGLDEBUGMESSAGEINSERTPROC)load("glDebugMessageInsert");
-  mjGlad_glDebugMessageCallback = (PFNGLDEBUGMESSAGECALLBACKPROC)load("glDebugMessageCallback");
-  mjGlad_glGetDebugMessageLog = (PFNGLGETDEBUGMESSAGELOGPROC)load("glGetDebugMessageLog");
-  mjGlad_glPushDebugGroup = (PFNGLPUSHDEBUGGROUPPROC)load("glPushDebugGroup");
-  mjGlad_glPopDebugGroup = (PFNGLPOPDEBUGGROUPPROC)load("glPopDebugGroup");
-  mjGlad_glObjectLabel = (PFNGLOBJECTLABELPROC)load("glObjectLabel");
-  mjGlad_glGetObjectLabel = (PFNGLGETOBJECTLABELPROC)load("glGetObjectLabel");
-  mjGlad_glObjectPtrLabel = (PFNGLOBJECTPTRLABELPROC)load("glObjectPtrLabel");
-  mjGlad_glGetObjectPtrLabel = (PFNGLGETOBJECTPTRLABELPROC)load("glGetObjectPtrLabel");
-  mjGlad_glGetPointerv = (PFNGLGETPOINTERVPROC)load("glGetPointerv");
-  mjGlad_glDebugMessageControlKHR = (PFNGLDEBUGMESSAGECONTROLKHRPROC)load("glDebugMessageControlKHR");
-  mjGlad_glDebugMessageInsertKHR = (PFNGLDEBUGMESSAGEINSERTKHRPROC)load("glDebugMessageInsertKHR");
-  mjGlad_glDebugMessageCallbackKHR = (PFNGLDEBUGMESSAGECALLBACKKHRPROC)load("glDebugMessageCallbackKHR");
-  mjGlad_glGetDebugMessageLogKHR = (PFNGLGETDEBUGMESSAGELOGKHRPROC)load("glGetDebugMessageLogKHR");
-  mjGlad_glPushDebugGroupKHR = (PFNGLPUSHDEBUGGROUPKHRPROC)load("glPushDebugGroupKHR");
-  mjGlad_glPopDebugGroupKHR = (PFNGLPOPDEBUGGROUPKHRPROC)load("glPopDebugGroupKHR");
-  mjGlad_glObjectLabelKHR = (PFNGLOBJECTLABELKHRPROC)load("glObjectLabelKHR");
-  mjGlad_glGetObjectLabelKHR = (PFNGLGETOBJECTLABELKHRPROC)load("glGetObjectLabelKHR");
-  mjGlad_glObjectPtrLabelKHR = (PFNGLOBJECTPTRLABELKHRPROC)load("glObjectPtrLabelKHR");
-  mjGlad_glGetObjectPtrLabelKHR = (PFNGLGETOBJECTPTRLABELKHRPROC)load("glGetObjectPtrLabelKHR");
-  mjGlad_glGetPointervKHR = (PFNGLGETPOINTERVKHRPROC)load("glGetPointervKHR");
-}
-static int mjGlad_find_extensionsGL(void) {
-  if (!mjGlad_get_exts()) return 0;
-  mjGLAD_GL_ARB_clip_control = mjGlad_has_ext("GL_ARB_clip_control");
-  mjGLAD_GL_ARB_depth_buffer_float = mjGlad_has_ext("GL_ARB_depth_buffer_float");
-  mjGLAD_GL_ARB_framebuffer_object = mjGlad_has_ext("GL_ARB_framebuffer_object");
-  mjGLAD_GL_ARB_seamless_cube_map = mjGlad_has_ext("GL_ARB_seamless_cube_map");
-  mjGLAD_GL_ARB_vertex_buffer_object = mjGlad_has_ext("GL_ARB_vertex_buffer_object");
-  mjGLAD_GL_EXT_texture_sRGB = mjGlad_has_ext("GL_EXT_texture_sRGB");
-  mjGLAD_GL_KHR_debug = mjGlad_has_ext("GL_KHR_debug");
-  mjGlad_free_exts();
-  return 1;
-}
-
-static void mjGlad_find_coreGL(void) {
-
-  /* Thank you @elmindreda
-   * https://github.com/elmindreda/greg/blob/master/templates/greg.c.in#L176
-   * https://github.com/glfw/glfw/blob/master/src/context.c#L36
-   */
-  int major, minor;
-
-  const char* version;
-  const char* prefixes[] = {
-      "OpenGL ES-CM ",
-      "OpenGL ES-CL ",
-      "OpenGL ES ",
-      NULL
-  };
-
-  version = (const char*) glGetString(GL_VERSION);
-  if (!version) return;
-
-  for (int i = 0;  prefixes[i];  i++) {
-    const size_t length = strlen(prefixes[i]);
-    if (strncmp(version, prefixes[i], length) == 0) {
-      version += length;
-      break;
-    }
-  }
-
-/* PR #18 */
-#ifdef _MSC_VER
-  sscanf_s(version, "%d.%d", &major, &minor);
-#else
-  sscanf(version, "%d.%d", &major, &minor);
-#endif
-
-  mjGLVersion.major = major; mjGLVersion.minor = minor;
-  mjGlad_max_loaded_major = major; mjGlad_max_loaded_minor = minor;
-  mjGLAD_GL_VERSION_1_0 = (major == 1 && minor >= 0) || major > 1;
-  mjGLAD_GL_VERSION_1_1 = (major == 1 && minor >= 1) || major > 1;
-  mjGLAD_GL_VERSION_1_2 = (major == 1 && minor >= 2) || major > 1;
-  mjGLAD_GL_VERSION_1_3 = (major == 1 && minor >= 3) || major > 1;
-  mjGLAD_GL_VERSION_1_4 = (major == 1 && minor >= 4) || major > 1;
-  mjGLAD_GL_VERSION_1_5 = (major == 1 && minor >= 5) || major > 1;
-  if (mjGLVersion.major > 1 ||
-      (mjGLVersion.major >= 1 && mjGLVersion.minor >= 5)) {
-    mjGlad_max_loaded_major = 1;
-    mjGlad_max_loaded_minor = 5;
-  }
-}
-
-int mjGladLoadGLUnsafe(void* get_proc_address) {
-  if (mjGlad_open_gl(get_proc_address)) {
-    mjGLVersion.major = 0; mjGLVersion.minor = 0;
-    glGetString = (PFNGLGETSTRINGPROC)mjGlad_get_proc("glGetString");
-    if (glGetString == NULL) return 0;
-    if (glGetString(GL_VERSION) == NULL) return 0;
-    mjGlad_find_coreGL();
-    mjGlad_load_GL_VERSION_1_0(mjGlad_get_proc);
-    mjGlad_load_GL_VERSION_1_1(mjGlad_get_proc);
-    mjGlad_load_GL_VERSION_1_2(mjGlad_get_proc);
-    mjGlad_load_GL_VERSION_1_3(mjGlad_get_proc);
-    mjGlad_load_GL_VERSION_1_4(mjGlad_get_proc);
-    mjGlad_load_GL_VERSION_1_5(mjGlad_get_proc);
-
-    if (!mjGlad_find_extensionsGL()) return 0;
-    mjGlad_load_GL_ARB_clip_control(mjGlad_get_proc);
-    mjGlad_load_GL_ARB_framebuffer_object(mjGlad_get_proc);
-    mjGlad_load_GL_ARB_vertex_buffer_object(mjGlad_get_proc);
-    mjGlad_load_GL_KHR_debug(mjGlad_get_proc);
-
-    mjGlad_close_gl();
-    return mjGLVersion.major != 0 || mjGLVersion.minor != 0;
-  } else {
-    return 0;
-  }
-}
-
-#if defined(__GNUC__) && !defined(__clang__)
-#pragma GCC diagnostic pop
-#endif
diff --git a/src/render/classic/glad/glad.h b/src/render/classic/glad/glad.h
deleted file mode 100644
index 44c700cb..00000000
--- a/src/render/classic/glad/glad.h
+++ /dev/null
@@ -1,2710 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-// Based on the OpenGL loader generated by glad 0.1.34 on Thu Jun 22 14:40:03 2023.
-//
-// The original generated code is distributed under CC0.
-// https://creativecommons.org/publicdomain/zero/1.0/
-//
-// Language/Generator: C/C++
-// Specification: gl
-// APIs: gl=1.5
-// Profile: compatibility
-// Extensions:
-//     GL_ARB_clip_control,
-//     GL_ARB_depth_buffer_float,
-//     GL_ARB_framebuffer_object,
-//     GL_ARB_seamless_cube_map,
-//     GL_ARB_vertex_buffer_object,
-//     GL_EXT_texture_sRGB,
-//     GL_KHR_debug
-// Loader: True
-// Local files: False
-// Omit khrplatform: False
-// Reproducible: False
-//
-// Commandline:
-//     --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_EXT_texture_sRGB,GL_KHR_debug"
-// Online:
-//     https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_EXT_texture_sRGB&extensions=GL_KHR_debug
-
-#ifndef MUJOCO_SRC_RENDER_CLASSIC_GLAD_GLAD_H_
-#define MUJOCO_SRC_RENDER_CLASSIC_GLAD_GLAD_H_
-
-#ifdef __gl_h_
-#error OpenGL header already included, remove this include, glad already provides it
-#endif
-#define __gl_h_
-
-#include <stdint.h>
-
-#if defined(_WIN64)
-typedef signed long long int mjGlad_ssize_t;
-#else
-typedef signed long int      mjGlad_ssize_t;
-#endif
-
-#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) && !defined(__SCITECH_SNAP__)
-#define APIENTRY __stdcall
-#endif
-
-#ifndef APIENTRY
-#define APIENTRY
-#endif
-#ifndef APIENTRYP
-#define APIENTRYP APIENTRY *
-#endif
-
-#ifndef GLAPIENTRY
-#define GLAPIENTRY APIENTRY
-#endif
-
-#ifdef __cplusplus
-#define MJGLAD_NOEXCEPT noexcept
-extern "C" {
-#else
-#define MJGLAD_NOEXCEPT
-#endif
-
-struct gladGLversionStruct {
-  int major;
-  int minor;
-};
-
-typedef void* (* GLADloadproc)(const char *name);
-
-#ifndef GLAPI
-# if defined(GLAD_GLAPI_EXPORT)
-#  if defined(_WIN32) || defined(__CYGWIN__)
-#   if defined(GLAD_GLAPI_EXPORT_BUILD)
-#    if defined(__GNUC__)
-#     define GLAPI __attribute__ ((dllexport)) extern
-#    else
-#     define GLAPI __declspec(dllexport) extern
-#    endif
-#   else
-#    if defined(__GNUC__)
-#     define GLAPI __attribute__ ((dllimport)) extern
-#    else
-#     define GLAPI __declspec(dllimport) extern
-#    endif
-#   endif
-#  elif defined(__GNUC__) && defined(GLAD_GLAPI_EXPORT_BUILD)
-#   define GLAPI __attribute__ ((visibility ("default"))) extern
-#  else
-#   define GLAPI extern
-#  endif
-# else
-#  define GLAPI extern
-# endif
-#endif
-
-GLAPI struct gladGLversionStruct mjGLVersion;
-
-GLAPI int mjGladLoadGL(void);
-
-GLAPI int mjGladLoadGLUnsafe(void*) MJGLAD_NOEXCEPT;
-
-typedef unsigned int GLenum;
-typedef unsigned char GLboolean;
-typedef unsigned int GLbitfield;
-typedef void GLvoid;
-typedef int8_t GLbyte;
-typedef uint8_t GLubyte;
-typedef int16_t GLshort;
-typedef uint16_t GLushort;
-typedef int GLint;
-typedef unsigned int GLuint;
-typedef int32_t GLclampx;
-typedef int GLsizei;
-typedef float GLfloat;
-typedef float GLclampf;
-typedef double GLdouble;
-typedef double GLclampd;
-typedef void *GLeglClientBufferEXT;
-typedef void *GLeglImageOES;
-typedef char GLchar;
-typedef char GLcharARB;
-#ifdef __APPLE__
-typedef void *GLhandleARB;
-#else
-typedef unsigned int GLhandleARB;
-#endif
-typedef uint16_t GLhalf;
-typedef uint16_t GLhalfARB;
-typedef int32_t GLfixed;
-typedef intptr_t GLintptr;
-typedef intptr_t GLintptrARB;
-typedef mjGlad_ssize_t GLsizeiptr;
-typedef mjGlad_ssize_t GLsizeiptrARB;
-typedef int64_t GLint64;
-typedef int64_t GLint64EXT;
-typedef uint64_t GLuint64;
-typedef uint64_t GLuint64EXT;
-typedef struct __GLsync *GLsync;
-struct _cl_context;
-struct _cl_event;
-typedef void (APIENTRY *GLDEBUGPROC)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam);
-typedef void (APIENTRY *GLDEBUGPROCARB)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam);
-typedef void (APIENTRY *GLDEBUGPROCKHR)(GLenum source,GLenum type,GLuint id,GLenum severity,GLsizei length,const GLchar *message,const void *userParam);
-typedef void (APIENTRY *GLDEBUGPROCAMD)(GLuint id,GLenum category,GLenum severity,GLsizei length,const GLchar *message,void *userParam);
-typedef unsigned short GLhalfNV;
-typedef GLintptr GLvdpauSurfaceNV;
-typedef void (APIENTRY *GLVULKANPROCNV)(void);
-#define GL_DEPTH_BUFFER_BIT 0x00000100
-#define GL_STENCIL_BUFFER_BIT 0x00000400
-#define GL_COLOR_BUFFER_BIT 0x00004000
-#define GL_FALSE 0
-#define GL_TRUE 1
-#define GL_POINTS 0x0000
-#define GL_LINES 0x0001
-#define GL_LINE_LOOP 0x0002
-#define GL_LINE_STRIP 0x0003
-#define GL_TRIANGLES 0x0004
-#define GL_TRIANGLE_STRIP 0x0005
-#define GL_TRIANGLE_FAN 0x0006
-#define GL_QUADS 0x0007
-#define GL_NEVER 0x0200
-#define GL_LESS 0x0201
-#define GL_EQUAL 0x0202
-#define GL_LEQUAL 0x0203
-#define GL_GREATER 0x0204
-#define GL_NOTEQUAL 0x0205
-#define GL_GEQUAL 0x0206
-#define GL_ALWAYS 0x0207
-#define GL_ZERO 0
-#define GL_ONE 1
-#define GL_SRC_COLOR 0x0300
-#define GL_ONE_MINUS_SRC_COLOR 0x0301
-#define GL_SRC_ALPHA 0x0302
-#define GL_ONE_MINUS_SRC_ALPHA 0x0303
-#define GL_DST_ALPHA 0x0304
-#define GL_ONE_MINUS_DST_ALPHA 0x0305
-#define GL_DST_COLOR 0x0306
-#define GL_ONE_MINUS_DST_COLOR 0x0307
-#define GL_SRC_ALPHA_SATURATE 0x0308
-#define GL_NONE 0
-#define GL_FRONT_LEFT 0x0400
-#define GL_FRONT_RIGHT 0x0401
-#define GL_BACK_LEFT 0x0402
-#define GL_BACK_RIGHT 0x0403
-#define GL_FRONT 0x0404
-#define GL_BACK 0x0405
-#define GL_LEFT 0x0406
-#define GL_RIGHT 0x0407
-#define GL_FRONT_AND_BACK 0x0408
-#define GL_NO_ERROR 0
-#define GL_INVALID_ENUM 0x0500
-#define GL_INVALID_VALUE 0x0501
-#define GL_INVALID_OPERATION 0x0502
-#define GL_OUT_OF_MEMORY 0x0505
-#define GL_CW 0x0900
-#define GL_CCW 0x0901
-#define GL_POINT_SIZE 0x0B11
-#define GL_POINT_SIZE_RANGE 0x0B12
-#define GL_POINT_SIZE_GRANULARITY 0x0B13
-#define GL_LINE_SMOOTH 0x0B20
-#define GL_LINE_WIDTH 0x0B21
-#define GL_LINE_WIDTH_RANGE 0x0B22
-#define GL_LINE_WIDTH_GRANULARITY 0x0B23
-#define GL_POLYGON_MODE 0x0B40
-#define GL_POLYGON_SMOOTH 0x0B41
-#define GL_CULL_FACE 0x0B44
-#define GL_CULL_FACE_MODE 0x0B45
-#define GL_FRONT_FACE 0x0B46
-#define GL_DEPTH_RANGE 0x0B70
-#define GL_DEPTH_TEST 0x0B71
-#define GL_DEPTH_WRITEMASK 0x0B72
-#define GL_DEPTH_CLEAR_VALUE 0x0B73
-#define GL_DEPTH_FUNC 0x0B74
-#define GL_STENCIL_TEST 0x0B90
-#define GL_STENCIL_CLEAR_VALUE 0x0B91
-#define GL_STENCIL_FUNC 0x0B92
-#define GL_STENCIL_VALUE_MASK 0x0B93
-#define GL_STENCIL_FAIL 0x0B94
-#define GL_STENCIL_PASS_DEPTH_FAIL 0x0B95
-#define GL_STENCIL_PASS_DEPTH_PASS 0x0B96
-#define GL_STENCIL_REF 0x0B97
-#define GL_STENCIL_WRITEMASK 0x0B98
-#define GL_VIEWPORT 0x0BA2
-#define GL_DITHER 0x0BD0
-#define GL_BLEND_DST 0x0BE0
-#define GL_BLEND_SRC 0x0BE1
-#define GL_BLEND 0x0BE2
-#define GL_LOGIC_OP_MODE 0x0BF0
-#define GL_DRAW_BUFFER 0x0C01
-#define GL_READ_BUFFER 0x0C02
-#define GL_SCISSOR_BOX 0x0C10
-#define GL_SCISSOR_TEST 0x0C11
-#define GL_COLOR_CLEAR_VALUE 0x0C22
-#define GL_COLOR_WRITEMASK 0x0C23
-#define GL_DOUBLEBUFFER 0x0C32
-#define GL_STEREO 0x0C33
-#define GL_LINE_SMOOTH_HINT 0x0C52
-#define GL_POLYGON_SMOOTH_HINT 0x0C53
-#define GL_UNPACK_SWAP_BYTES 0x0CF0
-#define GL_UNPACK_LSB_FIRST 0x0CF1
-#define GL_UNPACK_ROW_LENGTH 0x0CF2
-#define GL_UNPACK_SKIP_ROWS 0x0CF3
-#define GL_UNPACK_SKIP_PIXELS 0x0CF4
-#define GL_UNPACK_ALIGNMENT 0x0CF5
-#define GL_PACK_SWAP_BYTES 0x0D00
-#define GL_PACK_LSB_FIRST 0x0D01
-#define GL_PACK_ROW_LENGTH 0x0D02
-#define GL_PACK_SKIP_ROWS 0x0D03
-#define GL_PACK_SKIP_PIXELS 0x0D04
-#define GL_PACK_ALIGNMENT 0x0D05
-#define GL_MAX_TEXTURE_SIZE 0x0D33
-#define GL_MAX_VIEWPORT_DIMS 0x0D3A
-#define GL_SUBPIXEL_BITS 0x0D50
-#define GL_TEXTURE_1D 0x0DE0
-#define GL_TEXTURE_2D 0x0DE1
-#define GL_TEXTURE_WIDTH 0x1000
-#define GL_TEXTURE_HEIGHT 0x1001
-#define GL_TEXTURE_BORDER_COLOR 0x1004
-#define GL_DONT_CARE 0x1100
-#define GL_FASTEST 0x1101
-#define GL_NICEST 0x1102
-#define GL_BYTE 0x1400
-#define GL_UNSIGNED_BYTE 0x1401
-#define GL_SHORT 0x1402
-#define GL_UNSIGNED_SHORT 0x1403
-#define GL_INT 0x1404
-#define GL_UNSIGNED_INT 0x1405
-#define GL_FLOAT 0x1406
-#define GL_STACK_OVERFLOW 0x0503
-#define GL_STACK_UNDERFLOW 0x0504
-#define GL_CLEAR 0x1500
-#define GL_AND 0x1501
-#define GL_AND_REVERSE 0x1502
-#define GL_COPY 0x1503
-#define GL_AND_INVERTED 0x1504
-#define GL_NOOP 0x1505
-#define GL_XOR 0x1506
-#define GL_OR 0x1507
-#define GL_NOR 0x1508
-#define GL_EQUIV 0x1509
-#define GL_INVERT 0x150A
-#define GL_OR_REVERSE 0x150B
-#define GL_COPY_INVERTED 0x150C
-#define GL_OR_INVERTED 0x150D
-#define GL_NAND 0x150E
-#define GL_SET 0x150F
-#define GL_TEXTURE 0x1702
-#define GL_COLOR 0x1800
-#define GL_DEPTH 0x1801
-#define GL_STENCIL 0x1802
-#define GL_STENCIL_INDEX 0x1901
-#define GL_DEPTH_COMPONENT 0x1902
-#define GL_RED 0x1903
-#define GL_GREEN 0x1904
-#define GL_BLUE 0x1905
-#define GL_ALPHA 0x1906
-#define GL_RGB 0x1907
-#define GL_RGBA 0x1908
-#define GL_POINT 0x1B00
-#define GL_LINE 0x1B01
-#define GL_FILL 0x1B02
-#define GL_KEEP 0x1E00
-#define GL_REPLACE 0x1E01
-#define GL_INCR 0x1E02
-#define GL_DECR 0x1E03
-#define GL_VENDOR 0x1F00
-#define GL_RENDERER 0x1F01
-#define GL_VERSION 0x1F02
-#define GL_EXTENSIONS 0x1F03
-#define GL_NEAREST 0x2600
-#define GL_LINEAR 0x2601
-#define GL_NEAREST_MIPMAP_NEAREST 0x2700
-#define GL_LINEAR_MIPMAP_NEAREST 0x2701
-#define GL_NEAREST_MIPMAP_LINEAR 0x2702
-#define GL_LINEAR_MIPMAP_LINEAR 0x2703
-#define GL_TEXTURE_MAG_FILTER 0x2800
-#define GL_TEXTURE_MIN_FILTER 0x2801
-#define GL_TEXTURE_WRAP_S 0x2802
-#define GL_TEXTURE_WRAP_T 0x2803
-#define GL_REPEAT 0x2901
-#define GL_CURRENT_BIT 0x00000001
-#define GL_POINT_BIT 0x00000002
-#define GL_LINE_BIT 0x00000004
-#define GL_POLYGON_BIT 0x00000008
-#define GL_POLYGON_STIPPLE_BIT 0x00000010
-#define GL_PIXEL_MODE_BIT 0x00000020
-#define GL_LIGHTING_BIT 0x00000040
-#define GL_FOG_BIT 0x00000080
-#define GL_ACCUM_BUFFER_BIT 0x00000200
-#define GL_VIEWPORT_BIT 0x00000800
-#define GL_TRANSFORM_BIT 0x00001000
-#define GL_ENABLE_BIT 0x00002000
-#define GL_HINT_BIT 0x00008000
-#define GL_EVAL_BIT 0x00010000
-#define GL_LIST_BIT 0x00020000
-#define GL_TEXTURE_BIT 0x00040000
-#define GL_SCISSOR_BIT 0x00080000
-#define GL_ALL_ATTRIB_BITS 0xFFFFFFFF
-#define GL_QUAD_STRIP 0x0008
-#define GL_POLYGON 0x0009
-#define GL_ACCUM 0x0100
-#define GL_LOAD 0x0101
-#define GL_RETURN 0x0102
-#define GL_MULT 0x0103
-#define GL_ADD 0x0104
-#define GL_AUX0 0x0409
-#define GL_AUX1 0x040A
-#define GL_AUX2 0x040B
-#define GL_AUX3 0x040C
-#define GL_2D 0x0600
-#define GL_3D 0x0601
-#define GL_3D_COLOR 0x0602
-#define GL_3D_COLOR_TEXTURE 0x0603
-#define GL_4D_COLOR_TEXTURE 0x0604
-#define GL_PASS_THROUGH_TOKEN 0x0700
-#define GL_POINT_TOKEN 0x0701
-#define GL_LINE_TOKEN 0x0702
-#define GL_POLYGON_TOKEN 0x0703
-#define GL_BITMAP_TOKEN 0x0704
-#define GL_DRAW_PIXEL_TOKEN 0x0705
-#define GL_COPY_PIXEL_TOKEN 0x0706
-#define GL_LINE_RESET_TOKEN 0x0707
-#define GL_EXP 0x0800
-#define GL_EXP2 0x0801
-#define GL_COEFF 0x0A00
-#define GL_ORDER 0x0A01
-#define GL_DOMAIN 0x0A02
-#define GL_PIXEL_MAP_I_TO_I 0x0C70
-#define GL_PIXEL_MAP_S_TO_S 0x0C71
-#define GL_PIXEL_MAP_I_TO_R 0x0C72
-#define GL_PIXEL_MAP_I_TO_G 0x0C73
-#define GL_PIXEL_MAP_I_TO_B 0x0C74
-#define GL_PIXEL_MAP_I_TO_A 0x0C75
-#define GL_PIXEL_MAP_R_TO_R 0x0C76
-#define GL_PIXEL_MAP_G_TO_G 0x0C77
-#define GL_PIXEL_MAP_B_TO_B 0x0C78
-#define GL_PIXEL_MAP_A_TO_A 0x0C79
-#define GL_CURRENT_COLOR 0x0B00
-#define GL_CURRENT_INDEX 0x0B01
-#define GL_CURRENT_NORMAL 0x0B02
-#define GL_CURRENT_TEXTURE_COORDS 0x0B03
-#define GL_CURRENT_RASTER_COLOR 0x0B04
-#define GL_CURRENT_RASTER_INDEX 0x0B05
-#define GL_CURRENT_RASTER_TEXTURE_COORDS 0x0B06
-#define GL_CURRENT_RASTER_POSITION 0x0B07
-#define GL_CURRENT_RASTER_POSITION_VALID 0x0B08
-#define GL_CURRENT_RASTER_DISTANCE 0x0B09
-#define GL_POINT_SMOOTH 0x0B10
-#define GL_LINE_STIPPLE 0x0B24
-#define GL_LINE_STIPPLE_PATTERN 0x0B25
-#define GL_LINE_STIPPLE_REPEAT 0x0B26
-#define GL_LIST_MODE 0x0B30
-#define GL_MAX_LIST_NESTING 0x0B31
-#define GL_LIST_BASE 0x0B32
-#define GL_LIST_INDEX 0x0B33
-#define GL_POLYGON_STIPPLE 0x0B42
-#define GL_EDGE_FLAG 0x0B43
-#define GL_LIGHTING 0x0B50
-#define GL_LIGHT_MODEL_LOCAL_VIEWER 0x0B51
-#define GL_LIGHT_MODEL_TWO_SIDE 0x0B52
-#define GL_LIGHT_MODEL_AMBIENT 0x0B53
-#define GL_SHADE_MODEL 0x0B54
-#define GL_COLOR_MATERIAL_FACE 0x0B55
-#define GL_COLOR_MATERIAL_PARAMETER 0x0B56
-#define GL_COLOR_MATERIAL 0x0B57
-#define GL_FOG 0x0B60
-#define GL_FOG_INDEX 0x0B61
-#define GL_FOG_DENSITY 0x0B62
-#define GL_FOG_START 0x0B63
-#define GL_FOG_END 0x0B64
-#define GL_FOG_MODE 0x0B65
-#define GL_FOG_COLOR 0x0B66
-#define GL_ACCUM_CLEAR_VALUE 0x0B80
-#define GL_MATRIX_MODE 0x0BA0
-#define GL_NORMALIZE 0x0BA1
-#define GL_MODELVIEW_STACK_DEPTH 0x0BA3
-#define GL_PROJECTION_STACK_DEPTH 0x0BA4
-#define GL_TEXTURE_STACK_DEPTH 0x0BA5
-#define GL_MODELVIEW_MATRIX 0x0BA6
-#define GL_PROJECTION_MATRIX 0x0BA7
-#define GL_TEXTURE_MATRIX 0x0BA8
-#define GL_ATTRIB_STACK_DEPTH 0x0BB0
-#define GL_ALPHA_TEST 0x0BC0
-#define GL_ALPHA_TEST_FUNC 0x0BC1
-#define GL_ALPHA_TEST_REF 0x0BC2
-#define GL_LOGIC_OP 0x0BF1
-#define GL_AUX_BUFFERS 0x0C00
-#define GL_INDEX_CLEAR_VALUE 0x0C20
-#define GL_INDEX_WRITEMASK 0x0C21
-#define GL_INDEX_MODE 0x0C30
-#define GL_RGBA_MODE 0x0C31
-#define GL_RENDER_MODE 0x0C40
-#define GL_PERSPECTIVE_CORRECTION_HINT 0x0C50
-#define GL_POINT_SMOOTH_HINT 0x0C51
-#define GL_FOG_HINT 0x0C54
-#define GL_TEXTURE_GEN_S 0x0C60
-#define GL_TEXTURE_GEN_T 0x0C61
-#define GL_TEXTURE_GEN_R 0x0C62
-#define GL_TEXTURE_GEN_Q 0x0C63
-#define GL_PIXEL_MAP_I_TO_I_SIZE 0x0CB0
-#define GL_PIXEL_MAP_S_TO_S_SIZE 0x0CB1
-#define GL_PIXEL_MAP_I_TO_R_SIZE 0x0CB2
-#define GL_PIXEL_MAP_I_TO_G_SIZE 0x0CB3
-#define GL_PIXEL_MAP_I_TO_B_SIZE 0x0CB4
-#define GL_PIXEL_MAP_I_TO_A_SIZE 0x0CB5
-#define GL_PIXEL_MAP_R_TO_R_SIZE 0x0CB6
-#define GL_PIXEL_MAP_G_TO_G_SIZE 0x0CB7
-#define GL_PIXEL_MAP_B_TO_B_SIZE 0x0CB8
-#define GL_PIXEL_MAP_A_TO_A_SIZE 0x0CB9
-#define GL_MAP_COLOR 0x0D10
-#define GL_MAP_STENCIL 0x0D11
-#define GL_INDEX_SHIFT 0x0D12
-#define GL_INDEX_OFFSET 0x0D13
-#define GL_RED_SCALE 0x0D14
-#define GL_RED_BIAS 0x0D15
-#define GL_ZOOM_X 0x0D16
-#define GL_ZOOM_Y 0x0D17
-#define GL_GREEN_SCALE 0x0D18
-#define GL_GREEN_BIAS 0x0D19
-#define GL_BLUE_SCALE 0x0D1A
-#define GL_BLUE_BIAS 0x0D1B
-#define GL_ALPHA_SCALE 0x0D1C
-#define GL_ALPHA_BIAS 0x0D1D
-#define GL_DEPTH_SCALE 0x0D1E
-#define GL_DEPTH_BIAS 0x0D1F
-#define GL_MAX_EVAL_ORDER 0x0D30
-#define GL_MAX_LIGHTS 0x0D31
-#define GL_MAX_CLIP_PLANES 0x0D32
-#define GL_MAX_PIXEL_MAP_TABLE 0x0D34
-#define GL_MAX_ATTRIB_STACK_DEPTH 0x0D35
-#define GL_MAX_MODELVIEW_STACK_DEPTH 0x0D36
-#define GL_MAX_NAME_STACK_DEPTH 0x0D37
-#define GL_MAX_PROJECTION_STACK_DEPTH 0x0D38
-#define GL_MAX_TEXTURE_STACK_DEPTH 0x0D39
-#define GL_INDEX_BITS 0x0D51
-#define GL_RED_BITS 0x0D52
-#define GL_GREEN_BITS 0x0D53
-#define GL_BLUE_BITS 0x0D54
-#define GL_ALPHA_BITS 0x0D55
-#define GL_DEPTH_BITS 0x0D56
-#define GL_STENCIL_BITS 0x0D57
-#define GL_ACCUM_RED_BITS 0x0D58
-#define GL_ACCUM_GREEN_BITS 0x0D59
-#define GL_ACCUM_BLUE_BITS 0x0D5A
-#define GL_ACCUM_ALPHA_BITS 0x0D5B
-#define GL_NAME_STACK_DEPTH 0x0D70
-#define GL_AUTO_NORMAL 0x0D80
-#define GL_MAP1_COLOR_4 0x0D90
-#define GL_MAP1_INDEX 0x0D91
-#define GL_MAP1_NORMAL 0x0D92
-#define GL_MAP1_TEXTURE_COORD_1 0x0D93
-#define GL_MAP1_TEXTURE_COORD_2 0x0D94
-#define GL_MAP1_TEXTURE_COORD_3 0x0D95
-#define GL_MAP1_TEXTURE_COORD_4 0x0D96
-#define GL_MAP1_VERTEX_3 0x0D97
-#define GL_MAP1_VERTEX_4 0x0D98
-#define GL_MAP2_COLOR_4 0x0DB0
-#define GL_MAP2_INDEX 0x0DB1
-#define GL_MAP2_NORMAL 0x0DB2
-#define GL_MAP2_TEXTURE_COORD_1 0x0DB3
-#define GL_MAP2_TEXTURE_COORD_2 0x0DB4
-#define GL_MAP2_TEXTURE_COORD_3 0x0DB5
-#define GL_MAP2_TEXTURE_COORD_4 0x0DB6
-#define GL_MAP2_VERTEX_3 0x0DB7
-#define GL_MAP2_VERTEX_4 0x0DB8
-#define GL_MAP1_GRID_DOMAIN 0x0DD0
-#define GL_MAP1_GRID_SEGMENTS 0x0DD1
-#define GL_MAP2_GRID_DOMAIN 0x0DD2
-#define GL_MAP2_GRID_SEGMENTS 0x0DD3
-#define GL_TEXTURE_COMPONENTS 0x1003
-#define GL_TEXTURE_BORDER 0x1005
-#define GL_AMBIENT 0x1200
-#define GL_DIFFUSE 0x1201
-#define GL_SPECULAR 0x1202
-#define GL_POSITION 0x1203
-#define GL_SPOT_DIRECTION 0x1204
-#define GL_SPOT_EXPONENT 0x1205
-#define GL_SPOT_CUTOFF 0x1206
-#define GL_CONSTANT_ATTENUATION 0x1207
-#define GL_LINEAR_ATTENUATION 0x1208
-#define GL_QUADRATIC_ATTENUATION 0x1209
-#define GL_COMPILE 0x1300
-#define GL_COMPILE_AND_EXECUTE 0x1301
-#define GL_2_BYTES 0x1407
-#define GL_3_BYTES 0x1408
-#define GL_4_BYTES 0x1409
-#define GL_EMISSION 0x1600
-#define GL_SHININESS 0x1601
-#define GL_AMBIENT_AND_DIFFUSE 0x1602
-#define GL_COLOR_INDEXES 0x1603
-#define GL_MODELVIEW 0x1700
-#define GL_PROJECTION 0x1701
-#define GL_COLOR_INDEX 0x1900
-#define GL_LUMINANCE 0x1909
-#define GL_LUMINANCE_ALPHA 0x190A
-#define GL_BITMAP 0x1A00
-#define GL_RENDER 0x1C00
-#define GL_FEEDBACK 0x1C01
-#define GL_SELECT 0x1C02
-#define GL_FLAT 0x1D00
-#define GL_SMOOTH 0x1D01
-#define GL_S 0x2000
-#define GL_T 0x2001
-#define GL_R 0x2002
-#define GL_Q 0x2003
-#define GL_MODULATE 0x2100
-#define GL_DECAL 0x2101
-#define GL_TEXTURE_ENV_MODE 0x2200
-#define GL_TEXTURE_ENV_COLOR 0x2201
-#define GL_TEXTURE_ENV 0x2300
-#define GL_EYE_LINEAR 0x2400
-#define GL_OBJECT_LINEAR 0x2401
-#define GL_SPHERE_MAP 0x2402
-#define GL_TEXTURE_GEN_MODE 0x2500
-#define GL_OBJECT_PLANE 0x2501
-#define GL_EYE_PLANE 0x2502
-#define GL_CLAMP 0x2900
-#define GL_CLIP_PLANE0 0x3000
-#define GL_CLIP_PLANE1 0x3001
-#define GL_CLIP_PLANE2 0x3002
-#define GL_CLIP_PLANE3 0x3003
-#define GL_CLIP_PLANE4 0x3004
-#define GL_CLIP_PLANE5 0x3005
-#define GL_LIGHT0 0x4000
-#define GL_LIGHT1 0x4001
-#define GL_LIGHT2 0x4002
-#define GL_LIGHT3 0x4003
-#define GL_LIGHT4 0x4004
-#define GL_LIGHT5 0x4005
-#define GL_LIGHT6 0x4006
-#define GL_LIGHT7 0x4007
-#define GL_COLOR_LOGIC_OP 0x0BF2
-#define GL_POLYGON_OFFSET_UNITS 0x2A00
-#define GL_POLYGON_OFFSET_POINT 0x2A01
-#define GL_POLYGON_OFFSET_LINE 0x2A02
-#define GL_POLYGON_OFFSET_FILL 0x8037
-#define GL_POLYGON_OFFSET_FACTOR 0x8038
-#define GL_TEXTURE_BINDING_1D 0x8068
-#define GL_TEXTURE_BINDING_2D 0x8069
-#define GL_TEXTURE_INTERNAL_FORMAT 0x1003
-#define GL_TEXTURE_RED_SIZE 0x805C
-#define GL_TEXTURE_GREEN_SIZE 0x805D
-#define GL_TEXTURE_BLUE_SIZE 0x805E
-#define GL_TEXTURE_ALPHA_SIZE 0x805F
-#define GL_DOUBLE 0x140A
-#define GL_PROXY_TEXTURE_1D 0x8063
-#define GL_PROXY_TEXTURE_2D 0x8064
-#define GL_R3_G3_B2 0x2A10
-#define GL_RGB4 0x804F
-#define GL_RGB5 0x8050
-#define GL_RGB8 0x8051
-#define GL_RGB10 0x8052
-#define GL_RGB12 0x8053
-#define GL_RGB16 0x8054
-#define GL_RGBA2 0x8055
-#define GL_RGBA4 0x8056
-#define GL_RGB5_A1 0x8057
-#define GL_RGBA8 0x8058
-#define GL_RGB10_A2 0x8059
-#define GL_RGBA12 0x805A
-#define GL_RGBA16 0x805B
-#define GL_CLIENT_PIXEL_STORE_BIT 0x00000001
-#define GL_CLIENT_VERTEX_ARRAY_BIT 0x00000002
-#define GL_CLIENT_ALL_ATTRIB_BITS 0xFFFFFFFF
-#define GL_VERTEX_ARRAY_POINTER 0x808E
-#define GL_NORMAL_ARRAY_POINTER 0x808F
-#define GL_COLOR_ARRAY_POINTER 0x8090
-#define GL_INDEX_ARRAY_POINTER 0x8091
-#define GL_TEXTURE_COORD_ARRAY_POINTER 0x8092
-#define GL_EDGE_FLAG_ARRAY_POINTER 0x8093
-#define GL_FEEDBACK_BUFFER_POINTER 0x0DF0
-#define GL_SELECTION_BUFFER_POINTER 0x0DF3
-#define GL_CLIENT_ATTRIB_STACK_DEPTH 0x0BB1
-#define GL_INDEX_LOGIC_OP 0x0BF1
-#define GL_MAX_CLIENT_ATTRIB_STACK_DEPTH 0x0D3B
-#define GL_FEEDBACK_BUFFER_SIZE 0x0DF1
-#define GL_FEEDBACK_BUFFER_TYPE 0x0DF2
-#define GL_SELECTION_BUFFER_SIZE 0x0DF4
-#define GL_VERTEX_ARRAY 0x8074
-#define GL_NORMAL_ARRAY 0x8075
-#define GL_COLOR_ARRAY 0x8076
-#define GL_INDEX_ARRAY 0x8077
-#define GL_TEXTURE_COORD_ARRAY 0x8078
-#define GL_EDGE_FLAG_ARRAY 0x8079
-#define GL_VERTEX_ARRAY_SIZE 0x807A
-#define GL_VERTEX_ARRAY_TYPE 0x807B
-#define GL_VERTEX_ARRAY_STRIDE 0x807C
-#define GL_NORMAL_ARRAY_TYPE 0x807E
-#define GL_NORMAL_ARRAY_STRIDE 0x807F
-#define GL_COLOR_ARRAY_SIZE 0x8081
-#define GL_COLOR_ARRAY_TYPE 0x8082
-#define GL_COLOR_ARRAY_STRIDE 0x8083
-#define GL_INDEX_ARRAY_TYPE 0x8085
-#define GL_INDEX_ARRAY_STRIDE 0x8086
-#define GL_TEXTURE_COORD_ARRAY_SIZE 0x8088
-#define GL_TEXTURE_COORD_ARRAY_TYPE 0x8089
-#define GL_TEXTURE_COORD_ARRAY_STRIDE 0x808A
-#define GL_EDGE_FLAG_ARRAY_STRIDE 0x808C
-#define GL_TEXTURE_LUMINANCE_SIZE 0x8060
-#define GL_TEXTURE_INTENSITY_SIZE 0x8061
-#define GL_TEXTURE_PRIORITY 0x8066
-#define GL_TEXTURE_RESIDENT 0x8067
-#define GL_ALPHA4 0x803B
-#define GL_ALPHA8 0x803C
-#define GL_ALPHA12 0x803D
-#define GL_ALPHA16 0x803E
-#define GL_LUMINANCE4 0x803F
-#define GL_LUMINANCE8 0x8040
-#define GL_LUMINANCE12 0x8041
-#define GL_LUMINANCE16 0x8042
-#define GL_LUMINANCE4_ALPHA4 0x8043
-#define GL_LUMINANCE6_ALPHA2 0x8044
-#define GL_LUMINANCE8_ALPHA8 0x8045
-#define GL_LUMINANCE12_ALPHA4 0x8046
-#define GL_LUMINANCE12_ALPHA12 0x8047
-#define GL_LUMINANCE16_ALPHA16 0x8048
-#define GL_INTENSITY 0x8049
-#define GL_INTENSITY4 0x804A
-#define GL_INTENSITY8 0x804B
-#define GL_INTENSITY12 0x804C
-#define GL_INTENSITY16 0x804D
-#define GL_V2F 0x2A20
-#define GL_V3F 0x2A21
-#define GL_C4UB_V2F 0x2A22
-#define GL_C4UB_V3F 0x2A23
-#define GL_C3F_V3F 0x2A24
-#define GL_N3F_V3F 0x2A25
-#define GL_C4F_N3F_V3F 0x2A26
-#define GL_T2F_V3F 0x2A27
-#define GL_T4F_V4F 0x2A28
-#define GL_T2F_C4UB_V3F 0x2A29
-#define GL_T2F_C3F_V3F 0x2A2A
-#define GL_T2F_N3F_V3F 0x2A2B
-#define GL_T2F_C4F_N3F_V3F 0x2A2C
-#define GL_T4F_C4F_N3F_V4F 0x2A2D
-#define GL_UNSIGNED_BYTE_3_3_2 0x8032
-#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033
-#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034
-#define GL_UNSIGNED_INT_8_8_8_8 0x8035
-#define GL_UNSIGNED_INT_10_10_10_2 0x8036
-#define GL_TEXTURE_BINDING_3D 0x806A
-#define GL_PACK_SKIP_IMAGES 0x806B
-#define GL_PACK_IMAGE_HEIGHT 0x806C
-#define GL_UNPACK_SKIP_IMAGES 0x806D
-#define GL_UNPACK_IMAGE_HEIGHT 0x806E
-#define GL_TEXTURE_3D 0x806F
-#define GL_PROXY_TEXTURE_3D 0x8070
-#define GL_TEXTURE_DEPTH 0x8071
-#define GL_TEXTURE_WRAP_R 0x8072
-#define GL_MAX_3D_TEXTURE_SIZE 0x8073
-#define GL_UNSIGNED_BYTE_2_3_3_REV 0x8362
-#define GL_UNSIGNED_SHORT_5_6_5 0x8363
-#define GL_UNSIGNED_SHORT_5_6_5_REV 0x8364
-#define GL_UNSIGNED_SHORT_4_4_4_4_REV 0x8365
-#define GL_UNSIGNED_SHORT_1_5_5_5_REV 0x8366
-#define GL_UNSIGNED_INT_8_8_8_8_REV 0x8367
-#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368
-#define GL_BGR 0x80E0
-#define GL_BGRA 0x80E1
-#define GL_MAX_ELEMENTS_VERTICES 0x80E8
-#define GL_MAX_ELEMENTS_INDICES 0x80E9
-#define GL_CLAMP_TO_EDGE 0x812F
-#define GL_TEXTURE_MIN_LOD 0x813A
-#define GL_TEXTURE_MAX_LOD 0x813B
-#define GL_TEXTURE_BASE_LEVEL 0x813C
-#define GL_TEXTURE_MAX_LEVEL 0x813D
-#define GL_SMOOTH_POINT_SIZE_RANGE 0x0B12
-#define GL_SMOOTH_POINT_SIZE_GRANULARITY 0x0B13
-#define GL_SMOOTH_LINE_WIDTH_RANGE 0x0B22
-#define GL_SMOOTH_LINE_WIDTH_GRANULARITY 0x0B23
-#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E
-#define GL_RESCALE_NORMAL 0x803A
-#define GL_LIGHT_MODEL_COLOR_CONTROL 0x81F8
-#define GL_SINGLE_COLOR 0x81F9
-#define GL_SEPARATE_SPECULAR_COLOR 0x81FA
-#define GL_ALIASED_POINT_SIZE_RANGE 0x846D
-#define GL_TEXTURE0 0x84C0
-#define GL_TEXTURE1 0x84C1
-#define GL_TEXTURE2 0x84C2
-#define GL_TEXTURE3 0x84C3
-#define GL_TEXTURE4 0x84C4
-#define GL_TEXTURE5 0x84C5
-#define GL_TEXTURE6 0x84C6
-#define GL_TEXTURE7 0x84C7
-#define GL_TEXTURE8 0x84C8
-#define GL_TEXTURE9 0x84C9
-#define GL_TEXTURE10 0x84CA
-#define GL_TEXTURE11 0x84CB
-#define GL_TEXTURE12 0x84CC
-#define GL_TEXTURE13 0x84CD
-#define GL_TEXTURE14 0x84CE
-#define GL_TEXTURE15 0x84CF
-#define GL_TEXTURE16 0x84D0
-#define GL_TEXTURE17 0x84D1
-#define GL_TEXTURE18 0x84D2
-#define GL_TEXTURE19 0x84D3
-#define GL_TEXTURE20 0x84D4
-#define GL_TEXTURE21 0x84D5
-#define GL_TEXTURE22 0x84D6
-#define GL_TEXTURE23 0x84D7
-#define GL_TEXTURE24 0x84D8
-#define GL_TEXTURE25 0x84D9
-#define GL_TEXTURE26 0x84DA
-#define GL_TEXTURE27 0x84DB
-#define GL_TEXTURE28 0x84DC
-#define GL_TEXTURE29 0x84DD
-#define GL_TEXTURE30 0x84DE
-#define GL_TEXTURE31 0x84DF
-#define GL_ACTIVE_TEXTURE 0x84E0
-#define GL_MULTISAMPLE 0x809D
-#define GL_SAMPLE_ALPHA_TO_COVERAGE 0x809E
-#define GL_SAMPLE_ALPHA_TO_ONE 0x809F
-#define GL_SAMPLE_COVERAGE 0x80A0
-#define GL_SAMPLE_BUFFERS 0x80A8
-#define GL_SAMPLES 0x80A9
-#define GL_SAMPLE_COVERAGE_VALUE 0x80AA
-#define GL_SAMPLE_COVERAGE_INVERT 0x80AB
-#define GL_TEXTURE_CUBE_MAP 0x8513
-#define GL_TEXTURE_BINDING_CUBE_MAP 0x8514
-#define GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x8515
-#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x8516
-#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x8517
-#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x8518
-#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x8519
-#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x851A
-#define GL_PROXY_TEXTURE_CUBE_MAP 0x851B
-#define GL_MAX_CUBE_MAP_TEXTURE_SIZE 0x851C
-#define GL_COMPRESSED_RGB 0x84ED
-#define GL_COMPRESSED_RGBA 0x84EE
-#define GL_TEXTURE_COMPRESSION_HINT 0x84EF
-#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE 0x86A0
-#define GL_TEXTURE_COMPRESSED 0x86A1
-#define GL_NUM_COMPRESSED_TEXTURE_FORMATS 0x86A2
-#define GL_COMPRESSED_TEXTURE_FORMATS 0x86A3
-#define GL_CLAMP_TO_BORDER 0x812D
-#define GL_CLIENT_ACTIVE_TEXTURE 0x84E1
-#define GL_MAX_TEXTURE_UNITS 0x84E2
-#define GL_TRANSPOSE_MODELVIEW_MATRIX 0x84E3
-#define GL_TRANSPOSE_PROJECTION_MATRIX 0x84E4
-#define GL_TRANSPOSE_TEXTURE_MATRIX 0x84E5
-#define GL_TRANSPOSE_COLOR_MATRIX 0x84E6
-#define GL_MULTISAMPLE_BIT 0x20000000
-#define GL_NORMAL_MAP 0x8511
-#define GL_REFLECTION_MAP 0x8512
-#define GL_COMPRESSED_ALPHA 0x84E9
-#define GL_COMPRESSED_LUMINANCE 0x84EA
-#define GL_COMPRESSED_LUMINANCE_ALPHA 0x84EB
-#define GL_COMPRESSED_INTENSITY 0x84EC
-#define GL_COMBINE 0x8570
-#define GL_COMBINE_RGB 0x8571
-#define GL_COMBINE_ALPHA 0x8572
-#define GL_SOURCE0_RGB 0x8580
-#define GL_SOURCE1_RGB 0x8581
-#define GL_SOURCE2_RGB 0x8582
-#define GL_SOURCE0_ALPHA 0x8588
-#define GL_SOURCE1_ALPHA 0x8589
-#define GL_SOURCE2_ALPHA 0x858A
-#define GL_OPERAND0_RGB 0x8590
-#define GL_OPERAND1_RGB 0x8591
-#define GL_OPERAND2_RGB 0x8592
-#define GL_OPERAND0_ALPHA 0x8598
-#define GL_OPERAND1_ALPHA 0x8599
-#define GL_OPERAND2_ALPHA 0x859A
-#define GL_RGB_SCALE 0x8573
-#define GL_ADD_SIGNED 0x8574
-#define GL_INTERPOLATE 0x8575
-#define GL_SUBTRACT 0x84E7
-#define GL_CONSTANT 0x8576
-#define GL_PRIMARY_COLOR 0x8577
-#define GL_PREVIOUS 0x8578
-#define GL_DOT3_RGB 0x86AE
-#define GL_DOT3_RGBA 0x86AF
-#define GL_BLEND_DST_RGB 0x80C8
-#define GL_BLEND_SRC_RGB 0x80C9
-#define GL_BLEND_DST_ALPHA 0x80CA
-#define GL_BLEND_SRC_ALPHA 0x80CB
-#define GL_POINT_FADE_THRESHOLD_SIZE 0x8128
-#define GL_DEPTH_COMPONENT16 0x81A5
-#define GL_DEPTH_COMPONENT24 0x81A6
-#define GL_DEPTH_COMPONENT32 0x81A7
-#define GL_MIRRORED_REPEAT 0x8370
-#define GL_MAX_TEXTURE_LOD_BIAS 0x84FD
-#define GL_TEXTURE_LOD_BIAS 0x8501
-#define GL_INCR_WRAP 0x8507
-#define GL_DECR_WRAP 0x8508
-#define GL_TEXTURE_DEPTH_SIZE 0x884A
-#define GL_TEXTURE_COMPARE_MODE 0x884C
-#define GL_TEXTURE_COMPARE_FUNC 0x884D
-#define GL_POINT_SIZE_MIN 0x8126
-#define GL_POINT_SIZE_MAX 0x8127
-#define GL_POINT_DISTANCE_ATTENUATION 0x8129
-#define GL_GENERATE_MIPMAP 0x8191
-#define GL_GENERATE_MIPMAP_HINT 0x8192
-#define GL_FOG_COORDINATE_SOURCE 0x8450
-#define GL_FOG_COORDINATE 0x8451
-#define GL_FRAGMENT_DEPTH 0x8452
-#define GL_CURRENT_FOG_COORDINATE 0x8453
-#define GL_FOG_COORDINATE_ARRAY_TYPE 0x8454
-#define GL_FOG_COORDINATE_ARRAY_STRIDE 0x8455
-#define GL_FOG_COORDINATE_ARRAY_POINTER 0x8456
-#define GL_FOG_COORDINATE_ARRAY 0x8457
-#define GL_COLOR_SUM 0x8458
-#define GL_CURRENT_SECONDARY_COLOR 0x8459
-#define GL_SECONDARY_COLOR_ARRAY_SIZE 0x845A
-#define GL_SECONDARY_COLOR_ARRAY_TYPE 0x845B
-#define GL_SECONDARY_COLOR_ARRAY_STRIDE 0x845C
-#define GL_SECONDARY_COLOR_ARRAY_POINTER 0x845D
-#define GL_SECONDARY_COLOR_ARRAY 0x845E
-#define GL_TEXTURE_FILTER_CONTROL 0x8500
-#define GL_DEPTH_TEXTURE_MODE 0x884B
-#define GL_COMPARE_R_TO_TEXTURE 0x884E
-#define GL_BLEND_COLOR 0x8005
-#define GL_BLEND_EQUATION 0x8009
-#define GL_CONSTANT_COLOR 0x8001
-#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002
-#define GL_CONSTANT_ALPHA 0x8003
-#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004
-#define GL_FUNC_ADD 0x8006
-#define GL_FUNC_REVERSE_SUBTRACT 0x800B
-#define GL_FUNC_SUBTRACT 0x800A
-#define GL_MIN 0x8007
-#define GL_MAX 0x8008
-#define GL_BUFFER_SIZE 0x8764
-#define GL_BUFFER_USAGE 0x8765
-#define GL_QUERY_COUNTER_BITS 0x8864
-#define GL_CURRENT_QUERY 0x8865
-#define GL_QUERY_RESULT 0x8866
-#define GL_QUERY_RESULT_AVAILABLE 0x8867
-#define GL_ARRAY_BUFFER 0x8892
-#define GL_ELEMENT_ARRAY_BUFFER 0x8893
-#define GL_ARRAY_BUFFER_BINDING 0x8894
-#define GL_ELEMENT_ARRAY_BUFFER_BINDING 0x8895
-#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING 0x889F
-#define GL_READ_ONLY 0x88B8
-#define GL_WRITE_ONLY 0x88B9
-#define GL_READ_WRITE 0x88BA
-#define GL_BUFFER_ACCESS 0x88BB
-#define GL_BUFFER_MAPPED 0x88BC
-#define GL_BUFFER_MAP_POINTER 0x88BD
-#define GL_STREAM_DRAW 0x88E0
-#define GL_STREAM_READ 0x88E1
-#define GL_STREAM_COPY 0x88E2
-#define GL_STATIC_DRAW 0x88E4
-#define GL_STATIC_READ 0x88E5
-#define GL_STATIC_COPY 0x88E6
-#define GL_DYNAMIC_DRAW 0x88E8
-#define GL_DYNAMIC_READ 0x88E9
-#define GL_DYNAMIC_COPY 0x88EA
-#define GL_SAMPLES_PASSED 0x8914
-#define GL_SRC1_ALPHA 0x8589
-#define GL_VERTEX_ARRAY_BUFFER_BINDING 0x8896
-#define GL_NORMAL_ARRAY_BUFFER_BINDING 0x8897
-#define GL_COLOR_ARRAY_BUFFER_BINDING 0x8898
-#define GL_INDEX_ARRAY_BUFFER_BINDING 0x8899
-#define GL_TEXTURE_COORD_ARRAY_BUFFER_BINDING 0x889A
-#define GL_EDGE_FLAG_ARRAY_BUFFER_BINDING 0x889B
-#define GL_SECONDARY_COLOR_ARRAY_BUFFER_BINDING 0x889C
-#define GL_FOG_COORDINATE_ARRAY_BUFFER_BINDING 0x889D
-#define GL_WEIGHT_ARRAY_BUFFER_BINDING 0x889E
-#define GL_FOG_COORD_SRC 0x8450
-#define GL_FOG_COORD 0x8451
-#define GL_CURRENT_FOG_COORD 0x8453
-#define GL_FOG_COORD_ARRAY_TYPE 0x8454
-#define GL_FOG_COORD_ARRAY_STRIDE 0x8455
-#define GL_FOG_COORD_ARRAY_POINTER 0x8456
-#define GL_FOG_COORD_ARRAY 0x8457
-#define GL_FOG_COORD_ARRAY_BUFFER_BINDING 0x889D
-#define GL_SRC0_RGB 0x8580
-#define GL_SRC1_RGB 0x8581
-#define GL_SRC2_RGB 0x8582
-#define GL_SRC0_ALPHA 0x8588
-#define GL_SRC2_ALPHA 0x858A
-#ifndef GL_VERSION_1_0
-#define GL_VERSION_1_0 1
-GLAPI int mjGLAD_GL_VERSION_1_0;
-typedef void (APIENTRYP PFNGLCULLFACEPROC)(GLenum mode);
-GLAPI PFNGLCULLFACEPROC mjGlad_glCullFace;
-#define glCullFace mjGlad_glCullFace
-typedef void (APIENTRYP PFNGLFRONTFACEPROC)(GLenum mode);
-GLAPI PFNGLFRONTFACEPROC mjGlad_glFrontFace;
-#define glFrontFace mjGlad_glFrontFace
-typedef void (APIENTRYP PFNGLHINTPROC)(GLenum target, GLenum mode);
-GLAPI PFNGLHINTPROC mjGlad_glHint;
-#define glHint mjGlad_glHint
-typedef void (APIENTRYP PFNGLLINEWIDTHPROC)(GLfloat width);
-GLAPI PFNGLLINEWIDTHPROC mjGlad_glLineWidth;
-#define glLineWidth mjGlad_glLineWidth
-typedef void (APIENTRYP PFNGLPOINTSIZEPROC)(GLfloat size);
-GLAPI PFNGLPOINTSIZEPROC mjGlad_glPointSize;
-#define glPointSize mjGlad_glPointSize
-typedef void (APIENTRYP PFNGLPOLYGONMODEPROC)(GLenum face, GLenum mode);
-GLAPI PFNGLPOLYGONMODEPROC mjGlad_glPolygonMode;
-#define glPolygonMode mjGlad_glPolygonMode
-typedef void (APIENTRYP PFNGLSCISSORPROC)(GLint x, GLint y, GLsizei width, GLsizei height);
-GLAPI PFNGLSCISSORPROC mjGlad_glScissor;
-#define glScissor mjGlad_glScissor
-typedef void (APIENTRYP PFNGLTEXPARAMETERFPROC)(GLenum target, GLenum pname, GLfloat param);
-GLAPI PFNGLTEXPARAMETERFPROC mjGlad_glTexParameterf;
-#define glTexParameterf mjGlad_glTexParameterf
-typedef void (APIENTRYP PFNGLTEXPARAMETERFVPROC)(GLenum target, GLenum pname, const GLfloat *params);
-GLAPI PFNGLTEXPARAMETERFVPROC mjGlad_glTexParameterfv;
-#define glTexParameterfv mjGlad_glTexParameterfv
-typedef void (APIENTRYP PFNGLTEXPARAMETERIPROC)(GLenum target, GLenum pname, GLint param);
-GLAPI PFNGLTEXPARAMETERIPROC mjGlad_glTexParameteri;
-#define glTexParameteri mjGlad_glTexParameteri
-typedef void (APIENTRYP PFNGLTEXPARAMETERIVPROC)(GLenum target, GLenum pname, const GLint *params);
-GLAPI PFNGLTEXPARAMETERIVPROC mjGlad_glTexParameteriv;
-#define glTexParameteriv mjGlad_glTexParameteriv
-typedef void (APIENTRYP PFNGLTEXIMAGE1DPROC)(GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void *pixels);
-GLAPI PFNGLTEXIMAGE1DPROC mjGlad_glTexImage1D;
-#define glTexImage1D mjGlad_glTexImage1D
-typedef void (APIENTRYP PFNGLTEXIMAGE2DPROC)(GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void *pixels);
-GLAPI PFNGLTEXIMAGE2DPROC mjGlad_glTexImage2D;
-#define glTexImage2D mjGlad_glTexImage2D
-typedef void (APIENTRYP PFNGLDRAWBUFFERPROC)(GLenum buf);
-GLAPI PFNGLDRAWBUFFERPROC mjGlad_glDrawBuffer;
-#define glDrawBuffer mjGlad_glDrawBuffer
-typedef void (APIENTRYP PFNGLCLEARPROC)(GLbitfield mask);
-GLAPI PFNGLCLEARPROC mjGlad_glClear;
-#define glClear mjGlad_glClear
-typedef void (APIENTRYP PFNGLCLEARCOLORPROC)(GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha);
-GLAPI PFNGLCLEARCOLORPROC mjGlad_glClearColor;
-#define glClearColor mjGlad_glClearColor
-typedef void (APIENTRYP PFNGLCLEARSTENCILPROC)(GLint s);
-GLAPI PFNGLCLEARSTENCILPROC mjGlad_glClearStencil;
-#define glClearStencil mjGlad_glClearStencil
-typedef void (APIENTRYP PFNGLCLEARDEPTHPROC)(GLdouble depth);
-GLAPI PFNGLCLEARDEPTHPROC mjGlad_glClearDepth;
-#define glClearDepth mjGlad_glClearDepth
-typedef void (APIENTRYP PFNGLSTENCILMASKPROC)(GLuint mask);
-GLAPI PFNGLSTENCILMASKPROC mjGlad_glStencilMask;
-#define glStencilMask mjGlad_glStencilMask
-typedef void (APIENTRYP PFNGLCOLORMASKPROC)(GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha);
-GLAPI PFNGLCOLORMASKPROC mjGlad_glColorMask;
-#define glColorMask mjGlad_glColorMask
-typedef void (APIENTRYP PFNGLDEPTHMASKPROC)(GLboolean flag);
-GLAPI PFNGLDEPTHMASKPROC mjGlad_glDepthMask;
-#define glDepthMask mjGlad_glDepthMask
-typedef void (APIENTRYP PFNGLDISABLEPROC)(GLenum cap);
-GLAPI PFNGLDISABLEPROC mjGlad_glDisable;
-#define glDisable mjGlad_glDisable
-typedef void (APIENTRYP PFNGLENABLEPROC)(GLenum cap);
-GLAPI PFNGLENABLEPROC mjGlad_glEnable;
-#define glEnable mjGlad_glEnable
-typedef void (APIENTRYP PFNGLFINISHPROC)(void);
-GLAPI PFNGLFINISHPROC mjGlad_glFinish;
-#define glFinish mjGlad_glFinish
-typedef void (APIENTRYP PFNGLFLUSHPROC)(void);
-GLAPI PFNGLFLUSHPROC mjGlad_glFlush;
-#define glFlush mjGlad_glFlush
-typedef void (APIENTRYP PFNGLBLENDFUNCPROC)(GLenum sfactor, GLenum dfactor);
-GLAPI PFNGLBLENDFUNCPROC mjGlad_glBlendFunc;
-#define glBlendFunc mjGlad_glBlendFunc
-typedef void (APIENTRYP PFNGLLOGICOPPROC)(GLenum opcode);
-GLAPI PFNGLLOGICOPPROC mjGlad_glLogicOp;
-#define glLogicOp mjGlad_glLogicOp
-typedef void (APIENTRYP PFNGLSTENCILFUNCPROC)(GLenum func, GLint ref, GLuint mask);
-GLAPI PFNGLSTENCILFUNCPROC mjGlad_glStencilFunc;
-#define glStencilFunc mjGlad_glStencilFunc
-typedef void (APIENTRYP PFNGLSTENCILOPPROC)(GLenum fail, GLenum zfail, GLenum zpass);
-GLAPI PFNGLSTENCILOPPROC mjGlad_glStencilOp;
-#define glStencilOp mjGlad_glStencilOp
-typedef void (APIENTRYP PFNGLDEPTHFUNCPROC)(GLenum func);
-GLAPI PFNGLDEPTHFUNCPROC mjGlad_glDepthFunc;
-#define glDepthFunc mjGlad_glDepthFunc
-typedef void (APIENTRYP PFNGLPIXELSTOREFPROC)(GLenum pname, GLfloat param);
-GLAPI PFNGLPIXELSTOREFPROC mjGlad_glPixelStoref;
-#define glPixelStoref mjGlad_glPixelStoref
-typedef void (APIENTRYP PFNGLPIXELSTOREIPROC)(GLenum pname, GLint param);
-GLAPI PFNGLPIXELSTOREIPROC mjGlad_glPixelStorei;
-#define glPixelStorei mjGlad_glPixelStorei
-typedef void (APIENTRYP PFNGLREADBUFFERPROC)(GLenum src);
-GLAPI PFNGLREADBUFFERPROC mjGlad_glReadBuffer;
-#define glReadBuffer mjGlad_glReadBuffer
-typedef void (APIENTRYP PFNGLREADPIXELSPROC)(GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, void *pixels);
-GLAPI PFNGLREADPIXELSPROC mjGlad_glReadPixels;
-#define glReadPixels mjGlad_glReadPixels
-typedef void (APIENTRYP PFNGLGETBOOLEANVPROC)(GLenum pname, GLboolean *data);
-GLAPI PFNGLGETBOOLEANVPROC mjGlad_glGetBooleanv;
-#define glGetBooleanv mjGlad_glGetBooleanv
-typedef void (APIENTRYP PFNGLGETDOUBLEVPROC)(GLenum pname, GLdouble *data);
-GLAPI PFNGLGETDOUBLEVPROC mjGlad_glGetDoublev;
-#define glGetDoublev mjGlad_glGetDoublev
-typedef GLenum (APIENTRYP PFNGLGETERRORPROC)(void);
-GLAPI PFNGLGETERRORPROC mjGlad_glGetError;
-#define glGetError mjGlad_glGetError
-typedef void (APIENTRYP PFNGLGETFLOATVPROC)(GLenum pname, GLfloat *data);
-GLAPI PFNGLGETFLOATVPROC mjGlad_glGetFloatv;
-#define glGetFloatv mjGlad_glGetFloatv
-typedef void (APIENTRYP PFNGLGETINTEGERVPROC)(GLenum pname, GLint *data);
-GLAPI PFNGLGETINTEGERVPROC mjGlad_glGetIntegerv;
-#define glGetIntegerv mjGlad_glGetIntegerv
-typedef const GLubyte * (APIENTRYP PFNGLGETSTRINGPROC)(GLenum name);
-GLAPI PFNGLGETSTRINGPROC mjGlad_glGetString;
-#define glGetString mjGlad_glGetString
-typedef void (APIENTRYP PFNGLGETTEXIMAGEPROC)(GLenum target, GLint level, GLenum format, GLenum type, void *pixels);
-GLAPI PFNGLGETTEXIMAGEPROC mjGlad_glGetTexImage;
-#define glGetTexImage mjGlad_glGetTexImage
-typedef void (APIENTRYP PFNGLGETTEXPARAMETERFVPROC)(GLenum target, GLenum pname, GLfloat *params);
-GLAPI PFNGLGETTEXPARAMETERFVPROC mjGlad_glGetTexParameterfv;
-#define glGetTexParameterfv mjGlad_glGetTexParameterfv
-typedef void (APIENTRYP PFNGLGETTEXPARAMETERIVPROC)(GLenum target, GLenum pname, GLint *params);
-GLAPI PFNGLGETTEXPARAMETERIVPROC mjGlad_glGetTexParameteriv;
-#define glGetTexParameteriv mjGlad_glGetTexParameteriv
-typedef void (APIENTRYP PFNGLGETTEXLEVELPARAMETERFVPROC)(GLenum target, GLint level, GLenum pname, GLfloat *params);
-GLAPI PFNGLGETTEXLEVELPARAMETERFVPROC mjGlad_glGetTexLevelParameterfv;
-#define glGetTexLevelParameterfv mjGlad_glGetTexLevelParameterfv
-typedef void (APIENTRYP PFNGLGETTEXLEVELPARAMETERIVPROC)(GLenum target, GLint level, GLenum pname, GLint *params);
-GLAPI PFNGLGETTEXLEVELPARAMETERIVPROC mjGlad_glGetTexLevelParameteriv;
-#define glGetTexLevelParameteriv mjGlad_glGetTexLevelParameteriv
-typedef GLboolean (APIENTRYP PFNGLISENABLEDPROC)(GLenum cap);
-GLAPI PFNGLISENABLEDPROC mjGlad_glIsEnabled;
-#define glIsEnabled mjGlad_glIsEnabled
-typedef void (APIENTRYP PFNGLDEPTHRANGEPROC)(GLdouble n, GLdouble f);
-GLAPI PFNGLDEPTHRANGEPROC mjGlad_glDepthRange;
-#define glDepthRange mjGlad_glDepthRange
-typedef void (APIENTRYP PFNGLVIEWPORTPROC)(GLint x, GLint y, GLsizei width, GLsizei height);
-GLAPI PFNGLVIEWPORTPROC mjGlad_glViewport;
-#define glViewport mjGlad_glViewport
-typedef void (APIENTRYP PFNGLNEWLISTPROC)(GLuint list, GLenum mode);
-GLAPI PFNGLNEWLISTPROC mjGlad_glNewList;
-#define glNewList mjGlad_glNewList
-typedef void (APIENTRYP PFNGLENDLISTPROC)(void);
-GLAPI PFNGLENDLISTPROC mjGlad_glEndList;
-#define glEndList mjGlad_glEndList
-typedef void (APIENTRYP PFNGLCALLLISTPROC)(GLuint list);
-GLAPI PFNGLCALLLISTPROC mjGlad_glCallList;
-#define glCallList mjGlad_glCallList
-typedef void (APIENTRYP PFNGLCALLLISTSPROC)(GLsizei n, GLenum type, const void *lists);
-GLAPI PFNGLCALLLISTSPROC mjGlad_glCallLists;
-#define glCallLists mjGlad_glCallLists
-typedef void (APIENTRYP PFNGLDELETELISTSPROC)(GLuint list, GLsizei range);
-GLAPI PFNGLDELETELISTSPROC mjGlad_glDeleteLists;
-#define glDeleteLists mjGlad_glDeleteLists
-typedef GLuint (APIENTRYP PFNGLGENLISTSPROC)(GLsizei range);
-GLAPI PFNGLGENLISTSPROC mjGlad_glGenLists;
-#define glGenLists mjGlad_glGenLists
-typedef void (APIENTRYP PFNGLLISTBASEPROC)(GLuint base);
-GLAPI PFNGLLISTBASEPROC mjGlad_glListBase;
-#define glListBase mjGlad_glListBase
-typedef void (APIENTRYP PFNGLBEGINPROC)(GLenum mode);
-GLAPI PFNGLBEGINPROC mjGlad_glBegin;
-#define glBegin mjGlad_glBegin
-typedef void (APIENTRYP PFNGLBITMAPPROC)(GLsizei width, GLsizei height, GLfloat xorig, GLfloat yorig, GLfloat xmove, GLfloat ymove, const GLubyte *bitmap);
-GLAPI PFNGLBITMAPPROC mjGlad_glBitmap;
-#define glBitmap mjGlad_glBitmap
-typedef void (APIENTRYP PFNGLCOLOR3BPROC)(GLbyte red, GLbyte green, GLbyte blue);
-GLAPI PFNGLCOLOR3BPROC mjGlad_glColor3b;
-#define glColor3b mjGlad_glColor3b
-typedef void (APIENTRYP PFNGLCOLOR3BVPROC)(const GLbyte *v);
-GLAPI PFNGLCOLOR3BVPROC mjGlad_glColor3bv;
-#define glColor3bv mjGlad_glColor3bv
-typedef void (APIENTRYP PFNGLCOLOR3DPROC)(GLdouble red, GLdouble green, GLdouble blue);
-GLAPI PFNGLCOLOR3DPROC mjGlad_glColor3d;
-#define glColor3d mjGlad_glColor3d
-typedef void (APIENTRYP PFNGLCOLOR3DVPROC)(const GLdouble *v);
-GLAPI PFNGLCOLOR3DVPROC mjGlad_glColor3dv;
-#define glColor3dv mjGlad_glColor3dv
-typedef void (APIENTRYP PFNGLCOLOR3FPROC)(GLfloat red, GLfloat green, GLfloat blue);
-GLAPI PFNGLCOLOR3FPROC mjGlad_glColor3f;
-#define glColor3f mjGlad_glColor3f
-typedef void (APIENTRYP PFNGLCOLOR3FVPROC)(const GLfloat *v);
-GLAPI PFNGLCOLOR3FVPROC mjGlad_glColor3fv;
-#define glColor3fv mjGlad_glColor3fv
-typedef void (APIENTRYP PFNGLCOLOR3IPROC)(GLint red, GLint green, GLint blue);
-GLAPI PFNGLCOLOR3IPROC mjGlad_glColor3i;
-#define glColor3i mjGlad_glColor3i
-typedef void (APIENTRYP PFNGLCOLOR3IVPROC)(const GLint *v);
-GLAPI PFNGLCOLOR3IVPROC mjGlad_glColor3iv;
-#define glColor3iv mjGlad_glColor3iv
-typedef void (APIENTRYP PFNGLCOLOR3SPROC)(GLshort red, GLshort green, GLshort blue);
-GLAPI PFNGLCOLOR3SPROC mjGlad_glColor3s;
-#define glColor3s mjGlad_glColor3s
-typedef void (APIENTRYP PFNGLCOLOR3SVPROC)(const GLshort *v);
-GLAPI PFNGLCOLOR3SVPROC mjGlad_glColor3sv;
-#define glColor3sv mjGlad_glColor3sv
-typedef void (APIENTRYP PFNGLCOLOR3UBPROC)(GLubyte red, GLubyte green, GLubyte blue);
-GLAPI PFNGLCOLOR3UBPROC mjGlad_glColor3ub;
-#define glColor3ub mjGlad_glColor3ub
-typedef void (APIENTRYP PFNGLCOLOR3UBVPROC)(const GLubyte *v);
-GLAPI PFNGLCOLOR3UBVPROC mjGlad_glColor3ubv;
-#define glColor3ubv mjGlad_glColor3ubv
-typedef void (APIENTRYP PFNGLCOLOR3UIPROC)(GLuint red, GLuint green, GLuint blue);
-GLAPI PFNGLCOLOR3UIPROC mjGlad_glColor3ui;
-#define glColor3ui mjGlad_glColor3ui
-typedef void (APIENTRYP PFNGLCOLOR3UIVPROC)(const GLuint *v);
-GLAPI PFNGLCOLOR3UIVPROC mjGlad_glColor3uiv;
-#define glColor3uiv mjGlad_glColor3uiv
-typedef void (APIENTRYP PFNGLCOLOR3USPROC)(GLushort red, GLushort green, GLushort blue);
-GLAPI PFNGLCOLOR3USPROC mjGlad_glColor3us;
-#define glColor3us mjGlad_glColor3us
-typedef void (APIENTRYP PFNGLCOLOR3USVPROC)(const GLushort *v);
-GLAPI PFNGLCOLOR3USVPROC mjGlad_glColor3usv;
-#define glColor3usv mjGlad_glColor3usv
-typedef void (APIENTRYP PFNGLCOLOR4BPROC)(GLbyte red, GLbyte green, GLbyte blue, GLbyte alpha);
-GLAPI PFNGLCOLOR4BPROC mjGlad_glColor4b;
-#define glColor4b mjGlad_glColor4b
-typedef void (APIENTRYP PFNGLCOLOR4BVPROC)(const GLbyte *v);
-GLAPI PFNGLCOLOR4BVPROC mjGlad_glColor4bv;
-#define glColor4bv mjGlad_glColor4bv
-typedef void (APIENTRYP PFNGLCOLOR4DPROC)(GLdouble red, GLdouble green, GLdouble blue, GLdouble alpha);
-GLAPI PFNGLCOLOR4DPROC mjGlad_glColor4d;
-#define glColor4d mjGlad_glColor4d
-typedef void (APIENTRYP PFNGLCOLOR4DVPROC)(const GLdouble *v);
-GLAPI PFNGLCOLOR4DVPROC mjGlad_glColor4dv;
-#define glColor4dv mjGlad_glColor4dv
-typedef void (APIENTRYP PFNGLCOLOR4FPROC)(GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha);
-GLAPI PFNGLCOLOR4FPROC mjGlad_glColor4f;
-#define glColor4f mjGlad_glColor4f
-typedef void (APIENTRYP PFNGLCOLOR4FVPROC)(const GLfloat *v);
-GLAPI PFNGLCOLOR4FVPROC mjGlad_glColor4fv;
-#define glColor4fv mjGlad_glColor4fv
-typedef void (APIENTRYP PFNGLCOLOR4IPROC)(GLint red, GLint green, GLint blue, GLint alpha);
-GLAPI PFNGLCOLOR4IPROC mjGlad_glColor4i;
-#define glColor4i mjGlad_glColor4i
-typedef void (APIENTRYP PFNGLCOLOR4IVPROC)(const GLint *v);
-GLAPI PFNGLCOLOR4IVPROC mjGlad_glColor4iv;
-#define glColor4iv mjGlad_glColor4iv
-typedef void (APIENTRYP PFNGLCOLOR4SPROC)(GLshort red, GLshort green, GLshort blue, GLshort alpha);
-GLAPI PFNGLCOLOR4SPROC mjGlad_glColor4s;
-#define glColor4s mjGlad_glColor4s
-typedef void (APIENTRYP PFNGLCOLOR4SVPROC)(const GLshort *v);
-GLAPI PFNGLCOLOR4SVPROC mjGlad_glColor4sv;
-#define glColor4sv mjGlad_glColor4sv
-typedef void (APIENTRYP PFNGLCOLOR4UBPROC)(GLubyte red, GLubyte green, GLubyte blue, GLubyte alpha);
-GLAPI PFNGLCOLOR4UBPROC mjGlad_glColor4ub;
-#define glColor4ub mjGlad_glColor4ub
-typedef void (APIENTRYP PFNGLCOLOR4UBVPROC)(const GLubyte *v);
-GLAPI PFNGLCOLOR4UBVPROC mjGlad_glColor4ubv;
-#define glColor4ubv mjGlad_glColor4ubv
-typedef void (APIENTRYP PFNGLCOLOR4UIPROC)(GLuint red, GLuint green, GLuint blue, GLuint alpha);
-GLAPI PFNGLCOLOR4UIPROC mjGlad_glColor4ui;
-#define glColor4ui mjGlad_glColor4ui
-typedef void (APIENTRYP PFNGLCOLOR4UIVPROC)(const GLuint *v);
-GLAPI PFNGLCOLOR4UIVPROC mjGlad_glColor4uiv;
-#define glColor4uiv mjGlad_glColor4uiv
-typedef void (APIENTRYP PFNGLCOLOR4USPROC)(GLushort red, GLushort green, GLushort blue, GLushort alpha);
-GLAPI PFNGLCOLOR4USPROC mjGlad_glColor4us;
-#define glColor4us mjGlad_glColor4us
-typedef void (APIENTRYP PFNGLCOLOR4USVPROC)(const GLushort *v);
-GLAPI PFNGLCOLOR4USVPROC mjGlad_glColor4usv;
-#define glColor4usv mjGlad_glColor4usv
-typedef void (APIENTRYP PFNGLEDGEFLAGPROC)(GLboolean flag);
-GLAPI PFNGLEDGEFLAGPROC mjGlad_glEdgeFlag;
-#define glEdgeFlag mjGlad_glEdgeFlag
-typedef void (APIENTRYP PFNGLEDGEFLAGVPROC)(const GLboolean *flag);
-GLAPI PFNGLEDGEFLAGVPROC mjGlad_glEdgeFlagv;
-#define glEdgeFlagv mjGlad_glEdgeFlagv
-typedef void (APIENTRYP PFNGLENDPROC)(void);
-GLAPI PFNGLENDPROC mjGlad_glEnd;
-#define glEnd mjGlad_glEnd
-typedef void (APIENTRYP PFNGLINDEXDPROC)(GLdouble c);
-GLAPI PFNGLINDEXDPROC mjGlad_glIndexd;
-#define glIndexd mjGlad_glIndexd
-typedef void (APIENTRYP PFNGLINDEXDVPROC)(const GLdouble *c);
-GLAPI PFNGLINDEXDVPROC mjGlad_glIndexdv;
-#define glIndexdv mjGlad_glIndexdv
-typedef void (APIENTRYP PFNGLINDEXFPROC)(GLfloat c);
-GLAPI PFNGLINDEXFPROC mjGlad_glIndexf;
-#define glIndexf mjGlad_glIndexf
-typedef void (APIENTRYP PFNGLINDEXFVPROC)(const GLfloat *c);
-GLAPI PFNGLINDEXFVPROC mjGlad_glIndexfv;
-#define glIndexfv mjGlad_glIndexfv
-typedef void (APIENTRYP PFNGLINDEXIPROC)(GLint c);
-GLAPI PFNGLINDEXIPROC mjGlad_glIndexi;
-#define glIndexi mjGlad_glIndexi
-typedef void (APIENTRYP PFNGLINDEXIVPROC)(const GLint *c);
-GLAPI PFNGLINDEXIVPROC mjGlad_glIndexiv;
-#define glIndexiv mjGlad_glIndexiv
-typedef void (APIENTRYP PFNGLINDEXSPROC)(GLshort c);
-GLAPI PFNGLINDEXSPROC mjGlad_glIndexs;
-#define glIndexs mjGlad_glIndexs
-typedef void (APIENTRYP PFNGLINDEXSVPROC)(const GLshort *c);
-GLAPI PFNGLINDEXSVPROC mjGlad_glIndexsv;
-#define glIndexsv mjGlad_glIndexsv
-typedef void (APIENTRYP PFNGLNORMAL3BPROC)(GLbyte nx, GLbyte ny, GLbyte nz);
-GLAPI PFNGLNORMAL3BPROC mjGlad_glNormal3b;
-#define glNormal3b mjGlad_glNormal3b
-typedef void (APIENTRYP PFNGLNORMAL3BVPROC)(const GLbyte *v);
-GLAPI PFNGLNORMAL3BVPROC mjGlad_glNormal3bv;
-#define glNormal3bv mjGlad_glNormal3bv
-typedef void (APIENTRYP PFNGLNORMAL3DPROC)(GLdouble nx, GLdouble ny, GLdouble nz);
-GLAPI PFNGLNORMAL3DPROC mjGlad_glNormal3d;
-#define glNormal3d mjGlad_glNormal3d
-typedef void (APIENTRYP PFNGLNORMAL3DVPROC)(const GLdouble *v);
-GLAPI PFNGLNORMAL3DVPROC mjGlad_glNormal3dv;
-#define glNormal3dv mjGlad_glNormal3dv
-typedef void (APIENTRYP PFNGLNORMAL3FPROC)(GLfloat nx, GLfloat ny, GLfloat nz);
-GLAPI PFNGLNORMAL3FPROC mjGlad_glNormal3f;
-#define glNormal3f mjGlad_glNormal3f
-typedef void (APIENTRYP PFNGLNORMAL3FVPROC)(const GLfloat *v);
-GLAPI PFNGLNORMAL3FVPROC mjGlad_glNormal3fv;
-#define glNormal3fv mjGlad_glNormal3fv
-typedef void (APIENTRYP PFNGLNORMAL3IPROC)(GLint nx, GLint ny, GLint nz);
-GLAPI PFNGLNORMAL3IPROC mjGlad_glNormal3i;
-#define glNormal3i mjGlad_glNormal3i
-typedef void (APIENTRYP PFNGLNORMAL3IVPROC)(const GLint *v);
-GLAPI PFNGLNORMAL3IVPROC mjGlad_glNormal3iv;
-#define glNormal3iv mjGlad_glNormal3iv
-typedef void (APIENTRYP PFNGLNORMAL3SPROC)(GLshort nx, GLshort ny, GLshort nz);
-GLAPI PFNGLNORMAL3SPROC mjGlad_glNormal3s;
-#define glNormal3s mjGlad_glNormal3s
-typedef void (APIENTRYP PFNGLNORMAL3SVPROC)(const GLshort *v);
-GLAPI PFNGLNORMAL3SVPROC mjGlad_glNormal3sv;
-#define glNormal3sv mjGlad_glNormal3sv
-typedef void (APIENTRYP PFNGLRASTERPOS2DPROC)(GLdouble x, GLdouble y);
-GLAPI PFNGLRASTERPOS2DPROC mjGlad_glRasterPos2d;
-#define glRasterPos2d mjGlad_glRasterPos2d
-typedef void (APIENTRYP PFNGLRASTERPOS2DVPROC)(const GLdouble *v);
-GLAPI PFNGLRASTERPOS2DVPROC mjGlad_glRasterPos2dv;
-#define glRasterPos2dv mjGlad_glRasterPos2dv
-typedef void (APIENTRYP PFNGLRASTERPOS2FPROC)(GLfloat x, GLfloat y);
-GLAPI PFNGLRASTERPOS2FPROC mjGlad_glRasterPos2f;
-#define glRasterPos2f mjGlad_glRasterPos2f
-typedef void (APIENTRYP PFNGLRASTERPOS2FVPROC)(const GLfloat *v);
-GLAPI PFNGLRASTERPOS2FVPROC mjGlad_glRasterPos2fv;
-#define glRasterPos2fv mjGlad_glRasterPos2fv
-typedef void (APIENTRYP PFNGLRASTERPOS2IPROC)(GLint x, GLint y);
-GLAPI PFNGLRASTERPOS2IPROC mjGlad_glRasterPos2i;
-#define glRasterPos2i mjGlad_glRasterPos2i
-typedef void (APIENTRYP PFNGLRASTERPOS2IVPROC)(const GLint *v);
-GLAPI PFNGLRASTERPOS2IVPROC mjGlad_glRasterPos2iv;
-#define glRasterPos2iv mjGlad_glRasterPos2iv
-typedef void (APIENTRYP PFNGLRASTERPOS2SPROC)(GLshort x, GLshort y);
-GLAPI PFNGLRASTERPOS2SPROC mjGlad_glRasterPos2s;
-#define glRasterPos2s mjGlad_glRasterPos2s
-typedef void (APIENTRYP PFNGLRASTERPOS2SVPROC)(const GLshort *v);
-GLAPI PFNGLRASTERPOS2SVPROC mjGlad_glRasterPos2sv;
-#define glRasterPos2sv mjGlad_glRasterPos2sv
-typedef void (APIENTRYP PFNGLRASTERPOS3DPROC)(GLdouble x, GLdouble y, GLdouble z);
-GLAPI PFNGLRASTERPOS3DPROC mjGlad_glRasterPos3d;
-#define glRasterPos3d mjGlad_glRasterPos3d
-typedef void (APIENTRYP PFNGLRASTERPOS3DVPROC)(const GLdouble *v);
-GLAPI PFNGLRASTERPOS3DVPROC mjGlad_glRasterPos3dv;
-#define glRasterPos3dv mjGlad_glRasterPos3dv
-typedef void (APIENTRYP PFNGLRASTERPOS3FPROC)(GLfloat x, GLfloat y, GLfloat z);
-GLAPI PFNGLRASTERPOS3FPROC mjGlad_glRasterPos3f;
-#define glRasterPos3f mjGlad_glRasterPos3f
-typedef void (APIENTRYP PFNGLRASTERPOS3FVPROC)(const GLfloat *v);
-GLAPI PFNGLRASTERPOS3FVPROC mjGlad_glRasterPos3fv;
-#define glRasterPos3fv mjGlad_glRasterPos3fv
-typedef void (APIENTRYP PFNGLRASTERPOS3IPROC)(GLint x, GLint y, GLint z);
-GLAPI PFNGLRASTERPOS3IPROC mjGlad_glRasterPos3i;
-#define glRasterPos3i mjGlad_glRasterPos3i
-typedef void (APIENTRYP PFNGLRASTERPOS3IVPROC)(const GLint *v);
-GLAPI PFNGLRASTERPOS3IVPROC mjGlad_glRasterPos3iv;
-#define glRasterPos3iv mjGlad_glRasterPos3iv
-typedef void (APIENTRYP PFNGLRASTERPOS3SPROC)(GLshort x, GLshort y, GLshort z);
-GLAPI PFNGLRASTERPOS3SPROC mjGlad_glRasterPos3s;
-#define glRasterPos3s mjGlad_glRasterPos3s
-typedef void (APIENTRYP PFNGLRASTERPOS3SVPROC)(const GLshort *v);
-GLAPI PFNGLRASTERPOS3SVPROC mjGlad_glRasterPos3sv;
-#define glRasterPos3sv mjGlad_glRasterPos3sv
-typedef void (APIENTRYP PFNGLRASTERPOS4DPROC)(GLdouble x, GLdouble y, GLdouble z, GLdouble w);
-GLAPI PFNGLRASTERPOS4DPROC mjGlad_glRasterPos4d;
-#define glRasterPos4d mjGlad_glRasterPos4d
-typedef void (APIENTRYP PFNGLRASTERPOS4DVPROC)(const GLdouble *v);
-GLAPI PFNGLRASTERPOS4DVPROC mjGlad_glRasterPos4dv;
-#define glRasterPos4dv mjGlad_glRasterPos4dv
-typedef void (APIENTRYP PFNGLRASTERPOS4FPROC)(GLfloat x, GLfloat y, GLfloat z, GLfloat w);
-GLAPI PFNGLRASTERPOS4FPROC mjGlad_glRasterPos4f;
-#define glRasterPos4f mjGlad_glRasterPos4f
-typedef void (APIENTRYP PFNGLRASTERPOS4FVPROC)(const GLfloat *v);
-GLAPI PFNGLRASTERPOS4FVPROC mjGlad_glRasterPos4fv;
-#define glRasterPos4fv mjGlad_glRasterPos4fv
-typedef void (APIENTRYP PFNGLRASTERPOS4IPROC)(GLint x, GLint y, GLint z, GLint w);
-GLAPI PFNGLRASTERPOS4IPROC mjGlad_glRasterPos4i;
-#define glRasterPos4i mjGlad_glRasterPos4i
-typedef void (APIENTRYP PFNGLRASTERPOS4IVPROC)(const GLint *v);
-GLAPI PFNGLRASTERPOS4IVPROC mjGlad_glRasterPos4iv;
-#define glRasterPos4iv mjGlad_glRasterPos4iv
-typedef void (APIENTRYP PFNGLRASTERPOS4SPROC)(GLshort x, GLshort y, GLshort z, GLshort w);
-GLAPI PFNGLRASTERPOS4SPROC mjGlad_glRasterPos4s;
-#define glRasterPos4s mjGlad_glRasterPos4s
-typedef void (APIENTRYP PFNGLRASTERPOS4SVPROC)(const GLshort *v);
-GLAPI PFNGLRASTERPOS4SVPROC mjGlad_glRasterPos4sv;
-#define glRasterPos4sv mjGlad_glRasterPos4sv
-typedef void (APIENTRYP PFNGLRECTDPROC)(GLdouble x1, GLdouble y1, GLdouble x2, GLdouble y2);
-GLAPI PFNGLRECTDPROC mjGlad_glRectd;
-#define glRectd mjGlad_glRectd
-typedef void (APIENTRYP PFNGLRECTDVPROC)(const GLdouble *v1, const GLdouble *v2);
-GLAPI PFNGLRECTDVPROC mjGlad_glRectdv;
-#define glRectdv mjGlad_glRectdv
-typedef void (APIENTRYP PFNGLRECTFPROC)(GLfloat x1, GLfloat y1, GLfloat x2, GLfloat y2);
-GLAPI PFNGLRECTFPROC mjGlad_glRectf;
-#define glRectf mjGlad_glRectf
-typedef void (APIENTRYP PFNGLRECTFVPROC)(const GLfloat *v1, const GLfloat *v2);
-GLAPI PFNGLRECTFVPROC mjGlad_glRectfv;
-#define glRectfv mjGlad_glRectfv
-typedef void (APIENTRYP PFNGLRECTIPROC)(GLint x1, GLint y1, GLint x2, GLint y2);
-GLAPI PFNGLRECTIPROC mjGlad_glRecti;
-#define glRecti mjGlad_glRecti
-typedef void (APIENTRYP PFNGLRECTIVPROC)(const GLint *v1, const GLint *v2);
-GLAPI PFNGLRECTIVPROC mjGlad_glRectiv;
-#define glRectiv mjGlad_glRectiv
-typedef void (APIENTRYP PFNGLRECTSPROC)(GLshort x1, GLshort y1, GLshort x2, GLshort y2);
-GLAPI PFNGLRECTSPROC mjGlad_glRects;
-#define glRects mjGlad_glRects
-typedef void (APIENTRYP PFNGLRECTSVPROC)(const GLshort *v1, const GLshort *v2);
-GLAPI PFNGLRECTSVPROC mjGlad_glRectsv;
-#define glRectsv mjGlad_glRectsv
-typedef void (APIENTRYP PFNGLTEXCOORD1DPROC)(GLdouble s);
-GLAPI PFNGLTEXCOORD1DPROC mjGlad_glTexCoord1d;
-#define glTexCoord1d mjGlad_glTexCoord1d
-typedef void (APIENTRYP PFNGLTEXCOORD1DVPROC)(const GLdouble *v);
-GLAPI PFNGLTEXCOORD1DVPROC mjGlad_glTexCoord1dv;
-#define glTexCoord1dv mjGlad_glTexCoord1dv
-typedef void (APIENTRYP PFNGLTEXCOORD1FPROC)(GLfloat s);
-GLAPI PFNGLTEXCOORD1FPROC mjGlad_glTexCoord1f;
-#define glTexCoord1f mjGlad_glTexCoord1f
-typedef void (APIENTRYP PFNGLTEXCOORD1FVPROC)(const GLfloat *v);
-GLAPI PFNGLTEXCOORD1FVPROC mjGlad_glTexCoord1fv;
-#define glTexCoord1fv mjGlad_glTexCoord1fv
-typedef void (APIENTRYP PFNGLTEXCOORD1IPROC)(GLint s);
-GLAPI PFNGLTEXCOORD1IPROC mjGlad_glTexCoord1i;
-#define glTexCoord1i mjGlad_glTexCoord1i
-typedef void (APIENTRYP PFNGLTEXCOORD1IVPROC)(const GLint *v);
-GLAPI PFNGLTEXCOORD1IVPROC mjGlad_glTexCoord1iv;
-#define glTexCoord1iv mjGlad_glTexCoord1iv
-typedef void (APIENTRYP PFNGLTEXCOORD1SPROC)(GLshort s);
-GLAPI PFNGLTEXCOORD1SPROC mjGlad_glTexCoord1s;
-#define glTexCoord1s mjGlad_glTexCoord1s
-typedef void (APIENTRYP PFNGLTEXCOORD1SVPROC)(const GLshort *v);
-GLAPI PFNGLTEXCOORD1SVPROC mjGlad_glTexCoord1sv;
-#define glTexCoord1sv mjGlad_glTexCoord1sv
-typedef void (APIENTRYP PFNGLTEXCOORD2DPROC)(GLdouble s, GLdouble t);
-GLAPI PFNGLTEXCOORD2DPROC mjGlad_glTexCoord2d;
-#define glTexCoord2d mjGlad_glTexCoord2d
-typedef void (APIENTRYP PFNGLTEXCOORD2DVPROC)(const GLdouble *v);
-GLAPI PFNGLTEXCOORD2DVPROC mjGlad_glTexCoord2dv;
-#define glTexCoord2dv mjGlad_glTexCoord2dv
-typedef void (APIENTRYP PFNGLTEXCOORD2FPROC)(GLfloat s, GLfloat t);
-GLAPI PFNGLTEXCOORD2FPROC mjGlad_glTexCoord2f;
-#define glTexCoord2f mjGlad_glTexCoord2f
-typedef void (APIENTRYP PFNGLTEXCOORD2FVPROC)(const GLfloat *v);
-GLAPI PFNGLTEXCOORD2FVPROC mjGlad_glTexCoord2fv;
-#define glTexCoord2fv mjGlad_glTexCoord2fv
-typedef void (APIENTRYP PFNGLTEXCOORD2IPROC)(GLint s, GLint t);
-GLAPI PFNGLTEXCOORD2IPROC mjGlad_glTexCoord2i;
-#define glTexCoord2i mjGlad_glTexCoord2i
-typedef void (APIENTRYP PFNGLTEXCOORD2IVPROC)(const GLint *v);
-GLAPI PFNGLTEXCOORD2IVPROC mjGlad_glTexCoord2iv;
-#define glTexCoord2iv mjGlad_glTexCoord2iv
-typedef void (APIENTRYP PFNGLTEXCOORD2SPROC)(GLshort s, GLshort t);
-GLAPI PFNGLTEXCOORD2SPROC mjGlad_glTexCoord2s;
-#define glTexCoord2s mjGlad_glTexCoord2s
-typedef void (APIENTRYP PFNGLTEXCOORD2SVPROC)(const GLshort *v);
-GLAPI PFNGLTEXCOORD2SVPROC mjGlad_glTexCoord2sv;
-#define glTexCoord2sv mjGlad_glTexCoord2sv
-typedef void (APIENTRYP PFNGLTEXCOORD3DPROC)(GLdouble s, GLdouble t, GLdouble r);
-GLAPI PFNGLTEXCOORD3DPROC mjGlad_glTexCoord3d;
-#define glTexCoord3d mjGlad_glTexCoord3d
-typedef void (APIENTRYP PFNGLTEXCOORD3DVPROC)(const GLdouble *v);
-GLAPI PFNGLTEXCOORD3DVPROC mjGlad_glTexCoord3dv;
-#define glTexCoord3dv mjGlad_glTexCoord3dv
-typedef void (APIENTRYP PFNGLTEXCOORD3FPROC)(GLfloat s, GLfloat t, GLfloat r);
-GLAPI PFNGLTEXCOORD3FPROC mjGlad_glTexCoord3f;
-#define glTexCoord3f mjGlad_glTexCoord3f
-typedef void (APIENTRYP PFNGLTEXCOORD3FVPROC)(const GLfloat *v);
-GLAPI PFNGLTEXCOORD3FVPROC mjGlad_glTexCoord3fv;
-#define glTexCoord3fv mjGlad_glTexCoord3fv
-typedef void (APIENTRYP PFNGLTEXCOORD3IPROC)(GLint s, GLint t, GLint r);
-GLAPI PFNGLTEXCOORD3IPROC mjGlad_glTexCoord3i;
-#define glTexCoord3i mjGlad_glTexCoord3i
-typedef void (APIENTRYP PFNGLTEXCOORD3IVPROC)(const GLint *v);
-GLAPI PFNGLTEXCOORD3IVPROC mjGlad_glTexCoord3iv;
-#define glTexCoord3iv mjGlad_glTexCoord3iv
-typedef void (APIENTRYP PFNGLTEXCOORD3SPROC)(GLshort s, GLshort t, GLshort r);
-GLAPI PFNGLTEXCOORD3SPROC mjGlad_glTexCoord3s;
-#define glTexCoord3s mjGlad_glTexCoord3s
-typedef void (APIENTRYP PFNGLTEXCOORD3SVPROC)(const GLshort *v);
-GLAPI PFNGLTEXCOORD3SVPROC mjGlad_glTexCoord3sv;
-#define glTexCoord3sv mjGlad_glTexCoord3sv
-typedef void (APIENTRYP PFNGLTEXCOORD4DPROC)(GLdouble s, GLdouble t, GLdouble r, GLdouble q);
-GLAPI PFNGLTEXCOORD4DPROC mjGlad_glTexCoord4d;
-#define glTexCoord4d mjGlad_glTexCoord4d
-typedef void (APIENTRYP PFNGLTEXCOORD4DVPROC)(const GLdouble *v);
-GLAPI PFNGLTEXCOORD4DVPROC mjGlad_glTexCoord4dv;
-#define glTexCoord4dv mjGlad_glTexCoord4dv
-typedef void (APIENTRYP PFNGLTEXCOORD4FPROC)(GLfloat s, GLfloat t, GLfloat r, GLfloat q);
-GLAPI PFNGLTEXCOORD4FPROC mjGlad_glTexCoord4f;
-#define glTexCoord4f mjGlad_glTexCoord4f
-typedef void (APIENTRYP PFNGLTEXCOORD4FVPROC)(const GLfloat *v);
-GLAPI PFNGLTEXCOORD4FVPROC mjGlad_glTexCoord4fv;
-#define glTexCoord4fv mjGlad_glTexCoord4fv
-typedef void (APIENTRYP PFNGLTEXCOORD4IPROC)(GLint s, GLint t, GLint r, GLint q);
-GLAPI PFNGLTEXCOORD4IPROC mjGlad_glTexCoord4i;
-#define glTexCoord4i mjGlad_glTexCoord4i
-typedef void (APIENTRYP PFNGLTEXCOORD4IVPROC)(const GLint *v);
-GLAPI PFNGLTEXCOORD4IVPROC mjGlad_glTexCoord4iv;
-#define glTexCoord4iv mjGlad_glTexCoord4iv
-typedef void (APIENTRYP PFNGLTEXCOORD4SPROC)(GLshort s, GLshort t, GLshort r, GLshort q);
-GLAPI PFNGLTEXCOORD4SPROC mjGlad_glTexCoord4s;
-#define glTexCoord4s mjGlad_glTexCoord4s
-typedef void (APIENTRYP PFNGLTEXCOORD4SVPROC)(const GLshort *v);
-GLAPI PFNGLTEXCOORD4SVPROC mjGlad_glTexCoord4sv;
-#define glTexCoord4sv mjGlad_glTexCoord4sv
-typedef void (APIENTRYP PFNGLVERTEX2DPROC)(GLdouble x, GLdouble y);
-GLAPI PFNGLVERTEX2DPROC mjGlad_glVertex2d;
-#define glVertex2d mjGlad_glVertex2d
-typedef void (APIENTRYP PFNGLVERTEX2DVPROC)(const GLdouble *v);
-GLAPI PFNGLVERTEX2DVPROC mjGlad_glVertex2dv;
-#define glVertex2dv mjGlad_glVertex2dv
-typedef void (APIENTRYP PFNGLVERTEX2FPROC)(GLfloat x, GLfloat y);
-GLAPI PFNGLVERTEX2FPROC mjGlad_glVertex2f;
-#define glVertex2f mjGlad_glVertex2f
-typedef void (APIENTRYP PFNGLVERTEX2FVPROC)(const GLfloat *v);
-GLAPI PFNGLVERTEX2FVPROC mjGlad_glVertex2fv;
-#define glVertex2fv mjGlad_glVertex2fv
-typedef void (APIENTRYP PFNGLVERTEX2IPROC)(GLint x, GLint y);
-GLAPI PFNGLVERTEX2IPROC mjGlad_glVertex2i;
-#define glVertex2i mjGlad_glVertex2i
-typedef void (APIENTRYP PFNGLVERTEX2IVPROC)(const GLint *v);
-GLAPI PFNGLVERTEX2IVPROC mjGlad_glVertex2iv;
-#define glVertex2iv mjGlad_glVertex2iv
-typedef void (APIENTRYP PFNGLVERTEX2SPROC)(GLshort x, GLshort y);
-GLAPI PFNGLVERTEX2SPROC mjGlad_glVertex2s;
-#define glVertex2s mjGlad_glVertex2s
-typedef void (APIENTRYP PFNGLVERTEX2SVPROC)(const GLshort *v);
-GLAPI PFNGLVERTEX2SVPROC mjGlad_glVertex2sv;
-#define glVertex2sv mjGlad_glVertex2sv
-typedef void (APIENTRYP PFNGLVERTEX3DPROC)(GLdouble x, GLdouble y, GLdouble z);
-GLAPI PFNGLVERTEX3DPROC mjGlad_glVertex3d;
-#define glVertex3d mjGlad_glVertex3d
-typedef void (APIENTRYP PFNGLVERTEX3DVPROC)(const GLdouble *v);
-GLAPI PFNGLVERTEX3DVPROC mjGlad_glVertex3dv;
-#define glVertex3dv mjGlad_glVertex3dv
-typedef void (APIENTRYP PFNGLVERTEX3FPROC)(GLfloat x, GLfloat y, GLfloat z);
-GLAPI PFNGLVERTEX3FPROC mjGlad_glVertex3f;
-#define glVertex3f mjGlad_glVertex3f
-typedef void (APIENTRYP PFNGLVERTEX3FVPROC)(const GLfloat *v);
-GLAPI PFNGLVERTEX3FVPROC mjGlad_glVertex3fv;
-#define glVertex3fv mjGlad_glVertex3fv
-typedef void (APIENTRYP PFNGLVERTEX3IPROC)(GLint x, GLint y, GLint z);
-GLAPI PFNGLVERTEX3IPROC mjGlad_glVertex3i;
-#define glVertex3i mjGlad_glVertex3i
-typedef void (APIENTRYP PFNGLVERTEX3IVPROC)(const GLint *v);
-GLAPI PFNGLVERTEX3IVPROC mjGlad_glVertex3iv;
-#define glVertex3iv mjGlad_glVertex3iv
-typedef void (APIENTRYP PFNGLVERTEX3SPROC)(GLshort x, GLshort y, GLshort z);
-GLAPI PFNGLVERTEX3SPROC mjGlad_glVertex3s;
-#define glVertex3s mjGlad_glVertex3s
-typedef void (APIENTRYP PFNGLVERTEX3SVPROC)(const GLshort *v);
-GLAPI PFNGLVERTEX3SVPROC mjGlad_glVertex3sv;
-#define glVertex3sv mjGlad_glVertex3sv
-typedef void (APIENTRYP PFNGLVERTEX4DPROC)(GLdouble x, GLdouble y, GLdouble z, GLdouble w);
-GLAPI PFNGLVERTEX4DPROC mjGlad_glVertex4d;
-#define glVertex4d mjGlad_glVertex4d
-typedef void (APIENTRYP PFNGLVERTEX4DVPROC)(const GLdouble *v);
-GLAPI PFNGLVERTEX4DVPROC mjGlad_glVertex4dv;
-#define glVertex4dv mjGlad_glVertex4dv
-typedef void (APIENTRYP PFNGLVERTEX4FPROC)(GLfloat x, GLfloat y, GLfloat z, GLfloat w);
-GLAPI PFNGLVERTEX4FPROC mjGlad_glVertex4f;
-#define glVertex4f mjGlad_glVertex4f
-typedef void (APIENTRYP PFNGLVERTEX4FVPROC)(const GLfloat *v);
-GLAPI PFNGLVERTEX4FVPROC mjGlad_glVertex4fv;
-#define glVertex4fv mjGlad_glVertex4fv
-typedef void (APIENTRYP PFNGLVERTEX4IPROC)(GLint x, GLint y, GLint z, GLint w);
-GLAPI PFNGLVERTEX4IPROC mjGlad_glVertex4i;
-#define glVertex4i mjGlad_glVertex4i
-typedef void (APIENTRYP PFNGLVERTEX4IVPROC)(const GLint *v);
-GLAPI PFNGLVERTEX4IVPROC mjGlad_glVertex4iv;
-#define glVertex4iv mjGlad_glVertex4iv
-typedef void (APIENTRYP PFNGLVERTEX4SPROC)(GLshort x, GLshort y, GLshort z, GLshort w);
-GLAPI PFNGLVERTEX4SPROC mjGlad_glVertex4s;
-#define glVertex4s mjGlad_glVertex4s
-typedef void (APIENTRYP PFNGLVERTEX4SVPROC)(const GLshort *v);
-GLAPI PFNGLVERTEX4SVPROC mjGlad_glVertex4sv;
-#define glVertex4sv mjGlad_glVertex4sv
-typedef void (APIENTRYP PFNGLCLIPPLANEPROC)(GLenum plane, const GLdouble *equation);
-GLAPI PFNGLCLIPPLANEPROC mjGlad_glClipPlane;
-#define glClipPlane mjGlad_glClipPlane
-typedef void (APIENTRYP PFNGLCOLORMATERIALPROC)(GLenum face, GLenum mode);
-GLAPI PFNGLCOLORMATERIALPROC mjGlad_glColorMaterial;
-#define glColorMaterial mjGlad_glColorMaterial
-typedef void (APIENTRYP PFNGLFOGFPROC)(GLenum pname, GLfloat param);
-GLAPI PFNGLFOGFPROC mjGlad_glFogf;
-#define glFogf mjGlad_glFogf
-typedef void (APIENTRYP PFNGLFOGFVPROC)(GLenum pname, const GLfloat *params);
-GLAPI PFNGLFOGFVPROC mjGlad_glFogfv;
-#define glFogfv mjGlad_glFogfv
-typedef void (APIENTRYP PFNGLFOGIPROC)(GLenum pname, GLint param);
-GLAPI PFNGLFOGIPROC mjGlad_glFogi;
-#define glFogi mjGlad_glFogi
-typedef void (APIENTRYP PFNGLFOGIVPROC)(GLenum pname, const GLint *params);
-GLAPI PFNGLFOGIVPROC mjGlad_glFogiv;
-#define glFogiv mjGlad_glFogiv
-typedef void (APIENTRYP PFNGLLIGHTFPROC)(GLenum light, GLenum pname, GLfloat param);
-GLAPI PFNGLLIGHTFPROC mjGlad_glLightf;
-#define glLightf mjGlad_glLightf
-typedef void (APIENTRYP PFNGLLIGHTFVPROC)(GLenum light, GLenum pname, const GLfloat *params);
-GLAPI PFNGLLIGHTFVPROC mjGlad_glLightfv;
-#define glLightfv mjGlad_glLightfv
-typedef void (APIENTRYP PFNGLLIGHTIPROC)(GLenum light, GLenum pname, GLint param);
-GLAPI PFNGLLIGHTIPROC mjGlad_glLighti;
-#define glLighti mjGlad_glLighti
-typedef void (APIENTRYP PFNGLLIGHTIVPROC)(GLenum light, GLenum pname, const GLint *params);
-GLAPI PFNGLLIGHTIVPROC mjGlad_glLightiv;
-#define glLightiv mjGlad_glLightiv
-typedef void (APIENTRYP PFNGLLIGHTMODELFPROC)(GLenum pname, GLfloat param);
-GLAPI PFNGLLIGHTMODELFPROC mjGlad_glLightModelf;
-#define glLightModelf mjGlad_glLightModelf
-typedef void (APIENTRYP PFNGLLIGHTMODELFVPROC)(GLenum pname, const GLfloat *params);
-GLAPI PFNGLLIGHTMODELFVPROC mjGlad_glLightModelfv;
-#define glLightModelfv mjGlad_glLightModelfv
-typedef void (APIENTRYP PFNGLLIGHTMODELIPROC)(GLenum pname, GLint param);
-GLAPI PFNGLLIGHTMODELIPROC mjGlad_glLightModeli;
-#define glLightModeli mjGlad_glLightModeli
-typedef void (APIENTRYP PFNGLLIGHTMODELIVPROC)(GLenum pname, const GLint *params);
-GLAPI PFNGLLIGHTMODELIVPROC mjGlad_glLightModeliv;
-#define glLightModeliv mjGlad_glLightModeliv
-typedef void (APIENTRYP PFNGLLINESTIPPLEPROC)(GLint factor, GLushort pattern);
-GLAPI PFNGLLINESTIPPLEPROC mjGlad_glLineStipple;
-#define glLineStipple mjGlad_glLineStipple
-typedef void (APIENTRYP PFNGLMATERIALFPROC)(GLenum face, GLenum pname, GLfloat param);
-GLAPI PFNGLMATERIALFPROC mjGlad_glMaterialf;
-#define glMaterialf mjGlad_glMaterialf
-typedef void (APIENTRYP PFNGLMATERIALFVPROC)(GLenum face, GLenum pname, const GLfloat *params);
-GLAPI PFNGLMATERIALFVPROC mjGlad_glMaterialfv;
-#define glMaterialfv mjGlad_glMaterialfv
-typedef void (APIENTRYP PFNGLMATERIALIPROC)(GLenum face, GLenum pname, GLint param);
-GLAPI PFNGLMATERIALIPROC mjGlad_glMateriali;
-#define glMateriali mjGlad_glMateriali
-typedef void (APIENTRYP PFNGLMATERIALIVPROC)(GLenum face, GLenum pname, const GLint *params);
-GLAPI PFNGLMATERIALIVPROC mjGlad_glMaterialiv;
-#define glMaterialiv mjGlad_glMaterialiv
-typedef void (APIENTRYP PFNGLPOLYGONSTIPPLEPROC)(const GLubyte *mask);
-GLAPI PFNGLPOLYGONSTIPPLEPROC mjGlad_glPolygonStipple;
-#define glPolygonStipple mjGlad_glPolygonStipple
-typedef void (APIENTRYP PFNGLSHADEMODELPROC)(GLenum mode);
-GLAPI PFNGLSHADEMODELPROC mjGlad_glShadeModel;
-#define glShadeModel mjGlad_glShadeModel
-typedef void (APIENTRYP PFNGLTEXENVFPROC)(GLenum target, GLenum pname, GLfloat param);
-GLAPI PFNGLTEXENVFPROC mjGlad_glTexEnvf;
-#define glTexEnvf mjGlad_glTexEnvf
-typedef void (APIENTRYP PFNGLTEXENVFVPROC)(GLenum target, GLenum pname, const GLfloat *params);
-GLAPI PFNGLTEXENVFVPROC mjGlad_glTexEnvfv;
-#define glTexEnvfv mjGlad_glTexEnvfv
-typedef void (APIENTRYP PFNGLTEXENVIPROC)(GLenum target, GLenum pname, GLint param);
-GLAPI PFNGLTEXENVIPROC mjGlad_glTexEnvi;
-#define glTexEnvi mjGlad_glTexEnvi
-typedef void (APIENTRYP PFNGLTEXENVIVPROC)(GLenum target, GLenum pname, const GLint *params);
-GLAPI PFNGLTEXENVIVPROC mjGlad_glTexEnviv;
-#define glTexEnviv mjGlad_glTexEnviv
-typedef void (APIENTRYP PFNGLTEXGENDPROC)(GLenum coord, GLenum pname, GLdouble param);
-GLAPI PFNGLTEXGENDPROC mjGlad_glTexGend;
-#define glTexGend mjGlad_glTexGend
-typedef void (APIENTRYP PFNGLTEXGENDVPROC)(GLenum coord, GLenum pname, const GLdouble *params);
-GLAPI PFNGLTEXGENDVPROC mjGlad_glTexGendv;
-#define glTexGendv mjGlad_glTexGendv
-typedef void (APIENTRYP PFNGLTEXGENFPROC)(GLenum coord, GLenum pname, GLfloat param);
-GLAPI PFNGLTEXGENFPROC mjGlad_glTexGenf;
-#define glTexGenf mjGlad_glTexGenf
-typedef void (APIENTRYP PFNGLTEXGENFVPROC)(GLenum coord, GLenum pname, const GLfloat *params);
-GLAPI PFNGLTEXGENFVPROC mjGlad_glTexGenfv;
-#define glTexGenfv mjGlad_glTexGenfv
-typedef void (APIENTRYP PFNGLTEXGENIPROC)(GLenum coord, GLenum pname, GLint param);
-GLAPI PFNGLTEXGENIPROC mjGlad_glTexGeni;
-#define glTexGeni mjGlad_glTexGeni
-typedef void (APIENTRYP PFNGLTEXGENIVPROC)(GLenum coord, GLenum pname, const GLint *params);
-GLAPI PFNGLTEXGENIVPROC mjGlad_glTexGeniv;
-#define glTexGeniv mjGlad_glTexGeniv
-typedef void (APIENTRYP PFNGLFEEDBACKBUFFERPROC)(GLsizei size, GLenum type, GLfloat *buffer);
-GLAPI PFNGLFEEDBACKBUFFERPROC mjGlad_glFeedbackBuffer;
-#define glFeedbackBuffer mjGlad_glFeedbackBuffer
-typedef void (APIENTRYP PFNGLSELECTBUFFERPROC)(GLsizei size, GLuint *buffer);
-GLAPI PFNGLSELECTBUFFERPROC mjGlad_glSelectBuffer;
-#define glSelectBuffer mjGlad_glSelectBuffer
-typedef GLint (APIENTRYP PFNGLRENDERMODEPROC)(GLenum mode);
-GLAPI PFNGLRENDERMODEPROC mjGlad_glRenderMode;
-#define glRenderMode mjGlad_glRenderMode
-typedef void (APIENTRYP PFNGLINITNAMESPROC)(void);
-GLAPI PFNGLINITNAMESPROC mjGlad_glInitNames;
-#define glInitNames mjGlad_glInitNames
-typedef void (APIENTRYP PFNGLLOADNAMEPROC)(GLuint name);
-GLAPI PFNGLLOADNAMEPROC mjGlad_glLoadName;
-#define glLoadName mjGlad_glLoadName
-typedef void (APIENTRYP PFNGLPASSTHROUGHPROC)(GLfloat token);
-GLAPI PFNGLPASSTHROUGHPROC mjGlad_glPassThrough;
-#define glPassThrough mjGlad_glPassThrough
-typedef void (APIENTRYP PFNGLPOPNAMEPROC)(void);
-GLAPI PFNGLPOPNAMEPROC mjGlad_glPopName;
-#define glPopName mjGlad_glPopName
-typedef void (APIENTRYP PFNGLPUSHNAMEPROC)(GLuint name);
-GLAPI PFNGLPUSHNAMEPROC mjGlad_glPushName;
-#define glPushName mjGlad_glPushName
-typedef void (APIENTRYP PFNGLCLEARACCUMPROC)(GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha);
-GLAPI PFNGLCLEARACCUMPROC mjGlad_glClearAccum;
-#define glClearAccum mjGlad_glClearAccum
-typedef void (APIENTRYP PFNGLCLEARINDEXPROC)(GLfloat c);
-GLAPI PFNGLCLEARINDEXPROC mjGlad_glClearIndex;
-#define glClearIndex mjGlad_glClearIndex
-typedef void (APIENTRYP PFNGLINDEXMASKPROC)(GLuint mask);
-GLAPI PFNGLINDEXMASKPROC mjGlad_glIndexMask;
-#define glIndexMask mjGlad_glIndexMask
-typedef void (APIENTRYP PFNGLACCUMPROC)(GLenum op, GLfloat value);
-GLAPI PFNGLACCUMPROC mjGlad_glAccum;
-#define glAccum mjGlad_glAccum
-typedef void (APIENTRYP PFNGLPOPATTRIBPROC)(void);
-GLAPI PFNGLPOPATTRIBPROC mjGlad_glPopAttrib;
-#define glPopAttrib mjGlad_glPopAttrib
-typedef void (APIENTRYP PFNGLPUSHATTRIBPROC)(GLbitfield mask);
-GLAPI PFNGLPUSHATTRIBPROC mjGlad_glPushAttrib;
-#define glPushAttrib mjGlad_glPushAttrib
-typedef void (APIENTRYP PFNGLMAP1DPROC)(GLenum target, GLdouble u1, GLdouble u2, GLint stride, GLint order, const GLdouble *points);
-GLAPI PFNGLMAP1DPROC mjGlad_glMap1d;
-#define glMap1d mjGlad_glMap1d
-typedef void (APIENTRYP PFNGLMAP1FPROC)(GLenum target, GLfloat u1, GLfloat u2, GLint stride, GLint order, const GLfloat *points);
-GLAPI PFNGLMAP1FPROC mjGlad_glMap1f;
-#define glMap1f mjGlad_glMap1f
-typedef void (APIENTRYP PFNGLMAP2DPROC)(GLenum target, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, const GLdouble *points);
-GLAPI PFNGLMAP2DPROC mjGlad_glMap2d;
-#define glMap2d mjGlad_glMap2d
-typedef void (APIENTRYP PFNGLMAP2FPROC)(GLenum target, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, const GLfloat *points);
-GLAPI PFNGLMAP2FPROC mjGlad_glMap2f;
-#define glMap2f mjGlad_glMap2f
-typedef void (APIENTRYP PFNGLMAPGRID1DPROC)(GLint un, GLdouble u1, GLdouble u2);
-GLAPI PFNGLMAPGRID1DPROC mjGlad_glMapGrid1d;
-#define glMapGrid1d mjGlad_glMapGrid1d
-typedef void (APIENTRYP PFNGLMAPGRID1FPROC)(GLint un, GLfloat u1, GLfloat u2);
-GLAPI PFNGLMAPGRID1FPROC mjGlad_glMapGrid1f;
-#define glMapGrid1f mjGlad_glMapGrid1f
-typedef void (APIENTRYP PFNGLMAPGRID2DPROC)(GLint un, GLdouble u1, GLdouble u2, GLint vn, GLdouble v1, GLdouble v2);
-GLAPI PFNGLMAPGRID2DPROC mjGlad_glMapGrid2d;
-#define glMapGrid2d mjGlad_glMapGrid2d
-typedef void (APIENTRYP PFNGLMAPGRID2FPROC)(GLint un, GLfloat u1, GLfloat u2, GLint vn, GLfloat v1, GLfloat v2);
-GLAPI PFNGLMAPGRID2FPROC mjGlad_glMapGrid2f;
-#define glMapGrid2f mjGlad_glMapGrid2f
-typedef void (APIENTRYP PFNGLEVALCOORD1DPROC)(GLdouble u);
-GLAPI PFNGLEVALCOORD1DPROC mjGlad_glEvalCoord1d;
-#define glEvalCoord1d mjGlad_glEvalCoord1d
-typedef void (APIENTRYP PFNGLEVALCOORD1DVPROC)(const GLdouble *u);
-GLAPI PFNGLEVALCOORD1DVPROC mjGlad_glEvalCoord1dv;
-#define glEvalCoord1dv mjGlad_glEvalCoord1dv
-typedef void (APIENTRYP PFNGLEVALCOORD1FPROC)(GLfloat u);
-GLAPI PFNGLEVALCOORD1FPROC mjGlad_glEvalCoord1f;
-#define glEvalCoord1f mjGlad_glEvalCoord1f
-typedef void (APIENTRYP PFNGLEVALCOORD1FVPROC)(const GLfloat *u);
-GLAPI PFNGLEVALCOORD1FVPROC mjGlad_glEvalCoord1fv;
-#define glEvalCoord1fv mjGlad_glEvalCoord1fv
-typedef void (APIENTRYP PFNGLEVALCOORD2DPROC)(GLdouble u, GLdouble v);
-GLAPI PFNGLEVALCOORD2DPROC mjGlad_glEvalCoord2d;
-#define glEvalCoord2d mjGlad_glEvalCoord2d
-typedef void (APIENTRYP PFNGLEVALCOORD2DVPROC)(const GLdouble *u);
-GLAPI PFNGLEVALCOORD2DVPROC mjGlad_glEvalCoord2dv;
-#define glEvalCoord2dv mjGlad_glEvalCoord2dv
-typedef void (APIENTRYP PFNGLEVALCOORD2FPROC)(GLfloat u, GLfloat v);
-GLAPI PFNGLEVALCOORD2FPROC mjGlad_glEvalCoord2f;
-#define glEvalCoord2f mjGlad_glEvalCoord2f
-typedef void (APIENTRYP PFNGLEVALCOORD2FVPROC)(const GLfloat *u);
-GLAPI PFNGLEVALCOORD2FVPROC mjGlad_glEvalCoord2fv;
-#define glEvalCoord2fv mjGlad_glEvalCoord2fv
-typedef void (APIENTRYP PFNGLEVALMESH1PROC)(GLenum mode, GLint i1, GLint i2);
-GLAPI PFNGLEVALMESH1PROC mjGlad_glEvalMesh1;
-#define glEvalMesh1 mjGlad_glEvalMesh1
-typedef void (APIENTRYP PFNGLEVALPOINT1PROC)(GLint i);
-GLAPI PFNGLEVALPOINT1PROC mjGlad_glEvalPoint1;
-#define glEvalPoint1 mjGlad_glEvalPoint1
-typedef void (APIENTRYP PFNGLEVALMESH2PROC)(GLenum mode, GLint i1, GLint i2, GLint j1, GLint j2);
-GLAPI PFNGLEVALMESH2PROC mjGlad_glEvalMesh2;
-#define glEvalMesh2 mjGlad_glEvalMesh2
-typedef void (APIENTRYP PFNGLEVALPOINT2PROC)(GLint i, GLint j);
-GLAPI PFNGLEVALPOINT2PROC mjGlad_glEvalPoint2;
-#define glEvalPoint2 mjGlad_glEvalPoint2
-typedef void (APIENTRYP PFNGLALPHAFUNCPROC)(GLenum func, GLfloat ref);
-GLAPI PFNGLALPHAFUNCPROC mjGlad_glAlphaFunc;
-#define glAlphaFunc mjGlad_glAlphaFunc
-typedef void (APIENTRYP PFNGLPIXELZOOMPROC)(GLfloat xfactor, GLfloat yfactor);
-GLAPI PFNGLPIXELZOOMPROC mjGlad_glPixelZoom;
-#define glPixelZoom mjGlad_glPixelZoom
-typedef void (APIENTRYP PFNGLPIXELTRANSFERFPROC)(GLenum pname, GLfloat param);
-GLAPI PFNGLPIXELTRANSFERFPROC mjGlad_glPixelTransferf;
-#define glPixelTransferf mjGlad_glPixelTransferf
-typedef void (APIENTRYP PFNGLPIXELTRANSFERIPROC)(GLenum pname, GLint param);
-GLAPI PFNGLPIXELTRANSFERIPROC mjGlad_glPixelTransferi;
-#define glPixelTransferi mjGlad_glPixelTransferi
-typedef void (APIENTRYP PFNGLPIXELMAPFVPROC)(GLenum map, GLsizei mapsize, const GLfloat *values);
-GLAPI PFNGLPIXELMAPFVPROC mjGlad_glPixelMapfv;
-#define glPixelMapfv mjGlad_glPixelMapfv
-typedef void (APIENTRYP PFNGLPIXELMAPUIVPROC)(GLenum map, GLsizei mapsize, const GLuint *values);
-GLAPI PFNGLPIXELMAPUIVPROC mjGlad_glPixelMapuiv;
-#define glPixelMapuiv mjGlad_glPixelMapuiv
-typedef void (APIENTRYP PFNGLPIXELMAPUSVPROC)(GLenum map, GLsizei mapsize, const GLushort *values);
-GLAPI PFNGLPIXELMAPUSVPROC mjGlad_glPixelMapusv;
-#define glPixelMapusv mjGlad_glPixelMapusv
-typedef void (APIENTRYP PFNGLCOPYPIXELSPROC)(GLint x, GLint y, GLsizei width, GLsizei height, GLenum type);
-GLAPI PFNGLCOPYPIXELSPROC mjGlad_glCopyPixels;
-#define glCopyPixels mjGlad_glCopyPixels
-typedef void (APIENTRYP PFNGLDRAWPIXELSPROC)(GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels);
-GLAPI PFNGLDRAWPIXELSPROC mjGlad_glDrawPixels;
-#define glDrawPixels mjGlad_glDrawPixels
-typedef void (APIENTRYP PFNGLGETCLIPPLANEPROC)(GLenum plane, GLdouble *equation);
-GLAPI PFNGLGETCLIPPLANEPROC mjGlad_glGetClipPlane;
-#define glGetClipPlane mjGlad_glGetClipPlane
-typedef void (APIENTRYP PFNGLGETLIGHTFVPROC)(GLenum light, GLenum pname, GLfloat *params);
-GLAPI PFNGLGETLIGHTFVPROC mjGlad_glGetLightfv;
-#define glGetLightfv mjGlad_glGetLightfv
-typedef void (APIENTRYP PFNGLGETLIGHTIVPROC)(GLenum light, GLenum pname, GLint *params);
-GLAPI PFNGLGETLIGHTIVPROC mjGlad_glGetLightiv;
-#define glGetLightiv mjGlad_glGetLightiv
-typedef void (APIENTRYP PFNGLGETMAPDVPROC)(GLenum target, GLenum query, GLdouble *v);
-GLAPI PFNGLGETMAPDVPROC mjGlad_glGetMapdv;
-#define glGetMapdv mjGlad_glGetMapdv
-typedef void (APIENTRYP PFNGLGETMAPFVPROC)(GLenum target, GLenum query, GLfloat *v);
-GLAPI PFNGLGETMAPFVPROC mjGlad_glGetMapfv;
-#define glGetMapfv mjGlad_glGetMapfv
-typedef void (APIENTRYP PFNGLGETMAPIVPROC)(GLenum target, GLenum query, GLint *v);
-GLAPI PFNGLGETMAPIVPROC mjGlad_glGetMapiv;
-#define glGetMapiv mjGlad_glGetMapiv
-typedef void (APIENTRYP PFNGLGETMATERIALFVPROC)(GLenum face, GLenum pname, GLfloat *params);
-GLAPI PFNGLGETMATERIALFVPROC mjGlad_glGetMaterialfv;
-#define glGetMaterialfv mjGlad_glGetMaterialfv
-typedef void (APIENTRYP PFNGLGETMATERIALIVPROC)(GLenum face, GLenum pname, GLint *params);
-GLAPI PFNGLGETMATERIALIVPROC mjGlad_glGetMaterialiv;
-#define glGetMaterialiv mjGlad_glGetMaterialiv
-typedef void (APIENTRYP PFNGLGETPIXELMAPFVPROC)(GLenum map, GLfloat *values);
-GLAPI PFNGLGETPIXELMAPFVPROC mjGlad_glGetPixelMapfv;
-#define glGetPixelMapfv mjGlad_glGetPixelMapfv
-typedef void (APIENTRYP PFNGLGETPIXELMAPUIVPROC)(GLenum map, GLuint *values);
-GLAPI PFNGLGETPIXELMAPUIVPROC mjGlad_glGetPixelMapuiv;
-#define glGetPixelMapuiv mjGlad_glGetPixelMapuiv
-typedef void (APIENTRYP PFNGLGETPIXELMAPUSVPROC)(GLenum map, GLushort *values);
-GLAPI PFNGLGETPIXELMAPUSVPROC mjGlad_glGetPixelMapusv;
-#define glGetPixelMapusv mjGlad_glGetPixelMapusv
-typedef void (APIENTRYP PFNGLGETPOLYGONSTIPPLEPROC)(GLubyte *mask);
-GLAPI PFNGLGETPOLYGONSTIPPLEPROC mjGlad_glGetPolygonStipple;
-#define glGetPolygonStipple mjGlad_glGetPolygonStipple
-typedef void (APIENTRYP PFNGLGETTEXENVFVPROC)(GLenum target, GLenum pname, GLfloat *params);
-GLAPI PFNGLGETTEXENVFVPROC mjGlad_glGetTexEnvfv;
-#define glGetTexEnvfv mjGlad_glGetTexEnvfv
-typedef void (APIENTRYP PFNGLGETTEXENVIVPROC)(GLenum target, GLenum pname, GLint *params);
-GLAPI PFNGLGETTEXENVIVPROC mjGlad_glGetTexEnviv;
-#define glGetTexEnviv mjGlad_glGetTexEnviv
-typedef void (APIENTRYP PFNGLGETTEXGENDVPROC)(GLenum coord, GLenum pname, GLdouble *params);
-GLAPI PFNGLGETTEXGENDVPROC mjGlad_glGetTexGendv;
-#define glGetTexGendv mjGlad_glGetTexGendv
-typedef void (APIENTRYP PFNGLGETTEXGENFVPROC)(GLenum coord, GLenum pname, GLfloat *params);
-GLAPI PFNGLGETTEXGENFVPROC mjGlad_glGetTexGenfv;
-#define glGetTexGenfv mjGlad_glGetTexGenfv
-typedef void (APIENTRYP PFNGLGETTEXGENIVPROC)(GLenum coord, GLenum pname, GLint *params);
-GLAPI PFNGLGETTEXGENIVPROC mjGlad_glGetTexGeniv;
-#define glGetTexGeniv mjGlad_glGetTexGeniv
-typedef GLboolean (APIENTRYP PFNGLISLISTPROC)(GLuint list);
-GLAPI PFNGLISLISTPROC mjGlad_glIsList;
-#define glIsList mjGlad_glIsList
-typedef void (APIENTRYP PFNGLFRUSTUMPROC)(GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar);
-GLAPI PFNGLFRUSTUMPROC mjGlad_glFrustum;
-#define glFrustum mjGlad_glFrustum
-typedef void (APIENTRYP PFNGLLOADIDENTITYPROC)(void);
-GLAPI PFNGLLOADIDENTITYPROC mjGlad_glLoadIdentity;
-#define glLoadIdentity mjGlad_glLoadIdentity
-typedef void (APIENTRYP PFNGLLOADMATRIXFPROC)(const GLfloat *m);
-GLAPI PFNGLLOADMATRIXFPROC mjGlad_glLoadMatrixf;
-#define glLoadMatrixf mjGlad_glLoadMatrixf
-typedef void (APIENTRYP PFNGLLOADMATRIXDPROC)(const GLdouble *m);
-GLAPI PFNGLLOADMATRIXDPROC mjGlad_glLoadMatrixd;
-#define glLoadMatrixd mjGlad_glLoadMatrixd
-typedef void (APIENTRYP PFNGLMATRIXMODEPROC)(GLenum mode);
-GLAPI PFNGLMATRIXMODEPROC mjGlad_glMatrixMode;
-#define glMatrixMode mjGlad_glMatrixMode
-typedef void (APIENTRYP PFNGLMULTMATRIXFPROC)(const GLfloat *m);
-GLAPI PFNGLMULTMATRIXFPROC mjGlad_glMultMatrixf;
-#define glMultMatrixf mjGlad_glMultMatrixf
-typedef void (APIENTRYP PFNGLMULTMATRIXDPROC)(const GLdouble *m);
-GLAPI PFNGLMULTMATRIXDPROC mjGlad_glMultMatrixd;
-#define glMultMatrixd mjGlad_glMultMatrixd
-typedef void (APIENTRYP PFNGLORTHOPROC)(GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar);
-GLAPI PFNGLORTHOPROC mjGlad_glOrtho;
-#define glOrtho mjGlad_glOrtho
-typedef void (APIENTRYP PFNGLPOPMATRIXPROC)(void);
-GLAPI PFNGLPOPMATRIXPROC mjGlad_glPopMatrix;
-#define glPopMatrix mjGlad_glPopMatrix
-typedef void (APIENTRYP PFNGLPUSHMATRIXPROC)(void);
-GLAPI PFNGLPUSHMATRIXPROC mjGlad_glPushMatrix;
-#define glPushMatrix mjGlad_glPushMatrix
-typedef void (APIENTRYP PFNGLROTATEDPROC)(GLdouble angle, GLdouble x, GLdouble y, GLdouble z);
-GLAPI PFNGLROTATEDPROC mjGlad_glRotated;
-#define glRotated mjGlad_glRotated
-typedef void (APIENTRYP PFNGLROTATEFPROC)(GLfloat angle, GLfloat x, GLfloat y, GLfloat z);
-GLAPI PFNGLROTATEFPROC mjGlad_glRotatef;
-#define glRotatef mjGlad_glRotatef
-typedef void (APIENTRYP PFNGLSCALEDPROC)(GLdouble x, GLdouble y, GLdouble z);
-GLAPI PFNGLSCALEDPROC mjGlad_glScaled;
-#define glScaled mjGlad_glScaled
-typedef void (APIENTRYP PFNGLSCALEFPROC)(GLfloat x, GLfloat y, GLfloat z);
-GLAPI PFNGLSCALEFPROC mjGlad_glScalef;
-#define glScalef mjGlad_glScalef
-typedef void (APIENTRYP PFNGLTRANSLATEDPROC)(GLdouble x, GLdouble y, GLdouble z);
-GLAPI PFNGLTRANSLATEDPROC mjGlad_glTranslated;
-#define glTranslated mjGlad_glTranslated
-typedef void (APIENTRYP PFNGLTRANSLATEFPROC)(GLfloat x, GLfloat y, GLfloat z);
-GLAPI PFNGLTRANSLATEFPROC mjGlad_glTranslatef;
-#define glTranslatef mjGlad_glTranslatef
-#endif
-#ifndef GL_VERSION_1_1
-#define GL_VERSION_1_1 1
-GLAPI int mjGLAD_GL_VERSION_1_1;
-typedef void (APIENTRYP PFNGLDRAWARRAYSPROC)(GLenum mode, GLint first, GLsizei count);
-GLAPI PFNGLDRAWARRAYSPROC mjGlad_glDrawArrays;
-#define glDrawArrays mjGlad_glDrawArrays
-typedef void (APIENTRYP PFNGLDRAWELEMENTSPROC)(GLenum mode, GLsizei count, GLenum type, const void *indices);
-GLAPI PFNGLDRAWELEMENTSPROC mjGlad_glDrawElements;
-#define glDrawElements mjGlad_glDrawElements
-typedef void (APIENTRYP PFNGLGETPOINTERVPROC)(GLenum pname, void **params);
-GLAPI PFNGLGETPOINTERVPROC mjGlad_glGetPointerv;
-#define glGetPointerv mjGlad_glGetPointerv
-typedef void (APIENTRYP PFNGLPOLYGONOFFSETPROC)(GLfloat factor, GLfloat units);
-GLAPI PFNGLPOLYGONOFFSETPROC mjGlad_glPolygonOffset;
-#define glPolygonOffset mjGlad_glPolygonOffset
-typedef void (APIENTRYP PFNGLCOPYTEXIMAGE1DPROC)(GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border);
-GLAPI PFNGLCOPYTEXIMAGE1DPROC mjGlad_glCopyTexImage1D;
-#define glCopyTexImage1D mjGlad_glCopyTexImage1D
-typedef void (APIENTRYP PFNGLCOPYTEXIMAGE2DPROC)(GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border);
-GLAPI PFNGLCOPYTEXIMAGE2DPROC mjGlad_glCopyTexImage2D;
-#define glCopyTexImage2D mjGlad_glCopyTexImage2D
-typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE1DPROC)(GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width);
-GLAPI PFNGLCOPYTEXSUBIMAGE1DPROC mjGlad_glCopyTexSubImage1D;
-#define glCopyTexSubImage1D mjGlad_glCopyTexSubImage1D
-typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE2DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height);
-GLAPI PFNGLCOPYTEXSUBIMAGE2DPROC mjGlad_glCopyTexSubImage2D;
-#define glCopyTexSubImage2D mjGlad_glCopyTexSubImage2D
-typedef void (APIENTRYP PFNGLTEXSUBIMAGE1DPROC)(GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void *pixels);
-GLAPI PFNGLTEXSUBIMAGE1DPROC mjGlad_glTexSubImage1D;
-#define glTexSubImage1D mjGlad_glTexSubImage1D
-typedef void (APIENTRYP PFNGLTEXSUBIMAGE2DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void *pixels);
-GLAPI PFNGLTEXSUBIMAGE2DPROC mjGlad_glTexSubImage2D;
-#define glTexSubImage2D mjGlad_glTexSubImage2D
-typedef void (APIENTRYP PFNGLBINDTEXTUREPROC)(GLenum target, GLuint texture);
-GLAPI PFNGLBINDTEXTUREPROC mjGlad_glBindTexture;
-#define glBindTexture mjGlad_glBindTexture
-typedef void (APIENTRYP PFNGLDELETETEXTURESPROC)(GLsizei n, const GLuint *textures);
-GLAPI PFNGLDELETETEXTURESPROC mjGlad_glDeleteTextures;
-#define glDeleteTextures mjGlad_glDeleteTextures
-typedef void (APIENTRYP PFNGLGENTEXTURESPROC)(GLsizei n, GLuint *textures);
-GLAPI PFNGLGENTEXTURESPROC mjGlad_glGenTextures;
-#define glGenTextures mjGlad_glGenTextures
-typedef GLboolean (APIENTRYP PFNGLISTEXTUREPROC)(GLuint texture);
-GLAPI PFNGLISTEXTUREPROC mjGlad_glIsTexture;
-#define glIsTexture mjGlad_glIsTexture
-typedef void (APIENTRYP PFNGLARRAYELEMENTPROC)(GLint i);
-GLAPI PFNGLARRAYELEMENTPROC mjGlad_glArrayElement;
-#define glArrayElement mjGlad_glArrayElement
-typedef void (APIENTRYP PFNGLCOLORPOINTERPROC)(GLint size, GLenum type, GLsizei stride, const void *pointer);
-GLAPI PFNGLCOLORPOINTERPROC mjGlad_glColorPointer;
-#define glColorPointer mjGlad_glColorPointer
-typedef void (APIENTRYP PFNGLDISABLECLIENTSTATEPROC)(GLenum array);
-GLAPI PFNGLDISABLECLIENTSTATEPROC mjGlad_glDisableClientState;
-#define glDisableClientState mjGlad_glDisableClientState
-typedef void (APIENTRYP PFNGLEDGEFLAGPOINTERPROC)(GLsizei stride, const void *pointer);
-GLAPI PFNGLEDGEFLAGPOINTERPROC mjGlad_glEdgeFlagPointer;
-#define glEdgeFlagPointer mjGlad_glEdgeFlagPointer
-typedef void (APIENTRYP PFNGLENABLECLIENTSTATEPROC)(GLenum array);
-GLAPI PFNGLENABLECLIENTSTATEPROC mjGlad_glEnableClientState;
-#define glEnableClientState mjGlad_glEnableClientState
-typedef void (APIENTRYP PFNGLINDEXPOINTERPROC)(GLenum type, GLsizei stride, const void *pointer);
-GLAPI PFNGLINDEXPOINTERPROC mjGlad_glIndexPointer;
-#define glIndexPointer mjGlad_glIndexPointer
-typedef void (APIENTRYP PFNGLINTERLEAVEDARRAYSPROC)(GLenum format, GLsizei stride, const void *pointer);
-GLAPI PFNGLINTERLEAVEDARRAYSPROC mjGlad_glInterleavedArrays;
-#define glInterleavedArrays mjGlad_glInterleavedArrays
-typedef void (APIENTRYP PFNGLNORMALPOINTERPROC)(GLenum type, GLsizei stride, const void *pointer);
-GLAPI PFNGLNORMALPOINTERPROC mjGlad_glNormalPointer;
-#define glNormalPointer mjGlad_glNormalPointer
-typedef void (APIENTRYP PFNGLTEXCOORDPOINTERPROC)(GLint size, GLenum type, GLsizei stride, const void *pointer);
-GLAPI PFNGLTEXCOORDPOINTERPROC mjGlad_glTexCoordPointer;
-#define glTexCoordPointer mjGlad_glTexCoordPointer
-typedef void (APIENTRYP PFNGLVERTEXPOINTERPROC)(GLint size, GLenum type, GLsizei stride, const void *pointer);
-GLAPI PFNGLVERTEXPOINTERPROC mjGlad_glVertexPointer;
-#define glVertexPointer mjGlad_glVertexPointer
-typedef GLboolean (APIENTRYP PFNGLARETEXTURESRESIDENTPROC)(GLsizei n, const GLuint *textures, GLboolean *residences);
-GLAPI PFNGLARETEXTURESRESIDENTPROC mjGlad_glAreTexturesResident;
-#define glAreTexturesResident mjGlad_glAreTexturesResident
-typedef void (APIENTRYP PFNGLPRIORITIZETEXTURESPROC)(GLsizei n, const GLuint *textures, const GLfloat *priorities);
-GLAPI PFNGLPRIORITIZETEXTURESPROC mjGlad_glPrioritizeTextures;
-#define glPrioritizeTextures mjGlad_glPrioritizeTextures
-typedef void (APIENTRYP PFNGLINDEXUBPROC)(GLubyte c);
-GLAPI PFNGLINDEXUBPROC mjGlad_glIndexub;
-#define glIndexub mjGlad_glIndexub
-typedef void (APIENTRYP PFNGLINDEXUBVPROC)(const GLubyte *c);
-GLAPI PFNGLINDEXUBVPROC mjGlad_glIndexubv;
-#define glIndexubv mjGlad_glIndexubv
-typedef void (APIENTRYP PFNGLPOPCLIENTATTRIBPROC)(void);
-GLAPI PFNGLPOPCLIENTATTRIBPROC mjGlad_glPopClientAttrib;
-#define glPopClientAttrib mjGlad_glPopClientAttrib
-typedef void (APIENTRYP PFNGLPUSHCLIENTATTRIBPROC)(GLbitfield mask);
-GLAPI PFNGLPUSHCLIENTATTRIBPROC mjGlad_glPushClientAttrib;
-#define glPushClientAttrib mjGlad_glPushClientAttrib
-#endif
-#ifndef GL_VERSION_1_2
-#define GL_VERSION_1_2 1
-GLAPI int mjGLAD_GL_VERSION_1_2;
-typedef void (APIENTRYP PFNGLDRAWRANGEELEMENTSPROC)(GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void *indices);
-GLAPI PFNGLDRAWRANGEELEMENTSPROC mjGlad_glDrawRangeElements;
-#define glDrawRangeElements mjGlad_glDrawRangeElements
-typedef void (APIENTRYP PFNGLTEXIMAGE3DPROC)(GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void *pixels);
-GLAPI PFNGLTEXIMAGE3DPROC mjGlad_glTexImage3D;
-#define glTexImage3D mjGlad_glTexImage3D
-typedef void (APIENTRYP PFNGLTEXSUBIMAGE3DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void *pixels);
-GLAPI PFNGLTEXSUBIMAGE3DPROC mjGlad_glTexSubImage3D;
-#define glTexSubImage3D mjGlad_glTexSubImage3D
-typedef void (APIENTRYP PFNGLCOPYTEXSUBIMAGE3DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height);
-GLAPI PFNGLCOPYTEXSUBIMAGE3DPROC mjGlad_glCopyTexSubImage3D;
-#define glCopyTexSubImage3D mjGlad_glCopyTexSubImage3D
-#endif
-#ifndef GL_VERSION_1_3
-#define GL_VERSION_1_3 1
-GLAPI int mjGLAD_GL_VERSION_1_3;
-typedef void (APIENTRYP PFNGLACTIVETEXTUREPROC)(GLenum texture);
-GLAPI PFNGLACTIVETEXTUREPROC mjGlad_glActiveTexture;
-#define glActiveTexture mjGlad_glActiveTexture
-typedef void (APIENTRYP PFNGLSAMPLECOVERAGEPROC)(GLfloat value, GLboolean invert);
-GLAPI PFNGLSAMPLECOVERAGEPROC mjGlad_glSampleCoverage;
-#define glSampleCoverage mjGlad_glSampleCoverage
-typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE3DPROC)(GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void *data);
-GLAPI PFNGLCOMPRESSEDTEXIMAGE3DPROC mjGlad_glCompressedTexImage3D;
-#define glCompressedTexImage3D mjGlad_glCompressedTexImage3D
-typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE2DPROC)(GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void *data);
-GLAPI PFNGLCOMPRESSEDTEXIMAGE2DPROC mjGlad_glCompressedTexImage2D;
-#define glCompressedTexImage2D mjGlad_glCompressedTexImage2D
-typedef void (APIENTRYP PFNGLCOMPRESSEDTEXIMAGE1DPROC)(GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void *data);
-GLAPI PFNGLCOMPRESSEDTEXIMAGE1DPROC mjGlad_glCompressedTexImage1D;
-#define glCompressedTexImage1D mjGlad_glCompressedTexImage1D
-typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void *data);
-GLAPI PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC mjGlad_glCompressedTexSubImage3D;
-#define glCompressedTexSubImage3D mjGlad_glCompressedTexSubImage3D
-typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC)(GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void *data);
-GLAPI PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC mjGlad_glCompressedTexSubImage2D;
-#define glCompressedTexSubImage2D mjGlad_glCompressedTexSubImage2D
-typedef void (APIENTRYP PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC)(GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void *data);
-GLAPI PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC mjGlad_glCompressedTexSubImage1D;
-#define glCompressedTexSubImage1D mjGlad_glCompressedTexSubImage1D
-typedef void (APIENTRYP PFNGLGETCOMPRESSEDTEXIMAGEPROC)(GLenum target, GLint level, void *img);
-GLAPI PFNGLGETCOMPRESSEDTEXIMAGEPROC mjGlad_glGetCompressedTexImage;
-#define glGetCompressedTexImage mjGlad_glGetCompressedTexImage
-typedef void (APIENTRYP PFNGLCLIENTACTIVETEXTUREPROC)(GLenum texture);
-GLAPI PFNGLCLIENTACTIVETEXTUREPROC mjGlad_glClientActiveTexture;
-#define glClientActiveTexture mjGlad_glClientActiveTexture
-typedef void (APIENTRYP PFNGLMULTITEXCOORD1DPROC)(GLenum target, GLdouble s);
-GLAPI PFNGLMULTITEXCOORD1DPROC mjGlad_glMultiTexCoord1d;
-#define glMultiTexCoord1d mjGlad_glMultiTexCoord1d
-typedef void (APIENTRYP PFNGLMULTITEXCOORD1DVPROC)(GLenum target, const GLdouble *v);
-GLAPI PFNGLMULTITEXCOORD1DVPROC mjGlad_glMultiTexCoord1dv;
-#define glMultiTexCoord1dv mjGlad_glMultiTexCoord1dv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD1FPROC)(GLenum target, GLfloat s);
-GLAPI PFNGLMULTITEXCOORD1FPROC mjGlad_glMultiTexCoord1f;
-#define glMultiTexCoord1f mjGlad_glMultiTexCoord1f
-typedef void (APIENTRYP PFNGLMULTITEXCOORD1FVPROC)(GLenum target, const GLfloat *v);
-GLAPI PFNGLMULTITEXCOORD1FVPROC mjGlad_glMultiTexCoord1fv;
-#define glMultiTexCoord1fv mjGlad_glMultiTexCoord1fv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD1IPROC)(GLenum target, GLint s);
-GLAPI PFNGLMULTITEXCOORD1IPROC mjGlad_glMultiTexCoord1i;
-#define glMultiTexCoord1i mjGlad_glMultiTexCoord1i
-typedef void (APIENTRYP PFNGLMULTITEXCOORD1IVPROC)(GLenum target, const GLint *v);
-GLAPI PFNGLMULTITEXCOORD1IVPROC mjGlad_glMultiTexCoord1iv;
-#define glMultiTexCoord1iv mjGlad_glMultiTexCoord1iv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD1SPROC)(GLenum target, GLshort s);
-GLAPI PFNGLMULTITEXCOORD1SPROC mjGlad_glMultiTexCoord1s;
-#define glMultiTexCoord1s mjGlad_glMultiTexCoord1s
-typedef void (APIENTRYP PFNGLMULTITEXCOORD1SVPROC)(GLenum target, const GLshort *v);
-GLAPI PFNGLMULTITEXCOORD1SVPROC mjGlad_glMultiTexCoord1sv;
-#define glMultiTexCoord1sv mjGlad_glMultiTexCoord1sv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD2DPROC)(GLenum target, GLdouble s, GLdouble t);
-GLAPI PFNGLMULTITEXCOORD2DPROC mjGlad_glMultiTexCoord2d;
-#define glMultiTexCoord2d mjGlad_glMultiTexCoord2d
-typedef void (APIENTRYP PFNGLMULTITEXCOORD2DVPROC)(GLenum target, const GLdouble *v);
-GLAPI PFNGLMULTITEXCOORD2DVPROC mjGlad_glMultiTexCoord2dv;
-#define glMultiTexCoord2dv mjGlad_glMultiTexCoord2dv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD2FPROC)(GLenum target, GLfloat s, GLfloat t);
-GLAPI PFNGLMULTITEXCOORD2FPROC mjGlad_glMultiTexCoord2f;
-#define glMultiTexCoord2f mjGlad_glMultiTexCoord2f
-typedef void (APIENTRYP PFNGLMULTITEXCOORD2FVPROC)(GLenum target, const GLfloat *v);
-GLAPI PFNGLMULTITEXCOORD2FVPROC mjGlad_glMultiTexCoord2fv;
-#define glMultiTexCoord2fv mjGlad_glMultiTexCoord2fv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD2IPROC)(GLenum target, GLint s, GLint t);
-GLAPI PFNGLMULTITEXCOORD2IPROC mjGlad_glMultiTexCoord2i;
-#define glMultiTexCoord2i mjGlad_glMultiTexCoord2i
-typedef void (APIENTRYP PFNGLMULTITEXCOORD2IVPROC)(GLenum target, const GLint *v);
-GLAPI PFNGLMULTITEXCOORD2IVPROC mjGlad_glMultiTexCoord2iv;
-#define glMultiTexCoord2iv mjGlad_glMultiTexCoord2iv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD2SPROC)(GLenum target, GLshort s, GLshort t);
-GLAPI PFNGLMULTITEXCOORD2SPROC mjGlad_glMultiTexCoord2s;
-#define glMultiTexCoord2s mjGlad_glMultiTexCoord2s
-typedef void (APIENTRYP PFNGLMULTITEXCOORD2SVPROC)(GLenum target, const GLshort *v);
-GLAPI PFNGLMULTITEXCOORD2SVPROC mjGlad_glMultiTexCoord2sv;
-#define glMultiTexCoord2sv mjGlad_glMultiTexCoord2sv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD3DPROC)(GLenum target, GLdouble s, GLdouble t, GLdouble r);
-GLAPI PFNGLMULTITEXCOORD3DPROC mjGlad_glMultiTexCoord3d;
-#define glMultiTexCoord3d mjGlad_glMultiTexCoord3d
-typedef void (APIENTRYP PFNGLMULTITEXCOORD3DVPROC)(GLenum target, const GLdouble *v);
-GLAPI PFNGLMULTITEXCOORD3DVPROC mjGlad_glMultiTexCoord3dv;
-#define glMultiTexCoord3dv mjGlad_glMultiTexCoord3dv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD3FPROC)(GLenum target, GLfloat s, GLfloat t, GLfloat r);
-GLAPI PFNGLMULTITEXCOORD3FPROC mjGlad_glMultiTexCoord3f;
-#define glMultiTexCoord3f mjGlad_glMultiTexCoord3f
-typedef void (APIENTRYP PFNGLMULTITEXCOORD3FVPROC)(GLenum target, const GLfloat *v);
-GLAPI PFNGLMULTITEXCOORD3FVPROC mjGlad_glMultiTexCoord3fv;
-#define glMultiTexCoord3fv mjGlad_glMultiTexCoord3fv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD3IPROC)(GLenum target, GLint s, GLint t, GLint r);
-GLAPI PFNGLMULTITEXCOORD3IPROC mjGlad_glMultiTexCoord3i;
-#define glMultiTexCoord3i mjGlad_glMultiTexCoord3i
-typedef void (APIENTRYP PFNGLMULTITEXCOORD3IVPROC)(GLenum target, const GLint *v);
-GLAPI PFNGLMULTITEXCOORD3IVPROC mjGlad_glMultiTexCoord3iv;
-#define glMultiTexCoord3iv mjGlad_glMultiTexCoord3iv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD3SPROC)(GLenum target, GLshort s, GLshort t, GLshort r);
-GLAPI PFNGLMULTITEXCOORD3SPROC mjGlad_glMultiTexCoord3s;
-#define glMultiTexCoord3s mjGlad_glMultiTexCoord3s
-typedef void (APIENTRYP PFNGLMULTITEXCOORD3SVPROC)(GLenum target, const GLshort *v);
-GLAPI PFNGLMULTITEXCOORD3SVPROC mjGlad_glMultiTexCoord3sv;
-#define glMultiTexCoord3sv mjGlad_glMultiTexCoord3sv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD4DPROC)(GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q);
-GLAPI PFNGLMULTITEXCOORD4DPROC mjGlad_glMultiTexCoord4d;
-#define glMultiTexCoord4d mjGlad_glMultiTexCoord4d
-typedef void (APIENTRYP PFNGLMULTITEXCOORD4DVPROC)(GLenum target, const GLdouble *v);
-GLAPI PFNGLMULTITEXCOORD4DVPROC mjGlad_glMultiTexCoord4dv;
-#define glMultiTexCoord4dv mjGlad_glMultiTexCoord4dv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD4FPROC)(GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q);
-GLAPI PFNGLMULTITEXCOORD4FPROC mjGlad_glMultiTexCoord4f;
-#define glMultiTexCoord4f mjGlad_glMultiTexCoord4f
-typedef void (APIENTRYP PFNGLMULTITEXCOORD4FVPROC)(GLenum target, const GLfloat *v);
-GLAPI PFNGLMULTITEXCOORD4FVPROC mjGlad_glMultiTexCoord4fv;
-#define glMultiTexCoord4fv mjGlad_glMultiTexCoord4fv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD4IPROC)(GLenum target, GLint s, GLint t, GLint r, GLint q);
-GLAPI PFNGLMULTITEXCOORD4IPROC mjGlad_glMultiTexCoord4i;
-#define glMultiTexCoord4i mjGlad_glMultiTexCoord4i
-typedef void (APIENTRYP PFNGLMULTITEXCOORD4IVPROC)(GLenum target, const GLint *v);
-GLAPI PFNGLMULTITEXCOORD4IVPROC mjGlad_glMultiTexCoord4iv;
-#define glMultiTexCoord4iv mjGlad_glMultiTexCoord4iv
-typedef void (APIENTRYP PFNGLMULTITEXCOORD4SPROC)(GLenum target, GLshort s, GLshort t, GLshort r, GLshort q);
-GLAPI PFNGLMULTITEXCOORD4SPROC mjGlad_glMultiTexCoord4s;
-#define glMultiTexCoord4s mjGlad_glMultiTexCoord4s
-typedef void (APIENTRYP PFNGLMULTITEXCOORD4SVPROC)(GLenum target, const GLshort *v);
-GLAPI PFNGLMULTITEXCOORD4SVPROC mjGlad_glMultiTexCoord4sv;
-#define glMultiTexCoord4sv mjGlad_glMultiTexCoord4sv
-typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXFPROC)(const GLfloat *m);
-GLAPI PFNGLLOADTRANSPOSEMATRIXFPROC mjGlad_glLoadTransposeMatrixf;
-#define glLoadTransposeMatrixf mjGlad_glLoadTransposeMatrixf
-typedef void (APIENTRYP PFNGLLOADTRANSPOSEMATRIXDPROC)(const GLdouble *m);
-GLAPI PFNGLLOADTRANSPOSEMATRIXDPROC mjGlad_glLoadTransposeMatrixd;
-#define glLoadTransposeMatrixd mjGlad_glLoadTransposeMatrixd
-typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXFPROC)(const GLfloat *m);
-GLAPI PFNGLMULTTRANSPOSEMATRIXFPROC mjGlad_glMultTransposeMatrixf;
-#define glMultTransposeMatrixf mjGlad_glMultTransposeMatrixf
-typedef void (APIENTRYP PFNGLMULTTRANSPOSEMATRIXDPROC)(const GLdouble *m);
-GLAPI PFNGLMULTTRANSPOSEMATRIXDPROC mjGlad_glMultTransposeMatrixd;
-#define glMultTransposeMatrixd mjGlad_glMultTransposeMatrixd
-#endif
-#ifndef GL_VERSION_1_4
-#define GL_VERSION_1_4 1
-GLAPI int mjGLAD_GL_VERSION_1_4;
-typedef void (APIENTRYP PFNGLBLENDFUNCSEPARATEPROC)(GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha);
-GLAPI PFNGLBLENDFUNCSEPARATEPROC mjGlad_glBlendFuncSeparate;
-#define glBlendFuncSeparate mjGlad_glBlendFuncSeparate
-typedef void (APIENTRYP PFNGLMULTIDRAWARRAYSPROC)(GLenum mode, const GLint *first, const GLsizei *count, GLsizei drawcount);
-GLAPI PFNGLMULTIDRAWARRAYSPROC mjGlad_glMultiDrawArrays;
-#define glMultiDrawArrays mjGlad_glMultiDrawArrays
-typedef void (APIENTRYP PFNGLMULTIDRAWELEMENTSPROC)(GLenum mode, const GLsizei *count, GLenum type, const void *const*indices, GLsizei drawcount);
-GLAPI PFNGLMULTIDRAWELEMENTSPROC mjGlad_glMultiDrawElements;
-#define glMultiDrawElements mjGlad_glMultiDrawElements
-typedef void (APIENTRYP PFNGLPOINTPARAMETERFPROC)(GLenum pname, GLfloat param);
-GLAPI PFNGLPOINTPARAMETERFPROC mjGlad_glPointParameterf;
-#define glPointParameterf mjGlad_glPointParameterf
-typedef void (APIENTRYP PFNGLPOINTPARAMETERFVPROC)(GLenum pname, const GLfloat *params);
-GLAPI PFNGLPOINTPARAMETERFVPROC mjGlad_glPointParameterfv;
-#define glPointParameterfv mjGlad_glPointParameterfv
-typedef void (APIENTRYP PFNGLPOINTPARAMETERIPROC)(GLenum pname, GLint param);
-GLAPI PFNGLPOINTPARAMETERIPROC mjGlad_glPointParameteri;
-#define glPointParameteri mjGlad_glPointParameteri
-typedef void (APIENTRYP PFNGLPOINTPARAMETERIVPROC)(GLenum pname, const GLint *params);
-GLAPI PFNGLPOINTPARAMETERIVPROC mjGlad_glPointParameteriv;
-#define glPointParameteriv mjGlad_glPointParameteriv
-typedef void (APIENTRYP PFNGLFOGCOORDFPROC)(GLfloat coord);
-GLAPI PFNGLFOGCOORDFPROC mjGlad_glFogCoordf;
-#define glFogCoordf mjGlad_glFogCoordf
-typedef void (APIENTRYP PFNGLFOGCOORDFVPROC)(const GLfloat *coord);
-GLAPI PFNGLFOGCOORDFVPROC mjGlad_glFogCoordfv;
-#define glFogCoordfv mjGlad_glFogCoordfv
-typedef void (APIENTRYP PFNGLFOGCOORDDPROC)(GLdouble coord);
-GLAPI PFNGLFOGCOORDDPROC mjGlad_glFogCoordd;
-#define glFogCoordd mjGlad_glFogCoordd
-typedef void (APIENTRYP PFNGLFOGCOORDDVPROC)(const GLdouble *coord);
-GLAPI PFNGLFOGCOORDDVPROC mjGlad_glFogCoorddv;
-#define glFogCoorddv mjGlad_glFogCoorddv
-typedef void (APIENTRYP PFNGLFOGCOORDPOINTERPROC)(GLenum type, GLsizei stride, const void *pointer);
-GLAPI PFNGLFOGCOORDPOINTERPROC mjGlad_glFogCoordPointer;
-#define glFogCoordPointer mjGlad_glFogCoordPointer
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BPROC)(GLbyte red, GLbyte green, GLbyte blue);
-GLAPI PFNGLSECONDARYCOLOR3BPROC mjGlad_glSecondaryColor3b;
-#define glSecondaryColor3b mjGlad_glSecondaryColor3b
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3BVPROC)(const GLbyte *v);
-GLAPI PFNGLSECONDARYCOLOR3BVPROC mjGlad_glSecondaryColor3bv;
-#define glSecondaryColor3bv mjGlad_glSecondaryColor3bv
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DPROC)(GLdouble red, GLdouble green, GLdouble blue);
-GLAPI PFNGLSECONDARYCOLOR3DPROC mjGlad_glSecondaryColor3d;
-#define glSecondaryColor3d mjGlad_glSecondaryColor3d
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3DVPROC)(const GLdouble *v);
-GLAPI PFNGLSECONDARYCOLOR3DVPROC mjGlad_glSecondaryColor3dv;
-#define glSecondaryColor3dv mjGlad_glSecondaryColor3dv
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FPROC)(GLfloat red, GLfloat green, GLfloat blue);
-GLAPI PFNGLSECONDARYCOLOR3FPROC mjGlad_glSecondaryColor3f;
-#define glSecondaryColor3f mjGlad_glSecondaryColor3f
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3FVPROC)(const GLfloat *v);
-GLAPI PFNGLSECONDARYCOLOR3FVPROC mjGlad_glSecondaryColor3fv;
-#define glSecondaryColor3fv mjGlad_glSecondaryColor3fv
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IPROC)(GLint red, GLint green, GLint blue);
-GLAPI PFNGLSECONDARYCOLOR3IPROC mjGlad_glSecondaryColor3i;
-#define glSecondaryColor3i mjGlad_glSecondaryColor3i
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3IVPROC)(const GLint *v);
-GLAPI PFNGLSECONDARYCOLOR3IVPROC mjGlad_glSecondaryColor3iv;
-#define glSecondaryColor3iv mjGlad_glSecondaryColor3iv
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SPROC)(GLshort red, GLshort green, GLshort blue);
-GLAPI PFNGLSECONDARYCOLOR3SPROC mjGlad_glSecondaryColor3s;
-#define glSecondaryColor3s mjGlad_glSecondaryColor3s
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3SVPROC)(const GLshort *v);
-GLAPI PFNGLSECONDARYCOLOR3SVPROC mjGlad_glSecondaryColor3sv;
-#define glSecondaryColor3sv mjGlad_glSecondaryColor3sv
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBPROC)(GLubyte red, GLubyte green, GLubyte blue);
-GLAPI PFNGLSECONDARYCOLOR3UBPROC mjGlad_glSecondaryColor3ub;
-#define glSecondaryColor3ub mjGlad_glSecondaryColor3ub
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UBVPROC)(const GLubyte *v);
-GLAPI PFNGLSECONDARYCOLOR3UBVPROC mjGlad_glSecondaryColor3ubv;
-#define glSecondaryColor3ubv mjGlad_glSecondaryColor3ubv
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIPROC)(GLuint red, GLuint green, GLuint blue);
-GLAPI PFNGLSECONDARYCOLOR3UIPROC mjGlad_glSecondaryColor3ui;
-#define glSecondaryColor3ui mjGlad_glSecondaryColor3ui
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3UIVPROC)(const GLuint *v);
-GLAPI PFNGLSECONDARYCOLOR3UIVPROC mjGlad_glSecondaryColor3uiv;
-#define glSecondaryColor3uiv mjGlad_glSecondaryColor3uiv
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USPROC)(GLushort red, GLushort green, GLushort blue);
-GLAPI PFNGLSECONDARYCOLOR3USPROC mjGlad_glSecondaryColor3us;
-#define glSecondaryColor3us mjGlad_glSecondaryColor3us
-typedef void (APIENTRYP PFNGLSECONDARYCOLOR3USVPROC)(const GLushort *v);
-GLAPI PFNGLSECONDARYCOLOR3USVPROC mjGlad_glSecondaryColor3usv;
-#define glSecondaryColor3usv mjGlad_glSecondaryColor3usv
-typedef void (APIENTRYP PFNGLSECONDARYCOLORPOINTERPROC)(GLint size, GLenum type, GLsizei stride, const void *pointer);
-GLAPI PFNGLSECONDARYCOLORPOINTERPROC mjGlad_glSecondaryColorPointer;
-#define glSecondaryColorPointer mjGlad_glSecondaryColorPointer
-typedef void (APIENTRYP PFNGLWINDOWPOS2DPROC)(GLdouble x, GLdouble y);
-GLAPI PFNGLWINDOWPOS2DPROC mjGlad_glWindowPos2d;
-#define glWindowPos2d mjGlad_glWindowPos2d
-typedef void (APIENTRYP PFNGLWINDOWPOS2DVPROC)(const GLdouble *v);
-GLAPI PFNGLWINDOWPOS2DVPROC mjGlad_glWindowPos2dv;
-#define glWindowPos2dv mjGlad_glWindowPos2dv
-typedef void (APIENTRYP PFNGLWINDOWPOS2FPROC)(GLfloat x, GLfloat y);
-GLAPI PFNGLWINDOWPOS2FPROC mjGlad_glWindowPos2f;
-#define glWindowPos2f mjGlad_glWindowPos2f
-typedef void (APIENTRYP PFNGLWINDOWPOS2FVPROC)(const GLfloat *v);
-GLAPI PFNGLWINDOWPOS2FVPROC mjGlad_glWindowPos2fv;
-#define glWindowPos2fv mjGlad_glWindowPos2fv
-typedef void (APIENTRYP PFNGLWINDOWPOS2IPROC)(GLint x, GLint y);
-GLAPI PFNGLWINDOWPOS2IPROC mjGlad_glWindowPos2i;
-#define glWindowPos2i mjGlad_glWindowPos2i
-typedef void (APIENTRYP PFNGLWINDOWPOS2IVPROC)(const GLint *v);
-GLAPI PFNGLWINDOWPOS2IVPROC mjGlad_glWindowPos2iv;
-#define glWindowPos2iv mjGlad_glWindowPos2iv
-typedef void (APIENTRYP PFNGLWINDOWPOS2SPROC)(GLshort x, GLshort y);
-GLAPI PFNGLWINDOWPOS2SPROC mjGlad_glWindowPos2s;
-#define glWindowPos2s mjGlad_glWindowPos2s
-typedef void (APIENTRYP PFNGLWINDOWPOS2SVPROC)(const GLshort *v);
-GLAPI PFNGLWINDOWPOS2SVPROC mjGlad_glWindowPos2sv;
-#define glWindowPos2sv mjGlad_glWindowPos2sv
-typedef void (APIENTRYP PFNGLWINDOWPOS3DPROC)(GLdouble x, GLdouble y, GLdouble z);
-GLAPI PFNGLWINDOWPOS3DPROC mjGlad_glWindowPos3d;
-#define glWindowPos3d mjGlad_glWindowPos3d
-typedef void (APIENTRYP PFNGLWINDOWPOS3DVPROC)(const GLdouble *v);
-GLAPI PFNGLWINDOWPOS3DVPROC mjGlad_glWindowPos3dv;
-#define glWindowPos3dv mjGlad_glWindowPos3dv
-typedef void (APIENTRYP PFNGLWINDOWPOS3FPROC)(GLfloat x, GLfloat y, GLfloat z);
-GLAPI PFNGLWINDOWPOS3FPROC mjGlad_glWindowPos3f;
-#define glWindowPos3f mjGlad_glWindowPos3f
-typedef void (APIENTRYP PFNGLWINDOWPOS3FVPROC)(const GLfloat *v);
-GLAPI PFNGLWINDOWPOS3FVPROC mjGlad_glWindowPos3fv;
-#define glWindowPos3fv mjGlad_glWindowPos3fv
-typedef void (APIENTRYP PFNGLWINDOWPOS3IPROC)(GLint x, GLint y, GLint z);
-GLAPI PFNGLWINDOWPOS3IPROC mjGlad_glWindowPos3i;
-#define glWindowPos3i mjGlad_glWindowPos3i
-typedef void (APIENTRYP PFNGLWINDOWPOS3IVPROC)(const GLint *v);
-GLAPI PFNGLWINDOWPOS3IVPROC mjGlad_glWindowPos3iv;
-#define glWindowPos3iv mjGlad_glWindowPos3iv
-typedef void (APIENTRYP PFNGLWINDOWPOS3SPROC)(GLshort x, GLshort y, GLshort z);
-GLAPI PFNGLWINDOWPOS3SPROC mjGlad_glWindowPos3s;
-#define glWindowPos3s mjGlad_glWindowPos3s
-typedef void (APIENTRYP PFNGLWINDOWPOS3SVPROC)(const GLshort *v);
-GLAPI PFNGLWINDOWPOS3SVPROC mjGlad_glWindowPos3sv;
-#define glWindowPos3sv mjGlad_glWindowPos3sv
-typedef void (APIENTRYP PFNGLBLENDCOLORPROC)(GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha);
-GLAPI PFNGLBLENDCOLORPROC mjGlad_glBlendColor;
-#define glBlendColor mjGlad_glBlendColor
-typedef void (APIENTRYP PFNGLBLENDEQUATIONPROC)(GLenum mode);
-GLAPI PFNGLBLENDEQUATIONPROC mjGlad_glBlendEquation;
-#define glBlendEquation mjGlad_glBlendEquation
-#endif
-#ifndef GL_VERSION_1_5
-#define GL_VERSION_1_5 1
-GLAPI int mjGLAD_GL_VERSION_1_5;
-typedef void (APIENTRYP PFNGLGENQUERIESPROC)(GLsizei n, GLuint *ids);
-GLAPI PFNGLGENQUERIESPROC mjGlad_glGenQueries;
-#define glGenQueries mjGlad_glGenQueries
-typedef void (APIENTRYP PFNGLDELETEQUERIESPROC)(GLsizei n, const GLuint *ids);
-GLAPI PFNGLDELETEQUERIESPROC mjGlad_glDeleteQueries;
-#define glDeleteQueries mjGlad_glDeleteQueries
-typedef GLboolean (APIENTRYP PFNGLISQUERYPROC)(GLuint id);
-GLAPI PFNGLISQUERYPROC mjGlad_glIsQuery;
-#define glIsQuery mjGlad_glIsQuery
-typedef void (APIENTRYP PFNGLBEGINQUERYPROC)(GLenum target, GLuint id);
-GLAPI PFNGLBEGINQUERYPROC mjGlad_glBeginQuery;
-#define glBeginQuery mjGlad_glBeginQuery
-typedef void (APIENTRYP PFNGLENDQUERYPROC)(GLenum target);
-GLAPI PFNGLENDQUERYPROC mjGlad_glEndQuery;
-#define glEndQuery mjGlad_glEndQuery
-typedef void (APIENTRYP PFNGLGETQUERYIVPROC)(GLenum target, GLenum pname, GLint *params);
-GLAPI PFNGLGETQUERYIVPROC mjGlad_glGetQueryiv;
-#define glGetQueryiv mjGlad_glGetQueryiv
-typedef void (APIENTRYP PFNGLGETQUERYOBJECTIVPROC)(GLuint id, GLenum pname, GLint *params);
-GLAPI PFNGLGETQUERYOBJECTIVPROC mjGlad_glGetQueryObjectiv;
-#define glGetQueryObjectiv mjGlad_glGetQueryObjectiv
-typedef void (APIENTRYP PFNGLGETQUERYOBJECTUIVPROC)(GLuint id, GLenum pname, GLuint *params);
-GLAPI PFNGLGETQUERYOBJECTUIVPROC mjGlad_glGetQueryObjectuiv;
-#define glGetQueryObjectuiv mjGlad_glGetQueryObjectuiv
-typedef void (APIENTRYP PFNGLBINDBUFFERPROC)(GLenum target, GLuint buffer);
-GLAPI PFNGLBINDBUFFERPROC mjGlad_glBindBuffer;
-#define glBindBuffer mjGlad_glBindBuffer
-typedef void (APIENTRYP PFNGLDELETEBUFFERSPROC)(GLsizei n, const GLuint *buffers);
-GLAPI PFNGLDELETEBUFFERSPROC mjGlad_glDeleteBuffers;
-#define glDeleteBuffers mjGlad_glDeleteBuffers
-typedef void (APIENTRYP PFNGLGENBUFFERSPROC)(GLsizei n, GLuint *buffers);
-GLAPI PFNGLGENBUFFERSPROC mjGlad_glGenBuffers;
-#define glGenBuffers mjGlad_glGenBuffers
-typedef GLboolean (APIENTRYP PFNGLISBUFFERPROC)(GLuint buffer);
-GLAPI PFNGLISBUFFERPROC mjGlad_glIsBuffer;
-#define glIsBuffer mjGlad_glIsBuffer
-typedef void (APIENTRYP PFNGLBUFFERDATAPROC)(GLenum target, GLsizeiptr size, const void *data, GLenum usage);
-GLAPI PFNGLBUFFERDATAPROC mjGlad_glBufferData;
-#define glBufferData mjGlad_glBufferData
-typedef void (APIENTRYP PFNGLBUFFERSUBDATAPROC)(GLenum target, GLintptr offset, GLsizeiptr size, const void *data);
-GLAPI PFNGLBUFFERSUBDATAPROC mjGlad_glBufferSubData;
-#define glBufferSubData mjGlad_glBufferSubData
-typedef void (APIENTRYP PFNGLGETBUFFERSUBDATAPROC)(GLenum target, GLintptr offset, GLsizeiptr size, void *data);
-GLAPI PFNGLGETBUFFERSUBDATAPROC mjGlad_glGetBufferSubData;
-#define glGetBufferSubData mjGlad_glGetBufferSubData
-typedef void * (APIENTRYP PFNGLMAPBUFFERPROC)(GLenum target, GLenum access);
-GLAPI PFNGLMAPBUFFERPROC mjGlad_glMapBuffer;
-#define glMapBuffer mjGlad_glMapBuffer
-typedef GLboolean (APIENTRYP PFNGLUNMAPBUFFERPROC)(GLenum target);
-GLAPI PFNGLUNMAPBUFFERPROC mjGlad_glUnmapBuffer;
-#define glUnmapBuffer mjGlad_glUnmapBuffer
-typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERIVPROC)(GLenum target, GLenum pname, GLint *params);
-GLAPI PFNGLGETBUFFERPARAMETERIVPROC mjGlad_glGetBufferParameteriv;
-#define glGetBufferParameteriv mjGlad_glGetBufferParameteriv
-typedef void (APIENTRYP PFNGLGETBUFFERPOINTERVPROC)(GLenum target, GLenum pname, void **params);
-GLAPI PFNGLGETBUFFERPOINTERVPROC mjGlad_glGetBufferPointerv;
-#define glGetBufferPointerv mjGlad_glGetBufferPointerv
-#endif
-#define GL_LOWER_LEFT 0x8CA1
-#define GL_UPPER_LEFT 0x8CA2
-#define GL_NEGATIVE_ONE_TO_ONE 0x935E
-#define GL_ZERO_TO_ONE 0x935F
-#define GL_CLIP_ORIGIN 0x935C
-#define GL_CLIP_DEPTH_MODE 0x935D
-#define GL_DEPTH_COMPONENT32F 0x8CAC
-#define GL_DEPTH32F_STENCIL8 0x8CAD
-#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV 0x8DAD
-#define GL_INVALID_FRAMEBUFFER_OPERATION 0x0506
-#define GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING 0x8210
-#define GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE 0x8211
-#define GL_FRAMEBUFFER_ATTACHMENT_RED_SIZE 0x8212
-#define GL_FRAMEBUFFER_ATTACHMENT_GREEN_SIZE 0x8213
-#define GL_FRAMEBUFFER_ATTACHMENT_BLUE_SIZE 0x8214
-#define GL_FRAMEBUFFER_ATTACHMENT_ALPHA_SIZE 0x8215
-#define GL_FRAMEBUFFER_ATTACHMENT_DEPTH_SIZE 0x8216
-#define GL_FRAMEBUFFER_ATTACHMENT_STENCIL_SIZE 0x8217
-#define GL_FRAMEBUFFER_DEFAULT 0x8218
-#define GL_FRAMEBUFFER_UNDEFINED 0x8219
-#define GL_DEPTH_STENCIL_ATTACHMENT 0x821A
-#define GL_MAX_RENDERBUFFER_SIZE 0x84E8
-#define GL_DEPTH_STENCIL 0x84F9
-#define GL_UNSIGNED_INT_24_8 0x84FA
-#define GL_DEPTH24_STENCIL8 0x88F0
-#define GL_TEXTURE_STENCIL_SIZE 0x88F1
-#define GL_UNSIGNED_NORMALIZED 0x8C17
-#define GL_FRAMEBUFFER_BINDING 0x8CA6
-#define GL_DRAW_FRAMEBUFFER_BINDING 0x8CA6
-#define GL_RENDERBUFFER_BINDING 0x8CA7
-#define GL_READ_FRAMEBUFFER 0x8CA8
-#define GL_DRAW_FRAMEBUFFER 0x8CA9
-#define GL_READ_FRAMEBUFFER_BINDING 0x8CAA
-#define GL_RENDERBUFFER_SAMPLES 0x8CAB
-#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE 0x8CD0
-#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME 0x8CD1
-#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL 0x8CD2
-#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE 0x8CD3
-#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LAYER 0x8CD4
-#define GL_FRAMEBUFFER_COMPLETE 0x8CD5
-#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT 0x8CD6
-#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT 0x8CD7
-#define GL_FRAMEBUFFER_INCOMPLETE_DRAW_BUFFER 0x8CDB
-#define GL_FRAMEBUFFER_INCOMPLETE_READ_BUFFER 0x8CDC
-#define GL_FRAMEBUFFER_UNSUPPORTED 0x8CDD
-#define GL_MAX_COLOR_ATTACHMENTS 0x8CDF
-#define GL_COLOR_ATTACHMENT0 0x8CE0
-#define GL_COLOR_ATTACHMENT1 0x8CE1
-#define GL_COLOR_ATTACHMENT2 0x8CE2
-#define GL_COLOR_ATTACHMENT3 0x8CE3
-#define GL_COLOR_ATTACHMENT4 0x8CE4
-#define GL_COLOR_ATTACHMENT5 0x8CE5
-#define GL_COLOR_ATTACHMENT6 0x8CE6
-#define GL_COLOR_ATTACHMENT7 0x8CE7
-#define GL_COLOR_ATTACHMENT8 0x8CE8
-#define GL_COLOR_ATTACHMENT9 0x8CE9
-#define GL_COLOR_ATTACHMENT10 0x8CEA
-#define GL_COLOR_ATTACHMENT11 0x8CEB
-#define GL_COLOR_ATTACHMENT12 0x8CEC
-#define GL_COLOR_ATTACHMENT13 0x8CED
-#define GL_COLOR_ATTACHMENT14 0x8CEE
-#define GL_COLOR_ATTACHMENT15 0x8CEF
-#define GL_DEPTH_ATTACHMENT 0x8D00
-#define GL_STENCIL_ATTACHMENT 0x8D20
-#define GL_FRAMEBUFFER 0x8D40
-#define GL_RENDERBUFFER 0x8D41
-#define GL_RENDERBUFFER_WIDTH 0x8D42
-#define GL_RENDERBUFFER_HEIGHT 0x8D43
-#define GL_RENDERBUFFER_INTERNAL_FORMAT 0x8D44
-#define GL_STENCIL_INDEX1 0x8D46
-#define GL_STENCIL_INDEX4 0x8D47
-#define GL_STENCIL_INDEX8 0x8D48
-#define GL_STENCIL_INDEX16 0x8D49
-#define GL_RENDERBUFFER_RED_SIZE 0x8D50
-#define GL_RENDERBUFFER_GREEN_SIZE 0x8D51
-#define GL_RENDERBUFFER_BLUE_SIZE 0x8D52
-#define GL_RENDERBUFFER_ALPHA_SIZE 0x8D53
-#define GL_RENDERBUFFER_DEPTH_SIZE 0x8D54
-#define GL_RENDERBUFFER_STENCIL_SIZE 0x8D55
-#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE 0x8D56
-#define GL_MAX_SAMPLES 0x8D57
-#define GL_INDEX 0x8222
-#define GL_TEXTURE_CUBE_MAP_SEAMLESS 0x884F
-#define GL_BUFFER_SIZE_ARB 0x8764
-#define GL_BUFFER_USAGE_ARB 0x8765
-#define GL_ARRAY_BUFFER_ARB 0x8892
-#define GL_ELEMENT_ARRAY_BUFFER_ARB 0x8893
-#define GL_ARRAY_BUFFER_BINDING_ARB 0x8894
-#define GL_ELEMENT_ARRAY_BUFFER_BINDING_ARB 0x8895
-#define GL_VERTEX_ARRAY_BUFFER_BINDING_ARB 0x8896
-#define GL_NORMAL_ARRAY_BUFFER_BINDING_ARB 0x8897
-#define GL_COLOR_ARRAY_BUFFER_BINDING_ARB 0x8898
-#define GL_INDEX_ARRAY_BUFFER_BINDING_ARB 0x8899
-#define GL_TEXTURE_COORD_ARRAY_BUFFER_BINDING_ARB 0x889A
-#define GL_EDGE_FLAG_ARRAY_BUFFER_BINDING_ARB 0x889B
-#define GL_SECONDARY_COLOR_ARRAY_BUFFER_BINDING_ARB 0x889C
-#define GL_FOG_COORDINATE_ARRAY_BUFFER_BINDING_ARB 0x889D
-#define GL_WEIGHT_ARRAY_BUFFER_BINDING_ARB 0x889E
-#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING_ARB 0x889F
-#define GL_READ_ONLY_ARB 0x88B8
-#define GL_WRITE_ONLY_ARB 0x88B9
-#define GL_READ_WRITE_ARB 0x88BA
-#define GL_BUFFER_ACCESS_ARB 0x88BB
-#define GL_BUFFER_MAPPED_ARB 0x88BC
-#define GL_BUFFER_MAP_POINTER_ARB 0x88BD
-#define GL_STREAM_DRAW_ARB 0x88E0
-#define GL_STREAM_READ_ARB 0x88E1
-#define GL_STREAM_COPY_ARB 0x88E2
-#define GL_STATIC_DRAW_ARB 0x88E4
-#define GL_STATIC_READ_ARB 0x88E5
-#define GL_STATIC_COPY_ARB 0x88E6
-#define GL_DYNAMIC_DRAW_ARB 0x88E8
-#define GL_DYNAMIC_READ_ARB 0x88E9
-#define GL_DYNAMIC_COPY_ARB 0x88EA
-#define GL_SRGB_EXT 0x8C40
-#define GL_SRGB8_EXT 0x8C41
-#define GL_SRGB_ALPHA_EXT 0x8C42
-#define GL_SRGB8_ALPHA8_EXT 0x8C43
-#define GL_SLUMINANCE_ALPHA_EXT 0x8C44
-#define GL_SLUMINANCE8_ALPHA8_EXT 0x8C45
-#define GL_SLUMINANCE_EXT 0x8C46
-#define GL_SLUMINANCE8_EXT 0x8C47
-#define GL_COMPRESSED_SRGB_EXT 0x8C48
-#define GL_COMPRESSED_SRGB_ALPHA_EXT 0x8C49
-#define GL_COMPRESSED_SLUMINANCE_EXT 0x8C4A
-#define GL_COMPRESSED_SLUMINANCE_ALPHA_EXT 0x8C4B
-#define GL_COMPRESSED_SRGB_S3TC_DXT1_EXT 0x8C4C
-#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT 0x8C4D
-#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT 0x8C4E
-#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT 0x8C4F
-#define GL_DEBUG_OUTPUT_SYNCHRONOUS 0x8242
-#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH 0x8243
-#define GL_DEBUG_CALLBACK_FUNCTION 0x8244
-#define GL_DEBUG_CALLBACK_USER_PARAM 0x8245
-#define GL_DEBUG_SOURCE_API 0x8246
-#define GL_DEBUG_SOURCE_WINDOW_SYSTEM 0x8247
-#define GL_DEBUG_SOURCE_SHADER_COMPILER 0x8248
-#define GL_DEBUG_SOURCE_THIRD_PARTY 0x8249
-#define GL_DEBUG_SOURCE_APPLICATION 0x824A
-#define GL_DEBUG_SOURCE_OTHER 0x824B
-#define GL_DEBUG_TYPE_ERROR 0x824C
-#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR 0x824D
-#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR 0x824E
-#define GL_DEBUG_TYPE_PORTABILITY 0x824F
-#define GL_DEBUG_TYPE_PERFORMANCE 0x8250
-#define GL_DEBUG_TYPE_OTHER 0x8251
-#define GL_DEBUG_TYPE_MARKER 0x8268
-#define GL_DEBUG_TYPE_PUSH_GROUP 0x8269
-#define GL_DEBUG_TYPE_POP_GROUP 0x826A
-#define GL_DEBUG_SEVERITY_NOTIFICATION 0x826B
-#define GL_MAX_DEBUG_GROUP_STACK_DEPTH 0x826C
-#define GL_DEBUG_GROUP_STACK_DEPTH 0x826D
-#define GL_BUFFER 0x82E0
-#define GL_SHADER 0x82E1
-#define GL_PROGRAM 0x82E2
-#define GL_QUERY 0x82E3
-#define GL_PROGRAM_PIPELINE 0x82E4
-#define GL_SAMPLER 0x82E6
-#define GL_MAX_LABEL_LENGTH 0x82E8
-#define GL_MAX_DEBUG_MESSAGE_LENGTH 0x9143
-#define GL_MAX_DEBUG_LOGGED_MESSAGES 0x9144
-#define GL_DEBUG_LOGGED_MESSAGES 0x9145
-#define GL_DEBUG_SEVERITY_HIGH 0x9146
-#define GL_DEBUG_SEVERITY_MEDIUM 0x9147
-#define GL_DEBUG_SEVERITY_LOW 0x9148
-#define GL_DEBUG_OUTPUT 0x92E0
-#define GL_CONTEXT_FLAG_DEBUG_BIT 0x00000002
-#define GL_DEBUG_OUTPUT_SYNCHRONOUS_KHR 0x8242
-#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH_KHR 0x8243
-#define GL_DEBUG_CALLBACK_FUNCTION_KHR 0x8244
-#define GL_DEBUG_CALLBACK_USER_PARAM_KHR 0x8245
-#define GL_DEBUG_SOURCE_API_KHR 0x8246
-#define GL_DEBUG_SOURCE_WINDOW_SYSTEM_KHR 0x8247
-#define GL_DEBUG_SOURCE_SHADER_COMPILER_KHR 0x8248
-#define GL_DEBUG_SOURCE_THIRD_PARTY_KHR 0x8249
-#define GL_DEBUG_SOURCE_APPLICATION_KHR 0x824A
-#define GL_DEBUG_SOURCE_OTHER_KHR 0x824B
-#define GL_DEBUG_TYPE_ERROR_KHR 0x824C
-#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR_KHR 0x824D
-#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR_KHR 0x824E
-#define GL_DEBUG_TYPE_PORTABILITY_KHR 0x824F
-#define GL_DEBUG_TYPE_PERFORMANCE_KHR 0x8250
-#define GL_DEBUG_TYPE_OTHER_KHR 0x8251
-#define GL_DEBUG_TYPE_MARKER_KHR 0x8268
-#define GL_DEBUG_TYPE_PUSH_GROUP_KHR 0x8269
-#define GL_DEBUG_TYPE_POP_GROUP_KHR 0x826A
-#define GL_DEBUG_SEVERITY_NOTIFICATION_KHR 0x826B
-#define GL_MAX_DEBUG_GROUP_STACK_DEPTH_KHR 0x826C
-#define GL_DEBUG_GROUP_STACK_DEPTH_KHR 0x826D
-#define GL_BUFFER_KHR 0x82E0
-#define GL_SHADER_KHR 0x82E1
-#define GL_PROGRAM_KHR 0x82E2
-#define GL_VERTEX_ARRAY_KHR 0x8074
-#define GL_QUERY_KHR 0x82E3
-#define GL_PROGRAM_PIPELINE_KHR 0x82E4
-#define GL_SAMPLER_KHR 0x82E6
-#define GL_MAX_LABEL_LENGTH_KHR 0x82E8
-#define GL_MAX_DEBUG_MESSAGE_LENGTH_KHR 0x9143
-#define GL_MAX_DEBUG_LOGGED_MESSAGES_KHR 0x9144
-#define GL_DEBUG_LOGGED_MESSAGES_KHR 0x9145
-#define GL_DEBUG_SEVERITY_HIGH_KHR 0x9146
-#define GL_DEBUG_SEVERITY_MEDIUM_KHR 0x9147
-#define GL_DEBUG_SEVERITY_LOW_KHR 0x9148
-#define GL_DEBUG_OUTPUT_KHR 0x92E0
-#define GL_CONTEXT_FLAG_DEBUG_BIT_KHR 0x00000002
-#define GL_STACK_OVERFLOW_KHR 0x0503
-#define GL_STACK_UNDERFLOW_KHR 0x0504
-#define GL_DISPLAY_LIST 0x82E7
-#ifndef GL_ARB_clip_control
-#define GL_ARB_clip_control 1
-GLAPI int mjGLAD_GL_ARB_clip_control;
-typedef void (APIENTRYP PFNGLCLIPCONTROLPROC)(GLenum origin, GLenum depth);
-GLAPI PFNGLCLIPCONTROLPROC mjGlad_glClipControl;
-#define glClipControl mjGlad_glClipControl
-#endif
-#ifndef GL_ARB_depth_buffer_float
-#define GL_ARB_depth_buffer_float 1
-GLAPI int mjGLAD_GL_ARB_depth_buffer_float;
-#endif
-#ifndef GL_ARB_framebuffer_object
-#define GL_ARB_framebuffer_object 1
-GLAPI int mjGLAD_GL_ARB_framebuffer_object;
-typedef GLboolean (APIENTRYP PFNGLISRENDERBUFFERPROC)(GLuint renderbuffer);
-GLAPI PFNGLISRENDERBUFFERPROC mjGlad_glIsRenderbuffer;
-#define glIsRenderbuffer mjGlad_glIsRenderbuffer
-typedef void (APIENTRYP PFNGLBINDRENDERBUFFERPROC)(GLenum target, GLuint renderbuffer);
-GLAPI PFNGLBINDRENDERBUFFERPROC mjGlad_glBindRenderbuffer;
-#define glBindRenderbuffer mjGlad_glBindRenderbuffer
-typedef void (APIENTRYP PFNGLDELETERENDERBUFFERSPROC)(GLsizei n, const GLuint *renderbuffers);
-GLAPI PFNGLDELETERENDERBUFFERSPROC mjGlad_glDeleteRenderbuffers;
-#define glDeleteRenderbuffers mjGlad_glDeleteRenderbuffers
-typedef void (APIENTRYP PFNGLGENRENDERBUFFERSPROC)(GLsizei n, GLuint *renderbuffers);
-GLAPI PFNGLGENRENDERBUFFERSPROC mjGlad_glGenRenderbuffers;
-#define glGenRenderbuffers mjGlad_glGenRenderbuffers
-typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEPROC)(GLenum target, GLenum internalformat, GLsizei width, GLsizei height);
-GLAPI PFNGLRENDERBUFFERSTORAGEPROC mjGlad_glRenderbufferStorage;
-#define glRenderbufferStorage mjGlad_glRenderbufferStorage
-typedef void (APIENTRYP PFNGLGETRENDERBUFFERPARAMETERIVPROC)(GLenum target, GLenum pname, GLint *params);
-GLAPI PFNGLGETRENDERBUFFERPARAMETERIVPROC mjGlad_glGetRenderbufferParameteriv;
-#define glGetRenderbufferParameteriv mjGlad_glGetRenderbufferParameteriv
-typedef GLboolean (APIENTRYP PFNGLISFRAMEBUFFERPROC)(GLuint framebuffer);
-GLAPI PFNGLISFRAMEBUFFERPROC mjGlad_glIsFramebuffer;
-#define glIsFramebuffer mjGlad_glIsFramebuffer
-typedef void (APIENTRYP PFNGLBINDFRAMEBUFFERPROC)(GLenum target, GLuint framebuffer);
-GLAPI PFNGLBINDFRAMEBUFFERPROC mjGlad_glBindFramebuffer;
-#define glBindFramebuffer mjGlad_glBindFramebuffer
-typedef void (APIENTRYP PFNGLDELETEFRAMEBUFFERSPROC)(GLsizei n, const GLuint *framebuffers);
-GLAPI PFNGLDELETEFRAMEBUFFERSPROC mjGlad_glDeleteFramebuffers;
-#define glDeleteFramebuffers mjGlad_glDeleteFramebuffers
-typedef void (APIENTRYP PFNGLGENFRAMEBUFFERSPROC)(GLsizei n, GLuint *framebuffers);
-GLAPI PFNGLGENFRAMEBUFFERSPROC mjGlad_glGenFramebuffers;
-#define glGenFramebuffers mjGlad_glGenFramebuffers
-typedef GLenum (APIENTRYP PFNGLCHECKFRAMEBUFFERSTATUSPROC)(GLenum target);
-GLAPI PFNGLCHECKFRAMEBUFFERSTATUSPROC mjGlad_glCheckFramebufferStatus;
-#define glCheckFramebufferStatus mjGlad_glCheckFramebufferStatus
-typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE1DPROC)(GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level);
-GLAPI PFNGLFRAMEBUFFERTEXTURE1DPROC mjGlad_glFramebufferTexture1D;
-#define glFramebufferTexture1D mjGlad_glFramebufferTexture1D
-typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE2DPROC)(GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level);
-GLAPI PFNGLFRAMEBUFFERTEXTURE2DPROC mjGlad_glFramebufferTexture2D;
-#define glFramebufferTexture2D mjGlad_glFramebufferTexture2D
-typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURE3DPROC)(GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset);
-GLAPI PFNGLFRAMEBUFFERTEXTURE3DPROC mjGlad_glFramebufferTexture3D;
-#define glFramebufferTexture3D mjGlad_glFramebufferTexture3D
-typedef void (APIENTRYP PFNGLFRAMEBUFFERRENDERBUFFERPROC)(GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer);
-GLAPI PFNGLFRAMEBUFFERRENDERBUFFERPROC mjGlad_glFramebufferRenderbuffer;
-#define glFramebufferRenderbuffer mjGlad_glFramebufferRenderbuffer
-typedef void (APIENTRYP PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC)(GLenum target, GLenum attachment, GLenum pname, GLint *params);
-GLAPI PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC mjGlad_glGetFramebufferAttachmentParameteriv;
-#define glGetFramebufferAttachmentParameteriv mjGlad_glGetFramebufferAttachmentParameteriv
-typedef void (APIENTRYP PFNGLGENERATEMIPMAPPROC)(GLenum target);
-GLAPI PFNGLGENERATEMIPMAPPROC mjGlad_glGenerateMipmap;
-#define glGenerateMipmap mjGlad_glGenerateMipmap
-typedef void (APIENTRYP PFNGLBLITFRAMEBUFFERPROC)(GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter);
-GLAPI PFNGLBLITFRAMEBUFFERPROC mjGlad_glBlitFramebuffer;
-#define glBlitFramebuffer mjGlad_glBlitFramebuffer
-typedef void (APIENTRYP PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC)(GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height);
-GLAPI PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC mjGlad_glRenderbufferStorageMultisample;
-#define glRenderbufferStorageMultisample mjGlad_glRenderbufferStorageMultisample
-typedef void (APIENTRYP PFNGLFRAMEBUFFERTEXTURELAYERPROC)(GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer);
-GLAPI PFNGLFRAMEBUFFERTEXTURELAYERPROC mjGlad_glFramebufferTextureLayer;
-#define glFramebufferTextureLayer mjGlad_glFramebufferTextureLayer
-#endif
-#ifndef GL_ARB_seamless_cube_map
-#define GL_ARB_seamless_cube_map 1
-GLAPI int mjGLAD_GL_ARB_seamless_cube_map;
-#endif
-#ifndef GL_ARB_vertex_buffer_object
-#define GL_ARB_vertex_buffer_object 1
-GLAPI int mjGLAD_GL_ARB_vertex_buffer_object;
-typedef void (APIENTRYP PFNGLBINDBUFFERARBPROC)(GLenum target, GLuint buffer);
-GLAPI PFNGLBINDBUFFERARBPROC mjGlad_glBindBufferARB;
-#define glBindBufferARB mjGlad_glBindBufferARB
-typedef void (APIENTRYP PFNGLDELETEBUFFERSARBPROC)(GLsizei n, const GLuint *buffers);
-GLAPI PFNGLDELETEBUFFERSARBPROC mjGlad_glDeleteBuffersARB;
-#define glDeleteBuffersARB mjGlad_glDeleteBuffersARB
-typedef void (APIENTRYP PFNGLGENBUFFERSARBPROC)(GLsizei n, GLuint *buffers);
-GLAPI PFNGLGENBUFFERSARBPROC mjGlad_glGenBuffersARB;
-#define glGenBuffersARB mjGlad_glGenBuffersARB
-typedef GLboolean (APIENTRYP PFNGLISBUFFERARBPROC)(GLuint buffer);
-GLAPI PFNGLISBUFFERARBPROC mjGlad_glIsBufferARB;
-#define glIsBufferARB mjGlad_glIsBufferARB
-typedef void (APIENTRYP PFNGLBUFFERDATAARBPROC)(GLenum target, GLsizeiptrARB size, const void *data, GLenum usage);
-GLAPI PFNGLBUFFERDATAARBPROC mjGlad_glBufferDataARB;
-#define glBufferDataARB mjGlad_glBufferDataARB
-typedef void (APIENTRYP PFNGLBUFFERSUBDATAARBPROC)(GLenum target, GLintptrARB offset, GLsizeiptrARB size, const void *data);
-GLAPI PFNGLBUFFERSUBDATAARBPROC mjGlad_glBufferSubDataARB;
-#define glBufferSubDataARB mjGlad_glBufferSubDataARB
-typedef void (APIENTRYP PFNGLGETBUFFERSUBDATAARBPROC)(GLenum target, GLintptrARB offset, GLsizeiptrARB size, void *data);
-GLAPI PFNGLGETBUFFERSUBDATAARBPROC mjGlad_glGetBufferSubDataARB;
-#define glGetBufferSubDataARB mjGlad_glGetBufferSubDataARB
-typedef void * (APIENTRYP PFNGLMAPBUFFERARBPROC)(GLenum target, GLenum access);
-GLAPI PFNGLMAPBUFFERARBPROC mjGlad_glMapBufferARB;
-#define glMapBufferARB mjGlad_glMapBufferARB
-typedef GLboolean (APIENTRYP PFNGLUNMAPBUFFERARBPROC)(GLenum target);
-GLAPI PFNGLUNMAPBUFFERARBPROC mjGlad_glUnmapBufferARB;
-#define glUnmapBufferARB mjGlad_glUnmapBufferARB
-typedef void (APIENTRYP PFNGLGETBUFFERPARAMETERIVARBPROC)(GLenum target, GLenum pname, GLint *params);
-GLAPI PFNGLGETBUFFERPARAMETERIVARBPROC mjGlad_glGetBufferParameterivARB;
-#define glGetBufferParameterivARB mjGlad_glGetBufferParameterivARB
-typedef void (APIENTRYP PFNGLGETBUFFERPOINTERVARBPROC)(GLenum target, GLenum pname, void **params);
-GLAPI PFNGLGETBUFFERPOINTERVARBPROC mjGlad_glGetBufferPointervARB;
-#define glGetBufferPointervARB mjGlad_glGetBufferPointervARB
-#endif
-#ifndef GL_EXT_texture_sRGB
-#define GL_EXT_texture_sRGB 1
-GLAPI int mjGLAD_GL_EXT_texture_sRGB;
-#endif
-#ifndef GL_KHR_debug
-#define GL_KHR_debug 1
-GLAPI int mjGLAD_GL_KHR_debug;
-typedef void (APIENTRYP PFNGLDEBUGMESSAGECONTROLPROC)(GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled);
-GLAPI PFNGLDEBUGMESSAGECONTROLPROC mjGlad_glDebugMessageControl;
-#define glDebugMessageControl mjGlad_glDebugMessageControl
-typedef void (APIENTRYP PFNGLDEBUGMESSAGEINSERTPROC)(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf);
-GLAPI PFNGLDEBUGMESSAGEINSERTPROC mjGlad_glDebugMessageInsert;
-#define glDebugMessageInsert mjGlad_glDebugMessageInsert
-typedef void (APIENTRYP PFNGLDEBUGMESSAGECALLBACKPROC)(GLDEBUGPROC callback, const void *userParam);
-GLAPI PFNGLDEBUGMESSAGECALLBACKPROC mjGlad_glDebugMessageCallback;
-#define glDebugMessageCallback mjGlad_glDebugMessageCallback
-typedef GLuint (APIENTRYP PFNGLGETDEBUGMESSAGELOGPROC)(GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog);
-GLAPI PFNGLGETDEBUGMESSAGELOGPROC mjGlad_glGetDebugMessageLog;
-#define glGetDebugMessageLog mjGlad_glGetDebugMessageLog
-typedef void (APIENTRYP PFNGLPUSHDEBUGGROUPPROC)(GLenum source, GLuint id, GLsizei length, const GLchar *message);
-GLAPI PFNGLPUSHDEBUGGROUPPROC mjGlad_glPushDebugGroup;
-#define glPushDebugGroup mjGlad_glPushDebugGroup
-typedef void (APIENTRYP PFNGLPOPDEBUGGROUPPROC)(void);
-GLAPI PFNGLPOPDEBUGGROUPPROC mjGlad_glPopDebugGroup;
-#define glPopDebugGroup mjGlad_glPopDebugGroup
-typedef void (APIENTRYP PFNGLOBJECTLABELPROC)(GLenum identifier, GLuint name, GLsizei length, const GLchar *label);
-GLAPI PFNGLOBJECTLABELPROC mjGlad_glObjectLabel;
-#define glObjectLabel mjGlad_glObjectLabel
-typedef void (APIENTRYP PFNGLGETOBJECTLABELPROC)(GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label);
-GLAPI PFNGLGETOBJECTLABELPROC mjGlad_glGetObjectLabel;
-#define glGetObjectLabel mjGlad_glGetObjectLabel
-typedef void (APIENTRYP PFNGLOBJECTPTRLABELPROC)(const void *ptr, GLsizei length, const GLchar *label);
-GLAPI PFNGLOBJECTPTRLABELPROC mjGlad_glObjectPtrLabel;
-#define glObjectPtrLabel mjGlad_glObjectPtrLabel
-typedef void (APIENTRYP PFNGLGETOBJECTPTRLABELPROC)(const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label);
-GLAPI PFNGLGETOBJECTPTRLABELPROC mjGlad_glGetObjectPtrLabel;
-#define glGetObjectPtrLabel mjGlad_glGetObjectPtrLabel
-typedef void (APIENTRYP PFNGLDEBUGMESSAGECONTROLKHRPROC)(GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint *ids, GLboolean enabled);
-GLAPI PFNGLDEBUGMESSAGECONTROLKHRPROC mjGlad_glDebugMessageControlKHR;
-#define glDebugMessageControlKHR mjGlad_glDebugMessageControlKHR
-typedef void (APIENTRYP PFNGLDEBUGMESSAGEINSERTKHRPROC)(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *buf);
-GLAPI PFNGLDEBUGMESSAGEINSERTKHRPROC mjGlad_glDebugMessageInsertKHR;
-#define glDebugMessageInsertKHR mjGlad_glDebugMessageInsertKHR
-typedef void (APIENTRYP PFNGLDEBUGMESSAGECALLBACKKHRPROC)(GLDEBUGPROCKHR callback, const void *userParam);
-GLAPI PFNGLDEBUGMESSAGECALLBACKKHRPROC mjGlad_glDebugMessageCallbackKHR;
-#define glDebugMessageCallbackKHR mjGlad_glDebugMessageCallbackKHR
-typedef GLuint (APIENTRYP PFNGLGETDEBUGMESSAGELOGKHRPROC)(GLuint count, GLsizei bufSize, GLenum *sources, GLenum *types, GLuint *ids, GLenum *severities, GLsizei *lengths, GLchar *messageLog);
-GLAPI PFNGLGETDEBUGMESSAGELOGKHRPROC mjGlad_glGetDebugMessageLogKHR;
-#define glGetDebugMessageLogKHR mjGlad_glGetDebugMessageLogKHR
-typedef void (APIENTRYP PFNGLPUSHDEBUGGROUPKHRPROC)(GLenum source, GLuint id, GLsizei length, const GLchar *message);
-GLAPI PFNGLPUSHDEBUGGROUPKHRPROC mjGlad_glPushDebugGroupKHR;
-#define glPushDebugGroupKHR mjGlad_glPushDebugGroupKHR
-typedef void (APIENTRYP PFNGLPOPDEBUGGROUPKHRPROC)(void);
-GLAPI PFNGLPOPDEBUGGROUPKHRPROC mjGlad_glPopDebugGroupKHR;
-#define glPopDebugGroupKHR mjGlad_glPopDebugGroupKHR
-typedef void (APIENTRYP PFNGLOBJECTLABELKHRPROC)(GLenum identifier, GLuint name, GLsizei length, const GLchar *label);
-GLAPI PFNGLOBJECTLABELKHRPROC mjGlad_glObjectLabelKHR;
-#define glObjectLabelKHR mjGlad_glObjectLabelKHR
-typedef void (APIENTRYP PFNGLGETOBJECTLABELKHRPROC)(GLenum identifier, GLuint name, GLsizei bufSize, GLsizei *length, GLchar *label);
-GLAPI PFNGLGETOBJECTLABELKHRPROC mjGlad_glGetObjectLabelKHR;
-#define glGetObjectLabelKHR mjGlad_glGetObjectLabelKHR
-typedef void (APIENTRYP PFNGLOBJECTPTRLABELKHRPROC)(const void *ptr, GLsizei length, const GLchar *label);
-GLAPI PFNGLOBJECTPTRLABELKHRPROC mjGlad_glObjectPtrLabelKHR;
-#define glObjectPtrLabelKHR mjGlad_glObjectPtrLabelKHR
-typedef void (APIENTRYP PFNGLGETOBJECTPTRLABELKHRPROC)(const void *ptr, GLsizei bufSize, GLsizei *length, GLchar *label);
-GLAPI PFNGLGETOBJECTPTRLABELKHRPROC mjGlad_glGetObjectPtrLabelKHR;
-#define glGetObjectPtrLabelKHR mjGlad_glGetObjectPtrLabelKHR
-typedef void (APIENTRYP PFNGLGETPOINTERVKHRPROC)(GLenum pname, void **params);
-GLAPI PFNGLGETPOINTERVKHRPROC mjGlad_glGetPointervKHR;
-#define glGetPointervKHR mjGlad_glGetPointervKHR
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_RENDER_CLASSIC_GLAD_GLAD_H_
diff --git a/src/render/classic/glad/loader.cc b/src/render/classic/glad/loader.cc
deleted file mode 100644
index b43357c3..00000000
--- a/src/render/classic/glad/loader.cc
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/classic/glad/glad.h"
-
-extern "C" {
-
-GLAPI int mjGladLoadGL() {
-  static const int glad_initialized = mjGladLoadGLUnsafe(nullptr);
-  return glad_initialized;
-}
-
-}  // extern "C"
diff --git a/src/render/classic/render_context.c b/src/render/classic/render_context.c
deleted file mode 100644
index 985d31d8..00000000
--- a/src/render/classic/render_context.c
+++ /dev/null
@@ -1,2015 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/classic/render_context.h"
-
-#include <inttypes.h>  // IWYU pragma: keep
-#include <math.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "render/classic/render_util.h"
-#include "render/classic/glad/glad.h"
-
-// bitmap font definitions
-#include "render/classic/font/normal50.inc"
-#include "render/classic/font/normal100.inc"
-#include "render/classic/font/normal150.inc"
-#include "render/classic/font/normal200.inc"
-#include "render/classic/font/normal250.inc"
-#include "render/classic/font/normal300.inc"
-#include "render/classic/font/back50.inc"
-#include "render/classic/font/back100.inc"
-#include "render/classic/font/back150.inc"
-#include "render/classic/font/back200.inc"
-#include "render/classic/font/back250.inc"
-#include "render/classic/font/back300.inc"
-#include "render/classic/font/big50.inc"
-#include "render/classic/font/big100.inc"
-#include "render/classic/font/big150.inc"
-#include "render/classic/font/big200.inc"
-#include "render/classic/font/big250.inc"
-#include "render/classic/font/big300.inc"
-
-
-
-//----------------------------- custom OpenGL context ----------------------------------------------
-
-// set default mjrContext
-void mjr_defaultContext(mjrContext* con) {
-  memset(con, 0, sizeof(mjrContext));
-}
-
-static int context_count = 0;
-
-static int contextHasResources(const mjrContext* con) {
-  return con->ntexture || con->offColor || con->offDepthStencil || con->offFBO ||
-         con->shadowTex || con->shadowFBO || con->rangePlane || con->rangeMesh ||
-         con->rangeHField || con->rangeBuiltin || con->rangeFont || con->nskin;
-}
-
-// set default mjrRendererInfo
-void mjr_defaultRendererInfo(mjrRendererInfo* info) {
-  memset(info, 0, sizeof(mjrRendererInfo));
-  info->renderer = "classic";
-  info->backend = "";
-}
-
-// get active renderer information
-void mjr_getRendererInfo(mjrRendererInfo* info) {
-  mjr_defaultRendererInfo(info);
-  if (context_count > 0) {
-    info->backend = "opengl";
-  }
-}
-
-
-
-// allocate lists
-static void listAllocate(GLuint* base, GLsizei* range, GLsizei newrange) {
-  // allocate lists
-  *range = newrange;
-  if (newrange) {
-    *base = glGenLists(*range);
-    if (*base <= 0) {
-      mju_error("Could not allocate display lists");
-    }
-  }
-}
-
-
-
-// model planes: with grid
-static void makePlane(const mjModel* m, mjrContext* con) {
-  mjtNum zfar = m->vis.map.zfar * m->stat.extent;
-  mjtNum pad, left, right, sz[2], sz2;
-  double grid[2][mjMAXPLANEGRID+1];
-  int nn[2], nplane;
-
-  // count planes
-  nplane = 0;
-  for (int i=0; i < m->ngeom; i++) {
-    if (m->geom_type[i] == mjGEOM_PLANE) {
-      nplane++;
-    }
-  }
-
-  // allocate list
-  listAllocate(&con->basePlane, &con->rangePlane, nplane+1);
-
-  // 0: box-division, for rendering plane geoms without dataid
-  glNewList(con->basePlane, GL_COMPILE);
-  glBegin(GL_QUADS);
-  glNormal3d(0, 0, 1);
-  double d = 2.0/m->vis.quality.numquads;
-  double nq = (double)m->vis.quality.numquads;
-  for (int x=0; x < m->vis.quality.numquads; x++) {
-    for (int y=0; y < m->vis.quality.numquads; y++) {
-      glTexCoord2d((double)x/nq, 1.0 - (double)y/nq);
-      glVertex3d(d*(x+0)-1, d*(y+0)-1, 0);
-
-      glTexCoord2d((double)(x+1)/nq, 1.0 - (double)y/nq);
-      glVertex3d(d*(x+1)-1, d*(y+0)-1, 0);
-
-      glTexCoord2d((double)(x+1)/nq, 1.0 - (double)(y+1)/nq);
-      glVertex3d(d*(x+1)-1, d*(y+1)-1, 0);
-
-      glTexCoord2d((double)x/nq, 1.0 - (double)(y+1)/nq);
-      glVertex3d(d*(x+0)-1, d*(y+1)-1, 0);
-    }
-  }
-  glEnd();
-  glEndList();
-
-  // construct planes, offset by 1
-  nplane = 0;
-  for (int i=0; i < m->ngeom; i++) {
-    if (m->geom_type[i] == mjGEOM_PLANE) {
-      // get sizes
-      sz[0] = m->geom_size[3*i];
-      sz[1] = m->geom_size[3*i+1];
-
-      // loop over (x, y)
-      for (int k=0; k < 2; k++) {
-        // regular dimension
-        if (sz[k] > 0) {
-          // limit number of grid lines, leave room for padding
-          sz2 = mju_max(m->geom_size[3*i+2], sz[k]/(mjMAXPLANEGRID-2));
-
-          // compute grid size, force even
-          nn[k] = (int)mju_floor(sz[k]/mju_max(mjMINVAL, sz2));
-          nn[k] = nn[k] - (nn[k]%2);
-
-          // add padding
-          pad = sz[k] - nn[k]*sz2;
-          nn[k] += 2;
-
-          // make grid
-          for (int x=0; x < nn[k]; x++) {
-            // compute left, right (which is bottom, top for y)
-            if (x == 0) {
-              left = -sz[k];
-              right = left + pad;
-            } else {
-              left = -sz[k] + pad + (x-1)*sz2*2;
-              right = left + (x == nn[k]-1 ? pad : sz2*2);
-            }
-
-            // record
-            grid[k][x] = left;
-            grid[k][x+1] = mjMAX(left, right);  // just in case
-          }
-        }
-
-        // infinite dimension
-        else {
-          // get size increment
-          mjtNum sX;
-          int matid = m->geom_matid[i];
-          if (matid >= 0 && m->mat_texrepeat[2*matid+k] > 0) {
-            sX = 2/m->mat_texrepeat[2*matid+k];
-          } else {
-            sX = 2.1*zfar/(mjMAXPLANEGRID-2);
-          }
-
-          // create grid, larger than skybox
-          d = (2.1*zfar + 2*sX)/mjMAXPLANEGRID;
-          for (int x=0; x <= mjMAXPLANEGRID; x++) {
-            grid[k][x] = d*x - d*(mjMAXPLANEGRID/2);
-          }
-
-          // save number
-          nn[k] = mjMAXPLANEGRID;
-        }
-      }
-
-      // init list
-      glNewList(con->basePlane + nplane+1, GL_COMPILE);
-      glBegin(GL_QUADS);
-      glNormal3d(0, 0, 1);
-
-      // make grid
-      for (int x=0; x < nn[0]; x++) {
-        for (int y=0; y < nn[1]; y++) {
-          double u0, u1, v0, v1;
-          if (sz[0] > 0) {
-            u0 = (grid[0][x+0] + sz[0]) / (2.0 * sz[0]);
-            u1 = (grid[0][x+1] + sz[0]) / (2.0 * sz[0]);
-          } else {
-            u0 = 0.5 * grid[0][x+0];
-            u1 = 0.5 * grid[0][x+1];
-          }
-
-          if (sz[1] > 0) {
-            v0 = 1.0 - (grid[1][y+0] + sz[1]) / (2.0 * sz[1]);
-            v1 = 1.0 - (grid[1][y+1] + sz[1]) / (2.0 * sz[1]);
-          } else {
-            v0 = -0.5 * grid[1][y+0];
-            v1 = -0.5 * grid[1][y+1];
-          }
-
-          glTexCoord2d(u0, v0); glVertex3d(grid[0][x+0], grid[1][y+0], 0);
-          glTexCoord2d(u1, v0); glVertex3d(grid[0][x+1], grid[1][y+0], 0);
-          glTexCoord2d(u1, v1); glVertex3d(grid[0][x+1], grid[1][y+1], 0);
-          glTexCoord2d(u0, v1); glVertex3d(grid[0][x+0], grid[1][y+1], 0);
-        }
-      }
-
-      // end list
-      glEnd();
-      glEndList();
-
-      // advance counter
-      nplane++;
-    }
-  }
-}
-
-
-
-// model-specific meshes
-static void makeMesh(const mjModel* m, mjrContext* con) {
-  // allocate list
-  listAllocate(&con->baseMesh, &con->rangeMesh, 2*m->nmesh);
-
-  // process meshes
-  for (int i=0; i < m->nmesh; i++) {
-    mjr_uploadMesh(m, con, i);
-  }
-}
-
-
-
-// (re) upload mesh to GPU
-void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
-  int vertadr, numvert, normaladr, numface, texcoordadr;
-  float normal[3], *v1, *v2, *v3, *n1, *n2, *n3, *t1, *t2, *t3;
-
-  // check index
-  if (meshid < 0 || meshid >= m->nmesh) {
-    mju_error("Invalid mesh index %d", meshid);
-  }
-
-  // delete old lists (mesh and convex hull)
-  glDeleteLists(con->baseMesh + 2*meshid, 2);
-
-  // get vertex and texcoord address for this mesh
-  vertadr = m->mesh_vertadr[meshid];
-  normaladr = m->mesh_normaladr[meshid];
-  texcoordadr = m->mesh_texcoordadr[meshid];
-
-  // render original mesh
-  glNewList(con->baseMesh + 2*meshid, GL_COMPILE);
-  glBegin(GL_TRIANGLES);
-  for (int face = m->mesh_faceadr[meshid];
-       face < m->mesh_faceadr[meshid] + m->mesh_facenum[meshid];
-       face++) {
-    // compute vertex addresses
-    v1 = m->mesh_vert + 3*(m->mesh_face[3*face]   + vertadr);
-    v2 = m->mesh_vert + 3*(m->mesh_face[3*face+1] + vertadr);
-    v3 = m->mesh_vert + 3*(m->mesh_face[3*face+2] + vertadr);
-
-    // compute normal addresses
-    n1 = m->mesh_normal + 3*(m->mesh_facenormal[3*face]   + normaladr);
-    n2 = m->mesh_normal + 3*(m->mesh_facenormal[3*face+1] + normaladr);
-    n3 = m->mesh_normal + 3*(m->mesh_facenormal[3*face+2] + normaladr);
-
-    // compute texcoord addresses
-    if (texcoordadr >= 0) {
-      t1 = m->mesh_texcoord + 2*(m->mesh_facetexcoord[3*face]   + texcoordadr);
-      t2 = m->mesh_texcoord + 2*(m->mesh_facetexcoord[3*face+1] + texcoordadr);
-      t3 = m->mesh_texcoord + 2*(m->mesh_facetexcoord[3*face+2] + texcoordadr);
-    } else {
-      t1 = t2 = t3 = NULL;
-    }
-
-    // compute face normal
-    mjr_makeNormal(normal, v1, v2, v3);
-
-    // make OpenGL triangle
-    // vertex1
-    if (t1) {
-      glTexCoord2fv(t1);
-      glNormal3fv(n1);
-    } else {
-      if (n1[0]*normal[0]+n1[1]*normal[1]+n1[2]*normal[2] < 0.8) {
-        glNormal3fv(normal);
-      } else {
-        glNormal3fv(n1);
-      }
-    }
-    glVertex3fv(v1);
-
-    // vertex2
-    if (t2) {
-      glTexCoord2fv(t2);
-      glNormal3fv(n2);
-    } else {
-      if (n2[0]*normal[0]+n2[1]*normal[1]+n2[2]*normal[2] < 0.8) {
-        glNormal3fv(normal);
-      } else {
-        glNormal3fv(n2);
-      }
-    }
-    glVertex3fv(v2);
-
-    // vertex3
-    if (t3) {
-      glTexCoord2fv(t3);
-      glNormal3fv(n3);
-    } else {
-      if (n3[0]*normal[0]+n3[1]*normal[1]+n3[2]*normal[2] < 0.8) {
-        glNormal3fv(normal);
-      } else {
-        glNormal3fv(n3);
-      }
-    }
-    glVertex3fv(v3);
-  }
-  glEnd();
-  glEndList();
-
-  // render convex hull if present
-  if (m->mesh_graphadr[meshid] >= 0) {
-    // get sizes of convex hull
-    numvert = m->mesh_graph[m->mesh_graphadr[meshid]];
-    numface = m->mesh_graph[m->mesh_graphadr[meshid]+1];
-
-    glNewList(con->baseMesh + 2*meshid+1, GL_COMPILE);
-    glBegin(GL_TRIANGLES);
-    for (int face=0; face < numface; face++) {
-      // face address in graph
-      int j = m->mesh_graphadr[meshid] + 2 + 3*numvert + 3*numface + 3*face;
-
-      // compute vertex addresses
-      v1 = m->mesh_vert + 3*(m->mesh_graph[j]   + vertadr);
-      v2 = m->mesh_vert + 3*(m->mesh_graph[j+1] + vertadr);
-      v3 = m->mesh_vert + 3*(m->mesh_graph[j+2] + vertadr);
-
-      // compute texcoord addresses
-      if (texcoordadr >= 0) {
-        t1 = m->mesh_texcoord + 2*(m->mesh_graph[j]   + texcoordadr);
-        t2 = m->mesh_texcoord + 2*(m->mesh_graph[j+1] + texcoordadr);
-        t3 = m->mesh_texcoord + 2*(m->mesh_graph[j+2] + texcoordadr);
-      } else {
-        t1 = t2 = t3 = NULL;
-      }
-
-      // make OpenGL triangle
-      mjr_makeNormal(normal, v1, v2, v3);
-      glNormal3fv(normal);
-
-      // vertex 1
-      if (t1) glTexCoord2fv(t1);
-      glVertex3fv(v1);
-
-      // vertex 2
-      if (t2) glTexCoord2fv(t2);
-      glVertex3fv(v2);
-
-      // vertex 3
-      if (t3) glTexCoord2fv(t3);
-      glVertex3fv(v3);
-    }
-    glEnd();
-    glEndList();
-  }
-}
-
-
-
-// helper structure for adding vertices to height field
-struct vertbuf {
-  int nvert;
-  float vert1[3], vert2[3], vert3[3];
-};
-
-
-// helper function for adding vertices to height field
-static void addVert(float x, float y, float z, float sclz, struct vertbuf* buf) {
-  float normal[3];
-
-  // update buffer
-  memcpy(buf->vert1, buf->vert2, 3*sizeof(float));
-  memcpy(buf->vert2, buf->vert3, 3*sizeof(float));
-  buf->vert3[0] = x;
-  buf->vert3[1] = y;
-  buf->vert3[2] = z*sclz;
-  buf->nvert++;
-
-  // triangle ready
-  if (buf->nvert >= 3) {
-    // compensate for alternating orientation
-    if (buf->nvert%2) {
-      mjr_makeNormal(normal, buf->vert1, buf->vert2, buf->vert3);
-      glNormal3fv(normal);
-      glVertex3fv(buf->vert1);
-      glVertex3fv(buf->vert2);
-      glVertex3fv(buf->vert3);
-    } else {
-      mjr_makeNormal(normal, buf->vert1, buf->vert3, buf->vert2);
-      glNormal3fv(normal);
-      glVertex3fv(buf->vert1);
-      glVertex3fv(buf->vert3);
-      glVertex3fv(buf->vert2);
-    }
-  }
-}
-
-
-
-// model-specific height fields
-static void makeHField(const mjModel* m, mjrContext* con) {
-  // allocate list
-  listAllocate(&con->baseHField, &con->rangeHField, m->nhfield);
-
-  // uploaed all heightfields
-  for (int i=0; i < m->nhfield; i++) {
-    mjr_uploadHField(m, con, i);
-  }
-}
-
-
-
-// (re) upload height field to GPU
-void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
-  int d1 = 1, d2 = 0;
-  float width, height, sz[4];
-  struct vertbuf buf;
-  float* data;
-
-  // check index
-  if (hfieldid < 0 || hfieldid >= m->nhfield) {
-    mju_error("Invalid height field index %d", hfieldid);
-  }
-
-  // delete old list
-  glDeleteLists(con->baseHField + hfieldid, 1);
-
-  // init list, get elevation data address
-  glNewList(con->baseHField + hfieldid, GL_COMPILE);
-  data = m->hfield_data + m->hfield_adr[hfieldid];
-
-  // (half) width and height of integer grid
-  width = 0.5f * (m->hfield_ncol[hfieldid]-1);
-  height = 0.5f * (m->hfield_nrow[hfieldid]-1);
-
-  // convert size to float
-  for (int r=0; r < 4; r++) {
-    sz[r] = (float)m->hfield_size[4*hfieldid+r];
-  }
-
-  // render height field as triangles
-  glBegin(GL_TRIANGLES);
-  int nr = m->hfield_nrow[hfieldid];
-  int nc = m->hfield_ncol[hfieldid];
-  for (int r=0; r < nr-1; r++) {
-    buf.nvert = 0;
-    for (int c=0; c < nc; c++) {
-      addVert(sz[0]*(c/width-1.0f), sz[1]*((r+d1)/height-1.0f), data[(r+d1)*nc+c], sz[2], &buf);
-      addVert(sz[0]*(c/width-1.0f), sz[1]*((r+d2)/height-1.0f), data[(r+d2)*nc+c], sz[2], &buf);
-    }
-  }
-  glEnd();
-
-  // render sides as quads
-  glBegin(GL_QUADS);
-  for (int r=0; r < nr-1; r++) {
-    // left
-    glNormal3f(-1, 0, 0);
-    glVertex3f(-sz[0], sz[1]*((r+1)/height-1.0f), -sz[3]);
-    glVertex3f(-sz[0], sz[1]*((r+0)/height-1.0f), -sz[3]);
-    glVertex3f(-sz[0], sz[1]*((r+0)/height-1.0f), data[(r+0)*nc]*sz[2]);
-    glVertex3f(-sz[0], sz[1]*((r+1)/height-1.0f), data[(r+1)*nc]*sz[2]);
-
-    // right
-    glNormal3f(+1, 0, 0);
-    glVertex3f(+sz[0], sz[1]*((r+0)/height-1.0f), -sz[3]);
-    glVertex3f(+sz[0], sz[1]*((r+1)/height-1.0f), -sz[3]);
-    glVertex3f(+sz[0], sz[1]*((r+1)/height-1.0f), data[(r+1)*nc + nc-1]*sz[2]);
-    glVertex3f(+sz[0], sz[1]*((r+0)/height-1.0f), data[(r+0)*nc + nc-1]*sz[2]);
-  }
-
-  for (int c=0; c < nc-1; c++) {
-    // front
-    glNormal3f(0, -1, 0);
-    glVertex3f(sz[0]*((c+0)/width-1.0f), -sz[1], -sz[3]);
-    glVertex3f(sz[0]*((c+1)/width-1.0f), -sz[1], -sz[3]);
-    glVertex3f(sz[0]*((c+1)/width-1.0f), -sz[1], data[c+1]*sz[2]);
-    glVertex3f(sz[0]*((c+0)/width-1.0f), -sz[1], data[c]*sz[2]);
-
-    // back
-    glNormal3f(0, +1, 0);
-    glVertex3f(sz[0]*((c+1)/width-1.0f), +sz[1], -sz[3]);
-    glVertex3f(sz[0]*((c+0)/width-1.0f), +sz[1], -sz[3]);
-    glVertex3f(sz[0]*((c+0)/width-1.0f), +sz[1], data[(nr-1)*nc + c]*sz[2]);
-    glVertex3f(sz[0]*((c+1)/width-1.0f), +sz[1], data[(nr-1)*nc + c+1]*sz[2]);
-  }
-
-  // recompute for bottom drawing: different number of grid points
-  width = 0.5f * m->vis.quality.numquads;
-  height = 0.5f * m->vis.quality.numquads;
-
-  // bottom
-  glNormal3f(0, 0, -1);
-  for (int r=0; r < m->vis.quality.numquads; r++) {
-    for (int c=0; c < m->vis.quality.numquads; c++) {
-      glVertex3f(sz[0]*((c+0)/width-1.0f), sz[1]*((r+0)/height-1.0f), -sz[3]);
-      glVertex3f(sz[0]*((c+0)/width-1.0f), sz[1]*((r+1)/height-1.0f), -sz[3]);
-      glVertex3f(sz[0]*((c+1)/width-1.0f), sz[1]*((r+1)/height-1.0f), -sz[3]);
-      glVertex3f(sz[0]*((c+1)/width-1.0f), sz[1]*((r+0)/height-1.0f), -sz[3]);
-    }
-  }
-
-  glEnd();
-
-  // end list
-  glEndList();
-}
-
-
-
-// set one vertex and normal on sphere, given az, el and sign(top/bottom)
-static void setVertexSphere(float* v, float* n, float az, float el, int sign) {
-  v[0] = cosf(az) * cosf(el);
-  v[1] = sinf(az) * cosf(el);
-  v[2] = sign + sinf(el);
-
-  n[0] = v[0];
-  n[1] = v[1];
-  n[2] = v[2] - sign;
-}
-
-
-// make half a unit sphere: +1: top, -1: bottom
-static void halfSphere(int sign, int nSlice, int nStack) {
-  float az1, az2, el1, el2;
-  float v1[3], v2[3], v3[3], v4[3];
-  float n1[3], n2[3], n3[3], n4[3];
-
-  // pole: use triangles
-  glBegin(GL_TRIANGLES);
-  el1 = (mjPI/2.0f * sign * (nStack-1)) / (float)nStack;
-  for (int j=0; j < nSlice; j++) {
-    az1 = (2.0f*mjPI * (j+0.0f)) / (float)nSlice;
-    az2 = (2.0f*mjPI * (j+1.0f)) / (float)nSlice;
-
-    // compute triangle vertices
-    setVertexSphere(v1, n1, az1, el1, sign);
-    setVertexSphere(v2, n2, az2, el1, sign);
-    v3[0] = v3[1] = 0;
-    v3[2] = 2*sign;
-    n3[0] = n3[1] = 0;
-    n3[2] = sign;
-
-    float u1 = az1 / (2.0f*mjPI);
-    float v_el1 = (float)(nStack-1) / (float)nStack;
-    float u2 = az2 / (2.0f*mjPI);
-    float u3 = (az1 + az2) / 2.0f / (2.0f*mjPI);
-    float v3_uv = 1.0f;
-
-    if (sign > 0) {
-      v_el1 = 1.0f - v_el1;
-      v3_uv = 1.0f - v3_uv;
-    }
-
-    // make triangle
-    if (sign > 0) {
-      glTexCoord2f(u1, v_el1); glNormal3fv(n1); glVertex3fv(v1);
-      glTexCoord2f(u2, v_el1); glNormal3fv(n2); glVertex3fv(v2);
-      glTexCoord2f(u3, v3_uv); glNormal3fv(n3); glVertex3fv(v3);
-    } else {
-      glTexCoord2f(u3, v3_uv); glNormal3fv(n3); glVertex3fv(v3);
-      glTexCoord2f(u2, v_el1); glNormal3fv(n2); glVertex3fv(v2);
-      glTexCoord2f(u1, v_el1); glNormal3fv(n1); glVertex3fv(v1);
-    }
-  }
-  glEnd();
-
-  // the rest: use quads
-  glBegin(GL_QUADS);
-  for (int i=0; i < nStack-1; i++) {
-    el1 = (mjPI/2.0f * sign * (i+0)) / (float)nStack;
-    el2 = (mjPI/2.0f * sign * (i+1)) / (float)nStack;
-
-    float v_el1 = (float)(i+0) / (float)nStack;
-    float v_el2 = (float)(i+1) / (float)nStack;
-
-    if (sign > 0) {
-      v_el1 = 1.0f - v_el1;
-      v_el2 = 1.0f - v_el2;
-    }
-
-    for (int j=0; j < nSlice; j++) {
-      az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
-      az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
-
-      // compute quad vertices
-      setVertexSphere(v1, n1, az1, el1, sign);
-      setVertexSphere(v2, n2, az2, el1, sign);
-      setVertexSphere(v3, n3, az2, el2, sign);
-      setVertexSphere(v4, n4, az1, el2, sign);
-
-      float u1 = az1 / (2.0f*mjPI);
-      float u2 = az2 / (2.0f*mjPI);
-
-      // make quad
-      if (sign > 0) {
-        glTexCoord2f(u1, v_el1); glNormal3fv(n1); glVertex3fv(v1);
-        glTexCoord2f(u2, v_el1); glNormal3fv(n2); glVertex3fv(v2);
-        glTexCoord2f(u2, v_el2); glNormal3fv(n3); glVertex3fv(v3);
-        glTexCoord2f(u1, v_el2); glNormal3fv(n4); glVertex3fv(v4);
-      } else {
-        glTexCoord2f(u1, v_el2); glNormal3fv(n4); glVertex3fv(v4);
-        glTexCoord2f(u2, v_el2); glNormal3fv(n3); glVertex3fv(v3);
-        glTexCoord2f(u2, v_el1); glNormal3fv(n2); glVertex3fv(v2);
-        glTexCoord2f(u1, v_el1); glNormal3fv(n1); glVertex3fv(v1);
-      }
-    }
-  }
-  glEnd();
-}
-
-
-
-// make unit sphere
-static void sphere(int nSlice, int nStack) {
-  float az1, az2, el1, el2;
-  float v1[3], v2[3], v3[3], v4[3];
-  float n1[3], n2[3], n3[3], n4[3];
-
-  // poles: use triangles
-  glBegin(GL_TRIANGLES);
-  for (int sign=-1; sign <= 1; sign+=2) {
-    el1 = (0.5*mjPI * sign * (nStack/2-1)) / (float)(nStack/2);
-    float v_el1 = 0.5f - sign * (float)(nStack/2-1) / (float)nStack;
-    float v3_uv = sign > 0 ? 0.0f : 1.0f;
-
-    for (int j=0; j < nSlice; j++) {
-      az1 = (2.0f*mjPI * (j+0.0f)) / (float)nSlice;
-      az2 = (2.0f*mjPI * (j+1.0f)) / (float)nSlice;
-
-      // compute triangle vertices
-      setVertexSphere(v1, n1, az1, el1, 0);
-      setVertexSphere(v2, n2, az2, el1, 0);
-      v3[0] = v3[1] = 0;
-      v3[2] = sign;
-      n3[0] = n3[1] = 0;
-      n3[2] = sign;
-
-      float u1 = az1 / (2.0f*mjPI);
-      float u2 = az2 / (2.0f*mjPI);
-      float u3 = (az1 + az2) / 2.0f / (2.0f*mjPI);
-
-      // make triangle
-      if (sign > 0) {
-        glTexCoord2f(u1, v_el1); glNormal3fv(n1); glVertex3fv(v1);
-        glTexCoord2f(u2, v_el1); glNormal3fv(n2); glVertex3fv(v2);
-        glTexCoord2f(u3, v3_uv); glNormal3fv(n3); glVertex3fv(v3);
-      } else {
-        glTexCoord2f(u3, v3_uv); glNormal3fv(n3); glVertex3fv(v3);
-        glTexCoord2f(u2, v_el1); glNormal3fv(n2); glVertex3fv(v2);
-        glTexCoord2f(u1, v_el1); glNormal3fv(n1); glVertex3fv(v1);
-      }
-    }
-  }
-  glEnd();
-
-  // the rest: use quads
-  glBegin(GL_QUADS);
-  for (int sign=-1; sign <= 1; sign+=2) {
-    for (int i=0; i < nStack/2-1; i++) {
-      el1 = (0.5*mjPI * sign * (i+0)) / (float)(nStack/2);
-      el2 = (0.5*mjPI * sign * (i+1)) / (float)(nStack/2);
-
-      float v_el1 = 0.5f - sign * (float)(i+0) / (float)nStack;
-      float v_el2 = 0.5f - sign * (float)(i+1) / (float)nStack;
-
-      for (int j=0; j < nSlice; j++) {
-        az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
-        az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
-
-        // compute quad vertices
-        setVertexSphere(v1, n1, az1, el1, 0);
-        setVertexSphere(v2, n2, az2, el1, 0);
-        setVertexSphere(v3, n3, az2, el2, 0);
-        setVertexSphere(v4, n4, az1, el2, 0);
-
-        float u1 = az1 / (2.0f*mjPI);
-        float u2 = az2 / (2.0f*mjPI);
-
-        // make quad
-        if (sign > 0) {
-          glTexCoord2f(u1, v_el1); glNormal3fv(n1); glVertex3fv(v1);
-          glTexCoord2f(u2, v_el1); glNormal3fv(n2); glVertex3fv(v2);
-          glTexCoord2f(u2, v_el2); glNormal3fv(n3); glVertex3fv(v3);
-          glTexCoord2f(u1, v_el2); glNormal3fv(n4); glVertex3fv(v4);
-        } else {
-          glTexCoord2f(u1, v_el2); glNormal3fv(n4); glVertex3fv(v4);
-          glTexCoord2f(u2, v_el2); glNormal3fv(n3); glVertex3fv(v3);
-          glTexCoord2f(u2, v_el1); glNormal3fv(n2); glVertex3fv(v2);
-          glTexCoord2f(u1, v_el1); glNormal3fv(n1); glVertex3fv(v1);
-        }
-      }
-    }
-  }
-  glEnd();
-}
-
-
-
-// set one vertex on disk, given az, r and sign(top/bottom)
-static void setVertexDisk(float* v, float az, float r, int sign) {
-  v[0] = cosf(az) * r;
-  v[1] = sinf(az) * r;
-  v[2] = sign;
-}
-
-
-// make disk: +1: top, -1: bottom, 0: zero facing down
-static void disk(int sign, int nSlice, int nStack) {
-  float az1, az2, r1, r2;
-  float v1[3], v2[3], v3[3], v4[3];
-  float normal[3] = {0, 0, (sign == 0 ? -1 : sign)};
-
-  // pole: use triangles
-  glBegin(GL_TRIANGLES);
-  glNormal3fv(normal);
-  r1 = 1.0f / (float)nStack;
-  for (int j=0; j < nSlice; j++) {
-    az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
-    az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
-
-    // compute triangle vertices
-    setVertexDisk(v1, az1, r1, sign);
-    setVertexDisk(v2, az2, r1, sign);
-    v3[0] = v3[1] = 0;
-    v3[2] = sign;
-
-    float u1 = 0.5f + 0.5f * v1[0];
-    float v1_uv = 0.5f + 0.5f * v1[1];
-    float u2 = 0.5f + 0.5f * v2[0];
-    float v2_uv = 0.5f + 0.5f * v2[1];
-    float u3 = 0.5f;
-    float v3_uv = 0.5f;
-
-    // make triangle
-    if (sign > 0) {
-      glTexCoord2f(u1, v1_uv); glVertex3fv(v1);
-      glTexCoord2f(u2, v2_uv); glVertex3fv(v2);
-      glTexCoord2f(u3, v3_uv); glVertex3fv(v3);
-    } else {
-      glTexCoord2f(u3, v3_uv); glVertex3fv(v3);
-      glTexCoord2f(u2, v2_uv); glVertex3fv(v2);
-      glTexCoord2f(u1, v1_uv); glVertex3fv(v1);
-    }
-  }
-  glEnd();
-
-  // the rest: use quads
-  glBegin(GL_QUADS);
-  glNormal3fv(normal);
-  for (int i=0; i < nStack-1; i++) {
-    r1 = (i+1) / (float)nStack;
-    r2 = (i+2) / (float)nStack;
-
-    for (int j=0; j < nSlice; j++) {
-      az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
-      az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
-
-      // compute quad vertices
-      setVertexDisk(v1, az1, r2, sign);
-      setVertexDisk(v2, az2, r2, sign);
-      setVertexDisk(v3, az2, r1, sign);
-      setVertexDisk(v4, az1, r1, sign);
-
-      float u1 = 0.5f + 0.5f * v1[0];
-      float v1_uv = 0.5f + 0.5f * v1[1];
-      float u2 = 0.5f + 0.5f * v2[0];
-      float v2_uv = 0.5f + 0.5f * v2[1];
-      float u3 = 0.5f + 0.5f * v3[0];
-      float v3_uv = 0.5f + 0.5f * v3[1];
-      float u4 = 0.5f + 0.5f * v4[0];
-      float v4_uv = 0.5f + 0.5f * v4[1];
-
-      // make quad
-      if (sign > 0) {
-        glTexCoord2f(u1, v1_uv); glVertex3fv(v1);
-        glTexCoord2f(u2, v2_uv); glVertex3fv(v2);
-        glTexCoord2f(u3, v3_uv); glVertex3fv(v3);
-        glTexCoord2f(u4, v4_uv); glVertex3fv(v4);
-      } else {
-        glTexCoord2f(u4, v4_uv); glVertex3fv(v4);
-        glTexCoord2f(u3, v3_uv); glVertex3fv(v3);
-        glTexCoord2f(u2, v2_uv); glVertex3fv(v2);
-        glTexCoord2f(u1, v1_uv); glVertex3fv(v1);
-      }
-    }
-  }
-  glEnd();
-}
-
-
-
-// set vertex and normal on cone, given az, r
-static void setVertexCone(float* v, float* n, float az, float r) {
-  const float scale = 1.0f/sqrtf(2.0f);
-
-  // vertex
-  v[0] = cosf(az) * r;
-  v[1] = sinf(az) * r;
-  v[2] = 1 - r;
-
-  // normal
-  n[0] = cosf(az) * scale;
-  n[1] = sinf(az) * scale;
-  n[2] = scale;
-}
-
-
-// make open cone
-static void cone(int nSlice, int nStack) {
-  float az1, az2, r1, r2;
-  float v1[3], v2[3], v3[3], v4[3];
-  float n1[3], n2[3], n3[3], n4[3];
-
-  // pole: use triangles
-  glBegin(GL_TRIANGLES);
-  r1 = 1.0f / (float)nStack;
-  for (int j=0; j < nSlice; j++) {
-    az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
-    az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
-
-    // compute triangle vertices
-    setVertexCone(v1, n1, az1, r1);
-    setVertexCone(v2, n2, az2, r1);
-    v3[0] = v3[1] = 0;
-    v3[2] = 1;
-    n3[0] = n1[0]+n2[0];
-    n3[1] = n1[1]+n2[1];
-    n3[2] = n1[2]+n2[2];
-    mjr_normalizeVec(n3);
-
-    float u1 = (float)j / (float)nSlice;
-    float u2 = (float)(j+1) / (float)nSlice;
-    float u3 = (u1 + u2) / 2.0f;
-
-    // make triangle
-    glTexCoord2f(u1, r1); glNormal3fv(n1); glVertex3fv(v1);
-    glTexCoord2f(u2, r1); glNormal3fv(n2); glVertex3fv(v2);
-    glTexCoord2f(u3, 0.0f); glNormal3fv(n3); glVertex3fv(v3);
-  }
-  glEnd();
-
-  // the rest: use quads
-  glBegin(GL_QUADS);
-  for (int i=0; i < nStack-1; i++) {
-    r1 = (i+1) / (float)nStack;
-    r2 = (i+2) / (float)nStack;
-
-    for (int j=0; j < nSlice; j++) {
-      az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
-      az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
-
-      // compute quad vertices
-      setVertexCone(v1, n1, az1, r2);
-      setVertexCone(v2, n2, az2, r2);
-      setVertexCone(v3, n3, az2, r1);
-      setVertexCone(v4, n4, az1, r1);
-
-      float u1 = (float)j / (float)nSlice;
-      float u2 = (float)(j+1) / (float)nSlice;
-
-      // make quad
-      glTexCoord2f(u1, r2); glNormal3fv(n1); glVertex3fv(v1);
-      glTexCoord2f(u2, r2); glNormal3fv(n2); glVertex3fv(v2);
-      glTexCoord2f(u2, r1); glNormal3fv(n3); glVertex3fv(v3);
-      glTexCoord2f(u1, r1); glNormal3fv(n4); glVertex3fv(v4);
-    }
-  }
-  glEnd();
-}
-
-
-
-// set one vertex and normal on cylinder, given az and h
-static void setVertexCylinder(float* v, float* n, float az, float h) {
-  v[0] = cosf(az);
-  v[1] = sinf(az);
-  v[2] = h;
-
-  n[0] = v[0]/sqrtf(v[0]*v[0]+v[1]*v[1]);
-  n[1] = v[1]/sqrtf(v[0]*v[0]+v[1]*v[1]);
-  n[2] = 0;
-}
-
-
-// open cylinder from -1 to +1 in z, radius 1
-static void cylinder(int nSlice, int nStack) {
-  float az1, az2, h1, h2;
-  float v1[3], v2[3], v3[3], v4[3];
-  float n1[3], n2[3], n3[3], n4[3];
-
-  // use quads everywhere
-  glBegin(GL_QUADS);
-  for (int i=0; i < nStack; i++) {
-    h1 = 2*(i+0)/(float)nStack - 1;
-    h2 = 2*(i+1)/(float)nStack - 1;
-
-    float v_el1 = (1.0f - h1) / 2.0f;
-    float v_el2 = (1.0f - h2) / 2.0f;
-
-    for (int j=0; j < nSlice; j++) {
-      az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
-      az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
-
-      // compute quad vertices
-      setVertexCylinder(v1, n1, az1, h1);
-      setVertexCylinder(v2, n2, az2, h1);
-      setVertexCylinder(v3, n3, az2, h2);
-      setVertexCylinder(v4, n4, az1, h2);
-
-      float u1 = (float)j / (float)nSlice;
-      float u2 = (float)(j+1) / (float)nSlice;
-
-      // make quad
-      glTexCoord2f(u1, v_el1); glNormal3fv(n1); glVertex3fv(v1);
-      glTexCoord2f(u2, v_el1); glNormal3fv(n2); glVertex3fv(v2);
-      glTexCoord2f(u2, v_el2); glNormal3fv(n3); glVertex3fv(v3);
-      glTexCoord2f(u1, v_el2); glNormal3fv(n4); glVertex3fv(v4);
-    }
-  }
-  glEnd();
-}
-
-
-
-// set one vertex in haze
-static void setVertexHaze(float* v, float az, float h, float r) {
-  v[0] = cosf(az) * (1 - r*(1-h));
-  v[1] = sinf(az) * (1 - r*(1-h));
-  v[2] = h;
-}
-
-
-// truncated cone for haze rendering
-static void haze(int nSlice, float r, const float* rgba) {
-  // compute elevation h for transparency transition point
-  float alpha = atan2f(1, r);
-  float beta = (float)(0.75*mjPI) - alpha;
-  float h = sqrtf(0.5f) * r * sinf(alpha) / sinf(beta);
-
-  // use quads everywhere
-  glBegin(GL_QUADS);
-
-  // normal not needed (always rendered with lighting off)
-  glNormal3f(0, 0, 1);
-
-  // stacks = 2
-  for (int i=0; i < 2; i++) {
-    float h1 = (i == 0 ? 0 : h);
-    float h2 = (i == 0 ? h : 1);
-
-    for (int j=0; j < nSlice; j++) {
-      float az1 = (2.0f*mjPI * (j+0)) / (float)nSlice;
-      float az2 = (2.0f*mjPI * (j+1)) / (float)nSlice;
-
-      // compute quad vertices
-      float v1[3], v2[3], v3[3], v4[3];
-      setVertexHaze(v1, az1, h1, r);
-      setVertexHaze(v2, az2, h1, r);
-      setVertexHaze(v3, az2, h2, r);
-      setVertexHaze(v4, az1, h2, r);
-
-      // colors at elevation h1 and h2
-      float c1 = (i == 1);
-      float c2 = (i == 0);
-
-      // make quad, with colors
-      glColor4f(rgba[0], rgba[1], rgba[2], c1);
-      glVertex3fv(v1);
-      glVertex3fv(v2);
-      glColor4f(rgba[0], rgba[1], rgba[2], c2);
-      glVertex3fv(v3);
-      glVertex3fv(v4);
-    }
-  }
-  glEnd();
-}
-
-
-
-// builtin geoms types
-static void makeBuiltin(const mjModel* m, mjrContext* con) {
-  int numstacks = m->vis.quality.numstacks;
-  int numslices = m->vis.quality.numslices;
-  int numquads  = m->vis.quality.numquads;
-  float d = 2.0f/numquads;
-
-  // allocate list
-  listAllocate(&con->baseBuiltin, &con->rangeBuiltin, mjrNUM);
-
-  // sphere
-  glNewList(con->baseBuiltin + mjrSPHERE, GL_COMPILE);
-  sphere(numslices, numstacks);
-  glEndList();
-
-  // sphere top
-  glNewList(con->baseBuiltin + mjrSPHERETOP, GL_COMPILE);
-  halfSphere(+1, numslices, numstacks/2);
-  glEndList();
-
-  // sphere bottom
-  glNewList(con->baseBuiltin + mjrSPHEREBOTTOM, GL_COMPILE);
-  halfSphere(-1, numslices, numstacks/2);
-  glEndList();
-
-  // closed cylinder, center at z=0
-  glNewList(con->baseBuiltin + mjrCYLINDER, GL_COMPILE);
-  disk(-1, numslices, numstacks/2);
-  cylinder(numslices, numstacks);
-  disk(+1, numslices, numstacks/2);
-  glEndList();
-
-  // open cylinder, center at z=0
-  glNewList(con->baseBuiltin + mjrCYLINDEROPEN, GL_COMPILE);
-  cylinder(numslices, numstacks);
-  glEndList();
-
-  // haze truncated cone
-  glNewList(con->baseBuiltin + mjrHAZE, GL_COMPILE);
-  haze(numslices, m->vis.map.haze, m->vis.rgba.haze);
-  glEndList();
-
-  // box
-  glNewList(con->baseBuiltin + mjrBOX, GL_COMPILE);
-  glBegin(GL_QUADS);
-  double nq = (double)numquads;
-  for (int x=0; x < numquads; x++) {
-    for (int y=0; y < numquads; y++) {
-      double u0_t = (double)x / nq;
-      double u1_t = (double)(x+1) / nq;
-      double v0_t = 1.0 - (double)y / nq;
-      double v1_t = 1.0 - (double)(y+1) / nq;
-
-      double u0_b = (double)x / nq;
-      double u1_b = (double)(x+1) / nq;
-      double v0_b = 1.0 - (double)(y+1) / nq;
-      double v1_b = 1.0 - (double)y / nq;
-
-      glNormal3f(0, 0, 1);                        // top
-      glTexCoord2d(u0_t, v0_t); glVertex3f(d*(x+0)-1, d*(y+0)-1, 1);
-      glTexCoord2d(u1_t, v0_t); glVertex3f(d*(x+1)-1, d*(y+0)-1, 1);
-      glTexCoord2d(u1_t, v1_t); glVertex3f(d*(x+1)-1, d*(y+1)-1, 1);
-      glTexCoord2d(u0_t, v1_t); glVertex3f(d*(x+0)-1, d*(y+1)-1, 1);
-
-      glNormal3f(0, 0, -1);                       // bottom
-      glTexCoord2d(u0_b, v0_b); glVertex3f(d*(x+0)-1, d*(y+1)-1, -1);
-      glTexCoord2d(u1_b, v0_b); glVertex3f(d*(x+1)-1, d*(y+1)-1, -1);
-      glTexCoord2d(u1_b, v1_b); glVertex3f(d*(x+1)-1, d*(y+0)-1, -1);
-      glTexCoord2d(u0_b, v1_b); glVertex3f(d*(x+0)-1, d*(y+0)-1, -1);
-
-      glNormal3f(1, 0, 0);                        // right
-      glTexCoord2d(u0_t, v0_t); glVertex3f(1, d*(x+0)-1, d*(y+0)-1);
-      glTexCoord2d(u1_t, v0_t); glVertex3f(1, d*(x+1)-1, d*(y+0)-1);
-      glTexCoord2d(u1_t, v1_t); glVertex3f(1, d*(x+1)-1, d*(y+1)-1);
-      glTexCoord2d(u0_t, v1_t); glVertex3f(1, d*(x+0)-1, d*(y+1)-1);
-
-      glNormal3f(-1, 0, 0);                       // left
-      glTexCoord2d(u0_b, v0_b); glVertex3f(-1, d*(x+0)-1, d*(y+1)-1);
-      glTexCoord2d(u1_b, v0_b); glVertex3f(-1, d*(x+1)-1, d*(y+1)-1);
-      glTexCoord2d(u1_b, v1_b); glVertex3f(-1, d*(x+1)-1, d*(y+0)-1);
-      glTexCoord2d(u0_b, v1_b); glVertex3f(-1, d*(x+0)-1, d*(y+0)-1);
-
-      glNormal3f(0, -1, 0);                       // front
-      glTexCoord2d(u0_t, v0_t); glVertex3f(d*(x+0)-1, -1, d*(y+0)-1);
-      glTexCoord2d(u1_t, v0_t); glVertex3f(d*(x+1)-1, -1, d*(y+0)-1);
-      glTexCoord2d(u1_t, v1_t); glVertex3f(d*(x+1)-1, -1, d*(y+1)-1);
-      glTexCoord2d(u0_t, v1_t); glVertex3f(d*(x+0)-1, -1, d*(y+1)-1);
-
-      glNormal3f(0, 1, 0);                        // back
-      glTexCoord2d(u0_b, v0_b); glVertex3f(d*(x+0)-1, 1, d*(y+1)-1);
-      glTexCoord2d(u1_b, v0_b); glVertex3f(d*(x+1)-1, 1, d*(y+1)-1);
-      glTexCoord2d(u1_b, v1_b); glVertex3f(d*(x+1)-1, 1, d*(y+0)-1);
-      glTexCoord2d(u0_b, v1_b); glVertex3f(d*(x+0)-1, 1, d*(y+0)-1);
-    }
-  }
-  glEnd();
-  glEndList();
-
-  // cone, bottom at z=0
-  glNewList(con->baseBuiltin + mjrCONE, GL_COMPILE);
-  cone(numslices, numstacks);
-  disk(0, numslices, numstacks);
-  glEndList();
-}
-
-
-
-// make depth texture and FBO for shadow mapping
-static void makeShadow(const mjModel* m, mjrContext* con) {
-  // return if size is 0
-  if (!con->shadowSize) {
-    return;
-  }
-
-  // create FBO
-  glGenFramebuffers(1, &con->shadowFBO);
-  if (!con->shadowFBO) {
-    mju_error("Could not allocate shadow framebuffer");
-  }
-  glBindFramebuffer(GL_FRAMEBUFFER, con->shadowFBO);
-
-  // Create a shadow depth texture in TEXTURE1 and explicitly select an int24
-  // depth buffer. A depth stencil format is used because that appears to be
-  // more widely supported (MacOS does not support GL_DEPTH_COMPONENT24). Using
-  // a fixed format makes it easier to choose glPolygonOffset parameters that
-  // result in reasonably consistent and artifact free shadows across platforms.
-  glGenTextures(1, &con->shadowTex);
-  glActiveTexture(GL_TEXTURE1);
-  glEnable(GL_TEXTURE_2D);
-  glBindTexture(GL_TEXTURE_2D, con->shadowTex);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH24_STENCIL8,
-               con->shadowSize, con->shadowSize, 0, GL_DEPTH_STENCIL, GL_UNSIGNED_INT_24_8, NULL);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_R_TO_TEXTURE);
-  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_GEQUAL);
-  glTexParameteri(GL_TEXTURE_2D, GL_DEPTH_TEXTURE_MODE, GL_INTENSITY);
-  glTexGeni(GL_S, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
-  glTexGeni(GL_T, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
-  glTexGeni(GL_R, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
-  glTexGeni(GL_Q, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
-
-  // attach to FBO
-  glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, con->shadowTex, 0);
-  glDrawBuffer(GL_NONE);
-  glReadBuffer(GL_NONE);
-
-  // check FBO status
-  GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-  if (err != GL_FRAMEBUFFER_COMPLETE) {
-    mju_error("Shadow framebuffer is not complete, error 0x%x", err);
-  }
-
-  glDisable(GL_TEXTURE_2D);
-}
-
-
-
-// make render buffers and FBO for offscreen rendering
-static void makeOff(mjrContext* con) {
-  // return if size is 0
-  if (!con->offWidth || !con->offHeight) {
-    return;
-  }
-
-  // create FBO
-  glGenFramebuffers(1, &con->offFBO);
-  if (!con->offFBO) {
-    mju_error("Could not allocate offscreen framebuffer");
-  }
-  glBindFramebuffer(GL_FRAMEBUFFER, con->offFBO);
-
-  // clamp samples request
-  int sMax = 0;
-  glGetIntegerv(GL_MAX_SAMPLES, &sMax);
-  if (con->offSamples > sMax) {
-    con->offSamples = sMax;
-  }
-
-  // create color buffer
-  glGenRenderbuffers(1, &con->offColor);
-  if (!con->offColor) {
-    mju_error("Could not allocate offscreen color buffer");
-  }
-  glBindRenderbuffer(GL_RENDERBUFFER, con->offColor);
-  if (con->offSamples) {
-    glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_RGBA8,
-                                     con->offWidth, con->offHeight);
-  } else {
-    glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, con->offWidth, con->offHeight);
-  }
-  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_RENDERBUFFER, con->offColor);
-
-  // create depth and stencil buffer
-  glGenRenderbuffers(1, &con->offDepthStencil);
-  if (!con->offDepthStencil) {
-    mju_error("Could not allocate offscreen depth and stencil buffer");
-  }
-  glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
-
-  GLenum depth_buffer_format =
-      mjGLAD_GL_ARB_depth_buffer_float ? GL_DEPTH32F_STENCIL8 : GL_DEPTH24_STENCIL8;
-  if (con->offSamples) {
-    glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, depth_buffer_format,
-                                     con->offWidth, con->offHeight);
-  } else {
-    glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
-  }
-  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT,
-                            GL_RENDERBUFFER, con->offDepthStencil);
-
-  // check FBO status
-  GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-  if (err != GL_FRAMEBUFFER_COMPLETE) {
-    mju_error("Offscreen framebuffer is not complete, error 0x%x", err);
-  }
-
-  // get actual number of samples
-  glGetRenderbufferParameteriv(GL_RENDERBUFFER, GL_RENDERBUFFER_SAMPLES, &con->offSamples);
-
-  // create FBO for resolving multisamples
-  if (con->offSamples) {
-    // create FBO
-    glGenFramebuffers(1, &con->offFBO_r);
-    if (!con->offFBO_r) {
-      mju_error("Could not allocate offscreen framebuffer_r");
-    }
-    glBindFramebuffer(GL_FRAMEBUFFER, con->offFBO_r);
-
-    // create color buffer
-    glGenRenderbuffers(1, &con->offColor_r);
-    if (!con->offColor_r) {
-      mju_error("Could not allocate offscreen color buffer_r");
-    }
-    glBindRenderbuffer(GL_RENDERBUFFER, con->offColor_r);
-    glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, con->offWidth, con->offHeight);
-    glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0,
-                              GL_RENDERBUFFER, con->offColor_r);
-
-    // create depth and stencil buffer
-    glGenRenderbuffers(1, &con->offDepthStencil_r);
-    if (!con->offDepthStencil_r) {
-      mju_error("Could not allocate offscreen depth and stencil buffer_r");
-    }
-    glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil_r);
-    glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
-    glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT,
-                              GL_RENDERBUFFER, con->offDepthStencil_r);
-
-    // check FBO status
-    GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-    if (err != GL_FRAMEBUFFER_COMPLETE) {
-      mju_error("Offscreen framebuffer_r is not complete, error 0x%x", err);
-    }
-  }
-}
-
-
-
-// make fonts
-static void makeFont(mjrContext* con, int fontscale) {
-  // data addresses
-  int adr = 0, adr_big = 0;
-
-  // font data pointers for given scaling
-  const unsigned char* font_normal = NULL;
-  const unsigned char* font_back = NULL;
-  const unsigned char* font_big = NULL;
-  switch (fontscale) {
-  case mjFONTSCALE_50:
-    font_normal = font_normal50;
-    font_back = font_back50;
-    font_big = font_big50;
-    break;
-
-  case mjFONTSCALE_100:
-    font_normal = font_normal100;
-    font_back = font_back100;
-    font_big = font_big100;
-    break;
-
-  case mjFONTSCALE_150:
-    font_normal = font_normal150;
-    font_back = font_back150;
-    font_big = font_big150;
-    break;
-
-  case mjFONTSCALE_200:
-    font_normal = font_normal200;
-    font_back = font_back200;
-    font_big = font_big200;
-    break;
-
-  case mjFONTSCALE_250:
-    font_normal = font_normal250;
-    font_back = font_back250;
-    font_big = font_big250;
-    break;
-
-  case mjFONTSCALE_300:
-    font_normal = font_normal300;
-    font_back = font_back300;
-    font_big = font_big300;
-    break;
-
-  default:
-    mju_error("Invalid fontscale");
-  }
-
-  // save fontScale
-  con->fontScale = fontscale;
-
-  // init lists
-  con->rangeFont = 128;
-  con->baseFontNormal = glGenLists(con->rangeFont);
-  con->baseFontShadow = glGenLists(con->rangeFont);
-  con->baseFontBig = glGenLists(con->rangeFont);
-  if (con->baseFontNormal == 0 || con->baseFontShadow == 0 || con->baseFontBig == 0) {
-    mju_error("Could not allocate font lists");
-  }
-
-  // loop over printable characters (32-126)
-  for (unsigned char i=32; i <= 126; i++) {
-    // assert character code; SHOULD NOT OCCUR
-    if (font_normal[adr] != i || font_back[adr] != i || font_big[adr_big] != i) {
-      mju_error("Invalid font data index");
-    }
-
-    // save character sizes
-    con->charWidth[i] = font_normal[adr+1];
-    con->charWidthBig[i] = font_big[adr_big+1];
-    con->charHeight = font_normal[adr+2];
-    con->charHeightBig = font_big[adr_big+2];
-
-    // make bitmap display list: normal
-    glNewList(con->baseFontNormal+i, GL_COMPILE);
-    glBitmap(con->charWidth[i], con->charHeight, 0, 0, con->charWidth[i], 0,
-             font_normal + adr + 3);
-    glEndList();
-
-    // make bitmap display list: back
-    glNewList(con->baseFontShadow+i, GL_COMPILE);
-    glBitmap(con->charWidth[i], con->charHeight, 0, 0, con->charWidth[i], 0,
-             font_back + adr + 3);
-    glEndList();
-
-    // make bitmap display list: big
-    glNewList(con->baseFontBig+i, GL_COMPILE);
-    glBitmap(con->charWidthBig[i], con->charHeightBig, 0, 0, con->charWidthBig[i], 0,
-             font_big + adr_big + 3);
-    glEndList();
-
-    // compute width in bytes
-    int width = (con->charWidth[i]-1)/8 + 1;
-    int widthBig = (con->charWidthBig[i]-1)/8 + 1;
-
-    // advance addresses
-    adr += 3 + width*con->charHeight;
-    adr_big += 3 + widthBig*con->charHeightBig;
-  }
-
-  // assert 123 termination token; SHOULD NOT OCCUR
-  if (font_normal[adr] != 123 || font_back[adr] != 123 || font_big[adr_big] != 123) {
-    mju_error("Invalid font data termination");
-  }
-}
-
-// make materials, just for those that have textures
-static void makeMaterial(const mjModel* m, mjrContext* con) {
-  memset(con->mat_texid, -1, sizeof(con->mat_texid));
-  memset(con->mat_texuniform, 0, sizeof(con->mat_texuniform));
-  memset(con->mat_texrepeat, 0, sizeof(con->mat_texrepeat));
-
-  // find skybox texture
-  for (int i=0; i < m->ntex; i++) {
-    if (m->tex_type[i] == mjTEXTURE_SKYBOX) {
-      if (m->nmat >= mjMAXMATERIAL-2) {
-        mju_error("With skybox, maximum number of materials is %d, got %" PRId64,
-                  mjMAXMATERIAL-1, m->nmat);
-      }
-      for (int j=0; j < mjNTEXROLE; j++) {
-        con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + j] = -1;
-      }
-      con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + mjTEXROLE_RGB] = i;
-
-      break;
-    }
-  }
-
-  if (m->nmat >= mjMAXMATERIAL-1) {
-    mju_error("Maximum number of materials is %d, got %" PRId64, mjMAXMATERIAL, m->nmat);
-  }
-  for (int i=0; i < m->nmat; i++) {
-    if (m->mat_texid[i*mjNTEXROLE + mjTEXROLE_RGB] >= 0) {
-      for (int j=0; j < mjNTEXROLE; j++) {
-        con->mat_texid[i*mjNTEXROLE + j] = m->mat_texid[i*mjNTEXROLE + j];
-      }
-      con->mat_texuniform[i] = m->mat_texuniform[i];
-      con->mat_texrepeat[2*i] = m->mat_texrepeat[2*i];
-      con->mat_texrepeat[2*i+1] = m->mat_texrepeat[2*i+1];
-    }
-  }
-}
-
-
-// make textures
-static void makeTexture(const mjModel* m, mjrContext* con) {
-  // checks size
-  if (m->ntex > mjMAXTEXTURE) {
-    mju_error("Maximum number of textures is %d", mjMAXTEXTURE);
-  }
-
-  // save new size
-  con->ntexture = m->ntex;
-  if (!m->ntex) {
-    return;
-  }
-
-  // allocate and upload
-  glGenTextures(con->ntexture, con->texture);
-  for (int i=0; i < m->ntex; i++) {
-    con->textureType[i] = m->tex_type[i];
-    mjr_uploadTexture(m, con, i);
-  }
-}
-
-
-
-// (re) upload texture to GPU
-void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
-  int w = m->tex_width[texid];
-  float plane[4];
-
-  // the classic renderer only uploads 3- (RGB) or 4-channel (RGBA) textures. KTX
-  // and other encoded textures are single-channel blobs for the Filament renderer
-  // (see LoadKTX); skip them with a warning instead of aborting (issue #3343).
-  if (m->tex_nchannel[texid] != 3 && m->tex_nchannel[texid] != 4) {
-    mju_warning("texture %d: classic renderer can't upload %d-channel data, "
-                "skipping (KTX/encoded textures need the Filament renderer)",
-                texid, m->tex_nchannel[texid]);
-    return;
-  }
-
-  // 2D texture
-  if (m->tex_type[texid] == mjTEXTURE_2D) {
-    // OpenGL settings
-    glActiveTexture(GL_TEXTURE0);
-    glEnable(GL_TEXTURE_2D);
-    glBindTexture(GL_TEXTURE_2D, con->texture[texid]);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    glTexGeni(GL_S, GL_TEXTURE_GEN_MODE, GL_OBJECT_LINEAR);
-    glTexGeni(GL_T, GL_TEXTURE_GEN_MODE, GL_OBJECT_LINEAR);
-
-    // set mapping
-    mjr_setf4(plane, 1, 0, 0, 0);
-    glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
-    mjr_setf4(plane, 0, 1, 0, 0);
-    glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
-
-    // assign data
-    int type = 0;
-    int internaltype = 0;
-    if (m->tex_nchannel[texid] == 3) {
-      type = GL_RGB;
-      internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_EXT : GL_RGB;
-    } else {  // 4 channels, guaranteed by the channel check at the top of the function
-      type = GL_RGBA;
-      internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_ALPHA8_EXT : GL_RGBA;
-    }
-
-    glTexImage2D(GL_TEXTURE_2D, 0, internaltype, m->tex_width[texid],
-                 m->tex_height[texid], 0, type, GL_UNSIGNED_BYTE,
-                 m->tex_data + m->tex_adr[texid]);
-
-    // generate mipmaps
-    glGenerateMipmap(GL_TEXTURE_2D);
-    glDisable(GL_TEXTURE_2D);
-  }
-
-  // cube or skybox texture
-  else {
-    // OpenGL settings
-    glActiveTexture(GL_TEXTURE0);
-    glEnable(GL_TEXTURE_CUBE_MAP);
-    glBindTexture(GL_TEXTURE_CUBE_MAP, con->texture[texid]);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-    glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
-    glTexGeni(GL_S, GL_TEXTURE_GEN_MODE, GL_OBJECT_LINEAR);
-    glTexGeni(GL_T, GL_TEXTURE_GEN_MODE, GL_OBJECT_LINEAR);
-    glTexGeni(GL_R, GL_TEXTURE_GEN_MODE, GL_OBJECT_LINEAR);
-
-    // set mapping
-    mjr_setf4(plane, 1, 0, 0, 0);
-    glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
-    mjr_setf4(plane, 0, 1, 0, 0);
-    glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
-    mjr_setf4(plane, 0, 0, 1, 0);
-    glTexGenfv(GL_R, GL_OBJECT_PLANE, plane);
-
-    // assign data: repeated
-    if (m->tex_width[texid] == m->tex_height[texid]) {
-      for (int i=0; i < 6; i++) {
-        glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X+i, 0, GL_RGB, w, w, 0,
-                     GL_RGB, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid]);
-      }
-    }
-
-    // assign data: separate faces
-    else {
-      for (int i=0; i < 6; i++) {
-        glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X+i, 0, GL_RGB, w, w, 0,
-                     GL_RGB, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid] + i*3*w*w);
-      }
-    }
-
-    // generate mipmaps
-    glGenerateMipmap(GL_TEXTURE_CUBE_MAP);
-    glDisable(GL_TEXTURE_CUBE_MAP);
-  }
-}
-
-
-
-// allocate buffers for skins, copy constants
-static void makeSkin(const mjModel* m, mjrContext* con) {
-  int nskin = m->nskin;
-
-  // save number of skins (so we can delete context without model)
-  con->nskin = m->nskin;
-
-  // allocate buffers
-  if (nskin) {
-    // allocate VBO names
-    con->skinvertVBO     = (unsigned int*) mju_malloc(nskin*sizeof(int));
-    con->skinnormalVBO   = (unsigned int*) mju_malloc(nskin*sizeof(int));
-    con->skintexcoordVBO = (unsigned int*) mju_malloc(nskin*sizeof(int));
-    con->skinfaceVBO     = (unsigned int*) mju_malloc(nskin*sizeof(int));
-
-    // generage VBOs
-    glGenBuffers(nskin, con->skinvertVBO);
-    glGenBuffers(nskin, con->skinnormalVBO);
-    glGenBuffers(nskin, con->skintexcoordVBO);
-    glGenBuffers(nskin, con->skinfaceVBO);
-
-    // process skins
-    for (int i=0; i < nskin; i++) {
-      // texture coordinates
-      if (m->skin_texcoordadr[i] >= 0) {
-        glBindBuffer(GL_ARRAY_BUFFER, con->skintexcoordVBO[i]);
-        glBufferData(GL_ARRAY_BUFFER,
-                     2*m->skin_vertnum[i]*sizeof(float),
-                     m->skin_texcoord + 2*m->skin_texcoordadr[i],
-                     GL_STATIC_DRAW);
-      } else {
-        glDeleteBuffers(1, con->skintexcoordVBO+i);
-        con->skintexcoordVBO[i] = 0;
-      }
-
-      // face indices
-      glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, con->skinfaceVBO[i]);
-      glBufferData(GL_ELEMENT_ARRAY_BUFFER,
-                   3*m->skin_facenum[i]*sizeof(int),
-                   m->skin_face + 3*m->skin_faceadr[i],
-                   GL_STATIC_DRAW);
-    }
-  }
-}
-
-
-
-// callback to print out GL_DEBUG output (when enabled for internal testing)
-void GLAPIENTRY debugCallback(GLenum source,
-                              GLenum type,
-                              GLuint id,
-                              GLenum severity,
-                              GLsizei length,
-                              const GLchar* message,
-                              const void* userParam) {
-  printf("GL DEBUG: source = 0x%x, type = 0x%x, severity = 0x%x, id = 0x%x\nmessage = %s\n\n",
-         source, type, severity, id, message);
-}
-
-
-
-// returns 1 if MUJOCO_GL_DEBUG environment variable is set to 1
-static int glDebugEnabled(void) {
-  char* debug = getenv("MUJOCO_GL_DEBUG");
-  return debug && strcmp(debug, "1") == 0;
-}
-
-
-
-void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
-                             int default_offwidth, int default_offheight) {
-  // fix fontscale
-  fontscale = 50 * mju_round(((mjtNum)fontscale)/50.0);
-  if (fontscale < 100) {
-    fontscale = 100;
-  } else if (fontscale > 300) {
-    fontscale = 300;
-  }
-
-  // initialize GLAD, determine window and FBO availability
-  if (!con->glInitialized) {
-    if (!mjGladLoadGL()) {
-      mju_error("gladLoadGL error");
-    }
-    if (!mjGLAD_GL_VERSION_1_5) {
-      mju_error("OpenGL version 1.5 or higher required");
-    }
-    if (!mjGLAD_GL_ARB_framebuffer_object) {
-      mju_error("OpenGL ARB_framebuffer_object required");
-    }
-    if (!mjGLAD_GL_ARB_vertex_buffer_object) {
-      mju_error("OpenGL ARB_vertex_buffer_object required");
-    }
-    con->glInitialized = 1;
-
-    // determine window availability (could be EGL-headless)
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-    unsigned int status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-    if (status == GL_FRAMEBUFFER_COMPLETE) {
-      con->windowAvailable = 1;
-    } else if (status == GL_FRAMEBUFFER_UNDEFINED) {
-      con->windowAvailable = 0;
-    } else {
-      mju_error("Default framebuffer is not complete, error 0x%x", status);
-    }
-  }
-
-  // OpenGL debug output
-  if (glDebugEnabled() && mjGLAD_GL_KHR_debug) {
-    glEnable(GL_DEBUG_OUTPUT);
-    glDebugMessageCallback(debugCallback, 0);
-  }
-
-  // determine samples, stereo and doublebuffer if window available
-  if (con->windowAvailable) {
-    // get stereo
-    GLboolean b;
-    glGetBooleanv(GL_STEREO, &b);
-    con->windowStereo = (int)b;
-
-    // get doublebuffer
-    glGetBooleanv(GL_DOUBLEBUFFER, &b);
-    con->windowDoublebuffer = (int)b;
-
-    // get samples
-    GLint n;
-    glGetIntegerv(GL_SAMPLE_BUFFERS, &n);
-    if (n) {
-      glGetIntegerv(GL_SAMPLES, &n);
-      con->windowSamples = (int)n;
-    } else {
-      con->windowSamples = 0;
-    }
-  }
-
-  // set pixel (un)packing
-  glPixelStorei(GL_PACK_ALIGNMENT, 1);
-  glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-
-  mjr_freeContext(con);
-
-  // no model: offscreen and font only
-  if (!m) {
-    // default offscreen
-    con->offWidth = default_offwidth;
-    con->offHeight = default_offheight;
-    con->offSamples = 0;
-    makeOff(con);
-
-    // font
-    makeFont(con, fontscale);
-
-    // try to bind window (bind offscreen if no window)
-    mjr_setBuffer(mjFB_WINDOW, con);
-
-    context_count++;
-    return;
-  }
-
-  // map shadow clip and scale to absolute units
-  con->shadowClip = m->stat.extent * m->vis.map.shadowclip;
-  con->shadowScale = m->vis.map.shadowscale;
-
-  // copy parameters
-  con->offWidth = m->vis.global.offwidth;
-  con->offHeight = m->vis.global.offheight;
-  con->offSamples = m->vis.quality.offsamples;
-  con->fogStart = (float)(m->stat.extent * m->vis.map.fogstart);
-  con->fogEnd = (float)(m->stat.extent * m->vis.map.fogend);
-  con->fogRGBA[0] = m->vis.rgba.fog[0];
-  con->fogRGBA[1] = m->vis.rgba.fog[1];
-  con->fogRGBA[2] = m->vis.rgba.fog[2];
-  con->fogRGBA[3] = m->vis.rgba.fog[3];
-  con->lineWidth = m->vis.global.linewidth;
-  con->shadowSize = m->vis.quality.shadowsize;
-
-  // set fog parameters (model-dependent)
-  glFogi(GL_FOG_MODE, GL_LINEAR);
-  glFogf(GL_FOG_START, con->fogStart);
-  glFogf(GL_FOG_END, con->fogEnd);
-  glFogfv(GL_FOG_COLOR, con->fogRGBA);
-  glFogi(GL_FOG_COORD_SRC, GL_FRAGMENT_DEPTH);
-  glHint(GL_FOG_HINT, GL_NICEST);
-
-  // make everything
-  makeOff(con);
-  makeShadow(m, con);
-  makeMaterial(m, con);
-  makeTexture(m, con);
-  makePlane(m, con);
-  makeMesh(m, con);
-  makeHField(m, con);
-  makeBuiltin(m, con);
-  makeSkin(m, con);
-  makeFont(con, fontscale);
-
-  // enable seamless cube maps if supported
-  if (mjGLAD_GL_ARB_seamless_cube_map) {
-    glEnable(GL_TEXTURE_CUBE_MAP_SEAMLESS);
-  }
-
-  // try to bind window (bind offscreen if no window)
-  mjr_setBuffer(mjFB_WINDOW, con);
-
-  // issue warnings for any OpenGL errors
-  GLenum err;
-  while ((err = glGetError())) {
-    mju_warning("OpenGL error 0x%x in or before mjr_makeContext", err);
-  }
-
-  // set default color pixel format for mjr_readPixels
-  con->readPixelFormat = GL_RGB;
-
-  // set default depth mapping for mjr_readPixels
-  con->readDepthMap = mjDEPTH_ZERONEAR;
-  context_count++;
-}
-
-
-
-// allocate resources in custom OpenGL context
-void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
-  mjr_makeContext_offSize(m, con, fontscale, 800, 600);
-}
-
-
-
-// Change font of existing context.
-void mjr_changeFont(int fontscale, mjrContext* con) {
-  // free existing font
-  if (con->rangeFont) {
-    glDeleteLists(con->baseFontNormal, con->rangeFont);
-    glDeleteLists(con->baseFontShadow, con->rangeFont);
-    glDeleteLists(con->baseFontBig, con->rangeFont);
-  }
-  con->baseFontNormal = 0;
-  con->baseFontShadow = 0;
-  con->baseFontBig = 0;
-  con->rangeFont = 0;
-
-  // make new font
-  makeFont(con, fontscale);
-}
-
-
-
-// Add Aux buffer to context; free previous Aux buffer.
-void mjr_addAux(int index, int width, int height, int samples, mjrContext* con) {
-  // check index
-  if (index < 0 || index >= mjNAUX) {
-    mju_error("Invalid aux buffer index");
-  }
-
-  // free previous
-  if (con->auxColor[index]) {
-    glDeleteRenderbuffers(1, con->auxColor + index);
-  }
-  if (con->auxColor_r[index]) {
-    glDeleteRenderbuffers(1, con->auxColor_r + index);
-  }
-  if (con->auxFBO[index]) {
-    glDeleteFramebuffers(1, con->auxFBO + index);
-  }
-  if (con->auxFBO_r[index]) {
-    glDeleteFramebuffers(1, con->auxFBO_r + index);
-  }
-  con->auxColor[index] = 0;
-  con->auxColor_r[index] = 0;
-  con->auxFBO[index] = 0;
-  con->auxFBO_r[index] = 0;
-
-  // return if size is not positive
-  if (width < 1 || height < 1) {
-    return;
-  }
-
-  // check max size
-  int maxSize = 0;
-  glGetIntegerv(GL_MAX_RENDERBUFFER_SIZE, &maxSize);
-  if (width > maxSize) {
-    mju_error(
-        "Auxiliary buffer width exceeds maximum allowed by OpenGL "
-        "implementation: %d > %d",
-        width, maxSize);
-  }
-  if (height > maxSize) {
-    mju_error(
-        "Auxiliary buffer height exceeds maximum allowed by OpenGL "
-        "implementation: %d > %d",
-        height, maxSize);
-  }
-
-  // clamp samples request
-  int maxSample = 0;
-  glGetIntegerv(GL_MAX_SAMPLES, &maxSample);
-  if (samples > maxSample) {
-    samples = maxSample;
-  }
-
-  // assign sizes
-  con->auxWidth[index] = width;
-  con->auxHeight[index] = height;
-  con->auxSamples[index] = samples;
-
-  // create FBO
-  glGenFramebuffers(1, con->auxFBO + index);
-  if (!con->auxFBO[index]) {
-    mju_error("Could not allocate auxiliary framebuffer");
-  }
-  glBindFramebuffer(GL_FRAMEBUFFER, con->auxFBO[index]);
-
-  // create color buffer with multisamples
-  glGenRenderbuffers(1, con->auxColor + index);
-  if (!con->auxColor[index]) {
-    mju_error("Could not allocate auxiliary color buffer");
-  }
-  glBindRenderbuffer(GL_RENDERBUFFER, con->auxColor[index]);
-  glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->auxSamples[index], GL_RGBA8,
-                                   con->auxWidth[index], con->auxHeight[index]);
-  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0,
-                            GL_RENDERBUFFER, con->auxColor[index]);
-
-  // check FBO status
-  GLenum err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-  if (err != GL_FRAMEBUFFER_COMPLETE) {
-    mju_error("Auxiliary framebuffer is not complete, error 0x%x", err);
-  }
-
-  // create FBO for resolving
-  glGenFramebuffers(1, con->auxFBO_r + index);
-  if (!con->auxFBO_r[index]) {
-    mju_error("Could not allocate auxiliary resolve framebuffer");
-  }
-  glBindFramebuffer(GL_FRAMEBUFFER, con->auxFBO_r[index]);
-
-  // create color buffer for resolving multisamples
-  glGenRenderbuffers(1, con->auxColor_r + index);
-  if (!con->auxColor_r[index]) {
-    mju_error("Could not allocate auxiliary color resolve buffer");
-  }
-  glBindRenderbuffer(GL_RENDERBUFFER, con->auxColor_r[index]);
-  glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8,
-                        con->auxWidth[index], con->auxHeight[index]);
-  glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0,
-                            GL_RENDERBUFFER, con->auxColor_r[index]);
-
-  // check FBO status
-  err = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-  if (err != GL_FRAMEBUFFER_COMPLETE) {
-    mju_error("Auxiliary framebuffer resolve is not complete, error 0x%x", err);
-  }
-
-  // restore
-  mjr_restoreBuffer(con);
-}
-
-
-
-// free resources in custom OpenGL context
-void mjr_freeContext(mjrContext* con) {
-  int had_resources = contextHasResources(con);
-
-  // save flags
-  int glInitialized = con->glInitialized;
-  int windowAvailable = con->windowAvailable;
-  int windowSamples = con->windowSamples;
-  int windowStereo = con->windowStereo;
-  int windowDoublebuffer = con->windowDoublebuffer;
-
-  // free GPU resources
-  if (con->ntexture) glDeleteTextures(con->ntexture, con->texture);
-  if (con->offColor) glDeleteRenderbuffers(1, &con->offColor);
-  if (con->offColor_r) glDeleteRenderbuffers(1, &con->offColor_r);
-  if (con->offDepthStencil) glDeleteRenderbuffers(1, &con->offDepthStencil);
-  if (con->offDepthStencil_r) glDeleteRenderbuffers(1, &con->offDepthStencil_r);
-  if (con->offFBO) glDeleteFramebuffers(1, &con->offFBO);
-  if (con->offFBO_r) glDeleteFramebuffers(1, &con->offFBO_r);
-  if (con->shadowTex) glDeleteTextures(1, &con->shadowTex);
-  if (con->shadowFBO) glDeleteFramebuffers(1, &con->shadowFBO);
-  for (int i=0; i < mjNAUX; i++) {
-    if (con->auxColor[i]) glDeleteRenderbuffers(1, con->auxColor + i);
-    if (con->auxColor_r[i]) glDeleteRenderbuffers(1, con->auxColor_r + i);
-    if (con->auxFBO[i]) glDeleteFramebuffers(1, con->auxFBO + i);
-    if (con->auxFBO_r[i]) glDeleteFramebuffers(1, con->auxFBO_r + i);
-  }
-  if (con->rangePlane) glDeleteLists(con->basePlane, con->rangePlane);
-  if (con->rangeMesh) glDeleteLists(con->baseMesh, con->rangeMesh);
-  if (con->rangeHField) glDeleteLists(con->baseHField, con->rangeHField);
-  if (con->rangeBuiltin) glDeleteLists(con->baseBuiltin, con->rangeBuiltin);
-  if (con->rangeFont) {
-    glDeleteLists(con->baseFontNormal, con->rangeFont);
-    glDeleteLists(con->baseFontShadow, con->rangeFont);
-    glDeleteLists(con->baseFontBig, con->rangeFont);
-  }
-
-  // delete skin
-  if (con->nskin) {
-    // delete VBOs
-    glDeleteBuffers(con->nskin, con->skinvertVBO);
-    glDeleteBuffers(con->nskin, con->skinnormalVBO);
-    glDeleteBuffers(con->nskin, con->skintexcoordVBO);
-    glDeleteBuffers(con->nskin, con->skinfaceVBO);
-
-    mju_free(con->skinvertVBO);
-    mju_free(con->skinnormalVBO);
-    mju_free(con->skintexcoordVBO);
-    mju_free(con->skinfaceVBO);
-  }
-
-  // clear fields
-  mjr_defaultContext(con);
-
-  // restore flags
-  con->glInitialized = glInitialized;
-  con->windowAvailable = windowAvailable;
-  con->windowSamples = windowSamples;
-  con->windowStereo = windowStereo;
-  con->windowDoublebuffer = windowDoublebuffer;
-
-  if (had_resources && context_count > 0) {
-    context_count--;
-  }
-}
-
-
-
-// resize offscreen buffers
-void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
-  if (con->offWidth == width && con->offHeight == height) {
-    return;
-  }
-
-  con->offWidth = width;
-  con->offHeight = height;
-
-  if (!width || !height) {
-    return;
-  }
-
-  if (!con->offFBO) {
-    makeOff(con);
-    return;
-  }
-
-  glBindRenderbuffer(GL_RENDERBUFFER, con->offColor);
-  if (con->offSamples) {
-    glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_RGBA8,
-                                     con->offWidth, con->offHeight);
-  } else {
-    glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, con->offWidth, con->offHeight);
-  }
-
-  glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
-  if (con->offSamples) {
-    glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH32F_STENCIL8,
-                                     con->offWidth, con->offHeight);
-  } else {
-    glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
-  }
-
-  if (con->offSamples) {
-    glBindRenderbuffer(GL_RENDERBUFFER, con->offColor_r);
-    glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, con->offWidth, con->offHeight);
-
-    glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil_r);
-    glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
-  }
-}
diff --git a/src/render/classic/render_context.h b/src/render/classic/render_context.h
deleted file mode 100644
index 364be1b4..00000000
--- a/src/render/classic/render_context.h
+++ /dev/null
@@ -1,72 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_CLASSIC_RENDER_CONTEXT_H_
-#define MUJOCO_SRC_RENDER_CLASSIC_RENDER_CONTEXT_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjrender.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-// builtin display list addresses (relative to base)
-enum {
-  mjrSPHERE = 0,
-  mjrSPHERETOP,
-  mjrSPHEREBOTTOM,
-  mjrCYLINDER,
-  mjrCYLINDEROPEN,
-  mjrHAZE,
-  mjrBOX,
-  mjrCONE,
-  mjrNUM
-};
-
-
-// set default mjrContext
-MJAPI void mjr_defaultContext(mjrContext* con);
-
-// allocate resources in custom OpenGL context; fontscale is mjtFontScale
-MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
-
-// Change font of existing context.
-MJAPI void mjr_changeFont(int fontscale, mjrContext* con);
-
-// Add Aux buffer with given index to context; free previous Aux buffer.
-MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
-
-// free resources in custom OpenGL context, set to default
-MJAPI void mjr_freeContext(mjrContext* con);
-
-// resize offscreen renderbuffer
-MJAPI void mjr_resizeOffscreen(int offwidth, int offheight, mjrContext* con);
-
-// (re) upload texture to GPU
-MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
-
-// (re) upload mesh to GPU
-MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
-
-// (re) upload height field to GPU
-MJAPI void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif  // MUJOCO_SRC_RENDER_CLASSIC_RENDER_CONTEXT_H_
diff --git a/src/render/classic/render_gl2.c b/src/render/classic/render_gl2.c
deleted file mode 100644
index cab7dd30..00000000
--- a/src/render/classic/render_gl2.c
+++ /dev/null
@@ -1,1332 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/classic/render_gl2.h"
-
-#include <math.h>
-#include <string.h>
-#include <stdio.h>
-
-#include <mujoco/mjmacro.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_array_safety.h"
-#include "render/classic/glad/glad.h"
-
-#define STRING_BUFSIZE 100
-
-
-//------------------------- OpenGL framebuffer operations ------------------------------------------
-
-// set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN
-//  if only one buffer is available, set that buffer and ignore framebuffer argument
-void mjr_setBuffer(int framebuffer, mjrContext* con) {
-  // no buffer: error
-  if (!con->windowAvailable && !con->offFBO) {
-    mju_error("No OpenGL framebuffer available");
-  }
-
-  // window only: set window
-  else if (con->windowAvailable && !con->offFBO) {
-    // bind window
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-    glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-    glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-
-    // save
-    con->currentBuffer = mjFB_WINDOW;
-  }
-
-  // offscreen only: set offscreen
-  else if (!con->windowAvailable && con->offFBO) {
-    // bind offscreen
-    glBindFramebuffer(GL_FRAMEBUFFER, con->offFBO);
-    glReadBuffer(GL_COLOR_ATTACHMENT0);
-    glDrawBuffer(GL_COLOR_ATTACHMENT0);
-
-    // save
-    con->currentBuffer = mjFB_OFFSCREEN;
-  }
-
-  // both available: use selected framebuffer
-  else {
-    // bind selected buffer
-    if (framebuffer == mjFB_WINDOW) {
-      glBindFramebuffer(GL_FRAMEBUFFER, 0);
-      glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-      glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-    } else {
-      glBindFramebuffer(GL_FRAMEBUFFER, con->offFBO);
-      glReadBuffer(GL_COLOR_ATTACHMENT0);
-      glDrawBuffer(GL_COLOR_ATTACHMENT0);
-    }
-
-    // save
-    con->currentBuffer = framebuffer;
-  }
-}
-
-
-
-// make con->currentBuffer current again
-void mjr_restoreBuffer(const mjrContext* con) {
-  if (con->currentBuffer == mjFB_WINDOW) {
-    glBindFramebuffer(GL_FRAMEBUFFER, 0);
-    glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-    glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-  } else {
-    glBindFramebuffer(GL_FRAMEBUFFER, con->offFBO);
-    glReadBuffer(GL_COLOR_ATTACHMENT0);
-    glDrawBuffer(GL_COLOR_ATTACHMENT0);
-  }
-}
-
-
-
-// emit one warning about mjGLAD_GL_ARB_clip_control
-static void warnAboutARBClipControl(void) {
-  // not thread safe, but the consequence is just too many log lines
-  static int warned = 0;
-  if (!warned) {
-    warned = 1;
-    mju_warning("ARB_clip_control unavailable while mjDEPTH_ZEROFAR requested, "
-                "depth accuracy will be limited");
-  }
-}
-
-
-
-// emit one warning about mjGLAD_GL_ARB_depth_buffer_float
-static void warnAboutARBDepthBuffer(void) {
-  // not thread safe, but the consequence is just too many log lines
-  static int warned = 0;
-  if (!warned) {
-    warned = 1;
-    mju_warning("ARB_depth_buffer_float unavailable while mjDEPTH_ZEROFAR requested, "
-                "depth accuracy will be limited");
-  }
-}
-
-
-
-static inline void flipDepthIfRequired(float* depth, mjrRect viewport, const mjrContext* con) {
-  if (con->readDepthMap == mjDEPTH_ZERONEAR) {
-    int npixel = viewport.width * viewport.height;
-    for (int i = 0; i < npixel; i++) {
-      depth[i] = 1.0 - depth[i];  // Reverse the reversed Z buffer
-    }
-  } else if (!mjGLAD_GL_ARB_clip_control) {
-    warnAboutARBClipControl();
-  } else if (!mjGLAD_GL_ARB_depth_buffer_float) {
-    warnAboutARBDepthBuffer();
-  }
-}
-
-
-
-// read pixels from current OpenGL framebuffer to client buffer
-//  viewport is in OpenGL framebuffer; client buffer starts at (0,0)
-void mjr_readPixels(unsigned char* rgb, float* depth,
-                    mjrRect viewport, const mjrContext* con) {
-  // construct mask resolve-blit
-  GLbitfield mask = (rgb ? GL_COLOR_BUFFER_BIT : 0) |
-                    (depth ? GL_DEPTH_BUFFER_BIT : 0);
-
-  // make sure we have something to do
-  if (!mask) {
-    return;
-  }
-
-  // read from window
-  if (con->currentBuffer == mjFB_WINDOW) {
-    // read rgb and depth
-    if (rgb) {
-      glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
-                   GL_RGB, GL_UNSIGNED_BYTE, rgb);
-    }
-    if (depth) {
-      glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
-                   GL_DEPTH_COMPONENT, GL_FLOAT, depth);
-      flipDepthIfRequired(depth, viewport, con);
-    }
-  }
-
-  // read from offscreen
-  else {
-    // multisample: blit to resolve buffer and read from there
-    if (con->offSamples) {
-      // make sure blit is supported
-      if (!glBlitFramebuffer) {
-        return;
-      }
-
-      // prepare for resolve-blit
-      glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO);
-      glReadBuffer(GL_COLOR_ATTACHMENT0);
-      glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO_r);
-      glDrawBuffer(GL_COLOR_ATTACHMENT0);
-
-      // resolve-blit
-      glBlitFramebuffer(viewport.left, viewport.bottom,
-                        viewport.left+viewport.width, viewport.bottom+viewport.height,
-                        viewport.left, viewport.bottom,
-                        viewport.left+viewport.width, viewport.bottom+viewport.height,
-                        mask, GL_NEAREST);
-
-      // read from resolved
-      glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO_r);
-      glReadBuffer(GL_COLOR_ATTACHMENT0);
-    }
-
-    // no multisample: read from offscreen
-    else {
-      glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO);
-      glReadBuffer(GL_COLOR_ATTACHMENT0);
-    }
-
-    // read rgb and depth
-    if (rgb) {
-      glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
-                   con->readPixelFormat, GL_UNSIGNED_BYTE, rgb);
-    }
-    if (depth) {
-      glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
-                   GL_DEPTH_COMPONENT, GL_FLOAT, depth);
-      flipDepthIfRequired(depth, viewport, con);
-    }
-
-    // restore currentBuffer
-    mjr_restoreBuffer(con);
-  }
-}
-
-
-
-// draw pixels from client buffer to current OpenGL framebuffer
-//  viewport is in OpenGL framebuffer; client buffer starts at (0,0)
-void mjr_drawPixels(const unsigned char* rgb, const float* depth,
-                    mjrRect viewport, const mjrContext* con) {
-  // set raster position
-  glWindowPos2i(viewport.left, viewport.bottom);
-
-  // write rgb and depth
-  if (rgb) {
-    glDrawPixels(viewport.width, viewport.height, GL_RGB, GL_UNSIGNED_BYTE, rgb);
-  }
-  if (depth) {
-    glDrawPixels(viewport.width, viewport.height, GL_DEPTH_COMPONENT, GL_FLOAT, depth);
-  }
-}
-
-
-
-// blit from src viewpoint in current framebuffer to dst viewport in other framebuffer
-//  if src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR
-void mjr_blitBuffer(mjrRect src, mjrRect dst,
-                    int flg_color, int flg_depth, const mjrContext* con) {
-  // construct mask and filter for blit
-  GLbitfield mask = (flg_color ? GL_COLOR_BUFFER_BIT : 0) |
-                    (flg_depth ? GL_DEPTH_BUFFER_BIT : 0);
-  GLenum filter = (!flg_depth && (src.width != dst.width || src.height != dst.height)) ?
-                  GL_LINEAR : GL_NEAREST;
-
-  // make sure both buffers are available and we have something to do
-  if (!con->windowAvailable || !con->offFBO || !mask) {
-    return;
-  }
-
-  // make sure blit is supported
-  if (!glBlitFramebuffer) {
-    return;
-  }
-
-  // from window to offsreen
-  if (con->currentBuffer == mjFB_WINDOW) {
-    // offscreen is multisample: go through resolve
-    if (con->offSamples) {
-      // prepare to blit from window to resolve
-      glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
-      glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-      glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO_r);
-      glDrawBuffer(GL_COLOR_ATTACHMENT0);
-
-      // blit
-      glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
-                        dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
-                        mask, filter);
-
-      // prepare to blit from resolve to offscreen
-      glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO_r);
-      glReadBuffer(GL_COLOR_ATTACHMENT0);
-      glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO);
-      glDrawBuffer(GL_COLOR_ATTACHMENT0);
-
-      // blit: both dst
-      glBlitFramebuffer(dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
-                        dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
-                        mask, filter);
-    }
-
-    // otherwise direct
-    else {
-      // prepare
-      glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
-      glReadBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-      glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO);
-      glDrawBuffer(GL_COLOR_ATTACHMENT0);
-
-      // blit
-      glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
-                        dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
-                        mask, filter);
-    }
-  }
-
-  // from offscreen to window
-  else {
-    // offscreen is multisample: go through resolve
-    if (con->offSamples) {
-      // prepare to blit from offscreen to resolve
-      glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO);
-      glReadBuffer(GL_COLOR_ATTACHMENT0);
-      glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO_r);
-      glDrawBuffer(GL_COLOR_ATTACHMENT0);
-
-      // blit: both src
-      glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
-                        src.left, src.bottom, src.left+src.width, src.bottom+src.height,
-                        mask, filter);
-
-      // prepare to blit from resolve to window
-      glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO_r);
-      glReadBuffer(GL_COLOR_ATTACHMENT0);
-    }
-
-    // otherwise direct
-    else {
-      glBindFramebuffer(GL_READ_FRAMEBUFFER, con->offFBO);
-      glReadBuffer(GL_COLOR_ATTACHMENT0);
-    }
-
-    // set target and blit
-    glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
-    glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-    glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
-                      dst.left, dst.bottom, dst.left+dst.width, dst.bottom+dst.height,
-                      mask, filter);
-  }
-
-  // restore currentBuffer
-  mjr_restoreBuffer(con);
-}
-
-
-
-// Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
-void mjr_setAux(int index, const mjrContext* con) {
-  // check index
-  if (index < 0 || index >= mjNAUX) {
-    mju_error("Invalid aux buffer index");
-  }
-
-  // set
-  if (con->auxFBO[index]) {
-    glBindFramebuffer(GL_FRAMEBUFFER, con->auxFBO[index]);
-    glReadBuffer(GL_COLOR_ATTACHMENT0);
-    glDrawBuffer(GL_COLOR_ATTACHMENT0);
-  } else {
-    mju_error("auxFBO %d does not exist", index);
-  }
-}
-
-
-
-// Blit from Aux buffer to con->currentBuffer.
-void mjr_blitAux(int index, mjrRect src, int left, int bottom, const mjrContext* con) {
-  // check index
-  if (index < 0 || index >= mjNAUX) {
-    mju_error("Invalid aux buffer index");
-  }
-
-  // make sure aux buffers is available
-  if (!con->auxFBO[index]) {
-    return;
-  }
-
-  // make sure blit is supported
-  if (!glBlitFramebuffer) {
-    return;
-  }
-
-  // resolve blit
-  glBindFramebuffer(GL_READ_FRAMEBUFFER, con->auxFBO[index]);
-  glReadBuffer(GL_COLOR_ATTACHMENT0);
-  glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->auxFBO_r[index]);
-  glDrawBuffer(GL_COLOR_ATTACHMENT0);
-  glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
-                    src.left, src.bottom, src.left+src.width, src.bottom+src.height,
-                    GL_COLOR_BUFFER_BIT, GL_NEAREST);
-
-  // set source
-  glBindFramebuffer(GL_READ_FRAMEBUFFER, con->auxFBO_r[index]);
-  glReadBuffer(GL_COLOR_ATTACHMENT0);
-
-  // set destination
-  if (con->currentBuffer == mjFB_WINDOW) {
-    glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
-    glDrawBuffer(con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-  } else {
-    glBindFramebuffer(GL_DRAW_FRAMEBUFFER, con->offFBO);
-    glDrawBuffer(GL_COLOR_ATTACHMENT0);
-  }
-
-  // blit
-  glBlitFramebuffer(src.left, src.bottom, src.left+src.width, src.bottom+src.height,
-                    left, bottom, left+src.width, bottom+src.height,
-                    GL_COLOR_BUFFER_BIT, GL_NEAREST);
-
-  // restore
-  mjr_restoreBuffer(con);
-}
-
-
-
-//---------------------------------- Text ----------------------------------------------------------
-
-// init OpenGL for 2D
-static void init2D(void) {
-  // set OpenGL options
-  glDisable(GL_NORMALIZE);
-  glDisable(GL_DEPTH_TEST);
-  glShadeModel(GL_FLAT);
-  glDisable(GL_CULL_FACE);
-  glDisable(GL_LIGHTING);
-  glDisable(GL_COLOR_MATERIAL);
-  glDisable(GL_BLEND);
-  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-  glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-
-  // standard 2D projection
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-  glOrtho(0, 1, 0, 1, -1, 1);
-  glMatrixMode(GL_MODELVIEW);
-  glLoadIdentity();
-}
-
-
-
-// actual draw text, do not initialize OpenGL options
-void mjr_textActual(int font, const char* txt, const mjrContext* con,
-                    float x, float y, float z, float r, float g, float b) {
-  // return if font is not installed
-  if (!con->rangeFont) {
-    return;
-  }
-
-  // shadow text
-  if (font == mjFONT_SHADOW) {
-    // blend shadow with black
-    glListBase(con->baseFontShadow);
-    glColor4f(0, 0, 0, 0.5);
-    glRasterPos3f(x, y, z);
-    glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
-
-    // render text
-    glListBase(con->baseFontNormal);
-    glColor4f(r, g, b, 1);
-    glRasterPos3f(x, y, z);
-    glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
-  }
-
-  // regular text (normal or big)
-  else {
-    glListBase(font == mjFONT_BIG ? con->baseFontBig : con->baseFontNormal);
-    glColor4f(r, g, b, 1);
-    glRasterPos3f(x, y, z);
-    glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
-  }
-}
-
-
-
-// draw text at (x,y) in relative coordinates; font is mjtFont
-void mjr_text(int font, const char* txt, const mjrContext* con,
-              float x, float y, float r, float g, float b) {
-  // init OpenGL
-  init2D();
-
-  // call actual drawing function
-  mjr_textActual(font, txt, con, x, y, 0, r, g, b);
-}
-
-
-
-// actual overlay drawing; used for each column; return width (used as skip for next call)
-static int draw_overlay(int font, mjrRect viewport, int skip, int gridpos,
-                        float red, float green, float blue,
-                        const char* overlay, const mjrContext* con) {
-  int pos, ncthis, nc, nr, W, H, flg_big = (font == mjFONT_BIG);
-  int PAD = 5, sz = mjMIN(mjMAXOVERLAY, (int)strlen(overlay));
-  char text[mjMAXOVERLAY];
-
-  // count rows and columns of text rectangle in pixels
-  nr = flg_big ? con->charHeightBig : con->charHeight;
-  ncthis = nc = 0;
-  for (int i=0; i < sz; i++) {
-    // process this char
-    if (overlay[i] != '\n') {
-      ncthis += flg_big ? con->charWidthBig[(unsigned char)overlay[i]]
-                        : con->charWidth[(unsigned char)overlay[i]];
-      nc = mjMAX(nc, ncthis);
-    }
-
-    // advance to next line
-    else {
-      nr += PAD + (flg_big ? con->charHeightBig : con->charHeight);
-      ncthis = 0;
-    }
-  }
-
-  // viewport width and height
-  W = PAD+nc+8;
-  H = PAD+nr;
-
-  // set viewport to specific grid position
-  switch (gridpos) {
-  case mjGRID_TOPLEFT:
-    glViewport(viewport.left+skip+PAD,
-               viewport.bottom+viewport.height-1-PAD-H, W, H);
-    break;
-
-  case mjGRID_TOPRIGHT:
-    glViewport(viewport.left+viewport.width-skip-1-PAD-W,
-               viewport.bottom+viewport.height-1-PAD-H, W, H);
-    break;
-
-  case mjGRID_BOTTOMLEFT:
-    glViewport(viewport.left+skip+PAD,
-               viewport.bottom+PAD, W, H);
-    break;
-
-  case mjGRID_BOTTOMRIGHT:
-    glViewport(viewport.left+viewport.width-skip-1-PAD-W,
-               viewport.bottom+PAD, W, H);
-    break;
-
-  case mjGRID_TOP:
-    glViewport(viewport.left+(viewport.width-skip-W)/2-1-PAD,
-               viewport.bottom+viewport.height-1-PAD-H, W, H);
-    break;
-
-  case mjGRID_BOTTOM:
-    glViewport(viewport.left+(viewport.width-skip-W)/2-1-PAD,
-               viewport.bottom+PAD, W, H);
-    break;
-
-  case mjGRID_LEFT:
-    glViewport(viewport.left+skip+PAD,
-               viewport.bottom+(viewport.height-H)/2-1-PAD, W, H);
-    break;
-
-  case mjGRID_RIGHT:
-    glViewport(viewport.left+viewport.width-skip-1-PAD-W,
-               viewport.bottom+(viewport.height-H)/2-1-PAD, W, H);
-  }
-
-  // set projection in pixels
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-  glOrtho(0, W-1, 0, H-1, -1, 1);
-  glMatrixMode(GL_MODELVIEW);
-  glLoadIdentity();
-
-  // blend with black background
-  glEnable(GL_BLEND);
-  glColor4d(0, 0, 0, 0.5);
-  glBegin(GL_QUADS);
-  glNormal3d(0, 0, 1);
-  glVertex2d(0, 0);
-  glVertex2d(0, H);
-  glVertex2d(W, H);
-  glVertex2d(W, 0);
-  glEnd();
-  glDisable(GL_BLEND);
-
-  // draw text line by line
-  nr = flg_big ? con->charHeightBig : con->charHeight;
-  pos = 0;
-  for (int i=0; i < sz; i++) {
-    // terminate line and draw
-    if (overlay[i] == '\n' || i == sz-1) {
-      if (overlay[i] == '\n') {
-        text[pos] = 0;
-      } else {
-        text[pos] = overlay[i];
-        text[pos+1] = 0;
-      }
-      mjr_textActual(font, text, con, 3, H-nr, 0, red, green, blue);
-
-      // advance to next line
-      nr += PAD + (flg_big ? con->charHeightBig : con->charHeight);
-      pos = 0;
-    }
-
-    // copy char
-    else {
-      text[pos++] = overlay[i];
-    }
-  }
-
-  return W-2;
-}
-
-
-
-// draw text overlay; font is mjtFont; gridpos is mjtGridPos
-void mjr_overlay(int font, int gridpos, mjrRect viewport,
-                 const char* overlay, const char* overlay2, const mjrContext* con) {
-  int skip = 0;
-
-  // empty viewport: nothing to do
-  if (viewport.width <= 0 || viewport.height <= 0) {
-    return;
-  }
-
-  // init OpenGL once per overlay, set viewport later
-  init2D();
-
-  // two-column
-  if (overlay2 && overlay2[0]) {
-    // left side
-    if (gridpos == mjGRID_TOPLEFT || gridpos == mjGRID_BOTTOMLEFT) {
-      skip = draw_overlay(font, viewport, 0, gridpos, .7, .7, .7, overlay, con);
-      draw_overlay(font, viewport, skip, gridpos, 1, 1, 1, overlay2, con);
-    }
-
-    // right side
-    else {
-      skip = draw_overlay(font, viewport, 0, gridpos, 1, 1, 1, overlay2, con);
-      draw_overlay(font, viewport, skip, gridpos, .7, .7, .7, overlay, con);
-    }
-  }
-
-  // one-column
-  else {
-    draw_overlay(font, viewport, 0, gridpos, 1, 1, 1, overlay, con);
-  }
-}
-
-
-
-//------------------------------ 2D drawing --------------------------------------------------------
-
-// get maximum viewport for active buffer
-mjrRect mjr_maxViewport(const mjrContext* con) {
-  // init with offscreen
-  mjrRect res = {0, 0, con->offWidth, con->offHeight};
-
-  // window: get from scissor box
-  int dims[4];
-  if (con->currentBuffer == mjFB_WINDOW) {
-    glGetIntegerv(GL_SCISSOR_BOX, dims);
-    res.width = dims[2];
-    res.height = dims[3];
-  }
-
-  return res;
-}
-
-
-
-// draw rectangle
-void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a) {
-  // empty viewport: nothing to do
-  if (viewport.width <= 0 || viewport.height <= 0) {
-    return;
-  }
-
-  // init OpenGL, set viewport
-  init2D();
-  glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
-
-  // draw rectangle
-  glEnable(GL_BLEND);
-  glColor4f(r, g, b, a);
-  glBegin(GL_QUADS);
-  glVertex2f(0, 0);
-  glVertex2f(0, 1);
-  glVertex2f(1, 1);
-  glVertex2f(1, 0);
-  glEnd();
-  glDisable(GL_BLEND);
-}
-
-
-
-// draw rectangle with centered text
-void mjr_label(mjrRect viewport, int font, const char* txt,
-               float r, float g, float b, float a, float rt, float gt, float bt,
-               const mjrContext* con) {
-  // empty viewport: nothing to do
-  if (viewport.width <= 0 || viewport.height <= 0) {
-    return;
-  }
-
-  // set OpenGL options
-  glDisable(GL_NORMALIZE);
-  glDisable(GL_DEPTH_TEST);
-  glDisable(GL_CULL_FACE);
-  glDisable(GL_LIGHTING);
-  glDisable(GL_COLOR_MATERIAL);
-  glShadeModel(GL_FLAT);
-  glEnable(GL_BLEND);
-  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-  glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-
-  // standard 2D projection, in framebuffer units
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-  glOrtho(0, viewport.width, 0, viewport.height, -1, 1);
-  glMatrixMode(GL_MODELVIEW);
-  glLoadIdentity();
-
-  // set viewport
-  glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
-
-  // get sizes
-  int W = viewport.width;
-  int H = viewport.height;
-
-  // render
-  glBegin(GL_QUADS);
-  glColor4f(r, g, b, a);
-  glVertex2i(0, 0);
-  glVertex2i(W, 0);
-  glVertex2i(W, H);
-  glVertex2i(0, H);
-  glEnd();
-
-  // draw text
-  if (txt && con->rangeFont) {
-    // compute width
-    int i = 0, width = 0;
-    if (font == mjFONT_BIG) {
-      while (txt[i]) {
-        width += con->charWidthBig[(unsigned char)txt[i++]];
-      }
-    } else {
-      while (txt[i]) {
-        width += con->charWidth[(unsigned char)txt[i++]];
-      }
-    }
-
-    // compute center
-    int cx = (W - width)/2;
-    int cy = (H - (font == mjFONT_BIG ? con->charHeightBig : con->charHeight))/2;
-
-    // draw
-    glListBase(font == mjFONT_BIG ? con->baseFontBig : con->baseFontNormal);
-    glColor3f(rt, gt, bt);
-    glRasterPos2i(mjMAX(0, cx), cy);
-    glCallLists((GLsizei)strlen(txt), GL_UNSIGNED_BYTE, txt);
-  }
-}
-
-
-
-// make text, strip trailing zeros
-static void maketext(const char* format, char* txt, float num, int txt_sz) {
-  int i, j;
-
-  // full text
-  snprintf(txt, txt_sz, format, num);
-
-  // locate trailing zeros
-  i = strlen(txt);
-  while (i > 0 && txt[i-1] == '0') {
-    i--;
-  }
-  if (i <= 1) {
-    return;
-  }
-
-  // strip if preceding char is '.'
-  if (txt[i-1] == '.') {
-    txt[i-1] = 0;
-  }
-
-  // otherwise find earlier '.'
-  else {
-    // find regular preceding digits
-    j = i-1;
-    while (j >= 0 && txt[j] >= '0' && txt[j] <= '9') {
-      j--;
-    }
-
-    // '.' found: strip
-    if (j >= 0 && txt[j] == '.') {
-      txt[i] = 0;
-    }
-  }
-}
-
-
-
-// compute text width in pixels
-static int textwidth(const mjrContext* con, const char* text) {
-  int i = 0, width = 0;
-
-  // add character widths
-  while (text[i]) {
-    width += con->charWidth[(unsigned char)text[i++]];
-  }
-
-  return width;
-}
-
-
-
-// draw 2D figure
-void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
-  float range[2][2];
-  float griddata[100];
-  const float minrange = 1e-5, offset = 0.001;
-  const int PAD = con->charHeight/2;
-  char datatxt[STRING_BUFSIZE];
-
-  // empty viewport: nothing to do
-  if (viewport.width <= 0 || viewport.height <= 0) {
-    return;
-  }
-
-  // init OpenGL, set viewport
-  init2D();
-  glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
-
-  // clear background and blend
-  glEnable(GL_BLEND);
-  glColor4fv(fig->figurergba);
-  glBegin(GL_QUADS);
-  glVertex2d(0, 0);
-  glVertex2d(0, 1);
-  glVertex2d(1, 1);
-  glVertex2d(1, 0);
-  glEnd();
-  glDisable(GL_BLEND);
-
-  // determine range along (x,y)
-  for (int axis=0; axis < 2; axis++) {
-    // init ranges, set flag
-    range[axis][0] = fig->range[axis][0];
-    range[axis][1] = fig->range[axis][1];
-    int flg;
-    if (fig->range[axis][0] < fig->range[axis][1]) {
-      flg = 1;
-    } else {
-      flg = 0;
-    }
-
-    // determine range: scan line data, find min and max
-    if (!flg || fig->flg_extend) {
-      for (int n=0; n < mjMAXLINE; n++) {
-        for (int i=0; i < fig->linepnt[n]; i++) {
-          // get data
-          float ldata = fig->linedata[n][2*i+axis];
-
-          // skip if not finite
-          if (!isfinite(ldata)) {
-            continue;
-          }
-
-          // copy first finite data point
-          if (!flg) {
-            range[axis][0] = ldata;
-            range[axis][1] = ldata;
-            flg = 1;
-          }
-
-          // otherwise regular update
-          else {
-            // update minimum
-            if (range[axis][0] > ldata) {
-              range[axis][0] = ldata;
-            }
-
-            // update maximum
-            if (range[axis][1] < ldata) {
-              range[axis][1] = ldata;
-            }
-          }
-        }
-      }
-    }
-
-    // make sure range is not too small
-    if (range[axis][1]-range[axis][0] < minrange) {
-      float needed = minrange - (range[axis][1]-range[axis][0]);
-      range[axis][0] -= 0.5f*needed;
-      range[axis][1] += 0.5f*needed;
-    }
-
-    // special handling for Y-axis
-    if (axis == 1) {
-      // get current range
-      float y_min = range[1][0];
-      float y_max = range[1][1];
-      float diff = y_max - y_min;
-
-      // snap to nearest enclosing decimal bounds
-      if (diff > 0) {
-        float power = powf(10, floorf(log10f(diff)));
-        range[1][0] = floorf(y_min / power) * power;
-        range[1][1] = ceilf(y_max / power) * power;
-      }
-
-      // make range symmetric
-      if (fig->flg_symmetric) {
-        float y_sym = mjMAX(fabsf(range[1][0]), fabsf(range[1][1]));
-        range[1][0] = -y_sym;
-        range[1][1] = +y_sym;
-      }
-    }
-  }
-
-  // save ranges
-  fig->xaxisdata[0] = range[0][0];
-  fig->xaxisdata[1] = range[0][1];
-  fig->yaxisdata[0] = range[1][0];
-  fig->yaxisdata[1] = range[1][1];
-
-  // set projection in pixels
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-  if (viewport.width <= 1 || viewport.height <= 1) {
-    return;
-  }
-  glOrtho(0, viewport.width-1, 0, viewport.height-1, -1, 1);
-
-  // draw title, save vertical size
-  int sy_title = 0;
-  if (fig->title[0]) {
-    // find address of selected subplot title
-    int subadr = 0, subcnt = 0;
-    while (subcnt < fig->subplot && subadr < 1000 && fig->title[subadr]) {
-      // skip non-space
-      while (subadr < 1000 && fig->title[subadr] && fig->title[subadr] != ' ') {
-        subadr++;
-      }
-
-      // skip space, count
-      int cntspace = 0;
-      while (subadr < 1000 && fig->title[subadr] == ' ') {
-        subadr++;
-        cntspace++;
-      }
-
-      // count subplot if 2+ spaces
-      if (cntspace > 1) {
-        subcnt++;
-      }
-    }
-
-    // find length of selected subplot title (skip non-space or single space)
-    int sublen = 0;
-    while ((subadr+sublen < 1000 &&
-            fig->title[subadr+sublen] &&
-            fig->title[subadr+sublen] != ' ') ||
-           (subadr+sublen+1 < 1000 && fig->title[subadr+sublen+1] &&
-            fig->title[subadr+sublen+1] != ' ')) {
-      sublen++;
-    }
-
-    // proceed if non-empty
-    if (sublen) {
-      // save vertical size
-      sy_title = con->charHeight;
-
-      // get title size
-      int sx_title = 0;
-      for (int i=subadr; i < subadr+sublen; i++) {
-        sx_title += con->charWidth[(unsigned char)fig->title[i]];
-      }
-
-      // compute left edge of title
-      int left = mjMAX(0, viewport.width/2-sx_title/2);
-
-      // compute left edge and address of extended title
-      int left1 = left, subadr1 = subadr;
-      while (subadr1 > 0 && left1 >= con->charWidth[(unsigned char)fig->title[subadr1-1]]) {
-        left1 -= con->charWidth[(unsigned char)fig->title[subadr1-1]];
-        subadr1--;
-      }
-
-      // compute right edge and length of extended title
-      int sublen1 = 0, right1 = left1;
-      while (sublen1+subadr1 < 1000 && fig->title[subadr1+sublen1] &&
-             right1+con->charWidth[(unsigned char)fig->title[subadr1+sublen1]] < viewport.width) {
-        right1 += con->charWidth[(unsigned char)fig->title[subadr1+sublen1]];
-        sublen1++;
-      }
-
-      // extended title
-      glListBase(con->baseFontNormal);
-      glColor4f(0.4*fig->textrgb[0]+0.6*fig->figurergba[0],
-                0.4*fig->textrgb[1]+0.6*fig->figurergba[1],
-                0.4*fig->textrgb[2]+0.6*fig->figurergba[2], 1);
-      glRasterPos3f(left1, viewport.height-PAD-sy_title, 0);
-      glCallLists((GLsizei)sublen1, GL_UNSIGNED_BYTE, fig->title+subadr1);
-
-      // actual title
-      glListBase(con->baseFontNormal);
-      glColor4f(fig->textrgb[0], fig->textrgb[1], fig->textrgb[2], 1);
-      glRasterPos3f(left, viewport.height-PAD-sy_title, 0);
-      glCallLists((GLsizei)sublen, GL_UNSIGNED_BYTE, fig->title+subadr);
-    }
-  }
-
-  // draw xlabel, save size
-  int sx_label = 0, sy_label = 0;
-  if (fig->xlabel[0]) {
-    // get xlabel size
-    sx_label = textwidth(con, fig->xlabel);
-    sy_label = con->charHeight;
-
-    // render xlabel
-    mjr_textActual(mjFONT_NORMAL, fig->xlabel, con,
-                   mjMAX(0, viewport.width/2-sx_label/2), PAD, 0,
-                   fig->textrgb[0], fig->textrgb[1], fig->textrgb[2]);
-  }
-
-  // reduce viewport to account for title and xlabel vertical size
-  if (sy_title || sy_label) {
-    // reduce viewport
-    viewport.bottom += (sy_label ? sy_label + PAD/2 : 0);
-    viewport.height -= (sy_label ? sy_label + PAD/2 : 0) + (sy_title ? sy_title + PAD : 0);
-    if (viewport.width <= 0 || viewport.height <= 0) {
-      return;
-    }
-    glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
-
-    // set matrix projection in pixels
-    glMatrixMode(GL_PROJECTION);
-    glLoadIdentity();
-    glOrtho(0, viewport.width-1, 0, viewport.height-1, -1, 1);
-  }
-
-  // draw optional tick labels, reduce viewport
-  if (fig->gridsize[0] > 1 && fig->gridsize[1] > 1) {
-    char txt[STRING_BUFSIZE];
-
-    // determine xtick height
-    int xtick_height = 0;
-    if (fig->flg_ticklabel[0]) {
-      xtick_height = con->charHeight + PAD;
-    }
-
-    // determine ytick width
-    int ytick_width = 0;
-    if (fig->flg_ticklabel[1]) {
-      // start with minwidth
-      if (fig->minwidth[0]) {
-        ytick_width = textwidth(con, fig->minwidth);
-      }
-
-      // limit to 20 ticks
-      int n = mjMIN(20, fig->gridsize[1]);
-
-      // generate all strings, find max width
-      for (int i=0; i < n; i++) {
-        const int txt_sz = mjSIZEOFARRAY(txt);
-        maketext(fig->yformat, txt, range[1][0] + (range[1][1]-range[1][0])*i/(float)(n-1),
-                 txt_sz);
-        ytick_width = mjMAX(ytick_width, textwidth(con, txt));
-      }
-
-      ytick_width += PAD;
-    }
-
-    // draw xtick
-    if (fig->flg_ticklabel[0]) {
-      // limit to 20 ticks
-      int n = mjMIN(20, fig->gridsize[0]);
-
-      // process ticks
-      for (int i=0; i < n; i++) {
-        // make text, get width
-        {
-          const int txt_sz = mjSIZEOFARRAY(txt);
-          maketext(fig->xformat, txt,
-                   range[0][0] + (range[0][1]-range[0][0])*i/(float)(n-1), txt_sz);
-        }
-        int w = textwidth(con, txt);
-
-        // draw
-        mjr_textActual(mjFONT_NORMAL, txt, con,
-                       PAD+ytick_width+
-                       (i == 0 ? 0 : (i == n-1 ? -w : -w/2))+
-                       (viewport.width-2*PAD-ytick_width)*i/(float)(n-1),
-                       PAD, 0,
-                       fig->textrgb[0], fig->textrgb[0], fig->textrgb[0]);
-      }
-    }
-
-    // draw ytick
-    if (fig->flg_ticklabel[1]) {
-      // limit to 20 ticks
-      int n = mjMIN(20, fig->gridsize[1]);
-
-      // process ticks
-      for (int i=0; i < n; i++) {
-        // make text, get width
-        {
-          const int txt_sz = mjSIZEOFARRAY(txt);
-          maketext(fig->yformat, txt,
-                   range[1][0] + (range[1][1]-range[1][0])*i/(float)(n-1), txt_sz);
-        }
-        int w = textwidth(con, txt);
-
-        // draw
-        mjr_textActual(mjFONT_NORMAL, txt, con,
-                       ytick_width-w,
-                       PAD+xtick_height-con->charHeight/2+
-                       (viewport.height-2*PAD-xtick_height)*i/(float)(n-1), 0,
-                       fig->textrgb[0], fig->textrgb[0], fig->textrgb[0]);
-      }
-    }
-
-    // adjust viewport size
-    viewport.left += ytick_width;
-    viewport.width -= ytick_width;
-    viewport.bottom += xtick_height;
-    viewport.height -= xtick_height;
-  }
-
-  // set plot viewport
-  viewport.left += PAD;
-  viewport.width -= 2*PAD;
-  viewport.bottom += PAD;
-  viewport.height -= 2*PAD;
-  if (viewport.width <= 0 || viewport.height <= 0) {
-    return;
-  }
-  glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
-
-  // save range
-  fig->xaxispixel[0] = viewport.left;
-  fig->xaxispixel[1] = viewport.left + viewport.width - 1;
-  fig->yaxispixel[0] = viewport.bottom;
-  fig->yaxispixel[1] = viewport.bottom + viewport.height - 1;
-
-  // set matrix projection to (0,1) + offset
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-  glOrtho(-offset, 1 + offset, -offset, 1 + offset, -1, 1);
-
-  // draw pane background
-  glEnable(GL_BLEND);
-  glColor4fv(fig->panergba);
-  glBegin(GL_QUADS);
-  glVertex2d(0, 0);
-  glVertex2d(0, 1);
-  glVertex2d(1, 1);
-  glVertex2d(1, 0);
-  glEnd();
-  glDisable(GL_BLEND);
-
-  // prepare to render lines
-  glEnableClientState(GL_VERTEX_ARRAY);
-
-  // draw grid
-  if (fig->gridsize[0] > 1 && fig->gridsize[1] > 1) {
-    // common GL state
-    glVertexPointer(2, GL_FLOAT, 0, griddata);
-    glColor3fv(fig->gridrgb);
-    glLineWidth(fig->gridwidth);
-
-    // prepare vertical lines
-    int n = mjMIN(20, fig->gridsize[0]);
-    for (int i=0; i < n; i++) {
-      griddata[4*i] = i/(float)(n-1);
-      griddata[4*i+1] = 0;
-      griddata[4*i+2] = griddata[4*i];
-      griddata[4*i+3] = 1;
-    }
-
-    // draw vertical lines
-    glDrawArrays(GL_LINES, 0, 2*n);
-
-    // prepare horizontal lines
-    n = mjMIN(20, fig->gridsize[1]);
-    for (int i=0; i < n; i++) {
-      griddata[4*i] = 0;
-      griddata[4*i+1] = i/(float)(n-1);
-      griddata[4*i+2] = 1;
-      griddata[4*i+3] = griddata[4*i+1];
-    }
-
-    // draw vertical lines
-    glDrawArrays(GL_LINES, 0, 2*n);
-  }
-
-  // set matrix projection to range, with small padding
-  float difx = range[0][1] - range[0][0];
-  float dify = range[1][1] - range[1][0];
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-  glOrtho(range[0][0] - difx*offset, range[0][1] + difx*offset,
-          range[1][0] - dify*offset, range[1][1] + dify*offset, -1, 1);
-
-  // draw lines: back to front
-  for (int n=mjMAXLINE-1; n >= 0; n--)
-    if (fig->linepnt[n]) {
-      // GL state
-      glVertexPointer(2, GL_FLOAT, 0, fig->linedata[n]);
-      glColor3fv(fig->linergb[n]);
-      glLineWidth(fig->linewidth);
-
-      // draw line
-      glDrawArrays(fig->flg_barplot ? GL_LINES : GL_LINE_STRIP, 0, fig->linepnt[n]);
-    }
-
-  // selection
-  if (fig->flg_selection) {
-    glColor3f(1, 1, 1);
-    glLineWidth(3);
-    glBegin(GL_LINES);
-    glVertex2f(fig->selection, range[1][0]);
-    glVertex2f(fig->selection, range[1][1]);
-    glEnd();
-  }
-
-  // draw legend, find line to highlight
-  int hlight = fig->highlightid;
-  if (fig->flg_legend) {
-    // set matrix projection in pixels
-    glMatrixMode(GL_PROJECTION);
-    glLoadIdentity();
-    if (viewport.width <= 1 || viewport.height <= 1) {
-      return;
-    }
-    glOrtho(0, viewport.width-1, 0, viewport.height-1, -1, 1);
-
-    // find legend size
-    int lw = 0, lh = 0, cnt = 0;
-    for (int n=fig->legendoffset; n < mjMAXLINE; n++) {
-      if (fig->linename[n][0]) {
-        // max width, accumulate height
-        lw = mjMAX(lw, textwidth(con, fig->linename[n]));
-        lh += con->charHeight;
-
-        // count
-        cnt++;
-
-        // too big: correct and break
-        if (lh+2*PAD >= viewport.height) {
-          cnt--;
-          lh -= con->charHeight;
-          break;
-        }
-      }
-    }
-
-    // detect highlighted line
-    int hcnt = -1;
-    int hx = fig->highlight[0] - viewport.left;
-    int hy = fig->highlight[1] - viewport.bottom;
-    if (hx >= viewport.width-PAD-lw &&
-        hx <= viewport.width-PAD &&
-        hy >= viewport.height-PAD-lh &&
-        hy <= viewport.height-PAD) {
-      hcnt = (viewport.height-PAD-hy) / con->charHeight;
-    }
-
-    // draw background
-    if (cnt) {
-      glEnable(GL_BLEND);
-      glColor4fv(fig->legendrgba);
-      glBegin(GL_QUADS);
-      glVertex2d(viewport.width-2*PAD-lw, viewport.height-2*PAD-lh);
-      glVertex2d(viewport.width-2*PAD-lw, viewport.height);
-      glVertex2d(viewport.width, viewport.height);
-      glVertex2d(viewport.width, viewport.height-2*PAD-lh);
-      glEnd();
-      glDisable(GL_BLEND);
-    }
-
-    // find named lines and draw text
-    cnt = 0;
-    for (int n=fig->legendoffset; n < mjMAXLINE; n++) {
-      if (fig->linename[n][0]) {
-        // get width
-        int width = textwidth(con, fig->linename[n]);
-
-        // render right-aligned
-        mjr_textActual(mjFONT_SHADOW, fig->linename[n], con,
-                       viewport.width-PAD-width, viewport.height-PAD-(cnt+1)*con->charHeight, 0,
-                       fig->linergb[n][0], fig->linergb[n][1], fig->linergb[n][2]);
-
-        // save hlight
-        if (hcnt == cnt) {
-          hlight = n;
-        }
-
-        // count
-        cnt++;
-
-        // break if viewport is full
-        if ((cnt+1)*con->charHeight+2*PAD >= viewport.height) {
-          break;
-        }
-      }
-    }
-  }
-
-  // draw highlight
-  if (hlight >= 0 && hlight < mjMAXLINE) {
-    // line-rendering projection
-    glMatrixMode(GL_PROJECTION);
-    glLoadIdentity();
-    glOrtho(range[0][0] - difx*offset, range[0][1] + difx*offset,
-            range[1][0] - dify*offset, range[1][1] + dify*offset, -1, 1);
-
-    // render selected line with extra width
-    glVertexPointer(2, GL_FLOAT, 0, fig->linedata[hlight]);
-    glColor3fv(fig->linergb[hlight]);
-    glLineWidth(5*fig->linewidth);
-    glDrawArrays(fig->flg_barplot ? GL_LINES : GL_LINE_STRIP, 0, fig->linepnt[hlight]);
-
-    // print data coordinates
-    if (fig->flg_selection) {
-      // find nearest x-value
-      int ibest = -1;
-      float best = 0;
-      for (int i=0; i < fig->linepnt[hlight]; i++) {
-        if (ibest < 0 || best > fabs(fig->selection-fig->linedata[hlight][2*i])) {
-          ibest = i;
-          best = fabs(fig->selection-fig->linedata[hlight][2*i]);
-        }
-      }
-
-      // show text
-      mjSNPRINTF(datatxt, "( %.4g : %.4g )",
-                 fig->linedata[hlight][2*ibest], fig->linedata[hlight][2*ibest+1]);
-      mjr_textActual(mjFONT_SHADOW, datatxt, con,
-                     0.9*range[0][0]+0.1*range[0][1], 0.9*range[1][0]+0.1*range[1][1], 0,
-                     fig->textrgb[0], fig->textrgb[1], fig->textrgb[2]);
-    }
-  }
-
-  // stop rendering lines
-  glDisableClientState(GL_VERTEX_ARRAY);
-}
diff --git a/src/render/classic/render_gl2.h b/src/render/classic/render_gl2.h
deleted file mode 100644
index e3c43314..00000000
--- a/src/render/classic/render_gl2.h
+++ /dev/null
@@ -1,84 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef THIRD_PARTY_MUJOCO_SRC_RENDER_CLASSIC_RENDER_GL2_
-#define THIRD_PARTY_MUJOCO_SRC_RENDER_CLASSIC_RENDER_GL2_
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjrender.h>
-#include <mujoco/mjvisualize.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-// Make con->currentBuffer current again.
-MJAPI void mjr_restoreBuffer(const mjrContext* con);
-
-// actual draw text, do not initialize OpenGL options
-void mjr_textActual(int font, const char* txt, const mjrContext* con,
-                    float x, float y, float z, float r, float g, float b);
-
-// set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN
-//  if only one buffer is available, set that buffer and ignore framebuffer argument
-MJAPI void mjr_setBuffer(int framebuffer, mjrContext* con);
-
-// read pixels from current OpenGL framebuffer to client buffer
-//  viewport is in OpenGL framebuffer; client buffer starts at (0,0)
-MJAPI void mjr_readPixels(unsigned char* rgb, float* depth,
-                          mjrRect viewport, const mjrContext* con);
-
-// draw pixels from client buffer to current OpenGL framebuffer
-//  viewport is in OpenGL framebuffer; client buffer starts at (0,0)
-MJAPI void mjr_drawPixels(const unsigned char* rgb, const float* depth,
-                          mjrRect viewport, const mjrContext* con);
-
-// blit from src viewpoint in current framebuffer to dst viewport in other framebuffer
-//  if src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR
-MJAPI void mjr_blitBuffer(mjrRect src, mjrRect dst,
-                          int flg_color, int flg_depth, const mjrContext* con);
-
-// Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
-MJAPI void mjr_setAux(int index, const mjrContext* con);
-
-// Blit from Aux buffer to con->currentBuffer.
-MJAPI void mjr_blitAux(int index, mjrRect src, int left, int bottom,
-                       const mjrContext* con);
-
-// draw text at (x,y) in relative coordinates; font is mjtFont
-MJAPI void mjr_text(int font, const char* txt, const mjrContext* con,
-                    float x, float y, float r, float g, float b);
-
-// draw text overlay; font is mjtFont; gridpos is mjtGridPos
-MJAPI void mjr_overlay(int font, int gridpos, mjrRect viewport,
-                       const char* overlay, const char* overlay2, const mjrContext* con);
-
-// get maximum viewport for active buffer
-MJAPI mjrRect mjr_maxViewport(const mjrContext* con);
-
-// draw rectangle
-MJAPI void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
-
-// draw rectangle with centered text
-MJAPI void mjr_label(mjrRect viewport, int font, const char* txt,
-                     float r, float g, float b, float a, float rt, float gt, float bt,
-                     const mjrContext* con);
-
-// draw 2D figure
-MJAPI void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
-
-#if defined(__cplusplus)
-}
-#endif
-#endif  // THIRD_PARTY_MUJOCO_SRC_RENDER_CLASSIC_RENDER_GL2_
diff --git a/src/render/classic/render_gl3.c b/src/render/classic/render_gl3.c
deleted file mode 100644
index 4e1036e4..00000000
--- a/src/render/classic/render_gl3.c
+++ /dev/null
@@ -1,1622 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/classic/render_gl3.h"
-
-#include <math.h>
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_sort.h"
-#include "engine/engine_vis_init.h"
-#include "render/classic/render_context.h"
-#include "render/classic/render_gl2.h"
-#include "render/classic/render_util.h"
-#include "render/classic/glad/glad.h"
-
-
-//----------------------------- low-level 3D rendering ---------------------------------------------
-
-// check if head is behind plane
-static int isBehind(const float* headpos, const float* pos, const float* mat) {
-  return ((headpos[0]-pos[0])*mat[2] +
-          (headpos[1]-pos[1])*mat[5] +
-          (headpos[2]-pos[2])*mat[8] < 0.0f);
-}
-
-
-
-// check if geom is reflective
-static int isReflective(const mjvGeom* geom) {
-  return ((geom->type == mjGEOM_PLANE || geom->type == mjGEOM_BOX) &&
-          !geom->transparent &&
-          (geom->reflectance > 0));
-}
-
-
-
-// texture types for settexture
-enum {
-  mjtexSHADOW = 0,
-  mjtexSKYBOX,
-  mjtexREGULAR
-};
-
-
-// check if geom type is a builtin shape with explicit UVs
-static int isBuiltinWithUV(int type) {
-  return (type == mjGEOM_PLANE ||
-          type == mjGEOM_SPHERE ||
-          type == mjGEOM_ELLIPSOID ||
-          type == mjGEOM_BOX ||
-          type == mjGEOM_CYLINDER ||
-          type == mjGEOM_CAPSULE ||
-          type == mjGEOM_ARROW ||
-          type == mjGEOM_ARROW1 ||
-          type == mjGEOM_ARROW2 ||
-          type == mjGEOM_TRIANGLE);
-}
-
-
-// enable/disable texture mapping
-static void settexture(int type, int state, const mjrContext* con, const mjvGeom* geom) {
-  float plane[4], scl[2];
-  int texid = -1, texuniform = 0;
-  float texrepeat[2] = {0, 0};
-  if (geom) {
-    if (geom->texid >= 0) {
-      texid = geom->texid;
-      texuniform = geom->texuniform;
-      texrepeat[0] = geom->texrepeat[0];
-      texrepeat[1] = geom->texrepeat[1];
-    } else if (geom->matid >= 0) {
-      texid = con->mat_texid[mjNTEXROLE * geom->matid + mjTEXROLE_RGB];
-      texuniform = con->mat_texuniform[geom->matid];
-      texrepeat[0] = con->mat_texrepeat[geom->matid*2];
-      texrepeat[1] = con->mat_texrepeat[geom->matid*2+1];
-    }
-  }
-
-  // shadow
-  if (type == mjtexSHADOW) {
-    // enable
-    if (state) {
-      glActiveTexture(GL_TEXTURE1);
-      glEnable(GL_TEXTURE_2D);
-      glEnable(GL_TEXTURE_GEN_S);
-      glEnable(GL_TEXTURE_GEN_T);
-      glEnable(GL_TEXTURE_GEN_R);
-      glEnable(GL_TEXTURE_GEN_Q);
-      glBindTexture(GL_TEXTURE_2D, con->shadowTex);
-    }
-
-    // disable
-    else {
-      glActiveTexture(GL_TEXTURE1);
-      glDisable(GL_TEXTURE_2D);
-      glDisable(GL_TEXTURE_GEN_S);
-      glDisable(GL_TEXTURE_GEN_T);
-      glDisable(GL_TEXTURE_GEN_R);
-      glDisable(GL_TEXTURE_GEN_Q);
-    }
-  }
-
-  // explicit texture coordinates
-  else if (type == mjtexREGULAR && geom &&
-           (geom->texcoord || (texid >= 0 && con->textureType[texid] == mjTEXTURE_2D && isBuiltinWithUV(geom->type)))) {
-    // enable
-    if (state && texid >= 0) {
-      glActiveTexture(GL_TEXTURE0);
-      glEnable(GL_TEXTURE_2D);
-      glBindTexture(GL_TEXTURE_2D, con->texture[texid]);
-
-      // determine scaling
-      scl[0] = texrepeat[0] > 0 ? texrepeat[0] : 1.0f;
-      scl[1] = texrepeat[1] > 0 ? texrepeat[1] : 1.0f;
-
-      // uniform: repeat relative to spatial units rather than object
-      if (texuniform) {
-        if (geom->size[0] > 0) {
-          scl[0] = scl[0] * geom->size[0];
-        }
-        if (geom->size[1] > 0) {
-          scl[1] = scl[1] * geom->size[1];
-        }
-      }
-
-      glMatrixMode(GL_TEXTURE);
-      glLoadIdentity();
-      if (geom->type == mjGEOM_PLANE && (geom->size[0] <= 0 || geom->size[1] <= 0)) {
-        glTranslatef(-0.5f, -0.5f, 0.0f);
-      }
-      glScalef(scl[0], scl[1], 1.0f);
-      glMatrixMode(GL_MODELVIEW);
-    }
-
-    // disable
-    else {
-      glActiveTexture(GL_TEXTURE0);
-      glDisable(GL_TEXTURE_2D);
-      glMatrixMode(GL_TEXTURE);
-      glLoadIdentity();
-      glMatrixMode(GL_MODELVIEW);
-    }
-  }
-
-  // 2D
-  else if (type == mjtexREGULAR && texid >= 0 && con->textureType[texid] == mjTEXTURE_2D) {
-    // enable
-    if (state) {
-      glActiveTexture(GL_TEXTURE0);
-      glEnable(GL_TEXTURE_2D);
-      glEnable(GL_TEXTURE_GEN_S);
-      glEnable(GL_TEXTURE_GEN_T);
-      glBindTexture(GL_TEXTURE_2D, con->texture[texid]);
-
-      // determine scaling, adjust for pre-scaled geoms
-      scl[0] = texrepeat[0];
-      scl[1] = texrepeat[1];
-      if (geom->dataid >= 0) {
-        if (geom->size[0] > 0) {
-          scl[0] = scl[0] / mju_max(mjMINVAL, geom->size[0]);
-        }
-
-        if (geom->size[1] > 0) {
-          scl[1] = scl[1] / mju_max(mjMINVAL, geom->size[1]);
-        }
-      }
-
-      // uniform: repeat relative to spatial units rather than object
-      if (texuniform) {
-        if (geom->size[0] > 0) {
-          scl[0] = scl[0] * geom->size[0];
-        }
-
-        if (geom->size[1] > 0) {
-          scl[1] = scl[1] * geom->size[1];
-        }
-      }
-
-      // set mapping
-      mjr_setf4(plane, 0.5*scl[0], 0, 0, -0.5);
-      glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
-      mjr_setf4(plane, 0, -0.5*scl[1], 0, -0.5);
-      glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
-    }
-
-    // disable
-    else {
-      glActiveTexture(GL_TEXTURE0);
-      glDisable(GL_TEXTURE_2D);
-      glDisable(GL_TEXTURE_GEN_S);
-      glDisable(GL_TEXTURE_GEN_T);
-    }
-  }
-
-  // cube or skybox
-  else {
-    // enable
-    if (state && texid >= 0) {
-      glActiveTexture(GL_TEXTURE0);
-      glEnable(GL_TEXTURE_CUBE_MAP);
-      glEnable(GL_TEXTURE_GEN_S);
-      glEnable(GL_TEXTURE_GEN_T);
-      glEnable(GL_TEXTURE_GEN_R);
-      glBindTexture(GL_TEXTURE_CUBE_MAP, con->texture[texid]);
-
-      // set mapping : cube
-      if (type == mjtexREGULAR) {
-        mjr_setf4(plane, texuniform ? geom->size[0] : 1, 0, 0, 0);
-        glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
-        mjr_setf4(plane, 0, texuniform ? geom->size[1] : 1, 0, 0);
-        glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
-        mjr_setf4(plane, 0, 0, texuniform ? geom->size[2] : 1, 0);
-        glTexGenfv(GL_R, GL_OBJECT_PLANE, plane);
-      }
-
-      // set mapping: skybox (rotate 90 deg around X)
-      else {
-        mjr_setf4(plane, 1, 0, 0, 0);
-        glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
-        mjr_setf4(plane, 0, 0, 1, 0);
-        glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
-        mjr_setf4(plane, 0, -1, 0, 0);
-        glTexGenfv(GL_R, GL_OBJECT_PLANE, plane);
-      }
-    }
-
-    // disable
-    else {
-      glActiveTexture(GL_TEXTURE0);
-      glDisable(GL_TEXTURE_CUBE_MAP);
-      glDisable(GL_TEXTURE_GEN_S);
-      glDisable(GL_TEXTURE_GEN_T);
-      glDisable(GL_TEXTURE_GEN_R);
-    }
-  }
-}
-
-
-
-// rendering modes for renderGeom
-enum {
-  mjrRND_NORMAL       = 0,
-  mjrRND_SHADOWMAP    = 1,
-  mjrRND_SHADOWCAST   = 2,
-  mjrRND_SEGMENT      = 3,
-  mjrRND_IDCOLOR      = 4
-};
-
-
-// render one geom
-static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
-                       const mjvScene* scn, const mjrContext* con) {
-  const float* size = geom->size;
-  float temp[4] = {0, 0, 0, 1}, av;
-  float rgba[4] = {geom->rgba[0], geom->rgba[1], geom->rgba[2], geom->rgba[3]};
-  int behind, whichface, lighting;
-
-  // lines and triangles do not cast shadows
-  if (mode == mjrRND_SHADOWCAST && (geom->type == mjGEOM_LINE || geom->category == mjCAT_DECOR)) {
-    return;
-  }
-
-  // make transformation matrix
-  float mat[16] = {
-    geom->mat[0], geom->mat[3], geom->mat[6], 0.0f,
-    geom->mat[1], geom->mat[4], geom->mat[7], 0.0f,
-    geom->mat[2], geom->mat[5], geom->mat[8], 0.0f,
-    0.0f, 0.0f, 0.0f, 1.0f
-  };
-
-  // precompute isbehind
-  behind = isBehind(headpos, geom->pos, geom->mat);
-
-  // enable texture in normal and shadowmap mode
-  if (geom->matid >= 0 &&
-      (mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) {
-    settexture(mjtexREGULAR, 1, con, geom);
-  }
-
-  // make plane more transparent from the back
-  if (geom->type == mjGEOM_PLANE && behind && mode == mjrRND_NORMAL) {
-    rgba[3] *= 0.3;
-  }
-
-  // set material emission: none in shadow mode
-  if (mode == mjrRND_NORMAL) {
-    mjr_setf4(temp,
-              geom->emission*rgba[0],
-              geom->emission*rgba[1],
-              geom->emission*rgba[2], 1);
-  } else {
-    mjr_setf4(temp, 0, 0, 0, 1);
-  }
-  glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, temp);
-
-  // set color and material
-  glColor4fv(rgba);
-  glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, geom->shininess * 128.0f);
-  mjr_setf4(temp, geom->specular, geom->specular, geom->specular, 1);
-  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, temp);
-
-  // set color for segmentation mode
-  if (mode >= mjrRND_SEGMENT) {
-    // segid color
-    if (mode == mjrRND_IDCOLOR) {
-      unsigned char seg[4] = {
-        (geom->segid+1) & 0xFF,
-        ((geom->segid+1)>>8) & 0xFF,
-        ((geom->segid+1)>>16) & 0xFF,
-        0xFF
-      };
-      glColor4ubv(seg);
-    }
-
-    // random color
-    else {
-      float seg[4] = {
-        0.1f + 0.8f*mju_Halton(geom->segid+10, 2),
-        0.1f + 0.8f*mju_Halton(geom->segid+10, 3),
-        0.1f + 0.8f*mju_Halton(geom->segid+10, 5),
-        1
-      };
-      glColor4fv(seg);
-    }
-  }
-
-  // apply coordinate transformation, except for flex and skin which are global
-  glPushMatrix();
-  if (geom->type != mjGEOM_FLEX && geom->type != mjGEOM_SKIN) {
-    glTranslatef(geom->pos[0], geom->pos[1], geom->pos[2]);
-    glMultMatrixf(mat);
-  }
-
-  // render geom
-  switch (geom->type) {
-  case mjGEOM_PLANE:                              // plane
-    if (behind) {
-      glGetIntegerv(GL_CULL_FACE_MODE, &whichface);
-      if (whichface == GL_BACK) {
-        glCullFace(GL_FRONT);
-      }
-    }
-
-    // use plane-specific displaylist if available
-    if (geom->dataid >= 0) {
-      glCallList(con->basePlane + geom->dataid+1);
-    }
-
-    // otherwise default list
-    else {
-      glScalef(size[0], size[1], 1.0f);
-      glCallList(con->basePlane);
-    }
-
-    if (behind && whichface == GL_BACK) {
-      glCullFace(GL_BACK);
-    }
-    break;
-
-  case mjGEOM_HFIELD:                         // height field
-    if (geom->dataid >= 0) {
-      glCallList(con->baseHField + geom->dataid);
-    }
-    break;
-
-  case mjGEOM_SPHERE:                         // sphere
-    glScalef(size[0], size[1], size[2]);
-    glCallList(con->baseBuiltin + mjrSPHERE);
-    break;
-
-  case mjGEOM_CAPSULE:                        // capsule
-    av = 0.5*(size[0]+size[1]);
-    glScalef(size[0], size[1], size[2]);
-    glCallList(con->baseBuiltin + mjrCYLINDEROPEN);
-    glScalef(1, 1, av/size[2]);
-    glTranslatef(0, 0, (size[2]-av)/av);
-    glCallList(con->baseBuiltin + mjrSPHERETOP);
-    glTranslatef(0, 0, 2*(av-size[2])/av);
-    glCallList(con->baseBuiltin + mjrSPHEREBOTTOM);
-    break;
-
-  case mjGEOM_ELLIPSOID:                      // ellipsoid
-    glScalef(size[0], size[1], size[2]);
-    glCallList(con->baseBuiltin + mjrSPHERE);
-    break;
-
-  case mjGEOM_CYLINDER:                       // cylinder
-    glScalef(size[0], size[1], size[2]);
-    glCallList(con->baseBuiltin + mjrCYLINDER);
-    break;
-
-  case mjGEOM_BOX:                            // box
-    glScalef(size[0], size[1], size[2]);
-    glCallList(con->baseBuiltin + mjrBOX);
-    break;
-
-  case mjGEOM_MESH:                           // mesh
-  case mjGEOM_SDF:
-    if (geom->dataid >= 0) {
-      glCallList(con->baseMesh + geom->dataid);
-    }
-    break;
-
-  case mjGEOM_ARROW:                          // arrow
-    glScalef(size[0], size[1], size[2]/6.0f);
-    glTranslatef(0, 0, 1);
-    glCallList(con->baseBuiltin + mjrCYLINDER);
-    glTranslatef(0, 0, 1);
-    glScalef(1.75f, 1.75f, 1);
-    glCallList(con->baseBuiltin + mjrCONE);
-    break;
-
-  case mjGEOM_ARROW1:                         // arrow without wedges
-    glScalef(size[0], size[1], size[2]/6.0f);
-    glTranslatef(0, 0, 1);
-    glCallList(con->baseBuiltin + mjrCYLINDER);
-    glTranslatef(0, 0, 1);
-    glCallList(con->baseBuiltin + mjrCONE);
-    break;
-
-  case mjGEOM_ARROW2:                         // arrow in both directions
-    glScalef(size[0], size[1], size[2]/3.0f);
-    glCallList(con->baseBuiltin + mjrCYLINDEROPEN);
-    glScalef(1.75f, 1.75f, 0.5f);
-    glTranslatef(0, 0, -2);
-    glRotatef(180.0f, 1.0f, 0.0f, 0.0f);
-    glCallList(con->baseBuiltin + mjrCONE);
-    glRotatef(180.0f, 1.0f, 0.0f, 0.0f);
-    glTranslatef(0, 0, 4);
-    glCallList(con->baseBuiltin + mjrCONE);
-    break;
-
-  case mjGEOM_LINE:                           // line
-    glLineWidth(size[0]*con->lineWidth);
-    lighting = glIsEnabled(GL_LIGHTING);
-    glDisable(GL_LIGHTING);
-    glBegin(GL_LINES);
-    glVertex3f(0, 0, 0);
-    glVertex3f(0, 0, size[2]);
-    glEnd();
-    glLineWidth(con->lineWidth);
-    if (lighting) {
-      glEnable(GL_LIGHTING);
-    }
-    break;
-
-  case mjGEOM_LINEBOX:                        // box with line edges
-    glLineWidth(1.5*con->lineWidth);
-    lighting = glIsEnabled(GL_LIGHTING);
-    glDisable(GL_LIGHTING);
-    // bottom face
-    glBegin(GL_LINE_LOOP);
-    glVertex3f(-size[0], -size[1], -size[2]);
-    glVertex3f( size[0], -size[1], -size[2]);
-    glVertex3f( size[0],  size[1], -size[2]);
-    glVertex3f(-size[0],  size[1], -size[2]);
-    glEnd();
-    // top face
-    glBegin(GL_LINE_LOOP);
-    glVertex3f(-size[0], -size[1], size[2]);
-    glVertex3f( size[0], -size[1], size[2]);
-    glVertex3f( size[0],  size[1], size[2]);
-    glVertex3f(-size[0],  size[1], size[2]);
-    glEnd();
-    // vertical edges
-    glBegin(GL_LINES);
-    glVertex3f(-size[0], -size[1], -size[2]);
-    glVertex3f(-size[0], -size[1],  size[2]);
-    glVertex3f( size[0], -size[1], -size[2]);
-    glVertex3f( size[0], -size[1],  size[2]);
-    glVertex3f( size[0],  size[1], -size[2]);
-    glVertex3f( size[0],  size[1],  size[2]);
-    glVertex3f(-size[0],  size[1], -size[2]);
-    glVertex3f(-size[0],  size[1],  size[2]);
-    glEnd();
-    glLineWidth(con->lineWidth);
-    if (lighting) {
-      glEnable(GL_LIGHTING);
-    }
-    break;
-
-  case mjGEOM_TRIANGLE:                       // triangle
-    glDisable(GL_CULL_FACE);
-    glBegin(GL_TRIANGLES);
-    glNormal3f(0, 0, 1);
-    glTexCoord2f(0, 1);
-    glVertex3f(0, 0, 0);
-    glTexCoord2f(1, 1);
-    glVertex3f(size[0], 0, 0);
-    glTexCoord2f(0, 0);
-    glVertex3f(0, size[1], 0);
-    glEnd();
-    if (scn->flags[mjRND_CULL_FACE]) {
-      glEnable(GL_CULL_FACE);
-    }
-    break;
-
-  case mjGEOM_FLEX:                           // flex
-  {
-    // no texture for vertices and edges
-    GLboolean texture_is_enabled = glIsEnabled(GL_TEXTURE_2D);
-    if (texture_is_enabled == GL_TRUE) {
-      glDisable(GL_TEXTURE_2D);
-    }
-
-    // vertex spheres
-    if (size[0]>0 && scn->flexvertopt &&
-        !(scn->flexskinopt && scn->flexfaceused[geom->objid])) {
-      for (int v=scn->flexvertadr[geom->objid];
-               v<scn->flexvertadr[geom->objid]+scn->flexvertnum[geom->objid]; v++) {
-        glPushMatrix();
-        glTranslatef(scn->flexvert[3*v], scn->flexvert[3*v+1], scn->flexvert[3*v+2]);
-        glScalef(size[0], size[0], size[0]);
-        glCallList(con->baseBuiltin + mjrSPHERE);
-        glPopMatrix();
-      }
-    }
-
-    // edge cylinders
-    if (size[0]>0 && scn->flexedgeopt &&
-        !(scn->flexskinopt && scn->flexfaceused[geom->objid])) {
-      for (int e=scn->flexedgeadr[geom->objid];
-               e<scn->flexedgeadr[geom->objid]+scn->flexedgenum[geom->objid]; e++) {
-        // get vertices for this edge
-        float* v1 = scn->flexvert + 3*(scn->flexvertadr[geom->objid]+scn->flexedge[2*e]);
-        float* v2 = scn->flexvert + 3*(scn->flexvertadr[geom->objid]+scn->flexedge[2*e+1]);
-
-        // compute legth and rotation matrix
-        mjtNum vec[3] = {v2[0]-v1[0], v2[1]-v1[1], v2[2]-v1[2]};
-        mjtNum len = mju_normalize3(vec);
-        mjtNum edgequat[4], edgemat[9];
-        mju_quatZ2Vec(edgequat, vec);
-        mju_negQuat(edgequat, edgequat);
-        mju_quat2Mat(edgemat, edgequat);
-        mat[0] = (float)edgemat[0];
-        mat[1] = (float)edgemat[1];
-        mat[2] = (float)edgemat[2];
-        mat[4] = (float)edgemat[3];
-        mat[5] = (float)edgemat[4];
-        mat[6] = (float)edgemat[5];
-        mat[8] = (float)edgemat[6];
-        mat[9] = (float)edgemat[7];
-        mat[10] = (float)edgemat[8];
-
-        // transform and render
-        glPushMatrix();
-        glTranslatef((v1[0]+v2[0])*0.5f, (v1[1]+v2[1])*0.5f, (v1[2]+v2[2])*0.5f);
-        glMultMatrixf(mat);
-        glScalef(size[0], size[0], (float)(len*0.5));
-        glCallList(con->baseBuiltin + mjrCYLINDEROPEN);
-        glPopMatrix();
-      }
-    }
-
-    // restore texture for faces
-    if (texture_is_enabled == GL_TRUE) {
-      glEnable(GL_TEXTURE_2D);
-    }
-
-    // face triangles
-    if (scn->flexfaceused[geom->objid]) {
-      glEnableClientState(GL_VERTEX_ARRAY);
-      glEnableClientState(GL_NORMAL_ARRAY);
-      glVertexPointer(3, GL_FLOAT, 0, scn->flexface + 9*scn->flexfaceadr[geom->objid]);
-      glNormalPointer(GL_FLOAT, 0, scn->flexnormal + 9*scn->flexfaceadr[geom->objid]);
-      if (geom->texcoord && geom->matid>=0) {
-        glEnableClientState(GL_TEXTURE_COORD_ARRAY);
-        glTexCoordPointer(2, GL_FLOAT, 0, scn->flextexcoord + 6*scn->flexfaceadr[geom->objid]);
-      }
-      glDrawArrays(GL_TRIANGLES, 0, 3*scn->flexfaceused[geom->objid]);
-      glDisableClientState(GL_VERTEX_ARRAY);
-      glDisableClientState(GL_NORMAL_ARRAY);
-      if (geom->texcoord && geom->matid>=0) {
-        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
-      }
-    }
-    break;
-  }
-
-  case mjGEOM_SKIN:                           // skin
-    // vertex positions
-    glEnableClientState(GL_VERTEX_ARRAY);
-    glBindBuffer(GL_ARRAY_BUFFER, con->skinvertVBO[geom->objid]);
-    glVertexPointer(3, GL_FLOAT, 0, NULL);
-
-    // vertex normals
-    glEnableClientState(GL_NORMAL_ARRAY);
-    glBindBuffer(GL_ARRAY_BUFFER, con->skinnormalVBO[geom->objid]);
-    glNormalPointer(GL_FLOAT, 0, NULL);
-
-    // vertex texture coordinates
-    if (con->skintexcoordVBO[geom->objid]) {
-      glEnableClientState(GL_TEXTURE_COORD_ARRAY);
-      glBindBuffer(GL_ARRAY_BUFFER, con->skintexcoordVBO[geom->objid]);
-      glTexCoordPointer(2, GL_FLOAT, 0, NULL);
-    } else {
-      glDisableClientState(GL_TEXTURE_COORD_ARRAY);
-    }
-
-    // triangle face indices
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, con->skinfaceVBO[geom->objid]);
-
-    // draw
-    glDrawElements(GL_TRIANGLES, 3*scn->skinfacenum[geom->objid], GL_UNSIGNED_INT, NULL);
-
-    // restore
-    glBindBuffer(GL_ARRAY_BUFFER, 0);
-    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-    glDisableClientState(GL_VERTEX_ARRAY);
-    glDisableClientState(GL_NORMAL_ARRAY);
-    glDisableClientState(GL_TEXTURE_COORD_ARRAY);
-    break;
-  }
-
-  // undo coordinate transformation
-  glPopMatrix();
-
-  // disable texture if enabled
-  if (geom->matid >= 0 &&
-      (mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) {
-    settexture(mjtexREGULAR, 0, con, geom);
-  }
-}
-
-
-
-void renderGeomReflection(int id, float reflectance, float headpos[3],
-                          mjvScene* scn, const mjrContext* con) {
-  float old_rgb[3];
-
-  // save rgb, modulate rgb by this->reflectance
-  for (int k=0; k < 3; k++) {
-    old_rgb[k] = scn->geoms[id].rgba[k];
-    scn->geoms[id].rgba[k] *= reflectance;
-  }
-
-  // render
-  renderGeom(scn->geoms+id, mjrRND_NORMAL, headpos, scn, con);
-
-  // restore rgb
-  for (int k=0; k < 3; k++) {
-    scn->geoms[id].rgba[k] = old_rgb[k];
-  }
-}
-
-
-
-//----------------------------- high-level 3D rendering --------------------------------------------
-
-// init, with or without special effects
-static void initGL3(const mjvScene* scn, const mjrContext* con) {
-  float rgbaWhite[4] = {1.0f, 1.0f, 1.0f, 1.0f};
-
-  // special effects
-  glEnable(GL_MULTISAMPLE);
-  glEnable(GL_LIGHTING);
-  if (scn->flags[mjRND_FOG]) {
-    glEnable(GL_FOG);
-  } else {
-    glDisable(GL_FOG);
-  }
-
-  // common options
-  glDisable(GL_BLEND);
-  glEnable(GL_NORMALIZE);
-  if (mjGLAD_GL_ARB_clip_control) {
-    glClipControl(GL_LOWER_LEFT, GL_ZERO_TO_ONE);
-  }
-  glEnable(GL_DEPTH_TEST);
-  glDepthMask(GL_TRUE);
-  if (scn->flags[mjRND_CULL_FACE]) {
-    glEnable(GL_CULL_FACE);
-  } else {
-    glDisable(GL_CULL_FACE);
-  }
-  glShadeModel(GL_SMOOTH);
-  glDepthFunc(GL_GEQUAL);
-  glDepthRange(0, 1);
-  glAlphaFunc(GL_GEQUAL, 0.99f);
-  glClearColor(0, 0, 0, 0);
-  glClearDepth(0);
-  glClearStencil(0);
-  glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
-
-  // polygon mode
-  glPolygonMode(GL_FRONT_AND_BACK, scn->flags[mjRND_WIREFRAME] ? GL_LINE : GL_FILL);
-  glLineWidth(con->lineWidth);
-  glFrontFace(GL_CCW);
-
-  // fixed material properties; the rest are set by glColor (track material)
-  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, rgbaWhite);
-  glEnable(GL_COLOR_MATERIAL);
-  glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
-}
-
-
-
-// light type is supported by the fixed-function pipeline
-static int isSupportedLight(const mjvLight* light) {
-  return light->type == mjLIGHT_DIRECTIONAL || light->type == mjLIGHT_SPOT;
-}
-
-
-
-// init lights
-static void initLights(mjvScene* scn) {
-  // count supported lights
-  int nsupported = 0;
-  for (int i=0; i < scn->nlight; i++) {
-    nsupported += isSupportedLight(scn->lights+i);
-  }
-
-  // create some ambient light if no supported lights are present
-  float global = nsupported ? 0 : 0.3f;
-  float rgba_global[4] = {global, global, global, 1};
-
-  // init light model
-  glLightModelfv(GL_LIGHT_MODEL_AMBIENT, rgba_global);
-  glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, 0);
-  glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);
-
-  // set light properties
-  for (int i=0; i < scn->nlight; i++) {
-    // ignore unsupported light types: mjLIGHT_POINT, mjLIGHT_IMAGE
-    if (!isSupportedLight(scn->lights+i)) {
-      continue;
-    }
-
-    // colors
-    glLightfv(GL_LIGHT0+i, GL_AMBIENT, scn->lights[i].ambient);
-    glLightfv(GL_LIGHT0+i, GL_DIFFUSE, scn->lights[i].diffuse);
-    glLightfv(GL_LIGHT0+i, GL_SPECULAR, scn->lights[i].specular);
-
-    // parameters for directional light
-    if (scn->lights[i].type == mjLIGHT_DIRECTIONAL) {
-      glLightf(GL_LIGHT0+i, GL_SPOT_EXPONENT,         0);
-      glLightf(GL_LIGHT0+i, GL_SPOT_CUTOFF,           180);
-      glLightf(GL_LIGHT0+i, GL_CONSTANT_ATTENUATION,  1);
-      glLightf(GL_LIGHT0+i, GL_LINEAR_ATTENUATION,    0);
-      glLightf(GL_LIGHT0+i, GL_QUADRATIC_ATTENUATION, 0);
-    }
-
-    // parameters for spot light
-    else if (scn->lights[i].type == mjLIGHT_SPOT) {
-      glLightf(GL_LIGHT0+i, GL_SPOT_EXPONENT,         scn->lights[i].exponent);
-      glLightf(GL_LIGHT0+i, GL_SPOT_CUTOFF,           scn->lights[i].cutoff);
-      glLightf(GL_LIGHT0+i, GL_CONSTANT_ATTENUATION,  scn->lights[i].attenuation[0]);
-      glLightf(GL_LIGHT0+i, GL_LINEAR_ATTENUATION,    scn->lights[i].attenuation[1]);
-      glLightf(GL_LIGHT0+i, GL_QUADRATIC_ATTENUATION, scn->lights[i].attenuation[2]);
-    }
-  }
-
-  // disable all lights (enable selectively in render)
-  for (int i=0; i < scn->nlight; i++) {
-    glDisable(GL_LIGHT0+i);
-  }
-}
-
-
-
-// set projection and modelview
-static void setView(int view, mjrRect viewport, const mjvScene* scn, const mjrContext* con,
-                    float camProject[16], float camView[16]) {
-  mjvGLCamera cam;
-
-  // copy specified camera for stereo, average for mono (view = -1)
-  if (view >= 0) {
-    cam = scn->camera[view];
-  } else {
-    cam = mjv_averageCamera(scn->camera, scn->camera+1);
-  }
-
-  // compute frustum halfwidth so as to match viewport aspect ratio
-  float halfwidth = cam.frustum_width ? cam.frustum_width
-                    : 0.5f * (float)viewport.width / (float)viewport.height *
-                             (cam.frustum_top - cam.frustum_bottom);
-
-  // prepare projection
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-  if (mjGLAD_GL_ARB_clip_control) {
-    // reverse Z rendering mapping [znear, zfar] -> [1, 0] (ndc)
-    glTranslatef(0.0f, 0.0f, 0.5f);
-    glScalef(1.0f, 1.0f, -0.5f);
-  } else {
-    // reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
-    glScalef(1.0f, 1.0f, -1.0f);
-  }
-
-  // set projection, orthographic or perspective
-  if (cam.orthographic) {
-    glOrtho(cam.frustum_center - halfwidth,
-            cam.frustum_center + halfwidth,
-            cam.frustum_bottom,
-            cam.frustum_top,
-            cam.frustum_near,
-            cam.frustum_far);
-  } else {
-    glFrustum(cam.frustum_center - halfwidth,
-              cam.frustum_center + halfwidth,
-              cam.frustum_bottom,
-              cam.frustum_top,
-              cam.frustum_near,
-              cam.frustum_far);
-  }
-
-  // save projection matrix if requested
-  if (camProject) {
-    glGetFloatv(GL_PROJECTION_MATRIX, camProject);
-  }
-
-  // set modelview
-  glMatrixMode(GL_MODELVIEW);
-  glLoadIdentity();
-  mjr_lookAt(cam.pos, cam.forward, cam.up);
-  if (scn->enabletransform) {
-    mjr_transform(scn->translate, scn->rotate, scn->scale);
-  }
-
-  // save modelview matrix if requested
-  if (camView) {
-    glGetFloatv(GL_MODELVIEW_MATRIX, camView);
-  }
-}
-
-
-
-// comparison function for geom sorting
-static inline int geomcmp(int* i, int* j, void* context) {
-  mjvGeom* geom = (mjvGeom*) context;
-  float d1 = geom[*i].camdist;
-  float d2 = geom[*j].camdist;
-
-  if (d1 < d2) {
-    return -1;
-  } else if (d1 == d2) {
-    return 0;
-  } else {
-    return 1;
-  }
-}
-
-// define geomSort function for sorting geoms
-mjSORT(geomSort, int, geomcmp);
-
-
-
-// adjust light n position and direction
-static void adjustLight(const mjvLight* thislight, int n) {
-  float temp[4];
-
-  // set position and direction according to type
-  if (thislight->type == mjLIGHT_DIRECTIONAL) {
-    mjr_setf4(temp, -thislight->dir[0], -thislight->dir[1], -thislight->dir[2], 0);
-    glLightfv(GL_LIGHT0+n, GL_POSITION, temp);
-  } else if (thislight->type == mjLIGHT_SPOT) {
-    mjr_setf4(temp, thislight->dir[0], thislight->dir[1], thislight->dir[2], 0);
-    glLightfv(GL_LIGHT0+n, GL_SPOT_DIRECTION, temp);
-    mjr_setf4(temp, thislight->pos[0], thislight->pos[1], thislight->pos[2], 1);
-    glLightfv(GL_LIGHT0+n, GL_POSITION, temp);
-  } else {
-    // ignore unsupported light types: mjLIGHT_POINT, mjLIGHT_IMAGE
-  }
-}
-
-
-
-// render
-void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
-  int stereo, nt, ngeom = scn->ngeom, nlight = mjMIN(mjMAXLIGHT, scn->nlight);
-  unsigned int drawbuffer;
-  mjvGLCamera cam;
-  mjtNum hpos[3];
-  float temp[4], headpos[3], skyboxdst;
-  float camProject[16], camView[16], lightProject[16], lightView[16];
-  double clipplane[4];
-  float biasMatrix[16] = {
-    0.5f, 0.0f, 0.0f, 0.0f,
-    0.0f, 0.5f, 0.0f, 0.0f,
-    0.0f, 0.0f, 1.0f, 0.0f,
-    0.5f, 0.5f, 0.0f, 1.0f
-  };
-  if (!mjGLAD_GL_ARB_clip_control) {
-    // account for conversion from ndc to window coordinates
-    biasMatrix[2*4+2] = 0.5;
-    biasMatrix[3*4+2] = 0.5;
-  }
-
-  float tempMatrix[16], textureMatrix[16];
-  mjvGeom *thisgeom, tempgeom;
-  mjvLight *thislight;
-
-  // empty viewport: nothing to do
-  if (viewport.width <= 0 || viewport.height <= 0) {
-    return;
-  }
-
-  // average cameras
-  cam = mjv_averageCamera(scn->camera, scn->camera+1);
-
-  // check znear
-  if (cam.frustum_near < mjMINVAL) {
-    // geoms: error
-    if (scn->ngeom) {
-      mju_error("mjvScene frustum_near too small in mjr_render");
-    }
-
-    // no geoms: return silently
-    else {
-      return;
-    }
-  }
-
-  // upload dynamic skin data to GPU
-  for (int i=0; i < scn->nskin; i++) {
-    // upload positions to VBO
-    glBindBuffer(GL_ARRAY_BUFFER, con->skinvertVBO[i]);
-    glBufferData(GL_ARRAY_BUFFER,
-                 3*scn->skinvertnum[i]*sizeof(float),
-                 scn->skinvert + 3*scn->skinvertadr[i],
-                 GL_STREAM_DRAW);
-
-    // upload normals to VBO
-    glBindBuffer(GL_ARRAY_BUFFER, con->skinnormalVBO[i]);
-    glBufferData(GL_ARRAY_BUFFER,
-                 3*scn->skinvertnum[i]*sizeof(float),
-                 scn->skinnormal + 3*scn->skinvertadr[i],
-                 GL_STREAM_DRAW);
-  }
-
-  // determine drawbuffer; may be changed by stereo later
-  if (con->currentBuffer == mjFB_WINDOW) {
-    drawbuffer = (con->windowDoublebuffer ? GL_BACK : GL_FRONT);
-  } else {
-    drawbuffer = GL_COLOR_ATTACHMENT0;
-  }
-
-  // init lights
-  initLights(scn);
-
-  // compute head position in model space
-  mjv_cameraInModel(hpos, NULL, NULL, scn);
-  mju_n2f(headpos, hpos, 3);
-
-  // make list of transparent geoms
-  nt = 0;
-  for (int i=0; i < ngeom; i++) {
-    // get geom pointer
-    thisgeom = scn->geoms + i;
-
-    if (thisgeom->rgba[3] < 0.995 || (thisgeom->type == mjGEOM_PLANE &&
-                                      isBehind(headpos, thisgeom->pos, thisgeom->mat))) {
-      // include index in list
-      scn->geomorder[nt++] = i;
-      thisgeom->transparent = 1;
-
-      // compute distance to camera
-      thisgeom->camdist = sqrtf((thisgeom->pos[0]-headpos[0])*(thisgeom->pos[0]-headpos[0]) +
-                                (thisgeom->pos[1]-headpos[1])*(thisgeom->pos[1]-headpos[1]) +
-                                (thisgeom->pos[2]-headpos[2])*(thisgeom->pos[2]-headpos[2]));
-
-      // correct for rbound
-      thisgeom->camdist -= mjv_rbound(thisgeom);
-
-      // plane always far away
-      if (thisgeom->type == mjGEOM_PLANE) {
-        thisgeom->camdist = 1E+10;
-      }
-    } else {
-      thisgeom->transparent = 0;
-    }
-  }
-
-  // sort transparent geoms according to distance to camera
-  if (nt > 1) {
-    int *buf = (int*) mju_malloc(nt * sizeof(int));
-    geomSort(scn->geomorder, buf, nt, scn->geoms);
-    mju_free(buf);
-  }
-
-  // allow only one reflective geom
-  int j = 0;
-  for (int i=0; i < ngeom; i++) {
-    if (j) {
-      scn->geoms[i].reflectance = 0;
-    } else if (isReflective(scn->geoms + i)) {
-      j = 1;
-    }
-  }
-
-  // init OpenGL
-  initGL3(scn, con);
-
-  // set full viewport
-  glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
-
-  // clear, with scissor
-  glScissor(viewport.left, viewport.bottom, viewport.width, viewport.height);
-  glEnable(GL_SCISSOR_TEST);
-  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-  glDisable(GL_SCISSOR_TEST);
-
-  // determine stereo; quadbuffered reverts to sidebyside if hardware not available
-  stereo = scn->stereo;
-  if (stereo == mjSTEREO_QUADBUFFERED &&
-      (con->currentBuffer != mjFB_WINDOW || !con->windowStereo)) {
-    stereo = mjSTEREO_SIDEBYSIDE;
-  }
-
-  // SIDEBYSIDE: reduce viewport
-  if (stereo == mjSTEREO_SIDEBYSIDE) {
-    viewport.width /= 2;
-  }
-
-  // render with stereo
-  for (int view = (stereo ? 0 : -1); view < (stereo ? 2 : 0); view++) {
-    // change drawbuffer for QUADBUFFERED stereo
-    if (stereo == mjSTEREO_QUADBUFFERED) {
-      if (con->windowDoublebuffer) {
-        drawbuffer = (view ? GL_BACK_RIGHT : GL_BACK_LEFT);
-      } else {
-        drawbuffer = (view ? GL_FRONT_RIGHT : GL_FRONT_LEFT);
-      }
-      glDrawBuffer(drawbuffer);
-
-      // clear depth buffer for second view (since it is shared)
-      if (view) {
-        glClear(GL_DEPTH_BUFFER_BIT);
-      }
-    }
-
-    // change viewport for SIDEBYSIDE stereo
-    else if (stereo == mjSTEREO_SIDEBYSIDE) {
-      // move viewport to the right for view 1
-      if (view) {
-        viewport.left += viewport.width;
-      }
-
-      // set reduced/moved viewport
-      glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
-    }
-
-    // set projection and modelview
-    setView(view, viewport, scn, con, camProject, camView);
-
-    //---------------------------------- segmentation rendering
-
-    if (scn->flags[mjRND_SEGMENT]) {
-      // constant color rendering
-      glShadeModel(GL_FLAT);
-      glDisable(GL_LIGHTING);
-      glDisable(GL_COLOR_MATERIAL);
-      glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-      glDisable(GL_FOG);
-      glDisable(GL_MULTISAMPLE);
-
-      // render all geoms
-      for (int i=0; i < ngeom; i++) {
-        if (scn->geoms[i].segid >= 0) {
-          renderGeom(scn->geoms+i,
-                     scn->flags[mjRND_IDCOLOR] ? mjrRND_IDCOLOR : mjrRND_SEGMENT,
-                     headpos, scn, con);
-        }
-      }
-
-      // skip the remaining passes
-      continue;
-    }
-
-    //---------------------------------- reflection rendering
-
-    // plane and box reflection rendering
-    if (scn->flags[mjRND_REFLECTION] && !scn->flags[mjRND_DEPTH]) {
-      for (int i=0; i < ngeom; i++) {
-        // get geom pointer
-        thisgeom = scn->geoms + i;
-
-        if (isReflective(thisgeom)) {
-          // if box, replace with temporary plane matching Z+ box side
-          if (thisgeom->type == mjGEOM_BOX) {
-            // copy and convert to plane
-            tempgeom = *thisgeom;
-            tempgeom.type = mjGEOM_PLANE;
-
-            // offset position to Z+ face side
-            tempgeom.pos[0] += tempgeom.size[2]*tempgeom.mat[2];
-            tempgeom.pos[1] += tempgeom.size[2]*tempgeom.mat[5];
-            tempgeom.pos[2] += tempgeom.size[2]*tempgeom.mat[8];
-
-            // redirect pointer
-            thisgeom = &tempgeom;
-          }
-
-          // camera behind plane or box side: nothing to show
-          if (isBehind(headpos, thisgeom->pos, thisgeom->mat)) {
-            continue;
-          }
-
-          // prepare to render plane in stencil buffer
-          glDisable(GL_DEPTH_TEST);
-          glColorMask(0, 0, 0, 0);
-          glEnable(GL_STENCIL_TEST);
-          glClear(GL_STENCIL_BUFFER_BIT);
-          glStencilFunc(GL_ALWAYS, 1, 0xFF);
-          glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);
-
-          // render thisgeom in stencil buffer, always fill
-          glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-          renderGeom(thisgeom, mjrRND_NORMAL, headpos, scn, con);
-          glPolygonMode(GL_FRONT_AND_BACK, scn->flags[mjRND_WIREFRAME] ? GL_LINE : GL_FILL);
-
-          // prepare to render scene where stencil==1
-          glEnable(GL_DEPTH_TEST);
-          glColorMask(1, 1, 1, 1);
-          glStencilFunc(GL_EQUAL, 1, 0xFF);
-          glStencilOp(GL_KEEP, GL_KEEP, GL_KEEP);
-
-          // set clipplane
-          glEnable(GL_CLIP_PLANE0);
-          clipplane[0] = -thisgeom->mat[2];
-          clipplane[1] = -thisgeom->mat[5];
-          clipplane[2] = -thisgeom->mat[8];
-          clipplane[3] =
-            thisgeom->pos[0]*thisgeom->mat[2] +
-            thisgeom->pos[1]*thisgeom->mat[5] +
-            thisgeom->pos[2]*thisgeom->mat[8];
-          glClipPlane(GL_CLIP_PLANE0, clipplane);
-
-          // set reflection matrix
-          glFrontFace(GL_CW);
-          glPushMatrix();
-          mjr_reflect(thisgeom->pos, thisgeom->mat);
-
-          // set light position and direction, enable supported lights
-          for (int j=0; j < nlight; j++) {
-            if (isSupportedLight(scn->lights+j)) {
-              adjustLight(scn->lights+j, j);
-              glEnable(GL_LIGHT0+j);
-            }
-          }
-
-          // render reflected non-transparent geoms, except for thisgeom
-          for (int j=0; j < ngeom; j++) {
-            if (!scn->geoms[j].transparent && i != j) {
-              renderGeomReflection(j, thisgeom->reflectance, headpos, scn, con);
-            }
-          }
-
-          // render reflected transparent geoms, except for thisgeom
-          glDepthMask(GL_FALSE);
-          glEnable(GL_BLEND);
-          if (scn->flags[mjRND_ADDITIVE]) {
-            glBlendFunc(GL_SRC_ALPHA, GL_ONE);
-          } else {
-            glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-          }
-          for (int j=0; j < nt; j++) {
-            if (i != scn->geomorder[j]) {
-              renderGeomReflection(scn->geomorder[j], thisgeom->reflectance, headpos, scn, con);
-            }
-          }
-          if (!scn->flags[mjRND_ADDITIVE]) {
-            for (int j=nt-1; j >= 0; j--) {
-              if (i != scn->geomorder[j]) {
-                renderGeomReflection(scn->geomorder[j], thisgeom->reflectance, headpos, scn, con);
-              }
-            }
-          }
-          glDepthMask(GL_TRUE);
-          glDisable(GL_BLEND);
-
-          // disable lights
-          for (int j=0; j < nlight; j++) {
-            glDisable(GL_LIGHT0+j);
-          }
-
-          // end reflection rendering
-          glDisable(GL_STENCIL_TEST);
-          glDisable(GL_CLIP_PLANE0);
-          glPopMatrix();
-          glFrontFace(GL_CCW);
-        }
-      }
-    }
-
-    //---------------------------------- regular rendering
-
-    // set light position and direction, enable non-shadow lights
-    for (int i=0; i < nlight; i++) {
-      // get pointer, ignore unsupported light types
-      thislight = scn->lights + i;
-      if (!isSupportedLight(thislight)) {
-        continue;
-      }
-
-      // set light
-      adjustLight(thislight, i);
-
-      // enable lights without shadows
-      if (!thislight->castshadow || !(scn->flags[mjRND_SHADOW] && con->shadowFBO)) {
-        glEnable(GL_LIGHT0+i);
-      }
-    }
-
-    // render reflecting geoms
-    //  (only one allowed, more would result in weird transparency)
-    glEnable(GL_BLEND);
-    glBlendFunc(GL_ONE, GL_ONE);
-    for (int i=0; i < ngeom; i++)
-      if (isReflective(scn->geoms+i)) {
-        renderGeom(scn->geoms+i, mjrRND_NORMAL, headpos, scn, con);
-      }
-    glDisable(GL_BLEND);
-
-    // render remaining opaque geoms
-    for (int i=0; i < ngeom; i++) {
-      if (!scn->geoms[i].transparent && !isReflective(scn->geoms+i)) {
-        renderGeom(scn->geoms+i, mjrRND_NORMAL, headpos, scn, con);
-      }
-    }
-
-    // disable lights
-    for (int i=0; i < nlight; i++) {
-      glDisable(GL_LIGHT0+i);
-    }
-
-    //------------------------------------ shadow rendering
-
-    // black fog, to avoid glow
-    float black[4] = {0, 0, 0, 0};
-    glFogfv(GL_FOG_COLOR, black);
-
-    // shadow map rendering
-    if (scn->flags[mjRND_SHADOW] && con->shadowFBO) {
-      for (int i=0; i < nlight; i++) {
-        // get pointer, ignore unsupported light types
-        thislight = scn->lights + i;
-
-        if (thislight->castshadow && isSupportedLight(thislight)) {
-          // prepare up-direction
-          mjr_orthoVec(temp, thislight->dir);
-
-          // set projection: from light viewpoint
-          glMatrixMode(GL_PROJECTION);
-          glLoadIdentity();
-          if (mjGLAD_GL_ARB_clip_control) {
-            // reverse Z rendering mapping [znear, zfar] -> [1, 0] (ndc)
-            glTranslatef(0.0f, 0.0f, 0.5f);
-            glScalef(1.0f, 1.0f, -0.5f);
-          }
-          else {
-            // reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
-            glScalef(1.0f, 1.0f, -1.0f);
-          }
-          if (thislight->type == mjLIGHT_DIRECTIONAL) {
-            glOrtho(-con->shadowClip, con->shadowClip,
-                    -con->shadowClip, con->shadowClip,
-                    cam.frustum_near, cam.frustum_far);
-          } else if (thislight->type == mjLIGHT_SPOT) {
-            mjr_perspective(mju_min(2*thislight->cutoff*con->shadowScale, 160), 1,
-                            cam.frustum_near, cam.frustum_far);
-          }
-          glGetFloatv(GL_PROJECTION_MATRIX, lightProject);
-
-          // set modelview: from light viewpoint
-          glMatrixMode(GL_MODELVIEW);
-          glLoadIdentity();
-          mjr_lookAt(thislight->pos, thislight->dir, temp);
-          glGetFloatv(GL_MODELVIEW_MATRIX, lightView);
-
-          // adjust OpenGL settings for shadow rendering
-          glBindFramebuffer(GL_FRAMEBUFFER, con->shadowFBO);
-          glDrawBuffer(GL_NONE);
-          glClear(GL_DEPTH_BUFFER_BIT);
-          glViewport(
-              1, 1, con->shadowSize-2, con->shadowSize-2);  // avoid infinite shadows from edges
-          glShadeModel(GL_FLAT);
-          glDisable(GL_LIGHTING);
-          glColorMask(0, 0, 0, 0);
-          int cull_face = glIsEnabled(GL_CULL_FACE);
-          glDisable(GL_CULL_FACE);  // all faces cast shadows
-          glEnable(GL_POLYGON_OFFSET_FILL);
-
-          // The limited resolution of the shadow maps means multiple fragments
-          // sample the same texel. When light and camera directions differ on
-          // surfaces that should be lit this causes "shadow acne"  because some
-          // fragments will be lit while adjacent fragments are not. To mitigate
-          // this artifact, an offset is applied to the depth values in the
-          // shadow map. The offset must be large enough to ensure consistent
-          // depth comparison occurs within the limited precision of the depth
-          // buffer. The offset is computed by glPolygonOffset using parameters
-          // that are chosen empirically. We need different values when clip
-          // control is on/off because this setting changes the depth precision.
-          float kOffsetFactor = -16.0f;
-          float kOffsetUnits = -512.0f;
-          if (mjGLAD_GL_ARB_clip_control) {
-            kOffsetFactor = -1.5f;
-            kOffsetUnits = -4.0f;
-          }
-          glPolygonOffset(kOffsetFactor, kOffsetUnits);
-
-          // render all geoms to depth texture
-          for (int j=0; j < ngeom; j++) {
-            renderGeom(scn->geoms+j, mjrRND_SHADOWCAST, headpos, scn, con);
-          }
-
-          // restore OpenGL settings
-          glBindFramebuffer(GL_FRAMEBUFFER,
-                            con->currentBuffer == mjFB_WINDOW ? 0 : con->offFBO);
-          glDrawBuffer(drawbuffer);
-          glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
-          if (cull_face) {
-            glEnable(GL_CULL_FACE);
-          }
-          glDisable(GL_POLYGON_OFFSET_FILL);
-          glShadeModel(GL_SMOOTH);
-          glEnable(GL_LIGHTING);
-          glColorMask(1, 1, 1, 1);
-          glMatrixMode(GL_PROJECTION);
-          glLoadMatrixf(camProject);
-          glMatrixMode(GL_MODELVIEW);
-          glLoadMatrixf(camView);
-
-          // compute camera-light mapping
-          mjr_mulMat44(tempMatrix, lightProject, lightView);
-          mjr_mulMat44(textureMatrix, biasMatrix, tempMatrix);
-
-          // enable texture machinery
-          settexture(mjtexSHADOW, 1, con, 0);
-          mjr_getrow4(temp, textureMatrix, 0);
-          glTexGenfv(GL_S, GL_EYE_PLANE, temp);
-          mjr_getrow4(temp, textureMatrix, 1);
-          glTexGenfv(GL_T, GL_EYE_PLANE, temp);
-          mjr_getrow4(temp, textureMatrix, 2);
-          glTexGenfv(GL_R, GL_EYE_PLANE, temp);
-          mjr_getrow4(temp, textureMatrix, 3);
-          glTexGenfv(GL_Q, GL_EYE_PLANE, temp);
-
-          // render with shadow light i
-          glEnable(GL_ALPHA_TEST);
-          glEnable(GL_BLEND);
-          glBlendFunc(GL_ONE, GL_ONE);
-          glEnable(GL_LIGHT0+i);
-
-          // only opaque geoms accept shadows
-          for (int j=0; j < ngeom; j++) {
-            if (!scn->geoms[j].transparent) {
-              renderGeom(scn->geoms+j, mjrRND_SHADOWMAP, headpos, scn, con);
-            }
-          }
-
-          glDisable(GL_LIGHT0+i);
-          glDisable(GL_BLEND);
-          glDisable(GL_ALPHA_TEST);
-
-          // disable texture machinery
-          settexture(mjtexSHADOW, 0, con, 0);
-        }
-      }
-    }
-
-    // restore fog color
-    glFogfv(GL_FOG_COLOR, con->fogRGBA);
-
-    //------------------------------------ skybox rendering
-
-    if (scn->flags[mjRND_SKYBOX]) {
-      // skybox always filled
-      glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-
-      // find skybox texture
-      for (int i=0; i < con->ntexture; i++) {
-        if (con->textureType[i] == mjTEXTURE_SKYBOX) {
-          // save first skybox texture id in tempgeom
-          memset(&tempgeom, 0, sizeof(mjvGeom));
-          tempgeom.texid = i;
-
-          // modify settings
-          glDisable(GL_LIGHTING);
-          glDisable(GL_COLOR_MATERIAL);
-          glCullFace(GL_FRONT);
-
-          // center at headpos, scale to avoid far clipping: just below 1/sqrt(2)
-          glPushMatrix();
-          glTranslatef(headpos[0], headpos[1], headpos[2]);
-          skyboxdst = cam.frustum_far*0.70f;
-          if (scn->enabletransform) {
-            skyboxdst /= scn->scale;
-          }
-          glScalef(skyboxdst, skyboxdst, skyboxdst);
-
-          // render cylinder, with skybox texture
-          settexture(mjtexSKYBOX, 1, con, &tempgeom);
-          glColor4f(1, 1, 1, 1);
-          glCallList(con->baseBuiltin + mjrCYLINDER);
-          settexture(mjtexSKYBOX, 0, con, &tempgeom);
-
-          // haze
-          if (scn->flags[mjRND_HAZE]) {
-            for (int j=0; j < ngeom; j++) {
-              if (scn->geoms[j].type == mjGEOM_PLANE &&
-                  scn->geoms[j].size[0] == 0 &&
-                  scn->geoms[j].size[1] == 0) {
-                // compute headpos elevation above plane
-                float* mat3 = scn->geoms[j].mat;
-                float elevation = ((headpos[0]-scn->geoms[j].pos[0])*mat3[2] +
-                                   (headpos[1]-scn->geoms[j].pos[1])*mat3[5] +
-                                   (headpos[2]-scn->geoms[j].pos[2])*mat3[8]) /
-                                  skyboxdst;
-
-                // below plane: no rendering
-                if (elevation < 0) {
-                  break;
-                }
-
-                // rotate to plane
-                float mat4[16] = {
-                  mat3[0], mat3[3], mat3[6], 0.0f,
-                  mat3[1], mat3[4], mat3[7], 0.0f,
-                  mat3[2], mat3[5], mat3[8], 0.0f,
-                  0.0f,    0.0f,    0.0f,    1.0f
-                };
-                glMultMatrixf(mat4);
-
-                // translate and scale
-                glTranslatef(0, 0, -elevation);
-                glScalef(1, 1, elevation);
-
-                // render
-                glEnable(GL_BLEND);
-                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-                glCallList(con->baseBuiltin + mjrHAZE);
-                glDisable(GL_BLEND);
-
-                // only first infinite plane
-                break;
-              }
-            }
-          }
-
-          // recover settings
-          glPopMatrix();
-          glEnable(GL_LIGHTING);
-          glEnable(GL_COLOR_MATERIAL);
-          glCullFace(GL_BACK);
-
-          // render only first skybox
-          break;
-        }
-      }
-
-      // wireframe or filled depending on flag
-      glPolygonMode(GL_FRONT_AND_BACK, scn->flags[mjRND_WIREFRAME] ? GL_LINE : GL_FILL);
-    }
-
-    //------------------------------------ transparent regular rendering
-
-    // enable supported lights
-    for (int i=0; i < nlight; i++) {
-      if (isSupportedLight(scn->lights+i)) {
-        glEnable(GL_LIGHT0+i);
-      }
-    }
-
-    // blend mode
-    glDepthMask(GL_FALSE);
-    glEnable(GL_BLEND);
-    if (scn->flags[mjRND_ADDITIVE]) {
-      glBlendFunc(GL_SRC_ALPHA, GL_ONE);
-    } else {
-      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-    }
-
-    // render transparent geoms: front to back
-    for (int i=0; i < nt; i++) {
-      renderGeom(scn->geoms+scn->geomorder[i], mjrRND_NORMAL, headpos, scn, con);
-    }
-
-    // render transparent geoms: back to front, if not additive
-    if (!scn->flags[mjRND_ADDITIVE]) {
-      for (int i=nt-1; i >= 0; i--) {
-        renderGeom(scn->geoms+scn->geomorder[i], mjrRND_NORMAL, headpos, scn, con);
-      }
-    }
-
-    // normal mode
-    glDepthMask(GL_TRUE);
-    glDisable(GL_BLEND);
-
-    // disable lights
-    for (int i=0; i < nlight; i++) {
-      glDisable(GL_LIGHT0+i);
-    }
-
-    //------------------------------------ label rendering
-
-    // render text labels if present
-    glDisable(GL_DEPTH_TEST);
-    glDisable(GL_LIGHTING);
-    for (int i=0; i < ngeom; i++) {
-      thisgeom = scn->geoms + i;
-
-      if (thisgeom->label[0]) {
-        mjr_textActual(mjFONT_SHADOW, thisgeom->label, con,
-                       thisgeom->pos[0], thisgeom->pos[1], thisgeom->pos[2], 1, 1, 1);
-      }
-    }
-    glEnable(GL_DEPTH_TEST);
-    glEnable(GL_LIGHTING);
-  }
-
-  // frame
-  if (scn->framewidth) {
-    // prepare
-    glClearColor(scn->framergb[0], scn->framergb[1], scn->framergb[2], 0);
-    glEnable(GL_SCISSOR_TEST);
-
-    // bottom edge
-    glScissor(viewport.left, viewport.bottom,
-              viewport.width, scn->framewidth);
-    glClear(GL_COLOR_BUFFER_BIT);
-
-    // top edge
-    glScissor(viewport.left, viewport.bottom+viewport.height-scn->framewidth,
-              viewport.width, scn->framewidth);
-    glClear(GL_COLOR_BUFFER_BIT);
-
-    // left edge
-    glScissor(viewport.left, viewport.bottom,
-              scn->framewidth, viewport.height);
-    glClear(GL_COLOR_BUFFER_BIT);
-
-    // right edge
-    glScissor(viewport.left+viewport.width-scn->framewidth, viewport.bottom,
-              scn->framewidth, viewport.height);
-    glClear(GL_COLOR_BUFFER_BIT);
-
-    // disable scissor
-    glDisable(GL_SCISSOR_TEST);
-  }
-
-  if (scn->flags[mjRND_DEPTH]) {
-    glPushAttrib(GL_ENABLE_BIT | GL_TRANSFORM_BIT | GL_TEXTURE_BIT |
-                 GL_LIGHTING_BIT | GL_POLYGON_BIT);
-
-    glMatrixMode(GL_PROJECTION);
-    glPushMatrix();
-    glLoadIdentity();
-    glOrtho(0, 1, 0, 1, -1, 1);
-    glMatrixMode(GL_MODELVIEW);
-    glPushMatrix();
-    glLoadIdentity();
-
-    glDisable(GL_LIGHTING);
-    glDisable(GL_DEPTH_TEST);
-    glDisable(GL_CULL_FACE);
-    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-
-    void* depth_buf = mju_malloc(sizeof(float) * viewport.width * viewport.height);
-    glReadPixels(0, 0, viewport.width, viewport.height, GL_DEPTH_COMPONENT, GL_FLOAT, depth_buf);
-
-    GLuint depth_tex;
-    glEnable(GL_TEXTURE_2D);
-    glGenTextures(1, &depth_tex);
-    glBindTexture(GL_TEXTURE_2D, depth_tex);
-    glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, viewport.width, viewport.height,
-                 0, GL_LUMINANCE, GL_FLOAT, depth_buf);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-    glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
-
-    glColor4f(1, 1, 1, 1);
-    glBegin(GL_QUADS);
-    glTexCoord2f(0, 0); glVertex2f(0, 0);
-    glTexCoord2f(1, 0); glVertex2f(1, 0);
-    glTexCoord2f(1, 1); glVertex2f(1, 1);
-    glTexCoord2f(0, 1); glVertex2f(0, 1);
-    glEnd();
-
-    glDeleteTextures(1, &depth_tex);
-    mju_free(depth_buf);
-
-    glMatrixMode(GL_PROJECTION);
-    glPopMatrix();
-    glMatrixMode(GL_MODELVIEW);
-    glPopMatrix();
-    glPopAttrib();
-  }
-
-  // restore currentBuffer
-  mjr_restoreBuffer(con);
-}
-
-
-
-// call glFinish
-void mjr_finish(void) {
-  glFinish();
-}
-
-
-
-// call glGetError and return result
-int mjr_getError(void) {
-  return (int)glGetError();
-}
diff --git a/src/render/classic/render_gl3.h b/src/render/classic/render_gl3.h
deleted file mode 100644
index 5a3de7bd..00000000
--- a/src/render/classic/render_gl3.h
+++ /dev/null
@@ -1,38 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef THIRD_PARTY_MUJOCO_SRC_RENDER_CLASSIC_RENDER_GL3_
-#define THIRD_PARTY_MUJOCO_SRC_RENDER_CLASSIC_RENDER_GL3_
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjrender.h>
-#include <mujoco/mjvisualize.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-// 3D rendering
-MJAPI void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
-
-// call glFinish
-MJAPI void mjr_finish(void);
-
-// call glGetError and return result
-MJAPI int mjr_getError(void);
-
-#if defined(__cplusplus)
-}
-#endif
-#endif  // THIRD_PARTY_MUJOCO_SRC_RENDER_CLASSIC_RENDER_GL3_
diff --git a/src/render/classic/render_util.c b/src/render/classic/render_util.c
deleted file mode 100644
index 98f319ed..00000000
--- a/src/render/classic/render_util.c
+++ /dev/null
@@ -1,287 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/classic/render_util.h"
-
-#include <math.h>
-#include <string.h>
-
-#include <mujoco/mujoco.h>
-#include "render/classic/glad/glad.h"
-
-//----------------------------- utility ------------------------------------------------------------
-
-// compute normal vector to given triangle, return length
-void mjr_makeNormal(float* normal, const float* p1, const float* p2, const float* p3) {
-  float v1[3] = {p2[0]-p1[0], p2[1]-p1[1], p2[2]-p1[2]};
-  float v2[3] = {p3[0]-p1[0], p3[1]-p1[1], p3[2]-p1[2]};
-
-  mjr_crossVec(normal, v1, v2);
-  mjr_normalizeVec(normal);
-}
-
-
-
-// set 4 floats
-void mjr_setf4(float* vec, float f0, float f1, float f2, float f3) {
-  vec[0] = f0;
-  vec[1] = f1;
-  vec[2] = f2;
-  vec[3] = f3;
-}
-
-
-
-// set 3 floats
-void mjr_setf3(float* vec, float f0, float f1, float f2) {
-  vec[0] = f0;
-  vec[1] = f1;
-  vec[2] = f2;
-}
-
-
-
-// multiply 4-by-4 matrices, column-major
-void mjr_mulMat44(float* res, const float* A, const float* B) {
-  for (int r=0; r < 4; r++) {
-    for (int c=0; c < 4; c++) {
-      res[r+4*c] = 0;
-      for (int i=0; i < 4; i++) {
-        res[r+4*c] += A[r+4*i]*B[i+4*c];
-      }
-    }
-  }
-}
-
-
-
-// get row from 4-by-4 matrix, column-major
-void mjr_getrow4(float* res, const float* A, int r) {
-  res[0] = A[r];
-  res[1] = A[r+4];
-  res[2] = A[r+8];
-  res[3] = A[r+12];
-}
-
-
-
-// compute vector cross-product a = b x c
-void mjr_crossVec(float* a, const float* b, const float* c) {
-  a[0] = b[1]*c[2] - b[2]*c[1];
-  a[1] = b[2]*c[0] - b[0]*c[2];
-  a[2] = b[0]*c[1] - b[1]*c[0];
-}
-
-
-
-// normalize vector
-void mjr_normalizeVec(float* v) {
-  float scl, len = sqrtf(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
-
-  if (len < 1E-10f) {
-    v[0] = 0;
-    v[1] = 0;
-    v[2] = 1;
-  } else {
-    scl = 1.0f/len;
-    v[0] *= scl;
-    v[1] *= scl;
-    v[2] *= scl;
-  }
-}
-
-
-
-// construct orthogonal vector (for up-direction)
-void mjr_orthoVec(float* res, const float* v) {
-  float other[3] = {-1, 0, 0};
-
-  // try cross with negative X-axis
-  mjr_crossVec(res, v, other);
-
-  // success
-  if (res[0]*res[0]+res[1]*res[1]+res[2]*res[2] > 0.01) {
-    mjr_normalizeVec(res);
-    return;
-  }
-
-  // otherwise use positive Y-axis
-  other[0] = 0;
-  other[1] = 1;
-  mjr_crossVec(res, v, other);
-  mjr_normalizeVec(res);
-}
-
-
-
-// compute dot-product
-float mjr_dotVec(const float* a, const float* b) {
-  return a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
-}
-
-
-
-// multiply 4x4 matrix by vector; column-major (OpenGL format)
-void mjr_multiply4(float* res, const float* mat, const float* vec) {
-  for (int i=0; i < 4; i++) {
-    res[i] = 0;
-    for (int j=0; j < 4; j++) {
-      res[i] += mat[i+4*j]*vec[j];
-    }
-  }
-}
-
-
-
-// gluLookAt replacement, with forward instead of center
-void mjr_lookAt(const float* eye, const float* forward, const float* up) {
-  float f[3] = {forward[0], forward[1], forward[2]};
-  float s[3], u[3], mat[16];
-
-  // prepare vectors
-  mjr_normalizeVec(f);
-  mjr_crossVec(s, f, up);
-  mjr_normalizeVec(s);
-  mjr_crossVec(u, s, f);
-  mjr_normalizeVec(u);
-
-  // fill in 4x4 matrix (column-major OpenGL format)
-  mat[0] = s[0];
-  mat[1] = u[0];
-  mat[2] = -f[0];
-  mat[3] = 0;
-
-  mat[4] = s[1];
-  mat[5] = u[1];
-  mat[6] = -f[1];
-  mat[7] = 0;
-
-  mat[8] = s[2];
-  mat[9] = u[2];
-  mat[10]= -f[2];
-  mat[11]= 0;
-
-  mat[12]= -mjr_dotVec(s, eye);
-  mat[13]= -mjr_dotVec(u, eye);
-  mat[14]= mjr_dotVec(f, eye);
-  mat[15]= 1;
-
-  // set matrix in OpenGL
-  glMultMatrixf(mat);
-}
-
-
-
-// gluPerspective replacement
-void mjr_perspective(float fovy, float aspect, float znear, float zfar) {
-  double h, w;
-
-  // compute width and height
-  h = tan((double)fovy / 360.0 * mjPI) * (double)znear;
-  w = h * (double)aspect;
-
-  // make symmetric frustrum
-  glFrustum(-w, w, -h, h, (double)znear, (double)zfar);
-}
-
-
-
-// set reflection matrix
-void mjr_reflect(const float* pos, const float* mat) {
-  float reflect[16], v[3], vvt[9];
-
-  // copy axis
-  v[0] = mat[2];
-  v[1] = mat[5];
-  v[2] = mat[8];
-
-  // compute outer product v*vT
-  for (int i=0; i < 3; i++) {
-    for (int j=0; j < 3; j++) {
-      vvt[3*i+j] = v[i]*v[j];
-    }
-  }
-
-  // construct reflection matrix
-  reflect[0]  = 1-2*vvt[0];
-  reflect[1]  =  -2*vvt[1];
-  reflect[2]  =  -2*vvt[2];
-  reflect[3]  = 0;
-  reflect[4]  =  -2*vvt[3];
-  reflect[5]  = 1-2*vvt[4];
-  reflect[6]  =  -2*vvt[5];
-  reflect[7]  = 0;
-  reflect[8]  =  -2*vvt[6];
-  reflect[9]  =  -2*vvt[7];
-  reflect[10] = 1-2*vvt[8];
-  reflect[11] = 0;
-  reflect[12] = 2*mjr_dotVec(vvt, pos);
-  reflect[13] = 2*mjr_dotVec(vvt+3, pos);
-  reflect[14] = 2*mjr_dotVec(vvt+6, pos);
-  reflect[15] = 1;
-
-  // multiply current OpenGL matrix
-  glMultMatrixf(reflect);
-}
-
-
-
-// set transformation matrix
-void mjr_transform(const float* translate, const float* rotate, float scale) {
-  mjtNum quat[4], mat[9];
-  float glmat[16];
-
-  // construct matrix rotation
-  mju_f2n(quat, rotate, 4);
-  mju_quat2Mat(mat, quat);
-
-  // prepare transformation matrix
-  glmat[0] = scale * (float)mat[0];
-  glmat[1] = scale * (float)mat[3];
-  glmat[2] = scale * (float)mat[6];
-  glmat[3] = 0;
-  glmat[4] = scale * (float)mat[1];
-  glmat[5] = scale * (float)mat[4];
-  glmat[6] = scale * (float)mat[7];
-  glmat[7] = 0;
-  glmat[8] = scale * (float)mat[2];
-  glmat[9] = scale * (float)mat[5];
-  glmat[10]= scale * (float)mat[8];
-  glmat[11]= 0;
-  glmat[12]= translate[0];
-  glmat[13]= translate[1];
-  glmat[14]= translate[2];
-  glmat[15] = 1;
-
-  // multiply current OpenGL matrix
-  glMultMatrixf(glmat);
-}
-
-
-
-// Find first rectangle containing mouse, -1: not found.
-int mjr_findRect(int x, int y, int nrect, const mjrRect* rect) {
-  // scan
-  for (int i=0; i < nrect; i++) {
-    if (x >= rect[i].left &&
-        x < rect[i].left+rect[i].width &&
-        y >= rect[i].bottom &&
-        y < rect[i].bottom+rect[i].height) {
-      return i;
-    }
-  }
-
-  // not found
-  return -1;
-}
diff --git a/src/render/classic/render_util.h b/src/render/classic/render_util.h
deleted file mode 100644
index 2c2c6402..00000000
--- a/src/render/classic/render_util.h
+++ /dev/null
@@ -1,73 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef THIRD_PARTY_MUJOCO_SRC_RENDER_CLASSIC_RENDER_UTIL_
-#define THIRD_PARTY_MUJOCO_SRC_RENDER_CLASSIC_RENDER_UTIL_
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjrender.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-// compute normal vector to given triangle, return length
-void mjr_makeNormal(float* normal, const float* p1, const float* p2, const float* p3);
-
-// set 4 floats
-void mjr_setf4(float* vec, float f0, float f1, float f2, float f3);
-
-// set 3 floats
-void mjr_setf3(float* vec, float f0, float f1, float f2);
-
-// multiply 4-by-4 matrices, column-major
-void mjr_mulMat44(float* res, const float* A, const float* B);
-
-// get row from 4-by-4 matrix, column-major
-void mjr_getrow4(float* res, const float* A, int r);
-
-// compute 3D vector cross-product a = b x c
-void mjr_crossVec(float* a, const float* b, const float* c);
-
-// normalize 3D vector
-void mjr_normalizeVec(float* v);
-
-// construct orthogonal vector (for up-direction)
-void mjr_orthoVec(float* res, const float* v);
-
-// compute dot-product
-float mjr_dotVec(const float* a, const float* b);
-
-// multiply 4x4 matrix by vector; column-major (OpenGL format)
-void mjr_multiply4(float* res, const float* mat, const float* vec);
-
-// gluLookAt replacement, with forward instead of center
-void mjr_lookAt(const float* eye, const float* forward, const float* up);
-
-// gluPerspective replacement
-void mjr_perspective(float fovy, float aspect, float znear, float zfar);
-
-// set reflection matrix
-void mjr_reflect(const float* pos, const float* mat);
-
-// set transformation matrix
-void mjr_transform(const float* translate, const float* rotate, float scale);
-
-// Find first rectangle containing mouse, -1: not found.
-MJAPI int mjr_findRect(int x, int y, int nrect, const mjrRect* rect);
-
-#if defined(__cplusplus)
-}
-#endif
-#endif  // THIRD_PARTY_MUJOCO_SRC_RENDER_CLASSIC_RENDER_UTIL_
diff --git a/src/render/filament/CMakeLists.txt b/src/render/filament/CMakeLists.txt
deleted file mode 100644
index d05c7297..00000000
--- a/src/render/filament/CMakeLists.txt
+++ /dev/null
@@ -1,144 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-cmake_minimum_required(VERSION 3.16)
-
-set(MUJOCO_FILAMENT_TARGET_NAME mujoco_filament)
-
-add_library(${MUJOCO_FILAMENT_TARGET_NAME} STATIC)
-target_compile_definitions(${MUJOCO_FILAMENT_TARGET_NAME} PRIVATE MJ_STATIC)
-
-target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
-    PUBLIC
-        mjrfilament.cc
-        mjrfilament_cpp.h
-        core/builtins.cc
-        core/builtins.h
-        core/color_grading_options.cc
-        core/color_grading_options.h
-        core/filament_context.cc
-        core/filament_context.h
-        core/filament_platform_factory.cc
-        core/filament_platform_factory.h
-        core/imgui_editor.cc
-        core/light.cc
-        core/light.h
-        core/material_manager.cc
-        core/material_manager.h
-        core/mesh.cc
-        core/mesh.h
-        core/object_manager.cc
-        core/object_manager.h
-        core/outliner.cc
-        core/outliner.h
-        core/reflection_manager.cc
-        core/reflection_manager.h
-        core/render_target.cc
-        core/render_target.h
-        core/renderable.cc
-        core/renderable.h
-        core/scene_view.cc
-        core/scene_view.h
-        core/texture.cc
-        core/texture.h
-        core/types.h
-        support/filament_util.h
-        support/filament_util.cc
-        support/mesh_util.h
-        support/mesh_util.cc
-        support/model_decorations.h
-        support/model_decorations.cc
-        support/model_lights.h
-        support/model_lights.cc
-        support/model_objects.h
-        support/model_objects.cc
-        support/model_renderables.h
-        support/model_renderables.cc
-)
-
-target_include_directories(${MUJOCO_FILAMENT_TARGET_NAME}
-    PUBLIC
-        ${PROJECT_SOURCE_DIR}/include
-        ${PROJECT_SOURCE_DIR}/src
-)
-
-include(third_party_deps/dear_imgui)
-include(third_party_deps/filament)
-target_link_libraries(${MUJOCO_FILAMENT_TARGET_NAME}
-    dear_imgui
-    filament
-    image       # provided by filament
-    ktxreader   # provided by filament
-)
-
-add_library(mujoco::filament ALIAS ${MUJOCO_FILAMENT_TARGET_NAME})
-
-# The "mujoco::filament" library needs access to some assets (e.g. filament
-# material shaders) in order to do rendering. As such, you must also include
-# the assets under MUJOCO_FILAMENT_ASSETS_DIR in your project. As part of
-# the filament library configuration, you will provide a function that the
-# library will use to load these assets.
-set(ASSETS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/assets")
-set(OUTPUT_ASSETS_DIR "${CMAKE_CURRENT_BINARY_DIR}/assets")
-file(MAKE_DIRECTORY ${OUTPUT_ASSETS_DIR})
-
-file(COPY
-    "${ASSETS_DIR}/ibl.ktx"
-    DESTINATION ${OUTPUT_ASSETS_DIR}
-)
-
-set(MATC_EXECUTABLE matc)
-file(GLOB MATERIAL_FILES CONFIGURE_DEPENDS "${ASSETS_DIR}/*.mat")
-
-foreach(INPUT_FILE ${MATERIAL_FILES})
-    get_filename_component(MATERIAL_NAME ${INPUT_FILE} NAME_WE)
-    get_filename_component(MATERIAL_FILE ${INPUT_FILE} NAME)
-    set(OUTPUT_FILE "${OUTPUT_ASSETS_DIR}/${MATERIAL_NAME}.filamat")
-
-    if(CMAKE_SYSTEM_NAME STREQUAL "Emscripten")
-        set(PRECOMPILED_FILE "${MUJOCO_NATIVE_BUILD_DIR}/src/render/filament/assets/${MATERIAL_NAME}.filamat")
-        add_custom_command(
-            OUTPUT ${OUTPUT_FILE}
-            COMMAND ${CMAKE_COMMAND} -E copy
-                ${PRECOMPILED_FILE}
-                ${OUTPUT_FILE}
-            DEPENDS ${PRECOMPILED_FILE}
-            COMMENT "Copying precompiled material ${MATERIAL_NAME}.filamat"
-        )
-    else()
-        add_custom_command(
-            OUTPUT ${OUTPUT_FILE}
-            COMMAND ${MATC_EXECUTABLE}
-                --platform=all
-                --api=vulkan
-                --api=opengl
-                --variant-filter skinning
-                --optimize-size
-                --output ${OUTPUT_FILE}
-                ${INPUT_FILE}
-            DEPENDS ${INPUT_FILE}
-            DEPENDS matc
-            COMMENT "Compiling ${MATERIAL_FILE}"
-        )
-    endif()
-
-    list(APPEND MUJOCO_FILAMENT_ASSET_FILES ${OUTPUT_FILE})
-endforeach()
-
-list(APPEND MUJOCO_FILAMENT_ASSET_FILES "${OUTPUT_ASSETS_DIR}/ibl.ktx")
-
-add_custom_target(mujoco_filament_assets DEPENDS ${MUJOCO_FILAMENT_ASSET_FILES})
-add_dependencies(${MUJOCO_FILAMENT_TARGET_NAME} mujoco_filament_assets)
-
-set(MUJOCO_FILAMENT_ASSETS_DIR ${OUTPUT_ASSETS_DIR})
diff --git a/src/render/filament/assets/decor.mat b/src/render/filament/assets/decor.mat
deleted file mode 100644
index 935938a4..00000000
--- a/src/render/filament/assets/decor.mat
+++ /dev/null
@@ -1,31 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : decor,
-    shadingModel : specularGlossiness,
-    parameters : [
-        { type : float4, name : BaseColorFactor }
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.specularColor = vec3(0.0);
-    material.glossiness    = 0.0;
-    material.emissive      = vec4(0.0);
-  }
-}
diff --git a/src/render/filament/assets/ibl.ktx b/src/render/filament/assets/ibl.ktx
deleted file mode 100644
index b46b730d..00000000
Binary files a/src/render/filament/assets/ibl.ktx and /dev/null differ
diff --git a/src/render/filament/assets/outline_composite.mat b/src/render/filament/assets/outline_composite.mat
deleted file mode 100644
index 6eac0a6f..00000000
--- a/src/render/filament/assets/outline_composite.mat
+++ /dev/null
@@ -1,99 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// This material uses the results of the Jump Flooding Algorithm to draw an
-// outline around an object. The outline is drawn by checking the distance to
-// the nearest edge point (as computed by the algorithm) and, if within the
-// desired width, setting the color of the pixel to the desired outline color.
-// The outline is dimmed where it is occluded, i.e. where the scene contains
-// geometry that is closer than the selected object at the nearest edge point.
-
-material {
-    name : outline_composite,
-    blending : transparent,
-    culling : none,
-    depthWrite : false,
-    depthCulling : false,
-    parameters : [
-        { type : sampler2d, name : source },
-        { type : sampler2d, name : scene_depth, precision : high, filterable : false },
-        { type : sampler2d, name : selection_depth, precision : high, filterable : false },
-        { type : float4, name : color },
-        { type : float, name : width },
-        { type : float, name : dim }
-    ],
-    variables : [
-        vertex
-    ],
-    domain : postprocess
-}
-
-vertex {
-  void postProcessVertex(inout PostProcessVertexInputs postProcess) {
-    postProcess.vertex.xy = uvToRenderTargetUV(postProcess.normalizedUV);
-  }
-}
-
-fragment {
-  vec2 unpack(vec4 value) {
-    float x = value.r + value.g / 255.0;
-    float y = value.b + value.a / 255.0;
-    // Reverse scale and bias
-    return (vec2(x, y) - 0.001) / 0.999;
-  }
-
-  void postProcess(inout PostProcessInputs postProcess) {
-    vec4 tex = texture(materialParams_source, variable_vertex.xy);
-    if (tex == vec4(0.0)) {
-      discard;
-    }
-
-    vec2 edge = unpack(tex);
-
-    // Calculate distance to the nearest edge in pixel units.
-    vec2 size = vec2(textureSize(materialParams_source, 0));
-    vec2 diff = (edge - variable_vertex.xy) * size;
-    float dist = length(diff);
-
-    // Exclude the interior of the selected object itself.
-    if (dist <= 0.5) {
-      discard;
-    }
-
-    // Only draw outline if the pixel is within 'width' of an edge.
-    float width = materialParams.width;
-    if (dist >= width) {
-      discard;
-    }
-
-    // Inner edge anti-aliasing (smooths transition from object to outline).
-    // Outer edge anti-aliasing (fades at the outline boundary).
-    float inner_alpha = smoothstep(0.0, 1.0, dist);
-    float outer_alpha = smoothstep(width, width - 1.0, dist);
-    float alpha = outer_alpha * inner_alpha;
-
-    // Dim the outline where it is occluded. The depth buffer is reversed
-    // (1 = near, 0 = far), so the outline is occluded if the scene depth at
-    // this pixel is greater than the depth of the selected object at the
-    // nearest edge point. The epsilon avoids spurious dimming where the two
-    // depths are nearly equal, e.g. at contact points.
-    highp float scene_z = texture(materialParams_scene_depth, variable_vertex.xy).r;
-    highp float edge_z = texture(materialParams_selection_depth, edge).r;
-    if (scene_z > edge_z * 1.001 + 1e-6) {
-      alpha *= materialParams.dim;
-    }
-
-    postProcess.color = mix(vec4(0), materialParams.color, alpha * materialParams.color.a);
-  }
-}
diff --git a/src/render/filament/assets/outline_flatten.mat b/src/render/filament/assets/outline_flatten.mat
deleted file mode 100644
index 247815e9..00000000
--- a/src/render/filament/assets/outline_flatten.mat
+++ /dev/null
@@ -1,58 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-// This material writes the the screen-space position of each fragment as the
-// output color of that fragment. This will provide us with the initial data for
-// the Jump Flood Algorithm. See "outline_jumpflood.mat" for more details.
-//
-// Depth is also written so that the render target's depth attachment holds the
-// depth of the selected objects; "outline_composite.mat" samples it to dim
-// occluded portions of the outline.
-material {
-    name : outline_flatten,
-    shadingModel : unlit,
-    culling : none,
-    depthWrite : true
-}
-
-fragment {
-  // Encode a vec2 value with the range [0-1] into a 32-bit (RGBA) value.
-  // We do this by packing each coordinate into a 16-bit value. Values are
-  // adjusted to ensure [0x0000] is reserved for "untouched" pixels rather
-  // than the pixel at the position (0, 0).
-  vec4 pack(vec2 value) {
-    // Scale and bias the value to avoid (0,0,0,0).
-    vec2 adjusted = value * 0.999 + 0.001;
-
-    // Pack float [0, 1] into two 8-bit channels.
-    float val_x = adjusted.x * 255.0;
-    float r_x = floor(val_x) / 255.0;
-    float g_x = fract(val_x);
-
-    float val_y = adjusted.y * 255.0;
-    float r_y = floor(val_y) / 255.0;
-    float g_y = fract(val_y);
-
-    return vec4(r_x, g_x, r_y, g_y);
-  }
-
-  void material(inout MaterialInputs material) {
-    prepareMaterial(material);
-
-    // Get the screen-space position of the fragment, normalized to [0-1].
-    vec2 uv = gl_FragCoord.xy * frameUniforms.resolution.zw;
-    material.baseColor = pack(uv);
-  }
-}
diff --git a/src/render/filament/assets/outline_jumpflood.mat b/src/render/filament/assets/outline_jumpflood.mat
deleted file mode 100644
index e513bc5c..00000000
--- a/src/render/filament/assets/outline_jumpflood.mat
+++ /dev/null
@@ -1,110 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// This material implements a single pass of the Jump Flooding Algorithm (JFA).
-// This algorithm is used to efficiently compute a distance transform where each
-// pixel stores the UV coordinates of its closest edge point. In each pass,
-// pixels look at their neighbors at a distance 'step' to see if they have a
-// closer edge point.
-material {
-    name : outline_jumpflood,
-    culling : none,
-    depthWrite : false,
-    depthCulling : false,
-    parameters : [
-        { type : sampler2d, name : source },
-        { type : float, name : step }
-    ],
-    variables : [
-        vertex
-    ],
-    domain : postprocess
-}
-
-vertex {
-  void postProcessVertex(inout PostProcessVertexInputs postProcess) {
-    postProcess.vertex.xy = uvToRenderTargetUV(postProcess.normalizedUV);
-  }
-}
-
-fragment {
-  // Encode a vec2 value with the range [0-1] into a 32-bit (RGBA) value.
-  // We do this by packing each coordinate into a 16-bit value. Values are
-  // adjusted to ensure [0x0000] is reserved for "untouched" pixels rather
-  // than the pixel at the position (0, 0).
-  vec4 pack(vec2 value) {
-    // Scale and bias the value to avoid (0,0,0,0).
-    vec2 adjusted = value * 0.999 + 0.001;
-
-    // Pack float [0, 1] into two 8-bit channels.
-    float val_x = adjusted.x * 255.0;
-    float r_x = floor(val_x) / 255.0;
-    float g_x = fract(val_x);
-
-    float val_y = adjusted.y * 255.0;
-    float r_y = floor(val_y) / 255.0;
-    float g_y = fract(val_y);
-
-    return vec4(r_x, g_x, r_y, g_y);
-  }
-
-  vec2 unpack(vec4 value) {
-    float x = value.r + value.g / 255.0;
-    float y = value.b + value.a / 255.0;
-    // Reverse scale and bias
-    return (vec2(x, y) - 0.001) / 0.999;
-  }
-
-  vec3 jump(vec3 best, vec2 offset) {
-    vec2 uv = variable_vertex.xy + offset;
-    if (uv.x < 0.0 || uv.x > 1.0 || uv.y < 0.0 || uv.y > 1.0) {
-      return best;
-    }
-
-    vec4 tex = texture(materialParams_source, uv);
-    if (tex == vec4(0.0)) {
-      return best;
-    }
-
-    vec2 edge = unpack(tex);
-    vec2 diff = (edge - variable_vertex.xy);
-    float dist_sq = dot(diff, diff);
-    if (dist_sq < best.z) {
-      best = vec3(edge.x, edge.y, dist_sq);
-    }
-    return best;
-  }
-
-  void postProcess(inout PostProcessInputs postProcess) {
-    vec2 size = vec2(textureSize(materialParams_source, 0));
-    vec2 dist = materialParams.step / size;
-
-    vec3 best = vec3(-1.0, -1.0, 1e20);
-    best = jump(best, dist * vec2(+1, +1));
-    best = jump(best, dist * vec2(+1,  0));
-    best = jump(best, dist * vec2(+1, -1));
-    best = jump(best, dist * vec2( 0, +1));
-    best = jump(best, dist * vec2( 0,  0));
-    best = jump(best, dist * vec2( 0, -1));
-    best = jump(best, dist * vec2(-1, +1));
-    best = jump(best, dist * vec2(-1,  0));
-    best = jump(best, dist * vec2(-1, -1));
-
-    if (best.x >= 0.0) {
-      postProcess.color = pack(best.xy);
-    } else {
-      postProcess.color = vec4(0.0);
-    }
-  }
-}
diff --git a/src/render/filament/assets/pbr.mat b/src/render/filament/assets/pbr.mat
deleted file mode 100644
index 631da851..00000000
--- a/src/render/filament/assets/pbr.mat
+++ /dev/null
@@ -1,58 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : pbr,
-    shadingModel : lit,
-    flipUV: false,
-    parameters : [
-        { type : sampler2d, name : BaseColor },
-        { type : sampler2d, name : Normal },
-        { type : sampler2d, name : Occlusion },
-        { type : sampler2d, name : Roughness },
-        { type : sampler2d, name : Metallic },
-        { type : sampler2d, name : Emissive },
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : MetallicFactor },
-        { type : float, name : RoughnessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float3, name : UvScale },
-        { type : float3, name : UvOffset }
-
-    ],
-    requires : [
-        uv0
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 uv = getUV0() * materialParams.UvScale.xy + materialParams.UvOffset.xy;
-
-    material.normal = texture(materialParams_Normal, uv).xyz * 2.0 - 1.0;
-    prepareMaterial(material);
-
-    material.baseColor        = materialParams.BaseColorFactor;
-    material.baseColor        *= texture(materialParams_BaseColor, uv);
-    material.ambientOcclusion = texture(materialParams_Occlusion, uv).r;
-    material.roughness        = materialParams.RoughnessFactor;
-    material.roughness        *= texture(materialParams_Roughness, uv).r;
-    material.metallic         = materialParams.MetallicFactor;
-    material.metallic         *= texture(materialParams_Metallic, uv).r;
-    material.emissive         = texture(materialParams_Emissive, uv);
-    material.emissive.rgb     *= materialParams.EmissiveFactor;
-    material.emissive.a       = (1.0 - material.emissive.a) *
-                                materialParams.EmissiveFactor;
-  }
-}
diff --git a/src/render/filament/assets/pbr_packed.mat b/src/render/filament/assets/pbr_packed.mat
deleted file mode 100644
index 4a192b83..00000000
--- a/src/render/filament/assets/pbr_packed.mat
+++ /dev/null
@@ -1,55 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : pbr_packed,
-    shadingModel : lit,
-    flipUV: false,
-    parameters : [
-        { type : sampler2d, name : BaseColor },
-        { type : sampler2d, name : Normal },
-        { type : sampler2d, name : ORM },
-        { type : sampler2d, name : Emissive },
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : MetallicFactor },
-        { type : float, name : RoughnessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float3, name : UvScale },
-        { type : float3, name : UvOffset }
-    ],
-    requires : [
-        uv0
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 uv = getUV0() * materialParams.UvScale.xy + materialParams.UvOffset.xy;
-
-    material.normal = texture(materialParams_Normal, uv).xyz * 2.0 - 1.0;
-    prepareMaterial(material);
-
-    material.baseColor        = materialParams.BaseColorFactor;
-    material.baseColor        *= texture(materialParams_BaseColor, uv);
-    material.ambientOcclusion = texture(materialParams_ORM, uv).r;
-    material.roughness        = materialParams.RoughnessFactor;
-    material.roughness        *= texture(materialParams_ORM, uv).g;
-    material.metallic         = materialParams.MetallicFactor;
-    material.metallic         *= texture(materialParams_ORM, uv).b;
-    material.emissive         = texture(materialParams_Emissive, uv);
-    material.emissive.rgb     *= materialParams.EmissiveFactor;
-    material.emissive.a       = (1.0 - material.emissive.a) *
-                                materialParams.EmissiveFactor;
-  }
-}
diff --git a/src/render/filament/assets/pbr_packed_reflect.mat b/src/render/filament/assets/pbr_packed_reflect.mat
deleted file mode 100644
index 2541dbf7..00000000
--- a/src/render/filament/assets/pbr_packed_reflect.mat
+++ /dev/null
@@ -1,66 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : pbr_packed_reflect,
-    shadingModel : lit,
-    postLightingBlending : add,
-    flipUV: false,
-    parameters : [
-        { type : sampler2d, name : BaseColor },
-        { type : sampler2d, name : Normal },
-        { type : sampler2d, name : ORM },
-        { type : sampler2d, name : Emissive },
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : MetallicFactor },
-        { type : float, name : RoughnessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float, name : Reflectance },
-        { type : sampler2d, name : Reflection }
-    ],
-    requires : [
-        uv0
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 uv = getUV0();
-    vec2 screen_uv = gl_FragCoord.xy * getResolution().zw;
-
-    material.normal = texture(materialParams_Normal, uv).xyz * 2.0 - 1.0;
-    prepareMaterial(material);
-
-    material.baseColor        = materialParams.BaseColorFactor;
-    material.baseColor        *= texture(materialParams_BaseColor, uv);
-    material.ambientOcclusion = texture(materialParams_ORM, uv).r;
-    material.roughness        = materialParams.RoughnessFactor;
-    material.roughness        *= texture(materialParams_ORM, uv).g;
-    material.metallic         = materialParams.MetallicFactor;
-    material.metallic         *= texture(materialParams_ORM, uv).b;
-    material.emissive         = texture(materialParams_Emissive, uv);
-    material.emissive.rgb     *= materialParams.EmissiveFactor;
-    material.emissive.a       = (1.0 - material.emissive.a) *
-                                materialParams.EmissiveFactor;
-
-    // Planar reflection: radiance from the mirror direction, weighted by the
-    // Fresnel term and added after lighting. F0 is the material reflectance for
-    // dielectrics and the base color for metals, which reflect their own tint.
-    vec4 reflection = texture(materialParams_Reflection, screen_uv);
-    vec3 f0 = mix(vec3(materialParams.Reflectance), material.baseColor.rgb,
-                  material.metallic);
-    vec3 fresnel = f0 + (1.0 - f0) * pow(1.0 - getNdotV(), 5.0);
-    material.postLightingColor = vec4(reflection.rgb * fresnel, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/pbr_packed_transparent.mat b/src/render/filament/assets/pbr_packed_transparent.mat
deleted file mode 100644
index fbc2f748..00000000
--- a/src/render/filament/assets/pbr_packed_transparent.mat
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : pbr_packed_transparent,
-    shadingModel : lit,
-    flipUV: false,
-    blending: transparent,
-    parameters : [
-        { type : sampler2d, name : BaseColor },
-        { type : sampler2d, name : Opacity },
-        { type : sampler2d, name : Normal },
-        { type : sampler2d, name : ORM },
-        { type : sampler2d, name : Emissive },
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : MetallicFactor },
-        { type : float, name : RoughnessFactor },
-        { type : float, name : EmissiveFactor }
-    ],
-    requires : [
-        uv0
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 uv = getUV0();
-
-    material.normal = texture(materialParams_Normal, uv).xyz * 2.0 - 1.0;
-    prepareMaterial(material);
-
-    material.baseColor        = materialParams.BaseColorFactor;
-    material.baseColor        *= texture(materialParams_BaseColor, uv);
-    material.baseColor.a      *= texture(materialParams_Opacity, uv).r;
-    material.ambientOcclusion = texture(materialParams_ORM, uv).r;
-    material.roughness        = materialParams.RoughnessFactor;
-    material.roughness        *= texture(materialParams_ORM, uv).g;
-    material.metallic         = materialParams.MetallicFactor;
-    material.metallic         *= texture(materialParams_ORM, uv).b;
-    material.emissive         = texture(materialParams_Emissive, uv);
-    material.emissive.rgb     *= materialParams.EmissiveFactor;
-    material.emissive.a       = (1.0 - material.emissive.a) *
-                                materialParams.EmissiveFactor;
-  }
-}
diff --git a/src/render/filament/assets/pbr_reflect.mat b/src/render/filament/assets/pbr_reflect.mat
deleted file mode 100644
index 73ed3b79..00000000
--- a/src/render/filament/assets/pbr_reflect.mat
+++ /dev/null
@@ -1,69 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : pbr_reflect,
-    shadingModel : lit,
-    postLightingBlending : add,
-    flipUV: false,
-    parameters : [
-        { type : sampler2d, name : BaseColor },
-        { type : sampler2d, name : Normal },
-        { type : sampler2d, name : Occlusion },
-        { type : sampler2d, name : Roughness },
-        { type : sampler2d, name : Metallic },
-        { type : sampler2d, name : Emissive },
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : MetallicFactor },
-        { type : float, name : RoughnessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float, name : Reflectance },
-        { type : sampler2d, name : Reflection }
-
-    ],
-    requires : [
-        uv0
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 uv = getUV0();
-    vec2 screen_uv = gl_FragCoord.xy * getResolution().zw;
-
-    material.normal = texture(materialParams_Normal, uv).xyz * 2.0 - 1.0;
-    prepareMaterial(material);
-
-    material.baseColor        = materialParams.BaseColorFactor;
-    material.baseColor        *= texture(materialParams_BaseColor, uv);
-    material.ambientOcclusion = texture(materialParams_Occlusion, uv).r;
-    material.roughness        = materialParams.RoughnessFactor;
-    material.roughness        *= texture(materialParams_Roughness, uv).r;
-    material.metallic         = materialParams.MetallicFactor;
-    material.metallic         *= texture(materialParams_Metallic, uv).r;
-    material.emissive         = texture(materialParams_Emissive, uv);
-    material.emissive.rgb     *= materialParams.EmissiveFactor;
-    material.emissive.a       = (1.0 - material.emissive.a) *
-                                materialParams.EmissiveFactor;
-
-    // Planar reflection: radiance from the mirror direction, weighted by the
-    // Fresnel term and added after lighting. F0 is the material reflectance for
-    // dielectrics and the base color for metals, which reflect their own tint.
-    vec4 reflection = texture(materialParams_Reflection, screen_uv);
-    vec3 f0 = mix(vec3(materialParams.Reflectance), material.baseColor.rgb,
-                  material.metallic);
-    vec3 fresnel = f0 + (1.0 - f0) * pow(1.0 - getNdotV(), 5.0);
-    material.postLightingColor = vec4(reflection.rgb * fresnel, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/pbr_transparent.mat b/src/render/filament/assets/pbr_transparent.mat
deleted file mode 100644
index f4f2eb10..00000000
--- a/src/render/filament/assets/pbr_transparent.mat
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : pbr_transparent,
-    shadingModel : lit,
-    flipUV: false,
-    blending: transparent,
-    parameters : [
-        { type : sampler2d, name : BaseColor },
-        { type : sampler2d, name : Opacity },
-        { type : sampler2d, name : Normal },
-        { type : sampler2d, name : Occlusion },
-        { type : sampler2d, name : Roughness },
-        { type : sampler2d, name : Metallic },
-        { type : sampler2d, name : Emissive },
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : MetallicFactor },
-        { type : float, name : RoughnessFactor },
-        { type : float, name : EmissiveFactor }
-
-    ],
-    requires : [
-        uv0
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 uv = getUV0();
-
-    material.normal = texture(materialParams_Normal, uv).xyz * 2.0 - 1.0;
-    prepareMaterial(material);
-
-    material.baseColor        = materialParams.BaseColorFactor;
-    material.baseColor        *= texture(materialParams_BaseColor, uv);
-    material.baseColor.a      *= texture(materialParams_Opacity, uv).r;
-    material.ambientOcclusion = texture(materialParams_Occlusion, uv).r;
-    material.roughness        = materialParams.RoughnessFactor;
-    material.roughness        *= texture(materialParams_Roughness, uv).r;
-    material.metallic         = materialParams.MetallicFactor;
-    material.metallic         *= texture(materialParams_Metallic, uv).r;
-    material.emissive         = texture(materialParams_Emissive, uv);
-    material.emissive.rgb     *= materialParams.EmissiveFactor;
-    material.emissive.a       = (1.0 - material.emissive.a) *
-                                materialParams.EmissiveFactor;
-  }
-}
diff --git a/src/render/filament/assets/phong_2d.mat b/src/render/filament/assets/phong_2d.mat
deleted file mode 100644
index ee6e136f..00000000
--- a/src/render/filament/assets/phong_2d.mat
+++ /dev/null
@@ -1,55 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_2d,
-    shadingModel : specularGlossiness,
-    flipUV : false,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float3, name : UvScale },
-        { type : float3, name : UvOffset },
-        { type : sampler2d, name : BaseColor }
-    ],
-    variables : [
-         vertex_pos
-    ]
-}
-
-vertex {
-  void materialVertex(inout MaterialVertexInputs material) {
-    material.vertex_pos = getPosition();
-  }
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    // Convert centered object-space positions [-1, 1] to standard [0, 1] UVs:
-    //   * 0.5 scales [-1, 1] to [-0.5, 0.5]
-    //   * -0.5 on Y flips the vertical axis (top of geom = V=0)
-    //   * - vec2(0.5, 0.5) offsets origin to match OpenGL glTexGen conventions
-    vec2 uv = variable_vertex_pos.xy * vec2(0.5, -0.5) * materialParams.UvScale.xy - vec2(0.5, 0.5) + materialParams.UvOffset.xy;
-
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.baseColor     *= texture(materialParams_BaseColor, uv);
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/phong_2d_fade.mat b/src/render/filament/assets/phong_2d_fade.mat
deleted file mode 100644
index d63c226e..00000000
--- a/src/render/filament/assets/phong_2d_fade.mat
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_2d_fade,
-    shadingModel : specularGlossiness,
-    flipUV : false,
-    blending: fade,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float3, name : UvScale },
-        { type : float3, name : UvOffset },
-        { type : sampler2d, name : BaseColor }
-    ],
-    variables : [
-         vertex_pos
-    ]
-}
-
-vertex {
-  void materialVertex(inout MaterialVertexInputs material) {
-    material.vertex_pos = getPosition();
-  }
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    // Convert centered object-space positions [-1, 1] to standard [0, 1] UVs:
-    //   * 0.5 scales [-1, 1] to [-0.5, 0.5]
-    //   * -0.5 on Y flips the vertical axis (top of geom = V=0)
-    //   * - vec2(0.5, 0.5) offsets origin to match OpenGL glTexGen conventions
-    vec2 uv = variable_vertex_pos.xy * vec2(0.5, -0.5) * materialParams.UvScale.xy - vec2(0.5, 0.5) + materialParams.UvOffset.xy;
-
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.baseColor     *= texture(materialParams_BaseColor, uv);
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/phong_2d_uv.mat b/src/render/filament/assets/phong_2d_uv.mat
deleted file mode 100644
index 491a48fa..00000000
--- a/src/render/filament/assets/phong_2d_uv.mat
+++ /dev/null
@@ -1,45 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_2d_uv,
-    shadingModel : specularGlossiness,
-    flipUV : false,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : sampler2d, name : BaseColor },
-        { type : float3, name : UvScale },
-        { type : float3, name : UvOffset }
-    ],
-    requires : [
-        uv0
-    ],
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 uv = getUV0() * materialParams.UvScale.xy + materialParams.UvOffset.xy;
-
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.baseColor     *= texture(materialParams_BaseColor, uv);
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/phong_2d_uv_fade.mat b/src/render/filament/assets/phong_2d_uv_fade.mat
deleted file mode 100644
index 4419d1c0..00000000
--- a/src/render/filament/assets/phong_2d_uv_fade.mat
+++ /dev/null
@@ -1,46 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_2d_uv_fade,
-    shadingModel : specularGlossiness,
-    flipUV : false,
-    blending: fade,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : sampler2d, name : BaseColor },
-        { type : float3, name : UvScale },
-        { type : float3, name : UvOffset }
-    ],
-    requires : [
-        uv0
-    ],
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 uv = getUV0() * materialParams.UvScale.xy + materialParams.UvOffset.xy;
-
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.baseColor     *= texture(materialParams_BaseColor, uv);
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/phong_2d_uv_reflect.mat b/src/render/filament/assets/phong_2d_uv_reflect.mat
deleted file mode 100644
index 3d795f8d..00000000
--- a/src/render/filament/assets/phong_2d_uv_reflect.mat
+++ /dev/null
@@ -1,52 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_2d_uv_reflect,
-    shadingModel : specularGlossiness,
-    flipUV : false,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float, name : Reflectance },
-        { type : sampler2d, name : BaseColor },
-        { type : sampler2d, name : Reflection },
-        { type : float3, name : UvScale },
-        { type : float3, name : UvOffset }
-    ],
-    requires : [
-        uv0
-    ],
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 uv = getUV0() * materialParams.UvScale.xy + materialParams.UvOffset.xy;
-    vec2 screen_uv = gl_FragCoord.xy * getResolution().zw;
-
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.baseColor     *= texture(materialParams_BaseColor, uv);
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-
-    // Apply reflection.
-    vec4 reflection = texture(materialParams_Reflection, screen_uv);
-    material.baseColor.rgb = mix(material.baseColor.rgb, reflection.rgb, materialParams.Reflectance);
-  }
-}
diff --git a/src/render/filament/assets/phong_color.mat b/src/render/filament/assets/phong_color.mat
deleted file mode 100644
index 5736cb99..00000000
--- a/src/render/filament/assets/phong_color.mat
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_color,
-    shadingModel : specularGlossiness,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor }
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/phong_color_fade.mat b/src/render/filament/assets/phong_color_fade.mat
deleted file mode 100644
index a33bba9a..00000000
--- a/src/render/filament/assets/phong_color_fade.mat
+++ /dev/null
@@ -1,36 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_color_fade,
-    shadingModel : specularGlossiness,
-    blending: fade,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor }
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/phong_color_reflect.mat b/src/render/filament/assets/phong_color_reflect.mat
deleted file mode 100644
index 48a9bfde..00000000
--- a/src/render/filament/assets/phong_color_reflect.mat
+++ /dev/null
@@ -1,43 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_color_reflect,
-    shadingModel : specularGlossiness,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float, name : Reflectance },
-        { type : sampler2d, name : Reflection }
-    ]
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec2 screen_uv = gl_FragCoord.xy * getResolution().zw;
-
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-
-    // Apply reflection.
-    vec4 reflection = texture(materialParams_Reflection, screen_uv);
-    material.baseColor.rgb = mix(material.baseColor.rgb, reflection.rgb, materialParams.Reflectance);
-  }
-}
diff --git a/src/render/filament/assets/phong_cube.mat b/src/render/filament/assets/phong_cube.mat
deleted file mode 100644
index ab134106..00000000
--- a/src/render/filament/assets/phong_cube.mat
+++ /dev/null
@@ -1,50 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_cube,
-    shadingModel : specularGlossiness,
-    flipUV : false,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float3, name : UvScale },
-        { type : samplerCubemap, name : BaseColor }
-    ],
-    variables : [
-         vertex_pos
-    ]
-}
-
-vertex {
-  void materialVertex(inout MaterialVertexInputs material) {
-    material.vertex_pos = getPosition();
-  }
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec3 uv = variable_vertex_pos.xyz * materialParams.UvScale;
-
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.baseColor     *= texture(materialParams_BaseColor, uv);
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/phong_cube_fade.mat b/src/render/filament/assets/phong_cube_fade.mat
deleted file mode 100644
index 5947b31a..00000000
--- a/src/render/filament/assets/phong_cube_fade.mat
+++ /dev/null
@@ -1,51 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_cube_fade,
-    shadingModel : specularGlossiness,
-    flipUV : false,
-    blending: fade,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float3, name : UvScale },
-        { type : samplerCubemap, name : BaseColor }
-    ],
-    variables : [
-         vertex_pos
-    ]
-}
-
-vertex {
-  void materialVertex(inout MaterialVertexInputs material) {
-    material.vertex_pos = getPosition();
-  }
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec3 uv = variable_vertex_pos.xyz * materialParams.UvScale;
-
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.baseColor     *= texture(materialParams_BaseColor, uv);
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-  }
-}
diff --git a/src/render/filament/assets/phong_cube_reflect.mat b/src/render/filament/assets/phong_cube_reflect.mat
deleted file mode 100644
index 98fe663b..00000000
--- a/src/render/filament/assets/phong_cube_reflect.mat
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : phong_cube_reflect,
-    shadingModel : specularGlossiness,
-    flipUV : false,
-    parameters : [
-        { type : float4, name : BaseColorFactor },
-        { type : float, name : SpecularFactor },
-        { type : float, name : GlossinessFactor },
-        { type : float, name : EmissiveFactor },
-        { type : float3, name : UvScale },
-        { type : float, name : Reflectance },
-        { type : samplerCubemap, name : BaseColor },
-        { type : sampler2d, name : Reflection }
-    ],
-    variables : [
-         vertex_pos
-    ]
-}
-
-vertex {
-  void materialVertex(inout MaterialVertexInputs material) {
-    material.vertex_pos = getPosition();
-  }
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    vec3 uv = variable_vertex_pos.xyz * materialParams.UvScale;
-    vec2 screen_uv = gl_FragCoord.xy * getResolution().zw;
-
-    prepareMaterial(material);
-    material.baseColor     = materialParams.BaseColorFactor;
-    material.baseColor     *= texture(materialParams_BaseColor, uv);
-    material.specularColor = vec3(materialParams.SpecularFactor);
-    material.glossiness    = materialParams.GlossinessFactor;
-    material.emissive      = vec4(
-        materialParams.BaseColorFactor.rgb * materialParams.EmissiveFactor, 0.0);
-
-    // Apply reflection.
-    vec4 reflection = texture(materialParams_Reflection, screen_uv);
-    material.baseColor.rgb = mix(material.baseColor.rgb, reflection.rgb, materialParams.Reflectance);
-  }
-}
diff --git a/src/render/filament/assets/unlit_depth.mat b/src/render/filament/assets/unlit_depth.mat
deleted file mode 100644
index d3f35604..00000000
--- a/src/render/filament/assets/unlit_depth.mat
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : unlit_depth,
-    shadingModel : unlit,
-    blending : opaque,
-    depthWrite: true
-}
-
-fragment {
-  void material(inout MaterialInputs material) {
-    prepareMaterial(material);
-    float3 worldPosition = getWorldPosition();
-    float4 clipPosition = mulMat4x4Float3(getClipFromWorldMatrix(), worldPosition);
-    float3 normalizedPosition = clipPosition.xyz / clipPosition.w;
-    material.baseColor.rgb = vec3(normalizedPosition.z);
-  }
-}
diff --git a/src/render/filament/assets/unlit_segmentation.mat b/src/render/filament/assets/unlit_segmentation.mat
deleted file mode 100644
index 1fb6c1b5..00000000
--- a/src/render/filament/assets/unlit_segmentation.mat
+++ /dev/null
@@ -1,28 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : unlit_segmentation,
-    shadingModel : unlit,
-    parameters : [
-        { type : float4, name : SegmentationColor }
-    ]
-}
-
-fragment {
-    void material(inout MaterialInputs material) {
-      prepareMaterial(material);
-      material.baseColor = materialParams.SegmentationColor;
-    }
-}
diff --git a/src/render/filament/assets/unlit_ui.mat b/src/render/filament/assets/unlit_ui.mat
deleted file mode 100644
index 4659b002..00000000
--- a/src/render/filament/assets/unlit_ui.mat
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-material {
-    name : unlit_ui,
-    parameters : [
-        {
-            type : sampler2d,
-            name : BaseColor
-        }
-    ],
-    requires : [
-        uv0,
-        color
-    ],
-    shadingModel : unlit,
-    culling : none,
-    depthCulling: false,
-    blending : transparent
-}
-
-fragment {
-    void material(inout MaterialInputs material) {
-        prepareMaterial(material);
-        vec2 uv = getUV0();
-        uv.y = 1.0 - uv.y;
-        vec4 tex_color = texture(materialParams_BaseColor, uv);
-        material.baseColor = getColor() * tex_color;
-        material.baseColor.rgb *= material.baseColor.a;
-    }
-}
diff --git a/src/render/filament/core/builtins.cc b/src/render/filament/core/builtins.cc
deleted file mode 100644
index 753dba39..00000000
--- a/src/render/filament/core/builtins.cc
+++ /dev/null
@@ -1,723 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/builtins.h"
-
-#include <cmath>
-#include <cstddef>
-#include <cstdint>
-#include <memory>
-#include <numbers>
-#include <utility>
-#include <vector>
-
-#include <filament/Engine.h>
-#include <math/vec2.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/mesh.h"
-#include "render/filament/support/filament_util.h"
-
-namespace mujoco {
-
-using filament::math::float2;
-using filament::math::float3;
-using filament::math::float4;
-
-static constexpr size_t kNumVerticesPerTriangle = 3;
-static constexpr size_t kNumVerticesPerQuad = 4;
-static constexpr size_t kNumIndicesPerTriangle = 3;
-static constexpr size_t kNumIndicesPerQuad = 6;
-
-static void AppendQuadIndices(std::vector<uint16_t>& vec, uint16_t a,
-                              uint16_t b, uint16_t c, uint16_t d) {
-  vec.push_back(a);
-  vec.push_back(b);
-  vec.push_back(c);
-  vec.push_back(a);
-  vec.push_back(c);
-  vec.push_back(d);
-}
-
-static std::size_t NumVerticesPerSide(int num_quads_per_axis) {
-  return (num_quads_per_axis + 1) * (num_quads_per_axis + 1);
-}
-
-static std::size_t NumIndicesPerSide(int num_quads_per_axis) {
-  return kNumIndicesPerQuad * num_quads_per_axis * num_quads_per_axis;
-}
-
-class BuiltinBuilder {
- public:
-  BuiltinBuilder() {}
-  virtual ~BuiltinBuilder() = default;
-
-  template <typename T, typename... Args>
-  static std::unique_ptr<Mesh> Create(filament::Engine* engine,
-                                      Args&&... args) {
-    auto builder = new T(std::forward<Args>(args)...);
-
-    mjrfMeshConfig config;
-    mjrf_defaultMeshConfig(&config);
-    config.max_vertices = builder->positions_.size();
-    config.max_indices = builder->indices_.size();
-    config.index_type = mjINDEX_TYPE_U16;
-    config.primitive_type = builder->primitive_type_;
-    config.num_attributes = builder->texcoords_.empty() ? 2 : 3;
-    config.attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
-    config.attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-    config.attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_TANGENTS;
-    config.attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT4;
-    if (!builder->texcoords_.empty()) {
-      config.attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
-      config.attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
-    }
-
-    mjrfMeshData data;
-    mjrf_defaultMeshData(&data);
-    data.num_vertices = builder->positions_.size();
-    data.vertices[0] = builder->positions_.data();
-    data.vertices[1] = builder->orientations_.data();
-    if (!builder->texcoords_.empty()) {
-      data.vertices[2] = builder->texcoords_.data();
-    }
-    data.num_indices = builder->indices_.size();
-    data.indices = builder->indices_.data();
-    data.bounds_min[0] = builder->bounds_min_.x;
-    data.bounds_min[1] = builder->bounds_min_.y;
-    data.bounds_min[2] = builder->bounds_min_.z;
-    data.bounds_max[0] = builder->bounds_max_.x;
-    data.bounds_max[1] = builder->bounds_max_.y;
-    data.bounds_max[2] = builder->bounds_max_.z;
-    data.release = +[](void* user_data) {
-      delete static_cast<BuiltinBuilder*>(user_data);
-    };
-    data.user_data = builder;
-
-    auto mesh = std::make_unique<Mesh>(engine, config);
-    mesh->Upload(data);
-    return mesh;
-  }
-
- protected:
-  void SetBounds(const float3& min, const float3& max) {
-    bounds_min_ = min;
-    bounds_max_ = max;
-  }
-
-  int primitive_type_ = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
-  std::vector<float3> positions_;
-  std::vector<float4> orientations_;
-  std::vector<float2> texcoords_;
-  std::vector<uint16_t> indices_;
-  float3 bounds_min_ = {0, 0, 0};
-  float3 bounds_max_ = {0, 0, 0};
-};
-
-class LineBuilder : public BuiltinBuilder {
- public:
-  LineBuilder() {
-    primitive_type_ = mjMESH_PRIMITIVE_TYPE_LINES;
-
-    positions_.reserve(2);
-    positions_.emplace_back(0, 0, 0);
-    positions_.emplace_back(0, 0, 1);
-
-    orientations_.resize(positions_.size(), {0, 0, 0, 1});
-
-    indices_.reserve(2);
-    indices_.push_back(0);
-    indices_.push_back(1);
-
-    SetBounds({0, 0, 0}, {0, 0, 1});
-  }
-};
-
-class PlaneBuilder : public BuiltinBuilder {
- public:
-  explicit PlaneBuilder(int num_quads_per_axis) {
-    const int num_vertices = NumVerticesPerSide(num_quads_per_axis);
-    positions_.reserve(num_vertices);
-    texcoords_.reserve(num_vertices);
-
-    const float delta = 2.0f / num_quads_per_axis;
-    for (int x = 0; x <= num_quads_per_axis; ++x) {
-      for (int y = 0; y <= num_quads_per_axis; ++y) {
-        const float dx = delta * static_cast<float>(x);
-        const float dy = delta * static_cast<float>(y);
-        positions_.emplace_back(dx - 1.0f, dy - 1.0f, 0);
-        texcoords_.emplace_back(0.5f * dx, 1.0f - (0.5f * dy));
-      }
-    }
-
-    orientations_.resize(positions_.size(), CalculateOrientation({0, 0, 1}));
-
-    const int num_indices = NumIndicesPerSide(num_quads_per_axis);
-    indices_.reserve(num_indices);
-    for (int x = 0; x < num_quads_per_axis; ++x) {
-      for (int y = 0; y < num_quads_per_axis; ++y) {
-        const int base_idx = x * (num_quads_per_axis + 1) + y;
-        const int i0 = base_idx + 0;
-        const int i1 = base_idx + 1;
-        const int i2 = base_idx + num_quads_per_axis + 2;
-        const int i3 = base_idx + num_quads_per_axis + 1;
-        AppendQuadIndices(indices_, i0, i3, i2, i1);
-      }
-    }
-
-    SetBounds({-1, -1, -0.001}, {1, 1, 0.001});
-  }
-};
-
-class TriangleBuilder : public BuiltinBuilder {
- public:
-  TriangleBuilder() {
-    positions_.reserve(3);
-    positions_.emplace_back(0, 0, 0);
-    positions_.emplace_back(1, 0, 0);
-    positions_.emplace_back(0, 1, 0);
-
-    texcoords_.reserve(3);
-    texcoords_.emplace_back(0, 1);
-    texcoords_.emplace_back(1, 1);
-    texcoords_.emplace_back(0, 0);
-
-    orientations_.resize(positions_.size(), CalculateOrientation({0, 0, 1}));
-
-    indices_.reserve(3);
-    indices_.emplace_back(0);
-    indices_.emplace_back(1);
-    indices_.emplace_back(2);
-
-    SetBounds({0, 0, -0.001}, {1, 1, 0.001});
-  }
-};
-
-class LineBoxBuilder : public BuiltinBuilder {
- public:
-  explicit LineBoxBuilder() {
-    primitive_type_ = mjMESH_PRIMITIVE_TYPE_LINES;
-
-    positions_.reserve(8);
-    positions_.emplace_back(-1.0f, -1.0f, -1.0f);
-    positions_.emplace_back(1.0f, -1.0f, -1.0f);
-    positions_.emplace_back(-1.0f, 1.0f, -1.0f);
-    positions_.emplace_back(1.0f, 1.0f, -1.0f);
-    positions_.emplace_back(-1.0f, -1.0f, 1.0f);
-    positions_.emplace_back(1.0f, -1.0f, 1.0f);
-    positions_.emplace_back(-1.0f, 1.0f, 1.0f);
-    positions_.emplace_back(1.0f, 1.0f, 1.0f);
-
-    orientations_.resize(positions_.size(), {0, 0, 0, 1});
-
-    indices_.reserve(24);
-    indices_.push_back(0);
-    indices_.push_back(1);
-    indices_.push_back(1);
-    indices_.push_back(3);
-    indices_.push_back(3);
-    indices_.push_back(2);
-    indices_.push_back(2);
-    indices_.push_back(0);
-    // Top square (where z == 1).
-    indices_.push_back(4);
-    indices_.push_back(5);
-    indices_.push_back(5);
-    indices_.push_back(7);
-    indices_.push_back(7);
-    indices_.push_back(6);
-    indices_.push_back(6);
-    indices_.push_back(4);
-    // Connect edges from bottom to top.
-    indices_.push_back(2);
-    indices_.push_back(6);
-    indices_.push_back(3);
-    indices_.push_back(7);
-    indices_.push_back(0);
-    indices_.push_back(4);
-    indices_.push_back(1);
-    indices_.push_back(5);
-
-    SetBounds({-1, -1, -1}, {1, 1, 1});
-  }
-};
-
-class BoxBuilder : public BuiltinBuilder {
- public:
-  static constexpr int kNumSides = 6;
-
-  explicit BoxBuilder(int num_quads_per_axis)
-      : num_quads_per_axis_(num_quads_per_axis) {
-    quad_size_ = 2.0f / static_cast<float>(num_quads_per_axis_);
-
-    const int vertices_per_side = NumVerticesPerSide(num_quads_per_axis_);
-    const int indices_per_side = NumIndicesPerSide(num_quads_per_axis_);
-    const int num_vertices = vertices_per_side * kNumSides;
-    const int num_indices = indices_per_side * kNumSides;
-
-    positions_.reserve(num_vertices);
-    orientations_.reserve(num_vertices);
-    texcoords_.reserve(num_vertices);
-    indices_.reserve(num_indices);
-
-    GenerateVerticesForSide({0, 1, 0},
-                            [](float2 pt) { return float3{pt.x, 1.0f, pt.y}; });
-    GenerateVerticesForSide(
-        {0, -1, 0}, [](float2 pt) { return float3{pt.x, -1.0f, pt.y}; });
-    GenerateVerticesForSide({1, 0, 0},
-                            [](float2 pt) { return float3{1.0f, pt.x, pt.y}; });
-    GenerateVerticesForSide(
-        {-1, 0, 0}, [](float2 pt) { return float3{-1.0f, pt.x, pt.y}; });
-    GenerateVerticesForSide({0, 0, 1},
-                            [](float2 pt) { return float3{pt.x, pt.y, 1.0f}; });
-    GenerateVerticesForSide(
-        {0, 0, -1}, [](float2 pt) { return float3{pt.x, pt.y, -1.0f}; });
-
-    for (int i = 0; i < kNumSides; ++i) {
-      for (int x = 0; x < num_quads_per_axis_; ++x) {
-        for (int y = 0; y < num_quads_per_axis_; ++y) {
-          const int base_idx =
-              (i * vertices_per_side) + (x * (num_quads_per_axis_ + 1)) + y;
-          const int i0 = base_idx + 0;
-          const int i1 = base_idx + 1;
-          const int i2 = base_idx + num_quads_per_axis_ + 2;
-          const int i3 = base_idx + num_quads_per_axis_ + 1;
-          if (i == 2 || i == 1 || i == 4) {
-            AppendQuadIndices(indices_, i0, i3, i2, i1);
-          } else {
-            AppendQuadIndices(indices_, i0, i1, i2, i3);
-          }
-        }
-      }
-    }
-
-    SetBounds({-1, -1, -1}, {1, 1, 1});
-  }
-
- private:
-  template <typename F>
-  void GenerateVerticesForSide(float3 normal, const F& pt_gen) {
-    float4 orientation = CalculateOrientation(normal);
-    for (int x = 0; x <= num_quads_per_axis_; ++x) {
-      for (int y = 0; y <= num_quads_per_axis_; ++y) {
-        const float dx = -1.0f + (quad_size_ * static_cast<float>(x));
-        const float dy = -1.0f + (quad_size_ * static_cast<float>(y));
-        const float3 position = pt_gen({dx, dy});
-        positions_.push_back(position);
-        orientations_.push_back(orientation);
-        const float u = static_cast<float>(x) / num_quads_per_axis_;
-        const float v = 1.0f - (static_cast<float>(y) / num_quads_per_axis_);
-        texcoords_.emplace_back(u, v);
-      }
-    }
-  }
-
-  int num_quads_per_axis_;
-  float quad_size_;
-};
-
-class TubeBuilder : public BuiltinBuilder {
- public:
-  TubeBuilder(int num_stacks, int num_slices) {
-    const int verts_per_ring = num_slices + 1;
-    const int num_vertices = verts_per_ring * (num_stacks + 1);
-    positions_.reserve(num_vertices);
-    orientations_.reserve(num_vertices);
-    texcoords_.reserve(num_vertices);
-
-    const float delta_angle = 2.f * std::numbers::pi / (float)num_slices;
-    const float delta_stack = 2.f / static_cast<float>(num_stacks);
-    for (int i = 0; i <= num_slices; ++i) {
-      const int geo_i = i % num_slices;
-      const float angle = static_cast<float>(geo_i) * delta_angle;
-      const float2 pt{std::cos(angle), std::sin(angle)};
-      const float4 orientation = CalculateOrientation({pt.x, pt.y, 0});
-      const float u = static_cast<float>(i) / num_slices;
-      for (int j = 0; j <= num_stacks; ++j) {
-        const float z = -1.0f + (static_cast<float>(j) * delta_stack);
-        positions_.emplace_back(pt.x, pt.y, z);
-        orientations_.push_back(orientation);
-        const float v = 1.0f - ((static_cast<float>(j) * delta_stack) / 2.0f);
-        texcoords_.emplace_back(u, v);
-      }
-    }
-
-    const int num_indices = kNumIndicesPerQuad * num_slices * num_stacks;
-    indices_.reserve(num_indices);
-
-    const int num_vertices_in_spine = num_stacks + 1;
-    for (int i = 0; i < num_slices; ++i) {
-      for (int j = 0; j < num_stacks; ++j) {
-        const int base_idx = (i * num_vertices_in_spine) + j;
-        const int next_base_idx = ((i + 1) * num_vertices_in_spine) + j;
-        const int i0 = base_idx + 0;
-        const int i1 = base_idx + 1;
-        const int i2 = next_base_idx + 1;
-        const int i3 = next_base_idx + 0;
-        AppendQuadIndices(indices_, i0, i3, i2, i1);
-      }
-    }
-
-    SetBounds({-1, -1, -1}, {1, 1, 1});
-  }
-};
-
-class ConeBuilder : public BuiltinBuilder {
- public:
-  ConeBuilder(int num_stacks, int num_slices) {
-    const int num_vertices =
-        (num_slices * kNumVerticesPerTriangle) +
-        ((num_stacks - 1) * num_slices * kNumVerticesPerQuad);
-    positions_.reserve(num_vertices);
-    orientations_.reserve(num_vertices);
-    texcoords_.reserve(num_vertices);
-
-    // Pole: use triangles
-    const float delta_angle =
-        2.0 * std::numbers::pi / static_cast<float>(num_slices);
-    const float delta_radius = 1.0f / static_cast<float>(num_stacks);
-
-    for (int j = 0; j < num_slices; ++j) {
-      const float angle1 = (j + 0) * delta_angle;
-      const float angle2 = (j + 1) * delta_angle;
-
-      const float u1 = static_cast<float>(j) / num_slices;
-      const float u2 = static_cast<float>(j + 1) / num_slices;
-      const float v1 = delta_radius;
-      const float u_mid = (u1 + u2) / 2.f;
-
-      AppendVert(angle1, delta_radius, u1, v1);
-      AppendVert(angle2, delta_radius, u2, v1);
-
-      positions_.emplace_back(0, 0, 1);
-      orientations_.emplace_back(CalculateOrientation({0, 0, 1}));
-      texcoords_.emplace_back(u_mid, 0.f);
-    }
-
-    // The rest: use quads
-    for (int i = 1; i < num_stacks; ++i) {
-      const float radius1 = delta_radius * (i + 0);
-      const float radius2 = delta_radius * (i + 1);
-
-      for (int j = 0; j < num_slices; ++j) {
-        const float angle1 = (j + 0) * delta_angle;
-        const float angle2 = (j + 1) * delta_angle;
-        const float u1 = static_cast<float>(j) / num_slices;
-        const float u2 = static_cast<float>(j + 1) / num_slices;
-        const float v1 = radius1;
-        const float v2 = radius2;
-        AppendVert(angle1, radius2, u1, v2);
-        AppendVert(angle2, radius2, u2, v2);
-        AppendVert(angle2, radius1, u2, v1);
-        AppendVert(angle1, radius1, u1, v1);
-      }
-    }
-
-    const int num_indices =
-        (num_slices * kNumIndicesPerTriangle) +
-        ((num_stacks - 1) * num_slices * kNumIndicesPerQuad);
-    indices_.reserve(num_indices);
-    for (int j = 0; j < num_slices * 3; ++j) {
-      indices_.push_back(j);
-    }
-
-    int quad_idx = num_slices * 3;
-    for (int i = 1; i < num_stacks; ++i) {
-      for (int j = 0; j < num_slices; ++j) {
-        const int i0 = quad_idx + 0;
-        const int i1 = quad_idx + 1;
-        const int i2 = quad_idx + 2;
-        const int i3 = quad_idx + 3;
-        quad_idx += 4;
-        AppendQuadIndices(indices_, i0, i1, i2, i3);
-      }
-    }
-
-    SetBounds({-1, -1, 0}, {1, 1, 1});
-  }
-
- private:
-  void AppendVert(float theta, float radius, float u, float v) {
-    static constexpr float kNormalScale = 0.70710678118f;
-    const float cz = std::cos(theta);
-    const float sz = std::sin(theta);
-    const float3 pt{cz * radius, sz * radius, 1.f - radius};
-    const float3 n{cz * kNormalScale, sz * kNormalScale, kNormalScale};
-    positions_.push_back(pt);
-    orientations_.push_back(CalculateOrientation(n));
-    texcoords_.emplace_back(u, v);
-  }
-};
-
-class DiskBuilder : public BuiltinBuilder {
- public:
-  explicit DiskBuilder(int num_slices) {
-    const int num_vertices = num_slices + 1;
-    positions_.reserve(num_vertices);
-    texcoords_.reserve(num_vertices);
-    const float delta_angle =
-        2.0 * std::numbers::pi / static_cast<float>(num_slices);
-
-    positions_.push_back({0, 0, 0});
-    texcoords_.emplace_back(0.5f, 0.5f);
-    for (int i = 0; i < num_slices; ++i) {
-      const float angle = static_cast<float>(i) * delta_angle;
-      const float x = std::cos(angle);
-      const float y = std::sin(angle);
-      positions_.push_back({x, y, 0});
-      texcoords_.emplace_back(0.5f + 0.5f * x, 0.5f + 0.5f * y);
-    }
-
-    orientations_.resize(positions_.size(), CalculateOrientation({0, 0, 1}));
-
-    const int num_indices = num_slices * kNumVerticesPerTriangle;
-    indices_.reserve(num_indices);
-    for (int i = 0; i < num_slices; ++i) {
-      const int next = i < (num_slices - 1) ? i + 1 : 0;
-      indices_.push_back(0);
-      indices_.push_back(1 + i);
-      indices_.push_back(1 + next);
-    }
-
-    SetBounds({-1, -1, -0.001}, {1, 1, 0.001});
-  }
-};
-
-class SphereBuilder : public BuiltinBuilder {
- public:
-  SphereBuilder(int num_stacks, int num_slices) {
-    // To avoid a UV seam artifact, each latitude ring has num_slices+1
-    // vertices: the last vertex is a geometric duplicate of the first but
-    // with u=1.0 instead of u=0.0. This prevents the GPU from interpolating
-    // backwards from u≈0.97 to u=0.0 across the last quad.
-    //
-    // Each polar triangle also gets its own pole vertex with u set to the
-    // midpoint of the two ring vertices, avoiding the degenerate atan2 at
-    // the pole.
-
-    const int verts_per_ring = num_slices + 1;  // extra vertex for u=1 seam
-    const int ring_verts = num_stacks * verts_per_ring;
-    const int pole_verts = 2 * num_slices;  // one pole vert per polar triangle
-    const int num_vertices = ring_verts + pole_verts;
-    positions_.reserve(num_vertices);
-    orientations_.reserve(num_vertices);
-    texcoords_.reserve(num_vertices);
-
-    const float lat_angle_delta =
-        std::numbers::pi / static_cast<float>(num_stacks + 1);
-    const float lon_angle_delta =
-        2.0 * std::numbers::pi / static_cast<float>(num_slices);
-
-    // Latitude ring vertices (with seam column).
-    for (int lat = 0; lat < num_stacks; ++lat) {
-      const float lat_angle = static_cast<float>(lat + 1) * lat_angle_delta;
-      const float cos_lat_angle = std::cos(lat_angle);
-      const float sin_lat_angle = std::sin(lat_angle);
-      const float z = cos_lat_angle;
-      const float v = lat_angle / std::numbers::pi_v<float>;
-
-      for (int lon = 0; lon <= num_slices; ++lon) {
-        const float u = static_cast<float>(lon) / num_slices;
-        // Wrap the geometry back to lon=0 for the seam column.
-        const int geo_lon = lon % num_slices;
-        const float lon_angle = static_cast<float>(geo_lon) * lon_angle_delta;
-
-        const float x = sin_lat_angle * std::cos(lon_angle);
-        const float y = sin_lat_angle * std::sin(lon_angle);
-        AppendVert(x, y, z, u, v);
-      }
-    }
-
-    // Per-face pole vertices. Each polar triangle gets a unique pole vertex
-    // with u set to the midpoint of the two adjacent ring vertices.
-    const int north_pole_start = ring_verts;
-    for (int lon = 0; lon < num_slices; ++lon) {
-      const float u = (static_cast<float>(lon) + 0.5f) / num_slices;
-      AppendVert(0, 0, 1, u, 0.0f);
-    }
-    const int south_pole_start = north_pole_start + num_slices;
-    for (int lon = 0; lon < num_slices; ++lon) {
-      const float u = (static_cast<float>(lon) + 0.5f) / num_slices;
-      AppendVert(0, 0, -1, u, 1.0f);
-    }
-
-    // Indices.
-    const size_t num_tris_polar_cap = num_slices;
-    const size_t num_quads_body = num_slices * (num_stacks - 1);
-    const int num_indices = (2 * num_tris_polar_cap * kNumIndicesPerTriangle) +
-                            (num_quads_body * kNumIndicesPerQuad);
-    indices_.reserve(num_indices);
-
-    // North polar cap — each triangle uses its own pole vertex.
-    const uint16_t first_ring_start = 0;
-    for (int lon = 0; lon < num_slices; ++lon) {
-      indices_.push_back(north_pole_start + lon);
-      indices_.push_back(first_ring_start + lon);
-      indices_.push_back(first_ring_start + lon + 1);
-    }
-
-    // Latitudinal quad strips — no index wrapping needed thanks to seam column.
-    for (int lat = 0; lat < num_stacks - 1; lat++) {
-      const uint16_t north_start = lat * verts_per_ring;
-      const uint16_t south_start = (lat + 1) * verts_per_ring;
-      for (int lon = 0; lon < num_slices; ++lon) {
-        const int i0 = north_start + lon;
-        const int i1 = south_start + lon;
-        const int i2 = south_start + lon + 1;
-        const int i3 = north_start + lon + 1;
-        AppendQuadIndices(indices_, i0, i1, i2, i3);
-      }
-    }
-
-    // South polar cap.
-    const uint16_t last_ring_start = (num_stacks - 1) * verts_per_ring;
-    for (int lon = 0; lon < num_slices; ++lon) {
-      indices_.push_back(south_pole_start + lon);
-      indices_.push_back(last_ring_start + lon + 1);
-      indices_.push_back(last_ring_start + lon);
-    }
-
-    SetBounds({-1, -1, -1}, {1, 1, 1});
-  }
-
- private:
-  void AppendVert(float x, float y, float z, float u, float v) {
-    const float3 pt{x, y, z};
-    positions_.push_back(pt);
-    orientations_.push_back(CalculateOrientation(pt));
-    texcoords_.emplace_back(u, v);
-  }
-};
-
-class DomeBuilder : public BuiltinBuilder {
- public:
-  DomeBuilder(int num_stacks, int num_slices, bool flip_u = false,
-              bool flip_v = false) {
-    // Same seam-fix strategy as SphereBuilder: extra vertex per ring at u=1.0
-    // and per-face pole vertices.
-
-    const int verts_per_ring = num_slices + 1;
-    const int ring_verts = num_stacks * verts_per_ring;
-    const int pole_verts = num_slices;  // one pole vert per polar triangle
-    const int num_vertices = ring_verts + pole_verts;
-    positions_.reserve(num_vertices);
-    orientations_.reserve(num_vertices);
-    texcoords_.reserve(num_vertices);
-
-    const float lat_angle_delta =
-        0.5 * std::numbers::pi / static_cast<float>(num_stacks);
-    const float lon_angle_delta =
-        2.0 * std::numbers::pi / static_cast<float>(num_slices);
-
-    // Latitude ring vertices (with seam column).
-    for (int lat = 0; lat < num_stacks; ++lat) {
-      const float lat_angle = static_cast<float>(lat + 1) * lat_angle_delta;
-      const float cos_lat_angle = std::cos(lat_angle);
-      const float sin_lat_angle = std::sin(lat_angle);
-      const float z = cos_lat_angle;
-      const float v_val = 1.0f - (2.0f * lat_angle / std::numbers::pi_v<float>);
-      const float v = flip_v ? 1.0f - v_val : v_val;
-
-      for (int lon = 0; lon <= num_slices; ++lon) {
-        const float u_val = static_cast<float>(lon) / num_slices;
-        const float u = flip_u ? 1.0f - u_val : u_val;
-        const int geo_lon = lon % num_slices;
-        const float lon_angle = static_cast<float>(geo_lon) * lon_angle_delta;
-
-        const float x = sin_lat_angle * std::cos(lon_angle);
-        const float y = sin_lat_angle * std::sin(lon_angle);
-        AppendVert(x, y, z, u, v);
-      }
-    }
-
-    // Per-face pole vertices.
-    const int pole_start = ring_verts;
-    for (int lon = 0; lon < num_slices; ++lon) {
-      const float u_val = (static_cast<float>(lon) + 0.5f) / num_slices;
-      const float u = flip_u ? 1.0f - u_val : u_val;
-      AppendVert(0, 0, 1, u, flip_v ? 0.0f : 1.0f);
-    }
-
-    // Indices.
-    const size_t num_tris_polar_cap = num_slices;
-    const size_t num_quads_body = num_slices * (num_stacks - 1);
-    const int num_indices = (num_tris_polar_cap * kNumIndicesPerTriangle) +
-                            (num_quads_body * kNumIndicesPerQuad);
-    indices_.reserve(num_indices);
-
-    // Polar cap — each triangle uses its own pole vertex.
-    const uint16_t first_ring_start = 0;
-    for (int lon = 0; lon < num_slices; ++lon) {
-      indices_.push_back(pole_start + lon);
-      indices_.push_back(first_ring_start + lon);
-      indices_.push_back(first_ring_start + lon + 1);
-    }
-
-    // Latitudinal quad strips.
-    for (int lat = 0; lat < num_stacks - 1; lat++) {
-      const uint16_t north_start = lat * verts_per_ring;
-      const uint16_t south_start = (lat + 1) * verts_per_ring;
-      for (int lon = 0; lon < num_slices; ++lon) {
-        const int i0 = north_start + lon;
-        const int i1 = south_start + lon;
-        const int i2 = south_start + lon + 1;
-        const int i3 = north_start + lon + 1;
-        AppendQuadIndices(indices_, i0, i1, i2, i3);
-      }
-    }
-
-    SetBounds({-1, -1, 0}, {1, 1, 1});
-  }
-
- private:
-  void AppendVert(float x, float y, float z, float u, float v) {
-    const float3 pt{x, y, z};
-    positions_.push_back(pt);
-    orientations_.push_back(CalculateOrientation(pt));
-    texcoords_.emplace_back(u, v);
-  }
-};
-
-Builtins::Builtins(filament::Engine* engine, int nstack, int nslice,
-                   int nquad) {
-  line_ = BuiltinBuilder::Create<LineBuilder>(engine);
-  plane_ = BuiltinBuilder::Create<PlaneBuilder>(engine, nquad);
-  triangle_ = BuiltinBuilder::Create<TriangleBuilder>(engine);
-  box_ = BuiltinBuilder::Create<BoxBuilder>(engine, nquad);
-  line_box_ = BuiltinBuilder::Create<LineBoxBuilder>(engine);
-  sphere_ = BuiltinBuilder::Create<SphereBuilder>(engine, nstack, nslice);
-  tube_ = BuiltinBuilder::Create<TubeBuilder>(engine, nstack, nslice);
-  disk_ = BuiltinBuilder::Create<DiskBuilder>(engine, nslice);
-  dome_top_ =
-      BuiltinBuilder::Create<DomeBuilder>(engine, nstack, nslice, false, true);
-  dome_bottom_ =
-      BuiltinBuilder::Create<DomeBuilder>(engine, nstack, nslice, true, false);
-  cone_ = BuiltinBuilder::Create<ConeBuilder>(engine, nstack, nslice);
-}
-
-const Mesh* Builtins::Line() { return line_.get(); }
-const Mesh* Builtins::LineBox() { return line_box_.get(); }
-const Mesh* Builtins::Plane() { return plane_.get(); }
-const Mesh* Builtins::Triangle() { return triangle_.get(); }
-const Mesh* Builtins::Box() { return box_.get(); }
-const Mesh* Builtins::Sphere() { return sphere_.get(); }
-const Mesh* Builtins::Cone() { return cone_.get(); }
-const Mesh* Builtins::Disk() { return disk_.get(); }
-const Mesh* Builtins::DomeTop() { return dome_top_.get(); }
-const Mesh* Builtins::DomeBottom() { return dome_bottom_.get(); }
-const Mesh* Builtins::Tube() { return tube_.get(); }
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/builtins.h b/src/render/filament/core/builtins.h
deleted file mode 100644
index 4dbbdef6..00000000
--- a/src/render/filament/core/builtins.h
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_BUILTINS_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_BUILTINS_H_
-
-#include <memory>
-
-#include <filament/Engine.h>
-#include "render/filament/core/mesh.h"
-
-namespace mujoco {
-
-// A collection of meshes that "built in" to the renderer.
-class Builtins {
- public:
-  Builtins(filament::Engine* engine, int nstack, int nslice, int nquad);
-
-  // Returns a mesh for the corresponding built-in shape.
-  const Mesh* Line();
-  const Mesh* LineBox();
-  const Mesh* Plane();
-  const Mesh* Triangle();
-  const Mesh* Box();
-  const Mesh* Sphere();
-  const Mesh* Cone();
-  const Mesh* Disk();
-  const Mesh* DomeTop();
-  const Mesh* DomeBottom();
-  const Mesh* Tube();
-
- private:
-  std::unique_ptr<Mesh> line_;
-  std::unique_ptr<Mesh> line_box_;
-  std::unique_ptr<Mesh> plane_;
-  std::unique_ptr<Mesh> triangle_;
-  std::unique_ptr<Mesh> box_;
-  std::unique_ptr<Mesh> sphere_;
-  std::unique_ptr<Mesh> cone_;
-  std::unique_ptr<Mesh> disk_;
-  std::unique_ptr<Mesh> dome_top_;
-  std::unique_ptr<Mesh> dome_bottom_;
-  std::unique_ptr<Mesh> tube_;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_BUILTINS_H_
diff --git a/src/render/filament/core/color_grading_options.cc b/src/render/filament/core/color_grading_options.cc
deleted file mode 100644
index d1906728..00000000
--- a/src/render/filament/core/color_grading_options.cc
+++ /dev/null
@@ -1,48 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/color_grading_options.h"
-
-#include <memory>
-
-#include <filament/ToneMapper.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco {
-
-std::unique_ptr<filament::ToneMapper> CreateToneMapper(ToneMapperType type) {
-  filament::ToneMapper* ptr = nullptr;
-  switch (type) {
-    case ToneMapperType::kPBRNeutral:
-      ptr = new filament::PBRNeutralToneMapper();
-      break;
-    case ToneMapperType::kACES:
-      ptr = new filament::ACESToneMapper();
-      break;
-    case ToneMapperType::kACESLegacy:
-      ptr = new filament::ACESLegacyToneMapper();
-      break;
-    case ToneMapperType::kFilmic:
-      ptr = new filament::FilmicToneMapper();
-      break;
-    case ToneMapperType::kLinear:
-      ptr = new filament::LinearToneMapper();
-      break;
-    default:
-      mju_error("Unsupported tone mapper type");
-  }
-  return std::unique_ptr<filament::ToneMapper>(ptr);
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/color_grading_options.h b/src/render/filament/core/color_grading_options.h
deleted file mode 100644
index 72ac2927..00000000
--- a/src/render/filament/core/color_grading_options.h
+++ /dev/null
@@ -1,81 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_COLOR_GRADING_OPTIONS_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_COLOR_GRADING_OPTIONS_H_
-
-#include <cstdint>
-#include <memory>
-
-#include <filament/ColorGrading.h>
-#include <filament/ToneMapper.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-
-namespace mujoco {
-
-// Filament has deprecated its ToneMapper enum. Instead, users can define their
-// own ToneMapper objects directly. However, we don't want to expose that
-// complexity to users of this library, so we define our own enum which can
-// then be used to create predefined ToneMapper objects.
-enum class ToneMapperType {
-  kPBRNeutral,
-  kACES,
-  kACESLegacy,
-  kFilmic,
-  kLinear,
-};
-
-std::unique_ptr<filament::ToneMapper> CreateToneMapper(ToneMapperType type);
-
-// Structure used to initialize a filament::ColorGrading::Builder object.
-// Unlike most other post processing options, the ColorGrading isn't defined
-// as a struct, but rather as a write-only class with a Builder. However, we
-// want to be able to change these values at runtime, so we define our own
-// struct from which we can create new ColorGrading objects.
-//
-// The default values for this struct are chosen to match the default values
-// for the Filament ColorGrading::Builder class.
-struct ColorGradingOptions {
-  ToneMapperType tone_mapper = ToneMapperType::kPBRNeutral;
-  filament::ColorGrading::LutFormat format =
-      filament::ColorGrading::LutFormat::INTEGER;
-  uint8_t dimension = 32;
-  bool luminance_scaling = false;
-  bool gamut_mapping = false;
-  float exposure = 0.0f;
-  float night_adaptation = 0.0f;
-  float contrast = 1.0f;
-  float vibrance = 1.0f;
-  float saturation = 1.0f;
-  float temperature = 0.0f;
-  float tint = 0.0f;
-  filament::math::float3 out_red = {1.0f, 0.0f, 0.0f};
-  filament::math::float3 out_green = {0.0f, 1.0f, 0.0f};
-  filament::math::float3 out_blue = {0.0f, 0.0f, 1.0f};
-  filament::math::float4 shadows = {1.0f, 1.0f, 1.0f, 1.0f};
-  filament::math::float4 midtones = {1.0f, 1.0f, 1.0f, 1.0f};
-  filament::math::float4 highlights = {1.0f, 1.0f, 1.0f, 1.0f};
-  filament::math::float4 tonal_ranges = {0.0f, 0.333f, 0.550f, 1.0f};
-  filament::math::float3 slope = {1.0f};
-  filament::math::float3 offset = {0.0f};
-  filament::math::float3 power = {1.0f};
-  filament::math::float3 shadow_gamma = {1.0f};
-  filament::math::float3 mid_point = {1.0f};
-  filament::math::float3 highlight_scale = {1.0f};
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_COLOR_GRADING_OPTIONS_H_
diff --git a/src/render/filament/core/filament_context.cc b/src/render/filament/core/filament_context.cc
deleted file mode 100644
index 5e2921d5..00000000
--- a/src/render/filament/core/filament_context.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/filament_context.h"
-
-#include <algorithm>
-#include <cstdint>
-#include <memory>
-#include <span>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include <filament/Engine.h>
-#include <filament/IndexBuffer.h>
-#include <filament/IndirectLight.h>
-#include <filament/LightManager.h>
-#include <filament/Material.h>
-#include <filament/RenderTarget.h>
-#include <filament/RenderableManager.h>
-#include <filament/Renderer.h>
-#include <filament/Skybox.h>
-#include <filament/Texture.h>
-#include <filament/View.h>
-#include <math/vec4.h>
-#include <utils/FixedCapacityVector.h>
-#include <utils/compiler.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/filament_platform_factory.h"
-#include "render/filament/core/material_manager.h"
-#include "render/filament/core/object_manager.h"
-#include "render/filament/core/render_target.h"
-#include "render/filament/core/scene_view.h"
-
-namespace mujoco {
-
-FilamentContext::FilamentContext(const mjrfContextConfig* config)
-    : config_(*config) {
-  FilamentPlatformSetup setup = CreateFilamentPlatform(config_);
-  backend_ = setup.backend;
-  platform_ = std::move(setup.platform);
-
-  filament::Engine::Config engine_config;
-  engine_config.commandBufferSizeMB *= 8;
-  engine_config.perFrameCommandsSizeMB *= 8;
-  engine_config.perRenderPassArenaSizeMB *= 8;
-
-  filament::Engine::Builder engine_builder;
-  engine_builder.config(&engine_config);
-  engine_builder.backend(backend_);
-  engine_builder.platform(platform_.get());
-  engine_builder.feature("backend.disable_parallel_shader_compile",
-                         setup.disable_parallel_shader_compile);
-  engine_ = engine_builder.build();
-
-  renderer_ = engine_->createRenderer();
-#ifdef __EMSCRIPTEN__
-  window_swap_chain_ = engine_->createSwapChain(nullptr);
-#else
-  if (config_.native_window) {
-    window_swap_chain_ = engine_->createSwapChain(config_.native_window);
-  }
-#endif
-
-  object_manager_ = std::make_unique<ObjectManager>(engine_);
-  material_manager_ = std::make_unique<MaterialManager>(object_manager_.get());
-}
-
-FilamentContext::~FilamentContext() {
-  material_manager_.reset();
-  object_manager_.reset();
-  engine_->destroy(renderer_);
-  engine_->destroy(window_swap_chain_);
-  engine_->destroy(offscreen_swap_chain_);
-  filament::Engine::destroy(engine_);
-}
-
-mjrfFrameHandle FilamentContext::Render(
-    std::span<const mjrfRenderRequest> requests,
-    std::span<const mjrfReadPixelsRequest> read_requests) {
-  if (read_requests.size() > 1) {
-    mju_error("Only one read request is supported for now.");
-  }
-
-  if constexpr (UTILS_HAS_THREADING) {
-    // Wait until previous frame is completed before requesting a new frame.
-    engine_->flushAndWait();
-  }
-
-  ValidateSwapChains(requests);
-
-  std::unordered_map<mjrfScene*, std::vector<const mjrfRenderRequest*>>
-      scene_to_requests;
-  for (const mjrfRenderRequest& request : requests) {
-    scene_to_requests[request.scene].push_back(&request);
-  }
-
-  material_manager_->PrepareToRender();
-  for (auto& [scene, requests] : scene_to_requests) {
-    SceneView::downcast(scene)->PrepareToRender(requests);
-  }
-  material_manager_->RemoveUnusedMaterials();
-
-  bool render_began = false;
-  mjrfRenderTarget* current_target = nullptr;
-  for (const mjrfRenderRequest& request : requests) {
-    if (request.target != current_target && render_began) {
-      renderer_->endFrame();
-      render_began = false;
-    }
-    current_target = request.target;
-
-    if (current_target == nullptr) {
-      if (!read_requests.empty()) {
-        mju_error("Cannot read pixels from the window.");
-      }
-
-      if (!render_began) {
-        render_began = renderer_->beginFrame(window_swap_chain_);
-      }
-      if (!render_began) {
-        break;
-      }
-      if (render_began) {
-        SceneView* scene_view = SceneView::downcast(request.scene);
-        scene_view->Render(renderer_, request);
-      }
-    } else {
-      if (read_requests.empty()) {
-        mju_error(
-            "Rendering to a render target without a read request is "
-            "pointless.");
-      }
-
-      const mjrfReadPixelsRequest& read_request = read_requests[0];
-      if (read_request.num_bytes == 0) {
-        mju_error("Output buffer size is zero.");
-      }
-
-      if (!render_began) {
-        render_began = renderer_->beginFrame(offscreen_swap_chain_);
-      }
-      if (!render_began) {
-        break;
-      }
-      if (render_began) {
-        SceneView* scene_view = SceneView::downcast(request.scene);
-        scene_view->Render(renderer_, request);
-        RenderTarget* render_target = RenderTarget::downcast(request.target);
-        render_target->ReadColorPixels(renderer_, (uint8_t*)read_request.output,
-                                       read_request.num_bytes);
-      }
-    }
-  }
-
-  if (render_began) {
-    renderer_->endFrame();
-  }
-  if constexpr (!UTILS_HAS_THREADING) {
-    engine_->execute();
-  }
-
-  if (!read_requests.empty()) {
-    engine_->flushAndWait();
-    if (read_requests[0].read_completed) {
-      read_requests[0].read_completed(read_requests[0].user_data);
-    }
-  }
-
-  return ++frame_counter_;
-}
-
-void FilamentContext::WaitForFrame(mjrfFrameHandle frame_handle) {
-  if (frame_counter_ < frame_handle) {
-    engine_->flushAndWait();
-  }
-}
-
-void FilamentContext::SetClearColor(const filament::math::float4& color) {
-  filament::Renderer::ClearOptions opts;
-  opts.clear = true;
-  opts.discard = true;
-  opts.clearColor = color;
-  renderer_->setClearOptions(opts);
-}
-
-void FilamentContext::GetFrameStats(mjrfFrameHandle frame,
-                                    mjrfFrameStats* stats_out) const {
-  utils::FixedCapacityVector<filament::Renderer::FrameInfo> frame_info =
-      renderer_->getFrameInfoHistory(1);
-  if (!frame_info.empty()) {
-    const int64_t ns = frame_info[0].denoisedGpuFrameDuration;
-    stats_out->frame_rate = 1.0e9 / static_cast<double>(ns);
-  } else {
-    stats_out->frame_rate = 0.0;
-  }
-}
-
-void FilamentContext::ValidateSwapChains(
-    std::span<const mjrfRenderRequest> requests) {
-  // Determine the maximum extents of the requests.
-  int max_window_width = 0;
-  int max_window_height = 0;
-  int max_offscreen_width = 0;
-  int max_offscreen_height = 0;
-
-  for (const mjrfRenderRequest& request : requests) {
-    const int width = request.viewport.width + request.viewport.left;
-    const int height = request.viewport.height + request.viewport.bottom;
-    if (request.target == nullptr) {
-      max_window_width = std::max(max_window_width, width);
-      max_window_height = std::max(max_window_height, height);
-    } else {
-      max_offscreen_width = std::max(max_offscreen_width, width);
-      max_offscreen_height = std::max(max_offscreen_height, height);
-    }
-  }
-
-  if (max_window_width && max_window_height) {
-    if (max_window_width != window_width_ ||
-        max_window_height != window_height_) {
-      engine_->destroy(window_swap_chain_);
-      window_width_ = max_window_width;
-      window_height_ = max_window_height;
-      if (config_.native_window) {
-        window_swap_chain_ = engine_->createSwapChain(config_.native_window);
-      } else {
-        window_swap_chain_ =
-            engine_->createSwapChain(window_width_, window_height_);
-      }
-    }
-  }
-
-  if (max_offscreen_width && max_offscreen_height) {
-    if (max_offscreen_width != offscreen_width_ ||
-        max_offscreen_height != offscreen_height_) {
-      engine_->destroy(offscreen_swap_chain_);
-      offscreen_width_ = max_offscreen_width;
-      offscreen_height_ = max_offscreen_height;
-      offscreen_swap_chain_ =
-          engine_->createSwapChain(offscreen_width_, offscreen_height_);
-    }
-  }
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/filament_context.h b/src/render/filament/core/filament_context.h
deleted file mode 100644
index 4adf0ab8..00000000
--- a/src/render/filament/core/filament_context.h
+++ /dev/null
@@ -1,98 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_CONTEXT_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_CONTEXT_H_
-
-#include <cstdint>
-#include <memory>
-#include <span>
-
-#include <backend/Platform.h>
-#include <filament/Engine.h>
-#include <filament/Renderer.h>
-#include <filament/SwapChain.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include "render/filament/core/material_manager.h"
-#include "render/filament/core/object_manager.h"
-
-namespace mujoco {
-
-// Manages the filament::Renderer and provides APIs for rendering scenes.
-class FilamentContext : public mjrfContext {
- public:
-  explicit FilamentContext(const mjrfContextConfig* config);
-  ~FilamentContext();
-
-  FilamentContext(const FilamentContext&) = delete;
-  FilamentContext& operator=(const FilamentContext&) = delete;
-
-  // Queues the given render requests for rendering. This function copies the
-  // necessary data from the requests into the renderer thread and returns
-  // immediately afterwards. The renderer thread will then perform the actual
-  // rendering on the GPU. Callers can use WaitForFrame to block until the
-  // rendering is complete.
-  mjrfFrameHandle Render(
-      std::span<const mjrfRenderRequest> render_requests,
-      std::span<const mjrfReadPixelsRequest> read_requests = {});
-
-  // Blocks until the given frame has completed rendering.
-  void WaitForFrame(mjrfFrameHandle frame_handle);
-
-  // Sets the clear color for the renderer.
-  void SetClearColor(const filament::math::float4& color);
-
-  // Returns information about the frame.
-  void GetFrameStats(mjrfFrameHandle frame, mjrfFrameStats* stats_out) const;
-
-  filament::Engine* GetEngine() const { return engine_; }
-
-  filament::Engine::Backend GetBackend() const { return backend_; }
-
-  ObjectManager* GetObjectManager() const { return object_manager_.get(); }
-
-  MaterialManager* GetMaterialManager() const {
-    return material_manager_.get();
-  }
-
-  static FilamentContext* downcast(mjrfContext* context) {
-    return static_cast<FilamentContext*>(context);
-  }
-  static const FilamentContext* downcast(const mjrfContext* context) {
-    return static_cast<const FilamentContext*>(context);
-  }
-
- private:
-  void ValidateSwapChains(std::span<const mjrfRenderRequest> render_requests);
-
-  mjrfContextConfig config_;
-  filament::Engine::Backend backend_;
-  filament::Engine* engine_ = nullptr;
-  filament::Renderer* renderer_ = nullptr;
-  filament::SwapChain* window_swap_chain_ = nullptr;
-  filament::SwapChain* offscreen_swap_chain_ = nullptr;
-  std::unique_ptr<filament::backend::Platform> platform_;
-  std::unique_ptr<ObjectManager> object_manager_;
-  std::unique_ptr<MaterialManager> material_manager_;
-  int window_width_ = 0;
-  int window_height_ = 0;
-  int offscreen_width_ = 0;
-  int offscreen_height_ = 0;
-  std::uint64_t frame_counter_ = 0;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_CONTEXT_H_
diff --git a/src/render/filament/core/filament_platform_factory.cc b/src/render/filament/core/filament_platform_factory.cc
deleted file mode 100644
index 9e6983c2..00000000
--- a/src/render/filament/core/filament_platform_factory.cc
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/filament_platform_factory.h"
-
-#include <memory>
-
-#include <backend/Platform.h>
-#include <filament/Engine.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco {
-
-static filament::Engine::Backend ResolveBackend(int graphics_api) {
-#if defined(__EMSCRIPTEN__)
-  filament::Engine::Backend backend = filament::Engine::Backend::OPENGL;
-#else
-  filament::Engine::Backend backend = filament::Engine::Backend::VULKAN;
-#endif
-
-  switch (graphics_api) {
-    case mjGRAPHICS_API_DEFAULT:
-      // Use the default based on the platform above.
-      break;
-    case mjGRAPHICS_API_OPENGL:
-      backend = filament::Engine::Backend::OPENGL;
-      break;
-    case mjGRAPHICS_API_VULKAN:
-      backend = filament::Engine::Backend::VULKAN;
-      break;
-    default:
-      mju_error("Unsupported graphics API: %d", graphics_api);
-  }
-  return backend;
-}
-
-FilamentPlatformSetup CreateFilamentPlatform(const mjrfContextConfig& config) {
-  FilamentPlatformSetup setup;
-  setup.backend = ResolveBackend(config.graphics_api);
-  return setup;
-}
-}  // namespace mujoco
diff --git a/src/render/filament/core/filament_platform_factory.h b/src/render/filament/core/filament_platform_factory.h
deleted file mode 100644
index 03866036..00000000
--- a/src/render/filament/core/filament_platform_factory.h
+++ /dev/null
@@ -1,45 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_PLATFORM_FACTORY_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_PLATFORM_FACTORY_H_
-
-#include <memory>
-
-#include <backend/Platform.h>
-#include <filament/Engine.h>
-#include <mujoco/mjrfilament.h>
-
-namespace mujoco {
-
-struct FilamentPlatformSetup {
-  // The filament::Platform to use for the engine. May be null, in which case
-  // the engine will be created with a default platform.
-  std::unique_ptr<filament::backend::Platform> platform = nullptr;
-
-  // The filament::Engine::Backend to use for the engine.
-  filament::Engine::Backend backend;
-
-  // Whether to disable parallel shader compilation.
-  bool disable_parallel_shader_compile = false;
-};
-
-// Creates a filament::Platform based on the given config and defines the
-// filament::Engine::Backend to use. Also returns additional information for
-// setting up the filament::Engine for use with the provided Platform.
-FilamentPlatformSetup CreateFilamentPlatform(const mjrfContextConfig& config);
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_PLATFORM_FACTORY_H_
diff --git a/src/render/filament/core/imgui_editor.cc b/src/render/filament/core/imgui_editor.cc
deleted file mode 100644
index 88937d74..00000000
--- a/src/render/filament/core/imgui_editor.cc
+++ /dev/null
@@ -1,751 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <any>
-#include <cstdint>
-#include <numbers>
-#include <optional>
-#include <span>
-#include <string>
-#include <string_view>
-#include <type_traits>
-#include <unordered_map>
-
-#include <imgui.h>
-#include <filament/ColorGrading.h>
-#include <filament/IndirectLight.h>
-#include <filament/LightManager.h>
-#include <filament/Options.h>
-#include <filament/View.h>
-#include <math/mathfwd.h>
-#include <math/scalar.h>
-#include <math/vec3.h>
-#include <mujoco/mjrfilament.h>
-#include "render/filament/core/color_grading_options.h"
-#include "render/filament/core/scene_view.h"
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::float4;
-using filament::math::mat4;
-
-using NameList = std::span<const char*>;
-
-namespace {
-
-using InitValues = std::unordered_map<ImGuiID, std::any>;
-
-// Uses static storage (not heap) for a map that is never destroyed, avoiding
-// static destruction order issues. Note this is not causing a problem now but
-// may do so in the future.
-InitValues& GetInitValues() {
-  alignas(InitValues) static char buf[sizeof(InitValues)];
-  static InitValues* map = new (buf) InitValues();
-  return *map;
-}
-
-constexpr ImVec4 kModifiedColor = ImVec4(1.0f, 0.6f, 0.2f, 1.0f);
-
-template <typename T>
-bool IsModified(ImGuiID id, const T& current_value) {
-  auto it = GetInitValues().find(id);
-  if (it == GetInitValues().end()) {
-    GetInitValues()[id] = current_value;
-    return false;
-  }
-  const T& a = current_value;
-  const T& b = std::any_cast<const T&>(it->second);
-  return a != b;
-}
-
-}  // namespace
-
-NameList EnumNames(ToneMapperType v) {
-  static const char* names[] = {"PBR Neutral", "ACES", "ACES Legacy", "Filmic",
-                                "Linear"};
-  return names;
-}
-
-NameList EnumNames(filament::QualityLevel v) {
-  static const char* names[] = {"LOW", "MEDIUM", "HIGH", "ULTRA"};
-  return names;
-}
-
-NameList EnumNames(filament::ShadowType v) {
-  static const char* names[] = {"PCF", "VSM", "DPCF", "PCSS"};
-  return names;
-}
-
-NameList EnumNames(filament::TemporalAntiAliasingOptions::BoxType v) {
-  static const char* names[] = {"AABB", "VARIANCE", "AABB_VARIANCE"};
-  return names;
-}
-
-NameList EnumNames(filament::TemporalAntiAliasingOptions::BoxClipping v) {
-  static const char* names[] = {"ACCURATE", "CLAMP", "NONE"};
-  return names;
-}
-
-NameList EnumNames(filament::TemporalAntiAliasingOptions::JitterPattern v) {
-  static const char* names[] = {"RGSS_X4", "UNIFORM_HELIX_X4", "HALTON_23_X8",
-                                "HALTON_23_X16", "HALTON_23_X32"};
-  return names;
-}
-
-NameList EnumNames(filament::ColorGrading::LutFormat v) {
-  static const char* names[] = {"Integer", "Float"};
-  return names;
-}
-
-NameList EnumNames(filament::BloomOptions::BlendMode v) {
-  static const char* names[] = {"Add", "Interpolate"};
-  return names;
-}
-
-NameList EnumNames(filament::DepthOfFieldOptions::Filter v) {
-  static const char* names[] = {"NONE", "UNUSED", "MEDIAN"};
-  return names;
-}
-
-template <typename T>
-struct UiOpts {
-  std::optional<T> min;
-  std::optional<T> max;
-  std::optional<T> step;
-  std::optional<T> fstep;
-};
-
-// This is a workaround to fix compilation on gcc <= 12 and clang <= 16
-template <typename T>
-struct dependent_false : std::false_type {};
-
-template <typename T>
-bool Ui(std::string_view label, T* value, UiOpts<T> opts = {}) {
-  bool changed = false;
-  bool modified = false;
-  ImGuiID id = ImGui::GetID(label.data());
-
-  if constexpr (std::is_enum_v<T>) {
-    modified = IsModified(id, static_cast<int>(*value));
-  } else {
-    modified = IsModified(id, *value);
-  }
-
-  if (modified) {
-    ImGui::PushStyleColor(ImGuiCol_Text, kModifiedColor);
-  }
-
-  if constexpr (std::is_enum_v<T>) {
-    int idx = static_cast<int>(*value);
-    const NameList names = EnumNames(*value);
-    changed = ImGui::Combo(label.data(), &idx, names.data(), names.size());
-    *value = static_cast<T>(idx);
-  } else if constexpr (std::is_same_v<T, bool>) {
-    changed = ImGui::Checkbox(label.data(), value);
-  } else if constexpr (std::is_same_v<T, uint8_t>) {
-    changed = ImGui::DragScalar(label.data(), ImGuiDataType_U8, value, 1.0f);
-  } else if constexpr (std::is_same_v<T, uint16_t>) {
-    changed = ImGui::DragScalar(label.data(), ImGuiDataType_U16, value, 1.0f);
-  } else if constexpr (std::is_same_v<T, uint32_t>) {
-    changed = ImGui::DragScalar(label.data(), ImGuiDataType_U32, value, 1.0f);
-  } else if constexpr (std::is_same_v<T, int>) {
-    if (opts.min.has_value() && opts.max.has_value()) {
-      changed = ImGui::SliderInt(label.data(), value, *opts.min, *opts.max);
-    } else {
-      float speed = opts.step.value_or(1);
-      changed = ImGui::DragInt(label.data(), value, speed);
-    }
-  } else if constexpr (std::is_same_v<T, float>) {
-    if (opts.min.has_value() && opts.max.has_value()) {
-      changed =
-          ImGui::SliderFloat(label.data(), value, *opts.min, *opts.max, "%.5f");
-    } else {
-      float speed = opts.step.value_or(0.01f);
-      changed =
-          ImGui::DragFloat(label.data(), value, speed, 0.0f, 0.0f, "%.5f");
-    }
-  } else if constexpr (std::is_same_v<T, float3>) {
-    changed =
-        ImGui::DragFloat3(label.data(), &value->x, 0.01f, 0.0f, 0.0f, "%.5f");
-  } else if constexpr (std::is_same_v<T, float4>) {
-    changed =
-        ImGui::DragFloat4(label.data(), &value->x, 0.01f, 0.0f, 0.0f, "%.5f");
-  } else {
-    static_assert(dependent_false<T>::value, "Unsupported type");
-  }
-
-  // The Drag widgets above do not enforce bounds when only one of min/max is
-  // given, and typed input (ctrl+click) bypasses Slider bounds; clamp here.
-  if constexpr (std::is_arithmetic_v<T> && !std::is_same_v<T, bool>) {
-    if (changed) {
-      if (opts.min.has_value()) {
-        *value = std::max(*value, *opts.min);
-      }
-      if (opts.max.has_value()) {
-        *value = std::min(*value, *opts.max);
-      }
-    }
-  }
-
-  if (modified) {
-    ImGui::PopStyleColor();
-    ImGui::SetItemTooltip("RMB to revert change");
-
-    if (ImGui::IsItemClicked(ImGuiMouseButton_Right)) {
-      if constexpr (std::is_enum_v<T>) {
-        *value = static_cast<T>(std::any_cast<int>(GetInitValues()[id]));
-      } else {
-        *value = std::any_cast<T>(GetInitValues()[id]);
-      }
-      changed = true;
-    }
-  }
-
-  return changed;
-}
-
-void DrawAmbientOcclusionGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto opts = view->getAmbientOcclusionOptions();
-  constexpr float PI = std::numbers::pi_v<float>;
-
-  bool changed = false;
-  changed |= Ui("Enabled", &opts.enabled);
-  changed |= Ui("Radius (m)", &opts.radius, {.min = 0.f, .max = 5.f});
-  changed |= Ui("Power Contrrast", &opts.power, {.min = 0.f, .max = 5.f});
-  changed |= Ui("Bias (m)", &opts.bias, {.min = 0.f, .max = .001f});
-  changed |= Ui("Resolution Scale", &opts.resolution, {.min = .5f, .max = 1.f});
-  changed |= Ui("AO Intensity", &opts.intensity, {.min = 0.f, .max = 5.f});
-  changed |= Ui("Bend Normals", &opts.bentNormals);
-  changed |= Ui("Bilateral Threshold", &opts.bilateralThreshold,
-                {.min = 0.f, .max = 10.f});
-  changed |= Ui("Min. Horizon Angle (Rad)", &opts.minHorizonAngleRad,
-                {.min = 0.f, .max = PI / 2});
-  changed |= Ui("Quality", &opts.quality);
-  changed |= Ui("Low Pass Filter", &opts.lowPassFilter);
-  changed |= Ui("Upsampling", &opts.upsampling);
-  changed |= Ui("SSCT Enabled", &opts.ssct.enabled);
-  changed |= Ui("SSCT Cone Angle (Rad)", &opts.ssct.lightConeRad,
-                {.min = 0.0f, .max = PI / 2});
-  changed |= Ui("SSCT Shadow Distance (m)", &opts.ssct.shadowDistance);
-  changed |= Ui("SSCT Max Contact (m)", &opts.ssct.contactDistanceMax);
-  changed |= Ui("SSCT Intensity", &opts.ssct.intensity);
-  changed |= Ui("SSCT Depth Bias", &opts.ssct.depthBias);
-  changed |= Ui("SSCT Depth Slope Bias", &opts.ssct.depthSlopeBias);
-  changed |=
-      Ui("SSCT Sample Count", &opts.ssct.sampleCount, {.min = 1, .max = 255});
-  changed |= Ui("SSCT Ray Count", &opts.ssct.rayCount, {.min = 1, .max = 255});
-  changed |= Ui("SSCT Light Direction", &opts.ssct.lightDirection);
-
-  if (changed) {
-    opts.resolution = (opts.resolution < 0.75f) ? 0.f : 1.0f;
-    opts.power = std::max(opts.power, 0.0f);
-    opts.radius = std::clamp(opts.radius, 0.0f, 10.0f);
-    opts.bias = std::clamp(opts.bias, 0.0f, 0.001f);
-    opts.ssct.lightConeRad =
-        std::clamp(opts.ssct.lightConeRad, 0.0f, filament::math::f::PI / 2.0f);
-
-    view->setAmbientOcclusionOptions(opts);
-  }
-}
-
-void DrawScreenSpaceGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto reflection = view->getScreenSpaceReflectionsOptions();
-  bool refraction_enabled = view->isScreenSpaceRefractionEnabled();
-  auto guard_band = view->getGuardBandOptions();
-
-  bool changed = false;
-  changed |= Ui("Reflection Enabled", &reflection.enabled);
-  changed |= Ui("Refl. Thickness", &reflection.thickness);
-  changed |= Ui("Refl. Bias", &reflection.bias);
-  changed |= Ui("Refl. Max Distance", &reflection.maxDistance);
-  changed |= Ui("Refl. Stride", &reflection.stride);
-  if (changed) {
-    view->setScreenSpaceReflectionsOptions(reflection);
-  }
-  if (Ui("Refraction", &refraction_enabled)) {
-    view->setScreenSpaceRefractionEnabled(refraction_enabled);
-  }
-  if (Ui("Guard Band Enabled", &guard_band.enabled)) {
-    view->setGuardBandOptions(guard_band);
-  }
-}
-
-void DrawShadowingGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto vsm_opts = view->getVsmShadowOptions();
-  auto soft_opts = view->getSoftShadowOptions();
-
-  bool enabled = view->isShadowingEnabled();
-  if (Ui("Shadowing", &enabled)) {
-    view->setShadowingEnabled(enabled);
-  }
-  auto shadow_type = view->getShadowType();
-  if (Ui("Shadow Type", &shadow_type)) {
-    view->setShadowType(shadow_type);
-  }
-
-  bool changed = false;
-  changed |= Ui("VSM Anisotropy", &vsm_opts.anisotropy);
-  changed |= Ui("VSM Mipmapping", &vsm_opts.mipmapping);
-  changed |= Ui("VSM MSAA Samples", &vsm_opts.msaaSamples);
-  changed |= Ui("VSM High Precision", &vsm_opts.highPrecision);
-  changed |= Ui("VSM Min Variance Scale", &vsm_opts.minVarianceScale);
-  changed |= Ui("VSM Light Bleed Reduction", &vsm_opts.lightBleedReduction);
-  if (changed) {
-    vsm_opts.minVarianceScale = std::max(vsm_opts.minVarianceScale, 0.0f);
-    vsm_opts.lightBleedReduction =
-        std::clamp(vsm_opts.lightBleedReduction, 0.0f, 1.0f);
-
-    view->setVsmShadowOptions(vsm_opts);
-  }
-
-  changed = false;
-  changed |= Ui("Soft Penumbra Scale", &soft_opts.penumbraScale);
-  changed |= Ui("Soft Penumbra Ratio Scale", &soft_opts.penumbraRatioScale);
-  if (changed) {
-    soft_opts.penumbraScale = std::max(soft_opts.penumbraScale, 0.0f);
-    soft_opts.penumbraRatioScale = std::max(soft_opts.penumbraRatioScale, 1.0f);
-
-    view->setSoftShadowOptions(soft_opts);
-  }
-}
-
-void DrawPostProcessingGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  bool enabled = view->isPostProcessingEnabled();
-  if (Ui("Enabled", &enabled)) {
-    view->setPostProcessingEnabled(enabled);
-  }
-}
-
-void DrawFxaaGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  bool enabled = view->getAntiAliasing() == filament::AntiAliasing::FXAA;
-  if (Ui("Enabled", &enabled)) {
-    view->setAntiAliasing(enabled ? filament::AntiAliasing::FXAA
-                                  : filament::AntiAliasing::NONE);
-  }
-}
-
-void DrawMsaaGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto opts = view->getMultiSampleAntiAliasingOptions();
-
-  bool changed = false;
-  changed |= Ui("Enabled", &opts.enabled);
-  changed |= Ui("Samples", &opts.sampleCount);
-  changed |= Ui("Custom Resolve", &opts.customResolve);
-  if (changed) {
-    view->setMultiSampleAntiAliasingOptions(opts);
-  }
-}
-
-void DrawTaaGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto opts = view->getTemporalAntiAliasingOptions();
-
-  bool changed = false;
-  changed |= Ui("Enabled", &opts.enabled);
-  changed |= Ui("Filter Width", &opts.filterWidth);
-  changed |= Ui("Feedback", &opts.feedback, {.min = 0.f, .max = 1.f});
-  changed |= Ui("Lod Bias", &opts.lodBias);
-  changed |= Ui("Sharpness", &opts.sharpness);
-  changed |= Ui("Upscaling", &opts.upscaling);
-  changed |= Ui("Filter History", &opts.filterHistory);
-  changed |= Ui("Filter Input", &opts.filterInput);
-  changed |= Ui("Use YCoCg", &opts.useYCoCg);
-  changed |= Ui("Box Type", &opts.boxType);
-  changed |= Ui("Box Clipping", &opts.boxClipping);
-  changed |= Ui("Jitter Pattern", &opts.jitterPattern);
-  changed |= Ui("Variance Gamma", &opts.varianceGamma);
-  changed |= Ui("Prevent Flickering", &opts.preventFlickering);
-
-  if (changed) {
-    opts.feedback = std::clamp(opts.feedback, 0.f, 1.f);
-    opts.varianceGamma = std::clamp(opts.varianceGamma, 0.75f, 1.25f);
-    view->setTemporalAntiAliasingOptions(opts);
-  }
-}
-
-void DrawBloomGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto opts = view->getBloomOptions();
-  bool changed = false;
-  changed |= Ui("Enabled", &opts.enabled);
-  changed |= Ui("Strength", &opts.strength);
-  changed |= Ui("Quality", &opts.quality);
-  changed |= Ui("Resolution", &opts.resolution);
-  changed |= Ui("Levels", &opts.levels);
-  changed |= Ui("Blend Mode", &opts.blendMode);
-  changed |= Ui("Threshold", &opts.threshold);
-  changed |= Ui("Highlight", &opts.highlight);
-  changed |= Ui("Lens Flare", &opts.lensFlare);
-  changed |= Ui("Starburst", &opts.starburst);
-  changed |= Ui("Ch. Aberration", &opts.chromaticAberration);
-  changed |= Ui("Ghost Count", &opts.ghostCount);
-  changed |= Ui("Ghost Spacing", &opts.ghostSpacing);
-  changed |= Ui("Ghost Threshold", &opts.ghostThreshold);
-  changed |= Ui("Halo Radius", &opts.haloRadius);
-  changed |= Ui("Halo Thickness", &opts.haloThickness);
-  changed |= Ui("Halo Threshold", &opts.haloThreshold);
-
-  if (changed) {
-    opts.strength = std::clamp(opts.strength, 0.0f, 1.0f);
-    opts.levels = std::clamp<uint8_t>(opts.levels, 1, 11);
-    opts.ghostSpacing = std::clamp(opts.ghostSpacing, 0.0f, 1.0f);
-    opts.highlight = std::max(opts.highlight, 10.0f);
-    opts.haloThickness = std::clamp(opts.haloThickness, 0.0f, 1.0f);
-    opts.haloRadius = std::clamp(opts.haloRadius, 0.0f, 0.5f);
-    view->setBloomOptions(opts);
-  }
-}
-
-void DrawColorGradingGui(SceneView* scene_view) {
-  auto opts = scene_view->GetColorGradingOptions();
-
-  bool changed = false;
-  changed |= Ui("Tone Mapper", &opts.tone_mapper);
-  changed |= Ui("Lut Format", &opts.format);
-  changed |= Ui("Lut Dimension", &opts.dimension);
-  changed |= Ui("Luminance Scaling", &opts.luminance_scaling);
-  changed |= Ui("Gamut Mapping", &opts.gamut_mapping);
-  changed |= Ui("Exposure", &opts.exposure, {.step = 0.01f, .fstep = 0.1f});
-  changed |= Ui("Night Adaptation", &opts.night_adaptation,
-                {.step = 0.01f, .fstep = 0.1f});
-  changed |= Ui("Contrast", &opts.contrast, {.step = 0.01f, .fstep = 0.1f});
-  changed |= Ui("Vibrance", &opts.vibrance, {.step = 0.01f, .fstep = 0.1f});
-  changed |= Ui("Saturation", &opts.saturation, {.step = 0.01f, .fstep = 0.1f});
-  changed |=
-      Ui("Temperature", &opts.temperature, {.step = 0.01f, .fstep = 0.1f});
-  changed |= Ui("Tint", &opts.tint, {.step = 0.01f, .fstep = 0.1f});
-  changed |= Ui("Out Red", &opts.out_red);
-  changed |= Ui("Out Green", &opts.out_green);
-  changed |= Ui("Out Blue", &opts.out_blue);
-  changed |= Ui("Shadows", &opts.shadows);
-  changed |= Ui("Midtones", &opts.midtones);
-  changed |= Ui("Highlights", &opts.highlights);
-  changed |= Ui("Tonal Ranges", &opts.tonal_ranges);
-  changed |= Ui("Slope", &opts.slope);
-  changed |= Ui("Offset", &opts.offset);
-  changed |= Ui("Power", &opts.power);
-  changed |= Ui("Shadow Gamma", &opts.shadow_gamma);
-  changed |= Ui("Mid Point", &opts.mid_point);
-  changed |= Ui("Highlight Scale", &opts.highlight_scale);
-
-  opts.contrast = std::clamp(opts.contrast, 0.0f, 2.0f);
-  opts.vibrance = std::clamp(opts.vibrance, 0.0f, 2.0f);
-  opts.saturation = std::clamp(opts.saturation, 0.0f, 2.0f);
-  opts.temperature = std::clamp(opts.temperature, -1.0f, 1.0f);
-  opts.tint = std::clamp(opts.tint, -1.0f, 1.0f);
-  opts.slope.x = std::max(0.000001f, opts.slope.x);
-  opts.slope.y = std::max(0.000001f, opts.slope.y);
-  opts.slope.z = std::max(0.000001f, opts.slope.z);
-  opts.power.x = std::max(0.000001f, opts.power.x);
-  opts.power.y = std::max(0.000001f, opts.power.y);
-  opts.power.z = std::max(0.000001f, opts.power.z);
-  opts.shadow_gamma.x = std::max(0.000001f, opts.shadow_gamma.x);
-  opts.shadow_gamma.y = std::max(0.000001f, opts.shadow_gamma.y);
-  opts.shadow_gamma.z = std::max(0.000001f, opts.shadow_gamma.z);
-  opts.mid_point.x = std::max(0.000001f, opts.mid_point.x);
-  opts.mid_point.y = std::max(0.000001f, opts.mid_point.y);
-  opts.mid_point.z = std::max(0.000001f, opts.mid_point.z);
-  if (opts.highlight_scale.x == 0.0f) opts.highlight_scale.x = 0.000001f;
-  if (opts.highlight_scale.y == 0.0f) opts.highlight_scale.y = 0.000001f;
-  if (opts.highlight_scale.z == 0.0f) opts.highlight_scale.z = 0.000001f;
-
-  if (changed) {
-    scene_view->SetColorGradingOptions(opts);
-  }
-}
-
-void DrawDepthOfFieldGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto opts = view->getDepthOfFieldOptions();
-  bool changed = false;
-  changed |= Ui("Enabled", &opts.enabled);
-  changed |= Ui("Filter", &opts.filter);
-  changed |= Ui("Max. Aperture", &opts.maxApertureDiameter);
-  changed |= Ui("Resolution", &opts.nativeResolution);
-  changed |= Ui("COC Scale", &opts.cocScale);
-  changed |= Ui("COC Aspect Ratio", &opts.cocAspectRatio);
-  changed |= Ui("Max COC (Foreground)", &opts.maxForegroundCOC);
-  changed |= Ui("Max COC (Background)", &opts.maxBackgroundCOC);
-  changed |= Ui("Foreground Ring Count", &opts.foregroundRingCount);
-  changed |= Ui("Background Ring Count", &opts.backgroundRingCount);
-  changed |= Ui("Fast Gather Ring Count", &opts.fastGatherRingCount);
-  if (changed) {
-    view->setDepthOfFieldOptions(opts);
-  }
-}
-
-void DrawDitheringGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  bool enabled = view->getDithering() != filament::Dithering::NONE;
-  if (Ui("Enabled", &enabled)) {
-    view->setDithering(enabled ? filament::Dithering::TEMPORAL
-                               : filament::Dithering::NONE);
-  }
-}
-
-void DrawFogGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto opts = view->getFogOptions();
-  bool changed = false;
-  changed |= Ui("Enabled", &opts.enabled);
-  changed |= Ui("Color", &opts.color);
-  changed |= Ui("Use IBL Color", &opts.fogColorFromIbl);
-  changed |= Ui("Density", &opts.density);
-  changed |= Ui("Distance", &opts.distance);
-  changed |= Ui("Cutoff", &opts.cutOffDistance);
-  changed |= Ui("Max. Opacity", &opts.maximumOpacity);
-  changed |= Ui("Height", &opts.height);
-  changed |= Ui("Height Falloff", &opts.heightFalloff);
-  changed |= Ui("InScattering Start", &opts.inScatteringStart);
-  changed |= Ui("InScattering Size", &opts.inScatteringSize);
-  if (changed) {
-    opts.maximumOpacity = std::clamp(opts.maximumOpacity, 0.0f, 1.0f);
-    view->setFogOptions(opts);
-  }
-}
-
-void DrawVignetteGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto opts = view->getVignetteOptions();
-  bool changed = false;
-  changed |= Ui("Enabled", &opts.enabled);
-  changed |= Ui("Color", &opts.color);
-  changed |= Ui("Midpoint", &opts.midPoint);
-  changed |= Ui("Roundness", &opts.roundness);
-  changed |= Ui("Feature", &opts.feather);
-
-  if (changed) {
-    opts.midPoint = std::clamp(opts.midPoint, 0.0f, 1.0f);
-    opts.roundness = std::clamp(opts.roundness, 0.0f, 1.0f);
-    opts.feather = std::clamp(opts.feather, 0.0f, 1.0f);
-    view->setVignetteOptions(opts);
-  }
-}
-
-void DrawVisibleLayersGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  uint32_t layers = view->getVisibleLayers();
-  bool changed = false;
-
-  ImGui::Columns(2);
-  changed |= ImGui::CheckboxFlags("Layer 0", &layers, 1 << 0);
-  changed |= ImGui::CheckboxFlags("Layer 1", &layers, 1 << 1);
-  changed |= ImGui::CheckboxFlags("Layer 2", &layers, 1 << 2);
-  changed |= ImGui::CheckboxFlags("Layer 3", &layers, 1 << 3);
-  ImGui::NextColumn();
-  changed |= ImGui::CheckboxFlags("Layer 4", &layers, 1 << 4);
-  changed |= ImGui::CheckboxFlags("Layer 5", &layers, 1 << 5);
-  changed |= ImGui::CheckboxFlags("Layer 6", &layers, 1 << 6);
-  changed |= ImGui::CheckboxFlags("Layer 7", &layers, 1 << 7);
-  ImGui::Columns(1);
-  if (changed) {
-    view->setVisibleLayers(0xff, static_cast<uint8_t>(layers));
-  }
-}
-
-void DrawCameraGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  filament::Camera& camera = view->getCamera();
-  auto position = float3(camera.getPosition());
-  Ui("Position", &position);
-  auto direction = camera.getForwardVector();
-  Ui("Direction", &direction);
-}
-
-void DrawIndirectLightGui(SceneView* scene_view) {
-  filament::View* view = scene_view->GetDefaultRenderView();
-  auto ibl = view->getScene()->getIndirectLight();
-
-  float intensity = 10000.0f;
-  if (ibl) {
-    intensity = ibl->getIntensity();
-    if (Ui("Intensity", &intensity, {.min = 0.0f, .step = 1000.0f, .fstep = 10000.0f})) {
-      ibl->setIntensity(intensity);
-    }
-  }
-}
-
-void DrawLightGui(filament::LightManager& lm,
-                  filament::LightManager::Instance li) {
-  auto color = lm.getColor(li);
-  if (ImGui::ColorEdit3("Color", &color.x)) {
-    lm.setColor(li, color);
-  }
-  auto position = lm.getPosition(li);
-  if (Ui("Position", &position)) {
-    lm.setPosition(li, position);
-  }
-  auto direction = lm.getDirection(li);
-  if (Ui("Direction", &direction)) {
-    lm.setDirection(li, direction);
-  }
-  float intensity = lm.getIntensity(li);
-  if (Ui("Intensity", &intensity, {.min = 0.0f, .step = 1000.0f, .fstep = 10000.0f})) {
-    lm.setIntensityCandela(li, intensity);
-  }
-  float falloff = lm.getFalloff(li);
-  if (Ui("Falloff Radius", &falloff)) {
-    lm.setFalloff(li, falloff);
-  }
-  if (lm.isSpotLight(li)) {
-    float spotLightInnerCone = lm.getSpotLightInnerCone(li);
-    float spotLightOuterCone = lm.getSpotLightOuterCone(li);
-    if (Ui("Spot Light Inner Cone", &spotLightInnerCone)) {
-      lm.setSpotLightCone(li, spotLightInnerCone, spotLightOuterCone);
-    }
-    if (Ui("Spot Light Outer Cone", &spotLightOuterCone)) {
-      lm.setSpotLightCone(li, spotLightInnerCone, spotLightOuterCone);
-    }
-  }
-  ImGui::Columns(2);
-  for (int i = 0; i < 8; ++i) {
-    std::string name = "Channel " + std::to_string(i);
-    bool enabled = lm.getLightChannel(li, i);
-    if (i == 4) {
-      ImGui::NextColumn();
-    }
-    if (Ui(name, &enabled)) {
-      lm.setLightChannel(li, i, enabled);
-    }
-  }
-  ImGui::Columns(1);
-  if (ImGui::TreeNodeEx("Shadow Options")) {
-    bool enabled = lm.isShadowCaster(li);
-    if (Ui("Enabled", &enabled)) {
-      lm.setShadowCaster(li, enabled);
-    }
-
-    filament::LightManager::ShadowOptions opts = lm.getShadowOptions(li);
-    bool changed = false;
-    changed |= Ui("Stable", &opts.stable);
-    changed |= Ui("LiSPSM", &opts.lispsm);
-    changed |= Ui("SS Contact Shadows", &opts.screenSpaceContactShadows);
-    changed |= Ui("Map Size", &opts.mapSize);
-    changed |= Ui("Bulb Radius", &opts.shadowBulbRadius);
-    changed |= Ui("Step Count", &opts.stepCount);
-    changed |= Ui("# Cascades", &opts.shadowCascades);
-    changed |= Ui("Constant Bias", &opts.constantBias);
-    changed |= Ui("Normal Bias", &opts.normalBias);
-    changed |= Ui("EL VSM Enabled", &opts.vsm.elvsm);
-    changed |= Ui("VSM Blur Width", &opts.vsm.blurWidth);
-    if (changed) {
-      lm.setShadowOptions(li, opts);
-    }
-    ImGui::TreePop();
-  }
-}
-
-}  // namespace mujoco
-
-extern "C" {
-
-void mjrf_DEBUG_drawImguiEditor(mjrfScene* scene) {
-  mujoco::SceneView* scene_view = mujoco::SceneView::downcast(scene);
-  filament::View* view = scene_view->GetDefaultRenderView();
-  filament::Engine* engine = scene_view->GetEngine();
-  filament::LightManager& lm = engine->getLightManager();
-
-  if (ImGui::TreeNodeEx("Ambient Occlusion")) {
-    mujoco::DrawAmbientOcclusionGui(scene_view);
-    ImGui::TreePop();
-  }
-  if (ImGui::TreeNodeEx("Screen Space")) {
-    mujoco::DrawScreenSpaceGui(scene_view);
-    ImGui::TreePop();
-  }
-  if (ImGui::TreeNodeEx("Shadowing")) {
-    mujoco::DrawShadowingGui(scene_view);
-    ImGui::TreePop();
-  }
-  if (ImGui::TreeNodeEx("Post Processing")) {
-    mujoco::DrawPostProcessingGui(scene_view);
-    if (ImGui::TreeNodeEx("Anti Aliasing (FXAA)")) {
-      mujoco::DrawFxaaGui(scene_view);
-      ImGui::TreePop();
-    }
-    if (ImGui::TreeNodeEx("Anti Aliasing (MSAA)")) {
-      mujoco::DrawMsaaGui(scene_view);
-      ImGui::TreePop();
-    }
-    if (ImGui::TreeNodeEx("Anti Aliasing (Temporal)")) {
-      mujoco::DrawTaaGui(scene_view);
-      ImGui::TreePop();
-    }
-    if (ImGui::TreeNodeEx("Bloom")) {
-      mujoco::DrawBloomGui(scene_view);
-      ImGui::TreePop();
-    }
-    if (ImGui::TreeNodeEx("Color Grading")) {
-      mujoco::DrawColorGradingGui(scene_view);
-      ImGui::TreePop();
-    }
-    if (ImGui::TreeNodeEx("Depth of Field")) {
-      mujoco::DrawDepthOfFieldGui(scene_view);
-      ImGui::TreePop();
-    }
-    if (ImGui::TreeNodeEx("Dithering")) {
-      mujoco::DrawDitheringGui(scene_view);
-      ImGui::TreePop();
-    }
-    if (ImGui::TreeNodeEx("Fog")) {
-      mujoco::DrawFogGui(scene_view);
-      ImGui::TreePop();
-    }
-    if (ImGui::TreeNodeEx("Vignette")) {
-      mujoco::DrawVignetteGui(scene_view);
-      ImGui::TreePop();
-    }
-    ImGui::TreePop();
-  }
-  if (ImGui::TreeNodeEx("Visibility Layers")) {
-    mujoco::DrawVisibleLayersGui(scene_view);
-    ImGui::TreePop();
-  }
-  if (ImGui::TreeNodeEx("Camera")) {
-    mujoco::DrawCameraGui(scene_view);
-    ImGui::TreePop();
-  }
-  if (ImGui::TreeNodeEx("Lights")) {
-    if (ImGui::TreeNodeEx("Indirect (Image-based) Light")) {
-      mujoco::DrawIndirectLightGui(scene_view);
-      ImGui::TreePop();
-    }
-    view->getScene()->forEach([&](utils::Entity entity) {
-      auto li = lm.getInstance(entity);
-      if (!li.isValid()) {
-        return;
-      }
-
-      const char* type = lm.isDirectional(li)  ? " (D)"
-                         : lm.isPointLight(li) ? " (P)"
-                                               : " (S)";
-      const std::string name = "Light " + std::to_string(entity.getId()) + type;
-      if (ImGui::TreeNodeEx(name.c_str())) {
-        mujoco::DrawLightGui(lm, li);
-        ImGui::TreePop();
-      }
-    });
-    ImGui::TreePop();
-  }
-}
-
-}  // extern "C"
diff --git a/src/render/filament/core/light.cc b/src/render/filament/core/light.cc
deleted file mode 100644
index 0733a7e6..00000000
--- a/src/render/filament/core/light.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/light.h"
-
-#include <numbers>
-
-#include <filament/Engine.h>
-#include <filament/IndirectLight.h>
-#include <filament/LightManager.h>
-#include <filament/Scene.h>
-#include <math/mat3.h>
-#include <math/vec3.h>
-#include <utils/Entity.h>
-#include <utils/EntityManager.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/texture.h"
-#include "render/filament/support/filament_util.h"
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::mat3f;
-
-Light::Light(filament::Engine* engine, const mjrfLightParams& params)
-    : engine_(engine), params_(params) {
-  // Filament treats image-based lights (IBLs) as separate objects (i.e.
-  // filament::IndirectLight) and so we need to handle IBLs specially.
-  if (params.type == mjLIGHT_IMAGE) {
-    filament::IndirectLight::Builder builder;
-    if (params.texture) {
-      // Allow null textures for fallback lights.
-      const Texture* texture = Texture::downcast(params.texture);
-      builder.reflections(texture->GetFilamentTexture());
-      const Texture::SphericalHarmonics* spherical_harmonics =
-          texture->GetSphericalHarmonics();
-      if (spherical_harmonics != nullptr) {
-        builder.irradiance(3, *spherical_harmonics);
-      }
-    }
-    builder.intensity(params.intensity);
-    // Rotate the light to match mujoco's Z-up convention.
-    builder.rotation(mat3f::rotation(std::numbers::pi / 2, float3{1, 0, 0}));
-    ibl_ = builder.build(*engine_);
-    return;
-  }
-
-  filament::LightManager::Type type;
-  switch (params.type) {
-    case mjLIGHT_SPOT:
-      // SPOT rather than FOCUSED_SPOT: MJCF intensity is candela, which must
-      // not rescale with the cone angle.
-      type = filament::LightManager::Type::SPOT;
-      break;
-    case mjLIGHT_DIRECTIONAL:
-      type = filament::LightManager::Type::DIRECTIONAL;
-      break;
-    case mjLIGHT_POINT:
-      type = filament::LightManager::Type::POINT;
-      break;
-    default:
-      mju_error("Unsupported light type: %d", params.type);
-      return;
-  }
-
-  filament::LightManager::Builder builder(type);
-  builder.color(ReadFloat3(params.color));
-  builder.intensityCandela(params.intensity);
-  builder.castShadows(params.cast_shadows);
-  if (type == filament::LightManager::Type::SPOT) {
-    // The light delivers its full intensity inside the inner cone, so that
-    // illuminance follows E = I/d^2, and falls to zero over the outer
-    // softness fraction of the cone angle.
-    const float outer = params.spot_cone_angle * std::numbers::pi / 180.0f;
-    const float inner = (1.0f - params.spot_softness) * outer;
-    builder.spotLightCone(inner, outer);
-  }
-  if (type != filament::LightManager::Type::DIRECTIONAL) {
-    builder.falloff(params.range);
-  }
-  filament::LightManager::ShadowOptions opts;
-  opts.mapSize = 4096;
-  opts.shadowCascades =
-      type == filament::LightManager::Type::DIRECTIONAL ? 4 : 1;
-  opts.shadowBulbRadius = params.bulb_radius;
-  opts.mapSize = params.shadow_map_size;
-  if (params.vsm_blur_width > 0.0f) {
-    opts.vsm.elvsm = true;
-    opts.vsm.blurWidth = params.vsm_blur_width;
-  }
-
-  builder.shadowOptions(opts);
-
-  entity_ = utils::EntityManager::get().create();
-  if (entity_.isNull()) {
-    mju_error("Failed to create light entity.");
-  }
-  builder.build(*engine_, entity_);
-}
-
-Light::~Light() noexcept {
-  if (ibl_) {
-    engine_->destroy(ibl_);
-  } else {
-    utils::EntityManager& em = utils::EntityManager::get();
-    if (!entity_.isNull()) {
-      engine_->destroy(entity_);
-      em.destroy(entity_);
-    }
-  }
-}
-
-void Light::AddToScene(filament::Scene* scene) {
-  if (ibl_) {
-    scene->setIndirectLight(ibl_);
-  } else {
-    scene->addEntity(entity_);
-  }
-}
-
-void Light::RemoveFromScene(filament::Scene* scene) {
-  if (ibl_) {
-    scene->setIndirectLight(nullptr);
-  } else {
-    scene->remove(entity_);
-  }
-}
-
-void Light::SetTransform(filament::math::float3 position,
-                         filament::math::float3 direction) {
-  if (!ibl_) {
-    filament::LightManager& lm = engine_->getLightManager();
-    const filament::LightManager::Instance li = lm.getInstance(entity_);
-    lm.setPosition(li, position);
-    lm.setDirection(li, direction);
-  }
-}
-
-void Light::SetColor(const filament::math::float3& color) {
-  if (!ibl_) {
-    params_.color[0] = color.r;
-    params_.color[1] = color.g;
-    params_.color[2] = color.b;
-
-    filament::LightManager& lm = engine_->getLightManager();
-    const filament::LightManager::Instance li = lm.getInstance(entity_);
-    lm.setColor(li, color);
-  }
-}
-
-void Light::SetIntensity(float intensity) {
-  params_.intensity = intensity;
-  if (ibl_) {
-    ibl_->setIntensity(intensity);
-  } else {
-    filament::LightManager& lm = engine_->getLightManager();
-    const filament::LightManager::Instance li = lm.getInstance(entity_);
-    lm.setIntensityCandela(li, intensity);
-  }
-}
-
-void Light::SetShadowMapSize(int map_size) {
-  params_.shadow_map_size = map_size;
-  if (ibl_) {
-    return;
-  }
-  filament::LightManager& lm = engine_->getLightManager();
-  const filament::LightManager::Instance li = lm.getInstance(entity_);
-  filament::LightManager::ShadowOptions opts = lm.getShadowOptions(li);
-  opts.mapSize = map_size;
-  lm.setShadowOptions(li, opts);
-}
-
-void Light::Enable() {
-  if (!enabled_) {
-    enabled_ = true;
-    if (ibl_) {
-      ibl_->setIntensity(params_.intensity);
-    } else {
-      filament::LightManager& lm = engine_->getLightManager();
-      const filament::LightManager::Instance li = lm.getInstance(entity_);
-      lm.setLightChannel(li, 0, enabled_);
-    }
-  }
-}
-
-void Light::Disable() {
-  if (enabled_) {
-    enabled_ = false;
-    if (ibl_) {
-      ibl_->setIntensity(0.f);
-    } else {
-      filament::LightManager& lm = engine_->getLightManager();
-      const filament::LightManager::Instance li = lm.getInstance(entity_);
-      lm.setLightChannel(li, 0, enabled_);
-    }
-  }
-}
-
-mjtLightType Light::GetType() const {
-  return static_cast<mjtLightType>(params_.type);
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/light.h b/src/render/filament/core/light.h
deleted file mode 100644
index d0ee756a..00000000
--- a/src/render/filament/core/light.h
+++ /dev/null
@@ -1,81 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_LIGHT_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_LIGHT_H_
-
-#include <filament/Engine.h>
-#include <filament/Scene.h>
-#include <math/vec3.h>
-#include <utils/Entity.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/types.h"
-
-namespace mujoco {
-
-// Wrapper around both a "normal" filament Light Entity and a filament
-// IndirectLight.
-class Light : public mjrfLight {
- public:
-  Light(filament::Engine* engine, const mjrfLightParams& params);
-  ~Light() noexcept;
-
-  Light(const Light&) = delete;
-  Light& operator=(const Light&) = delete;
-
-  // Adds this light to the filament Scene.
-  void AddToScene(filament::Scene* scene);
-
-  // Removes this light from the filament Scene.
-  void RemoveFromScene(filament::Scene* scene);
-
-  // Updates this light's position and rotation.
-  void SetTransform(filament::math::float3 position,
-                    filament::math::float3 direction);
-
-  // Sets the color of this light.
-  void SetColor(const filament::math::float3& color);
-
-  // Sets the intensity of this light, in candela.
-  void SetIntensity(float intensity);
-
-  // Sets the resolution of this light's shadow map, in texels.
-  void SetShadowMapSize(int map_size);
-
-  // Returns the type of the light.
-  mjtLightType GetType() const;
-
-  // Enables/disables the light in the scene.
-  void Enable();
-  void Disable();
-
-  static Light* downcast(mjrfLight* light) {
-    return static_cast<Light*>(light);
-  }
-  static const Light* downcast(const mjrfLight* light) {
-    return static_cast<const Light*>(light);
-  }
-
- private:
-  filament::Engine* engine_ = nullptr;
-  filament::IndirectLight* ibl_ = nullptr;
-  utils::Entity entity_;
-  mjrfLightParams params_;
-  bool enabled_ = true;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_LIGHT_H_
diff --git a/src/render/filament/core/material_manager.cc b/src/render/filament/core/material_manager.cc
deleted file mode 100644
index fdf71507..00000000
--- a/src/render/filament/core/material_manager.cc
+++ /dev/null
@@ -1,344 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/material_manager.h"
-
-#include <cstddef>
-#include <cstdint>
-#include <functional>
-#include <string_view>
-
-#include <filament/Color.h>
-#include <filament/Material.h>
-#include <filament/MaterialInstance.h>
-#include <filament/RenderableManager.h>
-#include <filament/TextureSampler.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/mesh.h"
-#include "render/filament/core/object_manager.h"
-#include "render/filament/core/texture.h"
-#include "render/filament/support/filament_util.h"
-
-namespace mujoco {
-
-template <class T>
-static void Combine(uint64_t& seed, const T* v) {
-  seed ^= std::hash<T>()(*v) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-}
-
-static void Combine(uint64_t& seed, const mjrfTexture* texture) {
-  if (texture) {
-    const uint64_t id = Texture::downcast(texture)->Id();
-    Combine(seed, &id);
-  }
-}
-
-template <typename T>
-static uint64_t hash(const T& obj) {
-  static_assert(std::is_trivially_copyable_v<T>,
-                "Only trivially copyable types are hashable.");
-  int num_bytes = sizeof(T);
-  const std::byte* ptr = reinterpret_cast<const std::byte*>(&obj);
-  uint64_t seed = 0;
-  while (num_bytes >= sizeof(uint64_t)) {
-    Combine(seed, reinterpret_cast<const uint64_t*>(ptr));
-    ptr += sizeof(uint64_t);
-    num_bytes -= sizeof(uint64_t);
-  }
-  while (num_bytes >= sizeof(uint32_t)) {
-    Combine(seed, reinterpret_cast<const uint32_t*>(ptr));
-    ptr += sizeof(uint32_t);
-    num_bytes -= sizeof(uint32_t);
-  }
-  while (num_bytes >= sizeof(uint16_t)) {
-    Combine(seed, reinterpret_cast<const uint16_t*>(ptr));
-    ptr += sizeof(uint16_t);
-    num_bytes -= sizeof(uint16_t);
-  }
-  while (num_bytes >= sizeof(uint8_t)) {
-    Combine(seed, reinterpret_cast<const uint8_t*>(ptr));
-    ptr += sizeof(uint8_t);
-    num_bytes -= sizeof(uint8_t);
-  }
-  return seed;
-}
-
-MaterialManager::MaterialManager(ObjectManager* object_mgr)
-    : object_mgr_(object_mgr) {}
-
-MaterialManager::~MaterialManager() {
-  for (auto& [key, instance] : instances_) {
-    object_mgr_->GetEngine()->destroy(instance);
-  }
-}
-
-void MaterialManager::PrepareToRender() { used_keys_.clear(); }
-
-void MaterialManager::RemoveUnusedMaterials() {
-  if (instances_.size() == used_keys_.size()) {
-    return;
-  }
-  for (auto it = instances_.begin(); it != instances_.end();) {
-    if (!used_keys_.contains(it->first)) {
-      object_mgr_->GetEngine()->destroy(it->second);
-      it = instances_.erase(it);
-    } else {
-      ++it;
-    }
-  }
-}
-
-static MaterialManager::MaterialKey BuildMaterialKey(
-    MaterialManager::MaterialType material_type, mjtGeom geom_type,
-    const mjrfMaterial& material) {
-  // Normally, hashing the struct by memory would be a problem because of
-  // padding and other uninitialized data. However, we do a memset(0) on the
-  // entire structure in mjr_defaultMaterial so this should be safe.
-  uint64_t key = hash(material);
-  Combine(key, &geom_type);
-  Combine(key, &material_type);
-  Combine(key, material.color_texture);
-  Combine(key, material.opacity_texture);
-  Combine(key, material.normal_texture);
-  Combine(key, material.orm_texture);
-  Combine(key, material.metallic_texture);
-  Combine(key, material.roughness_texture);
-  Combine(key, material.occlusion_texture);
-  Combine(key, material.emissive_texture);
-  Combine(key, material.reflection_texture);
-  return key;
-}
-
-MaterialManager::MaterialType MaterialManager::GetMaterialType(
-    const mjrfMaterial& material, const Mesh* mesh) {
-  if (material.decor_ux) {
-    if (material.color_texture) {
-      return ObjectManager::kUnlitUi;
-    } else {
-      return ObjectManager::kDecor;
-    }
-  } else if (material.orm_texture) {
-    if (material.opacity_texture) {
-      return ObjectManager::kPbrPackedTransparent;
-    } else {
-      return ObjectManager::kPbrPacked;
-    }
-  } else if (material.metallic_texture) {
-    if (material.opacity_texture) {
-      return ObjectManager::kPbrPackedTransparent;
-    } else {
-      return ObjectManager::kPbr;
-    }
-  } else if (material.roughness_texture) {
-    if (material.color[3] < 1.0f) {
-      return ObjectManager::kPbrTransparent;
-    } else {
-      return ObjectManager::kPbr;
-    }
-  } else if (material.metallic >= 0) {
-    if (material.color[3] < 1.0f) {
-      return ObjectManager::kPbrTransparent;
-    } else {
-      return ObjectManager::kPbr;
-    }
-  } else if (material.roughness >= 0) {
-    if (material.color[3] < 1.0f) {
-      return ObjectManager::kPbrTransparent;
-    } else {
-      return ObjectManager::kPbr;
-    }
-  }
-
-  // Check to see if we're dealing with a mesh with texture coordinates.
-  // `data_id` is the id of the mesh in model (i.e. the geom has mesh
-  // geometry) and `mesh_texcoordadr` stores the address of the mesh uvs if
-  // it has them.
-  const Texture* color_texture = Texture::downcast(material.color_texture);
-  const bool has_texcoords =
-      mesh ? mesh->HasVertexAttribute(mjVERTEX_ATTRIBUTE_USAGE_UV) : false;
-
-  if (color_texture == nullptr) {
-    if (material.color[3] < 1.0f) {
-      return ObjectManager::kPhongColorFade;
-    } else if (material.reflectance > 0) {
-      return ObjectManager::kPhongColorReflect;
-    } else {
-      return ObjectManager::kPhongColor;
-    }
-  } else if (color_texture->GetSamplerType() == mjTEXTURE_CUBE) {
-    if (material.color[3] < 1.0f) {
-      return ObjectManager::kPhongCubeFade;
-    } else if (material.reflectance > 0) {
-      return ObjectManager::kPhongCubeReflect;
-    } else {
-      return ObjectManager::kPhongCube;
-    }
-  } else if (has_texcoords) {
-    if (material.color[3] < 1.0f) {
-      return ObjectManager::kPhong2dUvFade;
-    } else if (material.reflectance > 0) {
-      return ObjectManager::kPhong2dUvReflect;
-    } else {
-      return ObjectManager::kPhong2dUv;
-    }
-  } else {
-    // Reached only by a mesh without texture coordinates. Meshes are not planar
-    // reflectors, so reflectance has no reflect variant here.
-    if (material.color[3] < 1.0f) {
-      return ObjectManager::kPhong2dFade;
-    } else {
-      return ObjectManager::kPhong2d;
-    }
-  }
-}
-
-MaterialManager::MaterialKey MaterialManager::PrepareMaterialInstance(
-    const mjrfMaterial& material, mjrDrawMode draw_mode, mjtGeom geom_type,
-    const Mesh* mesh) {
-  ObjectManager::MaterialType type;
-  if (material.selected) {
-    type = ObjectManager::kOutlineFlatten;
-  } else if (draw_mode == mjDRAW_MODE_DEPTH) {
-    type = ObjectManager::kUnlitDepth;
-  } else if (draw_mode == mjDRAW_MODE_SEGMENTATION_BY_ID) {
-    type = ObjectManager::kUnlitSegmentation;
-  } else if (draw_mode == mjDRAW_MODE_SEGMENTATION_BY_COLOR) {
-    type = ObjectManager::kUnlitSegmentation;
-  } else {
-    type = GetMaterialType(material, mesh);
-  }
-
-  const MaterialKey key = BuildMaterialKey(type, geom_type, material);
-
-  auto it = instances_.find(key);
-  if (it == instances_.end()) {
-    filament::MaterialInstance* instance =
-        object_mgr_->GetMaterial(type)->createInstance();
-    UpdateMaterialInstance(instance, material);
-    if (geom_type == mjGEOM_PLANE || geom_type == mjGEOM_TRIANGLE) {
-      instance->setCullingMode(filament::MaterialInstance::CullingMode::NONE);
-    }
-    instances_[key] = instance;
-  }
-  used_keys_.insert(key);
-  return key;
-}
-
-const filament::MaterialInstance* MaterialManager::GetInstance(MaterialKey key) {
-  if (key == 0) {
-    return GetEngine()->getDefaultMaterial()->getDefaultInstance();
-  }
-
-  auto it = instances_.find(key);
-  if (it == instances_.end()) {
-    return nullptr;
-  }
-  return it->second;
-}
-
-void MaterialManager::UpdateMaterialInstance(
-    filament::MaterialInstance* instance, const mjrfMaterial& material) {
-  if (material.scissor[2] != 0 && material.scissor[3] != 0) {
-    instance->setScissor(material.scissor[0], material.scissor[1],
-                         material.scissor[2], material.scissor[3]);
-  }
-
-  const filament::Material* fmaterial = instance->getMaterial();
-  if (fmaterial->hasParameter("BaseColorFactor")) {
-    instance->setParameter("BaseColorFactor", filament::RgbaType::sRGB,
-                           ReadFloat4(material.color));
-  }
-  if (fmaterial->hasParameter("SegmentationColor")) {
-    const uint8_t r = material.segmentation_id >> 0;
-    const uint8_t g = material.segmentation_id >> 8;
-    const uint8_t b = material.segmentation_id >> 16;
-    const filament::math::float4 color{static_cast<float>(r) / 255.0f,
-                                       static_cast<float>(g) / 255.0f,
-                                       static_cast<float>(b) / 255.0f, 1.0f};
-    instance->setParameter("SegmentationColor", filament::RgbaType::LINEAR,
-                           color);
-  }
-  if (fmaterial->hasParameter("EmissiveFactor")) {
-    const float emissive =
-        material.emissive > 0
-            ? material.emissive
-            : (material.emissive_texture != nullptr ? 1.0f : 0.0f);
-    instance->setParameter("EmissiveFactor", emissive);
-  }
-  if (fmaterial->hasParameter("SpecularFactor")) {
-    instance->setParameter("SpecularFactor", material.specular);
-  }
-  if (fmaterial->hasParameter("GlossinessFactor")) {
-    instance->setParameter("GlossinessFactor", material.glossiness);
-  }
-  if (fmaterial->hasParameter("MetallicFactor")) {
-    instance->setParameter("MetallicFactor",
-                           material.metallic >= 0 ? material.metallic : 1.0f);
-  }
-  if (fmaterial->hasParameter("RoughnessFactor")) {
-    instance->setParameter("RoughnessFactor",
-                           material.roughness >= 0 ? material.roughness : 1.0f);
-  }
-  if (fmaterial->hasParameter("UvScale")) {
-    instance->setParameter("UvScale", ReadFloat3(material.uv_scale));
-  }
-  if (fmaterial->hasParameter("UvOffset")) {
-    instance->setParameter("UvOffset", ReadFloat3(material.uv_offset));
-  }
-  if (fmaterial->hasParameter("Reflectance")) {
-    instance->setParameter("Reflectance", material.reflectance);
-  }
-
-  // All textures use the same default sampler.
-  filament::TextureSampler sampler;
-  sampler.setWrapModeR(filament::TextureSampler::WrapMode::REPEAT);
-  sampler.setWrapModeS(filament::TextureSampler::WrapMode::REPEAT);
-  sampler.setWrapModeT(filament::TextureSampler::WrapMode::REPEAT);
-  sampler.setMagFilter(filament::TextureSampler::MagFilter::LINEAR);
-  sampler.setMinFilter(
-      filament::TextureSampler::MinFilter::LINEAR_MIPMAP_LINEAR);
-
-  auto TrySetTexture = [&](const char* name, const mjrfTexture* texture,
-                           mjtTextureRole role) {
-    if (fmaterial->hasParameter(name)) {
-      if (texture != nullptr) {
-        instance->setParameter(
-            name, Texture::downcast(texture)->GetFilamentTexture(), sampler);
-      } else {
-        instance->setParameter(name, object_mgr_->GetFallbackTexture(role),
-                               sampler);
-      }
-    }
-  };
-
-  TrySetTexture("BaseColor", material.color_texture, mjTEXROLE_RGB);
-  TrySetTexture("Opacity", material.opacity_texture, mjTEXROLE_OPACITY);
-  TrySetTexture("Normal", material.normal_texture, mjTEXROLE_NORMAL);
-  TrySetTexture("Metallic", material.metallic_texture, mjTEXROLE_METALLIC);
-  TrySetTexture("Roughness", material.roughness_texture, mjTEXROLE_ROUGHNESS);
-  TrySetTexture("Occlusion", material.occlusion_texture, mjTEXROLE_OCCLUSION);
-  TrySetTexture("ORM", material.orm_texture, mjTEXROLE_ORM);
-  TrySetTexture("Emissive", material.emissive_texture, mjTEXROLE_EMISSIVE);
-  TrySetTexture("Reflection", material.reflection_texture, mjTEXROLE_USER);
-}
-
-ObjectManager* MaterialManager::GetObjectManager() const { return object_mgr_; }
-
-filament::Engine* MaterialManager::GetEngine() const {
-  return object_mgr_->GetEngine();
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/material_manager.h b/src/render/filament/core/material_manager.h
deleted file mode 100644
index 5f71eb89..00000000
--- a/src/render/filament/core/material_manager.h
+++ /dev/null
@@ -1,89 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_MATERIAL_MANAGER_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_MATERIAL_MANAGER_H_
-
-#include <cstdint>
-#include <unordered_map>
-#include <unordered_set>
-
-#include <filament/Engine.h>
-#include <filament/MaterialInstance.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/mesh.h"
-#include "render/filament/core/object_manager.h"
-
-namespace mujoco {
-
-// Manages the filament MaterialInstances used by Renderables.
-//
-// Centralizing the MaterialInstance management allows multiple Renderables to
-// share the same MaterialInstance, which can reduce GPU overhead.
-// MaterialInstance uniqueness is determined by hashing the parameters (mainly
-// the mjrfMaterial) used to create the instance.
-//
-// Any unused MaterialInstances are destroyed at the end of each frame.
-class MaterialManager {
- public:
-  using MaterialType = ObjectManager::MaterialType;
-
-  explicit MaterialManager(ObjectManager* object_mgr);
-  ~MaterialManager();
-
-  MaterialManager(const MaterialManager&) = delete;
-  MaterialManager& operator=(const MaterialManager&) = delete;
-
-  // A key used to uniquely identify a MaterialInstance.
-  using MaterialKey = uint64_t;
-
-  // Marks the beginning of a new frame, allowing us to track which
-  // MaterialInstances are used during the frame so they can be removed at the
-  // end of the frame.
-  void PrepareToRender();
-
-  // Removes any unused MaterialInstances.
-  void RemoveUnusedMaterials();
-
-  // Returns a MaterialType that best matches the given material data and mesh.
-  MaterialType GetMaterialType(const mjrfMaterial& material, const Mesh* mesh);
-
-  // Prepares a MaterialInstance based on the given parameters if one does not
-  // already exist. Returns the key associated with the MaterialInstance.
-  MaterialKey PrepareMaterialInstance(const mjrfMaterial& material,
-                                      mjrDrawMode draw_mode, mjtGeom geom_type,
-                                      const Mesh* mesh);
-
-  // Returns the MaterialInstance associated with the given key.
-  const filament::MaterialInstance* GetInstance(MaterialKey key);
-
-  ObjectManager* GetObjectManager() const;
-  filament::Engine* GetEngine() const;
-
- private:
-  // Updates the material instance using the given parameters and texture
-  // data. In some cases where a material needs a texture, but a specific
-  // texture is not provided, a default texture from the ObjectManager will be
-  // used instead.
-  void UpdateMaterialInstance(filament::MaterialInstance* instance,
-                              const mjrfMaterial& material);
-
-  ObjectManager* object_mgr_;
-  std::unordered_map<MaterialKey, filament::MaterialInstance*> instances_;
-  std::unordered_set<MaterialKey> used_keys_;
-};
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_MATERIAL_MANAGER_H_
diff --git a/src/render/filament/core/mesh.cc b/src/render/filament/core/mesh.cc
deleted file mode 100644
index ecdb848b..00000000
--- a/src/render/filament/core/mesh.cc
+++ /dev/null
@@ -1,442 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/mesh.h"
-
-#include <algorithm>
-#include <cfloat>
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-#include <memory>
-#include <mutex>
-#include <utility>
-
-#include <backend/BufferDescriptor.h>
-#include <filament/Box.h>
-#include <filament/Engine.h>
-#include <filament/IndexBuffer.h>
-#include <filament/VertexBuffer.h>
-#include <math/TVecHelpers.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/support/filament_util.h"
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::float4;
-
-static filament::VertexAttribute GetUsage(const mjrVertexAttribute& attrib) {
-  switch (attrib.usage) {
-    case mjVERTEX_ATTRIBUTE_USAGE_POSITION:
-      return filament::VertexAttribute::POSITION;
-    case mjVERTEX_ATTRIBUTE_USAGE_NORMAL:
-      return filament::VertexAttribute::TANGENTS;
-    case mjVERTEX_ATTRIBUTE_USAGE_TANGENTS:
-      return filament::VertexAttribute::TANGENTS;
-    case mjVERTEX_ATTRIBUTE_USAGE_UV:
-      return filament::VertexAttribute::UV0;
-    case mjVERTEX_ATTRIBUTE_USAGE_COLOR:
-      return filament::VertexAttribute::COLOR;
-    default:
-      mju_error("Unsupported vertex attribute usage: %d", attrib.usage);
-      return filament::VertexAttribute::POSITION;
-  }
-}
-
-static filament::VertexBuffer::AttributeType GetType(
-    const mjrVertexAttribute& attrib) {
-  switch (attrib.type) {
-    case mjVERTEX_ATTRIBUTE_TYPE_FLOAT2:
-      return filament::VertexBuffer::AttributeType::FLOAT2;
-    case mjVERTEX_ATTRIBUTE_TYPE_FLOAT3:
-      return filament::VertexBuffer::AttributeType::FLOAT3;
-    case mjVERTEX_ATTRIBUTE_TYPE_FLOAT4:
-      return filament::VertexBuffer::AttributeType::FLOAT4;
-    case mjVERTEX_ATTRIBUTE_TYPE_UBYTE4:
-      return filament::VertexBuffer::AttributeType::UBYTE4;
-    default:
-      mju_error("Unsupported vertex attribute type: %d", attrib.type);
-      return filament::VertexBuffer::AttributeType::FLOAT3;
-  }
-}
-
-int VertexAttributeTypeSize(const mjrVertexAttribute& attrib) {
-  switch (attrib.type) {
-    case mjVERTEX_ATTRIBUTE_TYPE_FLOAT2:
-      return sizeof(float) * 2;
-    case mjVERTEX_ATTRIBUTE_TYPE_FLOAT3:
-      return sizeof(float) * 3;
-    case mjVERTEX_ATTRIBUTE_TYPE_FLOAT4:
-      return sizeof(float) * 4;
-    case mjVERTEX_ATTRIBUTE_TYPE_UBYTE4:
-      return sizeof(uint8_t) * 4;
-    default:
-      mju_error("Unsupported vertex attribute type: %d", attrib.type);
-      return 0;
-  }
-}
-
-// Fills an index buffer with a basic incrementing sequence.
-template <typename T>
-int FillSequence(std::byte* buffer, std::size_t num_bytes) {
-  const T num = num_bytes / sizeof(T);
-  T* ptr = reinterpret_cast<T*>(buffer);
-  for (T i = 0; i < num; ++i) {
-    ptr[i] = i;
-  }
-  return num;
-}
-
-Mesh::Mesh(filament::Engine* engine, const mjrfMeshConfig& config)
-    : engine_(engine),
-      config_(config),
-      shared_state_(std::make_shared<SharedState>()) {
-  // Perform some validation on the config.
-  const mjrVertexAttribute* positions = nullptr;
-  const mjrVertexAttribute* normals = nullptr;
-  const mjrVertexAttribute* tangents = nullptr;
-  for (int i = 0; i < config_.num_attributes; ++i) {
-    if (config_.attributes[i].usage == mjVERTEX_ATTRIBUTE_USAGE_POSITION) {
-      positions = &config_.attributes[i];
-    } else if (config_.attributes[i].usage == mjVERTEX_ATTRIBUTE_USAGE_NORMAL) {
-      normals = &config_.attributes[i];
-    } else if (config_.attributes[i].usage == mjVERTEX_ATTRIBUTE_USAGE_TANGENTS) {
-      tangents = &config_.attributes[i];
-    }
-  }
-  if (config_.max_vertices == 0) {
-    mju_error("Mesh has no vertices.");
-  }
-  if (!positions) {
-    mju_error("Mesh has no positions.");
-  }
-  if (config_.attributes[0].usage != mjVERTEX_ATTRIBUTE_USAGE_POSITION) {
-    mju_error("Positions must be the first attribute.");
-  }
-  if (normals && tangents) {
-    mju_error("Mesh has both normals and tangents.");
-  }
-  if (normals && config_.interleaved) {
-    // We need to build orientations from normals and so we require each
-    // attribute to be in a separate buffer.
-    mju_error("Cannot support normals with interleaved vertex attributes.");
-  }
-
-  InitVertexBuffer();
-  InitIndexBuffer();
-}
-
-Mesh::~Mesh() {
-  ReleaseResources();
-  if (index_buffer_) {
-    engine_->destroy(index_buffer_);
-  }
-  if (wireframe_index_buffer_) {
-    engine_->destroy(wireframe_index_buffer_);
-  }
-  if (vertex_buffer_) {
-    engine_->destroy(vertex_buffer_);
-  }
-}
-
-void Mesh::Upload(const mjrfMeshData& data) {
-  // If the user has provided a release callback, then we need to ensure we
-  // call is when filament is done with the mesh data.
-  if (data.release) {
-    shared_state_->callbacks.push_back([=]() { data.release(data.user_data); });
-  }
-
-  UpdateVertexBuffer(data);
-  UpdateIndexBuffer(data);
-  UpdateBounds(data);
-}
-
-void Mesh::InitVertexBuffer() {
-  filament::VertexBuffer::Builder vb_builder;
-  vb_builder.vertexCount(config_.max_vertices);
-
-  if (config_.interleaved) {
-    // For an interleaved vertex buffer, we will create a single buffer which
-    // contains the data in the order specified by the attributes array,
-    // starting from the first attribute's payload.
-    vb_builder.bufferCount(1);
-    int total_vertex_size = 0;
-    for (int i = 0; i < config_.num_attributes; ++i) {
-      total_vertex_size += VertexAttributeTypeSize(config_.attributes[i]);
-    }
-
-    // We assume the buffer is tightly packed with no padding between
-    // attributes. As such, the stride is equal to the total vertex size and
-    // each offset is the sum of the sizes of the preceding attributes.
-    int offset = 0;
-    for (int i = 0; i < config_.num_attributes; ++i) {
-      const mjrVertexAttribute& attrib = config_.attributes[i];
-      const filament::VertexAttribute usage = GetUsage(attrib);
-      filament::VertexBuffer::AttributeType type = GetType(attrib);
-      vb_builder.attribute(usage, 0, type, offset, total_vertex_size);
-      if (usage == filament::VertexAttribute::COLOR) {
-        vb_builder.normalized(usage);
-      }
-      offset += VertexAttributeTypeSize(attrib);
-    }
-    vertex_buffer_ = vb_builder.build(*engine_);
-  } else {
-    // For a non-interleaved vertex buffer, we assign a separate buffer to each
-    // attribute.
-    vb_builder.bufferCount(config_.num_attributes);
-    for (int i = 0; i < config_.num_attributes; ++i) {
-      const mjrVertexAttribute& attrib = config_.attributes[i];
-      const filament::VertexAttribute usage = GetUsage(attrib);
-      filament::VertexBuffer::AttributeType type = GetType(attrib);
-      if (attrib.usage == mjVERTEX_ATTRIBUTE_USAGE_NORMAL) {
-        // We will replace normals with orientations.
-        type = filament::VertexBuffer::AttributeType::FLOAT4;
-      }
-      vb_builder.attribute(usage, i, type);
-      if (usage == filament::VertexAttribute::COLOR) {
-        vb_builder.normalized(usage);
-      }
-    }
-    vertex_buffer_ = vb_builder.build(*engine_);
-  }
-}
-
-void Mesh::InitIndexBuffer() {
-  if (config_.max_indices == 0) {
-    return;
-  }
-
-  filament::IndexBuffer::Builder ib_builder;
-  ib_builder.indexCount(config_.max_indices);
-  ib_builder.bufferType(config_.index_type == mjINDEX_TYPE_U16
-                            ? filament::IndexBuffer::IndexType::USHORT
-                            : filament::IndexBuffer::IndexType::UINT);
-  index_buffer_ = ib_builder.build(*engine_);
-}
-
-void Mesh::UpdateVertexBuffer(const mjrfMeshData& data) {
-  if (config_.max_vertices != data.num_vertices) {
-    mju_error("Vertex count does not match config.");
-  }
-
-  // The filament BufferDescriptor callback for releasing the memory.
-  // We pass a heap-allocated shared_ptr to the shared state as the user data.
-  auto callback = +[](void* buffer, size_t size, void* user) {
-    auto* state_ptr = static_cast<std::shared_ptr<SharedState>*>(user);
-    auto state = *state_ptr;
-    delete state_ptr;
-
-    std::lock_guard<std::mutex> lock(state->mutex);
-    if (!state->called) {
-      for (const auto& cb : state->callbacks) {
-        cb();
-      }
-      state->callbacks.clear();
-      state->called = true;
-    }
-  };
-
-  if (config_.interleaved) {
-    int total_vertex_size = 0;
-    for (int i = 0; i < config_.num_attributes; ++i) {
-      total_vertex_size += VertexAttributeTypeSize(config_.attributes[i]);
-    }
-
-    auto* user_data = new std::shared_ptr<SharedState>(shared_state_);
-    const void* bytes = data.vertices[0];
-    const size_t nbytes = data.num_vertices * total_vertex_size;
-    vertex_buffer_->setBufferAt(*engine_, 0,
-                                {bytes, nbytes, callback, user_data});
-  } else {
-    // Assign the individual data buffers.
-    for (int i = 0; i < config_.num_attributes; ++i) {
-      const mjrVertexAttribute& attrib = config_.attributes[i];
-      const void* bytes = data.vertices[i];
-      size_t nbytes = data.num_vertices * VertexAttributeTypeSize(attrib);
-      if (attrib.usage == mjVERTEX_ATTRIBUTE_USAGE_NORMAL) {
-        // Replace normals with orientations.
-        nbytes = data.num_vertices * sizeof(float4);
-        bytes = BuildOrientationsFromNormals(data.num_vertices, bytes);
-      }
-      auto* user_data = new std::shared_ptr<SharedState>(shared_state_);
-      vertex_buffer_->setBufferAt(*engine_, i,
-                                  {bytes, nbytes, callback, user_data});
-    }
-  }
-}
-
-void Mesh::UpdateIndexBuffer(const mjrfMeshData& data) {
-  if (data.num_indices == 0) {
-    return;
-  }
-  if (data.num_indices != config_.max_indices) {
-    mju_error("Index count does not match config.");
-  }
-
-  const int element_size =
-      config_.index_type == mjINDEX_TYPE_U16 ? sizeof(uint16_t) : sizeof(uint32_t);
-  const int num_bytes = config_.max_indices * element_size;
-
-  // If indices == 0 and num_indices > 0, then the user is specifying that the
-  // vertices are provided "in order", i.e. the indices are 0, 1, 2, 3, ...
-  // In this case, we need to create the sequence of indices explicitly.
-  const void* indices = data.indices;
-  if (indices == nullptr) {
-    std::byte* sequence = new std::byte[num_bytes];
-    shared_state_->callbacks.push_back([=]() { delete[] sequence; });
-
-    if (config_.index_type == mjINDEX_TYPE_U16) {
-      FillSequence<uint16_t>(sequence, num_bytes);
-    } else {
-      FillSequence<uint32_t>(sequence, num_bytes);
-    }
-    indices = sequence;
-  }
-  // We don't worry about setting a release callback here because the release
-  // callback for the vertex buffer will call release_callbacks_.
-  filament::backend::BufferDescriptor desc(indices, num_bytes);
-  index_buffer_->setBuffer(*engine_, std::move(desc));
-
-  UpdateWireframeIndexBuffer(indices);
-}
-
-template <typename T>
-static void FillWireframeIndices(const void* src, int num_indices, T* out) {
-  const T* in = static_cast<const T*>(src);
-  for (int i = 0; i < num_indices - 2; i += 3) {
-    *out++ = in[i + 0];
-    *out++ = in[i + 1];
-    *out++ = in[i + 1];
-    *out++ = in[i + 2];
-    *out++ = in[i + 2];
-    *out++ = in[i + 0];
-  }
-}
-
-void Mesh::UpdateWireframeIndexBuffer(const void* src_indices) {
-  // Line meshes are their own wireframe. Interior edges shared between two
-  // triangles are deliberately not deduplicated so that triangle index ranges
-  // map to line index ranges by doubling; see GetWireframeIndexBuffer().
-  if (config_.primitive_type != mjMESH_PRIMITIVE_TYPE_TRIANGLES) {
-    return;
-  }
-  const int num_line_indices = 2 * config_.max_indices;
-  if (wireframe_index_buffer_ == nullptr) {
-    filament::IndexBuffer::Builder ib_builder;
-    ib_builder.indexCount(num_line_indices);
-    ib_builder.bufferType(config_.index_type == mjINDEX_TYPE_U16
-                              ? filament::IndexBuffer::IndexType::USHORT
-                              : filament::IndexBuffer::IndexType::UINT);
-    wireframe_index_buffer_ = ib_builder.build(*engine_);
-  }
-
-  const int element_size = config_.index_type == mjINDEX_TYPE_U16
-                               ? sizeof(uint16_t)
-                               : sizeof(uint32_t);
-  const int num_bytes = num_line_indices * element_size;
-  std::byte* lines = new std::byte[num_bytes];
-  shared_state_->callbacks.push_back([=]() { delete[] lines; });
-  if (config_.index_type == mjINDEX_TYPE_U16) {
-    FillWireframeIndices(src_indices, config_.max_indices,
-                         reinterpret_cast<uint16_t*>(lines));
-  } else {
-    FillWireframeIndices(src_indices, config_.max_indices,
-                         reinterpret_cast<uint32_t*>(lines));
-  }
-  filament::backend::BufferDescriptor desc(lines, num_bytes);
-  wireframe_index_buffer_->setBuffer(*engine_, std::move(desc));
-}
-
-void Mesh::UpdateBounds(const mjrfMeshData& data) {
-  float3 bounds_min = ReadFloat3(data.bounds_min);
-  float3 bounds_max = ReadFloat3(data.bounds_max);
-  if (bounds_min != bounds_max) {
-    bounds_.emplace().set(bounds_min, bounds_max);
-  } else if (data.compute_bounds) {
-    bounds_min = float3(FLT_MAX, FLT_MAX, FLT_MAX);
-    bounds_max = float3(-FLT_MAX, -FLT_MAX, -FLT_MAX);
-
-    if (config_.attributes[0].usage != mjVERTEX_ATTRIBUTE_USAGE_POSITION) {
-      mju_error("mjrfMeshData has no positions.");
-    }
-    const float* positions =
-        reinterpret_cast<const float*>(data.vertices[0]);
-
-    for (int i = 0; i < data.num_vertices; ++i) {
-      const float3 position = ReadFloat3(positions, i);
-      bounds_min = min(bounds_min, position);
-      bounds_max = max(bounds_max, position);
-    }
-    bounds_.emplace().set(bounds_min, bounds_max);
-  }
-}
-
-void Mesh::ReleaseResources() {
-  std::lock_guard<std::mutex> lock(shared_state_->mutex);
-  if (!shared_state_->called) {
-    for (const auto& callback : shared_state_->callbacks) {
-      callback();
-    }
-    shared_state_->callbacks.clear();
-    shared_state_->called = true;
-  }
-}
-
-float4* Mesh::BuildOrientationsFromNormals(int num_vertices,
-                                           const void* normals) {
-  float4* orientations = new float4[num_vertices];
-  shared_state_->callbacks.push_back([=]() { delete[] orientations; });
-
-  const float* normals_ptr = reinterpret_cast<const float*>(normals);
-  for (int i = 0; i < num_vertices; ++i) {
-    orientations[i] = CalculateOrientation(ReadFloat3(normals_ptr, i));
-  }
-  return orientations;
-}
-
-filament::IndexBuffer* Mesh::GetFilamentIndexBuffer() const {
-  return index_buffer_;
-}
-
-filament::IndexBuffer* Mesh::GetWireframeIndexBuffer() const {
-  return wireframe_index_buffer_;
-}
-
-filament::VertexBuffer* Mesh::GetFilamentVertexBuffer() const {
-  return vertex_buffer_;
-}
-
-filament::RenderableManager::PrimitiveType Mesh::GetPrimitiveType() const {
-  return config_.primitive_type == mjMESH_PRIMITIVE_TYPE_TRIANGLES
-             ? filament::RenderableManager::PrimitiveType::TRIANGLES
-             : filament::RenderableManager::PrimitiveType::LINES;
-}
-
-bool Mesh::HasVertexAttribute(mjrVertexAttributeUsage attrib) const {
-  for (int i = 0; i < config_.num_attributes; ++i) {
-    if (config_.attributes[i].usage == attrib) {
-      return true;
-    }
-  }
-  return false;
-}
-
-bool Mesh::HasBounds() const { return bounds_.has_value(); }
-
-filament::Box Mesh::GetBounds() const { return bounds_.value(); }
-}  // namespace mujoco
diff --git a/src/render/filament/core/mesh.h b/src/render/filament/core/mesh.h
deleted file mode 100644
index 21cfd472..00000000
--- a/src/render/filament/core/mesh.h
+++ /dev/null
@@ -1,110 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_MESH_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_MESH_H_
-
-#include <array>
-#include <functional>
-#include <memory>
-#include <mutex>
-#include <optional>
-#include <vector>
-
-#include <filament/Box.h>
-#include <filament/Engine.h>
-#include <filament/IndexBuffer.h>
-#include <filament/RenderableManager.h>
-#include <filament/VertexBuffer.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include "render/filament/core/types.h"
-
-namespace mujoco {
-
-// Owns a filament Vertex and Index buffer representing a geometry mesh.
-class Mesh : public mjrfMesh {
- public:
-  // Creates a Mesh from the given MeshData.
-  Mesh(filament::Engine* engine, const mjrfMeshConfig& config);
-  ~Mesh();
-
-  Mesh(const Mesh&) = delete;
-  Mesh& operator=(const Mesh&) = delete;
-
-  // Uploads the given MeshData to the mesh.
-  void Upload(const mjrfMeshData& data);
-
-  // Returns the filament IndexBuffer for the mesh.
-  filament::IndexBuffer* GetFilamentIndexBuffer() const;
-
-  // Returns the filament IndexBuffer of line indices for wireframe rendering,
-  // or nullptr for non-triangle meshes. Each triangle contributes its three
-  // edges, so a triangle index range [offset, count) maps to the line index
-  // range [2*offset, 2*count).
-  filament::IndexBuffer* GetWireframeIndexBuffer() const;
-
-  // Returns the filament VertexBuffer for the mesh.
-  filament::VertexBuffer* GetFilamentVertexBuffer() const;
-
-  // Returns the primitive type of the mesh.
-  filament::RenderableManager::PrimitiveType GetPrimitiveType() const;
-
-  // Returns true if the mesh has the given attribute.
-  bool HasVertexAttribute(mjrVertexAttributeUsage attrib) const;
-
-  // Returns whether the mesh has bounds.
-  bool HasBounds() const;
-
-  // Returns the bounds of the mesh.
-  filament::Box GetBounds() const;
-
-  static Mesh* downcast(mjrfMesh* mesh) { return static_cast<Mesh*>(mesh); }
-  static const Mesh* downcast(const mjrfMesh* mesh) {
-    return static_cast<const Mesh*>(mesh);
-  }
-
- private:
-  void InitVertexBuffer();
-  void InitIndexBuffer();
-
-  void UpdateVertexBuffer(const mjrfMeshData& data);
-  void UpdateIndexBuffer(const mjrfMeshData& data);
-  void UpdateWireframeIndexBuffer(const void* indices);
-  void UpdateBounds(const mjrfMeshData& data);
-
-  filament::math::float4* BuildOrientationsFromNormals(int num_vertices,
-                                                       const void* normals);
-
-  void ReleaseResources();
-
-  filament::Engine* engine_ = nullptr;
-  mjrfMeshConfig config_;
-
-  filament::IndexBuffer* index_buffer_ = nullptr;
-  filament::IndexBuffer* wireframe_index_buffer_ = nullptr;
-  filament::VertexBuffer* vertex_buffer_ = nullptr;
-  std::optional<filament::Box> bounds_;
-
-  struct SharedState {
-    std::vector<std::function<void()>> callbacks;
-    std::mutex mutex;
-    bool called = false;
-  };
-  std::shared_ptr<SharedState> shared_state_;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_MESH_H_
diff --git a/src/render/filament/core/object_manager.cc b/src/render/filament/core/object_manager.cc
deleted file mode 100644
index e10e3f8d..00000000
--- a/src/render/filament/core/object_manager.cc
+++ /dev/null
@@ -1,204 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/object_manager.h"
-
-#include <cstdint>
-#include <memory>
-#include <string>
-#include <string_view>
-#include <utility>
-
-#include <filament/Engine.h>
-#include <filament/IndirectLight.h>
-#include <filament/Material.h>
-#include <filament/Skybox.h>
-#include <filament/Texture.h>
-#include <math/vec2.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/builtins.h"
-#include "user/user_resource.h"
-
-namespace mujoco {
-
-std::string ResolveFilamentAssetPath(const std::string& filename) {
-  std::string path = "filament:" + filename;
-  return path;
-}
-
-static filament::Material* LoadMaterial(filament::Engine* engine,
-                                        std::string_view filename) {
-  const std::string path = ResolveFilamentAssetPath(std::string(filename));
-  mjResource* resource =
-      mju_openResource("", path.c_str(), nullptr, nullptr, 0);
-  if (!resource) {
-    mju_error("Failed to open filament asset '%.*s' at '%s'",
-              static_cast<int>(filename.size()), filename.data(), path.c_str());
-    return nullptr;
-  }
-  void* payload = nullptr;
-  int size = mju_readResource(resource, const_cast<const void**>(&payload));
-  if (size <= 0 || !payload) {
-    mju_error("Failed to read filament asset '%.*s' (size=%d)",
-              static_cast<int>(filename.size()), filename.data(), size);
-    mju_closeResource(resource);
-    return nullptr;
-  }
-  filament::Material::Builder material_builder;
-  material_builder.package(payload, size);
-  filament::Material* material = material_builder.build(*engine);
-  mju_closeResource(resource);
-  return material;
-};
-
-ObjectManager::ObjectManager(filament::Engine* engine) : engine_(engine) {
-  materials_[kPbr] = LoadMaterial(engine, "pbr.filamat");
-  materials_[kPbrPacked] = LoadMaterial(engine, "pbr_packed.filamat");
-  materials_[kPbrTransparent] = LoadMaterial(engine, "pbr_transparent.filamat");
-  materials_[kPbrPackedTransparent] =
-      LoadMaterial(engine, "pbr_packed_transparent.filamat");
-  materials_[kPbrReflect] = LoadMaterial(engine, "pbr_reflect.filamat");
-  materials_[kPbrPackedReflect] =
-      LoadMaterial(engine, "pbr_packed_reflect.filamat");
-  materials_[kPhong2d] = LoadMaterial(engine, "phong_2d.filamat");
-  materials_[kPhong2dFade] = LoadMaterial(engine, "phong_2d_fade.filamat");
-  materials_[kPhong2dUv] = LoadMaterial(engine, "phong_2d_uv.filamat");
-  materials_[kPhong2dUvFade] = LoadMaterial(engine, "phong_2d_uv_fade.filamat");
-  materials_[kPhong2dUvReflect] =
-      LoadMaterial(engine, "phong_2d_uv_reflect.filamat");
-  materials_[kPhongColor] = LoadMaterial(engine, "phong_color.filamat");
-  materials_[kPhongColorFade] =
-      LoadMaterial(engine, "phong_color_fade.filamat");
-  materials_[kPhongColorReflect] =
-      LoadMaterial(engine, "phong_color_reflect.filamat");
-  materials_[kPhongCube] = LoadMaterial(engine, "phong_cube.filamat");
-  materials_[kPhongCubeFade] = LoadMaterial(engine, "phong_cube_fade.filamat");
-  materials_[kPhongCubeReflect] =
-      LoadMaterial(engine, "phong_cube_reflect.filamat");
-  materials_[kUnlitSegmentation] =
-      LoadMaterial(engine, "unlit_segmentation.filamat");
-  materials_[kDecor] = LoadMaterial(engine, "decor.filamat");
-  materials_[kUnlitDepth] = LoadMaterial(engine, "unlit_depth.filamat");
-  materials_[kUnlitUi] = LoadMaterial(engine, "unlit_ui.filamat");
-  materials_[kOutlineComposite] =
-      LoadMaterial(engine, "outline_composite.filamat");
-  materials_[kOutlineFlatten] = LoadMaterial(engine, "outline_flatten.filamat");
-  materials_[kOutlineJumpFlood] =
-      LoadMaterial(engine, "outline_jumpflood.filamat");
-
-  static uint8_t black_rgb[3] = {0, 0, 0};
-  static uint8_t white_rgb[3] = {255, 255, 255};
-  static uint8_t normal_data[3] = {128, 128, 255};
-  static uint8_t orm_data[3] = {0, 255, 0};
-
-  auto CreateFallbackTexture = [this](uint8_t color[3]) {
-    filament::Texture::Builder builder;
-    builder.width(1);
-    builder.height(1);
-    builder.format(filament::Texture::InternalFormat::RGB8);
-    builder.sampler(filament::Texture::Sampler::SAMPLER_2D);
-    filament::Texture* texture = builder.build(*engine_);
-    const filament::Texture::Type type = filament::Texture::Type::UBYTE;
-    const filament::Texture::Format format = filament::Texture::Format::RGB;
-    texture->setImage(*engine_, 0, {color, 3, format, type});
-    return texture;
-  };
-
-  fallback_black_ = CreateFallbackTexture(black_rgb);
-  fallback_white_ = CreateFallbackTexture(white_rgb);
-  fallback_normal_ = CreateFallbackTexture(normal_data);
-  fallback_orm_ = CreateFallbackTexture(orm_data);
-
-  fallback_textures_[mjTEXROLE_USER] = fallback_black_;
-  fallback_textures_[mjTEXROLE_RGB] = fallback_white_;
-  fallback_textures_[mjTEXROLE_OPACITY] = fallback_white_;
-  fallback_textures_[mjTEXROLE_OCCLUSION] = fallback_white_;
-  fallback_textures_[mjTEXROLE_ROUGHNESS] = fallback_white_;
-  fallback_textures_[mjTEXROLE_METALLIC] = fallback_black_;
-  fallback_textures_[mjTEXROLE_NORMAL] = fallback_normal_;
-  fallback_textures_[mjTEXROLE_EMISSIVE] = fallback_white_;
-  fallback_textures_[mjTEXROLE_ORM] = fallback_orm_;
-
-  CreateQuadBuffers();
-}
-
-ObjectManager::~ObjectManager() {
-  engine_->destroy(quad_vb_);
-  engine_->destroy(quad_ib_);
-  engine_->destroy(fallback_black_);
-  engine_->destroy(fallback_white_);
-  engine_->destroy(fallback_normal_);
-  engine_->destroy(fallback_orm_);
-  for (auto& iter : materials_) {
-    engine_->destroy(iter);
-  }
-}
-
-filament::Material* ObjectManager::GetMaterial(MaterialType type) const {
-  if (type < 0 || type >= kNumMaterials) {
-    mju_error("Invalid material type: %d", type);
-  }
-  return materials_[type];
-}
-
-Builtins* ObjectManager::GetBuiltins(int nstack, int nslice, int nquad) {
-  // Assumes nstack, nslice, and nquad are non-negative and less than 2^20.
-  std::uint64_t key = (static_cast<uint64_t>(nstack) << 20) |
-                      (static_cast<uint64_t>(nslice) << 40) |
-                      static_cast<uint64_t>(nquad);
-
-  auto iter = builtins_.find(key);
-  if (iter == builtins_.end()) {
-    auto builtins = std::make_unique<Builtins>(engine_, nstack, nslice, nquad);
-    Builtins* ptr = builtins.get();
-    builtins_[key] = std::move(builtins);
-    return ptr;
-  }
-  return iter->second.get();
-}
-
-const filament::Texture* ObjectManager::GetFallbackTexture(
-    mjtTextureRole role) const {
-  if (role < 0 || role >= mjNTEXROLE) {
-    mju_error("Invalid texture role: %d", role);
-  }
-  return fallback_textures_[role];
-}
-
-void ObjectManager::CreateQuadBuffers() {
-  // Define a single triangle that completely covers the viewport. (A single
-  // large triangle is more efficient than a two-triangle quad because it
-  // avoids the diagonal edge where pixels might be rasterized twice.)
-  static const filament::math::float2 kVertices[3] = {
-      {-1.0f, -1.0f}, {3.0f, -1.0f}, {-1.0f, 3.0f}};
-
-  static const uint16_t kIndices[3] = {0, 1, 2};
-
-  filament::VertexBuffer::Builder vb_builder;
-  vb_builder.bufferCount(1);
-  vb_builder.vertexCount(3);
-  vb_builder.attribute(filament::VertexAttribute::POSITION, 0,
-                       filament::VertexBuffer::AttributeType::FLOAT2, 0,
-                       sizeof(filament::math::float2));
-  quad_vb_ = vb_builder.build(*engine_);
-  quad_vb_->setBufferAt(*engine_, 0, {kVertices, sizeof(kVertices)});
-
-  filament::IndexBuffer::Builder ib_builder;
-  ib_builder.indexCount(3);
-  ib_builder.bufferType(filament::IndexBuffer::IndexType::USHORT);
-  quad_ib_ = ib_builder.build(*engine_);
-  quad_ib_->setBuffer(*engine_, {kIndices, sizeof(kIndices)});
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/object_manager.h b/src/render/filament/core/object_manager.h
deleted file mode 100644
index 9e91a5a1..00000000
--- a/src/render/filament/core/object_manager.h
+++ /dev/null
@@ -1,108 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_OBJECT_MANAGER_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_OBJECT_MANAGER_H_
-
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <memory>
-#include <string_view>
-#include <unordered_map>
-
-#include <filament/Engine.h>
-#include <filament/IndirectLight.h>
-#include <filament/Skybox.h>
-#include <filament/Texture.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/builtins.h"
-
-namespace mujoco {
-
-// Creates and owns various filament objects based on the data in a mjrContext.
-class ObjectManager {
- public:
-  ObjectManager(filament::Engine* engine);
-  ~ObjectManager();
-
-  // The different filament::Materials that are loaded and managed by the
-  // ObjectManager.
-  enum MaterialType {
-    kPbr,
-    kPbrTransparent,
-    kPbrPacked,
-    kPbrPackedTransparent,
-    kPbrReflect,
-    kPbrPackedReflect,
-    kPhong2d,
-    kPhong2dFade,
-    kPhong2dUv,
-    kPhong2dUvFade,
-    kPhong2dUvReflect,
-    kPhongColor,
-    kPhongColorFade,
-    kPhongColorReflect,
-    kPhongCube,
-    kPhongCubeFade,
-    kPhongCubeReflect,
-    kUnlitSegmentation,
-    kDecor,
-    kUnlitDepth,
-    kUnlitUi,
-    kOutlineComposite,
-    kOutlineFlatten,
-    kOutlineJumpFlood,
-    kNumMaterials,
-  };
-
-  // Returns the Material of the given type.
-  filament::Material* GetMaterial(MaterialType type) const;
-
-  // Returns the fallback Texture with the given role.
-  const filament::Texture* GetFallbackTexture(mjtTextureRole role) const;
-
-  // Returns the buffers for creating a full-screen quad.
-  filament::VertexBuffer* GetQuadVertexBuffer() const { return quad_vb_; }
-  filament::IndexBuffer* GetQuadIndexBuffer() const { return quad_ib_; }
-
-  // Returns the built-in mesh collection with the given dimensions. For
-  // performance reasons, you should consider always using the same dimensions
-  // in order to reuse the same meshes.
-  Builtins* GetBuiltins(int nstack, int nslice, int nquad);
-
-  // Returns the filament Engine that owns the assets.
-  filament::Engine* GetEngine() const { return engine_; }
-
-  ObjectManager(const ObjectManager&) = delete;
-  ObjectManager& operator=(const ObjectManager&) = delete;
-
- private:
-  void CreateQuadBuffers();
-
-  filament::Engine* engine_ = nullptr;
-  std::array<filament::Material*, kNumMaterials> materials_;
-  std::array<filament::Texture*, mjNTEXROLE> fallback_textures_;
-  std::unordered_map<std::uint64_t, std::unique_ptr<Builtins>> builtins_;
-  filament::Texture* fallback_white_ = nullptr;
-  filament::Texture* fallback_black_ = nullptr;
-  filament::Texture* fallback_normal_ = nullptr;
-  filament::Texture* fallback_orm_ = nullptr;
-  filament::VertexBuffer* quad_vb_ = nullptr;
-  filament::IndexBuffer* quad_ib_ = nullptr;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_OBJECT_MANAGER_H_
diff --git a/src/render/filament/core/outliner.cc b/src/render/filament/core/outliner.cc
deleted file mode 100644
index b39c8ce5..00000000
--- a/src/render/filament/core/outliner.cc
+++ /dev/null
@@ -1,269 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/outliner.h"
-
-#include <cstdint>
-#include <memory>
-
-#include <filament/Camera.h>
-#include <filament/Material.h>
-#include <filament/MaterialInstance.h>
-#include <filament/RenderTarget.h>
-#include <filament/RenderableManager.h>
-#include <filament/Scene.h>
-#include <filament/TextureSampler.h>
-#include <filament/View.h>
-#include <filament/Viewport.h>
-#include <math/vec4.h>
-#include <utils/EntityManager.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/object_manager.h"
-#include "render/filament/core/render_target.h"
-#include "render/filament/core/texture.h"
-
-namespace mujoco {
-
-Outliner::Outliner(ObjectManager* object_mgr, uint8_t layer_mask,
-                   uint8_t scene_layer_mask, filament::math::float4 color,
-                   float thickness, float occlusion_dim)
-    : object_mgr_(object_mgr),
-      engine_(object_mgr->GetEngine()),
-      layer_mask_(layer_mask),
-      scene_layer_mask_(scene_layer_mask),
-      color_(color),
-      thickness_(thickness),
-      occlusion_dim_(occlusion_dim) {}
-
-Outliner::~Outliner() { Reset(); }
-
-void Outliner::Prepare(int width, int height) {
-  if (width == width_ && height == height_) {
-    return;
-  }
-  Reset();
-  width_ = width;
-  height_ = height;
-  if (width_ <= 0 || height_ <= 0) {
-    return;
-  }
-
-  auto& em = utils::EntityManager::get();
-
-  // Sets up a pass with a full-screen quad that renders with a given material.
-  auto setup_fullscreen = [&](int pass, ObjectManager::MaterialType type) {
-    filament::Material* material = object_mgr_->GetMaterial(type);
-    filament::VertexBuffer* quad_vb = object_mgr_->GetQuadVertexBuffer();
-    filament::IndexBuffer* quad_ib = object_mgr_->GetQuadIndexBuffer();
-    const filament::RenderableManager::PrimitiveType primitive_type =
-        filament::RenderableManager::PrimitiveType::TRIANGLES;
-
-    material_instances_[pass] = material->createInstance();
-    quads_[pass] = em.create();
-    filament::RenderableManager::Builder(1)
-        .geometry(0, primitive_type, quad_vb, quad_ib)
-        .material(0, material_instances_[pass])
-        .culling(false)
-        .receiveShadows(false)
-        .castShadows(false)
-        .build(*engine_, quads_[pass]);
-    scenes_[pass] = engine_->createScene();
-    scenes_[pass]->addEntity(quads_[pass]);
-    views_[pass]->setScene(scenes_[pass]);
-  };
-
-  // Sets up a pass to use the given render target as the source and/or output.
-  auto bind = [&](int pass, int src, int out) {
-    // Set the `source` texture as the color texture from a render target.
-    if (src >= 0) {
-      const filament::TextureSampler sampler(
-          filament::TextureSampler::MinFilter::NEAREST,
-          filament::TextureSampler::MagFilter::NEAREST);
-      material_instances_[pass]->setParameter(
-          "source", targets_[src]->GetColorTexture()->GetFilamentTexture(),
-          sampler);
-    }
-    // Set the output of the view to the given render target.
-    if (out >= 0) {
-      views_[pass]->setRenderTarget(targets_[out]->GetFilamentRenderTarget());
-    }
-  };
-
-  // Set up the render targets: one for the scene depth, one for the flattened
-  // selection mask and its depth, and two ping-pong targets for chaining the
-  // jump flood passes together.
-  for (int i = 0; i < kNumTargets; ++i) {
-    mjrfRenderTargetConfig config;
-    mjrf_defaultRenderTargetConfig(&config);
-    config.color_format = mjPIXEL_FORMAT_RGBA8;
-    config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
-    config.width = width;
-    config.height = height;
-    targets_[i] = std::make_unique<RenderTarget>(engine_, config);
-    targets_[i]->Prepare(width, height);
-  }
-
-  // Setup orthographic camera for full-screen quad rendering.
-  camera_ = engine_->createCamera(em.create());
-  camera_->setProjection(filament::Camera::Projection::ORTHO, -1.0, 1.0, -1.0,
-                         1.0, -1.0, 1.0);
-  camera_->lookAt({0, 0, 1}, {0, 0, 0}, {0, 1, 0});
-
-  // Setup all the views.
-  for (auto& view : views_) {
-    view = engine_->createView();
-    view->setCamera(camera_);
-    view->setViewport({0, 0, (uint32_t)width, (uint32_t)height});
-    view->setPostProcessingEnabled(false);
-    view->setShadowingEnabled(false);
-    view->setMultiSampleAntiAliasingOptions({.enabled = false});
-  }
-
-  // In the first pass, we render the scene layers that can occlude the
-  // outline; only the resulting depth is used. In the second pass, we render
-  // the given scene again, but only the objects marked as outlines. We assume
-  // that the objects have already been assigned the kOutlineFlatten material.
-  views_[kPassSceneDepth]->setVisibleLayers(0xff, scene_layer_mask_);
-  views_[kPassFlatten]->setVisibleLayers(0xff, layer_mask_);
-
-  // All subsequent passes are full-screen post-processing passes.
-  setup_fullscreen(kPassJumpFlood1, ObjectManager::kOutlineJumpFlood);
-  setup_fullscreen(kPassJumpFlood2, ObjectManager::kOutlineJumpFlood);
-  setup_fullscreen(kPassJumpFlood3, ObjectManager::kOutlineJumpFlood);
-  setup_fullscreen(kPassJumpFlood4, ObjectManager::kOutlineJumpFlood);
-  setup_fullscreen(kPassJumpFlood5, ObjectManager::kOutlineJumpFlood);
-  setup_fullscreen(kPassDrawOutline, ObjectManager::kOutlineComposite);
-
-  // Chain the passes together such that the output of a pass is the input to
-  // the next pass. The scene passes have no input (we are just rendering the
-  // scene) and the last pass has no output (we are just rendering the outline
-  // to the externally provided target). The flatten pass has its own target
-  // (rather than a ping-pong target) so that its depth attachment survives the
-  // jump flood passes and can be sampled by the composite pass.
-  bind(kPassSceneDepth, -1, kTargetSceneDepth);
-  bind(kPassFlatten, -1, kTargetFlatten);
-  bind(kPassJumpFlood1, kTargetFlatten, kTargetPing);
-  bind(kPassJumpFlood2, kTargetPing, kTargetPong);
-  bind(kPassJumpFlood3, kTargetPong, kTargetPing);
-  bind(kPassJumpFlood4, kTargetPing, kTargetPong);
-  bind(kPassJumpFlood5, kTargetPong, kTargetPing);
-  bind(kPassDrawOutline, kTargetPing, -1);
-
-  // Bind the parameters for each pass. For the jump flood passes, the step
-  // parameter determines how far to propagate the outline in each pass.
-  material_instances_[kPassJumpFlood1]->setParameter("step", 16.0f);
-  material_instances_[kPassJumpFlood2]->setParameter("step", 8.0f);
-  material_instances_[kPassJumpFlood3]->setParameter("step", 4.0f);
-  material_instances_[kPassJumpFlood4]->setParameter("step", 2.0f);
-  material_instances_[kPassJumpFlood5]->setParameter("step", 1.0f);
-
-  // The final pass renders the actual outline onto a render target. It samples
-  // the scene depth and the selection depth to dim occluded outline pixels.
-  const filament::TextureSampler depth_sampler(
-      filament::TextureSampler::MinFilter::NEAREST,
-      filament::TextureSampler::MagFilter::NEAREST);
-  material_instances_[kPassDrawOutline]->setParameter("color", color_);
-  material_instances_[kPassDrawOutline]->setParameter("width", thickness_);
-  material_instances_[kPassDrawOutline]->setParameter("dim", occlusion_dim_);
-  material_instances_[kPassDrawOutline]->setParameter(
-      "scene_depth",
-      targets_[kTargetSceneDepth]->GetDepthTexture()->GetFilamentTexture(),
-      depth_sampler);
-  material_instances_[kPassDrawOutline]->setParameter(
-      "selection_depth",
-      targets_[kTargetFlatten]->GetDepthTexture()->GetFilamentTexture(),
-      depth_sampler);
-
-  // Commit all the material instances to the engine.
-  for (auto& material_instance : material_instances_) {
-    if (material_instance) {
-      material_instance->commit(*engine_);
-    }
-  }
-}
-
-void Outliner::Reset() {
-  auto& em = utils::EntityManager::get();
-
-  for (auto& scene : scenes_) {
-    if (scene) {
-      engine_->destroy(scene);
-      scene = nullptr;
-    }
-  }
-  for (auto& quad : quads_) {
-    if (quad) {
-      engine_->destroy(quad);
-      em.destroy(quad);
-      quad = utils::Entity();
-    }
-  }
-  for (auto& material_instance : material_instances_) {
-    if (material_instance) {
-      engine_->destroy(material_instance);
-      material_instance = nullptr;
-    }
-  }
-  for (auto& view : views_) {
-    if (view) {
-      engine_->destroy(view);
-      view = nullptr;
-    }
-  }
-  if (camera_) {
-    utils::Entity entity = camera_->getEntity();
-    engine_->destroyCameraComponent(entity);
-    em.destroy(entity);
-    camera_ = nullptr;
-  }
-  for (auto& target : targets_) {
-    target.reset();
-  }
-  width_ = 0;
-  height_ = 0;
-}
-
-void Outliner::Render(filament::Renderer* renderer, filament::View* view,
-                      filament::RenderTarget* render_target) {
-  filament::Viewport viewport = view->getViewport();
-  Prepare(viewport.width, viewport.height);
-
-  for (auto& view : views_) {
-    view->setViewport(viewport);
-  }
-
-  // Re-render the view's scene to capture the scene depth (used for occlusion
-  // dimming) and to create the flattened selection mask.
-  auto prev_clear_opts = renderer->getClearOptions();
-  renderer->setClearOptions({.clearColor = {0, 0, 0, 0}, .clear = true});
-  views_[kPassSceneDepth]->setScene(view->getScene());
-  views_[kPassSceneDepth]->setCamera(&view->getCamera());
-  renderer->render(views_[kPassSceneDepth]);
-  views_[kPassFlatten]->setScene(view->getScene());
-  views_[kPassFlatten]->setCamera(&view->getCamera());
-  renderer->render(views_[kPassFlatten]);
-  renderer->setClearOptions(prev_clear_opts);
-
-  // Run the jump flood steps to expand the selection mask
-  for (int i = 0; i < kNumJumpFloodPasses; ++i) {
-    renderer->render(views_[kPassJumpFlood1 + i]);
-  }
-
-  // Render the final pass as an outline onto the provided render target.
-  views_[kPassDrawOutline]->setRenderTarget(render_target);
-  renderer->render(views_[kPassDrawOutline]);
-  views_[kPassDrawOutline]->setRenderTarget(nullptr);
-}
-}  // namespace mujoco
diff --git a/src/render/filament/core/outliner.h b/src/render/filament/core/outliner.h
deleted file mode 100644
index 45e27903..00000000
--- a/src/render/filament/core/outliner.h
+++ /dev/null
@@ -1,100 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_OUTLINER_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_OUTLINER_H_
-
-#include <cstdint>
-#include <memory>
-
-#include <filament/Camera.h>
-#include <filament/Renderer.h>
-#include <filament/View.h>
-#include <math/vec4.h>
-#include <utils/Entity.h>
-#include "render/filament/core/object_manager.h"
-#include "render/filament/core/render_target.h"
-
-namespace mujoco {
-
-// Renders an outline of selected objects.
-//
-// This class uses the "jump flood" algorithm to create an outline of selected
-// objects. The outline is dimmed by `occlusion_dim` where the selected objects
-// are occluded by scene geometry on the `scene_layer_mask` layers.
-class Outliner {
- public:
-  Outliner(ObjectManager* object_mgr, uint8_t layer_mask,
-           uint8_t scene_layer_mask, filament::math::float4 color,
-           float thickness, float occlusion_dim);
-  ~Outliner();
-
-  Outliner(const Outliner&) = delete;
-  Outliner& operator=(const Outliner&) = delete;
-
-  // Renders the outline of the selected objects in the given view. The outline
-  // will be rendered on top of the provided render target. This assumes that
-  // any objects to be outlined have been assigned an `OutlineFlatten` material
-  // instance.
-  void Render(filament::Renderer* renderer, filament::View* view,
-              filament::RenderTarget* render_target);
-
- private:
-  void Prepare(int width, int height);
-  void Reset();
-
-  enum Pass {
-    kPassSceneDepth,
-    kPassFlatten,
-    kPassJumpFlood1,
-    kPassJumpFlood2,
-    kPassJumpFlood3,
-    kPassJumpFlood4,
-    kPassJumpFlood5,
-    kPassDrawOutline,
-    kNumPasses,
-
-    kNumJumpFloodPasses = kPassJumpFlood5 - kPassJumpFlood1 + 1,
-  };
-
-  enum Target {
-    kTargetSceneDepth,  // depth of the scene, used for occlusion dimming
-    kTargetFlatten,     // selection mask (color) and selection depth (depth)
-    kTargetPing,        // jump flood ping-pong buffer
-    kTargetPong,        // jump flood ping-pong buffer
-    kNumTargets,
-  };
-
-  ObjectManager* object_mgr_ = nullptr;
-  filament::Engine* engine_ = nullptr;
-  uint8_t layer_mask_ = 0xff;
-  uint8_t scene_layer_mask_ = 0xff;
-  filament::math::float4 color_ = {1.0f, 1.0f, 1.0f, 1.0f};
-  float thickness_ = 2.5f;
-  float occlusion_dim_ = 1.0f;
-
-  int width_ = 0;
-  int height_ = 0;
-
-  filament::Camera* camera_ = nullptr;
-  std::unique_ptr<RenderTarget> targets_[kNumTargets];
-
-  filament::View* views_[kNumPasses] = {};
-  filament::Scene* scenes_[kNumPasses] = {};
-  utils::Entity quads_[kNumPasses] = {};
-  filament::MaterialInstance* material_instances_[kNumPasses] = {};
-};
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_OUTLINER_H_
diff --git a/src/render/filament/core/reflection_manager.cc b/src/render/filament/core/reflection_manager.cc
deleted file mode 100644
index d39504b9..00000000
--- a/src/render/filament/core/reflection_manager.cc
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/reflection_manager.h"
-
-#include <memory>
-
-#include <filament/Engine.h>
-#include <mujoco/mjrfilament.h>
-#include "render/filament/core/render_target.h"
-
-namespace mujoco {
-
-ReflectionManager::ReflectionManager(filament::Engine* engine)
-    : engine_(engine) {}
-
-ReflectionManager::~ReflectionManager() {}
-
-void ReflectionManager::ClearRenderables() { renderables_.clear(); }
-
-mjrfTexture* ReflectionManager::Register(mjrfRenderable* renderable, int width,
-                                         int height) {
-  if (targets_.size() == renderables_.size()) {
-    mjrfRenderTargetConfig config;
-    mjrf_defaultRenderTargetConfig(&config);
-    config.color_format = mjPIXEL_FORMAT_RGBA8;
-    config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
-    targets_.push_back(std::make_unique<RenderTarget>(engine_, config));
-  }
-  RenderTarget* target = targets_[renderables_.size()].get();
-  target->Prepare(width, height);
-  renderables_.push_back(renderable);
-  return target->GetColorTexture();
-}
-
-int ReflectionManager::GetNumRenderables() const { return renderables_.size(); }
-
-mjrfRenderable* ReflectionManager::GetRenderable(int index) const {
-  return renderables_[index];
-}
-
-const RenderTarget* ReflectionManager::GetRenderTarget(int index) const {
-  return targets_[index].get();
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/reflection_manager.h b/src/render/filament/core/reflection_manager.h
deleted file mode 100644
index 3297d04a..00000000
--- a/src/render/filament/core/reflection_manager.h
+++ /dev/null
@@ -1,61 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_REFLECTION_MANAGER_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_REFLECTION_MANAGER_H_
-
-#include <memory>
-#include <vector>
-
-#include <filament/Engine.h>
-#include <mujoco/mjrfilament.h>
-#include "render/filament/core/render_target.h"
-
-namespace mujoco {
-
-// Manages the allocation of RenderTargets for reflective surfaces.
-class ReflectionManager {
- public:
-  ReflectionManager(filament::Engine* engine);
-  ~ReflectionManager();
-
-  ReflectionManager(const ReflectionManager&) = delete;
-  ReflectionManager& operator=(const ReflectionManager&) = delete;
-
-  // Registers a Renderable as being reflective. Internally, this function will
-  // create a RenderTarget of the given size and return the texture that the
-  // Renderable can use as its reflection.
-  mjrfTexture* Register(mjrfRenderable* renderable, int width, int height);
-
-  // Clears all previously registered renderables. This should be called at the
-  // beginning of a frame.
-  void ClearRenderables();
-
-  // Returns the number of registered renderables
-  int GetNumRenderables() const;
-
-  // Returns the renderable at the given index.
-  mjrfRenderable* GetRenderable(int index) const;
-
-  // Returns the RenderTarget at the given index.
-  const RenderTarget* GetRenderTarget(int index) const;
-
- private:
-  filament::Engine* engine_;
-  std::vector<mjrfRenderable*> renderables_;
-  std::vector<std::unique_ptr<RenderTarget>> targets_;
-};
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_REFLECTION_MANAGER_H_
diff --git a/src/render/filament/core/render_target.cc b/src/render/filament/core/render_target.cc
deleted file mode 100644
index 7c6b939f..00000000
--- a/src/render/filament/core/render_target.cc
+++ /dev/null
@@ -1,140 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/render_target.h"
-
-#include <cstddef>
-#include <cstdint>
-#include <memory>
-#include <utility>
-
-#include <backend/DriverEnums.h>
-#include <backend/PixelBufferDescriptor.h>
-#include <filament/Engine.h>
-#include <filament/RenderTarget.h>
-#include <filament/Renderer.h>
-#include <filament/Texture.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/texture.h"
-
-namespace mujoco {
-
-RenderTarget::RenderTarget(filament::Engine* engine,
-                           const mjrfRenderTargetConfig& config)
-    : engine_(engine), config_(config) {
-  if (config_.width > 0 && config_.height > 0) {
-    Prepare(config_.width, config_.height);
-  }
-}
-
-RenderTarget::~RenderTarget() noexcept { Destroy(); }
-
-void RenderTarget::Prepare(int width, int height) {
-  if (width == width_ && height == height_) {
-    return;
-  }
-  Destroy();
-  width_ = width;
-  height_ = height;
-  if (width_ <= 0 || height_ <= 0) {
-    width_ = 0;
-    height_ = 0;
-    return;
-  }
-
-  mjrfTextureConfig color_config;
-  mjrf_defaultTextureConfig(&color_config);
-  Texture::InternalFlags color_flags;
-  color_config.width = width;
-  color_config.height = height;
-  color_config.sampler_type = mjTEXTURE_2D;
-  color_config.format = config_.color_format;
-  color_config.color_space = mjCOLORSPACE_LINEAR;
-  color_flags.color_attachment = true;
-  color_texture_ =
-      std::make_unique<Texture>(engine_, color_config, color_flags);
-
-  mjrfTextureConfig depth_config;
-  mjrf_defaultTextureConfig(&depth_config);
-  Texture::InternalFlags depth_flags;
-  depth_config.width = width;
-  depth_config.height = height;
-  depth_config.sampler_type = mjTEXTURE_2D;
-  depth_config.format = config_.depth_format;
-  depth_config.color_space = mjCOLORSPACE_LINEAR;
-  depth_flags.depth_attachment = true;
-  depth_texture_ =
-      std::make_unique<Texture>(engine_, depth_config, depth_flags);
-
-  filament::RenderTarget::Builder builder;
-  builder.texture(filament::RenderTarget::AttachmentPoint::COLOR,
-                  color_texture_->GetFilamentTexture());
-  builder.texture(filament::RenderTarget::AttachmentPoint::DEPTH,
-                  depth_texture_->GetFilamentTexture());
-  render_target_ = builder.build(*engine_);
-}
-
-void RenderTarget::ReadColorPixels(filament::Renderer* renderer, uint8_t* bytes,
-                                   size_t num_bytes) {
-  filament::backend::PixelDataFormat format;
-  filament::backend::PixelDataType type;
-  size_t expected_num_bytes = 0;
-  switch (config_.color_format) {
-    case mjPIXEL_FORMAT_RGB8:
-      format = filament::backend::PixelDataFormat::RGB;
-      type = filament::backend::PixelDataType::UBYTE;
-      expected_num_bytes = width_ * height_ * 3;
-      break;
-    case mjPIXEL_FORMAT_RGBA8:
-      format = filament::backend::PixelDataFormat::RGBA;
-      type = filament::backend::PixelDataType::UBYTE;
-      expected_num_bytes = width_ * height_ * 4;
-      break;
-    case mjPIXEL_FORMAT_R32F:
-      format = filament::backend::PixelDataFormat::R;
-      type = filament::backend::PixelDataType::FLOAT;
-      expected_num_bytes = width_ * height_ * sizeof(float);
-      break;
-    default:
-      mju_error("Unsupported pixel format: %d", config_.color_format);
-      return;
-  }
-  if (num_bytes != expected_num_bytes) {
-    mju_error("Invalid number of bytes.");
-    return;
-  }
-
-  filament::backend::PixelBufferDescriptor desc(bytes, num_bytes, format, type);
-  renderer->readPixels(render_target_, 0, 0, width_, height_, std::move(desc));
-}
-
-void RenderTarget::Destroy() {
-  if (render_target_) {
-    engine_->destroy(render_target_);
-    render_target_ = nullptr;
-  }
-  color_texture_.reset();
-  depth_texture_.reset();
-}
-
-Texture* RenderTarget::GetColorTexture() const { return color_texture_.get(); }
-
-Texture* RenderTarget::GetDepthTexture() const { return depth_texture_.get(); }
-
-filament::RenderTarget* RenderTarget::GetFilamentRenderTarget() const {
-  return render_target_;
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/render_target.h b/src/render/filament/core/render_target.h
deleted file mode 100644
index fd07ce90..00000000
--- a/src/render/filament/core/render_target.h
+++ /dev/null
@@ -1,79 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDER_TARGET_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDER_TARGET_H_
-
-#include <cstddef>
-#include <cstdint>
-#include <memory>
-
-#include <filament/Engine.h>
-#include <filament/Texture.h>
-#include <mujoco/mjrfilament.h>
-#include "render/filament/core/texture.h"
-#include "render/filament/core/types.h"
-
-namespace mujoco {
-
-// Manages a filament RenderTarget and the textures which are bound to it.
-class RenderTarget : public mjrfRenderTarget {
- public:
-  // Defines the types of textures to create for the color and depth
-  // attachments.
-  RenderTarget(filament::Engine* engine, const mjrfRenderTargetConfig& config);
-  ~RenderTarget() noexcept;
-
-  RenderTarget(const RenderTarget&) = delete;
-  RenderTarget& operator=(const RenderTarget&) = delete;
-
-  // Creates the textures and render target if the width of height differ from
-  // the last time the render target was prepared.
-  void Prepare(int width, int height);
-
-  // Reads the pixels from the render target texture.
-  void ReadColorPixels(filament::Renderer* renderer, uint8_t* bytes,
-                       size_t num_bytes);
-
-  // Returns the color texture.
-  Texture* GetColorTexture() const;
-
-  // Returns the depth texture.
-  Texture* GetDepthTexture() const;
-
-  // Returns the underlying filament render target.
-  filament::RenderTarget* GetFilamentRenderTarget() const;
-
-  static RenderTarget* downcast(mjrfRenderTarget* render_target) {
-    return static_cast<RenderTarget*>(render_target);
-  }
-  static const RenderTarget* downcast(const mjrfRenderTarget* render_target) {
-    return static_cast<const RenderTarget*>(render_target);
-  }
-
- private:
-  void Destroy();
-
-  filament::Engine* engine_ = nullptr;
-  mjrfRenderTargetConfig config_;
-  filament::RenderTarget* render_target_ = nullptr;
-  std::unique_ptr<Texture> color_texture_ = nullptr;
-  std::unique_ptr<Texture> depth_texture_ = nullptr;
-  int width_ = 0;
-  int height_ = 0;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDER_TARGET_H_
diff --git a/src/render/filament/core/renderable.cc b/src/render/filament/core/renderable.cc
deleted file mode 100644
index 25cd7fca..00000000
--- a/src/render/filament/core/renderable.cc
+++ /dev/null
@@ -1,653 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/renderable.h"
-
-#include <cmath>
-#include <cstdint>
-#include <functional>
-#include <numbers>
-#include <span>
-
-#include <filament/Engine.h>
-#include <filament/Material.h>
-#include <filament/RenderableManager.h>
-#include <filament/Scene.h>
-#include <filament/TransformManager.h>
-#include <math/TMatHelpers.h>
-#include <math/TVecHelpers.h>
-#include <math/mat3.h>
-#include <math/mat4.h>
-#include <math/vec2.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <utils/EntityManager.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_vis_visualize.h"
-#include "render/filament/core/builtins.h"
-#include "render/filament/core/material_manager.h"
-#include "render/filament/core/mesh.h"
-#include "render/filament/core/reflection_manager.h"
-#include "render/filament/support/filament_util.h"
-
-namespace mujoco {
-
-using filament::math::float2;
-using filament::math::float3;
-using filament::math::float4;
-using filament::math::mat3f;
-using filament::math::mat4f;
-
-// An arbitrary scale factor for arrows.
-static constexpr float kArrowScale = 1.f / 6.f;
-static constexpr float kArrowHeadSize = 1.75f;
-
-Renderable::Renderable(filament::Engine* engine,
-                       const mjrfRenderableParams& params,
-                       MaterialManager* material_mgr)
-    : material_mgr_(material_mgr), params_(params) {
-  mjrf_defaultMaterial(&material_);
-}
-
-Renderable::~Renderable() noexcept {
-  filament::Engine* engine = GetEngine();
-  utils::EntityManager& em = utils::EntityManager::get();
-  for (Part& part : parts_) {
-    if (assigned_scene_) {
-      assigned_scene_->remove(part.entity);
-    }
-    engine->destroy(part.entity);
-    em.destroy(part.entity);
-  }
-}
-
-void Renderable::SetMesh(const Mesh* mesh, int elem_offset, int elem_count) {
-  if (mesh == nullptr) {
-    mju_error("Cannot set mesh to nullptr.");
-  }
-
-  // We use MESH, even though it could be any mesh-like geom type, e.g.
-  // heightfields, flex, skin, sdf, etc.
-  geom_type_ = mjGEOM_MESH;
-
-  filament::VertexBuffer* vertex_buffer = mesh->GetFilamentVertexBuffer();
-  if (vertex_buffer == nullptr) {
-    mju_error("Invalid (null) vertex buffer.");
-  }
-  filament::IndexBuffer* index_buffer = mesh->GetFilamentIndexBuffer();
-  if (index_buffer == nullptr) {
-    mju_error("Invalid (null) index buffer.");
-  }
-
-  if (elem_count == 0) {
-    elem_count = index_buffer->getIndexCount() - elem_offset;
-  }
-
-  if (parts_.empty()) {
-    Part& part = parts_.emplace_back();
-    part.mesh = mesh;
-    part.elem_offset = elem_offset;
-    part.elem_count = elem_count;
-    InitPartEntity(part);
-  } else if (parts_.size() == 1) {
-    Part& part = parts_[0];
-    part.mesh = mesh;
-    part.elem_offset = elem_offset;
-    part.elem_count = elem_count;
-
-    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
-    auto ri = rm.getInstance(part.entity);
-    rm.setGeometryAt(ri, 0, part.mesh->GetPrimitiveType(), vertex_buffer,
-                     index_buffer, part.elem_offset, part.elem_count);
-    if (part.mesh->HasBounds()) {
-      rm.setAxisAlignedBoundingBox(ri, part.mesh->GetBounds());
-      rm.setCulling(ri, true);
-    } else {
-      rm.setCulling(ri, false);
-    }
-  } else {
-    mju_error("Cannot set mesh for renderable with multiple parts.");
-  }
-}
-
-void Renderable::InitPartEntity(Part& part) {
-  part.entity = utils::EntityManager::get().create();
-  if (part.entity.isNull()) {
-    mju_error("Failed to create entity.");
-  }
-
-  filament::VertexBuffer* vertex_buffer = part.mesh->GetFilamentVertexBuffer();
-  filament::IndexBuffer* index_buffer = part.mesh->GetFilamentIndexBuffer();
-
-  filament::RenderableManager::Builder builder(1);
-  builder.geometry(0, part.mesh->GetPrimitiveType(), vertex_buffer,
-                   index_buffer, part.elem_offset, part.elem_count);
-  if (part.mesh->HasBounds()) {
-    builder.boundingBox(part.mesh->GetBounds());
-  } else {
-    builder.culling(false);
-  }
-  builder.castShadows(params_.cast_shadows);
-  builder.receiveShadows(params_.receive_shadows);
-  builder.blendOrder(0, params_.blend_order);
-  builder.screenSpaceContactShadows(true);
-
-  builder.build(*GetEngine(), part.entity);
-  if (assigned_scene_) {
-    assigned_scene_->addEntity(part.entity);
-  }
-}
-
-void Renderable::SetTransform(const float3& position, const mat3f& rotation) {
-  trs_.translation = position;
-  trs_.rotation = rotation;
-  UpdateTransform();
-}
-
-void Renderable::SetSize(const float3& size) {
-  trs_.size = size;
-  UpdateTransform();
-}
-
-void Renderable::UpdateTransform() {
-  if (parts_.empty()) {
-    transform_ = trs_.ToTransform();
-    return;
-  }
-
-  filament::TransformManager& tm = GetEngine()->getTransformManager();
-  if (geom_type_ == mjGEOM_PLANE && (trs_.size[0] <= 0 || trs_.size[1] <= 0)) {
-    infinite_plane_ = true;
-    static constexpr float kInfiniteScale = 0.5f * mjMAXPLANEGRID;
-    const mat4f scaling =
-        mat4f::scaling(float3{kInfiniteScale, kInfiniteScale, 1.0f});
-    const mat4f transform =
-        filament::math::mat4f(trs_.rotation, trs_.translation) * scaling;
-    for (Part& part : parts_) {
-      tm.setTransform(tm.getInstance(part.entity), transform);
-    }
-  } else if (get_transform_fn_) {
-    for (int i = 0; i < parts_.size(); ++i) {
-      const mat4f transform = get_transform_fn_(i, trs_);
-      tm.setTransform(tm.getInstance(parts_[i].entity), transform);
-    }
-  } else {
-    const mat4f transform = trs_.ToTransform();
-    for (Part& part : parts_) {
-      tm.setTransform(tm.getInstance(part.entity), transform);
-    }
-  }
-  transform_ = tm.getTransform(tm.getInstance(parts_[0].entity));
-}
-
-const mat4f& Renderable::GetTransform() const { return transform_; }
-
-void Renderable::AppendMesh(const Mesh* mesh) {
-  Part& part = parts_.emplace_back();
-  part.mesh = Mesh::downcast(mesh);
-  part.elem_offset = 0;
-  part.elem_count = part.mesh->GetFilamentIndexBuffer()->getIndexCount();
-  InitPartEntity(part);
-}
-
-void Renderable::AddToScene(filament::Scene* scene) {
-  if (assigned_scene_) {
-    if (assigned_scene_ != scene) {
-      mju_error("Cannot add renderable to multiple scenes.");
-    }
-    // Entities are already added to the scene.
-    return;
-  }
-  for (Part& part : parts_) {
-    scene->addEntity(part.entity);
-  }
-  assigned_scene_ = scene;
-}
-
-void Renderable::RemoveFromScene(filament::Scene* scene) {
-  if (assigned_scene_ != scene) {
-    mju_error("Attempting to remove renderable from wrong scene.");
-  }
-  for (Part& part : parts_) {
-    scene->remove(part.entity);
-  }
-  assigned_scene_ = nullptr;
-}
-
-void Renderable::UpdateMaterial(const mjrfMaterial& material) {
-  uint8_t layer_mask_ = kLayerMask_Object;
-  if (material.decor_ux) {
-    layer_mask_ = kLayerMask_Decor;
-  }
-  if (material.selected) {
-    layer_mask_ |= kLayerMask_Outline;
-  }
-  SetLayerMask(layer_mask_);
-  material_ = material;
-}
-
-const mjrfMaterial& Renderable::GetMaterial() const { return material_; }
-
-void Renderable::Prepare(std::span<const mjrfRenderRequest*> requests,
-                         ReflectionManager* reflection_mgr) {
-  // Ensure the renderable has no material instances set from the previous
-  // frame. This will allow us to recycle material instances if needed.
-  SetMaterialInstance(0);
-  // We assume BindMaterialInstance will be called with the same requests in
-  // the same order. As such, we'll just store the draw state in a deque rather
-  // than trying to perform any kind of matching with the requests.
-  draw_queue_.clear();
-  curr_state_ = DrawState();
-
-  for (const mjrfRenderRequest* request : requests) {
-    DrawState draw_state;
-    mjrfMaterial material = material_;
-
-    // Selected materials are handled in a separate pass, so clear the value
-    // here to take advantage of shared materials.
-    material.selected = false;
-
-    draw_state.wireframe = (request->draw_mode == mjDRAW_MODE_WIREFRAME);
-    if (material.decor_ux) {
-      draw_state.cast_shadows = false;
-      draw_state.receive_shadows = false;
-    }
-
-    if (geom_type_ == mjGEOM_PLANE) {
-      const float3 camera_pos = ReadFloat3(request->camera.pos);
-      const float3 position = transform_[3].xyz;
-      const float3 forward = transform_[2].xyz;
-      const bool is_behind_camera = dot(camera_pos - position, forward) < 0;
-      if (is_behind_camera) {
-        material.color[3] *= 0.3;
-        draw_state.receive_shadows = false;
-      }
-    }
-
-    if (request->draw_mode == mjDRAW_MODE_SEGMENTATION_BY_COLOR) {
-      constexpr double phi1 = 1.61803398874989484820;  // Cached Phi(1).
-      constexpr double coef1 = 1.0 / phi1;
-      const double index = static_cast<double>(material.segmentation_id);
-      const double sample = std::fmod(0.5 + coef1 * index, 1.0);
-      material.segmentation_id = 0x01000000 * sample;
-    } else if (request->draw_mode != mjDRAW_MODE_SEGMENTATION_BY_ID) {
-      // Clear out the segmentation color in order to take advantage of shared
-      // materials.
-      material.segmentation_id = 0;
-    }
-
-    if (request->draw_mode == mjDRAW_MODE_ISLANDS &&
-        material.sleep_state != mjS_STATIC) {
-      float hue = 1.0f;
-      float saturation = 0.0f;
-      float value = 0.7f;
-      if (material.island_id >= 0) {
-        const double h = static_cast<double>(material.island_id) + 1.0;
-        hue = mju_Halton(h, 7);
-        saturation = 0.5 + 0.5 * mju_Halton(h, 3);
-        value = 0.6 + 0.4 * mju_Halton(h, 5);
-      }
-      if (material.sleep_state == mjS_ASLEEP) {
-        value *= 0.6;
-        saturation *= 0.7;
-      }
-      hsv2rgb(material.color, hue, saturation, value);
-      material.color[3] = 1;
-
-      // Remove textures so they don't interfere with the island color.
-      material.color_texture = nullptr;
-      material.metallic_texture = nullptr;
-      material.roughness_texture = nullptr;
-      material.occlusion_texture = nullptr;
-      material.orm_texture = nullptr;
-    }
-
-    if (request->draw_mode == mjDRAW_MODE_DEFAULT_NO_TEXTURES) {
-      material.color_texture = nullptr;
-      material.metallic_texture = nullptr;
-      material.roughness_texture = nullptr;
-      material.occlusion_texture = nullptr;
-      material.orm_texture = nullptr;
-    }
-
-    const bool reflective = request->draw_mode == mjDRAW_MODE_DEFAULT &&
-                            request->enable_reflections &&
-                            material.reflectance > 0.0;
-    if (reflective) {
-      material.reflection_texture = reflection_mgr->Register(
-          this, request->viewport.width, request->viewport.height);
-    }
-
-    const Mesh* mesh = !parts_.empty() ? parts_[0].mesh : nullptr;
-    draw_state.material_key = material_mgr_->PrepareMaterialInstance(
-        material, static_cast<mjrDrawMode>(request->draw_mode), geom_type_,
-        mesh);
-    draw_queue_.push_back(draw_state);
-  }
-}
-
-void Renderable::BindMaterialInstance(const mjrfRenderRequest& request) {
-  if (draw_queue_.empty()) {
-    mju_error("No material instances to bind.");
-  }
-
-  const DrawState& state = draw_queue_.front();
-  SetCastShadows(state.cast_shadows);
-  SetReceiveShadows(state.receive_shadows);
-  SetWireframe(state.wireframe);
-  SetMaterialInstance(state.material_key);
-  curr_state_ = state;
-  draw_queue_.pop_front();
-}
-
-MaterialManager::MaterialKey Renderable::SetMaterialInstance(
-    MaterialManager::MaterialKey key) {
-  MaterialManager::MaterialKey prev = curr_state_.material_key;
-  if (key != curr_state_.material_key) {
-    const filament::MaterialInstance* instance =
-        material_mgr_->GetInstance(key);
-    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
-    for (Part& part : parts_) {
-      filament::RenderableManager::Instance ri = rm.getInstance(part.entity);
-      rm.setMaterialInstanceAt(ri, 0, instance);
-    }
-  }
-  return prev;
-}
-
-std::uint8_t Renderable::SetLayerMask(std::uint8_t mask) {
-  std::uint8_t prev = layer_mask_;
-  if (mask != layer_mask_) {
-    layer_mask_ = mask;
-
-    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
-    for (Part& part : parts_) {
-      rm.setLayerMask(rm.getInstance(part.entity), 0xff, layer_mask_);
-    }
-  }
-  return prev;
-}
-
-std::uint16_t Renderable::SetBlendOrder(std::uint16_t blend_order) {
-  std::uint16_t prev = params_.blend_order;
-  if (blend_order != params_.blend_order) {
-    params_.blend_order = blend_order;
-
-    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
-    for (Part& part : parts_) {
-      rm.setBlendOrderAt(rm.getInstance(part.entity), 0, params_.blend_order);
-    }
-  }
-  return prev;
-}
-
-void Renderable::SetCastShadows(bool cast_shadows) {
-  if (params_.cast_shadows != cast_shadows) {
-    params_.cast_shadows = cast_shadows;
-
-    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
-    for (Part& part : parts_) {
-      rm.setCastShadows(rm.getInstance(part.entity), params_.cast_shadows);
-    }
-  }
-}
-
-void Renderable::SetReceiveShadows(bool receive_shadows) {
-  if (params_.receive_shadows != receive_shadows) {
-    params_.receive_shadows = receive_shadows;
-
-    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
-    for (Part& part : parts_) {
-      rm.setReceiveShadows(rm.getInstance(part.entity),
-                           params_.receive_shadows);
-    }
-  }
-}
-
-void Renderable::SetWireframe(bool wireframe) {
-  static constexpr auto kWireframeType =
-      filament::RenderableManager::PrimitiveType::LINES;
-
-  if (wireframe != curr_state_.wireframe) {
-    curr_state_.wireframe = wireframe;
-
-    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
-    for (Part& part : parts_) {
-      filament::VertexBuffer* vertex_buffer =
-          part.mesh->GetFilamentVertexBuffer();
-      filament::IndexBuffer* wireframe_index_buffer =
-          part.mesh->GetWireframeIndexBuffer();
-      if (wireframe && wireframe_index_buffer) {
-        // Triangle meshes have a dedicated line index buffer enumerating the
-        // three edges of each triangle, addressed by doubling the range.
-        rm.setGeometryAt(rm.getInstance(part.entity), 0, kWireframeType,
-                         vertex_buffer, wireframe_index_buffer,
-                         2 * part.elem_offset, 2 * part.elem_count);
-      } else {
-        // Line meshes are drawn as-is in both modes.
-        rm.setGeometryAt(rm.getInstance(part.entity), 0,
-                         wireframe ? kWireframeType
-                                   : part.mesh->GetPrimitiveType(),
-                         vertex_buffer, part.mesh->GetFilamentIndexBuffer(),
-                         part.elem_offset, part.elem_count);
-      }
-    }
-  }
-}
-
-void Renderable::SetGeomMesh(mjtGeom type, int nstack, int nslice, int nquad) {
-  Builtins* builtins =
-      material_mgr_->GetObjectManager()->GetBuiltins(nstack, nslice, nquad);
-  geom_type_ = type;
-
-  switch (type) {
-    case mjGEOM_PLANE:
-      AppendMesh(builtins->Plane());
-      break;
-    case mjGEOM_SPHERE:
-      AppendMesh(builtins->Sphere());
-      break;
-    case mjGEOM_ELLIPSOID:
-      AppendMesh(builtins->Sphere());
-      break;
-    case mjGEOM_BOX:
-      AppendMesh(builtins->Box());
-      break;
-    case mjGEOM_CAPSULE:
-      // Capsules are a tube with two domes at the ends.
-      AppendMesh(builtins->Tube());
-      AppendMesh(builtins->DomeTop());
-      AppendMesh(builtins->DomeBottom());
-
-      get_transform_fn_ = [](int index, const Trs& trs) {
-        // We apply an inverse scale to the domes to counteract the capsule's
-        // overall scale so that the domes remain spherical in shape.
-        const float xz_size = 0.5f * (trs.size.x + trs.size.y);
-        if (index == 0) {
-          return trs.ToTransform();
-        } else if (index == 1) {
-          // Move the first dome to the top of the capsule.
-          mat4f top = mat4f(trs.rotation, trs.translation);
-          top *= mat4f::translation(float3{0, 0, trs.size.z});
-          top *= mat4f::scaling(float3{trs.size.x, trs.size.y, xz_size});
-          return top;
-        } else if (index == 2) {
-          // Move the second dome to the bottom of the capsule and rotate it 180
-          // degrees so that it's facing the right way.
-          mat4f bottom = mat4f(trs.rotation, trs.translation);
-          bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
-          bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
-          bottom *= mat4f::scaling(float3{trs.size.x, trs.size.y, xz_size});
-          return bottom;
-        } else {
-          mju_error("Invalid index for capsule geom: %d (expected [0,2])",
-                    index);
-          return trs.ToTransform();
-        }
-      };
-      break;
-    case mjGEOM_CYLINDER:
-      // Cylinders are a tube with two disks at the ends.
-      AppendMesh(builtins->Tube());
-      AppendMesh(builtins->Disk());
-      AppendMesh(builtins->Disk());
-
-      get_transform_fn_ = [](int index, const Trs& trs) {
-        if (index == 0) {
-          return trs.ToTransform();
-        } else if (index == 1) {
-          // Move the first disk to the top of the cylinder.
-          mat4f top = mat4f(trs.rotation, trs.translation);
-          top *= mat4f::translation(float3{0, 0, trs.size.z});
-          top *= mat4f::scaling(trs.size);
-          return top;
-        } else if (index == 2) {
-          // Move the second disk to the bottom of the cylinder. Rotate the disk
-          // 180 degrees so that the normals point outwards.
-          mat4f bottom = mat4f(trs.rotation, trs.translation);
-          bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
-          bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
-          bottom *= mat4f::scaling(trs.size);
-          return bottom;
-        } else {
-          mju_error("Invalid index for cylinder geom: %d (expected [0,2])",
-                    index);
-          return trs.ToTransform();
-        }
-      };
-      break;
-    case mjGEOM_ARROW:
-      AppendMesh(builtins->Tube());
-      AppendMesh(builtins->Cone());
-      AppendMesh(builtins->Disk());
-      AppendMesh(builtins->Disk());
-
-      get_transform_fn_ = [](int index, const Trs& trs) {
-        mat4f base = mat4f(trs.rotation, trs.translation);
-        base *= mat4f::scaling(float3{1, 1, kArrowScale});
-        base *= mat4f::translation(float3{0, 0, trs.size.z});
-        if (index == 0) {
-          return base * mat4f::scaling(trs.size);
-        } else if (index == 1) {
-          mat4f top = base;
-          top *= mat4f::translation(float3{0, 0, trs.size.z});
-          top *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
-          return top * mat4f::scaling(trs.size);
-        } else if (index == 2) {
-          mat4f top_disk = base;
-          top_disk *= mat4f::translation(float3{0, 0, trs.size.z});
-          top_disk *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
-          top_disk *=
-              mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
-          return top_disk * mat4f::scaling(trs.size);
-        } else if (index == 3) {
-          mat4f bottom = base;
-          bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
-          bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
-          return bottom * mat4f::scaling(trs.size);
-        } else {
-          mju_error("Invalid index for arrow geom: %d (expected [0,3])", index);
-          return trs.ToTransform();
-        }
-      };
-      break;
-    case mjGEOM_ARROW1:
-      AppendMesh(builtins->Tube());
-      AppendMesh(builtins->Cone());
-      AppendMesh(builtins->Disk());
-
-      get_transform_fn_ = [](int index, const Trs& trs) {
-        mat4f base = mat4f(trs.rotation, trs.translation);
-        base *= mat4f::scaling(float3{1, 1, kArrowScale});
-        base *= mat4f::translation(float3{0, 0, trs.size.z});
-        if (index == 0) {
-          return base * mat4f::scaling(trs.size);
-        } else if (index == 1) {
-          mat4f top = base;
-          top *= mat4f::translation(float3{0, 0, trs.size.z});
-          return top * mat4f::scaling(trs.size);
-        } else if (index == 2) {
-          mat4f bottom = base;
-          bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
-          bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
-          return bottom * mat4f::scaling(trs.size);
-        } else {
-          mju_error("Invalid index for arrow1 geom: %d (expected [0,2])",
-                    index);
-          return trs.ToTransform();
-        }
-      };
-      break;
-    case mjGEOM_ARROW2:
-      AppendMesh(builtins->Tube());
-      AppendMesh(builtins->Cone());
-      AppendMesh(builtins->Cone());
-      AppendMesh(builtins->Disk());
-      AppendMesh(builtins->Disk());
-
-      get_transform_fn_ = [](int index, const Trs& trs) {
-        mat4f base = mat4f(trs.rotation, trs.translation);
-        base *= mat4f::scaling(float3{1, 1, kArrowScale});
-        base *= mat4f::translation(float3{0, 0, trs.size.z});
-        if (index == 0) {
-          return base * mat4f::scaling(trs.size);
-        } else if (index == 1) {
-          mat4f top = base;
-          top *= mat4f::translation(float3{0, 0, trs.size.z});
-          top *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
-          return top * mat4f::scaling(trs.size);
-        } else if (index == 2) {
-          mat4f bottom = base;
-          bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
-          bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
-          bottom *=
-              mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
-          return bottom * mat4f::scaling(trs.size);
-        } else if (index == 3) {
-          mat4f top_disk = base;
-          top_disk *= mat4f::translation(float3{0, 0, trs.size.z});
-          top_disk *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
-          top_disk *=
-              mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
-          return top_disk * mat4f::scaling(trs.size);
-        } else if (index == 4) {
-          mat4f bottom_disk = base;
-          bottom_disk *= mat4f::translation(float3{0, 0, -trs.size.z});
-          return bottom_disk * mat4f::scaling(trs.size);
-        } else {
-          mju_error("Invalid index for arrow2 geom: %d (expected [0,4])",
-                    index);
-          return trs.ToTransform();
-        }
-      };
-      break;
-    case mjGEOM_LINE:
-      AppendMesh(builtins->Line());
-      break;
-    case mjGEOM_LINEBOX:
-      AppendMesh(builtins->LineBox());
-      break;
-    case mjGEOM_TRIANGLE:
-      AppendMesh(builtins->Triangle());
-      break;
-    default:
-      mju_error("Unsupported geom type: %d", type);
-      break;
-  }
-}
-
-filament::Engine* Renderable::GetEngine() { return material_mgr_->GetEngine(); }
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/renderable.h b/src/render/filament/core/renderable.h
deleted file mode 100644
index 8cd41ed5..00000000
--- a/src/render/filament/core/renderable.h
+++ /dev/null
@@ -1,192 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDERABLE_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDERABLE_H_
-
-#include <cstdint>
-#include <deque>
-#include <functional>
-#include <span>
-#include <vector>
-
-#include <filament/Engine.h>
-#include <filament/Scene.h>
-#include <math/mat3.h>
-#include <math/mat4.h>
-#include <math/vec3.h>
-#include <utils/Entity.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/material_manager.h"
-#include "render/filament/core/mesh.h"
-#include "render/filament/core/reflection_manager.h"
-#include "render/filament/core/types.h"
-
-namespace mujoco {
-
-enum LayerMask : uint8_t {
-  // Filament's Skybox occupies layer 0 by default; renderables use the rest.
-  kLayerMask_Skybox = 0x01 << 0,
-  kLayerMask_Object = 0x01 << 1,
-  kLayerMask_Decor = 0x01 << 2,
-  kLayerMask_Outline = 0x01 << 3,
-  kLayerMask_All = 0xff,
-  kLayerMask_None = 0x00,
-};
-
-// A Renderable is effectively two things: a mesh and a material.
-//
-// The mesh describes the surface geometry of the object and the material
-// describes how that surface interacts with light (i.e. the color of each point
-// on the surface).
-class Renderable : public mjrfRenderable {
- public:
-  Renderable(filament::Engine* engine, const mjrfRenderableParams& params,
-             MaterialManager* material_mgr);
-  ~Renderable() noexcept;
-
-  Renderable(const Renderable&) = delete;
-  Renderable& operator=(const Renderable&) = delete;
-
-  // Sets the mesh of this renderable. The elem_offset and elem_count parameters
-  // can be used to specify a submesh within the mesh. If elem_count is 0,
-  // assumes the entire mesh should be appended.
-  void SetMesh(const Mesh* mesh, int elem_offset = 0, int elem_count = 0);
-
-  // Sets the mesh of this renderable to a built-in mesh based on the geom type.
-  void SetGeomMesh(mjtGeom type, int nstack, int nslice, int nquad);
-
-  // Sets the position and rotation of this renderable.
-  void SetTransform(const filament::math::float3& position,
-                    const filament::math::mat3f& rotation);
-
-  // Sets the size of this renderable. Note: this is effectively the same as a
-  // scale for most renderables. However, for e.g. capsules, the spherical ends
-  // are not scaled and remain fixed in size.
-  void SetSize(const filament::math::float3& size);
-
-  // Returns the current transform of this renderable.
-  const filament::math::mat4f& GetTransform() const;
-
-  // Sets the layer mask for this renderable. Layer masks can be used to
-  // show/hide groups of renderables in scenes. Returns the previous layer mask.
-  std::uint8_t SetLayerMask(std::uint8_t mask);
-
-  // Sets the blend order for this renderable. This determines the order in
-  // which transparent renderables are blended together. Returns the previous
-  // blend order.
-  std::uint16_t SetBlendOrder(std::uint16_t blend_order);
-
-  // Disables this renderable from casting shadows.
-  void SetCastShadows(bool cast_shadows);
-
-  // Disables this renderable from receiving shadows.
-  void SetReceiveShadows(bool receive_shadows);
-
-  // If true, forces this renderable to use wireframe rendering.
-  void SetWireframe(bool wireframe);
-
-  // Adds this renderable to the filament Scene.
-  void AddToScene(filament::Scene* scene);
-
-  // Removes this renderable from the filament Scene.
-  void RemoveFromScene(filament::Scene* scene);
-
-  // Updates the parameters and textures of the material for this renderable.
-  void UpdateMaterial(const mjrfMaterial& material);
-
-  // Returns this renderable's current material.
-  const mjrfMaterial& GetMaterial() const;
-
-  // Prepares the material instances for the given render requests.
-  void Prepare(std::span<const mjrfRenderRequest*> requests,
-               ReflectionManager* reflection_mgr);
-
-  // Binds the material instance for the given render request.
-  void BindMaterialInstance(const mjrfRenderRequest& request);
-
-  MaterialManager::MaterialKey SetMaterialInstance(
-      MaterialManager::MaterialKey key);
-
-  static Renderable* downcast(mjrfRenderable* renderable) {
-    return static_cast<Renderable*>(renderable);
-  }
-  static const Renderable* downcast(const mjrfRenderable* renderable) {
-    return static_cast<const Renderable*>(renderable);
-  }
-
- private:
-  // In most cases, a Renderable will be composed of a single filament Entity.
-  // However, for some built-in geom types (e.g. capsules) we compose the
-  // renderable out of multiple Entities.
-  struct Part {
-    utils::Entity entity;
-    const Mesh* mesh = nullptr;
-    int elem_offset = 0;
-    int elem_count = 0;
-  };
-
-  // A tuple of translation, rotation, and size.
-  struct Trs {
-    filament::math::float3 translation{0.0f, 0.0f, 0.0f};
-    filament::math::mat3f rotation;
-    filament::math::float3 size{1.0f, 1.0f, 1.0f};
-    filament::math::mat4f ToTransform() const {
-      return filament::math::mat4f(rotation, translation) *
-             filament::math::mat4f::scaling(size);
-    }
-  };
-
-  // For each render request in a batch, we may need to render the object
-  // differently. However, we cannot change the material instance during the
-  // actual frame rendering (i.e. between beginFrame/endFrame). Instead, we can
-  // switch out the material instance entirely for each request. We keep track
-  // of which instance, as well as other render state, to use with each render
-  // request.
-  struct DrawState {
-    MaterialManager::MaterialKey material_key;
-    bool cast_shadows = true;
-    bool receive_shadows = true;
-    bool wireframe = false;
-  };
-
-  // When composing a multi-part renderable, each Entity will have its own
-  // transform offset based on the transform of the Renderable itself.
-  using GetTransformFn = std::function<filament::math::mat4f(int, const Trs&)>;
-
-  void AppendMesh(const Mesh* mesh);
-  void InitPartEntity(Part& part);
-  void UpdateTransform();
-
-  filament::Engine* GetEngine();
-
-  MaterialManager* material_mgr_;
-  mjrfRenderableParams params_;
-  mjtGeom geom_type_ = mjGEOM_NONE;
-  mjrfMaterial material_;
-  std::deque<DrawState> draw_queue_;
-  DrawState curr_state_;
-  filament::Scene* assigned_scene_ = nullptr;
-  std::vector<Part> parts_;
-  filament::math::mat4f transform_;
-  GetTransformFn get_transform_fn_;
-  Trs trs_;
-  uint8_t layer_mask_ = 0x00;
-  bool infinite_plane_ = false;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDERABLE_H_
diff --git a/src/render/filament/core/scene_view.cc b/src/render/filament/core/scene_view.cc
deleted file mode 100644
index 9dd4970f..00000000
--- a/src/render/filament/core/scene_view.cc
+++ /dev/null
@@ -1,456 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/scene_view.h"
-
-#include <cstdint>
-#include <memory>
-#include <span>
-#include <string_view>
-#include <vector>
-
-#include <filament/ColorGrading.h>
-#include <filament/LightManager.h>
-#include <filament/Material.h>
-#include <filament/Options.h>
-#include <filament/RenderTarget.h>
-#include <filament/RenderableManager.h>
-#include <filament/Renderer.h>
-#include <filament/Skybox.h>
-#include <filament/TransformManager.h>
-#include <filament/View.h>
-#include <filament/Viewport.h>
-#include <math/TVecHelpers.h>
-#include <math/mat4.h>
-#include <math/mathfwd.h>
-#include <math/scalar.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <utils/EntityManager.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/color_grading_options.h"
-#include "render/filament/core/light.h"
-#include "render/filament/core/material_manager.h"
-#include "render/filament/core/object_manager.h"
-#include "render/filament/core/outliner.h"
-#include "render/filament/core/reflection_manager.h"
-#include "render/filament/core/render_target.h"
-#include "render/filament/core/renderable.h"
-#include "render/filament/core/texture.h"
-#include "render/filament/support/filament_util.h"
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::float4;
-using filament::math::mat4;
-
-static filament::ColorGrading::Builder ToBuilder(
-    const ColorGradingOptions& opts) {
-  return filament::ColorGrading::Builder()
-      .format(opts.format)
-      .dimensions(opts.dimension)
-      .luminanceScaling(opts.luminance_scaling)
-      .gamutMapping(opts.gamut_mapping)
-      .exposure(opts.exposure)
-      .nightAdaptation(opts.night_adaptation)
-      .contrast(opts.contrast)
-      .vibrance(opts.vibrance)
-      .saturation(opts.saturation)
-      .whiteBalance(opts.temperature, opts.tint)
-      .channelMixer(opts.out_red, opts.out_green, opts.out_blue)
-      .shadowsMidtonesHighlights(opts.shadows, opts.midtones, opts.highlights,
-                                 opts.tonal_ranges)
-      .slopeOffsetPower(opts.slope, opts.offset, opts.power)
-      .curves(opts.shadow_gamma, opts.mid_point, opts.highlight_scale);
-}
-
-static void SetupCamera(const mjrCamera& cam,
-                        const filament::Viewport& viewport,
-                        filament::Camera* camera) {
-  const filament::Camera::Projection type =
-      cam.orthographic ? filament::Camera::Projection::ORTHO
-                       : filament::Camera::Projection::PERSPECTIVE;
-  const float3 cam_pos(cam.pos[0], cam.pos[1], cam.pos[2]);
-  const float3 cam_fwd(cam.forward[0], cam.forward[1], cam.forward[2]);
-  const float3 cam_up(cam.up[0], cam.up[1], cam.up[2]);
-  const float3 cam_at = cam_pos + cam_fwd;
-  const float aspect_ratio = (float)viewport.width / (float)viewport.height;
-  const float halfwidth =
-      cam.frustum_width
-          ? cam.frustum_width
-          : 0.5f * aspect_ratio * (cam.frustum_top - cam.frustum_bottom);
-  camera->lookAt(cam_pos, cam_at, cam_up);
-  camera->setProjection(type, cam.frustum_center - halfwidth,
-                        cam.frustum_center + halfwidth, cam.frustum_bottom,
-                        cam.frustum_top, cam.frustum_near, cam.frustum_far);
-}
-
-// Sets up the `reflection_camera`'s projection matrix so that it is a
-// reflection of the `src_camera` across the plane defined by the
-// `surface_xform`. The generated projection is an oblique projection so that
-// the texture can be applied directly to the plane with screenspace uvs.
-static void SetupReflectionCamera(const mat4& surface_xform,
-                                  const filament::Camera* src_camera,
-                                  filament::Camera* reflection_camera,
-                                  float near = 0.01f, float far = 100.0f) {
-  const mat4 src_model_matrix = src_camera->getModelMatrix();
-  const mat4 src_view_matrix = src_camera->getViewMatrix();
-  const mat4 src_projection = src_camera->getProjectionMatrix();
-
-  reflection_camera->setModelMatrix(ToReflectionMatrix(surface_xform) *
-                                    src_model_matrix);
-
-  const float3 normal = surface_xform[2].xyz;
-  const float3 view_pos = (src_view_matrix * surface_xform[3]).xyz;
-  const float3 view_normal = (src_view_matrix * float4(normal, 0.0f)).xyz;
-
-  const float3 plane_normal_camera = view_normal;
-  const float plane_dist_camera = -dot(plane_normal_camera, view_pos);
-  const float4 oblique_plane(plane_normal_camera, plane_dist_camera);
-  const mat4 oblique =
-      CalculateObliqueProjection(src_projection, oblique_plane);
-  reflection_camera->setCustomProjection(oblique, near, far);
-}
-
-SceneView::SceneView(ObjectManager* object_mgr, MaterialManager* material_mgr,
-                     const mjrfSceneParams& params)
-    : object_mgr_(object_mgr), material_mgr_(material_mgr) {
-  filament::Engine* engine = object_mgr_->GetEngine();
-  reflection_mgr_ = std::make_unique<ReflectionManager>(engine);
-
-  scene_ = engine->createScene();
-  camera_ = engine->createCamera(utils::EntityManager::get().create());
-  reflect_camera_ = engine->createCamera(utils::EntityManager::get().create());
-
-  main_view_ = engine->createView();
-  main_view_->setScene(scene_);
-  main_view_->setCamera(camera_);
-  main_view_->setVisibleLayers(0xff, kLayerMask_All);
-
-  depth_segment_view_ = engine->createView();
-  depth_segment_view_->setScene(scene_);
-  depth_segment_view_->setCamera(camera_);
-  depth_segment_view_->setVisibleLayers(0xff, kLayerMask_Object);
-  depth_segment_view_->setPostProcessingEnabled(false);
-
-  reflect_view_ = engine->createView();
-  reflect_view_->setScene(scene_);
-  reflect_view_->setCamera(reflect_camera_);
-  reflect_view_->setShadowingEnabled(false);
-  reflect_view_->setPostProcessingEnabled(false);
-  reflect_view_->setFrontFaceWindingInverted(true);
-  reflect_view_->setVisibleLayers(0xff, kLayerMask_Object | kLayerMask_Skybox);
-  reflect_view_->setMultiSampleAntiAliasingOptions({.enabled = false});
-
-  // Rotate the fog to align with mujoco's +Z up space.
-  auto fog = main_view_->getFogEntity();
-  auto& tm = engine->getTransformManager();
-  tm.create(fog);
-  tm.setTransform(tm.getInstance(fog),
-                  mat4::rotation(filament::math::f::PI / 2, float3{-1, 0, 0}));
-}
-
-SceneView::~SceneView() {
-  filament::Engine* engine = object_mgr_->GetEngine();
-
-  outliner_.reset();
-  if (skybox_) {
-    scene_->setSkybox(nullptr);
-    engine->destroy(skybox_);
-  }
-  for (auto& light : lights_) {
-    light->RemoveFromScene(scene_);
-  }
-  for (auto& renderable : renderables_) {
-    renderable->RemoveFromScene(scene_);
-  }
-  lights_.clear();
-  renderables_.clear();
-  engine->destroyCameraComponent(reflect_camera_->getEntity());
-  engine->destroy(reflect_view_);
-  engine->destroyCameraComponent(camera_->getEntity());
-  if (color_grading_) {
-    engine->destroy(color_grading_);
-  }
-  engine->destroy(scene_);
-  engine->destroy(depth_segment_view_);
-  engine->destroy(main_view_);
-}
-
-void SceneView::AddToScene(Light* light) {
-  if (lights_.insert(light).second) {
-    light->AddToScene(scene_);
-  }
-}
-
-void SceneView::RemoveFromScene(Light* light) {
-  if (lights_.erase(light)) {
-    light->RemoveFromScene(scene_);
-  }
-}
-
-void SceneView::AddToScene(Renderable* renderable) {
-  if (renderables_.insert(renderable).second) {
-    renderable->AddToScene(scene_);
-  }
-}
-
-void SceneView::RemoveFromScene(Renderable* renderable) {
-  if (renderables_.erase(renderable)) {
-    renderable->RemoveFromScene(scene_);
-  }
-}
-
-void SceneView::SetSkybox(const Texture* skybox_texture) {
-  if (skybox_) {
-    scene_->setSkybox(nullptr);
-    GetEngine()->destroy(skybox_);
-    skybox_ = nullptr;
-  }
-  if (skybox_texture) {
-    filament::Skybox::Builder builder;
-    builder.environment(skybox_texture->GetFilamentTexture());
-    skybox_ = builder.build(*GetEngine());
-    scene_->setSkybox(skybox_);
-  }
-}
-
-void SceneView::PrepareToRender(std::span<const mjrfRenderRequest*> requests) {
-  for (const mjrfRenderRequest* request : requests) {
-    if (request->scene != this) {
-      mju_error("Invalid scene for SceneView::PrepareToRender.");
-    }
-  }
-
-  bool has_selected = false;
-  reflection_mgr_->ClearRenderables();
-  for (Renderable* renderable : renderables_) {
-    renderable->Prepare(requests, reflection_mgr_.get());
-    if (renderable->GetMaterial().selected) {
-      has_selected = true;
-    }
-  }
-
-  if (has_selected) {
-    mjrfMaterial material;
-    mjrf_defaultMaterial(&material);
-    material.selected = true;
-    outline_material_key_ = material_mgr_->PrepareMaterialInstance(
-        material, mjDRAW_MODE_DEFAULT, mjGEOM_NONE, nullptr);
-  }
-}
-
-void SceneView::Render(filament::Renderer* renderer,
-                       const mjrfRenderRequest& request) {
-  if (request.scene != this) {
-    mju_error("Invalid scene for SceneView::Render.");
-  }
-
-  filament::Viewport viewport(request.viewport.left, request.viewport.bottom,
-                              request.viewport.width, request.viewport.height);
-  filament::View* view = main_view_;
-  if (request.draw_mode == mjDRAW_MODE_DEPTH ||
-      request.draw_mode == mjDRAW_MODE_SEGMENTATION_BY_ID ||
-      request.draw_mode == mjDRAW_MODE_SEGMENTATION_BY_COLOR) {
-    view = depth_segment_view_;
-  }
-  view->setViewport(viewport);
-  view->setShadowingEnabled(request.enable_shadows);
-  view->setPostProcessingEnabled(request.enable_post_processing);
-
-  filament::MultiSampleAntiAliasingOptions options =
-      view->getMultiSampleAntiAliasingOptions();
-
-  RenderTarget* render_target = RenderTarget::downcast(request.target);
-  if (render_target) {
-    // We need to disable msaa in order to render to texture.
-    view->setMultiSampleAntiAliasingOptions({.enabled = false});
-  }
-
-  SetupCamera(request.camera, viewport, camera_);
-
-  std::vector<Renderable*> selected_renderables;
-  for (auto& iter : renderables_) {
-    iter->BindMaterialInstance(request);
-    if (iter->GetMaterial().selected &&
-        request.draw_mode == mjDRAW_MODE_DEFAULT) {
-      selected_renderables.push_back(iter);
-    }
-  }
-
-  for (int i = 0; i < reflection_mgr_->GetNumRenderables(); ++i) {
-    Renderable* renderable =
-        Renderable::downcast(reflection_mgr_->GetRenderable(i));
-    const mat4 transform(renderable->GetTransform());
-    SetupReflectionCamera(transform, camera_, reflect_camera_);
-
-    // Hide reflective surface from its own reflection pass.
-    std::uint8_t prev_layer_mask = renderable->SetLayerMask(kLayerMask_None);
-
-    // Render the reflection to its render target.
-    viewport.left = 0;
-    viewport.bottom = 0;
-    reflect_view_->setViewport(viewport);
-    const RenderTarget* target = reflection_mgr_->GetRenderTarget(i);
-    reflect_view_->setRenderTarget(target->GetFilamentRenderTarget());
-    renderer->render(reflect_view_);
-    reflect_view_->setRenderTarget(nullptr);
-
-    // Unhide the reflective surface.
-    renderable->SetLayerMask(prev_layer_mask);
-  }
-
-  filament::RenderTarget* filament_render_target =
-      render_target ? render_target->GetFilamentRenderTarget() : nullptr;
-  view->setRenderTarget(filament_render_target);
-  renderer->render(view);
-  view->setRenderTarget(nullptr);
-
-  if (!selected_renderables.empty()) {
-    if (!outliner_) {
-      outliner_ = std::make_unique<Outliner>(
-          object_mgr_, kLayerMask_Outline, kLayerMask_Object,
-          float4{0.9f, 0.9f, 0.2f, 0.7f}, 3.5f, 0.25f);
-    }
-
-    for (Renderable* renderable : selected_renderables) {
-      renderable->SetMaterialInstance(outline_material_key_);
-    }
-    outliner_->Render(renderer, view, filament_render_target);
-  }
-
-  if (request.target) {
-    view->setMultiSampleAntiAliasingOptions(options);
-  }
-}
-
-void SceneView::SetColorGradingOptions(const ColorGradingOptions& opts) {
-  auto tone_mapper = CreateToneMapper(opts.tone_mapper);
-  auto color_grading = ToBuilder(color_grading_options_)
-                           .toneMapper(tone_mapper.get())
-                           .build(*GetEngine());
-  main_view_->setColorGrading(color_grading);
-  if (color_grading_) {
-    GetEngine()->destroy(color_grading_);
-  }
-  color_grading_ = color_grading;
-  color_grading_options_ = opts;
-}
-
-filament::View* SceneView::GetDefaultRenderView() { return main_view_; }
-
-ColorGradingOptions SceneView::GetColorGradingOptions() const {
-  return color_grading_options_;
-}
-
-void SceneView::Configure(const mjModel* model) {
-  auto cg = color_grading_options_;
-  cg.exposure = ReadElement(model, "filament.cg.exposure", cg.exposure);
-  cg.contrast = ReadElement(model, "filament.cg.contrast", cg.contrast);
-  cg.vibrance = ReadElement(model, "filament.cg.vibrance", cg.vibrance);
-  cg.saturation = ReadElement(model, "filament.cg.saturation", cg.saturation);
-  cg.temperature =
-      ReadElement(model, "filament.cg.temperature", cg.temperature);
-  cg.tint = ReadElement(model, "filament.cg.tint", cg.tint);
-  cg.gamut_mapping =
-      ReadElement(model, "filament.cg.gamut_mapping", cg.gamut_mapping);
-  cg.luminance_scaling =
-      ReadElement(model, "filament.cg.luminance_scaling", cg.luminance_scaling);
-  cg.slope = ReadElement(model, "filament.cg.slope", cg.slope);
-  cg.offset = ReadElement(model, "filament.cg.offset", cg.offset);
-  cg.power = ReadElement(model, "filament.cg.power", cg.power);
-  cg.shadow_gamma =
-      ReadElement(model, "filament.cg.shadow_gamma", cg.shadow_gamma);
-  cg.mid_point = ReadElement(model, "filament.cg.mid_point", cg.mid_point);
-  cg.highlight_scale =
-      ReadElement(model, "filament.cg.highlight_scale", cg.highlight_scale);
-  cg.shadows = ReadElement(model, "filament.cg.shadows", cg.shadows);
-  cg.midtones = ReadElement(model, "filament.cg.midtones", cg.midtones);
-  cg.highlights = ReadElement(model, "filament.cg.highlights", cg.highlights);
-  cg.tonal_ranges =
-      ReadElement(model, "filament.cg.tonal_ranges", cg.tonal_ranges);
-
-  auto tone_mapping =
-      ReadElement<std::string_view>(model, "filament.cg.tone_mapping");
-  if (tone_mapping == "aces") {
-    cg.tone_mapper = ToneMapperType::kACES;
-  } else if (tone_mapping == "aces_legacy") {
-    cg.tone_mapper = ToneMapperType::kACESLegacy;
-  } else if (tone_mapping == "filmic") {
-    cg.tone_mapper = ToneMapperType::kFilmic;
-  } else if (tone_mapping == "linear") {
-    cg.tone_mapper = ToneMapperType::kLinear;
-  } else if (tone_mapping == "pbr_neutral") {
-    cg.tone_mapper = ToneMapperType::kPBRNeutral;
-  }
-  SetColorGradingOptions(cg);
-
-  auto ao = main_view_->getAmbientOcclusionOptions();
-  ao.enabled = ReadElement(model, "filament.ao.enabled", true);
-  ao.bentNormals = ReadElement(model, "filament.ao.bent_normals", false);
-  ao.ssct.enabled = ReadElement(model, "filament.ao.ssct", ao.ssct.enabled);
-  ao.quality =
-      ReadElement(model, "filament.ao.quality", filament::QualityLevel::ULTRA);
-  ao.lowPassFilter = ReadElement(model, "filament.ao.low_pass_filter",
-                                 filament::QualityLevel::ULTRA);
-  ao.upsampling = ReadElement(model, "filament.ao.upsampling",
-                              filament::QualityLevel::ULTRA);
-  ao.bilateralThreshold =
-      ReadElement(model, "filament.ao.bilateral_threshold", 0.5f);
-  main_view_->setAmbientOcclusionOptions(ao);
-
-  auto msaa = main_view_->getMultiSampleAntiAliasingOptions();
-  msaa.enabled = ReadElement(model, "filament.msaa.enabled", true);
-  main_view_->setMultiSampleAntiAliasingOptions(msaa);
-
-  auto shadow_type = main_view_->getShadowType();
-  shadow_type = ReadElement(model, "filament.shadows.type", shadow_type);
-  main_view_->setShadowType(shadow_type);
-
-  auto fog_opts = main_view_->getFogOptions();
-  fog_opts.enabled =
-      ReadElement(model, "filament.fog.enabled", fog_opts.enabled);
-  fog_opts.color = ReadElement(model, "filament.fog.color", fog_opts.color);
-  fog_opts.distance =
-      ReadElement(model, "filament.fog.distance", fog_opts.distance);
-  fog_opts.density =
-      ReadElement(model, "filament.fog.density", fog_opts.density);
-  fog_opts.cutOffDistance = ReadElement(model, "filament.fog.cutOffDistance",
-                                        fog_opts.cutOffDistance);
-  fog_opts.maximumOpacity = ReadElement(model, "filament.fog.maximumOpacity",
-                                        fog_opts.maximumOpacity);
-  fog_opts.height = ReadElement(model, "filament.fog.height", fog_opts.height);
-  fog_opts.heightFalloff =
-      ReadElement(model, "filament.fog.heightFalloff", fog_opts.heightFalloff);
-  fog_opts.inScatteringStart = ReadElement(
-      model, "filament.fog.inScatteringStart", fog_opts.inScatteringStart);
-  fog_opts.inScatteringSize = ReadElement(
-      model, "filament.fog.inScatteringSize", fog_opts.inScatteringSize);
-  main_view_->setFogOptions(fog_opts);
-
-  auto bloom = main_view_->getBloomOptions();
-  bloom.enabled = ReadElement(model, "filament.bloom.enabled", bloom.enabled);
-  bloom.strength =
-      ReadElement(model, "filament.bloom.strength", bloom.strength);
-  bloom.dirtStrength =
-      ReadElement(model, "filament.bloom.dirt_strength", bloom.dirtStrength);
-  bloom.quality = ReadElement(model, "filament.bloom.quality", bloom.quality);
-  bloom.resolution =
-      ReadElement(model, "filament.bloom.resolution", bloom.resolution);
-  bloom.levels = ReadElement(model, "filament.bloom.levels", bloom.levels);
-  main_view_->setBloomOptions(bloom);
-}
-}  // namespace mujoco
diff --git a/src/render/filament/core/scene_view.h b/src/render/filament/core/scene_view.h
deleted file mode 100644
index 71a2ac5f..00000000
--- a/src/render/filament/core/scene_view.h
+++ /dev/null
@@ -1,117 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_SCENE_VIEW_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_SCENE_VIEW_H_
-
-#include <memory>
-#include <span>
-#include <unordered_set>
-
-#include <filament/Camera.h>
-#include <filament/ColorGrading.h>
-#include <filament/Engine.h>
-#include <filament/Scene.h>
-#include <filament/View.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/color_grading_options.h"
-#include "render/filament/core/light.h"
-#include "render/filament/core/material_manager.h"
-#include "render/filament/core/object_manager.h"
-#include "render/filament/core/outliner.h"
-#include "render/filament/core/reflection_manager.h"
-#include "render/filament/core/renderable.h"
-#include "render/filament/core/texture.h"
-#include "render/filament/core/types.h"
-
-namespace mujoco {
-
-// Creates and owns the filament Scene and View (and Camera) classes.
-//
-// The filament Scene is populated with the objects (e.g. lights, renderables,
-// skybox, etc.). It manages multiple views to support a variety of draw modes
-// (e.g. normal, depth, segmentation, etc.) as well as reflective surfaces.
-class SceneView : public mjrfScene {
- public:
-  SceneView(ObjectManager* object_mgr, MaterialManager* material_mgr,
-            const mjrfSceneParams& params);
-  ~SceneView();
-
-  SceneView(const SceneView&) = delete;
-  SceneView& operator=(const SceneView&) = delete;
-
-  // Adds/removes entities from the scene.
-  void AddToScene(Light* light);
-  void RemoveFromScene(Light* light);
-  void AddToScene(Renderable* renderable);
-  void RemoveFromScene(Renderable* renderable);
-  void SetSkybox(const Texture* skybox_texture);
-
-  // Performs necessary preparations in order to render the given requests.
-  // Assumes that the Render() function will be called the same number of times
-  // and in the same order with the given requests.
-  void PrepareToRender(std::span<const mjrfRenderRequest*> requests);
-
-  // Fulfills the given render request using the renderer.
-  void Render(filament::Renderer* renderer, const mjrfRenderRequest& request);
-
-  // Returns the filament Engine managing the scene.
-  filament::Engine* GetEngine() const { return object_mgr_->GetEngine(); }
-
-  // Returns the underlying filament View that is used for normal rendering.
-  // Callers can update rendering settings (e.g. post processing) directly.
-  filament::View* GetDefaultRenderView();
-
-  // Helpers for managing the color grading options for the default render view.
-  ColorGradingOptions GetColorGradingOptions() const;
-  void SetColorGradingOptions(const ColorGradingOptions& opts);
-
-  // Reads filament-specific settings from the mjModel and configures the
-  // scene view accordingly.
-  void Configure(const mjModel* model);
-
-  static SceneView* downcast(mjrfScene* scene) {
-    return static_cast<SceneView*>(scene);
-  }
-  static const SceneView* downcast(const mjrfScene* scene) {
-    return static_cast<const SceneView*>(scene);
-  }
-
- private:
-  ObjectManager* object_mgr_ = nullptr;
-  MaterialManager* material_mgr_ = nullptr;
-  filament::Scene* scene_ = nullptr;
-  filament::Camera* camera_ = nullptr;
-  filament::ColorGrading* color_grading_ = nullptr;
-  ColorGradingOptions color_grading_options_;
-  filament::View* main_view_;
-  filament::View* depth_segment_view_;
-
-  // Scene objects.
-  std::unordered_set<Light*> lights_;
-  std::unordered_set<Renderable*> renderables_;
-  filament::Skybox* skybox_ = nullptr;
-
-  // Custom view and camera for reflective surfaces.
-  filament::View* reflect_view_ = nullptr;
-  filament::Camera* reflect_camera_ = nullptr;
-
-  MaterialManager::MaterialKey outline_material_key_;
-  std::unique_ptr<Outliner> outliner_;
-  std::unique_ptr<ReflectionManager> reflection_mgr_;
-};
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_SCENE_VIEW_H_
diff --git a/src/render/filament/core/texture.cc b/src/render/filament/core/texture.cc
deleted file mode 100644
index 68d0ea7c..00000000
--- a/src/render/filament/core/texture.cc
+++ /dev/null
@@ -1,254 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/core/texture.h"
-
-#include <atomic>
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-#include <utility>
-
-#include <filament/Engine.h>
-#include <filament/Texture.h>
-#include <image/Ktx1Bundle.h>
-#include <ktxreader/Ktx1Reader.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco {
-
-static std::atomic<uint64_t> g_next_texture_id{1};
-
-static constexpr int kNumFacesPerCube = 6;
-
-static bool IsCompressed(const mjrfTextureConfig& config) {
-  return config.format == mjPIXEL_FORMAT_KTX;
-}
-
-static bool IsCubeMap(const mjrfTextureConfig& config) {
-  return config.sampler_type == mjTEXTURE_CUBE ||
-         config.sampler_type == mjTEXTURE_SKYBOX;
-}
-
-static int GetFaceHeight(const mjrfTextureConfig& config) {
-  int face_height = config.height;
-  if (config.width != config.height) {
-    if (config.width * kNumFacesPerCube != config.height) {
-      mju_error("Cube maps must contain 6 square images.");
-    }
-    face_height = config.height / kNumFacesPerCube;
-  }
-  if (config.width != face_height) {
-    mju_error("Cube map faces must be square.");
-  }
-  return face_height;
-}
-
-static int GetNumChannels(const mjrfTextureConfig& config) {
-  switch (config.format) {
-    case mjPIXEL_FORMAT_R8:
-      return 1;
-    case mjPIXEL_FORMAT_RGB8:
-      return 3;
-    case mjPIXEL_FORMAT_RGBA8:
-      return 4;
-    default:
-      mju_error("Unsupported format: %d", (int)config.format);
-      return 0;
-  }
-}
-
-static filament::Texture::Format GetTextureFormat(
-    const mjrfTextureConfig& config) {
-  switch (config.format) {
-    case mjPIXEL_FORMAT_R8:
-      return filament::Texture::Format::R;
-    case mjPIXEL_FORMAT_RGB8:
-      return filament::Texture::Format::RGB;
-    case mjPIXEL_FORMAT_RGBA8:
-      return filament::Texture::Format::RGBA;
-    default:
-      mju_error("Unsupported format: %d", (int)config.format);
-      return filament::Texture::Format::UNUSED;
-  }
-}
-
-static filament::Texture::InternalFormat GetTextureInternalFormat(
-    const mjrfTextureConfig& config) {
-  if (config.color_space == mjCOLORSPACE_SRGB) {
-    switch (config.format) {
-      case mjPIXEL_FORMAT_RGB8:
-        return filament::Texture::InternalFormat::SRGB8;
-      case mjPIXEL_FORMAT_RGBA8:
-        return filament::Texture::InternalFormat::SRGB8_A8;
-      default:
-        mju_error("Unsupported format: %d", (int)config.format);
-        return filament::Texture::InternalFormat::UNUSED;
-    }
-  } else {
-    switch (config.format) {
-      case mjPIXEL_FORMAT_R8:
-        return filament::Texture::InternalFormat::R8;
-      case mjPIXEL_FORMAT_RGB8:
-        return filament::Texture::InternalFormat::RGB8;
-      case mjPIXEL_FORMAT_RGBA8:
-        return filament::Texture::InternalFormat::RGBA8;
-      case mjPIXEL_FORMAT_R32F:
-        return filament::Texture::InternalFormat::R32F;
-      case mjPIXEL_FORMAT_DEPTH32F:
-        return filament::Texture::InternalFormat::DEPTH32F;
-      default:
-        mju_error("Unsupported format: %d", (int)config.format);
-        return filament::Texture::InternalFormat::UNUSED;
-    }
-  }
-}
-
-Texture::Texture(filament::Engine* engine, const mjrfTextureConfig& config,
-                 InternalFlags flags)
-    : id_(g_next_texture_id++), engine_(engine), config_(config) {
-  if (IsCompressed(config_)) {
-    // We defer creation of compressed textures until Upload() is called. In
-    // the meantime, we don't really know anything about the texture (e.g.
-    // width, height, etc.).
-    return;
-  }
-
-  filament::Texture::Builder builder;
-  builder.width(config_.width);
-  builder.height(config_.height);
-  builder.format(GetTextureInternalFormat(config_));
-
-  if (IsCubeMap(config_)) {
-    if (config_.format != mjPIXEL_FORMAT_RGB8) {
-      mju_error("Only support RGB cubemaps.");
-      return;
-    }
-    builder.height(GetFaceHeight(config_));
-    builder.sampler(filament::Texture::Sampler::SAMPLER_CUBEMAP);
-  } else {
-    builder.sampler(filament::Texture::Sampler::SAMPLER_2D);
-  }
-
-  filament::Texture::Usage usage = filament::Texture::Usage::DEFAULT;
-  if (flags.color_attachment) {
-    usage |= filament::Texture::Usage::COLOR_ATTACHMENT;
-    usage |= filament::Texture::Usage::BLIT_SRC;
-  } else if (flags.depth_attachment) {
-    usage |= filament::Texture::Usage::DEPTH_ATTACHMENT;
-    usage |= filament::Texture::Usage::BLIT_SRC;
-  } else if (config_.color_space != mjCOLORSPACE_SRGB) {
-    usage |= filament::Texture::Usage::GEN_MIPMAPPABLE;
-  }
-  builder.usage(usage);
-
-  texture_ = builder.build(*engine_);
-}
-
-Texture::~Texture() {
-  ReleaseData();
-  if (texture_) {
-    engine_->destroy(texture_);
-  }
-}
-
-void Texture::Upload(const mjrfTextureData& data) {
-  user_data_ = data.user_data;
-  release_callback_ = data.release;
-
-  if (data.bytes == nullptr || data.num_bytes == 0) {
-    ReleaseData();
-    return;
-  }
-
-  if (config_.format == mjPIXEL_FORMAT_KTX) {
-    image::Ktx1Bundle* bundle = new image::Ktx1Bundle(
-        reinterpret_cast<const uint8_t*>(data.bytes), data.num_bytes);
-    has_spherical_harmonics_ = true;
-    bundle->getSphericalHarmonics(spherical_harmonics_);
-    const bool is_srgb = false;
-    texture_ = ktxreader::Ktx1Reader::createTexture(engine_, bundle, is_srgb);
-    config_.width = texture_->getWidth();
-    config_.height = texture_->getHeight();
-    ReleaseData();
-    return;
-  }
-
-  const int num_channels = GetNumChannels(config_);
-  const filament::Texture::Type type = filament::Texture::Type::UBYTE;
-  const filament::Texture::Format format = GetTextureFormat(config_);
-
-  if (!IsCubeMap(config_)) {
-    if (config_.width * config_.height * num_channels != data.num_bytes) {
-      mju_error("Texture size does not match data size.");
-    }
-
-    auto callback = +[](void* buffer, size_t size, void* user) {
-      reinterpret_cast<Texture*>(user)->ReleaseData();
-    };
-    filament::Texture::PixelBufferDescriptor desc(data.bytes, data.num_bytes,
-                                                  format, type, callback, this);
-    texture_->setImage(*engine_, 0, std::move(desc));
-  } else {
-    const int face_size = config_.width * GetFaceHeight(config_) * num_channels;
-    const int num_bytes = face_size * kNumFacesPerCube;
-
-    if (config_.width == config_.height) {
-      uint8_t* copy = new uint8_t[num_bytes];
-      auto release_callback = +[](void* buffer, size_t size, void* user) {
-        delete[] reinterpret_cast<uint8_t*>(buffer);
-      };
-      for (int i = 0; i < kNumFacesPerCube; ++i) {
-        std::memcpy(copy + (i * face_size), data.bytes, face_size);
-      }
-      filament::Texture::PixelBufferDescriptor desc(copy, num_bytes, format,
-                                                    type, release_callback);
-      texture_->setImage(*engine_, /*level=*/0, /*xoffset=*/0, /*yoffset=*/0,
-                         /*zoffset=*/0, config_.width, GetFaceHeight(config_),
-                         /*depth=*/6, std::move(desc));
-      ReleaseData();
-    } else {
-      if (num_bytes != data.num_bytes) {
-        mju_error("Texture size does not match data size.");
-      }
-      auto callback = +[](void* buffer, size_t size, void* user) {
-        reinterpret_cast<Texture*>(user)->ReleaseData();
-      };
-      filament::Texture::PixelBufferDescriptor desc(
-          data.bytes, data.num_bytes, format, type, callback, this);
-      texture_->setImage(*engine_, /*level=*/0, /*xoffset=*/0, /*yoffset=*/0,
-                         /*zoffset=*/0, config_.width, GetFaceHeight(config_),
-                         /*depth=*/6, std::move(desc));
-    }
-  }
-
-  if (config_.color_space != mjCOLORSPACE_SRGB) {
-    texture_->generateMipmaps(*engine_);
-  }
-}
-
-void Texture::ReleaseData() {
-  if (release_callback_) {
-    release_callback_(user_data_);
-    release_callback_ = nullptr;
-    user_data_ = nullptr;
-  }
-}
-
-mjrSamplerType Texture::GetSamplerType() const {
-  return static_cast<mjrSamplerType>(config_.sampler_type);
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/core/texture.h b/src/render/filament/core/texture.h
deleted file mode 100644
index 5a9177dd..00000000
--- a/src/render/filament/core/texture.h
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_TEXTURE_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_TEXTURE_H_
-
-#include <cstdint>
-#include <filament/Engine.h>
-#include <filament/Texture.h>
-#include <math/vec3.h>
-#include <mujoco/mjrfilament.h>
-#include "render/filament/core/types.h"
-
-// Functions for creating filament textures.
-namespace mujoco {
-
-// Wrapper around a filament::Texture.
-class Texture : public mjrfTexture {
- public:
-  // Flags for internal use.
-  struct InternalFlags {
-    InternalFlags() : color_attachment(false), depth_attachment(false) {}
-    bool color_attachment;
-    bool depth_attachment;
-  };
-
-  // Creates a texture with the given data.
-  Texture(filament::Engine* engine, const mjrfTextureConfig& config,
-          InternalFlags flags = InternalFlags());
-
-  ~Texture();
-
-  Texture(const Texture&) = delete;
-  Texture& operator=(const Texture&) = delete;
-
-  // Uploads the given data to the texture.
-  void Upload(const mjrfTextureData& data);
-
-  // Returns the width of the texture.
-  int GetWidth() const { return config_.width; }
-
-  // Returns the height of the texture.
-  int GetHeight() const { return config_.height; }
-
-  // Returns the target of the texture.
-  mjrSamplerType GetSamplerType() const;
-
-  // Returns the underlying filament texture.
-  filament::Texture* GetFilamentTexture() const { return texture_; }
-
-  // Returns the unique id of the texture.
-  uint64_t Id() const { return id_; }
-
-  // Returns any spherical harmonics data associated with the texture.
-  using SphericalHarmonics = filament::math::float3[9];
-  const SphericalHarmonics* GetSphericalHarmonics() const {
-    return has_spherical_harmonics_ ? &spherical_harmonics_ : nullptr;
-  }
-
-  static Texture* downcast(mjrfTexture* texture) {
-    return static_cast<Texture*>(texture);
-  }
-  static const Texture* downcast(const mjrfTexture* texture) {
-    return static_cast<const Texture*>(texture);
-  }
-
- private:
-  void ReleaseData();
-
-  uint64_t id_ = 0;
-  filament::Engine* engine_ = nullptr;
-  filament::Texture* texture_ = nullptr;
-  mjrfTextureConfig config_;
-  SphericalHarmonics spherical_harmonics_;
-  bool has_spherical_harmonics_ = false;
-
-  void* user_data_ = nullptr;
-  void (*release_callback_)(void* user_data) = nullptr;
-};
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_TEXTURE_H_
diff --git a/src/render/filament/core/types.h b/src/render/filament/core/types.h
deleted file mode 100644
index b301ad73..00000000
--- a/src/render/filament/core/types.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_TYPES_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_CORE_TYPES_H_
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-// These types are only forward declared in the API. We define them concretely
-// here to allow us to use them in the core classes.
-struct mjrfContext_ {};
-struct mjrfTexture_ {};
-struct mjrfMesh_ {};
-struct mjrfScene_ {};
-struct mjrfLight_ {};
-struct mjrfRenderable_ {};
-struct mjrfRenderTarget_ {};
-
-#if defined(__cplusplus)
-}  // extern "C"
-#endif
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_TYPES_H_
diff --git a/src/render/filament/mjrfilament.cc b/src/render/filament/mjrfilament.cc
deleted file mode 100644
index fadea235..00000000
--- a/src/render/filament/mjrfilament.cc
+++ /dev/null
@@ -1,350 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <mujoco/mjrfilament.h>
-
-#include <array>
-#include <cstring>
-
-#include <filament/Engine.h>
-#include <math/mat3.h>
-#include <math/vec3.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/core/filament_context.h"
-#include "render/filament/core/light.h"
-#include "render/filament/core/mesh.h"
-#include "render/filament/core/render_target.h"
-#include "render/filament/core/renderable.h"
-#include "render/filament/core/scene_view.h"
-#include "render/filament/core/texture.h"
-
-template <int N>
-static void setf(float (&arr)[N], const std::array<float, N>& values) {
-  for (int i = 0; i < N; ++i) {
-    arr[i] = values[i];
-  }
-}
-
-static const char* BackendName(filament::Engine::Backend backend) {
-  switch (backend) {
-    case filament::Engine::Backend::OPENGL:
-      return "opengl";
-    case filament::Engine::Backend::VULKAN:
-      return "vulkan";
-    default:
-      return "unknown";
-  }
-}
-
-extern "C" {
-
-void mjrf_defaultContextConfig(mjrfContextConfig* config) {
-  memset(config, 0, sizeof(mjrfContextConfig));
-}
-
-void mjrf_defaultTextureData(mjrfTextureData* data) {
-  memset(data, 0, sizeof(mjrfTextureData));
-}
-
-void mjrf_defaultTextureConfig(mjrfTextureConfig* config) {
-  memset(config, 0, sizeof(mjrfTextureConfig));
-}
-
-void mjrf_defaultMeshConfig(mjrfMeshConfig* config) {
-  memset(config, 0, sizeof(mjrfMeshConfig));
-}
-
-void mjrf_defaultMeshData(mjrfMeshData* data) {
-  memset(data, 0, sizeof(mjrfMeshData));
-}
-
-void mjrf_defaultSceneParams(mjrfSceneParams* params) {
-  memset(params, 0, sizeof(mjrfSceneParams));
-}
-
-void mjrf_defaultLightParams(mjrfLightParams* params) {
-  memset(params, 0, sizeof(mjrfLightParams));
-  params->type = mjLIGHT_POINT;
-  params->texture = nullptr;
-  params->color[0] = 0;
-  params->color[1] = 0;
-  params->color[2] = 0;
-  params->intensity = 0.0f;
-  params->cast_shadows = true;
-  params->range = 10.0f;
-  params->spot_cone_angle = 180.f;
-  params->spot_softness = 0.0f;
-  params->bulb_radius = 0.0f;
-  params->shadow_map_size = 2048;
-  params->vsm_blur_width = 0.0f;
-}
-
-void mjrf_defaultMaterial(mjrfMaterial* material) {
-  memset(material, 0, sizeof(mjrfMaterial));
-  setf(material->color, {1.f, 1.f, 1.f, 1.f});
-  setf(material->uv_scale, {1, 1, 1});
-  material->sleep_state = mjS_STATIC;
-  material->island_id = -1;
-  material->emissive = -1.0f;
-  material->specular = -1.0f;
-  material->glossiness = -1.0f;
-  material->metallic = -1.0f;
-  material->roughness = -1.0f;
-}
-
-void mjrf_defaultRenderableParams(mjrfRenderableParams* params) {
-  memset(params, 0, sizeof(mjrfRenderableParams));
-  params->cast_shadows = true;
-  params->receive_shadows = true;
-  params->blend_order = 0;
-}
-
-void mjrf_defaultRenderTargetConfig(mjrfRenderTargetConfig* config) {
-  memset(config, 0, sizeof(mjrfRenderTargetConfig));
-  config->color_format = mjPIXEL_FORMAT_RGBA8;
-  config->depth_format = mjPIXEL_FORMAT_DEPTH32F;
-}
-
-void mjrf_defaultRenderRequest(mjrfRenderRequest* request) {
-  memset(request, 0, sizeof(mjrfRenderRequest));
-  request->enable_post_processing = true;
-  request->enable_reflections = true;
-  request->enable_shadows = true;
-}
-
-void mjrf_defaultReadPixelsRequest(mjrfReadPixelsRequest* request) {
-  memset(request, 0, sizeof(mjrfReadPixelsRequest));
-}
-
-void mjrf_defaultFrameStats(mjrfFrameStats* stats) {
-  memset(stats, 0, sizeof(mjrfFrameStats));
-}
-
-mjrfContext* mjrf_createContext(const mjrfContextConfig* config) {
-  return new mujoco::FilamentContext(config);
-}
-
-void mjrf_destroyContext(mjrfContext* ctx) {
-  delete mujoco::FilamentContext::downcast(ctx);
-}
-
-void mjrf_getRendererInfo(mjrfContext* ctx, mjrRendererInfo* info) {
-  memset(info, 0, sizeof(mjrRendererInfo));
-  info->renderer = "filament";
-  info->backend = ctx ? BackendName(mujoco::FilamentContext::downcast(ctx)->GetBackend()) : "";
-}
-
-mjrfTexture* mjrf_createTexture(mjrfContext* ctx,
-                                const mjrfTextureConfig* config) {
-  return new mujoco::Texture(
-      mujoco::FilamentContext::downcast(ctx)->GetEngine(), *config);
-}
-
-void mjrf_destroyTexture(mjrfTexture* texture) {
-  delete mujoco::Texture::downcast(texture);
-}
-
-mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshConfig* config) {
-  return new mujoco::Mesh(mujoco::FilamentContext::downcast(ctx)->GetEngine(),
-                          *config);
-}
-
-void mjrf_destroyMesh(mjrfMesh* mesh) { delete mujoco::Mesh::downcast(mesh); }
-
-mjrfScene* mjrf_createScene(mjrfContext* ctx, const mjrfSceneParams* params) {
-  return new mujoco::SceneView(
-      mujoco::FilamentContext::downcast(ctx)->GetObjectManager(),
-      mujoco::FilamentContext::downcast(ctx)->GetMaterialManager(), *params);
-}
-
-void mjrf_destroyScene(mjrfScene* scene) {
-  delete mujoco::SceneView::downcast(scene);
-}
-
-mjrfLight* mjrf_createLight(mjrfContext* ctx, const mjrfLightParams* params) {
-  return new mujoco::Light(mujoco::FilamentContext::downcast(ctx)->GetEngine(),
-                           *params);
-}
-
-void mjrf_destroyLight(mjrfLight* light) {
-  delete mujoco::Light::downcast(light);
-}
-
-mjrfRenderable* mjrf_createRenderable(mjrfContext* ctx,
-                                      const mjrfRenderableParams* params) {
-  return new mujoco::Renderable(
-      mujoco::FilamentContext::downcast(ctx)->GetEngine(), *params,
-      mujoco::FilamentContext::downcast(ctx)->GetMaterialManager());
-}
-
-void mjrf_destroyRenderable(mjrfRenderable* renderable) {
-  delete mujoco::Renderable::downcast(renderable);
-}
-
-mjrfRenderTarget* mjrf_createRenderTarget(
-    mjrfContext* ctx, const mjrfRenderTargetConfig* config) {
-  return new mujoco::RenderTarget(
-      mujoco::FilamentContext::downcast(ctx)->GetEngine(), *config);
-}
-
-void mjrf_destroyRenderTarget(mjrfRenderTarget* render_target) {
-  delete mujoco::RenderTarget::downcast(render_target);
-}
-
-void mjrf_setTextureData(mjrfTexture* texture, const mjrfTextureData* data) {
-  mujoco::Texture::downcast(texture)->Upload(*data);
-}
-
-void mjrf_setMeshData(mjrfMesh* mesh, const mjrfMeshData* data) {
-  mujoco::Mesh::downcast(mesh)->Upload(*data);
-}
-
-int mjrf_getTextureWidth(const mjrfTexture* texture) {
-  return mujoco::Texture::downcast(texture)->GetWidth();
-}
-
-int mjrf_getTextureHeight(const mjrfTexture* texture) {
-  return mujoco::Texture::downcast(texture)->GetHeight();
-}
-
-int mjrf_getTextureSamplerType(const mjrfTexture* texture) {
-  return mujoco::Texture::downcast(texture)->GetSamplerType();
-}
-
-void mjrf_setLightEnabled(mjrfLight* light, mjtBool enabled) {
-  if (enabled) {
-    mujoco::Light::downcast(light)->Enable();
-  } else {
-    mujoco::Light::downcast(light)->Disable();
-  }
-}
-
-void mjrf_setLightIntensity(mjrfLight* light, float intensity) {
-  mujoco::Light::downcast(light)->SetIntensity(intensity);
-}
-
-void mjrf_setLightShadowMapSize(mjrfLight* light, int map_size) {
-  mujoco::Light::downcast(light)->SetShadowMapSize(map_size);
-}
-
-void mjrf_setLightColor(mjrfLight* light, const float color[3]) {
-  mujoco::Light::downcast(light)->SetColor({color[0], color[1], color[2]});
-}
-
-void mjrf_setLightTransform(mjrfLight* light, const float position[3],
-                            const float direction[3]) {
-  mujoco::Light::downcast(light)->SetTransform(
-      {position[0], position[1], position[2]},
-      {direction[0], direction[1], direction[2]});
-}
-
-int mjrf_getLightType(const mjrfLight* light) {
-  return mujoco::Light::downcast(light)->GetType();
-}
-
-void mjrf_setRenderableMesh(mjrfRenderable* renderable, const mjrfMesh* mesh,
-                            int elem_offset, int elem_count) {
-  mujoco::Renderable::downcast(renderable)
-      ->SetMesh(mujoco::Mesh::downcast(mesh), elem_offset, elem_count);
-}
-
-void mjrf_setRenderableGeomMesh(mjrfRenderable* renderable, int type,
-                                int nstack, int nslice, int nquad) {
-  mujoco::Renderable::downcast(renderable)
-      ->SetGeomMesh(static_cast<mjtGeom>(type), nstack, nslice, nquad);
-}
-
-void mjrf_setRenderableMaterial(mjrfRenderable* renderable,
-                                const mjrfMaterial* material) {
-  mujoco::Renderable::downcast(renderable)->UpdateMaterial(*material);
-}
-
-void mjrf_getRenderableMaterial(mjrfRenderable* renderable,
-                                mjrfMaterial* material) {
-  *material = mujoco::Renderable::downcast(renderable)->GetMaterial();
-}
-
-void mjrf_setRenderableTransform(mjrfRenderable* renderable,
-                                 const float position[3],
-                                 const float rotation[9]) {
-  const filament::math::float3 fposition{position[0], position[1], position[2]};
-  const filament::math::mat3f frotation{rotation[0], rotation[3], rotation[6],
-                                        rotation[1], rotation[4], rotation[7],
-                                        rotation[2], rotation[5], rotation[8]};
-  mujoco::Renderable::downcast(renderable)->SetTransform(fposition, frotation);
-}
-
-void mjrf_setRenderableSize(mjrfRenderable* renderable, const float size[3]) {
-  const filament::math::float3 fsize{size[0], size[1], size[2]};
-  mujoco::Renderable::downcast(renderable)->SetSize(fsize);
-}
-
-void mjrf_addLightToScene(mjrfScene* scene, mjrfLight* light) {
-  mujoco::SceneView::downcast(scene)->AddToScene(
-      mujoco::Light::downcast(light));
-}
-
-void mjrf_removeLightFromScene(mjrfScene* scene, mjrfLight* light) {
-  mujoco::SceneView::downcast(scene)->RemoveFromScene(
-      mujoco::Light::downcast(light));
-}
-
-void mjrf_addRenderableToScene(mjrfScene* scene, mjrfRenderable* renderable) {
-  mujoco::SceneView::downcast(scene)->AddToScene(
-      mujoco::Renderable::downcast(renderable));
-}
-
-void mjrf_removeRenderableFromScene(mjrfScene* scene,
-                                    mjrfRenderable* renderable) {
-  mujoco::SceneView::downcast(scene)->RemoveFromScene(
-      mujoco::Renderable::downcast(renderable));
-}
-
-void mjrf_setSceneSkybox(mjrfScene* scene, const mjrfTexture* texture) {
-  mujoco::SceneView::downcast(scene)->SetSkybox(
-      mujoco::Texture::downcast(texture));
-}
-
-void mjrf_configureSceneFromModel(mjrfScene* scene, const mjModel* model) {
-  mujoco::SceneView::downcast(scene)->Configure(model);
-}
-
-void mjrf_resizeRenderTarget(mjrfRenderTarget* render_target, int width,
-                             int height) {
-  mujoco::RenderTarget::downcast(render_target)->Prepare(width, height);
-}
-
-mjrfFrameHandle mjrf_render(mjrfContext* ctx, const mjrfRenderRequest* req,
-                            int nreq, const mjrfReadPixelsRequest* read_req,
-                            int nread_req) {
-  return mujoco::FilamentContext::downcast(ctx)->Render(
-      {req, static_cast<size_t>(nreq)},
-      {read_req, static_cast<size_t>(nread_req)});
-}
-
-void mjrf_waitForFrame(mjrfContext* ctx, mjrfFrameHandle frame) {
-  mujoco::FilamentContext::downcast(ctx)->WaitForFrame(frame);
-}
-
-void mjrf_setClearColor(mjrfContext* ctx, const float color[3]) {
-  mujoco::FilamentContext::downcast(ctx)->SetClearColor(
-      {color[0], color[1], color[2], 1.0f});
-}
-
-void mjrf_getFrameStats(mjrfContext* ctx, mjrfFrameHandle frame,
-                        mjrfFrameStats* stats_out) {
-  mujoco::FilamentContext::downcast(ctx)->GetFrameStats(frame, stats_out);
-}
-}  // extern "C"
diff --git a/src/render/filament/mjrfilament_cpp.h b/src/render/filament/mjrfilament_cpp.h
deleted file mode 100644
index 9eca9481..00000000
--- a/src/render/filament/mjrfilament_cpp.h
+++ /dev/null
@@ -1,74 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_CPP_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_CPP_H_
-
-#include <memory>
-#include <string>
-
-#include <mujoco/mjrfilament.h>
-
-namespace mujoco {
-
-// A unique pointer to a mujoco object.
-template <typename T>
-using UniquePtr = std::unique_ptr<T, void (*)(T*)>;
-
-inline UniquePtr<mjrfContext> CreateContext(const mjrfContextConfig& config) {
-  mjrfContext* context = mjrf_createContext(&config);
-  return UniquePtr<mjrfContext>(context, mjrf_destroyContext);
-}
-
-inline UniquePtr<mjrfTexture> CreateTexture(mjrfContext* ctx,
-                                            const mjrfTextureConfig& config) {
-  mjrfTexture* texture = mjrf_createTexture(ctx, &config);
-  return UniquePtr<mjrfTexture>(texture, mjrf_destroyTexture);
-}
-
-inline UniquePtr<mjrfMesh> CreateMesh(mjrfContext* ctx,
-                                      const mjrfMeshConfig& config) {
-  mjrfMesh* mesh = mjrf_createMesh(ctx, &config);
-  return UniquePtr<mjrfMesh>(mesh, mjrf_destroyMesh);
-}
-
-inline UniquePtr<mjrfScene> CreateScene(mjrfContext* ctx,
-                                        const mjrfSceneParams& params) {
-  mjrfScene* scene = mjrf_createScene(ctx, &params);
-  return UniquePtr<mjrfScene>(scene, mjrf_destroyScene);
-}
-
-inline UniquePtr<mjrfLight> CreateLight(mjrfContext* ctx,
-                                        const mjrfLightParams& params) {
-  mjrfLight* light = mjrf_createLight(ctx, &params);
-  return UniquePtr<mjrfLight>(light, mjrf_destroyLight);
-}
-
-inline UniquePtr<mjrfRenderable> CreateRenderable(
-    mjrfContext* ctx, const mjrfRenderableParams& params) {
-  mjrfRenderable* renderable = mjrf_createRenderable(ctx, &params);
-  return UniquePtr<mjrfRenderable>(renderable, mjrf_destroyRenderable);
-}
-
-inline UniquePtr<mjrfRenderTarget> CreateRenderTarget(
-    mjrfContext* ctx, const mjrfRenderTargetConfig& config) {
-  mjrfRenderTarget* render_target = mjrf_createRenderTarget(ctx, &config);
-  return UniquePtr<mjrfRenderTarget>(render_target, mjrf_destroyRenderTarget);
-}
-
-std::string ResolveFilamentAssetPath(const std::string& filename);
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_CPP_H_
diff --git a/src/render/filament/support/filament_util.cc b/src/render/filament/support/filament_util.cc
deleted file mode 100644
index 9faba9a3..00000000
--- a/src/render/filament/support/filament_util.cc
+++ /dev/null
@@ -1,121 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/support/filament_util.h"
-
-#include <limits>
-
-#include <math/TVecHelpers.h>
-#include <math/mat3.h>
-#include <math/mat4.h>
-#include <math/quat.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::float4;
-using filament::math::mat3f;
-using filament::math::mat4;
-using filament::math::quatf;
-
-mat4 ToReflectionMatrix(const mat4& xform) {
-  const float3 normal = xform[2].xyz;
-  const float dist = dot(xform[3].xyz, normal);
-  // clang-format off
-  return mat4(
-      1.0f - 2.0f * normal.x * normal.x,
-      0.0f - 2.0f * normal.y * normal.x,
-      0.0f - 2.0f * normal.z * normal.x,
-      0.0f,
-      0.0f - 2.0f * normal.x * normal.y,
-      1.0f - 2.0f * normal.y * normal.y,
-      0.0f - 2.0f * normal.z * normal.y,
-      0.0f,
-      0.0f - 2.0f * normal.x * normal.z,
-      0.0f - 2.0f * normal.y * normal.z,
-      1.0f - 2.0f * normal.z * normal.z,
-      0.0f,
-      2.0f * dist * normal.x,
-      2.0f * dist * normal.y,
-      2.0f * dist * normal.z,
-      1.0f
-  );
-  // clang-format on
-}
-
-mat4 CalculateObliqueProjection(const mat4& projection, const float4& plane) {
-  mat4 res = projection;
-  auto sgn = [](float x) {
-    return (x > 0.0f) ? 1.0f : x < 0.0f ? -1.0f : 0.0f;
-  };
-
-  // The plane should be oriented such that the side to be kept is positive.
-  // The camera is at (0,0,0) in camera space. The value of the plane equation
-  // at the camera origin is plane.w. The reflected scene is on the opposite
-  // side of the plane from the camera. If plane.w is positive, the camera is
-  // on the positive side, so the reflected scene is on the negative side.
-  // We need to flip the plane in this case.
-  float4 clip_plane = plane;
-  if (plane.w > 0) {
-    clip_plane = -plane;
-  }
-
-  float4 q;
-  q.x = (sgn(clip_plane.x) + res[2][0]) / res[0][0];
-  q.y = (sgn(clip_plane.y) + res[2][1]) / res[1][1];
-  q.z = -1.0f;
-  q.w = (1.0f + res[2][2]) / res[3][2];
-
-  const float4 c = clip_plane * (2.0f / dot(clip_plane, q));
-  res[0][2] = c.x;
-  res[1][2] = c.y;
-  res[2][2] = c.z;
-  res[3][2] = c.w;
-  return res;
-}
-
-float4 CalculateOrientation(const float3& normal) {
-  float3 tangent;
-  float3 bitangent;
-  if (normal.y < -1.0f + std::numeric_limits<float>::epsilon()) {
-    // Handle the singularity.
-    tangent = float3{-1.0f, 0.0f, 0.0f};
-    bitangent = float3{0.0f, 0.0f, -1.0f};
-  } else {
-    const float a = 1.0f / (1.0f + normal.y);
-    const float b = -normal.z * normal.x * a;
-    tangent = float3(b, -normal.z, 1.0f - normal.z * normal.z * a);
-    bitangent = float3(1.0f - normal.x * normal.x * a, -normal.x, b);
-  }
-  quatf orientation = mat3f::packTangentFrame({tangent, bitangent, normal});
-  return float4(orientation.xyz, orientation.w);
-}
-
-float3 CalculateNormal(const filament::math::float3& p1,
-                       const filament::math::float3& p2,
-                       const filament::math::float3& p3) {
-  const float3 v12 = p2 - p1;
-  const float3 v13 = p3 - p1;
-  return normalize(cross(v12, v13));
-}
-
-float4 CalculateOrientation(const filament::math::float3& p1,
-                            const filament::math::float3& p2,
-                            const filament::math::float3& p3) {
-  return CalculateOrientation(CalculateNormal(p1, p2, p3));
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/support/filament_util.h b/src/render/filament/support/filament_util.h
deleted file mode 100644
index bf1b377f..00000000
--- a/src/render/filament/support/filament_util.h
+++ /dev/null
@@ -1,132 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_FILAMENT_UTIL_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_FILAMENT_UTIL_H_
-
-#include <string_view>
-
-#include <math/mat3.h>
-#include <math/mat4.h>
-#include <math/vec2.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco {
-
-// Reads a float2 from an array buffer in the model/scene.
-template <typename T>
-inline filament::math::float2 ReadFloat2(const T* arr, int index = 0) {
-  const T* ptr = arr + (2 * index);
-  return filament::math::float2(ptr[0], ptr[1]);
-}
-
-// Reads a float3 from an array buffer in the model/scene.
-template <typename T>
-inline filament::math::float3 ReadFloat3(const T* arr, int index = 0) {
-  const T* ptr = arr + (3 * index);
-  return filament::math::float3(ptr[0], ptr[1], ptr[2]);
-}
-
-// Reads a float4 from an array buffer in the model/scene.
-template <typename T>
-inline filament::math::float4 ReadFloat4(const T* arr, int index = 0) {
-  const T* ptr = arr + (4 * index);
-  return filament::math::float4(ptr[0], ptr[1], ptr[2], ptr[3]);
-}
-
-// Reads a mat3 from an array buffer in the model/scene.
-template <typename T>
-inline filament::math::mat3f ReadMat3(const T* arr, int index = 0) {
-  // clang-format off
-  const T* ptr = arr + (9 * index);
-  return filament::math::mat3f(ptr[0], ptr[1], ptr[2],
-                               ptr[3], ptr[4], ptr[5],
-                               ptr[6], ptr[7], ptr[8]);
-  // clang-format on
-}
-
-// Calculates a reflection matrix for a plane defined by its transform.
-filament::math::mat4 ToReflectionMatrix(const filament::math::mat4& xform);
-
-// Modifies a projection matrix so its near plane coincides with an arbitrary
-// plane defined in camera space.
-filament::math::mat4 CalculateObliqueProjection(
-    const filament::math::mat4& projection,
-    const filament::math::float4& plane);
-
-// Calculates the normal of a triangle given its three vertices.
-filament::math::float3 CalculateNormal(const filament::math::float3& p1,
-                                       const filament::math::float3& p2,
-                                       const filament::math::float3& p3);
-
-// Calculates the orientation of a vertex given just its normal.
-filament::math::float4 CalculateOrientation(
-    const filament::math::float3& normal);
-
-// Calculates the orientation of a triangle given its three vertices.
-filament::math::float4 CalculateOrientation(const filament::math::float3& p1,
-                                            const filament::math::float3& p2,
-                                            const filament::math::float3& p3);
-
-// Reads a value with the given name from the mjModel's data sections. The
-// default_value is returned if the named element is not found.
-template <typename T>
-T ReadElement(const mjModel* model, const char* name, T default_value = T()) {
-  constexpr bool is_string =
-      std::is_same_v<T, const char*> || std::is_same_v<T, std::string_view>;
-
-  const int type = is_string ? mjOBJ_TEXT : mjOBJ_NUMERIC;
-  const int id = mj_name2id(model, type, name);
-  if (id < 0) {
-    return default_value;
-  }
-
-  if constexpr (std::is_same_v<T, const char*>) {
-    const char* ptr = model->text_data + model->text_adr[id];
-    return ptr;
-  } else if constexpr (std::is_same_v<T, std::string_view>) {
-    const char* ptr = model->text_data + model->text_adr[id];
-    // Do not include the null terminator in the string view.
-    return std::string_view(ptr, model->text_size[id] - 1);
-  } else if constexpr (std::is_arithmetic_v<T>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    return static_cast<T>(*ptr);
-  } else if constexpr (std::is_enum_v<T>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    return static_cast<T>(static_cast<int>(*ptr));
-  } else if constexpr (std::is_same_v<T, filament::math::float2>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    if (model->numeric_size[id] != 2) mju_error("Invalid numeric size.");
-    return T{ptr[0], ptr[1]};
-  } else if constexpr (std::is_same_v<T, filament::math::float3>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    if (model->numeric_size[id] != 3) mju_error("Invalid numeric size.");
-    return T{ptr[0], ptr[1], ptr[2]};
-  } else if constexpr (std::is_same_v<T, filament::math::float4>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    if (model->numeric_size[id] != 4) mju_error("Invalid numeric size.");
-    return T{ptr[0], ptr[1], ptr[2], ptr[3]};
-  } else if constexpr (std::is_same_v<T, bool>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    return static_cast<T>(*ptr != 0);
-  }
-  return default_value;
-}
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_FILAMENT_UTIL_H_
diff --git a/src/render/filament/support/mesh_util.cc b/src/render/filament/support/mesh_util.cc
deleted file mode 100644
index 43bb7e26..00000000
--- a/src/render/filament/support/mesh_util.cc
+++ /dev/null
@@ -1,524 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/support/mesh_util.h"
-
-#include <cfloat>
-#include <cstddef>
-#include <cstring>
-#include <vector>
-
-#include <math/TVecHelpers.h>
-#include <math/vec2.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_vis_visualize.h"
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/filament_util.h"
-
-namespace mujoco {
-
-using filament::math::float2;
-using filament::math::float3;
-using filament::math::float4;
-
-// Vertex types that can be used to fill in mesh data using generic functions.
-namespace {
-
-struct VertexNoUv {
-  float3 position;
-  float4 orientation;
-  static constexpr bool kHasUv = false;
-};
-
-struct VertexWithUv {
-  float3 position;
-  float4 orientation;
-  float2 uv;
-  static constexpr bool kHasUv = true;
-};
-
-}  // namespace
-
-static void AccumulateNormal(float3* normals, const mjtNum* src_positions,
-                             const int* indices) {
-  const int idx0 = indices[0];
-  const int idx1 = indices[1];
-  const int idx2 = indices[2];
-
-  const float3 v0 = ReadFloat3(src_positions, idx0);
-  const float3 v1 = ReadFloat3(src_positions, idx1);
-  const float3 v2 = ReadFloat3(src_positions, idx2);
-  const float3 normal = normalize(cross(v1 - v0, v2 - v0));
-
-  normals[idx0] += normal;
-  normals[idx1] += normal;
-  normals[idx2] += normal;
-}
-
-template <typename T>
-static void AddFlexFace(T* vertices, const mjtNum* src_positions,
-                        const float3* src_normals, float radius,
-                        bool flatten_normals, const int* indices, int i0,
-                        int i1, int i2) {
-  const int idx0 = indices[i0];
-  const int idx1 = indices[i1];
-  const int idx2 = indices[i2];
-
-  const float3 v0 = ReadFloat3(src_positions, idx0);
-  const float3 v1 = ReadFloat3(src_positions, idx1);
-  const float3 v2 = ReadFloat3(src_positions, idx2);
-
-  vertices[0].position = v0 + (radius * src_normals[idx0]);
-  vertices[1].position = v1 + (radius * src_normals[idx1]);
-  vertices[2].position = v2 + (radius * src_normals[idx2]);
-
-  const float sign = radius >= 0 ? 1.f : -1.f;
-  if (flatten_normals) {
-    const float3 flat = normalize(cross(v1 - v0, v2 - v0));
-    const float4 orientation = CalculateOrientation(sign * flat);
-    vertices[0].orientation = orientation;
-    vertices[1].orientation = orientation;
-    vertices[2].orientation = orientation;
-  } else {
-    vertices[0].orientation = CalculateOrientation(sign * src_normals[idx0]);
-    vertices[1].orientation = CalculateOrientation(sign * src_normals[idx1]);
-    vertices[2].orientation = CalculateOrientation(sign * src_normals[idx2]);
-  }
-}
-
-template <typename T>
-static void AddSideFace(T* vertices, const mjtNum* src_positions,
-                        const float3* src_normals, float radius,
-                        const int* indices, int i0, int i1) {
-  const int idx0 = indices[i0];
-  const int idx1 = indices[i1];
-
-  const float3 v0 = ReadFloat3(src_positions, idx0);
-  const float3 v1 = ReadFloat3(src_positions, idx1);
-  const float3 v01 = v1 - v0;
-  float3 normal = normalize(cross(v01, src_normals[idx1]));
-  if (radius < 0) {
-    normal = -normal;
-  }
-
-  vertices[0].position = v0 + radius * src_normals[idx0];
-  vertices[1].position = v1 - radius * src_normals[idx1];
-  vertices[2].position = v1 + radius * src_normals[idx1];
-
-  vertices[0].orientation = CalculateOrientation(normal);
-  vertices[1].orientation = vertices[0].orientation;
-  vertices[2].orientation = vertices[0].orientation;
-}
-
-template <typename T>
-static void AddFaceUvs(T* vertices, const float* src_uvs, const int* indices,
-                       int t0, int t1, int t2) {
-  if constexpr (T::kHasUv) {
-    if (src_uvs) {
-      vertices[0].uv = ReadFloat2(src_uvs, indices[t0]);
-      vertices[1].uv = ReadFloat2(src_uvs, indices[t1]);
-      vertices[2].uv = ReadFloat2(src_uvs, indices[t2]);
-    }
-  }
-}
-
-template <typename T>
-static void UpdateBounds(float3* min_pt, float3* max_pt, const T* vertices) {
-  *min_pt = min(*min_pt, vertices[0].position);
-  *max_pt = max(*max_pt, vertices[0].position);
-  *min_pt = min(*min_pt, vertices[1].position);
-  *max_pt = max(*max_pt, vertices[1].position);
-  *min_pt = min(*min_pt, vertices[2].position);
-  *max_pt = max(*max_pt, vertices[2].position);
-}
-
-template <typename T>
-static void FillFlexVertices(T* vertices, const mjModel* model,
-                             const mjData* data, int flex_id, float3* min_pt,
-                             float3* max_pt) {
-  const int dim = model->flex_dim[flex_id];
-  const int* edata = model->flex_elem + model->flex_elemdataadr[flex_id];
-  const int* sdata = model->flex_shell + model->flex_shelldataadr[flex_id];
-  const int* tdata =
-      model->flex_elemtexcoord + model->flex_elemdataadr[flex_id];
-  const float radius = (float)model->flex_radius[flex_id];
-  const bool flat_shading = (bool)model->flex_flatskin[flex_id];
-
-  const mjtNum* src_positions =
-      data->flexvert_xpos + 3 * model->flex_vertadr[flex_id];
-
-  const float* src_uvs = nullptr;
-  if (model->flex_texcoordadr[flex_id] >= 0) {
-    src_uvs = model->flex_texcoord + 2 * model->flex_texcoordadr[flex_id];
-  }
-
-  // Determine the maximum vertex index.
-  int max_index = 0;
-  if (dim == 2) {
-    for (int e = 0; e < model->flex_elemnum[flex_id]; ++e) {
-      const int* subindices = edata + (e * 3);
-      max_index = mjMAX(max_index, subindices[0]);
-      max_index = mjMAX(max_index, subindices[1]);
-      max_index = mjMAX(max_index, subindices[2]);
-    }
-  } else {
-    for (int s = 0; s < model->flex_shellnum[flex_id]; ++s) {
-      const int* subindices = sdata + (s * 3);
-      max_index = mjMAX(max_index, subindices[0]);
-      max_index = mjMAX(max_index, subindices[1]);
-      max_index = mjMAX(max_index, subindices[2]);
-    }
-  }
-
-  // Accumulate normals.
-  std::vector<float3> normals(max_index + 1, float3(0, 0, 0));
-  if (dim == 2) {
-    for (int e = 0; e < model->flex_elemnum[flex_id]; ++e) {
-      const int* subindices = edata + (e * 3);
-      AccumulateNormal(normals.data(), src_positions, subindices);
-    }
-  } else {
-    for (int s = 0; s < model->flex_shellnum[flex_id]; ++s) {
-      const int* subindices = sdata + (s * 3);
-      AccumulateNormal(normals.data(), src_positions, subindices);
-    }
-  }
-
-  // Normalize the accumulated normals.
-  for (float3& n : normals) {
-    if (length(n) > 1e-16f) {
-      n = normalize(n);
-    } else {
-      n = float3(1, 0, 0);
-    }
-  }
-
-  if (dim == 2) {
-    for (int e = 0; e < model->flex_elemnum[flex_id]; ++e) {
-      const int* indices = edata + (e * (dim + 1));
-      const int* tex_indices = tdata + (e * (dim + 1));
-
-      AddFlexFace(vertices, src_positions, normals.data(), radius,
-                  flat_shading, indices, 0, 1, 2);
-      AddFaceUvs(vertices, src_uvs, tex_indices, 0, 1, 2);
-      UpdateBounds(min_pt, max_pt, vertices);
-      vertices += 3;
-
-      AddFlexFace(vertices, src_positions, normals.data(), -radius,
-                  flat_shading, indices, 0, 2, 1);
-      AddFaceUvs(vertices, src_uvs, tex_indices, 0, 2, 1);
-      UpdateBounds(min_pt, max_pt, vertices);
-      vertices += 3;
-    }
-    for (int s = 0; s < model->flex_shellnum[flex_id]; ++s) {
-      const int* indices = sdata + (s * dim);
-
-      AddSideFace(vertices, src_positions, normals.data(), radius, indices, 0,
-                  1);
-      AddFaceUvs(vertices, src_uvs, indices, 0, 1, 1);
-      UpdateBounds(min_pt, max_pt, vertices);
-      vertices += 3;
-
-      AddSideFace(vertices, src_positions, normals.data(), -radius, indices, 1,
-                  0);
-      AddFaceUvs(vertices, src_uvs, indices, 1, 0, 0);
-      UpdateBounds(min_pt, max_pt, vertices);
-      vertices += 3;
-    }
-  } else if (dim == 3) {
-    for (int s = 0; s < model->flex_shellnum[flex_id]; ++s) {
-      const int* indices = sdata + s * dim;
-      AddFlexFace(vertices, src_positions, normals.data(), radius,
-                  flat_shading, indices, 0, 1, 2);
-      AddFaceUvs(vertices, src_uvs, indices, 0, 1, 2);
-      UpdateBounds(min_pt, max_pt, vertices);
-      vertices += 3;
-    }
-  }
-}
-
-template <typename T>
-static void FillSkinVertices(T* vertices, const mjModel* model,
-                             const mjData* data, int skin_id, float3* min_pt,
-                             float3* max_pt) {
-  const int vertadr = model->skin_vertadr[skin_id];
-  const int faceadr = model->skin_faceadr[skin_id];
-  const int facenum = model->skin_facenum[skin_id];
-  const int boneadr = model->skin_boneadr[skin_id];
-  const int bonenum = model->skin_bonenum[skin_id];
-
-  // Accumulate positions from all bones.
-  for (int bone_idx = boneadr; bone_idx < boneadr + bonenum; ++bone_idx) {
-    mjtNum bind_pos[3] = {(mjtNum)model->skin_bonebindpos[3 * bone_idx + 0],
-                          (mjtNum)model->skin_bonebindpos[3 * bone_idx + 1],
-                          (mjtNum)model->skin_bonebindpos[3 * bone_idx + 2]};
-    mjtNum bind_quat[4] = {(mjtNum)model->skin_bonebindquat[4 * bone_idx + 0],
-                           (mjtNum)model->skin_bonebindquat[4 * bone_idx + 1],
-                           (mjtNum)model->skin_bonebindquat[4 * bone_idx + 2],
-                           (mjtNum)model->skin_bonebindquat[4 * bone_idx + 3]};
-
-    const int body_id = model->skin_bonebodyid[bone_idx];
-    const mjtNum* body_quat = data->xquat + 4 * body_id;
-    const mjtNum* body_pos = data->xpos + 3 * body_id;
-
-    // Apply the bone's current pose to the bind pose.
-    mjtNum neg_bind_quat[4];
-    mju_negQuat(neg_bind_quat, bind_quat);
-
-    mjtNum quat[4];
-    mju_mulQuat(quat, body_quat, neg_bind_quat);
-
-    mjtNum rotate[9];
-    mju_quat2Mat(rotate, quat);
-
-    mjtNum translate[3];
-    mju_mulMatVec3(translate, rotate, bind_pos);
-    mju_sub3(translate, body_pos, translate);
-
-    // Apply the bone's position to all vertices "connected" to the bone by
-    // the weighting of the bone to the vertex.
-    const int bonevertadr = model->skin_bonevertadr[bone_idx];
-    const int bonevertnum = model->skin_bonevertnum[bone_idx];
-    for (int i = bonevertadr; i < bonevertadr + bonevertnum; ++i) {
-      const int vertex_id = model->skin_bonevertid[i];
-      const mjtNum base_pos[3] = {
-          (mjtNum)model->skin_vert[3 * (vertadr + vertex_id) + 0],
-          (mjtNum)model->skin_vert[3 * (vertadr + vertex_id) + 1],
-          (mjtNum)model->skin_vert[3 * (vertadr + vertex_id) + 2],
-      };
-      mjtNum unweighted_pos[3];
-      mju_mulMatVec3(unweighted_pos, rotate, base_pos);
-      mju_addTo3(unweighted_pos, translate);
-
-      const float weight = model->skin_bonevertweight[i];
-      vertices[vertex_id].position.x += weight * (float)unweighted_pos[0];
-      vertices[vertex_id].position.y += weight * (float)unweighted_pos[1];
-      vertices[vertex_id].position.z += weight * (float)unweighted_pos[2];
-    }
-  }
-
-  // Compute normals for each face. For now, we'll store the normals in the
-  // xyz components of the orientation field.
-  for (int i = faceadr; i < faceadr + facenum; ++i) {
-    const int i0 = model->skin_face[(3 * i) + 0];
-    const int i1 = model->skin_face[(3 * i) + 1];
-    const int i2 = model->skin_face[(3 * i) + 2];
-    T& v0 = vertices[i0];
-    T& v1 = vertices[i1];
-    T& v2 = vertices[i2];
-
-    const float3 vec01 = v1.position - v0.position;
-    const float3 vec02 = v2.position - v0.position;
-    const float4 normal = float4(cross(vec01, vec02), 0);
-
-    v0.orientation += normal;
-    v1.orientation += normal;
-    v2.orientation += normal;
-  }
-
-  const float* uvs = nullptr;
-  if (model->skin_texcoordadr[skin_id] >= 0) {
-    const int uaddr = model->skin_texcoordadr[skin_id];
-    uvs = model->skin_texcoord + (2 * uaddr);
-  }
-
-  // Perform final adjustments/corrections on all the vertices.
-  const float inflate = model->skin_inflate[skin_id];
-  const size_t num_vertices = model->skin_vertnum[skin_id];
-  for (int i = 0; i < num_vertices; ++i) {
-    // Ensure normals are normalized.
-    vertices[i].orientation = normalize(vertices[i].orientation);
-
-    // Inflate the vertex position in direction of normal (if applicable).
-    if (inflate != 0.0f) {
-      vertices[i].position += inflate * vertices[i].orientation.xyz;
-    }
-
-    // Convert the normals into orientations.
-    vertices[i].orientation = CalculateOrientation(vertices[i].orientation.xyz);
-
-    // Assign uvs (if applicable).
-    if constexpr (T::kHasUv) {
-      vertices[i].uv = ReadFloat2(uvs, i);
-    }
-
-    // Calculate the bounds of the vertex buffer.
-    *min_pt = min(*min_pt, vertices[i].position);
-    *max_pt = max(*max_pt, vertices[i].position);
-  }
-}
-
-static void PrepareMeshData(mjrfMeshConfig* config, mjrfMeshData* data,
-                            int num_vertices, bool has_uvs) {
-  mjrf_defaultMeshConfig(config);
-  config->max_vertices = num_vertices;
-  config->num_attributes = has_uvs ? 3 : 2;
-  config->interleaved = true;
-  config->primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
-  config->max_indices = num_vertices;
-  config->index_type = mjINDEX_TYPE_U32;
-  config->attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
-  config->attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-  config->attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_TANGENTS;
-  config->attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT4;
-  if (has_uvs) {
-    config->attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
-    config->attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
-  }
-
-  mjrf_defaultMeshData(data);
-  if (has_uvs) {
-    const int nbytes = sizeof(VertexWithUv) * num_vertices;
-    data->user_data = new char[nbytes];
-    std::memset(data->user_data, 0, nbytes);
-  } else {
-    const int nbytes = sizeof(VertexNoUv) * num_vertices;
-    data->user_data = new char[nbytes];
-    std::memset(data->user_data, 0, nbytes);
-  }
-  data->release = [](void* user_data) {
-    delete[] (char*)(user_data);
-  };
-
-  char* buf = reinterpret_cast<char*>(data->user_data);
-  data->num_vertices = num_vertices;
-  data->vertices[0] = buf;
-  data->vertices[1] = buf + sizeof(float[3]);
-  if (has_uvs) {
-    data->vertices[2] = buf + sizeof(float[7]);
-  }
-  data->num_indices = num_vertices;
-  data->indices = nullptr;
-}
-
-static void SetBounds(mjrfMeshData* mesh_data, const float3& min_pt,
-                      const float3& max_pt) {
-  mesh_data->bounds_min[0] = min_pt.x;
-  mesh_data->bounds_min[1] = min_pt.y;
-  mesh_data->bounds_min[2] = min_pt.z;
-  mesh_data->bounds_max[0] = max_pt.x;
-  mesh_data->bounds_max[1] = max_pt.y;
-  mesh_data->bounds_max[2] = max_pt.z;
-}
-
-UniquePtr<mjrfMesh> CreateFlexMesh(mjrfContext* ctx, const mjModel* model,
-                                   const mjData* data, int flex_id) {
-  const int dim = model->flex_dim[flex_id];
-
-  int num_faces = 0;
-  if (dim == 2) {
-    num_faces += (2 * model->flex_elemnum[flex_id]);
-    num_faces += (2 * model->flex_shellnum[flex_id]);
-  } else if (dim == 3) {
-    num_faces += model->flex_shellnum[flex_id];
-  } else {
-    // 1D flex objects should be rendered as a collection of capsules.
-    mju_error("Unsupported flex dimension: %d", dim);
-  }
-
-  const int num_vertices = num_faces * 3;
-  const bool has_uvs = model->flex_texcoordadr[flex_id] >= 0;
-
-  mjrfMeshConfig mesh_config;
-  mjrfMeshData mesh_data;
-  PrepareMeshData(&mesh_config, &mesh_data, num_vertices, has_uvs);
-
-  float3 min_pt = float3(FLT_MAX);
-  float3 max_pt = float3(FLT_MIN);
-  if (has_uvs) {
-    VertexWithUv* vertices = (VertexWithUv*)(mesh_data.user_data);
-    FillFlexVertices(vertices, model, data, flex_id, &min_pt, &max_pt);
-  } else {
-    VertexNoUv* vertices = (VertexNoUv*)(mesh_data.user_data);
-    FillFlexVertices(vertices, model, data, flex_id, &min_pt, &max_pt);
-  }
-  SetBounds(&mesh_data, min_pt, max_pt);
-
-  auto mesh = CreateMesh(ctx, mesh_config);
-  mjrf_setMeshData(mesh.get(), &mesh_data);
-  return mesh;
-}
-
-UniquePtr<mjrfMesh> CreateSkinMesh(mjrfContext* ctx, const mjModel* model,
-                                   const mjData* data, int skin_id) {
-  const int num_vertices = model->skin_vertnum[skin_id];
-  const bool has_uvs = model->skin_texcoordadr[skin_id] >= 0;
-
-
-  mjrfMeshConfig mesh_config;
-  mjrfMeshData mesh_data;
-  PrepareMeshData(&mesh_config, &mesh_data, num_vertices, has_uvs);
-
-  float3 min_pt = float3(FLT_MAX);
-  float3 max_pt = float3(FLT_MIN);
-  if (has_uvs) {
-    VertexWithUv* vertices = (VertexWithUv*)(mesh_data.user_data);
-    FillSkinVertices(vertices, model, data, skin_id, &min_pt, &max_pt);
-  } else {
-    VertexNoUv* vertices = (VertexNoUv*)(mesh_data.user_data);
-    FillSkinVertices(vertices, model, data, skin_id, &min_pt, &max_pt);
-  }
-  mesh_data.num_indices = 3 * model->skin_facenum[skin_id];
-  mesh_data.indices = model->skin_face + 3 * model->skin_faceadr[skin_id];
-  SetBounds(&mesh_data, min_pt, max_pt);
-
-  auto mesh = CreateMesh(ctx, mesh_config);
-  mjrf_setMeshData(mesh.get(), &mesh_data);
-  return mesh;
-}
-
-void GatherSpatialTendonPoints(const mjModel* model, const mjData* data,
-                               int tendon_id, std::vector<float4>& points) {
-  mjtNum length = 0.f;
-  const bool is_catenary = mjv_isCatenary(model, data, tendon_id, &length);
-  if (is_catenary) {
-    const int max_segments = mjMIN(model->vis.quality.numslices + 1, 100);
-
-    mjtNum x0[3];
-    mju_copy3(x0, data->wrap_xpos + 3 * data->ten_wrapadr[tendon_id] + 0);
-
-    mjtNum x1[3];
-    mju_copy3(x1, data->wrap_xpos + 3 * data->ten_wrapadr[tendon_id] + 3);
-
-    const float width = model->tendon_width[tendon_id];
-
-    mjtNum pts[3 * 100];
-    const int npoints =
-        mjv_catenary(x0, x1, model->opt.gravity, length, pts, max_segments);
-
-    for (int j = 0; j < npoints - 1; ++j) {
-      points.emplace_back(ReadFloat3(pts, j), width);
-      points.emplace_back(ReadFloat3(pts, j + 1), width);
-    }
-  } else {
-    const int adr = data->ten_wrapadr[tendon_id];
-    const int num = data->ten_wrapnum[tendon_id];
-    for (int j = adr; j < adr + num - 1; j++) {
-      if (data->wrap_obj[j] == -2 || data->wrap_obj[j + 1] == -2) {
-        continue;
-      }
-
-      float width = model->tendon_width[tendon_id];
-      if (data->wrap_obj[j] >= 0 && data->wrap_obj[j + 1] >= 0) {
-        width *= 0.5;
-      }
-      points.emplace_back(ReadFloat3(data->wrap_xpos, j + 0), width);
-      points.emplace_back(ReadFloat3(data->wrap_xpos, j + 1), width);
-    }
-  }
-}
-}  // namespace mujoco
diff --git a/src/render/filament/support/mesh_util.h b/src/render/filament/support/mesh_util.h
deleted file mode 100644
index 577db417..00000000
--- a/src/render/filament/support/mesh_util.h
+++ /dev/null
@@ -1,43 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MESH_UTIL_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MESH_UTIL_H_
-
-#include <vector>
-#include <math/vec4.h>
-#include <mujoco/mujoco.h>
-#include <mujoco/mjrfilament.h>
-#include "render/filament/mjrfilament_cpp.h"
-
-namespace mujoco {
-
-// Creates a mjrfMesh for the given flex object.
-UniquePtr<mjrfMesh> CreateFlexMesh(mjrfContext* ctx, const mjModel* model,
-                                   const mjData* data, int flex_id);
-
-// Creates a mjrfMesh for the given skin object.
-UniquePtr<mjrfMesh> CreateSkinMesh(mjrfContext* ctx, const mjModel* model,
-                                   const mjData* data, int skin_id);
-
-// Populates the set of points that define the given tendon. Points are
-// added in pairs, representing the start and end of a segment of the tendon.
-// The w-component of the point stores the width/radius of the tendon.
-void GatherSpatialTendonPoints(const mjModel* model, const mjData* data,
-                               int tendon_id,
-                               std::vector<filament::math::float4>& points);
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MESH_UTIL_H_
diff --git a/src/render/filament/support/model_decorations.cc b/src/render/filament/support/model_decorations.cc
deleted file mode 100644
index 13f9c1c1..00000000
--- a/src/render/filament/support/model_decorations.cc
+++ /dev/null
@@ -1,310 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/support/model_decorations.h"
-
-#include <algorithm>
-#include <cstring>
-#include <span>
-#include <utility>
-
-#include <math/TMatHelpers.h>
-#include <math/mat4.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::float4;
-using filament::math::mat4;
-
-ModelDecorations::ModelDecorations(mjrfContext* ctx, mjrfScene* scene,
-                                   const mjModel* model, int num_geoms)
-    : ctx_(ctx), scene_(scene), model_(model) {
-  std::memset(&mjv_scene_, 0, sizeof(mjvScene));
-  mjv_makeScene(model_, &mjv_scene_, 2000);
-}
-
-ModelDecorations::~ModelDecorations() { mjv_freeScene(&mjv_scene_); }
-
-void ModelDecorations::Clear() {
-  for (auto& iter : decorations_) {
-    mjrf_removeRenderableFromScene(scene_, iter.get());
-  }
-  decorations_.clear();
-  meshes_.clear();
-}
-
-static mat4 CalcClipFromWorld(const mjModel* model, const mjData* data,
-                              mjvCamera mjv_camera, const mjrRect& viewport) {
-  if (mjv_camera.type == mjCAMERA_TRACKING) {
-    int bid = mjv_camera.trackbodyid;
-    if (bid < 0 || bid >= model->nbody) {
-      mju_error("track body id is outside valid range");
-    }
-    mju_copy3(mjv_camera.lookat, data->subtree_com + 3 * bid);
-  }
-
-  mjtNum headpos[3], forward[3], up[3];
-  mjv_cameraFrame(headpos, forward, up, nullptr, data, &mjv_camera);
-  float zver[2], zhor[2], zclip[2] = {0, 0};
-  mjv_cameraFrustum(zver, zhor, zclip, model, &mjv_camera);
-
-  const float frustum_top = zver[0];
-  const float frustum_bottom = -zver[1];
-  const float frustum_center = (zhor[1] - zhor[0]) / 2;
-  const float frustum_width = (zhor[1] + zhor[0]) / 2;
-  const float frustum_near = zclip[0];
-  const float frustum_far = zclip[1];
-
-  bool orthographic = model->vis.global.orthographic;
-  if (mjv_camera.type == mjCAMERA_FIXED) {
-    const int cid = mjv_camera.fixedcamid;
-    if (cid < 0 || cid >= model->ncam) {
-      mju_error("fixed camera id is outside valid range");
-    }
-    orthographic = model->cam_projection[cid] == mjPROJ_ORTHOGRAPHIC;
-  }
-
-  const float3 cam_pos{headpos[0], headpos[1], headpos[2]};
-  const float3 cam_fwd{forward[0], forward[1], forward[2]};
-  const float3 cam_up{up[0], up[1], up[2]};
-  const float3 cam_at = cam_pos + cam_fwd;
-  const float aspect_ratio = (float)viewport.width / (float)viewport.height;
-  const float halfwidth =
-      frustum_width ? frustum_width
-                    : 0.5f * aspect_ratio * (frustum_top - frustum_bottom);
-  const float left = frustum_center - halfwidth;
-  const float right = frustum_center + halfwidth;
-
-  mat4 projection;
-  if (orthographic) {
-    projection = mat4::ortho(left, right, frustum_bottom, frustum_top,
-                             frustum_near, frustum_far);
-  } else {
-    projection = mat4::frustum(left, right, frustum_bottom, frustum_top,
-                               frustum_near, frustum_far);
-    projection[2][2] = -1.0f;
-    projection[3][2] = -2.0f * frustum_near;
-  }
-  const mat4 look_at = mat4::lookAt(cam_pos, cam_at, cam_up);
-  return projection * inverse(look_at);
-}
-
-void ModelDecorations::Update(mjData* data, const mjvOption* vis_option,
-                              const mjvPerturb* perturb, mjvCamera* camera,
-                              const mjrRect& viewport,
-                              DrawTextAtFn draw_text_at_fn,
-                              std::span<const mjvGeom> extra_geoms) {
-  Clear();
-
-  const int nstack = model_->vis.quality.numstacks;
-  const int nslice = model_->vis.quality.numslices;
-  const int nquad = model_->vis.quality.numquads;
-
-  // For decor rendering, we go through the mjvScene. Ideally, we would only
-  // update the mjvGeoms in the scene, but the API is not capable of that.
-  mjv_updateScene(model_, data, vis_option, perturb, camera, mjCAT_ALL,
-                  &mjv_scene_);
-  const int num_extra_geoms =
-      std::min<int>(extra_geoms.size(), mjv_scene_.maxgeom - mjv_scene_.ngeom);
-  for (int i = 0; i < num_extra_geoms; ++i) {
-    mjv_scene_.geoms[mjv_scene_.ngeom] = extra_geoms[i];
-    mjv_scene_.geoms[mjv_scene_.ngeom].category = mjCAT_DECOR;
-    ++mjv_scene_.ngeom;
-  }
-
-  const mat4 clip_from_world =
-      CalcClipFromWorld(model_, data, *camera, viewport);
-  for (int i = 0; i < mjv_scene_.ngeom; ++i) {
-    const mjvGeom& geom = mjv_scene_.geoms[i];
-    if (draw_text_at_fn && geom.label[0] != 0) {
-      const float4 clip_pos =
-          clip_from_world * float4(geom.pos[0], geom.pos[1], geom.pos[2], 1.0f);
-      if (clip_pos.w != 0.0f) {
-        const float3 pos = clip_pos.xyz / clip_pos.w;
-        draw_text_at_fn(geom.label, pos.x, pos.y, pos.z);
-      }
-    }
-
-    const mjtGeom geom_type = (mjtGeom)geom.type;
-
-    if (geom_type == mjGEOM_NONE || geom_type == mjGEOM_LABEL) {
-      continue;
-    }
-    if (geom.category != mjCAT_DECOR && geom.type != mjGEOM_FLEX) {
-      continue;
-    }
-
-    if (geom.type == mjGEOM_FLEX) {
-      // Draw flexes "normally" with skins; no decor/debug rendering needed.
-      if (mjv_scene_.flexskinopt) {
-        continue;
-      }
-
-      mjrfMaterial material;
-      mjrf_defaultMaterial(&material);
-      material.decor_ux = true;
-      material.color[0] = model_->flex_rgba[4 * geom.objid + 0];
-      material.color[1] = model_->flex_rgba[4 * geom.objid + 1];
-      material.color[2] = model_->flex_rgba[4 * geom.objid + 2];
-      material.color[3] = model_->flex_rgba[4 * geom.objid + 3];
-
-      mjrfRenderableParams params;
-      mjrf_defaultRenderableParams(&params);
-
-      const int vertadr = mjv_scene_.flexvertadr[geom.objid];
-      const int vertnum = mjv_scene_.flexvertnum[geom.objid];
-      const float radius = model_->flex_radius[geom.objid];
-
-      if (mjv_scene_.flexvertopt) {
-        // Use small spheres to represent vertices.
-        const float rot[] = {1.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 1.f};
-        const float size[] = {radius, radius, radius};
-        for (int v = vertadr; v < vertadr + vertnum; ++v) {
-          auto vertex = CreateRenderable(ctx_, params);
-          mjrf_setRenderableGeomMesh(vertex.get(), mjGEOM_SPHERE, 8, 8, 1);
-          mjrf_setRenderableMaterial(vertex.get(), &material);
-          mjrf_setRenderableSize(vertex.get(), size);
-          mjrf_setRenderableTransform(vertex.get(), mjv_scene_.flexvert + 3 * v,
-                                      rot);
-          mjrf_addRenderableToScene(scene_, vertex.get());
-          decorations_.push_back(std::move(vertex));
-        }
-      }
-
-      if (mjv_scene_.flexedgeopt) {
-        const int edgeadr = mjv_scene_.flexedgeadr[geom.objid];
-        const int edgenum = mjv_scene_.flexedgenum[geom.objid];
-
-        // Use small thin cylinders to represent the edges.
-        for (int e = edgeadr; e < edgeadr + edgenum; ++e) {
-          const float* v1 =
-              mjv_scene_.flexvert + 3 * (vertadr + mjv_scene_.flexedge[2 * e]);
-          const float* v2 = mjv_scene_.flexvert +
-                            3 * (vertadr + mjv_scene_.flexedge[2 * e + 1]);
-          const mjtNum vec[3] = {v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2]};
-
-          const float pos[3]{
-              (v1[0] + v2[0]) * 0.5f,
-              (v1[1] + v2[1]) * 0.5f,
-              (v1[2] + v2[2]) * 0.5f,
-          };
-
-          mjtNum quat[4];
-          mju_quatZ2Vec(quat, vec);
-          mjtNum edgemat[9];
-          mju_quat2Mat(edgemat, quat);
-          const float rot[9] = {
-              static_cast<float>(edgemat[0]), static_cast<float>(edgemat[1]),
-              static_cast<float>(edgemat[2]), static_cast<float>(edgemat[3]),
-              static_cast<float>(edgemat[4]), static_cast<float>(edgemat[5]),
-              static_cast<float>(edgemat[6]), static_cast<float>(edgemat[7]),
-              static_cast<float>(edgemat[8]),
-          };
-
-          const float len = static_cast<float>(mju_norm3(vec));
-          const float size[3] = {radius, radius, len * 0.5f};
-
-          auto vertex = CreateRenderable(ctx_, params);
-          mjrf_setRenderableGeomMesh(vertex.get(), mjGEOM_CYLINDER, 1, 8, 1);
-          mjrf_setRenderableMaterial(vertex.get(), &material);
-          mjrf_setRenderableSize(vertex.get(), size);
-          mjrf_setRenderableTransform(vertex.get(), pos, rot);
-          mjrf_addRenderableToScene(scene_, vertex.get());
-          decorations_.push_back(std::move(vertex));
-        }
-      }
-
-      if (mjv_scene_.flexfaceopt && mjv_scene_.flexfaceused[geom.objid]) {
-        const bool has_uvs = geom.texcoord && geom.matid >= 0;
-        const int addr = mjv_scene_.flexfaceadr[geom.objid];
-        const float* positions = mjv_scene_.flexface + (9 * addr);
-        const float* normals = mjv_scene_.flexnormal + (9 * addr);
-        const float* uvs =
-            has_uvs ? mjv_scene_.flextexcoord + (6 * addr) : nullptr;
-
-        mjrfMeshConfig config;
-        mjrf_defaultMeshConfig(&config);
-        config.num_attributes = has_uvs ? 3 : 2;
-        config.max_vertices = 3 * mjv_scene_.flexfaceused[geom.objid];
-        config.max_indices = 3 * mjv_scene_.flexfaceused[geom.objid];
-        config.attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
-        config.attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-        config.attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_NORMAL;
-        config.attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-        config.attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
-        config.attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
-        config.index_type = mjINDEX_TYPE_U32;
-        config.primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
-
-        mjrfMeshData data;
-        mjrf_defaultMeshData(&data);
-        data.vertices[0] = positions;
-        data.vertices[1] = normals;
-        data.vertices[2] = uvs;
-        data.num_vertices = 3 * mjv_scene_.flexfaceused[geom.objid];
-        data.num_indices = 3 * mjv_scene_.flexfaceused[geom.objid];
-        data.indices = nullptr;
-        data.compute_bounds = true;
-        data.release = nullptr;
-        data.user_data = nullptr;
-
-        auto mesh = CreateMesh(ctx_, config);
-        mjrf_setMeshData(mesh.get(), &data);
-        meshes_.push_back(std::move(mesh));
-
-        auto renderable = CreateRenderable(ctx_, params);
-        mjrf_setRenderableMesh(renderable.get(), meshes_.back().get(), 0, 0);
-        mjrf_setRenderableMaterial(renderable.get(), &material);
-        mjrf_addRenderableToScene(scene_, renderable.get());
-        decorations_.push_back(std::move(renderable));
-      }
-      continue;
-    }
-
-    mjrfRenderableParams params;
-    mjrf_defaultRenderableParams(&params);
-    auto renderable = CreateRenderable(ctx_, params);
-
-    mjrf_setRenderableGeomMesh(renderable.get(), geom_type, nstack, nslice,
-                               nquad);
-    mjrf_setRenderableTransform(renderable.get(), geom.pos, geom.mat);
-    if (geom_type == mjGEOM_PLANE) {
-      // Planes only define an xy size, so set the z-dimension to 1.0f.
-      const float size[3] = {geom.size[0], geom.size[1], 1.0f};
-      mjrf_setRenderableSize(renderable.get(), size);
-    } else {
-      mjrf_setRenderableSize(renderable.get(), geom.size);
-    }
-
-    mjrfMaterial material;
-    mjrf_defaultMaterial(&material);
-    material.decor_ux = true;
-    material.color[0] = geom.rgba[0];
-    material.color[1] = geom.rgba[1];
-    material.color[2] = geom.rgba[2];
-    material.color[3] = geom.rgba[3];
-    mjrf_setRenderableMaterial(renderable.get(), &material);
-
-    mjrf_addRenderableToScene(scene_, renderable.get());
-    decorations_.push_back(std::move(renderable));
-  }
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/support/model_decorations.h b/src/render/filament/support/model_decorations.h
deleted file mode 100644
index 3bc73f0b..00000000
--- a/src/render/filament/support/model_decorations.h
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_DECORATIONS_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_DECORATIONS_H_
-
-#include <functional>
-#include <span>
-#include <vector>
-
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-
-namespace mujoco {
-
-// Adds decorative renderables to a scene.
-//
-// Internally uses mjvScene to generate decorative mjvGeoms from which the
-// renderables are then created.
-class ModelDecorations {
- public:
-  ModelDecorations(mjrfContext* ctx, mjrfScene* scene, const mjModel* model,
-                   int num_geoms = 2000);
-  ~ModelDecorations();
-
-  // Function for drawing text at a given position in clip space.
-  using DrawTextAtFn = std::function<void(const char*, float, float, float)>;
-
-  // Creates and adds decorative renderables to the scene.
-  void Update(mjData* data, const mjvOption* vis_option,
-              const mjvPerturb* perturb, mjvCamera* camera,
-              const mjrRect& viewport, DrawTextAtFn draw_text_at_fn = nullptr,
-              std::span<const mjvGeom> extra_geoms = {});
-
-  // Removes all decorative renderables from the scene.
-  void Clear();
-
-  ModelDecorations(const ModelDecorations&) = delete;
-  ModelDecorations& operator=(const ModelDecorations&) = delete;
-
- private:
-  mjrfContext* ctx_;
-  mjrfScene* scene_;
-  const mjModel* model_;
-  mjvScene mjv_scene_;
-  std::vector<UniquePtr<mjrfMesh>> meshes_;
-  std::vector<UniquePtr<mjrfRenderable>> decorations_;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_DECORATIONS_H_
diff --git a/src/render/filament/support/model_lights.cc b/src/render/filament/support/model_lights.cc
deleted file mode 100644
index b7ce722a..00000000
--- a/src/render/filament/support/model_lights.cc
+++ /dev/null
@@ -1,310 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/support/model_lights.h"
-
-#include <algorithm>
-#include <memory>
-#include <numbers>
-#include <string>
-#include <utility>
-
-#include <math/TVecHelpers.h>
-#include <math/mat4.h>
-#include <math/mathfwd.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/filament_util.h"
-#include "render/filament/support/model_objects.h"
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::float4;
-using filament::math::mat3;
-using filament::math::mat4;
-
-static UniquePtr<mjrfTexture> CreateFallbackIndirectLightTexture(
-    mjrfContext* ctx) {
-  const std::string filename = ResolveFilamentAssetPath("ibl.ktx");
-  mjResource* resource =
-      mju_openResource("", filename.c_str(), nullptr, nullptr, 0);
-  if (!resource) {
-    mju_error("Failed to open resource: %s", filename.c_str());
-  }
-  const void* bytes = nullptr;
-  const int nbytes = mju_readResource(resource, &bytes);
-  if (bytes == nullptr || nbytes <= 0) {
-    mju_error("Failed to read resource: %s", filename.c_str());
-  }
-
-  mjrfTextureConfig config;
-  mjrf_defaultTextureConfig(&config);
-  config.width = 1;
-  config.height = 1;
-  config.sampler_type = mjTEXTURE_CUBE;
-  config.format = mjPIXEL_FORMAT_KTX;
-  config.color_space = mjCOLORSPACE_AUTO;
-
-  auto texture = CreateTexture(ctx, config);
-
-  mjrfTextureData payload;
-  mjrf_defaultTextureData(&payload);
-  payload.bytes = bytes;
-  payload.num_bytes = nbytes;
-  payload.release =
-      +[](void* user_data) { mju_closeResource((mjResource*)user_data); };
-  payload.user_data = resource;
-
-  mjrf_setTextureData(texture.get(), &payload);
-  return texture;
-}
-
-ModelLights::ModelLights(mjrfScene* scene, ModelObjects* model_objects)
-    : scene_(scene), model_objects_(model_objects) {
-  const mjModel* model = model_objects->GetModel();
-  shadowsize_ = model->vis.quality.shadowsize;
-  fallback_head_light_intensity_ =
-      ReadElement(model, "filament.fallback.head_light_intensity",
-                  fallback_head_light_intensity_);
-  fallback_scene_light_intensity_ =
-      ReadElement(model, "filament.fallback.scene_light_intensity",
-                  fallback_scene_light_intensity_);
-  fallback_environment_light_intensity_ =
-      ReadElement(model, "filament.fallback.environment_light_intensity",
-                  fallback_environment_light_intensity_);
-  Prepare();
-}
-
-ModelLights::~ModelLights() {
-  for (auto& iter : lights_) {
-    mjrf_removeLightFromScene(scene_, iter.get());
-  }
-  lights_.clear();
-  if (fallback_ibl_) {
-    mjrf_removeLightFromScene(scene_, fallback_ibl_.get());
-  }
-  fallback_ibl_.reset();
-  if (fallback_directional_) {
-    mjrf_removeLightFromScene(scene_, fallback_directional_.get());
-  }
-  fallback_directional_.reset();
-}
-
-void ModelLights::Prepare() {
-  mjrfContext* ctx = model_objects_->GetContext();
-  const mjModel* model = model_objects_->GetModel();
-
-  // Default to the shadow map resolution in mjVisual, like the classic
-  // renderer. Filament clamps shadow map sizes to 2048.
-  int default_shadow_map_size = std::min(model->vis.quality.shadowsize, 2048);
-  default_shadow_map_size =
-      ReadElement(model, "filament.shadows.map_size", default_shadow_map_size);
-
-  bool has_image_based_light = false;
-  bool has_directional_light = false;
-  float total_light_intensity = 0.0f;
-  for (int i = 0; i < model->nlight; ++i) {
-    total_light_intensity += model->light_intensity[i];
-    has_directional_light |= model->light_type[i] == mjLIGHT_DIRECTIONAL;
-
-    if (model->light_type[i] == mjLIGHT_IMAGE) {
-      mjrfLightParams params;
-      mjrf_defaultLightParams(&params);
-      params.type = mjLIGHT_IMAGE;
-      params.texture = model_objects_->GetTexture(model->light_texid[i]);
-      params.intensity = model->light_intensity[i];
-      auto light_obj = CreateLight(ctx, params);
-      mjrf_addLightToScene(scene_, light_obj.get());
-      lights_.emplace_back(std::move(light_obj));
-      has_image_based_light = true;
-    } else {
-      mjrfLightParams params;
-      mjrf_defaultLightParams(&params);
-      params.color[0] = model->light_diffuse[0];
-      params.color[1] = model->light_diffuse[1];
-      params.color[2] = model->light_diffuse[2];
-      params.type = (mjtLightType)model->light_type[i];
-      params.cast_shadows = model->light_castshadow[i];
-      // light_bulbradius is the radius of the emitting surface in meters.
-      // Filament's DPCF/PCSS internally scale shadowBulbRadius from meters
-      // to light-space texels, so we pass it through in meters for all types.
-      // VSM requires a single uniform blur width for the map; we approximate
-      // this using the angular size of the bulb from the scene center.
-      const float bulb_radius = model->light_bulbradius[i];
-      const float map_size = default_shadow_map_size;
-      const float3 to_center = ReadFloat3(model->stat.center) -
-                               ReadFloat3(model->light_pos0, i);
-      const float distance = std::max(length(to_center), 1e-6f);
-      const float bulb_angle = bulb_radius / distance;
-      params.bulb_radius = bulb_radius;
-      switch (params.type) {
-        case mjLIGHT_SPOT: {
-          const float fov =
-              2.0f * model->light_cutoff[i] * std::numbers::pi / 180.0f;
-          params.vsm_blur_width = bulb_angle * map_size / fov;
-          break;
-        }
-        case mjLIGHT_POINT:
-          params.vsm_blur_width =
-              bulb_angle * map_size / (0.5f * std::numbers::pi);
-          break;
-        case mjLIGHT_DIRECTIONAL: {
-          const float coverage =
-              2.0f * model->vis.map.shadowclip * model->stat.extent;
-          params.vsm_blur_width = bulb_radius * map_size / coverage;
-          break;
-        }
-        default:
-          break;
-      }
-      params.vsm_blur_width = std::min(params.vsm_blur_width, 125.0f);
-      params.range = model->light_range[i];
-      params.intensity = model->light_intensity[i];
-      params.shadow_map_size = default_shadow_map_size;
-      if (params.type == mjLIGHT_SPOT) {
-        params.spot_cone_angle = model->light_cutoff[i];
-        params.spot_softness = model->light_softness[i];
-      }
-
-      auto light_obj = CreateLight(ctx, params);
-      mjrf_addLightToScene(scene_, light_obj.get());
-      lights_.emplace_back(std::move(light_obj));
-    }
-  }
-
-  // Add a placeholder (black) headlight as our last light. Going forward, we'll
-  // assume lights_.back() is always the headlight.
-  {
-    mjrfLightParams params;
-    mjrf_defaultLightParams(&params);
-    // We break with the spec here slightly and use a spot light for the head
-    // light instead of a directional params. This is because filament only
-    // supports a single directional light, and we'd rather allow a scene
-    // light to be that directional params. It's also a bit odd for a
-    // directional light to move with the camera.
-    params.type = mjLIGHT_SPOT;
-    params.cast_shadows = 0;
-    params.intensity = 0.0f;
-    params.spot_cone_angle = 90.0f;
-    auto light_obj = CreateLight(ctx, params);
-    mjrf_addLightToScene(scene_, light_obj.get());
-    lights_.emplace_back(std::move(light_obj));
-  }
-
-  // Workaround for an upstream filament bug, present since 1.74.0
-  // (https://github.com/google/filament/issues/10249): under the non-PCF
-  // shadow types (VSM/DPCF/PCSS), a scene where a punctual (spot/point) light
-  // casts shadows renders fully black unless a directional light is also
-  // present. Mere presence suffices: zero intensity, shadows off. Keep
-  // filament's directional slot occupied with an invisible light whenever the
-  // model has no directional light.
-  if (!has_directional_light) {
-    mjrfLightParams params;
-    mjrf_defaultLightParams(&params);
-    params.type = mjLIGHT_DIRECTIONAL;
-    params.cast_shadows = 0;
-    params.intensity = 0.0f;
-    fallback_directional_ = CreateLight(ctx, params);
-    mjrf_addLightToScene(scene_, fallback_directional_.get());
-  }
-
-  if (!has_image_based_light && total_light_intensity > 0.0f) {
-    // Create a black indirect light to ensure that the skybox is
-    // oriented to respect mujoco's Z-up convention.
-    mjrfLightParams params;
-    mjrf_defaultLightParams(&params);
-    params.type = mjLIGHT_IMAGE;
-    params.intensity = 10.0f;
-    fallback_ibl_ = CreateLight(ctx, params);
-    mjrf_addLightToScene(scene_, fallback_ibl_.get());
-  }
-
-  // There are no "physical" lights in the scene which means we're likely
-  // dealing with a "classic renderer" scene. In this case, let's add a
-  // default environment light and set the light intensity ourselves.
-  if (total_light_intensity == 0.0f) {
-    // Create a fallback environment light.
-    fallback_ibl_texture_ = CreateFallbackIndirectLightTexture(ctx);
-
-    mjrfLightParams params;
-    mjrf_defaultLightParams(&params);
-    params.type = mjLIGHT_IMAGE;
-    params.texture = fallback_ibl_texture_.get();
-    params.intensity = fallback_environment_light_intensity_;
-    fallback_ibl_ = CreateLight(ctx, params);
-    mjrf_addLightToScene(scene_, fallback_ibl_.get());
-
-    // Distribute the fallback scene light intensity among the lights.
-    const float intensity = fallback_scene_light_intensity_ / lights_.size();
-    for (auto& light : lights_) {
-      if (light) {
-        const bool is_headlight = (light == lights_.back());
-        mjrf_setLightIntensity(light.get(), is_headlight
-                                                ? fallback_head_light_intensity_
-                                                : intensity);
-      }
-    }
-  }
-
-  mjrf_setSceneSkybox(scene_, model_objects_->GetSkyboxTexture());
-}
-
-void ModelLights::UpdateShadowMapSize() {
-  const mjModel* model = model_objects_->GetModel();
-  if (model->vis.quality.shadowsize != shadowsize_) {
-    shadowsize_ = model->vis.quality.shadowsize;
-    const int map_size = std::min(shadowsize_, 2048);
-    for (auto& light : lights_) {
-      mjrf_setLightShadowMapSize(light.get(), map_size);
-    }
-  }
-}
-
-void ModelLights::Update(const mjData* data) {
-  UpdateShadowMapSize();
-  if (data == nullptr) {
-    return;
-  }
-  const mjModel* model = model_objects_->GetModel();
-  for (int i = 0; i <= model->nlight; ++i) {
-    // Light with index nlight is the headlight.
-    mjrfLight* light = lights_[i].get();
-    if (i == model->nlight) {
-      const float3 color = ReadFloat3(model->vis.headlight.diffuse);
-      mjrf_setLightColor(light, color.v);
-      mjrf_setLightEnabled(light, model->vis.headlight.active);
-    } else {
-      const float3 pos = ReadFloat3(data->light_xpos, i);
-      const float3 dir = ReadFloat3(data->light_xdir, i);
-      mjrf_setLightTransform(light, pos.v, dir.v);
-
-      const float3 color = ReadFloat3(model->light_diffuse, i);
-      mjrf_setLightColor(light, color.v);
-
-      mjrf_setLightEnabled(light, model->light_active[i]);
-    }
-  }
-}
-
-mjrfLight* ModelLights::GetLight(int index) {
-  if (index < 0 || index >= lights_.size()) {
-    return nullptr;
-  }
-  return lights_[index].get();
-}
-}  // namespace mujoco
diff --git a/src/render/filament/support/model_lights.h b/src/render/filament/support/model_lights.h
deleted file mode 100644
index e90755a4..00000000
--- a/src/render/filament/support/model_lights.h
+++ /dev/null
@@ -1,66 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_LIGHTS_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_LIGHTS_H_
-
-#include <vector>
-
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/model_objects.h"
-
-namespace mujoco {
-
-// Manages Light entities in an mjrfScene for an mjModel.
-class ModelLights {
- public:
-  ModelLights(mjrfScene* scene, ModelObjects* model_objects);
-  ~ModelLights();
-
-  // Updates the state of the lights in the scene.
-  void Update(const mjData* data = nullptr);
-
-  // Returns the light with the given index in the mjModel. Note that an extra
-  // headlight is assigned of the index `nlight`.
-  mjrfLight* GetLight(int index);
-
-  ModelLights(const ModelLights&) = delete;
-  ModelLights& operator=(const ModelLights&) = delete;
-
- private:
-  void Prepare();
-
-  // Applies changes of mjVisual quality.shadowsize to the lights' shadow
-  // maps. A filament.shadows.map_size custom element remains in effect until
-  // shadowsize is edited.
-  void UpdateShadowMapSize();
-
-  mjrfScene* scene_ = nullptr;
-  ModelObjects* model_objects_ = nullptr;
-
-  UniquePtr<mjrfLight> fallback_ibl_{nullptr, nullptr};
-  UniquePtr<mjrfLight> fallback_directional_{nullptr, nullptr};
-  UniquePtr<mjrfTexture> fallback_ibl_texture_{nullptr, nullptr};
-  std::vector<UniquePtr<mjrfLight>> lights_;
-  int shadowsize_ = 0;
-  float fallback_head_light_intensity_ = 0.f;
-  float fallback_scene_light_intensity_ = 80'000.f;
-  float fallback_environment_light_intensity_ = 5'000.f;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_LIGHTS_H_
diff --git a/src/render/filament/support/model_objects.cc b/src/render/filament/support/model_objects.cc
deleted file mode 100644
index 32511ddc..00000000
--- a/src/render/filament/support/model_objects.cc
+++ /dev/null
@@ -1,579 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/support/model_objects.h"
-
-#include <algorithm>
-#include <cfloat>
-#include <cstdint>
-#include <limits>
-#include <memory>
-#include <utility>
-#include <vector>
-
-#include <math/TVecHelpers.h>
-#include <math/vec2.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/filament_util.h"
-
-namespace mujoco {
-
-using filament::math::float2;
-using filament::math::float3;
-using filament::math::float4;
-
-enum class MeshType {
-  kNormal,
-  kConvexHull,
-  kHeightField,
-};
-
-struct MeshBuilder {
-  MeshBuilder(int nvertices) : nvertices(nvertices) {
-    positions.reserve(nvertices);
-    orientations.reserve(nvertices);
-    uvs.reserve(nvertices);
-  }
-
-  void Append(const float3& position, const float4& orientation,
-              const float2& uv) {
-    positions.push_back(position);
-    orientations.push_back(orientation);
-    uvs.push_back(uv);
-    bounds_min = min(bounds_min, position);
-    bounds_max = max(bounds_max, position);
-  }
-
-  int nvertices = 0;
-  float3 bounds_min = {FLT_MAX, FLT_MAX, FLT_MAX};
-  float3 bounds_max = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
-  std::vector<float3> positions;
-  std::vector<float4> orientations;
-  std::vector<float2> uvs;
-};
-
-static bool UseFaceNormal(const float3& face_normal,
-                          const float3& mesh_normal) {
-  // clang-format off
-  return (face_normal[0] * mesh_normal[0] +
-          face_normal[1] * mesh_normal[1] +
-          face_normal[2] * mesh_normal[2]) < 0.8f;
-  // clang-format on
-}
-
-static void FillConvexHullBuffer(MeshBuilder& builder, const mjModel* model,
-                                 int meshid) {
-  const int numvert = model->mesh_graph[model->mesh_graphadr[meshid]];
-  const int numface = model->mesh_graph[model->mesh_graphadr[meshid] + 1];
-  if (builder.nvertices != numface * 3) {
-    mju_error("Invalid vertex count (%d vs %d).", builder.nvertices, numface * 3);
-    return;
-  }
-
-  const int dataadr = model->mesh_graphadr[meshid] + 2;
-  const int vertadr = model->mesh_vertadr[meshid];
-  const float* vertices = model->mesh_vert + (3 * vertadr);
-  const int texcoordadr = model->mesh_texcoordadr[meshid];
-  const float* texcoords = texcoordadr >= 0 ? model->mesh_texcoord + (2 * texcoordadr) : nullptr;
-
-  for (int face = 0; face < numface; ++face) {
-    const int j = dataadr + (3 * numvert) + (3 * numface) + (3 * face);
-    const float3 p1 = ReadFloat3(vertices, model->mesh_graph[j + 0]);
-    const float3 p2 = ReadFloat3(vertices, model->mesh_graph[j + 1]);
-    const float3 p3 = ReadFloat3(vertices, model->mesh_graph[j + 2]);
-    const float4 orientation = CalculateOrientation(p1, p2, p3);
-    const float2 uv1 = texcoords ? ReadFloat2(texcoords, model->mesh_graph[j + 0]) : float2(0, 0);
-    const float2 uv2 = texcoords ? ReadFloat2(texcoords, model->mesh_graph[j + 1]) : float2(0, 0);
-    const float2 uv3 = texcoords ? ReadFloat2(texcoords, model->mesh_graph[j + 2]) : float2(0, 0);
-    builder.Append(p1, orientation, uv1);
-    builder.Append(p2, orientation, uv2);
-    builder.Append(p3, orientation, uv3);
-  }
-}
-
-static void FillMeshBuffer(MeshBuilder& builder, const mjModel* model, int meshid) {
-  const int faceadr = model->mesh_faceadr[meshid];
-  const int facenum = model->mesh_facenum[meshid];
-  if (builder.nvertices != facenum * 3) {
-    mju_error("Invalid vertex count (%d vs %d).", builder.nvertices, facenum * 3);
-    return;
-  }
-
-  const int vertadr = model->mesh_vertadr[meshid];
-  const float* vertices = model->mesh_vert + (3 * vertadr);
-  const int normaladr = model->mesh_normaladr[meshid];
-  const float* normals = model->mesh_normal + 3 * normaladr;
-  const int texcoordadr = model->mesh_texcoordadr[meshid];
-  const float* texcoords = texcoordadr >= 0 ? model->mesh_texcoord + (2 * texcoordadr) : nullptr;
-
-  for (int i = 0; i < facenum; ++i) {
-    const int face = 3 * (faceadr + i);
-
-    const float3 p1 = ReadFloat3(vertices, model->mesh_face[face + 0]);
-    const float3 p2 = ReadFloat3(vertices, model->mesh_face[face + 1]);
-    const float3 p3 = ReadFloat3(vertices, model->mesh_face[face + 2]);
-    const float3 face_normal = CalculateNormal(p1, p2, p3);
-    const float3 n1 = ReadFloat3(normals, model->mesh_facenormal[face + 0]);
-    const float3 n2 = ReadFloat3(normals, model->mesh_facenormal[face + 1]);
-    const float3 n3 = ReadFloat3(normals, model->mesh_facenormal[face + 2]);
-    const float2 uv1 = texcoords ? ReadFloat2(texcoords, model->mesh_facetexcoord[face + 0]) : float2(0, 0);
-    const float2 uv2 = texcoords ? ReadFloat2(texcoords, model->mesh_facetexcoord[face + 1]) : float2(0, 0);
-    const float2 uv3 = texcoords ? ReadFloat2(texcoords, model->mesh_facetexcoord[face + 2]) : float2(0, 0);
-
-    if (UseFaceNormal(face_normal, n1)) {
-      builder.Append(p1, CalculateOrientation(face_normal), uv1);
-    } else {
-      builder.Append(p1, CalculateOrientation(n1), uv1);
-    }
-
-    if (UseFaceNormal(face_normal, n2)) {
-      builder.Append(p2, CalculateOrientation(face_normal), uv2);
-    } else {
-      builder.Append(p2, CalculateOrientation(n2), uv2);
-    }
-
-    if (UseFaceNormal(face_normal, n3)) {
-      builder.Append(p3, CalculateOrientation(face_normal), uv3);
-    } else {
-      builder.Append(p3, CalculateOrientation(n3), uv3);
-    }
-  }
-}
-
-static void FillHeightFieldBuffer(MeshBuilder& builder, const mjModel* model,
-                                  int hfieldid) {
-  auto append_tri = [&](float3 a, float3 b, float3 c, float2 uv_a, float2 uv_b,
-                        float2 uv_c) {
-    float4 orientation = CalculateOrientation(a, b, c);
-    builder.Append(a, orientation, uv_a);
-    builder.Append(b, orientation, uv_b);
-    builder.Append(c, orientation, uv_c);
-  };
-  auto append_quad = [&](float3 a, float3 b, float3 c, float3 d, float2 uv_a,
-                         float2 uv_b, float2 uv_c, float2 uv_d) {
-    append_tri(a, b, d, uv_a, uv_b, uv_d);
-    append_tri(d, b, c, uv_d, uv_b, uv_c);
-  };
-
-  const float* data = model->hfield_data + model->hfield_adr[hfieldid];
-  const int nrow = model->hfield_nrow[hfieldid];
-  const int ncol = model->hfield_ncol[hfieldid];
-  const float height = 0.5f * (nrow - 1);
-  const float width = 0.5f * (ncol - 1);
-  float sz[4];
-  for (int i = 0; i < 4; ++i) {
-    sz[i] = static_cast<float>(model->hfield_size[4 * hfieldid + i]);
-  }
-
-  auto get_pos = [=](int r, int c) {
-    const float x = sz[0] * (c / width - 1.0f);
-    const float y = sz[1] * (r / height - 1.0f);
-    const float z = sz[2] * data[(r * ncol) + c];
-    return float3{x, y, z};
-  };
-
-  // For each quad defined by 4 points in the height field, we will create 4
-  // triangles by introducing a vertex in the middle of the quad.
-  //     a---b
-  //     |\ /|
-  //     | m |
-  //     |/ \|
-  //     d---c
-  for (int row = 0; row < nrow - 1; ++row) {
-    for (int col = 0; col < ncol - 1; ++col) {
-      const float3 a = get_pos(row, col);
-      const float3 b = get_pos(row, col + 1);
-      const float3 c = get_pos(row + 1, col + 1);
-      const float3 d = get_pos(row + 1, col);
-
-      const float mid_x = (a.x + b.x) * 0.5f;
-      const float mid_y = (a.y + d.y) * 0.5f;
-
-      // To determine the height of the middle vertex, we look at the heights
-      // of the opposing corners (i.e. {a, c} and {b, d}). Our goal is to avoid
-      // creating any odd bumps or valleys in the height field if possible.
-      //
-      // If one of the two opposing corners are of the same height, then we
-      // set the middle vertex such that we're effectively rendering two
-      // triangles, preventing an odd bump. Otherwise, we use the higher
-      // midpoint between two opposing corners to prevent valleys.
-      //     0---0      0---0      6---4
-      //     |\  |      |  /|      |\ /|
-      //     | 0 |      | 0 |      | 7 |
-      //     |  \|      |/  |      |/ \|
-      //     2---0      0---2      0---8
-      float mid_z = 0;
-      if (a.z == c.z && b.z != d.z) {
-        mid_z = a.z;
-      } else if (a.z != c.z && b.z == d.z) {
-        mid_z = b.z;
-      } else {
-        const float mid_z_ac = (a.z + c.z) * 0.5f;
-        const float mid_z_bd = (b.z + d.z) * 0.5f;
-        mid_z = std::max(mid_z_ac, mid_z_bd);
-      }
-
-      const float3 mid = {mid_x, mid_y, mid_z};
-      const float2 uv_a = {(float)col / (ncol - 1),
-                           1.f - (float)row / (nrow - 1)};
-      const float2 uv_b = {(float)(col + 1) / (ncol - 1),
-                           1.f - (float)row / (nrow - 1)};
-      const float2 uv_c = {(float)(col + 1) / (ncol - 1),
-                           1.f - (float)(row + 1) / (nrow - 1)};
-      const float2 uv_d = {(float)col / (ncol - 1),
-                           1.f - (float)(row + 1) / (nrow - 1)};
-      const float2 uv_mid = {(float)(col + 0.5f) / (ncol - 1),
-                             1.f - (float)(row + 0.5f) / (nrow - 1)};
-
-      append_tri(a, b, mid, uv_a, uv_b, uv_mid);
-      append_tri(b, c, mid, uv_b, uv_c, uv_mid);
-      append_tri(c, d, mid, uv_c, uv_d, uv_mid);
-      append_tri(d, a, mid, uv_d, uv_a, uv_mid);
-    }
-  }
-  // Build the left edge.
-  for (int row = 0; row < nrow - 1; ++row) {
-    const float3 a = get_pos(row, 0);
-    const float3 b = get_pos(row + 1, 0);
-    const float3 c = {b.x, b.y, -sz[3]};
-    const float3 d = {a.x, a.y, -sz[3]};
-    const float2 uv_a = {0.f, 1.f - (float)row / (nrow - 1)};
-    const float2 uv_b = {0.f, 1.f - (float)(row + 1) / (nrow - 1)};
-    append_quad(a, b, c, d, uv_a, uv_b, uv_b, uv_a);
-  }
-  // Build the right edge.
-  for (int row = 0; row < nrow - 1; ++row) {
-    const float3 a = get_pos(row + 1, ncol - 1);
-    const float3 b = get_pos(row, ncol - 1);
-    const float3 c = {b.x, b.y, -sz[3]};
-    const float3 d = {a.x, a.y, -sz[3]};
-    const float2 uv_a = {1.f, 1.f - (float)(row + 1) / (nrow - 1)};
-    const float2 uv_b = {1.f, 1.f - (float)row / (nrow - 1)};
-    append_quad(a, b, c, d, uv_a, uv_b, uv_b, uv_a);
-  }
-  // Build the front edge.
-  for (int col = 0; col < ncol - 1; ++col) {
-    const float3 a = get_pos(0, col);
-    const float3 b = {a.x, a.y, -sz[3]};
-    const float3 d = get_pos(0, col + 1);
-    const float3 c = {d.x, d.y, -sz[3]};
-    const float2 uv_a = {(float)col / (ncol - 1), 1.f};
-    const float2 uv_d = {(float)(col + 1) / (ncol - 1), 1.f};
-    append_quad(a, b, c, d, uv_a, uv_a, uv_d, uv_d);
-  }
-  // Build the back edge.
-  for (int col = 0; col < ncol - 1; ++col) {
-    const float3 a = get_pos(nrow - 1, col + 1);
-    const float3 b = {a.x, a.y, -sz[3]};
-    const float3 d = get_pos(nrow - 1, col);
-    const float3 c = {d.x, d.y, -sz[3]};
-    const float2 uv_a = {(float)(col + 1) / (ncol - 1), 0.f};
-    const float2 uv_d = {(float)col / (ncol - 1), 0.f};
-    append_quad(a, b, c, d, uv_a, uv_a, uv_d, uv_d);
-  }
-  // Build the base. We use the visualization quality as the size rather than
-  // the height field dimensions.
-  const float base_width = (0.5f * model->vis.quality.numquads);
-  const float base_height = (0.5f * model->vis.quality.numquads);
-  for (int row = 0; row < model->vis.quality.numquads; ++row) {
-    for (int col = 0; col < model->vis.quality.numquads; ++col) {
-      const float x0 = sz[0] * ((col + 0) / base_width - 1.0f);
-      const float x1 = sz[0] * ((col + 1) / base_width - 1.0f);
-      const float y0 = sz[1] * ((row + 0) / base_height - 1.0f);
-      const float y1 = sz[1] * ((row + 1) / base_height - 1.0f);
-      const float2 uv0 = {(col + 0) / (2.f * base_width),
-                          1.f - (row + 0) / (2.f * base_height)};
-      const float2 uv1 = {(col + 1) / (2.f * base_width),
-                          1.f - (row + 1) / (2.f * base_height)};
-      append_quad({x0, y0, -sz[3]}, {x0, y1, -sz[3]}, {x1, y1, -sz[3]},
-                  {x1, y0, -sz[3]}, {uv0.x, uv0.y}, {uv0.x, uv1.y},
-                  {uv1.x, uv1.y}, {uv1.x, uv0.y});
-    }
-  }
-}
-
-static int CalculateHeightFieldVertexCount(const mjModel* model, int hfieldid) {
-  const int nrow = model->hfield_nrow[hfieldid];
-  const int ncol = model->hfield_ncol[hfieldid];
-
-  // For details, see the logic in FillHeightFieldBuffer for how many vertices
-  // we need. But, in general...
-
-  // We use 4 triangles (i.e. 12 vertices) per quad.
-  const int surface_count = 12 * (nrow - 1) * (ncol - 1);
-  // We use 1 quad (i.e. 6 vertices) per edge element. We double this because
-  // we have two edges per dimension (e.g. left/right and front/back).
-  const int edge_count = (12 * (nrow - 1)) + (12 * (ncol - 1));
-  // We use 1 quad (i.e. 6 vertices) per base element. We use the visualization
-  // quality as the size rather than the height field dimensions.
-  const int base_count =
-      6 * model->vis.quality.numquads * model->vis.quality.numquads;
-
-  const int total_count = surface_count + edge_count + base_count;
-  return total_count;
-}
-
-static bool HasUvs(const mjModel* model, int id, MeshType mesh_type) {
-  return mesh_type == MeshType::kHeightField ||
-         model->mesh_texcoordadr[id] >= 0;
-}
-
-static bool IsValidIndex(const mjModel* model, int id, MeshType mesh_type) {
-  switch (mesh_type) {
-    case MeshType::kNormal:
-      return id >= 0 && id < model->nmesh;
-    case MeshType::kConvexHull:
-      return id >= 0 && id < model->nmesh;
-    case MeshType::kHeightField:
-      return id >= 0 && id < model->nhfield;
-  }
-}
-
-static int GetNumVertices(const mjModel* model, int id, MeshType mesh_type) {
-  switch (mesh_type) {
-    case MeshType::kNormal:
-      return 3 * model->mesh_facenum[id];
-    case MeshType::kConvexHull:
-      return 3 * model->mesh_graph[model->mesh_graphadr[id] + 1];
-    case MeshType::kHeightField:
-      return CalculateHeightFieldVertexCount(model, id);
-  }
-}
-
-static void UpdateMeshData(mjrfMeshConfig* config, mjrfMeshData* data,
-                           const mjModel* model, int id, MeshType mesh_type) {
-  if (!IsValidIndex(model, id, mesh_type)) {
-    mju_error("Invalid index %d for type %d", id, mesh_type);
-    return;
-  }
-
-  const int num_vertices = GetNumVertices(model, id, mesh_type);
-  const bool has_uvs = HasUvs(model, id, mesh_type);
-
-  MeshBuilder* builder = new MeshBuilder(num_vertices);
-  data->user_data = builder;
-  data->release = [](void* user_data) {
-    delete static_cast<MeshBuilder*>(user_data);
-  };
-
-  switch (mesh_type) {
-    case MeshType::kNormal:
-      FillMeshBuffer(*builder, model, id);
-      break;
-    case MeshType::kConvexHull:
-      FillConvexHullBuffer(*builder, model, id);
-      break;
-    case MeshType::kHeightField:
-      FillHeightFieldBuffer(*builder, model, id);
-      break;
-  }
-
-  config->max_vertices = num_vertices;
-  config->max_indices = num_vertices;
-  config->primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
-  config->index_type = num_vertices >= std::numeric_limits<uint16_t>::max()
-                           ? mjINDEX_TYPE_U32
-                           : mjINDEX_TYPE_U16;
-  config->num_attributes = has_uvs ? 3 : 2;
-  config->attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
-  config->attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-  config->attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_TANGENTS;
-  config->attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT4;
-  if (has_uvs) {
-    config->attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
-    config->attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
-  }
-
-  data->num_vertices = num_vertices;
-  data->num_indices = num_vertices;
-  data->indices = nullptr;
-  data->vertices[0] = builder->positions.data();
-  data->vertices[1] = builder->orientations.data();
-  if (has_uvs) {
-    data->vertices[2] = builder->uvs.data();
-  }
-  data->bounds_min[0] = builder->bounds_min.x;
-  data->bounds_min[1] = builder->bounds_min.y;
-  data->bounds_min[2] = builder->bounds_min.z;
-  data->bounds_max[0] = builder->bounds_max.x;
-  data->bounds_max[1] = builder->bounds_max.y;
-  data->bounds_max[2] = builder->bounds_max.z;
-}
-
-ModelObjects::ModelObjects(const mjModel* model, mjrfContext* ctx)
-    : model_(model), ctx_(ctx) {
-
-  for (int i = 0; i < model_->ntex; ++i) {
-    UploadTexture(model_, i);
-  }
-  for (int i = 0; i < model_->nmesh; ++i) {
-    UploadMesh(model_, i);
-  }
-  for (int i = 0; i < model_->nhfield; ++i) {
-    UploadHeightField(model_, i);
-  }
-
-  specular_multiplier_ = ReadElement(
-      model_, "filament.phong.specular_multiplier", specular_multiplier_);
-  shininess_multiplier_ = ReadElement(
-      model_, "filament.phong.shininess_multiplier", shininess_multiplier_);
-  emissive_multiplier_ = ReadElement(
-      model_, "filament.phong.emissive_multiplier", emissive_multiplier_);
-}
-
-void ModelObjects::UploadMesh(const mjModel* model, int id) {
-  if (model != model_) {
-    mju_error("Model mismatch.");
-  }
-  if (id < 0 || id >= model->nmesh) {
-    mju_error("Invalid mesh index %d", id);
-  }
-  meshes_.erase(id);
-  convex_hulls_.erase(id);
-
-  mjrfMeshConfig config;
-  mjrf_defaultMeshConfig(&config);
-  mjrfMeshData data;
-  mjrf_defaultMeshData(&data);
-  UpdateMeshData(&config, &data, model, id, MeshType::kNormal);
-
-  auto mesh = CreateMesh(ctx_, config);
-  mjrf_setMeshData(mesh.get(), &data);
-  meshes_.insert_or_assign(id, std::move(mesh));
-
-  if (model->mesh_graphadr[id] >= 0) {
-    mjrfMeshConfig convex_hull_config;
-    mjrf_defaultMeshConfig(&convex_hull_config);
-    mjrfMeshData convex_hull_data;
-    mjrf_defaultMeshData(&convex_hull_data);
-    UpdateMeshData(&convex_hull_config, &convex_hull_data, model, id,
-                   MeshType::kConvexHull);
-
-    auto convex_hull = CreateMesh(ctx_, convex_hull_config);
-    mjrf_setMeshData(convex_hull.get(), &convex_hull_data);
-    convex_hulls_.insert_or_assign(id, std::move(convex_hull));
-  }
-}
-
-void ModelObjects::UploadTexture(const mjModel* model, int id) {
-  if (model != model_) {
-    mju_error("Model mismatch.");
-  }
-  if (id < 0 || id >= model->ntex) {
-    mju_error("Invalid texture index: %d", id);
-  }
-
-  mjrfTextureConfig config;
-  mjrf_defaultTextureConfig(&config);
-  config.width = model->tex_width[id];
-  config.height = model->tex_height[id];
-  config.sampler_type = (mjtTexture)model->tex_type[id];
-  config.color_space = (mjtColorSpace)model->tex_colorspace[id];
-  switch (model->tex_nchannel[id]) {
-    case 1:
-      config.format = mjPIXEL_FORMAT_R8;
-      break;
-    case 3:
-      config.format = mjPIXEL_FORMAT_RGB8;
-      break;
-    case 4:
-      config.format = mjPIXEL_FORMAT_RGBA8;
-      break;
-    default:
-      mju_error("Unsupported texture format: %d", model->tex_nchannel[id]);
-      break;
-  }
-  if (config.height == 1 && model->tex_nchannel[id] == 1) {
-    config.format = mjPIXEL_FORMAT_KTX;
-  }
-
-  mjrfTextureData payload;
-  mjrf_defaultTextureData(&payload);
-  payload.bytes = model->tex_data + model->tex_adr[id];
-  payload.num_bytes =
-      model->tex_width[id] * model->tex_height[id] * model->tex_nchannel[id];
-  // We assume that the model has the same lifetime as the engine.
-  payload.user_data = nullptr;
-  payload.release = nullptr;
-
-  auto texture = CreateTexture(ctx_, config);
-  mjrf_setTextureData(texture.get(), &payload);
-  textures_.insert_or_assign(id, std::move(texture));
-}
-
-void ModelObjects::UploadHeightField(const mjModel* model, int id) {
-  if (model != model_) {
-    mju_error("Model mismatch.");
-  }
-  if (id < 0 || id >= model->nhfield) {
-    mju_error("Invalid height field index %d", id);
-  }
-
-  height_fields_.erase(id);
-
-  mjrfMeshConfig config;
-  mjrf_defaultMeshConfig(&config);
-  mjrfMeshData data;
-  mjrf_defaultMeshData(&data);
-  UpdateMeshData(&config, &data, model, id, MeshType::kHeightField);
-
-  auto mesh = CreateMesh(ctx_, config);
-  mjrf_setMeshData(mesh.get(), &data);
-  height_fields_.insert_or_assign(id, std::move(mesh));
-}
-
-const mjrfMesh* ModelObjects::GetMesh(int data_id) const {
-  // As defined by mjv_updateScene:
-  //   original mesh: mesh_id * 2
-  //   convex hull: (mesh_id * 2) + 1
-  const int mesh_id = data_id / 2;
-  if (data_id % 2 == 0) {
-    auto it = meshes_.find(mesh_id);
-    return it != meshes_.end() ? it->second.get() : nullptr;
-  } else {
-    auto it = convex_hulls_.find(mesh_id);
-    return it != convex_hulls_.end() ? it->second.get() : nullptr;
-  }
-}
-
-const mjrfMesh* ModelObjects::GetHeightField(int hfield_id) const {
-  if (auto it = height_fields_.find(hfield_id); it != height_fields_.end()) {
-    return it->second.get();
-  }
-  mju_error("Unknown height field %d", hfield_id);
-  return nullptr;
-}
-
-const mjrfTexture* ModelObjects::GetTexture(int tex_id) const {
-  if (auto it = textures_.find(tex_id); it != textures_.end()) {
-    return it->second.get();
-  }
-  mju_error("Unknown texture %d", tex_id);
-  return nullptr;
-}
-
-const mjrfTexture* ModelObjects::GetSkyboxTexture() const {
-  for (auto& iter : textures_) {
-    if (model_->tex_type[iter.first] == mjTEXTURE_SKYBOX) {
-      return iter.second.get();
-    }
-  }
-  return nullptr;
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/support/model_objects.h b/src/render/filament/support/model_objects.h
deleted file mode 100644
index 2f872026..00000000
--- a/src/render/filament/support/model_objects.h
+++ /dev/null
@@ -1,87 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_OBJECTS_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_OBJECTS_H_
-
-#include <unordered_map>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-
-namespace mujoco {
-
-// Creates and owns meshes and textures read from an mjModel.
-class ModelObjects {
- public:
-  ModelObjects(const mjModel* model, mjrfContext* ctx);
-
-  // Uploads a new mesh from the model with the given id.
-  void UploadMesh(const mjModel* model, int id);
-
-  // Uploads a new texture from the model with the given id.
-  void UploadTexture(const mjModel* model, int id);
-
-  // Uploads a new height field from the model with the given id.
-  void UploadHeightField(const mjModel* model, int id);
-
-  // Returns the mjModel mesh with the given data_id. The data_id is the
-  // mesh_id * 2 of the mesh in the mjModel.
-  const mjrfMesh* GetMesh(int data_id) const;
-
-  // Returns the mjModel convex hulll mesh with the given data_id. The data_id
-  // is the (mesh_id * 2) + 1 of the mesh in the mjModel.
-  const mjrfMesh* GetConvexHull(int data_id) const;
-
-  // Returns the mjModel height field mesh with the given id.
-  const mjrfMesh* GetHeightField(int hfield_id) const;
-
-  // Returns the mjModel texture with the given id.
-  const mjrfTexture* GetTexture(int tex_id) const;
-
-  // Returns the skybox texture in the mjModel.
-  const mjrfTexture* GetSkyboxTexture() const;
-
-  // Returns the mjrfContext used by the ModelObjects.
-  mjrfContext* GetContext() const { return ctx_; }
-
-  // Returns the mjModel from which the Model Objects are created.
-  const mjModel* GetModel() const { return model_; }
-
-  // Returns the multipliers used for mapping legacy material properties to
-  // filament material properties.
-  float GetSpecularMultiplier() const { return specular_multiplier_; }
-  float GetShininessMultiplier() const { return shininess_multiplier_; }
-  float GetEmissiveMultiplier() const { return emissive_multiplier_; }
-
-  ModelObjects(const ModelObjects&) = delete;
-  ModelObjects& operator=(const ModelObjects&) = delete;
-
- private:
-  const mjModel* model_ = nullptr;
-  mjrfContext* ctx_ = nullptr;
-  std::unordered_map<int, UniquePtr<mjrfMesh>> meshes_;
-  std::unordered_map<int, UniquePtr<mjrfMesh>> convex_hulls_;
-  std::unordered_map<int, UniquePtr<mjrfMesh>> height_fields_;
-  std::unordered_map<int, UniquePtr<mjrfTexture>> textures_;
-  float specular_multiplier_ = 0.2f;
-  float shininess_multiplier_ = 0.1f;
-  float emissive_multiplier_ = 0.3f;
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_OBJECTS_H_
diff --git a/src/render/filament/support/model_renderables.cc b/src/render/filament/support/model_renderables.cc
deleted file mode 100644
index 260b207b..00000000
--- a/src/render/filament/support/model_renderables.cc
+++ /dev/null
@@ -1,1118 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "render/filament/support/model_renderables.h"
-
-#include <array>
-#include <memory>
-#include <span>
-#include <utility>
-#include <vector>
-
-#include <math/TVecHelpers.h>
-#include <math/mat3.h>
-#include <math/quat.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_sleep.h"
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/filament_util.h"
-#include "render/filament/support/mesh_util.h"
-#include "render/filament/support/model_objects.h"
-
-namespace mujoco {
-
-using filament::math::float3;
-using filament::math::float4;
-using filament::math::mat3f;
-using filament::math::quatf;
-
-// Converts an array of numbers into an array of floats.
-template <typename T>
-void xtof(float* dst, const T* src, int n) {
-  for (int i = 0; i < n; ++i) {
-    dst[i] = static_cast<float>(src[i]);
-  }
-}
-
-static mjtCatBit GetBodyCategory(const mjModel* m, int bodyid) {
-  // mocap subtrees are their own weld, hence not static
-  if (m->body_weldid[bodyid] == 0) {
-    return mjCAT_STATIC;
-  } else {
-    return mjCAT_DYNAMIC;
-  }
-}
-
-static void Connect(mjrfRenderable* renderable, const float3 p0,
-                    const float3 p1, const float width) {
-  const float3 vec = p1 - p0;
-  const float len = length(vec);
-  const float3 pos = (p0 + p1) * 0.5f;
-  const float3 size = {width, width, 0.5f * len};
-  const quatf rot =
-      quatf::fromDirectedRotation(normalize(vec), float3{0, 0, 1});
-  const mat3f mat = mat3f(rot);
-  mjrf_setRenderableTransform(renderable, pos.v, mat.asArray());
-  mjrf_setRenderableSize(renderable, size.v);
-}
-
-static bool GetSize(const mjModel* model, mjtGeom type, const mjtNum* size,
-                    float out[3]) {
-  out[0] = size[0];
-  out[1] = size[1];
-  out[2] = size[2];
-  switch (type) {
-    case mjGEOM_SPHERE:
-      out[2] = size[0];
-      out[1] = size[0];
-      return true;
-    case mjGEOM_CAPSULE:
-    case mjGEOM_CYLINDER:
-      out[2] = size[1];
-      out[1] = size[0];
-      return true;
-    case mjGEOM_TRIANGLE:
-    case mjGEOM_PLANE:
-      out[2] = 1.0f;
-      return true;
-    case mjGEOM_ELLIPSOID:
-    case mjGEOM_BOX:
-    case mjGEOM_ARROW:
-    case mjGEOM_ARROW1:
-    case mjGEOM_ARROW2:
-    case mjGEOM_LINE:
-    case mjGEOM_LINEBOX:
-      return true;
-    case mjGEOM_MESH:
-    case mjGEOM_SDF:
-    case mjGEOM_HFIELD:
-    case mjGEOM_FLEX:
-    case mjGEOM_SKIN:
-    case mjGEOM_NONE:
-    case mjGEOM_LABEL:
-      return false;
-    case mjNGEOMTYPES:
-      mju_warning("Unsupported geom type: %d", type);
-      return false;
-  }
-}
-
-static void SetGeomMesh(mjrfRenderable* renderable, ModelObjects* model_objs,
-                        mjtGeom type, int geom_index = -1) {
-  const mjModel* model = model_objs->GetModel();
-  const int nstack = model->vis.quality.numstacks;
-  const int nslice = model->vis.quality.numslices;
-  const int nquad = model->vis.quality.numquads;
-
-  switch (type) {
-    case mjGEOM_MESH:
-    case mjGEOM_SDF: {
-      const int data_id = model->geom_dataid[geom_index] * 2;
-      mjrf_setRenderableMesh(renderable, model_objs->GetMesh(data_id), 0, 0);
-      break;
-    }
-    case mjGEOM_HFIELD: {
-      const int data_id = model->geom_dataid[geom_index];
-      mjrf_setRenderableMesh(renderable, model_objs->GetHeightField(data_id), 0,
-                             0);
-      break;
-    }
-    case mjGEOM_FLEX:
-      mju_error("Flex meshes should be handled separately.");
-      break;
-    case mjGEOM_SKIN:
-      mju_error("Skin meshes should be handled separately.");
-      break;
-    case mjGEOM_PLANE:
-    case mjGEOM_SPHERE:
-    case mjGEOM_ELLIPSOID:
-    case mjGEOM_BOX:
-    case mjGEOM_CAPSULE:
-    case mjGEOM_CYLINDER:
-    case mjGEOM_ARROW:
-    case mjGEOM_ARROW1:
-    case mjGEOM_ARROW2:
-    case mjGEOM_LINE:
-    case mjGEOM_LINEBOX:
-    case mjGEOM_TRIANGLE:
-      mjrf_setRenderableGeomMesh(renderable, type, nstack, nslice, nquad);
-      break;
-    case mjGEOM_NONE:
-    case mjGEOM_LABEL:
-      // Do nothing.
-      break;
-    case mjNGEOMTYPES:
-      mju_warning("Unsupported geom type: %d", type);
-      break;
-  }
-}
-
-ModelRenderables::ModelRenderables(mjrfScene* scene,
-                                   ModelObjects* model_objects)
-    : scene_(scene), model_objects_(model_objects) {
-  mjv_defaultOption(&vopts_);
-
-  AddGeomGeoms();
-  AddSiteGeoms();
-  AddFlexGeoms();
-  AddSkinGeoms();
-  AddSliderCrankGeoms();
-  // A tendon is composed of a collection of renderables which are managed
-  // every frame. For now, all we do is reserve space for the collections.
-  tendons_.resize(model_objects_->GetModel()->ntendon);
-}
-
-ModelRenderables::~ModelRenderables() {
-  for (auto& renderable : geoms_) {
-    mjrf_removeRenderableFromScene(scene_, renderable.get());
-  }
-  for (auto& renderable : sites_) {
-    mjrf_removeRenderableFromScene(scene_, renderable.get());
-  }
-  for (auto& parts : flexes_) {
-    for (auto& renderable : parts) {
-      mjrf_removeRenderableFromScene(scene_, renderable.get());
-    }
-  }
-  for (auto& renderable : skins_) {
-    mjrf_removeRenderableFromScene(scene_, renderable.get());
-  }
-  for (auto& segments : tendons_) {
-    for (auto& renderable : segments) {
-      mjrf_removeRenderableFromScene(scene_, renderable.get());
-    }
-  }
-  for (auto& [_, renderables] : slider_cranks_) {
-    for (auto& renderable : renderables) {
-      mjrf_removeRenderableFromScene(scene_, renderable.get());
-    }
-  }
-}
-
-void ModelRenderables::Update(const mjData* data) {
-  mjrfContext* ctx = model_objects_->GetContext();
-  const mjModel* model = model_objects_->GetModel();
-
-  for (int i = 0; i < model->ngeom; ++i) {
-    const float3 pos = ReadFloat3(data->geom_xpos, i);
-    const mat3f mat = ReadMat3(data->geom_xmat, i);
-    mjrf_setRenderableTransform(geoms_[i].get(), pos.v, mat.asArray());
-  }
-
-  for (int i = 0; i < model->nsite; ++i) {
-    const float3 pos = ReadFloat3(data->site_xpos, i);
-    const mat3f mat = ReadMat3(data->site_xmat, i);
-    mjrf_setRenderableTransform(sites_[i].get(), pos.v, mat.asArray());
-  }
-
-  if (vopts_.flags[mjVIS_FLEXSKIN]) {
-    for (int i = 0; i < model->nflex; ++i) {
-      const int dim = model->flex_dim[i];
-      if (dim > 1) {
-        auto mesh = CreateFlexMesh(ctx, model, data, i);
-        mjrf_setRenderableMesh(flexes_[i][0].get(), mesh.get(), 0, 0);
-        flex_meshes_[i] = std::move(mesh);
-      } else {
-        const int vertadr = model->flex_vertadr[i];
-        const int edgeadr = model->flex_edgeadr[i];
-        const int edgenum = model->flex_edgenum[i];
-        const float radius = model->flex_radius[i];
-        auto& edges = flexes_[i];
-        for (int j = 0; j < edgenum; ++j) {
-          const int e = j + edgeadr;
-          const int idx0 = model->flex_edge[2 * e];
-          const int idx1 = model->flex_edge[2 * e + 1];
-          const float3 v0 = ReadFloat3(data->flexvert_xpos, vertadr + idx0);
-          const float3 v1 = ReadFloat3(data->flexvert_xpos, vertadr + idx1);
-          Connect(edges[j].get(), v0, v1, radius);
-        }
-      }
-    }
-  }
-
-  for (int i = 0; i < model->nskin; ++i) {
-    auto mesh = CreateSkinMesh(ctx, model, data, i);
-    mjrf_setRenderableMesh(skins_[i].get(), mesh.get(), 0, 0);
-    skin_meshes_[i] = std::move(mesh);
-  }
-
-  for (int i = 0; i < model->ntendon; i++) {
-    UpdateSpatialTendons(data, i);
-  }
-
-  for (int i = 0; i < model->nu; i++) {
-    if (model->actuator_trntype[i] == mjTRN_SLIDERCRANK) {
-      UpdateSliderCranks(data, i);
-    }
-  }
-
-  if (vopts_.flags[mjVIS_ISLAND]) {
-    const bool sleep_enabled = model->opt.enableflags & mjENBL_SLEEP;
-
-    for (int i = 0; i < model->ngeom; ++i) {
-      const int weld_id = model->body_weldid[model->geom_bodyid[i]];
-      if (!model->body_dofnum[weld_id]) {
-        continue;
-      }
-
-      const int awake = data->body_awake[model->geom_bodyid[i]];
-      const int dof = model->body_dofadr[weld_id];
-      const int island = data->nisland ? data->dof_island[dof] : -1;
-      int island_id = island >= 0 ? data->island_dofadr[island] : -1;
-      if (island_id == -1 && sleep_enabled) {
-        int tree = model->dof_treeid[dof];
-        if (!awake) {
-          tree = mj_sleepCycle(data->tree_asleep, model->ntree, tree);
-        }
-        island_id = model->tree_dofadr[tree];
-      }
-
-      mjrfMaterial material;
-      mjrf_getRenderableMaterial(geoms_[i].get(), &material);
-      material.island_id = island_id;
-      material.sleep_state = awake ? mjS_AWAKE : mjS_ASLEEP;
-      mjrf_setRenderableMaterial(geoms_[i].get(), &material);
-    }
-    for (int i = 0; i < model->nflex; ++i) {
-      int bodyid = -1;
-      if (model->flex_interp[i]) {
-        int nodeadr = model->flex_nodeadr[i];
-        for (int j = 0; j < model->flex_nodenum[i] && bodyid < 0; j++) {
-          int b = model->flex_nodebodyid[nodeadr + j];
-          if (model->body_treeid[b] >= 0) bodyid = b;
-        }
-      } else {
-        int vertadr = model->flex_vertadr[i];
-        for (int j = 0; j < model->flex_vertnum[i] && bodyid < 0; j++) {
-          int b = model->flex_vertbodyid[vertadr + j];
-          if (model->body_treeid[b] >= 0) bodyid = b;
-        }
-      }
-      if (bodyid < 0) {
-        continue;
-      }
-      int weld_id = model->body_weldid[bodyid];
-      int dof = model->body_dofadr[weld_id];
-      int island = data->nisland ? data->dof_island[dof] : -1;
-      int island_id = island >= 0 ? data->island_dofadr[island] : -1;
-      int awake = data->body_awake[bodyid];
-      if (island_id == -1 && sleep_enabled) {
-        int tree = model->dof_treeid[dof];
-        if (!awake) {
-          tree = mj_sleepCycle(data->tree_asleep, model->ntree, tree);
-        }
-        island_id = model->tree_dofadr[tree];
-      }
-
-      for (auto& renderable : flexes_[i]) {
-        mjrfMaterial material;
-        mjrf_getRenderableMaterial(renderable.get(), &material);
-        material.island_id = island_id;
-        material.sleep_state = awake ? mjS_AWAKE : mjS_ASLEEP;
-        mjrf_setRenderableMaterial(renderable.get(), &material);
-      }
-    }
-  }
-}
-
-mjrfRenderable* ModelRenderables::GetRenderable(mjtObj obj_type, int obj_index,
-                                                int sub_index) {
-  switch (obj_type) {
-    case mjOBJ_GEOM:
-      if (obj_index >= 0 && obj_index < geoms_.size()) {
-        return geoms_[obj_index].get();
-      }
-      break;
-    case mjOBJ_SITE:
-      if (obj_index >= 0 && obj_index < sites_.size()) {
-        return sites_[obj_index].get();
-      }
-      break;
-    case mjOBJ_FLEX:
-      if (obj_index >= 0 && obj_index < flexes_.size()) {
-        auto& parts = flexes_[obj_index];
-        if (sub_index >= 0 && sub_index < parts.size()) {
-          return parts[sub_index].get();
-        }
-      }
-      break;
-    case mjOBJ_SKIN:
-      if (obj_index >= 0 && obj_index < skins_.size()) {
-        return skins_[obj_index].get();
-      }
-      break;
-    case mjOBJ_TENDON:
-      if (obj_index >= 0 && obj_index < tendons_.size()) {
-        auto& segments = tendons_[obj_index];
-        if (sub_index >= 0 && sub_index < segments.size()) {
-          return segments[sub_index].get();
-        }
-      }
-      break;
-    case mjOBJ_ACTUATOR:
-      if (auto it = slider_cranks_.find(obj_index);
-          it != slider_cranks_.end()) {
-        if (sub_index >= 0 && sub_index < it->second.size()) {
-          return it->second[sub_index].get();
-        }
-      }
-      break;
-    case mjOBJ_BODY: {
-      const mjModel* model = model_objects_->GetModel();
-      for (int i = 0; i < model->ngeom; ++i) {
-        if (model->geom_bodyid[i] == obj_index) {
-          return geoms_[i].get();
-        }
-      }
-      for (int i = 0; i < model->nsite; ++i) {
-        if (model->site_bodyid[i] == obj_index) {
-          return sites_[i].get();
-        }
-      }
-      break;
-    }
-    default:
-      break;
-  }
-  return nullptr;
-}
-
-void ModelRenderables::AddGeomGeoms() {
-  mjrfContext* ctx = model_objects_->GetContext();
-  const mjModel* model = model_objects_->GetModel();
-
-  geoms_.reserve(model->ngeom);
-  for (int i = 0; i < model->ngeom; ++i) {
-    const mjtGeom type = (mjtGeom)model->geom_type[i];
-
-    mjrfRenderableParams params;
-    mjrf_defaultRenderableParams(&params);
-    auto renderable = CreateRenderable(ctx, params);
-
-    SetGeomMesh(renderable.get(), model_objects_, type, i);
-
-    mjrfMaterial material = GetDefaultMaterial(mjOBJ_GEOM, i);
-    mjrf_setRenderableMaterial(renderable.get(), &material);
-
-    float size[3];
-    if (GetSize(model, type, model->geom_size + (3 * i), size)) {
-      mjrf_setRenderableSize(renderable.get(), size);
-    }
-
-    if (vopts_.geomgroup[model->geom_group[i]]) {
-      mjrf_addRenderableToScene(scene_, renderable.get());
-    }
-    geoms_.emplace_back(std::move(renderable));
-  }
-}
-
-void ModelRenderables::AddSiteGeoms() {
-  mjrfContext* ctx = model_objects_->GetContext();
-  const mjModel* model = model_objects_->GetModel();
-
-  sites_.reserve(model->nsite);
-  for (int i = 0; i < model->nsite; ++i) {
-    const mjtGeom type = (mjtGeom)model->site_type[i];
-
-    mjrfRenderableParams params;
-    mjrf_defaultRenderableParams(&params);
-    auto renderable = CreateRenderable(ctx, params);
-
-    SetGeomMesh(renderable.get(), model_objects_, type);
-
-    mjrfMaterial material = GetDefaultMaterial(mjOBJ_SITE, i);
-    mjrf_setRenderableMaterial(renderable.get(), &material);
-
-    float size[3];
-    if (GetSize(model, type, model->site_size + (3 * i), size)) {
-      mjrf_setRenderableSize(renderable.get(), size);
-    }
-
-    if (vopts_.sitegroup[model->site_group[i]]) {
-      mjrf_addRenderableToScene(scene_, renderable.get());
-    }
-    sites_.push_back(std::move(renderable));
-  }
-}
-
-void ModelRenderables::AddFlexGeoms() {
-  mjrfContext* ctx = model_objects_->GetContext();
-  const mjModel* model = model_objects_->GetModel();
-
-  flexes_.reserve(model->nflex);
-  flex_meshes_.reserve(model->nflex);
-  for (int i = 0; i < model->nflex; ++i) {
-    flex_meshes_.emplace_back(nullptr, nullptr);
-
-    mjrfMaterial material = GetDefaultMaterial(mjOBJ_FLEX, i);
-
-    mjrfRenderableParams params;
-    mjrf_defaultRenderableParams(&params);
-
-    auto& parts = flexes_.emplace_back();
-
-    const int dim = model->flex_dim[i];
-    if (dim == 1) {
-      const float radius = model->flex_radius[i];
-      const float size[3] = {radius, radius, radius};
-      for (int j = 0; j < model->flex_edgenum[i]; ++j) {
-        auto renderable = CreateRenderable(ctx, params);
-        mjrf_setRenderableGeomMesh(renderable.get(), mjGEOM_CAPSULE, 4, 8, 1);
-        mjrf_setRenderableSize(renderable.get(), size);
-        mjrf_setRenderableMaterial(renderable.get(), &material);
-        parts.push_back(std::move(renderable));
-      }
-    } else {
-      auto renderable = CreateRenderable(ctx, params);
-      mjrf_setRenderableMaterial(renderable.get(), &material);
-      parts.push_back(std::move(renderable));
-    }
-
-    if (vopts_.flexgroup[model->flex_group[i]]) {
-      for (auto& renderable : parts) {
-        mjrf_addRenderableToScene(scene_, renderable.get());
-      }
-    }
-  }
-}
-
-void ModelRenderables::AddSkinGeoms() {
-  mjrfContext* ctx = model_objects_->GetContext();
-  const mjModel* model = model_objects_->GetModel();
-
-  skins_.reserve(model->nskin);
-  skin_meshes_.reserve(model->nskin);
-  for (int i = 0; i < model->nskin; i++) {
-    mjrfRenderableParams params;
-    mjrf_defaultRenderableParams(&params);
-    auto renderable = CreateRenderable(ctx, params);
-
-    mjrfMaterial material = GetDefaultMaterial(mjOBJ_SKIN, i);
-    mjrf_setRenderableMaterial(renderable.get(), &material);
-
-    if (vopts_.skingroup[model->skin_group[i]]) {
-      mjrf_addRenderableToScene(scene_, renderable.get());
-    }
-    skins_.emplace_back(std::move(renderable));
-    skin_meshes_.emplace_back(nullptr, nullptr);
-  }
-}
-
-void ModelRenderables::AddSliderCrankGeoms() {
-  mjrfContext* ctx = model_objects_->GetContext();
-  const mjModel* model = model_objects_->GetModel();
-  const int nstack = model->vis.quality.numstacks;
-  const int nslice = model->vis.quality.numslices;
-  const int nquad = model->vis.quality.numquads;
-
-  mjrfRenderableParams params;
-  mjrf_defaultRenderableParams(&params);
-
-  for (int i = 0; i < model->nu; i++) {
-    if (model->actuator_trntype[i] != mjTRN_SLIDERCRANK) {
-      continue;
-    }
-
-    // Create two renderables, one for the slider and the other for the crank.
-    auto slider = CreateRenderable(ctx, params);
-    mjrf_setRenderableGeomMesh(slider.get(), mjGEOM_CYLINDER, nstack, nslice,
-                               nquad);
-    mjrf_addRenderableToScene(scene_, slider.get());
-
-    auto crank = CreateRenderable(ctx, params);
-    mjrf_setRenderableGeomMesh(crank.get(), mjGEOM_CAPSULE, nstack, nslice,
-                               nquad);
-    mjrf_addRenderableToScene(scene_, crank.get());
-
-    std::array<UniquePtr<mjrfRenderable>, 2> pair{std::move(slider),
-                                                  std::move(crank)};
-    slider_cranks_.emplace(i, std::move(pair));
-  }
-}
-
-void ModelRenderables::UpdateSliderCranks(const mjData* data, int actuator_id) {
-  auto it = slider_cranks_.find(actuator_id);
-  if (it == slider_cranks_.end()) {
-    mju_error("Slider/crank not found: %d", actuator_id);
-    return;
-  }
-
-  const mjModel* model = model_objects_->GetModel();
-  const float scale = model->stat.meansize;
-  const float slider_width = scale * model->vis.scale.slidercrank;
-  const float crank_width = scale * model->vis.scale.slidercrank / 2.0;
-
-  const int crank_id = model->actuator_trnid[2 * actuator_id];
-  const int slider_id = model->actuator_trnid[2 * actuator_id + 1];
-  const float3 crank_pos = ReadFloat3(data->site_xpos, crank_id);
-  const float3 slider_pos = ReadFloat3(data->site_xpos, slider_id);
-
-  const float3 vec = crank_pos - slider_pos;
-
-  float3 axis;
-  axis[0] = data->site_xmat[9 * slider_id + 2];
-  axis[1] = data->site_xmat[9 * slider_id + 5];
-  axis[2] = data->site_xmat[9 * slider_id + 8];
-  float len = dot(vec, axis);
-
-  const float rod = model->actuator_cranklength[actuator_id];
-  const float det = (len * len) + (rod * rod) - dot(vec, vec);
-  const bool broken = (det < 0);
-  if (det > 0) {
-    len -= std::sqrt(det);
-  }
-
-  const float3 end = slider_pos + (axis * len);
-
-  mjrfRenderable* slider = it->second[0].get();
-  mjrfRenderable* crank = it->second[1].get();
-  Connect(slider, slider_pos, end, slider_width);
-  Connect(crank, end, crank_pos, crank_width);
-
-  mjrfMaterial material = GetDefaultMaterial(mjOBJ_ACTUATOR, actuator_id);
-
-  xtof(material.color, model->vis.rgba.slidercrank, 4);
-  mjrf_setRenderableMaterial(slider, &material);
-
-  if (broken) {
-    xtof(material.color, model->vis.rgba.crankbroken, 4);
-  }
-  mjrf_setRenderableMaterial(crank, &material);
-}
-
-void ModelRenderables::AppendSegmentToTendon(int tendon_id) {
-  mjrfContext* ctx = model_objects_->GetContext();
-  const mjModel* model = model_objects_->GetModel();
-
-  const int nstack = model->vis.quality.numstacks;
-  const int nslice = model->vis.quality.numslices;
-  const int nquad = model->vis.quality.numquads;
-
-  mjrfRenderableParams params;
-  mjrf_defaultRenderableParams(&params);
-  auto renderable = CreateRenderable(ctx, params);
-  mjrf_setRenderableGeomMesh(renderable.get(), mjGEOM_CAPSULE, nstack, nslice,
-                             nquad);
-  if (vopts_.tendongroup[model->tendon_group[tendon_id]]) {
-    mjrf_addRenderableToScene(scene_, renderable.get());
-  }
-
-  auto& segments = tendons_[tendon_id];
-  segments.emplace_back(std::move(renderable));
-}
-
-void ModelRenderables::RemoveSegmentFromTendon(int tendon_id) {
-  auto& segments = tendons_[tendon_id];
-  mjrfRenderable* renderable = segments.back().get();
-  mjrf_removeRenderableFromScene(scene_, renderable);
-  segments.pop_back();
-}
-
-void ModelRenderables::UpdateSpatialTendons(const mjData* data, int tendon_id) {
-  const mjModel* model = model_objects_->GetModel();
-
-  // Gather the points that define the tendon. We'll use a simple cache to avoid
-  // excessive reallocations.
-  point_cache_.clear();
-  GatherSpatialTendonPoints(model, data, tendon_id, point_cache_);
-
-  // Tendons are composed on N "segments" represented by cylinder geoms.
-  // We adjust the number of segments we need to match the number of points.
-  const int nsegments = static_cast<int>(point_cache_.size()) / 2;
-  std::vector<UniquePtr<mjrfRenderable>>& segments = tendons_[tendon_id];
-  while (tendons_[tendon_id].size() < nsegments) {
-    AppendSegmentToTendon(tendon_id);
-  }
-  while (tendons_[tendon_id].size() > nsegments) {
-    RemoveSegmentFromTendon(tendon_id);
-  }
-
-  mjrfMaterial material = GetDefaultMaterial(mjOBJ_TENDON, tendon_id);
-
-  // If tendon has no explicit color then color it using limit impedance.
-  if (model->tendon_matid[tendon_id] == -1 && material.color[0] == 0.5 &&
-      material.color[1] == 0.5 && material.color[2] == 0.5 &&
-      material.color[3] == 1) {
-    mjtNum imp = 0;
-    int efc_start = data->ne + data->nf;
-    int efc_end = efc_start + data->nl;
-    for (int k = efc_start; k < efc_end; k++) {
-      if (data->efc_type[k] == mjCNSTR_LIMIT_TENDON &&
-          data->efc_id[k] == tendon_id) {
-        imp = data->efc_KBIP[4 * k + 2];
-      }
-    }
-    const float scale = (1 - imp);
-    const float* constraint = model->vis.rgba.constraint;
-    material.color[0] = scale * material.color[0] + imp * constraint[0];
-    material.color[1] = scale * material.color[1] + imp * constraint[1];
-    material.color[2] = scale * material.color[2] + imp * constraint[2];
-  }
-
-  if (vopts_.flags[mjVIS_ISLAND]) {
-    const int ecf = data->tendon_efcadr[tendon_id];
-    if (data->nisland && ecf >= 0) {
-      material.island_id = data->island_dofadr[data->efc_island[ecf]];
-      material.sleep_state = mjS_AWAKE;
-    }
-  }
-
-  for (int i = 0; i < point_cache_.size(); i += 2) {
-    mjrfRenderable* renderable = segments[i / 2].get();
-    const float width = point_cache_[i].w;
-    const float3 p0 = point_cache_[i + 0].xyz;
-    const float3 p1 = point_cache_[i + 1].xyz;
-    Connect(renderable, p0, p1, width);
-    mjrf_setRenderableMaterial(renderable, &material);
-  }
-}
-
-int ModelRenderables::GetSegmentationId(mjtObj obj_type, int obj_index) {
-  const mjModel* model = model_objects_->GetModel();
-
-  int id = 0;
-  if (obj_type == mjOBJ_GEOM) {
-    return id + obj_index;
-  } else {
-    id += model->ngeom;
-  }
-  if (obj_type == mjOBJ_SITE) {
-    return id + obj_index;
-  } else {
-    id += model->nsite;
-  }
-  if (obj_type == mjOBJ_FLEX) {
-    return id + obj_index;
-  } else {
-    id += model->nflex;
-  }
-  if (obj_type == mjOBJ_SKIN) {
-    return id + obj_index;
-  } else {
-    id += model->nskin;
-  }
-  if (obj_type == mjOBJ_TENDON) {
-    return id + obj_index;
-  } else {
-    id += model->ntendon;
-  }
-  if (obj_type == mjOBJ_ACTUATOR) {
-    return id + obj_index;
-  } else {
-    id += model->nu;
-  }
-  mju_error("Unsupported object type: %d", obj_type);
-  return -1;
-}
-
-mjrfMaterial ModelRenderables::GetDefaultMaterial(mjtObj obj_type,
-                                                  int obj_index) {
-  const mjModel* model = model_objects_->GetModel();
-
-  mjrfMaterial material;
-  mjrf_defaultMaterial(&material);
-
-  int matid = -1;
-  mjtGeom geom_type = mjGEOM_NONE;
-  const float* rgba = nullptr;
-  const mjtNum* size = nullptr;
-  const mjtNum* pos = nullptr;
-  const mjtNum* quat = nullptr;
-
-  switch (obj_type) {
-    case mjOBJ_GEOM:
-      geom_type = (mjtGeom)model->geom_type[obj_index];
-      rgba = model->geom_rgba + (4 * obj_index);
-      size = model->geom_size + (3 * obj_index);
-      pos = model->geom_pos + (3 * obj_index);
-      quat = model->geom_quat + (4 * obj_index);
-      matid = model->geom_matid[obj_index];
-      break;
-    case mjOBJ_SITE:
-      geom_type = (mjtGeom)model->site_type[obj_index];
-      rgba = model->site_rgba + (4 * obj_index);
-      size = model->site_size + (3 * obj_index);
-      matid = model->site_matid[obj_index];
-      break;
-    case mjOBJ_FLEX:
-      geom_type = mjGEOM_FLEX;
-      rgba = model->flex_rgba + (4 * obj_index);
-      size = model->flex_size + (3 * obj_index);
-      matid = model->flex_matid[obj_index];
-      break;
-    case mjOBJ_SKIN:
-      geom_type = mjGEOM_SKIN;
-      rgba = model->skin_rgba + (4 * obj_index);
-      matid = model->skin_matid[obj_index];
-      break;
-    case mjOBJ_TENDON:
-      geom_type = mjGEOM_CAPSULE;
-      rgba = model->tendon_rgba + (4 * obj_index);
-      size = model->tendon_width + obj_index;
-      matid = model->tendon_matid[obj_index];
-      break;
-    case mjOBJ_ACTUATOR:
-      geom_type = mjGEOM_CYLINDER;
-      rgba = model->vis.rgba.slidercrank;
-      // size = model->tendon_width + obj_index;
-      break;
-    default:
-      mju_error("Unsupported object type: %d", obj_type);
-      break;
-  }
-
-  xtof(material.color, rgba, 4);
-
-  if (matid >= 0 && matid < model->nmat) {
-    auto get_texture = [&](int role) -> const mjrfTexture* {
-      const int tex_id = model->mat_texid[matid * mjNTEXROLE + role];
-      return tex_id >= 0 ? model_objects_->GetTexture(tex_id) : nullptr;
-    };
-    material.color_texture = get_texture(mjTEXROLE_RGB);
-    material.normal_texture = get_texture(mjTEXROLE_NORMAL);
-    material.emissive_texture = get_texture(mjTEXROLE_EMISSIVE);
-    material.orm_texture = get_texture(mjTEXROLE_ORM);
-    material.metallic_texture = get_texture(mjTEXROLE_METALLIC);
-    material.roughness_texture = get_texture(mjTEXROLE_ROUGHNESS);
-    material.occlusion_texture = get_texture(mjTEXROLE_OCCLUSION);
-
-    material.emissive = model->mat_emission[matid];
-    material.specular = model->mat_specular[matid];
-    material.glossiness = model->mat_shininess[matid];
-    material.reflectance = model->mat_reflectance[matid];
-    material.metallic = model->mat_metallic[matid];
-    material.roughness = model->mat_roughness[matid];
-
-    const float* rgba = model->mat_rgba + 4 * matid;
-    if (rgba[0] != 0.5f || rgba[1] != 0.5f || rgba[2] != 0.5f ||
-        rgba[3] != 1.0f) {
-      xtof(material.color, rgba, 4);
-    }
-  } else {
-    material.emissive = 0;
-    material.specular = 0.5;
-    material.glossiness = 0.5;
-    material.reflectance = 0;
-  }
-
-  // UvScale only applies to objects that don't have explicit UV coordinates
-  // in their vertex buffer. Instead, we set the UV coordinate to be the same
-  // as the vertex position.
-  //
-  // The material's `texuniform` and `texrepeat` parameters allow us to scale
-  // the programmatic UVs.
-
-  if (material.color_texture) {
-    float fsize[3] = {1.0f, 1.0f, 1.0f};
-    if (size) {
-      xtof(fsize, size, 3);
-      if (geom_type != mjGEOM_NONE) {
-        switch (geom_type) {
-          case mjGEOM_SPHERE:
-            fsize[2] = size[0];
-            fsize[1] = size[0];
-            break;
-          case mjGEOM_CAPSULE:
-          case mjGEOM_CYLINDER:
-            fsize[2] = size[1];
-            fsize[1] = size[0];
-            break;
-          case mjGEOM_TRIANGLE:
-          case mjGEOM_PLANE:
-            fsize[2] = 1.0f;
-            break;
-          default:
-            break;
-        }
-      }
-    }
-
-    const bool tex_uniform = model->mat_texuniform[matid];
-    if (mjrf_getTextureSamplerType(material.color_texture) == mjTEXTURE_2D) {
-      // For 2D textures, `tex_repeat` specifies how many times the texture
-      // image is repeated. The `tex_uniform` flag determines if the repetition
-      // is applied at in object space (false) or in world space (true).
-      float tex_repeat[2];
-      tex_repeat[0] = model->mat_texrepeat[(matid * 2) + 0];
-      tex_repeat[1] = model->mat_texrepeat[(matid * 2) + 1];
-      material.uv_scale[0] = tex_repeat[0];
-      material.uv_scale[1] = tex_repeat[1];
-
-      const bool is_infinite_plane =
-          geom_type == mjGEOM_PLANE && (fsize[0] <= 0 || fsize[1] <= 0);
-      if (is_infinite_plane) {
-        // With infinite planes, we want to use the UvOffset to account for
-        // the plane's position in world space due to re-centering.
-        //
-        // Infinite planes will use world-space UVs, with a tile size of 1x1
-        // world units by default (texrepeat=(1, 1)).
-        //
-        // The shader computes: uv = uv0 * UvScale + UvOffset
-        // We want:             uv = dot(worldPos, planeAxis) * texFrequency
-        //
-        // Since worldPos = rotation * (objectPos * planeScale) + geomPos:
-        //
-        // dot(worldPos, axisK) = objectPos.k * planeScale + dot(geomPos, axisK)
-        //
-        // Meaning:
-        //   UvScale  = planeScale * texrepeat
-        //   UvOffset = dot(geomPos, planeAxis) * texrepeat
-        const float plane_scale = static_cast<float>(mjMAXPLANEGRID) / 2.0f;
-
-        float dot_pos_axis_x = 0.0f;
-        float dot_pos_axis_y = 0.0f;
-        if (pos && quat) {
-          mjtNum mat[9];
-          mju_quat2Mat(mat, quat);
-          dot_pos_axis_x = pos[0] * mat[0] + pos[1] * mat[3] + pos[2] * mat[6];
-          dot_pos_axis_y = pos[0] * mat[1] + pos[1] * mat[4] + pos[2] * mat[7];
-        }
-
-        material.uv_scale[0] *= plane_scale;
-        material.uv_scale[1] *= plane_scale;
-        // The vertex UVs in PlaneBuilder are u0 = 0.5*x + 0.5, v0 = -0.5*y + 0.5.
-        // To keep the world-space texture coordinate u = 0.5*worldX*texrepeat - 0.5
-        // independent of the snapped geomPos, uv_offset must compensate by 0.5*dot_pos.
-        material.uv_offset[0] =
-            (0.5f * dot_pos_axis_x - 0.5f * plane_scale) * tex_repeat[0] - 0.5f;
-        material.uv_offset[1] =
-            (-0.5f * dot_pos_axis_y - 0.5f * plane_scale) * tex_repeat[1] - 0.5f;
-      } else if (tex_uniform) {
-        material.uv_scale[0] *= (fsize[0] ? fsize[0] : 1.0f);
-        material.uv_scale[1] *= (fsize[1] ? fsize[1] : 1.0f);
-      }
-    } else {
-      // For cube maps, if `tex_uniform` is true, then scale the texture so that
-      // it covers a 1x1 area of world space rather than the area of the object.
-      if (tex_uniform) {
-        material.uv_scale[0] = 1.0f / (fsize[0] ? fsize[0] : 1.0f);
-        material.uv_scale[1] = 1.0f / (fsize[1] ? fsize[1] : 1.0f);
-        material.uv_scale[2] = 1.0f / (fsize[2] ? fsize[2] : 1.0f);
-      }
-    }
-  }
-
-  // Apply material multipliers from the model.
-  material.emissive *= model_objects_->GetEmissiveMultiplier();
-  material.specular *= model_objects_->GetSpecularMultiplier();
-  material.glossiness *= model_objects_->GetShininessMultiplier();
-
-  material.segmentation_id = GetSegmentationId(obj_type, obj_index);
-
-  return material;
-}
-
-namespace {
-enum VisibilityOp { kNoop, kShow, kHide };
-}
-
-static void DetermineVisibilities(VisibilityOp* ops, mjtByte* vis_by_group,
-                                  mjtByte* vis_by_flag, int idx, bool visible) {
-  const bool prev_global_vis = vis_by_flag ? *vis_by_flag : true;
-  const bool curr_global_vis = idx == mjNGROUP ? visible : prev_global_vis;
-
-  for (int i = 0; i < mjNGROUP; ++i) {
-    const bool prev_group_vis = vis_by_group[i];
-    const bool curr_group_vis = idx == i ? visible : prev_group_vis;
-
-    const bool previously_visible = prev_global_vis && prev_group_vis;
-    const bool currently_visible = curr_global_vis && curr_group_vis;
-
-    if (previously_visible == currently_visible) {
-      ops[i] = kNoop;
-    } else if (currently_visible) {
-      ops[i] = kShow;
-    } else {
-      ops[i] = kHide;
-    }
-  }
-
-  if (idx < mjNGROUP) {
-    vis_by_group[idx] = visible;
-  } else if (vis_by_flag) {
-    *vis_by_flag = visible;
-  }
-}
-
-static void ApplyVisibility(VisibilityOp* ops, int group, mjrfScene* scene,
-                            std::span<UniquePtr<mjrfRenderable>> renderables) {
-  const VisibilityOp op = ops[group];
-  if (op == kShow) {
-    for (auto& renderable : renderables) {
-      mjrf_addRenderableToScene(scene, renderable.get());
-    }
-  } else if (op == kHide) {
-    for (auto& renderable : renderables) {
-      mjrf_removeRenderableFromScene(scene, renderable.get());
-    }
-  }
-}
-
-void ModelRenderables::SetVisibility(mjtObj obj_type, int idx, bool visible) {
-  const mjModel* model = model_objects_->GetModel();
-
-  VisibilityOp ops[mjNGROUP] = {kNoop};
-  switch (obj_type) {
-    case mjOBJ_GEOM:
-      DetermineVisibilities(ops, vopts_.geomgroup, nullptr, idx, visible);
-      for (int i = 0; i < model->ngeom; ++i) {
-        ApplyVisibility(ops, model->geom_group[i], scene_, {&geoms_[i], 1});
-      }
-      break;
-    case mjOBJ_SITE:
-      DetermineVisibilities(ops, vopts_.sitegroup, nullptr, idx, visible);
-      for (int i = 0; i < model->nsite; ++i) {
-        ApplyVisibility(ops, model->site_group[i], scene_, {&sites_[i], 1});
-      }
-      break;
-    case mjOBJ_FLEX:
-      DetermineVisibilities(ops, vopts_.flexgroup,
-                            &vopts_.flags[mjVIS_FLEXSKIN], idx, visible);
-      for (int i = 0; i < model->nflex; ++i) {
-        ApplyVisibility(ops, model->flex_group[i], scene_, flexes_[i]);
-      }
-      break;
-    case mjOBJ_SKIN:
-      DetermineVisibilities(ops, vopts_.skingroup, &vopts_.flags[mjVIS_SKIN],
-                            idx, visible);
-      for (int i = 0; i < model->nskin; ++i) {
-        ApplyVisibility(ops, model->skin_group[i], scene_, {&skins_[i], 1});
-      }
-      break;
-    case mjOBJ_TENDON:
-      DetermineVisibilities(ops, vopts_.tendongroup,
-                            &vopts_.flags[mjVIS_TENDON], idx, visible);
-      for (int i = 0; i < model->ntendon; ++i) {
-        ApplyVisibility(ops, model->tendon_group[i], scene_, tendons_[i]);
-      }
-      break;
-    case mjOBJ_ACTUATOR:
-      DetermineVisibilities(ops, vopts_.actuatorgroup,
-                            &vopts_.flags[mjVIS_ACTUATOR], idx, visible);
-      for (int i = 0; i < model->nu; ++i) {
-        auto it = slider_cranks_.find(i);
-        if (it == slider_cranks_.end()) {
-          continue;
-        }
-        ApplyVisibility(ops, model->actuator_group[i], scene_, it->second);
-      }
-      break;
-    default:
-      mju_error("Unsupported object type: %d", obj_type);
-      break;
-  }
-}
-
-void ModelRenderables::SetOptions(const mjvOption& opt) {
-  const mjModel* model = model_objects_->GetModel();
-
-  for (int i = 0; i < mjNGROUP; ++i) {
-    if (vopts_.geomgroup[i] != opt.geomgroup[i]) {
-      SetVisibility(mjOBJ_GEOM, i, opt.geomgroup[i]);
-    }
-    if (vopts_.sitegroup[i] != opt.sitegroup[i]) {
-      SetVisibility(mjOBJ_SITE, i, opt.sitegroup[i]);
-    }
-    if (vopts_.skingroup[i] != opt.skingroup[i]) {
-      SetVisibility(mjOBJ_SKIN, i, opt.skingroup[i]);
-    }
-    if (vopts_.flexgroup[i] != opt.flexgroup[i]) {
-      SetVisibility(mjOBJ_FLEX, i, opt.flexgroup[i]);
-    }
-    if (vopts_.tendongroup[i] != opt.tendongroup[i]) {
-      SetVisibility(mjOBJ_TENDON, i, opt.tendongroup[i]);
-    }
-    if (vopts_.actuatorgroup[i] != opt.actuatorgroup[i]) {
-      SetVisibility(mjOBJ_ACTUATOR, i, opt.actuatorgroup[i]);
-    }
-  }
-  if (vopts_.flags[mjVIS_SKIN] != opt.flags[mjVIS_SKIN]) {
-    SetVisibility(mjOBJ_SKIN, mjNGROUP, opt.flags[mjVIS_SKIN]);
-  }
-  if (vopts_.flags[mjVIS_FLEXSKIN] != opt.flags[mjVIS_FLEXSKIN]) {
-    SetVisibility(mjOBJ_FLEX, mjNGROUP, opt.flags[mjVIS_FLEXSKIN]);
-  }
-  if (vopts_.flags[mjVIS_TENDON] != opt.flags[mjVIS_TENDON]) {
-    SetVisibility(mjOBJ_TENDON, mjNGROUP, opt.flags[mjVIS_TENDON]);
-  }
-  if (vopts_.flags[mjVIS_ACTUATOR] != opt.flags[mjVIS_ACTUATOR]) {
-    SetVisibility(mjOBJ_ACTUATOR, mjNGROUP, opt.flags[mjVIS_ACTUATOR]);
-  }
-
-  if (vopts_.flags[mjVIS_CONVEXHULL] != opt.flags[mjVIS_CONVEXHULL]) {
-    for (int i = 0; i < model->ngeom; ++i) {
-      const mjtGeom geom_type = (mjtGeom)model->geom_type[i];
-      if (geom_type == mjGEOM_MESH || geom_type == mjGEOM_SDF) {
-        mjrfRenderable* renderable = geoms_[i].get();
-        const int mesh_id =
-            model->geom_dataid[i] * 2 + (opt.flags[mjVIS_CONVEXHULL] ? 1 : 0);
-        const mjrfMesh* mesh = model_objects_->GetMesh(mesh_id);
-        if (mesh) {
-          mjrf_setRenderableMesh(renderable, mesh, 0, 0);
-        }
-      }
-    }
-  }
-
-  if (vopts_.flags[mjVIS_TRANSPARENT] != opt.flags[mjVIS_TRANSPARENT]) {
-    float multiplier = model->vis.map.alpha;
-    if (!opt.flags[mjVIS_TRANSPARENT]) {
-      multiplier = 1.0f / multiplier;
-    }
-
-    for (int i = 0; i < model->ngeom; ++i) {
-      const int category = GetBodyCategory(model, model->geom_bodyid[i]);
-      if (category == mjCAT_DYNAMIC) {
-        mjrfMaterial material;
-        mjrf_getRenderableMaterial(geoms_[i].get(), &material);
-        material.color[3] *= multiplier;
-        mjrf_setRenderableMaterial(geoms_[i].get(), &material);
-      }
-    }
-  }
-
-  vopts_ = opt;
-}
-
-void ModelRenderables::MarkAsSelected(mjtObj obj_type, int obj_index) {
-  if (obj_type != selected_obj_type_ || obj_index != selected_obj_index_) {
-    mjrfMaterial material;
-
-    mjrfRenderable* prev_renderable =
-        GetRenderable(selected_obj_type_, selected_obj_index_);
-    if (prev_renderable) {
-      mjrf_getRenderableMaterial(prev_renderable, &material);
-      material.selected = 0;
-      mjrf_setRenderableMaterial(prev_renderable, &material);
-    }
-
-    selected_obj_type_ = obj_type;
-    selected_obj_index_ = obj_index;
-
-    mjrfRenderable* curr_renderable =
-        GetRenderable(selected_obj_type_, selected_obj_index_);
-    if (curr_renderable) {
-      mjrf_getRenderableMaterial(curr_renderable, &material);
-      material.selected = 1;
-      mjrf_setRenderableMaterial(curr_renderable, &material);
-    }
-  }
-}
-
-}  // namespace mujoco
diff --git a/src/render/filament/support/model_renderables.h b/src/render/filament/support/model_renderables.h
deleted file mode 100644
index f796901f..00000000
--- a/src/render/filament/support/model_renderables.h
+++ /dev/null
@@ -1,113 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_RENDERABLES_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_RENDERABLES_H_
-
-#include <array>
-#include <unordered_map>
-#include <vector>
-
-#include <math/vec4.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjrfilament.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/support/model_objects.h"
-
-namespace mujoco {
-
-// Manages Renderable entities in an mjrfScene for an mjModel.
-class ModelRenderables {
- public:
-  // Populates the mjrScene with the renderables from the model.
-  ModelRenderables(mjrfScene* scene, ModelObjects* model_objects);
-  ~ModelRenderables();
-
-  // Updates the state of the renderables in the scene.
-  void Update(const mjData* data);
-
-  // Returns the renderable corresponding to the given model object.
-  // For most objects, the sub_index is ignored. For slider-crank actuators,
-  // sub_index=0 returns the slider, sub_index=1 returns the crank. For tendons,
-  // sub_index is the tendon segment index. The number of segments can vary
-  // between frames so is undefined. If obj_type == mjOBJ_BODY, returns the
-  // geom or site associated with the body.
-  mjrfRenderable* GetRenderable(mjtObj obj_type, int obj_index,
-                                int sub_index = -1);
-
-  // Returns the default material (as defined in the mjModel) for the given
-  // object. Useful if you want to "reset" the material of a renderable back
-  // to its default.
-  mjrfMaterial GetDefaultMaterial(mjtObj obj_type, int obj_index);
-
-  // Marks the given object as "selected", unmarking any previously selected
-  // object.
-  void MarkAsSelected(mjtObj obj_type, int obj_index);
-
-  // Sets the visualization options on the renderables. The following options
-  // are supported:
-  // - shows/hides renderables based on the group visibility
-  // - shows/hides renderables based on mjVIS_SKIN, mjVIS_FLEXSKIN,
-  //   mjVIS_TENDON, and mjVIS_ACTUATOR flags
-  // - adds island state to materials if mjVIS_ISLAND is enabled
-  // - switches meshes to convex hull mode if mjVIS_CONVEXHULL is enabled
-  // - adjusts alpha values if mjVIS_TRANSPARENT is enabled
-  void SetOptions(const mjvOption& opt);
-
-  // Returns the current visualization options.
-  const mjvOption& GetOptions() const { return vopts_; }
-
-  ModelRenderables(const ModelRenderables&) = delete;
-  ModelRenderables& operator=(const ModelRenderables&) = delete;
-
- private:
-  void AddGeomGeoms();
-  void AddSiteGeoms();
-  void AddFlexGeoms();
-  void AddSkinGeoms();
-  void AddSliderCrankGeoms();
-
-  void UpdateSpatialTendons(const mjData* data, int tendon_id);
-  void AppendSegmentToTendon(int tendon_id);
-  void RemoveSegmentFromTendon(int tendon_id);
-  void UpdateSliderCranks(const mjData* data, int actuator_id);
-
-  int GetSegmentationId(mjtObj obj_type, int obj_index);
-
-  void SetVisibility(mjtObj obj_type, int idx, bool visible);
-
-  mjrfScene* scene_;
-  ModelObjects* model_objects_;
-
-  mjvOption vopts_;
-  mjtObj selected_obj_type_ = mjOBJ_UNKNOWN;
-  int selected_obj_index_ = -1;
-
-  std::vector<UniquePtr<mjrfRenderable>> geoms_;
-  std::vector<UniquePtr<mjrfRenderable>> sites_;
-  std::vector<UniquePtr<mjrfRenderable>> skins_;
-  std::vector<std::vector<UniquePtr<mjrfRenderable>>> flexes_;
-  std::vector<std::vector<UniquePtr<mjrfRenderable>>> tendons_;
-  std::unordered_map<int, std::array<UniquePtr<mjrfRenderable>, 2>>
-      slider_cranks_;
-
-  std::vector<UniquePtr<mjrfMesh>> flex_meshes_;
-  std::vector<UniquePtr<mjrfMesh>> skin_meshes_;
-  std::vector<filament::math::float4> point_cache_;
-};
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MODEL_RENDERABLES_H_
diff --git a/src/render/noop/CMakeLists.txt b/src/render/noop/CMakeLists.txt
deleted file mode 100644
index 313ca063..00000000
--- a/src/render/noop/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-add_library(render_noop STATIC render_noop.c)
-target_link_libraries(render_noop PUBLIC mujoco::mujoco)
-add_library(mujoco::render_noop ALIAS render_noop)
diff --git a/src/render/noop/render_noop.c b/src/render/noop/render_noop.c
deleted file mode 100644
index 6f7bcbf6..00000000
--- a/src/render/noop/render_noop.c
+++ /dev/null
@@ -1,119 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <mujoco/mujoco.h>
-#include <string.h>
-
-// This library implements the entirety of mujoco's mjr API as fast-fail stubs.
-// You can link this library with your application (instead of standard renderer
-// library) when you do not intend to use any graphics APIs and want to reduce
-// dependencies, compile times, binary size, etc.
-
-void mjr_defaultContext(mjrContext* con) {
-  mju_error("mjr_defaultContext not implemented.");
-}
-void mjr_defaultRendererInfo(mjrRendererInfo* info) {
-  memset(info, 0, sizeof(mjrRendererInfo));
-  info->renderer = "noop";
-  info->backend = "";
-}
-void mjr_getRendererInfo(mjrRendererInfo* info) {
-  mjr_defaultRendererInfo(info);
-}
-void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
-  mju_error("mjr_makeContext not implemented.");
-}
-void mjr_freeContext(mjrContext* con) {
-  mju_error("mjr_freeContext not implemented.");
-}
-void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
-  mju_error("mjr_render not implemented.");
-}
-void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
-  mju_error("mjr_uploadMesh not implemented.");
-}
-void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
-  mju_error("mjr_uploadTexture not implemented.");
-}
-void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
-  mju_error("mjr_uploadHField not implemented.");
-}
-void mjr_setBuffer(int framebuffer, mjrContext* con) {
-  mju_error("mjr_setBuffer not implemented.");
-}
-void mjr_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
-                          const mjrContext* con) {
-  mju_error("mjr_readPixels not implemented.");
-}
-void mjr_setAux(int index, const mjrContext* con) {
-  mju_error("mjr_setAux not implemented.");
-}
-void mjr_restoreBuffer(const mjrContext* con) {
-  mju_error("mjr_restoreBuffer not implemented.");
-}
-void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a) {
-  mju_error("mjr_rectangle not implemented.");
-}
-void mjr_blitAux(int index, mjrRect src, int left, int bottom,
-                 const mjrContext* con) {
-  mju_error("mjr_blitAux not implemented.");
-}
-void mjr_changeFont(int fontscale, mjrContext* con) {
-  mju_error("mjr_changeFont not implemented.");
-}
-void mjr_addAux(int index, int width, int height, int samples,
-                mjrContext* con) {
-  mju_error("mjr_addAux not implemented.");
-}
-void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
-  mju_error("mjr_resizeOffscreen not implemented.");
-}
-void mjr_drawPixels(const unsigned char* rgb, const float* depth,
-                    mjrRect viewport, const mjrContext* con) {
-  mju_error("mjr_drawPixels not implemented.");
-}
-void mjr_blitBuffer(mjrRect src, mjrRect dst, int flg_color, int flg_depth,
-                    const mjrContext* con) {
-  mju_error("mjr_blitBuffer not implemented.");
-}
-void mjr_text(int font, const char* txt, const mjrContext* con, float x,
-              float y, float r, float g, float b) {
-  mju_error("mjr_text not implemented.");
-}
-void mjr_overlay(int font, int gridpos, mjrRect viewport, const char* overlay,
-                 const char* overlay2, const mjrContext* con) {
-  mju_error("mjr_overlay not implemented.");
-}
-void mjr_label(mjrRect viewport, int font, const char* txt, float r, float g,
-               float b, float a, float rt, float gt, float bt,
-               const mjrContext* con) {
-  mju_error("mjr_label not implemented.");
-}
-void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
-  mju_error("mjr_figure not implemented.");
-}
-void mjr_finish() { mju_error("mjr_finish not implemented."); }
-int mjr_getError() {
-  mju_error("mjr_getError not implemented.");
-  return 0;
-}
-mjrRect mjr_maxViewport(const mjrContext* con) {
-  mju_error("mjr_maxViewport not implemented.");
-  mjrRect rect = {0, 0, 0, 0};
-  return rect;
-}
-int mjr_findRect(int x, int y, int nrect, const mjrRect* rect) {
-  mju_error("mjr_findRect not implemented.");
-  return 0;
-}
diff --git a/src/ui/CMakeLists.txt b/src/ui/CMakeLists.txt
deleted file mode 100644
index 844ea4f0..00000000
--- a/src/ui/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_UI_SRCS ui_main.c ui_main.h)
-target_sources(mujoco PRIVATE ${MUJOCO_UI_SRCS})
diff --git a/src/ui/ui_main.c b/src/ui/ui_main.c
deleted file mode 100644
index 14f588f1..00000000
--- a/src/ui/ui_main.c
+++ /dev/null
@@ -1,2993 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "ui/ui_main.h"
-
-#include <math.h>
-#include <stdio.h>
-#include <string.h>
-
-#include <mujoco/mjmacro.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_array_safety.h"
-#include "render/classic/glad/glad.h"
-
-//------------------------------------ Default themes ----------------------------------------------
-
-// theme spacing 0 : tight
-static const mjuiThemeSpacing themeSpacing0 = {
-  270,   // total
-  15,    // scroll
-  120,   // label
-  8,     // section
-  6,     // cornersect
-  6,     // cornersep
-  4,     // itemside
-  4,     // itemmid
-  4,     // itemver
-  8,     // texthor
-  4,     // textver
-  30,    // linescroll
-  4      // samples
-};
-
-
-// theme spacing 1 : wide
-static const mjuiThemeSpacing themeSpacing1 = {
-  310,   // total
-  15,    // scroll
-  120,   // label
-  10,    // section
-  10,    // cornersect
-  10,    // cornersep
-  7,     // itemside
-  7,     // itemmid
-  7,     // itemver
-  10,    // texthor
-  5,     // textver
-  30,    // linescroll
-  4      // samples
-};
-
-
-// theme color 0 : default
-static const mjuiThemeColor themeColor0 = {
-  {0.25, 0.25, 0.25},   // master
-  {0.12, 0.12, 0.12},   // thumb
-  {0.6,  0.2,  0.2},    // secttitle
-  {0.1,  0.1,  0.1},    // secttitle2
-  {0.45, 0.17, 0.17},   // secttitleuncheck
-  {0.45, 0.17, 0.17},   // secttitleuncheck2
-  {0.45, 0.17, 0.17},   // secttitlecheck
-  {0.45, 0.17, 0.17},   // secttitlecheck2
-  {1.0,  1.0,  1.0},    // sectfont
-  {0.7,  0.7,  0.7},    // sectsymbol
-  {0.1,  0.1,  0.1},    // sectpane
-  {0.25, 0.25, 0.25},   // separator
-  {0.1,  0.1,  0.1},    // separator2
-  {0.0,  0.0,  1.0},    // shortcut
-  {1.0,  1.0,  1.0},    // fontactive
-  {0.5,  0.5,  0.5},    // fontinactive
-  {0.3,  0.3,  0.3},    // decorinactive
-  {0.4,  0.4,  0.4},    // decorinactive2
-  {0.6,  0.4,  0.4},    // button
-  {0.4,  0.4,  0.7},    // check
-  {0.4,  0.6,  0.4},    // radio
-  {0.4,  0.6,  0.6},    // select
-  {0.2,  0.3,  0.3},    // select2
-  {0.3,  0.2,  0.3},    // slider
-  {0.6,  0.4,  0.6},    // slider2
-  {0.6,  0.6,  0.4},    // edit
-  {0.7,  0.0,  0.0},    // edit2
-  {0.9,  0.9,  0.9}     // cursor
-};
-
-
-// theme color 1 : orange
-static const mjuiThemeColor themeColor1 = {
-  {0.2,  0.2,  0.2},    // master
-  {0.12, 0.12, 0.12},   // thumb
-  {0.3,  0.3,  0.3},    // secttitle
-  {0.15, 0.15, 0.15},   // secttitle2
-  {0.25, 0.25, 0.25},   // secttitleuncheck
-  {0.25, 0.25, 0.25},   // secttitleuncheck2
-  {0.25, 0.25, 0.25},   // secttitlecheck
-  {0.25, 0.25, 0.25},   // secttitlecheck2
-  {0.8,  0.8,  0.8},    // sectfont
-  {0.7,  0.7,  0.7},    // sectsymbol
-  {0.15, 0.15, 0.15},   // sectpane
-  {0.2,  0.2,  0.2},    // separator
-  {0.15, 0.15, 0.15},   // separator2
-  {0.0,  0.0,  1.0},    // shortcut
-  {0.9,  0.9,  0.9},    // fontactive
-  {0.5,  0.5,  0.5},    // fontinactive
-  {0.2,  0.2,  0.2},    // decorinactive
-  {0.25, 0.25, 0.25},   // decorinactive2
-  {0.6,  0.4,  0.2},    // button
-  {0.6,  0.4,  0.2},    // check
-  {0.6,  0.4,  0.2},    // radio
-  {0.6,  0.4,  0.2},    // select
-  {0.3,  0.2,  0.1},    // select2
-  {0.2,  0.2,  0.2},    // slider
-  {0.6,  0.4,  0.2},    // slider2
-  {0.6,  0.4,  0.2},    // edit
-  {0.7,  0.0,  0.0},    // edit2
-  {0.9,  0.9,  0.9}     // cursor
-};
-
-
-// theme color 2 : white
-static const mjuiThemeColor themeColor2 = {
-  {0.9,  0.9,  0.9},    // master
-  {0.7,  0.7,  0.7},    // thumb
-  {0.8,  0.8,  0.8},    // secttitle
-  {1.0,  1.0,  1.0},    // secttitle2
-  {0.95, 0.95, 0.95},   // secttitleuncheck
-  {0.95, 0.95, 0.95},   // secttitleuncheck2
-  {0.95, 0.95, 0.95},   // secttitlecheck
-  {0.95, 0.95, 0.95},   // secttitlecheck2
-  {0.0,  0.0,  0.8},    // sectfont
-  {0.0,  0.0,  0.8},    // sectsymbol
-  {1.0,  1.0,  1.0},    // sectpane
-  {0.9,  0.9,  0.9},    // separator
-  {1.0,  1.0,  1.0},    // separator2
-  {0.0,  1.0,  1.0},    // shortcut
-  {0.0,  0.0,  0.0},    // fontactive
-  {0.7,  0.7,  0.7},    // fontinactive
-  {0.95, 0.95, 0.95},   // decorinactive
-  {0.9,  0.9,  0.9},    // decorinactive2
-  {0.8,  0.8,  0.8},    // button
-  {0.8,  0.8,  0.8},    // check
-  {0.8,  0.8,  0.8},    // radio
-  {0.8,  0.8,  0.8},    // select
-  {0.9,  0.9,  0.9},    // select2
-  {0.95, 0.95, 0.95},   // slider
-  {0.8,  0.8,  0.8},    // slider2
-  {0.8,  0.8,  0.8},    // edit
-  {1.0,  0.3,  0.3},    // edit2
-  {0.2,  0.2,  0.2}     // cursor
-};
-
-
-// theme color 3 : black
-static const mjuiThemeColor themeColor3 = {
-  {0.15, 0.15, 0.15},   // master
-  {0.3,  0.3,  0.3},    // thumb
-  {0.25, 0.25, 0.25},   // secttitle
-  {0.0,  0.0,  0.0},    // secttitle2
-  {0.2,  0.2,  0.2},    // secttitleuncheck
-  {0.2,  0.2,  0.2},    // secttitleuncheck2
-  {0.2,  0.2,  0.2},    // secttitlecheck
-  {0.2,  0.2,  0.2},    // secttitlecheck2
-  {1.0,  0.3,  0.3},    // sectfont
-  {1.0,  0.3,  0.3},    // sectsymbol
-  {0.0,  0.0,  0.0},    // sectpane
-  {0.15, 0.15, 0.15},   // separator
-  {0.0,  0.0,  0.0},    // separator2
-  {0.0,  0.0,  1.0},    // shortcut
-  {1.0,  1.0,  1.0},    // fontactive
-  {0.4,  0.4,  0.4},    // fontinactive
-  {0.1,  0.1,  0.1},    // decorinactive
-  {0.15, 0.15, 0.15},   // decorinactive2
-  {0.3,  0.3,  0.3},    // button
-  {0.3,  0.3,  0.3},    // check
-  {0.3,  0.3,  0.3},    // radio
-  {0.3,  0.3,  0.3},    // select
-  {0.15, 0.15, 0.15},   // select2
-  {0.15, 0.15, 0.15},   // slider
-  {0.3,  0.3,  0.3},    // slider2
-  {0.3,  0.3,  0.3},    // edit
-  {0.8,  0.2,  0.2},    // edit2
-  {0.8,  0.8,  0.8}     // cursor
-};
-
-
-
-//------------------------------------ Utility functions -------------------------------------------
-
-// scale from abstract pixels to framebuffer units
-static int SCL(int sz, const mjrContext* con) {
-  return mjMAX(0, mju_round(sz * 0.01 * con->fontScale));
-}
-
-
-
-// init OpenGL
-static void initOpenGL(const mjrRect* r, const mjrContext* con) {
-  // set OpenGL options
-  glDisable(GL_NORMALIZE);
-  glDisable(GL_DEPTH_TEST);
-  glDisable(GL_CULL_FACE);
-  glDisable(GL_LIGHTING);
-  glDisable(GL_COLOR_MATERIAL);
-  glDisable(GL_BLEND);
-  glShadeModel(GL_SMOOTH);
-  glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-
-  // standard 2D projection, in framebuffer units
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-  glOrtho(0, r->width, 0, r->height, -1, 1);
-  glMatrixMode(GL_MODELVIEW);
-  glLoadIdentity();
-
-  // set viewport
-  glViewport(r->left, r->bottom, r->width, r->height);
-}
-
-
-
-// get text width up to specified limit (0: 0, -1: entire string)
-static int textwidth(const char* text, const mjrContext* con, int limit) {
-  int i = 0, width = 0;
-
-  // zero limit
-  if (limit == 0) {
-    return 0;
-  }
-
-  // add character widths
-  while (text[i] && (limit < 1 || i < limit)) {
-    width += con->charWidth[(unsigned char)text[i++]];
-  }
-
-  return width;
-}
-
-
-
-// draw text, limit to maxwidth
-static void drawtext(const char* txt, int x, int y, int maxwidth,
-                     const float* rgb, const mjrContext* con) {
-  // determine string length that fits in maxwidth
-  int len = 0, width = 0;
-  while (txt[len]) {
-    width += con->charWidth[(unsigned char)txt[len]];
-    if (width >= maxwidth) {
-      break;
-    } else {
-      len++;
-    }
-  }
-
-  // draw normal text
-  glListBase(con->baseFontNormal);
-  glColor3fv(rgb);
-  glRasterPos3i(x, y, 0);
-  glCallLists(len, GL_UNSIGNED_BYTE, txt);
-}
-
-
-
-// draw text centered in rectangle
-static void drawtextrect(mjrRect rect, const char* txt,
-                         const float* rgb, const mjrContext* con) {
-  int dy = (rect.height - con->charHeight)/2;
-  int dx = (rect.width - textwidth(txt, con, -1))/2;
-  dx = mjMAX(0, dx);
-
-  drawtext(txt, rect.left+dx, rect.bottom+dy, rect.width-dx, rgb, con);
-}
-
-
-
-// draw rectangle
-static void drawrectangle(mjrRect rect, const float* rgb, const float* rgbback,
-                          const mjrContext* con) {
-  // outside
-  glColor3fv(rgb);
-  glBegin(GL_QUADS);
-  glVertex2i(rect.left, rect.bottom);
-  glVertex2i(rect.left+rect.width, rect.bottom);
-  glVertex2i(rect.left+rect.width, rect.bottom+rect.height);
-  glVertex2i(rect.left, rect.bottom+rect.height);
-  glEnd();
-
-  // inside
-  if (rgbback) {
-    int margin = SCL(2, con);
-    glColor3fv(rgbback);
-    glBegin(GL_QUADS);
-    glVertex2i(rect.left+margin, rect.bottom+margin);
-    glVertex2i(rect.left+rect.width-margin, rect.bottom+margin);
-    glVertex2i(rect.left+rect.width-margin, rect.bottom+rect.height-margin);
-    glVertex2i(rect.left+margin, rect.bottom+rect.height-margin);
-    glEnd();
-  }
-}
-
-
-
-// round corners of rectangle
-static void roundcorner(mjrRect rect, int flg_skipbottom, int flg_separator,
-                        const mjUI* ui, const mjrContext* con) {
-  // get rounding from theme, exit if disabled
-  int cornerspec = flg_separator ? ui->spacing.cornersep : ui->spacing.cornersect;
-  if (cornerspec == 0) {
-    return;
-  }
-
-  // quarter-circle divisions and radius
-  int ndivide = 10;
-  double radius = cornerspec * 0.01 * con->fontScale;
-
-  // draw fans in the four corners, optionally skip bottom corners
-  for (int ic = (flg_skipbottom ? 2 : 0); ic < 4; ++ic) {
-    // set corner
-    double corner[2];
-    switch (ic) {
-    case 0:   // bottom-left
-      corner[0] = rect.left;
-      corner[1] = rect.bottom;
-      break;
-
-    case 1:   // bottom-right
-      corner[0] = rect.left + rect.width;
-      corner[1] = rect.bottom;
-      break;
-
-    case 2:   // top-right
-      corner[0] = rect.left + rect.width;
-      corner[1] = rect.bottom + rect.height;
-      break;
-
-    default:  // top-left
-      corner[0] = rect.left;
-      corner[1] = rect.bottom + rect.height;
-    }
-
-    // orient fan to point inside
-    double angle = ic * 0.5 * mjPI;
-
-    // compute circle center: opposite to corner
-    double center[2];
-    center[0] = corner[0] + mju_sqrt(2.0) * radius * cos(angle + 0.25 * mjPI);
-    center[1] = corner[1] + mju_sqrt(2.0) * radius * sin(angle + 0.25 * mjPI);
-
-    // fill with erase color, start trinagle_fan from corner
-    glColor3fv(flg_separator ? ui->color.sectpane : ui->color.master);
-    glBegin(GL_TRIANGLE_FAN);
-    glVertex2d(corner[0], corner[1]);
-
-    // compute vertices of quarter-circle
-    for (int i = 0; i <= ndivide; i++) {
-      double a = angle + mjPI + 0.5 * mjPI * (double)i / (double)ndivide;
-      glVertex2d(center[0] + radius * cos(a), center[1] + radius * sin(a));
-    }
-    glEnd();
-  }
-}
-
-
-
-// draw oval
-static void drawoval(mjrRect rect, const float* rgb, const float* rgbback,
-                     const mjrContext* con) {
-  const int ndivide = 15;
-
-  // require horizontal
-  if (rect.height > rect.width) {
-    return;
-  }
-
-  // circle info
-  double radius = 0.5*rect.height;
-  double lcenter[2] = {rect.left + radius, rect.bottom + radius};
-  double rcenter[2] = {rect.left + rect.width - radius, rect.bottom + radius};
-
-  // filled
-  glColor3fv(rgb);
-  glBegin(GL_POLYGON);
-
-  // draw left half-circle
-  for (int i=0; i <= ndivide; i++) {
-    double angle = mjPI * (0.5 + (double)i / (double)ndivide);
-    glVertex2d(lcenter[0] + radius*cos(angle), lcenter[1] + radius*sin(angle));
-  }
-
-  // draw right half-circle
-  for (int i=0; i <= ndivide; i++) {
-    double angle = mjPI * (1.5 + (double)i / (double)ndivide);
-    glVertex2d(rcenter[0] + radius*cos(angle), rcenter[1] + radius*sin(angle));
-  }
-  glEnd();
-
-  // inside
-  if (rgbback) {
-    int margin = SCL(2, con);
-    radius -= margin;
-
-    glColor3fv(rgbback);
-    glBegin(GL_POLYGON);
-
-    // draw left half-circle
-    for (int i=0; i <= ndivide; i++) {
-      double angle = mjPI * (0.5 + (double)i / (double)ndivide);
-      glVertex2d(lcenter[0] + radius*cos(angle), lcenter[1] + radius*sin(angle));
-    }
-
-    // draw right half-circle
-    for (int i=0; i <= ndivide; i++) {
-      double angle = mjPI * (1.5 + (double)i / (double)ndivide);
-      glVertex2d(rcenter[0] + radius*cos(angle), rcenter[1] + radius*sin(angle));
-    }
-    glEnd();
-  }
-}
-
-
-
-// draw open/closed symbol in title
-//  type: 0- section, 1- section with unchecked box,
-//        2- section with checked box, 3- separator
-static void drawsymbol(mjrRect rect, int flg_open, int type,
-                       const mjUI* ui, const mjrContext* con) {
-  // size and center
-  int texthor =  SCL(ui->spacing.texthor, con);
-  int cx = rect.left + rect.width - texthor;
-  int cy = rect.bottom + rect.height/2;
-  int d = mju_round(con->charHeight*0.33);
-
-  // separator size
-  if (type == 3) {
-    d = mju_round(con->charHeight*0.28);
-  }
-
-  // open
-  if (flg_open) {
-    glColor3fv(ui->color.sectsymbol);
-    glBegin(GL_TRIANGLES);
-    glVertex2i(cx, cy+d);
-    glVertex2i(cx-2*d, cy+d);
-    glVertex2i(cx-d, cy-d);
-    glEnd();
-  }
-
-  // closed
-  else {
-    // solid outside
-    glColor3fv(ui->color.sectsymbol);
-    glBegin(GL_TRIANGLES);
-    glVertex2i(cx, cy-d);
-    glVertex2i(cx, cy+d);
-    glVertex2i(cx-2*d, cy);
-    glEnd();
-
-    // set color for inside
-    switch (type) {
-    case 0:   // section
-      glColor3f(
-        (ui->color.secttitle[0] + ui->color.secttitle2[0]) * 0.5,
-        (ui->color.secttitle[1] + ui->color.secttitle2[1]) * 0.5,
-        (ui->color.secttitle[2] + ui->color.secttitle2[2]) * 0.5
-      );
-      break;
-
-    case 1:   // section with unchecked box
-      glColor3f(
-        (ui->color.secttitleuncheck[0] + ui->color.secttitleuncheck2[0]) * 0.5,
-        (ui->color.secttitleuncheck[1] + ui->color.secttitleuncheck2[1]) * 0.5,
-        (ui->color.secttitleuncheck[2] + ui->color.secttitleuncheck2[2]) * 0.5
-      );
-      break;
-
-    case 2:   // section with checked box
-      glColor3f(
-        (ui->color.secttitlecheck[0] + ui->color.secttitlecheck2[0]) * 0.5,
-        (ui->color.secttitlecheck[1] + ui->color.secttitlecheck2[1]) * 0.5,
-        (ui->color.secttitlecheck[2] + ui->color.secttitlecheck2[2]) * 0.5
-      );
-      break;
-
-    case 3:   // separator
-      glColor3f(
-        (ui->color.separator[0] + ui->color.separator2[0]) * 0.5,
-        (ui->color.separator[1] + ui->color.separator2[1]) * 0.5,
-        (ui->color.separator[2] + ui->color.separator2[2]) * 0.5
-      );
-    }
-
-    // draw inside
-    double margin = con->fontScale * 0.015;
-    double u = 0.5 * sqrt(5.0) * margin;
-    double y = d - u - 0.5 * margin;
-    glBegin(GL_TRIANGLES);
-    glVertex2d(cx-margin, cy-y);
-    glVertex2d(cx-margin, cy+y);
-    glVertex2d(cx-2*d+2*u, cy);
-    glEnd();
-  }
-}
-
-
-
-// radio element rectangle
-static mjrRect radioelement(const mjuiItem* it, int n,
-                            const mjUI* ui, const mjrContext* con) {
-  // scale sizes from theme
-  int g_itemmid =  SCL(ui->spacing.itemmid, con);
-  int g_textver =  SCL(ui->spacing.textver, con);
-  int ncol = ui->radiocol ? ui->radiocol : 2;
-  int nrow = (it->multi.nelem-1)/ncol + 1;
-
-  // compute elements
-  int cellwidth = (it->rect.width-(ncol-1)*g_itemmid)/ncol;
-  int cellheight = con->charHeight+2*g_textver;
-  int row = n/ncol;
-  int col = n%ncol;
-
-  // construct rectangle
-  mjrRect r = {
-    it->rect.left + col*(cellwidth+g_itemmid),
-    it->rect.bottom+(nrow-1-row)*cellheight,
-    cellwidth,
-    cellheight
-  };
-
-  // adjust width of last column
-  if (col == ncol-1) {
-    r.width = it->rect.width - r.left + it->rect.left;
-  }
-
-  return r;
-}
-
-
-
-// compute mouse position relative to ui
-static void mouseinui(const mjUI* ui, const mjuiState* ins, int* x, int* y) {
-  // extract data
-  *x = (int)ins->x;
-  *y = (int)ins->y;
-  mjrRect rect = ins->rect[ui->rectid];
-
-  // correct for scrollbar
-  if (ui->height > rect.height) {
-    *y -= ui->scroll;
-  }
-
-  // correct for offset
-  *x -= rect.left;
-  *y -= (rect.height - ui->height) + rect.bottom;
-}
-
-
-
-// compute mouse position relative to rectangle
-static void mouseinrect(mjrRect rect, const mjUI* ui, const mjuiState* ins,
-                        double* rx, double* ry) {
-  // mouse relative to ui
-  int x, y;
-  mouseinui(ui, ins, &x, &y);
-
-  // mouse relative to rectangle
-  *rx = (x-rect.left) / (double)rect.width;
-  *ry = (y-rect.bottom) / (double)rect.height;
-}
-
-
-
-// find radio element under mouse
-static int findradio(const mjuiItem* it, const mjUI* ui,
-                     const mjuiState* ins, const mjrContext* con) {
-  // number of rows and columns
-  int ncol = ui->radiocol ? ui->radiocol : 2;
-  int nrow = (it->multi.nelem-1)/ncol + 1;
-
-  // get mouse relative to rect
-  double rx, ry;
-  mouseinrect(it->rect, ui, ins, &rx, &ry);
-
-  // count rows from top
-  ry = 1-ry;
-
-  // round and clamp
-  int row = (int)floor(ry*nrow);
-  int col = (int)floor(rx*ncol);
-  row = mjMAX(0, mjMIN(row, nrow-1));
-  col = mjMAX(0, mjMIN(col, ncol-1));
-
-  // result
-  int ind = row*ncol + col;
-  if (ind < it->multi.nelem) {
-    return ind;
-  } else {
-    return -1;
-  }
-}
-
-
-
-// make list of separators for radioline elements
-static void makeradioline(const mjuiItem* it, const mjrContext* con, int* sep) {
-  int nelem = it->multi.nelem, totwid = 0;
-  int elwid[mjMAXUIMULTI];
-
-  // no elements
-  if (!nelem) {
-    return;
-  }
-
-  // compute element widths
-  for (int i=0; i < nelem; i++) {
-    elwid[i] = textwidth(it->multi.name[i], con, -1);
-    totwid += elwid[i];
-  }
-
-  // compute per-element extra space
-  double extra = ((double)(it->rect.width - totwid)) / ((double)nelem);
-
-  // compute separators
-  sep[0] = 0;
-  for (int i=0; i < nelem; i++) {
-    sep[i+1] = sep[i] + elwid[i] + mju_round((i+1)*extra) -mju_round(i*extra);
-  }
-  sep[nelem] = it->rect.width;
-}
-
-
-
-// find radioline element under mouse
-static int findradioline(const mjuiItem* it, const mjUI* ui,
-                         const mjuiState* ins, const mjrContext* con) {
-  // make separators
-  int sep[mjMAXUIMULTI+1];
-  makeradioline(it, con, sep);
-
-  // get mouse relative to rect
-  double rx, ry;
-  mouseinrect(it->rect, ui, ins, &rx, &ry);
-
-  // find interval
-  int x = mju_round(rx*it->rect.width);
-  for (int i=0; i < it->multi.nelem; i++) {
-    if (x >= sep[i] && x < sep[i+1]) {
-      return i;
-    }
-  }
-
-  // not found
-  return -1;
-}
-
-
-
-// find select element under mouse
-static int findselect(const mjuiItem* it, const mjUI* ui,
-                      const mjuiState* ins, const mjrContext* con) {
-  // not tracking: nothing to do
-  if (!(ui->mousesect > 0 && ui->mouseitem >= 0 && it && it->type == mjITEM_SELECT)) {
-    return -1;
-  }
-
-  // make box
-  int g_textver = SCL(ui->spacing.textver, con);
-  int cellheight = con->charHeight + 2*g_textver;
-  mjrRect r = it->rect;
-  r.height = it->multi.nelem * cellheight;
-  r.bottom -= r.height;
-
-  // find in box
-  double rx, ry;
-  mouseinrect(r, ui, ins, &rx, &ry);
-  if (ry > 0 && ry < 1 && rx > 0 && rx < 1) {
-    int k = (int)floor(ry*it->multi.nelem);
-    k = mjMAX(0, mjMIN(it->multi.nelem-1, k));
-    return it->multi.nelem-1-k;
-  } else {
-    return -1;
-  }
-}
-
-
-
-// make scrollbar rectangles
-void scrollrect(mjrRect rect, const mjUI* ui, const mjrContext* con,
-                mjrRect* bar, mjrRect* thumb) {
-  int w_scroll = SCL(ui->spacing.scroll, con);
-
-  // bar
-  *bar = rect;
-  bar->left = rect.left+rect.width-w_scroll;
-  bar->width = w_scroll;
-
-  // thumb
-  double tstart = (double)ui->scroll / (double)ui->height;
-  double tend = (double)(ui->scroll+rect.height) / (double)ui->height;
-  *thumb = *bar;
-  thumb->bottom = rect.bottom + mju_round(rect.height*(1-tend));
-  thumb->height = mju_round(rect.height*(tend-tstart));
-}
-
-
-
-// is point in rectangle
-static int inside(int x, int y, mjrRect r) {
-  return (x >= r.left && x <= r.left+r.width && y >= r.bottom && y <= r.bottom+r.height);
-}
-
-
-
-// is point in oval
-static int insideoval(int x, int y, mjrRect r) {
-  // exclude if not in rectangle
-  if (!inside(x, y, r)) {
-    return 0;
-  }
-
-  // check center
-  int radius = r.height/2;
-  if (x >= r.left+radius && x <= r.left+r.width-radius) {
-    return 1;
-  }
-
-  // left circle
-  int dx = x - (r.left+radius);
-  int dy = y - (r.bottom+radius);
-  if (dx < 0 && (dx*dx + dy*dy < radius*radius)) {
-    return 1;
-  }
-
-  // right circle
-  dx = x - (r.left+r.width-radius);
-  if (dx > 0 && (dx*dx + dy*dy < radius*radius)) {
-    return 1;
-  }
-
-  return 0;
-}
-
-
-
-// find mouse location in UI; y already inverted
-// sect: -1: thumb, -2: slider down, -3: slider up, positive: 1+section
-// item: -1: section title or scroll, non-negative: item number
-// item: -2: in checkbox on section title
-static void findmouse(const mjUI* ui, const mjuiState* ins, const mjrContext* con,
-                      int* sect, int* item) {
-  // clear
-  *sect = 0;
-  *item = 0;
-
-  // extract data
-  int x = (int)ins->x;
-  int y = (int)ins->y;
-  mjrRect rect = ins->rect[ui->rectid];
-
-  // scrollbar
-  if (ui->height > rect.height) {
-    // construct rectangles
-    mjrRect bar;
-    mjrRect thumb;
-    scrollrect(rect, ui, con, &bar, &thumb);
-
-    // inside bar
-    if (inside(x, y, bar)) {
-      // inside thumb
-      if (inside(x, y, thumb)) {
-        *sect = -1;
-      }
-
-      // below thumb
-      else if (y < thumb.bottom) {
-        *sect = -2;
-      }
-
-      // above thumb
-      else {
-        *sect = -3;
-      }
-
-      // done
-      *item = -1;
-      return;
-    }
-  }
-
-  // adjust x,y
-  mouseinui(ui, ins, &x, &y);
-
-  // check sections and items
-  for (int n=0; n < ui->nsect; n++) {
-    // get section pointer
-    const mjuiSection* s = ui->sect + n;
-
-    // in title
-    if (s->state < 2 && inside(x, y, s->rtitle)) {
-      *sect = n+1;
-      *item = -1;
-
-      // in checkbox
-      if (s->checkbox > 0) {
-        mjrRect rcheck = s->rtitle;
-        rcheck.width = mjMIN(rcheck.height, rcheck.width);
-        if (inside(x, y, rcheck)) {
-          *item = -2;
-        }
-      }
-
-      return;
-    }
-
-    // in content and open: check items
-    if (s->state && inside(x, y, s->rcontent)) {
-      for (int i=0; i < s->nitem; i++) {
-        if (s->item[i].type == mjITEM_BUTTON ?
-            insideoval(x, y, s->item[i].rect) :
-            inside(x, y, s->item[i].rect)) {
-          *sect = n+1;
-          *item = i;
-          return;
-        }
-      }
-    }
-  }
-}
-
-
-
-// set slider position given mouse
-static void setslider(mjuiItem* it, mjUI* ui,
-                      const mjuiState* ins, const mjrContext* con) {
-  // get mouse relative position
-  double rx, ry;
-  mouseinrect(it->rect, ui, ins, &rx, &ry);
-
-  // clamp rx, enforce divisions
-  rx = mjMAX(0, mjMIN(1, rx));
-  rx = mju_round(rx * it->slider.divisions) / mjMAX(1, it->slider.divisions);
-  rx = mjMAX(0, mjMIN(1, rx));
-
-  // compute value, clamp to range
-  mjtNum val = mju_clip(it->slider.range[0]*(1-rx) + it->slider.range[1]*rx,
-                        it->slider.range[0], it->slider.range[1]);
-
-  // set slider position
-  if (it->type == mjITEM_SLIDERINT) {
-    *(int*)it->pdata = mju_round(val);
-  } else {
-    *(mjtNum*)it->pdata = val;
-  }
-}
-
-
-
-// check edit text before conversion to array
-// return 0 if ok, error code otherwise
-static int checkedit(const char* text, const mjuiItem* it) {
-  // text always passes
-  if (it->type == mjITEM_EDITTXT) {
-    return 0;
-  }
-
-  // check type
-  if (it->type != mjITEM_EDITINT &&
-      it->type != mjITEM_EDITNUM &&
-      it->type != mjITEM_EDITFLOAT) {
-    mju_error("Internal error: expected edit control");
-  }
-
-  // convert
-  double val[mjMAXUIEDIT];
-  int n = sscanf(text, "%lf %lf %lf %lf %lf %lf %lf",
-                 val, val+1, val+2, val+3, val+4, val+5, val+6);
-
-  // check length
-  if (n != it->edit.nelem) {
-    return 1;
-  }
-
-  // check range when defined
-  for (int i=0; i < n; i++)
-    if (it->edit.range[i][0] < it->edit.range[i][1] &&
-        (val[i] < it->edit.range[i][0] || val[i] > it->edit.range[i][1])) {
-      return 2;
-    }
-
-  // require int values for int type
-  if (it->type == mjITEM_EDITINT) {
-    for (int i=0; i < n; i++) {
-      if (val[i] != (double)((int)val[i])) {
-        return 3;
-      }
-    }
-  }
-
-  return 0;
-}
-
-
-
-// convert edit text to numeric array
-// return 0 if ok, error code otherwise
-static int text2array(const char* text, const mjuiItem* it) {
-  // text: copy
-  if (it->type == mjITEM_EDITTXT) {
-    // copy string, assume mjMAXUINAME allocation
-    char* pdata = (char*)it->pdata;
-    strncpy(pdata, text, mjMAXUINAME);
-    pdata[mjMAXUINAME-1] = 0;
-    return 0;
-  }
-
-  // check type
-  if (it->type != mjITEM_EDITINT && it->type != mjITEM_EDITNUM && it->type != mjITEM_EDITFLOAT) {
-    mju_error("Internal error: expected edit control");
-  }
-
-  // convert
-  double val[mjMAXUIEDIT];
-  int n = sscanf(text, "%lf %lf %lf %lf %lf %lf %lf",
-                 val, val+1, val+2, val+3, val+4, val+5, val+6);
-
-  // check length
-  if (n != it->edit.nelem) {
-    return 1;
-  }
-
-  // check range when defined
-  for (int i=0; i < n; i++) {
-    if (it->edit.range[i][0] < it->edit.range[i][1] &&
-        (val[i] < it->edit.range[i][0] || val[i] > it->edit.range[i][1])) {
-      return 2;
-    }
-  }
-
-  // require int values for int type
-  if (it->type == mjITEM_EDITINT) {
-    for (int i=0; i < n; i++) {
-      if (val[i] != (double)((int)val[i])) {
-        return 3;
-      }
-    }
-  }
-
-  // copy values
-  if (it->type == mjITEM_EDITINT) {
-    int* pdata = (int*)it->pdata;
-    for (int i=0; i < n; i++) {
-      pdata[i] = (int)val[i];
-    }
-  } else {
-    if (it->type == mjITEM_EDITNUM) {
-      mjtNum* pdata = (mjtNum*)it->pdata;
-      for (int i=0; i < n; i++) {
-        pdata[i] = (mjtNum)val[i];
-      }
-    } else {
-      float* pdata = (float*)it->pdata;
-      for (int i=0; i < n; i++) {
-        pdata[i] = (float)val[i];
-      }
-    }
-  }
-
-  return 0;
-}
-
-
-
-// convert numeric array to edit text
-static void array2text(char* text, const mjuiItem* it) {
-  // text: copy
-  if (it->type == mjITEM_EDITTXT) {
-    // copy string, assume mjMAXUINAME allocation
-    strncpy(text, (const char*)it->pdata, mjMAXUINAME);
-    text[mjMAXUINAME-1] = 0;
-    return;
-  }
-
-  // check type
-  if (it->type != mjITEM_EDITINT && it->type != mjITEM_EDITNUM && it->type != mjITEM_EDITFLOAT) {
-    mju_error("Internal error: expected edit control");
-  }
-
-  // print
-  int n = it->edit.nelem;
-  char buf[50];
-  text[0] = 0;
-  for (int i=0; i < n; i++) {
-    if (it->type == mjITEM_EDITINT) {
-      mjSNPRINTF(buf, "%d", ((int*)it->pdata)[i]);
-    } else if (it->type == mjITEM_EDITNUM) {
-      mjSNPRINTF(buf, "%.4g", ((mjtNum*)it->pdata)[i]);
-    } else {
-      mjSNPRINTF(buf, "%.4g", ((float*)it->pdata)[i]);
-    }
-    strncat(text, buf, mjMAXUITEXT - strlen(text) - 1);
-    if (i < n-1) {
-      strncat(text, "  ", mjMAXUITEXT - strlen(text) - 1);
-    }
-  }
-}
-
-
-// return (remapped) key if valid, 0 if not valid
-static int validkey(int key, int sz, int type, const mjuiState* state) {
-  // text
-  if (type == mjITEM_EDITTXT) {
-    if (sz < mjMAXUINAME-1 && key >= 32 && key <= 127) {
-      // lower case if Shift (Caps Lock cannot be detected in GLWF)
-      if (key >= 'A' && key <= 'Z' && !state->shift) {
-        key = key + 'a' - 'A';
-      }
-
-      // Shift: remap remaining keys
-      else if (state->shift) {
-        if (key == '`') {
-          key = '~';
-        } else if (key == '-') {
-          key = '_';
-        } else if (key == '=') {
-          key = '+';
-        } else if (key == '[') {
-          key = '{';
-        } else if (key == ']') {
-          key = '}';
-        } else if (key == '\\') {
-          key = '|';
-        } else if (key == ';') {
-          key = ':';
-        } else if (key == '\'') {
-          key = '"';
-        } else if (key == ',') {
-          key = '<';
-        } else if (key == '.') {
-          key = '>';
-        } else if (key == '/') {
-          key = '?';
-        }
-      }
-
-      return key;
-    } else {
-      return 0;
-    }
-  }
-
-  // numeric
-  else if (type == mjITEM_EDITINT || type == mjITEM_EDITNUM || type == mjITEM_EDITFLOAT) {
-    if (sz < (mjMAXUITEXT-1) &&
-        (key == ' ' || key == '+' || key == '=' || key == '-' || (key >= '0' && key <= '9') ||
-         (key >= mjKEY_NUMPAD_0 && key <= mjKEY_NUMPAD_9) ||
-         ((key == 'e' || key == 'E' || key == '.') &&
-          (type == mjITEM_EDITNUM || type == mjITEM_EDITFLOAT)))) {
-
-      // remap '=' to '+'
-      if (key == '=') {
-        key = '+';
-      }
-
-      // remap 'E' to 'e'
-      if (key == 'E') {
-        key = 'e';
-      }
-
-      // remap numberpad to top row
-      if (key >= mjKEY_NUMPAD_0 && key <= mjKEY_NUMPAD_9) {
-        key = key - mjKEY_NUMPAD_0 + '0';
-      }
-
-      return key;
-
-    } else {
-      return 0;
-    }
-  }
-
-  // other
-  else {
-    return 0;
-  }
-}
-
-
-
-// adjust editscroll so cursor is visible
-static void revealcursor(mjrRect r, mjUI* ui, const mjrContext* con) {
-  // scroll left
-  if (ui->editcursor <= ui->editscroll) {
-    ui->editscroll = ui->editcursor;
-    return;
-  }
-
-  // width of available text area
-  int width = r.width - 2*SCL(ui->spacing.texthor, con);
-
-  // scan backwards
-  int i = ui->editcursor;
-  while (width >= 0 && i >= ui->editscroll && i > 0) {
-    i--;
-    width -= con->charWidth[(unsigned char)ui->edittext[i]];
-  }
-
-  // adjust scroll if out of width
-  if (width < 0) {
-    ui->editscroll = i+1;
-  }
-}
-
-
-
-// use mouse position to set editcursor, adjust editscroll
-static void setcursor(mjrRect r, mjUI* ui, const mjuiState* ins, const mjrContext* con) {
-  // correct rectangle for texthor
-  int g_texthor = SCL(ui->spacing.texthor, con);
-  mjrRect r1 = r;
-  r1.left += g_texthor;
-  r1.width -= 2*g_texthor;
-
-  // get mouse relative position
-  double rx, ry;
-  mouseinrect(r1, ui, ins, &rx, &ry);
-
-  // outside rectangle
-  if (rx < 0) {
-    ui->editcursor = 0;
-    ui->editscroll = 0;
-  } else if (rx > 1) {
-    ui->editcursor = strlen(ui->edittext);
-    revealcursor(r, ui, con);
-  }
-
-  // inside rectangle
-  else {
-    int besti = ui->editscroll, cumsum = 0;
-    int R = mju_round(r1.width*rx), bestdif = R;
-
-    // find closest between-char position
-    for (int i=ui->editscroll; i < strlen(ui->edittext); i++) {
-      // add next width
-      cumsum += con->charWidth[(unsigned char)ui->edittext[i]];
-
-      // update best
-      if (bestdif > abs(cumsum-R)) {
-        bestdif = abs(cumsum-R);
-        besti = i+1;
-      }
-    }
-
-    // set
-    ui->editcursor = besti;
-  }
-}
-
-
-
-// parse modifier and shortcut
-static void parseshortcut(const char* text, int* mod, int* key) {
-  // clear
-  *mod = 0;
-  *key = 0;
-
-  // empty: return
-  if (!text[0]) {
-    return;
-  }
-
-  // require between 2 and 5 characters
-  if (strlen(text) < 2 || strlen(text) > 5) {
-    mju_error("mjui_add: invalid shortcut specification");
-  }
-
-  // modifier
-  switch (text[0]) {
-  case ' ':
-    *mod = 0;
-    break;
-
-  case 'C':
-    *mod = 1;
-    break;
-
-  case 'S':
-    *mod = 2;
-    break;
-
-  case 'A':
-    *mod = 4;
-    break;
-
-  default:
-    mju_error("mjui_add: invalid shortcut modifier");
-  }
-
-  // key
-  if (text[1] == '#') {
-    if (sscanf(text+2, "%d", key) != 1) {
-      mju_error("mjui_add: invalid shortcut numeric code");
-    }
-  } else {
-    if (text[2] != 0) {
-      mju_error("mjui_add: invalid shortcut");
-    }
-    *key = (int)text[1];
-  }
-}
-
-
-
-// check fpr matching modifier and shortcut
-static int matchshortcut(const mjuiState* ins, int mod, int key) {
-  // match key
-  if (!key || ins->key != key) {
-    return 0;
-  }
-
-  // match modifier
-  if ((ins->control != 0) + 2*(ins->shift != 0) + 4*(ins->alt != 0) != mod) {
-    return 0;
-  }
-
-  return 1;
-}
-
-
-
-//---------------------------------- Public API ----------------------------------------------------
-
-// Get builtin UI theme spacing (0-1).
-mjuiThemeSpacing mjui_themeSpacing(int ind) {
-  if (ind == 0) {
-    return themeSpacing0;
-  } else {
-    return themeSpacing1;
-  }
-}
-
-
-
-// Get builtin UI theme color (0-3).
-mjuiThemeColor mjui_themeColor(int ind) {
-  if (ind == 0) {
-    return themeColor0;
-  } else if (ind == 1) {
-    return themeColor1;
-  } else if (ind == 2) {
-    return themeColor2;
-  } else {
-    return themeColor3;
-  }
-}
-
-
-
-// Add definitions to UI.
-void mjui_add(mjUI* ui, const mjuiDef* def) {
-  int n = 0, i, start, num;
-  double x[1+2*mjMAXUIEDIT];
-
-  // process entries until end marker
-  while (def[n].type != mjITEM_END) {
-    // section
-    if (def[n].type == mjITEM_SECTION) {
-      // check limit
-      if (ui->nsect >= mjMAXUISECT) {
-        mju_error("mjui_add: too many sections");
-      }
-
-      // check data
-      if (strlen(def[n].name) >= mjMAXUINAME-1) {
-        mju_error("mjui_add: section name too long");
-      }
-      if (def[n].state != mjSECT_CLOSED && def[n].state != mjSECT_OPEN &&
-          def[n].state != mjSECT_FIXED && def[n].state != mjPRESERVE) {
-        mju_error("mjui_add: invalid section state");
-      }
-
-      // add section, save state
-      ui->nsect++;
-      mjuiSection* se = ui->sect + (ui->nsect-1);
-      int oldstate = se->state;
-
-      // clear, but preserve item states
-      int itemstate[mjMAXUIITEM];
-      for (int i = 0; i < mjMAXUIITEM; ++i) {
-        itemstate[i] = se->item[i].state;
-      }
-      memset(se, 0, sizeof(mjuiSection));
-      for (int i = 0; i < mjMAXUIITEM; ++i) {
-        se->item[i].state = itemstate[i];
-      }
-
-      // set or restore section state
-      se->state = (def[n].state == mjPRESERVE ? oldstate : def[n].state);
-
-      // copy remaining data
-      mjSTRNCPY(se->name, def[n].name);
-      se->checkbox = def[n].otherint;
-      parseshortcut(def[n].other, &(se->modifier), &(se->shortcut));
-    }
-
-    // item
-    else if (def[n].type >= 0 && def[n].type < mjNITEM) {
-      // first section must be defined
-      if (ui->nsect <= 0) {
-        mju_error("mjui_add: item defined outside section");
-      }
-      mjuiSection* se = ui->sect + (ui->nsect-1);
-
-      // check limit
-      if (se->nitem >= mjMAXUIITEM) {
-        mju_error("mjui_add: too many items in section");
-      }
-
-      // check item data
-      if (def[n].type < 0 || def[n].type >= mjNITEM) {
-        mju_error("mjui_add: invalid item type");
-      }
-      if (strlen(def[n].name) >= mjMAXUINAME) {
-        mju_error("mjui_add: item name too long");
-      }
-      if (def[n].state < 0) {
-        mju_error("mjui_add: invalid item state");
-      }
-
-      // add item, save state, clear
-      se->nitem++;
-      mjuiItem* it = se->item + (se->nitem-1);
-      int oldstate = it->state;
-      memset(it, 0, sizeof(mjuiItem));
-
-      // set or restore state for collapsible separator, copy state for others
-      if (def[n].type == mjITEM_SEPARATOR && def[n].state == mjPRESERVE) {
-        // mjSEPCLOSED makes separator collapsible
-        it->state = (oldstate < mjSEPCLOSED ? mjSEPCLOSED : oldstate);
-      }
-      else {
-        it->state = def[n].state;
-      }
-
-      // copy common data
-      it->type = def[n].type;
-      it->pdata = def[n].pdata;
-      mjSTRNCPY(it->name, def[n].name);
-      it->sectionid = ui->nsect - 1;
-      it->itemid = se->nitem - 1;
-      it->userid = def[n].otherint;
-
-      // data pointer check
-      if (it->type > mjITEM_BUTTON && it->pdata == 0) {
-        mju_error("mjui_add: no data pointer for item with data");
-      }
-      if (it->type <= mjITEM_BUTTON && it->pdata) {
-        mju_error("mjui_add: data pointer for item without data");
-      }
-
-      // parse button and check
-      if (it->type == mjITEM_BUTTON ||
-          it->type == mjITEM_CHECKINT ||
-          it->type == mjITEM_CHECKBYTE) {
-        parseshortcut(def[n].other, &(it->single.modifier), &(it->single.shortcut));
-      }
-
-      // parse static, radio, radioline, select
-      else if (it->type == mjITEM_STATIC    ||
-               it->type == mjITEM_RADIO     ||
-               it->type == mjITEM_RADIOLINE ||
-               it->type == mjITEM_SELECT) {
-        // init
-        it->multi.nelem = 0;
-        num = strlen(def[n].other);
-        i = 0;
-
-        // find names in '/n'-separated string
-        while (i < num) {
-          // check limit
-          if (it->multi.nelem >= mjMAXUIMULTI) {
-            mju_error("mjui_add: too many multi elements");
-          }
-
-          // find next '\n' or 0
-          start = i;
-          while (def[n].other[i] != '\n' && def[n].other[i] != 0) {
-            i++;
-          }
-
-          // check string
-          if (i == start || i-start >= mjMAXUINAME-1) {
-            mju_error("mjui_add: invalid multi element name");
-          }
-
-          // add
-          int ind = it->multi.nelem;
-          (it->multi.nelem)++;
-          strncpy(it->multi.name[ind], def[n].other+start, i-start);
-          it->multi.name[ind][i-start] = 0;
-
-          // advance
-          i++;
-        }
-      }
-
-      // parse slider
-      else if (it->type == mjITEM_SLIDERINT || it->type == mjITEM_SLIDERNUM) {
-        // read and check number
-        num = sscanf(def[n].other, "%lf %lf %lf", x, x+1, x+2);
-        if (num != 2 && num != 3) {
-          mju_error("mjui_add: slider expects 'min max [div]'");
-        }
-
-        // assign range
-        it->slider.range[0] = x[0];
-        it->slider.range[1] = x[1];
-
-        // assign divisions if provided, otherwise default
-        if (num == 3) {
-          it->slider.divisions = mjMAX(1, x[2]);
-        } else {
-          if (it->type == mjITEM_SLIDERINT) {
-            it->slider.divisions = mjMAX(1, x[1]-x[0]);
-          } else {
-            it->slider.divisions = 200;
-          }
-        }
-      }
-
-      // parse edit numeric
-      else if (it->type == mjITEM_EDITINT || it->type == mjITEM_EDITNUM || it->type == mjITEM_EDITFLOAT) {
-        // check mjMAXUIEDIT
-        if (mjMAXUIEDIT > 7) {
-          mju_error("internal error: mjMAXUIEDIT bigger than 7");
-        }
-
-        // parse nitem and up to 5 ranges
-        num = sscanf(def[n].other, "%lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
-                     x, x+1, x+2, x+3, x+4, x+5, x+6, x+7, x+8, x+9, x+10, x+11, x+12, x+13, x+14);
-
-        // check length, assign
-        if (num < 1) {
-          mju_error("mjui_add: edit length missing");
-        }
-        it->edit.nelem = mju_round((mjtNum)x[0]);
-        if (it->edit.nelem < 1 || it->edit.nelem > mjMAXUIEDIT) {
-          mju_error("mjui_add: invalid edit length");
-        }
-        if (it->edit.nelem*2 != (num-1) && num > 1) {
-          mju_error("mjui_add: incorrent number of edit ranges");
-        }
-
-        // copy ranges
-        if (num > 1) {
-          for (int i=0; i < it->edit.nelem; i++) {
-            it->edit.range[i][0] = x[1+2*i];
-            it->edit.range[i][1] = x[2+2*i];
-          }
-        }
-      }
-
-      // edit text: nothing to parse
-      else if (it->type == mjITEM_EDITTXT) {
-        // clear nelem, for style
-        it->edit.nelem = 0;
-      }
-    }
-
-    // invalid item type
-    else {
-      mju_error("mjui_add: invalid item type");
-    }
-
-    // advance to next definition
-    n++;
-  }
-}
-
-
-
-// Add definitions to UI section.
-void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def) {
-  int nsect = ui->nsect;
-  ui->nsect = sect + 1;
-  mjui_add(ui, def);
-  ui->nsect = nsect;
-}
-
-
-
-// set item skip flags within section, but not in pass 0
-static void setitemskip(mjuiSection* s, int pass) {
-  int skip = 0;
-
-  // process section items
-  for (int i = 0; i < s->nitem; ++i) {
-    mjuiItem* it = s->item + i;
-
-    // pass 0: nothing is skipped
-    if (pass == 0) {
-      it->skip = 0;
-      continue;
-    }
-
-    // item is a separator: update skip state for subsequent items
-    if (it->type == mjITEM_SEPARATOR) {
-      skip = (it->state == mjSEPCLOSED);
-    }
-
-    // item is not a separator: set skip state
-    else {
-      it->skip = skip;
-    }
-  }
-}
-
-
-
-// Compute UI sizes: internal function, may be called twice per resize
-static void tryresize(mjUI* ui, const mjrContext* con) {
-  // scale theme sizes
-  int w_master =   SCL(ui->spacing.total,    con);
-  int w_scroll =   SCL(ui->spacing.scroll,   con);
-  int g_section =  SCL(ui->spacing.section,  con);
-  int g_itemside = SCL(ui->spacing.itemside, con);
-  int g_itemmid =  SCL(ui->spacing.itemmid,  con);
-  int g_itemver =  SCL(ui->spacing.itemver,  con);
-  int g_textver =  SCL(ui->spacing.textver,  con);
-  int g_label =    SCL(ui->spacing.label,    con);
-
-  // text element height, with gap above and below
-  int textheight = con->charHeight + 2*g_textver;
-
-  // column width
-  int colwidth = (w_master - w_scroll - 2*g_section - 2*g_itemside - g_itemmid)/2;
-
-  // pass 0 includes skipped items, pass 1 does not
-  int Height, MaxHeight;
-  for (int pass = 0; pass < 2; ++pass) {
-    // init UI heights
-    int height = 0;
-    int maxheight = 0;
-
-    // process sections
-    for (int n = 0; n < ui->nsect; n++) {
-      // vertical padding before section
-      height += g_section;
-      maxheight += g_section;
-
-      // get section pointer
-      mjuiSection* s = ui->sect + n;
-
-      // set item skip flags for section, depending on pass
-      setitemskip(s, pass);
-
-      // title rectangle
-      s->rtitle.left = g_section;
-      s->rtitle.width = w_master - w_scroll - 2 * g_section;
-      if (s->state == mjSECT_FIXED) {  // fixed section: no title
-        s->rtitle.bottom = height;
-        s->rtitle.height = 0;
-      }
-      else {                             // regular section with title
-        s->rtitle.bottom = height + textheight;
-        s->rtitle.height = textheight;
-      }
-
-      // count title height
-      height += s->rtitle.height;
-      maxheight += s->rtitle.height;
-
-      // init content rectangle
-      s->rcontent.left = s->rtitle.left;
-      s->rcontent.width = s->rtitle.width;
-      s->rcontent.height = 0;
-      s->rcontent.bottom = 0;
-
-      // process items within section
-      for (int i = 0; i < s->nitem; i++) {
-        // get item pointer, clear rectangle
-        mjuiItem* it = s->item + i;
-        memset(&it->rect, 0, sizeof(mjrRect));
-
-        // item is skipped: nothing to do
-        if (it->skip) {
-          continue;
-        }
-
-        // vertical padding before item
-        s->rcontent.height += it->type == mjITEM_SEPARATOR ? g_section : g_itemver;
-
-        // packed pair of items
-        if (i < s->nitem - 1 && s->item[i + 1].type == it->type &&
-          (it->type == mjITEM_BUTTON ||
-            it->type == mjITEM_CHECKINT ||
-            it->type == mjITEM_CHECKBYTE)) {
-          // get next item pointer
-          mjuiItem* it1 = s->item + (i + 1);
-
-          // this item rectangle
-          it->rect.left = s->rcontent.left + g_itemside;
-          it->rect.width = colwidth;
-          it->rect.height = textheight;
-
-          // next item rectangle (set bottom here)
-          it1->rect.left = s->rcontent.left + g_itemside + colwidth + g_itemmid;
-          it1->rect.width = colwidth;
-          it1->rect.height = textheight;
-          it1->rect.bottom = height + s->rcontent.height + it->rect.height;
-
-          // advance
-          i++;
-        }
-
-        // single-line item
-        else {
-          // common left border (except for labeled controls at the end)
-          it->rect.left = s->rcontent.left + g_itemside;
-
-          // static
-          if (it->type == mjITEM_STATIC) {
-            it->rect.width = s->rcontent.width - 2 * g_itemside;
-            it->rect.height = (con->charHeight + g_textver) * it->multi.nelem;
-          }
-
-          // single column
-          else if (it->type == mjITEM_BUTTON ||
-            it->type == mjITEM_CHECKINT ||
-            it->type == mjITEM_CHECKBYTE) {
-            it->rect.width = colwidth;
-            it->rect.height = textheight;
-          }
-
-          // radio
-          else if (it->type == mjITEM_RADIO) {
-            int ncol = ui->radiocol ? ui->radiocol : 2;
-            int nrow = (it->multi.nelem - 1) / ncol + 1;
-            it->rect.width = s->rcontent.width - 2 * g_itemside;
-            it->rect.height = textheight * nrow;
-          }
-
-          // separator, select, slider, edit, radioline
-          else {
-            it->rect.width = s->rcontent.width - 2 * g_itemside;
-            it->rect.height = textheight;
-          }
-
-          // add room for label
-          if (it->name[0] &&
-            (it->type >= mjITEM_RADIO ||
-              it->type >= mjITEM_RADIOLINE ||
-              it->type == mjITEM_STATIC)) {
-            it->rect.left = s->rcontent.left + g_itemside + g_label;
-            it->rect.width = s->rcontent.width - (2 * g_itemside + g_label);
-          }
-        }
-
-        // set bottom, count height
-        it->rect.bottom = height + s->rcontent.height + it->rect.height;
-        s->rcontent.height += it->rect.height;
-      }
-
-      // vertical padding after last item, compute bottom
-      s->rcontent.height += g_itemver;
-      s->rcontent.bottom = height + s->rcontent.height;
-
-      // count content height
-      if (s->state != mjSECT_CLOSED) {
-        height += s->rcontent.height;
-      }
-      maxheight += s->rcontent.height;
-    }
-
-    // vertical padding after last section
-    height += g_section;
-    maxheight += g_section;
-
-    // save data: maxheight from pass 0, height from pass 1
-    if (pass == 0) {
-      MaxHeight = maxheight;
-    }
-    else {
-      Height = height;
-    }
-  }
-
-  // invert bottom for all sections and items
-  for (int n=0; n < ui->nsect; n++) {
-    // section
-    mjuiSection* s = ui->sect + n;
-    s->rtitle.bottom = Height - s->rtitle.bottom;
-    s->rcontent.bottom = Height - s->rcontent.bottom;
-
-    // items
-    for (int i=0; i < s->nitem; i++) {
-      s->item[i].rect.bottom = Height - s->item[i].rect.bottom;
-    }
-  }
-
-  // assign UI sizes
-  ui->width = w_master;
-  ui->height = Height;
-  ui->maxheight = MaxHeight;
-}
-
-
-
-// insertion sort of groups of ints: increasing order of leading int
-static void insertionsortgroup(int* list, int num, int stride) {
-  // allocate buffer of 10 ints, cannot handle more
-  if (stride > 10) {
-    mju_error("insertionsortgroup cannot handle stride greater than 10");
-  }
-  int x[10];
-
-  for (int i = 1; i < num; i++) {
-    memcpy(x, list + i * stride, sizeof(int) * stride);
-
-    int j = i - 1;
-    while (j >= 0 && list[j * stride] > x[0]) {
-      memcpy(list + (j + 1) * stride, list + j * stride, sizeof(int) * stride);
-      j--;
-    }
-
-    memcpy(list + (j + 1) * stride, x, sizeof(int) * stride);
-  }
-}
-
-
-
-// Compute UI sizes.
-void mjui_resize(mjUI* ui, const mjrContext* con) {
-  // get maximum buffer size allowed by OpenGL driver
-  int maxBufferSize = 0;
-  glGetIntegerv(GL_MAX_RENDERBUFFER_SIZE, &maxBufferSize);
-
-  // USED FOR TESTING OF SMALL BUFFER SIZES
-  // maxBufferSize = 3000;
-
-  // resize with current section states, clamp maxheight
-  tryresize(ui, con);
-  ui->maxheight = mjMIN(ui->maxheight, maxBufferSize);
-
-  // if height is too large, close some sections
-  if (ui->height > ui->maxheight) {
-    // init new height with section gaps
-    int hnew = (ui->nsect + 1) * SCL(ui->spacing.section, con);
-
-    // add titles of regular sections and contents of fixed sections
-    for (int n = 0; n < ui->nsect; ++n) {
-      if (ui->sect[n].state == mjSECT_FIXED) {
-        hnew += ui->sect[n].rcontent.height;
-      }
-      else {
-        hnew += ui->sect[n].rtitle.height;
-      }
-    }
-
-    // if fixed height is too big, nothing we can do
-    if (hnew > ui->maxheight) {
-      mju_error("fixed section height already too big, closing sections cannot help");
-    }
-
-    // sort open sections by lastclick
-    int nopen = 0;
-    int sortbuf[2 * mjMAXUISECT] = { 0 };
-    for (int n = 0; n < ui->nsect; ++n) {
-      if (ui->sect[n].state == mjSECT_OPEN) {
-        sortbuf[2 * nopen] = ui->sect[n].lastclick;
-        sortbuf[2 * nopen + 1] = n;
-        ++nopen;
-      }
-    }
-    insertionsortgroup(sortbuf, nopen, 2);
-
-    // nothing is open; SHOULD NOT OCCUR
-    if (nopen == 0) {
-      mju_error("internal error: expected some sections to be open");
-    }
-
-    // keep most recent sections: as many as can fit in maxheight
-    for (int i = nopen - 1; i >= 0; --i) {
-      // section fits: add height
-      if (hnew + ui->sect[sortbuf[2 * i + 1]].rcontent.height <= ui->maxheight) {
-        hnew += ui->sect[sortbuf[2 * i + 1]].rcontent.height;
-      }
-
-      // section does not fit: mark for closing
-      else {
-        sortbuf[2 * i] = -1;
-      }
-    }
-
-    // close sections that were marked
-    for (int i = 0; i < nopen; ++i) {
-      if (sortbuf[2 * i] == -1) {
-        ui->sect[sortbuf[2 * i + 1]].state = mjSECT_CLOSED;
-      }
-    }
-
-    // resize with new section states, clamp maxheight again
-    tryresize(ui, con);
-    ui->maxheight = mjMIN(ui->maxheight, maxBufferSize);
-
-    // make sure tryresize did what we expected; SHOULD NOT OCCUR
-    if (ui->height != hnew) {
-      mju_error("internal error: tryresize produced unexpeced ui height");
-    }
-  }
-}
-
-
-
-// predicate handler
-static int evalpredicate(int state, mjfItemEnable predicate, void* userdata) {
-  if (state <= 0) {
-    return 0;
-  } else if (state == 1 || predicate == NULL) {
-    return 1;
-  } else {
-    return predicate(state, userdata);
-  }
-}
-
-
-
-// draw shortcut text
-static void shortcuthelp(mjrRect r, int modifier, int shortcut,
-                         const mjUI* ui, const mjrContext* con) {
-  // map of key codes and corresponding names
-#define NMAP 27
-  const struct {
-    int key;
-    const char* value;
-  } keymap[NMAP] = {
-    {32              , "Space"},
-    {mjKEY_ESCAPE    , "Esc"},
-    {mjKEY_ENTER     , "Enter"},
-    {mjKEY_TAB       , "Tab"},
-    {mjKEY_BACKSPACE , "BackSpace"},
-    {mjKEY_INSERT    , "Ins"},
-    {mjKEY_DELETE    , "Del"},
-    {mjKEY_RIGHT     , "Right"},
-    {mjKEY_LEFT      , "Left"},
-    {mjKEY_DOWN      , "Down"},
-    {mjKEY_UP        , "Up"},
-    {mjKEY_PAGE_UP   , "PgUp"},
-    {mjKEY_PAGE_DOWN , "PgDn"},
-    {mjKEY_HOME      , "Home"},
-    {mjKEY_END       , "End"},
-    {mjKEY_F1        , "F1"},
-    {mjKEY_F2        , "F2"},
-    {mjKEY_F3        , "F3"},
-    {mjKEY_F4        , "F4"},
-    {mjKEY_F5        , "F5"},
-    {mjKEY_F6        , "F6"},
-    {mjKEY_F7        , "F7"},
-    {mjKEY_F8        , "F8"},
-    {mjKEY_F9        , "F9"},
-    {mjKEY_F10       , "F10"},
-    {mjKEY_F11       , "F11"},
-    {mjKEY_F12       , "F12"}
-  };
-
-  // key: ascii or decode map
-  char key[10] = "";
-  if (shortcut > 32 && shortcut <= 126) {
-    key[0] = (char)shortcut;
-    key[1] = 0;
-  } else {
-    for (int i=0; i < NMAP; i++) {
-      if (keymap[i].key == shortcut) {
-        mjSTRNCPY(key, keymap[i].value);
-        break;
-      }
-    }
-  }
-
-  // modifier
-  char text[50] = "";
-  if (modifier == 1) {
-    mjSTRNCPY(text, "Ctrl ");
-  } else if (modifier == 2) {
-    mjSTRNCPY(text, "Shift ");
-  } else if (modifier == 4) {
-    mjSTRNCPY(text, "Alt ");
-  }
-
-  // combine
-  strcat(text, key);
-
-  // make rectangle for shortcut
-  int g_textver = SCL(ui->spacing.textver, con);
-  int width = textwidth(text, con, -1) + 2*g_textver;
-  r.left += (r.width-width);
-  r.width = width;
-  r.bottom += g_textver;
-  r.height -= 2*g_textver;
-
-  // render
-  drawrectangle(r, ui->color.shortcut, NULL, con);
-  drawtext(text, r.left+g_textver, r.bottom,
-           r.width, ui->color.fontactive, con);
-}
-
-
-
-// Update specific section/item; -1: update all.
-void mjui_update(int section, int item, const mjUI* ui,
-                 const mjuiState* state, const mjrContext* con) {
-  int g_texthor =  SCL(ui->spacing.texthor,  con);
-  int g_textver =  SCL(ui->spacing.textver,  con);
-  int g_label =    SCL(ui->spacing.label,    con);
-  int g_itemside = SCL(ui->spacing.itemside, con);
-  int g_itemmid =  SCL(ui->spacing.itemmid,  con);
-  int cellheight = con->charHeight + 2*g_textver;
-  const float* rgbpane = ui->color.sectpane;
-
-  // locate mouse in ui
-  int msect, mitem;
-  findmouse(ui, state, con, &msect, &mitem);
-
-  // start rendering
-  mjr_setAux(ui->auxid, con);
-  mjrRect rgl = { 0, 0, ui->width, ui->height };
-  initOpenGL(&rgl, con);
-
-  // all sections: clear background
-  if (section < 0) {
-    glClearColor(ui->color.master[0], ui->color.master[1],
-                 ui->color.master[2], 1);
-    glClear(GL_COLOR_BUFFER_BIT);
-  }
-
-  // select sections
-  int start_section = 0;
-  int num_section = ui->nsect;
-  if (section >= 0) {
-    start_section = section;
-    num_section = 1;
-  }
-
-  // draw section(s)
-  mjtNum sel;
-  mjrRect r;
-  char text[mjMAXUITEXT];
-  int sep[mjMAXUIMULTI+1];
-  for (int n=start_section; n < start_section+num_section; n++) {
-    // get section pointer
-    const mjuiSection* s = ui->sect + n;
-
-    // standard maxwidth for text
-    int maxwidth = (s->rtitle.width - 2*g_itemside - g_itemmid)/2 - 2*g_texthor;
-
-    // redraw section title and pane
-    if (section < 0 || item < 0) {
-      r = s->rtitle;
-
-      // title shown
-      if (s->state != mjSECT_FIXED) {
-        // section without checkbox
-        if (s->checkbox == 0) {
-          // interpolated rectangle
-          glBegin(GL_QUADS);
-          glColor3fv(ui->color.secttitle2);
-          glVertex2i(r.left, r.bottom);
-          glVertex2i(r.left + r.width, r.bottom);
-          glColor3fv(ui->color.secttitle);
-          glVertex2i(r.left + r.width, r.bottom + r.height);
-          glVertex2i(r.left, r.bottom + r.height);
-          glEnd();
-
-          // symbol and text
-          drawsymbol(r, s->state, 0, ui, con);
-          drawtext(s->name, r.left + g_texthor,
-            r.bottom + g_textver, 2 * maxwidth,
-            ui->color.sectfont, con);
-        }
-
-        // section with checkbox
-        else {
-          // select colors depending on check state
-          const float* rgb = (s->checkbox == 1 ? ui->color.secttitleuncheck
-                                               : ui->color.secttitlecheck);
-          const float* rgb2 = (s->checkbox == 1 ? ui->color.secttitleuncheck2
-                                                : ui->color.secttitlecheck2);
-
-          // draw rectangle with gradient
-          glBegin(GL_QUADS);
-          glColor3fv(rgb2);
-          glVertex2i(r.left, r.bottom);
-          glVertex2i(r.left + r.width, r.bottom);
-          glColor3fv(rgb);
-          glVertex2i(r.left + r.width, r.bottom + r.height);
-          glVertex2i(r.left, r.bottom + r.height);
-          glEnd();
-
-          // symbol and text with offset
-          drawsymbol(r, s->state, s->checkbox, ui, con);
-          drawtext(s->name, r.left + r.height,
-            r.bottom + g_textver, 2 * maxwidth - r.height,
-            ui->color.sectfont, con);
-
-          // draw checkmark as specified
-          int cgap = r.height / 4;
-          mjrRect cr = {r.left + cgap,
-                        r.bottom + cgap,
-                        r.height - 2 * cgap,
-                        r.height - 2 * cgap};
-          float rgbmean[3] = {
-            0.5f * (rgb[0] + rgb2[0]),
-            0.5f * (rgb[1] + rgb2[1]),
-            0.5f * (rgb[2] + rgb2[2]),
-          };
-          drawrectangle(cr, ui->color.sectsymbol,
-            s->checkbox == 1 ? rgbmean : NULL, con);
-        }
-
-        // shortcut
-        if (ui->mousehelp && s->shortcut) {
-          shortcuthelp(r, s->modifier, s->shortcut, ui, con);
-        }
-      }
-
-      // content pane, active only
-      if (s->state != mjSECT_CLOSED) {
-        drawrectangle(s->rcontent, ui->color.sectpane, NULL, con);
-      }
-
-      // round corners
-      mjrRect rround = s->rtitle;
-      if (s->state == mjSECT_FIXED) {
-        rround = s->rcontent;
-      }
-      else if (s->state == mjSECT_OPEN) {
-        rround.bottom = s->rcontent.bottom;
-        rround.height = s->rtitle.height + s->rcontent.height;
-      }
-      roundcorner(rround, 0, 0, ui, con);
-    }
-
-    // closed: skip items
-    if (!s->state) {
-      continue;
-    }
-
-    // select items
-    int start_item = 0;
-    int num_item = s->nitem;
-    if (section >= 0 && item >= 0) {
-      start_item = item;
-      num_item = 1;
-    }
-
-    // draw item(s)
-    for (int i=start_item; i < start_item+num_item; i++) {
-      // get item pointer
-      const mjuiItem* it = s->item + i;
-
-      // zero size: skip
-      if (it->rect.height == 0) {
-        continue;
-      }
-
-      // set rgb pointers to inactive state
-      const float* rgbfont = ui->color.fontinactive;
-      const float* rgbdecor = ui->color.decorinactive;
-      const float* rgbdecor2 = ui->color.decorinactive2;
-
-      // get actual state, adjust font rgb
-      int state = evalpredicate(it->state, ui->predicate, ui->userdata);
-      if (state) {
-        rgbfont = ui->color.fontactive;
-      }
-
-      // type-specific draw
-      switch (it->type) {
-      case mjITEM_SEPARATOR:
-        // background
-        r = it->rect;
-        glBegin(GL_QUADS);
-        glColor3fv(ui->color.separator2);
-        glVertex2i(r.left, r.bottom);
-        glVertex2i(r.left+r.width, r.bottom);
-        glColor3fv(ui->color.separator);
-        glVertex2i(r.left+r.width, r.bottom+r.height);
-        glVertex2i(r.left, r.bottom+r.height);
-        glEnd();
-
-        // name
-        drawtext(it->name,
-                 it->rect.left+g_texthor,
-                 it->rect.bottom+g_textver,
-                 it->rect.width-2*g_texthor, ui->color.sectfont, con);
-
-        // symbol and round corners for collapsible
-        if (it->state >= mjSEPCLOSED) {
-          int flg_open = (it->state == mjSEPCLOSED + 1);
-          drawsymbol(it->rect, flg_open, 3, ui, con);
-          roundcorner(it->rect, flg_open, 1, ui, con);
-        }
-        break;
-
-      case mjITEM_STATIC:
-        r = it->rect;
-
-        // name: at top
-        drawtext(it->name,
-                 s->rcontent.left+g_itemside+g_texthor,
-                 r.bottom+g_textver+(it->multi.nelem-1)*(con->charHeight+g_textver),
-                 g_label-2*g_texthor, rgbfont, con);
-
-        // background
-        drawrectangle(r, rgbpane, rgbpane, con);
-
-        // text lines
-        for (int k=0; k < it->multi.nelem; k++) {
-          drawtext(it->multi.name[k],
-                   r.left+g_texthor,
-                   r.bottom+g_textver+(it->multi.nelem-k-1)*(con->charHeight+g_textver),
-                   r.width-2*g_texthor, rgbfont, con);
-        }
-        break;
-
-      case mjITEM_BUTTON:
-        if (state) {
-          rgbdecor = ui->color.button;
-        }
-
-        // outline or filled, depending on mouse
-        if (ui->mousesect == n+1 && ui->mouseitem == i && msect == n+1 && mitem == i) {
-          drawoval(it->rect, rgbdecor, NULL, con);
-        } else {
-          drawoval(it->rect, rgbdecor, rgbpane, con);
-        }
-
-        // name
-        drawtext(it->name,
-                 it->rect.left+g_texthor,
-                 it->rect.bottom+g_textver,
-                 maxwidth, rgbfont, con);
-
-        // shortcut
-        if (ui->mousehelp && it->single.shortcut) {
-          shortcuthelp(it->rect, it->single.modifier, it->single.shortcut, ui, con);
-        }
-        break;
-
-      case mjITEM_CHECKINT:
-      case mjITEM_CHECKBYTE:
-        {
-          if (state) {
-            rgbdecor = ui->color.check;
-          }
-
-          // get value according to type
-          int k;
-          if (it->type == mjITEM_CHECKINT) {
-            k = *(int*)it->pdata;
-          } else {
-            k = *(mjtByte*)it->pdata;
-          }
-
-          // filled or outline
-          if (k) {
-            drawrectangle(it->rect, rgbdecor, NULL, con);
-          } else {
-            drawrectangle(it->rect, rgbdecor, rgbpane, con);
-          }
-
-          // name
-          drawtext(it->name,
-                  it->rect.left+g_texthor,
-                  it->rect.bottom+g_textver,
-                  maxwidth, rgbfont, con);
-
-          // shortcut
-          if (ui->mousehelp && it->single.shortcut)
-            shortcuthelp(it->rect, it->single.modifier, it->single.shortcut,
-                        ui, con);
-        }
-        break;
-
-      case mjITEM_RADIO:
-        if (state) {
-          rgbdecor = ui->color.radio;
-        }
-
-        // name: at top
-        drawtext(it->name,
-                 s->rcontent.left+g_itemside+g_texthor,
-                 it->rect.bottom+it->rect.height-cellheight+g_textver,
-                 g_label-2*g_texthor, rgbfont, con);
-
-        // outline
-        drawrectangle(it->rect, rgbdecor, rgbpane, con);
-
-        // fill selection
-        r = radioelement(it, *(int*)it->pdata, ui, con);
-        drawrectangle(r, rgbdecor, NULL, con);
-
-        // element names
-        for (int k=0; k < it->multi.nelem; k++) {
-          r = radioelement(it, k, ui, con);
-          drawtext(it->multi.name[k],
-                   r.left+g_texthor,
-                   r.bottom+g_textver,
-                   r.width-2*g_texthor, rgbfont, con);
-        }
-        break;
-
-      case mjITEM_RADIOLINE:
-        {
-          if (state) {
-            rgbdecor = ui->color.radio;
-          }
-
-          // name
-          drawtext(it->name,
-                  s->rcontent.left+g_itemside+g_texthor,
-                  it->rect.bottom+g_textver,
-                  g_label-2*g_texthor, rgbfont, con);
-
-          // outline
-          drawrectangle(it->rect, rgbdecor, rgbpane, con);
-
-          // make separators
-          makeradioline(it, con, sep);
-
-          // fill selected
-          int k = *(int*)it->pdata;
-          r = it->rect;
-          r.left += sep[k];
-          r.width = sep[k+1] - sep[k];
-          drawrectangle(r, rgbdecor, NULL, con);
-
-          // element names
-          for (int k=0; k < it->multi.nelem; k++) {
-            // compute rectangle for element
-            r = it->rect;
-            r.left += sep[k];
-            r.width = sep[k+1] - sep[k];
-
-            // draw centered
-            drawtextrect(r, it->multi.name[k], rgbfont, con);
-          }
-        }
-        break;
-
-      case mjITEM_SELECT:
-        if (state) {
-          rgbdecor = ui->color.select;
-        }
-
-        // name
-        drawtext(it->name,
-                 s->rcontent.left+g_itemside+g_texthor,
-                 it->rect.bottom+g_textver,
-                 g_label-2*g_texthor, rgbfont, con);
-
-        // box
-        drawrectangle(it->rect, rgbdecor, NULL, con);
-
-        // value: only if non-empty
-        if (it->multi.nelem > 0) {
-          drawtext(it->multi.name[*(int*)it->pdata],
-                   it->rect.left+g_texthor,
-                   it->rect.bottom+g_textver,
-                   it->rect.width-2*g_texthor, rgbfont, con);
-        }
-
-        // draw tracking in mjui_render()
-        break;
-
-      case mjITEM_SLIDERINT:
-      case mjITEM_SLIDERNUM:
-        if (state) {
-          rgbdecor = ui->color.slider;
-          rgbdecor2 = ui->color.slider2;
-        }
-
-        // compute relative slider position
-        if (it->type == mjITEM_SLIDERINT) {
-          sel = (mjtNum)(*(int*)it->pdata);
-        } else {
-          sel = *(mjtNum*)it->pdata;
-        }
-        sel = (sel - it->slider.range[0]) /
-              mjMAX(1e-10, (it->slider.range[1] - it->slider.range[0]));
-        sel = mjMIN(1, mjMAX(0, sel));
-
-        // fill slider with two colors
-        r = it->rect;
-        drawrectangle(r, rgbdecor, NULL, con);
-        r.width = mju_round(r.width*sel);
-        drawrectangle(r, rgbdecor2, NULL, con);
-
-        // show divisions if not too many
-        if (it->slider.divisions <= 20) {
-          // repare rectangle
-          r.width = SCL(2, con);
-          r.height = g_textver;
-
-          // draw ticks
-          for (int k=1; k < (int)it->slider.divisions; k++) {
-            r.left = it->rect.left - r.width/2 +
-                     it->rect.width*k/it->slider.divisions;
-            drawrectangle(r, rgbpane, NULL, con);
-          }
-        }
-
-        // name
-        drawtext(it->name,
-                 s->rcontent.left+g_itemside+g_texthor,
-                 it->rect.bottom+g_textver,
-                 g_label-2*g_texthor, rgbfont, con);
-
-        // value
-        if (it->type == mjITEM_SLIDERINT) {
-          mjSNPRINTF(text, "%d", *(int*)it->pdata);
-        } else {
-          mjSNPRINTF(text, "%.3g", *(mjtNum*)it->pdata);
-        }
-        drawtext(text,
-                 it->rect.left+g_texthor,
-                 it->rect.bottom+g_textver,
-                 it->rect.width-2*g_texthor, rgbfont, con);
-        break;
-
-      case mjITEM_EDITINT:
-      case mjITEM_EDITNUM:
-      case mjITEM_EDITFLOAT:
-      case mjITEM_EDITTXT:
-        if (state) {
-          rgbdecor = ui->color.edit;
-        }
-
-        // name
-        drawtext(it->name,
-                 s->rcontent.left+g_itemside+g_texthor,
-                 it->rect.bottom+g_textver,
-                 g_label-2*g_texthor, rgbfont, con);
-
-        // activated
-        if (ui->editsect > 0 && ui->editsect == n+1 && ui->edititem == i) {
-          // fill box, indicate valid state with color
-          if (checkedit(ui->edittext, it) == 0) {
-            drawrectangle(it->rect, rgbdecor, NULL, con);
-          } else {
-            drawrectangle(it->rect, ui->color.edit2, NULL, con);
-          }
-
-          // show cursor
-          int k = textwidth(ui->edittext + ui->editscroll, con,
-                            ui->editcursor - ui->editscroll);
-          r.left = it->rect.left + g_texthor + k - SCL(1, con);
-          r.width = 2*SCL(1, con);
-          r.bottom = it->rect.bottom + g_textver/2;
-          r.height = it->rect.height - 2*(g_textver/2);
-          drawrectangle(r, ui->color.cursor, NULL, con);
-
-          // value from edittext, with scroll
-          drawtext(ui->edittext + ui->editscroll,
-                   it->rect.left+g_texthor,
-                   it->rect.bottom+g_textver,
-                   it->rect.width-2*g_texthor, rgbfont, con);
-        }
-
-        // not activated
-        else {
-          // outline box
-          drawrectangle(it->rect, rgbdecor, rgbpane, con);
-
-          // value from pdata, no scroll
-          array2text(text, it);
-          drawtext(text,
-                   it->rect.left+g_texthor,
-                   it->rect.bottom+g_textver,
-                   it->rect.width-2*g_texthor, rgbfont, con);
-        }
-        break;
-
-      default:
-        mju_error("mjui_update: internal error: unexpected item type");
-      }
-    }
-  }
-
-  // stop rendering
-  mjr_restoreBuffer(con);
-}
-
-
-
-// Handle UI event, return pointer to changed item, NULL if no change.
-mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con) {
-  int i, key, change = 0;
-  mjuiItem* it;
-  ui->editchanged = NULL;
-
-  // count mouse clicks over UI
-  if (state->type == mjEVENT_PRESS) {
-    ++ui->mouseclicks;
-  }
-
-  // non-left mouse events: handle shortcut help
-  if ((state->type == mjEVENT_PRESS || state->type == mjEVENT_MOVE ||
-       state->type == mjEVENT_RELEASE) && state->button != mjBUTTON_LEFT) {
-    if (state->button == mjBUTTON_RIGHT) {
-      if (state->type == mjEVENT_PRESS) {
-        ui->mousehelp = 1;
-        mjui_update(-1, -1, ui, state, con);
-      } else if (state->type == mjEVENT_RELEASE) {
-        ui->mousehelp = 0;
-        mjui_update(-1, -1, ui, state, con);
-      }
-    }
-
-    return NULL;
-  }
-
-  // get current mouse section and item
-  int sect_cur = -1;
-  int item_cur = -1;
-  mjuiItem* it_cur = NULL;
-  findmouse(ui, state, con, &sect_cur, &item_cur);
-  if (sect_cur > 0 && item_cur >= 0) {
-    it_cur = ui->sect[sect_cur-1].item + item_cur;
-  }
-
-  // update section lastclick
-  if (sect_cur > 0 && state->type == mjEVENT_PRESS) {
-    ui->sect[sect_cur - 1].lastclick = ui->mouseclicks;
-  }
-
-  // get recorded mouse section and item
-  int sect_rec = ui->mousesect;
-  int item_rec = -1;
-  mjuiItem* it_rec = NULL;
-  if (sect_rec > 0) {
-    item_rec = ui->mouseitem;
-    it_rec = ui->sect[sect_rec-1].item + item_rec;
-  }
-
-  // get edit section and item
-  int sect_edit = ui->editsect;
-  int item_edit = -1;
-  mjuiItem* it_edit = NULL;
-  if (sect_edit > 0) {
-    item_edit = ui->edititem;
-    it_edit = ui->sect[sect_edit-1].item + item_edit;
-  }
-
-  // process according to type
-  switch (state->type) {
-  case mjEVENT_MOVE:
-    // move scrollbar
-    if (sect_rec == -1) {
-      ui->scroll -= mju_round((state->dy * ui->height) /
-                              state->rect[ui->rectid].height);
-      ui->scroll = mjMAX(0, mjMIN(ui->scroll,
-                                  ui->height-state->rect[ui->rectid].height));
-    }
-
-    // item
-    else if (it_rec) {
-      // move slider
-      if (it_rec->type == mjITEM_SLIDERINT || it_rec->type == mjITEM_SLIDERNUM) {
-        setslider(it_rec, ui, state, con);
-
-        // redraw, return change
-        mjui_update(sect_rec-1, item_rec, ui, state, con);
-        return it_rec;
-      }
-
-      // move edit
-      else if (it_rec->type == mjITEM_EDITINT ||
-               it_rec->type == mjITEM_EDITNUM ||
-               it_rec->type == mjITEM_EDITFLOAT ||
-               it_rec->type == mjITEM_EDITTXT) {
-        setcursor(it_rec->rect, ui, state, con);
-      }
-
-      // redraw (any item type)
-      mjui_update(sect_rec-1, item_rec, ui, state, con);
-    }
-    return NULL;
-
-  case mjEVENT_PRESS:
-    // edit in progress
-    if (sect_edit > 0) {
-      // same: adjust cursor position
-      if (sect_edit == sect_cur && item_edit == item_cur) {
-        // start mouse tracking
-        ui->mousesect = sect_cur;
-        ui->mouseitem = item_cur;
-
-        // adjust cursor and scroll
-        setcursor(it_edit->rect, ui, state, con);
-
-        // redraw, return no change
-        mjui_update(sect_edit-1, item_edit, ui, state, con);
-        return NULL;
-      }
-
-      // different: instantiate, record editchange
-      if (text2array(ui->edittext, it_edit) == 0) {
-        ui->editchanged = it_edit;
-      }
-
-      // stop editing, even if invalid
-      ui->editsect = 0;
-
-      // redraw
-      mjui_update(sect_edit-1, item_edit, ui, state, con);
-    }
-
-    // free mouse focus, just in case
-    ui->mousesect = 0;
-
-    // start scrollbar drag
-    if (sect_cur == -1) {
-      ui->mousesect = -1;
-      ui->mouseitem = 0;
-    }
-
-    // scroll down
-    else if (sect_cur == -2) {
-      ui->scroll = ui->height - state->rect[ui->rectid].height;
-    }
-
-    // scroll up
-    else if (sect_cur == -3) {
-      ui->scroll = 0;
-    }
-
-    // section title
-    else if (sect_cur > 0 && item_cur < 0) {
-      mjuiSection* se = ui->sect + sect_cur - 1;
-
-      // handle section checkbox
-      if (item_cur == -2 && se->checkbox > 0) {
-        ui->mousesectcheck = sect_cur;
-        return NULL; // leave it to user, because sections may interact
-      }
-      else {
-        ui->mousesectcheck = 0;
-      }
-
-      // double-click: make all sections like this (exclude fixed)
-      if (state->doubleclick) {
-        for (int i=0; i < ui->nsect; i++) {
-          if (ui->sect[i].state != mjSECT_FIXED && se->state != mjSECT_FIXED) {
-            ui->sect[i].state = se->state;
-          }
-        }
-      }
-
-      // single click: toggle section state (exclude fixed)
-      else {
-        if (se->state == mjSECT_OPEN) {
-          se->state = mjSECT_CLOSED;
-        }
-        else if (se->state == mjSECT_CLOSED) {
-          se->state = mjSECT_OPEN;
-        }
-      }
-
-      // resize and redraw all
-      mjui_resize(ui, con);
-      mjui_update(-1, -1, ui, state, con);
-    }
-
-    // item
-    else if (sect_cur > 0 && item_cur >= 0) {
-      // nothing to do for inactive item
-      if (!evalpredicate(it_cur->state, ui->predicate, ui->userdata)) {
-        return ui->editchanged;
-      }
-
-      // process according to type, only if active
-      switch (it_cur->type) {
-      case mjITEM_SEPARATOR:
-        // expanded: collapse
-        if (it_cur->state == mjSEPCLOSED+1) {
-          it_cur->state = mjSEPCLOSED;
-          mjui_resize(ui, con);
-          mjui_update(-1, -1, ui, state, con);
-        }
-
-        // collapsed: expand
-        else if (it_cur->state == mjSEPCLOSED) {
-          it_cur->state = mjSEPCLOSED+1;
-          mjui_resize(ui, con);
-          mjui_update(-1, -1, ui, state, con);
-        }
-
-        // nothing else to do for separator
-        return ui->editchanged;
-
-      case mjITEM_BUTTON:
-        // start tracking
-        ui->mousesect = sect_cur;
-        ui->mouseitem = item_cur;
-        change = 1;
-        break;
-
-      case mjITEM_CHECKINT:
-        // toggle check
-        *(int*)it_cur->pdata = 1 - *(int*)it_cur->pdata;
-        change = 1;
-        break;
-
-      case mjITEM_CHECKBYTE:
-        // toggle check
-        *(mjtByte*)it_cur->pdata = 1 - *(mjtByte*)it_cur->pdata;
-        change = 1;
-        break;
-
-      case mjITEM_RADIO:
-        // set selected element
-        i = findradio(it_cur, ui, state, con);
-        if (i >= 0) {
-          *(int*)it_cur->pdata = i;
-          change = 1;
-        }
-        break;
-
-      case mjITEM_RADIOLINE:
-        // set selected element
-        i = findradioline(it_cur, ui, state, con);
-        if (i >= 0) {
-          *(int*)it_cur->pdata = i;
-          change = 1;
-        }
-        break;
-
-      case mjITEM_SELECT:
-        // start tracking
-        ui->mousesect = sect_cur;
-        ui->mouseitem = item_cur;
-        break;
-
-      case mjITEM_SLIDERINT:
-      case mjITEM_SLIDERNUM:
-        // set value, start tracking
-        setslider(it_cur, ui, state, con);
-        ui->mousesect = sect_cur;
-        ui->mouseitem = item_cur;
-        change = 1;
-        break;
-
-      case mjITEM_EDITINT:
-      case mjITEM_EDITNUM:
-      case mjITEM_EDITFLOAT:
-      case mjITEM_EDITTXT:
-        // set edit text, clear scroll
-        array2text(ui->edittext, it_cur);
-        ui->editscroll = 0;
-
-        // set editcursor, adjust editscroll
-        setcursor(it_cur->rect, ui, state, con);
-
-        // start tracking: both edit and mouse
-        ui->editsect = sect_cur;
-        ui->edititem = item_cur;
-        ui->mousesect = sect_cur;
-        ui->mouseitem = item_cur;
-        break;
-      }
-
-      // redraw
-      mjui_update(sect_cur-1, item_cur, ui, state, con);
-
-      // return if change (otherwise return below)
-      if (change) {
-        return it_cur;
-      }
-    }
-
-    // return editchanged, since there was no other change
-    return ui->editchanged;
-
-  case mjEVENT_RELEASE:
-    // selection box change
-    if (it_rec && it_rec->type == mjITEM_SELECT) {
-      // find and set value
-      i = findselect(it_rec, ui, state, con);
-      if (i >= 0) {
-        *(int*)it_rec->pdata = i;
-      }
-
-      // free mouse and redraw ALL (selection box spills over)
-      ui->mousesect = 0;
-      mjui_update(-1, -1, ui, state, con);
-
-      // return if value set change
-      if (i >= 0) {
-        return it_rec;
-      }
-    }
-
-    // button release
-    else if (it_rec && it_rec->type == mjITEM_BUTTON) {
-      // free mouse and redraw
-      ui->mousesect = 0;
-      mjui_update(sect_rec-1, item_rec, ui, state, con);
-    }
-
-    // free mouse, return no change
-    ui->mousesect = 0;
-    return NULL;
-
-  case mjEVENT_SCROLL:
-    // adjust scroll
-    ui->scroll -= mju_round(state->sy * SCL(ui->spacing.linescroll, con));
-
-    // clamp scroll
-    ui->scroll = mjMAX(0, mjMIN(ui->scroll,
-                                ui->height-state->rect[ui->rectid].height));
-    return NULL;
-
-  case mjEVENT_KEY:
-    // editing
-    if (sect_edit > 0) {
-      // copy key and clear
-      key = state->key;
-      state->key = 0;
-
-      // process key
-      switch (key) {
-      case mjKEY_ESCAPE:          // abandon
-        ui->editsect = 0;
-        break;
-
-      case mjKEY_ENTER:           // instantiate
-        if (text2array(ui->edittext, it_edit) == 0) {
-          ui->editsect = 0;
-
-          // redraw
-          mjui_update(sect_edit-1, item_edit, ui, state, con);
-
-          // record editchanged and return
-          ui->editchanged = it_edit;
-          return it_edit;
-        }
-        break;
-
-      case mjKEY_LEFT:            // move cursor left
-        // control: emulate Home
-        if (state->control) {
-          ui->editcursor = 0;
-        } else {
-          ui->editcursor = mjMAX(0, ui->editcursor-1);
-        }
-        break;
-
-      case mjKEY_RIGHT:           // move cursor left
-        // control: emulate End
-        if (state->control) {
-          ui->editcursor = strlen(ui->edittext);
-        } else {
-          ui->editcursor = mjMIN(strlen(ui->edittext), ui->editcursor+1);
-        }
-        break;
-
-      case mjKEY_HOME:            // move cursor to first position
-        ui->editcursor = 0;
-        break;
-
-      case mjKEY_END:             // move cursor to last position
-        ui->editcursor = strlen(ui->edittext);
-        break;
-
-      case mjKEY_BACKSPACE:       // delete before cursor
-        if (ui->editcursor > 0) {
-          // shift chars after cursor to the left
-          for (int i=ui->editcursor; i <= strlen(ui->edittext); i++) {
-            ui->edittext[i-1] = ui->edittext[i];
-          }
-
-          // move cursor left
-          ui->editcursor = ui->editcursor - 1;
-        }
-        break;
-
-      case mjKEY_DELETE:          // delete after cursor
-        if (ui->editcursor < strlen(ui->edittext)) {
-          // shift chars after cursor to the left
-          for (int i=ui->editcursor; i <= strlen(ui->edittext); i++) {
-            ui->edittext[i] = ui->edittext[i+1];
-          }
-        }
-        break;
-
-      default:                    // insert valid key at cursor
-        key = validkey(key, strlen(ui->edittext), it_edit->type, state);
-        if (key) {
-          // shift chars after cursor to the right
-          for (int i=strlen(ui->edittext); i >= ui->editcursor; i--) {
-            ui->edittext[i+1] = ui->edittext[i];
-          }
-
-          // set at cursor
-          ui->edittext[ui->editcursor] = key;
-
-          // move cursor right
-          ui->editcursor = ui->editcursor + 1;
-        }
-      }
-
-      // reveal cursor if still editing
-      if (ui->editsect > 0) {
-        revealcursor(it_edit->rect, ui, con);
-      }
-
-      // redraw
-      mjui_update(sect_edit-1, item_edit, ui, state, con);
-    }
-
-    // shortcut search
-    else {
-      // search section shortcuts
-      for (int n=0; n < ui->nsect; n++)
-        if (matchshortcut(state, ui->sect[n].modifier, ui->sect[n].shortcut)) {
-          // collapse all
-          for (int i=0; i < ui->nsect; i++) {
-            if (ui->sect[i].state < 2) {
-              ui->sect[i].state = 0;
-            }
-          }
-
-          // expand this
-          if (ui->sect[n].state < 2) {
-            ui->sect[n].state = 1;
-          }
-
-          // size and update all
-          mjui_resize(ui, con);
-          mjui_update(-1, -1, ui, state, con);
-
-          // clear key
-          state->key = 0;
-          return NULL;
-        }
-
-      // search item shortcuts
-      for (int n=0; n < ui->nsect; n++) {
-        for (int i=0; i < ui->sect[n].nitem; i++) {
-          // get pointer to item
-          it = ui->sect[n].item + i;;
-
-          // check
-          if ((it->type == mjITEM_BUTTON || it->type == mjITEM_CHECKINT ||
-               it->type == mjITEM_CHECKBYTE) &&
-              matchshortcut(state, it->single.modifier, it->single.shortcut)) {
-            // clear key
-            state->key = 0;
-
-            // active: process shortcut
-            if (evalpredicate(it->state, ui->predicate, ui->userdata)) {
-              // toggle if check
-              if (it->type == mjITEM_CHECKINT) {
-                *(int*)it->pdata = 1 - *(int*)it->pdata;
-                mjui_update(n, i, ui, state, con);
-              } else if (it->type == mjITEM_CHECKBYTE) {
-                *(mjtByte*)it->pdata = 1 - *(mjtByte*)it->pdata;
-                mjui_update(n, i, ui, state, con);
-              }
-
-              // return item
-              return it;
-            }
-
-            // inactive: nothing to do
-            else {
-              return NULL;
-            }
-          }
-        }
-      }
-    }
-
-    return NULL;
-
-  case mjEVENT_RESIZE:
-    // clamp scroll
-    ui->scroll = mjMAX(0, mjMIN(ui->scroll, ui->height - state->rect[ui->rectid].height));
-    return NULL;
-  }
-
-  // should not get here, but just in case
-  return NULL;
-}
-
-
-
-// Copy UI image to current buffer.
-void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con) {
-  // get ui rectangle
-  mjrRect rect = state->rect[ui->rectid];
-
-  // clear entire rectangle
-  mjr_rectangle(rect, ui->color.master[0], ui->color.master[1],
-                ui->color.master[2], 1);
-
-  // adjust scroll
-  if (ui->scroll > 0 && ui->height-ui->scroll < rect.height) {
-    ui->scroll = mjMAX(0, ui->height - rect.height);
-  }
-
-  // blit to current buffer
-  mjrRect raux = {0, mjMAX(0, ui->height - ui->scroll - rect.height),
-                  ui->width, mjMIN(rect.height, ui->height - ui->scroll)};
-  mjr_blitAux(ui->auxid, raux, rect.left,
-              rect.bottom + mjMAX(0, rect.height - ui->height + ui->scroll), con);
-
-  // draw scrollbar over blit if needed
-  if (ui->height > rect.height) {
-    // construct rectangles
-    mjrRect bar;
-    mjrRect thumb;
-    scrollrect(rect, ui, con, &bar, &thumb);
-
-    // draw
-    mjr_rectangle(thumb, ui->color.thumb[0], ui->color.thumb[1],
-                  ui->color.thumb[2], 1);
-  }
-
-  // draw selection box tracking over blit if needed
-  if (ui->mousesect > 0 && ui->mouseitem >= 0) {
-    // get item pointer
-    const mjuiItem* it = ui->sect[ui->mousesect-1].item + ui->mouseitem;
-
-    // proceed if select type
-    if (it->type == mjITEM_SELECT) {
-      // get relevant sizes
-      int g_texthor = SCL(ui->spacing.texthor, con);
-      int g_textver = SCL(ui->spacing.textver, con);
-      int g_itemside = SCL(ui->spacing.itemside, con);
-      int cellheight = con->charHeight + 2 * g_textver;
-      int offset = mjMAX(0, rect.height - ui->height + ui->scroll) -
-                   mjMAX(0, ui->height - ui->scroll - rect.height);
-
-      // margin
-      mjrRect r = it->rect;
-      r.left -= g_itemside;
-      r.width += 2*g_itemside;
-      r.height = it->multi.nelem * cellheight + g_itemside;
-      r.bottom -= r.height;
-      r.bottom += offset;
-      r.left += rect.left;
-      mjr_rectangle(r, ui->color.sectpane[0],
-        ui->color.sectpane[1], ui->color.sectpane[2], 1);
-
-      // box
-      r = it->rect;
-      r.height = it->multi.nelem * cellheight;
-      r.bottom -= r.height;
-      r.bottom += offset;
-      r.left += rect.left;
-      mjr_rectangle(r, ui->color.select2[0],
-        ui->color.select2[1], ui->color.select2[2], 1);
-
-      // highlight row under mouse
-      int k = findselect(it, ui, state, con);
-      if (k >= 0) {
-        mjrRect r1 = r;
-        r1.bottom = r.bottom + (it->multi.nelem-1-k)*cellheight;
-        r1.height = cellheight;
-        mjr_rectangle(r1, ui->color.select[0],
-          ui->color.select[1], ui->color.select[2], 1);
-      }
-
-      // text values
-      initOpenGL(&rect, con);
-      for (int k=0; k < it->multi.nelem; k++) {
-        drawtext(it->multi.name[k],
-                 r.left+g_texthor - rect.left,
-                 r.bottom+g_textver+(it->multi.nelem-1-k)*cellheight,
-                 r.width-2*g_texthor, ui->color.fontactive, con);
-      }
-    }
-  }
-}
diff --git a/src/ui/ui_main.h b/src/ui/ui_main.h
deleted file mode 100644
index 3e8f5bb1..00000000
--- a/src/ui/ui_main.h
+++ /dev/null
@@ -1,53 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef THIRD_PARTY_MUJOCO_SRC_UI_UI_MAIN_H
-#define THIRD_PARTY_MUJOCO_SRC_UI_UI_MAIN_H
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjui.h>
-
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-// Get builtin UI theme spacing (ind: 0-1).
-MJAPI mjuiThemeSpacing mjui_themeSpacing(int ind);
-
-// Get builtin UI theme color (ind: 0-3).
-MJAPI mjuiThemeColor mjui_themeColor(int ind);
-
-// Add definitions to UI.
-MJAPI void mjui_add(mjUI* ui, const mjuiDef* def);
-
-// Add definitions to UI section.
-MJAPI void mjui_addToSection(mjUI* ui, int sect, const mjuiDef* def);
-
-// Compute UI sizes.
-MJAPI void mjui_resize(mjUI* ui, const mjrContext* con);
-
-// Update specific section/item; -1: update all.
-MJAPI void mjui_update(int section, int item, const mjUI* ui,
-                       const mjuiState* state, const mjrContext* con);
-
-// Handle UI event, return pointer to changed item, NULL if no change.
-MJAPI mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
-
-// Copy UI image to current buffer.
-MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
-
-#if defined(__cplusplus)
-}
-#endif
-#endif  // THIRD_PARTY_MUJOCO_SRC_UI_UI_MAIN_H
diff --git a/src/user/.clang-format b/src/user/.clang-format
deleted file mode 100644
index 48b08c7b..00000000
--- a/src/user/.clang-format
+++ /dev/null
@@ -1,28 +0,0 @@
----
-BasedOnStyle:  Google
-Language:  Cpp
-ColumnLimit:  100
-IncludeBlocks: Preserve
-AlignArrayOfStructures: Left
-AlignConsecutiveAssignments:
-  Enabled:       true
-  AlignCompound: true
-  PadOperators:  true
-AlignConsecutiveDeclarations:
-  Enabled:  true
-AlignConsecutiveShortCaseStatements:
-  Enabled:  true
-AlignEscapedNewlines: LeftWithLastLine
-AlignTrailingComments:
-  Kind:  Always
-  OverEmptyLines:  2
-AllowAllArgumentsOnNextLine: false
-AllowShortBlocksOnASingleLine: Always
-AllowShortFunctionsOnASingleLine: Inline
-BreakBinaryOperations: RespectPrecedence
-BinPackArguments: false
-BinPackParameters: OnePerLine
-IndentPPDirectives: None
-MaxEmptyLinesToKeep: 2
-SortIncludes: false
-...
diff --git a/src/user/CMakeLists.txt b/src/user/CMakeLists.txt
deleted file mode 100644
index 233c20b1..00000000
--- a/src/user/CMakeLists.txt
+++ /dev/null
@@ -1,42 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_USER_SRCS
-    user_api.cc
-    user_api.h
-    user_cache.cc
-    user_cache.h
-    user_composite.cc
-    user_composite.h
-    user_flexcomp.cc
-    user_flexcomp.h
-    user_init.c
-    user_mesh.cc
-    user_model.cc
-    user_model.h
-    user_objects.cc
-    user_objects.h
-    user_resolver.cc
-    user_resolver.h
-    user_resource.cc
-    user_resource.h
-    user_threadpool.cc
-    user_threadpool.h
-    user_util.cc
-    user_util.h
-    user_vfs.cc
-    user_vfs.h
-)
-
-target_sources(mujoco PRIVATE ${MUJOCO_USER_SRCS})
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
deleted file mode 100644
index fba218a5..00000000
--- a/src/user/user_api.cc
+++ /dev/null
@@ -1,2736 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_api.h"
-
-#include <algorithm>
-#include <cctype>
-#include <cmath>
-#include <cstddef>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <filesystem>  // NOLINT
-#include <functional>
-#include <iterator>
-#include <map>
-#include <new>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mjspecmacro.h>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_support.h"
-#include "engine/engine_util_errmem.h"
-#include "user/user_cache.h"
-#include "user/user_flexcomp.h"
-#include "user/user_model.h"
-#include "user/user_objects.h"
-#include "user/user_resolver.h"
-#include "user/user_resource.h"
-#include "user/user_util.h"
-
-namespace {
-
-using mujoco::user::StringToVector;
-
-}  // namespace
-
-// global cache size in bytes (default 500MB)
-static constexpr std::size_t kGlobalCacheSize = 500 * (1 << 20);
-
-
-// create model
-mjSpec* mj_makeSpec() {
-  mjCModel* modelC = new mjCModel;
-  return &modelC->spec;
-}
-
-
-
-// copy model
-mjSpec* mj_copySpec(const mjSpec* s) {
-  mjCModel* modelC = nullptr;
-  try {
-    modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
-  } catch (mjCError& e) {
-    static_cast<mjCModel*>(s->element)->SetError(e);
-    return nullptr;
-  }
-  return &modelC->spec;
-}
-
-// parse file into spec
-mjSpec* mj_parse(const char* filename, const char* content_type,
-                 const mjVFS* vfs, char* error, int error_sz) {
-  mjVFS local_vfs;
-  mujoco::user::Cleanup cleanup;
-
-  // early exit for existing XML workflow
-  auto filepath = mujoco::user::FilePath(filename);
-  if (filepath.Ext() == ".xml" ||
-      filepath.Ext() == ".urdf" ||
-      (content_type && std::strcmp(content_type, "text/xml") == 0)) {
-    return mj_parseXML(filename, vfs, error, error_sz);
-  }
-
-  // If no VFS is provided, we'll create our own temporary one for the duration
-  // of this function.
-  if (vfs == nullptr) {
-    mj_defaultVFS(&local_vfs);
-    cleanup += [&local_vfs](){ mj_deleteVFS(&local_vfs); };
-
-    vfs = &local_vfs;
-  }
-
-  mjResource* resource = mju_openResource("", filename, vfs, error, error_sz);
-  // If we are unable to open the resource, we will create our own resource with
-  // just the filename. This allows decoders that rely on other systems to fetch
-  // their content to function without a custom resource provider.
-  // For example, USD may use identifiers to assets that are strictly in memory
-  // or that are fetched on a need-be basis via URI.
-  if (resource) {
-    cleanup += [resource](){ mju_closeResource(resource); };
-  } else {
-    resource = (mjResource*) mju_malloc(sizeof(mjResource));
-    cleanup += [resource](){ if (resource) mju_free(resource); };
-
-    if (resource == nullptr) {
-      if (error) {
-        strncpy(error, "could not allocate memory", error_sz);
-        error[error_sz - 1] = '\0';
-      }
-      return nullptr;
-    }
-
-    // clear out resource
-    memset(resource, 0, sizeof(mjResource));
-
-    // make space for filename
-    std::string fullname = filename;
-    std::size_t n = fullname.size();
-    resource->name = (char*) mju_malloc(sizeof(char) * (n + 1));
-    cleanup += [resource](){ if (resource) mju_free(resource->name); };
-
-    if (resource->name == nullptr) {
-      if (error) {
-        strncpy(error, "could not allocate memory", error_sz);
-        error[error_sz - 1] = '\0';
-      }
-      return nullptr;
-    }
-    memcpy(resource->name, fullname.c_str(), sizeof(char) * (n + 1));
-  }
-
-  mjSpec* spec = mju_decodeResource(resource, content_type, vfs);
-  if (spec == nullptr) {
-    if (error) {
-      strncpy(error, "could not decode content", error_sz);
-      error[error_sz - 1] = '\0';
-    }
-  }
-  return spec;
-}
-
-// Encode spec or model as MJCF XML.
-//
-// If a spec is provided, it is saved directly to XML. This preserves the original
-// structure and any user modifications in the spec.
-// If spec is null, the model must be provided, and it is saved using mj_saveLastXML.
-// mj_saveLastXML reconstructs the XML from the compiled model state, which may
-// differ from the original XML (e.g., losing comments, reordering elements) but
-// reflects the actual compiled model.
-//
-// Returns file size in bytes on success, -1 on failure.
-static mjtSize encode_xml(const mjSpec* s, const mjModel* m, const char* filename,
-                          char* error, int error_sz) {
-  if (s) {
-    // Save directly from the spec
-    if (mj_saveXML(s, filename, error, error_sz) < 0) {
-      return -1;
-    }
-  } else {
-    if (!m) {
-      if (error) {
-        strncpy(error, "model is required for XML encoding when spec is null",
-                error_sz);
-        error[error_sz - 1] = '\0';
-      }
-      return -1;
-    }
-    // Reconstruct XML from the compiled model, this will copy values back
-    // from the mjModel into the last compiled spec and write that out
-    // to disk. If there was no last compiled spec, such as when loading from
-    // MJB, this will return fail and we return -1.
-    if (!mj_saveLastXML(filename, m, error, error_sz)) {
-      return -1;
-    }
-  }
-  return static_cast<mjtSize>(std::filesystem::file_size(filename));
-}
-
-// Encode model as MJB (MuJoCo binary format).
-// Requires a compiled model; spec-only encoding is not supported.
-// Returns file size in bytes on success, -1 on failure.
-static mjtSize encode_mjb(const mjModel* m, const char* filename, char* error, int error_sz) {
-  if (!m) {
-    if (error) {
-      strncpy(error, "model is required for MJB encoding", error_sz);
-      error[error_sz - 1] = '\0';
-    }
-    return -1;
-  }
-  mj_saveModel(m, filename, nullptr, 0);
-  return static_cast<mjtSize>(std::filesystem::file_size(filename));
-}
-
-// Encode model as human-readable TXT (via mj_printModel).
-// Requires a compiled model; spec-only encoding is not supported.
-// Returns file size in bytes on success, -1 on failure.
-static mjtSize encode_txt(const mjModel* m, const char* filename, char* error,
-                          int error_sz) {
-  if (!m) {
-    if (error) {
-      strncpy(error, "model is required for TXT encoding", error_sz);
-      error[error_sz - 1] = '\0';
-    }
-    return -1;
-  }
-  mj_printModel(m, filename);
-  return static_cast<mjtSize>(std::filesystem::file_size(filename));
-}
-
-// encode spec/model to file
-mjtSize mj_encode(const mjSpec* s, const mjModel* m, const char* filename,
-                  const char* content_type, const mjVFS* vfs, char* error,
-                  int error_sz) {
-  // special case handling
-  // TODO(shaves) write encoder/decoder paths for MJCF, TXT, MJB
-  auto filepath = mujoco::user::FilePath(filename);
-  std::string ext = filepath.Ext();
-  std::transform(ext.begin(), ext.end(), ext.begin(),
-                 [](unsigned char c) { return std::tolower(c); });
-
-  if (ext == ".xml" ||
-      (content_type && std::strcmp(content_type, "text/xml") == 0)) {
-    return encode_xml(s, m, filename, error, error_sz);
-  }
-
-  if (ext == ".mjb") {
-    return encode_mjb(m, filename, error, error_sz);
-  }
-
-  if (ext == ".txt" ||
-      (content_type && std::strcmp(content_type, "text/plain") == 0)) {
-    return encode_txt(m, filename, error, error_sz);
-  }
-
-  const mjpEncoder* encoder = mjp_findEncoder(filename, content_type);
-  if (!encoder) {
-    if (error) {
-      strncpy(error, "no encoder found", error_sz);
-      error[error_sz - 1] = '\0';
-    }
-    return -1;
-  }
-
-  mjResource resource;
-  memset(&resource, 0, sizeof(resource));
-  resource.name = const_cast<char*>(filename);
-
-  const mjtSize nbytes = encoder->encode(s, m, vfs, &resource);
-  if (nbytes < 0 || !resource.data) {
-    if (error) {
-      strncpy(error, "encoder failed", error_sz);
-      error[error_sz - 1] = '\0';
-    }
-    return -1;
-  }
-
-  mjtSize written = mju_writeResource(filename, resource.data, nbytes, vfs, error, error_sz);
-  encoder->close_resource(&resource);
-
-  if (written != nbytes) {
-    if (error && error[0] == '\0') {
-      strncpy(error, "write failed", error_sz);
-      error[error_sz - 1] = '\0';
-    }
-    return -1;
-  }
-
-  return written;
-}
-
-// helper function to log compile time diagnostics
-static void LogCompileTime(const double* t) {
-  std::string body(1024, '\0');
-  int n = std::snprintf(body.data(), body.size(),
-                        "  total:     %8.1f   (wall clock)\n"
-                        "  assets:    %8.1f   -\n"
-                        "    load:    %8.1f     (CPU time)\n"
-                        "    hull:    %8.1f     -\n"
-                        "    polygon: %8.1f     -\n"
-                        "    inertia: %8.1f     -\n"
-                        "    bvh:     %8.1f     -\n"
-                        "    octree:  %8.1f     -\n"
-                        "    texture: %8.1f     -\n"
-                        "  other:     %8.1f   (wall clock)",
-                        1e3 * t[mjCTIMER_TOTAL],
-                        1e3 * t[mjCTIMER_ASSETS],
-                        1e3 * t[mjCTIMER_MESH_LOAD],
-                        1e3 * t[mjCTIMER_MESH_HULL],
-                        1e3 * t[mjCTIMER_MESH_POLYGON],
-                        1e3 * t[mjCTIMER_MESH_INERTIA],
-                        1e3 * t[mjCTIMER_MESH_BVH],
-                        1e3 * t[mjCTIMER_MESH_OCTREE],
-                        1e3 * t[mjCTIMER_TEXTURE],
-                        1e3 * (t[mjCTIMER_TOTAL] - t[mjCTIMER_ASSETS]));
-  if (n > 0 && n < body.size()) {
-    body.resize(n);
-  }
-
-  // send log message
-  mjLogMessage msg = {.level = mjLOG_INFO,
-                      .topic = mjTOPIC_TIME_CMP,
-                      .subject = "compile time (ms)",
-                      .body = body.c_str()};
-  mju_message(&msg);
-}
-
-// compile model
-mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjModel* m = modelC->Compile(vfs);
-
-  // log compile time if model was compiled successfully
-  if (m) {
-    LogCompileTime(modelC->timer);
-  }
-
-  return m;
-}
-
-
-
-// recompile spec to model, preserving the state, return 0 on success
-[[nodiscard]] int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  std::string state_name = "state";
-  mjtNum time = 0;
-  try {
-    if (d) {
-      time = d->time;
-      modelC->SaveState(state_name, d->qpos, d->qvel, d->act, d->ctrl, d->mocap_pos, d->mocap_quat);
-    }
-    if (!modelC->Compile(vfs, &m)) {
-      if (d) {
-        mj_deleteData(d);
-      }
-      return -1;
-    };
-    if (d) {
-      modelC->MakeData(m, &d);
-      modelC->RestoreState(state_name, m->qpos0, m->body_pos, m->body_quat, d->qpos, d->qvel,
-                           d->act, d->ctrl, d->mocap_pos, d->mocap_quat);
-      d->time = time;
-    }
-  } catch (mjCError& e) {
-    modelC->SetError(e);
-    return -1;
-  }
-  return 0;
-}
-
-
-// set frame for all elements of a body
-static void SetFrame(mjsBody* body, mjtObj objtype, mjsFrame* frame) {
-  mjsElement* el = mjs_firstChild(body, objtype, 0);
-  while (el) {
-    if (frame->element != el && mjs_getFrame(el) == nullptr) {
-      mjs_setFrame(el, frame);
-    }
-    el = mjs_nextChild(body, el, 0);
-  }
-}
-
-
-
-// attach body to a frame of the parent
-static mjsElement* attachBody(mjCFrame* parent, const mjCBody* child,
-                              const char* prefix, const char* suffix) {
-  mjCBody* mutable_child = const_cast<mjCBody*>(child);
-  mutable_child->prefix = prefix;
-  mutable_child->suffix = suffix;
-  try {
-    *parent += *mutable_child;
-  } catch (mjCError& e) {
-    parent->model->SetError(e);
-    return nullptr;
-  }
-  mjsBody* attached_body = parent->last_attached;
-  parent->last_attached = nullptr;
-  return attached_body->element;
-}
-
-
-
-// attach frame to a parent body
-static mjsElement* attachFrame(mjCBody* parent, const mjCFrame* child,
-                               const char* prefix, const char* suffix) {
-  mjCFrame* mutable_child = const_cast<mjCFrame*>(child);
-  mutable_child->prefix = prefix;
-  mutable_child->suffix = suffix;
-  try {
-    *parent += *mutable_child;
-  } catch (mjCError& e) {
-    parent->model->SetError(e);
-    return nullptr;
-  }
-  mjsFrame* attached_frame = parent->last_attached;
-  parent->last_attached = nullptr;
-  return attached_frame->element;
-}
-
-
-
-// attach child body to a parent site
-static mjsElement* attachToSite(mjCSite* parent, const mjCBody* child,
-                                const char* prefix, const char* suffix) {
-  mjSpec* spec = mjs_getSpec(parent->spec.element);
-  mjCBody* body = parent->Body();
-  mjCFrame* frame = body->AddFrame(parent->frame);
-  frame->SetParent(body);
-  frame->spec.pos[0] = parent->spec.pos[0];
-  frame->spec.pos[1] = parent->spec.pos[1];
-  frame->spec.pos[2] = parent->spec.pos[2];
-  frame->spec.quat[0] = parent->spec.quat[0];
-  frame->spec.quat[1] = parent->spec.quat[1];
-  frame->spec.quat[2] = parent->spec.quat[2];
-  frame->spec.quat[3] = parent->spec.quat[3];
-  mjs_resolveOrientation(frame->spec.quat, spec->compiler.degree,
-                         spec->compiler.eulerseq, &parent->spec.alt);
-  return attachBody(frame, child, prefix, suffix);
-}
-
-
-
-// attach child frame to a parent site
-static mjsElement* attachFrameToSite(mjCSite* parent, const mjCFrame* child,
-                                     const char* prefix, const char* suffix) {
-  mjSpec* spec = mjs_getSpec(parent->spec.element);
-  mjCBody* body = parent->Body();
-  mjCFrame* frame = body->AddFrame(parent->frame);
-  frame->SetParent(body);
-  frame->spec.pos[0] = parent->spec.pos[0];
-  frame->spec.pos[1] = parent->spec.pos[1];
-  frame->spec.pos[2] = parent->spec.pos[2];
-  frame->spec.quat[0] = parent->spec.quat[0];
-  frame->spec.quat[1] = parent->spec.quat[1];
-  frame->spec.quat[2] = parent->spec.quat[2];
-  frame->spec.quat[3] = parent->spec.quat[3];
-  mjs_resolveOrientation(frame->spec.quat, spec->compiler.degree,
-                         spec->compiler.eulerseq, &parent->spec.alt);
-
-  mjsElement* attached_frame = attachFrame(body, child, prefix, suffix);
-  mjs_setFrame(attached_frame, &frame->spec);
-  return attached_frame;
-}
-
-mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
-                       const char* prefix, const char* suffix) {
-  if (!parent) {
-    mju_error("parent element is null");
-    return nullptr;
-  }
-  if (!child) {
-    mju_error("child element is null");
-    return nullptr;
-  }
-  mjCModel* model = static_cast<mjCModel*>(mjs_getSpec(parent)->element);
-  const mjSpec* child_spec = nullptr;
-  if (child->elemtype == mjOBJ_MODEL) {
-    child_spec = &(static_cast<const mjCModel*>(child)->spec);
-  } else {
-    child_spec = &(static_cast<const mjCBase*>(child)->model->spec);
-  }
-
-  // handle global attribute conflicts
-  if (child_spec && child_spec != &model->spec) {
-    std::string error_msg, warning_subject, warning_body;
-    bool success = mujoco::ResolveConflicts(
-        &model->spec, child_spec,
-        static_cast<mjtConflict>(model->spec.compiler.conflict), &error_msg,
-        &warning_subject, &warning_body);
-
-    if (!success) {
-      model->SetError(mjCError(0, "%s", error_msg.c_str()));
-      return nullptr;
-    }
-
-    if (!warning_body.empty()) {
-      model->AddGroupedWarning(warning_subject, warning_body);
-    }
-  }
-
-  if (child->elemtype == mjOBJ_MODEL) {
-    mjCModel* child_model = static_cast<mjCModel*>((mjsElement*)child);
-    mjsBody* worldbody = mjs_findBody(&child_model->spec, "world");
-    if (!worldbody) {
-      model->SetError(mjCError(0, "Child does not have a world body."));
-      return nullptr;
-    }
-    mjsFrame* worldframe = mjs_addFrame(worldbody, nullptr);
-    SetFrame(worldbody, mjOBJ_BODY, worldframe);
-    SetFrame(worldbody, mjOBJ_SITE, worldframe);
-    SetFrame(worldbody, mjOBJ_FRAME, worldframe);
-    SetFrame(worldbody, mjOBJ_JOINT, worldframe);
-    SetFrame(worldbody, mjOBJ_GEOM, worldframe);
-    SetFrame(worldbody, mjOBJ_LIGHT, worldframe);
-    SetFrame(worldbody, mjOBJ_CAMERA, worldframe);
-    child = worldframe->element;
-  }
-  mjsElement* result = nullptr;
-  switch (parent->elemtype) {
-    case mjOBJ_FRAME:
-      if (child->elemtype == mjOBJ_BODY) {
-        result = attachBody(static_cast<mjCFrame*>(parent),
-                            static_cast<const mjCBody*>(child), prefix, suffix);
-      } else if (child->elemtype == mjOBJ_FRAME) {
-        mjsBody* parent_body = mjs_getParent(parent);
-        if (!parent_body) {
-          model->SetError(mjCError(0, "Frame does not have a parent body."));
-          return nullptr;
-        }
-        mjCFrame* frame = static_cast<mjCFrame*>(parent);
-        mjsElement* attached_frame =
-            attachFrame(static_cast<mjCBody*>(parent_body->element),
-                        static_cast<const mjCFrame*>(child), prefix, suffix);
-        if (mjs_setFrame(attached_frame, &frame->spec)) {
-          return nullptr;
-        }
-        result = attached_frame;
-      } else {
-        model->SetError(mjCError(0, "child element is not a body or frame"));
-        return nullptr;
-      }
-      break;
-    case mjOBJ_BODY:
-      if (child->elemtype == mjOBJ_FRAME) {
-        result =
-            attachFrame(static_cast<mjCBody*>(parent),
-                        static_cast<const mjCFrame*>(child), prefix, suffix);
-      } else {
-        model->SetError(mjCError(0, "child element is not a frame"));
-        return nullptr;
-      }
-      break;
-    case mjOBJ_SITE:
-      if (child->elemtype == mjOBJ_BODY) {
-        result =
-            attachToSite(static_cast<mjCSite*>(parent),
-                         static_cast<const mjCBody*>(child), prefix, suffix);
-      } else if (child->elemtype == mjOBJ_FRAME) {
-        result = attachFrameToSite(static_cast<mjCSite*>(parent),
-                                   static_cast<const mjCFrame*>(child), prefix,
-                                   suffix);
-      } else {
-        model->SetError(mjCError(0, "child element is not a body or frame"));
-        return nullptr;
-      }
-      break;
-    default:
-      model->SetError(mjCError(0, "parent element is not a frame, body or site"));
-      return nullptr;
-  }
-
-  // mark all warnings accumulated so far as attach-phase
-  if (result) {
-    model->SetAttachWarningBoundary();
-  }
-  return result;
-}
-
-
-
-// get error message from model
-const char* mjs_getError(mjSpec* s) {
-  if (!s) {
-    mju_error("spec is null");
-    return nullptr;
-  }
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  return modelC->GetError().message;
-}
-
-
-
-// get compiler timers from model
-const double* mjs_getTimer(mjSpec* s) {
-  if (!s) {
-    return nullptr;
-  }
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  return modelC->timer;
-}
-
-// check if model has warnings (but no error)
-// TODO(tassa): delete this function
-int mjs_isWarning(mjSpec* s) {
-  if (!s) {
-    return 0;
-  }
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  return modelC->GetError().message[0] == '\0' &&
-         !modelC->GetWarnings().empty();
-}
-
-// get number of warnings
-int mjs_numWarnings(const mjSpec* spec) {
-  if (!spec) {
-    return 0;
-  }
-  const mjCModel* modelC = static_cast<const mjCModel*>(spec->element);
-  return static_cast<int>(modelC->GetWarnings().size());
-}
-
-// get the i-th warning message
-const char* mjs_getWarning(const mjSpec* spec, int index) {
-  if (!spec) {
-    return nullptr;
-  }
-  const mjCModel* modelC = static_cast<const mjCModel*>(spec->element);
-  if (index < 0 || index >= static_cast<int>(modelC->GetWarnings().size())) {
-    return nullptr;
-  }
-  return modelC->GetWarnings()[index].c_str();
-}
-
-// delete model
-void mj_deleteSpec(mjSpec* s) {
-  if (s) {
-    mjCModel* model = static_cast<mjCModel*>(s->element);
-    model->Release();
-  }
-}
-
-
-
-// add spec (model asset) to spec
-void mjs_addSpec(mjSpec* s, mjSpec* child) {
-  mjCModel* model = static_cast<mjCModel*>(s->element);
-  model->AppendSpec(child);
-}
-
-
-
-// activate plugin
-int mjs_activatePlugin(mjSpec* s, const char* name) {
-  int plugin_slot = -1;
-  const mjpPlugin* plugin = mjp_getPlugin(name, &plugin_slot);
-  if (!plugin) {
-    return -1;
-  }
-  mjCModel* model = static_cast<mjCModel*>(s->element);
-  model->ActivatePlugin(plugin, plugin_slot);
-  return 0;
-}
-
-
-
-// set deep copy flag
-int mjs_setDeepCopy(mjSpec* s, int deepcopy) {
-  mjCModel* model = static_cast<mjCModel*>(s->element);
-  model->SetDeepCopy(deepcopy);
-  return 0;
-}
-
-
-
-// copy real-valued arrays from model to spec, returns 1 on success
-int mj_copyBack(mjSpec* s, const mjModel* m) {
-  mjCModel* model = static_cast<mjCModel*>(s->element);
-  return model->CopyBack(m);
-}
-
-
-
-// remove body from mjSpec, return 0 on success
-int mjs_delete(mjSpec* s, mjsElement* element) {
-  mjCModel* model = static_cast<mjCModel*>(s->element);
-  if (model->IsAttached()) {
-    model->SetError(mjCError(nullptr, "Cannot delete element from an attached mjSpec."));
-    return -1;
-  }
-  if (!element) {
-    model->SetError(mjCError(nullptr, "Element is null."));
-    return -1;
-  }
-  try {
-    if (element->elemtype == mjOBJ_DEFAULT) {
-      mjCDef* def = static_cast<mjCDef*>(element);
-      *model -= *def;
-    } else {
-      *model -= element;
-    }
-    return 0;
-  } catch (mjCError& e) {
-    model->SetError(e);
-    return -1;
-  }
-}
-
-
-
-// add child body to body, return child spec
-mjsBody* mjs_addBody(mjsBody* bodyspec, const mjsDefault* defspec) {
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCBody* body = static_cast<mjCBody*>(bodyspec->element)->AddBody(def);
-  return &body->spec;
-}
-
-
-
-// add site to body, return site spec
-mjsSite* mjs_addSite(mjsBody* bodyspec, const mjsDefault* defspec) {
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
-  mjCSite* site = body->AddSite(def);
-  return &site->spec;
-}
-
-
-
-// add joint to body
-mjsJoint* mjs_addJoint(mjsBody* bodyspec, const mjsDefault* defspec) {
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
-  mjCJoint* joint = body->AddJoint(def);
-  return &joint->spec;
-}
-
-
-
-// add free joint to body
-mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) {
-  mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
-  mjCJoint* joint = body->AddFreeJoint();
-  return &joint->spec;
-}
-
-
-
-// add geom to body
-mjsGeom* mjs_addGeom(mjsBody* bodyspec, const mjsDefault* defspec) {
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
-  mjCGeom* geom = body->AddGeom(def);
-  return &geom->spec;
-}
-
-
-
-// add camera to body
-mjsCamera* mjs_addCamera(mjsBody* bodyspec, const mjsDefault* defspec) {
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
-  mjCCamera* camera = body->AddCamera(def);
-  return &camera->spec;
-}
-
-
-
-// add light to body
-mjsLight* mjs_addLight(mjsBody* bodyspec, const mjsDefault* defspec) {
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
-  mjCLight* light = body->AddLight(def);
-  return &light->spec;
-}
-
-
-
-// add flex to model
-mjsFlex* mjs_addFlex(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCFlex* flex = modelC->AddFlex();
-  return &flex->spec;
-}
-
-
-
-// helper: convert type string to mjtFcompType
-static mjtFcompType FlexcompTypeFromStr(const char* type) {
-  if (!type || !strcmp(type, "grid"))    return mjFCOMPTYPE_GRID;
-  if (!strcmp(type, "box"))              return mjFCOMPTYPE_BOX;
-  if (!strcmp(type, "cylinder"))         return mjFCOMPTYPE_CYLINDER;
-  if (!strcmp(type, "ellipsoid"))        return mjFCOMPTYPE_ELLIPSOID;
-  if (!strcmp(type, "square"))           return mjFCOMPTYPE_SQUARE;
-  if (!strcmp(type, "disc"))             return mjFCOMPTYPE_DISC;
-  if (!strcmp(type, "circle"))           return mjFCOMPTYPE_CIRCLE;
-  if (!strcmp(type, "mesh"))             return mjFCOMPTYPE_MESH;
-  if (!strcmp(type, "gmsh"))             return mjFCOMPTYPE_GMSH;
-  if (!strcmp(type, "direct"))           return mjFCOMPTYPE_DIRECT;
-  return mjFCOMPTYPE_GRID;  // default
-}
-
-// helper: convert dof string to mjtDof
-static mjtDof FlexcompDofFromStr(const char* dof) {
-  if (!dof || !strcmp(dof, "full"))      return mjFCOMPDOF_FULL;
-  if (!strcmp(dof, "radial"))            return mjFCOMPDOF_RADIAL;
-  if (!strcmp(dof, "trilinear"))         return mjFCOMPDOF_TRILINEAR;
-  if (!strcmp(dof, "quadratic"))         return mjFCOMPDOF_QUADRATIC;
-  if (!strcmp(dof, "2d"))                return mjFCOMPDOF_2D;
-  return mjFCOMPDOF_FULL;  // default
-}
-
-
-// add flexcomp: create flex with auto-generated bodies/joints
-mjsFlex* mjs_makeFlex(mjsBody* body, const char* name, const char* type, int dim,
-                            const char* dof, const int count[3], const int cellcount[3],
-                            const double spacing[3], const double scale[3], double radius,
-                            double mass, double inertiabox, int equality, int rigid, int flatskin,
-                            int elastic2d, const double pos[3], const double quat[4],
-                            const double origin[3], const char* file, const mjVFS* vfs) {
-  if (!body || !name) {
-    mju_error("mjs_makeFlex: body and name must not be null");
-    return nullptr;
-  }
-
-  mjCModel* model = static_cast<mjCBody*>(body->element)->model;
-
-  // create temporary flexcomp with defaults
-  mjCFlexcomp fcomp;
-  fcomp.name = name;
-  fcomp.type = FlexcompTypeFromStr(type);
-  fcomp.doftype = FlexcompDofFromStr(dof);
-
-  // topology
-  if (count) {
-    fcomp.count[0] = count[0];
-    fcomp.count[1] = count[1];
-    fcomp.count[2] = count[2];
-  }
-  if (cellcount) {
-    fcomp.cellcount[0] = cellcount[0];
-    fcomp.cellcount[1] = cellcount[1];
-    fcomp.cellcount[2] = cellcount[2];
-  }
-  if (spacing) {
-    fcomp.spacing[0] = spacing[0];
-    fcomp.spacing[1] = spacing[1];
-    fcomp.spacing[2] = spacing[2];
-  }
-  if (scale) {
-    fcomp.scale[0] = scale[0];
-    fcomp.scale[1] = scale[1];
-    fcomp.scale[2] = scale[2];
-  }
-  if (origin) {
-    fcomp.origin[0] = origin[0];
-    fcomp.origin[1] = origin[1];
-    fcomp.origin[2] = origin[2];
-  }
-
-  // physics
-  fcomp.def.spec.flex->dim = dim;
-  fcomp.def.spec.flex->radius = radius;
-  if (mass > 0) fcomp.mass = mass;
-  if (inertiabox > 0) fcomp.inertiabox = inertiabox;
-  fcomp.equality = equality;
-  fcomp.rigid = rigid;
-  fcomp.def.spec.flex->flatskin = flatskin;
-  fcomp.def.spec.flex->elastic2d = elastic2d;
-
-  // pose
-  if (pos) {
-    fcomp.pos[0] = pos[0];
-    fcomp.pos[1] = pos[1];
-    fcomp.pos[2] = pos[2];
-  }
-  if (quat) {
-    fcomp.quat[0] = quat[0];
-    fcomp.quat[1] = quat[1];
-    fcomp.quat[2] = quat[2];
-    fcomp.quat[3] = quat[3];
-  }
-
-  // file
-  if (file) {
-    fcomp.file = file;
-  }
-
-  // call Make
-  char error[500] = "";
-  if (!fcomp.Make(body, error, sizeof(error), vfs)) {
-    model->SetError(mjCError(nullptr, "%s", error));
-    return nullptr;
-  }
-
-  // return the flex that was created (last flex in model)
-  mjCFlex* flex = model->Flexes().back();
-  return &flex->spec;
-}
-
-
-
-// add frame to body
-mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) {
-  mjCFrame* parentframeC = 0;
-  if (parentframe) {
-    parentframeC = static_cast<mjCFrame*>(parentframe->element);
-  }
-  mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
-  mjCFrame* frameC = body->AddFrame(parentframeC);
-  frameC->SetParent(body);
-  return &frameC->spec;
-}
-
-
-
-// add mesh to model
-mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* defspec) {
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCMesh* mesh = modelC->AddMesh(def);
-  return &mesh->spec;
-}
-
-
-
-// add height field to model
-mjsHField* mjs_addHField(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCHField* heightField = modelC->AddHField();
-  return &heightField->spec;
-}
-
-
-
-// add skin to model
-mjsSkin* mjs_addSkin(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCSkin* skin = modelC->AddSkin();
-  return &skin->spec;
-}
-
-
-
-// add texture to model
-mjsTexture* mjs_addTexture(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCTexture* texture = modelC->AddTexture();
-  return &texture->spec;
-}
-
-
-
-// add material to model
-mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* defspec) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCMaterial* material = modelC->AddMaterial(def);
-  return &material->spec;
-}
-
-// Sets the vertices and normals of a mesh.
-int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams) {
-  mjCMesh* meshC = static_cast<mjCMesh*>(mesh->element);
-  mjCModel* m = meshC->model;
-  switch (builtin) {
-    case mjMESH_BUILTIN_HEMISPHERE: {
-      if (nparams != 1) {
-        m->SetError(mjCError(0, "Hemisphere mesh type requires 1 parameter"));
-        return -1;
-      }
-      int subdiv = static_cast<int>(params[0]);
-      if (subdiv < 0) {
-        m->SetError(mjCError(0, "Hemisphere resolution cannot be negative"));
-        return -1;
-      }
-      if (subdiv > 10) {
-        m->SetError(mjCError(0, "Hemisphere resolution cannot be greater than 10"));
-        return -1;
-      }
-      meshC->MakeHemisphere(subdiv, /*make_faces*/ true, /*make_cap*/ true);
-      return 0;
-    }
-
-    case mjMESH_BUILTIN_SPHERE: {
-      if (nparams != 1) {
-        m->SetError(mjCError(0, "Sphere mesh type requires 1 parameter"));
-        return -1;
-      }
-      int subdiv = static_cast<int>(params[0]);
-      if (subdiv < 0) {
-        m->SetError(mjCError(0, "Sphere subdivision cannot be negative"));
-        return -1;
-      }
-      if (subdiv > 4) {
-        m->SetError(mjCError(0, "Sphere subdivision cannot be greater than 4"));
-        return -1;
-      }
-      meshC->MakeSphere(subdiv, /*make_faces*/ true);
-      return 0;
-    }
-
-    case mjMESH_BUILTIN_SUPERSPHERE: {
-      if (nparams != 3) {
-        m->SetError(mjCError(0, "Supersphere mesh type requires 3 parameters"));
-        return -1;
-      }
-      int res = static_cast<int>(params[0]);
-      if (res < 3) {
-        m->SetError(mjCError(0, "Supersphere resolution must be greater than 2"));
-        return -1;
-      }
-      double e = params[1];
-      if (e < 0) {
-        m->SetError(mjCError(0, "Supersphere 'e' cannot be negative"));
-        return -1;
-      }
-      double n = params[2];
-      if (n < 0) {
-        m->SetError(mjCError(0, "Supersphere 'n' cannot be negative"));
-        return -1;
-      }
-      meshC->MakeSupersphere(res, e, n);
-      return 0;
-    }
-
-    case mjMESH_BUILTIN_SUPERTORUS: {
-      if (nparams != 4) {
-        m->SetError(mjCError(0, "Supertorus mesh type requires 4 parameters"));
-        return -1;
-      }
-      int res = static_cast<int>(params[0]);
-      if (res < 3) {
-        m->SetError(mjCError(0, "Supertorus resolution must be greater than 3"));
-        return -1;
-      }
-      double radius = params[1];
-      if (radius <= 0 || radius > 1) {
-        m->SetError(mjCError(0, "Supertorus radius must be in (0, 1]"));
-        return -1;
-      }
-      double s = params[2];
-      if (s <= 0) {
-        m->SetError(mjCError(0, "Supertorus 's' must be greater than 0"));
-        return -1;
-      }
-      double t = params[3];
-      if (t <= 0) {
-        m->SetError(mjCError(0, "Supertorus 't' must be greater than 0"));
-        return -1;
-      }
-      meshC->MakeSupertorus(res, radius, s, t);
-      return 0;
-    }
-
-    case mjMESH_BUILTIN_WEDGE: {
-      if (nparams != 5) {
-        m->SetError(mjCError(0, "Wedge builtin mesh types require 5 parameters"));
-        return -1;
-      }
-      int resolution[2] = {static_cast<int>(params[0]),
-                           static_cast<int>(params[1])};
-      double fov[2] = {params[2], params[3]};
-      double gamma = params[4];
-      if (fov[0] <= 0 || fov[0] > 180) {
-        m->SetError(mjCError(0, "fov[0] must be a float between (0, 180] degrees"));
-        return -1;
-      }
-      if (fov[1] <= 0 || fov[1] > 90) {
-        m->SetError(mjCError(0, "`fov[1]` must be a float between (0, 90] degrees"));
-        return -1;
-      }
-      if (resolution[0] <= 0 || resolution[1] <= 0) {
-        m->SetError(mjCError(0, "Horizontal and vertical resolutions must be positive"));
-        return -1;
-      }
-      if (gamma < 0 || gamma > 1) {
-        m->SetError(mjCError(0, "`gamma` must be a nonnegative float between [0, 1]"));
-        return -1;
-      }
-      meshC->MakeWedge(resolution, fov, gamma);
-      return 0;
-    }
-
-    case mjMESH_BUILTIN_PLATE: {
-      if (nparams != 2) {
-        m->SetError(mjCError(0, "Plate builtin mesh type requires 2 parameters"));
-        return -1;
-      }
-      int resolution[2] = {static_cast<int>(params[0]),
-                           static_cast<int>(params[1])};
-      if (resolution[0] <= 0 || resolution[1] <= 0) {
-        m->SetError(mjCError(0, "Horizontal and vertical resolutions must be positive"));
-        return -1;
-      }
-      meshC->MakeRect(resolution);
-      return 0;
-    }
-
-    case mjMESH_BUILTIN_CONE: {
-      if (nparams != 2) {
-        m->SetError(mjCError(0, "Cone mesh type requires 2 parameters"));
-        return -1;
-      }
-      int nedge = static_cast<int>(params[0]);
-      meshC->MakeCone(nedge, params[1]);
-      return 0;
-    }
-
-    default:
-      m->SetError(mjCError(0, "Unsupported mesh type"));
-      return 1;
-  }
-}
-
-// add pair to model
-mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* defspec) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCPair* pair = modelC->AddPair(def);
-  return &pair->spec;
-}
-
-
-
-// add pair exclusion to model
-mjsExclude* mjs_addExclude(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCBodyPair* bodypair = modelC->AddExclude();
-  return &bodypair->spec;
-}
-
-
-
-// add equality to model
-mjsEquality* mjs_addEquality(mjSpec* s, const mjsDefault* defspec) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCEquality* equality = modelC->AddEquality(def);
-  return &equality->spec;
-}
-
-
-
-// add tendon to model
-mjsTendon* mjs_addTendon(mjSpec* s, const mjsDefault* defspec) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCTendon* tendon = modelC->AddTendon(def);
-  return &tendon->spec;
-}
-
-
-
-// wrap site using tendon
-mjsWrap* mjs_wrapSite(mjsTendon* tendonspec, const char* name) {
-  mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
-  tendon->WrapSite(name);
-  return &tendon->path.back()->spec;
-}
-
-
-
-// wrap geom using tendon
-mjsWrap* mjs_wrapGeom(mjsTendon* tendonspec, const char* name, const char* sidesite) {
-  mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
-  tendon->WrapGeom(name, sidesite);
-  return &tendon->path.back()->spec;
-}
-
-
-
-// wrap joint using tendon
-mjsWrap* mjs_wrapJoint(mjsTendon* tendonspec, const char* name, double coef) {
-  mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
-  tendon->WrapJoint(name, coef);
-  return &tendon->path.back()->spec;
-}
-
-
-
-// wrap pulley using tendon
-mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) {
-  mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
-  tendon->WrapPulley(divisor);
-  return &tendon->path.back()->spec;
-}
-
-
-
-// add actuator to model
-mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* defspec) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
-  mjCActuator* actuator = modelC->AddActuator(def);
-  return &actuator->spec;
-}
-
-
-
-// add sensor to model
-mjsSensor* mjs_addSensor(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCSensor* sensor = modelC->AddSensor();
-  return &sensor->spec;
-}
-
-
-
-// add numeric to model
-mjsNumeric* mjs_addNumeric(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCNumeric* numeric = modelC->AddNumeric();
-  return &numeric->spec;
-}
-
-
-
-// add text to model
-mjsText* mjs_addText(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCText* text = modelC->AddText();
-  return &text->spec;
-}
-
-
-
-// add tuple to model
-mjsTuple* mjs_addTuple(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCTuple* tuple = modelC->AddTuple();
-  return &tuple->spec;
-}
-
-
-
-// add keyframe to model
-mjsKey* mjs_addKey(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCKey* key = modelC->AddKey();
-  return &key->spec;
-}
-
-
-
-// add plugin to model
-mjsPlugin* mjs_addPlugin(mjSpec* s) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCPlugin* plugin = modelC->AddPlugin();
-  plugin->spec.element = static_cast<mjsElement*>(plugin);
-  return &plugin->spec;
-}
-
-
-
-// add default to model
-mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent) {
-  mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCDef* parentC = parent ? static_cast<mjCDef*>(parent->element) :
-                             static_cast<mjCModel*>(s->element)->Default();
-  mjCDef* def = modelC->AddDefault(classname, parentC);
-  if (def) {
-    return &def->spec;
-  } else {
-    return nullptr;
-  }
-}
-
-
-
-// set actuator to motor
-const char* mjs_setToMotor(mjsActuator* actuator) {
-  // unit gain
-  actuator->gainprm[0] = 1;
-
-  // implied parameters
-  actuator->dyntype = mjDYN_NONE;
-  actuator->gaintype = mjGAIN_FIXED;
-  actuator->biastype = mjBIAS_NONE;
-  return "";
-}
-
-
-
-// set to position actuator
-const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
-                              double dampratio[1], double timeconst[1], double inheritrange) {
-  actuator->gainprm[0] = kp;
-  actuator->biasprm[1] = -kp;
-
-  // set biasprm[2]; negative: regular damping, positive: dampratio
-  if (dampratio && kv) {
-    return "kv and dampratio cannot both be defined";
-  }
-
-  if (kv) {
-    if (*kv < 0) return "kv cannot be negative";
-    actuator->biasprm[2] = -(*kv);
-  }
-  if (dampratio) {
-    if (*dampratio < 0) return "dampratio cannot be negative";
-    actuator->biasprm[2] = *dampratio;
-  }
-  if (timeconst) {
-    if (*timeconst < 0) return "timeconst cannot be negative";
-    actuator->dynprm[0] = *timeconst;
-    actuator->dyntype = *timeconst == 0 ? mjDYN_NONE : mjDYN_FILTEREXACT;
-  }
-  actuator->inheritrange = inheritrange;
-
-  if (inheritrange > 0) {
-    if (actuator->ctrlrange[0] || actuator->ctrlrange[1]) {
-      return "ctrlrange and inheritrange cannot both be defined";
-    }
-  }
-
-  actuator->gaintype = mjGAIN_FIXED;
-  actuator->biastype = mjBIAS_AFFINE;
-  return "";
-}
-
-
-
-// Set to integrated velocity actuator.
-const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
-                                 double dampratio[1], double timeconst[1], double inheritrange) {
-  mjs_setToPosition(actuator, kp, kv, dampratio, timeconst, inheritrange);
-  actuator->dyntype = mjDYN_INTEGRATOR;
-
-  if (inheritrange > 0) {
-    if (actuator->actrange[0] || actuator->actrange[1]) {
-      return "actrange and inheritrange cannot both be defined";
-    }
-  }
-  return "";
-}
-
-
-
-// Set to orientation actuator.
-const char* mjs_setToOrientation(mjsActuator* actuator, double kp, double kv[1],
-                                 double dampratio[1], int ctrlspec) {
-  if (kv && dampratio) {
-    return "kv and dampratio cannot both be defined";
-  }
-  actuator->gainprm[0] = kp;
-  actuator->biasprm[1] = -kp;
-  if (kv) {
-    if (*kv < 0) return "kv cannot be negative";
-    actuator->biasprm[2] = -(*kv);
-  }
-  if (dampratio) {
-    if (*dampratio < 0) return "dampratio cannot be negative";
-    actuator->biasprm[2] = *dampratio;
-  }
-  actuator->ctrlspec = ctrlspec;
-  actuator->gaintype = mjGAIN_SO3;
-  actuator->biastype = mjBIAS_SO3;
-  actuator->dyntype = mjDYN_NONE;
-  return "";
-}
-
-
-// Set to PID actuator.
-const char* mjs_setToPID(mjsActuator* actuator, double kp, double kv[1], double dampratio[1],
-                         double ki[1], double imax[1], double slewmax[1], double inheritrange,
-                         int ctrlspec) {
-  if (kv && dampratio) {
-    return "kv and dampratio cannot both be defined";
-  }
-  actuator->biasprm[1] = -kp;
-  if (kv) {
-    if (*kv < 0) return "kv cannot be negative";
-    actuator->biasprm[2] = -(*kv);
-  }
-  if (dampratio) {
-    if (*dampratio < 0) return "dampratio cannot be negative";
-    actuator->biasprm[2] = *dampratio;
-  }
-
-  // controller states: ki in gainprm[0], imax in dynprm[0], slewmax in dynprm[1]
-  double ki_value = ki ? *ki : 0;
-  double slew_value = slewmax ? *slewmax : 0;
-  if (slew_value < 0) return "slewmax cannot be negative";
-  actuator->gainprm[0] = ki_value;
-  actuator->dynprm[1] = slew_value;
-  actuator->dyntype = (ki_value || slew_value) ? mjDYN_PID : mjDYN_NONE;
-  if (ki_value && imax) {
-    actuator->dynprm[0] = *imax;
-  }
-
-  actuator->inheritrange = inheritrange;
-  if (inheritrange > 0) {
-    if (actuator->ctrlrange[0] || actuator->ctrlrange[1]) {
-      return "posrange and inheritrange cannot both be defined";
-    }
-  }
-
-  actuator->ctrlspec = ctrlspec;
-  actuator->gaintype = mjGAIN_PID;
-  actuator->biastype = mjBIAS_AFFINE;
-  return "";
-}
-
-
-
-// Set to velocity actuator.
-const char* mjs_setToVelocity(mjsActuator* actuator, double kv) {
-  mjuu_zerovec(actuator->biasprm, mjNBIAS);
-  actuator->gainprm[0] = kv;
-  actuator->biasprm[2] = -kv;
-  actuator->dyntype = mjDYN_NONE;
-  actuator->gaintype = mjGAIN_FIXED;
-  actuator->biastype = mjBIAS_AFFINE;
-  return "";
-}
-
-
-
-// Set to damper actuator.
-const char* mjs_setToDamper(mjsActuator* actuator, double kv) {
-  mjuu_zerovec(actuator->gainprm, mjNGAIN);
-  actuator->gainprm[2] = -kv;
-  actuator->ctrllimited = mjLIMITED_TRUE;
-  actuator->dyntype = mjDYN_NONE;
-  actuator->gaintype = mjGAIN_AFFINE;
-  actuator->biastype = mjBIAS_NONE;
-
-  if (kv < 0) {
-    return "damping coefficient cannot be negative";
-  }
-  if (actuator->ctrlrange[0] < 0 || actuator->ctrlrange[1] < 0) {
-    return "damper control range cannot be negative";
-  }
-  return "";
-}
-
-
-
-// Set to cylinder actuator.
-const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst, double bias,
-                       double area, double diameter) {
-  actuator->dynprm[0] = timeconst;
-  actuator->biasprm[0] = bias;
-  actuator->gainprm[0] = area;
-  if (diameter >= 0) {
-    actuator->gainprm[0] = mjPI / 4 * diameter*diameter;
-  }
-  actuator->dyntype = mjDYN_FILTER;
-  actuator->gaintype = mjGAIN_FIXED;
-  actuator->biastype = mjBIAS_AFFINE;
-  return "";
-}
-
-
-
-// Set to muscle actuator.
-const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
-                            double range[2], double force, double scale, double lmin,
-                            double lmax, double vmax, double fpmax, double fvmax) {
-  // set muscle defaults if same as global defaults
-  if (actuator->dynprm[0] == 1) actuator->dynprm[0] = 0.01;    // tau act
-  if (actuator->dynprm[1] == 0) actuator->dynprm[1] = 0.04;    // tau deact
-  if (actuator->gainprm[0] == 1) actuator->gainprm[0] = 0.75;  // range[0]
-  if (actuator->gainprm[1] == 0) actuator->gainprm[1] = 1.05;  // range[1]
-  if (actuator->gainprm[2] == 0) actuator->gainprm[2] = -1;    // force
-  if (actuator->gainprm[3] == 0) actuator->gainprm[3] = 200;   // scale
-  if (actuator->gainprm[4] == 0) actuator->gainprm[4] = 0.5;   // lmin
-  if (actuator->gainprm[5] == 0) actuator->gainprm[5] = 1.6;   // lmax
-  if (actuator->gainprm[6] == 0) actuator->gainprm[6] = 1.5;   // vmax
-  if (actuator->gainprm[7] == 0) actuator->gainprm[7] = 1.3;   // fpmax
-  if (actuator->gainprm[8] == 0) actuator->gainprm[8] = 1.2;   // fvmax
-
-  if (tausmooth < 0)
-    return "muscle tausmooth cannot be negative";
-
-  actuator->dynprm[2] = tausmooth;
-  if (timeconst[0] >= 0) actuator->dynprm[0] = timeconst[0];
-  if (timeconst[1] >= 0) actuator->dynprm[1] = timeconst[1];
-  if (range[0] >= 0) actuator->gainprm[0] = range[0];
-  if (range[1] >= 0) actuator->gainprm[1] = range[1];
-  if (force >= 0) actuator->gainprm[2] = force;
-  if (scale >= 0) actuator->gainprm[3] = scale;
-  if (lmin >= 0) actuator->gainprm[4] = lmin;
-  if (lmax >= 0) actuator->gainprm[5] = lmax;
-  if (vmax >= 0) actuator->gainprm[6] = vmax;
-  if (fpmax >= 0) actuator->gainprm[7] = fpmax;
-  if (fvmax >= 0) actuator->gainprm[8] = fvmax;
-
-  // biasprm = gainprm
-  for (int n=0; n < 9; n++) {
-    actuator->biasprm[n] = actuator->gainprm[n];
-  }
-
-  actuator->dyntype = mjDYN_MUSCLE;
-  actuator->gaintype = mjGAIN_MUSCLE;
-  actuator->biastype = mjBIAS_MUSCLE;
-  return "";
-}
-
-
-
-// Set to adhesion actuator.
-const char* mjs_setToAdhesion(mjsActuator* actuator, double gain) {
-  actuator->gainprm[0] = gain;
-  actuator->ctrllimited = mjLIMITED_TRUE;
-  actuator->gaintype = mjGAIN_FIXED;
-  actuator->biastype = mjBIAS_NONE;
-
-  if (gain < 0)
-    return "adhesion gain cannot be negative";
-  if (actuator->ctrlrange[0] < 0 || actuator->ctrlrange[1] < 0)
-    return "adhesion control range cannot be negative";
-  return "";
-}
-
-
-
-const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
-                             double nominal[3], double saturation[3], double inductance[2],
-                             double cogging[3], double controller[6], double thermal[6],
-                             double lugre[5], int ctrlspec) {
-  double R      = resistance;                      // electrical resistance
-  double Kt     = motorconst ? motorconst[0] : 0;  // torque constant
-  double Ke     = motorconst ? motorconst[1] : 0;  // back-EMF constant
-  double vn     = nominal ? nominal[0] : 0;        // nominal voltage
-  double tau0   = nominal ? nominal[1] : 0;        // stall torque
-  double omega0 = nominal ? nominal[2] : 0;        // no-load speed
-
-  // derive Ke from nominal: omega0 = vn*Ke / (Ke^2 + R*B)
-  if (vn > 0 && Ke <= 0 && omega0 > 0) {
-    // viscous damping (linear)
-    double B = actuator->damping[0];
-
-    if (B > 0 && R > 0) {
-      // R known: solve quadratic Ke^2*omega0 - Ke*vn + R*B*omega0 = 0
-      double disc = vn*vn - 4*R*B*omega0*omega0;
-      Ke = disc > 0 ? (vn + sqrt(disc)) / (2*omega0) : vn / omega0;
-    } else if (B > 0 && tau0 > 0) {
-      // R from nominal (tau0 = Ke*vn/R, so R = Ke*vn/tau0)
-      // substituting into omega0 = vn*Ke/(Ke^2 + R*B):
-      //   omega0 = vn/(Ke + vn*B/tau0)  =>  Ke = vn/omega0 - vn*B/tau0
-      double Ke_exact = vn / omega0 - vn*B / tau0;
-      Ke = Ke_exact > 0 ? Ke_exact : vn / omega0;
-    } else {
-      // B = 0 or insufficient data for B-correction: omega0 = vn*Ke/Ke^2 = vn/Ke
-      Ke = vn / omega0;
-    }
-  }
-
-  // resolve effective motor constant K from [Kt, Ke]
-  double K = (Kt > 0 && Ke > 0) ? sqrt(Kt * Ke) :
-             (Kt > 0)           ? Kt : Ke;
-
-  // derive R from nominal: tau0 = K*vn/R
-  if (R == 0 && vn > 0 && tau0 > 0 && K > 0) {
-    R = K * vn / tau0;
-  }
-
-  if (K <= 0) return "DC motor: motor constant K must be positive";
-  if (R <= 0) return "DC motor: resistance R must be positive";
-
-  // set types
-  actuator->dyntype = mjDYN_DCMOTOR;
-  actuator->gaintype = mjGAIN_DCMOTOR;
-  actuator->biastype = mjBIAS_DCMOTOR;
-
-  // gainprm: [R, K, alpha, T0]
-  actuator->gainprm[0] = R;
-  actuator->gainprm[1] = K;
-
-  // controller parameters: gainprm[4:6] for kp, ki, kd
-  actuator->gainprm[4] = controller ? controller[0] : 0;  // kp
-  actuator->gainprm[5] = controller ? controller[1] : 0;  // ki
-  actuator->gainprm[6] = controller ? controller[2] : 0;  // kd
-
-  // controller parameters: dynprm[7,8] for slewmax, Imax
-  actuator->dynprm[7] = controller ? controller[3] : 0;  // slewmax
-  actuator->dynprm[8] = controller ? controller[4] : 0;  // Imax
-
-  // controller parameters: gainprm[7] for v_max
-  if (controller && controller[5] > 0) {
-    actuator->gainprm[7] = controller[5];  // v_max
-  }
-
-  // saturation -> forcerange
-  if (saturation && (saturation[0] > 0 || saturation[1] > 0)) {
-    double tau_max = saturation[0];
-    if (tau_max == 0 && saturation[1] > 0) {
-      tau_max = K * saturation[1];  // tau_max = K * i_max
-    }
-    actuator->forcerange[0] = -tau_max;
-    actuator->forcerange[1] = tau_max;
-    actuator->forcelimited = mjLIMITED_TRUE;
-  }
-
-  // saturation: [tau_max, i_max, (di/dt)_max]
-  if (saturation && saturation[2] > 0) {
-    actuator->dynprm[1] = saturation[2];  // (di/dt)_max
-  }
-
-  // cogging: [amplitude, periodicity, phase] -> biasprm[0:3]
-  actuator->biasprm[0] = cogging ? cogging[0] : 0;  // amplitude
-  actuator->biasprm[1] = cogging ? cogging[1] : 0;  // periodicity
-  actuator->biasprm[2] = cogging ? cogging[2] : 0;  // phase
-
-  // count activation variables: slot order is slew, integral, temperature, bristle, current
-  int actdim = 0;
-
-  // inductance: [L, te]
-  if (inductance && inductance[0] < 0) return "DC motor: inductance must be non-negative";
-  if (inductance && inductance[1] < 0) return "DC motor: electrical time constant must be non-negative";
-  double te = (inductance && inductance[0] > 0) ? inductance[0] / R : (inductance ? inductance[1] : 0);
-  actuator->dynprm[0] = te;
-  if (te > 0) {
-    actdim++;
-  }
-
-  // controller states: slew rate limiting
-  if (controller && controller[3] > 0) {  // slewmax
-    actdim++;
-  }
-
-  // controller states: integral
-  if (controller && controller[1] > 0) {  // ki
-    actdim++;
-  }
-
-  // thermal -> temperature activation
-  if (thermal && (thermal[0] > 0 || thermal[1] > 0 || thermal[2] > 0)) {
-    double RT    = thermal[0];   // thermal resistance
-    double C     = thermal[1];   // thermal capacitance
-    double tth   = thermal[2];   // thermal time constant
-    double alpha = thermal[3];   // temperature coefficient
-    double T0    = thermal[4];   // reference temperature
-    double Ta    = thermal[5];   // ambient temperature
-
-    if (tth > 0 && RT > 0 && C == 0) {
-      C = tth / RT;
-    } else if (tth > 0 && C > 0 && RT == 0) {
-      RT = tth / C;
-    } else if (tth == 0 && RT > 0 && C > 0) {
-      tth = RT * C;
-    }
-
-    if (RT <= 0) return "DC motor: thermal resistance must be positive";
-    if (C <= 0) return "DC motor: thermal capacitance must be positive";
-
-    actuator->dynprm[2]  = RT;
-    actuator->dynprm[3]  = C;
-    actuator->dynprm[4]  = Ta;
-    actuator->gainprm[2] = alpha;
-    actuator->gainprm[3] = T0;
-    actdim++;
-  }
-
-  // lugre: {stiffness, damping, coulomb, static, stribeck}
-  if (lugre && lugre[0] > 0) {
-    actuator->dynprm[5] = lugre[0];    // stiffness -> sigma0
-    actuator->dynprm[6] = lugre[1];    // damping   -> sigma1
-    actuator->biasprm[3] = lugre[2];   // coulomb   -> tau_c
-    actuator->biasprm[4] = lugre[3];   // static    -> tau_s
-    actuator->biasprm[5] = lugre[4];   // stribeck  -> omega_s
-    actdim++;
-  }
-
-  // set input mode and activation dimension
-  actuator->gainprm[8] = 0;  // reserved (was input_mode)
-  actuator->ctrlspec = ctrlspec;
-  actuator->actdim = actdim;
-
-  // enforce actlimited = 0; homogeneous bounds are invalid across DC motor states
-  actuator->actlimited = mjLIMITED_FALSE;
-
-  // DC motor always uses actearly
-  actuator->actearly = 1;
-
-  return "";
-}
-
-
-
-// get spec from body
-mjSpec* mjs_getSpec(const mjsElement* element) {
-  return &(static_cast<const mjCBase*>(element)->model->spec);
-}
-
-
-
-// get spec that originally defined an element
-// contrary to mjs_getSpec, this does not change after attachment
-mjSpec* mjs_getOriginSpec(const mjsElement* element) {
-  const mjCModel* model = static_cast<const mjCBase*>(element)->model;
-  const mjsCompiler* compiler = static_cast<const mjCBase*>(element)->compiler;
-  return model->FindSpec(compiler);
-}
-
-
-
-mjsCompiler* mjs_getCompiler(const mjsElement* element) {
-  return static_cast<const mjCBase*>(element)->compiler;
-}
-
-
-
-// find spec (model asset) by name
-mjSpec* mjs_findSpec(const mjSpec* s, const char* name) {
-  const mjCModel* model = static_cast<mjCModel*>(s->element);
-  return model->FindSpec(name);
-}
-
-
-
-// get default
-mjsDefault* mjs_getDefault(const mjsElement* element) {
-  const mjCModel* model = static_cast<const mjCBase*>(element)->model;
-  std::string classname = static_cast<const mjCBase*>(element)->classname;
-  auto it = model->def_map.find(classname);
-  return (it != model->def_map.end()) ? &it->second->spec : nullptr;
-}
-
-
-
-// Find default with given name in model.
-mjsDefault* mjs_findDefault(const mjSpec* s, const char* classname) {
-  const mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCDef* cdef = modelC->FindDefault(classname);
-  return cdef ? &cdef->spec : nullptr;
-}
-
-
-
-// get default[0] from model
-mjsDefault* mjs_getSpecDefault(const mjSpec* s) {
-  const mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  mjCDef* def = modelC->Default();
-  return def ? &def->spec : nullptr;
-}
-
-
-
-// find body in model by name
-mjsBody* mjs_findBody(const mjSpec* s, const char* name) {
-  mjsElement* body = mjs_findElement(s, mjOBJ_BODY, name);
-  return body ? &(static_cast<mjCBody*>(body)->spec) : nullptr;
-}
-
-
-
-// find element in spec by name
-mjsElement* mjs_findElement(const mjSpec* s, mjtObj type, const char* name) {
-  mjCModel* model = static_cast<mjCModel*>(s->element);
-  if (model->IsCompiled() && type != mjOBJ_FRAME) {
-    return model->FindObject(type, std::string(name));  // fast lookup
-  }
-  switch (type) {
-    case mjOBJ_BODY:
-    case mjOBJ_SITE:
-    case mjOBJ_GEOM:
-    case mjOBJ_JOINT:
-    case mjOBJ_CAMERA:
-    case mjOBJ_LIGHT:
-    case mjOBJ_FRAME:
-      return model->FindTree(model->GetWorld(), type, std::string(name));  // recursive search
-    case mjOBJ_TEXTURE:
-      return model->FindAsset(std::string(name), model->Textures());  // check filename too
-    case mjOBJ_MESH:
-      return model->FindAsset(std::string(name), model->Meshes());  // check filename too
-    default:
-      return model->FindObject(type, std::string(name));  // always available
-  }
-}
-
-
-
-// find child of a body by name
-mjsBody* mjs_findChild(const mjsBody* bodyspec, const char* name) {
-  const mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
-  mjCBase* child = body->FindObject(mjOBJ_BODY, std::string(name));
-  return child ? &(static_cast<mjCBody*>(child)->spec) : nullptr;
-}
-
-
-
-// get parent body
-mjsBody* mjs_getParent(const mjsElement* element) {
-  switch (element->elemtype) {
-    case mjOBJ_BODY:
-      return &(static_cast<const mjCBody*>(element)->GetParent()->spec);
-    case mjOBJ_FRAME:
-      return &(static_cast<const mjCFrame*>(element)->GetParent()->spec);
-    case mjOBJ_JOINT:
-      return &(static_cast<const mjCJoint*>(element)->GetParent()->spec);
-    case mjOBJ_GEOM:
-      return &(static_cast<const mjCGeom*>(element)->GetParent()->spec);
-    case mjOBJ_SITE:
-      return &(static_cast<const mjCSite*>(element)->GetParent()->spec);
-    case mjOBJ_CAMERA:
-      return &(static_cast<const mjCCamera*>(element)->GetParent()->spec);
-    case mjOBJ_LIGHT:
-      return &(static_cast<const mjCLight*>(element)->GetParent()->spec);
-    default:
-      return nullptr;
-  }
-}
-
-
-
-// get parent frame
-mjsFrame* mjs_getFrame(const mjsElement* element) {
-  const mjCBase* base = static_cast<const mjCBase*>(element);
-  switch (element->elemtype) {
-    case mjOBJ_BODY:
-    case mjOBJ_FRAME:
-    case mjOBJ_JOINT:
-    case mjOBJ_GEOM:
-    case mjOBJ_SITE:
-    case mjOBJ_CAMERA:
-    case mjOBJ_LIGHT:
-      return base->frame ? &(base->frame->spec) : nullptr;
-    default:
-      return nullptr;
-  }
-}
-
-
-
-// find frame by name
-mjsFrame* mjs_findFrame(const mjSpec* s, const char* name) {
-  mjsElement* frame = mjs_findElement(s, mjOBJ_FRAME, name);
-  return frame ? &(static_cast<mjCFrame*>(frame)->spec) : nullptr;
-}
-
-
-
-// set frame
-int mjs_setFrame(mjsElement* dest, mjsFrame* frame) {
-  if (!frame || !dest) {
-    return -1;
-  }
-  mjCFrame* frameC = static_cast<mjCFrame*>(frame->element);
-  mjCBase* baseC = static_cast<mjCBase*>(dest);
-  try {
-    baseC->SetFrame(frameC);
-    return 0;
-  } catch (mjCError& e) {
-    baseC->model->SetError(e);
-    return -1;
-  }
-}
-
-
-
-// Resolve alternative orientations.
-const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
-                                   const mjsOrientation* orientation) {
-  return ResolveOrientation(quat, degree, sequence, *orientation);
-}
-
-
-
-// Transform body into a frame.
-mjsFrame* mjs_bodyToFrame(mjsBody** body) {
-  mjCBody* bodyC = static_cast<mjCBody*>((*body)->element);
-  mjCFrame* frameC = bodyC->ToFrame();
-  *bodyC->model -= (*body)->element;
-  *body = nullptr;
-  return &frameC->spec;
-}
-
-void mjs_setUserValue(mjsElement* element, const char* key, const void* data) {
-  mjs_setUserValueWithCleanup(element, key, data, nullptr);
-}
-
-// set user payload
-void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
-                                 const void* data,
-                                 void (*cleanup)(const void*)) {
-  mjCBase* baseC = static_cast<mjCBase*>(element);
-  baseC->SetUserValue(key, data, cleanup);
-}
-
-// return user payload or NULL if none found
-const void* mjs_getUserValue(mjsElement* element, const char* key) {
-  mjCBase* baseC = static_cast<mjCBase*>(element);
-  return baseC->GetUserValue(key);
-}
-
-
-
-// delete user payload
-void mjs_deleteUserValue(mjsElement* element, const char* key) {
-  mjCBase* baseC = static_cast<mjCBase*>(element);
-  baseC->DeleteUserValue(key);
-}
-
-
-
-// return sensor dimension
-int mjs_sensorDim(const mjsSensor* sensor) {
-  switch (sensor->type) {
-  case mjSENS_TOUCH:
-  case mjSENS_JOINTPOS:
-  case mjSENS_JOINTVEL:
-  case mjSENS_TENDONPOS:
-  case mjSENS_TENDONVEL:
-  case mjSENS_ACTUATORPOS:
-  case mjSENS_ACTUATORVEL:
-  case mjSENS_ACTUATORFRC:
-  case mjSENS_JOINTACTFRC:
-  case mjSENS_TENDONACTFRC:
-  case mjSENS_JOINTLIMITPOS:
-  case mjSENS_JOINTLIMITVEL:
-  case mjSENS_JOINTLIMITFRC:
-  case mjSENS_TENDONLIMITPOS:
-  case mjSENS_TENDONLIMITVEL:
-  case mjSENS_TENDONLIMITFRC:
-  case mjSENS_GEOMDIST:
-  case mjSENS_INSIDESITE:
-  case mjSENS_E_POTENTIAL:
-  case mjSENS_E_KINETIC:
-  case mjSENS_CLOCK:
-    return 1;
-
-  case mjSENS_CAMPROJECTION:
-    return 2;
-
-  case mjSENS_ACCELEROMETER:
-  case mjSENS_VELOCIMETER:
-  case mjSENS_GYRO:
-  case mjSENS_FORCE:
-  case mjSENS_TORQUE:
-  case mjSENS_MAGNETOMETER:
-  case mjSENS_BALLANGVEL:
-  case mjSENS_FRAMEPOS:
-  case mjSENS_FRAMEXAXIS:
-  case mjSENS_FRAMEYAXIS:
-  case mjSENS_FRAMEZAXIS:
-  case mjSENS_FRAMELINVEL:
-  case mjSENS_FRAMEANGVEL:
-  case mjSENS_FRAMELINACC:
-  case mjSENS_FRAMEANGACC:
-  case mjSENS_SUBTREECOM:
-  case mjSENS_SUBTREELINVEL:
-  case mjSENS_SUBTREEANGMOM:
-  case mjSENS_GEOMNORMAL:
-    return 3;
-
-  case mjSENS_GEOMFROMTO:
-    return 6;
-
-  case mjSENS_BALLQUAT:
-  case mjSENS_FRAMEQUAT:
-    return 4;
-
-  case mjSENS_CONTACT:
-    return sensor->intprm[2] * mju_condataSize(sensor->intprm[0]);
-
-  case mjSENS_TACTILE:
-    return 3 * static_cast<const mjCMesh*>(
-                   static_cast<mjCSensor*>(sensor->element)->get_obj())
-                   ->nvert();
-
-  case mjSENS_RANGEFINDER:
-    {
-      int size = mju_raydataSize(sensor->intprm[0]);
-      int num_rays = 1;
-      if (sensor->objtype == mjOBJ_CAMERA) {
-        const mjCCamera* camera = static_cast<const mjCCamera*>(
-            static_cast<mjCSensor*>(sensor->element)->get_obj());
-        num_rays = camera->spec.resolution[0] * camera->spec.resolution[1];
-      }
-      return size * num_rays;
-    }
-
-  case mjSENS_USER:
-    return sensor->dim;
-
-  case mjSENS_PLUGIN:
-    return 0;  // to be filled in by plugin
-  }
-  return -1;
-}
-
-
-
-// get id
-int mjs_getId(const mjsElement* element) {
-  if (!element) {
-    return -1;
-  }
-  return static_cast<const mjCBase*>(element)->id;
-}
-
-
-
-// set default
-void mjs_setDefault(mjsElement* element, const mjsDefault* defspec) {
-  mjCBase* baseC = static_cast<mjCBase*>(element);
-  baseC->classname = static_cast<mjCDef*>(defspec->element)->name;
-}
-
-
-
-// return first child of selected type
-mjsElement* mjs_firstChild(const mjsBody* body, mjtObj type, int recurse) {
-  const mjCBody* bodyC = static_cast<const mjCBody*>(body->element);
-  try {
-    return bodyC->NextChild(NULL, type, recurse);
-  } catch (mjCError& e) {
-    bodyC->model->SetError(e);
-    return nullptr;
-  }
-}
-
-
-
-// return body's next child; return NULL if child is last
-mjsElement* mjs_nextChild(const mjsBody* body, const mjsElement* child, int recurse) {
-  const mjCBody* bodyC = static_cast<const mjCBody*>(body->element);
-  try {
-    return bodyC->NextChild(child, child->elemtype, recurse);
-  } catch(mjCError& e) {
-    bodyC->model->SetError(e);
-    return nullptr;
-  }
-}
-
-
-
-// return spec's first element of selected type
-mjsElement* mjs_firstElement(const mjSpec* s, mjtObj type) {
-  const mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  return modelC->NextObject(NULL, type);
-}
-
-
-
-// return spec's next element; return NULL if element is last
-mjsElement* mjs_nextElement(const mjSpec* s, const mjsElement* element) {
-  const mjCModel* modelC = static_cast<mjCModel*>(s->element);
-  return modelC->NextObject(element);
-}
-
-
-
-mjsElement* mjs_getWrapTarget(const mjsWrap* wrap) {
-  const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
-  mjtObj type = mjOBJ_UNKNOWN;
-  switch (cwrap->Type()) {
-    case mjWRAP_SPHERE:
-    case mjWRAP_CYLINDER:
-      type = mjOBJ_GEOM;
-      break;
-    case mjWRAP_SITE:
-      type = mjOBJ_SITE;
-      break;
-    case mjWRAP_JOINT:
-      type = mjOBJ_JOINT;
-      break;
-    case mjWRAP_PULLEY:
-      // Pulleys have no target.
-      return nullptr;
-    default:
-      return nullptr;
-  }
-  const mjSpec* spec = mjs_getSpec(wrap->element);
-  return mjs_findElement(spec, type, cwrap->name.c_str());
-}
-
-
-
-mjsSite* mjs_getWrapSideSite(const mjsWrap* wrap) {
-  const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
-  // only sphere and cylinder (geoms) have side sites
-  if ((cwrap->Type() != mjWRAP_SPHERE &&
-      cwrap->Type() != mjWRAP_CYLINDER) ||
-      cwrap->sidesite.empty()) {
-    return nullptr;
-  }
-
-  const mjSpec* spec = mjs_getSpec(wrap->element);
-  mjsElement* site = mjs_findElement(spec, mjOBJ_SITE, cwrap->sidesite.c_str());
-  if (site == nullptr) {
-    mju_warning("Could not find side site %s for wrap %s in spec",
-                cwrap->sidesite.c_str(), cwrap->name.c_str());
-    return nullptr;
-  }
-  return mjs_asSite(site);
-}
-
-
-
-double mjs_getWrapDivisor(const mjsWrap* wrap) {
-  const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
-  if (cwrap->Type() != mjWRAP_PULLEY) {
-    mju_warning("Querying divisor attribute of non-pulley wrap: %s", cwrap->name.c_str());
-    return 1.0;
-  }
-  return cwrap->prm;
-}
-
-
-
-double mjs_getWrapCoef(const mjsWrap* wrap) {
-  const mjCWrap* cwrap = static_cast<const mjCWrap*>(wrap->element);
-  if (cwrap->Type() != mjWRAP_JOINT) {
-    mju_warning("Querying coef attribute of non-joint wrap: %s", cwrap->name.c_str());
-    return 1.0;
-  }
-  return cwrap->prm;
-}
-
-
-
-// return body given mjsElement
-mjsBody* mjs_asBody(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_BODY) {
-    return &(static_cast<mjCBody*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return geom given mjsElement
-mjsGeom* mjs_asGeom(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_GEOM) {
-    return &(static_cast<mjCGeom*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return joint given mjsElement
-mjsJoint* mjs_asJoint(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_JOINT) {
-    return &(static_cast<mjCJoint*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// Return site given mjsElement
-mjsSite* mjs_asSite(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_SITE) {
-    return &(static_cast<mjCSite*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return camera given mjsElement
-mjsCamera* mjs_asCamera(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_CAMERA) {
-    return &(static_cast<mjCCamera*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return light given mjsElement
-mjsLight* mjs_asLight(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_LIGHT) {
-    return &(static_cast<mjCLight*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return frame given mjsElement
-mjsFrame* mjs_asFrame(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_FRAME) {
-    return &(static_cast<mjCFrame*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return actuator given mjsElement
-mjsActuator* mjs_asActuator(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_ACTUATOR) {
-    return &(static_cast<mjCActuator*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return sensor given mjsElement
-mjsSensor* mjs_asSensor(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_SENSOR) {
-    return &(static_cast<mjCSensor*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return flex given mjsElement
-mjsFlex* mjs_asFlex(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_FLEX) {
-    return &(static_cast<mjCFlex*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return pair given mjsElement
-mjsPair* mjs_asPair(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_PAIR) {
-    return &(static_cast<mjCPair*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return equality given mjsElement
-mjsEquality* mjs_asEquality(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_EQUALITY) {
-    return &(static_cast<mjCEquality*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return exclude given mjsElement
-mjsExclude* mjs_asExclude(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_EXCLUDE) {
-    return &(static_cast<mjCBodyPair*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return tendon given mjsElement
-mjsTendon* mjs_asTendon(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_TENDON) {
-    return &(static_cast<mjCTendon*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return numeric given mjsElement
-mjsNumeric* mjs_asNumeric(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_NUMERIC) {
-    return &(static_cast<mjCNumeric*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return text given mjsElement
-mjsText* mjs_asText(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_TEXT) {
-    return &(static_cast<mjCText*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return tuple given mjsElement
-mjsTuple* mjs_asTuple(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_TUPLE) {
-    return &(static_cast<mjCTuple*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return key given mjsElement
-mjsKey* mjs_asKey(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_KEY) {
-    return &(static_cast<mjCKey*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return mesh given mjsElement
-mjsMesh* mjs_asMesh(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_MESH) {
-    return &(static_cast<mjCMesh*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return hfield given mjsElement
-mjsHField* mjs_asHField(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_HFIELD) {
-    return &(static_cast<mjCHField*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return skin given mjsElement
-mjsSkin* mjs_asSkin(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_SKIN) {
-    return &(static_cast<mjCSkin*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return texture given mjsElement
-mjsTexture* mjs_asTexture(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_TEXTURE) {
-    return &(static_cast<mjCTexture*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return material given mjsElement
-mjsMaterial* mjs_asMaterial(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_MATERIAL) {
-    return &(static_cast<mjCMaterial*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// return plugin given mjsElement
-mjsPlugin* mjs_asPlugin(mjsElement* element) {
-  if (element && element->elemtype == mjOBJ_PLUGIN) {
-    return &(static_cast<mjCPlugin*>(element)->spec);
-  }
-  return nullptr;
-}
-
-
-
-// set element name
-int mjs_setName(mjsElement* element, const char* name) {
-  if (element->elemtype == mjOBJ_DEFAULT) {
-    mjCDef* def = static_cast<mjCDef*>(element);
-    def->name = std::string(name);
-    return 0;
-  }
-  mjCBase* baseC = static_cast<mjCBase*>(element);
-  baseC->name = std::string(name);
-  try {
-    baseC->model->CheckRepeat(element->elemtype);
-  } catch (mjCError& e) {
-    baseC->model->SetError(e);
-    return -1;
-  }
-  return 0;
-}
-
-
-
-// copy buffer to destination buffer
-void mjs_setBuffer(mjByteVec* dest, const void* array, int size) {
-  const std::byte* buffer = static_cast<const std::byte*>(array);
-  dest->clear();
-  dest->reserve(size);
-  std::copy_n(buffer, size, std::back_inserter(*dest));
-}
-
-
-
-// set string
-void mjs_setString(mjString* dest, const char* text) {
-  std::string* str = static_cast<std::string*>(dest);
-  *str = std::string(text);
-}
-
-
-
-// Set specific entry in destination string vector.
-mjtBool mjs_setInStringVec(mjStringVec* dest, int i, const char* text) {
-  if (dest->size() <= i) {
-    mju_error("Requested index in mjs_setInStringVec is out of bounds");
-    return false;
-  }
-  dest->at(i) = std::string(text);
-  return true;
-}
-
-
-
-// split text and copy into string array
-void mjs_setStringVec(mjStringVec* dest, const char* text) {
-  std::vector<std::string>* v = static_cast<std::vector<std::string>*>(dest);
-  *v = StringToVector<std::string>(text);
-}
-
-
-
-// add text entry to destination string vector
-void mjs_appendString(mjStringVec* dest, const char* text) {
-  dest->push_back(std::string(text));
-}
-
-
-// copy int array to vector
-void mjs_setInt(mjIntVec* dest, const int* array, int size) {
-  dest->assign(size, 0.0);
-  for (int i = 0; i < size; ++i) {
-    (*dest)[i] = array[i];
-  }
-}
-
-
-
-// append int array to vector of arrays
-void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size) {
-  dest->push_back(std::vector<int>(array, array + size));
-}
-
-
-
-// copy float array to vector
-void mjs_setFloat(mjFloatVec* dest, const float* array, int size) {
-  dest->assign(size, 0.0);
-  for (int i = 0; i < size; ++i) {
-    (*dest)[i] = array[i];
-  }
-}
-
-
-
-
-// append float array to vector of arrays
-void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size) {
-  dest->push_back(std::vector<float>(array, array + size));
-}
-
-
-
-// copy double array to vector
-void mjs_setDouble(mjDoubleVec* dest, const double* array, int size) {
-  dest->assign(size, 0.0);
-  for (int i = 0; i < size; ++i) {
-    (*dest)[i] = array[i];
-  }
-}
-
-
-
-// get name
-mjString* mjs_getName(mjsElement* element) {
-  if (element->elemtype == mjOBJ_DEFAULT) {
-    return &(static_cast<mjCDef*>(element)->name);
-  }
-  return &(static_cast<mjCBase*>(element)->name);
-}
-
-
-
-// get string
-const char* mjs_getString(const mjString* source) {
-  return source->c_str();
-}
-
-
-
-// get double array
-const double* mjs_getDouble(const mjDoubleVec* source, int* size) {
-  if (size) {
-    *size = source->size();
-  }
-  return source->data();
-}
-
-int mjs_getWrapNum(const mjsTendon* tendonspec) {
-  mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
-  return tendon->NumWraps();
-}
-
-mjsWrap* mjs_getWrap(const mjsTendon* tendonspec, int i) {
-  mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
-  if (i < 0 || i >= tendon->NumWraps()) {
-    mju_error("Wrap index out of range (0, %d)", tendon->NumWraps());
-  }
-  return &const_cast<mjCWrap*>(tendon->GetWrap(i))->spec;
-}
-
-// set plugin attributes
-void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) {
-  mjCPlugin* pluginC = static_cast<mjCPlugin*>(plugin->element);
-  std::map<std::string, std::string, std::less<> >* config_attribs =
-    reinterpret_cast<std::map<std::string, std::string, std::less<> >*>(attributes);
-  pluginC->config_attribs = std::move(*config_attribs);
-}
-
-
-
-// get plugin attributes
-const void* mjs_getPluginAttributes(const mjsPlugin* plugin) {
-  mjCPlugin* pluginC = static_cast<mjCPlugin*>(plugin->element);
-  return &pluginC->config_attribs;
-}
-
-
-
-// -------------------------- GLOBAL ASSET CACHE -------------------------------
-
-// get the capacity of the asset cache in bytes
-size_t mj_getCacheCapacity(const mjCache* cache) {
-  if (cache) {
-    const mjCCache* ccache = reinterpret_cast<const mjCCache*>(cache->impl_);
-    if (ccache) {
-      return ccache->Capacity();
-    }
-  }
-  return 0;
-}
-
-
-// set the capacity of the asset cache in bytes (0 to disable)
-size_t mj_setCacheCapacity(mjCache* cache, size_t size) {
-  if (cache) {
-    mjCCache* ccache = reinterpret_cast<mjCCache*>(cache->impl_);
-    if (ccache) {
-      ccache->SetCapacity(size);
-      return ccache->Capacity();
-    }
-  }
-  return 0;
-}
-
-
-// get the current size of the asset cache in bytes
-size_t mj_getCacheSize(const mjCache* cache) {
-  if (cache) {
-    const mjCCache* ccache = reinterpret_cast<const mjCCache*>(cache->impl_);
-    if (ccache) {
-      return ccache->Size();
-    }
-  }
-  return 0;
-}
-
-
-// clear the asset cache
-void mj_clearCache(mjCache* cache) {
-  if (cache) {
-    mjCCache* ccache = reinterpret_cast<mjCCache*>(cache->impl_);
-    if (ccache) {
-      ccache->Reset();
-    }
-  }
-}
-
-// get the internal asset cache used by the compiler
-mjCache* mj_getCache() {
-  static mjCache cache_cwrapper = []() {
-    mjCache c = {0};
-    // mjCCache is not trivially destructible and so the global cache needs to
-    // allocated on the heap
-    if constexpr (kGlobalCacheSize != 0) {
-      static mjCCache* cache = new (std::nothrow) mjCCache(kGlobalCacheSize);
-      c.impl_ = cache->Capacity() > 0 ? cache : nullptr;
-    }
-    return c;
-  }();
-  return &cache_cwrapper;
-}
-
-
-// return 1 if a field was authored, 0 otherwise
-int mjs_isAuthored(const void* elem_ptr, const void* field_ptr) {
-  if (!elem_ptr || !field_ptr) return 0;
-  const mjsElement* el = *reinterpret_cast<const mjsElement* const*>(elem_ptr);
-  if (!el) return 0;
-
-  // model-level sub-structs (compiler, option, visual)
-  if (el->elemtype == mjOBJ_MODEL) {
-    const mjCModel* cel = static_cast<const mjCModel*>(el);
-    int idx = 0;
-
-#define CHECK_FIELD(FIELD_PATH, AUTHORED_MASK)                               \
-  if (field_ptr == &FIELD_PATH) return (AUTHORED_MASK & (1ULL << idx)) != 0; \
-  idx++;
-#define CHECK_FIELD_VEC(FIELD_PATH, AUTHORED_MASK)         \
-  if (field_ptr == FIELD_PATH || field_ptr == &FIELD_PATH) \
-    return (AUTHORED_MASK & (1ULL << idx)) != 0;           \
-  idx++;
-
-#define X(type, name, dim) CHECK_FIELD(cel->spec.compiler.name, cel->spec.compiler.authored)
-#define XVEC(type, name, dim) CHECK_FIELD_VEC(cel->spec.compiler.name, cel->spec.compiler.authored)
-    idx = 0;
-    MJSCOMPILER_FIELDS
-#undef X
-#undef XVEC
-
-#define X(type, name, dim) CHECK_FIELD(cel->spec.option.name, cel->spec.authored.option)
-#define XVEC(type, name, dim) CHECK_FIELD_VEC(cel->spec.option.name, cel->spec.authored.option)
-    idx = 0;
-    MJOPTION_FIELDS
-#undef X
-#undef XVEC
-
-#define X(type, name, dim) \
-  CHECK_FIELD(cel->spec.visual.global.name, cel->spec.authored.visual_global)
-    idx = 0;
-    MJVISUAL_GLOBAL_FIELDS
-#undef X
-
-#define X(type, name, dim) \
-  CHECK_FIELD(cel->spec.visual.quality.name, cel->spec.authored.visual_quality)
-    idx = 0;
-    MJVISUAL_QUALITY_FIELDS
-#undef X
-
-#define X(type, name, dim) \
-  CHECK_FIELD(cel->spec.visual.headlight.name, cel->spec.authored.visual_headlight)
-#define XVEC(type, name, dim) \
-  CHECK_FIELD_VEC(cel->spec.visual.headlight.name, cel->spec.authored.visual_headlight)
-    idx = 0;
-    MJVISUAL_HEADLIGHT_FIELDS
-#undef X
-#undef XVEC
-
-#define X(type, name, dim) CHECK_FIELD(cel->spec.visual.map.name, cel->spec.authored.visual_map)
-    idx = 0;
-    MJVISUAL_MAP_FIELDS
-#undef X
-
-#define X(type, name, dim) CHECK_FIELD(cel->spec.visual.scale.name, cel->spec.authored.visual_scale)
-    idx = 0;
-    MJVISUAL_SCALE_FIELDS
-#undef X
-
-#define XVEC(type, name, dim) \
-  CHECK_FIELD_VEC(cel->spec.visual.rgba.name, cel->spec.authored.visual_rgba)
-    idx = 0;
-    MJVISUAL_RGBA_FIELDS
-#undef XVEC
-
-#undef CHECK_FIELD
-#undef CHECK_FIELD_VEC
-  }
-
-  return 0;
-}
-
-
-
-// record explicit authoring of an element's field
-void mjs_setAuthored(const void* elem_ptr, const void* field_ptr, int authored) {
-  if (!elem_ptr || !field_ptr) return;
-  mjsElement* el = const_cast<mjsElement*>(*reinterpret_cast<const mjsElement* const*>(elem_ptr));
-  if (!el) return;
-
-#define SET_FIELD(FIELD_PATH, AUTHORED_MASK) \
-  if (field_ptr == &FIELD_PATH) {            \
-    if (authored)                            \
-      AUTHORED_MASK |= (1ULL << idx);        \
-    else                                     \
-      AUTHORED_MASK &= ~(1ULL << idx);       \
-    return;                                  \
-  }                                          \
-  idx++;
-
-#define SET_FIELD_VEC(FIELD_PATH, AUTHORED_MASK)             \
-  if (field_ptr == FIELD_PATH || field_ptr == &FIELD_PATH) { \
-    if (authored)                                            \
-      AUTHORED_MASK |= (1ULL << idx);                        \
-    else                                                     \
-      AUTHORED_MASK &= ~(1ULL << idx);                       \
-    return;                                                  \
-  }                                                          \
-  idx++;
-
-  // model-level sub-structs (compiler, option, visual)
-  if (el->elemtype == mjOBJ_MODEL) {
-    mjCModel* cel = static_cast<mjCModel*>(el);
-    int idx = 0;
-
-#define X(type, name, dim) SET_FIELD(cel->spec.compiler.name, cel->spec.compiler.authored)
-#define XVEC(type, name, dim) SET_FIELD_VEC(cel->spec.compiler.name, cel->spec.compiler.authored)
-    idx = 0;
-    MJSCOMPILER_FIELDS
-#undef X
-#undef XVEC
-
-#define X(type, name, dim) SET_FIELD(cel->spec.option.name, cel->spec.authored.option)
-#define XVEC(type, name, dim) SET_FIELD_VEC(cel->spec.option.name, cel->spec.authored.option)
-    idx = 0;
-    MJOPTION_FIELDS
-#undef X
-#undef XVEC
-
-#define X(type, name, dim) SET_FIELD(cel->spec.visual.global.name, cel->spec.authored.visual_global)
-    idx = 0;
-    MJVISUAL_GLOBAL_FIELDS
-#undef X
-
-#define X(type, name, dim) \
-  SET_FIELD(cel->spec.visual.quality.name, cel->spec.authored.visual_quality)
-    idx = 0;
-    MJVISUAL_QUALITY_FIELDS
-#undef X
-
-#define X(type, name, dim) \
-  SET_FIELD(cel->spec.visual.headlight.name, cel->spec.authored.visual_headlight)
-#define XVEC(type, name, dim) \
-  SET_FIELD_VEC(cel->spec.visual.headlight.name, cel->spec.authored.visual_headlight)
-    idx = 0;
-    MJVISUAL_HEADLIGHT_FIELDS
-#undef X
-#undef XVEC
-
-#define X(type, name, dim) SET_FIELD(cel->spec.visual.map.name, cel->spec.authored.visual_map)
-    idx = 0;
-    MJVISUAL_MAP_FIELDS
-#undef X
-
-#define X(type, name, dim) SET_FIELD(cel->spec.visual.scale.name, cel->spec.authored.visual_scale)
-    idx = 0;
-    MJVISUAL_SCALE_FIELDS
-#undef X
-
-#define XVEC(type, name, dim) \
-  SET_FIELD_VEC(cel->spec.visual.rgba.name, cel->spec.authored.visual_rgba)
-    idx = 0;
-    MJVISUAL_RGBA_FIELDS
-#undef XVEC
-  }
-
-#undef SET_FIELD
-#undef SET_FIELD_VEC
-}
diff --git a/src/user/user_api.h b/src/user/user_api.h
deleted file mode 100644
index 77b5c03f..00000000
--- a/src/user/user_api.h
+++ /dev/null
@@ -1,578 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_USER_USER_API_H_
-#define MUJOCO_SRC_USER_USER_API_H_
-
-#include <math.h>
-#include <stddef.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-
-
-// this is a C-API
-#ifdef __cplusplus
-#include <string>
-#include <vector>
-
-extern "C" {
-#endif
-
-#define mjNAN NAN                  // used to mark undefined fields
-
-//---------------------------------- Top-level spec manipulation -----------------------------------
-
-// Create spec.
-MJAPI mjSpec* mj_makeSpec(void);
-
-// Compile spec to model.
-MJAPI mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
-
-// Recompile spec to model, preserving the state, return 0 on success.
-MJAPI int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
-
-// Copy spec.
-MJAPI mjSpec* mj_copySpec(const mjSpec* s);
-
-// Get compiler error message from spec.
-MJAPI const char* mjs_getError(mjSpec* s);
-
-// Return 1 if compiler error is a warning.
-MJAPI int mjs_isWarning(mjSpec* s);
-
-// Delete spec.
-MJAPI void mj_deleteSpec(mjSpec* s);
-
-// Add spec (model asset) to spec.
-MJAPI void mjs_addSpec(mjSpec* s, mjSpec* child);
-
-// Activate plugin, return 0 on success.
-MJAPI int mjs_activatePlugin(mjSpec* s, const char* name);
-
-// Turn deep copy on or off attach. Returns 0 on success.
-MJAPI int mjs_setDeepCopy(mjSpec* s, int deepcopy);
-
-// Copy real-valued arrays from model to spec, returns 1 on success.
-MJAPI int mj_copyBack(mjSpec* s, const mjModel* m);
-
-
-//---------------------------------- Attachment ----------------------------------------------------
-
-// Attach child to a parent, return the attached element if success or NULL otherwise.
-MJAPI mjsElement* mjs_attach(mjsElement* parent, const mjsElement* child,
-                             const char* prefix, const char* suffix);
-
-
-//---------------------------------- Add tree elements ---------------------------------------------
-
-// Add child body to body, return child.
-MJAPI mjsBody* mjs_addBody(mjsBody* body, const mjsDefault* def);
-
-// Add site to body, return site spec.
-MJAPI mjsSite* mjs_addSite(mjsBody* body, const mjsDefault* def);
-
-// Add joint to body.
-MJAPI mjsJoint* mjs_addJoint(mjsBody* body, const mjsDefault* def);
-
-// Add freejoint to body.
-MJAPI mjsJoint* mjs_addFreeJoint(mjsBody* body);
-
-// Add geom to body.
-MJAPI mjsGeom* mjs_addGeom(mjsBody* body, const mjsDefault* def);
-
-// Add camera to body.
-MJAPI mjsCamera* mjs_addCamera(mjsBody* body, const mjsDefault* def);
-
-// Add light to body.
-MJAPI mjsLight* mjs_addLight(mjsBody* body, const mjsDefault* def);
-
-// Add frame to body.
-MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
-
-// Remove object corresponding to the given element, return 0 on success.
-MJAPI int mjs_delete(mjSpec* s, mjsElement* element);
-
-
-//---------------------------------- Add non-tree elements -----------------------------------------
-
-// Add actuator.
-MJAPI mjsActuator* mjs_addActuator(mjSpec* s, const mjsDefault* def);
-
-// Add sensor.
-MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
-
-// Add flex.
-MJAPI mjsFlex* mjs_addFlex(mjSpec* s);
-
-// Add flexcomp: create flex with auto-generated bodies/joints, return flex spec.
-MJAPI mjsFlex* mjs_makeFlex(mjsBody* body, const char* name, const char* type, int dim,
-                            const char* dof, const int count[3], const int cellcount[3],
-                            const double spacing[3], const double scale[3], double radius,
-                            double mass, double inertiabox, int equality, int rigid, int flatskin,
-                            int elastic2d, const double pos[3], const double quat[4],
-                            const double origin[3], const char* file, const mjVFS* vfs);
-
-// Add contact pair.
-MJAPI mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* def);
-
-// Add excluded body pair.
-MJAPI mjsExclude* mjs_addExclude(mjSpec* s);
-
-// Add equality.
-MJAPI mjsEquality* mjs_addEquality(mjSpec* s, const mjsDefault* def);
-
-// Add tendon.
-MJAPI mjsTendon* mjs_addTendon(mjSpec* s, const mjsDefault* def);
-
-// Wrap site using tendon.
-MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
-
-// Wrap geom using tendon.
-MJAPI mjsWrap* mjs_wrapGeom(mjsTendon* tendon, const char* name, const char* sidesite);
-
-// Wrap joint using tendon.
-MJAPI mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
-
-// Wrap pulley using tendon.
-MJAPI mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
-
-// Add numeric.
-MJAPI mjsNumeric* mjs_addNumeric(mjSpec* s);
-
-// Add text.
-MJAPI mjsText* mjs_addText(mjSpec* s);
-
-// Add tuple.
-MJAPI mjsTuple* mjs_addTuple(mjSpec* s);
-
-// Add keyframe.
-MJAPI mjsKey* mjs_addKey(mjSpec* s);
-
-// Add plugin.
-MJAPI mjsPlugin* mjs_addPlugin(mjSpec* s);
-
-// Add default.
-MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, const mjsDefault* parent);
-
-
-//---------------------------------- Set actuator parameters ---------------------------------------
-
-// Set actuator to motor, return error on failure.
-MJAPI const char* mjs_setToMotor(mjsActuator* actuator);
-
-// Set actuator to position, return error on failure.
-MJAPI const char* mjs_setToPosition(mjsActuator* actuator, double kp, double kv[1],
-                                    double dampratio[1], double timeconst[1], double inheritrange);
-
-// Set actuator to integrated velocity, return error on failure.
-MJAPI const char* mjs_setToIntVelocity(mjsActuator* actuator, double kp, double kv[1],
-                                       double dampratio[1], double timeconst[1], double inheritrange);
-
-// Set actuator to velocity, return error on failure.
-MJAPI const char* mjs_setToVelocity(mjsActuator* actuator, double kv);
-
-// Set to orientation actuator.
-MJAPI const char* mjs_setToOrientation(mjsActuator* actuator, double kp, double kv[1],
-                                       double dampratio[1], int ctrlspec);
-
-// Set to PID actuator.
-MJAPI const char* mjs_setToPID(mjsActuator* actuator, double kp, double kv[1], double dampratio[1],
-                               double ki[1], double imax[1], double slewmax[1], double inheritrange,
-                               int ctrlspec);
-
-// Set actuator to damper, return error on failure.
-MJAPI const char* mjs_setToDamper(mjsActuator* actuator, double kv);
-
-// Set actuator to cylinder actuator, return error on failure.
-MJAPI const char* mjs_setToCylinder(mjsActuator* actuator, double timeconst,
-                                    double bias, double area, double diameter);
-
-// Set actuator to muscle, return error on failure.
-MJAPI const char* mjs_setToMuscle(mjsActuator* actuator, double timeconst[2], double tausmooth,
-                                  double range[2], double force, double scale, double lmin,
-                                  double lmax, double vmax, double fpmax, double fvmax);
-
-// Set actuator to adhesion, return error on failure.
-MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
-
-// Set actuator to DC motor, return error on failure.
-MJAPI const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
-                                   double nominal[3], double saturation[3], double inductance[2],
-                                   double cogging[3], double controller[6], double thermal[6],
-                                   double lugre[5], int ctrlspec);
-
-
-//---------------------------------- Add assets ----------------------------------------------------
-
-// Add mesh.
-MJAPI mjsMesh* mjs_addMesh(mjSpec* s, const mjsDefault* def);
-
-// Add height field.
-MJAPI mjsHField* mjs_addHField(mjSpec* s);
-
-// Add skin.
-MJAPI mjsSkin* mjs_addSkin(mjSpec* s);
-
-// Add texture.
-MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
-
-// Add material.
-MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
-
-// Sets the vertices and normals of a mesh.
-MJAPI int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams);
-
-//---------------------------------- Find/get utilities --------------------------------------------
-
-// Get spec from body.
-MJAPI mjSpec* mjs_getSpec(const mjsElement* element);
-
-// get spec that originally defined an element
-// contrary to mjs_getSpec, this does not change after attachment
-MJAPI mjSpec* mjs_getOriginSpec(const mjsElement* element);
-
-// Find spec (model asset) by name.
-MJAPI mjSpec* mjs_findSpec(const mjSpec* spec, const char* name);
-
-// Find body in spec by name.
-MJAPI mjsBody* mjs_findBody(const mjSpec* s, const char* name);
-
-// Find element in spec by name.
-MJAPI mjsElement* mjs_findElement(const mjSpec* s, mjtObj type, const char* name);
-
-// Find child body by name.
-MJAPI mjsBody* mjs_findChild(const mjsBody* body, const char* name);
-
-// Get parent body.
-MJAPI mjsBody* mjs_getParent(const mjsElement* element);
-
-// Get parent frame.
-MJAPI mjsFrame* mjs_getFrame(const mjsElement* element);
-
-// Find frame by name.
-MJAPI mjsFrame* mjs_findFrame(const mjSpec* s, const char* name);
-
-// Get default corresponding to an element.
-MJAPI mjsDefault* mjs_getDefault(const mjsElement* element);
-
-// Find default in model by class name.
-MJAPI mjsDefault* mjs_findDefault(const mjSpec* s, const char* classname);
-
-// Get global default from model.
-MJAPI mjsDefault* mjs_getSpecDefault(const mjSpec* s);
-
-// Get element id.
-MJAPI int mjs_getId(const mjsElement* element);
-
-
-//---------------------------------- Tree traversal ------------------------------------------------
-
-// Return body's first child of given type. If recurse is nonzero, also search the body's subtree.
-MJAPI mjsElement* mjs_firstChild(const mjsBody* body, mjtObj type, int recurse);
-
-// Return body's next child of the same type; return NULL if child is last.
-// If recurse is nonzero, also search the body's subtree.
-MJAPI mjsElement* mjs_nextChild(const mjsBody* body, const mjsElement* child, int recurse);
-
-// Return spec's first element of selected type.
-MJAPI mjsElement* mjs_firstElement(const mjSpec* s, mjtObj type);
-
-// Return spec's next element; return NULL if element is last.
-MJAPI mjsElement* mjs_nextElement(const mjSpec* s, const mjsElement* element);
-
-// Get wrapped element in tendon path.
-MJAPI mjsElement* mjs_getWrapTarget(const mjsWrap* wrap);
-
-// Get wrapped element in tendon path.
-MJAPI mjsSite* mjs_getWrapSideSite(const mjsWrap* wrap);
-
-// Get divisor of mjsWrap wrapping a puller.
-MJAPI double mjs_getWrapDivisor(const mjsWrap* wrap);
-
-// Get coefficient of mjsWrap wrapping a joint.
-MJAPI double mjs_getWrapCoef(const mjsWrap* wrap);
-
-// Safely cast an element as mjsBody, or return NULL if the element is not an mjsBody.
-MJAPI mjsBody* mjs_asBody(mjsElement* element);
-
-// Safely cast an element as mjsGeom, or return NULL if the element is not an mjsGeom.
-MJAPI mjsGeom* mjs_asGeom(mjsElement* element);
-
-// Safely cast an element as mjsJoint, or return NULL if the element is not an mjsJoint.
-MJAPI mjsJoint* mjs_asJoint(mjsElement* element);
-
-// Safely cast an element as mjsSite, or return NULL if the element is not an mjsSite.
-MJAPI mjsSite* mjs_asSite(mjsElement* element);
-
-// Safely cast an element as mjsCamera, or return NULL if the element is not an mjsCamera.
-MJAPI mjsCamera* mjs_asCamera(mjsElement* element);
-
-// Safely cast an element as mjsLight, or return NULL if the element is not an mjsLight.
-MJAPI mjsLight* mjs_asLight(mjsElement* element);
-
-// Safely cast an element as mjsFrame, or return NULL if the element is not an mjsFrame.
-MJAPI mjsFrame* mjs_asFrame(mjsElement* element);
-
-// Safely cast an element as mjsActuator, or return NULL if the element is not an mjsActuator.
-MJAPI mjsActuator* mjs_asActuator(mjsElement* element);
-
-// Safely cast an element as mjsSensor, or return NULL if the element is not an mjsSensor.
-MJAPI mjsSensor* mjs_asSensor(mjsElement* element);
-
-// Safely cast an element as mjsFlex, or return NULL if the element is not an mjsFlex.
-MJAPI mjsFlex* mjs_asFlex(mjsElement* element);
-
-// Safely cast an element as mjsPair, or return NULL if the element is not an mjsPair.
-MJAPI mjsPair* mjs_asPair(mjsElement* element);
-
-// Safely cast an element as mjsEquality, or return NULL if the element is not an mjsEquality.
-MJAPI mjsEquality* mjs_asEquality(mjsElement* element);
-
-// Safely cast an element as mjsExclude, or return NULL if the element is not an mjsExclude.
-MJAPI mjsExclude* mjs_asExclude(mjsElement* element);
-
-// Safely cast an element as mjsTendon, or return NULL if the element is not an mjsTendon.
-MJAPI mjsTendon* mjs_asTendon(mjsElement* element);
-
-// Safely cast an element as mjsNumeric, or return NULL if the element is not an mjsNumeric.
-MJAPI mjsNumeric* mjs_asNumeric(mjsElement* element);
-
-// Safely cast an element as mjsText, or return NULL if the element is not an mjsText.
-MJAPI mjsText* mjs_asText(mjsElement* element);
-
-// Safely cast an element as mjsTuple, or return NULL if the element is not an mjsTuple.
-MJAPI mjsTuple* mjs_asTuple(mjsElement* element);
-
-// Safely cast an element as mjsKey, or return NULL if the element is not an mjsKey.
-MJAPI mjsKey* mjs_asKey(mjsElement* element);
-
-// Safely cast an element as mjsMesh, or return NULL if the element is not an mjsMesh.
-MJAPI mjsMesh* mjs_asMesh(mjsElement* element);
-
-// Safely cast an element as mjsHField, or return NULL if the element is not an mjsHField.
-MJAPI mjsHField* mjs_asHField(mjsElement* element);
-
-// Safely cast an element as mjsSkin, or return NULL if the element is not an mjsSkin.
-MJAPI mjsSkin* mjs_asSkin(mjsElement* element);
-
-// Safely cast an element as mjsTexture, or return NULL if the element is not an mjsTexture.
-MJAPI mjsTexture* mjs_asTexture(mjsElement* element);
-
-// Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.
-MJAPI mjsMaterial* mjs_asMaterial(mjsElement* element);
-
-// Safely cast an element as mjsPlugin, or return NULL if the element is not an mjsPlugin.
-MJAPI mjsPlugin* mjs_asPlugin(mjsElement* element);
-
-
-//---------------------------------- Attribute setters ---------------------------------------------
-
-// Set element's name, return 0 on success.
-MJAPI int mjs_setName(mjsElement* element, const char* name);
-
-// Copy buffer.
-MJAPI void mjs_setBuffer(mjByteVec* dest, const void* array, int size);
-
-// Copy text to string.
-MJAPI void mjs_setString(mjString* dest, const char* text);
-
-// Split text to entries and copy to string vector.
-MJAPI void mjs_setStringVec(mjStringVec* dest, const char* text);
-
-// Set entry in string vector.
-MJAPI mjtBool mjs_setInStringVec(mjStringVec* dest, int i, const char* text);
-
-// Append text entry to string vector.
-MJAPI void mjs_appendString(mjStringVec* dest, const char* text);
-
-// Copy int array to vector.
-MJAPI void mjs_setInt(mjIntVec* dest, const int* array, int size);
-
-// Append int array to vector of arrays.
-MJAPI void mjs_appendIntVec(mjIntVecVec* dest, const int* array, int size);
-
-// Copy float array to vector.
-MJAPI void mjs_setFloat(mjFloatVec* dest, const float* array, int size);
-
-// Append float array to vector of arrays.
-MJAPI void mjs_appendFloatVec(mjFloatVecVec* dest, const float* array, int size);
-
-// Copy double array to vector.
-MJAPI void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
-
-// Set plugin attributes.
-MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
-
-
-//---------------------------------- Attribute getters ---------------------------------------------
-
-// Get element's name.
-MJAPI mjString* mjs_getName(mjsElement* element);
-
-// Get string contents.
-MJAPI const char* mjs_getString(const mjString* source);
-
-// Get double array contents and optionally its size.
-MJAPI const double* mjs_getDouble(const mjDoubleVec* source, int* size);
-
-// Get number of elements a tendon wraps.
-MJAPI int mjs_getWrapNum(const mjsTendon* tendonspec);
-
-MJAPI mjsWrap* mjs_getWrap(const mjsTendon* tendonspec, int i);
-
-// Get plugin attributes.
-MJAPI const void* mjs_getPluginAttributes(const mjsPlugin* plugin);
-
-
-//---------------------------------- Other utilities -----------------------------------------------
-
-// Return 1 if a field was authored or mutated relative to its inherited default, 0 otherwise.
-MJAPI int mjs_isAuthored(const void* elem_ptr, const void* field_ptr);
-
-// Record explicit authoring of an element's field.
-MJAPI void mjs_setAuthored(const void* elem_ptr, const void* field_ptr, int authored);
-
-// Set element's default.
-MJAPI void mjs_setDefault(mjsElement* element, const mjsDefault* def);
-
-// Set element's enclosing frame, return 0 on success.
-MJAPI int mjs_setFrame(mjsElement* dest, mjsFrame* frame);
-
-// Resolve alternative orientations to quat, return error if any.
-MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
-                                         const mjsOrientation* orientation);
-
-// Transform body into a frame.
-MJAPI mjsFrame* mjs_bodyToFrame(mjsBody** body);
-
-// Set user payload.
-MJAPI void mjs_setUserValue(mjsElement* element, const char* key, const void* data);
-
-// Set user payload.
-MJAPI void mjs_setUserValueWithCleanup(mjsElement* element, const char* key,
-                                       const void* data,
-                                       void (*cleanup)(const void*));
-
-// Return user payload or NULL if none found.
-MJAPI const void* mjs_getUserValue(mjsElement* element, const char* key);
-
-// Delete user payload.
-MJAPI void mjs_deleteUserValue(mjsElement* element, const char* key);
-
-// Return sensor dimension.
-MJAPI int mjs_sensorDim(const mjsSensor* sensor);
-
-//---------------------------------- Initialization  -----------------------------------------------
-
-// Default spec attributes.
-MJAPI void mjs_defaultSpec(mjSpec* spec);
-
-// Default orientation attributes.
-MJAPI void mjs_defaultOrientation(mjsOrientation* orient);
-
-// Default body attributes.
-MJAPI void mjs_defaultBody(mjsBody* body);
-
-// Default frame attributes.
-MJAPI void mjs_defaultFrame(mjsFrame* frame);
-
-// Default joint attributes.
-MJAPI void mjs_defaultJoint(mjsJoint* joint);
-
-// Default geom attributes.
-MJAPI void mjs_defaultGeom(mjsGeom* geom);
-
-// Default site attributes.
-MJAPI void mjs_defaultSite(mjsSite* site);
-
-// Default camera attributes.
-MJAPI void mjs_defaultCamera(mjsCamera* camera);
-
-// Default light attributes.
-MJAPI void mjs_defaultLight(mjsLight* light);
-
-// Default flex attributes.
-MJAPI void mjs_defaultFlex(mjsFlex* flex);
-
-// Default mesh attributes.
-MJAPI void mjs_defaultMesh(mjsMesh* mesh);
-
-// Default height field attributes.
-MJAPI void mjs_defaultHField(mjsHField* hfield);
-
-// Default skin attributes.
-MJAPI void mjs_defaultSkin(mjsSkin* skin);
-
-// Default texture attributes.
-MJAPI void mjs_defaultTexture(mjsTexture* texture);
-
-// Default material attributes.
-MJAPI void mjs_defaultMaterial(mjsMaterial* material);
-
-// Default pair attributes.
-MJAPI void mjs_defaultPair(mjsPair* pair);
-
-// Default equality attributes.
-MJAPI void mjs_defaultEquality(mjsEquality* equality);
-
-// Default tendon attributes.
-MJAPI void mjs_defaultTendon(mjsTendon* tendon);
-
-// Default actuator attributes.
-MJAPI void mjs_defaultActuator(mjsActuator* actuator);
-
-// Default sensor attributes.
-MJAPI void mjs_defaultSensor(mjsSensor* sensor);
-
-// Default numeric attributes.
-MJAPI void mjs_defaultNumeric(mjsNumeric* numeric);
-
-// Default text attributes.
-MJAPI void mjs_defaultText(mjsText* text);
-
-// Default tuple attributes.
-MJAPI void mjs_defaultTuple(mjsTuple* tuple);
-
-// Default keyframe attributes.
-MJAPI void mjs_defaultKey(mjsKey* key);
-
-// Default plugin attributes.
-MJAPI void mjs_defaultPlugin(mjsPlugin* plugin);
-
-
-//---------------------------------- Compiler cache ------------------------------------------------
-
-// Get the capacity of the asset cache in bytes.
-MJAPI size_t mj_getCacheCapacity(const mjCache* cache);
-
-// Set the capacity of the asset cache in bytes (0 to disable); returns the new capacity.
-MJAPI size_t mj_setCacheCapacity(mjCache* cache, size_t size);
-
-// Get the current size of the asset cache in bytes.
-MJAPI size_t mj_getCacheSize(const mjCache* cache);
-
-// Clear the asset cache.
-MJAPI void mj_clearCache(mjCache* cache);
-
-// Get the internal asset cache used by the compiler.
-MJAPI mjCache* mj_getCache(void);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-#endif  // MUJOCO_SRC_USER_USER_API_H_
diff --git a/src/user/user_cache.cc b/src/user/user_cache.cc
deleted file mode 100644
index 38d41435..00000000
--- a/src/user/user_cache.cc
+++ /dev/null
@@ -1,189 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_cache.h"
-
-#include <cstdlib>
-#include <cstring>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <unordered_map>
-#include <utility>
-
-#include <mujoco/mjplugin.h>
-#include "user/user_resource.h"
-
-
-// makes a copy for user (strip unnecessary items)
-mjCAsset mjCAsset::Copy(const mjCAsset& other) {
-  mjCAsset asset;
-  asset.id_        = other.Id();
-  asset.timestamp_ = other.Timestamp();
-  asset.data_      = other.data_;
-  asset.size_      = other.size_;
-  return asset;
-}
-
-
-// sets the total maximum size of the cache in bytes
-// low-priority cached assets will be dropped to make the new memory
-// requirement
-void mjCCache::SetCapacity(std::size_t size) {
-  std::lock_guard<std::mutex> lock(mutex_);
-  capacity_ = size;
-  Trim();
-}
-
-
-// returns the corresponding timestamp, if the given asset is stored in the cache
-const std::string* mjCCache::HasAsset(const std::string& id) {
-  std::lock_guard<std::mutex> lock(mutex_);
-  auto                        it = lookup_.find(id);
-  if (it == lookup_.end()) { return nullptr; }
-
-  return &(it->second.Timestamp());
-}
-
-
-// inserts an asset into the cache, if asset is already in the cache, its data
-// is updated only if the timestamps disagree
-bool mjCCache::Insert(const std::string&          modelname,
-                      const std::string&          id,
-                      const mjResource*           resource,
-                      std::shared_ptr<const void> data,
-                      std::size_t                 size) {
-  std::lock_guard<std::mutex> lock(mutex_);
-
-  // check if asset is too large to fit in the cache
-  if ((size_ + size > capacity_) && lookup_.find(id) == lookup_.end()) { return false; }
-  mjCAsset asset(modelname, id, resource, data, size);
-  auto [it, inserted] = lookup_.insert({id, asset});
-  mjCAsset* asset_ptr = &(it->second);
-
-  if (!inserted) {
-    if (size_ - asset_ptr->BytesCount() + size > capacity_) { return false; }
-    models_[modelname].insert(asset_ptr);  // add it for the model
-    asset_ptr->AddReference(modelname);
-    if (it->second.Timestamp() == asset.Timestamp()) { return true; }
-    asset_ptr->SetTimestamp(asset.Timestamp());
-    size_ = size_ - asset_ptr->BytesCount() + size;
-    asset_ptr->ReplaceData(asset);
-    return true;
-  }
-
-  // new asset
-  asset_ptr->SetInsertNum(insert_num_++);
-  entries_.insert(asset_ptr);
-  models_[modelname].insert(asset_ptr);
-  size_ += size;
-  return true;
-}
-
-
-// populate data from the cache into the given function, return true if data was
-// copied
-bool mjCCache::PopulateData(const std::string& id, const mjResource* resource, mjCDataFunc fn) {
-  std::lock_guard<std::mutex> lock(mutex_);
-  auto                        it = lookup_.find(id);
-  if (it == lookup_.end()) { return false; }
-
-  if (mju_isModifiedResource(resource, it->second.Timestamp().c_str())) { return false; }
-
-  mjCAsset* asset = &(it->second);
-
-  // update priority queue
-  entries_.erase(asset);
-  asset->IncrementAccess();
-  entries_.insert(asset);
-
-  return asset->PopulateData(fn);
-}
-
-
-// removes model from the cache along with assets referencing only this model
-void mjCCache::RemoveModel(const std::string& filename) {
-  std::lock_guard<std::mutex> lock(mutex_);
-  for (mjCAsset* asset : models_[filename]) {
-    asset->RemoveReference(filename);
-    if (!asset->HasReferences()) { Delete(asset, filename); }
-  }
-  models_.erase(filename);
-}
-
-
-// Wipes out all internal data for the given model
-void mjCCache::Reset(const std::string& filename) {
-  std::lock_guard<std::mutex> lock(mutex_);
-  for (auto asset : models_[filename]) { Delete(asset, filename); }
-  models_.erase(filename);
-}
-
-
-// Wipes out all internal data
-void mjCCache::Reset() {
-  std::lock_guard<std::mutex> lock(mutex_);
-  entries_.clear();
-  lookup_.clear();
-  models_.clear();
-  size_       = 0;
-  insert_num_ = 0;
-}
-
-
-std::size_t mjCCache::Capacity() const {
-  std::lock_guard<std::mutex> lock(mutex_);
-  return capacity_;
-}
-
-
-std::size_t mjCCache::Size() const {
-  std::lock_guard<std::mutex> lock(mutex_);
-  return size_;
-}
-
-
-// Deletes a single asset
-void mjCCache::DeleteAsset(const std::string& id) {
-  std::lock_guard<std::mutex> lock(mutex_);
-  auto                        it = lookup_.find(id);
-  if (it != lookup_.end()) { Delete(&(it->second)); }
-}
-
-
-// Deletes a single asset (internal)
-void mjCCache::Delete(mjCAsset* asset) {
-  size_ -= asset->BytesCount();
-  entries_.erase(asset);
-  for (auto& reference : asset->References()) { models_[reference].erase(asset); }
-  lookup_.erase(asset->Id());
-}
-
-
-// Deletes a single asset (internal)
-void mjCCache::Delete(mjCAsset* asset, const std::string& skip) {
-  size_ -= asset->BytesCount();
-  entries_.erase(asset);
-
-  for (auto& reference : asset->References()) {
-    if (reference != skip) { models_[reference].erase(asset); }
-  }
-  lookup_.erase(asset->Id());
-}
-
-
-// trims out data to meet memory requirements
-void mjCCache::Trim() {
-  while (size_ > capacity_) { Delete(*entries_.begin()); }
-}
diff --git a/src/user/user_cache.h b/src/user/user_cache.h
deleted file mode 100644
index c3f32878..00000000
--- a/src/user/user_cache.h
+++ /dev/null
@@ -1,183 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_USER_CACHE_H_
-#define MUJOCO_SRC_USER_CACHE_H_
-
-#include <cstddef>
-#include <cstdlib>
-#include <functional>
-#include <set>
-#include <string>
-#include <memory>
-#include <mutex>
-#include <unordered_map>
-#include <unordered_set>
-#include <utility>
-
-#include <mujoco/mjplugin.h>
-
-typedef std::function<bool(const void*)> mjCDataFunc;
-typedef void (*mjCDeallocFunc)(const void*);
-
-// A class container for a thread-safe asset cache
-//
-// Each mjCAsset is used to store raw and/or processed data loaded from a
-// resource and is defined by a unique ID (usually the full filename of the
-// asset).
-class mjCAsset {
-  friend class mjCCache;
-
- public:
-  mjCAsset(std::string                 modelname,
-           std::string                 id,
-           const mjResource*           resource,
-           std::shared_ptr<const void> data,
-           std::size_t                 size)
-      : id_(id), timestamp_(resource->timestamp), size_(size), data_(std::move(data)) {
-    AddReference(modelname);
-  }
-
-  // move and copy constructors
-  mjCAsset(mjCAsset&& other)                 = default;
-  mjCAsset& operator=(mjCAsset&& other)      = default;
-  mjCAsset(const mjCAsset& other)            = default;
-  mjCAsset& operator=(const mjCAsset& other) = default;
-
-  const std::string& Timestamp() const { return timestamp_; }
-  const std::string& Id() const { return id_; }
-  std::size_t        InsertNum() const { return insert_num_; }
-  std::size_t        AccessCount() const { return access_count_; }
-
-  // pass data in the cache to the given function, return true if data was copied
-  bool PopulateData(mjCDataFunc fn) const { return fn(data_.get()); }
-
- private:
-  mjCAsset() = default;
-
-  // helpers for managing models referencing this asset
-  void AddReference(std::string xml_file) { references_.insert(xml_file); }
-  void RemoveReference(const std::string& xml_file) { references_.erase(xml_file); }
-
-  void ReplaceData(const mjCAsset& other) {
-    data_ = other.data_;
-    size_ = other.size_;
-  }
-
-  bool HasReferences() const { return !references_.empty(); }
-
-  void IncrementAccess() { access_count_++; }
-
-  // makes a copy for user (strip unnecessary references)
-  static mjCAsset Copy(const mjCAsset& other);
-
-  // setters
-  void SetInsertNum(std::size_t num) { insert_num_ = num; }
-  void SetTimestamp(std::string timestamp) { timestamp_ = timestamp; }
-
-  // accessors
-  std::size_t                  BytesCount() const { return size_; }
-  const void*                  Data() const { return data_.get(); }
-  const std::set<std::string>& References() const { return references_; }
-
-  std::string                 id_;                // unique id associated with asset
-  std::string                 timestamp_;         // opaque timestamp of asset
-  std::size_t                 insert_num_;        // number when asset was inserted
-  std::size_t                 access_count_ = 0;  // incremented when getting 0th block
-  std::size_t                 size_         = 0;  // how many bytes taken up by the asset
-  std::shared_ptr<const void> data_;              // actual data of the asset
-
-  // list of models referencing this asset
-  std::set<std::string> references_;
-};
-
-struct mjCAssetCompare {
-  bool operator()(const mjCAsset* e1, const mjCAsset* e2) const {
-    if (e1->AccessCount() != e2->AccessCount()) { return e1->AccessCount() < e2->AccessCount(); }
-    return e1->InsertNum() < e2->InsertNum();
-  }
-};
-
-// the class container for a thread-safe asset cache
-class mjCCache {
- public:
-  explicit mjCCache(std::size_t size) : capacity_(size) {}
-
-  // move only
-  mjCCache(mjCCache&& other)                 = delete;
-  mjCCache& operator=(mjCCache&& other)      = delete;
-  mjCCache(const mjCCache& other)            = delete;
-  mjCCache& operator=(const mjCCache& other) = delete;
-
-  // sets the capacity of the cache in bytes
-  // low-priority cached assets will be dropped to make the new memory
-  // requirement
-  void SetCapacity(std::size_t size);
-
-  // returns the corresponding timestamp, if the given asset is stored in
-  // the cache
-  const std::string* HasAsset(const std::string& id);
-
-  // inserts an asset into the cache, if asset is already in the cache, its data
-  // is updated only if the timestamps disagree
-  bool Insert(const std::string&          modelname,
-              const std::string&          id,
-              const mjResource*           resource,
-              std::shared_ptr<const void> data,
-              std::size_t                 size);
-
-  // populate data from the cache into the given function
-  bool PopulateData(const std::string& id, const mjResource* resource, mjCDataFunc fn);
-
-  // deletes the asset from the cache with the given id
-  void DeleteAsset(const std::string& id);
-
-  // removes model from the cache, assets only referenced by the model will be
-  // deleted
-  void RemoveModel(const std::string& filename);
-
-  // Wipes out all assets from the cache for the given model
-  void Reset(const std::string& filename);
-
-  // Wipes out all internal data
-  void Reset();
-
-  // accessors
-  std::size_t Capacity() const;
-  std::size_t Size() const;
-
- private:
-  void Delete(mjCAsset* asset);
-  void Delete(mjCAsset* asset, const std::string& skip);
-  void Trim();
-
-  // TODO(kylebayes): We should consider a shared mutex like in
-  // engine/engine_plugin.cc as some of these methods don't need to be fully
-  // locked.
-  mutable std::mutex mutex_;
-  std::size_t        insert_num_ = 0;  // a running counter of assets being inserted
-  std::size_t        size_       = 0;  // current size of the cache in bytes
-  std::size_t        capacity_   = 0;  // capacity of the cache in bytes
-
-  // internal constant look up table for assets
-  std::unordered_map<std::string, mjCAsset> lookup_;
-
-  // internal priority queue for the cache
-  std::set<mjCAsset*, mjCAssetCompare> entries_;
-
-  // models using the cache along with the assets they reference
-  std::unordered_map<std::string, std::unordered_set<mjCAsset*>> models_;
-};
-
-#endif  // MUJOCO_SRC_USER_CACHE_H_
diff --git a/src/user/user_composite.cc b/src/user/user_composite.cc
deleted file mode 100644
index dddd85e0..00000000
--- a/src/user/user_composite.cc
+++ /dev/null
@@ -1,1087 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_composite.h"
-
-#include <cmath>
-#include <cstring>
-#include <string>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-#include "cc/array_safety.h"
-#include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "user/user_model.h"
-#include "user/user_objects.h"
-#include "user/user_api.h"
-#include "user/user_util.h"
-
-namespace {
-
-namespace mju = ::mujoco::util;
-
-}  // namespace
-
-// strncpy with 0, return false
-static bool comperr(char* error, const char* msg, int error_sz) {
-  mju_strncpy(error, msg, error_sz);
-  return false;
-}
-
-
-// constructor
-mjCComposite::mjCComposite(void) {
-  // common properties
-  prefix.clear();
-  type     = mjCOMPTYPE_PARTICLE;
-  count[0] = count[1] = count[2] = 1;
-  mjuu_setvec(offset, 0, 0, 0);
-  mjuu_setvec(quat, 1, 0, 0, 0);
-  frame = nullptr;
-
-  // plugin variables
-  mjs_defaultPlugin(&plugin);
-  plugin_name          = "";
-  plugin_instance_name = "";
-  plugin.plugin_name   = (mjString*)&plugin_name;
-  plugin.name          = (mjString*)&plugin_instance_name;
-
-  // cable
-  curve[0] = curve[1] = curve[2] = mjCOMPSHAPE_ZERO;
-  mjuu_setvec(size, 1, 0, 0);
-  initial = "ball";
-
-  // skin
-  skin         = false;
-  skintexcoord = false;
-  skinmaterial.clear();
-  mjuu_setvec(skinrgba, 1, 1, 1, 1);
-  skininflate = 0;
-  skinsubgrid = 0;
-  skingroup   = 0;
-
-  // clear add flags
-  for (int i = 0; i < mjNCOMPKINDS; i++) { add[i] = false; }
-
-  // clear internal
-  dim = 0;
-}
-
-
-// create the array of default joint options, append new elements only for particles type
-bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
-  for (int i = 0; i < mjNCOMPKINDS; i++) {
-    if (!defjoint[(mjtCompKind)i].empty() && type != mjCOMPTYPE_PARTICLE) {
-      comperr(error, "Only particles are allowed to have multiple joints", error_sz);
-      return false;
-    } else {
-      mjCDef jnt;
-      jnt.spec.joint->group = 3;
-      defjoint[(mjtCompKind)i].push_back(jnt);
-    }
-  }
-  return true;
-}
-
-
-// set defaults, after reading top-level info and skin
-void mjCComposite::SetDefault(void) {
-  // set all default groups to 3
-  for (int i = 0; i < mjNCOMPKINDS; i++) {
-    def[i].spec.geom->group   = 3;
-    def[i].spec.site->group   = 3;
-    def[i].spec.tendon->group = 3;
-  }
-
-  // set default joint
-  AddDefaultJoint();
-
-  // set default geom and tendon group to 0 if needed to be visible
-  if (!skin || type == mjCOMPTYPE_CABLE) {
-    for (int i = 0; i < mjNCOMPKINDS; i++) {
-      def[i].spec.geom->group   = 0;
-      def[i].spec.tendon->group = 0;
-    }
-  }
-}
-
-
-// make composite object
-bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
-  mjCModel* model = (mjCModel*)spec->element;
-
-  // check counts
-  for (int i = 0; i < 3; i++) {
-    if (count[i] < 1) { return comperr(error, "Positive counts expected in composite", error_sz); }
-  }
-
-  // check cable sizes are nonzero if vertices are not prescribed
-  if (mjuu_dot3(size, size) < mjMINVAL && uservert.empty()) {
-    return comperr(error, "Positive spacing or length expected in composite", error_sz);
-  }
-
-  // check either uservert or count but not both
-  if (!uservert.empty()) {
-    if (count[0] > 1) {
-      return comperr(error, "Either vertex or count can be specified, not both", error_sz);
-    }
-    count[0] = uservert.size() / 3;
-    count[1] = 1;
-  }
-
-  // determine dimensionality, check singleton order
-  bool first = false;
-  for (int i = 0; i < 3; i++) {
-    if (count[i] == 1) {
-      first = true;
-    } else {
-      dim++;
-      if (first) { return comperr(error, "Singleton counts must come last", error_sz); }
-    }
-  }
-
-  // clear skin vectors
-  face.clear();
-  vert.clear();
-  bindpos.clear();
-  bindquat.clear();
-  texcoord.clear();
-  vertid.clear();
-  vertweight.clear();
-
-  // require 3x3 for subgrid
-  if (skin && skinsubgrid > 0 && type != mjCOMPTYPE_CABLE) {
-    if (count[0] < 3 || count[1] < 3) {
-      return comperr(error, "At least 3x3 required for skin subgrid", error_sz);
-    }
-  }
-
-  // check plugin compatibility
-  // TODO: move mujoco.elasticity.cable to the engine
-  if (plugin.active) {
-    if (type != mjCOMPTYPE_CABLE) {
-      return comperr(error, "Only cable composite supports plugins", error_sz);
-    }
-    if (plugin_name != "mujoco.elasticity.cable") {
-      return comperr(error, "Only mujoco.elasticity.cable is supported by composites", error_sz);
-    }
-  }
-
-  // overwrite plugin name
-  if (plugin_instance_name.empty() && plugin.active) {
-    plugin_instance_name                            = "composite" + prefix;
-    (static_cast<mjCPlugin*>(plugin.element))->name = plugin_instance_name;
-  }
-
-  // dispatch
-  switch (type) {
-    case mjCOMPTYPE_PARTICLE:
-      return comperr(error,
-                     "The \"particle\" composite type is deprecated. Please use "
-                     "\"replicate\" instead.",
-                     error_sz);
-
-    case mjCOMPTYPE_GRID:
-      return comperr(error,
-                     "The \"grid\" composite type is deprecated. Please use "
-                     "\"flex\" instead.",
-                     error_sz);
-
-    case mjCOMPTYPE_ROPE:
-      return comperr(error,
-                     "The \"rope\" composite type is deprecated. Please use "
-                     "\"cable\" instead.",
-                     error_sz);
-
-    case mjCOMPTYPE_LOOP:
-      return comperr(error,
-                     "The \"loop\" composite type is deprecated. Please use "
-                     "\"flexcomp\" instead.",
-                     error_sz);
-
-    case mjCOMPTYPE_CABLE:
-      return MakeCable(model, body, error, error_sz);
-
-    case mjCOMPTYPE_CLOTH:
-      return comperr(error,
-                     "The \"cloth\" composite type is deprecated. Please use "
-                     "\"shell\" instead.",
-                     error_sz);
-
-    default:
-      return comperr(error, "Unknown shape in composite", error_sz);
-  }
-}
-
-
-bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz) {
-  // check dim
-  if (dim != 1) { return comperr(error, "Cable must be one-dimensional", error_sz); }
-
-  // check geom type
-  if (def[0].spec.geom->type != mjGEOM_CYLINDER &&
-      def[0].spec.geom->type != mjGEOM_CAPSULE &&
-      def[0].spec.geom->type != mjGEOM_BOX) {
-    return comperr(error, "Cable geom type must be sphere, capsule or box", error_sz);
-  }
-
-  // add name to model
-  mjsText* pte = mjs_addText(&model->spec);
-  mjs_setName(pte->element, ("composite_" + prefix).c_str());
-  mjs_setString(pte->data, ("rope_" + prefix).c_str());
-
-  // populate uservert if not specified
-  if (uservert.empty()) {
-    for (int ix = 0; ix < count[0]; ix++) {
-      double v[3];
-      for (int k = 0; k < 3; k++) {
-        switch (curve[k]) {
-          case mjCOMPSHAPE_LINE:
-            v[k] = ix * size[0] / (count[0] - 1);
-            break;
-          case mjCOMPSHAPE_COS:
-            v[k] = size[1] * cos(mjPI * ix * size[2] / (count[0] - 1));
-            break;
-          case mjCOMPSHAPE_SIN:
-            v[k] = size[1] * sin(mjPI * ix * size[2] / (count[0] - 1));
-            break;
-          case mjCOMPSHAPE_ZERO:
-            v[k] = 0;
-            break;
-          default:
-            // SHOULD NOT OCCUR
-            mju_error("Invalid composite shape: %d", curve[k]);
-            break;
-        }
-      }
-      mjuu_rotVecQuat(v, v, quat);
-      uservert.insert(uservert.end(), v, v + 3);
-    }
-  }
-
-  // create frame
-  double normal[3], prev_quat[4];
-  mjuu_setvec(normal, 0, 1, 0);
-  mjuu_setvec(prev_quat, 1, 0, 0, 0);
-
-  // add one body after the other
-  for (int ix = 0; ix < count[0] - 1; ix++) {
-    body = AddCableBody(model, body, ix, normal, prev_quat);
-  }
-
-  // add skin
-  if (def[0].spec.geom->type == mjGEOM_BOX) {
-    if (skinsubgrid > 0) {
-      count[1] += 2;
-      MakeSkin2Subgrid(model, 2 * def[0].spec.geom->size[2]);
-      count[1] -= 2;
-    } else {
-      count[1]++;
-      MakeSkin2(model, 2 * def[0].spec.geom->size[2]);
-      count[1]--;
-    }
-  }
-  return true;
-}
-
-
-mjsBody* mjCComposite::AddCableBody(
-    mjCModel* model, mjsBody* body, int ix, double normal[3], double prev_quat[4]) {
-  char   txt_geom[100], txt_site[100], txt_slide[100];
-  char   this_body[100], next_body[100], this_joint[100];
-  double dquat[4], this_quat[4];
-
-  // set flags
-  int  lastidx    = count[0] - 2;
-  bool first      = ix == 0;
-  bool last       = ix == lastidx;
-  bool secondlast = ix == lastidx - 1;
-
-  // compute edge and tangent vectors
-  double edge[3], tprev[3], tnext[3], length_prev = 0;
-  mjuu_setvec(edge,
-              uservert[3 * (ix + 1) + 0] - uservert[3 * ix + 0],
-              uservert[3 * (ix + 1) + 1] - uservert[3 * ix + 1],
-              uservert[3 * (ix + 1) + 2] - uservert[3 * ix + 2]);
-  if (!first) {
-    mjuu_setvec(tprev,
-                uservert[3 * ix + 0] - uservert[3 * (ix - 1) + 0],
-                uservert[3 * ix + 1] - uservert[3 * (ix - 1) + 1],
-                uservert[3 * ix + 2] - uservert[3 * (ix - 1) + 2]);
-    length_prev = mjuu_normvec(tprev, 3);
-  }
-  if (!last) {
-    mjuu_setvec(tnext,
-                uservert[3 * (ix + 2) + 0] - uservert[3 * (ix + 1) + 0],
-                uservert[3 * (ix + 2) + 1] - uservert[3 * (ix + 1) + 1],
-                uservert[3 * (ix + 2) + 2] - uservert[3 * (ix + 1) + 2]);
-    mjuu_normvec(tnext, 3);
-  }
-
-  // update moving frame
-  double length = mjuu_updateFrame(this_quat, normal, edge, tprev, tnext, first);
-
-  // create body, joint, and geom names
-  if (first) {
-    mju::sprintf_arr(this_body, "%sB_first", prefix.c_str());
-    mju::sprintf_arr(next_body, "%sB_%d", prefix.c_str(), ix + 1);
-    mju::sprintf_arr(this_joint, "%sJ_first", prefix.c_str());
-    mju::sprintf_arr(txt_site, "%sS_first", prefix.c_str());
-  } else if (last) {
-    mju::sprintf_arr(this_body, "%sB_last", prefix.c_str());
-    mju::sprintf_arr(next_body, "%sB_first", prefix.c_str());
-    mju::sprintf_arr(this_joint, "%sJ_last", prefix.c_str());
-    mju::sprintf_arr(txt_site, "%sS_last", prefix.c_str());
-  } else if (secondlast) {
-    mju::sprintf_arr(this_body, "%sB_%d", prefix.c_str(), ix);
-    mju::sprintf_arr(next_body, "%sB_last", prefix.c_str());
-    mju::sprintf_arr(this_joint, "%sJ_%d", prefix.c_str(), ix);
-  } else {
-    mju::sprintf_arr(this_body, "%sB_%d", prefix.c_str(), ix);
-    mju::sprintf_arr(next_body, "%sB_%d", prefix.c_str(), ix + 1);
-    mju::sprintf_arr(this_joint, "%sJ_%d", prefix.c_str(), ix);
-  }
-  mju::sprintf_arr(txt_geom, "%sG%d", prefix.c_str(), ix);
-  mju::sprintf_arr(txt_slide, "%sJs%d", prefix.c_str(), ix);
-
-  // add body
-  body = mjs_addBody(body, 0);
-  mjs_setName(body->element, this_body);
-  if (first) {
-    mjuu_setvec(body->pos,
-                offset[0] + uservert[3 * ix],
-                offset[1] + uservert[3 * ix + 1],
-                offset[2] + uservert[3 * ix + 2]);
-    mjuu_copyvec(body->quat, this_quat, 4);
-    if (frame) { mjs_setFrame(body->element, frame); }
-  } else {
-    mjuu_setvec(body->pos, length_prev, 0, 0);
-    double negquat[4] = {prev_quat[0], -prev_quat[1], -prev_quat[2], -prev_quat[3]};
-    mjuu_mulquat(dquat, negquat, this_quat);
-    mjuu_copyvec(body->quat, dquat, 4);
-  }
-
-  // add geom
-  mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
-  mjs_setDefault(geom->element, mjs_getDefault(body->element));
-  mjs_setName(geom->element, txt_geom);
-  if (def[0].spec.geom->type == mjGEOM_CYLINDER || def[0].spec.geom->type == mjGEOM_CAPSULE) {
-    mjuu_zerovec(geom->fromto, 6);
-    geom->fromto[3] = length;
-  } else if (def[0].spec.geom->type == mjGEOM_BOX) {
-    mjuu_zerovec(geom->pos, 3);
-    geom->pos[0]  = length / 2;
-    geom->size[0] = length / 2;
-  }
-
-  // add plugin
-  if (plugin.active) {
-    mjsPlugin* pplugin = &body->plugin;
-    pplugin->active    = true;
-    pplugin->element   = plugin.element;
-    mjs_setString(pplugin->plugin_name, mjs_getString(plugin.plugin_name));
-    mjs_setString(pplugin->name, plugin_instance_name.c_str());
-  }
-
-  // update orientation
-  mjuu_copyvec(prev_quat, this_quat, 4);
-
-  // add curvature joint
-  if (!first || strcmp(initial.c_str(), "none")) {
-    mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
-    mjs_setDefault(jnt->element, mjs_getDefault(body->element));
-    jnt->type = (first && strcmp(initial.c_str(), "free") == 0) ? mjJNT_FREE : mjJNT_BALL;
-    if (jnt->type == mjJNT_FREE) mjuu_zerovec(jnt->damping, 1 + mjNPOLY);
-    jnt->armature     = jnt->type == mjJNT_FREE ? 0 : jnt->armature;
-    jnt->frictionloss = jnt->type == mjJNT_FREE ? 0 : jnt->frictionloss;
-    mjs_setName(jnt->element, this_joint);
-  }
-
-  // exclude contact pair
-  if (!last) {
-    mjsExclude* exclude = mjs_addExclude(&model->spec);
-    mjs_setString(exclude->bodyname1, std::string(this_body).c_str());
-    mjs_setString(exclude->bodyname2, std::string(next_body).c_str());
-  }
-
-  // add site at the boundary
-  if (last || first) {
-    mjsSite* site = mjs_addSite(body, &def[0].spec);
-    mjs_setDefault(site->element, mjs_getDefault(body->element));
-    mjs_setName(site->element, txt_site);
-    mjuu_setvec(site->pos, last ? length : 0, 0, 0);
-    mjuu_setvec(site->quat, 1, 0, 0, 0);
-  }
-
-  return body;
-}
-
-
-// copy local vectors to skin
-void mjCComposite::CopyIntoSkin(mjsSkin* skin) {
-  mjs_setInt(skin->face, face.data(), face.size());
-  mjs_setFloat(skin->vert, vert.data(), vert.size());
-  mjs_setFloat(skin->bindpos, bindpos.data(), bindpos.size());
-  mjs_setFloat(skin->bindquat, bindquat.data(), bindquat.size());
-  mjs_setFloat(skin->texcoord, texcoord.data(), texcoord.size());
-
-  for (int i = 0; i < vertid.size(); i++) {
-    mjs_appendIntVec(skin->vertid, vertid[i].data(), vertid[i].size());
-  }
-  for (int i = 0; i < vertweight.size(); i++) {
-    mjs_appendFloatVec(skin->vertweight, vertweight[i].data(), vertweight[i].size());
-  }
-
-  face.clear();
-  vert.clear();
-  bindpos.clear();
-  bindquat.clear();
-  texcoord.clear();
-  vertid.clear();
-  vertweight.clear();
-}
-
-
-// add skin to 2D
-void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
-  char txt[100];
-  int  N = count[0] * count[1];
-
-  // add skin, set name and material
-  mjsSkin* skin = mjs_addSkin(&model->spec);
-  mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
-  mjs_setName(skin->element, txt);
-  mjs_setString(skin->material, skinmaterial.c_str());
-  mjuu_copyvec(skin->rgba, skinrgba, 4);
-  skin->inflate = inflate;
-  skin->group   = skingroup;
-
-  // populate mesh: two sides
-  for (int i = 0; i < 2; i++) {
-    for (int ix = 0; ix < count[0]; ix++) {
-      for (int iy = 0; iy < count[1]; iy++) {
-        // vertex
-        vert.push_back(0);
-        vert.push_back(0);
-        vert.push_back(0);
-
-        // texture coordinate
-        if (skintexcoord) {
-          texcoord.push_back(ix / (float)(count[0] - 1));
-          texcoord.push_back(iy / (float)(count[1] - 1));
-        }
-
-        // face
-        if (ix < count[0] - 1 && iy < count[1] - 1) {
-          face.push_back(i * N + ix * count[1] + iy);
-          face.push_back(i * N + (ix + 1) * count[1] + iy + (i == 1));
-          face.push_back(i * N + (ix + 1) * count[1] + iy + (i == 0));
-
-          face.push_back(i * N + ix * count[1] + iy);
-          face.push_back(i * N + (ix + (i == 0)) * count[1] + iy + 1);
-          face.push_back(i * N + (ix + (i == 1)) * count[1] + iy + 1);
-        }
-      }
-    }
-  }
-
-  // add thin triangles: X direction, iy = 0
-  for (int ix = 0; ix < count[0] - 1; ix++) {
-    face.push_back(ix * count[1]);
-    face.push_back(N + (ix + 1) * count[1]);
-    face.push_back((ix + 1) * count[1]);
-
-    face.push_back(ix * count[1]);
-    face.push_back(N + ix * count[1]);
-    face.push_back(N + (ix + 1) * count[1]);
-  }
-
-  // add thin triangles: X direction, iy = count[1]-1
-  for (int ix = 0; ix < count[0] - 1; ix++) {
-    face.push_back(ix * count[1] + count[1] - 1);
-    face.push_back((ix + 1) * count[1] + count[1] - 1);
-    face.push_back(N + (ix + 1) * count[1] + count[1] - 1);
-
-    face.push_back(ix * count[1] + count[1] - 1);
-    face.push_back(N + (ix + 1) * count[1] + count[1] - 1);
-    face.push_back(N + ix * count[1] + count[1] - 1);
-  }
-
-  // add thin triangles: Y direction, ix = 0
-  for (int iy = 0; iy < count[1] - 1; iy++) {
-    face.push_back(iy);
-    face.push_back(iy + 1);
-    face.push_back(N + iy + 1);
-
-    face.push_back(iy);
-    face.push_back(N + iy + 1);
-    face.push_back(N + iy);
-  }
-
-  // add thin triangles: Y direction, ix = count[0]-1
-  for (int iy = 0; iy < count[1] - 1; iy++) {
-    face.push_back(iy + (count[0] - 1) * count[1]);
-    face.push_back(N + iy + 1 + (count[0] - 1) * count[1]);
-    face.push_back(iy + 1 + (count[0] - 1) * count[1]);
-
-    face.push_back(iy + (count[0] - 1) * count[1]);
-    face.push_back(N + iy + (count[0] - 1) * count[1]);
-    face.push_back(N + iy + 1 + (count[0] - 1) * count[1]);
-  }
-
-  // couple with bones
-
-  MakeCableBones(model, skin);
-
-  CopyIntoSkin(skin);
-}
-
-
-// add bones to 1D
-void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
-  char this_body[100];
-  int  N = count[0] * count[1];
-
-  // populate bones
-  for (int ix = 0; ix < count[0]; ix++) {
-    for (int iy = 0; iy < count[1]; iy++) {
-      // body name
-      if (ix == 0) {
-        mju::sprintf_arr(this_body, "%sB_first", prefix.c_str());
-      } else if (ix >= count[0] - 2) {
-        mju::sprintf_arr(this_body, "%sB_last", prefix.c_str());
-      } else {
-        mju::sprintf_arr(this_body, "%sB_%d", prefix.c_str(), ix);
-      }
-
-      // bind pose
-      if (iy == 0) {
-        mjs_appendString(skin->bodyname, this_body);
-        bindpos.push_back((ix == count[0] - 1) ? -2 * def[0].spec.geom->size[0] : 0);
-        bindpos.push_back(-def[0].spec.geom->size[1]);
-        bindpos.push_back(0);
-        bindquat.push_back(1);
-        bindquat.push_back(0);
-        bindquat.push_back(0);
-        bindquat.push_back(0);
-      } else {
-        mjs_appendString(skin->bodyname, this_body);
-        bindpos.push_back((ix == count[0] - 1) ? -2 * def[0].spec.geom->size[0] : 0);
-        bindpos.push_back(def[0].spec.geom->size[1]);
-        bindpos.push_back(0);
-        bindquat.push_back(1);
-        bindquat.push_back(0);
-        bindquat.push_back(0);
-        bindquat.push_back(0);
-      }
-
-      // create vertid and vertweight
-      vertid.push_back({ix * count[1] + iy, N + ix * count[1] + iy});
-      vertweight.push_back({1, 1});
-    }
-  }
-}
-
-
-void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin) {
-  // populate bones
-  for (int ix = 0; ix < count[0]; ix++) {
-    for (int iy = 0; iy < count[1]; iy++) {
-      char txt[100];
-
-      // body name
-      if (ix == 0) {
-        mju::sprintf_arr(txt, "%sB_first", prefix.c_str());
-      } else if (ix >= count[0] - 2) {
-        mju::sprintf_arr(txt, "%sB_last", prefix.c_str());
-      } else {
-        mju::sprintf_arr(txt, "%sB_%d", prefix.c_str(), ix);
-      }
-
-      // bind pose
-      if (iy == 0) {
-        bindpos.push_back((ix == count[0] - 1) ? -2 * def[0].spec.geom->size[0] : 0);
-        bindpos.push_back(-def[0].Geom().spec.size[1]);
-        bindpos.push_back(0);
-      } else if (iy == 2) {
-        bindpos.push_back((ix == count[0] - 1) ? -2 * def[0].spec.geom->size[0] : 0);
-        bindpos.push_back(def[0].Geom().spec.size[1]);
-        bindpos.push_back(0);
-      } else {
-        bindpos.push_back((ix == count[0] - 1) ? -2 * def[0].spec.geom->size[0] : 0);
-        bindpos.push_back(0);
-        bindpos.push_back(0);
-      }
-      mjs_appendString(skin->bodyname, txt);
-      bindquat.push_back(1);
-      bindquat.push_back(0);
-      bindquat.push_back(0);
-      bindquat.push_back(0);
-
-      // empty vertid and vertweight
-      vertid.push_back({});
-      vertweight.push_back({});
-    }
-  }
-}
-
-
-//------------------------------------- subgrid matrices
-// clang-format off
-
-// C = W * [f; f_x; f_y; f_xy]
-static const mjtNum subW[16*16] = {
-  1,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,
-  0,  0,  0,  0,  0,  0,  0,  0,  1,  0,  0,  0,  0,  0,  0,  0,
- -3,  0,  0,  3,  0,  0,  0,  0, -2,  0,  0, -1,  0,  0,  0,  0,
-  2,  0,  0, -2,  0,  0,  0,  0,  1,  0,  0,  1,  0,  0,  0,  0,
-  0,  0,  0,  0,  1,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,
-  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,  1,  0,  0,  0,
-  0,  0,  0,  0, -3,  0,  0,  3,  0,  0,  0,  0, -2,  0,  0, -1,
-  0,  0,  0,  0,  2,  0,  0, -2,  0,  0,  0,  0,  1,  0,  0,  1,
- -3,  3,  0,  0, -2, -1,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,
-  0,  0,  0,  0,  0,  0,  0,  0, -3,  3,  0,  0, -2, -1,  0,  0,
-  9, -9,  9, -9,  6,  3, -3, -6,  6, -6, -3,  3,  4,  2,  1,  2,
- -6,  6, -6,  6, -4, -2,  2,  4, -3,  3,  3, -3, -2, -1, -1, -2,
-  2, -2,  0,  0,  1,  1,  0,  0,  0,  0,  0,  0,  0,  0,  0,  0,
-  0,  0,  0,  0,  0,  0,  0,  0,  2, -2,  0,  0,  1,  1,  0,  0,
- -6,  6, -6,  6, -3, -3,  3,  3, -4,  4,  2, -2, -2, -2, -1, -1,
-  4, -4,  4, -4,  2,  2, -2, -2,  2, -2, -2,  2,  1,  1,  1,  1
-};
-
-// left-bottom
-static const mjtNum subD00[] = {
-  5,  1, -1,                  // f
-  9,  1, -1,
-  10, 1, -1,
-  6,  1, -1,
-
-  5, -1,   9,  1,   -1,       // f_x
-  5, -0.5, 13, 0.5, -1,
-  6, -0.5, 14, 0.5, -1,
-  6, -1,   10, 1,   -1,
-
-  5, -1,   6,  1,   -1,       // f_y
-  9, -1,   10, 1,   -1,
-  9, -0.5, 11, 0.5, -1,
-  5, -0.5, 7,  0.5, -1,
-
-  9,  -1,    6, -1,    5, 1,    10, 1,    -1,     // f_xy
-  13, -0.5,  6, -0.5,  5, 0.5,  14, 0.5,  -1,
-  13, -0.25, 7, -0.25, 5, 0.25, 15, 0.25, -1,
-  9,  -0.5,  7, -0.5,  5, 0.5,  11, 0.5,  -1
-};
-
-// center-bottom
-static const mjtNum subD10[] = {
-  5,  1, -1,                  // f
-  9,  1, -1,
-  10, 1, -1,
-  6,  1, -1,
-
-  1, -0.5, 9,  0.5, -1,       // f_x
-  5, -0.5, 13, 0.5, -1,
-  6, -0.5, 14, 0.5, -1,
-  2, -0.5, 10, 0.5, -1,
-
-  5, -1,   6,  1,   -1,       // f_y
-  9, -1,   10, 1,   -1,
-  9, -0.5, 11, 0.5, -1,
-  5, -0.5, 7,  0.5, -1,
-
-  9,  -0.5,  2, -0.5,  1, 0.5,  10, 0.5,  -1,     // f_xy
-  13, -0.5,  6, -0.5,  5, 0.5,  14, 0.5,  -1,
-  13, -0.25, 7, -0.25, 5, 0.25, 15, 0.25, -1,
-  9,  -0.25, 3, -0.25, 1, 0.25, 11, 0.25, -1
-};
-
-// right-bottom
-static const mjtNum subD20[] = {
-  5,  1, -1,                  // f
-  9,  1, -1,
-  10, 1, -1,
-  6,  1, -1,
-
-  1, -0.5, 9,  0.5, -1,       // f_x
-  5, -1,   9,  1,   -1,
-  6, -1,   10, 1,   -1,
-  2, -0.5, 10, 0.5, -1,
-
-  5, -1,   6,  1,   -1,       // f_y
-  9, -1,   10, 1,   -1,
-  9, -0.5, 11, 0.5, -1,
-  5, -0.5, 7,  0.5, -1,
-
-  9, -0.5,  2, -0.5,  1, 0.5,  10, 0.5,  -1,      // f_xy
-  9, -1,    6, -1,    5, 1,    10, 1,    -1,
-  9, -0.5,  7, -0.5,  5, 0.5,  11, 0.5,  -1,
-  9, -0.25, 3, -0.25, 1, 0.25, 11, 0.25, -1
-};
-
-// left-center
-static const mjtNum subD01[] = {
-  5,  1, -1,                  // f
-  9,  1, -1,
-  10, 1, -1,
-  6,  1, -1,
-
-  5, -1,   9,  1,   -1,       // f_x
-  5, -0.5, 13, 0.5, -1,
-  6, -0.5, 14, 0.5, -1,
-  6, -1,   10, 1,   -1,
-
-  4, -0.5, 6,  0.5, -1,       // f_y
-  8, -0.5, 10, 0.5, -1,
-  9, -0.5, 11, 0.5, -1,
-  5, -0.5, 7,  0.5, -1,
-
-  8,  -0.5,  6, -0.5,  4, 0.5,  10, 0.5,  -1,     // f_xy
-  12, -0.25, 6, -0.25, 4, 0.25, 14, 0.25, -1,
-  13, -0.25, 7, -0.25, 5, 0.25, 15, 0.25, -1,
-  9,  -0.5,  7, -0.5,  5, 0.5,  11, 0.5,  -1
-};
-
-// center-center
-static const mjtNum subD11[] = {
-  5,  1, -1,                  // f
-  9,  1, -1,
-  10, 1, -1,
-  6,  1, -1,
-
-  1, -0.5, 9,  0.5, -1,       // f_x
-  5, -0.5, 13, 0.5, -1,
-  6, -0.5, 14, 0.5, -1,
-  2, -0.5, 10, 0.5, -1,
-
-  4, -0.5, 6,  0.5, -1,       // f_y
-  8, -0.5, 10, 0.5, -1,
-  9, -0.5, 11, 0.5, -1,
-  5, -0.5, 7,  0.5, -1,
-
-  8,  -0.25, 2, -0.25, 0, 0.25, 10, 0.25, -1,     // f_xy
-  12, -0.25, 6, -0.25, 4, 0.25, 14, 0.25, -1,
-  13, -0.25, 7, -0.25, 5, 0.25, 15, 0.25, -1,
-  9,  -0.25, 3, -0.25, 1, 0.25, 11, 0.25, -1
-};
-
-// right-center
-static const mjtNum subD21[] = {
-  5,  1, -1,                  // f
-  9,  1, -1,
-  10, 1, -1,
-  6,  1, -1,
-
-  1, -0.5, 9,  0.5, -1,       // f_x
-  5, -1,   9,  1,   -1,
-  6, -1,   10, 1,   -1,
-  2, -0.5, 10, 0.5, -1,
-
-  4, -0.5, 6,  0.5, -1,       // f_y
-  8, -0.5, 10, 0.5, -1,
-  9, -0.5, 11, 0.5, -1,
-  5, -0.5, 7,  0.5, -1,
-
-  8, -0.25, 2, -0.25, 0, 0.25, 10, 0.25, -1,      // f_xy
-  8, -0.5,  6, -0.5,  4, 0.5,  10, 0.5,  -1,
-  9, -0.5,  7, -0.5,  5, 0.5,  11, 0.5,  -1,
-  9, -0.25, 3, -0.25, 1, 0.25, 11, 0.25, -1
-};
-
-// left-top
-static const mjtNum subD02[] = {
-  5,  1, -1,                  // f
-  9,  1, -1,
-  10, 1, -1,
-  6,  1, -1,
-
-  5, -1,   9,  1,   -1,       // f_x
-  5, -0.5, 13, 0.5, -1,
-  6, -0.5, 14, 0.5, -1,
-  6, -1,   10, 1,   -1,
-
-  4, -0.5, 6,  0.5, -1,       // f_y
-  8, -0.5, 10, 0.5, -1,
-  9, -1,   10, 1,   -1,
-  5, -1,   6,  1,   -1,
-
-  8,  -0.5,  6, -0.5,  4, 0.5,  10, 0.5,  -1,     // f_xy
-  12, -0.25, 6, -0.25, 4, 0.25, 14, 0.25, -1,
-  13, -0.5,  6, -0.5,  5, 0.5,  14, 0.5,  -1,
-  9,  -1,    6, -1,    5, 1,    10, 1,    -1
-};
-
-// center-top
-static const mjtNum subD12[] = {
-  5,  1, -1,                  // f
-  9,  1, -1,
-  10, 1, -1,
-  6,  1, -1,
-
-  1, -0.5, 9,  0.5, -1,       // f_x
-  5, -0.5, 13, 0.5, -1,
-  6, -0.5, 14, 0.5, -1,
-  2, -0.5, 10, 0.5, -1,
-
-  4, -0.5, 6,  0.5, -1,       // f_y
-  8, -0.5, 10, 0.5, -1,
-  9, -1,   10, 1,   -1,
-  5, -1,   6,  1,   -1,
-
-  8,  -0.25, 2, -0.25, 0, 0.25, 10, 0.25, -1,     // f_xy
-  12, -0.25, 6, -0.25, 4, 0.25, 14, 0.25, -1,
-  13, -0.5,  6, -0.5,  5, 0.5,  14, 0.5,  -1,
-  9,  -0.5,  2, -0.5,  1, 0.5,  10, 0.5,  -1
-};
-
-// right-top
-static const mjtNum subD22[] = {
-  5,  1, -1,                  // f
-  9,  1, -1,
-  10, 1, -1,
-  6,  1, -1,
-
-  1, -0.5, 9,  0.5, -1,       // f_x
-  5, -1,   9,  1,   -1,
-  6, -1,   10, 1,   -1,
-  2, -0.5, 10, 0.5, -1,
-
-  4, -0.5, 6,  0.5, -1,       // f_y
-  8, -0.5, 10, 0.5, -1,
-  9, -1,   10, 1,   -1,
-  5, -1,   6,  1,   -1,
-
-  8, -0.25, 2, -0.25, 0, 0.25, 10, 0.25, -1,      // f_xy
-  8, -0.5,  6, -0.5,  4, 0.5,  10, 0.5,  -1,
-  9, -1,    6, -1,    5, 1,    10, 1,    -1,
-  9, -0.5,  2, -0.5,  1, 0.5,  10, 0.5,  -1
-};
-// clang-format on
-
-// add skin to 2D, with subgrid
-void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
-  // assemble pointers to Dxx matrices
-  const mjtNum* Dp[3][3] = {
-      {subD00, subD01, subD02},
-      {subD10, subD11, subD12},
-      {subD20, subD21, subD22}
-  };
-
-  // allocate
-  const int N      = (2 + skinsubgrid) * (2 + skinsubgrid);
-  mjtNum*   XY     = (mjtNum*)mju_malloc(N * 16 * sizeof(mjtNum));
-  mjtNum*   XY_W   = (mjtNum*)mju_malloc(N * 16 * sizeof(mjtNum));
-  mjtNum*   Weight = (mjtNum*)mju_malloc(9 * N * 16 * sizeof(mjtNum));
-  mjtNum*   D      = (mjtNum*)mju_malloc(16 * 16 * sizeof(mjtNum));
-
-  // XY matrix
-  const mjtNum step = 1.0 / (1 + skinsubgrid);
-  int          rxy  = 0;
-  for (int sx = 0; sx <= 1 + skinsubgrid; sx++) {
-    for (int sy = 0; sy <= 1 + skinsubgrid; sy++) {
-      // compute x, y
-      mjtNum x = sx * step;
-      mjtNum y = sy * step;
-
-      // make XY-row
-      XY[16 * rxy + 0] = 1;
-      XY[16 * rxy + 1] = y;
-      XY[16 * rxy + 2] = y * y;
-      XY[16 * rxy + 3] = y * y * y;
-
-      XY[16 * rxy + 4] = x * 1;
-      XY[16 * rxy + 5] = x * y;
-      XY[16 * rxy + 6] = x * y * y;
-      XY[16 * rxy + 7] = x * y * y * y;
-
-      XY[16 * rxy + 8]  = x * x * 1;
-      XY[16 * rxy + 9]  = x * x * y;
-      XY[16 * rxy + 10] = x * x * y * y;
-      XY[16 * rxy + 11] = x * x * y * y * y;
-
-      XY[16 * rxy + 12] = x * x * x * 1;
-      XY[16 * rxy + 13] = x * x * x * y;
-      XY[16 * rxy + 14] = x * x * x * y * y;
-      XY[16 * rxy + 15] = x * x * x * y * y * y;
-
-      // advance row
-      rxy++;
-    }
-  }
-
-  // XY_W = XY * W
-  mju_mulMatMat(XY_W, XY, subW, N, 16, 16);
-
-  // Weight matrices
-  for (int dx = 0; dx < 3; dx++) {
-    for (int dy = 0; dy < 3; dy++) {
-      // make dense D
-      mju_zero(D, 16 * 16);
-      int cnt = 0;
-      int r   = 0, c;
-      while (r < 16) {
-        // scan row
-        while ((c = mju_round(Dp[dx][dy][cnt])) != -1) {
-          D[r * 16 + c]  = Dp[dx][dy][cnt + 1];
-          cnt           += 2;
-        }
-
-        // advance
-        r++;
-        cnt++;
-      }
-
-      // Weight(d) = XY * W * D(d)
-      mju_mulMatMat(Weight + (dx * 3 + dy) * N * 16, XY_W, D, N, 16, 16);
-    }
-  }
-
-  // add skin, set name and material
-  char     txt[100];
-  mjsSkin* skin = mjs_addSkin(&model->spec);
-  mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
-  mjs_setName(skin->element, txt);
-  mjs_setString(skin->material, skinmaterial.c_str());
-  mjuu_copyvec(skin->rgba, skinrgba, 4);
-  skin->inflate = inflate;
-  skin->group   = skingroup;
-
-  // populate mesh: two sides
-  mjtNum S  = 0;
-  int    C0 = count[0] + (count[0] - 1) * skinsubgrid;
-  int    C1 = count[1] + (count[1] - 1) * skinsubgrid;
-  int    NN = C0 * C1;
-  for (int i = 0; i < 2; i++) {
-    for (int ix = 0; ix < C0; ix++) {
-      for (int iy = 0; iy < C1; iy++) {
-        // vertex
-        vert.push_back(ix * S);
-        vert.push_back(iy * S);
-        vert.push_back(0);
-
-        // texture coordinate
-        if (skintexcoord) {
-          texcoord.push_back(ix / (float)(C0 - 1));
-          texcoord.push_back(iy / (float)(C1 - 1));
-        }
-
-        // face
-        if (ix < C0 - 1 && iy < C1 - 1) {
-          face.push_back(i * NN + ix * C1 + iy);
-          face.push_back(i * NN + (ix + 1) * C1 + iy + (i == 1));
-          face.push_back(i * NN + (ix + 1) * C1 + iy + (i == 0));
-
-          face.push_back(i * NN + ix * C1 + iy);
-          face.push_back(i * NN + (ix + (i == 0)) * C1 + iy + 1);
-          face.push_back(i * NN + (ix + (i == 1)) * C1 + iy + 1);
-        }
-      }
-    }
-  }
-
-  // add thin triangles: X direction, iy = 0
-  for (int ix = 0; ix < C0 - 1; ix++) {
-    face.push_back(ix * C1);
-    face.push_back(NN + (ix + 1) * C1);
-    face.push_back((ix + 1) * C1);
-
-    face.push_back(ix * C1);
-    face.push_back(NN + ix * C1);
-    face.push_back(NN + (ix + 1) * C1);
-  }
-
-  // add thin triangles: X direction, iy = C1-1
-  for (int ix = 0; ix < C0 - 1; ix++) {
-    face.push_back(ix * C1 + C1 - 1);
-    face.push_back((ix + 1) * C1 + C1 - 1);
-    face.push_back(NN + (ix + 1) * C1 + C1 - 1);
-
-    face.push_back(ix * C1 + C1 - 1);
-    face.push_back(NN + (ix + 1) * C1 + C1 - 1);
-    face.push_back(NN + ix * C1 + C1 - 1);
-  }
-
-  // add thin triangles: Y direction, ix = 0
-  for (int iy = 0; iy < C1 - 1; iy++) {
-    face.push_back(iy);
-    face.push_back(iy + 1);
-    face.push_back(NN + iy + 1);
-
-    face.push_back(iy);
-    face.push_back(NN + iy + 1);
-    face.push_back(NN + iy);
-  }
-
-  // add thin triangles: Y direction, ix = C0-1
-  for (int iy = 0; iy < C1 - 1; iy++) {
-    face.push_back(iy + (C0 - 1) * C1);
-    face.push_back(NN + iy + 1 + (C0 - 1) * C1);
-    face.push_back(iy + 1 + (C0 - 1) * C1);
-
-    face.push_back(iy + (C0 - 1) * C1);
-    face.push_back(NN + iy + (C0 - 1) * C1);
-    face.push_back(NN + iy + 1 + (C0 - 1) * C1);
-  }
-
-  MakeCableBonesSubgrid(model, skin);
-
-  // bind vertices to bones: one big square at a time
-  for (int ix = 0; ix < count[0] - 1; ix++) {
-    for (int iy = 0; iy < count[1] - 1; iy++) {
-      // determine d for Weight indexing
-      int d = 3 * (ix == 0 ? 0 : (ix == count[0] - 2 ? 2 : 1)) +
-              (iy == 0 ? 0 : (iy == count[1] - 2 ? 2 : 1));
-
-      // precompute 16 bone indices for big square
-      int boneid[16];
-      int cnt = 0;
-      for (int dx = -1; dx < 3; dx++) {
-        for (int dy = -1; dy < 3; dy++) { boneid[cnt++] = (ix + dx) * count[1] + (iy + dy); }
-      }
-
-      // process subgrid, top-rigth owns last index
-      for (int dx = 0; dx < 1 + skinsubgrid + (ix == count[0] - 2); dx++) {
-        for (int dy = 0; dy < 1 + skinsubgrid + (iy == count[1] - 2); dy++) {
-          // recover vertex id
-          int vid = (ix * (1 + skinsubgrid) + dx) * C1 + iy * (1 + skinsubgrid) + dy;
-
-          // determine row in Weight
-          int n = dx * (2 + skinsubgrid) + dy;
-
-          // add vertex to 16 bones
-          for (int bi = 0; bi < 16; bi++) {
-            mjtNum w = Weight[d * N * 16 + n * 16 + bi];
-            if (w) {
-              vertid[boneid[bi]].push_back(vid);
-              vertid[boneid[bi]].push_back(vid + NN);
-              vertweight[boneid[bi]].push_back((float)w);
-              vertweight[boneid[bi]].push_back((float)w);
-            }
-          }
-        }
-      }
-    }
-  }
-
-  CopyIntoSkin(skin);
-
-  // free allocations
-  mju_free(XY);
-  mju_free(XY_W);
-  mju_free(Weight);
-  mju_free(D);
-}
diff --git a/src/user/user_composite.h b/src/user/user_composite.h
deleted file mode 100644
index 1dd4b4d0..00000000
--- a/src/user/user_composite.h
+++ /dev/null
@@ -1,126 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_USER_USER_COMPOSITE_H_
-#define MUJOCO_SRC_USER_USER_COMPOSITE_H_
-
-#include <string>
-#include <unordered_map>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include "user/user_model.h"
-#include "user/user_objects.h"
-
-typedef enum _mjtCompType {
-  mjCOMPTYPE_PARTICLE = 0,
-  mjCOMPTYPE_GRID,
-  mjCOMPTYPE_CABLE,
-  mjCOMPTYPE_ROPE,
-  mjCOMPTYPE_LOOP,
-  mjCOMPTYPE_CLOTH,
-
-  mjNCOMPTYPES
-} mjtCompType;
-
-
-typedef enum _mjtCompKind {
-  mjCOMPKIND_JOINT = 0,
-
-  mjNCOMPKINDS
-} mjtCompKind;
-
-
-typedef enum _mjtCompShape {
-  mjCOMPSHAPE_INVALID = -1,
-  mjCOMPSHAPE_LINE,
-  mjCOMPSHAPE_COS,
-  mjCOMPSHAPE_SIN,
-  mjCOMPSHAPE_ZERO,
-
-  mjNCOMPSHAPES
-} mjtCompShape;
-
-
-class mjCComposite {
- public:
-  mjCComposite(void);
-
-  void SetDefault(void);
-  bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
-
-  bool Make(mjSpec* spec, mjsBody* body, char* error, int error_sz);
-  bool MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz);
-
-  void MakeSkin2(mjCModel* model, mjtNum inflate);
-  void MakeSkin2Subgrid(mjCModel* model, mjtNum inflate);
-  void MakeCableBones(mjCModel* model, mjsSkin* skin);
-  void MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin);
-
-  // common properties
-  std::string prefix;     // name prefix
-  mjtCompType type;       // composite type
-  int         count[3];   // geom count in each dimension
-  double      offset[3];  // position offset
-  double      quat[4];    // quaternion offset
-
-  // currently used only for cable
-  std::string        initial;   // root boundary type
-  std::vector<float> uservert;  // user-specified vertex positions
-  double             size[3];   // rope size (meaning depends on the shape)
-  mjtCompShape       curve[3];  // geometric shape
-  mjsFrame*          frame;     // frame where the composite is defined
-
-  // body names used in the skin
-  std::vector<std::string> username;
-
-  // plugin support
-  std::string plugin_name;
-  std::string plugin_instance_name;
-  mjsPlugin   plugin;
-
-  // skin
-  bool        skin;          // generate skin
-  bool        skintexcoord;  // generate texture coordinates
-  std::string skinmaterial;  // skin material
-  float       skinrgba[4];   // skin rgba
-  float       skininflate;   // inflate skin
-  int         skinsubgrid;   // number of skin subgrid points; 0: none (2D only)
-  int         skingroup;     // skin group of the composite object
-
-  // element options
-  bool   add[mjNCOMPKINDS];                                       // add element
-  mjCDef def[mjNCOMPKINDS];                                       // default geom, site, tendon
-  std::unordered_map<mjtCompKind, std::vector<mjCDef>> defjoint;  // default joints
-
-  // computed internally
-  int dim;  // dimensionality
-
- private:
-  mjsBody* AddCableBody(
-      mjCModel* model, mjsBody* body, int ix, double normal[3], double prev_quat[4]);
-
-  // temporary skin vectors
-  void                            CopyIntoSkin(mjsSkin* skin);
-  std::vector<int>                face;
-  std::vector<float>              vert;
-  std::vector<float>              bindpos;
-  std::vector<float>              bindquat;
-  std::vector<float>              texcoord;
-  std::vector<std::vector<int>>   vertid;
-  std::vector<std::vector<float>> vertweight;
-};
-
-#endif  // MUJOCO_SRC_USER_USER_COMPOSITE_H_
diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
deleted file mode 100644
index 218dae38..00000000
--- a/src/user/user_flexcomp.cc
+++ /dev/null
@@ -1,2008 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <climits>
-#include <cmath>
-#include <cstddef>
-#include <cstdio>
-#include <cstring>
-#include <iostream>
-#include <sstream>
-#include <stdexcept>
-#include <string>
-#include <vector>
-
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjplugin.h>
-#include "cc/array_safety.h"
-#include "engine/engine_crossplatform.h"
-#include "engine/engine_util_errmem.h"
-#include "user/user_flexcomp.h"
-#include <mujoco/mjspec.h>
-#include "user/user_api.h"
-#include "user/user_model.h"
-#include "user/user_objects.h"
-#include "user/user_resource.h"
-#include "user/user_util.h"
-
-namespace {
-namespace mju = ::mujoco::util;
-using std::stringstream;
-using std::vector;
-}  // namespace
-
-// strncpy with 0, return false
-static bool comperr(char* error, const char* msg, int error_sz) {
-  mju_strncpy(error, msg, error_sz);
-  return false;
-}
-
-// Read data of type T from a potentially unaligned buffer pointer.
-template <typename T>
-static void ReadFromBuffer(T* dst, const char* src) {
-  std::memcpy(dst, src, sizeof(T));
-}
-
-
-static void ReadStrFromBuffer(char* dest, const char* src, int maxlen) {
-  std::strncpy(dest, src, maxlen);
-}
-
-bool IsValidElementOrNodeHeader22(const std::string& line) {
-  // making sure characters are numbers
-  for (char c : line) {
-    if (!std::isdigit(c)) { return false; }
-  }
-  return true;
-}
-
-
-// constructor: set defaults outside mjCDef
-mjCFlexcomp::mjCFlexcomp(void) {
-  type     = mjFCOMPTYPE_GRID;
-  count[0] = count[1] = count[2] = 10;
-  cellcount[0] = cellcount[1] = cellcount[2] = -1;
-  mjuu_setvec(spacing, 0.02, 0.02, 0.02);
-  mjuu_setvec(scale, 1, 1, 1);
-  mass       = 1;
-  inertiabox = 0.005;
-  equality   = 0;
-  mjuu_setvec(pos, 0, 0, 0);
-  mjuu_setvec(quat, 1, 0, 0, 0);
-  rigid    = false;
-  centered = false;
-  doftype  = mjFCOMPDOF_FULL;
-
-  mjs_defaultPlugin(&plugin);
-  mjs_defaultOrientation(&alt);
-  plugin_name          = "";
-  plugin_instance_name = "";
-  plugin.plugin_name   = (mjString*)&plugin_name;
-  plugin.name          = (mjString*)&plugin_instance_name;
-}
-
-
-// identify empty cells and pin nodes exclusively in empty cells
-void mjCFlexcomp::MarkEmptyCells(
-    mjCFlex* flex, const double* points, int npnt, const double minmax[6], int nx, int ny, int nz) {
-  int cx    = flex->spec.cellcount[0];
-  int cy    = flex->spec.cellcount[1];
-  int cz    = flex->spec.cellcount[2];
-  int order = flex->spec.order;
-
-  // delegate cell_empty computation to mjCFlex
-  int nelem = element.size() / (flex->spec.dim + 1);
-  flex->ComputeCellEmpty(points, element.data(), npnt, nelem, flex->spec.dim, minmax);
-
-  // pin nodes that belong exclusively to empty cells
-  for (int gi = 0; gi < nx; gi++) {
-    for (int gj = 0; gj < ny; gj++) {
-      for (int gk = 0; gk < nz; gk++) {
-        // find all cells that reference this node
-        bool all_empty = true;
-        int  ci_min    = std::max(0, gi == 0 ? 0 : (gi - 1) / order);
-        int  ci_max    = std::min(cx - 1, gi / order);
-        int  cj_min    = std::max(0, gj == 0 ? 0 : (gj - 1) / order);
-        int  cj_max    = std::min(cy - 1, gj / order);
-        int  ck_min    = std::max(0, gk == 0 ? 0 : (gk - 1) / order);
-        int  ck_max    = std::min(cz - 1, gk / order);
-
-        for (int ci = ci_min; ci <= ci_max && all_empty; ci++) {
-          for (int cj = cj_min; cj <= cj_max && all_empty; cj++) {
-            for (int ck = ck_min; ck <= ck_max && all_empty; ck++) {
-              if (!flex->cell_empty[ci * cy * cz + cj * cz + ck]) { all_empty = false; }
-            }
-          }
-        }
-
-        if (all_empty) {
-          int idx     = gi * ny * nz + gj * nz + gk;
-          pinned[idx] = true;
-        }
-      }
-    }
-  }
-}
-
-
-// make flexcomp object
-bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz, const mjVFS* vfs) {
-  mjCModel*    model    = static_cast<mjCBody*>(body->element)->model;
-  mjsCompiler* compiler = static_cast<mjCBody*>(body->element)->compiler;
-  mjsFlex*     dflex    = def.spec.flex;
-  bool         direct =
-      (type == mjFCOMPTYPE_DIRECT || type == mjFCOMPTYPE_MESH || type == mjFCOMPTYPE_GMSH);
-
-  // check parent body name
-  if (mjs_getName(body->element)->empty()) {
-    return comperr(error, "Parent body must have name", error_sz);
-  }
-
-  // check dim
-  if (dflex->dim < 1 || dflex->dim > 3) {
-    return comperr(error, "Invalid dim, must be between 1 and 3", error_sz);
-  }
-
-  // check counts
-  for (int i = 0; i < 3; i++) {
-    if (count[i] < 1 || ((doftype == mjFCOMPDOF_RADIAL && count[i] < 2) && dflex->dim == 3)) {
-      return comperr(error, "Count too small", error_sz);
-    }
-  }
-
-  // check spacing
-  double minspace = 2 * dflex->radius + dflex->margin;
-  if (!direct) {
-    if (spacing[0] < minspace || spacing[1] < minspace || spacing[2] < minspace) {
-      return comperr(error, "Spacing must be larger than geometry size", error_sz);
-    }
-  }
-
-  // check scale
-  if (scale[0] < mjMINVAL || scale[1] < mjMINVAL || scale[2] < mjMINVAL) {
-    return comperr(error, "Scale must be larger than mjMINVAL", error_sz);
-  }
-
-  // check mass and inertia
-  if (mass < mjMINVAL || inertiabox < mjMINVAL) {
-    return comperr(error, "Mass and inertiabox must be larger than mjMINVAL", error_sz);
-  }
-
-  // compute orientation
-  const char* alterr = mjs_resolveOrientation(quat, compiler->degree, compiler->eulerseq, &alt);
-  if (alterr) { return comperr(error, alterr, error_sz); }
-
-  // type-specific constructor: populate point and element, possibly set dim
-  bool res;
-  switch (type) {
-    case mjFCOMPTYPE_GRID:
-    case mjFCOMPTYPE_CIRCLE:
-      res = MakeGrid(error, error_sz);
-      break;
-
-    case mjFCOMPTYPE_BOX:
-    case mjFCOMPTYPE_CYLINDER:
-    case mjFCOMPTYPE_ELLIPSOID:
-      res = MakeBox(error, error_sz, dflex->dim);
-      break;
-
-    case mjFCOMPTYPE_SQUARE:
-    case mjFCOMPTYPE_DISC:
-      res = MakeSquare(error, error_sz);
-      break;
-
-    case mjFCOMPTYPE_MESH:
-      res = MakeMesh(model, compiler, error, error_sz, vfs);
-      break;
-
-    case mjFCOMPTYPE_GMSH:
-      res = MakeGMSH(model, compiler, error, error_sz, vfs);
-      break;
-
-    case mjFCOMPTYPE_DIRECT:
-      res = true;
-      break;
-
-    default:
-      return comperr(error, "Unknown flexcomp type", error_sz);
-  }
-  if (!res) { return false; }
-
-  // force flatskin shading for box, cylinder and 3D grid
-  if (type == mjFCOMPTYPE_BOX ||
-      type == mjFCOMPTYPE_CYLINDER ||
-      (type == mjFCOMPTYPE_GRID && dflex->dim == 3)) {
-    dflex->flatskin = true;
-  }
-
-  // check pin sizes
-  if (pinrange.size() % 2) {
-    return comperr(error, "Pin range number must be multiple of 2", error_sz);
-  }
-  if (pingrid.size() % dflex->dim) {
-    return comperr(error, "Pin grid number must be multiple of dim", error_sz);
-  }
-  if (pingridrange.size() % (2 * dflex->dim)) {
-    return comperr(error, "Pin grid range number of must be multiple of 2*dim", error_sz);
-  }
-  if (type != mjFCOMPTYPE_GRID &&
-      !(pingrid.empty() && pingridrange.empty()) &&
-      doftype != mjFCOMPDOF_TRILINEAR &&
-      doftype != mjFCOMPDOF_QUADRATIC) {
-    return comperr(error, "Pin grid(range) can only be used with grid or interpolated", error_sz);
-  }
-  if (dflex->dim == 1 && !(pingrid.empty() && pingridrange.empty())) {
-    return comperr(error, "Pin grid(range) cannot be used with dim=1", error_sz);
-  }
-
-  // require element and point
-  if (point.empty() || element.empty()) {
-    return comperr(error, "Point and element required", error_sz);
-  }
-
-  // check point size
-  if (point.size() % 3) { return comperr(error, "Point size must be a multiple of 3", error_sz); }
-
-  // check element size
-  if (element.size() % (dflex->dim + 1)) {
-    return comperr(error, "Element size must be a multiple of dim+1", error_sz);
-  }
-
-  // get number of points
-  int npnt = point.size() / 3;
-
-  // check elem vertex ids
-  for (int i = 0; i < (int)element.size(); i++) {
-    if (element[i] < 0 || element[i] >= npnt) {
-      char msg[100];
-      snprintf(msg,
-               sizeof(msg),
-               "element %d has point id %d, number of points is %d",
-               i,
-               element[i],
-               npnt);
-      return comperr(error, msg, error_sz);
-    }
-  }
-
-  // apply scaling for direct types
-  if (direct && (scale[0] != 1 || scale[1] != 1 || scale[2] != 1)) {
-    for (int i = 0; i < npnt; i++) {
-      point[3 * i]     *= scale[0];
-      point[3 * i + 1] *= scale[1];
-      point[3 * i + 2] *= scale[2];
-    }
-  }
-
-  // apply pose transform to points
-  for (int i = 0; i < npnt; i++) {
-    double newp[3], oldp[3] = {point[3 * i], point[3 * i + 1], point[3 * i + 2]};
-    mjuu_trnVecPose(newp, pos, quat, oldp);
-    point[3 * i]     = newp[0];
-    point[3 * i + 1] = newp[1];
-    point[3 * i + 2] = newp[2];
-  }
-
-  // compute bounding box of points
-  double minmax[6] = {mjMAXVAL, mjMAXVAL, mjMAXVAL, -mjMAXVAL, -mjMAXVAL, -mjMAXVAL};
-  for (int i = 0; i < npnt; i++) {
-    for (int j = 0; j < 3; j++) {
-      minmax[j + 0] = std::min(minmax[j + 0], point[3 * i + j]);
-      minmax[j + 3] = std::max(minmax[j + 3], point[3 * i + j]);
-    }
-  }
-
-  // construct pinned array
-  int nnode = 0;
-  if (doftype == mjFCOMPDOF_TRILINEAR || doftype == mjFCOMPDOF_QUADRATIC) {
-    int order = doftype == mjFCOMPDOF_TRILINEAR ? 1 : 2;
-    // multi-cell count for mesh/direct/gmsh, else single cell
-    int cx = 1, cy = 1, cz = 1;
-    if (type == mjFCOMPTYPE_MESH || type == mjFCOMPTYPE_DIRECT || type == mjFCOMPTYPE_GMSH) {
-      if (cellcount[0] >= 0) {
-        cx = cellcount[0];
-        cy = cellcount[1];
-        cz = cellcount[2];
-      }
-    }
-    nnode = (cx * order + 1) * (cy * order + 1) * (cz * order + 1);
-  }
-  pinned = vector<bool>(std::max(npnt, nnode), rigid);
-
-  // handle pins if user did not specify rigid
-  if (!rigid) {
-    // process pinid
-    for (int i = 0; i < (int)pinid.size(); i++) {
-      // check range
-      if (pinid[i] < 0 || pinid[i] >= npnt) {
-        return comperr(error, "pinid out of range", error_sz);
-      }
-
-      // set
-      pinned[pinid[i]] = true;
-    }
-
-    // process pinrange
-    for (int i = 0; i < (int)pinrange.size(); i += 2) {
-      // check range
-      if (pinrange[i] < 0 ||
-          pinrange[i] >= npnt ||
-          pinrange[i + 1] < 0 ||
-          pinrange[i + 1] >= npnt) {
-        return comperr(error, "pinrange out of range", error_sz);
-      }
-
-      // set
-      for (int k = pinrange[i]; k <= pinrange[i + 1]; k++) { pinned[k] = true; }
-    }
-
-    // process pingrid
-    for (int i = 0; i < (int)pingrid.size(); i += dflex->dim) {
-      // check range
-      int count_check[3] = {count[0], count[1], count[2]};
-      if (type != mjFCOMPTYPE_GRID &&
-          (doftype == mjFCOMPDOF_TRILINEAR || doftype == mjFCOMPDOF_QUADRATIC)) {
-        int dim        = (doftype == mjFCOMPDOF_TRILINEAR) ? 2 : 3;
-        count_check[0] = count_check[1] = count_check[2] = dim;
-      }
-      for (int k = 0; k < dflex->dim; k++) {
-        if (pingrid[i + k] < 0 || pingrid[i + k] >= count_check[k]) {
-          return comperr(error, "pingrid out of range", error_sz);
-        }
-      }
-
-      // set
-      if (dflex->dim == 2) {
-        pinned[GridID(pingrid[i], pingrid[i + 1])] = true;
-      } else if (dflex->dim == 3) {
-        pinned[GridID(pingrid[i], pingrid[i + 1], pingrid[i + 2])] = true;
-      }
-    }
-
-    // process pingridrange
-    for (int i = 0; i < (int)pingridrange.size(); i += 2 * dflex->dim) {
-      // check range
-      for (int k = 0; k < 2 * dflex->dim; k++) {
-        if (pingridrange[i + k] < 0 || pingridrange[i + k] >= count[k % dflex->dim]) {
-          return comperr(error, "pingridrange out of range", error_sz);
-        }
-      }
-
-      // set
-      if (dflex->dim == 2) {
-        for (int ix = pingridrange[i]; ix <= pingridrange[i + 2]; ix++) {
-          for (int iy = pingridrange[i + 1]; iy <= pingridrange[i + 3]; iy++) {
-            pinned[GridID(ix, iy)] = true;
-          }
-        }
-      } else if (dflex->dim == 3) {
-        for (int ix = pingridrange[i]; ix <= pingridrange[i + 3]; ix++) {
-          for (int iy = pingridrange[i + 1]; iy <= pingridrange[i + 4]; iy++) {
-            for (int iz = pingridrange[i + 2]; iz <= pingridrange[i + 5]; iz++) {
-              pinned[GridID(ix, iy, iz)] = true;
-            }
-          }
-        }
-      }
-    }
-
-    // center of radial body is always pinned
-    if (doftype == mjFCOMPDOF_RADIAL) { pinned[0] = true; }
-
-    // check if all or none are pinned
-    bool allpin = true, nopin = true;
-    for (int i = 0; i < npnt; i++) {
-      if (pinned[i]) {
-        nopin = false;
-      } else {
-        allpin = false;
-      }
-    }
-
-    // adjust rigid and centered
-    if (allpin) {
-      rigid = true;
-    } else if (nopin) {
-      centered = true;
-    }
-  }
-
-  // remove unreferenced for direct, mesh, gmsh
-  if (direct) {
-    // find used
-    used = std::vector<bool>(npnt, false);
-    for (int i = 0; i < (int)element.size(); i++) { used[element[i]] = true; }
-
-    // construct reindex
-    bool             hasunused = false;
-    std::vector<int> reindex(npnt, 0);
-    for (int i = 0; i < npnt; i++) {
-      if (!used[i]) {
-        hasunused = true;
-        for (int k = i + 1; k < npnt; k++) { reindex[k]--; }
-      }
-    }
-
-    // reindex elements if unused present
-    if (hasunused) {
-      for (int i = 0; i < (int)element.size(); i++) { element[i] += reindex[element[i]]; }
-
-      // compact point, texcoord, pinned arrays
-      int new_npnt = 0;
-      for (int i = 0; i < npnt; i++) {
-        if (used[i]) {
-          point[3 * new_npnt + 0] = point[3 * i + 0];
-          point[3 * new_npnt + 1] = point[3 * i + 1];
-          point[3 * new_npnt + 2] = point[3 * i + 2];
-
-          if (!texcoord.empty()) {
-            texcoord[2 * new_npnt + 0] = texcoord[2 * i + 0];
-            texcoord[2 * new_npnt + 1] = texcoord[2 * i + 1];
-          }
-
-          pinned[new_npnt] = pinned[i];
-          new_npnt++;
-        }
-      }
-
-      // resize arrays
-      point.resize(3 * new_npnt);
-      if (!texcoord.empty()) { texcoord.resize(2 * new_npnt); }
-      pinned.resize(std::max(new_npnt, nnode));
-      used.assign(new_npnt, true);
-
-      // update count
-      npnt = new_npnt;
-    }
-  }
-
-  // nothing to remove for auto-generated types
-  else {
-    used = std::vector<bool>(npnt, true);
-  }
-
-  // create flex, copy parameters
-  mjCFlex* flex = model->AddFlex();
-  mjsFlex* pf   = &flex->spec;
-  int      id   = flex->id;
-
-  *flex = def.Flex();
-  flex->PointToLocal();
-
-  flex->model = model;
-  flex->id    = id;
-  mjs_setName(pf->element, name.c_str());
-  mjs_setInt(pf->elem, element.data(), element.size());
-  mjs_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
-  mjs_setInt(pf->elemtexcoord, elemtexcoord.data(), elemtexcoord.size());
-  if (!centered) { mjs_setDouble(pf->vert, point.data(), point.size()); }
-
-  // rigid: set parent name, nothing else to do
-  if (rigid) {
-    mjs_appendString(pf->vertbody, mjs_getName(body->element)->c_str());
-    return true;
-  }
-
-  // compute body mass and inertia matching specs
-  double bodymass    = mass / npnt;
-  double bodyinertia = bodymass * (2.0 * inertiabox * inertiabox) / 3.0;
-
-  // overwrite plugin name
-  if (plugin.active && plugin_instance_name.empty()) {
-    plugin_instance_name                          = "flexcomp_" + name;
-    static_cast<mjCPlugin*>(plugin.element)->name = plugin_instance_name;
-  }
-
-  // create bodies, construct flex vert and vertbody
-  for (int i = 0; i < npnt; i++) {
-    // not used: skip
-    if (!used[i]) { continue; }
-
-    // pinned or trilinear or quadratic: parent body
-    if (pinned[i] || doftype == mjFCOMPDOF_TRILINEAR || doftype == mjFCOMPDOF_QUADRATIC) {
-      mjs_appendString(pf->vertbody, mjs_getName(body->element)->c_str());
-
-      // add plugin
-      if (plugin.active) {
-        mjsPlugin* pplugin = &body->plugin;
-        pplugin->active    = true;
-        pplugin->element   = static_cast<mjsElement*>(plugin.element);
-        mjs_setString(pplugin->plugin_name, mjs_getString(plugin.plugin_name));
-        mjs_setString(pplugin->name, plugin_instance_name.c_str());
-      }
-    }
-
-    // not pinned and not trilinear: new body
-    else {
-      // add new body at vertex coordinates
-      mjsBody* pb = mjs_addBody(body, 0);
-
-      // set frame and inertial
-      pb->pos[0] = point[3 * i];
-      pb->pos[1] = point[3 * i + 1];
-      pb->pos[2] = point[3 * i + 2];
-      mjuu_zerovec(pb->ipos, 3);
-      pb->mass             = bodymass;
-      pb->inertia[0]       = bodyinertia;
-      pb->inertia[1]       = bodyinertia;
-      pb->inertia[2]       = bodyinertia;
-      pb->explicitinertial = true;
-
-      // add radial slider
-      if (doftype == mjFCOMPDOF_RADIAL) {
-        mjsJoint* jnt = mjs_addJoint(pb, 0);
-
-        // set properties
-        jnt->type = mjJNT_SLIDE;
-        mjuu_setvec(jnt->pos, 0, 0, 0);
-        mjuu_copyvec(jnt->axis, pb->pos, 3);
-        mjuu_normvec(jnt->axis, 3);
-      }
-
-      // add three orthogonal sliders
-      else if (doftype == mjFCOMPDOF_FULL) {
-        for (int j = 0; j < 3; j++) {
-          // add joint to body
-          mjsJoint* jnt = mjs_addJoint(pb, 0);
-
-          // set properties
-          jnt->type = mjJNT_SLIDE;
-          mjuu_setvec(jnt->pos, 0, 0, 0);
-          mjuu_setvec(jnt->axis, 0, 0, 0);
-          jnt->axis[j] = 1;
-        }
-      }
-
-      // add two orthogonal sliders (x and y only)
-      else if (doftype == mjFCOMPDOF_2D) {
-        for (int j = 0; j < 2; j++) {
-          mjsJoint* jnt = mjs_addJoint(pb, 0);
-          jnt->type     = mjJNT_SLIDE;
-          mjuu_setvec(jnt->pos, 0, 0, 0);
-          mjuu_setvec(jnt->axis, 0, 0, 0);
-          jnt->axis[j] = 1;
-        }
-      }
-
-      // construct body name, add to vertbody
-      char txt[100];
-      mju::sprintf_arr(txt, "%s_%d", name.c_str(), i);
-      mjs_setName(pb->element, txt);
-      mjs_appendString(pf->vertbody, mjs_getName(pb->element)->c_str());
-
-      // clear flex vertex coordinates if allocated
-      if (!centered) {
-        point[3 * i]     = 0;
-        point[3 * i + 1] = 0;
-        point[3 * i + 2] = 0;
-      }
-
-      // add plugin
-      if (plugin.active) {
-        mjsPlugin* pplugin = &pb->plugin;
-        pplugin->active    = true;
-        pplugin->element   = static_cast<mjsElement*>(plugin.element);
-        mjs_setString(pplugin->plugin_name, mjs_getString(plugin.plugin_name));
-        mjs_setString(pplugin->name, plugin_instance_name.c_str());
-      }
-    }
-  }
-
-  // create nodal mesh for trilinear/quadratic interpolation
-  if (doftype == mjFCOMPDOF_TRILINEAR || doftype == mjFCOMPDOF_QUADRATIC) {
-    flex->spec.order = doftype == mjFCOMPDOF_TRILINEAR ? 1 : 2;
-
-    if (cellcount[0] >= 0) {
-      flex->spec.cellcount[0] = cellcount[0];
-      flex->spec.cellcount[1] = cellcount[1];
-      flex->spec.cellcount[2] = cellcount[2];
-    }
-
-    // total number of nodes with shared boundaries
-    int nx    = flex->spec.cellcount[0] * flex->spec.order + 1;
-    int ny    = flex->spec.cellcount[1] * flex->spec.order + 1;
-    int nz    = flex->spec.cellcount[2] * flex->spec.order + 1;
-    int nnode = nx * ny * nz;
-
-    // mark empty cells and pin nodes exclusively in empty cells (volume mode only)
-    if (!dflex->elastic2d) { MarkEmptyCells(flex, point.data(), npnt, minmax, nx, ny, nz); }
-
-    // shell mode: pin all interior (non-boundary) nodes
-    if (dflex->elastic2d) {
-      for (int gi = 0; gi < nx; gi++) {
-        for (int gj = 0; gj < ny; gj++) {
-          for (int gk = 0; gk < nz; gk++) {
-            bool is_boundary =
-                (gi == 0 || gi == nx - 1 || gj == 0 || gj == ny - 1 || gk == 0 || gk == nz - 1);
-            if (!is_boundary) { pinned[gi * ny * nz + gj * nz + gk] = true; }
-          }
-        }
-      }
-    }
-
-    // if MarkEmptyCells pinned any nodes, force centered=false
-    // so that pf->node (local positions) is saved to the model
-    if (centered) {
-      for (int i = 0; i < nnode; i++) {
-        if (pinned[i]) {
-          centered = false;
-          break;
-        }
-      }
-    }
-
-    std::vector<double> node(3 * nnode, 0);
-    int                 idx = 0;
-
-    // Simpson's rule weights for quadratic mass distribution
-    double massP2[3] = {1. / 6., 2. / 3., 1. / 6.};
-
-
-    // collect created bodies for mass normalization
-    std::vector<mjsBody*> node_bodies;
-
-    for (int gi = 0; gi < nx; gi++) {
-      for (int gj = 0; gj < ny; gj++) {
-        for (int gk = 0; gk < nz; gk++) {
-          // parametric position in [0, 1]^3
-          double s = (double)gi / (flex->spec.cellcount[0] * flex->spec.order);
-          double t = (double)gj / (flex->spec.cellcount[1] * flex->spec.order);
-          double u = (double)gk / (flex->spec.cellcount[2] * flex->spec.order);
-
-          // physical position
-          double px = minmax[0] + s * (minmax[3] - minmax[0]);
-          double py = minmax[1] + t * (minmax[4] - minmax[1]);
-          double pz = minmax[2] + u * (minmax[5] - minmax[2]);
-
-          if (pinned[idx]) {
-            node[3 * idx + 0] = px;
-            node[3 * idx + 1] = py;
-            node[3 * idx + 2] = pz;
-            mjs_appendString(pf->nodebody, mjs_getName(body->element)->c_str());
-            idx++;
-            continue;
-          }
-
-          mjsBody* pb = mjs_addBody(body, 0);
-          pb->pos[0]  = px;
-          pb->pos[1]  = py;
-          pb->pos[2]  = pz;
-          mjuu_zerovec(pb->ipos, 3);
-
-          // mass distribution
-          if (doftype == mjFCOMPDOF_TRILINEAR) {
-            pb->mass = 1.0;
-          } else {
-            // local index within the cell for mass computation
-            int li = gi % flex->spec.order;
-            int lj = gj % flex->spec.order;
-            int lk = gk % flex->spec.order;
-            // boundary nodes: average mass contribution
-            int ncells_i = (gi > 0 && gi < nx - 1 && li == 0) ? 2 : 1;
-            int ncells_j = (gj > 0 && gj < ny - 1 && lj == 0) ? 2 : 1;
-            int ncells_k = (gk > 0 && gk < nz - 1 && lk == 0) ? 2 : 1;
-            // use Simpson weights
-            double wi = massP2[li == 0 ? 0 : li];
-            double wj = massP2[lj == 0 ? 0 : lj];
-            double wk = massP2[lk == 0 ? 0 : lk];
-            pb->mass  = wi * wj * wk * ncells_i * ncells_j * ncells_k;
-          }
-
-          node_bodies.push_back(pb);
-
-          pb->inertia[0]       = pb->mass * (2.0 * inertiabox * inertiabox) / 3.0;
-          pb->inertia[1]       = pb->mass * (2.0 * inertiabox * inertiabox) / 3.0;
-          pb->inertia[2]       = pb->mass * (2.0 * inertiabox * inertiabox) / 3.0;
-          pb->explicitinertial = true;
-
-          for (int d = 0; d < 3; d++) {
-            mjsJoint* jnt = mjs_addJoint(pb, 0);
-            jnt->type     = mjJNT_SLIDE;
-            mjuu_setvec(jnt->pos, 0, 0, 0);
-            mjuu_setvec(jnt->axis, 0, 0, 0);
-            jnt->axis[d] = 1;
-          }
-
-          // construct node name, add to nodebody
-          char txt[100];
-          mju::sprintf_arr(txt, "%s_%d_%d_%d", name.c_str(), gi, gj, gk);
-          mjs_setName(pb->element, txt);
-          mjs_appendString(pf->nodebody, mjs_getName(pb->element)->c_str());
-
-          idx++;
-        }
-      }
-    }
-
-    // normalize masses so total equals prescribed mass
-    double total_mass = 0;
-    for (mjsBody* pb : node_bodies) { total_mass += pb->mass; }
-    if (total_mass > 0) {
-      double scale = mass / total_mass;
-      for (mjsBody* pb : node_bodies) {
-        pb->mass       *= scale;
-        pb->inertia[0] *= scale;
-        pb->inertia[1] *= scale;
-        pb->inertia[2] *= scale;
-      }
-    }
-
-    if (!centered) { mjs_setDouble(pf->node, node.data(), node.size()); }
-  }
-
-  if (!centered || doftype == mjFCOMPDOF_TRILINEAR || doftype == mjFCOMPDOF_QUADRATIC) {
-    mjs_setDouble(pf->vert, point.data(), point.size());
-  }
-
-  // create equality constraints
-  if (equality) {
-    // equality 1=edge(mjEQ_FLEX), 2=vert(mjEQ_FLEXVERT), 3=strain(mjEQ_FLEXSTRAIN)
-    if (equality == 1 || equality == 2) {
-      mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
-      mjs_setDefault(pe->element, &model->Default()->spec);
-      pe->type   = (equality == 1) ? mjEQ_FLEX : mjEQ_FLEXVERT;
-      pe->active = true;
-      mjs_setString(pe->name1, name.c_str());
-    } else if (equality == 3) {
-      // create one strain constraint per finite element, storing element index
-      flex->has_strain_eq = true;
-      int  cell_cx        = flex->spec.cellcount[0];
-      int  cell_cy        = flex->spec.cellcount[1];
-      int  cell_cz        = flex->spec.cellcount[2];
-      bool shell          = (doftype == mjFCOMPDOF_TRILINEAR || doftype == mjFCOMPDOF_QUADRATIC) &&
-                            flex->spec.elastic2d;
-
-      if (shell) {
-        // shell mode: one constraint per boundary face element
-        int nelem_fe = 2 * (cell_cy * cell_cz + cell_cx * cell_cz + cell_cx * cell_cy);
-        for (int fe = 0; fe < nelem_fe; fe++) {
-          mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
-          mjs_setDefault(pe->element, &model->Default()->spec);
-          pe->type   = mjEQ_FLEXSTRAIN;
-          pe->active = true;
-          mjs_setString(pe->name1, name.c_str());
-          pe->data[0] = fe;
-          pe->data[1] = -1;  // sentinel: shell mode
-          pe->data[2] = -1;
-        }
-      } else {
-        // volume mode: one constraint per 3D cell
-        for (int ci = 0; ci < cell_cx; ci++) {
-          for (int cj = 0; cj < cell_cy; cj++) {
-            for (int ck = 0; ck < cell_cz; ck++) {
-              // skip empty cells
-              if (!flex->cell_empty.empty() &&
-                  flex->cell_empty[ci * cell_cy * cell_cz + cj * cell_cz + ck]) {
-                continue;
-              }
-              mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
-              mjs_setDefault(pe->element, &model->Default()->spec);
-              pe->type   = mjEQ_FLEXSTRAIN;
-              pe->active = true;
-              mjs_setString(pe->name1, name.c_str());
-              pe->data[0] = ci;
-              pe->data[1] = cj;
-              pe->data[2] = ck;
-            }
-          }
-        }
-      }
-    }
-  }
-
-  return true;
-}
-
-
-// get point id from grid coordinates
-int mjCFlexcomp::GridID(int ix, int iy) {
-  return ix * count[1] + iy;
-}
-int mjCFlexcomp::GridID(int ix, int iy, int iz) {
-  return ix * count[1] * count[2] + iy * count[2] + iz;
-}
-
-
-// make grid
-bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
-  int  dim     = def.Flex().spec.dim;
-  bool needtex = texcoord.empty() && mjs_getString(def.spec.flex->material)[0];
-
-  // 1D
-  if (dim == 1) {
-    for (int ix = 0; ix < count[0]; ix++) {
-      if (type == mjFCOMPTYPE_CIRCLE) {
-        if (ix >= count[0] - 1) { continue; }
-
-        // add point
-        double theta  = 2 * mjPI / (count[0] - 1);
-        double radius = spacing[0] / std::sin(theta / 2) / 2;
-        point.push_back(radius * std::cos(theta * ix));
-        point.push_back(radius * std::sin(theta * ix));
-        point.push_back(0);
-
-        // add element
-        element.push_back(ix);
-        element.push_back(ix == count[0] - 2 ? 0 : ix + 1);
-      } else {
-        // add point
-        point.push_back(spacing[0] * (ix - 0.5 * (count[0] - 1)));
-        point.push_back(0);
-        point.push_back(0);
-
-        // add element
-        if (ix < count[0] - 1) {
-          element.push_back(ix);
-          element.push_back(ix + 1);
-        }
-      }
-    }
-  }
-
-  // 2D
-  else if (dim == 2) {
-    for (int ix = 0; ix < count[0]; ix++) {
-      for (int iy = 0; iy < count[1]; iy++) {
-        int quad2tri[2][3] = {
-            {0, 1, 2},
-            {0, 2, 3}
-        };
-
-        // add point
-        double pos[2] = {spacing[0] * (ix - 0.5 * (count[0] - 1)),
-                         spacing[1] * (iy - 0.5 * (count[1] - 1))};
-        point.push_back(pos[0]);
-        point.push_back(pos[1]);
-        point.push_back(0);
-
-        // add texture coordinates, if not specified explicitly
-        if (needtex) {
-          texcoord.push_back(ix / (double)std::max(count[0] - 1, 1));
-          texcoord.push_back(iy / (double)std::max(count[1] - 1, 1));
-        }
-
-        // flip triangles if radial projection is requested
-        if (((pos[0] < -mjEPS && pos[1] > -mjEPS) || (pos[0] > -mjEPS && pos[1] < -mjEPS)) &&
-            type == mjFCOMPTYPE_DISC) {
-          quad2tri[0][2] = 3;
-          quad2tri[1][0] = 1;
-        }
-
-        // add elements
-        if (ix < count[0] - 1 && iy < count[1] - 1) {
-          int vert[4] = {
-              count[2] * count[1] * (ix + 0) + count[2] * (iy + 0),
-              count[2] * count[1] * (ix + 1) + count[2] * (iy + 0),
-              count[2] * count[1] * (ix + 1) + count[2] * (iy + 1),
-              count[2] * count[1] * (ix + 0) + count[2] * (iy + 1),
-          };
-          for (int s = 0; s < 2; s++) {
-            for (int v = 0; v < 3; v++) { element.push_back(vert[quad2tri[s][v]]); }
-          }
-        }
-      }
-    }
-  }
-
-  // 3D
-  else {
-    int cube2tets[6][4] = {
-        {0, 3, 1, 7},
-        {0, 1, 4, 7},
-        {1, 3, 2, 7},
-        {1, 2, 6, 7},
-        {1, 5, 4, 7},
-        {1, 6, 5, 7}
-    };
-    for (int ix = 0; ix < count[0]; ix++) {
-      for (int iy = 0; iy < count[1]; iy++) {
-        for (int iz = 0; iz < count[2]; iz++) {
-          // add point
-          point.push_back(spacing[0] * (ix - 0.5 * (count[0] - 1)));
-          point.push_back(spacing[1] * (iy - 0.5 * (count[1] - 1)));
-          point.push_back(spacing[2] * (iz - 0.5 * (count[2] - 1)));
-
-          // add texture coordinates, if not specified explicitly
-          if (needtex) {
-            texcoord.push_back(ix / (float)std::max(count[0] - 1, 1));
-            texcoord.push_back(iy / (float)std::max(count[1] - 1, 1));
-          }
-
-          // add elements
-          if (ix < count[0] - 1 && iy < count[1] - 1 && iz < count[2] - 1) {
-            int vert[8] = {
-                count[2] * count[1] * (ix + 0) + count[2] * (iy + 0) + iz + 0,
-                count[2] * count[1] * (ix + 1) + count[2] * (iy + 0) + iz + 0,
-                count[2] * count[1] * (ix + 1) + count[2] * (iy + 1) + iz + 0,
-                count[2] * count[1] * (ix + 0) + count[2] * (iy + 1) + iz + 0,
-                count[2] * count[1] * (ix + 0) + count[2] * (iy + 0) + iz + 1,
-                count[2] * count[1] * (ix + 1) + count[2] * (iy + 0) + iz + 1,
-                count[2] * count[1] * (ix + 1) + count[2] * (iy + 1) + iz + 1,
-                count[2] * count[1] * (ix + 0) + count[2] * (iy + 1) + iz + 1,
-            };
-            for (int s = 0; s < 6; s++) {
-              for (int v = 0; v < 4; v++) { element.push_back(vert[cube2tets[s][v]]); }
-            }
-          }
-        }
-      }
-    }
-  }
-
-  // check elements
-  if (element.empty()) { return comperr(error, "No elements were created in grid", error_sz); }
-
-  return true;
-}
-
-
-// get point id from box coordinates and side
-int mjCFlexcomp::BoxID(int ix, int iy, int iz) {
-  // side iz=0
-  if (iz == 0) {
-    return ix * count[1] + iy + 1;
-  }
-
-  // side iz=max
-  else if (iz == count[2] - 1) {
-    return count[0] * count[1] + ix * count[1] + iy + 1;
-  }
-
-  // side iy=0
-  else if (iy == 0) {
-    return 2 * count[0] * count[1] + ix * (count[2] - 2) + iz - 1 + 1;
-  }
-
-  // side iy=max
-  else if (iy == count[1] - 1) {
-    return 2 * count[0] * count[1] + count[0] * (count[2] - 2) + ix * (count[2] - 2) + iz - 1 + 1;
-  }
-
-  // side ix=0
-  else if (ix == 0) {
-    return 2 * count[0] * count[1] +
-           2 * count[0] * (count[2] - 2) +
-           (iy - 1) * (count[2] - 2) +
-           iz -
-           1 +
-           1;
-  }
-
-  // side ix=max
-  else {
-    return 2 * count[0] * count[1] +
-           2 * count[0] * (count[2] - 2) +
-           (count[1] - 2) * (count[2] - 2) +
-           (iy - 1) * (count[2] - 2) +
-           iz -
-           1 +
-           1;
-  }
-}
-
-
-// project from box to other shape
-void mjCFlexcomp::BoxProject(double* pos, int ix, int iy, int iz) {
-  // init point
-  pos[0] = 2.0 * ix / (count[0] - 1) - 1;
-  pos[1] = 2.0 * iy / (count[1] - 1) - 1;
-  pos[2] = 2.0 * iz / (count[2] - 1) - 1;
-
-  // determine sizes
-  double size[3] = {0.5 * spacing[0] * (count[0] - 1),
-                    0.5 * spacing[1] * (count[1] - 1),
-                    0.5 * spacing[2] * (count[2] - 1)};
-
-  // box
-  if (type == mjFCOMPTYPE_BOX) {
-    pos[0] *= size[0];
-    pos[1] *= size[1];
-    pos[2] *= size[2];
-  }
-
-  // cylinder
-  else if (type == mjFCOMPTYPE_CYLINDER) {
-    double L0 = std::max(std::abs(pos[0]), std::abs(pos[1]));
-    mjuu_normvec(pos, 2);
-    pos[0] *= size[0] * L0;
-    pos[1] *= size[1] * L0;
-    pos[2] *= size[2];
-  }
-
-  // ellipsoid
-  else if (type == mjFCOMPTYPE_ELLIPSOID) {
-    mjuu_normvec(pos, 3);
-    pos[0] *= size[0];
-    pos[1] *= size[1];
-    pos[2] *= size[2];
-  }
-}
-
-
-// make 2d square or disc
-bool mjCFlexcomp::MakeSquare(char* error, int error_sz) {
-  // set 2D
-  def.spec.flex->dim = 2;
-
-  // create square
-  if (!MakeGrid(error, error_sz)) { return false; }
-
-  // do projection
-  if (type == mjFCOMPTYPE_DISC) {
-    double size[2] = {
-        0.5 * spacing[0] * (count[0] - 1),
-        0.5 * spacing[1] * (count[1] - 1),
-    };
-
-    for (int i = 0; i < point.size() / 3; i++) {
-      double* pos = point.data() + i * 3;
-      double  L0  = std::max(std::abs(pos[0]), std::abs(pos[1]));
-      mjuu_normvec(pos, 2);
-      pos[0] *= size[0] * L0;
-      pos[1] *= size[1] * L0;
-    }
-  }
-
-  return true;
-}
-
-
-static int mat2lin(int ix, int iy, int iz, const int count[3]) {
-  return ix * count[1] * count[2] + iy * count[2] + iz;
-}
-
-
-// make 3d box, ellipsoid or cylinder
-bool mjCFlexcomp::MakeBox(char* error, int error_sz, int dim, bool open) {
-  double pos[3];
-  bool   needtex = texcoord.empty() && mjs_getString(def.spec.flex->material)[0];
-
-  // set dimension
-  def.spec.flex->dim = dim;
-
-  // add center point
-  if (dim == 3) {
-    point.push_back(0);
-    point.push_back(0);
-    point.push_back(0);
-  }
-
-  // add texture coordinates, if not specified explicitly
-  if (needtex) {
-    texcoord.push_back(0);
-    texcoord.push_back(0);
-  }
-
-  // add points
-  int              n = 0;
-  std::vector<int> idx(count[0] * count[1] * count[2]);
-
-  // iz=0/max
-  for (int iz = 0; iz < count[2]; iz += count[2] - 1) {
-    for (int ix = 0; ix < count[0]; ix++) {
-      for (int iy = 0; iy < count[1]; iy++) {
-        if (open && dim == 2 && iz != 0) { continue; }
-
-        // add point
-        BoxProject(pos, ix, iy, iz);
-        point.push_back(pos[0]);
-        point.push_back(pos[1]);
-        point.push_back(pos[2]);
-        idx[mat2lin(ix, iy, iz, count)] = n++;
-
-        // add texture coordinates, if not specified explicitly
-        if (needtex) {
-          texcoord.push_back(ix / (float)std::max(count[0] - 1, 1));
-          texcoord.push_back(iy / (float)std::max(count[1] - 1, 1));
-        }
-      }
-    }
-  }
-
-  // iy=0/max
-  for (int iy = 0; iy < count[1]; iy += count[1] - 1) {
-    for (int ix = 0; ix < count[0]; ix++) {
-      for (int iz = 0; iz < count[2]; iz++) {
-        // add point
-        if (iz > 0 && ((open && dim == 2) || (iz < count[2] - 1))) {
-          BoxProject(pos, ix, iy, iz);
-          point.push_back(pos[0]);
-          point.push_back(pos[1]);
-          point.push_back(pos[2]);
-          idx[mat2lin(ix, iy, iz, count)] = n++;
-
-          // add texture coordinates
-          if (needtex) {
-            texcoord.push_back(ix / (float)std::max(count[0] - 1, 1));
-            texcoord.push_back(iz / (float)std::max(count[2] - 1, 1));
-          }
-        }
-      }
-    }
-  }
-
-  // ix=0/max
-  for (int ix = 0; ix < count[0]; ix += count[0] - 1) {
-    for (int iy = 0; iy < count[1]; iy++) {
-      for (int iz = 0; iz < count[2]; iz++) {
-        // add point
-        if (iz > 0 && ((open && dim == 2) || (iz < count[2] - 1)) && iy > 0 && iy < count[1] - 1) {
-          BoxProject(pos, ix, iy, iz);
-          point.push_back(pos[0]);
-          point.push_back(pos[1]);
-          point.push_back(pos[2]);
-          idx[mat2lin(ix, iy, iz, count)] = n++;
-
-          // add texture coordinates
-          if (needtex) {
-            texcoord.push_back(iy / (float)std::max(count[1] - 1, 1));
-            texcoord.push_back(iz / (float)std::max(count[2] - 1, 1));
-          }
-        }
-      }
-    }
-  }
-
-  // add elements
-
-  // iz=0/max
-  for (int iz = 0; iz < count[2]; iz += count[2] - 1) {
-    for (int ix = 0; ix < count[0]; ix++) {
-      for (int iy = 0; iy < count[1]; iy++) {
-        if (open && dim == 2 && iz != 0) { continue; }
-
-        if (ix < count[0] - 1 && iy < count[1] - 1) {
-          if (dim == 3) {
-            element.push_back(0);
-            element.push_back(BoxID(ix, iy, iz));
-            element.push_back(BoxID(ix + 1, iy, iz));
-            element.push_back(BoxID(ix + 1, iy + 1, iz));
-
-            element.push_back(0);
-            element.push_back(BoxID(ix, iy, iz));
-            element.push_back(BoxID(ix, iy + 1, iz));
-            element.push_back(BoxID(ix + 1, iy + 1, iz));
-          } else {
-            int step1 = iz == 0 ? 1 : 0;
-            int step2 = iz == 0 ? 0 : 1;
-            element.push_back(idx[mat2lin(ix, iy, iz, count)]);
-            element.push_back(idx[mat2lin(ix + 1, iy + step1, iz, count)]);
-            element.push_back(idx[mat2lin(ix + 1, iy + step2, iz, count)]);
-
-            element.push_back(idx[mat2lin(ix, iy, iz, count)]);
-            element.push_back(idx[mat2lin(ix + step2, iy + 1, iz, count)]);
-            element.push_back(idx[mat2lin(ix + step1, iy + 1, iz, count)]);
-          }
-        }
-      }
-    }
-  }
-
-  // iy=0/max
-  for (int iy = 0; iy < count[1]; iy += count[1] - 1) {
-    for (int ix = 0; ix < count[0]; ix++) {
-      for (int iz = 0; iz < count[2]; iz++) {
-        if (ix < count[0] - 1 && iz < count[2] - 1) {
-          if (dim == 3) {
-            element.push_back(0);
-            element.push_back(BoxID(ix, iy, iz));
-            element.push_back(BoxID(ix + 1, iy, iz));
-            element.push_back(BoxID(ix + 1, iy, iz + 1));
-
-            element.push_back(0);
-            element.push_back(BoxID(ix, iy, iz));
-            element.push_back(BoxID(ix, iy, iz + 1));
-            element.push_back(BoxID(ix + 1, iy, iz + 1));
-          } else {
-            int ix0 = iy == 0 ? ix : ix + 1;
-            int dx  = iy == 0 ? 1 : -1;
-            element.push_back(idx[mat2lin(ix0, iy, iz, count)]);
-            element.push_back(idx[mat2lin(ix0 + dx, iy, iz, count)]);
-            element.push_back(idx[mat2lin(ix0 + dx, iy, iz + 1, count)]);
-
-            element.push_back(idx[mat2lin(ix0, iy, iz, count)]);
-            element.push_back(idx[mat2lin(ix0 + dx, iy, iz + 1, count)]);
-            element.push_back(idx[mat2lin(ix0, iy, iz + 1, count)]);
-          }
-        }
-      }
-    }
-  }
-
-  // ix=0/max
-  for (int ix = 0; ix < count[0]; ix += count[0] - 1) {
-    for (int iy = 0; iy < count[1]; iy++) {
-      for (int iz = 0; iz < count[2]; iz++) {
-        if (iy < count[1] - 1 && iz < count[2] - 1) {
-          if (dim == 3) {
-            element.push_back(0);
-            element.push_back(BoxID(ix, iy, iz));
-            element.push_back(BoxID(ix, iy + 1, iz));
-            element.push_back(BoxID(ix, iy + 1, iz + 1));
-
-            element.push_back(0);
-            element.push_back(BoxID(ix, iy, iz));
-            element.push_back(BoxID(ix, iy, iz + 1));
-            element.push_back(BoxID(ix, iy + 1, iz + 1));
-          } else {
-            int iy0 = ix != 0 ? iy : iy + 1;
-            int dy  = ix != 0 ? 1 : -1;
-            element.push_back(idx[mat2lin(ix, iy0, iz, count)]);
-            element.push_back(idx[mat2lin(ix, iy0 + dy, iz, count)]);
-            element.push_back(idx[mat2lin(ix, iy0 + dy, iz + 1, count)]);
-
-            element.push_back(idx[mat2lin(ix, iy0, iz, count)]);
-            element.push_back(idx[mat2lin(ix, iy0 + dy, iz + 1, count)]);
-            element.push_back(idx[mat2lin(ix, iy0, iz + 1, count)]);
-          }
-        }
-      }
-    }
-  }
-
-  return true;
-}
-
-
-// copied from user_mesh.cc
-template <typename T>
-static T* VecToArray(std::vector<T>& vector, bool clear = true) {
-  if (vector.empty())
-    return nullptr;
-  else {
-    int n    = (int)vector.size();
-    T*  cvec = (T*)mju_malloc(n * sizeof(T));
-    memcpy(cvec, vector.data(), n * sizeof(T));
-    if (clear) { vector.clear(); }
-    return cvec;
-  }
-}
-
-
-// make mesh
-bool mjCFlexcomp::MakeMesh(
-    mjCModel* model, mjsCompiler* compiler, char* error, int error_sz, const mjVFS* vfs) {
-  // strip path
-  if (!file.empty() && model->spec.strippath) { file = mjuu_strippath(file); }
-
-  // file is required
-  if (file.empty()) { return comperr(error, "File is required", error_sz); }
-
-  // check dim
-  if (def.spec.flex->dim < 1) {
-    return comperr(error, "Flex dim must be at least 1 for mesh", error_sz);
-  }
-
-  // load resource
-  std::string filename = mjuu_combinePaths(mjs_getString(compiler->meshdir), file);
-  mjResource* resource = nullptr;
-
-
-  if (mjCMesh::IsMSH(filename)) {
-    return comperr(error, "legacy MSH files are not supported in flexcomp", error_sz);
-  }
-
-  try {
-    resource = mjCBase::LoadResource(mjs_getString(model->spec.modelfiledir), filename, vfs);
-  } catch (mjCError err) { return comperr(error, err.message, error_sz); }
-
-
-  // load mesh
-  mjCMesh mesh;
-  try {
-    mesh.LoadFromResource(resource, true);
-    mju_closeResource(resource);
-  } catch (mjCError err) {
-    mju_closeResource(resource);
-    return comperr(error, err.message, error_sz);
-  }
-
-  // check sizes
-  if (mesh.Vert().empty() || mesh.Face().empty()) {
-    return comperr(error, "Vertex and face data required", error_sz);
-  }
-
-  // copy vertices
-  point.assign(mesh.Vert().begin(), mesh.Vert().end());
-
-  if (mesh.HasTexcoord()) {
-    texcoord     = mesh.Texcoord();
-    elemtexcoord = mesh.FaceTexcoord();
-  }
-
-  // copy faces or create 3D mesh
-  if (def.spec.flex->dim == 2) {
-    element = mesh.Face();
-  } else if (def.spec.flex->dim == 1) {
-    // extract edge pairs from degenerate triangles (i1, i2, i2)
-    const std::vector<int>& face = mesh.Face();
-    element.clear();
-    element.reserve(face.size() * 2 / 3);
-    for (size_t i = 0; i < face.size(); i += 3) {
-      element.push_back(face[i]);
-      element.push_back(face[i + 1]);
-    }
-  } else {
-    point.insert(point.begin() + 0, origin[0]);
-    point.insert(point.begin() + 1, origin[1]);
-    point.insert(point.begin() + 2, origin[2]);
-    for (int i = 0; i < mesh.Face().size(); i += 3) {
-      // only add tetrahedra with positive volume
-      int    tet[3] = {mesh.Face()[i + 0] + 1, mesh.Face()[i + 1] + 1, mesh.Face()[i + 2] + 1};
-      double edge1[3], edge2[3], edge3[3];
-      for (int i = 0; i < 3; i++) {
-        edge1[i] = point[3 * tet[0] + i] - origin[i];
-        edge2[i] = point[3 * tet[1] + i] - origin[i];
-        edge3[i] = point[3 * tet[2] + i] - origin[i];
-      }
-      double normal[3];
-      mjuu_crossvec(normal, edge1, edge2);
-      if (mjuu_dot3(normal, edge3) < mjMINVAL) { continue; }
-      element.push_back(0);
-      element.push_back(tet[0]);
-      element.push_back(tet[1]);
-      element.push_back(tet[2]);
-    }
-  }
-
-  return true;
-}
-
-
-// find string in buffer, return position or -1 if not found
-static int findstring(const char* buffer, int buffer_sz, const char* str) {
-  int len = (int)strlen(str);
-
-  // scan buffer
-  for (int i = 0; i < buffer_sz - len; i++) {
-    // check for string at position i
-    bool found = true;
-    for (int k = 0; k < len; k++) {
-      if (buffer[i + k] != str[k]) {
-        found = false;
-        break;
-      }
-    }
-
-    // string found
-    if (found) { return i; }
-  }
-
-  // not found
-  return -1;
-}
-
-
-// load points and elements from GMSH file
-bool mjCFlexcomp::MakeGMSH(
-    mjCModel* model, mjsCompiler* compiler, char* error, int error_sz, const mjVFS* vfs) {
-  // strip path
-  if (!file.empty() && model->spec.strippath) { file = mjuu_strippath(file); }
-
-  // file is required
-  if (file.empty()) { return comperr(error, "File is required", error_sz); }
-
-  // open resource
-  mjResource* resource = nullptr;
-  try {
-    std::string filename = mjuu_combinePaths(mjs_getString(compiler->meshdir), file);
-    resource = mjCBase::LoadResource(mjs_getString(model->spec.modelfiledir), filename, vfs);
-  } catch (mjCError err) { return comperr(error, err.message, error_sz); }
-
-  // try to load, close resource properly
-  try {
-    LoadGMSH(model, resource);
-    mju_closeResource(resource);
-  } catch (mjCError err) {
-    mju_closeResource(resource);
-    return comperr(error, err.message, error_sz);
-  } catch (...) {
-    mju_closeResource(resource);
-    return comperr(error, "exception while reading GMSH file", error_sz);
-  }
-
-  return true;
-}
-
-
-// load GMSH format 4.1
-void mjCFlexcomp::LoadGMSH41(
-    char* buffer, int binary, int nodeend, int nodebegin, int elemend, int elembegin) {
-  // header size
-  constexpr int kGmsh41HeaderSize = 52;
-  // base for node tags, to be subtracted from element data
-  size_t minNodeTag, numEntityBlocks, numNodes, maxNodeTag, numNodesInBlock, tag;
-  int    entityDim, entityTag, parametric;
-
-  // ascii nodes
-  if (binary == 0) {
-    // convert node char buffer to stringstream
-    stringstream ss(std::string(buffer + nodebegin, nodeend - nodebegin));
-
-    // read header
-    ss >> numEntityBlocks >> numNodes >> minNodeTag >> maxNodeTag;
-    ss >> entityDim >> entityTag >> parametric >> numNodesInBlock;
-    if (!ss.good()) { throw mjCError(NULL, "Error reading Nodes header"); }
-
-    // check number of nodes is a positive number
-    if (numNodes < 0) { throw mjCError(NULL, "Invalid number of nodes"); }
-
-    // require single block
-    if (numEntityBlocks != 1 || numNodes != numNodesInBlock) {
-      throw mjCError(NULL, "All nodes must be in single block");
-    }
-
-    // require maximum number of nodes be equal to maximum number of nodes in a block
-    if (maxNodeTag != numNodesInBlock) {
-      throw mjCError(NULL, "Maximum number of nodes must be equal to number of nodes in a block");
-    }
-
-    // check dimensionality and save
-    if (entityDim < 1 || entityDim > 3) { throw mjCError(NULL, "Entity must be 1D, 2D or 3D"); }
-    def.spec.flex->dim = entityDim;
-
-    // read and discard node tags; require range from minNodeTag to maxNodeTag
-    for (size_t i = 0; i < numNodes; i++) {
-      size_t tag;
-      ss >> tag;
-      if (!ss.good()) { throw mjCError(NULL, "Error reading node tags"); }
-      if (tag != i + minNodeTag) { throw mjCError(NULL, "Node tags must be sequential"); }
-    }
-
-    // read points
-    if (numNodes < 0 || numNodes >= INT_MAX / 3) {
-      throw mjCError(NULL, "Invalid number of nodes.");
-    }
-    point.reserve(3 * numNodes);
-    for (size_t i = 0; i < 3 * numNodes; i++) {
-      double x;
-      ss >> x;
-      if (!ss.good()) { throw mjCError(NULL, "Error reading node coordinates"); }
-      point.push_back(x);
-    }
-  }
-  // binary nodes
-  else {
-    // check header size
-    if (nodeend - nodebegin < kGmsh41HeaderSize) { throw mjCError(NULL, "Invalid nodes header"); }
-
-    // read header
-    ReadFromBuffer(&numEntityBlocks, buffer + nodebegin);
-    ReadFromBuffer(&numNodes, buffer + nodebegin + 8);
-    ReadFromBuffer(&minNodeTag, buffer + nodebegin + 16);
-    ReadFromBuffer(&maxNodeTag, buffer + nodebegin + 24);
-    ReadFromBuffer(&entityDim, buffer + nodebegin + 32);
-    ReadFromBuffer(&entityTag, buffer + nodebegin + 36);
-    ReadFromBuffer(&parametric, buffer + nodebegin + 40);
-    ReadFromBuffer(&numNodesInBlock, buffer + nodebegin + 44);
-
-    // require single block
-    if (numEntityBlocks != 1 || numNodes != numNodesInBlock) {
-      throw mjCError(NULL, "All nodes must be in single block");
-    }
-
-    // check number of nodes is a positive number
-    if (numNodes < 0) { throw mjCError(NULL, "Invalid number of nodes"); }
-
-    // check dimensionality and save
-    if (entityDim < 1 || entityDim > 3) { throw mjCError(NULL, "Entity must be 1D, 2D or 3D"); }
-    def.spec.flex->dim = entityDim;
-
-    // nodeData: node tag and 3 nodes
-    constexpr int numNodeComponents = 4;
-    constexpr int componentSize     = 8;
-    int           nodeDataSize      = numNodeComponents * componentSize;
-
-    // check section byte size
-    if (nodeend - nodebegin < kGmsh41HeaderSize + numNodes * nodeDataSize) {
-      throw mjCError(NULL, "Insufficient byte size of Nodes");
-    }
-
-    // check node tags: must range from minNodeTag to maxNodeTag
-    const char* tagbuffer = buffer + nodebegin + kGmsh41HeaderSize;
-    for (size_t i = 0; i < numNodes; i++) {
-      ReadFromBuffer(&tag, tagbuffer + i * componentSize);
-      if (tag != i + minNodeTag) { throw mjCError(NULL, "Node tags must be sequential"); }
-    }
-
-    // read points
-    if (numNodes < 0 || numNodes >= INT_MAX / 3) {
-      throw mjCError(NULL, "Invalid number of nodes.");
-    }
-    point.reserve(3 * numNodes);
-    const char* pointbuffer = buffer + nodebegin + kGmsh41HeaderSize + componentSize * numNodes;
-    for (size_t i = 0; i < 3 * numNodes; i++) {
-      double x;
-      ReadFromBuffer(&x, pointbuffer + i * componentSize);
-      point.push_back(x);
-    }
-  }
-
-  size_t numElements, minElementTag, maxElementTag, numElementsInBlock;
-  int    elementType;
-
-  // ascii elements
-  if (binary == 0) {
-    // convert element char buffer to stringstream
-    buffer[elemend] = 0;
-    stringstream ss(std::string(buffer + elembegin, elemend - elembegin));
-
-    // read header
-    ss >> numEntityBlocks >> numElements >> minElementTag >> maxElementTag;
-    ss >> entityDim >> entityTag >> elementType >> numElementsInBlock;
-    if (!ss.good()) { throw mjCError(NULL, "Error reading Elements header"); }
-
-    // require single block
-    if (numEntityBlocks != 1 || numElements != numElementsInBlock) {
-      throw mjCError(NULL, "All elements must be in single block");
-    }
-
-    // check number of elements is a positive number
-    if (numElements < 0) { throw mjCError(NULL, "Invalid number of elements"); }
-
-    // dimensionality must be same as nodes
-    if (entityDim != def.spec.flex->dim) {
-      throw mjCError(NULL, "Inconsistent dimensionality in Elements");
-    }
-
-    if (numElements < 0 || numElements >= INT_MAX / 4) {
-      throw mjCError(NULL, "Invalid numElements.");
-    }
-
-    // type must be consistent with dimensionality
-    if ((entityDim == 1 && elementType != 1) ||
-        (entityDim == 2 && elementType != 2) ||
-        (entityDim == 3 && elementType != 4)) {
-      throw mjCError(NULL, "Element type inconsistent with dimensionality");
-    }
-
-    // read elements, discard tags
-    element.reserve((entityDim + 1) * numElements);
-    for (size_t i = 0; i < numElements; i++) {
-      size_t tag, nodeid;
-      ss >> tag;
-      for (int k = 0; k <= entityDim; k++) {
-        ss >> nodeid;
-        if (!ss.good()) { throw mjCError(NULL, "Error reading Elements"); }
-        element.push_back((int)(nodeid - minNodeTag));
-      }
-    }
-  }
-
-  // binary elements
-  else {
-    // check header size
-    if (elemend - elembegin < kGmsh41HeaderSize) {
-      throw mjCError(NULL, "Invalid elements header");
-    }
-
-    // read header
-    ReadFromBuffer(&numEntityBlocks, buffer + elembegin);
-    ReadFromBuffer(&numElements, buffer + elembegin + 8);
-    ReadFromBuffer(&minElementTag, buffer + elembegin + 16);
-    ReadFromBuffer(&maxElementTag, buffer + elembegin + 24);
-    ReadFromBuffer(&entityDim, buffer + elembegin + 32);
-    ReadFromBuffer(&entityTag, buffer + elembegin + 36);
-    ReadFromBuffer(&elementType, buffer + elembegin + 40);
-    ReadFromBuffer(&numElementsInBlock, buffer + elembegin + 44);
-
-    // require single block
-    if (numEntityBlocks != 1 || numElements != numElementsInBlock) {
-      throw mjCError(NULL, "All elements must be in single block");
-    }
-
-    // check number of elements is a positive number
-    if (numElements < 0) { throw mjCError(NULL, "Invalid number of elements"); }
-
-    // dimensionality must be same as nodes
-    if (entityDim != def.spec.flex->dim) {
-      throw mjCError(NULL, "Inconsistent dimensionality in Elements");
-    }
-
-    // type must be consistent with dimensionality
-    if ((entityDim == 1 && elementType != 1) ||
-        (entityDim == 2 && elementType != 2) ||
-        (entityDim == 3 && elementType != 4)) {
-      throw mjCError(NULL, "Element type inconsistent with dimensionality");
-    }
-
-    if (numElements < 0 || numElements >= INT_MAX / 4) {
-      throw mjCError(NULL, "Invalid numElements.");
-    }
-
-    // elementData: element tag and n node tags
-    int           numElementComponents = (entityDim + 2);
-    constexpr int componentSize        = 8;
-    int           elementDataSize      = numElementComponents * componentSize;
-
-    // check section byte size
-    if (elemend - elembegin < kGmsh41HeaderSize + numElements * elementDataSize) {
-      throw mjCError(NULL, "Insufficient byte size of Elements");
-    }
-
-    // read elements, discard tags
-    element.reserve((entityDim + 1) * numElements);
-    const char* elembuffer = buffer + elembegin + kGmsh41HeaderSize;
-    for (size_t i = 0; i < numElements; i++) {
-      // skip element tag
-      elembuffer += componentSize;
-
-      // read vertex ids
-      size_t elemid;
-      for (int k = 0; k <= entityDim; k++) {
-        ReadFromBuffer(&elemid, elembuffer);
-        int elementid = elemid - minNodeTag;
-        element.push_back(elementid);
-        elembuffer += componentSize;
-      }
-    }
-  }
-}
-
-
-// load GMSH format 2.2
-void mjCFlexcomp::LoadGMSH22(
-    char* buffer, int binary, int nodeend, int nodebegin, int elemend, int elembegin) {
-  // number of nodes
-  size_t numNodes = 0;
-
-  // ascii nodes
-  if (binary == 0) {
-    // convert node char buffer to stringstream
-    stringstream ss(std::string(buffer + nodebegin, nodeend - nodebegin));
-    std::string  line;
-
-    // checking header template
-    std::getline(ss, line);
-    if (!IsValidElementOrNodeHeader22(line)) { throw mjCError(NULL, "Invalid node header"); }
-    ss.seekg(-(line.size() + 1), std::ios::cur);
-
-    // read header
-    size_t maxNodeTag = 0;
-    ss >> maxNodeTag;
-    if (!ss.good()) { throw mjCError(NULL, "Error reading Nodes header"); }
-    numNodes = maxNodeTag;
-
-    if (numNodes < 0 || numNodes >= INT_MAX / 3) {
-      throw mjCError(NULL, "Invalid number of nodes.");
-    }
-
-    // read points, discard tag
-    point.reserve(3 * numNodes);
-    for (size_t i = 0; i < numNodes; i++) {
-      size_t tag;
-      double x;
-      ss >> tag;
-      if (!ss.good()) { throw mjCError(NULL, "Error reading node tags"); }
-      // reading nodes
-      for (int k = 0; k < 3; k++) {
-        ss >> x;
-        if (!ss.good()) { throw mjCError(NULL, "Error reading node coordinates"); }
-        point.push_back(x);
-      }
-    }
-  }
-
-  // binary nodes
-  else {
-    // header size for gmshApp
-    constexpr int nodeHeaderSizeGmshApp = 5;
-    // header size compatible with both gmshApp and Ftetwild
-    constexpr int nodeHeaderSize = nodeHeaderSizeGmshApp - 1;
-    // check header size
-    if (nodeend - nodebegin < nodeHeaderSize) { throw mjCError(NULL, "Invalid nodes header"); }
-
-    // parse maxNodeTag and then cast it to int
-    char maxNodeTagChar[11] = {0};
-    ReadStrFromBuffer(maxNodeTagChar, buffer + nodebegin, std::min(10, nodeend - nodebegin));
-    size_t measuredHeaderSize = strnlen(maxNodeTagChar, 10) - 1;
-    size_t maxNodeTag;
-    try {
-      maxNodeTag = std::stoi(maxNodeTagChar);
-    } catch (const std::out_of_range& e) { throw mjCError(NULL, "Invalid number of nodes"); }
-    numNodes = maxNodeTag;
-
-    // check number of nodes is a positive number
-    if (numNodes < 0) { throw mjCError(NULL, "Invalid number of nodes"); }
-
-    // node data: node tag and 3 nodes
-    int nodeSize     = sizeof(double);
-    int indexSize    = sizeof(int);
-    int nodeDataSize = indexSize + 3 * nodeSize;
-
-    // check section byte size
-    if (nodeend - nodebegin < nodeHeaderSize + numNodes * nodeDataSize) {
-      throw mjCError(NULL, "Insufficient byte size of Nodes");
-    }
-
-    // read point, discard tag
-    if (numNodes < 0 || numNodes >= INT_MAX / 3) {
-      throw mjCError(NULL, "Invalid number of nodes.");
-    }
-    point.reserve(3 * numNodes);
-    // beginning of buffer containing node info
-    const char* tagBuffer = buffer + nodebegin + measuredHeaderSize;
-    for (int i = 0; i < numNodes; i++) {
-      int tag;
-      int offset = i * (sizeof(int) + sizeof(double) * 3);
-      ReadFromBuffer(&tag, tagBuffer + offset);
-      for (int k = 0; k < 3; k++) {
-        double      x;
-        const char* nodeBuffer = tagBuffer + sizeof(int) + sizeof(double) * k;
-        ReadFromBuffer(&x, nodeBuffer + offset);
-        point.push_back(x);
-      }
-    }
-  }
-
-
-  // ascii elements
-  if (binary == 0) {
-    // convert element char buffer to stringstream
-    buffer[elemend] = 0;
-    stringstream ss(std::string(buffer + elembegin, elemend - elembegin));
-    std::string  line;
-
-    // checking header template
-    std::getline(ss, line);
-    if (!IsValidElementOrNodeHeader22(line)) { throw mjCError(NULL, "Invalid elements header"); }
-    ss.seekg(-(line.size() + 1), std::ios::cur);
-    // read header
-    size_t maxElementTag = 0;
-    ss >> maxElementTag;
-    if (!ss.good()) { throw mjCError(NULL, "Error reading Elements header"); }
-    size_t numElements = maxElementTag;
-
-    if (numElements < 0 || numElements >= INT_MAX / 4) {
-      throw mjCError(NULL, "Invalid number of elements.");
-    }
-
-
-    // check number of elements is a positive number
-    if (numElements < 0) { throw mjCError(NULL, "Invalid number of elements"); }
-
-    // reading first element's type
-    int tag = 0, elementType = 0, numTags = 0;
-    ss >> tag >> elementType >> numTags;
-    if (!ss.good()) { throw mjCError(NULL, "Error reading Elements"); }
-
-    size_t entityDim   = 0;
-    int    numNodeTags = 0;
-    // surface
-    if (elementType == 2) {
-      entityDim   = 2;
-      numNodeTags = 3;
-    }
-    // tetrahedral
-    else if (elementType == 4) {
-      entityDim   = 3;
-      numNodeTags = 4;
-    }
-
-    if (numNodeTags < 1 || numNodeTags > 4) { throw mjCError(NULL, "Invalid number of node tags"); }
-
-    // setting entityDim
-    def.spec.flex->dim = entityDim;
-
-    // read elements, discard all tags
-    element.reserve(numNodeTags * numElements);
-    for (size_t i = 0; i < numElements; i++) {
-      int nodeTag = 0, physicalEntityTag = 0, elementModelEntityTag = 0;
-      if (i != 0) {
-        ss >> tag >> elementType >> numTags;
-        if (!ss.good()) { throw mjCError(NULL, "Error reading Elements"); }
-      }
-      if (numTags > 0) {
-        ss >> physicalEntityTag >> elementModelEntityTag;
-        if (!ss.good()) { throw mjCError(NULL, "Error reading Elements"); }
-      }
-      for (int k = 0; k < numNodeTags; k++) {
-        ss >> nodeTag;
-        if (!ss.good()) { throw mjCError(NULL, "Error reading Elements"); }
-        if (nodeTag > numNodes || nodeTag < 1) { throw mjCError(NULL, "Invalid node tag"); }
-        element.push_back((int)(nodeTag - 1));
-      }
-    }
-  }
-  // binary elements
-  else {
-    // header size for gmshApp
-    constexpr int elementHeaderSizeGmshApp = 4;
-    // header size for Ftetwild
-    constexpr int elementHeaderSizeFtetwild = 17;
-    // check header size
-    if (elemend - elembegin < elementHeaderSizeGmshApp) {
-      throw mjCError(NULL, "Invalid elements header");
-    }
-
-    // reading elements
-    char maxElementTagChar[11] = {0};
-    ReadStrFromBuffer(maxElementTagChar, buffer + elembegin, std::min(10, elemend - elembegin));
-    int measuredHeaderSize = strnlen(maxElementTagChar, 10) - 1;
-    int maxElementTag;
-    try {
-      maxElementTag = std::stoi(maxElementTagChar);
-    } catch (const std::out_of_range& e) { throw mjCError(NULL, "Invalid number of elements"); }
-    int numElements = maxElementTag;
-    int tag, numTags;
-    int nodeTag;
-    int elementType;
-
-    // check number of elements is a positive number
-    if (numElements < 0) { throw mjCError(NULL, "Invalid number of elements"); }
-
-    // size of single component in element data
-    int componentSize = sizeof(int);
-    // element buffer
-    const char* elementsBuffer = buffer + elembegin + measuredHeaderSize;
-    ReadFromBuffer(&elementType, elementsBuffer);
-    ReadFromBuffer(&numTags, elementsBuffer + componentSize * 2);
-    ReadFromBuffer(&tag, elementsBuffer + componentSize * 3);
-
-    // tetrahedral has 4 node tags and surface has 3
-    int    numNodeTags = 0;
-    size_t entityDim   = 0;
-    // surface
-    if (elementType == 2) {
-      entityDim   = 2;
-      numNodeTags = 3;
-    }
-    // tetrahedral
-    else if (elementType == 4) {
-      entityDim   = 3;
-      numNodeTags = 4;
-    }
-
-    if (numNodeTags < 1 || numNodeTags > 4) { throw mjCError(NULL, "Invalid number of node tags"); }
-
-    def.spec.flex->dim = entityDim;
-
-    // element data(Ftetwild): tag and 4 nodeTag
-    constexpr int numComponentsFtetwild = 5;
-    // element data(gmshApp): 4 Info components, 2 entity tag and entityDim+1 nodeTags
-    constexpr int numInfoComponents      = 4;
-    constexpr int numEntityTagComponents = 2;
-
-    int numComponentsGmshApp = numInfoComponents + numEntityTagComponents + numNodeTags;
-
-    // single element data size
-    int elementDataSizeFtetwild = numComponentsFtetwild * componentSize;
-    int elementDataSizeGmshApp  = numComponentsGmshApp * componentSize;
-
-    // elements section buffer size
-    int elementsBufferSizeFtetwild =
-        elementHeaderSizeFtetwild + numElements * elementDataSizeFtetwild;
-    int elementsBufferSizeGmshApp = elementHeaderSizeGmshApp + numElements * elementDataSizeGmshApp;
-
-    // check section byte size for ftetwild
-    if (elemend - elembegin < elementsBufferSizeFtetwild) {
-      throw mjCError(NULL, "Insufficient byte size of Elements");
-    }
-
-    // Handling elements produced by gmsh
-    if (numTags > 0) {
-      // check section byte size for gmsh
-      if (elemend - elembegin < elementsBufferSizeGmshApp) {
-        throw mjCError(NULL, "Insufficient byte size of Elements");
-      }
-
-      // read first element
-      for (int k = 0; k < numNodeTags; k++) {
-        ReadFromBuffer(&nodeTag, elementsBuffer + componentSize * (6 + k));
-        if (nodeTag > numNodes || nodeTag < 1) { throw mjCError(NULL, "Invalid node tag"); }
-        element.push_back(nodeTag - 1);
-      }
-
-      // read every other element
-      for (int i = 1; i < numElements; i++) {
-        const char* numTagsBuffer = elementsBuffer + componentSize * 2;
-        const char* tagBuffer     = elementsBuffer + componentSize * 3;
-        int         offset        = i * elementDataSizeGmshApp;
-        ReadFromBuffer(&numTags, numTagsBuffer + offset);
-        ReadFromBuffer(&tag, tagBuffer + offset);
-        for (int k = 0; k < numNodeTags; k++) {
-          const char* nodeTagBuffer = elementsBuffer + componentSize * (6 + k);
-          ReadFromBuffer(&nodeTag, nodeTagBuffer + offset);
-          if (nodeTag > numElements || nodeTag < 1) { throw mjCError(NULL, "Invalid node tag"); }
-          element.push_back(nodeTag - 1);
-        }
-      }
-    }
-
-    // Handling elements produced by ftetwild
-    else {
-      // read first element
-      for (int k = 0; k < numNodeTags; k++) {
-        const char* nodeTagBuffer = elementsBuffer + componentSize * (4 + k);
-        ReadFromBuffer(&nodeTag, nodeTagBuffer);
-        if (nodeTag > numNodes || nodeTag < 1) { throw mjCError(NULL, "Invalid node tag"); }
-        element.push_back(nodeTag - 1);
-      }
-
-      // read every other element
-      for (int i = 0; i < numElements - 1; i++) {
-        int         offset    = componentSize * (4 + 2) + i * elementDataSizeFtetwild;
-        const char* tagBuffer = elementsBuffer + componentSize * 2;
-        ReadFromBuffer(&tag, tagBuffer + offset);
-        for (int k = 0; k < numNodeTags; k++) {
-          const char* nodeTagBuffer = elementsBuffer + componentSize * (3 + k);
-          ReadFromBuffer(&nodeTag, nodeTagBuffer + offset);
-          if (nodeTag > numElements || nodeTag < 1) { throw mjCError(NULL, "Invalid node tag"); }
-          element.push_back(nodeTag - 1);
-        }
-      }
-    }
-  }
-}
-
-
-// load GMSH file from resource
-void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
-  // get buffer from resource
-  char* buffer    = 0;
-  int   buffer_sz = mju_readResource(resource, (const void**)&buffer);
-
-  // check buffer
-  if (buffer_sz < 0) {
-    throw mjCError(NULL, "Could not read GMSH file");
-  } else if (buffer_sz == 0) {
-    throw mjCError(NULL, "Empty GMSH file");
-  } else if (buffer_sz < 11 || strncmp(buffer, "$MeshFormat", 11)) {
-    throw mjCError(NULL, "GMSH file must begin with $MeshFormat");
-  }
-
-  // check version, determine ascii or binary
-  double version;
-  int    binary;
-  if (sscanf(buffer + 11, "%lf %d", &version, &binary) != 2) {
-    throw mjCError(NULL, "Could not read GMSH file header");
-  }
-  if (mju_round(100 * version) != 220 && mju_round(100 * version) != 410) {
-    throw mjCError(NULL, "Only GMSH file format versions 4.1 and 2.2 are supported");
-  }
-
-  // find section begin/end
-  int nodebegin = findstring(buffer, buffer_sz, "$Nodes");
-  int nodeend   = findstring(buffer, buffer_sz, "$EndNodes");
-  int elembegin = findstring(buffer, buffer_sz, "$Elements");
-  int elemend   = findstring(buffer, buffer_sz, "$EndElements");
-
-
-  // correct begin for string size, +1 for LF in binary (CRLF in Win ascii works)
-  nodebegin += (int)strlen("$Nodes") + 1;
-  elembegin += (int)strlen("$Elements") + 1;
-
-  // check sections
-  if (nodebegin < 0) { throw mjCError(NULL, "GMSH file missing $Nodes"); }
-  if (nodeend < nodebegin) { throw mjCError(NULL, "GMSH file missing $EndNodes after $Nodes"); }
-  if (elembegin < 0) { throw mjCError(NULL, "GMSH file missing $Elements"); }
-  if (elemend < elembegin) {
-    throw mjCError(NULL, "GMSH file missing $EndElements after $Elements");
-  }
-
-  // Support for 4.1
-  if (mju_round(100 * version) == 410) {
-    LoadGMSH41(buffer, binary, nodeend, nodebegin, elemend, elembegin);
-  }
-
-  // Support for 2.2
-  else if (mju_round(100 * version) == 220) {
-    LoadGMSH22(buffer, binary, nodeend, nodebegin, elemend, elembegin);
-  } else {
-    throw mjCError(NULL, "Unsupported GMSH file format version");
-  }
-}
diff --git a/src/user/user_flexcomp.h b/src/user/user_flexcomp.h
deleted file mode 100644
index 70f6941d..00000000
--- a/src/user/user_flexcomp.h
+++ /dev/null
@@ -1,136 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_USER_USER_FLEXCOMP_H_
-#define MUJOCO_SRC_USER_USER_FLEXCOMP_H_
-
-#include <string>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include <mujoco/mjspec.h>
-#include "user/user_model.h"
-#include "user/user_objects.h"
-
-
-typedef enum _mjtFcompType {
-  mjFCOMPTYPE_GRID = 0,
-  mjFCOMPTYPE_BOX,
-  mjFCOMPTYPE_CYLINDER,
-  mjFCOMPTYPE_ELLIPSOID,
-  mjFCOMPTYPE_SQUARE,
-  mjFCOMPTYPE_DISC,
-  mjFCOMPTYPE_CIRCLE,
-  mjFCOMPTYPE_MESH,
-  mjFCOMPTYPE_GMSH,
-  mjFCOMPTYPE_DIRECT,
-
-  mjNFCOMPTYPES
-} mjtFcompType;
-
-
-typedef enum _mjtDof {
-  mjFCOMPDOF_FULL = 0,
-  mjFCOMPDOF_RADIAL,
-  mjFCOMPDOF_TRILINEAR,
-  mjFCOMPDOF_QUADRATIC,
-  mjFCOMPDOF_2D,
-
-  mjNFCOMPDOFS
-} mjtDof;
-
-
-class mjCFlexcomp {
- public:
-  mjCFlexcomp(void);
-  bool Make(mjsBody* body, char* error, int error_sz, const mjVFS* vfs = nullptr);
-
-  bool MakeGrid(char* error, int error_sz);
-  bool MakeBox(char* error, int error_sz, int dim, bool open = true);
-  bool MakeSquare(char* error, int error_sz);
-  bool MakeMesh(mjCModel*    model,
-                mjsCompiler* compiler,
-                char*        error,
-                int          error_sz,
-                const mjVFS* vfs = nullptr);
-  bool MakeGMSH(mjCModel*    model,
-                mjsCompiler* compiler,
-                char*        error,
-                int          error_sz,
-                const mjVFS* vfs = nullptr);
-  void LoadGMSH(mjCModel* model, mjResource* resource);
-  void LoadGMSH41(char* buffer, int binary, int nodeend, int nodebegin, int elemend, int elembegin);
-  void LoadGMSH22(char* buffer, int binary, int nodeend, int nodebegin, int elemend, int elembegin);
-
-
-  int  GridID(int ix, int iy);
-  int  GridID(int ix, int iy, int iz);
-  int  BoxID(int ix, int iy, int iz);
-  void BoxProject(double* pos, int ix, int iy, int iz);
-
-  // common properties set by user
-  std::string  name;          // flex name
-  mjtFcompType type;          // flexcomp type
-  int          count[3];      // grid count in each dimension
-  int          cellcount[3];  // number of cells for interpolation
-  double       spacing[3];    // spacing between grid elements
-  double       scale[3];      // scaling for mesh and direct
-  double       origin[3];     // origin for generating a 3D mesh from a convex 2D mesh
-  double       mass;          // total mass of auto-generated bodies
-  double       inertiabox;    // size of inertia box for each body
-  int          equality;      // create equality constraint, 0:none, 1:edge, 2:vert, 3:strain
-  std::string  file;          // mesh/gmsh file name
-  mjtDof       doftype;       // dof type, all vertices or trilinear interpolation
-
-  // pin specifications
-  std::vector<int> pinid;         // ids of points to pin
-  std::vector<int> pinrange;      // range of ids to pin
-  std::vector<int> pingrid;       // grid coordinates to pin
-  std::vector<int> pingridrange;  // range of grid coordinates to pin
-
-  // all other properties
-  mjCDef def;  // local copy, parsed parameters stored here
-
-  // pose transform relative to parent body
-  double         pos[3];   // position
-  double         quat[4];  // orientation
-  mjsOrientation alt;      // alternative orientation
-
-  // set by user or computed internally
-  bool                rigid;         // all vertices are in parent body (all pinned)
-  bool                centered;      // all vertex coordinates are (0,0,0) (nothing pinned)
-  std::vector<double> point;         // flex bodies/vertices
-  std::vector<bool>   pinned;        // is point pinned (true: no new body)
-  std::vector<bool>   used;          // is point used by any element (false: skip)
-  std::vector<int>    element;       // flex elements
-  std::vector<float>  texcoord;      // vertex texture coordinates
-  std::vector<int>    elemtexcoord;  // face texture coordinates (OBJ only)
-
-  // plugin support
-  std::string plugin_name;
-  std::string plugin_instance_name;
-  mjsPlugin   plugin;
-
- private:
-  // identify empty cells and pin nodes exclusively in empty cells
-  void MarkEmptyCells(mjCFlex*      flex,
-                      const double* points,
-                      int           npnt,
-                      const double  minmax[6],
-                      int           nx,
-                      int           ny,
-                      int           nz);
-};
-
-#endif  // MUJOCO_SRC_USER_USER_FLEXCOMP_H_
diff --git a/src/user/user_init.c b/src/user/user_init.c
deleted file mode 100644
index fccb3aa2..00000000
--- a/src/user/user_init.c
+++ /dev/null
@@ -1,397 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <string.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mjspec.h>
-#include "engine/engine_init.h"
-#include "engine/engine_io.h"
-#include "user/user_api.h"
-
-
-// default model attributes
-void mjs_defaultSpec(mjSpec* spec) {
-  memset(spec, 0, sizeof(mjSpec));
-
-  // default statistics
-  spec->stat.meaninertia = mjNAN;
-  spec->stat.meanmass = mjNAN;
-  spec->stat.meansize = mjNAN;
-  spec->stat.extent = mjNAN;
-  spec->stat.center[0] = mjNAN;
-
-  // compiler settings
-  spec->compiler.autolimits = 1;
-  spec->compiler.settotalmass = -1;
-  spec->compiler.degree = 1;
-  spec->compiler.eulerseq[0] = 'x';
-  spec->compiler.eulerseq[1] = 'y';
-  spec->compiler.eulerseq[2] = 'z';
-  spec->compiler.usethread = 1;
-  spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
-  spec->compiler.inertiagrouprange[1] = mjNGROUP-1;
-  spec->compiler.saveinertial = 0;
-  mj_defaultLROpt(&spec->compiler.LRopt);
-
-  // engine data
-  mj_defaultOption(&spec->option);
-  mj_defaultVisual(&spec->visual);
-  spec->memory = -1;
-  spec->njmax = -1;
-  spec->nconmax = -1;
-  spec->nstack = -1;
-
-  // user fields
-  spec->nuser_body = -1;
-  spec->nuser_jnt = -1;
-  spec->nuser_geom = -1;
-  spec->nuser_site = -1;
-  spec->nuser_cam = -1;
-  spec->nuser_tendon = -1;
-  spec->nuser_actuator = -1;
-  spec->nuser_sensor = -1;
-}
-
-
-// default orientation attributes
-void mjs_defaultOrientation(mjsOrientation* orient) {
-  memset(orient, 0, sizeof(mjsOrientation));
-}
-
-
-// default body attributes
-void mjs_defaultBody(mjsBody* body) {
-  memset(body, 0, sizeof(mjsBody));
-
-  // body frame
-  body->quat[0] = 1;
-
-  // inertial frame
-  body->ipos[0] = mjNAN;
-  body->iquat[0] = 1;
-  body->fullinertia[0] = mjNAN;
-
-  // simple optimization: auto
-  body->simple = 1;
-}
-
-
-// default frame attributes
-void mjs_defaultFrame(mjsFrame* frame) {
-  memset(frame, 0, sizeof(mjsFrame));
-  frame->quat[0] = 1;
-}
-
-
-// default joint attributes
-void mjs_defaultJoint(mjsJoint* joint) {
-  memset(joint, 0, sizeof(mjsJoint));
-  joint->type = mjJNT_HINGE;
-  joint->axis[2] = 1;
-  joint->limited = mjLIMITED_AUTO;
-  joint->actfrclimited = mjLIMITED_AUTO;
-  joint->align = mjALIGNFREE_AUTO;
-  mj_defaultSolRefImp(joint->solref_limit, joint->solimp_limit);
-  mj_defaultSolRefImp(joint->solref_friction, joint->solimp_friction);
-}
-
-
-// default geom attributes
-void mjs_defaultGeom(mjsGeom* geom) {
-  memset(geom, 0, sizeof(mjsGeom));
-
-  // type
-  geom->type = mjGEOM_SPHERE;
-
-  // frame
-  geom->quat[0] = 1;
-  geom->fromto[0] = mjNAN;
-
-  // contact-related
-  geom->contype = 1;
-  geom->conaffinity = 1;
-  geom->condim = 3;
-  geom->friction[0] = 1;
-  geom->friction[1] = 0.005;
-  geom->friction[2] = 0.0001;
-  geom->solmix = 1.0;
-  mj_defaultSolRefImp(geom->solref, geom->solimp);
-
-  // inertia-related
-  geom->mass = mjNAN;
-  geom->density = 1000;  // water density (1000 Kg / m^3)
-  geom->typeinertia = mjINERTIA_VOLUME;
-
-  // color
-  geom->rgba[0] = geom->rgba[1] = geom->rgba[2] = 0.5f;
-  geom->rgba[3] = 1.0f;
-
-  // fluid forces
-  geom->fluid_coefs[0] = 0.5;   // blunt drag
-  geom->fluid_coefs[1] = 0.25;  // slender drag
-  geom->fluid_coefs[2] = 1.5;   // angular drag
-  geom->fluid_coefs[3] = 1.0;   // kutta lift
-  geom->fluid_coefs[4] = 1.0;   // magnus lift
-
-  // other
-  geom->fitscale = 1;
-}
-
-
-// default site attributes
-void mjs_defaultSite(mjsSite* site) {
-  memset(site, 0, sizeof(mjsSite));
-
-  // type
-  site->type = mjGEOM_SPHERE;
-
-  // frame
-  site->quat[0] = 1;
-  site->size[0] = site->size[1] = site->size[2] = 0.005;
-  site->fromto[0] = mjNAN;
-
-  // color
-  site->rgba[0] = site->rgba[1] = site->rgba[2] = 0.5f;
-  site->rgba[3] = 1.0f;
-}
-
-
-// default cam attributes
-void mjs_defaultCamera(mjsCamera* cam) {
-  memset(cam, 0, sizeof(mjsCamera));
-
-  // mode
-  cam->mode = mjCAMLIGHT_FIXED;
-
-  // extrinsics
-  cam->quat[0] = 1;
-
-  // intrinsics
-  cam->fovy = 45;
-  cam->ipd = 0.068;
-  cam->resolution[0] = cam->resolution[1] = 1;
-  cam->output = mjCAMOUT_RGB;
-}
-
-
-// default light attributes
-void mjs_defaultLight(mjsLight* light) {
-  memset(light, 0, sizeof(mjsLight));
-
-  // mode
-  light->mode = mjCAMLIGHT_FIXED;
-
-  // extrinsics
-  light->dir[2] = -1;
-
-  // intrinsics
-  light->castshadow = 1;
-  light->bulbradius = 0.02;
-  light->intensity = 0.0;
-  light->range = 10.0;
-  light->active = 1;
-  light->attenuation[0] = 1;
-  light->cutoff = 45;
-  light->softness = 0.2;
-  light->exponent = 10;
-  light->diffuse[0] = light->diffuse[1] = light->diffuse[2] = 0.7;
-  light->specular[0] = light->specular[1] = light->specular[2] = 0.3;
-}
-
-
-// default flex attributes
-void mjs_defaultFlex(mjsFlex* flex) {
-  memset(flex, 0, sizeof(mjsFlex));
-
-  // set contact defaults
-  flex->contype = 1;
-  flex->conaffinity = 1;
-  flex->condim = 3;
-  flex->friction[0] = 1;
-  flex->friction[1] = 0.005;
-  flex->friction[2] = 0.0001;
-  flex->solmix = 1.0;
-  mj_defaultSolRefImp(flex->solref, flex->solimp);
-
-  // set other defaults
-  flex->dim = 2;
-  flex->radius = 0.005;
-  flex->cellcount[0] = 1;
-  flex->cellcount[1] = 1;
-  flex->cellcount[2] = 1;
-  flex->internal = 0;
-  flex->selfcollide = mjFLEXSELF_AUTO;
-  flex->activelayers = 1;
-  flex->rgba[0] = flex->rgba[1] = flex->rgba[2] = 0.5f;
-  flex->rgba[3] = 1.0f;
-  flex->thickness = -1;
-}
-
-
-// default mesh attributes
-void mjs_defaultMesh(mjsMesh* mesh) {
-  memset(mesh, 0, sizeof(mjsMesh));
-  mesh->refquat[0] = 1;
-  mesh->scale[0] = mesh->scale[1] = mesh->scale[2] = 1;
-  mesh->maxhullvert = -1;
-  mesh->inertia = mjMESH_INERTIA_LEGACY;
-  mesh->octree_maxdepth = 6;
-}
-
-
-// default height field attributes
-void mjs_defaultHField(mjsHField* hfield) {
-  memset(hfield, 0, sizeof(mjsHField));
-}
-
-
-// default skin attributes
-void mjs_defaultSkin(mjsSkin* skin) {
-  memset(skin, 0, sizeof(mjsSkin));
-  skin->rgba[0] = skin->rgba[1] = skin->rgba[2] = 0.5f;
-  skin->rgba[3] = 1.0f;
-}
-
-
-// default texture attributes
-void mjs_defaultTexture(mjsTexture* texture) {
-  memset(texture, 0, sizeof(mjsTexture));
-  texture->type = mjTEXTURE_CUBE;
-  texture->colorspace = mjCOLORSPACE_AUTO;
-  texture->rgb1[0] = texture->rgb1[1] = texture->rgb1[2] = 0.8;
-  texture->rgb2[0] = texture->rgb2[1] = texture->rgb2[2] = 0.5;
-  texture->random = 0.01;
-  texture->gridsize[0] = texture->gridsize[1] = 1;
-  texture->nchannel = 3;
-  char defaultlayout[sizeof(texture->gridlayout)] = "............";
-  memcpy(texture->gridlayout, defaultlayout, sizeof(texture->gridlayout));
-}
-
-
-// default material attributes
-void mjs_defaultMaterial(mjsMaterial* material) {
-  memset(material, 0, sizeof(mjsMaterial));
-  material->texrepeat[0] = material->texrepeat[1] = 1;
-  material->specular = 0.5;
-  material->shininess = 0.5;
-  material->metallic = -1.0;
-  material->roughness = -1.0;
-  material->rgba[0] = material->rgba[1] = material->rgba[2] = material->rgba[3] = 1;
-}
-
-
-// default pair attributes
-void mjs_defaultPair(mjsPair* pair) {
-  memset(pair, 0, sizeof(mjsPair));
-  pair->condim = 3;
-  mj_defaultSolRefImp(pair->solref, pair->solimp);
-  pair->friction[0] = 1;
-  pair->friction[1] = 1;
-  pair->friction[2] = 0.005;
-  pair->friction[3] = 0.0001;
-  pair->friction[4] = 0.0001;
-}
-
-
-// default equality attributes
-void mjs_defaultEquality(mjsEquality* equality) {
-  memset(equality, 0, sizeof(mjsEquality));
-  equality->type = mjEQ_CONNECT;
-  equality->active = 1;
-  mj_defaultSolRefImp(equality->solref, equality->solimp);
-  equality->data[1] = 1;
-  equality->data[10] = 1;  // torque:force ratio
-}
-
-
-// default tendon attributes
-void mjs_defaultTendon(mjsTendon* tendon) {
-  memset(tendon, 0, sizeof(mjsTendon));
-  tendon->limited = mjLIMITED_AUTO;
-  tendon->springlength[0] = tendon->springlength[1] = -1;
-  mj_defaultSolRefImp(tendon->solref_limit, tendon->solimp_limit);
-  mj_defaultSolRefImp(tendon->solref_friction, tendon->solimp_friction);
-  tendon->width = 0.003;
-  tendon->rgba[0] = tendon->rgba[1] = tendon->rgba[2] = 0.5f;
-  tendon->rgba[3] = 1.0f;
-}
-
-
-// default actuator attributes
-void mjs_defaultActuator(mjsActuator* actuator) {
-  memset(actuator, 0, sizeof(mjsActuator));
-
-  // gain, bias
-  actuator->gaintype = mjGAIN_FIXED;
-  actuator->gainprm[0] = 1;
-  actuator->biastype = mjBIAS_NONE;
-
-  // activation state
-  actuator->dyntype = mjDYN_NONE;
-  actuator->dynprm[0] = 1;
-  actuator->actdim = -1;
-  actuator->ctrlspec = 0;
-  actuator->velrange[0] = actuator->velrange[1] = 0;
-  actuator->ffrange[0] = actuator->ffrange[1] = 0;
-
-  // transmission
-  actuator->trntype = mjTRN_UNDEFINED;
-  actuator->gear[0] = 1;
-
-  // input/output clamping
-  actuator->ctrllimited = mjLIMITED_AUTO;
-  actuator->forcelimited = mjLIMITED_AUTO;
-  actuator->actlimited = mjLIMITED_AUTO;
-}
-
-
-// default sensor attributes
-void mjs_defaultSensor(mjsSensor* sensor) {
-  memset(sensor, 0, sizeof(mjsSensor));
-
-  sensor->type = mjSENS_TOUCH;
-  sensor->datatype = mjDATATYPE_REAL;
-  sensor->needstage = mjSTAGE_ACC;
-}
-
-
-// Default numeric attributes.
-void mjs_defaultNumeric(mjsNumeric* numeric) {
-  memset(numeric, 0, sizeof(mjsNumeric));
-}
-
-
-// Default text attributes.
-void mjs_defaultText(mjsText* text) {
-  memset(text, 0, sizeof(mjsText));
-}
-
-
-// Default tuple attributes.
-void mjs_defaultTuple(mjsTuple* tuple) {
-  memset(tuple, 0, sizeof(mjsTuple));
-}
-
-
-// Default keyframe attributes.
-void mjs_defaultKey(mjsKey* key) {
-  memset(key, 0, sizeof(mjsKey));
-}
-
-
-// default plugin attributes
-void mjs_defaultPlugin(mjsPlugin* plugin) {
-  memset(plugin, 0, sizeof(mjsPlugin));
-}
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
deleted file mode 100644
index d71677cf..00000000
--- a/src/user/user_mesh.cc
+++ /dev/null
@@ -1,5669 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <array>
-#include <chrono>
-#include <climits>
-#include <cmath>
-#include <csetjmp>
-#include <cstddef>
-#include <cstdio>
-#include <cstring>
-#include <functional>
-#include <limits>
-#include <map>
-#include <memory>
-#include <queue>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mjspec.h>
-#include "user/user_api.h"
-
-#ifdef MUJOCO_TINYOBJLOADER_IMPL
-#define TINYOBJLOADER_IMPLEMENTATION
-#endif
-
-#if defined(__clang__)
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
-#pragma clang diagnostic ignored "-Wnested-anon-types"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
-#endif
-#include <MC.h>
-#if defined(__clang__)
-#pragma clang diagnostic pop
-#elif defined(__GNUC__)
-#pragma GCC diagnostic pop
-#endif
-
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjtype.h>
-#include "engine/engine_crossplatform.h"  // IWYU pragma: keep
-#include "engine/engine_plugin.h"
-#include "engine/engine_util_errmem.h"
-#include "user/user_cache.h"
-#include "user/user_model.h"
-#include "user/user_objects.h"
-#include "user/user_resource.h"
-#include "user/user_util.h"
-
-extern "C" {
-#include "qhull_ra.h"
-}
-
-namespace {
-  using mujoco::user::FilePath;
-  using std::max;
-  using std::min;
-  using std::sin;
-  using std::cos;
-  using std::pow;
-
-  // Parametrized linear/quintic interpolated nonlinearity.
-  double Fovea(double x, double gamma) {
-    // Quick return.
-    if (!gamma) return x;
-
-    // Foveal deformation.
-    double g = mjMAX(0, mjMIN(1, gamma));
-    return g * pow(x, 5) + (1 - g) * x;
-  }
-
-  // Evenly spaced numbers over a specified interval.
-  void LinSpace(double lower, double upper, int n, double array[]) {
-    double increment = n > 1 ? (upper - lower) / (n - 1) : 0;
-    for (int i = 0; i < n; ++i) {
-      *array = lower;
-      ++array;
-      lower += increment;
-    }
-  }
-
-  // Make bin edges.
-  void BinEdges(double* x_edges, double* y_edges, int size[2], double fov[2],
-                double gamma) {
-    // Make unit bin edges.
-    LinSpace(-1, 1, size[0] + 1, x_edges);
-    LinSpace(-1, 1, size[1] + 1, y_edges);
-
-    // Apply foveal deformation.
-    for (int i = 0; i < size[0] + 1; i++) {
-      x_edges[i] = Fovea(x_edges[i], gamma);
-    }
-    for (int i = 0; i < size[1] + 1; i++) {
-      y_edges[i] = Fovea(y_edges[i], gamma);
-    }
-
-    // Scale by field-of-view.
-    mjuu_scalevec(x_edges, x_edges, fov[0] * mjPI / 180, size[0] + 1);
-    mjuu_scalevec(y_edges, y_edges, fov[1] * mjPI / 180, size[1] + 1);
-  }
-
-  // Transform spherical (azimuth, elevation, radius) to Cartesian (x,y,z).
-  void SphericalToCartesian(const double aer[3], float xyz[3]) {
-    double a = aer[0], e = aer[1], r = aer[2];
-    xyz[0] = r * cos(e) * sin(a);
-    xyz[1] = r * sin(e);
-    xyz[2] = -r * cos(e) * cos(a);
-  }
-
-  // Tangent frame in Cartesian coordinates.
-  void TangentFrame(const double aer[3], float mat[9]) {
-    double a = aer[0], e = aer[1], r = aer[2];
-    double ta[3] = {r * cos(e) * cos(a), 0, r * cos(e) * sin(a)};
-    double te[3] = {-r * sin(e) * sin(a), r * cos(e), r * sin(e) * cos(a)};
-    double n[3];
-    mjuu_normvec(ta, 3);
-    mjuu_normvec(te, 3);
-    mjuu_copyvec(mat + 3, ta, 3);
-    mjuu_copyvec(mat + 6, te, 3);
-    mjuu_crossvec(n, te, ta);
-    mjuu_copyvec(mat, n, 3);
-  }
-
-  // parametric superellipsoid/supertoroid helper functions
-  double aux_c(double omega, double m) {
-    return std::copysign(pow(std::abs(cos(omega)), m), cos(omega));
-  }
-  double aux_s(double omega, double m) {
-    return std::copysign(pow(std::abs(sin(omega)), m), sin(omega));
-  }
-}  // namespace
-
-// compute triangle area, surface normal, center
-static double triangle(double* normal, double* center,
-                       const double* v1, const double* v2, const double* v3) {
-  double normal_local[3];  // if normal is nullptr
-  double* normal_ptr = (normal) ? normal : normal_local;
-  // center
-  if (center) {
-    center[0] = (v1[0] + v2[0] + v3[0])/3;
-    center[1] = (v1[1] + v2[1] + v3[1])/3;
-    center[2] = (v1[2] + v2[2] + v3[2])/3;
-  }
-
-  // normal = (v2-v1) cross (v3-v1)
-  double b[3] = { v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2] };
-  double c[3] = { v3[0] - v1[0], v3[1] - v1[1], v3[2] - v1[2] };
-  mjuu_crossvec(normal_ptr, b, c);
-
-  // get length
-  double len = sqrt(mjuu_dot3(normal_ptr, normal_ptr));
-
-  // ignore small faces
-  if (len < mjMINVAL) {
-    return 0;
-  }
-
-  // normalize
-  if (normal) {
-    normal_ptr[0] /= len;
-    normal_ptr[1] /= len;
-    normal_ptr[2] /= len;
-  }
-
-  // return area
-  return 0.5 * len;
-}
-
-
-// Read data of type T from a potentially unaligned buffer pointer.
-template <typename T>
-static void ReadFromBuffer(T* dst, const char* src) {
-  std::memcpy(dst, src, sizeof(T));
-}
-
-
-
-//------------------ class mjCMesh implementation --------------------------------------------------
-
-mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultMesh(&spec);
-  elemtype = mjOBJ_MESH;
-
-  // clear internal variables
-  mjuu_setvec(pos_, 0, 0, 0);
-  mjuu_setvec(quat_, 1, 0, 0, 0);
-
-  mjuu_setvec(boxsz_, 0, 0, 0);
-  mjuu_setvec(aamm_, 1e10, 1e10, 1e10);
-  mjuu_setvec(aamm_+3, -1e10, -1e10, -1e10);
-  szgraph_ = 0;
-  center_ = nullptr;
-  graph_ = nullptr;
-  needhull_ = false;
-  maxhullvert_ = -1;
-  processed_ = false;
-  visual_ = true;
-  needreorient_ = true;
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Mesh();
-  }
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = (_def ? _def->name : (_model ? "main" : ""));
-
-  // in case this body is not compiled
-  CopyFromSpec();
-
-  // point to local
-  PointToLocal();
-}
-
-
-
-mjCMesh::mjCMesh(const mjCMesh& other) {
-  *this = other;
-}
-
-
-
-mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCMesh_*>(this) = static_cast<const mjCMesh_&>(other);
-    *static_cast<mjsMesh*>(this) = static_cast<const mjsMesh&>(other);
-    if (other.center_) {
-      size_t ncenter = 3*other.nface()*sizeof(double);
-      this->center_ = (double*)mju_malloc(ncenter);
-      memcpy(this->center_, other.center_, ncenter);
-    } else {
-      this->center_ = nullptr;
-    }
-    if (other.graph_) {
-      size_t szgraph = szgraph_*sizeof(int);
-      this->graph_ = (int*)mju_malloc(szgraph);
-      memcpy(this->graph_, other.graph_, szgraph);
-    } else {
-      this->graph_ = nullptr;
-    }
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCMesh::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.file = &spec_file_;
-  spec.content_type = &spec_content_type_;
-  spec.uservert = &spec_vert_;
-  spec.usernormal = &spec_normal_;
-  spec.userface = &spec_face_;
-  spec.userfacenormal = &spec_facenormal_;
-  spec.usertexcoord = &spec_texcoord_;
-  spec.userfacetexcoord = &spec_facetexcoord_;
-  spec.material = &spec_material_;
-  spec.plugin.plugin_name = &plugin_name;
-  spec.plugin.name = &plugin_instance_name;
-  spec.info = &info;
-  file = nullptr;
-  content_type = nullptr;
-  uservert = nullptr;
-  usernormal = nullptr;
-  userface = nullptr;
-  userfacenormal = nullptr;
-  usertexcoord = nullptr;
-  userfacetexcoord = nullptr;
-}
-
-
-
-void mjCMesh::NameSpace(const mjCModel* m) {
-  if (name.empty()) {
-    std::string stripped = mjuu_strippath(spec_file_);
-    name = mjuu_stripext(stripped);
-  }
-  mjCBase::NameSpace(m);
-  if (!plugin_instance_name.empty()) {
-    plugin_instance_name = m->prefix + plugin_instance_name + m->suffix;
-  }
-}
-
-
-
-void mjCMesh::CopyFromSpec() {
-  *static_cast<mjsMesh*>(this) = spec;
-  file_ = spec_file_;
-  content_type_ = spec_content_type_;
-  normal_ = spec_normal_;
-  face_ = spec_face_;
-  material_ = spec_material_;
-  ProcessVertices(spec_vert_);
-  texcoord_ = spec_texcoord_;
-  facetexcoord_ = spec_facetexcoord_;
-  maxhullvert_ = spec.maxhullvert;
-  plugin.active = spec.plugin.active;
-  plugin.element = spec.plugin.element;
-  plugin.plugin_name = spec.plugin.plugin_name;
-  plugin.name = spec.plugin.name;
-
-  // clear precompiled asset. TODO: use asset cache
-  if (center_) mju_free(center_);
-  if (graph_) mju_free(graph_);
-  szgraph_ = 0;
-  center_ = nullptr;
-  graph_ = nullptr;
-
-  // use filename if name is missing
-  if (name.empty()) {
-    std::string stripped = mjuu_strippath(file_);
-    name = mjuu_stripext(stripped);
-  }
-}
-
-
-
-void mjCMesh::CopyPlugin() {
-  model->CopyExplicitPlugin(this);
-}
-
-
-
-mjCMesh::~mjCMesh() {
-  if (center_) mju_free(center_);
-  if (graph_) mju_free(graph_);
-}
-
-
-
-// generate mesh using marching cubes
-void mjCMesh::LoadSDF() {
-  if (plugin_name.empty() && plugin_instance_name.empty()) {
-    throw mjCError(
-            this, "neither 'plugin' nor 'instance' is specified for mesh '%s', (id = %d)",
-            name.c_str(), id);
-  }
-
-  if (scale[0] != 1 || scale[1] != 1 || scale[2] != 1) {
-    throw mjCError(this, "attribute scale is not compatible with SDFs in mesh '%s', (id = %d)",
-                   name.c_str(), id);
-  }
-
-  mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
-  model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
-  plugin.element = plugin_instance;
-  const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
-  if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
-    throw mjCError(this, "plugin '%s' does not support signed distance fields", pplugin->name);
-  }
-
-  std::vector<mjtNum> attributes(pplugin->nattribute, 0);
-  std::vector<const char*> names(pplugin->nattribute, 0);
-  std::vector<const char*> values(pplugin->nattribute, 0);
-  for (int i=0; i < pplugin->nattribute; i++) {
-    names[i] = pplugin->attributes[i];
-    values[i] = plugin_instance->config_attribs[names[i]].c_str();
-  }
-
-  if (pplugin->sdf_attribute) {
-    pplugin->sdf_attribute(attributes.data(), names.data(), values.data());
-  }
-
-  mjtNum aabb[6] = {0};
-  pplugin->sdf_aabb(aabb, attributes.data());
-  mjtNum total = aabb[3] + aabb[4] + aabb[5];
-
-  const double n = 300;
-  int nx, ny, nz;
-  nx = floor(n / total * aabb[3]) + 1;
-  ny = floor(n / total * aabb[4]) + 1;
-  nz = floor(n / total * aabb[5]) + 1;
-  MC::MC_FLOAT* field = new MC::MC_FLOAT[nx * ny * nz];
-
-  for (int i = 0; i < nx; i++) {
-    for (int j = 0; j < ny; j++) {
-      for (int k = 0; k < nz; k++) {
-        mjtNum point[] = {aabb[0]-aabb[3] + 2 * aabb[3] * i / (nx-1),
-                          aabb[1]-aabb[4] + 2 * aabb[4] * j / (ny-1),
-                          aabb[2]-aabb[5] + 2 * aabb[5] * k / (nz-1)};
-        field[(k * ny + j) * nx + i] =  pplugin->sdf_staticdistance(point, attributes.data());
-      }
-    }
-  }
-
-  MC::mcMesh mesh;
-  MC::marching_cube(field, nx, ny, nz, mesh);
-  std::vector<float> uservert;
-  std::vector<float> usernormal;
-  std::vector<int> userface;
-
-  uservert.reserve(mesh.vertices.size() * 3);
-  usernormal.reserve(mesh.normals.size() * 3);
-  userface.reserve(mesh.indices.size());
-
-  for (const auto& vertex : mesh.vertices) {
-    uservert.push_back(2*aabb[3]*vertex.x/(nx-1) + aabb[0]-aabb[3]);
-    uservert.push_back(2*aabb[4]*vertex.y/(ny-1) + aabb[1]-aabb[4]);
-    uservert.push_back(2*aabb[5]*vertex.z/(nz-1) + aabb[2]-aabb[5]);
-  }
-
-  for (const auto& normal : mesh.normals) {
-    usernormal.push_back(normal.x);
-    usernormal.push_back(normal.y);
-    usernormal.push_back(normal.z);
-  }
-
-  for (unsigned int index : mesh.indices) {
-    userface.push_back(index);
-  }
-
-  needreorient_ = false;
-  needsdf = false;
-  normal_ = std::move(usernormal);
-  face_ = std::move(userface);
-  ProcessVertices(uservert);
-  delete[] field;
-}
-
-
-
-void mjCMesh::CacheMesh(mjCCache* cache, const mjResource* resource) {
-  if (cache == nullptr) return;
-
-  // cache mesh data into new mesh object
-  mjCMesh *mesh =  new mjCMesh();
-
-  // mesh properties
-  mesh->maxhullvert_ = maxhullvert_;
-  mesh->inertia = inertia;
-  std::copy(scale, scale + 3, mesh->scale);
-
-  // mesh processed data
-  mesh->processed_ = processed_;
-  mesh->vert_ = vert_;
-  mesh->normal_ = normal_;
-  mesh->texcoord_ = texcoord_;
-  mesh->face_ = face_;
-  mesh->facenormal_ = facenormal_;
-  mesh->facetexcoord_ = facetexcoord_;
-  mesh->halfedge_ = halfedge_;
-  mesh->szgraph_ = szgraph_;
-  if (szgraph_) {
-    mesh->graph_ = (int*)mju_malloc(szgraph_*sizeof(int));
-    std::copy(graph_, graph_ + szgraph_, mesh->graph_);
-    mesh->polygons_ = polygons_;
-    mesh->polygon_normals_ = polygon_normals_;
-    mesh->polygon_map_ = polygon_map_;
-  }
-  mesh->surface_ = surface_;
-  mesh->volume_ = volume_;
-  mesh->material_ = material_;
-  std::copy(boxsz_, boxsz_ + 3, mesh->boxsz_);
-  std::copy(aamm_, aamm_ + 6, mesh->aamm_);
-  std::copy(pos_, pos_ + 3, mesh->pos_);
-  std::copy(quat_, quat_ + 4, mesh->quat_);
-  int ncenter = face_.size();
-  if (ncenter) {
-    mesh->center_ = (double*)mju_malloc(ncenter * sizeof(double));
-    std::copy(center_, center_ + ncenter, mesh->center_);
-  }
-  mesh->tree_ = tree_;
-  mesh->face_aabb_ = face_aabb_;
-  mesh->octree_ = octree_;
-
-  // calculate estimated size of mesh
-  std::size_t size = sizeof(mjCMesh)
-                     + (sizeof(float) * vert_.size())
-                     + (sizeof(float) * normal_.size())
-                     + (sizeof(float) * texcoord_.size())
-                     + (sizeof(int) * face_.size())
-                     + (sizeof(int) * facenormal_.size())
-                     + (sizeof(int) * facetexcoord_.size())
-                     + (sizeof(int) * 2 * halfedge_.size())
-                     + (sizeof(int) * szgraph_)
-                     + (sizeof(int) * npolygonvert())
-                     + (sizeof(double) * polygon_normals_.size())
-                     + (sizeof(int) * (szgraph_ ? npolygonmap() : 0))
-                     + (sizeof(double) * 18)
-                     + (sizeof(int) * ncenter)
-                     + tree_.Size()
-                     + octree_.Size()
-                     + (sizeof(double) * face_aabb_.size());
-
-  std::shared_ptr<const void> cached_data(mesh, +[] (const void* data) {
-    const mjCMesh* mesh = static_cast<const mjCMesh*>(data);
-    delete mesh;
-  });
-  cache->Insert("", resource->name, resource, cached_data, size);
-}
-
-namespace {
-
-// vertex key for hash map
-struct VertexKey {
-  float v[3];
-
-  bool operator==(const VertexKey& other) const {
-    return (v[0] == other.v[0] && v[1] == other.v[1] && v[2] == other.v[2]);
-  }
-
-  std::size_t operator()(const VertexKey& vertex) const {
-    // combine all three hash values into a single hash value
-    return ((std::hash<float>()(vertex.v[0])
-            ^ (std::hash<float>()(vertex.v[1]) << 1)) >> 1)
-            ^ (std::hash<float>()(vertex.v[2]) << 1);
-  }
-};
-
-}  // namespace
-
-
-
-// process and remove repeated vertices if requested
-void mjCMesh::ProcessVertices(const std::vector<float>& vert, bool remove_repeated) {
-  vert_.clear();
-  int nvert = vert.size();
-
-  if (nvert % 3) {
-    throw mjCError(this, "vertex data must be a multiple of 3");
-  }
-  if (face_.size() % 3) {
-    throw mjCError(this, "face data must be a multiple of 3");
-  }
-
-  // convert vertices to double precision, may contain repeated vertices
-  if (!remove_repeated) {
-    vert_.reserve(nvert);
-    for (int i = 0; i < nvert / 3; ++i) {
-      const float* v = &vert[3 * i];
-      if (!std::isfinite(v[0]) || !std::isfinite(v[1]) || !std::isfinite(v[2])) {
-        throw mjCError(this, "vertex coordinate %d is not finite", nullptr, i);
-      }
-      vert_.push_back(v[0]);
-      vert_.push_back(v[1]);
-      vert_.push_back(v[2]);
-    }
-    return;
-  }
-
-  int index = 0;
-  std::unordered_map<VertexKey, int, VertexKey> vertex_map;
-
-  // populate vertex map with new vertex indices
-  for (int i = 0; i < nvert; i += 3) {
-    const float* v = &vert[i];
-
-    if (!std::isfinite(v[0]) || !std::isfinite(v[1]) || !std::isfinite(v[2])) {
-      throw mjCError(this, "vertex coordinate %d is not finite", nullptr, i);
-    }
-
-    VertexKey key = {v[0], v[1], v[2]};
-    if (vertex_map.find(key) == vertex_map.end()) {
-      vertex_map.insert({key, index});
-      ++index;
-    }
-  }
-
-  // no repeated vertices (just copy vertex data)
-  if (3*index == nvert) {
-    vert_.reserve(nvert);
-    for (float v : vert) {
-      vert_.push_back(v);
-    }
-    return;
-  }
-
-  // update face vertex indices
-  for (int i = 0; i < face_.size(); ++i) {
-    VertexKey key = {vert[3*face_[i]], vert[3*face_[i] + 1],
-                     vert[3*face_[i] + 2]};
-    face_[i] = vertex_map[key];
-  }
-
-  // repopulate vertex data
-  vert_.resize(3 * index);
-  for (const auto& pair : vertex_map) {
-    const VertexKey& key = pair.first;
-    int index = pair.second;
-
-    // double precision
-    vert_[3*index + 0] = key.v[0];
-    vert_[3*index + 1] = key.v[1];
-    vert_[3*index + 2] = key.v[2];
-  }
-}
-
-
-
-
-bool mjCMesh::IsMSH(std::string_view filename, std::string_view ct) {
-  std::string asset_type = GetAssetContentType(filename, ct);
-  return asset_type == "model/vnd.mujoco.msh";
-}
-
-
-
-
-bool mjCMesh::IsMSH() const {
-  return content_type_ == "model/vnd.mujoco.msh";
-}
-
-// load mesh using decoder plugin
-void mjCMesh::LoadFromDecoder(mjResource* resource, bool remove_repeated) {
-  const mjpDecoder* decoder = mjp_findDecoder(resource, content_type_.c_str());
-  if (!decoder) {
-    throw mjCError(this, "no decoder found for mesh file '%s'", resource->name);
-  }
-  mjSpec* mesh_spec = decoder->decode(resource, nullptr);
-  if (!mesh_spec) {
-    throw mjCError(this, "decoder failed for mesh file '%s'", resource->name);
-  }
-  mjsElement* elem = mjs_firstElement(mesh_spec, mjOBJ_MESH);
-  if (elem) {
-    mjsMesh* src_mesh = mjs_asMesh(elem);
-    if (src_mesh) {
-      normal_.assign(src_mesh->usernormal->begin(), src_mesh->usernormal->end());
-      texcoord_.assign(src_mesh->usertexcoord->begin(), src_mesh->usertexcoord->end());
-      face_.assign(src_mesh->userface->begin(), src_mesh->userface->end());
-      facenormal_.assign(src_mesh->userfacenormal->begin(), src_mesh->userfacenormal->end());
-      facetexcoord_.assign(src_mesh->userfacetexcoord->begin(), src_mesh->userfacetexcoord->end());
-
-
-      std::vector<float> vert(src_mesh->uservert->begin(), src_mesh->uservert->end());
-      mj_deleteSpec(mesh_spec);
-      ProcessVertices(vert, remove_repeated);
-      return;
-    }
-  }
-  mj_deleteSpec(mesh_spec);
-}
-
-
-// load mesh from resource; throw error on failure
-void mjCMesh::LoadFromResource(mjResource* resource, bool remove_repeated) {
-  // set content type from resource name
-  std::string asset_type = GetAssetContentType(resource->name, content_type_);
-  content_type_ = asset_type;
-
-  if (IsMSH()) {
-    LoadMSH(resource, remove_repeated);
-  } else {
-    LoadFromDecoder(resource, remove_repeated);
-  }
-}
-
-
-
-// compiler wrapper
-void mjCMesh::Compile(const mjVFS* vfs) {
-  try {
-    TryCompile(vfs);
-  } catch (mjCError err) {
-    if (resource_ != nullptr) {
-      mju_closeResource(resource_);
-      resource_ = nullptr;
-    }
-    throw err;
-  }
-}
-
-
-
-// compiler
-void mjCMesh::TryCompile(const mjVFS* vfs) {
-  using Clock = std::chrono::steady_clock;
-  using Seconds = std::chrono::duration<double>;
-  std::fill_n(mesh_timer_, mjNCTIMER, 0.0);
-
-  bool fromCache = false;
-  CopyFromSpec();
-  visual_ = true;
-  mjCCache *cache = reinterpret_cast<mjCCache*>(mj_getCache()->impl_);
-
-  Clock::time_point t0 = Clock::now();
-
-  // load file
-  if (!file_.empty()) {
-    vert_.clear();
-    face_.clear();
-    normal_.clear();
-    texcoord_.clear();
-    facenormal_.clear();
-    facetexcoord_.clear();
-    if (resource_ != nullptr) {
-      mju_closeResource(resource_);
-      resource_ = nullptr;
-    }
-
-    // copy paths from model if not already defined
-    mujoco::user::FilePath meshdir_;
-    meshdir_ = FilePath(mjs_getString(compiler->meshdir));
-
-    // remove path from file if necessary
-    if (model->strippath) {
-      file_ = mjuu_strippath(file_);
-    }
-
-    mjSpec* owning_spec = model->FindSpec(compiler);
-    FilePath filename = meshdir_ + FilePath(file_);
-    resource_ = LoadResource(owning_spec->modelfiledir->c_str(), filename.Str(), vfs);
-
-    // try loading from cache
-    if (cache != nullptr && LoadCachedMesh(cache, resource_)) {
-      mju_closeResource(resource_);
-      resource_ = nullptr;
-      fromCache = true;
-    }
-
-    if (!fromCache) {
-      LoadFromResource(resource_);
-
-      // check repeated mesh data
-      if (!normal_.empty() && !spec_normal_.empty()) {
-        throw mjCError(this, "repeated normal specification");
-      } else if (normal_.empty()) {
-        normal_ = spec_normal_;
-      }
-      if (!texcoord_.empty() && !spec_texcoord_.empty()) {
-        throw mjCError(this, "repeated texcoord specification");
-      } else if (texcoord_.empty()) {
-        texcoord_ = spec_texcoord_;
-      }
-      if (!face_.empty() && !spec_face_.empty()) {
-        throw mjCError(this, "repeated face specification");
-      } else if (face_.empty()) {
-        face_ = spec_face_;
-      }
-      if (!vert_.empty() && !spec_vert_.empty()) {
-        throw mjCError(this, "repeated vertex specification");
-      } else if (vert_.empty()) {
-        ProcessVertices(spec_vert_);
-      }
-      if (!facenormal_.empty() && !spec_normal_.empty()) {
-        throw mjCError(this, "repeated facenormal specification");
-      } else if (facenormal_.empty()) {
-        facenormal_ = spec_facenormal_;
-      }
-      if (!facetexcoord_.empty() && !spec_facetexcoord_.empty()) {
-        throw mjCError(this, "repeated facetexcoord specification");
-      } else if (facetexcoord_.empty()) {
-        facetexcoord_ = spec_facetexcoord_;
-      }
-    }
-  } else if (plugin.active) {
-    LoadSDF();  // create using marching cubes
-  }
-
-  mesh_timer_[mjCTIMER_MESH_LOAD] = Seconds(Clock::now() - t0).count();
-
-  CheckInitialMesh();
-
-  // compute mesh properties
-  if (!fromCache) {
-    Process();
-    if (!file_.empty()) {
-      CacheMesh(cache, resource_);
-    }
-  } else {
-    // When a mesh is loaded from the cache, has no octree but needs one,
-    // we need to compute it here. If inversely it has an octree but we *do not*
-    // need one, we clear it.
-    t0 = Clock::now();
-    if (!needsdf) {
-      octree_.Clear();
-    } else if (octree_.NumNodes() == 0) {
-      std::vector<double> dvert(vert_.begin(), vert_.end());
-      octree_.SetFace(dvert, face_);
-      octree_.SetMaxDepth(spec.octree_maxdepth);
-      octree_.CreateOctree(aamm_);
-      if (!plugin.active) {
-        octree_.ComputeSdfCoeffs(dvert.data(), nvert(), face_.data(), nface(), tree_);
-      }
-    }
-    mesh_timer_[mjCTIMER_MESH_OCTREE] = Seconds(Clock::now() - t0).count();
-  }
-
-  // close resource
-  if (resource_ != nullptr) {
-    mju_closeResource(resource_);
-    resource_ = nullptr;
-  }
-}
-
-
-
-// get bounding volume
-void mjCMesh::SetBoundingVolume(int faceid, const double* dvert) {
-  constexpr double kMaxVal = std::numeric_limits<double>::max();
-  double face_aamm[6] = {kMaxVal, kMaxVal, kMaxVal, -kMaxVal, -kMaxVal, -kMaxVal};
-
-  for (int j = 0; j < 3; j++) {
-    int vertid = face_[3*faceid + j];
-    face_aamm[0] = std::min(face_aamm[0], dvert[3*vertid + 0]);
-    face_aamm[1] = std::min(face_aamm[1], dvert[3*vertid + 1]);
-    face_aamm[2] = std::min(face_aamm[2], dvert[3*vertid + 2]);
-    face_aamm[3] = std::max(face_aamm[3], dvert[3*vertid + 0]);
-    face_aamm[4] = std::max(face_aamm[4], dvert[3*vertid + 1]);
-    face_aamm[5] = std::max(face_aamm[5], dvert[3*vertid + 2]);
-  }
-
-  face_aabb_.push_back(.5 * (face_aamm[0] + face_aamm[3]));
-  face_aabb_.push_back(.5 * (face_aamm[1] + face_aamm[4]));
-  face_aabb_.push_back(.5 * (face_aamm[2] + face_aamm[5]));
-  face_aabb_.push_back(.5 * (face_aamm[3] - face_aamm[0]));
-  face_aabb_.push_back(.5 * (face_aamm[4] - face_aamm[1]));
-  face_aabb_.push_back(.5 * (face_aamm[5] - face_aamm[2]));
-
-  tree_.AddBoundingVolume(faceid, 1, 1, center_ + 3*faceid, nullptr,
-                          &face_aabb_[6*faceid]);
-}
-
-
-
-double* mjCMesh::GetPosPtr() {
-  return pos_;
-}
-
-
-
-double* mjCMesh::GetQuatPtr() {
-  return quat_;
-}
-
-
-
-bool mjCMesh::HasTexcoord() const {
-  return !texcoord_.empty();
-}
-
-
-
-void mjCMesh::CopyVert(float* arr) const {
-  std::copy(vert_.begin(), vert_.end(), arr);
-}
-
-
-
-void mjCMesh::CopyNormal(float* arr) const {
-  std::copy(normal_.begin(), normal_.end(), arr);
-}
-
-
-
-void mjCMesh::CopyFace(int* arr) const {
-  std::copy(face_.begin(), face_.end(), arr);
-}
-
-
-
-void mjCMesh::CopyFaceTexcoord(int* arr) const {
-  std::copy(facetexcoord_.begin(), facetexcoord_.end(), arr);
-}
-
-
-
-void mjCMesh::CopyFaceNormal(int* arr) const {
-  std::copy(facenormal_.begin(), facenormal_.end(), arr);
-}
-
-
-
-void mjCMesh::CopyTexcoord(float* arr) const {
-  std::copy(texcoord_.begin(), texcoord_.end(), arr);
-}
-
-
-
-void mjCMesh::CopyGraph(int* arr) const {
-  std::copy(graph_, graph_+szgraph_, arr);
-}
-
-
-
-void mjCMesh::CopyPolygons(int* verts, int* adr, int* num, int poly_adr) const {
-  int n = polygons_.size(), count = 0;
-  for (int i = 0; i < n; ++i) {
-    int m = num[i] = polygons_[i].size();
-    adr[i] = poly_adr + count;
-    count += m;
-    for (int j = 0; j < m; ++j) {
-      verts[adr[i] + j - poly_adr] = polygons_[i][j];
-    }
-  }
-}
-
-
-
-void mjCMesh::CopyPolygonMap(int* faces, int* adr, int* num, int poly_adr) const {
-  int n = polygon_map_.size(), count = 0;
-  for (int i = 0; i < n; ++i) {
-    int m = num[i] = polygon_map_[i].size();
-    adr[i] = poly_adr + count;
-    count += m;
-    for (int j = 0; j < m; ++j) {
-      faces[adr[i] + j - poly_adr] = polygon_map_[i][j];
-    }
-  }
-}
-
-
-
-void mjCMesh::CopyPolygonNormals(mjtNum* arr) {
-  for (int i = 0; i < polygon_normals_.size(); i += 3) {
-    arr[i + 0] = (mjtNum)polygon_normals_[i + 0];
-    arr[i + 1] = (mjtNum)polygon_normals_[i + 1];
-    arr[i + 2] = (mjtNum)polygon_normals_[i + 2];
-  }
-}
-
-
-
-void mjCMesh::DelTexcoord() {
-  texcoord_.clear();
-}
-
-
-
-// set geom size to match mesh
-void mjCMesh::FitGeom(mjCGeom* geom, double center[3]) {
-  // use inertial box
-  if (!model->compiler.fitaabb) {
-    // get inertia box type (shell or volume)
-    double* boxsz = GetInertiaBoxPtr();
-    switch (geom->type) {
-      case mjGEOM_SPHERE:
-        geom->size[0] = (boxsz[0] + boxsz[1] + boxsz[2])/3;
-        break;
-
-      case mjGEOM_CAPSULE:
-        geom->size[0] = (boxsz[0] + boxsz[1])/2;
-        geom->size[1] = max(0.0, boxsz[2] - geom->size[0]/2);
-        break;
-
-      case mjGEOM_CYLINDER:
-        geom->size[0] = (boxsz[0] + boxsz[1])/2;
-        geom->size[1] = boxsz[2];
-        break;
-
-      case mjGEOM_ELLIPSOID:
-      case mjGEOM_BOX:
-        geom->size[0] = boxsz[0];
-        geom->size[1] = boxsz[1];
-        geom->size[2] = boxsz[2];
-        break;
-
-      default:
-        throw mjCError(this, "invalid geom type in fitting mesh %s", name.c_str());
-    }
-  }
-
-  // use aamm
-  else {
-    // find aabb box center and size
-    center[0] = (aamm_[0]+aamm_[3])/2;
-    center[1] = (aamm_[1]+aamm_[4])/2;
-    center[2] = (aamm_[2]+aamm_[5])/2;
-    double size[3] = {aamm_[3] - center[0], aamm_[4] - center[1], aamm_[5] - center[2]};
-
-    // compute smallest geom whose aabb contains the mesh aabb
-    switch (geom->type) {
-      case mjGEOM_SPHERE:
-        geom->size[0] = max(max(size[0], size[1]), size[2]);
-        break;
-
-      case mjGEOM_CAPSULE:
-      case mjGEOM_CYLINDER:
-        // find maximum distance in XY, separately in Z
-        geom->size[0] = max(size[0], size[1]);
-        geom->size[1] = size[2];
-
-        // special handling of capsule: consider curved cap
-        if (geom->type == mjGEOM_CAPSULE) {
-          geom->size[1] -= geom->size[0];
-        }
-        break;
-
-      case mjGEOM_ELLIPSOID:
-      case mjGEOM_BOX:
-        geom->size[0] = size[0];
-        geom->size[1] = size[1];
-        geom->size[2] = size[2];
-        break;
-
-      default:
-        throw mjCError(this, "invalid fittype in mesh %s", name.c_str());
-    }
-  }
-
-  // rescale size
-  geom->size[0] *= geom->fitscale;
-  geom->size[1] *= geom->fitscale;
-  geom->size[2] *= geom->fitscale;
-}
-
-
-// load mesh from cached asset, return true on success
-bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
-  auto process_mesh = [&](const void* data) {
-    const mjCMesh* mesh = static_cast<const mjCMesh*>(data);
-    // check if maxhullvert is different
-    if (maxhullvert_ != mesh->maxhullvert_) {
-      return false;
-    }
-
-    // check if inertia is different
-    if (inertia != mesh->inertia) {
-      return false;
-    }
-
-    // check if scale is different
-    if (scale[0] != mesh->scale[0] ||
-        scale[1] != mesh->scale[1] ||
-        scale[2] != mesh->scale[2]) {
-      return false;
-    }
-
-    // check if need hull
-    if (needhull_ && !mesh->szgraph_) {
-      return false;
-    }
-
-    processed_ = mesh->processed_;
-    vert_ = mesh->vert_;
-    normal_ = mesh->normal_;
-    texcoord_ = mesh->texcoord_;
-    face_ = mesh->face_;
-    facenormal_ = mesh->facenormal_;
-    facetexcoord_ = mesh->facetexcoord_;
-    halfedge_ = mesh->halfedge_;
-
-    // only copy graph if needed
-    if (needhull_ || mesh->face_.empty()) {
-      szgraph_ = mesh->szgraph_;
-      graph_ = nullptr;
-      if (szgraph_) {
-        graph_ = (int*)mju_malloc(szgraph_*sizeof(int));
-        std::copy(mesh->graph_, mesh->graph_ + szgraph_, graph_);
-      }
-    }
-
-    if (szgraph_) {
-      polygons_ = mesh->polygons_;
-      polygon_normals_ = mesh->polygon_normals_;
-      polygon_map_ = mesh->polygon_map_;
-    } else {
-      polygon_map_.resize(nvert());
-    }
-    surface_ = mesh->surface_;
-    volume_ = mesh->volume_;
-    std::copy(mesh->boxsz_, mesh->boxsz_ + 3, boxsz_);
-    std::copy(mesh->aamm_, mesh->aamm_ + 6, aamm_);
-    std::copy(mesh->pos_, mesh->pos_ + 3, pos_);
-    std::copy(mesh->quat_, mesh->quat_ + 4, quat_);
-
-    center_ = nullptr;
-    int ncenter = mesh->face_.size();
-    if (ncenter) {
-      center_ = (double*)mju_malloc(ncenter * sizeof(double));
-      std::copy(mesh->center_, mesh->center_ + ncenter, center_);
-    }
-    tree_ = mesh->tree_;
-    face_aabb_ = mesh->face_aabb_;
-    octree_ = mesh->octree_;
-    return true;
-  };
-
-  // check that cached asset has all data
-  return cache->PopulateData(resource->name, resource, process_mesh);
-}
-
-
-
-
-
-// load MSH binary mesh
-void mjCMesh::LoadMSH(mjResource* resource, bool remove_repeated) {
-  bool righthand = scale[0] * scale[1] * scale[2] > 0;
-
-  // get file data in buffer
-  char* buffer = 0;
-  int buffer_sz = mju_readResource(resource, (const void**)&buffer);
-
-  // still not found
-  if (buffer_sz < 0) {
-    throw mjCError(this, "could not read MSH file '%s'", resource->name);
-  } else if (!buffer_sz) {
-    throw mjCError(this, "MSH file '%s' is empty", resource->name);
-  }
-
-  // make sure header is present
-  if (buffer_sz < 4*sizeof(int)) {
-    throw mjCError(this, "missing header in MSH file '%s'", resource->name);
-  }
-
-  // get sizes from header
-  int nvbuf = 0, nfbuf = 0, nnbuf = 0, ntbuf = 0;
-  ReadFromBuffer(&nvbuf, buffer);
-  ReadFromBuffer(&nnbuf, buffer + sizeof(int));
-  ReadFromBuffer(&ntbuf, buffer + 2*sizeof(int));
-  ReadFromBuffer(&nfbuf, buffer + 3*sizeof(int));
-
-  // check sizes
-  if (nvbuf < 4 || nfbuf < 0 || nnbuf < 0 || ntbuf < 0 ||
-      (nnbuf > 0 && nnbuf != nvbuf) ||
-      (ntbuf > 0 && ntbuf != nvbuf)) {
-    throw mjCError(this, "invalid sizes in MSH file '%s'", resource->name);
-  }
-
-  if (nvbuf >= INT_MAX / sizeof(float) / 3 ||
-      nnbuf >= INT_MAX / sizeof(float) / 3 ||
-      ntbuf >= INT_MAX / sizeof(float) / 2 ||
-      nfbuf >= INT_MAX / sizeof(int) / 3) {
-    throw mjCError(this, "too large sizes in MSH file '%s'.", resource->name);
-  }
-  // check file size
-  if (buffer_sz != 4*sizeof(int) + 3*nvbuf*sizeof(float) + 3*nnbuf*sizeof(float) +
-      2*ntbuf*sizeof(float) + 3*nfbuf*sizeof(int)) {
-    throw mjCError(this, "unexpected file size in MSH file '%s'", resource->name);
-  }
-
-  // allocate and copy
-  using UnalignedFloat = char[sizeof(float)];
-  auto fdata = reinterpret_cast<UnalignedFloat*>(buffer + 4*sizeof(int));
-  std::vector<float> vert;
-  int nvert = 0;
-  if (nvbuf) {
-    vert.assign(3*nvbuf, 0);
-    nvert = 3*nvbuf;
-    memcpy(vert.data(), fdata, nvert*sizeof(float));
-    fdata += nvert;
-  }
-  if (nnbuf) {
-    normal_.assign(nvert, 0);
-    memcpy(normal_.data(), fdata, nvert*sizeof(float));
-    fdata += nvert;
-  }
-  if (ntbuf) {
-    texcoord_.assign(2*(nvert / 3), 0);
-    memcpy(texcoord_.data(), fdata, 2*(nvert/3)*sizeof(float));
-    fdata += 2*(nvert / 3);
-  }
-  if (nfbuf) {
-    face_.assign(3*nfbuf, 0);
-    facenormal_.assign(3*nfbuf, 0);
-    memcpy(face_.data(), fdata, 3*nfbuf*sizeof(int));
-    memcpy(facenormal_.data(), fdata, 3*nfbuf*sizeof(int));
-  }
-  if  (nfbuf && !texcoord_.empty()) {
-    facetexcoord_.assign(3*nfbuf, 0);
-    memcpy(facetexcoord_.data(), fdata, 3*nfbuf*sizeof(int));
-  }
-
-  // rearrange face data if left-handed scaling
-  if (nfbuf && !righthand) {
-    for (int i=0; i < nfbuf; i++) {
-      int tmp = face_[3*i+1];
-      face_[3*i+1] = face_[3*i+2];
-      face_[3*i+2] = tmp;
-    }
-  }
-  ProcessVertices(vert, remove_repeated);
-}
-
-
-
-// compute the volume and center-of-mass of the mesh given the face centroid
-double mjCMesh::ComputeVolume(double CoM[3], const double facecen[3], const double* dvert) const {
-  double normal[3], center[3], total_volume = 0;
-  CoM[0] = CoM[1] = CoM[2] = 0;
-  int nf = (inertia == mjMESH_INERTIA_CONVEX) ? graph_[1] : nface();
-  const int* f = (inertia == mjMESH_INERTIA_CONVEX) ? GraphFaces() : face_.data();
-
-  for (int i = 0; i < nf; i++) {
-    double area = triangle(normal, center, &dvert[3*f[3*i]], &dvert[3*f[3*i + 1]],
-                           &dvert[3*f[3*i + 2]]);
-
-    // compute and add volume
-    double vec[3] = {center[0] - facecen[0], center[1] - facecen[1], center[2] - facecen[2]};
-    double volume = mjuu_dot3(vec, normal) * area / 3;
-
-    // if legacy computation requested, then always positive
-    if (inertia == mjMESH_INERTIA_LEGACY) {
-      volume = std::abs(volume);
-    }
-
-    // add pyramid com
-    total_volume += volume;
-    CoM[0] += volume*(center[0]*3.0/4.0 + facecen[0]/4.0);
-    CoM[1] += volume*(center[1]*3.0/4.0 + facecen[1]/4.0);
-    CoM[2] += volume*(center[2]*3.0/4.0 + facecen[2]/4.0);
-  }
-
-  // if volume is valid normalize CoM
-  if (total_volume >= mjMINVAL) {
-    CoM[0] /= total_volume;
-    CoM[1] /= total_volume;
-    CoM[2] /= total_volume;
-  }
-  return total_volume;
-}
-
-
-
-// compute the surface area and center-of-mass of the mesh given the face centroid
-double mjCMesh::ComputeSurfaceArea(double CoM[3], const double facecen[3], const double* dvert) const {
-  double surface = 0;
-  CoM[0] = CoM[1] = CoM[2] = 0;
-  for (int i = 0; i < nface(); i++) {
-    double area, center[3];
-    area = triangle(nullptr, center, &dvert[3*face_[3*i]],
-                    &dvert[3*face_[3*i + 1]], &dvert[3*face_[3*i + 2]]);
-
-    // add pyramid com
-    surface += area;
-    CoM[0] += area*(center[0]*3.0/4.0 + facecen[0]/4.0);
-    CoM[1] += area*(center[1]*3.0/4.0 + facecen[1]/4.0);
-    CoM[2] += area*(center[2]*3.0/4.0 + facecen[2]/4.0);
-  }
-
-  // if area is valid normalize CoM
-  if (surface >= mjMINVAL) {
-    CoM[0] /= surface;
-    CoM[1] /= surface;
-    CoM[2] /= surface;
-  }
-  return surface;
-}
-
-
-
-// apply transformations
-void mjCMesh::ApplyTransformations(double* dvert) {
-  if (refpos[0] != 0 || refpos[1] != 0 || refpos[2] != 0) {
-    int nv = nvert();
-    for (int i = 0; i < nv; i++) {
-      dvert[3*i + 0] -= refpos[0];
-      dvert[3*i + 1] -= refpos[1];
-      dvert[3*i + 2] -= refpos[2];
-    }
-  }
-
-  if (refquat[0] != 1 || refquat[1] != 0 || refquat[2] != 0 || refquat[3] != 0) {
-    double quat[4] = {refquat[0], refquat[1], refquat[2], refquat[3]};
-    double mat[9];
-    mjuu_normvec(quat, 4);
-    mjuu_quat2mat(mat, quat);
-
-    for (int i = 0; i < nvert(); i++) {
-      mjuu_mulvecmatT(&dvert[3*i], &dvert[3*i], mat);
-    }
-
-    // process normals
-    for (int i = 0; i < nnormal(); i++) {
-      double n1[3], n0[3] = {normal_[3*i], normal_[3*i+1], normal_[3*i+2]};
-      mjuu_mulvecmatT(n1, n0, mat);
-      normal_[3*i] = (float) n1[0];
-      normal_[3*i+1] = (float) n1[1];
-      normal_[3*i+2] = (float) n1[2];
-    }
-  }
-
-  // scale
-  if (scale[0] != 1 || scale[1] != 1 || scale[2] != 1) {
-    for (int i = 0; i < nvert(); i++) {
-      dvert[3*i + 0] *= scale[0];
-      dvert[3*i + 1] *= scale[1];
-      dvert[3*i + 2] *= scale[2];
-    }
-
-    // normals are covectors: transform by the inverse scale
-    for (int i = 0; i < nnormal(); i++) {
-      normal_[3*i + 0] /= scale[0];
-      normal_[3*i + 1] /= scale[1];
-      normal_[3*i + 2] /= scale[2];
-    }
-  }
-
-  // normalize normals
-  for (int i = 0; i < nnormal(); i++) {
-    // compute length
-    float len = normal_[3*i]*normal_[3*i] + normal_[3*i+1]*normal_[3*i+1] + normal_[3*i+2]*normal_[3*i+2];
-
-    // rescale
-    if (len > mjMINVAL) {
-      float scl = 1/sqrtf(len);
-      normal_[3*i + 0] *= scl;
-      normal_[3*i + 1] *= scl;
-      normal_[3*i + 2] *= scl;
-    } else {
-      normal_[3*i + 0] = 0;
-      normal_[3*i + 1] = 0;
-      normal_[3*i + 2] = 1;
-    }
-  }
-}
-
-
-
-// find centroid of faces, return total area
-double mjCMesh::ComputeFaceCentroid(double facecen[3], const double* dvert) const {
-  double total_area = 0;
-
-  for (int i = 0; i < nface(); i++) {
-    double area, center[3];
-    area = triangle(nullptr, center, &dvert[3*face_[3*i]],
-                    &dvert[3*face_[3*i + 1]], &dvert[3*face_[3*i + 2]]);
-
-    // accumulate
-    facecen[0] += area * center[0];
-    facecen[1] += area * center[1];
-    facecen[2] += area * center[2];
-    total_area += area;
-  }
-
-  // finalize centroid of faces
-  if (total_area >= mjMINVAL) {
-    facecen[0] /= total_area;
-    facecen[1] /= total_area;
-    facecen[2] /= total_area;
-  }
-  return total_area;
-}
-
-
-
-void mjCMesh::Process() {
-  std::vector<double> dvert(vert_.begin(), vert_.end());
-  using Clock = std::chrono::steady_clock;
-  using Seconds = std::chrono::duration<double>;
-  Clock::time_point t0;
-  // create half-edge structure (if mesh was in XML)
-  if (halfedge_.empty()) {
-    for (int i = 0; i < nface(); i++) {
-      int v0 = face_[3*i + 0];
-      int v1 = face_[3*i + 1];
-      int v2 = face_[3*i + 2];
-      if (triangle(nullptr, nullptr, &dvert[3*v0], &dvert[3*v1], &dvert[3*v2]) > sqrt(mjMINVAL)) {
-        halfedge_.push_back({v0, v1});
-        halfedge_.push_back({v1, v2});
-        halfedge_.push_back({v2, v0});
-      } else {
-        // TODO(b/255525326)
-      }
-    }
-  }
-
-  // check for inconsistent face orientations
-  if (!halfedge_.empty()) {
-    std::stable_sort(halfedge_.begin(), halfedge_.end());
-    auto iterator = std::adjacent_find(halfedge_.begin(), halfedge_.end());
-    if (iterator != halfedge_.end() && inertia == mjMESH_INERTIA_EXACT) {
-      throw mjCError(this,
-                     "faces of mesh '%s' have inconsistent orientation. Please check the "
-                     "faces containing the vertices %d and %d.",
-                     name.c_str(), iterator->first + 1, iterator->second + 1);
-    }
-  }
-
-  t0 = Clock::now();
-  // make graph describing convex hull
-  if (needhull_ || face_.empty()) {
-    MakeGraph(dvert.data());
-  }
-
-  // no faces: copy from convex hull
-  if (face_.empty()) {
-    CopyGraph();
-  }
-  mesh_timer_[mjCTIMER_MESH_HULL] += Seconds(Clock::now() - t0).count();
-
-  t0 = Clock::now();
-  // no normals: make
-  if (normal_.empty()) {
-    MakeNormal(dvert.data());
-  }
-
-  // check facenormal size
-  if (!facenormal_.empty() && facenormal_.size() != face_.size()) {
-    throw mjCError(this, "face data must have the same size as face normal data");
-  }
-
-  // no facetexcoord: copy from faces
-  if (facetexcoord_.empty() && !texcoord_.empty()) {
-    facetexcoord_ = face_;
-  }
-
-  // facenormal might not exist if usernormal was specified
-  if (facenormal_.empty()) {
-    int normal_per_vertex = normal_.size() / vert_.size();
-    facenormal_.assign(face_.size(), 0);
-    for (int i = 0; i < face_.size(); i++) {
-      facenormal_[i] = normal_per_vertex * face_[i];
-    }
-  }
-
-  if (szgraph_) {
-    MakePolygons(dvert.data());
-  } else {
-    polygon_map_.resize(nvert());
-  }
-
-  // correct winding order for left-handed coordinate systems
-  bool righthand = scale[0] * scale[1] * scale[2] > 0;
-  if (!righthand) {
-    for (size_t i = 0; i < face_.size(); i += 3) {
-      std::swap(face_[i + 1], face_[i + 2]);
-    }
-    for (size_t i = 0; i < facenormal_.size(); i += 3) {
-      std::swap(facenormal_[i + 1], facenormal_[i + 2]);
-    }
-    for (size_t i = 0; i < facetexcoord_.size(); i += 3) {
-      std::swap(facetexcoord_[i + 1], facetexcoord_[i + 2]);
-    }
-  }
-
-  mesh_timer_[mjCTIMER_MESH_POLYGON] += Seconds(Clock::now() - t0).count();
-
-  t0 = Clock::now();
-  // user offset, rotation, scaling
-  ApplyTransformations(dvert.data());
-
-  // find centroid of faces
-  double facecen[3] = {0, 0, 0};
-  if (ComputeFaceCentroid(facecen, dvert.data()) < mjMINVAL) {
-    throw mjCError(this, "mesh surface area is too small: %s", name.c_str());
-  }
-
-  // compute inertia and transform mesh. The mesh is transformed such that it is
-  // centered at the CoM and the axes are the principle axes of inertia
-  double CoM[3] = {0, 0, 0};
-  double inert[6] = {0, 0, 0, 0, 0, 0};
-
-  // compute CoM and volume/area
-  if (inertia == mjMESH_INERTIA_SHELL) {
-    surface_ = ComputeSurfaceArea(CoM, facecen, dvert.data());
-    if (surface_ < mjMINVAL) {
-      throw mjCError(this, "mesh surface area is too small: %s", name.c_str());
-    }
-  } else {
-    if ((volume_ = ComputeVolume(CoM, facecen, dvert.data())) < mjMINVAL) {
-      if (volume_ < 0) {
-        throw mjCError(this, "mesh volume is negative (misoriented triangles): %s", name.c_str());
-      } else {
-        throw mjCError(this, "mesh volume is too small: %s . Try setting inertia to shell",
-                       name.c_str());
-      }
-    }
-  }
-
-  // compute inertia
-  double total_volume = ComputeInertia(inert, CoM, dvert.data());
-  if (inertia == mjMESH_INERTIA_SHELL) {
-    surface_ = total_volume;
-  } else {
-    volume_ = total_volume;
-  }
-
-  // get quaternion and diagonal inertia
-  double eigval[3], eigvec[9], quattmp[4];
-  double full[9] = {
-    inert[0], inert[3], inert[4],
-    inert[3], inert[1], inert[5],
-    inert[4], inert[5], inert[2]
-  };
-  mjuu_eig3(eigval, eigvec, quattmp, full);
-
-  constexpr double inequality_atol = 1e-9;
-  constexpr double inequality_rtol = 1e-6;
-
-  // check eigval - SHOULD NOT OCCUR
-  if (eigval[2] <= 0) {
-    throw mjCError(this, "eigenvalue of mesh inertia must be positive: %s", name.c_str());
-  }
-
-  if (eigval[0] + eigval[1] < eigval[2] * (1.0 - inequality_rtol) - inequality_atol ||
-      eigval[0] + eigval[2] < eigval[1] * (1.0 - inequality_rtol) - inequality_atol ||
-      eigval[1] + eigval[2] < eigval[0] * (1.0 - inequality_rtol) - inequality_atol) {
-    throw mjCError(this, "eigenvalues of mesh inertia violate A + B >= C: %s", name.c_str());
-  }
-
-  // compute sizes of equivalent inertia box
-  double volume = GetVolumeRef();
-  boxsz_[0] = 0.5 * std::sqrt(6*(eigval[1] + eigval[2] - eigval[0])/volume);
-  boxsz_[1] = 0.5 * std::sqrt(6*(eigval[0] + eigval[2] - eigval[1])/volume);
-  boxsz_[2] = 0.5 * std::sqrt(6*(eigval[0] + eigval[1] - eigval[2])/volume);
-
-  // prevent reorientation if the mesh was autogenerated using marching cubes
-  if (!needreorient_) {
-    mjuu_setvec(CoM, 0, 0, 0);
-    mjuu_setvec(quattmp, 1, 0, 0, 0);
-  }
-
-  // transform CoM to origin
-  for (int i=0; i < nvert(); i++) {
-    dvert[3*i + 0] -= CoM[0];
-    dvert[3*i + 1] -= CoM[1];
-    dvert[3*i + 2] -= CoM[2];
-  }
-  Rotate(quattmp, dvert.data());
-
-  // save the pos and quat that was used to transform the mesh
-  mjuu_copyvec(pos_, CoM, 3);
-  mjuu_copyvec(quat_, quattmp, 4);
-
-  processed_ = true;
-
-  // no radii: make
-  if (!center_) {
-    MakeCenter(dvert.data());
-  }
-
-  // recompute polygon normals
-  MakePolygonNormals(dvert.data());
-  mesh_timer_[mjCTIMER_MESH_INERTIA] += Seconds(Clock::now() - t0).count();
-
-  t0 = Clock::now();
-  // make bounding volume hierarchy
-  if (tree_.Bvh().empty()) {
-    face_aabb_.clear();
-    face_aabb_.reserve(3*face_.size());
-    tree_.AllocateBoundingVolumes(nface());
-    for (int i = 0; i < nface(); i++) {
-      SetBoundingVolume(i, dvert.data());
-    }
-    tree_.CreateBVH(model, this);
-  }
-  mesh_timer_[mjCTIMER_MESH_BVH] += Seconds(Clock::now() - t0).count();
-
-  t0 = Clock::now();
-  // make octree
-  if (needsdf) {
-    octree_.SetFace(dvert, face_);
-    octree_.SetMaxDepth(spec.octree_maxdepth);
-    octree_.CreateOctree(aamm_);
-
-    if (!plugin.active) {
-      octree_.ComputeSdfCoeffs(dvert.data(), nvert(), face_.data(), nface(), tree_);
-    }
-  }
-
-  // narrow back to float
-  for (int i = 0; i < (int)dvert.size(); i++) {
-    vert_[i] = (float)dvert[i];
-  }
-  mesh_timer_[mjCTIMER_MESH_OCTREE] += Seconds(Clock::now() - t0).count();
-}
-
-
-
-// compute abstract (unitless) inertia, recompute area / volume
-double mjCMesh::ComputeInertia(double inert[6], const double CoM[3], const double* dvert) const {
-  double total_volume = 0;
-
-  // copy vertices to avoid modifying the original mesh
-  std::vector<double> vert_centered;
-  vert_centered.reserve(3*nvert());
-
-  // translate vertices to origin in order to compute inertia
-  for (int i =  0; i < nvert(); i++) {
-    vert_centered.push_back(dvert[3*i + 0] - CoM[0]);
-    vert_centered.push_back(dvert[3*i + 1] - CoM[1]);
-    vert_centered.push_back(dvert[3*i + 2] - CoM[2]);
-  }
-
-  // accumulate products of inertia, recompute volume
-  const int k[6][2] = {{0, 0}, {1, 1}, {2, 2}, {0, 1}, {0, 2}, {1, 2}};
-  double P[6] = {0, 0, 0, 0, 0, 0};
-  int nf = (inertia == mjMESH_INERTIA_CONVEX) ? graph_[1] : nface();
-  const int* f = (inertia == mjMESH_INERTIA_CONVEX) ? GraphFaces() : face_.data();
-  for (int i=0; i < nf; i++) {
-    const double* D = &vert_centered[3*f[3*i + 0]];
-    const double* E = &vert_centered[3*f[3*i + 1]];
-    const double* F = &vert_centered[3*f[3*i + 2]];
-
-    // get area, normal and center; update volume
-    double normal[3], center[3];
-    double volume, area = triangle(normal, center, D, E, F);
-    if (inertia == mjMESH_INERTIA_SHELL) {
-      volume = area;
-    } else {
-      volume = mjuu_dot3(center, normal) * area / 3;
-    }
-
-    // if legacy computation requested, then always positive
-    if (inertia == mjMESH_INERTIA_LEGACY) {
-      volume = abs(volume);
-    }
-
-    // apply formula, accumulate
-    total_volume += volume;
-
-    int C = (inertia == mjMESH_INERTIA_SHELL) ? 12 : 20;
-    for (int j = 0; j < 6; j++) {
-      P[j] += volume /
-              C * (
-        2*(D[k[j][0]] * D[k[j][1]] +
-           E[k[j][0]] * E[k[j][1]] +
-           F[k[j][0]] * F[k[j][1]]) +
-        D[k[j][0]] * E[k[j][1]]  +  D[k[j][1]] * E[k[j][0]] +
-        D[k[j][0]] * F[k[j][1]]  +  D[k[j][1]] * F[k[j][0]] +
-        E[k[j][0]] * F[k[j][1]]  +  E[k[j][1]] * F[k[j][0]]);
-    }
-  }
-
-  // convert from products of inertia to moments of inertia
-  inert[0] = P[1] + P[2];
-  inert[1] = P[0] + P[2];
-  inert[2] = P[0] + P[1];
-  inert[3] = -P[3];
-  inert[4] = -P[4];
-  inert[5] = -P[5];
-  return total_volume;
-}
-
-
-
-void mjCMesh::Rotate(double quat[4], double* dvert) {
-  double neg[4] = {quat[0], -quat[1], -quat[2], -quat[3]};
-  double mat[9];
-  mjuu_quat2mat(mat, neg);
-  int nv = nvert();
-  for (int i = 0; i < nv; i++) {
-    mjuu_mulvecmat(&dvert[3*i], &dvert[3*i], mat);
-
-    aamm_[0] = std::min(aamm_[0], dvert[3*i + 0]);
-    aamm_[3] = std::max(aamm_[3], dvert[3*i + 0]);
-    aamm_[1] = std::min(aamm_[1], dvert[3*i + 1]);
-    aamm_[4] = std::max(aamm_[4], dvert[3*i + 1]);
-    aamm_[2] = std::min(aamm_[2], dvert[3*i + 2]);
-    aamm_[5] = std::max(aamm_[5], dvert[3*i + 2]);
-  }
-
-  for (int i=0; i < nnormal(); i++) {
-    // normals
-    const double nrm[3] = {normal_[3*i], normal_[3*i+1], normal_[3*i+2]};
-    double res[3];
-    mjuu_mulvecmat(res, nrm, mat);
-    for (int j=0; j < 3; j++) {
-      normal_[3*i+j] = (float) res[j];
-    }
-  }
-}
-
-
-
-void mjCMesh::CheckInitialMesh() const {
-  if (vert_.size() < 12) {
-    throw mjCError(this, "at least 4 vertices required");
-  }
-  if (vert_.size() % 3) {
-    throw mjCError(this, "vertex data must be a multiple of 3");
-  }
-  if (normal_.size() % 3) {
-    throw mjCError(this, "normal data must be a multiple of 3");
-  }
-  if (texcoord_.size() % 2) {
-    throw mjCError(this, "texcoord must be a multiple of 2");
-  }
-  if (face_.size() % 3) {
-    throw mjCError(this, "face data must be a multiple of 3");
-  }
-
-  // check texcoord size if no face texcoord indices are given
-  if (!texcoord_.empty() && texcoord_.size() != 2 * nvert() &&
-      facetexcoord_.empty() && content_type_ != "model/obj") {
-    throw mjCError(this,
-        "texcoord must be 2*nv if face texcoord indices are not provided in an OBJ file");
-  }
-
-  // require vertices
-  if (vert_.empty()) {
-    throw mjCError(this, "no vertices");
-  }
-
-  // check vertices exist
-  int nv = nvert(), nf = face_.size();
-  for (int i = 0; i < nf; i++) {
-    if (face_[i] >= nv || face_[i] < 0) {
-      throw mjCError(this, "in face %d, vertex index %d does not exist",
-                     nullptr, i / 3, face_[i]);
-    }
-  }
-}
-
-
-
-// return inertia pointer
-double* mjCMesh::GetInertiaBoxPtr() {
-  return boxsz_;
-}
-
-
-
-// return volume or surface area
-double mjCMesh::GetVolumeRef() const {
-  return (inertia == mjMESH_INERTIA_SHELL) ? surface_ : volume_;
-}
-
-
-
-// make graph describing convex hull
-void mjCMesh::MakeGraph(const double* dvert) {
-  int adr, ok, curlong, totlong, exitcode;
-  facetT* facet, **facetp;
-  vertexT* vertex, *vertex1, **vertex1p;
-
-  std::string qhopt = "qhull Qt";
-  if (maxhullvert_ > -1) {
-    // qhull "Q9" picks the furthest of all furthest points across facets.
-    // qhull "TA" actually means "number of vertices added after the initial simplex"
-    qhopt += " Q9 TA" + std::to_string(maxhullvert_ - 4);
-  }
-
-  // graph not needed for small meshes
-  if (nvert() < 4) {
-    return;
-  }
-
-  // check for colocated/collinear/coplanar vertices
-  {
-    // find second vertex that is distinct from vertex 0
-    int v1 = -1;
-    double len1 = 0;
-    for (int i = 1; i < nvert(); i++) {
-      len1 = mjuu_dist3(dvert+3*i, dvert);
-      if (len1 > mjMINVAL) {
-        v1 = i;
-        break;
-      }
-    }
-
-    // no second vertex found: all vertices are colocated
-    if (v1 < 0) {
-      throw mjCError(this,
-          "mesh '%s' has colocated vertices, cannot compute convex hull."
-          " Consider using a small sphere instead",
-          name.c_str());
-    }
-
-    // find first non-collinear triple to define a plane
-    double edge1[3] = {dvert[3*v1+0] - dvert[0],
-                       dvert[3*v1+1] - dvert[1],
-                       dvert[3*v1+2] - dvert[2]};
-    double normal[3] = {0, 0, 0};
-    bool collinear = true;
-    for (int i = 1; i < nvert(); i++) {
-      if (i == v1) continue;
-      double edge2[3] = {dvert[3*i+0] - dvert[0],
-                         dvert[3*i+1] - dvert[1],
-                         dvert[3*i+2] - dvert[2]};
-      double len2 = sqrt(mjuu_dot3(edge2, edge2));
-      if (len2 < mjMINVAL) continue;
-      mjuu_crossvec(normal, edge1, edge2);
-      double norm = sqrt(mjuu_dot3(normal, normal));
-      if (norm > mjMINVAL * len1 * len2) {
-        normal[0] /= norm;
-        normal[1] /= norm;
-        normal[2] /= norm;
-        collinear = false;
-        break;
-      }
-    }
-
-    // vertices are collinear: cannot compute convex hull
-    if (collinear) {
-      throw mjCError(this,
-          "mesh '%s' has collinear vertices, cannot compute convex hull."
-          " Consider using a thin capsule instead",
-          name.c_str());
-    }
-
-    // find first vertex that is not on the plane
-    double d = mjuu_dot3(normal, dvert);
-    bool coplanar = true;
-    for (int i = 0; i < nvert(); i++) {
-      if (fabs(mjuu_dot3(normal, dvert+3*i) - d) > mjMINVAL * len1) {
-        coplanar = false;
-        break;
-      }
-    }
-
-    // vertices are coplanar: cannot compute convex hull
-    if (coplanar) {
-      throw mjCError(this,
-          "mesh '%s' has coplanar vertices, cannot compute convex hull."
-          " Consider using a primitive geom type (plane or thin box) instead",
-          name.c_str());
-    }
-  }
-
-  qhT qh_qh;
-  qhT* qh = &qh_qh;
-  qh_zero(qh, stderr);
-
-  // qhull basic init
-  qh_init_A(qh, stdin, stdout, stderr, 0, nullptr);
-
-  // install longjmp error handler
-  exitcode = setjmp(qh->errexit);
-  qh->NOerrexit = false;
-  if (!exitcode) {
-    // actual init
-    qh_initflags(qh, const_cast<char*>(qhopt.c_str()));
-    qh_init_B(qh, const_cast<double*>(dvert), nvert(), 3, qh_False);
-
-    // construct convex hull
-    qh_qhull(qh);
-    qh_triangulate(qh);
-    qh_vertexneighbors(qh);
-
-    // allocate graph:
-    //  numvert, numface, vert_edgeadr[numvert], vert_globalid[numvert],
-    //  edge_localid[numvert+3*numface], face_globalid[3*numface]
-    int numvert = qh->num_vertices;
-    int numface = qh->num_facets;
-    szgraph_ = 2 + 3*numvert + 6*numface;
-    graph_ = (int*) mju_malloc(szgraph_*sizeof(int));
-    graph_[0] = numvert;
-    graph_[1] = numface;
-
-    // pointers for convenience
-    int* vert_edgeadr = graph_ + 2;
-    int* vert_globalid = graph_ + 2 + numvert;
-    int* edge_localid = graph_ + 2 + 2*numvert;
-    int* face_globalid = graph_ + 2 + 3*numvert + 3*numface;
-
-    // fill in graph data
-    int i = adr = 0;
-    ok = 1;
-    FORALLvertices {
-      // point id of this vertex, check
-      int pid = qh_pointid(qh, vertex->point);
-      if (pid < 0 || pid >= nvert()) {
-        ok = 0;
-        break;
-      }
-
-      // save edge address and global id of this vertex
-      vert_edgeadr[i] = adr;
-      vert_globalid[i] = pid;
-
-      // process neighboring faces and their vertices
-      int start = adr;
-      FOREACHsetelement_(facetT, vertex->neighbors, facet) {
-        int cnt = 0;
-        FOREACHsetelement_(vertexT, facet->vertices, vertex1) {
-          cnt++;
-
-          // point id of face vertex, check
-          int pid1 = qh_pointid(qh, vertex1->point);
-          if (pid1 < 0 || pid1 >= nvert()) {
-            ok = 0;
-            break;
-          }
-
-          // if different from vertex id, try to insert
-          if (pid != pid1) {
-            // check for previous record
-            int j;
-            for (j=start; j < adr; j++)
-              if (pid1 == edge_localid[j]) {
-                break;
-              }
-
-            // not found: insert
-            if (j >= adr) {
-              edge_localid[adr++] = pid1;
-            }
-          }
-        }
-
-        // make sure we have triangle: SHOULD NOT OCCUR
-        if (cnt != 3) {
-          mju_error("Qhull did not return triangle");
-        }
-      }
-
-      // insert separator, advance to next vertex
-      edge_localid[adr++] = -1;
-      i++;
-    }
-
-    // size check: SHOULD NOT OCCUR
-    if (adr != numvert+3*numface) {
-      mju_error("Wrong size in convex hull graph");
-    }
-
-    // add triangle data, reorient faces if flipped
-    adr = 0;
-    FORALLfacets {
-      int ii = 0;
-      int ind[3] = {0, 1, 2};
-      if (facet->toporient) {
-        ind[0] = 1;
-        ind[1] = 0;
-      }
-
-      // copy triangle data
-      FOREACHsetelement_(vertexT, facet->vertices, vertex1) {
-        // make sure we have triangle: SHOULD NOT OCCUR
-        if (ii >= 3) {
-          mju_error("Qhull did not return triangle");
-        }
-
-        face_globalid[adr + ind[ii++]] = qh_pointid(qh, vertex1->point);
-      }
-
-      // advance to next triangle
-      adr += 3;
-    }
-
-    // free all
-    qh_freeqhull(qh, !qh_ALL);
-    qh_memfreeshort(qh, &curlong, &totlong);
-
-    // bad graph: delete
-    if (!ok) {
-      szgraph_ = 0;
-      mju_free(graph_);
-      graph_ = 0;
-      mju_warning("Could not construct convex hull graph");
-    }
-
-    // replace global ids with local ids in edge data
-    else {
-      // invert vert_globalid: point id -> hull vertex index, -1 if not on hull.
-      // every vert_globalid entry was range-checked above, so the index is safe.
-      std::vector<int> hullid(nvert(), -1);
-      for (int adr=0; adr < numvert; adr++) {
-        hullid[vert_globalid[adr]] = adr;
-      }
-
-      for (int i=0; i < numvert+3*numface; i++) {
-        if (edge_localid[i] >= 0) {
-          int adr = hullid[edge_localid[i]];
-
-          // make sure we found a match: SHOULD NOT OCCUR
-          if (adr < 0) {
-            mju_error("Vertex id not found in convex hull");
-          }
-
-          edge_localid[i] = adr;
-        }
-      }
-    }
-  }
-
-  // longjmp error handler
-  else {
-    // free all
-    qh_freeqhull(qh, !qh_ALL);
-    qh_memfreeshort(qh, &curlong, &totlong);
-    if (graph_) {
-      mju_free(graph_);
-      szgraph_ = 0;
-    }
-
-    throw mjCError(this, "qhull error");
-  }
-}
-
-
-
-// copy graph into face data
-void mjCMesh::CopyGraph() {
-  // only if face data is missing
-  if (!face_.empty()) {
-    return;
-  }
-
-  // get info from graph, allocate
-  int numvert = graph_[0];
-  face_.assign(3*graph_[1], 0);
-
-  // copy faces
-  for (int i=0; i < nface(); i++) {
-    // address in graph
-    int j = 2 + 3*numvert + 3*nface() + 3*i;
-
-    // copy
-    face_[3*i + 0] = graph_[j + 0];
-    face_[3*i + 1] = graph_[j + 1];
-    face_[3*i + 2] = graph_[j + 2];
-  }
-}
-
-
-
-// make a mesh of a hemisphere (quad projected)
-void mjCMesh::MakeHemisphere(int res, bool make_faces, bool make_cap) {
-  constexpr double kNorthPole[3] = {0, 0, 1};
-  constexpr double kEquator[4][3] = {
-      {1, 0, 0},
-      {0, 1, 0},
-      {-1, 0, 0},
-      {0, -1, 0},
-  };
-
-  // allocate vertices
-  int nvert = 1 + 2 * (res + 1) * (res + 2);
-  nvert += make_cap && make_faces;  // add center vertex for bottom cap faces
-  std::vector<float> vert(3 * nvert);
-
-  // north pole
-  vert[0] = kNorthPole[0];
-  vert[1] = kNorthPole[1];
-  vert[2] = kNorthPole[2];
-
-  // iterate through rows from north pole to equator, compute vertices
-  int v = 1;
-  for (int row = 0; row <= res; row++) {
-    // iterate through the four sides
-    for (int side = 0; side < 4; side++) {
-      double factor = static_cast<double>(row + 1) / (res + 1);
-      double start[3], end[3];
-
-      // start and end points of current arc
-      for (int i = 0; i < 3; i++) {
-        start[i] = kNorthPole[i] + factor * (kEquator[side][i] - kNorthPole[i]);
-        end[i] = kNorthPole[i] + factor * (kEquator[(side + 1) % 4][i] - kNorthPole[i]);
-      }
-
-      // step size for interpolation along the arc
-      double delta[3];
-      for (int i = 0; i < 3; i++) {
-        delta[i] = (end[i] - start[i]) / (row + 1);
-      }
-
-      // interpolate points along the arc
-      for (int i = 0; i < row + 1; i++) {
-        double p[3];
-        for (int j = 0; j < 3; j++) {
-          p[j] = start[j] + i * delta[j];
-        }
-
-        // normalize point to lie on hemisphere surface
-        double norm = std::sqrt(p[0] * p[0] + p[1] * p[1] + p[2] * p[2]);
-        vert[3 * v + 0] = p[0] / norm;
-        vert[3 * v + 1] = p[1] / norm;
-        vert[3 * v + 2] = p[2] / norm;
-        v++;
-      }
-    }
-  }
-
-  // optional center vertex for bottom cap (for symmetry)
-  if (make_faces && make_cap) {
-    vert[3 * (nvert - 1) + 0] = 0;
-    vert[3 * (nvert - 1) + 1] = 0;
-    vert[3 * (nvert - 1) + 2] = 0;
-  }
-
-  // save vertices
-  mjs_setFloat(spec.uservert, vert.data(), 3 * nvert);
-
-  if (make_faces) {
-    // allocate faces
-    int nface = 4 * (res + 1) * (res + 1);
-    nface += make_cap * (4 * (res + 1));  // bottom cap faces
-    std::vector<int> face(3 * nface);
-
-    // faces connected to north pole
-    int f = 0;
-    face[f++] = 0; face[f++] = 1; face[f++] = 2;
-    face[f++] = 0; face[f++] = 2; face[f++] = 3;
-    face[f++] = 0; face[f++] = 3; face[f++] = 4;
-    face[f++] = 0; face[f++] = 4; face[f++] = 1;
-
-    // faces on the hemisphere from north pole to equator
-    for (int row = 0; row < res; row++) {
-      const int start_curr = 2 * row * (row + 1) + 1;
-      const int count_curr = 4 * (row + 1);
-      const int start_next = start_curr + count_curr;
-      const int count_next = 4 * (row + 2);
-
-      for (int side = 0; side < 4; side++) {
-        for (int i = 0; i < row + 2; i++) {
-          const int v_curr = i + (row + 1) * side;
-          const int v_next = i + (row + 2) * side;
-          face[f++] = start_curr + v_curr % count_curr;
-          face[f++] = start_next + v_next % count_next;
-          face[f++] = start_next + (v_next + 1) % count_next;
-
-          if (i < row + 1) {
-            face[f++] = start_curr + v_curr % count_curr;
-            face[f++] = start_next + (v_next + 1) % count_next;
-            face[f++] = start_curr + (v_curr + 1) % count_curr;
-          }
-        }
-      }
-    }
-
-    if (make_cap) {
-      // add faces for the bottom cap
-      const int start = 2 * res * (res + 1) + 1;
-      const int count = 4 * (res + 1);
-      for (int i = 0; i < count; i++) {
-        face[f++] = start + i;
-        face[f++] = nvert - 1;
-        face[f++] = start + (i + 1) % count;
-      }
-    }
-
-    // save faces
-    mjs_setInt(spec.userface, face.data(), 3 * nface);
-  }
-}
-
-
-
-// make a mesh of a sphere using icosaheral subdivision
-void mjCMesh::MakeSphere(int subdiv, bool make_faces) {
-  // make icosahedron
-  const float phi = (1.0 + std::sqrt(5.0)) / 2.0;
-  std::vector<float> vert = {
-      -1.0,  phi, 0.0,
-       1.0,  phi, 0.0,
-      -1.0, -phi, 0.0,
-       1.0, -phi, 0.0,
-
-       0.0, -1.0,  phi,
-       0.0,  1.0,  phi,
-       0.0, -1.0, -phi,
-       0.0,  1.0, -phi,
-
-       phi,  0.0, -1.0,
-       phi,  0.0,  1.0,
-      -phi,  0.0, -1.0,
-      -phi,  0.0,  1.0,
-  };
-
-  // normalize vertices to be on a unit sphere
-  const double norm = std::sqrt(1.0 + phi * phi);
-  for (float& v : vert) {
-    v /= norm;
-  }
-
-  std::vector<int> face = {
-    0,  11, 5,    0,  5,  1,    0,  1,  7,    0,  7,  10,   0,  10, 11,
-    1,  5,  9,    5,  11, 4,    11, 10, 2,    10, 7,  6,    7,  1,  8,
-    3,  9,  4,    3,  4,  2,    3,  2,  6,    3,  6,  8,    3,  8,  9,
-    4,  9,  5,    2,  4,  11,   6,  2,  10,   8,  6,  7,    9,  8,  1
-  };
-
-  // subdivision
-  if (subdiv > 0) {
-    // helper to get or create a midpoint vertex
-    auto get_midpoint = [&vert](
-        int v1_idx, int v2_idx, std::map<std::pair<int, int>, int>& cache) -> int {
-      // key is the pair of vertex indices, sorted
-      std::pair<int, int> key = std::minmax(v1_idx, v2_idx);
-
-      // if midpoint is already in cache, return its index
-      auto it = cache.find(key);
-      if (it != cache.end()) {
-        return it->second;
-      }
-
-      // otherwise, create it
-      const float* v1 = &vert[v1_idx * 3];
-      const float* v2 = &vert[v2_idx * 3];
-
-      float mid_x = (v1[0] + v2[0]) / 2.0f;
-      float mid_y = (v1[1] + v2[1]) / 2.0f;
-      float mid_z = (v1[2] + v2[2]) / 2.0f;
-
-      // normalize the new vertex to put it on the sphere
-      float mid_norm = std::sqrt(mid_x * mid_x + mid_y * mid_y + mid_z * mid_z);
-      mid_x /= mid_norm;
-      mid_y /= mid_norm;
-      mid_z /= mid_norm;
-
-      // add the new vertex to the list
-      int new_idx = vert.size() / 3;
-      vert.push_back(mid_x);
-      vert.push_back(mid_y);
-      vert.push_back(mid_z);
-
-      // add to cache
-      cache[key] = new_idx;
-
-      return new_idx;
-    };
-
-    // subdivision loop
-    for (int i = 0; i < subdiv; ++i) {
-      std::map<std::pair<int, int>, int> midpoint_cache;
-      std::vector<int> new_face;
-      new_face.reserve(face.size() * 4);
-      for (size_t j = 0; j < face.size(); j += 3) {
-        int v1 = face[j];
-        int v2 = face[j+1];
-        int v3 = face[j+2];
-
-        int m12 = get_midpoint(v1, v2, midpoint_cache);
-        int m23 = get_midpoint(v2, v3, midpoint_cache);
-        int m31 = get_midpoint(v3, v1, midpoint_cache);
-
-        new_face.insert(new_face.end(), {v1, m12, m31});
-        new_face.insert(new_face.end(), {v2, m23, m12});
-        new_face.insert(new_face.end(), {v3, m31, m23});
-        new_face.insert(new_face.end(), {m12, m23, m31});
-      }
-      face = std::move(new_face);
-    }
-  }
-
-  // save vertices and maybe faces
-  mjs_setFloat(spec.uservert, vert.data(), vert.size());
-  if (make_faces) mjs_setInt(spec.userface, face.data(), face.size());
-}
-
-
-
-// make a mesh of a supersphere
-void mjCMesh::MakeSupersphere(int res, double e, double n) {
-  // allocate vertices and faces
-  int nvert = (res - 1) * res + 2;
-  int nface = 2 * res * (res - 1);
-  std::vector<float> vert;
-  vert.reserve(3 * nvert);
-  std::vector<int> face;
-  face.reserve(3 * nface);
-
-  // south pole
-  vert.insert(vert.end(), {0.0f, 0.0f, -1.0f});
-
-  // rings
-  for (int i = 1; i < res; i++) {
-    double v = -mjPI/2 + i * mjPI / res;
-    for (int j = 0; j < res; j++) {
-      double u = -mjPI + j * 2 * mjPI / res;
-      vert.push_back(aux_c(v, n) * aux_c(u, e));
-      vert.push_back(aux_c(v, n) * aux_s(u, e));
-      vert.push_back(aux_s(v, n));
-    }
-  }
-
-  // north pole
-  vert.insert(vert.end(), {0.0f, 0.0f, 1.0f});
-
-  // south pole faces
-  for (int j = 0; j < res; j++) {
-    int v2 = 1 + j;
-    int v3 = 1 + (j + 1) % res;
-    face.insert(face.end(), {0, v3, v2});
-  }
-
-  // ring faces
-  for (int i = 0; i < res - 2; i++) {
-    for (int j = 0; j < res; j++) {
-      int v1 = 1 + i * res + j;
-      int v2 = 1 + i * res + (j + 1) % res;
-      int v4 = 1 + (i + 1) * res + j;
-      int v3 = 1 + (i + 1) * res + (j + 1) % res;
-      face.insert(face.end(), {v1, v2, v4});
-      face.insert(face.end(), {v2, v3, v4});
-    }
-  }
-
-  // north pole faces
-  int north_pole_idx = nvert - 1;
-  int last_ring_start_idx = 1 + (res - 2) * res;
-  for (int j = 0; j < res; j++) {
-    int v1 = last_ring_start_idx + j;
-    int v2 = last_ring_start_idx + (j + 1) % res;
-    face.insert(face.end(), {v1, v2, north_pole_idx});
-  }
-
-  // save vertices and faces
-  mjs_setFloat(spec.uservert, vert.data(), vert.size());
-  mjs_setInt(spec.userface, face.data(), face.size());
-}
-
-
-
-// make a mesh of a torus (subsumed by supertorus, kept for reference only)
-void mjCMesh::MakeTorus(int res, double radius) {
-  // allocate vertices and faces
-  int nvert = res * res;
-  int nface = res * res * 2;
-  std::vector<float> vert(3 * nvert);
-  std::vector<int> face(3 * nface);
-
-  // generate vertices
-  for (int i = 0; i < res; ++i) {
-    for (int j = 0; j < res; ++j) {
-      double u = 2 * mjPI * i / res;
-      double v = 2 * mjPI * j / res;
-      int vidx = i * res + j;
-      vert[3 * vidx + 0] = (1 + radius * cos(v)) * cos(u);
-      vert[3 * vidx + 1] = (1 + radius * cos(v)) * sin(u);
-      vert[3 * vidx + 2] = radius * sin(v);
-    }
-  }
-
-  // generate faces
-  int fidx = 0;
-  for (int i = 0; i < res; ++i) {
-    for (int j = 0; j < res; ++j) {
-      int i_next = (i + 1) % res;
-      int j_next = (j + 1) % res;
-
-      int v1 = i * res + j;
-      int v2 = i_next * res + j;
-      int v3 = i_next * res + j_next;
-      int v4 = i * res + j_next;
-
-      // first triangle
-      face[3 * fidx + 0] = v1;
-      face[3 * fidx + 1] = v2;
-      face[3 * fidx + 2] = v4;
-      fidx++;
-
-      // second triangle
-      face[3 * fidx + 0] = v2;
-      face[3 * fidx + 1] = v3;
-      face[3 * fidx + 2] = v4;
-      fidx++;
-    }
-  }
-
-  // save vertices and faces
-  mjs_setFloat(spec.uservert, vert.data(), vert.size());
-  mjs_setInt(spec.userface, face.data(), face.size());
-}
-
-
-
-// make a mesh of a supertoroid, see https://en.wikipedia.org/wiki/Supertoroid
-void mjCMesh::MakeSupertorus(int res, double radius, double s, double t) {
-  // allocate vertices and faces
-  int nvert = res * res;
-  int nface = res * res * 2;
-  std::vector<float> vert(3 * nvert);
-  std::vector<int> face(3 * nface);
-
-  // generate vertices
-  for (int i = 0; i < res; ++i) {
-    for (int j = 0; j < res; ++j) {
-      double u = 2 * mjPI * i / res;
-      double v = 2 * mjPI * j / res;
-      int vidx = i * res + j;
-      vert[3 * vidx + 0] = (1 + radius * aux_c(v, s)) * aux_c(u, t);
-      vert[3 * vidx + 1] = (1 + radius * aux_c(v, s)) * aux_s(u, t);
-      vert[3 * vidx + 2] = radius * aux_s(v, s);
-    }
-  }
-
-  // generate faces
-  int fidx = 0;
-  for (int i = 0; i < res; ++i) {
-    for (int j = 0; j < res; ++j) {
-      int i_next = (i + 1) % res;
-      int j_next = (j + 1) % res;
-
-      int v1 = i * res + j;
-      int v2 = i_next * res + j;
-      int v3 = i_next * res + j_next;
-      int v4 = i * res + j_next;
-
-      // first triangle
-      face[3 * fidx + 0] = v1;
-      face[3 * fidx + 1] = v2;
-      face[3 * fidx + 2] = v4;
-      fidx++;
-
-      // second triangle
-      face[3 * fidx + 0] = v2;
-      face[3 * fidx + 1] = v3;
-      face[3 * fidx + 2] = v4;
-      fidx++;
-    }
-  }
-
-  // save vertices and faces
-  mjs_setFloat(spec.uservert, vert.data(), vert.size());
-  mjs_setInt(spec.userface, face.data(), face.size());
-}
-
-
-
-// make a mesh of a spherical wedge
-void mjCMesh::MakeWedge(int resolution[2], double fov[2], double gamma) {
-  std::vector<double> x_edges(resolution[0] + 1, 0);
-  std::vector<double> y_edges(resolution[1] + 1, 0);
-  BinEdges(x_edges.data(), y_edges.data(), resolution, fov, gamma);
-  std::vector<float> uservert(3 * resolution[0] * resolution[1], 0);
-  std::vector<float> usernormal(9 * resolution[0] * resolution[1], 0);
-
-  for (int i = 0; i < resolution[0]; i++) {
-    for (int j = 0; j < resolution[1]; j++) {
-      double aer[3];
-      aer[0] = 0.5 * (x_edges[i + 1] + x_edges[i]);
-      aer[1] = 0.5 * (y_edges[j + 1] + y_edges[j]);
-      aer[2] = 1;
-      SphericalToCartesian(aer, uservert.data() + 3 * (i * resolution[1] + j));
-      TangentFrame(aer, usernormal.data() + 9 * (i * resolution[1] + j));
-    }
-  }
-
-  mjs_setFloat(spec.uservert, uservert.data(),
-               3 * resolution[0] * resolution[1]);
-  mjs_setFloat(spec.usernormal, usernormal.data(),
-               9 * resolution[0] * resolution[1]);
-}
-
-
-
-// make a mesh of a rectangle
-void mjCMesh::MakeRect(int resolution[2]) {
-  std::vector<double> x_edges(resolution[0] + 1, 0);
-  std::vector<double> y_edges(resolution[1] + 1, 0);
-  LinSpace(-1, 1, resolution[0] + 1, x_edges.data());
-  LinSpace(-1, 1, resolution[1] + 1, y_edges.data());
-  std::vector<float> uservert(3 * resolution[0] * resolution[1], 0);
-  std::vector<float> usernormal(9 * resolution[0] * resolution[1], 0);
-  std::vector<int> userface(6 * (resolution[0] - 1) * (resolution[1] - 1), 0);
-  spec.inertia = mjMESH_INERTIA_SHELL;
-
-  for (int i = 0; i < resolution[0]; i++) {
-    for (int j = 0; j < resolution[1]; j++) {
-      int vert = i * resolution[1] + j;
-      mjtNum dx = 2. / resolution[0];
-      mjtNum dy = 2. / resolution[1];
-      uservert[3 * vert + 0] = -1 + (i + 0.5) * dx;
-      uservert[3 * vert + 1] = -1 + (j + 0.5) * dy;
-      uservert[3 * vert + 2] = -1;
-      usernormal[9 * vert + 0] = 1;
-      usernormal[9 * vert + 4] = 1;
-      usernormal[9 * vert + 8] = 1;
-      if (i > 0 && j > 0) {
-        int cell = (i - 1) * (resolution[1] - 1) + j - 1;
-        userface[6 * cell + 0] = (i - 1) * resolution[1] + j - 1;
-        userface[6 * cell + 1] = (i - 0) * resolution[1] + j - 1;
-        userface[6 * cell + 2] = (i - 1) * resolution[1] + j - 0;
-        userface[6 * cell + 3] = (i - 0) * resolution[1] + j - 0;
-        userface[6 * cell + 4] = (i - 1) * resolution[1] + j - 0;
-        userface[6 * cell + 5] = (i - 0) * resolution[1] + j - 1;
-      }
-    }
-  }
-
-  mjs_setFloat(spec.uservert, uservert.data(),
-               3 * resolution[0] * resolution[1]);
-  mjs_setFloat(spec.usernormal, usernormal.data(),
-               9 * resolution[0] * resolution[1]);
-  mjs_setInt(spec.userface, userface.data(),
-             6 * (resolution[0] - 1) * (resolution[1] - 1));
-}
-
-
-
-// make a mesh of a generalized discrete cone
-void mjCMesh::MakeCone(int nedge, double radius) {
-  int n = 3 * (nedge + (radius > 0 ? nedge : 1));
-  std::vector<float> uservert(n, 0);
-
-  // bottom face
-  for (int i = 0; i < nedge; i++) {
-    uservert[3 * i + 0] = cos(2 * i * mjPI / nedge);
-    uservert[3 * i + 1] = sin(2 * i * mjPI / nedge);
-    uservert[3 * i + 2] = -1;
-  }
-
-  // top face or single point
-  if (radius > 0) {
-    for (int i = nedge; i < 2 * nedge; i++) {
-      uservert[3 * i + 0] = radius * cos(2 * i * mjPI / nedge);
-      uservert[3 * i + 1] = radius * sin(2 * i * mjPI / nedge);
-      uservert[3 * i + 2] = 1;
-    }
-  } else {
-    uservert[3 * nedge + 2] = 1;
-  }
-
-  mjs_setFloat(spec.uservert, uservert.data(), n);
-}
-
-
-
-// compute vertex normals
-void mjCMesh::MakeNormal(const double* dvert) {
-  // only if normal data is missing
-  if (!normal_.empty()) {
-    return;
-  }
-
-  // allocate and clear normals
-  normal_.assign(3*nvert(), 0);
-
-  if (facenormal_.empty()) {
-    facenormal_.assign(3*nface(), 0);
-  }
-
-  // loop over faces, accumulate vertex normals
-  for (int i=0; i < nface(); i++) {
-    // get vertex ids
-    int vertid[3];
-    for (int j=0; j < 3; j++) {
-      vertid[j] = face_[3*i+j];
-    }
-
-    // get triangle edges
-    double vec01[3], vec02[3];
-    for (int j=0; j < 3; j++) {
-      vec01[j] = dvert[3*vertid[1]+j] - dvert[3*vertid[0]+j];
-      vec02[j] = dvert[3*vertid[2]+j] - dvert[3*vertid[0]+j];
-    }
-
-    // compute face normal
-    double nrm[3];
-    mjuu_crossvec(nrm, vec01, vec02);
-    double area = mjuu_normvec(nrm, 3);
-
-    // add normal to each vertex with weight = area
-    for (int j=0; j < 3; j++) {
-      for (int k=0; k < 3; k++) {
-        normal_[3*vertid[j]+k] += nrm[k]*area;
-      }
-      facenormal_[3*i+j] = vertid[j];
-    }
-  }
-
-  // remove large-angle faces
-  if (!smoothnormal) {
-    // allocate removal and clear
-    float* nremove = (float*) mju_malloc(3*nnormal()*sizeof(float));
-    memset(nremove, 0, 3*nnormal()*sizeof(float));
-
-    // remove contributions from faces at large angles with vertex normal
-    for (int i=0; i < nface(); i++) {
-      // get vertex ids
-      int vertid[3];
-      for (int j=0; j < 3; j++) {
-        vertid[j] = face_[3*i+j];
-      }
-
-      // get triangle edges
-      double vec01[3], vec02[3];
-      for (int j=0; j < 3; j++) {
-        vec01[j] = dvert[3*vertid[1]+j] - dvert[3*vertid[0]+j];
-        vec02[j] = dvert[3*vertid[2]+j] - dvert[3*vertid[0]+j];
-      }
-
-      // compute face normal
-      double nrm[3];
-      mjuu_crossvec(nrm, vec01, vec02);
-      double area = mjuu_normvec(nrm, 3);
-
-      // compare to vertex normal, subtract contribution if dot product too small
-      for (int j=0; j < 3; j++) {
-        // normalized vertex normal
-        double vnrm[3] = {normal_[3*vertid[j]], normal_[3*vertid[j]+1], normal_[3*vertid[j]+2]};
-        mjuu_normvec(vnrm, 3);
-
-        // dot too small: remove
-        if (mjuu_dot3(nrm, vnrm) < 0.8) {
-          for (int k=0; k < 3; k++) {
-            nremove[3*vertid[j]+k] += nrm[k]*area;
-          }
-        }
-      }
-    }
-
-    // apply removal, free nremove
-    for (int i=0; i < 3*nnormal(); i++) {
-      normal_[i] -= nremove[i];
-    }
-    mju_free(nremove);
-  }
-
-  // normalize normals
-  for (int i=0; i < nnormal(); i++) {
-    // compute length
-    float len = sqrtf(normal_[3*i]*normal_[3*i] +
-                      normal_[3*i+1]*normal_[3*i+1] +
-                      normal_[3*i+2]*normal_[3*i+2]);
-
-    // divide by length
-    if (len > mjMINVAL) {
-      for (int j=0; j < 3; j++) {
-        normal_[3*i+j] /= len;
-      }
-    } else {
-      normal_[3*i] = normal_[3*i+1] = 0;
-      normal_[3*i+2] = 1;
-    }
-  }
-}
-
-
-
-// compute face circumradii
-void mjCMesh::MakeCenter(const double* dvert) {
-  if (center_) {
-    return;
-  }
-
-  // allocate and clear
-  center_ = (double*) mju_malloc(3*nface()*sizeof(double));
-  memset(center_, 0, 3*nface()*sizeof(double));
-
-  for (int i=0; i < nface(); i++) {
-    // get vertex ids
-    int* vertid = face_.data() + 3*i;
-
-    // get triangle edges
-    double a[3], b[3];
-    for (int j=0; j < 3; j++) {
-      a[j] = dvert[3*vertid[0]+j] - dvert[3*vertid[2]+j];
-      b[j] = dvert[3*vertid[1]+j] - dvert[3*vertid[2]+j];
-    }
-
-    // compute face normal
-    double nrm[3];
-    mjuu_crossvec(nrm, a, b);
-
-    // compute circumradius
-    double norm_a_2 = mjuu_dot3(a, a);
-    double norm_b_2 = mjuu_dot3(b, b);
-    double area = sqrt(mjuu_dot3(nrm, nrm));
-
-    // compute circumcenter
-    double res[3], vec[3] = {
-      norm_a_2 * b[0] - norm_b_2 * a[0],
-      norm_a_2 * b[1] - norm_b_2 * a[1],
-      norm_a_2 * b[2] - norm_b_2 * a[2]
-    };
-    mjuu_crossvec(res, vec, nrm);
-    center_[3*i+0] = res[0]/(2*area*area) + dvert[3*vertid[2]+0];
-    center_[3*i+1] = res[1]/(2*area*area) + dvert[3*vertid[2]+1];
-    center_[3*i+2] = res[2]/(2*area*area) + dvert[3*vertid[2]+2];
-  }
-}
-
-
-
-// compute the normals of the polygons
-void mjCMesh::MakePolygonNormals(const double* dvert) {
-  for (int i = 0; i < polygons_.size(); ++i) {
-    double n[3];
-    mjuu_makenormal(n, &dvert[3*polygons_[i][0]], &dvert[3*polygons_[i][1]],
-                    &dvert[3*polygons_[i][2]]);
-    polygon_normals_[3*i + 0] = n[0];
-    polygon_normals_[3*i + 1] = n[1];
-    polygon_normals_[3*i + 2] = n[2];
-  }
-}
-
-
-
-// helper class to compute the polygons of a mesh
-class MeshPolygon {
- public:
-  // constructors (need starting face)
-  MeshPolygon(const double v1[3], const double v2[3], const double v3[3],
-              int v1i, int v2i, int v3i, double theta, double phi);
-  MeshPolygon() = delete;
-  MeshPolygon(const MeshPolygon&) = delete;
-  MeshPolygon& operator=(const MeshPolygon&) = delete;
-  MeshPolygon(MeshPolygon&&) = default;
-  MeshPolygon& operator=(MeshPolygon&&) = default;
-
-  void InsertFace(int v1, int v2, int v3);           // insert a face into the polygon
-  std::vector<std::vector<int>> Paths() const;       // return trace of the polygons
-  const double* Normal() const { return normal_; }   // return the normal of the polygon
-  double Normal(int i) const { return normal_[i]; }  // return the i-th component of the normal
-
- private:
-  std::vector<std::pair<int, int>> edges_;
-
-  // inserted faces do not necessarily share edges with the current polygon, so they're grouped as
-  // islands until they can be combined with later face insertions
-  std::vector<int> islands_;
-  int nisland_ = 0;
-  double normal_[3] = {0.0, 0.0, 0.0};
-  void CombineIslands(int& island1, int& island2);
-};
-
-bool MeshPolygonKey(std::pair<double, double>& angles, const double v1[3], const double v2[3],
-                    const double v3[3], double angle_tol) {
-  double diff12[3] = {v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2]};
-  double diff13[3] = {v3[0] - v1[0], v3[1] - v1[1], v3[2] - v1[2]};
-  double normal[3], norm;
-
-  mjuu_crossvec(normal, diff12, diff13);
-  if ((norm = std::sqrt(mjuu_dot3(normal, normal))) < mjMINVAL) {
-    return false;
-  }
-
-  // atan2 is sensitive to sign of 0.0, adding 0.0 to enforcing only positive 0.0
-  normal[0] = (normal[0] / norm) + 0.0;
-  normal[1] = (normal[1] / norm) + 0.0;
-  normal[2] = (normal[2] / norm) + 0.0;
-  double rtheta = 0.0, rphi = 0.0;
-
-  // clamp normal to be in valid range for acos
-  if (std::abs(normal[2]) > 1.0 - 1e-7) {
-    if (normal[2] < 0) rphi = std::round(mjPI / angle_tol);
-    angles = std::make_pair(rtheta, rphi);
-    return true;
-  }
-  // rounded azimuthal and polar angles
-  rtheta = std::round(std::atan2(normal[1], normal[0]) / angle_tol);
-  rphi = std::round(std::acos(normal[2]) / angle_tol);
-  angles = std::make_pair(rtheta, rphi);
-  return true;
-}
-
-
-MeshPolygon::MeshPolygon(const double v1[3], const double v2[3], const double v3[3],
-                         int v1i, int v2i, int v3i, double theta, double phi) {
-  normal_[0] = std::cos(theta) * std::sin(phi);
-  normal_[1] = std::sin(theta) * std::sin(phi);
-  normal_[2] = std::cos(phi);
-
-  edges_ = {{v1i, v2i}, {v2i, v3i}, {v3i, v1i}};
-  nisland_ = 1;
-  islands_ = {0, 0, 0};
-}
-
-
-
-// combine two islands when a newly inserted face connects them
-void MeshPolygon::CombineIslands(int& island1, int& island2) {
-  // pick the smaller island
-  if (island2 < island1) {
-    int tmp = island1;
-    island1 = island2;
-    island2 = tmp;
-  }
-
-  // renumber the islands
-  for (int k = 0; k < islands_.size(); ++k) {
-    if (islands_[k] == island2) {
-      islands_[k] = island1;
-    } else if (islands_[k] > island2) {
-      islands_[k]--;
-    }
-  }
-}
-
-
-
-// insert a triangular face into the polygon
-void MeshPolygon::InsertFace(int v1, int v2, int v3) {
-  int add1 = 1, add2 = 1, add3 = 1;
-  int island = -1;
-
-  // check if face can be attached via edge v1v2
-  for (int i = 0; i < edges_.size(); ++i) {
-    if (edges_[i].first == v2 && edges_[i].second == v1) {
-      add1 = 0;
-      island = islands_[i];
-      edges_.erase(edges_.begin() + i);
-      islands_.erase(islands_.begin() + i);
-      break;
-    }
-  }
-
-  // check if face can be attached via edge v2v3
-  for (int i = 0; i < edges_.size(); ++i) {
-    if (edges_[i].first == v3 && edges_[i].second == v2) {
-      int island2 = islands_[i];
-      if (island == -1) {
-        island = island2;
-      } else if (island2 != island) {
-        nisland_--;
-        CombineIslands(island, island2);
-      }
-      add2 = 0;
-      edges_.erase(edges_.begin() + i);
-      islands_.erase(islands_.begin() + i);
-      break;
-    }
-  }
-
-  // check if face can be attached via edge v3v1
-  for (int i = 0; i < edges_.size(); ++i) {
-    if (edges_[i].first == v1 && edges_[i].second == v3) {
-      int island3 = islands_[i];
-      if (island == -1) {
-        island = island3;
-      } else if (island3 != island) {
-        nisland_--;
-        CombineIslands(island, island3);
-      }
-      add3 = 0;
-      edges_.erase(edges_.begin() + i);
-      islands_.erase(islands_.begin() + i);
-      break;
-    }
-  }
-
-  if (island == -1) {
-    island = nisland_++;
-  }
-
-  // add only new edges to the polygon
-
-  if (add1) {
-    edges_.push_back({v1, v2});
-    islands_.push_back(island);
-  }
-  if (add2) {
-    edges_.push_back({v2, v3});
-    islands_.push_back(island);
-  }
-  if (add3) {
-    edges_.push_back({v3, v1});
-    islands_.push_back(island);
-  }
-}
-
-
-
-// return the transverse vertices of the polygon, multiple paths possible if not connected
-std::vector<std::vector<int>> MeshPolygon::Paths() const {
-  std::vector<std::vector<int>> paths;
-  // shortcut if polygon is just a triangular face
-  if (edges_.size() == 3) {
-    return {{edges_[0].first, edges_[1].first, edges_[2].first}};
-  }
-
-  // go through each connected component of the polygon
-  for (int i = 0; i < nisland_; ++i) {
-    std::vector<int> path;
-
-    // find starting vertex
-    for (int j = 0; j < edges_.size(); ++j) {
-      if (islands_[j] == i) {
-        path.push_back(edges_[j].first);
-        path.push_back(edges_[j].second);
-        break;
-      }
-    }
-
-    // SHOULD NOT OCCUR (See logic in MeshPolygon::CombineIslands)
-    if (path.empty()) {
-      continue;
-    }
-
-    // visit the next vertex given the current edge
-    int next = path.back();
-    for (int l = 0; l < edges_.size(); ++l) {
-      int finished = 0;
-      for (int k = 1; k < edges_.size(); ++k) {
-        if (islands_[k] == i && edges_[k].first == next) {
-          next = edges_[k].second;
-          if (next == path[0]) {
-            paths.push_back(path);
-            finished = 1;
-            break;
-          }
-          path.push_back(next);
-          break;
-        }
-      }
-
-      // back at start
-      if (finished) {
-        break;
-      }
-    }
-  }
-  return paths;
-}
-
-
-
-// hash function for std::pair
-struct PairHash {
-  template <class T1, class T2>
-  std::size_t operator() (const std::pair<T1, T2>& pair) const {
-    return std::hash<T1>()(pair.first) ^ std::hash<T2>()(pair.second);
-  }
-};
-
-
-
-// merge coplanar mesh triangular faces into polygonal sides to represent the geometry of the mesh
-void mjCMesh::MakePolygons(const double* dvert) {
-  constexpr double kAngleTol = 0.01;
-  std::unordered_map<std::pair<double, double>, MeshPolygon, PairHash> mesh_polygons;
-  polygons_.clear();
-  polygon_normals_.clear();
-  polygon_map_.clear();
-  polygon_map_.resize(nvert());
-
-  // we need a convex mesh, so we use graph faces
-  int *faces = GraphFaces();
-  int nfaces = graph_[1];
-
-  // process each face
-  for (int i = 0; i < nfaces; i++) {
-    int vi1 = faces[3*i + 0];
-    int vi2 = faces[3*i + 1];
-    int vi3 = faces[3*i + 2];
-    const double* v1 = &dvert[3*vi1];
-    const double* v2 = &dvert[3*vi2];
-    const double* v3 = &dvert[3*vi3];
-
-    std::pair<double, double> key;
-    if (!MeshPolygonKey(key, v1, v2, v3, kAngleTol)) {
-      continue;
-    }
-    auto it = mesh_polygons.find(key);
-    if (it == mesh_polygons.end()) {
-      double theta = kAngleTol * key.first;
-      double phi = kAngleTol * key.second;
-      mesh_polygons.emplace(key, MeshPolygon(v1, v2, v3, vi1, vi2, vi3, theta, phi));
-    } else {
-      it->second.InsertFace(vi1, vi2, vi3);
-    }
-  }
-
-  for (const auto& pair : mesh_polygons) {
-    const MeshPolygon& polygon = pair.second;
-    std::vector<std::vector<int>> paths = polygon.Paths();
-
-    // separate the polygons if they were grouped together
-    for (const auto& path : paths) {
-      if (path.size() < 3) continue;
-      polygons_.push_back(path);
-      polygon_normals_.push_back(polygon.Normal(0));
-      polygon_normals_.push_back(polygon.Normal(1));
-      polygon_normals_.push_back(polygon.Normal(2));
-    }
-  }
-
-  // populate the polygon map
-  for (int i = 0; i < polygons_.size(); i++) {
-    for (int j = 0; j < polygons_[i].size(); ++j) {
-      polygon_map_[polygons_[i][j]].push_back(i);
-    }
-  }
-}
-
-
-
-//------------------ class mjCSkin implementation --------------------------------------------------
-
-// constructor
-mjCSkin::mjCSkin(mjCModel* _model) {
-  mjs_defaultSkin(&spec);
-  elemtype = mjOBJ_SKIN;
-
-  // set model pointer
-  model = _model;
-  if (model) compiler = &model->spec.compiler;
-
-  // clear data
-  spec_file_.clear();
-  spec_material_.clear();
-  spec_vert_.clear();
-  spec_texcoord_.clear();
-  spec_face_.clear();
-  spec_bodyname_.clear();
-  spec_bindpos_.clear();
-  spec_bindquat_.clear();
-  spec_vertid_.clear();
-  spec_vertweight_.clear();
-
-  bodyid.clear();
-  matid = -1;
-
-  // point to local
-  PointToLocal();
-
-  // in case this camera is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCSkin::mjCSkin(const mjCSkin& other) {
-  *this = other;
-}
-
-
-
-mjCSkin& mjCSkin::operator=(const mjCSkin& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCSkin_*>(this) = static_cast<const mjCSkin_&>(other);
-    *static_cast<mjsSkin*>(this) = static_cast<const mjsSkin&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCSkin::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.file = &spec_file_;
-  spec.material = &spec_material_;
-  spec.vert = &spec_vert_;
-  spec.texcoord = &spec_texcoord_;
-  spec.face = &spec_face_;
-  spec.bodyname = &spec_bodyname_;
-  spec.bindpos = &spec_bindpos_;
-  spec.bindquat = &spec_bindquat_;
-  spec.vertid = &spec_vertid_;
-  spec.vertweight = &spec_vertweight_;
-  spec.info = &info;
-  file = nullptr;
-  material = nullptr;
-  vert = nullptr;
-  texcoord = nullptr;
-  face = nullptr;
-  bodyname = nullptr;
-  bindpos = nullptr;
-  bindquat = nullptr;
-  vertid = nullptr;
-  vertweight = nullptr;
-}
-
-
-
-void mjCSkin::NameSpace(const mjCModel* m) {
-  // use filename if name is missing
-  if (name.empty()) {
-    std::string stripped = mjuu_strippath(spec_file_);
-    name = mjuu_stripext(stripped);
-  }
-  for (auto& name : spec_bodyname_) {
-    name = m->prefix + name + m->suffix;
-  }
-}
-
-
-
-void mjCSkin::CopyFromSpec() {
-  *static_cast<mjsSkin*>(this) = spec;
-  file_ = spec_file_;
-  material_ = spec_material_;
-  vert_ = spec_vert_;
-  texcoord_ = spec_texcoord_;
-  face_ = spec_face_;
-  bodyname_ = spec_bodyname_;
-  bindpos_ = spec_bindpos_;
-  bindquat_ = spec_bindquat_;
-  vertid_ = spec_vertid_;
-  vertweight_ = spec_vertweight_;
-
-  // use filename if name is missing
-  if (name.empty()) {
-    std::string stripped = mjuu_strippath(file_);
-    name = mjuu_stripext(stripped);
-  }
-}
-
-
-
-// destructor
-mjCSkin::~mjCSkin() {
-  spec_file_.clear();
-  spec_material_.clear();
-  spec_vert_.clear();
-  spec_texcoord_.clear();
-  spec_face_.clear();
-  spec_bodyname_.clear();
-  spec_bindpos_.clear();
-  spec_bindquat_.clear();
-  spec_vertid_.clear();
-  spec_vertweight_.clear();
-  bodyid.clear();
-}
-
-
-
-void mjCSkin::ResolveReferences(const mjCModel* m) {
-  size_t nbone = bodyname_.size();
-  bodyid.resize(nbone);
-  for (int i=0; i < nbone; i++) {
-    mjCBase* pbody = m->FindObject(mjOBJ_BODY, bodyname_[i]);
-    if (!pbody) {
-      throw mjCError(this, "unknown body '%s' in skin", bodyname_[i].c_str());
-    }
-    bodyid[i] = pbody->id;
-  }
-}
-
-
-
-// compiler
-void mjCSkin::Compile(const mjVFS* vfs) {
-  CopyFromSpec();
-
-  // load file
-  if (!file_.empty()) {
-    // make sure data is not present
-    if (!spec_vert_.empty() ||
-        !spec_texcoord_.empty() ||
-        !spec_face_.empty() ||
-        !spec_bodyname_.empty() ||
-        !spec_bindpos_.empty() ||
-        !spec_bindquat_.empty() ||
-        !spec_vertid_.empty() ||
-        !spec_vertweight_.empty()) {
-      throw mjCError(this, "Both skin data and file were specified: %s", file_.c_str());
-    }
-
-    // remove path from file if necessary
-    if (model->strippath) {
-      file_ = mjuu_strippath(file_);
-    }
-
-    // load SKN
-    std::string ext = mjuu_getext(file_);
-    if (strcasecmp(ext.c_str(), ".skn")) {
-      throw mjCError(this, "Unknown skin file type: %s", file_.c_str());
-    }
-
-    mujoco::user::FilePath meshdir_;
-    meshdir_ = FilePath(mjs_getString(compiler->meshdir));
-
-    FilePath filename = meshdir_ + FilePath(file_);
-    mjSpec* owning_spec = model->FindSpec(compiler);
-    mjResource* resource = LoadResource(owning_spec->modelfiledir->c_str(), filename.Str(), vfs);
-
-    try {
-      LoadSKN(resource);
-      mju_closeResource(resource);
-    } catch(mjCError err) {
-      mju_closeResource(resource);
-      throw err;
-    }
-  }
-
-  // make sure all data is present
-  if (vert_.empty() ||
-      face_.empty() ||
-      bodyname_.empty() ||
-      bindpos_.empty() ||
-      bindquat_.empty() ||
-      vertid_.empty() ||
-      vertweight_.empty()) {
-    throw mjCError(this, "Missing data in skin");
-  }
-
-  // check mesh sizes
-  if (vert_.size()%3) {
-    throw mjCError(this, "Vertex data must be multiple of 3");
-  }
-  if (!texcoord_.empty() && texcoord_.size() != 2*vert_.size()/3) {
-    throw mjCError(this, "Vertex and texcoord data incompatible size");
-  }
-  if (face_.size()%3) {
-    throw mjCError(this, "Face data must be multiple of 3");
-  }
-
-  // check bone sizes
-  size_t nbone = bodyname_.size();
-  if (bindpos_.size() != 3*nbone) {
-    throw mjCError(this, "Unexpected bindpos size in skin");
-  }
-  if (bindquat_.size() != 4*nbone) {
-    throw mjCError(this, "Unexpected bindquat size in skin");
-  }
-  if (vertid_.size() != nbone) {
-    throw mjCError(this, "Unexpected vertid size in skin");
-  }
-  if (vertweight_.size() != nbone) {
-    throw mjCError(this, "Unexpected vertweight size in skin");
-  }
-
-  // resolve body names
-  ResolveReferences(model);
-
-  // resolve material name
-  mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material_);
-  if (pmat) {
-    matid = pmat->id;
-  } else if (!material_.empty()) {
-    throw mjCError(this, "unknown material '%s' in skin", material_.c_str());
-  }
-
-  // set total vertex weights to 0
-  std::vector<float> vw;
-  size_t nvert = vert_.size()/3;
-  vw.resize(nvert);
-  fill(vw.begin(), vw.end(), 0.0f);
-
-  // accumulate vertex weights from all bones
-  for (int i=0; i < nbone; i++) {
-    // make sure bone has vertices and sizes match
-    size_t nbv = vertid_[i].size();
-    if (vertweight_[i].size() != nbv || nbv == 0) {
-      throw mjCError(this, "vertid and vertweight must have same non-zero size in skin");
-    }
-
-    // accumulate weights in global array
-    for (int j=0; j < nbv; j++) {
-      // get index and check range
-      int jj = vertid_[i][j];
-      if (jj < 0 || jj >= nvert) {
-        throw mjCError(this, "vertid %d out of range in skin", nullptr, jj);
-      }
-
-      // accumulate
-      vw[jj] += vertweight_[i][j];
-    }
-  }
-
-  // check coverage
-  for (int i=0; i < nvert; i++) {
-    if (vw[i] <= mjMINVAL) {
-      throw mjCError(this, "vertex %d must have positive total weight in skin", nullptr, i);
-    }
-  }
-
-  // normalize vertex weights
-  for (int i=0; i < nbone; i++) {
-    for (int j=0; j < vertid_[i].size(); j++) {
-      vertweight_[i][j] /= vw[vertid_[i][j]];
-    }
-  }
-
-  // normalize bindquat
-  for (int i=0; i < nbone; i++) {
-    double quat[4] = {
-      (double)bindquat_[4*i],
-      (double)bindquat_[4*i+1],
-      (double)bindquat_[4*i+2],
-      (double)bindquat_[4*i+3]
-    };
-    mjuu_normvec(quat, 4);
-
-    bindquat_[4*i]   = (float) quat[0];
-    bindquat_[4*i+1] = (float) quat[1];
-    bindquat_[4*i+2] = (float) quat[2];
-    bindquat_[4*i+3] = (float) quat[3];
-  }
-}
-
-
-
-// load skin in SKN BIN format
-void mjCSkin::LoadSKN(mjResource* resource) {
-  char* buffer = 0;
-  int buffer_sz = mju_readResource(resource, (const void**)&buffer);
-
-  if (buffer_sz < 0) {
-    throw mjCError(this, "could not read SKN file '%s'", resource->name);
-  } else if (!buffer_sz) {
-    throw mjCError(this, "SKN file '%s' is empty", resource->name);
-  }
-
-  // make sure header is present
-  if (buffer_sz < 16) {
-    throw mjCError(this, "missing header in SKN file '%s'", resource->name);
-  }
-
-  // get sizes from header
-  int nvert = ((int*)buffer)[0];
-  int ntexcoord = ((int*)buffer)[1];
-  int nface = ((int*)buffer)[2];
-  int nbone = ((int*)buffer)[3];
-
-  // negative sizes not allowed
-  if (nvert < 0 || ntexcoord < 0 || nface < 0 || nbone < 0) {
-    throw mjCError(this, "negative size in header of SKN file '%s'", resource->name);
-  }
-
-  // make sure we have data for vert, texcoord, face
-  if (buffer_sz < 16 + 12*nvert + 8*ntexcoord + 12*nface) {
-    throw mjCError(this, "insufficient data in SKN file '%s'", resource->name);
-  }
-
-  // data pointer and counter
-  float* pdata = (float*)(buffer+16);
-  int cnt = 0;
-
-  // copy vert
-  if (nvert) {
-    vert_.resize(3*nvert);
-    memcpy(vert_.data(), pdata+cnt, 3*nvert*sizeof(float));
-    cnt += 3*nvert;
-  }
-
-  // copy texcoord
-  if (ntexcoord) {
-    texcoord_.resize(2*ntexcoord);
-    memcpy(texcoord_.data(), pdata+cnt, 2*ntexcoord*sizeof(float));
-    cnt += 2*ntexcoord;
-  }
-
-  // copy face
-  if (nface) {
-    face_.resize(3*nface);
-    memcpy(face_.data(), pdata+cnt, 3*nface*sizeof(int));
-    cnt += 3*nface;
-  }
-
-  // allocate bone arrays
-  bodyname_.clear();
-  bindpos_.resize(3*nbone);
-  bindquat_.resize(4*nbone);
-  vertid_.resize(nbone);
-  vertweight_.resize(nbone);
-
-  // read bones
-  for (int i=0; i < nbone; i++) {
-    // check size
-    if (buffer_sz/4-4-cnt < 18) {
-      throw mjCError(this, "insufficient data in SKN file '%s', bone %d", resource->name, i);
-    }
-
-    // read name
-    char txt[40];
-    strncpy(txt, (char*)(pdata+cnt), 39);
-    txt[39] = '\0';
-    cnt += 10;
-    bodyname_.push_back(txt);
-
-    // read bindpos
-    memcpy(bindpos_.data()+3*i, pdata+cnt, 3*sizeof(float));
-    cnt += 3;
-
-    // read bind quat
-    memcpy(bindquat_.data()+4*i, pdata+cnt, 4*sizeof(float));
-    cnt += 4;
-
-    // read vertex count
-    int vcount = *(int*)(pdata+cnt);
-    cnt += 1;
-
-    // check for negative
-    if (vcount < 1) {
-      throw mjCError(this, "vertex count must be positive in SKN file '%s', bone %d",
-                     resource->name, i);
-    }
-
-    // check size
-    if (buffer_sz/4-4-cnt < 2*vcount) {
-      throw mjCError(this, "insufficient vertex data in SKN file '%s', bone %d",
-                     resource->name, i);
-    }
-
-    // read vertid
-    vertid_[i].resize(vcount);
-    memcpy(vertid_[i].data(), (int*)(pdata+cnt), vcount*sizeof(int));
-    cnt += vcount;
-
-    // read vertweight
-    vertweight_[i].resize(vcount);
-    memcpy(vertweight_[i].data(), (int*)(pdata+cnt), vcount*sizeof(int));
-    cnt += vcount;
-  }
-
-  // check final size
-  if (buffer_sz != 16+4*cnt) {
-    throw mjCError(this, "unexpected buffer size in SKN file '%s'", resource->name);
-  }
-}
-
-
-
-//-------------------------- nonlinear elasticity --------------------------------------------------
-
-// simplex connectivity
-constexpr int eledge[3][6][2] = {{{ 0,  1}, {-1, -1}, {-1, -1},
-                                  {-1, -1}, {-1, -1}, {-1, -1}},
-                                 {{ 1,  2}, { 2,  0}, { 0,  1},
-                                  {-1, -1}, {-1, -1}, {-1, -1}},
-                                 {{ 0,  1}, { 1,  2}, { 2,  0},
-                                  { 2,  3}, { 0,  3}, { 1,  3}}};
-
-struct Stencil2D {
-  static constexpr int kNumEdges = 3;
-  static constexpr int kNumVerts = 3;
-  static constexpr int kNumFaces = 2;
-  static constexpr int edge[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
-  static constexpr int face[kNumVerts][2] = {{1, 2}, {2, 0}, {0, 1}};
-  static constexpr int edge2face[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
-  int vertices[kNumVerts];
-  int edges[kNumEdges];
-};
-
-struct Stencil3D {
-  static constexpr int kNumEdges = 6;
-  static constexpr int kNumVerts = 4;
-  static constexpr int kNumFaces = 3;
-  static constexpr int edge[kNumEdges][2] = {{0, 1}, {1, 2}, {2, 0},
-                                             {2, 3}, {0, 3}, {1, 3}};
-  static constexpr int face[kNumVerts][3] = {{2, 1, 0}, {0, 1, 3},
-                                             {1, 2, 3}, {2, 0, 3}};
-  static constexpr int edge2face[kNumEdges][2] = {{2, 3}, {1, 3}, {2, 1},
-                                                  {1, 0}, {0, 2}, {0, 3}};
-  int vertices[kNumVerts];
-  int edges[kNumEdges];
-};
-
-template <typename T>
-inline double ComputeVolume(const double* x, const int v[T::kNumVerts]);
-
-template <>
-inline double ComputeVolume<Stencil2D>(const double* x,
-                                       const int v[Stencil2D::kNumVerts]) {
-  double normal[3];
-  const double* x0 = x + 3*v[0];
-  const double* x1 = x + 3*v[1];
-  const double* x2 = x + 3*v[2];
-  double edge1[3] = {x1[0]-x0[0], x1[1]-x0[1], x1[2]-x0[2]};
-  double edge2[3] = {x2[0]-x0[0], x2[1]-x0[1], x2[2]-x0[2]};
-  mjuu_crossvec(normal, edge1, edge2);
-  return mjuu_normvec(normal, 3) / 2;
-}
-
-template<>
-inline double ComputeVolume<Stencil3D>(const double* x,
-                                       const int v[Stencil3D::kNumVerts]) {
-  double normal[3];
-  const double* x0 = x + 3*v[0];
-  const double* x1 = x + 3*v[1];
-  const double* x2 = x + 3*v[2];
-  const double* x3 = x + 3*v[3];
-  double edge1[3] = {x1[0]-x0[0], x1[1]-x0[1], x1[2]-x0[2]};
-  double edge2[3] = {x2[0]-x0[0], x2[1]-x0[1], x2[2]-x0[2]};
-  double edge3[3] = {x3[0]-x0[0], x3[1]-x0[1], x3[2]-x0[2]};
-  mjuu_crossvec(normal, edge1, edge2);
-  return mjuu_dot3(normal, edge3) / 6;
-}
-
-// compute metric tensor of edge lengths inner product
-template <typename T>
-void inline MetricTensor(double* metric, int idx, double mu,
-                         double la, const double basis[T::kNumEdges][9]) {
-  double trE[T::kNumEdges] = {0};
-  double trEE[T::kNumEdges*T::kNumEdges] = {0};
-  double k[T::kNumEdges*T::kNumEdges];
-
-  // compute first invariant i.e. trace(strain)
-  for (int e = 0; e < T::kNumEdges; e++) {
-    for (int i = 0; i < 3; i++) {
-      trE[e] += basis[e][4*i];
-    }
-  }
-
-  // compute second invariant i.e. trace(strain^2)
-  for (int ed1 = 0; ed1 < T::kNumEdges; ed1++) {
-    for (int ed2 = 0; ed2 < T::kNumEdges; ed2++) {
-      for (int i = 0; i < 3; i++) {
-        for (int j = 0; j < 3; j++) {
-          trEE[T::kNumEdges*ed1+ed2] += basis[ed1][3*i+j] * basis[ed2][3*j+i];
-        }
-      }
-    }
-  }
-
-  // assembly of strain metric tensor
-  for (int ed1 = 0; ed1 < T::kNumEdges; ed1++) {
-    for (int ed2 = 0; ed2 < T::kNumEdges; ed2++) {
-      k[T::kNumEdges*ed1 + ed2] = mu * trEE[T::kNumEdges * ed1 + ed2] +
-                                  la * trE[ed2] * trE[ed1];
-    }
-  }
-
-  // copy to triangular representation
-  int id = 0;
-  for (int ed1 = 0; ed1 < T::kNumEdges; ed1++) {
-    for (int ed2 = ed1; ed2 < T::kNumEdges; ed2++) {
-      metric[21*idx + id++] = k[T::kNumEdges*ed1 + ed2];
-    }
-  }
-
-  if (id != T::kNumEdges*(T::kNumEdges+1)/2) {
-    mju_error("incorrect stiffness matrix size");
-  }
-}
-
-// compute local basis
-template <typename T>
-void inline ComputeBasis(double basis[9], const double* x,
-                         const int v[T::kNumVerts],
-                         const int faceL[T::kNumFaces],
-                         const int faceR[T::kNumFaces], double volume);
-
-template <>
-void inline ComputeBasis<Stencil2D>(double basis[9], const double* x,
-                                    const int v[Stencil2D::kNumVerts],
-                                    const int faceL[Stencil2D::kNumFaces],
-                                    const int faceR[Stencil2D::kNumFaces],
-                                    double volume) {
-  double basisL[3], basisR[3];
-  double normal[3];
-
-  const double* xL0 = x + 3*v[faceL[0]];
-  const double* xL1 = x + 3*v[faceL[1]];
-  const double* xR0 = x + 3*v[faceR[0]];
-  const double* xR1 = x + 3*v[faceR[1]];
-  double edgesL[3] = {xL0[0]-xL1[0], xL0[1]-xL1[1], xL0[2]-xL1[2]};
-  double edgesR[3] = {xR1[0]-xR0[0], xR1[1]-xR0[1], xR1[2]-xR0[2]};
-
-  mjuu_crossvec(normal, edgesR, edgesL);
-  mjuu_normvec(normal, 3);
-  mjuu_crossvec(basisL, normal, edgesL);
-  mjuu_crossvec(basisR, edgesR, normal);
-
-  // we use as basis the symmetrized tensor products of the edge normals of the
-  // other two edges; this is shown in Weischedel "A discrete geometric view on
-  // shear-deformable shell models" in the remark at the end of section 4.1;
-  // equivalent to linear finite elements but in a coordinate-free formulation.
-
-  for (int i = 0; i < 3; i++) {
-    for (int j = 0; j < 3; j++) {
-      basis[3*i+j] = (basisL[i]*basisR[j] +
-                      basisR[i]*basisL[j]) / (8*volume*volume);
-    }
-  }
-}
-
-// compute local basis
-template <>
-void inline ComputeBasis<Stencil3D>(double basis[9], const double* x,
-                                    const int v[Stencil3D::kNumVerts],
-                                    const int faceL[Stencil3D::kNumFaces],
-                                    const int faceR[Stencil3D::kNumFaces],
-                                    double volume) {
-  const double* xL0 = x + 3*v[faceL[0]];
-  const double* xL1 = x + 3*v[faceL[1]];
-  const double* xL2 = x + 3*v[faceL[2]];
-  const double* xR0 = x + 3*v[faceR[0]];
-  const double* xR1 = x + 3*v[faceR[1]];
-  const double* xR2 = x + 3*v[faceR[2]];
-  double edgesL[6] = {xL1[0] - xL0[0], xL1[1] - xL0[1], xL1[2] - xL0[2],
-                      xL2[0] - xL0[0], xL2[1] - xL0[1], xL2[2] - xL0[2]};
-  double edgesR[6] = {xR1[0] - xR0[0], xR1[1] - xR0[1], xR1[2] - xR0[2],
-                      xR2[0] - xR0[0], xR2[1] - xR0[1], xR2[2] - xR0[2]};
-
-  double normalL[3], normalR[3];
-  mjuu_crossvec(normalL, edgesL, edgesL+3);
-  mjuu_crossvec(normalR, edgesR, edgesR+3);
-
-  // we use as basis the symmetrized tensor products of the area normals of the
-  // two faces not adjacent to the edge; this is the 3D equivalent to the basis
-  // proposed in Weischedel "A discrete geometric view on shear-deformable shell
-  // models" in the remark at the end of section 4.1. This is also equivalent to
-  // linear finite elements but in a coordinate-free formulation.
-
-  for (int i = 0; i < 3; i++) {
-    for (int j = 0; j < 3; j++) {
-      basis[3*i+j] = (normalL[i]*normalR[j] +
-                      normalR[i]*normalL[j]) / (36*2*volume*volume);
-    }
-  }
-}
-
-// compute stiffness for a single element
-template <typename T>
-void inline ComputeStiffness(std::vector<double>& stiffness,
-                             const std::vector<double>& body_pos,
-                             const int* v, int t, double E,
-                             double nu, double thickness = 4) {
-  // triangles area
-  double volume = ComputeVolume<T>(body_pos.data(), v);
-
-  // material parameters
-  double mu = E / (2*(1+nu)) * std::abs(volume) / 4 * thickness;
-  double la = E*nu / ((1+nu)*(1-2*nu)) * std::abs(volume) / 4 * thickness;
-
-  // local geometric quantities
-  double basis[T::kNumEdges][9] = {{0}};
-
-  // compute edge basis
-  for (int e = 0; e < T::kNumEdges; e++) {
-    ComputeBasis<T>(basis[e], body_pos.data(), v,
-                    T::face[T::edge2face[e][0]],
-                    T::face[T::edge2face[e][1]], volume);
-  }
-
-  // compute metric tensor
-  MetricTensor<T>(stiffness.data(), t, mu, la, basis);
-}
-
-// local tetrahedron numbering
-constexpr int kNumEdges = Stencil2D::kNumEdges;
-constexpr int kNumVerts = Stencil2D::kNumVerts;
-constexpr int edge[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
-
-// create map from triangles to vertices and edges and from edges to vertices
-static void CreateFlapStencil(std::vector<StencilFlap>& flaps,
-                              const std::vector<int>& simplex,
-                              const std::vector<int>& edgeidx) {
-  // populate stencil
-  int ne = 0;
-  int nt = simplex.size() / kNumVerts;
-  std::vector<Stencil2D> elements(nt);
-  for (int t = 0; t < nt; t++) {
-    for (int v = 0; v < kNumVerts; v++) {
-      elements[t].vertices[v] = simplex[kNumVerts * t + v];
-    }
-  }
-
-  // map from edge vertices to their index in `edges` vector
-  std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
-
-  // loop over all triangles
-  for (int t = 0; t < nt; t++) {
-    int* v = elements[t].vertices;
-
-    // compute edges to vertices map for fast computations
-    for (int e = 0; e < kNumEdges; e++) {
-      auto pair = std::pair(std::min(v[edge[e][0]], v[edge[e][1]]),
-                            std::max(v[edge[e][0]], v[edge[e][1]]));
-
-      // if edge is already present in the vector only store its index
-      auto [it, inserted] = edge_indices.insert({pair, ne});
-
-      if (inserted) {
-        StencilFlap flap;
-        flap.vertices[0] = v[edge[e][0]];
-        flap.vertices[1] = v[edge[e][1]];
-        flap.vertices[2] = v[(edge[e][1] + 1) % 3];
-        flap.vertices[3] = -1;
-        flaps.push_back(flap);
-        elements[t].edges[e] = ne++;
-      } else {
-        elements[t].edges[e] = it->second;
-        flaps[it->second].vertices[3] = v[(edge[e][1] + 1) % 3];
-      }
-
-      // double check that the edge indices are consistent
-      if (!edgeidx.empty()) {
-        if (elements[t].edges[e] != edgeidx[kNumEdges * t + e]) {
-          mju_error("edge indices do not match in CreateFlapStencil");
-        }
-      }
-    }
-  }
-}
-
-// cotangent between two edges
-double inline cot(const double* x, int v0, int v1, int v2) {
-  double normal[3];
-  double edge1[3] = {x[3*v1]-x[3*v0], x[3*v1+1]-x[3*v0+1], x[3*v1+2]-x[3*v0+2]};
-  double edge2[3] = {x[3*v2]-x[3*v0], x[3*v2+1]-x[3*v0+1], x[3*v2+2]-x[3*v0+2]};
-
-  mjuu_crossvec(normal, edge1, edge2);
-  return mjuu_dot3(edge1, edge2) / sqrt(mjuu_dot3(normal, normal));
-}
-
-// area of a triangle
-double inline ComputeVolume(const double* x, const int v[Stencil2D::kNumVerts]) {
-  double normal[3];
-  double edge1[3] = {x[3*v[1]]-x[3*v[0]], x[3*v[1]+1]-x[3*v[0]+1], x[3*v[1]+2]-x[3*v[0]+2]};
-  double edge2[3] = {x[3*v[2]]-x[3*v[0]], x[3*v[2]+1]-x[3*v[0]+1], x[3*v[2]+2]-x[3*v[0]+2]};
-
-  mjuu_crossvec(normal, edge1, edge2);
-  return sqrt(mjuu_dot3(normal, normal)) / 2;
-}
-
-// compute bending stiffness for a single edge
-template <typename T>
-void inline ComputeBending(double* bending, double* pos, const int v[4], double mu,
-                           double thickness) {
-  int vadj[3] = {v[1], v[0], v[3]};
-
-  if (v[3]== -1) {
-    // skip boundary edges
-    return;
-  }
-
-  // cotangent operator from Wardetzky at al., "Discrete Quadratic Curvature
-  // Energies", https://cims.nyu.edu/gcl/papers/wardetzky2007dqb.pdf
-
-  double a01 = cot(pos, v[0], v[1], v[2]);
-  double a02 = cot(pos, v[0], v[3], v[1]);
-  double a03 = cot(pos, v[1], v[2], v[0]);
-  double a04 = cot(pos, v[1], v[0], v[3]);
-  double c[4] = {a03 + a04, a01 + a02, -(a01 + a03), -(a02 + a04)};
-  double volume = ComputeVolume(pos, v) + ComputeVolume(pos, vadj);
-  double stiffness = 3 * mu * pow(thickness, 3) / (24 * volume);
-
-  // Garg et al., "Cubic Shells", https://cims.nyu.edu/gcl/papers/garg2007cs.pdf
-  const double* v0 = pos + 3*v[0];
-  const double* v1 = pos + 3*v[1];
-  const double* v2 = pos + 3*v[2];
-  const double* v3 = pos + 3*v[3];
-  double e0[3] = {v1[0] - v0[0], v1[1] - v0[1], v1[2] - v0[2]};
-  double e1[3] = {v2[0] - v0[0], v2[1] - v0[1], v2[2] - v0[2]};
-  double e2[3] = {v3[0] - v0[0], v3[1] - v0[1], v3[2] - v0[2]};
-  double e3[3] = {v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2]};
-  double e4[3] = {v3[0] - v1[0], v3[1] - v1[1], v3[2] - v1[2]};
-  double t0[3] = {-(a03*e1[0] + a01*e3[0]), -(a03*e1[1] + a01*e3[1]), -(a03*e1[2] + a01*e3[2])};
-  double t1[3] = {-(a04*e2[0] + a02*e4[0]), -(a04*e2[1] + a02*e4[1]), -(a04*e2[2] + a02*e4[2])};
-  double sqr = mjuu_dot3(e0, e0);
-  double cos_theta = -mjuu_dot3(t0, t1) / sqr;
-
-  for (int v1 = 0; v1 < T::kNumVerts; v1++) {
-    for (int v2 = 0; v2 < T::kNumVerts; v2++) {
-      bending[4 * v1 + v2] += c[v1] * c[v2] * cos_theta * stiffness;
-    }
-  }
-
-  double n[3];
-  mjuu_crossvec(n, e0, e1);
-  bending[16] = mjuu_dot3(n, e2) * (a01 - a03) * (a04 - a02) * stiffness / (sqr * sqrt(sqr));
-}
-
-//----------------------------- linear elasticity --------------------------------------------------
-
-// Gauss Legendre quadrature points in 1 dimension on the interval [a, b]
-void quadratureGaussLegendre(double* points, double* weights,
-                             const int order, const double a, const double b) {
-  if (order > 3)
-    mju_error("Integration order > 3 not yet supported.");
-
-  // x is on [-1, 1], p on [a, b]
-  double p0 = (a+b)/2.;
-  double dpdx = (b-a)/2;
-
-  if (order == 2) {
-    points[0] = -dpdx / sqrt(3) + p0;
-    points[1] =  dpdx / sqrt(3) + p0;
-    weights[0] = dpdx;
-    weights[1] = dpdx;
-  } else {
-    points[0] = p0;
-    points[1] = -dpdx / sqrt(3. / 5.) + p0;
-    points[2] =  dpdx / sqrt(3. / 5.) + p0;
-    weights[0] = 8. / 9. * dpdx;
-    weights[1] = 5. / 9. * dpdx;
-    weights[2] = 5. / 9. * dpdx;
-  }
-}
-
-// evaluate 1-dimensional basis function
-double phi(const double s, const int i, const int order) {
-  if (order == 1) {
-    return i == 0 ? 1 - s : s;
-  } else if (order == 2) {
-    switch (i) {
-      case 0:
-        return 2 * s * s - 3 * s + 1;
-      case 1:
-        return 4 * (s - s * s);
-      case 2:
-        return 2 * s * s - s;
-      default:
-        mjERROR("invalid index %d", i);
-        return 0;
-    }
-  } else {
-    mju_error("Order must be 1 or 2.");
-    return 0;
-  }
-}
-
-// evaluate gradient of 1-dimensional basis function
-double dphi(const double s, const int i, const int order) {
-  if (order == 1) {
-    return i == 0 ? -1 : 1;
-  } else if (order == 2) {
-    switch (i) {
-      case 0:
-        return 4 * s - 3;
-      case 1:
-        return 4 * (1 - 2 * s);
-      case 2:
-        return 4 * s - 1;
-      default:
-        mjERROR("invalid index %d, must be 0, 1, or 2", i);
-        return 0;
-    }
-  } else {
-    mju_error("Order must be 1 or 2.");
-    return 0;
-  }
-}
-
-typedef std::array<std::array<double, 3>, 3> Matrix;
-
-// symmetrize a tensor
-Matrix inline sym(const Matrix& tensor) {
-  Matrix eps;
-  for (int i = 0; i < 3; i++) {
-    for (int j = 0; j < 3; j++) {
-      eps[i][j] = (tensor[i][j] + tensor[j][i]) / 2;
-    }
-  }
-  return eps;
-}
-
-// compute tensor inner product
-Matrix inline inner(const Matrix& tensor1, const Matrix& tensor2) {
-  Matrix inner;
-  for (int i = 0; i < 3; i++) {
-    for (int j = 0; j < 3; j++) {
-      inner[i][j] = tensor1[i][0] * tensor2[0][j] +
-                    tensor1[i][1] * tensor2[1][j] +
-                    tensor1[i][2] * tensor2[2][j];
-    }
-  }
-  return inner;
-}
-
-// compute trace of a tensor
-double inline trace(const Matrix& tensor) {
-  return tensor[0][0] + tensor[1][1] + tensor[2][2];
-}
-
-void inline ComputeLinearStiffness(std::vector<double>& K,
-                                   const double* pos,
-                                   double E, double nu, int order) {
-  int nbasis = order + 1;
-  int n = pow(nbasis, 3);
-  int ndof = 3*n;
-
-  // compute quadrature points
-  std::vector<double> points(nbasis);     // quadrature points
-  std::vector<double> weight(nbasis);     // quadrature weights
-  quadratureGaussLegendre(points.data(), weight.data(), nbasis, 0, 1);
-
-  // compute element transformation
-  double dx = (pos+3*(n-1))[0] - pos[0];
-  double dy = (pos+3*(n-1))[1] - pos[1];
-  double dz = (pos+3*(n-1))[2] - pos[2];
-  double detJ = dx * dy * dz;
-  double invJ[3] = {1.0 / dx, 1.0 / dy, 1.0 / dz};
-
-  // compute stiffness matrix
-  std::vector<std::array<double, 3> > F(n);
-  double la = E * nu / (1 + nu) / (1 - 2 * nu);
-  double mu = E / (2 * (1 + nu));
-
-  // loop over quadrature points
-  for (int ps=0; ps < nbasis; ps++) {
-    for (int pt=0; pt < nbasis; pt++) {
-      for (int pu=0; pu < nbasis; pu++) {
-        double s = points[ps];
-        double t = points[pt];
-        double u = points[pu];
-        double dvol = weight[ps] * weight[pt] * weight[pu] * detJ;
-        int dof = 0;
-
-        // cartesian product of basis functions
-        for (int bx=0; bx < nbasis; bx++) {
-          for (int by=0; by < nbasis; by++) {
-            for (int bz=0; bz < nbasis; bz++) {
-              std::array<double, 3> gradient;
-              gradient[0] = dphi(s, bx, order) *  phi(t, by, order) *  phi(u, bz, order);
-              gradient[1] =  phi(s, bx, order) * dphi(t, by, order) *  phi(u, bz, order);
-              gradient[2] =  phi(s, bx, order) *  phi(t, by, order) * dphi(u, bz, order);
-              F[dof++] = gradient;
-            }
-          }
-        }
-
-        if (dof != n) {  // SHOULD NOT OCCUR
-          throw mjCError(nullptr, "incorrect number of basis functions");
-        }
-
-        // tensor contraction of the gradients of elastic strains
-        // (d(F+F')/dx : d(F+F')/dx)
-        for (int i=0; i < n; i++) {
-          for (int j=0; j < n; j++) {
-            Matrix du;
-            Matrix dv;
-            du.fill({0, 0, 0});
-            dv.fill({0, 0, 0});
-            for (int k=0; k < 3; k++) {
-              for (int l=0; l < 3; l++) {
-                du[k][0] = invJ[0] * F[i][0];
-                du[k][1] = invJ[1] * F[i][1];
-                du[k][2] = invJ[2] * F[i][2];
-                dv[l][0] = invJ[0] * F[j][0];
-                dv[l][1] = invJ[1] * F[j][1];
-                dv[l][2] = invJ[2] * F[j][2];
-                K[ndof*(3*i+k) + 3*j+l] -= la * trace(du) * trace(dv) * dvol;
-                K[ndof*(3*i+k) + 3*j+l] -= mu * trace(inner(sym(du), sym(dv))) * dvol;
-                mjuu_zerovec(du[k].data(), 3);
-                mjuu_zerovec(dv[l].data(), 3);
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-
-// compute the linear stiffness matrix for a flat 2D quad face element (membrane)
-//   K:      output stiffness matrix, size 3*npe x 3*npe, npe = (order+1)^2
-//   pos:    node positions (3*npe doubles), ordered row-major in 2D parametric domain
-//   E, nu:  Young's modulus and Poisson's ratio
-//   order:  interpolation order (1 or 2)
-//   thickness: shell thickness
-//   normal_axis: axis perpendicular to the face (0=x, 1=y, 2=z)
-void inline ComputeLinearStiffness2D(std::vector<double>& K,
-                                     const double* pos,
-                                     double E, double nu, int order,
-                                     double thickness, int normal_axis) {
-  int nbasis = order + 1;
-  int npe = nbasis * nbasis;        // nodes per face element
-  int ndof = 3 * npe;
-
-  // in-plane axes
-  int axis0 = (normal_axis + 1) % 3;  // slow-varying
-  int axis1 = (normal_axis + 2) % 3;  // fast-varying
-
-  // compute quadrature points
-  std::vector<double> points(nbasis);
-  std::vector<double> weight(nbasis);
-  quadratureGaussLegendre(points.data(), weight.data(), nbasis, 0, 1);
-
-  // compute element transformation (diagonal Jacobian on flat face)
-  double d0 = (pos + 3*(npe-1))[axis0] - pos[axis0];  // extent along axis0
-  double d1 = (pos + 3*(npe-1))[axis1] - pos[axis1];  // extent along axis1
-  if (d0 == 0 || d1 == 0) {
-    throw mjCError(nullptr, "degenerate 2D element with zero extent");
-  }
-  double detJ = d0 * d1;
-  double invJ0 = 1.0 / d0;
-  double invJ1 = 1.0 / d1;
-
-  // plane-stress Lamé parameter: lambda* = E*nu/(1 - nu^2)
-  double la = E * nu / (1.0 - nu * nu);
-  double mu = E / (2.0 * (1.0 + nu));
-
-  // basis function gradients (2-component)
-  std::vector<std::array<double, 2>> F(npe);
-
-  // loop over quadrature points (2D)
-  for (int ps = 0; ps < nbasis; ps++) {
-    for (int pt = 0; pt < nbasis; pt++) {
-      double s = points[ps];
-      double t = points[pt];
-      double dvol = weight[ps] * weight[pt] * detJ * thickness;
-      int dof = 0;
-
-      // cartesian product of 2D basis functions
-      for (int b0 = 0; b0 < nbasis; b0++) {
-        for (int b1 = 0; b1 < nbasis; b1++) {
-          F[dof][0] = dphi(s, b0, order) *  phi(t, b1, order);
-          F[dof][1] =  phi(s, b0, order) * dphi(t, b1, order);
-          dof++;
-        }
-      }
-
-      if (dof != npe) {
-        throw mjCError(nullptr, "incorrect number of 2D basis functions");
-      }
-
-      // tensor contraction: pure membrane (in-plane strain only)
-      // only loop over in-plane displacement directions to avoid transverse
-      // shear strains (ε_{normal,α}) which are spurious for thin shells
-      int inplane[2] = {axis0, axis1};
-      for (int i = 0; i < npe; i++) {
-        for (int j = 0; j < npe; j++) {
-          Matrix du;
-          Matrix dv;
-          du.fill({0, 0, 0});
-          dv.fill({0, 0, 0});
-          for (int ki = 0; ki < 2; ki++) {
-            int k = inplane[ki];
-            for (int li = 0; li < 2; li++) {
-              int l = inplane[li];
-              du[k][axis0] = invJ0 * F[i][0];
-              du[k][axis1] = invJ1 * F[i][1];
-              dv[l][axis0] = invJ0 * F[j][0];
-              dv[l][axis1] = invJ1 * F[j][1];
-              K[ndof*(3*i+k) + 3*j+l] -= la * trace(du) * trace(dv) * dvol;
-              // mu (not 2*mu): same convention as 3D ComputeLinearStiffness
-              K[ndof*(3*i+k) + 3*j+l] -= mu * trace(inner(sym(du), sym(dv))) * dvol;
-              mjuu_zerovec(du[k].data(), 3);
-              mjuu_zerovec(dv[l].data(), 3);
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-
-// compute the bilinear warp mode for a 2D face element
-//   warp:        output mode vector (ndof doubles), normalized to unit length
-//   pos:         node positions (3*npe doubles)
-//   npe:         nodes per element ((order+1)^2)
-//   order:       interpolation order (1 or 2)
-//   normal_axis: axis perpendicular to the face (0=x, 1=y, 2=z)
-static void ComputeWarpMode(double* warp, const double* pos,
-                            int npe, int order, int normal_axis) {
-  int ndof = 3 * npe;
-  int nbasis = order + 1;
-
-  // zero out
-  std::fill(warp, warp + ndof, 0.0);
-
-  // evaluate warp pattern (1-2s)(1-2t) at each node
-  for (int b0 = 0; b0 < nbasis; b0++) {
-    for (int b1 = 0; b1 < nbasis; b1++) {
-      int node = b0 * nbasis + b1;
-      double s = static_cast<double>(b0) / (nbasis - 1);
-      double t = static_cast<double>(b1) / (nbasis - 1);
-      warp[3*node + normal_axis] = (1 - 2*s) * (1 - 2*t);
-    }
-  }
-
-  // orthogonalize against rigid body modes (6 modes: 3 translations + 3 rotations)
-  // this is a no-op for rectangular elements (warp is already orthogonal)
-  // but keeps the code robust for non-square elements
-  double centroid[3] = {0, 0, 0};
-  for (int n = 0; n < npe; n++) {
-    for (int k = 0; k < 3; k++) {
-      centroid[k] += pos[3*n + k];
-    }
-  }
-  for (int k = 0; k < 3; k++) {
-    centroid[k] /= npe;
-  }
-
-  // build and orthonormalize rigid body modes inline
-  std::vector<double> rigid(6 * ndof, 0.0);
-
-  // translations
-  for (int n = 0; n < npe; n++) {
-    rigid[0*ndof + 3*n + 0] = 1;
-    rigid[1*ndof + 3*n + 1] = 1;
-    rigid[2*ndof + 3*n + 2] = 1;
-  }
-
-  // rotations about centroid
-  for (int n = 0; n < npe; n++) {
-    double rx = pos[3*n + 0] - centroid[0];
-    double ry = pos[3*n + 1] - centroid[1];
-    double rz = pos[3*n + 2] - centroid[2];
-    rigid[3*ndof + 3*n + 1] = -rz;
-    rigid[3*ndof + 3*n + 2] =  ry;
-    rigid[4*ndof + 3*n + 0] =  rz;
-    rigid[4*ndof + 3*n + 2] = -rx;
-    rigid[5*ndof + 3*n + 0] = -ry;
-    rigid[5*ndof + 3*n + 1] =  rx;
-  }
-
-  // orthonormalize rigid modes via modified Gram-Schmidt
-  for (int i = 0; i < 6; i++) {
-    double* ri = rigid.data() + i * ndof;
-    for (int j = 0; j < i; j++) {
-      const double* rj = rigid.data() + j * ndof;
-      double dot = 0;
-      for (int k = 0; k < ndof; k++) dot += ri[k] * rj[k];
-      for (int k = 0; k < ndof; k++) ri[k] -= dot * rj[k];
-    }
-    double norm2 = 0;
-    for (int k = 0; k < ndof; k++) norm2 += ri[k] * ri[k];
-    if (norm2 > 1e-20) {
-      double inv_norm = 1.0 / std::sqrt(norm2);
-      for (int k = 0; k < ndof; k++) ri[k] *= inv_norm;
-    }
-  }
-
-  // project warp against rigid modes
-  for (int i = 0; i < 6; i++) {
-    const double* ri = rigid.data() + i * ndof;
-    double dot = 0;
-    for (int k = 0; k < ndof; k++) dot += warp[k] * ri[k];
-    for (int k = 0; k < ndof; k++) warp[k] -= dot * ri[k];
-  }
-
-  // normalize
-  double norm2 = 0;
-  for (int k = 0; k < ndof; k++) norm2 += warp[k] * warp[k];
-  if (norm2 > 1e-20) {
-    double inv_norm = 1.0 / std::sqrt(norm2);
-    for (int k = 0; k < ndof; k++) warp[k] *= inv_norm;
-  }
-}
-
-
-// compute the warp bending stiffness for a 2D face element
-// uses plate bending theory: the warp mode is a pure twist (κ_xy),
-// with bending stiffness proportional to t³ (no shear locking)
-//   pos:          node positions (3*npe doubles)
-//   npe:          nodes per element
-//   normal_axis:  axis perpendicular to the face
-//   E, nu:        Young's modulus and Poisson's ratio
-//   thickness:    shell thickness
-static double ComputeWarpStiffness(const double* pos, int npe, int normal_axis,
-                                   double E, double nu, double thickness) {
-  int axis0 = (normal_axis + 1) % 3;
-  int axis1 = (normal_axis + 2) % 3;
-  double d0 = std::abs(pos[3*(npe-1) + axis0] - pos[axis0]);
-  double d1 = std::abs(pos[3*(npe-1) + axis1] - pos[axis1]);
-
-  if (d0 < 1e-30 || d1 < 1e-30) return 0;
-
-  // plate bending rigidity: D = E*t³ / (12*(1-ν²))
-  double D = E * thickness * thickness * thickness / (12.0 * (1.0 - nu * nu));
-
-  // warp stiffness from twist curvature Rayleigh quotient:
-  //   w^T K_bend w / |w|^2 = D*(1-ν)*4 / (d0*d1)
-  return D * (1.0 - nu) * 4.0 / (d0 * d1);
-}
-
-
-// Eigendecompose cell stiffness matrix and store scaled eigenvectors.
-// K_cell is n×n stored (negative convention: K_stored = -K_physical).
-// Output layout in `out`:
-//   [0]: neig (as double)
-//   [1 .. neig*n]: sqrt(λ_phys_i) * v_i, row-major
-// Modes with eigenvalue below a relative threshold are discarded (rigid body
-// modes and numerical zeros).
-// Returns number of retained eigenmodes.
-static int EigendecomposeStiffness(const double* K_cell_data,
-                                   double* out, int ndof) {
-  // copy K_cell for in-place decomposition
-  std::vector<double> mat(K_cell_data, K_cell_data + ndof * ndof);
-  std::vector<double> eigval(ndof);
-  std::vector<double> eigvec(ndof * ndof);
-
-  mjuu_eigendecompose(mat.data(), eigval.data(), eigvec.data(), ndof);
-
-  // K_stored = -K_physical, so physical eigenvalue = -eigval[i]
-  // retain modes where physical eigenvalue > threshold
-  double max_eigval = 0;
-  for (int i = 0; i < ndof; i++) {
-    max_eigval = std::max(max_eigval, std::abs(eigval[i]));
-  }
-
-  double threshold = max_eigval * 1e-8;
-  int neig = 0;
-  for (int i = 0; i < ndof; i++) {
-    double lambda_phys = -eigval[i];  // negate to get physical eigenvalue
-    if (lambda_phys > threshold) {
-      // store sqrt(λ) * eigenvector (column i of eigvec matrix)
-      double scale = std::sqrt(lambda_phys);
-      double* w = out + 1 + neig * ndof;
-      for (int j = 0; j < ndof; j++) {
-        w[j] = scale * eigvec[j * ndof + i];
-      }
-      neig++;
-    }
-  }
-
-  out[0] = static_cast<double>(neig);
-  return neig;
-}
-
-
-//------------------ class mjCFlex implementation --------------------------------------------------
-
-// constructor
-mjCFlex::mjCFlex(mjCModel* _model) {
-  mjs_defaultFlex(&spec);
-  elemtype = mjOBJ_FLEX;
-
-  // set model
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-
-  // clear internal variables
-  nvert = 0;
-  nnode = 0;
-  nedge = 0;
-  nelem = 0;
-  matid = -1;
-  rigid = false;
-  centered = false;
-
-  PointToLocal();
-  CopyFromSpec();
-}
-
-
-mjCFlex::mjCFlex(const mjCFlex& other) {
-  *this = other;
-}
-
-
-mjCFlex& mjCFlex::operator=(const mjCFlex& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCFlex_*>(this) = static_cast<const mjCFlex_&>(other);
-    *static_cast<mjsFlex*>(this) = static_cast<const mjsFlex&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-void mjCFlex::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.material = &spec_material_;
-  spec.vertbody = &spec_vertbody_;
-  spec.nodebody = &spec_nodebody_;
-  spec.vert = &spec_vert_;
-  spec.node = &spec_node_;
-  spec.texcoord = &spec_texcoord_;
-  spec.elemtexcoord = &spec_elemtexcoord_;
-  spec.elem = &spec_elem_;
-  spec.info = &info;
-  material = nullptr;
-  vertbody = nullptr;
-  nodebody = nullptr;
-  vert = nullptr;
-  node = nullptr;
-  texcoord = nullptr;
-  elemtexcoord = nullptr;
-  elem = nullptr;
-}
-
-
-
-void mjCFlex::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  for (auto& name : spec_vertbody_) {
-    name = m->prefix + name + m->suffix;
-  }
-  for (auto& name : spec_nodebody_) {
-    name = m->prefix + name + m->suffix;
-  }
-  if (!spec_material_.empty() && model != m) {
-    spec_material_ = m->prefix + spec_material_ + m->suffix;
-  }
-}
-
-
-
-void mjCFlex::CopyFromSpec() {
-  *static_cast<mjsFlex*>(this) = spec;
-  spec.info = &info;
-  material_ = spec_material_;
-  vertbody_ = spec_vertbody_;
-  nodebody_ = spec_nodebody_;
-  vert_ = spec_vert_;
-  node_ = spec_node_;
-  texcoord_ = spec_texcoord_;
-  elemtexcoord_ = spec_elemtexcoord_;
-  elem_ = spec_elem_;
-
-  // clear precompiled asset. TODO: use asset cache
-  nedge = 0;
-  edge.clear();
-  shell.clear();
-  evpair.clear();
-}
-
-
-bool mjCFlex::HasTexcoord() const {
-  return !texcoord_.empty();
-}
-
-
-void mjCFlex::DelTexcoord() {
-  texcoord_.clear();
-}
-
-
-void mjCFlex::ResolveReferences(const mjCModel* m) {
-  interpolated = !nodebody_.empty();
-  vertbodyid.clear();
-  nodebodyid.clear();
-  for (const auto& vertbody : vertbody_) {
-    mjCBody* pbody = static_cast<mjCBody*>(m->FindObject(mjOBJ_BODY, vertbody));
-    if (pbody) {
-      vertbodyid.push_back(pbody->id);
-      // pinned vertices with bending are only valid for static (jointless) pin
-      // bodies: the runtime treats pin velocity as zero, which is only correct
-      // for static bodies.
-      if (!pbody->joints.empty() && pbody->joints.size() != 3 && dim == 2 &&
-          (elastic2d == 1 || elastic2d == 3) && !interpolated) {
-        throw mjCError(
-            this,
-            "pinned flex vertices with bending require a static (jointless) "
-            "pin body, body '%s' has joints",
-            vertbody.c_str());
-      }
-    } else {
-      throw mjCError(this, "unknown body '%s' in flex", vertbody.c_str());
-    }
-  }
-  for (const auto& nodebody : nodebody_) {
-    mjCBase* pbody = m->FindObject(mjOBJ_BODY, nodebody);
-    if (pbody) {
-      nodebodyid.push_back(pbody->id);
-    } else {
-      throw mjCError(this, "unknown body '%s' in flex", nodebody.c_str());
-    }
-  }
-}
-
-
-std::string mjCFlex::ComputeStiffnessCacheKey() const {
-  std::size_t hash = 0;
-  auto combine = [&hash](std::size_t v) {
-    hash ^= v + 0x9e3779b9 + (hash << 6) + (hash >> 2);
-  };
-
-  combine(std::hash<double>{}(young));
-  combine(std::hash<double>{}(poisson));
-  combine(std::hash<int>{}(spec.order));
-  combine(std::hash<int>{}(spec.cellcount[0]));
-  combine(std::hash<int>{}(spec.cellcount[1]));
-  combine(std::hash<int>{}(spec.cellcount[2]));
-
-  // compute bounding box from vertex positions
-  if (!vert_.empty()) {
-    double minx = vert_[0], maxx = vert_[0];
-    double miny = vert_[1], maxy = vert_[1];
-    double minz = vert_[2], maxz = vert_[2];
-    for (std::size_t i = 3; i < vert_.size(); i += 3) {
-      minx = std::min(minx, vert_[i]);
-      maxx = std::max(maxx, vert_[i]);
-      miny = std::min(miny, vert_[i + 1]);
-      maxy = std::max(maxy, vert_[i + 1]);
-      minz = std::min(minz, vert_[i + 2]);
-      maxz = std::max(maxz, vert_[i + 2]);
-    }
-    combine(std::hash<double>{}(maxx - minx));
-    combine(std::hash<double>{}(maxy - miny));
-    combine(std::hash<double>{}(maxz - minz));
-  }
-
-  for (std::size_t i = 0; i < vert_.size(); i += std::max(1, (int)vert_.size()/100)) {
-    combine(std::hash<double>{}(vert_[i]));
-  }
-
-  for (std::size_t i = 0; i < shell.size(); i += std::max(1, (int)shell.size()/50)) {
-    combine(std::hash<int>{}(shell[i]));
-  }
-
-  return "flex_stiffness:" + std::to_string(hash);
-}
-
-
-bool mjCFlex::LoadCachedStiffness() {
-  mjCCache* cache = reinterpret_cast<mjCCache*>(mj_getCache()->impl_);
-  if (!cache) return false;
-
-  std::string key = ComputeStiffnessCacheKey();
-
-  auto load_fn = [this](const void* data) {
-    const auto* cached = static_cast<const std::vector<double>*>(data);
-    stiffness = *cached;
-    return true;
-  };
-
-  mjResource dummy_resource{};
-  dummy_resource.name = const_cast<char*>(key.c_str());
-  dummy_resource.timestamp[0] = '\0';
-
-  return cache->PopulateData(key, &dummy_resource, load_fn);
-}
-
-
-void mjCFlex::CacheStiffness() {
-  mjCCache* cache = reinterpret_cast<mjCCache*>(mj_getCache()->impl_);
-  if (!cache || stiffness.empty()) return;
-
-  std::string key = ComputeStiffnessCacheKey();
-
-  auto* cached = new std::vector<double>(stiffness);
-
-  std::size_t size = sizeof(*cached) + sizeof(double) * stiffness.size();
-
-  std::shared_ptr<const void> cached_data(cached, [](const void* data) {
-    delete static_cast<const std::vector<double>*>(data);
-  });
-
-  mjResource dummy_resource{};
-  dummy_resource.name = const_cast<char*>(key.c_str());
-  dummy_resource.timestamp[0] = '\0';
-
-  cache->Insert("", key, &dummy_resource, cached_data, size);
-}
-
-
-// compute interpolated shell bending edge data
-// enumerates intra-surface and corner edges, stores per-edge metadata:
-//   [fe_A, fe_B, local_A[2], local_B[2], stiffness, dn0[3]]
-static void ComputeInterpBending(
-    std::vector<double>& bending,
-    const std::vector<double>& nodexpos_local,
-    int order, const int cellcount[3],
-    double young, double poisson, double thickness) {
-  // bending modulus D = E * t^3 / (12 * (1 - nu^2))
-  double D_bend = young * thickness * thickness * thickness /
-                  (12.0 * (1.0 - poisson * poisson));
-
-  int cx = cellcount[0], cy = cellcount[1], cz = cellcount[2];
-  int ny_global = cy * order + 1;
-  int nz_global = cz * order + 1;
-  int npe = (order + 1) * (order + 1);  // nodes per 2D face element
-
-  // face layout: 6 surfaces of the box
-  //   face 0: x=0, face 1: x=max, face 2: y=0, face 3: y=max,
-  //   face 4: z=0, face 5: z=max
-  int face_sizes[6] = {cy*cz, cy*cz, cx*cz, cx*cz, cx*cy, cx*cy};
-  int face_normal[6] = {0, 0, 1, 1, 2, 2};
-  int face_count1[6] = {cz, cz, cx, cx, cy, cy};
-  int face_fixed[6] = {0, cx*order, 0, cy*order, 0, cz*order};
-
-  // gather node positions for one face element
-  auto gather_face_nodes = [&](int face_id, int within_face,
-                               std::vector<double>& fpos) {
-    int nax = face_normal[face_id];
-    int a0 = (nax + 1) % 3;
-    int a1 = (nax + 2) % 3;
-    int c1 = face_count1[face_id];
-    int gf = face_fixed[face_id];
-    int q0 = within_face / c1;
-    int q1 = within_face % c1;
-    fpos.resize(3 * npe);
-    int loc = 0;
-    for (int l0 = 0; l0 <= order; l0++) {
-      for (int l1 = 0; l1 <= order; l1++) {
-        int g[3];
-        g[nax] = gf;
-        g[a0] = q0 * order + l0;
-        g[a1] = q1 * order + l1;
-        int gidx = g[0] * ny_global * nz_global + g[1] * nz_global + g[2];
-        mjuu_copyvec(fpos.data() + 3*loc, &nodexpos_local[3*gidx], 3);
-        loc++;
-      }
-    }
-  };
-
-  // compute unnormalized normal and tangents at a parametric point
-  auto compute_normal = [&](const std::vector<double>& fpos,
-                            const double local[2],
-                            double normal[3], double t1[3], double t2[3]) {
-    mjuu_zerovec(t1, 3);
-    mjuu_zerovec(t2, 3);
-    int idx = 0;
-    for (int l0 = 0; l0 <= order; l0++) {
-      for (int l1 = 0; l1 <= order; l1++) {
-        double g0 = dphi(local[0], l0, order) * phi(local[1], l1, order);
-        double g1 = phi(local[0], l0, order) * dphi(local[1], l1, order);
-        for (int d = 0; d < 3; d++) {
-          t1[d] += fpos[3*idx + d] * g0;
-          t2[d] += fpos[3*idx + d] * g1;
-        }
-        idx++;
-      }
-    }
-    mjuu_crossvec(normal, t1, t2);
-  };
-
-  // face cumulative offsets
-  int face_cumul[6];
-  face_cumul[0] = 0;
-  for (int f = 1; f < 6; f++) {
-    face_cumul[f] = face_cumul[f-1] + face_sizes[f-1];
-  }
-
-  int face_count0[6];
-  for (int f = 0; f < 6; f++) {
-    face_count0[f] = face_sizes[f] / face_count1[f];
-  }
-
-  int cells[3] = {cx, cy, cz};
-
-  // find the neighbor of face element (fid, q0, q1) across the edge in
-  // direction dir (0=a0, 1=a1) at side (+1 or -1).
-  // returns (fid_B, within_B) and fills local_A, local_B with parametric
-  // midpoint coordinates on each side of the shared edge.
-  auto get_neighbor = [&](int fid, int q0, int q1, int dir, int side, double local_A[2],
-                          double local_B[2]) -> std::pair<int, int> {
-    int nax = fid / 2, sign_f = fid % 2;
-    int a0 = (nax+1)%3, a1 = (nax+2)%3;
-    int nc1 = face_count1[fid];
-
-    // parametric coordinates on face A at the shared edge
-    local_A[0] = (dir == 0) ? (side > 0 ? 1.0 : 0.0) : 0.5;
-    local_A[1] = (dir == 1) ? (side > 0 ? 1.0 : 0.0) : 0.5;
-
-    // check if neighbor is on the same face (internal)
-    int q_nb = (dir == 0 ? q0 : q1) + side;
-    int q_max = (dir == 0) ? face_count0[fid] : nc1;
-    if (q_nb >= 0 && q_nb < q_max) {
-      // internal neighbor
-      int q0_B = (dir == 0) ? q_nb : q0;
-      int q1_B = (dir == 0) ? q1 : q_nb;
-      local_B[0] = (dir == 0) ? (side > 0 ? 0.0 : 1.0) : 0.5;
-      local_B[1] = (dir == 1) ? (side > 0 ? 0.0 : 1.0) : 0.5;
-      return {fid, q0_B * nc1 + q1_B};
-    }
-
-    // boundary neighbor: cross to adjacent face on the box
-    int ax = (dir == 0) ? a0 : a1;           // axis being crossed
-    int fid_B = 2*ax + (side > 0 ? 1 : 0);  // neighboring face
-    int nc1_B = face_count1[fid_B];
-
-    // the running coordinate along the shared edge maps to the neighbor face:
-    //   dir=0: edge runs along a1, maps to a0_B = (ax+1)%3 = a1 → q0_B
-    //   dir=1: edge runs along a0, maps to a1_B = (ax+2)%3 = a0 → q1_B
-    // the boundary position maps to the other axis on face B (= nax of face A):
-    //   q_boundary = sign_f ? cells[nax]-1 : 0
-    int q_run = (dir == 0) ? q1 : q0;
-    int q_boundary = sign_f ? (cells[nax]-1) : 0;
-    int q0_B, q1_B;
-    if (dir == 0) {
-      q0_B = q_run;
-      q1_B = q_boundary;
-      local_B[0] = 0.5;
-      local_B[1] = sign_f ? 1.0 : 0.0;
-    } else {
-      q0_B = q_boundary;
-      q1_B = q_run;
-      local_B[0] = sign_f ? 1.0 : 0.0;
-      local_B[1] = 0.5;
-    }
-    return {fid_B, q0_B * nc1_B + q1_B};
-  };
-
-  struct BendEdge {
-    int fe_A, fe_B;          // global face element indices (for runtime)
-    int fid_A, fid_B;        // face id (0-5)
-    int within_A, within_B;  // within-face element index
-    double local_A[2];
-    double local_B[2];
-  };
-  std::vector<BendEdge> edges;
-
-  // enumerate all edges: for each face element, check 4 neighbors
-  // (2 directions × 2 sides). Add each edge once via fe_A < fe_B.
-  for (int f = 0; f < 6; f++) {
-    int nc0 = face_count0[f];
-    int nc1 = face_count1[f];
-    for (int q0 = 0; q0 < nc0; q0++) {
-      for (int q1 = 0; q1 < nc1; q1++) {
-        int within_A = q0 * nc1 + q1;
-        int fe_A = face_cumul[f] + within_A;
-
-        for (int dir = 0; dir < 2; dir++) {
-          for (int side = -1; side <= 1; side += 2) {
-            double lA[2], lB[2];
-            auto [fid_B, within_B] = get_neighbor(f, q0, q1, dir, side, lA, lB);
-            int fe_B = face_cumul[fid_B] + within_B;
-            if (fe_A < fe_B) {
-              BendEdge e;
-              e.fe_A = fe_A;  e.fid_A = f;      e.within_A = within_A;
-              e.fe_B = fe_B;  e.fid_B = fid_B;  e.within_B = within_B;
-              mjuu_copyvec(e.local_A, lA, 2);
-              mjuu_copyvec(e.local_B, lB, 2);
-              edges.push_back(e);
-            }
-          }
-        }
-      }
-    }
-  }
-
-  // compute per-edge bending data
-  const int BEND_EDGE_SIZE = 10;  // should match engine_passive.c
-  bending.resize(1 + edges.size() * BEND_EDGE_SIZE, 0);
-  bending[0] = static_cast<double>(edges.size());
-
-  for (int e = 0; e < (int)edges.size(); e++) {
-    const BendEdge& edge = edges[e];
-    std::vector<double> fpos_A, fpos_B;
-    gather_face_nodes(edge.fid_A, edge.within_A, fpos_A);
-    gather_face_nodes(edge.fid_B, edge.within_B, fpos_B);
-
-    // compute rest normals at edge midpoint
-    double n_A[3], t1_A[3], t2_A[3];
-    double n_B[3], t1_B[3], t2_B[3];
-    compute_normal(fpos_A, edge.local_A, n_A, t1_A, t2_A);
-    compute_normal(fpos_B, edge.local_B, n_B, t1_B, t2_B);
-
-    // normalize
-    double len_A = mjuu_normvec(n_A, 3);
-    double len_B = mjuu_normvec(n_B, 3);
-    if (len_A < 1e-12 || len_B < 1e-12) continue;
-
-    // rest normal jump
-    double dn0[3] = {n_A[0]-n_B[0], n_A[1]-n_B[1], n_A[2]-n_B[2]};
-
-    // stiffness coefficient: D * l_e / h_e
-    // determine which tangent is along vs across the edge for each face:
-    //   local[k] == 0.5 means parametric direction k runs along the edge
-    double h_A, l_A, h_B, l_B;
-    if (edge.local_A[0] == 0.5) {
-      // edge runs along ξ on face A: t1 is along edge, t2 is across
-      l_A = mjuu_normvec(t1_A, 3);
-      h_A = mjuu_normvec(t2_A, 3);
-    } else {
-      // edge runs along η on face A: t2 is along edge, t1 is across
-      h_A = mjuu_normvec(t1_A, 3);
-      l_A = mjuu_normvec(t2_A, 3);
-    }
-    if (edge.local_B[0] == 0.5) {
-      l_B = mjuu_normvec(t1_B, 3);
-      h_B = mjuu_normvec(t2_B, 3);
-    } else {
-      h_B = mjuu_normvec(t1_B, 3);
-      l_B = mjuu_normvec(t2_B, 3);
-    }
-    double h_avg = (h_A + h_B) / 2;
-    double l_avg = (l_A + l_B) / 2;
-    double stiffness_coeff = D_bend * l_avg / mjMAX(h_avg, 1e-12);
-
-    // pack into bending array
-    double* edata = bending.data() + 1 + e * BEND_EDGE_SIZE;
-    edata[0] = static_cast<double>(edge.fe_A);
-    edata[1] = static_cast<double>(edge.fe_B);
-    edata[2] = edge.local_A[0];
-    edata[3] = edge.local_A[1];
-    edata[4] = edge.local_B[0];
-    edata[5] = edge.local_B[1];
-    edata[6] = stiffness_coeff;
-    edata[7] = dn0[0];
-    edata[8] = dn0[1];
-    edata[9] = dn0[2];
-  }
-}
-
-
-// compiler
-void mjCFlex::Compile(const mjVFS* vfs) {
-  CopyFromSpec();
-  interpolated = !nodebody_.empty();
-
-  // set nelem; check sizes
-  if (dim < 1 || dim > 3) {
-    throw mjCError(this, "dim must be 1, 2 or 3");
-  }
-  if (elem_.empty()) {
-    throw mjCError(this, "elem is empty");
-  }
-  if (elem_.size() % (dim+1)) {
-    throw mjCError(this, "elem size must be multiple of (dim+1)");
-  }
-  if (vertbody_.empty() && !interpolated) {
-    throw mjCError(this, "vertbody and nodebody are both empty");
-  }
-  if (vert_.size() % 3) {
-    throw mjCError(this, "vert size must be a multiple of 3");
-  }
-  if (edgestiffness > 0 && dim > 1) {
-    throw mjCError(this, "edge stiffness only available for dim=1, please use elasticity plugins");
-  }
-  if (interpolated && selfcollide != mjFLEXSELF_NONE) {
-    throw mjCError(this, "trilinear interpolation cannot do self-collision");
-  }
-  if (interpolated && internal) {
-    throw mjCError(this, "trilinear interpolation cannot do internal collisions");
-  }
-  nelem = (int)elem_.size()/(dim+1);
-
-  // elastic2d checks
-  if (elastic2d) {
-    if (thickness <= 0) {
-      throw mjCError(this, "2d elasticity requires positive thickness");
-    }
-    if (poisson < 0.0 || poisson >= 0.5) {
-      throw mjCError(this, "Poisson ratio must be in [0, 0.5)");
-    }
-    if (dim != 2 && !interpolated) {
-      throw mjCError(this, "2d elasticity requires 2d flex");
-    }
-  }
-
-  // set nvert, rigid, centered; check size
-  if (vert_.empty()) {
-    centered = true;
-    nvert = (int)vertbody_.size();
-  }
-  else {
-    nvert = (int)vert_.size()/3;
-    if (vertbody_.size() == 1) {
-      rigid = true;
-    } else if (vertbody_.size() != nvert) {
-      throw mjCError(this, "vertbody size must be 1 or nvert");
-    }
-  }
-  if (nvert < dim+1) {
-    throw mjCError(this, "not enough vertices");
-  }
-
-  // set nnode
-  nnode = static_cast<int>(nodebody_.size());
-  if (nnode && !spec.order) {
-    throw mjCError(this, "Interpolation order must be explicitly specified (dof is missing)");
-  }
-
-  // check node compatibility with count and dof
-  if (spec.order > 0) {
-    if (spec.cellcount[0] == 0 || spec.cellcount[1] == 0 || spec.cellcount[2] == 0) {
-      throw mjCError(this, "cellcount cannot be 0 in any dimension when interpolation order > 0");
-    }
-
-    int expected_nodes = (spec.cellcount[0] * spec.order + 1) *
-                         (spec.cellcount[1] * spec.order + 1) *
-                         (spec.cellcount[2] * spec.order + 1);
-    if (nnode != expected_nodes) {
-      std::string msg = "number of nodes (" + std::to_string(nnode) +
-                        ") does not match cellcount and dof expected (" +
-                        std::to_string(expected_nodes) + ")";
-      throw mjCError(this, msg.c_str());
-    }
-  }
-
-  // check elem vertex ids
-  for (const auto& elem : elem_) {
-    if (elem < 0 || elem >= nvert) {
-      throw mjCError(this, "elem vertex id out of range");
-    }
-  }
-
-  // check texcoord
-  if (!texcoord_.empty() && texcoord_.size() != 2*nvert && elemtexcoord_.empty()) {
-    throw mjCError(this, "two texture coordinates per vertex expected");
-  }
-
-  // no elemtexcoord: copy from faces
-  if (elemtexcoord_.empty() && !texcoord_.empty()) {
-    elemtexcoord_.assign((dim + 1) * nelem, 0);
-    memcpy(elemtexcoord_.data(), elem_.data(), (dim + 1) * nelem * sizeof(int));
-  }
-
-  // resolve material name
-  mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material_);
-  if (pmat) {
-    matid = pmat->id;
-  } else if (!material_.empty()) {
-    throw mjCError(this, "unknown material '%s' in flex", material_.c_str());
-  }
-
-  // resolve body ids
-  ResolveReferences(model);
-
-  // process elements
-  for (int e=0; e < (int)elem_.size()/(dim+1); e++) {
-    // make sorted copy of element
-    std::vector<int> el;
-    el.assign(elem_.begin()+e*(dim+1), elem_.begin()+(e+1)*(dim+1));
-    std::sort(el.begin(), el.end());
-
-    // check for repeated vertices
-    for (int k=0; k < dim; k++) {
-      if (el[k] == el[k+1]) {
-        throw mjCError(this, "repeated vertex in element");
-      }
-    }
-  }
-
-  // determine rigid if not already set
-  if (!rigid && !interpolated) {
-    rigid = true;
-    for (unsigned i=1; i < vertbodyid.size(); i++) {
-      if (vertbodyid[i] != vertbodyid[0]) {
-        rigid = false;
-        break;
-      }
-    }
-  }
-
-  // determine centered if not already set
-  if (!centered && !interpolated) {
-    centered = true;
-    for (const auto& vert : vert_) {
-      if (vert != 0) {
-        centered = false;
-        break;
-      }
-    }
-  }
-
-  if (!centered && interpolated) {
-    centered = true;
-    for (const auto& node : node_) {
-      if (node != 0) {
-        centered = false;
-        break;
-      }
-    }
-  }
-
-  // compute global vertex positions
-  vertxpos = std::vector<double> (3*nvert);
-  for (int i=0; i < nvert; i++) {
-    // get body id, set vertxpos = body.xpos0
-    int b = rigid ? vertbodyid[0] : vertbodyid[i];
-    mjuu_copyvec(vertxpos.data()+3*i, model->Bodies()[b]->xpos0, 3);
-
-    // add vertex offset within body if not centered
-    if (!centered || interpolated) {
-      double offset[3];
-      mjuu_rotVecQuat(offset, vert_.data()+3*i, model->Bodies()[b]->xquat0);
-      mjuu_addtovec(vertxpos.data()+3*i, offset, 3);
-    }
-
-    if (interpolated) {
-      // this should happen in ResolveReferences but we need a body id in this loop to compute
-      // the global vertex position, this is a hack since it is the id of the parent body
-      vertbodyid[i] = -1;
-    }
-  }
-
-  // compute global node positions
-  std::vector<double> nodexpos = std::vector<double> (3*nnode);
-  for (int i=0; i < nnode; i++) {
-    // get body id, set nodexpos = body.xpos0
-    int b = nodebodyid[i];
-    mjuu_copyvec(nodexpos.data()+3*i, model->Bodies()[b]->xpos0, 3);
-
-    // add node offset within body if not centered
-    if (!centered) {
-      double offset[3];
-      mjuu_rotVecQuat(offset, node_.data()+3*i, model->Bodies()[b]->xquat0);
-      mjuu_addtovec(nodexpos.data()+3*i, offset, 3);
-    }
-  }
-
-  // compute unrotated node positions for stiffness computation
-  double R0[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};  // identity by default
-  std::vector<double> nodexpos_local = ComputeUnrotatedNodePositions(nodexpos, R0);
-
-  // reorder tetrahedra so right-handed face orientation is outside
-  // faces are (0,1,2); (0,2,3); (0,3,1); (1,3,2)
-  if (dim == 3) {
-    for (int e=0; e < nelem; e++) {
-      const int* edata = elem_.data() + e*(dim+1);
-      double* v0 = vertxpos.data() + 3*edata[0];
-      double* v1 = vertxpos.data() + 3*edata[1];
-      double* v2 = vertxpos.data() + 3*edata[2];
-      double* v3 = vertxpos.data() + 3*edata[3];
-      double v01[3] = {v1[0]-v0[0], v1[1]-v0[1], v1[2]-v0[2]};
-      double v02[3] = {v2[0]-v0[0], v2[1]-v0[1], v2[2]-v0[2]};
-      double v03[3] = {v3[0]-v0[0], v3[1]-v0[1], v3[2]-v0[2]};
-
-      // detect wrong orientation
-      double nrm[3];
-      mjuu_crossvec(nrm, v01, v02);
-      if (mjuu_dot3(nrm, v03) > 0) {
-        // flip orientation
-        int tmp = elem_[e*(dim+1)+1];
-        elem_[e*(dim+1)+1] = elem_[e*(dim+1)+2];
-        elem_[e*(dim+1)+2] = tmp;
-      }
-    }
-  }
-
-  // create edges
-  edgeidx_.assign(elem_.size()*kNumEdges[dim-1]/(dim+1), 0);
-
-  // map from edge vertices to their index in `edges` vector
-  std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
-
-  // insert local edges into global vector
-  for (unsigned f = 0; f < elem_.size()/(dim+1); f++) {
-    int* v = elem_.data() + f*(dim+1);
-    for (int e = 0; e < kNumEdges[dim-1]; e++) {
-      auto pair = std::pair(
-        min(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]),
-        max(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]));
-
-      // if edge is already present in the vector only store its index
-      auto [it, inserted] = edge_indices.insert({pair, nedge});
-
-      if (inserted) {
-        edge.push_back(pair);
-        edgeidx_[f*kNumEdges[dim-1]+e] = nedge++;
-      } else {
-        edgeidx_[f*kNumEdges[dim-1]+e] = it->second;
-      }
-    }
-  }
-
-  // set size
-  nedge = (int)edge.size();
-
-  // create flap stencil
-  if (dim == 2) {
-    CreateFlapStencil(flaps, elem_, edgeidx_);
-  }
-
-  // compute elasticity
-  if (young > 0) {
-    if (poisson < 0 || poisson >= 0.5) {
-      throw mjCError(this, "Poisson ratio must be in [0, 0.5)");
-    }
-
-    // linear elasticity
-    if (!interpolated) {
-      stiffness.assign(21 * nelem, 0);
-    }
-
-    // geometrically nonlinear elasticity
-    for (unsigned int t = 0; t < nelem; t++) {
-      if (interpolated) {
-        continue;
-      }
-      if (dim == 2 && elastic2d >= 2 && thickness > 0) {
-        ComputeStiffness<Stencil2D>(stiffness, vertxpos,
-                                    elem_.data() + (dim + 1) * t, t, young,
-                                    poisson, thickness);
-      } else if (dim == 3) {
-        ComputeStiffness<Stencil3D>(stiffness, vertxpos,
-                                    elem_.data() + (dim + 1) * t, t, young,
-                                    poisson);
-      }
-    }
-
-    // bending stiffness (2D only)
-    if (dim == 2 && (elastic2d == 1 || elastic2d == 3) && !interpolated) {
-      bending.assign(nedge*17, 0);
-
-      for (unsigned int e = 0; e < nedge; e++) {
-        ComputeBending<StencilFlap>(bending.data() + 17 * e, vertxpos.data(), flaps[e].vertices,
-                                    young / (2 * (1 + poisson)), thickness);
-      }
-    }
-  }
-
-  // placeholder for setting plugins parameters, currently not used
-  for (const auto& vbodyid : vertbodyid) {
-    if (vbodyid < 0) {
-      continue;
-    }
-    if (model->Bodies()[vbodyid]->plugin.element) {
-      mjCPlugin* plugin_instance =
-        static_cast<mjCPlugin*>(model->Bodies()[vbodyid]->plugin.element);
-      if (!plugin_instance) {
-        throw mjCError(this, "plugin instance not found");
-      }
-    }
-  }
-
-  // create shell fragments and element-vertex collision pairs
-  CreateShellPair();
-
-  // recompute cell_empty from vertex/element geometry (volume mode only)
-  // (survives XML round-trips where flexcomp data is lost)
-  if (interpolated && !elastic2d && cell_empty.empty()) {
-    int cx = spec.cellcount[0], cy = spec.cellcount[1], cz = spec.cellcount[2];
-    if (cx * cy * cz > 1) {
-      ComputeCellEmpty(vertxpos.data(), elem_.data(), nvert, nelem, dim);
-    }
-  }
-
-  // compute linear stiffness for interpolated elements (cached)
-  bool stiffness_cached = false;
-  if (young > 0 && interpolated) {
-    stiffness_cached = LoadCachedStiffness();
-  }
-
-  // check if any strain equality references this flex
-  for (auto* equality : model->Equalities()) {
-    if (equality->spec.type == mjEQ_FLEXSTRAIN && *equality->spec.name1 == name) {
-      has_strain_eq = true;
-      break;
-    }
-  }
-
-  if (!stiffness_cached && interpolated && (young > 0 || has_strain_eq)) {
-    // use young=1 for strain constraints (eigenvectors are geometry-only)
-    double K_young = has_strain_eq ? 1e1 : young;
-    double K_poisson = has_strain_eq ? 0.3 : poisson;
-
-    int cx = spec.cellcount[0], cy = spec.cellcount[1], cz = spec.cellcount[2];
-    int ny_global = cy * spec.order + 1;
-    int nz_global = cz * spec.order + 1;
-
-    // determine element type: 2D boundary quads (shell) or 3D cells (volume)
-    bool shell_mode = elastic2d != 0;
-    int npe;       // nodes per element
-    int nelem_fe;  // total finite elements
-
-    if (shell_mode) {
-      npe = pow(spec.order + 1, 2);   // (order+1)^2 for 2D quads
-      nelem_fe = 2*(cy*cz + cx*cz + cx*cy);
-    } else {
-      npe = pow(spec.order + 1, 3);   // (order+1)^3 for 3D cells
-      nelem_fe = cx * cy * cz;
-    }
-    int ndof_elem = 3 * npe;
-
-    // total stiffness = nelem_fe * ndof_elem^2
-    stiffness.resize(nelem_fe * ndof_elem * ndof_elem, 0);
-
-    // face layout for shell mode:
-    //   face 0: x=0     (cy*cz quads, normal=0, in-plane=(1,2))
-    //   face 1: x=max   (cy*cz quads, normal=0, in-plane=(1,2))
-    //   face 2: y=0     (cx*cz quads, normal=1, in-plane=(0,2))
-    //   face 3: y=max   (cx*cz quads, normal=1, in-plane=(0,2))
-    //   face 4: z=0     (cx*cy quads, normal=2, in-plane=(0,1))
-    //   face 5: z=max   (cx*cy quads, normal=2, in-plane=(0,1))
-    // face_sizes = {cy*cz, cy*cz, cx*cz, cx*cz, cx*cy, cx*cy}
-    int face_sizes[6] = {cy*cz, cy*cz, cx*cz, cx*cz, cx*cy, cx*cy};
-    int face_normal[6] = {0, 0, 1, 1, 2, 2};
-    // cell counts along each in-plane axis for each face
-    int face_count1[6] = {cz, cz, cx, cx, cy, cy};  // fast axis count
-    // fixed axis value (in grid node units, 0 or max)
-    int face_fixed[6] = {0, cx*spec.order, 0, cy*spec.order, 0, cz*spec.order};
-
-    // compute stiffness per element
-    for (int fe = 0; fe < nelem_fe; fe++) {
-      // gather element node positions
-      std::vector<double> elem_pos(3 * npe);
-      int normal_axis = -1;
-
-      if (shell_mode) {
-        // determine which face and quad within face
-        int face_id = 0, within_face = fe;
-        int cumul = 0;
-        for (int f = 0; f < 6; f++) {
-          if (fe < cumul + face_sizes[f]) {
-            face_id = f;
-            within_face = fe - cumul;
-            break;
-          }
-          cumul += face_sizes[f];
-        }
-
-        normal_axis = face_normal[face_id];
-        int na0 = (normal_axis + 1) % 3;  // slow in-plane axis
-        int na1 = (normal_axis + 2) % 3;  // fast in-plane axis
-        int c1 = face_count1[face_id];    // cell count along fast axis
-        int g_fixed = face_fixed[face_id];  // grid index along normal axis
-        int q0 = within_face / c1;        // quad index along slow in-plane axis
-        int q1 = within_face % c1;        // quad index along fast in-plane axis
-
-        // gather 2D face element nodes
-        int local = 0;
-        for (int l0 = 0; l0 <= spec.order; l0++) {
-          for (int l1 = 0; l1 <= spec.order; l1++) {
-            // build global node index from 3 axis values
-            int g[3];
-            g[normal_axis] = g_fixed;
-            g[na0] = q0 * spec.order + l0;
-            g[na1] = q1 * spec.order + l1;
-            int global = g[0] * ny_global * nz_global + g[1] * nz_global + g[2];
-            mjuu_copyvec(elem_pos.data() + 3*local,
-                         nodexpos_local.data() + 3*global, 3);
-            local++;
-          }
-        }
-      } else {
-        // 3D cell: convert flat index to (ci, cj, ck)
-        int ci = fe / (cy * cz);
-        int cj = (fe / cz) % cy;
-        int ck = fe % cz;
-
-        // skip stiffness computation for empty cells (no mesh content)
-        if (!cell_empty.empty() && cell_empty[fe]) {
-          continue;
-        }
-
-        // gather cell's local node positions
-        int local = 0;
-        for (int li = 0; li <= spec.order; li++) {
-          for (int lj = 0; lj <= spec.order; lj++) {
-            for (int lk = 0; lk <= spec.order; lk++) {
-              int gi = ci * spec.order + li;
-              int gj = cj * spec.order + lj;
-              int gk = ck * spec.order + lk;
-              int global = gi * ny_global * nz_global + gj * nz_global + gk;
-              mjuu_copyvec(elem_pos.data() + 3*local,
-                           nodexpos_local.data() + 3*global, 3);
-              local++;
-            }
-          }
-        }
-      }
-
-      // compute per-element stiffness
-      std::vector<double> K_elem(ndof_elem * ndof_elem, 0);
-      if (shell_mode) {
-        ComputeLinearStiffness2D(K_elem, elem_pos.data(), K_young, K_poisson,
-                                 spec.order, thickness, normal_axis);
-      } else {
-        ComputeLinearStiffness(K_elem, elem_pos.data(), K_young, K_poisson,
-                               spec.order);
-      }
-      double* out = stiffness.data() + fe * ndof_elem * ndof_elem;
-
-      if (has_strain_eq) {
-        // eigendecompose: store [neig, sqrt(λ)*v_1, sqrt(λ)*v_2, ...]
-        std::fill(out, out + ndof_elem * ndof_elem, 0.0);
-
-        if (shell_mode) {
-          // pure membrane K: eigendecompose gives 5 membrane modes (Q1),
-          // then we add 1 explicit warp mode with bending stiffness (∝ t³)
-          int neig = EigendecomposeStiffness(K_elem.data(), out, ndof_elem);
-
-          // add explicit warp mode with plate bending stiffness
-          double warp_stiffness = ComputeWarpStiffness(
-              elem_pos.data(), npe, normal_axis, K_young, K_poisson, thickness);
-          if (warp_stiffness > 0) {
-            double* warp_out = out + 1 + neig * ndof_elem;
-            ComputeWarpMode(warp_out, elem_pos.data(), npe, spec.order,
-                            normal_axis);
-            // scale by sqrt(stiffness) to match eigenmode convention
-            double scale = std::sqrt(warp_stiffness);
-            for (int j = 0; j < ndof_elem; j++) {
-              warp_out[j] *= scale;
-            }
-            out[0] = static_cast<double>(neig + 1);
-          }
-        } else {
-          EigendecomposeStiffness(K_elem.data(), out, ndof_elem);
-        }
-      } else {
-        // store raw K for passive forces
-        std::copy(K_elem.begin(), K_elem.end(), out);
-      }
-    }
-  }
-
-  // compute interpolated shell bending edge data (independent of stiffness cache)
-  if (interpolated && (elastic2d == 1 || elastic2d == 3) && thickness > 0 && young > 0) {
-    ComputeInterpBending(bending, nodexpos_local, spec.order, spec.cellcount,
-                         young, poisson, thickness);
-  }
-
-  // create bounding volume hierarchy
-  CreateBVH();
-
-  // compute bounding box coordinates
-  vert0_.assign(3*nvert, 0);
-
-  if (interpolated && nnode > 0) {
-    // for interpolated flex, compute vert0_ in the unrotated local frame
-    // to make parametric coordinates rotation-invariant
-    std::vector<double> vertxpos_local(3*nvert);
-    for (int j = 0; j < nvert; j++) {
-      mjuu_mulvecmat(vertxpos_local.data()+3*j, vertxpos.data()+3*j, R0);
-    }
-
-    // compute local-frame bounding box from unrotated node positions
-    double lo[3] = {1e30, 1e30, 1e30};
-    double hi[3] = {-1e30, -1e30, -1e30};
-    for (int i = 0; i < nnode; i++) {
-      for (int k = 0; k < 3; k++) {
-        lo[k] = std::min(lo[k], nodexpos_local[3*i+k]);
-        hi[k] = std::max(hi[k], nodexpos_local[3*i+k]);
-      }
-    }
-
-    // set size from local bounding box
-    for (int k = 0; k < 3; k++) {
-      size[k] = (hi[k] - lo[k]) / 2;
-    }
-
-    // normalize vertex positions within local bounding box
-    for (int j = 0; j < nvert; j++) {
-      for (int k = 0; k < 3; k++) {
-        double extent = hi[k] - lo[k];
-        if (extent > mjMINVAL) {
-          vert0_[3*j+k] = (vertxpos_local[3*j+k] - lo[k]) / extent;
-        } else {
-          vert0_[3*j+k] = 0.5;
-        }
-      }
-    }
-  } else {
-    // non-interpolated: use BVH bounding box (original behavior)
-    const mjtNum* bvh = tree.Bvh().data();
-    size[0] = bvh[3] - radius;
-    size[1] = bvh[4] - radius;
-    size[2] = bvh[5] - radius;
-    for (int j=0; j < nvert; j++) {
-      for (int k=0; k < 3; k++) {
-        if (size[k] > mjMINVAL) {
-          vert0_[3*j+k] = (vertxpos[3*j+k] - bvh[k]) / (2*size[k]) + 0.5;
-        } else {
-          vert0_[3*j+k] = 0.5;
-        }
-      }
-    }
-  }
-
-  // store node positions in unrotated (body-local) frame
-  // this ensures the runtime displacement refpos - R^{-1}*x is zero at rest
-  node0_.assign(3*nnode, 0);
-  for (int i=0; i < nnode; i++) {
-    mjuu_copyvec(node0_.data()+3*i, nodexpos_local.data()+3*i, 3);
-  }
-}
-
-
-// compute unrotated node positions for stiffness computation and node0_
-//
-// the runtime corotational code extracts rotation R from the deformation
-// gradient and computes displacement as R^{-1}*x - refpos; at rest R = R0
-// (the total grid rotation), so refpos must equal R0^{-1}*nodexpos to get
-// zero displacement at rest; additionally, the stiffness eigenvectors must
-// be computed from axis-aligned positions to preserve the diagonal Jacobian
-// assumption in ComputeLinearStiffness.
-std::vector<double> mjCFlex::ComputeUnrotatedNodePositions(
-    const std::vector<double>& nodexpos, double* R0_out) const {
-  std::vector<double> nodexpos_local(3*nnode);
-  if (interpolated && nnode > 0) {
-    int ny_global = spec.cellcount[1] * spec.order + 1;
-    int nz_global = spec.cellcount[2] * spec.order + 1;
-
-    // find first non-empty cell
-    int cx = spec.cellcount[0], cy = spec.cellcount[1], cz = spec.cellcount[2];
-    int ref_ci = 0, ref_cj = 0, ref_ck = 0;
-    bool found = false;
-    for (int ci = 0; ci < cx && !found; ci++) {
-      for (int cj = 0; cj < cy && !found; cj++) {
-        for (int ck = 0; ck < cz && !found; ck++) {
-          int cell_idx = ci * cy * cz + cj * cz + ck;
-          if (cell_empty.empty() || !cell_empty[cell_idx]) {
-            ref_ci = ci; ref_cj = cj; ref_ck = ck;
-            found = true;
-          }
-        }
-      }
-    }
-
-    // corner indices of the reference cell (order=1 corners at local 0,0,0
-    // and at offsets along each parametric axis)
-    int g000 = (ref_ci * spec.order) * ny_global * nz_global +
-               (ref_cj * spec.order) * nz_global +
-               (ref_ck * spec.order);
-    int g100 = ((ref_ci * spec.order) + spec.order) * ny_global * nz_global +
-               (ref_cj * spec.order) * nz_global +
-               (ref_ck * spec.order);
-    int g010 = (ref_ci * spec.order) * ny_global * nz_global +
-               ((ref_cj * spec.order) + spec.order) * nz_global +
-               (ref_ck * spec.order);
-    int g001 = (ref_ci * spec.order) * ny_global * nz_global +
-               (ref_cj * spec.order) * nz_global +
-               ((ref_ck * spec.order) + spec.order);
-
-    // edge vectors (columns of the deformation gradient F = R * S)
-    // we store them as rows in R0 to use mjuu_mulvecmat for applying R0^{-1}
-    double R0[9];
-    for (int d = 0; d < 3; d++) {
-      R0[0+d] = nodexpos[3*g100 + d] - nodexpos[3*g000 + d];
-      R0[3+d] = nodexpos[3*g010 + d] - nodexpos[3*g000 + d];
-      R0[6+d] = nodexpos[3*g001 + d] - nodexpos[3*g000 + d];
-    }
-
-    // normalize to get rotation matrix columns (valid for regular grids)
-    double li = mjuu_normvec(R0+0, 3);
-    double lj = mjuu_normvec(R0+3, 3);
-    double lk = mjuu_normvec(R0+6, 3);
-    (void)li; (void)lj; (void)lk;
-
-    // assert R0 is orthonormal (rows are the normalized edge vectors)
-    for (int a = 0; a < 3; a++) {
-      for (int b = a; b < 3; b++) {
-        double dot = mjuu_dot3(R0 + 3*a, R0 + 3*b);
-        double expected = (a == b) ? 1.0 : 0.0;
-        if (std::abs(dot - expected) > 1e-8) {
-          throw mjCError(this, "flex grid rotation R0 is not orthonormal");
-        }
-      }
-    }
-
-    // output R0 if requested
-    if (R0_out) {
-      mjuu_copyvec(R0_out, R0, 9);
-    }
-
-    // apply inverse rotation to each nodexpos to get local-frame positions
-    for (int i = 0; i < nnode; i++) {
-      const double* p = nodexpos.data() + 3*i;
-      double* q = nodexpos_local.data() + 3*i;
-      mjuu_mulvecmat(q, p, R0);
-    }
-  } else {
-    nodexpos_local = nodexpos;
-  }
-  return nodexpos_local;
-}
-
-
-// identify cells with no mesh content from vertex/element geometry
-void mjCFlex::ComputeCellEmpty(const double* vpos, const int* elems,
-                               int nv, int ne, int fdim,
-                               const double* bbox) {
-  int cx = spec.cellcount[0];
-  int cy = spec.cellcount[1];
-  int cz = spec.cellcount[2];
-  int ncells = cx * cy * cz;
-
-  // use precomputed bounding box if provided, otherwise compute from vertices
-  double minmax[6];
-  if (bbox) {
-    for (int j = 0; j < 6; j++) minmax[j] = bbox[j];
-  } else {
-    minmax[0] = minmax[1] = minmax[2] = 1e30;
-    minmax[3] = minmax[4] = minmax[5] = -1e30;
-    for (int i = 0; i < nv; i++) {
-      for (int j = 0; j < 3; j++) {
-        minmax[j+0] = std::min(minmax[j+0], vpos[3*i+j]);
-        minmax[j+3] = std::max(minmax[j+3], vpos[3*i+j]);
-      }
-    }
-  }
-
-  double dx = minmax[3] - minmax[0];
-  double dy = minmax[4] - minmax[1];
-  double dz = minmax[5] - minmax[2];
-
-  // determine which cells contain mesh elements
-  std::vector<bool> has_element(ncells, false);
-  int nvpe = fdim + 1;
-
-  if (nvpe > 0 && ne > 0) {
-    for (int e = 0; e < ne; e++) {
-      // compute element AABB
-      double elo[3] = {1e30, 1e30, 1e30};
-      double ehi[3] = {-1e30, -1e30, -1e30};
-      for (int v = 0; v < nvpe; v++) {
-        int vid = elems[nvpe * e + v];
-        for (int j = 0; j < 3; j++) {
-          elo[j] = std::min(elo[j], vpos[3 * vid + j]);
-          ehi[j] = std::max(ehi[j], vpos[3 * vid + j]);
-        }
-      }
-
-      // map element AABB to cell range
-      auto cellIdx = [](double coord, double lo, double d, int nc) {
-        if (d <= 0) return 0;
-        int c = (int)((coord - lo) / d * nc);
-        return std::max(0, std::min(nc - 1, c));
-      };
-
-      int ci0 = cellIdx(elo[0], minmax[0], dx, cx);
-      int ci1 = cellIdx(ehi[0], minmax[0], dx, cx);
-      int cj0 = cellIdx(elo[1], minmax[1], dy, cy);
-      int cj1 = cellIdx(ehi[1], minmax[1], dy, cy);
-      int ck0 = cellIdx(elo[2], minmax[2], dz, cz);
-      int ck1 = cellIdx(ehi[2], minmax[2], dz, cz);
-
-      for (int ci = ci0; ci <= ci1; ci++) {
-        for (int cj = cj0; cj <= cj1; cj++) {
-          for (int ck = ck0; ck <= ck1; ck++) {
-            has_element[ci * cy * cz + cj * cz + ck] = true;
-          }
-        }
-      }
-    }
-  }
-
-  cell_empty.assign(ncells, false);
-
-  // for dim=2 (surface mesh): flood-fill from boundary to find exterior cells
-  if (fdim == 2 && nvpe == 3 && ne > 0) {
-    std::vector<bool> visited(ncells, false);
-    std::queue<std::array<int, 3>> bfs;
-
-    // seed BFS from boundary cells that have no elements
-    for (int ci = 0; ci < cx; ci++) {
-      for (int cj = 0; cj < cy; cj++) {
-        for (int ck = 0; ck < cz; ck++) {
-          if (ci == 0 || ci == cx - 1 ||
-              cj == 0 || cj == cy - 1 ||
-              ck == 0 || ck == cz - 1) {
-            int idx = ci * cy * cz + cj * cz + ck;
-            if (!has_element[idx] && !visited[idx]) {
-              visited[idx] = true;
-              cell_empty[idx] = true;
-              bfs.push({ci, cj, ck});
-            }
-          }
-        }
-      }
-    }
-
-    // BFS: spread through non-element cells
-    const int dirs[6][3] = {
-        {-1, 0, 0}, {1, 0, 0},  {0, -1, 0},
-        {0, 1, 0},  {0, 0, -1}, {0, 0, 1}};
-    while (!bfs.empty()) {
-      auto [ci, cj, ck] = bfs.front();
-      bfs.pop();
-      for (auto& d : dirs) {
-        int ni = ci + d[0], nj = cj + d[1], nk = ck + d[2];
-        if (ni < 0 || ni >= cx ||
-            nj < 0 || nj >= cy ||
-            nk < 0 || nk >= cz) {
-          continue;
-        }
-        int nidx = ni * cy * cz + nj * cz + nk;
-        if (!visited[nidx] && !has_element[nidx]) {
-          visited[nidx] = true;
-          cell_empty[nidx] = true;
-          bfs.push({ni, nj, nk});
-        }
-      }
-    }
-  } else {
-    // dim!=2: cells without element overlap are empty
-    for (int c = 0; c < ncells; c++) {
-      cell_empty[c] = !has_element[c];
-    }
-  }
-}
-
-
-// create flex BVH
-void mjCFlex::CreateBVH() {
-  int nbvh = 0;
-
-  // allocate element bounding boxes
-  elemaabb_.resize(6*nelem);
-  tree.AllocateBoundingVolumes(nelem);
-
-  // construct element bounding boxes, add to hierarchy
-  for (int e=0; e < nelem; e++) {
-    const int* edata = elem_.data() + e*(dim+1);
-
-    // skip inactive in 3D
-    if (dim == 3 && elemlayer[e] >= activelayers) {
-      continue;
-    }
-
-    // compute min and max along each global axis
-    double xmin[3], xmax[3];
-    mjuu_copyvec(xmin, vertxpos.data() + 3*edata[0], 3);
-    mjuu_copyvec(xmax, vertxpos.data() + 3*edata[0], 3);
-    for (int i=1; i <= dim; i++) {
-      for (int j=0; j < 3; j++) {
-        xmin[j] = std::min(xmin[j], vertxpos[3*edata[i]+j]);
-        xmax[j] = std::max(xmax[j], vertxpos[3*edata[i]+j]);
-      }
-    }
-
-    // compute aabb (center, size)
-    elemaabb_[6*e+0] = 0.5*(xmax[0]+xmin[0]);
-    elemaabb_[6*e+1] = 0.5*(xmax[1]+xmin[1]);
-    elemaabb_[6*e+2] = 0.5*(xmax[2]+xmin[2]);
-    elemaabb_[6*e+3] = 0.5*(xmax[0]-xmin[0]) + radius;
-    elemaabb_[6*e+4] = 0.5*(xmax[1]-xmin[1]) + radius;
-    elemaabb_[6*e+5] = 0.5*(xmax[2]-xmin[2]) + radius;
-
-    // add bounding volume for this element
-    // contype and conaffinity are set to nonzero to force bvh generation
-    const double* aabb = elemaabb_.data() + 6*e;
-    tree.AddBoundingVolume(e, 1, 1, aabb, nullptr, aabb);
-    nbvh++;
-  }
-
-  // create hierarchy
-  tree.RemoveInactiveVolumes(nbvh);
-  tree.CreateBVH(model, this);
-}
-
-
-
-// create shells and element-vertex collision pairs
-void mjCFlex::CreateShellPair(void) {
-  std::vector<std::vector<int> > fragspec(nelem*(dim+1));   // [sorted frag vertices, elem, original frag vertices]
-  std::vector<std::vector<int> > connectspec;               // [elem1, elem2, common sorted frag vertices]
-  std::vector<bool> border(nelem, false);              // is element on the border
-  std::vector<bool> borderfrag(nelem*(dim+1), false);  // is fragment on the border
-
-  // make fragspec
-  for (int e=0; e < nelem; e++) {
-    int n = e*(dim+1);
-
-    // element vertices in original (unsorted) order
-    std::vector<int> el;
-    el.assign(elem_.begin()+n, elem_.begin()+n+dim+1);
-
-    // line: 2 vertex fragments
-    if (dim == 1) {
-      fragspec[n].push_back(el[0]);
-      fragspec[n].push_back(e);
-      fragspec[n].push_back(el[0]);
-
-      fragspec[n+1].push_back(el[1]);
-      fragspec[n+1].push_back(e);
-      fragspec[n+1].push_back(el[1]);
-    }
-
-    // triangle: 3 edge fragments
-    else if (dim == 2) {
-      fragspec[n].push_back(el[0]);
-      fragspec[n].push_back(el[1]);
-      fragspec[n].push_back(e);
-      fragspec[n].push_back(el[0]);
-      fragspec[n].push_back(el[1]);
-
-      fragspec[n+2].push_back(el[1]);
-      fragspec[n+2].push_back(el[2]);
-      fragspec[n+2].push_back(e);
-      fragspec[n+2].push_back(el[1]);
-      fragspec[n+2].push_back(el[2]);
-
-      fragspec[n+1].push_back(el[2]);
-      fragspec[n+1].push_back(el[0]);
-      fragspec[n+1].push_back(e);
-      fragspec[n+1].push_back(el[2]);
-      fragspec[n+1].push_back(el[0]);
-    }
-
-    // tetrahedron: 4 face fragments
-    else {
-      fragspec[n].push_back(el[0]);
-      fragspec[n].push_back(el[1]);
-      fragspec[n].push_back(el[2]);
-      fragspec[n].push_back(e);
-      fragspec[n].push_back(el[0]);
-      fragspec[n].push_back(el[1]);
-      fragspec[n].push_back(el[2]);
-
-      fragspec[n+2].push_back(el[0]);
-      fragspec[n+2].push_back(el[2]);
-      fragspec[n+2].push_back(el[3]);
-      fragspec[n+2].push_back(e);
-      fragspec[n+2].push_back(el[0]);
-      fragspec[n+2].push_back(el[2]);
-      fragspec[n+2].push_back(el[3]);
-
-      fragspec[n+1].push_back(el[0]);
-      fragspec[n+1].push_back(el[3]);
-      fragspec[n+1].push_back(el[1]);
-      fragspec[n+1].push_back(e);
-      fragspec[n+1].push_back(el[0]);
-      fragspec[n+1].push_back(el[3]);
-      fragspec[n+1].push_back(el[1]);
-
-      fragspec[n+3].push_back(el[1]);
-      fragspec[n+3].push_back(el[3]);
-      fragspec[n+3].push_back(el[2]);
-      fragspec[n+3].push_back(e);
-      fragspec[n+3].push_back(el[1]);
-      fragspec[n+3].push_back(el[3]);
-      fragspec[n+3].push_back(el[2]);
-    }
-  }
-
-  // sort first segment of each fragspec
-  if (dim > 1) {
-    for (int n=0; n < nelem*(dim+1); n++) {
-      std::sort(fragspec[n].begin(), fragspec[n].begin()+dim);
-    }
-  }
-
-  // sort fragspec
-  std::sort(fragspec.begin(), fragspec.end());
-
-  // make border and connectspec, record borderfrag
-  int cnt = 1;
-  for (int n=1; n < nelem*(dim+1); n++) {
-    // extract frag vertices, without elem
-    std::vector<int> previous = {fragspec[n-1].begin(), fragspec[n-1].begin()+dim};
-    std::vector<int> current = {fragspec[n].begin(), fragspec[n].begin()+dim};
-
-    // same sequential fragments
-    if (previous == current) {
-      // found pair of elements connected by common fragment
-      std::vector<int> connect;
-      connect.insert(connect.end(), fragspec[n-1][dim]);
-      connect.insert(connect.end(), fragspec[n][dim]);
-      connect.insert(connect.end(), fragspec[n].begin(), fragspec[n].begin()+dim);
-      connectspec.push_back(connect);
-
-      // count same sequential fragments
-      cnt++;
-    }
-
-    // different sequential fragments
-    else {
-      // found border fragment
-      if (cnt == 1) {
-        border[fragspec[n-1][dim]] = true;
-        borderfrag[n-1] = true;
-      }
-
-      // reset count
-      cnt = 1;
-    }
-  }
-
-  // last fragment is border
-  if (cnt == 1) {
-    int n = nelem*(dim+1);
-    border[fragspec[n-1][dim]] = true;
-    borderfrag[n-1] = true;
-  }
-
-  // create shell
-  for (unsigned i=0; i < borderfrag.size(); i++) {
-    if (borderfrag[i]) {
-      // add fragment vertices, in original order
-      shell.insert(shell.end(), fragspec[i].begin()+dim+1, fragspec[i].end());
-    }
-  }
-
-  // compute elemlayer (distance from border) via value iteration in 3D
-  if (dim < 3) {
-    elemlayer = std::vector<int> (nelem, 0);
-  }
-  else {
-    elemlayer = std::vector<int> (nelem, nelem+1);   // init with greater than max value
-    for (int e=0; e < nelem; e++) {
-      if (border[e]) {
-        elemlayer[e] = 0;                       // set border elements to 0
-      }
-    }
-
-    bool change = true;
-    while (change) {                            // repeat while changes are happening
-      change = false;
-
-      // process edges of element connectivity graph
-      for (const auto& connect : connectspec) {
-        int e1 = connect[0];             // get element pair for this edge
-        int e2 = connect[1];
-        if (elemlayer[e1] > elemlayer[e2]+1) {
-          elemlayer[e1] = elemlayer[e2]+1;      // better value found for e1: update
-          change = true;
-        } else if (elemlayer[e2] > elemlayer[e1]+1) {
-          elemlayer[e2] = elemlayer[e1]+1;      // better value found for e2: update
-          change = true;
-        }
-      }
-    }
-  }
-
-  // create evpairs in 1D and 2D
-  if (dim < 3) {
-    // process connected element pairs containing a border element
-    for (const auto& connect : connectspec) {
-      if (border[connect[0]] || border[connect[1]]) {
-        // extract common fragment
-        std::vector<int> frag = {connect.begin()+2, connect.end()};
-
-        // process both elements
-        for (int ei=0; ei < 2; ei++) {
-          const int* edata = elem_.data() + connect[ei]*(dim+1);
-
-          // find element vertex that is not in the common fragment
-          for (int i=0; i <= dim; i++) {
-            if (frag.end() == std::find(frag.begin(), frag.end(), edata[i])) {
-              // add ev pair, involving the other element in connectspec
-              evpair.push_back(connect[1-ei]);
-              evpair.push_back(edata[i]);
-
-              // one such vertex exists
-              break;
-            }
-          }
-        }
-      }
-    }
-  }
-}
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
deleted file mode 100644
index 20d2161c..00000000
--- a/src/user/user_model.cc
+++ /dev/null
@@ -1,6153 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_model.h"
-
-#include <algorithm>
-#include <array>
-#include <chrono>
-#include <cmath>
-#include <csetjmp>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <exception>
-#include <filesystem>  // NOLINT(build/c++17)
-#include <functional>
-#include <limits>
-#include <mutex>
-#include <set>
-#include <sstream>
-#include <string>
-#include <string_view>
-#include <thread>
-#include <unordered_map>
-#include <unordered_set>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmacro.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "cc/array_safety.h"
-#include "engine/engine_core_util.h"
-#include "engine/engine_forward.h"
-#include "engine/engine_io.h"
-#include "engine/engine_name.h"
-#include "engine/engine_plugin.h"
-#include "engine/engine_setconst.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_solve.h"
-#include "engine/engine_util_misc.h"
-#include "user/user_api.h"
-#include "user/user_objects.h"
-#include "user/user_threadpool.h"
-#include "user/user_util.h"
-
-namespace {
-namespace mju = ::mujoco::util;
-using std::string;
-using std::vector;
-
-//---------------------------------- LOCAL UTILITY FUNCTIONS ---------------------------------------
-
-constexpr double kFrameEps = 1e-6;  // difference below which frames are considered equal
-
-// return true if two 3-vectors are element-wise less than kFrameEps apart
-template <typename T>
-bool IsSameVec(const T pos1[3], const T pos2[3]) {
-  static_assert(std::is_floating_point_v<T>);
-  return std::abs(pos1[0] - pos2[0]) < kFrameEps &&
-         std::abs(pos1[1] - pos2[1]) < kFrameEps &&
-         std::abs(pos1[2] - pos2[2]) < kFrameEps;
-}
-
-unsigned int NumCompilerThreads(int upper_bound = -1) {
-  // Use at most half the available threads to avoid
-  // overloading hyperthreaded CPUs.
-  // Compilation is largely compute-bound so we want to give each
-  // physical core a chance without too much L1/L2 cache thrashing.
-  unsigned int nthreads = std::thread::hardware_concurrency() / 2;
-  if (upper_bound > 0) {
-    nthreads = std::min(nthreads, static_cast<unsigned int>(upper_bound));
-  }
-  return std::max(static_cast<unsigned int>(1), nthreads);
-}
-
-// return true if two quaternions are element-wise less than kFrameEps apart, including double-cover
-template <typename T>
-bool IsSameQuat(const T quat1[4], const T quat2[4]) {
-  static_assert(std::is_floating_point_v<T>);
-  bool same_quat_minus = std::abs(quat1[0] - quat2[0]) < kFrameEps &&
-                         std::abs(quat1[1] - quat2[1]) < kFrameEps &&
-                         std::abs(quat1[2] - quat2[2]) < kFrameEps &&
-                         std::abs(quat1[3] - quat2[3]) < kFrameEps;
-
-  bool same_quat_plus = std::abs(quat1[0] + quat2[0]) < kFrameEps &&
-                        std::abs(quat1[1] + quat2[1]) < kFrameEps &&
-                        std::abs(quat1[2] + quat2[2]) < kFrameEps &&
-                        std::abs(quat1[3] + quat2[3]) < kFrameEps;
-
-  return same_quat_minus || same_quat_plus;
-}
-
-
-// compare two poses
-template <typename T>
-bool IsSamePose(const T pos1[3], const T pos2[3], const T quat1[4], const T quat2[4]) {
-  // check position if given
-  if (pos1 && pos2 && !IsSameVec(pos1, pos2)) {
-    return false;
-  }
-
-  // check orientation if given
-  if (quat1 && quat2 && !IsSameQuat(quat1, quat2)) {
-    return false;
-  }
-
-  return true;
-}
-
-// detect null pose
-template <typename T>
-bool IsNullPose(const T pos[3], const T quat[4]) {
-  T zero[3] = {0, 0, 0};
-  T qunit[4] = {1, 0, 0, 0};
-  return IsSamePose(pos, zero, quat, qunit);
-}
-
-// get body id from wrap object
-int GetBodyIdFromWrap(const mjCWrap* wrap) {
-  if (!wrap || !wrap->obj) return -1;
-  switch (wrap->Type()) {
-    case mjWRAP_SITE:
-      return static_cast<mjCSite*>(wrap->obj)->Body()->id;
-    case mjWRAP_CYLINDER:
-    case mjWRAP_SPHERE:
-      return static_cast<mjCGeom*>(wrap->obj)->GetParent()->id;
-    default:
-      return -1;
-  }
-}
-
-}  // namespace
-
-//---------------------------------- CONSTRUCTOR AND DESTRUCTOR ------------------------------------
-
-// constructor
-mjCModel::mjCModel() {
-  mjs_defaultSpec(&spec);
-  elemtype = mjOBJ_MODEL;
-  spec_comment_.clear();
-  spec_modelfiledir_.clear();
-  meshdir_.clear();
-  texturedir_.clear();
-  spec_modelname_ = "MuJoCo Model";
-
-  //------------------------ auto-computed statistics
-#ifndef MEMORY_SANITIZER
-  // initializing as best practice, but want MSAN to catch uninitialized use
-  meaninertia_auto = 0;
-  meanmass_auto = 0;
-  meansize_auto = 0;
-  extent_auto = 0;
-  center_auto[0] = center_auto[1] = center_auto[2] = 0;
-#endif
-
-  deepcopy_ = false;
-  nplugin = 0;
-  Clear();
-
-  //------------------------ master default set
-  defaults_.push_back(new mjCDef(this));
-  defaults_.back()->name = "main";
-
-  // point to model from spec
-  PointToLocal();
-
-  // world body
-  mjCBody* world = new mjCBody(this);
-  mjuu_zerovec(world->pos, 3);
-  mjuu_setvec(world->quat, 1, 0, 0, 0);
-  world->mass = 0;
-  mjuu_zerovec(world->inertia, 3);
-  world->id = 0;
-  world->parent = nullptr;
-  world->weldid = 0;
-  world->name = "world";
-  world->classname = "main";
-  def_map["main"] = Default();
-  bodies_.push_back(world);
-
-  // create mjCBase lists from children lists
-  CreateObjectLists();
-
-  // set the signature
-  spec.element->signature = 0;
-}
-
-
-
-mjCModel::mjCModel(const mjCModel& other) {
-  CreateObjectLists();
-  *this = other;
-}
-
-
-
-mjCModel& mjCModel::operator=(const mjCModel& other) {
-  deepcopy_ = true;
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCModel_*>(this) = static_cast<const mjCModel_&>(other);
-    *static_cast<mjSpec*>(this) = static_cast<const mjSpec&>(other);
-    PointToLocal();
-
-    // copy attached specs first so that we can resolve references to them
-    for (auto* s : other.specs_) {
-      specs_.push_back(s);
-      static_cast<mjCModel*>(s->element)->AddRef();
-      compiler2spec_[&s->compiler] = specs_.back();
-    }
-
-    // the world copy constructor takes care of copying the tree
-    mjCBody* world = new mjCBody(*other.bodies_[0], this);
-    bodies_.push_back(world);
-
-    // update tree lists
-    ResetTreeLists();
-    MakeTreeLists();
-
-    // add everything else
-    *this += other;
-
-    // add keyframes
-    CopyList(keys_, other.keys_);
-
-    // create new default tree
-    mjCDef* subtree = new mjCDef(*other.defaults_[0]);
-    *this += *subtree;
-
-    // copy name maps
-    for (int i=0; i < mjNOBJECT; i++) {
-      ids[i] = other.ids[i];
-    }
-
-    // update signature after we updated everything
-    spec.element->signature = Signature();
-  }
-  deepcopy_ = other.deepcopy_;
-  return *this;
-}
-
-
-
-// copy vector of elements from another model to this model
-template <class T>
-void mjCModel::CopyList(std::vector<T*>& dest,
-                        const std::vector<T*>& source) {
-  // loop over the elements from the other model
-  int nsource = (int)source.size();
-  for (int i = 0; i < nsource; i++) {
-    T* candidate = deepcopy_ ? new T(*source[i]) : source[i];
-    try {
-      // try to find the referenced object in this model
-      mjCModel* source_model = source[i]->model;
-      candidate->model = this;
-      candidate->NameSpace(source_model);
-      candidate->CopyFromSpec();
-      candidate->ResolveReferences(this);
-    } catch (mjCError err) {
-      // if not present, skip the element
-      // TODO: do not skip elements that contain user errors
-      if (deepcopy_) {
-        candidate->model = nullptr;
-        delete candidate;
-      }
-      continue;
-    }
-    // copy the element from the other model to this model
-    if (deepcopy_) {
-      source[i]->ForgetKeyframes();
-    } else {
-      candidate->AddRef();
-    }
-    mjSpec* origin = FindSpec(source[i]->compiler);
-    dest.push_back(candidate);
-    dest.back()->model = this;
-    dest.back()->compiler = origin ? &origin->compiler : &spec.compiler;
-    dest.back()->id = -1;
-    dest.back()->CopyPlugin();
-  }
-  if (!dest.empty()) {
-    ProcessList_(ids, dest, dest[0]->elemtype);
-  }
-}
-
-
-
-template <class T>
-static void resetlist(std::vector<T*>& list) {
-  for (auto element : list) {
-    element->id = -1;
-  }
-  list.clear();
-}
-
-
-
-void mjCModel::ResetTreeLists() {
-  mjCBody *world = bodies_[0];
-  resetlist(bodies_);
-  resetlist(joints_);
-  resetlist(geoms_);
-  resetlist(sites_);
-  resetlist(cameras_);
-  resetlist(lights_);
-  resetlist(frames_);
-  world->id = 0;
-  bodies_.push_back(world);
-}
-
-
-
-// save associated state addresses in related elements
-void mjCModel::SaveDofOffsets(bool computesize) {
-  int qposadr = 0;
-  int dofadr = 0;
-  int actadr = 0;
-  int ctrladr = 0;
-  int outadr = 0;
-  int mocapadr = 0;
-
-  for (auto joint : joints_) {
-    joint->qposadr_ = qposadr;
-    joint->dofadr_ = dofadr;
-    qposadr += joint->nq();
-    dofadr += joint->nv();
-  }
-
-  for (auto actuator : actuators_) {
-    if (actuator->spec.actdim > 0) {
-      actuator->actdim_ = actuator->spec.actdim;
-    } else {
-      actuator->actdim_ = (actuator->spec.dyntype != mjDYN_NONE);
-    }
-    actuator->actadr_ = actuator->actdim_ ? actadr : -1;
-    actadr += actuator->actdim_;
-
-    // input and output blocks; all actuator types are currently 1x1
-    actuator->ctrladr_ = ctrladr;
-    ctrladr += actuator->ctrlnum_;
-    actuator->outadr_ = outadr;
-    outadr += actuator->outnum_;
-  }
-
-  for (mjCBody* body : bodies_) {
-    if (body->spec.mocap) {
-      body->mocapid = mocapadr++;
-    } else {
-      body->mocapid = -1;
-    }
-  }
-
-  if (computesize) {
-    nq = qposadr;
-    nv = dofadr;
-    na = actadr;
-    nu = ctrladr;
-    nactuator = (int)actuators_.size();
-    nout = outadr;
-    nmocap = mocapadr;
-  }
-}
-
-
-
-template <class T>
-void mjCModel::CopyExplicitPlugin(T* obj) {
-  if (!obj->plugin.active || !obj->plugin_instance_name.empty() || !obj->spec.plugin.element) {
-    return;
-  }
-  mjCPlugin* origin = static_cast<mjCPlugin*>(obj->spec.plugin.element);
-  mjCPlugin* candidate = deepcopy_ ? new mjCPlugin(*origin) : origin;
-  candidate->id = plugins_.size();
-  candidate->model = this;
-  if (!deepcopy_) {
-    candidate->AddRef();
-  }
-  plugins_.push_back(candidate);
-  obj->spec.plugin.element = candidate;
-}
-
-template void mjCModel::CopyExplicitPlugin<mjCBody>(mjCBody* obj);
-template void mjCModel::CopyExplicitPlugin<mjCGeom>(mjCGeom* obj);
-template void mjCModel::CopyExplicitPlugin<mjCMesh>(mjCMesh* obj);
-template void mjCModel::CopyExplicitPlugin<mjCActuator>(mjCActuator* obj);
-template void mjCModel::CopyExplicitPlugin<mjCSensor>(mjCSensor* obj);
-
-
-
-template <class T>
-void mjCModel::CopyPlugin(const std::vector<mjCPlugin*>& source,
-                          const std::vector<T*>& list) {
-  // store elements that reference a plugin instance
-  std::unordered_map<std::string, T*> instances;
-  for (const auto& element : list) {
-    if (!element->plugin_instance_name.empty()) {
-      instances[element->plugin_instance_name] = element;
-    }
-  }
-
-  // only copy plugins that are referenced
-  for (const auto& plugin : source) {
-    if (plugin->name.empty() && plugin->model == this) {
-      continue;
-    }
-    mjCPlugin* candidate = new mjCPlugin(*plugin);
-    candidate->model = this;
-    candidate->NameSpace(plugin->model);
-    bool referenced = instances.find(candidate->name) != instances.end();
-    auto same_name = [candidate](const mjCPlugin* dest) {
-                       return dest->name == candidate->name;
-                     };
-    bool instance_exists = std::find_if(plugins_.begin(), plugins_.end(),
-                                        same_name) != plugins_.end();
-    if (referenced && !instance_exists) {
-      plugins_.push_back(candidate);
-      instances.at(candidate->name)->spec.plugin.element = candidate;
-    } else {
-      delete candidate;
-    }
-  }
-
-  // update other elements in the list in case of multiple references
-  for (auto& element : list) {
-    if (!element->plugin_instance_name.empty()) {
-      element->spec.plugin.element =
-          instances.at(element->plugin_instance_name)->spec.plugin.element;
-    }
-  }
-}
-
-
-
-// return true if the plugin is already in the list of active plugins
-static bool IsPluginActive(
-  const mjpPlugin* plugin,
-  const std::vector<std::pair<const mjpPlugin*, int> >& active_plugins) {
-  return std::find_if(
-    active_plugins.begin(), active_plugins.end(),
-    [&plugin](const std::pair<const mjpPlugin*, int>& element) {
-    return element.first == plugin;
-  }) != active_plugins.end();
-}
-
-
-
-mjCModel& mjCModel::operator+=(const mjCModel& other) {
-  // create global lists
-  ResetTreeLists();
-  MakeTreeLists();
-  ProcessLists(/*checkrepeat=*/false);
-
-  // copy all elements not in the tree
-  if (this != &other) {
-    // do not copy assets for self-attach
-    // TODO: asset should be copied only when referenced
-    CopyList(meshes_, other.meshes_);
-    CopyList(skins_, other.skins_);
-    CopyList(hfields_, other.hfields_);
-    CopyList(textures_, other.textures_);
-    CopyList(materials_, other.materials_);
-    for (const auto& key : other.key_pending_) {
-      key_pending_.push_back(key);
-    }
-    CopyList(numerics_, other.numerics_);
-    CopyList(texts_, other.texts_);
-  }
-  CopyList(flexes_, other.flexes_);
-  CopyList(pairs_, other.pairs_);
-  CopyList(excludes_, other.excludes_);
-  CopyList(tendons_, other.tendons_);
-  CopyList(equalities_, other.equalities_);
-  CopyList(actuators_, other.actuators_);
-  CopyList(sensors_, other.sensors_);
-  CopyList(tuples_, other.tuples_);
-
-  // create new plugins and map them
-  CopyPlugin(other.plugins_, bodies_);
-  CopyPlugin(other.plugins_, geoms_);
-  CopyPlugin(other.plugins_, meshes_);
-  CopyPlugin(other.plugins_, actuators_);
-  CopyPlugin(other.plugins_, sensors_);
-  for (const auto& [plugin, slot] : other.active_plugins_) {
-    if (!IsPluginActive(plugin, active_plugins_)) {
-      active_plugins_.emplace_back(std::make_pair(plugin, slot));
-    }
-  }
-
-  // resize keyframes in the parent model
-  ExpandAllKeyframes();
-
-  // update pointers to local elements
-  PointToLocal();
-
-  // update signature after we updated the tree lists and we updated the pointers
-  spec.element->signature = Signature();
-  return *this;
-}
-
-
-
-template <class T>
-void mjCModel::RemoveFromList(std::vector<T*>& list, const mjCModel& other) {
-  int nlist = (int)list.size();
-  int removed = 0;
-  for (int i = 0; i < nlist; i++) {
-    T* element = list[i];
-    element->id -= removed;
-    try {
-      // check if the element contains an error
-      element->NameSpace(&other);
-      element->CopyFromSpec();
-      element->ResolveReferences(&other);
-    } catch (mjCError err) {
-      continue;
-    }
-    try {
-      // check if the element references something that was removed
-      element->NameSpace(this);
-      element->CopyFromSpec();
-      element->ResolveReferences(this);
-    } catch (mjCError err) {
-      ids[element->elemtype].erase(element->name);
-      element->Release();
-      list.erase(list.begin() + i);
-      nlist--;
-      i--;
-      removed++;
-    }
-  }
-  if (removed > 0 && !list.empty()) {
-    // if any elements were removed, update ids using processlist
-    ProcessList_(ids, list, list[0]->elemtype, /*checkrepeat=*/false);
-  }
-}
-
-
-
-template <>
-void mjCModel::DeleteAll<mjCKey>(std::vector<mjCKey*>& elements) {
-  for (mjCKey* element : elements) {
-    element->Release();
-  }
-  elements.clear();
-}
-
-
-
-template <class T>
-void mjCModel::MarkPluginInstance(std::unordered_map<std::string, bool>& instances,
-                                  const std::vector<T*>& list) {
-  for (const auto& element : list) {
-    if (!element->plugin_instance_name.empty()) {
-      instances[element->plugin_instance_name] = true;
-    }
-  }
-}
-
-
-
-void mjCModel::RemovePlugins() {
-  // store elements that reference a plugin instance
-  std::unordered_map<std::string, bool> instances;
-  MarkPluginInstance(instances, bodies_);
-  MarkPluginInstance(instances, geoms_);
-  MarkPluginInstance(instances, meshes_);
-  MarkPluginInstance(instances, actuators_);
-  MarkPluginInstance(instances, sensors_);
-
-  // remove plugins that are not referenced
-  int nlist = (int)plugins_.size();
-  int removed = 0;
-  for (int i = 0; i < nlist; i++) {
-    if (plugins_[i]->name.empty()) {
-      continue;
-    }
-    if (instances.find(plugins_[i]->name) == instances.end()) {
-      ids[plugins_[i]->elemtype].erase(plugins_[i]->name);
-      plugins_[i]->Release();
-      plugins_.erase(plugins_.begin() + i);
-      nlist--;
-      i--;
-      removed++;
-    }
-  }
-
-  // if any elements were removed, update ids using processlist
-  if (removed > 0 && !plugins_.empty()) {
-    ProcessList_(ids, plugins_, plugins_[0]->elemtype, /*checkrepeat=*/false);
-  }
-}
-
-
-
-mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
-  mjCModel oldmodel(*this);
-
-  // create global lists in the old model if not compiled
-  if (!oldmodel.IsCompiled()) {
-    oldmodel.ProcessLists(/*checkrepeat=*/false);
-  }
-
-  // create global lists in this model if not compiled
-  if (!IsCompiled()) {
-    ProcessLists(/*checkrepeat=*/false);
-  }
-
-  // all keyframes are now pending and they will be resized
-  StoreKeyframes(this);
-  DeleteAll(keys_);
-
-  // remove body from tree
-  mjCBody* world = bodies_[0];
-  *world -= subtree;
-
-  // update global lists
-  ResetTreeLists();
-  MakeTreeLists();
-  ProcessLists(/*checkrepeat=*/false);
-
-  // check if we have to remove anything else
-  RemoveFromList(pairs_, oldmodel);
-  RemoveFromList(excludes_, oldmodel);
-  RemoveFromList(tendons_, oldmodel);
-  RemoveFromList(equalities_, oldmodel);
-  RemoveFromList(actuators_, oldmodel);
-  RemoveFromList(sensors_, oldmodel);
-  RemovePlugins();
-
-  // update signature before we reset the tree lists
-  spec.element->signature = Signature();
-
-  return *this;
-}
-
-
-
-// add default tree to this model
-mjCModel& mjCModel::operator+=(mjCDef& subtree) {
-  defaults_.push_back(&subtree);
-  def_map[subtree.name] = &subtree;
-  subtree.model = this;
-
-  // set parent to the main default if this is not the only default in the model
-  if (!subtree.parent && &subtree != defaults_[0]) {
-    subtree.parent = defaults_[0];
-    defaults_[0]->child.push_back(&subtree);
-  }
-
-  for (auto def : subtree.child) {
-    *this += *def;  // triggers recursive call
-  }
-  return *this;
-}
-
-
-
-// remove default class from array
-mjCModel& mjCModel::operator-=(const mjCDef& subtree) {
-  // check we aren't trying to remove the 'main' default
-  if (subtree.id == 0) {
-    throw mjCError(0, "cannot remove the global default ('main')");
-  }
-
-  // remove this default from parent's child list
-  mjCDef* parent = subtree.parent;
-  if (parent) {
-    for (int i = 0; i < parent->child.size(); ++i) {
-      if (parent->child[i] == &subtree) {
-        parent->child.erase(parent->child.begin() + i);
-        break;
-      }
-    }
-  }
-
-  // traverse tree to find all descendants starting from subtree.id
-  std::vector<int> default_ids_to_remove;
-  std::vector<int> stack;
-  stack.push_back(subtree.id);
-  while (!stack.empty()) {
-    int id = stack.back();
-    stack.pop_back();
-    default_ids_to_remove.push_back(id);
-    for (int i=0; i<defaults_[id]->child.size(); i++) {
-      stack.push_back(defaults_[id]->child[i]->id);
-    }
-  }
-
-  // remove from the tree
-  std::sort(default_ids_to_remove.begin(),
-            default_ids_to_remove.end(),
-            std::greater<int>());
-
-  for (int id : default_ids_to_remove) {
-    delete defaults_[id];
-    defaults_.erase(defaults_.begin() + id);
-  }
-
-  // reset default ids
-  for (int i = 0; i < defaults_.size(); ++i) {
-    defaults_[i]->id = i;
-  }
-
-  return *this;
-}
-
-
-
-template <class T>
-void deletefromlist(std::vector<T*>* list, mjsElement* element) {
-  if (!list) {
-    return;
-  }
-  for (int j = 0; j < list->size(); ++j) {
-    list->at(j)->id = -1;
-    if (list->at(j) == element) {
-      list->erase(list->begin() + j);
-      j--;
-    }
-  }
-}
-
-
-
-// recursively delete all plugins in the subtree
-void mjCModel::DeleteSubtreePlugin(mjCBody* subtree) {
-  mjsPlugin* plugin = &(subtree->spec.plugin);
-  if (plugin->active && plugin->name->empty()) {
-    *this -= plugin->element;
-  }
-  for (auto* body : subtree->Bodies()) {
-    DeleteSubtreePlugin(body);
-  }
-}
-
-
-
-// remove the element from the model
-void mjCModel::operator-=(mjsElement* el) {
-  if (el->elemtype == mjOBJ_BODY) {
-    mjCBody* body = static_cast<mjCBody*>(el);
-    *this -= *body;
-  }
-
-  detached_.push_back(static_cast<mjCBase*>(el));
-  ResetTreeLists();
-
-  if (el->elemtype != mjOBJ_DEFAULT) {
-    if (static_cast<mjCBase*>(el)->model != this) {
-      throw mjCError(nullptr, "element is not in this model");
-    }
-  } else {
-    if (static_cast<mjCDef*>(el)->model != this) {
-      throw mjCError(nullptr, "default is not in this model");
-    }
-  }
-
-  switch (el->elemtype) {
-    case mjOBJ_BODY:
-    {
-      MakeTreeLists();  // rebuild lists that were reset at the beginning of the function
-      mjCBody* subtree = static_cast<mjCBody*>(el);
-      DeleteSubtreePlugin(subtree);
-      break;
-    }
-
-    case mjOBJ_DEFAULT:
-      MakeTreeLists();  // rebuild lists that were reset at the beginning of the function
-      throw mjCError(nullptr, "defaults cannot be deleted, use detach instead");
-      break;
-
-    case mjOBJ_GEOM:
-    {
-      mjCGeom* geom = static_cast<mjCGeom*>(el);
-      if (geom->plugin.active && geom->plugin.name->empty()) {
-        *this -= geom->plugin.element;
-      }
-      deletefromlist(&(geom->body->geoms), el);
-      break;
-    }
-
-    case mjOBJ_SITE:
-      deletefromlist(&(static_cast<mjCSite*>(el)->body->sites), el);
-      break;
-
-    case mjOBJ_JOINT:
-      deletefromlist(&(static_cast<mjCJoint*>(el)->body->joints), el);
-      break;
-
-    case mjOBJ_LIGHT:
-      deletefromlist(&(static_cast<mjCLight*>(el)->body->lights), el);
-      break;
-
-    case mjOBJ_CAMERA:
-      deletefromlist(&(static_cast<mjCCamera*>(el)->body->cameras), el);
-      break;
-
-    case mjOBJ_MESH:
-    {
-      mjCMesh* mesh = static_cast<mjCMesh*>(el);
-      if (mesh->plugin.active && mesh->plugin.name->empty()) {
-        *this -= mesh->plugin.element;
-      }
-      deletefromlist(object_lists_[mjOBJ_MESH], el);
-      break;
-    }
-
-    case mjOBJ_ACTUATOR:
-    {
-      mjCActuator* actuator = static_cast<mjCActuator*>(el);
-      if (actuator->plugin.active && actuator->plugin.name->empty()) {
-        *this -= actuator->plugin.element;
-      }
-      deletefromlist(object_lists_[mjOBJ_ACTUATOR], el);
-      break;
-    }
-
-    case mjOBJ_SENSOR:
-    {
-      mjCSensor* sensor = static_cast<mjCSensor*>(el);
-      if (sensor->plugin.active && sensor->plugin.name->empty()) {
-        *this -= sensor->plugin.element;
-      }
-      deletefromlist(object_lists_[mjOBJ_SENSOR], el);
-      break;
-    }
-
-    default:
-      deletefromlist(object_lists_[el->elemtype], el);
-      break;
-  }
-
-  ResetTreeLists();  // in case of a nested delete
-  MakeTreeLists();
-  ProcessLists(/*checkrepeat=*/false);
-
-  // update signature after we updated everything
-  spec.element->signature = Signature();
-}
-
-
-
-// TODO: we should not use C-type casting with multiple C++ inheritance
-void mjCModel::CreateObjectLists() {
-  for (int i = 0; i < mjNOBJECT; ++i) {
-    object_lists_[i] = nullptr;
-  }
-
-  object_lists_[mjOBJ_BODY]     = (std::vector<mjCBase*>*) &bodies_;
-  object_lists_[mjOBJ_XBODY]    = (std::vector<mjCBase*>*) &bodies_;
-  object_lists_[mjOBJ_JOINT]    = (std::vector<mjCBase*>*) &joints_;
-  object_lists_[mjOBJ_GEOM]     = (std::vector<mjCBase*>*) &geoms_;
-  object_lists_[mjOBJ_SITE]     = (std::vector<mjCBase*>*) &sites_;
-  object_lists_[mjOBJ_CAMERA]   = (std::vector<mjCBase*>*) &cameras_;
-  object_lists_[mjOBJ_LIGHT]    = (std::vector<mjCBase*>*) &lights_;
-  object_lists_[mjOBJ_FLEX]     = (std::vector<mjCBase*>*) &flexes_;
-  object_lists_[mjOBJ_MESH]     = (std::vector<mjCBase*>*) &meshes_;
-  object_lists_[mjOBJ_SKIN]     = (std::vector<mjCBase*>*) &skins_;
-  object_lists_[mjOBJ_HFIELD]   = (std::vector<mjCBase*>*) &hfields_;
-  object_lists_[mjOBJ_TEXTURE]  = (std::vector<mjCBase*>*) &textures_;
-  object_lists_[mjOBJ_MATERIAL] = (std::vector<mjCBase*>*) &materials_;
-  object_lists_[mjOBJ_PAIR]     = (std::vector<mjCBase*>*) &pairs_;
-  object_lists_[mjOBJ_EXCLUDE]  = (std::vector<mjCBase*>*) &excludes_;
-  object_lists_[mjOBJ_EQUALITY] = (std::vector<mjCBase*>*) &equalities_;
-  object_lists_[mjOBJ_TENDON]   = (std::vector<mjCBase*>*) &tendons_;
-  object_lists_[mjOBJ_ACTUATOR] = (std::vector<mjCBase*>*) &actuators_;
-  object_lists_[mjOBJ_SENSOR]   = (std::vector<mjCBase*>*) &sensors_;
-  object_lists_[mjOBJ_NUMERIC]  = (std::vector<mjCBase*>*) &numerics_;
-  object_lists_[mjOBJ_TEXT]     = (std::vector<mjCBase*>*) &texts_;
-  object_lists_[mjOBJ_TUPLE]    = (std::vector<mjCBase*>*) &tuples_;
-  object_lists_[mjOBJ_KEY]      = (std::vector<mjCBase*>*) &keys_;
-  object_lists_[mjOBJ_PLUGIN]   = (std::vector<mjCBase*>*) &plugins_;
-}
-
-
-
-void mjCModel::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.comment = &spec_comment_;
-  spec.modelfiledir = &spec_modelfiledir_;
-  spec.modelname = &spec_modelname_;
-  spec.compiler.meshdir = &meshdir_;
-  spec.compiler.texturedir = &texturedir_;
-  comment = nullptr;
-  modelfiledir = nullptr;
-  modelname = nullptr;
-}
-
-
-
-void mjCModel::CopyFromSpec() {
-  *static_cast<mjSpec*>(this) = spec;
-  comment_ = spec_comment_;
-  modelfiledir_ = spec_modelfiledir_;
-  modelname_ = spec_modelname_;
-}
-
-
-
-// compute sparse matrix sizes
-void mjCModel::ComputeSparseSizes() {
-  // no dofs, quick return
-  if (nv == 0) {
-    nM = nD = nB = nC = 0;
-    nJten = 0;
-    return;
-  }
-
-  // 0. allocate local index vectors
-  std::vector<int> dof_parentid_pre(nv, -1);
-  std::vector<int> dof_bodyid_pre(nv);
-  std::vector<int> body_simple_pre(nbody);
-  std::vector<int> body_rootid_pre(nbody);
-  std::vector<int> dof_simplenum_pre(nv);
-  std::vector<int> body_lastdof_map(nbody);
-
-  // 1. build dof_parentid, dof_bodyid
-  if (nbody > 0) {
-    body_lastdof_map[0] = -1;  // world has no parent dof
-  }
-  for (int i = 0; i < nbody; ++i) {
-    mjCBody* pb = bodies_[i];
-    mjCBody* par = pb->parent;
-
-    // the last dof of the current body's parent chain
-    int current_parent_dof = par ? body_lastdof_map[par->id] : -1;
-
-    for (const auto* jnt : pb->joints) {
-      for (int j1 = 0; j1 < jnt->nv(); ++j1) {
-        int dofadr = jnt->dofadr_ + j1;
-        if (dofadr < 0 || dofadr >= nv) {
-          throw mjCError(jnt, "dofadr out of bounds: dofadr=%d, nv=%d", nullptr, dofadr, nv);
-        }
-        dof_bodyid_pre[dofadr] = i;
-        dof_parentid_pre[dofadr] = current_parent_dof;
-        // the next dof in this joint is parented to the current one
-        current_parent_dof = dofadr;
-      }
-    }
-    // store the last dof added for this body
-    body_lastdof_map[i] = current_parent_dof;
-  }
-
-  // 2. compute nM
-  nM = 0;
-  for (int i = 0; i < nv; ++i) {
-    int j = i;
-    while (j != -1) {
-      nM++;
-      j = dof_parentid_pre[j];
-    }
-  }
-
-  // 3. compute nD
-  nD = 2 * nM - nv;
-
-  // 4. compute subtreedofs and nB
-  for (int i = nbody - 1; i >= 0; --i) {
-    bodies_[i]->subtreedofs = bodies_[i]->dofnum;
-    for (const auto* child : bodies_[i]->Bodies()) {
-      bodies_[i]->subtreedofs += child->subtreedofs;
-    }
-  }
-
-  nB = 0;
-  for (int i = 0; i < nbody; ++i) {
-    nB += bodies_[i]->subtreedofs;
-    mjCBody* parent = bodies_[i]->parent;
-    while (parent && parent->id > 0) {
-      nB += parent->dofnum;
-      parent = parent->parent;
-    }
-  }
-
-  // make sure all dofs are in world "subtree", SHOULD NOT OCCUR
-  if (bodies_[0]->subtreedofs != nv) {
-    throw mjCError(0, "all DOFs should be in world subtree");
-  }
-
-  // 5. compute nC
-  for (int i = 0; i < nbody; ++i) {
-    mjCBody* pb = bodies_[i];
-    mjCBody* par = pb->parent;
-    int parentid = par ? par->id : 0;
-
-    // rootid
-    if (i == 0 || !par || par->id == 0) {
-      body_rootid_pre[i] = i;
-    } else {
-      body_rootid_pre[i] = body_rootid_pre[parentid];
-    }
-
-    bool sameframe = IsNullPose(pb->ipos, pb->iquat);
-    body_simple_pre[i] = (sameframe &&
-                         (body_rootid_pre[i] == i ||
-                          (parentid > 0                       &&
-                           bodies_[parentid]->parent          &&
-                           bodies_[parentid]->parent->id == 0 &&
-                           bodies_[parentid]->dofnum == 0)));
-
-    // user override: disable simple optimization
-    if (!pb->simple) {
-      body_simple_pre[i] = 0;
-    }
-  }
-
-  // a parent body is never simple (unless world)
-  for (int i = 1; i < nbody; ++i) {
-    if (bodies_[i]->parent) {
-      body_simple_pre[bodies_[i]->parent->id] = 0;
-    }
-  }
-
-  // joint-based demotion for body_simple_pre
-  const double* nulldouble = nullptr;
-  for (int i = 1; i < nbody; ++i) {
-    if (!body_simple_pre[i]) continue;
-
-    // demote if non-aligned, non-zero pos, or multiple rotational joints
-    mjCBody* pb = bodies_[i];
-    int rotfound = 0;
-    for (const auto* pj : pb->joints) {
-      bool axis_aligned = ((std::abs(pj->axis[0]) > mjEPS) +
-                           (std::abs(pj->axis[1]) > mjEPS) +
-                           (std::abs(pj->axis[2]) > mjEPS)) == 1;
-      if (rotfound || !IsNullPose(pj->pos, nulldouble) ||
-          ((pj->type == mjJNT_HINGE || pj->type == mjJNT_SLIDE) && !axis_aligned)) {
-        body_simple_pre[i] = 0;
-        break;
-      }
-      if (pj->type == mjJNT_BALL || pj->type == mjJNT_HINGE) {
-        rotfound = 1;
-      }
-    }
-    if (!body_simple_pre[i]) continue;
-
-    // promote simple bodies with only sliders to level 2
-    if (pb->dofnum > 0) {
-      body_simple_pre[i] = 2;
-      for (const auto* pj : pb->joints) {
-        if (pj->type != mjJNT_SLIDE) {
-          body_simple_pre[i] = 1;
-          break;
-        }
-      }
-    }
-  }
-
-  // tendon-armature-based demotion
-  for (const auto* tendon : tendons_) {
-    if (tendon->armature > 0) {
-      for (const auto* wrap : tendon->path) {
-        int bodyId = GetBodyIdFromWrap(wrap);
-        if (bodyId != -1) {
-          body_simple_pre[bodyId] = 0;
-        }
-      }
-    }
-  }
-
-  // count dof_simplenum_pre
-  int count = 0;
-  for (int i = nv - 1; i >= 0; --i) {
-    if (dof_bodyid_pre[i] < 0 || dof_bodyid_pre[i] >= nbody) {
-      throw mjCError(0, "dof_bodyid out of bounds: dof=%d, body=%d", nullptr, i, dof_bodyid_pre[i]);
-    }
-    if (body_simple_pre[dof_bodyid_pre[i]]) {
-      count++;
-    } else {
-      count = 0;
-    }
-    dof_simplenum_pre[i] = count;
-  }
-
-  // compute nC
-  nC = 0;
-  int nOD = 0;
-  for (int i = 0; i < nv; ++i) {
-    if (!dof_simplenum_pre[i]) {
-      int j = i;
-      while (j != -1) {
-        if (j != i) nOD++;
-        j = dof_parentid_pre[j];
-      }
-    }
-  }
-  nC = nOD + nv;
-
-  nJten = 0;
-  if (nv > 0) {
-    std::vector<bool> dof_bitmap(nv, false);
-    for (const auto* tendon : tendons_) {
-      if (!tendon->path.empty() &&
-          tendon->path[0]->Type() == mjWRAP_JOINT) {
-        nJten += tendon->path.size();
-        continue;
-      }
-
-      std::fill(dof_bitmap.begin(), dof_bitmap.end(), false);
-      for (const auto* wrap : tendon->path) {
-        int bodyid = GetBodyIdFromWrap(wrap);
-        if (bodyid > 0) {
-          mjCBody* b = bodies_[bodyid];
-          while (b && b->id > 0) {
-            for (const auto* jnt : b->joints) {
-              for (int k = 0; k < jnt->nv(); k++) {
-                dof_bitmap[jnt->dofadr_ + k] = true;
-              }
-            }
-            b = b->GetParent();
-          }
-        }
-      }
-      for (int j = 0; j < nv; j++) {
-        nJten += dof_bitmap[j];
-      }
-    }
-  }
-}
-
-
-
-// destructor
-mjCModel::~mjCModel() {
-  // do not rebuild lists if we are in the process of deleting the model
-  compiled = false;
-
-  // delete kinematic tree and all objects allocated in it
-  bodies_[0]->Release();
-
-  // delete objects allocated in mjCModel
-  for (int i=0; i < flexes_.size(); i++) flexes_[i]->Release();
-  for (int i=0; i < meshes_.size(); i++) meshes_[i]->Release();
-  for (int i=0; i < skins_.size(); i++) skins_[i]->Release();
-  for (int i=0; i < hfields_.size(); i++) hfields_[i]->Release();
-  for (int i=0; i < textures_.size(); i++) textures_[i]->Release();
-  for (int i=0; i < materials_.size(); i++) materials_[i]->Release();
-  for (int i=0; i < pairs_.size(); i++) pairs_[i]->Release();
-  for (int i=0; i < excludes_.size(); i++) excludes_[i]->Release();
-  for (int i=0; i < equalities_.size(); i++) equalities_[i]->Release();
-  for (int i=0; i < tendons_.size(); i++) tendons_[i]->Release();  // also deletes wraps
-  for (int i=0; i < actuators_.size(); i++) actuators_[i]->Release();
-  for (int i=0; i < sensors_.size(); i++) sensors_[i]->Release();
-  for (int i=0; i < numerics_.size(); i++) numerics_[i]->Release();
-  for (int i=0; i < texts_.size(); i++) texts_[i]->Release();
-  for (int i=0; i < tuples_.size(); i++) tuples_[i]->Release();
-  for (int i=0; i < keys_.size(); i++) keys_[i]->Release();
-  for (int i=0; i < defaults_.size(); i++) delete defaults_[i];
-  for (int i=0; i < specs_.size(); i++) mj_deleteSpec(specs_[i]);
-  for (int i=0; i < plugins_.size(); i++) plugins_[i]->Release();
-  for (int i=0; i < detached_.size(); i++) detached_[i]->Release();
-
-  // clear sizes and pointer lists created in Compile
-  Clear();
-}
-
-
-
-// clear objects allocated by Compile
-void mjCModel::Clear() {
-  // sizes set from list lengths
-  nbody = 0;
-  nbvh = 0;
-  nbvhstatic = 0;
-  nbvhdynamic = 0;
-  noct = 0;
-  njnt = 0;
-  ngeom = 0;
-  nsite = 0;
-  ncam = 0;
-  nlight = 0;
-  nflex = 0;
-  nmesh = 0;
-  nskin = 0;
-  nhfield = 0;
-  ntex = 0;
-  nmat = 0;
-  npair = 0;
-  nexclude = 0;
-  neq = 0;
-  ntendon = 0;
-  nsensor = 0;
-  nnumeric = 0;
-  ntext = 0;
-
-  // sizes set by Compile
-  nq = 0;
-  nv = 0;
-  nu = 0;
-  nactuator = 0;
-  nout = 0;
-  na = 0;
-  nflexnode = 0;
-  nflexvert = 0;
-  nflexedge = 0;
-  nflexelem = 0;
-  nflexelemdata = 0;
-  nflexstiffness = 0;
-  nflexbending = 0;
-  nefm0dof = 0;
-  nefm0L = 0;
-  nflexelemedge = 0;
-  nflexshelldata = 0;
-  nflexevpair = 0;
-  nflextexcoord = 0;
-  nJfe = 0;
-  nJfv = 0;
-  nmeshvert = 0;
-  nmeshnormal = 0;
-  nmeshtexcoord = 0;
-  nmeshface = 0;
-  nmeshgraph = 0;
-  nmeshpoly = 0;
-  nmeshpolyvert = 0;
-  nmeshpolymap = 0;
-  nskinvert = 0;
-  nskintexvert = 0;
-  nskinface = 0;
-  nskinbone = 0;
-  nskinbonevert = 0;
-  nhfielddata = 0;
-  ntexdata = 0;
-  nwrap = 0;
-  nsensordata = 0;
-  nnumericdata = 0;
-  ntextdata = 0;
-  ntupledata = 0;
-  npluginattr = 0;
-  nnames = 0;
-  npaths = 0;
-  memory = -1;
-  nstack = -1;
-  nemax = 0;
-  nM = 0;
-  nD = 0;
-  nB = 0;
-  nJmom = 0;
-  njmax = -1;
-  nconmax = -1;
-  nmocap = 0;
-
-  // internal variables
-  hasImplicitPluginElem = false;
-  compiled = false;
-  errInfo = mjCError();
-  ClearCompileWarnings();
-  qpos0.clear();
-}
-
-
-
-//------------------------ API FOR ADDING MODEL ELEMENTS -------------------------------------------
-
-// add object of any type
-template <class T>
-T* mjCModel::AddObject(vector<T*>& list, string type) {
-  T* obj = new T(this);
-  obj->id = (int)list.size();
-  list.push_back(obj);
-  spec.element->signature = Signature();
-  return obj;
-}
-
-
-// add object of any type, with default parameter
-template <class T>
-T* mjCModel::AddObjectDefault(vector<T*>& list, string type, mjCDef* def) {
-  T* obj = new T(this, def ? def : defaults_[0]);
-  obj->id = (int)list.size();
-  obj->classname = def ? def->name : "main";
-  list.push_back(obj);
-  spec.element->signature = Signature();
-  return obj;
-}
-
-
-// add flex
-mjCFlex* mjCModel::AddFlex() {
-  return AddObject(flexes_, "flex");
-}
-
-
-// add mesh
-mjCMesh* mjCModel::AddMesh(mjCDef* def) {
-  return AddObjectDefault(meshes_, "mesh", def);
-}
-
-
-// add skin
-mjCSkin* mjCModel::AddSkin() {
-  return AddObject(skins_, "skin");
-}
-
-
-// add hfield
-mjCHField* mjCModel::AddHField() {
-  return AddObject(hfields_, "hfield");
-}
-
-
-// add texture
-mjCTexture* mjCModel::AddTexture() {
-  return AddObject(textures_, "texture");
-}
-
-
-// add material
-mjCMaterial* mjCModel::AddMaterial(mjCDef* def) {
-  return AddObjectDefault(materials_, "material", def);
-}
-
-
-// add geom pair to include in collisions
-mjCPair* mjCModel::AddPair(mjCDef* def) {
-  return AddObjectDefault(pairs_, "pair", def);
-}
-
-
-// add body pair to exclude from collisions
-mjCBodyPair* mjCModel::AddExclude() {
-  return AddObject(excludes_, "exclude");
-}
-
-
-// add constraint
-mjCEquality* mjCModel::AddEquality(mjCDef* def) {
-  return AddObjectDefault(equalities_, "equality", def);
-}
-
-
-// add tendon
-mjCTendon* mjCModel::AddTendon(mjCDef* def) {
-  return AddObjectDefault(tendons_, "tendon", def);
-}
-
-
-// add actuator
-mjCActuator* mjCModel::AddActuator(mjCDef* def) {
-  return AddObjectDefault(actuators_, "actuator", def);
-}
-
-
-// add sensor
-mjCSensor* mjCModel::AddSensor() {
-  return AddObject(sensors_, "sensor");
-}
-
-
-
-// add custom
-mjCNumeric* mjCModel::AddNumeric() {
-  return AddObject(numerics_, "numeric");
-}
-
-
-// add text
-mjCText* mjCModel::AddText() {
-  return AddObject(texts_, "text");
-}
-
-
-// add tuple
-mjCTuple* mjCModel::AddTuple() {
-  return AddObject(tuples_, "tuple");
-}
-
-
-// add keyframe
-mjCKey* mjCModel::AddKey() {
-  return AddObject(keys_, "key");
-}
-
-
-// add plugin instance
-mjCPlugin* mjCModel::AddPlugin() {
-  return AddObject(plugins_, "plugin");
-}
-
-
-// append spec to spec
-void mjCModel::AppendSpec(mjSpec* spec, const mjsCompiler* compiler_) {
-  // TODO: check if the spec is already in the list
-  specs_.push_back(spec);
-
-  if (compiler_) {
-    compiler2spec_[compiler_] = spec;
-  }
-}
-
-
-
-//------------------------ API FOR ACCESS TO MODEL ELEMENTS  ---------------------------------------
-
-// get number of objects of specified type
-int mjCModel::NumObjects(mjtObj type) {
-  if (!object_lists_[type]) {
-    return 0;
-  }
-  return (int) object_lists_[type]->size();
-}
-
-
-
-// get pointer to specified object
-mjCBase* mjCModel::GetObject(mjtObj type, int id) {
-  if (id < 0 || id >= NumObjects(type)) {
-    return nullptr;
-  }
-  return (*object_lists_[type])[id];
-}
-
-
-
-template <class T>
-static mjsElement* GetNext(const std::vector<T*>& list, const mjsElement* child) {
-  if (!child) {
-    if (list.empty()) {
-      return nullptr;
-    }
-    return list[0]->spec.element;
-  }
-
-  // TODO: use id for direct indexing instead of a loop
-  for (unsigned int i = 0; i < list.size()-1; i++) {
-    if (list[i]->spec.element == child) {
-      return list[i+1]->spec.element;
-    }
-  }
-  return nullptr;
-}
-
-
-
-// next object of specified type
-mjsElement* mjCModel::NextObject(const mjsElement* object, mjtObj type) const {
-  if (type == mjOBJ_UNKNOWN) {
-    if (!object) {
-      throw mjCError(nullptr, "type must be specified if no element is given");
-    } else {
-      type = object->elemtype;
-    }
-  } else if (object && object->elemtype != type) {
-    throw mjCError(nullptr, "element is not of requested type");
-  }
-
-  switch (type) {
-    case mjOBJ_BODY:
-      if (!object) {
-        return bodies_[0]->spec.element;
-      } else if (object == bodies_[0]->spec.element) {
-        return bodies_[0]->NextChild(NULL, type, /*recursive=*/true);
-      } else {
-        return bodies_[0]->NextChild(object, type, /*recursive=*/true);
-      }
-    case mjOBJ_SITE:
-    case mjOBJ_GEOM:
-    case mjOBJ_JOINT:
-    case mjOBJ_CAMERA:
-    case mjOBJ_LIGHT:
-    case mjOBJ_FRAME:
-      return bodies_[0]->NextChild(object, type, /*recursive=*/true);
-    case mjOBJ_ACTUATOR:
-      return GetNext(actuators_, object);
-    case mjOBJ_SENSOR:
-      return GetNext(sensors_, object);
-    case mjOBJ_FLEX:
-      return GetNext(flexes_, object);
-    case mjOBJ_PAIR:
-      return GetNext(pairs_, object);
-    case mjOBJ_EXCLUDE:
-      return GetNext(excludes_, object);
-    case mjOBJ_EQUALITY:
-      return GetNext(equalities_, object);
-    case mjOBJ_TENDON:
-      return GetNext(tendons_, object);
-    case mjOBJ_NUMERIC:
-      return GetNext(numerics_, object);
-    case mjOBJ_TEXT:
-      return GetNext(texts_, object);
-    case mjOBJ_TUPLE:
-      return GetNext(tuples_, object);
-    case mjOBJ_KEY:
-      return GetNext(keys_, object);
-    case mjOBJ_MESH:
-      return GetNext(meshes_, object);
-    case mjOBJ_HFIELD:
-      return GetNext(hfields_, object);
-    case mjOBJ_SKIN:
-      return GetNext(skins_, object);
-    case mjOBJ_TEXTURE:
-      return GetNext(textures_, object);
-    case mjOBJ_MATERIAL:
-      return GetNext(materials_, object);
-    case mjOBJ_PLUGIN:
-      return GetNext(plugins_, object);
-    default:
-      return nullptr;
-  }
-}
-
-
-//------------------------ API FOR ACCESS TO PRIVATE VARIABLES -------------------------------------
-
-// compiled flag
-bool mjCModel::IsCompiled() const {
-  return compiled;
-}
-
-
-
-// get reference of error object
-const mjCError& mjCModel::GetError() const {
-  return errInfo;
-}
-
-// add warning to vector (immediate delivery outside compile)
-void mjCModel::AddWarning(std::string msg, const mjCBase* obj) {
-  if (obj) {
-    msg += "\nElement name '" + obj->name + "', id " + std::to_string(obj->id);
-    if (!obj->info.empty()) {
-      msg += ", " + obj->info;
-    }
-  }
-
-  // outside compile: deliver immediately via normal handler chain
-  if (!compiling_) {
-    mju_warning("%s", msg.c_str());
-  }
-  warnings_.push_back(std::move(msg));
-}
-
-// add grouped warning with subject/body split (immediate delivery outside
-// compile)
-void mjCModel::AddGroupedWarning(const std::string& subject,
-                                 const std::string& body) {
-  std::string full = body.empty() ? subject : subject + "\n" + body;
-  warnings_.push_back(full);
-
-  // outside compile: deliver immediately via structured log message
-  if (!compiling_) {
-    mjLogMessage m = {.level = mjLOG_WARNING};
-    snprintf(m.subject, sizeof(m.subject), "%s", subject.c_str());
-    m.body = body.empty() ? nullptr : body.c_str();
-    mju_message(&m);
-  }
-}
-
-// pointer to world body
-mjCBody* mjCModel::GetWorld() {
-  return bodies_[0];
-}
-
-
-
-// find default class name in array
-mjCDef* mjCModel::FindDefault(const string& name) const {
-  for (int i=0; i < (int)defaults_.size(); i++) {
-    if (defaults_[i]->name == name) {
-      return defaults_[i];
-    }
-  }
-  return nullptr;
-}
-
-
-
-// add default class to array
-mjCDef* mjCModel::AddDefault(string name, mjCDef* parent) {
-  // check for repeated name
-  int thisid = (int)defaults_.size();
-  for (int i=0; i < thisid; i++) {
-    if (defaults_[i]->name == name) {
-      return 0;
-    }
-  }
-
-  // create new object
-  mjCDef* def = new mjCDef(parent->model);
-  defaults_.push_back(def);
-  def->id = thisid;
-
-  // initialize contents
-  if (parent && parent->id < thisid) {
-    parent->CopyFromSpec();
-    def->CopyWithoutChildren(*parent);
-    parent->child.push_back(def);
-  }
-  def->parent = parent;
-  def->name = name;
-  def->child.clear();
-  def_map[name] = def;
-
-  return def;
-}
-
-
-
-// find object by name in given list
-template <class T>
-static T* findobject(std::string_view name, const vector<T*>& list, const mjKeyMap& ids) {
-  // this can occur in the URDF parser
-  if (ids.empty()) {
-    for (unsigned int i=0; i < list.size(); i++) {
-      if (list[i]->name == name) {
-        return list[i];
-      }
-    }
-    return nullptr;
-  }
-
-  // during model compilation
-  auto id = ids.find(name);
-  if (id == ids.end()) {
-    return nullptr;
-  }
-  if (id->second > (int)list.size() - 1) {
-    throw mjCError(0, "object not found");
-  }
-  return list[id->second];
-}
-
-
-
-template <class T>
-mjCBase* mjCModel::FindAsset(std::string_view name, const std::vector<T*>& list) const {
-  for (unsigned int i=0; i < list.size(); i++) {
-    if (list[i]->name == name) {
-      return list[i];
-    }
-    if (list[i]->name.empty() &&
-        std::filesystem::path(list[i]->spec_file_).filename().stem() == name) {
-      return list[i];
-    }
-  }
-  return nullptr;
-}
-
-template mjCBase* mjCModel::FindAsset<mjCTexture>(
-    std::string_view name, const std::vector<mjCTexture*>& list) const;
-template mjCBase* mjCModel::FindAsset<mjCMesh>(
-    std::string_view name, const std::vector<mjCMesh*>& list) const;
-
-
-
-// find object in global lists given string type and name
-mjCBase* mjCModel::FindObject(mjtObj type, string name) const {
-  if (!object_lists_[type]) {
-    return nullptr;
-  }
-  return findobject(name, *object_lists_[type], ids[type]);
-}
-
-
-
-// find body by name
-mjCBase* mjCModel::FindTree(mjCBody* body, mjtObj type, std::string name) {
-  switch (type) {
-    case mjOBJ_BODY:
-      if (body->name == name) {
-        return body;
-      }
-      break;
-    case mjOBJ_SITE:
-      for (auto site : body->sites) {
-        if (site->name == name) {
-          return site;
-        }
-      }
-      break;
-    case mjOBJ_GEOM:
-      for (auto geom : body->geoms) {
-        if (geom->name == name) {
-          return geom;
-        }
-      }
-      break;
-    case mjOBJ_JOINT:
-      for (auto joint : body->joints) {
-        if (joint->name == name) {
-          return joint;
-        }
-      }
-      break;
-    case mjOBJ_CAMERA:
-      for (auto camera : body->cameras) {
-        if (camera->name == name) {
-          return camera;
-        }
-      }
-      break;
-    case mjOBJ_LIGHT:
-      for (auto light : body->lights) {
-        if (light->name == name) {
-          return light;
-        }
-      }
-      break;
-    case mjOBJ_FRAME:
-      for (auto frame : body->frames) {
-        if (frame->name == name) {
-          return frame;
-        }
-      }
-      break;
-    default:
-      return nullptr;
-  }
-
-  for (auto child : body->bodies) {
-    auto candidate = FindTree(child, type, name);
-    if (candidate) {
-      return candidate;
-    }
-  }
-
-  return nullptr;
-}
-
-
-
-// find spec by name
-mjSpec* mjCModel::FindSpec(std::string name) const {
-  for (auto spec : specs_) {
-    if (mjs_getString(spec->modelname) == name) {
-      return spec;
-    }
-  }
-  return nullptr;
-}
-
-
-
-// find spec by mjsCompiler pointer
-mjSpec* mjCModel::FindSpec(const mjsCompiler* compiler_) const {
-  if (compiler_ == &spec.compiler) {
-    return &const_cast<mjCModel*>(this)->spec;
-  }
-
-  if (auto it = compiler2spec_.find(compiler_); it != compiler2spec_.end()) {
-    return it->second;
-  }
-
-  for (auto s : specs_) {
-    mjSpec* source = static_cast<mjCModel*>(s->element)->FindSpec(compiler_);
-    if (source) {
-      return source;
-    }
-  }
-  return nullptr;
-}
-
-
-
-//------------------------------- COMPILER PHASES --------------------------------------------------
-
-// make lists of objects in tree: bodies, geoms, joints, sites, cameras, lights
-void mjCModel::MakeTreeLists(mjCBody* body) {
-  if (body == nullptr) {
-    body = bodies_[0];
-  }
-
-  // add this body if not world
-  if (body != bodies_[0]) {
-    bodies_.push_back(body);
-  }
-
-  // add body's geoms, joints, sites, cameras, lights
-  for (mjCGeom *geom : body->geoms) geoms_.push_back(geom);
-  for (mjCJoint *joint : body->joints) joints_.push_back(joint);
-  for (mjCSite *site : body->sites) sites_.push_back(site);
-  for (mjCCamera *camera : body->cameras) cameras_.push_back(camera);
-  for (mjCLight *light : body->lights) lights_.push_back(light);
-  for (mjCFrame *frame : body->frames) frames_.push_back(frame);
-
-  // recursive call to all child bodies
-  for (mjCBody* body : body->bodies) MakeTreeLists(body);
-}
-
-
-// delete material with given name or all materials if the name is omitted
-template <class T>
-void mjCModel::DeleteMaterial(std::vector<T*>& list, std::string_view name) {
-  for (T* plist : list) {
-    if (name.empty() || plist->get_material() == name) {
-      plist->del_material();
-    }
-  }
-}
-
-
-
-// delete all textures
-template <class T>
-static void DeleteAllTextures(std::vector<T*>& list) {
-  for (T* plist : list) {
-    plist->del_textures();
-  }
-}
-
-
-// delete all texture coordinates
-template <class T>
-static void DeleteTexcoord(std::vector<T*>& list) {
-  for (T* plist : list) {
-    if (plist->HasTexcoord()) {
-      plist->DelTexcoord();
-    }
-  }
-}
-
-
-// returns a vector that stores the reference correction for each entry
-template <class T>
-static void DeleteElements(std::vector<T*>& elements,
-                           const std::vector<bool>& discard) {
-  if (elements.empty()) {
-    return;
-  }
-
-  std::vector<int> ndiscard(elements.size(), 0);
-
-  int i = 0;
-  for (int j=0; j < elements.size(); j++) {
-    if (discard[j]) {
-      elements[j]->Release();
-    } else {
-      elements[i] = elements[j];
-      i++;
-    }
-  }
-
-  // count cumulative discarded elements
-  for (int i=0; i < elements.size()-1; i++) {
-    ndiscard[i+1] = ndiscard[i] + discard[i];
-  }
-
-  // erase elements from vector
-  if (i < elements.size()) {
-    elements.erase(elements.begin() + i, elements.end());
-  }
-
-  // update elements
-  for (T* element : elements) {
-    if (element->id > 0) {
-      element->id -= ndiscard[element->id];
-    }
-  }
-}
-
-
-template <>
-void mjCModel::Delete<mjCGeom>(std::vector<mjCGeom*>& elements,
-                               const std::vector<bool>& discard) {
-  // update bodies
-  for (mjCBody* body : bodies_) {
-    body->geoms.erase(
-      std::remove_if(body->geoms.begin(), body->geoms.end(),
-                     [&discard](mjCGeom* geom) {
-      return discard[geom->id];
-    }),
-      body->geoms.end());
-  }
-
-  // remove geoms from the main vector
-  DeleteElements(elements, discard);
-}
-
-
-template <>
-void mjCModel::Delete<mjCMesh>(std::vector<mjCMesh*>& elements,
-                               const std::vector<bool>& discard) {
-  DeleteElements(elements, discard);
-}
-
-
-template <>
-void mjCModel::DeleteAll<mjCMaterial>(std::vector<mjCMaterial*>& elements) {
-  DeleteMaterial(geoms_);
-  DeleteMaterial(skins_);
-  DeleteMaterial(sites_);
-  DeleteMaterial(tendons_);
-  for (mjCMaterial* element : elements) {
-    element->Release();
-  }
-  elements.clear();
-}
-
-
-template <>
-void mjCModel::DeleteAll<mjCTexture>(std::vector<mjCTexture*>& elements) {
-  DeleteAllTextures(materials_);
-  for (mjCTexture* element : elements) {
-    element->Release();
-  }
-  elements.clear();
-}
-
-
-// set nuser fields
-void mjCModel::SetNuser() {
-  if (nuser_body == -1) {
-    nuser_body = 0;
-    for (int i = 0; i < bodies_.size(); i++) {
-      nuser_body = mjMAX(nuser_body, bodies_[i]->spec_userdata_.size());
-    }
-  }
-  if (nuser_jnt == -1) {
-    nuser_jnt = 0;
-    for (int i = 0; i < joints_.size(); i++) {
-      nuser_jnt = mjMAX(nuser_jnt, joints_[i]->spec_userdata_.size());
-    }
-  }
-  if (nuser_geom == -1) {
-    nuser_geom = 0;
-    for (int i = 0; i < geoms_.size(); i++) {
-      nuser_geom = mjMAX(nuser_geom, geoms_[i]->spec_userdata_.size());
-    }
-  }
-  if (nuser_site == -1) {
-    nuser_site = 0;
-    for (int i = 0; i < sites_.size(); i++) {
-      nuser_site = mjMAX(nuser_site, sites_[i]->spec_userdata_.size());
-    }
-  }
-  if (nuser_cam == -1) {
-    nuser_cam = 0;
-    for (int i = 0; i < cameras_.size(); i++) {
-      nuser_cam = mjMAX(nuser_cam, cameras_[i]->spec_userdata_.size());
-    }
-  }
-  if (nuser_tendon == -1) {
-    nuser_tendon = 0;
-    for (int i = 0; i < tendons_.size(); i++) {
-      nuser_tendon = mjMAX(nuser_tendon, tendons_[i]->spec_userdata_.size());
-    }
-  }
-  if (nuser_actuator == -1) {
-    nuser_actuator = 0;
-    for (int i = 0; i < actuators_.size(); i++) {
-      nuser_actuator = mjMAX(nuser_actuator, actuators_[i]->spec_userdata_.size());
-    }
-  }
-  if (nuser_sensor == -1) {
-    nuser_sensor = 0;
-    for (int i = 0; i < sensors_.size(); i++) {
-      nuser_sensor = mjMAX(nuser_sensor, sensors_[i]->spec_userdata_.size());
-    }
-  }
-}
-
-// index assets
-void mjCModel::IndexAssets(bool discard) {
-  // assets referenced in geoms
-  for (int i=0; i < geoms_.size(); i++) {
-    mjCGeom* geom = geoms_[i];
-
-
-    // find mesh by name
-    if (!geom->get_meshname().empty()) {
-      mjCMesh* mesh = static_cast<mjCMesh*>(FindObject(mjOBJ_MESH, geom->get_meshname()));
-      if (mesh) {
-        if (!geom->visual_) {
-          mesh->SetNotVisual();  // reset to true by mesh->Compile()
-        }
-        geom->mesh = (discard && geom->visual_) ? nullptr : mesh;
-        mesh->spec.needsdf |= geom->spec.type == mjGEOM_SDF;
-      } else {
-        throw mjCError(geom, "mesh '%s' not found in geom %d", geom->get_meshname().c_str(), i);
-      }
-    }
-
-    // find material by name, this has to happen after mesh assignment so that if
-    // the geom does not specify a material but the mesh does it can fall back.
-    if (!geom->get_material().empty()) {
-      mjCBase* material = FindObject(mjOBJ_MATERIAL, geom->get_material());
-      if (material) {
-        geom->matid = material->id;
-      } else {
-        throw mjCError(geom, "material '%s' not found in geom %d", geom->get_material().c_str(), i);
-      }
-    }
-
-    // find hfield by name
-    if (!geom->get_hfieldname().empty()) {
-      mjCBase* hfield = FindObject(mjOBJ_HFIELD, geom->get_hfieldname());
-      if (hfield) {
-        geom->hfield = (mjCHField*)hfield;
-      } else {
-        throw mjCError(geom, "hfield '%s' not found in geom %d", geom->get_hfieldname().c_str(), i);
-      }
-    }
-  }
-
-  // assets referenced in skins
-  for (int i=0; i < skins_.size(); i++) {
-    mjCSkin* skin = skins_[i];
-
-    // find material by name
-    if (!skin->material_.empty()) {
-      mjCBase* material = FindObject(mjOBJ_MATERIAL, skin->material_);
-      if (material) {
-        skin->matid = material->id;
-      } else {
-        throw mjCError(skin, "material '%s' not found in skin %d", skin->material_.c_str(), i);
-      }
-    }
-  }
-
-  // materials referenced in sites
-  for (int i=0; i < sites_.size(); i++) {
-    mjCSite* site = sites_[i];
-
-    // find material by name
-    if (!site->material_.empty()) {
-      mjCBase* material = FindObject(mjOBJ_MATERIAL, site->get_material());
-      if (material) {
-        site->matid = material->id;
-      } else {
-        throw mjCError(site, "material '%s' not found in site %d", site->material_.c_str(), i);
-      }
-    }
-  }
-
-  // materials referenced in tendons
-  for (int i=0; i < tendons_.size(); i++) {
-    mjCTendon* tendon = tendons_[i];
-
-    // find material by name
-    if (!tendon->material_.empty()) {
-      mjCBase* material = FindObject(mjOBJ_MATERIAL, tendon->material_);
-      if (material) {
-        tendon->matid = material->id;
-      } else {
-        throw mjCError(tendon, "material '%s' not found in tendon %d", tendon->material_.c_str(), i);
-      }
-    }
-  }
-
-  // textures referenced in materials
-  for (int i=0; i < materials_.size(); i++) {
-    mjCMaterial* material = materials_[i];
-
-    // find textures by name
-    for (int j=0; j < mjNTEXROLE; j++) {
-      if (!material->textures_[j].empty()) {
-        mjCBase* texture = FindObject(mjOBJ_TEXTURE, material->textures_[j]);
-        if (texture) {
-          material->texid[j] = texture->id;
-        } else {
-          throw mjCError(material, "texture '%s' not found in material %d", material->textures_[j].c_str(), i);
-        }
-      }
-    }
-  }
-
-  if (discard) {
-    std::vector<bool> discard_mesh(meshes_.size(), false);
-    std::vector<bool> discard_geom(geoms_.size(), false);
-
-    std::transform(meshes_.begin(), meshes_.end(), discard_mesh.begin(),
-                   [](const mjCMesh* mesh) {
-      return mesh->IsVisual();
-    });
-    std::transform(geoms_.begin(), geoms_.end(), discard_geom.begin(),
-                   [](const mjCGeom* geom) {
-      return geom->IsVisual();
-    });
-
-    // update inertia in bodies
-    for (auto body : bodies_) {
-      if (body->spec.explicitinertial) {
-        continue;
-      }
-      for (auto geom : body->geoms) {
-        if (geom->IsVisual()) {
-          if (compiler.inertiafromgeom == mjINERTIAFROMGEOM_TRUE) {
-            compiler.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
-          }
-          body->explicitinertial = true;  // for XML writer
-          body->spec.explicitinertial = true;
-          body->spec.mass = body->mass;
-          mjuu_copyvec(body->spec.ipos, body->ipos, 3);
-          mjuu_copyvec(body->spec.iquat, body->iquat, 4);
-          mjuu_copyvec(body->spec.inertia, body->inertia, 3);
-          break;
-        }
-      }
-    }
-
-    // discard visual meshes and geoms
-    Delete(meshes_, discard_mesh);
-    Delete(geoms_, discard_geom);
-  }
-}
-
-
-
-// throw error if a name is missing
-void mjCModel::CheckEmptyNames(void) {
-  // meshes
-  for (int i=0; i < meshes_.size(); i++) {
-    if (meshes_[i]->name.empty()) {
-      throw mjCError(meshes_[i], "empty name in mesh");
-    }
-  }
-
-  // hfields
-  for (int i=0; i < hfields_.size(); i++) {
-    if (hfields_[i]->name.empty()) {
-      throw mjCError(hfields_[i], "empty name in height field");
-    }
-  }
-
-  // textures
-  for (int i=0; i < textures_.size(); i++) {
-    if (textures_[i]->name.empty() && textures_[i]->type != mjTEXTURE_SKYBOX) {
-      throw mjCError(textures_[i], "empty name in texture");
-    }
-  }
-
-  // materials
-  for (int i=0; i < materials_.size(); i++) {
-    if (materials_[i]->name.empty()) {
-      throw mjCError(materials_[i], "empty name in material");
-    }
-  }
-}
-
-
-
-template <typename T>
-static size_t getpathslength(std::vector<T> list) {
-  size_t result = 0;
-  for (const auto& element : list) {
-    if (!element->File().empty()) {
-      result += element->File().length() + 1;
-    }
-  }
-
-  return result;
-}
-
-// set array sizes
-void mjCModel::SetSizes() {
-  // set from object list sizes
-  nbody = (int)bodies_.size();
-  njnt = (int)joints_.size();
-  ngeom = (int)geoms_.size();
-  nsite = (int)sites_.size();
-  ncam = (int)cameras_.size();
-  nlight = (int)lights_.size();
-  nflex = (int)flexes_.size();
-  nmesh = (int)meshes_.size();
-  nskin = (int)skins_.size();
-  nhfield = (int)hfields_.size();
-  ntex = (int)textures_.size();
-  nmat = (int)materials_.size();
-  npair = (int)pairs_.size();
-  nexclude = (int)excludes_.size();
-  neq = (int)equalities_.size();
-  ntendon = (int)tendons_.size();
-  nsensor = (int)sensors_.size();
-  nnumeric = (int)numerics_.size();
-  ntext = (int)texts_.size();
-  ntuple = (int)tuples_.size();
-  nkey = (int)keys_.size();
-  nplugin = (int)plugins_.size();
-  nq = nv = ntree = nu = nactuator = nout = na = nmocap = 0;
-
-  // nq, nv, ntree
-  for (int i=0; i < njnt; i++) {
-    nq += joints_[i]->nq();
-    nv += joints_[i]->nv();
-
-    // increment ntree if this is the first joint in a moving body with static ancestry
-    mjCBody* parent = joints_[i]->GetParent();
-    bool is_first_joint = joints_[i] == parent->joints[0];
-    if (is_first_joint) {
-      // check if all ancestors are static
-      bool static_ancestry = true;
-      mjCBody* ancestor = parent;
-      while (ancestor != bodies_[0]) {
-        ancestor = ancestor->GetParent();
-        if (!ancestor->joints.empty()) {
-          static_ancestry = false;
-          break;
-        }
-      }
-
-      // if all ancestors are static, this joint starts a new kinematic tree
-      if (static_ancestry) {
-        ntree++;
-      }
-    }
-  }
-
-  // nu, nactuator, nout, na; all actuator types are currently 1x1
-  for (int i=0; i < actuators_.size(); i++) {
-    nactuator++;
-    nu += actuators_[i]->ctrlnum_;
-    nout += actuators_[i]->outnum_;
-    na += actuators_[i]->actdim;
-  }
-
-  // nbvh, nbvhstatic, nbvhdynamic
-  for (int i=0; i < nbody; i++) {
-    nbvhstatic += bodies_[i]->tree.Nbvh();
-  }
-  for (int i=0; i < nmesh; i++) {
-    nbvhstatic += meshes_[i]->tree().Nbvh();
-    noct += meshes_[i]->octree().NumNodes();
-  }
-  for (int i=0; i < nflex; i++) {
-    nbvhdynamic += flexes_[i]->tree.Nbvh();
-  }
-  nbvh = nbvhstatic + nbvhdynamic;
-
-  // flex counts
-  for (int i=0; i < nflex; i++) {
-    nflexnode += flexes_[i]->nnode;
-    nflexvert += flexes_[i]->nvert;
-    nflexedge += flexes_[i]->nedge;
-    nflexelem += flexes_[i]->nelem;
-    nflexelemdata += flexes_[i]->nelem * (flexes_[i]->dim + 1);
-    nflexelemedge += flexes_[i]->nelem * mjCFlex::kNumEdges[flexes_[i]->dim - 1];
-    nflexshelldata += (int)flexes_[i]->shell.size();
-    nflexevpair += (int)flexes_[i]->evpair.size()/2;
-    nflextexcoord += (flexes_[i]->HasTexcoord() ? flexes_[i]->get_texcoord().size()/2 : 0);
-    nflexstiffness += flexes_[i]->stiffness.size();
-    nflexbending += flexes_[i]->bending.size();
-    if (flexes_[i]->interpolated || flexes_[i]->rigid) {
-      continue;
-    }
-
-    // bending factor sizes: symbolic reverse-Cholesky count on the (M + K_bend) pattern.
-    // Bending couples only same-coordinate dofs of unpinned flap vertices, so the pattern is
-    // three interleaved copies of the vertex flap adjacency. The count must match the symbolic
-    // factorization performed in mj_setConst (asserted there).
-    if (flexes_[i]->dim == 2 && !flexes_[i]->bending.empty()) {
-      const mjCFlex* fl = flexes_[i];
-      int nvrt = fl->nvert;
-
-      // unpinned vertices -> compact slots (vertex enumeration order)
-      std::vector<int> slot(nvrt, -1);
-      int nfree = 0;
-      for (int v=0; v < nvrt; v++) {
-        if (!bodies_[fl->vertbodyid[v]]->joints.empty()) {
-          slot[v] = nfree++;
-        }
-      }
-      if (!nfree) {
-        continue;
-      }
-
-      // vertex adjacency from 4-vertex flap stencils (self excluded; diagonal is implicit)
-      std::vector<std::set<int>> adj(nfree);
-      for (const auto& flap : fl->flaps) {
-        if (flap.vertices[3] < 0) {
-          continue;
-        }
-        for (int a=0; a < 4; a++) {
-          int sa = slot[flap.vertices[a]];
-          if (sa < 0) continue;
-          for (int b=0; b < 4; b++) {
-            int sb = slot[flap.vertices[b]];
-            if (sb >= 0 && sb != sa) {
-              adj[sa].insert(sb);
-            }
-          }
-        }
-      }
-
-      // dof-level upper-triangle pattern: row 3*s+k has columns {3*t+k : t > s, t in adj(s)}
-      int n = 3*nfree;
-      std::vector<std::vector<int>> upper(n);
-      for (int s=0; s < nfree; s++) {
-        for (int t : adj[s]) {
-          if (t > s) {
-            for (int k=0; k < 3; k++) {
-              upper[3*s+k].push_back(3*t+k);
-            }
-          }
-        }
-      }
-      for (auto& row : upper) {
-        std::sort(row.begin(), row.end());
-      }
-
-      // flatten the pattern to CSR and count fill with the engine's symbolic factorization
-      // (d == NULL: no mjData exists yet, scratch is heap-allocated)
-      std::vector<int> u_rownnz(n), u_rowadr(n), u_colind;
-      int u_nnz = 0;
-      for (int r=0; r < n; r++) {
-        u_nnz += (int)upper[r].size();
-      }
-      u_colind.reserve(u_nnz);
-      for (int r=0; r < n; r++) {
-        u_rownnz[r] = (int)upper[r].size();
-        u_rowadr[r] = (int)u_colind.size();
-        u_colind.insert(u_colind.end(), upper[r].begin(), upper[r].end());
-      }
-      std::vector<int> L_rownnz(n), L_rowadr(n), LT_rownnz(n), LT_rowadr(n);
-      mjtSize nnz = mju_cholFactorSymbolic(NULL, L_rownnz.data(), L_rowadr.data(),
-                                           NULL, LT_rownnz.data(), LT_rowadr.data(), NULL,
-                                           u_rownnz.data(), u_rowadr.data(), u_colind.data(),
-                                           n, NULL);
-
-      nefm0dof += n;
-      nefm0L += nnz;
-    }
-
-    // count number of non-zero elements in the edge Jacobian matrix
-    for (const auto& edge : flexes_[i]->edge) {
-      mjCBody* b1 = bodies_[flexes_[i]->vertbodyid[edge.first]];
-      mjCBody* b2 = bodies_[flexes_[i]->vertbodyid[edge.second]];
-      std::unordered_set<mjCBody*> bodies_in_jac;
-      while (b1 || b2) {
-        if (b1) {
-          bodies_in_jac.insert(b1);
-          b1 = b1->parent;
-        }
-        if (b2) {
-          bodies_in_jac.insert(b2);
-          b2 = b2->parent;
-        }
-      }
-      for (mjCBody* b : bodies_in_jac) {
-        nJfe += b->dofnum;
-      }
-    }
-
-    // compute nJfv
-    std::vector<std::vector<int>> adj(flexes_[i]->nvert);
-    for (const auto& edge : flexes_[i]->edge) {
-      adj[edge.first].push_back(edge.second);
-      adj[edge.second].push_back(edge.first);
-    }
-    for (int j=0; j < flexes_[i]->nvert; j++) {
-      std::unordered_set<int> vert_bodies;
-      vert_bodies.insert(flexes_[i]->vertbodyid[j]);
-      for (int neighbor : adj[j]) {
-        vert_bodies.insert(flexes_[i]->vertbodyid[neighbor]);
-      }
-      std::unordered_set<mjCBody*> bodies_in_jac;
-      for (int body_id : vert_bodies) {
-        mjCBody* b = bodies_[body_id];
-        while (b) {
-          bodies_in_jac.insert(b);
-          b = b->parent;
-        }
-      }
-      for (mjCBody* b : bodies_in_jac) {
-        nJfv += b->dofnum;
-      }
-    }
-  }
-
-  // mesh counts
-  for (int i=0; i < nmesh; i++) {
-    nmeshvert += meshes_[i]->nvert();
-    nmeshnormal += meshes_[i]->nnormal();
-    nmeshface += meshes_[i]->nface();
-    nmeshtexcoord += (meshes_[i]->HasTexcoord() ? meshes_[i]->ntexcoord() : 0);
-    nmeshgraph += meshes_[i]->szgraph();
-    nmeshpoly += meshes_[i]->npolygon();
-    nmeshpolyvert += meshes_[i]->npolygonvert();
-    nmeshpolymap += meshes_[i]->npolygonmap();
-  }
-
-  // skin counts
-  for (int i=0; i < nskin; i++) {
-    nskinvert += skins_[i]->get_vert().size()/3;
-    nskintexvert += skins_[i]->get_texcoord().size()/2;
-    nskinface += skins_[i]->get_face().size()/3;
-    nskinbone += skins_[i]->bodyid.size();
-    for (int j=0; j < skins_[i]->bodyid.size(); j++) {
-      nskinbonevert += skins_[i]->get_vertid()[j].size();
-    }
-  }
-
-  // nhfielddata
-  for (int i=0; i < nhfield; i++) {
-    nhfielddata += static_cast<mjtSize>(hfields_[i]->nrow) * hfields_[i]->ncol;
-  }
-
-  // ntexdata
-  for (int i=0; i < ntex; i++) {
-    const mjCTexture* tex = textures_[i];
-    ntexdata += static_cast<mjtSize>(tex->nchannel) * tex->width * tex->height;
-  }
-
-  // nwrap
-  for (int i=0; i < ntendon; i++) {
-    nwrap += static_cast<mjtSize>(tendons_[i]->path.size());
-  }
-
-  // nsensordata
-  for (int i=0; i < nsensor; i++) {
-    nsensordata += sensors_[i]->dim;
-  }
-
-  // nhistory: layout is [user, cursor, times(n), values(n*dim)] = 2+2n per actuator (dim=1)
-  nhistory = 0;
-  for (int i=0; i < actuators_.size(); i++) {
-    if (actuators_[i]->nsample > 0) {
-      nhistory += 2 + 2 * actuators_[i]->nsample;
-    }
-  }
-  // sensor delay: layout is [user, cursor, times(n), values(n*dim)] = 2 + n + n*dim
-  for (int i=0; i < sensors_.size(); i++) {
-    if (sensors_[i]->nsample > 0) {
-      nhistory += 2 + sensors_[i]->nsample + sensors_[i]->nsample * sensors_[i]->dim;
-    }
-  }
-
-  // nnumericdata
-  for (int i=0; i < nnumeric; i++) {
-    nnumericdata += numerics_[i]->size;
-  }
-
-  // ntextdata
-  for (int i=0; i < ntext; i++) {
-    ntextdata += (int)texts_[i]->data_.size() + 1;
-  }
-
-  // ntupledata
-  for (int i=0; i < ntuple; i++) {
-    ntupledata += (int)tuples_[i]->objtype_.size();
-  }
-
-  // npluginattr
-  for (int i=0; i < nplugin; i++) {
-    npluginattr += (int)plugins_[i]->flattened_attributes.size();
-  }
-
-  // nnames
-  nnames = (int)modelname_.size() + 1;
-  for (int i=0; i < nbody; i++)    nnames += (int)bodies_[i]->name.length() + 1;
-  for (int i=0; i < njnt; i++)     nnames += (int)joints_[i]->name.length() + 1;
-  for (int i=0; i < ngeom; i++)    nnames += (int)geoms_[i]->name.length() + 1;
-  for (int i=0; i < nsite; i++)    nnames += (int)sites_[i]->name.length() + 1;
-  for (int i=0; i < ncam; i++)     nnames += (int)cameras_[i]->name.length() + 1;
-  for (int i=0; i < nlight; i++)   nnames += (int)lights_[i]->name.length() + 1;
-  for (int i=0; i < nflex; i++)    nnames += (int)flexes_[i]->name.length() + 1;
-  for (int i=0; i < nmesh; i++)    nnames += (int)meshes_[i]->name.length() + 1;
-  for (int i=0; i < nskin; i++)    nnames += (int)skins_[i]->name.length() + 1;
-  for (int i=0; i < nhfield; i++)  nnames += (int)hfields_[i]->name.length() + 1;
-  for (int i=0; i < ntex; i++)     nnames += (int)textures_[i]->name.length() + 1;
-  for (int i=0; i < nmat; i++)     nnames += (int)materials_[i]->name.length() + 1;
-  for (int i=0; i < npair; i++)    nnames += (int)pairs_[i]->name.length() + 1;
-  for (int i=0; i < nexclude; i++) nnames += (int)excludes_[i]->name.length() + 1;
-  for (int i=0; i < neq; i++)      nnames += (int)equalities_[i]->name.length() + 1;
-  for (int i=0; i < ntendon; i++)  nnames += (int)tendons_[i]->name.length() + 1;
-  for (int i=0; i < nactuator; i++) nnames += (int)actuators_[i]->name.length() + 1;
-  for (int i=0; i < nsensor; i++)  nnames += (int)sensors_[i]->name.length() + 1;
-  for (int i=0; i < nnumeric; i++) nnames += (int)numerics_[i]->name.length() + 1;
-  for (int i=0; i < ntext; i++)    nnames += (int)texts_[i]->name.length() + 1;
-  for (int i=0; i < ntuple; i++)   nnames += (int)tuples_[i]->name.length() + 1;
-  for (int i=0; i < nkey; i++)     nnames += (int)keys_[i]->name.length() + 1;
-  for (int i=0; i < nplugin; i++)  nnames += (int)plugins_[i]->name.length() + 1;
-
-  // npaths
-  npaths = 0;
-  npaths += getpathslength(hfields_);
-  npaths += getpathslength(meshes_);
-  npaths += getpathslength(skins_);
-  npaths += getpathslength(textures_);
-  if (npaths == 0) {
-    npaths = 1;
-  }
-
-  // nemax
-  for (int i=0; i < neq; i++) {
-    if (equalities_[i]->type == mjEQ_CONNECT) {
-      nemax += 3;
-    } else if (equalities_[i]->type == mjEQ_WELD) {
-      nemax += 7;
-    } else {
-      nemax += 1;
-    }
-  }
-}
-
-
-
-// automatic stiffness and damping computation
-void mjCModel::AutoSpringDamper(mjModel* m) {
-  // process all joints
-  for (int n=0; n < m->njnt; n++) {
-    // get joint dof address and number of dimensions
-    int adr = m->jnt_dofadr[n];
-    int ndim = mjCJoint::nv((mjtJoint)m->jnt_type[n]);
-
-    // get timeconst and dampratio from joint specification
-    mjtNum timeconst = (mjtNum)joints_[n]->springdamper[0];
-    mjtNum dampratio = (mjtNum)joints_[n]->springdamper[1];
-
-    // skip joint if either parameter is non-positive
-    if (timeconst <= 0 || dampratio <= 0) {
-      continue;
-    }
-
-    // get average inertia (dof_invweight0 in free joint is different for tran and rot)
-    mjtNum inertia = 0;
-    for (int i=0; i < ndim; i++) {
-      inertia += m->dof_invweight0[adr+i];
-    }
-    inertia = ((mjtNum)ndim) / std::max(mjMINVAL, inertia);
-
-    // compute stiffness and damping (same as solref computation)
-    mjtNum stiffness = inertia / std::max(mjMINVAL, timeconst*timeconst*dampratio*dampratio);
-    mjtNum damping = 2 * inertia / std::max(mjMINVAL, timeconst);
-
-    // save stiffness and damping in the private mjsJoints
-    joints_[n]->stiffness[0] = stiffness;
-    joints_[n]->damping[0] = damping;
-
-    // assign
-    m->jnt_stiffness[n] = stiffness;
-    for (int i=0; i < ndim; i++) {
-      m->dof_damping[adr+i] = damping;
-    }
-  }
-}
-
-
-
-// arguments for lengthrange thread function
-struct _LRThreadArg {
-  mjModel* m;
-  mjData* data;
-  int start;
-  int num;
-  const mjLROpt* LRopt;
-  char* error;
-  int error_sz;
-};
-typedef struct _LRThreadArg LRThreadArg;
-
-
-// thread function for lengthrange computation
-void* LRfunc(void* arg) {
-  LRThreadArg* larg = (LRThreadArg*)arg;
-
-  for (int i=larg->start; i < larg->start+larg->num; i++) {
-    if (i < larg->m->nactuator) {
-      if (!mj_setLengthRange(larg->m, larg->data, i, larg->LRopt, larg->error, larg->error_sz)) {
-        return nullptr;
-      }
-    }
-  }
-
-  return nullptr;
-}
-
-
-// compute actuator lengthrange
-void mjCModel::LengthRange(mjModel* m, mjData* data) {
-  // save options and modify
-  mjOption saveopt = m->opt;
-  m->opt.disableflags = mjDSBL_FRICTIONLOSS | mjDSBL_CONTACT | mjDSBL_SPRING | mjDSBL_DAMPER |
-                        mjDSBL_GRAVITY | mjDSBL_ACTUATION;
-  if (compiler.LRopt.timestep > 0) {
-    m->opt.timestep = compiler.LRopt.timestep;
-  }
-
-  // count actuators that need computation
-  int cnt = 0;
-  for (int i=0; i < m->nactuator; i++) {
-    // skip depending on mode and type
-    int ismuscle = (m->actuator_gaintype[i] == mjGAIN_MUSCLE ||
-                    m->actuator_biastype[i] == mjBIAS_MUSCLE);
-    int isuser = (m->actuator_gaintype[i] == mjGAIN_USER ||
-                  m->actuator_biastype[i] == mjBIAS_USER);
-    if ((compiler.LRopt.mode == mjLRMODE_NONE) ||
-        (compiler.LRopt.mode == mjLRMODE_MUSCLE && !ismuscle) ||
-        (compiler.LRopt.mode == mjLRMODE_MUSCLEUSER && !ismuscle && !isuser)) {
-      continue;
-    }
-
-    // use existing length range if available
-    if (compiler.LRopt.useexisting &&
-        (m->actuator_lengthrange[2*i] < m->actuator_lengthrange[2*i+1])) {
-      continue;
-    }
-
-    // count
-    cnt++;
-  }
-
-  const auto nthread = NumCompilerThreads(cnt);
-
-  // single thread
-  if (!compiler.usethread || cnt < 2 || nthread < 2) {
-    char err[200];
-    for (int i=0; i < m->nactuator; i++) {
-      if (!mj_setLengthRange(m, data, i, &compiler.LRopt, err, 200)) {
-        throw mjCError(0, "%s", err);
-      }
-    }
-  }
-
-  // multiple threads
-  else {
-    // allocate mjData for each thread
-    // using vectors to allow arbitrary number of threads without stack overflow
-    std::vector<std::vector<char>> err(nthread, std::vector<char>(200));
-    std::vector<mjData*> pdata(nthread);
-    pdata[0] = data;
-
-    for (int i=1; i < nthread; i++) {
-      pdata[i] = mj_makeData(m);
-    }
-
-    // number of actuators per thread
-    int num = m->nactuator / nthread;
-    while (num*nthread < m->nactuator) {
-      num++;
-    }
-
-    // prepare thread function arguments
-    std::vector<LRThreadArg> arg(nthread);
-    for (int i=0; i < nthread; i++) {
-      LRThreadArg temp = {
-          m, pdata[i], i * num, num, &compiler.LRopt, err[i].data(), 200};
-      arg[i] = temp;
-      err[i][0] = 0;
-    }
-
-    // launch threads and wait for them to finish
-    mujoco::user::ThreadPool pool(nthread);
-    for (int i=0; i < nthread; i++) {
-      pool.Schedule([&arg, i]() { LRfunc(&arg[i]); });
-    }
-    pool.WaitCount(nthread);
-
-    // free mjData allocated here
-    for (int i=1; i < nthread; i++) {
-      mj_deleteData(pdata[i]);
-    }
-
-    // report first error
-    for (int i=0; i < nthread; i++) {
-      if (err[i][0]) {
-        throw mjCError(0, "%s", err[i].data());
-      }
-    }
-  }
-
-  // restore options
-  m->opt = saveopt;
-}
-
-
-// Add items to a generic list. This enables the names and paths to be stored.
-// input - string to add
-// adr - current address in the list
-// output_adr_field - the field where the address should be stored (name_meshadr)
-// output_buffer - the field where the data should be stored (i.e. names or paths)
-static int addtolist(const std::string& input, int adr, int* output_adr_field, char* output_buffer) {
-  *output_adr_field = adr;
-
-  // copy input
-  memcpy(output_buffer+adr, input.c_str(), input.size());
-  adr += (int)input.size();
-
-  // append 0
-  output_buffer[adr] = 0;
-  adr++;
-
-  return adr;
-}
-
-// process names from one list: concatenate, compute addresses
-template <class T>
-static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int* map) {
-  // compute hash map addresses
-  int map_size = mjLOAD_MULTIPLE*list.size();
-  for (unsigned int i=0; i < list.size(); i++) {
-    // ignore empty strings
-    if (list[i]->name.empty()) {
-      continue;
-    }
-
-    uint64_t j = mj_hashString(list[i]->name.c_str(), map_size);
-
-    // find first empty slot using linear probing
-    for (; map[j] != -1; j=(j+1) % map_size) {}
-    map[j] = i;
-  }
-
-  for (unsigned int i=0; i < list.size(); i++) {
-    adr = addtolist(list[i]->name, adr, &name_adr[i], names);
-  }
-
-  return adr;
-}
-
-
-// copy names, compute name addresses
-void mjCModel::CopyNames(mjModel* m) {
-  // start with model name
-  int adr = (int)modelname_.size()+1;
-  int* map_adr = m->names_map;
-  mju_strncpy(m->names, modelname_.c_str(), m->nnames);
-  memset(m->names_map, -1, sizeof(int) * m->nnames_map);
-
-  // process all lists
-  adr = namelist(bodies_, adr, m->name_bodyadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*bodies_.size();
-
-  adr = namelist(joints_, adr, m->name_jntadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*joints_.size();
-
-  adr = namelist(geoms_, adr, m->name_geomadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*geoms_.size();
-
-  adr = namelist(sites_, adr, m->name_siteadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*sites_.size();
-
-  adr = namelist(cameras_, adr, m->name_camadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*cameras_.size();
-
-  adr = namelist(lights_, adr, m->name_lightadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*lights_.size();
-
-  adr = namelist(flexes_, adr, m->name_flexadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*flexes_.size();
-
-  adr = namelist(meshes_, adr, m->name_meshadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*meshes_.size();
-
-  adr = namelist(skins_, adr, m->name_skinadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*skins_.size();
-
-  adr = namelist(hfields_, adr, m->name_hfieldadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*hfields_.size();
-
-  adr = namelist(textures_, adr, m->name_texadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*textures_.size();
-
-  adr = namelist(materials_, adr, m->name_matadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*materials_.size();
-
-  adr = namelist(pairs_, adr, m->name_pairadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*pairs_.size();
-
-  adr = namelist(excludes_, adr, m->name_excludeadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*excludes_.size();
-
-  adr = namelist(equalities_, adr, m->name_eqadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*equalities_.size();
-
-  adr = namelist(tendons_, adr, m->name_tendonadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*tendons_.size();
-
-  adr = namelist(actuators_, adr, m->name_actuatoradr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*actuators_.size();
-
-  adr = namelist(sensors_, adr, m->name_sensoradr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*sensors_.size();
-
-  adr = namelist(numerics_, adr, m->name_numericadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*numerics_.size();
-
-  adr = namelist(texts_, adr, m->name_textadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*texts_.size();
-
-  adr = namelist(tuples_, adr, m->name_tupleadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*tuples_.size();
-
-  adr = namelist(keys_, adr, m->name_keyadr, m->names, map_adr);
-  map_adr += mjLOAD_MULTIPLE*keys_.size();
-
-  adr = namelist(plugins_, adr, m->name_pluginadr, m->names, map_adr);
-
-  // check size, SHOULD NOT OCCUR
-  if (adr != nnames) {
-    throw mjCError(0, "size mismatch in %s: expected %d, got %d", "names", nnames, adr);
-  }
-}
-
-// process paths from one list: concatenate, compute addresses
-template <class T>
-static int pathlist(vector<T*>& list, int adr, int* path_adr, char* paths) {
-  for (unsigned int i = 0; i < list.size(); ++i) {
-    path_adr[i] = -1;
-    if (!list[i] || list[i]->File().empty()) {
-      continue;
-    }
-    adr = addtolist(list[i]->File(), adr, &path_adr[i], paths);
-  }
-
-  return adr;
-}
-
-void mjCModel::CopyPaths(mjModel* m) {
-  // start with 0 address, unlike m->names m->paths might be empty
-  size_t adr = 0;
-  m->paths[0] = 0;
-  adr = pathlist(hfields_, adr, m->hfield_pathadr, m->paths);
-  adr = pathlist(meshes_, adr, m->mesh_pathadr, m->paths);
-  adr = pathlist(skins_, adr, m->skin_pathadr, m->paths);
-  adr = pathlist(textures_, adr, m->tex_pathadr, m->paths);
-}
-
-
-
-// copy objects inside kinematic tree
-void mjCModel::CopyTree(mjModel* m) {
-  const mjtNum* nullnum = nullptr;
-
-  int jntadr = 0;         // addresses in global arrays
-  int dofadr = 0;
-  int qposadr = 0;
-  int bvh_adr = 0;
-
-  // main loop over bodies
-  for (int i=0; i < nbody; i++) {
-    // get body and parent pointers
-    mjCBody* pb = bodies_[i];
-    mjCBody* par = pb->parent;
-
-    // set body fields
-    m->body_parentid[i] = pb->parent ? pb->parent->id : 0;
-    m->body_weldid[i] = pb->weldid;
-    m->body_mocapid[i] = pb->mocapid;
-    m->body_jntnum[i] = (int)pb->joints.size();
-    m->body_jntadr[i] = (!pb->joints.empty() ? jntadr : -1);
-    m->body_dofnum[i] = pb->dofnum;
-    m->body_dofadr[i] = (pb->dofnum ? dofadr : -1);
-    m->body_geomnum[i] = (int)pb->geoms.size();
-    m->body_geomadr[i] = (!pb->geoms.empty() ? pb->geoms[0]->id : -1);
-    mjuu_copyvec(m->body_pos+3*i, pb->pos, 3);
-    mjuu_copyvec(m->body_quat+4*i, pb->quat, 4);
-    mjuu_copyvec(m->body_ipos+3*i, pb->ipos, 3);
-    mjuu_copyvec(m->body_iquat+4*i, pb->iquat, 4);
-    m->body_mass[i] = (mjtNum)pb->mass;
-    mjuu_copyvec(m->body_inertia+3*i, pb->inertia, 3);
-    m->body_gravcomp[i] = pb->gravcomp;
-    mjuu_copyvec(m->body_user+nuser_body*i, pb->get_userdata().data(), nuser_body);
-
-    m->body_contype[i] = pb->contype;
-    m->body_conaffinity[i] = pb->conaffinity;
-    m->body_margin[i] = (mjtNum)pb->margin;
-
-    // bounding volume hierarchy
-    m->body_bvhadr[i] = pb->tree.Nbvh() ? bvh_adr : -1;
-    m->body_bvhnum[i] = pb->tree.Nbvh();
-    if (pb->tree.Nbvh()) {
-      memcpy(m->bvh_aabb + 6*bvh_adr, pb->tree.Bvh().data(), 6*pb->tree.Nbvh()*sizeof(mjtNum));
-      memcpy(m->bvh_child + 2*bvh_adr, pb->tree.Child().data(), 2*pb->tree.Nbvh()*sizeof(int));
-      memcpy(m->bvh_depth + bvh_adr, pb->tree.Level().data(), pb->tree.Nbvh()*sizeof(int));
-      for (int i=0; i < pb->tree.Nbvh(); i++) {
-        m->bvh_nodeid[i + bvh_adr] = pb->tree.Nodeidptr(i) ? *(pb->tree.Nodeidptr(i)) : -1;
-      }
-    }
-    bvh_adr += pb->tree.Nbvh();
-
-    // count free joints
-    int cntfree = 0;
-    for (int j=0; j < (int)pb->joints.size(); j++) {
-      cntfree += (pb->joints[j]->type == mjJNT_FREE);
-    }
-
-    // check validity of free joint
-    if (cntfree > 1 || (cntfree == 1 && pb->joints.size() > 1)) {
-      throw mjCError(pb, "free joint can only appear by itself");
-    }
-    if (cntfree && par && par->name != "world") {
-      throw mjCError(pb, "free joint can only be used on top level");
-    }
-
-    // rootid: self if world or child of world, otherwise parent's rootid
-    if (i == 0 || (par && par->name == "world")) {
-      m->body_rootid[i] = i;
-    } else {
-      m->body_rootid[i] = m->body_rootid[par->id];
-    }
-
-    // init lastdof from parent
-    pb->lastdof = par ? par->lastdof : -1;
-
-    // set sameframe
-    mjtSameFrame sameframe;
-    if (IsNullPose(m->body_ipos+3*i, m->body_iquat+4*i)) {
-      sameframe = mjSAMEFRAME_BODY;
-    } else if (IsNullPose(nullnum, m->body_iquat+4*i)) {
-      sameframe = mjSAMEFRAME_BODYROT;
-    } else {
-      sameframe = mjSAMEFRAME_NONE;
-    }
-    m->body_sameframe[i] = sameframe;
-
-    // init simple: sameframe, and (self-root, or parent is fixed child of world)
-    int parentid = m->body_parentid[i];
-    m->body_simple[i] = (sameframe == mjSAMEFRAME_BODY &&
-                         (m->body_rootid[i] == i ||
-                          (m->body_parentid[parentid] == 0 &&
-                           m->body_dofnum[parentid] == 0)));
-
-    // user override: disable simple optimization
-    if (!pb->simple) {
-      m->body_simple[i] = 0;
-    }
-
-    // a parent body is never simple (unless world)
-    if (m->body_parentid[i] > 0) {
-      m->body_simple[m->body_parentid[i]] = 0;
-    }
-
-    // loop over joints for this body
-    int rotfound = 0;
-    for (int j=0; j < (int)pb->joints.size(); j++) {
-      // get pointer and id
-      mjCJoint* pj = pb->joints[j];
-      int jid = pj->id;
-
-      // set joint fields
-      m->jnt_type[jid] = pj->type;
-      m->jnt_group[jid] = pj->group;
-      m->jnt_limited[jid] = (mjtBool)pj->is_limited();
-      m->jnt_actfrclimited[jid] = (mjtBool)pj->is_actfrclimited();
-      m->jnt_actgravcomp[jid] = pj->actgravcomp;
-      m->jnt_qposadr[jid] = pj->qposadr_;
-      m->jnt_dofadr[jid] = pj->dofadr_;
-      m->jnt_bodyid[jid] = pj->body->id;
-      mjuu_copyvec(m->jnt_pos+3*jid, pj->pos, 3);
-      mjuu_copyvec(m->jnt_axis+3*jid, pj->axis, 3);
-      m->jnt_stiffness[jid] = (mjtNum)pj->stiffness[0];
-      mjuu_copyvec(m->jnt_stiffnesspoly + mjNPOLY * jid, pj->stiffness + 1, mjNPOLY);
-      mjuu_copyvec(m->jnt_range+2*jid, pj->range, 2);
-      mjuu_copyvec(m->jnt_actfrcrange+2*jid, pj->actfrcrange, 2);
-      mjuu_copyvec(m->jnt_solref+mjNREF*jid, pj->solref_limit, mjNREF);
-      mjuu_copyvec(m->jnt_solimp+mjNIMP*jid, pj->solimp_limit, mjNIMP);
-      m->jnt_margin[jid] = (mjtNum)pj->margin;
-      mjuu_copyvec(m->jnt_user+nuser_jnt*jid, pj->get_userdata().data(), nuser_jnt);
-
-      // not simple if: rotation already found, or pos not zero, or mis-aligned axis
-      bool axis_aligned = ((std::abs(pj->axis[0]) > mjEPS) +
-                           (std::abs(pj->axis[1]) > mjEPS) +
-                           (std::abs(pj->axis[2]) > mjEPS)) == 1;
-      if (rotfound || !IsNullPose(m->jnt_pos+3*jid, nullnum) ||
-          ((pj->type == mjJNT_HINGE || pj->type == mjJNT_SLIDE) && !axis_aligned)) {
-        m->body_simple[i] = 0;
-      }
-
-      // mark rotation
-      if (pj->type == mjJNT_BALL || pj->type == mjJNT_HINGE) {
-        rotfound = 1;
-      }
-
-      // set qpos0 and qpos_spring, check type
-      switch (pj->type) {
-        case mjJNT_FREE:
-          mjuu_copyvec(m->qpos0+qposadr, pb->pos, 3);
-          mjuu_copyvec(m->qpos0+qposadr+3, pb->quat, 4);
-          mjuu_copyvec(m->qpos_spring+qposadr, m->qpos0+qposadr, 7);
-          break;
-
-        case mjJNT_BALL:
-          m->qpos0[qposadr] = 1;
-          m->qpos0[qposadr+1] = 0;
-          m->qpos0[qposadr+2] = 0;
-          m->qpos0[qposadr+3] = 0;
-          mjuu_copyvec(m->qpos_spring+qposadr, m->qpos0+qposadr, 4);
-          break;
-
-        case mjJNT_SLIDE:
-        case mjJNT_HINGE:
-          m->qpos0[qposadr] = (mjtNum)pj->ref;
-          m->qpos_spring[qposadr] = (mjtNum)pj->springref;
-          break;
-
-        default:
-          throw mjCError(pj, "unknown joint type");
-      }
-
-      // set dof fields for this joint
-      for (int j1=0; j1 < pj->nv(); j1++) {
-        // set attributes
-        m->dof_bodyid[dofadr] = pb->id;
-        m->dof_jntid[dofadr] = jid;
-        mjuu_copyvec(m->dof_solref+mjNREF*dofadr, pj->solref_friction, mjNREF);
-        mjuu_copyvec(m->dof_solimp+mjNIMP*dofadr, pj->solimp_friction, mjNIMP);
-        m->dof_frictionloss[dofadr] = (mjtNum)pj->frictionloss;
-        m->dof_armature[dofadr] = (mjtNum)pj->armature;
-        m->dof_damping[dofadr] = (mjtNum)pj->damping[0];
-        mjuu_copyvec(m->dof_dampingpoly + mjNPOLY * dofadr, pj->damping + 1,
-                     mjNPOLY);
-
-        // set dof_parentid, update body.lastdof
-        m->dof_parentid[dofadr] = pb->lastdof;
-        pb->lastdof = dofadr;
-
-        // advance dof counter
-        dofadr++;
-      }
-
-      // advance joint and qpos counters
-      jntadr++;
-      qposadr += pj->nq();
-    }
-
-    // simple body with sliders and no rotational dofs: promote to simple level 2
-    if (m->body_simple[i] && m->body_dofnum[i]) {
-      m->body_simple[i] = 2;
-      for (int j=0; j < (int)pb->joints.size(); j++) {
-        if (pb->joints[j]->type != mjJNT_SLIDE) {
-          m->body_simple[i] = 1;
-          break;
-        }
-      }
-    }
-
-    // loop over geoms for this body
-    for (int j=0; j < (int)pb->geoms.size(); j++) {
-      // get pointer and id
-      mjCGeom* pg = pb->geoms[j];
-      int gid = pg->id;
-
-      // set geom fields
-      m->geom_type[gid] = pg->type;
-      m->geom_contype[gid] = pg->contype;
-      m->geom_conaffinity[gid] = pg->conaffinity;
-      m->geom_condim[gid] = pg->condim;
-      m->geom_bodyid[gid] = pg->body->id;
-      if (pg->mesh) {
-        m->geom_dataid[gid] = pg->mesh->id;
-      } else if (pg->hfield) {
-        m->geom_dataid[gid] = pg->hfield->id;
-      } else {
-        m->geom_dataid[gid] = -1;
-      }
-      m->geom_matid[gid] = pg->matid;
-      m->geom_group[gid] = pg->group;
-      m->geom_priority[gid] = pg->priority;
-      mjuu_copyvec(m->geom_size+3*gid, pg->size, 3);
-      mjuu_copyvec(m->geom_aabb+6*gid, pg->aabb, 6);
-      mjuu_copyvec(m->geom_pos+3*gid, pg->pos, 3);
-      mjuu_copyvec(m->geom_quat+4*gid, pg->quat, 4);
-      mjuu_copyvec(m->geom_friction+3*gid, pg->friction, 3);
-      m->geom_solmix[gid] = (mjtNum)pg->solmix;
-      mjuu_copyvec(m->geom_solref+mjNREF*gid, pg->solref, mjNREF);
-      mjuu_copyvec(m->geom_solimp+mjNIMP*gid, pg->solimp, mjNIMP);
-      m->geom_margin[gid] = (mjtNum)pg->margin;
-      m->geom_gap[gid] = (mjtNum)pg->gap;
-      mjuu_copyvec(m->geom_surfacevel+6*gid, pg->surfacevel, 6);
-      m->geom_adhesion[gid] = (mjtNum)pg->adhesion;
-      mjuu_copyvec(m->geom_fluid+mjNFLUID*gid, pg->fluid, mjNFLUID);
-      mjuu_copyvec(m->geom_user+nuser_geom*gid, pg->get_userdata().data(), nuser_geom);
-      mjuu_copyvec(m->geom_rgba+4*gid, pg->rgba, 4);
-
-      // determine sameframe
-      const double* nulldouble = nullptr;
-      if (IsNullPose(m->geom_pos+3*gid, m->geom_quat+4*gid)) {
-        sameframe = mjSAMEFRAME_BODY;
-      } else if (IsNullPose(nullnum, m->geom_quat+4*gid)) {
-        sameframe = mjSAMEFRAME_BODYROT;
-      } else if (IsSamePose(pg->pos, pb->ipos, pg->quat, pb->iquat)) {
-        sameframe = mjSAMEFRAME_INERTIA;
-      } else if (IsSamePose(nulldouble, nulldouble, pg->quat, pb->iquat)) {
-        sameframe = mjSAMEFRAME_INERTIAROT;
-      } else {
-        sameframe = mjSAMEFRAME_NONE;
-      }
-      m->geom_sameframe[gid] = sameframe;
-
-      // compute rbound
-      m->geom_rbound[gid] = (mjtNum)pg->GetRBound();
-    }
-
-    // loop over sites for this body
-    for (int j=0; j < (int)pb->sites.size(); j++) {
-      // get pointer and id
-      mjCSite* ps = pb->sites[j];
-      int sid = ps->id;
-
-      // set site fields
-      m->site_type[sid] = ps->type;
-      m->site_bodyid[sid] = ps->body->id;
-      m->site_matid[sid] = ps->matid;
-      m->site_group[sid] = ps->group;
-      mjuu_copyvec(m->site_size+3*sid, ps->size, 3);
-      mjuu_copyvec(m->site_pos+3*sid, ps->pos, 3);
-      mjuu_copyvec(m->site_quat+4*sid, ps->quat, 4);
-      mjuu_copyvec(m->site_user+nuser_site*sid, ps->userdata_.data(), nuser_site);
-      mjuu_copyvec(m->site_rgba+4*sid, ps->rgba, 4);
-
-      // determine sameframe
-      const double* nulldouble = nullptr;
-      if (IsNullPose(m->site_pos+3*sid, m->site_quat+4*sid)) {
-        sameframe = mjSAMEFRAME_BODY;
-      } else if (IsNullPose(nullnum, m->site_quat+4*sid)) {
-        sameframe = mjSAMEFRAME_BODYROT;
-      } else if (IsSamePose(ps->pos, pb->ipos, ps->quat, pb->iquat)) {
-        sameframe = mjSAMEFRAME_INERTIA;
-      } else if (IsSamePose(nulldouble, nulldouble, ps->quat, pb->iquat)) {
-        sameframe = mjSAMEFRAME_INERTIAROT;
-      } else {
-        sameframe = mjSAMEFRAME_NONE;
-      }
-      m->site_sameframe[sid] = sameframe;
-    }
-
-    // loop over cameras for this body
-    for (int j=0; j < (int)pb->cameras.size(); j++) {
-      // get pointer and id
-      mjCCamera* pc = pb->cameras[j];
-      int cid = pc->id;
-
-      // set camera fields
-      m->cam_bodyid[cid] = pc->body->id;
-      m->cam_mode[cid] = pc->mode;
-      m->cam_targetbodyid[cid] = pc->targetbodyid;
-      mjuu_copyvec(m->cam_pos+3*cid, pc->pos, 3);
-      mjuu_copyvec(m->cam_quat+4*cid, pc->quat, 4);
-      m->cam_projection[cid] = pc->proj;
-      m->cam_fovy[cid] = (mjtNum)pc->fovy;
-      m->cam_ipd[cid] = (mjtNum)pc->ipd;
-      mjuu_copyvec(m->cam_resolution+2*cid, pc->resolution, 2);
-      m->cam_output[cid] = pc->output;
-      mjuu_copyvec(m->cam_sensorsize+2*cid, pc->sensor_size, 2);
-      mjuu_copyvec(m->cam_intrinsic+4*cid, pc->intrinsic, 4);
-      mjuu_copyvec(m->cam_user+nuser_cam*cid, pc->get_userdata().data(), nuser_cam);
-    }
-
-    // loop over lights for this body
-    for (int j=0; j < (int)pb->lights.size(); j++) {
-      // get pointer and id
-      mjCLight* pl = pb->lights[j];
-      int lid = pl->id;
-
-      // set light fields
-      m->light_bodyid[lid] = pl->body->id;
-      m->light_mode[lid] = (int)pl->mode;
-      m->light_targetbodyid[lid] = pl->targetbodyid;
-      m->light_type[lid] = pl->type;
-      m->light_texid[lid] = pl->texid;
-      m->light_castshadow[lid] = (mjtBool)pl->castshadow;
-      m->light_active[lid] = (mjtBool)pl->active;
-      mjuu_copyvec(m->light_pos+3*lid, pl->pos, 3);
-      mjuu_copyvec(m->light_dir+3*lid, pl->dir, 3);
-      m->light_bulbradius[lid] = pl->bulbradius;
-      m->light_intensity[lid] = pl->intensity;
-      m->light_range[lid] = pl->range;
-      mjuu_copyvec(m->light_attenuation+3*lid, pl->attenuation, 3);
-      m->light_cutoff[lid] = pl->cutoff;
-      m->light_softness[lid] = pl->softness;
-      m->light_exponent[lid] = pl->exponent;
-      mjuu_copyvec(m->light_ambient+3*lid, pl->ambient, 3);
-      mjuu_copyvec(m->light_diffuse+3*lid, pl->diffuse, 3);
-      mjuu_copyvec(m->light_specular+3*lid, pl->specular, 3);
-    }
-  }
-
-  // check number of dof's constructed, SHOULD NOT OCCUR
-  if (nv != dofadr) {
-    throw mjCError(0, "unexpected number of DOFs");
-  }
-
-  // count kinematic trees under world body, compute dof_treeid
-  int ntree = 0;
-  for (int i=0; i < nv; i++) {
-    if (m->dof_parentid[i] == -1) {
-      ntree++;
-    }
-    m->dof_treeid[i] = ntree - 1;
-  }
-
-  // check number of trees constructed, SHOULD NOT OCCUR
-  if (ntree != m->ntree) {
-    throw mjCError(0, "unexpected number of TREEs. Counted %d, expected %d",
-                   nullptr, ntree, m->ntree);
-  }
-
-  // compute body_treeid
-  for (int i=0; i < nbody; i++) {
-    int weldid = m->body_weldid[i];
-    if (m->body_dofnum[weldid]) {
-      m->body_treeid[i] = m->dof_treeid[m->body_dofadr[weldid]];
-    } else {
-      m->body_treeid[i] = -1;
-    }
-  }
-
-  // initialize AUTO sleep policy for all trees
-  for (int i=0; i < m->ntree; i++) {
-    m->tree_sleep_policy[i] = mjSLEEP_AUTO;
-  }
-
-  // loop over bodies, check and set non-default sleep policy
-  for (int i=1; i < nbody; i++) {
-    mjCBody* pb = bodies_[i];
-
-    // validate and set non-default sleep policy
-    if (pb->sleep != mjSLEEP_AUTO) {
-      int treeid = m->body_treeid[i];
-      // non-default sleep policy only allowed for first body in a tree
-      if (treeid == -1 || treeid == m->body_treeid[i-1]) {
-        throw mjCError(pb, "sleep policy only allowed for movable root bodies");
-      }
-      m->tree_sleep_policy[treeid] = pb->sleep;
-    }
-  }
-
-  // recompute nM and dof_Madr given m.dof_parentid, validate
-  int nM_post = 0;
-  for (int i=0; i < nv; i++) {
-    // set address of this dof
-    m->dof_Madr[i] = nM_post;
-
-    // count ancestor dofs including self
-    int j = i;
-    while (j >= 0) {
-      nM_post++;
-      j = m->dof_parentid[j];
-    }
-  }
-  if (nM_post != nM) throw mjCError(0, "nM mismatch: pre %d, post %d", nullptr, nM, nM_post);
-
-  // recompute nD, validate
-  int nD_post = 2 * m->nM - nv;
-  if (nD_post != nD) throw mjCError(0, "nD mismatch: pre %d, post %d", nullptr, nD, nD_post);
-
-  // bodies_[]->subtreedofs already computed in ComputeSparseSizes
-
-  // recompute nB given {body->subtreedofs, body->dofnum, body->parent}, validate
-  int nB_post = 0;
-  for (int i = 0; i < nbody; i++) {
-    // add subtree dofs (including self)
-    nB_post += bodies_[i]->subtreedofs;
-    // add dofs in ancestor bodies
-    int j = bodies_[i]->parent ? bodies_[i]->parent->id : 0;
-    while (j > 0) {
-      nB_post += bodies_[j]->dofnum;
-      j = bodies_[j]->parent ? bodies_[j]->parent->id : 0;
-    }
-  }
-  if (nB_post != nB) throw mjCError(0, "nB mismatch: pre %d, post %d", nullptr, nB, nB_post);
-}
-
-// copy plugin data
-void mjCModel::CopyPlugins(mjModel* m) {
-  // assign plugin slots and copy plugin config attributes
-  {
-    int adr = 0;
-    for (int i = 0; i < nplugin; ++i) {
-      m->plugin[i] = plugins_[i]->plugin_slot;
-      const int size = plugins_[i]->flattened_attributes.size();
-      std::memcpy(m->plugin_attr + adr,
-                  plugins_[i]->flattened_attributes.data(), size);
-      m->plugin_attradr[i] = adr;
-      adr += size;
-    }
-  }
-
-  // query and set plugin-related information
-  {
-    // set actuator_plugin to the plugin instance ID
-    std::vector<std::vector<int> > plugin_to_actuators(nplugin);
-    for (int i = 0; i < nactuator; ++i) {
-      if (actuators_[i]->plugin.active) {
-        int actuator_plugin = static_cast<mjCPlugin*>(actuators_[i]->plugin.element)->id;
-        m->actuator_plugin[i] = actuator_plugin;
-        plugin_to_actuators[actuator_plugin].push_back(i);
-      } else {
-        m->actuator_plugin[i] = -1;
-      }
-    }
-
-    for (int i = 0; i < nbody; ++i) {
-      if (bodies_[i]->plugin.active) {
-        m->body_plugin[i] = static_cast<mjCPlugin*>(bodies_[i]->plugin.element)->id;
-      } else {
-        m->body_plugin[i] = -1;
-      }
-    }
-
-    for (int i = 0; i < ngeom; ++i) {
-      if (geoms_[i]->plugin.active) {
-        m->geom_plugin[i] = static_cast<mjCPlugin*>(geoms_[i]->plugin.element)->id;
-      } else {
-        m->geom_plugin[i] = -1;
-      }
-    }
-
-    std::vector<std::vector<int> > plugin_to_sensors(nplugin);
-    for (int i = 0; i < nsensor; ++i) {
-      if (sensors_[i]->type == mjSENS_PLUGIN) {
-        int sensor_plugin = static_cast<mjCPlugin*>(sensors_[i]->plugin.element)->id;
-        m->sensor_plugin[i] = sensor_plugin;
-        plugin_to_sensors[sensor_plugin].push_back(i);
-      } else {
-        m->sensor_plugin[i] = -1;
-      }
-    }
-
-    // query plugin->nstate, compute and set plugin_state and plugin_stateadr
-    // for sensor plugins, also query plugin->nsensordata and set nsensordata
-    int stateadr = 0;
-    for (int i = 0; i < nplugin; ++i) {
-      const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
-      if (!plugin->nstate) {
-        mju_error("`nstate` is null for plugin at slot %d", m->plugin[i]);
-      }
-      int nstate = plugin->nstate(m, i);
-      m->plugin_stateadr[i] = stateadr;
-      m->plugin_statenum[i] = nstate;
-      stateadr += nstate;
-      if (plugin->capabilityflags & mjPLUGIN_SENSOR) {
-        for (int sensor_id : plugin_to_sensors[i]) {
-          if (!plugin->nsensordata) {
-            mju_error("`nsensordata` is null for plugin at slot %d", m->plugin[i]);
-          }
-          int nsensordata = plugin->nsensordata(m, i, sensor_id);
-          sensors_[sensor_id]->dim = nsensordata;
-          sensors_[sensor_id]->needstage =
-            static_cast<mjtStage>(plugin->needstage);
-          this->nsensordata += nsensordata;
-        }
-      }
-    }
-    m->npluginstate = stateadr;
-  }
-}
-
-
-
-// compute number of dofs for a given tendon
-int mjCModel::CountTendonDofs(const mjModel* m, int id) {
-  std::vector<bool> dof_used(m->nv, false);
-  int nv = m->nv;
-  int adr = m->tendon_adr[id];
-  int num = m->tendon_num[id];
-
-  if (m->wrap_type[adr] == mjWRAP_JOINT) {
-    return num;
-  }
-
-  std::fill(dof_used.begin(), dof_used.end(), false);
-  for (int j = 0; j < num; j++) {
-    int type = m->wrap_type[adr + j];
-    int bodyid = -1;
-    if (type == mjWRAP_SITE) {
-      bodyid = m->site_bodyid[m->wrap_objid[adr + j]];
-    } else if (type == mjWRAP_SPHERE || type == mjWRAP_CYLINDER) {
-      bodyid = m->geom_bodyid[m->wrap_objid[adr + j]];
-    }
-    if (bodyid > 0) {
-      int bid = bodyid;
-      while (bid > 0) {
-        int bdofadr = m->body_dofadr[bid];
-        int bdofnum = m->body_dofnum[bid];
-        for (int k = 0; k < bdofnum; k++) {
-          dof_used[bdofadr + k] = true;
-        }
-        bid = m->body_parentid[bid];
-      }
-    }
-  }
-
-  int count = 0;
-  for (int j = 0; j < nv; j++) {
-    count += dof_used[j];
-  }
-  return count;
-}
-
-int mjCModel::CountNJmom(const mjModel* m) {
-  int nactuator = m->nactuator;
-  int nv = m->nv;
-
-  int count = 0;
-  for (int i = 0; i < nactuator; i++) {
-    // extract info
-    int id = m->actuator_trnid[2 * i];
-
-    // process according to transmission type
-    switch ((mjtTrn)m->actuator_trntype[i]) {
-      case mjTRN_SO3:
-        // ball joint: 3 identity rows; site+refsite: 3 dense rows
-        count += m->actuator_trnid[2*i+1] >= 0 ? 3*nv : 3;
-        break;
-
-      case mjTRN_JOINT:
-      case mjTRN_JOINTINPARENT:
-        switch ((mjtJoint)m->jnt_type[id]) {
-          case mjJNT_SLIDE:
-          case mjJNT_HINGE:
-            count += 1;
-            break;
-
-          case mjJNT_BALL:
-            count += 3;
-            break;
-
-          case mjJNT_FREE:
-            count += 6;
-            break;
-        }
-        break;
-      case mjTRN_SLIDERCRANK:
-        {
-          int id_slider = m->actuator_trnid[2 * i + 1];
-          std::vector<int> chain(m->nv);
-          count += mj_mergeChain(m, chain.data(), m->site_bodyid[id],
-                                 m->site_bodyid[id_slider], 0);
-        }
-        break;
-
-      case mjTRN_TENDON:
-        count += CountTendonDofs(m, id);
-        break;
-
-      case mjTRN_SITE:
-        {
-          int refid = m->actuator_trnid[2 * i + 1];
-          int ref_body = refid >= 0 ? m->site_bodyid[refid] : 0;
-          std::vector<int> chain(m->nv);
-          count += mj_mergeChain(m, chain.data(), m->site_bodyid[id],
-                                 ref_body, /*flg_skipcommon=*/1);
-        }
-        break;
-
-      case mjTRN_BODY:
-        count += nv;
-        break;
-
-      default:
-        // SHOULD NOT OCCUR
-        throw mjCError(0, "unknown transmission type");
-        break;
-    }
-  }
-  return count;
-}
-
-// compute non-zeros in ten_J matrix
-int mjCModel::CountNJten(const mjModel* m) {
-  int ntendon = m->ntendon;
-
-  int count = 0;
-  for (int i = 0; i < ntendon; i++) {
-    count += CountTendonDofs(m, i);
-  }
-
-  return count;
-}
-
-// copy objects outside kinematic tree
-// NOLINTBEGIN(readability/fn_size)
-void mjCModel::CopyObjects(mjModel* m) {
-  mjtSize adr, bone_adr, vert_adr, node_adr, normal_adr, face_adr, texcoord_adr, oct_adr;
-  mjtSize stiffness_adr, bending_adr;
-  mjtSize edge_adr, elem_adr, elemdata_adr, elemedge_adr, shelldata_adr, evpair_adr;
-  mjtSize bonevert_adr, graph_adr, data_adr, bvh_adr;
-  mjtSize poly_adr, polymap_adr, polyvert_adr;
-
-  // sizes outside call to mj_makeModel
-  m->nemax = nemax;
-  m->njmax = njmax;
-  m->nconmax = nconmax;
-  m->nsensordata = nsensordata;
-  m->nhistory = nhistory;
-  m->nuserdata = nuserdata;
-  m->na = na;
-
-  // find bvh_adr after bodies
-  bvh_adr = 0;
-  for (int i=0; i < nbody; i++) {
-    bvh_adr = mjMAX(bvh_adr, m->body_bvhadr[i] + m->body_bvhnum[i]);
-  }
-
-  // meshes
-  oct_adr = 0;
-  vert_adr = 0;
-  normal_adr = 0;
-  texcoord_adr = 0;
-  face_adr = 0;
-  graph_adr = 0;
-  poly_adr = 0;
-  polyvert_adr = 0;
-  polymap_adr = 0;
-  for (int i=0; i < nmesh; i++) {
-    // get pointer
-    mjCMesh* pme = meshes_[i];
-
-    // set fields
-    m->mesh_polyadr[i] = poly_adr;
-    m->mesh_polynum[i] = pme->npolygon();
-    m->mesh_vertadr[i] = vert_adr;
-    m->mesh_vertnum[i] = pme->nvert();
-    m->mesh_normaladr[i] = normal_adr;
-    m->mesh_normalnum[i] = pme->nnormal();
-    m->mesh_texcoordadr[i] = (pme->HasTexcoord() ? texcoord_adr : -1);
-    m->mesh_texcoordnum[i] = pme->ntexcoord();
-    m->mesh_faceadr[i] = face_adr;
-    m->mesh_facenum[i] = pme->nface();
-    m->mesh_graphadr[i] = (pme->szgraph() ? graph_adr : -1);
-    m->mesh_bvhnum[i] = pme->tree().Nbvh();
-    m->mesh_bvhadr[i] = pme->tree().Nbvh() ? bvh_adr : -1;
-    m->mesh_octnum[i] = pme->octree().NumNodes();
-    m->mesh_octadr[i] = pme->octree().NumNodes() ? oct_adr : -1;
-    mjuu_copyvec(&m->mesh_scale[3 * i], pme->Scale(), 3);
-    mjuu_copyvec(&m->mesh_pos[3 * i], pme->GetPosPtr(), 3);
-    mjuu_copyvec(&m->mesh_quat[4 * i], pme->GetQuatPtr(), 4);
-
-    // copy vertices, normals, faces, texcoords, aux data
-    pme->CopyVert(m->mesh_vert + 3*vert_adr);
-    pme->CopyNormal(m->mesh_normal + 3*normal_adr);
-    pme->CopyFace(m->mesh_face + 3*face_adr);
-    pme->CopyFaceNormal(m->mesh_facenormal + 3*face_adr);
-    if (pme->HasTexcoord()) {
-      pme->CopyTexcoord(m->mesh_texcoord + 2*texcoord_adr);
-      pme->CopyFaceTexcoord(m->mesh_facetexcoord + 3*face_adr);
-    } else {
-      memset(m->mesh_facetexcoord + 3*face_adr, 0, 3*pme->nface()*sizeof(int));
-    }
-    memset(m->mesh_extrema + 27*i, 0, 27*sizeof(int));
-    if (pme->szgraph()) {
-      pme->CopyGraph(m->mesh_graph + graph_adr);
-
-      // compute grid extrema (local indices in graph)
-      float max_val[27];
-      for (int k = 0; k < 27; k++) {
-        max_val[k] = std::numeric_limits<float>::lowest();
-      }
-
-      const int* graph = m->mesh_graph + graph_adr;
-      int numgraphvert = graph[0];
-      const int* vert_globalid = graph + 2 + numgraphvert;
-      const float* verts = m->mesh_vert + 3*vert_adr;
-
-      // map the 27 features (8 vertices, 6 faces, 12 edges) of a unit cube to the farthest
-      // vertex in the mesh
-      for (int local_id = 0; local_id < numgraphvert; local_id++) {
-        int global_id = vert_globalid[local_id];
-        float x = verts[3 * global_id + 0];
-        float y = verts[3 * global_id + 1];
-        float z = verts[3 * global_id + 2];
-
-        int k = 0;
-        for (int cx = -1; cx <= 1; cx++) {
-          for (int cy = -1; cy <= 1; cy++) {
-            for (int cz = -1; cz <= 1; cz++) {
-              float dot = x * cx + y * cy + z * cz;
-              if (dot > max_val[k]) {
-                max_val[k] = dot;
-                m->mesh_extrema[27*i + k] = local_id;
-              }
-              k++;
-            }
-          }
-        }
-      }
-    }
-
-    pme->CopyPolygonNormals(m->mesh_polynormal + 3*poly_adr);
-    pme->CopyPolygons(m->mesh_polyvert + polyvert_adr, m->mesh_polyvertadr + poly_adr,
-                      m->mesh_polyvertnum + poly_adr, polyvert_adr);
-    pme->CopyPolygonMap(m->mesh_polymap + polymap_adr, m->mesh_polymapadr + vert_adr,
-                        m->mesh_polymapnum + vert_adr, polymap_adr);
-
-    // copy bvh data
-    if (pme->tree().Nbvh()) {
-      memcpy(m->bvh_aabb + 6*bvh_adr, pme->tree().Bvh().data(), 6*pme->tree().Nbvh()*sizeof(mjtNum));
-      memcpy(m->bvh_child + 2*bvh_adr, pme->tree().Child().data(), 2*pme->tree().Nbvh()*sizeof(int));
-      memcpy(m->bvh_depth + bvh_adr, pme->tree().Level().data(), pme->tree().Nbvh()*sizeof(int));
-      for (int j=0; j < pme->tree().Nbvh(); j++) {
-        m->bvh_nodeid[j + bvh_adr] = pme->tree().Nodeid(j) > -1 ? pme->tree().Nodeid(j) : -1;
-      }
-    }
-
-    // copy octree data
-    if (pme->octree().NumNodes()) {
-      pme->octree().CopyAabb(m->oct_aabb + 6*oct_adr);
-      pme->octree().CopyChild(m->oct_child + 8*oct_adr);
-      pme->octree().CopyLevel(m->oct_depth + oct_adr);
-      pme->octree().CopyCoeff(m->oct_coeff + 8*oct_adr);
-    }
-
-    // advance counters
-    poly_adr += pme->npolygon();
-    polyvert_adr += pme->npolygonvert();
-    polymap_adr += pme->npolygonmap();
-    vert_adr += pme->nvert();
-    normal_adr += pme->nnormal();
-    texcoord_adr += (pme->HasTexcoord() ? pme->ntexcoord() : 0);
-    face_adr += pme->nface();
-    graph_adr += pme->szgraph();
-    bvh_adr += pme->tree().Nbvh();
-    oct_adr += pme->octree().NumNodes();
-  }
-
-  // flexes
-  vert_adr = 0;
-  node_adr = 0;
-  edge_adr = 0;
-  elem_adr = 0;
-  elemdata_adr = 0;
-  elemedge_adr = 0;
-  shelldata_adr = 0;
-  evpair_adr = 0;
-  texcoord_adr = 0;
-  stiffness_adr = 0;
-  bending_adr = 0;
-  for (int i=0; i < nflex; i++) {
-    // get pointer
-    mjCFlex* pfl = flexes_[i];
-
-    // set fields: geom-like
-    m->flex_contype[i] = pfl->contype;
-    m->flex_conaffinity[i] = pfl->conaffinity;
-    m->flex_condim[i] = pfl->condim;
-    m->flex_matid[i] = pfl->matid;
-    m->flex_group[i] = pfl->group;
-    m->flex_priority[i] = pfl->priority;
-    m->flex_solmix[i] = (mjtNum)pfl->solmix;
-    mjuu_copyvec(m->flex_solref + mjNREF * i, pfl->solref, mjNREF);
-    mjuu_copyvec(m->flex_solimp + mjNIMP * i, pfl->solimp, mjNIMP);
-    m->flex_radius[i] = (mjtNum)pfl->radius;
-    mjuu_copyvec(m->flex_size + 3 * i, pfl->size, 3);
-    mjuu_copyvec(m->flex_friction + 3 * i, pfl->friction, 3);
-    m->flex_margin[i] = (mjtNum)pfl->margin;
-    m->flex_gap[i] = (mjtNum)pfl->gap;
-    mjuu_copyvec(m->flex_rgba + 4 * i, pfl->rgba, 4);
-
-    // elasticity
-    if (pfl->stiffness.empty()) {
-      m->flex_stiffnessadr[i] = -1;
-    } else {
-      m->flex_stiffnessadr[i] = stiffness_adr;
-      mjuu_copyvec(m->flex_stiffness + m->flex_stiffnessadr[i],
-                   pfl->stiffness.data(), pfl->stiffness.size());
-    }
-    if (pfl->bending.empty()) {
-      m->flex_bendingadr[i] = -1;
-    } else {
-      m->flex_bendingadr[i] = bending_adr;
-      mjuu_copyvec(m->flex_bending + m->flex_bendingadr[i],
-                   pfl->bending.data(), pfl->bending.size());
-    }
-    m->flex_damping[i] = (mjtNum)pfl->damping;
-
-    // set fields: mesh-like
-    m->flex_dim[i] = pfl->dim;
-    m->flex_vertadr[i] = vert_adr;
-    m->flex_vertnum[i] = pfl->nvert;
-    m->flex_nodeadr[i] = node_adr;
-    m->flex_nodenum[i] = pfl->nnode;
-    m->flex_edgeadr[i] = edge_adr;
-    m->flex_edgenum[i] = pfl->nedge;
-    m->flex_elemadr[i] = elem_adr;
-    m->flex_elemdataadr[i] = elemdata_adr;
-    m->flex_elemedgeadr[i] = elemedge_adr;
-    m->flex_shellnum[i] = (int)pfl->shell.size()/pfl->dim;
-    m->flex_shelldataadr[i] = m->flex_shellnum[i] ? shelldata_adr : -1;
-    if (pfl->evpair.empty()) {
-      m->flex_evpairadr[i] = -1;
-      m->flex_evpairnum[i] = 0;
-    } else {
-      m->flex_evpairadr[i] = evpair_adr;
-      m->flex_evpairnum[i] = (int)pfl->evpair.size()/2;
-      memcpy(m->flex_evpair + 2*evpair_adr, pfl->evpair.data(), pfl->evpair.size()*sizeof(int));
-    }
-    if (pfl->texcoord_.empty()) {
-      m->flex_texcoordadr[i] = -1;
-      memcpy(m->flex_elemtexcoord + elemdata_adr, pfl->elem_.data(), pfl->elem_.size()*sizeof(int));
-    } else {
-      m->flex_texcoordadr[i] = texcoord_adr;
-      memcpy(m->flex_texcoord + 2*texcoord_adr,
-             pfl->texcoord_.data(), pfl->texcoord_.size()*sizeof(float));
-      memcpy(m->flex_elemtexcoord + elemdata_adr, pfl->elemtexcoord_.data(),
-             pfl->elemtexcoord_.size()*sizeof(int));
-    }
-    m->flex_elemnum[i] = pfl->nelem;
-    memcpy(m->flex_elem + elemdata_adr, pfl->elem_.data(), pfl->elem_.size()*sizeof(int));
-    memcpy(m->flex_elemedge + elemedge_adr, pfl->edgeidx_.data(), pfl->edgeidx_.size()*sizeof(int));
-    memcpy(m->flex_elemlayer + elem_adr, pfl->elemlayer.data(), pfl->nelem*sizeof(int));
-    if (m->flex_shellnum[i]) {
-      memcpy(m->flex_shell + shelldata_adr, pfl->shell.data(), pfl->shell.size()*sizeof(int));
-    }
-    m->flex_edgestiffness[i] = (mjtNum)pfl->edgestiffness;
-    m->flex_edgedamping[i] = (mjtNum)pfl->edgedamping;
-    m->flex_rigid[i] = pfl->rigid;
-    m->flex_centered[i] = pfl->centered;
-    m->flex_internal[i] = pfl->internal;
-    m->flex_flatskin[i] = pfl->flatskin;
-    m->flex_selfcollide[i] = pfl->selfcollide;
-    m->flex_activelayers[i] = pfl->activelayers;
-    m->flex_passive[i] = pfl->passive;
-    m->flex_bvhnum[i] = pfl->tree.Nbvh();
-    m->flex_bvhadr[i] = pfl->tree.Nbvh() ? bvh_adr : -1;
-
-    // find equality constraint referencing this flex
-    m->flex_edgeequality[i] = 0;
-    for (int k=0; k < (int)equalities_.size(); k++) {
-      if (equalities_[k]->name1_ == pfl->name) {
-        if (equalities_[k]->type == mjEQ_FLEX) {
-          m->flex_edgeequality[i] = 1;
-          break;
-        }
-        if (equalities_[k]->type == mjEQ_FLEXVERT) {
-          m->flex_edgeequality[i] = 2;
-          break;
-        }
-        if (equalities_[k]->type == mjEQ_FLEXSTRAIN) {
-          m->flex_edgeequality[i] = 3;
-          break;
-        }
-      }
-    }
-
-    if (!pfl->rigid && m->flex_edgeequality[i] == 0 &&
-        !pfl->edgestiffness && !pfl->edgedamping && !pfl->damping &&
-        pfl->bending.empty()) {
-      AddWarning("flex '" + pfl->name +
-                     "' is not rigid and has no equality constraints or "
-                     "passive forces",
-                 pfl);
-    }
-
-    // copy bvh data (flex aabb computed dynamically in mjData)
-    if (pfl->tree.Nbvh()) {
-      memcpy(m->bvh_child + 2*bvh_adr, pfl->tree.Child().data(), 2*pfl->tree.Nbvh()*sizeof(int));
-      memcpy(m->bvh_depth + bvh_adr, pfl->tree.Level().data(), pfl->tree.Nbvh()*sizeof(int));
-      for (int i=0; i < pfl->tree.Nbvh(); i++) {
-        m->bvh_nodeid[i+ bvh_adr] = pfl->tree.Nodeidptr(i) ? *(pfl->tree.Nodeidptr(i)) : -1;
-      }
-    }
-
-    // copy or set vert
-    if (pfl->centered && !pfl->interpolated) {
-      mjuu_zerovec(m->flex_vert + 3*vert_adr, 3*pfl->nvert);
-    }
-    else {
-      mjuu_copyvec(m->flex_vert + 3*vert_adr, pfl->vert_.data(), 3*pfl->nvert);
-    }
-
-    // copy or set node
-    if (pfl->centered && pfl->interpolated) {
-      mjuu_zerovec(m->flex_node + 3*node_adr, 3*pfl->nnode);
-    }
-    else if (pfl->interpolated) {
-      mjuu_copyvec(m->flex_node + 3*node_adr, pfl->node_.data(), 3*pfl->nnode);
-    }
-
-    // copy vert0
-    mjuu_copyvec(m->flex_vert0 + 3*vert_adr, pfl->vert0_.data(), 3*pfl->nvert);
-
-    // copy node0
-    mjuu_copyvec(m->flex_node0 + 3*node_adr, pfl->node0_.data(), 3*pfl->nnode);
-
-    // copy or set vertbodyid
-    if (pfl->rigid) {
-      for (int k=0; k < pfl->nvert; k++) {
-        m->flex_vertbodyid[vert_adr + k] = pfl->vertbodyid[0];
-      }
-    }
-    else {
-      memcpy(m->flex_vertbodyid + vert_adr, pfl->vertbodyid.data(), pfl->nvert*sizeof(int));
-    }
-
-    // copy or set nodebodyid
-    if (pfl->rigid) {
-      for (int k=0; k < pfl->nnode; k++) {
-        m->flex_nodebodyid[node_adr + k] = pfl->nodebodyid[0];
-      }
-    } else {
-      memcpy(m->flex_nodebodyid + node_adr, pfl->nodebodyid.data(), pfl->nnode*sizeof(int));
-    }
-
-    // set interpolation type: positive = volumetric, negative = shell mode
-    m->flex_interp[i] = pfl->spec.elastic2d ? -pfl->spec.order : pfl->spec.order;
-
-    // set cell count for multi-cell finite cell method
-    m->flex_cellnum[3*i+0] = pfl->spec.cellcount[0];
-    m->flex_cellnum[3*i+1] = pfl->spec.cellcount[1];
-    m->flex_cellnum[3*i+2] = pfl->spec.cellcount[2];
-
-    // convert edge pairs to int array, set edge rigid
-    for (int k=0; k < pfl->nedge; k++) {
-      m->flex_edge[2*(edge_adr+k)] = pfl->edge[k].first;
-      m->flex_edge[2*(edge_adr+k)+1] = pfl->edge[k].second;
-      if (pfl->dim == 2 && (pfl->elastic2d == 1 || pfl->elastic2d == 3)) {
-        m->flex_edgeflap[2*(edge_adr+k)+0] = pfl->flaps[k].vertices[2];
-        m->flex_edgeflap[2*(edge_adr+k)+1] = pfl->flaps[k].vertices[3];
-      } else {
-        m->flex_edgeflap[2*(edge_adr+k)+0] = -1;
-        m->flex_edgeflap[2*(edge_adr+k)+1] = -1;
-      }
-
-      if (pfl->rigid) {
-        m->flexedge_rigid[edge_adr+k] = 1;
-      } else if (!pfl->interpolated) {
-        // check if vertex body weldids are the same
-        // unsupported by trilinear interpolation
-        int b1 = pfl->vertbodyid[pfl->edge[k].first];
-        int b2 = pfl->vertbodyid[pfl->edge[k].second];
-        m->flexedge_rigid[edge_adr+k] = (bodies_[b1]->weldid == bodies_[b2]->weldid);
-      } else {
-        m->flexedge_rigid[edge_adr+k] = 0;
-      }
-    }
-
-    // advance counters
-    vert_adr += pfl->nvert;
-    node_adr += pfl->nnode;
-    edge_adr += pfl->nedge;
-    elem_adr += pfl->nelem;
-    elemdata_adr += (pfl->dim+1) * pfl->nelem;
-    elemedge_adr += (pfl->kNumEdges[pfl->dim-1]) * pfl->nelem;
-    shelldata_adr += (int)pfl->shell.size();
-    evpair_adr += (int)pfl->evpair.size()/2;
-    texcoord_adr += (int)pfl->texcoord_.size()/2;
-    bvh_adr += pfl->tree.Nbvh();
-    stiffness_adr += pfl->stiffness.size();
-    bending_adr += pfl->bending.size();
-  }
-
-  // skins
-  vert_adr = 0;
-  face_adr = 0;
-  texcoord_adr = 0;
-  bone_adr = 0;
-  bonevert_adr = 0;
-  for (int i=0; i < nskin; i++) {
-    // get pointer
-    mjCSkin* psk = skins_[i];
-
-    // set fields
-    m->skin_matid[i] = psk->matid;
-    m->skin_group[i] = psk->group;
-    mjuu_copyvec(m->skin_rgba+4*i, psk->rgba, 4);
-    m->skin_inflate[i] = psk->inflate;
-    m->skin_vertadr[i] = vert_adr;
-    m->skin_vertnum[i] = psk->get_vert().size()/3;
-    m->skin_texcoordadr[i] = (!psk->get_texcoord().empty() ? texcoord_adr : -1);
-    m->skin_faceadr[i] = face_adr;
-    m->skin_facenum[i] = psk->get_face().size()/3;
-    m->skin_boneadr[i] = bone_adr;
-    m->skin_bonenum[i] = psk->bodyid.size();
-
-    // copy mesh data
-    memcpy(m->skin_vert + 3*vert_adr, psk->get_vert().data(), psk->get_vert().size()*sizeof(float));
-    if (!psk->get_texcoord().empty())
-      memcpy(m->skin_texcoord + 2*texcoord_adr, psk->get_texcoord().data(),
-             psk->get_texcoord().size()*sizeof(float));
-    memcpy(m->skin_face + 3*face_adr, psk->get_face().data(), psk->get_face().size()*sizeof(int));
-
-    // copy bind poses and body ids
-    memcpy(m->skin_bonebindpos+3*bone_adr, psk->get_bindpos().data(),
-           psk->get_bindpos().size()*sizeof(float));
-    memcpy(m->skin_bonebindquat+4*bone_adr, psk->get_bindquat().data(),
-           psk->get_bindquat().size()*sizeof(float));
-    memcpy(m->skin_bonebodyid+bone_adr, psk->bodyid.data(),
-           psk->bodyid.size()*sizeof(int));
-
-    // copy per-bone vertex data, advance vertex counter
-    for (int j=0; j < m->skin_bonenum[i]; j++) {
-      // set fields
-      m->skin_bonevertadr[bone_adr+j] = bonevert_adr;
-      m->skin_bonevertnum[bone_adr+j] = (int)psk->get_vertid()[j].size();
-
-      // copy data
-      memcpy(m->skin_bonevertid+bonevert_adr, psk->get_vertid()[j].data(),
-             psk->get_vertid()[j].size()*sizeof(int));
-      memcpy(m->skin_bonevertweight+bonevert_adr, psk->get_vertweight()[j].data(),
-             psk->get_vertid()[j].size()*sizeof(float));
-
-      // advance counter
-      bonevert_adr += m->skin_bonevertnum[bone_adr+j];
-    }
-
-    // advance mesh and bone counters
-    vert_adr += m->skin_vertnum[i];
-    texcoord_adr += psk->get_texcoord().size()/2;
-    face_adr += m->skin_facenum[i];
-    bone_adr += m->skin_bonenum[i];
-  }
-
-  // hfields
-  data_adr = 0;
-  for (int i=0; i < nhfield; i++) {
-    // get pointer
-    mjCHField* phf = hfields_[i];
-
-    // set fields
-    mjuu_copyvec(m->hfield_size+4*i, phf->size, 4);
-    m->hfield_nrow[i] = phf->nrow;
-    m->hfield_ncol[i] = phf->ncol;
-    m->hfield_adr[i] = data_adr;
-
-    // copy elevation data
-    memcpy(m->hfield_data + data_adr, phf->data.data(),
-           static_cast<mjtSize>(phf->nrow) * phf->ncol * sizeof(float));
-
-    // advance counter
-    data_adr += phf->nrow*phf->ncol;
-  }
-
-  // textures
-  data_adr = 0;
-  for (int i=0; i < ntex; i++) {
-    // get pointer
-    mjCTexture* ptex = textures_[i];
-
-    // set fields
-    m->tex_type[i] = ptex->type;
-    m->tex_colorspace[i] = ptex->colorspace;
-    m->tex_height[i] = ptex->height;
-    m->tex_width[i] = ptex->width;
-    m->tex_nchannel[i] = ptex->nchannel;
-    m->tex_adr[i] = data_adr;
-
-    // copy rgb data
-    mjtSize nbytes = static_cast<mjtSize>(ptex->nchannel) * ptex->width * ptex->height;
-    memcpy(m->tex_data + data_adr, ptex->data_.data(), nbytes);
-
-    // advance counter
-    data_adr += nbytes;
-  }
-
-  // materials
-  for (int i=0; i < nmat; i++) {
-    // get pointer
-    mjCMaterial* pmat = materials_[i];
-
-    // set fields
-    for (int j=0; j < mjNTEXROLE; j++) {
-      m->mat_texid[mjNTEXROLE*i+j] = pmat->texid[j];
-    }
-    m->mat_texuniform[i] = pmat->texuniform;
-    mjuu_copyvec(m->mat_texrepeat+2*i, pmat->texrepeat, 2);
-    m->mat_emission[i] = pmat->emission;
-    m->mat_specular[i] = pmat->specular;
-    m->mat_shininess[i] = pmat->shininess;
-    m->mat_reflectance[i] = pmat->reflectance;
-    m->mat_metallic[i] = pmat->metallic;
-    m->mat_roughness[i] = pmat->roughness;
-    mjuu_copyvec(m->mat_rgba+4*i, pmat->rgba, 4);
-  }
-
-  // geom pairs to include
-  for (int i=0; i < npair; i++) {
-    m->pair_dim[i] = pairs_[i]->condim;
-    m->pair_geom1[i] = pairs_[i]->geom1->id;
-    m->pair_geom2[i] = pairs_[i]->geom2->id;
-    m->pair_signature[i] = pairs_[i]->signature;
-    mjuu_copyvec(m->pair_solref+mjNREF*i, pairs_[i]->solref, mjNREF);
-    mjuu_copyvec(m->pair_solreffriction+mjNREF*i, pairs_[i]->solreffriction, mjNREF);
-    mjuu_copyvec(m->pair_solimp+mjNIMP*i, pairs_[i]->solimp, mjNIMP);
-    m->pair_margin[i] = (mjtNum)pairs_[i]->margin;
-    m->pair_gap[i] = (mjtNum)pairs_[i]->gap;
-    m->pair_adhesion[i] = (mjtNum)pairs_[i]->adhesion;
-    mjuu_copyvec(m->pair_friction+5*i, pairs_[i]->friction, 5);
-  }
-
-  // body pairs to exclude
-  for (int i=0; i < nexclude; i++) {
-    m->exclude_signature[i] = excludes_[i]->signature;
-  }
-
-  // equality constraints
-  for (int i=0; i < neq; i++) {
-    // get pointer
-    mjCEquality* peq = equalities_[i];
-
-    // set fields
-    m->eq_type[i] = peq->type;
-    m->eq_obj1id[i] = peq->obj1id;
-    m->eq_obj2id[i] = peq->obj2id;
-    m->eq_objtype[i] = peq->objtype;
-    m->eq_active0[i] = peq->active;
-    mjuu_copyvec(m->eq_solref+mjNREF*i, peq->solref, mjNREF);
-    mjuu_copyvec(m->eq_solimp+mjNIMP*i, peq->solimp, mjNIMP);
-    mjuu_copyvec(m->eq_data+mjNEQDATA*i, peq->data, mjNEQDATA);
-  }
-
-  // tendons and wraps
-  adr = 0;
-  for (int i=0; i < ntendon; i++) {
-    // get pointer
-    mjCTendon* pte = tendons_[i];
-
-    // set fields
-    m->tendon_adr[i] = adr;
-    m->tendon_num[i] = (int)pte->path.size();
-    m->tendon_matid[i] = pte->matid;
-    m->tendon_group[i] = pte->group;
-    m->tendon_limited[i] = (mjtBool)pte->is_limited();
-    m->tendon_actfrclimited[i] = (mjtBool)pte->is_actfrclimited();
-    m->tendon_width[i] = (mjtNum)pte->width;
-    mjuu_copyvec(m->tendon_solref_lim+mjNREF*i, pte->solref_limit, mjNREF);
-    mjuu_copyvec(m->tendon_solimp_lim+mjNIMP*i, pte->solimp_limit, mjNIMP);
-    mjuu_copyvec(m->tendon_solref_fri+mjNREF*i, pte->solref_friction, mjNREF);
-    mjuu_copyvec(m->tendon_solimp_fri+mjNIMP*i, pte->solimp_friction, mjNIMP);
-    m->tendon_range[2*i] = (mjtNum)pte->range[0];
-    m->tendon_range[2*i+1] = (mjtNum)pte->range[1];
-    m->tendon_actfrcrange[2*i] = (mjtNum)pte->actfrcrange[0];
-    m->tendon_actfrcrange[2*i+1] = (mjtNum)pte->actfrcrange[1];
-    m->tendon_margin[i] = (mjtNum)pte->margin;
-    m->tendon_stiffness[i] = (mjtNum)pte->stiffness[0];
-    mjuu_copyvec(m->tendon_stiffnesspoly + mjNPOLY * i, pte->stiffness + 1, mjNPOLY);
-    m->tendon_damping[i] = (mjtNum)pte->damping[0];
-    mjuu_copyvec(m->tendon_dampingpoly + mjNPOLY * i, pte->damping + 1, mjNPOLY);
-    m->tendon_armature[i] = (mjtNum)pte->armature;
-    m->tendon_frictionloss[i] = (mjtNum)pte->frictionloss;
-    m->tendon_lengthspring[2*i] = (mjtNum)pte->springlength[0];
-    m->tendon_lengthspring[2*i+1] = (mjtNum)pte->springlength[1];
-    mjuu_copyvec(m->tendon_user+nuser_tendon*i, pte->get_userdata().data(), nuser_tendon);
-    mjuu_copyvec(m->tendon_rgba+4*i, pte->rgba, 4);
-
-    // set wraps
-    for (int j=0; j < (int)pte->path.size(); j++) {
-      m->wrap_type[adr+j] = pte->path[j]->Type();
-      m->wrap_objid[adr+j] = pte->path[j]->obj ? pte->path[j]->obj->id : -1;
-      m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->prm;
-      if (pte->path[j]->Type() == mjWRAP_SPHERE || pte->path[j]->Type() == mjWRAP_CYLINDER) {
-        m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->sideid;
-      }
-    }
-
-    // advance address counter
-    adr += (int)pte->path.size();
-  }
-
-  // actuators
-  adr = 0;
-  int delay_adr = 0;
-  int ctrladr = 0;
-  int outadr = 0;
-  for (int i=0; i < nactuator; i++) {
-    // get pointer
-    mjCActuator* pac = actuators_[i];
-
-    // set fields
-    m->actuator_trntype[i] = pac->so3_ ? mjTRN_SO3 : pac->trntype;
-    m->actuator_dyntype[i] = pac->dyntype;
-    m->actuator_gaintype[i] = pac->gaintype;
-    m->actuator_biastype[i] = pac->biastype;
-    m->actuator_trnid[2*i] = pac->trnid[0];
-    m->actuator_trnid[2*i+1] = pac->trnid[1];
-    m->actuator_actnum[i] = pac->actdim;
-    m->actuator_actadr[i] = m->actuator_actnum[i] ? adr : -1;
-    pac->actadr_ = m->actuator_actadr[i];
-    pac->actdim_ = m->actuator_actnum[i];
-    adr += m->actuator_actnum[i];
-    m->actuator_group[i] = pac->group;
-
-    // input and output blocks
-    m->actuator_ctrladr[i] = ctrladr;
-    m->actuator_ctrlnum[i] = pac->ctrlnum_;
-    m->actuator_ctrlspec[i] = pac->ctrlspec_;
-    pac->ctrladr_ = ctrladr;
-    ctrladr += pac->ctrlnum_;
-    m->actuator_outadr[i] = outadr;
-    m->actuator_outnum[i] = pac->outnum_;
-    pac->outadr_ = outadr;
-    outadr += pac->outnum_;
-
-    // historyadr
-    m->actuator_delay[i] = (mjtNum)pac->delay;
-    m->actuator_history[2*i] = pac->nsample;
-    m->actuator_history[2*i+1] = pac->interp;
-    if (pac->nsample > 0) {
-      m->actuator_historyadr[i] = delay_adr;
-      delay_adr += 2 + 2 * pac->nsample;  // [user, cursor, times, values]
-    } else {
-      m->actuator_historyadr[i] = -1;
-    }
-
-    m->actuator_actlimited[i] = (mjtBool)pac->is_actlimited();
-    m->actuator_actearly[i] = pac->actearly;
-    m->actuator_cranklength[i] = (mjtNum)pac->cranklength;
-    m->actuator_damping[i] = (mjtNum)pac->damping[0];
-    mjuu_copyvec(m->actuator_dampingpoly + mjNPOLY*i, pac->damping + 1, mjNPOLY);
-    m->actuator_armature[i] = (mjtNum)pac->armature;
-    mjuu_copyvec(m->actuator_dynprm + mjNDYN*i, pac->dynprm, mjNDYN);
-    mjuu_copyvec(m->actuator_gainprm + mjNGAIN*i, pac->gainprm, mjNGAIN);
-    mjuu_copyvec(m->actuator_biasprm + mjNBIAS*i, pac->biasprm, mjNBIAS);
-    mjuu_copyvec(m->actuator_actrange + 2*i, pac->actrange, 2);
-    m->actuator_forcelimited[i] = (mjtBool)pac->is_forcelimited();
-    mjuu_copyvec(m->actuator_forcerange + 2*i, pac->forcerange, 2);
-    mjuu_copyvec(m->actuator_user+nuser_actuator*i, pac->get_userdata().data(), nuser_actuator);
-
-    // per-input arrays, at the actuator's ctrl block
-    for (int k = 0; k < m->actuator_ctrlnum[i]; k++) {
-      int j = m->actuator_ctrladr[i] + k;
-      m->actuator_ctrllimited[j] = (mjtBool)pac->ctrllimiteds_[k];
-      mjuu_copyvec(m->actuator_ctrlrange + 2 * j, pac->ctrlranges_[k], 2);
-    }
-
-    // per-output arrays, at the actuator's output block
-    for (int j=m->actuator_outadr[i]; j < m->actuator_outadr[i]+m->actuator_outnum[i]; j++) {
-      mjuu_copyvec(m->actuator_gear + 6*j, pac->gear, 6);
-      mjuu_copyvec(m->actuator_lengthrange + 2*j, pac->lengthrange, 2);
-    }
-  }
-
-  // sensors
-  adr = 0;
-  for (int i=0; i < nsensor; i++) {
-    // get pointer
-    mjCSensor* psen = sensors_[i];
-
-    // set fields
-    m->sensor_type[i] = psen->type;
-    m->sensor_datatype[i] = psen->datatype;
-    m->sensor_needstage[i] = psen->needstage;
-    m->sensor_objtype[i] = psen->objtype;
-    m->sensor_objid[i] = psen->obj ? psen->obj->id : -1;
-    m->sensor_reftype[i] = psen->reftype;
-    m->sensor_refid[i] = psen->ref ? psen->ref->id : -1;
-    mjuu_copyvec(m->sensor_intprm+i*mjNSENS, psen->intprm, mjNSENS);
-    m->sensor_dim[i] = psen->dim;
-    m->sensor_cutoff[i] = (mjtNum)psen->cutoff;
-    m->sensor_noise[i] = (mjtNum)psen->noise;
-
-    // history buffer
-    m->sensor_delay[i] = (mjtNum)psen->delay;
-    m->sensor_history[2*i] = psen->nsample;
-    m->sensor_history[2*i+1] = psen->interp;
-    m->sensor_interval[2*i] = (mjtNum)psen->interval[0];
-    m->sensor_interval[2*i+1] = (mjtNum)psen->interval[1];
-    if (psen->nsample > 0) {
-      m->sensor_historyadr[i] = delay_adr;
-      int dim = psen->dim;
-      delay_adr += 2 + psen->nsample + psen->nsample * dim;  // [user, cursor, times(n), values(n*dim)]
-    } else {
-      m->sensor_historyadr[i] = -1;
-    }
-
-    mjuu_copyvec(m->sensor_user+nuser_sensor*i, psen->get_userdata().data(), nuser_sensor);
-
-    // calculate address and advance
-    m->sensor_adr[i] = adr;
-    adr += psen->dim;
-  }
-
-  // numeric fields
-  adr = 0;
-  for (int i=0; i < nnumeric; i++) {
-    // get pointer
-    mjCNumeric* pcu = numerics_[i];
-
-    // set fields
-    m->numeric_adr[i] = adr;
-    m->numeric_size[i] = pcu->size;
-    for (int j=0; j < (int)pcu->data_.size(); j++) {
-      m->numeric_data[adr+j] = (mjtNum)pcu->data_[j];
-    }
-    for (int j=(int)pcu->data_.size(); j < (int)pcu->size; j++) {
-      m->numeric_data[adr+j] = 0;
-    }
-
-    // advance address counter
-    adr += m->numeric_size[i];
-  }
-
-  // text fields
-  adr = 0;
-  for (int i=0; i < ntext; i++) {
-    // get pointer
-    mjCText* pte = texts_[i];
-
-    // set fields
-    m->text_adr[i] = adr;
-    m->text_size[i] = (int)pte->data_.size()+1;
-    mju_strncpy(m->text_data + adr, pte->data_.c_str(), m->ntextdata - adr);
-
-    // advance address counter
-    adr += m->text_size[i];
-  }
-
-  // tuple fields
-  adr = 0;
-  for (int i=0; i < ntuple; i++) {
-    // get pointer
-    mjCTuple* ptu = tuples_[i];
-
-    // set fields
-    m->tuple_adr[i] = adr;
-    m->tuple_size[i] = (int)ptu->objtype_.size();
-    for (int j=0; j < m->tuple_size[i]; j++) {
-      m->tuple_objtype[adr+j] = (int)ptu->objtype_[j];
-      m->tuple_objid[adr+j] = ptu->obj[j]->id;
-      m->tuple_objprm[adr+j] = (mjtNum)ptu->objprm_[j];
-    }
-
-    // advance address counter
-    adr += m->tuple_size[i];
-  }
-
-  // copy keyframe data
-  for (int i=0; i < nkey; i++) {
-    // copy data
-    m->key_time[i] = (mjtNum)keys_[i]->time;
-    mjuu_copyvec(m->key_qpos+i*nq, keys_[i]->qpos_.data(), nq);
-    mjuu_copyvec(m->key_qvel+i*nv, keys_[i]->qvel_.data(), nv);
-    if (na) {
-      mjuu_copyvec(m->key_act+i*na, keys_[i]->act_.data(), na);
-    }
-    if (nmocap) {
-      mjuu_copyvec(m->key_mpos + i*3*nmocap, keys_[i]->mpos_.data(), 3*nmocap);
-      mjuu_copyvec(m->key_mquat + i*4*nmocap, keys_[i]->mquat_.data(), 4*nmocap);
-    }
-
-    // normalize quaternions in m->key_qpos
-    for (int j=0; j < m->njnt; j++) {
-      if (m->jnt_type[j] == mjJNT_BALL || m->jnt_type[j] == mjJNT_FREE) {
-        mjuu_normvec(m->key_qpos+i*nq+m->jnt_qposadr[j]+3*(m->jnt_type[j] == mjJNT_FREE), 4);
-      }
-    }
-
-    // normalize quaternions in m->key_mquat
-    for (int j=0; j < nmocap; j++) {
-      mjuu_normvec(m->key_mquat+i*4*nmocap+4*j, 4);
-    }
-
-    mjuu_copyvec(m->key_ctrl+i*nu, keys_[i]->ctrl_.data(), nu);
-  }
-
-  // save qpos0 in user model (to recognize changed key_qpos in write)
-  qpos0.resize(nq);
-  body_pos0.resize(3*nbody);
-  body_quat0.resize(4*nbody);
-  mjuu_copyvec(qpos0.data(), m->qpos0, nq);
-  mjuu_copyvec(body_pos0.data(), m->body_pos, 3*nbody);
-  mjuu_copyvec(body_quat0.data(), m->body_quat, 4*nbody);
-}
-// NOLINTEND(readability/fn_size)
-
-
-
-// finalize simple bodies/dofs including tendon information
-void mjCModel::FinalizeSimple(mjModel* m) {
-  // demote bodies affected by inertia-bearing tendon to non-simple
-  for (int i=0; i < ntendon; i++) {
-    if (m->tendon_armature[i] == 0) {
-      continue;
-    }
-    int adr = m->tendon_adr[i];
-    int num = m->tendon_num[i];
-    for (int j=adr; j < adr+num; j++) {
-      int objid = m->wrap_objid[j];
-      if (m->wrap_type[j] == mjWRAP_SITE) {
-        m->body_simple[m->site_bodyid[objid]] = 0;
-      }
-      if (m->wrap_type[j] == mjWRAP_CYLINDER || m->wrap_type[j] == mjWRAP_SPHERE) {
-        m->body_simple[m->geom_bodyid[objid]] = 0;
-      }
-    }
-  }
-
-  // set dof_simplenum
-  int count = 0;
-  for (int i=nv-1; i >= 0; i--) {
-    if (m->body_simple[m->dof_bodyid[i]]) {
-      count++;    // increment counter
-    } else {
-      count = 0;  // reset
-    }
-    m->dof_simplenum[i] = count;
-  }
-
-  // recompute nC given {dof_simplenum, dof_parentid}, validate
-  int nOD = 0;  // number of non-simple off-diagonal parent dofs
-  for (int i=0; i < nv; i++) {
-    // count ancestor (off-diagonal) dofs
-    if (!m->dof_simplenum[i]) {
-      int j = i;
-      while (j >= 0) {
-        if (j != i) nOD++;
-        j = m->dof_parentid[j];
-      }
-    }
-  }
-  int nC_post = nOD + nv;
-  if (nC_post != nC) throw mjCError(0, "nC mismatch: pre %d, post %d", nullptr, nC, nC_post);
-}
-
-
-
-// save the current state
-template <class T>
-void mjCModel::SaveState(const std::string& state_name, const T* qpos, const T* qvel, const T* act,
-                         const T* ctrl, const T* mpos, const T* mquat) {
-  for (auto joint : joints_) {
-    if (joint->qposadr_ < -1 || joint->dofadr_ < -1) {
-      throw mjCError(nullptr, "SaveState: joint %s has invalid address", joint->name.c_str());
-    }
-    if (qpos && joint->qposadr_ != -1) {
-      mjuu_copyvec(joint->qpos(state_name), qpos + joint->qposadr_, joint->nq());
-    }
-    if (qvel && joint->dofadr_ != -1) {
-      mjuu_copyvec(joint->qvel(state_name), qvel + joint->dofadr_, joint->nv());
-    }
-  }
-
-  for (unsigned int i=0; i < actuators_.size(); i++) {
-    auto actuator = actuators_[i];
-    if (actuator->actadr_ != -1 && actuator->actdim_ != -1 && act) {
-      actuator->act(state_name).assign(actuator->actdim_, 0);
-      mjuu_copyvec(actuator->act(state_name).data(), act + actuator->actadr_, actuator->actdim_);
-    }
-    if (ctrl) {
-      actuator->ctrl(state_name) = ctrl[i];
-    }
-  }
-
-  for (auto body : bodies_) {
-    if (!body->spec.mocap || body->mocapid == -1) {
-      continue;
-    }
-    if (mpos) {
-      mjuu_copyvec(body->mpos(state_name), mpos + 3*body->mocapid, 3);
-    }
-    if (mquat) {
-      mjuu_copyvec(body->mquat(state_name), mquat + 4*body->mocapid, 4);
-    }
-  }
-}
-
-
-
-// clear existing data
-void mjCModel::MakeData(const mjModel* m, mjData** dest) {
-  mj_makeRawData(dest, m);
-  mjData* d = *dest;
-  if (d) {
-    mj_initPlugin(m, d);
-    mj_resetData(m, d);
-  }
-}
-
-
-
-// restore the previous state
-template <class T>
-void mjCModel::RestoreState(const std::string& state_name, const mjtNum* pos0,
-                            const mjtNum* mpos0, const mjtNum* mquat0, T* qpos,
-                            T* qvel, T* act, T* ctrl, T* mpos, T* mquat) {
-  for (auto joint : joints_) {
-    if (qpos) {
-      if (mjuu_defined(joint->qpos(state_name)[0])) {
-        mjuu_copyvec(qpos + joint->qposadr_, joint->qpos(state_name), joint->nq());
-      } else {
-        mjuu_copyvec(qpos + joint->qposadr_, pos0 + joint->qposadr_, joint->nq());
-      }
-    }
-    if (mjuu_defined(joint->qvel(state_name)[0]) && qvel) {
-      mjuu_copyvec(qvel + joint->dofadr_, joint->qvel(state_name), joint->nv());
-    }
-  }
-
-  // restore act
-  for (unsigned int i=0; i < actuators_.size(); i++) {
-    auto actuator = actuators_[i];
-    if (!actuator->act(state_name).empty() && mjuu_defined(actuator->act(state_name)[0]) && act) {
-      mjuu_copyvec(act + actuator->actadr_, actuator->act(state_name).data(), actuator->actdim_);
-    }
-    if (ctrl) {
-      ctrl[i] = mjuu_defined(actuator->ctrl(state_name)) ? actuator->ctrl(state_name) : 0;
-    }
-  }
-
-  for (unsigned int i=0; i < bodies_.size(); i++) {
-    auto body = bodies_[i];
-    if (!body->spec.mocap) {
-      continue;
-    }
-    if (mpos) {
-      if (mjuu_defined(body->mpos(state_name)[0])) {
-        mjuu_copyvec(mpos + 3*body->mocapid, body->mpos(state_name), 3);
-      } else {
-        mjuu_copyvec(mpos + 3*body->mocapid, mpos0 + 3*i, 3);
-      }
-    }
-    if (mquat) {
-      if (mjuu_defined(body->mquat(state_name)[0])) {
-        mjuu_copyvec(mquat + 4*body->mocapid, body->mquat(state_name), 4);
-      } else {
-        mjuu_copyvec(mquat + 4*body->mocapid, mquat0 + 4*i, 4);
-      }
-    }
-  }
-}
-
-// force explicit instantiations
-template void mjCModel::SaveState<mjtNum>(
-  const std::string& name, const mjtNum* qpos, const mjtNum* qvel, const mjtNum* act,
-  const mjtNum* ctrl, const mjtNum* mpos, const mjtNum* mquat);
-
-template void mjCModel::RestoreState<mjtNum>(
-  const std::string& name, const mjtNum* qpos0, const mjtNum* mpos0, const mjtNum* mquat0,
-  mjtNum* qpos, mjtNum* qvel, mjtNum* act, mjtNum* ctrl, mjtNum* mpos, mjtNum* mquat);
-
-
-
-// resolve keyframe references
-void mjCModel::StoreKeyframes(mjCModel* dest) {
-  if (this != dest && !key_pending_.empty()) {
-    dest->AddWarning(
-        "Child model has pending keyframes. They will not be namespaced "
-        "correctly. "
-        "To prevent this, compile the child model before attaching it again.");
-  }
-
-  // do not change compilation quantities in case the user wants to recompile preserving the state
-  if (!compiled) {
-    SaveDofOffsets(/*computesize=*/true);
-    ComputeReference();
-  }
-
-  // save keyframe info and resize keyframes
-  for (auto& key : keys_) {
-    mjKeyInfo info;
-    info.name = prefix + key->name + suffix;
-    info.time = key->spec.time;
-    info.qpos = !key->spec_qpos_.empty();
-    info.qvel = !key->spec_qvel_.empty();
-    info.act = !key->spec_act_.empty();
-    info.ctrl = !key->spec_ctrl_.empty();
-    info.mpos = !key->spec_mpos_.empty();
-    info.mquat = !key->spec_mquat_.empty();
-    dest->key_pending_.push_back(info);
-    if (!key->spec_qpos_.empty() && key->spec_qpos_.size() != nq) {
-      throw mjCError(nullptr, "Keyframe '%s' has invalid qpos size, got %d, should be %d",
-                     key->name.c_str(), key->spec_qpos_.size(), nq);
-    }
-    if (!key->spec_qvel_.empty() && key->spec_qvel_.size() != nv) {
-      throw mjCError(nullptr, "Keyframe %s has invalid qvel size, got %d, should be %d",
-                     key->name.c_str(), key->spec_qvel_.size(), nv);
-    }
-    if (!key->spec_act_.empty() && key->spec_act_.size() != na) {
-      throw mjCError(nullptr, "Keyframe %s has invalid act size, got %d, should be %d",
-                     key->name.c_str(), key->spec_act_.size(), na);
-    }
-    if (!key->spec_ctrl_.empty() && key->spec_ctrl_.size() != nu) {
-      throw mjCError(nullptr, "Keyframe %s has invalid ctrl size, got %d, should be %d",
-                     key->name.c_str(), key->spec_ctrl_.size(), nu);
-    }
-    if (!key->spec_mpos_.empty() && key->spec_mpos_.size() != 3*nmocap) {
-      throw mjCError(nullptr, "Keyframe %s has invalid mpos size, got %d, should be %d",
-                     key->name.c_str(), key->spec_mpos_.size(), 3*nmocap);
-    }
-    if (!key->spec_mquat_.empty() && key->spec_mquat_.size() != 4*nmocap) {
-      throw mjCError(nullptr, "Keyframe %s has invalid mquat size, got %d, should be %d",
-                     key->name.c_str(), key->spec_mquat_.size(), 4*nmocap);
-    }
-    SaveState(info.name, key->spec_qpos_.data(), key->spec_qvel_.data(),
-              key->spec_act_.data(), key->spec_ctrl_.data(),
-              key->spec_mpos_.data(), key->spec_mquat_.data());
-  }
-
-  if (!compiled) {
-    nq = nv = na = nu = nactuator = nout = nmocap = 0;
-  }
-}
-
-
-
-//------------------------------- FUSE STATIC ------------------------------------------------------
-
-template <class T>
-static void makelistid(std::vector<T*>& dest, std::vector<T*>& source) {
-  for (int i=0; i < source.size(); i++) {
-    source[i]->id = (int)dest.size();
-    dest.push_back(source[i]);
-  }
-}
-
-// change frame to parent body
-static void changeframe(double childpos[3], double childquat[4],
-                        const double bodypos[3], const double bodyquat[4]) {
-  double pos[3], quat[4];
-  mjuu_copyvec(pos, bodypos, 3);
-  mjuu_copyvec(quat, bodyquat, 4);
-  mjuu_frameaccum(pos, quat, childpos, childquat);
-  mjuu_copyvec(childpos, pos, 3);
-  mjuu_copyvec(childquat, quat, 4);
-}
-
-
-
-// reindex elements during fuse
-void mjCModel::FuseReindex(mjCBody* body) {
-  // set parentid and weldid of children
-  for (int i=0; i < body->bodies.size(); i++) {
-    body->bodies[i]->parent = body;
-    bool weld_root = !body->bodies[i]->joints.empty() || body->bodies[i]->spec.mocap;
-    body->bodies[i]->weldid = (weld_root ? body->bodies[i]->id : body->weldid);
-  }
-
-  makelistid(joints_, body->joints);
-  makelistid(geoms_, body->geoms);
-  makelistid(sites_, body->sites);
-  makelistid(cameras_, body->cameras);
-  makelistid(lights_, body->lights);
-
-  // process children recursively
-  for (int i=0; i < body->bodies.size(); i++) {
-    FuseReindex(body->bodies[i]);
-  }
-}
-
-
-
-template <class T>
-void mjCModel::ReassignChild(std::vector<T*>& dest, std::vector<T*>& list,
-                             mjCBody* parent, mjCBody* body) {
-  for (int j=0; j < list.size(); j++) {
-    // assign
-    list[j]->body = parent;
-    dest.push_back(list[j]);
-
-    // change frame
-    changeframe(list[j]->pos, list[j]->quat, body->pos, body->quat);
-  }
-  list.clear();
-}
-
-
-
-template <class T>
-void mjCModel::ResolveReferences(std::vector<T*>& list, mjCBody* body) {
-  for (auto& item : list) {
-    item->CopyFromSpec();
-    item->ResolveReferences(this);
-  }
-}
-
-
-
-template <>
-void mjCModel::ResolveReferences(std::vector<mjCSensor*>& list, mjCBody* body) {
-  for (auto& item : list) {
-    item->CopyFromSpec();
-    item->ResolveReferences(this);
-  }
-  for (mjCSensor* sensor : list) {
-    if (sensor->objtype == mjOBJ_SITE &&
-        (sensor->type == mjSENS_FORCE || sensor->type == mjSENS_TORQUE) &&
-        static_cast<mjCSite*>(sensor->obj)->body == body) {
-      throw mjCError(sensor, "cannot fuse a body used by a force/torque sensor");
-    }
-  }
-}
-
-
-
-// fuse static bodies with their parent
-void mjCModel::FuseStatic(void) {
-  for (int i=1; i < bodies_.size(); i++) {
-    // check if the body can be fused
-    if (!bodies_[i]->name.empty()) {
-      ids[mjOBJ_BODY].erase(bodies_[i]->name);
-
-      // try to resolve references without the name of this body, if it fails, skip
-      try {
-        ResolveReferences(cameras_);
-        ResolveReferences(lights_);
-        ResolveReferences(skins_);
-        ResolveReferences(pairs_);
-        ResolveReferences(excludes_);
-        ResolveReferences(equalities_);
-        ResolveReferences(tendons_);
-        ResolveReferences(actuators_);
-        ResolveReferences(sensors_, bodies_[i]);
-        ResolveReferences(tuples_);
-      } catch (mjCError err) {
-        ids[mjOBJ_BODY].insert({bodies_[i]->name, i});
-        continue;
-      }
-
-      // put body back the body name in the map
-      ids[mjOBJ_BODY].insert({bodies_[i]->name, i});
-    }
-
-    // get body and parent
-    mjCBody* body = bodies_[i];
-    mjCBody* par = body->parent;
-
-    // skip if body has joints or mocap
-    if (!body->joints.empty() || body->mocap) {
-      continue;
-    }
-
-    //------------- add mass and inertia (if parent not world)
-    if (body->parent && body->parent->name != "world" && body->mass >= mjMINVAL) {
-      par->AccumulateInertia(body);
-    }
-
-    //------------- replace body with its children in parent body list
-
-    // change frames of child bodies
-    for (int j=0; j < body->bodies.size(); j++)
-      changeframe(body->bodies[j]->pos, body->bodies[j]->quat,
-                  body->pos, body->quat);
-
-    // find body in parent list, insert children before it
-    bool found = false;
-    for (auto iter=par->bodies.begin(); iter != par->bodies.end(); iter++) {
-      if (*iter == body) {
-        par->bodies.insert(iter, body->bodies.begin(), body->bodies.end());
-        found = true;
-        break;
-      }
-    }
-    if (!found) {
-      mju_error("Internal error: FuseStatic: body not found");
-    }
-
-    // find body in parent list, erase
-    found = false;
-    for (auto iter=par->bodies.begin(); iter != par->bodies.end(); iter++) {
-      if (*iter == body) {
-        par->bodies.erase(iter);
-        found = true;
-        break;
-      }
-    }
-    if (!found) {
-      mju_error("Internal error: FuseStatic: body not found");
-    }
-
-    //------------- assign geoms, sites, cameras, lights to parent, change frames
-
-    ReassignChild(par->geoms, body->geoms, par, body);
-    ReassignChild(par->sites, body->sites, par, body);
-    ReassignChild(par->cameras, body->cameras, par, body);
-
-    // lights have dir instead of quat, so handle separately
-    for (int j=0; j < body->lights.size(); j++) {
-      body->lights[j]->body = par;
-      par->lights.push_back(body->lights[j]);
-
-      // transform pos into parent frame
-      double qunit[4] = {1, 0, 0, 0};
-      changeframe(body->lights[j]->pos, qunit, body->pos, body->quat);
-
-      // rotate dir into parent frame
-      mjuu_rotVecQuat(body->lights[j]->dir, body->lights[j]->dir, body->quat);
-    }
-    body->lights.clear();
-
-    //------------- remove from global body list, reduce global counts
-
-    // find in global and erase
-    found = false;
-    for (auto iter=bodies_.begin(); iter != bodies_.end(); iter++) {
-      if (*iter == body) {
-        bodies_.erase(iter);
-        found = true;
-        break;
-      }
-    }
-    if (!found) {
-      mju_error("Internal error: FuseStatic: body not found");
-    }
-
-    // reduce counts
-    nbody--;
-    nnames -= ((int)body->name.length() + 1);
-
-    //------------- re-index bodies, joints, geoms, sites
-
-    // body ids
-    for (int j=0; j < bodies_.size(); j++) {
-      bodies_[j]->id = j;
-    }
-
-    // everything else
-    joints_.clear();
-    geoms_.clear();
-    sites_.clear();
-    cameras_.clear();
-    lights_.clear();
-    FuseReindex(bodies_[0]);
-
-    // recompute parent contype, conaffinity, and margin
-    par->contype = par->conaffinity = 0;
-    par->margin = 0;
-    for (const auto& geom : par->geoms) {
-      par->contype |= geom->contype;
-      par->conaffinity |= geom->conaffinity;
-      par->margin = std::max(par->margin, geom->margin + geom->gap);
-    }
-
-    // recompute BVH
-    int nbvhfuse = body->tree.Nbvh() + par->tree.Nbvh();
-    par->ComputeBVH();
-    nbvhstatic += par->tree.Nbvh() - nbvhfuse;
-    nbvh += par->tree.Nbvh() - nbvhfuse;
-
-    //------------- delete body (without deleting children)
-
-    // remove body name from map
-    if (!body->name.empty()) {
-      ids[mjOBJ_BODY].erase(body->name);
-    }
-
-    // delete allocation
-    body->bodies.clear();
-    delete body;
-
-    // check index i again (we have a new body at this index)
-    i--;
-  }
-
-  // remove empty names
-  ProcessList_(ids, bodies_, mjOBJ_BODY, /*checkrepeat=*/true);
-}
-
-
-
-//------------------------------- COMPILER ---------------------------------------------------------
-
-// signature comparisons
-static int comparePair(mjCPair* el1, mjCPair* el2) {
-  return el1->GetSignature() < el2->GetSignature();
-}
-static int compareBodyPair(mjCBodyPair* el1, mjCBodyPair* el2) {
-  return el1->GetSignature() < el2->GetSignature();
-}
-
-
-// reassign ids
-template <class T>
-static void reassignid(vector<T*>& list) {
-  for (int i=0; i < (int)list.size(); i++) {
-    list[i]->id = i;
-  }
-}
-
-
-
-// set object ids, check for repeated names
-void mjCModel::ProcessLists(bool checkrepeat) {
-  for (int i = 0; i < mjNOBJECT; i++) {
-    if (i != mjOBJ_XBODY && object_lists_[i]) {
-      ids[i].clear();
-      ProcessList_(ids, *object_lists_[i], (mjtObj) i, checkrepeat);
-    }
-  }
-
-  // check repeated names in meta elements
-  ProcessList_(ids, frames_, mjOBJ_FRAME, checkrepeat);
-}
-
-
-
-// set ids, check for repeated names
-template <class T>
-void mjCModel::ProcessList_(mjListKeyMap& ids, vector<T*>& list,
-                            mjtObj type, bool checkrepeat) {
-  // assign ids for regular elements
-  if (type < mjNOBJECT) {
-    for (size_t i=0; i < list.size(); i++) {
-      // check for incompatible id setting; SHOULD NOT OCCUR
-      if (list[i]->id != -1 && list[i]->id != i) {
-        throw mjCError(list[i], "incompatible id in %s array, position %d", mju_type2Str(type), i);
-      }
-
-      // id equals position in array
-      list[i]->id = i;
-
-      // add to ids map
-      ids[type][list[i]->name] = i;
-    }
-  }
-
-  // check for repeated names
-  if (checkrepeat) {
-    CheckRepeat(type);
-  }
-}
-
-
-
-// check for repeated names in list
-void mjCModel::CheckRepeat(mjtObj type) {
-  std::vector<mjCBase*>* list = nullptr;
-  if (type < mjNOBJECT) {
-    list = object_lists_[type];
-  } else if (type == mjOBJ_FRAME) {
-    list = (std::vector<mjCBase*>*) &frames_;
-  }
-
-  // created vectors with all names
-  vector<string> allnames;
-  for (size_t i=0; i < list->size(); i++) {
-    if (!(*list)[i]->name.empty()) {
-      allnames.push_back((*list)[i]->name);
-    }
-  }
-
-  // sort and check for duplicates
-  if (allnames.size() > 1) {
-    std::sort(allnames.begin(), allnames.end());
-    auto adjacent = std::adjacent_find(allnames.begin(), allnames.end());
-    if (adjacent != allnames.end()) {
-      string msg = "repeated name '" + *adjacent + "' in " + mju_type2Str(type);
-      throw mjCError(nullptr, "%s", msg.c_str());
-    }
-  }
-}
-
-
-
-// error handler for low-level engine
-constexpr int kErrorBufferSize = 500;
-static thread_local std::jmp_buf error_jmp_buf;
-static thread_local char errortext[kErrorBufferSize] = "";
-
-
-// warning handler for low-level engine
-static thread_local char warningtext[kErrorBufferSize] = "";       // top-level warning buffer
-static thread_local std::string* local_warningtext_ptr = nullptr;  // sub-thread warning buffer
-static void compilerLogHandler(const mjLogMessage* msg) {
-  if (msg->level == mjLOG_ERROR) {
-    mju::strcpy_arr(errortext, msg->subject);
-    std::longjmp(error_jmp_buf, 1);
-  } else if (msg->level == mjLOG_WARNING) {
-    // buffer for structured capture (append, not overwrite)
-    if (local_warningtext_ptr) {
-      if (!local_warningtext_ptr->empty()) {
-        *local_warningtext_ptr += '\n';
-      }
-      *local_warningtext_ptr += msg->subject;
-    } else {
-      if (warningtext[0]) {
-        mju::strcat_arr(warningtext, "\n");
-      }
-      mju::strcat_arr(warningtext, msg->subject);
-    }
-  }
-}
-
-
-// compiler
-mjModel* mjCModel::Compile(const mjVFS* vfs, mjModel** m) {
-  if (compiled) {
-    Clear();
-  }
-
-  CopyFromSpec();
-
-  // The volatile keyword is necessary to prevent a possible memory leak due to
-  // an interaction between longjmp and compiler optimization. Specifically, at
-  // the point where the setjmp takes places, these pointers have never been
-  // reassigned from their nullptr initialization. Without the volatile keyword,
-  // the compiler is free to assume that these pointers remain nullptr when the
-  // setjmp returns, and therefore to pass nullptr directly to the
-  // mj_deleteModel and mj_deleteData calls in the subsequent catch block,
-  // without ever reading the actual pointer values.
-  mjModel* volatile model = (m && *m) ? *m : nullptr;
-  mjData* volatile data = nullptr;
-
-  // install compiler log handler (captures warnings silently)
-  mjfLogHandler prev_tls = _mjPRIVATE_setTlsLogHandler(compilerLogHandler);
-
-  errInfo = mjCError();
-
-  // set flag so warnings are captured in the spec vector rather than delivered
-  // immediately
-  compiling_ = true;
-  ClearCompileWarnings();
-  warningtext[0] = 0;
-
-  try {
-    if (attached_) {
-      throw mjCError(0, "cannot compile child spec if attached by reference to a parent spec");
-    }
-    if (setjmp(error_jmp_buf) != 0) {
-      // TryCompile resulted in an mju_error which was converted to a longjmp.
-      std::string error_msg = errortext;
-      // also include the last warning that was issued. this is useful for
-      // warnings that came out of plugin implementations.
-      if (warningtext[0]) {
-        error_msg += '\n';
-        error_msg += warningtext;
-      }
-      throw mjCError(0, "engine error: %s", error_msg.c_str());
-    }
-
-    TryCompile(*const_cast<mjModel**>(&model), *const_cast<mjData**>(&data),
-               vfs);
-  } catch (mjCError err) {
-    // deallocate everything allocated in Compile
-    mj_deleteModel(model);
-    model = nullptr;
-    mj_deleteData(data);
-    data = nullptr;
-    Clear();
-
-    // save error info
-    errInfo = err;
-    if (warningtext[0]) {
-      mju::strcat_arr(errInfo.message, "\n");
-      mju::strcat_arr(errInfo.message, warningtext);
-    }
-
-    // restore handler, return 0
-    _mjPRIVATE_setTlsLogHandler(prev_tls);
-    compiling_ = false;
-    return nullptr;
-  }
-
-  // restore log handler
-  _mjPRIVATE_setTlsLogHandler(prev_tls);
-  compiling_ = false;
-  compiled = true;
-
-  // play back compile warnings through the normal handler chain
-  for (int i = num_attach_warnings_; i < warnings_.size(); ++i) {
-    mju_warning("%s", warnings_[i].c_str());
-  }
-
-  return model;
-}
-
-
-// Helper function for mesh compilation used by both serial and parallel paths
-static void CompileMesh(mjCMesh* mesh, const mjVFS* vfs,
-                        std::exception_ptr& exception, std::mutex& exception_mutex,
-                        std::string* warningtext) {
-  local_warningtext_ptr = warningtext;
-  auto previous_handler = _mjPRIVATE_setTlsLogHandler(compilerLogHandler);
-
-  try {
-    mesh->Compile(vfs);
-  } catch (...) {
-    std::lock_guard<std::mutex> lock(exception_mutex);
-    if (!exception) {
-      exception = std::current_exception();
-    }
-  }
-
-  _mjPRIVATE_setTlsLogHandler(previous_handler);
-  local_warningtext_ptr = nullptr;
-}
-
-// Helper function for texture compilation used by both serial and parallel paths
-static void CompileTexture(mjCTexture* texture, const mjVFS* vfs,
-                           std::exception_ptr& exception,
-                           std::mutex& exception_mutex, std::string* warningtext) {
-  using Clock = std::chrono::steady_clock;
-  using Seconds = std::chrono::duration<double>;
-  local_warningtext_ptr = warningtext;
-  auto previous_handler = _mjPRIVATE_setTlsLogHandler(compilerLogHandler);
-
-  Clock::time_point t0 = Clock::now();
-  try {
-    texture->Compile(vfs);
-  } catch (...) {
-    std::lock_guard<std::mutex> lock(exception_mutex);
-    if (!exception) {
-      exception = std::current_exception();
-    }
-  }
-  texture->texture_time_ = Seconds(Clock::now() - t0).count();
-
-  _mjPRIVATE_setTlsLogHandler(previous_handler);
-  local_warningtext_ptr = nullptr;
-}
-
-// multi-threaded mesh and texture compilation with shared threadpool
-void mjCModel::CompileMeshesAndTextures(const mjVFS* vfs) {
-  int nmesh = meshes_.size();
-  int ntexture = textures_.size();
-  int total_tasks = nmesh + ntexture;
-
-  // holds exceptions thrown by worker threads
-  std::exception_ptr mesh_exception;
-  std::mutex mesh_except_mutex;
-  std::exception_ptr texture_exception;
-  std::mutex texture_except_mutex;
-
-  std::vector<std::string> mesh_warningtext(nmesh);
-  std::vector<std::string> texture_warningtext(ntexture);
-
-  // If no pool provided or too few total tasks, run serially
-  if (!compiler.usethread || total_tasks < 2) {
-    // Compile meshes serially
-    for (int i = 0; i < nmesh; i++) {
-      CompileMesh(meshes_[i], vfs, mesh_exception, mesh_except_mutex,
-                  &mesh_warningtext[i]);
-    }
-    // Compile textures serially
-    for (int i = 0; i < ntexture; i++) {
-      CompileTexture(textures_[i], vfs, texture_exception,
-                     texture_except_mutex, &texture_warningtext[i]);
-    }
-  } else {
-    mujoco::user::ThreadPool pool(NumCompilerThreads(total_tasks));
-
-    // Enqueue mesh tasks
-    for (int i = 0; i < nmesh; ++i) {
-      pool.Schedule([mesh = meshes_[i], vfs, &mesh_exception,
-                     &mesh_except_mutex, warningtext = &mesh_warningtext[i]]() {
-        CompileMesh(mesh, vfs, mesh_exception, mesh_except_mutex, warningtext);
-      });
-    }
-
-    // Enqueue texture tasks
-    for (int i = 0; i < ntexture; ++i) {
-      pool.Schedule([texture = textures_[i], vfs, &texture_exception,
-                     &texture_except_mutex,
-                     warningtext = &texture_warningtext[i]]() {
-        CompileTexture(texture, vfs, texture_exception, texture_except_mutex,
-                       warningtext);
-      });
-    }
-
-    // Wait for all tasks to complete
-    pool.WaitCount(total_tasks);
-  }
-
-  // concatenate all mesh warnings, copy into warningtext
-  std::string concatenated_warnings;
-  bool has_warning = false;
-  for (int i = 0; i < nmesh; i++) {
-    if (!mesh_warningtext[i].empty()) {
-      if (has_warning) {
-        concatenated_warnings += '\n';
-      }
-      concatenated_warnings += mesh_warningtext[i];
-      has_warning = true;
-    }
-  }
-  mju::strcpy_arr(warningtext, concatenated_warnings.c_str());
-
-  // aggregate texture warnings
-  for (int i = 0; i < ntexture; ++i) {
-    if (!texture_warningtext[i].empty()) {
-      if (has_warning) mju::strcat_arr(warningtext, "\n");
-      mju::strcat_arr(warningtext, texture_warningtext[i].c_str());
-      has_warning = true;
-    }
-  }
-
-  // if exceptions were caught, rethrow the first one
-  if (mesh_exception) {
-    std::rethrow_exception(mesh_exception);
-  }
-  if (texture_exception) {
-    std::rethrow_exception(texture_exception);
-  }
-
-  for (int i = 0; i < nmesh; i++) {
-    for (int t = 0; t < mjNCTIMER; t++) {
-      timer[t] += meshes_[i]->mesh_timer_[t];
-    }
-  }
-  for (int i = 0; i < ntexture; i++) {
-    timer[mjCTIMER_TEXTURE] += textures_[i]->texture_time_;
-  }
-}
-
-// compute qpos0
-void mjCModel::ComputeReference() {
-  int b = 0;
-  qpos0.resize(nq);
-  body_pos0.resize(3*bodies_.size());
-  body_quat0.resize(4*bodies_.size());
-  for (auto body : bodies_) {
-    mjuu_copyvec(body_pos0.data()+3*b, body->spec.pos, 3);
-    mjuu_copyvec(body_quat0.data()+4*b, body->spec.quat, 4);
-    for (auto joint : body->joints) {
-      switch (joint->type) {
-        case mjJNT_FREE:
-          mjuu_copyvec(qpos0.data()+joint->qposadr_, body->spec.pos, 3);
-          mjuu_copyvec(qpos0.data()+joint->qposadr_+3, body->spec.quat, 4);
-          break;
-
-        case mjJNT_BALL:
-          mjuu_setvec(qpos0.data()+joint->qposadr_, 1, 0, 0, 0);
-          break;
-
-        case mjJNT_SLIDE:
-        case mjJNT_HINGE:
-          qpos0[joint->qposadr_] = (mjtNum)joint->spec.ref;
-          break;
-
-        default:
-          throw mjCError(joint, "unknown joint type");
-      }
-    }
-    b++;
-  }
-}
-
-
-
-// resize keyframes in the model
-void mjCModel::ExpandAllKeyframes() {
-  if (keys_.empty()) {
-    return;
-  }
-  SaveDofOffsets(/*computesize=*/true);
-  ComputeReference();
-  for (auto* key : keys_) {
-    ExpandKeyframe(key, qpos0.data(), body_pos0.data(), body_quat0.data());
-  }
-  nq = nv = na = nu = nactuator = nout = nmocap = 0;
-}
-
-
-
-// resizes a keyframe, filling in missing values
-void mjCModel::ExpandKeyframe(mjCKey* key, const mjtNum* qpos0_,
-                              const mjtNum* bpos, const mjtNum* bquat) {
-  if (!key->spec_qpos_.empty() && nq > key->spec_qpos_.size()) {
-    int nq0 = key->spec_qpos_.size();
-    key->spec_qpos_.resize(nq);
-    for (int i=nq0; i < nq; i++) {
-      key->spec_qpos_[i] = (double)qpos0_[i];
-    }
-  }
-  if (!key->spec_qvel_.empty() && nv > key->spec_qvel_.size()) {
-    key->spec_qvel_.resize(nv);
-  }
-  if (!key->spec_act_.empty() && na > key->spec_act_.size()) {
-    key->spec_act_.resize(na);
-  }
-  if (!key->spec_ctrl_.empty() && nu > key->spec_ctrl_.size()) {
-    key->spec_ctrl_.resize(nu);
-  }
-  if (!key->spec_mpos_.empty() && nmocap > key->spec_mpos_.size() / 3) {
-    int nmocap0 = key->spec_mpos_.size() / 3;
-    key->spec_mpos_.resize(3*nmocap);
-    for (unsigned int j = 0; j < bodies_.size(); j++) {
-      if (bodies_[j]->mocapid < nmocap0) {
-        continue;
-      }
-      int i = bodies_[j]->mocapid;
-      key->spec_mpos_[3*i+0] = (double)bpos[3*j+0];
-      key->spec_mpos_[3*i+1] = (double)bpos[3*j+1];
-      key->spec_mpos_[3*i+2] = (double)bpos[3*j+2];
-    }
-  }
-  if (!key->spec_mquat_.empty() && nmocap > key->spec_mquat_.size() / 4) {
-    int nmocap0 = key->spec_mquat_.size() / 4;
-    key->spec_mquat_.resize(4*nmocap);
-    for (unsigned int j = 0; j < bodies_.size(); j++) {
-      if (bodies_[j]->mocapid < nmocap0) {
-        continue;
-      }
-      int i = bodies_[j]->mocapid;
-      key->spec_mquat_[4*i+0] = (double)bquat[4*j+0];
-      key->spec_mquat_[4*i+1] = (double)bquat[4*j+1];
-      key->spec_mquat_[4*i+2] = (double)bquat[4*j+2];
-      key->spec_mquat_[4*i+3] = (double)bquat[4*j+3];
-    }
-  }
-}
-
-// convert pending keyframes info to actual keyframes
-void mjCModel::ResolveKeyframes(const mjModel* m) {
-  // store dof offsets in joints and actuators
-  SaveDofOffsets();
-
-  // create new keyframes, fill in missing default values
-  for (const auto& info : key_pending_) {
-    mjCKey* key = (mjCKey*)FindObject(mjOBJ_KEY, info.name);
-    key->name = info.name;
-    key->spec.time = info.time;
-    if (info.qpos) key->spec_qpos_.assign(nq, 0);
-    if (info.qvel) key->spec_qvel_.assign(nv, 0);
-    if (info.act) key->spec_act_.assign(na, 0);
-    if (info.ctrl) key->spec_ctrl_.assign(nu, 0);
-    if (info.mpos) key->spec_mpos_.assign(3*nmocap, 0);
-    if (info.mquat) key->spec_mquat_.assign(4*nmocap, 0);
-    RestoreState(info.name, m->qpos0, m->body_pos, m->body_quat,
-                 key->spec_qpos_.data(), key->spec_qvel_.data(),
-                 key->spec_act_.data(), key->spec_ctrl_.data(),
-                 key->spec_mpos_.data(), key->spec_mquat_.data());
-  }
-
-  // the attached keyframes have been copied into the model
-  key_pending_.clear();
-}
-
-void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
-#if defined(__EMSCRIPTEN__) && !defined(MUJOCO_WASM_THREADS)
-  // The MuJoCo compiler defaults to usethread=1, which causes it to try to
-  // create pthreads for compilation. In the single-threaded WASM build, this
-  // crashes because there is no threading support, so we disable threading on
-  // the internal compiler struct (not the spec) to avoid permanently mutating
-  // the spec (which would cause usethread="false" to appear in a saved XML).
-  struct ScopedDisableThreading {
-    mjtBool& ref;
-    mjtBool saved;
-    explicit ScopedDisableThreading(mjtBool& r) : ref(r), saved(r) { ref = 0; }
-    ~ScopedDisableThreading() { ref = saved; }
-  } disable_usethread(compiler.usethread);
-#endif
-
-  // clear compile-phase warnings from previous compile, keep attach warnings
-  ClearCompileWarnings();
-
-  using Clock = std::chrono::steady_clock;
-  using Seconds = std::chrono::duration<double>;
-  for (int i=0; i < mjNCTIMER; i++) {
-    timer[i] = 0;
-  }
-  Clock::time_point timer_start = Clock::now();
-  // check if nan test works
-  double test = mjNAN;
-  if (mjuu_defined(test)) {
-    throw mjCError(0, "NaN test does not work for present compiler/options");
-  }
-
-  // check for joints in world body
-  if (!bodies_[0]->joints.empty()) {
-    throw mjCError(0, "joint found in world body");
-  }
-
-  // check for too many body+flex
-  if (bodies_.size()+flexes_.size() >= 65534) {
-    throw mjCError(0, "number of bodies plus flexes must be less than 65534");
-  }
-
-  // append directory separator
-  if (!meshdir_.empty()) {
-    int n = meshdir_.length();
-    if (meshdir_[n-1] != '/' && meshdir_[n-1] != '\\') {
-      meshdir_ += '/';
-    }
-  }
-  if (!texturedir_.empty()) {
-    int n = texturedir_.length();
-    if (texturedir_[n-1] != '/' && texturedir_[n-1] != '\\') {
-      texturedir_ += '/';
-    }
-  }
-
-  // add missing keyframes
-  for (int i=keys_.size(); i < nkey; i++) {
-    AddKey();
-  }
-
-  // clear subtreedofs
-  for (int i=0; i < bodies_.size(); i++) {
-    bodies_[i]->subtreedofs = 0;
-  }
-
-  // initialize spec signature (needed if the user changed sensor or joint types)
-  spec.element->signature = Signature();
-
-  // fill missing names and check that they are all filled
-  for (const auto& asset : meshes_) asset->CopyFromSpec();
-  for (const auto& asset : skins_) asset->CopyFromSpec();
-  for (const auto& asset : hfields_) asset->CopyFromSpec();
-  for (const auto& asset : textures_) asset->CopyFromSpec();
-  CheckEmptyNames();
-
-  // resize keyframes in case the spec was edited after the last attach
-  ExpandAllKeyframes();
-
-  // create pending keyframes
-  for (const auto& info : key_pending_) {
-    mjCKey* key = AddKey();
-    key->name = info.name;
-  }
-
-  // set object ids, check for repeated names
-  ProcessLists();
-
-  // delete visual assets
-  if (compiler.discardvisual) {
-    DeleteAll(materials_);
-    DeleteTexcoord(flexes_);
-    DeleteTexcoord(meshes_);
-    DeleteAll(textures_);
-  }
-
-  // map names to asset references
-  IndexAssets(/*discard=*/false);
-
-  // compile pairs for convex hull check
-  // TODO(quaglino): Consolidate the two calls to pair->Compile() in TryCompile.
-  for (auto pair : pairs_) pair->Compile();
-
-  // mark meshes that need convex hull
-  for (int i=0; i < geoms_.size(); i++) {
-    bool is_in_pair = false;
-    for (const mjCPair* pair : pairs_) {
-      if ((pair->geom1 && pair->geom1->id == geoms_[i]->id) ||
-          (pair->geom2 && pair->geom2->id == geoms_[i]->id)) {
-        is_in_pair = true;
-        break;
-      }
-    }
-
-    if (geoms_[i]->mesh &&
-        (geoms_[i]->spec.type == mjGEOM_MESH ||
-         geoms_[i]->spec.type == mjGEOM_SDF) &&
-        (geoms_[i]->spec.contype || geoms_[i]->spec.conaffinity || is_in_pair)) {
-      geoms_[i]->mesh->SetNeedHull(true);
-    }
-  }
-
-  // convex inertia is computed from the hull, so it is needed whether or not
-  // any geom references the mesh
-  for (mjCMesh* mesh : meshes_) {
-    if (mesh->spec.inertia == mjMESH_INERTIA_CONVEX) {
-      mesh->SetNeedHull(true);
-    }
-  }
-
-  // automatically set nuser fields
-  SetNuser();
-
-  // compile meshes and textures (needed for geom compilation)
-  {
-    Clock::time_point t0 = Clock::now();
-    CompileMeshesAndTextures(vfs);
-    timer[mjCTIMER_ASSETS] = Seconds(Clock::now() - t0).count();
-  }
-
-  // compile objects in kinematic tree
-  for (int i=0; i < bodies_.size(); i++) {
-    bodies_[i]->Compile();  // also compiles joints, geoms, sites, cameras, lights, frames
-  }
-
-  // fuse static if enabled
-  if (compiler.fusestatic) {
-    FuseStatic();
-    for (int i=0; i < lights_.size(); i++) {
-      lights_[i]->Compile();
-    }
-    for (int i=0; i < cameras_.size(); i++) {
-      cameras_[i]->Compile();
-    }
-  }
-
-  // compile all other objects except for keyframes
-  for (auto flex : flexes_) flex->Compile(vfs);
-  for (auto skin : skins_) skin->Compile(vfs);
-  for (auto hfield : hfields_) hfield->Compile(vfs);
-
-  for (auto material : materials_) material->Compile();
-  for (auto pair : pairs_) pair->Compile();
-  for (auto exclude : excludes_) exclude->Compile();
-  for (auto equality : equalities_) equality->Compile();
-  for (auto tendon : tendons_) tendon->Compile();
-  for (auto actuator : actuators_) actuator->Compile();
-  for (auto sensor : sensors_) sensor->Compile();
-  for (auto numeric : numerics_) numeric->Compile();
-  for (auto text : texts_) text->Compile();
-  for (auto tuple : tuples_) tuple->Compile();
-  for (auto plugin : plugins_) plugin->Compile();
-
-  // compile def: to enforce userdata length for writer
-  for (mjCDef* def : defaults_) {
-    def->Compile(this);
-  }
-
-  // sort pair, exclude in increasing signature order; reassign ids
-  std::stable_sort(pairs_.begin(), pairs_.end(), comparePair);
-  std::stable_sort(excludes_.begin(), excludes_.end(), compareBodyPair);
-  reassignid(pairs_);
-  reassignid(excludes_);
-
-  // resolve asset references, compute sizes
-  IndexAssets(compiler.discardvisual);
-  SetSizes();
-  SaveDofOffsets(/*computesize=*/false); // Populate jnt->dofadr_
-
-  // compute sparse matrix sizes
-  ComputeSparseSizes();
-
-  // set nmocap and body.mocapid
-  for (mjCBody* body : bodies_) {
-    if (body->mocap) {
-      body->mocapid = nmocap;
-      nmocap++;
-    } else {
-      body->mocapid = -1;
-    }
-  }
-
-  // check mass and inertia of moving bodies
-  for (int i=1; i < bodies_.size(); i++) {
-    if (!bodies_[i]->joints.empty() && !CheckBodyMassInertia(bodies_[i])) {
-      throw mjCError(bodies_[i], "mass and inertia of moving bodies must be larger than mjMINVAL");
-    }
-  }
-
-  // create low-level model
-  mj_makeModel(&m,
-               nq, nv, nu, nactuator, nout, na,
-               nbody, nbvh, nbvhstatic, nbvhdynamic, noct, njnt, ntree, nM, nB, nC,
-               nD, ngeom, nsite, ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
-               nflexelemdata, nflexstiffness, nflexbending, nefm0dof, nefm0L,
-               nflexelemedge, nflexshelldata,
-               nflexevpair, nflextexcoord, nJfe, nJfv, nmesh, nmeshvert, nmeshnormal, nmeshtexcoord,
-               nmeshface, nmeshgraph, nmeshpoly, nmeshpolyvert, nmeshpolymap, nskin, nskinvert,
-               nskintexvert, nskinface, nskinbone, nskinbonevert, nhfield, nhfielddata, ntex,
-               ntexdata, nmat, npair, nexclude, neq, ntendon, nJten, nwrap, nsensor, nnumeric,
-               nnumericdata, ntext, ntextdata, ntuple, ntupledata, nkey, nmocap, nplugin,
-               npluginattr, nuser_body, nuser_jnt, nuser_geom, nuser_site, nuser_cam,
-               nuser_tendon, nuser_actuator, nuser_sensor, nnames, npaths);
-  if (!m) {
-    throw mjCError(0, "could not create mjModel");
-  }
-
-  // copy everything into low-level model
-  m->opt = option;
-  m->vis = visual;
-  CopyNames(m);
-  CopyPaths(m);
-  CopyTree(m);
-  CopyPlugins(m);
-
-  // keyframe compilation needs access to nq, nv, na, nmocap, qpos0
-  ResolveKeyframes(m);
-
-  for (int i=0; i < keys_.size(); i++) {
-    keys_[i]->Compile(m);
-  }
-
-  // copy objects outsite kinematic tree (including keyframes)
-  CopyObjects(m);
-
-  // finalize simple bodies/dofs including tendon information
-  FinalizeSimple(m);
-
-  // compute non-zeros in actuator_moment
-  m->nJmom = nJmom = CountNJmom(m);
-
-
-  // scale mass
-  if (compiler.settotalmass > 0) {
-    mj_setTotalmass(m, compiler.settotalmass);
-  }
-
-  // set arena size into m->narena
-  if (memory != -1) {
-    // memory size is user-specified in bytes
-    m->narena = memory;
-  } else {
-    const int nconmax = m->nconmax == -1 ? 100 : m->nconmax;
-    const int njmax = m->njmax == -1 ? 500 : m->njmax;
-    if (nstack != -1) {
-      // (legacy) stack size is user-specified as multiple of sizeof(mjtNum)
-      m->narena = sizeof(mjtNum) * nstack;
-    } else {
-      // use a conservative heuristic if neither memory nor nstack is specified in XML
-      m->narena = sizeof(mjtNum) * static_cast<size_t>(mjMAX(
-          1000,
-          5*(njmax + m->neq + m->nv)*(njmax + m->neq + m->nv) +
-          20*(m->nq + m->nv + m->nu + m->na + m->nbody + m->njnt +
-              m->ngeom + m->nsite + m->neq + m->ntendon +  m->nwrap)));
-    }
-
-    // add an arena space equal to memory footprint prior to the introduction of the arena
-    const std::size_t arena_bytes = (
-      nconmax * sizeof(mjContact) +
-      njmax * (8 * sizeof(int) + 14 * sizeof(mjtNum)) +
-      m->nv * (3 * sizeof(int)) +
-      njmax * m->nv * (2 * sizeof(int) + 2 * sizeof(mjtNum)) +
-      njmax * njmax * (sizeof(int) + sizeof(mjtNum)));
-    m->narena += arena_bytes;
-
-    // round up to the nearest megabyte
-    constexpr std::size_t kMegabyte = 1 << 20;
-    std::size_t nstack_mb = m->narena / kMegabyte;
-    std::size_t residual_mb = m->narena % kMegabyte ? 1 : 0;
-    m->narena = kMegabyte * (nstack_mb + residual_mb);
-  }
-
-  // sparsity structures
-  {
-    std::vector<int> scratch(m->nv);
-    std::vector<int> count(m->nbody);
-    std::vector<int> M(m->nM);
-
-    // make D
-    mj_makeDofDofSparse(m->nv, m->nC, m->nD, m->nM, m->dof_parentid, m->dof_simplenum,
-                        m->D_rownnz, m->D_rowadr, m->D_diag, m->D_colind,
-                        /*reduced=*/0, /*upper=*/1, scratch.data());
-
-    // make B
-    mj_makeBSparse(m->nv, m->nbody, m->nB, m->body_dofnum, m->body_parentid,
-                  m->body_dofadr, m->B_rownnz, m->B_rowadr, m->B_colind, count.data());
-
-    // make M
-    mj_makeDofDofSparse(m->nv, m->nC, m->nD, m->nM, m->dof_parentid, m->dof_simplenum,
-                        m->M_rownnz, m->M_rowadr, NULL, m->M_colind,
-                        /*reduced=*/1, /*upper=*/0, scratch.data());
-
-    // make index mappings: mapM2D, mapD2M, mapM2M
-    mj_makeDofDofMaps(m->nv, m->nM, m->nC, m->nD,
-                      m->dof_Madr, m->dof_simplenum, m->dof_parentid,
-                      m->D_rownnz, m->D_rowadr, m->D_colind,
-                      m->M_rownnz, m->M_rowadr, m->M_colind,
-                      m->mapM2D, m->mapD2M, m->mapM2M, M.data(), scratch.data());
-  }
-
-  // create data
-  int disableflags = m->opt.disableflags;
-  m->opt.disableflags |= mjDSBL_CONTACT;
-  int enableflags = m->opt.enableflags;
-  m->opt.enableflags &= ~mjENBL_SLEEP;
-  mj_makeRawData(&d, m);
-  if (!d) {
-    // m will be deleted by the catch statement in mjCModel::Compile()
-    throw mjCError(0, "could not create mjData");
-  }
-  mj_resetData(m, d);
-
-  // normalize keyframe quaternions
-  for (int i=0; i < m->nkey; i++) {
-    mj_normalizeQuat(m, m->key_qpos+i*m->nq);
-  }
-
-  // set constant fields
-  mj_setConst(m, d);
-
-  // automatic spring-damper adjustment
-  AutoSpringDamper(m);
-
-  // actuator lengthrange computation
-  LengthRange(m, d);
-
-  // save automatically-computed statistics, to disambiguate when saving
-  extent_auto = m->stat.extent;
-  meaninertia_auto = m->stat.meaninertia;
-  meanmass_auto = m->stat.meanmass;
-  meansize_auto = m->stat.meansize;
-  mjuu_copyvec(center_auto, m->stat.center, 3);
-
-  // override model statistics if defined by user
-  if (mjuu_defined(stat.extent)) m->stat.extent = (mjtNum)stat.extent;
-  if (mjuu_defined(stat.meaninertia)) m->stat.meaninertia = (mjtNum)stat.meaninertia;
-  if (mjuu_defined(stat.meanmass)) m->stat.meanmass = (mjtNum)stat.meanmass;
-  if (mjuu_defined(stat.meansize)) m->stat.meansize = (mjtNum)stat.meansize;
-  if (mjuu_defined(stat.center[0])) mjuu_copyvec(m->stat.center, stat.center, 3);
-
-  // assert that model has valid references
-  const char* validationerr = mj_validateReferences(m);
-  if (validationerr) {  // SHOULD NOT OCCUR
-    // m and d will be deleted by the catch statement in mjCModel::Compile()
-    throw mjCError(0, "%s", validationerr);
-  }
-
-  // delete partial mjData (no plugins), make a complete one
-  mj_deleteData(d);
-  d = nullptr;
-
-  // if sleep was enabled, check for trees initialized as sleeping
-  bool asleep_init = false;
-  if (enableflags & mjENBL_SLEEP) {
-    for (int i=0; i < m->ntree; i++) {
-      if (m->tree_sleep_policy[i] == mjSLEEP_INIT) {
-        asleep_init = true;
-        break;
-      }
-    }
-  }
-
-  // if any trees initialized as sleeping, restore flags before mj_makeData
-  if (asleep_init) {
-    m->opt.disableflags = disableflags;
-    m->opt.enableflags = enableflags;
-  }
-
-  d = mj_makeData(m);
-  if (!d) {
-    // m will be deleted by the catch statement in mjCModel::Compile()
-    throw mjCError(0, "could not create mjData");
-  }
-
-  // pass compiler warnings into structured warning vector before validation
-  if (warningtext[0]) {
-    std::string warnings(warningtext);
-    std::istringstream stream(warnings);
-    std::string line;
-    while (std::getline(stream, line)) {
-      if (!line.empty()) {
-        AddWarning(line);
-      }
-    }
-  }
-
-  // test forward simulation unless asleep_init is true (potentially expensive)
-  // reset warningtext: engine warnings from validation are not compiler
-  // warnings
-  warningtext[0] = 0;
-  if (!asleep_init) {
-    mj_step(m, d);
-  }
-
-  // delete data, restore flags
-  mj_deleteData(d);
-  m->opt.disableflags = disableflags;
-  m->opt.enableflags = enableflags;
-  d = nullptr;
-
-
-  // save signature
-  m->signature = Signature();
-
-  timer[mjCTIMER_TOTAL] = Seconds(Clock::now() - timer_start).count();
-
-  // special cases that are not caused by user edits
-  if (compiler.fusestatic || compiler.discardvisual ||
-      !pairs_.empty() || !excludes_.empty()) {
-    spec.element->signature = m->signature;
-  }
-
-  // check that the signature matches the spec
-  if (m->signature != spec.element->signature) {
-    throw mjCError(0, "signature mismatch");  // SHOULD NOT OCCUR
-  }
-}
-
-static void PrintIndent(std::stringstream& ss, int depth) {
-  // A static string of spaces, created only once during the program's lifetime.
-  static const std::string spaces(1024, ' ');
-
-  if (depth > 0) {
-    // Write 'depth * 2' spaces directly to the stringstream
-    // without creating any new std::string objects.
-    ss.write(spaces.c_str(), std::min((size_t)depth * 2, spaces.length()));
-  }
-}
-
-
-
-void mjCModel::PrintTree(std::stringstream& tree, const mjCBody* body, int depth) {
-  if (depth == 1024) {
-    throw mjCError(body, "depth limit exceeded in signature computation");
-  }
-  PrintIndent(tree, depth);
-  tree << "<body>\n";
-  for (const auto& joint : body->joints) {
-    PrintIndent(tree, depth + 1);
-    tree << "<joint>" << std::to_string(joint->nq()) << "</joint>\n";
-  }
-  for (uint64_t i = 0; i < body->geoms.size(); ++i) {
-    PrintIndent(tree, depth + 1);
-    tree << "<geom/>\n";
-  }
-  for (uint64_t i = 0; i < body->sites.size(); ++i) {
-    PrintIndent(tree, depth + 1);
-    tree << "<site/>\n";
-  }
-  for (uint64_t i = 0; i < body->cameras.size(); ++i) {
-    PrintIndent(tree, depth + 1);
-    tree << "<camera/>\n";
-  }
-  for (uint64_t i = 0; i < body->lights.size(); ++i) {
-    PrintIndent(tree, depth + 1);
-    tree << "<light/>\n";
-  }
-  for (uint64_t i = 0; i < body->bodies.size(); ++i) {
-    PrintTree(tree, body->bodies[i], depth + 1);
-  }
-  PrintIndent(tree, depth);
-  tree << "</body>\n";
-}
-
-
-
-uint64_t mjCModel::Signature() {
-  std::stringstream tree;
-  tree << "\n";
-  PrintTree(tree, bodies_[0]);
-  for (unsigned int i = 0; i < flexes_.size(); ++i) {
-    tree << "<flex/>\n";
-  }
-  for (unsigned int i = 0; i < meshes_.size(); ++i) {
-    tree << "<mesh/>\n";
-  }
-  for (unsigned int i = 0; i < skins_.size(); ++i) {
-    tree << "<skin/>\n";
-  }
-  for (unsigned int i = 0; i < hfields_.size(); ++i) {
-    tree << "<heightfield/>\n";
-  }
-  for (unsigned int i = 0; i < textures_.size(); ++i) {
-    tree << "<texture/>\n";
-  }
-  for (unsigned int i = 0; i < materials_.size(); ++i) {
-    tree << "<material/>\n";
-  }
-  for (unsigned int i = 0; i < pairs_.size(); ++i) {
-    tree << "<pair/>\n";
-  }
-  for (unsigned int i = 0; i < excludes_.size(); ++i) {
-    tree << "<exclude/>\n";
-  }
-  for (unsigned int i = 1; i < equalities_.size(); ++i) {
-    tree << "<equality/>\n";
-  }
-  for (unsigned int i = 0; i < tendons_.size(); ++i) {
-    tree << "<tendon/>\n";
-  }
-  for (unsigned int i = 0; i < actuators_.size(); ++i) {
-    tree << "<actuator/>\n";
-  }
-  for (unsigned int i = 0; i < sensors_.size(); ++i) {
-    tree << "<sensor>" << std::to_string(sensors_[i]->spec.type) << "<sensor/>\n";
-  }
-  for (unsigned int i = 0; i < keys_.size(); ++i) {
-    tree << "<key/>\n";
-  }
-  return mj_hashString(tree.str().c_str(), UINT64_MAX);
-}
-
-
-
-bool mjCModel::CheckBodyMassInertia(mjCBody* body) {
-  // check if body has valid mass and inertia
-  if (body->mass >= mjMINVAL &&
-      body->inertia[0] >= mjMINVAL &&
-      body->inertia[1] >= mjMINVAL &&
-      body->inertia[2] >= mjMINVAL) {
-    return true;
-  }
-
-  // body is valid if we find a single static child with valid mass and inertia
-  for (int i=0; i < body->Bodies().size(); i++) {
-    // if we find a child with a joint, time to move on to the next moving body
-    if (!body->Bodies()[i]->joints.empty()) {
-      continue;
-    }
-    if (CheckBodyMassInertia(body->Bodies()[i])) {
-      return true;
-    }
-  }
-
-  // we did not find a child with valid mass and inertia
-  return false;
-}
-
-
-
-//------------------------------- DECOMPILER -------------------------------------------------------
-
-// get numeric data back from mjModel
-bool mjCModel::CopyBack(const mjModel* m) {
-  // check for null pointer
-  if (!m) {
-    errInfo = mjCError(0, "mjModel pointer is null in CopyBack");
-    return false;
-  }
-
-  // make sure model has been compiled
-  if (!compiled) {
-    errInfo = mjCError(0, "mjCModel has not been compiled in CopyBack");
-    return false;
-  }
-
-  // make sure sizes match
-  if (nq != m->nq || nv != m->nv || nu != m->nu || nactuator != m->nactuator ||
-      nout != m->nout || na != m->na ||
-      nbody != m->nbody ||njnt != m->njnt || ngeom != m->ngeom || nsite != m->nsite ||
-      ncam != m->ncam || nlight != m->nlight || nmesh != m->nmesh ||
-      nskin != m->nskin || nhfield != m->nhfield ||
-      nmat != m->nmat || ntex != m->ntex || npair != m->npair || nexclude != m->nexclude ||
-      neq != m->neq || ntendon != m->ntendon || nwrap != m->nwrap || nsensor != m->nsensor ||
-      nnumeric != m->nnumeric || nnumericdata != m->nnumericdata || ntext != m->ntext ||
-      ntextdata != m->ntextdata || nnames != m->nnames ||
-      nM != m->nM || nD != m->nD || nC != m->nC || nB != m->nB || nJmom != m->nJmom ||
-      nemax != m->nemax || nconmax != m->nconmax || njmax != m->njmax ||
-      npaths != m->npaths) {
-    errInfo = mjCError(0, "incompatible models in CopyBack");
-    return false;
-  }
-
-  if (spec.element->signature != m->signature) {
-    errInfo = mjCError(0, "incompatible signatures in CopyBack");
-    return false;
-  }
-
-  // option and visual
-  option = m->opt;
-  visual = m->vis;
-
-  // runtime-modifiable members of mjStatistic, if different from computed values
-  if (m->stat.meaninertia != meaninertia_auto) stat.meaninertia = m->stat.meaninertia;
-  if (m->stat.meanmass != meanmass_auto) stat.meanmass = m->stat.meanmass;
-  if (m->stat.meansize != meansize_auto) stat.meansize = m->stat.meansize;
-  if (m->stat.extent != extent_auto) stat.extent = m->stat.extent;
-  if (m->stat.center[0] != center_auto[0] ||
-      m->stat.center[1] != center_auto[1] ||
-      m->stat.center[2] != center_auto[2]) {
-    mjuu_copyvec(stat.center, m->stat.center, 3);
-  }
-
-  // qpos0, qpos_spring
-  for (int i=0; i < njnt; i++) {
-    switch (joints_[i]->type) {
-      case mjJNT_FREE:
-        mjuu_copyvec(bodies_[m->jnt_bodyid[i]]->pos, m->qpos0+m->jnt_qposadr[i], 3);
-        mjuu_copyvec(bodies_[m->jnt_bodyid[i]]->quat, m->qpos0+m->jnt_qposadr[i]+3, 4);
-        break;
-
-      case mjJNT_SLIDE:
-      case mjJNT_HINGE:
-        joints_[i]->ref = (double)m->qpos0[m->jnt_qposadr[i]];
-        joints_[i]->springref = (double)m->qpos_spring[m->jnt_qposadr[i]];
-        break;
-
-      case mjJNT_BALL:
-        // nothing to do, qpos = unit quaternion always
-        break;
-    }
-  }
-  mjuu_copyvec(qpos0.data(), m->qpos0, m->nq);
-
-  // body
-  mjCBody* pb;
-  for (int i=0; i < nbody; i++) {
-    pb = bodies_[i];
-
-    mjuu_copyvec(pb->pos, m->body_pos+3*i, 3);
-    mjuu_copyvec(pb->quat, m->body_quat+4*i, 4);
-    mjuu_copyvec(pb->ipos, m->body_ipos+3*i, 3);
-    mjuu_copyvec(pb->iquat, m->body_iquat+4*i, 4);
-    pb->mass = (double)m->body_mass[i];
-    mjuu_copyvec(pb->inertia, m->body_inertia+3*i, 3);
-
-    if (nuser_body) {
-      mjuu_copyvec(pb->userdata_.data(), m->body_user + nuser_body*i, nuser_body);
-    }
-  }
-
-  // joint and dof
-  mjCJoint* pj;
-  for (int i=0; i < njnt; i++) {
-    pj = joints_[i];
-
-    // joint data
-    mjuu_copyvec(pj->pos, m->jnt_pos+3*i, 3);
-    mjuu_copyvec(pj->axis, m->jnt_axis+3*i, 3);
-    pj->stiffness[0] = (double)m->jnt_stiffness[i];
-    mjuu_copyvec(pj->stiffness + 1, m->jnt_stiffnesspoly + mjNPOLY * i, mjNPOLY);
-    mjuu_copyvec(pj->range, m->jnt_range+2*i, 2);
-    mjuu_copyvec(pj->solref_limit, m->jnt_solref+mjNREF*i, mjNREF);
-    mjuu_copyvec(pj->solimp_limit, m->jnt_solimp+mjNIMP*i, mjNIMP);
-    pj->margin = (double)m->jnt_margin[i];
-
-    if (nuser_jnt) {
-      mjuu_copyvec(pj->userdata_.data(), m->jnt_user + nuser_jnt*i, nuser_jnt);
-    }
-
-    // dof data
-    int j = m->jnt_dofadr[i];
-    mjuu_copyvec(pj->solref_friction, m->dof_solref+mjNREF*j, mjNREF);
-    mjuu_copyvec(pj->solimp_friction, m->dof_solimp+mjNIMP*j, mjNIMP);
-    pj->armature = (double)m->dof_armature[j];
-    pj->damping[0] = (double)m->dof_damping[j];
-    mjuu_copyvec(pj->damping + 1, m->dof_dampingpoly + mjNPOLY * j, mjNPOLY);
-    pj->frictionloss = (double)m->dof_frictionloss[j];
-  }
-
-  // geom
-  mjCGeom* pg;
-  for (int i=0; i < ngeom; i++) {
-    pg = geoms_[i];
-
-    mjuu_copyvec(pg->size, m->geom_size+3*i, 3);
-    mjuu_copyvec(pg->pos, m->geom_pos+3*i, 3);
-    mjuu_copyvec(pg->quat, m->geom_quat+4*i, 4);
-    mjuu_copyvec(pg->friction, m->geom_friction+3*i, 3);
-    mjuu_copyvec(pg->solref, m->geom_solref+mjNREF*i, mjNREF);
-    mjuu_copyvec(pg->solimp, m->geom_solimp+mjNIMP*i, mjNIMP);
-    mjuu_copyvec(pg->rgba, m->geom_rgba+4*i, 4);
-    pg->solmix = (double)m->geom_solmix[i];
-    pg->margin = (double)m->geom_margin[i];
-    pg->gap = (double)m->geom_gap[i];
-    mjuu_copyvec(pg->surfacevel, m->geom_surfacevel+6*i, 6);
-    pg->adhesion = (double)m->geom_adhesion[i];
-
-    if (nuser_geom) {
-      mjuu_copyvec(pg->userdata_.data(), m->geom_user + nuser_geom*i, nuser_geom);
-    }
-  }
-
-  // mesh
-  mjCMesh* pm;
-  for (int i=0; i < nmesh; i++) {
-    pm = meshes_[i];
-    mjuu_copyvec(pm->GetPosPtr(), m->mesh_pos+3*i, 3);
-    mjuu_copyvec(pm->GetQuatPtr(), m->mesh_quat+4*i, 4);
-  }
-
-  // heightfield
-  mjCHField* phf;
-  for (int i=0; i < nhfield; i++) {
-    phf = hfields_[i];
-    int size = phf->get_userdata().size();
-    if (size) {
-      int nrow = m->hfield_nrow[i];
-      int ncol = m->hfield_ncol[i];
-      float* userdata = phf->get_userdata().data();
-      float* modeldata = m->hfield_data + m->hfield_adr[i];
-      memcpy(userdata, modeldata, nrow*ncol*sizeof(float));
-    }
-  }
-
-  // sites
-  for (int i=0; i < nsite; i++) {
-    mjuu_copyvec(sites_[i]->size, m->site_size + 3 * i, 3);
-    mjuu_copyvec(sites_[i]->pos, m->site_pos+3*i, 3);
-    mjuu_copyvec(sites_[i]->quat, m->site_quat+4*i, 4);
-    mjuu_copyvec(sites_[i]->rgba, m->site_rgba+4*i, 4);
-
-    if (nuser_site) {
-      mjuu_copyvec(sites_[i]->userdata_.data(), m->site_user + nuser_site*i, nuser_site);
-    }
-  }
-
-  // cameras
-  for (int i=0; i < ncam; i++) {
-    mjuu_copyvec(cameras_[i]->pos, m->cam_pos+3*i, 3);
-    mjuu_copyvec(cameras_[i]->quat, m->cam_quat+4*i, 4);
-    cameras_[i]->fovy = (double)m->cam_fovy[i];
-    cameras_[i]->ipd = (double)m->cam_ipd[i];
-    mjuu_copyvec(cameras_[i]->resolution, m->cam_resolution+2*i, 2);
-    mjuu_copyvec(cameras_[i]->intrinsic, m->cam_intrinsic+4*i, 4);
-
-    if (nuser_cam) {
-      mjuu_copyvec(cameras_[i]->userdata_.data(), m->cam_user + nuser_cam*i, nuser_cam);
-    }
-  }
-
-  // lights
-  for (int i=0; i < nlight; i++) {
-    mjuu_copyvec(lights_[i]->pos, m->light_pos+3*i, 3);
-    mjuu_copyvec(lights_[i]->dir, m->light_dir+3*i, 3);
-    mjuu_copyvec(lights_[i]->attenuation, m->light_attenuation+3*i, 3);
-    lights_[i]->cutoff = m->light_cutoff[i];
-    lights_[i]->exponent = m->light_exponent[i];
-    mjuu_copyvec(lights_[i]->ambient, m->light_ambient+3*i, 3);
-    mjuu_copyvec(lights_[i]->diffuse, m->light_diffuse+3*i, 3);
-    mjuu_copyvec(lights_[i]->specular, m->light_specular+3*i, 3);
-  }
-
-  // materials
-  for (int i=0; i < nmat; i++) {
-    mjuu_copyvec(materials_[i]->texrepeat, m->mat_texrepeat+2*i, 2);
-    materials_[i]->emission = m->mat_emission[i];
-    materials_[i]->specular = m->mat_specular[i];
-    materials_[i]->shininess = m->mat_shininess[i];
-    materials_[i]->reflectance = m->mat_reflectance[i];
-    mjuu_copyvec(materials_[i]->rgba, m->mat_rgba+4*i, 4);
-  }
-
-  // pairs
-  for (int i=0; i < npair; i++) {
-    mjuu_copyvec(pairs_[i]->solref, m->pair_solref+mjNREF*i, mjNREF);
-    mjuu_copyvec(pairs_[i]->solreffriction, m->pair_solreffriction+mjNREF*i, mjNREF);
-    mjuu_copyvec(pairs_[i]->solimp, m->pair_solimp+mjNIMP*i, mjNIMP);
-    pairs_[i]->margin = (double)m->pair_margin[i];
-    pairs_[i]->gap = (double)m->pair_gap[i];
-    pairs_[i]->adhesion = (double)m->pair_adhesion[i];
-    mjuu_copyvec(pairs_[i]->friction, m->pair_friction+5*i, 5);
-  }
-
-  // equality constraints
-  for (int i=0; i < neq; i++) {
-    mjuu_copyvec(equalities_[i]->data, m->eq_data+mjNEQDATA*i, mjNEQDATA);
-    mjuu_copyvec(equalities_[i]->solref, m->eq_solref+mjNREF*i, mjNREF);
-    mjuu_copyvec(equalities_[i]->solimp, m->eq_solimp+mjNIMP*i, mjNIMP);
-  }
-
-  // tendons
-  for (int i=0; i < ntendon; i++) {
-    mjuu_copyvec(tendons_[i]->range, m->tendon_range+2*i, 2);
-    mjuu_copyvec(tendons_[i]->actfrcrange, m->tendon_actfrcrange+2*i, 2);
-    mjuu_copyvec(tendons_[i]->solref_limit, m->tendon_solref_lim+mjNREF*i, mjNREF);
-    mjuu_copyvec(tendons_[i]->solimp_limit, m->tendon_solimp_lim+mjNIMP*i, mjNIMP);
-    mjuu_copyvec(tendons_[i]->solref_friction, m->tendon_solref_fri+mjNREF*i, mjNREF);
-    mjuu_copyvec(tendons_[i]->solimp_friction, m->tendon_solimp_fri+mjNIMP*i, mjNIMP);
-    mjuu_copyvec(tendons_[i]->rgba, m->tendon_rgba+4*i, 4);
-    tendons_[i]->width = (double)m->tendon_width[i];
-    tendons_[i]->margin = (double)m->tendon_margin[i];
-    tendons_[i]->stiffness[0] = (double)m->tendon_stiffness[i];
-    mjuu_copyvec(tendons_[i]->stiffness + 1, m->tendon_stiffnesspoly + mjNPOLY * i, mjNPOLY);
-    tendons_[i]->damping[0] = (double)m->tendon_damping[i];
-    mjuu_copyvec(tendons_[i]->damping + 1, m->tendon_dampingpoly + mjNPOLY * i, mjNPOLY);
-    tendons_[i]->armature = (double)m->tendon_armature[i];
-    tendons_[i]->frictionloss = (double)m->tendon_frictionloss[i];
-
-    if (nuser_tendon) {
-      mjuu_copyvec(tendons_[i]->userdata_.data(), m->tendon_user + nuser_tendon*i, nuser_tendon);
-    }
-  }
-
-  // actuators
-  mjCActuator* pa;
-  for (int i=0; i < nactuator; i++) {
-    pa = actuators_[i];
-
-    mjuu_copyvec(pa->dynprm, m->actuator_dynprm+i*mjNDYN, mjNDYN);
-    mjuu_copyvec(pa->gainprm, m->actuator_gainprm+i*mjNGAIN, mjNGAIN);
-    mjuu_copyvec(pa->biasprm, m->actuator_biasprm+i*mjNBIAS, mjNBIAS);
-    mjuu_copyvec(pa->ctrlrange, m->actuator_ctrlrange+2*m->actuator_ctrladr[i], 2);
-    mjuu_copyvec(pa->forcerange, m->actuator_forcerange+2*i, 2);
-    mjuu_copyvec(pa->actrange, m->actuator_actrange+2*i, 2);
-    mjuu_copyvec(pa->lengthrange, m->actuator_lengthrange+2*m->actuator_outadr[i], 2);
-    mjuu_copyvec(pa->gear, m->actuator_gear+6*m->actuator_outadr[i], 6);
-    pa->damping[0] = (double)m->actuator_damping[i];
-    mjuu_copyvec(pa->damping + 1, m->actuator_dampingpoly + mjNPOLY*i, mjNPOLY);
-    pa->armature = (double)m->actuator_armature[i];
-    pa->cranklength = (double)m->actuator_cranklength[i];
-
-    if (nuser_actuator) {
-      mjuu_copyvec(pa->userdata_.data(), m->actuator_user + nuser_actuator*i, nuser_actuator);
-    }
-  }
-
-  // sensors
-  for (int i=0; i < nsensor; i++) {
-    sensors_[i]->cutoff = (double)m->sensor_cutoff[i];
-    sensors_[i]->noise = (double)m->sensor_noise[i];
-
-    if (nuser_sensor) {
-      mjuu_copyvec(sensors_[i]->userdata_.data(), m->sensor_user + nuser_sensor*i, nuser_sensor);
-    }
-  }
-
-  // numeric data
-  for (int i=0; i < nnumeric; i++) {
-    for (int j=0; j < m->numeric_size[i]; j++) {
-      numerics_[i]->data_[j] = (double)m->numeric_data[m->numeric_adr[i]+j];
-    }
-  }
-
-  // tuple data
-  for (int i=0; i < ntuple; i++) {
-    for (int j=0; j < m->tuple_size[i]; j++) {
-      tuples_[i]->objprm_[j] = (double)m->tuple_objprm[m->tuple_adr[i]+j];
-    }
-  }
-
-  // keyframes
-  for (int i=0; i < m->nkey; i++) {
-    mjCKey* pk = keys_[i];
-
-    pk->time = (double)m->key_time[i];
-    mjuu_copyvec(pk->qpos_.data(), m->key_qpos + i*nq, nq);
-    mjuu_copyvec(pk->qvel_.data(), m->key_qvel + i*nv, nv);
-    if (na) {
-      mjuu_copyvec(pk->act_.data(), m->key_act + i*na, na);
-    }
-    if (nmocap) {
-      mjuu_copyvec(pk->mpos_.data(), m->key_mpos + i*3*nmocap, 3*nmocap);
-      mjuu_copyvec(pk->mquat_.data(), m->key_mquat + i*4*nmocap, 4*nmocap);
-    }
-    if (nu) {
-      mjuu_copyvec(pk->ctrl_.data(), m->key_ctrl + i*nu, nu);
-    }
-  }
-
-  return true;
-}
-
-
-
-void mjCModel::ActivatePlugin(const mjpPlugin* plugin, int slot) {
-  bool already_declared = false;
-  for (const auto& [existing_plugin, existing_slot] : active_plugins_) {
-    if (plugin == existing_plugin) {
-      already_declared = true;
-      break;
-    }
-  }
-  if (!already_declared) {
-    active_plugins_.emplace_back(std::make_pair(plugin, slot));
-  }
-}
-
-
-
-void mjCModel::ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
-                             const std::string& plugin_instance_name, mjCPlugin** plugin_instance) {
-  std::string pname = plugin_name;
-
-  // if the plugin name is not specified by the user, infer it from the plugin instance
-  if (plugin_name.empty() && !plugin_instance_name.empty()) {
-    mjCBase* plugin_obj = FindObject(mjOBJ_PLUGIN, plugin_instance_name);
-    if (plugin_obj) {
-      pname = static_cast<mjCPlugin*>(plugin_obj)->plugin_name;
-    } else {
-      throw mjCError(obj, "unrecognized name '%s' for plugin instance",
-                     plugin_instance_name.c_str());
-    }
-  }
-
-  // if plugin_name is specified, check if it is in the list of active plugins
-  // (in XML, active plugins are those declared as <required>)
-  int plugin_slot = -1;
-  if (!pname.empty()) {
-    for (int i = 0; i < active_plugins_.size(); ++i) {
-      if (active_plugins_[i].first->name == pname) {
-        plugin_slot = active_plugins_[i].second;
-        break;
-      }
-    }
-    if (plugin_slot == -1) {
-      throw mjCError(obj, "unrecognized plugin '%s'", pname.c_str());
-    }
-  }
-
-  // implicit plugin instance
-  if (*plugin_instance && (*plugin_instance)->plugin_slot == -1) {
-    (*plugin_instance)->plugin_slot = plugin_slot;
-    (*plugin_instance)->parent = obj;
-  }
-
-  // explicit plugin instance, look up existing mjCPlugin by instance name
-  else if (!*plugin_instance) {
-    *plugin_instance =
-      static_cast<mjCPlugin*>(FindObject(mjOBJ_PLUGIN, plugin_instance_name));
-    if (!*plugin_instance) {
-      throw mjCError(
-              obj, "unrecognized name '%s' for plugin instance", plugin_instance_name.c_str());
-    }
-    (*plugin_instance)->plugin_slot = plugin_slot;
-    if (plugin_slot != -1 && plugin_slot != (*plugin_instance)->plugin_slot) {
-      throw mjCError(
-              obj, "'plugin' attribute does not match that of the instance");
-    }
-  }
-}
diff --git a/src/user/user_model.h b/src/user/user_model.h
deleted file mode 100644
index cd0a686c..00000000
--- a/src/user/user_model.h
+++ /dev/null
@@ -1,527 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_USER_USER_MODEL_H_
-#define MUJOCO_SRC_USER_USER_MODEL_H_
-
-#include <array>
-#include <cstdint>
-#include <functional>
-#include <map>
-#include <sstream>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-#include "user/user_objects.h"
-
-typedef std::map<std::string, int, std::less<> > mjKeyMap;
-typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
-
-typedef struct mjKeyInfo_ {
-  std::string name;
-  double time;
-  bool qpos;
-  bool qvel;
-  bool act;
-  bool ctrl;
-  bool mpos;
-  bool mquat;
-} mjKeyInfo;
-
-class mjCModel_ : public mjsElement {
- public:
-  // attach namespaces
-  std::string prefix;
-  std::string suffix;
-
- protected:
-  bool compiled;     // already compiled flag
-
-  // sizes set from object list lengths
-  mjtSize nbody;     // number of bodies
-  mjtSize njnt;      // number of joints
-  mjtSize ngeom;     // number of geoms
-  mjtSize nsite;     // number of sites
-  mjtSize ncam;      // number of cameras
-  mjtSize nlight;    // number of lights
-  mjtSize nflex;     // number of flexes
-  mjtSize nmesh;     // number of meshes
-  mjtSize nskin;     // number of skins
-  mjtSize nhfield;   // number of height fields
-  mjtSize ntex;      // number of textures
-  mjtSize nmat;      // number of materials
-  mjtSize npair;     // number of geom pairs in pair array
-  mjtSize nexclude;  // number of excluded body pairs
-  mjtSize neq;       // number of equality constraints
-  mjtSize ntendon;   // number of tendons
-  mjtSize nJten;     // number of non-zeros in sparse ten_J matrix
-  mjtSize nsensor;   // number of sensors
-  mjtSize nnumeric;  // number of numeric fields
-  mjtSize ntext;     // number of text fields
-  mjtSize ntuple;    // number of tuple fields
-  mjtSize nmocap;    // number of mocap bodies
-  mjtSize nplugin;   // number of plugin instances
-
-  // sizes computed by Compile
-  mjtSize nq;              // number of generalized coordinates = dim(qpos)
-  mjtSize nv;              // number of degrees of freedom = dim(qvel)
-  mjtSize nu;              // number of scalar controls = dim(ctrl)
-  mjtSize nactuator;       // number of actuators
-  mjtSize nout;            // number of force outputs = dim(actuator_force)
-  mjtSize na;              // number of activation variables
-  mjtSize ntree;           // number of trees
-  mjtSize nbvh;            // number of total boundary volume hierarchies
-  mjtSize nbvhstatic;      // number of static boundary volume hierarchies
-  mjtSize nbvhdynamic;     // number of dynamic boundary volume hierarchies
-  mjtSize noct;            // number of total octree cells
-  mjtSize nflexnode;       // number of nodes in all flexes
-  mjtSize nflexvert;       // number of vertices in all flexes
-  mjtSize nflexedge;       // number of edges in all flexes
-  mjtSize nflexelem;       // number of elements in all flexes
-  mjtSize nflexelemdata;   // number of element vertex ids in all flexes
-  mjtSize nflexstiffness;  // number of stiffness parameters in all flexes
-  mjtSize nflexbending;    // number of bending parameters in all flexes
-  mjtSize nefm0dof;        // number of dofs covered by the bending factor
-  mjtSize nefm0L;          // number of non-zeros in the bending factor
-  mjtSize nflexelemedge;   // number of element edges in all flexes
-  mjtSize nflexshelldata;  // number of shell fragment vertex ids in all flexes
-  mjtSize nflexevpair;     // number of element-vertex pairs in all flexes
-  mjtSize nflextexcoord;   // number of vertex texture coordinates in all flexes
-  mjtSize nJfe;            // number of non-zeros in sparse flex edge constraint Jacobian
-  mjtSize nJfv;            // number of non-zeros in sparse flex vertex constraint Jacobian
-  mjtSize nmeshvert;       // number of vertices in all meshes
-  mjtSize nmeshnormal;     // number of normals in all meshes
-  mjtSize nmeshtexcoord;   // number of texture coordinates in all meshes
-  mjtSize nmeshface;       // number of triangular faces in all meshes
-  mjtSize nmeshpoly;       // number of polygon faces in all meshes
-  mjtSize nmeshgraph;      // number of ints in mesh auxiliary data
-  mjtSize nmeshpolyvert;   // number of vertices in all polygon faces
-  mjtSize nmeshpolymap;    // number of polygons in vertex map
-  mjtSize nskinvert;       // number of vertices in all skins
-  mjtSize nskintexvert;    // number of vertices with texcoord in all skins
-  mjtSize nskinface;       // number of faces in all skins
-  mjtSize nskinbone;       // number of bones in all skins
-  mjtSize nskinbonevert;   // number of vertices in all skins
-  mjtSize nhfielddata;     // number of data points in all hfields
-  mjtSize ntexdata;        // number of texture bytes
-  mjtSize nwrap;           // number of wrap objects in all tendon paths
-  mjtSize nsensordata;     // number of mjtNums in sensor data vector
-  mjtSize nhistory;        // number of mjtNums in history buffer
-  mjtSize nnumericdata;    // number of mjtNums in all custom fields
-  mjtSize ntextdata;       // number of chars in all text fields, including 0
-  mjtSize ntupledata;      // number of objects in all tuple fields
-  mjtSize npluginattr;     // number of chars in all plugin config attributes
-  mjtSize nnames;          // number of chars in all names
-  mjtSize npaths;          // number of chars in all paths
-  mjtSize nM;              // number of non-zeros in sparse inertia matrix
-  mjtSize nB;              // number of non-zeros in sparse body-dof matrix
-  mjtSize nC;              // number of non-zeros in reduced sparse dof-dof matrix
-  mjtSize nD;              // number of non-zeros in sparse dof-dof matrix
-  mjtSize nJmom;           // number of non-zeros in sparse actuator_moment matrix
-
-  // statistics, as computed by mj_setConst
-  double meaninertia_auto;  // mean diagonal inertia, as computed by mj_setConst
-  double meanmass_auto;     // mean body mass, as computed by mj_setConst
-  double meansize_auto;     // mean body size, as computed by mj_setConst
-  double extent_auto;       // spatial extent, as computed by mj_setConst
-  double center_auto[3];    // center of model, as computed by mj_setConst
-
-  // save qpos0, to recognize changed key_qpos in write
-  std::vector<mjtNum> qpos0;
-  std::vector<mjtNum> body_pos0;
-  std::vector<mjtNum> body_quat0;
-
-  // variable-size attributes
-  std::string comment_;           // comment at top of XML
-  std::string modelfiledir_;      // path to model file
-  std::string modelname_;
-  std::string meshdir_;
-  std::string texturedir_;
-  std::string spec_comment_;
-  std::string spec_modelfiledir_;
-  std::string spec_modelname_;
-};
-
-// mjCModel contains everything needed to generate the low-level model.
-// It can be constructed manually by calling 'Add' functions and setting
-// the public fields of the various objects.  Alternatively it can constructed
-// by loading an XML file via mjCXML.  Once an mjCModel object is
-// constructed, 'Compile' can be called to generate the corresponding mjModel object
-// (which is the low-level model).  The mjCModel object can then be deleted.
-class mjCModel : public mjCModel_, private mjSpec {
-  friend class mjCBase;
-  friend class mjCBody;
-  friend class mjCCamera;
-  friend class mjCGeom;
-  friend class mjCFlex;
-  friend class mjCHField;
-  friend class mjCFrame;
-  friend class mjCJoint;
-  friend class mjCEquality;
-  friend class mjCMesh;
-  friend class mjCSkin;
-  friend class mjCSite;
-  friend class mjCTendon;
-  friend class mjCTexture;
-  friend class mjCActuator;
-  friend class mjCSensor;
-  friend class mjCDef;
-  friend class mjXReader;
-  friend class mjXWriter;
-
- public:
-  mjCModel();
-  mjCModel(const mjCModel& other);
-  ~mjCModel();
-  void CopyFromSpec();  // copy spec to private attributes
-  void PointToLocal();
-
-  mjCModel& operator=(const mjCModel& other);     // copy other into this, if they are not the same
-  mjCModel& operator+=(const mjCModel& other);    // add other into this, even if they are the same
-  mjCModel& operator-=(const mjCBody& subtree);   // remove subtree and all references from model
-  mjCModel& operator+=(mjCDef& subtree);          // add default tree to this model
-  mjCModel& operator-=(const mjCDef& subtree);    // remove default tree from this model
-
-  mjSpec spec;
-  double timer[mjNCTIMER] = {0};                  // compiler timers
-
-  mjModel* Compile(const mjVFS* vfs = nullptr, mjModel** m = nullptr);  // construct mjModel
-  bool CopyBack(const mjModel*);                 // DECOMPILER: copy numeric back
-  void FuseStatic();                             // fuse static bodies with parent
-  void FuseReindex(mjCBody* body);               // reindex elements during fuse
-
-  // API for adding model elements
-  mjCFlex* AddFlex();
-  mjCMesh* AddMesh(mjCDef* def = nullptr);
-  mjCSkin* AddSkin();
-  mjCHField* AddHField();
-  mjCTexture* AddTexture();
-  mjCMaterial* AddMaterial(mjCDef* def = nullptr);
-  mjCPair* AddPair(mjCDef* def = nullptr);          // geom pair for inclusion
-  mjCBodyPair* AddExclude();                        // body pair for exclusion
-  mjCEquality* AddEquality(mjCDef* def = nullptr);  // equality constraint
-  mjCTendon* AddTendon(mjCDef* def = nullptr);
-  mjCActuator* AddActuator(mjCDef* def = nullptr);
-  mjCSensor* AddSensor();
-  mjCNumeric* AddNumeric();
-  mjCText* AddText();
-  mjCTuple* AddTuple();
-  mjCKey* AddKey();
-  mjCPlugin* AddPlugin();
-
-  // append spec to this model, optionally map compiler options to the appended spec
-  void AppendSpec(mjSpec* spec, const mjsCompiler* compiler = nullptr);
-
-  // delete elements marked as discard=true
-  template <class T> void Delete(std::vector<T*>& elements,
-                                 const std::vector<bool>& discard);
-
-  // delete all elements
-  template <class T> void DeleteAll(std::vector<T*>& elements);
-
-  // delete object from the corresponding list
-  void operator-=(mjsElement* el);
-
-  // delete default and all descendants
-  void RemoveDefault(mjCDef* def);
-
-  // API for access to model elements (outside tree)
-  int NumObjects(mjtObj type);              // number of objects in specified list
-  mjCBase* GetObject(mjtObj type, int id);  // pointer to specified object
-  mjsElement* NextObject(const mjsElement* object, mjtObj type = mjOBJ_UNKNOWN) const;  // next object of specified type
-
-  // API for access to other variables
-  bool IsCompiled() const;                                          // is model already compiled
-  const mjCError& GetError() const;                                 // get reference of error object
-  void SetError(const mjCError& error) { errInfo = error; }         // set value of error object
-  void AddWarning(std::string msg,  // add warning to vector
-                  const mjCBase* obj = nullptr);
-  void AddGroupedWarning(const std::string& subject,  // add grouped warning
-                         const std::string& body);
-  const std::vector<std::string>& GetWarnings()
-      const {  // get accumulated warnings
-    return warnings_;
-  }
-  void ClearWarnings() {
-    warnings_.clear();
-    num_attach_warnings_ = 0;
-  }  // clear all warnings
-  void ClearCompileWarnings() {
-    warnings_.resize(num_attach_warnings_);
-  }                                  // clear compile warnings
-  void SetAttachWarningBoundary() {  // snapshot attach warning count
-    num_attach_warnings_ = warnings_.size();
-  }
-
-  mjCBody* GetWorld();                                              // pointer to world body
-  mjCDef* FindDefault(const std::string& name) const;               // find defaults class name
-  mjCDef* AddDefault(std::string name, mjCDef* parent = nullptr);   // add defaults class to array
-  mjCBase* FindObject(mjtObj type, std::string name) const;         // find object given type and name
-  mjCBase* FindTree(mjCBody* body, mjtObj type, std::string name);  // find tree object given name
-  mjSpec* FindSpec(std::string name) const;                         // find spec given name
-  mjSpec* FindSpec(const mjsCompiler* compiler_) const;             // find spec given mjsCompiler
-  void ActivatePlugin(const mjpPlugin* plugin, int slot);           // activate plugin
-
-  // find asset given name checking both name and filename
-  template <class T>
-  mjCBase* FindAsset(std::string_view name, const std::vector<T*>& list) const;
-
-  // accessors
-  std::string get_meshdir() const { return meshdir_; }
-  std::string get_texturedir() const { return texturedir_; }
-
-  mjCDef* Default() const { return defaults_[0]; }
-  int NumDefaults() const { return defaults_.size(); }
-
-  const std::vector<std::pair<const mjpPlugin*, int>>& ActivePlugins() const {
-    return active_plugins_;
-  };
-
-  const std::vector<mjCFlex*>& Flexes() const { return flexes_; }
-  const std::vector<mjCMesh*>& Meshes() const {return meshes_; }
-  const std::vector<mjCSkin*>& Skins() const { return skins_; }
-  const std::vector<mjCHField*>& HFields() const { return hfields_; }
-  const std::vector<mjCTexture*>& Textures() const { return textures_; }
-  const std::vector<mjCMaterial*>& Materials() const { return materials_; }
-  const std::vector<mjCPair*>& Pairs() const { return pairs_; }
-  const std::vector<mjCBodyPair*>& Excludes() const { return excludes_; }
-  const std::vector<mjCEquality*>& Equalities() const { return equalities_; }
-  const std::vector<mjCTendon*>& Tendons() const { return tendons_; }
-  const std::vector<mjCActuator*>& Actuators() const { return actuators_; }
-  const std::vector<mjCSensor*>& Sensors() const { return sensors_; }
-  const std::vector<mjCNumeric*>& Numerics() const { return numerics_; }
-  const std::vector<mjCText*>& Texts() const { return texts_; }
-  const std::vector<mjCTuple*>& Tuples() const { return tuples_; }
-  const std::vector<mjCKey*>& Keys() const { return keys_; }
-  const std::vector<mjCPlugin*>& Plugins() const { return plugins_; }
-  const std::vector<mjCBody*>& Bodies() const { return bodies_; }
-  const std::vector<mjCGeom*>& Geoms() const { return geoms_; }
-
-  // resolve plugin instance, create a new one if needed
-  void ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
-                     const std::string& plugin_instance_name,
-                     mjCPlugin** plugin_instance);
-
-  // clear objects allocated by Compile
-  void Clear();
-
-  // delete material from object
-  template <class T> void DeleteMaterial(std::vector<T*>& list,
-                                         std::string_view name = "");
-
-  // save the current state
-  template <class T>
-  void SaveState(const std::string& state_name, const T* qpos, const T* qvel, const T* act,
-                 const T* ctrl, const T* mpos, const T* mquat);
-
-  // restore the previously saved state
-  template <class T>
-  void RestoreState(const std::string& state_name, const mjtNum* pos0, const mjtNum* mpos0,
-                    const mjtNum* mquat0, T* qpos, T* qvel, T* act, T* ctrl, T* mpos, T* mquat);
-
-  // clear existing data
-  void MakeData(const mjModel* m, mjData** dest);
-
-  // resolve keyframe references
-  void StoreKeyframes(mjCModel* dest);
-
-  // map from default class name to default class pointer
-  std::unordered_map<std::string, mjCDef*> def_map;
-
-  // set deepcopy flag
-  void SetDeepCopy(bool deepcopy) { deepcopy_ = deepcopy; }
-
-  // set attached flag
-  void SetAttached(bool deepcopy) { attached_ |= !deepcopy; }
-
-  // check if model is attached
-  bool IsAttached() const { return attached_; }
-
-  // check for repeated names in list
-  void CheckRepeat(mjtObj type);
-
-  // increment and decrement reference count
-  void AddRef() { ++refcount; }
-  int GetRef() const { return refcount; }
-  void Release() {
-    if (--refcount == 0) {
-      delete this;
-    }
-  }
-
- private:
-  int refcount = 1;
-
-  // settings for each defaults class
-  std::vector<mjCDef*> defaults_;
-
-  // list of active plugins
-  std::vector<std::pair<const mjpPlugin*, int>> active_plugins_;
-
-  // make lists of bodies and children
-  void MakeTreeLists(mjCBody* body = nullptr);
-
-  // compile phases
-  void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
-  void CompileMeshesAndTextures(const mjVFS* vfs);
-
-  void SetNuser();                      // set nuser fields
-  void IndexAssets(bool discard);       // convert asset names into indices
-  void CheckEmptyNames();               // check empty names
-  void SetSizes();                      // compute sizes
-  void ComputeSparseSizes();            // compute nM, nD, nB, nC
-  void AutoSpringDamper(mjModel*);      // automatic stiffness and damping computation
-  void LengthRange(mjModel*, mjData*);  // compute actuator lengthrange
-  void CopyNames(mjModel*);             // copy names, compute name addresses
-  void CopyPaths(mjModel*);             // copy paths, compute path addresses
-  void CopyObjects(mjModel*);           // copy objects outside kinematic tree
-  void CopyTree(mjModel*);              // copy objects inside kinematic tree
-  void FinalizeSimple(mjModel* m);      // finalize simple bodies/dofs including tendon information
-  void CopyPlugins(mjModel*);           // copy plugin data
-  int CountTendonDofs(const mjModel* m, // compute number of dofs for a given tendon
-                      int id);
-  int CountNJmom(const mjModel* m);     // compute number of non-zeros in actuator_moment matrix
-  int CountNJten(const mjModel* m);     // compute number of non-zeros in ten_J matrix
-
-  // remove plugins that are not referenced by any object
-  void RemovePlugins();
-
-  // objects created here
-  std::vector<mjCFlex*>     flexes_;      // list of flexes
-  std::vector<mjCMesh*>     meshes_;      // list of meshes
-  std::vector<mjCSkin*>     skins_;       // list of skins
-  std::vector<mjCHField*>   hfields_;     // list of height fields
-  std::vector<mjCTexture*>  textures_;    // list of textures
-  std::vector<mjCMaterial*> materials_;   // list of materials
-  std::vector<mjCPair*>     pairs_;       // list of geom pairs to include
-  std::vector<mjCBodyPair*> excludes_;    // list of body pairs to exclude
-  std::vector<mjCEquality*> equalities_;  // list of equality constraints
-  std::vector<mjCTendon*>   tendons_;     // list of tendons
-  std::vector<mjCActuator*> actuators_;   // list of actuators
-  std::vector<mjCSensor*>   sensors_;     // list of sensors
-  std::vector<mjCNumeric*>  numerics_;    // list of numeric fields
-  std::vector<mjCText*>     texts_;       // list of text fields
-  std::vector<mjCTuple*>    tuples_;      // list of tuple fields
-  std::vector<mjCKey*>      keys_;        // list of keyframe fields
-  std::vector<mjCPlugin*>   plugins_;     // list of plugin instances
-  std::vector<mjSpec*>      specs_;       // list of attached specs
-
-  // pointers to objects created inside kinematic tree
-  std::vector<mjCBody*>   bodies_;   // list of bodies
-  std::vector<mjCJoint*>  joints_;   // list of joints allowing motion relative to parent
-  std::vector<mjCGeom*>   geoms_;    // list of geoms attached to this body
-  std::vector<mjCSite*>   sites_;    // list of sites attached to this body
-  std::vector<mjCCamera*> cameras_;  // list of cameras
-  std::vector<mjCLight*>  lights_;   // list of lights
-  std::vector<mjCFrame*>  frames_;   // list of frames
-
-  // array of pointers to each object list (enumerated by type)
-  std::array<std::vector<mjCBase*>*, mjNOBJECT> object_lists_;
-
-  // add object of any type
-  template <class T> T* AddObject(std::vector<T*>& list, std::string type);
-
-  // add object of any type, with defaults parameter
-  template <class T> T* AddObjectDefault(std::vector<T*>& list, std::string type,
-                                         mjCDef* def);
-
-  // copy vector of elements to this model
-  template <class T> void CopyList(std::vector<T*>& dest,
-                                   const std::vector<T*>& sources);
-
-  // copy plugins that are explicitly instantiated by the argument object to this model
-  template <class T> void CopyExplicitPlugin(T* obj);
-
-  // copy vector of plugins to this model
-  template <class T> void CopyPlugin(const std::vector<mjCPlugin*>& sources,
-                                     const std::vector<T*>& list);
-
-  // delete from list the elements that cause an error
-  template <class T> void RemoveFromList(std::vector<T*>& list, const mjCModel& other);
-
-  // create mjCBase lists from children lists
-  void CreateObjectLists();
-
-  // populate objects ids
-  void ProcessLists(bool checkrepeat = true);
-
-  // process list of objects
-  template <class T> void ProcessList_(mjListKeyMap& ids, std::vector<T*>& list,
-                                       mjtObj type, bool checkrepeat = true);
-
-  // reset lists of kinematic tree
-  void ResetTreeLists();
-
-  // save dof offsets in joints and actuators
-  void SaveDofOffsets(bool computesize = false);
-
-  // convert pending keyframes info to actual keyframes
-  void ResolveKeyframes(const mjModel* m);
-
-  // expand a keyframe, filling in missing values
-  void ExpandKeyframe(mjCKey* key, const mjtNum* qpos0_, const mjtNum* bpos, const mjtNum* bquat);
-
-  // compute qpos0
-  void ComputeReference();
-
-  // return true if body has valid mass and inertia
-  bool CheckBodyMassInertia(mjCBody* body);
-
-  // Mark plugin instances mentioned in the list
-  template <class T>
-  void MarkPluginInstance(std::unordered_map<std::string, bool>& instances,
-                          const std::vector<T*>& list);
-
-  // print the tree of a body
-  void PrintTree(std::stringstream& tree, const mjCBody* body, int depth = 0);
-
-  // generate a signature for the model
-  uint64_t Signature();
-
-  // reassign children of a body to a new parent
-  template <class T>
-  void ReassignChild(std::vector<T*>& dest, std::vector<T*>& list, mjCBody* parent, mjCBody* body);
-
-  // resolve references in a list of objects
-  template <class T>
-  void ResolveReferences(std::vector<T*>& list, mjCBody* body = nullptr);
-
-  // delete all plugins created by the subtree
-  void DeleteSubtreePlugin(mjCBody* subtree);
-
-  // expand all keyframes in the model
-  void ExpandAllKeyframes();
-
-  mjListKeyMap ids;  // map from object names to ids
-  mjCError errInfo;  // last error info
-  std::vector<std::string>
-      warnings_;  // chronological list of non-fatal warnings
-  int num_attach_warnings_ =
-      0;  // boundary: [0, n) are attach, [n, size) are compile
-  bool compiling_ = false;              // true during Compile()
-  std::vector<mjKeyInfo> key_pending_;  // attached keyframes
-  bool deepcopy_;                       // copy objects when attaching
-  bool attached_ = false;  // true if model is attached to a parent model
-  std::unordered_map<const mjsCompiler*, mjSpec*> compiler2spec_;  // map from compiler to spec
-  std::vector<mjCBase*> detached_;  // list of detached objects
-};
-#endif  // MUJOCO_SRC_USER_USER_MODEL_H_
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
deleted file mode 100644
index 37012236..00000000
--- a/src/user/user_objects.cc
+++ /dev/null
@@ -1,8722 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_objects.h"
-
-#include <algorithm>
-#include <array>
-#include <cmath>
-#include <cstddef>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <deque>
-#include <functional>
-#include <limits>
-#include <map>
-#include <memory>
-#include <new>
-#include <optional>
-#include <random>
-#include <set>
-#include <sstream>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include "lodepng.h"  // NOLINT
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "cc/array_safety.h"
-#include "engine/engine_passive.h"
-#include "user/user_api.h"
-#include "user/user_cache.h"
-#include "user/user_model.h"
-#include "user/user_resource.h"
-#include "user/user_util.h"
-
-namespace {
-namespace mju = ::mujoco::util;
-using mujoco::user::FilePath;
-
-class PNGImage {
- public:
-  static PNGImage Load(const mjCBase* obj, mjResource* resource,
-                       LodePNGColorType color_type);
-  int Width() const { return width_; }
-  int Height() const { return height_; }
-  bool IsSRGB() const { return is_srgb_; }
-
-  std::byte operator[] (int i) const { return data_[i]; }
-
-  mjByteVec&& MoveData() && { return std::move(data_); }
-
- private:
-  std::size_t Size() const {
-    return data_.size() + (3 * sizeof(int));
-  }
-
-  int width_;
-  int height_;
-  bool is_srgb_;
-  LodePNGColorType color_type_;
-  mjByteVec data_;
-};
-
-PNGImage PNGImage::Load(const mjCBase* obj, mjResource* resource,
-                        LodePNGColorType color_type) {
-  PNGImage image;
-  image.color_type_ = color_type;
-
-  // open PNG resource
-  const unsigned char* buffer;
-  int nbuffer = mju_readResource(resource, (const void**) &buffer);
-
-  if (nbuffer < 0) {
-    throw mjCError(obj, "could not read PNG file '%s'", resource->name);
-  }
-
-  if (!nbuffer) {
-    throw mjCError(obj, "empty PNG file '%s'", resource->name);
-  }
-
-  // decode PNG from buffer
-  unsigned int w, h;
-
-  lodepng::State state;
-  state.info_raw.colortype = image.color_type_;
-  state.info_raw.bitdepth = 8;
-  unsigned char* data_ptr = nullptr;
-  unsigned err = lodepng_decode(&data_ptr, &w, &h, &state, buffer, nbuffer);
-  struct free_delete {
-    void operator()(unsigned char* ptr) const { std::free(ptr); }
-  };
-  std::unique_ptr<unsigned char, free_delete> data{data_ptr};
-
-  // check for errors
-  if (err) {
-    std::stringstream ss;
-    ss << "error decoding PNG file '" << resource->name << "': " << lodepng_error_text(err);
-    throw mjCError(obj, "%s", ss.str().c_str());
-  }
-
-  if (data) {
-    size_t buffersize = lodepng_get_raw_size(w, h, &state.info_raw);
-    image.data_.insert(image.data_.end(),
-                       reinterpret_cast<std::byte*>(data.get()),
-                       reinterpret_cast<std::byte*>(&data.get()[buffersize]));
-  }
-
-  image.width_ = w;
-  image.height_ = h;
-  image.is_srgb_ = (state.info_png.srgb_defined == 1);
-
-  if (image.width_ <= 0 || image.height_ < 0) {
-    std::stringstream ss;
-    ss << "error decoding PNG file '" << resource->name << "': " << "dimensions are invalid";
-    throw mjCError(obj, "%s", ss.str().c_str());
-  }
-
-  return image;
-}
-
-// associate all child list elements with a frame and copy them to parent list, clear child list
-template <typename T>
-void MapFrame(std::vector<T*>& parent, std::vector<T*>& child,
-              mjCFrame* frame, mjCBody* parent_body) {
-  std::for_each(child.begin(), child.end(), [frame, parent_body](T* element) {
-      element->SetFrame(frame);
-      element->SetParent(parent_body);
-    });
-  parent.insert(parent.end(), child.begin(), child.end());
-  child.clear();
-}
-
-}  // namespace
-
-
-// utiility function for checking size parameters
-static void checksize(double* size, mjtGeom type, mjCBase* object, const char* name, int id) {
-  // plane: handle infinite
-  if (type == mjGEOM_PLANE) {
-    if (size[2] <= 0) {
-      throw mjCError(object, "plane size(3) must be positive");
-    }
-  }
-
-  // regular geom
-  else {
-    for (int i=0; i < mjGEOMINFO[type]; i++) {
-      if (size[i] <= 0) {
-        throw mjCError(object, "size %d must be positive in geom", nullptr, i);
-      }
-    }
-  }
-}
-
-// error message for missing "limited" attribute
-static void checklimited(
-  const mjCBase* obj,
-  bool autolimits, const char* entity, const char* attr, int limited, bool hasrange) {
-  if (!autolimits && limited == 2 && hasrange) {
-    std::stringstream ss;
-    ss << entity << " has `" << attr << "range` but not `" << attr << "limited`. "
-       << "set the autolimits=\"true\" compiler option, specify `" << attr << "limited` "
-       << "explicitly (\"true\" or \"false\"), or remove the `" << attr << "range` attribute.";
-    throw mjCError(obj, "%s", ss.str().c_str());
-  }
-}
-
-// returns true if limits should be active
-static bool islimited(int limited, const double range[2]) {
-  if (limited == mjLIMITED_TRUE || (limited == mjLIMITED_AUTO && range[0] < range[1])) {
-    return true;
-  }
-  return false;
-}
-
-//------------------------- class mjCError implementation ------------------------------------------
-
-// constructor
-mjCError::mjCError(const mjCBase* obj, const char* msg, const char* str, int pos1, int pos2) {
-  char temp[600];
-
-  // init
-  if (obj || msg) {
-    mju::sprintf_arr(message, "Error");
-  } else {
-    message[0] = 0;
-  }
-
-  // construct error message
-  if (msg) {
-    if (str) {
-      mju::sprintf_arr(temp, msg, str, pos1, pos2);
-    } else {
-      mju::sprintf_arr(temp, msg, pos1, pos2);
-    }
-
-    mju::strcat_arr(message, ": ");
-    mju::strcat_arr(message, temp);
-  }
-
-  // append info from mjCBase element
-  if (obj) {
-    // with or without xml position
-    if (!obj->info.empty()) {
-      mju::sprintf_arr(temp, "Element name '%s', id %d, %s",
-                       obj->name.c_str(), obj->id, obj->info.c_str());
-    } else {
-      mju::sprintf_arr(temp, "Element name '%s', id %d", obj->name.c_str(), obj->id);
-    }
-
-    // append to message
-    mju::strcat_arr(message, "\n");
-    mju::strcat_arr(message, temp);
-  }
-}
-
-
-
-//------------------ alternative orientation implementation ----------------------------------------
-
-// compute frame orientation given alternative specifications
-// used for geom, site, body and camera frames
-const char* ResolveOrientation(double* quat, bool degree, const char* sequence,
-                               const mjsOrientation& orient) {
-  double axisangle[4];
-  double xyaxes[6];
-  double zaxis[3];
-  double euler[3];
-
-  mjuu_copyvec(axisangle, orient.axisangle, 4);
-  mjuu_copyvec(xyaxes, orient.xyaxes, 6);
-  mjuu_copyvec(zaxis, orient.zaxis, 3);
-  mjuu_copyvec(euler, orient.euler, 3);
-
-  // set quat using axisangle
-  if (orient.type == mjORIENTATION_AXISANGLE) {
-    // convert to radians if necessary, normalize axis
-    if (degree) {
-      axisangle[3] = axisangle[3] / 180.0 * mjPI;
-    }
-    if (mjuu_normvec(axisangle, 3) < mjEPS) {
-      return "axisangle too small";
-    }
-
-    // construct quaternion
-    double ang2 = axisangle[3]/2;
-    quat[0] = cos(ang2);
-    quat[1] = sin(ang2)*axisangle[0];
-    quat[2] = sin(ang2)*axisangle[1];
-    quat[3] = sin(ang2)*axisangle[2];
-  }
-
-  // set quat using xyaxes
-  if (orient.type == mjORIENTATION_XYAXES) {
-    // normalize x axis
-    if (mjuu_normvec(xyaxes, 3) < mjEPS) {
-      return "xaxis too small";
-    }
-
-    // make y axis orthogonal to x axis, normalize
-    double d = mjuu_dot3(xyaxes, xyaxes+3);
-    xyaxes[3] -= xyaxes[0]*d;
-    xyaxes[4] -= xyaxes[1]*d;
-    xyaxes[5] -= xyaxes[2]*d;
-    if (mjuu_normvec(xyaxes+3, 3) < mjEPS) {
-      return "yaxis too small";
-    }
-
-    // compute and normalize z axis
-    double z[3];
-    mjuu_crossvec(z, xyaxes, xyaxes+3);
-    if (mjuu_normvec(z, 3) < mjEPS) {
-      return "cross(xaxis, yaxis) too small";
-    }
-
-    // convert frame into quaternion
-    mjuu_frame2quat(quat, xyaxes, xyaxes+3, z);
-  }
-
-  // set quat using zaxis
-  if (orient.type == mjORIENTATION_ZAXIS) {
-    if (mjuu_normvec(zaxis, 3) < mjEPS) {
-      return "zaxis too small";
-    }
-    mjuu_z2quat(quat, zaxis);
-  }
-
-
-  // handle euler
-  if (orient.type == mjORIENTATION_EULER) {
-    // convert to radians if necessary
-    if (degree) {
-      for (int i=0; i < 3; i++) {
-        euler[i] = euler[i] / 180.0 * mjPI;
-      }
-    }
-
-    // init
-    mjuu_setvec(quat, 1, 0, 0, 0);
-
-    // loop over euler angles, accumulate rotations
-    for (int i=0; i < 3; i++) {
-      double tmp[4], qrot[4] = {cos(euler[i]/2), 0, 0, 0};
-      double sa = sin(euler[i]/2);
-
-      // construct quaternion rotation
-      if (sequence[i] == 'x' || sequence[i] == 'X') {
-        qrot[1] = sa;
-      } else if (sequence[i] == 'y' || sequence[i] == 'Y') {
-        qrot[2] = sa;
-      } else if (sequence[i] == 'z' || sequence[i] == 'Z') {
-        qrot[3] = sa;
-      } else {
-        return "euler sequence can only contain x, y, z, X, Y, Z";
-      }
-
-      // accumulate rotation
-      if (sequence[i] == 'x' || sequence[i] == 'y' || sequence[i] == 'z') {
-        mjuu_mulquat(tmp, quat, qrot);  // moving axes: post-multiply
-      } else {
-        mjuu_mulquat(tmp, qrot, quat);  // fixed axes: pre-multiply
-      }
-      mjuu_copyvec(quat, tmp, 4);
-    }
-
-    // normalize, just in case
-    mjuu_normvec(quat, 4);
-  }
-
-  return 0;
-}
-
-
-
-//------------------------- class mjCBoundingVolumeHierarchy implementation ------------------------
-
-
-// assign position and orientation
-void mjCBoundingVolumeHierarchy::Set(double ipos_element[3], double iquat_element[4]) {
-  mjuu_copyvec(ipos_, ipos_element, 3);
-  mjuu_copyvec(iquat_, iquat_element, 4);
-}
-
-
-
-void mjCBoundingVolumeHierarchy::AllocateBoundingVolumes(int nleaf) {
-  nbvh_ = 0;
-  bvh_.clear();
-  child_.clear();
-  nodeid_.clear();
-  level_.clear();
-  bvleaf_.clear();
-  bvleaf_.reserve(nleaf);
-}
-
-
-void mjCBoundingVolumeHierarchy::RemoveInactiveVolumes(int nmax) {
-  bvleaf_.erase(bvleaf_.begin() + nmax, bvleaf_.end());
-}
-
-
-const mjCBoundingVolume*
-mjCBoundingVolumeHierarchy::AddBoundingVolume(int id, int contype, int conaffinity,
-                                              const double* pos, const double* quat,
-                                              const double* aabb) {
-  bvleaf_.emplace_back(id, contype, conaffinity, pos, quat, aabb);
-  return &bvleaf_.back();
-}
-
-
-const mjCBoundingVolume*
-mjCBoundingVolumeHierarchy::AddBoundingVolume(const int* id, int contype, int conaffinity,
-                                              const double* pos, const double* quat,
-                                              const double* aabb) {
-  bvleaf_.emplace_back(id, contype, conaffinity, pos, quat, aabb);
-  return &bvleaf_.back();
-}
-
-
-// create bounding volume hierarchy
-void mjCBoundingVolumeHierarchy::CreateBVH(mjCModel* model,
-                                           const mjCBase* owner) {
-  std::vector<BVElement> elements;
-  Make(elements);
-  MakeBVH(elements.begin(), elements.end(), 0, model, owner);
-}
-
-void mjCBoundingVolumeHierarchy::Make(std::vector<BVElement>& elements) {
-  // precompute the positions of each element in the hierarchy's axes, and drop
-  // visual-only elements.
-  elements.reserve(bvleaf_.size());
-  double qinv[4] = {iquat_[0], -iquat_[1], -iquat_[2], -iquat_[3]};
-  for (int i = 0; i < bvleaf_.size(); i++) {
-    if (bvleaf_[i].Conaffinity() || bvleaf_[i].Contype()) {
-      BVElement element;
-      element.e = &bvleaf_[i];
-      double vert[3] = {element.e->Pos(0) - ipos_[0],
-                        element.e->Pos(1) - ipos_[1],
-                        element.e->Pos(2) - ipos_[2]};
-      mjuu_rotVecQuat(element.lpos, vert, qinv);
-      elements.push_back(std::move(element));
-    }
-  }
-}
-
-
-// compute bounding volume hierarchy
-int mjCBoundingVolumeHierarchy::MakeBVH(
-    std::vector<BVElement>::iterator elements_begin,
-    std::vector<BVElement>::iterator elements_end, int lev, mjCModel* model,
-    const mjCBase* owner) {
-  int nelements = elements_end - elements_begin;
-  if (nelements == 0) {
-    return -1;
-  }
-  constexpr double kMaxVal = std::numeric_limits<double>::max();
-  double AAMM[6] = {kMaxVal, kMaxVal, kMaxVal, -kMaxVal, -kMaxVal, -kMaxVal};
-
-  // inverse transformation
-  double qinv[4] = {iquat_[0], -iquat_[1], -iquat_[2], -iquat_[3]};
-
-  // accumulate AAMM over elements
-  for (auto element = elements_begin; element != elements_end; ++element) {
-    // transform element aabb to aamm format
-    double aamm[6] = {element->e->AABB(0) - element->e->AABB(3),
-                      element->e->AABB(1) - element->e->AABB(4),
-                      element->e->AABB(2) - element->e->AABB(5),
-                      element->e->AABB(0) + element->e->AABB(3),
-                      element->e->AABB(1) + element->e->AABB(4),
-                      element->e->AABB(2) + element->e->AABB(5)};
-
-    // update node AAMM
-    for (int v=0; v < 8; v++) {
-      double vert[3], box[3];
-      vert[0] = (v&1 ? aamm[3] : aamm[0]);
-      vert[1] = (v&2 ? aamm[4] : aamm[1]);
-      vert[2] = (v&4 ? aamm[5] : aamm[2]);
-
-      // rotate to the body inertial frame if specified
-      if (element->e->Quat()) {
-        mjuu_rotVecQuat(box, vert, element->e->Quat());
-        box[0] += element->e->Pos(0) - ipos_[0];
-        box[1] += element->e->Pos(1) - ipos_[1];
-        box[2] += element->e->Pos(2) - ipos_[2];
-        mjuu_rotVecQuat(vert, box, qinv);
-      }
-
-      AAMM[0] = std::min(AAMM[0], vert[0]);
-      AAMM[1] = std::min(AAMM[1], vert[1]);
-      AAMM[2] = std::min(AAMM[2], vert[2]);
-      AAMM[3] = std::max(AAMM[3], vert[0]);
-      AAMM[4] = std::max(AAMM[4], vert[1]);
-      AAMM[5] = std::max(AAMM[5], vert[2]);
-    }
-  }
-
-  // inflate flat AABBs
-  for (int i = 0; i < 3; i++) {
-    if (std::abs(AAMM[i] - AAMM[i+3]) < mjEPS) {
-      AAMM[i + 0] -= mjEPS;
-      AAMM[i + 3] += mjEPS;
-    }
-  }
-
-  // store current index
-  int index = nbvh_++;
-  child_.push_back(-1);
-  child_.push_back(-1);
-  nodeid_.push_back(-1);
-  nodeidptr_.push_back(nullptr);
-  level_.push_back(lev);
-
-  // store bounding box of the current node
-  bvh_.push_back((AAMM[3] + AAMM[0]) / 2);
-  bvh_.push_back((AAMM[4] + AAMM[1]) / 2);
-  bvh_.push_back((AAMM[5] + AAMM[2]) / 2);
-  bvh_.push_back((AAMM[3] - AAMM[0]) / 2);
-  bvh_.push_back((AAMM[4] - AAMM[1]) / 2);
-  bvh_.push_back((AAMM[5] - AAMM[2]) / 2);
-
-  // leaf node, return
-  if (nelements == 1) {
-    child_[2*index + 0] = -1;
-    child_[2*index + 1] = -1;
-    nodeid_[index] = *elements_begin->e->Id();
-    nodeidptr_[index] = (int*)elements_begin->e->Id();
-    return index;
-  }
-
-  // find longest axis, by a margin of at least mjEPS, default to 0
-  int axis = 0;
-  double edges[3] = {AAMM[3] - AAMM[0], AAMM[4] - AAMM[1], AAMM[5] - AAMM[2]};
-  if (edges[1] >= edges[0] + mjEPS) axis = 1;
-  if (edges[2] >= edges[axis] + mjEPS) axis = 2;
-
-  // find median along the axis
-  auto compare = [&](const BVElement& e1, const BVElement& e2) {
-    if (std::abs(e1.lpos[axis] - e2.lpos[axis]) > mjEPS) {
-      return e1.lpos[axis] < e2.lpos[axis];
-    }
-    // comparing pointers gives a stable sort, because they both come from the same array
-    return e1.e < e2.e;
-  };
-
-  // note: nth_element performs a partial sort of elements
-  int m = nelements / 2;
-  std::nth_element(elements_begin, elements_begin + m, elements_end, compare);
-
-  // recursive calls
-  if (m > 0) {
-    child_[2 * index + 0] =
-        MakeBVH(elements_begin, elements_begin + m, lev + 1, model, owner);
-  }
-
-  if (m != nelements) {
-    child_[2 * index + 1] =
-        MakeBVH(elements_begin + m, elements_end, lev + 1, model, owner);
-  }
-
-  // SHOULD NOT OCCUR
-  if (child_[2*index + 0] == -1 && child_[2*index + 1] == -1) {
-    mju_error("this should have been a leaf, body=%s nelements=%d",
-              name_.c_str(), nelements);
-  }
-
-  if (lev > mjMAXTREEDEPTH) {
-    model->AddWarning("max tree depth exceeded", owner);
-  }
-
-  return index;
-}
-
-//------------------------- class mjCOctree implementation --------------------------------------------
-
-void mjCOctree::CopyLevel(int* level) const {
-  for (int i = 0; i < node_.size(); ++i) {
-    level[i] = node_[i].level;
-  }
-}
-
-
-void mjCOctree::CopyChild(int* child) const {
-  for (int i = 0; i < node_.size(); ++i) {
-    for (int j = 0; j < 8; ++j) {
-      child[i * 8 + j] = node_[i].child[j];
-    }
-  }
-}
-
-
-void mjCOctree::CopyAabb(mjtNum* aabb) const {
-  for (int i = 0; i < node_.size(); ++i) {
-    aabb[i * 6 + 0] = (node_[i].aamm[0] + node_[i].aamm[3]) / 2;
-    aabb[i * 6 + 1] = (node_[i].aamm[1] + node_[i].aamm[4]) / 2;
-    aabb[i * 6 + 2] = (node_[i].aamm[2] + node_[i].aamm[5]) / 2;
-    aabb[i * 6 + 3] = (node_[i].aamm[3] - node_[i].aamm[0]) / 2;
-    aabb[i * 6 + 4] = (node_[i].aamm[4] - node_[i].aamm[1]) / 2;
-    aabb[i * 6 + 5] = (node_[i].aamm[5] - node_[i].aamm[2]) / 2;
-  }
-}
-
-
-void mjCOctree::CopyCoeff(mjtNum* coeff) const {
-  for (int i = 0; i < node_.size(); ++i) {
-    for (int j = 0; j < 8; ++j) {
-      coeff[i * 8 + j] = node_[i].coeff[j];
-    }
-  }
-}
-
-
-void mjCOctree::SetFace(const std::vector<double>& vert, const std::vector<int>& face) {
-  face_.reserve(face.size()/3);
-  for (int i = 0; i < face.size(); i += 3) {
-    std::array<double, 3> v0 = {vert[3*face[i+0]], vert[3*face[i+0]+1], vert[3*face[i+0]+2]};
-    std::array<double, 3> v1 = {vert[3*face[i+1]], vert[3*face[i+1]+1], vert[3*face[i+1]+2]};
-    std::array<double, 3> v2 = {vert[3*face[i+2]], vert[3*face[i+2]+1], vert[3*face[i+2]+2]};
-    face_.push_back({v0, v1, v2});
-  }
-}
-
-
-// TODO: use the same code as mjCBoundingVolumeHierarchy::Make()
-void mjCOctree::Make(std::vector<Triangle>& elements) {
-  // rotate triangles to the body inertial frame
-  elements.assign(face_.size(), {{{0}}});
-  double qinv[4] = {iquat_[0], -iquat_[1], -iquat_[2], -iquat_[3]};
-  for (int i = 0; i < face_.size(); i++) {
-    for (int j = 0; j < 3; j++) {
-      double vert[3] = {face_[i][j][0] - ipos_[0],
-                        face_[i][j][1] - ipos_[1],
-                        face_[i][j][2] - ipos_[2]};
-      mjuu_rotVecQuat(elements[i][j].data(), vert, qinv);
-    }
-  }
-}
-
-
-void mjCOctree::CreateOctree(const double aamm[6]) {
-  Clear();
-
-  double aabb[6] = {(aamm[0] + aamm[3]) / 2, (aamm[1] + aamm[4]) / 2, (aamm[2] + aamm[5]) / 2,
-                    (aamm[3] - aamm[0]) / 2, (aamm[4] - aamm[1]) / 2, (aamm[5] - aamm[2]) / 2};
-  double box[6] = {aabb[0] - 1.1 * aabb[3], aabb[1] - 1.1 * aabb[4], aabb[2] - 1.1 * aabb[5],
-                   aabb[0] + 1.1 * aabb[3], aabb[1] + 1.1 * aabb[4], aabb[2] + 1.1 * aabb[5]};
-  std::vector<Triangle> elements;
-  Make(elements);
-  std::vector<Triangle*> elements_ptrs(elements.size());
-  std::transform(elements.begin(), elements.end(), elements_ptrs.begin(),
-                 [](Triangle& triangle) { return &triangle; });
-  std::unordered_map<Point, int> vert_map;
-  MakeOctree(elements_ptrs, box, vert_map);
-  MarkHangingNodes();
-}
-
-
-namespace {
-
-double pointBoxDistSq(const double* p, const mjtNum* aabb) {
-  double dist_sq = 0;
-  for (int i = 0; i < 3; ++i) {
-    double lo = aabb[i] - aabb[i + 3];
-    double hi = aabb[i] + aabb[i + 3];
-    if (p[i] < lo) {
-      dist_sq += (lo - p[i]) * (lo - p[i]);
-    } else if (p[i] > hi) {
-      dist_sq += (p[i] - hi) * (p[i] - hi);
-    }
-  }
-  return dist_sq;
-}
-
-
-// compute squared distance between point p and triangle (v0, v1, v2),
-// and return barycentric coordinates (u,v) of the closest point
-double pointTriDistSqWithUV(const double* p, const double* v0, const double* v1,
-                            const double* v2, double& out_u, double& out_v) {
-  double ab[3] = {v1[0] - v0[0], v1[1] - v0[1], v1[2] - v0[2]};
-  double ac[3] = {v2[0] - v0[0], v2[1] - v0[1], v2[2] - v0[2]};
-  double ap[3] = {p[0] - v0[0], p[1] - v0[1], p[2] - v0[2]};
-
-  // the closest point on the triangle is determined by partitioning space into Voronoi regions
-  double d1 = ab[0]*ap[0] + ab[1]*ap[1] + ab[2]*ap[2];
-  double d2 = ac[0]*ap[0] + ac[1]*ap[1] + ac[2]*ap[2];
-
-  // region A (vertex v0)
-  if (d1 <= 0 && d2 <= 0) {
-    out_u = 0; out_v = 0;
-    return ap[0]*ap[0] + ap[1]*ap[1] + ap[2]*ap[2];
-  }
-
-  double bp[3] = {p[0] - v1[0], p[1] - v1[1], p[2] - v1[2]};
-  double d3 = ab[0]*bp[0] + ab[1]*bp[1] + ab[2]*bp[2];
-  double d4 = ac[0]*bp[0] + ac[1]*bp[1] + ac[2]*bp[2];
-
-  // region B (vertex v1)
-  if (d3 >= 0 && d4 <= d3) {
-    out_u = 1; out_v = 0;
-    return bp[0]*bp[0] + bp[1]*bp[1] + bp[2]*bp[2];
-  }
-
-  // region AB (edge v0-v1)
-  double vc = d1*d4 - d3*d2;
-  if (vc <= 0 && d1 >= 0 && d3 <= 0) {
-    double u = d1 / (d1 - d3);
-    out_u = u; out_v = 0;
-    double closest[3] = {v0[0] + u*ab[0], v0[1] + u*ab[1], v0[2] + u*ab[2]};
-    return (p[0]-closest[0])*(p[0]-closest[0]) +
-           (p[1]-closest[1])*(p[1]-closest[1]) +
-           (p[2]-closest[2])*(p[2]-closest[2]);
-  }
-
-  double cp[3] = {p[0] - v2[0], p[1] - v2[1], p[2] - v2[2]};
-  double d5 = ab[0]*cp[0] + ab[1]*cp[1] + ab[2]*cp[2];
-  double d6 = ac[0]*cp[0] + ac[1]*cp[1] + ac[2]*cp[2];
-
-  // region C (vertex v2)
-  if (d6 >= 0 && d5 <= d6) {
-    out_u = 0; out_v = 1;
-    return cp[0]*cp[0] + cp[1]*cp[1] + cp[2]*cp[2];
-  }
-
-  // region AC (edge v0-v2)
-  double vb = d5*d2 - d1*d6;
-  if (vb <= 0 && d2 >= 0 && d6 <= 0) {
-    double v = d2 / (d2 - d6);
-    out_u = 0; out_v = v;
-    double closest[3] = {v0[0] + v*ac[0], v0[1] + v*ac[1], v0[2] + v*ac[2]};
-    return (p[0]-closest[0])*(p[0]-closest[0]) +
-           (p[1]-closest[1])*(p[1]-closest[1]) +
-           (p[2]-closest[2])*(p[2]-closest[2]);
-  }
-
-  // region BC (edge v1-v2)
-  double va = d3*d6 - d5*d4;
-  if (va <= 0 && (d4 - d3) >= 0 && (d5 - d6) >= 0) {
-    double w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-    out_u = 1 - w; out_v = w;
-    double bc[3] = {v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2]};
-    double closest[3] = {v1[0] + w*bc[0], v1[1] + w*bc[1], v1[2] + w*bc[2]};
-    return (p[0]-closest[0])*(p[0]-closest[0]) +
-           (p[1]-closest[1])*(p[1]-closest[1]) +
-           (p[2]-closest[2])*(p[2]-closest[2]);
-  }
-
-  // region ABC (inside triangle)
-  double denom = 1.0 / (va + vb + vc);
-  double u = vb * denom;
-  double v = vc * denom;
-  out_u = u; out_v = v;
-  double closest[3] = {v0[0] + u*ab[0] + v*ac[0],
-                       v0[1] + u*ab[1] + v*ac[1],
-                       v0[2] + u*ab[2] + v*ac[2]};
-  return (p[0]-closest[0])*(p[0]-closest[0]) +
-         (p[1]-closest[1])*(p[1]-closest[1]) +
-         (p[2]-closest[2])*(p[2]-closest[2]);
-}
-
-
-// query BVH for closest face to point p, return distance, face index and barycentric coordinates
-void queryClosestBVHWithFace(const mjtNum* bvh, const int* child, const int* nodeid,
-                             const double* vert, const int* face, int node_idx,
-                             const double* p, double& best_dist_sq,
-                             int& best_face, double& best_u, double& best_v) {
-  const mjtNum* aabb = &bvh[node_idx * 6];
-  if (pointBoxDistSq(p, aabb) >= best_dist_sq) return;
-
-  int left = child[node_idx * 2];
-  int right = child[node_idx * 2 + 1];
-
-  if (left == -1 && right == -1) {
-    int fi = nodeid[node_idx];
-    if (fi >= 0) {
-      const double* v0 = vert + face[fi * 3 + 0] * 3;
-      const double* v1 = vert + face[fi * 3 + 1] * 3;
-      const double* v2 = vert + face[fi * 3 + 2] * 3;
-      double u, v;
-      double dist_sq = pointTriDistSqWithUV(p, v0, v1, v2, u, v);
-      if (dist_sq < best_dist_sq) {
-        best_dist_sq = dist_sq;
-        best_face = fi;
-        best_u = u;
-        best_v = v;
-      }
-    }
-    return;
-  }
-
-  if (left >= 0) {
-    queryClosestBVHWithFace(bvh, child, nodeid, vert, face, left, p,
-                            best_dist_sq, best_face, best_u, best_v);
-  }
-  if (right >= 0) {
-    queryClosestBVHWithFace(bvh, child, nodeid, vert, face, right, p,
-                            best_dist_sq, best_face, best_u, best_v);
-  }
-}
-
-
-double querySignedDistance(const mjtNum* bvh, const int* child, const int* nodeid,
-                           int nbvh, const double* point,
-                           const double* vert, const int* face) {
-  if (nbvh == 0) {
-    return 0;
-  }
-
-  double best_dist_sq = 1e20;
-  int best_face = -1;
-  double best_u = 0, best_v = 0;
-  queryClosestBVHWithFace(bvh, child, nodeid, vert, face, 0, point,
-                          best_dist_sq, best_face, best_u, best_v);
-  double dist = std::sqrt(best_dist_sq);
-
-  double sign = 1.0;
-  if (best_face >= 0) {
-    const double* v0 = vert + face[best_face * 3 + 0] * 3;
-    const double* v1 = vert + face[best_face * 3 + 1] * 3;
-    const double* v2 = vert + face[best_face * 3 + 2] * 3;
-
-    double e1[3] = {v1[0]-v0[0], v1[1]-v0[1], v1[2]-v0[2]};
-    double e2[3] = {v2[0]-v0[0], v2[1]-v0[1], v2[2]-v0[2]};
-    double normal[3] = {
-      e1[1]*e2[2] - e1[2]*e2[1],
-      e1[2]*e2[0] - e1[0]*e2[2],
-      e1[0]*e2[1] - e1[1]*e2[0]
-    };
-
-    double closest[3] = {
-      v0[0] + best_u*(v1[0]-v0[0]) + best_v*(v2[0]-v0[0]),
-      v0[1] + best_u*(v1[1]-v0[1]) + best_v*(v2[1]-v0[1]),
-      v0[2] + best_u*(v1[2]-v0[2]) + best_v*(v2[2]-v0[2])
-    };
-
-    double u[3] = {point[0]-closest[0], point[1]-closest[1], point[2]-closest[2]};
-    double dot = u[0]*normal[0] + u[1]*normal[1] + u[2]*normal[2];
-    double normal_len = mjuu_normvec(normal, 3);
-    double eps = 1e-12 * normal_len * dist;
-    sign = (dot > eps) ? 1.0 : -1.0;
-  }
-
-  return sign * dist;
-}
-
-}  // namespace
-
-
-double mjCBoundingVolumeHierarchy::QuerySignedDistance(
-    const double* point, const double* vert, const int* face) const {
-  return querySignedDistance(bvh_.data(), child_.data(), nodeid_.data(),
-                             nbvh_, point, vert, face);
-}
-
-
-void mjCOctree::ComputeSdfCoeffs(const double* vert, int nvert, const int* face, int nface,
-                                 const mjCBoundingVolumeHierarchy& tree) {
-  std::vector<double> coeffs(nvert_, 0.0);
-  std::vector<bool> processed(nvert_, false);
-  std::deque<int> queue;
-
-  if (NumNodes() > 0) {
-    queue.push_back(0);
-  }
-
-  while (!queue.empty()) {
-    int node_idx = queue.front();
-    queue.pop_front();
-
-    // compute SDF coefficients at the 8 vertices of the octree node
-    for (int j = 0; j < 8; ++j) {
-      int vert_id = VertId(node_idx, j);
-      if (processed[vert_id]) {
-        continue;
-      }
-      if (Hang(vert_id).empty()) {
-        // transform from octree frame (body inertial) back to mesh frame
-        double p_mesh[3];
-        mjuu_rotVecQuat(p_mesh, Vert(vert_id), iquat_);
-        p_mesh[0] += ipos_[0];
-        p_mesh[1] += ipos_[1];
-        p_mesh[2] += ipos_[2];
-
-        coeffs[vert_id] = tree.QuerySignedDistance(p_mesh, vert, face);
-      } else {
-        // hanging node: interpolate from parents
-        double sum_coeff = 0;
-        for (int dep_id : Hang(vert_id)) {
-          sum_coeff += coeffs[dep_id];
-        }
-        coeffs[vert_id] = sum_coeff / Hang(vert_id).size();
-      }
-      processed[vert_id] = true;
-    }
-
-    // add children to the queue
-    for (int child_idx : Children(node_idx)) {
-      if (child_idx != -1) {
-        queue.push_back(child_idx);
-      }
-    }
-  }
-
-  // optional Laplacian smoothing (smooths octree level transitions)
-  if (smoothing_iterations_ > 0) {
-    // build vertex neighbor graph from octree connectivity
-    std::vector<std::set<int>> neighbors(nvert_);
-    for (int i = 0; i < NumNodes(); ++i) {
-      static const int edges[12][2] = {
-        {0, 1}, {2, 3}, {4, 5}, {6, 7},
-        {0, 2}, {1, 3}, {4, 6}, {5, 7},
-        {0, 4}, {1, 5}, {2, 6}, {3, 7}
-      };
-      for (const auto& edge : edges) {
-        int v0 = VertId(i, edge[0]);
-        int v1 = VertId(i, edge[1]);
-        neighbors[v0].insert(v1);
-        neighbors[v1].insert(v0);
-      }
-    }
-
-    // apply Laplacian smoothing
-    const double alpha = 0.2;
-    std::vector<double> sdf_new(nvert_);
-    for (int iter = 0; iter < smoothing_iterations_; ++iter) {
-      for (int i = 0; i < nvert_; ++i) {
-        if (neighbors[i].empty()) {
-          sdf_new[i] = coeffs[i];
-        } else {
-          double avg = 0;
-          for (int j : neighbors[i]) avg += coeffs[j];
-          avg /= neighbors[i].size();
-          sdf_new[i] = (1 - alpha) * coeffs[i] + alpha * avg;
-        }
-      }
-      std::swap(coeffs, sdf_new);
-    }
-  }
-
-  // copy coefficients to the octree nodes
-  for (int i = 0; i < NumNodes(); ++i) {
-    for (int j = 0; j < 8; j++) {
-      AddCoeff(i, j, coeffs[VertId(i, j)]);
-    }
-  }
-}
-
-
-static double dot2(const double* a, const double* b) {
-  return a[0] * b[0] + a[1] * b[1];
-}
-
-
-// from M. Schwarz and H.-P. Seidel, "Fast Parallel Surface and Solid Voxelization on GPUs".
-static bool boxTriangle(const Triangle& v, const double aamm[6]) {
-  // bounding box tests
-  for (int i = 0; i < 3; i++) {
-    if (v[0][i] < aamm[i] && v[1][i] < aamm[i] && v[2][i] < aamm[i]) {
-      return false;
-    }
-    int j = i + 3;
-    if (v[0][i] > aamm[j] && v[1][i] > aamm[j] && v[2][i] > aamm[j]) {
-      return false;
-    }
-  }
-
-  // test for triangle plane and box overlap
-  double n[3];
-  double e[3][3];
-  for (int i = 0; i < 3; i++) {
-    for (int j = 0; j < 3; j++) {
-      e[i][j] = v[(i+1)%3][j] - v[i][j];
-    }
-  }
-
-  mjuu_crossvec(n, e[0], e[1]);
-  double size[3] = {aamm[3] - aamm[0], aamm[4] - aamm[1], aamm[5] - aamm[2]};
-  double c[3] = {n[0] > 0 ? size[0] : 0, n[1] > 0 ? size[1] : 0, n[2] > 0 ? size[2] : 0};
-  double c1[3] = {c[0] - v[0][0], c[1] - v[0][1], c[2] - v[0][2]};
-  double c2[3] = {size[0] - c[0] - v[0][0], size[1] - c[1] - v[0][1], size[2] - c[2] - v[0][2]};
-
-  if ((mjuu_dot3(n, aamm) + mjuu_dot3(n, c1)) * (mjuu_dot3(n, aamm) + mjuu_dot3(n, c2)) > 0) {
-    return false;
-  }
-
-  // test projection overlap
-  for (int a = 0; a < 3; a++) {
-    int b = (a + 1) % 3;
-    int c = (a + 2) % 3;
-    for (int i = 0; i < 3; i++) {
-      double sign = n[a] >= 0 ? 1 : -1;
-      double ne[2] = {-e[i][c] * sign, e[i][b] * sign};
-      double vi[2] = {v[i][b], v[i][c]};
-      double d = -dot2(ne, vi) + mju_max(0, size[b]*ne[0]) + mju_max(0, size[c]*ne[1]);
-      double p[2] = {aamm[b], aamm[c]};
-      if (dot2(ne, p) + d < 0) {
-        return false;
-      }
-    }
-  }
-
-  return true;
-}
-
-
-void mjCOctree::TaskToNode(const OctreeTask& task, OctNode& node,
-                           std::unordered_map<Point, int>& vert_map) {
-  node.level = task.lev;
-  node.parent_index = task.parent_index;
-  node.child_slot = task.child_slot;
-
-  if (task.parent_index != -1) {
-    node_[task.parent_index].child[task.child_slot] = task.node_index;
-    const auto parent_aamm = node_[task.parent_index].aamm;
-    node.aamm[0] = task.child_slot & 1 ? (parent_aamm[3] + parent_aamm[0]) / 2 : parent_aamm[0];
-    node.aamm[1] = task.child_slot & 2 ? (parent_aamm[4] + parent_aamm[1]) / 2 : parent_aamm[1];
-    node.aamm[2] = task.child_slot & 4 ? (parent_aamm[5] + parent_aamm[2]) / 2 : parent_aamm[2];
-    node.aamm[3] = task.child_slot & 1 ? parent_aamm[3] : (parent_aamm[0] + parent_aamm[3]) / 2;
-    node.aamm[4] = task.child_slot & 2 ? parent_aamm[4] : (parent_aamm[1] + parent_aamm[4]) / 2;
-    node.aamm[5] = task.child_slot & 4 ? parent_aamm[5] : (parent_aamm[2] + parent_aamm[5]) / 2;
-  }
-
-  for (int i = 0; i < 8; i++) {
-    Point v = {{(i & 1) ? node.aamm[3] : node.aamm[0],
-                (i & 2) ? node.aamm[4] : node.aamm[1],
-                (i & 4) ? node.aamm[5] : node.aamm[2]}};
-    auto it = vert_map.find(v);
-    if (it != vert_map.end()) {
-      node.vertid[i] = it->second;
-    } else {
-      node.vertid[i] = nvert_;
-      vert_map[v] = nvert_++;
-      vert_.push_back(v);
-    }
-    node.child[i] = -1;
-  }
-}
-
-
-void mjCOctree::Subdivide(const OctreeTask& task, std::unordered_map<Point, int>& vert_map,
-                          std::deque<OctreeTask>* queue, const std::vector<Triangle*>& colliding) {
-  for (int i = 0; i < 8; i++) {
-    OctreeTask new_task;
-    new_task.elements = colliding;
-    new_task.lev = task.lev + 1;
-    new_task.parent_index = task.node_index;
-    new_task.node_index = nnode_++;
-    new_task.child_slot = i;
-
-    node_.push_back(OctNode());
-    TaskToNode(new_task, node_.back(), vert_map);
-    if (queue) {
-      queue->push_back(std::move(new_task));
-    }
-  }
-}
-
-
-// recursively finds the adjacent ancestor neighbor region
-int mjCOctree::FindCoarseNeighbor(int node_idx, int dir) {
-  if (node_idx == -1) {
-    return -1;
-  }
-
-  int parent_idx = node_[node_idx].parent_index;
-
-  // if we are at the root, we have no parent and thus no siblings or external neighbors
-  if (parent_idx == -1) {
-    return -1;
-  }
-
-  int child_slot = node_[node_idx].child_slot;
-  int dim = dir / 2;
-  int side = dir % 2;
-  int bit = 1 << dim;
-
-  if (side != ((child_slot & bit) != 0)) {
-    // internal neighbor case: This is the successful termination of the climb
-    // return the adjacent sibling node
-    return node_[parent_idx].child[child_slot ^ bit];
-  } else {
-    // external neighbor case: Recurse up the tree
-    // ask our parent to find its neighbor in the same direction
-    return FindCoarseNeighbor(parent_idx, dir);
-  }
-}
-
-
-int mjCOctree::FindNeighbor(int node_idx, int dir) {
-  if (node_idx == -1) {
-    return -1;
-  }
-
-  // call the helper to find the adjacent to the coarse neighbor.
-  // this might be an internal node (e.g., our parent's sibling)
-  int result = FindCoarseNeighbor(node_idx, dir);
-
-  if (result == -1) {
-    // no neighbor found (either at tree boundary or some other error)
-    return -1;
-  }
-
-  // leaf descent
-  double node_center[3] = {
-      (node_[node_idx].aamm[0] + node_[node_idx].aamm[3]) / 2,
-      (node_[node_idx].aamm[1] + node_[node_idx].aamm[4]) / 2,
-      (node_[node_idx].aamm[2] + node_[node_idx].aamm[5]) / 2,
-  };
-
-  while (node_[result].child[0] != -1) {
-    double result_center[3] = {
-        (node_[result].aamm[0] + node_[result].aamm[3]) / 2,
-        (node_[result].aamm[1] + node_[result].aamm[4]) / 2,
-        (node_[result].aamm[2] + node_[result].aamm[5]) / 2,
-    };
-
-    // find relative octant of our node w.r.t. the neighbor's center
-    int next_child_slot = 0;
-    if (node_center[0] > result_center[0]) next_child_slot |= 1;
-    if (node_center[1] > result_center[1]) next_child_slot |= 2;
-    if (node_center[2] > result_center[2]) next_child_slot |= 4;
-
-    int dim = dir / 2;
-    int side = dir % 2;
-    int bit = 1 << dim;
-
-    // we need the child on the opposite side (adjacent to this node)
-    int op_side = (side != 1);
-    next_child_slot = (next_child_slot & ~bit) | (op_side * bit);
-    result = node_[result].child[next_child_slot];
-  }
-
-  return result;
-}
-
-
-// refine the octree by subdividing nodes that are too coarse such that the
-// maximum level difference between adjacent nodes is at most 1.
-void mjCOctree::BalanceOctree(std::unordered_map<Point, int>& vert_map) {
-  bool changed = true;
-  while (changed) {
-    changed = false;
-    std::vector<int> leaves;
-    for (int i = 0; i < nnode_; ++i) {
-      if (node_[i].child[0] == -1) {
-        leaves.push_back(i);
-      }
-    }
-
-    // find the nodes that are too coarse, only leaves need to be checked
-    std::vector<int> leaves_to_subdivide;
-    for (int leaf_idx : leaves) {
-      if (node_[leaf_idx].child[0] != -1) {
-        continue;
-      }
-
-      for (int dir = 0; dir < 6; ++dir) {
-        int neighbor_idx = FindNeighbor(leaf_idx, dir);
-        if (neighbor_idx == -1) {
-          continue;
-        }
-        int neighbor_level = node_[neighbor_idx].level;
-        if (neighbor_level > node_[leaf_idx].level + 1) {
-          leaves_to_subdivide.push_back(leaf_idx);
-        }
-        if (node_[leaf_idx].level > neighbor_level + 1) {
-          leaves_to_subdivide.push_back(neighbor_idx);
-        }
-      }
-    }
-
-    // subdivide the nodes that are too coarse
-    if (!leaves_to_subdivide.empty()) {
-      changed = true;
-      for (int node_idx : leaves_to_subdivide) {
-        if (node_[node_idx].child[0] == -1) {  // check if not already subdivided
-          OctreeTask task;
-          task.node_index = node_idx;
-          task.lev = node_[node_idx].level;
-          Subdivide(task, vert_map);
-        }
-      }
-    }
-  }
-}
-
-
-// mark all hanging vertices in the octree
-void mjCOctree::MarkHangingNodes() {
-  hang_.assign(nvert_, std::vector<int>());
-
-  std::vector<int> leaves;
-  for (int i = 0; i < nnode_; ++i) {
-    if (node_[i].child[0] == -1) {
-      leaves.push_back(i);
-    }
-  }
-
-  for (int leaf_idx : leaves) {
-    for (int dir = 0; dir < 6; ++dir) {
-      int neighbor_idx = FindNeighbor(leaf_idx, dir);
-      if (neighbor_idx == -1 ||
-          node_[neighbor_idx].level >= node_[leaf_idx].level) {
-        continue;
-      }
-
-      // coarser neighbor found, this leaf's face has hanging nodes
-      int dim = dir / 2;
-      int side = dir % 2;
-
-      // iterate over the 4 vertices of the leaf's face
-      for (int i = 0; i < 4; ++i) {
-        // construct vertex index on the face
-        int v_idx = side << dim;
-        int d1 = (dim + 1) % 3;
-        int d2 = (dim + 2) % 3;
-        v_idx |= (i & 1) << d1;
-        v_idx |= ((i >> 1) & 1) << d2;
-
-        int hv_id = node_[leaf_idx].vertid[v_idx];
-        if (!hang_[hv_id].empty()) {
-          continue;  // already processed
-        }
-
-        const double* hv_pos = vert_[hv_id].p.data();
-        const auto& neighbor_aamm = node_[neighbor_idx].aamm;
-
-        bool is_min[3], is_max[3];
-        int on_boundary_planes = 0;
-        for (int d = 0; d < 3; ++d) {
-          is_min[d] = std::abs(hv_pos[d] - neighbor_aamm[d]) < 1e-9;
-          is_max[d] = std::abs(hv_pos[d] - neighbor_aamm[d + 3]) < 1e-9;
-          if (is_min[d] || is_max[d]) {
-            on_boundary_planes++;
-          }
-        }
-
-        if (on_boundary_planes == 2) {  // edge hanging
-          int d_mid = -1;
-          for (int d = 0; d < 3; ++d) {
-            if (!is_min[d] && !is_max[d]) {
-              d_mid = d;
-              break;
-            }
-          }
-
-          int bits[3];
-          bits[d_mid] = 0;  // this will be toggled
-          bits[(d_mid + 1) % 3] = is_max[(d_mid + 1) % 3];
-          bits[(d_mid + 2) % 3] = is_max[(d_mid + 2) % 3];
-
-          int nv_idx1 = (bits[2] << 2) | (bits[1] << 1) | bits[0];
-          bits[d_mid] = 1;
-          int nv_idx2 = (bits[2] << 2) | (bits[1] << 1) | bits[0];
-
-          hang_[hv_id].push_back(node_[neighbor_idx].vertid[nv_idx1]);
-          hang_[hv_id].push_back(node_[neighbor_idx].vertid[nv_idx2]);
-        } else if (on_boundary_planes == 1) {  // face hanging
-          int d_face = -1;
-          for (int d = 0; d < 3; ++d) {
-            if (is_min[d] || is_max[d]) {
-              d_face = d;
-              break;
-            }
-          }
-
-          int bits[3];
-          bits[d_face] = is_max[d_face];
-
-          for (int j = 0; j < 4; ++j) {
-            bits[(d_face + 1) % 3] = j & 1;
-            bits[(d_face + 2) % 3] = (j >> 1) & 1;
-            int nv_idx = (bits[2] << 2) | (bits[1] << 1) | bits[0];
-            hang_[hv_id].push_back(node_[neighbor_idx].vertid[nv_idx]);
-          }
-        }
-      }
-    }
-  }
-}
-
-
-void mjCOctree::MakeOctree(const std::vector<Triangle*>& elements, const double aamm[6],
-                           std::unordered_map<Point, int>& vert_map) {
-  std::deque<OctreeTask> queue;
-  OctreeTask initial_task;
-  initial_task.elements = elements;
-  initial_task.lev = 0;
-  initial_task.parent_index = -1;
-  initial_task.child_slot = -1;
-  initial_task.node_index = nnode_++;
-  queue.push_back(std::move(initial_task));
-
-  // create root node
-  node_.push_back(OctNode());
-  OctNode& root = node_.back();
-  std::copy(aamm, aamm + 6, root.aamm.data());
-  TaskToNode(queue.front(), node_.back(), vert_map);
-
-  while (!queue.empty()) {
-    OctreeTask task = std::move(queue.front());
-    queue.pop_front();
-
-    // find all triangles that intersect the current box
-    std::vector<Triangle*> colliding;
-    for (auto* element : task.elements) {
-      if (boxTriangle(*element, node_[task.node_index].aamm.data())) {
-        colliding.push_back(element);
-      }
-    }
-
-    // skip if the box is empty
-    if (colliding.empty() || task.lev >= max_depth_) {
-      continue;
-    }
-
-    // subdivide the node
-    Subdivide(task, vert_map, &queue, colliding);
-  }
-
-  // store the neighbors of each node
-  BalanceOctree(vert_map);
-}
-
-//------------------------- class mjCDef implementation --------------------------------------------
-
-// constructor
-mjCDef::mjCDef() {
-  name.clear();
-  id = 0;
-  parent = nullptr;
-  model = 0;
-  child.clear();
-  elemtype = mjOBJ_DEFAULT;
-  mjs_defaultJoint(&joint_.spec);
-  mjs_defaultGeom(&geom_.spec);
-  mjs_defaultSite(&site_.spec);
-  mjs_defaultCamera(&camera_.spec);
-  mjs_defaultLight(&light_.spec);
-  mjs_defaultFlex(&flex_.spec);
-  mjs_defaultMesh(&mesh_.spec);
-  mjs_defaultMaterial(&material_.spec);
-  mjs_defaultPair(&pair_.spec);
-  mjs_defaultEquality(&equality_.spec);
-  mjs_defaultTendon(&tendon_.spec);
-  mjs_defaultActuator(&actuator_.spec);
-
-  // make sure all the pointers are local
-  PointToLocal();
-}
-
-
-
-// constructor with model
-mjCDef::mjCDef(mjCModel* _model) : mjCDef() {
-  model = _model;
-}
-
-
-
-// copy constructor
-mjCDef::mjCDef(const mjCDef& other) {
-  *this = other;
-}
-
-
-
-// compiler
-void mjCDef::Compile(const mjCModel* model) {
-  CopyFromSpec();
-
-  // enforce length of all default userdata arrays
-  joint_.userdata_.resize(model->nuser_jnt);
-  geom_.userdata_.resize(model->nuser_geom);
-  site_.userdata_.resize(model->nuser_site);
-  camera_.userdata_.resize(model->nuser_cam);
-  tendon_.userdata_.resize(model->nuser_tendon);
-  actuator_.userdata_.resize(model->nuser_actuator);
-}
-
-
-
-// assignment operator
-mjCDef& mjCDef::operator=(const mjCDef& other) {
-  if (this != &other) {
-    CopyWithoutChildren(other);
-
-    // copy the rest of the default tree
-    *this += other;
-  }
-  return *this;
-}
-
-
-
-mjCDef& mjCDef::operator+=(const mjCDef& other) {
-  for (unsigned int i=0; i < other.child.size(); i++) {
-    child.push_back(new mjCDef(*other.child[i]));  // triggers recursive call
-    child.back()->parent = this;
-  }
-  return *this;
-}
-
-
-
-void mjCDef::NameSpace(const mjCModel* m) {
-  if (!name.empty()) {
-    name = m->prefix + name + m->suffix;
-  }
-  for (auto c : child) {
-    c->NameSpace(m);
-  }
-}
-
-
-
-void mjCDef::CopyWithoutChildren(const mjCDef& other) {
-  name = other.name;
-  elemtype = other.elemtype;
-  parent = nullptr;
-  child.clear();
-  joint_ = other.joint_;
-  geom_ = other.geom_;
-  site_ = other.site_;
-  camera_ = other.camera_;
-  light_ = other.light_;
-  flex_ = other.flex_;
-  mesh_ = other.mesh_;
-  material_ = other.material_;
-  pair_ = other.pair_;
-  equality_ = other.equality_;
-  tendon_ = other.tendon_;
-  actuator_ = other.actuator_;
-  PointToLocal();
-}
-
-
-
-void mjCDef::PointToLocal() {
-  joint_.PointToLocal();
-  geom_.PointToLocal();
-  site_.PointToLocal();
-  camera_.PointToLocal();
-  light_.PointToLocal();
-  flex_.PointToLocal();
-  mesh_.PointToLocal();
-  material_.PointToLocal();
-  pair_.PointToLocal();
-  equality_.PointToLocal();
-  tendon_.PointToLocal();
-  actuator_.PointToLocal();
-  spec.element = static_cast<mjsElement*>(this);
-  spec.joint = &joint_.spec;
-  spec.geom = &geom_.spec;
-  spec.site = &site_.spec;
-  spec.camera = &camera_.spec;
-  spec.light = &light_.spec;
-  spec.flex = &flex_.spec;
-  spec.mesh = &mesh_.spec;
-  spec.material = &material_.spec;
-  spec.pair = &pair_.spec;
-  spec.equality = &equality_.spec;
-  spec.tendon = &tendon_.spec;
-  spec.actuator = &actuator_.spec;
-}
-
-
-
-void mjCDef::CopyFromSpec() {
-  joint_.CopyFromSpec();
-  geom_.CopyFromSpec();
-  site_.CopyFromSpec();
-  camera_.CopyFromSpec();
-  light_.CopyFromSpec();
-  flex_.CopyFromSpec();
-  mesh_.CopyFromSpec();
-  material_.CopyFromSpec();
-  pair_.CopyFromSpec();
-  equality_.CopyFromSpec();
-  tendon_.CopyFromSpec();
-  actuator_.CopyFromSpec();
-}
-
-
-
-//------------------------- class mjCBase implementation -------------------------------------------
-
-// constructor
-mjCBase::mjCBase() {
-  name.clear();
-  classname.clear();
-  id = -1;
-  info = "";
-  model = 0;
-  frame = nullptr;
-}
-
-
-
-mjCBase::mjCBase(const mjCBase& other) {
-  *this = other;
-}
-
-
-
-mjCBase& mjCBase::operator=(const mjCBase& other) {
-  if (this != &other) {
-    *static_cast<mjCBase_*>(this) = static_cast<const mjCBase_&>(other);
-  }
-  return *this;
-}
-
-
-
-void mjCBase::NameSpace(const mjCModel* m) {
-  if (!name.empty()) {
-    name = m->prefix + name + m->suffix;
-  }
-  if (!classname.empty() && classname != "main" && m != model) {
-    classname = m->prefix + classname + m->suffix;
-  }
-}
-
-
-
-mjsCompiler* mjCBase::FindCompiler(const mjsCompiler* compiler) const {
-  mjSpec* origin = model->FindSpec(compiler);
-  return origin ? &origin->compiler : &model->spec.compiler;
-}
-
-
-
-// load resource if found (fallback to OS filesystem)
-mjResource* mjCBase::LoadResource(const std::string& modelfiledir,
-                                  const std::string& filename,
-                                  const mjVFS* vfs) {
-  // try reading from provided VFS or fallback to OS filesystem
-  std::array<char, 1024> error;
-  mjResource* resource = mju_openResource(modelfiledir.c_str(), filename.c_str(), vfs,
-                                          error.data(), error.size());
-  if (!resource) {
-    throw mjCError(nullptr, "%s", error.data());
-  }
-  return resource;
-}
-
-
-// Get and sanitize content type from raw_text if not empty, otherwise parse
-// content type from resource_name; throw error on failure
-std::string mjCBase::GetAssetContentType(std::string_view resource_name,
-                                         std::string_view raw_text) {
-  if (!raw_text.empty()) {
-    auto type = mjuu_parseContentTypeAttrType(raw_text);
-    auto subtype = mjuu_parseContentTypeAttrSubtype(raw_text);
-    if (!type.has_value() || !subtype.has_value()) {
-      return "";
-    }
-    return std::string(*type) + "/" + std::string(*subtype);
-  } else {
-    return mjuu_extToContentType(resource_name);
-  }
-}
-
-
-void mjCBase::SetFrame(mjCFrame* _frame) {
-  if (!_frame) {
-    return;
-  }
-  if (_frame->body && GetParent() != _frame->body) {
-    throw mjCError(this, "Frame and body '%s' have mismatched parents", name.c_str());
-  }
-  frame = _frame;
-}
-
-void mjCBase::SetUserValue(std::string_view key, const void* data,
-                           void (*cleanup)(const void*)) {
-  user_payload_[std::string(key)] = UserValue(data, cleanup);
-}
-
-const void* mjCBase::GetUserValue(std::string_view key) {
-  auto found = user_payload_.find(std::string(key));
-  return found != user_payload_.end() ? found->second.value : nullptr;
-}
-
-
-void mjCBase::DeleteUserValue(std::string_view key) {
-  user_payload_.erase(std::string(key));
-}
-
-
-//------------------ class mjCBody implementation --------------------------------------------------
-
-// constructor
-mjCBody::mjCBody(mjCModel* _model) {
-  // set model pointer
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-
-  refcount = 1;
-  mjs_defaultBody(&spec);
-  elemtype = mjOBJ_BODY;
-  parent = nullptr;
-  weldid = -1;
-  dofnum = 0;
-  lastdof = -1;
-  subtreedofs = 0;
-  contype = 0;
-  conaffinity = 0;
-  margin = 0;
-  mjuu_zerovec(xpos0, 3);
-  mjuu_setvec(xquat0, 1, 0, 0, 0);
-  last_attached = nullptr;
-  mocapid = -1;
-
-  // clear object lists
-  bodies.clear();
-  geoms.clear();
-  frames.clear();
-  joints.clear();
-  sites.clear();
-  cameras.clear();
-  lights.clear();
-  spec_userdata_.clear();
-
-  // in case this body is not compiled
-  CopyFromSpec();
-
-  // point to local (needs to be after defaults)
-  PointToLocal();
-}
-
-
-
-mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
-  model = _model;
-  compiler = FindCompiler(other.compiler);
-  *this = other;
-  CopyPlugin();
-}
-
-
-
-mjCBody& mjCBody::operator=(const mjCBody& other) {
-  if (this != &other) {
-    spec = other.spec;
-    *static_cast<mjCBody_*>(this) = static_cast<const mjCBody_&>(other);
-    *static_cast<mjsBody*>(this) = static_cast<const mjsBody&>(other);
-    bodies.clear();
-    frames.clear();
-    geoms.clear();
-    joints.clear();
-    sites.clear();
-    cameras.clear();
-    lights.clear();
-    id = -1;
-    subtreedofs = 0;
-
-    // add elements to lists
-    *this += other;
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-// copy children of other body into body
-mjCBody& mjCBody::operator+=(const mjCBody& other) {
-  // map other frames to indices
-  std::map<mjCFrame*, int> fmap;
-  for (int i=0; i < other.frames.size(); i++) {
-    fmap[other.frames[i]] = i + frames.size();
-  }
-
-  // copy frames, needs to happen first
-  CopyList(frames, other.frames, fmap);
-
-  // copy all children
-  CopyList(geoms, other.geoms, fmap);
-  CopyList(joints, other.joints, fmap);
-  CopyList(sites, other.sites, fmap);
-  CopyList(cameras, other.cameras, fmap);
-  CopyList(lights, other.lights, fmap);
-
-  for (int i=0; i < other.bodies.size(); i++) {
-    bodies.push_back(new mjCBody(*other.bodies[i], model));  // triggers recursive call
-    bodies.back()->parent = this;
-    bodies.back()->frame = nullptr;
-    if (other.bodies[i]->frame) {
-      if (fmap.find(other.bodies[i]->frame) != fmap.end()) {
-        bodies.back()->frame = frames[fmap[other.bodies[i]->frame]];
-      } else {
-        throw mjCError(this, "Frame '%s' not found in other body",
-                       other.bodies[i]->frame->name.c_str());
-      }
-      if (bodies.back()->frame && bodies.back()->frame->body != this) {
-        throw mjCError(this, "Frame and body '%s' have mismatched parents", name.c_str());
-      }
-    }
-  }
-
-  return *this;
-}
-
-
-
-// attach frame to body
-mjCBody& mjCBody::operator+=(const mjCFrame& other) {
-  // append a copy of the attached spec
-  if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
-    model->AppendSpec(&other.model->spec, &other.model->spec.compiler);
-    static_cast<mjCModel*>(other.model->spec.element)->AddRef();
-  }
-
-  // create a copy of the subtree that contains the frame
-  mjCBody* subtree = other.body;
-  other.model->prefix = other.prefix;
-  other.model->suffix = other.suffix;
-  other.model->StoreKeyframes(model);
-  mjCModel* other_model = other.model;
-
-  // attach defaults
-  if (other_model != model) {
-    mjCDef* subdef = new mjCDef(*other_model->Default());
-    subdef->NameSpace(other_model);
-    *model += *subdef;
-  }
-
-  // copy input frame
-  mjSpec* origin = model->FindSpec(other.compiler);
-  mjCFrame* newframe(model->deepcopy_ ? new mjCFrame(other) : (mjCFrame*)&other);
-  frames.push_back(newframe);
-  frames.back()->body = this;
-  frames.back()->model = model;
-  frames.back()->compiler = origin ? &origin->compiler : &model->spec.compiler;
-  frames.back()->frame = other.frame;
-  if (model->deepcopy_) {
-    frames.back()->NameSpace(other_model);
-  } else {
-    frames.back()->AddRef();
-  }
-  int i = frames.size();
-  last_attached = &frames.back()->spec;
-
-  // map input frames to index in this->frames
-  std::map<mjCFrame*, int> fmap;
-  for (auto frame : subtree->frames) {
-    if (frame == static_cast<const mjCFrame*>(&other)) {
-      fmap[frame] = frames.size() - 1;
-    } else if (other.IsAncestor(frame)) {
-      fmap[frame] = i++;
-    }
-  }
-
-  // copy children that are inside the input frame
-  CopyList(frames, subtree->frames, fmap, &other);  // needs to be done first
-  CopyList(geoms, subtree->geoms, fmap, &other);
-  CopyList(joints, subtree->joints, fmap, &other);
-  CopyList(sites, subtree->sites, fmap, &other);
-  CopyList(cameras, subtree->cameras, fmap, &other);
-  CopyList(lights, subtree->lights, fmap, &other);
-
-  if (!model->deepcopy_) {
-    std::string name = subtree->name;
-    subtree->SetModel(model);
-    subtree->NameSpace(other_model);
-    subtree->name = name;
-  }
-
-  int nbodies = (int)subtree->bodies.size();
-  for (int i=0; i < nbodies; i++) {
-    if (!other.IsAncestor(subtree->bodies[i]->frame)) {
-      continue;
-    }
-    if (model->deepcopy_) {
-      mjCBody* newbody(new mjCBody(*subtree->bodies[i], model));  // triggers recursive call
-      bodies.push_back(newbody);
-      subtree->bodies[i]->ForgetKeyframes();
-      bodies.back()->NameSpace_(other_model, /*propagate=*/ false);
-    } else {
-      bodies.push_back(subtree->bodies[i]);
-      bodies.back()->SetModel(model);
-      bodies.back()->ResetId();
-      bodies.back()->AddRef();
-    }
-    bodies.back()->parent = this;
-    bodies.back()->frame =
-      subtree->bodies[i]->frame ? frames[fmap[subtree->bodies[i]->frame]] : nullptr;
-  }
-
-  // attach referencing elements
-  other_model->SetAttached(model->deepcopy_);
-  *model += *other_model;
-
-  // leave the source model in a clean state
-  if (other_model != model) {
-    other_model->key_pending_.clear();
-  }
-
-  // clear namespace and return body
-  other_model->prefix.clear();
-  other_model->suffix.clear();
-  return *this;
-}
-
-
-
-// copy src list of elements into dst; set body, model and frame
-template <typename T>
-void mjCBody::CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
-                       std::map<mjCFrame*, int>& fmap, const mjCFrame* pframe) {
-  int nsrc = (int)src.size();
-  int ndst = (int)dst.size();
-  for (int i=0; i < nsrc; i++) {
-    if (pframe && !pframe->IsAncestor(src[i]->frame)) {
-      continue;  // skip if the element is not inside pframe
-    }
-    mjSpec* origin = model->FindSpec(src[i]->compiler);
-    T* new_obj = model->deepcopy_ ? new T(*src[i]) : src[i];
-    dst.push_back(new_obj);
-    dst.back()->body = this;
-    dst.back()->model = model;
-    dst.back()->compiler = origin ? &origin->compiler : &model->spec.compiler;
-    dst.back()->id = -1;
-    dst.back()->CopyPlugin();
-    dst.back()->classname = src[i]->classname;
-
-    // increment refcount if shallow copy is made
-    if (!model->deepcopy_) {
-      dst.back()->AddRef();
-    }
-
-    // set namespace
-    dst.back()->NameSpace(src[i]->model);
-  }
-
-  // assign dst frame to src frame
-  // needs to be done after the copy in case T is an mjCFrame
-  int j = 0;
-  for (int i = 0; i < src.size(); i++) {
-    if (pframe && !pframe->IsAncestor(src[i]->frame)) {
-      continue;  // skip if the element is not inside pframe
-    }
-    dst[ndst + j++]->frame = src[i]->frame ? frames[fmap[src[i]->frame]] : nullptr;
-  }
-}
-
-
-
-// find and remove subtree
-mjCBody& mjCBody::operator-=(const mjCBody& subtree) {
-  for (int i=0; i < bodies.size(); i++) {
-    if (bodies[i] == &subtree) {
-      bodies.erase(bodies.begin() + i);
-      break;
-    }
-    *bodies[i] -= subtree;
-  }
-
-  return *this;
-}
-
-
-
-// set model of this body and its subtree
-void mjCBody::SetModel(mjCModel* _model) {
-  model = _model;
-  mjSpec* origin = _model->FindSpec(compiler);
-  compiler = origin ? &origin->compiler : &model->spec.compiler;
-
-  for (auto& body : bodies) {
-    body->SetModel(_model);
-  }
-  for (auto& frame : frames) {
-    origin = _model->FindSpec(frame->compiler);
-    frame->model = _model;
-    frame->compiler = origin ? &origin->compiler : &model->spec.compiler;
-  }
-  for (auto& geom : geoms) {
-    origin = _model->FindSpec(geom->compiler);
-    geom->model = _model;
-    geom->compiler = origin ? &origin->compiler : &model->spec.compiler;
-  }
-  for (auto& joint : joints) {
-    origin = _model->FindSpec(joint->compiler);
-    joint->model = _model;
-    joint->compiler = origin ? &origin->compiler : &model->spec.compiler;
-  }
-  for (auto& site : sites) {
-    origin = _model->FindSpec(site->compiler);
-    site->model = _model;
-    site->compiler = origin ? &origin->compiler : &model->spec.compiler;
-  }
-  for (auto& camera : cameras) {
-    origin = _model->FindSpec(camera->compiler);
-    camera->model = _model;
-    camera->compiler = origin ? &origin->compiler : &model->spec.compiler;
-  }
-  for (auto& light : lights) {
-    origin = _model->FindSpec(light->compiler);
-    light->model = _model;
-    light->compiler = origin ? &origin->compiler : &model->spec.compiler;
-  }
-}
-
-
-
-// reset ids of all objects in this body
-void mjCBody::ResetId() {
-  id = -1;
-  for (auto& body : bodies) {
-    body->ResetId();
-  }
-  for (auto& frame : frames) {
-    frame->id = -1;
-  }
-  for (auto& geom : geoms) {
-    geom->id = -1;
-  }
-  for (auto& joint : joints) {
-    joint->id = -1;
-    joint->qposadr_ = -1;
-    joint->dofadr_ = -1;
-  }
-  for (auto& site : sites) {
-    site->id = -1;
-  }
-  for (auto& camera : cameras) {
-    camera->id = -1;
-  }
-  for (auto& light : lights) {
-    light->id = -1;
-  }
-}
-
-
-
-void mjCBody::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.childclass = &classname;
-  spec.userdata = &spec_userdata_;
-  spec.plugin.plugin_name = &plugin_name;
-  spec.plugin.name = (&plugin_instance_name);
-  spec.info = &info;
-  userdata = nullptr;
-}
-
-
-void mjCBody::CopyFromSpec() {
-  *static_cast<mjsBody*>(this) = spec;
-  userdata_ = spec_userdata_;
-  plugin.active = spec.plugin.active;
-  plugin.element = spec.plugin.element;
-  plugin.plugin_name = spec.plugin.plugin_name;
-  plugin.name = spec.plugin.name;
-}
-
-
-
-void mjCBody::CopyPlugin() {
-  model->CopyExplicitPlugin(this);
-}
-
-
-
-// destructor
-mjCBody::~mjCBody() {
-  for (int i=0; i < bodies.size(); i++) bodies[i]->Release();
-  for (int i=0; i < geoms.size(); i++) geoms[i]->Release();
-  for (int i=0; i < frames.size(); i++) frames[i]->Release();
-  for (int i=0; i < joints.size(); i++) joints[i]->Release();
-  for (int i=0; i < sites.size(); i++) sites[i]->Release();
-  for (int i=0; i < cameras.size(); i++) cameras[i]->Release();
-  for (int i=0; i < lights.size(); i++) lights[i]->Release();
-}
-
-
-
-// apply prefix and suffix, propagate to children
-void mjCBody::NameSpace(const mjCModel* m) {
-  NameSpace_(m, true);
-}
-
-
-
-// apply prefix and suffix, propagate to all descendants or only to child bodies
-void mjCBody::NameSpace_(const mjCModel* m, bool propagate) {
-  mjCBase::NameSpace(m);
-  if (!plugin_instance_name.empty()) {
-    plugin_instance_name = m->prefix + plugin_instance_name + m->suffix;
-  }
-
-  for (auto& body : bodies) {
-    body->prefix = m->prefix;
-    body->suffix = m->suffix;
-    body->NameSpace_(m, propagate);
-  }
-
-  if (!propagate) {
-    return;
-  }
-
-  for (auto& joint : joints) {
-    joint->NameSpace(m);
-  }
-
-  for (auto& geom : geoms) {
-    geom->NameSpace(m);
-  }
-
-  for (auto& site : sites) {
-    site->NameSpace(m);
-  }
-
-  for (auto& camera : cameras) {
-    camera->NameSpace(m);
-  }
-
-  for (auto& light : lights) {
-    light->NameSpace(m);
-  }
-
-  for (auto& frame : frames) {
-    frame->NameSpace(m);
-  }
-}
-
-
-
-// create child body and add it to body
-mjCBody* mjCBody::AddBody(mjCDef* _def) {
-  // create body
-  mjCBody* obj = new mjCBody(model);
-
-  // handle def recursion (i.e. childclass)
-  obj->classname = _def ? _def->name : classname;
-
-  bodies.push_back(obj);
-
-  // recompute lists
-  model->ResetTreeLists();
-  model->MakeTreeLists();
-
-  obj->parent = this;
-
-  // update signature
-  model->spec.element->signature = model->Signature();
-  return obj;
-}
-
-
-
-// create new frame and add it to body
-mjCFrame* mjCBody::AddFrame(mjCFrame* _frame) {
-  mjCFrame* obj = new mjCFrame(model, _frame ? _frame : NULL);
-  frames.push_back(obj);
-  model->ResetTreeLists();
-  model->MakeTreeLists();
-
-  // update signature
-  model->spec.element->signature = model->Signature();
-  return obj;
-}
-
-
-
-// create new free joint (no default inheritance) and add it to body
-mjCJoint* mjCBody::AddFreeJoint() {
-  // create free joint, don't inherit from defaults
-  mjCJoint* obj = new mjCJoint(model, NULL);
-  obj->spec.type = mjJNT_FREE;
-
-  // set body pointer, add
-  obj->body = this;
-
-  joints.push_back(obj);
-
-  // recompute lists
-  model->ResetTreeLists();
-  model->MakeTreeLists();
-
-  // update signature
-  model->spec.element->signature = model->Signature();
-  return obj;
-}
-
-
-
-// create new joint and add it to body
-mjCJoint* mjCBody::AddJoint(mjCDef* _def) {
-  // create joint
-  mjCJoint* obj = new mjCJoint(model, _def ? _def : model->def_map[classname]);
-
-  // set body pointer, add
-  obj->body = this;
-
-  joints.push_back(obj);
-
-  // recompute lists
-  model->ResetTreeLists();
-  model->MakeTreeLists();
-
-  // update signature
-  model->spec.element->signature = model->Signature();
-  return obj;
-}
-
-
-
-// create new geom and add it to body
-mjCGeom* mjCBody::AddGeom(mjCDef* _def) {
-  // create geom
-  mjCGeom* obj = new mjCGeom(model, _def ? _def : model->def_map[classname]);
-
-  //  set body pointer, add
-  obj->body = this;
-
-  geoms.push_back(obj);
-
-  // recompute lists
-  model->ResetTreeLists();
-  model->MakeTreeLists();
-
-  // update signature
-  model->spec.element->signature = model->Signature();
-  return obj;
-}
-
-
-
-// create new site and add it to body
-mjCSite* mjCBody::AddSite(mjCDef* _def) {
-  // create site
-  mjCSite* obj = new mjCSite(model, _def ? _def : model->def_map[classname]);
-
-  // set body pointer, add
-  obj->body = this;
-
-  sites.push_back(obj);
-
-  // recompute lists
-  model->ResetTreeLists();
-  model->MakeTreeLists();
-
-  // update signature
-  model->spec.element->signature = model->Signature();
-  return obj;
-}
-
-
-
-// create new camera and add it to body
-mjCCamera* mjCBody::AddCamera(mjCDef* _def) {
-  // create camera
-  mjCCamera* obj = new mjCCamera(model, _def ? _def : model->def_map[classname]);
-
-  // set body pointer, add
-  obj->body = this;
-
-  cameras.push_back(obj);
-
-  // recompute lists
-  model->ResetTreeLists();
-  model->MakeTreeLists();
-
-  // update signature
-  model->spec.element->signature = model->Signature();
-  return obj;
-}
-
-
-
-// create new light and add it to body
-mjCLight* mjCBody::AddLight(mjCDef* _def) {
-  // create light
-  mjCLight* obj = new mjCLight(model, _def ? _def : model->def_map[classname]);
-
-  // set body pointer, add
-  obj->body = this;
-
-  lights.push_back(obj);
-
-  // recompute lists
-  model->ResetTreeLists();
-  model->MakeTreeLists();
-
-  // update signature
-  model->spec.element->signature = model->Signature();
-  return obj;
-}
-
-
-
-// create a frame in the parent body and move all contents of this body into it
-mjCFrame* mjCBody::ToFrame() {
-  mjCFrame* newframe = parent->AddFrame(frame);
-  mjuu_copyvec(newframe->spec.pos, spec.pos, 3);
-  mjuu_copyvec(newframe->spec.quat, spec.quat, 4);
-  if (parent->name != "world" && mass >= mjMINVAL) {
-    if (!parent->explicitinertial) {
-      parent->MakeInertialExplicit();
-      mjuu_zerovec(parent->spec.ipos, 3);
-      mjuu_zerovec(parent->spec.iquat, 4);
-      mjuu_zerovec(parent->spec.inertia, 3);
-    }
-    parent->AccumulateInertia(&this->spec, &parent->spec);
-  }
-  MapFrame(parent->bodies, bodies, newframe, parent);
-  MapFrame(parent->geoms, geoms, newframe, parent);
-  MapFrame(parent->joints, joints, newframe, parent);
-  MapFrame(parent->sites, sites, newframe, parent);
-  MapFrame(parent->cameras, cameras, newframe, parent);
-  MapFrame(parent->lights, lights, newframe, parent);
-  MapFrame(parent->frames, frames, newframe, parent);
-  parent->bodies.erase(
-      std::remove_if(parent->bodies.begin(), parent->bodies.end(),
-                     [this](mjCBody* body) { return body == this; }),
-      parent->bodies.end());
-  model->ResetTreeLists();
-  model->MakeTreeLists();
-  model->spec.element->signature = model->Signature();
-  return newframe;
-}
-
-
-
-// get number of objects of specified type
-int mjCBody::NumObjects(mjtObj type) {
-  switch (type) {
-    case mjOBJ_BODY:
-    case mjOBJ_XBODY:
-      return (int)bodies.size();
-    case mjOBJ_JOINT:
-      return (int)joints.size();
-    case mjOBJ_GEOM:
-      return (int)geoms.size();
-    case mjOBJ_SITE:
-      return (int)sites.size();
-    case mjOBJ_CAMERA:
-      return (int)cameras.size();
-    case mjOBJ_LIGHT:
-      return (int)lights.size();
-    default:
-      return 0;
-  }
-}
-
-
-
-// get poiner to specified object
-mjCBase* mjCBody::GetObject(mjtObj type, int i) {
-  if (i >= 0 && i < NumObjects(type)) {
-    switch (type) {
-      case mjOBJ_BODY:
-      case mjOBJ_XBODY:
-        return bodies[i];
-      case mjOBJ_JOINT:
-        return joints[i];
-      case mjOBJ_GEOM:
-        return geoms[i];
-      case mjOBJ_SITE:
-        return sites[i];
-      case mjOBJ_CAMERA:
-        return cameras[i];
-      case mjOBJ_LIGHT:
-        return lights[i];
-      default:
-        return 0;
-    }
-  }
-
-  return 0;
-}
-
-
-
-// find object by name in given list
-template <class T>
-static T* findobject(const std::string& name, const std::vector<T*>& list) {
-  for (unsigned int i=0; i < list.size(); i++) {
-    if (list[i]->name == name) {
-      return list[i];
-    }
-  }
-
-  return 0;
-}
-
-
-
-// recursive find by name
-mjCBase* mjCBody::FindObject(mjtObj type, const std::string& _name, bool recursive) const {
-  mjCBase* res = 0;
-
-  // check self: just in case
-  if (name == _name) {
-    return const_cast<mjCBody*>(this);
-  }
-
-  // search elements of this body
-  if (type == mjOBJ_BODY || type == mjOBJ_XBODY) {
-    res = findobject(_name, bodies);
-  } else if (type == mjOBJ_JOINT) {
-    res = findobject(_name, joints);
-  } else if (type == mjOBJ_GEOM) {
-    res = findobject(_name, geoms);
-  } else if (type == mjOBJ_SITE) {
-    res = findobject(_name, sites);
-  } else if (type == mjOBJ_CAMERA) {
-    res = findobject(_name, cameras);
-  } else if (type == mjOBJ_LIGHT) {
-    res = findobject(_name, lights);
-  }
-
-  // found
-  if (res) {
-    return res;
-  }
-
-  // search children
-  if (recursive) {
-    for (int i=0; i < (int)bodies.size(); i++) {
-      if ((res = bodies[i]->FindObject(type, _name, true))) {
-        return res;
-      }
-    }
-  }
-
-  // not found
-  return res;
-}
-
-
-
-// get list of a given type
-template<>
-const std::vector<mjCBody*>& mjCBody::GetList<mjCBody>() const {
-  return bodies;
-}
-
-template<>
-const std::vector<mjCJoint*>& mjCBody::GetList<mjCJoint>() const {
-  return joints;
-}
-
-template<>
-const std::vector<mjCGeom*>& mjCBody::GetList<mjCGeom>() const {
-  return geoms;
-}
-
-template<>
-const std::vector<mjCSite*>& mjCBody::GetList<mjCSite>() const {
-  return sites;
-}
-
-template<>
-const std::vector<mjCCamera*>& mjCBody::GetList<mjCCamera>() const {
-  return cameras;
-}
-
-template<>
-const std::vector<mjCLight*>& mjCBody::GetList<mjCLight>() const {
-  return lights;
-}
-
-template<>
-const std::vector<mjCFrame*>& mjCBody::GetList<mjCFrame>() const {
-  return frames;
-}
-
-
-
-// gets next child of the same type, recursively depth first if requested
-template <class T>
-static mjsElement* GetNext(const mjCBody* body, const mjsElement* child,
-                           bool* found, bool recursive) {
-  std::vector<T*> list = body->GetList<T>();
-
-  for (unsigned int i = 0; i < list.size(); i++) {
-    if (*found) {
-      return list[i]->spec.element;
-    }
-
-    if (list[i]->spec.element == child) {
-      *found = true;
-    }
-  }
-
-  if (!recursive) {
-    return nullptr;
-  }
-
-  for (auto& other : body->Bodies()) {
-    mjsElement* candidate = GetNext<T>(other, child, found, true);
-    if (candidate) {
-      return candidate;
-    }
-  }
-
-  return nullptr;
-}
-
-
-
-// get next body depth first
-static mjsElement* GetNextBody(const mjCBody* body, const mjsElement* child,
-                              bool* found, bool recursive) {
-  for (auto& other : body->Bodies()) {
-    if (*found) {
-      return other->spec.element;
-    }
-
-    if (other->spec.element == child) {
-      *found = true;
-    }
-
-    if (!recursive) {
-      continue;
-    }
-
-    mjsElement* candidate = GetNextBody(other, child, found, true);
-    if (candidate) {
-      return candidate;
-    }
-  }
-
-  return nullptr;
-}
-
-
-
-
-// get next child of given type
-mjsElement* mjCBody::NextChild(const mjsElement* child, mjtObj type, bool recursive) const {
-  if (type == mjOBJ_UNKNOWN) {
-    if (!child) {
-      throw mjCError(this, "child type must be specified if no child element is given");
-    } else {
-      type = child->elemtype;
-    }
-  } else if (child && child->elemtype != type) {
-    throw mjCError(this, "child element is not of requested type");
-  }
-
-  mjsElement* candidate = nullptr;
-  bool found = child == nullptr;
-  switch (type) {
-    case mjOBJ_BODY:
-    case mjOBJ_XBODY:
-      candidate = GetNextBody(this, child, &found, recursive);
-      break;
-    case mjOBJ_JOINT:
-      candidate = GetNext<mjCJoint>(this, child, &found, recursive);
-      break;
-    case mjOBJ_GEOM:
-      candidate = GetNext<mjCGeom>(this, child, &found, recursive);
-      break;
-    case mjOBJ_SITE:
-      candidate = GetNext<mjCSite>(this, child, &found, recursive);
-      break;
-    case mjOBJ_CAMERA:
-      candidate = GetNext<mjCCamera>(this, child, &found, recursive);
-      break;
-    case mjOBJ_LIGHT:
-      candidate = GetNext<mjCLight>(this, child, &found, recursive);
-      break;
-    case mjOBJ_FRAME:
-      candidate = GetNext<mjCFrame>(this, child, &found, recursive);
-      break;
-    default:
-      throw mjCError(this,
-                     "Body.NextChild supports the types: body, frame, geom, "
-                     "site, light, camera");
-      break;
-  }
-
-  return candidate;
-}
-
-
-
-// compute geom inertial frame: ipos, iquat, mass, inertia
-void mjCBody::InertiaFromGeom(void) {
-  int sz;
-  double com[3] = {0, 0, 0};
-  double toti[6] = {0, 0, 0, 0, 0, 0};
-  std::vector<mjCGeom*> sel;
-
-  // select geoms based on group, ignore tiny masses
-  sel.clear();
-  for (int i=0; i < geoms.size(); i++) {
-    if (geoms[i]->group >= compiler->inertiagrouprange[0] &&
-        geoms[i]->group <= compiler->inertiagrouprange[1] &&
-        geoms[i]->mass_ > mjEPS) {
-      sel.push_back(geoms[i]);
-    }
-  }
-  sz = sel.size();
-
-  // single geom: copy
-  if (sz == 1) {
-    mjuu_copyvec(ipos, sel[0]->pos, 3);
-    mjuu_copyvec(iquat, sel[0]->quat, 4);
-    mass = sel[0]->mass_;
-    mjuu_copyvec(inertia, sel[0]->inertia, 3);
-  }
-
-  // multiple geoms
-  else if (sz > 1) {
-    // compute total mass and center of mass
-    mass = 0;
-    for (int i=0; i < sz; i++) {
-      mass += sel[i]->mass_;
-      com[0] += sel[i]->mass_ * sel[i]->pos[0];
-      com[1] += sel[i]->mass_ * sel[i]->pos[1];
-      com[2] += sel[i]->mass_ * sel[i]->pos[2];
-    }
-
-    // check for small mass
-    if (mass < mjEPS) {
-      throw mjCError(this, "body mass is too small, cannot compute center of mass");
-    }
-
-    // ipos = geom com
-    ipos[0] = com[0]/mass;
-    ipos[1] = com[1]/mass;
-    ipos[2] = com[2]/mass;
-
-    // add geom inertias
-    for (int i=0; i < sz; i++) {
-      double inert0[6], inert1[6];
-      double dpos[3] = {
-        sel[i]->pos[0] - ipos[0],
-        sel[i]->pos[1] - ipos[1],
-        sel[i]->pos[2] - ipos[2]
-      };
-
-      mjuu_globalinertia(inert0, sel[i]->inertia, sel[i]->quat);
-      mjuu_offcenter(inert1, sel[i]->mass_, dpos);
-      for (int j=0; j < 6; j++) {
-        toti[j] = toti[j] + inert0[j] + inert1[j];
-      }
-    }
-
-    // compute principal axes of inertia
-    mjuu_copyvec(fullinertia, toti, 6);
-    const char* errq = mjuu_fullInertia(iquat, inertia, fullinertia);
-    if (errq) {
-      throw mjCError(this, "error '%s' in alternative for principal axes", errq);
-    }
-  }
-}
-
-
-
-// set explicitinertial to true
-void mjCBody::MakeInertialExplicit() {
-  spec.explicitinertial = true;
-}
-
-
-
-// accumulate inertia of another body into this body
-void mjCBody::AccumulateInertia(const mjsBody* other, mjsBody* result) {
-  if (!result) {
-    result = this;  // use the private mjsBody
-  }
-
-  // body_ipose = body_pose * body_ipose
-  double other_ipos[3];
-  double other_iquat[4];
-  mjuu_copyvec(other_ipos, other->pos, 3);
-  mjuu_copyvec(other_iquat, other->quat, 4);
-  mjuu_frameaccum(other_ipos, other_iquat, other->ipos, other->iquat);
-
-  // organize data
-  double mass[2] = {
-    result->mass,
-    other->mass
-  };
-  double inertia[2][3] = {
-    {result->inertia[0], result->inertia[1], result->inertia[2]},
-    {other->inertia[0], other->inertia[1], other->inertia[2]}
-  };
-  double ipos[2][3] = {
-    {result->ipos[0], result->ipos[1], result->ipos[2]},
-    {other_ipos[0], other_ipos[1], other_ipos[2]}
-  };
-  double iquat[2][4] = {
-    {result->iquat[0], result->iquat[1], result->iquat[2], result->iquat[3]},
-    {other_iquat[0], other_iquat[1], other_iquat[2], other_iquat[3]}
-  };
-
-  // compute total mass
-  result->mass = 0;
-  mjuu_setvec(result->ipos, 0, 0, 0);
-  for (int j=0; j < 2; j++) {
-    result->mass += mass[j];
-    result->ipos[0] += mass[j]*ipos[j][0];
-    result->ipos[1] += mass[j]*ipos[j][1];
-    result->ipos[2] += mass[j]*ipos[j][2];
-  }
-
-  // small mass: allow for now, check for errors later
-  if (result->mass < mjMINVAL) {
-    result->mass = 0;
-    mjuu_setvec(result->inertia, 0, 0, 0);
-    mjuu_setvec(result->ipos, 0, 0, 0);
-    mjuu_setvec(result->iquat, 1, 0, 0, 0);
-  }
-
-  // proceed with regular computation
-  else {
-    // locipos = center-of-mass
-    result->ipos[0] /= result->mass;
-    result->ipos[1] /= result->mass;
-    result->ipos[2] /= result->mass;
-
-    // add inertias
-    double toti[6] = {0, 0, 0, 0, 0, 0};
-    for (int j=0; j < 2; j++) {
-      double inertA[6], inertB[6];
-      double dpos[3] = {
-        ipos[j][0] - result->ipos[0],
-        ipos[j][1] - result->ipos[1],
-        ipos[j][2] - result->ipos[2]
-      };
-
-      mjuu_globalinertia(inertA, inertia[j], iquat[j]);
-      mjuu_offcenter(inertB, mass[j], dpos);
-      for (int k=0; k < 6; k++) {
-        toti[k] += inertA[k] + inertB[k];
-      }
-    }
-
-    // compute principal axes of inertia
-    mjuu_copyvec(result->fullinertia, toti, 6);
-    const char* err1 = mjuu_fullInertia(result->iquat, result->inertia, result->fullinertia);
-    if (err1) {
-      throw mjCError(nullptr, "error '%s' in fusing static body inertias", err1);
-    }
-  }
-}
-
-
-
-// compute bounding volume hierarchy
-void mjCBody::ComputeBVH() {
-  if (geoms.empty()) {
-    return;
-  }
-
-  tree.Set(ipos, iquat);
-  tree.AllocateBoundingVolumes(geoms.size());
-  for (const mjCGeom* geom : geoms) {
-    tree.AddBoundingVolume(&geom->id, geom->contype, geom->conaffinity,
-                           geom->pos, geom->quat, geom->aabb);
-  }
-  tree.CreateBVH(model, this);
-}
-
-
-
-// reset keyframe references for allowing self-attach
-void mjCBody::ForgetKeyframes() const {
-  for (auto joint : joints) {
-    joint->qpos_.clear();
-    joint->qvel_.clear();
-  }
-  ((mjCBody*)this)->mpos_.clear();
-  ((mjCBody*)this)->mquat_.clear();
-  for (auto body : bodies) {
-    body->ForgetKeyframes();
-  }
-}
-
-
-
-mjtNum* mjCBody::mpos(const std::string& state_name) {
-  if (mpos_.find(state_name) == mpos_.end()) {
-    mpos_[state_name] = {mjNAN, 0, 0};
-  }
-  return mpos_.at(state_name).data();
-}
-
-
-
-mjtNum* mjCBody::mquat(const std::string& state_name) {
-  if (mquat_.find(state_name) == mquat_.end()) {
-    mquat_[state_name] = {mjNAN, 0, 0, 0};
-  }
-  return mquat_.at(state_name).data();
-}
-
-
-
-// compiler
-void mjCBody::Compile(void) {
-  CopyFromSpec();
-
-  // compile all frames
-  for (int i=0; i < frames.size(); i++) {
-    frames[i]->Compile();
-  }
-
-  // resize userdata
-  if (userdata_.size() > model->nuser_body) {
-    throw mjCError(this, "user has more values than nuser_body in body");
-  }
-  userdata_.resize(model->nuser_body);
-
-  // normalize user-defined quaternions
-  mjuu_normvec(quat, 4);
-  mjuu_normvec(iquat, 4);
-
-  // set parentid and weldid of children
-  for (int i=0; i < bodies.size(); i++) {
-    bool weld_root = !bodies[i]->joints.empty() || bodies[i]->spec.mocap;
-    bodies[i]->weldid = (weld_root ? bodies[i]->id : weldid);
-  }
-
-  // check and process orientation alternatives for body
-  if (alt.type != mjORIENTATION_QUAT) {
-    const char* err = ResolveOrientation(quat, compiler->degree, compiler->eulerseq, alt);
-    if (err) {
-      throw mjCError(this, "error '%s' in frame alternative", err);
-    }
-  }
-
-  // check orientation alternatives for inertia
-  if (mjuu_defined(fullinertia[0]) && ialt.type != mjORIENTATION_QUAT) {
-    throw mjCError(this, "fullinertia and inertial orientation cannot both be specified");
-  }
-  if (mjuu_defined(fullinertia[0]) && (inertia[0] || inertia[1] || inertia[2])) {
-    throw mjCError(this, "fullinertia and diagonal inertia cannot both be specified");
-  }
-
-  // process orientation alternatives for inertia
-  if (mjuu_defined(fullinertia[0])) {
-    const char* err = mjuu_fullInertia(iquat, inertia, this->fullinertia);
-    if (err) {
-      throw mjCError(this, "error '%s' in fullinertia", err);
-    }
-  }
-
-  if (ialt.type != mjORIENTATION_QUAT) {
-    const char* err = ResolveOrientation(iquat, compiler->degree, compiler->eulerseq, ialt);
-    if (err) {
-      throw mjCError(this, "error '%s' in inertia alternative", err);
-    }
-  }
-
-  // compile all geoms
-  for (int i=0; i < geoms.size(); i++) {
-    geoms[i]->inferinertia = id > 0 &&
-      (!explicitinertial || compiler->inertiafromgeom == mjINERTIAFROMGEOM_TRUE) &&
-      geoms[i]->spec.group >= compiler->inertiagrouprange[0] &&
-      geoms[i]->spec.group <= compiler->inertiagrouprange[1];
-    geoms[i]->Compile();
-  }
-
-  // set inertial frame from geoms if necessary
-  if (id > 0 && (compiler->inertiafromgeom == mjINERTIAFROMGEOM_TRUE ||
-                 (!mjuu_defined(ipos[0]) && compiler->inertiafromgeom == mjINERTIAFROMGEOM_AUTO))) {
-    InertiaFromGeom();
-  }
-
-  // ipos undefined: copy body frame into inertial
-  if (!mjuu_defined(ipos[0])) {
-    mjuu_copyvec(ipos, pos, 3);
-    mjuu_copyvec(iquat, quat, 4);
-  }
-
-  // check and correct mass and inertia
-  if (id > 0) {
-    // fix minimum
-    mass = std::max(mass, compiler->boundmass);
-    inertia[0] = std::max(inertia[0], compiler->boundinertia);
-    inertia[1] = std::max(inertia[1], compiler->boundinertia);
-    inertia[2] = std::max(inertia[2], compiler->boundinertia);
-
-    // check for negative values
-    if (mass < 0 || inertia[0] < 0 || inertia[1] < 0 ||inertia[2] < 0) {
-      throw mjCError(this, "mass and inertia cannot be negative");
-    }
-
-    // check for non-physical inertia
-    if (inertia[0] + inertia[1] < inertia[2] ||
-        inertia[0] + inertia[2] < inertia[1] ||
-        inertia[1] + inertia[2] < inertia[0]) {
-      if (compiler->balanceinertia) {
-        inertia[0] = inertia[1] = inertia[2] = (inertia[0] + inertia[1] + inertia[2])/3.0;
-      } else {
-        throw mjCError(this, "inertia must satisfy A + B >= C; use 'balanceinertia' to fix");
-      }
-    }
-  }
-
-  // frame
-  if (frame) {
-    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
-  }
-
-  // accumulate rbound, contype, conaffinity over geoms
-  contype = conaffinity = 0;
-  margin = 0;
-  for (int i=0; i < geoms.size(); i++) {
-    contype |= geoms[i]->contype;
-    conaffinity |= geoms[i]->conaffinity;
-    margin = std::max(margin, geoms[i]->margin + geoms[i]->gap);
-  }
-
-  // check conditions for free-joint alignment
-  bool align_free = (joints.size() == 1                  &&  // only one joint AND
-                     joints[0]->spec.type == mjJNT_FREE  &&  // it is a free joint AND
-                     bodies.empty()                      &&  // no child bodies AND
-                     (joints[0]->spec.align == 1 ||          // either joint.align="true"
-                      (joints[0]->spec.align == 2        &&  // or (joint.align="auto"
-                       compiler->alignfree)));               //     and compiler->align="true")
-
-  // free-joint alignment, phase 1 (this body + child geoms)
-  double ipos_inverse[3], iquat_inverse[4];
-  if (align_free) {
-    // accumulate iframe transformation to body frame
-    mjuu_frameaccum(pos, quat, ipos, iquat);
-
-    // compute inverse iframe transformation
-    mjuu_frameinvert(ipos_inverse, iquat_inverse, ipos, iquat);
-
-    // save iframe, set it to null
-    mjuu_setvec(ipos, 0, 0, 0);
-    mjuu_setvec(iquat, 1, 0, 0, 0);
-
-    // apply inverse iframe transformation to all child geoms
-    for (int i=0; i < geoms.size(); i++) {
-      mjuu_frameaccumChild(ipos_inverse, iquat_inverse, geoms[i]->pos, geoms[i]->quat);
-    }
-  }
-
-  // compute bounding volume hierarchy
-  ComputeBVH();
-
-  // compile all joints, count dofs
-  dofnum = 0;
-  for (int i=0; i < joints.size(); i++) {
-    dofnum += joints[i]->Compile();
-  }
-
-  // check for excessive number of dofs
-  if (dofnum > 6) {
-    throw mjCError(this, "more than 6 dofs in body '%s'", name.c_str());
-  }
-
-  // check for rotation dof after ball joint
-  bool hasball = false;
-  for (int i=0; i < joints.size(); i++) {
-    if ((joints[i]->type == mjJNT_BALL || joints[i]->type == mjJNT_HINGE) && hasball) {
-      throw mjCError(this, "ball followed by rotation in body '%s'", name.c_str());
-    }
-    if (joints[i]->type == mjJNT_BALL) {
-      hasball = true;
-    }
-  }
-
-  // make sure mocap body is fixed child of world
-  if (mocap && (dofnum || (parent && parent->name != "world"))) {
-    throw mjCError(this, "mocap body '%s' is not a fixed child of world", name.c_str());
-  }
-
-  // compute body global pose (no joint transformations in qpos0)
-  if (id > 0) {
-    mjuu_rotVecQuat(xpos0, pos, parent->xquat0);
-    mjuu_addtovec(xpos0, parent->xpos0, 3);
-    mjuu_mulquat(xquat0, parent->xquat0, quat);
-  }
-
-  // compile all sites
-  for (int i=0; i < sites.size(); i++)sites[i]->Compile();
-
-  // compile all cameras
-  for (int i=0; i < cameras.size(); i++)cameras[i]->Compile();
-
-  // compile all lights
-  for (int i=0; i < lights.size(); i++)lights[i]->Compile();
-
-  // plugin
-  if (plugin.active) {
-    if (plugin_name.empty() && plugin_instance_name.empty()) {
-      throw mjCError(
-              this, "neither 'plugin' nor 'instance' is specified for body '%s', (id = %d)",
-              name.c_str(), id);
-    }
-
-    mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
-    model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
-    plugin.element = plugin_instance;
-    const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
-    if (!(pplugin->capabilityflags & mjPLUGIN_PASSIVE)) {
-      throw mjCError(this, "plugin '%s' does not support passive forces", pplugin->name);
-    }
-  }
-
-  // free joint alignment, phase 2 (transform sites, cameras and lights)
-  if (align_free) {
-    // frames have already been compiled and applied to children
-
-    // sites
-    for (int i=0; i < sites.size(); i++) {
-      mjuu_frameaccumChild(ipos_inverse, iquat_inverse, sites[i]->pos, sites[i]->quat);
-    }
-
-    // cameras
-    for (int i=0; i < cameras.size(); i++) {
-      mjuu_frameaccumChild(ipos_inverse, iquat_inverse, cameras[i]->pos, cameras[i]->quat);
-    }
-
-    // lights
-    for (int i=0; i < lights.size(); i++) {
-      double qunit[4]= {1, 0, 0, 0};
-      mjuu_frameaccumChild(ipos_inverse, iquat_inverse, lights[i]->pos, qunit);
-      mjuu_rotVecQuat(lights[i]->dir, lights[i]->dir, iquat_inverse);
-    }
-  }
-}
-
-
-
-//------------------ class mjCFrame implementation -------------------------------------------------
-
-// initialize frame
-mjCFrame::mjCFrame(mjCModel* _model, mjCFrame* _frame) {
-  mjs_defaultFrame(&spec);
-  elemtype = mjOBJ_FRAME;
-  compiled = false;
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  body = NULL;
-  frame = _frame ? _frame : NULL;
-  last_attached = nullptr;
-  PointToLocal();
-  CopyFromSpec();
-}
-
-
-
-mjCFrame::mjCFrame(const mjCFrame& other) {
-  *this = other;
-}
-
-
-
-mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCFrame_*>(this) = static_cast<const mjCFrame_&>(other);
-    *static_cast<mjsFrame*>(this) = static_cast<const mjsFrame&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-// attach body to frame
-mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
-  // append a copy of the attached spec
-  if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
-    model->AppendSpec(&other.model->spec, &other.model->spec.compiler);
-    static_cast<mjCModel*>(other.model->spec.element)->AddRef();
-  }
-
-  // apply namespace and store keyframes in the source model
-  other.model->prefix = other.prefix;
-  other.model->suffix = other.suffix;
-  other.model->StoreKeyframes(model);
-  other.model->prefix = "";
-  other.model->suffix = "";
-  mjCModel* other_model = other.model;
-
-  // attach or copy the subtree
-  mjCBody* subtree = model->deepcopy_ ? new mjCBody(other, model) : (mjCBody*)&other;
-  if (model->deepcopy_) {
-    other.ForgetKeyframes();
-  } else {
-    subtree->SetModel(model);
-    subtree->ResetId();
-    subtree->AddRef();
-  }
-  other_model->prefix = subtree->prefix;
-  other_model->suffix = subtree->suffix;
-  subtree->SetParent(body);
-  subtree->SetFrame(this);
-  subtree->NameSpace(other_model);
-
-  // attach defaults
-  if (other_model != model) {
-    mjCDef* subdef = new mjCDef(*other_model->Default());
-    subdef->NameSpace(other_model);
-    *model += *subdef;
-  }
-
-  // add to body children
-  body->bodies.push_back(subtree);
-  last_attached = &body->bodies.back()->spec;
-
-  // attach referencing elements
-  other_model->SetAttached(model->deepcopy_);
-  *model += *other_model;
-
-  // leave the source model in a clean state
-  if (other_model != model) {
-    other_model->key_pending_.clear();
-  }
-
-  // clear suffixes and return
-  other_model->suffix.clear();
-  other_model->prefix.clear();
-  return *this;
-}
-
-
-
-// return true if child is descendent of this frame
-bool mjCFrame::IsAncestor(const mjCFrame* child) const {
-  if (!child) {
-    return false;
-  }
-
-  if (child == this) {
-    return true;
-  }
-
-  return IsAncestor(child->frame);
-}
-
-
-
-void mjCFrame::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.childclass = &classname;
-  spec.info = &info;
-}
-
-
-
-void mjCFrame::CopyFromSpec() {
-  *static_cast<mjsFrame*>(this) = spec;
-  mjuu_copyvec(pos, spec.pos, 3);
-  mjuu_copyvec(quat, spec.quat, 4);
-}
-
-
-
-void mjCFrame::Compile() {
-  if (compiled) {
-    return;
-  }
-
-  CopyFromSpec();
-  const char* err = ResolveOrientation(quat, compiler->degree, compiler->eulerseq, alt);
-  if (err) {
-    throw mjCError(this, "orientation specification error '%s' in site %d", err, id);
-  }
-
-  // compile parents and accumulate result
-  if (frame) {
-    frame->Compile();
-    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
-  }
-
-  mjuu_normvec(quat, 4);
-  compiled = true;
-}
-
-
-
-//------------------ class mjCJoint implementation -------------------------------------------------
-
-// initialize default joint
-mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultJoint(&spec);
-  elemtype = mjOBJ_JOINT;
-
-  // clear internal variables
-  spec_userdata_.clear();
-  body = 0;
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Joint();
-  }
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-
-  // point to local
-  PointToLocal();
-
-  // in case this joint is not compiled
-  CopyFromSpec();
-
-  // no previous state when a joint is created
-  qposadr_ = -1;
-  dofadr_ = -1;
-}
-
-
-
-mjCJoint::mjCJoint(const mjCJoint& other) {
-  *this = other;
-}
-
-
-
-mjCJoint& mjCJoint::operator=(const mjCJoint& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCJoint_*>(this) = static_cast<const mjCJoint_&>(other);
-    *static_cast<mjsJoint*>(this) = static_cast<const mjsJoint&>(other);
-    qposadr_ = -1;
-    dofadr_ = -1;
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-bool mjCJoint::is_limited() const {
-  return islimited(limited, range);
-}
-bool mjCJoint::is_actfrclimited() const {
-  return islimited(actfrclimited, actfrcrange);
-}
-
-
-
-int mjCJoint::nq(mjtJoint joint_type) {
-  switch (joint_type) {
-    case mjJNT_FREE:
-      return 7;
-    case mjJNT_BALL:
-      return 4;
-    case mjJNT_SLIDE:
-    case mjJNT_HINGE:
-      return 1;
-  }
-  return 1;
-}
-
-
-
-int mjCJoint::nv(mjtJoint joint_type) {
-  switch (joint_type) {
-    case mjJNT_FREE:
-      return 6;
-    case mjJNT_BALL:
-      return 3;
-    case mjJNT_SLIDE:
-    case mjJNT_HINGE:
-      return 1;
-  }
-  return 1;
-}
-
-
-
-mjtNum* mjCJoint::qpos(const std::string& state_name) {
-  if (qpos_.find(state_name) == qpos_.end()) {
-    qpos_[state_name] = {mjNAN, 0, 0, 0, 0, 0, 0};
-  }
-  return qpos_.at(state_name).data();
-}
-
-
-
-mjtNum* mjCJoint::qvel(const std::string& state_name) {
-  if (qvel_.find(state_name) == qvel_.end()) {
-    qvel_[state_name] = {mjNAN, 0, 0, 0, 0, 0};
-  }
-  return qvel_.at(state_name).data();
-}
-
-
-
-void mjCJoint::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.userdata = &spec_userdata_;
-  spec.info = &info;
-  userdata = nullptr;
-}
-
-
-
-void mjCJoint::CopyFromSpec() {
-  *static_cast<mjsJoint*>(this) = spec;
-  userdata_ = spec_userdata_;
-}
-
-
-
-// compiler
-int mjCJoint::Compile(void) {
-  CopyFromSpec();
-
-  // resize userdata
-  if (userdata_.size() > model->nuser_jnt) {
-    throw mjCError(this, "user has more values than nuser_jnt in joint");
-  }
-  userdata_.resize(model->nuser_jnt);
-
-  // check springdamper
-  if (springdamper[0] || springdamper[1]) {
-    if (springdamper[0] <= 0 || springdamper[1] <= 0) {
-      throw mjCError(this, "when defined, springdamper values must be positive in joint");
-    }
-  }
-
-  // free joints cannot be limited
-  if (type == mjJNT_FREE) {
-    limited = mjLIMITED_FALSE;
-  }
-
-  // otherwise if limited is auto, check consistency wrt auto-limits
-  else if (limited == mjLIMITED_AUTO) {
-    bool hasrange = !(range[0] == 0 && range[1] == 0);
-    checklimited(this, compiler->autolimits, "joint", "", limited, hasrange);
-  }
-
-  // resolve limits
-  if (is_limited()) {
-    // check data
-    if (range[0] >= range[1] && type != mjJNT_BALL) {
-      throw mjCError(this, "range[0] should be smaller than range[1] in joint");
-    }
-    if (range[0] && type == mjJNT_BALL) {
-      throw mjCError(this, "range[0] should be 0 in ball joint");
-    }
-
-    // convert limits to radians
-    if (compiler->degree && (type == mjJNT_HINGE || type == mjJNT_BALL)) {
-      if (range[0]) {
-        range[0] *= mjPI/180.0;
-      }
-      if (range[1]) {
-        range[1] *= mjPI/180.0;
-      }
-    }
-  }
-
-  // actuator force range: none for free or ball joints
-  if (type == mjJNT_FREE || type == mjJNT_BALL) {
-    actfrclimited = mjLIMITED_FALSE;
-  }
-
-  // otherwise if actfrclimited is auto, check consistency wrt auto-limits
-  else if (actfrclimited == mjLIMITED_AUTO) {
-    bool hasrange = !(actfrcrange[0] == 0 && actfrcrange[1] == 0);
-    checklimited(this, compiler->autolimits, "joint", "", actfrclimited, hasrange);
-  }
-
-  // resolve actuator force range limits
-  if (is_actfrclimited()) {
-    // check data
-    if (actfrcrange[0] >= actfrcrange[1]) {
-      throw mjCError(this, "actfrcrange[0] should be smaller than actfrcrange[1] in joint");
-    }
-  }
-
-  // axis: FREE or BALL are fixed to (0,0,1)
-  if (type == mjJNT_FREE || type == mjJNT_BALL) {
-    axis[0] = axis[1] = 0;
-    axis[2] = 1;
-  }
-
-  // otherwise accumulate frame rotation
-  else if (frame) {
-    mjuu_rotVecQuat(axis, axis, frame->quat);
-  }
-
-  // normalize axis, check norm
-  if (mjuu_normvec(axis, 3) < mjEPS) {
-    throw mjCError(this, "axis too small in joint");
-  }
-
-  // check data
-  if (type == mjJNT_FREE && limited == mjLIMITED_TRUE) {
-    throw mjCError(this, "limits should not be defined in free joint");
-  }
-
-  // pos: FREE is fixed to (0,0,0)
-  if (type == mjJNT_FREE) {
-    mjuu_zerovec(pos, 3);
-  }
-
-  // otherwise accumulate frame translation
-  else if (frame) {
-    double qunit[4] = {1, 0, 0, 0};
-    mjuu_frameaccumChild(frame->pos, frame->quat, pos, qunit);
-  }
-
-  // convert reference angles to radians for hinge joints
-  if (type == mjJNT_HINGE && compiler->degree) {
-    ref *= mjPI/180.0;
-    springref *= mjPI/180.0;
-  }
-
-  // return dofnum
-  if (type == mjJNT_FREE) {
-    return 6;
-  } else if (type == mjJNT_BALL) {
-    return 3;
-  } else {
-    return 1;
-  }
-}
-
-
-
-//------------------ class mjCGeom implementation --------------------------------------------------
-
-// initialize default geom
-mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultGeom(&spec);
-  elemtype = mjOBJ_GEOM;
-
-  mass_ = 0;
-  body = 0;
-  matid = -1;
-  mesh = nullptr;
-  hfield = nullptr;
-  visual_ = false;
-  mjuu_setvec(inertia, 0, 0, 0);
-  inferinertia = true;
-  spec_material_.clear();
-  spec_userdata_.clear();
-  spec_meshname_.clear();
-  spec_hfieldname_.clear();
-  spec_userdata_.clear();
-
-  for (int i = 0; i < mjNFLUID; i++){
-    fluid[i] = 0;
-  }
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Geom();
-  }
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-
-  // point to local
-  PointToLocal();
-
-  // in case this geom is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCGeom::mjCGeom(const mjCGeom& other) {
-  *this = other;
-}
-
-
-
-mjCGeom& mjCGeom::operator=(const mjCGeom& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCGeom_*>(this) = static_cast<const mjCGeom_&>(other);
-    *static_cast<mjsGeom*>(this) = static_cast<const mjsGeom&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-// to be called after any default copy constructor
-void mjCGeom::PointToLocal(void) {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.info = &info;
-  spec.userdata = &spec_userdata_;
-  spec.material = &spec_material_;
-  spec.meshname = &spec_meshname_;
-  spec.hfieldname = &spec_hfieldname_;
-  spec.plugin.plugin_name = &plugin_name;
-  spec.plugin.name = &plugin_instance_name;
-  userdata = nullptr;
-  hfieldname = nullptr;
-  meshname = nullptr;
-  material = nullptr;
-}
-
-
-
-void mjCGeom::CopyFromSpec() {
-  *static_cast<mjsGeom*>(this) = spec;
-  userdata_ = spec_userdata_;
-  hfieldname_ = spec_hfieldname_;
-  meshname_ = spec_meshname_;
-  material_ = spec_material_;
-  plugin.active = spec.plugin.active;
-  plugin.element = spec.plugin.element;
-  plugin.plugin_name = spec.plugin.plugin_name;
-  plugin.name = spec.plugin.name;
-}
-
-
-
-void mjCGeom::CopyPlugin() {
-  model->CopyExplicitPlugin(this);
-}
-
-
-
-void mjCGeom::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  if (!spec_material_.empty() && model != m) {
-    spec_material_ = m->prefix + spec_material_ + m->suffix;
-  }
-  if (!spec_hfieldname_.empty() && model != m) {
-    spec_hfieldname_ = m->prefix + spec_hfieldname_ + m->suffix;
-  }
-  if (!spec_meshname_.empty() && model != m) {
-    spec_meshname_ = m->prefix + spec_meshname_ + m->suffix;
-  }
-  if (!plugin_instance_name.empty()) {
-    plugin_instance_name = m->prefix + plugin_instance_name + m->suffix;
-  }
-}
-
-
-
-// compute geom volume / surface area
-double mjCGeom::GetVolume() const {
-  // get from mesh
-  if (type == mjGEOM_MESH || type == mjGEOM_SDF) {
-    if (mesh->id < 0 || !((std::size_t) mesh->id <= model->Meshes().size())) {
-      throw mjCError(this, "invalid mesh id in mesh geom");
-    }
-
-    return mesh->GetVolumeRef();
-  }
-
-  // compute from geom shape (type) and inertia type (typeinertia)
-  switch (type) {
-    case mjGEOM_SPHERE: {
-      double radius = size[0];
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME:
-          return 4 * mjPI * radius * radius * radius / 3;
-        case mjINERTIA_SHELL:
-          return 4 * mjPI * radius * radius;
-      }
-      break;
-    }
-    case mjGEOM_CAPSULE: {
-      double height = 2 * size[1];
-      double radius = size[0];
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME:
-          return mjPI * (radius * radius * height + 4 * radius * radius * radius / 3);
-        case mjINERTIA_SHELL:
-          return 4 * mjPI * radius * radius + 2 * mjPI * radius * height;
-      }
-      break;
-    }
-    case mjGEOM_CYLINDER: {
-      double height = 2 * size[1];
-      double radius = size[0];
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME:
-          return mjPI * radius * radius * height;
-        case mjINERTIA_SHELL:
-          return 2 * mjPI * radius * radius + 2 * mjPI * radius * height;
-      }
-      break;
-    }
-    case mjGEOM_ELLIPSOID: {
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME:
-          return 4 * mjPI * size[0] * size[1] * size[2] / 3;
-        case mjINERTIA_SHELL: {
-          // Thomsen approximation
-          // https://www.numericana.com/answer/ellipsoid.htm#thomsen
-          double p = 1.6075;
-          double tmp = std::pow(size[0] * size[1], p) +
-                       std::pow(size[1] * size[2], p) +
-                       std::pow(size[2] * size[0], p);
-          return 4 * mjPI * std::pow(tmp / 3, 1 / p);
-        }
-      }
-      break;
-    }
-    case mjGEOM_HFIELD:
-    case mjGEOM_BOX: {
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME:
-          return size[0] * size[1] * size[2] * 8;
-        case mjINERTIA_SHELL:
-          return 8 * (size[0] * size[1] + size[1] * size[2] + size[2] * size[0]);
-      }
-      break;
-    }
-    default:
-      break;
-  }
-  return 0;
-}
-
-
-
-// set geom diagonal inertia given density
-void mjCGeom::SetInertia(void) {
-  // get from mesh
-  if (type == mjGEOM_MESH || type == mjGEOM_SDF) {
-    if (mesh->id < 0 || !((std::size_t)mesh->id <= model->Meshes().size())) {
-      throw mjCError(this, "invalid mesh id in mesh geom");
-    }
-
-    double* boxsz = mesh->GetInertiaBoxPtr();
-    inertia[0] = mass_ * (boxsz[1] * boxsz[1] + boxsz[2] * boxsz[2]) / 3;
-    inertia[1] = mass_ * (boxsz[0] * boxsz[0] + boxsz[2] * boxsz[2]) / 3;
-    inertia[2] = mass_ * (boxsz[0] * boxsz[0] + boxsz[1] * boxsz[1]) / 3;
-
-    return;
-  }
-
-  // compute from geom shape (type) and inertia type (typeinertia)
-  switch (type) {
-    case mjGEOM_SPHERE: {
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME:
-          inertia[0] = inertia[1] = inertia[2] = 2 * mass_ * size[0] * size[0] / 5;
-          return;
-        case mjINERTIA_SHELL:
-          inertia[0] = inertia[1] = inertia[2] = 2 * mass_ * size[0] * size[0] / 3;
-          return;
-      }
-      break;
-    }
-    case mjGEOM_CAPSULE: {
-      double halfheight = size[1];
-      double height = 2 * size[1];
-      double radius = size[0];
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME: {
-          double sphere_mass =
-            mass_ * 4 * radius / (4 * radius + 3 * height);    // mass*(sphere_vol/total_vol)
-          double cylinder_mass = mass_ - sphere_mass;
-
-          // cylinder part
-          inertia[0] = inertia[1] = cylinder_mass * (3 * radius * radius + height * height) / 12;
-          inertia[2] = cylinder_mass * radius * radius / 2;
-
-          // add two hemispheres, displace along third axis
-          double sphere_inertia = 2 * sphere_mass * radius * radius / 5;
-          inertia[0] += sphere_inertia + sphere_mass * height * (3 * radius + 2 * height) / 8;
-          inertia[1] += sphere_inertia + sphere_mass * height * (3 * radius + 2 * height) / 8;
-          inertia[2] += sphere_inertia;
-          return;
-        }
-        case mjINERTIA_SHELL: {
-          // surface area
-          double Asphere = 4 * mjPI * radius * radius;
-          double Acylinder = 2 * mjPI * radius * height;
-          double Atotal = Asphere + Acylinder;
-
-          // mass
-          double sphere_mass = mass_ * Asphere / Atotal;  // mass*(sphere_area/total_area)
-          double cylinder_mass = mass_ - sphere_mass;
-
-          // cylinder part
-          inertia[0] = inertia[1] = cylinder_mass * (6 * radius * radius + height * height) / 12;
-          inertia[2] = cylinder_mass * radius * radius;
-
-          // add two hemispheres, displace along third axis
-          double sphere_inertia = 2 * sphere_mass * radius * radius / 3;
-          double hs_com = radius / 2;           // hemisphere center of mass
-          double hs_pos = halfheight + hs_com;  // hemisphere position
-          inertia[0] += sphere_inertia + sphere_mass * (hs_pos * hs_pos - hs_com * hs_com);
-          inertia[1] += sphere_inertia + sphere_mass * (hs_pos * hs_pos - hs_com * hs_com);
-          inertia[2] += sphere_inertia;
-          return;
-        }
-        break;
-      }
-      break;
-    }
-    case mjGEOM_CYLINDER: {
-      double halfheight = size[1];
-      double height = 2 * halfheight;
-      double radius = size[0];
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME:
-
-          inertia[0] = inertia[1] = mass_ * (3 * radius * radius + height * height) / 12;
-          inertia[2] = mass_ * radius * radius / 2;
-          return;
-        case mjINERTIA_SHELL: {
-          // surface area
-          double Adisk = mjPI * radius * radius;
-          double Acylinder = 2 * mjPI * radius * height;
-          double Atotal = 2 * Adisk + Acylinder;
-
-          // mass
-          double mass_disk = mass_ * Adisk / Atotal;
-          double mass_cylinder = mass_ - 2 * mass_disk;
-
-          // cylinder contribution
-          inertia[0] = inertia[1] = mass_cylinder * (6 * radius * radius + height * height) / 12;
-          inertia[2] = mass_cylinder * radius * radius;
-
-          // disk inertia
-          double inertia_disk_x = mass_disk * radius * radius / 4 +
-                                  mass_disk * halfheight * halfheight;
-          double inertia_disk_z = mass_disk * radius * radius / 2;
-
-          // top and bottom disk contributions
-          inertia[0] += 2 * inertia_disk_x;
-          inertia[1] += 2 * inertia_disk_x;
-          inertia[2] += 2 * inertia_disk_z;
-          return;
-        }
-      }
-      break;
-    }
-    case mjGEOM_ELLIPSOID: {
-      double s00 = size[0] * size[0];
-      double s11 = size[1] * size[1];
-      double s22 = size[2] * size[2];
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME: {
-          inertia[0] = mass_ * (s11 + s22) / 5;
-          inertia[1] = mass_ * (s00 + s22) / 5;
-          inertia[2] = mass_ * (s00 + s11) / 5;
-          return;
-        }
-        case mjINERTIA_SHELL: {
-          // approximate shell inertia by subtracting ellipsoid from expanded ellipsoid
-          double eps = 1e-6;
-
-          // solid volume (a)
-          double Va = 4 * mjPI * size[0] * size[1] * size[2] / 3;
-
-          // expanded volume (b)
-          double ae = size[0] + eps;
-          double be = size[1] + eps;
-          double ce = size[2] + eps;
-          double Vb = 4 * mjPI * ae * be * ce / 3;
-
-          // density
-          double density = mass_ / (Vb - Va);
-
-          // inertia
-          double mass_a = Va * density;
-          double inertia_a[3];
-          inertia_a[0] = mass_a * (s11 + s22) / 5;
-          inertia_a[1] = mass_a * (s00 + s22) / 5;
-          inertia_a[2] = mass_a * (s00 + s11) / 5;
-
-          double mass_b = Vb * density;
-          double inertia_b[3];
-          inertia_b[0] = mass_b * (be * be + ce * ce) / 5;
-          inertia_b[1] = mass_b * (ae * ae + ce * ce) / 5;
-          inertia_b[2] = mass_b * (ae * ae + be * be) / 5;
-
-          // shell inertia
-          inertia[0] = inertia_b[0] - inertia_a[0];
-          inertia[1] = inertia_b[1] - inertia_a[1];
-          inertia[2] = inertia_b[2] - inertia_a[2];
-          return;
-        }
-      }
-      break;
-    }
-    case mjGEOM_HFIELD:
-    case mjGEOM_BOX: {
-      double s00 = size[0] * size[0];
-      double s11 = size[1] * size[1];
-      double s22 = size[2] * size[2];
-      switch (typeinertia) {
-        case mjINERTIA_VOLUME: {
-          inertia[0] = mass_ * (s11 + s22) / 3;
-          inertia[1] = mass_ * (s00 + s22) / 3;
-          inertia[2] = mass_ * (s00 + s11) / 3;
-          return;
-        }
-        case mjINERTIA_SHELL: {
-          // length
-          double lx = 2 * size[0];  // side 0
-          double ly = 2 * size[1];  // side 1
-          double lz = 2 * size[2];  // side 2
-
-          // surface area
-          double A0 = lx * ly;  // side 0
-          double A1 = ly * lz;  // side 1
-          double A2 = lz * lx;  // side 2
-          double Atotal = 2 * (A0 + A1 + A2);
-
-          // side 0
-          double mass0 = mass_ * A0 / Atotal;
-          double Ix0 = mass0 * ly * ly / 12;
-          double Iy0 = mass0 * lx * lx / 12;
-          double Iz0 = mass0 * (lx * lx + ly * ly) / 12;
-
-          // side 1
-          double mass1 = mass_ * A1 / Atotal;
-          double Ix1 = mass1 * (ly * ly + lz * lz) / 12;
-          double Iy1 = mass1 * lz * lz / 12;
-          double Iz1 = mass1 * ly * ly / 12;
-
-          // side 3
-          double mass2 = mass_ * A2 / Atotal;
-          double Ix2 = mass2 * lz * lz / 12;
-          double Iy2 = mass2 * (lx * lx + lz * lz) / 12;
-          double Iz2 = mass2 * lx * lx / 12;
-
-          // total inertia
-          inertia[0] = 2 * (mass0 * s22 + mass2 * s11 + Ix0 + Ix1 + Ix2);
-          inertia[1] = 2 * (mass0 * s22 + mass1 * s00 + Iy0 + Iy1 + Iy2);
-          inertia[2] = 2 * (mass1 * s00 + mass2 * s11 + Iz0 + Iz1 + Iz2);
-          return;
-        }
-        break;
-      }
-      break;
-    }
-    default:
-      inertia[0] = inertia[1] = inertia[2] = 0;
-      return;
-  }
-}
-
-
-
-// compute radius of bounding sphere
-double mjCGeom::GetRBound(void) {
-  const double *aamm, *hsize;
-  double haabb[3] = {0};
-
-  switch (type) {
-    case mjGEOM_HFIELD:
-      hsize = hfield->size;
-      return sqrt(hsize[0]*hsize[0] + hsize[1]*hsize[1] +
-                  std::max(hsize[2]*hsize[2], hsize[3]*hsize[3]));
-
-    case mjGEOM_SPHERE:
-      return size[0];
-
-    case mjGEOM_CAPSULE:
-      return size[0]+size[1];
-
-    case mjGEOM_CYLINDER:
-      return sqrt(size[0]*size[0]+size[1]*size[1]);
-
-    case mjGEOM_ELLIPSOID:
-      return std::max(std::max(size[0], size[1]), size[2]);
-
-    case mjGEOM_BOX:
-      return sqrt(size[0]*size[0]+size[1]*size[1]+size[2]*size[2]);
-
-    case mjGEOM_MESH:
-    case mjGEOM_SDF:
-      aamm = mesh->aamm();
-      haabb[0] = std::max(std::abs(aamm[0]), std::abs(aamm[3]));
-      haabb[1] = std::max(std::abs(aamm[1]), std::abs(aamm[4]));
-      haabb[2] = std::max(std::abs(aamm[2]), std::abs(aamm[5]));
-      return sqrt(haabb[0]*haabb[0] + haabb[1]*haabb[1] + haabb[2]*haabb[2]);
-
-    default:
-      return 0;
-  }
-}
-
-
-
-// Compute the coefficients of the added inertia due to the surrounding fluid.
-double mjCGeom::GetAddedMassKappa(double dx, double dy, double dz) {
-  // Integration by Gauss–Kronrod quadrature on interval l in [0, infinity] of
-  // f(l) = dx*dy*dz / np.sqrt((dx*dx+ l)**3 * (dy*dy+ l) * (dz*dz+ l))
-  // 15-point Gauss–Kronrod quadrature (K15) points x in [0, 1].
-
-  // static constexpr mjtNum kronrod_x[15] = [     // unused, left in comment for completeness
-  //   0.00427231, 0.02544604, 0.06756779, 0.12923441, 0.20695638,
-  //   0.29707742, 0.39610752, 0.50000000, 0.60389248, 0.70292258,
-  //   0.79304362, 0.87076559, 0.93243221, 0.97455396, 0.99572769];
-  // 15-point Gauss–Kronrod quadrature (K15) weights.
-  static constexpr double kronrod_w[15] = {
-    0.01146766, 0.03154605, 0.05239501, 0.07032663, 0.08450236,
-    0.09517529, 0.10221647, 0.10474107, 0.10221647, 0.09517529,
-    0.08450236, 0.07032663, 0.05239501, 0.03154605, 0.01146766};
-  // Integrate from 0 to inf by change of variables:
-  // l = x^3 / (1-x)^2. Exponents 3 and 2 found to minimize error.
-  static constexpr double kronrod_l[15] = {
-    7.865151709349917e-08, 1.7347976913907274e-05, 0.0003548008144506193,
-    0.002846636252924549, 0.014094260903596077, 0.053063261727396636,
-    0.17041978741317773, 0.5, 1.4036301548686991, 3.9353484827022642,
-    11.644841677041734, 39.53187807410903, 177.5711362220801,
-    1429.4772912937397, 54087.416549217705};
-  // dl = dl/dx dx. The following are dl/dx(x).
-  static constexpr double kronrod_d[15] = {
-    5.538677720489877e-05, 0.002080868285293228, 0.016514126520723166,
-    0.07261900344370877, 0.23985243401862602, 0.6868318249020725,
-    1.8551129519182894, 5.0, 14.060031152313941, 43.28941239611009,
-    156.58546376397112, 747.9826085305024, 5827.4042950027115,
-    116754.0197944512, 25482945.327264845};
-
-  const double invdx2 = 1.0 / (dx * dx);
-  const double invdy2 = 1.0 / (dy * dy);
-  const double invdz2 = 1.0 / (dz * dz);
-
-  // for added numerical stability we non-dimensionalize x by scale
-  // because 1 + l/d^2 in denom, l should be scaled by d^2
-  const double scale = std::pow(dx*dx*dx * dy * dz, 0.4);  // ** (2/5)
-  double kappa = 0.0;
-  for (int i = 0; i < 15; ++i) {
-    const double lambda = scale * kronrod_l[i];
-    const double denom = (1 + lambda*invdx2) * std::sqrt(
-      (1 + lambda*invdx2) * (1 + lambda*invdy2) * (1 + lambda*invdz2));
-    kappa += scale * kronrod_d[i] / denom * kronrod_w[i];
-  }
-  return kappa * invdx2;
-}
-
-
-
-// Compute the kappa coefs of the added inertia due to the surrounding fluid.
-void mjCGeom::SetFluidCoefs(void) {
-  double dx, dy, dz;
-
-  // get semiaxes
-  switch (type) {
-    case mjGEOM_SPHERE:
-      dx = size[0];
-      dy = size[0];
-      dz = size[0];
-      break;
-
-    case mjGEOM_CAPSULE:
-      dx = size[0];
-      dy = size[0];
-      dz = size[1] + size[0];
-      break;
-
-    case mjGEOM_CYLINDER:
-      dx = size[0];
-      dy = size[0];
-      dz = size[1];
-      break;
-
-    default:
-      dx = size[0];
-      dy = size[1];
-      dz = size[2];
-  }
-
-  // volume of equivalent ellipsoid
-  const double volume = 4.0 / 3.0 * mjPI * dx * dy * dz;
-
-  // GetAddedMassKappa is invariant to permutation of last two arguments
-  const double kx = GetAddedMassKappa(dx, dy, dz);
-  const double ky = GetAddedMassKappa(dy, dz, dx);
-  const double kz = GetAddedMassKappa(dz, dx, dy);
-
-  // coefficients of virtual moment of inertia. Note: if (kz-ky) in numerator
-  // is negative, also the denom is negative. Abs both and clip to MINVAL
-  const auto pow2 = [](const double val) { return val * val; };
-  const double Ixfac = pow2(dy*dy - dz*dz) * std::abs(kz - ky) / std::max(
-    mjEPS, std::abs(2*(dy*dy - dz*dz) + (dy*dy + dz*dz)*(ky - kz)));
-  const double Iyfac = pow2(dz*dz - dx*dx) * std::abs(kx - kz) / std::max(
-    mjEPS, std::abs(2*(dz*dz - dx*dx) + (dz*dz + dx*dx)*(kz - kx)));
-  const double Izfac = pow2(dx*dx - dy*dy) * std::abs(ky - kx) / std::max(
-    mjEPS, std::abs(2*(dx*dx - dy*dy) + (dx*dx + dy*dy)*(kx - ky)));
-
-  mjtNum virtual_mass[3];
-  virtual_mass[0] = volume * kx / std::max(mjEPS, 2-kx);
-  virtual_mass[1] = volume * ky / std::max(mjEPS, 2-ky);
-  virtual_mass[2] = volume * kz / std::max(mjEPS, 2-kz);
-  mjtNum virtual_inertia[3];
-  virtual_inertia[0] = volume*Ixfac/5;
-  virtual_inertia[1] = volume*Iyfac/5;
-  virtual_inertia[2] = volume*Izfac/5;
-
-  writeFluidGeomInteraction(fluid, &fluid_ellipsoid, &fluid_coefs[0],
-                            &fluid_coefs[1], &fluid_coefs[2],
-                            &fluid_coefs[3], &fluid_coefs[4],
-                            virtual_mass, virtual_inertia);
-}
-
-
-// compute bounding box
-void mjCGeom::ComputeAABB(void) {
-  double aamm[6];  // axis-aligned bounding box in (min, max) format
-  switch (type) {
-    case mjGEOM_HFIELD:
-      aamm[0] = -hfield->size[0];
-      aamm[1] = -hfield->size[1];
-      aamm[2] = -hfield->size[3];
-      aamm[3] = hfield->size[0];
-      aamm[4] = hfield->size[1];
-      aamm[5] = hfield->size[2];
-      break;
-
-    case mjGEOM_SPHERE:
-      aamm[3] = aamm[4] = aamm[5] = size[0];
-      mjuu_setvec(aamm, -aamm[3], -aamm[4], -aamm[5]);
-      break;
-
-    case mjGEOM_CAPSULE:
-      aamm[3] = aamm[4] = size[0];
-      aamm[5] = size[0] + size[1];
-      mjuu_setvec(aamm, -aamm[3], -aamm[4], -aamm[5]);
-      break;
-
-    case mjGEOM_CYLINDER:
-      aamm[3] = aamm[4] = size[0];
-      aamm[5] = size[1];
-      mjuu_setvec(aamm, -aamm[3], -aamm[4], -aamm[5]);
-      break;
-
-    case mjGEOM_MESH:
-    case mjGEOM_SDF:
-      mjuu_copyvec(aamm, mesh->aamm(), 6);
-      break;
-
-    case mjGEOM_PLANE:
-      aamm[0] = aamm[1] = aamm[2] = -mjMAXVAL;
-      aamm[3] = aamm[4] = mjMAXVAL;
-      aamm[5] = 0;
-      break;
-
-    default:
-      mjuu_copyvec(aamm+3, size, 3);
-      mjuu_setvec(aamm, -size[0], -size[1], -size[2]);
-      break;
-  }
-
-  // convert aamm to aabb (center, size) format
-  double pos[] = {(aamm[3] + aamm[0]) / 2, (aamm[4] + aamm[1]) / 2,
-                  (aamm[5] + aamm[2]) / 2};
-  double size[] = {(aamm[3] - aamm[0]) / 2, (aamm[4] - aamm[1]) / 2,
-                   (aamm[5] - aamm[2]) / 2};
-  mjuu_copyvec(aabb, pos, 3);
-  mjuu_copyvec(aabb+3, size, 3);
-}
-
-const std::string& mjCGeom::get_material() const {
-  if (mesh && spec_material_.empty()) {
-    return mesh->Material();
-  }
-  return spec_material_;
-}
-
-// compiler
-void mjCGeom::Compile(void) {
-  CopyFromSpec();
-
-  // resize userdata
-  if (userdata_.size() > model->nuser_geom) {
-    throw mjCError(this, "user has more values than nuser_geom in geom '%s' (id = %d)",
-                   name.c_str(), id);
-  }
-  userdata_.resize(model->nuser_geom);
-
-  // check type
-  if (type < 0 || type >= mjNGEOMTYPES) {
-    throw mjCError(this, "invalid type in geom");
-  }
-
-  // check condim
-  if (condim != 1 && condim != 3 && condim != 4 && condim != 6) {
-    throw mjCError(this, "invalid condim in geom");
-  }
-
-  // check mesh
-  if ((type == mjGEOM_MESH || type == mjGEOM_SDF) && !mesh) {
-    throw mjCError(this, "mesh geom '%s' (id = %d) must have valid meshid", name.c_str(), id);
-  }
-
-  // check hfield
-  if ((type == mjGEOM_HFIELD && !hfield) || (type != mjGEOM_HFIELD && hfield)) {
-    throw mjCError(this, "hfield geom '%s' (id = %d) must have valid hfieldid", name.c_str(), id);
-  }
-
-  // plane only allowed in bodies with no dofs (static, including mocap)
-  if (type == mjGEOM_PLANE && body->weldid != 0) {
-    const mjCBody* weld = body;
-    while (weld->id != weld->weldid) {
-      weld = weld->parent;
-    }
-    if (!weld->spec.mocap) {
-      throw mjCError(this, "plane only allowed in static bodies");
-    }
-  }
-
-  // check if can collide
-  visual_ = !contype && !conaffinity;
-
-  // normalize quaternion
-  mjuu_normvec(quat, 4);
-
-  // 'fromto': compute pos, quat, size
-  if (mjuu_defined(fromto[0])) {
-    // check type
-    if (type != mjGEOM_CAPSULE &&
-        type != mjGEOM_CYLINDER &&
-        type != mjGEOM_ELLIPSOID &&
-        type != mjGEOM_BOX) {
-      throw mjCError(this, "fromto requires capsule, cylinder, box or ellipsoid in geom");
-    }
-
-    // make sure pos is not defined; cannot use mjuu_defined because default is (0,0,0)
-    if (pos[0] || pos[1] || pos[2]) {
-      throw mjCError(this, "both pos and fromto defined in geom");
-    }
-
-    // size[1] = length (for capsule and cylinder)
-    double vec[3] = {
-      fromto[0]-fromto[3],
-      fromto[1]-fromto[4],
-      fromto[2]-fromto[5]
-    };
-    size[1] = mjuu_normvec(vec, 3)/2;
-    if (size[1] < mjEPS) {
-      throw mjCError(this, "fromto points too close in geom");
-    }
-
-    // adjust size for ellipsoid and box
-    if (type == mjGEOM_ELLIPSOID || type == mjGEOM_BOX) {
-      size[2] = size[1];
-      size[1] = size[0];
-    }
-
-    // compute position
-    pos[0] = (fromto[0]+fromto[3])/2;
-    pos[1] = (fromto[1]+fromto[4])/2;
-    pos[2] = (fromto[2]+fromto[5])/2;
-
-    // compute orientation
-    mjuu_z2quat(quat, vec);
-  }
-
-  // not 'fromto': try alternative
-  else {
-    const char* err = ResolveOrientation(quat, compiler->degree, compiler->eulerseq, alt);
-    if (err) {
-      throw mjCError(this, "orientation specification error '%s' in geom %d", err, id);
-    }
-  }
-
-  // mesh: accumulate frame, fit geom if needed
-  if (mesh) {
-    // check for inapplicable fromto
-    if (mjuu_defined(fromto[0])) {
-      throw mjCError(this, "fromto cannot be used with mesh geom");
-    }
-
-    // save reference in case this is not an mjGEOM_MESH
-    mjCMesh* pmesh = mesh;
-    double center[3] = {0, 0, 0};
-
-    // fit geom if type is not mjGEOM_MESH
-    if (type != mjGEOM_MESH && type != mjGEOM_SDF) {
-      mesh->FitGeom(this, center);
-
-      // remove reference to mesh
-      meshname_.clear();
-      mesh = nullptr;
-    } else if (typeinertia == mjINERTIA_SHELL) {
-      throw mjCError(this, "for mesh geoms, inertia should be specified in the mesh asset");
-    }
-
-    // rotate center to geom frame and add it to mesh frame
-    double meshpos[3];
-    mjuu_rotVecQuat(meshpos, center, pmesh->GetQuatPtr());
-    mjuu_addtovec(meshpos, pmesh->GetPosPtr(), 3);
-
-    // accumulate mesh frame into geom frame
-    mjuu_frameaccum(pos, quat, meshpos, pmesh->GetQuatPtr());
-
-    // re-express surfacevel in the compiled geom frame, which absorbed the mesh frame
-    if (surfacevel[0] || surfacevel[1] || surfacevel[2] ||
-        surfacevel[3] || surfacevel[4] || surfacevel[5]) {
-      // angular origin moves to meshpos: linear part gains omega x meshpos
-      double wxp[3];
-      mjuu_crossvec(wxp, surfacevel+3, meshpos);
-      mjuu_addtovec(surfacevel, wxp, 3);
-
-      // rotate both parts by the inverse mesh orientation
-      const double* mq = pmesh->GetQuatPtr();
-      double invq[4] = {mq[0], -mq[1], -mq[2], -mq[3]};
-      double tmp[3];
-      mjuu_rotVecQuat(tmp, surfacevel, invq);
-      mjuu_copyvec(surfacevel, tmp, 3);
-      mjuu_rotVecQuat(tmp, surfacevel+3, invq);
-      mjuu_copyvec(surfacevel+3, tmp, 3);
-    }
-  }
-
-  // check size parameters
-  checksize(size, type, this, name.c_str(), id);
-
-  // set hfield sizes in geom.size
-  if (type == mjGEOM_HFIELD) {
-    size[0] = hfield->size[0];
-    size[1] = hfield->size[1];
-    size[2] = 0.25 * hfield->size[2] + 0.5 * hfield->size[3];
-  } else if (type == mjGEOM_MESH || type == mjGEOM_SDF) {
-    const double* aamm = mesh->aamm();
-    size[0] = std::max(std::abs(aamm[0]), std::abs(aamm[3]));
-    size[1] = std::max(std::abs(aamm[1]), std::abs(aamm[4]));
-    size[2] = std::max(std::abs(aamm[2]), std::abs(aamm[5]));
-  }
-
-  for (double s : size) {
-    if (std::isnan(s)) {
-      throw mjCError(this, "nan size in geom");
-    }
-  }
-  // compute aabb
-  ComputeAABB();
-
-  // compute geom mass and inertia
-  if (inferinertia) {
-    // mass is defined
-    if (mjuu_defined(mass)) {
-      if (mass == 0) {
-        mass_ = 0;
-        density = 0;
-      } else if (GetVolume() > mjEPS) {
-        mass_ = mass;
-        density = mass / GetVolume();
-        SetInertia();
-      }
-    }
-
-    // mass is not defined
-    else {
-      if (density == 0) {
-        mass_ = 0;
-      } else {
-        mass_ = density * GetVolume();
-        SetInertia();
-      }
-    }
-
-
-    // check for negative values
-    if (mass_ < 0 || inertia[0] < 0 || inertia[1] < 0 || inertia[2] < 0 || density < 0)
-      throw mjCError(this, "mass, inertia or density are negative in geom");
-  }
-
-  // fluid-interaction coefficients, requires computed inertia and mass
-  if (fluid_ellipsoid > 0) {
-    SetFluidCoefs();
-  }
-
-  // plugin
-  if (plugin.active) {
-    if (plugin_name.empty() && plugin_instance_name.empty()) {
-      throw mjCError(
-              this, "neither 'plugin' nor 'instance' is specified for geom");
-    }
-
-    mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
-    model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
-    plugin.element = plugin_instance;
-    const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
-    if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
-      throw mjCError(this, "plugin '%s' does not support sign distance fields", pplugin->name);
-    }
-  }
-
-  // frame
-  if (frame) {
-    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
-  }
-}
-
-
-
-//------------------ class mjCSite implementation --------------------------------------------------
-
-// initialize default site
-mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultSite(&spec);
-  elemtype = mjOBJ_SITE;
-
-  // clear internal variables
-  body = 0;
-  matid = -1;
-  spec_material_.clear();
-  spec_userdata_.clear();
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Site();
-  }
-
-  // point to local
-  PointToLocal();
-
-  // in case this site is not compiled
-  CopyFromSpec();
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-}
-
-
-
-mjCSite::mjCSite(const mjCSite& other) {
-  *this = other;
-}
-
-
-
-mjCSite& mjCSite::operator=(const mjCSite& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCSite_*>(this) = static_cast<const mjCSite_&>(other);
-    *static_cast<mjsSite*>(this) = static_cast<const mjsSite&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCSite::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.info = &info;
-  spec.material = &spec_material_;
-  spec.userdata = &spec_userdata_;
-  userdata = nullptr;
-  material = nullptr;
-}
-
-
-
-void mjCSite::CopyFromSpec() {
-  *static_cast<mjsSite*>(this) = spec;
-  userdata_ = spec_userdata_;
-  material_ = spec_material_;
-}
-
-
-
-void mjCSite::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  if (!spec_material_.empty() && model != m) {
-    spec_material_ = m->prefix + spec_material_ + m->suffix;
-  }
-}
-
-
-
-// compiler
-void mjCSite::Compile(void) {
-  CopyFromSpec();
-
-  // resize userdata
-  if (userdata_.size() > model->nuser_site) {
-    throw mjCError(this, "user has more values than nuser_site in site");
-  }
-  userdata_.resize(model->nuser_site);
-
-  // check type
-  if (type < 0 || type >= mjNGEOMTYPES) {
-    throw mjCError(this, "invalid type in site");
-  }
-
-  // do not allow meshes, hfields and planes
-  if (type == mjGEOM_MESH || type == mjGEOM_HFIELD || type == mjGEOM_PLANE) {
-    throw mjCError(this, "meshes, hfields and planes not allowed in site");
-  }
-
-  // 'fromto': compute pos, quat, size
-  if (mjuu_defined(fromto[0])) {
-    // check type
-    if (type != mjGEOM_CAPSULE &&
-        type != mjGEOM_CYLINDER &&
-        type != mjGEOM_ELLIPSOID &&
-        type != mjGEOM_BOX) {
-      throw mjCError(this, "fromto requires capsule, cylinder, box or ellipsoid in geom");
-    }
-
-    // make sure pos is not defined; cannot use mjuu_defined because default is (0,0,0)
-    if (pos[0] || pos[1] || pos[2]) {
-      throw mjCError(this, "both pos and fromto defined in geom");
-    }
-
-    // size[1] = length (for capsule and cylinder)
-    double vec[3] = {fromto[0]-fromto[3], fromto[1]-fromto[4], fromto[2]-fromto[5]};
-    size[1] = mjuu_normvec(vec, 3)/2;
-    if (size[1] < mjEPS) {
-      throw mjCError(this, "fromto points too close in geom");
-    }
-
-    // adjust size for ellipsoid and box
-    if (type == mjGEOM_ELLIPSOID || type == mjGEOM_BOX) {
-      size[2] = size[1];
-      size[1] = size[0];
-    }
-
-    // compute position
-    pos[0] = (fromto[0]+fromto[3])/2;
-    pos[1] = (fromto[1]+fromto[4])/2;
-    pos[2] = (fromto[2]+fromto[5])/2;
-
-    // compute orientation
-    mjuu_z2quat(quat, vec);
-  }
-
-  // alternative orientation
-  else {
-    const char* err = ResolveOrientation(quat, compiler->degree, compiler->eulerseq, alt);
-    if (err) {
-      throw mjCError(this, "orientation specification error '%s' in site %d", err, id);
-    }
-  }
-
-  // frame
-  if (frame) {
-    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
-  }
-
-  // normalize quaternion
-  mjuu_normvec(quat, 4);
-
-  // check size parameters
-  checksize(size, type, this, name.c_str(), id);
-}
-
-
-
-//------------------ class mjCCamera implementation ------------------------------------------------
-
-// initialize defaults
-mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultCamera(&spec);
-  elemtype = mjOBJ_CAMERA;
-
-  // clear private variables
-  body = 0;
-  targetbodyid = -1;
-  spec_targetbody_.clear();
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Camera();
-  }
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-
-  // point to local
-  PointToLocal();
-
-  // in case this camera is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCCamera::mjCCamera(const mjCCamera& other) {
-  *this = other;
-}
-
-
-
-mjCCamera& mjCCamera::operator=(const mjCCamera& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCCamera_*>(this) = static_cast<const mjCCamera_&>(other);
-    *static_cast<mjsCamera*>(this) = static_cast<const mjsCamera&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCCamera::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.userdata = &spec_userdata_;
-  spec.targetbody = &spec_targetbody_;
-  spec.info = &info;
-  userdata = nullptr;
-  targetbody = nullptr;
-}
-
-
-
-void mjCCamera::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  if (!spec_targetbody_.empty()) {
-    spec_targetbody_ = m->prefix + spec_targetbody_ + m->suffix;
-  }
-}
-
-
-
-void mjCCamera::CopyFromSpec() {
-  *static_cast<mjsCamera*>(this) = spec;
-  userdata_ = spec_userdata_;
-  targetbody_ = spec_targetbody_;
-}
-
-
-
-void mjCCamera::ResolveReferences(const mjCModel* m) {
-  if (!targetbody_.empty()) {
-    mjCBody* tb = (mjCBody*)m->FindObject(mjOBJ_BODY, targetbody_);
-    if (tb) {
-      targetbodyid = tb->id;
-    } else {
-      throw mjCError(this, "unknown target body in camera");
-    }
-  }
-}
-
-
-
-// compiler
-void mjCCamera::Compile(void) {
-  CopyFromSpec();
-
-  // resize userdata
-  if (userdata_.size() > model->nuser_cam) {
-    throw mjCError(this, "user has more values than nuser_cam in camera");
-  }
-  userdata_.resize(model->nuser_cam);
-
-  // process orientation specifications
-  const char* err = ResolveOrientation(quat, compiler->degree, compiler->eulerseq, alt);
-  if (err) {
-    throw mjCError(this, "orientation specification error '%s' in camera %d", err, id);
-  }
-
-  // frame
-  if (frame) {
-    mjuu_frameaccumChild(frame->pos, frame->quat, pos, quat);
-  }
-
-  // normalize quaternion
-  mjuu_normvec(quat, 4);
-
-  // get targetbodyid
-  ResolveReferences(model);
-
-  // make sure the image size is finite
-  if (fovy >= 180) {
-    throw mjCError(this, "fovy too large in camera '%s' (id = %d, value = %d)",
-                   name.c_str(), id, fovy);
-  }
-
-  // check for advanced camera intrinsic parameters
-  bool has_intrinsic = focal_length[0]     || focal_length[1]     ||
-                       focal_pixel[0]      || focal_pixel[1]      ||
-                       principal_length[0] || principal_length[1] ||
-                       principal_pixel[0]  || principal_pixel[1];
-  bool has_sensorsize = sensor_size[0] > 0 && sensor_size[1] > 0;
-
-  // intrinsic params require sensorsize
-  if (has_intrinsic && !has_sensorsize) {
-    throw mjCError(this, "focal/principal require sensorsize in camera '%s' (id = %d)",
-                   name.c_str(), id);
-  }
-
-  // sensorsize requires resolution
-  if (has_sensorsize && (resolution[0] <= 0 || resolution[1] <= 0)) {
-    throw mjCError(this, "sensorsize requires positive resolution in camera '%s' (id = %d)",
-                   name.c_str(), id);
-  }
-
-  // compute number of pixels per unit length
-  if (sensor_size[0] > 0 && sensor_size[1] > 0) {
-    float pixel_density[2] = {
-      (float)resolution[0] / sensor_size[0],
-      (float)resolution[1] / sensor_size[1],
-    };
-
-    // pixel values override length values when both are specified
-    intrinsic[0] = focal_pixel[0] ? focal_pixel[0] / pixel_density[0] : focal_length[0];
-    intrinsic[1] = focal_pixel[1] ? focal_pixel[1] / pixel_density[1] : focal_length[1];
-    intrinsic[2] = principal_pixel[0] ? principal_pixel[0] / pixel_density[0] : principal_length[0];
-    intrinsic[3] = principal_pixel[1] ? principal_pixel[1] / pixel_density[1] : principal_length[1];
-
-    // fovy with principal point at (0, 0)
-    fovy = std::atan2(sensor_size[1]/2, intrinsic[1]) * 360.0 / mjPI;
-  } else {
-    intrinsic[0] = model->visual.map.znear;
-    intrinsic[1] = model->visual.map.znear;
-  }
-}
-
-
-
-//------------------ class mjCLight implementation -------------------------------------------------
-
-// initialize defaults
-mjCLight::mjCLight(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultLight(&spec);
-  elemtype = mjOBJ_LIGHT;
-
-  // clear private variables
-  body = 0;
-  targetbodyid = -1;
-  texid = -1;
-  spec_targetbody_.clear();
-  spec_texture_.clear();
-
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Light();
-  }
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-
-  PointToLocal();
-  CopyFromSpec();
-}
-
-
-
-mjCLight::mjCLight(const mjCLight& other) {
-  *this = other;
-}
-
-
-
-mjCLight& mjCLight::operator=(const mjCLight& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCLight_*>(this) = static_cast<const mjCLight_&>(other);
-    *static_cast<mjsLight*>(this) = static_cast<const mjsLight&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCLight::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.targetbody = &spec_targetbody_;
-  spec.texture = &spec_texture_;
-  spec.info = &info;
-  targetbody = nullptr;
-}
-
-
-
-void mjCLight::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  if (!spec_targetbody_.empty()) {
-    spec_targetbody_ = m->prefix + spec_targetbody_ + m->suffix;
-  }
-  if (!spec_texture_.empty()) {
-    spec_texture_ = m->prefix + spec_texture_ + m->suffix;
-  }
-}
-
-
-
-void mjCLight::CopyFromSpec() {
-  *static_cast<mjsLight*>(this) = spec;
-  targetbody_ = spec_targetbody_;
-  texture_ = spec_texture_;
-}
-
-
-
-void mjCLight::ResolveReferences(const mjCModel* m) {
-  if (!targetbody_.empty()) {
-    mjCBody* tb = (mjCBody*)m->FindObject(mjOBJ_BODY, targetbody_);
-    if (tb) {
-      targetbodyid = tb->id;
-    } else {
-      throw mjCError(this, "unknown target body in light");
-    }
-  }
-  if (!texture_.empty()) {
-    mjCTexture* tex = (mjCTexture*)m->FindObject(mjOBJ_TEXTURE, texture_);
-    if (tex) {
-      texid = tex->id;
-    } else {
-      throw mjCError(this, "unknown texture in light");
-    }
-  }
-}
-
-
-
-// compiler
-void mjCLight::Compile(void) {
-  CopyFromSpec();
-
-  // frame
-  if (frame) {
-    // apply frame transform to pos, qunit is unused
-    double qunit[4]= {1, 0, 0, 0};
-    mjuu_frameaccumChild(frame->pos, frame->quat, pos, qunit);
-
-    // rotate dir
-    mjuu_rotVecQuat(dir, dir, frame->quat);
-  }
-
-  // normalize direction, make sure it is not zero
-  if (mjuu_normvec(dir, 3) < mjEPS) {
-    throw mjCError(this, "zero direction in light");
-  }
-
-  // check softness range
-  if (softness < 0 || softness > 1) {
-    throw mjCError(this, "light softness must be in [0, 1]");
-  }
-
-  // get targetbodyid and texid
-  ResolveReferences(model);
-}
-
-
-
-//------------------------- class mjCHField --------------------------------------------------------
-
-// constructor
-mjCHField::mjCHField(mjCModel* _model) {
-  mjs_defaultHField(&spec);
-  elemtype = mjOBJ_HFIELD;
-
-  // set model pointer
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-
-  // clear variables
-  data.clear();
-  spec_file_.clear();
-  spec_userdata_.clear();
-
-  // point to local
-  PointToLocal();
-
-  // copy from spec
-  CopyFromSpec();
-}
-
-
-
-mjCHField::mjCHField(const mjCHField& other) {
-  *this = other;
-}
-
-
-
-mjCHField& mjCHField::operator=(const mjCHField& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCHField_*>(this) = static_cast<const mjCHField_&>(other);
-    *static_cast<mjsHField*>(this) = static_cast<const mjsHField&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCHField::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.file = &spec_file_;
-  spec.content_type = &spec_content_type_;
-  spec.userdata = &spec_userdata_;
-  spec.info = &info;
-  file = nullptr;
-  content_type = nullptr;
-  userdata = nullptr;
-}
-
-
-
-void mjCHField::CopyFromSpec() {
-  *static_cast<mjsHField*>(this) = spec;
-  file_ = spec_file_;
-  content_type_ = spec_content_type_;
-  userdata_ = spec_userdata_;
-
-  // clear precompiled asset. TODO: use asset cache
-  data.clear();
-  if (!file_.empty()) {
-    nrow = 0;
-    ncol = 0;
-  }
-
-  // use filename if name is missing
-  if (name.empty()) {
-    std::string stripped = mjuu_strippath(file_);
-    name = mjuu_stripext(stripped);
-  }
-}
-
-
-
-void mjCHField::NameSpace(const mjCModel* m) {
-  // use filename if name is missing
-  if (name.empty()) {
-    std::string stripped = mjuu_strippath(spec_file_);
-    name = mjuu_stripext(stripped);
-  }
-  mjCBase::NameSpace(m);
-}
-
-
-
-// destructor
-mjCHField::~mjCHField() {
-  data.clear();
-  userdata_.clear();
-  spec_userdata_.clear();
-}
-
-
-std::string mjCHField::GetCacheId(const mjResource* resource, const std::string& asset_type) {
-  std::stringstream ss;
-  ss << "mjCHField:" << resource->name << ";ARGS:content_type=" << asset_type;
-  return ss.str();
-}
-
-
-// load elevation data from custom format
-void mjCHField::LoadCustom(mjResource* resource) {
-  // get file data in buffer
-  const void* buffer = 0;
-  int buffer_sz = mju_readResource(resource, &buffer);
-
-  if (buffer_sz < 1) {
-    throw mjCError(this, "could not read hfield file '%s'", resource->name);
-  } else if (!buffer_sz) {
-    throw mjCError(this, "empty hfield file '%s'", resource->name);
-  }
-
-
-  if (buffer_sz < 2*sizeof(int)) {
-    throw mjCError(this, "hfield missing header '%s'", resource->name);
-  }
-
-  // read dimensions
-  int* pint = (int*)buffer;
-  nrow = pint[0];
-  ncol = pint[1];
-
-  // check dimensions
-  if (nrow < 1 || ncol < 1) {
-    throw mjCError(this, "non-positive hfield dimensions in file '%s'", resource->name);
-  }
-
-  // check buffer size
-  if (buffer_sz != nrow*ncol*sizeof(float)+8) {
-    throw mjCError(this, "unexpected file size in file '%s'", resource->name);
-  }
-
-  // allocate
-  data.assign(nrow*ncol, 0);
-  if (data.empty()) {
-    throw mjCError(this, "could not allocate buffers in hfield");
-  }
-
-  // copy data
-  memcpy(data.data(), (void*)(pint+2), nrow*ncol*sizeof(float));
-}
-
-
-
-// load elevation data from PNG format
-void mjCHField::LoadPNG(mjResource* resource) {
-  PNGImage image = PNGImage::Load(this, resource, LCT_GREY);
-
-  ncol = image.Width();
-  nrow = image.Height();
-
-  // copy image data over with rows reversed
-  data.reserve(nrow * ncol);
-  for (int r = 0; r < nrow; r++) {
-    for (int c = 0; c < ncol; c++) {
-      data.push_back((float) image[c + (nrow - 1 - r)*ncol]);
-    }
-  }
-}
-
-
-
-// compiler
-void mjCHField::Compile(const mjVFS* vfs) {
-  CopyFromSpec();
-
-  // copy userdata into data
-  if (!userdata_.empty()) {
-    if (nrow*ncol != userdata_.size()) {
-      throw mjCError(this, "elevation data length must match nrow*ncol");
-    }
-    data.assign(nrow*ncol, 0);
-    if (data.empty()) {
-      throw mjCError(this, "could not allocate buffers in hfield");
-    }
-    memcpy(data.data(), userdata_.data(), nrow*ncol*sizeof(float));
-  }
-
-  // check size parameters
-  for (int i=0; i < 4; i++)
-    if (size[i] <= 0)
-      throw mjCError(this, "size parameter is not positive in hfield");
-
-  // remove path from file if necessary
-  if (model->strippath) {
-    file_ = mjuu_strippath(file_);
-  }
-
-  // load from file if specified
-  if (!file_.empty()) {
-    // make sure hfield was not already specified manually
-    if (nrow || ncol || !data.empty()) {
-      throw mjCError(this, "hfield specified from file and manually");
-    }
-
-    mjCCache* cache = reinterpret_cast<mjCCache*>(mj_getCache()->impl_);
-
-    std::string asset_type = GetAssetContentType(file_, content_type_);
-
-    // fallback to custom
-    if (asset_type.empty()) {
-      asset_type = "image/vnd.mujoco.hfield";
-    }
-
-    if (asset_type != "image/png" && asset_type != "image/vnd.mujoco.hfield") {
-      throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
-    }
-
-    mujoco::user::FilePath meshdir_;
-    meshdir_ = FilePath(mjs_getString(compiler->meshdir));
-
-    FilePath filename = meshdir_ + FilePath(file_);
-    mjSpec* owning_spec = model->FindSpec(compiler);
-    mjResource* resource = LoadResource(owning_spec->modelfiledir->c_str(), filename.Str(), vfs);
-
-    struct CachedHField {
-      int nrow, ncol;
-      std::vector<float> data;
-    };
-
-    // cache callback
-    auto callback = [&](const void* cached_data) {
-      const CachedHField* cached_hfield =
-          static_cast<const CachedHField*>(cached_data);
-      nrow = cached_hfield->nrow;
-      ncol = cached_hfield->ncol;
-      this->data = cached_hfield->data;
-      return true;
-    };
-
-    // try loading from cache
-    if (cache && cache->PopulateData(GetCacheId(resource, asset_type), resource, callback)) {
-      mju_closeResource(resource);
-    } else {
-      try {
-        if (asset_type == "image/png") {
-          LoadPNG(resource);
-        } else {
-          LoadCustom(resource);
-        }
-      } catch(mjCError err) {
-        mju_closeResource(resource);
-        throw err;
-      }
-
-      if (cache) {
-        CachedHField* cached_hfield = new CachedHField;
-        cached_hfield->nrow = nrow;
-        cached_hfield->ncol = ncol;
-        cached_hfield->data = this->data;
-        std::size_t size = sizeof(CachedHField) + this->data.size() * sizeof(float);
-        std::shared_ptr<CachedHField> cached_data{cached_hfield};
-        cache->Insert("", GetCacheId(resource, asset_type), resource, cached_data, size);
-      }
-      mju_closeResource(resource);
-    }
-  }
-
-  // make sure hfield was specified (from file or manually)
-  if (nrow < 1 || ncol < 1 || data.empty()) {
-    throw mjCError(this, "hfield not specified");
-  }
-
-  // set elevation data to [0-1] range
-  float emin = 1E+10, emax = -1E+10;
-  for (int i = 0; i < nrow*ncol; i++) {
-    emin = std::min(emin, data[i]);
-    emax = std::max(emax, data[i]);
-  }
-  if (emin > emax) {
-    throw mjCError(this, "invalid data range in hfield '%s'", file_.c_str());
-  }
-  for (int i=0; i < nrow*ncol; i++) {
-    data[i] -= emin;
-    if (emax-emin > mjEPS) {
-      data[i] /= (emax - emin);
-    }
-  }
-}
-
-
-
-//------------------ class mjCTexture implementation -----------------------------------------------
-
-// initialize defaults
-mjCTexture::mjCTexture(mjCModel* _model) {
-  mjs_defaultTexture(&spec);
-  elemtype = mjOBJ_TEXTURE;
-
-  // set model pointer
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-
-  // clear user settings: single file
-  spec_file_.clear();
-  spec_content_type_.clear();
-
-  // clear user settings: separate file
-  spec_cubefiles_.assign(6, "");
-
-  // clear internal variables
-  data_.clear();
-  clear_data_ = false;
-
-  // point to local
-  PointToLocal();
-
-  // in case this texture is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCTexture::mjCTexture(const mjCTexture& other) {
-  *this = other;
-}
-
-
-
-mjCTexture& mjCTexture::operator=(const mjCTexture& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCTexture_*>(this) = static_cast<const mjCTexture_&>(other);
-    clear_data_ = other.clear_data_;
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCTexture::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.file = &spec_file_;
-  spec.data = &data_;
-  spec.content_type = &spec_content_type_;
-  spec.cubefiles = &spec_cubefiles_;
-  spec.info = &info;
-  file = nullptr;
-  content_type = nullptr;
-  cubefiles = nullptr;
-}
-
-
-
-void mjCTexture::CopyFromSpec() {
-  *static_cast<mjsTexture*>(this) = spec;
-  file_ = spec_file_;
-  content_type_ = spec_content_type_;
-  cubefiles_ = spec_cubefiles_;
-
-  if (clear_data_) {
-    // clear precompiled asset. TODO: use asset cache
-    data_.clear();
-  }
-
-  // use filename if name is missing
-  if (name.empty()) {
-    std::string stripped = mjuu_strippath(file_);
-    name = mjuu_stripext(stripped);
-  }
-}
-
-
-
-void mjCTexture::NameSpace(const mjCModel* m) {
-  // use filename if name is missing
-  if (name.empty()) {
-    std::string stripped = mjuu_strippath(spec_file_);
-    name = mjuu_stripext(stripped);
-  }
-  mjCBase::NameSpace(m);
-}
-
-
-
-// free data storage allocated by lodepng
-mjCTexture::~mjCTexture() {
-  data_.clear();
-}
-
-
-
-// insert random dots
-static void randomdot(std::byte* rgb, const double* markrgb,
-                      int width, int height, double probability) {
-  // make distribution using fixed seed
-  std::mt19937_64 rng;
-  rng.seed(42);
-  std::uniform_real_distribution<double> dist(0, 1);
-
-  // sample
-  for (int r=0; r < height; r++) {
-    for (int c=0; c < width; c++) {
-      if (dist(rng) < probability) {
-        for (int j=0; j < 3; j++) {
-          rgb[3*(r*width+c)+j] = (std::byte)(255*markrgb[j]);
-        }
-      }
-    }
-  }
-}
-
-
-
-// interpolate between colors based on value in (-1, +1)
-static void interp(std::byte* rgb, const double* rgb1, const double* rgb2, double pos) {
-  const double correction = 1.0/sqrt(2);
-  double alpha = 0.5*(1 + pos/sqrt(1+pos*pos)/correction);
-  if (alpha < 0) {
-    alpha = 0;
-  } else if (alpha > 1) {
-    alpha = 1;
-  }
-
-  for (int j=0; j < 3; j++) {
-    rgb[j] = (std::byte)(255*(alpha*rgb1[j] + (1-alpha)*rgb2[j]));
-  }
-}
-
-
-
-// make checker pattern for one side
-static void checker(std::byte* rgb, const std::byte* RGB1, const std::byte* RGB2,
-                    int width, int height) {
-  for (int r=0; r < height/2; r++) {
-    for (int c=0; c < width/2; c++) {
-      memcpy(rgb+3*(r*width+c), RGB1, 3);
-    }
-  }
-  for (int r=height/2; r < height; r++) {
-    for (int c=width/2; c < width; c++) {
-      memcpy(rgb+3*(r*width+c), RGB1, 3);
-    }
-  }
-  for (int r=0; r < height/2; r++) {
-    for (int c=width/2; c < width; c++) {
-      memcpy(rgb+3*(r*width+c), RGB2, 3);
-    }
-  }
-  for (int r=height/2; r < height; r++) {
-    for (int c=0; c < width/2; c++) {
-      memcpy(rgb+3*(r*width+c), RGB2, 3);
-    }
-  }
-}
-
-
-
-// make builtin: 2D
-void mjCTexture::Builtin2D(void) {
-  std::byte RGB1[3], RGB2[3], RGBm[3];
-  // convert fixed colors
-  for (int j=0; j < 3; j++) {
-    RGB1[j] = (std::byte)(255*rgb1[j]);
-    RGB2[j] = (std::byte)(255*rgb2[j]);
-    RGBm[j] = (std::byte)(255*markrgb[j]);
-  }
-
-  //------------------ face
-
-  // gradient
-  if (builtin == mjBUILTIN_GRADIENT) {
-    for (int r=0; r < height; r++) {
-      for (int c=0; c < width; c++) {
-        // compute normalized coordinates and radius
-        double x = 2*c/((double)(width-1)) - 1;
-        double y = 1 - 2*r/((double)(height-1));
-        double pos = 2*sqrt(x*x+y*y) - 1;
-
-        // interpolate through sigmoid
-        interp(data_.data() + 3*(r*width+c), rgb2, rgb1, pos);
-      }
-    }
-  }
-
-  // checker
-  else if (builtin == mjBUILTIN_CHECKER) {
-    checker(data_.data(), RGB1, RGB2, width, height);
-  }
-
-  // flat
-  else if (builtin == mjBUILTIN_FLAT) {
-    for (int r=0; r < height; r++) {
-      for (int c=0; c < width; c++) {
-        memcpy(data_.data()+3*(r*width+c), RGB1, 3);
-      }
-    }
-  }
-
-  //------------------ marks
-
-  // edge
-  if (mark == mjMARK_EDGE) {
-    for (int r=0; r < height; r++) {
-      memcpy(data_.data()+3*(r*width+0), RGBm, 3);
-      memcpy(data_.data()+3*(r*width+width-1), RGBm, 3);
-    }
-    for (int c=0; c < width; c++) {
-      memcpy(data_.data()+3*(0*width+c), RGBm, 3);
-      memcpy(data_.data()+3*((height-1)*width+c), RGBm, 3);
-    }
-  }
-
-  // cross
-  else if (mark == mjMARK_CROSS) {
-    for (int r=0; r < height; r++) {
-      memcpy(data_.data()+3*(r*width+width/2), RGBm, 3);
-    }
-    for (int c=0; c < width; c++) {
-      memcpy(data_.data()+3*(height/2*width+c), RGBm, 3);
-    }
-  }
-
-  // random dots
-  else if (mark == mjMARK_RANDOM && random > 0) {
-    randomdot(data_.data(), markrgb, width, height, random);
-  }
-}
-
-
-
-// make builtin: Cube
-void mjCTexture::BuiltinCube(void) {
-  std::byte RGB1[3], RGB2[3], RGBm[3], RGBi[3];
-  int w = width;
-  if (w > std::numeric_limits<int>::max() / w) {
-    throw mjCError(this, "Cube texture width is too large.");
-  }
-  mjtSize ww = width*width;
-
-  // convert fixed colors
-  for (int j = 0; j < 3; j++) {
-    RGB1[j] = (std::byte)(255 * rgb1[j]);
-    RGB2[j] = (std::byte)(255 * rgb2[j]);
-    RGBm[j] = (std::byte)(255 * markrgb[j]);
-  }
-
-  //------------------ faces
-
-  // gradient
-  if (builtin == mjBUILTIN_GRADIENT) {
-    if (ww > std::numeric_limits<std::int64_t>::max() / 18) {
-      throw mjCError(this, "Gradient texture width is too large.");
-    }
-    for (int r = 0; r < w; r++) {
-      for (int c = 0; c < w; c++) {
-        // compute normalized pixel coordinates
-        double x = 2 * c / ((double)(w - 1)) - 1;
-        double y = 1 - 2 * r / ((double)(w - 1));
-
-        // compute normalized elevation for sides and up/down
-        double elside = asin(y / sqrt(1 + x * x + y * y)) / (0.5 * mjPI);
-        double elup = 1 - acos(1.0 / sqrt(1 + x * x + y * y)) / (0.5 * mjPI);
-
-        // set sides
-        interp(RGBi, rgb1, rgb2, elside);
-        memcpy(data_.data() + 0 * 3 * ww + 3 * (r * w + c), RGBi, 3);  // 0: right
-        memcpy(data_.data() + 1 * 3 * ww + 3 * (r * w + c), RGBi, 3);  // 1: left
-        memcpy(data_.data() + 4 * 3 * ww + 3 * (r * w + c), RGBi, 3);  // 4: front
-        memcpy(data_.data() + 5 * 3 * ww + 3 * (r * w + c), RGBi, 3);  // 5: back
-
-        // set up and down
-        interp(data_.data() + 2 * 3 * ww + 3 * (r * w + c), rgb1, rgb2, elup);  // 2: up
-        interp(data_.data() + 3 * 3 * ww + 3 * (r * w + c), rgb1, rgb2, -elup);  // 3: down
-      }
-    }
-  }
-
-  // checker
-  else if (builtin == mjBUILTIN_CHECKER) {
-    checker(data_.data() + 0 * 3 * ww, RGB1, RGB2, w, w);
-    checker(data_.data() + 1 * 3 * ww, RGB1, RGB2, w, w);
-    checker(data_.data() + 2 * 3 * ww, RGB1, RGB2, w, w);
-    checker(data_.data() + 3 * 3 * ww, RGB1, RGB2, w, w);
-    checker(data_.data() + 4 * 3 * ww, RGB2, RGB1, w, w);
-    checker(data_.data() + 5 * 3 * ww, RGB2, RGB1, w, w);
-  }
-
-  // flat
-  else if (builtin == mjBUILTIN_FLAT) {
-    for (int r = 0; r < w; r++) {
-      for (int c = 0; c < w; c++) {
-        // set sides and up
-        memcpy(data_.data() + 0 * 3 * ww + 3 * (r * w + c), RGB1, 3);
-        memcpy(data_.data() + 1 * 3 * ww + 3 * (r * w + c), RGB1, 3);
-        memcpy(data_.data() + 2 * 3 * ww + 3 * (r * w + c), RGB1, 3);
-        memcpy(data_.data() + 4 * 3 * ww + 3 * (r * w + c), RGB1, 3);
-        memcpy(data_.data() + 5 * 3 * ww + 3 * (r * w + c), RGB1, 3);
-
-        // set down
-        memcpy(data_.data() + 3 * 3 * ww + 3 * (r * w + c), RGB2, 3);
-      }
-    }
-  }
-
-  //------------------ marks
-
-  // edge
-  if (mark == mjMARK_EDGE) {
-    for (int j = 0; j < 6; j++) {
-      for (int r = 0; r < w; r++) {
-        memcpy(data_.data() + j * 3 * ww + 3 * (r * w + 0), RGBm, 3);
-        memcpy(data_.data() + j * 3 * ww + 3 * (r * w + w - 1), RGBm, 3);
-      }
-      for (int c = 0; c < w; c++) {
-        memcpy(data_.data() + j * 3 * ww + 3 * (0 * w + c), RGBm, 3);
-        memcpy(data_.data() + j * 3 * ww + 3 * ((w - 1) * w + c), RGBm, 3);
-      }
-    }
-  }
-
-  // cross
-  else if (mark == mjMARK_CROSS) {
-    for (int j = 0; j < 6; j++) {
-      for (int r = 0; r < w; r++) {
-        memcpy(data_.data() + j * 3 * ww + 3 * (r * w + w / 2), RGBm, 3);
-      }
-      for (int c = 0; c < w; c++) {
-        memcpy(data_.data() + j * 3 * ww + 3 * (w / 2 * w + c), RGBm, 3);
-      }
-    }
-  }
-
-  // random dots
-  else if (mark == mjMARK_RANDOM && random > 0) {
-    randomdot(data_.data(), markrgb, w, height, random);
-  }
-}
-
-// load PNG file
-void mjCTexture::LoadPNG(mjResource* resource,
-                         std::vector<std::byte>& image,
-                         unsigned int& w, unsigned int& h, bool& is_srgb) {
-  LodePNGColorType color_type;
-  if (nchannel == 4) {
-    color_type = LCT_RGBA;
-  } else if (nchannel == 3) {
-    color_type = LCT_RGB;
-  } else if (nchannel == 1) {
-    color_type = LCT_GREY;
-  } else {
-    throw mjCError(this, "Unsupported number of channels: %s",
-                   std::to_string(nchannel).c_str());
-  }
-  PNGImage png_image = PNGImage::Load(this, resource, color_type);
-  w = png_image.Width();
-  h = png_image.Height();
-  is_srgb = png_image.IsSRGB();
-
-  // Move data into image.
-  image = std::move(png_image).MoveData();
-}
-
-// load KTX file
-void mjCTexture::LoadKTX(mjResource* resource, std::vector<std::byte>& image,
-                         unsigned int& w, unsigned int& h, bool& is_srgb) {
-  const void* buffer = 0;
-  int buffer_sz = mju_readResource(resource, &buffer);
-
-  // still not found
-  if (buffer_sz < 0) {
-    throw mjCError(this, "could not read texture file '%s'", resource->name);
-  } else if (!buffer_sz) {
-    throw mjCError(this, "texture file is empty: '%s'", resource->name);
-  }
-
-  w = buffer_sz;
-  h = 1;
-  nchannel = 1;
-  is_srgb = false;
-
-  image.resize(buffer_sz);
-  memcpy(image.data(), buffer, buffer_sz);
-}
-
-// load custom file
-
-void mjCTexture::FlipIfNeeded(std::vector<std::byte>& image, unsigned int w,
-                              unsigned int h) {
-  // horizontal flip
-  if (hflip) {
-    for (int r = 0; r < h; r++) {
-      for (int c = 0; c < w / 2; c++) {
-        int c1 = w - 1 - c;
-        auto val1 = nchannel * (r * w + c);
-        auto val2 = nchannel * (r * w + c1);
-        for (int ch = 0; ch < nchannel; ch++) {
-          auto tmp = image[val1 + ch];
-          image[val1 + ch] = image[val2 + ch];
-          image[val2 + ch] = tmp;
-        }
-      }
-    }
-  }
-
-  // vertical flip
-  if (vflip) {
-    for (int r = 0; r < h / 2; r++) {
-      for (int c = 0; c < w; c++) {
-        int r1 = h - 1 - r;
-        auto val1 = nchannel * (r * w + c);
-        auto val2 = nchannel * (r1 * w + c);
-        for (int ch = 0; ch < nchannel; ch++) {
-          auto tmp = image[val1 + ch];
-          image[val1 + ch] = image[val2 + ch];
-          image[val2 + ch] = tmp;
-        }
-      }
-    }
-  }
-}
-
-std::string mjCTexture::GetCacheId(const mjResource* resource, const std::string& asset_type) {
-  std::stringstream ss;
-  ss << resource->name << ";ARGS:content_type=" << asset_type << ",nchannel=" << nchannel
-     << ",hflip=" << hflip << ",vflip=" << vflip << ";";
-  return ss.str();
-}
-
-// load from PNG or custom file, flip if specified
-void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
-                          std::vector<std::byte>& image,
-                          unsigned int& w, unsigned int& h, bool& is_srgb) {
-  mjCCache* cache = reinterpret_cast<mjCCache*>(mj_getCache()->impl_);
-
-  struct CachedImage {
-    unsigned int w, h, n_ch;
-    bool is_srgb;
-    std::vector<std::byte> image;
-  };
-
-  // cache callback
-  auto callback = [&](const void* data) {
-    const CachedImage* cached_image =
-        static_cast<const CachedImage*>(data);
-    w = cached_image->w;
-    h = cached_image->h;
-    is_srgb = cached_image->is_srgb;
-    image = cached_image->image;
-    return true;
-  };
-
-  std::string asset_type = GetAssetContentType(filename, content_type_);
-
-  if (asset_type != "image/png" && asset_type != "image/ktx") {
-    throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
-  }
-
-  // try loading from cache
-  mjSpec* owning_spec = model->FindSpec(compiler);
-  mjResource* resource = LoadResource(owning_spec->modelfiledir->c_str(), filename, vfs);
-  if (cache && cache->PopulateData(GetCacheId(resource, asset_type), resource, callback)) {
-    mju_closeResource(resource);
-    return;
-  }
-
-  try {
-    if (asset_type == "image/png") {
-      LoadPNG(resource, image, w, h, is_srgb);
-    } else if (asset_type == "image/ktx") {
-      if (hflip || vflip) {
-        throw mjCError(this, "cannot flip KTX textures");
-      }
-      LoadKTX(resource, image, w, h, is_srgb);
-    }
-  } catch(mjCError err) {
-    mju_closeResource(resource);
-    throw err;
-  }
-
-  FlipIfNeeded(image, w, h);
-  if (cache) {
-    CachedImage* cached_texture = new CachedImage;
-    cached_texture->w = w;
-    cached_texture->h = h;
-    cached_texture->is_srgb = is_srgb;
-    cached_texture->image = image;
-    std::size_t size = sizeof(CachedImage) + image.size();
-    std::shared_ptr<CachedImage> cached_data{cached_texture};
-    cache->Insert("", GetCacheId(resource, asset_type), resource, cached_data, size);
-  }
-  mju_closeResource(resource);
-}
-
-// load 2D
-void mjCTexture::Load2D(std::string filename, const mjVFS* vfs) {
-  // load PNG or custom
-  unsigned int w, h;
-  bool is_srgb;
-
-  LoadFlip(filename, vfs, data_, w, h, is_srgb);
-
-  // assign size
-  width = w;
-  height = h;
-  if (colorspace == mjCOLORSPACE_AUTO) {
-    colorspace = is_srgb ? mjCOLORSPACE_SRGB : mjCOLORSPACE_LINEAR;
-  }
-}
-
-// load cube or skybox from single file (repeated or grid)
-void mjCTexture::LoadCubeSingle(std::string filename, const mjVFS* vfs) {
-  // check gridsize
-  if (gridsize[0] < 1 || gridsize[1] < 1 || gridsize[0]*gridsize[1] > 12) {
-    throw mjCError(this, "gridsize must be non-zero and no more than 12 squares in texture");
-  }
-
-  // load PNG or custom
-  unsigned int w, h;
-  bool is_srgb;
-  std::vector<std::byte> image;
-  LoadFlip(filename, vfs, image, w, h, is_srgb);
-
-  if (colorspace == mjCOLORSPACE_AUTO) {
-    colorspace = is_srgb ? mjCOLORSPACE_SRGB : mjCOLORSPACE_LINEAR;
-  }
-
-  // check gridsize for compatibility
-  if (w/gridsize[1] != h/gridsize[0] || (w%gridsize[1]) || (h%gridsize[0])) {
-    throw mjCError(this,
-                   "PNG size must be integer multiple of gridsize in texture '%s' (id %d)",
-                   (const char*)file_.c_str(), id);
-  }
-
-  // assign size: repeated or full
-  if (gridsize[0] == 1 && gridsize[1] == 1) {
-    width = height = w;
-  } else {
-    width = w/gridsize[1];
-    if (width >= std::numeric_limits<int>::max()/6) {
-      throw mjCError(this, "Invalid width of cube texture");
-    }
-    height = 6*width;
-  }
-
-  // allocate data
-  std::int64_t size = static_cast<std::int64_t>(width)*height;
-  if (size >= std::numeric_limits<std::int64_t>::max() / 3 || size <= 0) {
-    throw mjCError(this, "Cube texture too large");
-  }
-  try {
-    data_.assign(3*size, std::byte(0));
-  } catch (const std::bad_alloc& e) {
-    throw mjCError(this,
-                   "Could not allocate memory for texture '%s' (id %d)",
-                   (const char*)file_.c_str(), id);
-  }
-
-  // copy: repeated
-  if (gridsize[0] == 1 && gridsize[1] == 1) {
-    memcpy(data_.data(), image.data(), 3*width*width);
-  }
-
-  // copy: grid
-  else {
-    // keep track of which faces were defined
-    int loaded[6] = {0, 0, 0, 0, 0, 0};
-
-    // process grid
-    for (int k=0; k < gridsize[0]*gridsize[1]; k++) {
-      // decode face symbol
-      int i = -1;
-      if (gridlayout[k] == 'R') {
-        i = 0;
-      } else if (gridlayout[k] == 'L') {
-        i = 1;
-      } else if (gridlayout[k] == 'U') {
-        i = 2;
-      } else if (gridlayout[k] == 'D') {
-        i = 3;
-      } else if (gridlayout[k] == 'F') {
-        i = 4;
-      } else if (gridlayout[k] == 'B') {
-        i = 5;
-      } else if (gridlayout[k] != '.')
-        throw mjCError(this, "gridlayout symbol is not among '.RLUDFB' in texture");
-
-      // load if specified
-      if (i >= 0) {
-        // extract sub-image
-        int rstart = width*(k/gridsize[1]);
-        int cstart = width*(k%gridsize[1]);
-        for (int j=0; j < width; j++) {
-          memcpy(data_.data()+i*3*width*width+j*3*width, image.data()+(j+rstart)*3*w+3*cstart, 3*width);
-        }
-
-        // mark as defined
-        loaded[i] = 1;
-      }
-    }
-
-    // set undefined faces to rgb1
-    for (int i=0; i < 6; i++) {
-      if (!loaded[i]) {
-        for (int k=0; k < width; k++) {
-          for (int s=0; s < width; s++) {
-            for (int j=0; j < 3; j++) {
-              data_[i*3*width*width + 3*(k*width+s) + j] = (std::byte)(255*rgb1[j]);
-            }
-          }
-        }
-      }
-    }
-  }
-
-  image.clear();
-}
-
-
-
-// load cube or skybox from separate file
-void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
-  // keep track of which faces were defined
-  int loaded[6] = {0, 0, 0, 0, 0, 0};
-
-  // process nonempty files
-  for (int i=0; i < 6; i++) {
-    if (!cubefiles_[i].empty()) {
-      // remove path from file if necessary
-      if (model->strippath) {
-        cubefiles_[i] = mjuu_strippath(cubefiles_[i]);
-      }
-
-      // make filename
-      mujoco::user::FilePath texturedir_;
-      texturedir_ = FilePath(mjs_getString(compiler->texturedir));
-      FilePath filename = texturedir_ + FilePath(cubefiles_[i]);
-
-      // load PNG or custom
-      unsigned int w, h;
-      bool is_srgb;
-      std::vector<std::byte> image;
-      LoadFlip(filename.Str(), vfs, image, w, h, is_srgb);
-
-      // assume all faces have the same colorspace
-      if (colorspace == mjCOLORSPACE_AUTO) {
-        colorspace = is_srgb ? mjCOLORSPACE_SRGB : mjCOLORSPACE_LINEAR;
-      }
-
-      // PNG must be square
-      if (w != h) {
-        throw mjCError(this,
-                       "Non-square PNG file '%s' in cube or skybox id %d",
-                       (const char*)cubefiles_[i].c_str(), id);
-      }
-
-      // first file: set size and allocate data
-      if (data_.empty()) {
-        width = w;
-        if (width >= std::numeric_limits<int>::max()/6) {
-          throw mjCError(this, "Invalid width of builtin texture");
-        }
-        height = 6*width;
-        std::int64_t size = static_cast<std::int64_t>(width)*height;
-        if (size >= std::numeric_limits<mjtSize>::max() / 3 || size <= 0) {
-          throw mjCError(this, "PNG texture too large");
-        }
-        try {
-          data_.assign(3*size, std::byte(0));
-        } catch (const std::bad_alloc& e) {
-          throw mjCError(this, "Could not allocate memory for texture");
-        }
-      }
-
-      // otherwise check size
-      else if (width != w) {
-        throw mjCError(this,
-                       "PNG file '%s' has incompatible size in texture id %d",
-                       (const char*)cubefiles_[i].c_str(), id);
-      }
-
-      // copy data
-      memcpy(data_.data()+i*3*width*width, image.data(), 3*width*width);
-      image.clear();
-
-      // mark as defined
-      loaded[i] = 1;
-    }
-  }
-
-  // set undefined faces to rgb1
-  for (int i=0; i < 6; i++) {
-    if (!loaded[i]) {
-      for (int k=0; k < width; k++) {
-        for (int s=0; s < width; s++) {
-          for (int j=0; j < 3; j++) {
-            data_[i*3*width*width + 3*(k*width+s) + j] = (std::byte)(255*rgb1[j]);
-          }
-        }
-      }
-    }
-  }
-}
-
-
-
-// compiler
-void mjCTexture::Compile(const mjVFS* vfs) {
-  CopyFromSpec();
-
-  mujoco::user::FilePath texturedir_;
-  texturedir_ = FilePath(mjs_getString(compiler->texturedir));
-
-  // buffer from user
-  if (!data_.empty()) {
-    if (data_.size() != nchannel*width*height) {
-      throw mjCError(this, "Texture buffer has incorrect size, given %d expected %d", nullptr,
-                     data_.size(), nchannel * width * height);
-    }
-
-    // Flip if specified.
-    FlipIfNeeded(data_, width, height);
-    return;
-  }
-
-  // builtin
-  else if (builtin != mjBUILTIN_NONE) {
-    // check width
-    if (width < 1) {
-      throw mjCError(this, "Invalid width of builtin texture");
-    }
-
-    // adjust height of cube texture
-    if (type != mjTEXTURE_2D) {
-      if (width >= std::numeric_limits<int>::max()/6) {
-        throw mjCError(this, "Invalid width of builtin texture");
-      }
-      height = 6*width;
-    } else {
-      if (height < 1) {
-        throw mjCError(this, "Invalid height of builtin texture");
-      }
-    }
-
-    std::int64_t size = static_cast<std::int64_t>(width)*height;
-    if (size >= std::numeric_limits<int64_t>::max() / nchannel || size <= 0) {
-      throw mjCError(this, "Builtin texture too large");
-    }
-    // allocate data
-    try {
-      data_.assign(nchannel*size, std::byte(0));
-    } catch (const std::bad_alloc& e) {
-      throw mjCError(this, "Could not allocate memory for texture");
-    }
-
-    // dispatch
-    if (type == mjTEXTURE_2D) {
-      Builtin2D();
-    } else {
-      BuiltinCube();
-    }
-  }
-
-  // single file
-  else if (!file_.empty()) {
-    // remove path from file if necessary
-    if (model->strippath) {
-      file_ = mjuu_strippath(file_);
-    }
-
-    // make filename
-    FilePath filename = texturedir_ + FilePath(file_);
-
-    // dispatch
-    if (type == mjTEXTURE_2D) {
-      Load2D(filename.Str(), vfs);
-    } else {
-      LoadCubeSingle(filename.Str(), vfs);
-    }
-  }
-
-  // separate files
-  else {
-    // 2D not allowed
-    if (type == mjTEXTURE_2D) {
-      throw mjCError(this,
-                     "Cannot load 2D texture from separate files, texture");
-    }
-
-    // at least one cubefile must be defined
-    bool defined = false;
-    for (int i=0; i < 6; i++) {
-      if (!cubefiles_[i].empty()) {
-        defined = true;
-        break;
-      }
-    }
-    if (!defined) {
-      throw mjCError(this,
-                     "No cubefiles_ defined in cube or skybox texture");
-    }
-
-    // only cube and skybox
-    LoadCubeSeparate(vfs);
-  }
-
-  // make sure someone allocated data; SHOULD NOT OCCUR
-  if (data_.empty()) {
-    throw mjCError(this, "texture '%s' (id %d) was not specified", name.c_str(), id);
-  }
-
-  // if recompiled is called, clear data_ first
-  clear_data_ = true;
-}
-
-
-
-//------------------ class mjCMaterial implementation ----------------------------------------------
-
-// initialize defaults
-mjCMaterial::mjCMaterial(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultMaterial(&spec);
-  elemtype = mjOBJ_MATERIAL;
-  textures_.assign(mjNTEXROLE, "");
-  spec_textures_.assign(mjNTEXROLE, "");
-
-  // clear internal
-  for (int i=0; i < mjNTEXROLE; i++) {
-    texid[i] = -1;
-  }
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Material();
-  }
-
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-
-  PointToLocal();
-
-  // in case this material is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCMaterial::mjCMaterial(const mjCMaterial& other) {
-  *this = other;
-}
-
-
-
-mjCMaterial& mjCMaterial::operator=(const mjCMaterial& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCMaterial_*>(this) = static_cast<const mjCMaterial_&>(other);
-    *static_cast<mjsMaterial*>(this) = static_cast<const mjsMaterial&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCMaterial::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.textures = &spec_textures_;
-  spec.info = &info;
-  textures = nullptr;
-}
-
-
-
-void mjCMaterial::CopyFromSpec() {
-  *static_cast<mjsMaterial*>(this) = spec;
-  textures_ = spec_textures_;
-}
-
-
-
-void mjCMaterial::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  for (int i=0; i < mjNTEXROLE; i++) {
-    if (!spec_textures_[i].empty()) {
-      spec_textures_[i] = m->prefix + spec_textures_[i] + m->suffix;
-    }
-  }
-}
-
-
-
-// compiler
-void mjCMaterial::Compile(void) {
-  CopyFromSpec();
-}
-
-
-
-//------------------ class mjCPair implementation --------------------------------------------------
-
-// constructor
-mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultPair(&spec);
-  elemtype = mjOBJ_PAIR;
-
-  // set defaults
-  spec_geomname1_.clear();
-  spec_geomname2_.clear();
-
-  // clear internal variables
-  geom1 = nullptr;
-  geom2 = nullptr;
-  signature = -1;
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Pair();
-  }
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-
-  // point to local
-  PointToLocal();
-
-  // in case this camera is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCPair::mjCPair(const mjCPair& other) {
-  *this = other;
-}
-
-
-
-mjCPair& mjCPair::operator=(const mjCPair& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCPair_*>(this) = static_cast<const mjCPair_&>(other);
-    *static_cast<mjsPair*>(this) = static_cast<const mjsPair&>(other);
-    this->geom1 = nullptr;
-    this->geom2 = nullptr;
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCPair::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.geomname1 = &spec_geomname1_;
-  spec.geomname2 = &spec_geomname2_;
-  geomname1 = nullptr;
-  geomname2 = nullptr;
-  spec.info = &info;
-}
-
-
-
-void mjCPair::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  prefix = m->prefix;
-  suffix = m->suffix;
-}
-
-
-
-void mjCPair::CopyFromSpec() {
-  *static_cast<mjsPair*>(this) = spec;
-  geomname1_ = spec_geomname1_;
-  geomname2_ = spec_geomname2_;
-}
-
-
-
-void mjCPair::ResolveReferences(const mjCModel* m) {
-  geomname1_ = prefix + geomname1_ + suffix;
-  geomname2_ = prefix + geomname2_ + suffix;
-  geom1 = (mjCGeom*)m->FindObject(mjOBJ_GEOM, geomname1_);
-  geom2 = (mjCGeom*)m->FindObject(mjOBJ_GEOM, geomname2_);
-
-  if (!geom1 && geom2) {
-    geomname1_ = spec_geomname1_;
-    geom1 = (mjCGeom*)m->FindObject(mjOBJ_GEOM, geomname1_);
-  }
-  if (geom1 && !geom2) {
-    geomname2_ = spec_geomname2_;
-    geom2 = (mjCGeom*)m->FindObject(mjOBJ_GEOM, geomname2_);
-  }
-
-  if (!geom1) {
-    throw mjCError(this, "geom '%s' not found in collision %d", geomname1_.c_str(), id);
-  }
-  if (!geom2) {
-    throw mjCError(this, "geom '%s' not found in collision %d", geomname2_.c_str(), id);
-  }
-
-  spec_geomname1_ = geomname1_;
-  spec_geomname2_ = geomname2_;
-  prefix.clear();
-  suffix.clear();
-
-  // swap if body1 > body2
-  if (geom1->body->id > geom2->body->id) {
-    std::string nametmp = geomname1_;
-    geomname1_ = geomname2_;
-    geomname2_ = nametmp;
-
-    mjCGeom* geomtmp = geom1;
-    geom1 = geom2;
-    geom2 = geomtmp;
-  }
-
-  // get geom ids and body signature
-  signature = ((geom1->body->id)<<16) + geom2->body->id;
-}
-
-
-
-// compiler
-void mjCPair::Compile(void) {
-  CopyFromSpec();
-
-  // check condim
-  if (condim != 1 && condim != 3 && condim != 4 && condim != 6) {
-    throw mjCError(this, "invalid condim in contact pair");
-  }
-
-  // find geoms
-  ResolveReferences(model);
-
-  // mark geoms as not visual
-  geom1->SetNotVisual();
-  geom2->SetNotVisual();
-
-  // set undefined margin: max
-  if (!mjuu_defined(margin)) {
-    margin = std::max(geom1->margin, geom2->margin);
-  }
-
-  // set undefined gap: max
-  if (!mjuu_defined(gap)) {
-    gap = std::max(geom1->gap, geom2->gap);
-  }
-
-  // set undefined condim, friction, solref, solimp: different priority
-  if (geom1->priority != geom2->priority) {
-    mjCGeom* pgh = (geom1->priority > geom2->priority ? geom1 : geom2);
-
-    // condim
-    if (condim < 0) {
-      condim = pgh->condim;
-    }
-
-    // friction
-    if (!mjuu_defined(friction[0])) {
-      friction[0] = friction[1] = pgh->friction[0];
-      friction[2] =               pgh->friction[1];
-      friction[3] = friction[4] = pgh->friction[2];
-    }
-
-    // reference
-    if (!mjuu_defined(solref[0])) {
-      for (int i=0; i < mjNREF; i++) {
-        solref[i] = pgh->solref[i];
-      }
-    }
-
-    // impedance
-    if (!mjuu_defined(solimp[0])) {
-      for (int i=0; i < mjNIMP; i++) {
-        solimp[i] = pgh->solimp[i];
-      }
-    }
-  }
-
-  // set undefined condim, friction, solref, solimp: same priority
-  else {
-    // condim: max
-    if (condim < 0) {
-      condim = std::max(geom1->condim, geom2->condim);
-    }
-
-    // friction: max
-    if (!mjuu_defined(friction[0])) {
-      friction[0] = friction[1] = std::max(geom1->friction[0], geom2->friction[0]);
-      friction[2] =               std::max(geom1->friction[1], geom2->friction[1]);
-      friction[3] = friction[4] = std::max(geom1->friction[2], geom2->friction[2]);
-    }
-
-    // solver mix factor
-    double mix;
-    if (geom1->solmix >= mjEPS && geom2->solmix >= mjEPS) {
-      mix = geom1->solmix / (geom1->solmix + geom2->solmix);
-    } else if (geom1->solmix < mjEPS && geom2->solmix < mjEPS) {
-      mix = 0.5;
-    } else if (geom1->solmix < mjEPS) {
-      mix = 0.0;
-    } else {
-      mix = 1.0;
-    }
-
-    // reference
-    if (!mjuu_defined(solref[0])) {
-      // standard: mix
-      if (solref[0] > 0) {
-        for (int i=0; i < mjNREF; i++) {
-          solref[i] = mix*geom1->solref[i] + (1-mix)*geom2->solref[i];
-        }
-      }
-
-      // direct: min
-      else {
-        for (int i=0; i < mjNREF; i++) {
-          solref[i] = std::min(geom1->solref[i], geom2->solref[i]);
-        }
-      }
-    }
-
-    // impedance
-    if (!mjuu_defined(solimp[0])) {
-      for (int i=0; i < mjNIMP; i++) {
-        solimp[i] = mix*geom1->solimp[i] + (1-mix)*geom2->solimp[i];
-      }
-    }
-  }
-}
-
-
-
-//------------------ class mjCBodyPair implementation ----------------------------------------------
-
-// constructor
-mjCBodyPair::mjCBodyPair(mjCModel* _model) {
-  // set model pointer
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  elemtype = mjOBJ_EXCLUDE;
-
-  // set defaults
-  spec_bodyname1_.clear();
-  spec_bodyname2_.clear();
-
-  // clear internal variables
-  body1 = body2 = signature = -1;
-
-  PointToLocal();
-  CopyFromSpec();
-}
-
-
-
-mjCBodyPair::mjCBodyPair(const mjCBodyPair& other) {
-  *this = other;
-}
-
-
-
-mjCBodyPair& mjCBodyPair::operator=(const mjCBodyPair& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCBodyPair_*>(this) = static_cast<const mjCBodyPair_&>(other);
-    *static_cast<mjsExclude*>(this) = static_cast<const mjsExclude&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCBodyPair::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.bodyname1 = &spec_bodyname1_;
-  spec.bodyname2 = &spec_bodyname2_;
-  spec.info = &info;
-  bodyname1 = nullptr;
-  bodyname2 = nullptr;
-}
-
-
-
-void mjCBodyPair::NameSpace(const mjCModel* m) {
-  if (!name.empty()) {
-    name = m->prefix + name + m->suffix;
-  }
-  prefix = m->prefix;
-  suffix = m->suffix;
-}
-
-
-
-void mjCBodyPair::CopyFromSpec() {
-  *static_cast<mjsExclude*>(this) = spec;
-  bodyname1_ = spec_bodyname1_;
-  bodyname2_ = spec_bodyname2_;
-}
-
-
-
-void mjCBodyPair::ResolveReferences(const mjCModel* m) {
-  bodyname1_ = prefix + bodyname1_ + suffix;
-  bodyname2_ = prefix + bodyname2_ + suffix;
-  mjCBody* pb1 = (mjCBody*)m->FindObject(mjOBJ_BODY, bodyname1_);
-  mjCBody* pb2 = (mjCBody*)m->FindObject(mjOBJ_BODY, bodyname2_);
-
-  if (!pb1 && pb2) {
-    bodyname1_ = spec_bodyname1_;
-    pb1 = (mjCBody*)m->FindObject(mjOBJ_BODY, bodyname1_);
-  }
-  if (pb1 && !pb2) {
-    bodyname2_ = spec_bodyname2_;
-    pb2 = (mjCBody*)m->FindObject(mjOBJ_BODY, bodyname2_);
-  }
-
-  if (!pb1) {
-    throw mjCError(this, "body '%s' not found in bodypair %d", bodyname1_.c_str(), id);
-  }
-  if (!pb2) {
-    throw mjCError(this, "body '%s' not found in bodypair %d", bodyname2_.c_str(), id);
-  }
-
-  spec_bodyname1_ = bodyname1_;
-  spec_bodyname2_ = bodyname2_;
-  prefix.clear();
-  suffix.clear();
-
-  // swap if body1 > body2
-  if (pb1->id > pb2->id) {
-    std::string nametmp = bodyname1_;
-    bodyname1_ = bodyname2_;
-    bodyname2_ = nametmp;
-
-    mjCBody* bodytmp = pb1;
-    pb1 = pb2;
-    pb2 = bodytmp;
-  }
-
-  // get body ids and body signature
-  body1 = pb1->id;
-  body2 = pb2->id;
-  signature = (body1<<16) + body2;
-}
-
-
-
-// compiler
-void mjCBodyPair::Compile(void) {
-  CopyFromSpec();
-
-  // find bodies
-  ResolveReferences(model);
-}
-
-
-
-//------------------ class mjCEquality implementation ----------------------------------------------
-
-// initialize default constraint
-mjCEquality::mjCEquality(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultEquality(&spec);
-  elemtype = mjOBJ_EQUALITY;
-
-  // clear internal variables
-  spec_name1_.clear();
-  spec_name2_.clear();
-  obj1id = obj2id = -1;
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Equality();
-  }
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-
-  // point to local
-  PointToLocal();
-
-  // in case this camera is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCEquality::mjCEquality(const mjCEquality& other) {
-  *this = other;
-}
-
-
-
-mjCEquality& mjCEquality::operator=(const mjCEquality& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCEquality_*>(this) = static_cast<const mjCEquality_&>(other);
-    *static_cast<mjsEquality*>(this) = static_cast<const mjsEquality&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCEquality::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.name1 = &spec_name1_;
-  spec.name2 = &spec_name2_;
-  spec.info = &info;
-  name1 = nullptr;
-  name2 = nullptr;
-}
-
-
-
-void mjCEquality::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  if (!spec_name1_.empty()) {
-    spec_name1_ = m->prefix + spec_name1_ + m->suffix;
-  }
-  if (!spec_name2_.empty()) {
-    spec_name2_ = m->prefix + spec_name2_ + m->suffix;
-  }
-}
-
-
-
-void mjCEquality::CopyFromSpec() {
-  *static_cast<mjsEquality*>(this) = spec;
-  name1_ = spec_name1_;
-  name2_ = spec_name2_;
-}
-
-
-
-void mjCEquality::ResolveReferences(const mjCModel* m) {
-  mjtObj object_type;
-  mjCBase *px1, *px2;
-  mjtJoint jt1, jt2;
-
-  // determine object type
-  if (type == mjEQ_WELD) {
-    if (objtype != mjOBJ_SITE && objtype != mjOBJ_BODY) {
-      throw mjCError(this, "weld constraint supports only sites and bodies");
-    }
-    object_type = objtype;
-  } else if (type == mjEQ_CONNECT) {
-    if (objtype != mjOBJ_SITE && objtype != mjOBJ_BODY) {
-      throw mjCError(this, "connect constraint supports only sites and bodies");
-    }
-    object_type = objtype;
-  } else if (type == mjEQ_JOINT) {
-    object_type = mjOBJ_JOINT;
-  } else if (type == mjEQ_TENDON) {
-    object_type = mjOBJ_TENDON;
-  } else if (type == mjEQ_FLEX || type == mjEQ_FLEXVERT || type == mjEQ_FLEXSTRAIN) {
-    object_type = mjOBJ_FLEX;
-  } else {
-    throw mjCError(this, "invalid type in equality constraint");
-  }
-
-  // find object 1, get id
-  px1 = m->FindObject(object_type, name1_);
-  if (!px1) {
-    throw mjCError(this, "unknown element '%s' in equality constraint", name1_.c_str());
-  }
-  obj1id = px1->id;
-
-  // find object 2, get id
-  if (!name2_.empty()) {
-    px2 = m->FindObject(object_type, name2_);
-    if (!px2) {
-      throw mjCError(this, "unknown element '%s' in equality constraint %d", name2_.c_str(), id);
-    }
-    obj2id = px2->id;
-  } else {
-    // object 2 unspecified: set to -1
-    obj2id = -1;
-    px2 = nullptr;
-  }
-
-  // set missing body = world
-  if (object_type == mjOBJ_BODY && obj2id == -1) {
-    obj2id = 0;
-  }
-
-  // make sure the two objects are different
-  if (obj1id == obj2id) {
-    throw mjCError(this, "element '%s' is repeated in equality constraint %d", name1_.c_str(), id);
-  }
-
-  // make sure joints are scalar
-  if (type == mjEQ_JOINT) {
-    jt1 = ((mjCJoint*)px1)->type;
-    jt2 = (px2 ? ((mjCJoint*)px2)->type : mjJNT_HINGE);
-    if ((jt1 != mjJNT_HINGE && jt1 != mjJNT_SLIDE) ||
-        (jt2 != mjJNT_HINGE && jt2 != mjJNT_SLIDE)) {
-      throw mjCError(this, "only HINGE and SLIDE joint allowed in constraint");
-    }
-  }
-}
-
-
-
-// compiler
-void mjCEquality::Compile(void) {
-  CopyFromSpec();
-
-  // find objects
-  ResolveReferences(model);
-
-  // make sure flex is not rigid
-  if ((type == mjEQ_FLEX || type == mjEQ_FLEXVERT || type == mjEQ_FLEXSTRAIN) &&
-      model->Flexes()[obj1id]->rigid) {
-    throw mjCError(this, "rigid flex '%s' in equality constraint %d", name1_.c_str(), id);
-  }
-}
-
-
-
-//------------------ class mjCTendon implementation ------------------------------------------------
-
-// constructor
-mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultTendon(&spec);
-  elemtype = mjOBJ_TENDON;
-
-  // clear internal variables
-  spec_material_.clear();
-  spec_userdata_.clear();
-  path.clear();
-  matid = -1;
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Tendon();
-  }
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-
-  // point to local
-  PointToLocal();
-
-  // in case this camera is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCTendon::mjCTendon(const mjCTendon& other) {
-  *this = other;
-}
-
-
-
-mjCTendon& mjCTendon::operator=(const mjCTendon& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCTendon_*>(this) = static_cast<const mjCTendon_&>(other);
-    *static_cast<mjsTendon*>(this) = static_cast<const mjsTendon&>(other);
-    for (int i=0; i < other.path.size(); i++) {
-      path.push_back(new mjCWrap(*other.path[i]));
-      path.back()->tendon = this;
-    }
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-bool mjCTendon::is_limited() const {
-  return islimited(limited, range);
-}
-bool mjCTendon::is_actfrclimited() const {
-  return islimited(actfrclimited, actfrcrange);
-}
-
-void mjCTendon::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.material = &spec_material_;
-  spec.userdata = &spec_userdata_;
-  spec.info = &info;
-  material = nullptr;
-  userdata = nullptr;
-}
-
-
-
-void mjCTendon::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  prefix = m->prefix;
-  suffix = m->suffix;
-}
-
-
-
-void mjCTendon::CopyFromSpec() {
-  *static_cast<mjsTendon*>(this) = spec;
-  material_ = spec_material_;
-  userdata_ = spec_userdata_;
-
-  // propagate model pointer to wraps and clear precompiled
-  for (int i=0; i < path.size(); i++) {
-    path[i]->model = model;
-    if (path[i]->Type() == mjWRAP_CYLINDER) {
-      path[i]->spec.type = mjWRAP_SPHERE;
-    }
-  }
-}
-
-
-
-// desctructor
-mjCTendon::~mjCTendon() {
-  // delete objects allocated here
-  for (unsigned int i=0; i < path.size(); i++) {
-    delete path[i];
-  }
-
-  path.clear();
-}
-
-
-
-void mjCTendon::SetModel(mjCModel* _model) {
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  for (int i=0; i < path.size(); i++) {
-    path[i]->model = _model;
-  }
-}
-
-
-
-// add site as wrap object
-void mjCTendon::WrapSite(std::string wrapname, std::string_view wrapinfo) {
-  // create wrap object
-  mjCWrap* wrap = new mjCWrap(model, this);
-  wrap->info = wrapinfo;
-
-  // set parameters, add to path
-  wrap->spec.type = mjWRAP_SITE;
-  wrap->name = wrapname;
-  wrap->id = (int)path.size();
-  path.push_back(wrap);
-}
-
-
-
-// add geom (with side site) as wrap object
-void mjCTendon::WrapGeom(std::string wrapname, std::string sidesite, std::string_view wrapinfo) {
-  // create wrap object
-  mjCWrap* wrap = new mjCWrap(model, this);
-  wrap->info = wrapinfo;
-
-  // set parameters, add to path
-  wrap->spec.type = mjWRAP_SPHERE;         // replace with cylinder later if needed
-  wrap->name = wrapname;
-  wrap->sidesite = sidesite;
-  wrap->id = (int)path.size();
-  path.push_back(wrap);
-}
-
-
-
-// add joint as wrap object
-void mjCTendon::WrapJoint(std::string wrapname, double coef, std::string_view wrapinfo) {
-  // create wrap object
-  mjCWrap* wrap = new mjCWrap(model, this);
-  wrap->info = wrapinfo;
-
-  // set parameters, add to path
-  wrap->spec.type = mjWRAP_JOINT;
-  wrap->name = wrapname;
-  wrap->prm = coef;
-  wrap->id = (int)path.size();
-  path.push_back(wrap);
-}
-
-
-
-// add pulley
-void mjCTendon::WrapPulley(double divisor, std::string_view wrapinfo) {
-  // create wrap object
-  mjCWrap* wrap = new mjCWrap(model, this);
-  wrap->info = wrapinfo;
-
-  // set parameters, add to path
-  wrap->spec.type = mjWRAP_PULLEY;
-  wrap->prm = divisor;
-  wrap->id = (int)path.size();
-  path.push_back(wrap);
-}
-
-
-
-// get number of wraps
-int mjCTendon::NumWraps() const {
-  return (int)path.size();
-}
-
-
-
-// get pointer to specified wrap
-const mjCWrap* mjCTendon::GetWrap(int i) const {
-  if (i >= 0 && i < (int)path.size()) {
-    return path[i];
-  }
-  return nullptr;
-}
-
-
-
-void mjCTendon::ResolveReferences(const mjCModel* m) {
-  int nfailure = 0;
-  int npulley = 0;
-  for (int i=0; i < path.size(); i++) {
-    std::string pname = path[i]->name;
-    std::string psidesite = path[i]->sidesite;
-    if (path[i]->Type() == mjWRAP_PULLEY) {
-      npulley++;
-    }
-    try {
-      // look for wrapped element with namespace
-      path[i]->name = prefix + pname + suffix;
-      if (!psidesite.empty()) {
-        path[i]->sidesite = prefix + psidesite + suffix;
-      }
-      path[i]->ResolveReferences(m);
-    } catch(mjCError) {
-      // remove namespace from wrap names
-      path[i]->name = pname;
-      if (!psidesite.empty()) {
-        path[i]->sidesite = psidesite;
-      }
-      path[i]->ResolveReferences(m);
-      nfailure++;
-    }
-  }
-  if (nfailure == path.size()-npulley) {
-    throw mjCError(this, "tendon '%s' (id = %d): no attached reference found", name.c_str(), id);
-  }
-  prefix.clear();
-  suffix.clear();
-}
-
-
-
-// compiler
-void mjCTendon::Compile(void) {
-  // compile all wraps in the path
-  for (mjCWrap* wrap : path) {
-    wrap->Compile();
-  }
-
-  CopyFromSpec();
-
-  // resize userdata
-  if (userdata_.size() > model->nuser_tendon) {
-    throw mjCError(this, "user has more values than nuser_tendon in tendon");
-  }
-  userdata_.resize(model->nuser_tendon);
-
-  // check for empty path
-  int sz = (int)path.size();
-  if (!sz) {
-    throw mjCError(this,
-                   "tendon '%s' (id = %d): path cannot be empty",
-                   name.c_str(), id);
-  }
-
-  // determine type
-  bool spatial = (path[0]->Type() != mjWRAP_JOINT);
-
-  // require at least two objects in spatial path
-  if (spatial && sz < 2) {
-    throw mjCError(this, "tendon '%s' (id = %d): spatial path must contain at least two objects",
-                   name.c_str(), id);
-  }
-
-  // require positive width
-  if (spatial && width <= 0) {
-    throw mjCError(this, "tendon '%s' (id = %d) must have positive width", name.c_str(), id);
-  }
-
-  // compile objects in path
-  ResolveReferences(model);
-
-  // check path
-  for (int i=0; i < sz; i++) {
-    // fixed
-    if (!spatial) {
-      // make sure all objects are joints
-      if (path[i]->Type() != mjWRAP_JOINT) {
-        throw mjCError(this, "tendon '%s' (id = %d): spatial object found in fixed path at pos %d",
-                       name.c_str(), id, i);
-      }
-    }
-
-    // spatial path
-    else {
-      if (armature < 0) {
-        throw mjCError(this,
-                       "tendon '%s' (id = %d): tendon armature cannot be negative",
-                        name.c_str(), id);
-      }
-
-      switch (path[i]->Type()) {
-        case mjWRAP_PULLEY:
-          // pulley should not follow other pulley
-          if (i > 0 && path[i-1]->Type() == mjWRAP_PULLEY) {
-            throw mjCError(this, "tendon '%s' (id = %d): consecutive pulleys (pos %d)",
-                           name.c_str(), id, i);
-          }
-
-          // pulley should not be last
-          if (i == sz-1) {
-            throw mjCError(this, "tendon '%s' (id = %d): path ends with pulley", name.c_str(), id);
-          }
-          break;
-
-        case mjWRAP_SITE:
-          // site needs a neighbor that is not a pulley
-          if ((i == 0 || path[i-1]->Type() == mjWRAP_PULLEY) &&
-              (i == sz-1 || path[i+1]->Type() == mjWRAP_PULLEY)) {
-            throw mjCError(this,
-                           "tendon '%s' (id = %d): site %d needs a neighbor that is not a pulley",
-                           name.c_str(), id, i);
-          }
-
-          // site cannot be repeated
-          if (i < sz-1 && path[i+1]->Type() == mjWRAP_SITE && path[i]->obj->id == path[i+1]->obj->id) {
-            throw mjCError(this,
-                           "tendon '%s' (id = %d): site %d is repeated",
-                           name.c_str(), id, i);
-          }
-
-          break;
-
-        case mjWRAP_SPHERE:
-        case mjWRAP_CYLINDER:
-          // geom must be bracketed by sites
-          if (i == 0 || i == sz-1 || path[i-1]->Type() != mjWRAP_SITE || path[i+1]->Type() != mjWRAP_SITE) {
-            throw mjCError(this,
-                           "tendon '%s' (id = %d): geom at pos %d not bracketed by sites",
-                           name.c_str(), id, i);
-          }
-
-          if (armature > 0) {
-            throw mjCError(this,
-                           "tendon '%s' (id = %d): geom wrapping not supported by tendon armature",
-                           name.c_str(), id);
-          }
-
-          // mark geoms as non visual
-          model->Geoms()[path[i]->obj->id]->SetNotVisual();
-          break;
-
-        case mjWRAP_JOINT:
-          throw mjCError(this,
-                         "tendon '%s (id = %d)': joint wrap found in spatial path at pos %d",
-                         name.c_str(), id, i);
-
-        default:
-          throw mjCError(this,
-                         "tendon '%s (id = %d)': invalid wrap object at pos %d",
-                         name.c_str(), id, i);
-      }
-    }
-  }
-
-  // if limited is auto, set to 1 if range is specified, otherwise unlimited
-  if (limited == mjLIMITED_AUTO) {
-    bool hasrange = !(range[0] == 0 && range[1] == 0);
-    checklimited(this, compiler->autolimits, "tendon", "", limited, hasrange);
-  }
-
-  // check limits
-  if (range[0] >= range[1] && is_limited()) {
-    throw mjCError(this, "invalid limits in tendon");
-  }
-
-  // if limited is auto, set to 1 if range is specified, otherwise unlimited
-  if (actfrclimited == mjLIMITED_AUTO) {
-    bool hasactfrcrange = !(actfrcrange[0] == 0 && actfrcrange[1] == 0);
-    checklimited(this, compiler->autolimits, "tendon", "", actfrclimited,
-                 hasactfrcrange);
-  }
-
-  // check actfrclimits
-  if (actfrcrange[0] >= actfrcrange[1] && is_actfrclimited()) {
-    throw mjCError(this, "invalid actuatorfrcrange in tendon");
-  }
-  if ((actfrcrange[0] > 0 || actfrcrange[1] < 0) && is_actfrclimited()) {
-    throw mjCError(this, "invalid actuatorfrcrange in tendon");
-  }
-
-  // check springlength
-  if (springlength[0] > springlength[1]) {
-    throw mjCError(this, "invalid springlength in tendon");
-  }
-}
-
-
-
-//------------------ class mjCWrap implementation --------------------------------------------------
-
-// constructor
-mjCWrap::mjCWrap(mjCModel* _model, mjCTendon* _tendon) {
-  elemtype = mjOBJ_UNKNOWN;
-
-  // set model and tendon pointer
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  tendon = _tendon;
-
-  // clear variables
-  spec.type = mjWRAP_NONE;
-  obj = nullptr;
-  sideid = -1;
-  prm = 0;
-  sidesite.clear();
-
-  // point to local
-  PointToLocal();
-  CopyFromSpec();
-}
-
-
-
-mjCWrap::mjCWrap(const mjCWrap& other) {
-  *this = other;
-}
-
-
-
-mjCWrap& mjCWrap::operator=(const mjCWrap& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCWrap_*>(this) = static_cast<const mjCWrap_&>(other);
-    *static_cast<mjsWrap*>(this) = static_cast<const mjsWrap&>(other);
-    obj = nullptr;
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCWrap::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.info = &info;
-}
-
-void mjCWrap::CopyFromSpec() {
-  *static_cast<mjsWrap*>(this) = spec;
-}
-
-void mjCWrap::NameSpace(const mjCModel* m) {
-  name = m->prefix + name + m->suffix;
-  if (!sidesite.empty()) {
-    sidesite = m->prefix + sidesite + m->suffix;
-  }
-}
-
-void mjCWrap::Compile(void) {
-  CopyFromSpec();
-}
-
-void mjCWrap::ResolveReferences(const mjCModel* m) {
-  mjCBase *pside;
-
-  // handle wrap object types
-  switch (spec.type) {
-    case mjWRAP_JOINT:                        // joint
-      // find joint by name
-      obj = m->FindObject(mjOBJ_JOINT, name);
-      if (!obj) {
-        throw mjCError(this,
-                       "joint '%s' not found in tendon %d, wrap %d",
-                       name.c_str(), tendon->id, id);
-      }
-
-      break;
-
-    case mjWRAP_SPHERE:                       // geom (cylinder type set here)
-      // find geom by name
-      obj = m->FindObject(mjOBJ_GEOM, name);
-      if (!obj) {
-        throw mjCError(this,
-                       "geom '%s' not found in tendon %d, wrap %d",
-                       name.c_str(), tendon->id, id);
-      }
-
-      // set/check geom type
-      if (((mjCGeom*)obj)->type == mjGEOM_CYLINDER) {
-        spec.type = mjWRAP_CYLINDER;
-      } else if (((mjCGeom*)obj)->type != mjGEOM_SPHERE) {
-        throw mjCError(this,
-                       "geom '%s' in tendon %d, wrap %d is not sphere or cylinder",
-                       name.c_str(), tendon->id, id);
-      }
-
-      // process side site
-      if (!sidesite.empty()) {
-        // find site by name
-        pside = m->FindObject(mjOBJ_SITE, sidesite);
-        if (!pside) {
-          throw mjCError(this,
-                         "side site '%s' not found in tendon %d, wrap %d",
-                         sidesite.c_str(), tendon->id, id);
-        }
-
-        // save side site id
-        sideid = pside->id;
-      }
-      break;
-
-    case mjWRAP_PULLEY:                       // pulley
-      // make sure divisor is non-negative
-      if (prm < 0) {
-        throw mjCError(this,
-                       "pulley has negative divisor in tendon %d, wrap %d",
-                       0, tendon->id, id);
-      }
-
-      break;
-
-    case mjWRAP_SITE:                         // site
-      // find site by name
-      obj = m->FindObject(mjOBJ_SITE, name);
-      if (!obj) {
-        throw mjCError(this, "site '%s' not found in wrap %d", name.c_str(), id);
-      }
-      break;
-
-    default:                                  // SHOULD NOT OCCUR
-      throw mjCError(this, "unknown wrap type in tendon %d, wrap %d", 0, tendon->id, id);
-  }
-}
-
-
-
-//------------------ class mjCActuator implementation ----------------------------------------------
-
-// initialize defaults
-mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {
-  mjs_defaultActuator(&spec);
-  elemtype = mjOBJ_ACTUATOR;
-
-  // clear private variables
-  ptarget = nullptr;
-  spec_target_.clear();
-  spec_slidersite_.clear();
-  spec_refsite_.clear();
-  spec_userdata_.clear();
-  trnid[0] = trnid[1] = -1;
-
-  // reset to default if given
-  if (_def) {
-    *this = _def->Actuator();
-  }
-
-  // set model, def
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  classname = _def ? _def->name : "main";
-
-  // in case this actuator is not compiled
-  CopyFromSpec();
-
-  // point to local
-  PointToLocal();
-
-  // no previous state when an actuator is created
-  actadr_ = -1;
-  actdim_ = -1;
-
-  // input and output blocks, set by mjCModel; all actuator types are currently 1x1
-  ctrladr_ = -1;
-  ctrlnum_ = 1;
-  ctrlspec_ = 0;
-  outadr_ = -1;
-  outnum_ = 1;
-  so3_ = false;
-}
-
-
-
-mjCActuator::mjCActuator(const mjCActuator& other) {
-  *this = other;
-}
-
-
-
-mjCActuator& mjCActuator::operator=(const mjCActuator& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCActuator_*>(this) = static_cast<const mjCActuator_&>(other);
-    *static_cast<mjsActuator*>(this) = static_cast<const mjsActuator&>(other);
-    ptarget = nullptr;
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCActuator::ForgetKeyframes() {
-  act_.clear();
-  ctrl_.clear();
-}
-
-
-
-bool mjCActuator::is_ctrllimited() const {
-  return islimited(ctrllimited, ctrlrange);
-}
-bool mjCActuator::is_forcelimited() const {
-  return islimited(forcelimited, forcerange);
-}
-bool mjCActuator::is_actlimited() const {
-  return islimited(actlimited, actrange);
-}
-
-
-
-std::vector<mjtNum>& mjCActuator::act(const std::string& state_name) {
-  if (act_.find(state_name) == act_.end()) {
-    act_[state_name] = std::vector<mjtNum>(model->nu, mjNAN);
-  }
-  return act_.at(state_name);
-}
-
-
-
-mjtNum& mjCActuator::ctrl(const std::string& state_name) {
-  if (ctrl_.find(state_name) == ctrl_.end()) {
-    ctrl_[state_name] = mjNAN;
-  }
-  return ctrl_.at(state_name);
-}
-
-
-
-void mjCActuator::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.userdata = &spec_userdata_;
-  spec.target = &spec_target_;
-  spec.refsite = &spec_refsite_;
-  spec.slidersite = &spec_slidersite_;
-  spec.plugin.plugin_name = &plugin_name;
-  spec.plugin.name = &plugin_instance_name;
-  spec.info = &info;
-  userdata = nullptr;
-  target = nullptr;
-  refsite = nullptr;
-  slidersite = nullptr;
-}
-
-
-
-void mjCActuator::NameSpace(const mjCModel* m) {
-  mjCBase::NameSpace(m);
-  if (!plugin_instance_name.empty()) {
-    plugin_instance_name = m->prefix + plugin_instance_name + m->suffix;
-  }
-  if (!spec_target_.empty()) {
-    spec_target_ = m->prefix + spec_target_ + m->suffix;
-  }
-  if (!spec_refsite_.empty()) {
-    spec_refsite_ = m->prefix + spec_refsite_ + m->suffix;
-  }
-  if (!spec_slidersite_.empty()) {
-    spec_slidersite_ = m->prefix + spec_slidersite_ + m->suffix;
-  }
-}
-
-
-
-void mjCActuator::CopyFromSpec() {
-  *static_cast<mjsActuator*>(this) = spec;
-  userdata_ = spec_userdata_;
-  target_ = spec_target_;
-  refsite_ = spec_refsite_;
-  slidersite_ = spec_slidersite_;
-  plugin.active = spec.plugin.active;
-  plugin.element = spec.plugin.element;
-  plugin.plugin_name = spec.plugin.plugin_name;
-  plugin.name = spec.plugin.name;
-}
-
-
-
-void mjCActuator::CopyPlugin() {
-  model->CopyExplicitPlugin(this);
-}
-
-
-
-void mjCActuator::ResolveReferences(const mjCModel* m) {
-  switch (trntype) {
-    case mjTRN_JOINT:
-    case mjTRN_JOINTINPARENT:
-      // get joint
-      ptarget = m->FindObject(mjOBJ_JOINT, target_);
-      if (!ptarget) {
-        throw mjCError(this,
-                       "unknown transmission target '%s' for actuator id = %d", target_.c_str(), id);
-      }
-      break;
-
-    case mjTRN_SLIDERCRANK:
-      // get slidersite, copy in trnid[1]
-      if (slidersite_.empty()) {
-        throw mjCError(this, "missing base site for slider-crank '%s' (id = %d)", name.c_str(), id);
-      }
-      ptarget = m->FindObject(mjOBJ_SITE, slidersite_);
-      if (!ptarget) {
-        throw mjCError(this, "base site '%s' not found for actuator %d", slidersite_.c_str(), id);
-      }
-      trnid[1] = ptarget->id;
-
-      // check cranklength
-      if (cranklength <= 0) {
-        throw mjCError(this,
-                       "crank length must be positive in actuator '%s' (id = %d)", name.c_str(), id);
-      }
-
-      // proceed with regular target
-      ptarget = m->FindObject(mjOBJ_SITE, target_);
-      break;
-
-    case mjTRN_TENDON:
-      // get tendon
-      ptarget = m->FindObject(mjOBJ_TENDON, target_);
-      break;
-
-    case mjTRN_SITE:
-      // get refsite, copy into trnid[1]
-      if (!refsite_.empty()) {
-        ptarget = m->FindObject(mjOBJ_SITE, refsite_);
-        if (!ptarget) {
-          throw mjCError(this, "reference site '%s' not found for actuator %d", refsite_.c_str(), id);
-        }
-        trnid[1] = ptarget->id;
-      }
-
-      // proceed with regular site target
-      ptarget = m->FindObject(mjOBJ_SITE, target_);
-      break;
-
-    case mjTRN_BODY:
-      // get body
-      ptarget = m->FindObject(mjOBJ_BODY, target_);
-      break;
-
-    default:
-      throw mjCError(this, "invalid transmission type in actuator");
-  }
-
-  // assign and check
-  if (!ptarget) {
-    throw mjCError(this, "transmission target '%s' not found in actuator %d", target_.c_str(), id);
-  } else {
-    trnid[0] = ptarget->id;
-  }
-}
-
-
-
-// compiler
-void mjCActuator::Compile(void) {
-  CopyFromSpec();
-
-  // reset input/output block widths, resolved below
-  ctrlnum_ = 1;
-  ctrlspec_ = 0;
-  outnum_ = 1;
-  so3_ = false;
-
-  // resize userdata
-  if (userdata_.size() > model->nuser_actuator) {
-    throw mjCError(this, "user has more values than nuser_actuator in actuator '%s' (id = %d)",
-                   name.c_str(), id);
-  }
-  userdata_.resize(model->nuser_actuator);
-
-  // check for missing target name
-  if (target_.empty()) {
-    throw mjCError(this,
-                   "missing transmission target for actuator");
-  }
-
-  // find transmission target in object arrays
-  ResolveReferences(model);
-
-  // SO3 geodesic servo: validate and resolve the SO3 transmission
-  if (gaintype == mjGAIN_SO3 || biastype == mjBIAS_SO3) {
-    if (gaintype != mjGAIN_SO3 || biastype != mjBIAS_SO3) {
-      throw mjCError(this, "gaintype and biastype must both be 'so3' in actuator '%s' (id = %d)",
-                     name.c_str(), id);
-    }
-    if (dyntype != mjDYN_NONE && dyntype != mjDYN_INTEGRATOR) {
-      throw mjCError(this, "so3 requires dyntype 'none' or 'integrator' in actuator '%s' (id = %d)",
-                     name.c_str(), id);
-    }
-    if (gainprm[0] != -biasprm[1]) {
-      throw mjCError(this, "so3 requires gainprm[0] == -biasprm[1] in actuator '%s' (id = %d)",
-                     name.c_str(), id);
-    }
-    if (trntype == mjTRN_SITE) {
-      if (refsite_.empty()) {
-        throw mjCError(this, "so3 site transmission requires refsite in actuator '%s' (id = %d)",
-                       name.c_str(), id);
-      }
-    } else if (trntype == mjTRN_JOINT) {
-      if (((mjCJoint*)ptarget)->spec.type != mjJNT_BALL) {
-        throw mjCError(this, "so3 joint transmission requires a ball joint in actuator '%s' "
-                       "(id = %d)", name.c_str(), id);
-      }
-    } else {
-      throw mjCError(this, "so3 requires site or ball joint transmission in actuator '%s' "
-                     "(id = %d)", name.c_str(), id);
-    }
-
-    // integrator variant: activation is the 3D orientation setpoint
-    if (dyntype == mjDYN_INTEGRATOR) {
-      if (actdim > 0 && actdim != 3) {
-        throw mjCError(this, "so3 integrator requires actdim 3 in actuator '%s' (id = %d)",
-                       name.c_str(), id);
-      }
-      actdim = 3;
-
-      // the act setpoint is re-anchored to a bounded representative at integration time
-      if (actlimited == mjLIMITED_TRUE && actrange[0] == 0 && actrange[1] == 0) {
-        actlimited = mjLIMITED_FALSE;
-      }
-    }
-
-    // input chart: expmap (3 controls, default) or quat (4 controls)
-    ctrlspec_ = ctrlspec ? ctrlspec : mjCHART_EXPMAP;
-    if (ctrlspec_ == mjCHART_QUAT) {
-      if (dyntype != mjDYN_NONE) {
-        throw mjCError(this, "so3 quat input requires dyntype 'none' in actuator '%s' (id = %d)",
-                       name.c_str(), id);
-      }
-    } else if (ctrlspec_ != mjCHART_EXPMAP) {
-      throw mjCError(this, "so3 input must be expmap or quat in actuator '%s' (id = %d)",
-                     name.c_str(), id);
-    }
-
-    // force is clamped on the norm of the output torque: lower bound must be 0
-    if (is_forcelimited() && forcerange[0] != 0) {
-      throw mjCError(this, "so3 forcerange bounds the force norm, lower bound must be 0 in "
-                     "actuator '%s' (id = %d)", name.c_str(), id);
-    }
-
-    // input and output blocks
-    ctrlnum_ = ctrlspec_ == mjCHART_QUAT ? 4 : 3;
-    outnum_ = 3;
-    so3_ = true;
-  }
-
-  // PID servo: validate and resolve input block
-  if (gaintype == mjGAIN_PID) {
-    if (biastype != mjBIAS_AFFINE) {
-      throw mjCError(this, "pid requires biastype 'affine' in actuator '%s' (id = %d)",
-                     name.c_str(), id);
-    }
-    if (dyntype != mjDYN_NONE && dyntype != mjDYN_PID) {
-      throw mjCError(this, "pid requires dyntype 'none' or 'pid' in actuator '%s' "
-                     "(id = %d)", name.c_str(), id);
-    }
-    if (dyntype == mjDYN_NONE && gainprm[0]) {
-      throw mjCError(this, "ki (gainprm[0]) requires dyntype 'pid' in actuator '%s' "
-                     "(id = %d)", name.c_str(), id);
-    }
-    if (trntype == mjTRN_BODY) {
-      throw mjCError(this, "pid cannot use body transmission, actuator '%s' (id = %d)",
-                     name.c_str(), id);
-    }
-
-    // controller states, slot order [slew, integral]: gated on slewmax (dynprm[1]) and ki
-    if (dyntype == mjDYN_PID) {
-      if (dynprm[0] < 0) {
-        throw mjCError(this, "imax (dynprm[0]) must be non-negative in actuator '%s' (id = %d)",
-                       name.c_str(), id);
-      }
-      if (dynprm[1] < 0) {
-        throw mjCError(this, "slewmax (dynprm[1]) must be non-negative in actuator '%s' (id = %d)",
-                       name.c_str(), id);
-      }
-      int nslot = (dynprm[1] > 0) + (gainprm[0] > 0);
-      if (actdim > 0 && actdim != nslot) {
-        throw mjCError(this, "pid controller states require matching actdim in actuator '%s' "
-                       "(id = %d)", name.c_str(), id);
-      }
-      actdim = nslot;
-    }
-
-    // input block: any subset of [pos, vel, ff], default [pos, vel]
-    ctrlspec_ = ctrlspec ? ctrlspec : (mjINPUT_POS | mjINPUT_VEL);
-    if (ctrlspec_ & ~(mjINPUT_POS | mjINPUT_VEL | mjINPUT_FF)) {
-      throw mjCError(this, "pid inputs are a subset of [pos, vel, ff] in actuator '%s' (id = %d)",
-                     name.c_str(), id);
-    }
-    if (dyntype == mjDYN_PID && !(ctrlspec_ & mjINPUT_POS)) {
-      throw mjCError(this, "pid controller states require the pos input in actuator '%s' (id = %d)",
-                     name.c_str(), id);
-    }
-    ctrlnum_ = !!(ctrlspec_ & mjINPUT_POS) + !!(ctrlspec_ & mjINPUT_VEL) +
-               !!(ctrlspec_ & mjINPUT_FF);
-  }
-
-  // DC motor: resolve input block (default: raw voltage command)
-  if (gaintype == mjGAIN_DCMOTOR) {
-    ctrlspec_ = ctrlspec ? ctrlspec : mjINPUT_VOLTAGE;
-    if (ctrlspec_ != mjINPUT_NONE &&
-        (ctrlspec_ & ~(mjINPUT_POS | mjINPUT_VEL | mjINPUT_FF | mjINPUT_VOLTAGE))) {
-      throw mjCError(this, "dcmotor inputs are 'none' or a subset of [pos, vel, ff, voltage] in "
-                     "actuator '%s' (id = %d)", name.c_str(), id);
-    }
-
-    // controller inputs engage the torque-space controller, which divides by the motor constant
-    int controller = ctrlspec_ == mjINPUT_NONE ?
-                     0 : ctrlspec_ & (mjINPUT_POS | mjINPUT_VEL | mjINPUT_FF);
-    if (controller && gainprm[1] <= 0) {
-      throw mjCError(this, "dcmotor controller inputs require a positive motor constant in "
-                     "actuator '%s' (id = %d)", name.c_str(), id);
-    }
-    if (!controller && (gainprm[4] || gainprm[5] || gainprm[6])) {
-      throw mjCError(this, "dcmotor controller gains require a controller input [pos, vel, ff] "
-                     "in actuator '%s' (id = %d)", name.c_str(), id);
-    }
-    if (gainprm[5] > 0 && !(ctrlspec_ & mjINPUT_POS)) {
-      throw mjCError(this, "dcmotor integral gain requires the pos input in actuator '%s' "
-                     "(id = %d)", name.c_str(), id);
-    }
-    ctrlnum_ = !!(ctrlspec_ & mjINPUT_POS) + !!(ctrlspec_ & mjINPUT_VEL) +
-               !!(ctrlspec_ & mjINPUT_FF) + !!(ctrlspec_ & mjINPUT_VOLTAGE);
-    if (!controller && dynprm[7] > 0) {
-      throw mjCError(this, "dcmotor slew rate limiting requires a controller input [pos, vel, "
-                     "ff] in actuator '%s' (id = %d)", name.c_str(), id);
-    }
-  }
-
-  // pid dynamics are pid-only
-  if (dyntype == mjDYN_PID && gaintype != mjGAIN_PID) {
-    throw mjCError(this, "dyntype 'pid' requires gaintype 'pid', actuator '%s' (id = %d)",
-                   name.c_str(), id);
-  }
-
-  // input signature selection is so3-, pid- or dcmotor-only
-  if (ctrlspec && gaintype != mjGAIN_SO3 && gaintype != mjGAIN_PID &&
-      gaintype != mjGAIN_DCMOTOR) {
-    throw mjCError(this, "input is only available for so3, pid and dcmotor actuators, "
-                   "actuator '%s' (id = %d)", name.c_str(), id);
-  }
-
-  // check damping/armature only valid for joint and tendon transmission
-  bool has_damping = false;
-  for (int i = 0; i < mjNPOLY+1; i++) {
-    if (damping[i] != 0) {
-      has_damping = true;
-      break;
-    }
-  }
-  if (has_damping &&
-      trntype != mjTRN_JOINT && trntype != mjTRN_JOINTINPARENT && trntype != mjTRN_TENDON) {
-    throw mjCError(this,
-                   "damping requires joint or tendon transmission in actuator '%s' (id = %d)",
-                   name.c_str(), id);
-  }
-  if (armature != 0 &&
-      trntype != mjTRN_JOINT && trntype != mjTRN_JOINTINPARENT && trntype != mjTRN_TENDON) {
-    throw mjCError(this,
-                   "armature requires joint or tendon transmission in actuator '%s' (id = %d)",
-                   name.c_str(), id);
-  }
-
-  // handle inheritrange
-  if (((gaintype == mjGAIN_FIXED && gainprm[0] == -biasprm[1]) || gaintype == mjGAIN_PID) &&
-      biastype == mjBIAS_AFFINE && inheritrange > 0) {
-    // semantic of actuator is the same as transmission, inheritrange is applicable
-    double* range;
-    if (dyntype == mjDYN_NONE || dyntype == mjDYN_FILTEREXACT ||
-        dyntype == mjDYN_PID) {
-      // position or pid actuator: range applies to the position input
-      range = ctrlrange;
-    } else if (dyntype == mjDYN_INTEGRATOR) {
-      // intvelocity actuator
-      range = actrange;
-    } else {
-      throw mjCError(this, "inheritrange only available for position "
-                     "and intvelocity actuators");
-    }
-
-    const double* target_range;
-    if (trntype == mjTRN_JOINT) {
-      mjCJoint* pjnt = (mjCJoint*) ptarget;
-      if (pjnt->spec.type != mjJNT_HINGE && pjnt->spec.type != mjJNT_SLIDE) {
-        throw mjCError(this, "inheritrange can only be used with hinge and slide joints, "
-                       "actuator");
-      }
-      target_range = pjnt->get_range();
-    } else if (trntype == mjTRN_TENDON) {
-      mjCTendon* pten = (mjCTendon*) ptarget;
-      target_range = pten->get_range();
-    } else {
-      throw mjCError(this, "inheritrange can only be used with joint and tendon transmission, "
-                     "actuator");
-    }
-
-    if (target_range[0] == target_range[1]) {
-      throw mjCError(this, "inheritrange used but target '%s' has no range defined in actuator %d",
-                     target_.c_str(), id);
-    }
-
-    // set range automatically
-    double mean   = 0.5*(target_range[1] + target_range[0]);
-    double radius = 0.5*(target_range[1] - target_range[0]) * inheritrange;
-    range[0] = mean - radius;
-    range[1] = mean + radius;
-  }
-
-  // if limited is auto, check for inconsistency wrt to autolimits
-  if (forcelimited == mjLIMITED_AUTO) {
-    bool hasrange = !(forcerange[0] == 0 && forcerange[1] == 0);
-    checklimited(this, compiler->autolimits, "actuator", "force", forcelimited, hasrange);
-  }
-  if (ctrllimited == mjLIMITED_AUTO) {
-    bool hasrange = !(ctrlrange[0] == 0 && ctrlrange[1] == 0);
-    checklimited(this, compiler->autolimits, "actuator", "ctrl", ctrllimited, hasrange);
-  }
-  if (actlimited == mjLIMITED_AUTO) {
-    bool hasrange = !(actrange[0] == 0 && actrange[1] == 0);
-    checklimited(this, compiler->autolimits, "actuator", "act", actlimited, hasrange);
-  }
-
-  // check limits
-  if (forcerange[0] >= forcerange[1] && is_forcelimited()) {
-    throw mjCError(this, "invalid force range for actuator");
-  }
-  if (ctrlrange[0] >= ctrlrange[1] && is_ctrllimited()) {
-    throw mjCError(this, "invalid control range for actuator");
-  }
-  if (actrange[0] >= actrange[1] && is_actlimited()) {
-    throw mjCError(this, "invalid actrange for actuator");
-  }
-  if (is_actlimited() && dyntype == mjDYN_NONE) {
-    throw mjCError(this, "actrange specified but dyntype is 'none' in actuator");
-  }
-
-  // check and set actdim
-  if (!plugin.active) {
-    if (actdim > 1 && dyntype != mjDYN_USER && dyntype != mjDYN_DCMOTOR && !so3_) {
-      throw mjCError(this, "actdim > 1 is only allowed for dyntype 'user' and 'dcmotor'");
-    }
-    if (actdim == 1 && dyntype == mjDYN_NONE) {
-      throw mjCError(this, "invalid actdim 1 in stateless actuator");
-    }
-    if (actdim == 0 && dyntype != mjDYN_NONE && dyntype != mjDYN_DCMOTOR) {
-      throw mjCError(this, "invalid actdim 0 in stateful actuator");
-    }
-  }
-
-  // set actdim to 1 if it is unset and type is standard one-activation dyntype
-  if (actdim < 0) {
-    actdim = (dyntype != mjDYN_NONE && dyntype != mjDYN_DCMOTOR);
-  }
-
-  // DC motor always uses actearly
-  if (dyntype == mjDYN_DCMOTOR && !actearly) {
-    throw mjCError(this, "actearly cannot be false for DC motor actuator '%s' (id = %d)",
-                   name.c_str(), id);
-  }
-
-  // check muscle parameters
-  for (int i=0; i < 2; i++) {
-    // select gain or bias
-    double* prm = NULL;
-    if (i == 0 && gaintype == mjGAIN_MUSCLE) {
-      prm = gainprm;
-    } else if (i == 1 && biastype == mjBIAS_MUSCLE) {
-      prm = biasprm;
-    }
-
-    // nothing to check
-    if (!prm) {
-      continue;
-    }
-
-    // range
-    if (prm[0] >= prm[1]) {
-      throw mjCError(this, "range[0]<range[1] required in muscle");
-    }
-
-    // lmin<1<lmax
-    if (prm[4] >= 1 || prm[5] <= 1) {
-      throw mjCError(this, "lmin<1<lmax required in muscle");
-    }
-
-    // scale, vmax, fpmax, fvmax>0
-    if (prm[3] <= 0 || prm[6] <= 0 || prm[7] <= 0 || prm[8] <= 0) {
-      throw mjCError(this,
-                     "positive scale, vmax, fpmax, fvmax required in muscle '%s' (id = %d)",
-                     name.c_str(), id);
-    }
-  }
-
-  // plugin
-  if (plugin.active) {
-    if (plugin_name.empty() && plugin_instance_name.empty()) {
-      throw mjCError(
-              this, "neither 'plugin' nor 'instance' is specified for actuator '%s', (id = %d)",
-              name.c_str(), id);
-    }
-
-    mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
-    model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
-    plugin.element = plugin_instance;
-    const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
-    if (!(pplugin->capabilityflags & mjPLUGIN_ACTUATOR)) {
-      throw mjCError(this, "plugin '%s' does not support actuators", pplugin->name);
-    }
-  }
-
-  // validate delay
-  if (delay > 0 && nsample <= 0) {
-    throw mjCError(this, "setting delay > 0 without a history buffer");
-  }
-  if ((delay > 0 || nsample > 0) && ctrlnum_ == 0) {
-    throw mjCError(this, "history and delay require an input in actuator '%s' (id = %d)",
-                   name.c_str(), id);
-  }
-
-  // nsample is limited to 2^24 because the cursor is stored as an mjtNum, which may be a float
-  // single-precision floats can represent all integers up to 2^24 exactly
-  if (nsample > 16777216) {
-    throw mjCError(this, "at most 2^24 samples in history buffer, got %d", nullptr, nsample);
-  }
-
-  // resolve per-input control ranges: broadcast ctrlrange, pid overrides vel and ff
-  for (int j=0; j < ctrlnum_ && j < 4; j++) {
-    ctrllimiteds_[j] = (mjtByte)is_ctrllimited();
-    ctrlranges_[j][0] = ctrlrange[0];
-    ctrlranges_[j][1] = ctrlrange[1];
-  }
-  if (gaintype == mjGAIN_PID) {
-    // present inputs pack in canonical order [pos, vel, ff]; pos keeps the ctrlrange broadcast
-    int j = ctrlspec_ & mjINPUT_POS ? 1 : 0;
-    if (ctrlspec_ & mjINPUT_VEL) {
-      ctrllimiteds_[j] = velrange[0] < velrange[1];
-      ctrlranges_[j][0] = velrange[0];
-      ctrlranges_[j][1] = velrange[1];
-      j++;
-    }
-    if (ctrlspec_ & mjINPUT_FF) {
-      ctrllimiteds_[j] = ffrange[0] < ffrange[1];
-      ctrlranges_[j][0] = ffrange[0];
-      ctrlranges_[j][1] = ffrange[1];
-    }
-  }
-}
-
-
-
-//------------------ class mjCSensor implementation ------------------------------------------------
-
-// initialize defaults
-mjCSensor::mjCSensor(mjCModel* _model) {
-  mjs_defaultSensor(&spec);
-  elemtype = mjOBJ_SENSOR;
-
-  // set model
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-
-  // clear private variables
-  spec_objname_.clear();
-  spec_refname_.clear();
-  spec_userdata_.clear();
-  obj = nullptr;
-  ref = nullptr;
-
-  // in case this sensor is not compiled
-  CopyFromSpec();
-
-  // point to local
-  PointToLocal();
-}
-
-
-
-mjCSensor::mjCSensor(const mjCSensor& other) {
-  *this = other;
-}
-
-
-
-mjCSensor& mjCSensor::operator=(const mjCSensor& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCSensor_*>(this) = static_cast<const mjCSensor_&>(other);
-    *static_cast<mjsSensor*>(this) = static_cast<const mjsSensor&>(other);
-    obj = nullptr;
-    ref = nullptr;
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCSensor::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.userdata = &spec_userdata_;
-  spec.objname = &spec_objname_;
-  spec.refname = &spec_refname_;
-  spec.plugin.plugin_name = &plugin_name;
-  spec.plugin.name = &plugin_instance_name;
-  spec.info = &info;
-  userdata = nullptr;
-  objname = nullptr;
-  refname = nullptr;
-}
-
-
-
-void mjCSensor::NameSpace(const mjCModel* m) {
-  if (!name.empty()) {
-    name = m->prefix + name + m->suffix;
-  }
-  if (!plugin_instance_name.empty()) {
-    plugin_instance_name = m->prefix + plugin_instance_name + m->suffix;
-  }
-  prefix = m->prefix;
-  suffix = m->suffix;
-}
-
-
-
-void mjCSensor::CopyFromSpec() {
-  *static_cast<mjsSensor*>(this) = spec;
-  userdata_ = spec_userdata_;
-  objname_ = spec_objname_;
-  refname_ = spec_refname_;
-  plugin.active = spec.plugin.active;
-  plugin.element = spec.plugin.element;
-  plugin.plugin_name = spec.plugin.plugin_name;
-  plugin.name = spec.plugin.name;
-}
-
-
-
-void mjCSensor::CopyPlugin() {
-  model->CopyExplicitPlugin(this);
-}
-
-
-
-void mjCSensor::ResolveReferences(const mjCModel* m) {
-  obj = nullptr;
-  ref = nullptr;
-  objname_ = prefix + objname_ + suffix;
-  refname_ = prefix + refname_ + suffix;
-
-  // get references using the namespace
-  if (objtype != mjOBJ_UNKNOWN) {
-    obj = m->FindObject(objtype, objname_);
-  }
-  if (reftype != mjOBJ_UNKNOWN) {
-    ref = m->FindObject(reftype, refname_);
-  }
-
-  // if failure and both were requested, use namespace only on one
-  if (objtype != mjOBJ_UNKNOWN && reftype != mjOBJ_UNKNOWN && !obj && ref) {
-    objname_ = spec_objname_;
-    obj = m->FindObject(objtype, objname_);
-  }
-  if (objtype != mjOBJ_UNKNOWN && reftype != mjOBJ_UNKNOWN && obj && !ref) {
-    refname_ = spec_refname_;
-    ref = m->FindObject(reftype, refname_);
-  }
-
-  // check object
-  if (objtype != mjOBJ_UNKNOWN) {
-    // check for missing object name
-    if (objname_.empty()) {
-      throw mjCError(this, "missing name of sensorized object in sensor");
-    }
-
-    // find name
-    if (!obj) {
-      throw mjCError(this, "unrecognized name '%s' of sensorized object", objname_.c_str());
-    }
-
-    // if geom or mesh, mark it as non visual
-    if (objtype == mjOBJ_GEOM) {
-      static_cast<mjCGeom*>(obj)->SetNotVisual();
-    }
-    if (objtype == mjOBJ_MESH) {
-      static_cast<mjCMesh*>(obj)->SetNotVisual();
-    }
-
-  } else if (type != mjSENS_E_POTENTIAL &&
-             type != mjSENS_E_KINETIC   &&
-             type != mjSENS_CLOCK       &&
-             type != mjSENS_PLUGIN      &&
-             type != mjSENS_CONTACT     &&
-             type != mjSENS_USER) {
-    throw mjCError(this, "invalid type in sensor");
-  }
-
-  // check reference object
-  if (reftype != mjOBJ_UNKNOWN) {
-    // check for missing object name
-    if (refname_.empty()) {
-      throw mjCError(this, "missing name of reference frame object in sensor");
-    }
-
-    // find name
-    if (!ref) {
-      throw mjCError(this, "unrecognized name '%s' of object", refname_.c_str());
-    }
-
-    // if geom or mesh, mark it as non visual
-    if (reftype == mjOBJ_GEOM) {
-      static_cast<mjCGeom*>(ref)->SetNotVisual();
-    }
-    if (reftype == mjOBJ_MESH) {
-      static_cast<mjCMesh*>(ref)->SetNotVisual();
-    }
-
-    // must be attached to object with spatial frame
-    if (reftype != mjOBJ_BODY && reftype != mjOBJ_XBODY &&
-        reftype != mjOBJ_GEOM && reftype != mjOBJ_SITE && reftype != mjOBJ_CAMERA) {
-      throw mjCError(this,
-                     "reference frame object must be (x)body, geom, site or camera in sensor");
-    }
-  }
-
-  spec_objname_ = objname_;
-  spec_refname_ = refname_;
-  prefix.clear();
-  suffix.clear();
-}
-
-// return sensor datatype
-mjtDataType sensorDatatype(mjtSensor type) {
-  switch (type) {
-  case mjSENS_TOUCH:
-  case mjSENS_INSIDESITE:
-    return mjDATATYPE_POSITIVE;
-
-  case mjSENS_FRAMEXAXIS:
-  case mjSENS_FRAMEYAXIS:
-  case mjSENS_FRAMEZAXIS:
-  case mjSENS_GEOMNORMAL:
-    return mjDATATYPE_AXIS;
-
-  case mjSENS_BALLQUAT:
-  case mjSENS_FRAMEQUAT:
-    return mjDATATYPE_QUATERNION;
-
-  case mjSENS_ACCELEROMETER:
-  case mjSENS_VELOCIMETER:
-  case mjSENS_GYRO:
-  case mjSENS_FORCE:
-  case mjSENS_TORQUE:
-  case mjSENS_MAGNETOMETER:
-  case mjSENS_CAMPROJECTION:
-  case mjSENS_JOINTPOS:
-  case mjSENS_JOINTVEL:
-  case mjSENS_TENDONPOS:
-  case mjSENS_TENDONVEL:
-  case mjSENS_ACTUATORPOS:
-  case mjSENS_ACTUATORVEL:
-  case mjSENS_ACTUATORFRC:
-  case mjSENS_JOINTACTFRC:
-  case mjSENS_TENDONACTFRC:
-  case mjSENS_BALLANGVEL:
-  case mjSENS_JOINTLIMITPOS:
-  case mjSENS_JOINTLIMITVEL:
-  case mjSENS_JOINTLIMITFRC:
-  case mjSENS_TENDONLIMITPOS:
-  case mjSENS_TENDONLIMITVEL:
-  case mjSENS_TENDONLIMITFRC:
-  case mjSENS_FRAMEPOS:
-  case mjSENS_FRAMELINVEL:
-  case mjSENS_FRAMEANGVEL:
-  case mjSENS_FRAMELINACC:
-  case mjSENS_FRAMEANGACC:
-  case mjSENS_SUBTREECOM:
-  case mjSENS_SUBTREELINVEL:
-  case mjSENS_SUBTREEANGMOM:
-  case mjSENS_GEOMDIST:
-  case mjSENS_GEOMFROMTO:
-  case mjSENS_RANGEFINDER:
-  case mjSENS_CONTACT:
-  case mjSENS_TACTILE:
-  case mjSENS_E_POTENTIAL:
-  case mjSENS_E_KINETIC:
-  case mjSENS_CLOCK:
-  case mjSENS_PLUGIN:
-  case mjSENS_USER:
-    return mjDATATYPE_REAL;
-  }
-
-  return mjDATATYPE_REAL;  // all cases are covered but GCC is extra persnickety
-}
-
-// return sensor needstage
-mjtStage sensorNeedstage(mjtSensor type) {
-  switch (type) {
-  case mjSENS_TOUCH:
-  case mjSENS_ACCELEROMETER:
-  case mjSENS_FORCE:
-  case mjSENS_TORQUE:
-  case mjSENS_ACTUATORFRC:
-  case mjSENS_JOINTACTFRC:
-  case mjSENS_TENDONACTFRC:
-  case mjSENS_JOINTLIMITFRC:
-  case mjSENS_TENDONLIMITFRC:
-  case mjSENS_FRAMELINACC:
-  case mjSENS_FRAMEANGACC:
-  case mjSENS_CONTACT:
-  case mjSENS_TACTILE:
-    return mjSTAGE_ACC;
-
-  case mjSENS_VELOCIMETER:
-  case mjSENS_GYRO:
-  case mjSENS_JOINTVEL:
-  case mjSENS_TENDONVEL:
-  case mjSENS_ACTUATORVEL:
-  case mjSENS_BALLANGVEL:
-  case mjSENS_JOINTLIMITVEL:
-  case mjSENS_TENDONLIMITVEL:
-  case mjSENS_FRAMELINVEL:
-  case mjSENS_FRAMEANGVEL:
-  case mjSENS_SUBTREELINVEL:
-  case mjSENS_SUBTREEANGMOM:
-    return mjSTAGE_VEL;
-
-  case mjSENS_MAGNETOMETER:
-  case mjSENS_RANGEFINDER:
-  case mjSENS_CAMPROJECTION:
-  case mjSENS_JOINTPOS:
-  case mjSENS_TENDONPOS:
-  case mjSENS_ACTUATORPOS:
-  case mjSENS_BALLQUAT:
-  case mjSENS_JOINTLIMITPOS:
-  case mjSENS_TENDONLIMITPOS:
-  case mjSENS_FRAMEPOS:
-  case mjSENS_FRAMEQUAT:
-  case mjSENS_FRAMEXAXIS:
-  case mjSENS_FRAMEYAXIS:
-  case mjSENS_FRAMEZAXIS:
-  case mjSENS_SUBTREECOM:
-  case mjSENS_INSIDESITE:
-  case mjSENS_GEOMDIST:
-  case mjSENS_GEOMNORMAL:
-  case mjSENS_GEOMFROMTO:
-  case mjSENS_E_POTENTIAL:
-  case mjSENS_E_KINETIC:
-  case mjSENS_CLOCK:
-  case mjSENS_PLUGIN:
-  case mjSENS_USER:
-    return mjSTAGE_POS;
-  }
-
-  return mjSTAGE_POS;  // all cases are covered but GCC is extra persnickety
-}
-
-// compiler
-void mjCSensor::Compile(void) {
-  CopyFromSpec();
-
-  // resize userdata
-  if (userdata_.size() > model->nuser_sensor) {
-    throw mjCError(this, "user has more values than nuser_sensor in sensor");
-  }
-  userdata_.resize(model->nuser_sensor);
-
-  // require non-negative noise
-  if (noise < 0) {
-    throw mjCError(this, "negative noise in sensor");
-  }
-
-  // require non-negative cutoff
-  if (cutoff < 0) {
-    throw mjCError(this, "negative cutoff in sensor");
-  }
-
-  // require non-negative interval
-  if (interval[0] < 0) {
-    throw mjCError(this, "negative interval in sensor");
-  }
-
-  // require non-positive phase
-  if (interval[1] > 0) {
-    throw mjCError(this, "positive phase in sensor");
-  }
-
-  // require phase > -period (values outside this are equivalent modulo period)
-  if (interval[0] > 0 && interval[1] <= -interval[0]) {
-    throw mjCError(this, "phase must be greater than -period in sensor");
-  }
-
-  // require nsample for delay
-  if (delay > 0 && nsample <= 0) {
-    throw mjCError(this, "setting delay > 0 without a history buffer");
-  }
-
-  // validate nsample size (max 2^24)
-  if (nsample > 16777216) {
-    throw mjCError(this, "at most 2^24 samples in sensor history buffer, got %d", nullptr, nsample);
-  }
-
-  // Find referenced object
-  ResolveReferences(model);
-
-  // set datatype for non-user sensors
-  if (type != mjSENS_USER) {
-    datatype = sensorDatatype(type);
-  }
-
-  // set needstage for non-user and non-plugin sensors
-  if (type != mjSENS_USER && type != mjSENS_PLUGIN) {
-    needstage = sensorNeedstage(type);
-  }
-
-  // process according to sensor type
-  switch (type) {
-    case mjSENS_TOUCH:
-    case mjSENS_ACCELEROMETER:
-    case mjSENS_VELOCIMETER:
-    case mjSENS_GYRO:
-    case mjSENS_FORCE:
-    case mjSENS_TORQUE:
-    case mjSENS_MAGNETOMETER:
-    case mjSENS_CAMPROJECTION:
-      // must be attached to site
-      if (objtype != mjOBJ_SITE) {
-        throw mjCError(this, "sensor must be attached to site");
-      }
-
-      // check for camera resolution for camera projection sensor
-      if (type == mjSENS_CAMPROJECTION) {
-        mjCCamera* camref = (mjCCamera*)ref;
-        if (!camref->resolution[0] || !camref->resolution[1]) {
-          throw mjCError(this, "camera projection sensor requires camera resolution");
-        }
-      }
-      break;
-
-    case mjSENS_RANGEFINDER:
-      {
-        // must be attached to site or camera
-        if (objtype != mjOBJ_SITE && objtype != mjOBJ_CAMERA) {
-          throw mjCError(this, "sensor must be attached to site or camera");
-        }
-
-        // check for dataspec correctness
-        int dataspec = intprm[0];
-        if (dataspec <= 0) {
-          throw mjCError(this, "data spec (intprm[0]) must be positive, got %d", nullptr, dataspec);
-        }
-        int mask = (1 << mjNRAYDATA) - 1;
-        if (!(dataspec & mask)) {
-          throw mjCError(this, "data spec intprm[0]=%d must have at least one bit set of the first "
-                         "mjNRAYDATA bits", nullptr, dataspec);
-        }
-        if (dataspec & ~mask) {
-          throw mjCError(this, "data spec intprm[0]=%d has bits set beyond the first "
-                         "mjNRAYDATA bits", nullptr, dataspec);
-        }
-      }
-      break;
-
-    case mjSENS_JOINTPOS:
-    case mjSENS_JOINTVEL:
-    case mjSENS_JOINTACTFRC:
-      // must be attached to joint
-      if (objtype != mjOBJ_JOINT) {
-        throw mjCError(this, "sensor must be attached to joint");
-      }
-
-      // make sure joint is slide or hinge
-      if (((mjCJoint*)obj)->type != mjJNT_SLIDE && ((mjCJoint*)obj)->type != mjJNT_HINGE) {
-        throw mjCError(this, "joint must be slide or hinge in sensor");
-      }
-      break;
-
-  case mjSENS_TENDONACTFRC:
-    // must be attached to tendon
-    if (objtype != mjOBJ_TENDON) {
-      throw mjCError(this, "sensor must be attached to tendon");
-    }
-    break;
-
-    case mjSENS_TENDONPOS:
-    case mjSENS_TENDONVEL:
-      // must be attached to tendon
-      if (objtype != mjOBJ_TENDON) {
-        throw mjCError(this, "sensor must be attached to tendon");
-      }
-      break;
-
-    case mjSENS_ACTUATORPOS:
-    case mjSENS_ACTUATORVEL:
-    case mjSENS_ACTUATORFRC:
-      // must be attached to actuator
-      if (objtype != mjOBJ_ACTUATOR) {
-        throw mjCError(this, "sensor must be attached to actuator");
-      }
-      break;
-
-    case mjSENS_BALLQUAT:
-    case mjSENS_BALLANGVEL:
-      // must be attached to joint
-      if (objtype != mjOBJ_JOINT) {
-        throw mjCError(this, "sensor must be attached to joint");
-      }
-
-      // make sure joint is ball
-      if (((mjCJoint*)obj)->type != mjJNT_BALL) {
-        throw mjCError(this, "joint must be ball in sensor");
-      }
-      break;
-
-    case mjSENS_JOINTLIMITPOS:
-    case mjSENS_JOINTLIMITVEL:
-    case mjSENS_JOINTLIMITFRC:
-      // must be attached to joint
-      if (objtype != mjOBJ_JOINT) {
-        throw mjCError(this, "sensor must be attached to joint");
-      }
-
-      // make sure joint has limit
-      if (!((mjCJoint*)obj)->is_limited()) {
-        throw mjCError(this, "joint must be limited in sensor");
-      }
-      break;
-
-    case mjSENS_TENDONLIMITPOS:
-    case mjSENS_TENDONLIMITVEL:
-    case mjSENS_TENDONLIMITFRC:
-      // must be attached to tendon
-      if (objtype != mjOBJ_TENDON) {
-        throw mjCError(this, "sensor must be attached to tendon");
-      }
-
-      // make sure tendon has limit
-      if (!((mjCTendon*)obj)->is_limited()) {
-        throw mjCError(this, "tendon must be limited in sensor");
-      }
-      break;
-
-    case mjSENS_FRAMEPOS:
-    case mjSENS_FRAMEQUAT:
-    case mjSENS_FRAMEXAXIS:
-    case mjSENS_FRAMEYAXIS:
-    case mjSENS_FRAMEZAXIS:
-    case mjSENS_FRAMELINVEL:
-    case mjSENS_FRAMEANGVEL:
-    case mjSENS_FRAMELINACC:
-    case mjSENS_FRAMEANGACC:
-      // must be attached to object with spatial frame
-      if (objtype != mjOBJ_BODY && objtype != mjOBJ_XBODY &&
-          objtype != mjOBJ_GEOM && objtype != mjOBJ_SITE && objtype != mjOBJ_CAMERA) {
-        throw mjCError(this, "sensor must be attached to (x)body, geom, site or camera");
-      }
-      break;
-
-    case mjSENS_SUBTREECOM:
-    case mjSENS_SUBTREELINVEL:
-    case mjSENS_SUBTREEANGMOM:
-      // must be attached to body
-      if (objtype != mjOBJ_BODY) {
-        throw mjCError(this, "sensor must be attached to body");
-      }
-      break;
-
-    case mjSENS_INSIDESITE:
-      if (objtype != mjOBJ_BODY && objtype != mjOBJ_XBODY &&
-          objtype != mjOBJ_GEOM && objtype != mjOBJ_SITE && objtype != mjOBJ_CAMERA) {
-        throw mjCError(this, "sensor must be attached to (x)body, geom, site or camera");
-      }
-      if (reftype != mjOBJ_SITE) {
-        throw mjCError(this, "sensor must be associated with a site");
-      }
-      break;
-
-    case mjSENS_GEOMDIST:
-    case mjSENS_GEOMNORMAL:
-    case mjSENS_GEOMFROMTO:
-      // must be attached to body or geom
-      if ((objtype != mjOBJ_BODY && objtype != mjOBJ_GEOM) ||
-          (reftype != mjOBJ_BODY && reftype != mjOBJ_GEOM)) {
-        throw mjCError(this, "sensor must be attached to body or geom");
-      }
-
-      // objects must be different
-      if (objtype == reftype && obj == ref) {
-        throw mjCError(this, "1st body/geom must be different from 2nd body/geom");
-      }
-
-      // height fields are not necessarily convex and are not yet supported
-      if ((objtype == mjOBJ_GEOM && static_cast<mjCGeom*>(obj)->Type() == mjGEOM_HFIELD) ||
-          (reftype == mjOBJ_GEOM && static_cast<mjCGeom*>(ref)->Type() == mjGEOM_HFIELD)) {
-        throw mjCError(this, "height fields are not supported in geom distance sensors");
-      }
-      break;
-
-    case mjSENS_CONTACT:
-      {
-        // check first matching criterion
-        if (objtype != mjOBJ_SITE &&
-            objtype != mjOBJ_BODY &&
-            objtype != mjOBJ_XBODY &&
-            objtype != mjOBJ_GEOM &&
-            objtype != mjOBJ_UNKNOWN) {
-          throw mjCError(this, "first matching criterion: if set, must be (x)body, geom or site");
-        }
-
-        // check second matching criterion
-        if (reftype != mjOBJ_BODY &&
-            reftype != mjOBJ_XBODY &&
-            reftype != mjOBJ_GEOM &&
-            reftype != mjOBJ_UNKNOWN) {
-          throw mjCError(this, "second matching criterion: if set, must be (x)body or geom");
-        }
-
-        // check for dataspec correctness
-        int dataspec = intprm[0];
-        if (dataspec <= 0) {
-          throw mjCError(this, "data spec (intprm[0]) must be positive, got %d", nullptr, dataspec);
-        }
-        int mask = (1 << mjNCONDATA) - 1;
-        if (!(dataspec & mask)) {
-          throw mjCError(this, "data spec intprm[0]=%d must have at least one bit set of the first "
-                         "mjNCONDATA bits", nullptr, dataspec);
-        }
-        if (dataspec & ~mask) {
-          throw mjCError(this, "data spec intprm[0]=%d has bits set beyond the first "
-                         "mjNCONDATA bits", nullptr, dataspec);
-        }
-
-        // check for reduce correctness
-        int reduce = intprm[1];
-        if (reduce < 0 || reduce > 3) {
-          throw mjCError(this, "unknown reduction criterion. got %d, "
-                         "expected one of {0, 1, 2, 3}", nullptr, reduce);
-        }
-
-        // check for non-positive num
-        if (intprm[2] <= 0) {
-          throw mjCError(this, "num (intprm[2]) must be positive in sensor, got %d", nullptr, dim);
-        }
-      }
-      break;
-
-    case mjSENS_E_POTENTIAL:
-    case mjSENS_E_KINETIC:
-    case mjSENS_CLOCK:
-      break;
-
-    case mjSENS_USER:
-      // check for negative dim
-      if (dim < 0) {
-        throw mjCError(this, "sensor dim must be non-negative in sensor");
-      }
-
-      // make sure dim is consistent with datatype
-      if (datatype == mjDATATYPE_AXIS && dim != 3) {
-        throw mjCError(this, "datatype AXIS requires dim=3 in sensor");
-      }
-      if (datatype == mjDATATYPE_QUATERNION && dim != 4) {
-        throw mjCError(this, "datatype QUATERNION requires dim=4 in sensor");
-      }
-      break;
-
-    case mjSENS_TACTILE:
-      if (objtype != mjOBJ_MESH) {
-        throw mjCError(this, "sensor must be associated with a mesh");
-      }
-      if (reftype != mjOBJ_GEOM) {
-        throw mjCError(this, "sensor must be associated with a geom");
-      }
-      break;
-
-    case mjSENS_PLUGIN:
-      if (plugin_name.empty() && plugin_instance_name.empty()) {
-        throw mjCError(this, "neither 'plugin' nor 'instance' is specified for sensor");
-      }
-
-      // resolve plugin instance, or create one if using the "plugin" attribute shortcut
-      {
-        mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.element);
-        model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
-        plugin.element = plugin_instance;
-        const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
-        if (!(pplugin->capabilityflags & mjPLUGIN_SENSOR)) {
-          throw mjCError(this, "plugin '%s' does not support sensors", pplugin->name);
-        }
-        needstage = static_cast<mjtStage>(pplugin->needstage);
-      }
-
-      break;
-
-    default:
-      throw mjCError(this, "invalid type in sensor '%s' (id = %d)", name.c_str(), id);
-  }
-
-  dim = mjs_sensorDim(this);
-
-  // actuator sensors report one value per force output
-  if (type == mjSENS_ACTUATORPOS || type == mjSENS_ACTUATORVEL || type == mjSENS_ACTUATORFRC) {
-    dim = ((mjCActuator*)obj)->outnum_;
-  }
-
-  // check cutoff for incompatible data types
-  if (cutoff > 0 && (datatype == mjDATATYPE_QUATERNION ||
-                     (datatype == mjDATATYPE_AXIS && type != mjSENS_GEOMNORMAL))) {
-    throw mjCError(this, "cutoff applied to axis or quaternion datatype in sensor");
-  }
-}
-
-
-
-//------------------ class mjCNumeric implementation -----------------------------------------------
-
-// constructor
-mjCNumeric::mjCNumeric(mjCModel* _model) {
-  mjs_defaultNumeric(&spec);
-  elemtype = mjOBJ_NUMERIC;
-
-  // set model pointer
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-
-  // clear variables
-  spec_data_.clear();
-
-  // point to local
-  PointToLocal();
-
-  // in case this numeric is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCNumeric::mjCNumeric(const mjCNumeric& other) {
-  *this = other;
-}
-
-
-
-mjCNumeric& mjCNumeric::operator=(const mjCNumeric& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCNumeric_*>(this) = static_cast<const mjCNumeric_&>(other);
-    *static_cast<mjsNumeric*>(this) = static_cast<const mjsNumeric&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCNumeric::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.data = &spec_data_;
-  spec.info = &info;
-  data = nullptr;
-}
-
-
-
-void mjCNumeric::CopyFromSpec() {
-  *static_cast<mjsNumeric*>(this) = spec;
-  data_ = spec_data_;
-}
-
-
-
-// destructor
-mjCNumeric::~mjCNumeric() {
-  spec_data_.clear();
-  data_.clear();
-}
-
-
-
-// compiler
-void mjCNumeric::Compile(void) {
-  CopyFromSpec();
-
-  // check for size conflict
-  if (size && !data_.empty() && size < (int)data_.size()) {
-    throw mjCError(this,
-                   "numeric '%s' (id = %d): specified size smaller than initialization array",
-                   name.c_str(), id);
-  }
-
-  // set size if left unspecified
-  if (!size) {
-    size = (int)data_.size();
-  }
-
-  // size cannot be zero
-  if (!size) {
-    throw mjCError(this, "numeric '%s' (id = %d): size cannot be zero", name.c_str(), id);
-  }
-}
-
-
-
-//------------------ class mjCText implementation --------------------------------------------------
-
-// constructor
-mjCText::mjCText(mjCModel* _model) {
-  mjs_defaultText(&spec);
-  elemtype = mjOBJ_TEXT;
-
-  // set model pointer
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-
-  // clear variables
-  spec_data_.clear();
-
-  // point to local
-  PointToLocal();
-
-  // in case this text is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCText::mjCText(const mjCText& other) {
-  *this = other;
-}
-
-
-
-mjCText& mjCText::operator=(const mjCText& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCText_*>(this) = static_cast<const mjCText_&>(other);
-    *static_cast<mjsText*>(this) = static_cast<const mjsText&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCText::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.data = &spec_data_;
-  spec.info = &info;
-  data = nullptr;
-}
-
-
-
-void mjCText::CopyFromSpec() {
-  *static_cast<mjsText*>(this) = spec;
-  data_ = spec_data_;
-}
-
-
-
-// destructor
-mjCText::~mjCText() {
-  data_.clear();
-  spec_data_.clear();
-}
-
-
-
-// compiler
-void mjCText::Compile(void) {
-  CopyFromSpec();
-
-  // size cannot be zero
-  if (data_.empty()) {
-    throw mjCError(this, "text '%s' (id = %d): size cannot be zero", name.c_str(), id);
-  }
-}
-
-
-
-//------------------ class mjCTuple implementation -------------------------------------------------
-
-// constructor
-mjCTuple::mjCTuple(mjCModel* _model) {
-  mjs_defaultTuple(&spec);
-  elemtype = mjOBJ_TUPLE;
-
-  // set model pointer
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-
-  // clear variables
-  spec_objtype_.clear();
-  spec_objname_.clear();
-  spec_objprm_.clear();
-  obj.clear();
-
-  // point to local
-  PointToLocal();
-
-  // in case this tuple is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCTuple::mjCTuple(const mjCTuple& other) {
-  *this = other;
-}
-
-
-
-mjCTuple& mjCTuple::operator=(const mjCTuple& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCTuple_*>(this) = static_cast<const mjCTuple_&>(other);
-    *static_cast<mjsTuple*>(this) = static_cast<const mjsTuple&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCTuple::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.objtype = (mjIntVec*)&spec_objtype_;
-  spec.objname = &spec_objname_;
-  spec.objprm = &spec_objprm_;
-  spec.info = &info;
-  objname = nullptr;
-  objprm = nullptr;
-}
-
-
-
-void mjCTuple::NameSpace(const mjCModel* m) {
-  if (!name.empty()) {
-    name = m->prefix + name + m->suffix;
-  }
-  for (int i=0; i < spec_objname_.size(); i++) {
-    spec_objname_[i] = m->prefix + spec_objname_[i] + m->suffix;
-  }
-}
-
-
-
-void mjCTuple::CopyFromSpec() {
-  *static_cast<mjsTuple*>(this) = spec;
-  objtype_ = spec_objtype_;
-  objname_ = spec_objname_;
-  objprm_ = spec_objprm_;
-  objtype = (mjIntVec*)&objtype_;
-}
-
-
-
-// destructor
-mjCTuple::~mjCTuple() {
-  objtype_.clear();
-  objname_.clear();
-  objprm_.clear();
-  spec_objtype_.clear();
-  spec_objname_.clear();
-  spec_objprm_.clear();
-  obj.clear();
-}
-
-
-
-void mjCTuple::ResolveReferences(const mjCModel* m) {
-  // check for empty tuple
-  if (objtype_.empty()) {
-    throw mjCError(this, "tuple '%s' (id = %d) is empty", name.c_str(), id);
-  }
-
-  // check for size conflict
-  if (objtype_.size() != objname_.size() || objtype_.size() != objprm_.size()) {
-    throw mjCError(this,
-                   "tuple '%s' (id = %d) has object arrays with different sizes", name.c_str(), id);
-  }
-
-  // resize objid to correct size
-  obj.resize(objtype_.size());
-
-  // find objects, fill in ids
-  for (int i=0; i < objtype_.size(); i++) {
-    // find object by type and name
-    mjCBase* res = m->FindObject(objtype_[i], objname_[i]);
-    if (!res) {
-      throw mjCError(this, "unrecognized object '%s' in tuple %d", objname_[i].c_str(), id);
-    }
-
-    // if geom mark it as non visual
-    if (objtype_[i] == mjOBJ_GEOM) {
-      ((mjCGeom*)res)->SetNotVisual();
-    }
-
-    // assign id
-    obj[i] = res;
-  }
-}
-
-
-
-// compiler
-void mjCTuple::Compile(void) {
-  CopyFromSpec();
-  ResolveReferences(model);
-}
-
-
-
-//------------------ class mjCKey implementation ---------------------------------------------------
-
-// constructor
-mjCKey::mjCKey(mjCModel* _model) {
-  mjs_defaultKey(&spec);
-  elemtype = mjOBJ_KEY;
-
-  // set model pointer
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-
-  // clear variables
-  spec_qpos_.clear();
-  spec_qvel_.clear();
-  spec_act_.clear();
-  spec_mpos_.clear();
-  spec_mquat_.clear();
-  spec_ctrl_.clear();
-
-  // point to local
-  PointToLocal();
-
-  // in case this keyframe is not compiled
-  CopyFromSpec();
-}
-
-
-
-mjCKey::mjCKey(const mjCKey& other) {
-  *this = other;
-}
-
-
-
-mjCKey& mjCKey::operator=(const mjCKey& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCKey_*>(this) = static_cast<const mjCKey_&>(other);
-    *static_cast<mjsKey*>(this) = static_cast<const mjsKey&>(other);
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCKey::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.qpos = &spec_qpos_;
-  spec.qvel = &spec_qvel_;
-  spec.act = &spec_act_;
-  spec.mpos = &spec_mpos_;
-  spec.mquat = &spec_mquat_;
-  spec.ctrl = &spec_ctrl_;
-  spec.info = &info;
-  qpos = nullptr;
-  qvel = nullptr;
-  act = nullptr;
-  mpos = nullptr;
-  mquat = nullptr;
-  ctrl = nullptr;
-}
-
-
-
-void mjCKey::CopyFromSpec() {
-  *static_cast<mjsKey*>(this) = spec;
-  qpos_ = spec_qpos_;
-  qvel_ = spec_qvel_;
-  act_ = spec_act_;
-  mpos_ = spec_mpos_;
-  mquat_ = spec_mquat_;
-  ctrl_ = spec_ctrl_;
-}
-
-
-
-// destructor
-mjCKey::~mjCKey() {
-  qpos_.clear();
-  qvel_.clear();
-  act_.clear();
-  mpos_.clear();
-  mquat_.clear();
-  ctrl_.clear();
-  spec_qpos_.clear();
-  spec_qvel_.clear();
-  spec_act_.clear();
-  spec_mpos_.clear();
-  spec_mquat_.clear();
-  spec_ctrl_.clear();
-}
-
-
-
-// compiler
-void mjCKey::Compile(const mjModel* m) {
-  CopyFromSpec();
-
-  // qpos: allocate or check size
-  if (qpos_.empty()) {
-    qpos_.resize(m->nq);
-    for (int i=0; i < m->nq; i++) {
-      qpos_[i] = (double)m->qpos0[i];
-    }
-  } else if (qpos_.size() != m->nq) {
-    throw mjCError(this, "keyframe '%s': invalid qpos size, expected %d, got %d",
-                   name.c_str(), m->nq, qpos_.size());
-  }
-
-  // qvel: allocate or check size
-  if (qvel_.empty()) {
-    qvel_.resize(m->nv);
-    for (int i=0; i < m->nv; i++) {
-      qvel_[i] = 0;
-    }
-  } else if (qvel_.size() != m->nv) {
-    throw mjCError(this, "keyframe '%s': invalid qvel size, expected %d, got %d",
-                   name.c_str(), m->nv, qvel_.size());
-  }
-
-  // act: allocate or check size
-  if (act_.empty()) {
-    act_.resize(m->na);
-    for (int i=0; i < m->na; i++) {
-      act_[i] = 0;
-    }
-  } else if (act_.size() != m->na) {
-    throw mjCError(this, "keyframe '%s': invalid act size, expected %d, got %d",
-                   name.c_str(), m->na, act_.size());
-  }
-
-  // mpos: allocate or check size
-  if (mpos_.empty()) {
-    mpos_.resize(3*m->nmocap);
-    if (m->nmocap) {
-      for (int i=0; i < m->nbody; i++) {
-        if (m->body_mocapid[i] >= 0) {
-          int mocapid = m->body_mocapid[i];
-          mpos_[3*mocapid]   = m->body_pos[3*i];
-          mpos_[3*mocapid+1] = m->body_pos[3*i+1];
-          mpos_[3*mocapid+2] = m->body_pos[3*i+2];
-        }
-      }
-    }
-  } else if (mpos_.size() != 3*m->nmocap) {
-    throw mjCError(this, "keyframe %d: invalid mpos size, expected length %d", nullptr, id, 3*m->nmocap);
-  }
-
-  // mquat: allocate or check size
-  if (mquat_.empty()) {
-    mquat_.resize(4*m->nmocap);
-    if (m->nmocap) {
-      for (int i=0; i < m->nbody; i++) {
-        if (m->body_mocapid[i] >= 0) {
-          int mocapid = m->body_mocapid[i];
-          mquat_[4*mocapid]   = m->body_quat[4*i];
-          mquat_[4*mocapid+1] = m->body_quat[4*i+1];
-          mquat_[4*mocapid+2] = m->body_quat[4*i+2];
-          mquat_[4*mocapid+3] = m->body_quat[4*i+3];
-        }
-      }
-    }
-  } else if (mquat_.size() != 4*m->nmocap) {
-    throw mjCError(this, "keyframe %d: invalid mquat size, expected length %d", nullptr, id, 4*m->nmocap);
-  }
-
-  // ctrl: allocate or check size
-  if (ctrl_.empty()) {
-    ctrl_.resize(m->nu);
-    for (int i=0; i < m->nu; i++) {
-      ctrl_[i] = 0;
-    }
-  } else if (ctrl_.size() != m->nu) {
-    throw mjCError(this, "keyframe %d: invalid ctrl size, expected length %d", nullptr, id, m->nu);
-  }
-}
-
-
-//------------------ class mjCPlugin implementation ------------------------------------------------
-
-// initialize defaults
-mjCPlugin::mjCPlugin(mjCModel* _model) {
-  name = "";
-  nstate = -1;
-  plugin_slot = -1;
-  parent = this;
-  model = _model;
-  if (_model) compiler = &_model->spec.compiler;
-  name.clear();
-  plugin_name.clear();
-
-  // public interface
-  mjs_defaultPlugin(&spec);
-  elemtype = mjOBJ_PLUGIN;
-  spec.plugin_name = &plugin_name;
-  spec.info = &info;
-
-  PointToLocal();
-}
-
-
-
-mjCPlugin::mjCPlugin(const mjCPlugin& other) {
-  *this = other;
-  id = -1;
-}
-
-
-
-mjCPlugin& mjCPlugin::operator=(const mjCPlugin& other) {
-  if (this != &other) {
-    this->spec = other.spec;
-    *static_cast<mjCPlugin_*>(this) = static_cast<const mjCPlugin_&>(other);
-    parent = this;
-    plugin_slot = other.plugin_slot;
-  }
-  PointToLocal();
-  return *this;
-}
-
-
-
-void mjCPlugin::PointToLocal() {
-  spec.element = static_cast<mjsElement*>(this);
-  spec.name = &name;
-  spec.info = &info;
-}
-
-
-
-// compiler
-void mjCPlugin::Compile(void) {
-  mjCPlugin* plugin_instance = this;
-  model->ResolvePlugin(this, plugin_name, name, &plugin_instance);
-  const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_slot);
-
-  // clear precompiled
-  flattened_attributes.clear();
-  std::map<std::string, std::string, std::less<> > config_attribs_copy = config_attribs;
-
-  // concatenate all of the plugin's attribute values (as null-terminated strings) into
-  // flattened_attributes, in the order declared in the mjpPlugin
-  // each valid attribute found is appended to flattened_attributes and removed from xml_attributes
-  for (int i = 0; i < plugin->nattribute; ++i) {
-    std::string_view attr(plugin->attributes[i]);
-    auto it = config_attribs_copy.find(attr);
-    if (it == config_attribs_copy.end()) {
-      flattened_attributes.push_back('\0');
-    } else {
-      auto original_size = flattened_attributes.size();
-      flattened_attributes.resize(original_size + it->second.size() + 1);
-      std::memcpy(&flattened_attributes[original_size], it->second.c_str(),
-                  it->second.size() + 1);
-      config_attribs_copy.erase(it);
-    }
-  }
-
-  // if there are no attributes, add a null terminator
-  if (plugin->nattribute == 0) {
-    flattened_attributes.push_back('\0');
-  }
-
-  // anything left in xml_attributes at this stage is not a valid attribute
-  if (!config_attribs_copy.empty()) {
-    std::string error =
-      "unrecognized attribute 'plugin:" + config_attribs_copy.begin()->first +
-      "' for plugin " + std::string(plugin->name) + "'";
-    throw mjCError(parent, "%s", error.c_str());
-  }
-}
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
deleted file mode 100644
index f2403e36..00000000
--- a/src/user/user_objects.h
+++ /dev/null
@@ -1,2130 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_USER_USER_OBJECTS_H_
-#define MUJOCO_SRC_USER_USER_OBJECTS_H_
-
-#include <stdbool.h>
-#include <algorithm>
-#include <cmath>
-#include <cstddef>
-#include <array>
-#include <deque>
-#include <functional>
-#include <map>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-#include "user/user_cache.h"
-#include "user/user_util.h"
-
-// forward declarations of all mjC/X classes
-class mjCError;
-class mjCBase;
-class mjCBody;
-class mjCFrame;
-class mjCJoint;
-class mjCGeom;
-class mjCSite;
-class mjCCamera;
-class mjCLight;
-class mjCHField;
-class mjCFlex;
-class mjCMesh;
-class mjCSkin;
-class mjCTexture;
-class mjCMaterial;
-class mjCPair;
-class mjCBodyPair;
-class mjCEquality;
-class mjCTendon;
-class mjCWrap;
-class mjCActuator;
-class mjCSensor;
-class mjCNumeric;
-class mjCText;
-class mjCTuple;
-class mjCDef;
-class mjCModel;        // defined in user_model.h
-class mjXWriter;       // defined in xml_native.h
-class mjXURDF;         // defined in xml_urdf.h
-
-
-//------------------------- helper constants, classes and functions --------------------------------
-
-// number of positive size parameters for each geom type
-const int mjGEOMINFO[mjNGEOMTYPES] = {3, 0, 1, 2, 3, 2, 3, 0};
-
-// error information
-class [[nodiscard]] mjCError {
- public:
-  mjCError(const mjCBase* obj = 0,
-           const char* msg = 0,
-           const char* str = 0,
-           int pos1 = 0,
-           int pos2 = 0);
-
-  char message[500];              // error message
-};
-
-// alternative specifications of frame orientation
-const char* ResolveOrientation(double* quat,             // set frame quat
-                               bool degree,              // angle format: degree/radian
-                               const char* sequence,     // euler sequence format: "xyz"
-                               const mjsOrientation& orient);
-
-
-//------------------------- class mjCBoundingVolumeHierarchy ---------------------------------------
-
-// bounding volume
-class mjCBoundingVolume {
- public:
-  mjCBoundingVolume(int id, int contype, int conaffinity, const double pos[3],
-                    const double quat[4], const double aabb[6]) : contype_(contype),
-                      conaffinity_(conaffinity), idval_(id) {
-                        std::copy(pos, pos + 3, pos_.begin());
-                        std::copy(aabb, aabb + 6, aabb_.begin());
-                        quat_set_ = quat != nullptr;
-                        if (quat_set_) {
-                          std::copy(quat, quat + 4, quat_.begin());
-                        }
-                      }
-
-  mjCBoundingVolume(const int* id, int contype, int conaffinity, const double pos[3],
-                    const double quat[4], const double aabb[6]) : contype_(contype),
-                      conaffinity_(conaffinity), id_(id) {
-                        std::copy(pos, pos + 3, pos_.begin());
-                        std::copy(aabb, aabb + 6, aabb_.begin());
-                        quat_set_ = quat != nullptr;
-                        if (quat_set_) {
-                          std::copy(quat, quat + 4, quat_.begin());
-                        }
-                      }
-
-  int Contype() const { return contype_; }
-  int Conaffinity() const { return conaffinity_; }
-  const double* AABB() const { return aabb_.data(); }
-  double AABB(int i) const { return aabb_[i]; }
-  const double* Pos() const { return pos_.data(); }
-  double Pos(int i) const { return pos_[i]; }
-  const double* Quat() const { return  quat_set_ ? quat_.data() : nullptr; }
-  const int* Id() const { return id_ ? id_ : &idval_; }
-
-  void SetContype(int val) { contype_ = val; }
-  void SetConaffinity(int val) { conaffinity_ = val; }
-  void SetAABB(const double* aabb) { std::copy(aabb, aabb + 6, aabb_.begin()); }
-  void SetPos(const double* pos) { std::copy(pos, pos + 3, pos_.begin()); }
-  void SetQuat(const double* quat) {
-    quat_set_ = true;
-    std::copy(quat, quat + 4, quat_.begin());
-  }
-  void SetId(const int* id) { id_ = id; }
-  void SetId(int val) { idval_ = val; }
-
- private:
-  int contype_;                 // contact type
-  int conaffinity_;             // contact affinity
-  std::array<double, 6> aabb_;  // axis-aligned bounding box (center, size)
-  std::array<double, 3> pos_;   // position (set by user or Compiler)
-  std::array<double, 4> quat_;  // orientation (set by user or Compiler)
-  bool quat_set_;               // boolean flag is quat_ has been set
-  int idval_;                   // local id copy for nodes not storing their id's (e.g. faces)
-
-  // pointer to object id
-  const int* id_ = nullptr;
-};
-
-
-// bounding volume hierarchy
-struct mjCBoundingVolumeHierarchy_ {
- protected:
-  int nbvh_ = 0;
-  std::vector<mjtNum> bvh_;           // bounding boxes                          (nbvh x 6)
-  std::vector<int> child_;            // children of each node                   (nbvh x 2)
-  std::vector<int> nodeid_;           // id of elem contained by the node        (nbvh x 1)
-  std::vector<int*> nodeidptr_;       // ptr to id of elem contained by the node (nbvh x 1)
-  std::vector<int> level_;            // levels of each node                     (nbvh x 1)
-  std::vector<mjCBoundingVolume> bvleaf_;
-  std::string name_;
-  double ipos_[3] = {0, 0, 0};
-  double iquat_[4] = {1, 0, 0, 0};
-};
-
-class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
- public:
-  // make bounding volume hierarchy
-  void CreateBVH(mjCModel* model, const mjCBase* owner);
-  void Set(double ipos_element[3], double iquat_element[4]);
-  void AllocateBoundingVolumes(int nleaf);
-  void RemoveInactiveVolumes(int nmax);
-  const mjCBoundingVolume*
-      AddBoundingVolume(int id, int contype, int conaffinity, const double pos[3],
-                                             const double quat[4], const double aabb[6]);
-  const mjCBoundingVolume*
-      AddBoundingVolume(const int* id, int contype, int conaffinity, const double pos[3],
-                                             const double quat[4], const double aabb[6]);
-
-  // public accessors
-  int Nbvh() const { return nbvh_; }
-  const std::vector<mjtNum>& Bvh() const { return bvh_; }
-  const std::vector<int>& Child() const { return child_; }
-  const std::vector<int>& Nodeid() const { return nodeid_; }
-  int Nodeid(int id) const { return nodeid_[id]; }
-  const int* Nodeidptr(int id) const { return nodeidptr_[id]; }
-  const std::vector<int>& Level() const { return level_; }
-  int Size() const {
-    return sizeof(mjCBoundingVolume) * bvleaf_.size()
-        + sizeof(mjtNum) * bvh_.size() + sizeof(int) * child_.size()
-        + sizeof(int) * nodeid_.size() + sizeof(int) * level_.size();
-  }
-
-  // query signed distance from point to mesh surface
-  double QuerySignedDistance(const double* point, const double* vert,
-                             const int* face) const;
-
- private:
-  // internal class used during BVH construction, for partial sorting of bounding volumes
-  struct BVElement {
-    const mjCBoundingVolume* e;
-    // position of the element in the BVH axes
-    double lpos[3];
-  };
-  void Make(std::vector<BVElement>& elements);
-  int MakeBVH(std::vector<BVElement>::iterator elements_begin,
-              std::vector<BVElement>::iterator elements_end, int lev,
-              mjCModel* model, const mjCBase* owner);
-};
-
-
-
-//------------------------- class mjCOctree --------------------------------------------------------
-
-struct Point {
-  std::array<double, 3> p;
-
-  double& operator[](size_t i) { return p[i]; }
-  const double& operator[](size_t i) const { return p[i]; }
-
-  bool operator==(const Point& other) const {
-    constexpr double kEpsilon = 1e-9;
-    return std::abs(this->p[0] - other.p[0]) < kEpsilon &&
-           std::abs(this->p[1] - other.p[1]) < kEpsilon &&
-           std::abs(this->p[2] - other.p[2]) < kEpsilon;
-  }
-};
-
-namespace std {
-template <>
-struct hash<Point> {
-  size_t operator()(const Point& pt) const {
-    size_t h1 = hash<double>()(pt.p[0]);
-    size_t h2 = hash<double>()(pt.p[1]);
-    size_t h3 = hash<double>()(pt.p[2]);
-    // combine hashes
-    size_t seed = h1;
-    seed ^= h2 + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-    seed ^= h3 + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-    return seed;
-  }
-};
-}  // namespace std
-
-typedef std::array<std::array<double, 3>, 3> Triangle;
-
-struct OctNode {
-  int level = 0;                       // level of the node
-  int parent_index = -1;               // index of the parent node
-  int child_slot = -1;                 // slot of the child node in the parent node
-  std::array<int, 8> child = {-1};     // children nodes
-  std::array<int, 8> vertid = {-1};    // vertex id's
-  std::array<double, 6> aamm = {0};    // bounding box
-  std::array<double, 8> coeff = {0};   // interpolation coefficients
-};
-
-struct OctreeTask {
-  std::vector<Triangle*> elements;
-  int lev;
-  int parent_index;
-  int child_slot;
-  int node_index;
-};
-
-struct mjCOctree_ {
-  int nnode_ = 0;
-  int nvert_ = 0;
-  int max_depth_ = 6;                   // max octree depth (default 6)
-  std::vector<OctNode> node_;
-  std::vector<Triangle> face_;          // mesh faces                (nmeshface x 3)
-  std::vector<Point> vert_;             // octree vertices           (nvert x 3)
-  std::vector<std::vector<int>> hang_;  // hanging nodes status      (nvert x 1)
-  double ipos_[3] = {0, 0, 0};
-  double iquat_[4] = {1, 0, 0, 0};
-  int smoothing_iterations_ = 0;        // Laplacian smoothing iterations (0 = disabled)
-};
-
-class mjCOctree : public mjCOctree_ {
- public:
-  void CreateOctree(const double aamm[6]);
-
-  int NumNodes() const { return nnode_; }
-  int NumVerts() const { return nvert_; }
-  void CopyLevel(int* level) const;
-  void CopyChild(int* child) const;
-  void CopyAabb(mjtNum* aabb) const;
-  void CopyCoeff(mjtNum* coeff) const;
-  const double* Vert(int i) const { return vert_[i].p.data(); }
-  const std::vector<int>& Hang(int i) const { return hang_[i]; }
-  int VertId(int n, int v) const { return node_[n].vertid[v]; }
-  const std::array<int, 8>& Children(int i) const { return node_[i].child; }
-  void SetFace(const std::vector<double>& vert, const std::vector<int>& face);
-  int Size() const {
-    return sizeof(OctNode) * node_.size() + sizeof(Triangle) * face_.size() +
-           sizeof(Point) * vert_.size();
-  }
-  void Clear() {
-    nnode_ = 0;
-    nvert_ = 0;
-    node_.clear();
-    vert_.clear();
-    hang_.clear();
-  }
-  void AddCoeff(int n, int v, double coeff) { node_[n].coeff[v] = coeff; }
-  double Coeff(int n, int v) const { return node_[n].coeff[v]; }
-
-  // Set max octree depth (default 6)
-  void SetMaxDepth(int depth) { max_depth_ = depth; }
-  int MaxDepth() const { return max_depth_; }
-
-  // Set number of Laplacian smoothing iterations (0 = disabled, default)
-  void SetSmoothingIterations(int iterations) { smoothing_iterations_ = iterations; }
-  int SmoothingIterations() const { return smoothing_iterations_; }
-
-  // compute SDF coefficients via BVH queries, optionally with Laplacian smoothing
-  void ComputeSdfCoeffs(const double* vert, int nvert, const int* face, int nface,
-                        const mjCBoundingVolumeHierarchy& tree);
-
- private:
-  void Make(std::vector<Triangle>& elements);
-  void MakeOctree(const std::vector<Triangle*>& elements, const double aamm[6],
-                  std::unordered_map<Point, int>& vert_map);
-  void TaskToNode(const OctreeTask& task, OctNode& node, std::unordered_map<Point, int>& vert_map);
-  void Subdivide(const OctreeTask& task, std::unordered_map<Point, int>& vert_map,
-                 std::deque<OctreeTask>* queue = nullptr,
-                 const std::vector<Triangle*>& colliding = {});
-  int FindNeighbor(int node_idx, int dir);
-  int FindCoarseNeighbor(int node_idx, int dir);
-  void BalanceOctree(std::unordered_map<Point, int>& vert_map);
-  void MarkHangingNodes();
-};
-
-
-
-//------------------------- class mjCBase ----------------------------------------------------------
-// Generic functionality for all derived classes
-
-class mjCBase_ : public mjsElement {
- public:
-  int id;                 // object id
-  std::string name;       // object name
-  std::string classname;  // defaults class name
-  std::string info;       // error message info set by the user
-  std::string prefix;     // prefix for model operations
-  std::string suffix;     // suffix for model operations
-};
-
-class mjCBase : public mjCBase_ {
-  friend class mjCDef;
-
- public:
-  // load resource if found (fallback to OS filesystem)
-  static mjResource* LoadResource(const std::string& modelfiledir,
-                                  const std::string& filename, const mjVFS* vfs);
-
-  // Get and sanitize content type from raw_text if not empty, otherwise parse
-  // content type from resource_name; throw on failure
-  static std::string GetAssetContentType(std::string_view resource_name, std::string_view raw_text);
-
-  // Add frame transformation
-  void SetFrame(mjCFrame* _frame);
-
-  // Copy spec into private attributes
-  virtual void CopyFromSpec() {}
-
-  // Throws an error if any of the references is missing
-  virtual void ResolveReferences(const mjCModel* m) {}
-
-  // Appends prefix and suffix to reference
-  virtual void NameSpace(const mjCModel* m);
-
-  // Copy plugins instantiated in this object
-  virtual void CopyPlugin() {}
-
-  // Returns parent of this object
-  virtual mjCBase* GetParent() const { return nullptr; }
-
-  // Returns the model of this object
-  mjsCompiler* FindCompiler(const mjsCompiler* compiler) const;
-
-  // Copy assignment
-  mjCBase& operator=(const mjCBase& other);
-
-  mjCFrame* frame;                // pointer to frame transformation
-  mjCModel* model;                // pointer to model that owns object
-  mjsCompiler* compiler;          // pointer to the compiler options
-
-  virtual ~mjCBase() = default;   // destructor
-
-  // reset keyframe references for allowing self-attach
-  virtual void ForgetKeyframes() {}
-  virtual void ForgetKeyframes() const {}
-
-  // increment and decrement reference count
-  // release uses the argument to delete the plugin
-  // which may be still owned by the source spec during shallow attach
-  virtual void AddRef() { ++refcount; }
-  virtual int GetRef() { return refcount; }
-  virtual void Release() {
-    if (--refcount == 0) {
-      delete this;
-    }
-  }
-
-  // Set and get user payload
-  void SetUserValue(std::string_view key, const void* data,
-                    void (*cleanup)(const void*));
-  const void* GetUserValue(std::string_view key);
-  void DeleteUserValue(std::string_view key);
-
- protected:
-  mjCBase();                                 // constructor
-  mjCBase(const mjCBase& other);             // copy constructor
-
-  // reference count for allowing deleting an attached object
-  int refcount = 1;
-
-  // Arbitrary user value that cleans up the data when destroyed.
-  struct UserValue {
-    const void* value = nullptr;
-    void (*cleanup)(const void*) = nullptr;
-
-    UserValue() {}
-    UserValue(const void* value, void (*cleanup)(const void*))
-        : value(value), cleanup(cleanup) {}
-    UserValue(const UserValue& other) = delete;
-    UserValue& operator=(const UserValue& other) = delete;
-
-    UserValue(UserValue&& other) : value(other.value), cleanup(other.cleanup) {
-      other.value = nullptr;
-      other.cleanup = nullptr;
-    }
-
-    UserValue& operator=(UserValue&& other) {
-      if (this != &other) {
-        if (cleanup && value) {
-          cleanup(value);
-        }
-        value = other.value;
-        cleanup = other.cleanup;
-        other.value = nullptr;
-        other.cleanup = nullptr;
-      }
-      return *this;
-    }
-
-    ~UserValue() {
-      if (cleanup && value) {
-        cleanup(value);
-      }
-    }
-  };
-
-  // user payload
-  std::unordered_map<std::string, UserValue> user_payload_;
-};
-
-
-
-//------------------------- class mjCBody -----------------------------------------------
-// Describes a rigid body
-
-class mjCBody_ : public mjCBase {
- protected:
-  mjCBody* parent;
-
-  // variables computed by 'Compile' and 'AddXXX'
-  int weldid;                     // top index of body we are welded to
-  int dofnum;                     // number of motion dofs for body
-  int mocapid;                    // mocap id, -1: not mocap
-
-  int contype;                    // OR over geom contypes
-  int conaffinity;                // OR over geom conaffinities
-  double margin;                  // MAX over geom margins
-  double xpos0[3];                // global position in qpos0
-  double xquat0[4];               // global orientation in qpos0
-
-  // used internally by compiler
-  int lastdof;                    // id of last dof
-  int subtreedofs;                // number of dofs in subtree, including self
-
-  mjCBoundingVolumeHierarchy tree;  // bounding volume hierarchy
-
-  // variable-size data
-  std::string plugin_name;
-  std::string plugin_instance_name;
-  std::vector<double> userdata_;
-  std::vector<double> spec_userdata_;
-
-  // variables used for temporarily storing the state of the mocap bodies
-  std::map<std::string, std::array<mjtNum, 3>> mpos_;   // saved mocap_pos
-  std::map<std::string, std::array<mjtNum, 4>> mquat_;  // saved mocap_quat
-};
-
-class mjCBody : public mjCBody_, private mjsBody {
-  friend class mjCJoint;
-  friend class mjCGeom;
-  friend class mjCSite;
-  friend class mjCCamera;
-  friend class mjCComposite;
-  friend class mjCFrame;
-  friend class mjCLight;
-  friend class mjCFlex;
-  friend class mjCFlexcomp;
-  friend class mjCEquality;
-  friend class mjCPair;
-  friend class mjCModel;
-  friend class mjXReader;
-  friend class mjXWriter;
-  friend class mjXURDF;
-
- public:
-  explicit mjCBody(mjCModel*);
-  ~mjCBody();
-
-  // API for adding objects to body
-  mjCBody*    AddBody(mjCDef* = 0);
-  mjCFrame*   AddFrame(mjCFrame* = 0);
-  mjCJoint*   AddJoint(mjCDef* = 0);
-  mjCJoint*   AddFreeJoint();
-  mjCGeom*    AddGeom(mjCDef* = 0);
-  mjCSite*    AddSite(mjCDef* = 0);
-  mjCCamera*  AddCamera(mjCDef* = 0);
-  mjCLight*   AddLight(mjCDef* = 0);
-
-  // API for adding/removing objects to body
-  mjCBody& operator+=(const mjCBody& other);
-  mjCBody& operator+=(const mjCFrame& other);
-  mjCBody& operator-=(const mjCBody& subtree);
-
-  // API for accessing objects
-  int NumObjects(mjtObj type);
-  mjCBase* GetObject(mjtObj type, int id);
-  mjCBase* FindObject(mjtObj type, const std::string& name, bool recursive = true) const;
-
-  // Propagate suffix and prefix to the whole tree
-  void NameSpace(const mjCModel* m);
-
-  // set explicitinertial to true
-  void MakeInertialExplicit();
-
-  // compute the bounding volume hierarchy of the body.
-  void ComputeBVH();
-
-  // variables set by user
-  mjsBody spec;
-
-  // inherited
-  using mjCBase::info;
-
-  // used by mjXWriter and mjCModel
-  const std::vector<double>& get_userdata() { return userdata_; }
-
-  // get next child of given type recursively; if `child` is found while traversing the tree,
-  // then `found` is set to true and the next element encountered is returned;
-  // returns nullptr if the next child is not found or if `child` is the last element, returns
-  // the next child after the input `child` otherwise
-  mjsElement* NextChild(const mjsElement* child, mjtObj type = mjOBJ_UNKNOWN,
-                        bool recursive = false) const;
-
-  // reset keyframe references for allowing self-attach
-  void ForgetKeyframes() const;
-
-  // create a frame and move all contents of this body into it
-  mjCFrame* ToFrame();
-
-  // get mocap position and quaternion
-  mjtNum* mpos(const std::string& state_name);
-  mjtNum* mquat(const std::string& state_name);
-
-  mjsFrame* last_attached;  // last attached frame to this body
-
-  // set parent of this body
-  void SetParent(mjCBody* _body) { parent = _body; }
-  mjCBody* GetParent() const { return parent; }
-
-  // set model of this body
-  void SetModel(mjCModel* _model);
-
-  // reset ids of all objects in this body
-  void ResetId();
-
-  // getters
-  std::vector<mjCBody*> Bodies() const { return bodies; }
-
-  // get list of a given type
-  template <class T>
-  const std::vector<T*>& GetList() const;
-
-  // accumulate inertia of another body into this body, if `result` is not nullptr, the accumulated
-  // inertia will be stored in `result`, otherwise the body's private spec will be used.
-  void AccumulateInertia(const mjsBody* other, mjsBody* result = nullptr);
-
- private:
-  mjCBody(const mjCBody& other, mjCModel* _model);  // copy constructor
-  mjCBody& operator=(const mjCBody& other);         // copy assignment
-
-  void Compile(void);             // compiler
-  void InertiaFromGeom(void);     // get inertial info from geoms
-
-  // objects allocated by Add functions
-  std::vector<mjCBody*>    bodies;     // child bodies
-  std::vector<mjCGeom*>    geoms;      // geoms attached to this body
-  std::vector<mjCFrame*>   frames;     // frames attached to this body
-  std::vector<mjCJoint*>   joints;     // joints allowing motion relative to parent
-  std::vector<mjCSite*>    sites;      // sites attached to this body
-  std::vector<mjCCamera*>  cameras;    // cameras attached to this body
-  std::vector<mjCLight*>   lights;     // lights attached to this body
-
-  void CopyFromSpec();                 // copy spec into attributes
-  void PointToLocal(void);
-  void NameSpace_(const mjCModel* m, bool propagate = true);
-  void CopyPlugin();
-
-  // copy src list of elements into dst; set body, model and frame
-  template <typename T>
-  void CopyList(std::vector<T*>& dst, const std::vector<T*>& src,
-                std::map<mjCFrame*, int>& fmap, const mjCFrame* pframe = nullptr);
-};
-
-
-
-//------------------------- class mjCFrame ---------------------------------------------------------
-// Describes a coordinate transformation relative to its parent
-
-class mjCFrame_ : public mjCBase {
- protected:
-  bool compiled;                           // frame already compiled
-};
-
-class mjCFrame : public mjCFrame_, private mjsFrame {
-  friend class mjCBase;
-  friend class mjCBody;
-  friend class mjCGeom;
-  friend class mjCJoint;
-  friend class mjCSite;
-  friend class mjCCamera;
-  friend class mjCLight;
-  friend class mjCModel;
-
- public:
-  mjCFrame(mjCModel* = 0, mjCFrame* = 0);
-  mjCFrame(const mjCFrame& other);
-  mjCFrame& operator=(const mjCFrame& other);
-
-  mjsFrame spec;
-  using mjCBase::info;
-
-  void CopyFromSpec(void);
-  void PointToLocal(void);
-  void SetParent(mjCBody* _body) { body = _body; }
-  mjCBody* GetParent() const { return body; }
-
-  mjCFrame& operator+=(const mjCBody& other);
-
-  bool IsAncestor(const mjCFrame* child) const;  // true if child is contained in this frame
-
-  mjsBody* last_attached;  // last attached body to this frame
-
- private:
-  void Compile(void);                          // compiler
-
-  mjCBody* body;  // body that owns the frame
-};
-
-
-
-//------------------------- class mjCJoint ---------------------------------------------------------
-// Describes a motion degree of freedom of a body relative to its parent
-
-class mjCJoint_ : public mjCBase {
- protected:
-  mjCBody* body;                   // joint's body
-
-  // variable used for temporarily storing the state of the joint
-  std::map<std::string, std::array<mjtNum, 7>> qpos_;  // qpos at the previous step
-  std::map<std::string, std::array<mjtNum, 6>> qvel_;  // qvel at the previous step
-
-  // variable-size data
-  std::vector<double> userdata_;
-  std::vector<double> spec_userdata_;
-};
-
-class mjCJoint : public mjCJoint_, private mjsJoint {
-  friend class mjCDef;
-  friend class mjCEquality;
-  friend class mjCBody;
-  friend class mjCModel;
-  friend class mjCSensor;
-  friend class mjXWriter;
-  friend class mjXURDF;
-
- public:
-  explicit mjCJoint(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCJoint(const mjCJoint& other);
-  mjCJoint& operator=(const mjCJoint& other);
-
-  mjsJoint spec;
-  using mjCBase::info;
-
-  void CopyFromSpec(void);
-  void SetParent(mjCBody* _body) { body = _body; }
-  mjCBody* GetParent() const { return body; }
-
-  // used by mjXWriter and mjCModel
-  const std::vector<double>& get_userdata() const { return userdata_; }
-  const double* get_range() const { return range; }
-
-  bool is_limited() const;
-  bool is_actfrclimited() const;
-
-  static int nq(mjtJoint joint_type);
-  static int nv(mjtJoint joint_type);
-  int nq() const { return nq(spec.type); }
-  int nv() const { return nv(spec.type); }
-
-  mjtNum* qpos(const std::string& state_name);
-  mjtNum* qvel(const std::string& state_name);
-
- private:
-  int Compile(void);               // compiler; return dofnum
-  void PointToLocal(void);
-
-  // variables that should not be copied during copy assignment
-  int qposadr_;                                        // address of dof in data->qpos
-  int dofadr_;                                         // address of dof in data->qvel
-};
-
-
-
-//------------------------- class mjCGeom ----------------------------------------------------------
-// Describes a geometric shape belonging to a body
-
-class mjCGeom_ : public mjCBase {
- public:
-  bool inferinertia;           // true if inertia should be computed from geom
-
- protected:
-  bool visual_;                       // true: geom does not collide and is unreferenced
-  int matid;                          // id of geom's material
-  mjCMesh* mesh;                      // geom's mesh
-  mjCHField* hfield;                  // geom's hfield
-  double mass_;                       // mass
-  double inertia[3];                  // local diagonal inertia
-  double aabb[6];                     // axis-aligned bounding box (center, size)
-  mjCBody* body;                      // geom's body
-  mjtNum fluid[mjNFLUID];             // compile-time fluid-interaction parameters
-
-  // variable-size data
-  std::string plugin_name;
-  std::string plugin_instance_name;
-  std::string hfieldname_;
-  std::string meshname_;
-  std::string material_;
-  std::vector<double> userdata_;
-  std::string spec_hfieldname_;
-  std::string spec_meshname_;
-  std::string spec_material_;
-  std::vector<double> spec_userdata_;
-};
-
-class mjCGeom : public mjCGeom_, private mjsGeom {
-  friend class mjCDef;
-  friend class mjCMesh;
-  friend class mjCPair;
-  friend class mjCBody;
-  friend class mjCModel;
-  friend class mjCWrap;
-  friend class mjXWriter;
-  friend class mjXURDF;
-
- public:
-  explicit mjCGeom(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCGeom(const mjCGeom& other);
-  mjCGeom& operator=(const mjCGeom& other);
-
-  mjsGeom spec;                       // variables set by user
-  double GetVolume() const;           // compute geom volume
-  void SetInertia(void);              // compute and set geom inertia
-  bool IsVisual(void) const { return visual_; }
-  void SetNotVisual(void) { visual_ = false; }
-  void SetParent(mjCBody* _body) { body = _body; }
-  mjCBody* GetParent() const { return body; }
-  mjtGeom Type() const { return type; }
-
-  // Compute all coefs modeling the interaction with the surrounding fluid.
-  void SetFluidCoefs(void);
-  // Compute the kappa coefs of the added inertia due to the surrounding fluid.
-  double GetAddedMassKappa(double dx, double dy, double dz);
-
-  // used by mjXWriter and mjCModel
-  const std::vector<double>& get_userdata() const { return userdata_; }
-  const std::string& get_hfieldname() const { return spec_hfieldname_; }
-  const std::string& get_meshname() const { return spec_meshname_; }
-  const std::string& get_material() const;
-  void del_material() { spec_material_.clear(); }
-
- private:
-  void Compile(void);                 // compiler
-  double GetRBound(void);             // compute bounding sphere radius
-  void ComputeAABB(void);             // compute axis-aligned bounding box
-  void CopyFromSpec(void);
-  void PointToLocal(void);
-  void NameSpace(const mjCModel* m);
-  void CopyPlugin();
-
-  // inherited
-  using mjCBase::info;
-};
-
-
-
-//------------------------- class mjCSite ----------------------------------------------------------
-// Describes a site on a body
-
-class mjCSite_ : public mjCBase {
- protected:
-  // variable-size data
-  std::string material_;
-  std::vector<double> userdata_;
-  std::string spec_material_;
-  std::vector<double> spec_userdata_;
-
-  // variables computed by 'compile' and 'mjCBody::addSite'
-  mjCBody* body;                  // site's body
-  int matid;                      // material id for rendering
-};
-
-class mjCSite : public mjCSite_, private mjsSite {
-  friend class mjCDef;
-  friend class mjCBody;
-  friend class mjCModel;
-  friend class mjXWriter;
-  friend class mjXURDF;
-
- public:
-  explicit mjCSite(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCSite(const mjCSite& other);
-  mjCSite& operator=(const mjCSite& other);
-
-  mjsSite spec;                   // variables set by user
-
-  // site's body
-  mjCBody* Body() const { return body; }
-  void SetParent(mjCBody* _body) { body = _body; }
-  mjCBody* GetParent() const { return body; }
-
-  // use strings from mjCBase rather than mjStrings from mjsSite
-  using mjCBase::info;
-
-  // used by mjXWriter and mjCModel
-  const std::vector<double>& get_userdata() const { return userdata_; }
-  const std::string& get_material() const { return material_; }
-  void del_material() { material_.clear(); }
-
- private:
-  void Compile(void);                     // compiler
-  void CopyFromSpec();                    // copy spec into attributes
-  void PointToLocal(void);
-  void NameSpace(const mjCModel* m);
-};
-
-
-
-//------------------------- class mjCCamera --------------------------------------------------------
-// Describes a camera, attached to a body
-
-class mjCCamera_ : public mjCBase {
- protected:
-  mjCBody* body;                  // camera's body
-  int targetbodyid;               // id of target body; -1: none
-  std::string targetbody_;
-  std::string spec_targetbody_;
-  std::vector<double> userdata_;
-  std::vector<double> spec_userdata_;
-};
-
-class mjCCamera : public mjCCamera_, private mjsCamera {
-  friend class mjCDef;
-  friend class mjCBody;
-  friend class mjCModel;
-  friend class mjCSensor;
-  friend class mjXWriter;
-
- public:
-  explicit mjCCamera(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCCamera(const mjCCamera& other);
-  mjCCamera& operator=(const mjCCamera& other);
-
-  mjsCamera spec;
-  using mjCBase::info;
-
-  // used by mjXWriter and mjCModel
-  const std::string& get_targetbody() const { return targetbody_; }
-  const std::vector<double>& get_userdata() const { return userdata_; }
-
-  void SetParent(mjCBody* _body) { body = _body; }
-  mjCBody* GetParent() const { return body; }
-
- private:
-  void Compile(void);                     // compiler
-  void CopyFromSpec(void);
-  void PointToLocal(void);
-  void NameSpace(const mjCModel* m);
-  void ResolveReferences(const mjCModel* m);
-};
-
-
-
-//------------------------- class mjCLight ---------------------------------------------------------
-// Describes a light, attached to a body
-
-class mjCLight_ : public mjCBase {
- protected:
-  mjCBody* body;                  // light's body
-  int targetbodyid;               // id of target body; -1: none
-  int texid;                      // id of texture; -1: none
-  std::string texture_;
-  std::string spec_texture_;
-  std::string targetbody_;
-  std::string spec_targetbody_;
-};
-
-class mjCLight : public mjCLight_, private mjsLight {
-  friend class mjCDef;
-  friend class mjCBody;
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCLight(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCLight(const mjCLight& other);
-  mjCLight& operator=(const mjCLight& other);
-
-  mjsLight spec;
-  using mjCBase::info;
-
-  // used by mjXWriter and mjCModel
-  const std::string& get_targetbody() const { return targetbody_; }
-  const std::string& get_texture() const { return texture_; }
-
-  void SetParent(mjCBody* _body) { body = _body; }
-  mjCBody* GetParent() const { return body; }
-
- private:
-  void Compile(void);                     // compiler
-  void CopyFromSpec(void);
-  void PointToLocal(void);
-  void NameSpace(const mjCModel* m);
-  void ResolveReferences(const mjCModel* m);
-};
-
-
-
-//------------------------- class mjCFlex ----------------------------------------------------------
-// Describes a flex
-
-struct StencilFlap {
-  static constexpr int kNumVerts = 4;
-  int vertices[kNumVerts];
-};
-
-class mjCFlex_ : public mjCBase {
- protected:
-  int nvert;                              // number of vertices
-  int nnode;                              // number of nodes
-  int nedge;                              // number of edges
-  int nelem;                              // number of elements
-  int matid;                              // material id
-  bool rigid;                             // all vertices attached to the same body
-  bool centered;                          // all vertices coordinates (0,0,0)
-  bool interpolated;                      // vertices are interpolated from nodes
-  std::vector<int> vertbodyid;            // vertex body ids
-  std::vector<int> nodebodyid;            // node body ids
-  std::vector<std::pair<int, int>> edge;  // edge vertex ids
-  std::vector<int> shell;                 // shell fragment vertex ids (dim per fragment)
-  std::vector<int> elemlayer;             // element layer (distance from border)
-  std::vector<int> evpair;                // element-vertex pairs
-  std::vector<StencilFlap> flaps;         // adjacent triangles
-  std::vector<double> vertxpos;           // global vertex positions
-  mjCBoundingVolumeHierarchy tree;        // bounding volume hierarchy
-  std::vector<double> elemaabb_;          // element bounding volume
-  std::vector<int> edgeidx_;              // element edge ids
-  std::vector<double> stiffness;          // elasticity stiffness matrix
-  std::vector<double> bending;            // bending stiffness matrix
-  bool has_strain_eq = false;             // true if strain constraints reference this flex
-  std::vector<bool> cell_empty;           // true if cell contains no mesh geometry
-
-  // variable-size data
-  std::vector<std::string> vertbody_;     // vertex body names
-  std::vector<std::string> nodebody_;     // node body names
-  std::vector<double> vert_;              // vertex positions
-  std::vector<double> node_;              // node positions
-  std::vector<int> elem_;                 // element vertex ids
-  std::vector<float> texcoord_;           // vertex texture coordinates
-  std::vector<int> elemtexcoord_;         // face texture coordinates (OBJ only)
-  std::string material_;                  // name of material used for rendering
-
-  std::string spec_material_;
-  std::vector<std::string> spec_vertbody_;
-  std::vector<std::string> spec_nodebody_;
-  std::vector<double> spec_vert_;
-  std::vector<double> spec_node_;
-  std::vector<int> spec_elem_;
-  std::vector<float> spec_texcoord_;
-  std::vector<int> spec_elemtexcoord_;
-
-  // caching
-  std::vector<double> cached_stiffness_;   // cached stiffness matrix
-};
-
-class mjCFlex: public mjCFlex_, private mjsFlex {
-  friend class mjCDef;
-  friend class mjCModel;
-  friend class mjCFlexcomp;
-  friend class mjCEquality;
-  friend class mjXWriter;
-
- public:
-  explicit mjCFlex(mjCModel* = nullptr);
-  mjCFlex(const mjCFlex& other);
-  mjCFlex& operator=(const mjCFlex& other);
-
-  mjsFlex spec;
-  using mjCBase::info;
-
-  void CopyFromSpec(void);
-  void PointToLocal(void);
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-
-  // used by mjXWriter and mjCModel
-  const std::string& get_material() const { return material_; }
-  const std::vector<std::string>& get_vertbody() const { return vertbody_; }
-  const std::vector<double>& get_vert() const { return vert_; }
-  const std::vector<double>& get_elemaabb() const { return elemaabb_; }
-  const std::vector<int>& get_elem() const { return elem_; }
-  const std::vector<float>& get_texcoord() const { return texcoord_; }
-  const std::vector<int>& get_elemtexcoord() const { return elemtexcoord_; }
-  const std::vector<std::string>& get_nodebody() const { return nodebody_; }
-  const std::vector<double>& get_node() const { return node_; }
-
-  bool HasTexcoord() const;               // texcoord not null
-  void DelTexcoord();                     // delete texcoord
-
-  static constexpr int kNumEdges[3] = {1, 3, 6};  // number of edges per element indexed by dim
-
-
-
- private:
-  void Compile(const mjVFS* vfs);         // compiler
-  void CreateBVH(void);                   // create flex BVH
-  void CreateShellPair(void);             // create shells and evpairs
-  void ComputeCellEmpty(const double* vpos, const int* elems,  // identify cells
-                        int nv, int ne, int fdim,              // with no mesh content
-                        const double* bbox = nullptr);         // optional precomputed bbox
-
-  std::vector<double> vert0_;             // vertex positions in [0, 1]^d in the bounding box
-  std::vector<double> node0_;             // node Cartesian positions
-
-  // compute unrotated node positions for stiffness computation
-  // optionally outputs the grid rotation matrix R0 (stored as rows)
-  std::vector<double> ComputeUnrotatedNodePositions(
-      const std::vector<double>& nodexpos, double* R0_out = nullptr) const;
-
-  // stiffness caching
-  std::string ComputeStiffnessCacheKey() const;
-  bool LoadCachedStiffness();
-  void CacheStiffness();
-};
-
-
-
-//------------------------- class mjCMesh ----------------------------------------------------------
-// Describes a mesh
-
-class mjCMesh_ : public mjCBase {
- protected:
-  // variable size attributes
-  std::string plugin_name;
-  std::string plugin_instance_name;
-
-  std::string content_type_ = "";                // content type of file
-  std::string file_;                             // mesh file
-  mjResource* resource_ = nullptr;               // resource for mesh file
-  std::vector<float> vert_;                      // vertex data
-  std::vector<float> normal_;                    // normal data
-  std::vector<float> texcoord_;                  // texcoord data
-  std::vector<int> face_;                        // vertex indices
-  std::vector<int> facenormal_;                  // normal indices
-  std::vector<int> facetexcoord_;                // texcoord indices
-  std::string material_;                         // mesh fallback material
-
-  std::string spec_content_type_;
-  std::string spec_file_;
-  std::vector<float> spec_vert_;
-  std::vector<float> spec_normal_;
-  std::vector<float> spec_texcoord_;
-  std::vector<int> spec_face_;
-  std::vector<int> spec_facenormal_;
-  std::vector<int> spec_facetexcoord_;
-  std::string spec_material_;
-
-  // used by the compiler
-  bool needreorient_;                            // needs reorientation
-  bool visual_;                                  // true: the mesh is only visual
-  std::vector< std::pair<int, int> > halfedge_;  // half-edge data
-
-  // mesh processed flags
-  bool processed_;                  // has the mesh been processed yet
-  bool transformed_;                // has the mesh been transformed to CoM and inertial frame
-
-  // mesh properties computed by Compile
-  double pos_[3];                     // CoM position
-  double quat_[4];                    // inertia orientation
-  double boxsz_[3];                   // half-sizes of equivalent inertia box
-  double aamm_[6];                    // axis-aligned bounding box in (min, max) format
-  double volume_;                     // volume of the mesh
-  double surface_;                    // surface of the mesh
-
-  // size of mesh data to be copied into mjModel
-  int szgraph_ = 0;                   // size of graph data in ints
-  bool needhull_;                     // needs convex hull for collisions
-  int maxhullvert_;                   // max vertex count of convex hull
-
-  // bounding volume hierarchy tree
-  mjCBoundingVolumeHierarchy tree_;   // bounding volume hierarchy
-  std::vector<double> face_aabb_;     // bounding boxes of all faces
-
-  // octree
-  mjCOctree octree_;                  // octree of the mesh
-  double mesh_timer_[mjNCTIMER] = {0};
-};
-
-class mjCMesh: public mjCMesh_, private mjsMesh {
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCMesh(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCMesh(const mjCMesh& other);
-  mjCMesh& operator=(const mjCMesh& other);
-  ~mjCMesh();
-
-  mjsMesh spec;
-  using mjCBase::info;
-
-  void CopyFromSpec(void);
-  void PointToLocal(void);
-  void NameSpace(const mjCModel* m);
-
-  // make a mesh of a predefined shape
-  void MakeHemisphere(int res, bool make_faces, bool make_cap);
-  void MakeSphere(int subdiv, bool make_faces);
-  void MakeTorus(int res, double radius);
-  void MakeSupertorus(int res, double radius, double s, double t);
-  void MakeSupersphere(int res, double e, double n);
-  void MakeWedge(int resolution[2], double fov[2], double gamma);
-  void MakeRect(int resolution[2]);
-  void MakeCone(int nedge, double radius);
-
-  // accessors
-  const mjsPlugin& Plugin() const { return plugin; }
-  const std::string& ContentType() const { return content_type_; }
-  const std::string& File() const { return file_; }
-  const double* Refpos() const { return refpos; }
-  const double* Refquat() const { return refquat; }
-  const double* Scale() const { return scale; }
-  bool SmoothNormal() const { return smoothnormal; }
-  const std::vector<float>& Vert() const { return vert_; }
-  float Vert(int i) const { return vert_[i]; }
-  const std::vector<float>& UserVert() const { return spec_vert_; }
-  const std::vector<float>& UserNormal() const { return spec_normal_; }
-  const std::vector<float>& Texcoord() const { return texcoord_; }
-  const std::vector<int>& FaceTexcoord() const { return facetexcoord_; }
-  const std::vector<float>& UserTexcoord() const { return spec_texcoord_; }
-  const std::vector<int>& Face() const { return face_; }
-  const std::vector<int>& UserFace() const { return spec_face_; }
-  mjtMeshInertia Inertia() const { return spec.inertia; }
-  const std::string& Material() const { return material_; }
-
-  // setters
-  void SetNeedHull(bool needhull) { needhull_ = needhull; }
-
-  // mesh properties computed by Compile
-  const double* aamm() const { return aamm_; }
-
-  // number of vertices, normals, texture coordinates, and faces
-  int nvert() const { return vert_.size()/3; }
-  int nnormal() const { return normal_.size()/3; }
-  int ntexcoord() const { return texcoord_.size()/2; }
-  int nface() const { return face_.size()/3; }
-  int npolygon() const { return polygons_.size(); }
-  int npolygonvert() const {
-    int acc = 0;
-    for (const auto& polygon : polygons_) {
-      acc += polygon.size();
-    }
-    return acc;
-  }
-  int npolygonmap() const {
-    int acc = 0;
-    for (const auto& polygon : polygon_map_) {
-      acc += polygon.size();
-    }
-    return acc;
-  }
-
-  // return size of graph data in ints
-  int szgraph() const { return szgraph_; }
-
-  // bounding volume hierarchy tree
-  const mjCBoundingVolumeHierarchy& tree() { return tree_; }
-
-  // octree
-  const mjCOctree& octree() { return octree_; }
-  mjCOctree& mutable_octree() { return octree_; }
-
-  void Compile(const mjVFS* vfs);                   // compiler
-  double* GetPosPtr();                              // get position
-  double* GetQuatPtr();                             // get orientation
-  double* GetInertiaBoxPtr();                       // get inertia box
-  double GetVolumeRef() const;                      // get volume
-  void FitGeom(mjCGeom* geom, double center[3]);    // approximate mesh with simple geom
-  bool HasTexcoord() const;                         // texcoord not null
-  void DelTexcoord();                               // delete texcoord
-  bool IsVisual(void) const { return visual_; }     // is geom visual
-  void SetNotVisual(void) { visual_ = false; }      // mark mesh as not visual
-
-  void CopyVert(float* arr) const;                  // copy vert data into array
-  void CopyNormal(float* arr) const;                // copy normal data into array
-  void CopyFace(int* arr) const;                    // copy face data into array
-  void CopyFaceNormal(int* arr) const;              // copy face normal data into array
-  void CopyFaceTexcoord(int* arr) const;            // copy face texcoord data into array
-  void CopyTexcoord(float* arr) const;              // copy texcoord data into array
-  void CopyGraph(int* arr) const;                   // copy graph data into array
-
-  // copy polygon data into array
-  void CopyPolygons(int* verts, int* adr, int* num, int poly_adr) const;
-
-  // copy polygon map data into array
-  void CopyPolygonMap(int *faces, int* adr, int* num, int poly_adr) const;
-
-  // copy polygon normal data into array
-  void CopyPolygonNormals(mjtNum* arr);
-
-  // sets properties of a bounding volume given a face id
-  void SetBoundingVolume(int faceid, const double* dvert);
-
-  // load from OBJ, STL, or MSH file; throws mjCError on failure
-  void LoadFromResource(mjResource* resource, bool remove_repeated = false);
-
-
-  static bool IsSTL(std::string_view filename, std::string_view ct = "");
-  static bool IsMSH(std::string_view filename, std::string_view ct = "");
-
-
-  bool IsSTL() const;
-  bool IsMSH() const;
-
- private:
-  void TryCompile(const mjVFS* vfs);
-
-  // load mesh from cache asset, return true on success (OBJ files are only supported)
-  bool LoadCachedMesh(mjCCache *cache, const mjResource* resource);
-
-  // store mesh into asset cache (OBJ files are only supported)
-  void CacheMesh(mjCCache *cache, const mjResource* resource);
-
-  // convert vertices to double precision and remove repeated vertices if requested
-  void ProcessVertices(const std::vector<float>& vert, bool remove_repeated = false);
-
-
-  void LoadFromDecoder(mjResource* resource, bool remove_repeated);  // load mesh using decoder plugin
-  void LoadSTL(mjResource* resource);                        // load mesh in STL BIN format
-  void LoadMSH(mjResource* resource, bool remove_repeated);  // load mesh in MSH BIN format
-
-  void LoadSDF();                               // generate mesh using marching cubes
-  void MakeGraph(const double* dvert);          // make graph of convex hull
-  void CopyGraph();                             // copy graph into face data
-  void MakeNormal(const double* dvert);         // compute vertex normals
-  void MakeCenter(const double* dvert);         // compute face circumcircle data
-  void Process();                               // compute inertial properties
-  void ApplyTransformations(double* dvert);      // apply user transformations
-  double ComputeFaceCentroid(double[3], const double* dvert) const;
-  void CheckInitialMesh() const;                // check if initial mesh is valid
-  void CopyPlugin();
-  void Rotate(double quat[4], double* dvert);       // rotate mesh by quaternion
-  void Transform(double pos[3], double quat[4]);    // transform mesh by position and quaternion
-  void MakePolygons(const double* dvert);            // compute the polygon sides of the mesh
-  void MakePolygonNormals(const double* dvert);     // compute the normals of the polygons
-
-  // computes the inertia matrix of the mesh given the type of inertia
-  double ComputeInertia(double inert[6], const double CoM[3], const double* dvert) const;
-
-  int* GraphFaces() const {
-    return graph_ + 2 + 3*(graph_[0] + graph_[1]);
-  }
-
-  // mesh data to be copied into mjModel
-  double* center_;                    // face circumcenter data (3*nface)
-  int* graph_;                        // convex graph data
-
-  // mesh data for collision detection
-  std::vector<std::vector<int>> polygons_;      // polygons of the mesh
-  std::vector<double> polygon_normals_;         // normals of the polygons
-  std::vector<std::vector<int>> polygon_map_;   // map from vertex to polygon
-
-  // compute the volume and center-of-mass of the mesh given the face centroid
-  double ComputeVolume(double CoM[3], const double facecen[3], const double* dvert) const;
-  double ComputeSurfaceArea(double CoM[3], const double facecen[3], const double* dvert) const;
-};
-
-
-
-//------------------------- class mjCSkin ---------------------------------------------------------
-// Describes a skin
-
-class mjCSkin_ : public mjCBase {
- protected:
-  // variable size attributes
-  std::string file_;
-  std::string material_;
-  std::vector<float> vert_;
-  std::vector<float> texcoord_;
-  std::vector<int> face_;
-  std::vector<std::string> bodyname_;
-  std::vector<float> bindpos_;
-  std::vector<float> bindquat_;
-  std::vector<std::vector<int>> vertid_;
-  std::vector<std::vector<float>> vertweight_;
-
-  std::string spec_file_;
-  std::string spec_material_;
-  std::vector<float> spec_vert_;
-  std::vector<float> spec_texcoord_;
-  std::vector<int> spec_face_;
-  std::vector<std::string> spec_bodyname_;
-  std::vector<float> spec_bindpos_;
-  std::vector<float> spec_bindquat_;
-  std::vector<std::vector<int>> spec_vertid_;
-  std::vector<std::vector<float>> spec_vertweight_;
-
-  int matid;                          // material id
-  std::vector<int> bodyid;            // body ids
-};
-
-class mjCSkin: public mjCSkin_, private mjsSkin {
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCSkin(mjCModel* = nullptr);
-  mjCSkin(const mjCSkin& other);
-  mjCSkin& operator=(const mjCSkin& other);
-  ~mjCSkin();
-
-  mjsSkin spec;
-  using mjCBase::info;
-
-  const std::string& File() const { return file_; }
-  const std::string& get_material() const { return material_; }
-  const std::vector<float>& get_vert() const { return vert_; }
-  const std::vector<float>& get_texcoord() const { return texcoord_; }
-  const std::vector<int>& get_face() const { return face_; }
-  const std::vector<std::string>& get_bodyname() const { return bodyname_; }
-  const std::vector<float>& get_bindpos() const { return bindpos_; }
-  const std::vector<float>& get_bindquat() const { return bindquat_; }
-  const std::vector<std::vector<int>>& get_vertid() const { return vertid_; }
-  const std::vector<std::vector<float>>& get_vertweight() const { return vertweight_; }
-  void del_material() { material_.clear(); }
-
-  void CopyFromSpec();
-  void PointToLocal();
-
- private:
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-  void Compile(const mjVFS* vfs);             // compiler
-  void LoadSKN(mjResource* resource);         // load skin in SKN BIN format
-};
-
-
-
-//------------------------- class mjCHField --------------------------------------------------------
-// Describes a height field
-
-class mjCHField_ : public mjCBase {
- protected:
-  std::vector<float> data;  // elevation data, row-major format
-
-  std::string file_;
-  std::string content_type_;
-  std::vector<float> userdata_;
-  std::string spec_file_;
-  std::string spec_content_type_;
-  std::vector<float> spec_userdata_;
-};
-
-class mjCHField : public mjCHField_, private mjsHField {
-  friend class mjCGeom;
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCHField(mjCModel* model);
-  mjCHField(const mjCHField& other);
-  mjCHField& operator=(const mjCHField& other);
-  ~mjCHField();
-
-  mjsHField spec;
-  using mjCBase::info;
-
-  void CopyFromSpec(void);
-  void PointToLocal(void);
-  void NameSpace(const mjCModel* m);
-
-  std::string File() const { return file_; }
-
-  // getter for user data
-  std::vector<float>& get_userdata() { return userdata_; }
-
- private:
-  void Compile(const mjVFS* vfs);         // compiler
-
-  std::string GetCacheId(const mjResource* resource, const std::string& asset_type);
-  void LoadCustom(mjResource* resource);  // load from custom format
-  void LoadPNG(mjResource* resource);     // load from PNG format
-};
-
-
-
-//------------------------- class mjCTexture -------------------------------------------------------
-// Describes a texture
-
-class mjCTexture_ : public mjCBase {
- protected:
-  std::vector<std::byte> data_;  // texture data (rgb, roughness, etc.)
-
-  std::string file_;
-  std::string content_type_;
-  std::vector<std::string> cubefiles_;
-  std::string spec_file_;
-  std::string spec_content_type_;
-  std::vector<std::string> spec_cubefiles_;
-};
-
-class mjCTexture : public mjCTexture_, private mjsTexture {
-  friend class mjCModel;
-  friend class mjXReader;
-  friend class mjXWriter;
-
- public:
-  explicit mjCTexture(mjCModel*);
-  mjCTexture(const mjCTexture& other);
-  mjCTexture& operator=(const mjCTexture& other);
-  ~mjCTexture();
-
-  mjsTexture spec;
-  using mjCBase::info;
-
-  void CopyFromSpec(void);
-  void PointToLocal(void);
-  void NameSpace(const mjCModel* m);
-  void Compile(const mjVFS* vfs);
-  double texture_time_ = 0;
-
-  std::string File() const { return file_; }
-  std::string get_content_type() const { return content_type_; }
-  std::vector<std::string> get_cubefiles() const { return cubefiles_; }
-
- private:
-  // store texture into asset cache
-  std::string GetCacheId(const mjResource* resource, const std::string& asset_type);
-  void Builtin2D(void);                                 // make builtin 2D
-  void BuiltinCube(void);                               // make builtin cube
-  void Load2D(std::string filename, const mjVFS* vfs);  // load 2D from file
-  void LoadCubeSingle(std::string filename,
-                      const mjVFS* vfs);    // load cube from single file
-  void LoadCubeSeparate(const mjVFS* vfs);  // load cube from separate files
-
-  void FlipIfNeeded(std::vector<std::byte>& image, unsigned int w, unsigned int h);
-
-  void LoadFlip(std::string filename, const mjVFS* vfs,  // load and flip
-                std::vector<std::byte>& image, unsigned int& w, unsigned int& h,
-                bool& is_srgb);
-
-  void LoadPNG(mjResource* resource, std::vector<std::byte>& image,
-               unsigned int& w, unsigned int& h, bool& is_srgb);
-  void LoadKTX(mjResource* resource, std::vector<std::byte>& image,
-               unsigned int& w, unsigned int& h, bool& is_srgb);
-
-  bool clear_data_;  // if true, data_ is empty and should be filled by Compile
-};
-
-
-
-//------------------------- class mjCMaterial ------------------------------------------------------
-// Describes a material for rendering
-
-class mjCMaterial_ : public mjCBase {
- protected:
-  int texid[mjNTEXROLE];                    // id of material's textures
-  std::vector<std::string> textures_;
-  std::vector<std::string> spec_textures_;
-};
-
-class mjCMaterial : public mjCMaterial_, private mjsMaterial {
-  friend class mjCDef;
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCMaterial(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCMaterial(const mjCMaterial& other);
-  mjCMaterial& operator=(const mjCMaterial& other);
-
-  mjsMaterial spec;
-  using mjCBase::info;
-
-  void CopyFromSpec();
-  void PointToLocal();
-  void NameSpace(const mjCModel* m);
-
-  const std::string& get_texture(int i) const { return textures_[i]; }
-  void del_textures() { for (auto& t : textures_) t.clear(); }
-
- private:
-  void Compile(void);                       // compiler
-};
-
-
-
-//------------------------- class mjCPair ----------------------------------------------------------
-// Predefined geom pair for collision detection
-
-class mjCPair_ : public mjCBase {
- protected:
-  int signature;                  // body1<<16 + body2
-  std::string geomname1_;
-  std::string geomname2_;
-  std::string spec_geomname1_;
-  std::string spec_geomname2_;
-};
-
-class mjCPair : public mjCPair_, private mjsPair {
-  friend class mjCDef;
-  friend class mjCBody;
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCPair(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCPair(const mjCPair& other);
-  mjCPair& operator=(const mjCPair& other);
-
-  mjsPair spec;
-  using mjCBase::info;
-
-  void CopyFromSpec();
-  void PointToLocal();
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-
-  const std::string& get_geomname1() const { return geomname1_; }
-  const std::string& get_geomname2() const { return geomname2_; }
-
-  int GetSignature(void) {
-    return signature;
-  }
-
- private:
-  void Compile(void);                   // compiler
-
-  mjCGeom* geom1;                 // geom1
-  mjCGeom* geom2;                 // geom2
-};
-
-
-
-//------------------------- class mjCBodyPair ------------------------------------------------------
-// Body pair specification, use to exclude pairs
-
-class mjCBodyPair_ : public mjCBase {
- protected:
-  int body1;                       // id of body1
-  int body2;                       // id of body2
-  int signature;                   // body1<<16 + body2
-
-  std::string bodyname1_;          // name of geom 1
-  std::string bodyname2_;          // name of geom 2
-  std::string spec_bodyname1_;
-  std::string spec_bodyname2_;
-};
-
-class mjCBodyPair : public mjCBodyPair_, private mjsExclude {
-  friend class mjCBody;
-  friend class mjCModel;
-
- public:
-  explicit mjCBodyPair(mjCModel*);
-  mjCBodyPair(const mjCBodyPair& other);
-  mjCBodyPair& operator=(const mjCBodyPair& other);
-
-  mjsExclude spec;
-  using mjCBase::info;
-
-  void CopyFromSpec();
-  void PointToLocal();
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-
-  std::string get_bodyname1() const { return bodyname1_; }
-  std::string get_bodyname2() const { return bodyname2_; }
-
-  int GetSignature() {
-    return signature;
-  }
-
- private:
-  void Compile();              // compiler
-};
-
-
-
-//------------------------- class mjCEquality ------------------------------------------------------
-// Describes an equality constraint
-
-class mjCEquality_ : public mjCBase {
- protected:
-  int obj1id;
-  int obj2id;
-  std::string name1_;
-  std::string name2_;
-  std::string spec_name1_;
-  std::string spec_name2_;
-};
-
-class mjCEquality : public mjCEquality_, private mjsEquality {
-  friend class mjCDef;
-  friend class mjCBody;
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCEquality(mjCModel* = 0, mjCDef* = 0);
-  mjCEquality(const mjCEquality& other);
-  mjCEquality& operator=(const mjCEquality& other);
-
-  mjsEquality spec;
-  using mjCBase::info;
-
-  void CopyFromSpec();
-  void PointToLocal();
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-
- private:
-  void Compile(void);                       // compiler
-};
-
-
-
-//------------------------- class mjCTendon --------------------------------------------------------
-// Describes a tendon
-
-class mjCTendon_ : public mjCBase {
- protected:
-  int matid;  // material id for rendering
-
-  // variable-size data
-  std::string material_;
-  std::string spec_material_;
-  std::vector<double> userdata_;
-  std::vector<double> spec_userdata_;
-};
-
-class mjCTendon : public mjCTendon_, private mjsTendon {
-  friend class mjCDef;
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCTendon(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCTendon(const mjCTendon& other);
-  mjCTendon& operator=(const mjCTendon& other);
-  ~mjCTendon();
-
-  mjsTendon spec;
-  using mjCBase::info;
-
-  void set_material(std::string _material) { material_ = _material; }
-  const std::string& get_material() const { return material_; }
-  void del_material() { material_.clear(); }
-
-  // API for adding wrapping objects
-  void WrapSite(std::string wrapname, std::string_view wrapinfo = "");                    // site
-  void WrapGeom(std::string wrapname, std::string side, std::string_view wrapinfo = "");  // geom
-  void WrapJoint(std::string wrapname, double coef, std::string_view wrapinfo = "");      // joint
-  void WrapPulley(double divisor, std::string_view wrapinfo = "");                        // pulley
-
-  // API for access to wrapping objects
-  int NumWraps() const;                       // number of wraps
-  const mjCWrap* GetWrap(int i) const;        // pointer to wrap
-  std::vector<mjCWrap*> path;                 // wrapping objects
-
-  // used by mjXWriter and mjCModel
-  const std::vector<double>& get_userdata() const { return userdata_; }
-  const double* get_range() { return range; }
-
-  void CopyFromSpec();
-  void PointToLocal();
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-  void SetModel(mjCModel* _model);
-
-  bool is_limited() const;
-  bool is_actfrclimited() const;
-
- private:
-  void Compile(void);                         // compiler
-};
-
-
-
-//------------------------- class mjCWrap ----------------------------------------------------------
-// Describes a tendon wrap object
-
-class mjCWrap_ : public mjCBase {
- public:
-  int sideid;                     // side site id; -1 if not applicable
-  double prm;                     // parameter: divisor, coefficient
-  std::string sidesite;           // name of side site
-};
-
-class mjCWrap : public mjCWrap_, private mjsWrap {
-  friend class mjCTendon;
-  friend class mjCModel;
-
- public:
-  mjsWrap spec;
-  using mjCBase::info;
-
-  void CopyFromSpec();
-  void PointToLocal();
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-  mjtWrap Type() const { return spec.type; }
-
-  mjCBase* obj;                   // wrap object pointer
-
- private:
-  mjCWrap(mjCModel*, mjCTendon*);            // constructor
-  mjCWrap(const mjCWrap& other);             // copy constructor
-  mjCWrap& operator=(const mjCWrap& other);  // copy assignment
-
-  void Compile(void);              // compiler
-
-  mjCTendon* tendon;              // tendon owning this wrap
-};
-
-
-
-//------------------------- class mjCPlugin --------------------------------------------------------
-// Describes an instance of a plugin
-
-class mjCPlugin_ : public mjCBase {
- public:
-  int nstate;        // state size for the plugin instance
-  std::map<std::string, std::string, std::less<>> config_attribs;  // raw config attributes from XML
-  std::vector<char> flattened_attributes;  // config attributes flattened in plugin-declared order;
-
- protected:
-  std::string plugin_name;
-};
-
-class mjCPlugin : public mjCPlugin_ {
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCPlugin(mjCModel*);
-  mjCPlugin(const mjCPlugin& other);
-  mjCPlugin& operator=(const mjCPlugin& other);
-
-  void PointToLocal();
-
-  mjsPlugin spec;
-  mjCBase* parent;  // parent object (only used when generating error message)
-  int plugin_slot;  // global registered slot number of the plugin
-
- private:
-  void Compile(void);              // compiler
-};
-
-
-
-//------------------------- class mjCActuator ------------------------------------------------------
-// Describes an actuator
-
-class mjCActuator_ : public mjCBase {
- protected:
-  int trnid[2];                   // id of transmission target
-
-  // variable used for temporarily storing the state of the actuator
-  int actadr_;                                      // address of dof in data->act
-  int actdim_;                                      // number of dofs in data->act
-  int ctrladr_;                                     // address of first control in data->ctrl
-  int ctrlnum_;                                     // number of controls
-  int ctrlspec_;                                    // resolved input signature, scoped by gaintype
-  int outadr_;                                      // address of first force output
-  int outnum_;                                      // number of force outputs, from trntype
-  bool so3_;                                        // compiles to an SO3 transmission
-  double ctrlranges_[4][2];                         // resolved per-input control ranges
-  mjtByte ctrllimiteds_[4];                         // resolved per-input limited flags
-  std::map<std::string, std::vector<mjtNum>> act_;  // act at the previous step
-  std::map<std::string, mjtNum> ctrl_;              // ctrl at the previous step
-
-  // variable-size data
-  std::string plugin_name;
-  std::string plugin_instance_name;
-  std::string target_;
-  std::string slidersite_;
-  std::string refsite_;
-  std::vector<double> userdata_;
-  std::string spec_target_;
-  std::string spec_slidersite_;
-  std::string spec_refsite_;
-  std::vector<double> spec_userdata_;
-};
-
-class mjCActuator : public mjCActuator_, private mjsActuator {
-  friend class mjCDef;
-  friend class mjCModel;
-  friend class mjCSensor;
-  friend class mjXWriter;
-
- public:
-  explicit mjCActuator(mjCModel* = nullptr, mjCDef* = nullptr);
-  mjCActuator(const mjCActuator& other);
-  mjCActuator& operator=(const mjCActuator& other);
-
-  mjsActuator spec;
-  using mjCBase::info;
-
-  // used by mjXWriter and mjCModel
-  const std::vector<double>& get_userdata() const { return userdata_; }
-  const std::string& get_target() const { return spec_target_; }
-  const std::string& get_slidersite() const { return spec_slidersite_; }
-  const std::string& get_refsite() const { return spec_refsite_; }
-
-  bool is_ctrllimited() const;
-  bool is_forcelimited() const;
-  bool is_actlimited() const;
-
-  std::vector<mjtNum>& act(const std::string& state_name);
-  mjtNum& ctrl(const std::string& state_name);
-
- private:
-  void Compile(void);                       // compiler
-  void CopyFromSpec();
-  void PointToLocal();
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-  void CopyPlugin();
-
-  // reset keyframe references for allowing self-attach
-  void ForgetKeyframes();
-
-  mjCBase* ptarget;  // transmission target
-};
-
-
-
-//------------------------- class mjCSensor --------------------------------------------------------
-// Describes a sensor
-
-class mjCSensor_ : public mjCBase {
- protected:
-  // variable-size data
-  std::string plugin_name;
-  std::string plugin_instance_name;
-  std::string objname_;
-  std::string refname_;
-  std::vector<double> userdata_;
-  std::string spec_objname_;
-  std::string spec_refname_;
-  std::vector<double> spec_userdata_;
-};
-
-class mjCSensor : public mjCSensor_, private mjsSensor {
-  friend class mjCDef;
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCSensor(mjCModel*);
-  mjCSensor(const mjCSensor& other);
-  mjCSensor& operator=(const mjCSensor& other);
-
-  mjsSensor spec;
-  using mjCBase::info;
-
-  // used by mjXWriter and mjCModel
-  const std::vector<double>& get_userdata() { return userdata_; }
-  const std::string& get_objname() { return spec_objname_; }
-  const std::string& get_refname() { return spec_refname_; }
-
-  const mjCBase* get_obj() { return obj; }
-  const mjCBase* get_ref() { return ref; }
-
- private:
-  void Compile(void);             // compiler
-  void CopyFromSpec();
-  void PointToLocal();
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-  void CopyPlugin();
-
-  mjCBase* obj;                   // sensorized object
-  mjCBase* ref;                   // sensorized reference
-};
-
-
-
-//------------------------- class mjCNumeric -------------------------------------------------------
-// Describes a custom data field
-
-class mjCNumeric_ : public mjCBase {
- protected:
-  std::vector<double> data_;
-  std::vector<double> spec_data_;
-};
-
-class mjCNumeric : public mjCNumeric_, private mjsNumeric {
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCNumeric(mjCModel*);
-  mjCNumeric(const mjCNumeric& other);
-  mjCNumeric& operator=(const mjCNumeric& other);
-  ~mjCNumeric();
-
-  mjsNumeric spec;
-  using mjCBase::info;
-
-  void PointToLocal();
-  void CopyFromSpec();
-
- private:
-  void Compile(void);                 // compiler
-};
-
-
-
-//------------------------- class mjCText ----------------------------------------------------------
-// Describes a custom text field
-
-class mjCText_ : public mjCBase {
- protected:
-  std::string data_;
-  std::string spec_data_;
-};
-
-class mjCText : public mjCText_, private mjsText {
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCText(mjCModel*);
-  mjCText(const mjCText& other);
-  mjCText& operator=(const mjCText& other);
-  ~mjCText();
-
-  mjsText spec;
-  using mjCBase::info;
-
-  void PointToLocal();
-  void CopyFromSpec();
-
- private:
-  void Compile(void);                 // compiler
-};
-
-
-
-//------------------------- class mjCTuple ---------------------------------------------------------
-// Describes a custom tuple field
-
-class mjCTuple_ : public mjCBase {
- protected:
-  std::vector<mjCBase*> obj;  // object pointers
-  std::vector<mjtObj> objtype_;
-  std::vector<std::string> objname_;
-  std::vector<double> objprm_;
-  std::vector<mjtObj> spec_objtype_;
-  std::vector<std::string> spec_objname_;
-  std::vector<double> spec_objprm_;
-};
-
-class mjCTuple : public mjCTuple_, private mjsTuple {
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCTuple(mjCModel*);
-  mjCTuple(const mjCTuple& other);
-  mjCTuple& operator=(const mjCTuple& other);
-  ~mjCTuple();
-
-  mjsTuple spec;
-  using mjCBase::info;
-
-  void PointToLocal();
-  void CopyFromSpec();
-  void ResolveReferences(const mjCModel* m);
-  void NameSpace(const mjCModel* m);
-
- private:
-  void Compile(void);             // compiler
-};
-
-
-
-//------------------------- class mjCKey -----------------------------------------------------------
-// Describes a keyframe
-
-class mjCKey_ : public mjCBase {
- protected:
-  std::vector<double> qpos_;
-  std::vector<double> qvel_;
-  std::vector<double> act_;
-  std::vector<double> mpos_;
-  std::vector<double> mquat_;
-  std::vector<double> ctrl_;
-  std::vector<double> spec_qpos_;
-  std::vector<double> spec_qvel_;
-  std::vector<double> spec_act_;
-  std::vector<double> spec_mpos_;
-  std::vector<double> spec_mquat_;
-  std::vector<double> spec_ctrl_;
-};
-
-class mjCKey : public mjCKey_, private mjsKey {
-  friend class mjCModel;
-  friend class mjXWriter;
-
- public:
-  explicit mjCKey(mjCModel*);
-  mjCKey(const mjCKey& other);
-  mjCKey& operator=(const mjCKey& other);
-  ~mjCKey();
-
-  mjsKey spec;
-  using mjCBase::info;
-
-  void PointToLocal();
-  void CopyFromSpec();
-
- private:
-  void Compile(const mjModel* m);  // compiler
-};
-
-
-
-//------------------------- class mjCDef -----------------------------------------------------------
-// Describes one set of defaults
-
-class mjCDef : public mjsElement {
-  friend class mjXWriter;
-
- public:
-  mjCDef();
-  explicit mjCDef(mjCModel*);
-  mjCDef(const mjCDef& other);
-  mjCDef& operator=(const mjCDef& other);
-  mjCDef& operator+=(const mjCDef& other);
-
-  void CopyWithoutChildren(const mjCDef& other);
-  void PointToLocal(void);
-  void CopyFromSpec(void);
-  void NameSpace(const mjCModel* m);
-
-  void Compile(const mjCModel* model);
-
-  // accessors
-  mjCJoint& Joint() { return joint_; }
-  mjCGeom& Geom() { return geom_; }
-  mjCSite& Site() { return site_; }
-  mjCCamera& Camera() { return camera_; }
-  mjCLight& Light() { return light_; }
-  mjCFlex& Flex() { return flex_; }
-  mjCMesh& Mesh() { return mesh_; }
-  mjCMaterial& Material() { return material_; }
-  mjCPair& Pair() { return pair_; }
-  mjCEquality& Equality() { return equality_; }
-  mjCTendon& Tendon() { return tendon_; }
-  mjCActuator& Actuator() { return actuator_; }
-
-  // identifiers
-  std::string name;               // class name
-  int id;                         // id of this default
-  mjCDef* parent;                 // id of parent class
-  std::vector<mjCDef*> child;     // child classes
-
-  mjsDefault spec;
-  mjCModel* model;                // pointer to model that owns object
-
- private:
-  mjCJoint joint_;
-  mjCGeom geom_;
-  mjCSite site_;
-  mjCCamera camera_;
-  mjCLight light_;
-  mjCFlex flex_;
-  mjCMesh mesh_;
-  mjCMaterial material_;
-  mjCPair pair_;
-  mjCEquality equality_;
-  mjCTendon tendon_;
-  mjCActuator actuator_;
-};
-
-#endif  // MUJOCO_SRC_USER_USER_OBJECTS_H_
diff --git a/src/user/user_resolver.cc b/src/user/user_resolver.cc
deleted file mode 100644
index 965887c6..00000000
--- a/src/user/user_resolver.cc
+++ /dev/null
@@ -1,453 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_resolver.h"
-
-#include <algorithm>
-#include <array>
-#include <cstdio>
-#include <functional>
-#include <string>
-#include <type_traits>
-#include <vector>
-
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "user/user_api.h"
-
-namespace mujoco {
-namespace {
-
-// format a numeric value for conflict messages
-template <typename T>
-std::string fmtVal(T val) {
-  if constexpr (std::is_floating_point_v<T>) {
-    char buf[32];
-    snprintf(buf, sizeof(buf), "%g", val);
-    return buf;
-  } else {
-    return std::to_string(val);
-  }
-}
-
-// format an array of numeric values for conflict messages
-std::string fmtArr(const mjtNum* val, int n) {
-  std::string s;
-  for (int i = 0; i < n; i++) {
-    if (i) s += ' ';
-    s += fmtVal(val[i]);
-  }
-  return s;
-}
-
-// merge strategy for scalar conflict resolution
-enum ResolveMerge { kMergeMin, kMergeMax, kMergeError };
-
-// single-pass conflict resolver: accumulates errors, warnings, and deferred
-// mutations; commits mutations only if no errors were found
-struct Resolver {
-  mjtConflict mode;
-  mjSpec* parent;
-  const mjSpec* child;
-  std::vector<std::string> errs;
-  std::vector<std::string> warnings;
-  std::vector<std::function<void()>> ops;
-
-  Resolver(mjtConflict mode, mjSpec* parent, const mjSpec* child)
-      : mode(mode), parent(parent), child(child) {}
-
-  // resolve a scalar field conflict
-  template <typename T>
-  void operator()(const char* name, T& pval, const T& cval, T dval,
-                  ResolveMerge merge = kMergeError) {
-    if (pval == cval) return;
-
-    // check authored status
-    bool parent_authored = mjs_isAuthored(parent, &pval);
-    bool child_authored = mjs_isAuthored(child, &cval);
-
-    // fall back to default comparison for fields without authored tracking
-    if (!parent_authored && !child_authored) {
-      parent_authored = (pval != dval);
-      child_authored = (cval != dval);
-    }
-
-    if (!child_authored) return;
-
-    // "FIELD: parent has X, child has Y"
-    auto prefix = [&]() {
-      std::string p_str = fmtVal(pval) + (parent_authored ? "" : " (default)");
-      std::string c_str = fmtVal(cval) + (child_authored ? "" : " (default)");
-      return std::string(name) + ": parent has " + p_str +
-             ", child has " + c_str;
-    };
-
-    // only child authored: adopt or keep
-    if (!parent_authored) {
-      std::string p = prefix();
-      if (mode == mjCONFLICT_MERGE) {
-        ops.push_back([&pval, cval]() { pval = cval; });
-        warnings.push_back(p + ", adopting child value");
-      } else {
-        warnings.push_back(p + ", keeping parent value");
-      }
-      return;
-    }
-
-    // both authored: dispatch by mode
-    switch (mode) {
-      case mjCONFLICT_WARNING:
-        warnings.push_back(prefix() + ", keeping parent value");
-        break;
-      case mjCONFLICT_MERGE:
-        if (merge == kMergeError) {
-          errs.push_back(prefix());
-          break;
-        }
-        {
-          T merged =
-              merge == kMergeMin ? std::min(pval, cval) : std::max(pval, cval);
-          const char* desc = merge == kMergeMin ? "the minimum" : "the maximum";
-          warnings.push_back(
-              prefix() +
-              (merged == cval
-                   ? std::string(", taking ") + desc
-                   : std::string(", keeping parent value (") + desc + ")"));
-          ops.push_back([&pval, merged]() { pval = merged; });
-          break;
-        }
-      case mjCONFLICT_ERROR:
-        errs.push_back(prefix());
-        break;
-    }
-  }
-
-  // resolve an unmergeable array field
-  template <int N>
-  void operator()(const char* name, mjtNum (&pval)[N], const mjtNum (&cval)[N],
-                  const mjtNum (&dval)[N]) {
-    bool equal = true;
-    for (int i = 0; i < N; i++) {
-      if (pval[i] != cval[i]) {
-        equal = false;
-        break;
-      }
-    }
-    if (equal) return;
-
-    // check authored status
-    bool parent_authored = mjs_isAuthored(parent, pval);
-    bool child_authored = mjs_isAuthored(child, cval);
-
-    // fall back to default comparison for fields without authored tracking
-    if (!parent_authored && !child_authored) {
-      for (int i = 0; i < N; i++) {
-        if (pval[i] != dval[i]) {
-          parent_authored = true;
-          break;
-        }
-      }
-      for (int i = 0; i < N; i++) {
-        if (cval[i] != dval[i]) {
-          child_authored = true;
-          break;
-        }
-      }
-    }
-
-    if (!child_authored) return;
-
-    // "FIELD: parent has X Y Z, child has X Y Z"
-    auto prefix = [&]() {
-      std::string p_str = fmtArr(pval, N) + (parent_authored ? "" : " (default)");
-      std::string c_str = fmtArr(cval, N) + (child_authored ? "" : " (default)");
-      return std::string(name) + ": parent has " + p_str +
-             ", child has " + c_str;
-    };
-
-    // only child authored: adopt or keep
-    if (!parent_authored) {
-      std::string p = prefix();
-      if (mode == mjCONFLICT_MERGE) {
-        std::array<mjtNum, N> vals;
-        for (int i = 0; i < N; i++) vals[i] = cval[i];
-        ops.push_back([&pval, vals]() {
-          for (int i = 0; i < N; i++) pval[i] = vals[i];
-        });
-        warnings.push_back(p + ", adopting child value");
-      } else {
-        warnings.push_back(p + ", keeping parent value");
-      }
-      return;
-    }
-
-    // both authored: dispatch by mode
-    switch (mode) {
-      case mjCONFLICT_WARNING:
-        warnings.push_back(prefix() + ", keeping parent value");
-        break;
-      case mjCONFLICT_MERGE:
-      case mjCONFLICT_ERROR:
-        errs.push_back(prefix());
-        break;
-    }
-  }
-
-  // resolve bitfield conflicts
-  void operator()(int& pval, int cval, const char* const names[], int nbit,
-                  int pauth, int cauth) {
-    // fall back to treating all bits as authored if no tracking available
-    if (!pauth && !cauth) {
-      pauth = ~0;
-      cauth = ~0;
-    }
-
-    // only consider bits that the child actually authored
-    int child_authored = cval & cauth;
-    if (!child_authored) return;
-    if (mode == mjCONFLICT_MERGE) {
-      int added = child_authored & ~pval;
-      for (int i = 0; i < nbit; i++) {
-        if ((added >> i) & 1) {
-          warnings.push_back(std::string("flag '") + names[i] +
-                             "': added from child");
-        }
-      }
-      ops.push_back([&pval, child_authored]() { pval |= child_authored; });
-      return;
-    }
-
-    // only report conflicts for bits where both parent and child authored
-    int both = pauth & cauth;
-    int diff = (pval ^ cval) & both;
-    for (int i = 0; i < nbit; i++) {
-      if ((diff >> i) & 1) {
-        bool parent_set = (pval >> i) & 1;
-        std::string msg = std::string("flag '") + names[i] + "': parent " +
-                          (parent_set ? "set" : "unset") + ", child " +
-                          (parent_set ? "unset" : "set");
-        if (mode == mjCONFLICT_ERROR) {
-          errs.push_back(msg);
-        } else {
-          warnings.push_back(msg + ", keeping parent");
-        }
-      }
-    }
-  }
-
-  // resolve disableactuator bitfield conflicts
-  void operator()(int& pval, int cval, int pauth, int cauth) {
-    // fall back to treating all bits as authored if no tracking available
-    if (!pauth && !cauth) {
-      pauth = ~0;
-      cauth = ~0;
-    }
-
-    // only consider bits that the child actually authored
-    int child_authored = cval & cauth;
-    if (!child_authored) return;
-    if (mode == mjCONFLICT_MERGE) {
-      for (int i = 0; i < mjNGROUP; i++) {
-        if (((child_authored & ~pval) >> i) & 1) {
-          char buf[64];
-          snprintf(buf, sizeof(buf),
-                   "disableactuator group %d: added from child", i);
-          warnings.push_back(buf);
-        }
-      }
-      ops.push_back([&pval, child_authored]() { pval |= child_authored; });
-      return;
-    }
-    int both = pauth & cauth;
-    int diff = (pval ^ cval) & both;
-    for (int i = 0; i < mjNGROUP; i++) {
-      if ((diff >> i) & 1) {
-        char buf[128];
-        bool parent_set = (pval >> i) & 1;
-        snprintf(buf, sizeof(buf),
-                 "disableactuator group %d: parent %s, child %s", i,
-                 parent_set ? "set" : "unset", parent_set ? "unset" : "set");
-        if (mode == mjCONFLICT_ERROR) {
-          errs.push_back(buf);
-        } else {
-          warnings.push_back(std::string(buf) + ", keeping parent");
-        }
-      }
-    }
-  }
-
-  // apply deferred mutations (only if no errors)
-  bool Apply() {
-    if (!errs.empty()) return false;
-    for (auto& op : ops) op();
-    return true;
-  }
-};
-
-// enumerate all conflictable fields, dispatching each to the resolver
-void VisitConflicts(mjSpec* parent, const mjSpec* child, Resolver& r) {
-  // ==== mjOption ====
-  mjOption d;
-  mj_defaultOption(&d);
-  mjOption& po = parent->option;
-  const mjOption& co = child->option;
-
-  // min-merge fields
-  r("timestep", po.timestep, co.timestep, d.timestep, kMergeMin);
-  r("tolerance", po.tolerance, co.tolerance, d.tolerance, kMergeMin);
-  r("ls_tolerance", po.ls_tolerance, co.ls_tolerance, d.ls_tolerance,
-    kMergeMin);
-  r("noslip_tolerance", po.noslip_tolerance, co.noslip_tolerance,
-    d.noslip_tolerance, kMergeMin);
-  r("ccd_tolerance", po.ccd_tolerance, co.ccd_tolerance, d.ccd_tolerance,
-    kMergeMin);
-  r("sleep_tolerance", po.sleep_tolerance, co.sleep_tolerance,
-    d.sleep_tolerance, kMergeMin);
-
-  // max-merge fields
-  r("iterations", po.iterations, co.iterations, d.iterations, kMergeMax);
-  r("ls_iterations", po.ls_iterations, co.ls_iterations, d.ls_iterations,
-    kMergeMax);
-  r("noslip_iterations", po.noslip_iterations, co.noslip_iterations,
-    d.noslip_iterations, kMergeMax);
-  r("ccd_iterations", po.ccd_iterations, co.ccd_iterations, d.ccd_iterations,
-    kMergeMax);
-  r("sdf_iterations", po.sdf_iterations, co.sdf_iterations, d.sdf_iterations,
-    kMergeMax);
-  r("sdf_initpoints", po.sdf_initpoints, co.sdf_initpoints, d.sdf_initpoints,
-    kMergeMax);
-
-  // unmergeable scalars
-  r("impratio", po.impratio, co.impratio, d.impratio);
-  r("density", po.density, co.density, d.density);
-  r("viscosity", po.viscosity, co.viscosity, d.viscosity);
-  r("o_margin", po.o_margin, co.o_margin, d.o_margin);
-  r("integrator", po.integrator, co.integrator, d.integrator);
-  r("cone", po.cone, co.cone, d.cone);
-  r("jacobian", po.jacobian, co.jacobian, d.jacobian);
-  r("solver", po.solver, co.solver, d.solver);
-
-  // unmergeable arrays
-  r("gravity", po.gravity, co.gravity, d.gravity);
-  r("wind", po.wind, co.wind, d.wind);
-  r("magnetic", po.magnetic, co.magnetic, d.magnetic);
-  r("o_solref", po.o_solref, co.o_solref, d.o_solref);
-  r("o_solimp", po.o_solimp, co.o_solimp, d.o_solimp);
-  r("o_friction", po.o_friction, co.o_friction, d.o_friction);
-
-  // bitfields (pass authored bitmasks)
-  const mjsAuthored& pa = parent->authored;
-  const mjsAuthored& ca = child->authored;
-  r(po.disableflags, co.disableflags, mjDISABLESTRING, mjNDISABLE,
-    pa.disableflags, ca.disableflags);
-  r(po.enableflags, co.enableflags, mjENABLESTRING, mjNENABLE, pa.enableflags,
-    ca.enableflags);
-  r(po.disableactuator, co.disableactuator, pa.disableactuator,
-    ca.disableactuator);
-
-  // ==== mjVisual ====
-  mjVisual dv;
-  mj_defaultVisual(&dv);
-  mjVisual& pv = parent->visual;
-  const mjVisual& cv = child->visual;
-
-  r("znear", pv.map.znear, cv.map.znear, dv.map.znear, kMergeMin);
-  r("realtime", pv.global.realtime, cv.global.realtime, dv.global.realtime,
-    kMergeMin);
-  r("zfar", pv.map.zfar, cv.map.zfar, dv.map.zfar, kMergeMax);
-
-  // ==== mjSpec sizes (no authored tracking, uses default fallback) ====
-  mjSpec ds;
-  mjs_defaultSpec(&ds);
-  mjSpec& ps = *parent;
-  const mjSpec& cs = *child;
-
-  r("memory", ps.memory, cs.memory, ds.memory, kMergeMax);
-  r("njmax", ps.njmax, cs.njmax, ds.njmax, kMergeMax);
-  r("nconmax", ps.nconmax, cs.nconmax, ds.nconmax, kMergeMax);
-  r("nuserdata", ps.nuserdata, cs.nuserdata, ds.nuserdata, kMergeMax);
-  r("nkey", ps.nkey, cs.nkey, ds.nkey, kMergeMax);
-  r("nuser_body", ps.nuser_body, cs.nuser_body, ds.nuser_body, kMergeMax);
-  r("nuser_jnt", ps.nuser_jnt, cs.nuser_jnt, ds.nuser_jnt, kMergeMax);
-  r("nuser_geom", ps.nuser_geom, cs.nuser_geom, ds.nuser_geom, kMergeMax);
-  r("nuser_site", ps.nuser_site, cs.nuser_site, ds.nuser_site, kMergeMax);
-  r("nuser_cam", ps.nuser_cam, cs.nuser_cam, ds.nuser_cam, kMergeMax);
-  r("nuser_tendon", ps.nuser_tendon, cs.nuser_tendon, ds.nuser_tendon,
-    kMergeMax);
-  r("nuser_actuator", ps.nuser_actuator, cs.nuser_actuator, ds.nuser_actuator,
-    kMergeMax);
-  r("nuser_sensor", ps.nuser_sensor, cs.nuser_sensor, ds.nuser_sensor,
-    kMergeMax);
-}
-
-// compose subject line for conflict messages
-std::string ConflictSubject(const mjSpec* parent, const mjSpec* child) {
-  const char* mode_str = parent->compiler.conflict == mjCONFLICT_MERGE ? "merge"
-                         : parent->compiler.conflict == mjCONFLICT_ERROR
-                             ? "error"
-                             : "warning";
-  std::string pname = *parent->modelname;
-  std::string cname = *child->modelname;
-  bool has_parent = (pname != "MuJoCo Model" && !pname.empty());
-  bool has_child = (cname != "MuJoCo Model" && !cname.empty());
-  if (has_child && has_parent) {
-    return "Attach conflict when attaching '" + cname + "' to '" + pname +
-           "', policy is '" + mode_str + "'";
-  } else if (has_child) {
-    return "Attach conflict when attaching '" + cname + "', policy is '" +
-           mode_str + "'";
-  } else if (has_parent) {
-    return "Attach conflict when attaching to '" + pname + "', policy is '" +
-           mode_str + "'";
-  }
-  return std::string("Attach conflict on attach, policy is '") + mode_str + "'";
-}
-
-}  // namespace
-
-bool ResolveConflicts(mjSpec* parent, const mjSpec* child, mjtConflict mode,
-                      std::string* error_msg, std::string* warning_subject,
-                      std::string* warning_body) {
-  Resolver r(mode, parent, child);
-  VisitConflicts(parent, child, r);
-
-  if (!r.Apply()) {
-    if (error_msg) {
-      *error_msg = ConflictSubject(parent, child);
-      for (const auto& e : r.errs) {
-        error_msg->append("\n");
-        error_msg->append(e);
-      }
-    }
-    return false;
-  }
-
-  if (!r.warnings.empty()) {
-    if (warning_subject) {
-      *warning_subject = ConflictSubject(parent, child);
-    }
-    if (warning_body) {
-      warning_body->clear();
-      for (size_t i = 0; i < r.warnings.size(); ++i) {
-        if (i > 0) {
-          warning_body->append("\n");
-        }
-        warning_body->append(r.warnings[i]);
-      }
-    }
-  }
-  return true;
-}
-
-}  // namespace mujoco
diff --git a/src/user/user_resolver.h b/src/user/user_resolver.h
deleted file mode 100644
index e88c2c1a..00000000
--- a/src/user/user_resolver.h
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_USER_USER_RESOLVER_H_
-#define MUJOCO_SRC_USER_USER_RESOLVER_H_
-
-#include <string>
-
-#include <mujoco/mjspec.h>
-
-namespace mujoco {
-
-// Resolves global attribute conflicts between parent and child specs.
-// Returns true on success (no errors). If errors are found, mutations are not
-// applied, and 'error_msg' will contain the summary. If warnings are generated
-// during resolution, 'warning_subject' and 'warning_body' will be populated.
-bool ResolveConflicts(mjSpec* parent, const mjSpec* child, mjtConflict mode,
-                      std::string* error_msg, std::string* warning_subject,
-                      std::string* warning_body);
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_USER_USER_RESOLVER_H_
diff --git a/src/user/user_resource.cc b/src/user/user_resource.cc
deleted file mode 100644
index 8dcc23c3..00000000
--- a/src/user/user_resource.cc
+++ /dev/null
@@ -1,170 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_resource.h"
-
-#include <sys/types.h>
-#include <sys/stat.h>
-
-#include <cstddef>
-#include <cstdio>
-#include <cstring>
-#include <ctime>
-#include <string>
-#include <string_view>
-#include <mujoco/mujoco.h>
-
-#include <mujoco/mjplugin.h>
-#include "engine/engine_plugin.h"
-#include "user/user_util.h"
-#include "user/user_vfs.h"
-
-static mjResource* openResourceInternal(const char* dir, const char* name,
-                                        const mjVFS* vfs, char* error,
-                                        size_t nerror) {
-  if (error && nerror > 0) {
-    error[0] = '\0';
-  }
-
-  // TODO: Update API to use non-const pointer. Unfortunately, while this is
-  // ABI stable, it will cause compiler errors in user code that is const
-  // correct.
-  mjVFS* non_const_vfs = const_cast<mjVFS*>(vfs);
-
-  // TODO: Eventually, we should make `vfs` a required argument. In the
-  // meantime, when passing in a nullptr VFS, we will create a VFS dynamically
-  // that self-destructs when the resource is closed (or if the resource could
-  // not be opened).
-  if (non_const_vfs == nullptr) {
-    mjVFS* local_vfs = (mjVFS*)mju_malloc(sizeof(mjVFS));
-    mj_defaultVFS(local_vfs);
-    mujoco::user::VFS::Upcast(local_vfs)->SetToSelfDestruct([=]() {
-      mj_deleteVFS(local_vfs);
-      mju_free(local_vfs);
-    });
-
-    non_const_vfs = local_vfs;
-  }
-
-  mjResource* resource = mujoco::user::VFS::Upcast(non_const_vfs)
-                             ->Open(dir ? dir : "", name, error, nerror);
-
-  if (error && nerror > 0 && !resource && error[0] == '\0') {
-    std::snprintf(error, nerror, "Error opening file '%s'", name);
-  }
-
-  return resource;
-}
-
-mjResource* mju_openResource(const char* dir, const char* name,
-                             const mjVFS* vfs, char* error, size_t nerror) {
-  return openResourceInternal(dir, name, vfs, error, nerror);
-}
-
-void mju_closeResource(mjResource* resource) {
-  if (resource && resource->vfs) {
-    mujoco::user::VFS::Upcast(resource->vfs)->Close(resource);
-  }
-}
-
-int mju_readResource(mjResource* resource, const void** buffer) {
-  if (resource && resource->vfs) {
-    return mujoco::user::VFS::Upcast(resource->vfs)->Read(resource, buffer);
-  }
-  return -1;  // default (error reading bytes)
-}
-
-mjtSize mju_writeResource(const char* name, const void* buffer, mjtSize nbytes,
-                          const mjVFS* vfs, char* error, size_t nerror) {
-  if (error && nerror > 0) {
-    error[0] = '\0';
-  }
-
-  if (!name) {
-    if (error && nerror > 0) {
-      std::snprintf(error, nerror, "Resource name is NULL");
-    }
-    return -1;
-  }
-
-  mjResource resource = {};
-  resource.name = const_cast<char*>(name);
-
-  mjVFS* non_const_vfs = const_cast<mjVFS*>(vfs);
-  bool local_vfs_created = false;
-  if (non_const_vfs == nullptr) {
-    non_const_vfs = (mjVFS*)mju_malloc(sizeof(mjVFS));
-    mj_defaultVFS(non_const_vfs);
-    local_vfs_created = true;
-  }
-
-  resource.vfs = non_const_vfs;
-
-  mjtSize written = mujoco::user::VFS::Upcast(non_const_vfs)->Write(&resource, buffer, nbytes);
-
-  if (local_vfs_created) {
-    mj_deleteVFS(non_const_vfs);
-    mju_free(non_const_vfs);
-  }
-
-  if (written < 0 && error && nerror > 0 && error[0] == '\0') {
-    std::snprintf(error, nerror, "Error writing resource '%s'", name);
-  }
-
-  return written;
-}
-
-void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir) {
-  *dir = nullptr;
-  *ndir = 0;
-
-  if (resource && resource->name) {
-    // ensure prefix is included even if there is no separator in the
-    // resource name
-    int prefix_len = 0;
-    const mjpResourceProvider* provider = resource->provider;
-    if (provider && provider->prefix) {
-      prefix_len = strlen(provider->prefix) + 1;
-    }
-
-    *dir = resource->name;
-    *ndir = prefix_len;
-    for (int i = prefix_len; resource->name[i]; ++i) {
-      if (resource->name[i] == '/' || resource->name[i] == '\\') {
-        *ndir = i + 1;
-      }
-    }
-  }
-}
-
-int mju_isModifiedResource(const mjResource* resource, const char* timestamp) {
-  if (resource && resource->provider && resource->provider->modified) {
-    return resource->provider->modified(resource, timestamp);
-  }
-  return 1;  // default (assume modified)
-}
-
-mjSpec* mju_decodeResource(mjResource* resource, const char* content_type, const mjVFS* vfs) {
-  const mjpDecoder* decoder = nullptr;
-  if (content_type) {
-    decoder = mjp_findDecoder(resource, content_type);
-  } else {
-    decoder = mjp_findDecoder(resource, mjuu_extToContentType(resource->name).c_str());
-  }
-  if (!decoder) {
-    mju_warning("Could not find decoder for resource '%s'", resource->name);
-    return nullptr;
-  }
-  return decoder->decode(resource, vfs);
-}
diff --git a/src/user/user_resource.h b/src/user/user_resource.h
deleted file mode 100644
index 457662c5..00000000
--- a/src/user/user_resource.h
+++ /dev/null
@@ -1,61 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-// IWYU pragma: private, include "third_party/mujoco/include/mujoco.h"
-// IWYU pragma: friend "third_party/mujoco/src/.*"
-
-#ifndef MUJOCO_SRC_ENGINE_ENGINE_RESOURCE_H_
-#define MUJOCO_SRC_ENGINE_ENGINE_RESOURCE_H_
-
-#include <cstddef>
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mujoco.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// open the given resource; if the name doesn't have a prefix matching with a
-// resource provider, then the OS filesystem is used
-MJAPI mjResource* mju_openResource(const char* dir, const char* name,
-                                   const mjVFS* vfs, char* error, size_t nerror);
-
-// close the given resource; no-op if resource is NULL
-MJAPI void mju_closeResource(mjResource* resource);
-
-// set buffer to bytes read from the resource and return number of bytes in buffer;
-// return negative value if error
-MJAPI int mju_readResource(mjResource* resource, const void** buffer);
-
-MJAPI mjtSize mju_writeResource(const char* name, const void* buffer, mjtSize nbytes,
-                                const mjVFS* vfs, char* error, size_t nerror);
-
-// set for a resource with a name partitioned as {dir}{filename}, the dir and ndir pointers
-MJAPI void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir);
-
-// return 0 if the resource's timestamp matches the provided timestamp
-// return > 0 if the resource is younger than the given timestamp
-// return < 0 if the resource is older than the given timestamp
-MJAPI int mju_isModifiedResource(const mjResource* resource, const char* timestamp);
-
-// given a resource, find its decoder and return the decoded spec
-// the caller takes ownership of the spec and is responsible for cleaning it up
-MJAPI mjSpec* mju_decodeResource(mjResource* resource, const char* content_type,
-                                 const mjVFS* vfs);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_ENGINE_ENGINE_RESOURCE_H_
diff --git a/src/user/user_threadpool.cc b/src/user/user_threadpool.cc
deleted file mode 100644
index 664a8e66..00000000
--- a/src/user/user_threadpool.cc
+++ /dev/null
@@ -1,81 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_threadpool.h"
-
-#include <condition_variable>
-#include <functional>
-#include <mutex>
-#include <thread>
-#include <utility>
-
-namespace mujoco::user {
-
-constinit thread_local int ThreadPool::worker_id_ = -1;
-
-// ThreadPool constructor
-ThreadPool::ThreadPool(int num_threads) : ctr_(0) {
-  for (int i = 0; i < num_threads; i++) {
-    threads_.push_back(std::thread(&ThreadPool::WorkerThread, this, i));
-  }
-}
-
-// ThreadPool destructor
-ThreadPool::~ThreadPool() {
-  {
-    std::unique_lock<std::mutex> lock(m_);
-    for (int i = 0; i < threads_.size(); i++) { queue_.push(nullptr); }
-    cv_in_.notify_all();
-  }
-  for (auto& thread : threads_) { thread.join(); }
-}
-
-// ThreadPool scheduler
-void ThreadPool::Schedule(std::function<void()> task) {
-  std::unique_lock<std::mutex> lock(m_);
-  queue_.push(std::move(task));
-  cv_in_.notify_one();
-}
-
-// ThreadPool worker
-void ThreadPool::WorkerThread(int i) {
-  worker_id_ = i;
-  while (true) {
-    auto task = [&]() {
-      std::unique_lock<std::mutex> lock(m_);
-      cv_in_.wait(lock, [&]() { return !queue_.empty(); });
-      std::function<void()> task = std::move(queue_.front());
-      queue_.pop();
-      cv_in_.notify_one();
-      return task;
-    }();
-    if (task == nullptr) {
-      {
-        std::unique_lock<std::mutex> lock(m_);
-        ++ctr_;
-        cv_ext_.notify_one();
-      }
-      break;
-    }
-    task();
-
-    {
-      std::unique_lock<std::mutex> lock(m_);
-      ++ctr_;
-      cv_ext_.notify_one();
-    }
-  }
-}
-
-}  // namespace mujoco::user
diff --git a/src/user/user_threadpool.h b/src/user/user_threadpool.h
deleted file mode 100644
index 5761ff45..00000000
--- a/src/user/user_threadpool.h
+++ /dev/null
@@ -1,85 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_USER_USER_THREADPOOL_H_
-#define MUJOCO_SRC_USER_USER_THREADPOOL_H_
-
-#include <condition_variable>
-#include <cstdint>
-#include <functional>
-#include <mutex>
-#include <queue>
-#include <thread>
-#include <vector>
-
-
-namespace mujoco::user {
-
-// ThreadPool class
-class ThreadPool {
- public:
-  // constructor
-  explicit ThreadPool(int num_threads);
-
-  // destructor
-  ~ThreadPool();
-
-  int NumThreads() const { return threads_.size(); }
-
-  // returns an ID between 0 and NumThreads() - 1. must be called within
-  // worker thread (returns -1 if not).
-  static int WorkerId() { return worker_id_; }
-
-  // ----- methods ----- //
-  // set task for threadpool
-  void Schedule(std::function<void()> task);
-
-  // return number of tasks completed
-  std::uint64_t GetCount() {
-    std::lock_guard<std::mutex> lock(m_);
-    return ctr_;
-  }
-
-  // reset count to zero
-  void ResetCount() {
-    std::lock_guard<std::mutex> lock(m_);
-    ctr_ = 0;
-  }
-
-  // wait for count, then return
-  void WaitCount(int value) {
-    std::unique_lock<std::mutex> lock(m_);
-    cv_ext_.wait(lock, [&]() { return ctr_ >= value; });
-  }
-
- private:
-  // ----- methods ----- //
-
-  // execute task with available thread
-  void WorkerThread(int i);
-
-  constinit static thread_local int worker_id_;
-
-  // ----- members ----- //
-  std::vector<std::thread>          threads_;
-  std::mutex                        m_;
-  std::condition_variable           cv_in_;
-  std::condition_variable           cv_ext_;
-  std::queue<std::function<void()>> queue_;
-  std::uint64_t                     ctr_;
-};
-
-}  // namespace mujoco::user
-
-#endif  // MUJOCO_SRC_USER_USER_THREADPOOL_H_
diff --git a/src/user/user_util.cc b/src/user/user_util.cc
deleted file mode 100644
index c94908d0..00000000
--- a/src/user/user_util.cc
+++ /dev/null
@@ -1,1288 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_util.h"
-
-#include <algorithm>
-#include <cctype>
-#include <cerrno>
-#include <climits>
-#include <cmath>
-#include <cstddef>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <optional>
-#include <sstream>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "engine/engine_crossplatform.h"
-
-
-// workaround with locale bug on some MacOS machines
-#if defined(__APPLE__) && defined(__MACH__)
-#include <xlocale.h>
-#include <locale.h>
-
-#define strtof(X, Y) strtof_l((X), (Y), _c_locale)
-#define strtod(X, Y) strtod_l((X), (Y), _c_locale)
-#endif
-
-// check if numeric variable is defined
-bool mjuu_defined(double num) {
-  return !std::isnan(num);
-}
-
-
-// compute address of M[g1][g2] where M is triangular n-by-n
-int mjuu_matadr(int g1, int g2, int n) {
-  if (g1 < 0 || g2 < 0 || g1 >= n || g2 >= n) { return -1; }
-
-  if (g1 > g2) {
-    int tmp = g1;
-    g1      = g2;
-    g2      = tmp;
-  }
-
-  return g1 * n + g2;
-}
-
-
-// set 4D vector
-void mjuu_setvec(double* dest, double x, double y, double z, double w) {
-  dest[0] = x;
-  dest[1] = y;
-  dest[2] = z;
-  dest[3] = w;
-}
-void mjuu_setvec(float* dest, double x, double y, double z, double w) {
-  dest[0] = (float)x;
-  dest[1] = (float)y;
-  dest[2] = (float)z;
-  dest[3] = (float)w;
-}
-
-
-// set 3D vector
-void mjuu_setvec(double* dest, double x, double y, double z) {
-  dest[0] = x;
-  dest[1] = y;
-  dest[2] = z;
-}
-void mjuu_setvec(float* dest, double x, double y, double z) {
-  dest[0] = (float)x;
-  dest[1] = (float)y;
-  dest[2] = (float)z;
-}
-
-
-// set 2D vector
-void mjuu_setvec(double* dest, double x, double y) {
-  dest[0] = x;
-  dest[1] = y;
-}
-
-
-// add to double array
-void mjuu_addtovec(double* dest, const double* src, int n) {
-  for (int i = 0; i < n; i++) { dest[i] += src[i]; }
-}
-
-// zero double array
-void mjuu_zerovec(double* dest, int n) {
-  for (int i = 0; i < n; i++) { dest[i] = 0; }
-}
-
-// zero float array
-void mjuu_zerovec(float* dest, int n) {
-  for (int i = 0; i < n; i++) { dest[i] = 0; }
-}
-
-// dot-product in 3D
-double mjuu_dot3(const double* a, const double* b) {
-  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
-}
-
-
-// distance between 3D points
-double mjuu_dist3(const double* a, const double* b) {
-  return sqrt((a[0] - b[0]) * (a[0] - b[0]) +
-              (a[1] - b[1]) * (a[1] - b[1]) +
-              (a[2] - b[2]) * (a[2] - b[2]));
-}
-
-
-// L1 norm between vectors
-double mjuu_L1(const double* a, const double* b, int n) {
-  double res = 0;
-  for (int i = 0; i < n; i++) { res += std::abs(a[i] - b[i]); }
-
-  return res;
-}
-
-
-// normalize vector to unit length, return previous length
-double mjuu_normvec(double* vec, const int n) {
-  double nrm = 0;
-
-  for (int i = 0; i < n; i++) { nrm += vec[i] * vec[i]; }
-  if (nrm < mjEPS) { return 0; }
-
-  nrm = sqrt(nrm);
-
-  // don't normalize if nrm is within mjEPS of 1
-  if (std::abs(nrm - 1) > mjEPS) {
-    for (int i = 0; i < n; i++) { vec[i] /= nrm; }
-  }
-
-  return nrm;
-}
-
-
-// normalize float vector to unit length, return previous length
-float mjuu_normvec(float* vec, const int n) {
-  float nrm = 0;
-
-  for (int i = 0; i < n; i++) { nrm += vec[i] * vec[i]; }
-  if (nrm < mjEPS) { return 0; }
-
-  nrm = sqrt(nrm);
-
-  // don't normalize if nrm is within mjEPS of 1
-  if (std::abs(nrm - 1) > mjEPS) {
-    for (int i = 0; i < n; i++) { vec[i] /= nrm; }
-  }
-
-  return nrm;
-}
-
-// scale vector by scalar
-void mjuu_scalevec(double* res, const double* vec, double s, int n) {
-  for (int i = 0; i < n; i++) { res[i] = s * vec[i]; }
-}
-
-// convert quaternion to rotation matrix
-void mjuu_quat2mat(double* res, const double* quat) {
-  // identity quat: identity mat
-  if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
-    res[0] = 1;
-    res[1] = 0;
-    res[2] = 0;
-    res[3] = 0;
-    res[4] = 1;
-    res[5] = 0;
-    res[6] = 0;
-    res[7] = 0;
-    res[8] = 1;
-    return;
-  }
-
-  // regular processing
-  double q00 = quat[0] * quat[0];
-  double q01 = quat[0] * quat[1];
-  double q02 = quat[0] * quat[2];
-  double q03 = quat[0] * quat[3];
-  double q11 = quat[1] * quat[1];
-  double q12 = quat[1] * quat[2];
-  double q13 = quat[1] * quat[3];
-  double q22 = quat[2] * quat[2];
-  double q23 = quat[2] * quat[3];
-  double q33 = quat[3] * quat[3];
-
-  res[0] = q00 + q11 - q22 - q33;
-  res[4] = q00 - q11 + q22 - q33;
-  res[8] = q00 - q11 - q22 + q33;
-
-  res[1] = 2 * (q12 - q03);
-  res[2] = 2 * (q13 + q02);
-  res[3] = 2 * (q12 + q03);
-  res[5] = 2 * (q23 - q01);
-  res[6] = 2 * (q13 - q02);
-  res[7] = 2 * (q23 + q01);
-}
-
-
-// multiply two unit quaternions
-void mjuu_mulquat(double* res, const double* qa, const double* qb) {
-  double tmp[4];
-  tmp[0] = qa[0] * qb[0] - qa[1] * qb[1] - qa[2] * qb[2] - qa[3] * qb[3];
-  tmp[1] = qa[0] * qb[1] + qa[1] * qb[0] + qa[2] * qb[3] - qa[3] * qb[2];
-  tmp[2] = qa[0] * qb[2] - qa[1] * qb[3] + qa[2] * qb[0] + qa[3] * qb[1];
-  tmp[3] = qa[0] * qb[3] + qa[1] * qb[2] - qa[2] * qb[1] + qa[3] * qb[0];
-  mjuu_normvec(tmp, 4);
-  mjuu_copyvec(res, tmp, 4);
-}
-
-
-// multiply matrix by vector, 3-by-3
-void mjuu_mulvecmat(double* res, const double* vec, const double* mat) {
-  double tmp[3] = {mat[0] * vec[0] + mat[1] * vec[1] + mat[2] * vec[2],
-                   mat[3] * vec[0] + mat[4] * vec[1] + mat[5] * vec[2],
-                   mat[6] * vec[0] + mat[7] * vec[1] + mat[8] * vec[2]};
-
-  res[0]        = tmp[0];
-  res[1]        = tmp[1];
-  res[2]        = tmp[2];
-}
-
-
-// multiply transposed matrix by vector, 3-by-3
-void mjuu_mulvecmatT(double* res, const double* vec, const double* mat) {
-  double tmp[3] = {mat[0] * vec[0] + mat[3] * vec[1] + mat[6] * vec[2],
-                   mat[1] * vec[0] + mat[4] * vec[1] + mat[7] * vec[2],
-                   mat[2] * vec[0] + mat[5] * vec[1] + mat[8] * vec[2]};
-
-  res[0]        = tmp[0];
-  res[1]        = tmp[1];
-  res[2]        = tmp[2];
-}
-
-// clang-format off
-// compute res = R * M * R'
-void mjuu_mulRMRT(double* res, const double* R, const double* M) {
-  double tmp[9];
-
-  // tmp = R*M
-  tmp[0] = R[0]*M[0] + R[1]*M[3] + R[2]*M[6];
-  tmp[1] = R[0]*M[1] + R[1]*M[4] + R[2]*M[7];
-  tmp[2] = R[0]*M[2] + R[1]*M[5] + R[2]*M[8];
-  tmp[3] = R[3]*M[0] + R[4]*M[3] + R[5]*M[6];
-  tmp[4] = R[3]*M[1] + R[4]*M[4] + R[5]*M[7];
-  tmp[5] = R[3]*M[2] + R[4]*M[5] + R[5]*M[8];
-  tmp[6] = R[6]*M[0] + R[7]*M[3] + R[8]*M[6];
-  tmp[7] = R[6]*M[1] + R[7]*M[4] + R[8]*M[7];
-  tmp[8] = R[6]*M[2] + R[7]*M[5] + R[8]*M[8];
-
-  // res = tmp*R'
-  res[0] = tmp[0]*R[0] + tmp[1]*R[1] + tmp[2]*R[2];
-  res[1] = tmp[0]*R[3] + tmp[1]*R[4] + tmp[2]*R[5];
-  res[2] = tmp[0]*R[6] + tmp[1]*R[7] + tmp[2]*R[8];
-  res[3] = tmp[3]*R[0] + tmp[4]*R[1] + tmp[5]*R[2];
-  res[4] = tmp[3]*R[3] + tmp[4]*R[4] + tmp[5]*R[5];
-  res[5] = tmp[3]*R[6] + tmp[4]*R[7] + tmp[5]*R[8];
-  res[6] = tmp[6]*R[0] + tmp[7]*R[1] + tmp[8]*R[2];
-  res[7] = tmp[6]*R[3] + tmp[7]*R[4] + tmp[8]*R[5];
-  res[8] = tmp[6]*R[6] + tmp[7]*R[7] + tmp[8]*R[8];
-}
-
-
-// multiply two matrices, all 3-by-3
-void mjuu_mulmat(double* res, const double* A, const double* B) {
-  double tmp[9];
-  tmp[0] = A[0]*B[0] + A[1]*B[3] + A[2]*B[6];
-  tmp[1] = A[0]*B[1] + A[1]*B[4] + A[2]*B[7];
-  tmp[2] = A[0]*B[2] + A[1]*B[5] + A[2]*B[8];
-
-  tmp[3] = A[3]*B[0] + A[4]*B[3] + A[5]*B[6];
-  tmp[4] = A[3]*B[1] + A[4]*B[4] + A[5]*B[7];
-  tmp[5] = A[3]*B[2] + A[4]*B[5] + A[5]*B[8];
-
-  tmp[6] = A[6]*B[0] + A[7]*B[3] + A[8]*B[6];
-  tmp[7] = A[6]*B[1] + A[7]*B[4] + A[8]*B[7];
-  tmp[8] = A[6]*B[2] + A[7]*B[5] + A[8]*B[8];
-  mjuu_copyvec(res, tmp, 9);
-}
-// clang-format on
-
-// transpose 3-by-3 matrix
-void mjuu_transposemat(double* res, const double* mat) {
-  double tmp[9] = {mat[0], mat[3], mat[6], mat[1], mat[4], mat[7], mat[2], mat[5], mat[8]};
-  mjuu_copyvec(res, tmp, 9);
-}
-
-
-// convert global to local axis relative to given frame
-void mjuu_localaxis(double* al, const double* ag, const double* quat) {
-  double mat[9];
-  double qneg[4] = {quat[0], -quat[1], -quat[2], -quat[3]};
-  mjuu_quat2mat(mat, qneg);
-  mjuu_mulvecmat(al, ag, mat);
-}
-
-
-// convert global to local position relative to given frame
-void mjuu_localpos(double* pl, const double* pg, const double* pos, const double* quat) {
-  double a[3] = {pg[0] - pos[0], pg[1] - pos[1], pg[2] - pos[2]};
-  mjuu_localaxis(pl, a, quat);
-}
-
-
-// compute quaternion rotation from parent to child
-void mjuu_localquat(double* local, const double* child, const double* parent) {
-  double pneg[4] = {parent[0], -parent[1], -parent[2], -parent[3]};
-  mjuu_mulquat(local, pneg, child);
-}
-
-
-// clang-format off
-// compute vector cross-product a = b x c
-void mjuu_crossvec(double* a, const double* b, const double* c) {
-  a[0] = b[1]*c[2] - b[2]*c[1];
-  a[1] = b[2]*c[0] - b[0]*c[2];
-  a[2] = b[0]*c[1] - b[1]*c[0];
-}
-// clang-format on
-
-
-// compute normal vector to given triangle, return length
-template <typename T>
-double mjuu_makenormal(double* normal, const T a[3], const T b[3], const T c[3]) {
-  double v1[3]     = {a[0], a[1], a[2]};
-  double v2[3]     = {b[0], b[1], b[2]};
-  double v3[3]     = {c[0], c[1], c[2]};
-  double diffAB[3] = {v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2]};
-  double diffAC[3] = {v3[0] - v1[0], v3[1] - v1[1], v3[2] - v1[2]};
-
-  mjuu_crossvec(normal, diffAB, diffAC);
-  double nrm = std::sqrt(mjuu_dot3(normal, normal));
-  if (nrm < mjEPS) {
-    normal[0] = 1;
-    normal[1] = 0;
-    normal[2] = 0;
-    return 1;
-  }
-  normal[0] /= nrm;
-  normal[1] /= nrm;
-  normal[2] /= nrm;
-  return nrm;
-}
-
-template double mjuu_makenormal(double*      normal,
-                                const double a[3],
-                                const double b[3],
-                                const double c[3]);
-template double mjuu_makenormal(double*     normal,
-                                const float a[3],
-                                const float b[3],
-                                const float c[3]);
-
-// compute quaternion as minimal rotation from [0;0;1] to vec
-void mjuu_z2quat(double* quat, const double* vec) {
-  double z[3] = {0, 0, 1};
-  mjuu_crossvec(quat + 1, z, vec);
-  double s = mjuu_normvec(quat + 1, 3);
-  if (s < 1E-10) {
-    quat[1] = 1;
-    quat[2] = quat[3] = 0;
-  }
-  double ang  = atan2(s, vec[2]);
-  quat[0]     = cos(ang / 2);
-  quat[1]    *= sin(ang / 2);
-  quat[2]    *= sin(ang / 2);
-  quat[3]    *= sin(ang / 2);
-}
-
-
-// compute quaternion given frame (axes are in matrix columns)
-void mjuu_frame2quat(double* quat, const double* x, const double* y, const double* z) {
-  const double* mat[3] = {x, y, z};  // mat[c][r] indexing
-
-  // q0 largest
-  if (mat[0][0] + mat[1][1] + mat[2][2] > 0) {
-    quat[0] = 0.5 * sqrt(1 + mat[0][0] + mat[1][1] + mat[2][2]);
-    quat[1] = 0.25 * (mat[1][2] - mat[2][1]) / quat[0];
-    quat[2] = 0.25 * (mat[2][0] - mat[0][2]) / quat[0];
-    quat[3] = 0.25 * (mat[0][1] - mat[1][0]) / quat[0];
-  }
-
-  // q1 largest
-  else if (mat[0][0] > mat[1][1] && mat[0][0] > mat[2][2]) {
-    quat[1] = 0.5 * sqrt(1 + mat[0][0] - mat[1][1] - mat[2][2]);
-    quat[0] = 0.25 * (mat[1][2] - mat[2][1]) / quat[1];
-    quat[2] = 0.25 * (mat[1][0] + mat[0][1]) / quat[1];
-    quat[3] = 0.25 * (mat[2][0] + mat[0][2]) / quat[1];
-  }
-
-  // q2 largest
-  else if (mat[1][1] > mat[2][2]) {
-    quat[2] = 0.5 * sqrt(1 - mat[0][0] + mat[1][1] - mat[2][2]);
-    quat[0] = 0.25 * (mat[2][0] - mat[0][2]) / quat[2];
-    quat[1] = 0.25 * (mat[1][0] + mat[0][1]) / quat[2];
-    quat[3] = 0.25 * (mat[2][1] + mat[1][2]) / quat[2];
-  }
-
-  // q3 largest
-  else {
-    quat[3] = 0.5 * sqrt(1 - mat[0][0] - mat[1][1] + mat[2][2]);
-    quat[0] = 0.25 * (mat[0][1] - mat[1][0]) / quat[3];
-    quat[1] = 0.25 * (mat[2][0] + mat[0][2]) / quat[3];
-    quat[2] = 0.25 * (mat[2][1] + mat[1][2]) / quat[3];
-  }
-
-  mjuu_normvec(quat, 4);
-}
-
-
-// invert frame transformation
-void mjuu_frameinvert(double       newpos[3],
-                      double       newquat[4],
-                      const double oldpos[3],
-                      const double oldquat[4]) {
-  // position
-  mjuu_localaxis(newpos, oldpos, oldquat);
-  newpos[0] = -newpos[0];
-  newpos[1] = -newpos[1];
-  newpos[2] = -newpos[2];
-
-  // orientation
-  newquat[0] = oldquat[0];
-  newquat[1] = -oldquat[1];
-  newquat[2] = -oldquat[2];
-  newquat[3] = -oldquat[3];
-}
-
-
-// accumulate frame transformations (forward kinematics)
-void mjuu_frameaccum(double       pos[3],
-                     double       quat[4],
-                     const double childpos[3],
-                     const double childquat[4]) {
-  double mat[9], vec[3], qtmp[4];
-  mjuu_quat2mat(mat, quat);
-  mjuu_mulvecmat(vec, childpos, mat);
-  pos[0] += vec[0];
-  pos[1] += vec[1];
-  pos[2] += vec[2];
-  mjuu_mulquat(qtmp, quat, childquat);
-  mjuu_copyvec(quat, qtmp, 4);
-}
-
-
-// accumulate frame transformation in second frame
-void mjuu_frameaccumChild(const double pos[3],
-                          const double quat[4],
-                          double       childpos[3],
-                          double       childquat[4]) {
-  double p[] = {pos[0], pos[1], pos[2]};
-  double q[] = {quat[0], quat[1], quat[2], quat[3]};
-  mjuu_frameaccum(p, q, childpos, childquat);
-  mjuu_copyvec(childpos, p, 3);
-  mjuu_copyvec(childquat, q, 4);
-}
-
-
-// invert frame accumulation
-void mjuu_frameaccuminv(double       pos[3],
-                        double       quat[4],
-                        const double childpos[3],
-                        const double childquat[4]) {
-  double mat[9], vec[3], qtmp[4];
-  double qneg[4] = {childquat[0], -childquat[1], -childquat[2], -childquat[3]};
-  mjuu_mulquat(qtmp, quat, qneg);
-  mjuu_copyvec(quat, qtmp, 4);
-  mjuu_quat2mat(mat, quat);
-  mjuu_mulvecmat(vec, childpos, mat);
-  pos[0] -= vec[0];
-  pos[1] -= vec[1];
-  pos[2] -= vec[2];
-}
-
-
-// clang-format off
-// convert local_inertia[3] to global_inertia[6]
-void mjuu_globalinertia(double* global, const double* local, const double* quat) {
-  double mat[9];
-  mjuu_quat2mat(mat, quat);
-
-  double tmp[9] = {
-    mat[0]*local[0], mat[3]*local[0], mat[6]*local[0],
-    mat[1]*local[1], mat[4]*local[1], mat[7]*local[1],
-    mat[2]*local[2], mat[5]*local[2], mat[8]*local[2]
-  };
-
-  global[0] = mat[0]*tmp[0] + mat[1]*tmp[3] + mat[2]*tmp[6];
-  global[1] = mat[3]*tmp[1] + mat[4]*tmp[4] + mat[5]*tmp[7];
-  global[2] = mat[6]*tmp[2] + mat[7]*tmp[5] + mat[8]*tmp[8];
-  global[3] = mat[0]*tmp[1] + mat[1]*tmp[4] + mat[2]*tmp[7];
-  global[4] = mat[0]*tmp[2] + mat[1]*tmp[5] + mat[2]*tmp[8];
-  global[5] = mat[3]*tmp[2] + mat[4]*tmp[5] + mat[5]*tmp[8];
-}
-// clang-format on
-
-
-// compute off-center correction to inertia matrix
-//  mass * [y^2+z^2, -x*y, -x*z;  -x*y, x^2+z^2, -y*z;  -x*z, -y*z, x^2+y^2]
-void mjuu_offcenter(double* res, const double mass, const double* vec) {
-  res[0] = mass * (vec[1] * vec[1] + vec[2] * vec[2]);
-  res[1] = mass * (vec[0] * vec[0] + vec[2] * vec[2]);
-  res[2] = mass * (vec[0] * vec[0] + vec[1] * vec[1]);
-  res[3] = -mass * vec[0] * vec[1];
-  res[4] = -mass * vec[0] * vec[2];
-  res[5] = -mass * vec[1] * vec[2];
-}
-
-
-// compute viscosity coefficients from mass and inertia
-void mjuu_visccoef(double* visccoef, double mass, const double* inertia, double scl) {
-  // compute equivalent box
-  double ebox[3];
-  ebox[0] = sqrt(std::max(mjEPS, (inertia[1] + inertia[2] - inertia[0])) / mass * 6.0);
-  ebox[1] = sqrt(std::max(mjEPS, (inertia[0] + inertia[2] - inertia[1])) / mass * 6.0);
-  ebox[2] = sqrt(std::max(mjEPS, (inertia[0] + inertia[1] - inertia[2])) / mass * 6.0);
-
-  // apply formula for box (or rather cross) viscosity
-
-  //  torque components
-  visccoef[0] =
-      scl * 4.0 / 3.0 * ebox[0] * (ebox[1] * ebox[1] * ebox[1] + ebox[2] * ebox[2] * ebox[2]);
-  visccoef[1] =
-      scl * 4.0 / 3.0 * ebox[1] * (ebox[0] * ebox[0] * ebox[0] + ebox[2] * ebox[2] * ebox[2]);
-  visccoef[2] =
-      scl * 4.0 / 3.0 * ebox[2] * (ebox[0] * ebox[0] * ebox[0] + ebox[1] * ebox[1] * ebox[1]);
-
-  //  force components
-  visccoef[3] = scl * 4 * ebox[1] * ebox[2];
-  visccoef[4] = scl * 4 * ebox[0] * ebox[2];
-  visccoef[5] = scl * 4 * ebox[0] * ebox[1];
-}
-
-
-// convert axisAngle to quaternion
-static void mjuu_axisAngle2Quat(double res[4], const double axis[3], double angle) {
-  // zero angle: identity quat
-  if (angle == 0) {
-    res[0] = 1;
-    res[1] = 0;
-    res[2] = 0;
-    res[3] = 0;
-  }
-
-  // regular processing
-  else {
-    double s = sin(angle * 0.5);
-    res[0]   = cos(angle * 0.5);
-    res[1]   = axis[0] * s;
-    res[2]   = axis[1] * s;
-    res[3]   = axis[2] * s;
-  }
-}
-
-// rotate vector by quaternion
-void mjuu_rotVecQuat(double res[3], const double vec[3], const double quat[4]) {
-  // zero vec: zero res
-  if (vec[0] == 0 && vec[1] == 0 && vec[2] == 0) {
-    res[0] = res[1] = res[2] = 0;
-  }
-
-  // null quat: copy vec
-  else if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
-    mjuu_copyvec(res, vec, 3);
-  }
-
-  // regular processing
-  else {
-    // tmp = q_w * v + cross(q_xyz, v)
-    double tmp[3] = {quat[0] * vec[0] + quat[2] * vec[2] - quat[3] * vec[1],
-                     quat[0] * vec[1] + quat[3] * vec[0] - quat[1] * vec[2],
-                     quat[0] * vec[2] + quat[1] * vec[1] - quat[2] * vec[0]};
-
-    // res = v + 2 * cross(q_xyz, t)
-    res[0] = vec[0] + 2 * (quat[2] * tmp[2] - quat[3] * tmp[1]);
-    res[1] = vec[1] + 2 * (quat[3] * tmp[0] - quat[1] * tmp[2]);
-    res[2] = vec[2] + 2 * (quat[1] * tmp[1] - quat[2] * tmp[0]);
-  }
-}
-
-// update moving frame along a curve or initialize it, returns edge length
-//   inputs:
-//     normal    - normal vector computed by a previous call to the function
-//     edge      - edge vector (non-unit tangent vector)
-//     tprv      - unit tangent vector of previous body
-//     tnxt      - unit tangent vector of next body
-//     first     - 1 if the frame requires initialization
-//   outputs:
-//     quat      - frame orientation
-//     normal    - unit normal vector
-double mjuu_updateFrame(double       quat[4],
-                        double       normal[3],
-                        const double edge[3],
-                        const double tprv[3],
-                        const double tnxt[3],
-                        int          first) {
-  double tangent[3], binormal[3];
-
-  // normalize tangent
-  mjuu_copyvec(tangent, edge, 3);
-  mjuu_normvec(tangent, 3);
-
-  // compute moving frame
-  if (first) {
-    // use the first vertex binormal for the first edge
-    mjuu_crossvec(binormal, tangent, tnxt);
-    mjuu_normvec(binormal, 3);
-
-    // compute edge normal given tangent and binormal
-    mjuu_crossvec(normal, binormal, tangent);
-    mjuu_normvec(normal, 3);
-  } else {
-    double darboux[4];
-
-    // rotate edge normal about the vertex binormal
-    mjuu_crossvec(binormal, tprv, tangent);
-    double angle = atan2(mjuu_normvec(binormal, 3), mjuu_dot3(tprv, tangent));
-    mjuu_axisAngle2Quat(darboux, binormal, angle);
-    mjuu_rotVecQuat(normal, normal, darboux);
-    mjuu_normvec(normal, 3);
-
-    // compute edge binormal given tangent and normal
-    mjuu_crossvec(binormal, tangent, normal);
-    mjuu_normvec(binormal, 3);
-  }
-  // global orientation of the frame
-  mjuu_frame2quat(quat, tangent, normal, binormal);
-
-  // return edge length
-  return sqrt(mjuu_dot3(edge, edge));
-}
-
-
-// eigenvalue decomposition of symmetric 3x3 matrix
-static const double kEigEPS = 1E-12;
-int mjuu_eig3(double eigval[3], double eigvec[9], double quat[4], const double mat[9]) {
-  double D[9], tmp[9], tmp2[9];
-  double tau, t, c;
-  int    iter, rk, ck, rotk;
-
-  // initialize with unit quaternion
-  quat[0] = 1;
-  quat[1] = quat[2] = quat[3] = 0;
-
-  // Jacobi iteration
-  for (iter = 0; iter < 500; iter++) {
-    // make quaternion matrix eigvec, compute D = eigvec'*mat*eigvec
-    mjuu_quat2mat(eigvec, quat);
-    mjuu_transposemat(tmp2, eigvec);
-    mjuu_mulmat(tmp, tmp2, mat);
-    mjuu_mulmat(D, tmp, eigvec);
-
-    // assign eigenvalues
-    eigval[0] = D[0];
-    eigval[1] = D[4];
-    eigval[2] = D[8];
-
-    // find max off-diagonal element, set indices
-    if (std::abs(D[1]) > std::abs(D[2]) && std::abs(D[1]) > std::abs(D[5])) {
-      rk   = 0;  // row
-      ck   = 1;  // column
-      rotk = 2;  // rotation axis
-    } else if (std::abs(D[2]) > std::abs(D[5])) {
-      rk   = 0;
-      ck   = 2;
-      rotk = 1;
-    } else {
-      rk   = 1;
-      ck   = 2;
-      rotk = 0;
-    }
-
-    // terminate if max off-diagonal element too small
-    if (std::abs(D[3 * rk + ck]) < kEigEPS) { break; }
-
-    // 2x2 symmetric Schur decomposition
-    tau = (D[4 * ck] - D[4 * rk]) / (2 * D[3 * rk + ck]);
-    if (tau >= 0) {
-      t = 1.0 / (tau + sqrt(1 + tau * tau));
-    } else {
-      t = -1.0 / (-tau + sqrt(1 + tau * tau));
-    }
-    c = 1.0 / sqrt(1 + t * t);
-
-    // terminate if cosine too close to 1
-    if (c > 1.0 - kEigEPS) { break; }
-
-    // express rotation as quaternion
-    tmp[1] = tmp[2] = tmp[3] = 0;
-    tmp[rotk + 1]            = (tau >= 0 ? -sqrt(0.5 - 0.5 * c) : sqrt(0.5 - 0.5 * c));
-    if (rotk == 1) { tmp[rotk + 1] = -tmp[rotk + 1]; }
-    tmp[0] = sqrt(1.0 - tmp[rotk + 1] * tmp[rotk + 1]);
-    mjuu_normvec(tmp, 4);
-
-    // accumulate quaternion rotation
-    mjuu_mulquat(quat, quat, tmp);
-    mjuu_normvec(quat, 4);
-  }
-
-  // sort eigenvalues in decreasing order (bubblesort: 0, 1, 0)
-  for (int j = 0; j < 3; j++) {
-    int j1 = j % 2;  // lead index
-
-    // only swap if the eigenvalues are different
-    if (eigval[j1] + kEigEPS < eigval[j1 + 1]) {
-      // swap eigenvalues
-      t              = eigval[j1];
-      eigval[j1]     = eigval[j1 + 1];
-      eigval[j1 + 1] = t;
-
-      // rotate quaternion
-      tmp[0] = 0.707106781186548;  // cos(pi/4) = sin(pi/4)
-      tmp[1] = tmp[2] = tmp[3] = 0;
-      tmp[(j1 + 2) % 3 + 1]    = tmp[0];
-      mjuu_mulquat(quat, quat, tmp);
-      mjuu_normvec(quat, 4);
-    }
-  }
-
-  // recompute eigvec
-  mjuu_quat2mat(eigvec, quat);
-
-  return iter;
-}
-
-
-// Jacobi eigenvalue decomposition of symmetric n×n matrix.
-// On output, eigenvalues are in eigval and eigenvectors are columns of eigvec.
-// Both arrays must be pre-allocated: eigval[n], eigvec[n*n].
-// The input matrix mat is destroyed.
-int mjuu_eigendecompose(double* mat, double* eigval, double* eigvec, int n) {
-  // initialize eigvec to identity
-  std::fill(eigvec, eigvec + n * n, 0.0);
-  for (int i = 0; i < n; i++) { eigvec[i * n + i] = 1.0; }
-
-  const int    max_sweeps = 200;
-  const double tol        = 1e-12;
-
-  int sweep;
-  for (sweep = 0; sweep < max_sweeps; sweep++) {
-    // check convergence: sum of squared off-diagonal elements
-    double off_diag = 0;
-    for (int i = 0; i < n; i++) {
-      for (int j = i + 1; j < n; j++) { off_diag += mat[i * n + j] * mat[i * n + j]; }
-    }
-    if (off_diag < tol * tol) break;
-
-    // sweep over all off-diagonal pairs
-    for (int p = 0; p < n; p++) {
-      for (int q = p + 1; q < n; q++) {
-        double apq = mat[p * n + q];
-        if (std::abs(apq) < tol * 1e-3) continue;
-
-        // compute rotation angle
-        double app = mat[p * n + p];
-        double aqq = mat[q * n + q];
-        double tau = (aqq - app) / (2.0 * apq);
-        double t   = (tau >= 0 ? 1.0 : -1.0) / (std::abs(tau) + std::sqrt(1.0 + tau * tau));
-        double c   = 1.0 / std::sqrt(1.0 + t * t);
-        double s   = t * c;
-
-        // update matrix (Jacobi rotation)
-        mat[p * n + p] -= t * apq;
-        mat[q * n + q] += t * apq;
-        mat[p * n + q]  = 0;
-        mat[q * n + p]  = 0;
-
-        for (int r = 0; r < n; r++) {
-          if (r == p || r == q) continue;
-          double mrp     = mat[r * n + p];
-          double mrq     = mat[r * n + q];
-          mat[r * n + p] = mat[p * n + r] = c * mrp - s * mrq;
-          mat[r * n + q] = mat[q * n + r] = s * mrp + c * mrq;
-        }
-
-        // accumulate eigenvectors
-        for (int r = 0; r < n; r++) {
-          double vrp        = eigvec[r * n + p];
-          double vrq        = eigvec[r * n + q];
-          eigvec[r * n + p] = c * vrp - s * vrq;
-          eigvec[r * n + q] = s * vrp + c * vrq;
-        }
-      }
-    }
-  }
-
-  // extract eigenvalues from diagonal
-  for (int i = 0; i < n; i++) { eigval[i] = mat[i * n + i]; }
-
-  return sweep;
-}
-
-
-// transform vector by pose
-void mjuu_trnVecPose(double       res[3],
-                     const double pos[3],
-                     const double quat[4],
-                     const double vec[3]) {
-  // res = quat*vec + pos
-  mjuu_rotVecQuat(res, vec, quat);
-  res[0] += pos[0];
-  res[1] += pos[1];
-  res[2] += pos[2];
-}
-
-// strip directory from filename
-std::string mjuu_strippath(std::string filename) {
-  // find last pathsymbol
-  size_t start = filename.find_last_of("/\\");
-
-  // no path found: return original
-  if (start == std::string::npos) {
-    return filename;
-  }
-
-  // return name without path
-  else {
-    return filename.substr(start + 1, filename.size() - start - 1);
-  }
-}
-
-
-// compute frame quat and diagonal inertia from full inertia matrix, return error if any
-const char* mjuu_fullInertia(double quat[4], double inertia[3], const double fullinertia[6]) {
-  if (!mjuu_defined(fullinertia[0])) { return nullptr; }
-
-  double eigval[3], eigvec[9], quattmp[4];
-  double full[9] = {fullinertia[0],
-                    fullinertia[3],
-                    fullinertia[4],
-                    fullinertia[3],
-                    fullinertia[1],
-                    fullinertia[5],
-                    fullinertia[4],
-                    fullinertia[5],
-                    fullinertia[2]};
-
-  mjuu_eig3(eigval, eigvec, quattmp, full);
-
-  // check mimimal eigenvalue
-  if (eigval[2] < mjEPS) { return "inertia must have positive eigenvalues"; }
-
-  // copy
-  if (quat) { mjuu_copyvec(quat, quattmp, 4); }
-
-  if (inertia) { mjuu_copyvec(inertia, eigval, 3); }
-
-  return nullptr;
-}
-
-
-// strip extension
-std::string mjuu_stripext(std::string filename) {
-  // find last dot
-  size_t end = filename.find_last_of('.');
-
-  // no path found: return original
-  if (end == std::string::npos) { return filename; }
-
-  // return name without extension
-  return filename.substr(0, end);
-}
-
-std::string mjuu_getext(std::string_view filename) {
-  size_t dot = filename.find_last_of('.');
-
-  if (dot == std::string::npos) { return ""; }
-  return std::string(filename.substr(dot, filename.size() - dot));
-}
-
-
-// is directory path absolute
-bool mjuu_isabspath(std::string path) {
-  // empty: not absolute
-  if (path.empty()) { return false; }
-
-  // path is scheme:filename which we consider an absolute path
-  // e.g. file URI's are always absolute paths
-  if (mjp_getResourceProvider(path.c_str()) != nullptr) { return true; }
-
-  // check first char
-  const char* str = path.c_str();
-  if (str[0] == '\\' || str[0] == '/') { return true; }
-
-  // find ":/" or ":\"
-  if (path.find(":/") != std::string::npos || path.find(":\\") != std::string::npos) {
-    return true;
-  }
-
-  return false;
-}
-
-
-// assemble two file paths
-std::string mjuu_combinePaths(const std::string& path1, const std::string& path2) {
-  // path2 has absolute path
-  if (mjuu_isabspath(path2)) { return path2; }
-
-  std::size_t n = path1.size();
-  if (n > 0 && path1[n - 1] != '\\' && path1[n - 1] != '/') { return path1 + "/" + path2; }
-  return path1 + path2;
-}
-
-
-// assemble three file paths
-std::string mjuu_combinePaths(const std::string& path1,
-                              const std::string& path2,
-                              const std::string& path3) {
-  return mjuu_combinePaths(path1, mjuu_combinePaths(path2, path3));
-}
-
-
-// return true if the text is in a valid content type format:
-// {type}/{subtype}[;{parameter}={value}]
-static bool mjuu_isValidContentType(std::string_view text) {
-  // find a forward slash that's not the last character
-  size_t n = text.find('/');
-  if (n == std::string::npos || n == text.size() - 1) { return false; }
-
-  size_t m = text.find(';');
-  if (m == std::string::npos) { return true; }
-
-  if (m + 1 <= n) { return false; }
-
-  // just check if there's an equal sign; this isn't robust enough for general
-  // validation, but works for our scope, hence this is a private helper
-  // function
-  size_t s = text.find('=');
-  if (s == std::string::npos || s + 1 <= m) { return false; }
-
-  return true;
-}
-
-
-// return type from content_type format {type}/{subtype}[;{parameter}={value}]
-// return empty string on invalid format
-std::optional<std::string_view> mjuu_parseContentTypeAttrType(std::string_view text) {
-  if (!mjuu_isValidContentType(text)) { return std::nullopt; }
-
-  return {text.substr(0, text.find('/'))};
-}
-
-
-// return subtype from content_type format {type}/{subtype}[;{parameter}={value}]
-// return empty string on invalid format
-std::optional<std::string_view> mjuu_parseContentTypeAttrSubtype(std::string_view text) {
-  if (!mjuu_isValidContentType(text)) { return std::nullopt; }
-
-  size_t n = text.find('/');
-  size_t m = text.find(';', n + 1);
-  if (m == std::string::npos) { return {text.substr(n + 1)}; }
-
-  return {text.substr(n + 1, m - n - 1)};
-}
-
-
-// convert filename extension to content type; return empty string if not found
-std::string mjuu_extToContentType(std::string_view filename) {
-  std::string ext = mjuu_getext(filename);
-
-  if (!strcasecmp(ext.c_str(), ".stl")) {
-    return "model/stl";
-  } else if (!strcasecmp(ext.c_str(), ".obj")) {
-    return "model/obj";
-  } else if (!strcasecmp(ext.c_str(), ".ply")) {
-    return "model/ply";
-  } else if (!strcasecmp(ext.c_str(), ".msh")) {
-    return "model/vnd.mujoco.msh";
-  } else if (!strcasecmp(ext.c_str(), ".png")) {
-    return "image/png";
-  } else if (!strcasecmp(ext.c_str(), ".ktx")) {
-    return "image/ktx";
-  } else {
-    return "";
-  }
-}
-
-// get the length of the dirname portion of a given path
-int mjuu_dirnamelen(const char* path) {
-  if (!path) { return 0; }
-
-  int pos = -1;
-  for (int i = 0; path[i]; ++i) {
-    if (path[i] == '/' || path[i] == '\\') { pos = i; }
-  }
-
-  return pos + 1;
-}
-
-namespace mujoco::user {
-
-std::string FilePath::Combine(const std::string& s1, const std::string& s2) {
-  // str2 has absolute path
-  if (!AbsPrefix(s2).empty()) { return s2; }
-
-  std::size_t n = s1.size();
-  if (n > 0 && s1[n - 1] != '\\' && s1[n - 1] != '/') { return s1 + "/" + s2; }
-  return s1 + s2;
-}
-
-std::string FilePath::PathReduce(const std::string& str) {
-  std::vector<std::string> dirs;
-  std::string              abs_prefix = AbsPrefix(str);
-
-  int j = abs_prefix.size();
-
-  for (int i = j; i < str.size(); ++i) {
-    if (IsSeparator(str[i])) {
-      std::string temp = str.substr(j, i - j);
-      j                = i + 1;
-      if (temp == ".." && !dirs.empty() && dirs.back() != "..") {
-        dirs.pop_back();
-      } else if (temp != ".") {
-        dirs.push_back(std::move(temp));
-      }
-    }
-  }
-
-  // push the rest of the string
-  dirs.push_back(str.substr(j, str.size() - j));
-
-  // join the path
-  std::stringstream path;
-  auto              it = dirs.begin();
-  path << abs_prefix << *it++;
-  for (; it != dirs.end(); ++it) { path << "/" << *it; }
-  return path.str();
-}
-
-FilePath FilePath::operator+(const FilePath& path) const {
-  return FilePath(path_, path.path_);
-}
-
-std::string FilePath::Ext() const {
-  std::size_t n = path_.find_last_of('.');
-
-  if (n == std::string::npos) { return ""; }
-  return path_.substr(n, path_.size() - n);
-}
-
-FilePath FilePath::StripExt() const {
-  size_t n = path_.find_last_of('.');
-
-  // no extension
-  if (n == std::string::npos) { return FilePathFast(path_); }
-
-  // return path without extension
-  return FilePathFast(path_.substr(0, n));
-}
-
-// is directory absolute path
-std::string FilePath::AbsPrefix(const std::string& str) {
-  // empty: not absolute
-  if (str.empty()) { return ""; }
-
-  // path is scheme:filename which we consider an absolute path
-  // e.g. file URI's are always absolute paths
-  const mjpResourceProvider* provider = mjp_getResourceProvider(str.c_str());
-  if (provider != nullptr) {
-    std::size_t n = std::strlen(provider->prefix);
-    return str.substr(0, n + 1);
-  }
-
-  // check first char
-  if (str[0] == '\\' || str[0] == '/') { return str.substr(0, 1); }
-
-  // find ":/" or ":\"
-  std::size_t pos = str.find(":/");
-  if (pos != std::string::npos) { return str.substr(0, pos + 2); }
-
-  pos = str.find(":\\");
-  if (pos != std::string::npos) { return str.substr(0, pos + 2); }
-
-  return "";
-}
-
-FilePath FilePath::StripPath() const {
-  // find last path symbol
-  std::size_t n = path_.find_last_of("/\\");
-
-  // no path
-  if (n == std::string::npos) { return FilePathFast(path_); }
-
-  return FilePathFast(path_.substr(n + 1, path_.size() - (n + 1)));
-}
-
-std::string FilePath::StrLower() const {
-  std::string str = path_;
-  std::transform(str.begin(), str.end(), str.begin(), [](unsigned char c) {
-    return std::tolower(c);
-  });
-  return str;
-}
-
-// read file into memory buffer
-std::vector<uint8_t> FileToMemory(const char* filename) {
-  FILE* fp = fopen(filename, "rb");
-  if (!fp) { return {}; }
-
-  // find size
-  if (fseek(fp, 0, SEEK_END) != 0) {
-    fclose(fp);
-    mju_warning("Failed to calculate size for '%s'", filename);
-    return {};
-  }
-
-  // ensure file size fits in int
-  long long_filesize = ftell(fp);  // NOLINT(runtime/int)
-  if (long_filesize > INT_MAX) {
-    fclose(fp);
-    mju_warning("File size over 2GB is not supported. File: '%s'", filename);
-    return {};
-  } else if (long_filesize < 0) {
-    fclose(fp);
-    mju_warning("Failed to calculate size for '%s'", filename);
-    return {};
-  }
-
-  std::vector<uint8_t> buffer;
-  try {
-    buffer.resize(long_filesize);
-  } catch (...) {
-    fclose(fp);
-    return {};
-  }
-
-  // go back to start of file
-  if (fseek(fp, 0, SEEK_SET) != 0) {
-    fclose(fp);
-    mju_warning("Read error while reading '%s'", filename);
-    return {};
-  }
-
-  // allocate and read
-  std::size_t bytes_read = fread(buffer.data(), 1, buffer.size(), fp);
-
-  // check that read data matches file size
-  if (bytes_read != buffer.size()) {  // SHOULD NOT OCCUR
-    if (ferror(fp)) {
-      fclose(fp);
-      mju_warning("Read error while reading '%s'", filename);
-      return {};
-    } else if (feof(fp)) {
-      buffer.resize(bytes_read);
-    }
-  }
-
-  // close file, return contents
-  fclose(fp);
-  return buffer;
-}
-
-// convert vector to string separating elements by whitespace
-template <typename T>
-std::string VectorToString(const std::vector<T>& v) {
-  std::stringstream ss;
-
-  for (const T& t : v) { ss << t << " "; }
-
-  std::string s = ss.str();
-  if (!s.empty()) s.pop_back();  // remove trailing space
-  return s;
-}
-
-template MJAPI std::string VectorToString(const std::vector<int>& v);
-template MJAPI std::string VectorToString(const std::vector<float>& v);
-template MJAPI std::string VectorToString(const std::vector<double>& v);
-template MJAPI std::string VectorToString(const std::vector<std::string>& v);
-
-namespace {
-
-template <typename T>
-T StrToNum(char* str, char** c);
-
-template <>
-int StrToNum(char* str, char** c) {
-  long n = std::strtol(str, c, 10);
-  if (n < INT_MIN || n > INT_MAX) errno = ERANGE;
-  return n;
-}
-
-template <>
-float StrToNum(char* str, char** c) {
-  float f = strtof(str, c);
-  if (std::isnan(f)) errno = EDOM;
-  return f;
-}
-
-template <>
-double StrToNum(char* str, char** c) {
-  double d = strtod(str, c);
-  if (std::isnan(d)) errno = EDOM;
-  return d;
-}
-
-template <>
-unsigned char StrToNum(char* str, char** c) {
-  long n = std::strtol(str, c, 10);
-  if (n < 0 || n > UCHAR_MAX) errno = ERANGE;
-  return n;
-}
-
-inline bool IsNullOrSpace(char* c) {
-  return std::isspace(static_cast<unsigned char>(*c)) || *c == '\0';
-}
-
-inline char* SkipSpace(char* c) {
-  for (; *c != '\0'; c++) {
-    if (!IsNullOrSpace(c)) { break; }
-  }
-  return c;
-}
-}  // namespace
-
-template <typename T>
-std::vector<T> StringToVector(char* cs) {
-  std::vector<T> v;
-  char*          ch = cs;
-
-  errno = 0;
-  // reserve worst case
-  v.reserve((std::strlen(cs) >> 1) + 1);
-
-  for (;;) {
-    cs = SkipSpace(ch);                      // skip leading spaces
-    if (*cs == '\0') break;                  // end of string
-    T num = StrToNum<T>(cs, &ch);            // parse number
-    if (!IsNullOrSpace(ch)) errno = EINVAL;  // invalid separator
-    if (cs == ch) errno = EINVAL;            // failed to parse number
-    if (errno && errno != EDOM) break;       // NaNs are quietly ignored
-    v.push_back(num);
-  }
-
-  v.shrink_to_fit();
-  return v;
-}
-
-template <>
-MJAPI std::vector<std::string> StringToVector(char* cs) {
-  return StringToVector<std::string>(std::string(cs));
-}
-
-template <>
-MJAPI std::vector<std::string> StringToVector(const std::string& s) {
-  std::vector<std::string> v;
-  std::stringstream        ss(s);
-  std::string              word;
-  while (ss >> word) { v.push_back(word); }
-  return v;
-}
-
-template MJAPI std::vector<int> StringToVector(char* cs);
-template MJAPI std::vector<float> StringToVector(char* cs);
-template MJAPI std::vector<double> StringToVector(char* cs);
-template MJAPI std::vector<unsigned char> StringToVector(char* cs);
-
-
-template <typename T>
-std::vector<T> StringToVector(const std::string& s) {
-  return StringToVector<T>(const_cast<char*>(s.c_str()));
-}
-template MJAPI std::vector<int> StringToVector(const std::string& s);
-template MJAPI std::vector<float> StringToVector(const std::string& s);
-template MJAPI std::vector<double> StringToVector(const std::string& s);
-template MJAPI std::vector<unsigned char> StringToVector(const std::string& s);
-
-}  // namespace mujoco::user
diff --git a/src/user/user_util.h b/src/user/user_util.h
deleted file mode 100644
index 0d3ffa67..00000000
--- a/src/user/user_util.h
+++ /dev/null
@@ -1,320 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_USER_USER_UTIL_H_
-#define MUJOCO_SRC_USER_USER_UTIL_H_
-
-#include <algorithm>
-#include <cstddef>
-#include <cstdint>
-#include <deque>
-#include <functional>
-#include <optional>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mjexport.h>
-
-const double mjEPS     = 1E-14;  // minimum value in various calculations
-const double mjMINMASS = 1E-6;   // minimum mass allowed
-
-// check if numeric variable is defined:  !_isnan(num)
-bool mjuu_defined(double num);
-
-// compute linear address of M[g1][g2] where M is triangular n-by-n
-// return -1 if inputs are invalid
-int mjuu_matadr(int g1, int g2, int n);
-
-// set 4D vector
-void mjuu_setvec(double* dest, double x, double y, double z, double w);
-void mjuu_setvec(float* dest, double x, double y, double z, double w);
-
-// set 3D vector
-void mjuu_setvec(double* dest, double x, double y, double z);
-void mjuu_setvec(float* dest, double x, double y, double z);
-
-// set 2D vector
-void mjuu_setvec(double* dest, double x, double y);
-
-// copy real-valued vector
-template <class T1, class T2>
-void mjuu_copyvec(T1* dest, const T2* src, int n) {
-  std::copy(src, src + n, dest);
-}
-
-// add to double array
-void mjuu_addtovec(double* dest, const double* src, int n);
-
-// zero array
-void mjuu_zerovec(double* dest, int n);
-
-// zero float array
-void mjuu_zerovec(float* dest, int n);
-
-// dot-product in 3D
-double mjuu_dot3(const double* a, const double* b);
-
-// distance between 3D points
-double mjuu_dist3(const double* a, const double* b);
-
-// L1 norm between vectors
-double mjuu_L1(const double* a, const double* b, int n);
-
-// normalize vector to unit length, return previous length
-//  if norm(vec)<mjEPS, return 0 and do not change vector
-double mjuu_normvec(double* vec, int n);
-float  mjuu_normvec(float* vec, int n);
-
-// scale vector by scalar
-void mjuu_scalevec(double* res, const double* vec, double s, int n);
-
-// convert quaternion to rotation matrix
-void mjuu_quat2mat(double* res, const double* quat);
-
-// multiply two unit quaternions
-void mjuu_mulquat(double* res, const double* qa, const double* qb);
-
-// multiply matrix by vector, 3-by-3
-void mjuu_mulvecmat(double* res, const double* vec, const double* mat);
-
-// multiply transposed matrix by vector, 3-by-3
-void mjuu_mulvecmatT(double* res, const double* vec, const double* mat);
-
-// compute res = R * M * R'
-void mjuu_mulRMRT(double* res, const double* R, const double* M);
-
-// compute res = A * B, all 3-by-3
-void mjuu_mulmat(double* res, const double* A, const double* B);
-
-// transpose 3-by-3 matrix
-void mjuu_transposemat(double* res, const double* mat);
-
-// convert global to local axis relative to given frame
-void mjuu_localaxis(double* al, const double* ag, const double* quat);
-
-// convert global to local position relative to given frame
-void mjuu_localpos(double* pl, const double* pg, const double* pos, const double* quat);
-
-// compute quaternion rotation from parent to child
-void mjuu_localquat(double* local, const double* child, const double* parent);
-
-// compute vector cross-product a = b x c
-void mjuu_crossvec(double* a, const double* b, const double* c);
-
-// compute normal vector to given triangle
-template <typename T>
-double mjuu_makenormal(double* normal, const T a[3], const T b[3], const T c[3]);
-
-// compute quaternion corresponding to minimal rotation from [0;0;1] to vec
-void mjuu_z2quat(double* quat, const double* vec);
-
-// compute quaternion corresponding to given rotation matrix (i.e. frame)
-void mjuu_frame2quat(double* quat, const double* x, const double* y, const double* z);
-
-// invert frame transformation
-void mjuu_frameinvert(double       newpos[3],
-                      double       newquat[4],
-                      const double oldpos[3],
-                      const double oldquat[4]);
-
-// accumulate frame transformation into parent frame
-void mjuu_frameaccum(double       pos[3],
-                     double       quat[4],
-                     const double childpos[3],
-                     const double childquat[4]);
-
-// accumulate frame transformation into child frame
-void mjuu_frameaccumChild(const double pos[3],
-                          const double quat[4],
-                          double       childpos[3],
-                          double       childquat[4]);
-
-// invert frame accumulation
-void mjuu_frameaccuminv(double       pos[3],
-                        double       quat[4],
-                        const double childpos[3],
-                        const double childquat[4]);
-
-// convert local_inertia[3] to global_inertia[6]
-void mjuu_globalinertia(double* global, const double* local, const double* quat);
-
-// compute off-center correction to inertia matrix
-void mjuu_offcenter(double* res, double mass, const double* vec);
-
-// compute viscosity coefficients from mass and inertia
-void mjuu_visccoef(double* visccoef, double mass, const double* inertia, double scl = 1);
-
-// rotate vector by quaternion
-void mjuu_rotVecQuat(double res[3], const double vec[3], const double quat[4]);
-
-// update moving frame along a discrete curve or initialize it, returns edge length
-double mjuu_updateFrame(double       quat[4],
-                        double       normal[3],
-                        const double edge[3],
-                        const double tprv[3],
-                        const double tnxt[3],
-                        int          first);
-
-// eigenvalue decomposition of symmetric 3x3 matrix
-int mjuu_eig3(double eigval[3], double eigvec[9], double quat[4], const double mat[9]);
-
-// Jacobi eigenvalue decomposition of symmetric n×n matrix
-// eigval[n]: output eigenvalues, eigvec[n*n]: output eigenvectors (columns)
-// mat[n*n]: input matrix (destroyed on output)
-// returns number of sweeps used
-MJAPI int mjuu_eigendecompose(double* mat, double* eigval, double* eigvec, int n);
-
-// transform vector by pose
-void mjuu_trnVecPose(double res[3], const double pos[3], const double quat[4], const double vec[3]);
-
-// compute frame quat and diagonal inertia from full inertia matrix, return error if any
-const char* mjuu_fullInertia(double quat[4], double inertia[3], const double fullinertia[6]);
-
-namespace mujoco::user {
-
-// utility class for handling file paths
-class MJAPI FilePath {
- public:
-  FilePath() = default;
-  explicit FilePath(const std::string& str) : path_(PathReduce(str)) {}
-  explicit FilePath(const char* str) { path_ = PathReduce(str); }
-  FilePath(const std::string& str1, const std::string& str2) {
-    path_ = PathReduce(Combine(str1, str2));
-  }
-  FilePath(FilePath&& other)            = default;
-  FilePath& operator=(FilePath&& other) = default;
-  FilePath(const FilePath&)             = default;
-  FilePath& operator=(const FilePath&)  = default;
-
-  // return true if the path is absolute
-  bool IsAbs() const { return !AbsPrefix(path_).empty(); }
-
-  // return string with the absolute prefix of the path
-  // e.g. "c:\", "http://", etc
-  std::string AbsPrefix() const { return AbsPrefix(path_); }
-
-  // return copy of the internal path string
-  const std::string& Str() const { return path_; }
-
-  // return copy of the internal path string in lower case
-  // (for case insensitive purposes)
-  std::string StrLower() const;
-
-  // return the extension of the file path (e.g. "hello.txt" -> ".txt")
-  std::string Ext() const;
-
-  // concatenate two paths together
-  FilePath operator+(const FilePath& path) const;
-
-  // return a new FilePath with the extension stripped
-  FilePath StripExt() const;
-
-  // return a new FilePath with the path stripped
-  FilePath StripPath() const;
-
-  // return a new FilePath with path lower cased
-  FilePath Lower() const { return FilePathFast(StrLower()); }
-
-  // C++ string methods
-  std::size_t size() const { return path_.size(); }
-  const char* c_str() const { return path_.c_str(); }
-  bool        empty() const { return path_.empty(); }
-  char        operator[](int i) const { return path_[i]; }
-
- private:
-  static std::string AbsPrefix(const std::string& str);
-  static std::string PathReduce(const std::string& str);
-  static bool        IsSeparator(char c) { return c == '/' || c == '\\'; }
-  static std::string Combine(const std::string& s1, const std::string& s2);
-
-  // fast constructor that does not call PathReduce
-  static FilePath FilePathFast(const std::string& str) {
-    FilePath path;
-    path.path_ = str;
-    return path;
-  }
-
-  static FilePath FilePathFast(std::string&& str) {
-    FilePath path;
-    path.path_ = str;
-    return path;
-  }
-
-  std::string path_;
-};
-
-// utility class for scoping resources to functions
-struct Cleanup {
-  using Fn = std::function<void()>;
-  ~Cleanup() {
-    for (auto& f : cleanup) f();
-  }
-  void operator+=(Fn f) { cleanup.push_front(std::move(f)); }
-
-  std::deque<Fn> cleanup;
-};
-
-
-// read file into memory buffer
-std::vector<uint8_t> FileToMemory(const char* filename);
-
-// convert vector to string separating elements by whitespace
-template <typename T>
-MJAPI std::string VectorToString(const std::vector<T>& v);
-
-// convert string to vector
-template <typename T>
-MJAPI std::vector<T> StringToVector(char* cs);
-template <typename T>
-MJAPI std::vector<T> StringToVector(const std::string& s);
-template <>
-MJAPI std::vector<std::string> StringToVector(char* cs);
-template <>
-MJAPI std::vector<std::string> StringToVector(const std::string& s);
-
-}  // namespace mujoco::user
-
-// strip path from filename
-std::string mjuu_strippath(std::string filename);
-
-// strip extension from filename
-std::string mjuu_stripext(std::string filename);
-
-// get the extension of a filename
-std::string mjuu_getext(std::string_view filename);
-
-// check if path is absolute
-bool mjuu_isabspath(std::string path);
-
-// assemble file paths
-std::string mjuu_combinePaths(const std::string& path1, const std::string& path2);
-std::string mjuu_combinePaths(const std::string& path1,
-                              const std::string& path2,
-                              const std::string& path3);
-
-// return type from content_type format {type}/{subtype}[;{parameter}={value}]
-std::optional<std::string_view> mjuu_parseContentTypeAttrType(std::string_view text);
-
-// return subtype from content_type format {type}/{subtype}[;{parameter}={value}]
-std::optional<std::string_view> mjuu_parseContentTypeAttrSubtype(std::string_view text);
-
-// convert filename extension to content type; return empty string if not found
-std::string mjuu_extToContentType(std::string_view filename);
-
-// get the length of the dirname portion of a given path
-int mjuu_dirnamelen(const char* path);
-
-#endif  // MUJOCO_SRC_USER_USER_UTIL_H_
diff --git a/src/user/user_vfs.cc b/src/user/user_vfs.cc
deleted file mode 100644
index 0a194da8..00000000
--- a/src/user/user_vfs.cc
+++ /dev/null
@@ -1,572 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "user/user_vfs.h"
-
-#include <sys/stat.h>
-#if defined(_WIN32) && !defined(__MINGW32__)
-#define stat _stat
-#endif
-
-#include <algorithm>
-#include <cctype>
-#include <cstddef>
-#include <cstdint>
-#include <cstdio>
-#include <cstring>
-#include <ctime>
-#include <functional>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "engine/engine_util_misc.h"
-#include "user/user_util.h"
-
-namespace {
-
-// struct for holding the contents of a file
-struct ResourceFileData {
-  std::vector<uint8_t> contents;
-  time_t modified_time = 0;
-  bool is_read = false;
-};
-
-int OpenFile(const char* filename, mjResource* resource) {
-  struct stat file_stat;
-  if (stat(filename, &file_stat) == 0) {
-    ResourceFileData* data = new ResourceFileData();
-    resource->data = data;
-
-    data->modified_time = file_stat.st_mtime;
-    mju_encodeBase64(resource->timestamp, (uint8_t*)&file_stat.st_mtime,
-                     sizeof(time_t));
-    return 1;
-  }
-  return 0;
-}
-
-int ReadFile(const char* filename, mjResource* resource, const void** buffer) {
-  ResourceFileData* data = (ResourceFileData*)resource->data;
-  if (!data->is_read) {
-    data->contents = mujoco::user::FileToMemory(filename);
-    data->is_read = true;
-  }
-  *buffer = data->contents.data();
-  return static_cast<int>(data->contents.size());
-}
-
-void CloseFile(mjResource* resource) {
-  delete (ResourceFileData*)resource->data;
-  resource->data = nullptr;
-}
-
-int FileModified(const mjResource* resource, const char* timestamp) {
-  if (mju_isValidBase64(timestamp) != sizeof(time_t)) {
-    return 1;
-  }
-  time_t time;
-  mju_decodeBase64((uint8_t*)&time, timestamp);
-
-  ResourceFileData* data = (ResourceFileData*)resource->data;
-  const double diff = difftime(data->modified_time, time);
-
-  if (diff < 0) return -1;
-  if (diff > 0) return 1;
-  return 0;
-}
-
-std::string StripPathAndLower(std::string path) {
-  std::size_t n = path.find_last_of("/\\");
-  if (n != std::string::npos) {
-    path = path.substr(n + 1);
-  }
-  std::transform(path.begin(), path.end(), path.begin(),
-                 [](unsigned char c) { return std::tolower(c); });
-  return path;
-}
-
-}  // namespace
-
-namespace mujoco::user {
-
-VFS::VFS(mjVFS* vfs) {
-  wrapped_vfs_.impl_ = this;
-  mjp_defaultResourceProvider(&default_provider_);
-  default_provider_.open = [](mjResource* res) {
-    return OpenFile(res->name, res);
-  };
-  default_provider_.read = [](mjResource* res, const void** buffer) {
-    return ReadFile(res->name, res, buffer);
-  };
-  default_provider_.close = [](mjResource* res) {
-    CloseFile(res);
-  };
-  default_provider_.modified = [](const mjResource* res, const char* time) {
-    return FileModified(res, time);
-  };
-  default_provider_.write = [](mjResource* res, const void* buffer, mjtSize nbytes) -> mjtSize {
-    FILE* fp = fopen(res->name, "wb");
-    if (!fp) {
-      return -1;
-    }
-    mjtSize written = static_cast<mjtSize>(fwrite(buffer, 1, nbytes, fp));
-    fclose(fp);
-    return written == nbytes ? written : -1;
-  };
-
-  default_provider_.prefix = nullptr;
-  default_mount_.vfs = &wrapped_vfs_;
-  default_mount_.provider = &default_provider_;
-  default_mount_.data = nullptr;
-  default_mount_.name = nullptr;
-}
-
-VFS::~VFS() {
-  if (!open_resources_.empty()) {
-    mju_warning(
-        "VFS destroyed with %zu open resources. Resources will be invalidated.",
-        open_resources_.size());
-  }
-  for (auto& [ptr, res] : open_resources_) {
-    if (res->provider->close) {
-      res->provider->close(res.get());
-    }
-  }
-  open_resources_.clear();
-
-  for (auto& [path, res] : mounts_) {
-    if (res->provider->unmount) {
-      res->provider->unmount(res.get());
-    }
-  }
-  mounts_.clear();
-}
-
-mjResource* VFS::Open(const char* dir, const char* name, char* error,
-                      size_t nerror) {
-  const std::string path = FilePath(dir, name).Str();
-
-  const mjResource* mount = FindMount(path);
-  if (!mount || !mount->provider) {
-    if (error) {
-      std::snprintf(error, nerror, "No provider found for '%s'", name);
-    }
-    MaybeSelfDestruct();
-    return nullptr;
-  }
-
-  const mjpResourceProvider* provider = mount->provider;
-
-  ResourcePtr res = CreateResource(path.c_str(), provider);
-
-  // Smuggle the mounted resource provider's mount-specific data pointer in the
-  // requested resource's data pointer. This allows the provider to access its
-  // own per-mount data without any intrusive changes to the provider interface.
-  res->data = mount->data;
-  const int result = provider->open ? provider->open(res.get()) : 0;
-  // If the data pointer was not modified, then that means the resource did not
-  // set its own data pointer. So, we need to set it back to nullptr.
-  if (res->data == mount->data) {
-    res->data = nullptr;
-  }
-
-  if (result == 0) {
-    res.reset();
-    MaybeSelfDestruct();
-    return nullptr;
-  }
-
-  std::lock_guard<std::mutex> lock(mutex_);
-  mjResource* res_ptr = res.get();
-  open_resources_.emplace(res_ptr, std::move(res));
-  return res_ptr;
-}
-
-VFS::Status VFS::Mount(const FilePath& path,
-                       const mjpResourceProvider* provider) {
-  if (!provider) {
-    return kInvalidResourceProvider;
-  }
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-    if (mounts_.contains(path.Str())) {
-      return kRepeatedName;
-    }
-  }
-
-  ResourcePtr res = CreateResource(path.c_str(), provider);
-  provider->mount(res.get());
-
-  std::lock_guard<std::mutex> lock(mutex_);
-  mounts_.emplace(path.Str(), std::move(res));
-  return kSuccess;
-}
-
-VFS::Status VFS::Close(mjResource* res) {
-  VFS::Status status = kInvalidResource;
-  bool last_resource = false;
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-    if (auto it = open_resources_.find(res); it != open_resources_.end()) {
-      if (res->provider->close) {
-        res->provider->close(res);
-      }
-      open_resources_.erase(it);
-      last_resource = open_resources_.empty();
-      status = kSuccess;
-    }
-  }
-
-  if (status == kSuccess && last_resource) {
-    MaybeSelfDestruct();
-  }
-  return status;
-}
-
-VFS::Status VFS::Unmount(const FilePath& path) {
-  std::lock_guard<std::mutex> lock(mutex_);
-  if (auto it = mounts_.find(path.Str()); it != mounts_.end()) {
-    if (it->second->provider->unmount) {
-      it->second->provider->unmount(it->second.get());
-    }
-    mounts_.erase(it);
-    return kSuccess;
-  }
-  return kInvalidResourceProvider;
-}
-
-bool VFS::ContainsBuffer(const char* name) {
-  if (name == nullptr) {
-    return false;
-  }
-  std::lock_guard<std::mutex> lock(mutex_);
-  return mounts_.contains(name);
-}
-
-bool VFS::ContainsFile(const char* directory, const char* filename) {
-  if (filename == nullptr) {
-    return false;
-  }
-  mujoco::user::FilePath path(directory ? directory : "", filename);
-  std::string key = path.StripPath().Lower().Str();
-  std::lock_guard<std::mutex> lock(mutex_);
-  return mounts_.contains(key);
-}
-
-int VFS::Read(mjResource* resource, const void** buffer) {
-  if (resource && resource->provider && resource->provider->read) {
-    return resource->provider->read(resource, buffer);
-  }
-  return kFailedToRead;
-}
-
-mjtSize VFS::Write(mjResource* resource, const void* buffer, mjtSize nbytes) {
-  if (resource) {
-    if (!resource->provider) {
-      const mjResource* mount = FindMount(resource->name);
-      if (mount) {
-        resource->provider = mount->provider;
-        // Smuggle mount data if not already set.
-        if (!resource->data) {
-          resource->data = mount->data;
-        }
-      }
-    }
-    if (resource->provider && resource->provider->write) {
-      return resource->provider->write(resource, buffer, nbytes);
-    }
-  }
-  return -1;
-}
-
-VFS::ResourcePtr VFS::CreateResource(std::string_view name,
-                                     const mjpResourceProvider* provider) {
-  mjResource* res = new mjResource();
-  res->vfs = &wrapped_vfs_;
-  res->provider = provider;
-  res->data = nullptr;
-  res->name = new char[name.size() + 1];
-  std::strncpy(res->name, name.data(), name.size());
-  res->name[name.size()] = 0;
-  res->timestamp[0] = 0;
-
-  return ResourcePtr(res, [](mjResource* ptr) {
-    if (ptr->data) {
-      // TODO: Make this an error eventually. For now, we continue to allow
-      // users to free their data pointers without resetting them to nullptr.
-      mju_warning(
-          "mjResource::data is not null; did you forget to close/unmount it?");
-    }
-    delete[] ptr->name;
-    delete ptr;
-  });
-}
-
-mjResource* VFS::FindMount(const std::string& fullpath) {
-  std::lock_guard<std::mutex> lock(mutex_);
-
-  std::string str = fullpath;
-  while (!str.empty()) {
-    auto it = mounts_.find(str);
-    if (it != mounts_.end()) {
-      return it->second.get();
-    }
-
-    std::size_t n = str.find_last_of("/\\");
-    if (n == std::string::npos) {
-      str = "";
-    } else {
-      str = str.substr(0, n);
-    }
-  }
-
-  const mjpResourceProvider* provider =
-      mjp_getResourceProvider(fullpath.c_str());
-  if (provider) {
-    if (auto it = mounts_.find(provider->prefix); it != mounts_.end()) {
-      return it->second.get();
-    }
-
-    ResourcePtr res = CreateResource(provider->prefix, provider);
-    mjResource* res_ptr = res.get();
-    mounts_.emplace(provider->prefix, std::move(res));
-    if (provider->mount) {
-      provider->mount(res_ptr);
-    }
-    return res_ptr;
-  }
-
-  // Legacy use-case: match on just the case-insensitive filename.
-  const std::string filename = StripPathAndLower(fullpath);
-  for (auto& [path, res] : mounts_) {
-    if (StripPathAndLower(path) == filename) {
-      return res.get();
-    }
-  }
-
-  return &default_mount_;
-}
-
-void VFS::MaybeSelfDestruct() {
-  if (destructor_) {
-    // Copy the destructor to a local variable so that we can destroy `this`
-    // object within the destructor.
-    auto fn = std::move(destructor_);
-    fn();
-  }
-}
-
-void VFS::SetToSelfDestruct(std::function<void()> destructor) {
-  destructor_ = std::move(destructor);
-}
-
-VFS* VFS::Upcast(mjVFS* vfs) {
-  return vfs ? static_cast<VFS*>(vfs->impl_) : nullptr;
-}
-
-const VFS* VFS::Upcast(const mjVFS* vfs) {
-  return vfs ? static_cast<const VFS*>(vfs->impl_) : nullptr;
-}
-
-}  // namespace mujoco::user
-
-void mj_defaultVFS(mjVFS* vfs) {
-  if (vfs == nullptr) {
-    mju_error("mjVFS is null.");
-  } else {
-    vfs->impl_ = new mujoco::user::VFS(vfs);
-  }
-}
-
-void mj_deleteVFS(mjVFS* vfs) {
-  if (vfs) {
-    delete mujoco::user::VFS::Upcast(vfs);
-    vfs->impl_ = nullptr;
-  }
-}
-
-int mj_mountVFS(mjVFS* vfs, const char* filepath,
-                const mjpResourceProvider* provider) {
-  mujoco::user::VFS* impl = mujoco::user::VFS::Upcast(vfs);
-  if (impl == nullptr) {
-    mju_error("mjVFS is null.");
-    return mujoco::user::VFS::kInvalidVfs;
-  }
-
-  if (filepath == nullptr) {
-    return mujoco::user::VFS::kNotFound;
-  }
-  const mujoco::user::FilePath path(filepath);
-  const mujoco::user::VFS::Status status = impl->Mount(path, provider);
-  return static_cast<int>(status);
-}
-
-int mj_unmountVFS(mjVFS* vfs, const char* filename) {
-  mujoco::user::VFS* impl = mujoco::user::VFS::Upcast(vfs);
-  if (impl == nullptr) {
-    mju_error("mjVFS is null.");
-    return mujoco::user::VFS::kInvalidVfs;
-  }
-
-  if (filename == nullptr) {
-    return mujoco::user::VFS::kNotFound;
-  }
-  const mujoco::user::FilePath path(filename);
-  const mujoco::user::VFS::Status status = impl->Unmount(path);
-  return static_cast<int>(status);
-}
-
-namespace {
-
-// Custom provider for mj_addFileVFS and mj_addBufferVFS.
-class BufferProvider : public mjpResourceProvider {
- public:
-  template <typename... Args>
-  static int Mount(mjVFS* vfs, Args&&... args) {
-    mujoco::user::VFS* impl = mujoco::user::VFS::Upcast(vfs);
-    if (impl == nullptr) {
-      mju_error("mjVFS is null.");
-      return -1;
-    }
-
-    BufferProvider* provider = new BufferProvider(std::forward<Args>(args)...);
-    provider->mount = [](mjResource* res) {
-      return static_cast<int>(mujoco::user::VFS::kSuccess);
-    };
-    provider->unmount = [](mjResource* res) {
-      delete (BufferProvider*)res->provider;
-      return static_cast<int>(mujoco::user::VFS::kSuccess);
-    };
-    provider->open = [](mjResource* res) {
-      BufferProvider* self = (BufferProvider*)res->provider;
-      mju_encodeBase64(res->timestamp, (std::uint8_t*)&self->hash_,
-                       sizeof(self->hash_));
-      return 1;
-    };
-    provider->read = [](mjResource* res, const void** out) {
-      BufferProvider* self = (BufferProvider*)res->provider;
-      *out = reinterpret_cast<void*>(self->contents_.data());
-      return static_cast<int>(self->contents_.size());
-    };
-    provider->close = [](mjResource* res) {
-      // no-op
-    };
-    provider->modified = [](const mjResource* res, const char* timestamp) {
-      const BufferProvider* self = (const BufferProvider*)res->provider;
-      if (mju_isValidBase64(timestamp) > sizeof(std::uint64_t)) {
-        return 1;
-      }
-      std::uint64_t test = 0;
-      mju_decodeBase64((std::uint8_t*)&test, timestamp);
-      if (self->hash_ != test) {
-        return 1;
-      }
-      return 0;
-    };
-
-    const mujoco::user::VFS::Status status =
-        impl->Mount(provider->path_, provider);
-    if (status != mujoco::user::VFS::kSuccess) {
-      delete provider;
-    }
-    return static_cast<int>(status);
-  }
-
- private:
-  BufferProvider(const char* dir, const char* filename) {
-    mjp_defaultResourceProvider(this);
-
-    mujoco::user::FilePath file_path(dir ? dir : "", filename);
-    path_ = file_path.StripPath().Lower();
-    contents_ = mujoco::user::FileToMemory(file_path.c_str());
-
-    static constexpr std::uint64_t prime = 0x100000001b3;
-    hash_ = contents_.empty() ? 0 : 0xcbf29ce484222325;
-    for (const std::uint8_t& byte : contents_) {
-      hash_ |= byte;
-      hash_ *= prime;
-    }
-  }
-
-  BufferProvider(const char* name, const void* src, size_t n) {
-    mjp_defaultResourceProvider(this);
-    path_ = mujoco::user::FilePath(name);
-
-    static constexpr std::uint64_t prime = 0x100000001b3;
-    hash_ = n ? 0xcbf29ce484222325 : 0;
-
-    const std::uint8_t* src_bytes = static_cast<const std::uint8_t*>(src);
-    contents_.reserve(n);
-    for (size_t i = 0; i < n; i++) {
-      contents_.push_back(src_bytes[i]);
-      hash_ |= src_bytes[i];
-      hash_ *= prime;
-    }
-  }
-
-  mujoco::user::FilePath path_;
-  std::vector<std::uint8_t> contents_;
-  std::uint64_t hash_ = 0;
-};
-
-}  // namespace
-
-int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename) {
-  // Opens the files and copies its contents into the BufferProvider, then
-  // mounts the provider at the given path.
-  return BufferProvider::Mount(vfs, directory, filename);
-}
-
-int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer,
-                    int nbuffer) {
-  // Copies the buffer into the BufferProvider and mounts it at the given path.
-  return BufferProvider::Mount(vfs, name, buffer, nbuffer);
-}
-
-int mj_deleteFileVFS(mjVFS* vfs, const char* filename) {
-  if (filename == nullptr) {
-    return mujoco::user::VFS::kNotFound;
-  }
-
-  if (mj_unmountVFS(vfs, filename) != 0) {
-    mujoco::user::FilePath path(filename);
-    return mj_unmountVFS(vfs, path.StripPath().Lower().c_str());
-  }
-  return mujoco::user::VFS::kSuccess;
-}
-
-int mj_containsBufferVFS(mjVFS* vfs, const char* name) {
-  mujoco::user::VFS* impl = mujoco::user::VFS::Upcast(vfs);
-  if (impl == nullptr) {
-    mju_error("mjVFS is null.");
-    return -1;
-  }
-  return impl->ContainsBuffer(name);
-}
-
-int mj_containsFileVFS(mjVFS* vfs, const char* directory, const char* filename) {
-  mujoco::user::VFS* impl = mujoco::user::VFS::Upcast(vfs);
-  if (impl == nullptr) {
-    mju_error("mjVFS is null.");
-    return -1;
-  }
-  return impl->ContainsFile(directory, filename);
-}
-
diff --git a/src/user/user_vfs.h b/src/user/user_vfs.h
deleted file mode 100644
index 802b287d..00000000
--- a/src/user/user_vfs.h
+++ /dev/null
@@ -1,143 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-// IWYU pragma: private, include "third_party/mujoco/include/mujoco.h"
-// IWYU pragma: friend "third_party/mujoco/src/.*"
-
-#ifndef MUJOCO_SRC_USER_USER_VFS_H_
-#define MUJOCO_SRC_USER_USER_VFS_H_
-
-#include <functional>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "user/user_util.h"
-
-namespace mujoco::user {
-
-// Underlying Virtual File System implementation for opaque mjVFS struct.
-//
-// This class owns and manages all the mjResource instances that are created
-// using the mju_openResource. Its main job is to find the correct
-// mjpResourceProvider to handle the mju open/read/close operations. It does
-// this by "mounting" mjpResourceProviders at specific paths such that any
-// operation within that path will be handled by the mjpResourceProvider.
-//
-// Mounting can be done explicitly (using mj_mountVFS) or implicitly (using
-// mjp_registerResourceProvider). If no provider is found for a given path,
-// then a "default" provider is used that uses normal C file operations to
-// open/read/close files.
-//
-// To support legacy use-cases (where the VFS is an optional argument), a
-// "self-destruct" mode can be configured so that a temporary VFS instance can
-// be created with a lifetime tied to the opened mjResource instance.
-//
-// This class itself is thread-safe, but it makes no guarantees about the
-// thread-safety of the underlying mjResourceProviders.
-class VFS {
- public:
-  explicit VFS(mjVFS* vfs);
-  ~VFS();
-
-  VFS(const VFS&) = delete;
-  VFS& operator=(const VFS&) = delete;
-
-  // Status codes for VFS operations. Values are based on the mj_VFS APIs.
-  enum Status {
-    kSuccess = 0,
-    kFailedToLoad = -1,
-    kFailedToRead = -1,
-    kNotFound = -1,
-    kRepeatedName = 2,
-    kInvalidVfs = -1,
-    kInvalidResource = -1,
-    kInvalidResourceProvider = -1,
-  };
-
-  // Opens a mjResource for the given path, or nullptr on error. If successful,
-  // will invoke the 'open' callback for the mjpResourceProvider associated with
-  // the path/dir.
-  mjResource* Open(const char* dir, const char* name, char* error = nullptr,
-                   size_t nerror = 0);
-
-  // Sets `buffer` to the contents of the resource and returns the number of
-  // bytes of the content. This is done by invoking the 'read' callback for the
-  // mjpResourceProvider associated with the resource. Returns -1 on error.
-  int Read(mjResource* resource, const void** buffer);
-
-  // Writes the resource data. This is done by invoking the 'write' callback for
-  // the mjpResourceProvider associated with the resource.
-  // Returns bytes written, or -1 on error.
-  mjtSize Write(mjResource* resource, const void* buffer, mjtSize nbytes);
-
-  // Closes the resource by invoking the 'close' callback for
-  // the mjpResourceProvider associated with the resource.
-  Status Close(mjResource* resource);
-
-  // Mounts a ResourceProvider at the given path. All subsequent operations
-  // under `path` will be delegated to the `provider` until it is unmounted.
-  Status Mount(const FilePath& path, const mjpResourceProvider* provider);
-
-  // Unmounts the ResourceProvider from the given path.
-  Status Unmount(const FilePath& path);
-
-  // Returns true if the VFS contains a buffer with the given name.
-  bool ContainsBuffer(const char* name);
-
-  // Returns true if the VFS contains a file with the given name.
-  bool ContainsFile(const char* directory, const char* filename);
-
-  // Sets a destructor to be called when the VFS has no more open resources.
-  // Assumes that `destructor` will delete `this`.
-  //
-  // This is useful for when you want to create a temporary VFS instance with
-  // a lifetime tied to a single mjResource to be opened. The `destructor`
-  // should be set to `delete this` and any other cleanup that needs to happen.
-  void SetToSelfDestruct(std::function<void()> destructor);
-
-  // Converts the public C-API pointer to the internal C++ class.
-  static VFS* Upcast(mjVFS* vfs);
-  static const VFS* Upcast(const mjVFS* vfs);
-
- private:
-  using ResourcePtr = std::unique_ptr<mjResource, void (*)(mjResource*)>;
-  ResourcePtr CreateResource(std::string_view name,
-                             const mjpResourceProvider* provider);
-
-  // Returns a mounted mjResource* that matches the given path. If no explicitly
-  // mounted mjResource* is found, returns a "default" mounting that uses the
-  // C file system.
-  mjResource* FindMount(const std::string& fullpath);
-
-  // Invokes the `destructor_, but only if it has been set previously. This
-  // should be only called when resources_ is empty and callers should assume
-  // that `this` will be invalidated after this call.
-  void MaybeSelfDestruct();
-
-  mjVFS wrapped_vfs_;
-  std::mutex mutex_;  // Protects open_resources_ and mounts_.
-  std::unordered_map<mjResource*, ResourcePtr> open_resources_;
-  std::unordered_map<std::string, ResourcePtr> mounts_;
-  mjResource default_mount_;
-  mjpResourceProvider default_provider_;
-  std::function<void()> destructor_;
-};
-
-}  // namespace mujoco::user
-
-#endif  // MUJOCO_SRC_USER_USER_VFS_H_
diff --git a/src/xml/CMakeLists.txt b/src/xml/CMakeLists.txt
deleted file mode 100644
index d35d14cb..00000000
--- a/src/xml/CMakeLists.txt
+++ /dev/null
@@ -1,36 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_XML_SRCS
-    xml_api.cc
-    xml_api.h
-    xml_base.cc
-    xml_base.h
-    xml_global.cc
-    xml_global.h
-    xml.cc
-    xml.h
-    xml_native_reader.cc
-    xml_native_reader.h
-    xml_numeric_format.cc
-    xml_numeric_format.h
-    xml_native_writer.cc
-    xml_native_writer.h
-    xml_urdf.cc
-    xml_urdf.h
-    xml_util.cc
-    xml_util.h
-)
-
-target_sources(mujoco PRIVATE ${MUJOCO_XML_SRCS})
diff --git a/src/xml/generated/dmcontrol_schema.xml b/src/xml/generated/dmcontrol_schema.xml
deleted file mode 100644
index cf376fa8..00000000
--- a/src/xml/generated/dmcontrol_schema.xml
+++ /dev/null
@@ -1,3227 +0,0 @@
-<!-- Generated by generate_dmcontrol.py from mjcf.schema;
-     do not edit by hand. The element surface is frozen to
-     what dm_control supports (see EXCLUDED_ELEMENTS);
-     attribute facts follow mjcf.schema. -->
-<element name="mujoco">
-  <attributes>
-    <attribute name="model" type="string" conflict_allowed="true"/>
-  </attributes>
-  <children>
-    <element name="compiler">
-      <attributes>
-        <attribute name="autolimits" type="keyword" valid_values="false true" default="true"/>
-        <attribute name="boundmass" type="float"/>
-        <attribute name="boundinertia" type="float"/>
-        <attribute name="settotalmass" type="float" default="-1"/>
-        <attribute name="balanceinertia" type="keyword" valid_values="false true"/>
-        <attribute name="strippath" type="keyword" valid_values="false true"/>
-        <attribute name="coordinate" type="keyword" valid_values="local global"/>
-        <attribute name="angle" type="keyword" valid_values="radian degree" default="degree"/>
-        <attribute name="fitaabb" type="keyword" valid_values="false true"/>
-        <attribute name="eulerseq" type="string"/>
-        <attribute name="meshdir" type="basepath" path_namespace="mesh" conflict_allowed="true"/>
-        <attribute name="texturedir" type="basepath" path_namespace="texture" conflict_allowed="true"/>
-        <attribute name="discardvisual" type="keyword" valid_values="false true"/>
-        <attribute name="usethread" type="keyword" valid_values="false true" default="true"/>
-        <attribute name="fusestatic" type="keyword" valid_values="false true"/>
-        <attribute name="inertiafromgeom" type="keyword" valid_values="false true auto" default="auto"/>
-        <attribute name="inertiagrouprange" type="array" array_type="int" array_size="2" default="0 5"/>
-        <attribute name="saveinertial" type="keyword" valid_values="false true"/>
-        <attribute name="assetdir" type="basepath" path_namespace="asset" conflict_allowed="true"/>
-        <attribute name="alignfree" type="keyword" valid_values="false true"/>
-        <attribute name="conflict" type="keyword" valid_values="warning merge error"/>
-      </attributes>
-      <children>
-        <element name="lengthrange">
-          <attributes>
-            <attribute name="mode" type="keyword" valid_values="none muscle muscleuser all" default="muscle"/>
-            <attribute name="useexisting" type="keyword" valid_values="false true" default="true"/>
-            <attribute name="uselimit" type="keyword" valid_values="false true"/>
-            <attribute name="accel" type="float" default="20"/>
-            <attribute name="maxforce" type="float"/>
-            <attribute name="timeconst" type="float" default="1"/>
-            <attribute name="timestep" type="float" default="0.01"/>
-            <attribute name="inttotal" type="float" default="10"/>
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
-          </attributes>
-        </element>
-        <element name="camprojection" repeated="true" namespace="sensor">
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-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
-            <attribute name="camera" type="reference" reference_namespace="camera" required="true"/>
-          </attributes>
-        </element>
-        <element name="rangefinder" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="site" type="reference" reference_namespace="site"/>
-            <attribute name="camera" type="reference" reference_namespace="camera"/>
-            <attribute name="data" type="string"/>
-          </attributes>
-        </element>
-        <element name="jointpos" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
-          </attributes>
-        </element>
-        <element name="jointvel" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
-          </attributes>
-        </element>
-        <element name="tendonpos" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
-          </attributes>
-        </element>
-        <element name="tendonvel" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
-          </attributes>
-        </element>
-        <element name="actuatorpos" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="actuator" type="reference" reference_namespace="actuator" required="true"/>
-          </attributes>
-        </element>
-        <element name="actuatorvel" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="actuator" type="reference" reference_namespace="actuator" required="true"/>
-          </attributes>
-        </element>
-        <element name="actuatorfrc" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="actuator" type="reference" reference_namespace="actuator" required="true"/>
-          </attributes>
-        </element>
-        <element name="jointactuatorfrc" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
-          </attributes>
-        </element>
-        <element name="tendonactuatorfrc" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
-          </attributes>
-        </element>
-        <element name="ballquat" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
-          </attributes>
-        </element>
-        <element name="ballangvel" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
-          </attributes>
-        </element>
-        <element name="jointlimitpos" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
-          </attributes>
-        </element>
-        <element name="jointlimitvel" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
-          </attributes>
-        </element>
-        <element name="jointlimitfrc" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="joint" type="reference" reference_namespace="joint" required="true"/>
-          </attributes>
-        </element>
-        <element name="tendonlimitpos" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
-          </attributes>
-        </element>
-        <element name="tendonlimitvel" repeated="true" namespace="sensor">
-          <attributes>
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
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-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
-          </attributes>
-        </element>
-        <element name="tendonlimitfrc" repeated="true" namespace="sensor">
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="tendon" type="reference" reference_namespace="tendon" required="true"/>
-          </attributes>
-        </element>
-        <element name="framepos" repeated="true" namespace="sensor">
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
-            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
-            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
-            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
-          </attributes>
-        </element>
-        <element name="framequat" repeated="true" namespace="sensor">
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
-            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
-            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
-            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
-          </attributes>
-        </element>
-        <element name="framexaxis" repeated="true" namespace="sensor">
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
-            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
-            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
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-          </attributes>
-        </element>
-        <element name="frameyaxis" repeated="true" namespace="sensor">
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
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-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
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-        </element>
-        <element name="framezaxis" repeated="true" namespace="sensor">
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-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
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-            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
-            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
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-        </element>
-        <element name="framelinvel" repeated="true" namespace="sensor">
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
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-            <attribute name="reftype" type="keyword" valid_values="body xbody geom site camera"/>
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-        </element>
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
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-        </element>
-        <element name="framelinacc" repeated="true" namespace="sensor">
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
-            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
-          </attributes>
-        </element>
-        <element name="frameangacc" repeated="true" namespace="sensor">
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-            <attribute name="delay" type="float"/>
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
-            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
-          </attributes>
-        </element>
-        <element name="subtreecom" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="body" type="reference" reference_namespace="body" required="true"/>
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-        </element>
-        <element name="subtreelinvel" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
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-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="body" type="reference" reference_namespace="body" required="true"/>
-          </attributes>
-        </element>
-        <element name="subtreeangmom" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
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-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="body" type="reference" reference_namespace="body" required="true"/>
-          </attributes>
-        </element>
-        <element name="insidesite" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="site" type="reference" reference_namespace="site" required="true"/>
-            <attribute name="objtype" type="keyword" valid_values="body xbody geom site camera" required="true"/>
-            <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
-          </attributes>
-        </element>
-        <element name="distance" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="geom1" type="reference" reference_namespace="geom"/>
-            <attribute name="geom2" type="reference" reference_namespace="geom"/>
-            <attribute name="body1" type="reference" reference_namespace="body"/>
-            <attribute name="body2" type="reference" reference_namespace="body"/>
-          </attributes>
-        </element>
-        <element name="normal" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="geom1" type="reference" reference_namespace="geom"/>
-            <attribute name="geom2" type="reference" reference_namespace="geom"/>
-            <attribute name="body1" type="reference" reference_namespace="body"/>
-            <attribute name="body2" type="reference" reference_namespace="body"/>
-          </attributes>
-        </element>
-        <element name="fromto" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-            <attribute name="geom1" type="reference" reference_namespace="geom"/>
-            <attribute name="geom2" type="reference" reference_namespace="geom"/>
-            <attribute name="body1" type="reference" reference_namespace="body"/>
-            <attribute name="body2" type="reference" reference_namespace="body"/>
-          </attributes>
-        </element>
-        <element name="e_potential" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-          </attributes>
-        </element>
-        <element name="e_kinetic" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-          </attributes>
-        </element>
-        <element name="clock" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-          </attributes>
-        </element>
-        <element name="tactile" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="geom" type="reference" reference_namespace="geom" required="true"/>
-            <attribute name="mesh" type="reference" reference_namespace="mesh" required="true"/>
-            <attribute name="nsample" type="int"/>
-            <attribute name="interp" type="keyword" valid_values="zoh linear cubic"/>
-            <attribute name="delay" type="float"/>
-            <attribute name="interval" type="array" array_type="float" array_size="2"/>
-            <attribute name="user" type="array" array_type="float"/>
-          </attributes>
-        </element>
-        <element name="user" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="objtype" type="string"/>
-            <attribute name="objname" type="reference" reference_namespace="attrib:objtype"/>
-            <attribute name="datatype" type="keyword" valid_values="real positive axis quaternion" default="real"/>
-            <attribute name="needstage" type="keyword" valid_values="none pos vel acc" default="acc"/>
-            <attribute name="dim" type="int"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="noise" type="float"/>
-            <attribute name="user" type="array" array_type="float"/>
-          </attributes>
-        </element>
-        <element name="plugin" repeated="true" namespace="sensor">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="plugin" type="string"/>
-            <attribute name="instance" type="reference" reference_namespace="plugin"/>
-            <attribute name="cutoff" type="float"/>
-            <attribute name="objtype" type="string"/>
-            <attribute name="objname" type="reference" reference_namespace="attrib:objtype"/>
-            <attribute name="reftype" type="string"/>
-            <attribute name="refname" type="reference" reference_namespace="attrib:reftype"/>
-            <attribute name="user" type="array" array_type="float"/>
-          </attributes>
-          <children>
-            <element name="config" repeated="true">
-              <attributes>
-                <attribute name="key" type="string" required="true"/>
-                <attribute name="value" type="string"/>
-              </attributes>
-            </element>
-          </children>
-        </element>
-      </children>
-    </element>
-    <element name="custom">
-      <children>
-        <element name="numeric" repeated="true">
-          <attributes>
-            <attribute name="name" type="identifier" required="true"/>
-            <attribute name="size" type="int"/>
-            <attribute name="data" type="string"/>
-          </attributes>
-        </element>
-        <element name="text" repeated="true">
-          <attributes>
-            <attribute name="name" type="identifier" required="true"/>
-            <attribute name="data" type="string" required="true"/>
-          </attributes>
-        </element>
-        <element name="tuple" repeated="true">
-          <attributes>
-            <attribute name="name" type="identifier" required="true"/>
-          </attributes>
-          <children>
-            <element name="element" repeated="true">
-              <attributes>
-                <attribute name="objtype" type="string" required="true"/>
-                <attribute name="objname" type="reference" reference_namespace="attrib:objtype" required="true"/>
-                <attribute name="prm" type="float"/>
-              </attributes>
-            </element>
-          </children>
-        </element>
-      </children>
-    </element>
-    <element name="keyframe">
-      <children>
-        <element name="key" repeated="true">
-          <attributes>
-            <attribute name="name" type="identifier"/>
-            <attribute name="time" type="float"/>
-            <attribute name="qpos" type="array" array_type="float"/>
-            <attribute name="qvel" type="array" array_type="float"/>
-            <attribute name="act" type="array" array_type="float"/>
-            <attribute name="mpos" type="array" array_type="float"/>
-            <attribute name="mquat" type="array" array_type="float"/>
-            <attribute name="ctrl" type="array" array_type="float"/>
-          </attributes>
-        </element>
-      </children>
-    </element>
-  </children>
-</element>
diff --git a/src/xml/generated/mjcf.xsd b/src/xml/generated/mjcf.xsd
deleted file mode 100644
index 8ee7be6f..00000000
--- a/src/xml/generated/mjcf.xsd
+++ /dev/null
@@ -1,4101 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!-- Generated by generate_xsd.py from mjcf.schema.
-     Do not edit by hand; see test/doc/doc_test.py.
-
-     This schema is deliberately permissive: it never
-     rejects a legal model, but accepts some models the
-     parser rejects. Child cardinality and attribute
-     presence constraints are carried as documentation
-     annotations. -->
-<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
-
-  <xs:simpleType name="kw_bool">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="false"/>
-      <xs:enumeration value="true"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_coordinate">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="local"/>
-      <xs:enumeration value="global"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_angle">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="radian"/>
-      <xs:enumeration value="degree"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_fluidshape">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="ellipsoid"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_enable">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="disable"/>
-      <xs:enumeration value="enable"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_FalseTrueAuto">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="false"/>
-      <xs:enumeration value="true"/>
-      <xs:enumeration value="auto"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_FalseAuto">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="false"/>
-      <xs:enumeration value="auto"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_bodysleep">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="auto"/>
-      <xs:enumeration value="never"/>
-      <xs:enumeration value="allowed"/>
-      <xs:enumeration value="init"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_jointtype">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="free"/>
-      <xs:enumeration value="ball"/>
-      <xs:enumeration value="slide"/>
-      <xs:enumeration value="hinge"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_geomtype">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="plane"/>
-      <xs:enumeration value="hfield"/>
-      <xs:enumeration value="sphere"/>
-      <xs:enumeration value="capsule"/>
-      <xs:enumeration value="ellipsoid"/>
-      <xs:enumeration value="cylinder"/>
-      <xs:enumeration value="box"/>
-      <xs:enumeration value="mesh"/>
-      <xs:enumeration value="sdf"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_projection">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="perspective"/>
-      <xs:enumeration value="orthographic"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_camlight">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="fixed"/>
-      <xs:enumeration value="track"/>
-      <xs:enumeration value="trackcom"/>
-      <xs:enumeration value="targetbody"/>
-      <xs:enumeration value="targetbodycom"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_lighttype">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="spot"/>
-      <xs:enumeration value="directional"/>
-      <xs:enumeration value="point"/>
-      <xs:enumeration value="image"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_texrole">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="rgb"/>
-      <xs:enumeration value="occlusion"/>
-      <xs:enumeration value="roughness"/>
-      <xs:enumeration value="metallic"/>
-      <xs:enumeration value="normal"/>
-      <xs:enumeration value="opacity"/>
-      <xs:enumeration value="emissive"/>
-      <xs:enumeration value="rgba"/>
-      <xs:enumeration value="orm"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_integrator">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="Euler"/>
-      <xs:enumeration value="RK4"/>
-      <xs:enumeration value="implicit"/>
-      <xs:enumeration value="implicitfast"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_cone">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="pyramidal"/>
-      <xs:enumeration value="elliptic"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_jacobian">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="dense"/>
-      <xs:enumeration value="sparse"/>
-      <xs:enumeration value="auto"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_solver">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="PGS"/>
-      <xs:enumeration value="CG"/>
-      <xs:enumeration value="Newton"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_equality">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="connect"/>
-      <xs:enumeration value="weld"/>
-      <xs:enumeration value="joint"/>
-      <xs:enumeration value="tendon"/>
-      <xs:enumeration value="flex"/>
-      <xs:enumeration value="flexvert"/>
-      <xs:enumeration value="flexstrain"/>
-      <xs:enumeration value="distance"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_texture">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="2d"/>
-      <xs:enumeration value="cube"/>
-      <xs:enumeration value="skybox"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_colorspace">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="auto"/>
-      <xs:enumeration value="linear"/>
-      <xs:enumeration value="sRGB"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_builtin">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="gradient"/>
-      <xs:enumeration value="checker"/>
-      <xs:enumeration value="flat"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_mark">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="edge"/>
-      <xs:enumeration value="cross"/>
-      <xs:enumeration value="random"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_dyn">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="integrator"/>
-      <xs:enumeration value="filter"/>
-      <xs:enumeration value="filterexact"/>
-      <xs:enumeration value="muscle"/>
-      <xs:enumeration value="dcmotor"/>
-      <xs:enumeration value="pid"/>
-      <xs:enumeration value="user"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_inputkeyword">
-    <xs:annotation>
-      <xs:documentation>whole-attribute keyword: the empty signature</xs:documentation>
-    </xs:annotation>
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_gain">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="fixed"/>
-      <xs:enumeration value="affine"/>
-      <xs:enumeration value="muscle"/>
-      <xs:enumeration value="dcmotor"/>
-      <xs:enumeration value="so3"/>
-      <xs:enumeration value="pid"/>
-      <xs:enumeration value="user"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_inputchart">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="expmap"/>
-      <xs:enumeration value="quat"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_inputbit">
-    <xs:annotation>
-      <xs:documentation>bitflags: tokens combine bitwise, canonical order enforced</xs:documentation>
-    </xs:annotation>
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="pos"/>
-      <xs:enumeration value="vel"/>
-      <xs:enumeration value="ff"/>
-      <xs:enumeration value="voltage"/>
-    </xs:restriction>
-  </xs:simpleType>
-  <xs:simpleType name="kwlist_inputbit">
-    <xs:list itemType="kw_inputbit"/>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_bias">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="affine"/>
-      <xs:enumeration value="muscle"/>
-      <xs:enumeration value="dcmotor"/>
-      <xs:enumeration value="so3"/>
-      <xs:enumeration value="user"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_interp">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="zoh"/>
-      <xs:enumeration value="linear"/>
-      <xs:enumeration value="cubic"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_stage">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="pos"/>
-      <xs:enumeration value="vel"/>
-      <xs:enumeration value="acc"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_datatype">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="real"/>
-      <xs:enumeration value="positive"/>
-      <xs:enumeration value="axis"/>
-      <xs:enumeration value="quaternion"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_frameobj">
-    <xs:annotation>
-      <xs:documentation>object kinds with a spatial frame</xs:documentation>
-    </xs:annotation>
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="body"/>
-      <xs:enumeration value="xbody"/>
-      <xs:enumeration value="geom"/>
-      <xs:enumeration value="site"/>
-      <xs:enumeration value="camera"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_condata">
-    <xs:annotation>
-      <xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
-    </xs:annotation>
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="found"/>
-      <xs:enumeration value="force"/>
-      <xs:enumeration value="torque"/>
-      <xs:enumeration value="dist"/>
-      <xs:enumeration value="pos"/>
-      <xs:enumeration value="normal"/>
-      <xs:enumeration value="tangent"/>
-    </xs:restriction>
-  </xs:simpleType>
-  <xs:simpleType name="kwlist_condata">
-    <xs:list itemType="kw_condata"/>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_raydata">
-    <xs:annotation>
-      <xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
-    </xs:annotation>
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="dist"/>
-      <xs:enumeration value="dir"/>
-      <xs:enumeration value="origin"/>
-      <xs:enumeration value="point"/>
-      <xs:enumeration value="normal"/>
-      <xs:enumeration value="depth"/>
-    </xs:restriction>
-  </xs:simpleType>
-  <xs:simpleType name="kwlist_raydata">
-    <xs:list itemType="kw_raydata"/>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_camout">
-    <xs:annotation>
-      <xs:documentation>bitflags: keywords combine bitwise</xs:documentation>
-    </xs:annotation>
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="rgb"/>
-      <xs:enumeration value="depth"/>
-      <xs:enumeration value="distance"/>
-      <xs:enumeration value="normal"/>
-      <xs:enumeration value="segmentation"/>
-    </xs:restriction>
-  </xs:simpleType>
-  <xs:simpleType name="kwlist_camout">
-    <xs:list itemType="kw_camout"/>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_reduce">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="mindist"/>
-      <xs:enumeration value="maxforce"/>
-      <xs:enumeration value="netforce"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_conflict">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="warning"/>
-      <xs:enumeration value="merge"/>
-      <xs:enumeration value="error"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_lrmode">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="muscle"/>
-      <xs:enumeration value="muscleuser"/>
-      <xs:enumeration value="all"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_comp">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="particle"/>
-      <xs:enumeration value="grid"/>
-      <xs:enumeration value="rope"/>
-      <xs:enumeration value="loop"/>
-      <xs:enumeration value="cable"/>
-      <xs:enumeration value="cloth"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_jkind">
-    <xs:annotation>
-      <xs:documentation>vestigial: composite pruning left a single kind</xs:documentation>
-    </xs:annotation>
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="main"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_shape">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="s"/>
-      <xs:enumeration value="cos(s)"/>
-      <xs:enumeration value="sin(s)"/>
-      <xs:enumeration value="0"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_meshinertia">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="convex"/>
-      <xs:enumeration value="legacy"/>
-      <xs:enumeration value="exact"/>
-      <xs:enumeration value="shell"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_meshbuiltin">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="sphere"/>
-      <xs:enumeration value="hemisphere"/>
-      <xs:enumeration value="cone"/>
-      <xs:enumeration value="supertorus"/>
-      <xs:enumeration value="supersphere"/>
-      <xs:enumeration value="wedge"/>
-      <xs:enumeration value="plate"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_fcomp">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="grid"/>
-      <xs:enumeration value="box"/>
-      <xs:enumeration value="cylinder"/>
-      <xs:enumeration value="ellipsoid"/>
-      <xs:enumeration value="square"/>
-      <xs:enumeration value="disc"/>
-      <xs:enumeration value="circle"/>
-      <xs:enumeration value="mesh"/>
-      <xs:enumeration value="gmsh"/>
-      <xs:enumeration value="direct"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_fdof">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="full"/>
-      <xs:enumeration value="radial"/>
-      <xs:enumeration value="trilinear"/>
-      <xs:enumeration value="quadratic"/>
-      <xs:enumeration value="2d"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_flexself">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="narrow"/>
-      <xs:enumeration value="bvh"/>
-      <xs:enumeration value="sap"/>
-      <xs:enumeration value="auto"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_elastic2d">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="none"/>
-      <xs:enumeration value="bend"/>
-      <xs:enumeration value="stretch"/>
-      <xs:enumeration value="both"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="kw_flexeq">
-    <xs:restriction base="xs:string">
-      <xs:enumeration value="false"/>
-      <xs:enumeration value="true"/>
-      <xs:enumeration value="vert"/>
-      <xs:enumeration value="strain"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double1to10">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:minLength value="1"/>
-      <xs:maxLength value="10"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double1to2">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:minLength value="1"/>
-      <xs:maxLength value="2"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double1to3">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:minLength value="1"/>
-      <xs:maxLength value="3"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double1to5">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:minLength value="1"/>
-      <xs:maxLength value="5"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double1to6">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:minLength value="1"/>
-      <xs:maxLength value="6"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double2">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:length value="2"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double3">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:length value="3"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double4">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:length value="4"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double6">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:length value="6"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="double7">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:double"/>
-      </xs:simpleType>
-      <xs:length value="7"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="doublelist">
-    <xs:list itemType="xs:double"/>
-  </xs:simpleType>
-
-  <xs:simpleType name="float2">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:float"/>
-      </xs:simpleType>
-      <xs:length value="2"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="float3">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:float"/>
-      </xs:simpleType>
-      <xs:length value="3"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="float4">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:float"/>
-      </xs:simpleType>
-      <xs:length value="4"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="floatlist">
-    <xs:list itemType="xs:float"/>
-  </xs:simpleType>
-
-  <xs:simpleType name="int1to3">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:int"/>
-      </xs:simpleType>
-      <xs:minLength value="1"/>
-      <xs:maxLength value="3"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="int2">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:int"/>
-      </xs:simpleType>
-      <xs:length value="2"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="int3">
-    <xs:restriction>
-      <xs:simpleType>
-        <xs:list itemType="xs:int"/>
-      </xs:simpleType>
-      <xs:length value="3"/>
-    </xs:restriction>
-  </xs:simpleType>
-
-  <xs:simpleType name="intlist">
-    <xs:list itemType="xs:int"/>
-  </xs:simpleType>
-
-  <xs:complexType name="mujoco">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): compiler (*), option (*), size (*), statistic (*), visual (*), default (R), extension (*), asset (*), body (R), deformable (*), contact (*), tendon (*), equality (*), actuator (*), sensor (*), custom (*), keyframe (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="compiler" type="compiler"/>
-      <xs:element name="option" type="option"/>
-      <xs:element name="size" type="size"/>
-      <xs:element name="statistic" type="statistic"/>
-      <xs:element name="visual" type="visual"/>
-      <xs:element name="default" type="default"/>
-      <xs:element name="extension" type="extension"/>
-      <xs:element name="asset" type="asset"/>
-      <xs:element name="worldbody" type="worldbody"/>
-      <xs:element name="deformable" type="deformable"/>
-      <xs:element name="contact" type="contact"/>
-      <xs:element name="tendon" type="tendon"/>
-      <xs:element name="equality" type="equality"/>
-      <xs:element name="actuator" type="actuator"/>
-      <xs:element name="sensor" type="sensor"/>
-      <xs:element name="custom" type="custom"/>
-      <xs:element name="keyframe" type="keyframe"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="model" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="compiler">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): lengthrange (?)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="lengthrange" type="lengthrange"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="autolimits" type="kw_bool" default="true"/>
-    <xs:attribute name="boundmass" type="xs:double"/>
-    <xs:attribute name="boundinertia" type="xs:double"/>
-    <xs:attribute name="settotalmass" type="xs:double" default="-1"/>
-    <xs:attribute name="balanceinertia" type="kw_bool"/>
-    <xs:attribute name="strippath" type="kw_bool">
-      <xs:annotation>
-        <xs:documentation>stored on the spec</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="coordinate" type="kw_coordinate">
-      <xs:annotation>
-        <xs:documentation>deprecation error</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="angle" type="kw_angle" default="degree"/>
-    <xs:attribute name="fitaabb" type="kw_bool"/>
-    <xs:attribute name="eulerseq">
-      <xs:simpleType>
-        <xs:restriction base="xs:string">
-          <xs:pattern value="[xyzXYZ]{3}"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="meshdir" type="xs:string"/>
-    <xs:attribute name="texturedir" type="xs:string"/>
-    <xs:attribute name="discardvisual" type="kw_bool"/>
-    <xs:attribute name="usethread" type="kw_bool" default="true"/>
-    <xs:attribute name="fusestatic" type="kw_bool"/>
-    <xs:attribute name="inertiafromgeom" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="inertiagrouprange" type="int2" default="0 5"/>
-    <xs:attribute name="saveinertial" type="kw_bool"/>
-    <xs:attribute name="assetdir" type="xs:string">
-      <xs:annotation>
-        <xs:documentation>fans out to mesh/texturedir</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="alignfree" type="kw_bool"/>
-    <xs:attribute name="conflict" type="kw_conflict"/>
-  </xs:complexType>
-
-  <xs:complexType name="option">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): flag (?)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="flag" type="flag"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="timestep" type="xs:double" default="0.002"/>
-    <xs:attribute name="impratio" type="xs:double" default="1"/>
-    <xs:attribute name="tolerance" type="xs:double" default="1e-08"/>
-    <xs:attribute name="ls_tolerance" type="xs:double" default="0.01"/>
-    <xs:attribute name="noslip_tolerance" type="xs:double" default="1e-06"/>
-    <xs:attribute name="ccd_tolerance" type="xs:double" default="1e-06"/>
-    <xs:attribute name="sleep_tolerance" type="xs:double" default="0.001"/>
-    <xs:attribute name="gravity" type="double3" default="0 0 -9.81"/>
-    <xs:attribute name="wind" type="double3" default="0 0 0"/>
-    <xs:attribute name="magnetic" type="double3" default="0 -0.5 0"/>
-    <xs:attribute name="density" type="xs:double"/>
-    <xs:attribute name="viscosity" type="xs:double"/>
-    <xs:attribute name="o_margin" type="xs:double"/>
-    <xs:attribute name="o_solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="o_solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="o_friction" type="double1to5" default="1 1 0.005 0.0001 0.0001"/>
-    <xs:attribute name="integrator" type="kw_integrator" default="Euler"/>
-    <xs:attribute name="cone" type="kw_cone" default="pyramidal"/>
-    <xs:attribute name="jacobian" type="kw_jacobian" default="auto"/>
-    <xs:attribute name="solver" type="kw_solver" default="Newton"/>
-    <xs:attribute name="iterations" type="xs:int" default="100"/>
-    <xs:attribute name="ls_iterations" type="xs:int" default="50"/>
-    <xs:attribute name="noslip_iterations" type="xs:int"/>
-    <xs:attribute name="ccd_iterations" type="xs:int" default="35"/>
-    <xs:attribute name="sdf_iterations" type="xs:int" default="10"/>
-    <xs:attribute name="sdf_initpoints" type="xs:int" default="40"/>
-    <xs:attribute name="actuatorgroupdisable" type="intlist">
-      <xs:annotation>
-        <xs:documentation>bits of disableactuator</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-  </xs:complexType>
-
-  <xs:complexType name="size">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: memory, nstack</xs:documentation>
-      <xs:documentation>constraint: at most one of: memory, njmax</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="memory" type="xs:string">
-      <xs:annotation>
-        <xs:documentation>suffixed byte count</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="njmax" type="xs:int" default="-1">
-      <xs:annotation>
-        <xs:documentation>range/exclusivity checks</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="nconmax" type="xs:int" default="-1">
-      <xs:annotation>
-        <xs:documentation>range check</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="nstack" type="xs:int" default="-1">
-      <xs:annotation>
-        <xs:documentation>range/exclusivity checks</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="nuserdata">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="nkey">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="nuser_body" default="-1">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="nuser_jnt" default="-1">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="nuser_geom" default="-1">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="nuser_site" default="-1">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="nuser_cam" default="-1">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="nuser_tendon" default="-1">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="nuser_actuator" default="-1">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="nuser_sensor" default="-1">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="-1"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-  </xs:complexType>
-
-  <xs:complexType name="statistic">
-    <xs:attribute name="meaninertia" type="xs:double"/>
-    <xs:attribute name="meanmass" type="xs:double"/>
-    <xs:attribute name="meansize" type="xs:double"/>
-    <xs:attribute name="extent">
-      <xs:annotation>
-        <xs:documentation>when defined</xs:documentation>
-      </xs:annotation>
-      <xs:simpleType>
-        <xs:restriction base="xs:double">
-          <xs:minExclusive value="0"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="center" type="double3"/>
-  </xs:complexType>
-
-  <xs:complexType name="visual">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): global (?), quality (?), headlight (?), map (?), scale (?), rgba (?)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="global" type="global"/>
-      <xs:element name="quality" type="quality"/>
-      <xs:element name="headlight" type="headlight"/>
-      <xs:element name="map" type="map"/>
-      <xs:element name="scale" type="scale"/>
-      <xs:element name="rgba" type="rgba"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="default">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): default (R), mesh (?), material (?), joint (?), geom (?), site (?), camera (?), light (?), pair (?), default_equality (?), default_tendon (?), general (?), motor (?), position (?), velocity (?), intvelocity (?), orientation (?), pid (?), damper (?), cylinder (?), muscle (?), adhesion (?), dcmotor (?)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="default" type="default"/>
-      <xs:element name="mesh" type="default_mesh"/>
-      <xs:element name="material" type="default_material"/>
-      <xs:element name="joint" type="default_joint"/>
-      <xs:element name="geom" type="default_geom"/>
-      <xs:element name="site" type="default_site"/>
-      <xs:element name="camera" type="default_camera"/>
-      <xs:element name="light" type="default_light"/>
-      <xs:element name="pair" type="default_pair"/>
-      <xs:element name="equality" type="default_equality"/>
-      <xs:element name="tendon" type="default_tendon"/>
-      <xs:element name="general" type="default_general"/>
-      <xs:element name="motor" type="default_motor"/>
-      <xs:element name="position" type="default_position"/>
-      <xs:element name="velocity" type="default_velocity"/>
-      <xs:element name="intvelocity" type="default_intvelocity"/>
-      <xs:element name="orientation" type="default_orientation"/>
-      <xs:element name="pid" type="default_pid"/>
-      <xs:element name="damper" type="default_damper"/>
-      <xs:element name="cylinder" type="default_cylinder"/>
-      <xs:element name="muscle" type="default_muscle"/>
-      <xs:element name="adhesion" type="default_adhesion"/>
-      <xs:element name="dcmotor" type="default_dcmotor"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="class" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="extension">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): extension_plugin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="plugin" type="extension_plugin"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="asset">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): mesh (*), hfield (*), skin (*), texture (*), material (*), model (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="mesh" type="mesh"/>
-      <xs:element name="hfield" type="hfield"/>
-      <xs:element name="skin" type="skin"/>
-      <xs:element name="texture" type="texture"/>
-      <xs:element name="material" type="material"/>
-      <xs:element name="model" type="model"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="worldbody">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): body (*), frame (*), replicate (*), geom (*), attach (*), site (*), camera (*), light (*), plugin (*), composite (*), flexcomp (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="body" type="body"/>
-      <xs:element name="frame" type="frame"/>
-      <xs:element name="replicate" type="replicate"/>
-      <xs:element name="geom" type="geom"/>
-      <xs:element name="attach" type="attach"/>
-      <xs:element name="site" type="site"/>
-      <xs:element name="camera" type="camera"/>
-      <xs:element name="light" type="light"/>
-      <xs:element name="plugin" type="plugin"/>
-      <xs:element name="composite" type="composite"/>
-      <xs:element name="flexcomp" type="flexcomp"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="deformable">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): flex (*), skin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="flex" type="flex"/>
-      <xs:element name="skin" type="skin"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="contact">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): pair (*), exclude (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="pair" type="pair"/>
-      <xs:element name="exclude" type="exclude"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="tendon">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): spatial (*), fixed (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="spatial" type="spatial"/>
-      <xs:element name="fixed" type="fixed"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="equality">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): connect (*), weld (*), equality_joint (*), equality_tendon (*), equality_flex (*), flexvert (*), flexstrain (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="connect" type="connect"/>
-      <xs:element name="weld" type="weld"/>
-      <xs:element name="joint" type="equality_joint"/>
-      <xs:element name="tendon" type="equality_tendon"/>
-      <xs:element name="flex" type="equality_flex"/>
-      <xs:element name="flexvert" type="flexvert"/>
-      <xs:element name="flexstrain" type="flexstrain"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="actuator">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): general (*), motor (*), position (*), velocity (*), intvelocity (*), orientation (*), pid (*), damper (*), cylinder (*), muscle (*), adhesion (*), dcmotor (*), actuator_plugin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="general" type="general"/>
-      <xs:element name="motor" type="motor"/>
-      <xs:element name="position" type="position"/>
-      <xs:element name="velocity" type="velocity"/>
-      <xs:element name="intvelocity" type="intvelocity"/>
-      <xs:element name="orientation" type="orientation"/>
-      <xs:element name="pid" type="pid"/>
-      <xs:element name="damper" type="damper"/>
-      <xs:element name="cylinder" type="cylinder"/>
-      <xs:element name="muscle" type="muscle"/>
-      <xs:element name="adhesion" type="adhesion"/>
-      <xs:element name="dcmotor" type="dcmotor"/>
-      <xs:element name="plugin" type="actuator_plugin"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="sensor">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): touch (*), accelerometer (*), velocimeter (*), gyro (*), force (*), torque (*), magnetometer (*), camprojection (*), rangefinder (*), jointpos (*), jointvel (*), tendonpos (*), tendonvel (*), actuatorpos (*), actuatorvel (*), actuatorfrc (*), jointactuatorfrc (*), tendonactuatorfrc (*), ballquat (*), ballangvel (*), jointlimitpos (*), jointlimitvel (*), jointlimitfrc (*), tendonlimitpos (*), tendonlimitvel (*), tendonlimitfrc (*), framepos (*), framequat (*), framexaxis (*), frameyaxis (*), framezaxis (*), framelinvel (*), frameangvel (*), framelinacc (*), frameangacc (*), subtreecom (*), subtreelinvel (*), subtreeangmom (*), insidesite (*), distance (*), normal (*), fromto (*), sensor_contact (*), e_potential (*), e_kinetic (*), clock (*), tactile (*), user (*), sensor_plugin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="touch" type="touch"/>
-      <xs:element name="accelerometer" type="accelerometer"/>
-      <xs:element name="velocimeter" type="velocimeter"/>
-      <xs:element name="gyro" type="gyro"/>
-      <xs:element name="force" type="force"/>
-      <xs:element name="torque" type="torque"/>
-      <xs:element name="magnetometer" type="magnetometer"/>
-      <xs:element name="camprojection" type="camprojection"/>
-      <xs:element name="rangefinder" type="rangefinder"/>
-      <xs:element name="jointpos" type="jointpos"/>
-      <xs:element name="jointvel" type="jointvel"/>
-      <xs:element name="tendonpos" type="tendonpos"/>
-      <xs:element name="tendonvel" type="tendonvel"/>
-      <xs:element name="actuatorpos" type="actuatorpos"/>
-      <xs:element name="actuatorvel" type="actuatorvel"/>
-      <xs:element name="actuatorfrc" type="actuatorfrc"/>
-      <xs:element name="jointactuatorfrc" type="jointactuatorfrc"/>
-      <xs:element name="tendonactuatorfrc" type="tendonactuatorfrc"/>
-      <xs:element name="ballquat" type="ballquat"/>
-      <xs:element name="ballangvel" type="ballangvel"/>
-      <xs:element name="jointlimitpos" type="jointlimitpos"/>
-      <xs:element name="jointlimitvel" type="jointlimitvel"/>
-      <xs:element name="jointlimitfrc" type="jointlimitfrc"/>
-      <xs:element name="tendonlimitpos" type="tendonlimitpos"/>
-      <xs:element name="tendonlimitvel" type="tendonlimitvel"/>
-      <xs:element name="tendonlimitfrc" type="tendonlimitfrc"/>
-      <xs:element name="framepos" type="framepos"/>
-      <xs:element name="framequat" type="framequat"/>
-      <xs:element name="framexaxis" type="framexaxis"/>
-      <xs:element name="frameyaxis" type="frameyaxis"/>
-      <xs:element name="framezaxis" type="framezaxis"/>
-      <xs:element name="framelinvel" type="framelinvel"/>
-      <xs:element name="frameangvel" type="frameangvel"/>
-      <xs:element name="framelinacc" type="framelinacc"/>
-      <xs:element name="frameangacc" type="frameangacc"/>
-      <xs:element name="subtreecom" type="subtreecom"/>
-      <xs:element name="subtreelinvel" type="subtreelinvel"/>
-      <xs:element name="subtreeangmom" type="subtreeangmom"/>
-      <xs:element name="insidesite" type="insidesite"/>
-      <xs:element name="distance" type="distance"/>
-      <xs:element name="normal" type="normal"/>
-      <xs:element name="fromto" type="fromto"/>
-      <xs:element name="contact" type="sensor_contact"/>
-      <xs:element name="e_potential" type="e_potential"/>
-      <xs:element name="e_kinetic" type="e_kinetic"/>
-      <xs:element name="clock" type="clock"/>
-      <xs:element name="tactile" type="tactile"/>
-      <xs:element name="user" type="user"/>
-      <xs:element name="plugin" type="sensor_plugin"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="custom">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): numeric (*), text (*), tuple (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="numeric" type="numeric"/>
-      <xs:element name="text" type="text"/>
-      <xs:element name="tuple" type="tuple"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="keyframe">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): key (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="key" type="key"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-  </xs:complexType>
-
-  <xs:complexType name="lengthrange">
-    <xs:attribute name="mode" type="kw_lrmode" default="muscle"/>
-    <xs:attribute name="useexisting" type="kw_bool" default="true"/>
-    <xs:attribute name="uselimit" type="kw_bool"/>
-    <xs:attribute name="accel" type="xs:double" default="20"/>
-    <xs:attribute name="maxforce" type="xs:double"/>
-    <xs:attribute name="timeconst" type="xs:double" default="1"/>
-    <xs:attribute name="timestep" type="xs:double" default="0.01"/>
-    <xs:attribute name="inttotal" type="xs:double" default="10"/>
-    <xs:attribute name="interval" type="xs:double" default="2"/>
-    <xs:attribute name="tolrange" type="xs:double" default="0.05"/>
-  </xs:complexType>
-
-  <xs:complexType name="flag">
-    <xs:attribute name="constraint" type="kw_enable" default="enable"/>
-    <xs:attribute name="equality" type="kw_enable" default="enable"/>
-    <xs:attribute name="frictionloss" type="kw_enable" default="enable"/>
-    <xs:attribute name="limit" type="kw_enable" default="enable"/>
-    <xs:attribute name="contact" type="kw_enable" default="enable"/>
-    <xs:attribute name="spring" type="kw_enable" default="enable"/>
-    <xs:attribute name="damper" type="kw_enable" default="enable"/>
-    <xs:attribute name="gravity" type="kw_enable" default="enable"/>
-    <xs:attribute name="clampctrl" type="kw_enable" default="enable"/>
-    <xs:attribute name="warmstart" type="kw_enable" default="enable"/>
-    <xs:attribute name="filterparent" type="kw_enable" default="enable"/>
-    <xs:attribute name="actuation" type="kw_enable" default="enable"/>
-    <xs:attribute name="refsafe" type="kw_enable" default="enable"/>
-    <xs:attribute name="sensor" type="kw_enable" default="enable"/>
-    <xs:attribute name="midphase" type="kw_enable" default="enable"/>
-    <xs:attribute name="eulerdamp" type="kw_enable" default="enable"/>
-    <xs:attribute name="autoreset" type="kw_enable" default="enable"/>
-    <xs:attribute name="nativeccd" type="kw_enable" default="enable"/>
-    <xs:attribute name="island" type="kw_enable" default="enable"/>
-    <xs:attribute name="multiccd" type="kw_enable" default="enable"/>
-    <xs:attribute name="override" type="kw_enable" default="disable"/>
-    <xs:attribute name="energy" type="kw_enable" default="disable"/>
-    <xs:attribute name="fwdinv" type="kw_enable" default="disable"/>
-    <xs:attribute name="invdiscrete" type="kw_enable" default="disable"/>
-    <xs:attribute name="sleep" type="kw_enable" default="disable"/>
-    <xs:attribute name="diagexact" type="kw_enable" default="disable"/>
-  </xs:complexType>
-
-  <xs:complexType name="global">
-    <xs:attribute name="cameraid" type="xs:int" default="-1"/>
-    <xs:attribute name="orthographic" type="kw_bool" default="false"/>
-    <xs:attribute name="fovy" type="xs:float" default="45"/>
-    <xs:attribute name="ipd" type="xs:float" default="0.068"/>
-    <xs:attribute name="azimuth" type="xs:float" default="90"/>
-    <xs:attribute name="elevation" type="xs:float" default="-45"/>
-    <xs:attribute name="linewidth" type="xs:float" default="1"/>
-    <xs:attribute name="glow" type="xs:float" default="0.3"/>
-    <xs:attribute name="offwidth" type="xs:int" default="640"/>
-    <xs:attribute name="offheight" type="xs:int" default="480"/>
-    <xs:attribute name="realtime" default="1">
-      <xs:simpleType>
-        <xs:restriction base="xs:float">
-          <xs:minExclusive value="0"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="ellipsoidinertia" type="kw_bool" default="false"/>
-    <xs:attribute name="bvactive" type="kw_bool" default="false"/>
-  </xs:complexType>
-
-  <xs:complexType name="quality">
-    <xs:attribute name="shadowsize" type="xs:int" default="4096"/>
-    <xs:attribute name="offsamples" type="xs:int" default="4"/>
-    <xs:attribute name="numslices" type="xs:int" default="28"/>
-    <xs:attribute name="numstacks" type="xs:int" default="16"/>
-    <xs:attribute name="numquads" type="xs:int" default="4"/>
-  </xs:complexType>
-
-  <xs:complexType name="headlight">
-    <xs:attribute name="ambient" type="float3" default="0.1 0.1 0.1"/>
-    <xs:attribute name="diffuse" type="float3" default="0.4 0.4 0.4"/>
-    <xs:attribute name="specular" type="float3" default="0.5 0.5 0.5"/>
-    <xs:attribute name="active" type="xs:int" default="1"/>
-  </xs:complexType>
-
-  <xs:complexType name="map">
-    <xs:attribute name="stiffness" type="xs:float" default="100"/>
-    <xs:attribute name="stiffnessrot" type="xs:float" default="500"/>
-    <xs:attribute name="force" type="xs:float" default="0.005"/>
-    <xs:attribute name="torque" type="xs:float" default="0.1"/>
-    <xs:attribute name="alpha" type="xs:float" default="0.3"/>
-    <xs:attribute name="fogstart" type="xs:float" default="3"/>
-    <xs:attribute name="fogend" type="xs:float" default="10"/>
-    <xs:attribute name="znear" default="0.01">
-      <xs:simpleType>
-        <xs:restriction base="xs:float">
-          <xs:minExclusive value="0"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="zfar" type="xs:float" default="50"/>
-    <xs:attribute name="haze" type="xs:float" default="0.3"/>
-    <xs:attribute name="shadowclip" type="xs:float" default="1"/>
-    <xs:attribute name="shadowscale" type="xs:float" default="0.6"/>
-    <xs:attribute name="actuatortendon" type="xs:float" default="2"/>
-  </xs:complexType>
-
-  <xs:complexType name="scale">
-    <xs:attribute name="forcewidth" type="xs:float" default="0.1"/>
-    <xs:attribute name="contactwidth" type="xs:float" default="0.3"/>
-    <xs:attribute name="contactheight" type="xs:float" default="0.1"/>
-    <xs:attribute name="connect" type="xs:float" default="0.2"/>
-    <xs:attribute name="com" type="xs:float" default="0.4"/>
-    <xs:attribute name="camera" type="xs:float" default="0.3"/>
-    <xs:attribute name="light" type="xs:float" default="0.3"/>
-    <xs:attribute name="selectpoint" type="xs:float" default="0.2"/>
-    <xs:attribute name="jointlength" type="xs:float" default="1"/>
-    <xs:attribute name="jointwidth" type="xs:float" default="0.1"/>
-    <xs:attribute name="actuatorlength" type="xs:float" default="0.7"/>
-    <xs:attribute name="actuatorwidth" type="xs:float" default="0.2"/>
-    <xs:attribute name="framelength" type="xs:float" default="1"/>
-    <xs:attribute name="framewidth" type="xs:float" default="0.1"/>
-    <xs:attribute name="constraint" type="xs:float" default="0.1"/>
-    <xs:attribute name="slidercrank" type="xs:float" default="0.2"/>
-    <xs:attribute name="frustum" type="xs:float" default="10"/>
-  </xs:complexType>
-
-  <xs:complexType name="rgba">
-    <xs:attribute name="fog" type="float4" default="0 0 0 1"/>
-    <xs:attribute name="haze" type="float4" default="1 1 1 1"/>
-    <xs:attribute name="force" type="float4" default="1 0.5 0.5 1"/>
-    <xs:attribute name="inertia" type="float4" default="0.8 0.2 0.2 0.6"/>
-    <xs:attribute name="joint" type="float4" default="0.2 0.6 0.8 1"/>
-    <xs:attribute name="actuator" type="float4" default="0.2 0.25 0.2 1"/>
-    <xs:attribute name="actuatornegative" type="float4" default="0.2 0.6 0.9 1"/>
-    <xs:attribute name="actuatorpositive" type="float4" default="0.9 0.4 0.2 1"/>
-    <xs:attribute name="com" type="float4" default="0.9 0.9 0.9 1"/>
-    <xs:attribute name="camera" type="float4" default="0.6 0.9 0.6 1"/>
-    <xs:attribute name="light" type="float4" default="0.6 0.6 0.9 1"/>
-    <xs:attribute name="selectpoint" type="float4" default="0.9 0.9 0.1 1"/>
-    <xs:attribute name="connect" type="float4" default="0.2 0.2 0.8 1"/>
-    <xs:attribute name="contactpoint" type="float4" default="0.9 0.6 0.2 1"/>
-    <xs:attribute name="contactforce" type="float4" default="0.7 0.9 0.9 1"/>
-    <xs:attribute name="contactfriction" type="float4" default="0.9 0.8 0.4 1"/>
-    <xs:attribute name="contacttorque" type="float4" default="0.9 0.7 0.9 1"/>
-    <xs:attribute name="contactgap" type="float4" default="0.5 0.8 0.9 1"/>
-    <xs:attribute name="rangefinder" type="float4" default="1 1 0.1 1"/>
-    <xs:attribute name="constraint" type="float4" default="0.9 0 0 1"/>
-    <xs:attribute name="slidercrank" type="float4" default="0.5 0.3 0.8 1"/>
-    <xs:attribute name="crankbroken" type="float4" default="0.9 0 0 1"/>
-    <xs:attribute name="frustum" type="float4" default="1 1 0 0.2"/>
-    <xs:attribute name="bv" type="float4" default="0 1 0 0.5"/>
-    <xs:attribute name="bvactive" type="float4" default="1 0 0 0.5"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_mesh">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: builtin, file</xs:documentation>
-      <xs:documentation>constraint: at most one of: builtin, vertex</xs:documentation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): plugin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="scale" type="double3" default="1 1 1"/>
-    <xs:attribute name="maxhullvert" type="xs:int" default="-1"/>
-    <xs:attribute name="inertia" type="kw_meshinertia" default="legacy"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_material">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): layer (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="layer" type="default_layer"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="texture" type="xs:string"/>
-    <xs:attribute name="texrepeat" type="float2" default="1 1"/>
-    <xs:attribute name="texuniform" type="kw_bool"/>
-    <xs:attribute name="emission" type="xs:float"/>
-    <xs:attribute name="specular" type="xs:float" default="0.5"/>
-    <xs:attribute name="shininess" type="xs:float" default="0.5"/>
-    <xs:attribute name="reflectance" type="xs:float"/>
-    <xs:attribute name="metallic" type="xs:float" default="-1"/>
-    <xs:attribute name="roughness" type="xs:float" default="-1"/>
-    <xs:attribute name="rgba" type="float4" default="1 1 1 1"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_joint">
-    <xs:attribute name="type" type="kw_jointtype" default="hinge"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="pos" type="double3">
-      <xs:annotation>
-        <xs:documentation>saved unless free</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="axis" type="double3" default="0 0 1">
-      <xs:annotation>
-        <xs:documentation>saved for slide/hinge</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="springdamper" type="double2">
-      <xs:annotation>
-        <xs:documentation>compile directive: saved as stiffness/damping</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto">
-      <xs:annotation>
-        <xs:documentation>saved unless free</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto" default="auto">
-      <xs:annotation>
-        <xs:documentation>saved for slide/hinge</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="stiffness" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="range" type="double2"/>
-    <xs:attribute name="actuatorfrcrange" type="double2"/>
-    <xs:attribute name="actuatorgravcomp" type="kw_bool"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="ref" type="xs:double"/>
-    <xs:attribute name="springref" type="xs:double"/>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="frictionloss" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_geom">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): plugin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="type" type="kw_geomtype" default="sphere"/>
-    <xs:attribute name="contype" type="xs:int" default="1"/>
-    <xs:attribute name="conaffinity" type="xs:int" default="1"/>
-    <xs:attribute name="condim" type="xs:int" default="3"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="priority" type="xs:int"/>
-    <xs:attribute name="size" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>saved length is type-dependent</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="friction" type="double1to3" default="1 0.005 0.0001"/>
-    <xs:attribute name="mass" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>mass/density: one is saved</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="density" type="xs:double" default="1000"/>
-    <xs:attribute name="shellinertia" type="kw_bool">
-      <xs:annotation>
-        <xs:documentation>saved unless mesh</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="solmix" type="xs:double" default="1"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="gap" type="xs:double"/>
-    <xs:attribute name="surfacevel" type="double1to6"/>
-    <xs:attribute name="adhesion" type="xs:double"/>
-    <xs:attribute name="fromto" type="double6">
-      <xs:annotation>
-        <xs:documentation>compile directive: saved as pos/quat/size</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="pos" type="double3" default="0 0 0">
-      <xs:annotation>
-        <xs:documentation>saved in the mesh-corrected frame</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="hfield" type="xs:string"/>
-    <xs:attribute name="mesh" type="xs:string"/>
-    <xs:attribute name="fitscale" type="xs:double" default="1">
-      <xs:annotation>
-        <xs:documentation>compile directive: not saved</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
-    <xs:attribute name="fluidshape" type="kw_fluidshape"/>
-    <xs:attribute name="fluidcoef" type="double1to5" default="0.5 0.25 1.5 1 1"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_site">
-    <xs:attribute name="type" type="kw_geomtype" default="sphere"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="pos" type="double3" default="0 0 0"/>
-    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="size" type="double1to3" default="0.005 0.005 0.005">
-      <xs:annotation>
-        <xs:documentation>saved length is type-dependent</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="fromto" type="double6">
-      <xs:annotation>
-        <xs:documentation>compile directive: saved as pos/quat/size</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_camera">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: fovy, sensorsize</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="projection" type="kw_projection"/>
-    <xs:attribute name="fovy" type="xs:double" default="45">
-      <xs:annotation>
-        <xs:documentation>fovy or the intrinsics family is saved</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="ipd" type="xs:double" default="0.068"/>
-    <xs:attribute name="resolution" type="int2" default="1 1"/>
-    <xs:attribute name="output" type="kwlist_camout"/>
-    <xs:attribute name="pos" type="double3" default="0 0 0"/>
-    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="mode" type="kw_camlight" default="fixed"/>
-    <xs:attribute name="focal" type="float2"/>
-    <xs:attribute name="focalpixel" type="float2"/>
-    <xs:attribute name="principal" type="float2"/>
-    <xs:attribute name="principalpixel" type="float2"/>
-    <xs:attribute name="sensorsize" type="float2"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_light">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: directional, type</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="directional" type="kw_bool"/>
-    <xs:attribute name="type" type="kw_lighttype"/>
-    <xs:attribute name="castshadow" type="kw_bool" default="true"/>
-    <xs:attribute name="active" type="kw_bool" default="true"/>
-    <xs:attribute name="pos" type="double3" default="0 0 0"/>
-    <xs:attribute name="dir" type="double3" default="0 0 -1"/>
-    <xs:attribute name="bulbradius" type="xs:float" default="0.02"/>
-    <xs:attribute name="intensity" type="xs:float"/>
-    <xs:attribute name="range" type="xs:float" default="10"/>
-    <xs:attribute name="attenuation" type="float3" default="1 0 0"/>
-    <xs:attribute name="cutoff" type="xs:float" default="45"/>
-    <xs:attribute name="softness" type="xs:float" default="0.2"/>
-    <xs:attribute name="exponent" type="xs:float" default="10"/>
-    <xs:attribute name="ambient" type="float3"/>
-    <xs:attribute name="diffuse" type="float3" default="0.7 0.7 0.7"/>
-    <xs:attribute name="specular" type="float3" default="0.3 0.3 0.3"/>
-    <xs:attribute name="mode" type="kw_camlight" default="fixed"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_pair">
-    <xs:attribute name="condim" type="xs:int" default="3"/>
-    <xs:attribute name="friction" type="double1to5" default="1 1 0.005 0.0001 0.0001"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solreffriction" type="double1to2"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="gap" type="xs:double"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="adhesion" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_equality">
-    <xs:attribute name="active" type="kw_bool"/>
-    <xs:attribute name="solref" type="double1to2"/>
-    <xs:attribute name="solimp" type="double1to5"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_tendon">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="range" type="double2"/>
-    <xs:attribute name="solreflimit" type="double1to2"/>
-    <xs:attribute name="solimplimit" type="double1to5"/>
-    <xs:attribute name="solreffriction" type="double1to2"/>
-    <xs:attribute name="solimpfriction" type="double1to5"/>
-    <xs:attribute name="frictionloss" type="xs:double"/>
-    <xs:attribute name="springlength" type="double1to2"/>
-    <xs:attribute name="width" type="xs:double"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="stiffness" type="double1to3"/>
-    <xs:attribute name="damping" type="double1to3"/>
-    <xs:attribute name="rgba" type="float4"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_general">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="actrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="actdim" type="xs:int" default="-1">
-      <xs:annotation>
-        <xs:documentation>saved default depends on dyntype</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="input" type="kw_inputchart">
-      <xs:annotation>
-        <xs:documentation>so3 chart keyword, or servo token subset</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="velrange" type="double2"/>
-    <xs:attribute name="ffrange" type="double2"/>
-    <xs:attribute name="dyntype" type="kw_dyn" default="none"/>
-    <xs:attribute name="gaintype" type="kw_gain" default="fixed">
-      <xs:annotation>
-        <xs:documentation>gain/bias family is not</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="biastype" type="kw_bias" default="none">
-      <xs:annotation>
-        <xs:documentation>saved for plugin actuators</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="dynprm" type="double1to10" default="1"/>
-    <xs:attribute name="gainprm" type="double1to10" default="1"/>
-    <xs:attribute name="biasprm" type="double1to10"/>
-    <xs:attribute name="actearly" type="kw_bool"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_motor">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-  </xs:complexType>
-
-  <xs:complexType name="default_position">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="inheritrange" type="xs:double"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="kp" type="xs:double"/>
-    <xs:attribute name="kv" type="xs:double"/>
-    <xs:attribute name="dampratio" type="xs:double"/>
-    <xs:attribute name="timeconst" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_velocity">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="kv" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_intvelocity">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="actrange" type="double2"/>
-    <xs:attribute name="inheritrange" type="xs:double"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="kp" type="xs:double"/>
-    <xs:attribute name="kv" type="xs:double"/>
-    <xs:attribute name="dampratio" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_orientation">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="kp" type="xs:double"/>
-    <xs:attribute name="kv" type="xs:double"/>
-    <xs:attribute name="dampratio" type="xs:double"/>
-    <xs:attribute name="input" type="kw_inputchart"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_pid">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="posrange" type="double2">
-      <xs:annotation>
-        <xs:documentation>alias: the position-setpoint range</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="velrange" type="double2"/>
-    <xs:attribute name="ffrange" type="double2"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="inheritrange" type="xs:double"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="kp" type="xs:double"/>
-    <xs:attribute name="kv" type="xs:double"/>
-    <xs:attribute name="dampratio" type="xs:double"/>
-    <xs:attribute name="ki" type="xs:double"/>
-    <xs:attribute name="imax" type="xs:double"/>
-    <xs:attribute name="slewmax" type="xs:double"/>
-    <xs:attribute name="input" type="kwlist_inputbit"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_damper">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="kv" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_cylinder">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="timeconst" type="xs:double"/>
-    <xs:attribute name="area" type="xs:double"/>
-    <xs:attribute name="diameter" type="xs:double"/>
-    <xs:attribute name="bias" type="double3"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_muscle">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="timeconst" type="double2"/>
-    <xs:attribute name="range" type="double2"/>
-    <xs:attribute name="force" type="xs:double"/>
-    <xs:attribute name="scale" type="xs:double"/>
-    <xs:attribute name="lmin" type="xs:double"/>
-    <xs:attribute name="lmax" type="xs:double"/>
-    <xs:attribute name="vmax" type="xs:double"/>
-    <xs:attribute name="fpmax" type="xs:double"/>
-    <xs:attribute name="fvmax" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_adhesion">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="gain" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_dcmotor">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="motorconst" type="double1to2"/>
-    <xs:attribute name="resistance" type="xs:double"/>
-    <xs:attribute name="nominal" type="double1to3"/>
-    <xs:attribute name="saturation" type="double1to3"/>
-    <xs:attribute name="inductance" type="double1to2"/>
-    <xs:attribute name="cogging" type="double1to3"/>
-    <xs:attribute name="controller" type="double1to6"/>
-    <xs:attribute name="thermal" type="double1to6"/>
-    <xs:attribute name="lugre" type="double1to5"/>
-    <xs:attribute name="input" type="kwlist_inputbit">
-      <xs:annotation>
-        <xs:documentation>token subset, or the none keyword</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-  </xs:complexType>
-
-  <xs:complexType name="extension_plugin">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): instance (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="instance" type="instance"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="plugin" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="mesh">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: builtin, file</xs:documentation>
-      <xs:documentation>constraint: at most one of: builtin, vertex</xs:documentation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): plugin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="plugin" type="plugin"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="content_type" type="xs:string"/>
-    <xs:attribute name="file" type="xs:string"/>
-    <xs:attribute name="vertex" type="floatlist"/>
-    <xs:attribute name="normal" type="floatlist"/>
-    <xs:attribute name="texcoord" type="floatlist"/>
-    <xs:attribute name="face" type="intlist"/>
-    <xs:attribute name="refpos" type="double3"/>
-    <xs:attribute name="refquat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="scale" type="double3" default="1 1 1"/>
-    <xs:attribute name="smoothnormal" type="kw_bool"/>
-    <xs:attribute name="maxhullvert" type="xs:int" default="-1"/>
-    <xs:attribute name="inertia" type="kw_meshinertia" default="legacy"/>
-    <xs:attribute name="builtin" type="kw_meshbuiltin"/>
-    <xs:attribute name="params" type="doublelist"/>
-    <xs:attribute name="material" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="hfield">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="content_type" type="xs:string"/>
-    <xs:attribute name="file" type="xs:string"/>
-    <xs:attribute name="nrow" type="xs:int"/>
-    <xs:attribute name="ncol" type="xs:int"/>
-    <xs:attribute name="size" type="double4" use="required"/>
-    <xs:attribute name="elevation" type="doublelist">
-      <xs:annotation>
-        <xs:documentation>flipped and zero-filled</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-  </xs:complexType>
-
-  <xs:complexType name="skin">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): bone (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="bone" type="bone"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="file" type="xs:string"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
-    <xs:attribute name="inflate" type="xs:float"/>
-    <xs:attribute name="vertex" type="floatlist"/>
-    <xs:attribute name="texcoord" type="floatlist"/>
-    <xs:attribute name="face" type="intlist"/>
-    <xs:attribute name="group">
-      <xs:simpleType>
-        <xs:restriction base="xs:int">
-          <xs:minInclusive value="0"/>
-          <xs:maxInclusive value="5"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-  </xs:complexType>
-
-  <xs:complexType name="texture">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="type" type="kw_texture" default="cube"/>
-    <xs:attribute name="colorspace" type="kw_colorspace" default="auto"/>
-    <xs:attribute name="content_type" type="xs:string"/>
-    <xs:attribute name="file" type="xs:string"/>
-    <xs:attribute name="gridsize" type="int2" default="1 1"/>
-    <xs:attribute name="gridlayout">
-      <xs:annotation>
-        <xs:documentation>length must equal the gridsize product</xs:documentation>
-      </xs:annotation>
-      <xs:simpleType>
-        <xs:restriction base="xs:string">
-          <xs:minLength value="1"/>
-          <xs:maxLength value="12"/>
-        </xs:restriction>
-      </xs:simpleType>
-    </xs:attribute>
-    <xs:attribute name="fileright" type="xs:string"/>
-    <xs:attribute name="fileleft" type="xs:string"/>
-    <xs:attribute name="fileup" type="xs:string"/>
-    <xs:attribute name="filedown" type="xs:string"/>
-    <xs:attribute name="filefront" type="xs:string"/>
-    <xs:attribute name="fileback" type="xs:string"/>
-    <xs:attribute name="builtin" type="kw_builtin"/>
-    <xs:attribute name="rgb1" type="double3" default="0.8 0.8 0.8"/>
-    <xs:attribute name="rgb2" type="double3" default="0.5 0.5 0.5"/>
-    <xs:attribute name="mark" type="kw_mark"/>
-    <xs:attribute name="markrgb" type="double3"/>
-    <xs:attribute name="random" type="xs:double" default="0.01"/>
-    <xs:attribute name="width" type="xs:int"/>
-    <xs:attribute name="height" type="xs:int"/>
-    <xs:attribute name="hflip" type="kw_bool"/>
-    <xs:attribute name="vflip" type="kw_bool"/>
-    <xs:attribute name="nchannel" type="xs:int" default="3"/>
-  </xs:complexType>
-
-  <xs:complexType name="material">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): layer (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="layer" type="layer"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="texture" type="xs:string"/>
-    <xs:attribute name="texrepeat" type="float2" default="1 1"/>
-    <xs:attribute name="texuniform" type="kw_bool"/>
-    <xs:attribute name="emission" type="xs:float"/>
-    <xs:attribute name="specular" type="xs:float" default="0.5"/>
-    <xs:attribute name="shininess" type="xs:float" default="0.5"/>
-    <xs:attribute name="reflectance" type="xs:float"/>
-    <xs:attribute name="metallic" type="xs:float" default="-1"/>
-    <xs:attribute name="roughness" type="xs:float" default="-1"/>
-    <xs:attribute name="rgba" type="float4" default="1 1 1 1"/>
-  </xs:complexType>
-
-  <xs:complexType name="model">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="file" type="xs:string"/>
-    <xs:attribute name="content_type" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="body">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): body (R), frame (R), replicate (*), inertial (?), joint (*), freejoint (*), geom (*), attach (*), site (*), camera (*), light (*), plugin (*), composite (*), flexcomp (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="body" type="body"/>
-      <xs:element name="frame" type="frame"/>
-      <xs:element name="replicate" type="replicate"/>
-      <xs:element name="inertial" type="inertial"/>
-      <xs:element name="joint" type="joint"/>
-      <xs:element name="freejoint" type="freejoint"/>
-      <xs:element name="geom" type="geom"/>
-      <xs:element name="attach" type="attach"/>
-      <xs:element name="site" type="site"/>
-      <xs:element name="camera" type="camera"/>
-      <xs:element name="light" type="light"/>
-      <xs:element name="plugin" type="plugin"/>
-      <xs:element name="composite" type="composite"/>
-      <xs:element name="flexcomp" type="flexcomp"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="childclass" type="xs:string"/>
-    <xs:attribute name="pos" type="double3" default="0 0 0"/>
-    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="mocap" type="kw_bool"/>
-    <xs:attribute name="gravcomp" type="xs:double"/>
-    <xs:attribute name="sleep" type="kw_bodysleep"/>
-    <xs:attribute name="simple" type="kw_FalseAuto" default="auto"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="frame">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): body (R), frame (R), replicate (*), inertial (?), joint (*), freejoint (*), geom (*), attach (*), site (*), camera (*), light (*), plugin (*), composite (*), flexcomp (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="body" type="body"/>
-      <xs:element name="frame" type="frame"/>
-      <xs:element name="replicate" type="replicate"/>
-      <xs:element name="inertial" type="inertial"/>
-      <xs:element name="joint" type="joint"/>
-      <xs:element name="freejoint" type="freejoint"/>
-      <xs:element name="geom" type="geom"/>
-      <xs:element name="attach" type="attach"/>
-      <xs:element name="site" type="site"/>
-      <xs:element name="camera" type="camera"/>
-      <xs:element name="light" type="light"/>
-      <xs:element name="plugin" type="plugin"/>
-      <xs:element name="composite" type="composite"/>
-      <xs:element name="flexcomp" type="flexcomp"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="childclass" type="xs:string"/>
-    <xs:attribute name="pos" type="double3"/>
-    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-  </xs:complexType>
-
-  <xs:complexType name="replicate">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): body (*), frame (*), replicate (R), inertial (?), joint (*), geom (*), attach (*), site (*), camera (*), light (*), plugin (*), composite (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="body" type="body"/>
-      <xs:element name="frame" type="frame"/>
-      <xs:element name="replicate" type="replicate"/>
-      <xs:element name="inertial" type="inertial"/>
-      <xs:element name="joint" type="joint"/>
-      <xs:element name="geom" type="geom"/>
-      <xs:element name="attach" type="attach"/>
-      <xs:element name="site" type="site"/>
-      <xs:element name="camera" type="camera"/>
-      <xs:element name="light" type="light"/>
-      <xs:element name="plugin" type="plugin"/>
-      <xs:element name="composite" type="composite"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="count" type="xs:int" use="required"/>
-    <xs:attribute name="offset" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="sep" type="xs:string"/>
-    <xs:attribute name="childclass" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="geom">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): plugin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="plugin" type="plugin"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="type" type="kw_geomtype" default="sphere"/>
-    <xs:attribute name="contype" type="xs:int" default="1"/>
-    <xs:attribute name="conaffinity" type="xs:int" default="1"/>
-    <xs:attribute name="condim" type="xs:int" default="3"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="priority" type="xs:int"/>
-    <xs:attribute name="size" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>saved length is type-dependent</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="friction" type="double1to3" default="1 0.005 0.0001"/>
-    <xs:attribute name="mass" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>mass/density: one is saved</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="density" type="xs:double" default="1000"/>
-    <xs:attribute name="shellinertia" type="kw_bool">
-      <xs:annotation>
-        <xs:documentation>saved unless mesh</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="solmix" type="xs:double" default="1"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="gap" type="xs:double"/>
-    <xs:attribute name="surfacevel" type="double1to6"/>
-    <xs:attribute name="adhesion" type="xs:double"/>
-    <xs:attribute name="fromto" type="double6">
-      <xs:annotation>
-        <xs:documentation>compile directive: saved as pos/quat/size</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="pos" type="double3" default="0 0 0">
-      <xs:annotation>
-        <xs:documentation>saved in the mesh-corrected frame</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="hfield" type="xs:string"/>
-    <xs:attribute name="mesh" type="xs:string"/>
-    <xs:attribute name="fitscale" type="xs:double" default="1">
-      <xs:annotation>
-        <xs:documentation>compile directive: not saved</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
-    <xs:attribute name="fluidshape" type="kw_fluidshape"/>
-    <xs:attribute name="fluidcoef" type="double1to5" default="0.5 0.25 1.5 1 1"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="attach">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: body, frame</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="model" type="xs:string"/>
-    <xs:attribute name="body" type="xs:string"/>
-    <xs:attribute name="frame" type="xs:string"/>
-    <xs:attribute name="prefix" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="site">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="type" type="kw_geomtype" default="sphere"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="pos" type="double3" default="0 0 0"/>
-    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="size" type="double1to3" default="0.005 0.005 0.005">
-      <xs:annotation>
-        <xs:documentation>saved length is type-dependent</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="fromto" type="double6">
-      <xs:annotation>
-        <xs:documentation>compile directive: saved as pos/quat/size</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="camera">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: fovy, sensorsize</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="projection" type="kw_projection"/>
-    <xs:attribute name="fovy" type="xs:double" default="45">
-      <xs:annotation>
-        <xs:documentation>fovy or the intrinsics family is saved</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="ipd" type="xs:double" default="0.068"/>
-    <xs:attribute name="resolution" type="int2" default="1 1"/>
-    <xs:attribute name="output" type="kwlist_camout"/>
-    <xs:attribute name="pos" type="double3" default="0 0 0"/>
-    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="mode" type="kw_camlight" default="fixed"/>
-    <xs:attribute name="target" type="xs:string"/>
-    <xs:attribute name="focal" type="float2"/>
-    <xs:attribute name="focalpixel" type="float2"/>
-    <xs:attribute name="principal" type="float2"/>
-    <xs:attribute name="principalpixel" type="float2"/>
-    <xs:attribute name="sensorsize" type="float2"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="light">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: directional, type</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="directional" type="kw_bool"/>
-    <xs:attribute name="type" type="kw_lighttype"/>
-    <xs:attribute name="castshadow" type="kw_bool" default="true"/>
-    <xs:attribute name="active" type="kw_bool" default="true"/>
-    <xs:attribute name="pos" type="double3" default="0 0 0"/>
-    <xs:attribute name="dir" type="double3" default="0 0 -1"/>
-    <xs:attribute name="bulbradius" type="xs:float" default="0.02"/>
-    <xs:attribute name="intensity" type="xs:float"/>
-    <xs:attribute name="range" type="xs:float" default="10"/>
-    <xs:attribute name="attenuation" type="float3" default="1 0 0"/>
-    <xs:attribute name="cutoff" type="xs:float" default="45"/>
-    <xs:attribute name="softness" type="xs:float" default="0.2"/>
-    <xs:attribute name="exponent" type="xs:float" default="10"/>
-    <xs:attribute name="ambient" type="float3"/>
-    <xs:attribute name="diffuse" type="float3" default="0.7 0.7 0.7"/>
-    <xs:attribute name="specular" type="float3" default="0.3 0.3 0.3"/>
-    <xs:attribute name="mode" type="kw_camlight" default="fixed"/>
-    <xs:attribute name="target" type="xs:string"/>
-    <xs:attribute name="texture" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="plugin">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): config (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="config" type="config"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="plugin" type="xs:string"/>
-    <xs:attribute name="instance" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="composite">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): composite_joint (*), composite_skin (?), composite_geom (?), composite_site (?), plugin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="joint" type="composite_joint"/>
-      <xs:element name="skin" type="composite_skin"/>
-      <xs:element name="geom" type="composite_geom"/>
-      <xs:element name="site" type="composite_site"/>
-      <xs:element name="plugin" type="plugin"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="prefix" type="xs:string"/>
-    <xs:attribute name="type" type="kw_comp" use="required"/>
-    <xs:attribute name="count" type="int1to3"/>
-    <xs:attribute name="offset" type="double3"/>
-    <xs:attribute name="vertex" type="doublelist"/>
-    <xs:attribute name="initial" type="xs:string"/>
-    <xs:attribute name="curve" type="xs:string"/>
-    <xs:attribute name="size" type="double1to3"/>
-    <xs:attribute name="quat" type="double4"/>
-  </xs:complexType>
-
-  <xs:complexType name="flexcomp">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): flexcomp_edge (?), elasticity (?), flexcomp_contact (?), pin (*), plugin (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="edge" type="flexcomp_edge"/>
-      <xs:element name="elasticity" type="elasticity"/>
-      <xs:element name="contact" type="flexcomp_contact"/>
-      <xs:element name="pin" type="pin"/>
-      <xs:element name="plugin" type="plugin"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string" use="required"/>
-    <xs:attribute name="type" type="kw_fcomp"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="dim" type="xs:int"/>
-    <xs:attribute name="dof" type="kw_fdof"/>
-    <xs:attribute name="count" type="int3"/>
-    <xs:attribute name="cellcount" type="int3"/>
-    <xs:attribute name="spacing" type="double3"/>
-    <xs:attribute name="radius" type="xs:double"/>
-    <xs:attribute name="rigid" type="kw_bool"/>
-    <xs:attribute name="mass" type="xs:double"/>
-    <xs:attribute name="inertiabox" type="xs:double"/>
-    <xs:attribute name="scale" type="double3"/>
-    <xs:attribute name="file" type="xs:string"/>
-    <xs:attribute name="point" type="doublelist"/>
-    <xs:attribute name="element" type="doublelist"/>
-    <xs:attribute name="texcoord" type="doublelist"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="rgba" type="float4"/>
-    <xs:attribute name="flatskin" type="kw_bool"/>
-    <xs:attribute name="pos" type="double3"/>
-    <xs:attribute name="quat" type="double4"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="origin" type="double3"/>
-  </xs:complexType>
-
-  <xs:complexType name="flex">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): flexcomp_contact (?), flex_edge (?), elasticity (?)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="contact" type="flexcomp_contact"/>
-      <xs:element name="edge" type="flex_edge"/>
-      <xs:element name="elasticity" type="elasticity"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="dim" type="xs:int" default="2"/>
-    <xs:attribute name="radius" type="xs:double" default="0.005"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
-    <xs:attribute name="flatskin" type="kw_bool"/>
-    <xs:attribute name="body" type="xs:string" use="required">
-      <xs:annotation>
-        <xs:documentation>space-separated body names</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="vertex" type="doublelist"/>
-    <xs:attribute name="element" type="intlist" use="required"/>
-    <xs:attribute name="texcoord" type="floatlist"/>
-    <xs:attribute name="elemtexcoord" type="intlist"/>
-    <xs:attribute name="node" type="xs:string">
-      <xs:annotation>
-        <xs:documentation>space-separated body names</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="nodecoord" type="doublelist">
-      <xs:annotation>
-        <xs:documentation>node positions within body frames</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="cellcount" type="int3" default="1 1 1">
-      <xs:annotation>
-        <xs:documentation>seeded before reading</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="dof" type="kw_fdof">
-      <xs:annotation>
-        <xs:documentation>lowers to interpolation order</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-  </xs:complexType>
-
-  <xs:complexType name="pair">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="geom1" type="xs:string"/>
-    <xs:attribute name="geom2" type="xs:string"/>
-    <xs:attribute name="condim" type="xs:int" default="3"/>
-    <xs:attribute name="friction" type="double1to5" default="1 1 0.005 0.0001 0.0001"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solreffriction" type="double1to2"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="gap" type="xs:double"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="adhesion" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="exclude">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="body1" type="xs:string" use="required"/>
-    <xs:attribute name="body2" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="spatial">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): spatial_site (*), spatial_geom (*), pulley (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="site" type="spatial_site"/>
-      <xs:element name="geom" type="spatial_geom"/>
-      <xs:element name="pulley" type="pulley"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto"/>
-    <xs:attribute name="range" type="double2"/>
-    <xs:attribute name="actuatorfrcrange" type="double2"/>
-    <xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="frictionloss" type="xs:double"/>
-    <xs:attribute name="springlength" type="double1to2" default="-1 -1">
-      <xs:annotation>
-        <xs:documentation>one value: copied to both</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="width" type="xs:double" default="0.003"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="stiffness" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="rgba" type="float4" default="0.5 0.5 0.5 1"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="fixed">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): fixed_joint (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="joint" type="fixed_joint"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto"/>
-    <xs:attribute name="range" type="double2"/>
-    <xs:attribute name="actuatorfrcrange" type="double2"/>
-    <xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="frictionloss" type="xs:double"/>
-    <xs:attribute name="springlength" type="double1to2" default="-1 -1">
-      <xs:annotation>
-        <xs:documentation>one value: copied to both</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="stiffness" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="connect">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: site1+site2, body1+body2+anchor</xs:documentation>
-      <xs:documentation>constraint: at least one of: site1+site2, body1+anchor</xs:documentation>
-      <xs:documentation>constraint: together or absent: site1, site2</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="active" type="kw_bool" default="true"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="body1" type="xs:string"/>
-    <xs:attribute name="body2" type="xs:string"/>
-    <xs:attribute name="anchor" type="double3"/>
-    <xs:attribute name="site1" type="xs:string"/>
-    <xs:attribute name="site2" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="weld">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: site1+site2, body1+body2+anchor+relpose</xs:documentation>
-      <xs:documentation>constraint: at least one of: site1+site2, body1</xs:documentation>
-      <xs:documentation>constraint: together or absent: site1, site2</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="active" type="kw_bool" default="true"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="body1" type="xs:string"/>
-    <xs:attribute name="body2" type="xs:string"/>
-    <xs:attribute name="relpose" type="double7"/>
-    <xs:attribute name="anchor" type="double3"/>
-    <xs:attribute name="site1" type="xs:string"/>
-    <xs:attribute name="site2" type="xs:string"/>
-    <xs:attribute name="torquescale" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="equality_joint">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="active" type="kw_bool" default="true"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="joint1" type="xs:string" use="required"/>
-    <xs:attribute name="joint2" type="xs:string"/>
-    <xs:attribute name="polycoef" type="double1to5"/>
-  </xs:complexType>
-
-  <xs:complexType name="equality_tendon">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="active" type="kw_bool" default="true"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="tendon1" type="xs:string" use="required"/>
-    <xs:attribute name="tendon2" type="xs:string"/>
-    <xs:attribute name="polycoef" type="double1to5"/>
-  </xs:complexType>
-
-  <xs:complexType name="equality_flex">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="active" type="kw_bool" default="true"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="flex" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="flexvert">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="active" type="kw_bool" default="true"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="flex" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="flexstrain">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="active" type="kw_bool" default="true"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="flex" type="xs:string" use="required"/>
-    <xs:attribute name="cell" type="double3"/>
-  </xs:complexType>
-
-  <xs:complexType name="general">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="actrange" type="double2"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-    <xs:attribute name="body" type="xs:string">
-      <xs:annotation>
-        <xs:documentation>transmission target</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="actdim" type="xs:int" default="-1">
-      <xs:annotation>
-        <xs:documentation>saved default depends on dyntype</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="input" type="kw_inputchart">
-      <xs:annotation>
-        <xs:documentation>so3 chart keyword, or servo token subset</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="velrange" type="double2"/>
-    <xs:attribute name="ffrange" type="double2"/>
-    <xs:attribute name="dyntype" type="kw_dyn" default="none"/>
-    <xs:attribute name="gaintype" type="kw_gain" default="fixed">
-      <xs:annotation>
-        <xs:documentation>gain/bias family is not</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="biastype" type="kw_bias" default="none">
-      <xs:annotation>
-        <xs:documentation>saved for plugin actuators</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="dynprm" type="double1to10" default="1"/>
-    <xs:attribute name="gainprm" type="double1to10" default="1"/>
-    <xs:attribute name="biasprm" type="double1to10"/>
-    <xs:attribute name="actearly" type="kw_bool"/>
-  </xs:complexType>
-
-  <xs:complexType name="motor">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="position">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="inheritrange" type="xs:double"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-    <xs:attribute name="kp" type="xs:double"/>
-    <xs:attribute name="kv" type="xs:double"/>
-    <xs:attribute name="dampratio" type="xs:double"/>
-    <xs:attribute name="timeconst" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="velocity">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-    <xs:attribute name="kv" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="intvelocity">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="actrange" type="double2"/>
-    <xs:attribute name="inheritrange" type="xs:double"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-    <xs:attribute name="kp" type="xs:double"/>
-    <xs:attribute name="kv" type="xs:double"/>
-    <xs:attribute name="dampratio" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="orientation">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-    <xs:attribute name="kp" type="xs:double"/>
-    <xs:attribute name="kv" type="xs:double"/>
-    <xs:attribute name="dampratio" type="xs:double"/>
-    <xs:attribute name="input" type="kw_inputchart"/>
-  </xs:complexType>
-
-  <xs:complexType name="pid">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="posrange" type="double2">
-      <xs:annotation>
-        <xs:documentation>alias: the position-setpoint range</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="velrange" type="double2"/>
-    <xs:attribute name="ffrange" type="double2"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="inheritrange" type="xs:double"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-    <xs:attribute name="kp" type="xs:double"/>
-    <xs:attribute name="kv" type="xs:double"/>
-    <xs:attribute name="dampratio" type="xs:double"/>
-    <xs:attribute name="ki" type="xs:double"/>
-    <xs:attribute name="imax" type="xs:double"/>
-    <xs:attribute name="slewmax" type="xs:double"/>
-    <xs:attribute name="input" type="kwlist_inputbit"/>
-  </xs:complexType>
-
-  <xs:complexType name="damper">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-    <xs:attribute name="kv" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="cylinder">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-    <xs:attribute name="timeconst" type="xs:double"/>
-    <xs:attribute name="area" type="xs:double"/>
-    <xs:attribute name="diameter" type="xs:double"/>
-    <xs:attribute name="bias" type="double3"/>
-  </xs:complexType>
-
-  <xs:complexType name="muscle">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="timeconst" type="double2"/>
-    <xs:attribute name="tausmooth" type="xs:double"/>
-    <xs:attribute name="range" type="double2"/>
-    <xs:attribute name="force" type="xs:double"/>
-    <xs:attribute name="scale" type="xs:double"/>
-    <xs:attribute name="lmin" type="xs:double"/>
-    <xs:attribute name="lmax" type="xs:double"/>
-    <xs:attribute name="vmax" type="xs:double"/>
-    <xs:attribute name="fpmax" type="xs:double"/>
-    <xs:attribute name="fvmax" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="adhesion">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="body" type="xs:string"/>
-    <xs:attribute name="gain" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="dcmotor">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="refsite" type="xs:string"/>
-    <xs:attribute name="motorconst" type="double1to2"/>
-    <xs:attribute name="resistance" type="xs:double"/>
-    <xs:attribute name="nominal" type="double1to3"/>
-    <xs:attribute name="saturation" type="double1to3"/>
-    <xs:attribute name="inductance" type="double1to2"/>
-    <xs:attribute name="cogging" type="double1to3"/>
-    <xs:attribute name="controller" type="double1to6"/>
-    <xs:attribute name="thermal" type="double1to6"/>
-    <xs:attribute name="lugre" type="double1to5"/>
-    <xs:attribute name="input" type="kwlist_inputbit">
-      <xs:annotation>
-        <xs:documentation>token subset, or the none keyword</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-  </xs:complexType>
-
-  <xs:complexType name="actuator_plugin">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): config (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="config" type="config"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="ctrlrange" type="double2"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="plugin" type="xs:string"/>
-    <xs:attribute name="instance" type="xs:string"/>
-    <xs:attribute name="ctrllimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcelimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="actlimited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="forcerange" type="double2"/>
-    <xs:attribute name="actrange" type="double2"/>
-    <xs:attribute name="lengthrange" type="double2"/>
-    <xs:attribute name="gear" type="double1to6" default="1 0 0 0 0 0"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="cranklength" type="xs:double">
-      <xs:annotation>
-        <xs:documentation>slidercrank-only, validated</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="joint" type="xs:string"/>
-    <xs:attribute name="jointinparent" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="actdim" type="xs:int" default="-1"/>
-    <xs:attribute name="dyntype" type="kw_dyn" default="none"/>
-    <xs:attribute name="dynprm" type="double1to10" default="1"/>
-    <xs:attribute name="tendon" type="xs:string"/>
-    <xs:attribute name="cranksite" type="xs:string"/>
-    <xs:attribute name="slidersite" type="xs:string"/>
-    <xs:attribute name="actearly" type="kw_bool"/>
-  </xs:complexType>
-
-  <xs:complexType name="touch">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="accelerometer">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="velocimeter">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="gyro">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="force">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="torque">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="magnetometer">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="camprojection">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string" use="required"/>
-    <xs:attribute name="camera" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="rangefinder">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: site, camera</xs:documentation>
-      <xs:documentation>constraint: at least one of: site, camera</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="camera" type="xs:string"/>
-    <xs:attribute name="data" type="kwlist_raydata">
-      <xs:annotation>
-        <xs:documentation>ordering-checked</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-  </xs:complexType>
-
-  <xs:complexType name="jointpos">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="joint" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="jointvel">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="joint" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="tendonpos">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="tendon" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="tendonvel">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="tendon" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="actuatorpos">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="actuator" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="actuatorvel">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="actuator" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="actuatorfrc">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="actuator" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="jointactuatorfrc">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="joint" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="tendonactuatorfrc">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="tendon" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="ballquat">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="joint" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="ballangvel">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="joint" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="jointlimitpos">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="joint" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="jointlimitvel">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="joint" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="jointlimitfrc">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="joint" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="tendonlimitpos">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="tendon" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="tendonlimitvel">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="tendon" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="tendonlimitfrc">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="tendon" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="framepos">
-    <xs:annotation>
-      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-    <xs:attribute name="reftype" type="kw_frameobj"/>
-    <xs:attribute name="refname" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="framequat">
-    <xs:annotation>
-      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-    <xs:attribute name="reftype" type="kw_frameobj"/>
-    <xs:attribute name="refname" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="framexaxis">
-    <xs:annotation>
-      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-    <xs:attribute name="reftype" type="kw_frameobj"/>
-    <xs:attribute name="refname" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="frameyaxis">
-    <xs:annotation>
-      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-    <xs:attribute name="reftype" type="kw_frameobj"/>
-    <xs:attribute name="refname" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="framezaxis">
-    <xs:annotation>
-      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-    <xs:attribute name="reftype" type="kw_frameobj"/>
-    <xs:attribute name="refname" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="framelinvel">
-    <xs:annotation>
-      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-    <xs:attribute name="reftype" type="kw_frameobj"/>
-    <xs:attribute name="refname" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="frameangvel">
-    <xs:annotation>
-      <xs:documentation>constraint: together or absent: reftype, refname</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-    <xs:attribute name="reftype" type="kw_frameobj"/>
-    <xs:attribute name="refname" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="framelinacc">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="frameangacc">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="subtreecom">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="body" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="subtreelinvel">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="body" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="subtreeangmom">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="body" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="insidesite">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="site" type="xs:string" use="required"/>
-    <xs:attribute name="objtype" type="kw_frameobj" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="distance">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: geom1, body1</xs:documentation>
-      <xs:documentation>constraint: at least one of: geom1, body1</xs:documentation>
-      <xs:documentation>constraint: at most one of: geom2, body2</xs:documentation>
-      <xs:documentation>constraint: at least one of: geom2, body2</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="geom1" type="xs:string"/>
-    <xs:attribute name="geom2" type="xs:string"/>
-    <xs:attribute name="body1" type="xs:string"/>
-    <xs:attribute name="body2" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="normal">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: geom1, body1</xs:documentation>
-      <xs:documentation>constraint: at least one of: geom1, body1</xs:documentation>
-      <xs:documentation>constraint: at most one of: geom2, body2</xs:documentation>
-      <xs:documentation>constraint: at least one of: geom2, body2</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="geom1" type="xs:string"/>
-    <xs:attribute name="geom2" type="xs:string"/>
-    <xs:attribute name="body1" type="xs:string"/>
-    <xs:attribute name="body2" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="fromto">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: geom1, body1</xs:documentation>
-      <xs:documentation>constraint: at least one of: geom1, body1</xs:documentation>
-      <xs:documentation>constraint: at most one of: geom2, body2</xs:documentation>
-      <xs:documentation>constraint: at least one of: geom2, body2</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="geom1" type="xs:string"/>
-    <xs:attribute name="geom2" type="xs:string"/>
-    <xs:attribute name="body1" type="xs:string"/>
-    <xs:attribute name="body2" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="sensor_contact">
-    <xs:annotation>
-      <xs:documentation>constraint: at most one of: geom1, body1, subtree1, site</xs:documentation>
-      <xs:documentation>constraint: at most one of: geom2, body2, subtree2</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-    <xs:attribute name="geom1" type="xs:string"/>
-    <xs:attribute name="geom2" type="xs:string"/>
-    <xs:attribute name="body1" type="xs:string"/>
-    <xs:attribute name="body2" type="xs:string"/>
-    <xs:attribute name="subtree1" type="xs:string"/>
-    <xs:attribute name="subtree2" type="xs:string"/>
-    <xs:attribute name="site" type="xs:string"/>
-    <xs:attribute name="num" type="xs:int"/>
-    <xs:attribute name="data" type="kwlist_condata"/>
-    <xs:attribute name="reduce" type="kw_reduce"/>
-  </xs:complexType>
-
-  <xs:complexType name="e_potential">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="e_kinetic">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="clock">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="tactile">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="geom" type="xs:string" use="required"/>
-    <xs:attribute name="mesh" type="xs:string" use="required"/>
-    <xs:attribute name="nsample" type="xs:int"/>
-    <xs:attribute name="interp" type="kw_interp"/>
-    <xs:attribute name="delay" type="xs:double"/>
-    <xs:attribute name="interval" type="double1to2"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="user">
-    <xs:annotation>
-      <xs:documentation>constraint: together or absent: objtype, objname</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="objtype" type="xs:string"/>
-    <xs:attribute name="objname" type="xs:string"/>
-    <xs:attribute name="datatype" type="kw_datatype" default="real"/>
-    <xs:attribute name="needstage" type="kw_stage" default="acc"/>
-    <xs:attribute name="dim" type="xs:int"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="noise" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="sensor_plugin">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): config (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="config" type="config"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="plugin" type="xs:string"/>
-    <xs:attribute name="instance" type="xs:string"/>
-    <xs:attribute name="cutoff" type="xs:double"/>
-    <xs:attribute name="objtype" type="xs:string">
-      <xs:annotation>
-        <xs:documentation>objtype/objname, reftype/refname: pairwise</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="objname" type="xs:string">
-      <xs:annotation>
-        <xs:documentation>co-occurrence enforced by the reader</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="reftype" type="xs:string"/>
-    <xs:attribute name="refname" type="xs:string"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="numeric">
-    <xs:attribute name="name" type="xs:string" use="required"/>
-    <xs:attribute name="size" type="xs:int"/>
-    <xs:attribute name="data" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="text">
-    <xs:attribute name="name" type="xs:string" use="required"/>
-    <xs:attribute name="data" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="tuple">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): element (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="element" type="element"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="key">
-    <xs:attribute name="name" type="xs:string">
-      <xs:annotation>
-        <xs:documentation>set even when absent</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="time" type="xs:double"/>
-    <xs:attribute name="qpos" type="doublelist"/>
-    <xs:attribute name="qvel" type="doublelist"/>
-    <xs:attribute name="act" type="doublelist"/>
-    <xs:attribute name="mpos" type="doublelist"/>
-    <xs:attribute name="mquat" type="doublelist"/>
-    <xs:attribute name="ctrl" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="default_layer">
-    <xs:attribute name="texture" type="xs:string"/>
-    <xs:attribute name="role" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="instance">
-    <xs:annotation>
-      <xs:documentation>children, with cardinality the XSD cannot enforce (? at most one, ! exactly one, * any number, R recursive): config (*)</xs:documentation>
-    </xs:annotation>
-    <xs:choice minOccurs="0" maxOccurs="unbounded">
-      <xs:element name="config" type="config"/>
-      <xs:element name="include" type="include"/>
-    </xs:choice>
-    <xs:attribute name="name" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="bone">
-    <xs:attribute name="body" type="xs:string" use="required"/>
-    <xs:attribute name="bindpos" type="double3"/>
-    <xs:attribute name="bindquat" type="double4"/>
-    <xs:attribute name="vertid" type="intlist"/>
-    <xs:attribute name="vertweight" type="floatlist"/>
-  </xs:complexType>
-
-  <xs:complexType name="layer">
-    <xs:attribute name="texture" type="xs:string"/>
-    <xs:attribute name="role" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="inertial">
-    <xs:annotation>
-      <xs:documentation>projects into the parent body's i-frame</xs:documentation>
-      <xs:documentation>constraint: at most one of: fullinertia, quat, axisangle, xyaxes, zaxis, euler</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="pos" type="double3" use="required"/>
-    <xs:attribute name="quat" type="double4" default="1 0 0 0"/>
-    <xs:attribute name="mass" type="xs:double" use="required"/>
-    <xs:attribute name="diaginertia" type="double3"/>
-    <xs:attribute name="axisangle" type="double4"/>
-    <xs:attribute name="xyaxes" type="double6"/>
-    <xs:attribute name="zaxis" type="double3"/>
-    <xs:attribute name="euler" type="double3"/>
-    <xs:attribute name="fullinertia" type="double6"/>
-  </xs:complexType>
-
-  <xs:complexType name="joint">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="class" type="xs:string"/>
-    <xs:attribute name="type" type="kw_jointtype" default="hinge"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="pos" type="double3">
-      <xs:annotation>
-        <xs:documentation>saved unless free</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="axis" type="double3" default="0 0 1">
-      <xs:annotation>
-        <xs:documentation>saved for slide/hinge</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="springdamper" type="double2">
-      <xs:annotation>
-        <xs:documentation>compile directive: saved as stiffness/damping</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto">
-      <xs:annotation>
-        <xs:documentation>saved unless free</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="actuatorfrclimited" type="kw_FalseTrueAuto" default="auto">
-      <xs:annotation>
-        <xs:documentation>saved for slide/hinge</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="solreflimit" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimplimit" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="solreffriction" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimpfriction" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="stiffness" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>spring polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="range" type="double2"/>
-    <xs:attribute name="actuatorfrcrange" type="double2"/>
-    <xs:attribute name="actuatorgravcomp" type="kw_bool"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="ref" type="xs:double"/>
-    <xs:attribute name="springref" type="xs:double"/>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="damping" type="double1to3">
-      <xs:annotation>
-        <xs:documentation>damper polynomial, 1+mjNPOLY coefficients</xs:documentation>
-      </xs:annotation>
-    </xs:attribute>
-    <xs:attribute name="frictionloss" type="xs:double"/>
-    <xs:attribute name="user" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="freejoint">
-    <xs:attribute name="name" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="align" type="kw_FalseTrueAuto"/>
-  </xs:complexType>
-
-  <xs:complexType name="config">
-    <xs:attribute name="key" type="xs:string" use="required"/>
-    <xs:attribute name="value" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="composite_joint">
-    <xs:attribute name="kind" type="kw_jkind" use="required"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="stiffness" type="xs:double"/>
-    <xs:attribute name="damping" type="xs:double"/>
-    <xs:attribute name="armature" type="xs:double"/>
-    <xs:attribute name="solreffix" type="double1to2"/>
-    <xs:attribute name="solimpfix" type="double1to5"/>
-    <xs:attribute name="type" type="kw_jointtype"/>
-    <xs:attribute name="axis" type="double3"/>
-    <xs:attribute name="limited" type="kw_FalseTrueAuto" default="auto"/>
-    <xs:attribute name="range" type="double2"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="solreflimit" type="double1to2"/>
-    <xs:attribute name="solimplimit" type="double1to5"/>
-    <xs:attribute name="frictionloss" type="xs:double"/>
-    <xs:attribute name="solreffriction" type="double1to2"/>
-    <xs:attribute name="solimpfriction" type="double1to5"/>
-  </xs:complexType>
-
-  <xs:complexType name="composite_skin">
-    <xs:attribute name="texcoord" type="kw_bool"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="rgba" type="float4"/>
-    <xs:attribute name="inflate" type="xs:double"/>
-    <xs:attribute name="subgrid" type="xs:int"/>
-  </xs:complexType>
-
-  <xs:complexType name="composite_geom">
-    <xs:attribute name="type" type="kw_geomtype"/>
-    <xs:attribute name="contype" type="xs:int"/>
-    <xs:attribute name="conaffinity" type="xs:int"/>
-    <xs:attribute name="condim" type="xs:int"/>
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="priority" type="xs:int"/>
-    <xs:attribute name="size" type="double1to3"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="rgba" type="float4"/>
-    <xs:attribute name="friction" type="double1to3"/>
-    <xs:attribute name="mass" type="xs:double"/>
-    <xs:attribute name="density" type="xs:double"/>
-    <xs:attribute name="solmix" type="xs:double"/>
-    <xs:attribute name="solref" type="double1to2"/>
-    <xs:attribute name="solimp" type="double1to5"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="gap" type="xs:double"/>
-    <xs:attribute name="surfacevel" type="double1to6"/>
-    <xs:attribute name="adhesion" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="composite_site">
-    <xs:attribute name="group" type="xs:int"/>
-    <xs:attribute name="size" type="double1to3"/>
-    <xs:attribute name="material" type="xs:string"/>
-    <xs:attribute name="rgba" type="float4"/>
-  </xs:complexType>
-
-  <xs:complexType name="flexcomp_edge">
-    <xs:attribute name="equality" type="kw_flexeq"/>
-    <xs:attribute name="solref" type="double1to2"/>
-    <xs:attribute name="solimp" type="double1to5"/>
-    <xs:attribute name="stiffness" type="xs:double"/>
-    <xs:attribute name="damping" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="elasticity">
-    <xs:attribute name="young" type="xs:double"/>
-    <xs:attribute name="poisson" type="xs:double"/>
-    <xs:attribute name="damping" type="xs:double"/>
-    <xs:attribute name="thickness" type="xs:double" default="-1"/>
-    <xs:attribute name="elastic2d" type="kw_elastic2d"/>
-  </xs:complexType>
-
-  <xs:complexType name="flexcomp_contact">
-    <xs:attribute name="contype" type="xs:int" default="1"/>
-    <xs:attribute name="conaffinity" type="xs:int" default="1"/>
-    <xs:attribute name="condim" type="xs:int" default="3"/>
-    <xs:attribute name="priority" type="xs:int"/>
-    <xs:attribute name="friction" type="double1to3" default="1 0.005 0.0001"/>
-    <xs:attribute name="solmix" type="xs:double" default="1"/>
-    <xs:attribute name="solref" type="double1to2" default="0.02 1"/>
-    <xs:attribute name="solimp" type="double1to5" default="0.9 0.95 0.001 0.5 2"/>
-    <xs:attribute name="margin" type="xs:double"/>
-    <xs:attribute name="gap" type="xs:double"/>
-    <xs:attribute name="internal" type="kw_bool"/>
-    <xs:attribute name="selfcollide" type="kw_flexself" default="auto"/>
-    <xs:attribute name="activelayers" type="xs:int" default="1"/>
-    <xs:attribute name="passive" type="kw_bool"/>
-  </xs:complexType>
-
-  <xs:complexType name="pin">
-    <xs:attribute name="id" type="doublelist"/>
-    <xs:attribute name="range" type="doublelist"/>
-    <xs:attribute name="grid" type="doublelist"/>
-    <xs:attribute name="gridrange" type="doublelist"/>
-  </xs:complexType>
-
-  <xs:complexType name="flex_edge">
-    <xs:attribute name="stiffness" type="xs:double"/>
-    <xs:attribute name="damping" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="spatial_site">
-    <xs:attribute name="site" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:complexType name="spatial_geom">
-    <xs:attribute name="geom" type="xs:string" use="required"/>
-    <xs:attribute name="sidesite" type="xs:string"/>
-  </xs:complexType>
-
-  <xs:complexType name="pulley">
-    <xs:attribute name="divisor" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="fixed_joint">
-    <xs:attribute name="joint" type="xs:string" use="required"/>
-    <xs:attribute name="coef" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="element">
-    <xs:attribute name="objtype" type="xs:string" use="required"/>
-    <xs:attribute name="objname" type="xs:string" use="required"/>
-    <xs:attribute name="prm" type="xs:double"/>
-  </xs:complexType>
-
-  <xs:complexType name="include">
-    <xs:annotation>
-      <xs:documentation>includes another MJCF file; resolved before parsing</xs:documentation>
-    </xs:annotation>
-    <xs:attribute name="file" type="xs:string" use="required"/>
-  </xs:complexType>
-
-  <xs:element name="mujoco" type="mujoco"/>
-</xs:schema>
diff --git a/src/xml/generated/mjcf_default_table.inc b/src/xml/generated/mjcf_default_table.inc
deleted file mode 100644
index 5e129e05..00000000
--- a/src/xml/generated/mjcf_default_table.inc
+++ /dev/null
@@ -1,542 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
-// doc/generate/generate_default_table.py; test/doc/doc_test.py checks
-// freshness.
-//
-// One row per bound numeric schema attribute -- total coverage, whether or
-// not a default is declared. SchemaDefaultsTest compares every row against a
-// freshly-constructed spec: declared values must match the C
-// default-constructors, values beyond ndecl must be zero, and rows marked
-// unset must hold the mjNAN sentinel. A nonzero constructor default with no
-// schema declaration is therefore a test failure: the schema cannot silently
-// under-declare. Rows are {attr, offset, kind, len, ndecl, unset, values};
-// kind: 0=double 1=float 2=int 3=byte 4=mjtNum.
-
-// clang-format off
-struct mjXDefaultEntry {
-  const char* attr;
-  int offset;
-  int kind;
-  int len;
-  int ndecl;
-  int unset;
-  double value[8];
-};
-
-struct mjXDefaultTable {
-  const char* structname;
-  const mjXDefaultEntry* entries;
-  int n;
-};
-
-
-static const mjXDefaultEntry kDefaults_mjLROpt[] = {
-  {"mode", (int)offsetof(mjLROpt, mode), 2, 1, 1, 0, {(double)mjLRMODE_MUSCLE}},
-  {"useexisting", (int)offsetof(mjLROpt, useexisting), 2, 1, 1, 0, {1}},
-  {"uselimit", (int)offsetof(mjLROpt, uselimit), 2, 1, 0, 0, {0}},
-  {"accel", (int)offsetof(mjLROpt, accel), 4, 1, 1, 0, {20.0}},
-  {"maxforce", (int)offsetof(mjLROpt, maxforce), 4, 1, 0, 0, {0}},
-  {"timeconst", (int)offsetof(mjLROpt, timeconst), 4, 1, 1, 0, {1.0}},
-  {"timestep", (int)offsetof(mjLROpt, timestep), 4, 1, 1, 0, {0.01}},
-  {"inttotal", (int)offsetof(mjLROpt, inttotal), 4, 1, 1, 0, {10.0}},
-  {"interval", (int)offsetof(mjLROpt, interval), 4, 1, 1, 0, {2.0}},
-  {"tolrange", (int)offsetof(mjLROpt, tolrange), 4, 1, 1, 0, {0.05}},
-};
-
-static const mjXDefaultEntry kDefaults_mjOption[] = {
-  {"timestep", (int)offsetof(mjOption, timestep), 4, 1, 1, 0, {0.002}},
-  {"impratio", (int)offsetof(mjOption, impratio), 4, 1, 1, 0, {1.0}},
-  {"tolerance", (int)offsetof(mjOption, tolerance), 4, 1, 1, 0, {1e-08}},
-  {"ls_tolerance", (int)offsetof(mjOption, ls_tolerance), 4, 1, 1, 0, {0.01}},
-  {"noslip_tolerance", (int)offsetof(mjOption, noslip_tolerance), 4, 1, 1, 0, {1e-06}},
-  {"ccd_tolerance", (int)offsetof(mjOption, ccd_tolerance), 4, 1, 1, 0, {1e-06}},
-  {"sleep_tolerance", (int)offsetof(mjOption, sleep_tolerance), 4, 1, 1, 0, {0.001}},
-  {"gravity", (int)offsetof(mjOption, gravity), 4, 3, 3, 0, {0.0, 0.0, -9.81}},
-  {"wind", (int)offsetof(mjOption, wind), 4, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"magnetic", (int)offsetof(mjOption, magnetic), 4, 3, 3, 0, {0.0, -0.5, 0.0}},
-  {"density", (int)offsetof(mjOption, density), 4, 1, 0, 0, {0}},
-  {"viscosity", (int)offsetof(mjOption, viscosity), 4, 1, 0, 0, {0}},
-  {"o_margin", (int)offsetof(mjOption, o_margin), 4, 1, 0, 0, {0}},
-  {"o_solref", (int)offsetof(mjOption, o_solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"o_solimp", (int)offsetof(mjOption, o_solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-  {"o_friction", (int)offsetof(mjOption, o_friction), 4, 5, 5, 0, {1.0, 1.0, 0.005, 0.0001, 0.0001}},
-  {"integrator", (int)offsetof(mjOption, integrator), 2, 1, 1, 0, {(double)mjINT_EULER}},
-  {"cone", (int)offsetof(mjOption, cone), 2, 1, 1, 0, {(double)mjCONE_PYRAMIDAL}},
-  {"jacobian", (int)offsetof(mjOption, jacobian), 2, 1, 1, 0, {(double)mjJAC_AUTO}},
-  {"solver", (int)offsetof(mjOption, solver), 2, 1, 1, 0, {(double)mjSOL_NEWTON}},
-  {"iterations", (int)offsetof(mjOption, iterations), 2, 1, 1, 0, {100.0}},
-  {"ls_iterations", (int)offsetof(mjOption, ls_iterations), 2, 1, 1, 0, {50.0}},
-  {"noslip_iterations", (int)offsetof(mjOption, noslip_iterations), 2, 1, 0, 0, {0}},
-  {"ccd_iterations", (int)offsetof(mjOption, ccd_iterations), 2, 1, 1, 0, {35.0}},
-  {"sdf_iterations", (int)offsetof(mjOption, sdf_iterations), 2, 1, 1, 0, {10.0}},
-  {"sdf_initpoints", (int)offsetof(mjOption, sdf_initpoints), 2, 1, 1, 0, {40.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjSpec[] = {
-  {"njmax", (int)offsetof(mjSpec, njmax), 2, 1, 1, 0, {-1.0}},
-  {"nconmax", (int)offsetof(mjSpec, nconmax), 2, 1, 1, 0, {-1.0}},
-  {"nstack", (int)offsetof(mjSpec, nstack), 2, 1, 1, 0, {-1.0}},
-  {"nuserdata", (int)offsetof(mjSpec, nuserdata), 2, 1, 0, 0, {0}},
-  {"nkey", (int)offsetof(mjSpec, nkey), 2, 1, 0, 0, {0}},
-  {"nuser_body", (int)offsetof(mjSpec, nuser_body), 2, 1, 1, 0, {-1.0}},
-  {"nuser_jnt", (int)offsetof(mjSpec, nuser_jnt), 2, 1, 1, 0, {-1.0}},
-  {"nuser_geom", (int)offsetof(mjSpec, nuser_geom), 2, 1, 1, 0, {-1.0}},
-  {"nuser_site", (int)offsetof(mjSpec, nuser_site), 2, 1, 1, 0, {-1.0}},
-  {"nuser_cam", (int)offsetof(mjSpec, nuser_cam), 2, 1, 1, 0, {-1.0}},
-  {"nuser_tendon", (int)offsetof(mjSpec, nuser_tendon), 2, 1, 1, 0, {-1.0}},
-  {"nuser_actuator", (int)offsetof(mjSpec, nuser_actuator), 2, 1, 1, 0, {-1.0}},
-  {"nuser_sensor", (int)offsetof(mjSpec, nuser_sensor), 2, 1, 1, 0, {-1.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjStatistic[] = {
-  {"meaninertia", (int)offsetof(mjStatistic, meaninertia), 4, 1, 0, 1, {0}},
-  {"meanmass", (int)offsetof(mjStatistic, meanmass), 4, 1, 0, 1, {0}},
-  {"meansize", (int)offsetof(mjStatistic, meansize), 4, 1, 0, 1, {0}},
-  {"extent", (int)offsetof(mjStatistic, extent), 4, 1, 0, 1, {0}},
-  {"center", (int)offsetof(mjStatistic, center), 4, 3, 0, 1, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjVisual_global[] = {
-  {"cameraid", (int)offsetof(mjVisual, global.cameraid), 2, 1, 1, 0, {-1.0}},
-  {"orthographic", (int)offsetof(mjVisual, global.orthographic), 2, 1, 1, 0, {0}},
-  {"fovy", (int)offsetof(mjVisual, global.fovy), 1, 1, 1, 0, {45.0}},
-  {"ipd", (int)offsetof(mjVisual, global.ipd), 1, 1, 1, 0, {0.068}},
-  {"azimuth", (int)offsetof(mjVisual, global.azimuth), 1, 1, 1, 0, {90.0}},
-  {"elevation", (int)offsetof(mjVisual, global.elevation), 1, 1, 1, 0, {-45.0}},
-  {"linewidth", (int)offsetof(mjVisual, global.linewidth), 1, 1, 1, 0, {1.0}},
-  {"glow", (int)offsetof(mjVisual, global.glow), 1, 1, 1, 0, {0.3}},
-  {"offwidth", (int)offsetof(mjVisual, global.offwidth), 2, 1, 1, 0, {640.0}},
-  {"offheight", (int)offsetof(mjVisual, global.offheight), 2, 1, 1, 0, {480.0}},
-  {"realtime", (int)offsetof(mjVisual, global.realtime), 1, 1, 1, 0, {1.0}},
-  {"ellipsoidinertia", (int)offsetof(mjVisual, global.ellipsoidinertia), 2, 1, 1, 0, {0}},
-  {"bvactive", (int)offsetof(mjVisual, global.bvactive), 2, 1, 1, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjVisual_headlight[] = {
-  {"ambient", (int)offsetof(mjVisual, headlight.ambient), 1, 3, 3, 0, {0.1, 0.1, 0.1}},
-  {"diffuse", (int)offsetof(mjVisual, headlight.diffuse), 1, 3, 3, 0, {0.4, 0.4, 0.4}},
-  {"specular", (int)offsetof(mjVisual, headlight.specular), 1, 3, 3, 0, {0.5, 0.5, 0.5}},
-  {"active", (int)offsetof(mjVisual, headlight.active), 2, 1, 1, 0, {1.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjVisual_map[] = {
-  {"stiffness", (int)offsetof(mjVisual, map.stiffness), 1, 1, 1, 0, {100.0}},
-  {"stiffnessrot", (int)offsetof(mjVisual, map.stiffnessrot), 1, 1, 1, 0, {500.0}},
-  {"force", (int)offsetof(mjVisual, map.force), 1, 1, 1, 0, {0.005}},
-  {"torque", (int)offsetof(mjVisual, map.torque), 1, 1, 1, 0, {0.1}},
-  {"alpha", (int)offsetof(mjVisual, map.alpha), 1, 1, 1, 0, {0.3}},
-  {"fogstart", (int)offsetof(mjVisual, map.fogstart), 1, 1, 1, 0, {3.0}},
-  {"fogend", (int)offsetof(mjVisual, map.fogend), 1, 1, 1, 0, {10.0}},
-  {"znear", (int)offsetof(mjVisual, map.znear), 1, 1, 1, 0, {0.01}},
-  {"zfar", (int)offsetof(mjVisual, map.zfar), 1, 1, 1, 0, {50.0}},
-  {"haze", (int)offsetof(mjVisual, map.haze), 1, 1, 1, 0, {0.3}},
-  {"shadowclip", (int)offsetof(mjVisual, map.shadowclip), 1, 1, 1, 0, {1.0}},
-  {"shadowscale", (int)offsetof(mjVisual, map.shadowscale), 1, 1, 1, 0, {0.6}},
-  {"actuatortendon", (int)offsetof(mjVisual, map.actuatortendon), 1, 1, 1, 0, {2.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjVisual_quality[] = {
-  {"shadowsize", (int)offsetof(mjVisual, quality.shadowsize), 2, 1, 1, 0, {4096.0}},
-  {"offsamples", (int)offsetof(mjVisual, quality.offsamples), 2, 1, 1, 0, {4.0}},
-  {"numslices", (int)offsetof(mjVisual, quality.numslices), 2, 1, 1, 0, {28.0}},
-  {"numstacks", (int)offsetof(mjVisual, quality.numstacks), 2, 1, 1, 0, {16.0}},
-  {"numquads", (int)offsetof(mjVisual, quality.numquads), 2, 1, 1, 0, {4.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjVisual_rgba[] = {
-  {"fog", (int)offsetof(mjVisual, rgba.fog), 1, 4, 4, 0, {0.0, 0.0, 0.0, 1.0}},
-  {"haze", (int)offsetof(mjVisual, rgba.haze), 1, 4, 4, 0, {1.0, 1.0, 1.0, 1.0}},
-  {"force", (int)offsetof(mjVisual, rgba.force), 1, 4, 4, 0, {1.0, 0.5, 0.5, 1.0}},
-  {"inertia", (int)offsetof(mjVisual, rgba.inertia), 1, 4, 4, 0, {0.8, 0.2, 0.2, 0.6}},
-  {"joint", (int)offsetof(mjVisual, rgba.joint), 1, 4, 4, 0, {0.2, 0.6, 0.8, 1.0}},
-  {"actuator", (int)offsetof(mjVisual, rgba.actuator), 1, 4, 4, 0, {0.2, 0.25, 0.2, 1.0}},
-  {"actuatornegative", (int)offsetof(mjVisual, rgba.actuatornegative), 1, 4, 4, 0, {0.2, 0.6, 0.9, 1.0}},
-  {"actuatorpositive", (int)offsetof(mjVisual, rgba.actuatorpositive), 1, 4, 4, 0, {0.9, 0.4, 0.2, 1.0}},
-  {"com", (int)offsetof(mjVisual, rgba.com), 1, 4, 4, 0, {0.9, 0.9, 0.9, 1.0}},
-  {"camera", (int)offsetof(mjVisual, rgba.camera), 1, 4, 4, 0, {0.6, 0.9, 0.6, 1.0}},
-  {"light", (int)offsetof(mjVisual, rgba.light), 1, 4, 4, 0, {0.6, 0.6, 0.9, 1.0}},
-  {"selectpoint", (int)offsetof(mjVisual, rgba.selectpoint), 1, 4, 4, 0, {0.9, 0.9, 0.1, 1.0}},
-  {"connect", (int)offsetof(mjVisual, rgba.connect), 1, 4, 4, 0, {0.2, 0.2, 0.8, 1.0}},
-  {"contactpoint", (int)offsetof(mjVisual, rgba.contactpoint), 1, 4, 4, 0, {0.9, 0.6, 0.2, 1.0}},
-  {"contactforce", (int)offsetof(mjVisual, rgba.contactforce), 1, 4, 4, 0, {0.7, 0.9, 0.9, 1.0}},
-  {"contactfriction", (int)offsetof(mjVisual, rgba.contactfriction), 1, 4, 4, 0, {0.9, 0.8, 0.4, 1.0}},
-  {"contacttorque", (int)offsetof(mjVisual, rgba.contacttorque), 1, 4, 4, 0, {0.9, 0.7, 0.9, 1.0}},
-  {"contactgap", (int)offsetof(mjVisual, rgba.contactgap), 1, 4, 4, 0, {0.5, 0.8, 0.9, 1.0}},
-  {"rangefinder", (int)offsetof(mjVisual, rgba.rangefinder), 1, 4, 4, 0, {1.0, 1.0, 0.1, 1.0}},
-  {"constraint", (int)offsetof(mjVisual, rgba.constraint), 1, 4, 4, 0, {0.9, 0.0, 0.0, 1.0}},
-  {"slidercrank", (int)offsetof(mjVisual, rgba.slidercrank), 1, 4, 4, 0, {0.5, 0.3, 0.8, 1.0}},
-  {"crankbroken", (int)offsetof(mjVisual, rgba.crankbroken), 1, 4, 4, 0, {0.9, 0.0, 0.0, 1.0}},
-  {"frustum", (int)offsetof(mjVisual, rgba.frustum), 1, 4, 4, 0, {1.0, 1.0, 0.0, 0.2}},
-  {"bv", (int)offsetof(mjVisual, rgba.bv), 1, 4, 4, 0, {0.0, 1.0, 0.0, 0.5}},
-  {"bvactive", (int)offsetof(mjVisual, rgba.bvactive), 1, 4, 4, 0, {1.0, 0.0, 0.0, 0.5}},
-};
-
-static const mjXDefaultEntry kDefaults_mjVisual_scale[] = {
-  {"forcewidth", (int)offsetof(mjVisual, scale.forcewidth), 1, 1, 1, 0, {0.1}},
-  {"contactwidth", (int)offsetof(mjVisual, scale.contactwidth), 1, 1, 1, 0, {0.3}},
-  {"contactheight", (int)offsetof(mjVisual, scale.contactheight), 1, 1, 1, 0, {0.1}},
-  {"connect", (int)offsetof(mjVisual, scale.connect), 1, 1, 1, 0, {0.2}},
-  {"com", (int)offsetof(mjVisual, scale.com), 1, 1, 1, 0, {0.4}},
-  {"camera", (int)offsetof(mjVisual, scale.camera), 1, 1, 1, 0, {0.3}},
-  {"light", (int)offsetof(mjVisual, scale.light), 1, 1, 1, 0, {0.3}},
-  {"selectpoint", (int)offsetof(mjVisual, scale.selectpoint), 1, 1, 1, 0, {0.2}},
-  {"jointlength", (int)offsetof(mjVisual, scale.jointlength), 1, 1, 1, 0, {1.0}},
-  {"jointwidth", (int)offsetof(mjVisual, scale.jointwidth), 1, 1, 1, 0, {0.1}},
-  {"actuatorlength", (int)offsetof(mjVisual, scale.actuatorlength), 1, 1, 1, 0, {0.7}},
-  {"actuatorwidth", (int)offsetof(mjVisual, scale.actuatorwidth), 1, 1, 1, 0, {0.2}},
-  {"framelength", (int)offsetof(mjVisual, scale.framelength), 1, 1, 1, 0, {1.0}},
-  {"framewidth", (int)offsetof(mjVisual, scale.framewidth), 1, 1, 1, 0, {0.1}},
-  {"constraint", (int)offsetof(mjVisual, scale.constraint), 1, 1, 1, 0, {0.1}},
-  {"slidercrank", (int)offsetof(mjVisual, scale.slidercrank), 1, 1, 1, 0, {0.2}},
-  {"frustum", (int)offsetof(mjVisual, scale.frustum), 1, 1, 1, 0, {10.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsActuator[] = {
-  {"group", (int)offsetof(mjsActuator, group), 2, 1, 0, 0, {0}},
-  {"nsample", (int)offsetof(mjsActuator, nsample), 2, 1, 0, 0, {0}},
-  {"interp", (int)offsetof(mjsActuator, interp), 2, 1, 0, 0, {0}},
-  {"delay", (int)offsetof(mjsActuator, delay), 0, 1, 0, 0, {0}},
-  {"ctrlrange", (int)offsetof(mjsActuator, ctrlrange), 0, 2, 0, 0, {0}},
-  {"ctrllimited", (int)offsetof(mjsActuator, ctrllimited), 2, 1, 1, 0, {(double)2}},
-  {"forcelimited", (int)offsetof(mjsActuator, forcelimited), 2, 1, 1, 0, {(double)2}},
-  {"actlimited", (int)offsetof(mjsActuator, actlimited), 2, 1, 1, 0, {(double)2}},
-  {"forcerange", (int)offsetof(mjsActuator, forcerange), 0, 2, 0, 0, {0}},
-  {"actrange", (int)offsetof(mjsActuator, actrange), 0, 2, 0, 0, {0}},
-  {"lengthrange", (int)offsetof(mjsActuator, lengthrange), 0, 2, 0, 0, {0}},
-  {"gear", (int)offsetof(mjsActuator, gear), 0, 6, 6, 0, {1.0, 0.0, 0.0, 0.0, 0.0, 0.0}},
-  {"damping", (int)offsetof(mjsActuator, damping), 0, mjNPOLY+1, 0, 0, {0}},
-  {"armature", (int)offsetof(mjsActuator, armature), 0, 1, 0, 0, {0}},
-  {"cranklength", (int)offsetof(mjsActuator, cranklength), 0, 1, 0, 0, {0}},
-  {"actdim", (int)offsetof(mjsActuator, actdim), 2, 1, 1, 0, {-1.0}},
-  {"velrange", (int)offsetof(mjsActuator, velrange), 0, 2, 0, 0, {0}},
-  {"ffrange", (int)offsetof(mjsActuator, ffrange), 0, 2, 0, 0, {0}},
-  {"dyntype", (int)offsetof(mjsActuator, dyntype), 2, 1, 1, 0, {(double)mjDYN_NONE}},
-  {"gaintype", (int)offsetof(mjsActuator, gaintype), 2, 1, 1, 0, {(double)mjGAIN_FIXED}},
-  {"biastype", (int)offsetof(mjsActuator, biastype), 2, 1, 1, 0, {(double)mjBIAS_NONE}},
-  {"dynprm", (int)offsetof(mjsActuator, dynprm), 0, mjNDYN, 1, 0, {1.0}},
-  {"gainprm", (int)offsetof(mjsActuator, gainprm), 0, mjNGAIN, 1, 0, {1.0}},
-  {"biasprm", (int)offsetof(mjsActuator, biasprm), 0, mjNBIAS, 0, 0, {0}},
-  {"actearly", (int)offsetof(mjsActuator, actearly), 3, 1, 0, 0, {0}},
-  {"inheritrange", (int)offsetof(mjsActuator, inheritrange), 0, 1, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsBody[] = {
-  {"pos", (int)offsetof(mjsBody, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"quat", (int)offsetof(mjsBody, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-  {"mocap", (int)offsetof(mjsBody, mocap), 3, 1, 0, 0, {0}},
-  {"gravcomp", (int)offsetof(mjsBody, gravcomp), 0, 1, 0, 0, {0}},
-  {"sleep", (int)offsetof(mjsBody, sleep), 2, 1, 0, 0, {0}},
-  {"simple", (int)offsetof(mjsBody, simple), 3, 1, 1, 0, {(double)1}},
-  {"pos", (int)offsetof(mjsBody, ipos), 0, 3, 0, 1, {0}},
-  {"quat", (int)offsetof(mjsBody, iquat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-  {"mass", (int)offsetof(mjsBody, mass), 0, 1, 0, 0, {0}},
-  {"diaginertia", (int)offsetof(mjsBody, inertia), 0, 3, 0, 0, {0}},
-  {"fullinertia", (int)offsetof(mjsBody, fullinertia), 0, 6, 0, 1, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsCamera[] = {
-  {"projection", (int)offsetof(mjsCamera, proj), 2, 1, 0, 0, {0}},
-  {"fovy", (int)offsetof(mjsCamera, fovy), 0, 1, 1, 0, {45.0}},
-  {"ipd", (int)offsetof(mjsCamera, ipd), 0, 1, 1, 0, {0.068}},
-  {"resolution", (int)offsetof(mjsCamera, resolution), 2, 2, 2, 0, {1.0, 1.0}},
-  {"pos", (int)offsetof(mjsCamera, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"quat", (int)offsetof(mjsCamera, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-  {"mode", (int)offsetof(mjsCamera, mode), 2, 1, 1, 0, {(double)mjCAMLIGHT_FIXED}},
-  {"focal", (int)offsetof(mjsCamera, focal_length), 1, 2, 0, 0, {0}},
-  {"focalpixel", (int)offsetof(mjsCamera, focal_pixel), 1, 2, 0, 0, {0}},
-  {"principal", (int)offsetof(mjsCamera, principal_length), 1, 2, 0, 0, {0}},
-  {"principalpixel", (int)offsetof(mjsCamera, principal_pixel), 1, 2, 0, 0, {0}},
-  {"sensorsize", (int)offsetof(mjsCamera, sensor_size), 1, 2, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsCompiler[] = {
-  {"autolimits", (int)offsetof(mjsCompiler, autolimits), 3, 1, 1, 0, {1}},
-  {"boundmass", (int)offsetof(mjsCompiler, boundmass), 0, 1, 0, 0, {0}},
-  {"boundinertia", (int)offsetof(mjsCompiler, boundinertia), 0, 1, 0, 0, {0}},
-  {"settotalmass", (int)offsetof(mjsCompiler, settotalmass), 0, 1, 1, 0, {-1.0}},
-  {"balanceinertia", (int)offsetof(mjsCompiler, balanceinertia), 3, 1, 0, 0, {0}},
-  {"angle", (int)offsetof(mjsCompiler, degree), 3, 1, 1, 0, {(double)1}},
-  {"fitaabb", (int)offsetof(mjsCompiler, fitaabb), 3, 1, 0, 0, {0}},
-  {"discardvisual", (int)offsetof(mjsCompiler, discardvisual), 3, 1, 0, 0, {0}},
-  {"usethread", (int)offsetof(mjsCompiler, usethread), 3, 1, 1, 0, {1}},
-  {"fusestatic", (int)offsetof(mjsCompiler, fusestatic), 3, 1, 0, 0, {0}},
-  {"inertiafromgeom", (int)offsetof(mjsCompiler, inertiafromgeom), 2, 1, 1, 0, {(double)2}},
-  {"inertiagrouprange", (int)offsetof(mjsCompiler, inertiagrouprange), 2, 2, 2, 0, {0.0, 5.0}},
-  {"saveinertial", (int)offsetof(mjsCompiler, saveinertial), 3, 1, 0, 0, {0}},
-  {"alignfree", (int)offsetof(mjsCompiler, alignfree), 3, 1, 0, 0, {0}},
-  {"conflict", (int)offsetof(mjsCompiler, conflict), 2, 1, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsEquality[] = {
-  {"active", (int)offsetof(mjsEquality, active), 3, 1, 1, 0, {1}},
-  {"solref", (int)offsetof(mjsEquality, solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solimp", (int)offsetof(mjsEquality, solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsFlex[] = {
-  {"young", (int)offsetof(mjsFlex, young), 0, 1, 0, 0, {0}},
-  {"poisson", (int)offsetof(mjsFlex, poisson), 0, 1, 0, 0, {0}},
-  {"damping", (int)offsetof(mjsFlex, damping), 0, 1, 0, 0, {0}},
-  {"thickness", (int)offsetof(mjsFlex, thickness), 0, 1, 1, 0, {-1.0}},
-  {"elastic2d", (int)offsetof(mjsFlex, elastic2d), 2, 1, 0, 0, {0}},
-  {"contype", (int)offsetof(mjsFlex, contype), 2, 1, 1, 0, {1.0}},
-  {"conaffinity", (int)offsetof(mjsFlex, conaffinity), 2, 1, 1, 0, {1.0}},
-  {"condim", (int)offsetof(mjsFlex, condim), 2, 1, 1, 0, {3.0}},
-  {"priority", (int)offsetof(mjsFlex, priority), 2, 1, 0, 0, {0}},
-  {"friction", (int)offsetof(mjsFlex, friction), 0, 3, 3, 0, {1.0, 0.005, 0.0001}},
-  {"solmix", (int)offsetof(mjsFlex, solmix), 0, 1, 1, 0, {1.0}},
-  {"solref", (int)offsetof(mjsFlex, solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solimp", (int)offsetof(mjsFlex, solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-  {"margin", (int)offsetof(mjsFlex, margin), 0, 1, 0, 0, {0}},
-  {"gap", (int)offsetof(mjsFlex, gap), 0, 1, 0, 0, {0}},
-  {"internal", (int)offsetof(mjsFlex, internal), 3, 1, 0, 0, {0}},
-  {"selfcollide", (int)offsetof(mjsFlex, selfcollide), 2, 1, 1, 0, {(double)mjFLEXSELF_AUTO}},
-  {"activelayers", (int)offsetof(mjsFlex, activelayers), 2, 1, 1, 0, {1.0}},
-  {"passive", (int)offsetof(mjsFlex, passive), 2, 1, 0, 0, {0}},
-  {"group", (int)offsetof(mjsFlex, group), 2, 1, 0, 0, {0}},
-  {"dim", (int)offsetof(mjsFlex, dim), 2, 1, 1, 0, {2.0}},
-  {"radius", (int)offsetof(mjsFlex, radius), 0, 1, 1, 0, {0.005}},
-  {"rgba", (int)offsetof(mjsFlex, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
-  {"flatskin", (int)offsetof(mjsFlex, flatskin), 3, 1, 0, 0, {0}},
-  {"cellcount", (int)offsetof(mjsFlex, cellcount), 2, 3, 3, 0, {1.0, 1.0, 1.0}},
-  {"stiffness", (int)offsetof(mjsFlex, edgestiffness), 0, 1, 0, 0, {0}},
-  {"damping", (int)offsetof(mjsFlex, edgedamping), 0, 1, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsFrame[] = {
-  {"pos", (int)offsetof(mjsFrame, pos), 0, 3, 0, 0, {0}},
-  {"quat", (int)offsetof(mjsFrame, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsGeom[] = {
-  {"type", (int)offsetof(mjsGeom, type), 2, 1, 1, 0, {(double)mjGEOM_SPHERE}},
-  {"contype", (int)offsetof(mjsGeom, contype), 2, 1, 1, 0, {1.0}},
-  {"conaffinity", (int)offsetof(mjsGeom, conaffinity), 2, 1, 1, 0, {1.0}},
-  {"condim", (int)offsetof(mjsGeom, condim), 2, 1, 1, 0, {3.0}},
-  {"group", (int)offsetof(mjsGeom, group), 2, 1, 0, 0, {0}},
-  {"priority", (int)offsetof(mjsGeom, priority), 2, 1, 0, 0, {0}},
-  {"size", (int)offsetof(mjsGeom, size), 0, 3, 0, 0, {0}},
-  {"friction", (int)offsetof(mjsGeom, friction), 0, 3, 3, 0, {1.0, 0.005, 0.0001}},
-  {"mass", (int)offsetof(mjsGeom, mass), 0, 1, 0, 1, {0}},
-  {"density", (int)offsetof(mjsGeom, density), 0, 1, 1, 0, {1000.0}},
-  {"shellinertia", (int)offsetof(mjsGeom, typeinertia), 2, 1, 0, 0, {0}},
-  {"solmix", (int)offsetof(mjsGeom, solmix), 0, 1, 1, 0, {1.0}},
-  {"solref", (int)offsetof(mjsGeom, solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solimp", (int)offsetof(mjsGeom, solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-  {"margin", (int)offsetof(mjsGeom, margin), 0, 1, 0, 0, {0}},
-  {"gap", (int)offsetof(mjsGeom, gap), 0, 1, 0, 0, {0}},
-  {"surfacevel", (int)offsetof(mjsGeom, surfacevel), 0, 6, 0, 0, {0}},
-  {"adhesion", (int)offsetof(mjsGeom, adhesion), 0, 1, 0, 0, {0}},
-  {"fromto", (int)offsetof(mjsGeom, fromto), 0, 6, 0, 1, {0}},
-  {"pos", (int)offsetof(mjsGeom, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"quat", (int)offsetof(mjsGeom, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-  {"fitscale", (int)offsetof(mjsGeom, fitscale), 0, 1, 1, 0, {1.0}},
-  {"rgba", (int)offsetof(mjsGeom, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
-  {"fluidshape", (int)offsetof(mjsGeom, fluid_ellipsoid), 4, 1, 0, 0, {0}},
-  {"fluidcoef", (int)offsetof(mjsGeom, fluid_coefs), 4, 5, 5, 0, {0.5, 0.25, 1.5, 1.0, 1.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsHField[] = {
-  {"nrow", (int)offsetof(mjsHField, nrow), 2, 1, 0, 0, {0}},
-  {"ncol", (int)offsetof(mjsHField, ncol), 2, 1, 0, 0, {0}},
-  {"size", (int)offsetof(mjsHField, size), 0, 4, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsJoint[] = {
-  {"type", (int)offsetof(mjsJoint, type), 2, 1, 1, 0, {(double)mjJNT_HINGE}},
-  {"group", (int)offsetof(mjsJoint, group), 2, 1, 0, 0, {0}},
-  {"pos", (int)offsetof(mjsJoint, pos), 0, 3, 0, 0, {0}},
-  {"axis", (int)offsetof(mjsJoint, axis), 0, 3, 3, 0, {0.0, 0.0, 1.0}},
-  {"springdamper", (int)offsetof(mjsJoint, springdamper), 0, 2, 0, 0, {0}},
-  {"limited", (int)offsetof(mjsJoint, limited), 2, 1, 1, 0, {(double)2}},
-  {"actuatorfrclimited", (int)offsetof(mjsJoint, actfrclimited), 2, 1, 1, 0, {(double)2}},
-  {"solreflimit", (int)offsetof(mjsJoint, solref_limit), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solimplimit", (int)offsetof(mjsJoint, solimp_limit), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-  {"solreffriction", (int)offsetof(mjsJoint, solref_friction), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solimpfriction", (int)offsetof(mjsJoint, solimp_friction), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-  {"stiffness", (int)offsetof(mjsJoint, stiffness), 0, mjNPOLY+1, 0, 0, {0}},
-  {"range", (int)offsetof(mjsJoint, range), 0, 2, 0, 0, {0}},
-  {"actuatorfrcrange", (int)offsetof(mjsJoint, actfrcrange), 0, 2, 0, 0, {0}},
-  {"actuatorgravcomp", (int)offsetof(mjsJoint, actgravcomp), 3, 1, 0, 0, {0}},
-  {"margin", (int)offsetof(mjsJoint, margin), 0, 1, 0, 0, {0}},
-  {"ref", (int)offsetof(mjsJoint, ref), 0, 1, 0, 0, {0}},
-  {"springref", (int)offsetof(mjsJoint, springref), 0, 1, 0, 0, {0}},
-  {"armature", (int)offsetof(mjsJoint, armature), 0, 1, 0, 0, {0}},
-  {"damping", (int)offsetof(mjsJoint, damping), 0, mjNPOLY+1, 0, 0, {0}},
-  {"frictionloss", (int)offsetof(mjsJoint, frictionloss), 0, 1, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsKey[] = {
-  {"time", (int)offsetof(mjsKey, time), 0, 1, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsLight[] = {
-  {"type", (int)offsetof(mjsLight, type), 2, 1, 0, 0, {0}},
-  {"castshadow", (int)offsetof(mjsLight, castshadow), 3, 1, 1, 0, {1}},
-  {"active", (int)offsetof(mjsLight, active), 3, 1, 1, 0, {1}},
-  {"pos", (int)offsetof(mjsLight, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"dir", (int)offsetof(mjsLight, dir), 0, 3, 3, 0, {0.0, 0.0, -1.0}},
-  {"bulbradius", (int)offsetof(mjsLight, bulbradius), 1, 1, 1, 0, {0.02}},
-  {"intensity", (int)offsetof(mjsLight, intensity), 1, 1, 0, 0, {0}},
-  {"range", (int)offsetof(mjsLight, range), 1, 1, 1, 0, {10.0}},
-  {"attenuation", (int)offsetof(mjsLight, attenuation), 1, 3, 3, 0, {1.0, 0.0, 0.0}},
-  {"cutoff", (int)offsetof(mjsLight, cutoff), 1, 1, 1, 0, {45.0}},
-  {"softness", (int)offsetof(mjsLight, softness), 1, 1, 1, 0, {0.2}},
-  {"exponent", (int)offsetof(mjsLight, exponent), 1, 1, 1, 0, {10.0}},
-  {"ambient", (int)offsetof(mjsLight, ambient), 1, 3, 0, 0, {0}},
-  {"diffuse", (int)offsetof(mjsLight, diffuse), 1, 3, 3, 0, {0.7, 0.7, 0.7}},
-  {"specular", (int)offsetof(mjsLight, specular), 1, 3, 3, 0, {0.3, 0.3, 0.3}},
-  {"mode", (int)offsetof(mjsLight, mode), 2, 1, 1, 0, {(double)mjCAMLIGHT_FIXED}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsMaterial[] = {
-  {"texrepeat", (int)offsetof(mjsMaterial, texrepeat), 1, 2, 2, 0, {1.0, 1.0}},
-  {"texuniform", (int)offsetof(mjsMaterial, texuniform), 3, 1, 0, 0, {0}},
-  {"emission", (int)offsetof(mjsMaterial, emission), 1, 1, 0, 0, {0}},
-  {"specular", (int)offsetof(mjsMaterial, specular), 1, 1, 1, 0, {0.5}},
-  {"shininess", (int)offsetof(mjsMaterial, shininess), 1, 1, 1, 0, {0.5}},
-  {"reflectance", (int)offsetof(mjsMaterial, reflectance), 1, 1, 0, 0, {0}},
-  {"metallic", (int)offsetof(mjsMaterial, metallic), 1, 1, 1, 0, {-1.0}},
-  {"roughness", (int)offsetof(mjsMaterial, roughness), 1, 1, 1, 0, {-1.0}},
-  {"rgba", (int)offsetof(mjsMaterial, rgba), 1, 4, 4, 0, {1.0, 1.0, 1.0, 1.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsMesh[] = {
-  {"refpos", (int)offsetof(mjsMesh, refpos), 0, 3, 0, 0, {0}},
-  {"refquat", (int)offsetof(mjsMesh, refquat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-  {"scale", (int)offsetof(mjsMesh, scale), 0, 3, 3, 0, {1.0, 1.0, 1.0}},
-  {"smoothnormal", (int)offsetof(mjsMesh, smoothnormal), 3, 1, 0, 0, {0}},
-  {"maxhullvert", (int)offsetof(mjsMesh, maxhullvert), 2, 1, 1, 0, {-1.0}},
-  {"inertia", (int)offsetof(mjsMesh, inertia), 2, 1, 1, 0, {(double)mjMESH_INERTIA_LEGACY}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsNumeric[] = {
-  {"size", (int)offsetof(mjsNumeric, size), 2, 1, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsPair[] = {
-  {"condim", (int)offsetof(mjsPair, condim), 2, 1, 1, 0, {3.0}},
-  {"friction", (int)offsetof(mjsPair, friction), 0, 5, 5, 0, {1.0, 1.0, 0.005, 0.0001, 0.0001}},
-  {"solref", (int)offsetof(mjsPair, solref), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solreffriction", (int)offsetof(mjsPair, solreffriction), 4, mjNREF, 0, 0, {0}},
-  {"solimp", (int)offsetof(mjsPair, solimp), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-  {"gap", (int)offsetof(mjsPair, gap), 0, 1, 0, 0, {0}},
-  {"margin", (int)offsetof(mjsPair, margin), 0, 1, 0, 0, {0}},
-  {"adhesion", (int)offsetof(mjsPair, adhesion), 0, 1, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsSensor[] = {
-  {"nsample", (int)offsetof(mjsSensor, nsample), 2, 1, 0, 0, {0}},
-  {"interp", (int)offsetof(mjsSensor, interp), 2, 1, 0, 0, {0}},
-  {"delay", (int)offsetof(mjsSensor, delay), 0, 1, 0, 0, {0}},
-  {"interval", (int)offsetof(mjsSensor, interval), 0, 2, 0, 0, {0}},
-  {"cutoff", (int)offsetof(mjsSensor, cutoff), 0, 1, 0, 0, {0}},
-  {"noise", (int)offsetof(mjsSensor, noise), 0, 1, 0, 0, {0}},
-  {"objtype", (int)offsetof(mjsSensor, objtype), 2, 1, 0, 0, {0}},
-  {"reftype", (int)offsetof(mjsSensor, reftype), 2, 1, 0, 0, {0}},
-  {"datatype", (int)offsetof(mjsSensor, datatype), 2, 1, 1, 0, {(double)mjDATATYPE_REAL}},
-  {"needstage", (int)offsetof(mjsSensor, needstage), 2, 1, 1, 0, {(double)mjSTAGE_ACC}},
-  {"dim", (int)offsetof(mjsSensor, dim), 2, 1, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsSite[] = {
-  {"type", (int)offsetof(mjsSite, type), 2, 1, 1, 0, {(double)mjGEOM_SPHERE}},
-  {"group", (int)offsetof(mjsSite, group), 2, 1, 0, 0, {0}},
-  {"pos", (int)offsetof(mjsSite, pos), 0, 3, 3, 0, {0.0, 0.0, 0.0}},
-  {"quat", (int)offsetof(mjsSite, quat), 0, 4, 4, 0, {1.0, 0.0, 0.0, 0.0}},
-  {"size", (int)offsetof(mjsSite, size), 0, 3, 3, 0, {0.005, 0.005, 0.005}},
-  {"fromto", (int)offsetof(mjsSite, fromto), 0, 6, 0, 1, {0}},
-  {"rgba", (int)offsetof(mjsSite, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsSkin[] = {
-  {"rgba", (int)offsetof(mjsSkin, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
-  {"inflate", (int)offsetof(mjsSkin, inflate), 1, 1, 0, 0, {0}},
-  {"group", (int)offsetof(mjsSkin, group), 2, 1, 0, 0, {0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsTendon[] = {
-  {"group", (int)offsetof(mjsTendon, group), 2, 1, 0, 0, {0}},
-  {"limited", (int)offsetof(mjsTendon, limited), 2, 1, 1, 0, {(double)2}},
-  {"actuatorfrclimited", (int)offsetof(mjsTendon, actfrclimited), 2, 1, 0, 0, {0}},
-  {"range", (int)offsetof(mjsTendon, range), 0, 2, 0, 0, {0}},
-  {"actuatorfrcrange", (int)offsetof(mjsTendon, actfrcrange), 0, 2, 0, 0, {0}},
-  {"solreflimit", (int)offsetof(mjsTendon, solref_limit), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solimplimit", (int)offsetof(mjsTendon, solimp_limit), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-  {"solreffriction", (int)offsetof(mjsTendon, solref_friction), 4, mjNREF, 2, 0, {0.02, 1.0}},
-  {"solimpfriction", (int)offsetof(mjsTendon, solimp_friction), 4, mjNIMP, 5, 0, {0.9, 0.95, 0.001, 0.5, 2.0}},
-  {"frictionloss", (int)offsetof(mjsTendon, frictionloss), 0, 1, 0, 0, {0}},
-  {"springlength", (int)offsetof(mjsTendon, springlength), 0, 2, 2, 0, {-1.0, -1.0}},
-  {"width", (int)offsetof(mjsTendon, width), 0, 1, 1, 0, {0.003}},
-  {"margin", (int)offsetof(mjsTendon, margin), 0, 1, 0, 0, {0}},
-  {"stiffness", (int)offsetof(mjsTendon, stiffness), 0, mjNPOLY+1, 0, 0, {0}},
-  {"damping", (int)offsetof(mjsTendon, damping), 0, mjNPOLY+1, 0, 0, {0}},
-  {"armature", (int)offsetof(mjsTendon, armature), 0, 1, 0, 0, {0}},
-  {"rgba", (int)offsetof(mjsTendon, rgba), 1, 4, 4, 0, {0.5, 0.5, 0.5, 1.0}},
-};
-
-static const mjXDefaultEntry kDefaults_mjsTexture[] = {
-  {"type", (int)offsetof(mjsTexture, type), 2, 1, 1, 0, {(double)mjTEXTURE_CUBE}},
-  {"colorspace", (int)offsetof(mjsTexture, colorspace), 2, 1, 1, 0, {(double)mjCOLORSPACE_AUTO}},
-  {"gridsize", (int)offsetof(mjsTexture, gridsize), 2, 2, 2, 0, {1.0, 1.0}},
-  {"builtin", (int)offsetof(mjsTexture, builtin), 2, 1, 0, 0, {0}},
-  {"rgb1", (int)offsetof(mjsTexture, rgb1), 0, 3, 3, 0, {0.8, 0.8, 0.8}},
-  {"rgb2", (int)offsetof(mjsTexture, rgb2), 0, 3, 3, 0, {0.5, 0.5, 0.5}},
-  {"mark", (int)offsetof(mjsTexture, mark), 2, 1, 0, 0, {0}},
-  {"markrgb", (int)offsetof(mjsTexture, markrgb), 0, 3, 0, 0, {0}},
-  {"random", (int)offsetof(mjsTexture, random), 0, 1, 1, 0, {0.01}},
-  {"width", (int)offsetof(mjsTexture, width), 2, 1, 0, 0, {0}},
-  {"height", (int)offsetof(mjsTexture, height), 2, 1, 0, 0, {0}},
-  {"hflip", (int)offsetof(mjsTexture, hflip), 3, 1, 0, 0, {0}},
-  {"vflip", (int)offsetof(mjsTexture, vflip), 3, 1, 0, 0, {0}},
-  {"nchannel", (int)offsetof(mjsTexture, nchannel), 2, 1, 1, 0, {3.0}},
-};
-
-static const mjXDefaultTable kDefaultTables[] = {
-  {"mjLROpt", kDefaults_mjLROpt, (int)(sizeof(kDefaults_mjLROpt) / sizeof(kDefaults_mjLROpt[0]))},
-  {"mjOption", kDefaults_mjOption, (int)(sizeof(kDefaults_mjOption) / sizeof(kDefaults_mjOption[0]))},
-  {"mjSpec", kDefaults_mjSpec, (int)(sizeof(kDefaults_mjSpec) / sizeof(kDefaults_mjSpec[0]))},
-  {"mjStatistic", kDefaults_mjStatistic, (int)(sizeof(kDefaults_mjStatistic) / sizeof(kDefaults_mjStatistic[0]))},
-  {"mjVisual", kDefaults_mjVisual_global, (int)(sizeof(kDefaults_mjVisual_global) / sizeof(kDefaults_mjVisual_global[0]))},
-  {"mjVisual", kDefaults_mjVisual_headlight, (int)(sizeof(kDefaults_mjVisual_headlight) / sizeof(kDefaults_mjVisual_headlight[0]))},
-  {"mjVisual", kDefaults_mjVisual_map, (int)(sizeof(kDefaults_mjVisual_map) / sizeof(kDefaults_mjVisual_map[0]))},
-  {"mjVisual", kDefaults_mjVisual_quality, (int)(sizeof(kDefaults_mjVisual_quality) / sizeof(kDefaults_mjVisual_quality[0]))},
-  {"mjVisual", kDefaults_mjVisual_rgba, (int)(sizeof(kDefaults_mjVisual_rgba) / sizeof(kDefaults_mjVisual_rgba[0]))},
-  {"mjVisual", kDefaults_mjVisual_scale, (int)(sizeof(kDefaults_mjVisual_scale) / sizeof(kDefaults_mjVisual_scale[0]))},
-  {"mjsActuator", kDefaults_mjsActuator, (int)(sizeof(kDefaults_mjsActuator) / sizeof(kDefaults_mjsActuator[0]))},
-  {"mjsBody", kDefaults_mjsBody, (int)(sizeof(kDefaults_mjsBody) / sizeof(kDefaults_mjsBody[0]))},
-  {"mjsCamera", kDefaults_mjsCamera, (int)(sizeof(kDefaults_mjsCamera) / sizeof(kDefaults_mjsCamera[0]))},
-  {"mjsCompiler", kDefaults_mjsCompiler, (int)(sizeof(kDefaults_mjsCompiler) / sizeof(kDefaults_mjsCompiler[0]))},
-  {"mjsEquality", kDefaults_mjsEquality, (int)(sizeof(kDefaults_mjsEquality) / sizeof(kDefaults_mjsEquality[0]))},
-  {"mjsFlex", kDefaults_mjsFlex, (int)(sizeof(kDefaults_mjsFlex) / sizeof(kDefaults_mjsFlex[0]))},
-  {"mjsFrame", kDefaults_mjsFrame, (int)(sizeof(kDefaults_mjsFrame) / sizeof(kDefaults_mjsFrame[0]))},
-  {"mjsGeom", kDefaults_mjsGeom, (int)(sizeof(kDefaults_mjsGeom) / sizeof(kDefaults_mjsGeom[0]))},
-  {"mjsHField", kDefaults_mjsHField, (int)(sizeof(kDefaults_mjsHField) / sizeof(kDefaults_mjsHField[0]))},
-  {"mjsJoint", kDefaults_mjsJoint, (int)(sizeof(kDefaults_mjsJoint) / sizeof(kDefaults_mjsJoint[0]))},
-  {"mjsKey", kDefaults_mjsKey, (int)(sizeof(kDefaults_mjsKey) / sizeof(kDefaults_mjsKey[0]))},
-  {"mjsLight", kDefaults_mjsLight, (int)(sizeof(kDefaults_mjsLight) / sizeof(kDefaults_mjsLight[0]))},
-  {"mjsMaterial", kDefaults_mjsMaterial, (int)(sizeof(kDefaults_mjsMaterial) / sizeof(kDefaults_mjsMaterial[0]))},
-  {"mjsMesh", kDefaults_mjsMesh, (int)(sizeof(kDefaults_mjsMesh) / sizeof(kDefaults_mjsMesh[0]))},
-  {"mjsNumeric", kDefaults_mjsNumeric, (int)(sizeof(kDefaults_mjsNumeric) / sizeof(kDefaults_mjsNumeric[0]))},
-  {"mjsPair", kDefaults_mjsPair, (int)(sizeof(kDefaults_mjsPair) / sizeof(kDefaults_mjsPair[0]))},
-  {"mjsSensor", kDefaults_mjsSensor, (int)(sizeof(kDefaults_mjsSensor) / sizeof(kDefaults_mjsSensor[0]))},
-  {"mjsSite", kDefaults_mjsSite, (int)(sizeof(kDefaults_mjsSite) / sizeof(kDefaults_mjsSite[0]))},
-  {"mjsSkin", kDefaults_mjsSkin, (int)(sizeof(kDefaults_mjsSkin) / sizeof(kDefaults_mjsSkin[0]))},
-  {"mjsTendon", kDefaults_mjsTendon, (int)(sizeof(kDefaults_mjsTendon) / sizeof(kDefaults_mjsTendon[0]))},
-  {"mjsTexture", kDefaults_mjsTexture, (int)(sizeof(kDefaults_mjsTexture) / sizeof(kDefaults_mjsTexture[0]))},
-};
-static const int kDefaultTablesN = (int)(sizeof(kDefaultTables) / sizeof(kDefaultTables[0]));
-// clang-format on
diff --git a/src/xml/generated/mjcf_map.h b/src/xml/generated/mjcf_map.h
deleted file mode 100644
index df4ecac4..00000000
--- a/src/xml/generated/mjcf_map.h
+++ /dev/null
@@ -1,488 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
-// doc/generate/generate_mjcf_map.py; test/doc/doc_test.py checks freshness.
-//
-// Keyword maps, one per schema enum, shared by the reader, the writer and
-// the generated tables. Inline variables: including this header is all a
-// translation unit needs.
-
-#ifndef MUJOCO_SRC_XML_GENERATED_MJCF_MAP_H_
-#define MUJOCO_SRC_XML_GENERATED_MJCF_MAP_H_
-
-#include <mujoco/mjspec.h>
-#include <mujoco/mjtype.h>
-#include "user/user_composite.h"
-#include "user/user_flexcomp.h"
-#include "xml/xml_util.h"
-
-// clang-format off
-
-// keywords of the built-in bool type (not a schema enum)
-inline constexpr mjMap bool_map[] = {
-  {"false",   0},
-  {"true",    1},
-};
-
-// enum coordinate
-inline constexpr mjMap coordinate_map[] = {
-  {"local",   0},
-  {"global",  1},
-};
-inline constexpr int coordinate_sz = 2;
-
-// enum angle
-inline constexpr mjMap angle_map[] = {
-  {"radian",  0},
-  {"degree",  1},
-};
-inline constexpr int angle_sz = 2;
-
-// enum fluidshape
-inline constexpr mjMap fluidshape_map[] = {
-  {"none",       0},
-  {"ellipsoid",  1},
-};
-inline constexpr int fluidshape_sz = 2;
-
-// enum enable
-inline constexpr mjMap enable_map[] = {
-  {"disable",  0},
-  {"enable",   1},
-};
-inline constexpr int enable_sz = 2;
-
-// enum FalseTrueAuto
-inline constexpr mjMap FalseTrueAuto_map[] = {
-  {"false",  0},
-  {"true",   1},
-  {"auto",   2},
-};
-inline constexpr int FalseTrueAuto_sz = 3;
-
-// enum FalseAuto
-inline constexpr mjMap FalseAuto_map[] = {
-  {"false",  0},
-  {"auto",   1},
-};
-inline constexpr int FalseAuto_sz = 2;
-
-// enum bodysleep
-inline constexpr mjMap bodysleep_map[] = {
-  {"auto",     mjSLEEP_AUTO},
-  {"never",    mjSLEEP_NEVER},
-  {"allowed",  mjSLEEP_ALLOWED},
-  {"init",     mjSLEEP_INIT},
-};
-inline constexpr int bodysleep_sz = 4;
-
-// enum jointtype
-inline constexpr mjMap jointtype_map[] = {
-  {"free",   mjJNT_FREE},
-  {"ball",   mjJNT_BALL},
-  {"slide",  mjJNT_SLIDE},
-  {"hinge",  mjJNT_HINGE},
-};
-inline constexpr int jointtype_sz = 4;
-
-// enum geomtype
-inline constexpr mjMap geomtype_map[] = {
-  {"plane",      mjGEOM_PLANE},
-  {"hfield",     mjGEOM_HFIELD},
-  {"sphere",     mjGEOM_SPHERE},
-  {"capsule",    mjGEOM_CAPSULE},
-  {"ellipsoid",  mjGEOM_ELLIPSOID},
-  {"cylinder",   mjGEOM_CYLINDER},
-  {"box",        mjGEOM_BOX},
-  {"mesh",       mjGEOM_MESH},
-  {"sdf",        mjGEOM_SDF},
-};
-inline constexpr int geomtype_sz = 9;
-
-// enum projection
-inline constexpr mjMap projection_map[] = {
-  {"perspective",   mjPROJ_PERSPECTIVE},
-  {"orthographic",  mjPROJ_ORTHOGRAPHIC},
-};
-inline constexpr int projection_sz = 2;
-
-// enum camlight
-inline constexpr mjMap camlight_map[] = {
-  {"fixed",          mjCAMLIGHT_FIXED},
-  {"track",          mjCAMLIGHT_TRACK},
-  {"trackcom",       mjCAMLIGHT_TRACKCOM},
-  {"targetbody",     mjCAMLIGHT_TARGETBODY},
-  {"targetbodycom",  mjCAMLIGHT_TARGETBODYCOM},
-};
-inline constexpr int camlight_sz = 5;
-
-// enum lighttype
-inline constexpr mjMap lighttype_map[] = {
-  {"spot",         mjLIGHT_SPOT},
-  {"directional",  mjLIGHT_DIRECTIONAL},
-  {"point",        mjLIGHT_POINT},
-  {"image",        mjLIGHT_IMAGE},
-};
-inline constexpr int lighttype_sz = 4;
-
-// enum texrole
-inline constexpr mjMap texrole_map[] = {
-  {"rgb",        mjTEXROLE_RGB},
-  {"occlusion",  mjTEXROLE_OCCLUSION},
-  {"roughness",  mjTEXROLE_ROUGHNESS},
-  {"metallic",   mjTEXROLE_METALLIC},
-  {"normal",     mjTEXROLE_NORMAL},
-  {"opacity",    mjTEXROLE_OPACITY},
-  {"emissive",   mjTEXROLE_EMISSIVE},
-  {"rgba",       mjTEXROLE_RGBA},
-  {"orm",        mjTEXROLE_ORM},
-};
-inline constexpr int texrole_sz = 9;
-
-// enum integrator
-inline constexpr mjMap integrator_map[] = {
-  {"Euler",         mjINT_EULER},
-  {"RK4",           mjINT_RK4},
-  {"implicit",      mjINT_IMPLICIT},
-  {"implicitfast",  mjINT_IMPLICITFAST},
-};
-inline constexpr int integrator_sz = 4;
-
-// enum cone
-inline constexpr mjMap cone_map[] = {
-  {"pyramidal",  mjCONE_PYRAMIDAL},
-  {"elliptic",   mjCONE_ELLIPTIC},
-};
-inline constexpr int cone_sz = 2;
-
-// enum jacobian
-inline constexpr mjMap jacobian_map[] = {
-  {"dense",   mjJAC_DENSE},
-  {"sparse",  mjJAC_SPARSE},
-  {"auto",    mjJAC_AUTO},
-};
-inline constexpr int jacobian_sz = 3;
-
-// enum solver
-inline constexpr mjMap solver_map[] = {
-  {"PGS",     mjSOL_PGS},
-  {"CG",      mjSOL_CG},
-  {"Newton",  mjSOL_NEWTON},
-};
-inline constexpr int solver_sz = 3;
-
-// enum equality
-inline constexpr mjMap equality_map[] = {
-  {"connect",     mjEQ_CONNECT},
-  {"weld",        mjEQ_WELD},
-  {"joint",       mjEQ_JOINT},
-  {"tendon",      mjEQ_TENDON},
-  {"flex",        mjEQ_FLEX},
-  {"flexvert",    mjEQ_FLEXVERT},
-  {"flexstrain",  mjEQ_FLEXSTRAIN},
-  {"distance",    mjEQ_DISTANCE},
-};
-inline constexpr int equality_sz = 8;
-
-// enum texture
-inline constexpr mjMap texture_map[] = {
-  {"2d",      mjTEXTURE_2D},
-  {"cube",    mjTEXTURE_CUBE},
-  {"skybox",  mjTEXTURE_SKYBOX},
-};
-inline constexpr int texture_sz = 3;
-
-// enum colorspace
-inline constexpr mjMap colorspace_map[] = {
-  {"auto",    mjCOLORSPACE_AUTO},
-  {"linear",  mjCOLORSPACE_LINEAR},
-  {"sRGB",    mjCOLORSPACE_SRGB},
-};
-inline constexpr int colorspace_sz = 3;
-
-// enum builtin
-inline constexpr mjMap builtin_map[] = {
-  {"none",      mjBUILTIN_NONE},
-  {"gradient",  mjBUILTIN_GRADIENT},
-  {"checker",   mjBUILTIN_CHECKER},
-  {"flat",      mjBUILTIN_FLAT},
-};
-inline constexpr int builtin_sz = 4;
-
-// enum mark
-inline constexpr mjMap mark_map[] = {
-  {"none",    mjMARK_NONE},
-  {"edge",    mjMARK_EDGE},
-  {"cross",   mjMARK_CROSS},
-  {"random",  mjMARK_RANDOM},
-};
-inline constexpr int mark_sz = 4;
-
-// enum dyn
-inline constexpr mjMap dyn_map[] = {
-  {"none",         mjDYN_NONE},
-  {"integrator",   mjDYN_INTEGRATOR},
-  {"filter",       mjDYN_FILTER},
-  {"filterexact",  mjDYN_FILTEREXACT},
-  {"muscle",       mjDYN_MUSCLE},
-  {"dcmotor",      mjDYN_DCMOTOR},
-  {"pid",          mjDYN_PID},
-  {"user",         mjDYN_USER},
-};
-inline constexpr int dyn_sz = 8;
-
-// enum inputkeyword
-inline constexpr mjMap inputkeyword_map[] = {
-  {"none",  mjINPUT_NONE},
-};
-inline constexpr int inputkeyword_sz = 1;
-
-// enum gain
-inline constexpr mjMap gain_map[] = {
-  {"fixed",    mjGAIN_FIXED},
-  {"affine",   mjGAIN_AFFINE},
-  {"muscle",   mjGAIN_MUSCLE},
-  {"dcmotor",  mjGAIN_DCMOTOR},
-  {"so3",      mjGAIN_SO3},
-  {"pid",      mjGAIN_PID},
-  {"user",     mjGAIN_USER},
-};
-inline constexpr int gain_sz = 7;
-
-// enum inputchart
-inline constexpr mjMap inputchart_map[] = {
-  {"expmap",  mjCHART_EXPMAP},
-  {"quat",    mjCHART_QUAT},
-};
-inline constexpr int inputchart_sz = 2;
-
-// enum inputbit
-inline constexpr mjMap inputbit_map[] = {
-  {"pos",      mjINPUT_POS},
-  {"vel",      mjINPUT_VEL},
-  {"ff",       mjINPUT_FF},
-  {"voltage",  mjINPUT_VOLTAGE},
-};
-inline constexpr int inputbit_sz = 4;
-
-// enum bias
-inline constexpr mjMap bias_map[] = {
-  {"none",     mjBIAS_NONE},
-  {"affine",   mjBIAS_AFFINE},
-  {"muscle",   mjBIAS_MUSCLE},
-  {"dcmotor",  mjBIAS_DCMOTOR},
-  {"so3",      mjBIAS_SO3},
-  {"user",     mjBIAS_USER},
-};
-inline constexpr int bias_sz = 6;
-
-// enum interp
-inline constexpr mjMap interp_map[] = {
-  {"zoh",     0},
-  {"linear",  1},
-  {"cubic",   2},
-};
-inline constexpr int interp_sz = 3;
-
-// enum stage
-inline constexpr mjMap stage_map[] = {
-  {"none",  mjSTAGE_NONE},
-  {"pos",   mjSTAGE_POS},
-  {"vel",   mjSTAGE_VEL},
-  {"acc",   mjSTAGE_ACC},
-};
-inline constexpr int stage_sz = 4;
-
-// enum datatype
-inline constexpr mjMap datatype_map[] = {
-  {"real",        mjDATATYPE_REAL},
-  {"positive",    mjDATATYPE_POSITIVE},
-  {"axis",        mjDATATYPE_AXIS},
-  {"quaternion",  mjDATATYPE_QUATERNION},
-};
-inline constexpr int datatype_sz = 4;
-
-// enum frameobj
-inline constexpr mjMap frameobj_map[] = {
-  {"body",    mjOBJ_BODY},
-  {"xbody",   mjOBJ_XBODY},
-  {"geom",    mjOBJ_GEOM},
-  {"site",    mjOBJ_SITE},
-  {"camera",  mjOBJ_CAMERA},
-};
-inline constexpr int frameobj_sz = 5;
-
-// enum condata
-inline constexpr mjMap condata_map[] = {
-  {"found",    mjCONDATA_FOUND},
-  {"force",    mjCONDATA_FORCE},
-  {"torque",   mjCONDATA_TORQUE},
-  {"dist",     mjCONDATA_DIST},
-  {"pos",      mjCONDATA_POS},
-  {"normal",   mjCONDATA_NORMAL},
-  {"tangent",  mjCONDATA_TANGENT},
-};
-inline constexpr int condata_sz = 7;
-
-// enum raydata
-inline constexpr mjMap raydata_map[] = {
-  {"dist",    mjRAYDATA_DIST},
-  {"dir",     mjRAYDATA_DIR},
-  {"origin",  mjRAYDATA_ORIGIN},
-  {"point",   mjRAYDATA_POINT},
-  {"normal",  mjRAYDATA_NORMAL},
-  {"depth",   mjRAYDATA_DEPTH},
-};
-inline constexpr int raydata_sz = 6;
-
-// enum camout
-inline constexpr mjMap camout_map[] = {
-  {"rgb",           mjCAMOUT_RGB},
-  {"depth",         mjCAMOUT_DEPTH},
-  {"distance",      mjCAMOUT_DIST},
-  {"normal",        mjCAMOUT_NORMAL},
-  {"segmentation",  mjCAMOUT_SEG},
-};
-inline constexpr int camout_sz = 5;
-
-// enum reduce
-inline constexpr mjMap reduce_map[] = {
-  {"none",      0},
-  {"mindist",   1},
-  {"maxforce",  2},
-  {"netforce",  3},
-};
-inline constexpr int reduce_sz = 4;
-
-// enum conflict
-inline constexpr mjMap conflict_map[] = {
-  {"warning",  mjCONFLICT_WARNING},
-  {"merge",    mjCONFLICT_MERGE},
-  {"error",    mjCONFLICT_ERROR},
-};
-inline constexpr int conflict_sz = 3;
-
-// enum lrmode
-inline constexpr mjMap lrmode_map[] = {
-  {"none",        mjLRMODE_NONE},
-  {"muscle",      mjLRMODE_MUSCLE},
-  {"muscleuser",  mjLRMODE_MUSCLEUSER},
-  {"all",         mjLRMODE_ALL},
-};
-inline constexpr int lrmode_sz = 4;
-
-// enum comp
-inline constexpr mjMap comp_map[] = {
-  {"particle",  mjCOMPTYPE_PARTICLE},
-  {"grid",      mjCOMPTYPE_GRID},
-  {"rope",      mjCOMPTYPE_ROPE},
-  {"loop",      mjCOMPTYPE_LOOP},
-  {"cable",     mjCOMPTYPE_CABLE},
-  {"cloth",     mjCOMPTYPE_CLOTH},
-};
-inline constexpr int comp_sz = 6;
-
-// enum jkind
-inline constexpr mjMap jkind_map[] = {
-  {"main",  mjCOMPKIND_JOINT},
-};
-inline constexpr int jkind_sz = 1;
-
-// enum shape
-inline constexpr mjMap shape_map[] = {
-  {"s",       mjCOMPSHAPE_LINE},
-  {"cos(s)",  mjCOMPSHAPE_COS},
-  {"sin(s)",  mjCOMPSHAPE_SIN},
-  {"0",       mjCOMPSHAPE_ZERO},
-};
-inline constexpr int shape_sz = 4;
-
-// enum meshinertia
-inline constexpr mjMap meshinertia_map[] = {
-  {"convex",  mjMESH_INERTIA_CONVEX},
-  {"legacy",  mjMESH_INERTIA_LEGACY},
-  {"exact",   mjMESH_INERTIA_EXACT},
-  {"shell",   mjMESH_INERTIA_SHELL},
-};
-inline constexpr int meshinertia_sz = 4;
-
-// enum meshbuiltin
-inline constexpr mjMap meshbuiltin_map[] = {
-  {"none",         mjMESH_BUILTIN_NONE},
-  {"sphere",       mjMESH_BUILTIN_SPHERE},
-  {"hemisphere",   mjMESH_BUILTIN_HEMISPHERE},
-  {"cone",         mjMESH_BUILTIN_CONE},
-  {"supertorus",   mjMESH_BUILTIN_SUPERTORUS},
-  {"supersphere",  mjMESH_BUILTIN_SUPERSPHERE},
-  {"wedge",        mjMESH_BUILTIN_WEDGE},
-  {"plate",        mjMESH_BUILTIN_PLATE},
-};
-inline constexpr int meshbuiltin_sz = 8;
-
-// enum fcomp
-inline constexpr mjMap fcomp_map[] = {
-  {"grid",       mjFCOMPTYPE_GRID},
-  {"box",        mjFCOMPTYPE_BOX},
-  {"cylinder",   mjFCOMPTYPE_CYLINDER},
-  {"ellipsoid",  mjFCOMPTYPE_ELLIPSOID},
-  {"square",     mjFCOMPTYPE_SQUARE},
-  {"disc",       mjFCOMPTYPE_DISC},
-  {"circle",     mjFCOMPTYPE_CIRCLE},
-  {"mesh",       mjFCOMPTYPE_MESH},
-  {"gmsh",       mjFCOMPTYPE_GMSH},
-  {"direct",     mjFCOMPTYPE_DIRECT},
-};
-inline constexpr int fcomp_sz = 10;
-
-// enum fdof
-inline constexpr mjMap fdof_map[] = {
-  {"full",       mjFCOMPDOF_FULL},
-  {"radial",     mjFCOMPDOF_RADIAL},
-  {"trilinear",  mjFCOMPDOF_TRILINEAR},
-  {"quadratic",  mjFCOMPDOF_QUADRATIC},
-  {"2d",         mjFCOMPDOF_2D},
-};
-inline constexpr int fdof_sz = 5;
-
-// enum flexself
-inline constexpr mjMap flexself_map[] = {
-  {"none",    mjFLEXSELF_NONE},
-  {"narrow",  mjFLEXSELF_NARROW},
-  {"bvh",     mjFLEXSELF_BVH},
-  {"sap",     mjFLEXSELF_SAP},
-  {"auto",    mjFLEXSELF_AUTO},
-};
-inline constexpr int flexself_sz = 5;
-
-// enum elastic2d
-inline constexpr mjMap elastic2d_map[] = {
-  {"none",     0},
-  {"bend",     1},
-  {"stretch",  2},
-  {"both",     3},
-};
-inline constexpr int elastic2d_sz = 4;
-
-// enum flexeq
-inline constexpr mjMap flexeq_map[] = {
-  {"false",   0},
-  {"true",    1},
-  {"vert",    2},
-  {"strain",  3},
-};
-inline constexpr int flexeq_sz = 4;
-// clang-format on
-
-#endif  // MUJOCO_SRC_XML_GENERATED_MJCF_MAP_H_
diff --git a/src/xml/generated/mjcf_read_table.inc b/src/xml/generated/mjcf_read_table.inc
deleted file mode 100644
index e30b091a..00000000
--- a/src/xml/generated/mjcf_read_table.inc
+++ /dev/null
@@ -1,1019 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
-// doc/generate/generate_read_table.py; test/doc/doc_test.py checks freshness.
-//
-// Typed attribute rows for table-driven reading (mjXReader::ReadAttrTable),
-// one array per migrated element. Rows are {attr, kind, len, exact,
-// required, nodefault, handwrite, offset}; keyword maps are defined in
-// mjcf_map.h.
-
-// clang-format off
-
-// compiler (mjsCompiler)
-inline constexpr mjXAttr kCompilerAttrs[] = {
-  {"autolimits", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsCompiler, autolimits)},
-  {"boundmass", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsCompiler, boundmass)},
-  {"boundinertia", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsCompiler, boundinertia)},
-  {"settotalmass", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsCompiler, settotalmass)},
-  {"balanceinertia", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsCompiler, balanceinertia)},
-  {"angle", mjXAttr::kEnumByte, 1, true, false, false, false, (int)offsetof(mjsCompiler, degree), angle_map, angle_sz},
-  {"fitaabb", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsCompiler, fitaabb)},
-  {"eulerseq", mjXAttr::kChars, 3, true, false, false, false, (int)offsetof(mjsCompiler, eulerseq)},
-  {"meshdir", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsCompiler, meshdir)},
-  {"texturedir", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsCompiler, texturedir)},
-  {"discardvisual", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsCompiler, discardvisual)},
-  {"usethread", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsCompiler, usethread)},
-  {"fusestatic", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsCompiler, fusestatic)},
-  {"inertiafromgeom", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsCompiler, inertiafromgeom), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"inertiagrouprange", mjXAttr::kInt, 2, true, false, false, false, (int)offsetof(mjsCompiler, inertiagrouprange)},
-  {"saveinertial", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsCompiler, saveinertial)},
-  {"alignfree", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsCompiler, alignfree)},
-  {"conflict", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsCompiler, conflict), conflict_map, conflict_sz},
-};
-inline constexpr int kCompilerAttrsN = sizeof(kCompilerAttrs) / sizeof(kCompilerAttrs[0]);
-
-// lengthrange (mjLROpt)
-inline constexpr mjXAttr kLengthrangeAttrs[] = {
-  {"mode", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjLROpt, mode), lrmode_map, lrmode_sz},
-  {"useexisting", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjLROpt, useexisting), bool_map, 2},
-  {"uselimit", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjLROpt, uselimit), bool_map, 2},
-  {"accel", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjLROpt, accel)},
-  {"maxforce", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjLROpt, maxforce)},
-  {"timeconst", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjLROpt, timeconst)},
-  {"timestep", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjLROpt, timestep)},
-  {"inttotal", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjLROpt, inttotal)},
-  {"interval", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjLROpt, interval)},
-  {"tolrange", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjLROpt, tolrange)},
-};
-inline constexpr int kLengthrangeAttrsN = sizeof(kLengthrangeAttrs) / sizeof(kLengthrangeAttrs[0]);
-
-// option (mjOption)
-inline constexpr mjXAttr kOptionAttrs[] = {
-  {"timestep", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, timestep)},
-  {"impratio", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, impratio)},
-  {"tolerance", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, tolerance)},
-  {"ls_tolerance", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, ls_tolerance)},
-  {"noslip_tolerance", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, noslip_tolerance)},
-  {"ccd_tolerance", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, ccd_tolerance)},
-  {"sleep_tolerance", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, sleep_tolerance)},
-  {"gravity", mjXAttr::kNum, 3, true, false, false, false, (int)offsetof(mjOption, gravity)},
-  {"wind", mjXAttr::kNum, 3, true, false, false, false, (int)offsetof(mjOption, wind)},
-  {"magnetic", mjXAttr::kNum, 3, true, false, false, false, (int)offsetof(mjOption, magnetic)},
-  {"density", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, density)},
-  {"viscosity", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, viscosity)},
-  {"o_margin", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjOption, o_margin)},
-  {"o_solref", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjOption, o_solref)},
-  {"o_solimp", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjOption, o_solimp)},
-  {"o_friction", mjXAttr::kNum, 5, false, false, false, false, (int)offsetof(mjOption, o_friction)},
-  {"integrator", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjOption, integrator), integrator_map, integrator_sz},
-  {"cone", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjOption, cone), cone_map, cone_sz},
-  {"jacobian", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjOption, jacobian), jacobian_map, jacobian_sz},
-  {"solver", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjOption, solver), solver_map, solver_sz},
-  {"iterations", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjOption, iterations)},
-  {"ls_iterations", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjOption, ls_iterations)},
-  {"noslip_iterations", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjOption, noslip_iterations)},
-  {"ccd_iterations", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjOption, ccd_iterations)},
-  {"sdf_iterations", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjOption, sdf_iterations)},
-  {"sdf_initpoints", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjOption, sdf_initpoints)},
-};
-inline constexpr int kOptionAttrsN = sizeof(kOptionAttrs) / sizeof(kOptionAttrs[0]);
-
-// size (mjSpec)
-inline constexpr mjXAttr kSizeAttrs[] = {
-  {"nuserdata", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nuserdata)},
-  {"nkey", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nkey)},
-  {"nuser_body", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nuser_body)},
-  {"nuser_jnt", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nuser_jnt)},
-  {"nuser_geom", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nuser_geom)},
-  {"nuser_site", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nuser_site)},
-  {"nuser_cam", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nuser_cam)},
-  {"nuser_tendon", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nuser_tendon)},
-  {"nuser_actuator", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nuser_actuator)},
-  {"nuser_sensor", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjSpec, nuser_sensor)},
-};
-inline constexpr int kSizeAttrsN = sizeof(kSizeAttrs) / sizeof(kSizeAttrs[0]);
-
-// statistic (mjStatistic)
-inline constexpr mjXAttr kStatisticAttrs[] = {
-  {"meaninertia", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjStatistic, meaninertia)},
-  {"meanmass", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjStatistic, meanmass)},
-  {"meansize", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjStatistic, meansize)},
-  {"extent", mjXAttr::kNum, 1, true, false, false, false, (int)offsetof(mjStatistic, extent)},
-  {"center", mjXAttr::kNum, 3, true, false, false, false, (int)offsetof(mjStatistic, center)},
-};
-inline constexpr int kStatisticAttrsN = sizeof(kStatisticAttrs) / sizeof(kStatisticAttrs[0]);
-
-// global (mjVisual)
-inline constexpr mjXAttr kGlobalAttrs[] = {
-  {"cameraid", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjVisual, global.cameraid)},
-  {"orthographic", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjVisual, global.orthographic), bool_map, 2},
-  {"fovy", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, global.fovy)},
-  {"ipd", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, global.ipd)},
-  {"azimuth", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, global.azimuth)},
-  {"elevation", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, global.elevation)},
-  {"linewidth", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, global.linewidth)},
-  {"glow", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, global.glow)},
-  {"offwidth", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjVisual, global.offwidth)},
-  {"offheight", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjVisual, global.offheight)},
-  {"realtime", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, global.realtime)},
-  {"ellipsoidinertia", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjVisual, global.ellipsoidinertia), bool_map, 2},
-  {"bvactive", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjVisual, global.bvactive), bool_map, 2},
-};
-inline constexpr int kGlobalAttrsN = sizeof(kGlobalAttrs) / sizeof(kGlobalAttrs[0]);
-
-// quality (mjVisual)
-inline constexpr mjXAttr kQualityAttrs[] = {
-  {"shadowsize", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjVisual, quality.shadowsize)},
-  {"offsamples", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjVisual, quality.offsamples)},
-  {"numslices", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjVisual, quality.numslices)},
-  {"numstacks", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjVisual, quality.numstacks)},
-  {"numquads", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjVisual, quality.numquads)},
-};
-inline constexpr int kQualityAttrsN = sizeof(kQualityAttrs) / sizeof(kQualityAttrs[0]);
-
-// headlight (mjVisual)
-inline constexpr mjXAttr kHeadlightAttrs[] = {
-  {"ambient", mjXAttr::kFloat, 3, true, false, false, false, (int)offsetof(mjVisual, headlight.ambient)},
-  {"diffuse", mjXAttr::kFloat, 3, true, false, false, false, (int)offsetof(mjVisual, headlight.diffuse)},
-  {"specular", mjXAttr::kFloat, 3, true, false, false, false, (int)offsetof(mjVisual, headlight.specular)},
-  {"active", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjVisual, headlight.active)},
-};
-inline constexpr int kHeadlightAttrsN = sizeof(kHeadlightAttrs) / sizeof(kHeadlightAttrs[0]);
-
-// map (mjVisual)
-inline constexpr mjXAttr kMapAttrs[] = {
-  {"stiffness", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.stiffness)},
-  {"stiffnessrot", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.stiffnessrot)},
-  {"force", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.force)},
-  {"torque", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.torque)},
-  {"alpha", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.alpha)},
-  {"fogstart", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.fogstart)},
-  {"fogend", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.fogend)},
-  {"znear", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.znear)},
-  {"zfar", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.zfar)},
-  {"haze", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.haze)},
-  {"shadowclip", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.shadowclip)},
-  {"shadowscale", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.shadowscale)},
-  {"actuatortendon", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, map.actuatortendon)},
-};
-inline constexpr int kMapAttrsN = sizeof(kMapAttrs) / sizeof(kMapAttrs[0]);
-
-// scale (mjVisual)
-inline constexpr mjXAttr kScaleAttrs[] = {
-  {"forcewidth", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.forcewidth)},
-  {"contactwidth", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.contactwidth)},
-  {"contactheight", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.contactheight)},
-  {"connect", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.connect)},
-  {"com", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.com)},
-  {"camera", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.camera)},
-  {"light", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.light)},
-  {"selectpoint", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.selectpoint)},
-  {"jointlength", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.jointlength)},
-  {"jointwidth", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.jointwidth)},
-  {"actuatorlength", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.actuatorlength)},
-  {"actuatorwidth", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.actuatorwidth)},
-  {"framelength", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.framelength)},
-  {"framewidth", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.framewidth)},
-  {"constraint", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.constraint)},
-  {"slidercrank", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.slidercrank)},
-  {"frustum", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjVisual, scale.frustum)},
-};
-inline constexpr int kScaleAttrsN = sizeof(kScaleAttrs) / sizeof(kScaleAttrs[0]);
-
-// rgba (mjVisual)
-inline constexpr mjXAttr kRgbaAttrs[] = {
-  {"fog", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.fog)},
-  {"haze", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.haze)},
-  {"force", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.force)},
-  {"inertia", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.inertia)},
-  {"joint", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.joint)},
-  {"actuator", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.actuator)},
-  {"actuatornegative", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.actuatornegative)},
-  {"actuatorpositive", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.actuatorpositive)},
-  {"com", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.com)},
-  {"camera", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.camera)},
-  {"light", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.light)},
-  {"selectpoint", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.selectpoint)},
-  {"connect", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.connect)},
-  {"contactpoint", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.contactpoint)},
-  {"contactforce", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.contactforce)},
-  {"contactfriction", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.contactfriction)},
-  {"contacttorque", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.contacttorque)},
-  {"contactgap", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.contactgap)},
-  {"rangefinder", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.rangefinder)},
-  {"constraint", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.constraint)},
-  {"slidercrank", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.slidercrank)},
-  {"crankbroken", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.crankbroken)},
-  {"frustum", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.frustum)},
-  {"bv", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.bv)},
-  {"bvactive", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjVisual, rgba.bvactive)},
-};
-inline constexpr int kRgbaAttrsN = sizeof(kRgbaAttrs) / sizeof(kRgbaAttrs[0]);
-
-// mesh (mjsMesh)
-inline constexpr mjXAttr kMeshAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"content_type", mjXAttr::kString, 1, true, false, true, false, (int)offsetof(mjsMesh, content_type)},
-  {"vertex", mjXAttr::kFloatVec, 1, true, false, true, false, (int)offsetof(mjsMesh, uservert)},
-  {"normal", mjXAttr::kFloatVec, 1, true, false, true, false, (int)offsetof(mjsMesh, usernormal)},
-  {"texcoord", mjXAttr::kFloatVec, 1, true, false, true, false, (int)offsetof(mjsMesh, usertexcoord)},
-  {"face", mjXAttr::kIntVec, 1, true, false, true, false, (int)offsetof(mjsMesh, userface)},
-  {"refpos", mjXAttr::kDouble, 3, true, false, true, false, (int)offsetof(mjsMesh, refpos)},
-  {"refquat", mjXAttr::kDouble, 4, true, false, true, false, (int)offsetof(mjsMesh, refquat)},
-  {"scale", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsMesh, scale)},
-  {"smoothnormal", mjXAttr::kBool, 1, true, false, true, false, (int)offsetof(mjsMesh, smoothnormal)},
-  {"inertia", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsMesh, inertia), meshinertia_map, meshinertia_sz},
-  {"material", mjXAttr::kString, 1, true, false, true, false, (int)offsetof(mjsMesh, material)},
-};
-inline constexpr int kMeshAttrsN = sizeof(kMeshAttrs) / sizeof(kMeshAttrs[0]);
-
-// hfield (mjsHField)
-inline constexpr mjXAttr kHfieldAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"content_type", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsHField, content_type)},
-  {"nrow", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsHField, nrow)},
-  {"ncol", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsHField, ncol)},
-  {"size", mjXAttr::kDouble, 4, true, true, false, false, (int)offsetof(mjsHField, size)},
-};
-inline constexpr int kHfieldAttrsN = sizeof(kHfieldAttrs) / sizeof(kHfieldAttrs[0]);
-
-// skin (mjsSkin)
-inline constexpr mjXAttr kSkinAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"material", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsSkin, material)},
-  {"rgba", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjsSkin, rgba)},
-  {"inflate", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsSkin, inflate)},
-  {"vertex", mjXAttr::kFloatVec, 1, true, false, false, false, (int)offsetof(mjsSkin, vert)},
-  {"texcoord", mjXAttr::kFloatVec, 1, true, false, false, false, (int)offsetof(mjsSkin, texcoord)},
-  {"face", mjXAttr::kIntVec, 1, true, false, false, false, (int)offsetof(mjsSkin, face)},
-};
-inline constexpr int kSkinAttrsN = sizeof(kSkinAttrs) / sizeof(kSkinAttrs[0]);
-
-// texture (mjsTexture)
-inline constexpr mjXAttr kTextureAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"type", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsTexture, type), texture_map, texture_sz},
-  {"colorspace", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsTexture, colorspace), colorspace_map, colorspace_sz},
-  {"content_type", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsTexture, content_type)},
-  {"gridsize", mjXAttr::kInt, 2, true, false, false, false, (int)offsetof(mjsTexture, gridsize)},
-  {"gridlayout", mjXAttr::kChars, 12, false, false, false, false, (int)offsetof(mjsTexture, gridlayout)},
-  {"builtin", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsTexture, builtin), builtin_map, builtin_sz},
-  {"rgb1", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsTexture, rgb1)},
-  {"rgb2", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsTexture, rgb2)},
-  {"mark", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsTexture, mark), mark_map, mark_sz},
-  {"markrgb", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsTexture, markrgb)},
-  {"random", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsTexture, random)},
-  {"width", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsTexture, width)},
-  {"height", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsTexture, height)},
-  {"hflip", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsTexture, hflip)},
-  {"vflip", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsTexture, vflip)},
-  {"nchannel", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsTexture, nchannel)},
-};
-inline constexpr int kTextureAttrsN = sizeof(kTextureAttrs) / sizeof(kTextureAttrs[0]);
-
-// material (mjsMaterial)
-inline constexpr mjXAttr kMaterialAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"texrepeat", mjXAttr::kFloat, 2, true, false, false, false, (int)offsetof(mjsMaterial, texrepeat)},
-  {"texuniform", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsMaterial, texuniform)},
-  {"emission", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsMaterial, emission)},
-  {"specular", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsMaterial, specular)},
-  {"shininess", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsMaterial, shininess)},
-  {"reflectance", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsMaterial, reflectance)},
-  {"metallic", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsMaterial, metallic)},
-  {"roughness", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsMaterial, roughness)},
-  {"rgba", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjsMaterial, rgba)},
-};
-inline constexpr int kMaterialAttrsN = sizeof(kMaterialAttrs) / sizeof(kMaterialAttrs[0]);
-
-// body (mjsBody)
-inline constexpr mjXAttr kBodyAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"pos", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsBody, pos)},
-  {"mocap", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsBody, mocap)},
-  {"gravcomp", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsBody, gravcomp)},
-  {"sleep", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsBody, sleep), bodysleep_map, bodysleep_sz},
-  {"simple", mjXAttr::kEnumByte, 1, true, false, false, false, (int)offsetof(mjsBody, simple), FalseAuto_map, FalseAuto_sz},
-  {"user", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsBody, userdata)},
-};
-inline constexpr int kBodyAttrsN = sizeof(kBodyAttrs) / sizeof(kBodyAttrs[0]);
-
-// inertial (mjsBody)
-inline constexpr mjXAttr kInertialAttrs[] = {
-  {"pos", mjXAttr::kDouble, 3, true, true, false, false, (int)offsetof(mjsBody, ipos)},
-  {"mass", mjXAttr::kDouble, 1, true, true, false, false, (int)offsetof(mjsBody, mass)},
-  {"diaginertia", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsBody, inertia)},
-};
-inline constexpr int kInertialAttrsN = sizeof(kInertialAttrs) / sizeof(kInertialAttrs[0]);
-
-// joint (mjsJoint)
-inline constexpr mjXAttr kJointAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"type", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsJoint, type), jointtype_map, jointtype_sz},
-  {"group", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsJoint, group)},
-  {"pos", mjXAttr::kDouble, 3, true, false, false, true, (int)offsetof(mjsJoint, pos)},
-  {"axis", mjXAttr::kDouble, 3, true, false, false, true, (int)offsetof(mjsJoint, axis)},
-  {"springdamper", mjXAttr::kDouble, 2, true, false, false, true, (int)offsetof(mjsJoint, springdamper)},
-  {"limited", mjXAttr::kEnum, 1, true, false, false, true, (int)offsetof(mjsJoint, limited), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"actuatorfrclimited", mjXAttr::kEnum, 1, true, false, false, true, (int)offsetof(mjsJoint, actfrclimited), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"solreflimit", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsJoint, solref_limit)},
-  {"solimplimit", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsJoint, solimp_limit)},
-  {"solreffriction", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsJoint, solref_friction)},
-  {"solimpfriction", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsJoint, solimp_friction)},
-  {"stiffness", mjXAttr::kDouble, mjNPOLY+1, false, false, false, false, (int)offsetof(mjsJoint, stiffness)},
-  {"range", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsJoint, range)},
-  {"actuatorfrcrange", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsJoint, actfrcrange)},
-  {"actuatorgravcomp", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsJoint, actgravcomp)},
-  {"margin", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsJoint, margin)},
-  {"ref", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsJoint, ref)},
-  {"springref", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsJoint, springref)},
-  {"armature", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsJoint, armature)},
-  {"damping", mjXAttr::kDouble, mjNPOLY+1, false, false, false, false, (int)offsetof(mjsJoint, damping)},
-  {"frictionloss", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsJoint, frictionloss)},
-  {"user", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsJoint, userdata)},
-};
-inline constexpr int kJointAttrsN = sizeof(kJointAttrs) / sizeof(kJointAttrs[0]);
-
-// geom (mjsGeom)
-inline constexpr mjXAttr kGeomAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"type", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsGeom, type), geomtype_map, geomtype_sz},
-  {"contype", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsGeom, contype)},
-  {"conaffinity", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsGeom, conaffinity)},
-  {"condim", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsGeom, condim)},
-  {"group", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsGeom, group)},
-  {"priority", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsGeom, priority)},
-  {"size", mjXAttr::kDouble, 3, false, false, false, true, (int)offsetof(mjsGeom, size)},
-  {"material", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsGeom, material)},
-  {"friction", mjXAttr::kDouble, 3, false, false, false, false, (int)offsetof(mjsGeom, friction)},
-  {"mass", mjXAttr::kDouble, 1, true, false, false, true, (int)offsetof(mjsGeom, mass)},
-  {"density", mjXAttr::kDouble, 1, true, false, false, true, (int)offsetof(mjsGeom, density)},
-  {"shellinertia", mjXAttr::kEnum, 1, true, false, false, true, (int)offsetof(mjsGeom, typeinertia), bool_map, 2},
-  {"solmix", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsGeom, solmix)},
-  {"solref", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsGeom, solref)},
-  {"solimp", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsGeom, solimp)},
-  {"margin", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsGeom, margin)},
-  {"gap", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsGeom, gap)},
-  {"surfacevel", mjXAttr::kDouble, 6, false, false, false, false, (int)offsetof(mjsGeom, surfacevel)},
-  {"adhesion", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsGeom, adhesion)},
-  {"fromto", mjXAttr::kDouble, 6, true, false, false, true, (int)offsetof(mjsGeom, fromto)},
-  {"pos", mjXAttr::kDouble, 3, true, false, false, true, (int)offsetof(mjsGeom, pos)},
-  {"hfield", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsGeom, hfieldname)},
-  {"mesh", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsGeom, meshname)},
-  {"fitscale", mjXAttr::kDouble, 1, true, false, false, true, (int)offsetof(mjsGeom, fitscale)},
-  {"rgba", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjsGeom, rgba)},
-  {"fluidcoef", mjXAttr::kNum, 5, false, false, false, false, (int)offsetof(mjsGeom, fluid_coefs)},
-  {"user", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsGeom, userdata)},
-};
-inline constexpr int kGeomAttrsN = sizeof(kGeomAttrs) / sizeof(kGeomAttrs[0]);
-
-// site (mjsSite)
-inline constexpr mjXAttr kSiteAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"type", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsSite, type), geomtype_map, geomtype_sz},
-  {"group", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsSite, group)},
-  {"pos", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsSite, pos)},
-  {"material", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsSite, material)},
-  {"size", mjXAttr::kDouble, 3, false, false, false, true, (int)offsetof(mjsSite, size)},
-  {"fromto", mjXAttr::kDouble, 6, true, false, false, true, (int)offsetof(mjsSite, fromto)},
-  {"rgba", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjsSite, rgba)},
-  {"user", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsSite, userdata)},
-};
-inline constexpr int kSiteAttrsN = sizeof(kSiteAttrs) / sizeof(kSiteAttrs[0]);
-
-// camera (mjsCamera)
-inline constexpr mjXAttr kCameraAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"projection", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsCamera, proj), projection_map, projection_sz},
-  {"fovy", mjXAttr::kDouble, 1, true, false, false, true, (int)offsetof(mjsCamera, fovy)},
-  {"ipd", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsCamera, ipd)},
-  {"resolution", mjXAttr::kInt, 2, true, false, false, false, (int)offsetof(mjsCamera, resolution)},
-  {"output", mjXAttr::kFlags, 1, true, false, false, false, (int)offsetof(mjsCamera, output), camout_map, camout_sz},
-  {"pos", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsCamera, pos)},
-  {"mode", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsCamera, mode), camlight_map, camlight_sz},
-  {"target", mjXAttr::kString, 1, true, false, true, false, (int)offsetof(mjsCamera, targetbody)},
-  {"focal", mjXAttr::kFloat, 2, true, false, false, true, (int)offsetof(mjsCamera, focal_length)},
-  {"focalpixel", mjXAttr::kFloat, 2, true, false, false, true, (int)offsetof(mjsCamera, focal_pixel)},
-  {"principal", mjXAttr::kFloat, 2, true, false, false, true, (int)offsetof(mjsCamera, principal_length)},
-  {"principalpixel", mjXAttr::kFloat, 2, true, false, false, true, (int)offsetof(mjsCamera, principal_pixel)},
-  {"sensorsize", mjXAttr::kFloat, 2, true, false, false, true, (int)offsetof(mjsCamera, sensor_size)},
-  {"user", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsCamera, userdata)},
-};
-inline constexpr int kCameraAttrsN = sizeof(kCameraAttrs) / sizeof(kCameraAttrs[0]);
-
-// light (mjsLight)
-inline constexpr mjXAttr kLightAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"castshadow", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsLight, castshadow)},
-  {"active", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsLight, active)},
-  {"pos", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsLight, pos)},
-  {"dir", mjXAttr::kDouble, 3, true, false, false, false, (int)offsetof(mjsLight, dir)},
-  {"bulbradius", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsLight, bulbradius)},
-  {"intensity", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsLight, intensity)},
-  {"range", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsLight, range)},
-  {"attenuation", mjXAttr::kFloat, 3, true, false, false, false, (int)offsetof(mjsLight, attenuation)},
-  {"cutoff", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsLight, cutoff)},
-  {"softness", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsLight, softness)},
-  {"exponent", mjXAttr::kFloat, 1, true, false, false, false, (int)offsetof(mjsLight, exponent)},
-  {"ambient", mjXAttr::kFloat, 3, true, false, false, false, (int)offsetof(mjsLight, ambient)},
-  {"diffuse", mjXAttr::kFloat, 3, true, false, false, false, (int)offsetof(mjsLight, diffuse)},
-  {"specular", mjXAttr::kFloat, 3, true, false, false, false, (int)offsetof(mjsLight, specular)},
-  {"mode", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsLight, mode), camlight_map, camlight_sz},
-  {"target", mjXAttr::kString, 1, true, false, true, false, (int)offsetof(mjsLight, targetbody)},
-  {"texture", mjXAttr::kString, 1, true, false, true, false, (int)offsetof(mjsLight, texture)},
-};
-inline constexpr int kLightAttrsN = sizeof(kLightAttrs) / sizeof(kLightAttrs[0]);
-
-// elasticity (mjsFlex)
-inline constexpr mjXAttr kElasticityAttrs[] = {
-  {"young", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, young)},
-  {"poisson", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, poisson)},
-  {"damping", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, damping)},
-  {"thickness", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, thickness)},
-  {"elastic2d", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsFlex, elastic2d), elastic2d_map, elastic2d_sz},
-};
-inline constexpr int kElasticityAttrsN = sizeof(kElasticityAttrs) / sizeof(kElasticityAttrs[0]);
-
-// flexcomp_contact (mjsFlex)
-inline constexpr mjXAttr kFlexcomp_contactAttrs[] = {
-  {"contype", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsFlex, contype)},
-  {"conaffinity", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsFlex, conaffinity)},
-  {"condim", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsFlex, condim)},
-  {"priority", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsFlex, priority)},
-  {"friction", mjXAttr::kDouble, 3, false, false, false, false, (int)offsetof(mjsFlex, friction)},
-  {"solmix", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, solmix)},
-  {"solref", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsFlex, solref)},
-  {"solimp", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsFlex, solimp)},
-  {"margin", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, margin)},
-  {"gap", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, gap)},
-  {"internal", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsFlex, internal)},
-  {"selfcollide", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsFlex, selfcollide), flexself_map, flexself_sz},
-  {"activelayers", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsFlex, activelayers)},
-  {"passive", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsFlex, passive), bool_map, 2},
-};
-inline constexpr int kFlexcomp_contactAttrsN = sizeof(kFlexcomp_contactAttrs) / sizeof(kFlexcomp_contactAttrs[0]);
-
-// flex (mjsFlex)
-inline constexpr mjXAttr kFlexAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"group", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsFlex, group)},
-  {"dim", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsFlex, dim)},
-  {"radius", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, radius)},
-  {"material", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsFlex, material)},
-  {"rgba", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjsFlex, rgba)},
-  {"flatskin", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsFlex, flatskin)},
-  {"body", mjXAttr::kStringVec, 1, true, true, false, false, (int)offsetof(mjsFlex, vertbody)},
-  {"vertex", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsFlex, vert)},
-  {"element", mjXAttr::kIntVec, 1, true, true, false, false, (int)offsetof(mjsFlex, elem)},
-  {"texcoord", mjXAttr::kFloatVec, 1, true, false, false, false, (int)offsetof(mjsFlex, texcoord)},
-  {"elemtexcoord", mjXAttr::kIntVec, 1, true, false, false, false, (int)offsetof(mjsFlex, elemtexcoord)},
-  {"node", mjXAttr::kStringVec, 1, true, false, false, false, (int)offsetof(mjsFlex, nodebody)},
-  {"nodecoord", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsFlex, node)},
-};
-inline constexpr int kFlexAttrsN = sizeof(kFlexAttrs) / sizeof(kFlexAttrs[0]);
-
-// flex_edge (mjsFlex)
-inline constexpr mjXAttr kFlex_edgeAttrs[] = {
-  {"stiffness", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, edgestiffness)},
-  {"damping", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsFlex, edgedamping)},
-};
-inline constexpr int kFlex_edgeAttrsN = sizeof(kFlex_edgeAttrs) / sizeof(kFlex_edgeAttrs[0]);
-
-// pair (mjsPair)
-inline constexpr mjXAttr kPairAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"geom1", mjXAttr::kString, 1, true, false, true, false, (int)offsetof(mjsPair, geomname1)},
-  {"geom2", mjXAttr::kString, 1, true, false, true, false, (int)offsetof(mjsPair, geomname2)},
-  {"condim", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsPair, condim)},
-  {"friction", mjXAttr::kDouble, 5, false, false, false, false, (int)offsetof(mjsPair, friction)},
-  {"solref", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsPair, solref)},
-  {"solreffriction", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsPair, solreffriction)},
-  {"solimp", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsPair, solimp)},
-  {"gap", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsPair, gap)},
-  {"margin", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsPair, margin)},
-  {"adhesion", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsPair, adhesion)},
-};
-inline constexpr int kPairAttrsN = sizeof(kPairAttrs) / sizeof(kPairAttrs[0]);
-
-// exclude (mjsExclude)
-inline constexpr mjXAttr kExcludeAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"body1", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsExclude, bodyname1)},
-  {"body2", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsExclude, bodyname2)},
-};
-inline constexpr int kExcludeAttrsN = sizeof(kExcludeAttrs) / sizeof(kExcludeAttrs[0]);
-
-// spatial (mjsTendon)
-inline constexpr mjXAttr kSpatialAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"group", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsTendon, group)},
-  {"limited", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsTendon, limited), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"actuatorfrclimited", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsTendon, actfrclimited), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"range", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsTendon, range)},
-  {"actuatorfrcrange", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsTendon, actfrcrange)},
-  {"solreflimit", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsTendon, solref_limit)},
-  {"solimplimit", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsTendon, solimp_limit)},
-  {"solreffriction", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsTendon, solref_friction)},
-  {"solimpfriction", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsTendon, solimp_friction)},
-  {"frictionloss", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsTendon, frictionloss)},
-  {"width", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsTendon, width)},
-  {"material", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsTendon, material)},
-  {"margin", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsTendon, margin)},
-  {"stiffness", mjXAttr::kDouble, mjNPOLY+1, false, false, false, false, (int)offsetof(mjsTendon, stiffness)},
-  {"damping", mjXAttr::kDouble, mjNPOLY+1, false, false, false, false, (int)offsetof(mjsTendon, damping)},
-  {"armature", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsTendon, armature)},
-  {"rgba", mjXAttr::kFloat, 4, true, false, false, false, (int)offsetof(mjsTendon, rgba)},
-  {"user", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsTendon, userdata)},
-};
-inline constexpr int kSpatialAttrsN = sizeof(kSpatialAttrs) / sizeof(kSpatialAttrs[0]);
-
-// fixed (mjsTendon)
-inline constexpr mjXAttr kFixedAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"group", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsTendon, group)},
-  {"limited", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsTendon, limited), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"actuatorfrclimited", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsTendon, actfrclimited), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"range", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsTendon, range)},
-  {"actuatorfrcrange", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsTendon, actfrcrange)},
-  {"solreflimit", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsTendon, solref_limit)},
-  {"solimplimit", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsTendon, solimp_limit)},
-  {"solreffriction", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsTendon, solref_friction)},
-  {"solimpfriction", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsTendon, solimp_friction)},
-  {"frictionloss", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsTendon, frictionloss)},
-  {"margin", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsTendon, margin)},
-  {"stiffness", mjXAttr::kDouble, mjNPOLY+1, false, false, false, false, (int)offsetof(mjsTendon, stiffness)},
-  {"damping", mjXAttr::kDouble, mjNPOLY+1, false, false, false, false, (int)offsetof(mjsTendon, damping)},
-  {"armature", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsTendon, armature)},
-  {"user", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsTendon, userdata)},
-};
-inline constexpr int kFixedAttrsN = sizeof(kFixedAttrs) / sizeof(kFixedAttrs[0]);
-
-// general (mjsActuator)
-inline constexpr mjXAttr kGeneralAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"group", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsActuator, group)},
-  {"nsample", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsActuator, nsample)},
-  {"interp", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsActuator, interp), interp_map, interp_sz},
-  {"delay", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsActuator, delay)},
-  {"ctrlrange", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsActuator, ctrlrange)},
-  {"user", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsActuator, userdata)},
-  {"ctrllimited", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsActuator, ctrllimited), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"forcelimited", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsActuator, forcelimited), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"actlimited", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsActuator, actlimited), FalseTrueAuto_map, FalseTrueAuto_sz},
-  {"forcerange", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsActuator, forcerange)},
-  {"actrange", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsActuator, actrange)},
-  {"lengthrange", mjXAttr::kDouble, 2, true, false, true, false, (int)offsetof(mjsActuator, lengthrange)},
-  {"gear", mjXAttr::kDouble, 6, false, false, false, false, (int)offsetof(mjsActuator, gear)},
-  {"damping", mjXAttr::kDouble, mjNPOLY+1, false, false, false, false, (int)offsetof(mjsActuator, damping)},
-  {"armature", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsActuator, armature)},
-  {"actdim", mjXAttr::kInt, 1, true, false, false, true, (int)offsetof(mjsActuator, actdim)},
-  {"velrange", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsActuator, velrange)},
-  {"ffrange", mjXAttr::kDouble, 2, true, false, false, false, (int)offsetof(mjsActuator, ffrange)},
-  {"dyntype", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsActuator, dyntype), dyn_map, dyn_sz},
-  {"gaintype", mjXAttr::kEnum, 1, true, false, false, true, (int)offsetof(mjsActuator, gaintype), gain_map, gain_sz},
-  {"biastype", mjXAttr::kEnum, 1, true, false, false, true, (int)offsetof(mjsActuator, biastype), bias_map, bias_sz},
-  {"dynprm", mjXAttr::kDouble, mjNDYN, false, false, false, false, (int)offsetof(mjsActuator, dynprm)},
-  {"gainprm", mjXAttr::kDouble, mjNGAIN, false, false, false, true, (int)offsetof(mjsActuator, gainprm)},
-  {"biasprm", mjXAttr::kDouble, mjNBIAS, false, false, false, true, (int)offsetof(mjsActuator, biasprm)},
-  {"actearly", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsActuator, actearly)},
-};
-inline constexpr int kGeneralAttrsN = sizeof(kGeneralAttrs) / sizeof(kGeneralAttrs[0]);
-
-// touch (mjsSensor)
-inline constexpr mjXAttr kTouchAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_TOUCH},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_SITE},
-  {"site", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kTouchAttrsN = sizeof(kTouchAttrs) / sizeof(kTouchAttrs[0]);
-
-// accelerometer (mjsSensor)
-inline constexpr mjXAttr kAccelerometerAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_ACCELEROMETER},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_SITE},
-  {"site", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kAccelerometerAttrsN = sizeof(kAccelerometerAttrs) / sizeof(kAccelerometerAttrs[0]);
-
-// velocimeter (mjsSensor)
-inline constexpr mjXAttr kVelocimeterAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_VELOCIMETER},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_SITE},
-  {"site", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kVelocimeterAttrsN = sizeof(kVelocimeterAttrs) / sizeof(kVelocimeterAttrs[0]);
-
-// gyro (mjsSensor)
-inline constexpr mjXAttr kGyroAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_GYRO},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_SITE},
-  {"site", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kGyroAttrsN = sizeof(kGyroAttrs) / sizeof(kGyroAttrs[0]);
-
-// force (mjsSensor)
-inline constexpr mjXAttr kForceAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FORCE},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_SITE},
-  {"site", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kForceAttrsN = sizeof(kForceAttrs) / sizeof(kForceAttrs[0]);
-
-// torque (mjsSensor)
-inline constexpr mjXAttr kTorqueAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_TORQUE},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_SITE},
-  {"site", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kTorqueAttrsN = sizeof(kTorqueAttrs) / sizeof(kTorqueAttrs[0]);
-
-// magnetometer (mjsSensor)
-inline constexpr mjXAttr kMagnetometerAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_MAGNETOMETER},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_SITE},
-  {"site", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kMagnetometerAttrsN = sizeof(kMagnetometerAttrs) / sizeof(kMagnetometerAttrs[0]);
-
-// camprojection (mjsSensor)
-inline constexpr mjXAttr kCamprojectionAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_CAMPROJECTION},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_SITE},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, reftype), nullptr, 0, mjOBJ_CAMERA},
-  {"site", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-  {"camera", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, refname)},
-};
-inline constexpr int kCamprojectionAttrsN = sizeof(kCamprojectionAttrs) / sizeof(kCamprojectionAttrs[0]);
-
-// jointpos (mjsSensor)
-inline constexpr mjXAttr kJointposAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_JOINTPOS},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_JOINT},
-  {"joint", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kJointposAttrsN = sizeof(kJointposAttrs) / sizeof(kJointposAttrs[0]);
-
-// jointvel (mjsSensor)
-inline constexpr mjXAttr kJointvelAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_JOINTVEL},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_JOINT},
-  {"joint", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kJointvelAttrsN = sizeof(kJointvelAttrs) / sizeof(kJointvelAttrs[0]);
-
-// tendonpos (mjsSensor)
-inline constexpr mjXAttr kTendonposAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_TENDONPOS},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_TENDON},
-  {"tendon", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kTendonposAttrsN = sizeof(kTendonposAttrs) / sizeof(kTendonposAttrs[0]);
-
-// tendonvel (mjsSensor)
-inline constexpr mjXAttr kTendonvelAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_TENDONVEL},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_TENDON},
-  {"tendon", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kTendonvelAttrsN = sizeof(kTendonvelAttrs) / sizeof(kTendonvelAttrs[0]);
-
-// actuatorpos (mjsSensor)
-inline constexpr mjXAttr kActuatorposAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_ACTUATORPOS},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_ACTUATOR},
-  {"actuator", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kActuatorposAttrsN = sizeof(kActuatorposAttrs) / sizeof(kActuatorposAttrs[0]);
-
-// actuatorvel (mjsSensor)
-inline constexpr mjXAttr kActuatorvelAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_ACTUATORVEL},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_ACTUATOR},
-  {"actuator", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kActuatorvelAttrsN = sizeof(kActuatorvelAttrs) / sizeof(kActuatorvelAttrs[0]);
-
-// actuatorfrc (mjsSensor)
-inline constexpr mjXAttr kActuatorfrcAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_ACTUATORFRC},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_ACTUATOR},
-  {"actuator", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kActuatorfrcAttrsN = sizeof(kActuatorfrcAttrs) / sizeof(kActuatorfrcAttrs[0]);
-
-// jointactuatorfrc (mjsSensor)
-inline constexpr mjXAttr kJointactuatorfrcAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_JOINTACTFRC},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_JOINT},
-  {"joint", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kJointactuatorfrcAttrsN = sizeof(kJointactuatorfrcAttrs) / sizeof(kJointactuatorfrcAttrs[0]);
-
-// tendonactuatorfrc (mjsSensor)
-inline constexpr mjXAttr kTendonactuatorfrcAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_TENDONACTFRC},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_TENDON},
-  {"tendon", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kTendonactuatorfrcAttrsN = sizeof(kTendonactuatorfrcAttrs) / sizeof(kTendonactuatorfrcAttrs[0]);
-
-// ballquat (mjsSensor)
-inline constexpr mjXAttr kBallquatAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_BALLQUAT},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_JOINT},
-  {"joint", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kBallquatAttrsN = sizeof(kBallquatAttrs) / sizeof(kBallquatAttrs[0]);
-
-// ballangvel (mjsSensor)
-inline constexpr mjXAttr kBallangvelAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_BALLANGVEL},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_JOINT},
-  {"joint", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kBallangvelAttrsN = sizeof(kBallangvelAttrs) / sizeof(kBallangvelAttrs[0]);
-
-// jointlimitpos (mjsSensor)
-inline constexpr mjXAttr kJointlimitposAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_JOINTLIMITPOS},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_JOINT},
-  {"joint", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kJointlimitposAttrsN = sizeof(kJointlimitposAttrs) / sizeof(kJointlimitposAttrs[0]);
-
-// jointlimitvel (mjsSensor)
-inline constexpr mjXAttr kJointlimitvelAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_JOINTLIMITVEL},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_JOINT},
-  {"joint", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kJointlimitvelAttrsN = sizeof(kJointlimitvelAttrs) / sizeof(kJointlimitvelAttrs[0]);
-
-// jointlimitfrc (mjsSensor)
-inline constexpr mjXAttr kJointlimitfrcAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_JOINTLIMITFRC},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_JOINT},
-  {"joint", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kJointlimitfrcAttrsN = sizeof(kJointlimitfrcAttrs) / sizeof(kJointlimitfrcAttrs[0]);
-
-// tendonlimitpos (mjsSensor)
-inline constexpr mjXAttr kTendonlimitposAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_TENDONLIMITPOS},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_TENDON},
-  {"tendon", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kTendonlimitposAttrsN = sizeof(kTendonlimitposAttrs) / sizeof(kTendonlimitposAttrs[0]);
-
-// tendonlimitvel (mjsSensor)
-inline constexpr mjXAttr kTendonlimitvelAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_TENDONLIMITVEL},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_TENDON},
-  {"tendon", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kTendonlimitvelAttrsN = sizeof(kTendonlimitvelAttrs) / sizeof(kTendonlimitvelAttrs[0]);
-
-// tendonlimitfrc (mjsSensor)
-inline constexpr mjXAttr kTendonlimitfrcAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_TENDONLIMITFRC},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_TENDON},
-  {"tendon", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kTendonlimitfrcAttrsN = sizeof(kTendonlimitfrcAttrs) / sizeof(kTendonlimitfrcAttrs[0]);
-
-// framepos (mjsSensor)
-inline constexpr mjXAttr kFrameposAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FRAMEPOS},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-  {"reftype", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsSensor, reftype), frameobj_map, frameobj_sz},
-  {"refname", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsSensor, refname)},
-};
-inline constexpr int kFrameposAttrsN = sizeof(kFrameposAttrs) / sizeof(kFrameposAttrs[0]);
-
-// framequat (mjsSensor)
-inline constexpr mjXAttr kFramequatAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FRAMEQUAT},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-  {"reftype", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsSensor, reftype), frameobj_map, frameobj_sz},
-  {"refname", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsSensor, refname)},
-};
-inline constexpr int kFramequatAttrsN = sizeof(kFramequatAttrs) / sizeof(kFramequatAttrs[0]);
-
-// framexaxis (mjsSensor)
-inline constexpr mjXAttr kFramexaxisAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FRAMEXAXIS},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-  {"reftype", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsSensor, reftype), frameobj_map, frameobj_sz},
-  {"refname", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsSensor, refname)},
-};
-inline constexpr int kFramexaxisAttrsN = sizeof(kFramexaxisAttrs) / sizeof(kFramexaxisAttrs[0]);
-
-// frameyaxis (mjsSensor)
-inline constexpr mjXAttr kFrameyaxisAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FRAMEYAXIS},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-  {"reftype", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsSensor, reftype), frameobj_map, frameobj_sz},
-  {"refname", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsSensor, refname)},
-};
-inline constexpr int kFrameyaxisAttrsN = sizeof(kFrameyaxisAttrs) / sizeof(kFrameyaxisAttrs[0]);
-
-// framezaxis (mjsSensor)
-inline constexpr mjXAttr kFramezaxisAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FRAMEZAXIS},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-  {"reftype", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsSensor, reftype), frameobj_map, frameobj_sz},
-  {"refname", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsSensor, refname)},
-};
-inline constexpr int kFramezaxisAttrsN = sizeof(kFramezaxisAttrs) / sizeof(kFramezaxisAttrs[0]);
-
-// framelinvel (mjsSensor)
-inline constexpr mjXAttr kFramelinvelAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FRAMELINVEL},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-  {"reftype", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsSensor, reftype), frameobj_map, frameobj_sz},
-  {"refname", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsSensor, refname)},
-};
-inline constexpr int kFramelinvelAttrsN = sizeof(kFramelinvelAttrs) / sizeof(kFramelinvelAttrs[0]);
-
-// frameangvel (mjsSensor)
-inline constexpr mjXAttr kFrameangvelAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FRAMEANGVEL},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-  {"reftype", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsSensor, reftype), frameobj_map, frameobj_sz},
-  {"refname", mjXAttr::kString, 1, true, false, false, false, (int)offsetof(mjsSensor, refname)},
-};
-inline constexpr int kFrameangvelAttrsN = sizeof(kFrameangvelAttrs) / sizeof(kFrameangvelAttrs[0]);
-
-// framelinacc (mjsSensor)
-inline constexpr mjXAttr kFramelinaccAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FRAMELINACC},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kFramelinaccAttrsN = sizeof(kFramelinaccAttrs) / sizeof(kFramelinaccAttrs[0]);
-
-// frameangacc (mjsSensor)
-inline constexpr mjXAttr kFrameangaccAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_FRAMEANGACC},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kFrameangaccAttrsN = sizeof(kFrameangaccAttrs) / sizeof(kFrameangaccAttrs[0]);
-
-// subtreecom (mjsSensor)
-inline constexpr mjXAttr kSubtreecomAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_SUBTREECOM},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_BODY},
-  {"body", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kSubtreecomAttrsN = sizeof(kSubtreecomAttrs) / sizeof(kSubtreecomAttrs[0]);
-
-// subtreelinvel (mjsSensor)
-inline constexpr mjXAttr kSubtreelinvelAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_SUBTREELINVEL},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_BODY},
-  {"body", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kSubtreelinvelAttrsN = sizeof(kSubtreelinvelAttrs) / sizeof(kSubtreelinvelAttrs[0]);
-
-// subtreeangmom (mjsSensor)
-inline constexpr mjXAttr kSubtreeangmomAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_SUBTREEANGMOM},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_BODY},
-  {"body", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kSubtreeangmomAttrsN = sizeof(kSubtreeangmomAttrs) / sizeof(kSubtreeangmomAttrs[0]);
-
-// insidesite (mjsSensor)
-inline constexpr mjXAttr kInsidesiteAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_INSIDESITE},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, reftype), nullptr, 0, mjOBJ_SITE},
-  {"site", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, refname)},
-  {"objtype", mjXAttr::kEnum, 1, true, true, false, false, (int)offsetof(mjsSensor, objtype), frameobj_map, frameobj_sz},
-  {"objname", mjXAttr::kString, 1, true, true, false, false, (int)offsetof(mjsSensor, objname)},
-};
-inline constexpr int kInsidesiteAttrsN = sizeof(kInsidesiteAttrs) / sizeof(kInsidesiteAttrs[0]);
-
-// e_potential (mjsSensor)
-inline constexpr mjXAttr kE_potentialAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_E_POTENTIAL},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_UNKNOWN},
-};
-inline constexpr int kE_potentialAttrsN = sizeof(kE_potentialAttrs) / sizeof(kE_potentialAttrs[0]);
-
-// e_kinetic (mjsSensor)
-inline constexpr mjXAttr kE_kineticAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_E_KINETIC},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_UNKNOWN},
-};
-inline constexpr int kE_kineticAttrsN = sizeof(kE_kineticAttrs) / sizeof(kE_kineticAttrs[0]);
-
-// clock (mjsSensor)
-inline constexpr mjXAttr kClockAttrs[] = {
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, type), nullptr, 0, mjSENS_CLOCK},
-  {nullptr, mjXAttr::kConst, 1, true, false, false, false, (int)offsetof(mjsSensor, objtype), nullptr, 0, mjOBJ_UNKNOWN},
-};
-inline constexpr int kClockAttrsN = sizeof(kClockAttrs) / sizeof(kClockAttrs[0]);
-
-// key (mjsKey)
-inline constexpr mjXAttr kKeyAttrs[] = {
-  {"time", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsKey, time)},
-  {"qpos", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsKey, qpos)},
-  {"qvel", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsKey, qvel)},
-  {"act", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsKey, act)},
-  {"mpos", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsKey, mpos)},
-  {"mquat", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsKey, mquat)},
-  {"ctrl", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsKey, ctrl)},
-};
-inline constexpr int kKeyAttrsN = sizeof(kKeyAttrs) / sizeof(kKeyAttrs[0]);
-
-// sensors fully described by the schema: dispatch by tag
-struct mjXSensorEntry { const char* tag; const mjXAttr* rows; int n; };
-inline constexpr mjXSensorEntry kSensorDispatch[] = {
-  {"touch", kTouchAttrs, kTouchAttrsN},
-  {"accelerometer", kAccelerometerAttrs, kAccelerometerAttrsN},
-  {"velocimeter", kVelocimeterAttrs, kVelocimeterAttrsN},
-  {"gyro", kGyroAttrs, kGyroAttrsN},
-  {"force", kForceAttrs, kForceAttrsN},
-  {"torque", kTorqueAttrs, kTorqueAttrsN},
-  {"magnetometer", kMagnetometerAttrs, kMagnetometerAttrsN},
-  {"camprojection", kCamprojectionAttrs, kCamprojectionAttrsN},
-  {"jointpos", kJointposAttrs, kJointposAttrsN},
-  {"jointvel", kJointvelAttrs, kJointvelAttrsN},
-  {"tendonpos", kTendonposAttrs, kTendonposAttrsN},
-  {"tendonvel", kTendonvelAttrs, kTendonvelAttrsN},
-  {"actuatorpos", kActuatorposAttrs, kActuatorposAttrsN},
-  {"actuatorvel", kActuatorvelAttrs, kActuatorvelAttrsN},
-  {"actuatorfrc", kActuatorfrcAttrs, kActuatorfrcAttrsN},
-  {"jointactuatorfrc", kJointactuatorfrcAttrs, kJointactuatorfrcAttrsN},
-  {"tendonactuatorfrc", kTendonactuatorfrcAttrs, kTendonactuatorfrcAttrsN},
-  {"ballquat", kBallquatAttrs, kBallquatAttrsN},
-  {"ballangvel", kBallangvelAttrs, kBallangvelAttrsN},
-  {"jointlimitpos", kJointlimitposAttrs, kJointlimitposAttrsN},
-  {"jointlimitvel", kJointlimitvelAttrs, kJointlimitvelAttrsN},
-  {"jointlimitfrc", kJointlimitfrcAttrs, kJointlimitfrcAttrsN},
-  {"tendonlimitpos", kTendonlimitposAttrs, kTendonlimitposAttrsN},
-  {"tendonlimitvel", kTendonlimitvelAttrs, kTendonlimitvelAttrsN},
-  {"tendonlimitfrc", kTendonlimitfrcAttrs, kTendonlimitfrcAttrsN},
-  {"framepos", kFrameposAttrs, kFrameposAttrsN},
-  {"framequat", kFramequatAttrs, kFramequatAttrsN},
-  {"framexaxis", kFramexaxisAttrs, kFramexaxisAttrsN},
-  {"frameyaxis", kFrameyaxisAttrs, kFrameyaxisAttrsN},
-  {"framezaxis", kFramezaxisAttrs, kFramezaxisAttrsN},
-  {"framelinvel", kFramelinvelAttrs, kFramelinvelAttrsN},
-  {"frameangvel", kFrameangvelAttrs, kFrameangvelAttrsN},
-  {"framelinacc", kFramelinaccAttrs, kFramelinaccAttrsN},
-  {"frameangacc", kFrameangaccAttrs, kFrameangaccAttrsN},
-  {"insidesite", kInsidesiteAttrs, kInsidesiteAttrsN},
-  {"subtreecom", kSubtreecomAttrs, kSubtreecomAttrsN},
-  {"subtreelinvel", kSubtreelinvelAttrs, kSubtreelinvelAttrsN},
-  {"subtreeangmom", kSubtreeangmomAttrs, kSubtreeangmomAttrsN},
-  {"e_potential", kE_potentialAttrs, kE_potentialAttrsN},
-  {"e_kinetic", kE_kineticAttrs, kE_kineticAttrsN},
-  {"clock", kClockAttrs, kClockAttrsN},
-};
-inline constexpr int kSensorDispatchN = sizeof(kSensorDispatch) / sizeof(kSensorDispatch[0]);
-
-// group equality_base (mjsEquality)
-inline constexpr mjXAttr kEqualityBaseAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"active", mjXAttr::kBool, 1, true, false, false, false, (int)offsetof(mjsEquality, active)},
-  {"solref", mjXAttr::kNum, mjNREF, false, false, false, false, (int)offsetof(mjsEquality, solref)},
-  {"solimp", mjXAttr::kNum, mjNIMP, false, false, false, false, (int)offsetof(mjsEquality, solimp)},
-};
-inline constexpr int kEqualityBaseAttrsN = sizeof(kEqualityBaseAttrs) / sizeof(kEqualityBaseAttrs[0]);
-
-// group sensor_base (mjsSensor)
-inline constexpr mjXAttr kSensorBaseAttrs[] = {
-  {"name", mjXAttr::kName, 1, true, false, true, false, -1},
-  {"nsample", mjXAttr::kInt, 1, true, false, false, false, (int)offsetof(mjsSensor, nsample)},
-  {"interp", mjXAttr::kEnum, 1, true, false, false, false, (int)offsetof(mjsSensor, interp), interp_map, interp_sz},
-  {"delay", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsSensor, delay)},
-  {"interval", mjXAttr::kDouble, 2, false, false, false, false, (int)offsetof(mjsSensor, interval)},
-  {"cutoff", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsSensor, cutoff)},
-  {"noise", mjXAttr::kDouble, 1, true, false, false, false, (int)offsetof(mjsSensor, noise)},
-  {"user", mjXAttr::kDoubleVec, 1, true, false, false, false, (int)offsetof(mjsSensor, userdata)},
-};
-inline constexpr int kSensorBaseAttrsN = sizeof(kSensorBaseAttrs) / sizeof(kSensorBaseAttrs[0]);
-
-// clang-format on
diff --git a/src/xml/generated/mjcf_table.inc b/src/xml/generated/mjcf_table.inc
deleted file mode 100644
index 866adfd7..00000000
--- a/src/xml/generated/mjcf_table.inc
+++ /dev/null
@@ -1,543 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// GENERATED FILE, DO NOT EDIT. Generated from src/xml/mjcf.schema by
-// doc/generate/generate_mjcf_table.py; test/doc/doc_test.py checks freshness.
-//
-// The MJCF grammar table consumed by mjXSchema: rows of {name, cardinality,
-// attributes...} with {"<"}/{">"} nesting markers. worldbody, frame and
-// replicate have no rows: mjXSchema::NameMatch validates them against the
-// body row (see the alias= facets in mjcf.schema).
-
-// clang-format off
-std::vector<const char*> MJCF[] = {
-{"mujoco", "!", "model"},
-{"<"},
-    {"compiler", "*", "autolimits", "boundmass", "boundinertia", "settotalmass", "balanceinertia",
-        "strippath", "coordinate", "angle", "fitaabb", "eulerseq", "meshdir", "texturedir",
-        "discardvisual", "usethread", "fusestatic", "inertiafromgeom", "inertiagrouprange",
-        "saveinertial", "assetdir", "alignfree", "conflict"},
-    {"<"},
-        {"lengthrange", "?", "mode", "useexisting", "uselimit", "accel", "maxforce", "timeconst",
-            "timestep", "inttotal", "interval", "tolrange"},
-    {">"},
-
-    {"option", "*", "timestep", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
-        "ccd_tolerance", "sleep_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
-        "o_margin", "o_solref", "o_solimp", "o_friction", "integrator", "cone", "jacobian",
-        "solver", "iterations", "ls_iterations", "noslip_iterations", "ccd_iterations",
-        "sdf_iterations", "sdf_initpoints", "actuatorgroupdisable"},
-    {"<"},
-        {"flag", "?", "constraint", "equality", "frictionloss", "limit", "contact", "spring",
-            "damper", "gravity", "clampctrl", "warmstart", "filterparent", "actuation", "refsafe",
-            "sensor", "midphase", "eulerdamp", "autoreset", "nativeccd", "island", "multiccd",
-            "override", "energy", "fwdinv", "invdiscrete", "sleep", "diagexact"},
-    {">"},
-
-    {"size", "*", "memory", "njmax", "nconmax", "nstack", "nuserdata", "nkey", "nuser_body",
-        "nuser_jnt", "nuser_geom", "nuser_site", "nuser_cam", "nuser_tendon", "nuser_actuator",
-        "nuser_sensor"},
-
-    {"statistic", "*", "meaninertia", "meanmass", "meansize", "extent", "center"},
-
-    {"visual", "*"},
-    {"<"},
-        {"global", "?", "cameraid", "orthographic", "fovy", "ipd", "azimuth", "elevation",
-            "linewidth", "glow", "offwidth", "offheight", "realtime", "ellipsoidinertia",
-            "bvactive"},
-        {"quality", "?", "shadowsize", "offsamples", "numslices", "numstacks", "numquads"},
-        {"headlight", "?", "ambient", "diffuse", "specular", "active"},
-        {"map", "?", "stiffness", "stiffnessrot", "force", "torque", "alpha", "fogstart", "fogend",
-            "znear", "zfar", "haze", "shadowclip", "shadowscale", "actuatortendon"},
-        {"scale", "?", "forcewidth", "contactwidth", "contactheight", "connect", "com", "camera",
-            "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength", "actuatorwidth",
-            "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
-        {"rgba", "?", "fog", "haze", "force", "inertia", "joint", "actuator", "actuatornegative",
-            "actuatorpositive", "com", "camera", "light", "selectpoint", "connect", "contactpoint",
-            "contactforce", "contactfriction", "contacttorque", "contactgap", "rangefinder",
-            "constraint", "slidercrank", "crankbroken", "frustum", "bv", "bvactive"},
-    {">"},
-
-    {"default", "R", "class"},
-    {"<"},
-        {"mesh", "?", "scale", "maxhullvert", "inertia"},
-        {"material", "?", "texture", "texrepeat", "texuniform", "emission", "specular",
-            "shininess", "reflectance", "metallic", "roughness", "rgba"},
-        {"<"},
-            {"layer", "*", "texture", "role"},
-        {">"},
-        {"joint", "?", "type", "group", "pos", "axis", "springdamper", "limited",
-            "actuatorfrclimited", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
-            "stiffness", "range", "actuatorfrcrange", "actuatorgravcomp", "margin", "ref",
-            "springref", "armature", "damping", "frictionloss", "user"},
-        {"geom", "?", "type", "contype", "conaffinity", "condim", "group", "priority", "size",
-            "material", "friction", "mass", "density", "shellinertia", "solmix", "solref",
-            "solimp", "margin", "gap", "surfacevel", "adhesion", "fromto", "pos", "quat",
-            "axisangle", "xyaxes", "zaxis", "euler", "hfield", "mesh", "fitscale", "rgba",
-            "fluidshape", "fluidcoef", "user"},
-        {"site", "?", "type", "group", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
-            "material", "size", "fromto", "rgba", "user"},
-        {"camera", "?", "projection", "fovy", "ipd", "resolution", "output", "pos", "quat",
-            "axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel", "principal",
-            "principalpixel", "sensorsize", "user"},
-        {"light", "?", "directional", "type", "castshadow", "active", "pos", "dir", "bulbradius",
-            "intensity", "range", "attenuation", "cutoff", "softness", "exponent", "ambient",
-            "diffuse", "specular", "mode"},
-        {"pair", "?", "condim", "friction", "solref", "solreffriction", "solimp", "gap", "margin",
-            "adhesion"},
-        {"equality", "?", "active", "solref", "solimp"},
-        {"tendon", "?", "group", "limited", "range", "solreflimit", "solimplimit",
-            "solreffriction", "solimpfriction", "frictionloss", "springlength", "width",
-            "material", "margin", "stiffness", "damping", "rgba", "user"},
-        {"general", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
-            "forcelimited", "actlimited", "forcerange", "actrange", "gear", "damping", "armature",
-            "cranklength", "actdim", "input", "velrange", "ffrange", "dyntype", "gaintype",
-            "biastype", "dynprm", "gainprm", "biasprm", "actearly"},
-        {"motor", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
-            "forcelimited", "forcerange", "gear", "damping", "armature", "cranklength"},
-        {"position", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
-            "ctrllimited", "forcelimited", "inheritrange", "forcerange", "gear", "damping",
-            "armature", "cranklength", "kp", "kv", "dampratio", "timeconst"},
-        {"velocity", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
-            "ctrllimited", "forcelimited", "forcerange", "gear", "damping", "armature",
-            "cranklength", "kv"},
-        {"intvelocity", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
-            "ctrllimited", "forcelimited", "actlimited", "forcerange", "actrange", "inheritrange",
-            "gear", "damping", "armature", "cranklength", "kp", "kv", "dampratio"},
-        {"orientation", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
-            "forcelimited", "forcerange", "kp", "kv", "dampratio", "input"},
-        {"pid", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
-            "forcelimited", "posrange", "velrange", "ffrange", "forcerange", "inheritrange",
-            "gear", "damping", "armature", "cranklength", "kp", "kv", "dampratio", "ki", "imax",
-            "slewmax", "input"},
-        {"damper", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "forcelimited",
-            "forcerange", "gear", "damping", "armature", "cranklength", "kv"},
-        {"cylinder", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
-            "ctrllimited", "forcelimited", "forcerange", "gear", "damping", "armature",
-            "cranklength", "timeconst", "area", "diameter", "bias"},
-        {"muscle", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
-            "forcelimited", "forcerange", "gear", "damping", "armature", "cranklength",
-            "timeconst", "range", "force", "scale", "lmin", "lmax", "vmax", "fpmax", "fvmax"},
-        {"adhesion", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user",
-            "forcelimited", "forcerange", "gain"},
-        {"dcmotor", "?", "group", "nsample", "interp", "delay", "ctrlrange", "user", "ctrllimited",
-            "gear", "damping", "armature", "cranklength", "motorconst", "resistance", "nominal",
-            "saturation", "inductance", "cogging", "controller", "thermal", "lugre", "input"},
-    {">"},
-
-    {"extension", "*"},
-    {"<"},
-        {"plugin", "*", "plugin"},
-        {"<"},
-            {"instance", "*", "name"},
-            {"<"},
-                {"config", "*", "key", "value"},
-            {">"},
-        {">"},
-    {">"},
-
-    {"asset", "*"},
-    {"<"},
-        {"mesh", "*", "name", "class", "content_type", "file", "vertex", "normal", "texcoord",
-            "face", "refpos", "refquat", "scale", "smoothnormal", "maxhullvert", "inertia",
-            "builtin", "params", "material"},
-        {"<"},
-            {"plugin", "*", "plugin", "instance"},
-            {"<"},
-                {"config", "*", "key", "value"},
-            {">"},
-        {">"},
-        {"hfield", "*", "name", "content_type", "file", "nrow", "ncol", "size", "elevation"},
-        {"skin", "*", "name", "file", "material", "rgba", "inflate", "vertex", "texcoord", "face",
-            "group"},
-        {"<"},
-            {"bone", "*", "body", "bindpos", "bindquat", "vertid", "vertweight"},
-        {">"},
-        {"texture", "*", "name", "type", "colorspace", "content_type", "file", "gridsize",
-            "gridlayout", "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
-            "builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height", "hflip",
-            "vflip", "nchannel"},
-        {"material", "*", "name", "class", "texture", "texrepeat", "texuniform", "emission",
-            "specular", "shininess", "reflectance", "metallic", "roughness", "rgba"},
-        {"<"},
-            {"layer", "*", "texture", "role"},
-        {">"},
-        {"model", "*", "name", "file", "content_type"},
-    {">"},
-
-    {"body", "R", "name", "childclass", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
-        "mocap", "gravcomp", "sleep", "simple", "user"},
-    {"<"},
-        {"inertial", "?", "pos", "quat", "mass", "diaginertia", "axisangle", "xyaxes", "zaxis",
-            "euler", "fullinertia"},
-        {"joint", "*", "name", "class", "type", "group", "pos", "axis", "springdamper", "limited",
-            "actuatorfrclimited", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
-            "stiffness", "range", "actuatorfrcrange", "actuatorgravcomp", "margin", "ref",
-            "springref", "armature", "damping", "frictionloss", "user"},
-        {"freejoint", "*", "name", "group", "align"},
-        {"geom", "*", "name", "class", "type", "contype", "conaffinity", "condim", "group",
-            "priority", "size", "material", "friction", "mass", "density", "shellinertia",
-            "solmix", "solref", "solimp", "margin", "gap", "surfacevel", "adhesion", "fromto",
-            "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "hfield", "mesh", "fitscale",
-            "rgba", "fluidshape", "fluidcoef", "user"},
-        {"<"},
-            {"plugin", "*", "plugin", "instance"},
-            {"<"},
-                {"config", "*", "key", "value"},
-            {">"},
-        {">"},
-        {"attach", "*", "model", "body", "frame", "prefix"},
-        {"site", "*", "name", "class", "type", "group", "pos", "quat", "axisangle", "xyaxes",
-            "zaxis", "euler", "material", "size", "fromto", "rgba", "user"},
-        {"camera", "*", "name", "class", "projection", "fovy", "ipd", "resolution", "output",
-            "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target", "focal",
-            "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
-        {"light", "*", "name", "class", "directional", "type", "castshadow", "active", "pos",
-            "dir", "bulbradius", "intensity", "range", "attenuation", "cutoff", "softness",
-            "exponent", "ambient", "diffuse", "specular", "mode", "target", "texture"},
-        {"plugin", "*", "plugin", "instance"},
-        {"<"},
-            {"config", "*", "key", "value"},
-        {">"},
-        {"composite", "*", "prefix", "type", "count", "offset", "vertex", "initial", "curve",
-            "size", "quat"},
-        {"<"},
-            {"joint", "*", "kind", "group", "stiffness", "damping", "armature", "solreffix",
-                "solimpfix", "type", "axis", "limited", "range", "margin", "solreflimit",
-                "solimplimit", "frictionloss", "solreffriction", "solimpfriction"},
-            {"skin", "?", "texcoord", "material", "group", "rgba", "inflate", "subgrid"},
-            {"geom", "?", "type", "contype", "conaffinity", "condim", "group", "priority", "size",
-                "material", "rgba", "friction", "mass", "density", "solmix", "solref", "solimp",
-                "margin", "gap", "surfacevel", "adhesion"},
-            {"site", "?", "group", "size", "material", "rgba"},
-            {"plugin", "*", "plugin", "instance"},
-            {"<"},
-                {"config", "*", "key", "value"},
-            {">"},
-        {">"},
-        {"flexcomp", "*", "name", "type", "group", "dim", "dof", "count", "cellcount", "spacing",
-            "radius", "rigid", "mass", "inertiabox", "scale", "file", "point", "element",
-            "texcoord", "material", "rgba", "flatskin", "pos", "quat", "axisangle", "xyaxes",
-            "zaxis", "euler", "origin"},
-        {"<"},
-            {"edge", "?", "equality", "solref", "solimp", "stiffness", "damping"},
-            {"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
-            {"contact", "?", "contype", "conaffinity", "condim", "priority", "friction", "solmix",
-                "solref", "solimp", "margin", "gap", "internal", "selfcollide", "activelayers",
-                "passive"},
-            {"pin", "*", "id", "range", "grid", "gridrange"},
-            {"plugin", "*", "plugin", "instance"},
-            {"<"},
-                {"config", "*", "key", "value"},
-            {">"},
-        {">"},
-    {">"},
-
-    {"deformable", "*"},
-    {"<"},
-        {"flex", "*", "name", "group", "dim", "radius", "material", "rgba", "flatskin", "body",
-            "vertex", "element", "texcoord", "elemtexcoord", "node", "nodecoord", "cellcount",
-            "dof"},
-        {"<"},
-            {"contact", "?", "contype", "conaffinity", "condim", "priority", "friction", "solmix",
-                "solref", "solimp", "margin", "gap", "internal", "selfcollide", "activelayers",
-                "passive"},
-            {"edge", "?", "stiffness", "damping"},
-            {"elasticity", "?", "young", "poisson", "damping", "thickness", "elastic2d"},
-        {">"},
-        {"skin", "*", "name", "file", "material", "rgba", "inflate", "vertex", "texcoord", "face",
-            "group"},
-        {"<"},
-            {"bone", "*", "body", "bindpos", "bindquat", "vertid", "vertweight"},
-        {">"},
-    {">"},
-
-    {"contact", "*"},
-    {"<"},
-        {"pair", "*", "name", "class", "geom1", "geom2", "condim", "friction", "solref",
-            "solreffriction", "solimp", "gap", "margin", "adhesion"},
-        {"exclude", "*", "name", "body1", "body2"},
-    {">"},
-
-    {"tendon", "*"},
-    {"<"},
-        {"spatial", "*", "name", "class", "group", "limited", "actuatorfrclimited", "range",
-            "actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
-            "frictionloss", "springlength", "width", "material", "margin", "stiffness", "damping",
-            "armature", "rgba", "user"},
-        {"<"},
-            {"site", "*", "site"},
-            {"geom", "*", "geom", "sidesite"},
-            {"pulley", "*", "divisor"},
-        {">"},
-        {"fixed", "*", "name", "class", "group", "limited", "actuatorfrclimited", "range",
-            "actuatorfrcrange", "solreflimit", "solimplimit", "solreffriction", "solimpfriction",
-            "frictionloss", "springlength", "margin", "stiffness", "damping", "armature", "user"},
-        {"<"},
-            {"joint", "*", "joint", "coef"},
-        {">"},
-    {">"},
-
-    {"equality", "*"},
-    {"<"},
-        {"connect", "*", "name", "class", "active", "solref", "solimp", "body1", "body2", "anchor",
-            "site1", "site2"},
-        {"weld", "*", "name", "class", "active", "solref", "solimp", "body1", "body2", "relpose",
-            "anchor", "site1", "site2", "torquescale"},
-        {"joint", "*", "name", "class", "active", "solref", "solimp", "joint1", "joint2",
-            "polycoef"},
-        {"tendon", "*", "name", "class", "active", "solref", "solimp", "tendon1", "tendon2",
-            "polycoef"},
-        {"flex", "*", "name", "class", "active", "solref", "solimp", "flex"},
-        {"flexvert", "*", "name", "class", "active", "solref", "solimp", "flex"},
-        {"flexstrain", "*", "name", "class", "active", "solref", "solimp", "flex", "cell"},
-    {">"},
-
-    {"actuator", "*"},
-    {"<"},
-        {"general", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "ctrllimited", "forcelimited", "actlimited", "forcerange", "actrange",
-            "lengthrange", "gear", "damping", "armature", "cranklength", "joint", "jointinparent",
-            "tendon", "slidersite", "cranksite", "site", "refsite", "body", "actdim", "input",
-            "velrange", "ffrange", "dyntype", "gaintype", "biastype", "dynprm", "gainprm",
-            "biasprm", "actearly"},
-        {"motor", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange", "user",
-            "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
-            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
-            "cranksite", "site", "refsite"},
-        {"position", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "ctrllimited", "forcelimited", "inheritrange", "forcerange", "lengthrange",
-            "gear", "damping", "armature", "cranklength", "joint", "jointinparent", "tendon",
-            "slidersite", "cranksite", "site", "refsite", "kp", "kv", "dampratio", "timeconst"},
-        {"velocity", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
-            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
-            "cranksite", "site", "refsite", "kv"},
-        {"intvelocity", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "ctrllimited", "forcelimited", "actlimited", "forcerange", "actrange",
-            "inheritrange", "lengthrange", "gear", "damping", "armature", "cranklength", "joint",
-            "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "kp", "kv",
-            "dampratio"},
-        {"orientation", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "forcelimited", "forcerange", "joint", "site", "refsite", "kp", "kv",
-            "dampratio", "input"},
-        {"pid", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange", "user",
-            "ctrllimited", "forcelimited", "posrange", "velrange", "ffrange", "forcerange",
-            "inheritrange", "lengthrange", "gear", "damping", "armature", "cranklength", "joint",
-            "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite", "kp", "kv",
-            "dampratio", "ki", "imax", "slewmax", "input"},
-        {"damper", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "forcelimited", "forcerange", "lengthrange", "gear", "damping", "armature",
-            "cranklength", "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site",
-            "refsite", "kv"},
-        {"cylinder", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
-            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
-            "cranksite", "site", "refsite", "timeconst", "area", "diameter", "bias"},
-        {"muscle", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "ctrllimited", "forcelimited", "forcerange", "lengthrange", "gear", "damping",
-            "armature", "cranklength", "joint", "jointinparent", "tendon", "slidersite",
-            "cranksite", "timeconst", "tausmooth", "range", "force", "scale", "lmin", "lmax",
-            "vmax", "fpmax", "fvmax"},
-        {"adhesion", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "forcelimited", "forcerange", "body", "gain"},
-        {"dcmotor", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "ctrllimited", "lengthrange", "gear", "damping", "armature", "cranklength",
-            "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
-            "motorconst", "resistance", "nominal", "saturation", "inductance", "cogging",
-            "controller", "thermal", "lugre", "input"},
-        {"plugin", "*", "name", "class", "group", "nsample", "interp", "delay", "ctrlrange",
-            "user", "plugin", "instance", "ctrllimited", "forcelimited", "actlimited",
-            "forcerange", "actrange", "lengthrange", "gear", "damping", "armature", "cranklength",
-            "joint", "jointinparent", "site", "actdim", "dyntype", "dynprm", "tendon", "cranksite",
-            "slidersite", "actearly"},
-        {"<"},
-            {"config", "*", "key", "value"},
-        {">"},
-    {">"},
-
-    {"sensor", "*"},
-    {"<"},
-        {"touch", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user",
-            "site"},
-        {"accelerometer", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "site"},
-        {"velocimeter", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "site"},
-        {"gyro", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user",
-            "site"},
-        {"force", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user",
-            "site"},
-        {"torque", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "site"},
-        {"magnetometer", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "site"},
-        {"camprojection", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "site", "camera"},
-        {"rangefinder", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "site", "camera", "data"},
-        {"jointpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "joint"},
-        {"jointvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "joint"},
-        {"tendonpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "tendon"},
-        {"tendonvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "tendon"},
-        {"actuatorpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "actuator"},
-        {"actuatorvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "actuator"},
-        {"actuatorfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "actuator"},
-        {"jointactuatorfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
-            "noise", "user", "joint"},
-        {"tendonactuatorfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
-            "noise", "user", "tendon"},
-        {"ballquat", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "joint"},
-        {"ballangvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "joint"},
-        {"jointlimitpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "joint"},
-        {"jointlimitvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "joint"},
-        {"jointlimitfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "joint"},
-        {"tendonlimitpos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
-            "noise", "user", "tendon"},
-        {"tendonlimitvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
-            "noise", "user", "tendon"},
-        {"tendonlimitfrc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff",
-            "noise", "user", "tendon"},
-        {"framepos", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "objtype", "objname", "reftype", "refname"},
-        {"framequat", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "objtype", "objname", "reftype", "refname"},
-        {"framexaxis", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "objtype", "objname", "reftype", "refname"},
-        {"frameyaxis", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "objtype", "objname", "reftype", "refname"},
-        {"framezaxis", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "objtype", "objname", "reftype", "refname"},
-        {"framelinvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "objtype", "objname", "reftype", "refname"},
-        {"frameangvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "objtype", "objname", "reftype", "refname"},
-        {"framelinacc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "objtype", "objname"},
-        {"frameangacc", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "objtype", "objname"},
-        {"subtreecom", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "body"},
-        {"subtreelinvel", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "body"},
-        {"subtreeangmom", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "body"},
-        {"insidesite", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "site", "objtype", "objname"},
-        {"distance", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "geom1", "geom2", "body1", "body2"},
-        {"normal", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "geom1", "geom2", "body1", "body2"},
-        {"fromto", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "geom1", "geom2", "body1", "body2"},
-        {"contact", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user", "geom1", "geom2", "body1", "body2", "subtree1", "subtree2", "site", "num",
-            "data", "reduce"},
-        {"e_potential", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user"},
-        {"e_kinetic", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise",
-            "user"},
-        {"clock", "*", "name", "nsample", "interp", "delay", "interval", "cutoff", "noise", "user"},
-        {"tactile", "*", "name", "geom", "mesh", "nsample", "interp", "delay", "interval", "user"},
-        {"user", "*", "name", "objtype", "objname", "datatype", "needstage", "dim", "cutoff",
-            "noise", "user"},
-        {"plugin", "*", "name", "plugin", "instance", "cutoff", "objtype", "objname", "reftype",
-            "refname", "user"},
-        {"<"},
-            {"config", "*", "key", "value"},
-        {">"},
-    {">"},
-
-    {"custom", "*"},
-    {"<"},
-        {"numeric", "*", "name", "size", "data"},
-        {"text", "*", "name", "data"},
-        {"tuple", "*", "name"},
-        {"<"},
-            {"element", "*", "objtype", "objname", "prm"},
-        {">"},
-    {">"},
-
-    {"keyframe", "*"},
-    {"<"},
-        {"key", "*", "name", "time", "qpos", "qvel", "act", "mpos", "mquat", "ctrl"},
-    {">"},
-
-{">"},
-};
-// clang-format on
-
-const int nMJCF = sizeof(MJCF) / sizeof(MJCF[0]);
-
-// presence constraints, indexed into MJCF[]; enforced by
-// mjXSchema::Check. spec: attribute bundles, space-joined,
-// '|'-separated; kind: e=exclusive t=together r=requires o=oneof
-// clang-format off
-const mjXConstraintDef MJCF_constraints[] = {
-  {10, 'e', "memory|nstack"},
-  {10, 'e', "memory|njmax"},
-  {31, 'e', "fovy|sensorsize"},
-  {32, 'e', "directional|type"},
-  {61, 'e', "builtin|file"},
-  {61, 'e', "builtin|vertex"},
-  {82, 'e', "fullinertia|quat|axisangle|xyaxes|zaxis|euler"},
-  {92, 'e', "body|frame"},
-  {94, 'e', "fovy|sensorsize"},
-  {95, 'e', "directional|type"},
-  {156, 'e', "site1 site2|body1 body2 anchor"},
-  {156, 'o', "site1 site2|body1 anchor"},
-  {156, 't', "site1|site2"},
-  {157, 'e', "site1 site2|body1 body2 anchor relpose"},
-  {157, 'o', "site1 site2|body1"},
-  {157, 't', "site1|site2"},
-  {193, 'e', "site|camera"},
-  {193, 'o', "site|camera"},
-  {211, 't', "reftype|refname"},
-  {212, 't', "reftype|refname"},
-  {213, 't', "reftype|refname"},
-  {214, 't', "reftype|refname"},
-  {215, 't', "reftype|refname"},
-  {216, 't', "reftype|refname"},
-  {217, 't', "reftype|refname"},
-  {224, 'e', "geom1|body1"},
-  {224, 'o', "geom1|body1"},
-  {224, 'e', "geom2|body2"},
-  {224, 'o', "geom2|body2"},
-  {225, 'e', "geom1|body1"},
-  {225, 'o', "geom1|body1"},
-  {225, 'e', "geom2|body2"},
-  {225, 'o', "geom2|body2"},
-  {226, 'e', "geom1|body1"},
-  {226, 'o', "geom1|body1"},
-  {226, 'e', "geom2|body2"},
-  {226, 'o', "geom2|body2"},
-  {227, 'e', "geom1|body1|subtree1|site"},
-  {227, 'e', "geom2|body2|subtree2"},
-  {232, 't', "objtype|objname"},
-};
-// clang-format on
-
-const int nMJCF_constraints = sizeof(MJCF_constraints) / sizeof(MJCF_constraints[0]);
diff --git a/src/xml/mjcf.schema b/src/xml/mjcf.schema
deleted file mode 100644
index 421e4188..00000000
--- a/src/xml/mjcf.schema
+++ /dev/null
@@ -1,2287 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-#
-# MJCF schema -- the single source of truth for the MJCF modeling language
-#
-#
-# --------------------- Syntax reference -----------------------------------------------------------
-#
-#   enum name : mjtType { key = C_CONST }  XML keyword set, with C bindings
-#   group name { ... }                     reusable attribute block, spliced with 'use'
-#   group name variant { ... }             ...whose attributes are mutually exclusive
-#
-#   element name : mjsStruct (facets) {    element, bound to its mjSpec struct
-#     use groupname                        splice a group's attributes here
-#     attr : type = default (facets)       # trailing comment = doc string
-#     child name card
-#   }
-#
-#   attribute types
-#     double, float, int                   numbers (C type as in mjSpec)
-#     bool                                 keywords "true" / "false"
-#     double[4]                            exactly 4 space-separated values
-#     double[1..3]                         1 to 3 values  ([1..mjN*]: symbolic bound)
-#     double[]                             any number of values
-#     string, file                         text; file resolves against asset dirs/VFS
-#     chars[3], chars[1..12]               fixed char array; arity counts characters
-#     enum<name>                           one keyword of the named enum  ([]: list)
-#     flags<name>                          several keywords, combined bitwise
-#     id<ns>                               declares this element's name into namespace ns
-#     ref<ns>                              holds the name of an object in namespace ns
-#                                          e.g. body declares   name   : id<body>
-#                                          camera refers with   target : ref<body>
-#
-#   attribute facets
-#     required                             attribute must be present
-#     nodefault                            not settable in <default> classes
-#     field=name                           bound C field, when it differs from the attr
-#     pattern="regex"                      constrained string (e.g. eulerseq)
-#     min= / max= / positive               numeric range constraints
-#     reading=custom                       hand-written read semantics; no typed binding
-#                                          is generated, so saving is also hand-written
-#     writing=custom                       binding read-driven; hand-written save policy
-#
-#   element facets
-#     xml=tag                              XML tag, when it differs from the declaration
-#                                          name (same tag, different element by context)
-#     alias=body                           tag validated against body's grammar row
-#                                          (worldbody, frame, replicate): NameMatch()
-#
-#   child cardinality
-#     ?  optional, at most one             !  required, exactly one
-#     *  any number                        R  any number, recursive
-#
-#   presence constraints (single-line, over attributes; a+b is a bundle,
-#   complete when all its attributes appear)
-#     exclusive a b+c                      at most one bundle may be present
-#     together a b                         appear together or not at all
-#     requires a b                         if a appears, b must appear
-#     oneof a b+c                          at least one complete bundle
-#
-# Declaration order is semantic: it sets attribute order in generated tables
-# and in saved XML.
-
-
-#---------------------- enums ----------------------------------------------------------------------
-
-enum coordinate {
-  local    = 0
-  global   = 1
-}
-
-enum angle {
-  radian   = 0
-  degree   = 1
-}
-
-enum fluidshape {
-  none        = 0
-  ellipsoid   = 1
-}
-
-enum enable {
-  disable   = 0
-  enable    = 1
-}
-
-enum FalseTrueAuto {
-  false   = 0
-  true    = 1
-  auto    = 2
-}
-
-enum FalseAuto {
-  false   = 0
-  auto    = 1
-}
-
-enum bodysleep : mjtSleepPolicy {
-  auto      = mjSLEEP_AUTO
-  never     = mjSLEEP_NEVER
-  allowed   = mjSLEEP_ALLOWED
-  init      = mjSLEEP_INIT
-}
-
-enum jointtype : mjtJoint {
-  free    = mjJNT_FREE
-  ball    = mjJNT_BALL
-  slide   = mjJNT_SLIDE
-  hinge   = mjJNT_HINGE
-}
-
-enum geomtype : mjtGeom {
-  plane       = mjGEOM_PLANE
-  hfield      = mjGEOM_HFIELD
-  sphere      = mjGEOM_SPHERE
-  capsule     = mjGEOM_CAPSULE
-  ellipsoid   = mjGEOM_ELLIPSOID
-  cylinder    = mjGEOM_CYLINDER
-  box         = mjGEOM_BOX
-  mesh        = mjGEOM_MESH
-  sdf         = mjGEOM_SDF
-}
-
-enum projection : mjtProjection {
-  perspective    = mjPROJ_PERSPECTIVE
-  orthographic   = mjPROJ_ORTHOGRAPHIC
-}
-
-enum camlight : mjtCamLight {
-  fixed           = mjCAMLIGHT_FIXED
-  track           = mjCAMLIGHT_TRACK
-  trackcom        = mjCAMLIGHT_TRACKCOM
-  targetbody      = mjCAMLIGHT_TARGETBODY
-  targetbodycom   = mjCAMLIGHT_TARGETBODYCOM
-}
-
-enum lighttype : mjtLightType {
-  spot          = mjLIGHT_SPOT
-  directional   = mjLIGHT_DIRECTIONAL
-  point         = mjLIGHT_POINT
-  image         = mjLIGHT_IMAGE
-}
-
-enum texrole : mjtTextureRole {
-  rgb         = mjTEXROLE_RGB
-  occlusion   = mjTEXROLE_OCCLUSION
-  roughness   = mjTEXROLE_ROUGHNESS
-  metallic    = mjTEXROLE_METALLIC
-  normal      = mjTEXROLE_NORMAL
-  opacity     = mjTEXROLE_OPACITY
-  emissive    = mjTEXROLE_EMISSIVE
-  rgba        = mjTEXROLE_RGBA
-  orm         = mjTEXROLE_ORM
-}
-
-enum integrator : mjtIntegrator {
-  Euler          = mjINT_EULER
-  RK4            = mjINT_RK4
-  implicit       = mjINT_IMPLICIT
-  implicitfast   = mjINT_IMPLICITFAST
-}
-
-enum cone : mjtCone {
-  pyramidal   = mjCONE_PYRAMIDAL
-  elliptic    = mjCONE_ELLIPTIC
-}
-
-enum jacobian : mjtJacobian {
-  dense    = mjJAC_DENSE
-  sparse   = mjJAC_SPARSE
-  auto     = mjJAC_AUTO
-}
-
-enum solver : mjtSolver {
-  PGS      = mjSOL_PGS
-  CG       = mjSOL_CG
-  Newton   = mjSOL_NEWTON
-}
-
-enum equality : mjtEq {
-  connect      = mjEQ_CONNECT
-  weld         = mjEQ_WELD
-  joint        = mjEQ_JOINT
-  tendon       = mjEQ_TENDON
-  flex         = mjEQ_FLEX
-  flexvert     = mjEQ_FLEXVERT
-  flexstrain   = mjEQ_FLEXSTRAIN
-  distance     = mjEQ_DISTANCE
-}
-
-enum texture : mjtTexture {
-  "2d"     = mjTEXTURE_2D
-  cube     = mjTEXTURE_CUBE
-  skybox   = mjTEXTURE_SKYBOX
-}
-
-enum colorspace : mjtColorSpace {
-  auto     = mjCOLORSPACE_AUTO
-  linear   = mjCOLORSPACE_LINEAR
-  sRGB     = mjCOLORSPACE_SRGB
-}
-
-enum builtin : mjtBuiltin {
-  none       = mjBUILTIN_NONE
-  gradient   = mjBUILTIN_GRADIENT
-  checker    = mjBUILTIN_CHECKER
-  flat       = mjBUILTIN_FLAT
-}
-
-enum mark : mjtMark {
-  none     = mjMARK_NONE
-  edge     = mjMARK_EDGE
-  cross    = mjMARK_CROSS
-  random   = mjMARK_RANDOM
-}
-
-enum dyn : mjtDyn {
-  none          = mjDYN_NONE
-  integrator    = mjDYN_INTEGRATOR
-  filter        = mjDYN_FILTER
-  filterexact   = mjDYN_FILTEREXACT
-  muscle        = mjDYN_MUSCLE
-  dcmotor       = mjDYN_DCMOTOR
-  pid           = mjDYN_PID
-  user          = mjDYN_USER
-}
-
-enum inputkeyword : mjtCtrlInput {   # whole-attribute keyword: the empty signature
-  none       = mjINPUT_NONE
-}
-
-enum gain : mjtGain {
-  fixed     = mjGAIN_FIXED
-  affine    = mjGAIN_AFFINE
-  muscle    = mjGAIN_MUSCLE
-  dcmotor   = mjGAIN_DCMOTOR
-  so3       = mjGAIN_SO3
-  pid       = mjGAIN_PID
-  user      = mjGAIN_USER
-}
-
-enum inputchart : mjtCtrlChart {
-  expmap   = mjCHART_EXPMAP
-  quat     = mjCHART_QUAT
-}
-
-enum inputbit : mjtCtrlInput {   # bitflags: tokens combine bitwise, canonical order enforced
-  pos      = mjINPUT_POS
-  vel      = mjINPUT_VEL
-  ff       = mjINPUT_FF
-  voltage  = mjINPUT_VOLTAGE
-}
-
-enum bias : mjtBias {
-  none      = mjBIAS_NONE
-  affine    = mjBIAS_AFFINE
-  muscle    = mjBIAS_MUSCLE
-  dcmotor   = mjBIAS_DCMOTOR
-  so3       = mjBIAS_SO3
-  user      = mjBIAS_USER
-}
-
-enum interp {
-  zoh      = 0
-  linear   = 1
-  cubic    = 2
-}
-
-enum stage : mjtStage {
-  none   = mjSTAGE_NONE
-  pos    = mjSTAGE_POS
-  vel    = mjSTAGE_VEL
-  acc    = mjSTAGE_ACC
-}
-
-enum datatype : mjtDataType {
-  real         = mjDATATYPE_REAL
-  positive     = mjDATATYPE_POSITIVE
-  axis         = mjDATATYPE_AXIS
-  quaternion   = mjDATATYPE_QUATERNION
-}
-
-enum frameobj : mjtObj {   # object kinds with a spatial frame
-  body    = mjOBJ_BODY
-  xbody   = mjOBJ_XBODY
-  geom    = mjOBJ_GEOM
-  site    = mjOBJ_SITE
-  camera  = mjOBJ_CAMERA
-}
-
-enum condata : mjtConDataField {   # bitflags: keywords combine bitwise
-  found     = mjCONDATA_FOUND
-  force     = mjCONDATA_FORCE
-  torque    = mjCONDATA_TORQUE
-  dist      = mjCONDATA_DIST
-  pos       = mjCONDATA_POS
-  normal    = mjCONDATA_NORMAL
-  tangent   = mjCONDATA_TANGENT
-}
-
-enum raydata : mjtRayDataField {   # bitflags: keywords combine bitwise
-  dist     = mjRAYDATA_DIST
-  dir      = mjRAYDATA_DIR
-  origin   = mjRAYDATA_ORIGIN
-  point    = mjRAYDATA_POINT
-  normal   = mjRAYDATA_NORMAL
-  depth    = mjRAYDATA_DEPTH
-}
-
-enum camout : mjtCamOutBit {       # bitflags: keywords combine bitwise
-  rgb            = mjCAMOUT_RGB
-  depth          = mjCAMOUT_DEPTH
-  distance       = mjCAMOUT_DIST
-  normal         = mjCAMOUT_NORMAL
-  segmentation   = mjCAMOUT_SEG
-}
-
-enum reduce {
-  none       = 0
-  mindist    = 1
-  maxforce   = 2
-  netforce   = 3
-}
-
-enum conflict : mjtConflict {
-  warning   = mjCONFLICT_WARNING
-  merge     = mjCONFLICT_MERGE
-  error     = mjCONFLICT_ERROR
-}
-
-enum lrmode : mjtLRMode {
-  none         = mjLRMODE_NONE
-  muscle       = mjLRMODE_MUSCLE
-  muscleuser   = mjLRMODE_MUSCLEUSER
-  all          = mjLRMODE_ALL
-}
-
-enum comp {
-  particle   = mjCOMPTYPE_PARTICLE
-  grid       = mjCOMPTYPE_GRID
-  rope       = mjCOMPTYPE_ROPE
-  loop       = mjCOMPTYPE_LOOP
-  cable      = mjCOMPTYPE_CABLE
-  cloth      = mjCOMPTYPE_CLOTH
-}
-
-enum jkind {   # vestigial: composite pruning left a single kind
-  main   = mjCOMPKIND_JOINT
-}
-
-enum shape {
-  s        = mjCOMPSHAPE_LINE
-  "cos(s)" = mjCOMPSHAPE_COS
-  "sin(s)" = mjCOMPSHAPE_SIN
-  "0"      = mjCOMPSHAPE_ZERO
-}
-
-enum meshinertia : mjtMeshInertia {
-  convex   = mjMESH_INERTIA_CONVEX
-  legacy   = mjMESH_INERTIA_LEGACY
-  exact    = mjMESH_INERTIA_EXACT
-  shell    = mjMESH_INERTIA_SHELL
-}
-
-enum meshbuiltin : mjtMeshBuiltin {
-  none          = mjMESH_BUILTIN_NONE
-  sphere        = mjMESH_BUILTIN_SPHERE
-  hemisphere    = mjMESH_BUILTIN_HEMISPHERE
-  cone          = mjMESH_BUILTIN_CONE
-  supertorus    = mjMESH_BUILTIN_SUPERTORUS
-  supersphere   = mjMESH_BUILTIN_SUPERSPHERE
-  wedge         = mjMESH_BUILTIN_WEDGE
-  plate         = mjMESH_BUILTIN_PLATE
-}
-
-enum fcomp {
-  grid        = mjFCOMPTYPE_GRID
-  box         = mjFCOMPTYPE_BOX
-  cylinder    = mjFCOMPTYPE_CYLINDER
-  ellipsoid   = mjFCOMPTYPE_ELLIPSOID
-  square      = mjFCOMPTYPE_SQUARE
-  disc        = mjFCOMPTYPE_DISC
-  circle      = mjFCOMPTYPE_CIRCLE
-  mesh        = mjFCOMPTYPE_MESH
-  gmsh        = mjFCOMPTYPE_GMSH
-  direct      = mjFCOMPTYPE_DIRECT
-}
-
-enum fdof {
-  full        = mjFCOMPDOF_FULL
-  radial      = mjFCOMPDOF_RADIAL
-  trilinear   = mjFCOMPDOF_TRILINEAR
-  quadratic   = mjFCOMPDOF_QUADRATIC
-  "2d"        = mjFCOMPDOF_2D
-}
-
-enum flexself : mjtFlexSelf {
-  none     = mjFLEXSELF_NONE
-  narrow   = mjFLEXSELF_NARROW
-  bvh      = mjFLEXSELF_BVH
-  sap      = mjFLEXSELF_SAP
-  auto     = mjFLEXSELF_AUTO
-}
-
-enum elastic2d {
-  none      = 0
-  bend      = 1
-  stretch   = 2
-  both      = 3
-}
-
-enum flexeq {
-  false    = 0
-  true     = 1
-  vert     = 2
-  strain   = 3
-}
-
-
-#---------------------- groups ---------------------------------------------------------------------
-
-group orientation variant {
-  quat               : double[4] = {1, 0, 0, 0}
-  axisangle          : double[4]
-  xyaxes             : double[6]
-  zaxis              : double[3]
-  euler              : double[3]
-}
-
-group actuator_base {
-  name               : id<actuator>
-  class              : ref<default>
-  group              : int
-  nsample            : int
-  interp             : enum<interp>
-  delay              : double
-  ctrlrange          : double[2]
-  user               : double[] (field=userdata)
-}
-
-group actuator_dynamics {
-  lengthrange        : double[2] (nodefault)
-  gear               : double[1..6] = {1, 0, 0, 0, 0, 0}
-  damping            : double[1..3]      # damper polynomial, 1+mjNPOLY coefficients
-  armature           : double
-  cranklength        : double (reading=custom)  # slidercrank-only, validated
-}
-
-group transmission {
-  joint              : ref<joint> (nodefault)
-  jointinparent      : string (nodefault)
-  tendon             : ref<tendon> (nodefault)
-  slidersite         : ref<site> (nodefault)
-  cranksite          : ref<site> (nodefault)
-  site               : ref<site> (nodefault)
-  refsite            : ref<site> (nodefault)
-}
-
-group sensor_base {
-  name               : id<sensor>
-  nsample            : int
-  interp             : enum<interp>
-  delay              : double
-  interval           : double[1..2]
-  cutoff             : double
-  noise              : double
-  user               : double[] (field=userdata)
-}
-
-group frame_object {       # the object whose frame is measured
-  objtype            : enum<frameobj> (required)
-  objname            : string (required)
-}
-
-group frame_reference {    # frame of reference; world if absent
-  reftype            : enum<frameobj>
-  refname            : string
-  together reftype refname
-}
-
-group equality_base {
-  name               : id<equality>
-  class              : ref<default>
-  active             : bool = true
-  solref             : double[1..mjNREF] = {0.02, 1}
-  solimp             : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2}
-}
-
-
-#---------------------- mujoco ---------------------------------------------------------------------
-
-element mujoco {
-  model              : ref<model>
-  child compiler *
-  child option *
-  child size *
-  child statistic *
-  child visual *
-  child default R
-  child extension *
-  child asset *
-  child body R
-  child deformable *
-  child contact *
-  child tendon *
-  child equality *
-  child actuator *
-  child sensor *
-  child custom *
-  child keyframe *
-}
-
-
-#---------------------- compiler -------------------------------------------------------------------
-
-element compiler : mjsCompiler {
-  autolimits         : bool = true
-  boundmass          : double
-  boundinertia       : double
-  settotalmass       : double = -1
-  balanceinertia     : bool
-  strippath          : bool (reading=custom)      # stored on the spec
-  coordinate         : enum<coordinate> (reading=custom)  # deprecation error
-  angle              : enum<angle> = degree (field=degree)
-  fitaabb            : bool
-  eulerseq           : chars[3] (pattern="[xyzXYZ]{3}")
-  meshdir            : string
-  texturedir         : string
-  discardvisual      : bool
-  usethread          : bool = true
-  fusestatic         : bool
-  inertiafromgeom    : enum<FalseTrueAuto> = auto
-  inertiagrouprange  : int[2] = {0, 5}
-  saveinertial       : bool
-  assetdir           : string (reading=custom)    # fans out to mesh/texturedir
-  alignfree          : bool
-  conflict           : enum<conflict>
-  child lengthrange ?
-}
-
-element lengthrange : mjLROpt {
-  mode               : enum<lrmode> = muscle
-  useexisting        : bool = true
-  uselimit           : bool
-  accel              : double = 20
-  maxforce           : double
-  timeconst          : double = 1
-  timestep           : double = 0.01
-  inttotal           : double = 10
-  interval           : double = 2
-  tolrange           : double = 0.05
-}
-
-
-#---------------------- option ---------------------------------------------------------------------
-
-element option : mjOption {
-  timestep           : double = 0.002
-  impratio           : double = 1
-  tolerance          : double = 1e-08
-  ls_tolerance       : double = 0.01
-  noslip_tolerance   : double = 1e-06
-  ccd_tolerance      : double = 1e-06
-  sleep_tolerance    : double = 0.001
-  gravity            : double[3] = {0, 0, -9.81}
-  wind               : double[3] = {0, 0, 0}
-  magnetic           : double[3] = {0, -0.5, 0}
-  density            : double
-  viscosity          : double
-  o_margin           : double
-  o_solref           : double[1..mjNREF] = {0.02, 1}
-  o_solimp           : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2}
-  o_friction         : double[1..5] = {1, 1, 0.005, 0.0001, 0.0001}
-  integrator         : enum<integrator> = Euler
-  cone               : enum<cone> = pyramidal
-  jacobian           : enum<jacobian> = auto
-  solver             : enum<solver> = Newton
-  iterations         : int = 100
-  ls_iterations      : int = 50
-  noslip_iterations  : int
-  ccd_iterations     : int = 35
-  sdf_iterations     : int = 10
-  sdf_initpoints     : int = 40
-  actuatorgroupdisable : int[] (reading=custom)   # bits of disableactuator
-  child flag ?
-}
-
-element flag {
-  # disable family: a bit in mjOption.disableflags, default enable (bit unset)
-  constraint         : enum<enable> = enable
-  equality           : enum<enable> = enable
-  frictionloss       : enum<enable> = enable
-  limit              : enum<enable> = enable
-  contact            : enum<enable> = enable
-  spring             : enum<enable> = enable
-  damper             : enum<enable> = enable
-  gravity            : enum<enable> = enable
-  clampctrl          : enum<enable> = enable
-  warmstart          : enum<enable> = enable
-  filterparent       : enum<enable> = enable
-  actuation          : enum<enable> = enable
-  refsafe            : enum<enable> = enable
-  sensor             : enum<enable> = enable
-  midphase           : enum<enable> = enable
-  eulerdamp          : enum<enable> = enable
-  autoreset          : enum<enable> = enable
-  nativeccd          : enum<enable> = enable
-  island             : enum<enable> = enable
-  multiccd           : enum<enable> = enable
-  # enable family: a bit in mjOption.enableflags, default disable (bit unset)
-  override           : enum<enable> = disable
-  energy             : enum<enable> = disable
-  fwdinv             : enum<enable> = disable
-  invdiscrete        : enum<enable> = disable
-  sleep              : enum<enable> = disable
-  diagexact          : enum<enable> = disable
-}
-
-
-#---------------------- size -----------------------------------------------------------------------
-
-element size : mjSpec {
-  memory             : string (reading=custom)    # suffixed byte count
-  njmax              : int = -1 (reading=custom)  # range/exclusivity checks
-  nconmax            : int = -1 (reading=custom)  # range check
-  nstack             : int = -1 (reading=custom)  # range/exclusivity checks
-  nuserdata          : int (min=-1)
-  nkey               : int (min=-1)
-  nuser_body         : int = -1 (min=-1)
-  nuser_jnt          : int = -1 (min=-1)
-  nuser_geom         : int = -1 (min=-1)
-  nuser_site         : int = -1 (min=-1)
-  nuser_cam          : int = -1 (min=-1)
-  nuser_tendon       : int = -1 (min=-1)
-  nuser_actuator     : int = -1 (min=-1)
-  nuser_sensor       : int = -1 (min=-1)
-  exclusive memory nstack
-  exclusive memory njmax
-}
-
-
-#---------------------- statistic ------------------------------------------------------------------
-
-element statistic : mjStatistic {
-  meaninertia        : double
-  meanmass           : double
-  meansize           : double
-  extent             : double (positive)  # when defined
-  center             : double[3]
-}
-
-
-#---------------------- visual ---------------------------------------------------------------------
-
-element visual {
-  child global ?
-  child quality ?
-  child headlight ?
-  child map ?
-  child scale ?
-  child rgba ?
-}
-
-element global : mjVisual (field=global) {
-  cameraid           : int = -1
-  orthographic       : bool = false
-  fovy               : float = 45
-  ipd                : float = 0.068
-  azimuth            : float = 90
-  elevation          : float = -45
-  linewidth          : float = 1
-  glow               : float = 0.3
-  offwidth           : int = 640
-  offheight          : int = 480
-  realtime           : float = 1 (positive)
-  ellipsoidinertia   : bool = false
-  bvactive           : bool = false
-}
-
-element quality : mjVisual (field=quality) {
-  shadowsize         : int = 4096
-  offsamples         : int = 4
-  numslices          : int = 28
-  numstacks          : int = 16
-  numquads           : int = 4
-}
-
-element headlight : mjVisual (field=headlight) {
-  ambient            : float[3] = {0.1, 0.1, 0.1}
-  diffuse            : float[3] = {0.4, 0.4, 0.4}
-  specular           : float[3] = {0.5, 0.5, 0.5}
-  active             : int = 1
-}
-
-element map : mjVisual (field=map) {
-  stiffness          : float = 100
-  stiffnessrot       : float = 500
-  force              : float = 0.005
-  torque             : float = 0.1
-  alpha              : float = 0.3
-  fogstart           : float = 3
-  fogend             : float = 10
-  znear              : float = 0.01 (positive)
-  zfar               : float = 50
-  haze               : float = 0.3
-  shadowclip         : float = 1
-  shadowscale        : float = 0.6
-  actuatortendon     : float = 2
-}
-
-element scale : mjVisual (field=scale) {
-  forcewidth         : float = 0.1
-  contactwidth       : float = 0.3
-  contactheight      : float = 0.1
-  connect            : float = 0.2
-  com                : float = 0.4
-  camera             : float = 0.3
-  light              : float = 0.3
-  selectpoint        : float = 0.2
-  jointlength        : float = 1
-  jointwidth         : float = 0.1
-  actuatorlength     : float = 0.7
-  actuatorwidth      : float = 0.2
-  framelength        : float = 1
-  framewidth         : float = 0.1
-  constraint         : float = 0.1
-  slidercrank        : float = 0.2
-  frustum            : float = 10
-}
-
-element rgba : mjVisual (field=rgba) {
-  fog                : float[4] = {0, 0, 0, 1}
-  haze               : float[4] = {1, 1, 1, 1}
-  force              : float[4] = {1, 0.5, 0.5, 1}
-  inertia            : float[4] = {0.8, 0.2, 0.2, 0.6}
-  joint              : float[4] = {0.2, 0.6, 0.8, 1}
-  actuator           : float[4] = {0.2, 0.25, 0.2, 1}
-  actuatornegative   : float[4] = {0.2, 0.6, 0.9, 1}
-  actuatorpositive   : float[4] = {0.9, 0.4, 0.2, 1}
-  com                : float[4] = {0.9, 0.9, 0.9, 1}
-  camera             : float[4] = {0.6, 0.9, 0.6, 1}
-  light              : float[4] = {0.6, 0.6, 0.9, 1}
-  selectpoint        : float[4] = {0.9, 0.9, 0.1, 1}
-  connect            : float[4] = {0.2, 0.2, 0.8, 1}
-  contactpoint       : float[4] = {0.9, 0.6, 0.2, 1}
-  contactforce       : float[4] = {0.7, 0.9, 0.9, 1}
-  contactfriction    : float[4] = {0.9, 0.8, 0.4, 1}
-  contacttorque      : float[4] = {0.9, 0.7, 0.9, 1}
-  contactgap         : float[4] = {0.5, 0.8, 0.9, 1}
-  rangefinder        : float[4] = {1, 1, 0.1, 1}
-  constraint         : float[4] = {0.9, 0, 0, 1}
-  slidercrank        : float[4] = {0.5, 0.3, 0.8, 1}
-  crankbroken        : float[4] = {0.9, 0, 0, 1}
-  frustum            : float[4] = {1, 1, 0, 0.2}
-  bv                 : float[4] = {0, 1, 0, 0.5}
-  bvactive           : float[4] = {1, 0, 0, 0.5}
-}
-
-
-#---------------------- default --------------------------------------------------------------------
-
-element default {
-  class              : id<default>
-  child default R    # recursive
-  # children below are projections of the primary decls:
-  # reduced rows = attrs minus name/class minus (nodefault)
-  child mesh ?
-  child material ?
-  child joint ?
-  child geom ?
-  child site ?
-  child camera ?
-  child light ?
-  child pair ?
-  child default_equality ?
-  child default_tendon ?
-  child general ?
-  child motor ?
-  child position ?
-  child velocity ?
-  child intvelocity ?
-  child orientation ?
-  child pid ?
-  child damper ?
-  child cylinder ?
-  child muscle ?
-  child adhesion ?
-  child dcmotor ?
-}
-
-element layer {
-  texture            : ref<texture>
-  role               : string (required)
-}
-
-
-#---------------------- extension ------------------------------------------------------------------
-
-element extension {
-  child extension_plugin *
-}
-
-element extension_plugin (xml=plugin) {
-  plugin             : string
-  child instance *
-}
-
-element instance {
-  name               : id<instance> (required)
-  child config *
-}
-
-element config {
-  key                : string (required)
-  value              : string
-}
-
-
-#---------------------- asset ----------------------------------------------------------------------
-
-element asset {
-  child mesh *
-  child hfield *
-  child skin *
-  child texture *
-  child material *
-  child model *
-}
-
-element mesh : mjsMesh {
-  name               : id<mesh>
-  class              : ref<default>
-  content_type       : string (nodefault)
-  file               : file (nodefault)
-  vertex             : float[] (nodefault, field=uservert)
-  normal             : float[] (nodefault, field=usernormal)
-  texcoord           : float[] (nodefault, field=usertexcoord)
-  face               : int[] (nodefault, field=userface)
-  refpos             : double[3] (nodefault)
-  refquat            : double[4] = {1, 0, 0, 0} (nodefault)
-  scale              : double[3] = {1, 1, 1}
-  smoothnormal       : bool (nodefault)
-  maxhullvert        : int = -1 (reading=custom)
-  inertia            : enum<meshinertia> = legacy
-  builtin            : enum<meshbuiltin> (nodefault, reading=custom)
-  params             : double[] (nodefault, reading=custom)
-  material           : ref<material> (nodefault)
-  exclusive builtin file
-  exclusive builtin vertex
-  child plugin *
-}
-
-element plugin : mjsPlugin {
-  plugin             : string
-  instance           : ref<instance>
-  child config *
-}
-
-element hfield : mjsHField {
-  name               : id<hfield>
-  content_type       : string
-  file               : file
-  nrow               : int
-  ncol               : int
-  size               : double[4] (required)
-  elevation          : double[] (reading=custom)  # flipped and zero-filled
-}
-
-element skin : mjsSkin {
-  name               : id<skin>
-  file               : file
-  material           : ref<material>
-  rgba               : float[4] = {0.5, 0.5, 0.5, 1}
-  inflate            : float
-  vertex             : float[] (field=vert)
-  texcoord           : float[]
-  face               : int[]
-  group              : int (min=0, max=5, reading=custom)
-  child bone *
-}
-
-element bone {
-  body               : ref<body> (required)
-  bindpos            : double[3]
-  bindquat           : double[4]
-  vertid             : int[]
-  vertweight         : float[]
-}
-
-element texture : mjsTexture {
-  name               : id<texture>
-  type               : enum<texture> = cube
-  colorspace         : enum<colorspace> = auto
-  content_type       : string
-  file               : file
-  gridsize           : int[2] = {1, 1}
-  gridlayout         : chars[1..12]  # length must equal the gridsize product
-  fileright          : file
-  fileleft           : file
-  fileup             : file
-  filedown           : file
-  filefront          : file
-  fileback           : file
-  builtin            : enum<builtin>
-  rgb1               : double[3] = {0.8, 0.8, 0.8}
-  rgb2               : double[3] = {0.5, 0.5, 0.5}
-  mark               : enum<mark>
-  markrgb            : double[3]
-  random             : double = 0.01
-  width              : int
-  height             : int
-  hflip              : bool
-  vflip              : bool
-  nchannel           : int = 3
-}
-
-element material : mjsMaterial {
-  name               : id<material>
-  class              : ref<default>
-  texture            : ref<texture> (reading=custom)
-  texrepeat          : float[2] = {1, 1}
-  texuniform         : bool
-  emission           : float
-  specular           : float = 0.5
-  shininess          : float = 0.5
-  reflectance        : float
-  metallic           : float = -1
-  roughness          : float = -1
-  rgba               : float[4] = {1, 1, 1, 1}
-  child layer *
-}
-
-# read via mj_parse of the sub-model file: hand-written
-element model {
-  name               : id<model>
-  file               : file
-  content_type       : string
-}
-
-
-#---------------------- body -----------------------------------------------------------------------
-
-element body : mjsBody {
-  name               : id<body>
-  childclass         : ref<default>
-  pos                : double[3] = {0, 0, 0}
-  use orientation
-  mocap              : bool
-  gravcomp           : double
-  sleep              : enum<bodysleep>
-  simple             : enum<FalseAuto> = auto
-  user               : double[] (field=userdata)
-  child body R    # recursive
-  child frame R
-  child replicate *
-  child inertial ?
-  child joint *
-  child freejoint *
-  child geom *
-  child attach *
-  child site *
-  child camera *
-  child light *
-  child plugin *
-  child composite *
-  child flexcomp *
-}
-
-element inertial : mjsBody {   # projects into the parent body's i-frame
-  pos                : double[3] (required, field=ipos)
-  quat               : double[4] = {1, 0, 0, 0} (reading=custom, field=iquat)
-  mass               : double (required)
-  diaginertia        : double[3] (field=inertia)
-  axisangle          : double[4] (reading=custom)
-  xyaxes             : double[6] (reading=custom)
-  zaxis              : double[3] (reading=custom)
-  euler              : double[3] (reading=custom)
-  fullinertia        : double[6] (reading=custom)
-  exclusive fullinertia quat axisangle xyaxes zaxis euler
-}
-
-element joint : mjsJoint {
-  name               : id<joint>
-  class              : ref<default>
-  type               : enum<jointtype> = hinge
-  group              : int
-  pos                : double[3] (writing=custom)             # saved unless free
-  axis               : double[3] = {0, 0, 1} (writing=custom)  # saved for slide/hinge
-  springdamper       : double[2] (writing=custom)  # compile directive: saved as stiffness/damping
-  limited            : enum<FalseTrueAuto> = auto (writing=custom)  # saved unless free
-  actuatorfrclimited : enum<FalseTrueAuto> = auto (field=actfrclimited, writing=custom)  # saved for slide/hinge
-  solreflimit        : double[1..mjNREF] = {0.02, 1} (field=solref_limit)
-  solimplimit        : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_limit)
-  solreffriction     : double[1..mjNREF] = {0.02, 1} (field=solref_friction)
-  solimpfriction     : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_friction)
-  stiffness          : double[1..3]      # spring polynomial, 1+mjNPOLY coefficients
-  range              : double[2]
-  actuatorfrcrange   : double[2] (field=actfrcrange)
-  actuatorgravcomp   : bool (field=actgravcomp)
-  margin             : double
-  ref                : double
-  springref          : double
-  armature           : double
-  damping            : double[1..3]      # damper polynomial, 1+mjNPOLY coefficients
-  frictionloss       : double
-  user               : double[] (field=userdata)
-}
-
-element freejoint {
-  name               : id<joint>
-  group              : int
-  align              : enum<FalseTrueAuto>
-}
-
-element geom : mjsGeom {
-  name               : id<geom>
-  class              : ref<default>
-  type               : enum<geomtype> = sphere
-  contype            : int = 1
-  conaffinity        : int = 1
-  condim             : int = 3
-  group              : int
-  priority           : int
-  size               : double[1..3] (writing=custom)  # saved length is type-dependent
-  material           : ref<material>
-  friction           : double[1..3] = {1, 0.005, 0.0001}
-  mass               : double (writing=custom)         # mass/density: one is saved
-  density            : double = 1000 (writing=custom)
-  shellinertia       : bool (field=typeinertia, writing=custom)  # saved unless mesh
-  solmix             : double = 1
-  solref             : double[1..mjNREF] = {0.02, 1}
-  solimp             : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2}
-  margin             : double
-  gap                : double
-  surfacevel         : double[1..6]
-  adhesion           : double
-  fromto             : double[6] (writing=custom)  # compile directive: saved as pos/quat/size
-  pos                : double[3] = {0, 0, 0} (writing=custom)  # saved in the mesh-corrected frame
-  use orientation
-  hfield             : ref<hfield> (field=hfieldname)
-  mesh               : ref<mesh> (field=meshname)
-  fitscale           : double = 1 (writing=custom)  # compile directive: not saved
-  rgba               : float[4] = {0.5, 0.5, 0.5, 1}
-  fluidshape         : enum<fluidshape> (field=fluid_ellipsoid, reading=custom)
-  fluidcoef          : double[1..5] = {0.5, 0.25, 1.5, 1, 1} (field=fluid_coefs)
-  user               : double[] (field=userdata)
-  child plugin *
-}
-
-element attach {
-  model              : ref<model>
-  body               : ref<body>
-  frame              : ref<frame>
-  prefix             : string (required)
-  exclusive body frame
-}
-
-element site : mjsSite {
-  name               : id<site>
-  class              : ref<default>
-  type               : enum<geomtype> = sphere
-  group              : int
-  pos                : double[3] = {0, 0, 0}
-  use orientation
-  material           : ref<material>
-  size               : double[1..3] = {0.005, 0.005, 0.005} (writing=custom)  # saved length is type-dependent
-  fromto             : double[6] (writing=custom)  # compile directive: saved as pos/quat/size
-  rgba               : float[4] = {0.5, 0.5, 0.5, 1}
-  user               : double[] (field=userdata)
-}
-
-element camera : mjsCamera {
-  name               : id<camera>
-  class              : ref<default>
-  projection         : enum<projection> (field=proj)
-  fovy               : double = 45 (writing=custom)  # fovy or the intrinsics family is saved
-  ipd                : double = 0.068
-  resolution         : int[2] = {1, 1}
-  output             : flags<camout>
-  pos                : double[3] = {0, 0, 0}
-  use orientation
-  mode               : enum<camlight> = fixed
-  target             : ref<body> (nodefault, field=targetbody)
-  focal              : float[2] (field=focal_length, writing=custom)
-  focalpixel         : float[2] (field=focal_pixel, writing=custom)
-  principal          : float[2] (field=principal_length, writing=custom)
-  principalpixel     : float[2] (field=principal_pixel, writing=custom)
-  sensorsize         : float[2] (field=sensor_size, writing=custom)
-  user               : double[] (field=userdata)
-  exclusive fovy sensorsize
-}
-
-element light : mjsLight {
-  name               : id<light>
-  class              : ref<default>
-  directional        : bool (reading=custom)
-  type               : enum<lighttype> (reading=custom)
-  castshadow         : bool = true
-  active             : bool = true
-  pos                : double[3] = {0, 0, 0}
-  dir                : double[3] = {0, 0, -1}
-  bulbradius         : float = 0.02
-  intensity          : float
-  range              : float = 10
-  attenuation        : float[3] = {1, 0, 0}
-  cutoff             : float = 45
-  softness           : float = 0.2
-  exponent           : float = 10
-  ambient            : float[3]
-  diffuse            : float[3] = {0.7, 0.7, 0.7}
-  specular           : float[3] = {0.3, 0.3, 0.3}
-  mode               : enum<camlight> = fixed
-  target             : ref<body> (nodefault, field=targetbody)
-  texture            : ref<texture> (nodefault)
-  exclusive directional type
-}
-
-element composite {
-  prefix             : string
-  type               : enum<comp> (required)
-  count              : int[1..3]
-  offset             : double[3]
-  vertex             : double[]
-  initial            : string
-  curve              : string
-  size               : double[1..3]
-  quat               : double[4]
-  child composite_joint *
-  child composite_skin ?
-  child composite_geom ?
-  child composite_site ?
-  child plugin *
-}
-
-element composite_joint (xml=joint) {
-  kind               : enum<jkind> (required)
-  group              : int
-  stiffness          : double
-  damping            : double
-  armature           : double
-  solreffix          : double[1..mjNREF]
-  solimpfix          : double[1..mjNIMP]
-  type               : enum<jointtype>
-  axis               : double[3]
-  limited            : enum<FalseTrueAuto> = auto
-  range              : double[2]
-  margin             : double
-  solreflimit        : double[1..mjNREF]
-  solimplimit        : double[1..mjNIMP]
-  frictionloss       : double
-  solreffriction     : double[1..mjNREF]
-  solimpfriction     : double[1..mjNIMP]
-}
-
-element composite_skin (xml=skin) {
-  texcoord           : bool
-  material           : ref<material>
-  group              : int
-  rgba               : float[4]
-  inflate            : double
-  subgrid            : int
-}
-
-element composite_geom (xml=geom) {
-  type               : enum<geomtype>
-  contype            : int
-  conaffinity        : int
-  condim             : int
-  group              : int
-  priority           : int
-  size               : double[1..3]
-  material           : ref<material>
-  rgba               : float[4]
-  friction           : double[1..3]
-  mass               : double
-  density            : double
-  solmix             : double
-  solref             : double[1..mjNREF]
-  solimp             : double[1..mjNIMP]
-  margin             : double
-  gap                : double
-  surfacevel         : double[1..6]
-  adhesion           : double
-}
-
-element composite_site (xml=site) {
-  group              : int
-  size               : double[1..3]
-  material           : ref<material>
-  rgba               : float[4]
-}
-
-element flexcomp {
-  name               : id<flex> (required)
-  type               : enum<fcomp>
-  group              : int
-  dim                : int
-  dof                : enum<fdof>
-  count              : int[3]
-  cellcount          : int[3]
-  spacing            : double[3]
-  radius             : double
-  rigid              : bool
-  mass               : double
-  inertiabox         : double
-  scale              : double[3]
-  file               : file
-  point              : double[]
-  element            : double[]
-  texcoord           : double[]
-  material           : ref<material>
-  rgba               : float[4]
-  flatskin           : bool
-  pos                : double[3]
-  quat               : double[4]
-  axisangle          : double[4]
-  xyaxes             : double[6]
-  zaxis              : double[3]
-  euler              : double[3]
-  origin             : double[3]
-  child flexcomp_edge ?
-  child elasticity ?
-  child flexcomp_contact ?
-  child pin *
-  child plugin *
-}
-
-element flexcomp_edge (xml=edge) {
-  equality           : enum<flexeq>
-  solref             : double[1..mjNREF]
-  solimp             : double[1..mjNIMP]
-  stiffness          : double
-  damping            : double
-}
-
-element elasticity : mjsFlex {
-  young              : double
-  poisson            : double
-  damping            : double
-  thickness          : double = -1
-  elastic2d          : enum<elastic2d>
-}
-
-element flexcomp_contact : mjsFlex (xml=contact) {
-  contype            : int = 1
-  conaffinity        : int = 1
-  condim             : int = 3
-  priority           : int
-  friction           : double[1..3] = {1, 0.005, 0.0001}
-  solmix             : double = 1
-  solref             : double[1..mjNREF] = {0.02, 1}
-  solimp             : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2}
-  margin             : double
-  gap                : double
-  internal           : bool
-  selfcollide        : enum<flexself> = auto
-  activelayers       : int = 1
-  passive            : bool
-}
-
-element pin {
-  id                 : double[]
-  range              : double[]
-  grid               : double[]
-  gridrange          : double[]
-}
-
-
-#---------------------- deformable -----------------------------------------------------------------
-
-element deformable {
-  child flex *
-  child skin *
-}
-
-element flex : mjsFlex {
-  name               : id<flex>
-  group              : int
-  dim                : int = 2
-  radius             : double = 0.005
-  material           : ref<material>
-  rgba               : float[4] = {0.5, 0.5, 0.5, 1}
-  flatskin           : bool
-  body               : string (required, field=vertbody)   # space-separated body names
-  vertex             : double[] (field=vert)
-  element            : int[] (required, field=elem)
-  texcoord           : float[]
-  elemtexcoord       : int[]
-  node               : string (field=nodebody)             # space-separated body names
-  nodecoord          : double[] (field=node)               # node positions within body frames
-  cellcount          : int[3] = {1, 1, 1} (reading=custom)  # seeded before reading
-  dof                : enum<fdof> (reading=custom)        # lowers to interpolation order
-  child flexcomp_contact ?
-  child flex_edge ?
-  child elasticity ?
-}
-
-element flex_edge : mjsFlex (xml=edge) {
-  stiffness          : double (field=edgestiffness)
-  damping            : double (field=edgedamping)
-}
-
-
-#---------------------- contact --------------------------------------------------------------------
-
-element contact {
-  child pair *
-  child exclude *
-}
-
-element pair : mjsPair {
-  name               : id<pair>
-  class              : ref<default>
-  geom1              : ref<geom> (nodefault, field=geomname1)
-  geom2              : ref<geom> (nodefault, field=geomname2)
-  condim             : int = 3
-  friction           : double[1..5] = {1, 1, 0.005, 0.0001, 0.0001}
-  solref             : double[1..mjNREF] = {0.02, 1}
-  solreffriction     : double[1..mjNREF]
-  solimp             : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2}
-  gap                : double
-  margin             : double
-  adhesion           : double
-}
-
-element exclude : mjsExclude {
-  name               : id<exclude>
-  body1              : ref<body> (required, field=bodyname1)
-  body2              : ref<body> (required, field=bodyname2)
-}
-
-
-#---------------------- tendon ---------------------------------------------------------------------
-
-element tendon {
-  child spatial *
-  child fixed *
-}
-
-element spatial : mjsTendon {
-  name               : id<tendon>
-  class              : ref<default>
-  group              : int
-  limited            : enum<FalseTrueAuto> = auto
-  actuatorfrclimited : enum<FalseTrueAuto> (field=actfrclimited)
-  range              : double[2]
-  actuatorfrcrange   : double[2] (field=actfrcrange)
-  solreflimit        : double[1..mjNREF] = {0.02, 1} (field=solref_limit)
-  solimplimit        : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_limit)
-  solreffriction     : double[1..mjNREF] = {0.02, 1} (field=solref_friction)
-  solimpfriction     : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_friction)
-  frictionloss       : double
-  springlength       : double[1..2] = {-1, -1} (reading=custom)   # one value: copied to both
-  width              : double = 0.003
-  material           : ref<material>
-  margin             : double
-  stiffness          : double[1..3]      # spring polynomial, 1+mjNPOLY coefficients
-  damping            : double[1..3]      # damper polynomial, 1+mjNPOLY coefficients
-  armature           : double
-  rgba               : float[4] = {0.5, 0.5, 0.5, 1}
-  user               : double[] (field=userdata)
-  child spatial_site *
-  child spatial_geom *
-  child pulley *
-}
-
-# read via the mjs_wrapSite constructor: attributes are arguments
-element spatial_site (xml=site) {
-  site               : ref<site> (required)
-}
-
-# read via the mjs_wrapGeom constructor: attributes are arguments
-element spatial_geom (xml=geom) {
-  geom               : ref<geom> (required)
-  sidesite           : ref<site>
-}
-
-# read via the mjs_wrapPulley constructor: attributes are arguments
-element pulley {
-  divisor            : double
-}
-
-element fixed : mjsTendon {
-  name               : id<tendon>
-  class              : ref<default>
-  group              : int
-  limited            : enum<FalseTrueAuto> = auto
-  actuatorfrclimited : enum<FalseTrueAuto> (field=actfrclimited)
-  range              : double[2]
-  actuatorfrcrange   : double[2] (field=actfrcrange)
-  solreflimit        : double[1..mjNREF] = {0.02, 1} (field=solref_limit)
-  solimplimit        : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_limit)
-  solreffriction     : double[1..mjNREF] = {0.02, 1} (field=solref_friction)
-  solimpfriction     : double[1..mjNIMP] = {0.9, 0.95, 0.001, 0.5, 2} (field=solimp_friction)
-  frictionloss       : double
-  springlength       : double[1..2] = {-1, -1} (reading=custom)   # one value: copied to both
-  margin             : double
-  stiffness          : double[1..3]      # spring polynomial, 1+mjNPOLY coefficients
-  damping            : double[1..3]      # damper polynomial, 1+mjNPOLY coefficients
-  armature           : double
-  user               : double[] (field=userdata)
-  child fixed_joint *
-}
-
-# read via the mjs_wrapJoint constructor: attributes are arguments
-element fixed_joint (xml=joint) {
-  joint              : ref<joint> (required)
-  coef               : double
-}
-
-
-#---------------------- equality -------------------------------------------------------------------
-
-element equality : mjsEquality {
-  child connect *
-  child weld *
-  child equality_joint *
-  child equality_tendon *
-  child equality_flex *
-  child flexvert *
-  child flexstrain *
-}
-
-element connect : mjsEquality {
-  use equality_base
-  exclusive site1+site2 body1+body2+anchor   # site and body semantics cannot mix
-  oneof site1+site2 body1+anchor
-  together site1 site2
-  body1              : ref<body>
-  body2              : ref<body>
-  anchor             : double[3]
-  site1              : ref<site>
-  site2              : ref<site>
-}
-
-element weld : mjsEquality {
-  use equality_base
-  exclusive site1+site2 body1+body2+anchor+relpose
-  oneof site1+site2 body1
-  together site1 site2
-  body1              : ref<body>
-  body2              : ref<body>
-  relpose            : double[7]
-  anchor             : double[3]
-  site1              : ref<site>
-  site2              : ref<site>
-  torquescale        : double
-}
-
-element equality_joint : mjsEquality (xml=joint) {
-  use equality_base
-  joint1             : ref<joint> (required)
-  joint2             : ref<joint>
-  polycoef           : double[1..5]
-}
-
-element equality_tendon : mjsEquality (xml=tendon) {
-  use equality_base
-  tendon1            : ref<tendon> (required)
-  tendon2            : ref<tendon>
-  polycoef           : double[1..5]
-}
-
-element equality_flex : mjsEquality (xml=flex) {
-  use equality_base
-  flex               : ref<flex> (required)
-}
-
-element flexvert : mjsEquality {
-  use equality_base
-  flex               : ref<flex> (required)
-}
-
-element flexstrain : mjsEquality {
-  use equality_base
-  flex               : ref<flex> (required)
-  cell               : double[3]
-}
-
-
-#---------------------- actuator -------------------------------------------------------------------
-
-element actuator : mjsActuator {
-  child general *
-  child motor *
-  child position *
-  child velocity *
-  child intvelocity *
-  child orientation *
-  child pid *
-  child damper *
-  child cylinder *
-  child muscle *
-  child adhesion *
-  child dcmotor *
-  child actuator_plugin *
-}
-
-element general : mjsActuator {
-  use actuator_base
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto> = auto
-  actlimited         : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  actrange           : double[2]
-  use actuator_dynamics
-  use transmission
-  body               : ref<body> (nodefault, reading=custom)  # transmission target
-  actdim             : int = -1 (writing=custom)  # saved default depends on dyntype
-  input              : enum<inputchart> (reading=custom)  # so3 chart keyword, or servo token subset
-  velrange           : double[2]
-  ffrange            : double[2]
-  dyntype            : enum<dyn> = none
-  gaintype           : enum<gain> = fixed (writing=custom)  # gain/bias family is not
-  biastype           : enum<bias> = none (writing=custom)   # saved for plugin actuators
-  dynprm             : double[1..mjNDYN] = {1}
-  gainprm            : double[1..mjNGAIN] = {1} (writing=custom)
-  biasprm            : double[1..mjNBIAS] (writing=custom)
-  actearly           : bool
-}
-
-element motor : mjsActuator {
-  use actuator_base
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  use actuator_dynamics
-  use transmission
-}
-
-element position : mjsActuator {
-  use actuator_base
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto> = auto
-  inheritrange       : double
-  forcerange         : double[2]
-  use actuator_dynamics
-  use transmission
-  kp                 : double
-  kv                 : double
-  dampratio          : double
-  timeconst          : double
-}
-
-element velocity : mjsActuator {
-  use actuator_base
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  use actuator_dynamics
-  use transmission
-  kv                 : double
-}
-
-element intvelocity : mjsActuator {
-  use actuator_base
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto> = auto
-  actlimited         : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  actrange           : double[2]
-  inheritrange       : double
-  use actuator_dynamics
-  use transmission
-  kp                 : double
-  kv                 : double
-  dampratio          : double
-}
-
-element orientation : mjsActuator {
-  use actuator_base
-  forcelimited       : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  joint              : ref<joint> (nodefault)
-  site               : ref<site> (nodefault)
-  refsite            : ref<site> (nodefault)
-  kp                 : double
-  kv                 : double
-  dampratio          : double
-  input              : enum<inputchart>
-}
-
-element pid : mjsActuator {
-  use actuator_base
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto> = auto
-  posrange           : double[2] (field=ctrlrange)  # alias: the position-setpoint range
-  velrange           : double[2]
-  ffrange            : double[2]
-  forcerange         : double[2]
-  inheritrange       : double
-  use actuator_dynamics
-  use transmission
-  kp                 : double
-  kv                 : double
-  dampratio          : double
-  ki                 : double
-  imax               : double
-  slewmax            : double
-  input              : flags<inputbit>
-}
-
-element damper : mjsActuator {
-  use actuator_base
-  forcelimited       : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  use actuator_dynamics
-  use transmission
-  kv                 : double
-}
-
-element cylinder : mjsActuator {
-  use actuator_base
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  use actuator_dynamics
-  use transmission
-  timeconst          : double
-  area               : double
-  diameter           : double
-  bias               : double[3]
-}
-
-element muscle : mjsActuator {
-  use actuator_base
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  use actuator_dynamics
-  joint              : ref<joint> (nodefault)
-  jointinparent      : string (nodefault)
-  tendon             : ref<tendon> (nodefault)
-  slidersite         : ref<site> (nodefault)
-  cranksite          : ref<site> (nodefault)
-  timeconst          : double[2]
-  tausmooth          : double (nodefault)
-  range              : double[2]
-  force              : double
-  scale              : double
-  lmin               : double
-  lmax               : double
-  vmax               : double
-  fpmax              : double
-  fvmax              : double
-}
-
-element adhesion : mjsActuator {
-  use actuator_base
-  forcelimited       : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  body               : ref<body> (nodefault)
-  gain               : double
-}
-
-element dcmotor : mjsActuator {
-  use actuator_base
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  use actuator_dynamics
-  use transmission
-  motorconst         : double[1..2]
-  resistance         : double
-  nominal            : double[1..3]
-  saturation         : double[1..3]
-  inductance         : double[1..2]
-  cogging            : double[1..3]
-  controller         : double[1..6]
-  thermal            : double[1..6]
-  lugre              : double[1..5]
-  input              : flags<inputbit> (reading=custom)  # token subset, or the none keyword
-}
-
-element actuator_plugin : mjsActuator (xml=plugin) {
-  use actuator_base
-  plugin             : string
-  instance           : ref<instance>
-  ctrllimited        : enum<FalseTrueAuto> = auto
-  forcelimited       : enum<FalseTrueAuto> = auto
-  actlimited         : enum<FalseTrueAuto> = auto
-  forcerange         : double[2]
-  actrange           : double[2]
-  use actuator_dynamics
-  joint              : ref<joint>
-  jointinparent      : string
-  site               : ref<site>
-  actdim             : int = -1
-  dyntype            : enum<dyn> = none
-  dynprm             : double[1..mjNDYN] = {1}
-  tendon             : ref<tendon>
-  cranksite          : ref<site>
-  slidersite         : ref<site>
-  actearly           : bool
-  child config *
-}
-
-
-#---------------------- sensor ---------------------------------------------------------------------
-
-element sensor : mjsSensor {
-  child touch *
-  child accelerometer *
-  child velocimeter *
-  child gyro *
-  child force *
-  child torque *
-  child magnetometer *
-  child camprojection *
-  child rangefinder *
-  child jointpos *
-  child jointvel *
-  child tendonpos *
-  child tendonvel *
-  child actuatorpos *
-  child actuatorvel *
-  child actuatorfrc *
-  child jointactuatorfrc *
-  child tendonactuatorfrc *
-  child ballquat *
-  child ballangvel *
-  child jointlimitpos *
-  child jointlimitvel *
-  child jointlimitfrc *
-  child tendonlimitpos *
-  child tendonlimitvel *
-  child tendonlimitfrc *
-  child framepos *
-  child framequat *
-  child framexaxis *
-  child frameyaxis *
-  child framezaxis *
-  child framelinvel *
-  child frameangvel *
-  child framelinacc *
-  child frameangacc *
-  child subtreecom *
-  child subtreelinvel *
-  child subtreeangmom *
-  child insidesite *
-  child distance *
-  child normal *
-  child fromto *
-  child sensor_contact *
-  child e_potential *
-  child e_kinetic *
-  child clock *
-  child tactile *
-  child user *
-  child sensor_plugin *
-}
-
-element touch : mjsSensor {
-  set type         = mjSENS_TOUCH
-  set objtype      = mjOBJ_SITE
-  use sensor_base
-  site               : ref<site> (required, field=objname)
-}
-
-element accelerometer : mjsSensor {
-  set type         = mjSENS_ACCELEROMETER
-  set objtype      = mjOBJ_SITE
-  use sensor_base
-  site               : ref<site> (required, field=objname)
-}
-
-element velocimeter : mjsSensor {
-  set type         = mjSENS_VELOCIMETER
-  set objtype      = mjOBJ_SITE
-  use sensor_base
-  site               : ref<site> (required, field=objname)
-}
-
-element gyro : mjsSensor {
-  set type         = mjSENS_GYRO
-  set objtype      = mjOBJ_SITE
-  use sensor_base
-  site               : ref<site> (required, field=objname)
-}
-
-element force : mjsSensor {
-  set type         = mjSENS_FORCE
-  set objtype      = mjOBJ_SITE
-  use sensor_base
-  site               : ref<site> (required, field=objname)
-}
-
-element torque : mjsSensor {
-  set type         = mjSENS_TORQUE
-  set objtype      = mjOBJ_SITE
-  use sensor_base
-  site               : ref<site> (required, field=objname)
-}
-
-element magnetometer : mjsSensor {
-  set type         = mjSENS_MAGNETOMETER
-  set objtype      = mjOBJ_SITE
-  use sensor_base
-  site               : ref<site> (required, field=objname)
-}
-
-element camprojection : mjsSensor {
-  set type         = mjSENS_CAMPROJECTION
-  set objtype      = mjOBJ_SITE
-  set reftype      = mjOBJ_CAMERA
-  use sensor_base
-  site               : ref<site> (required, field=objname)
-  camera             : ref<camera> (required, field=refname)
-}
-
-element rangefinder : mjsSensor {
-  use sensor_base
-  site               : ref<site>
-  camera             : ref<camera>
-  data               : flags<raydata> (reading=custom)  # ordering-checked
-  exclusive site camera
-  oneof site camera
-}
-
-element jointpos : mjsSensor {
-  set type         = mjSENS_JOINTPOS
-  set objtype      = mjOBJ_JOINT
-  use sensor_base
-  joint              : ref<joint> (required, field=objname)
-}
-
-element jointvel : mjsSensor {
-  set type         = mjSENS_JOINTVEL
-  set objtype      = mjOBJ_JOINT
-  use sensor_base
-  joint              : ref<joint> (required, field=objname)
-}
-
-element tendonpos : mjsSensor {
-  set type         = mjSENS_TENDONPOS
-  set objtype      = mjOBJ_TENDON
-  use sensor_base
-  tendon             : ref<tendon> (required, field=objname)
-}
-
-element tendonvel : mjsSensor {
-  set type         = mjSENS_TENDONVEL
-  set objtype      = mjOBJ_TENDON
-  use sensor_base
-  tendon             : ref<tendon> (required, field=objname)
-}
-
-element actuatorpos : mjsSensor {
-  set type         = mjSENS_ACTUATORPOS
-  set objtype      = mjOBJ_ACTUATOR
-  use sensor_base
-  actuator           : ref<actuator> (required, field=objname)
-}
-
-element actuatorvel : mjsSensor {
-  set type         = mjSENS_ACTUATORVEL
-  set objtype      = mjOBJ_ACTUATOR
-  use sensor_base
-  actuator           : ref<actuator> (required, field=objname)
-}
-
-element actuatorfrc : mjsSensor {
-  set type         = mjSENS_ACTUATORFRC
-  set objtype      = mjOBJ_ACTUATOR
-  use sensor_base
-  actuator           : ref<actuator> (required, field=objname)
-}
-
-element jointactuatorfrc : mjsSensor {
-  set type         = mjSENS_JOINTACTFRC
-  set objtype      = mjOBJ_JOINT
-  use sensor_base
-  joint              : ref<joint> (required, field=objname)
-}
-
-element tendonactuatorfrc : mjsSensor {
-  set type         = mjSENS_TENDONACTFRC
-  set objtype      = mjOBJ_TENDON
-  use sensor_base
-  tendon             : ref<tendon> (required, field=objname)
-}
-
-element ballquat : mjsSensor {
-  set type         = mjSENS_BALLQUAT
-  set objtype      = mjOBJ_JOINT
-  use sensor_base
-  joint              : ref<joint> (required, field=objname)
-}
-
-element ballangvel : mjsSensor {
-  set type         = mjSENS_BALLANGVEL
-  set objtype      = mjOBJ_JOINT
-  use sensor_base
-  joint              : ref<joint> (required, field=objname)
-}
-
-element jointlimitpos : mjsSensor {
-  set type         = mjSENS_JOINTLIMITPOS
-  set objtype      = mjOBJ_JOINT
-  use sensor_base
-  joint              : ref<joint> (required, field=objname)
-}
-
-element jointlimitvel : mjsSensor {
-  set type         = mjSENS_JOINTLIMITVEL
-  set objtype      = mjOBJ_JOINT
-  use sensor_base
-  joint              : ref<joint> (required, field=objname)
-}
-
-element jointlimitfrc : mjsSensor {
-  set type         = mjSENS_JOINTLIMITFRC
-  set objtype      = mjOBJ_JOINT
-  use sensor_base
-  joint              : ref<joint> (required, field=objname)
-}
-
-element tendonlimitpos : mjsSensor {
-  set type         = mjSENS_TENDONLIMITPOS
-  set objtype      = mjOBJ_TENDON
-  use sensor_base
-  tendon             : ref<tendon> (required, field=objname)
-}
-
-element tendonlimitvel : mjsSensor {
-  set type         = mjSENS_TENDONLIMITVEL
-  set objtype      = mjOBJ_TENDON
-  use sensor_base
-  tendon             : ref<tendon> (required, field=objname)
-}
-
-element tendonlimitfrc : mjsSensor {
-  set type         = mjSENS_TENDONLIMITFRC
-  set objtype      = mjOBJ_TENDON
-  use sensor_base
-  tendon             : ref<tendon> (required, field=objname)
-}
-
-element framepos : mjsSensor {
-  set type         = mjSENS_FRAMEPOS
-  use sensor_base
-  use frame_object
-  use frame_reference
-}
-
-element framequat : mjsSensor {
-  set type         = mjSENS_FRAMEQUAT
-  use sensor_base
-  use frame_object
-  use frame_reference
-}
-
-element framexaxis : mjsSensor {
-  set type         = mjSENS_FRAMEXAXIS
-  use sensor_base
-  use frame_object
-  use frame_reference
-}
-
-element frameyaxis : mjsSensor {
-  set type         = mjSENS_FRAMEYAXIS
-  use sensor_base
-  use frame_object
-  use frame_reference
-}
-
-element framezaxis : mjsSensor {
-  set type         = mjSENS_FRAMEZAXIS
-  use sensor_base
-  use frame_object
-  use frame_reference
-}
-
-element framelinvel : mjsSensor {
-  set type         = mjSENS_FRAMELINVEL
-  use sensor_base
-  use frame_object
-  use frame_reference
-}
-
-element frameangvel : mjsSensor {
-  set type         = mjSENS_FRAMEANGVEL
-  use sensor_base
-  use frame_object
-  use frame_reference
-}
-
-element framelinacc : mjsSensor {
-  set type         = mjSENS_FRAMELINACC
-  use sensor_base
-  use frame_object
-}
-
-element frameangacc : mjsSensor {
-  set type         = mjSENS_FRAMEANGACC
-  use sensor_base
-  use frame_object
-}
-
-element subtreecom : mjsSensor {
-  set type         = mjSENS_SUBTREECOM
-  set objtype      = mjOBJ_BODY
-  use sensor_base
-  body               : ref<body> (required, field=objname)
-}
-
-element subtreelinvel : mjsSensor {
-  set type         = mjSENS_SUBTREELINVEL
-  set objtype      = mjOBJ_BODY
-  use sensor_base
-  body               : ref<body> (required, field=objname)
-}
-
-element subtreeangmom : mjsSensor {
-  set type         = mjSENS_SUBTREEANGMOM
-  set objtype      = mjOBJ_BODY
-  use sensor_base
-  body               : ref<body> (required, field=objname)
-}
-
-element insidesite : mjsSensor {
-  set type         = mjSENS_INSIDESITE
-  set reftype      = mjOBJ_SITE
-  use sensor_base
-  site               : ref<site> (required, field=refname)
-  objtype            : enum<frameobj> (required)
-  objname            : string (required)
-}
-
-element distance : mjsSensor {
-  use sensor_base
-  exclusive geom1 body1
-  oneof geom1 body1
-  exclusive geom2 body2
-  oneof geom2 body2
-  geom1              : ref<geom>
-  geom2              : ref<geom>
-  body1              : ref<body>
-  body2              : ref<body>
-}
-
-element normal : mjsSensor {
-  use sensor_base
-  exclusive geom1 body1
-  oneof geom1 body1
-  exclusive geom2 body2
-  oneof geom2 body2
-  geom1              : ref<geom>
-  geom2              : ref<geom>
-  body1              : ref<body>
-  body2              : ref<body>
-}
-
-element fromto : mjsSensor {
-  use sensor_base
-  exclusive geom1 body1
-  oneof geom1 body1
-  exclusive geom2 body2
-  oneof geom2 body2
-  geom1              : ref<geom>
-  geom2              : ref<geom>
-  body1              : ref<body>
-  body2              : ref<body>
-}
-
-element sensor_contact : mjsSensor (xml=contact) {
-  use sensor_base
-  geom1              : ref<geom>
-  geom2              : ref<geom>
-  body1              : ref<body>
-  body2              : ref<body>
-  subtree1           : ref<body>
-  subtree2           : ref<body>
-  site               : ref<site>
-  num                : int
-  data               : flags<condata> (reading=custom)
-  reduce             : enum<reduce>
-  exclusive geom1 body1 subtree1 site
-  exclusive geom2 body2 subtree2
-}
-
-element e_potential : mjsSensor {
-  set type         = mjSENS_E_POTENTIAL
-  set objtype      = mjOBJ_UNKNOWN
-  use sensor_base
-}
-
-element e_kinetic : mjsSensor {
-  set type         = mjSENS_E_KINETIC
-  set objtype      = mjOBJ_UNKNOWN
-  use sensor_base
-}
-
-element clock : mjsSensor {
-  set type         = mjSENS_CLOCK
-  set objtype      = mjOBJ_UNKNOWN
-  use sensor_base
-}
-
-element tactile : mjsSensor {
-  name               : id<sensor>
-  geom               : ref<geom> (required)
-  mesh               : ref<mesh> (required)
-  nsample            : int
-  interp             : enum<interp>
-  delay              : double
-  interval           : double[1..2]
-  user               : double[]
-}
-
-element user : mjsSensor {
-  name               : id<sensor>
-  objtype            : string
-  objname            : string
-  together objtype objname
-  datatype           : enum<datatype> = real
-  needstage          : enum<stage> = acc
-  dim                : int
-  cutoff             : double
-  noise              : double
-  user               : double[]
-}
-
-element sensor_plugin : mjsSensor (xml=plugin) {
-  name               : id<sensor>
-  plugin             : string
-  instance           : ref<instance>
-  cutoff             : double
-  objtype            : string    # objtype/objname, reftype/refname: pairwise
-  objname            : string    # co-occurrence enforced by the reader
-  reftype            : string
-  refname            : string
-  user               : double[]
-  child config *
-}
-
-
-#---------------------- custom ---------------------------------------------------------------------
-
-element custom {
-  child numeric *
-  child text *
-  child tuple *
-}
-
-element numeric : mjsNumeric {
-  name               : id<numeric> (required)
-  size               : int
-  data               : string
-}
-
-element text : mjsText {
-  name               : id<text> (required)
-  data               : string (required)
-}
-
-element tuple : mjsTuple {
-  name               : id<tuple> (required)
-  child element *
-}
-
-element element {
-  objtype            : string (required)
-  objname            : string (required)
-  prm                : double
-}
-
-
-#---------------------- keyframe -------------------------------------------------------------------
-
-element keyframe {
-  child key *
-}
-
-element key : mjsKey {
-  name               : id<key> (reading=custom)   # set even when absent
-  time               : double
-  qpos               : double[]
-  qvel               : double[]
-  act                : double[]
-  mpos               : double[]
-  mquat              : double[]
-  ctrl               : double[]
-}
-
-
-#---------------------- worldbody, frame, replicate (body aliases) ---------------------------------
-
-# The runtime validator admits the full body surface for all three aliases
-# (mjXSchema::NameMatch); the reader enforces the restrictions. The child
-# lists below record the compilable surface, for artifact emitters.
-
-# a restricted body: no attributes, no inertial or joints
-element worldbody (alias=body) {
-  child body *
-  child frame *
-  child replicate *
-  child geom *
-  child attach *
-  child site *
-  child camera *
-  child light *
-  child plugin *
-  child composite *
-  child flexcomp *
-}
-
-element frame : mjsFrame (alias=body) {
-  name        : id<frame>
-  childclass  : ref<default>
-  pos         : double[3]
-  use orientation
-  child body R
-  child frame R
-  child replicate *
-  child inertial ?
-  child joint *
-  child freejoint *
-  child geom *
-  child attach *
-  child site *
-  child camera *
-  child light *
-  child plugin *
-  child composite *
-  child flexcomp *
-}
-
-# read into the replicate expansion: hand-written.
-# no freejoint or flexcomp children: the replicate expansion rejects them
-element replicate (alias=body) {
-  count       : int (required)
-  offset      : double[3]
-  euler       : double[3]
-  sep         : string
-  childclass  : ref<default>
-  child body *
-  child frame *
-  child replicate R
-  child inertial ?
-  child joint *
-  child geom *
-  child attach *
-  child site *
-  child camera *
-  child light *
-  child plugin *
-  child composite *
-}
-
-
-#---------------------- default-context elements ---------------------------------------------------
-
-element default_equality (xml=equality) {
-  active             : bool
-  solref             : double[1..mjNREF]
-  solimp             : double[1..mjNIMP]
-}
-
-element default_tendon (xml=tendon) {
-  group              : int
-  limited            : enum<FalseTrueAuto> = auto
-  range              : double[2]
-  solreflimit        : double[1..mjNREF]
-  solimplimit        : double[1..mjNIMP]
-  solreffriction     : double[1..mjNREF]
-  solimpfriction     : double[1..mjNIMP]
-  frictionloss       : double
-  springlength       : double[1..2]
-  width              : double
-  material           : ref<material>
-  margin             : double
-  stiffness          : double[1..3]
-  damping            : double[1..3]
-  rgba               : float[4]
-  user               : double[]
-}
diff --git a/src/xml/mjz/CMakeLists.txt b/src/xml/mjz/CMakeLists.txt
deleted file mode 100644
index ab92623b..00000000
--- a/src/xml/mjz/CMakeLists.txt
+++ /dev/null
@@ -1,21 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_MJZ_SRCS
-    mjz_decoder.cc
-    mjz_encoder.cc
-)
-
-target_sources(mujoco PRIVATE ${MUJOCO_MJZ_SRCS})
-target_link_libraries(mujoco PRIVATE miniz)
diff --git a/src/xml/mjz/mjz_decoder.cc b/src/xml/mjz/mjz_decoder.cc
deleted file mode 100644
index 4f504100..00000000
--- a/src/xml/mjz/mjz_decoder.cc
+++ /dev/null
@@ -1,261 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstdarg>
-#include <cstdio>
-#include <cstring>
-#include <filesystem>
-#include <mutex>
-#include <string>
-#include <string_view>
-#include <span>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-#if defined(__clang__)
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wunused-function"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include <miniz.h>
-#if defined(__clang__)
-#pragma clang diagnostic pop
-#elif defined(__GNUC__)
-#pragma GCC diagnostic pop
-#endif
-
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "user/user_resource.h"
-
-static void mjPRINTFLIKE(3, 4)
-    SetError(char* error, int error_sz, const char* format, ...) {
-  if (error) {
-    va_list args;
-    va_start(args, format);
-    std::vsnprintf(error, error_sz, format, args);
-    va_end(args);
-  }
-}
-
-// A mjpResourceProvider that reads files from a zip archive.
-//
-// The zip archive itself is provided as a byte buffer in the constructor. This
-// class can then be used to lazily read the contents of the individual files
-// from within the archive as needed.
-class ZipArchiveProvider : public mjpResourceProvider {
- public:
-  ZipArchiveProvider(std::string name, const void* buffer, int nbuffer,
-                     char* error, int error_sz)
-      : name_(std::filesystem::path(name).generic_string()),
-        buffer_((char*)buffer, (char*)buffer + nbuffer) {
-    mjp_defaultResourceProvider(this);
-
-    std::memset(&archive_, 0, sizeof(archive_));
-    if (!mz_zip_reader_init_mem(&archive_, buffer_.data(), nbuffer, 0)) {
-      SetError(error, error_sz, "Zip error: invalid zip archive");
-      return;
-    }
-
-    // Create an index of the files in the archive.
-    const int num_files = mz_zip_reader_get_num_files(&archive_);
-    for (int i = 0; i < num_files; ++i) {
-      mz_zip_archive_file_stat stat;
-      if (!mz_zip_reader_file_stat(&archive_, i, &stat)) {
-        SetError(error, error_sz, "Zip error: failed to stat item %d.", i);
-        files_.clear();
-        return;
-      }
-      const int size = static_cast<int>(stat.m_uncomp_size);
-      if (size == 0) {
-        continue;
-      }
-      files_[stat.m_filename] = FileInfo{i, size, {}};
-    }
-
-    // Look for the root XML model in the archive. We try the following
-    // locations:
-    // 1. [archive_name].xml
-    // 2. [archive_name]/[archive_name].xml
-    // 3. model.xml
-    // 4. [archive_name]/model.xml
-    const std::filesystem::path path(name_);
-    const std::string stem = path.stem().string();
-    std::vector<std::string> candidates = {
-        (path / stem).generic_string() + ".xml",
-        (path / stem / stem).generic_string() + ".xml",
-        (path / "model").generic_string() + ".xml",
-        (path / stem / "model").generic_string() + ".xml",
-    };
-
-    bool found = false;
-    for (const auto& candidate : candidates) {
-      if (Contains(candidate)) {
-        root_model_ = candidate;
-        found = true;
-        break;
-      }
-    }
-
-    if (!found) {
-      SetError(error, error_sz, "Zip error: no root XML file found.");
-      return;
-    }
-
-    // Setup mjpResourceProvider callbacks.
-    mount = [](mjResource* resource) {
-      return 0;
-    };
-    unmount = [](mjResource* resource) {
-      ZipArchiveProvider* self = (ZipArchiveProvider*)resource->provider;
-      delete self;
-      return 0;
-    };
-    open = [](mjResource* resource) {
-      ZipArchiveProvider* self = (ZipArchiveProvider*)resource->provider;
-      auto path = std::filesystem::path(resource->name).lexically_normal();
-      const bool found = self->Contains(path.generic_string());
-      return found ? 1 : 0;
-    };
-    read = [](mjResource* resource, const void** buffer) {
-      ZipArchiveProvider* self = (ZipArchiveProvider*)resource->provider;
-      auto path = std::filesystem::path(resource->name).lexically_normal();
-      std::span<char> bytes = self->Read(path.generic_string());
-      *buffer = bytes.data();
-      return static_cast<int>(bytes.size());
-    };
-    close = [](mjResource* resource) {
-      // no-op
-    };
-  }
-
-  ~ZipArchiveProvider() {
-    mz_zip_reader_end(&archive_);
-  }
-
-  ZipArchiveProvider(const ZipArchiveProvider&) = delete;
-  ZipArchiveProvider& operator=(const ZipArchiveProvider&) = delete;
-
-  // Returns the path to the root XML model in the archive.
-  std::string GetRootModelPath() const {
-    return root_model_;
-  }
-
-  // Returns true if the archive contains a file with the given name/path.
-  bool Contains(std::string_view name) const {
-    // Lexically normalized path might strip the archive path.
-    // a/b.mjz/../../../c.xml -> ../c.xml
-    if (!name.starts_with(name_)) {
-      return false;
-    }
-    const std::string_view filename = name.substr(name_.size() + 1);
-    return files_.find(filename.data()) != files_.end();
-  }
-
-  // Reads the contents of the file with the given name/path. The contents are
-  // cached internally so that subsequent reads for the same file do not need to
-  // re-read the file from the archive.
-  std::span<char> Read(const std::string& name) {
-    const std::string filename = name.substr(name_.size() + 1);
-    auto it = files_.find(filename);
-    if (it == files_.end()) {
-      return {};
-    }
-
-    FileInfo& info = it->second;
-
-    // Lazily read and store the file contents from the archive.
-    // The mutex is needed because mz_zip_archive is not thread-safe, and
-    // multiple threads may call Read concurrently during parallel compilation.
-    std::lock_guard<std::mutex> lock(mutex_);
-    if (info.contents.empty()) {
-      info.contents.resize(info.size);
-      if (!mz_zip_reader_extract_to_mem(&archive_, info.index,
-                                        info.contents.data(), info.size, 0)) {
-        return {};
-      }
-    }
-    return info.contents;
-  }
-
- private:
-  struct FileInfo {
-    // Index of the file in the archive.
-    int index = 0;
-
-    // Size (in bytes) of the uncompressed file
-    int size = 0;
-
-    // Contents of the uncompressed file.
-    std::vector<char> contents;
-  };
-
-  std::string name_;
-  std::string root_model_;
-  mz_zip_archive archive_;
-  std::vector<char> buffer_;
-  std::unordered_map<std::string, FileInfo> files_;
-  mutable std::mutex mutex_;
-};
-
-static mjSpec* ParseZipBuffer(const void* buffer, int nbuffer, const char* name,
-                              mjVFS* vfs, char* error, int error_sz) {
-  if (error) {
-    error[0] = 0;
-  }
-
-  ZipArchiveProvider* provider =
-      new ZipArchiveProvider(name, buffer, nbuffer, error, error_sz);
-  if (error && error[0]) {
-    return nullptr;
-  }
-
-  const int status = mj_mountVFS(vfs, name, provider);
-  if (status != 0) {
-    SetError(error, error_sz, "Failed to mount zip archive: %s", name);
-    return nullptr;
-  }
-
-  const std::string root = provider->GetRootModelPath();
-  return mj_parseXML(root.c_str(), vfs, error, error_sz);
-}
-
-mjPLUGIN_LIB_INIT(mjz_decoder) {
-  mjpDecoder decoder;
-  decoder.content_type = "application/zip";
-  decoder.extension = ".mjz|.zip";
-  decoder.can_decode = +[](const mjResource* resource) {
-    const char* ext = strrchr(resource->name, '.');
-    return ext ? (!strcmp(ext, ".mjz") || !strcmp(ext, ".zip")) : 0;
-  };
-  decoder.decode = +[](mjResource* resource, const mjVFS* vfs) -> mjSpec* {
-    const char* buffer = nullptr;
-    const int size = mju_readResource(resource, (const void**)&buffer);
-    if (size <= 0) {
-      return nullptr;
-    }
-    char error[1024] = "";
-    mjSpec* spec = ParseZipBuffer(buffer, size, resource->name,
-                                  const_cast<mjVFS*>(vfs), error,
-                                  sizeof(error));
-    if (!spec && error[0]) {
-      mju_warning("%s", error);
-    }
-    return spec;
-  };
-  mjp_registerDecoder(&decoder);
-}
diff --git a/src/xml/mjz/mjz_encoder.cc b/src/xml/mjz/mjz_encoder.cc
deleted file mode 100644
index 75c8fa73..00000000
--- a/src/xml/mjz/mjz_encoder.cc
+++ /dev/null
@@ -1,421 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cctype>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <filesystem>
-#include <functional>
-#include <stack>
-#include <string>
-#include <string_view>
-#include <unordered_map>
-#include <utility>
-#include <vector>
-
-// Disable unused function warnings for miniz.
-#if defined(__GNUC__) || defined(__clang__)
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-#include <miniz.h>
-#if defined(__GNUC__) || defined(__clang__)
-#pragma GCC diagnostic pop
-#endif
-
-#include <mujoco/mujoco.h>
-#include "tinyxml2.h"
-
-namespace {
-
-namespace fs = std::filesystem;
-
-// asset file to be packed into the archive
-struct AssetEntry {
-  fs::path archive_path;
-  // modelfiledir of the spec that originally owned the asset
-  fs::path source_dir;
-  fs::path disk_path;
-};
-
-// Key for identifying an asset element that needs its file path rewritten.
-// Using (tag, file, name) allows disambiguation of unnamed elements and
-// individual cubemap face files on the same texture element.
-struct RewriteKey {
-  std::string_view tag;
-  std::string_view file;
-  std::string_view name;
-
-  bool operator==(const RewriteKey&) const = default;
-};
-
-struct RewriteKeyHash {
-  std::size_t operator()(const RewriteKey& k) const {
-    const std::size_t h1 = std::hash<std::string_view>{}(k.tag);
-    const std::size_t h2 = std::hash<std::string_view>{}(k.file);
-    const std::size_t h3 = std::hash<std::string_view>{}(k.name);
-    std::size_t seed = h1;
-    seed ^= h2 + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-    seed ^= h3 + 0x9e3779b9 + (seed << 6) + (seed >> 2);
-    return seed;
-  }
-};
-
-using RewriteMap = std::unordered_map<RewriteKey, std::string, RewriteKeyHash>;
-
-fs::path SanitizePath(const fs::path& path) {
-  // replace characters that are not alphanumeric, '/', '.', '_', or '-'
-  // with '_'
-  std::string result = path.string();
-  for (char& c : result) {
-    if (!std::isalnum(static_cast<unsigned char>(c)) && c != '/' && c != '.' &&
-        c != '_' && c != '-') {
-      c = '_';
-    }
-  }
-  return result;
-}
-
-// Remove leading ".." path components from a normalized path.
-std::string RemoveLeadingDotDot(const fs::path& p) {
-  fs::path result;
-  bool skipping = true;
-  for (const auto& component : p) {
-    if (skipping && component == "..") {
-      continue;
-    }
-    skipping = false;
-    result /= component;
-  }
-  return result.string();
-}
-
-// Apply file-attribute rewrites to the serialized XML.
-// For each element, all attributes are checked against the rewrite map keyed
-// by (tag_name, attribute_value, element_name). This handles both regular
-// "file" attributes and cubemap face attributes (fileright, fileleft, etc.).
-void ApplyRewrites(std::string& xml, const RewriteMap& rewrites) {
-  if (rewrites.empty()) return;
-
-  tinyxml2::XMLDocument doc;
-  if (doc.Parse(xml.c_str()) != tinyxml2::XML_SUCCESS) return;
-
-  // Walk all elements in the document.
-  std::stack<tinyxml2::XMLElement*> stack;
-  if (auto* root = doc.RootElement()) stack.push(root);
-  while (!stack.empty()) {
-    auto* elem = stack.top();
-    stack.pop();
-
-    const char* tag_name = elem->Value();
-    const char* name_attr = elem->Attribute("name");
-
-    // Check file-related attributes for paths that need rewriting.
-    // This covers "file" and cubemap face attributes: fileright, fileleft, etc.
-    for (const tinyxml2::XMLAttribute* attr = elem->FirstAttribute(); attr;
-         attr = attr->Next()) {
-      std::string_view attr_name{attr->Name()};
-      if (!attr_name.starts_with("file")) continue;
-
-      const char* attr_value = attr->Value();
-      if (!attr_value) continue;
-
-      RewriteKey key{tag_name, attr_value, name_attr ? name_attr : ""};
-      auto it = rewrites.find(key);
-      if (it != rewrites.end()) {
-        elem->SetAttribute(attr->Name(), it->second.c_str());
-      }
-    }
-
-    for (auto* child = elem->FirstChildElement(); child;
-         child = child->NextSiblingElement()) {
-      stack.push(child);
-    }
-  }
-
-  tinyxml2::XMLPrinter printer;
-  doc.Print(&printer);
-  xml = printer.CStr();
-}
-
-// collect all referenced asset files from the spec
-//
-// returns a map from unique archive entry names to AssetEntry structs
-// and populates xml_rewrites with XML file attributes that need to be updated.
-std::unordered_map<std::string, AssetEntry> CollectAssets(
-    const mjSpec* spec, RewriteMap& xml_rewrites) {
-  const mjString* root_meshdir = spec->compiler.meshdir;
-  const mjString* root_texturedir = spec->compiler.texturedir;
-
-  struct PathHash {
-    std::size_t operator()(const fs::path& p) const {
-      return fs::hash_value(p);
-    }
-  };
-  // maps full disk paths to their archive paths
-  std::unordered_map<fs::path, std::string, PathHash> archived_paths;
-  // all asset entries, keyed by the final archive path
-  std::unordered_map<std::string, AssetEntry> archive_entries;
-
-  auto process = [&](mjsElement* elem, const mjString* raw_file,
-                     bool use_meshdir, std::string_view tag_name) {
-    // skip empty files
-    if (!raw_file || raw_file->empty()) return;
-
-    const mjString* elem_name = mjs_getName(elem);
-    const mjSpec* owning_spec = mjs_getOriginSpec(elem);
-
-    mjsCompiler* comp = mjs_getCompiler(elem);
-    if (!comp) {
-      mju_error(
-          "MJZ encoder: no compiler for element '%s', this should never "
-          "happen.",
-          elem_name->c_str());
-    }
-
-    auto rewrite_key = RewriteKey{tag_name, *raw_file, *elem_name};
-
-    const fs::path owning_spec_dir{
-        owning_spec->modelfiledir ? *owning_spec->modelfiledir : ""};
-    const fs::path raw_path{*raw_file};
-    const fs::path prefix_dir{use_meshdir ? *comp->meshdir : *comp->texturedir};
-    const fs::path root_dir =
-        fs::path(use_meshdir ? *root_meshdir : *root_texturedir);
-
-    const char* ch = std::strchr(raw_file->c_str(), ':');
-    const bool is_uri = ch != nullptr;
-
-    // full path of the asset relative to its spec, or absolute/URI if the
-    // raw path is not relative.
-    fs::path full_spec_path = raw_path;
-    // If the raw path is relative AND it does not have a valid resource
-    // provider URI, then we need to prefix it with the specs
-    // meshdir/texturedir.
-    if (!is_uri && raw_path.is_relative()) {
-      full_spec_path = prefix_dir / raw_path;
-    }
-
-    // full path of the asset regardless of spec, URI and absolute paths
-    // remain unchanged but relative paths are prefixed with modelfiledir
-    fs::path full_path = full_spec_path;
-    if (!is_uri && full_spec_path.is_relative()) {
-      full_path = owning_spec_dir / full_spec_path;
-    }
-
-    // sanitize the path to remove any URI schemes or other non-path characters
-    // if the file path has a URI scheme (e.g. "http://foo/mesh.stl"), strip it
-    // so the archive entry uses a concrete path and decoding the MJZ won't try
-    // to invoke a resource provider.
-    // First remove any leading ".." path components.
-    // my_provider:a/../b/c_$.obj -> my_provider_a/../b/c__.obj
-    const fs::path sanitized = SanitizePath(raw_path);
-    // my_provider_a/../b/c__.obj -> my_provider_a/b/c__.obj
-    const fs::path normalized = sanitized.lexically_normal();
-    // ../../b/c__.obj -> b/c__.obj
-    // Also remove any leading '/'.
-    const fs::path localized = RemoveLeadingDotDot(normalized.relative_path());
-    // path relative to the root XML in the archive
-    fs::path archive_path = root_dir / localized;
-
-    // If this file was already archived, we may still need to add a rewrite
-    // if raw_file was sanitized or collision-renamed for the first occurrence.
-    if (auto it = archived_paths.find(full_path); it != archived_paths.end()) {
-      if (archive_path != it->second || localized != raw_path) {
-        xml_rewrites[rewrite_key] = it->second;
-      }
-      return;
-    }
-
-    if (localized != raw_path) {
-      xml_rewrites[rewrite_key] = archive_path.string();
-    }
-
-    // Collision renaming: if this archive path is already in use,
-    // try again with an incremented suffix.
-    fs::path parent = archive_path.parent_path();
-    fs::path stem = archive_path.stem();
-    fs::path extension = archive_path.extension();
-    for (int i = 0; archive_entries.contains(archive_path.string()); ++i) {
-      std::string new_name =
-          stem.string() + "_" + std::to_string(i) + extension.string();
-      archive_path = parent / new_name;
-      xml_rewrites[rewrite_key] = archive_path.string();
-    }
-
-    archived_paths[full_path] = archive_path.string();
-    archive_entries[archive_path.string()] =
-        AssetEntry{archive_path, owning_spec_dir, full_spec_path};
-  };
-
-  // Meshes, heightfields, and skins use meshdir.
-  {
-    const mjsMesh* mesh = mjs_asMesh(mjs_firstElement(spec, mjOBJ_MESH));
-    while (mesh != nullptr) {
-      if (!mesh->file) continue;
-      process(mesh->element, mesh->file, /*use_meshdir=*/true, "mesh");
-      mesh = mjs_asMesh(mjs_nextElement(spec, mesh->element));
-    }
-  }
-
-  {
-    const mjsHField* hf = mjs_asHField(mjs_firstElement(spec, mjOBJ_HFIELD));
-    while (hf != nullptr) {
-      if (!hf->file) continue;
-      process(hf->element, hf->file, /*use_meshdir=*/true, "hfield");
-      hf = mjs_asHField(mjs_nextElement(spec, hf->element));
-    }
-  }
-
-  {
-    const mjsSkin* skin = mjs_asSkin(mjs_firstElement(spec, mjOBJ_SKIN));
-    while (skin != nullptr) {
-      if (!skin->file) continue;
-      process(skin->element, skin->file, /*use_meshdir=*/true, "skin");
-      skin = mjs_asSkin(mjs_nextElement(spec, skin->element));
-    }
-  }
-
-  // Textures use texturedir.
-  {
-    const mjsTexture* tex =
-        mjs_asTexture(mjs_firstElement(spec, mjOBJ_TEXTURE));
-    while (tex != nullptr) {
-      if (!tex->file) continue;
-      process(tex->element, tex->file, /*use_meshdir=*/false, "texture");
-      if (tex->cubefiles) {
-        for (const mjString& file : *tex->cubefiles) {
-          process(tex->element, &file, /*use_meshdir=*/false, "texture");
-        }
-      }
-      tex = mjs_asTexture(mjs_nextElement(spec, tex->element));
-    }
-  }
-
-  return archive_entries;
-}
-
-mjtSize MjzEncode(const mjSpec* spec, const mjModel* model, const mjVFS* vfs,
-                  mjResource* resource) {
-  if (!spec || !resource) {
-    return -1;
-  }
-
-  const fs::path archive_path(resource->name);
-  const std::string stem = archive_path.stem().string();
-
-  // Collect assets and compute archive paths + XML rewrite list.
-  RewriteMap xml_rewrites;
-  std::unordered_map<std::string, AssetEntry> assets =
-      CollectAssets(spec, xml_rewrites);
-
-  // Serialize spec to XML.
-  char error[1024] = {0};
-  int xml_sz = 1024 * 1024;
-  std::vector<char> xml_buf(xml_sz);
-  int result =
-      mj_saveXMLString(spec, xml_buf.data(), xml_sz, error, sizeof(error));
-  // mj_saveXMLString returns 0 on success, -1 on failure, or a positive value
-  // indicating the required buffer size when the buffer is too small.
-  if (result > 0) {
-    xml_sz = result + 1;
-    xml_buf.resize(xml_sz);
-    result =
-        mj_saveXMLString(spec, xml_buf.data(), xml_sz, error, sizeof(error));
-  }
-  if (result != 0) {
-    mju_warning("MJZ encoder: failed to serialize spec to XML: %s", error);
-    return -1;
-  }
-
-  // Post-process the XML: apply file attribute rewrites for collision-renamed
-  // assets. Only colliding entries get rewritten; non-colliding models are
-  // unchanged.
-  std::string xml_str(xml_buf.data());
-  ApplyRewrites(xml_str, xml_rewrites);
-
-  // NOLINTBEGIN(misc-include-cleaner) - Disable clang-tidy for miniz.
-  // Initialize zip writer.
-  mz_zip_archive zip;
-  std::memset(&zip, 0, sizeof(zip));
-  if (!mz_zip_writer_init_heap(&zip, 0, 0)) {
-    mju_warning("MJZ encoder: failed to init zip writer");
-    return -1;
-  }
-
-  // Add XML to archive.
-  const std::string xml_name = stem + ".xml";
-  if (!mz_zip_writer_add_mem(&zip, xml_name.c_str(), xml_str.data(),
-                             xml_str.size(), MZ_DEFAULT_COMPRESSION)) {
-    mju_warning("MJZ encoder: failed to add XML to archive");
-    mz_zip_writer_end(&zip);
-    return -1;
-  }
-
-  // Pack each asset file into the archive using the unique archive paths.
-  for (const auto& [archive_entry, entry] : assets) {
-    mjResource* res = mju_openResource(entry.source_dir.string().c_str(),
-                                       entry.disk_path.string().c_str(), vfs,
-                                       error, sizeof(error));
-    if (!res) {
-      mju_warning("MJZ encoder: failed to open resource '%s' (dir='%s'): %s",
-                  entry.disk_path.c_str(), entry.source_dir.c_str(), error);
-      continue;
-    }
-
-    const void* buf = nullptr;
-    int nbytes = mju_readResource(res, &buf);
-    if (nbytes > 0 && buf) {
-      if (!mz_zip_writer_add_mem(&zip, archive_entry.c_str(), buf, nbytes,
-                                 MZ_DEFAULT_COMPRESSION)) {
-        mju_warning("MJZ encoder: failed to write '%s' to archive",
-                    archive_entry.c_str());
-      }
-    }
-    mju_closeResource(res);
-  }
-
-  // Finalize archive.
-  void* archive_buf = nullptr;
-  size_t archive_size = 0;
-  if (!mz_zip_writer_finalize_heap_archive(&zip, &archive_buf, &archive_size)) {
-    mju_warning("MJZ encoder: failed to finalize archive");
-    mz_zip_writer_end(&zip);
-    return -1;
-  }
-  mz_zip_writer_end(&zip);
-  // NOLINTEND(misc-include-cleaner) - End clang-tidy disable for miniz.
-
-  resource->data = archive_buf;
-
-  return static_cast<mjtSize>(archive_size);
-}
-
-void MjzCloseResource(mjResource* resource) {
-  if (resource && resource->data) {
-    std::free(resource->data);
-    resource->data = nullptr;
-  }
-}
-}  // namespace
-
-mjPLUGIN_LIB_INIT(mjz_encoder) {
-  mjpEncoder encoder;
-  mjp_defaultEncoder(&encoder);
-  encoder.content_type = "application/zip";
-  encoder.extension = ".mjz|.zip";
-  encoder.encode = MjzEncode;
-  encoder.close_resource = MjzCloseResource;
-  mjp_registerEncoder(&encoder);
-}
diff --git a/src/xml/xml.cc b/src/xml/xml.cc
deleted file mode 100644
index 654d0a57..00000000
--- a/src/xml/xml.cc
+++ /dev/null
@@ -1,394 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "xml/xml.h"
-
-#include <locale.h>
-#include <cstring>
-
-#if defined(__APPLE__) || defined(__FreeBSD__)
-#include <xlocale.h>
-#endif
-
-#include <array>
-#include <cstdio>
-#include <string>
-#include <string_view>
-#include <unordered_set>
-
-#include <mujoco/mujoco.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include "cc/array_safety.h"
-#include "engine/engine_crossplatform.h"
-#include <mujoco/mjspec.h>
-#include "user/user_resource.h"
-#include "user/user_util.h"
-#include "user/user_vfs.h"
-#include "xml/xml_native_reader.h"
-#include "xml/xml_native_writer.h"
-#include "xml/xml_urdf.h"
-#include "xml/xml_util.h"
-#include "tinyxml2.h"
-
-namespace {
-
-using tinyxml2::XMLDocument;
-using tinyxml2::XMLElement;
-using tinyxml2::XMLNode;
-using mujoco::user::FilePath;
-
-namespace mju = ::mujoco::util;
-
-
-// We are using "locale-sensitive" sprintf to read and write XML.
-// When MuJoCo is being used as a plug-in for an application that respects the system locale
-// (e.g. Unity), the user's locale setting can affect the formatting of numbers into strings.
-// Specifically, a number of European locales (e.g. de_DE) uses commas to as decimal separators.
-// In order to ensure that XMLs are locale-inpendent, we temporarily switch to the "C" locale
-// when handling. Since the standard C `setlocale` is not thread-safe, we instead use
-// platform-specific extensions to override the locale only in the calling thread.
-// See also https://github.com/google-deepmind/mujoco/issues/131.
-#ifdef _WIN32
-class LocaleOverride {
- public:
-  LocaleOverride()
-      : old_per_thread_locale_type_(_configthreadlocale(0)),
-        old_locale_(setlocale(LC_ALL, nullptr)) {
-    _configthreadlocale(_ENABLE_PER_THREAD_LOCALE);
-    setlocale(LC_ALL, "C");
-  }
-
-  ~LocaleOverride() {
-    setlocale(LC_ALL, old_locale_.c_str());
-    _configthreadlocale(old_per_thread_locale_type_);
-  }
-
- private:
-  int old_per_thread_locale_type_;
-  std::string old_locale_;
-};
-#else
-class LocaleOverride {
- public:
-  static locale_t PosixLocale() {
-    static locale_t posix_locale = newlocale(LC_ALL_MASK, "C", 0);
-    return posix_locale;
-  }
-
-  LocaleOverride() : old_locale_(uselocale(PosixLocale())) {}
-
-  ~LocaleOverride() {
-    uselocale(old_locale_);
-  }
-
- private:
-  locale_t old_locale_;
-};
-#endif
-
-// find include elements recursively, replace them with subtree from xml file
-void IncludeXML(mjXReader& reader, XMLElement* elem,
-                const FilePath& dir, const mjVFS* vfs,
-                std::unordered_set<std::string>& included) {
-  // capture directory defaults on first pass of XML tree
-  if (!strcasecmp(elem->Value(), "compiler")) {
-    auto assetdir_attr = mjXUtil::ReadAttrStr(elem, "assetdir");
-    if (assetdir_attr.has_value()) {
-      reader.SetAssetDir(assetdir_attr.value());
-    }
-
-    auto texturedir_attr = mjXUtil::ReadAttrStr(elem, "texturedir");
-    if (texturedir_attr.has_value()) {
-      reader.SetTextureDir(texturedir_attr.value());
-    }
-
-    auto meshdir_attr = mjXUtil::ReadAttrStr(elem, "meshdir");
-    if (meshdir_attr.has_value()) {
-      reader.SetMeshDir(meshdir_attr.value());
-    }
-  }
-
-  //  not an include, recursively go through all children
-  if (strcasecmp(elem->Value(), "include")) {
-    XMLElement* child = elem->FirstChildElement();
-    for (; child; child = child->NextSiblingElement()) {
-      IncludeXML(reader, child, dir, vfs, included);
-    }
-    return;
-  }
-
-  // make sure include has no children
-  if (!elem->NoChildren()) {
-    throw mjXError(elem, "Include element cannot have children");
-  }
-
-  // get filename
-  auto file_attr = mjXUtil::ReadAttrFile(elem, "file", vfs,
-                                         reader.ModelFileDir(), true);
-  if (!file_attr.has_value()) {
-    throw mjXError(elem, "Include element missing file attribute");
-  }
-  FilePath filename = file_attr.value();
-
-
-  // block repeated include files
-  if (included.find(filename.Str()) != included.end()) {
-    throw mjXError(elem, "File '%s' already included", filename.c_str());
-  }
-
-  // TODO: b/325905702 - We have a messy wrapper here to remain backwards
-  // compatible, which will be removed in the near future.
-  // legacy behavior: try to load in top level directory
-  std::array<char, 1024> error;
-  mjResource *resource = mju_openResource(reader.ModelFileDir().c_str(),
-                                          filename.c_str(), vfs,
-                                          error.data(), error.size());
-  if (resource == nullptr) {
-    // new behavior: try to load in relative directory
-    if (!filename.IsAbs()) {
-      FilePath fullname = dir + filename;
-      resource = mju_openResource(reader.ModelFileDir().c_str(),
-                                  fullname.c_str(), vfs, error.data(), error.size());
-    }
-  }
-
-  if (resource == nullptr) {
-    throw mjXError(elem, "%s", error.data());
-  }
-
-  filename = dir + filename;
-
-  const char* include_dir = nullptr;
-  int ninclude_dir = 0;
-  mju_getResourceDir(resource, &include_dir, &ninclude_dir);
-  FilePath next_dir = FilePath(std::string(include_dir, ninclude_dir));
-  elem->SetAttribute("dir", next_dir.c_str());
-
-  const char* xmlstring = nullptr;
-  int buffer_size = mju_readResource(resource, (const void**) &xmlstring);
-  if (buffer_size < 0) {
-    mju_closeResource(resource);
-    throw mjXError(elem, "Error reading file '%s'", filename.c_str());
-  } else if (!buffer_size) {
-    mju_closeResource(resource);
-    throw mjXError(elem, "Empty file '%s'", filename.c_str());
-  }
-
-  // load XML file or parse string
-  XMLDocument doc;
-  doc.Parse(xmlstring, buffer_size);
-
-  // close resource
-  mju_closeResource(resource);
-
-  // check error
-  if (doc.Error()) {
-    char err[1000];
-    mju::sprintf_arr(err, "XML parse error %d:\n%s\n", doc.ErrorID(), doc.ErrorStr());
-    throw mjXError(elem, "Include error: '%s'", err);
-  }
-
-  // remember that file was included
-  included.insert(filename.Str());
-
-  // get and check root element
-  XMLElement* docroot = doc.RootElement();
-  if (!docroot) {
-    throw mjXError(elem, "Root element missing in file '%s'", filename.c_str());
-  }
-
-  // get and check first child
-  XMLElement* eleminc = docroot->FirstChildElement();
-  if (!eleminc) {
-    throw mjXError(elem, "Empty include file '%s'", filename.c_str());
-  }
-
-  // get <include> element
-  XMLElement* include = elem->ToElement();
-  XMLDocument* include_doc = include->GetDocument();
-
-  // clone first child of included document
-  XMLNode* first = include->InsertFirstChild(eleminc->DeepClone(include_doc));
-
-  // point to first
-  XMLElement* child = first->ToElement();
-
-  // insert remaining elements from included document as siblings
-  eleminc = eleminc->NextSiblingElement();
-  while (eleminc) {
-    child = include->InsertAfterChild(child, eleminc->DeepClone(include_doc))->ToElement();
-    eleminc = eleminc->NextSiblingElement();
-  }
-
-  // recursively run include
-  child = include->FirstChildElement();
-  for (; child; child = child->NextSiblingElement()) {
-    IncludeXML(reader, child, next_dir, vfs, included);
-  }
-}
-
-// Main parser function
-mjSpec* SpecFromXML(std::string_view xml, std::string_view dir,
-                    std::string_view filename, const mjVFS* vfs, char* error,
-                    int nerror) {
-  LocaleOverride locale_override;
-
-  // clear
-  mjSpec* spec = nullptr;
-  if (error) {
-    error[0] = '\0';
-  }
-
-  // load XML file or parse string
-  XMLDocument doc;
-  doc.Parse(xml.data(), xml.size());
-
-  // error checking
-  if (doc.Error()) {
-    if (error) {
-      snprintf(error, nerror, "XML parse error %d:\n%s\n",
-               doc.ErrorID(), doc.ErrorStr());
-    }
-    return nullptr;
-  }
-
-  // get top-level element
-  XMLElement* root = doc.RootElement();
-  if (!root) {
-    mjCopyError(error, "XML root element not found", nerror);
-    return nullptr;
-  }
-
-  // create model, set filedir
-  spec = mj_makeSpec();
-  mjs_setString(spec->modelfiledir, std::string(dir).c_str());
-
-
-  // parse with exceptions
-  try {
-    if (!strcasecmp(root->Value(), "mujoco")) {
-      // find include elements, replace them with subtree from xml file
-      std::unordered_set<std::string> included = {std::string(filename)};
-      mjXReader parser;
-      parser.SetModelFileDir(mjs_getString(spec->modelfiledir));
-      IncludeXML(parser, root, FilePath(), vfs, included);
-
-      // parse MuJoCo model
-      parser.SetModel(spec);
-      parser.Parse(root, vfs);
-    }
-
-    else if (!strcasecmp(root->Value(), "robot")) {
-      // parse URDF model
-      mjXURDF parser;
-
-      // set reasonable default for parsing a URDF
-      // this is separate from the Parser to allow multiple URDFs to be loaded.
-      spec->compiler.fusestatic = true;
-      spec->compiler.discardvisual = true;
-
-      parser.SetModel(spec);
-      parser.Parse(root);
-    }
-
-    else {
-      throw mjXError(0, "Unrecognized XML model type: '%s'", root->Value());
-    }
-  }
-
-  // catch known errors
-  catch (mjXError err) {
-    mjCopyError(error, err.message, nerror);
-    mj_deleteSpec(spec);
-    return nullptr;
-  }
-
-  return spec;
-}
-}  // namespace
-
-mjSpec* ParseXML(const char* filename, const mjVFS* vfs, char* error,
-                 int nerror) {
-  // check arguments
-  if (!filename) {
-    if (error) {
-      std::snprintf(error, nerror, "ParseXML: filename argument required\n");
-    }
-    return nullptr;
-  }
-
-  // get data source
-  const char* xml = nullptr;
-  std::array<char, 1024> rerror;
-  mjResource* resource = mju_openResource("", filename, vfs,
-                                          rerror.data(), rerror.size());
-  if (resource == nullptr) {
-    std::snprintf(error, nerror, "ParseXML: %s", rerror.data());
-    return nullptr;
-  }
-
-  int buffer_size = mju_readResource(resource, (const void**) &xml);
-  if (buffer_size < 0) {
-    if (error) {
-      std::snprintf(error, nerror,
-                    "ParseXML: error reading file '%s'", filename);
-    }
-    mju_closeResource(resource);
-    return nullptr;
-  } else if (!buffer_size) {
-    if (error) {
-      std::snprintf(error, nerror, "ParseXML: empty file '%s'", filename);
-    }
-    mju_closeResource(resource);
-    return nullptr;
-  }
-
-  const char* dir;
-  int ndir = 0;
-  mju_getResourceDir(resource, &dir, &ndir);
-  std::string_view directory(dir, ndir);
-
-  mjSpec* spec = SpecFromXML({xml, xml + buffer_size}, directory,
-                             filename, vfs, error, nerror);
-
-  mju_closeResource(resource);
-  return spec;
-}
-
-mjSpec* ParseSpecFromString(std::string_view xml, const mjVFS* vfs, char* error,
-                            int nerror) {
-  return SpecFromXML(xml, "", "", vfs, error, nerror);
-}
-
-// Main writer function - calls mjXWrite
-std::string WriteXML(const mjModel* m, mjSpec* spec, char* error, int nerror) {
-  LocaleOverride locale_override;
-
-  // check for empty model
-  if (!spec) {
-    mjCopyError(error, "Cannot write empty model", nerror);
-    return "";
-  }
-
-  mjXWriter writer;
-  writer.SetModel(spec, m);
-
-  try {
-    return writer.Write(error, nerror);
-  } catch (mjXError err) {
-    mjCopyError(error, err.message, nerror);
-    return "";
-  }
-}
diff --git a/src/xml/xml.h b/src/xml/xml.h
deleted file mode 100644
index 5f85d016..00000000
--- a/src/xml/xml.h
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_XML_XML_H_
-#define MUJOCO_SRC_XML_XML_H_
-
-#include <string>
-#include <string_view>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-
-// Main parser function
-mjSpec* ParseXML(const char* filename, const mjVFS* vfs, char* error, int nerror);
-
-// Returns a newly-allocated mjSpec, loaded from the contents of xml.
-// On failure returns nullptr and populates the error array if present.
-mjSpec* ParseSpecFromString(std::string_view xml, const mjVFS* vfs = nullptr,
-                            char* error = nullptr, int nerror = 0);
-
-// Main writer function
-std::string WriteXML(const mjModel* m, mjSpec* spec, char* error, int nerror);
-
-#endif  // MUJOCO_SRC_XML_XML_H_
diff --git a/src/xml/xml_api.cc b/src/xml/xml_api.cc
deleted file mode 100644
index 3343a08a..00000000
--- a/src/xml/xml_api.cc
+++ /dev/null
@@ -1,217 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "xml/xml_api.h"
-
-#include <array>
-#include <cstdio>
-#include <cstring>
-#include <fstream>
-#include <functional>
-#include <memory>
-#include <sstream>
-#include <string>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include "engine/engine_io.h"
-#include "user/user_resource.h"
-#include "xml/xml.h"
-#include "xml/xml_global.h"
-#include "xml/xml_native_reader.h"
-#include "xml/xml_util.h"
-
-//---------------------------------- Functions -----------------------------------------------------
-
-// parse XML file in MJCF or URDF format, compile it, return low-level model
-//  if vfs is not NULL, look up files in vfs before reading from disk
-//  error can be NULL; otherwise assumed to have size error_sz
-mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
-                    char* error, int error_sz) {
-
-  // parse new model
-  std::unique_ptr<mjSpec, std::function<void(mjSpec*)> > spec(
-    ParseXML(filename, vfs, error, error_sz),
-    [](mjSpec* s) {
-      mj_deleteSpec(s);
-    });
-  if (!spec) {
-    return nullptr;
-  }
-
-  // compile new model
-  mjModel* m = mj_compile(spec.get(), vfs);
-  if (!m) {
-    mjCopyError(error, mjs_getError(spec.get()), error_sz);
-    return nullptr;
-  }
-
-  // handle compile warning
-  int num_warnings = mjs_numWarnings(spec.get());
-  if (num_warnings > 0) {
-    std::string all_warnings;
-    for (int i = 0; i < num_warnings; ++i) {
-      if (!all_warnings.empty()) {
-        all_warnings += '\n';
-      }
-      all_warnings += mjs_getWarning(spec.get(), i);
-    }
-    mjCopyError(error, all_warnings.c_str(), error_sz);
-  } else if (error) {
-    error[0] = '\0';
-  }
-
-  // clear old and assign new
-  SetGlobalXmlSpec(spec.release());
-  return m;
-}
-
-
-// update XML data structures with info from low-level model, save as MJCF
-//  returns 1 if successful, 0 otherwise
-//  error can be NULL; otherwise assumed to have size error_sz
-int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz) {
-  FILE *fp = stdout;
-  if (filename != nullptr && filename[0] != '\0') {
-    fp = fopen(filename, "w");
-    if (!fp) {
-      mjCopyError(error, "File not found", error_sz);
-      return 0;
-    }
-  }
-
-  const std::string result = GetGlobalXmlSpec(m, error, error_sz);
-  if (!result.empty()) {
-    fprintf(fp, "%s", result.c_str());
-  }
-
-  if (fp != stdout) {
-    fclose(fp);
-  }
-
-  return !result.empty();
-}
-
-
-
-// free last XML
-void mj_freeLastXML(void) {
-  SetGlobalXmlSpec();
-}
-
-
-
-
-// print internal XML schema as plain text or HTML, with style-padding or &nbsp;
-int mj_printSchema(const char* filename, char* buffer, int buffer_sz, int flg_html, int flg_pad) {
-  // print to stringstream
-  mjXReader reader;
-  std::stringstream str;
-  reader.PrintSchema(str, flg_html != 0, flg_pad != 0);
-
-  // filename given: write to file
-  if (filename) {
-    std::ofstream file;
-    file.open(filename);
-    file << str.str();
-    file.close();
-  }
-
-  // buffer given: write to buffer
-  if (buffer && buffer_sz) {
-    strncpy(buffer, str.str().c_str(), buffer_sz);
-    buffer[buffer_sz-1] = 0;
-  }
-
-  // return string length
-  return str.str().size();
-}
-
-
-
-// load model from binary MJB resource
-mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
-  std::array<char, 1024> error;
-  mjResource* resource = mju_openResource("", filename, vfs,
-                                          error.data(), error.size());
-  if (resource == nullptr) {
-    mju_warning("%s", error.data());
-    return nullptr;
-  }
-
-  const void* buffer = NULL;
-  int buffer_sz = mju_readResource(resource, &buffer);
-  if (buffer_sz < 1) {
-    mju_closeResource(resource);
-    return nullptr;
-  }
-
-  mjModel* m = mj_loadModelBuffer(buffer, buffer_sz);
-  mju_closeResource(resource);
-  return m;
-}
-
-
-
-// parse spec from file
-mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz) {
-  return ParseXML(filename, vfs, error, error_sz);
-}
-
-
-
-// parse spec from string
-mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz) {
-  return ParseSpecFromString(xml, vfs, error, error_sz);
-}
-
-
-
-// save spec to XML file, return 0 on success, -1 otherwise
-int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz) {
-  // cast to mjSpec since WriteXML can in principle perform mj_copyBack (not here)
-  std::string result = WriteXML(NULL, (mjSpec*)s, error, error_sz);
-  if (result.empty()) {
-    return -1;
-  }
-
-  mjtSize written = mju_writeResource(filename, result.data(), result.size(), NULL, error, error_sz);
-  if (written != result.size()) {
-    if (error && error_sz > 0 && error[0] == '\0') {
-      std::snprintf(error, error_sz, "Error writing XML file '%s'", filename);
-    }
-    return -1;
-  }
-  return 0;
-}
-
-
-
-// save spec to XML string, return 0 on success, -1 on failure
-// if length of the output buffer is too small, returns the required size
-int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz) {
-  std::string result = WriteXML(NULL, (mjSpec*)s, error, error_sz);
-  if (result.empty()) {
-    return -1;
-  } else if (result.size() >= xml_sz) {
-    std::string error_msg = "Output string too short, should be at least " +
-                            std::to_string(result.size()+1);
-    mjCopyError(error, error_msg.c_str(), error_sz);
-    return result.size();
-  }
-
-  result.copy(xml, xml_sz);
-  xml[result.size()] = 0;
-  return 0;
-}
diff --git a/src/xml/xml_api.h b/src/xml/xml_api.h
deleted file mode 100644
index 8bb467c4..00000000
--- a/src/xml/xml_api.h
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_XML_XML_API_H_
-#define MUJOCO_SRC_XML_XML_API_H_
-
-#include <mujoco/mjexport.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-
-// parse XML file in MJCF or URDF format, compile it, return low-level model
-//  if vfs is not NULL, look up files in vfs before reading from disk
-//  error can be NULL; otherwise assumed to have size error_sz
-MJAPI mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
-
-// update XML data structures with info from low-level model, save as MJCF
-MJAPI int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
-
-// free last XML model if loaded; called internally at each load
-MJAPI void mj_freeLastXML(void);
-
-// print internal XML schema as plain text or HTML, with style-padding or &nbsp;
-MJAPI int mj_printSchema(const char* filename, char* buffer, int buffer_sz,
-                         int flg_html, int flg_pad);
-
-// load model from binary MJB file
-// if vfs is not NULL, look up file in vfs before reading from disk
-MJAPI mjModel* mj_loadModel(const char* filename, const mjVFS* vfs);
-
-// parse spec from file or XML string.
-MJAPI mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
-MJAPI mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
-
-// Save spec to XML file and/or string, return 0 on success, -1 otherwise.
-MJAPI int mj_saveXML(const mjSpec* s, const char* filename, char* error, int error_sz);
-MJAPI int mj_saveXMLString(const mjSpec* s, char* xml, int xml_sz, char* error, int error_sz);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_SRC_XML_XML_API_H_
diff --git a/src/xml/xml_base.cc b/src/xml/xml_base.cc
deleted file mode 100644
index 914d99de..00000000
--- a/src/xml/xml_base.cc
+++ /dev/null
@@ -1,77 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "xml/xml_base.h"
-
-#include <cfloat>
-#include <cstddef>
-#include <iostream>
-#include <sstream>
-#include <string>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include "xml/xml_util.h"
-#include "tinyxml2.h"
-
-namespace {
-
-using std::string;
-using tinyxml2::XMLElement;
-
-}  // namespace
-
-
-//--------------------------------- Base class, helper functions -----------------------------------
-
-// base constructor
-mjXBase::mjXBase() {
-  spec = NULL;
-}
-
-
-
-// set model field
-void mjXBase::SetModel(mjSpec* _model, const mjModel* m) {
-  spec = _model;
-}
-
-
-
-// read alternative orientation specification
-int mjXBase::ReadAlternative(XMLElement* elem, mjsOrientation& alt) {
-  string text;
-  int numspec = (int)(elem->Attribute("quat") != 0);
-  if (ReadAttr(elem, "axisangle", 4, alt.axisangle, text)) {
-    numspec++;
-    alt.type = mjORIENTATION_AXISANGLE;
-  }
-  if (ReadAttr(elem, "xyaxes", 6, alt.xyaxes, text)) {
-    numspec++;
-    alt.type = mjORIENTATION_XYAXES;
-  }
-  if (ReadAttr(elem, "zaxis", 3, alt.zaxis, text)) {
-    numspec++;
-    alt.type = mjORIENTATION_ZAXIS;
-  }
-  if (ReadAttr(elem, "euler", 3, alt.euler, text)) {
-    numspec++;
-    alt.type = mjORIENTATION_EULER;
-  }
-  if (numspec > 1) {
-    throw mjXError(elem, "multiple orientation specifiers are not allowed");
-  }
-  return numspec;
-}
diff --git a/src/xml/xml_base.h b/src/xml/xml_base.h
deleted file mode 100644
index 2c7902fe..00000000
--- a/src/xml/xml_base.h
+++ /dev/null
@@ -1,89 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_XML_XML_BASE_H_
-#define MUJOCO_SRC_XML_XML_BASE_H_
-
-#include <cstdlib>
-#include <string>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include "xml/xml_util.h"
-#include "tinyxml2.h"
-
-
-// keyword maps, one per schema enum, generated into mjcf_map.h
-#include "xml/generated/mjcf_map.h"  // IWYU pragma: export
-
-//---------------------------------- Base XML class ------------------------------------------------
-
-class mjXBase : public mjXUtil {
- public:
-  mjXBase();
-  virtual ~mjXBase() = default;
-
-  // parse: implemented in derived parser classes
-  virtual void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr) {};
-
-  // write: implemented in derived writer class
-  virtual std::string Write(char *error, std::size_t error_sz) {
-    return "";
-  };
-
-  // set the model allocated externally
-  virtual void SetModel(mjSpec*, const mjModel* = nullptr);
-
-  // read alternative orientation specification
-  static int ReadAlternative(tinyxml2::XMLElement* elem, mjsOrientation& alt);
-
- protected:
-  mjSpec* spec;                    // internally-allocated model
-};
-
-// typed attribute row for table-driven reading/writing; per-element row arrays are
-// generated from mjcf.schema into mjcf_read_table.inc
-struct mjXAttr {
-  enum Kind {
-    kName,       // element name, set via mjs_setName
-    kString,     // mjString* field, set via mjs_setString
-    kStringVec,  // mjStringVec* field: space-separated names
-    kInt,        // int field
-    kDouble,     // double field, scalar or vector
-    kNum,        // mjtNum field, scalar or vector
-    kFloat,      // float field, scalar or vector
-    kEnum,       // int-sized enum field, keyword mapped through `map`
-    kFlags,      // int field ORing several keywords through `map`
-    kEnumByte,   // mjtByte enum field, keyword mapped through `map`
-    kBool,       // mjtBool field, keywords true/false
-    kConst,      // int-sized field set to `value`: what the tag implies
-    kDoubleVec,  // mjDoubleVec* field, set via mjs_setDouble
-    kFloatVec,   // mjFloatVec* field, set via mjs_setFloat
-    kIntVec,     // mjIntVec* field, set via mjs_setInt
-    kChars,      // char[len] field: text copied in place, length-checked
-  };
-  const char* attr;   // XML attribute name
-  Kind kind;
-  int len;            // number of values (1 = scalar); numeric kinds only
-  bool exact;         // exactly len values, else up to len
-  bool required;
-  bool nodefault;     // not read in default classes
-  bool handwrite;     // custom save policy (writing=custom): OneX() remnant
-  int offset;         // byte offset of the bound field; -1 for kName
-  const mjMap* map;   // keyword map; kEnum only
-  int mapsz;          // keyword map size; kEnum only
-  int value;          // constant the field takes; kConst only
-};
-
-#endif  // MUJOCO_SRC_XML_XML_BASE_H_
diff --git a/src/xml/xml_global.cc b/src/xml/xml_global.cc
deleted file mode 100644
index ae030676..00000000
--- a/src/xml/xml_global.cc
+++ /dev/null
@@ -1,86 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "xml/xml_global.h"
-
-#include <cstdlib>
-#include <mutex>
-#include <string>
-#include <type_traits>
-
-#include <mujoco/mujoco.h>
-#include "xml/xml.h"
-#include "xml/xml_util.h"
-
-namespace {
-
-// global user model class
-class GlobalModel {
- public:
-  // deletes current model and takes ownership of model
-  void Set(mjSpec* spec = nullptr);
-
-  // writes XML to string
-  std::string ToXML(const mjModel* m, char* error, int error_sz);
-
- private:
-  // using raw pointers as GlobalModel needs to be trivially destructible
-  std::mutex* mutex_ = new std::mutex();
-  mjSpec* spec_ = nullptr;
-};
-
-std::string GlobalModel::ToXML(const mjModel* m, char* error,
-                                              int error_sz) {
-  std::lock_guard<std::mutex> lock(*mutex_);
-  if (!spec_) {
-    mjCopyError(error, "No XML model loaded", error_sz);
-    return "";
-  }
-  return WriteXML(m, spec_, error, error_sz);
-}
-
-GlobalModel& GetGlobalModel();
-
-void GlobalModel::Set(mjSpec* spec) {
-  static std::once_flag atexit_once;
-  std::call_once(atexit_once, []() {
-    std::atexit([]() { GetGlobalModel().Set(nullptr); });
-  });
-
-  std::lock_guard<std::mutex> lock(*mutex_);
-  if (spec_ != nullptr) {
-    mj_deleteSpec(spec_);
-  }
-  spec_ = spec;
-}
-
-
-// returns a single instance of the global model
-GlobalModel& GetGlobalModel() {
-  static GlobalModel global_model;
-
-  // global variables must be trivially destructible
-  static_assert(std::is_trivially_destructible_v<decltype(global_model)>);
-  return global_model;
-}
-
-}  // namespace
-
-void SetGlobalXmlSpec(mjSpec* spec) {
-  GetGlobalModel().Set(spec);
-}
-
-std::string GetGlobalXmlSpec(const mjModel* m, char* error, int error_sz) {
-  return GetGlobalModel().ToXML(m, error, error_sz);
-}
diff --git a/src/xml/xml_global.h b/src/xml/xml_global.h
deleted file mode 100644
index 758c3214..00000000
--- a/src/xml/xml_global.h
+++ /dev/null
@@ -1,27 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-#ifndef MUJOCO_SRC_XML_XML_GLOBAL_H_
-#define MUJOCO_SRC_XML_XML_GLOBAL_H_
-
-#include <string>
-
-#include <mujoco/mujoco.h>
-
-MJAPI void SetGlobalXmlSpec(mjSpec* spec = nullptr);
-
-std::string GetGlobalXmlSpec(const mjModel* m, char* error, int error_sz);
-
-#endif  // MUJOCO_SRC_XML_XML_GLOBAL_H_
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
deleted file mode 100644
index a1285758..00000000
--- a/src/xml/xml_native_reader.cc
+++ /dev/null
@@ -1,3157 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "xml/xml_native_reader.h"
-
-#include <array>
-#include <cstddef>
-#include <cstdio>
-#include <cstring>
-#include <functional>
-#include <limits>
-#include <map>
-#include <optional>
-#include <sstream>
-#include <string>
-#include <string_view>
-#include <type_traits>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjvisualize.h>
-#include "engine/engine_util_misc.h"
-#include <mujoco/mjspec.h>
-#include "user/user_api.h"
-#include "user/user_composite.h"
-#include "user/user_flexcomp.h"
-#include "user/user_util.h"
-#include "xml/xml_base.h"
-#include "xml/xml_util.h"
-#include "tinyxml2.h"
-
-namespace {
-using std::string;
-using std::string_view;
-using std::vector;
-using mujoco::user::FilePath;
-using tinyxml2::XMLElement;
-
-
-
-//---------------------------------- helper utilities ----------------------------------------------
-
-// GetAttrPtr: overload for scalar and pointer fields
-template <typename T>
-inline auto GetAttrPtr(T& val) -> std::enable_if_t<!std::is_array_v<T>, decltype(&val)> {
-  if constexpr (std::is_pointer_v<T>) {
-    return val;
-  } else {
-    return &val;
-  }
-}
-
-// GetAttrPtr: overload for array fields
-template <typename T, size_t N>
-inline T* GetAttrPtr(T (&arr)[N]) { return arr; }
-
-
-// helper class for reading attributes while recording authored bits
-struct Reader {
-  Reader(XMLElement* xml_node, const void* elem) : xml_node_(xml_node), elem_(elem) {}
-
-  template <typename T>
-  int operator()(const char* attr, int len, T& data, bool required = false, bool exact = true) {
-    int res = mjXReader::ReadAttr(xml_node_, attr, len, GetAttrPtr(data), text_, required, exact);
-    if (res) mjs_setAuthored(elem_, &data, 1);
-    return res;
-  }
-
-  template <typename T>
-  bool operator()(const char* attr, T& data, const mjMap* map, int mapsz, bool required = false) {
-    int map_val_temp;
-    bool res = mjXReader::MapValue(xml_node_, attr, &map_val_temp, map, mapsz, required);
-    if (res) {
-      data = static_cast<T>(map_val_temp);
-      mjs_setAuthored(elem_, &data, 1);
-    }
-    return res;
-  }
-
-  bool operator()(const char* attr, int& data, bool required = false) {
-    bool res = mjXUtil::ReadAttrInt(xml_node_, attr, &data, required);
-    if (res) mjs_setAuthored(elem_, &data, 1);
-    return res;
-  }
-
-  bool operator()(const char* attr, mjString* target) {
-    std::string txt_temp;
-    bool res = mjXUtil::ReadAttrTxt(xml_node_, attr, txt_temp);
-    if (res) {
-      mjs_setString(target, txt_temp.c_str());
-      mjs_setAuthored(elem_, target, 1);
-    }
-    return res;
-  }
-
-  template <typename T>
-  bool txt(const char* attr, T& target, void (&set_func)(T&, const char*)) {
-    std::string txt_temp;
-    bool res = mjXUtil::ReadAttrTxt(xml_node_, attr, txt_temp);
-    if (res) {
-      set_func(target, txt_temp.c_str());
-      mjs_setAuthored(elem_, &target, 1);
-    }
-    return res;
-  }
-
-  void set_node(XMLElement* node) { xml_node_ = node; }
-
-  XMLElement* xml_node_;
-  const void* elem_;
-  std::string text_;
-};
-
-void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjsPlugin* p) {
-  std::map<string, string, std::less<> > config_attribs;
-  XMLElement* child = FirstChildElement(elem);
-  while (child) {
-    string_view name = child->Value();
-    if (name == "config") {
-      string key, value;
-      mjXUtil::ReadAttrTxt(child, "key", key, /* required = */ true);
-      if (config_attribs.find(key) != config_attribs.end()) {
-        string err = "duplicate config key: " + key;
-        throw mjXError(child, "%s", err.c_str());
-      }
-      mjXUtil::ReadAttrTxt(child, "value", value, /* required = */ true);
-      config_attribs[key] = value;
-    }
-    child = NextSiblingElement(child);
-  }
-
-  if (!p && !config_attribs.empty()) {
-    throw mjXError(elem,
-                   "plugin configuration attributes cannot be used in an "
-                   "element that references a predefined plugin instance");
-  } else if (p) {
-    mjs_setPluginAttributes(p, &config_attribs);
-  }
-}
-
-static void UpdateString(string& psuffix, int count, int i) {
-  int ndigits = std::to_string(count).length();
-  string i_string = std::to_string(i);
-  string prefix = "";
-  while (ndigits-- > i_string.length()) {
-    prefix += '0';
-  }
-  psuffix += prefix + i_string;
-}
-}  // namespace
-
-
-//---------------------------------- MJCF schema ---------------------------------------------------
-#include "xml/generated/mjcf_table.inc"
-
-//---------------------------------- class mjXReader implementation --------------------------------
-
-// typed attribute rows, generated from mjcf.schema; the keyword maps the
-// rows reference are generated into mjcf_map.h
-#include "xml/generated/mjcf_read_table.inc"
-
-
-mjXReader::mjXReader()
-    : schema(MJCF, nMJCF, MJCF_constraints, nMJCF_constraints) {
-  readingdefaults = false;
-}
-
-
-
-// print schema
-void mjXReader::PrintSchema(std::stringstream& str, bool html, bool pad) {
-  if (html) {
-    schema.PrintHTML(str, 0, pad);
-  } else {
-    schema.Print(str, 0);
-  }
-}
-
-
-
-// main entry point for XML parser
-//  mjCModel is allocated here; caller is responsible for deallocation
-void mjXReader::Parse(XMLElement* root, const mjVFS* vfs) {
-  // check schema
-  if (!schema.GetError().empty()) {
-    throw mjXError(0, "XML Schema Construction Error: %s", schema.GetError().c_str());
-  }
-
-  // validate
-  XMLElement* bad = 0;
-  if ((bad = schema.Check(root, 0))) {
-    throw mjXError(bad, "Schema violation: %s", schema.GetError().c_str());
-  }
-
-  // get model name
-  string modelname;
-  if (ReadAttrTxt(root, "model", modelname)) {
-    mjs_setString(spec->modelname, modelname.c_str());
-  }
-
-  // get comment
-  if (root->FirstChild() && root->FirstChild()->ToComment()) {
-    mjs_setString(spec->comment, root->FirstChild()->Value());
-  } else {
-    mjs_setString(spec->comment, "");
-  }
-
-  //------------------- parse MuJoCo sections embedded in all XML formats
-
-  for (XMLElement* section = FirstChildElement(root, "compiler"); section;
-       section = NextSiblingElement(section, "compiler")) {
-    Compiler(section, spec);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "option"); section;
-       section = NextSiblingElement(section, "option")) {
-    Option(section, spec, &spec->option);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "size"); section;
-       section = NextSiblingElement(section, "size")) {
-    Size(section, spec);
-  }
-
-  //------------------ parse MJCF-specific sections
-
-  for (XMLElement* section = FirstChildElement(root, "visual"); section;
-       section = NextSiblingElement(section, "visual")) {
-    Visual(section);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "statistic"); section;
-       section = NextSiblingElement(section, "statistic")) {
-    Statistic(section);
-  }
-
-  readingdefaults = true;
-  for (XMLElement* section = FirstChildElement(root, "default"); section;
-       section = NextSiblingElement(section, "default")) {
-    Default(section, nullptr, vfs);
-  }
-  readingdefaults = false;
-
-  for (XMLElement* section = FirstChildElement(root, "extension"); section;
-       section = NextSiblingElement(section, "extension")) {
-    Extension(section);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "custom"); section;
-       section = NextSiblingElement(section, "custom")) {
-    Custom(section);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "asset"); section;
-       section = NextSiblingElement(section, "asset")) {
-    Asset(section, vfs);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "contact"); section;
-       section = NextSiblingElement(section, "contact")) {
-    Contact(section);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "deformable"); section;
-       section = NextSiblingElement(section, "deformable")) {
-    Deformable(section, vfs);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "equality"); section;
-       section = NextSiblingElement(section, "equality")) {
-    Equality(section);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "tendon"); section;
-       section = NextSiblingElement(section, "tendon")) {
-    Tendon(section);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "actuator"); section;
-       section = NextSiblingElement(section, "actuator")) {
-    Actuator(section);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "sensor"); section;
-       section = NextSiblingElement(section, "sensor")) {
-    Sensor(section);
-  }
-
-  for (XMLElement* section = FirstChildElement(root, "keyframe"); section;
-       section = NextSiblingElement(section, "keyframe")) {
-    Keyframe(section);
-  }
-
-  // set deepcopy flag to true to copy child specs during attach calls
-  mjs_setDeepCopy(spec, true);
-
-  for (XMLElement* section = FirstChildElement(root, "worldbody"); section;
-       section = NextSiblingElement(section, "worldbody")) {
-    Body(section, mjs_findBody(spec, "world"), nullptr, vfs);
-  }
-
-  // set deepcopy flag to false to disable copying during attach in all future calls
-  mjs_setDeepCopy(spec, false);
-}
-
-
-
-// compiler section parser
-void mjXReader::Compiler(XMLElement* section, mjSpec* s) {
-  Reader read(section, s);
-
-  // strippath is stored on the spec, not the compiler options
-  read("strippath", s->strippath, bool_map, 2);
-
-  // global coordinates are no longer supported
-  if (int n = 0; MapValue(section, "coordinate", &n, coordinate_map, 2)) {
-    if (n == 1) {
-      throw mjXError(section, "global coordinates no longer supported. To convert existing models, "
-                     "load and save them in MuJoCo 2.3.3 or older");
-    }
-  }
-  if (ReadAttrTxt(section, "assetdir", read.text_)) {
-    mjs_setString(s->compiler.meshdir, read.text_.c_str());
-    mjs_setString(s->compiler.texturedir, read.text_.c_str());
-  }
-  // mechanical attributes; meshdir/texturedir override assetdir above
-  ReadAttrTableCore(section, &s->compiler, kCompilerAttrs, kCompilerAttrsN,
-                    /*skipnodefault=*/false, /*authored=*/s);
-
-  // lengthrange subelement
-  XMLElement* elem = FindSubElem(section, "lengthrange");
-  if (elem) {
-    ReadAttrTableCore(elem, &(s->compiler.LRopt), kLengthrangeAttrs,
-                      kLengthrangeAttrsN, /*skipnodefault=*/false);
-  }
-}
-
-
-
-// option section parser
-void mjXReader::Option(XMLElement* section, mjSpec* s, mjOption* opt) {
-  Reader read(section, s);
-
-  // mechanical attributes
-  ReadAttrTableCore(section, opt, kOptionAttrs, kOptionAttrsN,
-                    /*skipnodefault=*/false, /*authored=*/s);
-
-  // actuatorgroupdisable
-  constexpr int num_bitflags = 31;
-  int disabled_act_groups[num_bitflags];
-  int num_found = read("actuatorgroupdisable", num_bitflags,
-                            disabled_act_groups, false, false);
-  for (int i=0; i < num_found; i++) {
-    int group = disabled_act_groups[i];
-    if (group < 0) {
-      throw mjXError(section, "disabled actuator group value must be non-negative");
-    }
-    if (group > num_bitflags - 1) {
-      throw mjXError(section, "disabled actuator group value cannot exceed 30");
-    }
-    opt->disableactuator |= (1 << group);
-    s->authored.disableactuator |= (1 << group);
-  }
-
-  // read disable sub-element
-  XMLElement* elem = FindSubElem(section, "flag");
-  if (elem) {
-    int n = 0;
-#define READDSBL(NAME, MASK)                         \
-  if (MapValue(elem, NAME, &n, enable_map, 2)) {     \
-    opt->disableflags ^= (opt->disableflags & MASK); \
-    opt->disableflags |= (n ? 0 : MASK);             \
-    s->authored.disableflags |= MASK;                \
-  }
-
-    READDSBL("constraint",   mjDSBL_CONSTRAINT)
-    READDSBL("equality",     mjDSBL_EQUALITY)
-    READDSBL("frictionloss", mjDSBL_FRICTIONLOSS)
-    READDSBL("limit",        mjDSBL_LIMIT)
-    READDSBL("contact",      mjDSBL_CONTACT)
-    READDSBL("spring",       mjDSBL_SPRING)
-    READDSBL("damper",       mjDSBL_DAMPER)
-    READDSBL("gravity",      mjDSBL_GRAVITY)
-    READDSBL("clampctrl",    mjDSBL_CLAMPCTRL)
-    READDSBL("warmstart",    mjDSBL_WARMSTART)
-    READDSBL("filterparent", mjDSBL_FILTERPARENT)
-    READDSBL("actuation",    mjDSBL_ACTUATION)
-    READDSBL("refsafe",      mjDSBL_REFSAFE)
-    READDSBL("sensor",       mjDSBL_SENSOR)
-    READDSBL("midphase",     mjDSBL_MIDPHASE)
-    READDSBL("eulerdamp",    mjDSBL_EULERDAMP)
-    READDSBL("autoreset",    mjDSBL_AUTORESET)
-    READDSBL("nativeccd",    mjDSBL_NATIVECCD)
-    READDSBL("island",       mjDSBL_ISLAND)
-    READDSBL("multiccd",     mjDSBL_MULTICCD)
-#undef READDSBL
-
-#define READENBL(NAME, MASK)                       \
-  if (MapValue(elem, NAME, &n, enable_map, 2)) {   \
-    opt->enableflags ^= (opt->enableflags & MASK); \
-    opt->enableflags |= (n ? MASK : 0);            \
-    s->authored.enableflags |= MASK;               \
-  }
-
-    READENBL("override",    mjENBL_OVERRIDE)
-    READENBL("energy",      mjENBL_ENERGY)
-    READENBL("fwdinv",      mjENBL_FWDINV)
-    READENBL("invdiscrete", mjENBL_INVDISCRETE)
-    READENBL("sleep",       mjENBL_SLEEP)
-    READENBL("diagexact",   mjENBL_DIAGEXACT)
-#undef READENBL
-  }
-}
-
-
-
-// size section parser
-void mjXReader::Size(XMLElement* section, mjSpec* s) {
-  // read memory bytes
-  {
-    constexpr char err_msg[] =
-      "unsigned integer with an optional suffix {K,M,G,T,P,E} is expected in "
-      "attribute 'memory' (or the size specified is too big)";
-
-    auto memory = [&]() -> std::optional<std::size_t> {
-      const char* pstr = section->Attribute("memory");
-      if (!pstr) {
-        return std::nullopt;
-      }
-
-      // trim entire string
-      string trimmed;
-      {
-        std::istringstream strm((string(pstr)));
-        strm >> trimmed;
-        string trailing;
-        strm >> trailing;
-        if (!trailing.empty() || !strm.eof()) {
-          throw mjXError(section, "%s", err_msg);
-        }
-
-        // allow explicit specification of the default "-1" value
-        if (trimmed == "-1") {
-          return std::nullopt;
-        }
-      }
-
-      std::istringstream strm(trimmed);
-
-      // check that the number is not negative
-      if (strm.peek() == '-') {
-        throw mjXError(section, "%s", err_msg);
-      }
-
-      std::size_t base_size;
-      strm >> base_size;
-      if (strm.fail()) {
-        // either not an integer or the number without the suffix is already bigger than size_t
-        throw mjXError(section, "%s", err_msg);
-      }
-
-      // parse the multiplier suffix
-      int multiplier_bit = 0;
-      if (!strm.eof()) {
-        char suffix = strm.get();
-        if (suffix == 'K' || suffix == 'k') {
-          multiplier_bit = 10;
-        } else if (suffix == 'M' || suffix == 'm') {
-          multiplier_bit = 20;
-        } else if (suffix == 'G' || suffix == 'g') {
-          multiplier_bit = 30;
-        } else if (suffix == 'T' || suffix == 't') {
-          multiplier_bit = 40;
-        } else if (suffix == 'P' || suffix == 'p') {
-          multiplier_bit = 50;
-        } else if (suffix == 'E' || suffix == 'e') {
-          multiplier_bit = 60;
-        }
-
-        // check for invalid suffix, or suffix longer than one character
-        strm.get();
-        if (!multiplier_bit || !strm.eof()) {
-          throw mjXError(section, "%s", err_msg);
-        }
-      }
-
-      // check that the specified suffix isn't bigger than size_t
-      if (multiplier_bit + 1 > std::numeric_limits<std::size_t>::digits) {
-        throw mjXError(section, "%s", err_msg);
-      }
-
-      // check that the suffix won't take the total size beyond size_t
-      const std::size_t max_base_size =
-          (std::numeric_limits<std::size_t>::max() << multiplier_bit) >> multiplier_bit;
-      if (base_size > max_base_size) {
-        throw mjXError(section, "%s", err_msg);
-      }
-
-      const std::size_t total_size = base_size << multiplier_bit;
-      return total_size;
-    }();
-
-    if (memory.has_value()) {
-      if (*memory / sizeof(mjtNum) > std::numeric_limits<std::size_t>::max()) {
-        throw mjXError(section, "%s", err_msg);
-      }
-      s->memory = *memory;
-    }
-  }
-
-  // mechanical attributes
-  ReadAttrTableCore(section, s, kSizeAttrs, kSizeAttrsN,
-                    /*skipnodefault=*/false);
-
-  ReadAttrInt(section, "nconmax", &s->nconmax);
-  if (s->nconmax < -1) throw mjXError(section, "nconmax must be >= -1");
-
-  // memory/nstack and memory/njmax exclusivity is enforced by the schema
-  {
-    int nstack = -1;
-    if (ReadAttrInt(section, "nstack", &nstack)) {
-      if (nstack < -1) throw mjXError(section, "nstack must be >= -1");
-      s->nstack = nstack;
-    }
-  }
-  if (ReadAttrInt(section, "njmax", &s->njmax)) {
-    if (s->njmax < -1) throw mjXError(section, "njmax must be >= -1");
-  }
-
-  if (s->nuser_body < -1) throw mjXError(section, "nuser_body must be >= -1");
-
-  if (s->nuser_jnt < -1) throw mjXError(section, "nuser_jnt must be >= -1");
-
-  if (s->nuser_geom < -1) throw mjXError(section, "nuser_geom must be >= -1");
-
-  if (s->nuser_site < -1) throw mjXError(section, "nuser_site must be >= -1");
-
-  if (s->nuser_cam < -1) throw mjXError(section, "nuser_cam must be >= -1");
-
-  if (s->nuser_tendon < -1) throw mjXError(section, "nuser_tendon must be >= -1");
-
-  if (s->nuser_actuator < -1) throw mjXError(section, "nuser_actuator must be >= -1");
-
-  if (s->nuser_sensor < -1) throw mjXError(section, "nuser_sensor must be >= -1");
-}
-
-
-
-// statistic section parser
-void mjXReader::Statistic(XMLElement* section) {
-  // mechanical attributes
-  ReadAttrTableCore(section, &spec->stat, kStatisticAttrs, kStatisticAttrsN,
-                    /*skipnodefault=*/false);
-  if (mjuu_defined(spec->stat.extent) && spec->stat.extent <= 0) {
-    throw mjXError(section, "extent must be strictly positive");
-  }
-}
-
-
-
-//---------------------------------- one-element parsers -------------------------------------------
-
-// flex element parser
-void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
-  string text;
-  int n;
-
-  // mechanical attributes
-  ReadAttrTable(elem, flex, flex->element, kFlexAttrs,
-                kFlexAttrsN);
-
-  // cellcount is seeded before reading
-  flex->cellcount[0] = 1;
-  flex->cellcount[1] = 1;
-  flex->cellcount[2] = 1;
-  ReadAttr(elem, "cellcount", 3, flex->cellcount, text);
-
-  // dof lowers to interpolation order
-  flex->order = 0;
-  if (MapValue(elem, "dof", &n, fdof_map, mjNFCOMPDOFS)) {
-    flex->order = (n == mjFCOMPDOF_QUADRATIC) ? 2 : (n == mjFCOMPDOF_TRILINEAR ? 1 : 0);
-  }
-
-  // sub-elements project into the flex
-  XMLElement* cont = FirstChildElement(elem, "contact");
-  if (cont) {
-    ReadAttrTable(cont, flex, flex->element, kFlexcomp_contactAttrs,
-                  kFlexcomp_contactAttrsN);
-  }
-  XMLElement* edge = FirstChildElement(elem, "edge");
-  if (edge) {
-    ReadAttrTable(edge, flex, flex->element, kFlex_edgeAttrs,
-                  kFlex_edgeAttrsN);
-  }
-  XMLElement* elasticity = FirstChildElement(elem, "elasticity");
-  if (elasticity) {
-    ReadAttrTable(elasticity, flex, flex->element, kElasticityAttrs,
-                  kElasticityAttrsN);
-  }
-
-  // write error info
-  mjs_setString(flex->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// mesh element parser
-void mjXReader::OneMesh(XMLElement* elem, mjsMesh* mesh, const mjVFS* vfs) {
-  int n;
-  string text;
-
-  // mechanical attributes
-  ReadAttrTable(elem, mesh, mesh->element, kMeshAttrs, kMeshAttrsN);
-
-  // file, resolved against the mesh directory
-  auto file = ReadAttrFile(elem, "file", vfs, MeshDir());
-  if (file) {
-    mjs_setString(mesh->file, file->c_str());
-  }
-
-  // plugin sub-element
-  XMLElement* eplugin = FirstChildElement(elem, "plugin");
-  if (eplugin) {
-    OnePlugin(eplugin, &mesh->plugin);
-  }
-
-  // maxhullvert with validation
-  if (ReadAttrInt(elem, "maxhullvert", &n)) {
-    if (n != -1 && n < 4) throw mjXError(elem, "maxhullvert must be larger than 3");
-    mesh->maxhullvert = n;
-  }
-
-  // builtin options
-  if (MapValue(elem, "builtin", &n, meshbuiltin_map, meshbuiltin_sz)) {
-    std::vector<double> params;
-    int nparams = ReadVector(elem, "params", params, text, /*required*/ true);
-    if (mjs_makeMesh(mesh, (mjtMeshBuiltin)n, params.data(), nparams)) {
-      throw mjXError(elem, "%s", mjs_getError(spec));
-    }
-  }
-
-  // write error info
-  mjs_setString(mesh->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// skin element parser
-void mjXReader::OneSkin(XMLElement* elem, mjsSkin* skin, const mjVFS* vfs) {
-  string text;
-  float data[4];
-
-  // mechanical attributes
-  ReadAttrTable(elem, skin, skin->element, kSkinAttrs, kSkinAttrsN);
-
-  // file, resolved against the asset directory
-  auto file = ReadAttrFile(elem, "file", vfs, AssetDir());
-  if (file.has_value()) {
-    mjs_setString(skin->file, file->c_str());
-  }
-
-  // group with range validation
-  ReadAttrInt(elem, "group", &skin->group);
-  if (skin->group < 0 || skin->group >= mjNGROUP) {
-    throw mjXError(elem, "skin group must be between 0 and 5");
-  }
-
-  // read bones
-  XMLElement* bone = FirstChildElement(elem, "bone");
-  std::vector<float> bindpos;
-  std::vector<float> bindquat;
-
-  while (bone) {
-    // read body
-    ReadAttrTxt(bone, "body", text, true);
-    mjs_appendString(skin->bodyname, text.c_str());
-
-    // read bindpos
-    ReadAttr(bone, "bindpos", 3, data, text, true);
-    bindpos.push_back(data[0]);
-    bindpos.push_back(data[1]);
-    bindpos.push_back(data[2]);
-
-    // read bindquat
-    ReadAttr(bone, "bindquat", 4, data, text, true);
-    bindquat.push_back(data[0]);
-    bindquat.push_back(data[1]);
-    bindquat.push_back(data[2]);
-    bindquat.push_back(data[3]);
-
-    // read vertid
-    auto tempid = ReadAttrVec<int>(bone, "vertid", true);
-    if (tempid.has_value()) {
-      mjs_appendIntVec(skin->vertid, tempid->data(), tempid->size());
-    }
-
-    // read vertweight
-    auto tempweight = ReadAttrVec<float>(bone, "vertweight", true);
-    if (tempweight.has_value()) {
-      mjs_appendFloatVec(skin->vertweight, tempweight->data(), tempweight->size());
-    }
-
-    // advance to next bone
-    bone = NextSiblingElement(bone, "bone");
-  }
-
-  // set bind vectors
-  mjs_setFloat(skin->bindpos, bindpos.data(), bindpos.size());
-  mjs_setFloat(skin->bindquat, bindquat.data(), bindquat.size());
-
-  // write error info
-  mjs_setString(skin->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// material element parser
-void mjXReader::OneMaterial(XMLElement* elem, mjsMaterial* material) {
-  string text, texture;
-
-  // mechanical attributes
-  ReadAttrTable(elem, material, material->element, kMaterialAttrs,
-                kMaterialAttrsN);
-
-  // the texture attribute and layer sub-elements are mutually exclusive
-  bool tex_attributes_found = false;
-  if (ReadAttrTxt(elem, "texture", texture)) {
-    mjs_setInStringVec(material->textures, mjTEXROLE_RGB, texture.c_str());
-    tex_attributes_found = true;
-  }
-  XMLElement* layer = FirstChildElement(elem);
-  while (layer) {
-    if (tex_attributes_found) {
-      throw mjXError(layer, "A material with a texture attribute cannot have layer sub-elements");
-    }
-
-    // layer sub-element
-    ReadAttrTxt(layer, "role", text, true);
-    int role = FindKey(texrole_map, texrole_sz, text);
-    ReadAttrTxt(layer, "texture", text, true);
-    mjs_setInStringVec(material->textures, role, text.c_str());
-    layer = NextSiblingElement(layer);
-  }
-
-  // write error info
-  mjs_setString(material->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// joint element parser
-void mjXReader::OneJoint(XMLElement* elem, mjsJoint* joint) {
-  // mechanical attributes
-  ReadAttrTable(elem, joint, joint->element, kJointAttrs, kJointAttrsN);
-
-  // write error info
-  mjs_setString(joint->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// geom element parser
-void mjXReader::OneGeom(XMLElement* elem, mjsGeom* geom) {
-  string text;
-  int n;
-
-  // mechanical attributes
-  ReadAttrTable(elem, geom, geom->element, kGeomAttrs, kGeomAttrsN);
-
-  // fluid interaction model: keyword lowers to on/off
-  if (MapValue(elem, "fluidshape", &n, fluidshape_map, 2)) {
-    geom->fluid_ellipsoid = (n == 1);
-  }
-
-  // orientation alternatives
-  ReadQuat(elem, "quat", geom->quat, text);
-  ReadAlternative(elem, geom->alt);
-
-  // plugin sub-element
-  XMLElement* eplugin = FirstChildElement(elem, "plugin");
-  if (eplugin) {
-    OnePlugin(eplugin, &geom->plugin);
-  }
-
-  // write error info
-  mjs_setString(geom->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// site element parser
-void mjXReader::OneSite(XMLElement* elem, mjsSite* site) {
-  string text;
-
-  // mechanical attributes
-  ReadAttrTable(elem, site, site->element, kSiteAttrs, kSiteAttrsN);
-
-  // orientation alternatives
-  ReadQuat(elem, "quat", site->quat, text);
-  ReadAlternative(elem, site->alt);
-
-  // write error info
-  mjs_setString(site->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// camera element parser
-void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
-  string text;
-
-  // mechanical attributes
-  ReadAttrTable(elem, camera, camera->element, kCameraAttrs, kCameraAttrsN);
-
-  // orientation alternatives
-  ReadQuat(elem, "quat", camera->quat, text);
-  ReadAlternative(elem, camera->alt);
-
-  // write error info
-  mjs_setString(camera->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// light element parser
-void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
-  int n;
-
-  // mechanical attributes
-  ReadAttrTable(elem, light, light->element, kLightAttrs, kLightAttrsN);
-
-  // directional is a legacy alias for type; the pair is mutually exclusive
-  if (MapValue(elem, "directional", &n, bool_map, 2)) {
-    light->type = (n == 1) ? mjLIGHT_DIRECTIONAL : mjLIGHT_SPOT;
-  }
-  if (MapValue(elem, "type", &n, lighttype_map, lighttype_sz)) {
-    light->type = (mjtLightType)n;
-  }
-
-  // write error info
-  mjs_setString(light->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// pair element parser
-// read the mechanical attributes of an element, driven by its generated rows
-void mjXReader::ReadAttrTable(XMLElement* elem, void* obj, mjsElement* el,
-                              const mjXAttr* rows, int nrow) {
-  // element names need the spec for error context; the core handles the rest
-  string text;
-  for (int i = 0; i < nrow; i++) {
-    const mjXAttr& row = rows[i];
-    if (row.kind != mjXAttr::kName || (readingdefaults && row.nodefault)) {
-      continue;
-    }
-    if (ReadAttrTxt(elem, row.attr, text, row.required) &&
-        mjs_setName(el, text.c_str())) {
-      throw mjXError(elem, "%s", mjs_getError(spec));
-    }
-  }
-  ReadAttrTableCore(elem, obj, rows, nrow, readingdefaults);
-}
-
-
-
-// static core: every row kind except element names
-void mjXReader::ReadAttrTableCore(XMLElement* elem, void* obj,
-                                  const mjXAttr* rows, int nrow,
-                                  bool skipnodefault, const void* authored) {
-  string text;
-  for (int i = 0; i < nrow; i++) {
-    const mjXAttr& row = rows[i];
-    if (skipnodefault && row.nodefault) {
-      continue;
-    }
-    char* base = (char*)obj + row.offset;
-    bool got = false;
-    switch (row.kind) {
-      case mjXAttr::kName:
-        break;  // handled by the member wrapper
-      case mjXAttr::kString:
-        if (ReadAttrTxt(elem, row.attr, text, row.required)) {
-          mjs_setString(*(mjString**)base, text.c_str());
-          got = true;
-        }
-        break;
-      case mjXAttr::kStringVec:
-        if (ReadAttrTxt(elem, row.attr, text, row.required)) {
-          mjs_setStringVec(*(mjStringVec**)base, text.c_str());
-          got = true;
-        }
-        break;
-      case mjXAttr::kInt:
-        got = ReadAttr(elem, row.attr, row.len, (int*)base, text, row.required,
-                       row.exact) > 0;
-        break;
-      case mjXAttr::kDouble:
-        got = ReadAttr(elem, row.attr, row.len, (double*)base, text,
-                       row.required, row.exact) > 0;
-        break;
-      case mjXAttr::kNum:
-        got = ReadAttr(elem, row.attr, row.len, (mjtNum*)base, text,
-                       row.required, row.exact) > 0;
-        break;
-      case mjXAttr::kFloat:
-        got = ReadAttr(elem, row.attr, row.len, (float*)base, text,
-                       row.required, row.exact) > 0;
-        break;
-      case mjXAttr::kEnum: {
-        int value;
-        if (MapValue(elem, row.attr, &value, row.map, row.mapsz,
-                     row.required)) {
-          *(int*)base = value;  // enum fields are int-sized
-          got = true;
-        }
-        break;
-      }
-      case mjXAttr::kFlags: {
-        std::vector<int> values(row.mapsz);
-        int nvalues = MapValues(elem, row.attr, values.data(), row.map,
-                                row.mapsz);
-        if (nvalues) {
-          int combined = 0;
-          for (int j = 0; j < nvalues; j++) {
-            combined |= values[j];
-          }
-          *(int*)base = combined;
-          got = true;
-        }
-        break;
-      }
-      case mjXAttr::kEnumByte: {
-        int value;
-        if (MapValue(elem, row.attr, &value, row.map, row.mapsz,
-                     row.required)) {
-          *(mjtByte*)base = (mjtByte)value;
-          got = true;
-        }
-        break;
-      }
-      case mjXAttr::kBool: {
-        int value;
-        if (MapValue(elem, row.attr, &value, bool_map, 2, row.required)) {
-          *(mjtBool*)base = (value == 1);
-          got = true;
-        }
-        break;
-      }
-      case mjXAttr::kConst:
-        *(int*)base = row.value;  // enum fields are int-sized
-        break;
-      case mjXAttr::kDoubleVec: {
-        std::vector<double> values;
-        if (ReadVector(elem, row.attr, values, text)) {
-          mjs_setDouble(*(mjDoubleVec**)base, values.data(), values.size());
-          got = true;
-        }
-        break;
-      }
-      case mjXAttr::kFloatVec: {
-        auto values = ReadAttrVec<float>(elem, row.attr, row.required);
-        if (values.has_value()) {
-          mjs_setFloat(*(mjFloatVec**)base, values->data(), values->size());
-          got = true;
-        }
-        break;
-      }
-      case mjXAttr::kIntVec: {
-        auto values = ReadAttrVec<int>(elem, row.attr, row.required);
-        if (values.has_value()) {
-          mjs_setInt(*(mjIntVec**)base, values->data(), values->size());
-          got = true;
-        }
-        break;
-      }
-      case mjXAttr::kChars:
-        if (ReadAttrTxt(elem, row.attr, text, row.required)) {
-          if (row.exact && (int)text.size() != row.len) {
-            throw mjXError(elem, "attribute '%s' must have exactly %d "
-                           "characters", row.attr, row.len);
-          }
-          if ((int)text.size() > row.len) {
-            throw mjXError(elem, "attribute '%s' may have at most %d "
-                           "characters", row.attr, row.len);
-          }
-          std::memcpy(base, text.data(), text.size());
-          got = true;
-        }
-        break;
-    }
-
-    // record XML-authored fields for attach conflict resolution
-    if (got && authored) {
-      mjs_setAuthored(authored, base, 1);
-    }
-  }
-}
-
-
-
-void mjXReader::OnePair(XMLElement* elem, mjsPair* pair) {
-  ReadAttrTable(elem, pair, pair->element, kPairAttrs, kPairAttrsN);
-
-  // write error info
-  mjs_setString(pair->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// equality element parser
-void mjXReader::OneEquality(XMLElement* elem, mjsEquality* equality) {
-  string text, name1, name2;
-
-  // read type (bad keywords already detected by schema)
-  text = elem->Value();
-  equality->type = (mjtEq)FindKey(equality_map, equality_sz, text);
-
-  // common attributes
-  ReadAttrTable(elem, equality, equality->element, kEqualityBaseAttrs,
-                kEqualityBaseAttrsN);
-
-  // regular only
-  if (!readingdefaults) {
-    switch (equality->type) {
-      case mjEQ_CONNECT: {
-        auto maybe_site1 = ReadAttrStr(elem, "site1");
-        auto maybe_site2 = ReadAttrStr(elem, "site2");
-        auto maybe_body1 = ReadAttrStr(elem, "body1");
-        auto maybe_body2 = ReadAttrStr(elem, "body2");
-        bool has_anchor = ReadAttr(elem, "anchor", 3, equality->data, text);
-
-        bool body_semantic = maybe_body1.has_value() && has_anchor;
-
-        if (body_semantic) {
-          name1 = maybe_body1.value();
-          if (maybe_body2.has_value()) {
-            name2 = maybe_body2.value();
-          }
-          equality->objtype = mjOBJ_BODY;
-        } else {
-          name1 = maybe_site1.value();
-          name2 = maybe_site2.value();
-          equality->objtype = mjOBJ_SITE;
-        }
-      }
-      break;
-
-      case mjEQ_WELD: {
-        auto maybe_site1 = ReadAttrStr(elem, "site1");
-        auto maybe_site2 = ReadAttrStr(elem, "site2");
-        auto maybe_body1 = ReadAttrStr(elem, "body1");
-        auto maybe_body2 = ReadAttrStr(elem, "body2");
-        bool has_anchor = ReadAttr(elem, "anchor", 3, equality->data, text);
-        ReadAttr(elem, "relpose", 7, equality->data+3, text);
-
-        bool body_semantic = maybe_body1.has_value();
-
-        if (body_semantic) {
-          name1 = maybe_body1.value();
-          if (maybe_body2.has_value()) {
-            name2 = maybe_body2.value();
-          }
-          equality->objtype = mjOBJ_BODY;
-          if (!has_anchor) {
-            mjuu_zerovec(equality->data, 3);
-          }
-        } else {
-          name1 = maybe_site1.value();
-          name2 = maybe_site2.value();
-          equality->objtype = mjOBJ_SITE;
-        }
-
-        ReadAttr(elem, "torquescale", 1, equality->data+10, text);
-      }
-      break;
-
-      case mjEQ_JOINT:
-        ReadAttrTxt(elem, "joint1", name1, true);
-        ReadAttrTxt(elem, "joint2", name2);
-        ReadAttr(elem, "polycoef", 5, equality->data, text, false, false);
-        break;
-
-      case mjEQ_TENDON:
-        ReadAttrTxt(elem, "tendon1", name1, true);
-        ReadAttrTxt(elem, "tendon2", name2);
-        ReadAttr(elem, "polycoef", 5, equality->data, text, false, false);
-        break;
-
-      case mjEQ_FLEX:
-      case mjEQ_FLEXVERT:
-        ReadAttrTxt(elem, "flex", name1, true);
-        break;
-
-      case mjEQ_FLEXSTRAIN:
-        ReadAttrTxt(elem, "flex", name1, true);
-        ReadAttr(elem, "cell", 3, equality->data, text);
-        break;
-
-      case mjEQ_DISTANCE:
-        throw mjXError(elem, "support for distance equality constraints was removed in MuJoCo 2.2.2");
-        break;
-
-      default:                  // SHOULD NOT OCCUR
-        throw mjXError(elem, "unrecognized equality constraint type");
-    }
-
-    mjs_setString(equality->name1, name1.c_str());
-    if (!name2.empty()) {
-      mjs_setString(equality->name2, name2.c_str());
-    }
-  }
-
-  // write error info
-  mjs_setString(equality->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// tendon element parser
-void mjXReader::OneTendon(XMLElement* elem, mjsTendon* tendon) {
-  string text;
-
-  // mechanical attributes; fixed tendons read a subset of the spatial rows
-  ReadAttrTable(elem, tendon, tendon->element, kSpatialAttrs, kSpatialAttrsN);
-
-  // read springlength, either one or two values; if one, copy to second value
-  if (ReadAttr(elem, "springlength", 2, tendon->springlength, text, false, false) == 1) {
-    tendon->springlength[1] = tendon->springlength[0];
-  }
-
-  // write error info
-  mjs_setString(tendon->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// read the "input" attribute: so3 chart keyword, the "none" keyword (empty signature),
-// or a servo input token list, required to be in canonical order [pos, vel, ff, voltage]
-static bool ReadInputSpec(tinyxml2::XMLElement* elem, int* ctrlspec) {
-  std::string text;
-  if (!mjXUtil::ReadAttrTxt(elem, "input", text)) {
-    return false;
-  }
-
-  // so3 chart keyword
-  int chart = mjXUtil::FindKey(inputchart_map, inputchart_sz, text);
-  if (chart >= 0) {
-    *ctrlspec = chart;
-    return true;
-  }
-
-  // empty-signature keyword
-  int keyword = mjXUtil::FindKey(inputkeyword_map, inputkeyword_sz, text);
-  if (keyword >= 0) {
-    *ctrlspec = keyword;
-    return true;
-  }
-
-  // servo input tokens; strictly ascending bits = canonical order, no duplicates
-  int bits[inputbit_sz];
-  int nbit = mjXUtil::MapValues(elem, "input", bits, inputbit_map, inputbit_sz);
-  int spec = 0;
-  for (int k=0; k < nbit; k++) {
-    if (bits[k] <= (k ? bits[k-1] : 0)) {
-      throw mjXError(elem, "inputs must be listed in canonical order [pos, vel, ff, voltage]");
-    }
-    spec |= bits[k];
-  }
-  *ctrlspec = spec;
-  return true;
-}
-
-
-// actuator element parser
-void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
-  string text, type, target, slidersite, refsite;
-
-  // mechanical attributes; per-tag legality is enforced by the schema check
-  ReadAttrTable(elem, actuator, actuator->element, kGeneralAttrs,
-                kGeneralAttrsN);
-
-  // transmission target and type
-  if (ReadAttrTxt(elem, "joint", target)) {
-    mjs_setString(actuator->target, target.c_str());
-    actuator->trntype = mjTRN_JOINT;
-  }
-  if (ReadAttrTxt(elem, "jointinparent", target)) {
-    mjs_setString(actuator->target, target.c_str());
-    actuator->trntype = mjTRN_JOINTINPARENT;
-  }
-  if (ReadAttrTxt(elem, "tendon", target)) {
-    mjs_setString(actuator->target, target.c_str());
-    actuator->trntype = mjTRN_TENDON;
-  }
-  if (ReadAttrTxt(elem, "cranksite", target)) {
-    mjs_setString(actuator->target, target.c_str());
-    actuator->trntype = mjTRN_SLIDERCRANK;
-  }
-  if (ReadAttrTxt(elem, "site", target)) {
-    mjs_setString(actuator->target, target.c_str());
-    actuator->trntype = mjTRN_SITE;
-  }
-  if (ReadAttrTxt(elem, "body", target)) {
-    mjs_setString(actuator->target, target.c_str());
-    actuator->trntype = mjTRN_BODY;
-  }
-  // slidercrank-specific parameters
-  int r1 = ReadAttr(elem, "cranklength", 1, &actuator->cranklength, text);
-  int r2 = ReadAttrTxt(elem, "slidersite", slidersite);
-  if (r2) {
-    mjs_setString(actuator->slidersite, slidersite.c_str());
-  }
-  if ((r1 || r2) &&
-      actuator->trntype != mjTRN_SLIDERCRANK &&
-      actuator->trntype != mjTRN_UNDEFINED) {
-    throw mjXError(elem, "cranklength and slidersite can only be used in slidercrank transmission");
-  }
-
-  // site-specific parameters (refsite)
-  int r3 = ReadAttrTxt(elem, "refsite", refsite);
-  if (r3) {
-    mjs_setString(actuator->refsite, refsite.c_str());
-  }
-  if (r3 && actuator->trntype != mjTRN_SITE && actuator->trntype != mjTRN_UNDEFINED) {
-    throw mjXError(elem, "refsite can only be used with site transmission");
-  }
-
-  // get predefined type
-  type = elem->Value();
-
-  // explicit attributes
-  string err;
-  if (type == "general") {
-    // so3 chart keyword or servo token subset; dcmotor accepts the voltage keyword
-    ReadInputSpec(elem, &actuator->ctrlspec);
-  }
-
-  // direct drive motor
-  else if (type == "motor") {
-    err = mjs_setToMotor(actuator);
-  }
-
-  // position or integrated velocity servo
-  else if (type == "position" || type == "intvelocity") {
-    double kp = actuator->gainprm[0];
-    ReadAttr(elem, "kp", 1, &kp, text);
-
-    // read kv
-    double kv_data;
-    double *kv = &kv_data;
-    if (!ReadAttr(elem, "kv", 1, kv, text)) {
-      kv = nullptr;
-    }
-
-    // read dampratio
-    double dampratio_data;
-    double *dampratio = &dampratio_data;
-    if (!ReadAttr(elem, "dampratio", 1, dampratio, text)) {
-      dampratio = nullptr;
-    }
-
-    // read timeconst, set dyntype
-    double timeconst_data;
-    double *timeconst = &timeconst_data;
-    if (!ReadAttr(elem, "timeconst", 1, timeconst, text)) {
-      timeconst = nullptr;
-    }
-
-    // handle inheritrange
-    double inheritrange = actuator->inheritrange;
-    ReadAttr(elem, "inheritrange", 1, &inheritrange, text);
-
-    if (type == "position") {
-      err = mjs_setToPosition(actuator, kp, kv, dampratio, timeconst, inheritrange);
-    } else {
-      err = mjs_setToIntVelocity(actuator, kp, kv, dampratio, timeconst, inheritrange);
-    }
-  }
-
-  // orientation servo: geodesic PD on an SO3 transmission
-  else if (type == "orientation") {
-    double kp = actuator->gainprm[0];
-    ReadAttr(elem, "kp", 1, &kp, text);
-
-    double kv_data;
-    double *kv = &kv_data;
-    if (!ReadAttr(elem, "kv", 1, kv, text)) {
-      kv = nullptr;
-    }
-
-    double dampratio_data;
-    double *dampratio = &dampratio_data;
-    if (!ReadAttr(elem, "dampratio", 1, dampratio, text)) {
-      dampratio = nullptr;
-    }
-
-    // input chart: expmap (default) or quat
-    ReadInputSpec(elem, &actuator->ctrlspec);
-
-    err = mjs_setToOrientation(actuator, kp, kv, dampratio, actuator->ctrlspec);
-  }
-
-  // PID servo: inputs are position and velocity setpoints
-  else if (type == "pid") {
-    // kp: default inherited via -biasprm[1]
-    double kp = -actuator->biasprm[1];
-    ReadAttr(elem, "kp", 1, &kp, text);
-
-    double kv_data;
-    double *kv = &kv_data;
-    if (!ReadAttr(elem, "kv", 1, kv, text)) {
-      kv = nullptr;
-    }
-
-    double dampratio_data;
-    double *dampratio = &dampratio_data;
-    if (!ReadAttr(elem, "dampratio", 1, dampratio, text)) {
-      dampratio = nullptr;
-    }
-
-    // controller parameters: ki (gainprm[0]), imax (dynprm[0]), slewmax (dynprm[1]); inherited
-    double ki = actuator->gainprm[0] * (actuator->dyntype == mjDYN_PID);
-    ReadAttr(elem, "ki", 1, &ki, text);
-    double imax = actuator->dynprm[0] * (actuator->dyntype == mjDYN_PID);
-    ReadAttr(elem, "imax", 1, &imax, text);
-    double slewmax = actuator->dynprm[1] * (actuator->dyntype == mjDYN_PID);
-    ReadAttr(elem, "slewmax", 1, &slewmax, text);
-
-    // input subset selection
-    ReadInputSpec(elem, &actuator->ctrlspec);
-
-    // posrange is an alias of ctrlrange (the position-setpoint input);
-    // velrange and ffrange are read by the shared rows
-    ReadAttr(elem, "posrange", 2, actuator->ctrlrange, text);
-
-    // handle inheritrange
-    double inheritrange = actuator->inheritrange;
-    ReadAttr(elem, "inheritrange", 1, &inheritrange, text);
-
-    err = mjs_setToPID(actuator, kp, kv, dampratio, &ki, &imax, &slewmax, inheritrange,
-                      actuator->ctrlspec);
-  }
-
-  // velocity servo
-  else if (type == "velocity") {
-    double kv = actuator->gainprm[0];
-    ReadAttr(elem, "kv", 1, &kv, text);
-    err = mjs_setToVelocity(actuator, kv);
-  }
-
-  // damper
-  else if (type == "damper") {
-    bool inherited = (actuator->gaintype == mjGAIN_AFFINE);
-    double kv = inherited ? -actuator->gainprm[2] : 0;
-    ReadAttr(elem, "kv", 1, &kv, text);
-    err = mjs_setToDamper(actuator, kv);
-  }
-
-  // cylinder
-  else if (type == "cylinder") {
-    double timeconst = actuator->dynprm[0];
-    double bias[3] = {actuator->biasprm[0], actuator->biasprm[1], actuator->biasprm[2]};
-    double area = actuator->gainprm[0];
-    double diameter = -1;
-    ReadAttr(elem, "timeconst", 1, &timeconst, text);
-    ReadAttr(elem, "bias", 3, bias, text);
-    ReadAttr(elem, "area", 1, &area, text);
-    ReadAttr(elem, "diameter", 1, &diameter, text);
-    err = mjs_setToCylinder(actuator, timeconst, bias[0], area, diameter);
-    actuator->biasprm[1] = bias[1];
-    actuator->biasprm[2] = bias[2];
-  }
-
-  // muscle
-  else if (type == "muscle") {
-    double tausmooth = actuator->dynprm[2];
-    double force = -1, scale = -1, lmin = -1, lmax = -1, vmax = -1, fpmax = -1, fvmax = -1;
-    double range[2] = {-1, -1}, timeconst[2] = {-1, -1};
-    ReadAttr(elem, "timeconst", 2, timeconst, text);
-    ReadAttr(elem, "tausmooth", 1, &tausmooth, text);
-    ReadAttr(elem, "range", 2, range, text);
-    ReadAttr(elem, "force", 1, &force, text);
-    ReadAttr(elem, "scale", 1, &scale, text);
-    ReadAttr(elem, "lmin", 1, &lmin, text);
-    ReadAttr(elem, "lmax", 1, &lmax, text);
-    ReadAttr(elem, "vmax", 1, &vmax, text);
-    ReadAttr(elem, "fpmax", 1, &fpmax, text);
-    ReadAttr(elem, "fvmax", 1, &fvmax, text);
-    err = mjs_setToMuscle(actuator, timeconst, tausmooth, range, force, scale,
-                          lmin, lmax, vmax, fpmax, fvmax);
-  }
-
-  // adhesion
-  else if (type == "adhesion") {
-    double gain = actuator->gainprm[0];
-    ReadAttr(elem, "gain", 1, &gain, text);
-    ReadAttr(elem, "ctrlrange", 2, actuator->ctrlrange, text);
-    err = mjs_setToAdhesion(actuator, gain);
-  }
-
-  // DC motor
-  else if (type == "dcmotor") {
-    bool inherited = (actuator->gaintype == mjGAIN_DCMOTOR);
-    double motorconst[2] = {inherited ? actuator->gainprm[1] : 0, 0};
-    double resistance = inherited ? actuator->gainprm[0] : 0;
-    double nominal[3] = {0, 0, 0};
-    double saturation[3] = {0, 0,
-                            inherited ? actuator->dynprm[1] : 0};
-    double controller[6] = {inherited ? actuator->gainprm[4] : 0,
-                            inherited ? actuator->gainprm[5] : 0,
-                            inherited ? actuator->gainprm[6] : 0,
-                            inherited ? actuator->dynprm[7] : 0,
-                            inherited ? actuator->dynprm[8] : 0,
-                            inherited ? actuator->gainprm[7] : 0};
-    double inductance[2] = {0, inherited ? actuator->dynprm[0] : 0};
-    double cogging[3] = {inherited ? actuator->biasprm[0] : 0,
-                         inherited ? actuator->biasprm[1] : 0,
-                         inherited ? actuator->biasprm[2] : 0};
-    double thermal[6] = {inherited ? actuator->dynprm[2] : 0,
-                         inherited ? actuator->dynprm[3] : 0,
-                         0,
-                         inherited ? actuator->gainprm[2] : 0,
-                         inherited ? actuator->gainprm[3] : 0,
-                         inherited ? actuator->dynprm[4] : 0};
-    double lugre[5] = {inherited ? actuator->dynprm[5] : 0,
-                       inherited ? actuator->dynprm[6] : 0,
-                       inherited ? actuator->biasprm[3] : 0,
-                       inherited ? actuator->biasprm[4] : 0,
-                       inherited ? actuator->biasprm[5] : 0};
-    int ctrlspec = inherited ? actuator->ctrlspec : 0;
-    ReadAttr(elem, "motorconst", 2, motorconst, text, false, false);
-    ReadAttr(elem, "resistance", 1, &resistance, text);
-    ReadAttr(elem, "nominal", 3, nominal, text, false, false);
-    ReadAttr(elem, "saturation", 3, saturation, text, false, false);
-    ReadAttr(elem, "inductance", 2, inductance, text, false, false);
-    ReadAttr(elem, "cogging", 3, cogging, text, false, false);
-    ReadAttr(elem, "controller", 6, controller, text, false, false);
-    ReadAttr(elem, "thermal", 6, thermal, text, false, false);
-    ReadAttr(elem, "lugre", 5, lugre, text, false, false);
-    ReadInputSpec(elem, &ctrlspec);
-    err = mjs_setToDCMotor(actuator, motorconst, resistance,
-                           nominal, saturation, inductance,
-                           cogging, controller, thermal, lugre, ctrlspec);
-  }
-
-  else if (type == "plugin") {
-    OnePlugin(elem, &actuator->plugin);
-  }
-
-  else {          // SHOULD NOT OCCUR
-    throw mjXError(elem, "unrecognized actuator type: %s", type.c_str());
-  }
-
-  // throw error if any of the above failed
-  if (!err.empty()) {
-    throw mjXError(elem, err.c_str());
-  }
-
-  // write info
-  mjs_setString(actuator->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-}
-
-
-
-// make composite
-void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsFrame* frame, const mjsDefault* def) {
-  string text;
-  int n;
-
-  // create out-of-DOM element
-  mjCComposite comp;
-
-  // common properties
-  ReadAttrTxt(elem, "prefix", comp.prefix);
-  if (MapValue(elem, "type", &n, comp_map, mjNCOMPTYPES, true)) {
-    comp.type = (mjtCompType)n;
-  }
-  ReadAttr(elem, "count", 3, comp.count, text, false, false);
-  ReadAttr(elem, "offset", 3, comp.offset, text);
-  ReadAttr(elem, "quat", 4, comp.quat, text);
-  comp.frame = frame;
-
-  // plugin
-  XMLElement* eplugin = FirstChildElement(elem, "plugin");
-  if (eplugin) {
-    OnePlugin(eplugin, &comp.plugin);
-  }
-
-  // cable
-  string curves;
-  ReadAttrTxt(elem, "curve", curves);
-  ReadAttrTxt(elem, "initial", comp.initial);
-  ReadAttr(elem, "size", 3, comp.size, text, false, false);
-  auto uservert = ReadAttrVec<float>(elem, "vertex");
-  if (uservert.has_value()) {
-    comp.uservert = std::move(uservert.value());
-  }
-
-  // process curve string
-  std::istringstream iss(curves);
-  int i = 0;
-  while (iss) {
-    if (curves.empty()) {
-      break;
-    }
-    iss >> text;
-    if (i > 2) {
-      throw mjXError(elem, "The curve array must have a maximum of 3 components");
-    }
-    comp.curve[i++] = (mjtCompShape)FindKey(shape_map, mjNCOMPSHAPES, text);
-    if (comp.curve[i-1] == -1) {
-      throw mjXError(elem, "The curve array contains an invalid shape");
-    }
-    if (iss.eof()){
-      break;
-    }
-  };
-
-  // skin
-  XMLElement* eskin = FirstChildElement(elem, "skin");
-  if (eskin) {
-    comp.skin = true;
-    if (MapValue(eskin, "texcoord", &n, bool_map, 2)) {
-      comp.skintexcoord = (n == 1);
-    }
-    ReadAttrTxt(eskin, "material", comp.skinmaterial);
-    ReadAttr(eskin, "rgba", 4, comp.skinrgba, text);
-    ReadAttr(eskin, "inflate", 1, &comp.skininflate, text);
-    ReadAttrInt(eskin, "subgrid", &comp.skinsubgrid);
-    ReadAttrInt(eskin, "group", &comp.skingroup, 0);
-    if (comp.skingroup < 0 || comp.skingroup >= mjNGROUP) {
-      throw mjXError(eskin, "skin group must be between 0 and 5");
-    }
-  }
-
-  // set type-specific defaults
-  comp.SetDefault();
-
-  // geom
-  XMLElement* egeom = FirstChildElement(elem, "geom");
-  if (egeom) {
-    string material;
-    mjsGeom& dgeom = *comp.def[0].spec.geom;
-    if (MapValue(egeom, "type", &n, geomtype_map, mjNGEOMTYPES)) {
-      dgeom.type = (mjtGeom)n;
-    }
-    ReadAttr(egeom, "size", 3, dgeom.size, text, false, false);
-    ReadAttrInt(egeom, "contype", &dgeom.contype);
-    ReadAttrInt(egeom, "conaffinity", &dgeom.conaffinity);
-    ReadAttrInt(egeom, "condim", &dgeom.condim);
-    ReadAttrInt(egeom, "group", &dgeom.group);
-    ReadAttrInt(egeom, "priority", &dgeom.priority);
-    ReadAttr(egeom, "friction", 3, dgeom.friction, text, false, false);
-    ReadAttr(egeom, "solmix", 1, &dgeom.solmix, text);
-    ReadAttr(egeom, "solref", mjNREF, dgeom.solref, text, false, false);
-    ReadAttr(egeom, "solimp", mjNIMP, dgeom.solimp, text, false, false);
-    ReadAttr(egeom, "margin", 1, &dgeom.margin, text);
-    ReadAttr(egeom, "gap", 1, &dgeom.gap, text);
-    ReadAttr(egeom, "surfacevel", 6, dgeom.surfacevel, text, false, false);
-    ReadAttr(egeom, "adhesion", 1, &dgeom.adhesion, text);
-    if (ReadAttrTxt(egeom, "material", material)) {
-      mjs_setString(dgeom.material, material.c_str());
-    }
-    ReadAttr(egeom, "rgba", 4, dgeom.rgba, text);
-    ReadAttr(egeom, "mass", 1, &dgeom.mass, text);
-    ReadAttr(egeom, "density", 1, &dgeom.density, text);
-  }
-
-  // site
-  XMLElement* esite = FirstChildElement(elem, "site");
-  if (esite) {
-    string material;
-    mjsSite& dsite = *comp.def[0].spec.site;
-    ReadAttr(esite, "size", 3, dsite.size, text, false, false);
-    ReadAttrInt(esite, "group", &dsite.group);
-    ReadAttrTxt(esite, "material", material);
-    ReadAttr(esite, "rgba", 4, dsite.rgba, text);
-    mjs_setString(dsite.material, material.c_str());
-  }
-
-  // joint
-  XMLElement* ejnt = FirstChildElement(elem, "joint");
-  while (ejnt) {
-    // kind
-    int kind;
-    MapValue(ejnt, "kind", &kind, jkind_map, 1, true);
-
-    // create a new element if this kind already exists
-    if (comp.add[kind]) {
-      char error[200];
-      if (!comp.AddDefaultJoint(error, 200)) {
-        throw mjXError(elem, "%s", error);
-      }
-    }
-    comp.add[kind] = true;
-
-    // get element
-    mjsDefault* dspec = &comp.defjoint[(mjtCompKind)kind].back().spec;
-    mjsJoint& djoint = *dspec->joint;
-    mjsEquality& dequality = *dspec->equality;
-
-    // particle joint
-    if (MapValue(ejnt, "type", &n, jointtype_map, jointtype_sz)) {
-      djoint.type = (mjtJoint)n;
-    }
-    ReadAttr(ejnt, "axis", 3, djoint.axis, text);
-
-    // solreffix, solimpfix
-    ReadAttr(ejnt, "solreffix", mjNREF, dequality.solref, text, false, false);
-    ReadAttr(ejnt, "solimpfix", mjNIMP, dequality.solimp, text, false, false);
-
-    // joint attributes
-    MapValue(elem, "limited", &djoint.limited, FalseTrueAuto_map, 3);
-    ReadAttrInt(ejnt, "group", &djoint.group);
-    ReadAttr(ejnt, "solreflimit", mjNREF, djoint.solref_limit, text, false, false);
-    ReadAttr(ejnt, "solimplimit", mjNIMP, djoint.solimp_limit, text, false, false);
-    ReadAttr(ejnt,
-             "solreffriction", mjNREF, djoint.solref_friction, text, false, false);
-    ReadAttr(ejnt,
-             "solimpfriction", mjNIMP, djoint.solimp_friction, text, false, false);
-    ReadAttr(ejnt, "stiffness", 1, djoint.stiffness, text);
-    ReadAttr(ejnt, "range", 2, djoint.range, text);
-    ReadAttr(ejnt, "margin", 1, &djoint.margin, text);
-    ReadAttr(ejnt, "armature", 1, &djoint.armature, text);
-    ReadAttr(ejnt, "damping", 1, djoint.damping, text);
-    ReadAttr(ejnt, "frictionloss", 1, &djoint.frictionloss, text);
-
-    // advance
-    ejnt = NextSiblingElement(ejnt, "joint");
-  }
-
-
-  // make composite
-  char error[200];
-  bool res = comp.Make(spec, body, error, 200);
-
-  // throw error
-  if (!res) {
-    throw mjXError(elem, "%s", error);
-  }
-}
-
-
-
-// make flexcomp
-void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
-  string text, material;
-  int n;
-
-  // create out-of-DOM element
-  mjCFlexcomp fcomp;
-  mjsFlex& dflex = *fcomp.def.spec.flex;
-
-  // common properties
-  ReadAttrTxt(elem, "name", fcomp.name, true);
-  if (MapValue(elem, "type", &n, fcomp_map, mjNFCOMPTYPES)) {
-    fcomp.type = (mjtFcompType)n;
-  }
-  ReadAttr(elem, "count", 3, fcomp.count, text);
-  ReadAttr(elem, "cellcount", 3, fcomp.cellcount, text);
-  ReadAttr(elem, "spacing", 3, fcomp.spacing, text);
-  ReadAttr(elem, "scale", 3, fcomp.scale, text);
-  ReadAttr(elem, "mass", 1, &fcomp.mass, text);
-  ReadAttr(elem, "inertiabox", 1, &fcomp.inertiabox, text);
-  auto maybe_file = ReadAttrFile(elem, "file", vfs, modelfiledir_);
-  if (maybe_file.has_value()) {
-    fcomp.file = std::move(maybe_file.value().Str());
-  } else {
-    fcomp.file = "";
-  }
-  if (ReadAttrTxt(elem, "material", material)) {
-    mjs_setString(dflex.material, material.c_str());
-  }
-  ReadAttr(elem, "rgba", 4, dflex.rgba, text);
-  if (MapValue(elem, "flatskin", &n, bool_map, 2)) {
-    dflex.flatskin = (n == 1);
-  }
-  ReadAttrInt(elem, "dim", &dflex.dim);
-  ReadAttr(elem, "radius", 1, &dflex.radius, text);
-  ReadAttrInt(elem, "group", &dflex.group);
-  if (!ReadAttr(elem, "origin", 3, fcomp.origin, text) &&
-      fcomp.type == mjFCOMPTYPE_MESH && dflex.dim == 3) {
-    throw mjXError(elem, "origin must be specified for mesh flexcomps if dim=3");
-  }
-
-  // pose
-  ReadAttr(elem, "pos", 3, fcomp.pos, text);
-  ReadAttr(elem, "quat", 4, fcomp.quat, text);
-  ReadAlternative(elem, fcomp.alt);
-
-  // user or internal
-  if (MapValue(elem, "rigid", &n, bool_map, 2)) {
-    fcomp.rigid = (n == 1);
-  }
-  auto point = ReadAttrVec<double>(elem, "point");
-  if (point.has_value()) {
-    fcomp.point = std::move(point.value());
-  }
-  auto element = ReadAttrVec<int>(elem, "element");
-  if (element.has_value()) {
-    fcomp.element = std::move(element.value());
-  }
-  auto texcoord = ReadAttrVec<float>(elem, "texcoord");
-  if (texcoord.has_value()) {
-    fcomp.texcoord = std::move(texcoord.value());
-  }
-
-  // dof type
-  if (MapValue(elem, "dof", &n, fdof_map, mjNFCOMPDOFS)) {
-    fcomp.doftype = (mjtDof)n;
-  }
-
-  // edge
-  XMLElement* edge = FirstChildElement(elem, "edge");
-  if (edge) {
-    MapValue(edge, "equality", &fcomp.equality, flexeq_map, 4);
-    ReadAttr(edge, "solref", mjNREF, fcomp.def.spec.equality->solref, text, false, false);
-    ReadAttr(edge, "solimp", mjNIMP, fcomp.def.spec.equality->solimp, text, false, false);
-    ReadAttr(edge, "stiffness", 1, &dflex.edgestiffness, text);
-    ReadAttr(edge, "damping", 1, &dflex.edgedamping, text);
-  }
-
-  // elasticity
-  XMLElement* elasticity = FirstChildElement(elem, "elasticity");
-  if (elasticity) {
-    ReadAttr(elasticity, "young", 1, &dflex.young, text);
-    ReadAttr(elasticity, "poisson", 1, &dflex.poisson, text);
-    ReadAttr(elasticity, "damping", 1, &dflex.damping, text);
-    ReadAttr(elasticity, "thickness", 1, &dflex.thickness, text);
-    MapValue(elasticity, "elastic2d", &dflex.elastic2d, elastic2d_map, 4);
-  }
-
-  // check errors
-  if (dflex.elastic2d != 1 && fcomp.equality && dflex.young > 0) {
-    throw mjXError(elem, "flex constraints and elasticity (young) cannot both be present");
-  }
-
-  // contact
-  XMLElement* cont = FirstChildElement(elem, "contact");
-  if (cont) {
-    ReadAttrInt(cont, "contype", &dflex.contype);
-    ReadAttrInt(cont, "conaffinity", &dflex.conaffinity);
-    ReadAttrInt(cont, "condim", &dflex.condim);
-    ReadAttrInt(cont, "priority", &dflex.priority);
-    ReadAttr(cont, "friction", 3, dflex.friction, text, false, false);
-    ReadAttr(cont, "solmix", 1, &dflex.solmix, text);
-    ReadAttr(cont, "solref", mjNREF, dflex.solref, text, false, false);
-    ReadAttr(cont, "solimp", mjNIMP, dflex.solimp, text, false, false);
-    ReadAttr(cont, "margin", 1, &dflex.margin, text);
-    ReadAttr(cont, "gap", 1, &dflex.gap, text);
-    if (MapValue(cont, "internal", &n, bool_map, 2)) {
-      dflex.internal = (n == 1);
-    }
-    MapValue(cont, "selfcollide", &dflex.selfcollide, flexself_map, 5);
-    if (MapValue(cont, "passive", &n, bool_map, 2)) {
-      dflex.passive = (n == 1);
-    }
-    ReadAttrInt(cont, "activelayers", &dflex.activelayers);
-  }
-
-  // pin
-  XMLElement* epin = FirstChildElement(elem, "pin");
-  while (epin) {
-    auto id = ReadAttrVec<int>(epin, "id");
-    if (id.has_value()) {
-      fcomp.pinid.insert(fcomp.pinid.end(), id->begin(), id->end());
-    }
-    auto range = ReadAttrVec<int>(epin, "range");
-    if (range.has_value()) {
-      fcomp.pinrange.insert(fcomp.pinrange.end(), range->begin(), range->end());
-    }
-    auto grid = ReadAttrVec<int>(epin, "grid");
-    if (grid.has_value()) {
-      fcomp.pingrid.insert(fcomp.pingrid.end(), grid->begin(), grid->end());
-    }
-    auto gridrange = ReadAttrVec<int>(epin, "gridrange");
-    if (gridrange.has_value()) {
-      fcomp.pingridrange.insert(fcomp.pingridrange.end(),
-                                gridrange->begin(), gridrange->end());
-    }
-
-    // advance
-    epin = NextSiblingElement(epin, "pin");
-  }
-
-  // plugin
-  XMLElement* eplugin = FirstChildElement(elem, "plugin");
-  if (eplugin) {
-    OnePlugin(eplugin, &fcomp.plugin);
-  }
-
-  // make flexcomp
-  char error[200];
-  bool res = fcomp.Make(body, error, 200, vfs);
-
-  // throw error
-  if (!res) {
-    throw mjXError(elem, "%s", error);
-  }
-}
-
-
-
-// add plugin
-void mjXReader::OnePlugin(XMLElement* elem, mjsPlugin* plugin) {
-  plugin->active = true;
-  string name = "";
-  string instance_name = "";
-  ReadAttrTxt(elem, "plugin", name);
-  ReadAttrTxt(elem, "instance", instance_name);
-  mjs_setString(plugin->plugin_name, name.c_str());
-  mjs_setString(plugin->name, instance_name.c_str());
-  if (instance_name.empty()) {
-    plugin->element = mjs_addPlugin(spec)->element;
-    ReadPluginConfigs(elem, plugin);
-  } else {
-    spec->hasImplicitPluginElem = true;
-  }
-}
-
-
-
-//------------------ MJCF-specific sections --------------------------------------------------------
-
-// default section parser
-void mjXReader::Default(XMLElement* section, const mjsDefault* def, const mjVFS* vfs) {
-  XMLElement* elem;
-  string text, name;
-
-  // create new default, except at top level (already added in mjCModel constructor)
-  text.clear();
-  ReadAttrTxt(section, "class", text);
-  if (text.empty()) {
-    if (def) {
-      throw mjXError(section, "empty class name");
-    }
-  }
-  if (def) {
-    def = mjs_addDefault(spec, text.c_str(), def);
-    if (!def) {
-      throw mjXError(section, "repeated default class name");
-    }
-  } else {
-    def = mjs_getSpecDefault(spec);
-    if (!text.empty() && text != "main") {
-      throw mjXError(section, "top-level default class 'main' cannot be renamed");
-    }
-  }
-
-  // iterate over elements other than nested defaults
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get element name
-    name = elem->Value();
-
-    // read mesh
-    if (name == "mesh")OneMesh(elem, def->mesh, vfs);
-
-    // read material
-    else if (name == "material")OneMaterial(elem, def->material);
-
-    // read joint
-    else if (name == "joint")OneJoint(elem, def->joint);
-
-    // read geom
-    else if (name == "geom")OneGeom(elem, def->geom);
-
-    // read site
-    else if (name == "site")OneSite(elem, def->site);
-
-    // read camera
-    else if (name == "camera")OneCamera(elem, def->camera);
-
-    // read light
-    else if (name == "light")OneLight(elem, def->light);
-
-    // read pair
-    else if (name == "pair")OnePair(elem, def->pair);
-
-    // read equality
-    else if (name == "equality")OneEquality(elem, def->equality);
-
-    // read tendon
-    else if (name == "tendon")OneTendon(elem, def->tendon);
-
-    // read actuator
-    else if (name == "general"     ||
-             name == "motor"       ||
-             name == "position"    ||
-             name == "velocity"    ||
-             name == "damper"      ||
-             name == "intvelocity" ||
-             name == "orientation" ||
-             name == "pid"         ||
-             name == "cylinder"    ||
-             name == "muscle"      ||
-             name == "adhesion"    ||
-             name == "dcmotor") {
-      OneActuator(elem, def->actuator);
-    }
-
-    // advance
-    elem = NextSiblingElement(elem);
-  }
-
-  // iterate over nested defaults
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get element name
-    name = elem->Value();
-
-    // read default
-    if (name == "default") {
-      Default(elem, def, vfs);
-    }
-
-    // advance
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// extension section parser
-void mjXReader::Extension(XMLElement* section) {
-  XMLElement* elem = FirstChildElement(section);
-
-  while (elem) {
-    // get sub-element name
-    string_view name = elem->Value();
-
-    if (name == "plugin") {
-      string plugin_name;
-      ReadAttrTxt(elem, "plugin", plugin_name, /* required = */ true);
-      if (mjs_activatePlugin(spec, plugin_name.c_str())) {
-        throw mjXError(elem, "plugin %s not found", plugin_name.c_str());
-      }
-
-      XMLElement* child = FirstChildElement(elem);
-      while (child) {
-        if (string(child->Value()) == "instance") {
-          if (spec->hasImplicitPluginElem) {
-            throw mjXError(
-                    child, "explicit plugin instance must appear before implicit plugin elements");
-          }
-          string name;
-          mjsPlugin* p = mjs_addPlugin(spec);
-          mjs_setString(p->plugin_name, plugin_name.c_str());
-          mjs_setString(p->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-          ReadAttrTxt(child, "name", name, /* required = */ true);
-          mjs_setString(p->name, name.c_str());
-          if (!p->name) {
-            throw mjXError(child, "plugin instance must have a name");
-          }
-          ReadPluginConfigs(child, p);
-        }
-        child = NextSiblingElement(child);
-      }
-    }
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// custom section parser
-void mjXReader::Custom(XMLElement* section) {
-  string str, name;
-  XMLElement* elem;
-  double data[500];
-
-  // iterate over child elements
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get sub-element name
-    name = elem->Value();
-    string elname;
-
-    // numeric
-    if (name == "numeric") {
-      // create custom
-      mjsNumeric* numeric = mjs_addNumeric(spec);
-
-      // write error info
-      mjs_setString(numeric->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-
-      // read attributes
-      ReadAttrTxt(elem, "name", elname, true);
-      if (mjs_setName(numeric->element, elname.c_str())) {
-        throw mjXError(elem, "%s", mjs_getError(spec));
-      }
-      if (ReadAttrInt(elem, "size", &numeric->size)) {
-        int sz = numeric->size < 500 ? numeric->size : 500;
-        for (int i=0; i < sz; i++) {
-          data[i] = 0;
-        }
-      } else {
-        numeric->size = 501;
-      }
-      int len = ReadAttr(elem, "data", numeric->size, data, str, false, false);
-      if (numeric->size == 501) {
-        numeric->size = len;
-      }
-      if (numeric->size < 1 || numeric->size > 500) {
-        throw mjXError(elem, "custom field size must be between 1 and 500");
-      }
-
-      // copy data
-      mjs_setDouble(numeric->data, data, numeric->size);
-    }
-
-    // text
-    else if (name == "text") {
-      // create custom
-      mjsText* text = mjs_addText(spec);
-
-      // write error info
-      mjs_setString(text->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-
-      // read attributes
-      ReadAttrTxt(elem, "name", elname, true);
-      if (mjs_setName(text->element, elname.c_str())) {
-        throw mjXError(elem, "%s", mjs_getError(spec));
-      }
-      ReadAttrTxt(elem, "data", str, true);
-      if (str.empty()) {
-        throw mjXError(elem, "text field cannot be empty");
-      }
-
-      // copy data
-      mjs_setString(text->data, str.c_str());
-    }
-
-    // tuple
-    else if (name == "tuple") {
-      // create custom
-      mjsTuple* tuple = mjs_addTuple(spec);
-
-      // write error info
-      mjs_setString(tuple->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-
-      // read attributes
-      ReadAttrTxt(elem, "name", elname, true);
-      if (mjs_setName(tuple->element, elname.c_str())) {
-        throw mjXError(elem, "%s", mjs_getError(spec));
-      }
-
-      // read objects and add
-      XMLElement* obj = FirstChildElement(elem);
-      std::vector<int> objtype;
-      string objname = "";
-      std::vector<double> objprm;
-
-      while (obj) {
-        // get sub-element name
-        name = obj->Value();
-
-        // new object
-        if (name == "element") {
-          // read type, check and assign
-          ReadAttrTxt(obj, "objtype", str, true);
-          mjtObj otype = (mjtObj)mju_str2Type(str.c_str());
-          if (otype == mjOBJ_UNKNOWN) {
-            throw mjXError(obj, "unknown object type");
-          }
-          objtype.push_back(otype);
-
-          // read name and assign
-          ReadAttrTxt(obj, "objname", str, true);
-          objname += " " + str;
-
-          // read parameter and assign
-          double oprm = 0;
-          ReadAttr(obj, "prm", 1, &oprm, str);
-          objprm.push_back(oprm);
-        }
-
-        // advance to next object
-        obj = NextSiblingElement(obj);
-      }
-
-      mjs_setInt(tuple->objtype, objtype.data(), objtype.size());
-      mjs_setStringVec(tuple->objname, objname.c_str());
-      mjs_setDouble(tuple->objprm, objprm.data(), objprm.size());
-    }
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// visual section parser
-void mjXReader::Visual(XMLElement* section) {
-  string name;
-  XMLElement* elem;
-  mjVisual* vis = &spec->visual;
-
-  // iterate over child elements
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get sub-element name
-    name = elem->Value();
-
-    // global sub-element
-    if (name == "global") {
-      ReadAttrTableCore(elem, vis, kGlobalAttrs, kGlobalAttrsN,
-                        /*skipnodefault=*/false,
-                        /*authored=*/spec);
-      if (vis->global.realtime <= 0) {
-        throw mjXError(elem, "realtime must be greater than 0");
-      }
-    }
-
-    // quality sub-element
-    else if (name == "quality") {
-      ReadAttrTableCore(elem, vis, kQualityAttrs, kQualityAttrsN, false,
-                        /*authored=*/spec);
-    }
-
-    // headlight sub-element
-    else if (name == "headlight") {
-      ReadAttrTableCore(elem, vis, kHeadlightAttrs, kHeadlightAttrsN, false,
-                        /*authored=*/spec);
-    }
-
-    // map sub-element
-    else if (name == "map") {
-      ReadAttrTableCore(elem, vis, kMapAttrs, kMapAttrsN, false,
-                        /*authored=*/spec);
-      if (vis->map.znear <= 0) {
-        throw mjXError(elem, "znear must be strictly positive");
-      }
-    }
-
-    // scale sub-element
-    else if (name == "scale") {
-      ReadAttrTableCore(elem, vis, kScaleAttrs, kScaleAttrsN, false,
-                        /*authored=*/spec);
-    }
-
-    // rgba sub-element
-    else if (name == "rgba") {
-      ReadAttrTableCore(elem, vis, kRgbaAttrs, kRgbaAttrsN, false,
-                        /*authored=*/spec);
-    }
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-
-// asset section parser
-void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
-  string text, name;
-  XMLElement* elem;
-
-  // iterate over child elements
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get sub-element name
-    name = elem->Value();
-
-    // get class if specified, otherwise use default0
-    const mjsDefault* def = GetClass(elem);
-    if (!def) {
-      def = mjs_getSpecDefault(spec);
-    }
-
-    // texture sub-element
-    if (name == "texture") {
-      // create texture
-      mjsTexture* texture = mjs_addTexture(spec);
-
-      // write error info
-      mjs_setString(texture->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-
-      // mechanical attributes
-      ReadAttrTable(elem, texture, texture->element, kTextureAttrs,
-                    kTextureAttrsN);
-
-      // file, resolved against the texture directory
-      auto file = ReadAttrFile(elem, "file", vfs, TextureDir());
-      if (file.has_value()) {
-        mjs_setString(texture->file, file->c_str());
-      }
-
-      // gridlayout length must equal the gridsize product (value-conditional)
-      if (ReadAttrTxt(elem, "gridlayout", text) &&
-          text.length() != texture->gridsize[0]*texture->gridsize[1]) {
-        throw mjXError(elem, "gridlayout length must match gridsize");
-      }
-
-      // separate files
-      std::vector<string> cubefiles(6);
-      std::vector<string> cubefile_names = {"fileright", "fileleft",
-                                            "fileup", "filedown",
-                                            "filefront", "fileback"};
-      for (int i = 0; i < cubefiles.size(); i++) {
-        auto maybe_file = ReadAttrFile(elem, cubefile_names[i].c_str(), vfs,
-                                       TextureDir());
-        if (maybe_file.has_value()) {
-          cubefiles[i] = maybe_file.value().Str();
-        } else {
-          cubefiles[i] = "";
-        }
-        mjs_setInStringVec(texture->cubefiles, i, cubefiles[i].c_str());
-      }
-    }
-
-    // material sub-element
-    else if (name == "material") {
-      // create material and parse
-      mjsMaterial* material = mjs_addMaterial(spec, def);
-      OneMaterial(elem, material);
-    }
-
-    // mesh sub-element
-    else if (name == "mesh") {
-      // create mesh and parse
-      mjsMesh* mesh = mjs_addMesh(spec, def);
-      OneMesh(elem, mesh, vfs);
-    }
-
-    // skin sub-element... deprecate ???
-    else if (name == "skin") {
-      // create skin and parse
-      mjsSkin* skin = mjs_addSkin(spec);
-      OneSkin(elem, skin, vfs);
-    }
-
-    // hfield sub-element
-    else if (name == "hfield") {
-      // create hfield
-      mjsHField* hfield = mjs_addHField(spec);
-
-      // write error info
-      mjs_setString(hfield->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-
-      // mechanical attributes
-      ReadAttrTable(elem, hfield, hfield->element, kHfieldAttrs,
-                    kHfieldAttrsN);
-
-      // file, resolved against the asset directory
-      auto file = ReadAttrFile(elem, "file", vfs, AssetDir());
-      if (file.has_value()) {
-        mjs_setString(hfield->file, file->c_str());
-      }
-
-      // allocate buffer for dynamic hfield, copy user data if given
-      if (!file.has_value() && hfield->nrow > 0 && hfield->ncol > 0) {
-        int nrow = hfield->nrow;
-        int ncol = hfield->ncol;
-
-        // read user data
-        auto userdata = ReadAttrVec<float>(elem, "elevation");
-
-        // user data given, copy into data
-        if (userdata.has_value()) {
-          if (userdata->size() != nrow*ncol) {
-            throw mjXError(elem, "elevation data length must match nrow*ncol");
-          }
-
-          // copy in reverse row order, so XML string is top-to-bottom
-          std::vector<float> flipped(nrow*ncol);
-          for (int i = 0; i < nrow; i++) {
-            int flip = nrow-1-i;
-            for (int j = 0; j < ncol; j++) {
-              flipped[flip*ncol + j] = userdata->data()[i*ncol + j];
-            }
-          }
-
-          mjs_setFloat(hfield->userdata, flipped.data(), flipped.size());
-        }
-
-        // user data not given, set to 0
-        else {
-          std::vector<float> zero(nrow*ncol);
-          mjs_setFloat(hfield->userdata, zero.data(), zero.size());
-        }
-      }
-    }
-
-    // model sub-element
-    else if (name == "model") {
-      std::string content_type;
-      ReadAttrTxt(elem, "content_type", content_type);
-
-      // parse the child
-      std::array<char, 1024> error;
-      auto filename = modelfiledir_ + ReadAttrFile(elem, "file", vfs).value();
-
-      mjSpec* child = mj_parse(filename.c_str(), content_type.c_str(), vfs,
-                               error.data(), error.size());
-      if (!child) {
-        throw mjXError(elem, "could not parse model file with error: %s", error.data());
-      }
-
-      // overwrite model name if given
-      string modelname = "";
-      if (ReadAttrTxt(elem, "name", modelname)) {
-        mjs_setString(child->modelname, modelname.c_str());
-      }
-
-      // store child spec in model
-      mjs_addSpec(spec, child);
-    }
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-// strip the "Error: " prefix from compiler/spec error messages
-static const char* stripError(const char* err) {
-  if (err && std::strncmp(err, "Error: ", 7) == 0) {
-    return err + 7;
-  }
-  return err;
-}
-
-// body/world section parser; recursive
-void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
-                     const mjVFS* vfs) {
-  string text, name;
-  XMLElement* elem;
-
-  // sanity check
-  if (!body) {
-    throw mjXError(section, "null body pointer");
-  }
-
-  // no attributes allowed in world body
-  if (mjs_getId(body->element) == 0 && section->FirstAttribute() && !frame) {
-    throw mjXError(section, "World body cannot have attributes");
-  }
-
-  // iterate over sub-elements; attributes set while parsing parent body
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get sub-element name
-    name = elem->Value();
-
-    // get class if specified, otherwise use body
-    const mjsDefault* def = GetClass(elem);
-    if (!def) {
-      def = mjs_getDefault(frame ? frame->element : body->element);
-    }
-
-    // inertial sub-element
-    if (name == "inertial") {
-      // no inertia allowed in world body
-      if (mjs_getId(body->element) == 0) {
-        throw mjXError(elem, "World body cannot have inertia");
-      }
-      body->explicitinertial = true;
-      ReadAttrTable(elem, body, body->element, kInertialAttrs, kInertialAttrsN);
-      ReadQuat(elem, "quat", body->iquat, text);
-      ReadAlternative(elem, body->ialt);
-      ReadAttr(elem, "fullinertia", 6, body->fullinertia, text);
-    }
-
-    // joint sub-element
-    else if (name == "joint") {
-      // no joints allowed in world body
-      if (mjs_getId(body->element) == 0) {
-        throw mjXError(elem, "World body cannot have joints");
-      }
-
-      // create joint and parse
-      mjsJoint* joint = mjs_addJoint(body, def);
-      OneJoint(elem, joint);
-      mjs_setFrame(joint->element, frame);
-    }
-
-    // freejoint sub-element
-    else if (name == "freejoint") {
-      // no joints allowed in world body
-      if (mjs_getId(body->element) == 0) {
-        throw mjXError(elem, "World body cannot have joints");
-      }
-
-      // create free joint without defaults
-      mjsJoint* joint = mjs_addFreeJoint(body);
-      mjs_setFrame(joint->element, frame);
-
-      // save defaults after creation, to make sure writing is ok
-      mjs_setDefault(joint->element, def);
-
-      // read attributes
-      string name;
-      if (ReadAttrTxt(elem, "name", name)) {
-        if (mjs_setName(joint->element, name.c_str())) {
-          throw mjXError(elem, "%s", mjs_getError(spec));
-        }
-      }
-      ReadAttrInt(elem, "group", &joint->group);
-      MapValue(elem, "align", &joint->align, FalseTrueAuto_map, 3);
-    }
-
-    // geom sub-element
-    else if (name == "geom") {
-      // create geom and parse
-      mjsGeom* geom = mjs_addGeom(body, def);
-      OneGeom(elem, geom);
-      mjs_setFrame(geom->element, frame);
-    }
-
-    // site sub-element
-    else if (name == "site") {
-      // create site and parse
-      mjsSite* site = mjs_addSite(body,  def);
-      OneSite(elem, site);
-      mjs_setFrame(site->element, frame);
-    }
-
-    // camera sub-element
-    else if (name == "camera") {
-      // create camera and parse
-      mjsCamera* camera = mjs_addCamera(body, def);
-      OneCamera(elem, camera);
-      mjs_setFrame(camera->element, frame);
-    }
-
-    // light sub-element
-    else if (name == "light") {
-      // create light and parse
-      mjsLight* light = mjs_addLight(body, def);
-      OneLight(elem, light);
-      mjs_setFrame(light->element, frame);
-    }
-
-    // plugin sub-element
-    else if (name == "plugin") {
-      OnePlugin(elem, &(body->plugin));
-    }
-
-    // composite sub-element
-    else if (name == "composite") {
-      // parse composite
-      OneComposite(elem, body, frame, def);
-    }
-
-    // flexcomp sub-element
-    else if (name == "flexcomp") {
-      // parse flexcomp
-      OneFlexcomp(elem, body, vfs);
-    }
-
-    // frame sub-element
-    else if (name == "frame") {
-      // read childdef
-      bool has_childclass = ReadAttrTxt(elem, "childclass", text);
-      const mjsDefault* childdef = has_childclass ? mjs_findDefault(spec, text.c_str()) : nullptr;
-      if (has_childclass && !childdef) {
-        throw mjXError(elem, "unknown default childclass");
-      }
-
-      // create frame
-      mjsFrame* pframe = mjs_addFrame(body, frame);
-      mjs_setString(pframe->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-      mjs_setDefault(pframe->element, childdef ? childdef : def);
-
-      // read attributes
-      string name, childclass;
-      if (ReadAttrTxt(elem, "name", name)) {
-        if (mjs_setName(pframe->element, name.c_str())) {
-          throw mjXError(elem, "%s", mjs_getError(spec));
-        }
-      }
-      if (ReadAttrTxt(elem, "childclass", childclass)) {
-        mjs_setString(pframe->childclass, childclass.c_str());
-      }
-      ReadAttr(elem, "pos", 3, pframe->pos, text);
-      ReadQuat(elem, "quat", pframe->quat, text);
-      ReadAlternative(elem, pframe->alt);
-
-      Body(elem, body, pframe, vfs);
-    }
-
-    // replicate sub-element
-    else if (name == "replicate") {
-      int count;
-      double offset[3] = {0, 0, 0};
-      double euler[3] = {0, 0, 0};
-      string separator = "";
-      ReadAttr(elem, "count", 1, &count, text, true);
-      ReadAttr(elem, "offset", 3, offset, text);
-      ReadAttr(elem, "euler", 3, euler, text);
-      ReadAttrTxt(elem, "sep", separator);
-
-      // store rotation difference
-      mjsOrientation alt;
-      mjs_defaultOrientation(&alt);
-      alt.type = mjORIENTATION_EULER;
-      mjuu_copyvec(alt.euler, euler, 3);
-      double rotation[4] = {1, 0, 0, 0};
-      mjs_resolveOrientation(rotation, spec->compiler.degree, spec->compiler.eulerseq, &alt);
-
-      // read childdef
-      bool has_childclass = ReadAttrTxt(elem, "childclass", text);
-      const mjsDefault* childdef = has_childclass ? mjs_findDefault(spec, text.c_str()) : nullptr;
-      if (has_childclass && !childdef) {
-        throw mjXError(elem, "unknown default childclass");
-      }
-
-      // create subtree
-      mjsBody* subtree = mjs_addBody(body, childdef);
-      double pos[3] = {0, 0, 0};
-      double quat[4] = {1, 0, 0, 0};
-
-      // parent frame that will be used to attach the subtree
-      mjsFrame* pframe = mjs_addFrame(subtree, frame);
-      mjs_setDefault(pframe->element, childdef ? childdef : def);
-      mjs_setString(pframe->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
-
-      // parse subtree
-      Body(elem, subtree, pframe, vfs);
-
-      // update pframe and attach
-      for (int i = 0; i < count; i++) {
-        // overwrite orientation to increase precision
-        alt.euler[0] = i*euler[0];
-        alt.euler[1] = i*euler[1];
-        alt.euler[2] = i*euler[2];
-        mjs_resolveOrientation(quat, spec->compiler.degree, spec->compiler.eulerseq, &alt);
-
-        // set position and orientation
-        mjuu_setvec(pframe->pos, pos[0], pos[1], pos[2]);
-        mjuu_setvec(pframe->quat, quat[0], quat[1], quat[2], quat[3]);
-
-        // accumulate rotation
-        mjuu_frameaccum(pos, quat, offset, rotation);
-
-        // process suffix
-        string suffix = separator;
-        UpdateString(suffix, count, i);
-
-        // attach to parent
-        if (!mjs_attach(body->element, pframe->element, /*prefix=*/"", suffix.c_str())) {
-          throw mjXError(elem, "%s", stripError(mjs_getError(spec)));
-        }
-      }
-
-      // delete subtree
-      if (mjs_delete(spec, subtree->element)) {
-        throw mjXError(elem, "%s", stripError(mjs_getError(spec)));
-      }
-    }
-
-    // body sub-element
-    else if (name == "body") {
-      // read childdef
-      bool has_childclass = ReadAttrTxt(elem, "childclass", text);
-      const mjsDefault* childdef = has_childclass ? mjs_findDefault(spec, text.c_str()) : nullptr;
-      if (has_childclass && !childdef) {
-        throw mjXError(elem, "unknown default childclass");
-      }
-
-      // create child body
-      mjsBody* child = mjs_addBody(body, childdef);
-      mjs_setString(child->info, string("line " + std::to_string(elem->GetLineNum())).c_str());
-
-      // set default from class or childclass
-      mjs_setDefault(child->element, childdef ? childdef : def);
-
-      // mechanical attributes
-      ReadAttrTable(elem, child, child->element, kBodyAttrs, kBodyAttrsN);
-      string childclass;
-      if (ReadAttrTxt(elem, "childclass", childclass)) {
-        mjs_setString(child->childclass, childclass.c_str());
-      }
-
-      // orientation alternatives
-      ReadQuat(elem, "quat", child->quat, text);
-      ReadAlternative(elem, child->alt);
-
-      // add frame
-      mjs_setFrame(child->element, frame);
-
-      // make recursive call
-      Body(elem, child, nullptr, vfs);
-    }
-
-    // attachment
-    else if (name == "attach") {
-      string model_name, child_name, prefix;
-      bool has_model = ReadAttrTxt(elem, "model", model_name, /*required=*/false);
-      bool has_body = ReadAttrTxt(elem, "body", child_name, /*required=*/false);
-      bool has_frame = ReadAttrTxt(elem, "frame", child_name, /*required=*/false);
-      ReadAttrTxt(elem, "prefix", prefix, /*required=*/true);
-
-      mjtObj type = mjOBJ_UNKNOWN;
-      if (has_body) type = mjOBJ_BODY;
-      else if (has_frame) type = mjOBJ_FRAME;
-
-      mjsElement* source_elem = nullptr;
-      if (!has_model) { // Self-attach
-        if (type == mjOBJ_UNKNOWN) {
-          throw mjXError(elem, "either 'body' or 'frame' attribute must be specified for self-attach");
-        }
-
-        // check for name collision in the current spec
-        string full_name = prefix + child_name;
-        if (mjs_findElement(spec, type, full_name.c_str())) {
-          throw mjXError(elem, "cannot self-attach: element %s already exists", full_name.c_str());
-        }
-        source_elem = mjs_findElement(spec, type, child_name.c_str());
-        if (!source_elem) {
-          throw mjXError(elem, "%s",
-                         (string("could not find ") + mju_type2Str(type) + " '" + child_name +
-                          "' in the current model for self-attachment").c_str());
-        }
-      } else { // Attach from external model asset
-        // Check for name collision in the current spec
-        if (!child_name.empty()) {
-            string full_name = prefix + child_name;
-            if (mjs_findElement(spec, type, full_name.c_str())) {
-                throw mjXError(elem, "%s",
-                               (string("cannot attach: element ") + child_name +
-                                " already exists with prefix " + prefix).c_str());
-            }
-        }
-
-        mjSpec* asset = mjs_findSpec(spec, model_name.c_str());
-        if (!asset) {
-          throw mjXError(elem, "could not find model '%s'", model_name.c_str());
-        }
-
-        if (type == mjOBJ_UNKNOWN) { // Attach world body contents
-          source_elem = asset->element;
-        } else { // Attach specific body or frame
-          source_elem = mjs_findElement(asset, type, child_name.c_str());
-          if (!source_elem) {
-            throw mjXError(elem, "%s",
-                           (string("could not find ") + mju_type2Str(type) + " '" + child_name +
-                            "' in model asset '" + model_name + "'").c_str());
-          }
-        }
-      }
-
-      mjsFrame* pframe = frame ? frame : mjs_addFrame(body, nullptr);
-      // Set default for the new frame from the current context
-      mjs_setDefault(pframe->element, mjs_getDefault(frame ? frame->element : body->element));
-      mjs_setString(pframe->info, ("line = " + std::to_string(elem->GetLineNum())).c_str());
-
-      if (!mjs_attach(pframe->element, source_elem, prefix.c_str(), "")) {
-        throw mjXError(elem, "%s", stripError(mjs_getError(spec)));
-      }
-    }
-
-    // no match
-    else {
-      throw mjXError(elem, "unrecognized model element '%s'", name.c_str());
-    }
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// contact section parser
-void mjXReader::Contact(XMLElement* section) {
-  string text, name;
-  XMLElement* elem;
-
-  // iterate over child elements
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get sub-element name
-    name = elem->Value();
-
-    // get class if specified, otherwise use default0
-    const mjsDefault* def = GetClass(elem);
-    if (!def) {
-      def = mjs_getSpecDefault(spec);
-    }
-
-    // geom pair to include
-    if (name == "pair") {
-      // create pair and parse
-      mjsPair* pair = mjs_addPair(spec, def);
-      OnePair(elem, pair);
-    }
-
-    // body pair to exclude
-    else if (name == "exclude") {
-      mjsExclude* exclude = mjs_addExclude(spec);
-
-      // write error info
-      mjs_setString(exclude->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-
-      // read attributes
-      ReadAttrTable(elem, exclude, exclude->element, kExcludeAttrs,
-                    kExcludeAttrsN);
-    }
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// constraint section parser
-void mjXReader::Equality(XMLElement* section) {
-  XMLElement* elem;
-
-  // iterate over child elements
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get class if specified, otherwise use default0
-    const mjsDefault* def = GetClass(elem);
-    if (!def) {
-      def = mjs_getSpecDefault(spec);
-    }
-
-    // create equality constraint and parse
-    mjsEquality* equality = mjs_addEquality(spec, def);
-    OneEquality(elem, equality);
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// deformable section parser
-void mjXReader::Deformable(XMLElement* section, const mjVFS* vfs) {
-  string name;
-  XMLElement* elem;
-
-  // iterate over child elements
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get sub-element name
-    name = elem->Value();
-
-    // get class if specified, otherwise use default0
-    const mjsDefault* def = GetClass(elem);
-    if (!def) {
-      def = mjs_getSpecDefault(spec);
-    }
-
-    // flex sub-element
-    if (name == "flex") {
-      // create flex and parse
-      mjsFlex* flex = mjs_addFlex(spec);
-      OneFlex(elem, flex);
-    }
-
-    // skin sub-element
-    else if (name == "skin") {
-      // create skin and parse
-      mjsSkin* skin = mjs_addSkin(spec);
-      OneSkin(elem, skin, vfs);
-    }
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// tendon section parser
-void mjXReader::Tendon(XMLElement* section) {
-  string text, text1;
-  XMLElement* elem;
-  double data;
-
-  // iterate over child elements
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get class if specified, otherwise use default0
-    const mjsDefault* def = GetClass(elem);
-    if (!def) {
-      def = mjs_getSpecDefault(spec);
-    }
-
-    // create tendon and parse
-    mjsTendon* tendon = mjs_addTendon(spec, def);
-    OneTendon(elem, tendon);
-
-    // process wrap sub-elements
-    XMLElement* sub = FirstChildElement(elem);
-    while (sub) {
-      // get wrap type
-      string type = sub->Value();
-      mjsWrap* wrap;;
-
-      // read attributes depending on type
-      if (type == "site") {
-        ReadAttrTxt(sub, "site", text, true);
-        wrap = mjs_wrapSite(tendon, text.c_str());
-      }
-
-      else if (type == "geom") {
-        ReadAttrTxt(sub, "geom", text, true);
-        if (!ReadAttrTxt(sub, "sidesite", text1)) {
-          text1.clear();
-        }
-        wrap = mjs_wrapGeom(tendon, text.c_str(), text1.c_str());
-      }
-
-      else if (type == "pulley") {
-        ReadAttr(sub, "divisor", 1, &data, text, true);
-        wrap = mjs_wrapPulley(tendon, data);
-      }
-
-      else if (type == "joint") {
-        ReadAttrTxt(sub, "joint", text, true);
-        ReadAttr(sub, "coef", 1, &data, text1, true);
-        wrap = mjs_wrapJoint(tendon, text.c_str(), data);
-      }
-
-      else {
-        throw mjXError(sub, "unknown wrap type");  // SHOULD NOT OCCUR
-      }
-
-      mjs_setString(wrap->info, ("line " + std::to_string(sub->GetLineNum())).c_str());
-
-      // advance to next sub-element
-      sub = NextSiblingElement(sub);
-    }
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// actuator section parser
-void mjXReader::Actuator(XMLElement* section) {
-  XMLElement* elem;
-
-  // iterate over child elements
-  elem = FirstChildElement(section);
-  while (elem) {
-    // get class if specified, otherwise use default0
-    const mjsDefault* def = GetClass(elem);
-    if (!def) {
-      def = mjs_getSpecDefault(spec);
-    }
-
-    // create actuator and parse
-    mjsActuator* actuator = mjs_addActuator(spec, def);
-    OneActuator(elem, actuator);
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// sensor section parser
-void mjXReader::Sensor(XMLElement* section) {
-  int n;
-  XMLElement* elem = FirstChildElement(section);
-  while (elem) {
-    // create sensor, get string type
-    mjsSensor* sensor = mjs_addSensor(spec);
-    string type = elem->Value();
-    string text, objname, refname;
-
-    // mechanical attributes shared by all sensor types
-    ReadAttrTable(elem, sensor, sensor->element, kSensorBaseAttrs,
-                  kSensorBaseAttrsN);
-
-    // common robotic sensors, attached to a site
-    // sensors fully described by the schema: constants and references
-    bool dispatched = false;
-    for (int i = 0; i < kSensorDispatchN; i++) {
-      if (type == kSensorDispatch[i].tag) {
-        ReadAttrTable(elem, sensor, sensor->element, kSensorDispatch[i].rows,
-                      kSensorDispatch[i].n);
-        dispatched = true;
-        break;
-      }
-    }
-    if (dispatched) {}
-    else if (type == "rangefinder") {
-      sensor->type = mjSENS_RANGEFINDER;
-      bool use_site = ReadAttrTxt(elem, "site", objname, false);
-      ReadAttrTxt(elem, "camera", objname, false);
-      sensor->objtype = use_site ? mjOBJ_SITE : mjOBJ_CAMERA;
-
-      // process data specification (intprm[0])
-      int dataspec = 1 << mjRAYDATA_DIST;
-      std::vector<int> raydata(mjNRAYDATA);
-      int nkeys = MapValues(elem, "data", raydata.data(), raydata_map, mjNRAYDATA);
-      if (nkeys) {
-        dataspec = 1 << raydata[0];
-
-        // check ordering while adding bits to dataspec
-        for (int i = 1; i < nkeys; ++i) {
-          if (raydata[i] <= raydata[i-1]) {
-            std::string correct_order;
-            for (int j = 0; j < mjNRAYDATA; ++j) {
-              correct_order += raydata_map[j].key;
-              if (j < mjNRAYDATA - 1) correct_order += ", ";
-            }
-            throw mjXError(elem, "data attributes must be in order: %s", correct_order.c_str());
-          }
-          dataspec |= 1 << raydata[i];
-        }
-      }
-      sensor->intprm[0] = dataspec;
-    }
-    else if (type == "distance" || type == "normal" || type == "fromto") {
-      bool has_body1 = ReadAttrTxt(elem, "body1", objname);
-      ReadAttrTxt(elem, "geom1", objname);
-      sensor->objtype = has_body1 ? mjOBJ_BODY : mjOBJ_GEOM;
-      bool has_body2 = ReadAttrTxt(elem, "body2", refname);
-      ReadAttrTxt(elem, "geom2", refname);
-      sensor->reftype = has_body2 ? mjOBJ_BODY : mjOBJ_GEOM;
-      if (type == "distance") {
-        sensor->type = mjSENS_GEOMDIST;
-      } else if (type == "normal") {
-        sensor->type = mjSENS_GEOMNORMAL;
-      } else {
-        sensor->type = mjSENS_GEOMFROMTO;
-      }
-    }
-    else if (type == "contact") {
-      // first matching criterion
-      bool has_site = ReadAttrTxt(elem, "site", objname);
-      bool has_body1 = ReadAttrTxt(elem, "body1", objname);
-      bool has_subtree1 = ReadAttrTxt(elem, "subtree1", objname);
-      bool has_geom1 = ReadAttrTxt(elem, "geom1", objname);
-      if (has_site)          { sensor->objtype = mjOBJ_SITE; }
-      else if (has_body1)    { sensor->objtype = mjOBJ_BODY; }
-      else if (has_subtree1) { sensor->objtype = mjOBJ_XBODY; }
-      else if (has_geom1)    { sensor->objtype = mjOBJ_GEOM; }
-      else                   { sensor->objtype = mjOBJ_UNKNOWN; }
-
-      // second matching criterion
-      bool has_body2 = ReadAttrTxt(elem, "body2", refname);
-      bool has_subtree2 = ReadAttrTxt(elem, "subtree2", refname);
-      bool has_geom2 = ReadAttrTxt(elem, "geom2", refname);
-      if (has_body2)         { sensor->reftype = mjOBJ_BODY; }
-      else if (has_subtree2) { sensor->reftype = mjOBJ_XBODY; }
-      else if (has_geom2)    { sensor->reftype = mjOBJ_GEOM; }
-      else                   { sensor->reftype = mjOBJ_UNKNOWN; }
-
-      // process data specification (intprm[0])
-      int dataspec = 1 << mjCONDATA_FOUND;
-      std::vector<int> condata(mjNCONDATA);
-      int nkeys = MapValues(elem, "data", condata.data(), condata_map, mjNCONDATA);
-      if (nkeys) {
-        dataspec = 1 << condata[0];
-
-        // check ordering while adding bits to dataspec
-        for (int i = 1; i < nkeys; ++i) {
-          if (condata[i] <= condata[i-1]) {
-            std::string correct_order;
-            for (int j = 0; j < mjNCONDATA; ++j) {
-              correct_order += condata_map[j].key;
-              if (j < mjNCONDATA - 1) correct_order += ", ";
-            }
-            throw mjXError(elem, "data attributes must be in order: %s", correct_order.c_str());
-          }
-          dataspec |= 1 << condata[i];
-        }
-      }
-      sensor->intprm[0] = dataspec;
-
-      // reduction type (intprm[1])
-      sensor->intprm[1] = 0;
-      if (MapValue(elem, "reduce", &n, reduce_map, reduce_sz)) {
-        sensor->intprm[1] = n;
-      }
-
-      // number of contacts (intprm[2])
-      sensor->intprm[2] = 1;
-      ReadAttrInt(elem, "num", &sensor->intprm[2]);
-      if (sensor->intprm[2] <= 0) {
-        throw mjXError(elem, "'num' must be positive in sensor");
-      }
-
-      // sensor type
-      sensor->type = mjSENS_CONTACT;
-    }
-    else if (type == "user") {
-      sensor->type = mjSENS_USER;
-      ReadAttrTxt(elem, "objname", objname);
-      if (ReadAttrTxt(elem, "objtype", text)) {
-        sensor->objtype = (mjtObj)mju_str2Type(text.c_str());
-      }
-      ReadAttrInt(elem, "dim", &sensor->dim, true);
-
-      // keywords
-      if (MapValue(elem, "needstage", &n, stage_map, stage_sz)) {
-        sensor->needstage = (mjtStage)n;
-      }
-      if (MapValue(elem, "datatype", &n, datatype_map, datatype_sz)) {
-        sensor->datatype = (mjtDataType)n;
-      }
-    }
-
-    // tactile sensor
-    if (type == "tactile") {
-      sensor->type = mjSENS_TACTILE;
-      sensor->reftype = mjOBJ_GEOM;
-      ReadAttrTxt(elem, "geom", refname, /*required=*/true);
-
-      // associate the sensor with a mesh
-      sensor->objtype = mjOBJ_MESH;
-      ReadAttrTxt(elem, "mesh", objname, /*required=*/true);
-      mjs_setString(sensor->objname, objname.c_str());
-    }
-
-    else if (type == "plugin") {
-      sensor->type = mjSENS_PLUGIN;
-      OnePlugin(elem, &sensor->plugin);
-      ReadAttrTxt(elem, "objtype", text);
-      sensor->objtype = (mjtObj)mju_str2Type(text.c_str());
-      ReadAttrTxt(elem, "objname", objname);
-      if (sensor->objtype != mjOBJ_UNKNOWN && objname.empty()) {
-        throw mjXError(elem, "objtype is specified but objname is not");
-      }
-      if (sensor->objtype == mjOBJ_UNKNOWN && !objname.empty()) {
-        throw mjXError(elem, "objname is specified but objtype is not");
-      }
-      if (ReadAttrTxt(elem, "reftype", text)) {
-        sensor->reftype = (mjtObj)mju_str2Type(text.c_str());
-      }
-      ReadAttrTxt(elem, "refname", refname);
-      if (sensor->reftype != mjOBJ_UNKNOWN && refname.empty()) {
-        throw mjXError(elem, "reftype is specified but refname is not");
-      }
-      if (sensor->reftype == mjOBJ_UNKNOWN && !refname.empty()) {
-        throw mjXError(elem, "refname is specified but reftype is not");
-      }
-    }
-
-    if (!objname.empty()) {
-      mjs_setString(sensor->objname, objname.c_str());
-    }
-
-    if (!refname.empty()) {
-      mjs_setString(sensor->refname, refname.c_str());
-    }
-
-    // write info
-    mjs_setString(sensor->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// keyframe section parser
-void mjXReader::Keyframe(XMLElement* section) {
-  XMLElement* elem;
-
-  // iterate over child elements
-  elem = FirstChildElement(section);
-  while (elem) {
-    string name = "";
-
-    // add keyframe
-    mjsKey* key = mjs_addKey(spec);
-
-    // read name: set even when the attribute is absent
-    ReadAttrTxt(elem, "name", name);
-    if (mjs_setName(key->element, name.c_str())) {
-      throw mjXError(elem, "%s", mjs_getError(spec));
-    }
-
-    // mechanical attributes
-    ReadAttrTable(elem, key, key->element, kKeyAttrs, kKeyAttrsN);
-
-    // advance to next element
-    elem = NextSiblingElement(elem);
-  }
-}
-
-
-
-// get defaults class
-const mjsDefault* mjXReader::GetClass(XMLElement* section) {
-  string text;
-
-  if (!ReadAttrTxt(section, "class", text)) {
-    return nullptr;
-  }
-
-  const mjsDefault* def = mjs_findDefault(spec, text.c_str());
-  if (!def) {
-    throw mjXError(
-            section,
-            string("unknown default class name '" + text + "'").c_str());
-  }
-  return def;
-}
-
-void mjXReader::SetModelFileDir(const string& modelfiledir) {
-  modelfiledir_ = FilePath(modelfiledir);
-}
-
-void mjXReader::SetAssetDir(const string& assetdir) {
-  assetdir_ = FilePath(assetdir);
-}
-
-void mjXReader::SetMeshDir(const string& meshdir) {
-  meshdir_ = FilePath(meshdir);
-}
-
-void mjXReader::SetTextureDir(const string& texturedir) {
-  texturedir_ = FilePath(texturedir);
-}
-
-FilePath mjXReader::AssetDir() const {
-  return modelfiledir_ + assetdir_;
-}
-
-FilePath mjXReader::MeshDir() const {
-  if (meshdir_.empty()) {
-    return AssetDir();
-  }
-  return modelfiledir_ + meshdir_;
-}
-FilePath mjXReader::TextureDir() const {
-  if (texturedir_.empty()) {
-    return AssetDir();
-  }
-  return modelfiledir_ + texturedir_;
-}
diff --git a/src/xml/xml_native_reader.h b/src/xml/xml_native_reader.h
deleted file mode 100644
index d37c44c0..00000000
--- a/src/xml/xml_native_reader.h
+++ /dev/null
@@ -1,121 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_XML_XML_NATIVE_READER_H_
-#define MUJOCO_SRC_XML_XML_NATIVE_READER_H_
-
-#include <sstream>
-#include <string>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include <mujoco/mjspec.h>
-#include "user/user_util.h"
-#include "xml/xml_base.h"
-#include "xml/xml_util.h"
-#include "tinyxml2.h"
-
-class mjXReader : public mjXBase {
- public:
-  mjXReader();                                                         // constructor
-  virtual ~mjXReader() = default;                                      // destructor
-
-  void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr);  // parse XML document
-  void PrintSchema(std::stringstream& str, bool html, bool pad);       // print text or HTML schema
-
-  void SetModelFileDir(const std::string& modelfiledir);
-  const mujoco::user::FilePath& ModelFileDir() const { return modelfiledir_; }
-
-  // setters for directory defaults
-  void SetAssetDir(const std::string& assetdir);
-  void SetMeshDir(const std::string& meshdir);
-  void SetTextureDir(const std::string& texturedir);
-
-  // XML sections embedded in all formats
-  static void Compiler(tinyxml2::XMLElement* section, mjSpec* s);    // compiler section
-  static void Option(tinyxml2::XMLElement* section, mjSpec* s, mjOption* opt);  // option section
-  static void Size(tinyxml2::XMLElement* section, mjSpec* s);        // size section
-
- private:
-  // XML section specific to MJCF
-  void Default(tinyxml2::XMLElement* section, const mjsDefault* def,
-               const mjVFS* vfs);                                      // default section
-  void Extension(tinyxml2::XMLElement* section);                       // extension section
-  void Custom(tinyxml2::XMLElement* section);                          // custom section
-  void Visual(tinyxml2::XMLElement* section);                          // visual section
-  void Statistic(tinyxml2::XMLElement* section);                       // statistic section
-  void Asset(tinyxml2::XMLElement* section, const mjVFS* vfs);         // asset section
-  void Body(tinyxml2::XMLElement* section, mjsBody* pbody,
-            mjsFrame* pframe, const mjVFS* vfs);                       // body/world section
-  void Contact(tinyxml2::XMLElement* section);                         // contact section
-  void Deformable(tinyxml2::XMLElement* section, const mjVFS* vfs);    // deformable section
-  void Equality(tinyxml2::XMLElement* section);                        // equality section
-  void Tendon(tinyxml2::XMLElement* section);                          // tendon section
-  void Actuator(tinyxml2::XMLElement* section);                        // actuator section
-  void Sensor(tinyxml2::XMLElement* section);                          // sensor section
-  void Keyframe(tinyxml2::XMLElement* section);                        // keyframe section
-
-  // table-driven attribute reading: the mechanical attributes of an element,
-  // driven by its generated mjXAttr rows (see mjcf_read_table.inc). The
-  // static core handles everything except element names; the member wrapper
-  // adds kName handling and defaults-context awareness.
-  void ReadAttrTable(tinyxml2::XMLElement* elem, void* obj, mjsElement* el,
-                     const struct mjXAttr* rows, int nrow);
-  static void ReadAttrTableCore(tinyxml2::XMLElement* elem, void* obj,
-                                const struct mjXAttr* rows, int nrow,
-                                bool skipnodefault,
-                                const void* authored = nullptr);
-
-  // single element parsers, used in defaults and main body
-  void OneFlex(tinyxml2::XMLElement* elem, mjsFlex* pflex);
-  void OneMesh(tinyxml2::XMLElement* elem, mjsMesh* pmesh, const mjVFS* vfs);
-  void OneSkin(tinyxml2::XMLElement* elem, mjsSkin* pskin, const mjVFS* vfs);
-  void OneMaterial(tinyxml2::XMLElement* elem, mjsMaterial* pmaterial);
-  void OneJoint(tinyxml2::XMLElement* elem, mjsJoint* pjoint);
-  void OneGeom(tinyxml2::XMLElement* elem, mjsGeom* pgeom);
-  void OneSite(tinyxml2::XMLElement* elem, mjsSite* site);
-  void OneCamera(tinyxml2::XMLElement* elem, mjsCamera* pcamera);
-  void OneLight(tinyxml2::XMLElement* elem, mjsLight* plight);
-  void OnePair(tinyxml2::XMLElement* elem, mjsPair* ppair);
-  void OneEquality(tinyxml2::XMLElement* elem, mjsEquality* pequality);
-  void OneTendon(tinyxml2::XMLElement* elem, mjsTendon* ptendon);
-  void OneActuator(tinyxml2::XMLElement* elem, mjsActuator* pactuator);
-  void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, mjsFrame* pframe,
-                    const mjsDefault* def);
-  void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody, const mjVFS* vfs);
-  void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
-
-  mjXSchema schema;                                     // schema used for validation
-  const mjsDefault* GetClass(tinyxml2::XMLElement* section);  // get default class name
-
-  bool readingdefaults;  // true while reading defaults
-
-  // accessors for directory defaults
-  mujoco::user::FilePath AssetDir() const;
-  mujoco::user::FilePath MeshDir() const;
-  mujoco::user::FilePath TextureDir() const;
-
-  mujoco::user::FilePath modelfiledir_;
-  mujoco::user::FilePath assetdir_;
-  mujoco::user::FilePath meshdir_;
-  mujoco::user::FilePath texturedir_;
-};
-
-// MJCF schema table, generated from mjcf.schema into mjcf_table.inc
-extern const int nMJCF;
-extern std::vector<const char*> MJCF[];
-extern const mjXConstraintDef MJCF_constraints[];
-extern const int nMJCF_constraints;
-
-#endif  // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
deleted file mode 100644
index f5431818..00000000
--- a/src/xml/xml_native_writer.cc
+++ /dev/null
@@ -1,2333 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "xml/xml_native_writer.h"
-
-#include <array>
-#include <cstddef>
-#include <cstdio>
-#include <string>
-#include <string_view>
-#include <unordered_set>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_io.h"
-#include "engine/engine_plugin.h"
-#include "engine/engine_support.h"
-#include "engine/engine_util_errmem.h"
-#include "engine/engine_util_misc.h"
-#include "user/user_model.h"
-#include "user/user_objects.h"
-#include "user/user_util.h"
-#include "xml/xml_base.h"
-#include "xml/xml_util.h"
-#include "tinyxml2.h"
-
-// typed attribute rows, generated from mjcf.schema; shared with the reader
-#include "xml/generated/mjcf_read_table.inc"
-
-namespace {
-
-using std::string;
-using std::string_view;
-using tinyxml2::XMLComment;
-using tinyxml2::XMLDocument;
-using tinyxml2::XMLElement;
-using mujoco::user::VectorToString;
-
-}  // namespace
-
-
-
-// custom XML indentation: 2 spaces rather than the default 4
-class mj_XMLPrinter : public tinyxml2::XMLPrinter {
-  using tinyxml2::XMLPrinter::XMLPrinter;
-
- public:
-    void PrintSpace( int depth ) {
-      for (int i=0; i < depth; ++i) {
-        Write( "  " );
-      }
-    }
-};
-
-
-// save XML file using custom 2-space indentation
-static string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
-  doc.ClearError();
-  mj_XMLPrinter stream(nullptr, /*compact=*/false);
-  doc.Print(&stream);
-  if (doc.ErrorID()) {
-    mjCopyError(error, doc.ErrorStr(), error_sz);
-    return "";
-  }
-  string str = string(stream.CStr());
-
-  // top level sections
-  std::array<string, 17> sections = {
-    "<actuator", "<asset",      "<compiler", "<contact>",  "<custom",
-    "<default>", "<deformable", "<equality", "<extension", "<keyframe",
-    "<option",   "<sensor",     "<size",     "<statistic", "<tendon",
-    "<visual",   "<worldbody"};
-
-  // position of newline before first section
-  size_t first_pos = string::npos;
-
-  // insert newlines before section headers
-  for (const string& section : sections) {
-    std::size_t pos = 0;
-    while ((pos = str.find(section, pos)) != string::npos) {
-      // find newline before this section
-      std::size_t line_pos = str.rfind('\n', pos);
-
-      // save position of first section
-      if (line_pos < first_pos) first_pos = line_pos;
-
-      // insert another newline
-      if (line_pos != string::npos) {
-        str.insert(line_pos + 1, 1, '\n');
-        pos++;  // account for inserted newline
-      }
-
-      // advance
-      pos += section.length();
-    }
-  }
-
-  // remove added newline before the first section
-  if (first_pos != string::npos) {
-    str.erase(first_pos, 1);
-  }
-
-  return str;
-}
-
-
-// insert end child with given name, return child
-XMLElement* mjXWriter::InsertEnd(XMLElement* parent, const char* name) {
-  XMLElement* result = parent->GetDocument()->NewElement(name);
-  parent->InsertEndChild(result);
-
-  return result;
-}
-
-
-//---------------------------------- class mjXWriter: one-element writers --------------------------
-
-// write flex
-void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
-  string text;
-  mjCFlex defflex;
-
-  // common attributes
-  WriteAttrTxt(elem, "name", flex->name);
-  WriteAttrTable(elem, static_cast<const mjsFlex*>(flex),
-                 static_cast<const mjsFlex*>(&defflex), kFlexAttrs,
-                 kFlexAttrsN);
-  if (flex->get_material() != defflex.get_material()) {
-    WriteAttrTxt(elem, "material", flex->get_material());
-  }
-  WriteAttr(elem, "cellcount", 3, flex->spec.cellcount, defflex.spec.cellcount);
-  if (flex->spec.order != defflex.spec.order) {
-    string dof_str = "full";
-    if (flex->spec.order == 1) dof_str = "trilinear";
-    else if (flex->spec.order == 2) dof_str = "quadratic";
-    WriteAttrTxt(elem, "dof", dof_str);
-  }
-
-  // data vectors
-  if (!flex->get_vertbody().empty()) {
-    text = VectorToString(flex->get_vertbody());
-    WriteAttrTxt(elem, "body", text);
-  }
-  if (!flex->get_vert().empty()) {
-    text = VectorToString(flex->get_vert());
-    WriteAttrTxt(elem, "vertex", text);
-  }
-  if (!flex->get_elem().empty()) {
-    text = VectorToString(flex->get_elem());
-    WriteAttrTxt(elem, "element", text);
-  }
-  if (!flex->get_texcoord().empty()) {
-    text = VectorToString(flex->get_texcoord());
-    WriteAttrTxt(elem, "texcoord", text);
-  }
-  if (!flex->get_elemtexcoord().empty()) {
-    text = VectorToString(flex->get_elemtexcoord());
-    WriteAttrTxt(elem, "elemtexcoord", text);
-  }
-  if (!flex->get_nodebody().empty()) {
-    text = VectorToString(flex->get_nodebody());
-    WriteAttrTxt(elem, "node", text);
-  }
-  if (!flex->get_node().empty()) {
-    WriteVector(elem, "nodecoord", flex->get_node());
-  }
-
-  // contact subelement
-  XMLElement* cont = InsertEnd(elem, "contact");
-  WriteAttrTable(cont, static_cast<const mjsFlex*>(flex),
-                 static_cast<const mjsFlex*>(&defflex), kFlexcomp_contactAttrs,
-                 kFlexcomp_contactAttrsN);
-
-  // remove contact is no attributes
-  if (!cont->FirstAttribute()) {
-    elem->DeleteChild(cont);
-  }
-
-  // elasticity subelement
-  XMLElement* elastic = InsertEnd(elem, "elasticity");
-  WriteAttrTable(elastic, static_cast<const mjsFlex*>(flex),
-                 static_cast<const mjsFlex*>(&defflex), kElasticityAttrs,
-                 kElasticityAttrsN);
-
-  // edge subelement
-  XMLElement* edge = InsertEnd(elem, "edge");
-  WriteAttrTable(edge, static_cast<const mjsFlex*>(flex),
-                 static_cast<const mjsFlex*>(&defflex), kFlex_edgeAttrs,
-                 kFlex_edgeAttrsN);
-
-  // remove edge if no attributes
-  if (!edge->FirstAttribute()) {
-    elem->DeleteChild(edge);
-  }
-}
-
-
-
-// write mesh
-void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
-  string text;
-
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", mesh->name);
-    if (mesh->classname != "main") {
-      WriteAttrTxt(elem, "class", mesh->classname);
-    }
-    WriteAttrTxt(elem, "content_type", mesh->ContentType());
-    WriteAttrTxt(elem, "file", mesh->File());
-
-    // write vertex data
-    if (!mesh->UserVert().empty()) {
-      text = VectorToString(mesh->UserVert());
-      WriteAttrTxt(elem, "vertex", text);
-    }
-
-    // write normal data
-    if (!mesh->UserNormal().empty()) {
-      text = VectorToString(mesh->UserNormal());
-      WriteAttrTxt(elem, "normal", text);
-    }
-
-    // write texcoord data
-    if (!mesh->UserTexcoord().empty()) {
-      text = VectorToString(mesh->UserTexcoord());
-      WriteAttrTxt(elem, "texcoord", text);
-    }
-
-    // write face data
-    if (!mesh->UserFace().empty()) {
-      text = VectorToString(mesh->UserFace());
-      WriteAttrTxt(elem, "face", text);
-    }
-  }
-
-  // defaults and regular
-  WriteAttrTable(elem, static_cast<const mjsMesh*>(mesh), &def->Mesh().spec,
-                 kMeshAttrs, kMeshAttrsN);
-  if (mesh->Material() != def->Mesh().Material()) {
-    WriteAttrTxt(elem, "material", mesh->Material());
-  }
-}
-
-
-
-// write skin
-void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* skin) {
-  string text;
-  mjCSkin defskin;
-
-  // write attributes
-  WriteAttrTxt(elem, "name", skin->name);
-  WriteAttrTxt(elem, "file", skin->File());
-  WriteAttrTxt(elem, "material", skin->get_material());
-  WriteAttrInt(elem, "group", skin->group, 0);
-  WriteAttrTable(elem, static_cast<const mjsSkin*>(skin),
-                 static_cast<const mjsSkin*>(&defskin), kSkinAttrs,
-                 kSkinAttrsN);
-
-  // write data if no file
-  if (skin->File().empty()) {
-    // mesh vert
-    text = VectorToString(skin->get_vert());
-    WriteAttrTxt(elem, "vertex", text);
-
-    // mesh texcoord
-    if (!skin->get_texcoord().empty()) {
-      text = VectorToString(skin->get_texcoord());
-      WriteAttrTxt(elem, "texcoord", text);
-    }
-
-    // mesh face
-    text = VectorToString(skin->get_face());
-    WriteAttrTxt(elem, "face", text);
-
-    // bones
-    for (size_t i=0; i < skin->get_bodyname().size(); i++) {
-      // make bone
-      XMLElement* bone = InsertEnd(elem, "bone");
-
-      // write attributes
-      WriteAttrTxt(bone, "body", skin->get_bodyname()[i]);
-      WriteAttr(bone, "bindpos", 3, skin->get_bindpos().data()+3*i);
-      WriteAttr(bone, "bindquat", 4, skin->get_bindquat().data()+4*i);
-
-      // write vertid
-      text = VectorToString(skin->get_vertid()[i]);
-      WriteAttrTxt(bone, "vertid", text);
-
-      // write vertweight
-      text = VectorToString(skin->get_vertweight()[i]);
-      WriteAttrTxt(bone, "vertweight", text);
-    }
-  }
-}
-
-
-
-// write material
-void mjXWriter::OneMaterial(XMLElement* elem, const mjCMaterial* material, mjCDef* def) {
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", material->name);
-    if (material->classname != "main") {
-      WriteAttrTxt(elem, "class", material->classname);
-    }
-  }
-
-  // defaults and regular
-  // check if we have non-rgb textures
-  bool has_non_rgb = false;
-  for (int i=1; i < mjNTEXROLE; i++) {
-    if (!material->textures_[i].empty()) {
-      if (i != mjTEXROLE_RGB) {
-        has_non_rgb = true;
-      }
-    }
-  }
-
-  // if we have non-rgb textures, write them as layers
-  if (has_non_rgb) {
-    for (int i=1; i < mjNTEXROLE; i++) {
-      if (!material->textures_[i].empty()) {
-        XMLElement * child_elem = InsertEnd(elem, "layer");
-        WriteAttrTxt(child_elem, "texture", material->textures_[i]);
-        WriteAttrTxt(child_elem, "role", FindValue(texrole_map, 9, i));
-      }
-    }
-  } else {
-    if (material->textures_[mjTEXROLE_RGB] != def->Material().textures_[mjTEXROLE_RGB]) {
-      WriteAttrTxt(elem, "texture", material->get_texture(mjTEXROLE_RGB));
-    }
-  }
-
-  WriteAttrTable(elem, static_cast<const mjsMaterial*>(material),
-                 &def->Material().spec, kMaterialAttrs, kMaterialAttrsN);
-}
-
-
-
-// write joint
-void mjXWriter::OneJoint(XMLElement* elem, const mjCJoint* joint, mjCDef* def,
-                         string_view classname) {
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", joint->name);
-    if (classname != joint->classname && joint->classname != "main") {
-      WriteAttrTxt(elem, "class", joint->classname);
-    }
-  }
-
-  // defaults and regular
-  WriteAttrTable(elem, static_cast<const mjsJoint*>(joint), &def->Joint().spec,
-                 kJointAttrs, kJointAttrsN);
-  if (joint->type != mjJNT_FREE) {
-    WriteAttr(elem, "pos", 3, joint->pos, def->Joint().spec.pos);
-  }
-  if (joint->type != mjJNT_FREE && joint->type != mjJNT_BALL) {
-    WriteAttr(elem, "axis", 3, joint->axis, def->Joint().spec.axis);
-  }
-  if (joint->type != mjJNT_FREE) {
-    WriteAttrKey(elem, "limited", FalseTrueAuto_map, 3, joint->limited, def->Joint().limited);
-  }
-  if (joint->type != mjJNT_FREE && joint->type != mjJNT_BALL) {
-    WriteAttrKey(elem, "actuatorfrclimited", FalseTrueAuto_map, 3, joint->actfrclimited,
-                def->Joint().actfrclimited);
-  }
-
-  // userdata
-  if (writingdefaults) {
-    WriteVector(elem, "user", joint->get_userdata());
-  } else {
-    WriteVector(elem, "user", joint->get_userdata(), def->Joint().get_userdata());
-  }
-}
-
-// write geom
-void mjXWriter::OneGeom(XMLElement* elem, const mjCGeom* geom, mjCDef* def, string_view classname) {
-  double unitq[4] = {1, 0, 0, 0};
-  double mass = 0;
-
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", geom->name);
-    if (classname != geom->classname && geom->classname != "main") {
-      WriteAttrTxt(elem, "class", geom->classname);
-    }
-    if (mjGEOMINFO[geom->type]) {
-      WriteAttr(elem, "size", mjGEOMINFO[geom->type], geom->size, def->Geom().size);
-    }
-    if (mjuu_defined(geom->mass)) {
-      mass = geom->GetVolume() * def->Geom().density;
-    }
-
-    // mesh geom
-    if (geom->type == mjGEOM_MESH || geom->type == mjGEOM_SDF) {
-      mjCMesh* mesh = geom->mesh;
-
-      // write pos/quat if there is a difference
-      if (!SameVector(geom->pos, mesh->GetPosPtr(), 3) ||
-          !SameVector(geom->quat, mesh->GetQuatPtr(), 4)) {
-        // recover geom pos/quat before mesh frame transformation
-        double p[3], q[4];
-        mjuu_copyvec(p, geom->pos, 3);
-        mjuu_copyvec(q, geom->quat, 4);
-        mjuu_frameaccuminv(p, q, mesh->GetPosPtr(),
-                           mesh->GetQuatPtr());
-
-        // write
-        WriteAttr(elem, "pos", 3, p, unitq+1);
-        WriteAttr(elem, "quat", 4, q, unitq);
-      }
-    }
-
-    // non-mesh geom
-    else {
-      WriteAttr(elem, "pos", 3, geom->pos, unitq+1);
-      WriteAttr(elem, "quat", 4, geom->quat, unitq);
-    }
-  } else {
-    WriteAttr(elem, "size", 3, geom->size, def->Geom().size);
-  }
-
-  // defaults and regular
-  WriteAttrTable(elem, static_cast<const mjsGeom*>(geom), &def->Geom().spec,
-                 kGeomAttrs, kGeomAttrsN);
-  WriteAttrKey(elem, "fluidshape",
-               fluidshape_map, 2, geom->fluid_ellipsoid, def->Geom().fluid_ellipsoid);
-  if (geom->type != mjGEOM_MESH) {
-    WriteAttrKey(elem, "shellinertia", bool_map, 2, geom->typeinertia,
-                 def->Geom().typeinertia);
-  }
-  if (mjuu_defined(geom->mass)) {
-    WriteAttr(elem, "mass", 1, &geom->mass_, &mass);
-  } else {
-    WriteAttr(elem, "density", 1, &geom->density, &def->Geom().density);
-  }
-  if (geom->get_material() != def->Geom().get_material()) {
-    WriteAttrTxt(elem, "material", geom->get_material());
-  }
-
-  // hfield and mesh attributes
-  if (geom->type == mjGEOM_HFIELD) {
-    WriteAttrTxt(elem, "hfield", geom->get_hfieldname());
-  }
-  if (geom->type == mjGEOM_MESH || geom->type == mjGEOM_SDF) {
-    WriteAttrTxt(elem, "mesh", geom->get_meshname());
-  }
-
-  // userdata
-  if (writingdefaults) {
-    WriteVector(elem, "user", geom->get_userdata());
-  } else {
-    WriteVector(elem, "user", geom->get_userdata(), def->Geom().get_userdata());
-  }
-
-  // write plugin
-  if (geom->plugin.active) {
-    OnePlugin(InsertEnd(elem, "plugin"), &geom->plugin);
-  }
-}
-
-// write site
-void mjXWriter::OneSite(XMLElement* elem, const mjCSite* site, mjCDef* def, string_view classname) {
-  double unitq[4] = {1, 0, 0, 0};
-
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", site->name);
-    if (classname != site->classname && site->classname != "main") {
-      WriteAttrTxt(elem, "class", site->classname);
-    }
-    WriteAttr(elem, "quat", 4, site->quat, unitq);
-    if (mjGEOMINFO[site->type]) {
-      WriteAttr(elem, "size", mjGEOMINFO[site->type], site->size, def->Site().size);
-    }
-  } else {
-    WriteAttr(elem, "size", 3, site->size, def->Site().size);
-  }
-
-  // defaults and regular
-  WriteAttrTable(elem, static_cast<const mjsSite*>(site), &def->Site().spec,
-                 kSiteAttrs, kSiteAttrsN);
-  if (site->get_material() != def->Site().get_material()) {
-    WriteAttrTxt(elem, "material", site->get_material());
-  }
-
-  // userdata
-  if (writingdefaults) {
-    WriteVector(elem, "user", site->get_userdata());
-  } else {
-    WriteVector(elem, "user", site->get_userdata(), def->Site().get_userdata());
-  }
-}
-
-// write camera
-void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* camera, mjCDef* def,
-                          string_view classname) {
-  double unitq[4] = {1, 0, 0, 0};
-
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", camera->name);
-    if (classname != camera->classname && camera->classname != "main") {
-      WriteAttrTxt(elem, "class", camera->classname);
-    }
-    WriteAttrTxt(elem, "target", camera->get_targetbody());
-    WriteAttr(elem, "quat", 4, camera->quat, unitq);
-  }
-
-  // defaults and regular
-  WriteAttrTable(elem, static_cast<const mjsCamera*>(camera),
-                 &def->Camera().spec, kCameraAttrs, kCameraAttrsN);
-
-  // camera intrinsics if specified
-  if (camera->sensor_size[0] > 0 && camera->sensor_size[1] > 0) {
-    WriteAttr(elem, "sensorsize", 2, camera->sensor_size);
-    WriteAttr(elem, "focal", 2, camera->focal_length, def->Camera().focal_length);
-    WriteAttr(elem, "focalpixel", 2, camera->focal_pixel, def->Camera().focal_pixel);
-    WriteAttr(elem, "principal", 2, camera->principal_length, def->Camera().principal_length);
-    WriteAttr(elem, "principalpixel", 2, camera->principal_pixel, def->Camera().principal_pixel);
-  } else {
-    WriteAttr(elem, "fovy", 1, &camera->fovy, &def->Camera().fovy);
-  }
-
-  // userdata
-  if (writingdefaults) {
-    WriteVector(elem, "user", camera->get_userdata());
-  } else {
-    WriteVector(elem, "user", camera->get_userdata(), def->Camera().get_userdata());
-  }
-}
-
-// write light
-void mjXWriter::OneLight(XMLElement* elem, const mjCLight* light, mjCDef* def,
-                         string_view classname) {
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", light->name);
-    if (classname != light->classname && light->classname != "main") {
-      WriteAttrTxt(elem, "class", light->classname);
-    }
-    WriteAttrTxt(elem, "target", light->get_targetbody());
-  }
-
-  // defaults and regular
-  WriteAttrTable(elem, static_cast<const mjsLight*>(light), &def->Light().spec,
-                 kLightAttrs, kLightAttrsN);
-  WriteAttrKey(elem, "type", lighttype_map, lighttype_sz, light->type, def->Light().type);
-  WriteAttrTxt(elem, "texture", light->get_texture());
-}
-
-// write pair
-// write the mechanical attributes of an element, driven by the same
-// generated rows the reader uses; see the declaration for the contract
-template <typename T>
-void mjXWriter::WriteAttrTable(XMLElement* elem, const T* obj, const T* def,
-                               const mjXAttr* rows, int nrow) {
-  const char* live = reinterpret_cast<const char*>(obj);
-  const char* dflt = reinterpret_cast<const char*>(def);
-  for (int i = 0; i < nrow; i++) {
-    const mjXAttr& row = rows[i];
-    if (row.handwrite || (writingdefaults && row.nodefault)) {
-      continue;
-    }
-    const char* base = live + row.offset;
-    // a null default object means the element has no defaults to compare
-    // against: every defined value is written
-    const char* dbase = dflt ? dflt + row.offset : nullptr;
-    const int dkey = dflt ? 0 : -12345;  // WriteAttrKey's write-always default
-    switch (row.kind) {
-      case mjXAttr::kInt:
-        WriteAttr(elem, row.attr, row.len, (const int*)base, (const int*)dbase,
-                  /*trim=*/!row.exact);
-        break;
-      case mjXAttr::kDouble:
-        WriteAttr(elem, row.attr, row.len, (const double*)base,
-                  (const double*)dbase, /*trim=*/!row.exact);
-        break;
-      case mjXAttr::kNum:
-        WriteAttr(elem, row.attr, row.len, (const mjtNum*)base,
-                  (const mjtNum*)dbase, /*trim=*/!row.exact);
-        break;
-      case mjXAttr::kFloat:
-        WriteAttr(elem, row.attr, row.len, (const float*)base,
-                  (const float*)dbase, /*trim=*/!row.exact);
-        break;
-      case mjXAttr::kEnum:
-        WriteAttrKey(elem, row.attr, row.map, row.mapsz, *(const int*)base,
-                     dbase ? *(const int*)dbase : dkey);
-        break;
-      case mjXAttr::kEnumByte:
-        WriteAttrKey(elem, row.attr, row.map, row.mapsz, *(const mjtByte*)base,
-                     dbase ? *(const mjtByte*)dbase : dkey);
-        break;
-      case mjXAttr::kBool:
-        WriteAttrKey(elem, row.attr, bool_map, 2, *(const mjtByte*)base,
-                     dbase ? *(const mjtByte*)dbase : dkey);
-        break;
-      case mjXAttr::kFlags:
-        if (!dbase || *(const int*)base != *(const int*)dbase) {
-          int value = *(const int*)base;
-          std::vector<int> data;
-          for (int j = 0; j < row.mapsz; j++) {
-            if (value & row.map[j].value) {
-              data.push_back(row.map[j].value);
-            }
-          }
-          if (!data.empty()) {
-            WriteAttrKeys(elem, row.attr, row.map, row.mapsz, data.data(),
-                          data.size(), 0);
-          }
-        }
-        break;
-      default:
-        // names, strings, files and custom-read attributes: OneX() remnant
-        break;
-    }
-  }
-}
-
-
-
-void mjXWriter::OnePair(XMLElement* elem, const mjCPair* pair, mjCDef* def) {
-  // regular
-  if (!writingdefaults) {
-    if (pair->classname != "main") {
-      WriteAttrTxt(elem, "class", pair->classname);
-    }
-    WriteAttrTxt(elem, "geom1", pair->get_geomname1());
-    WriteAttrTxt(elem, "geom2", pair->get_geomname2());
-  }
-
-  // defaults and regular
-  WriteAttrTxt(elem, "name", pair->name);
-  WriteAttrTable(elem, static_cast<const mjsPair*>(pair), &def->Pair().spec,
-                 kPairAttrs, kPairAttrsN);
-}
-
-
-
-// write equality
-void mjXWriter::OneEquality(XMLElement* elem, const mjCEquality* equality, mjCDef* def) {
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", equality->name);
-    if (equality->classname != "main") {
-      WriteAttrTxt(elem, "class", equality->classname);
-    }
-
-    switch (equality->type) {
-      case mjEQ_CONNECT:
-        if (equality->objtype == mjOBJ_BODY) {
-          WriteAttrTxt(elem, "body1", mjs_getString(equality->name1));
-          WriteAttrTxt(elem, "body2", mjs_getString(equality->name2));
-          WriteAttr(elem, "anchor", 3, equality->data);
-        } else {
-          WriteAttrTxt(elem, "site1", mjs_getString(equality->name1));
-          WriteAttrTxt(elem, "site2", mjs_getString(equality->name2));
-        }
-        break;
-
-      case mjEQ_WELD:
-        if (equality->objtype == mjOBJ_BODY) {
-          WriteAttrTxt(elem, "body1", mjs_getString(equality->name1));
-          WriteAttrTxt(elem, "body2", mjs_getString(equality->name2));
-          // unlike connect, weld's body semantic does not require anchor,
-          // and the reader zeroes it when absent: zeros is the default,
-          // not the constructor's union payload
-          double zero3[3] = {0, 0, 0};
-          WriteAttr(elem, "anchor", 3, equality->data, zero3);
-          WriteAttr(elem, "relpose", 7, equality->data+3,
-                    def->Equality().spec.data+3);
-        } else {
-          WriteAttrTxt(elem, "site1", mjs_getString(equality->name1));
-          WriteAttrTxt(elem, "site2", mjs_getString(equality->name2));
-        }
-        WriteAttr(elem, "torquescale", 1, equality->data+10,
-                  def->Equality().spec.data+10);
-        break;
-
-      case mjEQ_JOINT:
-        WriteAttrTxt(elem, "joint1", mjs_getString(equality->name1));
-        WriteAttrTxt(elem, "joint2", mjs_getString(equality->name2));
-        WriteAttr(elem, "polycoef", 5, equality->data,
-                  def->Equality().spec.data);
-        break;
-
-      case mjEQ_TENDON:
-        WriteAttrTxt(elem, "tendon1", mjs_getString(equality->name1));
-        WriteAttrTxt(elem, "tendon2", mjs_getString(equality->name2));
-        WriteAttr(elem, "polycoef", 5, equality->data,
-                  def->Equality().spec.data);
-        break;
-
-      case mjEQ_FLEX:
-      case mjEQ_FLEXVERT:
-        WriteAttrTxt(elem, "flex", mjs_getString(equality->name1));
-        break;
-
-      case mjEQ_FLEXSTRAIN:
-        WriteAttrTxt(elem, "flex", mjs_getString(equality->name1));
-        WriteAttr(elem, "cell", 3, equality->data, def->Equality().spec.data);
-        break;
-
-      default:
-        mju_error("mjXWriter: unknown equality type.");
-    }
-  }
-
-  // defaults and regular
-  WriteAttrTable(elem, static_cast<const mjsEquality*>(equality),
-                 &def->Equality().spec, kEqualityBaseAttrs,
-                 kEqualityBaseAttrsN);
-}
-
-
-
-// write tendon
-void mjXWriter::OneTendon(XMLElement* elem, const mjCTendon* tendon, mjCDef* def) {
-  bool fixed = (tendon->GetWrap(0) && tendon->GetWrap(0)->Type() == mjWRAP_JOINT);
-
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", tendon->name);
-    if (tendon->classname != "main") {
-      WriteAttrTxt(elem, "class", tendon->classname);
-    }
-  }
-
-  // defaults and regular; the fixed rows are the spatial rows without the
-  // appearance attributes, which is exactly the tag difference
-  if (fixed) {
-    WriteAttrTable(elem, static_cast<const mjsTendon*>(tendon),
-                   &def->Tendon().spec, kFixedAttrs, kFixedAttrsN);
-  } else {
-    WriteAttrTable(elem, static_cast<const mjsTendon*>(tendon),
-                   &def->Tendon().spec, kSpatialAttrs, kSpatialAttrsN);
-  }
-  if (tendon->springlength[0] != tendon->springlength[1] ||
-      def->Tendon().springlength[0] != def->Tendon().springlength[1]) {
-    WriteAttr(elem, "springlength", 2, tendon->springlength, def->Tendon().springlength);
-  } else {
-    WriteAttr(elem, "springlength", 1, tendon->springlength, def->Tendon().springlength);
-  }
-  if (!fixed && tendon->get_material() != def->Tendon().get_material()) {
-    WriteAttrTxt(elem, "material", tendon->get_material());
-  }
-
-  // userdata
-  if (writingdefaults) {
-    WriteVector(elem, "user", tendon->get_userdata());
-  } else {
-    WriteVector(elem, "user", tendon->get_userdata(), def->Tendon().get_userdata());
-  }
-}
-
-
-
-// write actuator
-void mjXWriter::OneActuator(XMLElement* elem, const mjCActuator* actuator, mjCDef* def) {
-  // regular
-  if (!writingdefaults) {
-    WriteAttrTxt(elem, "name", actuator->name);
-    if (actuator->classname != "main") {
-      WriteAttrTxt(elem, "class", actuator->classname);
-    }
-
-    // transmission target
-    switch (actuator->trntype) {
-      case mjTRN_JOINT:
-        WriteAttrTxt(elem, "joint", actuator->get_target());
-        break;
-
-      case mjTRN_JOINTINPARENT:
-        WriteAttrTxt(elem, "jointinparent", actuator->get_target());
-        break;
-
-      case mjTRN_TENDON:
-        WriteAttrTxt(elem, "tendon", actuator->get_target());
-        break;
-
-      case mjTRN_SLIDERCRANK:
-        WriteAttrTxt(elem, "cranksite", actuator->get_target());
-        WriteAttrTxt(elem, "slidersite", actuator->get_slidersite());
-        break;
-
-      case mjTRN_SITE:
-        WriteAttrTxt(elem, "site", actuator->get_target());
-        WriteAttrTxt(elem, "refsite", actuator->get_refsite());
-        break;
-
-      case mjTRN_BODY:
-        WriteAttrTxt(elem, "body", actuator->get_target());
-        break;
-
-      default:      // SHOULD NOT OCCUR
-        break;
-    }
-  }
-
-  // defaults and regular
-  WriteAttrTable(elem, static_cast<const mjsActuator*>(actuator),
-                 &def->Actuator().spec, kGeneralAttrs, kGeneralAttrsN);
-  WriteAttr(elem, "cranklength", 1, &actuator->cranklength, &def->Actuator().cranklength);
-  // special handling of actdim which has default value of -1
-  if (writingdefaults) {
-    WriteAttrInt(elem, "actdim", actuator->actdim, def->Actuator().actdim);
-  } else {
-    int default_actdim = (actuator->dyntype != mjDYN_NONE && actuator->dyntype != mjDYN_DCMOTOR);
-    WriteAttrInt(elem, "actdim", actuator->actdim, default_actdim);
-  }
-
-  // plugins: write config attributes
-  if (actuator->plugin.active) {
-    OnePlugin(elem, &actuator->plugin);
-  }
-
-  // non-plugins: write actuator parameters
-  else {
-    WriteAttrKey(elem, "gaintype", gain_map, gain_sz, actuator->gaintype, def->Actuator().gaintype);
-    if (actuator->gaintype == mjGAIN_SO3) {
-      WriteAttrKey(elem, "input", inputchart_map, inputchart_sz, actuator->ctrlspec,
-                   def->Actuator().ctrlspec);
-    } else if (actuator->ctrlspec != def->Actuator().ctrlspec) {
-      if (actuator->ctrlspec == mjINPUT_NONE) {
-        WriteAttrTxt(elem, "input", "none");
-      } else {
-        std::string tokens;
-        for (int k=0; k < inputbit_sz; k++) {
-          if (actuator->ctrlspec & inputbit_map[k].value) {
-            tokens += std::string(tokens.empty() ? "" : " ") + inputbit_map[k].key;
-          }
-        }
-        WriteAttrTxt(elem, "input", tokens);
-      }
-    }
-    WriteAttrKey(elem, "biastype", bias_map, bias_sz, actuator->biastype, def->Actuator().biastype);
-    WriteAttr(elem, "gainprm", mjNGAIN, actuator->gainprm, def->Actuator().gainprm, true);
-    WriteAttr(elem, "biasprm", mjNBIAS, actuator->biasprm, def->Actuator().biasprm, true);
-  }
-
-  // userdata
-  if (writingdefaults) {
-    WriteVector(elem, "user", actuator->get_userdata());
-  } else {
-    WriteVector(elem, "user", actuator->get_userdata(), def->Actuator().get_userdata());
-  }
-}
-
-
-
-// write plugin
-void mjXWriter::OnePlugin(XMLElement* elem, const mjsPlugin* plugin) {
-  const string instance_name = string(mjs_getString(plugin->name));
-  const string plugin_name = string(mjs_getString(plugin->plugin_name));
-  if (!instance_name.empty()) {
-    WriteAttrTxt(elem, "instance", instance_name);
-  } else {
-    WriteAttrTxt(elem, "plugin", plugin_name);
-    const mjpPlugin* pplugin = mjp_getPluginAtSlot(
-      static_cast<mjCPlugin*>(plugin->element)->plugin_slot);
-    const char* c = &(static_cast<mjCPlugin*>(plugin->element)->flattened_attributes[0]);
-    for (int i = 0; i < pplugin->nattribute; ++i) {
-      string value(c);
-      if (!value.empty()) {
-        XMLElement* config_elem = InsertEnd(elem, "config");
-        WriteAttrTxt(config_elem, "key", pplugin->attributes[i]);
-        WriteAttrTxt(config_elem, "value", value);
-        c += value.size();
-      }
-      ++c;
-    }
-  }
-}
-
-
-
-//---------------------------------- class mjXWriter: top-level API --------------------------------
-
-// constructor
-mjXWriter::mjXWriter(void) {
-  writingdefaults = false;
-}
-
-
-// cast model
-void mjXWriter::SetModel(mjSpec* _spec, const mjModel* m) {
-  if (_spec) {
-    model = static_cast<mjCModel*>(_spec->element);
-  }
-  if (m) {
-    mj_copyBack(&model->spec, m);
-  }
-}
-
-
-// save existing model in MJCF canonical format, must be compiled
-string mjXWriter::Write(char *error, size_t error_sz) {
-  // check model
-  if (!model || !model->IsCompiled()) {
-    mjCopyError(error, "XML Write error: Only compiled model can be written", error_sz);
-    return "";
-  }
-
-  // create document and root
-  XMLDocument doc;
-  XMLElement* root = doc.NewElement("mujoco");
-  root->SetAttribute("model", mjs_getString(model->modelname));
-
-  // insert root
-  doc.InsertFirstChild(root);
-
-  // write comment if present
-  string text = mjs_getString(model->comment);
-  if (!text.empty()) {
-    XMLComment* comment = doc.NewComment(text.c_str());
-    root->LinkEndChild(comment);
-  }
-
-  // create DOM
-  Compiler(root);
-  Option(root);
-  Size(root);
-  Statistic(root);
-  Visual(root);
-  writingdefaults = true;
-  Default(root, model->Default());
-  writingdefaults = false;
-  Extension(root);
-  Asset(root);
-  Body(InsertEnd(root, "worldbody"), model->GetWorld(), nullptr);
-  Deformable(root);
-  Contact(root);
-  Tendon(root);
-  Equality(root);
-  Actuator(root);
-  Sensor(root);
-  Custom(root);
-  Keyframe(root);
-
-  return WriteDoc(doc, error, error_sz);
-}
-
-
-
-// compiler section
-void mjXWriter::Compiler(XMLElement* root) {
-  XMLElement* section = InsertEnd(root, "compiler");
-
-  // settings
-  WriteAttrTxt(section, "angle", "radian");
-  if (!model->get_meshdir().empty()) {
-    WriteAttrTxt(section, "meshdir", model->get_meshdir());
-  }
-  if (!model->get_texturedir().empty()) {
-    WriteAttrTxt(section, "texturedir", model->get_texturedir());
-  }
-  if (!model->compiler.usethread) {
-    WriteAttrTxt(section, "usethread", "false");
-  }
-
-  if (model->compiler.boundmass) {
-    WriteAttr(section, "boundmass", 1, &model->compiler.boundmass);
-  }
-  if (model->compiler.boundinertia) {
-    WriteAttr(section, "boundinertia", 1, &model->compiler.boundinertia);
-  }
-  if (model->compiler.alignfree) {
-    WriteAttrTxt(section, "alignfree", "true");
-  }
-  if (!model->compiler.autolimits) {
-    WriteAttrTxt(section, "autolimits", "false");
-  }
-  WriteAttrKey(section, "conflict", conflict_map, conflict_sz,
-               model->compiler.conflict, mjCONFLICT_WARNING);
-}
-
-
-
-// option section
-void mjXWriter::Option(XMLElement* root) {
-  mjOption opt;
-  mj_defaultOption(&opt);
-
-  XMLElement* section = InsertEnd(root, "option");
-
-  // option; the freshly-defaulted struct is the comparison object
-  WriteAttrTable(section, &model->option, &opt, kOptionAttrs, kOptionAttrsN);
-
-  // actuator group disable
-  int disabled_groups[31];
-  int ndisabled = 0;
-  for (int i = 0; i < 31; ++i) {
-    if (model->option.disableactuator & (1 << i)) {
-      disabled_groups[ndisabled++] = i;
-    }
-  }
-  WriteAttr(section, "actuatorgroupdisable", ndisabled, disabled_groups);
-
-  // write disable/enable flags if any of them are set; invert while writing
-  if (model->option.disableflags || model->option.enableflags) {
-    XMLElement* sub = InsertEnd(section, "flag");
-
-#define WRITEDSBL(NAME, MASK) \
-    if (model->option.disableflags & MASK) \
-      WriteAttrKey(sub, NAME, enable_map, 2, 0);
-    WRITEDSBL("constraint",     mjDSBL_CONSTRAINT)
-    WRITEDSBL("equality",       mjDSBL_EQUALITY)
-    WRITEDSBL("frictionloss",   mjDSBL_FRICTIONLOSS)
-    WRITEDSBL("limit",          mjDSBL_LIMIT)
-    WRITEDSBL("contact",        mjDSBL_CONTACT)
-    WRITEDSBL("spring",         mjDSBL_SPRING)
-    WRITEDSBL("damper",         mjDSBL_DAMPER)
-    WRITEDSBL("gravity",        mjDSBL_GRAVITY)
-    WRITEDSBL("clampctrl",      mjDSBL_CLAMPCTRL)
-    WRITEDSBL("warmstart",      mjDSBL_WARMSTART)
-    WRITEDSBL("filterparent",   mjDSBL_FILTERPARENT)
-    WRITEDSBL("actuation",      mjDSBL_ACTUATION)
-    WRITEDSBL("refsafe",        mjDSBL_REFSAFE)
-    WRITEDSBL("sensor",         mjDSBL_SENSOR)
-    WRITEDSBL("midphase",       mjDSBL_MIDPHASE)
-    WRITEDSBL("eulerdamp",      mjDSBL_EULERDAMP)
-    WRITEDSBL("autoreset",      mjDSBL_AUTORESET)
-    WRITEDSBL("nativeccd",      mjDSBL_NATIVECCD)
-    WRITEDSBL("island",         mjDSBL_ISLAND)
-    WRITEDSBL("multiccd",       mjDSBL_MULTICCD)
-#undef WRITEDSBL
-
-#define WRITEENBL(NAME, MASK) \
-    if (model->option.enableflags & MASK) \
-      WriteAttrKey(sub, NAME, enable_map, 2, 1);
-    WRITEENBL("override",       mjENBL_OVERRIDE)
-    WRITEENBL("energy",         mjENBL_ENERGY)
-    WRITEENBL("fwdinv",         mjENBL_FWDINV)
-    WRITEENBL("invdiscrete",    mjENBL_INVDISCRETE)
-    WRITEENBL("sleep",          mjENBL_SLEEP)
-    WRITEENBL("diagexact",      mjENBL_DIAGEXACT)
-#undef WRITEENBL
-  }
-
-  // remove entire section if no attributes or elements
-  if (!section->FirstAttribute() && !section->FirstChildElement()) {
-    root->DeleteChild(section);
-  }
-}
-
-
-
-// size section
-void mjXWriter::Size(XMLElement* root) {
-  XMLElement* section = InsertEnd(root, "size");
-
-  // write memory
-  if (model->memory != -1) {
-    WriteAttrTxt(section, "memory", mju_writeNumBytes(model->memory));
-  }
-
-  // deprecated sizes, hand-read into locals with range checks
-  WriteAttrInt(section, "njmax", model->njmax, -1);
-  WriteAttrInt(section, "nconmax", model->nconmax, -1);
-  WriteAttrInt(section, "nstack", model->nstack, -1);
-
-  // write sizes; the spec defaults are -1 (auto), but compilation resolves
-  // them to the actual counts, so the comparison object is zero-initialized
-  mjSpec zerospec = {};
-  WriteAttrTable(section, static_cast<const mjSpec*>(model), &zerospec,
-                 kSizeAttrs, kSizeAttrsN);
-
-  // remove entire section if no attributes
-  if (!section->FirstAttribute()) root->DeleteChild(section);
-}
-
-
-
-// statistic section
-void mjXWriter::Statistic(XMLElement* root) {
-  XMLElement* section = InsertEnd(root, "statistic");
-
-  // statistics are unset (mjNAN) rather than defaulted: there is nothing to
-  // compare against, and WriteAttr skips the undefined values by itself
-  WriteAttrTable(section, &model->stat, (const mjStatistic*)nullptr,
-                 kStatisticAttrs, kStatisticAttrsN);
-
-  // remove entire section if no attributes
-  if (!section->FirstAttribute()) root->DeleteChild(section);
-}
-
-
-
-// visual section
-void mjXWriter::Visual(XMLElement* root) {
-  mjVisual visdef, *vis = &model->visual;
-  mj_defaultVisual(&visdef);
-
-  XMLElement* section = InsertEnd(root, "visual");
-
-  // the sub-sections are projections into mjVisual: their rows carry
-  // member-path offsets, so one struct pair drives them all
-  struct { const char* tag; const mjXAttr* rows; int n; } subs[] = {
-    {"global",    kGlobalAttrs,    kGlobalAttrsN},
-    {"quality",   kQualityAttrs,   kQualityAttrsN},
-    {"headlight", kHeadlightAttrs, kHeadlightAttrsN},
-    {"map",       kMapAttrs,       kMapAttrsN},
-    {"scale",     kScaleAttrs,     kScaleAttrsN},
-    {"rgba",      kRgbaAttrs,      kRgbaAttrsN},
-  };
-  for (const auto& sub : subs) {
-    XMLElement* elem = InsertEnd(section, sub.tag);
-    WriteAttrTable(elem, vis, &visdef, sub.rows, sub.n);
-    if (!elem->FirstAttribute()) {
-      section->DeleteChild(elem);
-    }
-  }
-
-  // remove entire section if no elements
-  if (!section->FirstChildElement()) {
-    root->DeleteChild(section);
-  }
-}
-
-
-
-// default section
-void mjXWriter::Default(XMLElement* root, mjCDef* def) {
-  XMLElement* elem;
-  XMLElement* section;
-
-  // pointer to parent defaults
-  mjCDef* parent;
-  if (def->parent) {
-    parent = def->parent;
-  } else {
-    parent = new mjCDef;
-  }
-
-  // create section, write class name
-  section = InsertEnd(root, "default");
-  if (def->name != "main") {
-    WriteAttrTxt(section, "class", def->name);
-  }
-
-  // mesh
-  elem = InsertEnd(section, "mesh");
-  OneMesh(elem, &def->Mesh(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // material
-  elem = InsertEnd(section, "material");
-  OneMaterial(elem, &def->Material(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // joint
-  elem = InsertEnd(section, "joint");
-  OneJoint(elem, &def->Joint(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // geom
-  elem = InsertEnd(section, "geom");
-  OneGeom(elem, &def->Geom(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // site
-  elem = InsertEnd(section, "site");
-  OneSite(elem, &def->Site(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // camera
-  elem = InsertEnd(section, "camera");
-  OneCamera(elem, &def->Camera(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // light
-  elem = InsertEnd(section, "light");
-  OneLight(elem, &def->Light(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // pair
-  elem = InsertEnd(section, "pair");
-  OnePair(elem, &def->Pair(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // equality
-  elem = InsertEnd(section, "equality");
-  OneEquality(elem, &def->Equality(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // tendon
-  elem = InsertEnd(section, "tendon");
-  OneTendon(elem, &def->Tendon(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // actuator
-  elem = InsertEnd(section, "general");
-  OneActuator(elem, &def->Actuator(), parent);
-  if (!elem->FirstAttribute()) section->DeleteChild(elem);
-
-  // if top-level class has no members or children, delete it and return
-  if (!def->parent && section->NoChildren() && def->child.empty()) {
-    root->DeleteChild(section);
-    delete parent;
-    return;
-  }
-
-  // add children recursively
-  for (int i=0; i < (int)def->child.size(); i++) {
-    Default(section, def->child[i]);
-  }
-
-  // delete parent defaults if allocated here
-  if (!def->parent) {
-    delete parent;
-  }
-}
-
-
-
-// extension section
-void mjXWriter::Extension(XMLElement* root) {
-  // skip section if there is no required plugin
-  if (model->ActivePlugins().empty()) {
-    return;
-  }
-
-  // create section
-  XMLElement* section = InsertEnd(root, "extension");
-
-  // keep track of plugins whose <plugin> section have been created
-  std::unordered_set<const mjpPlugin*> seen_plugins;
-
-  // write all plugins
-  const mjpPlugin* last_plugin = nullptr;
-  XMLElement* plugin_elem = nullptr;
-  for (int i = 0; i < model->Plugins().size(); ++i) {
-    mjCPlugin* pp = static_cast<mjCPlugin*>(model->GetObject(mjOBJ_PLUGIN, i));
-
-    if (pp->name.empty()) {
-      // reached the first unnamed plugin instance, meaning that it was created through an
-      // "implicit" plugin element, e.g. sensor or actuator
-      break;
-    }
-
-    // check if we need to open a new <plugin> section
-    const mjpPlugin* plugin = mjp_getPluginAtSlot(pp->plugin_slot);
-    if (plugin != last_plugin) {
-      plugin_elem = InsertEnd(section, "plugin");
-      WriteAttrTxt(plugin_elem, "plugin", plugin->name);
-      seen_plugins.insert(plugin);
-      last_plugin = plugin;
-    }
-
-    // write instance element
-    XMLElement* elem = InsertEnd(plugin_elem, "instance");
-    WriteAttrTxt(elem, "name", pp->name);
-
-    // write plugin config attributes
-    const char* c = &pp->flattened_attributes[0];
-    for (int i = 0; i < plugin->nattribute; ++i) {
-      string value(c);
-      if (!value.empty()) {
-        XMLElement* config_elem = InsertEnd(elem, "config");
-        WriteAttrTxt(config_elem, "key", plugin->attributes[i]);
-        WriteAttrTxt(config_elem, "value", value);
-        c += value.size();
-      }
-      ++c;
-    }
-  }
-
-  // write <plugin> elements for plugins without explicit instances
-  for (const auto& [plugin, slot] : model->ActivePlugins()) {
-    if (seen_plugins.find(plugin) == seen_plugins.end()) {
-      plugin_elem = InsertEnd(section, "plugin");
-      WriteAttrTxt(plugin_elem, "plugin", plugin->name);
-    }
-  }
-}
-
-
-
-// custom section
-void mjXWriter::Custom(XMLElement* root) {
-  XMLElement* elem;
-
-  // get sizes, skip section if empty
-  int nnum = model->NumObjects(mjOBJ_NUMERIC);
-  int ntxt = model->NumObjects(mjOBJ_TEXT);
-  int ntup = model->NumObjects(mjOBJ_TUPLE);
-
-  // skip section if empty
-  if (nnum == 0 && ntxt == 0 && ntup == 0) {
-    return;
-  }
-
-  // create section
-  XMLElement* section = InsertEnd(root, "custom");
-
-  // write all numerics
-  for (int i=0; i < nnum; i++) {
-    mjCNumeric* numeric = (mjCNumeric*)model->GetObject(mjOBJ_NUMERIC, i);
-    elem = InsertEnd(section, "numeric");
-    WriteAttrTxt(elem, "name", numeric->name);
-    WriteAttrInt(elem, "size", numeric->size);
-    WriteAttr(elem, "data", numeric->size, numeric->data_.data());
-  }
-
-  // write all texts
-  for (int i=0; i < ntxt; i++) {
-    mjCText* text = (mjCText*)model->GetObject(mjOBJ_TEXT, i);
-    elem = InsertEnd(section, "text");
-    WriteAttrTxt(elem, "name", text->name);
-    WriteAttrTxt(elem, "data", text->data_.c_str());
-  }
-
-  // write all tuples
-  for (int i=0; i < ntup; i++) {
-    mjCTuple* tuple = (mjCTuple*)model->GetObject(mjOBJ_TUPLE, i);
-    elem = InsertEnd(section, "tuple");
-    WriteAttrTxt(elem, "name", tuple->name);
-
-    // write objects in tuple
-    for (int j=0; j < (int)tuple->objtype_.size(); j++) {
-      XMLElement* obj = InsertEnd(elem, "element");
-      WriteAttrTxt(obj, "objtype", mju_type2Str((int)tuple->objtype_[j]));
-      WriteAttrTxt(obj, "objname", tuple->objname_[j].c_str());
-      double oprm = tuple->objprm_[j];
-      if (oprm != 0) {
-        WriteAttr(obj, "prm", 1, &oprm);
-      }
-    }
-  }
-}
-
-
-
-// asset section
-void mjXWriter::Asset(XMLElement* root) {
-  XMLElement* elem;
-
-  // get sizes
-  int ntex = model->NumObjects(mjOBJ_TEXTURE);
-  int nmat = model->NumObjects(mjOBJ_MATERIAL);
-  int nmesh = model->NumObjects(mjOBJ_MESH);
-  int nhfield = model->NumObjects(mjOBJ_HFIELD);
-
-  // return if empty
-  if (ntex == 0 && nmat == 0 && nmesh == 0 && nhfield == 0) {
-    return;
-  }
-
-  // create section
-  XMLElement* section = InsertEnd(root, "asset");
-
-  // write textures
-  mjCTexture deftex(0);
-  for (int i=0; i < ntex; i++) {
-    // create element
-    mjCTexture* texture = (mjCTexture*)model->GetObject(mjOBJ_TEXTURE, i);
-    elem = InsertEnd(section, "texture");
-
-    // write common attributes
-    WriteAttrKey(elem, "type", texture_map, texture_sz, texture->type);
-    WriteAttrKey(elem, "colorspace", colorspace_map, colorspace_sz, texture->colorspace);
-    WriteAttrTxt(elem, "name", texture->name);
-
-    // write builtin
-    if (texture->builtin != mjBUILTIN_NONE) {
-      WriteAttrKey(elem, "builtin", builtin_map, builtin_sz, texture->builtin);
-      WriteAttrKey(elem, "mark", mark_map, mark_sz, texture->mark, deftex.mark);
-      WriteAttr(elem, "rgb1", 3, texture->rgb1, deftex.rgb1);
-      WriteAttr(elem, "rgb2", 3, texture->rgb2, deftex.rgb2);
-      WriteAttr(elem, "markrgb", 3, texture->markrgb, deftex.markrgb);
-      WriteAttr(elem, "random", 1, &texture->random, &deftex.random);
-      WriteAttrInt(elem, "width", texture->width);
-      WriteAttrInt(elem, "height", texture->height);
-    }
-
-    // write buffer
-    else if (texture->get_cubefiles()[0].empty() && texture->get_cubefiles()[1].empty() &&
-             texture->get_cubefiles()[2].empty() && texture->get_cubefiles()[3].empty() &&
-             texture->get_cubefiles()[4].empty() && texture->get_cubefiles()[5].empty() &&
-             texture->File().empty() && texture->gridsize[0] == 1 && texture->gridsize[1] == 1) {
-      throw mjXError(0, "no support for buffer textures.");
-    }
-
-    // write textures loaded from files
-    else {
-      // write single file
-      WriteAttrTxt(elem, "content_type", texture->get_content_type());
-      WriteAttrTxt(elem, "file", texture->File());
-
-      // write separate files
-      WriteAttrTxt(elem, "fileright", texture->get_cubefiles()[0]);
-      WriteAttrTxt(elem, "fileleft", texture->get_cubefiles()[1]);
-      WriteAttrTxt(elem, "fileup", texture->get_cubefiles()[2]);
-      WriteAttrTxt(elem, "filedown", texture->get_cubefiles()[3]);
-      WriteAttrTxt(elem, "filefront", texture->get_cubefiles()[4]);
-      WriteAttrTxt(elem, "fileback", texture->get_cubefiles()[5]);
-      if (texture->hflip) {
-        WriteAttrKey(elem, "hflip", bool_map, 2, 1);
-      }
-      if (texture->vflip) {
-        WriteAttrKey(elem, "vflip", bool_map, 2, 1);
-      }
-
-      // write grid
-      if (texture->gridsize[0] != 1 || texture->gridsize[1] != 1) {
-        double gsize[2] = { (double)texture->gridsize[0], (double)texture->gridsize[1] };
-        WriteAttr(elem, "gridsize", 2, gsize);
-        WriteAttrTxt(elem, "gridlayout", texture->gridlayout);
-      }
-    }
-  }
-
-  // write materials
-  for (int i=0; i < nmat; i++) {
-    // create element and write
-    mjCMaterial* material = (mjCMaterial*)model->GetObject(mjOBJ_MATERIAL, i);
-    elem = InsertEnd(section, "material");
-    OneMaterial(elem, material, model->def_map[material->classname]);
-  }
-
-  // write meshes
-  for (int i=0; i < nmesh; i++) {
-    // create element and write
-    mjCMesh* mesh = (mjCMesh*)model->GetObject(mjOBJ_MESH, i);
-    if (mesh->Plugin().active) {
-      elem = InsertEnd(section, "mesh");
-      WriteAttrTxt(elem, "name", mesh->name);
-      WriteAttrTxt(elem, "file", mesh->File());
-      OnePlugin(InsertEnd(elem, "plugin"), &mesh->Plugin());
-    } else{
-      elem = InsertEnd(section, "mesh");
-      OneMesh(elem, mesh, model->def_map[mesh->classname]);
-    }
-  }
-
-  // write hfields
-  for (int i=0; i < nhfield; i++) {
-    // create element
-    mjCHField* hfield = (mjCHField*)model->GetObject(mjOBJ_HFIELD, i);
-    elem = InsertEnd(section, "hfield");
-
-    // write attributes
-    WriteAttrTxt(elem, "name", hfield->name);
-    WriteAttr(elem, "size", 4, hfield->size);
-    if (!hfield->file_.empty()) {
-      WriteAttrTxt(elem, "content_type", hfield->content_type_);
-      WriteAttrTxt(elem, "file", hfield->file_);
-    } else {
-      int nrow = hfield->nrow;
-      int ncol = hfield->ncol;
-      WriteAttrInt(elem, "nrow", nrow);
-      WriteAttrInt(elem, "ncol", ncol);
-      if (!hfield->get_userdata().empty()) {
-        // copy in reverse row order, so XML string is top-to-bottom
-        std::vector<float> flipped(nrow * ncol);
-        const std::vector<float>& userdata = hfield->get_userdata();
-        for (int i = 0; i < nrow; i++) {
-          int flip = nrow - 1 - i;
-          for (int j = 0; j < ncol; j++) {
-            flipped[i * ncol + j] = userdata[flip * ncol + j];
-          }
-        }
-
-        string text;
-        Vector2String(text, flipped, ncol);
-        WriteAttrTxt(elem, "elevation", text);
-      }
-    }
-  }
-}
-
-
-
-XMLElement* mjXWriter::OneFrame(XMLElement* elem, mjCFrame* frame) {
-  if (!frame) {
-    return elem;
-  }
-
-  // TODO: empty classname should not occur (but does)
-  if (frame->name.empty() && (frame->classname.empty() || frame->classname == "main")) {
-    return elem;
-  }
-
-  XMLElement* frame_elem = InsertEnd(elem, "frame");
-  WriteAttrTxt(frame_elem, "name", frame->name);
-  if (frame->classname != "main") {
-    WriteAttrTxt(frame_elem, "childclass", frame->classname);
-  }
-  return frame_elem;
-}
-
-
-
-// recursive body and frame writer
-void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, string_view childclass) {
-  double unitq[4] = {1, 0, 0, 0};
-
-  if (!body) {
-    throw mjXError(0, "missing body in XML write");  // SHOULD NOT OCCUR
-  }
-
-  // write body attributes and inertial
-  else if (!frame && body != model->GetWorld()) {
-    WriteAttrTxt(elem, "name", body->name);
-    if (childclass != body->classname && body->classname != "main") {
-      WriteAttrTxt(elem, "childclass", body->classname);
-    }
-
-    // write pos if it's not {0, 0, 0}
-    if (body->pos[0] || body->pos[1] || body->pos[2]) {
-      WriteAttr(elem, "pos", 3, body->pos);
-    }
-    WriteAttr(elem, "quat", 4, body->quat, unitq);
-    if (body->mocap) {
-      WriteAttrKey(elem, "mocap", bool_map, 2, 1);
-    }
-
-    // gravity compensation
-    if (body->gravcomp) {
-      WriteAttr(elem, "gravcomp", 1, &body->gravcomp);
-    }
-
-    // sleep policy
-    if (body->sleep != mjSLEEP_AUTO &&
-        body->sleep != mjSLEEP_AUTO_NEVER &&
-        body->sleep != mjSLEEP_AUTO_ALLOWED) {
-      WriteAttrKey(elem, "sleep", bodysleep_map, bodysleep_sz, body->sleep);
-    }
-
-    // simple optimization
-    WriteAttrKey(elem, "simple", FalseAuto_map, 2, body->simple, 1);
-
-    // userdata
-    WriteVector(elem, "user", body->get_userdata());
-
-    // write inertial
-    if (model->compiler.saveinertial ||
-        (body->explicitinertial && model->compiler.inertiafromgeom != mjINERTIAFROMGEOM_TRUE)) {
-      XMLElement* inertial = InsertEnd(elem, "inertial");
-      WriteAttr(inertial, "pos", 3, body->ipos);
-      WriteAttr(inertial, "quat", 4, body->iquat, unitq);
-      WriteAttr(inertial, "mass", 1, &body->mass);
-      WriteAttr(inertial, "diaginertia", 3, body->inertia);
-    }
-  }
-
-  // joints in this frame
-  for (int i = 0; i < body->joints.size(); i++) {
-    if (body->joints[i]->frame != frame) {
-      continue;
-    }
-    string classname = body->joints[i]->frame && !body->joints[i]->frame->classname.empty()
-                           ? body->joints[i]->frame->classname
-                           : body->classname;
-    OneJoint(InsertEnd(elem, "joint"), body->joints[i],
-             model->def_map[body->joints[i]->classname],
-             classname.empty() ? childclass : classname);
-  }
-
-  // geoms in this frame
-  for (int i = 0; i < body->geoms.size(); i++) {
-    if (body->geoms[i]->frame != frame) {
-      continue;
-    }
-    string classname = body->geoms[i]->frame && !body->geoms[i]->frame->classname.empty()
-                           ? body->geoms[i]->frame->classname
-                           : body->classname;
-    OneGeom(InsertEnd(elem, "geom"), body->geoms[i],
-            model->def_map[body->geoms[i]->classname],
-            classname.empty() ? childclass : classname);
-  }
-
-  // sites in this frame
-  for (int i = 0; i < body->sites.size(); i++) {
-    if (body->sites[i]->frame != frame) {
-      continue;
-    }
-    string classname = body->sites[i]->frame && !body->sites[i]->frame->classname.empty()
-                           ? body->sites[i]->frame->classname
-                           : body->classname;
-    OneSite(InsertEnd(elem, "site"), body->sites[i],
-            model->def_map[body->sites[i]->classname],
-            classname.empty() ? childclass : classname);
-  }
-
-  // cameras in this frame
-  for (int i = 0; i < body->cameras.size(); i++) {
-    if (body->cameras[i]->frame != frame) {
-      continue;
-    }
-    string classname = body->cameras[i]->frame && !body->cameras[i]->frame->classname.empty()
-                           ? body->cameras[i]->frame->classname
-                           : body->classname;
-    OneCamera(InsertEnd(elem, "camera"), body->cameras[i],
-              model->def_map[body->cameras[i]->classname],
-              classname.empty() ? childclass : classname);
-  }
-
-  // lights in this frame
-  for (int i = 0; i < body->lights.size(); i++) {
-    if (body->lights[i]->frame != frame) {
-      continue;
-    }
-    string classname = body->lights[i]->frame && !body->lights[i]->frame->classname.empty()
-                           ? body->lights[i]->frame->classname
-                           : body->classname;
-    OneLight(InsertEnd(elem, "light"), body->lights[i],
-             model->def_map[body->lights[i]->classname],
-             classname.empty() ? childclass : classname);
-  }
-
-  // write plugin
-  if (body->plugin.active) {
-    OnePlugin(InsertEnd(elem, "plugin"), &body->plugin);
-  }
-
-  // write children recursively
-  int i = 0, j = 0;
-  while (i < body->bodies.size() || body->bodies.empty()) {
-    mjCFrame* bframe = body->bodies.empty() ? nullptr : body->bodies[i]->frame;
-
-    // write body if its frame matches the current frame, avoid access if there are no bodies
-    if (bframe == frame && !body->bodies.empty()) {
-      string classname = bframe && !bframe->classname.empty()
-                             ? bframe->classname
-                             : body->classname;
-      Body(InsertEnd(elem, "body"), body->bodies[i], nullptr,
-           classname.empty() ? childclass : classname);
-    }
-
-    i++;
-
-    // do not go to frames until we reach a body with a frame or we are done with bodies
-    if (!bframe && i < body->bodies.size()) {
-      continue;
-    }
-
-    // loop over the remaining frames in the current body
-    while (j < body->frames.size()) {
-      mjCFrame* fframe = body->frames[j++];
-
-      // write frame if its frame matches the current frame
-      if (fframe->frame == frame) {
-        string classname = fframe && !fframe->classname.empty()
-                               ? fframe->classname
-                               : body->classname;
-        Body(OneFrame(elem, fframe), body, fframe, childclass);
-      }
-    }
-
-    // if there are no bodies, we only want to run the loop once
-    if (body->bodies.empty()) {
-      break;
-    }
-  }
-}
-
-
-
-// collision section
-void mjXWriter::Contact(XMLElement* root) {
-  XMLElement* elem;
-
-  // get number of pairs of each type
-  int npair = model->NumObjects(mjOBJ_PAIR);
-  int nexclude = model->NumObjects(mjOBJ_EXCLUDE);
-
-  // skip if section is empty
-  if (npair == 0 && nexclude == 0) {
-    return;
-  }
-
-  // create section
-  XMLElement* section = InsertEnd(root, "contact");
-
-  // write all geom pairs
-  for (int i=0; i < npair; i++) {
-    // create element and write
-    mjCPair* pair = (mjCPair*)model->GetObject(mjOBJ_PAIR, i);
-    elem = InsertEnd(section, "pair");
-    OnePair(elem, pair, model->def_map[pair->classname]);
-  }
-
-  // write all exclude pairs
-  for (int i=0; i < nexclude; i++) {
-    // create element
-    mjCBodyPair* exclude = (mjCBodyPair*)model->GetObject(mjOBJ_EXCLUDE, i);
-    elem = InsertEnd(section, "exclude");
-
-    // write attributes
-    WriteAttrTxt(elem, "name", exclude->name);
-    WriteAttrTxt(elem, "body1", exclude->get_bodyname1());
-    WriteAttrTxt(elem, "body2", exclude->get_bodyname2());
-  }
-}
-
-
-
-// constraint section
-void mjXWriter::Equality(XMLElement* root) {
-  // skip section if empty
-  int num;
-  if ((num=model->NumObjects(mjOBJ_EQUALITY)) == 0) {
-    return;
-  }
-
-  // create section
-  XMLElement* section = InsertEnd(root, "equality");
-
-  // write all constraints
-  for (int i=0; i < num; i++) {
-    mjCEquality* equality = (mjCEquality*)model->GetObject(mjOBJ_EQUALITY, i);
-    XMLElement* elem = InsertEnd(section,
-                                 FindValue(equality_map, equality_sz, equality->type).c_str());
-    OneEquality(elem, equality, model->def_map[equality->classname]);
-  }
-}
-
-
-
-// deformable section
-void mjXWriter::Deformable(XMLElement* root) {
-  XMLElement* elem;
-
-  // get sizes
-  int nflex = model->NumObjects(mjOBJ_FLEX);
-  int nskin = model->NumObjects(mjOBJ_SKIN);
-
-  // return if empty
-  if (nflex == 0 && nskin == 0) {
-    return;
-  }
-
-  // create section
-  XMLElement* section = InsertEnd(root, "deformable");
-
-  // write flexes
-  for (int i=0; i < nflex; i++) {
-    // create element and write
-    mjCFlex* flex = (mjCFlex*)model->GetObject(mjOBJ_FLEX, i);
-    elem = InsertEnd(section, "flex");
-    OneFlex(elem, flex);
-  }
-
-  // write skins
-  for (int i=0; i < nskin; i++) {
-    // create element and write
-    mjCSkin* skin = (mjCSkin*)model->GetObject(mjOBJ_SKIN, i);
-    elem = InsertEnd(section, "skin");
-    OneSkin(elem, skin);
-  }
-}
-
-
-
-// tendon section
-void mjXWriter::Tendon(XMLElement* root) {
-  // skip section if empty
-  int num;
-  if ((num=model->NumObjects(mjOBJ_TENDON)) == 0) {
-    return;
-  }
-
-  // create section
-  XMLElement* section = InsertEnd(root, "tendon");
-
-  // write all tendons
-  for (int i=0; i < num; i++) {
-    // write tendon element and attributes
-    mjCTendon* tendon = (mjCTendon*)model->GetObject(mjOBJ_TENDON, i);
-    if (!tendon->NumWraps()) {        // SHOULD NOT OCCUR
-      continue;
-    }
-    XMLElement* elem = InsertEnd(section,
-                                 tendon->GetWrap(0)->Type() == mjWRAP_JOINT ? "fixed" : "spatial");
-    OneTendon(elem, tendon, model->def_map[tendon->classname]);
-
-    // write wraps
-    XMLElement* wrapelem;
-    for (int j=0; j < tendon->NumWraps(); j++) {
-      const mjCWrap* wrap = tendon->GetWrap(j);
-      switch (wrap->Type()) {
-        case mjWRAP_JOINT:
-          wrapelem = InsertEnd(elem, "joint");
-          WriteAttrTxt(wrapelem, "joint", wrap->obj->name);
-          WriteAttr(wrapelem, "coef", 1, &wrap->prm);
-          break;
-
-        case mjWRAP_SITE:
-          wrapelem = InsertEnd(elem, "site");
-          WriteAttrTxt(wrapelem, "site", wrap->obj->name);
-          break;
-
-        case mjWRAP_SPHERE:
-        case mjWRAP_CYLINDER:
-          wrapelem = InsertEnd(elem, "geom");
-          WriteAttrTxt(wrapelem, "geom", wrap->obj->name);
-          if (!wrap->sidesite.empty()) {
-            WriteAttrTxt(wrapelem, "sidesite", wrap->sidesite);
-          }
-          break;
-
-        case mjWRAP_PULLEY:
-          wrapelem = InsertEnd(elem, "pulley");
-          WriteAttr(wrapelem, "divisor", 1, &wrap->prm);
-          break;
-
-        default:
-          break;
-      }
-    }
-  }
-}
-
-
-
-// actuator section
-void mjXWriter::Actuator(XMLElement* root) {
-  // skip section if empty
-  int num;
-  if ((num=model->NumObjects(mjOBJ_ACTUATOR)) == 0) {
-    return;
-  }
-
-  // create section
-  XMLElement* section = InsertEnd(root, "actuator");
-
-  // write all actuators
-  for (int i=0; i < num; i++) {
-    mjCActuator* actuator = (mjCActuator*)model->GetObject(mjOBJ_ACTUATOR, i);
-    XMLElement* elem;
-    if (actuator->plugin.active) {
-      elem = InsertEnd(section, "plugin");
-    } else {
-      elem = InsertEnd(section, "general");
-    }
-    OneActuator(elem, actuator, model->def_map[actuator->classname]);
-  }
-}
-
-
-
-// sensor section
-void mjXWriter::Sensor(XMLElement* root) {
-  double zero = 0;
-
-  // skip section if empty
-  int num;
-  if ((num=model->NumObjects(mjOBJ_SENSOR)) == 0) {
-    return;
-  }
-
-  // create section
-  XMLElement* section = InsertEnd(root, "sensor");
-
-  // write all sensors
-  for (int i=0; i < num; i++) {
-    XMLElement* elem = 0;
-    mjCSensor* sensor = model->Sensors()[i];
-    string instance_name = "";
-    string plugin_name = "";
-
-    // write sensor type and type-specific attributes
-    switch (sensor->type) {
-      // common robotic sensors, attached to a site
-      case mjSENS_TOUCH:
-        elem = InsertEnd(section, "touch");
-        WriteAttrTxt(elem, "site", sensor->get_objname());
-        break;
-      case mjSENS_ACCELEROMETER:
-        elem = InsertEnd(section, "accelerometer");
-        WriteAttrTxt(elem, "site", sensor->get_objname());
-        break;
-      case mjSENS_VELOCIMETER:
-        elem = InsertEnd(section, "velocimeter");
-        WriteAttrTxt(elem, "site", sensor->get_objname());
-        break;
-      case mjSENS_GYRO:
-        elem = InsertEnd(section, "gyro");
-        WriteAttrTxt(elem, "site", sensor->get_objname());
-        break;
-      case mjSENS_FORCE:
-        elem = InsertEnd(section, "force");
-        WriteAttrTxt(elem, "site", sensor->get_objname());
-        break;
-      case mjSENS_TORQUE:
-        elem = InsertEnd(section, "torque");
-        WriteAttrTxt(elem, "site", sensor->get_objname());
-        break;
-      case mjSENS_MAGNETOMETER:
-        elem = InsertEnd(section, "magnetometer");
-        WriteAttrTxt(elem, "site", sensor->get_objname());
-        break;
-      case mjSENS_RANGEFINDER:
-        {
-          elem = InsertEnd(section, "rangefinder");
-          if (sensor->objtype == mjOBJ_SITE) {
-            WriteAttrTxt(elem, "site", sensor->get_objname());
-          } else {
-            WriteAttrTxt(elem, "camera", sensor->get_objname());
-          }
-          int dataspec = sensor->intprm[0];
-          int data[mjNRAYDATA];
-          int ndata = 0;
-          for (int i=0; i < mjNRAYDATA; i++) {
-            if (dataspec & (1 << i)) {
-              data[ndata++] = i;
-            }
-          }
-          WriteAttrKeys(elem, "data", raydata_map, mjNRAYDATA, data, ndata, 0);
-        }
-        break;
-      case mjSENS_CAMPROJECTION:
-        elem = InsertEnd(section, "camprojection");
-        WriteAttrTxt(elem, "site", sensor->get_objname());
-        WriteAttrTxt(elem, "camera", sensor->get_refname());
-        break;
-
-      // sensors related to scalar joints, tendons, actuators
-      case mjSENS_JOINTPOS:
-        elem = InsertEnd(section, "jointpos");
-        WriteAttrTxt(elem, "joint", sensor->get_objname());
-        break;
-      case mjSENS_JOINTVEL:
-        elem = InsertEnd(section, "jointvel");
-        WriteAttrTxt(elem, "joint", sensor->get_objname());
-        break;
-      case mjSENS_TENDONPOS:
-        elem = InsertEnd(section, "tendonpos");
-        WriteAttrTxt(elem, "tendon", sensor->get_objname());
-        break;
-      case mjSENS_TENDONVEL:
-        elem = InsertEnd(section, "tendonvel");
-        WriteAttrTxt(elem, "tendon", sensor->get_objname());
-        break;
-      case mjSENS_ACTUATORPOS:
-        elem = InsertEnd(section, "actuatorpos");
-        WriteAttrTxt(elem, "actuator", sensor->get_objname());
-        break;
-      case mjSENS_ACTUATORVEL:
-        elem = InsertEnd(section, "actuatorvel");
-        WriteAttrTxt(elem, "actuator", sensor->get_objname());
-        break;
-      case mjSENS_ACTUATORFRC:
-        elem = InsertEnd(section, "actuatorfrc");
-        WriteAttrTxt(elem, "actuator", sensor->get_objname());
-        break;
-      case mjSENS_JOINTACTFRC:
-        elem = InsertEnd(section, "jointactuatorfrc");
-        WriteAttrTxt(elem, "joint", sensor->get_objname());
-        break;
-      case mjSENS_TENDONACTFRC:
-        elem = InsertEnd(section, "tendonactuatorfrc");
-        WriteAttrTxt(elem, "tendon", sensor->get_objname());
-        break;
-
-      // sensors related to ball joints
-      case mjSENS_BALLQUAT:
-        elem = InsertEnd(section, "ballquat");
-        WriteAttrTxt(elem, "joint", sensor->get_objname());
-        break;
-      case mjSENS_BALLANGVEL:
-        elem = InsertEnd(section, "ballangvel");
-        WriteAttrTxt(elem, "joint", sensor->get_objname());
-        break;
-
-      // joint and tendon limit sensors
-      case mjSENS_JOINTLIMITPOS:
-        elem = InsertEnd(section, "jointlimitpos");
-        WriteAttrTxt(elem, "joint", sensor->get_objname());
-        break;
-      case mjSENS_JOINTLIMITVEL:
-        elem = InsertEnd(section, "jointlimitvel");
-        WriteAttrTxt(elem, "joint", sensor->get_objname());
-        break;
-      case mjSENS_JOINTLIMITFRC:
-        elem = InsertEnd(section, "jointlimitfrc");
-        WriteAttrTxt(elem, "joint", sensor->get_objname());
-        break;
-      case mjSENS_TENDONLIMITPOS:
-        elem = InsertEnd(section, "tendonlimitpos");
-        WriteAttrTxt(elem, "tendon", sensor->get_objname());
-        break;
-      case mjSENS_TENDONLIMITVEL:
-        elem = InsertEnd(section, "tendonlimitvel");
-        WriteAttrTxt(elem, "tendon", sensor->get_objname());
-        break;
-      case mjSENS_TENDONLIMITFRC:
-        elem = InsertEnd(section, "tendonlimitfrc");
-        WriteAttrTxt(elem, "tendon", sensor->get_objname());
-        break;
-
-      // sensors attached to an object with spatial frame: (x)body, geom, site, camera
-      case mjSENS_FRAMEPOS:
-        elem = InsertEnd(section, "framepos");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        if (sensor->reftype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "reftype", mju_type2Str(sensor->reftype));
-          WriteAttrTxt(elem, "refname", sensor->get_refname());
-        }
-        break;
-      case mjSENS_FRAMEQUAT:
-        elem = InsertEnd(section, "framequat");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        if (sensor->reftype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "reftype", mju_type2Str(sensor->reftype));
-          WriteAttrTxt(elem, "refname", sensor->get_refname());
-        }
-        break;
-      case mjSENS_FRAMEXAXIS:
-        elem = InsertEnd(section, "framexaxis");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        if (sensor->reftype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "reftype", mju_type2Str(sensor->reftype));
-          WriteAttrTxt(elem, "refname", sensor->get_refname());
-        }
-        break;
-      case mjSENS_FRAMEYAXIS:
-        elem = InsertEnd(section, "frameyaxis");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        if (sensor->reftype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "reftype", mju_type2Str(sensor->reftype));
-          WriteAttrTxt(elem, "refname", sensor->get_refname());
-        }
-        break;
-      case mjSENS_FRAMEZAXIS:
-        elem = InsertEnd(section, "framezaxis");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        if (sensor->reftype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "reftype", mju_type2Str(sensor->reftype));
-          WriteAttrTxt(elem, "refname", sensor->get_refname());
-        }
-        break;
-      case mjSENS_FRAMELINVEL:
-        elem = InsertEnd(section, "framelinvel");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        if (sensor->reftype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "reftype", mju_type2Str(sensor->reftype));
-          WriteAttrTxt(elem, "refname", sensor->get_refname());
-        }
-        break;
-      case mjSENS_FRAMEANGVEL:
-        elem = InsertEnd(section, "frameangvel");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        if (sensor->reftype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "reftype", mju_type2Str(sensor->reftype));
-          WriteAttrTxt(elem, "refname", sensor->get_refname());
-        }
-        break;
-      case mjSENS_FRAMELINACC:
-        elem = InsertEnd(section, "framelinacc");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        if (sensor->reftype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "reftype", mju_type2Str(sensor->reftype));
-          WriteAttrTxt(elem, "refname", sensor->get_refname());
-        }
-        break;
-      case mjSENS_FRAMEANGACC:
-        elem = InsertEnd(section, "frameangacc");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        if (sensor->reftype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "reftype", mju_type2Str(sensor->reftype));
-          WriteAttrTxt(elem, "refname", sensor->get_refname());
-        }
-        break;
-
-      // sensors related to kinematic subtrees; attached to a body (which is the subtree root)
-      case mjSENS_SUBTREECOM:
-        elem = InsertEnd(section, "subtreecom");
-        WriteAttrTxt(elem, "body", sensor->get_objname());
-        break;
-      case mjSENS_SUBTREELINVEL:
-        elem = InsertEnd(section, "subtreelinvel");
-        WriteAttrTxt(elem, "body", sensor->get_objname());
-        break;
-      case mjSENS_SUBTREEANGMOM:
-        elem = InsertEnd(section, "subtreeangmom");
-        WriteAttrTxt(elem, "body", sensor->get_objname());
-        break;
-      case mjSENS_INSIDESITE:
-        elem = InsertEnd(section, "insidesite");
-        WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        WriteAttrTxt(elem, "site", sensor->get_refname());
-        break;
-      case mjSENS_GEOMDIST:
-        elem = InsertEnd(section, "distance");
-        WriteAttrTxt(elem, sensor->objtype == mjOBJ_BODY ? "body1" : "geom1", sensor->get_objname());
-        WriteAttrTxt(elem, sensor->reftype == mjOBJ_BODY ? "body2" : "geom2", sensor->get_refname());
-        break;
-      case mjSENS_GEOMNORMAL:
-        elem = InsertEnd(section, "normal");
-        WriteAttrTxt(elem, sensor->objtype == mjOBJ_BODY ? "body1" : "geom1", sensor->get_objname());
-        WriteAttrTxt(elem, sensor->reftype == mjOBJ_BODY ? "body2" : "geom2", sensor->get_refname());
-        break;
-      case mjSENS_GEOMFROMTO:
-        elem = InsertEnd(section, "fromto");
-        WriteAttrTxt(elem, sensor->objtype == mjOBJ_BODY ? "body1" : "geom1", sensor->get_objname());
-        WriteAttrTxt(elem, sensor->reftype == mjOBJ_BODY ? "body2" : "geom2", sensor->get_refname());
-        break;
-      case mjSENS_CONTACT:
-        {
-          elem = InsertEnd(section, "contact");
-          if (sensor->objtype == mjOBJ_BODY) {
-            WriteAttrTxt(elem, "body1", sensor->get_objname());
-          } else if (sensor->objtype == mjOBJ_XBODY) {
-            WriteAttrTxt(elem, "subtree1", sensor->get_objname());
-          } else if (sensor->objtype == mjOBJ_GEOM) {
-            WriteAttrTxt(elem, "geom1", sensor->get_objname());
-          } else if (sensor->objtype == mjOBJ_SITE) {
-            WriteAttrTxt(elem, "site", sensor->get_objname());
-          }
-          if (sensor->reftype == mjOBJ_BODY) {
-            WriteAttrTxt(elem, "body2", sensor->get_refname());
-          } else if (sensor->reftype == mjOBJ_XBODY) {
-            WriteAttrTxt(elem, "subtree2", sensor->get_refname());
-          } else if (sensor->reftype == mjOBJ_GEOM) {
-            WriteAttrTxt(elem, "geom2", sensor->get_refname());
-          }
-          int dataspec = sensor->intprm[0];
-          WriteAttrInt(elem, "num", sensor->dim / mju_condataSize(dataspec), 1);
-          int data[mjNCONDATA];
-          int ndata = 0;
-          for (int i=0; i < mjNCONDATA; i++) {
-            if (dataspec & (1 << i)) {
-              data[ndata++] = i;
-            }
-          }
-          WriteAttrKeys(elem, "data", condata_map, mjNCONDATA, data, ndata, 0);
-          WriteAttrKey(elem, "reduce", reduce_map, reduce_sz, sensor->intprm[1], 0);
-        }
-        break;
-      case mjSENS_TACTILE:
-        elem = InsertEnd(section, "tactile");
-        WriteAttrTxt(elem, "geom", sensor->get_refname());
-        WriteAttrTxt(elem, "mesh", sensor->get_objname());
-        break;
-      // global sensors
-      case mjSENS_E_POTENTIAL:
-        elem = InsertEnd(section, "potential");
-        break;
-      case mjSENS_E_KINETIC:
-        elem = InsertEnd(section, "kinetic");
-        break;
-      case mjSENS_CLOCK:
-        elem = InsertEnd(section, "clock");
-        break;
-
-
-      // plugin-controlled sensor
-      case mjSENS_PLUGIN:
-        elem = InsertEnd(section, "plugin");
-        if (sensor->objtype != mjOBJ_UNKNOWN) {
-          WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-          WriteAttrTxt(elem, "objname", sensor->get_objname());
-        }
-        OnePlugin(elem, &sensor->plugin);
-        break;
-
-      // user-defined sensor
-      case mjSENS_USER:
-        elem = InsertEnd(section, "user");
-        if (mju_type2Str(sensor->objtype)) {
-          WriteAttrTxt(elem, "objtype", mju_type2Str(sensor->objtype));
-        }
-        WriteAttrTxt(elem, "objname", sensor->get_objname());
-        WriteAttrInt(elem, "dim", sensor->dim);
-        WriteAttrKey(elem, "needstage", stage_map, stage_sz, (int)sensor->needstage);
-        WriteAttrKey(elem, "datatype", datatype_map, datatype_sz, (int)sensor->datatype);
-        break;
-
-      default:
-        mju_error("Unknown sensor type in XML write");
-    }
-
-    // write name, noise, userdata
-    WriteAttrTxt(elem, "name", sensor->name);
-    WriteAttr(elem, "cutoff", 1, &sensor->cutoff, &zero);
-    if (sensor->type != mjSENS_PLUGIN) {
-      WriteAttr(elem, "noise", 1, &sensor->noise, &zero);
-    }
-    WriteAttrInt(elem, "nsample", sensor->nsample, 0);
-    WriteAttrKey(elem, "interp", interp_map, interp_sz, sensor->interp, 0);
-    WriteAttr(elem, "delay", 1, &sensor->delay, &zero);
-    double zeros[2] = {0, 0};
-    WriteAttr(elem, "interval", 2, sensor->interval, zeros);
-    WriteVector(elem, "user", sensor->get_userdata());
-  }
-
-  // remove section if empty
-  if (!section->FirstChildElement()) {
-    root->DeleteChild(section);
-  }
-}
-
-
-
-// keyframe section
-void mjXWriter::Keyframe(XMLElement* root) {
-  // create section
-  XMLElement* section = InsertEnd(root, "keyframe");
-
-  if (!model->key_pending_.empty()) {
-    throw mjXError(0, "Model has pending keyframes. It must be (re)compiled before writing XML.");
-  }
-
-  // write all keyframes
-  for (int i=0; i < model->nkey; i++) {
-    XMLElement* elem = InsertEnd(section, "key");
-    bool change = false;
-
-    mjCKey* key = model->Keys()[i];
-
-    // check name and write
-    if (!key->name.empty()) {
-      WriteAttrTxt(elem, "name", key->name);
-      change = true;
-    }
-
-    // check time and write
-    if (key->time != 0) {
-      WriteAttr(elem, "time", 1, &key->time);
-      change = true;
-    }
-
-    // check qpos and write
-    for (int j=0; j < model->nq; j++) {
-      if (key->qpos_[j] != model->qpos0[j]) {
-        WriteAttr(elem, "qpos", model->nq, key->qpos_.data());
-        change = true;
-        break;
-      }
-    }
-
-    // check qvel and write
-    for (int j=0; j < model->nv; j++) {
-      if (key->qvel_[j] != 0) {
-        WriteAttr(elem, "qvel", model->nv, key->qvel_.data());
-        change = true;
-        break;
-      }
-    }
-
-    // check act and write
-    for (int j=0; j < model->na; j++) {
-      if (key->act_[j] != 0) {
-        WriteAttr(elem, "act", model->na, key->act_.data());
-        change = true;
-        break;
-      }
-    }
-
-    // check mpos and write
-    if (model->nmocap) {
-      for (int j=0; j < model->nbody; j++) {
-        if (model->Bodies()[j]->mocap) {
-          mjCBody* body = model->Bodies()[j];
-          int id = body->mocapid;
-          if (body->pos[0] != key->mpos_[3*id] ||
-              body->pos[1] != key->mpos_[3*id+1] ||
-              body->pos[2] != key->mpos_[3*id+2]) {
-            WriteAttr(elem, "mpos", 3*model->nmocap, key->mpos_.data());
-            change = true;
-            break;
-          }
-        }
-      }
-    }
-
-    // check mquat and write
-    if (model->nmocap) {
-      for (int j=0; j < model->nbody; j++) {
-        if (model->Bodies()[j]->mocap) {
-          mjCBody* body = model->Bodies()[j];
-          int id = body->mocapid;
-          if (body->quat[0] != key->mquat_[4*id] ||
-              body->quat[1] != key->mquat_[4*id+1] ||
-              body->quat[2] != key->mquat_[4*id+2] ||
-              body->quat[3] != key->mquat_[4*id+3]) {
-            WriteAttr(elem, "mquat", 4*model->nmocap, key->mquat_.data());
-            change = true;
-            break;
-          }
-        }
-      }
-    }
-
-    // check ctrl and write
-    for (int j=0; j < model->nu; j++) {
-      if (key->ctrl_[j] != 0) {
-        WriteAttr(elem, "ctrl", model->nu, key->ctrl_.data());
-        change = true;
-        break;
-      }
-    }
-
-    // remove elem if empty
-    if (!change) {
-      section->DeleteChild(elem);
-    }
-  }
-
-  // remove section if empty
-  if (!section->FirstChildElement()) {
-    root->DeleteChild(section);
-  }
-}
diff --git a/src/xml/xml_native_writer.h b/src/xml/xml_native_writer.h
deleted file mode 100644
index 7b31fff5..00000000
--- a/src/xml/xml_native_writer.h
+++ /dev/null
@@ -1,100 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_XML_XML_NATIVE_WRITER_H_
-#define MUJOCO_SRC_XML_XML_NATIVE_WRITER_H_
-
-#include <cstdlib>
-#include <string>
-#include <string_view>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include "user/user_objects.h"
-#include "xml/xml_base.h"
-#include "tinyxml2.h"
-
-class mjXWriter : public mjXBase {
- public:
-  mjXWriter();                                        // constructor
-  virtual ~mjXWriter() = default;                     // destructor
-  void SetModel(mjSpec* _spec, const mjModel* m = nullptr);
-
-  // write XML document to string
-  std::string Write(char *error, std::size_t error_sz);
-
- private:
-  // insert end child with given name, return child
-  tinyxml2::XMLElement* InsertEnd(tinyxml2::XMLElement* parent, const char* name);
-
-  // compiled model
-  mjCModel* model = 0;
-
-  // XML section writers
-  void Compiler(tinyxml2::XMLElement* root);                              // compiler section
-  void Option(tinyxml2::XMLElement* root);                                // option section
-  void Size(tinyxml2::XMLElement* root);                                  // size section
-  void Visual(tinyxml2::XMLElement* root);                                // visual section
-  void Statistic(tinyxml2::XMLElement* root);                             // statistic section
-  void Default(tinyxml2::XMLElement* root, mjCDef* def);                  // default section
-  void Extension(tinyxml2::XMLElement* root);                             // extension section
-  void Custom(tinyxml2::XMLElement* root);                                // custom section
-  void Asset(tinyxml2::XMLElement* root);                                 // asset section
-  void Contact(tinyxml2::XMLElement* root);                               // contact section
-  void Deformable(tinyxml2::XMLElement* root);                            // deformable section
-  void Equality(tinyxml2::XMLElement* root);                              // equality section
-  void Tendon(tinyxml2::XMLElement* root);                                // tendon section
-  void Actuator(tinyxml2::XMLElement* root);                              // actuator section
-  void Sensor(tinyxml2::XMLElement* root);                                // sensor section
-  void Keyframe(tinyxml2::XMLElement* root);                              // keyframe section
-
-  // body/world section
-  void Body(tinyxml2::XMLElement* elem, mjCBody* body, mjCFrame* frame, std::string_view childclass = "");
-
-  // table-driven attribute writing: the mechanical attributes of an element,
-  // driven by the same generated mjXAttr rows the reader uses. obj and def
-  // are the element's bound spec struct and its class-default counterpart;
-  // each bound field is compared against the default at the same offset, so
-  // attributes equal to their default are skipped. Strings, files and
-  // custom-read attributes remain in the OneX() remnants.
-  template <typename T>
-  void WriteAttrTable(tinyxml2::XMLElement* elem, const T* obj, const T* def,
-                      const struct mjXAttr* rows, int nrow);
-
-  // single element writers, used in defaults and main body
-  void OneFlex(tinyxml2::XMLElement* elem, const mjCFlex* pflex);
-  void OneMesh(tinyxml2::XMLElement* elem, const mjCMesh* pmesh,         mjCDef* def);
-  void OneSkin(tinyxml2::XMLElement* elem, const mjCSkin* pskin);
-  void OneMaterial(tinyxml2::XMLElement* elem, const mjCMaterial* pmaterial, mjCDef* def);
-  void OneJoint(tinyxml2::XMLElement* elem, const mjCJoint* pjoint, mjCDef* def,
-                std::string_view classname = "");
-  void OneGeom(tinyxml2::XMLElement* elem, const mjCGeom* pgeom, mjCDef* def,
-               std::string_view classname = "");
-  void OneSite(tinyxml2::XMLElement* elem, const mjCSite* psite, mjCDef* def,
-               std::string_view classname = "");
-  void OneCamera(tinyxml2::XMLElement* elem, const mjCCamera* pcamera,
-                 mjCDef* def, std::string_view classname = "");
-  void OneLight(tinyxml2::XMLElement* elem, const mjCLight* plight, mjCDef* def,
-                std::string_view classname = "");
-  void OnePair(tinyxml2::XMLElement* elem, const mjCPair* ppair,         mjCDef* def);
-  void OneEquality(tinyxml2::XMLElement* elem, const mjCEquality* pequality, mjCDef* def);
-  void OneTendon(tinyxml2::XMLElement* elem, const mjCTendon* ptendon,     mjCDef* def);
-  void OneActuator(tinyxml2::XMLElement* elem, const mjCActuator* pactuator, mjCDef* def);
-  void OnePlugin(tinyxml2::XMLElement* elem, const mjsPlugin* plugin);
-  tinyxml2::XMLElement* OneFrame(tinyxml2::XMLElement* elem, mjCFrame* frame);
-
-  bool writingdefaults;                       // true during defaults write
-};
-
-#endif  // MUJOCO_SRC_XML_XML_NATIVE_WRITER_H_
diff --git a/src/xml/xml_numeric_format.cc b/src/xml/xml_numeric_format.cc
deleted file mode 100644
index 31fb4813..00000000
--- a/src/xml/xml_numeric_format.cc
+++ /dev/null
@@ -1,31 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "xml/xml_numeric_format.h"
-
-namespace mujoco {
-
-namespace {
-  thread_local int precision = 6;
-}
-
-int _mjPRIVATE__get_xml_precision() {
-  return precision;
-}
-
-void _mjPRIVATE__set_xml_precision(const int new_precision) {
-  precision = new_precision;
-}
-
-}  // namespace mujoco
diff --git a/src/xml/xml_numeric_format.h b/src/xml/xml_numeric_format.h
deleted file mode 100644
index 2efb9f10..00000000
--- a/src/xml/xml_numeric_format.h
+++ /dev/null
@@ -1,37 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_XML_XML_NUMERIC_FORMAT_H_
-#define MUJOCO_SRC_XML_XML_NUMERIC_FORMAT_H_
-
-#include <mujoco/mjexport.h>
-
-namespace mujoco {
-
-extern "C" {
-  MJAPI int _mjPRIVATE__get_xml_precision();
-  MJAPI void _mjPRIVATE__set_xml_precision(const int precision);
-}
-
-// Full precision printing of floating point numbers in saved XMLs, useful for testing
-class FullFloatPrecision {
- public:
-  FullFloatPrecision() { _mjPRIVATE__set_xml_precision(17);}
-  ~FullFloatPrecision() { _mjPRIVATE__set_xml_precision(6);}
-};
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_XML_NUMERIC_FORMAT_H_
-
diff --git a/src/xml/xml_urdf.cc b/src/xml/xml_urdf.cc
deleted file mode 100644
index d927069c..00000000
--- a/src/xml/xml_urdf.cc
+++ /dev/null
@@ -1,769 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <array>
-#include <cstdlib>
-#include <cstring>
-#include <iostream>
-#include <string>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include "user/user_api.h"
-#include "user/user_util.h"
-#include "xml/xml_native_reader.h"
-#include "xml/xml_urdf.h"
-#include "xml/xml_util.h"
-#include "tinyxml2.h"
-
-using tinyxml2::XMLElement;
-
-// URDF joint type
-static const int urJoint_sz = 7;
-static const mjMap urJoint_map[urJoint_sz] = {
-  {"revolute",    0},
-  {"continuous",  1},
-  {"prismatic",   2},
-  {"fixed",       3},
-  {"floating",    4},
-  {"planar",      5},
-  {"spherical",   6}  // Bullet physics supports ball joints (non-standard URDF)
-};
-
-
-
-//---------------------------------- class mjXURDF -------------------------------------------------
-
-// constructor
-mjXURDF::mjXURDF() {
-  Clear();
-}
-
-
-
-// destructor
-mjXURDF::~mjXURDF() {
-  Clear();
-}
-
-
-// clear internal variables
-void mjXURDF::Clear(void) {
-  spec = 0;
-
-  urName.clear();
-  urParent.clear();
-  urChildren.clear();
-  urMat.clear();
-  urRGBA.clear();
-  urGeomNames.clear();
-}
-
-std::string mjXURDF::GetPrefixedName(const std::string& name) {
-  if (name.empty()) {
-    return name;
-  }
-  if (urPrefix.empty()) {
-    return name;
-  }
-  return urPrefix + "/" + name;
-}
-
-// actual parser
-void mjXURDF::Parse(
-    XMLElement* root, const std::string& prefix, double* pos, double* quat,
-    const bool static_body) {
-  std::string name, text;
-  XMLElement *elem, *temp;
-  int id_parent, id_child;
-  urPrefix = prefix;
-
-  // parse MuJoCo sections (not part of URDF)
-  XMLElement* mjc = FindSubElem(root, "mujoco");
-  if (mjc) {
-    XMLElement *section;
-    if ((section = FindSubElem(mjc, "compiler"))) {
-      mjXReader::Compiler(section, spec);
-    }
-
-    if ((section = FindSubElem(mjc, "option"))) {
-      mjXReader::Option(section, spec, &spec->option);
-    }
-
-    if ((section = FindSubElem(mjc, "size"))) {
-      mjXReader::Size(section, spec);
-    }
-  }
-
-  // enforce required compiler defaults for URDF
-  spec->compiler.degree = false;
-
-  // get model name
-  std::string modelname;
-  if (ReadAttrTxt(root, "name", modelname)) {
-    mjs_setString(spec->modelname, modelname.c_str());
-  }
-
-  // find and register all materials
-  MakeMaterials(root);
-
-  // find all links/bodies, save names
-  elem = root->FirstChildElement();
-  while (elem) {
-    // identify link elements
-    name = elem->Value();
-    if (name == "link") {
-      ReadAttrTxt(elem, "name", text, true);
-      text = GetPrefixedName(text);
-      AddBody(text);
-    }
-
-    // advance to next element
-    elem = elem->NextSiblingElement();
-  }
-
-  // find all joints, assign parent and child pointers
-  elem = root->FirstChildElement();
-  while (elem) {
-    // identify joint elements
-    name = elem->Value();
-    if (name == "joint") {
-      // find parent, get name and id
-      temp = FindSubElem(elem, "parent", true);
-      ReadAttrTxt(temp, "link", text, true);
-      text = GetPrefixedName(text);
-      id_parent = FindName(text, urName);
-
-      // find child, get name and id
-      temp = FindSubElem(elem, "child", true);
-      ReadAttrTxt(temp, "link", text, true);
-      text = GetPrefixedName(text);
-      id_child = FindName(text, urName);
-
-      // make sure parent and child exist
-      if (id_parent < 0 || id_child < 0) {
-        throw mjXError(elem, "URDF joint parent or child missing");
-      }
-
-      // check for multiple parents
-      if (urParent[id_child] >= 0) {
-        throw mjXError(elem, "URDF body has multiple parents:", urName[id_child].c_str());
-      }
-
-      // add parent and child info
-      urParent[id_child] = id_parent;
-      urChildren[id_parent].push_back(id_child);
-    }
-
-    // advance to next element
-    elem = elem->NextSiblingElement();
-  }
-
-  // find all top-level bodies, call recursive tree constructor
-  for (int i=0; i < (int)urName.size(); i++) {
-    if (urParent[i] < 0) {
-      AddToTree(i);
-    }
-  }
-
-  // parse bodies
-  elem = root->FirstChildElement();
-  while (elem) {
-    // identify body/link elements
-    name = elem->Value();
-    if (name == "link") {
-      Body(elem);
-    }
-
-    // advance to next element
-    elem = elem->NextSiblingElement();
-  }
-
-  // parse joints
-  elem = root->FirstChildElement();
-  while (elem) {
-    // identify body/link elements
-    name = elem->Value();
-    if (name == "joint") {
-      Joint(elem);
-    }
-
-    // advance to next element
-    elem = elem->NextSiblingElement();
-  }
-
-  // override the pose for the base link and add a free joint
-  for (int i = 0; i < (int)urName.size(); i++) {
-    if (urParent[i] < 0) {
-      mjsBody* world = mjs_findBody(spec, "world");
-      mjsBody* pbody = mjs_findChild(world, urName[i].c_str());
-      mjuu_copyvec(pbody->pos, pos, 3);
-      mjuu_copyvec(pbody->quat, quat, 4);
-
-      // add a free joint to allow motion of the body
-      // if the mass is 0, assume the object is static
-      if (!static_body && pbody->mass > 0) {
-        mjsJoint* pjoint = mjs_addJoint(pbody, 0);
-        mjs_setName(pjoint->element, (urName[i] + "_free_joint").c_str());
-        pjoint->type = mjJNT_FREE;
-      }
-    }
-  }
-}
-
-// parse body/link
-void mjXURDF::Body(XMLElement* body_elem) {
-  std::string name, text;
-  XMLElement *elem, *temp, *temp1;
-  mjsBody *pbody, *world;
-  mjsGeom* pgeom;
-
-  // get body name and pointer to mjsBody
-  ReadAttrTxt(body_elem, "name", name, true);
-  name = GetPrefixedName(name);
-  world = mjs_findBody(spec, "world");
-  pbody = mjs_findChild(world, name.c_str());
-  if (!pbody) {
-    throw mjXError(body_elem, "URDF body not found");  // SHOULD NOT OCCUR
-  }
-  // inertial element: copy into alternative body frame
-  if ((elem = FindSubElem(body_elem, "inertial"))) {
-    pbody->explicitinertial = true;
-    // origin- relative to joint frame for now
-    Origin(elem, pbody->ipos, pbody->iquat);
-
-    // mass
-    temp = FindSubElem(elem, "mass", true);
-    ReadAttr(temp, "value", 1, &pbody->mass, text, true);
-
-    // inertia
-    temp = FindSubElem(elem, "inertia", true);
-    ReadAttr(temp, "ixx", 1, pbody->fullinertia+0, text, true);
-    ReadAttr(temp, "iyy", 1, pbody->fullinertia+1, text, true);
-    ReadAttr(temp, "izz", 1, pbody->fullinertia+2, text, true);
-    ReadAttr(temp, "ixy", 1, pbody->fullinertia+3, text, true);
-    ReadAttr(temp, "ixz", 1, pbody->fullinertia+4, text, true);
-    ReadAttr(temp, "iyz", 1, pbody->fullinertia+5, text, true);
-
-    // If the inertias are all 0 in a URDF then it is still undefined.
-    bool inertia_defined = false;
-    for (int i = 0; i < 6; ++i) {
-      if (pbody->fullinertia[i] != 0) {
-        inertia_defined = true;
-        break;
-      }
-    }
-    if (!inertia_defined) {
-      pbody->fullinertia[0] = mjNAN;
-    }
-
-    // process inertia
-    //  lquat = rotation from specified to default (joint/body) inertial frame
-    double lquat[4] = {1, 0, 0, 0};
-    double tmpquat[4] = {1, 0, 0, 0};
-    const char* altres = mjuu_fullInertia(lquat, nullptr, pbody->fullinertia);
-
-    // inertias are sometimes 0 in URDF files: ignore error in altres, fix later
-    (void) altres;
-
-    // correct for alignment of full inertia matrix
-    mjuu_mulquat(tmpquat, pbody->iquat, lquat);
-    mjuu_copyvec(pbody->iquat, tmpquat, 4);
-  }
-
-  // clear body frame; set by joint later
-  mjuu_setvec(pbody->pos, 0, 0, 0);
-  mjuu_setvec(pbody->quat, 1, 0, 0, 0);
-
-  // process all visual and geometry elements in order
-  float rgba[4] = {-1, 0, 0, 0};
-  std::string geom_name;
-
-  elem = body_elem->FirstChildElement();
-  while (elem) {
-    name = elem->Value();
-
-    // visual element
-    if (name == "visual") {
-      // parse material
-      if ((temp = FindSubElem(elem, "material"))) {
-        // if color specified - use directly
-        if ((temp1 = FindSubElem(temp, "color"))) {
-          ReadAttr(temp1, "rgba", 4, rgba, text, /*required=*/true);
-        }
-
-        // otherwise use material table
-        else {
-          ReadAttrTxt(temp, "name", name, true);
-          name = GetPrefixedName(name);
-          int imat = FindName(name, urMat);
-          if (imat >= 0) {
-            std::memcpy(rgba, urRGBA[imat].val, 4*sizeof(float));
-          }
-        }
-      }
-      // create geom if not discarded
-      if (!spec->compiler.discardvisual) {
-        pgeom = Geom(elem, pbody, false);
-
-        // save color
-        if (rgba[0] >= 0) {
-          std::memcpy(pgeom->rgba, rgba, 4*sizeof(float));
-        }
-
-        // save name if it doesn't already exist.
-        mjXUtil::ReadAttrTxt(elem, "name", geom_name);
-        name = GetPrefixedName(name);
-        if (urGeomNames.find(geom_name) == urGeomNames.end()) {
-          mjs_setName(pgeom->element, geom_name.c_str());
-          urGeomNames.insert(geom_name);
-        } else if (!geom_name.empty()) {
-          std::cerr << "WARNING: Geom with duplicate name '" << geom_name
-                    << "' encountered in URDF, creating an unnamed geom."
-                    << std::endl;
-        }
-      }
-    }
-
-    // collision element
-    else if (name == "collision") {
-      pgeom = Geom(elem, pbody, true);
-
-      // use color from last visual
-      if (rgba[0] >= 0) {
-        std::memcpy(pgeom->rgba, rgba, 4*sizeof(float));
-      }
-
-      // save name if it doesn't already exist.
-      mjXUtil::ReadAttrTxt(elem, "name", geom_name);
-      geom_name = GetPrefixedName(geom_name);
-      if (urGeomNames.find(geom_name) == urGeomNames.end()) {
-        mjs_setName(pgeom->element, geom_name.c_str());
-        urGeomNames.insert(geom_name);
-      } else if (!geom_name.empty()) {
-        std::cerr << "WARNING: Geom with duplicate name '" << geom_name
-                  << "' encountered in URDF, creating an unnamed geom."
-                  << std::endl;
-      }
-    }
-    // advance
-    elem = elem->NextSiblingElement();
-  }
-}
-
-void mjXURDF::Parse(XMLElement* root, const mjVFS* vfs) {
-  double pos[3] = {0};
-  mjuu_setvec(pos, 0, 0, 0);
-  double quat[4] = {1, 0, 0, 0};
-  mjuu_setvec(quat, 1, 0, 0, 0);
-  Parse(root, /*prefix=*/"", pos, quat, true);
-}
-
-// parse joint
-void mjXURDF::Joint(XMLElement* joint_elem) {
-  std::string jntname, name, text;
-  XMLElement *elem;
-  mjsBody *pbody, *parent, *world;
-  mjsJoint *pjoint=0, *pjoint1=0, *pjoint2=0;
-  int jointtype;
-
-  // get type and name
-  ReadAttrTxt(joint_elem, "type", text, true);
-  jointtype = FindKey(urJoint_map, urJoint_sz, text);
-  if (jointtype < 0) {
-    throw mjXError(joint_elem, "invalid joint type in URDF joint definition");
-  }
-  ReadAttrTxt(joint_elem, "name", jntname, true);
-  jntname = GetPrefixedName(jntname);
-  // get parent, check
-  elem = FindSubElem(joint_elem, "parent", true);
-  ReadAttrTxt(elem, "link", name, true);
-  name = GetPrefixedName(name);
-  world = mjs_findBody(spec, "world");
-  parent = mjs_findChild(world, name.c_str());
-  if (!parent) {                      // SHOULD NOT OCCUR
-    throw mjXError(elem, "invalid parent name in URDF joint definition");
-  }
-
-  // get child=this, check
-  elem = FindSubElem(joint_elem, "child", true);
-  ReadAttrTxt(elem, "link", name, true);
-  name = GetPrefixedName(name);
-  world = mjs_findBody(spec, "world");
-  pbody = mjs_findChild(world, name.c_str());
-  if (!pbody) {                       // SHOULD NOT OCCUR
-    throw mjXError(elem, "invalid child name in URDF joint definition");
-  }
-
-  // read origin and axis
-  double axis[3] = {1, 0, 0};
-  Origin(joint_elem, pbody->pos, pbody->quat);
-  if ((elem = FindSubElem(joint_elem, "axis"))) {
-    ReadAttr(elem, "xyz", 3, axis, text, /*required=*/true);
-  }
-
-  // create joint (unless fixed)
-  double mat[9], quat[4], tmpaxis[3];
-  switch (jointtype) {
-    case 0:   // revolute
-    case 1:   // continuous
-      pjoint = mjs_addJoint(pbody, 0);
-      mjs_setName(pjoint->element, jntname.c_str());
-      pjoint->type = mjJNT_HINGE;
-      mjuu_setvec(pjoint->pos, 0, 0, 0);
-      mjuu_copyvec(pjoint->axis, axis, 3);
-      break;
-
-    case 2:   // prismatic
-      pjoint = mjs_addJoint(pbody, 0);
-      mjs_setName(pjoint->element, jntname.c_str());
-      pjoint->type = mjJNT_SLIDE;
-      mjuu_setvec(pjoint->pos, 0, 0, 0);
-      mjuu_copyvec(pjoint->axis, axis, 3);
-      break;
-
-    case 3:   // fixed- no joint, return
-      return;
-
-    case 4:   // floating
-      pjoint = mjs_addJoint(pbody, 0);
-      mjs_setName(pjoint->element, jntname.c_str());
-      pjoint->type = mjJNT_FREE;
-      break;
-
-    case 5:   // planar- construct complex joint
-      // make frame with axis = z
-      mjuu_z2quat(quat, axis);
-      mjuu_quat2mat(mat, quat);
-
-      // construct slider along x
-      pjoint = mjs_addJoint(pbody, 0);
-      mjs_setName(pjoint->element, (jntname + "_TX").c_str());
-      pjoint->type = mjJNT_SLIDE;
-      tmpaxis[0] = mat[0];
-      tmpaxis[1] = mat[3];
-      tmpaxis[2] = mat[6];
-      mjuu_setvec(pjoint->pos, 0, 0, 0);
-      mjuu_copyvec(pjoint->axis, tmpaxis, 3);
-
-      // construct slider along y
-      pjoint1 = mjs_addJoint(pbody, 0);
-      mjs_setName(pjoint1->element, (jntname + "_TY").c_str());
-      pjoint1->type = mjJNT_SLIDE;
-      tmpaxis[0] = mat[1];
-      tmpaxis[1] = mat[4];
-      tmpaxis[2] = mat[7];
-      mjuu_setvec(pjoint1->pos, 0, 0, 0);
-      mjuu_copyvec(pjoint1->axis, tmpaxis, 3);
-
-      // construct hinge around z = locaxis
-      pjoint2 = mjs_addJoint(pbody, 0);
-      mjs_setName(pjoint2->element, (jntname + "_RZ").c_str());
-      pjoint2->type = mjJNT_HINGE;
-      mjuu_setvec(pjoint2->pos, 0, 0, 0);
-      mjuu_copyvec(pjoint2->axis, axis, 3);
-      break;
-
-    case 6: // ball joint
-      pjoint = mjs_addJoint(pbody, 0);
-      mjs_setName(pjoint->element, jntname.c_str());
-      pjoint->type = mjJNT_BALL;
-      mjuu_setvec(pjoint->pos, 0, 0, 0);
-      mjuu_copyvec(pjoint->axis, axis, 3);
-  }
-
-  // dynamics element
-  if ((elem = FindSubElem(joint_elem, "dynamics"))) {
-    ReadAttr(elem, "damping", 1, pjoint->damping, text);
-    ReadAttr(elem, "friction", 1, &pjoint->frictionloss, text);
-
-    // copy parameters to all elements of planar joint
-    if (pjoint1) {
-      mjuu_copyvec(pjoint1->damping, pjoint->damping, 1+mjNPOLY);
-      mjuu_copyvec(pjoint2->damping, pjoint->damping, 1+mjNPOLY);
-      pjoint1->frictionloss = pjoint2->frictionloss = pjoint->frictionloss;
-    }
-  }
-
-  // limit element
-  if ((elem = FindSubElem(joint_elem, "limit"))) {
-    bool haslower = ReadAttr(elem, "lower", 1, pjoint->range, text);
-    bool hasupper = ReadAttr(elem, "upper", 1, pjoint->range+1, text);
-
-    // handle range mis-specification, otherwise the default mjLIMITED_AUTO will do the right thing
-    bool bad_range = (haslower != hasupper) || pjoint->range[0] > pjoint->range[1];
-    if (bad_range) {
-      pjoint->limited = mjLIMITED_FALSE;
-    }
-
-    // ReadAttr(elem, "velocity", 1, &pjoint->maxvel, text); // no maxvel in MuJoCo
-    double effort = 0;
-    ReadAttr(elem, "effort", 1, &effort, text);
-    effort = std::abs(effort);
-    if (effort > 0) {
-      pjoint->actfrcrange[0] = -effort;
-      pjoint->actfrcrange[1] = effort;
-    }
-  }
-}
-
-
-
-// parse origin and geometry elements of visual or collision
-mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
-  XMLElement *elem, *temp;
-  std::string text, meshfile;
-
-  // get geometry element
-  elem = FindSubElem(geom_elem, "geometry", true);
-
-  // add BOX geom, modify type later
-  mjsGeom* pgeom = mjs_addGeom(pbody, 0);
-  mjs_setName(pgeom->element, "");
-  pgeom->type = mjGEOM_BOX;
-  if (collision) {
-    pgeom->contype = 1;
-    pgeom->conaffinity = 1;
-  } else {
-    pgeom->contype = 0;
-    pgeom->conaffinity = 0;
-    pgeom->group = 1;
-    pgeom->density = 0;
-  }
-
-  // box
-  if ((temp = FindSubElem(elem, "box"))) {
-    ReadAttr(temp, "size", 3, pgeom->size, text, true, true);
-    for (int i=0; i < 3; i++) {
-      pgeom->size[i] /= 2;  // MuJoCo uses half-length
-    }
-  }
-
-  // cylinder
-  else if ((temp = FindSubElem(elem, "cylinder"))) {
-    pgeom->type = mjGEOM_CYLINDER;
-    ReadAttr(temp, "radius", 1, pgeom->size, text, true, true);
-    ReadAttr(temp, "length", 1, pgeom->size+1, text, true, true);
-    pgeom->size[1] /= 2;            // MuJoCo uses half-length
-  }
-
-  // sphere
-  else if ((temp = FindSubElem(elem, "sphere"))) {
-    pgeom->type = mjGEOM_SPHERE;
-    ReadAttr(temp, "radius", 1, pgeom->size, text, true, true);
-  }
-
-  // capsule
-  else if ((temp = FindSubElem(elem, "capsule"))) {
-    pgeom->type = mjGEOM_CAPSULE;
-    ReadAttr(temp, "radius", 1, pgeom->size, text, true, true);
-    ReadAttr(temp, "length", 1, pgeom->size+1, text, true, true);
-    pgeom->size[1] /= 2;            // MuJoCo uses half-length
-  }
-
-  // mesh
-  else if ((temp = FindSubElem(elem, "mesh"))) {
-    mjsMesh* pmesh = 0;
-    bool newmesh = false;
-
-    // set geom type and read mesh attributes
-    pgeom->type = mjGEOM_MESH;
-    meshfile = ReadAttrStr(temp, "filename", true).value();
-    std::array<double, 3> default_meshscale = {1, 1, 1};
-    std::array<double, 3> meshscale = ReadAttrArr<double, 3>(temp, "scale")
-                                      .value_or(default_meshscale);
-
-    // strip file name if necessary
-    if (spec->strippath) {
-      meshfile = mjuu_strippath(meshfile);
-    }
-
-    // construct mesh name: always stripped
-    std::string meshname = mjuu_strippath(meshfile);
-    meshname = mjuu_stripext(meshname);
-
-    if (meshes.find(meshname) == meshes.end()) {
-      // does not exist: create
-      pmesh = mjs_addMesh(spec, 0);
-      meshes[meshname].push_back(pmesh);
-      newmesh = true;
-    } else {
-      int i = 0;
-
-      // find if it exists with the same scale
-      for (mjsMesh* mesh : meshes[meshname]) {
-        if (mesh->scale[0] == meshscale[0] &&
-            mesh->scale[1] == meshscale[1] &&
-            mesh->scale[2] == meshscale[2]) {
-          pmesh = mesh;
-          break;
-        }
-        i++;
-      }
-
-      // add a new spec making an incremental new name
-      if (i == meshes[meshname].size()) {
-        pmesh = mjs_addMesh(spec, 0);
-        meshes[meshname].push_back(pmesh);
-        meshname = meshname + std::to_string(i);
-        newmesh = true;
-      }
-    }
-
-    // set fields
-    if (newmesh) {
-      mjs_setString(pmesh->file, meshfile.c_str());
-      mjs_setName(pmesh->element, meshname.c_str());
-      pmesh->scale[0] = meshscale[0];
-      pmesh->scale[1] = meshscale[1];
-      pmesh->scale[2] = meshscale[2];
-    }
-    mjs_setString(pgeom->meshname, meshname.c_str());
-  }
-
-  else {
-    throw mjXError(elem, "visual geometry specification not found");
-  }
-
-  // origin element
-  Origin(geom_elem, pgeom->pos, pgeom->quat);
-
-  return pgeom;
-}
-
-
-
-// parse origin element
-void mjXURDF::Origin(XMLElement* origin_elem, double* pos, double* quat) {
-  XMLElement* temp;
-  std::string text;
-
-  // set defaults
-  mjuu_setvec(pos, 0, 0, 0);
-  mjuu_setvec(quat, 1, 0, 0, 0);
-
-  // read origin element if present
-  if ((temp = FindSubElem(origin_elem, "origin"))) {
-    // position
-    ReadAttr(temp, "xyz", 3, pos, text);
-
-    // orientation
-    mjsOrientation alt;
-    mjs_defaultOrientation(&alt);
-    if (ReadAttr(temp, "rpy", 3, alt.euler, text)) {
-      alt.type = mjORIENTATION_EULER;
-      mjs_resolveOrientation(quat, 0, "XYZ", &alt);
-    }
-  }
-}
-
-
-
-// find body with given name in list, return -1 if not found
-int mjXURDF::FindName(std::string name, std::vector<std::string>& list) {
-  for (unsigned int i=0; i < list.size(); i++)
-    if (list[i] == name) {
-      return i;
-    }
-
-  return -1;
-}
-
-
-
-// add name to list, error if name already exists
-void mjXURDF::AddName(std::string name, std::vector<std::string>& list) {
-  // make sure name is unique
-  if (FindName(name, list) >= 0) {
-    throw mjXError(0, "repeated URDF name: ", name.c_str());
-  }
-
-  list.push_back(name);
-}
-
-
-
-// add body name to list of URDF bodies, error if name already exists
-void mjXURDF::AddBody(std::string name) {
-  // add body name, make sure it is unique
-  AddName(name, urName);
-
-  // add parent and child elements
-  urParent.push_back(-1);
-  std::vector<int> children;
-  children.clear();
-  urChildren.push_back(children);
-}
-
-
-
-// add body with given number to the mjCModel tree, process children
-void mjXURDF::AddToTree(int n) {
-  // get pointer to parent in mjCModel tree
-  mjsBody *parent = 0, *child = 0, *world = 0;
-  if (urParent[n] >= 0) {
-    world = mjs_findBody(spec, "world");
-    parent = mjs_findChild(world, urName[urParent[n]].c_str());
-
-    if (!parent)
-      throw mjXError(0, "URDF body parent should already be in tree: %s",
-                     urName[urParent[n]].c_str());       // SHOULD NOT OCCUR
-  } else {
-    parent = mjs_findBody(spec, "world");
-  }
-
-  // add this body
-  if (urName[n] != "world") {
-    child = mjs_addBody(parent, 0);
-    mjs_setName(child->element, urName[n].c_str());
-  }
-
-  // add children recursively
-  for (int i=0; i < (int)urChildren[n].size(); i++) {
-    AddToTree(urChildren[n][i]);
-  }
-}
-
-
-
-// find all materials recursively
-void mjXURDF::MakeMaterials(XMLElement* elem) {
-  std::string name, text;
-  XMLElement* color = 0;
-  mjRGBA rgba;
-
-  // process this element
-  if (!std::strcmp(elem->Value(), "material")) {
-    // make sure material is named
-    if (ReadAttrTxt(elem, "name", name)) {
-      // make sure name is not already registered
-      if (FindName(name, urMat) < 0) {
-        // add rgba value if available
-        if ((color = FindSubElem(elem, "color"))) {
-          ReadAttr(color, "rgba", 4, rgba.val, text, /*required=*/true);
-          AddName(name, urMat);
-          urRGBA.push_back(rgba);
-        }
-      }
-    }
-  }
-
-  // process children recursively
-  elem = elem->FirstChildElement();
-  while (elem) {
-    MakeMaterials(elem);
-    elem = elem->NextSiblingElement();
-  }
-}
diff --git a/src/xml/xml_urdf.h b/src/xml/xml_urdf.h
deleted file mode 100644
index eeda989b..00000000
--- a/src/xml/xml_urdf.h
+++ /dev/null
@@ -1,75 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
-#define THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
-
-#include <map>
-#include <string>
-#include <unordered_set>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include "xml/xml_base.h"
-#include "tinyxml2.h"
-
-// rgb data
-typedef struct _mjRGBA {
-  float val[4];
-} mjRGBA;
-
-// XML parser for URDF files
-class mjXURDF : public mjXBase {
- public:
-  mjXURDF();                                          // constructor
-  virtual ~mjXURDF();                                 // destructor
-
-  // parse and set frame of base link and append a prefix to the name
-  void Parse(
-      tinyxml2::XMLElement* root,
-      const std::string& prefix,
-      double* pos,
-      double* quat,
-      bool static_body);
-  void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr);  // main parser
-
- private:
-  std::string GetPrefixedName(const std::string& name);            // get prefix/name of element
-  int FindName(std::string name, std::vector<std::string>& list);  // find name in list
-  void AddName(std::string name, std::vector<std::string>& list);  // add name to list
-  void AddBody(std::string name);                                  // add body to local table
-  void AddToTree(int n);                                           // add body to mjCModel tree
-  void Body(tinyxml2::XMLElement* body_elem);                      // parse body
-  void Joint(tinyxml2::XMLElement* joint_elem);                    // parse joint
-  mjsGeom* Geom(tinyxml2::XMLElement* geom_elem,
-                mjsBody* pbody, bool collision);      // parse origin and geometry of geom
-  void Origin(tinyxml2::XMLElement* origin_elem, double* pos, double* quat); // parse origin element
-
-  void MakeMaterials(tinyxml2::XMLElement* elem);     // find all materials recursively
-  void Clear(void);                                   // clear local objects
-
-  // URDF parser variables
-  std::vector<std::string> urName;              // body name
-  std::vector<int> urParent;                    // body parent (index in name vector)
-  std::vector<std::vector<int> > urChildren;    // body children (index in name vector)
-  std::vector<std::string> urMat;               // material name
-  std::vector<mjRGBA> urRGBA;                   // material RBG value
-  std::unordered_set<std::string> urGeomNames;  // geom name
-  std::map<std::string, std::vector<mjsMesh*>> meshes;  // map from name to mjsMesh
-
-  std::string urPrefix;                         // prefix to apply to all names
-};
-
-#endif  // THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
diff --git a/src/xml/xml_util.cc b/src/xml/xml_util.cc
deleted file mode 100644
index 64119458..00000000
--- a/src/xml/xml_util.cc
+++ /dev/null
@@ -1,1289 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <cerrno>
-#include <climits>
-#include <cmath>
-#include <cstddef>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <functional>
-#include <iostream>
-#include <limits>
-#include <optional>
-#include <set>
-#include <sstream>
-#include <stack>
-#include <string>
-#include <type_traits>
-#include <unordered_set>
-#include <utility>
-#include <vector>
-
-#include <mujoco/mujoco.h>
-#include "cc/array_safety.h"
-#include "engine/engine_util_errmem.h"
-#include "user/user_resource.h"
-#include "user/user_util.h"
-#include "xml/xml_util.h"
-#include "xml/xml_numeric_format.h"
-#include "tinyxml2.h"
-
-namespace {
-
-using tinyxml2::XMLAttribute;
-using tinyxml2::XMLElement;
-using mujoco::user::FilePath;
-
-namespace mju = ::mujoco::util;
-
-template <typename T>
-static std::optional<T> ParseInfOrNan(const std::string& s) {
-  const char* str = s.c_str();
-  if constexpr (std::is_floating_point_v<T>) {
-    T sign = 1;
-    if (s.size() == 4 && s[0] == '-') {
-      sign = -1;
-      ++str;
-    } else if (s.size() != 3) {
-      return std::nullopt;
-    }
-    if (std::numeric_limits<T>::has_infinity &&
-        (str[0] == 'i' || str[0] == 'I') &&
-        (str[1] == 'n' || str[1] == 'N') &&
-        (str[2] == 'f' || str[2] == 'F')) {
-      return sign * std::numeric_limits<T>::infinity();
-    } else if (std::numeric_limits<T>::has_quiet_NaN &&
-               (str[0] == 'n' || str[0] == 'N') &&
-               (str[1] == 'a' || str[1] == 'A') &&
-               (str[2] == 'n' || str[2] == 'N')) {
-      return sign * std::numeric_limits<T>::quiet_NaN();
-    }
-  }
-  return std::nullopt;
-}
-
-FilePath ResolveFilePath(XMLElement* e, const FilePath& filename,
-                         const FilePath& dir, const mjVFS* vfs) {
-  std::string path = "";
-  if (filename.IsAbs()) {
-    return filename;
-  }
-
-  // TODO(kylebayes): We first look in the base model directory for files to
-  // remain backwards compatible.
-  FilePath fullname = dir + filename;
-  mjResource *resource = mju_openResource("", fullname.c_str(), vfs,
-                                          nullptr, 0);
-  if (resource != nullptr) {
-    mju_closeResource(resource);
-    return filename;
-  }
-
-  XMLElement* parent = e->Parent()->ToElement();
-  for (; parent; parent = parent->Parent()->ToElement()) {
-    if (!std::strcmp(parent->Value(), "include")) {
-      auto file_attr = mjXUtil::ReadAttrStr(parent, "dir", false);
-      if (file_attr.has_value()) {
-        path = file_attr.value();
-      }
-      break;
-    }
-  }
-  return FilePath(path) + filename;
-}
-
-void AccumulateFiles(std::unordered_set<std::string> &files,
-                     tinyxml2::XMLElement *root, const FilePath &model_dir) {
-  std::optional<FilePath> asset_dir;
-  std::optional<FilePath> mesh_dir;
-  std::optional<FilePath> texture_dir;
-  std::set<std::string> include_and_model_files;
-  std::set<std::string> texture_files;
-  std::set<std::string> mesh_files;
-  std::set<std::string> hfield_files;
-
-  auto accumulate_files = [&](const std::set<std::string> &candidate_files,
-                              std::optional<FilePath> prefix) {
-    for (const auto &file : candidate_files) {
-      FilePath file_with_prefix = !prefix.has_value() ? FilePath(file) : prefix.value() + FilePath(file);
-      if (file_with_prefix.IsAbs()) {
-        files.insert(file_with_prefix.Str());
-      } else {
-        // Else insert dir_path / prefix / file.
-        auto full_path = model_dir + file_with_prefix;
-        files.insert(full_path.Str());
-      }
-    }
-  };
-
-  std::stack<tinyxml2::XMLElement *> elements;
-  elements.push(root);
-  while (!elements.empty()) {
-    tinyxml2::XMLElement *elem = elements.top();
-    elements.pop();
-
-    if (!std::strcmp(elem->Value(), "include") ||
-        !std::strcmp(elem->Value(), "model")) {
-      auto file_attr = mjXUtil::ReadAttrFile(elem, "file", nullptr);
-      if (file_attr.has_value()) {
-        include_and_model_files.insert(file_attr->Str());
-        // Neither of these elements should have children.
-        continue;
-      }
-    } else if (!std::strcmp(elem->Value(), "compiler")) {
-      auto assetdir_str = mjXUtil::ReadAttrStr(elem, "assetdir", false);
-      if (assetdir_str.has_value()) asset_dir = FilePath(assetdir_str.value());
-      auto meshdir_str = mjXUtil::ReadAttrStr(elem, "meshdir", false);
-      if (meshdir_str.has_value()) mesh_dir = FilePath(meshdir_str.value());
-      auto texturedir_str = mjXUtil::ReadAttrStr(elem, "texturedir", false);
-      if (texturedir_str.has_value()) texture_dir = FilePath(texturedir_str.value());
-
-      // compiler elements don't have children.
-      continue;
-    } else if (!std::strcmp(elem->Value(), "mesh") ||
-               !std::strcmp(elem->Value(), "flexcomp") ||
-               !std::strcmp(elem->Value(), "skin")) {
-      // mesh elements don't have children.
-      auto file_attr = mjXUtil::ReadAttrFile(elem, "file", nullptr);
-      if (file_attr.has_value()) {
-        mesh_files.insert(file_attr->Str());
-      }
-      continue;
-    } else if (!std::strcmp(elem->Value(), "hfield")) {
-      // hfield elements don't have children.
-      auto file_attr = mjXUtil::ReadAttrFile(elem, "file", nullptr);
-      if (file_attr.has_value()) {
-        hfield_files.insert(file_attr->Str());
-      }
-      continue;
-    } else if (!std::strcmp(elem->Value(), "texture")) {
-      static const char *attributes[] = {"file",     "fileright", "fileup",
-                                         "fileleft", "filedown",  "filefront",
-                                         "fileback"};
-      for (const auto &attribute : attributes) {
-        auto file_attr = mjXUtil::ReadAttrFile(elem, attribute, nullptr);
-        if (file_attr.has_value()) {
-          texture_files.insert(file_attr->Str());
-        }
-      }
-    }
-
-    tinyxml2::XMLElement *child = elem->FirstChildElement();
-    while (child) {
-      elements.push(child);
-      child = child->NextSiblingElement();
-    }
-  }
-
-  // TODO(shaves): When we have resource decoders implemented they should have a
-  // "get dependencies" function to call here. For non XML types we assume they
-  // have no dependencies here.
-
-  // First resolve all dependent XML files.
-  for (const auto &file : include_and_model_files) {
-    mjStringVec subdeps;
-    FilePath full_path = model_dir + FilePath(file);
-    mju_getXMLDependencies(full_path.Str().c_str(), &subdeps);
-    for (const auto &subdep : subdeps) {
-      files.insert(subdep);
-    }
-  }
-  // Then for each non MJCF resource file, add them to the set of files using their respective
-  // compiler prefixes (if they exist).
-  accumulate_files(texture_files,
-                   texture_dir.has_value() ? texture_dir : asset_dir);
-  accumulate_files(mesh_files, mesh_dir.has_value() ? mesh_dir : asset_dir);
-  accumulate_files(hfield_files, asset_dir);
-}
-}
-
-//---------------------------------- utility functions ---------------------------------------------
-
-// error string copy
-void mjCopyError(char* dst, const char* src, int maxlen) {
-  if (dst && maxlen > 0) {
-    strncpy(dst, src, maxlen);
-    dst[maxlen-1] = 0;
-  }
-}
-
-void mju_getXMLDependencies(const char* filename, mjStringVec* dependencies) {
-  // Open through the resource provider so the function works against any
-  // registered backend (OS file system, VFS, HTTP, "github:", ...) rather
-  // than only the OS file system.
-  mjResource* resource = mju_openResource("", filename, nullptr, nullptr, 0);
-  if (resource == nullptr) {
-    mju_error("Could not open '%s'", filename);
-  }
-
-  // Read the XML bytes from the resource.
-  const void* buffer = nullptr;
-  int size = mju_readResource(resource, &buffer);
-  if (size < 0 || !size) {
-    mju_closeResource(resource);
-    mju_error("Could not read '%s'", filename);
-  }
-
-  // Capture the model directory while the resource is still open.
-  const char* dir = nullptr;
-  int ndir = 0;
-  mju_getResourceDir(resource, &dir, &ndir);
-  FilePath model_dir(std::string(dir, ndir));
-
-  // Parse from buffer and close (the parsed DOM is independent of the
-  // resource buffer once Parse returns).
-  tinyxml2::XMLDocument doc;
-  tinyxml2::XMLError err =
-      doc.Parse(static_cast<const char*>(buffer), static_cast<size_t>(size));
-  mju_closeResource(resource);
-
-  if (err != tinyxml2::XML_SUCCESS) {
-    mju_error("Problem reading XML file '%s': %s", filename,
-              doc.ErrorStr() ? doc.ErrorStr() : "");
-  }
-  tinyxml2::XMLElement* root = doc.RootElement();
-  if (!root) {
-    mju_error("XML root element not found in '%s'", filename);
-  }
-
-  std::unordered_set<std::string> files = {filename};
-  AccumulateFiles(files, root, model_dir);
-
-  *dependencies = {files.begin(), files.end()};
-}
-
-// error constructor
-mjXError::mjXError(const XMLElement* elem, const char* msg, const char* str, int pos) {
-  char temp[500];
-
-  // construct error message
-  mju::sprintf_arr(message, "XML Error");
-  if (msg) {
-    mju::sprintf_arr(temp, msg, str, pos);
-    mju::strcat_arr(message, ": ");
-    mju::strcat_arr(message, temp);
-  }
-
-  // append element, line numbers
-  if (elem) {
-    mju::sprintf_arr(temp, "\nElement '%s', line %d\n", elem->Value(), elem->GetLineNum());
-
-    mju::strcat_arr(message, temp);
-  }
-}
-
-
-
-//---------------------------------- class mjXSchema implementation --------------------------------
-
-XMLElement* FirstChildElement(XMLElement* e, const char* name) {
-  XMLElement* child = e->FirstChildElement();
-  for (; child; child = child->NextSiblingElement()) {
-    if (!std::strcmp(child->Name(), "include")) {
-      XMLElement* temp = FirstChildElement(child, name);
-      if (temp) {
-        return temp;
-      }
-      continue;
-    }
-
-    if (!name || !std::strcmp(child->Name(), name)) {
-      return child;
-    }
-  }
-  return nullptr;
-}
-
-XMLElement* NextSiblingElement(XMLElement* e, const char* name) {
-  XMLElement* elem = e->NextSiblingElement();
-  for (; elem; elem = elem->NextSiblingElement()) {
-    if (!std::strcmp(elem->Name(), "include")) {
-      XMLElement* temp = FirstChildElement(elem, name);
-      if (temp) {
-        return temp;
-      }
-      continue;
-    }
-
-    if (!name || !std::strcmp(elem->Name(), name)) {
-      return elem;
-    }
-  }
-
-  XMLElement* parent = e->Parent()->ToElement();
-  if (parent && !std::strcmp(parent->Name(), "include")) {
-    return NextSiblingElement(parent, name);
-  }
-
-  return nullptr;
-}
-
-// constructor
-mjXSchema::mjXSchema(std::vector<const char*> schema[], unsigned nrow,
-                     const mjXConstraintDef* constraints, int nconstraint,
-                     int first_row) {
-  // set name and type
-  name_ = schema[0][0];
-  type_ = schema[0][1][0];
-
-  // adopt the presence constraints declared for this row
-  for (int i = 0; i < nconstraint; i++) {
-    if (constraints[i].row == first_row) {
-      constraints_.push_back(&constraints[i]);
-    }
-  }
-
-  // set attributes
-  int nattr = schema[0].size() - 2;
-  for (int i = 0; i < nattr; i++) {
-    attr_.emplace(schema[0][2 + i]);
-  }
-
-  // process sub-elements of complex element
-  if (nrow > 1) {
-    // parse block into simple and complex elements, create children
-    int start = 2;
-    while (start < nrow-1) {
-      int end = start;
-
-      // look for bracketed block at start+1
-      if (schema[start+1][0][0] == '<') {
-        // look for corresponding closing bracket
-        int cnt = 0;
-        while (end <= nrow-1) {
-          if (schema[end][0][0] == '<') {
-            cnt++;
-          } else if (schema[end][0][0] == '>') {
-            cnt--;
-            if (cnt == 0) {
-              break;
-            }
-          }
-
-          end++;
-        }
-      }
-
-      // add child element
-      subschema_.emplace_back(schema+start, end-start+1, constraints,
-                              nconstraint, first_row+start);
-
-      // proceed with next subelement
-      start = end+1;
-    }
-  }
-}
-
-
-
-// quoted list of constraint bundles: 'a' or ('a', 'b'), comma-joined
-static std::string BundleList(const std::vector<std::vector<std::string>>& bundles) {
-  std::string out;
-  for (size_t i = 0; i < bundles.size(); i++) {
-    if (i) {
-      out += ", ";
-    }
-    if (bundles[i].size() == 1) {
-      out += "'" + bundles[i][0] + "'";
-    } else {
-      out += '(';
-      for (size_t j = 0; j < bundles[i].size(); j++) {
-        out += (j ? ", '" : "'") + bundles[i][j] + "'";
-      }
-      out += ')';
-    }
-  }
-  return out;
-}
-
-
-
-// enforce the presence constraints declared for this element
-XMLElement* mjXSchema::CheckConstraints(XMLElement* elem) {
-  for (const mjXConstraintDef* con : constraints_) {
-    // split the spec into bundles of attribute names
-    std::vector<std::vector<std::string>> bundles(1);
-    std::string token;
-    for (const char* c = con->spec;; c++) {
-      if (*c == ' ' || *c == '|' || *c == '\0') {
-        if (!token.empty()) {
-          bundles.back().push_back(token);
-          token.clear();
-        }
-        if (*c == '|') {
-          bundles.emplace_back();
-        }
-        if (*c == '\0') {
-          break;
-        }
-      } else {
-        token += *c;
-      }
-    }
-
-    // per-bundle presence: any member present / all members present
-    int n_any = 0, n_all = 0, n_attr = 0, n_present = 0;
-    for (const auto& bundle : bundles) {
-      bool any = false, all = true;
-      for (const std::string& attr : bundle) {
-        bool present = elem->Attribute(attr.c_str()) != nullptr;
-        any |= present;
-        all &= present;
-        n_attr++;
-        n_present += present;
-      }
-      n_any += any;
-      n_all += all;
-    }
-
-    switch (con->kind) {
-      case 'e':  // at most one bundle may be present
-        if (n_any > 1) {
-          error = "at most one of " + BundleList(bundles) +
-                  " can be specified";
-          return elem;
-        }
-        break;
-      case 't':  // all listed attributes appear together or not at all
-        if (n_present != 0 && n_present != n_attr) {
-          error = "attributes " + BundleList(bundles) +
-                  " must be specified together";
-          return elem;
-        }
-        break;
-      case 'r':  // first attribute requires the second
-        if (n_any && elem->Attribute(bundles[0][0].c_str()) &&
-            !elem->Attribute(bundles[1][0].c_str())) {
-          error = "attribute '" + bundles[0][0] + "' requires attribute '" +
-                  bundles[1][0] + "'";
-          return elem;
-        }
-        break;
-      case 'o':  // at least one bundle must be complete
-        if (n_all == 0) {
-          error = "one of " + BundleList(bundles) + " must be specified";
-          return elem;
-        }
-        break;
-    }
-  }
-  return nullptr;
-}
-
-
-
-// get pointer to error message
-std::string mjXSchema::GetError() {
-  return error;
-}
-
-
-
-// print spaces
-static void printspace(std::stringstream& str, int n, const char* space) {
-  for (int i=0; i < n; i++) {
-    str << space;
-  }
-}
-
-
-
-// print schema as text
-void mjXSchema::Print(std::stringstream& str, int level) const {
-  // replace body with (world)body
-  std::string name1 = (name_ == "body") ? "(world)body" : name_;
-
-  // space, name, type
-  printspace(str, 3*level, " ");
-  str << name1 << " (" << type_ << ")";
-  int baselen = 3*level + (int)name1.size() + 4;
-  if (baselen < 30) {
-    printspace(str, 30-baselen, " ");
-  }
-
-  // attributes
-  int cnt = std::max(baselen, 30);
-  for (const std::string& attr : attr_) {
-    if (cnt > 60) {
-      str << "\n";
-      printspace(str, (cnt = std::max(30, baselen)), " ");
-    }
-
-    str << attr << " ";
-    cnt += (int)attr.size() + 1;
-  }
-  str << "\n";
-
-  // children
-  for (const mjXSchema& subschema : subschema_) {
-    subschema.Print(str, level+1);
-  }
-}
-
-
-
-// print schema as HTML table
-void mjXSchema::PrintHTML(std::stringstream& str, int level, bool pad) const {
-  // replace body with (world)body
-  std::string name1 = (name_ == "body" ? "(world)body" : name_);
-
-  // open table
-  if (level == 0) {
-    str << "<table border=\"1\">\n";
-  }
-
-  // name: with HTML padding
-  if (pad) {
-    str << "<tr>\n\t<td style=\"padding-left:" << 5 + 15*level;
-    str << "\" bgcolor=\"#EEEEEE\" class=\"el\">" << name1 << "</td>\n";
-  }
-
-  // name: with &nbsp; for browsers that ignore padding
-  else {
-    str << "<tr>\n\t<td bgcolor=\"#EEEEEE\" class=\"el\">";
-    if (level) {
-      printspace(str, 4*level, "&nbsp;");
-    }
-    str << name1 << "</td>\n";
-  }
-
-  // type
-  str << "\t<td class=\"ty\">" << type_ << "</td>\n";
-
-  // attributes
-  str << "\t<td class=\"at\">";
-  if (!attr_.empty()) {
-    for (const std::string& attr : attr_) {
-      str << attr << " ";
-    }
-  } else {
-    str << "<span style=\"color:black\"><i>no attributes</i></span>";
-  }
-  str << "</td>\n</tr>\n";
-
-  // children
-  for (const mjXSchema& subschema : subschema_) {
-    subschema.PrintHTML(str, level+1, pad);
-  }
-
-  // close table
-  if (!level) {
-    str << "</table>\n";
-  }
-}
-
-
-
-// check for name match
-bool mjXSchema::NameMatch(XMLElement* elem, int level) {
-  // special handling of body, worldbody, and frame
-  if (name_ == "body" &&
-      ((level == 1 && !strcmp(elem->Value(), "worldbody")) ||
-       (level != 1 && !strcmp(elem->Value(), "body")) ||
-       (level >= 1 && !strcmp(elem->Value(), "frame")) ||
-       (level >= 1 && !strcmp(elem->Value(), "replicate")))) {
-    return true;
-  }
-
-  // regular check
-  return name_ == elem->Value();
-}
-
-
-
-// validator
-XMLElement* mjXSchema::Check(XMLElement* elem, int level) {
-  bool missing;
-  char msg[100];
-  XMLElement *bad, *sub;
-
-  error.clear();
-  if (!elem) {
-    return 0;  // SHOULD NOT OCCUR
-  }
-
-  // check name (already done by parent, but hard to avoid)
-  if (!NameMatch(elem, level)) {
-    error = "unrecognized element";
-    return elem;
-  }
-
-  // check attributes
-  const XMLAttribute* attribute = elem->FirstAttribute();
-  for (; attribute != nullptr; attribute = attribute->Next()) {
-    if (attr_.find(attribute->Name()) == attr_.end()) {
-      error = "unrecognized attribute: '" + std::string(attribute->Name()) + "'";
-      return elem;
-    }
-  }
-
-  // check presence constraints
-  if ((bad = CheckConstraints(elem))) {
-    return bad;
-  }
-
-  // handle recursion
-  if (type_ == 'R') {
-    // check child elements with same name
-    sub = FirstChildElement(elem, name_.c_str());
-    for (; sub != nullptr; sub = NextSiblingElement(sub, name_.c_str())) {
-      if ((bad = Check(sub, level+1))) {
-        return bad;
-      }
-    }
-  }
-
-  // clear reference counts
-  for (mjXSchema& subschema : subschema_) {
-    subschema.refcnt_ = 0;
-  }
-
-  // check sub-elements, update refcnt
-  sub = FirstChildElement(elem);
-  for (; sub != nullptr; sub = NextSiblingElement(sub)) {
-    missing = true;
-
-    for (mjXSchema& subschema : subschema_) {
-      if (subschema.NameMatch(sub, level+1)) {
-        // check sub-tree
-        if ((bad = subschema.Check(sub, level+1))) {
-          error = subschema.error;
-          return bad;
-        }
-
-        // mark found
-        missing = false;
-        subschema.refcnt_++;
-        break;
-      }
-    }
-
-    // missing, unless recursive
-    if (missing && !(type_ == 'R' && NameMatch(sub, level+1))) {
-      error = "unrecognized element";
-      return sub;
-    }
-  }
-
-  // enforce sub-element types
-  msg[0] = '\0';
-  for (mjXSchema& subschema : subschema_) {
-    switch (subschema.type_) {
-      case '!':
-        if (subschema.refcnt_ > 1)
-          mju::sprintf_arr(msg, "unique element '%s' found %d times",
-                           subschema.name_.c_str(), subschema.refcnt_);
-        else if (subschema.refcnt_ < 1)
-          mju::sprintf_arr(msg, "element '%s' is required",
-                           subschema.name_.c_str());
-        break;
-
-      case '?':
-        if (subschema.refcnt_ > 1)
-          mju::sprintf_arr(msg, "unique element '%s' found %d times",
-                           subschema.name_.c_str(), subschema.refcnt_);
-        break;
-
-      default:
-        break;
-    }
-  }
-
-  // handle error
-  if (msg[0]) {
-    error = msg;
-    return elem;
-  }
-  return nullptr;
-}
-
-
-
-//---------------------------------- class mjXUtil implementation ----------------------------------
-
-// helper function to read multiple numerical values from an attribute
-// return false if the entire attribute wasn't read (max was reached)
-// throw error if syntax error while trying to read numerical data
-template<typename T>
-bool mjXUtil::ReadAttrValues(XMLElement* elem, const char* attr,
-                             std::function<void (int, T)> push, int max) {
-  const char* pstr = elem->Attribute(attr);
-  T item;
-
-  if (pstr == nullptr) {
-    return true;
-  }
-
-  // get input stream
-  std::string str = std::string(pstr);
-  std::istringstream strm(str);
-  std::string token;
-
-  // read numbers
-  for (int i = 0; (max < 0 || i < max) && !strm.eof(); ++i) {
-    strm >> token;
-    std::istringstream token_strm(token);
-    token_strm >> item;
-    if (token_strm.fail() || !token_strm.eof()) {
-      // C++ standard libraries do not always parse inf and nan as valid floating point values.
-      std::optional<T> maybe_result = ParseInfOrNan<T>(token);
-      if (maybe_result.has_value()) {
-        item = maybe_result.value();
-      } else {
-        throw mjXError(elem, "problem reading attribute '%s'", attr);
-      }
-    }
-
-    push(i, item);
-    if constexpr (std::is_floating_point_v<T>) {
-      if (std::isnan(item)) {
-        mju_warning("XML contains a 'NaN'. Please check it carefully.");
-      }
-    }
-    // clear any trailing whitespace
-    strm >> std::ws;
-  }
-
-  return strm.eof();
-}
-
-template bool mjXUtil::ReadAttrValues(XMLElement* elem, const char* attr,
-                                      std::function<void (int, double)> push, int max);
-template bool mjXUtil::ReadAttrValues(XMLElement* elem, const char* attr,
-                                      std::function<void (int, float)> push, int max);
-template bool mjXUtil::ReadAttrValues(XMLElement* elem, const char* attr,
-                                      std::function<void (int, int)> push, int max);
-template bool mjXUtil::ReadAttrValues(XMLElement* elem, const char* attr,
-                                      std::function<void (int, unsigned char)> push, int max);
-
-
-
-// compare two vectors
-template<typename T>
-bool mjXUtil::SameVector(const T* vec1, const T* vec2, int n) {
-  if (!vec1 || !vec2) {
-    return false;
-  }
-
-  for (int i = 0; i < n; i++) {
-    if (std::abs(vec1[i] - vec2[i]) > std::numeric_limits<T>::epsilon()) {
-      return false;
-    }
-  }
-
-  return true;
-}
-
-template bool mjXUtil::SameVector(const double* vec1, const double* vec2, int n);
-template bool mjXUtil::SameVector(const float* vec1, const float* vec2, int n);
-template bool mjXUtil::SameVector(const int* vec1, const int* vec2, int n);
-template bool mjXUtil::SameVector(const unsigned char* vec1, const unsigned char* vec2, int n);
-
-
-// find string in map, return corresponding integer (-1: not found)
-int mjXUtil::FindKey(const mjMap* map, int mapsz, std::string key) {
-  for (int i=0; i < mapsz; i++) {
-    if (map[i].key == key) {
-      return map[i].value;
-    }
-  }
-
-  return -1;
-}
-
-
-
-// find integer in map, return corresponding string ("": not found)
-std::string mjXUtil::FindValue(const mjMap* map, int mapsz, int value) {
-  for (int i=0; i < mapsz; i++) {
-    if (map[i].value == value) {
-      return map[i].key;
-    }
-  }
-
-  return "";
-}
-
-
-
-// if attribute is present, return vector of numerical data
-template<typename T>
-std::optional<std::vector<T> > mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr,
-                                                    bool required) {
-  std::vector<T> v;
-  const char* raw_cstr = elem->Attribute(attr);
-  if (raw_cstr) {
-    v = mujoco::user::StringToVector<T>(raw_cstr);
-    if (errno == EDOM) {
-      mju_warning("XML contains a 'NaN'. Please check it carefully.");
-    } else if (errno == ERANGE) {
-      throw mjXError(elem, "number is too large in attribute '%s'", attr);
-    } else if (errno == EINVAL) {
-      throw mjXError(elem, "bad format in attribute '%s'", attr);
-    } else if (errno != 0) {
-      throw mjXError(elem, "unknown error in attribute '%s'", attr);
-    }
-  }
-
-  if (!v.size()) {
-    if (required) {
-      throw mjXError(elem, "required attribute missing: '%s'", attr);
-    } else {
-      return std::nullopt;
-    }
-  }
-
-  return v;
-}
-
-template std::optional<std::vector<double> >
-mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr, bool required);
-template std::optional<std::vector<float> >
-mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr, bool required);
-template std::optional<std::vector<int> >
-mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr, bool required);
-template std::optional<std::vector<unsigned char> >
-mjXUtil::ReadAttrVec(XMLElement* elem, const char* attr, bool required);
-
-
-
-// if attribute is present, return attribute as a string
-std::optional<std::string>
-mjXUtil::ReadAttrStr(XMLElement* elem, const char* attr, bool required) {
-  const char* pstr = elem->Attribute(attr);
-
-  // check if attribute exists
-  if (pstr == nullptr) {
-    if (required) {
-      throw mjXError(elem, "required attribute missing: '%s'", attr);
-    } else {
-      return std::nullopt;
-    }
-  }
-
-  return std::string(pstr);
-}
-
-// if attribute is present, return attribute as a filename
-std::optional<FilePath>
-mjXUtil::ReadAttrFile(XMLElement* elem, const char* attr, const mjVFS* vfs,
-                      const FilePath& dir, bool required) {
-  auto maybe_str = ReadAttrStr(elem, attr, required);
-  if (!maybe_str.has_value()) {
-    return std::nullopt;
-  }
-  FilePath filename(maybe_str.value());
-  return ResolveFilePath(elem, filename, dir, vfs);
-}
-
-// if attribute is present, return numerical value of attribute
-template<typename T>
-std::optional<T> mjXUtil::ReadAttrNum(XMLElement* elem, const char* attr,
-                                      bool required) {
-  auto maybe_arr = ReadAttrArr<T, 1>(elem, attr, required);
-  if (!maybe_arr.has_value()) {
-    return std::nullopt;
-  }
-
-  return maybe_arr.value()[0];
-}
-
-template std::optional<double>
-mjXUtil::ReadAttrNum(XMLElement* elem, const char* attr, bool required);
-template std::optional<float>
-mjXUtil::ReadAttrNum(XMLElement* elem, const char* attr, bool required);
-template std::optional<int>
-mjXUtil::ReadAttrNum(XMLElement* elem, const char* attr, bool required);
-template std::optional<unsigned char>
-mjXUtil::ReadAttrNum(XMLElement* elem, const char* attr, bool required);
-
-
-
-// read attribute "attr" of element "elem"
-//  "len" is the number of floats or doubles to be read
-//  the content is returned in "text", the numeric data in "data"
-//  return number of elements found
-template<typename T>
-int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, const int len,
-                      T* data, std::string& text, bool required, bool exact) {
-  auto maybe_vec = ReadAttrVec<T>(elem, attr, required);
-  if (!maybe_vec.has_value()) {
-    return 0;
-  }
-
-  // check if there is not enough data
-  if (exact && maybe_vec->size() < len) {
-    throw mjXError(elem, "attribute '%s' does not have enough data", attr);
-  }
-
-  // check if there is too much data
-  if (maybe_vec->size() > len) {
-    throw mjXError(elem, "attribute '%s' has too much data", attr);
-  }
-
-  std::copy(maybe_vec->begin(), maybe_vec->end(), data);
-  return maybe_vec->size();
-}
-
-template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, int len,
-                               double* data, std::string& text, bool required, bool exact);
-
-template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, int len,
-                               float* data, std::string& text, bool required, bool exact);
-
-template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, int len,
-                               int* data, std::string& text, bool required, bool exact);
-
-template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, int len,
-                               unsigned char* data, std::string& text, bool required,
-                               bool exact);
-
-// read quaternion attribute
-//  throw error if identically zero
-int mjXUtil::ReadQuat(XMLElement* elem, const char* attr, double* data, std::string& text,
-                      bool required) {
-  int n = ReadAttr(elem, attr, /*len=*/4, data, text, required, /*exact=*/true);
-  if (n == 0) return 0;
-
-  // check for 0 quaternion
-  if (data[0] == 0 && data[1] == 0 && data[2] == 0 && data[3] == 0) {
-    throw mjXError(elem, "zero quaternion is not allowed");
-  }
-
-  return n;
-}
-
-// read DOUBLE array into C++ vector, return number read
-int mjXUtil::ReadVector(XMLElement* elem, const char* attr,
-                        std::vector<double>& vec, std::string& text, bool required) {
-  auto maybe_vec = ReadAttrVec<double>(elem, attr, required);
-  if (!maybe_vec.has_value()) {
-    return 0;
-  }
-
-  vec = std::move(maybe_vec.value());
-  return vec.size();
-}
-
-
-
-// read text field
-bool mjXUtil::ReadAttrTxt(tinyxml2::XMLElement* elem, const char* attr,
-                          std::string& text, bool required) {
-  auto maybe_str = ReadAttrStr(elem, attr, required);
-  if (!maybe_str.has_value()) {
-    return false;
-  }
-
-  text = maybe_str.value();
-  return true;
-}
-
-// read single int
-bool mjXUtil::ReadAttrInt(XMLElement* elem, const char* attr, int* data, bool required) {
-  auto maybe_int = ReadAttrNum<int>(elem, attr, required);
-  if (!maybe_int.has_value()) {
-    return false;
-  }
-
-  *data = maybe_int.value();
-  return true;
-}
-
-
-// write vector<float> to string
-void mjXUtil::Vector2String(std::string& txt, const std::vector<float>& vec, int ncol) {
-  std::stringstream strm;
-
-  for (size_t i=0; i < vec.size(); i++) {
-    if (ncol && (i % ncol) == 0) {
-      strm << "\n            ";
-    } else if (i > 0) {
-      strm << " ";
-    }
-    strm << vec[i];
-  }
-
-  txt = strm.str();
-}
-
-// find subelement with given name, make sure it is unique
-XMLElement* mjXUtil::FindSubElem(XMLElement* elem, std::string name, bool required) {
-  XMLElement* subelem = 0;
-
-  XMLElement* iter = elem->FirstChildElement();
-  while (iter) {
-    // identify elements with given name
-    if (name == iter->Value()) {
-      // make sure name is not repeated
-      if (subelem) {
-        throw mjXError(subelem, "repeated element: '%s'", name.c_str());
-      }
-
-      // save found element
-      subelem = iter;
-    }
-
-    // advance to next element
-    iter = iter->NextSiblingElement();
-  }
-
-  if (required && !subelem) {
-    throw mjXError(elem, "missing element: '%s'", name.c_str());
-  }
-
-  return subelem;
-}
-
-
-
-// find attribute, translate key into data, return true if found
-bool mjXUtil::MapValue(XMLElement* elem, const char* attr, int* data,
-                       const mjMap* map, int mapSz, bool required) {
-  // get attribute text
-  auto maybe_text = ReadAttrStr(elem, attr, required);
-  if (!maybe_text.has_value()) {
-    return false;
-  }
-
-  // find keyword in map
-  int value = FindKey(map, mapSz, maybe_text.value());
-  if (value < 0) {
-    throw mjXError(elem, "invalid keyword: '%s'", maybe_text->c_str());
-  }
-
-  // copy
-  *data = value;
-  return true;
-}
-
-
-
-// find attribute, translate unique space-separated keys to data, return number of keys found
-int mjXUtil::MapValues(XMLElement* elem, const char* attr, int* data,
-                       const mjMap* map, int mapSz, bool required) {
-  // get attribute text
-  auto maybe_text = ReadAttrStr(elem, attr, required);
-  if (!maybe_text.has_value()) {
-    return 0;
-  }
-
-  std::string text = maybe_text.value();
-  std::istringstream strm(text);
-  std::string key;
-  std::set<std::string> found_keys;
-  int count = 0;
-
-  while (strm >> key) {
-    if (found_keys.count(key)) {
-      throw mjXError(elem, "duplicate keyword: '%s'");
-      return 0;
-    }
-
-    int value = FindKey(map, mapSz, key);
-    if (value == -1) {
-      throw mjXError(elem, "invalid keyword: '%s'");
-      return 0;
-    }
-
-    found_keys.insert(key);
-    data[count++] = value;
-  }
-
-  return count;
-}
-
-
-
-//---------------------------------- write functions -----------------------------------------------
-
-// check if double is int
-static bool isint(double x) {
-  return ((std::abs(x - floor(x)) < 1E-12) || (std::abs(x - ceil(x)) < 1E-12));
-}
-
-
-// round to nearest int
-static int Round(double x) {
-  if (std::abs(x - floor(x)) < std::abs(x - ceil(x))) {
-    return (int)floor(x);
-  } else {
-    return (int)ceil(x);
-  }
-}
-
-
-// write attribute
-template<typename T>
-void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n, const T* data, const T* def,
-                        bool trim) {
-  // make sure all are defined
-  if constexpr (std::is_floating_point_v<T>) {
-    for (int i=0; i < n; i++) {
-      if (std::isnan(data[i])) {
-        return;
-      }
-    }
-  }
-
-  // skip default attributes
-  if (SameVector(data, def, n)) {
-    return;
-  }
-
-  // trim identical trailing default values
-  if (trim) {
-    while (n > 0 && data[n-1] == def[n-1]) {
-      n--;
-    }
-  }
-
-  // increase precision for testing
-  std::stringstream stream;
-  stream.precision(mujoco::_mjPRIVATE__get_xml_precision());
-
-  // process all numbers
-  for (int i=0; i < n; i++) {
-    // add space between numbers
-    if (i > 0) {
-      stream << " ";
-    }
-
-    // append number
-    double doubledata = static_cast<double>(data[i]);
-    if (doubledata < INT_MAX && doubledata > -INT_MAX && isint(data[i])) {
-      stream << Round(data[i]);
-    } else {
-      stream << data[i];
-    }
-  }
-
-  // set attribute as string
-  WriteAttrTxt(elem, name, stream.str());
-}
-
-
-template void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n,
-                                 const double* data, const double* def, bool trim);
-
-template void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n,
-                                 const float* data, const float* def, bool trim);
-
-template void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n,
-                                 const int* data, const int* def, bool trim);
-
-template void mjXUtil::WriteAttr(XMLElement* elem, std::string name, int n,
-                                 const unsigned char* data,
-                                 const unsigned char* def, bool trim);
-
-
-// write vector<double> attribute, default = zero array
-void mjXUtil::WriteVector(XMLElement* elem, std::string name, const std::vector<double>& vec) {
-  // proceed only if non-zero found
-  bool ok = false;
-  for (size_t i=0; i < vec.size(); i++) {
-    if (vec[i]) {
-      ok = true;
-      break;
-    }
-  }
-  if (!ok) {
-    return;
-  }
-
-  // write
-  WriteAttr(elem, name, vec.size(), vec.data());
-}
-
-
-// write vector<double> attribute, default with same size
-void mjXUtil::WriteVector(XMLElement* elem, std::string name, const std::vector<double>& vec,
-                          const std::vector<double>& def) {
-  // proceed only if non-zero found
-  bool ok = false;
-  for (size_t i=0; i < vec.size(); i++) {
-    if (vec[i] != def[i]) {
-      ok = true;
-      break;
-    }
-  }
-  if (!ok) {
-    return;
-  }
-
-  // write
-  WriteAttr(elem, name, vec.size(), vec.data());
-}
-
-
-// write attribute- string
-void mjXUtil::WriteAttrTxt(XMLElement* elem, std::string name, std::string value) {
-  // skip if value is empty
-  if (value.empty()) {
-    return;
-  }
-
-  // set attribute
-  elem->SetAttribute(name.c_str(), value.c_str());
-}
-
-
-
-// write attribute- single int
-void mjXUtil::WriteAttrInt(XMLElement* elem, std::string name, int data, int def) {
-  // skip default
-  if (data == def) {
-    return;
-  }
-
-  elem->SetAttribute(name.c_str(), data);
-}
-
-
-
-// write attribute- keyword
-void mjXUtil::WriteAttrKey(XMLElement* elem, std::string name,
-                           const mjMap* map, int mapsz, int data, int def) {
-  // skip default
-  if (data == def) {
-    return;
-  }
-
-  WriteAttrTxt(elem, name, FindValue(map, mapsz, data));
-}
-
-
-// write attribute- space-separated keywords
-void mjXUtil::WriteAttrKeys(XMLElement* elem, std::string name, const mjMap* map,
-                            int mapsz, int* data, int ndata, int def) {
-  if (ndata <= 0) {
-    return;
-  }
-
-  // skip default
-  if (ndata == 1 && data[0] == def) {
-    return;
-  }
-
-  std::string text = FindValue(map, mapsz, data[0]);
-  for (int i = 1; i < ndata; ++i) {
-    text += " ";
-    text += FindValue(map, mapsz, data[i]);
-  }
-
-  WriteAttrTxt(elem, name, text);
-}
diff --git a/src/xml/xml_util.h b/src/xml/xml_util.h
deleted file mode 100644
index 7817b89c..00000000
--- a/src/xml/xml_util.h
+++ /dev/null
@@ -1,246 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-#ifndef MUJOCO_SRC_XML_XML_UTIL_H_
-#define MUJOCO_SRC_XML_XML_UTIL_H_
-
-#include <array>
-#include <functional>
-#include <optional>
-#include <set>
-#include <string>
-#include <vector>
-#include <sstream>
-
-#include <mujoco/mujoco.h>
-#include "user/user_util.h"
-#include "tinyxml2.h"
-
-// error string copy
-void mjCopyError(char* dst, const char* src, int maxlen);
-
-using tinyxml2::XMLElement;
-
-XMLElement* FirstChildElement(XMLElement* e, const char* name = nullptr);
-XMLElement* NextSiblingElement(XMLElement* e, const char* name = nullptr);
-
-// XML Error info
-class [[nodiscard]] mjXError {
- public:
-  mjXError(const tinyxml2::XMLElement* elem = 0,
-           const char* msg = 0,
-           const char* str = 0,
-           int pos = 0);
-  ~mjXError() = default;
-
-  char message[1000];             // error message
-};
-
-
-// presence constraint over an element's attributes, generated from the
-// schema into the grammar table's companion array. spec holds attribute
-// bundles, space-joined within a bundle and '|'-separated between them;
-// kind: e=exclusive (at most one bundle present), t=together (all or
-// none), r=requires (first needs second), o=oneof (at least one bundle
-// complete).
-struct mjXConstraintDef {
-  int row;             // index of the element's row in the grammar table
-  char kind;
-  const char* spec;
-};
-
-
-// Custom XML file validation
-class mjXSchema {
- public:
-  mjXSchema(std::vector<const char*> schema[], unsigned nrow,
-            const mjXConstraintDef* constraints = nullptr,
-            int nconstraint = 0, int first_row = 0);
-
-  std::string GetError();                         // return error
-  void Print(std::stringstream& str, int level) const;      // print schema
-  void PrintHTML(std::stringstream& str, int level, bool pad) const;
-
-  bool NameMatch(tinyxml2::XMLElement* elem, int level);               // does name match
-  tinyxml2::XMLElement* Check(tinyxml2::XMLElement* elem, int level);  // validator
-
- private:
-  std::string name_;                  // element name
-  char type_;                         // element type: '?', '!', '*', 'R'
-  std::set<std::string> attr_;        // allowed attributes
-  std::vector<mjXSchema> subschema_;  // allowed child elements
-
-  std::vector<const mjXConstraintDef*> constraints_;  // constraints here
-  tinyxml2::XMLElement* CheckConstraints(tinyxml2::XMLElement* elem);
-
-  int refcnt_ = 0;                    // refcount used for validation
-  std::string error;                  // error from constructor or Check
-};
-
-
-// key(string) : value(int) map
-struct _mjMap {
-  const char* key;
-  int value;
-};
-typedef struct _mjMap mjMap;
-
-
-// XML read and write utility functions
-class mjXUtil {
- public:
-  mjXUtil() = default;
-  virtual ~mjXUtil() = default;
-
-  // compare two vectors
-  template<typename T>
-  static bool SameVector(const T* vec1, const T* vec2, int n);
-
-  // find key in map, return value (-1: not found)
-  static int FindKey(const mjMap* map, int mapsz, std::string key);
-
-  // find value in map, return key ("": not found)
-  static std::string FindValue(const mjMap* map, int mapsz, int value);
-
-  // if attribute is present, return vector of numerical data
-  template<typename T>
-  static std::optional<std::vector<T>> ReadAttrVec(tinyxml2::XMLElement* elem,
-                                                   const char* attr,
-                                                   bool required = false);
-
-  // if attribute is present, return attribute as a string
-  static std::optional<std::string> ReadAttrStr(tinyxml2::XMLElement* elem,
-                                                const char* attr,
-                                                bool required = false);
-
-  // if attribute is present, return attribute as a filename
-  static std::optional<mujoco::user::FilePath>
-      ReadAttrFile(tinyxml2::XMLElement* elem, const char* attr,
-                   const mjVFS* vfs,
-                   const mujoco::user::FilePath& dir = mujoco::user::FilePath(),
-                   bool required = false);
-
-  // if attribute is present, return numerical value of attribute
-  template<typename T>
-  static std::optional<T> ReadAttrNum(tinyxml2::XMLElement* elem,
-                                      const char* attr,
-                                      bool required = false);
-
-  // if attribute is present, return array of numerical data
-  // N should be small as data is allocated on the stack
-  template<typename T, int N>
-  static std::optional<std::array<T, N>> ReadAttrArr(tinyxml2::XMLElement* elem,
-                                                     const char* attr,
-                                                     bool required = false) {
-    std::array<T, N> arr;
-    int n = 0;
-    if (!ReadAttrValues<T>(elem, attr, [&](int i, T num) { arr[i] = num; n++; }, N)) {
-      throw mjXError(elem, "attribute '%s' has too much data", attr);
-    }
-
-    if (!n) {
-      if (required) {
-        throw mjXError(elem, "required attribute missing: '%s'", attr);
-      } else {
-        return std::nullopt;
-      }
-    }
-
-    if (n < N) {
-      throw mjXError(elem, "attribute '%s' does not have enough data", attr);
-    }
-    return arr;
-  }
-
-  // deprecated: use ReadAttrVec or ReadAttrArr
-  template<typename T>
-  static int ReadAttr(tinyxml2::XMLElement* elem, const char* attr, int len,
-                      T* data, std::string& text,
-                      bool required = false, bool exact = true);
-
-  static int ReadQuat(tinyxml2::XMLElement* elem, const char* attr, double* data,
-                      std::string& text, bool required = false);
-
-  // deprecated: use ReadAttrVec
-  static int ReadVector(tinyxml2::XMLElement* elem, const char* attr,
-                        std::vector<double>& vec, std::string& text, bool required = false);
-
-  // deprecated: use ReadAttrStr
-  static bool ReadAttrTxt(tinyxml2::XMLElement* elem, const char* attr, std::string& text,
-                          bool required = false);
-
-  // deprecated: use ReadAttrNum
-  static bool ReadAttrInt(tinyxml2::XMLElement* elem, const char* attr, int* data,
-                          bool required = false);
-
-  // write vector<float> to string
-  static void Vector2String(std::string& txt, const std::vector<float>& vec, int ncol = 0);
-
-
-  // find subelement with given name, make sure it is unique
-  static tinyxml2::XMLElement* FindSubElem(tinyxml2::XMLElement* elem, std::string name,
-                                           bool required = false);
-
-  // find attribute, translate key, return int value
-  static bool MapValue(tinyxml2::XMLElement* elem, const char* attr, int* data,
-                       const mjMap* map, int mapSz, bool required = false);
-
-  template <typename T>
-  static bool MapValue(tinyxml2::XMLElement* elem, const char* attr, T* data,
-                       const mjMap* map, int mapSz, bool required = false) {
-    int value;
-    if (MapValue(elem, attr, &value, map, mapSz, required)) {
-      *data = static_cast<T>(value);
-      return true;
-    }
-    return false;
-  }
-
-  // find attribute, translate unique space-separated keys to data, return number of keys found
-  static int MapValues(tinyxml2::XMLElement* elem, const char* attr, int* data,
-                       const mjMap* map, int mapSz, bool required = false);
-
-  // write attribute- any type
-  template<typename T>
-  static void WriteAttr(tinyxml2::XMLElement* elem, std::string name, int n, const T* data,
-                        const T* def = 0, bool trim = false);
-
-  // write vector<double> attribute, with and without default
-  static void WriteVector(tinyxml2::XMLElement* elem, std::string name,
-                          const std::vector<double>& vec);
-  static void WriteVector(tinyxml2::XMLElement* elem, std::string name,
-                          const std::vector<double>& vec, const std::vector<double>& def);
-
-  // write attribute- string
-  static void WriteAttrTxt(tinyxml2::XMLElement* elem, std::string name, std::string value);
-
-  // write attribute- single int
-  static void WriteAttrInt(tinyxml2::XMLElement* elem, std::string name, int data, int def = -12345);
-
-  // write attribute- keyword
-  static void WriteAttrKey(tinyxml2::XMLElement* elem, std::string name,
-                           const mjMap* map, int mapsz, int data, int def = -12345);
-
-  // write attribute- space-separated keywords
-  static void WriteAttrKeys(XMLElement* elem, std::string name, const mjMap* map,
-                            int mapsz, int* data, int ndata, int def = -12345);
-
- private:
-  template<typename T>
-  static bool ReadAttrValues(tinyxml2::XMLElement* elem, const char* attr,
-                             std::function<void (int, T)> push, int max = -1);
-};
-
-#endif  // MUJOCO_SRC_XML_XML_UTIL_H_
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
deleted file mode 100644
index f1bbba61..00000000
--- a/test/CMakeLists.txt
+++ /dev/null
@@ -1,129 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(MUJOCO_TEST_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/.. ${CMAKE_CURRENT_SOURCE_DIR}/../src)
-set(MUJOCO_TEST_WORKING_DIR ${CMAKE_CURRENT_SOURCE_DIR})
-
-include(GoogleTest)
-
-# This macro is used to add a C++ test to MuJoCo CMake build system
-#
-# The CMake targets linked by default with target_link_libraries are:
-#   mujoco fixture gmock
-#
-# The macro supports the following parameters:
-#   * PROPERTIES: multiple value parameter, its value is set as test properties
-#                 via the set_tests_properties(<test> PROPERTIES <argument>) function
-#   * ADDITIONAL_LINK_LIBRARIES: multiple value parameter, additional libraries linked
-#                                to the test via target_link_libraries
-#   * MAIN_TARGET: single value parameter, used to specify the target linked to the tests
-#                  that define the main entry poiny. If not indicated, gest_main is used
-macro(mujoco_test name)
-  set(options)
-  set(oneValueArgs MAIN_TARGET)
-  set(multiValueArgs PROPERTIES ADDITIONAL_LINK_LIBRARIES)
-  cmake_parse_arguments(
-    _ARGS
-    "${options}"
-    "${oneValueArgs}"
-    "${multiValueArgs}"
-    ${ARGN}
-  )
-
-  add_executable(${name} ${name}.cc)
-  target_link_options(${name} PRIVATE ${EXTRA_LINK_OPTIONS})
-  target_link_libraries(${name} mujoco fixture gmock)
-  if(_ARGS_MAIN_TARGET)
-    target_link_libraries(${name} ${_ARGS_MAIN_TARGET})
-  else()
-    target_link_libraries(${name} gtest_main)
-  endif()
-  if(_ARGS_ADDITIONAL_LINK_LIBRARIES)
-    target_link_libraries(${name} ${_ARGS_ADDITIONAL_LINK_LIBRARIES})
-  endif()
-  target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
-  set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
-  # gtest_discover_tests is recommended over gtest_add_tests, but has issues on Windows.
-  # It also requires a GoogleTest binary, so we fall back for custom MAIN_TARGET (e.g. benchmarks).
-  if(WIN32 OR APPLE OR _ARGS_MAIN_TARGET)
-    gtest_add_tests(
-      TARGET ${name}
-      SOURCES ${name}.cc
-      WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
-      TEST_LIST testList
-    )
-    if(WIN32)
-      set_tests_properties(
-        ${testList} PROPERTIES ENVIRONMENT "PATH=$<TARGET_FILE_DIR:mujoco>;$ENV{PATH}"
-      )
-    endif()
-    if(_ARGS_PROPERTIES)
-      set_tests_properties(${testList} PROPERTIES ${_ARGS_PROPERTIES})
-    endif()
-  else()
-    if(_ARGS_PROPERTIES)
-      gtest_discover_tests(
-        ${name}
-        WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
-        PROPERTIES ${_ARGS_PROPERTIES}
-      )
-    else()
-      gtest_discover_tests(
-        ${name}
-        WORKING_DIRECTORY ${MUJOCO_TEST_WORKING_DIR}
-      )
-    endif()
-  endif()
-
-endmacro()
-
-add_library(fixture STATIC fixture.h fixture.cc)
-target_include_directories(fixture PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
-target_compile_definitions(fixture PUBLIC MJSTATIC)
-
-target_link_libraries(
-  fixture
-  PUBLIC absl::core_headers
-         absl::synchronization
-         absl::flat_hash_map
-         absl::flat_hash_set
-         gtest
-         gmock
-         mujoco::mujoco
-)
-target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
-
-add_library(compare_model STATIC compare_model.h compare_model.cc)
-target_include_directories(compare_model PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/..)
-target_compile_definitions(compare_model PUBLIC MJSTATIC)
-target_link_libraries(compare_model PUBLIC mujoco::mujoco)
-target_include_directories(compare_model PRIVATE ${mujoco_SOURCE_DIR}/include)
-
-mujoco_test(fixture_test)
-
-mujoco_test(header_test)
-
-mujoco_test(mjspecmacro_test)
-
-mujoco_test(pipeline_test)
-
-add_subdirectory(benchmark)
-add_subdirectory(engine)
-add_subdirectory(sample)
-add_subdirectory(user)
-add_subdirectory(xml)
-add_subdirectory(plugin/elasticity)
-add_subdirectory(plugin/actuator)
-add_subdirectory(experimental)
-add_subdirectory(doc)
diff --git a/test/benchmark/CMakeLists.txt b/test/benchmark/CMakeLists.txt
deleted file mode 100644
index b9aff09f..00000000
--- a/test/benchmark/CMakeLists.txt
+++ /dev/null
@@ -1,86 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-
-mujoco_test(
-  ccd_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers ccd
-)
-
-mujoco_test(
-  step_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  thread_performance_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  parse_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  engine_util_spatial_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  factorI_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  inertia_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  iszero_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  solveLD_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  lu_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  crb_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
-
-mujoco_test(
-  engine_util_sparse_benchmark_test
-  MAIN_TARGET benchmark::benchmark_main
-  ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
-)
diff --git a/test/benchmark/ccd_benchmark_test.cc b/test/benchmark/ccd_benchmark_test.cc
deleted file mode 100644
index 9f1ad4bf..00000000
--- a/test/benchmark/ccd_benchmark_test.cc
+++ /dev/null
@@ -1,159 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark for parsing and compiling models from XML.
-
-#include <cstddef>
-#include <string>
-#include <vector>
-
-#include <benchmark/benchmark.h>
-#include <absl/base/attributes.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-#include "src/engine/engine_collision_convex.h"
-#include "src/engine/engine_collision_primitive.h"
-
-namespace mujoco {
-namespace {
-
-// number of steps to roll out before benchmarking
-static const int kNumWarmupSteps = 1000;
-
-// number of steps to benchmark (before resetting state)
-static const int kBatchSize = 50;
-
-// number of threads to test
-static const int kNumThreads = 9;
-
-static const char kBoxMeshPath[] =
-    "../test/engine/testdata/collision_convex/perf/boxmesh.xml";
-static const char kBoxBoxPath[] =
-    "../test/engine/testdata/collision_convex/perf/box.xml";
-static const char kEllipsoidPath[] =
-  "../test/engine/testdata/collision_convex/perf/ellipsoid.xml";
-static const char kMixedPath[] =
-  "../test/engine/testdata/collision_convex/perf/mixed.xml";
-
-class TestHarness {
- public:
-  TestHarness(const char* xml_path, std::string label) {
-    // Fail test if there are any mujoco errors
-    MujocoErrorTestGuard guard;
-    model_ = LoadModelFromPath(xml_path);
-    data_ = mj_makeData(model_);
-    for (int i=0; i < kNumWarmupSteps; i++) {
-      mj_step(model_, data_);
-    }
-
-    // save state
-    spec_ = mjSTATE_INTEGRATION;
-    int size = mj_stateSize(model_, spec_);
-    initial_state_.resize(size);
-    mj_getState(model_, data_, initial_state_.data(), spec_);
-    name_ = label;
-  }
-
-  void Reset() {
-    mj_setState(model_, data_, initial_state_.data(), spec_);
-  }
-
-  void SetThreads(int nthread) {
-    mju_threadpool(data_, nthread);
-    nthread_ = nthread;
-  }
-
-  void RunBenchmark(benchmark::State& state) {
-    std::size_t ncon = 0;
-    while (state.KeepRunningBatch(kBatchSize)) {
-      Reset();
-
-      // run a batch of steps
-      for (int i=0; i < kBatchSize; i++) {
-        mj_step(model_, data_);
-        ncon += data_->ncon;
-      }
-    }
-
-    std::string label = name_ + " " + std::to_string(nthread_ + 1) +
-                        " thread(s)";
-    state.SetLabel(label);
-    state.SetItemsProcessed(ncon);  // report number of contacts per second
-  }
-
-  ~TestHarness() {
-    mj_deleteData(data_);
-    mj_deleteModel(model_);
-  }
-
- private:
-  std::string name_;
-  int nthread_ = 0;
-  int spec_;
-  mjModel* model_;
-  mjData* data_;
-  std::vector<mjtNum> initial_state_;
-};
-
-
-// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
-// separately in CPU profiles (and don't get replaced with raw calls to
-// run_parse_benchmark).
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_BoxMesh(benchmark::State& state) {
-  int nthread = state.range(0);
-  static TestHarness harness(kBoxMeshPath, "boxmesh.xml");
-  harness.SetThreads(nthread);
-  harness.RunBenchmark(state);
-}
-BENCHMARK(BM_BoxMesh)->Arg(0)->Arg(kNumThreads);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_BoxBox(benchmark::State& state) {
-  int nthread = state.range(0);
-  static TestHarness harness(kBoxBoxPath, "box.xml (BoxBox)");
-  harness.SetThreads(nthread);
-  harness.RunBenchmark(state);
-}
-BENCHMARK(BM_BoxBox)->Arg(0)->Arg(kNumThreads);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_BoxBoxConvex(benchmark::State& state) {
-  int nthread = state.range(0);
-  mjCOLLISIONFUNC[mjGEOM_BOX][mjGEOM_BOX] = mjc_Convex;
-  static TestHarness harness(kBoxBoxPath, "box.xml (NativeCCD)");
-  harness.SetThreads(nthread);
-  harness.RunBenchmark(state);
-  mjCOLLISIONFUNC[mjGEOM_BOX][mjGEOM_BOX] = mjc_BoxBox;
-}
-BENCHMARK(BM_BoxBoxConvex)->Arg(0)->Arg(kNumThreads);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_Ellipsoid(benchmark::State& state) {
-  int nthread = state.range(0);
-  static TestHarness harness(kEllipsoidPath, "ellipsoid.xml");
-  harness.SetThreads(nthread);
-  harness.RunBenchmark(state);
-}
-BENCHMARK(BM_Ellipsoid)->Arg(0)->Arg(kNumThreads);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_Mixed(benchmark::State& state) {
-  int nthread = state.range(0);
-  static TestHarness harness(kMixedPath, "mixed.xml");
-  harness.SetThreads(nthread);
-  harness.RunBenchmark(state);
-}
-BENCHMARK(BM_Mixed)->Arg(0)->Arg(kNumThreads);
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/benchmark/chol_benchmark_test.cc b/test/benchmark/chol_benchmark_test.cc
deleted file mode 100644
index ba8d94bf..00000000
--- a/test/benchmark/chol_benchmark_test.cc
+++ /dev/null
@@ -1,526 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark for comparing old vs new Cholesky factorization implementations.
-
-#include <algorithm>
-#include <cstring>
-#include <vector>
-
-#include <benchmark/benchmark.h>
-#include <absl/base/attributes.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_support.h"
-#include "src/engine/engine_util_solve.h"
-#include "src/engine/engine_util_sparse.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// Helper to compute H = M + J'*D*J using sparse matrices
-struct HessianData {
-  int nv;
-  int nL;
-  int nH;
-
-  // H sparse structure
-  std::vector<mjtNum> H;
-  std::vector<int> H_rownnz;
-  std::vector<int> H_rowadr;
-  std::vector<int> H_colind;
-
-  // H transpose for symbolics
-  std::vector<int> HT_rownnz;
-  std::vector<int> HT_rowadr;
-  std::vector<int> HT_colind;
-
-  // L factor structure
-  std::vector<int> L_rownnz;
-  std::vector<int> L_rowadr;
-
-  // L initial values for BM_chol_old (lower triangle of H, zero-filled for
-  // fill-in)
-  std::vector<mjtNum> L_init;
-  std::vector<int> L_rownnz_init;
-  std::vector<int> L_colind_init;
-
-  // J transpose
-  std::vector<mjtNum> JT;
-  std::vector<int> JT_rownnz;
-  std::vector<int> JT_rowadr;
-  std::vector<int> JT_colind;
-  std::vector<int> JT_rowsuper;
-
-  // D diagonal
-  std::vector<mjtNum> D;
-
-  int nefc;
-
-  void Setup(const mjModel* m, mjData* d) {
-    // initialize simulation state
-    mj_resetDataKeyframe(m, d, 0);
-    mj_forward(m, d);
-
-    nv = m->nv;
-    nefc = d->nefc;
-
-    // compute D corresponding to quad states
-    D.resize(nefc);
-    for (int i = 0; i < nefc; i++) {
-      if (d->efc_state[i] == mjCNSTRSTATE_QUADRATIC) {
-        D[i] = d->efc_D[i];
-      } else {
-        D[i] = 0;
-      }
-    }
-
-    // transpose J
-    JT.resize(d->nJ);
-    JT_rownnz.resize(nv);
-    JT_rowadr.resize(nv);
-    JT_colind.resize(d->nJ);
-    JT_rowsuper.resize(nv);
-    mju_transposeSparse(JT.data(), d->efc_J, nefc, nv, JT_rownnz.data(),
-                        JT_rowadr.data(), JT_colind.data(), JT_rowsuper.data(),
-                        d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind);
-
-    // count H sparsity: nH from J'*D*J
-    H_rownnz.resize(nv);
-    H_rowadr.resize(nv);
-    mju_sqrMatTDSparseCount(H_rownnz.data(), H_rowadr.data(), nv,
-                            d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
-                            JT_rownnz.data(), JT_rowadr.data(),
-                            JT_colind.data(), nullptr, d, 1);
-
-    // add M elements to the H row counts and addresses
-    for (int r = 0; r < nv; r++) {
-      H_rownnz[r] += m->M_rownnz[r];
-    }
-    H_rowadr[0] = 0;
-    for (int r = 1; r < nv; r++) {
-      H_rowadr[r] = H_rowadr[r - 1] + H_rownnz[r - 1];
-    }
-    nH = H_rowadr[nv - 1] + H_rownnz[nv - 1];
-
-    // allocate H and colind with proper sparse size, zero-initialize H
-    H.assign(nH, 0);
-    H_colind.assign(nH, 0);
-
-    // reset rownnz for filling (sqrMatTDSparse will fill it again)
-    std::fill(H_rownnz.begin(), H_rownnz.end(), 0);
-
-    // recount just J'*D*J (without M shift)
-    mju_sqrMatTDSparseCount(H_rownnz.data(), H_rowadr.data(), nv,
-                            d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
-                            JT_rownnz.data(), JT_rowadr.data(),
-                            JT_colind.data(), nullptr, d, 1);
-
-    // add shift for M to rowadr
-    int shift = 0;
-    for (int r = 0; r < nv - 1; r++) {
-      shift += m->M_rownnz[r];
-      H_rowadr[r + 1] += shift;
-    }
-
-    // compute H = J'*D*J
-    mju_sqrMatTDSparse(H.data(), d->efc_J, JT.data(), D.data(), nefc, nv,
-                       H_rownnz.data(), H_rowadr.data(), H_colind.data(),
-                       d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind,
-                       nullptr, JT_rownnz.data(), JT_rowadr.data(),
-                       JT_colind.data(), JT_rowsuper.data(), d, nullptr);
-
-    // add M to H using mj_addM
-    mj_addM(m, d, H.data(), H_rownnz.data(), H_rowadr.data(), H_colind.data());
-
-    // transpose H for symbolic
-    HT_rownnz.resize(nv);
-    HT_rowadr.resize(nv);
-    HT_colind.resize(nH);
-    mju_transposeSparse(nullptr, nullptr, nv, nv, HT_rownnz.data(),
-                        HT_rowadr.data(), HT_colind.data(), nullptr,
-                        H_rownnz.data(), H_rowadr.data(), H_colind.data());
-
-    // count L fill-in (also counts LT structure)
-    L_rownnz.resize(nv);
-    L_rowadr.resize(nv);
-    std::vector<int> LT_rownnz_temp(nv);
-    std::vector<int> LT_rowadr_temp(nv);
-    nL = mju_cholFactorSymbolic(
-        nullptr, L_rownnz.data(), L_rowadr.data(), nullptr,
-        LT_rownnz_temp.data(), LT_rowadr_temp.data(), nullptr, HT_rownnz.data(),
-        HT_rowadr.data(), HT_colind.data(), nv, d);
-
-    // precompute initial L state for BM_chol_old
-    // extract lower triangle of H into L format, zero-fill for fill-in
-    L_init.assign(nL, 0);
-    L_colind_init.assign(nL, 0);
-    L_rownnz_init.resize(nv);
-    for (int r = 0; r < nv; r++) {
-      int l_adr = L_rowadr[r];
-      int h_adr = H_rowadr[r];
-      int lower_nnz = 0;
-      for (int i = 0; i < H_rownnz[r]; i++) {
-        int col = H_colind[h_adr + i];
-        if (col <= r) {
-          L_init[l_adr + lower_nnz] = H[h_adr + i];
-          L_colind_init[l_adr + lower_nnz] = col;
-          lower_nnz++;
-        }
-      }
-      L_rownnz_init[r] = lower_nnz;
-    }
-  }
-};
-
-// ----------------------------- benchmark ------------------------------------
-
-enum class Size { L, XL };
-
-template <Size S>
-const char* ModelPath() {
-  if constexpr (S == Size::L) {
-    return "../test/benchmark/testdata/2humanoid100_chol.xml";
-  } else {
-    return "../test/benchmark/testdata/100_humanoids_chol.xml";
-  }
-}
-
-template <Size S>
-mjModel* GetModel() {
-  static mjModel* m = LoadModelFromPath(ModelPath<S>());
-  m->opt.jacobian = mjJAC_SPARSE;
-  m->opt.solver = mjSOL_NEWTON;
-  return m;
-}
-
-template <Size S>
-HessianData& GetHessianData() {
-  static HessianData data;
-  static bool initialized = false;
-  if (!initialized) {
-    mjModel* m = GetModel<S>();
-    mjData* d = mj_makeData(m);
-    data.Setup(m, d);
-    mj_deleteData(d);
-    initialized = true;
-  }
-  return data;
-}
-
-// old implementation benchmark
-template <Size S>
-static void BM_chol_old(benchmark::State& state) {
-  mjModel* m = GetModel<S>();
-  mjData* d = mj_makeData(m);
-
-  HessianData& hd = GetHessianData<S>();
-
-  std::vector<mjtNum> L_work(hd.nL);
-  std::vector<int> L_colind_work(hd.nL);
-  std::vector<int> L_rownnz_work(hd.nv);
-
-  for (auto s : state) {
-    // fast reset using memcpy from precomputed initial state
-    std::memcpy(L_work.data(), hd.L_init.data(), hd.nL * sizeof(mjtNum));
-    std::memcpy(L_colind_work.data(), hd.L_colind_init.data(),
-                hd.nL * sizeof(int));
-    std::memcpy(L_rownnz_work.data(), hd.L_rownnz_init.data(),
-                hd.nv * sizeof(int));
-    mju_cholFactorSparse(L_work.data(), hd.nv, mjMINVAL, L_rownnz_work.data(),
-                         hd.L_rowadr.data(), L_colind_work.data(), d);
-  }
-
-  mj_deleteData(d);
-  state.SetItemsProcessed(state.iterations());
-}
-
-// new symbolic implementation benchmark
-template <Size S>
-static void BM_chol_symbolic(benchmark::State& state) {
-  mjModel* m = GetModel<S>();
-  mjData* d = mj_makeData(m);
-
-  HessianData& hd = GetHessianData<S>();
-
-  std::vector<int> L_colind_work(hd.nL);
-  std::vector<int> LT_rownnz_work(hd.nv);
-  std::vector<int> LT_rowadr_work(hd.nv);
-  std::vector<int> LT_colind_work(hd.nL);
-  std::vector<int> LT_pos_work(hd.nL);
-
-  for (auto s : state) {
-    mju_cholFactorSymbolic(L_colind_work.data(), hd.L_rownnz.data(),
-                           hd.L_rowadr.data(), LT_colind_work.data(),
-                           LT_rownnz_work.data(), LT_rowadr_work.data(),
-                           LT_pos_work.data(), hd.HT_rownnz.data(),
-                           hd.HT_rowadr.data(), hd.HT_colind.data(), hd.nv, d);
-  }
-
-  mj_deleteData(d);
-  state.SetItemsProcessed(state.iterations());
-}
-
-// new numeric implementation benchmark
-template <Size S>
-static void BM_chol_numeric(benchmark::State& state) {
-  mjModel* m = GetModel<S>();
-  mjData* d = mj_makeData(m);
-
-  HessianData& hd = GetHessianData<S>();
-
-  std::vector<mjtNum> L_work(hd.nL);
-  std::vector<int> L_colind_work(hd.nL);
-  std::vector<int> LT_rownnz_work(hd.nv);
-  std::vector<int> LT_rowadr_work(hd.nv);
-  std::vector<int> LT_colind_work(hd.nL);
-  std::vector<int> LT_pos_work(hd.nL);
-
-  // symbolic setup (not benchmarked)
-  mju_cholFactorSymbolic(L_colind_work.data(), hd.L_rownnz.data(),
-                         hd.L_rowadr.data(), LT_colind_work.data(),
-                         LT_rownnz_work.data(), LT_rowadr_work.data(),
-                         LT_pos_work.data(), hd.HT_rownnz.data(),
-                         hd.HT_rowadr.data(), hd.HT_colind.data(), hd.nv, d);
-
-  for (auto s : state) {
-    mju_cholFactorNumeric(
-        L_work.data(), hd.nv, mjMINVAL, hd.L_rownnz.data(), hd.L_rowadr.data(),
-        L_colind_work.data(), LT_rownnz_work.data(), LT_rowadr_work.data(),
-        LT_colind_work.data(), LT_pos_work.data(), hd.H.data(),
-        hd.H_rownnz.data(), hd.H_rowadr.data(), hd.H_colind.data(), d);
-  }
-
-  mj_deleteData(d);
-  state.SetItemsProcessed(state.iterations());
-}
-
-void BM_old_L(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_chol_old<Size::L>(state);
-}
-BENCHMARK(BM_old_L);
-
-void BM_symbolic_L(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_chol_symbolic<Size::L>(state);
-}
-BENCHMARK(BM_symbolic_L);
-
-void BM_numeric_L(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_chol_numeric<Size::L>(state);
-}
-BENCHMARK(BM_numeric_L);
-
-void BM_old_XL(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_chol_old<Size::XL>(state);
-}
-BENCHMARK(BM_old_XL);
-
-void BM_symbolic_XL(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_chol_symbolic<Size::XL>(state);
-}
-BENCHMARK(BM_symbolic_XL);
-
-void BM_numeric_XL(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_chol_numeric<Size::XL>(state);
-}
-BENCHMARK(BM_numeric_XL);
-
-// -------------------- rank-1 update/downdate benchmarks ----------------------
-
-constexpr int kNumUpdateVectors = 25;
-
-// old implementation using sparse merge
-int ABSL_ATTRIBUTE_NOINLINE mju_cholUpdateSparse_old(
-    mjtNum* mat, mjtNum* x, int n, int flg_plus, const int* rownnz,
-    const int* rowadr, const int* colind, int x_nnz, int* x_ind, mjData* d) {
-  int rank = n, i = x_nnz - 1;
-  while (i >= 0) {
-    int nnz = rownnz[x_ind[i]], adr = rowadr[x_ind[i]];
-    mjtNum tmp = mat[adr + nnz - 1] * mat[adr + nnz - 1] +
-                 (flg_plus ? x[i] * x[i] : -x[i] * x[i]);
-    if (tmp < mjMINVAL) {
-      tmp = mjMINVAL;
-      rank--;
-    }
-    mjtNum r = mju_sqrt(tmp);
-    mjtNum c = r / mat[adr + nnz - 1];
-    mjtNum s = x[i] / mat[adr + nnz - 1];
-    mat[adr + nnz - 1] = r;
-    mju_combineSparseInc(mat + adr, x, n, 1 / c, (flg_plus ? s / c : -s / c),
-                         nnz - 1, i, colind + adr, x_ind);
-    int new_x_nnz = mju_combineSparse(x, mat + adr, c, -s, i, nnz - 1, x_ind,
-                                      colind + adr);
-    i = i - 1 + (new_x_nnz - i);
-  }
-  return rank;
-}
-
-// old update implementation benchmark
-template <Size S>
-static void BM_update_old(benchmark::State& state) {
-  mjModel* m = GetModel<S>();
-  mjData* d = mj_makeData(m);
-  mj_resetDataKeyframe(m, d, 0);
-  mj_forward(m, d);
-
-  HessianData& hd = GetHessianData<S>();
-
-  int nv = hd.nv;
-
-  // factorize L using old method (we'll just keep updating this)
-  std::vector<mjtNum> L_work(hd.nL);
-  std::vector<int> L_colind_work(hd.nL);
-  std::vector<int> L_rownnz_work(hd.nv);
-  std::memcpy(L_work.data(), hd.L_init.data(), hd.nL * sizeof(mjtNum));
-  std::memcpy(L_colind_work.data(), hd.L_colind_init.data(),
-              hd.nL * sizeof(int));
-  std::memcpy(L_rownnz_work.data(), hd.L_rownnz_init.data(),
-              hd.nv * sizeof(int));
-  mju_cholFactorSparse(L_work.data(), nv, mjMINVAL, L_rownnz_work.data(),
-                       hd.L_rowadr.data(), L_colind_work.data(), d);
-
-  // prepare update vectors: pick kNumUpdateVectors rows from J (constraint
-  // rows) Each J row has DoF indices which is correct for updating L (nv x nv)
-  int nefc = d->nefc;
-  std::vector<std::vector<mjtNum>> update_vecs(kNumUpdateVectors);
-  std::vector<std::vector<int>> update_inds(kNumUpdateVectors);
-  for (int k = 0; k < kNumUpdateVectors; k++) {
-    int row = (k * 7) % nefc;
-    int nnz = d->efc_J_rownnz[row];
-    int adr = d->efc_J_rowadr[row];
-    update_vecs[k].resize(nnz);
-    update_inds[k].resize(nnz);
-    for (int i = 0; i < nnz; i++) {
-      update_vecs[k][i] = d->efc_J[adr + i] * 0.01;
-      update_inds[k][i] = d->efc_J_colind[adr + i];
-    }
-  }
-
-  // working copy of update vector (sized to nv since pattern can grow)
-  std::vector<mjtNum> x_work(nv);
-  std::vector<int> x_ind_work(nv);
-
-  int vec_idx = 0;
-  for (auto s : state) {
-    int nnz = update_inds[vec_idx].size();
-    std::memset(x_work.data(), 0, nv * sizeof(mjtNum));
-    std::memcpy(x_work.data(), update_vecs[vec_idx].data(),
-                nnz * sizeof(mjtNum));
-    std::memcpy(x_ind_work.data(), update_inds[vec_idx].data(),
-                nnz * sizeof(int));
-    mju_cholUpdateSparse_old(L_work.data(), x_work.data(), nv, 1,
-                             L_rownnz_work.data(), hd.L_rowadr.data(),
-                             L_colind_work.data(), nnz, x_ind_work.data(), d);
-    vec_idx = (vec_idx + 1) % kNumUpdateVectors;
-  }
-
-  mj_deleteData(d);
-  state.SetItemsProcessed(state.iterations());
-}
-
-// new update implementation benchmark
-template <Size S>
-static void BM_update_new(benchmark::State& state) {
-  mjModel* m = GetModel<S>();
-  mjData* d = mj_makeData(m);
-  mj_resetDataKeyframe(m, d, 0);
-  mj_forward(m, d);
-
-  HessianData& hd = GetHessianData<S>();
-
-  int nv = hd.nv;
-
-  // factorize L using new method
-  std::vector<mjtNum> L_work(hd.nL);
-  std::vector<int> L_colind_work(hd.nL);
-  std::vector<int> LT_rownnz_work(nv);
-  std::vector<int> LT_rowadr_work(nv);
-  std::vector<int> LT_colind_work(hd.nL);
-  std::vector<int> LT_pos_work(hd.nL);
-
-  mju_cholFactorSymbolic(L_colind_work.data(), hd.L_rownnz.data(),
-                         hd.L_rowadr.data(), LT_colind_work.data(),
-                         LT_rownnz_work.data(), LT_rowadr_work.data(),
-                         LT_pos_work.data(), hd.HT_rownnz.data(),
-                         hd.HT_rowadr.data(), hd.HT_colind.data(), nv, d);
-  mju_cholFactorNumeric(
-      L_work.data(), nv, mjMINVAL, hd.L_rownnz.data(), hd.L_rowadr.data(),
-      L_colind_work.data(), LT_rownnz_work.data(), LT_rowadr_work.data(),
-      LT_colind_work.data(), LT_pos_work.data(), hd.H.data(),
-      hd.H_rownnz.data(), hd.H_rowadr.data(), hd.H_colind.data(), d);
-
-  // prepare update vectors: pick kNumUpdateVectors rows from J (constraint
-  // rows) Each J row has DoF indices which is correct for updating L (nv x nv)
-  int nefc = d->nefc;
-  std::vector<std::vector<mjtNum>> update_vecs(kNumUpdateVectors);
-  std::vector<std::vector<int>> update_inds(kNumUpdateVectors);
-  for (int k = 0; k < kNumUpdateVectors; k++) {
-    int row = (k * 7) % nefc;
-    int nnz = d->efc_J_rownnz[row];
-    int adr = d->efc_J_rowadr[row];
-    update_vecs[k].resize(nnz);
-    update_inds[k].resize(nnz);
-    for (int i = 0; i < nnz; i++) {
-      update_vecs[k][i] = d->efc_J[adr + i] * 0.01;
-      update_inds[k][i] = d->efc_J_colind[adr + i];
-    }
-  }
-
-  int vec_idx = 0;
-  for (auto s : state) {
-    int nnz = update_inds[vec_idx].size();
-    mju_cholUpdateSparse(L_work.data(), update_vecs[vec_idx].data(), nv, 1,
-                         hd.L_rownnz.data(), hd.L_rowadr.data(),
-                         L_colind_work.data(), nnz, update_inds[vec_idx].data(),
-                         d);
-    vec_idx = (vec_idx + 1) % kNumUpdateVectors;
-  }
-
-  mj_deleteData(d);
-  state.SetItemsProcessed(state.iterations());
-}
-
-void BM_update_old_L(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_update_old<Size::L>(state);
-}
-BENCHMARK(BM_update_old_L);
-
-void BM_update_new_L(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_update_new<Size::L>(state);
-}
-BENCHMARK(BM_update_new_L);
-
-void BM_update_old_XL(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_update_old<Size::XL>(state);
-}
-BENCHMARK(BM_update_old_XL);
-
-void BM_update_new_XL(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_update_new<Size::XL>(state);
-}
-BENCHMARK(BM_update_new_XL);
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/benchmark/crb_benchmark_test.cc b/test/benchmark/crb_benchmark_test.cc
deleted file mode 100644
index bd643fc8..00000000
--- a/test/benchmark/crb_benchmark_test.cc
+++ /dev/null
@@ -1,124 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark for comparing different implementations of mj_crb.
-
-#include <benchmark/benchmark.h>
-#include <absl/base/attributes.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_core_smooth.h"
-#include "src/engine/engine_util_spatial.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// number of steps to benchmark
-static const int kNumBenchmarkSteps = 50;
-
-// ----------------------------- previous implementation -----------------------
-
-void ABSL_ATTRIBUTE_NOINLINE mj_crb_baseline(const mjModel* m, mjData* d) {
-  int nv = m->nv;
-  mjtNum buf[6];
-  mjtNum* crb = d->crb;
-
-  // crb = cinert
-  mju_copy(crb, d->cinert, 10*m->nbody);
-
-  // backward pass over bodies, accumulate composite inertias
-  for (int i=m->nbody - 1; i > 0; i--) {
-    if (m->body_parentid[i] > 0) {
-      mju_addTo(crb+10*m->body_parentid[i], crb+10*i, 10);
-    }
-  }
-
-  // clear M
-  mju_zero(d->M, m->nC);
-
-  // dense forward pass over dofs
-  for (int i=0; i < nv; i++) {
-    // process block of diagonals (simple bodies)
-    if (m->dof_simplenum[i]) {
-      int n = i + m->dof_simplenum[i];
-      for (; i < n; i++) {
-        d->M[m->M_rowadr[i]] = m->dof_M0[i];
-      }
-
-      // finish or else fall through with next row
-      if (i == nv) {
-        break;
-      }
-    }
-
-    // init M(i,i) with armature inertia
-    int Madr_ij = m->M_rowadr[i] + m->M_rownnz[i] - 1;
-    d->M[Madr_ij] = m->dof_armature[i];
-
-    // precompute buf = crb_body_i * cdof_i
-    mju_mulInertVec(buf, crb+10*m->dof_bodyid[i], d->cdof+6*i);
-
-    // sparse backward pass over ancestors
-    for (int j=i; j >= 0; j = m->dof_parentid[j]) {
-      // M(i,j) += cdof_j * (crb_body_i * cdof_i)
-      d->M[Madr_ij--] += mju_dot(d->cdof+6*j, buf, 6);
-    }
-  }
-}
-
-
-// ----------------------------- benchmark ------------------------------------
-
-static void BM_crb(benchmark::State& state, bool baseline) {
-  static mjModel* m = nullptr;
-  static mjData* d = nullptr;
-
-  if (!m) {
-    m = LoadModelFromPath("../test/benchmark/testdata/inertia.xml");
-    d = mj_makeData(m);
-  }
-  mj_forward(m, d);
-
-  // benchmark
-  while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
-    if (baseline) {
-      for (int i=0; i < kNumBenchmarkSteps; i++) {
-        mj_crb_baseline(m, d);
-      }
-    } else {
-      for (int i=0; i < kNumBenchmarkSteps; i++) {
-        mj_crb(m, d);
-      }
-    }
-  }
-
-  // finalize
-  state.SetItemsProcessed(state.iterations());
-}
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_CRB(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_crb(state, /*baseline=*/false);
-}
-BENCHMARK(BM_CRB);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_CRB_BASELINE(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_crb(state, /*baseline=*/true);
-}
-BENCHMARK(BM_CRB_BASELINE);
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/benchmark/engine_util_sparse_benchmark_test.cc b/test/benchmark/engine_util_sparse_benchmark_test.cc
deleted file mode 100644
index 81609beb..00000000
--- a/test/benchmark/engine_util_sparse_benchmark_test.cc
+++ /dev/null
@@ -1,587 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark for comparing different implementations of mj_solveLD.
-
-#include <cstring>
-#include <vector>
-
-#include <benchmark/benchmark.h>
-#include <absl/base/attributes.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_support.h"
-#include "src/engine/engine_util_sparse.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using CombineFuncPtr = decltype(&mju_combineSparse);
-using TransposeFuncPtr = decltype(&mju_transposeSparse);
-
-// ================================ Cached Data ================================
-
-// ---- MatVecSparse data ----
-struct MatVecData {
-  int nv;
-  int nefc;
-  int nJ;
-  std::vector<mjtNum> efc_J;
-  std::vector<int> efc_J_rownnz, efc_J_rowadr, efc_J_colind, efc_J_rowsuper;
-  std::vector<mjtNum> vec;
-};
-
-MatVecData& GetMatVecData() {
-  static MatVecData data = [] {
-    MatVecData d;
-    mjModel* m = LoadModelFromPath("flex/flag.xml");
-    mjData* dat = mj_makeData(m);
-
-    for (int i = 0; i < 500; i++) {
-      mj_step(m, dat);
-    }
-
-    d.nv = m->nv;
-    d.nefc = dat->nefc;
-    d.nJ = dat->nJ;
-    d.efc_J.assign(dat->efc_J, dat->efc_J + d.nJ);
-    d.efc_J_rownnz.assign(dat->efc_J_rownnz, dat->efc_J_rownnz + d.nefc);
-    d.efc_J_rowadr.assign(dat->efc_J_rowadr, dat->efc_J_rowadr + d.nefc);
-    d.efc_J_colind.assign(dat->efc_J_colind, dat->efc_J_colind + d.nJ);
-    d.efc_J_rowsuper.assign(dat->efc_J_rowsuper, dat->efc_J_rowsuper + d.nefc);
-
-    // compute direction: vec = -M^{-1} * (Ma - qfrc_smooth - qfrc_constraint)
-    mj_markStack(dat);
-    mjtNum* Ma = mj_stackAllocNum(dat, m->nv);
-    mjtNum* grad = mj_stackAllocNum(dat, m->nv);
-    mjtNum* Mgrad = mj_stackAllocNum(dat, m->nv);
-    mj_mulM(m, dat, Ma, dat->qacc);
-    for (int i = 0; i < m->nv; i++) {
-      grad[i] = Ma[i] - dat->qfrc_smooth[i] - dat->qfrc_constraint[i];
-    }
-    mj_solveM(m, dat, Mgrad, grad, 1);
-    d.vec.resize(m->nv);
-    mju_scl(d.vec.data(), Mgrad, -1, m->nv);
-    mj_freeStack(dat);
-
-    mj_deleteData(dat);
-    mj_deleteModel(m);
-    return d;
-  }();
-  return data;
-}
-
-// ---- CombineSparse data ----
-struct CombineData {
-  int nv;
-  std::vector<mjtNum> H;
-  std::vector<int> rownnz, rowadr, colind;
-};
-
-CombineData& GetCombineData() {
-  static CombineData data = [] {
-    CombineData cd;
-    mjModel* m = LoadModelFromPath("humanoid/humanoid.xml");
-    m->opt.jacobian = mjJAC_SPARSE;
-    mjData* d = mj_makeData(m);
-
-    for (int i = 0; i < 500; i++) {
-      mj_step(m, d);
-    }
-
-    cd.nv = m->nv;
-    mj_markStack(d);
-    mjtNum* H = mj_stackAllocNum(d, m->nv*m->nv);
-    int* rownnz = mj_stackAllocInt(d, m->nv);
-    int* rowadr = mj_stackAllocInt(d, m->nv);
-    int* colind = mj_stackAllocInt(d, m->nv*m->nv);
-    int* diagind = mj_stackAllocInt(d, m->nv);
-
-    mjtNum* D = mj_stackAllocNum(d, d->nefc);
-    for (int i = 0; i < d->nefc; i++) {
-      if (d->efc_state[i] == mjCNSTRSTATE_QUADRATIC) {
-        D[i] = d->efc_D[i];
-      } else {
-        D[i] = 0;
-      }
-    }
-
-    int* JT_rownnz   = mj_stackAllocInt(d, m->nv);
-    int* JT_rowadr   = mj_stackAllocInt(d, m->nv);
-    int* JT_rowsuper = mj_stackAllocInt(d, m->nv);
-    int* JT_colind   = mj_stackAllocInt(d, d->nJ);
-    mjtNum* JT       = mj_stackAllocNum(d, d->nJ);
-    mju_transposeSparse(JT, d->efc_J, d->nefc, m->nv,
-                        JT_rownnz, JT_rowadr, JT_colind, JT_rowsuper,
-                        d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind);
-
-    // compute H = J'*D*J, uncompressed layout
-    mju_sqrMatTDUncompressedInit(rowadr, m->nv);
-    mju_sqrMatTDSparse(H, d->efc_J, JT, D, d->nefc, m->nv,
-                       rownnz, rowadr, colind,
-                       d->efc_J_rownnz, d->efc_J_rowadr,
-                       d->efc_J_colind, d->efc_J_rowsuper,
-                       JT_rownnz, JT_rowadr,
-                       JT_colind, JT_rowsuper, d,
-                       diagind);
-
-    // compute H = M + J'*D*J
-    mj_addM(m, d, H, rownnz, rowadr, colind);
-
-    // copy to persistent storage
-    int nH = rowadr[m->nv-1] + m->nv;  // uncompressed: rowadr[r] = r*nv
-    cd.H.assign(H, H + nH);
-    cd.rownnz.assign(rownnz, rownnz + m->nv);
-    cd.rowadr.assign(rowadr, rowadr + m->nv);
-    cd.colind.assign(colind, colind + nH);
-
-    mj_freeStack(d);
-    mj_deleteData(d);
-    mj_deleteModel(m);
-    return cd;
-  }();
-  return data;
-}
-
-// ---- TransposeSparse data ----
-struct TransposeData {
-  int nv;
-  int nefc;
-  int nJ;
-  std::vector<mjtNum> efc_J;
-  std::vector<int> efc_J_rownnz, efc_J_rowadr, efc_J_colind;
-};
-
-enum class Size { H2_100, H100 };
-
-template <Size S>
-const char* ModelPath() {
-  if constexpr (S == Size::H2_100) {
-    return "../test/benchmark/testdata/2humanoid100_chol.xml";
-  } else {
-    return "../test/benchmark/testdata/100_humanoids_chol.xml";
-  }
-}
-
-template <Size S>
-TransposeData& GetTransposeData() {
-  static TransposeData data = [] {
-    TransposeData td;
-    mjModel* m = LoadModelFromPath(ModelPath<S>());
-    m->opt.jacobian = mjJAC_SPARSE;
-    mjData* d = mj_makeData(m);
-
-    while (d->time < 2) {
-      mj_step(m, d);
-    }
-
-    td.nv = m->nv;
-    td.nefc = d->nefc;
-    td.nJ = d->nJ;
-    td.efc_J.assign(d->efc_J, d->efc_J + d->nJ);
-    td.efc_J_rownnz.assign(d->efc_J_rownnz, d->efc_J_rownnz + d->nefc);
-    td.efc_J_rowadr.assign(d->efc_J_rowadr, d->efc_J_rowadr + d->nefc);
-    td.efc_J_colind.assign(d->efc_J_colind, d->efc_J_colind + d->nJ);
-
-    mj_deleteData(d);
-    mj_deleteModel(m);
-    return td;
-  }();
-  return data;
-}
-
-// ================================ old functions ==============================
-
-// transpose sparse matrix (uncompressed)
-void ABSL_ATTRIBUTE_NOINLINE transposeSparse_baseline(
-    mjtNum* res, const mjtNum* mat, int nr, int nc, int* res_rownnz,
-    int* res_rowadr, int* res_colind, int* res_rowsuper,
-    const int* rownnz, const int* rowadr, const int* colind) {
-  memset(res_rownnz, 0, nc * sizeof(int));
-  for (int rt = 0; rt < nc; rt++) {
-    res_rowadr[rt] = rt * nr;
-  }
-  for (int r = 0; r < nr; r++) {
-    for (int ci = 0; ci < rownnz[r]; ci++) {
-      int rt = colind[rowadr[r] + ci];
-      res_colind[rt * nr + res_rownnz[rt]] = r;
-      res[rt * nr + res_rownnz[rt]] = mat[rowadr[r] + ci];
-      res_rownnz[rt]++;
-    }
-  }
-
-  mju_compressSparse(res, nc, nr, res_rownnz, res_rowadr, res_colind,
-                     /*minval=*/-1);
-}
-
-int compare_baseline(const int* vec1,
-                     const int* vec2,
-                     int n) {
-  int i = 0;
-
-  for (; i < n; i++) {
-    if (vec1[i] != vec2[i]) {
-      return 0;
-    }
-  }
-
-  return 1;
-}
-
-void addToSclScl(mjtNum* res,
-                 const mjtNum* vec,
-                 mjtNum scl1,
-                 mjtNum scl2,
-                 int n) {
-  int i = 0;
-
-  for (; i < n; i++) {
-    res[i] = res[i]*scl1 + vec[i]*scl2;
-  }
-}
-
-int compare_memcmp(const int* vec1,
-                const int* vec2,
-                int n) {
-  return !memcmp(vec1, vec2, n*sizeof(int));
-}
-
-int ABSL_ATTRIBUTE_NOINLINE combineSparse_baseline(mjtNum* dst,
-                                                   const mjtNum* src,
-                                                   mjtNum a, mjtNum b,
-                                                   int dst_nnz, int src_nnz,
-                                                   int* dst_ind,
-                                                   const int* src_ind) {
-  // check for identical pattern
-  if (compare_baseline(dst_ind, src_ind, dst_nnz)) {
-    // combine mjtNum data directly
-    addToSclScl(dst, src, a, b, dst_nnz);
-    return dst_nnz;
-  } else {
-    return 0;
-  }
-}
-
-int ABSL_ATTRIBUTE_NOINLINE combineSparse_new(mjtNum* dst,
-                                              const mjtNum* src,
-                                              mjtNum a, mjtNum b,
-                                              int dst_nnz, int src_nnz,
-                                              int* dst_ind,
-                                              const int* src_ind) {
-  // check for identical pattern
-  if (compare_memcmp(dst_ind, src_ind, dst_nnz)) {
-    // combine mjtNum data directly
-    addToSclScl(dst, src, a, b, dst_nnz);
-    return dst_nnz;
-  } else {
-    return 0;
-  }
-}
-
-mjtNum ABSL_ATTRIBUTE_NOINLINE dotSparse_1(const mjtNum* vec1,
-                                           const mjtNum* vec2,
-                                           const int nnz1,
-                                           const int* ind1) {
-  int i = 0;
-  mjtNum res = 0;
-
-  // scalar part
-  for (; i < nnz1; i++) {
-    res += vec1[i] * vec2[ind1[i]];
-  }
-
-  return res;
-}
-
-mjtNum ABSL_ATTRIBUTE_NOINLINE dotSparse_8(const mjtNum* vec1,
-                                           const mjtNum* vec2,
-                                           const int nnz1,
-                                           const int* ind1) {
-  int i = 0;
-  mjtNum res = 0;
-
-  int n_8 = nnz1 - 8;
-
-  mjtNum res0 = 0;
-  mjtNum res1 = 0;
-  mjtNum res2 = 0;
-  mjtNum res3 = 0;
-  mjtNum res4 = 0;
-  mjtNum res5 = 0;
-  mjtNum res6 = 0;
-  mjtNum res7 = 0;
-
-  for (; i <= n_8; i+=8) {
-    res0 += vec1[i+0] * vec2[ind1[i+0]];
-    res1 += vec1[i+1] * vec2[ind1[i+1]];
-    res2 += vec1[i+2] * vec2[ind1[i+2]];
-    res3 += vec1[i+3] * vec2[ind1[i+3]];
-    res4 += vec1[i+4] * vec2[ind1[i+4]];
-    res5 += vec1[i+5] * vec2[ind1[i+5]];
-    res6 += vec1[i+6] * vec2[ind1[i+6]];
-    res7 += vec1[i+7] * vec2[ind1[i+7]];
-  }
-  res = ((res0 + res2) + (res1 + res3)) + ((res4 + res6) + (res5 + res7));
-
-  // process remaining
-  int n_i = nnz1 - i;
-  if (n_i == 7) {
-    res += vec1[i+0]*vec2[ind1[i+0]] + vec1[i+1]*vec2[ind1[i+1]] +
-           vec1[i+2]*vec2[ind1[i+2]] + vec1[i+3]*vec2[ind1[i+3]] +
-           vec1[i+4]*vec2[ind1[i+4]] + vec1[i+5]*vec2[ind1[i+5]] +
-           vec1[i+6]*vec2[ind1[i+6]];
-  } else if (n_i == 6) {
-    res += vec1[i+0]*vec2[ind1[i+0]] + vec1[i+1]*vec2[ind1[i+1]] +
-           vec1[i+2]*vec2[ind1[i+2]] + vec1[i+3]*vec2[ind1[i+3]] +
-           vec1[i+4]*vec2[ind1[i+4]] + vec1[i+5]*vec2[ind1[i+5]];
-  } else if (n_i == 5) {
-    res += vec1[i+0]*vec2[ind1[i+0]] + vec1[i+1]*vec2[ind1[i+1]] +
-           vec1[i+2]*vec2[ind1[i+2]] + vec1[i+3]*vec2[ind1[i+3]] +
-           vec1[i+4]*vec2[ind1[i+4]];
-  } else if (n_i == 4) {
-    res += vec1[i+0]*vec2[ind1[i+0]] + vec1[i+1]*vec2[ind1[i+1]] +
-           vec1[i+2]*vec2[ind1[i+2]] + vec1[i+1]*vec2[ind1[i+3]];
-  } else if (n_i == 3) {
-    res += vec1[i+0]*vec2[ind1[i+0]] + vec1[i+1]*vec2[ind1[i+1]] +
-           vec1[i+2]*vec2[ind1[i+2]];
-  } else if (n_i == 2) {
-    res += vec1[i+0]*vec2[ind1[i+0]] + vec1[i+1]*vec2[ind1[i+1]];
-  } else if (n_i == 1) {
-    res += vec1[i+0]*vec2[ind1[i+0]];
-  }
-
-  return res;
-}
-
-void ABSL_ATTRIBUTE_NOINLINE mulMatVecSparse_1(mjtNum* res,
-                                               const mjtNum* mat,
-                                               const mjtNum* vec,
-                                               int nr,
-                                               const int* rownnz,
-                                               const int* rowadr,
-                                               const int* colind,
-                                               const int* rowsuper) {
-  for (int r=0; r < nr; r++) {
-    res[r] = dotSparse_1(
-      mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
-  }
-}
-
-void ABSL_ATTRIBUTE_NOINLINE mulMatVecSparse_8(mjtNum* res,
-                                               const mjtNum* mat,
-                                               const mjtNum* vec,
-                                               int nr,
-                                               const int* rownnz,
-                                               const int* rowadr,
-                                               const int* colind,
-                                               const int* rowsuper) {
-  for (int r=0; r < nr; r++) {
-    res[r] = dotSparse_8(
-      mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
-  }
-}
-
-// ----------------------------- benchmark -------------------------------------
-
-static void BM_MatVecSparse(benchmark::State& state, int unroll) {
-  MatVecData& data = GetMatVecData();
-  std::vector<mjtNum> res(data.nefc);
-
-  for (auto s : state) {
-    if (unroll == 4) {
-      mju_mulMatVecSparse(res.data(), data.efc_J.data(), data.vec.data(),
-                          data.nefc, data.efc_J_rownnz.data(),
-                          data.efc_J_rowadr.data(), data.efc_J_colind.data(),
-                          data.efc_J_rowsuper.data());
-    } else if (unroll == 1) {
-      mulMatVecSparse_1(res.data(), data.efc_J.data(), data.vec.data(),
-                        data.nefc, data.efc_J_rownnz.data(),
-                        data.efc_J_rowadr.data(), data.efc_J_colind.data(),
-                        data.efc_J_rowsuper.data());
-    } else if (unroll == 8) {
-      mulMatVecSparse_8(res.data(), data.efc_J.data(), data.vec.data(),
-                        data.nefc, data.efc_J_rownnz.data(),
-                        data.efc_J_rowadr.data(), data.efc_J_colind.data(),
-                        data.efc_J_rowsuper.data());
-    }
-  }
-
-  state.SetItemsProcessed(state.iterations());
-}
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_MatVecSparse_8(
-  benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_MatVecSparse(state, 8);
-}
-BENCHMARK(BM_MatVecSparse_8);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_MatVecSparse_4(
-  benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_MatVecSparse(state, 4);
-}
-BENCHMARK(BM_MatVecSparse_4);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_MatVecSparse_1(
-  benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_MatVecSparse(state, 1);
-}
-BENCHMARK(BM_MatVecSparse_1);
-
-static void BM_combineSparse(benchmark::State& state, CombineFuncPtr func) {
-  CombineData& data = GetCombineData();
-
-  // make working copies that get modified each iteration
-  std::vector<mjtNum> H = data.H;
-  std::vector<int> rownnz = data.rownnz;
-  std::vector<int> rowadr = data.rowadr;
-  std::vector<int> colind = data.colind;
-
-  // time benchmark
-  for (auto s : state) {
-    for (int r = data.nv-1; r >= 0; r--) {
-      for (int i = 0; i < rownnz[r]-1; i++) {
-        int adr = rowadr[r];
-        int c = colind[adr+i];
-        // true arguments should be i+1 and colind+rowadr[r]
-        // but instead we repeat rownnz[c] and colind+rowadr[c]
-        // in order to trigger all if's in combineSparse
-         func(H.data()+rowadr[c], H.data()+rowadr[r], 1, -H[adr+i],
-              rownnz[c], rownnz[c],
-              colind.data()+rowadr[c], colind.data()+rowadr[c]);
-      }
-    }
-  }
-
-  state.SetItemsProcessed(state.iterations());
-}
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_combineSparse_new(
-  benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_combineSparse(state, &combineSparse_new);
-}
-BENCHMARK(BM_combineSparse_new);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_combineSparse_old(
-  benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_combineSparse(state, &combineSparse_baseline);
-}
-BENCHMARK(BM_combineSparse_old);
-
-enum class Supernode {
-  None,
-  PostProcess,
-  Inline
-};
-
-template <Size S>
-static void BM_transposeSparse(benchmark::State& state, TransposeFuncPtr func,
-                               Supernode super) {
-  TransposeData& data = GetTransposeData<S>();
-
-  // allocate output buffers (uncompressed layout)
-  std::vector<mjtNum> res(data.nv * data.nefc);
-  std::vector<int> res_rownnz(data.nv);
-  std::vector<int> res_rowadr(data.nv);
-  std::vector<int> res_rowsuper(data.nv);
-  std::vector<int> res_colind(data.nv * data.nefc);
-
-  // time benchmark
-  for (auto s : state) {
-    int* rowsuper =
-        (super == Supernode::Inline) ? res_rowsuper.data() : nullptr;
-    func(res.data(), data.efc_J.data(), data.nefc, data.nv,
-         res_rownnz.data(), res_rowadr.data(), res_colind.data(), rowsuper,
-         data.efc_J_rownnz.data(), data.efc_J_rowadr.data(),
-         data.efc_J_colind.data());
-    if (super == Supernode::PostProcess) {
-      mju_superSparse(data.nv, res_rowsuper.data(),
-                      res_rownnz.data(), res_rowadr.data(), res_colind.data());
-    }
-  }
-
-  state.SetItemsProcessed(state.iterations());
-}
-
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_transposeSparse_2H100_old(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_transposeSparse<Size::H2_100>(state, &transposeSparse_baseline,
-                                   Supernode::None);
-}
-BENCHMARK(BM_transposeSparse_2H100_old);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_transposeSparse_2H100_new(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_transposeSparse<Size::H2_100>(state, &mju_transposeSparse,
-                                   Supernode::None);
-}
-BENCHMARK(BM_transposeSparse_2H100_new);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_transposeSparse_2H100_superpost(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_transposeSparse<Size::H2_100>(state, &mju_transposeSparse,
-                                   Supernode::PostProcess);
-}
-BENCHMARK(BM_transposeSparse_2H100_superpost);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_transposeSparse_2H100_superinline(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_transposeSparse<Size::H2_100>(state, &mju_transposeSparse,
-                                   Supernode::Inline);
-}
-BENCHMARK(BM_transposeSparse_2H100_superinline);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_transposeSparse_100H_old(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_transposeSparse<Size::H100>(state, &transposeSparse_baseline,
-                                 Supernode::None);
-}
-BENCHMARK(BM_transposeSparse_100H_old);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_transposeSparse_100H_new(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_transposeSparse<Size::H100>(state, &mju_transposeSparse, Supernode::None);
-}
-BENCHMARK(BM_transposeSparse_100H_new);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_transposeSparse_100H_superpost(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_transposeSparse<Size::H100>(state, &mju_transposeSparse,
-                                 Supernode::PostProcess);
-}
-BENCHMARK(BM_transposeSparse_100H_superpost);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_transposeSparse_100H_superinline(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_transposeSparse<Size::H100>(state, &mju_transposeSparse,
-                                 Supernode::Inline);
-}
-BENCHMARK(BM_transposeSparse_100H_superinline);
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/benchmark/engine_util_spatial_benchmark_test.cc b/test/benchmark/engine_util_spatial_benchmark_test.cc
deleted file mode 100644
index 55e7dc50..00000000
--- a/test/benchmark/engine_util_spatial_benchmark_test.cc
+++ /dev/null
@@ -1,51 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark for comparing different implementations of engine_util_spatial methods.
-
-#include <benchmark/benchmark.h>
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/base/attributes.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_util_blas.h"
-#include "src/engine/engine_util_spatial.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// ------------- quaternion-vector rotation ----------------------------
-
-void BM_RotVecQuat(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-
-  // Create axis-angle and convert to a quaternion
-  mjtNum quat[4];
-  const mjtNum angle = 33 * mjPI / 180;
-  mjtNum vec[] = {0.2672612419124244, 0.5345224838248488, 0.8017837257372732};
-  mju_axisAngle2Quat(quat, vec, angle);
-
-  for (auto s : state) {
-    mjtNum result[3];
-    mju_rotVecQuat(result, vec, quat);
-    benchmark::DoNotOptimize(result);
-  }
-  state.SetItemsProcessed(state.iterations());
-}
-BENCHMARK(BM_RotVecQuat);
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/benchmark/factorI_benchmark_test.cc b/test/benchmark/factorI_benchmark_test.cc
deleted file mode 100644
index 88cbf0a6..00000000
--- a/test/benchmark/factorI_benchmark_test.cc
+++ /dev/null
@@ -1,82 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark for comparing different implementations of mj_factorI.
-
-#include <benchmark/benchmark.h>
-#include <absl/base/attributes.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_core_smooth.h"
-#include "src/engine/engine_util_misc.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// number of steps to benchmark
-static const int kNumBenchmarkSteps = 50;
-
-// ----------------------------- benchmark ------------------------------------
-
-static void BM_factorI(benchmark::State& state, bool coil) {
-  static mjModel* m;
-  if (coil) {
-    m = LoadModelFromPath("plugin/elasticity/coil.xml");
-  } else {
-    m = LoadModelFromPath("humanoid/humanoid100.xml");
-  }
-
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  // allocate inputs and outputs
-  mj_markStack(d);
-
-  // M: mass matrix in CSR format
-  mjtNum* M = mj_stackAllocNum(d, m->nC);
-  mju_copy(M, d->M, m->nC);
-
-  // benchmark
-  while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
-    for (int i=0; i < kNumBenchmarkSteps; i++) {
-      mju_copy(d->qLD, M, m->nC);
-      mj_factorI(d->qLD, d->qLDiagInv, m->nv,
-                 m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
-    }
-  }
-
-  // finalize
-  mj_freeStack(d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-  state.SetItemsProcessed(state.iterations());
-}
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_factorI_COIL_CSR(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_factorI(state, /*coil=*/true);
-}
-BENCHMARK(BM_factorI_COIL_CSR);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL
-BM_factorI_H100_CSR(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_factorI(state, /*coil=*/false);
-}
-BENCHMARK(BM_factorI_H100_CSR);
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/benchmark/inertia_benchmark_test.cc b/test/benchmark/inertia_benchmark_test.cc
deleted file mode 100644
index 257011bf..00000000
--- a/test/benchmark/inertia_benchmark_test.cc
+++ /dev/null
@@ -1,81 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark for comparing legacy and two CSR implementations of inertia
-// factor and then solve.
-
-#include <benchmark/benchmark.h>
-#include <absl/base/attributes.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_core_smooth.h"
-#include "src/engine/engine_util_misc.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// number of steps to benchmark
-static const int kNumBenchmarkSteps = 50;
-
-// ----------------------------- benchmark ------------------------------------
-
-static void BM_solve(benchmark::State& state) {
-  static mjModel* m;
-  m = LoadModelFromPath("../test/benchmark/testdata/inertia.xml");
-
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  // allocate input and output vectors
-  mj_markStack(d);
-
-  // M: mass matrix in CSR format
-  mjtNum* M = mj_stackAllocNum(d, m->nC);
-  mju_copy(M, d->M, m->nC);
-
-  // arbitrary input vector
-  mjtNum *res = mj_stackAllocNum(d, m->nv);
-  mjtNum *vec = mj_stackAllocNum(d, m->nv);
-  for (int i=0; i < m->nv; i++) {
-    vec[i] = 0.2 + 0.3*i;
-  }
-
-  // benchmark
-  while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
-    for (int i=0; i < kNumBenchmarkSteps; i++) {
-      mju_copy(res, vec, m->nv);
-      mju_copy(d->qLD, M, m->nC);
-      mj_factorI(d->qLD, d->qLDiagInv, m->nv,
-                 m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
-      mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                 m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
-    }
-  }
-
-  // finalize
-  mj_freeStack(d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-  state.SetItemsProcessed(state.iterations());
-}
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_solve_CSR(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_solve(state);
-}
-BENCHMARK(BM_solve_CSR);
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/benchmark/iszero_benchmark_test.cc b/test/benchmark/iszero_benchmark_test.cc
deleted file mode 100644
index ed2886ac..00000000
--- a/test/benchmark/iszero_benchmark_test.cc
+++ /dev/null
@@ -1,86 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <vector>
-
-#include "benchmark/benchmark.h"
-#include <absl/base/attributes.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_util_misc.h"
-
-namespace mujoco {
-namespace {
-
-// Run benchmark for the isZero functions, for mjtNum directly or bytewise.
-ABSL_ATTRIBUTE_NO_TAIL_CALL static void IzZeroBenchmark(
-    benchmark::State& state, int n, bool bytewise) {
-  std::vector<mjtNum> data(n, 0);
-  data[n-1] = 1;
-
-  if (bytewise) {
-    for (auto s : state) {
-      int iszero =
-          mju_isZeroByte((const unsigned char*)data.data(), n * sizeof(mjtNum));
-      benchmark::DoNotOptimize(iszero);
-    }
-  } else {
-    for (auto s : state) {
-      int iszero = mju_isZero(data.data(), n);
-      benchmark::DoNotOptimize(iszero);
-    }
-  }
-
-  state.counters["items/s"] =
-      benchmark::Counter(state.iterations() * n, benchmark::Counter::kIsRate);
-}
-
-// Define benchmarks.
-void BM_isZeroByte_10(benchmark::State& state) {
-  IzZeroBenchmark(state, 10, true);
-}
-BENCHMARK(BM_isZeroByte_10);
-
-void BM_isZeroByte_1e2(benchmark::State& state) {
-  IzZeroBenchmark(state, 100, true);
-}
-BENCHMARK(BM_isZeroByte_1e2);
-
-void BM_isZeroByte_1e5(benchmark::State& state) {
-  IzZeroBenchmark(state, 100000, true);
-}
-BENCHMARK(BM_isZeroByte_1e5);
-
-void BM_isZero_10(benchmark::State& state) {
-  IzZeroBenchmark(state, 10, false);
-}
-BENCHMARK(BM_isZero_10);
-
-void BM_isZero_1e2(benchmark::State& state) {
-  IzZeroBenchmark(state, 100, false);
-}
-BENCHMARK(BM_isZero_1e2);
-
-void BM_isZero_1e5(benchmark::State& state) {
-  IzZeroBenchmark(state, 100000, false);
-}
-BENCHMARK(BM_isZero_1e5);
-
-}  // namespace
-}  // namespace mujoco
-
-int main(int argc, char** argv) {
-  benchmark::Initialize(&argc, argv);
-  benchmark::RunSpecifiedBenchmarks();
-  return 0;
-}
diff --git a/test/benchmark/lu_benchmark_test.cc b/test/benchmark/lu_benchmark_test.cc
deleted file mode 100644
index 8ad9a56a..00000000
--- a/test/benchmark/lu_benchmark_test.cc
+++ /dev/null
@@ -1,188 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark comparing generic (runtime-sized) and fixed-size dense LU
-// factorization and solve at n = 6, with dense Cholesky as a reference.
-// The 6x6 case is the free-body block in the implicitfast integrator.
-
-#include <random>
-#include <vector>
-
-#include "benchmark/benchmark.h"
-#include <absl/base/attributes.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_util_blas.h"
-#include "src/engine/engine_util_solve.h"
-
-namespace mujoco {
-namespace {
-
-constexpr int kN = 6;
-constexpr int kNumMat = 256;  // cycle through matrices to avoid cache pinning
-
-// generate matrices with the structure of the free-body block M - h*D + h*G:
-// symmetric positive definite plus a scaled antisymmetric part
-struct LUData {
-  std::vector<mjtNum> mats;  // kNumMat x 36
-  std::vector<mjtNum> rhs;   // kNumMat x 6
-
-  LUData() : mats(kNumMat * kN * kN), rhs(kNumMat * kN) {
-    std::mt19937_64 rng(42);
-    std::normal_distribution<double> dist(0, 1);
-
-    for (int m = 0; m < kNumMat; m++) {
-      mjtNum* A = mats.data() + m * kN * kN;
-      mjtNum sqrtH[kN * kN];
-      for (int i = 0; i < kN * kN; i++) {
-        sqrtH[i] = dist(rng);
-      }
-
-      // A = sqrtH' * sqrtH + n*I: SPD
-      mju_mulMatTMat(A, sqrtH, sqrtH, kN, kN, kN);
-      for (int i = 0; i < kN; i++) {
-        A[i * kN + i] += kN;
-      }
-
-      // add antisymmetric part (gyroscopic-like), scaled to ~10% of diagonal
-      for (int r = 0; r < kN; r++) {
-        for (int c = r + 1; c < kN; c++) {
-          mjtNum g = 0.6 * dist(rng);
-          A[r * kN + c] += g;
-          A[c * kN + r] -= g;
-        }
-      }
-
-      for (int i = 0; i < kN; i++) {
-        rhs[m * kN + i] = dist(rng);
-      }
-    }
-  }
-};
-
-LUData& GetData() {
-  static LUData* data = new LUData();
-  return *data;
-}
-
-enum class Variant {
-  kGeneric,  // mju_factorLU / mju_solveLU with n = 6
-  kFixed,    // mju_factorLU6 / mju_solveLU6
-  kCholesky  // mju_cholFactor / mju_cholSolve (symmetric part; reference)
-};
-
-// factor only (includes the copy, identical across variants)
-ABSL_ATTRIBUTE_NO_TAIL_CALL static void FactorBenchmark(benchmark::State& state,
-                                                        Variant variant) {
-  LUData& data = GetData();
-  mjtNum A[kN * kN];
-  int pivot[kN];
-  int m = 0;
-
-  for (auto s : state) {
-    mju_copy(A, data.mats.data() + m * kN * kN, kN * kN);
-    m = (m + 1) % kNumMat;
-
-    int rank;
-    switch (variant) {
-      case Variant::kGeneric:
-        rank = mju_factorLU(A, kN, pivot);
-        break;
-      case Variant::kFixed:
-        rank = mju_factorLU6(A, pivot);
-        break;
-      case Variant::kCholesky:
-        rank = mju_cholFactor(A, kN, 0);
-        break;
-    }
-    benchmark::DoNotOptimize(rank);
-    benchmark::DoNotOptimize(A);
-  }
-
-  state.counters["factor/s"] =
-      benchmark::Counter(state.iterations(), benchmark::Counter::kIsRate);
-}
-
-// factor and solve
-ABSL_ATTRIBUTE_NO_TAIL_CALL static void FactorSolveBenchmark(
-    benchmark::State& state, Variant variant) {
-  LUData& data = GetData();
-  mjtNum A[kN * kN];
-  mjtNum x[kN];
-  int pivot[kN];
-  int m = 0;
-
-  for (auto s : state) {
-    mju_copy(A, data.mats.data() + m * kN * kN, kN * kN);
-    const mjtNum* b = data.rhs.data() + m * kN;
-    m = (m + 1) % kNumMat;
-
-    switch (variant) {
-      case Variant::kGeneric:
-        mju_factorLU(A, kN, pivot);
-        mju_solveLU(x, A, b, pivot, kN);
-        break;
-      case Variant::kFixed:
-        mju_factorLU6(A, pivot);
-        mju_solveLU6(x, A, b, pivot);
-        break;
-      case Variant::kCholesky:
-        mju_cholFactor(A, kN, 0);
-        mju_cholSolve(x, A, b, kN);
-        break;
-    }
-    benchmark::DoNotOptimize(x);
-  }
-
-  state.counters["solve/s"] =
-      benchmark::Counter(state.iterations(), benchmark::Counter::kIsRate);
-}
-
-void BM_factorLU_generic6(benchmark::State& state) {
-  FactorBenchmark(state, Variant::kGeneric);
-}
-BENCHMARK(BM_factorLU_generic6);
-
-void BM_factorLU_fixed6(benchmark::State& state) {
-  FactorBenchmark(state, Variant::kFixed);
-}
-BENCHMARK(BM_factorLU_fixed6);
-
-void BM_factorChol6(benchmark::State& state) {
-  FactorBenchmark(state, Variant::kCholesky);
-}
-BENCHMARK(BM_factorChol6);
-
-void BM_factorSolveLU_generic6(benchmark::State& state) {
-  FactorSolveBenchmark(state, Variant::kGeneric);
-}
-BENCHMARK(BM_factorSolveLU_generic6);
-
-void BM_factorSolveLU_fixed6(benchmark::State& state) {
-  FactorSolveBenchmark(state, Variant::kFixed);
-}
-BENCHMARK(BM_factorSolveLU_fixed6);
-
-void BM_factorSolveChol6(benchmark::State& state) {
-  FactorSolveBenchmark(state, Variant::kCholesky);
-}
-BENCHMARK(BM_factorSolveChol6);
-
-}  // namespace
-}  // namespace mujoco
-
-int main(int argc, char** argv) {
-  benchmark::Initialize(&argc, argv);
-  benchmark::RunSpecifiedBenchmarks();
-  return 0;
-}
diff --git a/test/benchmark/parse_benchmark_test.cc b/test/benchmark/parse_benchmark_test.cc
deleted file mode 100644
index fab49a3c..00000000
--- a/test/benchmark/parse_benchmark_test.cc
+++ /dev/null
@@ -1,140 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark for parsing and compiling models from XML.
-
-#include <array>
-#include <memory>
-#include <string>
-
-#include <benchmark/benchmark.h>
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/base/attributes.h>
-#include <absl/strings/str_format.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::Eq;
-using ::testing::NotNull;
-
-
-static void run_parse_benchmark(const std::string xml_path,
-                                benchmark::State& state) {
-  MujocoErrorTestGuard guard;  // Fail test if there are any mujoco errors
-
-  int vfs_errno = 0;
-  std::string vfs_errmsg = "";
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  if ((vfs_errno = mj_addFileVFS(vfs.get(), "", xml_path.data()))) {
-    if (vfs_errno == 1) {
-      vfs_errmsg = "VFS is full";  // should not occur
-    } else if (vfs_errno == 2) {
-      vfs_errmsg = "Repeated name in VFS";  // should not occur
-    } else {
-      vfs_errmsg = "File not found";
-    }
-  }
-
-  ASSERT_THAT(vfs_errno, Eq(0)) << "Failed to add file to VFS: " << vfs_errmsg;
-
-  // load once to warm up filesystem and compiler cache
-  std::array<char, 1024> error;
-  mjModel* model =
-      mj_loadXML(xml_path.data(), vfs.get(), error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
-
-  for (auto s : state) {
-    mjModel* model = mj_loadXML(xml_path.data(), vfs.get(), 0, 0);
-    mj_deleteModel(model);
-  }
-  state.SetLabel(xml_path);
-  mj_deleteVFS(vfs.get());
-}
-
-// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
-// separately in CPU profiles (and don't get replaced with raw calls to
-// run_parse_benchmark).
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlagPlugin(benchmark::State& state) {
-  run_parse_benchmark(GetModelPath("flex/flag.xml"), state);
-}
-BENCHMARK(BM_ParseFlagPlugin);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlag(benchmark::State& state) {
-  run_parse_benchmark(GetModelPath("../test/benchmark/testdata/flag.xml"),
-                      state);
-}
-BENCHMARK(BM_ParseFlag);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid(benchmark::State& state) {
-  run_parse_benchmark(GetModelPath("humanoid/humanoid.xml"), state);
-}
-BENCHMARK(BM_ParseHumanoid);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid100(benchmark::State& state) {
-  run_parse_benchmark(GetModelPath("humanoid/humanoid100.xml"), state);
-}
-BENCHMARK(BM_ParseHumanoid100);
-
-void BM_CompileManyTextures(benchmark::State& state) {
-  MujocoErrorTestGuard guard;  // Fail test if there are any mujoco errors
-  std::string texture_path =
-      GetTestDataFilePath("benchmark/testdata/noise.png");
-
-  // Create a model with many textures
-  std::string xml = "<mujoco>\n";
-  xml += "  <asset>\n";
-  for (int i = 0; i < 100; ++i) {
-    xml += absl::StrFormat("    <texture name='tex%d' type='2d' file='%s'/>\n",
-                           i, texture_path);
-  }
-  xml += "  </asset>\n";
-  xml += "  <worldbody>\n";
-  xml += "    <geom size='1'/>\n";
-  xml += "  </worldbody>\n";
-  xml += "</mujoco>\n";
-
-  // Disable cache to simulate many textures without needing separate
-  // testdata files.
-  auto* cache = mj_getCache();
-  int old_capacity = mj_getCacheCapacity(cache);
-  mj_setCacheCapacity(cache, 0);
-
-  for (auto s : state) {
-    char error[1024];
-    MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  }
-
-  // Reset cache capacity to default value.
-  mj_setCacheCapacity(cache, old_capacity);
-}
-
-BENCHMARK(BM_CompileManyTextures);
-
-}  // namespace
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCacheHits(benchmark::State& state) {
-  run_parse_benchmark(
-      GetModelPath("../test/benchmark/testdata/cache_hits.xml"), state);
-}
-BENCHMARK(BM_ParseCacheHits);
-
-}  // namespace mujoco
diff --git a/test/benchmark/run_ablation.py b/test/benchmark/run_ablation.py
deleted file mode 100755
index d229869c..00000000
--- a/test/benchmark/run_ablation.py
+++ /dev/null
@@ -1,217 +0,0 @@
-#!/usr/bin/env python3
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""A script for running step_benchmark_test for a variety of build settings."""
-
-import argparse
-import os
-import re
-import shutil
-import subprocess
-import sys
-from typing import NamedTuple, Tuple
-
-
-class _Setting(NamedTuple):
-  name: str
-  cmake_args: Tuple[str]
-
-
-def run_benchmark_variants(output_directory: str, build_directory: str,
-                           benchmark_repetitions: int, delete_build: bool):
-  """Builds different variants of the benchmark test, and runs them."""
-  # For each of the settings, the first option is what we use as a baseline.
-  # We chose to pick the settings that were likely best (so this is an ablation
-  # study), so interactions between settings are tested.
-  settings_ranges = {
-      "avx": [
-          _Setting("on", ("-DMUJOCO_ENABLE_AVX=ON",)),
-          _Setting("off", ("-DMUJOCO_ENABLE_AVX=OFF",))
-      ],
-      "avx_intrinsics": [
-          _Setting("on", ("-DMUJOCO_ENABLE_AVX_INTRINSICS=ON",)),
-          _Setting("off", ("-DMUJOCO_ENABLE_AVX_INTRINSICS=OFF",))
-      ],
-      "lto": [
-          _Setting("on", ("-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON",)),
-          _Setting("off", ("-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF",)),
-      ],
-      "compiler": compiler_cmake_flags_variants(),
-  }
-
-  baseline_settings = {
-      key: value[0] for key, value in settings_ranges.items()
-  }
-  run_benchmark(
-      f"{sys.platform}_baseline",
-      baseline_settings,
-      output_directory=output_directory,
-      build_directory=f"{build_directory}_baseline",
-      benchmark_repetitions=benchmark_repetitions,
-      delete_build=delete_build,
-  )
-
-  for key in sorted(settings_ranges):
-    settings = baseline_settings.copy()
-    for setting in settings_ranges[key][1:]:
-      settings[key] = setting
-      run_benchmark(
-          f"{sys.platform}_{key}_{setting.name}",
-          settings,
-          output_directory=output_directory,
-          build_directory=f"{build_directory}_{key}_{setting.name}",
-          benchmark_repetitions=benchmark_repetitions,
-          delete_build=delete_build,
-      )
-
-
-def run_benchmark(name, settings, output_directory: str, build_directory: str,
-                  benchmark_repetitions: int, delete_build: bool):
-  """Builds and runs a single benchmark."""
-  current_dir = os.getcwd()
-  try:
-    if delete_build:
-      shutil.rmtree(build_directory, ignore_errors=True)
-    os.makedirs(build_directory, exist_ok=True)
-    os.makedirs(output_directory, exist_ok=True)
-    os.chdir(build_directory)
-    cmake_args = [
-        "cmake", "..", "-DMUJOCO_BUILD_TESTS=ON", "-DCMAKE_BUILD_TYPE=Release"
-    ]
-    cmake_args.extend(os_specific_cmake_flags())
-    for _, setting in sorted(settings.items()):
-      cmake_args.extend(setting.cmake_args)
-
-    print(f"Running ({name}):", " ".join(cmake_args))
-    subprocess.check_call(cmake_args)
-    subprocess.check_call([
-        "cmake", "--build", ".", "-j8", "--config=Release", "-t",
-        "step_benchmark_test"
-    ])
-    output_path = os.path.join(output_directory, f"{name}.json")
-
-    os.chdir("../mujoco/test")
-    if sys.platform == "win32":
-      cygwin_run_benchmark(build_directory, output_path, benchmark_repetitions)
-    else:
-      binary_path = os.path.join(build_directory, "bin", "step_benchmark_test")
-      subprocess.check_call([
-          binary_path,
-          "--benchmark_filter=all",
-          "--benchmark_enable_random_interleaving=true",
-          "--benchmark_min_time=0.5",
-          f"--benchmark_repetitions={benchmark_repetitions}",
-          "--benchmark_format=json",
-          f"--benchmark_out={output_path}",
-      ])
-  finally:
-    os.chdir(current_dir)
-
-
-def os_specific_cmake_flags():
-  """CMake args that should be passed to all benchmarks on current OS."""
-  if sys.platform == "win32":
-    return ("-A", "x64", "-Thost=x86",
-            "-DCMAKE_MSVC_RUNTIME_LIBRARY=MultiThreaded",
-            "-DCMAKE_SYSTEM_VERSION=10.0.19041.0")
-  elif sys.platform.startswith("linux"):
-    return ()
-  elif sys.platform == "darwin":
-    # macOS
-    return ()
-  else:
-    raise ValueError(f"Unknown OS: {sys.platform}")
-
-
-def compiler_cmake_flags_variants():
-  """Returns a list of benchmark settings for different compilers."""
-  if sys.platform == "win32":
-    return [
-        _Setting("VS2022", ("-G", "Visual Studio 17 2022")),
-        # MSVC 2017 doesn't seem to support C17 standard.
-        # _Setting("VS2017", ("-G", "Visual Studio 15 2017")),
-    ]
-  elif sys.platform.startswith("linux"):
-    return [
-        _Setting("clang-11",
-                 ("-DCMAKE_C_COMPILER=clang-11",
-                  "-DCMAKE_CXX_COMPILER=clang++-11", "-DCMAKE_LINKER=lld-11")),
-        _Setting("clang-8",
-                 ("-DCMAKE_C_COMPILER=clang-8",
-                  "-DCMAKE_CXX_COMPILER=clang++-8", "-DCMAKE_LINKER=lld-8")),
-    ]
-  elif sys.platform == "darwin":
-    # macOS
-    return [_Setting("clang", ())]
-  else:
-    raise ValueError(f"Unknown OS: {sys.platform}")
-
-
-def cygwin_run_benchmark(build_directory, output_path, benchmark_repetitions):
-  """Runs the benchmark command under the cygwin environment."""
-  # The subprocess module interacts badly with cygwin.
-  # Rather than trying to run the binary directly through Popen, use bash on
-  # cygwin.
-  lib_path = cygwin_path(os.path.join(build_directory, "lib", "Release"))
-  binary_path = cygwin_path(
-      os.path.join(build_directory, "bin", "Release",
-                   "step_benchmark_test"))
-  cygwin = subprocess.Popen(["bash"], stdin=subprocess.PIPE)
-  command = (
-      f'PATH="$PATH:{lib_path}" {binary_path} --benchmark_filter=all '
-      "--benchmark_enable_random_interleaving=true ",
-      "--benchmark_min_time=0.5 "
-      f"--benchmark_repetitions={benchmark_repetitions} "
-      "--benchmark_format=json "
-      f"--benchmark_out='{output_path}'")
-  cygwin.communicate(input=bytes(command, "utf-8"))
-  if cygwin.returncode:
-    raise ValueError(f"Benchmark returned error code: {cygwin.returncode}")
-
-
-def cygwin_path(windows_path):
-  path = windows_path.replace("\\", "/")
-  path = re.sub(r".*cygwin64", "", path)
-  return path
-
-
-def main(argv):
-  parser = argparse.ArgumentParser()
-  parser.add_argument("-o", "--output_directory", default="benchmark_results")
-  parser.add_argument(
-      "-b",
-      "--build_directory",
-      default="build",
-      help="Base path for build directories. Benchmark names will be appended."
-  )
-  parser.add_argument("-n", "--repetitions", type=int, default=30)
-  parser.add_argument(
-      "-d",
-      "--delete_build",
-      nargs="?",
-      type=bool,
-      const=True,
-      default=False,
-      help="Delete the build directory before building benchmark.")
-  args = parser.parse_args(argv[1:])
-  run_benchmark_variants(
-      output_directory=os.path.abspath(args.output_directory),
-      build_directory=os.path.abspath(args.build_directory),
-      delete_build=args.delete_build,
-      benchmark_repetitions=args.repetitions)
-
-
-if __name__ == "__main__":
-  main(sys.argv)
diff --git a/test/benchmark/solveLD_benchmark_test.cc b/test/benchmark/solveLD_benchmark_test.cc
deleted file mode 100644
index e979a1e0..00000000
--- a/test/benchmark/solveLD_benchmark_test.cc
+++ /dev/null
@@ -1,83 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark for comparing different implementations of mj_solveLD.
-
-#include <benchmark/benchmark.h>
-#include <absl/base/attributes.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_core_smooth.h"
-#include "src/engine/engine_util_misc.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// number of steps to benchmark
-static const int kNumBenchmarkSteps = 50;
-
-// ----------------------------- benchmark ------------------------------------
-
-static void BM_solveLD(benchmark::State& state, bool coil) {
-  static mjModel* m;
-  if (coil) {
-    m = LoadModelFromPath("plugin/elasticity/coil.xml");
-  } else {
-    m = LoadModelFromPath("humanoid/humanoid100.xml");
-  }
-
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  // allocate input and output vectors
-  mj_markStack(d);
-  mjtNum *vec = mj_stackAllocNum(d, m->nv);
-  mjtNum *res = mj_stackAllocNum(d, m->nv);
-
-  // arbitrary input vector
-  for (int i=0; i < m->nv; i++) {
-    vec[i] = 0.2 + 0.3*i;
-  }
-
-  // benchmark
-  while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
-    for (int i=0; i < kNumBenchmarkSteps; i++) {
-      mju_copy(res, vec, m->nv);
-      mj_solveLD(res, d->qLD, d->qLDiagInv, m->nv, 1,
-                 m->M_rownnz, m->M_rowadr, m->M_colind, nullptr);
-    }
-  }
-
-  // finalize
-  mj_freeStack(d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-  state.SetItemsProcessed(state.iterations());
-}
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_solveLD_COIL_CSR(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_solveLD(state, /*coil=*/true);
-}
-BENCHMARK(BM_solveLD_COIL_CSR);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_solveLD_H100_CSR(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_solveLD(state, /*coil=*/false);
-}
-BENCHMARK(BM_solveLD_H100_CSR);
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/benchmark/sort_benchmark_test.cc b/test/benchmark/sort_benchmark_test.cc
deleted file mode 100644
index 16bc836c..00000000
--- a/test/benchmark/sort_benchmark_test.cc
+++ /dev/null
@@ -1,155 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <random>
-#include <vector>
-
-#include "benchmark/benchmark.h"
-#include <absl/base/attributes.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_sort.h"
-
-namespace mujoco {
-namespace {
-
-// A struct with data to be sorted.
-struct Sortable {
-  mjtNum value;
-  int id1;
-  int id2;
-};
-
-// Comparison function for Sortable struct.
-int CompareSortable(const Sortable* a, const Sortable* b, void* context) {
-  if (a->value < b->value) {
-    return -1;
-  } else if (a->value == b->value) {
-    return 0;
-  } else {
-    return 1;
-  }
-}
-
-// Instantiate the sort function.
-mjSORT(SortSortable, Sortable, CompareSortable);
-
-// Generate data for sorting benchmarks.
-std::vector<Sortable> GenerateData(int n, double unsorted_fraction) {
-  std::vector<Sortable> data(n);
-  for (int i = 0; i < n; ++i) {
-    data[i] = {static_cast<mjtNum>(i), i, -i};
-  }
-
-  if (unsorted_fraction > 0.0) {
-    std::mt19937 g(12345);
-    if (unsorted_fraction >= 1.0) {
-      std::shuffle(data.begin(), data.end(), g);
-    } else {
-      int num_to_shuffle = n * unsorted_fraction;
-      for (int i = 0; i < num_to_shuffle; ++i) {
-        int j = std::uniform_int_distribution<int>(i, n - 1)(g);
-        std::swap(data[i], data[j]);
-      }
-    }
-  }
-  return data;
-}
-
-// Run a sorting benchmark with the given size and unsorted fraction.
-ABSL_ATTRIBUTE_NO_TAIL_CALL static void SortBenchmark(
-    benchmark::State& state, int n, double unsorted_fraction) {
-  auto data = GenerateData(n, unsorted_fraction);
-  std::vector<Sortable> buf(n);
-  std::vector<Sortable> copy = data;
-
-  for (auto s : state) {
-    state.PauseTiming();
-    copy = data;
-    state.ResumeTiming();
-    SortSortable(copy.data(), buf.data(), n, nullptr);
-  }
-
-  state.counters["items/s"] =
-      benchmark::Counter(state.iterations() * n, benchmark::Counter::kIsRate);
-}
-
-// Define benchmarks.
-void BM_Sort_1k_AlmostSorted(benchmark::State& state) {
-  SortBenchmark(state, 1000, 0.05);
-}
-BENCHMARK(BM_Sort_1k_AlmostSorted);
-
-void BM_Sort_1k_Random(benchmark::State& state) {
-  SortBenchmark(state, 1000, 1.0);
-}
-BENCHMARK(BM_Sort_1k_Random);
-
-void BM_Sort_100k_AlmostSorted(benchmark::State& state) {
-  SortBenchmark(state, 100000, 0.05);
-}
-BENCHMARK(BM_Sort_100k_AlmostSorted);
-
-void BM_Sort_100k_Random(benchmark::State& state) {
-  SortBenchmark(state, 100000, 1.0);
-}
-BENCHMARK(BM_Sort_100k_Random);
-
-// Run a sorting benchmark with std::stable_sort
-ABSL_ATTRIBUTE_NO_TAIL_CALL static void StdSortBenchmark(
-    benchmark::State& state, int n, double unsorted_fraction) {
-  auto data = GenerateData(n, unsorted_fraction);
-  std::vector<Sortable> copy = data;
-
-  for (auto s : state) {
-    state.PauseTiming();
-    copy = data;
-    state.ResumeTiming();
-    std::stable_sort(
-        copy.begin(), copy.end(),
-        [](const Sortable& a, const Sortable& b) { return a.value < b.value; });
-  }
-
-  state.counters["items/s"] =
-      benchmark::Counter(state.iterations() * n, benchmark::Counter::kIsRate);
-}
-
-void BM_StdSort_1k_AlmostSorted(benchmark::State& state) {
-  StdSortBenchmark(state, 1000, 0.05);
-}
-BENCHMARK(BM_StdSort_1k_AlmostSorted);
-
-void BM_StdSort_1k_Random(benchmark::State& state) {
-  StdSortBenchmark(state, 1000, 1.0);
-}
-BENCHMARK(BM_StdSort_1k_Random);
-
-void BM_StdSort_100k_AlmostSorted(benchmark::State& state) {
-  StdSortBenchmark(state, 100000, 0.05);
-}
-BENCHMARK(BM_StdSort_100k_AlmostSorted);
-
-void BM_StdSort_100k_Random(benchmark::State& state) {
-  StdSortBenchmark(state, 100000, 1.0);
-}
-BENCHMARK(BM_StdSort_100k_Random);
-
-}  // namespace
-}  // namespace mujoco
-
-int main(int argc, char** argv) {
-  benchmark::Initialize(&argc, argv);
-  benchmark::RunSpecifiedBenchmarks();
-  return 0;
-}
diff --git a/test/benchmark/sqrmat_benchmark_test.cc b/test/benchmark/sqrmat_benchmark_test.cc
deleted file mode 100644
index 9e6896d4..00000000
--- a/test/benchmark/sqrmat_benchmark_test.cc
+++ /dev/null
@@ -1,423 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Benchmarks for sparse matrix operations.
-
-#include <cstring>
-#include <vector>
-
-#include "benchmark/benchmark.h"
-#include <absl/base/attributes.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_util_sparse.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// ================================ Test Data ==================================
-// Stores pre-computed sparse matrix inputs extracted from MuJoCo simulations.
-// Each benchmark computes its own outputs (H, L, etc.) from these inputs.
-
-struct SparseTestData {
-  // Dimensions
-  int nv;    // number of DoFs
-  int nefc;  // number of constraint rows
-  int nJ;    // nnz in J
-
-  // J (Jacobian) - nefc x nv sparse
-  std::vector<mjtNum> J;
-  std::vector<int> J_rownnz, J_rowadr, J_colind, J_rowsuper;
-
-  // J' (transpose)
-  std::vector<mjtNum> JT;
-  std::vector<int> JT_rownnz, JT_rowadr, JT_colind, JT_rowsuper;
-
-  // D (diagonal weights for constraints)
-  std::vector<mjtNum> D;
-
-  // M structure (mass matrix, lower triangle)
-  std::vector<int> M_rownnz, M_rowadr, M_colind;
-
-  void Setup(const mjModel* m, mjData* d) {
-    // initialize simulation state
-    mj_resetDataKeyframe(m, d, 0);
-    mj_step(m, d);
-    mj_forward(m, d);
-    nv = m->nv;
-    nefc = d->nefc;
-    nJ = d->nJ;
-
-    // copy J
-    J.assign(d->efc_J, d->efc_J + nJ);
-    J_rownnz.assign(d->efc_J_rownnz, d->efc_J_rownnz + nefc);
-    J_rowadr.assign(d->efc_J_rowadr, d->efc_J_rowadr + nefc);
-    J_colind.assign(d->efc_J_colind, d->efc_J_colind + nJ);
-    J_rowsuper.assign(d->efc_J_rowsuper, d->efc_J_rowsuper + nefc);
-
-    // transpose J
-    JT.assign(nJ, 0);
-    JT_rownnz.assign(nv, 0);
-    JT_rowadr.assign(nv, 0);
-    JT_colind.assign(nJ, 0);
-    JT_rowsuper.assign(nv, 0);
-    mju_transposeSparse(JT.data(), J.data(), nefc, nv, JT_rownnz.data(),
-                        JT_rowadr.data(), JT_colind.data(), JT_rowsuper.data(),
-                        J_rownnz.data(), J_rowadr.data(), J_colind.data());
-
-    // compute D corresponding to quadratic constraint states
-    D.resize(nefc);
-    for (int i = 0; i < nefc; i++) {
-      if (d->efc_state[i] == mjCNSTRSTATE_QUADRATIC) {
-        D[i] = d->efc_D[i];
-      } else {
-        D[i] = 0;
-      }
-    }
-
-    // copy M structure
-    M_rownnz.assign(m->M_rownnz, m->M_rownnz + nv);
-    M_rowadr.assign(m->M_rowadr, m->M_rowadr + nv);
-    int nM = M_rowadr[nv - 1] + M_rownnz[nv - 1];
-    M_colind.assign(m->M_colind, m->M_colind + nM);
-  }
-};
-
-// ================================ Model Sizes ================================
-
-enum class Size { H2_100, H100 };
-
-template <Size S>
-const char* ModelPath() {
-  if constexpr (S == Size::H2_100) {
-    return "../test/benchmark/testdata/2humanoid100_chol.xml";
-  } else {
-    return "../test/benchmark/testdata/100_humanoids_chol.xml";
-  }
-}
-
-template <Size S>
-mjModel* GetModel() {
-  static mjModel* m = LoadModelFromPath(ModelPath<S>());
-  m->opt.jacobian = mjJAC_SPARSE;
-  m->opt.solver = mjSOL_NEWTON;
-  m->opt.disableflags |= mjDSBL_ISLAND;
-  return m;
-}
-
-template <Size S>
-SparseTestData& GetData() {
-  static SparseTestData data;
-  static bool initialized = false;
-  if (!initialized) {
-    mjModel* m = GetModel<S>();
-    mjData* d = mj_makeData(m);
-    data.Setup(m, d);
-    mj_deleteData(d);
-    initialized = true;
-  }
-  return data;
-}
-
-// ========================== Baseline Implementations =========================
-
-
-
-// Baseline sqrMatTD (uncompressed layout, from old implementation)
-void ABSL_ATTRIBUTE_NOINLINE mju_sqrMatTDSparse_baseline(
-    mjtNum* res, const mjtNum* mat, const mjtNum* matT, const mjtNum* diag,
-    int nr, int nc, int* res_rownnz, int* res_rowadr, int* res_colind,
-    const int* rownnz, const int* rowadr, const int* colind,
-    const int* rowsuper, const int* rownnzT, const int* rowadrT,
-    const int* colindT, const int* rowsuperT, mjData* d) {
-  mj_markStack(d);
-  int* chain = mj_stackAllocInt(d, 2 * nc);
-  mjtNum* buffer = mj_stackAllocNum(d, nc);
-
-  for (int r = 0; r < nc; r++) {
-    res_rowadr[r] = r * nc;
-  }
-
-  for (int r = 0; r < nc; r++) {
-    if (rowsuperT && r > 0 && rowsuperT[r - 1] > 0) {
-      res_rownnz[r] = res_rownnz[r - 1];
-      memcpy(res_colind + res_rowadr[r], res_colind + res_rowadr[r - 1],
-             res_rownnz[r] * sizeof(int));
-      if (rownnzT[r]) {
-        res_colind[res_rowadr[r] + res_rownnz[r]] = r;
-        res_rownnz[r]++;
-      }
-    } else {
-      int nchain = 0;
-      int inew = 0, iold = nc;
-      int lastadded = -1;
-      for (int i = 0; i < rownnzT[r]; i++) {
-        int c = colindT[rowadrT[r] + i];
-        if (rowsuper && lastadded >= 0 &&
-            (c - lastadded) <= rowsuper[lastadded]) {
-          continue;
-        } else {
-          lastadded = c;
-        }
-
-        int adr = inew;
-        inew = iold;
-        iold = adr;
-
-        int nnewchain = 0;
-        adr = 0;
-        int end = rowadr[c] + rownnz[c];
-        for (int adr1 = rowadr[c]; adr1 < end; adr1++) {
-          int col_mat = colind[adr1];
-          while (adr < nchain && chain[iold + adr] < col_mat &&
-                 chain[iold + adr] <= r) {
-            chain[inew + nnewchain++] = chain[iold + adr++];
-          }
-          if (col_mat > r) {
-            break;
-          }
-          if (adr < nchain && chain[iold + adr] == col_mat) {
-            adr++;
-          }
-          chain[inew + nnewchain++] = col_mat;
-        }
-
-        while (adr < nchain && chain[iold + adr] <= r) {
-          chain[inew + nnewchain++] = chain[iold + adr++];
-        }
-        nchain = nnewchain;
-      }
-      res_rownnz[r] = nchain;
-      if (nchain) {
-        memcpy(res_colind + res_rowadr[r], chain + inew, nchain * sizeof(int));
-      }
-    }
-  }
-
-  for (int r = 0; r < nc; r++) {
-    int adr = res_rowadr[r];
-    for (int i = 0; i < res_rownnz[r]; i++) {
-      buffer[res_colind[adr + i]] = 0;
-    }
-    for (int i = 0; i < rownnzT[r]; i++) {
-      int c = colindT[rowadrT[r] + i];
-      mjtNum matTrc = matT[rowadrT[r] + i];
-      if (diag) {
-        matTrc *= diag[c];
-      }
-
-      int end = rowadr[c] + rownnz[c];
-      for (int adr2 = rowadr[c]; adr2 < end; adr2++) {
-        int adr1;
-        if ((adr1 = colind[adr2]) > r) {
-          break;
-        }
-        buffer[adr1] += matTrc * mat[adr2];
-      }
-    }
-    adr = res_rowadr[r];
-    for (int i = 0; i < res_rownnz[r]; i++) {
-      res[adr + i] = buffer[res_colind[adr + i]];
-    }
-  }
-  for (int r = 1; r < nc; r++) {
-    int end = res_rowadr[r] + res_rownnz[r] - 1;
-    for (int adr = res_rowadr[r]; adr < end; adr++) {
-      int adr1 = res_rowadr[res_colind[adr]] + res_rownnz[res_colind[adr]]++;
-      res[adr1] = res[adr];
-      res_colind[adr1] = r;
-    }
-  }
-
-  mj_freeStack(d);
-}
-
-
-
-// ========================== SqrMatTD Benchmarks ==============================
-
-enum class SqrMatTDVariant {
-  kBaseline,
-  kRow,
-  kCol,
-  kSplitCol
-};
-
-template <Size S>
-static void BM_sqrMatTD_impl(benchmark::State& state, SqrMatTDVariant variant) {
-  SparseTestData& data = GetData<S>();
-  mjModel* m = GetModel<S>();
-  mjData* d = mj_makeData(m);
-
-  int nv = data.nv;
-
-  // nothing to benchmark if no constraints
-  if (data.nefc == 0) {
-    for (auto s : state) {}
-    mj_deleteData(d);
-    return;
-  }
-
-  // allocate H output (uncompressed for baseline, compressed for others)
-  int max_nnz = (variant == SqrMatTDVariant::kBaseline) ? nv * nv : 0;
-  std::vector<mjtNum> H;
-  std::vector<int> H_rownnz(nv);
-  std::vector<int> H_rowadr(nv);
-  std::vector<int> H_colind;
-  std::vector<int> diagind(nv);
-
-  if (variant == SqrMatTDVariant::kBaseline) {
-    H.resize(max_nnz);
-    H_colind.resize(max_nnz);
-  } else if (variant == SqrMatTDVariant::kSplitCol ||
-             variant == SqrMatTDVariant::kCol) {
-    // use symbolic to count nnz
-    int nH = mju_sqrMatTDSparseSymbolic(
-        H_rownnz.data(), H_rowadr.data(), nullptr, nullptr,
-        data.nefc, nv, data.J_rownnz.data(), data.J_rowadr.data(),
-        data.J_colind.data(), data.JT_rownnz.data(), data.JT_rowadr.data(),
-        data.JT_colind.data(), data.JT_rowsuper.data(), d);
-    H.resize(nH);
-    H_colind.resize(nH);
-  } else {
-    // row: use Count (lower triangle only)
-    mju_sqrMatTDSparseCount(
-        H_rownnz.data(), H_rowadr.data(), nv, data.J_rownnz.data(),
-        data.J_rowadr.data(), data.J_colind.data(), data.JT_rownnz.data(),
-        data.JT_rowadr.data(), data.JT_colind.data(), nullptr, d, 0);
-    int nH = H_rowadr[nv - 1] + H_rownnz[nv - 1];
-    H.resize(nH);
-    H_colind.resize(nH);
-  }
-
-  for (auto s : state) {
-    switch (variant) {
-      case SqrMatTDVariant::kBaseline:
-        mju_superSparse(data.nefc, data.J_rowsuper.data(), data.J_rownnz.data(),
-                        data.J_rowadr.data(), data.J_colind.data());
-        mju_sqrMatTDSparse_baseline(
-            H.data(), data.J.data(), data.JT.data(), data.D.data(), data.nefc,
-            nv, H_rownnz.data(), H_rowadr.data(), H_colind.data(),
-            data.J_rownnz.data(), data.J_rowadr.data(), data.J_colind.data(),
-            data.J_rowsuper.data(), data.JT_rownnz.data(),
-            data.JT_rowadr.data(), data.JT_colind.data(),
-            data.JT_rowsuper.data(), d);
-        break;
-      case SqrMatTDVariant::kRow:
-        mju_sqrMatTDSparseCount(
-            H_rownnz.data(), H_rowadr.data(), nv, data.J_rownnz.data(),
-            data.J_rowadr.data(), data.J_colind.data(), data.JT_rownnz.data(),
-            data.JT_rowadr.data(), data.JT_colind.data(), nullptr, d, 0);
-        mju_sqrMatTDSparse_row(
-            H.data(), data.J.data(), data.JT.data(), data.D.data(), data.nefc,
-            nv, H_rownnz.data(), H_rowadr.data(), H_colind.data(),
-            data.J_rownnz.data(), data.J_rowadr.data(), data.J_colind.data(),
-            nullptr, data.JT_rownnz.data(), data.JT_rowadr.data(),
-            data.JT_colind.data(), data.JT_rowsuper.data(), d, nullptr);
-        break;
-      case SqrMatTDVariant::kCol:
-        mju_sqrMatTDSparseCount(
-            H_rownnz.data(), H_rowadr.data(), nv, data.J_rownnz.data(),
-            data.J_rowadr.data(), data.J_colind.data(), data.JT_rownnz.data(),
-            data.JT_rowadr.data(), data.JT_colind.data(), nullptr, d, 0);
-        mju_sqrMatTDSparse(
-            H.data(), data.J.data(), data.JT.data(), data.D.data(), data.nefc,
-            nv, H_rownnz.data(), H_rowadr.data(), H_colind.data(),
-            data.J_rownnz.data(), data.J_rowadr.data(), data.J_colind.data(),
-            nullptr, data.JT_rownnz.data(), data.JT_rowadr.data(),
-            data.JT_colind.data(), data.JT_rowsuper.data(), d, nullptr);
-        break;
-
-      case SqrMatTDVariant::kSplitCol:
-        mju_sqrMatTDSparseSymbolic(
-            H_rownnz.data(), H_rowadr.data(), nullptr, nullptr,
-            data.nefc, nv, data.J_rownnz.data(), data.J_rowadr.data(),
-            data.J_colind.data(), data.JT_rownnz.data(), data.JT_rowadr.data(),
-            data.JT_colind.data(), data.JT_rowsuper.data(), d);
-        mju_sqrMatTDSparseSymbolic(
-            H_rownnz.data(), H_rowadr.data(), H_colind.data(), nullptr,
-            data.nefc, nv, data.J_rownnz.data(), data.J_rowadr.data(),
-            data.J_colind.data(), data.JT_rownnz.data(), data.JT_rowadr.data(),
-            data.JT_colind.data(), data.JT_rowsuper.data(), d);
-        mju_sqrMatTDSparseNumeric(
-            H.data(), nv, H_rownnz.data(), H_rowadr.data(),
-            H_colind.data(), nullptr, data.J.data(), data.J_rownnz.data(),
-            data.J_rowadr.data(), data.J_colind.data(), data.JT.data(),
-            data.JT_rownnz.data(), data.JT_rowadr.data(), data.JT_colind.data(),
-            data.JT_rowsuper.data(), data.D.data(), d);
-        break;
-    }
-  }
-
-  mj_deleteData(d);
-  state.SetItemsProcessed(state.iterations());
-}
-
-void BM_sqrMatTD_2H100_baseline(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_sqrMatTD_impl<Size::H2_100>(state, SqrMatTDVariant::kBaseline);
-}
-BENCHMARK(BM_sqrMatTD_2H100_baseline);
-
-void BM_sqrMatTD_2H100_row(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_sqrMatTD_impl<Size::H2_100>(state, SqrMatTDVariant::kRow);
-}
-BENCHMARK(BM_sqrMatTD_2H100_row);
-
-void BM_sqrMatTD_2H100_col(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_sqrMatTD_impl<Size::H2_100>(state, SqrMatTDVariant::kCol);
-}
-BENCHMARK(BM_sqrMatTD_2H100_col);
-
-void BM_sqrMatTD_2H100_splitCol(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_sqrMatTD_impl<Size::H2_100>(state, SqrMatTDVariant::kSplitCol);
-}
-BENCHMARK(BM_sqrMatTD_2H100_splitCol);
-
-void BM_sqrMatTD_100H_baseline(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_sqrMatTD_impl<Size::H100>(state, SqrMatTDVariant::kBaseline);
-}
-BENCHMARK(BM_sqrMatTD_100H_baseline);
-
-void BM_sqrMatTD_100H_row(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_sqrMatTD_impl<Size::H100>(state, SqrMatTDVariant::kRow);
-}
-BENCHMARK(BM_sqrMatTD_100H_row);
-
-void BM_sqrMatTD_100H_col(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_sqrMatTD_impl<Size::H100>(state, SqrMatTDVariant::kCol);
-}
-BENCHMARK(BM_sqrMatTD_100H_col);
-
-void BM_sqrMatTD_100H_splitCol(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  BM_sqrMatTD_impl<Size::H100>(state, SqrMatTDVariant::kSplitCol);
-}
-BENCHMARK(BM_sqrMatTD_100H_splitCol);
-
-}  // namespace
-}  // namespace mujoco
-
-int main(int argc, char** argv) {
-  benchmark::Initialize(&argc, argv);
-  benchmark::RunSpecifiedBenchmarks();
-  return 0;
-}
diff --git a/test/benchmark/step_benchmark_test.cc b/test/benchmark/step_benchmark_test.cc
deleted file mode 100644
index 1d34f2c9..00000000
--- a/test/benchmark/step_benchmark_test.cc
+++ /dev/null
@@ -1,111 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// A benchmark which steps various models without rendering, and measures speed.
-
-#include <vector>
-
-#include <benchmark/benchmark.h>
-#include <absl/base/attributes.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// number of steps to roll out before benchmarking
-static const int kNumWarmupSteps = 500;
-
-// number of steps to benchmark
-static const int kNumBenchmarkSteps = 50;
-
-static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
-  mjData* data = mj_makeData(model);
-
-  // compute noise
-  int nsteps = kNumWarmupSteps+kNumBenchmarkSteps;
-  std::vector<mjtNum> ctrl = GetCtrlNoise(model, nsteps);
-
-  // warm-up rollout to get a typical state
-  for (int i=0; i < kNumWarmupSteps; i++) {
-    mju_copy(data->ctrl, ctrl.data()+model->nu*i, model->nu);
-    mj_step(model, data);
-  }
-
-  // save state
-  int spec = mjSTATE_INTEGRATION;
-  int size = mj_stateSize(model, spec);
-  std::vector<mjtNum> initial_state(size);
-  mj_getState(model, data, initial_state.data(), spec);
-
-  // reset state, benchmark subsequent kNumBenchmarkSteps steps
-  while (state.KeepRunningBatch(kNumBenchmarkSteps)) {
-    mj_setState(model, data, initial_state.data(), spec);
-
-    for (int i=0; i < kNumBenchmarkSteps; i++) {
-      mjtNum* ctrl_data = ctrl.data()+model->nu*(i+kNumWarmupSteps);
-      mju_copy(data->ctrl, ctrl_data, model->nu);
-      mj_step(model, data);
-    }
-  }
-
-  // finalize
-  mj_deleteData(data);
-  state.SetItemsProcessed(state.iterations());
-}
-
-// Use ABSL_ATTRIBUTE_NO_TAIL_CALL to make sure the benchmark functions appear
-// separately in CPU profiles (and don't get replaced with raw calls to
-// run_step_benchmark).
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepFlagPlugin(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  static mjModel* model = LoadModelFromPath("flex/flag.xml");
-  run_step_benchmark(model, state);
-}
-BENCHMARK(BM_StepFlagPlugin);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepParticle(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  static mjModel* model = LoadModelFromPath("replicate/particle.xml");
-  run_step_benchmark(model, state);
-}
-BENCHMARK(BM_StepParticle);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepFlag(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  static mjModel* model =
-      LoadModelFromPath("../test/benchmark/testdata/flag.xml");
-  run_step_benchmark(model, state);
-}
-BENCHMARK(BM_StepFlag);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  static mjModel* model = LoadModelFromPath("humanoid/humanoid.xml");
-  run_step_benchmark(model, state);
-}
-BENCHMARK(BM_StepHumanoid);
-
-void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepHumanoid100(benchmark::State& state) {
-  MujocoErrorTestGuard guard;
-  static mjModel* model = LoadModelFromPath("humanoid/humanoid100.xml");
-  run_step_benchmark(model, state);
-}
-BENCHMARK(BM_StepHumanoid100);
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/benchmark/testdata/100_humanoids_chol.xml b/test/benchmark/testdata/100_humanoids_chol.xml
deleted file mode 100644
index 9f04fdf1..00000000
--- a/test/benchmark/testdata/100_humanoids_chol.xml
+++ /dev/null
@@ -1,10812 +0,0 @@
-<mujoco model="100 Humanoids">
-  <compiler angle="radian"/>
-
-  <option timestep="0.005">
-    <flag island="disable"/>
-  </option>
-
-  <size memory="100M" nkey="4"/>
-
-  <visual>
-    <global offwidth="800" offheight="800"/>
-    <quality numslices="16" numstacks="8"/>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-  </visual>
-
-  <default>
-    <default class="_main">
-      <general ctrllimited="true" ctrlrange="-1 1"/>
-      <default class="_body">
-        <joint solimplimit="0 0.99 0.01" stiffness="1" limited="true" armature="0.01" damping="0.2"/>
-        <geom type="capsule" condim="1" group="1" friction="0.7" solref="0.015" solimp="0.9 0.99 0.003" material="body"/>
-        <default class="_thigh">
-          <geom size="0.06 0 0"/>
-        </default>
-        <default class="_shin">
-          <geom size="0.049 0 0"/>
-        </default>
-        <default class="_foot">
-          <geom size="0.027 0 0"/>
-          <default class="_foot1"/>
-          <default class="_foot2"/>
-        </default>
-        <default class="_arm_upper">
-          <geom size="0.04 0 0"/>
-        </default>
-        <default class="_arm_lower">
-          <geom size="0.031 0 0"/>
-        </default>
-        <default class="_hand">
-          <geom size="0.04 0 0" type="sphere"/>
-        </default>
-        <default class="_joint_big">
-          <joint stiffness="10" damping="5"/>
-          <default class="_hip_x">
-            <joint range="-30 10"/>
-          </default>
-          <default class="_hip_z">
-            <joint range="-60 35"/>
-          </default>
-          <default class="_hip_y">
-            <joint range="-150 20"/>
-          </default>
-          <default class="_joint_big_stiff">
-            <joint stiffness="20"/>
-          </default>
-        </default>
-        <default class="_knee">
-          <joint range="-160 2"/>
-        </default>
-        <default class="_ankle">
-          <joint range="-50 50"/>
-          <default class="_ankle_y">
-            <joint stiffness="6"/>
-          </default>
-          <default class="_ankle_x">
-            <joint stiffness="3"/>
-          </default>
-        </default>
-        <default class="_shoulder">
-          <joint range="-85 60"/>
-        </default>
-        <default class="_elbow">
-          <joint stiffness="0" range="-100 50"/>
-        </default>
-      </default>
-    </default>
-  </default>
-
-  <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="2d" colorspace="auto" name="floor" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" width="512" height="512"/>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="32" height="192"/>
-    <texture type="cube" colorspace="auto" name="_body" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="128" height="768"/>
-    <texture type="2d" colorspace="auto" name="_grid" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" width="512" height="512"/>
-    <material name="floor" texture="floor" texuniform="true" reflectance="0.2"/>
-    <material name="_body" texture="_body" texuniform="true" rgba="0.8 0.6 0.4 1"/>
-    <material name="_grid" texture="_grid" texuniform="true" reflectance="0.2"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" size="10 10 0.05" type="plane" material="floor"/>
-    <light pos="0 0 5" dir="0 0 -1" type="directional" diffuse="0.9 0.9 0.9" specular="0.1 0.1 0.1"/>
-    <light name="spotlight" target="world" pos="-6 -6 4" dir="0 0 -1" cutoff="60" diffuse="1 1 1" mode="targetbodycom"/>
-    <body name="_torso-00-00" childclass="_body" pos="1.2 0 1.282">
-      <joint name="_root-00-00" type="free" solimplimit="0.9 0.95 0.001" stiffness="0" armature="0" damping="0"/>
-      <geom name="_torso-00-00" size="0.07 0.07" quat="0.707107 0.707107 0 0" material="_body"/>
-      <geom name="_waist_upper-00-00" size="0.06 0.06" pos="-0.01 0 -0.12" quat="0.707107 0.707107 0 0" material="_body"/>
-      <camera name="_back-00-00" pos="-3 0 1" quat="0.601501 0.371748 -0.371748 -0.601501" mode="trackcom"/>
-      <camera name="_side-00-00" pos="0 -3 1" quat="0.850651 0.525731 0 0" mode="trackcom"/>
-      <body name="_head-00-00" pos="0 0 0.19">
-        <geom name="_head-00-00" size="0.09" type="sphere" material="_body"/>
-        <camera name="_egocentric-00-00" pos="0.09 0 0" quat="0.524286 0.474472 -0.474472 -0.524286" fovy="80"/>
-      </body>
-      <body name="_waist_lower-00-00" pos="-0.01 0 -0.26">
-        <joint name="_abdomen_z-00-00" class="_joint_big_stiff" pos="0 0 0.065" axis="0 0 1" range="-0.785398 0.785398"/>
-        <joint name="_abdomen_y-00-00" class="_joint_big" pos="0 0 0.065" axis="0 1 0" range="-1.309 0.523599"/>
-        <geom name="_waist_lower-00-00" size="0.06 0.06" quat="0.707107 0.707107 0 0" material="_body"/>
-        <body name="_pelvis-00-00" pos="0 0 -0.165">
-          <joint name="_abdomen_x-00-00" class="_joint_big" pos="0 0 0.1" axis="1 0 0" range="-0.610865 0.610865"/>
-          <geom name="_butt-00-00" size="0.09 0.07" pos="-0.02 0 0" quat="0.707107 0.707107 0 0" material="_body"/>
-          <body name="_thigh_right-00-00" pos="0 -0.1 -0.04">
-            <joint name="_hip_x_right-00-00" class="_hip_x" pos="0 0 0" axis="1 0 0" range="-0.523599 0.174533"/>
-            <joint name="_hip_z_right-00-00" class="_hip_z" pos="0 0 0" axis="0 0 1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_right-00-00" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_right-00-00" class="_thigh" size="0.06 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" material="_body"/>
-            <body name="_shin_right-00-00" pos="0 0.01 -0.4">
-              <joint name="_knee_right-00-00" class="_knee" pos="0 0 0.02" axis="0 -1 0" range="-2.79253 0.0349066"/>
-              <geom name="_shin_right-00-00" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_right-00-00" pos="0 0 -0.39">
-                <joint name="_ankle_y_right-00-00" class="_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
-                <joint name="_ankle_x_right-00-00" class="_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_right-00-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_right-00-00" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
-              </body>
-            </body>
-          </body>
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-            <joint name="_hip_z_left-00-00" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_left-00-00" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_left-00-00" class="_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="_body"/>
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-              <geom name="_shin_left-00-00" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-00-00" pos="0 0 -0.39">
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-                <joint name="_ankle_x_left-00-00" class="_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_left-00-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_left-00-00" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            </body>
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-            <geom name="_hand_right-00-00" class="_hand" quat="0.888074 -0.325058 0.325058 0" material="_body"/>
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-        <geom name="_upper_arm_left-00-00" class="_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="_body"/>
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-              <geom name="_shin_right-01-00" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_right-01-00" pos="0 0 -0.39">
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-                <joint name="_ankle_x_right-01-00" class="_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_right-01-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_right-01-00" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-01-00" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_left-01-00" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_left-01-00" class="_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="_body"/>
-            <body name="_shin_left-01-00" pos="0 -0.01 -0.4">
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-              <geom name="_shin_left-01-00" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-01-00" pos="0 0 -0.39">
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-                <geom name="_foot1_left-01-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
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-        <geom name="_upper_arm_left-01-00" class="_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="_body"/>
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-          <body name="_hand_left-01-00" pos="0.18 -0.18 0.18">
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-              <body name="_foot_right-02-00" pos="0 0 -0.39">
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-            <joint name="_hip_z_left-02-00" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
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-              <body name="_foot_left-02-00" pos="0 0 -0.39">
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-                <geom name="_foot1_left-02-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
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-      <camera name="_back-03-00" pos="-3 0 1" quat="0.601501 0.371748 -0.371748 -0.601501" mode="trackcom"/>
-      <camera name="_side-03-00" pos="0 -3 1" quat="0.850651 0.525731 0 0" mode="trackcom"/>
-      <body name="_head-03-00" pos="0 0 0.19">
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-        <camera name="_egocentric-03-00" pos="0.09 0 0" quat="0.524286 0.474472 -0.474472 -0.524286" fovy="80"/>
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-        <joint name="_abdomen_y-03-00" class="_joint_big" pos="0 0 0.065" axis="0 1 0" range="-1.309 0.523599"/>
-        <geom name="_waist_lower-03-00" size="0.06 0.06" quat="0.707107 0.707107 0 0" material="_body"/>
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-          <geom name="_butt-03-00" size="0.09 0.07" pos="-0.02 0 0" quat="0.707107 0.707107 0 0" material="_body"/>
-          <body name="_thigh_right-03-00" pos="0 -0.1 -0.04">
-            <joint name="_hip_x_right-03-00" class="_hip_x" pos="0 0 0" axis="1 0 0" range="-0.523599 0.174533"/>
-            <joint name="_hip_z_right-03-00" class="_hip_z" pos="0 0 0" axis="0 0 1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_right-03-00" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_right-03-00" class="_thigh" size="0.06 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" material="_body"/>
-            <body name="_shin_right-03-00" pos="0 0.01 -0.4">
-              <joint name="_knee_right-03-00" class="_knee" pos="0 0 0.02" axis="0 -1 0" range="-2.79253 0.0349066"/>
-              <geom name="_shin_right-03-00" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_right-03-00" pos="0 0 -0.39">
-                <joint name="_ankle_y_right-03-00" class="_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
-                <joint name="_ankle_x_right-03-00" class="_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_right-03-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_right-03-00" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
-              </body>
-            </body>
-          </body>
-          <body name="_thigh_left-03-00" pos="0 0.1 -0.04">
-            <joint name="_hip_x_left-03-00" class="_hip_x" pos="0 0 0" axis="-1 0 0" range="-0.523599 0.174533"/>
-            <joint name="_hip_z_left-03-00" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_left-03-00" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_left-03-00" class="_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="_body"/>
-            <body name="_shin_left-03-00" pos="0 -0.01 -0.4">
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-              <geom name="_shin_left-03-00" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-03-00" pos="0 0 -0.39">
-                <joint name="_ankle_y_left-03-00" class="_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
-                <joint name="_ankle_x_left-03-00" class="_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_left-03-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_left-03-00" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            </body>
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-        <geom name="_upper_arm_right-03-00" class="_arm_upper" size="0.04 0.138564" pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" material="_body"/>
-        <body name="_lower_arm_right-03-00" pos="0.18 -0.18 -0.18">
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-          <body name="_hand_right-03-00" pos="0.18 0.18 0.18">
-            <geom name="_hand_right-03-00" class="_hand" quat="0.888074 -0.325058 0.325058 0" material="_body"/>
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-        <geom name="_upper_arm_left-03-00" class="_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="_body"/>
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-          <body name="_hand_left-03-00" pos="0.18 -0.18 0.18">
-            <geom name="_hand_left-03-00" class="_hand" quat="0.888074 0.325058 0.325058 0" material="_body"/>
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-      </body>
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-        <geom name="_waist_lower-04-00" size="0.06 0.06" quat="0.707107 0.707107 0 0" material="_body"/>
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-            <joint name="_hip_y_right-04-00" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_right-04-00" class="_thigh" size="0.06 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" material="_body"/>
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-              <geom name="_shin_right-04-00" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_right-04-00" pos="0 0 -0.39">
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-                <joint name="_ankle_x_right-04-00" class="_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_right-04-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_right-04-00" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-04-00" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_left-04-00" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_left-04-00" class="_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="_body"/>
-            <body name="_shin_left-04-00" pos="0 -0.01 -0.4">
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-              <geom name="_shin_left-04-00" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-04-00" pos="0 0 -0.39">
-                <joint name="_ankle_y_left-04-00" class="_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
-                <joint name="_ankle_x_left-04-00" class="_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_left-04-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_left-04-00" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            </body>
-          </body>
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-        <body name="_lower_arm_right-04-00" pos="0.18 -0.18 -0.18">
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-          <body name="_hand_right-04-00" pos="0.18 0.18 0.18">
-            <geom name="_hand_right-04-00" class="_hand" quat="0.888074 -0.325058 0.325058 0" material="_body"/>
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-      </body>
-      <body name="_upper_arm_left-04-00" pos="0 0.17 0.06">
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-        <geom name="_upper_arm_left-04-00" class="_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="_body"/>
-        <body name="_lower_arm_left-04-00" pos="0.18 0.18 -0.18">
-          <joint name="_elbow_left-04-00" class="_elbow" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.74533 0.872665"/>
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-          <body name="_hand_left-04-00" pos="0.18 -0.18 0.18">
-            <geom name="_hand_left-04-00" class="_hand" quat="0.888074 0.325058 0.325058 0" material="_body"/>
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-      </body>
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-      <geom name="_torso-05-00" size="0.07 0.07" quat="0.707107 0.707107 0 0" material="_body"/>
-      <geom name="_waist_upper-05-00" size="0.06 0.06" pos="-0.01 0 -0.12" quat="0.707107 0.707107 0 0" material="_body"/>
-      <camera name="_back-05-00" pos="-3 0 1" quat="0.601501 0.371748 -0.371748 -0.601501" mode="trackcom"/>
-      <camera name="_side-05-00" pos="0 -3 1" quat="0.850651 0.525731 0 0" mode="trackcom"/>
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-        <camera name="_egocentric-05-00" pos="0.09 0 0" quat="0.524286 0.474472 -0.474472 -0.524286" fovy="80"/>
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-      <body name="_waist_lower-05-00" pos="-0.01 0 -0.26">
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-              <body name="_foot_right-05-00" pos="0 0 -0.39">
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-                <geom name="_foot1_right-05-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-05-00" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
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-              <geom name="_shin_left-05-00" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-05-00" pos="0 0 -0.39">
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-                <joint name="_ankle_x_left-05-00" class="_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_left-05-00" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
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-      <body name="_upper_arm_right-05-00" pos="0 -0.17 0.06">
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-        <body name="_lower_arm_right-05-00" pos="0.18 -0.18 -0.18">
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-          <body name="_hand_right-05-00" pos="0.18 0.18 0.18">
-            <geom name="_hand_right-05-00" class="_hand" quat="0.888074 -0.325058 0.325058 0" material="_body"/>
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-        </body>
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-      <body name="_upper_arm_left-05-00" pos="0 0.17 0.06">
-        <joint name="_shoulder1_left-05-00" class="_shoulder" pos="0 0 0" axis="-0.816497 0.408248 -0.408248" range="-1.48353 1.0472"/>
-        <joint name="_shoulder2_left-05-00" class="_shoulder" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.48353 1.0472"/>
-        <geom name="_upper_arm_left-05-00" class="_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="_body"/>
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-                <joint name="_ankle_x_right-01-01" class="_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_right-01-01" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_right-01-01" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            </body>
-          </body>
-          <body name="_thigh_left-01-01" pos="0 0.1 -0.04">
-            <joint name="_hip_x_left-01-01" class="_hip_x" pos="0 0 0" axis="-1 0 0" range="-0.523599 0.174533"/>
-            <joint name="_hip_z_left-01-01" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_left-01-01" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_left-01-01" class="_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="_body"/>
-            <body name="_shin_left-01-01" pos="0 -0.01 -0.4">
-              <joint name="_knee_left-01-01" class="_knee" pos="0 0 0.02" axis="0 -1 0" range="-2.79253 0.0349066"/>
-              <geom name="_shin_left-01-01" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-01-01" pos="0 0 -0.39">
-                <joint name="_ankle_y_left-01-01" class="_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
-                <joint name="_ankle_x_left-01-01" class="_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_left-01-01" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_left-01-01" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="_upper_arm_right-01-01" pos="0 -0.17 0.06">
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-        <joint name="_shoulder2_right-01-01" class="_shoulder" pos="0 0 0" axis="0 -0.707107 0.707107" range="-1.48353 1.0472"/>
-        <geom name="_upper_arm_right-01-01" class="_arm_upper" size="0.04 0.138564" pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" material="_body"/>
-        <body name="_lower_arm_right-01-01" pos="0.18 -0.18 -0.18">
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-          <body name="_hand_right-01-01" pos="0.18 0.18 0.18">
-            <geom name="_hand_right-01-01" class="_hand" quat="0.888074 -0.325058 0.325058 0" material="_body"/>
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-      <body name="_upper_arm_left-01-01" pos="0 0.17 0.06">
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-        <geom name="_upper_arm_left-01-01" class="_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="_body"/>
-        <body name="_lower_arm_left-01-01" pos="0.18 0.18 -0.18">
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-          <body name="_hand_left-01-01" pos="0.18 -0.18 0.18">
-            <geom name="_hand_left-01-01" class="_hand" quat="0.888074 0.325058 0.325058 0" material="_body"/>
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-        <geom name="_waist_lower-02-01" size="0.06 0.06" quat="0.707107 0.707107 0 0" material="_body"/>
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-            <geom name="_thigh_right-02-01" class="_thigh" size="0.06 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" material="_body"/>
-            <body name="_shin_right-02-01" pos="0 0.01 -0.4">
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-              <geom name="_shin_right-02-01" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_right-02-01" pos="0 0 -0.39">
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-                <joint name="_ankle_x_right-02-01" class="_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_right-02-01" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_right-02-01" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-02-01" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_left-02-01" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_left-02-01" class="_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="_body"/>
-            <body name="_shin_left-02-01" pos="0 -0.01 -0.4">
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-              <geom name="_shin_left-02-01" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-02-01" pos="0 0 -0.39">
-                <joint name="_ankle_y_left-02-01" class="_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
-                <joint name="_ankle_x_left-02-01" class="_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_left-02-01" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_left-02-01" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            </body>
-          </body>
-        </body>
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-        <geom name="_upper_arm_right-02-01" class="_arm_upper" size="0.04 0.138564" pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" material="_body"/>
-        <body name="_lower_arm_right-02-01" pos="0.18 -0.18 -0.18">
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-          <body name="_hand_right-02-01" pos="0.18 0.18 0.18">
-            <geom name="_hand_right-02-01" class="_hand" quat="0.888074 -0.325058 0.325058 0" material="_body"/>
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-        </body>
-      </body>
-      <body name="_upper_arm_left-02-01" pos="0 0.17 0.06">
-        <joint name="_shoulder1_left-02-01" class="_shoulder" pos="0 0 0" axis="-0.816497 0.408248 -0.408248" range="-1.48353 1.0472"/>
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-        <geom name="_upper_arm_left-02-01" class="_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="_body"/>
-        <body name="_lower_arm_left-02-01" pos="0.18 0.18 -0.18">
-          <joint name="_elbow_left-02-01" class="_elbow" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.74533 0.872665"/>
-          <geom name="_lower_arm_left-02-01" class="_arm_lower" size="0.031 0.138564" pos="0.09 -0.09 0.09" quat="0.459701 -0.627963 -0.627963 0" material="_body"/>
-          <body name="_hand_left-02-01" pos="0.18 -0.18 0.18">
-            <geom name="_hand_left-02-01" class="_hand" quat="0.888074 0.325058 0.325058 0" material="_body"/>
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-        <joint name="_abdomen_y-03-01" class="_joint_big" pos="0 0 0.065" axis="0 1 0" range="-1.309 0.523599"/>
-        <geom name="_waist_lower-03-01" size="0.06 0.06" quat="0.707107 0.707107 0 0" material="_body"/>
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-          <body name="_thigh_right-03-01" pos="0 -0.1 -0.04">
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-            <joint name="_hip_z_right-03-01" class="_hip_z" pos="0 0 0" axis="0 0 1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_right-03-01" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_right-03-01" class="_thigh" size="0.06 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" material="_body"/>
-            <body name="_shin_right-03-01" pos="0 0.01 -0.4">
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-              <geom name="_shin_right-03-01" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_right-03-01" pos="0 0 -0.39">
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-                <geom name="_foot1_right-03-01" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_right-03-01" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-03-01" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_left-03-01" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_left-03-01" class="_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="_body"/>
-            <body name="_shin_left-03-01" pos="0 -0.01 -0.4">
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-              <geom name="_shin_left-03-01" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-03-01" pos="0 0 -0.39">
-                <joint name="_ankle_y_left-03-01" class="_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
-                <joint name="_ankle_x_left-03-01" class="_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_left-03-01" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_left-03-01" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-      <body name="_upper_arm_right-03-01" pos="0 -0.17 0.06">
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-        <geom name="_upper_arm_right-03-01" class="_arm_upper" size="0.04 0.138564" pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" material="_body"/>
-        <body name="_lower_arm_right-03-01" pos="0.18 -0.18 -0.18">
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-          <body name="_hand_right-03-01" pos="0.18 0.18 0.18">
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-        <geom name="_upper_arm_left-03-01" class="_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="_body"/>
-        <body name="_lower_arm_left-03-01" pos="0.18 0.18 -0.18">
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-          <body name="_hand_left-03-01" pos="0.18 -0.18 0.18">
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-      <geom name="_torso-04-01" size="0.07 0.07" quat="0.707107 0.707107 0 0" material="_body"/>
-      <geom name="_waist_upper-04-01" size="0.06 0.06" pos="-0.01 0 -0.12" quat="0.707107 0.707107 0 0" material="_body"/>
-      <camera name="_back-04-01" pos="-3 0 1" quat="0.601501 0.371748 -0.371748 -0.601501" mode="trackcom"/>
-      <camera name="_side-04-01" pos="0 -3 1" quat="0.850651 0.525731 0 0" mode="trackcom"/>
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-              <geom name="_shin_right-02-02" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_right-02-02" pos="0 0 -0.39">
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-                <joint name="_ankle_x_right-02-02" class="_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_right-02-02" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_right-02-02" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-02-02" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_left-02-02" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
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-              <geom name="_shin_left-02-02" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-02-02" pos="0 0 -0.39">
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-                <geom name="_foot1_left-02-02" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_left-02-02" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-03-02" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
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-              <body name="_foot_left-03-02" pos="0 0 -0.39">
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-        <body name="_lower_arm_right-03-02" pos="0.18 -0.18 -0.18">
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-          <body name="_hand_right-03-02" pos="0.18 0.18 0.18">
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-          <body name="_hand_left-03-02" pos="0.18 -0.18 0.18">
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-          <body name="_hand_right-04-02" pos="0.18 0.18 0.18">
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-                <geom name="_foot1_right-01-04" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_right-01-04" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-01-04" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="_hip_y_left-01-04" class="_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="_thigh_left-01-04" class="_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="_body"/>
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-              <geom name="_shin_left-01-04" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-01-04" pos="0 0 -0.39">
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-                <joint name="_ankle_x_left-01-04" class="_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_left-01-04" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
-                <geom name="_foot2_left-01-04" class="_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-02-04" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
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-              <body name="_foot_left-02-04" pos="0 0 -0.39">
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-                <joint name="_ankle_x_left-02-04" class="_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="_foot1_left-02-04" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
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-            <geom name="_hand_right-02-04" class="_hand" quat="0.888074 -0.325058 0.325058 0" material="_body"/>
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-        <geom name="_upper_arm_left-02-04" class="_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="_body"/>
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-                <geom name="_foot1_right-03-04" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
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-            <joint name="_hip_z_left-03-04" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
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-                <geom name="_foot1_left-03-04" class="_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="_body"/>
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-          <body name="_hand_left-03-04" pos="0.18 -0.18 0.18">
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-            <joint name="_hip_z_left-01-07" class="_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
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-              <geom name="_shin_left-01-07" class="_shin" size="0.049 0.15" pos="0 0 -0.15" material="_body"/>
-              <body name="_foot_left-01-07" pos="0 0 -0.39">
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-      <joint joint="_hip_y_right-05-08" coef="0.5"/>
-      <joint joint="_knee_right-05-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-05-08" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-05-08" coef="0.5"/>
-      <joint joint="_knee_left-05-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-06-08" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-06-08" coef="0.5"/>
-      <joint joint="_knee_right-06-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-06-08" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-06-08" coef="0.5"/>
-      <joint joint="_knee_left-06-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-07-08" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-07-08" coef="0.5"/>
-      <joint joint="_knee_right-07-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-07-08" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-07-08" coef="0.5"/>
-      <joint joint="_knee_left-07-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-08-08" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-08-08" coef="0.5"/>
-      <joint joint="_knee_right-08-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-08-08" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-08-08" coef="0.5"/>
-      <joint joint="_knee_left-08-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-09-08" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-09-08" coef="0.5"/>
-      <joint joint="_knee_right-09-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-09-08" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-09-08" coef="0.5"/>
-      <joint joint="_knee_left-09-08" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-00-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-00-09" coef="0.5"/>
-      <joint joint="_knee_right-00-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-00-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-00-09" coef="0.5"/>
-      <joint joint="_knee_left-00-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-01-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-01-09" coef="0.5"/>
-      <joint joint="_knee_right-01-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-01-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-01-09" coef="0.5"/>
-      <joint joint="_knee_left-01-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-02-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-02-09" coef="0.5"/>
-      <joint joint="_knee_right-02-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-02-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-02-09" coef="0.5"/>
-      <joint joint="_knee_left-02-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-03-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-03-09" coef="0.5"/>
-      <joint joint="_knee_right-03-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-03-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-03-09" coef="0.5"/>
-      <joint joint="_knee_left-03-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-04-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-04-09" coef="0.5"/>
-      <joint joint="_knee_right-04-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-04-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-04-09" coef="0.5"/>
-      <joint joint="_knee_left-04-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-05-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-05-09" coef="0.5"/>
-      <joint joint="_knee_right-05-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-05-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-05-09" coef="0.5"/>
-      <joint joint="_knee_left-05-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-06-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-06-09" coef="0.5"/>
-      <joint joint="_knee_right-06-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-06-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-06-09" coef="0.5"/>
-      <joint joint="_knee_left-06-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-07-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-07-09" coef="0.5"/>
-      <joint joint="_knee_right-07-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-07-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-07-09" coef="0.5"/>
-      <joint joint="_knee_left-07-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-08-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-08-09" coef="0.5"/>
-      <joint joint="_knee_right-08-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-08-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-08-09" coef="0.5"/>
-      <joint joint="_knee_left-08-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_right-09-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_right-09-09" coef="0.5"/>
-      <joint joint="_knee_right-09-09" coef="-0.5"/>
-    </fixed>
-    <fixed name="_hamstring_left-09-09" limited="true" range="-0.3 2">
-      <joint joint="_hip_y_left-09-09" coef="0.5"/>
-      <joint joint="_knee_left-09-09" coef="-0.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <general name="_abdomen_z-00-00" joint="_abdomen_z-00-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_y-00-00" joint="_abdomen_y-00-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_x-00-00" joint="_abdomen_x-00-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_x_right-00-00" joint="_hip_x_right-00-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_right-00-00" joint="_hip_z_right-00-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_right-00-00" joint="_hip_y_right-00-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_right-00-00" joint="_knee_right-00-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_right-00-00" joint="_ankle_y_right-00-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_right-00-00" joint="_ankle_x_right-00-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_hip_x_left-00-00" joint="_hip_x_left-00-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_left-00-00" joint="_hip_z_left-00-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_left-00-00" joint="_hip_y_left-00-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_left-00-00" joint="_knee_left-00-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_left-00-00" joint="_ankle_y_left-00-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_left-00-00" joint="_ankle_x_left-00-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder1_right-00-00" joint="_shoulder1_right-00-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_right-00-00" joint="_shoulder2_right-00-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_elbow_right-00-00" joint="_elbow_right-00-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_shoulder1_left-00-00" joint="_shoulder1_left-00-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_left-00-00" joint="_shoulder2_left-00-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_elbow_left-00-00" joint="_elbow_left-00-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_z-01-00" joint="_abdomen_z-01-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_y-01-00" joint="_abdomen_y-01-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_x-01-00" joint="_abdomen_x-01-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_x_right-01-00" joint="_hip_x_right-01-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_right-01-00" joint="_hip_z_right-01-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_right-01-00" joint="_hip_y_right-01-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_right-01-00" joint="_knee_right-01-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_right-01-00" joint="_ankle_y_right-01-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_right-01-00" joint="_ankle_x_right-01-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_hip_x_left-01-00" joint="_hip_x_left-01-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_left-01-00" joint="_hip_z_left-01-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_left-01-00" joint="_hip_y_left-01-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_left-01-00" joint="_knee_left-01-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_left-01-00" joint="_ankle_y_left-01-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_left-01-00" joint="_ankle_x_left-01-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder1_right-01-00" joint="_shoulder1_right-01-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_right-01-00" joint="_shoulder2_right-01-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_elbow_right-01-00" joint="_elbow_right-01-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_shoulder1_left-01-00" joint="_shoulder1_left-01-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_left-01-00" joint="_shoulder2_left-01-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_elbow_left-01-00" joint="_elbow_left-01-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_z-02-00" joint="_abdomen_z-02-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_y-02-00" joint="_abdomen_y-02-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_x-02-00" joint="_abdomen_x-02-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_x_right-02-00" joint="_hip_x_right-02-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_right-02-00" joint="_hip_z_right-02-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_right-02-00" joint="_hip_y_right-02-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_right-02-00" joint="_knee_right-02-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_right-02-00" joint="_ankle_y_right-02-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_right-02-00" joint="_ankle_x_right-02-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_hip_x_left-02-00" joint="_hip_x_left-02-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_left-02-00" joint="_hip_z_left-02-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_left-02-00" joint="_hip_y_left-02-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_left-02-00" joint="_knee_left-02-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_left-02-00" joint="_ankle_y_left-02-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_left-02-00" joint="_ankle_x_left-02-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder1_right-02-00" joint="_shoulder1_right-02-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_right-02-00" joint="_shoulder2_right-02-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_elbow_right-02-00" joint="_elbow_right-02-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_shoulder1_left-02-00" joint="_shoulder1_left-02-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_left-02-00" joint="_shoulder2_left-02-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_elbow_left-02-00" joint="_elbow_left-02-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_z-03-00" joint="_abdomen_z-03-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_y-03-00" joint="_abdomen_y-03-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_x-03-00" joint="_abdomen_x-03-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_x_right-03-00" joint="_hip_x_right-03-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_right-03-00" joint="_hip_z_right-03-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_right-03-00" joint="_hip_y_right-03-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_right-03-00" joint="_knee_right-03-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_right-03-00" joint="_ankle_y_right-03-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_right-03-00" joint="_ankle_x_right-03-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_hip_x_left-03-00" joint="_hip_x_left-03-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_left-03-00" joint="_hip_z_left-03-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_left-03-00" joint="_hip_y_left-03-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_left-03-00" joint="_knee_left-03-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_left-03-00" joint="_ankle_y_left-03-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_left-03-00" joint="_ankle_x_left-03-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder1_right-03-00" joint="_shoulder1_right-03-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_right-03-00" joint="_shoulder2_right-03-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_elbow_right-03-00" joint="_elbow_right-03-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_shoulder1_left-03-00" joint="_shoulder1_left-03-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_left-03-00" joint="_shoulder2_left-03-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_elbow_left-03-00" joint="_elbow_left-03-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_z-04-00" joint="_abdomen_z-04-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_y-04-00" joint="_abdomen_y-04-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_abdomen_x-04-00" joint="_abdomen_x-04-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_x_right-04-00" joint="_hip_x_right-04-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_right-04-00" joint="_hip_z_right-04-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_right-04-00" joint="_hip_y_right-04-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_right-04-00" joint="_knee_right-04-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_right-04-00" joint="_ankle_y_right-04-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_right-04-00" joint="_ankle_x_right-04-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_hip_x_left-04-00" joint="_hip_x_left-04-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_z_left-04-00" joint="_hip_z_left-04-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_hip_y_left-04-00" joint="_hip_y_left-04-00" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
-    <general name="_knee_left-04-00" joint="_knee_left-04-00" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
-    <general name="_ankle_y_left-04-00" joint="_ankle_y_left-04-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_ankle_x_left-04-00" joint="_ankle_x_left-04-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder1_right-04-00" joint="_shoulder1_right-04-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_right-04-00" joint="_shoulder2_right-04-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_elbow_right-04-00" joint="_elbow_right-04-00" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
-    <general name="_shoulder1_left-04-00" joint="_shoulder1_left-04-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
-    <general name="_shoulder2_left-04-00" joint="_shoulder2_left-04-00" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
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-  </keyframe>
-</mujoco>
diff --git a/test/benchmark/testdata/2humanoid100.xml b/test/benchmark/testdata/2humanoid100.xml
deleted file mode 100644
index 424ed2c4..00000000
--- a/test/benchmark/testdata/2humanoid100.xml
+++ /dev/null
@@ -1,123 +0,0 @@
-<mujoco model="2 Humanoids and 100 objects">
-<!--
-     Model designed for a maximally-elaborate island structure.
-     More horizontal gravity leads to larger, fewer islands.
--->
-  <option timestep="0.005" solver="CG" gravity="-1 -1 -10">
-    <flag island="enable"/>
-  </option>
-
-  <size memory="100M"/>
-
-  <default>
-    <geom solimp=".9 .9 .01"/>
-    <default class="capsule">
-      <geom type="capsule" material="capsule" size="0.1 0.05"/>
-    </default>
-    <default class="ellipsoid">
-      <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
-    </default>
-    <default class="box">
-      <geom type="box" material="box" size="0.15 0.1 0.05"/>
-    </default>
-    <default class="cylinder">
-      <geom type="cylinder" material="cylinder" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
-    </default>
-    <default class="sphere">
-      <geom type="sphere" material="sphere" size="0.1"/>
-    </default>
-    <default class="border">
-      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
-    </default>
-    <default class="borderpost">
-      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
-    </default>
-  </default>
-
-  <asset>
-    <model file="humanoid.xml"/>
-    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
-    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
-    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
-    <material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
-    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
-    <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
-    <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
-    <material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
-  </asset>
-
-  <visual>
-    <quality shadowsize="4096" offsamples="8"/>
-    <map znear="0.1" force="0.05"/>
-  </visual>
-
-  <statistic extent="4"/>
-
-  <worldbody>
-    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
-    <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
-    <geom class="border" fromto="-3 3 0 3 3 0"/>
-    <geom class="border" fromto="-3 -3 0 3 -3 0"/>
-    <geom class="border" fromto="3 3 0 3 -3 0"/>
-    <geom class="border" fromto="-3 3 0 -3 -3 0"/>
-    <geom class="borderpost" pos="3 3 0"/>
-    <geom class="borderpost" pos="-3 3 0"/>
-    <geom class="borderpost" pos="3 -3 0"/>
-    <geom class="borderpost" pos="-3 -3 0"/>
-
-    <replicate count="4" euler="0 0 90">
-      <geom type="plane" size=".5 3 .05" zaxis="1 0 0"  pos="-3 0 0.4"/>
-    </replicate>
-
-    <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-      <body pos="-2 0 0.5" euler="30 40 0">
-        <freejoint/>
-        <geom class="capsule"/>
-      </body>
-    </replicate>
-
-    <attach model="Humanoid" body="torso" prefix="1_"/>
-
-    <frame euler="0 0 72">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="20 40 60">
-          <freejoint/>
-          <geom class="ellipsoid"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame euler="0 0 144">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="30 70 110">
-          <freejoint/>
-          <geom class="box"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame pos="1 1 0" euler="0 0 144">
-      <attach model="Humanoid" body="torso" prefix="2_"/>
-    </frame>
-
-    <frame euler="0 0 216">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="60 30 0">
-          <freejoint/>
-          <geom class="cylinder"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame euler="0 0 288">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="60 30 0">
-          <freejoint/>
-          <geom class="sphere"/>
-        </body>
-      </replicate>
-    </frame>
-
-  </worldbody>
-</mujoco>
diff --git a/test/benchmark/testdata/2humanoid100_chol.xml b/test/benchmark/testdata/2humanoid100_chol.xml
deleted file mode 100644
index 3213452f..00000000
--- a/test/benchmark/testdata/2humanoid100_chol.xml
+++ /dev/null
@@ -1,829 +0,0 @@
-<mujoco model="2 Humanoids and 100 objects">
-  <compiler angle="radian"/>
-
-  <option timestep="0.005" gravity="-1 -1 -10">
-    <flag island="disable"/>
-  </option>
-
-  <size memory="100M" nkey="8"/>
-
-  <visual>
-    <quality offsamples="8"/>
-    <map force="0.05" znear="0.1"/>
-  </visual>
-
-  <statistic extent="4"/>
-
-  <default>
-    <geom solimp="0.9 0.9 0.01"/>
-    <default class="capsule">
-      <geom size="0.1 0.05 0" type="capsule" material="capsule"/>
-    </default>
-    <default class="ellipsoid">
-      <geom size="0.15 0.1 0.07" type="ellipsoid" material="ellipsoid"/>
-    </default>
-    <default class="box">
-      <geom size="0.15 0.1 0.05" type="box" material="box"/>
-    </default>
-    <default class="cylinder">
-      <geom size="0.1 0.05 0" type="cylinder" condim="4" friction="1 0.01 0.01" material="cylinder"/>
-    </default>
-    <default class="sphere">
-      <geom size="0.1 0 0" material="sphere"/>
-    </default>
-    <default class="border">
-      <geom size="0.4 0 0" type="capsule" rgba="0.4 0.4 0.4 1"/>
-    </default>
-    <default class="borderpost">
-      <geom size="0.41 0.41 0.41" type="box" rgba="0.55 0.55 0.55 1"/>
-    </default>
-    <default class="1_main">
-      <geom solimp="0.9 0.95 0.001"/>
-      <general ctrllimited="true" ctrlrange="-1 1"/>
-      <default class="1_body">
-        <joint solimplimit="0 0.99 0.01" stiffness="1" limited="true" armature="0.01" damping="0.2"/>
-        <geom type="capsule" condim="1" group="1" friction="0.7" solref="0.015" solimp="0.9 0.99 0.003" material="body"/>
-        <default class="1_thigh">
-          <geom size="0.06 0 0"/>
-        </default>
-        <default class="1_shin">
-          <geom size="0.049 0 0"/>
-        </default>
-        <default class="1_foot">
-          <geom size="0.027 0 0"/>
-          <default class="1_foot1"/>
-          <default class="1_foot2"/>
-        </default>
-        <default class="1_arm_upper">
-          <geom size="0.04 0 0"/>
-        </default>
-        <default class="1_arm_lower">
-          <geom size="0.031 0 0"/>
-        </default>
-        <default class="1_hand">
-          <geom size="0.04 0 0" type="sphere"/>
-        </default>
-        <default class="1_joint_big">
-          <joint stiffness="10" damping="5"/>
-          <default class="1_hip_x">
-            <joint range="-30 10"/>
-          </default>
-          <default class="1_hip_z">
-            <joint range="-60 35"/>
-          </default>
-          <default class="1_hip_y">
-            <joint range="-150 20"/>
-          </default>
-          <default class="1_joint_big_stiff">
-            <joint stiffness="20"/>
-          </default>
-        </default>
-        <default class="1_knee">
-          <joint range="-160 2"/>
-        </default>
-        <default class="1_ankle">
-          <joint range="-50 50"/>
-          <default class="1_ankle_y">
-            <joint stiffness="6"/>
-          </default>
-          <default class="1_ankle_x">
-            <joint stiffness="3"/>
-          </default>
-        </default>
-        <default class="1_shoulder">
-          <joint range="-85 60"/>
-        </default>
-        <default class="1_elbow">
-          <joint stiffness="0" range="-100 50"/>
-        </default>
-      </default>
-    </default>
-    <default class="2_main">
-      <geom solimp="0.9 0.95 0.001"/>
-      <general ctrllimited="true" ctrlrange="-1 1"/>
-      <default class="2_body">
-        <joint solimplimit="0 0.99 0.01" stiffness="1" limited="true" armature="0.01" damping="0.2"/>
-        <geom type="capsule" condim="1" group="1" friction="0.7" solref="0.015" solimp="0.9 0.99 0.003" material="body"/>
-        <default class="2_thigh">
-          <geom size="0.06 0 0"/>
-        </default>
-        <default class="2_shin">
-          <geom size="0.049 0 0"/>
-        </default>
-        <default class="2_foot">
-          <geom size="0.027 0 0"/>
-          <default class="2_foot1"/>
-          <default class="2_foot2"/>
-        </default>
-        <default class="2_arm_upper">
-          <geom size="0.04 0 0"/>
-        </default>
-        <default class="2_arm_lower">
-          <geom size="0.031 0 0"/>
-        </default>
-        <default class="2_hand">
-          <geom size="0.04 0 0" type="sphere"/>
-        </default>
-        <default class="2_joint_big">
-          <joint stiffness="10" damping="5"/>
-          <default class="2_hip_x">
-            <joint range="-30 10"/>
-          </default>
-          <default class="2_hip_z">
-            <joint range="-60 35"/>
-          </default>
-          <default class="2_hip_y">
-            <joint range="-150 20"/>
-          </default>
-          <default class="2_joint_big_stiff">
-            <joint stiffness="20"/>
-          </default>
-        </default>
-        <default class="2_knee">
-          <joint range="-160 2"/>
-        </default>
-        <default class="2_ankle">
-          <joint range="-50 50"/>
-          <default class="2_ankle_y">
-            <joint stiffness="6"/>
-          </default>
-          <default class="2_ankle_x">
-            <joint stiffness="3"/>
-          </default>
-        </default>
-        <default class="2_shoulder">
-          <joint range="-85 60"/>
-        </default>
-        <default class="2_elbow">
-          <joint stiffness="0" range="-100 50"/>
-        </default>
-      </default>
-    </default>
-  </default>
-
-  <asset>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.4 0.6 0.8" rgb2="0 0 0" width="512" height="3072"/>
-    <texture type="cube" colorspace="auto" name="texgeom" builtin="flat" mark="cross" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1" width="128" height="768"/>
-    <texture type="2d" colorspace="auto" name="texplane" builtin="checker" rgb1="0.4 0.4 0.4" rgb2="0.6 0.6 0.6" width="512" height="512"/>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="32" height="192"/>
-    <texture type="cube" colorspace="auto" name="1_body" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="128" height="768"/>
-    <texture type="2d" colorspace="auto" name="1_grid" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" width="512" height="512"/>
-    <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="32" height="192"/>
-    <texture type="cube" colorspace="auto" name="2_body" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="128" height="768"/>
-    <texture type="2d" colorspace="auto" name="2_grid" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" width="512" height="512"/>
-    <material name="MatPlane" texture="texplane" texuniform="true" reflectance="0.3" rgba="0.7 0.7 0.7 1"/>
-    <material name="capsule" texture="texgeom" texuniform="true" rgba="0.4 0.9 0.6 1"/>
-    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba="0.4 0.6 0.9 1"/>
-    <material name="box" texture="texgeom" texuniform="true" rgba="0.4 0.9 0.9 1"/>
-    <material name="cylinder" texture="texgeom" texuniform="true" rgba="0.8 0.6 0.8 1"/>
-    <material name="sphere" texture="texgeom" texuniform="true" rgba="0.9 0.1 0.1 1"/>
-    <material name="1_body" texture="1_body" texuniform="true" rgba="0.8 0.6 0.4 1"/>
-    <material name="1_grid" texture="1_grid" texuniform="true" reflectance="0.2"/>
-    <material name="2_body" texture="2_body" texuniform="true" rgba="0.8 0.6 0.4 1"/>
-    <material name="2_grid" texture="2_grid" texuniform="true" reflectance="0.2"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" size="3 3 0.5" type="plane" material="MatPlane"/>
-    <geom class="border" size="0.4 3" pos="0 3 0" quat="0.707107 0 -0.707107 0"/>
-    <geom class="border" size="0.4 3" pos="0 -3 0" quat="0.707107 0 -0.707107 0"/>
-    <geom class="border" size="0.4 3" pos="3 0 0" quat="0.707107 -0.707107 0 0"/>
-    <geom class="border" size="0.4 3" pos="-3 0 0" quat="0.707107 -0.707107 0 0"/>
-    <geom class="borderpost" pos="3 3 0"/>
-    <geom class="borderpost" pos="-3 3 0"/>
-    <geom class="borderpost" pos="3 -3 0"/>
-    <geom class="borderpost" pos="-3 -3 0"/>
-    <light pos="0 0 10" dir="0 0 -1" type="directional" diffuse="0.8 0.8 0.8"/>
-    <geom size="0.5 3 0.05" pos="-3 0 0.4" quat="0.707107 0 0.707107 0" type="plane"/>
-    <geom size="0.5 3 0.05" pos="0 -3 0.4" quat="0.5 -0.5 0.5 0.5" type="plane"/>
-    <geom size="0.5 3 0.05" pos="3 0 0.4" quat="0 -0.707107 0 0.707107" type="plane"/>
-    <geom size="0.5 3 0.05" pos="0 3 0.4" quat="-0.5 -0.5 -0.5 0.5" type="plane"/>
-    <body pos="-2 0 0.5" quat="0.907673 0.24321 0.330366 0.0885213">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-1.87939 -0.68404 0.7" quat="0.878512 0.182148 0.36758 0.244792">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-1.53209 -1.28558 0.9" quat="0.822658 0.115551 0.393625 0.393625">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-1 -1.73205 1.1" quat="0.741808 0.0454433 0.407711 0.530498">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-0.347296 -1.96962 1.3" quat="0.638418 -0.0260453 0.409408 0.651252">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="0.347296 -1.96962 1.5" quat="0.51563 -0.0967425 0.398665 0.752219">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="1 -1.73205 1.7" quat="0.377175 -0.1645 0.375809 0.830329">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="1.53209 -1.28558 1.9" quat="0.22726 -0.22726 0.341535 0.88321">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="1.87939 -0.68404 2.1" quat="0.0704393 -0.283114 0.296883 0.909255">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="2 0 2.3" quat="-0.0885213 -0.330366 0.24321 0.907673">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="1.87939 0.68404 2.5" quat="-0.244792 -0.36758 0.182148 0.878512">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="1.53209 1.28558 2.7" quat="-0.393625 -0.393625 0.115551 0.822658">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="1 1.73205 2.9" quat="-0.530498 -0.407711 0.0454433 0.741808">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="0.347296 1.96962 3.1" quat="-0.651252 -0.409408 -0.0260453 0.638418">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-0.347296 1.96962 3.3" quat="-0.752219 -0.398665 -0.0967425 0.51563">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-1 1.73205 3.5" quat="-0.830329 -0.375809 -0.1645 0.377175">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-1.53209 1.28558 3.7" quat="-0.88321 -0.341535 -0.22726 0.22726">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-1.87939 0.68404 3.9" quat="-0.909255 -0.296883 -0.283114 0.0704393">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-2 0 4.1" quat="-0.907673 -0.24321 -0.330366 -0.0885213">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body pos="-1.87939 -0.68404 4.3" quat="-0.878512 -0.182148 -0.36758 -0.244792">
-      <joint type="free"/>
-      <geom class="capsule"/>
-    </body>
-    <body name="1_torso" childclass="1_body" pos="0 0 1.282">
-      <joint name="1_root" type="free" solimplimit="0.9 0.95 0.001" stiffness="0" armature="0" damping="0"/>
-      <geom name="1_torso" size="0.07 0.07" quat="0.707107 0.707107 0 0" material="1_body"/>
-      <geom name="1_waist_upper" size="0.06 0.06" pos="-0.01 0 -0.12" quat="0.707107 0.707107 0 0" material="1_body"/>
-      <camera name="1_back" pos="-3 0 1" quat="0.601501 0.371748 -0.371748 -0.601501" mode="trackcom"/>
-      <camera name="1_side" pos="0 -3 1" quat="0.850651 0.525731 0 0" mode="trackcom"/>
-      <body name="1_head" pos="0 0 0.19">
-        <geom name="1_head" size="0.09" type="sphere" material="1_body"/>
-        <camera name="1_egocentric" pos="0.09 0 0" quat="0.524286 0.474472 -0.474472 -0.524286" fovy="80"/>
-      </body>
-      <body name="1_waist_lower" pos="-0.01 0 -0.26">
-        <joint name="1_abdomen_z" class="1_joint_big_stiff" pos="0 0 0.065" axis="0 0 1" range="-0.785398 0.785398"/>
-        <joint name="1_abdomen_y" class="1_joint_big" pos="0 0 0.065" axis="0 1 0" range="-1.309 0.523599"/>
-        <geom name="1_waist_lower" size="0.06 0.06" quat="0.707107 0.707107 0 0" material="1_body"/>
-        <body name="1_pelvis" pos="0 0 -0.165">
-          <joint name="1_abdomen_x" class="1_joint_big" pos="0 0 0.1" axis="1 0 0" range="-0.610865 0.610865"/>
-          <geom name="1_butt" size="0.09 0.07" pos="-0.02 0 0" quat="0.707107 0.707107 0 0" material="1_body"/>
-          <body name="1_thigh_right" pos="0 -0.1 -0.04">
-            <joint name="1_hip_x_right" class="1_hip_x" pos="0 0 0" axis="1 0 0" range="-0.523599 0.174533"/>
-            <joint name="1_hip_z_right" class="1_hip_z" pos="0 0 0" axis="0 0 1" range="-1.0472 0.610865"/>
-            <joint name="1_hip_y_right" class="1_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="1_thigh_right" class="1_thigh" size="0.06 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" material="1_body"/>
-            <body name="1_shin_right" pos="0 0.01 -0.4">
-              <joint name="1_knee_right" class="1_knee" pos="0 0 0.02" axis="0 -1 0" range="-2.79253 0.0349066"/>
-              <geom name="1_shin_right" class="1_shin" size="0.049 0.15" pos="0 0 -0.15" material="1_body"/>
-              <body name="1_foot_right" pos="0 0 -0.39">
-                <joint name="1_ankle_y_right" class="1_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
-                <joint name="1_ankle_x_right" class="1_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
-                <geom name="1_foot1_right" class="1_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="1_body"/>
-                <geom name="1_foot2_right" class="1_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="1_body"/>
-              </body>
-            </body>
-          </body>
-          <body name="1_thigh_left" pos="0 0.1 -0.04">
-            <joint name="1_hip_x_left" class="1_hip_x" pos="0 0 0" axis="-1 0 0" range="-0.523599 0.174533"/>
-            <joint name="1_hip_z_left" class="1_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
-            <joint name="1_hip_y_left" class="1_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
-            <geom name="1_thigh_left" class="1_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="1_body"/>
-            <body name="1_shin_left" pos="0 -0.01 -0.4">
-              <joint name="1_knee_left" class="1_knee" pos="0 0 0.02" axis="0 -1 0" range="-2.79253 0.0349066"/>
-              <geom name="1_shin_left" class="1_shin" size="0.049 0.15" pos="0 0 -0.15" material="1_body"/>
-              <body name="1_foot_left" pos="0 0 -0.39">
-                <joint name="1_ankle_y_left" class="1_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
-                <joint name="1_ankle_x_left" class="1_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
-                <geom name="1_foot1_left" class="1_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="1_body"/>
-                <geom name="1_foot2_left" class="1_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="1_body"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="1_upper_arm_right" pos="0 -0.17 0.06">
-        <joint name="1_shoulder1_right" class="1_shoulder" pos="0 0 0" axis="0.816497 0.408248 0.408248" range="-1.48353 1.0472"/>
-        <joint name="1_shoulder2_right" class="1_shoulder" pos="0 0 0" axis="0 -0.707107 0.707107" range="-1.48353 1.0472"/>
-        <geom name="1_upper_arm_right" class="1_arm_upper" size="0.04 0.138564" pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" material="1_body"/>
-        <body name="1_lower_arm_right" pos="0.18 -0.18 -0.18">
-          <joint name="1_elbow_right" class="1_elbow" pos="0 0 0" axis="0 -0.707107 0.707107" range="-1.74533 0.872665"/>
-          <geom name="1_lower_arm_right" class="1_arm_lower" size="0.031 0.138564" pos="0.09 0.09 0.09" quat="0.459701 0.627963 -0.627963 0" material="1_body"/>
-          <body name="1_hand_right" pos="0.18 0.18 0.18">
-            <geom name="1_hand_right" class="1_hand" quat="0.888074 -0.325058 0.325058 0" material="1_body"/>
-          </body>
-        </body>
-      </body>
-      <body name="1_upper_arm_left" pos="0 0.17 0.06">
-        <joint name="1_shoulder1_left" class="1_shoulder" pos="0 0 0" axis="-0.816497 0.408248 -0.408248" range="-1.48353 1.0472"/>
-        <joint name="1_shoulder2_left" class="1_shoulder" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.48353 1.0472"/>
-        <geom name="1_upper_arm_left" class="1_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="1_body"/>
-        <body name="1_lower_arm_left" pos="0.18 0.18 -0.18">
-          <joint name="1_elbow_left" class="1_elbow" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.74533 0.872665"/>
-          <geom name="1_lower_arm_left" class="1_arm_lower" size="0.031 0.138564" pos="0.09 -0.09 0.09" quat="0.459701 -0.627963 -0.627963 0" material="1_body"/>
-          <body name="1_hand_left" pos="0.18 -0.18 0.18">
-            <geom name="1_hand_left" class="1_hand" quat="0.888074 0.325058 0.325058 0" material="1_body"/>
-          </body>
-        </body>
-      </body>
-    </body>
-    <body pos="-0.618034 -1.90211 0.5" quat="0.322144 0.127074 0.352035 0.869567">
-      <joint type="free"/>
-      <geom class="ellipsoid"/>
-    </body>
-    <body pos="0.069799 -1.99878 0.7" quat="0.166252 0.0640135 0.368753 0.912296">
-      <joint type="free"/>
-      <geom class="ellipsoid"/>
-    </body>
-    <body pos="0.749213 -1.85437 0.9" quat="0.0053073 -0.000992425 0.374267 0.927305">
-      <joint type="free"/>
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-    <general name="1_shoulder2_left" joint="1_shoulder2_left" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
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-  </keyframe>
-</mujoco>
diff --git a/test/benchmark/testdata/cache_hits.xml b/test/benchmark/testdata/cache_hits.xml
deleted file mode 100644
index f070fd98..00000000
--- a/test/benchmark/testdata/cache_hits.xml
+++ /dev/null
@@ -1,62 +0,0 @@
-<mujoco>
-  <asset>
-    <texture name="tex1" type="2d" file="noise.png"/>
-    <texture name="tex2" type="2d" file="noise.png"/>
-    <texture name="tex3" type="2d" file="noise.png"/>
-    <texture name="tex4" type="2d" file="noise.png"/>
-    <texture name="tex5" type="2d" file="noise.png"/>
-    <texture name="tex6" type="2d" hflip="true" vflip="true" file="noise.png"/>
-    <texture name="tex7" type="2d" hflip="true" vflip="true" file="noise.png"/>
-    <texture name="tex8" type="2d" hflip="true" vflip="true" file="noise.png"/>
-    <texture name="tex9" type="2d" hflip="true" vflip="true" file="noise.png"/>
-    <texture name="tex10" type="2d" hflip="true" vflip="true" file="noise.png"/>
-    <material name="mat1" texture="tex1"/>
-    <material name="mat2" texture="tex2"/>
-    <material name="mat3" texture="tex3"/>
-    <material name="mat4" texture="tex4"/>
-    <material name="mat5" texture="tex5"/>
-    <material name="mat6" texture="tex6"/>
-    <material name="mat7" texture="tex7"/>
-    <material name="mat8" texture="tex8"/>
-    <material name="mat9" texture="tex9"/>
-    <material name="mat10" texture="tex10"/>
-    <mesh name="mesh1" file="highres_sphere.obj"/>
-    <mesh name="mesh2" file="highres_sphere.obj"/>
-    <mesh name="mesh3" file="highres_sphere.obj"/>
-    <mesh name="mesh4" file="highres_sphere.obj"/>
-    <mesh name="mesh5" file="highres_sphere.obj"/>
-    <mesh name="mesh6" file="highres_sphere.obj"/>
-    <mesh name="mesh7" file="highres_sphere.obj"/>
-    <mesh name="mesh8" file="highres_sphere.obj"/>
-    <mesh name="mesh9" file="highres_sphere.obj"/>
-    <mesh name="mesh10" file="highres_sphere.obj"/>
-    <hfield name="hfield1" size="10 10 10 0.1" file="noise.png"/>
-    <hfield name="hfield2" size="10 10 10 0.1" file="noise.png"/>
-    <hfield name="hfield3" size="10 10 10 0.1" file="noise.png"/>
-    <hfield name="hfield4" size="10 10 10 0.1" file="noise.png"/>
-    <hfield name="hfield5" size="10 10 10 0.1" file="noise.png"/>
-    <hfield name="hfield6" size="10 10 10 0.1" file="noise.png"/>
-    <hfield name="hfield7" size="10 10 10 0.1" file="noise.png"/>
-    <hfield name="hfield8" size="10 10 10 0.1" file="noise.png"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="mesh1" material="mat1" pos="0 0 0"/>
-    <geom type="mesh" mesh="mesh2" material="mat2" pos="0.3 0 0"/>
-    <geom type="mesh" mesh="mesh3" material="mat3" pos="0.6 0 0"/>
-    <geom type="mesh" mesh="mesh4" material="mat4" pos="0.9 0 0"/>
-    <geom type="mesh" mesh="mesh5" material="mat5" pos="1.2 0 0"/>
-    <geom type="mesh" mesh="mesh6" material="mat6" pos="0 0.3 0"/>
-    <geom type="mesh" mesh="mesh7" material="mat7" pos="0.3 0.3 0"/>
-    <geom type="mesh" mesh="mesh8" material="mat8" pos="0.6 0.3 0"/>
-    <geom type="mesh" mesh="mesh9" material="mat9" pos="0.9 0.3 0"/>
-    <geom type="mesh" mesh="mesh10" material="mat10" pos="1.2 0.3 0"/>
-    <geom type="hfield" hfield="hfield1" pos="0 0 0"/>
-    <geom type="hfield" hfield="hfield2" pos="0 0 10"/>
-    <geom type="hfield" hfield="hfield3" pos="0 0 20"/>
-    <geom type="hfield" hfield="hfield4" pos="0 0 30"/>
-    <geom type="hfield" hfield="hfield5" pos="0 0 40"/>
-    <geom type="hfield" hfield="hfield6" pos="0 0 50"/>
-    <geom type="hfield" hfield="hfield7" pos="0 0 60"/>
-    <geom type="hfield" hfield="hfield8" pos="0 0 70"/>
-  </worldbody>
-</mujoco>
diff --git a/test/benchmark/testdata/flag.xml b/test/benchmark/testdata/flag.xml
deleted file mode 100644
index 7e0743fd..00000000
--- a/test/benchmark/testdata/flag.xml
+++ /dev/null
@@ -1,5582 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Flag">
-  <!-- Degree of Freedom (nv):  340
-     Tendons (ntendon):       288
-     Actuators (nu):          0
-     Constraints (nefc):      0
-     This model of a flag passively flapping in the wind has no constraints and is designed to
-     exert smooth dynamics computations.
--->
-  <compiler angle="radian" autolimits="true"/>
-  <option wind="5 5 0" density="10">
-    <flag constraint="disable"/>
-  </option>
-  <statistic meansize="0.0498538" extent="1.3" center="0.4 0 0.8"/>
-  <asset>
-    <skin name="Skin" rgba="1 1 1 1" inflate="0.005"
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-                    0.15 0.1 0.15 0.111111 0.15 0.122222 0.15 0.133333 0.15 0.144444 0.15 0.155556 0.15 0.166667 0.15 0.177778 0.15 0.188889 0.15 0.2 0.15 0.211111 0.15 0.222222 0.15 0.233333 0.15 0.244444 0.15 0.255556
-                    0.15 0.266667 0.15 0.277778 0.15 0.288889 0.15 0.3 0.15 0.311111 0.15 0.322222 0.15 0.333333 0.15 0.344444 0.15 0.355556 0.15 0.366667 0.15 0.377778 0.15 0.388889 0.15 0.4 0.15 0.411111 0.15 0.422222
-                    0.15 0.433333 0.15 0.444444 0.15 0.455556 0.15 0.466667 0.15 0.477778 0.15 0.488889 0.15 0.5 0.15 0.511111 0.15 0.522222 0.15 0.533333 0.15 0.544444 0.15 0.555556 0.15 0.566667 0.15 0.577778 0.15 0.588889
-                    0.15 0.6 0.15 0.611111 0.15 0.622222 0.15 0.633333 0.15 0.644444 0.15 0.655556 0.15 0.666667 0.15 0.677778 0.15 0.688889 0.15 0.7 0.15 0.711111 0.15 0.722222 0.15 0.733333 0.15 0.744444 0.15 0.755556
-                    0.15 0.766667 0.15 0.777778 0.15 0.788889 0.15 0.8 0.15 0.811111 0.15 0.822222 0.15 0.833333 0.15 0.844444 0.15 0.855556 0.15 0.866667 0.15 0.877778 0.15 0.888889 0.15 0.9 0.15 0.911111 0.15 0.922222
-                    0.15 0.933333 0.15 0.944444 0.15 0.955556 0.15 0.966667 0.15 0.977778 0.15 0.988889 0.15 1 0.175 0 0.175 0.0111111 0.175 0.0222222 0.175 0.0333333 0.175 0.0444444 0.175 0.0555556 0.175 0.0666667 0.175 0.0777778
-                    0.175 0.0888889 0.175 0.1 0.175 0.111111 0.175 0.122222 0.175 0.133333 0.175 0.144444 0.175 0.155556 0.175 0.166667 0.175 0.177778 0.175 0.188889 0.175 0.2 0.175 0.211111 0.175 0.222222 0.175 0.233333 0.175 0.244444
-                    0.175 0.255556 0.175 0.266667 0.175 0.277778 0.175 0.288889 0.175 0.3 0.175 0.311111 0.175 0.322222 0.175 0.333333 0.175 0.344444 0.175 0.355556 0.175 0.366667 0.175 0.377778 0.175 0.388889 0.175 0.4 0.175 0.411111
-                    0.175 0.422222 0.175 0.433333 0.175 0.444444 0.175 0.455556 0.175 0.466667 0.175 0.477778 0.175 0.488889 0.175 0.5 0.175 0.511111 0.175 0.522222 0.175 0.533333 0.175 0.544444 0.175 0.555556 0.175 0.566667 0.175 0.577778
-                    0.175 0.588889 0.175 0.6 0.175 0.611111 0.175 0.622222 0.175 0.633333 0.175 0.644444 0.175 0.655556 0.175 0.666667 0.175 0.677778 0.175 0.688889 0.175 0.7 0.175 0.711111 0.175 0.722222 0.175 0.733333 0.175 0.744444
-                    0.175 0.755556 0.175 0.766667 0.175 0.777778 0.175 0.788889 0.175 0.8 0.175 0.811111 0.175 0.822222 0.175 0.833333 0.175 0.844444 0.175 0.855556 0.175 0.866667 0.175 0.877778 0.175 0.888889 0.175 0.9 0.175 0.911111
-                    0.175 0.922222 0.175 0.933333 0.175 0.944444 0.175 0.955556 0.175 0.966667 0.175 0.977778 0.175 0.988889 0.175 1 0.2 0 0.2 0.0111111 0.2 0.0222222 0.2 0.0333333 0.2 0.0444444 0.2 0.0555556 0.2 0.0666667
-                    0.2 0.0777778 0.2 0.0888889 0.2 0.1 0.2 0.111111 0.2 0.122222 0.2 0.133333 0.2 0.144444 0.2 0.155556 0.2 0.166667 0.2 0.177778 0.2 0.188889 0.2 0.2 0.2 0.211111 0.2 0.222222 0.2 0.233333
-                    0.2 0.244444 0.2 0.255556 0.2 0.266667 0.2 0.277778 0.2 0.288889 0.2 0.3 0.2 0.311111 0.2 0.322222 0.2 0.333333 0.2 0.344444 0.2 0.355556 0.2 0.366667 0.2 0.377778 0.2 0.388889 0.2 0.4
-                    0.2 0.411111 0.2 0.422222 0.2 0.433333 0.2 0.444444 0.2 0.455556 0.2 0.466667 0.2 0.477778 0.2 0.488889 0.2 0.5 0.2 0.511111 0.2 0.522222 0.2 0.533333 0.2 0.544444 0.2 0.555556 0.2 0.566667
-                    0.2 0.577778 0.2 0.588889 0.2 0.6 0.2 0.611111 0.2 0.622222 0.2 0.633333 0.2 0.644444 0.2 0.655556 0.2 0.666667 0.2 0.677778 0.2 0.688889 0.2 0.7 0.2 0.711111 0.2 0.722222 0.2 0.733333
-                    0.2 0.744444 0.2 0.755556 0.2 0.766667 0.2 0.777778 0.2 0.788889 0.2 0.8 0.2 0.811111 0.2 0.822222 0.2 0.833333 0.2 0.844444 0.2 0.855556 0.2 0.866667 0.2 0.877778 0.2 0.888889 0.2 0.9
-                    0.2 0.911111 0.2 0.922222 0.2 0.933333 0.2 0.944444 0.2 0.955556 0.2 0.966667 0.2 0.977778 0.2 0.988889 0.2 1 0.225 0 0.225 0.0111111 0.225 0.0222222 0.225 0.0333333 0.225 0.0444444 0.225 0.0555556
-                    0.225 0.0666667 0.225 0.0777778 0.225 0.0888889 0.225 0.1 0.225 0.111111 0.225 0.122222 0.225 0.133333 0.225 0.144444 0.225 0.155556 0.225 0.166667 0.225 0.177778 0.225 0.188889 0.225 0.2 0.225 0.211111 0.225 0.222222
-                    0.225 0.233333 0.225 0.244444 0.225 0.255556 0.225 0.266667 0.225 0.277778 0.225 0.288889 0.225 0.3 0.225 0.311111 0.225 0.322222 0.225 0.333333 0.225 0.344444 0.225 0.355556 0.225 0.366667 0.225 0.377778 0.225 0.388889
-                    0.225 0.4 0.225 0.411111 0.225 0.422222 0.225 0.433333 0.225 0.444444 0.225 0.455556 0.225 0.466667 0.225 0.477778 0.225 0.488889 0.225 0.5 0.225 0.511111 0.225 0.522222 0.225 0.533333 0.225 0.544444 0.225 0.555556
-                    0.225 0.566667 0.225 0.577778 0.225 0.588889 0.225 0.6 0.225 0.611111 0.225 0.622222 0.225 0.633333 0.225 0.644444 0.225 0.655556 0.225 0.666667 0.225 0.677778 0.225 0.688889 0.225 0.7 0.225 0.711111 0.225 0.722222
-                    0.225 0.733333 0.225 0.744444 0.225 0.755556 0.225 0.766667 0.225 0.777778 0.225 0.788889 0.225 0.8 0.225 0.811111 0.225 0.822222 0.225 0.833333 0.225 0.844444 0.225 0.855556 0.225 0.866667 0.225 0.877778 0.225 0.888889
-                    0.225 0.9 0.225 0.911111 0.225 0.922222 0.225 0.933333 0.225 0.944444 0.225 0.955556 0.225 0.966667 0.225 0.977778 0.225 0.988889 0.225 1 0.25 0 0.25 0.0111111 0.25 0.0222222 0.25 0.0333333 0.25 0.0444444
-                    0.25 0.0555556 0.25 0.0666667 0.25 0.0777778 0.25 0.0888889 0.25 0.1 0.25 0.111111 0.25 0.122222 0.25 0.133333 0.25 0.144444 0.25 0.155556 0.25 0.166667 0.25 0.177778 0.25 0.188889 0.25 0.2 0.25 0.211111
-                    0.25 0.222222 0.25 0.233333 0.25 0.244444 0.25 0.255556 0.25 0.266667 0.25 0.277778 0.25 0.288889 0.25 0.3 0.25 0.311111 0.25 0.322222 0.25 0.333333 0.25 0.344444 0.25 0.355556 0.25 0.366667 0.25 0.377778
-                    0.25 0.388889 0.25 0.4 0.25 0.411111 0.25 0.422222 0.25 0.433333 0.25 0.444444 0.25 0.455556 0.25 0.466667 0.25 0.477778 0.25 0.488889 0.25 0.5 0.25 0.511111 0.25 0.522222 0.25 0.533333 0.25 0.544444
-                    0.25 0.555556 0.25 0.566667 0.25 0.577778 0.25 0.588889 0.25 0.6 0.25 0.611111 0.25 0.622222 0.25 0.633333 0.25 0.644444 0.25 0.655556 0.25 0.666667 0.25 0.677778 0.25 0.688889 0.25 0.7 0.25 0.711111
-                    0.25 0.722222 0.25 0.733333 0.25 0.744444 0.25 0.755556 0.25 0.766667 0.25 0.777778 0.25 0.788889 0.25 0.8 0.25 0.811111 0.25 0.822222 0.25 0.833333 0.25 0.844444 0.25 0.855556 0.25 0.866667 0.25 0.877778
-                    0.25 0.888889 0.25 0.9 0.25 0.911111 0.25 0.922222 0.25 0.933333 0.25 0.944444 0.25 0.955556 0.25 0.966667 0.25 0.977778 0.25 0.988889 0.25 1 0.275 0 0.275 0.0111111 0.275 0.0222222 0.275 0.0333333
-                    0.275 0.0444444 0.275 0.0555556 0.275 0.0666667 0.275 0.0777778 0.275 0.0888889 0.275 0.1 0.275 0.111111 0.275 0.122222 0.275 0.133333 0.275 0.144444 0.275 0.155556 0.275 0.166667 0.275 0.177778 0.275 0.188889 0.275 0.2
-                    0.275 0.211111 0.275 0.222222 0.275 0.233333 0.275 0.244444 0.275 0.255556 0.275 0.266667 0.275 0.277778 0.275 0.288889 0.275 0.3 0.275 0.311111 0.275 0.322222 0.275 0.333333 0.275 0.344444 0.275 0.355556 0.275 0.366667
-                    0.275 0.377778 0.275 0.388889 0.275 0.4 0.275 0.411111 0.275 0.422222 0.275 0.433333 0.275 0.444444 0.275 0.455556 0.275 0.466667 0.275 0.477778 0.275 0.488889 0.275 0.5 0.275 0.511111 0.275 0.522222 0.275 0.533333
-                    0.275 0.544444 0.275 0.555556 0.275 0.566667 0.275 0.577778 0.275 0.588889 0.275 0.6 0.275 0.611111 0.275 0.622222 0.275 0.633333 0.275 0.644444 0.275 0.655556 0.275 0.666667 0.275 0.677778 0.275 0.688889 0.275 0.7
-                    0.275 0.711111 0.275 0.722222 0.275 0.733333 0.275 0.744444 0.275 0.755556 0.275 0.766667 0.275 0.777778 0.275 0.788889 0.275 0.8 0.275 0.811111 0.275 0.822222 0.275 0.833333 0.275 0.844444 0.275 0.855556 0.275 0.866667
-                    0.275 0.877778 0.275 0.888889 0.275 0.9 0.275 0.911111 0.275 0.922222 0.275 0.933333 0.275 0.944444 0.275 0.955556 0.275 0.966667 0.275 0.977778 0.275 0.988889 0.275 1 0.3 0 0.3 0.0111111 0.3 0.0222222
-                    0.3 0.0333333 0.3 0.0444444 0.3 0.0555556 0.3 0.0666667 0.3 0.0777778 0.3 0.0888889 0.3 0.1 0.3 0.111111 0.3 0.122222 0.3 0.133333 0.3 0.144444 0.3 0.155556 0.3 0.166667 0.3 0.177778 0.3 0.188889
-                    0.3 0.2 0.3 0.211111 0.3 0.222222 0.3 0.233333 0.3 0.244444 0.3 0.255556 0.3 0.266667 0.3 0.277778 0.3 0.288889 0.3 0.3 0.3 0.311111 0.3 0.322222 0.3 0.333333 0.3 0.344444 0.3 0.355556
-                    0.3 0.366667 0.3 0.377778 0.3 0.388889 0.3 0.4 0.3 0.411111 0.3 0.422222 0.3 0.433333 0.3 0.444444 0.3 0.455556 0.3 0.466667 0.3 0.477778 0.3 0.488889 0.3 0.5 0.3 0.511111 0.3 0.522222
-                    0.3 0.533333 0.3 0.544444 0.3 0.555556 0.3 0.566667 0.3 0.577778 0.3 0.588889 0.3 0.6 0.3 0.611111 0.3 0.622222 0.3 0.633333 0.3 0.644444 0.3 0.655556 0.3 0.666667 0.3 0.677778 0.3 0.688889
-                    0.3 0.7 0.3 0.711111 0.3 0.722222 0.3 0.733333 0.3 0.744444 0.3 0.755556 0.3 0.766667 0.3 0.777778 0.3 0.788889 0.3 0.8 0.3 0.811111 0.3 0.822222 0.3 0.833333 0.3 0.844444 0.3 0.855556
-                    0.3 0.866667 0.3 0.877778 0.3 0.888889 0.3 0.9 0.3 0.911111 0.3 0.922222 0.3 0.933333 0.3 0.944444 0.3 0.955556 0.3 0.966667 0.3 0.977778 0.3 0.988889 0.3 1 0.325 0 0.325 0.0111111
-                    0.325 0.0222222 0.325 0.0333333 0.325 0.0444444 0.325 0.0555556 0.325 0.0666667 0.325 0.0777778 0.325 0.0888889 0.325 0.1 0.325 0.111111 0.325 0.122222 0.325 0.133333 0.325 0.144444 0.325 0.155556 0.325 0.166667 0.325 0.177778
-                    0.325 0.188889 0.325 0.2 0.325 0.211111 0.325 0.222222 0.325 0.233333 0.325 0.244444 0.325 0.255556 0.325 0.266667 0.325 0.277778 0.325 0.288889 0.325 0.3 0.325 0.311111 0.325 0.322222 0.325 0.333333 0.325 0.344444
-                    0.325 0.355556 0.325 0.366667 0.325 0.377778 0.325 0.388889 0.325 0.4 0.325 0.411111 0.325 0.422222 0.325 0.433333 0.325 0.444444 0.325 0.455556 0.325 0.466667 0.325 0.477778 0.325 0.488889 0.325 0.5 0.325 0.511111
-                    0.325 0.522222 0.325 0.533333 0.325 0.544444 0.325 0.555556 0.325 0.566667 0.325 0.577778 0.325 0.588889 0.325 0.6 0.325 0.611111 0.325 0.622222 0.325 0.633333 0.325 0.644444 0.325 0.655556 0.325 0.666667 0.325 0.677778
-                    0.325 0.688889 0.325 0.7 0.325 0.711111 0.325 0.722222 0.325 0.733333 0.325 0.744444 0.325 0.755556 0.325 0.766667 0.325 0.777778 0.325 0.788889 0.325 0.8 0.325 0.811111 0.325 0.822222 0.325 0.833333 0.325 0.844444
-                    0.325 0.855556 0.325 0.866667 0.325 0.877778 0.325 0.888889 0.325 0.9 0.325 0.911111 0.325 0.922222 0.325 0.933333 0.325 0.944444 0.325 0.955556 0.325 0.966667 0.325 0.977778 0.325 0.988889 0.325 1 0.35 0
-                    0.35 0.0111111 0.35 0.0222222 0.35 0.0333333 0.35 0.0444444 0.35 0.0555556 0.35 0.0666667 0.35 0.0777778 0.35 0.0888889 0.35 0.1 0.35 0.111111 0.35 0.122222 0.35 0.133333 0.35 0.144444 0.35 0.155556 0.35 0.166667
-                    0.35 0.177778 0.35 0.188889 0.35 0.2 0.35 0.211111 0.35 0.222222 0.35 0.233333 0.35 0.244444 0.35 0.255556 0.35 0.266667 0.35 0.277778 0.35 0.288889 0.35 0.3 0.35 0.311111 0.35 0.322222 0.35 0.333333
-                    0.35 0.344444 0.35 0.355556 0.35 0.366667 0.35 0.377778 0.35 0.388889 0.35 0.4 0.35 0.411111 0.35 0.422222 0.35 0.433333 0.35 0.444444 0.35 0.455556 0.35 0.466667 0.35 0.477778 0.35 0.488889 0.35 0.5
-                    0.35 0.511111 0.35 0.522222 0.35 0.533333 0.35 0.544444 0.35 0.555556 0.35 0.566667 0.35 0.577778 0.35 0.588889 0.35 0.6 0.35 0.611111 0.35 0.622222 0.35 0.633333 0.35 0.644444 0.35 0.655556 0.35 0.666667
-                    0.35 0.677778 0.35 0.688889 0.35 0.7 0.35 0.711111 0.35 0.722222 0.35 0.733333 0.35 0.744444 0.35 0.755556 0.35 0.766667 0.35 0.777778 0.35 0.788889 0.35 0.8 0.35 0.811111 0.35 0.822222 0.35 0.833333
-                    0.35 0.844444 0.35 0.855556 0.35 0.866667 0.35 0.877778 0.35 0.888889 0.35 0.9 0.35 0.911111 0.35 0.922222 0.35 0.933333 0.35 0.944444 0.35 0.955556 0.35 0.966667 0.35 0.977778 0.35 0.988889 0.35 1
-                    0.375 0 0.375 0.0111111 0.375 0.0222222 0.375 0.0333333 0.375 0.0444444 0.375 0.0555556 0.375 0.0666667 0.375 0.0777778 0.375 0.0888889 0.375 0.1 0.375 0.111111 0.375 0.122222 0.375 0.133333 0.375 0.144444 0.375 0.155556
-                    0.375 0.166667 0.375 0.177778 0.375 0.188889 0.375 0.2 0.375 0.211111 0.375 0.222222 0.375 0.233333 0.375 0.244444 0.375 0.255556 0.375 0.266667 0.375 0.277778 0.375 0.288889 0.375 0.3 0.375 0.311111 0.375 0.322222
-                    0.375 0.333333 0.375 0.344444 0.375 0.355556 0.375 0.366667 0.375 0.377778 0.375 0.388889 0.375 0.4 0.375 0.411111 0.375 0.422222 0.375 0.433333 0.375 0.444444 0.375 0.455556 0.375 0.466667 0.375 0.477778 0.375 0.488889
-                    0.375 0.5 0.375 0.511111 0.375 0.522222 0.375 0.533333 0.375 0.544444 0.375 0.555556 0.375 0.566667 0.375 0.577778 0.375 0.588889 0.375 0.6 0.375 0.611111 0.375 0.622222 0.375 0.633333 0.375 0.644444 0.375 0.655556
-                    0.375 0.666667 0.375 0.677778 0.375 0.688889 0.375 0.7 0.375 0.711111 0.375 0.722222 0.375 0.733333 0.375 0.744444 0.375 0.755556 0.375 0.766667 0.375 0.777778 0.375 0.788889 0.375 0.8 0.375 0.811111 0.375 0.822222
-                    0.375 0.833333 0.375 0.844444 0.375 0.855556 0.375 0.866667 0.375 0.877778 0.375 0.888889 0.375 0.9 0.375 0.911111 0.375 0.922222 0.375 0.933333 0.375 0.944444 0.375 0.955556 0.375 0.966667 0.375 0.977778 0.375 0.988889
-                    0.375 1 0.4 0 0.4 0.0111111 0.4 0.0222222 0.4 0.0333333 0.4 0.0444444 0.4 0.0555556 0.4 0.0666667 0.4 0.0777778 0.4 0.0888889 0.4 0.1 0.4 0.111111 0.4 0.122222 0.4 0.133333 0.4 0.144444
-                    0.4 0.155556 0.4 0.166667 0.4 0.177778 0.4 0.188889 0.4 0.2 0.4 0.211111 0.4 0.222222 0.4 0.233333 0.4 0.244444 0.4 0.255556 0.4 0.266667 0.4 0.277778 0.4 0.288889 0.4 0.3 0.4 0.311111
-                    0.4 0.322222 0.4 0.333333 0.4 0.344444 0.4 0.355556 0.4 0.366667 0.4 0.377778 0.4 0.388889 0.4 0.4 0.4 0.411111 0.4 0.422222 0.4 0.433333 0.4 0.444444 0.4 0.455556 0.4 0.466667 0.4 0.477778
-                    0.4 0.488889 0.4 0.5 0.4 0.511111 0.4 0.522222 0.4 0.533333 0.4 0.544444 0.4 0.555556 0.4 0.566667 0.4 0.577778 0.4 0.588889 0.4 0.6 0.4 0.611111 0.4 0.622222 0.4 0.633333 0.4 0.644444
-                    0.4 0.655556 0.4 0.666667 0.4 0.677778 0.4 0.688889 0.4 0.7 0.4 0.711111 0.4 0.722222 0.4 0.733333 0.4 0.744444 0.4 0.755556 0.4 0.766667 0.4 0.777778 0.4 0.788889 0.4 0.8 0.4 0.811111
-                    0.4 0.822222 0.4 0.833333 0.4 0.844444 0.4 0.855556 0.4 0.866667 0.4 0.877778 0.4 0.888889 0.4 0.9 0.4 0.911111 0.4 0.922222 0.4 0.933333 0.4 0.944444 0.4 0.955556 0.4 0.966667 0.4 0.977778
-                    0.4 0.988889 0.4 1 0.425 0 0.425 0.0111111 0.425 0.0222222 0.425 0.0333333 0.425 0.0444444 0.425 0.0555556 0.425 0.0666667 0.425 0.0777778 0.425 0.0888889 0.425 0.1 0.425 0.111111 0.425 0.122222 0.425 0.133333
-                    0.425 0.144444 0.425 0.155556 0.425 0.166667 0.425 0.177778 0.425 0.188889 0.425 0.2 0.425 0.211111 0.425 0.222222 0.425 0.233333 0.425 0.244444 0.425 0.255556 0.425 0.266667 0.425 0.277778 0.425 0.288889 0.425 0.3
-                    0.425 0.311111 0.425 0.322222 0.425 0.333333 0.425 0.344444 0.425 0.355556 0.425 0.366667 0.425 0.377778 0.425 0.388889 0.425 0.4 0.425 0.411111 0.425 0.422222 0.425 0.433333 0.425 0.444444 0.425 0.455556 0.425 0.466667
-                    0.425 0.477778 0.425 0.488889 0.425 0.5 0.425 0.511111 0.425 0.522222 0.425 0.533333 0.425 0.544444 0.425 0.555556 0.425 0.566667 0.425 0.577778 0.425 0.588889 0.425 0.6 0.425 0.611111 0.425 0.622222 0.425 0.633333
-                    0.425 0.644444 0.425 0.655556 0.425 0.666667 0.425 0.677778 0.425 0.688889 0.425 0.7 0.425 0.711111 0.425 0.722222 0.425 0.733333 0.425 0.744444 0.425 0.755556 0.425 0.766667 0.425 0.777778 0.425 0.788889 0.425 0.8
-                    0.425 0.811111 0.425 0.822222 0.425 0.833333 0.425 0.844444 0.425 0.855556 0.425 0.866667 0.425 0.877778 0.425 0.888889 0.425 0.9 0.425 0.911111 0.425 0.922222 0.425 0.933333 0.425 0.944444 0.425 0.955556 0.425 0.966667
-                    0.425 0.977778 0.425 0.988889 0.425 1 0.45 0 0.45 0.0111111 0.45 0.0222222 0.45 0.0333333 0.45 0.0444444 0.45 0.0555556 0.45 0.0666667 0.45 0.0777778 0.45 0.0888889 0.45 0.1 0.45 0.111111 0.45 0.122222
-                    0.45 0.133333 0.45 0.144444 0.45 0.155556 0.45 0.166667 0.45 0.177778 0.45 0.188889 0.45 0.2 0.45 0.211111 0.45 0.222222 0.45 0.233333 0.45 0.244444 0.45 0.255556 0.45 0.266667 0.45 0.277778 0.45 0.288889
-                    0.45 0.3 0.45 0.311111 0.45 0.322222 0.45 0.333333 0.45 0.344444 0.45 0.355556 0.45 0.366667 0.45 0.377778 0.45 0.388889 0.45 0.4 0.45 0.411111 0.45 0.422222 0.45 0.433333 0.45 0.444444 0.45 0.455556
-                    0.45 0.466667 0.45 0.477778 0.45 0.488889 0.45 0.5 0.45 0.511111 0.45 0.522222 0.45 0.533333 0.45 0.544444 0.45 0.555556 0.45 0.566667 0.45 0.577778 0.45 0.588889 0.45 0.6 0.45 0.611111 0.45 0.622222
-                    0.45 0.633333 0.45 0.644444 0.45 0.655556 0.45 0.666667 0.45 0.677778 0.45 0.688889 0.45 0.7 0.45 0.711111 0.45 0.722222 0.45 0.733333 0.45 0.744444 0.45 0.755556 0.45 0.766667 0.45 0.777778 0.45 0.788889
-                    0.45 0.8 0.45 0.811111 0.45 0.822222 0.45 0.833333 0.45 0.844444 0.45 0.855556 0.45 0.866667 0.45 0.877778 0.45 0.888889 0.45 0.9 0.45 0.911111 0.45 0.922222 0.45 0.933333 0.45 0.944444 0.45 0.955556
-                    0.45 0.966667 0.45 0.977778 0.45 0.988889 0.45 1 0.475 0 0.475 0.0111111 0.475 0.0222222 0.475 0.0333333 0.475 0.0444444 0.475 0.0555556 0.475 0.0666667 0.475 0.0777778 0.475 0.0888889 0.475 0.1 0.475 0.111111
-                    0.475 0.122222 0.475 0.133333 0.475 0.144444 0.475 0.155556 0.475 0.166667 0.475 0.177778 0.475 0.188889 0.475 0.2 0.475 0.211111 0.475 0.222222 0.475 0.233333 0.475 0.244444 0.475 0.255556 0.475 0.266667 0.475 0.277778
-                    0.475 0.288889 0.475 0.3 0.475 0.311111 0.475 0.322222 0.475 0.333333 0.475 0.344444 0.475 0.355556 0.475 0.366667 0.475 0.377778 0.475 0.388889 0.475 0.4 0.475 0.411111 0.475 0.422222 0.475 0.433333 0.475 0.444444
-                    0.475 0.455556 0.475 0.466667 0.475 0.477778 0.475 0.488889 0.475 0.5 0.475 0.511111 0.475 0.522222 0.475 0.533333 0.475 0.544444 0.475 0.555556 0.475 0.566667 0.475 0.577778 0.475 0.588889 0.475 0.6 0.475 0.611111
-                    0.475 0.622222 0.475 0.633333 0.475 0.644444 0.475 0.655556 0.475 0.666667 0.475 0.677778 0.475 0.688889 0.475 0.7 0.475 0.711111 0.475 0.722222 0.475 0.733333 0.475 0.744444 0.475 0.755556 0.475 0.766667 0.475 0.777778
-                    0.475 0.788889 0.475 0.8 0.475 0.811111 0.475 0.822222 0.475 0.833333 0.475 0.844444 0.475 0.855556 0.475 0.866667 0.475 0.877778 0.475 0.888889 0.475 0.9 0.475 0.911111 0.475 0.922222 0.475 0.933333 0.475 0.944444
-                    0.475 0.955556 0.475 0.966667 0.475 0.977778 0.475 0.988889 0.475 1 0.5 0 0.5 0.0111111 0.5 0.0222222 0.5 0.0333333 0.5 0.0444444 0.5 0.0555556 0.5 0.0666667 0.5 0.0777778 0.5 0.0888889 0.5 0.1
-                    0.5 0.111111 0.5 0.122222 0.5 0.133333 0.5 0.144444 0.5 0.155556 0.5 0.166667 0.5 0.177778 0.5 0.188889 0.5 0.2 0.5 0.211111 0.5 0.222222 0.5 0.233333 0.5 0.244444 0.5 0.255556 0.5 0.266667
-                    0.5 0.277778 0.5 0.288889 0.5 0.3 0.5 0.311111 0.5 0.322222 0.5 0.333333 0.5 0.344444 0.5 0.355556 0.5 0.366667 0.5 0.377778 0.5 0.388889 0.5 0.4 0.5 0.411111 0.5 0.422222 0.5 0.433333
-                    0.5 0.444444 0.5 0.455556 0.5 0.466667 0.5 0.477778 0.5 0.488889 0.5 0.5 0.5 0.511111 0.5 0.522222 0.5 0.533333 0.5 0.544444 0.5 0.555556 0.5 0.566667 0.5 0.577778 0.5 0.588889 0.5 0.6
-                    0.5 0.611111 0.5 0.622222 0.5 0.633333 0.5 0.644444 0.5 0.655556 0.5 0.666667 0.5 0.677778 0.5 0.688889 0.5 0.7 0.5 0.711111 0.5 0.722222 0.5 0.733333 0.5 0.744444 0.5 0.755556 0.5 0.766667
-                    0.5 0.777778 0.5 0.788889 0.5 0.8 0.5 0.811111 0.5 0.822222 0.5 0.833333 0.5 0.844444 0.5 0.855556 0.5 0.866667 0.5 0.877778 0.5 0.888889 0.5 0.9 0.5 0.911111 0.5 0.922222 0.5 0.933333
-                    0.5 0.944444 0.5 0.955556 0.5 0.966667 0.5 0.977778 0.5 0.988889 0.5 1 0.525 0 0.525 0.0111111 0.525 0.0222222 0.525 0.0333333 0.525 0.0444444 0.525 0.0555556 0.525 0.0666667 0.525 0.0777778 0.525 0.0888889
-                    0.525 0.1 0.525 0.111111 0.525 0.122222 0.525 0.133333 0.525 0.144444 0.525 0.155556 0.525 0.166667 0.525 0.177778 0.525 0.188889 0.525 0.2 0.525 0.211111 0.525 0.222222 0.525 0.233333 0.525 0.244444 0.525 0.255556
-                    0.525 0.266667 0.525 0.277778 0.525 0.288889 0.525 0.3 0.525 0.311111 0.525 0.322222 0.525 0.333333 0.525 0.344444 0.525 0.355556 0.525 0.366667 0.525 0.377778 0.525 0.388889 0.525 0.4 0.525 0.411111 0.525 0.422222
-                    0.525 0.433333 0.525 0.444444 0.525 0.455556 0.525 0.466667 0.525 0.477778 0.525 0.488889 0.525 0.5 0.525 0.511111 0.525 0.522222 0.525 0.533333 0.525 0.544444 0.525 0.555556 0.525 0.566667 0.525 0.577778 0.525 0.588889
-                    0.525 0.6 0.525 0.611111 0.525 0.622222 0.525 0.633333 0.525 0.644444 0.525 0.655556 0.525 0.666667 0.525 0.677778 0.525 0.688889 0.525 0.7 0.525 0.711111 0.525 0.722222 0.525 0.733333 0.525 0.744444 0.525 0.755556
-                    0.525 0.766667 0.525 0.777778 0.525 0.788889 0.525 0.8 0.525 0.811111 0.525 0.822222 0.525 0.833333 0.525 0.844444 0.525 0.855556 0.525 0.866667 0.525 0.877778 0.525 0.888889 0.525 0.9 0.525 0.911111 0.525 0.922222
-                    0.525 0.933333 0.525 0.944444 0.525 0.955556 0.525 0.966667 0.525 0.977778 0.525 0.988889 0.525 1 0.55 0 0.55 0.0111111 0.55 0.0222222 0.55 0.0333333 0.55 0.0444444 0.55 0.0555556 0.55 0.0666667 0.55 0.0777778
-                    0.55 0.0888889 0.55 0.1 0.55 0.111111 0.55 0.122222 0.55 0.133333 0.55 0.144444 0.55 0.155556 0.55 0.166667 0.55 0.177778 0.55 0.188889 0.55 0.2 0.55 0.211111 0.55 0.222222 0.55 0.233333 0.55 0.244444
-                    0.55 0.255556 0.55 0.266667 0.55 0.277778 0.55 0.288889 0.55 0.3 0.55 0.311111 0.55 0.322222 0.55 0.333333 0.55 0.344444 0.55 0.355556 0.55 0.366667 0.55 0.377778 0.55 0.388889 0.55 0.4 0.55 0.411111
-                    0.55 0.422222 0.55 0.433333 0.55 0.444444 0.55 0.455556 0.55 0.466667 0.55 0.477778 0.55 0.488889 0.55 0.5 0.55 0.511111 0.55 0.522222 0.55 0.533333 0.55 0.544444 0.55 0.555556 0.55 0.566667 0.55 0.577778
-                    0.55 0.588889 0.55 0.6 0.55 0.611111 0.55 0.622222 0.55 0.633333 0.55 0.644444 0.55 0.655556 0.55 0.666667 0.55 0.677778 0.55 0.688889 0.55 0.7 0.55 0.711111 0.55 0.722222 0.55 0.733333 0.55 0.744444
-                    0.55 0.755556 0.55 0.766667 0.55 0.777778 0.55 0.788889 0.55 0.8 0.55 0.811111 0.55 0.822222 0.55 0.833333 0.55 0.844444 0.55 0.855556 0.55 0.866667 0.55 0.877778 0.55 0.888889 0.55 0.9 0.55 0.911111
-                    0.55 0.922222 0.55 0.933333 0.55 0.944444 0.55 0.955556 0.55 0.966667 0.55 0.977778 0.55 0.988889 0.55 1 0.575 0 0.575 0.0111111 0.575 0.0222222 0.575 0.0333333 0.575 0.0444444 0.575 0.0555556 0.575 0.0666667
-                    0.575 0.0777778 0.575 0.0888889 0.575 0.1 0.575 0.111111 0.575 0.122222 0.575 0.133333 0.575 0.144444 0.575 0.155556 0.575 0.166667 0.575 0.177778 0.575 0.188889 0.575 0.2 0.575 0.211111 0.575 0.222222 0.575 0.233333
-                    0.575 0.244444 0.575 0.255556 0.575 0.266667 0.575 0.277778 0.575 0.288889 0.575 0.3 0.575 0.311111 0.575 0.322222 0.575 0.333333 0.575 0.344444 0.575 0.355556 0.575 0.366667 0.575 0.377778 0.575 0.388889 0.575 0.4
-                    0.575 0.411111 0.575 0.422222 0.575 0.433333 0.575 0.444444 0.575 0.455556 0.575 0.466667 0.575 0.477778 0.575 0.488889 0.575 0.5 0.575 0.511111 0.575 0.522222 0.575 0.533333 0.575 0.544444 0.575 0.555556 0.575 0.566667
-                    0.575 0.577778 0.575 0.588889 0.575 0.6 0.575 0.611111 0.575 0.622222 0.575 0.633333 0.575 0.644444 0.575 0.655556 0.575 0.666667 0.575 0.677778 0.575 0.688889 0.575 0.7 0.575 0.711111 0.575 0.722222 0.575 0.733333
-                    0.575 0.744444 0.575 0.755556 0.575 0.766667 0.575 0.777778 0.575 0.788889 0.575 0.8 0.575 0.811111 0.575 0.822222 0.575 0.833333 0.575 0.844444 0.575 0.855556 0.575 0.866667 0.575 0.877778 0.575 0.888889 0.575 0.9
-                    0.575 0.911111 0.575 0.922222 0.575 0.933333 0.575 0.944444 0.575 0.955556 0.575 0.966667 0.575 0.977778 0.575 0.988889 0.575 1 0.6 0 0.6 0.0111111 0.6 0.0222222 0.6 0.0333333 0.6 0.0444444 0.6 0.0555556
-                    0.6 0.0666667 0.6 0.0777778 0.6 0.0888889 0.6 0.1 0.6 0.111111 0.6 0.122222 0.6 0.133333 0.6 0.144444 0.6 0.155556 0.6 0.166667 0.6 0.177778 0.6 0.188889 0.6 0.2 0.6 0.211111 0.6 0.222222
-                    0.6 0.233333 0.6 0.244444 0.6 0.255556 0.6 0.266667 0.6 0.277778 0.6 0.288889 0.6 0.3 0.6 0.311111 0.6 0.322222 0.6 0.333333 0.6 0.344444 0.6 0.355556 0.6 0.366667 0.6 0.377778 0.6 0.388889
-                    0.6 0.4 0.6 0.411111 0.6 0.422222 0.6 0.433333 0.6 0.444444 0.6 0.455556 0.6 0.466667 0.6 0.477778 0.6 0.488889 0.6 0.5 0.6 0.511111 0.6 0.522222 0.6 0.533333 0.6 0.544444 0.6 0.555556
-                    0.6 0.566667 0.6 0.577778 0.6 0.588889 0.6 0.6 0.6 0.611111 0.6 0.622222 0.6 0.633333 0.6 0.644444 0.6 0.655556 0.6 0.666667 0.6 0.677778 0.6 0.688889 0.6 0.7 0.6 0.711111 0.6 0.722222
-                    0.6 0.733333 0.6 0.744444 0.6 0.755556 0.6 0.766667 0.6 0.777778 0.6 0.788889 0.6 0.8 0.6 0.811111 0.6 0.822222 0.6 0.833333 0.6 0.844444 0.6 0.855556 0.6 0.866667 0.6 0.877778 0.6 0.888889
-                    0.6 0.9 0.6 0.911111 0.6 0.922222 0.6 0.933333 0.6 0.944444 0.6 0.955556 0.6 0.966667 0.6 0.977778 0.6 0.988889 0.6 1 0.625 0 0.625 0.0111111 0.625 0.0222222 0.625 0.0333333 0.625 0.0444444
-                    0.625 0.0555556 0.625 0.0666667 0.625 0.0777778 0.625 0.0888889 0.625 0.1 0.625 0.111111 0.625 0.122222 0.625 0.133333 0.625 0.144444 0.625 0.155556 0.625 0.166667 0.625 0.177778 0.625 0.188889 0.625 0.2 0.625 0.211111
-                    0.625 0.222222 0.625 0.233333 0.625 0.244444 0.625 0.255556 0.625 0.266667 0.625 0.277778 0.625 0.288889 0.625 0.3 0.625 0.311111 0.625 0.322222 0.625 0.333333 0.625 0.344444 0.625 0.355556 0.625 0.366667 0.625 0.377778
-                    0.625 0.388889 0.625 0.4 0.625 0.411111 0.625 0.422222 0.625 0.433333 0.625 0.444444 0.625 0.455556 0.625 0.466667 0.625 0.477778 0.625 0.488889 0.625 0.5 0.625 0.511111 0.625 0.522222 0.625 0.533333 0.625 0.544444
-                    0.625 0.555556 0.625 0.566667 0.625 0.577778 0.625 0.588889 0.625 0.6 0.625 0.611111 0.625 0.622222 0.625 0.633333 0.625 0.644444 0.625 0.655556 0.625 0.666667 0.625 0.677778 0.625 0.688889 0.625 0.7 0.625 0.711111
-                    0.625 0.722222 0.625 0.733333 0.625 0.744444 0.625 0.755556 0.625 0.766667 0.625 0.777778 0.625 0.788889 0.625 0.8 0.625 0.811111 0.625 0.822222 0.625 0.833333 0.625 0.844444 0.625 0.855556 0.625 0.866667 0.625 0.877778
-                    0.625 0.888889 0.625 0.9 0.625 0.911111 0.625 0.922222 0.625 0.933333 0.625 0.944444 0.625 0.955556 0.625 0.966667 0.625 0.977778 0.625 0.988889 0.625 1 0.65 0 0.65 0.0111111 0.65 0.0222222 0.65 0.0333333
-                    0.65 0.0444444 0.65 0.0555556 0.65 0.0666667 0.65 0.0777778 0.65 0.0888889 0.65 0.1 0.65 0.111111 0.65 0.122222 0.65 0.133333 0.65 0.144444 0.65 0.155556 0.65 0.166667 0.65 0.177778 0.65 0.188889 0.65 0.2
-                    0.65 0.211111 0.65 0.222222 0.65 0.233333 0.65 0.244444 0.65 0.255556 0.65 0.266667 0.65 0.277778 0.65 0.288889 0.65 0.3 0.65 0.311111 0.65 0.322222 0.65 0.333333 0.65 0.344444 0.65 0.355556 0.65 0.366667
-                    0.65 0.377778 0.65 0.388889 0.65 0.4 0.65 0.411111 0.65 0.422222 0.65 0.433333 0.65 0.444444 0.65 0.455556 0.65 0.466667 0.65 0.477778 0.65 0.488889 0.65 0.5 0.65 0.511111 0.65 0.522222 0.65 0.533333
-                    0.65 0.544444 0.65 0.555556 0.65 0.566667 0.65 0.577778 0.65 0.588889 0.65 0.6 0.65 0.611111 0.65 0.622222 0.65 0.633333 0.65 0.644444 0.65 0.655556 0.65 0.666667 0.65 0.677778 0.65 0.688889 0.65 0.7
-                    0.65 0.711111 0.65 0.722222 0.65 0.733333 0.65 0.744444 0.65 0.755556 0.65 0.766667 0.65 0.777778 0.65 0.788889 0.65 0.8 0.65 0.811111 0.65 0.822222 0.65 0.833333 0.65 0.844444 0.65 0.855556 0.65 0.866667
-                    0.65 0.877778 0.65 0.888889 0.65 0.9 0.65 0.911111 0.65 0.922222 0.65 0.933333 0.65 0.944444 0.65 0.955556 0.65 0.966667 0.65 0.977778 0.65 0.988889 0.65 1 0.675 0 0.675 0.0111111 0.675 0.0222222
-                    0.675 0.0333333 0.675 0.0444444 0.675 0.0555556 0.675 0.0666667 0.675 0.0777778 0.675 0.0888889 0.675 0.1 0.675 0.111111 0.675 0.122222 0.675 0.133333 0.675 0.144444 0.675 0.155556 0.675 0.166667 0.675 0.177778 0.675 0.188889
-                    0.675 0.2 0.675 0.211111 0.675 0.222222 0.675 0.233333 0.675 0.244444 0.675 0.255556 0.675 0.266667 0.675 0.277778 0.675 0.288889 0.675 0.3 0.675 0.311111 0.675 0.322222 0.675 0.333333 0.675 0.344444 0.675 0.355556
-                    0.675 0.366667 0.675 0.377778 0.675 0.388889 0.675 0.4 0.675 0.411111 0.675 0.422222 0.675 0.433333 0.675 0.444444 0.675 0.455556 0.675 0.466667 0.675 0.477778 0.675 0.488889 0.675 0.5 0.675 0.511111 0.675 0.522222
-                    0.675 0.533333 0.675 0.544444 0.675 0.555556 0.675 0.566667 0.675 0.577778 0.675 0.588889 0.675 0.6 0.675 0.611111 0.675 0.622222 0.675 0.633333 0.675 0.644444 0.675 0.655556 0.675 0.666667 0.675 0.677778 0.675 0.688889
-                    0.675 0.7 0.675 0.711111 0.675 0.722222 0.675 0.733333 0.675 0.744444 0.675 0.755556 0.675 0.766667 0.675 0.777778 0.675 0.788889 0.675 0.8 0.675 0.811111 0.675 0.822222 0.675 0.833333 0.675 0.844444 0.675 0.855556
-                    0.675 0.866667 0.675 0.877778 0.675 0.888889 0.675 0.9 0.675 0.911111 0.675 0.922222 0.675 0.933333 0.675 0.944444 0.675 0.955556 0.675 0.966667 0.675 0.977778 0.675 0.988889 0.675 1 0.7 0 0.7 0.0111111
-                    0.7 0.0222222 0.7 0.0333333 0.7 0.0444444 0.7 0.0555556 0.7 0.0666667 0.7 0.0777778 0.7 0.0888889 0.7 0.1 0.7 0.111111 0.7 0.122222 0.7 0.133333 0.7 0.144444 0.7 0.155556 0.7 0.166667 0.7 0.177778
-                    0.7 0.188889 0.7 0.2 0.7 0.211111 0.7 0.222222 0.7 0.233333 0.7 0.244444 0.7 0.255556 0.7 0.266667 0.7 0.277778 0.7 0.288889 0.7 0.3 0.7 0.311111 0.7 0.322222 0.7 0.333333 0.7 0.344444
-                    0.7 0.355556 0.7 0.366667 0.7 0.377778 0.7 0.388889 0.7 0.4 0.7 0.411111 0.7 0.422222 0.7 0.433333 0.7 0.444444 0.7 0.455556 0.7 0.466667 0.7 0.477778 0.7 0.488889 0.7 0.5 0.7 0.511111
-                    0.7 0.522222 0.7 0.533333 0.7 0.544444 0.7 0.555556 0.7 0.566667 0.7 0.577778 0.7 0.588889 0.7 0.6 0.7 0.611111 0.7 0.622222 0.7 0.633333 0.7 0.644444 0.7 0.655556 0.7 0.666667 0.7 0.677778
-                    0.7 0.688889 0.7 0.7 0.7 0.711111 0.7 0.722222 0.7 0.733333 0.7 0.744444 0.7 0.755556 0.7 0.766667 0.7 0.777778 0.7 0.788889 0.7 0.8 0.7 0.811111 0.7 0.822222 0.7 0.833333 0.7 0.844444
-                    0.7 0.855556 0.7 0.866667 0.7 0.877778 0.7 0.888889 0.7 0.9 0.7 0.911111 0.7 0.922222 0.7 0.933333 0.7 0.944444 0.7 0.955556 0.7 0.966667 0.7 0.977778 0.7 0.988889 0.7 1 0.725 0
-                    0.725 0.0111111 0.725 0.0222222 0.725 0.0333333 0.725 0.0444444 0.725 0.0555556 0.725 0.0666667 0.725 0.0777778 0.725 0.0888889 0.725 0.1 0.725 0.111111 0.725 0.122222 0.725 0.133333 0.725 0.144444 0.725 0.155556 0.725 0.166667
-                    0.725 0.177778 0.725 0.188889 0.725 0.2 0.725 0.211111 0.725 0.222222 0.725 0.233333 0.725 0.244444 0.725 0.255556 0.725 0.266667 0.725 0.277778 0.725 0.288889 0.725 0.3 0.725 0.311111 0.725 0.322222 0.725 0.333333
-                    0.725 0.344444 0.725 0.355556 0.725 0.366667 0.725 0.377778 0.725 0.388889 0.725 0.4 0.725 0.411111 0.725 0.422222 0.725 0.433333 0.725 0.444444 0.725 0.455556 0.725 0.466667 0.725 0.477778 0.725 0.488889 0.725 0.5
-                    0.725 0.511111 0.725 0.522222 0.725 0.533333 0.725 0.544444 0.725 0.555556 0.725 0.566667 0.725 0.577778 0.725 0.588889 0.725 0.6 0.725 0.611111 0.725 0.622222 0.725 0.633333 0.725 0.644444 0.725 0.655556 0.725 0.666667
-                    0.725 0.677778 0.725 0.688889 0.725 0.7 0.725 0.711111 0.725 0.722222 0.725 0.733333 0.725 0.744444 0.725 0.755556 0.725 0.766667 0.725 0.777778 0.725 0.788889 0.725 0.8 0.725 0.811111 0.725 0.822222 0.725 0.833333
-                    0.725 0.844444 0.725 0.855556 0.725 0.866667 0.725 0.877778 0.725 0.888889 0.725 0.9 0.725 0.911111 0.725 0.922222 0.725 0.933333 0.725 0.944444 0.725 0.955556 0.725 0.966667 0.725 0.977778 0.725 0.988889 0.725 1
-                    0.75 0 0.75 0.0111111 0.75 0.0222222 0.75 0.0333333 0.75 0.0444444 0.75 0.0555556 0.75 0.0666667 0.75 0.0777778 0.75 0.0888889 0.75 0.1 0.75 0.111111 0.75 0.122222 0.75 0.133333 0.75 0.144444 0.75 0.155556
-                    0.75 0.166667 0.75 0.177778 0.75 0.188889 0.75 0.2 0.75 0.211111 0.75 0.222222 0.75 0.233333 0.75 0.244444 0.75 0.255556 0.75 0.266667 0.75 0.277778 0.75 0.288889 0.75 0.3 0.75 0.311111 0.75 0.322222
-                    0.75 0.333333 0.75 0.344444 0.75 0.355556 0.75 0.366667 0.75 0.377778 0.75 0.388889 0.75 0.4 0.75 0.411111 0.75 0.422222 0.75 0.433333 0.75 0.444444 0.75 0.455556 0.75 0.466667 0.75 0.477778 0.75 0.488889
-                    0.75 0.5 0.75 0.511111 0.75 0.522222 0.75 0.533333 0.75 0.544444 0.75 0.555556 0.75 0.566667 0.75 0.577778 0.75 0.588889 0.75 0.6 0.75 0.611111 0.75 0.622222 0.75 0.633333 0.75 0.644444 0.75 0.655556
-                    0.75 0.666667 0.75 0.677778 0.75 0.688889 0.75 0.7 0.75 0.711111 0.75 0.722222 0.75 0.733333 0.75 0.744444 0.75 0.755556 0.75 0.766667 0.75 0.777778 0.75 0.788889 0.75 0.8 0.75 0.811111 0.75 0.822222
-                    0.75 0.833333 0.75 0.844444 0.75 0.855556 0.75 0.866667 0.75 0.877778 0.75 0.888889 0.75 0.9 0.75 0.911111 0.75 0.922222 0.75 0.933333 0.75 0.944444 0.75 0.955556 0.75 0.966667 0.75 0.977778 0.75 0.988889
-                    0.75 1 0.775 0 0.775 0.0111111 0.775 0.0222222 0.775 0.0333333 0.775 0.0444444 0.775 0.0555556 0.775 0.0666667 0.775 0.0777778 0.775 0.0888889 0.775 0.1 0.775 0.111111 0.775 0.122222 0.775 0.133333 0.775 0.144444
-                    0.775 0.155556 0.775 0.166667 0.775 0.177778 0.775 0.188889 0.775 0.2 0.775 0.211111 0.775 0.222222 0.775 0.233333 0.775 0.244444 0.775 0.255556 0.775 0.266667 0.775 0.277778 0.775 0.288889 0.775 0.3 0.775 0.311111
-                    0.775 0.322222 0.775 0.333333 0.775 0.344444 0.775 0.355556 0.775 0.366667 0.775 0.377778 0.775 0.388889 0.775 0.4 0.775 0.411111 0.775 0.422222 0.775 0.433333 0.775 0.444444 0.775 0.455556 0.775 0.466667 0.775 0.477778
-                    0.775 0.488889 0.775 0.5 0.775 0.511111 0.775 0.522222 0.775 0.533333 0.775 0.544444 0.775 0.555556 0.775 0.566667 0.775 0.577778 0.775 0.588889 0.775 0.6 0.775 0.611111 0.775 0.622222 0.775 0.633333 0.775 0.644444
-                    0.775 0.655556 0.775 0.666667 0.775 0.677778 0.775 0.688889 0.775 0.7 0.775 0.711111 0.775 0.722222 0.775 0.733333 0.775 0.744444 0.775 0.755556 0.775 0.766667 0.775 0.777778 0.775 0.788889 0.775 0.8 0.775 0.811111
-                    0.775 0.822222 0.775 0.833333 0.775 0.844444 0.775 0.855556 0.775 0.866667 0.775 0.877778 0.775 0.888889 0.775 0.9 0.775 0.911111 0.775 0.922222 0.775 0.933333 0.775 0.944444 0.775 0.955556 0.775 0.966667 0.775 0.977778
-                    0.775 0.988889 0.775 1 0.8 0 0.8 0.0111111 0.8 0.0222222 0.8 0.0333333 0.8 0.0444444 0.8 0.0555556 0.8 0.0666667 0.8 0.0777778 0.8 0.0888889 0.8 0.1 0.8 0.111111 0.8 0.122222 0.8 0.133333
-                    0.8 0.144444 0.8 0.155556 0.8 0.166667 0.8 0.177778 0.8 0.188889 0.8 0.2 0.8 0.211111 0.8 0.222222 0.8 0.233333 0.8 0.244444 0.8 0.255556 0.8 0.266667 0.8 0.277778 0.8 0.288889 0.8 0.3
-                    0.8 0.311111 0.8 0.322222 0.8 0.333333 0.8 0.344444 0.8 0.355556 0.8 0.366667 0.8 0.377778 0.8 0.388889 0.8 0.4 0.8 0.411111 0.8 0.422222 0.8 0.433333 0.8 0.444444 0.8 0.455556 0.8 0.466667
-                    0.8 0.477778 0.8 0.488889 0.8 0.5 0.8 0.511111 0.8 0.522222 0.8 0.533333 0.8 0.544444 0.8 0.555556 0.8 0.566667 0.8 0.577778 0.8 0.588889 0.8 0.6 0.8 0.611111 0.8 0.622222 0.8 0.633333
-                    0.8 0.644444 0.8 0.655556 0.8 0.666667 0.8 0.677778 0.8 0.688889 0.8 0.7 0.8 0.711111 0.8 0.722222 0.8 0.733333 0.8 0.744444 0.8 0.755556 0.8 0.766667 0.8 0.777778 0.8 0.788889 0.8 0.8
-                    0.8 0.811111 0.8 0.822222 0.8 0.833333 0.8 0.844444 0.8 0.855556 0.8 0.866667 0.8 0.877778 0.8 0.888889 0.8 0.9 0.8 0.911111 0.8 0.922222 0.8 0.933333 0.8 0.944444 0.8 0.955556 0.8 0.966667
-                    0.8 0.977778 0.8 0.988889 0.8 1 0.825 0 0.825 0.0111111 0.825 0.0222222 0.825 0.0333333 0.825 0.0444444 0.825 0.0555556 0.825 0.0666667 0.825 0.0777778 0.825 0.0888889 0.825 0.1 0.825 0.111111 0.825 0.122222
-                    0.825 0.133333 0.825 0.144444 0.825 0.155556 0.825 0.166667 0.825 0.177778 0.825 0.188889 0.825 0.2 0.825 0.211111 0.825 0.222222 0.825 0.233333 0.825 0.244444 0.825 0.255556 0.825 0.266667 0.825 0.277778 0.825 0.288889
-                    0.825 0.3 0.825 0.311111 0.825 0.322222 0.825 0.333333 0.825 0.344444 0.825 0.355556 0.825 0.366667 0.825 0.377778 0.825 0.388889 0.825 0.4 0.825 0.411111 0.825 0.422222 0.825 0.433333 0.825 0.444444 0.825 0.455556
-                    0.825 0.466667 0.825 0.477778 0.825 0.488889 0.825 0.5 0.825 0.511111 0.825 0.522222 0.825 0.533333 0.825 0.544444 0.825 0.555556 0.825 0.566667 0.825 0.577778 0.825 0.588889 0.825 0.6 0.825 0.611111 0.825 0.622222
-                    0.825 0.633333 0.825 0.644444 0.825 0.655556 0.825 0.666667 0.825 0.677778 0.825 0.688889 0.825 0.7 0.825 0.711111 0.825 0.722222 0.825 0.733333 0.825 0.744444 0.825 0.755556 0.825 0.766667 0.825 0.777778 0.825 0.788889
-                    0.825 0.8 0.825 0.811111 0.825 0.822222 0.825 0.833333 0.825 0.844444 0.825 0.855556 0.825 0.866667 0.825 0.877778 0.825 0.888889 0.825 0.9 0.825 0.911111 0.825 0.922222 0.825 0.933333 0.825 0.944444 0.825 0.955556
-                    0.825 0.966667 0.825 0.977778 0.825 0.988889 0.825 1 0.85 0 0.85 0.0111111 0.85 0.0222222 0.85 0.0333333 0.85 0.0444444 0.85 0.0555556 0.85 0.0666667 0.85 0.0777778 0.85 0.0888889 0.85 0.1 0.85 0.111111
-                    0.85 0.122222 0.85 0.133333 0.85 0.144444 0.85 0.155556 0.85 0.166667 0.85 0.177778 0.85 0.188889 0.85 0.2 0.85 0.211111 0.85 0.222222 0.85 0.233333 0.85 0.244444 0.85 0.255556 0.85 0.266667 0.85 0.277778
-                    0.85 0.288889 0.85 0.3 0.85 0.311111 0.85 0.322222 0.85 0.333333 0.85 0.344444 0.85 0.355556 0.85 0.366667 0.85 0.377778 0.85 0.388889 0.85 0.4 0.85 0.411111 0.85 0.422222 0.85 0.433333 0.85 0.444444
-                    0.85 0.455556 0.85 0.466667 0.85 0.477778 0.85 0.488889 0.85 0.5 0.85 0.511111 0.85 0.522222 0.85 0.533333 0.85 0.544444 0.85 0.555556 0.85 0.566667 0.85 0.577778 0.85 0.588889 0.85 0.6 0.85 0.611111
-                    0.85 0.622222 0.85 0.633333 0.85 0.644444 0.85 0.655556 0.85 0.666667 0.85 0.677778 0.85 0.688889 0.85 0.7 0.85 0.711111 0.85 0.722222 0.85 0.733333 0.85 0.744444 0.85 0.755556 0.85 0.766667 0.85 0.777778
-                    0.85 0.788889 0.85 0.8 0.85 0.811111 0.85 0.822222 0.85 0.833333 0.85 0.844444 0.85 0.855556 0.85 0.866667 0.85 0.877778 0.85 0.888889 0.85 0.9 0.85 0.911111 0.85 0.922222 0.85 0.933333 0.85 0.944444
-                    0.85 0.955556 0.85 0.966667 0.85 0.977778 0.85 0.988889 0.85 1 0.875 0 0.875 0.0111111 0.875 0.0222222 0.875 0.0333333 0.875 0.0444444 0.875 0.0555556 0.875 0.0666667 0.875 0.0777778 0.875 0.0888889 0.875 0.1
-                    0.875 0.111111 0.875 0.122222 0.875 0.133333 0.875 0.144444 0.875 0.155556 0.875 0.166667 0.875 0.177778 0.875 0.188889 0.875 0.2 0.875 0.211111 0.875 0.222222 0.875 0.233333 0.875 0.244444 0.875 0.255556 0.875 0.266667
-                    0.875 0.277778 0.875 0.288889 0.875 0.3 0.875 0.311111 0.875 0.322222 0.875 0.333333 0.875 0.344444 0.875 0.355556 0.875 0.366667 0.875 0.377778 0.875 0.388889 0.875 0.4 0.875 0.411111 0.875 0.422222 0.875 0.433333
-                    0.875 0.444444 0.875 0.455556 0.875 0.466667 0.875 0.477778 0.875 0.488889 0.875 0.5 0.875 0.511111 0.875 0.522222 0.875 0.533333 0.875 0.544444 0.875 0.555556 0.875 0.566667 0.875 0.577778 0.875 0.588889 0.875 0.6
-                    0.875 0.611111 0.875 0.622222 0.875 0.633333 0.875 0.644444 0.875 0.655556 0.875 0.666667 0.875 0.677778 0.875 0.688889 0.875 0.7 0.875 0.711111 0.875 0.722222 0.875 0.733333 0.875 0.744444 0.875 0.755556 0.875 0.766667
-                    0.875 0.777778 0.875 0.788889 0.875 0.8 0.875 0.811111 0.875 0.822222 0.875 0.833333 0.875 0.844444 0.875 0.855556 0.875 0.866667 0.875 0.877778 0.875 0.888889 0.875 0.9 0.875 0.911111 0.875 0.922222 0.875 0.933333
-                    0.875 0.944444 0.875 0.955556 0.875 0.966667 0.875 0.977778 0.875 0.988889 0.875 1 0.9 0 0.9 0.0111111 0.9 0.0222222 0.9 0.0333333 0.9 0.0444444 0.9 0.0555556 0.9 0.0666667 0.9 0.0777778 0.9 0.0888889
-                    0.9 0.1 0.9 0.111111 0.9 0.122222 0.9 0.133333 0.9 0.144444 0.9 0.155556 0.9 0.166667 0.9 0.177778 0.9 0.188889 0.9 0.2 0.9 0.211111 0.9 0.222222 0.9 0.233333 0.9 0.244444 0.9 0.255556
-                    0.9 0.266667 0.9 0.277778 0.9 0.288889 0.9 0.3 0.9 0.311111 0.9 0.322222 0.9 0.333333 0.9 0.344444 0.9 0.355556 0.9 0.366667 0.9 0.377778 0.9 0.388889 0.9 0.4 0.9 0.411111 0.9 0.422222
-                    0.9 0.433333 0.9 0.444444 0.9 0.455556 0.9 0.466667 0.9 0.477778 0.9 0.488889 0.9 0.5 0.9 0.511111 0.9 0.522222 0.9 0.533333 0.9 0.544444 0.9 0.555556 0.9 0.566667 0.9 0.577778 0.9 0.588889
-                    0.9 0.6 0.9 0.611111 0.9 0.622222 0.9 0.633333 0.9 0.644444 0.9 0.655556 0.9 0.666667 0.9 0.677778 0.9 0.688889 0.9 0.7 0.9 0.711111 0.9 0.722222 0.9 0.733333 0.9 0.744444 0.9 0.755556
-                    0.9 0.766667 0.9 0.777778 0.9 0.788889 0.9 0.8 0.9 0.811111 0.9 0.822222 0.9 0.833333 0.9 0.844444 0.9 0.855556 0.9 0.866667 0.9 0.877778 0.9 0.888889 0.9 0.9 0.9 0.911111 0.9 0.922222
-                    0.9 0.933333 0.9 0.944444 0.9 0.955556 0.9 0.966667 0.9 0.977778 0.9 0.988889 0.9 1 0.925 0 0.925 0.0111111 0.925 0.0222222 0.925 0.0333333 0.925 0.0444444 0.925 0.0555556 0.925 0.0666667 0.925 0.0777778
-                    0.925 0.0888889 0.925 0.1 0.925 0.111111 0.925 0.122222 0.925 0.133333 0.925 0.144444 0.925 0.155556 0.925 0.166667 0.925 0.177778 0.925 0.188889 0.925 0.2 0.925 0.211111 0.925 0.222222 0.925 0.233333 0.925 0.244444
-                    0.925 0.255556 0.925 0.266667 0.925 0.277778 0.925 0.288889 0.925 0.3 0.925 0.311111 0.925 0.322222 0.925 0.333333 0.925 0.344444 0.925 0.355556 0.925 0.366667 0.925 0.377778 0.925 0.388889 0.925 0.4 0.925 0.411111
-                    0.925 0.422222 0.925 0.433333 0.925 0.444444 0.925 0.455556 0.925 0.466667 0.925 0.477778 0.925 0.488889 0.925 0.5 0.925 0.511111 0.925 0.522222 0.925 0.533333 0.925 0.544444 0.925 0.555556 0.925 0.566667 0.925 0.577778
-                    0.925 0.588889 0.925 0.6 0.925 0.611111 0.925 0.622222 0.925 0.633333 0.925 0.644444 0.925 0.655556 0.925 0.666667 0.925 0.677778 0.925 0.688889 0.925 0.7 0.925 0.711111 0.925 0.722222 0.925 0.733333 0.925 0.744444
-                    0.925 0.755556 0.925 0.766667 0.925 0.777778 0.925 0.788889 0.925 0.8 0.925 0.811111 0.925 0.822222 0.925 0.833333 0.925 0.844444 0.925 0.855556 0.925 0.866667 0.925 0.877778 0.925 0.888889 0.925 0.9 0.925 0.911111
-                    0.925 0.922222 0.925 0.933333 0.925 0.944444 0.925 0.955556 0.925 0.966667 0.925 0.977778 0.925 0.988889 0.925 1 0.95 0 0.95 0.0111111 0.95 0.0222222 0.95 0.0333333 0.95 0.0444444 0.95 0.0555556 0.95 0.0666667
-                    0.95 0.0777778 0.95 0.0888889 0.95 0.1 0.95 0.111111 0.95 0.122222 0.95 0.133333 0.95 0.144444 0.95 0.155556 0.95 0.166667 0.95 0.177778 0.95 0.188889 0.95 0.2 0.95 0.211111 0.95 0.222222 0.95 0.233333
-                    0.95 0.244444 0.95 0.255556 0.95 0.266667 0.95 0.277778 0.95 0.288889 0.95 0.3 0.95 0.311111 0.95 0.322222 0.95 0.333333 0.95 0.344444 0.95 0.355556 0.95 0.366667 0.95 0.377778 0.95 0.388889 0.95 0.4
-                    0.95 0.411111 0.95 0.422222 0.95 0.433333 0.95 0.444444 0.95 0.455556 0.95 0.466667 0.95 0.477778 0.95 0.488889 0.95 0.5 0.95 0.511111 0.95 0.522222 0.95 0.533333 0.95 0.544444 0.95 0.555556 0.95 0.566667
-                    0.95 0.577778 0.95 0.588889 0.95 0.6 0.95 0.611111 0.95 0.622222 0.95 0.633333 0.95 0.644444 0.95 0.655556 0.95 0.666667 0.95 0.677778 0.95 0.688889 0.95 0.7 0.95 0.711111 0.95 0.722222 0.95 0.733333
-                    0.95 0.744444 0.95 0.755556 0.95 0.766667 0.95 0.777778 0.95 0.788889 0.95 0.8 0.95 0.811111 0.95 0.822222 0.95 0.833333 0.95 0.844444 0.95 0.855556 0.95 0.866667 0.95 0.877778 0.95 0.888889 0.95 0.9
-                    0.95 0.911111 0.95 0.922222 0.95 0.933333 0.95 0.944444 0.95 0.955556 0.95 0.966667 0.95 0.977778 0.95 0.988889 0.95 1 0.975 0 0.975 0.0111111 0.975 0.0222222 0.975 0.0333333 0.975 0.0444444 0.975 0.0555556
-                    0.975 0.0666667 0.975 0.0777778 0.975 0.0888889 0.975 0.1 0.975 0.111111 0.975 0.122222 0.975 0.133333 0.975 0.144444 0.975 0.155556 0.975 0.166667 0.975 0.177778 0.975 0.188889 0.975 0.2 0.975 0.211111 0.975 0.222222
-                    0.975 0.233333 0.975 0.244444 0.975 0.255556 0.975 0.266667 0.975 0.277778 0.975 0.288889 0.975 0.3 0.975 0.311111 0.975 0.322222 0.975 0.333333 0.975 0.344444 0.975 0.355556 0.975 0.366667 0.975 0.377778 0.975 0.388889
-                    0.975 0.4 0.975 0.411111 0.975 0.422222 0.975 0.433333 0.975 0.444444 0.975 0.455556 0.975 0.466667 0.975 0.477778 0.975 0.488889 0.975 0.5 0.975 0.511111 0.975 0.522222 0.975 0.533333 0.975 0.544444 0.975 0.555556
-                    0.975 0.566667 0.975 0.577778 0.975 0.588889 0.975 0.6 0.975 0.611111 0.975 0.622222 0.975 0.633333 0.975 0.644444 0.975 0.655556 0.975 0.666667 0.975 0.677778 0.975 0.688889 0.975 0.7 0.975 0.711111 0.975 0.722222
-                    0.975 0.733333 0.975 0.744444 0.975 0.755556 0.975 0.766667 0.975 0.777778 0.975 0.788889 0.975 0.8 0.975 0.811111 0.975 0.822222 0.975 0.833333 0.975 0.844444 0.975 0.855556 0.975 0.866667 0.975 0.877778 0.975 0.888889
-                    0.975 0.9 0.975 0.911111 0.975 0.922222 0.975 0.933333 0.975 0.944444 0.975 0.955556 0.975 0.966667 0.975 0.977778 0.975 0.988889 0.975 1 1 0 1 0.0111111 1 0.0222222 1 0.0333333 1 0.0444444
-                    1 0.0555556 1 0.0666667 1 0.0777778 1 0.0888889 1 0.1 1 0.111111 1 0.122222 1 0.133333 1 0.144444 1 0.155556 1 0.166667 1 0.177778 1 0.188889 1 0.2 1 0.211111
-                    1 0.222222 1 0.233333 1 0.244444 1 0.255556 1 0.266667 1 0.277778 1 0.288889 1 0.3 1 0.311111 1 0.322222 1 0.333333 1 0.344444 1 0.355556 1 0.366667 1 0.377778
-                    1 0.388889 1 0.4 1 0.411111 1 0.422222 1 0.433333 1 0.444444 1 0.455556 1 0.466667 1 0.477778 1 0.488889 1 0.5 1 0.511111 1 0.522222 1 0.533333 1 0.544444
-                    1 0.555556 1 0.566667 1 0.577778 1 0.588889 1 0.6 1 0.611111 1 0.622222 1 0.633333 1 0.644444 1 0.655556 1 0.666667 1 0.677778 1 0.688889 1 0.7 1 0.711111
-                    1 0.722222 1 0.733333 1 0.744444 1 0.755556 1 0.766667 1 0.777778 1 0.788889 1 0.8 1 0.811111 1 0.822222 1 0.833333 1 0.844444 1 0.855556 1 0.866667 1 0.877778
-                    1 0.888889 1 0.9 1 0.911111 1 0.922222 1 0.933333 1 0.944444 1 0.955556 1 0.966667 1 0.977778 1 0.988889 1 1 0 0 0 0.0111111 0 0.0222222 0 0.0333333
-                    0 0.0444444 0 0.0555556 0 0.0666667 0 0.0777778 0 0.0888889 0 0.1 0 0.111111 0 0.122222 0 0.133333 0 0.144444 0 0.155556 0 0.166667 0 0.177778 0 0.188889 0 0.2
-                    0 0.211111 0 0.222222 0 0.233333 0 0.244444 0 0.255556 0 0.266667 0 0.277778 0 0.288889 0 0.3 0 0.311111 0 0.322222 0 0.333333 0 0.344444 0 0.355556 0 0.366667
-                    0 0.377778 0 0.388889 0 0.4 0 0.411111 0 0.422222 0 0.433333 0 0.444444 0 0.455556 0 0.466667 0 0.477778 0 0.488889 0 0.5 0 0.511111 0 0.522222 0 0.533333
-                    0 0.544444 0 0.555556 0 0.566667 0 0.577778 0 0.588889 0 0.6 0 0.611111 0 0.622222 0 0.633333 0 0.644444 0 0.655556 0 0.666667 0 0.677778 0 0.688889 0 0.7
-                    0 0.711111 0 0.722222 0 0.733333 0 0.744444 0 0.755556 0 0.766667 0 0.777778 0 0.788889 0 0.8 0 0.811111 0 0.822222 0 0.833333 0 0.844444 0 0.855556 0 0.866667
-                    0 0.877778 0 0.888889 0 0.9 0 0.911111 0 0.922222 0 0.933333 0 0.944444 0 0.955556 0 0.966667 0 0.977778 0 0.988889 0 1 0.025 0 0.025 0.0111111 0.025 0.0222222
-                    0.025 0.0333333 0.025 0.0444444 0.025 0.0555556 0.025 0.0666667 0.025 0.0777778 0.025 0.0888889 0.025 0.1 0.025 0.111111 0.025 0.122222 0.025 0.133333 0.025 0.144444 0.025 0.155556 0.025 0.166667 0.025 0.177778 0.025 0.188889
-                    0.025 0.2 0.025 0.211111 0.025 0.222222 0.025 0.233333 0.025 0.244444 0.025 0.255556 0.025 0.266667 0.025 0.277778 0.025 0.288889 0.025 0.3 0.025 0.311111 0.025 0.322222 0.025 0.333333 0.025 0.344444 0.025 0.355556
-                    0.025 0.366667 0.025 0.377778 0.025 0.388889 0.025 0.4 0.025 0.411111 0.025 0.422222 0.025 0.433333 0.025 0.444444 0.025 0.455556 0.025 0.466667 0.025 0.477778 0.025 0.488889 0.025 0.5 0.025 0.511111 0.025 0.522222
-                    0.025 0.533333 0.025 0.544444 0.025 0.555556 0.025 0.566667 0.025 0.577778 0.025 0.588889 0.025 0.6 0.025 0.611111 0.025 0.622222 0.025 0.633333 0.025 0.644444 0.025 0.655556 0.025 0.666667 0.025 0.677778 0.025 0.688889
-                    0.025 0.7 0.025 0.711111 0.025 0.722222 0.025 0.733333 0.025 0.744444 0.025 0.755556 0.025 0.766667 0.025 0.777778 0.025 0.788889 0.025 0.8 0.025 0.811111 0.025 0.822222 0.025 0.833333 0.025 0.844444 0.025 0.855556
-                    0.025 0.866667 0.025 0.877778 0.025 0.888889 0.025 0.9 0.025 0.911111 0.025 0.922222 0.025 0.933333 0.025 0.944444 0.025 0.955556 0.025 0.966667 0.025 0.977778 0.025 0.988889 0.025 1 0.05 0 0.05 0.0111111
-                    0.05 0.0222222 0.05 0.0333333 0.05 0.0444444 0.05 0.0555556 0.05 0.0666667 0.05 0.0777778 0.05 0.0888889 0.05 0.1 0.05 0.111111 0.05 0.122222 0.05 0.133333 0.05 0.144444 0.05 0.155556 0.05 0.166667 0.05 0.177778
-                    0.05 0.188889 0.05 0.2 0.05 0.211111 0.05 0.222222 0.05 0.233333 0.05 0.244444 0.05 0.255556 0.05 0.266667 0.05 0.277778 0.05 0.288889 0.05 0.3 0.05 0.311111 0.05 0.322222 0.05 0.333333 0.05 0.344444
-                    0.05 0.355556 0.05 0.366667 0.05 0.377778 0.05 0.388889 0.05 0.4 0.05 0.411111 0.05 0.422222 0.05 0.433333 0.05 0.444444 0.05 0.455556 0.05 0.466667 0.05 0.477778 0.05 0.488889 0.05 0.5 0.05 0.511111
-                    0.05 0.522222 0.05 0.533333 0.05 0.544444 0.05 0.555556 0.05 0.566667 0.05 0.577778 0.05 0.588889 0.05 0.6 0.05 0.611111 0.05 0.622222 0.05 0.633333 0.05 0.644444 0.05 0.655556 0.05 0.666667 0.05 0.677778
-                    0.05 0.688889 0.05 0.7 0.05 0.711111 0.05 0.722222 0.05 0.733333 0.05 0.744444 0.05 0.755556 0.05 0.766667 0.05 0.777778 0.05 0.788889 0.05 0.8 0.05 0.811111 0.05 0.822222 0.05 0.833333 0.05 0.844444
-                    0.05 0.855556 0.05 0.866667 0.05 0.877778 0.05 0.888889 0.05 0.9 0.05 0.911111 0.05 0.922222 0.05 0.933333 0.05 0.944444 0.05 0.955556 0.05 0.966667 0.05 0.977778 0.05 0.988889 0.05 1 0.075 0
-                    0.075 0.0111111 0.075 0.0222222 0.075 0.0333333 0.075 0.0444444 0.075 0.0555556 0.075 0.0666667 0.075 0.0777778 0.075 0.0888889 0.075 0.1 0.075 0.111111 0.075 0.122222 0.075 0.133333 0.075 0.144444 0.075 0.155556 0.075 0.166667
-                    0.075 0.177778 0.075 0.188889 0.075 0.2 0.075 0.211111 0.075 0.222222 0.075 0.233333 0.075 0.244444 0.075 0.255556 0.075 0.266667 0.075 0.277778 0.075 0.288889 0.075 0.3 0.075 0.311111 0.075 0.322222 0.075 0.333333
-                    0.075 0.344444 0.075 0.355556 0.075 0.366667 0.075 0.377778 0.075 0.388889 0.075 0.4 0.075 0.411111 0.075 0.422222 0.075 0.433333 0.075 0.444444 0.075 0.455556 0.075 0.466667 0.075 0.477778 0.075 0.488889 0.075 0.5
-                    0.075 0.511111 0.075 0.522222 0.075 0.533333 0.075 0.544444 0.075 0.555556 0.075 0.566667 0.075 0.577778 0.075 0.588889 0.075 0.6 0.075 0.611111 0.075 0.622222 0.075 0.633333 0.075 0.644444 0.075 0.655556 0.075 0.666667
-                    0.075 0.677778 0.075 0.688889 0.075 0.7 0.075 0.711111 0.075 0.722222 0.075 0.733333 0.075 0.744444 0.075 0.755556 0.075 0.766667 0.075 0.777778 0.075 0.788889 0.075 0.8 0.075 0.811111 0.075 0.822222 0.075 0.833333
-                    0.075 0.844444 0.075 0.855556 0.075 0.866667 0.075 0.877778 0.075 0.888889 0.075 0.9 0.075 0.911111 0.075 0.922222 0.075 0.933333 0.075 0.944444 0.075 0.955556 0.075 0.966667 0.075 0.977778 0.075 0.988889 0.075 1
-                    0.1 0 0.1 0.0111111 0.1 0.0222222 0.1 0.0333333 0.1 0.0444444 0.1 0.0555556 0.1 0.0666667 0.1 0.0777778 0.1 0.0888889 0.1 0.1 0.1 0.111111 0.1 0.122222 0.1 0.133333 0.1 0.144444 0.1 0.155556
-                    0.1 0.166667 0.1 0.177778 0.1 0.188889 0.1 0.2 0.1 0.211111 0.1 0.222222 0.1 0.233333 0.1 0.244444 0.1 0.255556 0.1 0.266667 0.1 0.277778 0.1 0.288889 0.1 0.3 0.1 0.311111 0.1 0.322222
-                    0.1 0.333333 0.1 0.344444 0.1 0.355556 0.1 0.366667 0.1 0.377778 0.1 0.388889 0.1 0.4 0.1 0.411111 0.1 0.422222 0.1 0.433333 0.1 0.444444 0.1 0.455556 0.1 0.466667 0.1 0.477778 0.1 0.488889
-                    0.1 0.5 0.1 0.511111 0.1 0.522222 0.1 0.533333 0.1 0.544444 0.1 0.555556 0.1 0.566667 0.1 0.577778 0.1 0.588889 0.1 0.6 0.1 0.611111 0.1 0.622222 0.1 0.633333 0.1 0.644444 0.1 0.655556
-                    0.1 0.666667 0.1 0.677778 0.1 0.688889 0.1 0.7 0.1 0.711111 0.1 0.722222 0.1 0.733333 0.1 0.744444 0.1 0.755556 0.1 0.766667 0.1 0.777778 0.1 0.788889 0.1 0.8 0.1 0.811111 0.1 0.822222
-                    0.1 0.833333 0.1 0.844444 0.1 0.855556 0.1 0.866667 0.1 0.877778 0.1 0.888889 0.1 0.9 0.1 0.911111 0.1 0.922222 0.1 0.933333 0.1 0.944444 0.1 0.955556 0.1 0.966667 0.1 0.977778 0.1 0.988889
-                    0.1 1 0.125 0 0.125 0.0111111 0.125 0.0222222 0.125 0.0333333 0.125 0.0444444 0.125 0.0555556 0.125 0.0666667 0.125 0.0777778 0.125 0.0888889 0.125 0.1 0.125 0.111111 0.125 0.122222 0.125 0.133333 0.125 0.144444
-                    0.125 0.155556 0.125 0.166667 0.125 0.177778 0.125 0.188889 0.125 0.2 0.125 0.211111 0.125 0.222222 0.125 0.233333 0.125 0.244444 0.125 0.255556 0.125 0.266667 0.125 0.277778 0.125 0.288889 0.125 0.3 0.125 0.311111
-                    0.125 0.322222 0.125 0.333333 0.125 0.344444 0.125 0.355556 0.125 0.366667 0.125 0.377778 0.125 0.388889 0.125 0.4 0.125 0.411111 0.125 0.422222 0.125 0.433333 0.125 0.444444 0.125 0.455556 0.125 0.466667 0.125 0.477778
-                    0.125 0.488889 0.125 0.5 0.125 0.511111 0.125 0.522222 0.125 0.533333 0.125 0.544444 0.125 0.555556 0.125 0.566667 0.125 0.577778 0.125 0.588889 0.125 0.6 0.125 0.611111 0.125 0.622222 0.125 0.633333 0.125 0.644444
-                    0.125 0.655556 0.125 0.666667 0.125 0.677778 0.125 0.688889 0.125 0.7 0.125 0.711111 0.125 0.722222 0.125 0.733333 0.125 0.744444 0.125 0.755556 0.125 0.766667 0.125 0.777778 0.125 0.788889 0.125 0.8 0.125 0.811111
-                    0.125 0.822222 0.125 0.833333 0.125 0.844444 0.125 0.855556 0.125 0.866667 0.125 0.877778 0.125 0.888889 0.125 0.9 0.125 0.911111 0.125 0.922222 0.125 0.933333 0.125 0.944444 0.125 0.955556 0.125 0.966667 0.125 0.977778
-                    0.125 0.988889 0.125 1 0.15 0 0.15 0.0111111 0.15 0.0222222 0.15 0.0333333 0.15 0.0444444 0.15 0.0555556 0.15 0.0666667 0.15 0.0777778 0.15 0.0888889 0.15 0.1 0.15 0.111111 0.15 0.122222 0.15 0.133333
-                    0.15 0.144444 0.15 0.155556 0.15 0.166667 0.15 0.177778 0.15 0.188889 0.15 0.2 0.15 0.211111 0.15 0.222222 0.15 0.233333 0.15 0.244444 0.15 0.255556 0.15 0.266667 0.15 0.277778 0.15 0.288889 0.15 0.3
-                    0.15 0.311111 0.15 0.322222 0.15 0.333333 0.15 0.344444 0.15 0.355556 0.15 0.366667 0.15 0.377778 0.15 0.388889 0.15 0.4 0.15 0.411111 0.15 0.422222 0.15 0.433333 0.15 0.444444 0.15 0.455556 0.15 0.466667
-                    0.15 0.477778 0.15 0.488889 0.15 0.5 0.15 0.511111 0.15 0.522222 0.15 0.533333 0.15 0.544444 0.15 0.555556 0.15 0.566667 0.15 0.577778 0.15 0.588889 0.15 0.6 0.15 0.611111 0.15 0.622222 0.15 0.633333
-                    0.15 0.644444 0.15 0.655556 0.15 0.666667 0.15 0.677778 0.15 0.688889 0.15 0.7 0.15 0.711111 0.15 0.722222 0.15 0.733333 0.15 0.744444 0.15 0.755556 0.15 0.766667 0.15 0.777778 0.15 0.788889 0.15 0.8
-                    0.15 0.811111 0.15 0.822222 0.15 0.833333 0.15 0.844444 0.15 0.855556 0.15 0.866667 0.15 0.877778 0.15 0.888889 0.15 0.9 0.15 0.911111 0.15 0.922222 0.15 0.933333 0.15 0.944444 0.15 0.955556 0.15 0.966667
-                    0.15 0.977778 0.15 0.988889 0.15 1 0.175 0 0.175 0.0111111 0.175 0.0222222 0.175 0.0333333 0.175 0.0444444 0.175 0.0555556 0.175 0.0666667 0.175 0.0777778 0.175 0.0888889 0.175 0.1 0.175 0.111111 0.175 0.122222
-                    0.175 0.133333 0.175 0.144444 0.175 0.155556 0.175 0.166667 0.175 0.177778 0.175 0.188889 0.175 0.2 0.175 0.211111 0.175 0.222222 0.175 0.233333 0.175 0.244444 0.175 0.255556 0.175 0.266667 0.175 0.277778 0.175 0.288889
-                    0.175 0.3 0.175 0.311111 0.175 0.322222 0.175 0.333333 0.175 0.344444 0.175 0.355556 0.175 0.366667 0.175 0.377778 0.175 0.388889 0.175 0.4 0.175 0.411111 0.175 0.422222 0.175 0.433333 0.175 0.444444 0.175 0.455556
-                    0.175 0.466667 0.175 0.477778 0.175 0.488889 0.175 0.5 0.175 0.511111 0.175 0.522222 0.175 0.533333 0.175 0.544444 0.175 0.555556 0.175 0.566667 0.175 0.577778 0.175 0.588889 0.175 0.6 0.175 0.611111 0.175 0.622222
-                    0.175 0.633333 0.175 0.644444 0.175 0.655556 0.175 0.666667 0.175 0.677778 0.175 0.688889 0.175 0.7 0.175 0.711111 0.175 0.722222 0.175 0.733333 0.175 0.744444 0.175 0.755556 0.175 0.766667 0.175 0.777778 0.175 0.788889
-                    0.175 0.8 0.175 0.811111 0.175 0.822222 0.175 0.833333 0.175 0.844444 0.175 0.855556 0.175 0.866667 0.175 0.877778 0.175 0.888889 0.175 0.9 0.175 0.911111 0.175 0.922222 0.175 0.933333 0.175 0.944444 0.175 0.955556
-                    0.175 0.966667 0.175 0.977778 0.175 0.988889 0.175 1 0.2 0 0.2 0.0111111 0.2 0.0222222 0.2 0.0333333 0.2 0.0444444 0.2 0.0555556 0.2 0.0666667 0.2 0.0777778 0.2 0.0888889 0.2 0.1 0.2 0.111111
-                    0.2 0.122222 0.2 0.133333 0.2 0.144444 0.2 0.155556 0.2 0.166667 0.2 0.177778 0.2 0.188889 0.2 0.2 0.2 0.211111 0.2 0.222222 0.2 0.233333 0.2 0.244444 0.2 0.255556 0.2 0.266667 0.2 0.277778
-                    0.2 0.288889 0.2 0.3 0.2 0.311111 0.2 0.322222 0.2 0.333333 0.2 0.344444 0.2 0.355556 0.2 0.366667 0.2 0.377778 0.2 0.388889 0.2 0.4 0.2 0.411111 0.2 0.422222 0.2 0.433333 0.2 0.444444
-                    0.2 0.455556 0.2 0.466667 0.2 0.477778 0.2 0.488889 0.2 0.5 0.2 0.511111 0.2 0.522222 0.2 0.533333 0.2 0.544444 0.2 0.555556 0.2 0.566667 0.2 0.577778 0.2 0.588889 0.2 0.6 0.2 0.611111
-                    0.2 0.622222 0.2 0.633333 0.2 0.644444 0.2 0.655556 0.2 0.666667 0.2 0.677778 0.2 0.688889 0.2 0.7 0.2 0.711111 0.2 0.722222 0.2 0.733333 0.2 0.744444 0.2 0.755556 0.2 0.766667 0.2 0.777778
-                    0.2 0.788889 0.2 0.8 0.2 0.811111 0.2 0.822222 0.2 0.833333 0.2 0.844444 0.2 0.855556 0.2 0.866667 0.2 0.877778 0.2 0.888889 0.2 0.9 0.2 0.911111 0.2 0.922222 0.2 0.933333 0.2 0.944444
-                    0.2 0.955556 0.2 0.966667 0.2 0.977778 0.2 0.988889 0.2 1 0.225 0 0.225 0.0111111 0.225 0.0222222 0.225 0.0333333 0.225 0.0444444 0.225 0.0555556 0.225 0.0666667 0.225 0.0777778 0.225 0.0888889 0.225 0.1
-                    0.225 0.111111 0.225 0.122222 0.225 0.133333 0.225 0.144444 0.225 0.155556 0.225 0.166667 0.225 0.177778 0.225 0.188889 0.225 0.2 0.225 0.211111 0.225 0.222222 0.225 0.233333 0.225 0.244444 0.225 0.255556 0.225 0.266667
-                    0.225 0.277778 0.225 0.288889 0.225 0.3 0.225 0.311111 0.225 0.322222 0.225 0.333333 0.225 0.344444 0.225 0.355556 0.225 0.366667 0.225 0.377778 0.225 0.388889 0.225 0.4 0.225 0.411111 0.225 0.422222 0.225 0.433333
-                    0.225 0.444444 0.225 0.455556 0.225 0.466667 0.225 0.477778 0.225 0.488889 0.225 0.5 0.225 0.511111 0.225 0.522222 0.225 0.533333 0.225 0.544444 0.225 0.555556 0.225 0.566667 0.225 0.577778 0.225 0.588889 0.225 0.6
-                    0.225 0.611111 0.225 0.622222 0.225 0.633333 0.225 0.644444 0.225 0.655556 0.225 0.666667 0.225 0.677778 0.225 0.688889 0.225 0.7 0.225 0.711111 0.225 0.722222 0.225 0.733333 0.225 0.744444 0.225 0.755556 0.225 0.766667
-                    0.225 0.777778 0.225 0.788889 0.225 0.8 0.225 0.811111 0.225 0.822222 0.225 0.833333 0.225 0.844444 0.225 0.855556 0.225 0.866667 0.225 0.877778 0.225 0.888889 0.225 0.9 0.225 0.911111 0.225 0.922222 0.225 0.933333
-                    0.225 0.944444 0.225 0.955556 0.225 0.966667 0.225 0.977778 0.225 0.988889 0.225 1 0.25 0 0.25 0.0111111 0.25 0.0222222 0.25 0.0333333 0.25 0.0444444 0.25 0.0555556 0.25 0.0666667 0.25 0.0777778 0.25 0.0888889
-                    0.25 0.1 0.25 0.111111 0.25 0.122222 0.25 0.133333 0.25 0.144444 0.25 0.155556 0.25 0.166667 0.25 0.177778 0.25 0.188889 0.25 0.2 0.25 0.211111 0.25 0.222222 0.25 0.233333 0.25 0.244444 0.25 0.255556
-                    0.25 0.266667 0.25 0.277778 0.25 0.288889 0.25 0.3 0.25 0.311111 0.25 0.322222 0.25 0.333333 0.25 0.344444 0.25 0.355556 0.25 0.366667 0.25 0.377778 0.25 0.388889 0.25 0.4 0.25 0.411111 0.25 0.422222
-                    0.25 0.433333 0.25 0.444444 0.25 0.455556 0.25 0.466667 0.25 0.477778 0.25 0.488889 0.25 0.5 0.25 0.511111 0.25 0.522222 0.25 0.533333 0.25 0.544444 0.25 0.555556 0.25 0.566667 0.25 0.577778 0.25 0.588889
-                    0.25 0.6 0.25 0.611111 0.25 0.622222 0.25 0.633333 0.25 0.644444 0.25 0.655556 0.25 0.666667 0.25 0.677778 0.25 0.688889 0.25 0.7 0.25 0.711111 0.25 0.722222 0.25 0.733333 0.25 0.744444 0.25 0.755556
-                    0.25 0.766667 0.25 0.777778 0.25 0.788889 0.25 0.8 0.25 0.811111 0.25 0.822222 0.25 0.833333 0.25 0.844444 0.25 0.855556 0.25 0.866667 0.25 0.877778 0.25 0.888889 0.25 0.9 0.25 0.911111 0.25 0.922222
-                    0.25 0.933333 0.25 0.944444 0.25 0.955556 0.25 0.966667 0.25 0.977778 0.25 0.988889 0.25 1 0.275 0 0.275 0.0111111 0.275 0.0222222 0.275 0.0333333 0.275 0.0444444 0.275 0.0555556 0.275 0.0666667 0.275 0.0777778
-                    0.275 0.0888889 0.275 0.1 0.275 0.111111 0.275 0.122222 0.275 0.133333 0.275 0.144444 0.275 0.155556 0.275 0.166667 0.275 0.177778 0.275 0.188889 0.275 0.2 0.275 0.211111 0.275 0.222222 0.275 0.233333 0.275 0.244444
-                    0.275 0.255556 0.275 0.266667 0.275 0.277778 0.275 0.288889 0.275 0.3 0.275 0.311111 0.275 0.322222 0.275 0.333333 0.275 0.344444 0.275 0.355556 0.275 0.366667 0.275 0.377778 0.275 0.388889 0.275 0.4 0.275 0.411111
-                    0.275 0.422222 0.275 0.433333 0.275 0.444444 0.275 0.455556 0.275 0.466667 0.275 0.477778 0.275 0.488889 0.275 0.5 0.275 0.511111 0.275 0.522222 0.275 0.533333 0.275 0.544444 0.275 0.555556 0.275 0.566667 0.275 0.577778
-                    0.275 0.588889 0.275 0.6 0.275 0.611111 0.275 0.622222 0.275 0.633333 0.275 0.644444 0.275 0.655556 0.275 0.666667 0.275 0.677778 0.275 0.688889 0.275 0.7 0.275 0.711111 0.275 0.722222 0.275 0.733333 0.275 0.744444
-                    0.275 0.755556 0.275 0.766667 0.275 0.777778 0.275 0.788889 0.275 0.8 0.275 0.811111 0.275 0.822222 0.275 0.833333 0.275 0.844444 0.275 0.855556 0.275 0.866667 0.275 0.877778 0.275 0.888889 0.275 0.9 0.275 0.911111
-                    0.275 0.922222 0.275 0.933333 0.275 0.944444 0.275 0.955556 0.275 0.966667 0.275 0.977778 0.275 0.988889 0.275 1 0.3 0 0.3 0.0111111 0.3 0.0222222 0.3 0.0333333 0.3 0.0444444 0.3 0.0555556 0.3 0.0666667
-                    0.3 0.0777778 0.3 0.0888889 0.3 0.1 0.3 0.111111 0.3 0.122222 0.3 0.133333 0.3 0.144444 0.3 0.155556 0.3 0.166667 0.3 0.177778 0.3 0.188889 0.3 0.2 0.3 0.211111 0.3 0.222222 0.3 0.233333
-                    0.3 0.244444 0.3 0.255556 0.3 0.266667 0.3 0.277778 0.3 0.288889 0.3 0.3 0.3 0.311111 0.3 0.322222 0.3 0.333333 0.3 0.344444 0.3 0.355556 0.3 0.366667 0.3 0.377778 0.3 0.388889 0.3 0.4
-                    0.3 0.411111 0.3 0.422222 0.3 0.433333 0.3 0.444444 0.3 0.455556 0.3 0.466667 0.3 0.477778 0.3 0.488889 0.3 0.5 0.3 0.511111 0.3 0.522222 0.3 0.533333 0.3 0.544444 0.3 0.555556 0.3 0.566667
-                    0.3 0.577778 0.3 0.588889 0.3 0.6 0.3 0.611111 0.3 0.622222 0.3 0.633333 0.3 0.644444 0.3 0.655556 0.3 0.666667 0.3 0.677778 0.3 0.688889 0.3 0.7 0.3 0.711111 0.3 0.722222 0.3 0.733333
-                    0.3 0.744444 0.3 0.755556 0.3 0.766667 0.3 0.777778 0.3 0.788889 0.3 0.8 0.3 0.811111 0.3 0.822222 0.3 0.833333 0.3 0.844444 0.3 0.855556 0.3 0.866667 0.3 0.877778 0.3 0.888889 0.3 0.9
-                    0.3 0.911111 0.3 0.922222 0.3 0.933333 0.3 0.944444 0.3 0.955556 0.3 0.966667 0.3 0.977778 0.3 0.988889 0.3 1 0.325 0 0.325 0.0111111 0.325 0.0222222 0.325 0.0333333 0.325 0.0444444 0.325 0.0555556
-                    0.325 0.0666667 0.325 0.0777778 0.325 0.0888889 0.325 0.1 0.325 0.111111 0.325 0.122222 0.325 0.133333 0.325 0.144444 0.325 0.155556 0.325 0.166667 0.325 0.177778 0.325 0.188889 0.325 0.2 0.325 0.211111 0.325 0.222222
-                    0.325 0.233333 0.325 0.244444 0.325 0.255556 0.325 0.266667 0.325 0.277778 0.325 0.288889 0.325 0.3 0.325 0.311111 0.325 0.322222 0.325 0.333333 0.325 0.344444 0.325 0.355556 0.325 0.366667 0.325 0.377778 0.325 0.388889
-                    0.325 0.4 0.325 0.411111 0.325 0.422222 0.325 0.433333 0.325 0.444444 0.325 0.455556 0.325 0.466667 0.325 0.477778 0.325 0.488889 0.325 0.5 0.325 0.511111 0.325 0.522222 0.325 0.533333 0.325 0.544444 0.325 0.555556
-                    0.325 0.566667 0.325 0.577778 0.325 0.588889 0.325 0.6 0.325 0.611111 0.325 0.622222 0.325 0.633333 0.325 0.644444 0.325 0.655556 0.325 0.666667 0.325 0.677778 0.325 0.688889 0.325 0.7 0.325 0.711111 0.325 0.722222
-                    0.325 0.733333 0.325 0.744444 0.325 0.755556 0.325 0.766667 0.325 0.777778 0.325 0.788889 0.325 0.8 0.325 0.811111 0.325 0.822222 0.325 0.833333 0.325 0.844444 0.325 0.855556 0.325 0.866667 0.325 0.877778 0.325 0.888889
-                    0.325 0.9 0.325 0.911111 0.325 0.922222 0.325 0.933333 0.325 0.944444 0.325 0.955556 0.325 0.966667 0.325 0.977778 0.325 0.988889 0.325 1 0.35 0 0.35 0.0111111 0.35 0.0222222 0.35 0.0333333 0.35 0.0444444
-                    0.35 0.0555556 0.35 0.0666667 0.35 0.0777778 0.35 0.0888889 0.35 0.1 0.35 0.111111 0.35 0.122222 0.35 0.133333 0.35 0.144444 0.35 0.155556 0.35 0.166667 0.35 0.177778 0.35 0.188889 0.35 0.2 0.35 0.211111
-                    0.35 0.222222 0.35 0.233333 0.35 0.244444 0.35 0.255556 0.35 0.266667 0.35 0.277778 0.35 0.288889 0.35 0.3 0.35 0.311111 0.35 0.322222 0.35 0.333333 0.35 0.344444 0.35 0.355556 0.35 0.366667 0.35 0.377778
-                    0.35 0.388889 0.35 0.4 0.35 0.411111 0.35 0.422222 0.35 0.433333 0.35 0.444444 0.35 0.455556 0.35 0.466667 0.35 0.477778 0.35 0.488889 0.35 0.5 0.35 0.511111 0.35 0.522222 0.35 0.533333 0.35 0.544444
-                    0.35 0.555556 0.35 0.566667 0.35 0.577778 0.35 0.588889 0.35 0.6 0.35 0.611111 0.35 0.622222 0.35 0.633333 0.35 0.644444 0.35 0.655556 0.35 0.666667 0.35 0.677778 0.35 0.688889 0.35 0.7 0.35 0.711111
-                    0.35 0.722222 0.35 0.733333 0.35 0.744444 0.35 0.755556 0.35 0.766667 0.35 0.777778 0.35 0.788889 0.35 0.8 0.35 0.811111 0.35 0.822222 0.35 0.833333 0.35 0.844444 0.35 0.855556 0.35 0.866667 0.35 0.877778
-                    0.35 0.888889 0.35 0.9 0.35 0.911111 0.35 0.922222 0.35 0.933333 0.35 0.944444 0.35 0.955556 0.35 0.966667 0.35 0.977778 0.35 0.988889 0.35 1 0.375 0 0.375 0.0111111 0.375 0.0222222 0.375 0.0333333
-                    0.375 0.0444444 0.375 0.0555556 0.375 0.0666667 0.375 0.0777778 0.375 0.0888889 0.375 0.1 0.375 0.111111 0.375 0.122222 0.375 0.133333 0.375 0.144444 0.375 0.155556 0.375 0.166667 0.375 0.177778 0.375 0.188889 0.375 0.2
-                    0.375 0.211111 0.375 0.222222 0.375 0.233333 0.375 0.244444 0.375 0.255556 0.375 0.266667 0.375 0.277778 0.375 0.288889 0.375 0.3 0.375 0.311111 0.375 0.322222 0.375 0.333333 0.375 0.344444 0.375 0.355556 0.375 0.366667
-                    0.375 0.377778 0.375 0.388889 0.375 0.4 0.375 0.411111 0.375 0.422222 0.375 0.433333 0.375 0.444444 0.375 0.455556 0.375 0.466667 0.375 0.477778 0.375 0.488889 0.375 0.5 0.375 0.511111 0.375 0.522222 0.375 0.533333
-                    0.375 0.544444 0.375 0.555556 0.375 0.566667 0.375 0.577778 0.375 0.588889 0.375 0.6 0.375 0.611111 0.375 0.622222 0.375 0.633333 0.375 0.644444 0.375 0.655556 0.375 0.666667 0.375 0.677778 0.375 0.688889 0.375 0.7
-                    0.375 0.711111 0.375 0.722222 0.375 0.733333 0.375 0.744444 0.375 0.755556 0.375 0.766667 0.375 0.777778 0.375 0.788889 0.375 0.8 0.375 0.811111 0.375 0.822222 0.375 0.833333 0.375 0.844444 0.375 0.855556 0.375 0.866667
-                    0.375 0.877778 0.375 0.888889 0.375 0.9 0.375 0.911111 0.375 0.922222 0.375 0.933333 0.375 0.944444 0.375 0.955556 0.375 0.966667 0.375 0.977778 0.375 0.988889 0.375 1 0.4 0 0.4 0.0111111 0.4 0.0222222
-                    0.4 0.0333333 0.4 0.0444444 0.4 0.0555556 0.4 0.0666667 0.4 0.0777778 0.4 0.0888889 0.4 0.1 0.4 0.111111 0.4 0.122222 0.4 0.133333 0.4 0.144444 0.4 0.155556 0.4 0.166667 0.4 0.177778 0.4 0.188889
-                    0.4 0.2 0.4 0.211111 0.4 0.222222 0.4 0.233333 0.4 0.244444 0.4 0.255556 0.4 0.266667 0.4 0.277778 0.4 0.288889 0.4 0.3 0.4 0.311111 0.4 0.322222 0.4 0.333333 0.4 0.344444 0.4 0.355556
-                    0.4 0.366667 0.4 0.377778 0.4 0.388889 0.4 0.4 0.4 0.411111 0.4 0.422222 0.4 0.433333 0.4 0.444444 0.4 0.455556 0.4 0.466667 0.4 0.477778 0.4 0.488889 0.4 0.5 0.4 0.511111 0.4 0.522222
-                    0.4 0.533333 0.4 0.544444 0.4 0.555556 0.4 0.566667 0.4 0.577778 0.4 0.588889 0.4 0.6 0.4 0.611111 0.4 0.622222 0.4 0.633333 0.4 0.644444 0.4 0.655556 0.4 0.666667 0.4 0.677778 0.4 0.688889
-                    0.4 0.7 0.4 0.711111 0.4 0.722222 0.4 0.733333 0.4 0.744444 0.4 0.755556 0.4 0.766667 0.4 0.777778 0.4 0.788889 0.4 0.8 0.4 0.811111 0.4 0.822222 0.4 0.833333 0.4 0.844444 0.4 0.855556
-                    0.4 0.866667 0.4 0.877778 0.4 0.888889 0.4 0.9 0.4 0.911111 0.4 0.922222 0.4 0.933333 0.4 0.944444 0.4 0.955556 0.4 0.966667 0.4 0.977778 0.4 0.988889 0.4 1 0.425 0 0.425 0.0111111
-                    0.425 0.0222222 0.425 0.0333333 0.425 0.0444444 0.425 0.0555556 0.425 0.0666667 0.425 0.0777778 0.425 0.0888889 0.425 0.1 0.425 0.111111 0.425 0.122222 0.425 0.133333 0.425 0.144444 0.425 0.155556 0.425 0.166667 0.425 0.177778
-                    0.425 0.188889 0.425 0.2 0.425 0.211111 0.425 0.222222 0.425 0.233333 0.425 0.244444 0.425 0.255556 0.425 0.266667 0.425 0.277778 0.425 0.288889 0.425 0.3 0.425 0.311111 0.425 0.322222 0.425 0.333333 0.425 0.344444
-                    0.425 0.355556 0.425 0.366667 0.425 0.377778 0.425 0.388889 0.425 0.4 0.425 0.411111 0.425 0.422222 0.425 0.433333 0.425 0.444444 0.425 0.455556 0.425 0.466667 0.425 0.477778 0.425 0.488889 0.425 0.5 0.425 0.511111
-                    0.425 0.522222 0.425 0.533333 0.425 0.544444 0.425 0.555556 0.425 0.566667 0.425 0.577778 0.425 0.588889 0.425 0.6 0.425 0.611111 0.425 0.622222 0.425 0.633333 0.425 0.644444 0.425 0.655556 0.425 0.666667 0.425 0.677778
-                    0.425 0.688889 0.425 0.7 0.425 0.711111 0.425 0.722222 0.425 0.733333 0.425 0.744444 0.425 0.755556 0.425 0.766667 0.425 0.777778 0.425 0.788889 0.425 0.8 0.425 0.811111 0.425 0.822222 0.425 0.833333 0.425 0.844444
-                    0.425 0.855556 0.425 0.866667 0.425 0.877778 0.425 0.888889 0.425 0.9 0.425 0.911111 0.425 0.922222 0.425 0.933333 0.425 0.944444 0.425 0.955556 0.425 0.966667 0.425 0.977778 0.425 0.988889 0.425 1 0.45 0
-                    0.45 0.0111111 0.45 0.0222222 0.45 0.0333333 0.45 0.0444444 0.45 0.0555556 0.45 0.0666667 0.45 0.0777778 0.45 0.0888889 0.45 0.1 0.45 0.111111 0.45 0.122222 0.45 0.133333 0.45 0.144444 0.45 0.155556 0.45 0.166667
-                    0.45 0.177778 0.45 0.188889 0.45 0.2 0.45 0.211111 0.45 0.222222 0.45 0.233333 0.45 0.244444 0.45 0.255556 0.45 0.266667 0.45 0.277778 0.45 0.288889 0.45 0.3 0.45 0.311111 0.45 0.322222 0.45 0.333333
-                    0.45 0.344444 0.45 0.355556 0.45 0.366667 0.45 0.377778 0.45 0.388889 0.45 0.4 0.45 0.411111 0.45 0.422222 0.45 0.433333 0.45 0.444444 0.45 0.455556 0.45 0.466667 0.45 0.477778 0.45 0.488889 0.45 0.5
-                    0.45 0.511111 0.45 0.522222 0.45 0.533333 0.45 0.544444 0.45 0.555556 0.45 0.566667 0.45 0.577778 0.45 0.588889 0.45 0.6 0.45 0.611111 0.45 0.622222 0.45 0.633333 0.45 0.644444 0.45 0.655556 0.45 0.666667
-                    0.45 0.677778 0.45 0.688889 0.45 0.7 0.45 0.711111 0.45 0.722222 0.45 0.733333 0.45 0.744444 0.45 0.755556 0.45 0.766667 0.45 0.777778 0.45 0.788889 0.45 0.8 0.45 0.811111 0.45 0.822222 0.45 0.833333
-                    0.45 0.844444 0.45 0.855556 0.45 0.866667 0.45 0.877778 0.45 0.888889 0.45 0.9 0.45 0.911111 0.45 0.922222 0.45 0.933333 0.45 0.944444 0.45 0.955556 0.45 0.966667 0.45 0.977778 0.45 0.988889 0.45 1
-                    0.475 0 0.475 0.0111111 0.475 0.0222222 0.475 0.0333333 0.475 0.0444444 0.475 0.0555556 0.475 0.0666667 0.475 0.0777778 0.475 0.0888889 0.475 0.1 0.475 0.111111 0.475 0.122222 0.475 0.133333 0.475 0.144444 0.475 0.155556
-                    0.475 0.166667 0.475 0.177778 0.475 0.188889 0.475 0.2 0.475 0.211111 0.475 0.222222 0.475 0.233333 0.475 0.244444 0.475 0.255556 0.475 0.266667 0.475 0.277778 0.475 0.288889 0.475 0.3 0.475 0.311111 0.475 0.322222
-                    0.475 0.333333 0.475 0.344444 0.475 0.355556 0.475 0.366667 0.475 0.377778 0.475 0.388889 0.475 0.4 0.475 0.411111 0.475 0.422222 0.475 0.433333 0.475 0.444444 0.475 0.455556 0.475 0.466667 0.475 0.477778 0.475 0.488889
-                    0.475 0.5 0.475 0.511111 0.475 0.522222 0.475 0.533333 0.475 0.544444 0.475 0.555556 0.475 0.566667 0.475 0.577778 0.475 0.588889 0.475 0.6 0.475 0.611111 0.475 0.622222 0.475 0.633333 0.475 0.644444 0.475 0.655556
-                    0.475 0.666667 0.475 0.677778 0.475 0.688889 0.475 0.7 0.475 0.711111 0.475 0.722222 0.475 0.733333 0.475 0.744444 0.475 0.755556 0.475 0.766667 0.475 0.777778 0.475 0.788889 0.475 0.8 0.475 0.811111 0.475 0.822222
-                    0.475 0.833333 0.475 0.844444 0.475 0.855556 0.475 0.866667 0.475 0.877778 0.475 0.888889 0.475 0.9 0.475 0.911111 0.475 0.922222 0.475 0.933333 0.475 0.944444 0.475 0.955556 0.475 0.966667 0.475 0.977778 0.475 0.988889
-                    0.475 1 0.5 0 0.5 0.0111111 0.5 0.0222222 0.5 0.0333333 0.5 0.0444444 0.5 0.0555556 0.5 0.0666667 0.5 0.0777778 0.5 0.0888889 0.5 0.1 0.5 0.111111 0.5 0.122222 0.5 0.133333 0.5 0.144444
-                    0.5 0.155556 0.5 0.166667 0.5 0.177778 0.5 0.188889 0.5 0.2 0.5 0.211111 0.5 0.222222 0.5 0.233333 0.5 0.244444 0.5 0.255556 0.5 0.266667 0.5 0.277778 0.5 0.288889 0.5 0.3 0.5 0.311111
-                    0.5 0.322222 0.5 0.333333 0.5 0.344444 0.5 0.355556 0.5 0.366667 0.5 0.377778 0.5 0.388889 0.5 0.4 0.5 0.411111 0.5 0.422222 0.5 0.433333 0.5 0.444444 0.5 0.455556 0.5 0.466667 0.5 0.477778
-                    0.5 0.488889 0.5 0.5 0.5 0.511111 0.5 0.522222 0.5 0.533333 0.5 0.544444 0.5 0.555556 0.5 0.566667 0.5 0.577778 0.5 0.588889 0.5 0.6 0.5 0.611111 0.5 0.622222 0.5 0.633333 0.5 0.644444
-                    0.5 0.655556 0.5 0.666667 0.5 0.677778 0.5 0.688889 0.5 0.7 0.5 0.711111 0.5 0.722222 0.5 0.733333 0.5 0.744444 0.5 0.755556 0.5 0.766667 0.5 0.777778 0.5 0.788889 0.5 0.8 0.5 0.811111
-                    0.5 0.822222 0.5 0.833333 0.5 0.844444 0.5 0.855556 0.5 0.866667 0.5 0.877778 0.5 0.888889 0.5 0.9 0.5 0.911111 0.5 0.922222 0.5 0.933333 0.5 0.944444 0.5 0.955556 0.5 0.966667 0.5 0.977778
-                    0.5 0.988889 0.5 1 0.525 0 0.525 0.0111111 0.525 0.0222222 0.525 0.0333333 0.525 0.0444444 0.525 0.0555556 0.525 0.0666667 0.525 0.0777778 0.525 0.0888889 0.525 0.1 0.525 0.111111 0.525 0.122222 0.525 0.133333
-                    0.525 0.144444 0.525 0.155556 0.525 0.166667 0.525 0.177778 0.525 0.188889 0.525 0.2 0.525 0.211111 0.525 0.222222 0.525 0.233333 0.525 0.244444 0.525 0.255556 0.525 0.266667 0.525 0.277778 0.525 0.288889 0.525 0.3
-                    0.525 0.311111 0.525 0.322222 0.525 0.333333 0.525 0.344444 0.525 0.355556 0.525 0.366667 0.525 0.377778 0.525 0.388889 0.525 0.4 0.525 0.411111 0.525 0.422222 0.525 0.433333 0.525 0.444444 0.525 0.455556 0.525 0.466667
-                    0.525 0.477778 0.525 0.488889 0.525 0.5 0.525 0.511111 0.525 0.522222 0.525 0.533333 0.525 0.544444 0.525 0.555556 0.525 0.566667 0.525 0.577778 0.525 0.588889 0.525 0.6 0.525 0.611111 0.525 0.622222 0.525 0.633333
-                    0.525 0.644444 0.525 0.655556 0.525 0.666667 0.525 0.677778 0.525 0.688889 0.525 0.7 0.525 0.711111 0.525 0.722222 0.525 0.733333 0.525 0.744444 0.525 0.755556 0.525 0.766667 0.525 0.777778 0.525 0.788889 0.525 0.8
-                    0.525 0.811111 0.525 0.822222 0.525 0.833333 0.525 0.844444 0.525 0.855556 0.525 0.866667 0.525 0.877778 0.525 0.888889 0.525 0.9 0.525 0.911111 0.525 0.922222 0.525 0.933333 0.525 0.944444 0.525 0.955556 0.525 0.966667
-                    0.525 0.977778 0.525 0.988889 0.525 1 0.55 0 0.55 0.0111111 0.55 0.0222222 0.55 0.0333333 0.55 0.0444444 0.55 0.0555556 0.55 0.0666667 0.55 0.0777778 0.55 0.0888889 0.55 0.1 0.55 0.111111 0.55 0.122222
-                    0.55 0.133333 0.55 0.144444 0.55 0.155556 0.55 0.166667 0.55 0.177778 0.55 0.188889 0.55 0.2 0.55 0.211111 0.55 0.222222 0.55 0.233333 0.55 0.244444 0.55 0.255556 0.55 0.266667 0.55 0.277778 0.55 0.288889
-                    0.55 0.3 0.55 0.311111 0.55 0.322222 0.55 0.333333 0.55 0.344444 0.55 0.355556 0.55 0.366667 0.55 0.377778 0.55 0.388889 0.55 0.4 0.55 0.411111 0.55 0.422222 0.55 0.433333 0.55 0.444444 0.55 0.455556
-                    0.55 0.466667 0.55 0.477778 0.55 0.488889 0.55 0.5 0.55 0.511111 0.55 0.522222 0.55 0.533333 0.55 0.544444 0.55 0.555556 0.55 0.566667 0.55 0.577778 0.55 0.588889 0.55 0.6 0.55 0.611111 0.55 0.622222
-                    0.55 0.633333 0.55 0.644444 0.55 0.655556 0.55 0.666667 0.55 0.677778 0.55 0.688889 0.55 0.7 0.55 0.711111 0.55 0.722222 0.55 0.733333 0.55 0.744444 0.55 0.755556 0.55 0.766667 0.55 0.777778 0.55 0.788889
-                    0.55 0.8 0.55 0.811111 0.55 0.822222 0.55 0.833333 0.55 0.844444 0.55 0.855556 0.55 0.866667 0.55 0.877778 0.55 0.888889 0.55 0.9 0.55 0.911111 0.55 0.922222 0.55 0.933333 0.55 0.944444 0.55 0.955556
-                    0.55 0.966667 0.55 0.977778 0.55 0.988889 0.55 1 0.575 0 0.575 0.0111111 0.575 0.0222222 0.575 0.0333333 0.575 0.0444444 0.575 0.0555556 0.575 0.0666667 0.575 0.0777778 0.575 0.0888889 0.575 0.1 0.575 0.111111
-                    0.575 0.122222 0.575 0.133333 0.575 0.144444 0.575 0.155556 0.575 0.166667 0.575 0.177778 0.575 0.188889 0.575 0.2 0.575 0.211111 0.575 0.222222 0.575 0.233333 0.575 0.244444 0.575 0.255556 0.575 0.266667 0.575 0.277778
-                    0.575 0.288889 0.575 0.3 0.575 0.311111 0.575 0.322222 0.575 0.333333 0.575 0.344444 0.575 0.355556 0.575 0.366667 0.575 0.377778 0.575 0.388889 0.575 0.4 0.575 0.411111 0.575 0.422222 0.575 0.433333 0.575 0.444444
-                    0.575 0.455556 0.575 0.466667 0.575 0.477778 0.575 0.488889 0.575 0.5 0.575 0.511111 0.575 0.522222 0.575 0.533333 0.575 0.544444 0.575 0.555556 0.575 0.566667 0.575 0.577778 0.575 0.588889 0.575 0.6 0.575 0.611111
-                    0.575 0.622222 0.575 0.633333 0.575 0.644444 0.575 0.655556 0.575 0.666667 0.575 0.677778 0.575 0.688889 0.575 0.7 0.575 0.711111 0.575 0.722222 0.575 0.733333 0.575 0.744444 0.575 0.755556 0.575 0.766667 0.575 0.777778
-                    0.575 0.788889 0.575 0.8 0.575 0.811111 0.575 0.822222 0.575 0.833333 0.575 0.844444 0.575 0.855556 0.575 0.866667 0.575 0.877778 0.575 0.888889 0.575 0.9 0.575 0.911111 0.575 0.922222 0.575 0.933333 0.575 0.944444
-                    0.575 0.955556 0.575 0.966667 0.575 0.977778 0.575 0.988889 0.575 1 0.6 0 0.6 0.0111111 0.6 0.0222222 0.6 0.0333333 0.6 0.0444444 0.6 0.0555556 0.6 0.0666667 0.6 0.0777778 0.6 0.0888889 0.6 0.1
-                    0.6 0.111111 0.6 0.122222 0.6 0.133333 0.6 0.144444 0.6 0.155556 0.6 0.166667 0.6 0.177778 0.6 0.188889 0.6 0.2 0.6 0.211111 0.6 0.222222 0.6 0.233333 0.6 0.244444 0.6 0.255556 0.6 0.266667
-                    0.6 0.277778 0.6 0.288889 0.6 0.3 0.6 0.311111 0.6 0.322222 0.6 0.333333 0.6 0.344444 0.6 0.355556 0.6 0.366667 0.6 0.377778 0.6 0.388889 0.6 0.4 0.6 0.411111 0.6 0.422222 0.6 0.433333
-                    0.6 0.444444 0.6 0.455556 0.6 0.466667 0.6 0.477778 0.6 0.488889 0.6 0.5 0.6 0.511111 0.6 0.522222 0.6 0.533333 0.6 0.544444 0.6 0.555556 0.6 0.566667 0.6 0.577778 0.6 0.588889 0.6 0.6
-                    0.6 0.611111 0.6 0.622222 0.6 0.633333 0.6 0.644444 0.6 0.655556 0.6 0.666667 0.6 0.677778 0.6 0.688889 0.6 0.7 0.6 0.711111 0.6 0.722222 0.6 0.733333 0.6 0.744444 0.6 0.755556 0.6 0.766667
-                    0.6 0.777778 0.6 0.788889 0.6 0.8 0.6 0.811111 0.6 0.822222 0.6 0.833333 0.6 0.844444 0.6 0.855556 0.6 0.866667 0.6 0.877778 0.6 0.888889 0.6 0.9 0.6 0.911111 0.6 0.922222 0.6 0.933333
-                    0.6 0.944444 0.6 0.955556 0.6 0.966667 0.6 0.977778 0.6 0.988889 0.6 1 0.625 0 0.625 0.0111111 0.625 0.0222222 0.625 0.0333333 0.625 0.0444444 0.625 0.0555556 0.625 0.0666667 0.625 0.0777778 0.625 0.0888889
-                    0.625 0.1 0.625 0.111111 0.625 0.122222 0.625 0.133333 0.625 0.144444 0.625 0.155556 0.625 0.166667 0.625 0.177778 0.625 0.188889 0.625 0.2 0.625 0.211111 0.625 0.222222 0.625 0.233333 0.625 0.244444 0.625 0.255556
-                    0.625 0.266667 0.625 0.277778 0.625 0.288889 0.625 0.3 0.625 0.311111 0.625 0.322222 0.625 0.333333 0.625 0.344444 0.625 0.355556 0.625 0.366667 0.625 0.377778 0.625 0.388889 0.625 0.4 0.625 0.411111 0.625 0.422222
-                    0.625 0.433333 0.625 0.444444 0.625 0.455556 0.625 0.466667 0.625 0.477778 0.625 0.488889 0.625 0.5 0.625 0.511111 0.625 0.522222 0.625 0.533333 0.625 0.544444 0.625 0.555556 0.625 0.566667 0.625 0.577778 0.625 0.588889
-                    0.625 0.6 0.625 0.611111 0.625 0.622222 0.625 0.633333 0.625 0.644444 0.625 0.655556 0.625 0.666667 0.625 0.677778 0.625 0.688889 0.625 0.7 0.625 0.711111 0.625 0.722222 0.625 0.733333 0.625 0.744444 0.625 0.755556
-                    0.625 0.766667 0.625 0.777778 0.625 0.788889 0.625 0.8 0.625 0.811111 0.625 0.822222 0.625 0.833333 0.625 0.844444 0.625 0.855556 0.625 0.866667 0.625 0.877778 0.625 0.888889 0.625 0.9 0.625 0.911111 0.625 0.922222
-                    0.625 0.933333 0.625 0.944444 0.625 0.955556 0.625 0.966667 0.625 0.977778 0.625 0.988889 0.625 1 0.65 0 0.65 0.0111111 0.65 0.0222222 0.65 0.0333333 0.65 0.0444444 0.65 0.0555556 0.65 0.0666667 0.65 0.0777778
-                    0.65 0.0888889 0.65 0.1 0.65 0.111111 0.65 0.122222 0.65 0.133333 0.65 0.144444 0.65 0.155556 0.65 0.166667 0.65 0.177778 0.65 0.188889 0.65 0.2 0.65 0.211111 0.65 0.222222 0.65 0.233333 0.65 0.244444
-                    0.65 0.255556 0.65 0.266667 0.65 0.277778 0.65 0.288889 0.65 0.3 0.65 0.311111 0.65 0.322222 0.65 0.333333 0.65 0.344444 0.65 0.355556 0.65 0.366667 0.65 0.377778 0.65 0.388889 0.65 0.4 0.65 0.411111
-                    0.65 0.422222 0.65 0.433333 0.65 0.444444 0.65 0.455556 0.65 0.466667 0.65 0.477778 0.65 0.488889 0.65 0.5 0.65 0.511111 0.65 0.522222 0.65 0.533333 0.65 0.544444 0.65 0.555556 0.65 0.566667 0.65 0.577778
-                    0.65 0.588889 0.65 0.6 0.65 0.611111 0.65 0.622222 0.65 0.633333 0.65 0.644444 0.65 0.655556 0.65 0.666667 0.65 0.677778 0.65 0.688889 0.65 0.7 0.65 0.711111 0.65 0.722222 0.65 0.733333 0.65 0.744444
-                    0.65 0.755556 0.65 0.766667 0.65 0.777778 0.65 0.788889 0.65 0.8 0.65 0.811111 0.65 0.822222 0.65 0.833333 0.65 0.844444 0.65 0.855556 0.65 0.866667 0.65 0.877778 0.65 0.888889 0.65 0.9 0.65 0.911111
-                    0.65 0.922222 0.65 0.933333 0.65 0.944444 0.65 0.955556 0.65 0.966667 0.65 0.977778 0.65 0.988889 0.65 1 0.675 0 0.675 0.0111111 0.675 0.0222222 0.675 0.0333333 0.675 0.0444444 0.675 0.0555556 0.675 0.0666667
-                    0.675 0.0777778 0.675 0.0888889 0.675 0.1 0.675 0.111111 0.675 0.122222 0.675 0.133333 0.675 0.144444 0.675 0.155556 0.675 0.166667 0.675 0.177778 0.675 0.188889 0.675 0.2 0.675 0.211111 0.675 0.222222 0.675 0.233333
-                    0.675 0.244444 0.675 0.255556 0.675 0.266667 0.675 0.277778 0.675 0.288889 0.675 0.3 0.675 0.311111 0.675 0.322222 0.675 0.333333 0.675 0.344444 0.675 0.355556 0.675 0.366667 0.675 0.377778 0.675 0.388889 0.675 0.4
-                    0.675 0.411111 0.675 0.422222 0.675 0.433333 0.675 0.444444 0.675 0.455556 0.675 0.466667 0.675 0.477778 0.675 0.488889 0.675 0.5 0.675 0.511111 0.675 0.522222 0.675 0.533333 0.675 0.544444 0.675 0.555556 0.675 0.566667
-                    0.675 0.577778 0.675 0.588889 0.675 0.6 0.675 0.611111 0.675 0.622222 0.675 0.633333 0.675 0.644444 0.675 0.655556 0.675 0.666667 0.675 0.677778 0.675 0.688889 0.675 0.7 0.675 0.711111 0.675 0.722222 0.675 0.733333
-                    0.675 0.744444 0.675 0.755556 0.675 0.766667 0.675 0.777778 0.675 0.788889 0.675 0.8 0.675 0.811111 0.675 0.822222 0.675 0.833333 0.675 0.844444 0.675 0.855556 0.675 0.866667 0.675 0.877778 0.675 0.888889 0.675 0.9
-                    0.675 0.911111 0.675 0.922222 0.675 0.933333 0.675 0.944444 0.675 0.955556 0.675 0.966667 0.675 0.977778 0.675 0.988889 0.675 1 0.7 0 0.7 0.0111111 0.7 0.0222222 0.7 0.0333333 0.7 0.0444444 0.7 0.0555556
-                    0.7 0.0666667 0.7 0.0777778 0.7 0.0888889 0.7 0.1 0.7 0.111111 0.7 0.122222 0.7 0.133333 0.7 0.144444 0.7 0.155556 0.7 0.166667 0.7 0.177778 0.7 0.188889 0.7 0.2 0.7 0.211111 0.7 0.222222
-                    0.7 0.233333 0.7 0.244444 0.7 0.255556 0.7 0.266667 0.7 0.277778 0.7 0.288889 0.7 0.3 0.7 0.311111 0.7 0.322222 0.7 0.333333 0.7 0.344444 0.7 0.355556 0.7 0.366667 0.7 0.377778 0.7 0.388889
-                    0.7 0.4 0.7 0.411111 0.7 0.422222 0.7 0.433333 0.7 0.444444 0.7 0.455556 0.7 0.466667 0.7 0.477778 0.7 0.488889 0.7 0.5 0.7 0.511111 0.7 0.522222 0.7 0.533333 0.7 0.544444 0.7 0.555556
-                    0.7 0.566667 0.7 0.577778 0.7 0.588889 0.7 0.6 0.7 0.611111 0.7 0.622222 0.7 0.633333 0.7 0.644444 0.7 0.655556 0.7 0.666667 0.7 0.677778 0.7 0.688889 0.7 0.7 0.7 0.711111 0.7 0.722222
-                    0.7 0.733333 0.7 0.744444 0.7 0.755556 0.7 0.766667 0.7 0.777778 0.7 0.788889 0.7 0.8 0.7 0.811111 0.7 0.822222 0.7 0.833333 0.7 0.844444 0.7 0.855556 0.7 0.866667 0.7 0.877778 0.7 0.888889
-                    0.7 0.9 0.7 0.911111 0.7 0.922222 0.7 0.933333 0.7 0.944444 0.7 0.955556 0.7 0.966667 0.7 0.977778 0.7 0.988889 0.7 1 0.725 0 0.725 0.0111111 0.725 0.0222222 0.725 0.0333333 0.725 0.0444444
-                    0.725 0.0555556 0.725 0.0666667 0.725 0.0777778 0.725 0.0888889 0.725 0.1 0.725 0.111111 0.725 0.122222 0.725 0.133333 0.725 0.144444 0.725 0.155556 0.725 0.166667 0.725 0.177778 0.725 0.188889 0.725 0.2 0.725 0.211111
-                    0.725 0.222222 0.725 0.233333 0.725 0.244444 0.725 0.255556 0.725 0.266667 0.725 0.277778 0.725 0.288889 0.725 0.3 0.725 0.311111 0.725 0.322222 0.725 0.333333 0.725 0.344444 0.725 0.355556 0.725 0.366667 0.725 0.377778
-                    0.725 0.388889 0.725 0.4 0.725 0.411111 0.725 0.422222 0.725 0.433333 0.725 0.444444 0.725 0.455556 0.725 0.466667 0.725 0.477778 0.725 0.488889 0.725 0.5 0.725 0.511111 0.725 0.522222 0.725 0.533333 0.725 0.544444
-                    0.725 0.555556 0.725 0.566667 0.725 0.577778 0.725 0.588889 0.725 0.6 0.725 0.611111 0.725 0.622222 0.725 0.633333 0.725 0.644444 0.725 0.655556 0.725 0.666667 0.725 0.677778 0.725 0.688889 0.725 0.7 0.725 0.711111
-                    0.725 0.722222 0.725 0.733333 0.725 0.744444 0.725 0.755556 0.725 0.766667 0.725 0.777778 0.725 0.788889 0.725 0.8 0.725 0.811111 0.725 0.822222 0.725 0.833333 0.725 0.844444 0.725 0.855556 0.725 0.866667 0.725 0.877778
-                    0.725 0.888889 0.725 0.9 0.725 0.911111 0.725 0.922222 0.725 0.933333 0.725 0.944444 0.725 0.955556 0.725 0.966667 0.725 0.977778 0.725 0.988889 0.725 1 0.75 0 0.75 0.0111111 0.75 0.0222222 0.75 0.0333333
-                    0.75 0.0444444 0.75 0.0555556 0.75 0.0666667 0.75 0.0777778 0.75 0.0888889 0.75 0.1 0.75 0.111111 0.75 0.122222 0.75 0.133333 0.75 0.144444 0.75 0.155556 0.75 0.166667 0.75 0.177778 0.75 0.188889 0.75 0.2
-                    0.75 0.211111 0.75 0.222222 0.75 0.233333 0.75 0.244444 0.75 0.255556 0.75 0.266667 0.75 0.277778 0.75 0.288889 0.75 0.3 0.75 0.311111 0.75 0.322222 0.75 0.333333 0.75 0.344444 0.75 0.355556 0.75 0.366667
-                    0.75 0.377778 0.75 0.388889 0.75 0.4 0.75 0.411111 0.75 0.422222 0.75 0.433333 0.75 0.444444 0.75 0.455556 0.75 0.466667 0.75 0.477778 0.75 0.488889 0.75 0.5 0.75 0.511111 0.75 0.522222 0.75 0.533333
-                    0.75 0.544444 0.75 0.555556 0.75 0.566667 0.75 0.577778 0.75 0.588889 0.75 0.6 0.75 0.611111 0.75 0.622222 0.75 0.633333 0.75 0.644444 0.75 0.655556 0.75 0.666667 0.75 0.677778 0.75 0.688889 0.75 0.7
-                    0.75 0.711111 0.75 0.722222 0.75 0.733333 0.75 0.744444 0.75 0.755556 0.75 0.766667 0.75 0.777778 0.75 0.788889 0.75 0.8 0.75 0.811111 0.75 0.822222 0.75 0.833333 0.75 0.844444 0.75 0.855556 0.75 0.866667
-                    0.75 0.877778 0.75 0.888889 0.75 0.9 0.75 0.911111 0.75 0.922222 0.75 0.933333 0.75 0.944444 0.75 0.955556 0.75 0.966667 0.75 0.977778 0.75 0.988889 0.75 1 0.775 0 0.775 0.0111111 0.775 0.0222222
-                    0.775 0.0333333 0.775 0.0444444 0.775 0.0555556 0.775 0.0666667 0.775 0.0777778 0.775 0.0888889 0.775 0.1 0.775 0.111111 0.775 0.122222 0.775 0.133333 0.775 0.144444 0.775 0.155556 0.775 0.166667 0.775 0.177778 0.775 0.188889
-                    0.775 0.2 0.775 0.211111 0.775 0.222222 0.775 0.233333 0.775 0.244444 0.775 0.255556 0.775 0.266667 0.775 0.277778 0.775 0.288889 0.775 0.3 0.775 0.311111 0.775 0.322222 0.775 0.333333 0.775 0.344444 0.775 0.355556
-                    0.775 0.366667 0.775 0.377778 0.775 0.388889 0.775 0.4 0.775 0.411111 0.775 0.422222 0.775 0.433333 0.775 0.444444 0.775 0.455556 0.775 0.466667 0.775 0.477778 0.775 0.488889 0.775 0.5 0.775 0.511111 0.775 0.522222
-                    0.775 0.533333 0.775 0.544444 0.775 0.555556 0.775 0.566667 0.775 0.577778 0.775 0.588889 0.775 0.6 0.775 0.611111 0.775 0.622222 0.775 0.633333 0.775 0.644444 0.775 0.655556 0.775 0.666667 0.775 0.677778 0.775 0.688889
-                    0.775 0.7 0.775 0.711111 0.775 0.722222 0.775 0.733333 0.775 0.744444 0.775 0.755556 0.775 0.766667 0.775 0.777778 0.775 0.788889 0.775 0.8 0.775 0.811111 0.775 0.822222 0.775 0.833333 0.775 0.844444 0.775 0.855556
-                    0.775 0.866667 0.775 0.877778 0.775 0.888889 0.775 0.9 0.775 0.911111 0.775 0.922222 0.775 0.933333 0.775 0.944444 0.775 0.955556 0.775 0.966667 0.775 0.977778 0.775 0.988889 0.775 1 0.8 0 0.8 0.0111111
-                    0.8 0.0222222 0.8 0.0333333 0.8 0.0444444 0.8 0.0555556 0.8 0.0666667 0.8 0.0777778 0.8 0.0888889 0.8 0.1 0.8 0.111111 0.8 0.122222 0.8 0.133333 0.8 0.144444 0.8 0.155556 0.8 0.166667 0.8 0.177778
-                    0.8 0.188889 0.8 0.2 0.8 0.211111 0.8 0.222222 0.8 0.233333 0.8 0.244444 0.8 0.255556 0.8 0.266667 0.8 0.277778 0.8 0.288889 0.8 0.3 0.8 0.311111 0.8 0.322222 0.8 0.333333 0.8 0.344444
-                    0.8 0.355556 0.8 0.366667 0.8 0.377778 0.8 0.388889 0.8 0.4 0.8 0.411111 0.8 0.422222 0.8 0.433333 0.8 0.444444 0.8 0.455556 0.8 0.466667 0.8 0.477778 0.8 0.488889 0.8 0.5 0.8 0.511111
-                    0.8 0.522222 0.8 0.533333 0.8 0.544444 0.8 0.555556 0.8 0.566667 0.8 0.577778 0.8 0.588889 0.8 0.6 0.8 0.611111 0.8 0.622222 0.8 0.633333 0.8 0.644444 0.8 0.655556 0.8 0.666667 0.8 0.677778
-                    0.8 0.688889 0.8 0.7 0.8 0.711111 0.8 0.722222 0.8 0.733333 0.8 0.744444 0.8 0.755556 0.8 0.766667 0.8 0.777778 0.8 0.788889 0.8 0.8 0.8 0.811111 0.8 0.822222 0.8 0.833333 0.8 0.844444
-                    0.8 0.855556 0.8 0.866667 0.8 0.877778 0.8 0.888889 0.8 0.9 0.8 0.911111 0.8 0.922222 0.8 0.933333 0.8 0.944444 0.8 0.955556 0.8 0.966667 0.8 0.977778 0.8 0.988889 0.8 1 0.825 0
-                    0.825 0.0111111 0.825 0.0222222 0.825 0.0333333 0.825 0.0444444 0.825 0.0555556 0.825 0.0666667 0.825 0.0777778 0.825 0.0888889 0.825 0.1 0.825 0.111111 0.825 0.122222 0.825 0.133333 0.825 0.144444 0.825 0.155556 0.825 0.166667
-                    0.825 0.177778 0.825 0.188889 0.825 0.2 0.825 0.211111 0.825 0.222222 0.825 0.233333 0.825 0.244444 0.825 0.255556 0.825 0.266667 0.825 0.277778 0.825 0.288889 0.825 0.3 0.825 0.311111 0.825 0.322222 0.825 0.333333
-                    0.825 0.344444 0.825 0.355556 0.825 0.366667 0.825 0.377778 0.825 0.388889 0.825 0.4 0.825 0.411111 0.825 0.422222 0.825 0.433333 0.825 0.444444 0.825 0.455556 0.825 0.466667 0.825 0.477778 0.825 0.488889 0.825 0.5
-                    0.825 0.511111 0.825 0.522222 0.825 0.533333 0.825 0.544444 0.825 0.555556 0.825 0.566667 0.825 0.577778 0.825 0.588889 0.825 0.6 0.825 0.611111 0.825 0.622222 0.825 0.633333 0.825 0.644444 0.825 0.655556 0.825 0.666667
-                    0.825 0.677778 0.825 0.688889 0.825 0.7 0.825 0.711111 0.825 0.722222 0.825 0.733333 0.825 0.744444 0.825 0.755556 0.825 0.766667 0.825 0.777778 0.825 0.788889 0.825 0.8 0.825 0.811111 0.825 0.822222 0.825 0.833333
-                    0.825 0.844444 0.825 0.855556 0.825 0.866667 0.825 0.877778 0.825 0.888889 0.825 0.9 0.825 0.911111 0.825 0.922222 0.825 0.933333 0.825 0.944444 0.825 0.955556 0.825 0.966667 0.825 0.977778 0.825 0.988889 0.825 1
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-                    0.85 0.666667 0.85 0.677778 0.85 0.688889 0.85 0.7 0.85 0.711111 0.85 0.722222 0.85 0.733333 0.85 0.744444 0.85 0.755556 0.85 0.766667 0.85 0.777778 0.85 0.788889 0.85 0.8 0.85 0.811111 0.85 0.822222
-                    0.85 0.833333 0.85 0.844444 0.85 0.855556 0.85 0.866667 0.85 0.877778 0.85 0.888889 0.85 0.9 0.85 0.911111 0.85 0.922222 0.85 0.933333 0.85 0.944444 0.85 0.955556 0.85 0.966667 0.85 0.977778 0.85 0.988889
-                    0.85 1 0.875 0 0.875 0.0111111 0.875 0.0222222 0.875 0.0333333 0.875 0.0444444 0.875 0.0555556 0.875 0.0666667 0.875 0.0777778 0.875 0.0888889 0.875 0.1 0.875 0.111111 0.875 0.122222 0.875 0.133333 0.875 0.144444
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-                    0.875 0.488889 0.875 0.5 0.875 0.511111 0.875 0.522222 0.875 0.533333 0.875 0.544444 0.875 0.555556 0.875 0.566667 0.875 0.577778 0.875 0.588889 0.875 0.6 0.875 0.611111 0.875 0.622222 0.875 0.633333 0.875 0.644444
-                    0.875 0.655556 0.875 0.666667 0.875 0.677778 0.875 0.688889 0.875 0.7 0.875 0.711111 0.875 0.722222 0.875 0.733333 0.875 0.744444 0.875 0.755556 0.875 0.766667 0.875 0.777778 0.875 0.788889 0.875 0.8 0.875 0.811111
-                    0.875 0.822222 0.875 0.833333 0.875 0.844444 0.875 0.855556 0.875 0.866667 0.875 0.877778 0.875 0.888889 0.875 0.9 0.875 0.911111 0.875 0.922222 0.875 0.933333 0.875 0.944444 0.875 0.955556 0.875 0.966667 0.875 0.977778
-                    0.875 0.988889 0.875 1 0.9 0 0.9 0.0111111 0.9 0.0222222 0.9 0.0333333 0.9 0.0444444 0.9 0.0555556 0.9 0.0666667 0.9 0.0777778 0.9 0.0888889 0.9 0.1 0.9 0.111111 0.9 0.122222 0.9 0.133333
-                    0.9 0.144444 0.9 0.155556 0.9 0.166667 0.9 0.177778 0.9 0.188889 0.9 0.2 0.9 0.211111 0.9 0.222222 0.9 0.233333 0.9 0.244444 0.9 0.255556 0.9 0.266667 0.9 0.277778 0.9 0.288889 0.9 0.3
-                    0.9 0.311111 0.9 0.322222 0.9 0.333333 0.9 0.344444 0.9 0.355556 0.9 0.366667 0.9 0.377778 0.9 0.388889 0.9 0.4 0.9 0.411111 0.9 0.422222 0.9 0.433333 0.9 0.444444 0.9 0.455556 0.9 0.466667
-                    0.9 0.477778 0.9 0.488889 0.9 0.5 0.9 0.511111 0.9 0.522222 0.9 0.533333 0.9 0.544444 0.9 0.555556 0.9 0.566667 0.9 0.577778 0.9 0.588889 0.9 0.6 0.9 0.611111 0.9 0.622222 0.9 0.633333
-                    0.9 0.644444 0.9 0.655556 0.9 0.666667 0.9 0.677778 0.9 0.688889 0.9 0.7 0.9 0.711111 0.9 0.722222 0.9 0.733333 0.9 0.744444 0.9 0.755556 0.9 0.766667 0.9 0.777778 0.9 0.788889 0.9 0.8
-                    0.9 0.811111 0.9 0.822222 0.9 0.833333 0.9 0.844444 0.9 0.855556 0.9 0.866667 0.9 0.877778 0.9 0.888889 0.9 0.9 0.9 0.911111 0.9 0.922222 0.9 0.933333 0.9 0.944444 0.9 0.955556 0.9 0.966667
-                    0.9 0.977778 0.9 0.988889 0.9 1 0.925 0 0.925 0.0111111 0.925 0.0222222 0.925 0.0333333 0.925 0.0444444 0.925 0.0555556 0.925 0.0666667 0.925 0.0777778 0.925 0.0888889 0.925 0.1 0.925 0.111111 0.925 0.122222
-                    0.925 0.133333 0.925 0.144444 0.925 0.155556 0.925 0.166667 0.925 0.177778 0.925 0.188889 0.925 0.2 0.925 0.211111 0.925 0.222222 0.925 0.233333 0.925 0.244444 0.925 0.255556 0.925 0.266667 0.925 0.277778 0.925 0.288889
-                    0.925 0.3 0.925 0.311111 0.925 0.322222 0.925 0.333333 0.925 0.344444 0.925 0.355556 0.925 0.366667 0.925 0.377778 0.925 0.388889 0.925 0.4 0.925 0.411111 0.925 0.422222 0.925 0.433333 0.925 0.444444 0.925 0.455556
-                    0.925 0.466667 0.925 0.477778 0.925 0.488889 0.925 0.5 0.925 0.511111 0.925 0.522222 0.925 0.533333 0.925 0.544444 0.925 0.555556 0.925 0.566667 0.925 0.577778 0.925 0.588889 0.925 0.6 0.925 0.611111 0.925 0.622222
-                    0.925 0.633333 0.925 0.644444 0.925 0.655556 0.925 0.666667 0.925 0.677778 0.925 0.688889 0.925 0.7 0.925 0.711111 0.925 0.722222 0.925 0.733333 0.925 0.744444 0.925 0.755556 0.925 0.766667 0.925 0.777778 0.925 0.788889
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-                    0.925 0.966667 0.925 0.977778 0.925 0.988889 0.925 1 0.95 0 0.95 0.0111111 0.95 0.0222222 0.95 0.0333333 0.95 0.0444444 0.95 0.0555556 0.95 0.0666667 0.95 0.0777778 0.95 0.0888889 0.95 0.1 0.95 0.111111
-                    0.95 0.122222 0.95 0.133333 0.95 0.144444 0.95 0.155556 0.95 0.166667 0.95 0.177778 0.95 0.188889 0.95 0.2 0.95 0.211111 0.95 0.222222 0.95 0.233333 0.95 0.244444 0.95 0.255556 0.95 0.266667 0.95 0.277778
-                    0.95 0.288889 0.95 0.3 0.95 0.311111 0.95 0.322222 0.95 0.333333 0.95 0.344444 0.95 0.355556 0.95 0.366667 0.95 0.377778 0.95 0.388889 0.95 0.4 0.95 0.411111 0.95 0.422222 0.95 0.433333 0.95 0.444444
-                    0.95 0.455556 0.95 0.466667 0.95 0.477778 0.95 0.488889 0.95 0.5 0.95 0.511111 0.95 0.522222 0.95 0.533333 0.95 0.544444 0.95 0.555556 0.95 0.566667 0.95 0.577778 0.95 0.588889 0.95 0.6 0.95 0.611111
-                    0.95 0.622222 0.95 0.633333 0.95 0.644444 0.95 0.655556 0.95 0.666667 0.95 0.677778 0.95 0.688889 0.95 0.7 0.95 0.711111 0.95 0.722222 0.95 0.733333 0.95 0.744444 0.95 0.755556 0.95 0.766667 0.95 0.777778
-                    0.95 0.788889 0.95 0.8 0.95 0.811111 0.95 0.822222 0.95 0.833333 0.95 0.844444 0.95 0.855556 0.95 0.866667 0.95 0.877778 0.95 0.888889 0.95 0.9 0.95 0.911111 0.95 0.922222 0.95 0.933333 0.95 0.944444
-                    0.95 0.955556 0.95 0.966667 0.95 0.977778 0.95 0.988889 0.95 1 0.975 0 0.975 0.0111111 0.975 0.0222222 0.975 0.0333333 0.975 0.0444444 0.975 0.0555556 0.975 0.0666667 0.975 0.0777778 0.975 0.0888889 0.975 0.1
-                    0.975 0.111111 0.975 0.122222 0.975 0.133333 0.975 0.144444 0.975 0.155556 0.975 0.166667 0.975 0.177778 0.975 0.188889 0.975 0.2 0.975 0.211111 0.975 0.222222 0.975 0.233333 0.975 0.244444 0.975 0.255556 0.975 0.266667
-                    0.975 0.277778 0.975 0.288889 0.975 0.3 0.975 0.311111 0.975 0.322222 0.975 0.333333 0.975 0.344444 0.975 0.355556 0.975 0.366667 0.975 0.377778 0.975 0.388889 0.975 0.4 0.975 0.411111 0.975 0.422222 0.975 0.433333
-                    0.975 0.444444 0.975 0.455556 0.975 0.466667 0.975 0.477778 0.975 0.488889 0.975 0.5 0.975 0.511111 0.975 0.522222 0.975 0.533333 0.975 0.544444 0.975 0.555556 0.975 0.566667 0.975 0.577778 0.975 0.588889 0.975 0.6
-                    0.975 0.611111 0.975 0.622222 0.975 0.633333 0.975 0.644444 0.975 0.655556 0.975 0.666667 0.975 0.677778 0.975 0.688889 0.975 0.7 0.975 0.711111 0.975 0.722222 0.975 0.733333 0.975 0.744444 0.975 0.755556 0.975 0.766667
-                    0.975 0.777778 0.975 0.788889 0.975 0.8 0.975 0.811111 0.975 0.822222 0.975 0.833333 0.975 0.844444 0.975 0.855556 0.975 0.866667 0.975 0.877778 0.975 0.888889 0.975 0.9 0.975 0.911111 0.975 0.922222 0.975 0.933333
-                    0.975 0.944444 0.975 0.955556 0.975 0.966667 0.975 0.977778 0.975 0.988889 0.975 1 1 0 1 0.0111111 1 0.0222222 1 0.0333333 1 0.0444444 1 0.0555556 1 0.0666667 1 0.0777778 1 0.0888889
-                    1 0.1 1 0.111111 1 0.122222 1 0.133333 1 0.144444 1 0.155556 1 0.166667 1 0.177778 1 0.188889 1 0.2 1 0.211111 1 0.222222 1 0.233333 1 0.244444 1 0.255556
-                    1 0.266667 1 0.277778 1 0.288889 1 0.3 1 0.311111 1 0.322222 1 0.333333 1 0.344444 1 0.355556 1 0.366667 1 0.377778 1 0.388889 1 0.4 1 0.411111 1 0.422222
-                    1 0.433333 1 0.444444 1 0.455556 1 0.466667 1 0.477778 1 0.488889 1 0.5 1 0.511111 1 0.522222 1 0.533333 1 0.544444 1 0.555556 1 0.566667 1 0.577778 1 0.588889
-                    1 0.6 1 0.611111 1 0.622222 1 0.633333 1 0.644444 1 0.655556 1 0.666667 1 0.677778 1 0.688889 1 0.7 1 0.711111 1 0.722222 1 0.733333 1 0.744444 1 0.755556
-                    1 0.766667 1 0.777778 1 0.788889 1 0.8 1 0.811111 1 0.822222 1 0.833333 1 0.844444 1 0.855556 1 0.866667 1 0.877778 1 0.888889 1 0.9 1 0.911111 1 0.922222 1 0.933333 1 0.944444 1 0.955556 1 0.966667 1 0.977778 1 0.988889 1 1"
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-                621 712 713 621 713 622 622 713 714 622 714 623 623 714 715 623 715 624 624 715 716 624 716 625 625 716 717 625 717 626
-                626 717 718 626 718 627 627 718 719 627 719 628 628 719 720 628 720 629 629 720 721 629 721 630 630 721 722 630 722 631
-                631 722 723 631 723 632 632 723 724 632 724 633 633 724 725 633 725 634 634 725 726 634 726 635 635 726 727 635 727 636
-                637 728 729 637 729 638 638 729 730 638 730 639 639 730 731 639 731 640 640 731 732 640 732 641 641 732 733 641 733 642
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-                662 753 754 662 754 663 663 754 755 663 755 664 664 755 756 664 756 665 665 756 757 665 757 666 666 757 758 666 758 667
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-                672 763 764 672 764 673 673 764 765 673 765 674 674 765 766 674 766 675 675 766 767 675 767 676 676 767 768 676 768 677
-                677 768 769 677 769 678 678 769 770 678 770 679 679 770 771 679 771 680 680 771 772 680 772 681 681 772 773 681 773 682
-                682 773 774 682 774 683 683 774 775 683 775 684 684 775 776 684 776 685 685 776 777 685 777 686 686 777 778 686 778 687
-                687 778 779 687 779 688 688 779 780 688 780 689 689 780 781 689 781 690 690 781 782 690 782 691 691 782 783 691 783 692
-                692 783 784 692 784 693 693 784 785 693 785 694 694 785 786 694 786 695 695 786 787 695 787 696 696 787 788 696 788 697
-                697 788 789 697 789 698 698 789 790 698 790 699 699 790 791 699 791 700 700 791 792 700 792 701 701 792 793 701 793 702
-                702 793 794 702 794 703 703 794 795 703 795 704 704 795 796 704 796 705 705 796 797 705 797 706 706 797 798 706 798 707
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-                712 803 804 712 804 713 713 804 805 713 805 714 714 805 806 714 806 715 715 806 807 715 807 716 716 807 808 716 808 717
-                717 808 809 717 809 718 718 809 810 718 810 719 719 810 811 719 811 720 720 811 812 720 812 721 721 812 813 721 813 722
-                722 813 814 722 814 723 723 814 815 723 815 724 724 815 816 724 816 725 725 816 817 725 817 726 726 817 818 726 818 727
-                728 819 820 728 820 729 729 820 821 729 821 730 730 821 822 730 822 731 731 822 823 731 823 732 732 823 824 732 824 733
-                733 824 825 733 825 734 734 825 826 734 826 735 735 826 827 735 827 736 736 827 828 736 828 737 737 828 829 737 829 738
-                738 829 830 738 830 739 739 830 831 739 831 740 740 831 832 740 832 741 741 832 833 741 833 742 742 833 834 742 834 743
-                743 834 835 743 835 744 744 835 836 744 836 745 745 836 837 745 837 746 746 837 838 746 838 747 747 838 839 747 839 748
-                748 839 840 748 840 749 749 840 841 749 841 750 750 841 842 750 842 751 751 842 843 751 843 752 752 843 844 752 844 753
-                753 844 845 753 845 754 754 845 846 754 846 755 755 846 847 755 847 756 756 847 848 756 848 757 757 848 849 757 849 758
-                758 849 850 758 850 759 759 850 851 759 851 760 760 851 852 760 852 761 761 852 853 761 853 762 762 853 854 762 854 763
-                763 854 855 763 855 764 764 855 856 764 856 765 765 856 857 765 857 766 766 857 858 766 858 767 767 858 859 767 859 768
-                768 859 860 768 860 769 769 860 861 769 861 770 770 861 862 770 862 771 771 862 863 771 863 772 772 863 864 772 864 773
-                773 864 865 773 865 774 774 865 866 774 866 775 775 866 867 775 867 776 776 867 868 776 868 777 777 868 869 777 869 778
-                778 869 870 778 870 779 779 870 871 779 871 780 780 871 872 780 872 781 781 872 873 781 873 782 782 873 874 782 874 783
-                783 874 875 783 875 784 784 875 876 784 876 785 785 876 877 785 877 786 786 877 878 786 878 787 787 878 879 787 879 788
-                788 879 880 788 880 789 789 880 881 789 881 790 790 881 882 790 882 791 791 882 883 791 883 792 792 883 884 792 884 793
-                793 884 885 793 885 794 794 885 886 794 886 795 795 886 887 795 887 796 796 887 888 796 888 797 797 888 889 797 889 798
-                798 889 890 798 890 799 799 890 891 799 891 800 800 891 892 800 892 801 801 892 893 801 893 802 802 893 894 802 894 803
-                803 894 895 803 895 804 804 895 896 804 896 805 805 896 897 805 897 806 806 897 898 806 898 807 807 898 899 807 899 808
-                808 899 900 808 900 809 809 900 901 809 901 810 810 901 902 810 902 811 811 902 903 811 903 812 812 903 904 812 904 813
-                813 904 905 813 905 814 814 905 906 814 906 815 815 906 907 815 907 816 816 907 908 816 908 817 817 908 909 817 909 818
-                819 910 911 819 911 820 820 911 912 820 912 821 821 912 913 821 913 822 822 913 914 822 914 823 823 914 915 823 915 824
-                824 915 916 824 916 825 825 916 917 825 917 826 826 917 918 826 918 827 827 918 919 827 919 828 828 919 920 828 920 829
-                829 920 921 829 921 830 830 921 922 830 922 831 831 922 923 831 923 832 832 923 924 832 924 833 833 924 925 833 925 834
-                834 925 926 834 926 835 835 926 927 835 927 836 836 927 928 836 928 837 837 928 929 837 929 838 838 929 930 838 930 839
-                839 930 931 839 931 840 840 931 932 840 932 841 841 932 933 841 933 842 842 933 934 842 934 843 843 934 935 843 935 844
-                844 935 936 844 936 845 845 936 937 845 937 846 846 937 938 846 938 847 847 938 939 847 939 848 848 939 940 848 940 849
-                849 940 941 849 941 850 850 941 942 850 942 851 851 942 943 851 943 852 852 943 944 852 944 853 853 944 945 853 945 854
-                854 945 946 854 946 855 855 946 947 855 947 856 856 947 948 856 948 857 857 948 949 857 949 858 858 949 950 858 950 859
-                859 950 951 859 951 860 860 951 952 860 952 861 861 952 953 861 953 862 862 953 954 862 954 863 863 954 955 863 955 864
-                864 955 956 864 956 865 865 956 957 865 957 866 866 957 958 866 958 867 867 958 959 867 959 868 868 959 960 868 960 869
-                869 960 961 869 961 870 870 961 962 870 962 871 871 962 963 871 963 872 872 963 964 872 964 873 873 964 965 873 965 874
-                874 965 966 874 966 875 875 966 967 875 967 876 876 967 968 876 968 877 877 968 969 877 969 878 878 969 970 878 970 879
-                879 970 971 879 971 880 880 971 972 880 972 881 881 972 973 881 973 882 882 973 974 882 974 883 883 974 975 883 975 884
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-                889 980 981 889 981 890 890 981 982 890 982 891 891 982 983 891 983 892 892 983 984 892 984 893 893 984 985 893 985 894
-                894 985 986 894 986 895 895 986 987 895 987 896 896 987 988 896 988 897 897 988 989 897 989 898 898 989 990 898 990 899
-                899 990 991 899 991 900 900 991 992 900 992 901 901 992 993 901 993 902 902 993 994 902 994 903 903 994 995 903 995 904
-                904 995 996 904 996 905 905 996 997 905 997 906 906 997 998 906 998 907 907 998 999 907 999 908 908 999 1000 908 1000 909
-                910 1001 1002 910 1002 911 911 1002 1003 911 1003 912 912 1003 1004 912 1004 913 913 1004 1005 913 1005 914 914 1005 1006 914 1006 915
-                915 1006 1007 915 1007 916 916 1007 1008 916 1008 917 917 1008 1009 917 1009 918 918 1009 1010 918 1010 919 919 1010 1011 919 1011 920
-                920 1011 1012 920 1012 921 921 1012 1013 921 1013 922 922 1013 1014 922 1014 923 923 1014 1015 923 1015 924 924 1015 1016 924 1016 925
-                925 1016 1017 925 1017 926 926 1017 1018 926 1018 927 927 1018 1019 927 1019 928 928 1019 1020 928 1020 929 929 1020 1021 929 1021 930
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-                935 1026 1027 935 1027 936 936 1027 1028 936 1028 937 937 1028 1029 937 1029 938 938 1029 1030 938 1030 939 939 1030 1031 939 1031 940
-                940 1031 1032 940 1032 941 941 1032 1033 941 1033 942 942 1033 1034 942 1034 943 943 1034 1035 943 1035 944 944 1035 1036 944 1036 945
-                945 1036 1037 945 1037 946 946 1037 1038 946 1038 947 947 1038 1039 947 1039 948 948 1039 1040 948 1040 949 949 1040 1041 949 1041 950
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-                955 1046 1047 955 1047 956 956 1047 1048 956 1048 957 957 1048 1049 957 1049 958 958 1049 1050 958 1050 959 959 1050 1051 959 1051 960
-                960 1051 1052 960 1052 961 961 1052 1053 961 1053 962 962 1053 1054 962 1054 963 963 1054 1055 963 1055 964 964 1055 1056 964 1056 965
-                965 1056 1057 965 1057 966 966 1057 1058 966 1058 967 967 1058 1059 967 1059 968 968 1059 1060 968 1060 969 969 1060 1061 969 1061 970
-                970 1061 1062 970 1062 971 971 1062 1063 971 1063 972 972 1063 1064 972 1064 973 973 1064 1065 973 1065 974 974 1065 1066 974 1066 975
-                975 1066 1067 975 1067 976 976 1067 1068 976 1068 977 977 1068 1069 977 1069 978 978 1069 1070 978 1070 979 979 1070 1071 979 1071 980
-                980 1071 1072 980 1072 981 981 1072 1073 981 1073 982 982 1073 1074 982 1074 983 983 1074 1075 983 1075 984 984 1075 1076 984 1076 985
-                985 1076 1077 985 1077 986 986 1077 1078 986 1078 987 987 1078 1079 987 1079 988 988 1079 1080 988 1080 989 989 1080 1081 989 1081 990
-                990 1081 1082 990 1082 991 991 1082 1083 991 1083 992 992 1083 1084 992 1084 993 993 1084 1085 993 1085 994 994 1085 1086 994 1086 995
-                995 1086 1087 995 1087 996 996 1087 1088 996 1088 997 997 1088 1089 997 1089 998 998 1089 1090 998 1090 999 999 1090 1091 999 1091 1000
-                1001 1092 1093 1001 1093 1002 1002 1093 1094 1002 1094 1003 1003 1094 1095 1003 1095 1004 1004 1095 1096 1004 1096 1005 1005 1096 1097 1005 1097 1006
-                1006 1097 1098 1006 1098 1007 1007 1098 1099 1007 1099 1008 1008 1099 1100 1008 1100 1009 1009 1100 1101 1009 1101 1010 1010 1101 1102 1010 1102 1011
-                1011 1102 1103 1011 1103 1012 1012 1103 1104 1012 1104 1013 1013 1104 1105 1013 1105 1014 1014 1105 1106 1014 1106 1015 1015 1106 1107 1015 1107 1016
-                1016 1107 1108 1016 1108 1017 1017 1108 1109 1017 1109 1018 1018 1109 1110 1018 1110 1019 1019 1110 1111 1019 1111 1020 1020 1111 1112 1020 1112 1021
-                1021 1112 1113 1021 1113 1022 1022 1113 1114 1022 1114 1023 1023 1114 1115 1023 1115 1024 1024 1115 1116 1024 1116 1025 1025 1116 1117 1025 1117 1026
-                1026 1117 1118 1026 1118 1027 1027 1118 1119 1027 1119 1028 1028 1119 1120 1028 1120 1029 1029 1120 1121 1029 1121 1030 1030 1121 1122 1030 1122 1031
-                1031 1122 1123 1031 1123 1032 1032 1123 1124 1032 1124 1033 1033 1124 1125 1033 1125 1034 1034 1125 1126 1034 1126 1035 1035 1126 1127 1035 1127 1036
-                1036 1127 1128 1036 1128 1037 1037 1128 1129 1037 1129 1038 1038 1129 1130 1038 1130 1039 1039 1130 1131 1039 1131 1040 1040 1131 1132 1040 1132 1041
-                1041 1132 1133 1041 1133 1042 1042 1133 1134 1042 1134 1043 1043 1134 1135 1043 1135 1044 1044 1135 1136 1044 1136 1045 1045 1136 1137 1045 1137 1046
-                1046 1137 1138 1046 1138 1047 1047 1138 1139 1047 1139 1048 1048 1139 1140 1048 1140 1049 1049 1140 1141 1049 1141 1050 1050 1141 1142 1050 1142 1051
-                1051 1142 1143 1051 1143 1052 1052 1143 1144 1052 1144 1053 1053 1144 1145 1053 1145 1054 1054 1145 1146 1054 1146 1055 1055 1146 1147 1055 1147 1056
-                1056 1147 1148 1056 1148 1057 1057 1148 1149 1057 1149 1058 1058 1149 1150 1058 1150 1059 1059 1150 1151 1059 1151 1060 1060 1151 1152 1060 1152 1061
-                1061 1152 1153 1061 1153 1062 1062 1153 1154 1062 1154 1063 1063 1154 1155 1063 1155 1064 1064 1155 1156 1064 1156 1065 1065 1156 1157 1065 1157 1066
-                1066 1157 1158 1066 1158 1067 1067 1158 1159 1067 1159 1068 1068 1159 1160 1068 1160 1069 1069 1160 1161 1069 1161 1070 1070 1161 1162 1070 1162 1071
-                1071 1162 1163 1071 1163 1072 1072 1163 1164 1072 1164 1073 1073 1164 1165 1073 1165 1074 1074 1165 1166 1074 1166 1075 1075 1166 1167 1075 1167 1076
-                1076 1167 1168 1076 1168 1077 1077 1168 1169 1077 1169 1078 1078 1169 1170 1078 1170 1079 1079 1170 1171 1079 1171 1080 1080 1171 1172 1080 1172 1081
-                1081 1172 1173 1081 1173 1082 1082 1173 1174 1082 1174 1083 1083 1174 1175 1083 1175 1084 1084 1175 1176 1084 1176 1085 1085 1176 1177 1085 1177 1086
-                1086 1177 1178 1086 1178 1087 1087 1178 1179 1087 1179 1088 1088 1179 1180 1088 1180 1089 1089 1180 1181 1089 1181 1090 1090 1181 1182 1090 1182 1091
-                1092 1183 1184 1092 1184 1093 1093 1184 1185 1093 1185 1094 1094 1185 1186 1094 1186 1095 1095 1186 1187 1095 1187 1096 1096 1187 1188 1096 1188 1097
-                1097 1188 1189 1097 1189 1098 1098 1189 1190 1098 1190 1099 1099 1190 1191 1099 1191 1100 1100 1191 1192 1100 1192 1101 1101 1192 1193 1101 1193 1102
-                1102 1193 1194 1102 1194 1103 1103 1194 1195 1103 1195 1104 1104 1195 1196 1104 1196 1105 1105 1196 1197 1105 1197 1106 1106 1197 1198 1106 1198 1107
-                1107 1198 1199 1107 1199 1108 1108 1199 1200 1108 1200 1109 1109 1200 1201 1109 1201 1110 1110 1201 1202 1110 1202 1111 1111 1202 1203 1111 1203 1112
-                1112 1203 1204 1112 1204 1113 1113 1204 1205 1113 1205 1114 1114 1205 1206 1114 1206 1115 1115 1206 1207 1115 1207 1116 1116 1207 1208 1116 1208 1117
-                1117 1208 1209 1117 1209 1118 1118 1209 1210 1118 1210 1119 1119 1210 1211 1119 1211 1120 1120 1211 1212 1120 1212 1121 1121 1212 1213 1121 1213 1122
-                1122 1213 1214 1122 1214 1123 1123 1214 1215 1123 1215 1124 1124 1215 1216 1124 1216 1125 1125 1216 1217 1125 1217 1126 1126 1217 1218 1126 1218 1127
-                1127 1218 1219 1127 1219 1128 1128 1219 1220 1128 1220 1129 1129 1220 1221 1129 1221 1130 1130 1221 1222 1130 1222 1131 1131 1222 1223 1131 1223 1132
-                1132 1223 1224 1132 1224 1133 1133 1224 1225 1133 1225 1134 1134 1225 1226 1134 1226 1135 1135 1226 1227 1135 1227 1136 1136 1227 1228 1136 1228 1137
-                1137 1228 1229 1137 1229 1138 1138 1229 1230 1138 1230 1139 1139 1230 1231 1139 1231 1140 1140 1231 1232 1140 1232 1141 1141 1232 1233 1141 1233 1142
-                1142 1233 1234 1142 1234 1143 1143 1234 1235 1143 1235 1144 1144 1235 1236 1144 1236 1145 1145 1236 1237 1145 1237 1146 1146 1237 1238 1146 1238 1147
-                1147 1238 1239 1147 1239 1148 1148 1239 1240 1148 1240 1149 1149 1240 1241 1149 1241 1150 1150 1241 1242 1150 1242 1151 1151 1242 1243 1151 1243 1152
-                1152 1243 1244 1152 1244 1153 1153 1244 1245 1153 1245 1154 1154 1245 1246 1154 1246 1155 1155 1246 1247 1155 1247 1156 1156 1247 1248 1156 1248 1157
-                1157 1248 1249 1157 1249 1158 1158 1249 1250 1158 1250 1159 1159 1250 1251 1159 1251 1160 1160 1251 1252 1160 1252 1161 1161 1252 1253 1161 1253 1162
-                1162 1253 1254 1162 1254 1163 1163 1254 1255 1163 1255 1164 1164 1255 1256 1164 1256 1165 1165 1256 1257 1165 1257 1166 1166 1257 1258 1166 1258 1167
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-                1870 1961 1962 1870 1962 1871 1871 1962 1963 1871 1963 1872 1872 1963 1964 1872 1964 1873 1873 1964 1965 1873 1965 1874 1874 1965 1966 1874 1966 1875
-                1875 1966 1967 1875 1967 1876 1876 1967 1968 1876 1968 1877 1877 1968 1969 1877 1969 1878 1878 1969 1970 1878 1970 1879 1879 1970 1971 1879 1971 1880
-                1880 1971 1972 1880 1972 1881 1881 1972 1973 1881 1973 1882 1882 1973 1974 1882 1974 1883 1883 1974 1975 1883 1975 1884 1884 1975 1976 1884 1976 1885
-                1885 1976 1977 1885 1977 1886 1886 1977 1978 1886 1978 1887 1887 1978 1979 1887 1979 1888 1888 1979 1980 1888 1980 1889 1889 1980 1981 1889 1981 1890
-                1890 1981 1982 1890 1982 1891 1891 1982 1983 1891 1983 1892 1892 1983 1984 1892 1984 1893 1893 1984 1985 1893 1985 1894 1894 1985 1986 1894 1986 1895
-                1895 1986 1987 1895 1987 1896 1896 1987 1988 1896 1988 1897 1897 1988 1989 1897 1989 1898 1898 1989 1990 1898 1990 1899 1899 1990 1991 1899 1991 1900
-                1900 1991 1992 1900 1992 1901 1901 1992 1993 1901 1993 1902 1902 1993 1994 1902 1994 1903 1903 1994 1995 1903 1995 1904 1904 1995 1996 1904 1996 1905
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-                1911 2002 2003 1911 2003 1912 1912 2003 2004 1912 2004 1913 1913 2004 2005 1913 2005 1914 1914 2005 2006 1914 2006 1915 1915 2006 2007 1915 2007 1916
-                1916 2007 2008 1916 2008 1917 1917 2008 2009 1917 2009 1918 1918 2009 2010 1918 2010 1919 1919 2010 2011 1919 2011 1920 1920 2011 2012 1920 2012 1921
-                1921 2012 2013 1921 2013 1922 1922 2013 2014 1922 2014 1923 1923 2014 2015 1923 2015 1924 1924 2015 2016 1924 2016 1925 1925 2016 2017 1925 2017 1926
-                1926 2017 2018 1926 2018 1927 1927 2018 2019 1927 2019 1928 1928 2019 2020 1928 2020 1929 1929 2020 2021 1929 2021 1930 1930 2021 2022 1930 2022 1931
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-                1971 2062 2063 1971 2063 1972 1972 2063 2064 1972 2064 1973 1973 2064 2065 1973 2065 1974 1974 2065 2066 1974 2066 1975 1975 2066 2067 1975 2067 1976
-                1976 2067 2068 1976 2068 1977 1977 2068 2069 1977 2069 1978 1978 2069 2070 1978 2070 1979 1979 2070 2071 1979 2071 1980 1980 2071 2072 1980 2072 1981
-                1981 2072 2073 1981 2073 1982 1982 2073 2074 1982 2074 1983 1983 2074 2075 1983 2075 1984 1984 2075 2076 1984 2076 1985 1985 2076 2077 1985 2077 1986
-                1986 2077 2078 1986 2078 1987 1987 2078 2079 1987 2079 1988 1988 2079 2080 1988 2080 1989 1989 2080 2081 1989 2081 1990 1990 2081 2082 1990 2082 1991
-                1991 2082 2083 1991 2083 1992 1992 2083 2084 1992 2084 1993 1993 2084 2085 1993 2085 1994 1994 2085 2086 1994 2086 1995 1995 2086 2087 1995 2087 1996
-                1996 2087 2088 1996 2088 1997 1997 2088 2089 1997 2089 1998 1998 2089 2090 1998 2090 1999 1999 2090 2091 1999 2091 2000 2000 2091 2092 2000 2092 2001
-                2002 2093 2094 2002 2094 2003 2003 2094 2095 2003 2095 2004 2004 2095 2096 2004 2096 2005 2005 2096 2097 2005 2097 2006 2006 2097 2098 2006 2098 2007
-                2007 2098 2099 2007 2099 2008 2008 2099 2100 2008 2100 2009 2009 2100 2101 2009 2101 2010 2010 2101 2102 2010 2102 2011 2011 2102 2103 2011 2103 2012
-                2012 2103 2104 2012 2104 2013 2013 2104 2105 2013 2105 2014 2014 2105 2106 2014 2106 2015 2015 2106 2107 2015 2107 2016 2016 2107 2108 2016 2108 2017
-                2017 2108 2109 2017 2109 2018 2018 2109 2110 2018 2110 2019 2019 2110 2111 2019 2111 2020 2020 2111 2112 2020 2112 2021 2021 2112 2113 2021 2113 2022
-                2022 2113 2114 2022 2114 2023 2023 2114 2115 2023 2115 2024 2024 2115 2116 2024 2116 2025 2025 2116 2117 2025 2117 2026 2026 2117 2118 2026 2118 2027
-                2027 2118 2119 2027 2119 2028 2028 2119 2120 2028 2120 2029 2029 2120 2121 2029 2121 2030 2030 2121 2122 2030 2122 2031 2031 2122 2123 2031 2123 2032
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-                2037 2128 2129 2037 2129 2038 2038 2129 2130 2038 2130 2039 2039 2130 2131 2039 2131 2040 2040 2131 2132 2040 2132 2041 2041 2132 2133 2041 2133 2042
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-                2047 2138 2139 2047 2139 2048 2048 2139 2140 2048 2140 2049 2049 2140 2141 2049 2141 2050 2050 2141 2142 2050 2142 2051 2051 2142 2143 2051 2143 2052
-                2052 2143 2144 2052 2144 2053 2053 2144 2145 2053 2145 2054 2054 2145 2146 2054 2146 2055 2055 2146 2147 2055 2147 2056 2056 2147 2148 2056 2148 2057
-                2057 2148 2149 2057 2149 2058 2058 2149 2150 2058 2150 2059 2059 2150 2151 2059 2151 2060 2060 2151 2152 2060 2152 2061 2061 2152 2153 2061 2153 2062
-                2062 2153 2154 2062 2154 2063 2063 2154 2155 2063 2155 2064 2064 2155 2156 2064 2156 2065 2065 2156 2157 2065 2157 2066 2066 2157 2158 2066 2158 2067
-                2067 2158 2159 2067 2159 2068 2068 2159 2160 2068 2160 2069 2069 2160 2161 2069 2161 2070 2070 2161 2162 2070 2162 2071 2071 2162 2163 2071 2163 2072
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-                2077 2168 2169 2077 2169 2078 2078 2169 2170 2078 2170 2079 2079 2170 2171 2079 2171 2080 2080 2171 2172 2080 2172 2081 2081 2172 2173 2081 2173 2082
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-                2087 2178 2179 2087 2179 2088 2088 2179 2180 2088 2180 2089 2089 2180 2181 2089 2181 2090 2090 2181 2182 2090 2182 2091 2091 2182 2183 2091 2183 2092
-                2093 2184 2185 2093 2185 2094 2094 2185 2186 2094 2186 2095 2095 2186 2187 2095 2187 2096 2096 2187 2188 2096 2188 2097 2097 2188 2189 2097 2189 2098
-                2098 2189 2190 2098 2190 2099 2099 2190 2191 2099 2191 2100 2100 2191 2192 2100 2192 2101 2101 2192 2193 2101 2193 2102 2102 2193 2194 2102 2194 2103
-                2103 2194 2195 2103 2195 2104 2104 2195 2196 2104 2196 2105 2105 2196 2197 2105 2197 2106 2106 2197 2198 2106 2198 2107 2107 2198 2199 2107 2199 2108
-                2108 2199 2200 2108 2200 2109 2109 2200 2201 2109 2201 2110 2110 2201 2202 2110 2202 2111 2111 2202 2203 2111 2203 2112 2112 2203 2204 2112 2204 2113
-                2113 2204 2205 2113 2205 2114 2114 2205 2206 2114 2206 2115 2115 2206 2207 2115 2207 2116 2116 2207 2208 2116 2208 2117 2117 2208 2209 2117 2209 2118
-                2118 2209 2210 2118 2210 2119 2119 2210 2211 2119 2211 2120 2120 2211 2212 2120 2212 2121 2121 2212 2213 2121 2213 2122 2122 2213 2214 2122 2214 2123
-                2123 2214 2215 2123 2215 2124 2124 2215 2216 2124 2216 2125 2125 2216 2217 2125 2217 2126 2126 2217 2218 2126 2218 2127 2127 2218 2219 2127 2219 2128
-                2128 2219 2220 2128 2220 2129 2129 2220 2221 2129 2221 2130 2130 2221 2222 2130 2222 2131 2131 2222 2223 2131 2223 2132 2132 2223 2224 2132 2224 2133
-                2133 2224 2225 2133 2225 2134 2134 2225 2226 2134 2226 2135 2135 2226 2227 2135 2227 2136 2136 2227 2228 2136 2228 2137 2137 2228 2229 2137 2229 2138
-                2138 2229 2230 2138 2230 2139 2139 2230 2231 2139 2231 2140 2140 2231 2232 2140 2232 2141 2141 2232 2233 2141 2233 2142 2142 2233 2234 2142 2234 2143
-                2143 2234 2235 2143 2235 2144 2144 2235 2236 2144 2236 2145 2145 2236 2237 2145 2237 2146 2146 2237 2238 2146 2238 2147 2147 2238 2239 2147 2239 2148
-                2148 2239 2240 2148 2240 2149 2149 2240 2241 2149 2241 2150 2150 2241 2242 2150 2242 2151 2151 2242 2243 2151 2243 2152 2152 2243 2244 2152 2244 2153
-                2153 2244 2245 2153 2245 2154 2154 2245 2246 2154 2246 2155 2155 2246 2247 2155 2247 2156 2156 2247 2248 2156 2248 2157 2157 2248 2249 2157 2249 2158
-                2158 2249 2250 2158 2250 2159 2159 2250 2251 2159 2251 2160 2160 2251 2252 2160 2252 2161 2161 2252 2253 2161 2253 2162 2162 2253 2254 2162 2254 2163
-                2163 2254 2255 2163 2255 2164 2164 2255 2256 2164 2256 2165 2165 2256 2257 2165 2257 2166 2166 2257 2258 2166 2258 2167 2167 2258 2259 2167 2259 2168
-                2168 2259 2260 2168 2260 2169 2169 2260 2261 2169 2261 2170 2170 2261 2262 2170 2262 2171 2171 2262 2263 2171 2263 2172 2172 2263 2264 2172 2264 2173
-                2173 2264 2265 2173 2265 2174 2174 2265 2266 2174 2266 2175 2175 2266 2267 2175 2267 2176 2176 2267 2268 2176 2268 2177 2177 2268 2269 2177 2269 2178
-                2178 2269 2270 2178 2270 2179 2179 2270 2271 2179 2271 2180 2180 2271 2272 2180 2272 2181 2181 2272 2273 2181 2273 2182 2182 2273 2274 2182 2274 2183
-                2184 2275 2276 2184 2276 2185 2185 2276 2277 2185 2277 2186 2186 2277 2278 2186 2278 2187 2187 2278 2279 2187 2279 2188 2188 2279 2280 2188 2280 2189
-                2189 2280 2281 2189 2281 2190 2190 2281 2282 2190 2282 2191 2191 2282 2283 2191 2283 2192 2192 2283 2284 2192 2284 2193 2193 2284 2285 2193 2285 2194
-                2194 2285 2286 2194 2286 2195 2195 2286 2287 2195 2287 2196 2196 2287 2288 2196 2288 2197 2197 2288 2289 2197 2289 2198 2198 2289 2290 2198 2290 2199
-                2199 2290 2291 2199 2291 2200 2200 2291 2292 2200 2292 2201 2201 2292 2293 2201 2293 2202 2202 2293 2294 2202 2294 2203 2203 2294 2295 2203 2295 2204
-                2204 2295 2296 2204 2296 2205 2205 2296 2297 2205 2297 2206 2206 2297 2298 2206 2298 2207 2207 2298 2299 2207 2299 2208 2208 2299 2300 2208 2300 2209
-                2209 2300 2301 2209 2301 2210 2210 2301 2302 2210 2302 2211 2211 2302 2303 2211 2303 2212 2212 2303 2304 2212 2304 2213 2213 2304 2305 2213 2305 2214
-                2214 2305 2306 2214 2306 2215 2215 2306 2307 2215 2307 2216 2216 2307 2308 2216 2308 2217 2217 2308 2309 2217 2309 2218 2218 2309 2310 2218 2310 2219
-                2219 2310 2311 2219 2311 2220 2220 2311 2312 2220 2312 2221 2221 2312 2313 2221 2313 2222 2222 2313 2314 2222 2314 2223 2223 2314 2315 2223 2315 2224
-                2224 2315 2316 2224 2316 2225 2225 2316 2317 2225 2317 2226 2226 2317 2318 2226 2318 2227 2227 2318 2319 2227 2319 2228 2228 2319 2320 2228 2320 2229
-                2229 2320 2321 2229 2321 2230 2230 2321 2322 2230 2322 2231 2231 2322 2323 2231 2323 2232 2232 2323 2324 2232 2324 2233 2233 2324 2325 2233 2325 2234
-                2234 2325 2326 2234 2326 2235 2235 2326 2327 2235 2327 2236 2236 2327 2328 2236 2328 2237 2237 2328 2329 2237 2329 2238 2238 2329 2330 2238 2330 2239
-                2239 2330 2331 2239 2331 2240 2240 2331 2332 2240 2332 2241 2241 2332 2333 2241 2333 2242 2242 2333 2334 2242 2334 2243 2243 2334 2335 2243 2335 2244
-                2244 2335 2336 2244 2336 2245 2245 2336 2337 2245 2337 2246 2246 2337 2338 2246 2338 2247 2247 2338 2339 2247 2339 2248 2248 2339 2340 2248 2340 2249
-                2249 2340 2341 2249 2341 2250 2250 2341 2342 2250 2342 2251 2251 2342 2343 2251 2343 2252 2252 2343 2344 2252 2344 2253 2253 2344 2345 2253 2345 2254
-                2254 2345 2346 2254 2346 2255 2255 2346 2347 2255 2347 2256 2256 2347 2348 2256 2348 2257 2257 2348 2349 2257 2349 2258 2258 2349 2350 2258 2350 2259
-                2259 2350 2351 2259 2351 2260 2260 2351 2352 2260 2352 2261 2261 2352 2353 2261 2353 2262 2262 2353 2354 2262 2354 2263 2263 2354 2355 2263 2355 2264
-                2264 2355 2356 2264 2356 2265 2265 2356 2357 2265 2357 2266 2266 2357 2358 2266 2358 2267 2267 2358 2359 2267 2359 2268 2268 2359 2360 2268 2360 2269
-                2269 2360 2361 2269 2361 2270 2270 2361 2362 2270 2362 2271 2271 2362 2363 2271 2363 2272 2272 2363 2364 2272 2364 2273 2273 2364 2365 2273 2365 2274
-                2275 2366 2367 2275 2367 2276 2276 2367 2368 2276 2368 2277 2277 2368 2369 2277 2369 2278 2278 2369 2370 2278 2370 2279 2279 2370 2371 2279 2371 2280
-                2280 2371 2372 2280 2372 2281 2281 2372 2373 2281 2373 2282 2282 2373 2374 2282 2374 2283 2283 2374 2375 2283 2375 2284 2284 2375 2376 2284 2376 2285
-                2285 2376 2377 2285 2377 2286 2286 2377 2378 2286 2378 2287 2287 2378 2379 2287 2379 2288 2288 2379 2380 2288 2380 2289 2289 2380 2381 2289 2381 2290
-                2290 2381 2382 2290 2382 2291 2291 2382 2383 2291 2383 2292 2292 2383 2384 2292 2384 2293 2293 2384 2385 2293 2385 2294 2294 2385 2386 2294 2386 2295
-                2295 2386 2387 2295 2387 2296 2296 2387 2388 2296 2388 2297 2297 2388 2389 2297 2389 2298 2298 2389 2390 2298 2390 2299 2299 2390 2391 2299 2391 2300
-                2300 2391 2392 2300 2392 2301 2301 2392 2393 2301 2393 2302 2302 2393 2394 2302 2394 2303 2303 2394 2395 2303 2395 2304 2304 2395 2396 2304 2396 2305
-                2305 2396 2397 2305 2397 2306 2306 2397 2398 2306 2398 2307 2307 2398 2399 2307 2399 2308 2308 2399 2400 2308 2400 2309 2309 2400 2401 2309 2401 2310
-                2310 2401 2402 2310 2402 2311 2311 2402 2403 2311 2403 2312 2312 2403 2404 2312 2404 2313 2313 2404 2405 2313 2405 2314 2314 2405 2406 2314 2406 2315
-                2315 2406 2407 2315 2407 2316 2316 2407 2408 2316 2408 2317 2317 2408 2409 2317 2409 2318 2318 2409 2410 2318 2410 2319 2319 2410 2411 2319 2411 2320
-                2320 2411 2412 2320 2412 2321 2321 2412 2413 2321 2413 2322 2322 2413 2414 2322 2414 2323 2323 2414 2415 2323 2415 2324 2324 2415 2416 2324 2416 2325
-                2325 2416 2417 2325 2417 2326 2326 2417 2418 2326 2418 2327 2327 2418 2419 2327 2419 2328 2328 2419 2420 2328 2420 2329 2329 2420 2421 2329 2421 2330
-                2330 2421 2422 2330 2422 2331 2331 2422 2423 2331 2423 2332 2332 2423 2424 2332 2424 2333 2333 2424 2425 2333 2425 2334 2334 2425 2426 2334 2426 2335
-                2335 2426 2427 2335 2427 2336 2336 2427 2428 2336 2428 2337 2337 2428 2429 2337 2429 2338 2338 2429 2430 2338 2430 2339 2339 2430 2431 2339 2431 2340
-                2340 2431 2432 2340 2432 2341 2341 2432 2433 2341 2433 2342 2342 2433 2434 2342 2434 2343 2343 2434 2435 2343 2435 2344 2344 2435 2436 2344 2436 2345
-                2345 2436 2437 2345 2437 2346 2346 2437 2438 2346 2438 2347 2347 2438 2439 2347 2439 2348 2348 2439 2440 2348 2440 2349 2349 2440 2441 2349 2441 2350
-                2350 2441 2442 2350 2442 2351 2351 2442 2443 2351 2443 2352 2352 2443 2444 2352 2444 2353 2353 2444 2445 2353 2445 2354 2354 2445 2446 2354 2446 2355
-                2355 2446 2447 2355 2447 2356 2356 2447 2448 2356 2448 2357 2357 2448 2449 2357 2449 2358 2358 2449 2450 2358 2450 2359 2359 2450 2451 2359 2451 2360
-                2360 2451 2452 2360 2452 2361 2361 2452 2453 2361 2453 2362 2362 2453 2454 2362 2454 2363 2363 2454 2455 2363 2455 2364 2364 2455 2456 2364 2456 2365
-                2366 2457 2458 2366 2458 2367 2367 2458 2459 2367 2459 2368 2368 2459 2460 2368 2460 2369 2369 2460 2461 2369 2461 2370 2370 2461 2462 2370 2462 2371
-                2371 2462 2463 2371 2463 2372 2372 2463 2464 2372 2464 2373 2373 2464 2465 2373 2465 2374 2374 2465 2466 2374 2466 2375 2375 2466 2467 2375 2467 2376
-                2376 2467 2468 2376 2468 2377 2377 2468 2469 2377 2469 2378 2378 2469 2470 2378 2470 2379 2379 2470 2471 2379 2471 2380 2380 2471 2472 2380 2472 2381
-                2381 2472 2473 2381 2473 2382 2382 2473 2474 2382 2474 2383 2383 2474 2475 2383 2475 2384 2384 2475 2476 2384 2476 2385 2385 2476 2477 2385 2477 2386
-                2386 2477 2478 2386 2478 2387 2387 2478 2479 2387 2479 2388 2388 2479 2480 2388 2480 2389 2389 2480 2481 2389 2481 2390 2390 2481 2482 2390 2482 2391
-                2391 2482 2483 2391 2483 2392 2392 2483 2484 2392 2484 2393 2393 2484 2485 2393 2485 2394 2394 2485 2486 2394 2486 2395 2395 2486 2487 2395 2487 2396
-                2396 2487 2488 2396 2488 2397 2397 2488 2489 2397 2489 2398 2398 2489 2490 2398 2490 2399 2399 2490 2491 2399 2491 2400 2400 2491 2492 2400 2492 2401
-                2401 2492 2493 2401 2493 2402 2402 2493 2494 2402 2494 2403 2403 2494 2495 2403 2495 2404 2404 2495 2496 2404 2496 2405 2405 2496 2497 2405 2497 2406
-                2406 2497 2498 2406 2498 2407 2407 2498 2499 2407 2499 2408 2408 2499 2500 2408 2500 2409 2409 2500 2501 2409 2501 2410 2410 2501 2502 2410 2502 2411
-                2411 2502 2503 2411 2503 2412 2412 2503 2504 2412 2504 2413 2413 2504 2505 2413 2505 2414 2414 2505 2506 2414 2506 2415 2415 2506 2507 2415 2507 2416
-                2416 2507 2508 2416 2508 2417 2417 2508 2509 2417 2509 2418 2418 2509 2510 2418 2510 2419 2419 2510 2511 2419 2511 2420 2420 2511 2512 2420 2512 2421
-                2421 2512 2513 2421 2513 2422 2422 2513 2514 2422 2514 2423 2423 2514 2515 2423 2515 2424 2424 2515 2516 2424 2516 2425 2425 2516 2517 2425 2517 2426
-                2426 2517 2518 2426 2518 2427 2427 2518 2519 2427 2519 2428 2428 2519 2520 2428 2520 2429 2429 2520 2521 2429 2521 2430 2430 2521 2522 2430 2522 2431
-                2431 2522 2523 2431 2523 2432 2432 2523 2524 2432 2524 2433 2433 2524 2525 2433 2525 2434 2434 2525 2526 2434 2526 2435 2435 2526 2527 2435 2527 2436
-                2436 2527 2528 2436 2528 2437 2437 2528 2529 2437 2529 2438 2438 2529 2530 2438 2530 2439 2439 2530 2531 2439 2531 2440 2440 2531 2532 2440 2532 2441
-                2441 2532 2533 2441 2533 2442 2442 2533 2534 2442 2534 2443 2443 2534 2535 2443 2535 2444 2444 2535 2536 2444 2536 2445 2445 2536 2537 2445 2537 2446
-                2446 2537 2538 2446 2538 2447 2447 2538 2539 2447 2539 2448 2448 2539 2540 2448 2540 2449 2449 2540 2541 2449 2541 2450 2450 2541 2542 2450 2542 2451
-                2451 2542 2543 2451 2543 2452 2452 2543 2544 2452 2544 2453 2453 2544 2545 2453 2545 2454 2454 2545 2546 2454 2546 2455 2455 2546 2547 2455 2547 2456
-                2457 2548 2549 2457 2549 2458 2458 2549 2550 2458 2550 2459 2459 2550 2551 2459 2551 2460 2460 2551 2552 2460 2552 2461 2461 2552 2553 2461 2553 2462
-                2462 2553 2554 2462 2554 2463 2463 2554 2555 2463 2555 2464 2464 2555 2556 2464 2556 2465 2465 2556 2557 2465 2557 2466 2466 2557 2558 2466 2558 2467
-                2467 2558 2559 2467 2559 2468 2468 2559 2560 2468 2560 2469 2469 2560 2561 2469 2561 2470 2470 2561 2562 2470 2562 2471 2471 2562 2563 2471 2563 2472
-                2472 2563 2564 2472 2564 2473 2473 2564 2565 2473 2565 2474 2474 2565 2566 2474 2566 2475 2475 2566 2567 2475 2567 2476 2476 2567 2568 2476 2568 2477
-                2477 2568 2569 2477 2569 2478 2478 2569 2570 2478 2570 2479 2479 2570 2571 2479 2571 2480 2480 2571 2572 2480 2572 2481 2481 2572 2573 2481 2573 2482
-                2482 2573 2574 2482 2574 2483 2483 2574 2575 2483 2575 2484 2484 2575 2576 2484 2576 2485 2485 2576 2577 2485 2577 2486 2486 2577 2578 2486 2578 2487
-                2487 2578 2579 2487 2579 2488 2488 2579 2580 2488 2580 2489 2489 2580 2581 2489 2581 2490 2490 2581 2582 2490 2582 2491 2491 2582 2583 2491 2583 2492
-                2492 2583 2584 2492 2584 2493 2493 2584 2585 2493 2585 2494 2494 2585 2586 2494 2586 2495 2495 2586 2587 2495 2587 2496 2496 2587 2588 2496 2588 2497
-                2497 2588 2589 2497 2589 2498 2498 2589 2590 2498 2590 2499 2499 2590 2591 2499 2591 2500 2500 2591 2592 2500 2592 2501 2501 2592 2593 2501 2593 2502
-                2502 2593 2594 2502 2594 2503 2503 2594 2595 2503 2595 2504 2504 2595 2596 2504 2596 2505 2505 2596 2597 2505 2597 2506 2506 2597 2598 2506 2598 2507
-                2507 2598 2599 2507 2599 2508 2508 2599 2600 2508 2600 2509 2509 2600 2601 2509 2601 2510 2510 2601 2602 2510 2602 2511 2511 2602 2603 2511 2603 2512
-                2512 2603 2604 2512 2604 2513 2513 2604 2605 2513 2605 2514 2514 2605 2606 2514 2606 2515 2515 2606 2607 2515 2607 2516 2516 2607 2608 2516 2608 2517
-                2517 2608 2609 2517 2609 2518 2518 2609 2610 2518 2610 2519 2519 2610 2611 2519 2611 2520 2520 2611 2612 2520 2612 2521 2521 2612 2613 2521 2613 2522
-                2522 2613 2614 2522 2614 2523 2523 2614 2615 2523 2615 2524 2524 2615 2616 2524 2616 2525 2525 2616 2617 2525 2617 2526 2526 2617 2618 2526 2618 2527
-                2527 2618 2619 2527 2619 2528 2528 2619 2620 2528 2620 2529 2529 2620 2621 2529 2621 2530 2530 2621 2622 2530 2622 2531 2531 2622 2623 2531 2623 2532
-                2532 2623 2624 2532 2624 2533 2533 2624 2625 2533 2625 2534 2534 2625 2626 2534 2626 2535 2535 2626 2627 2535 2627 2536 2536 2627 2628 2536 2628 2537
-                2537 2628 2629 2537 2629 2538 2538 2629 2630 2538 2630 2539 2539 2630 2631 2539 2631 2540 2540 2631 2632 2540 2632 2541 2541 2632 2633 2541 2633 2542
-                2542 2633 2634 2542 2634 2543 2543 2634 2635 2543 2635 2544 2544 2635 2636 2544 2636 2545 2545 2636 2637 2545 2637 2546 2546 2637 2638 2546 2638 2547
-                2548 2639 2640 2548 2640 2549 2549 2640 2641 2549 2641 2550 2550 2641 2642 2550 2642 2551 2551 2642 2643 2551 2643 2552 2552 2643 2644 2552 2644 2553
-                2553 2644 2645 2553 2645 2554 2554 2645 2646 2554 2646 2555 2555 2646 2647 2555 2647 2556 2556 2647 2648 2556 2648 2557 2557 2648 2649 2557 2649 2558
-                2558 2649 2650 2558 2650 2559 2559 2650 2651 2559 2651 2560 2560 2651 2652 2560 2652 2561 2561 2652 2653 2561 2653 2562 2562 2653 2654 2562 2654 2563
-                2563 2654 2655 2563 2655 2564 2564 2655 2656 2564 2656 2565 2565 2656 2657 2565 2657 2566 2566 2657 2658 2566 2658 2567 2567 2658 2659 2567 2659 2568
-                2568 2659 2660 2568 2660 2569 2569 2660 2661 2569 2661 2570 2570 2661 2662 2570 2662 2571 2571 2662 2663 2571 2663 2572 2572 2663 2664 2572 2664 2573
-                2573 2664 2665 2573 2665 2574 2574 2665 2666 2574 2666 2575 2575 2666 2667 2575 2667 2576 2576 2667 2668 2576 2668 2577 2577 2668 2669 2577 2669 2578
-                2578 2669 2670 2578 2670 2579 2579 2670 2671 2579 2671 2580 2580 2671 2672 2580 2672 2581 2581 2672 2673 2581 2673 2582 2582 2673 2674 2582 2674 2583
-                2583 2674 2675 2583 2675 2584 2584 2675 2676 2584 2676 2585 2585 2676 2677 2585 2677 2586 2586 2677 2678 2586 2678 2587 2587 2678 2679 2587 2679 2588
-                2588 2679 2680 2588 2680 2589 2589 2680 2681 2589 2681 2590 2590 2681 2682 2590 2682 2591 2591 2682 2683 2591 2683 2592 2592 2683 2684 2592 2684 2593
-                2593 2684 2685 2593 2685 2594 2594 2685 2686 2594 2686 2595 2595 2686 2687 2595 2687 2596 2596 2687 2688 2596 2688 2597 2597 2688 2689 2597 2689 2598
-                2598 2689 2690 2598 2690 2599 2599 2690 2691 2599 2691 2600 2600 2691 2692 2600 2692 2601 2601 2692 2693 2601 2693 2602 2602 2693 2694 2602 2694 2603
-                2603 2694 2695 2603 2695 2604 2604 2695 2696 2604 2696 2605 2605 2696 2697 2605 2697 2606 2606 2697 2698 2606 2698 2607 2607 2698 2699 2607 2699 2608
-                2608 2699 2700 2608 2700 2609 2609 2700 2701 2609 2701 2610 2610 2701 2702 2610 2702 2611 2611 2702 2703 2611 2703 2612 2612 2703 2704 2612 2704 2613
-                2613 2704 2705 2613 2705 2614 2614 2705 2706 2614 2706 2615 2615 2706 2707 2615 2707 2616 2616 2707 2708 2616 2708 2617 2617 2708 2709 2617 2709 2618
-                2618 2709 2710 2618 2710 2619 2619 2710 2711 2619 2711 2620 2620 2711 2712 2620 2712 2621 2621 2712 2713 2621 2713 2622 2622 2713 2714 2622 2714 2623
-                2623 2714 2715 2623 2715 2624 2624 2715 2716 2624 2716 2625 2625 2716 2717 2625 2717 2626 2626 2717 2718 2626 2718 2627 2627 2718 2719 2627 2719 2628
-                2628 2719 2720 2628 2720 2629 2629 2720 2721 2629 2721 2630 2630 2721 2722 2630 2722 2631 2631 2722 2723 2631 2723 2632 2632 2723 2724 2632 2724 2633
-                2633 2724 2725 2633 2725 2634 2634 2725 2726 2634 2726 2635 2635 2726 2727 2635 2727 2636 2636 2727 2728 2636 2728 2637 2637 2728 2729 2637 2729 2638
-                2639 2730 2731 2639 2731 2640 2640 2731 2732 2640 2732 2641 2641 2732 2733 2641 2733 2642 2642 2733 2734 2642 2734 2643 2643 2734 2735 2643 2735 2644
-                2644 2735 2736 2644 2736 2645 2645 2736 2737 2645 2737 2646 2646 2737 2738 2646 2738 2647 2647 2738 2739 2647 2739 2648 2648 2739 2740 2648 2740 2649
-                2649 2740 2741 2649 2741 2650 2650 2741 2742 2650 2742 2651 2651 2742 2743 2651 2743 2652 2652 2743 2744 2652 2744 2653 2653 2744 2745 2653 2745 2654
-                2654 2745 2746 2654 2746 2655 2655 2746 2747 2655 2747 2656 2656 2747 2748 2656 2748 2657 2657 2748 2749 2657 2749 2658 2658 2749 2750 2658 2750 2659
-                2659 2750 2751 2659 2751 2660 2660 2751 2752 2660 2752 2661 2661 2752 2753 2661 2753 2662 2662 2753 2754 2662 2754 2663 2663 2754 2755 2663 2755 2664
-                2664 2755 2756 2664 2756 2665 2665 2756 2757 2665 2757 2666 2666 2757 2758 2666 2758 2667 2667 2758 2759 2667 2759 2668 2668 2759 2760 2668 2760 2669
-                2669 2760 2761 2669 2761 2670 2670 2761 2762 2670 2762 2671 2671 2762 2763 2671 2763 2672 2672 2763 2764 2672 2764 2673 2673 2764 2765 2673 2765 2674
-                2674 2765 2766 2674 2766 2675 2675 2766 2767 2675 2767 2676 2676 2767 2768 2676 2768 2677 2677 2768 2769 2677 2769 2678 2678 2769 2770 2678 2770 2679
-                2679 2770 2771 2679 2771 2680 2680 2771 2772 2680 2772 2681 2681 2772 2773 2681 2773 2682 2682 2773 2774 2682 2774 2683 2683 2774 2775 2683 2775 2684
-                2684 2775 2776 2684 2776 2685 2685 2776 2777 2685 2777 2686 2686 2777 2778 2686 2778 2687 2687 2778 2779 2687 2779 2688 2688 2779 2780 2688 2780 2689
-                2689 2780 2781 2689 2781 2690 2690 2781 2782 2690 2782 2691 2691 2782 2783 2691 2783 2692 2692 2783 2784 2692 2784 2693 2693 2784 2785 2693 2785 2694
-                2694 2785 2786 2694 2786 2695 2695 2786 2787 2695 2787 2696 2696 2787 2788 2696 2788 2697 2697 2788 2789 2697 2789 2698 2698 2789 2790 2698 2790 2699
-                2699 2790 2791 2699 2791 2700 2700 2791 2792 2700 2792 2701 2701 2792 2793 2701 2793 2702 2702 2793 2794 2702 2794 2703 2703 2794 2795 2703 2795 2704
-                2704 2795 2796 2704 2796 2705 2705 2796 2797 2705 2797 2706 2706 2797 2798 2706 2798 2707 2707 2798 2799 2707 2799 2708 2708 2799 2800 2708 2800 2709
-                2709 2800 2801 2709 2801 2710 2710 2801 2802 2710 2802 2711 2711 2802 2803 2711 2803 2712 2712 2803 2804 2712 2804 2713 2713 2804 2805 2713 2805 2714
-                2714 2805 2806 2714 2806 2715 2715 2806 2807 2715 2807 2716 2716 2807 2808 2716 2808 2717 2717 2808 2809 2717 2809 2718 2718 2809 2810 2718 2810 2719
-                2719 2810 2811 2719 2811 2720 2720 2811 2812 2720 2812 2721 2721 2812 2813 2721 2813 2722 2722 2813 2814 2722 2814 2723 2723 2814 2815 2723 2815 2724
-                2724 2815 2816 2724 2816 2725 2725 2816 2817 2725 2817 2726 2726 2817 2818 2726 2818 2727 2727 2818 2819 2727 2819 2728 2728 2819 2820 2728 2820 2729
-                2730 2821 2822 2730 2822 2731 2731 2822 2823 2731 2823 2732 2732 2823 2824 2732 2824 2733 2733 2824 2825 2733 2825 2734 2734 2825 2826 2734 2826 2735
-                2735 2826 2827 2735 2827 2736 2736 2827 2828 2736 2828 2737 2737 2828 2829 2737 2829 2738 2738 2829 2830 2738 2830 2739 2739 2830 2831 2739 2831 2740
-                2740 2831 2832 2740 2832 2741 2741 2832 2833 2741 2833 2742 2742 2833 2834 2742 2834 2743 2743 2834 2835 2743 2835 2744 2744 2835 2836 2744 2836 2745
-                2745 2836 2837 2745 2837 2746 2746 2837 2838 2746 2838 2747 2747 2838 2839 2747 2839 2748 2748 2839 2840 2748 2840 2749 2749 2840 2841 2749 2841 2750
-                2750 2841 2842 2750 2842 2751 2751 2842 2843 2751 2843 2752 2752 2843 2844 2752 2844 2753 2753 2844 2845 2753 2845 2754 2754 2845 2846 2754 2846 2755
-                2755 2846 2847 2755 2847 2756 2756 2847 2848 2756 2848 2757 2757 2848 2849 2757 2849 2758 2758 2849 2850 2758 2850 2759 2759 2850 2851 2759 2851 2760
-                2760 2851 2852 2760 2852 2761 2761 2852 2853 2761 2853 2762 2762 2853 2854 2762 2854 2763 2763 2854 2855 2763 2855 2764 2764 2855 2856 2764 2856 2765
-                2765 2856 2857 2765 2857 2766 2766 2857 2858 2766 2858 2767 2767 2858 2859 2767 2859 2768 2768 2859 2860 2768 2860 2769 2769 2860 2861 2769 2861 2770
-                2770 2861 2862 2770 2862 2771 2771 2862 2863 2771 2863 2772 2772 2863 2864 2772 2864 2773 2773 2864 2865 2773 2865 2774 2774 2865 2866 2774 2866 2775
-                2775 2866 2867 2775 2867 2776 2776 2867 2868 2776 2868 2777 2777 2868 2869 2777 2869 2778 2778 2869 2870 2778 2870 2779 2779 2870 2871 2779 2871 2780
-                2780 2871 2872 2780 2872 2781 2781 2872 2873 2781 2873 2782 2782 2873 2874 2782 2874 2783 2783 2874 2875 2783 2875 2784 2784 2875 2876 2784 2876 2785
-                2785 2876 2877 2785 2877 2786 2786 2877 2878 2786 2878 2787 2787 2878 2879 2787 2879 2788 2788 2879 2880 2788 2880 2789 2789 2880 2881 2789 2881 2790
-                2790 2881 2882 2790 2882 2791 2791 2882 2883 2791 2883 2792 2792 2883 2884 2792 2884 2793 2793 2884 2885 2793 2885 2794 2794 2885 2886 2794 2886 2795
-                2795 2886 2887 2795 2887 2796 2796 2887 2888 2796 2888 2797 2797 2888 2889 2797 2889 2798 2798 2889 2890 2798 2890 2799 2799 2890 2891 2799 2891 2800
-                2800 2891 2892 2800 2892 2801 2801 2892 2893 2801 2893 2802 2802 2893 2894 2802 2894 2803 2803 2894 2895 2803 2895 2804 2804 2895 2896 2804 2896 2805
-                2805 2896 2897 2805 2897 2806 2806 2897 2898 2806 2898 2807 2807 2898 2899 2807 2899 2808 2808 2899 2900 2808 2900 2809 2809 2900 2901 2809 2901 2810
-                2810 2901 2902 2810 2902 2811 2811 2902 2903 2811 2903 2812 2812 2903 2904 2812 2904 2813 2813 2904 2905 2813 2905 2814 2814 2905 2906 2814 2906 2815
-                2815 2906 2907 2815 2907 2816 2816 2907 2908 2816 2908 2817 2817 2908 2909 2817 2909 2818 2818 2909 2910 2818 2910 2819 2819 2910 2911 2819 2911 2820
-                2821 2912 2913 2821 2913 2822 2822 2913 2914 2822 2914 2823 2823 2914 2915 2823 2915 2824 2824 2915 2916 2824 2916 2825 2825 2916 2917 2825 2917 2826
-                2826 2917 2918 2826 2918 2827 2827 2918 2919 2827 2919 2828 2828 2919 2920 2828 2920 2829 2829 2920 2921 2829 2921 2830 2830 2921 2922 2830 2922 2831
-                2831 2922 2923 2831 2923 2832 2832 2923 2924 2832 2924 2833 2833 2924 2925 2833 2925 2834 2834 2925 2926 2834 2926 2835 2835 2926 2927 2835 2927 2836
-                2836 2927 2928 2836 2928 2837 2837 2928 2929 2837 2929 2838 2838 2929 2930 2838 2930 2839 2839 2930 2931 2839 2931 2840 2840 2931 2932 2840 2932 2841
-                2841 2932 2933 2841 2933 2842 2842 2933 2934 2842 2934 2843 2843 2934 2935 2843 2935 2844 2844 2935 2936 2844 2936 2845 2845 2936 2937 2845 2937 2846
-                2846 2937 2938 2846 2938 2847 2847 2938 2939 2847 2939 2848 2848 2939 2940 2848 2940 2849 2849 2940 2941 2849 2941 2850 2850 2941 2942 2850 2942 2851
-                2851 2942 2943 2851 2943 2852 2852 2943 2944 2852 2944 2853 2853 2944 2945 2853 2945 2854 2854 2945 2946 2854 2946 2855 2855 2946 2947 2855 2947 2856
-                2856 2947 2948 2856 2948 2857 2857 2948 2949 2857 2949 2858 2858 2949 2950 2858 2950 2859 2859 2950 2951 2859 2951 2860 2860 2951 2952 2860 2952 2861
-                2861 2952 2953 2861 2953 2862 2862 2953 2954 2862 2954 2863 2863 2954 2955 2863 2955 2864 2864 2955 2956 2864 2956 2865 2865 2956 2957 2865 2957 2866
-                2866 2957 2958 2866 2958 2867 2867 2958 2959 2867 2959 2868 2868 2959 2960 2868 2960 2869 2869 2960 2961 2869 2961 2870 2870 2961 2962 2870 2962 2871
-                2871 2962 2963 2871 2963 2872 2872 2963 2964 2872 2964 2873 2873 2964 2965 2873 2965 2874 2874 2965 2966 2874 2966 2875 2875 2966 2967 2875 2967 2876
-                2876 2967 2968 2876 2968 2877 2877 2968 2969 2877 2969 2878 2878 2969 2970 2878 2970 2879 2879 2970 2971 2879 2971 2880 2880 2971 2972 2880 2972 2881
-                2881 2972 2973 2881 2973 2882 2882 2973 2974 2882 2974 2883 2883 2974 2975 2883 2975 2884 2884 2975 2976 2884 2976 2885 2885 2976 2977 2885 2977 2886
-                2886 2977 2978 2886 2978 2887 2887 2978 2979 2887 2979 2888 2888 2979 2980 2888 2980 2889 2889 2980 2981 2889 2981 2890 2890 2981 2982 2890 2982 2891
-                2891 2982 2983 2891 2983 2892 2892 2983 2984 2892 2984 2893 2893 2984 2985 2893 2985 2894 2894 2985 2986 2894 2986 2895 2895 2986 2987 2895 2987 2896
-                2896 2987 2988 2896 2988 2897 2897 2988 2989 2897 2989 2898 2898 2989 2990 2898 2990 2899 2899 2990 2991 2899 2991 2900 2900 2991 2992 2900 2992 2901
-                2901 2992 2993 2901 2993 2902 2902 2993 2994 2902 2994 2903 2903 2994 2995 2903 2995 2904 2904 2995 2996 2904 2996 2905 2905 2996 2997 2905 2997 2906
-                2906 2997 2998 2906 2998 2907 2907 2998 2999 2907 2999 2908 2908 2999 3000 2908 3000 2909 2909 3000 3001 2909 3001 2910 2910 3001 3002 2910 3002 2911
-                2912 3003 3004 2912 3004 2913 2913 3004 3005 2913 3005 2914 2914 3005 3006 2914 3006 2915 2915 3006 3007 2915 3007 2916 2916 3007 3008 2916 3008 2917
-                2917 3008 3009 2917 3009 2918 2918 3009 3010 2918 3010 2919 2919 3010 3011 2919 3011 2920 2920 3011 3012 2920 3012 2921 2921 3012 3013 2921 3013 2922
-                2922 3013 3014 2922 3014 2923 2923 3014 3015 2923 3015 2924 2924 3015 3016 2924 3016 2925 2925 3016 3017 2925 3017 2926 2926 3017 3018 2926 3018 2927
-                2927 3018 3019 2927 3019 2928 2928 3019 3020 2928 3020 2929 2929 3020 3021 2929 3021 2930 2930 3021 3022 2930 3022 2931 2931 3022 3023 2931 3023 2932
-                2932 3023 3024 2932 3024 2933 2933 3024 3025 2933 3025 2934 2934 3025 3026 2934 3026 2935 2935 3026 3027 2935 3027 2936 2936 3027 3028 2936 3028 2937
-                2937 3028 3029 2937 3029 2938 2938 3029 3030 2938 3030 2939 2939 3030 3031 2939 3031 2940 2940 3031 3032 2940 3032 2941 2941 3032 3033 2941 3033 2942
-                2942 3033 3034 2942 3034 2943 2943 3034 3035 2943 3035 2944 2944 3035 3036 2944 3036 2945 2945 3036 3037 2945 3037 2946 2946 3037 3038 2946 3038 2947
-                2947 3038 3039 2947 3039 2948 2948 3039 3040 2948 3040 2949 2949 3040 3041 2949 3041 2950 2950 3041 3042 2950 3042 2951 2951 3042 3043 2951 3043 2952
-                2952 3043 3044 2952 3044 2953 2953 3044 3045 2953 3045 2954 2954 3045 3046 2954 3046 2955 2955 3046 3047 2955 3047 2956 2956 3047 3048 2956 3048 2957
-                2957 3048 3049 2957 3049 2958 2958 3049 3050 2958 3050 2959 2959 3050 3051 2959 3051 2960 2960 3051 3052 2960 3052 2961 2961 3052 3053 2961 3053 2962
-                2962 3053 3054 2962 3054 2963 2963 3054 3055 2963 3055 2964 2964 3055 3056 2964 3056 2965 2965 3056 3057 2965 3057 2966 2966 3057 3058 2966 3058 2967
-                2967 3058 3059 2967 3059 2968 2968 3059 3060 2968 3060 2969 2969 3060 3061 2969 3061 2970 2970 3061 3062 2970 3062 2971 2971 3062 3063 2971 3063 2972
-                2972 3063 3064 2972 3064 2973 2973 3064 3065 2973 3065 2974 2974 3065 3066 2974 3066 2975 2975 3066 3067 2975 3067 2976 2976 3067 3068 2976 3068 2977
-                2977 3068 3069 2977 3069 2978 2978 3069 3070 2978 3070 2979 2979 3070 3071 2979 3071 2980 2980 3071 3072 2980 3072 2981 2981 3072 3073 2981 3073 2982
-                2982 3073 3074 2982 3074 2983 2983 3074 3075 2983 3075 2984 2984 3075 3076 2984 3076 2985 2985 3076 3077 2985 3077 2986 2986 3077 3078 2986 3078 2987
-                2987 3078 3079 2987 3079 2988 2988 3079 3080 2988 3080 2989 2989 3080 3081 2989 3081 2990 2990 3081 3082 2990 3082 2991 2991 3082 3083 2991 3083 2992
-                2992 3083 3084 2992 3084 2993 2993 3084 3085 2993 3085 2994 2994 3085 3086 2994 3086 2995 2995 3086 3087 2995 3087 2996 2996 3087 3088 2996 3088 2997
-                2997 3088 3089 2997 3089 2998 2998 3089 3090 2998 3090 2999 2999 3090 3091 2999 3091 3000 3000 3091 3092 3000 3092 3001 3001 3092 3093 3001 3093 3002
-                3003 3094 3095 3003 3095 3004 3004 3095 3096 3004 3096 3005 3005 3096 3097 3005 3097 3006 3006 3097 3098 3006 3098 3007 3007 3098 3099 3007 3099 3008
-                3008 3099 3100 3008 3100 3009 3009 3100 3101 3009 3101 3010 3010 3101 3102 3010 3102 3011 3011 3102 3103 3011 3103 3012 3012 3103 3104 3012 3104 3013
-                3013 3104 3105 3013 3105 3014 3014 3105 3106 3014 3106 3015 3015 3106 3107 3015 3107 3016 3016 3107 3108 3016 3108 3017 3017 3108 3109 3017 3109 3018
-                3018 3109 3110 3018 3110 3019 3019 3110 3111 3019 3111 3020 3020 3111 3112 3020 3112 3021 3021 3112 3113 3021 3113 3022 3022 3113 3114 3022 3114 3023
-                3023 3114 3115 3023 3115 3024 3024 3115 3116 3024 3116 3025 3025 3116 3117 3025 3117 3026 3026 3117 3118 3026 3118 3027 3027 3118 3119 3027 3119 3028
-                3028 3119 3120 3028 3120 3029 3029 3120 3121 3029 3121 3030 3030 3121 3122 3030 3122 3031 3031 3122 3123 3031 3123 3032 3032 3123 3124 3032 3124 3033
-                3033 3124 3125 3033 3125 3034 3034 3125 3126 3034 3126 3035 3035 3126 3127 3035 3127 3036 3036 3127 3128 3036 3128 3037 3037 3128 3129 3037 3129 3038
-                3038 3129 3130 3038 3130 3039 3039 3130 3131 3039 3131 3040 3040 3131 3132 3040 3132 3041 3041 3132 3133 3041 3133 3042 3042 3133 3134 3042 3134 3043
-                3043 3134 3135 3043 3135 3044 3044 3135 3136 3044 3136 3045 3045 3136 3137 3045 3137 3046 3046 3137 3138 3046 3138 3047 3047 3138 3139 3047 3139 3048
-                3048 3139 3140 3048 3140 3049 3049 3140 3141 3049 3141 3050 3050 3141 3142 3050 3142 3051 3051 3142 3143 3051 3143 3052 3052 3143 3144 3052 3144 3053
-                3053 3144 3145 3053 3145 3054 3054 3145 3146 3054 3146 3055 3055 3146 3147 3055 3147 3056 3056 3147 3148 3056 3148 3057 3057 3148 3149 3057 3149 3058
-                3058 3149 3150 3058 3150 3059 3059 3150 3151 3059 3151 3060 3060 3151 3152 3060 3152 3061 3061 3152 3153 3061 3153 3062 3062 3153 3154 3062 3154 3063
-                3063 3154 3155 3063 3155 3064 3064 3155 3156 3064 3156 3065 3065 3156 3157 3065 3157 3066 3066 3157 3158 3066 3158 3067 3067 3158 3159 3067 3159 3068
-                3068 3159 3160 3068 3160 3069 3069 3160 3161 3069 3161 3070 3070 3161 3162 3070 3162 3071 3071 3162 3163 3071 3163 3072 3072 3163 3164 3072 3164 3073
-                3073 3164 3165 3073 3165 3074 3074 3165 3166 3074 3166 3075 3075 3166 3167 3075 3167 3076 3076 3167 3168 3076 3168 3077 3077 3168 3169 3077 3169 3078
-                3078 3169 3170 3078 3170 3079 3079 3170 3171 3079 3171 3080 3080 3171 3172 3080 3172 3081 3081 3172 3173 3081 3173 3082 3082 3173 3174 3082 3174 3083
-                3083 3174 3175 3083 3175 3084 3084 3175 3176 3084 3176 3085 3085 3176 3177 3085 3177 3086 3086 3177 3178 3086 3178 3087 3087 3178 3179 3087 3179 3088
-                3088 3179 3180 3088 3180 3089 3089 3180 3181 3089 3181 3090 3090 3181 3182 3090 3182 3091 3091 3182 3183 3091 3183 3092 3092 3183 3184 3092 3184 3093
-                3094 3185 3186 3094 3186 3095 3095 3186 3187 3095 3187 3096 3096 3187 3188 3096 3188 3097 3097 3188 3189 3097 3189 3098 3098 3189 3190 3098 3190 3099
-                3099 3190 3191 3099 3191 3100 3100 3191 3192 3100 3192 3101 3101 3192 3193 3101 3193 3102 3102 3193 3194 3102 3194 3103 3103 3194 3195 3103 3195 3104
-                3104 3195 3196 3104 3196 3105 3105 3196 3197 3105 3197 3106 3106 3197 3198 3106 3198 3107 3107 3198 3199 3107 3199 3108 3108 3199 3200 3108 3200 3109
-                3109 3200 3201 3109 3201 3110 3110 3201 3202 3110 3202 3111 3111 3202 3203 3111 3203 3112 3112 3203 3204 3112 3204 3113 3113 3204 3205 3113 3205 3114
-                3114 3205 3206 3114 3206 3115 3115 3206 3207 3115 3207 3116 3116 3207 3208 3116 3208 3117 3117 3208 3209 3117 3209 3118 3118 3209 3210 3118 3210 3119
-                3119 3210 3211 3119 3211 3120 3120 3211 3212 3120 3212 3121 3121 3212 3213 3121 3213 3122 3122 3213 3214 3122 3214 3123 3123 3214 3215 3123 3215 3124
-                3124 3215 3216 3124 3216 3125 3125 3216 3217 3125 3217 3126 3126 3217 3218 3126 3218 3127 3127 3218 3219 3127 3219 3128 3128 3219 3220 3128 3220 3129
-                3129 3220 3221 3129 3221 3130 3130 3221 3222 3130 3222 3131 3131 3222 3223 3131 3223 3132 3132 3223 3224 3132 3224 3133 3133 3224 3225 3133 3225 3134
-                3134 3225 3226 3134 3226 3135 3135 3226 3227 3135 3227 3136 3136 3227 3228 3136 3228 3137 3137 3228 3229 3137 3229 3138 3138 3229 3230 3138 3230 3139
-                3139 3230 3231 3139 3231 3140 3140 3231 3232 3140 3232 3141 3141 3232 3233 3141 3233 3142 3142 3233 3234 3142 3234 3143 3143 3234 3235 3143 3235 3144
-                3144 3235 3236 3144 3236 3145 3145 3236 3237 3145 3237 3146 3146 3237 3238 3146 3238 3147 3147 3238 3239 3147 3239 3148 3148 3239 3240 3148 3240 3149
-                3149 3240 3241 3149 3241 3150 3150 3241 3242 3150 3242 3151 3151 3242 3243 3151 3243 3152 3152 3243 3244 3152 3244 3153 3153 3244 3245 3153 3245 3154
-                3154 3245 3246 3154 3246 3155 3155 3246 3247 3155 3247 3156 3156 3247 3248 3156 3248 3157 3157 3248 3249 3157 3249 3158 3158 3249 3250 3158 3250 3159
-                3159 3250 3251 3159 3251 3160 3160 3251 3252 3160 3252 3161 3161 3252 3253 3161 3253 3162 3162 3253 3254 3162 3254 3163 3163 3254 3255 3163 3255 3164
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-                3169 3260 3261 3169 3261 3170 3170 3261 3262 3170 3262 3171 3171 3262 3263 3171 3263 3172 3172 3263 3264 3172 3264 3173 3173 3264 3265 3173 3265 3174
-                3174 3265 3266 3174 3266 3175 3175 3266 3267 3175 3267 3176 3176 3267 3268 3176 3268 3177 3177 3268 3269 3177 3269 3178 3178 3269 3270 3178 3270 3179
-                3179 3270 3271 3179 3271 3180 3180 3271 3272 3180 3272 3181 3181 3272 3273 3181 3273 3182 3182 3273 3274 3182 3274 3183 3183 3274 3275 3183 3275 3184
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-                3200 3291 3292 3200 3292 3201 3201 3292 3293 3201 3293 3202 3202 3293 3294 3202 3294 3203 3203 3294 3295 3203 3295 3204 3204 3295 3296 3204 3296 3205
-                3205 3296 3297 3205 3297 3206 3206 3297 3298 3206 3298 3207 3207 3298 3299 3207 3299 3208 3208 3299 3300 3208 3300 3209 3209 3300 3301 3209 3301 3210
-                3210 3301 3302 3210 3302 3211 3211 3302 3303 3211 3303 3212 3212 3303 3304 3212 3304 3213 3213 3304 3305 3213 3305 3214 3214 3305 3306 3214 3306 3215
-                3215 3306 3307 3215 3307 3216 3216 3307 3308 3216 3308 3217 3217 3308 3309 3217 3309 3218 3218 3309 3310 3218 3310 3219 3219 3310 3311 3219 3311 3220
-                3220 3311 3312 3220 3312 3221 3221 3312 3313 3221 3313 3222 3222 3313 3314 3222 3314 3223 3223 3314 3315 3223 3315 3224 3224 3315 3316 3224 3316 3225
-                3225 3316 3317 3225 3317 3226 3226 3317 3318 3226 3318 3227 3227 3318 3319 3227 3319 3228 3228 3319 3320 3228 3320 3229 3229 3320 3321 3229 3321 3230
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-                3240 3331 3332 3240 3332 3241 3241 3332 3333 3241 3333 3242 3242 3333 3334 3242 3334 3243 3243 3334 3335 3243 3335 3244 3244 3335 3336 3244 3336 3245
-                3245 3336 3337 3245 3337 3246 3246 3337 3338 3246 3338 3247 3247 3338 3339 3247 3339 3248 3248 3339 3340 3248 3340 3249 3249 3340 3341 3249 3341 3250
-                3250 3341 3342 3250 3342 3251 3251 3342 3343 3251 3343 3252 3252 3343 3344 3252 3344 3253 3253 3344 3345 3253 3345 3254 3254 3345 3346 3254 3346 3255
-                3255 3346 3347 3255 3347 3256 3256 3347 3348 3256 3348 3257 3257 3348 3349 3257 3349 3258 3258 3349 3350 3258 3350 3259 3259 3350 3351 3259 3351 3260
-                3260 3351 3352 3260 3352 3261 3261 3352 3353 3261 3353 3262 3262 3353 3354 3262 3354 3263 3263 3354 3355 3263 3355 3264 3264 3355 3356 3264 3356 3265
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-                3270 3361 3362 3270 3362 3271 3271 3362 3363 3271 3363 3272 3272 3363 3364 3272 3364 3273 3273 3364 3365 3273 3365 3274 3274 3365 3366 3274 3366 3275
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-                3291 3382 3383 3291 3383 3292 3292 3383 3384 3292 3384 3293 3293 3384 3385 3293 3385 3294 3294 3385 3386 3294 3386 3295 3295 3386 3387 3295 3387 3296
-                3296 3387 3388 3296 3388 3297 3297 3388 3389 3297 3389 3298 3298 3389 3390 3298 3390 3299 3299 3390 3391 3299 3391 3300 3300 3391 3392 3300 3392 3301
-                3301 3392 3393 3301 3393 3302 3302 3393 3394 3302 3394 3303 3303 3394 3395 3303 3395 3304 3304 3395 3396 3304 3396 3305 3305 3396 3397 3305 3397 3306
-                3306 3397 3398 3306 3398 3307 3307 3398 3399 3307 3399 3308 3308 3399 3400 3308 3400 3309 3309 3400 3401 3309 3401 3310 3310 3401 3402 3310 3402 3311
-                3311 3402 3403 3311 3403 3312 3312 3403 3404 3312 3404 3313 3313 3404 3405 3313 3405 3314 3314 3405 3406 3314 3406 3315 3315 3406 3407 3315 3407 3316
-                3316 3407 3408 3316 3408 3317 3317 3408 3409 3317 3409 3318 3318 3409 3410 3318 3410 3319 3319 3410 3411 3319 3411 3320 3320 3411 3412 3320 3412 3321
-                3321 3412 3413 3321 3413 3322 3322 3413 3414 3322 3414 3323 3323 3414 3415 3323 3415 3324 3324 3415 3416 3324 3416 3325 3325 3416 3417 3325 3417 3326
-                3326 3417 3418 3326 3418 3327 3327 3418 3419 3327 3419 3328 3328 3419 3420 3328 3420 3329 3329 3420 3421 3329 3421 3330 3330 3421 3422 3330 3422 3331
-                3331 3422 3423 3331 3423 3332 3332 3423 3424 3332 3424 3333 3333 3424 3425 3333 3425 3334 3334 3425 3426 3334 3426 3335 3335 3426 3427 3335 3427 3336
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-                3341 3432 3433 3341 3433 3342 3342 3433 3434 3342 3434 3343 3343 3434 3435 3343 3435 3344 3344 3435 3436 3344 3436 3345 3345 3436 3437 3345 3437 3346
-                3346 3437 3438 3346 3438 3347 3347 3438 3439 3347 3439 3348 3348 3439 3440 3348 3440 3349 3349 3440 3441 3349 3441 3350 3350 3441 3442 3350 3442 3351
-                3351 3442 3443 3351 3443 3352 3352 3443 3444 3352 3444 3353 3353 3444 3445 3353 3445 3354 3354 3445 3446 3354 3446 3355 3355 3446 3447 3355 3447 3356
-                3356 3447 3448 3356 3448 3357 3357 3448 3449 3357 3449 3358 3358 3449 3450 3358 3450 3359 3359 3450 3451 3359 3451 3360 3360 3451 3452 3360 3452 3361
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-                3382 3473 3474 3382 3474 3383 3383 3474 3475 3383 3475 3384 3384 3475 3476 3384 3476 3385 3385 3476 3477 3385 3477 3386 3386 3477 3478 3386 3478 3387
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-                3392 3483 3484 3392 3484 3393 3393 3484 3485 3393 3485 3394 3394 3485 3486 3394 3486 3395 3395 3486 3487 3395 3487 3396 3396 3487 3488 3396 3488 3397
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-                3402 3493 3494 3402 3494 3403 3403 3494 3495 3403 3495 3404 3404 3495 3496 3404 3496 3405 3405 3496 3497 3405 3497 3406 3406 3497 3498 3406 3498 3407
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-                3412 3503 3504 3412 3504 3413 3413 3504 3505 3413 3505 3414 3414 3505 3506 3414 3506 3415 3415 3506 3507 3415 3507 3416 3416 3507 3508 3416 3508 3417
-                3417 3508 3509 3417 3509 3418 3418 3509 3510 3418 3510 3419 3419 3510 3511 3419 3511 3420 3420 3511 3512 3420 3512 3421 3421 3512 3513 3421 3513 3422
-                3422 3513 3514 3422 3514 3423 3423 3514 3515 3423 3515 3424 3424 3515 3516 3424 3516 3425 3425 3516 3517 3425 3517 3426 3426 3517 3518 3426 3518 3427
-                3427 3518 3519 3427 3519 3428 3428 3519 3520 3428 3520 3429 3429 3520 3521 3429 3521 3430 3430 3521 3522 3430 3522 3431 3431 3522 3523 3431 3523 3432
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-                3442 3533 3534 3442 3534 3443 3443 3534 3535 3443 3535 3444 3444 3535 3536 3444 3536 3445 3445 3536 3537 3445 3537 3446 3446 3537 3538 3446 3538 3447
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-                3452 3543 3544 3452 3544 3453 3453 3544 3545 3453 3545 3454 3454 3545 3546 3454 3546 3455 3455 3546 3547 3455 3547 3456 3456 3547 3548 3456 3548 3457
-                3458 3549 3550 3458 3550 3459 3459 3550 3551 3459 3551 3460 3460 3551 3552 3460 3552 3461 3461 3552 3553 3461 3553 3462 3462 3553 3554 3462 3554 3463
-                3463 3554 3555 3463 3555 3464 3464 3555 3556 3464 3556 3465 3465 3556 3557 3465 3557 3466 3466 3557 3558 3466 3558 3467 3467 3558 3559 3467 3559 3468
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-                3483 3574 3575 3483 3575 3484 3484 3575 3576 3484 3576 3485 3485 3576 3577 3485 3577 3486 3486 3577 3578 3486 3578 3487 3487 3578 3579 3487 3579 3488
-                3488 3579 3580 3488 3580 3489 3489 3580 3581 3489 3581 3490 3490 3581 3582 3490 3582 3491 3491 3582 3583 3491 3583 3492 3492 3583 3584 3492 3584 3493
-                3493 3584 3585 3493 3585 3494 3494 3585 3586 3494 3586 3495 3495 3586 3587 3495 3587 3496 3496 3587 3588 3496 3588 3497 3497 3588 3589 3497 3589 3498
-                3498 3589 3590 3498 3590 3499 3499 3590 3591 3499 3591 3500 3500 3591 3592 3500 3592 3501 3501 3592 3593 3501 3593 3502 3502 3593 3594 3502 3594 3503
-                3503 3594 3595 3503 3595 3504 3504 3595 3596 3504 3596 3505 3505 3596 3597 3505 3597 3506 3506 3597 3598 3506 3598 3507 3507 3598 3599 3507 3599 3508
-                3508 3599 3600 3508 3600 3509 3509 3600 3601 3509 3601 3510 3510 3601 3602 3510 3602 3511 3511 3602 3603 3511 3603 3512 3512 3603 3604 3512 3604 3513
-                3513 3604 3605 3513 3605 3514 3514 3605 3606 3514 3606 3515 3515 3606 3607 3515 3607 3516 3516 3607 3608 3516 3608 3517 3517 3608 3609 3517 3609 3518
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-                3523 3614 3615 3523 3615 3524 3524 3615 3616 3524 3616 3525 3525 3616 3617 3525 3617 3526 3526 3617 3618 3526 3618 3527 3527 3618 3619 3527 3619 3528
-                3528 3619 3620 3528 3620 3529 3529 3620 3621 3529 3621 3530 3530 3621 3622 3530 3622 3531 3531 3622 3623 3531 3623 3532 3532 3623 3624 3532 3624 3533
-                3533 3624 3625 3533 3625 3534 3534 3625 3626 3534 3626 3535 3535 3626 3627 3535 3627 3536 3536 3627 3628 3536 3628 3537 3537 3628 3629 3537 3629 3538
-                3538 3629 3630 3538 3630 3539 3539 3630 3631 3539 3631 3540 3540 3631 3632 3540 3632 3541 3541 3632 3633 3541 3633 3542 3542 3633 3634 3542 3634 3543
-                3543 3634 3635 3543 3635 3544 3544 3635 3636 3544 3636 3545 3545 3636 3637 3545 3637 3546 3546 3637 3638 3546 3638 3547 3547 3638 3639 3547 3639 3548
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-                3554 3645 3646 3554 3646 3555 3555 3646 3647 3555 3647 3556 3556 3647 3648 3556 3648 3557 3557 3648 3649 3557 3649 3558 3558 3649 3650 3558 3650 3559
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-                3574 3665 3666 3574 3666 3575 3575 3666 3667 3575 3667 3576 3576 3667 3668 3576 3668 3577 3577 3668 3669 3577 3669 3578 3578 3669 3670 3578 3670 3579
-                3579 3670 3671 3579 3671 3580 3580 3671 3672 3580 3672 3581 3581 3672 3673 3581 3673 3582 3582 3673 3674 3582 3674 3583 3583 3674 3675 3583 3675 3584
-                3584 3675 3676 3584 3676 3585 3585 3676 3677 3585 3677 3586 3586 3677 3678 3586 3678 3587 3587 3678 3679 3587 3679 3588 3588 3679 3680 3588 3680 3589
-                3589 3680 3681 3589 3681 3590 3590 3681 3682 3590 3682 3591 3591 3682 3683 3591 3683 3592 3592 3683 3684 3592 3684 3593 3593 3684 3685 3593 3685 3594
-                3594 3685 3686 3594 3686 3595 3595 3686 3687 3595 3687 3596 3596 3687 3688 3596 3688 3597 3597 3688 3689 3597 3689 3598 3598 3689 3690 3598 3690 3599
-                3599 3690 3691 3599 3691 3600 3600 3691 3692 3600 3692 3601 3601 3692 3693 3601 3693 3602 3602 3693 3694 3602 3694 3603 3603 3694 3695 3603 3695 3604
-                3604 3695 3696 3604 3696 3605 3605 3696 3697 3605 3697 3606 3606 3697 3698 3606 3698 3607 3607 3698 3699 3607 3699 3608 3608 3699 3700 3608 3700 3609
-                3609 3700 3701 3609 3701 3610 3610 3701 3702 3610 3702 3611 3611 3702 3703 3611 3703 3612 3612 3703 3704 3612 3704 3613 3613 3704 3705 3613 3705 3614
-                3614 3705 3706 3614 3706 3615 3615 3706 3707 3615 3707 3616 3616 3707 3708 3616 3708 3617 3617 3708 3709 3617 3709 3618 3618 3709 3710 3618 3710 3619
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-                3624 3715 3716 3624 3716 3625 3625 3716 3717 3625 3717 3626 3626 3717 3718 3626 3718 3627 3627 3718 3719 3627 3719 3628 3628 3719 3720 3628 3720 3629
-                3629 3720 3721 3629 3721 3630 3630 3721 3722 3630 3722 3631 3631 3722 3723 3631 3723 3632 3632 3723 3724 3632 3724 3633 3633 3724 3725 3633 3725 3634
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-                3736 3828 3827 3736 3737 3828 3737 3829 3828 3737 3738 3829 3738 3830 3829 3738 3739 3830 3739 3831 3830 3739 3740 3831 3740 3832 3831 3740 3741 3832
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-                3751 3843 3842 3751 3752 3843 3752 3844 3843 3752 3753 3844 3753 3845 3844 3753 3754 3845 3754 3846 3845 3754 3755 3846 3755 3847 3846 3755 3756 3847
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-                3786 3878 3877 3786 3787 3878 3787 3879 3878 3787 3788 3879 3788 3880 3879 3788 3789 3880 3789 3881 3880 3789 3790 3881 3790 3882 3881 3790 3791 3882
-                3791 3883 3882 3791 3792 3883 3792 3884 3883 3792 3793 3884 3793 3885 3884 3793 3794 3885 3794 3886 3885 3794 3795 3886 3795 3887 3886 3795 3796 3887
-                3796 3888 3887 3796 3797 3888 3797 3889 3888 3797 3798 3889 3798 3890 3889 3798 3799 3890 3799 3891 3890 3799 3800 3891 3800 3892 3891 3800 3801 3892
-                3801 3893 3892 3801 3802 3893 3802 3894 3893 3802 3803 3894 3803 3895 3894 3803 3804 3895 3804 3896 3895 3804 3805 3896 3805 3897 3896 3805 3806 3897
-                3806 3898 3897 3806 3807 3898 3807 3899 3898 3807 3808 3899 3808 3900 3899 3808 3809 3900 3809 3901 3900 3809 3810 3901 3810 3902 3901 3810 3811 3902
-                3811 3903 3902 3811 3812 3903 3812 3904 3903 3812 3813 3904 3813 3905 3904 3813 3814 3905 3814 3906 3905 3814 3815 3906 3815 3907 3906 3815 3816 3907
-                3816 3908 3907 3816 3817 3908 3817 3909 3908 3817 3818 3909 3818 3910 3909 3818 3819 3910 3819 3911 3910 3819 3820 3911 3820 3912 3911 3820 3821 3912
-                3822 3914 3913 3822 3823 3914 3823 3915 3914 3823 3824 3915 3824 3916 3915 3824 3825 3916 3825 3917 3916 3825 3826 3917 3826 3918 3917 3826 3827 3918
-                3827 3919 3918 3827 3828 3919 3828 3920 3919 3828 3829 3920 3829 3921 3920 3829 3830 3921 3830 3922 3921 3830 3831 3922 3831 3923 3922 3831 3832 3923
-                3832 3924 3923 3832 3833 3924 3833 3925 3924 3833 3834 3925 3834 3926 3925 3834 3835 3926 3835 3927 3926 3835 3836 3927 3836 3928 3927 3836 3837 3928
-                3837 3929 3928 3837 3838 3929 3838 3930 3929 3838 3839 3930 3839 3931 3930 3839 3840 3931 3840 3932 3931 3840 3841 3932 3841 3933 3932 3841 3842 3933
-                3842 3934 3933 3842 3843 3934 3843 3935 3934 3843 3844 3935 3844 3936 3935 3844 3845 3936 3845 3937 3936 3845 3846 3937 3846 3938 3937 3846 3847 3938
-                3847 3939 3938 3847 3848 3939 3848 3940 3939 3848 3849 3940 3849 3941 3940 3849 3850 3941 3850 3942 3941 3850 3851 3942 3851 3943 3942 3851 3852 3943
-                3852 3944 3943 3852 3853 3944 3853 3945 3944 3853 3854 3945 3854 3946 3945 3854 3855 3946 3855 3947 3946 3855 3856 3947 3856 3948 3947 3856 3857 3948
-                3857 3949 3948 3857 3858 3949 3858 3950 3949 3858 3859 3950 3859 3951 3950 3859 3860 3951 3860 3952 3951 3860 3861 3952 3861 3953 3952 3861 3862 3953
-                3862 3954 3953 3862 3863 3954 3863 3955 3954 3863 3864 3955 3864 3956 3955 3864 3865 3956 3865 3957 3956 3865 3866 3957 3866 3958 3957 3866 3867 3958
-                3867 3959 3958 3867 3868 3959 3868 3960 3959 3868 3869 3960 3869 3961 3960 3869 3870 3961 3870 3962 3961 3870 3871 3962 3871 3963 3962 3871 3872 3963
-                3872 3964 3963 3872 3873 3964 3873 3965 3964 3873 3874 3965 3874 3966 3965 3874 3875 3966 3875 3967 3966 3875 3876 3967 3876 3968 3967 3876 3877 3968
-                3877 3969 3968 3877 3878 3969 3878 3970 3969 3878 3879 3970 3879 3971 3970 3879 3880 3971 3880 3972 3971 3880 3881 3972 3881 3973 3972 3881 3882 3973
-                3882 3974 3973 3882 3883 3974 3883 3975 3974 3883 3884 3975 3884 3976 3975 3884 3885 3976 3885 3977 3976 3885 3886 3977 3886 3978 3977 3886 3887 3978
-                3887 3979 3978 3887 3888 3979 3888 3980 3979 3888 3889 3980 3889 3981 3980 3889 3890 3981 3890 3982 3981 3890 3891 3982 3891 3983 3982 3891 3892 3983
-                3892 3984 3983 3892 3893 3984 3893 3985 3984 3893 3894 3985 3894 3986 3985 3894 3895 3986 3895 3987 3986 3895 3896 3987 3896 3988 3987 3896 3897 3988
-                3897 3989 3988 3897 3898 3989 3898 3990 3989 3898 3899 3990 3899 3991 3990 3899 3900 3991 3900 3992 3991 3900 3901 3992 3901 3993 3992 3901 3902 3993
-                3902 3994 3993 3902 3903 3994 3903 3995 3994 3903 3904 3995 3904 3996 3995 3904 3905 3996 3905 3997 3996 3905 3906 3997 3906 3998 3997 3906 3907 3998
-                3907 3999 3998 3907 3908 3999 3908 4000 3999 3908 3909 4000 3909 4001 4000 3909 3910 4001 3910 4002 4001 3910 3911 4002 3911 4003 4002 3911 3912 4003
-                3913 4005 4004 3913 3914 4005 3914 4006 4005 3914 3915 4006 3915 4007 4006 3915 3916 4007 3916 4008 4007 3916 3917 4008 3917 4009 4008 3917 3918 4009
-                3918 4010 4009 3918 3919 4010 3919 4011 4010 3919 3920 4011 3920 4012 4011 3920 3921 4012 3921 4013 4012 3921 3922 4013 3922 4014 4013 3922 3923 4014
-                3923 4015 4014 3923 3924 4015 3924 4016 4015 3924 3925 4016 3925 4017 4016 3925 3926 4017 3926 4018 4017 3926 3927 4018 3927 4019 4018 3927 3928 4019
-                3928 4020 4019 3928 3929 4020 3929 4021 4020 3929 3930 4021 3930 4022 4021 3930 3931 4022 3931 4023 4022 3931 3932 4023 3932 4024 4023 3932 3933 4024
-                3933 4025 4024 3933 3934 4025 3934 4026 4025 3934 3935 4026 3935 4027 4026 3935 3936 4027 3936 4028 4027 3936 3937 4028 3937 4029 4028 3937 3938 4029
-                3938 4030 4029 3938 3939 4030 3939 4031 4030 3939 3940 4031 3940 4032 4031 3940 3941 4032 3941 4033 4032 3941 3942 4033 3942 4034 4033 3942 3943 4034
-                3943 4035 4034 3943 3944 4035 3944 4036 4035 3944 3945 4036 3945 4037 4036 3945 3946 4037 3946 4038 4037 3946 3947 4038 3947 4039 4038 3947 3948 4039
-                3948 4040 4039 3948 3949 4040 3949 4041 4040 3949 3950 4041 3950 4042 4041 3950 3951 4042 3951 4043 4042 3951 3952 4043 3952 4044 4043 3952 3953 4044
-                3953 4045 4044 3953 3954 4045 3954 4046 4045 3954 3955 4046 3955 4047 4046 3955 3956 4047 3956 4048 4047 3956 3957 4048 3957 4049 4048 3957 3958 4049
-                3958 4050 4049 3958 3959 4050 3959 4051 4050 3959 3960 4051 3960 4052 4051 3960 3961 4052 3961 4053 4052 3961 3962 4053 3962 4054 4053 3962 3963 4054
-                3963 4055 4054 3963 3964 4055 3964 4056 4055 3964 3965 4056 3965 4057 4056 3965 3966 4057 3966 4058 4057 3966 3967 4058 3967 4059 4058 3967 3968 4059
-                3968 4060 4059 3968 3969 4060 3969 4061 4060 3969 3970 4061 3970 4062 4061 3970 3971 4062 3971 4063 4062 3971 3972 4063 3972 4064 4063 3972 3973 4064
-                3973 4065 4064 3973 3974 4065 3974 4066 4065 3974 3975 4066 3975 4067 4066 3975 3976 4067 3976 4068 4067 3976 3977 4068 3977 4069 4068 3977 3978 4069
-                3978 4070 4069 3978 3979 4070 3979 4071 4070 3979 3980 4071 3980 4072 4071 3980 3981 4072 3981 4073 4072 3981 3982 4073 3982 4074 4073 3982 3983 4074
-                3983 4075 4074 3983 3984 4075 3984 4076 4075 3984 3985 4076 3985 4077 4076 3985 3986 4077 3986 4078 4077 3986 3987 4078 3987 4079 4078 3987 3988 4079
-                3988 4080 4079 3988 3989 4080 3989 4081 4080 3989 3990 4081 3990 4082 4081 3990 3991 4082 3991 4083 4082 3991 3992 4083 3992 4084 4083 3992 3993 4084
-                3993 4085 4084 3993 3994 4085 3994 4086 4085 3994 3995 4086 3995 4087 4086 3995 3996 4087 3996 4088 4087 3996 3997 4088 3997 4089 4088 3997 3998 4089
-                3998 4090 4089 3998 3999 4090 3999 4091 4090 3999 4000 4091 4000 4092 4091 4000 4001 4092 4001 4093 4092 4001 4002 4093 4002 4094 4093 4002 4003 4094
-                4004 4096 4095 4004 4005 4096 4005 4097 4096 4005 4006 4097 4006 4098 4097 4006 4007 4098 4007 4099 4098 4007 4008 4099 4008 4100 4099 4008 4009 4100
-                4009 4101 4100 4009 4010 4101 4010 4102 4101 4010 4011 4102 4011 4103 4102 4011 4012 4103 4012 4104 4103 4012 4013 4104 4013 4105 4104 4013 4014 4105
-                4014 4106 4105 4014 4015 4106 4015 4107 4106 4015 4016 4107 4016 4108 4107 4016 4017 4108 4017 4109 4108 4017 4018 4109 4018 4110 4109 4018 4019 4110
-                4019 4111 4110 4019 4020 4111 4020 4112 4111 4020 4021 4112 4021 4113 4112 4021 4022 4113 4022 4114 4113 4022 4023 4114 4023 4115 4114 4023 4024 4115
-                4024 4116 4115 4024 4025 4116 4025 4117 4116 4025 4026 4117 4026 4118 4117 4026 4027 4118 4027 4119 4118 4027 4028 4119 4028 4120 4119 4028 4029 4120
-                4029 4121 4120 4029 4030 4121 4030 4122 4121 4030 4031 4122 4031 4123 4122 4031 4032 4123 4032 4124 4123 4032 4033 4124 4033 4125 4124 4033 4034 4125
-                4034 4126 4125 4034 4035 4126 4035 4127 4126 4035 4036 4127 4036 4128 4127 4036 4037 4128 4037 4129 4128 4037 4038 4129 4038 4130 4129 4038 4039 4130
-                4039 4131 4130 4039 4040 4131 4040 4132 4131 4040 4041 4132 4041 4133 4132 4041 4042 4133 4042 4134 4133 4042 4043 4134 4043 4135 4134 4043 4044 4135
-                4044 4136 4135 4044 4045 4136 4045 4137 4136 4045 4046 4137 4046 4138 4137 4046 4047 4138 4047 4139 4138 4047 4048 4139 4048 4140 4139 4048 4049 4140
-                4049 4141 4140 4049 4050 4141 4050 4142 4141 4050 4051 4142 4051 4143 4142 4051 4052 4143 4052 4144 4143 4052 4053 4144 4053 4145 4144 4053 4054 4145
-                4054 4146 4145 4054 4055 4146 4055 4147 4146 4055 4056 4147 4056 4148 4147 4056 4057 4148 4057 4149 4148 4057 4058 4149 4058 4150 4149 4058 4059 4150
-                4059 4151 4150 4059 4060 4151 4060 4152 4151 4060 4061 4152 4061 4153 4152 4061 4062 4153 4062 4154 4153 4062 4063 4154 4063 4155 4154 4063 4064 4155
-                4064 4156 4155 4064 4065 4156 4065 4157 4156 4065 4066 4157 4066 4158 4157 4066 4067 4158 4067 4159 4158 4067 4068 4159 4068 4160 4159 4068 4069 4160
-                4069 4161 4160 4069 4070 4161 4070 4162 4161 4070 4071 4162 4071 4163 4162 4071 4072 4163 4072 4164 4163 4072 4073 4164 4073 4165 4164 4073 4074 4165
-                4074 4166 4165 4074 4075 4166 4075 4167 4166 4075 4076 4167 4076 4168 4167 4076 4077 4168 4077 4169 4168 4077 4078 4169 4078 4170 4169 4078 4079 4170
-                4079 4171 4170 4079 4080 4171 4080 4172 4171 4080 4081 4172 4081 4173 4172 4081 4082 4173 4082 4174 4173 4082 4083 4174 4083 4175 4174 4083 4084 4175
-                4084 4176 4175 4084 4085 4176 4085 4177 4176 4085 4086 4177 4086 4178 4177 4086 4087 4178 4087 4179 4178 4087 4088 4179 4088 4180 4179 4088 4089 4180
-                4089 4181 4180 4089 4090 4181 4090 4182 4181 4090 4091 4182 4091 4183 4182 4091 4092 4183 4092 4184 4183 4092 4093 4184 4093 4185 4184 4093 4094 4185
-                4095 4187 4186 4095 4096 4187 4096 4188 4187 4096 4097 4188 4097 4189 4188 4097 4098 4189 4098 4190 4189 4098 4099 4190 4099 4191 4190 4099 4100 4191
-                4100 4192 4191 4100 4101 4192 4101 4193 4192 4101 4102 4193 4102 4194 4193 4102 4103 4194 4103 4195 4194 4103 4104 4195 4104 4196 4195 4104 4105 4196
-                4105 4197 4196 4105 4106 4197 4106 4198 4197 4106 4107 4198 4107 4199 4198 4107 4108 4199 4108 4200 4199 4108 4109 4200 4109 4201 4200 4109 4110 4201
-                4110 4202 4201 4110 4111 4202 4111 4203 4202 4111 4112 4203 4112 4204 4203 4112 4113 4204 4113 4205 4204 4113 4114 4205 4114 4206 4205 4114 4115 4206
-                4115 4207 4206 4115 4116 4207 4116 4208 4207 4116 4117 4208 4117 4209 4208 4117 4118 4209 4118 4210 4209 4118 4119 4210 4119 4211 4210 4119 4120 4211
-                4120 4212 4211 4120 4121 4212 4121 4213 4212 4121 4122 4213 4122 4214 4213 4122 4123 4214 4123 4215 4214 4123 4124 4215 4124 4216 4215 4124 4125 4216
-                4125 4217 4216 4125 4126 4217 4126 4218 4217 4126 4127 4218 4127 4219 4218 4127 4128 4219 4128 4220 4219 4128 4129 4220 4129 4221 4220 4129 4130 4221
-                4130 4222 4221 4130 4131 4222 4131 4223 4222 4131 4132 4223 4132 4224 4223 4132 4133 4224 4133 4225 4224 4133 4134 4225 4134 4226 4225 4134 4135 4226
-                4135 4227 4226 4135 4136 4227 4136 4228 4227 4136 4137 4228 4137 4229 4228 4137 4138 4229 4138 4230 4229 4138 4139 4230 4139 4231 4230 4139 4140 4231
-                4140 4232 4231 4140 4141 4232 4141 4233 4232 4141 4142 4233 4142 4234 4233 4142 4143 4234 4143 4235 4234 4143 4144 4235 4144 4236 4235 4144 4145 4236
-                4145 4237 4236 4145 4146 4237 4146 4238 4237 4146 4147 4238 4147 4239 4238 4147 4148 4239 4148 4240 4239 4148 4149 4240 4149 4241 4240 4149 4150 4241
-                4150 4242 4241 4150 4151 4242 4151 4243 4242 4151 4152 4243 4152 4244 4243 4152 4153 4244 4153 4245 4244 4153 4154 4245 4154 4246 4245 4154 4155 4246
-                4155 4247 4246 4155 4156 4247 4156 4248 4247 4156 4157 4248 4157 4249 4248 4157 4158 4249 4158 4250 4249 4158 4159 4250 4159 4251 4250 4159 4160 4251
-                4160 4252 4251 4160 4161 4252 4161 4253 4252 4161 4162 4253 4162 4254 4253 4162 4163 4254 4163 4255 4254 4163 4164 4255 4164 4256 4255 4164 4165 4256
-                4165 4257 4256 4165 4166 4257 4166 4258 4257 4166 4167 4258 4167 4259 4258 4167 4168 4259 4168 4260 4259 4168 4169 4260 4169 4261 4260 4169 4170 4261
-                4170 4262 4261 4170 4171 4262 4171 4263 4262 4171 4172 4263 4172 4264 4263 4172 4173 4264 4173 4265 4264 4173 4174 4265 4174 4266 4265 4174 4175 4266
-                4175 4267 4266 4175 4176 4267 4176 4268 4267 4176 4177 4268 4177 4269 4268 4177 4178 4269 4178 4270 4269 4178 4179 4270 4179 4271 4270 4179 4180 4271
-                4180 4272 4271 4180 4181 4272 4181 4273 4272 4181 4182 4273 4182 4274 4273 4182 4183 4274 4183 4275 4274 4183 4184 4275 4184 4276 4275 4184 4185 4276
-                4186 4278 4277 4186 4187 4278 4187 4279 4278 4187 4188 4279 4188 4280 4279 4188 4189 4280 4189 4281 4280 4189 4190 4281 4190 4282 4281 4190 4191 4282
-                4191 4283 4282 4191 4192 4283 4192 4284 4283 4192 4193 4284 4193 4285 4284 4193 4194 4285 4194 4286 4285 4194 4195 4286 4195 4287 4286 4195 4196 4287
-                4196 4288 4287 4196 4197 4288 4197 4289 4288 4197 4198 4289 4198 4290 4289 4198 4199 4290 4199 4291 4290 4199 4200 4291 4200 4292 4291 4200 4201 4292
-                4201 4293 4292 4201 4202 4293 4202 4294 4293 4202 4203 4294 4203 4295 4294 4203 4204 4295 4204 4296 4295 4204 4205 4296 4205 4297 4296 4205 4206 4297
-                4206 4298 4297 4206 4207 4298 4207 4299 4298 4207 4208 4299 4208 4300 4299 4208 4209 4300 4209 4301 4300 4209 4210 4301 4210 4302 4301 4210 4211 4302
-                4211 4303 4302 4211 4212 4303 4212 4304 4303 4212 4213 4304 4213 4305 4304 4213 4214 4305 4214 4306 4305 4214 4215 4306 4215 4307 4306 4215 4216 4307
-                4216 4308 4307 4216 4217 4308 4217 4309 4308 4217 4218 4309 4218 4310 4309 4218 4219 4310 4219 4311 4310 4219 4220 4311 4220 4312 4311 4220 4221 4312
-                4221 4313 4312 4221 4222 4313 4222 4314 4313 4222 4223 4314 4223 4315 4314 4223 4224 4315 4224 4316 4315 4224 4225 4316 4225 4317 4316 4225 4226 4317
-                4226 4318 4317 4226 4227 4318 4227 4319 4318 4227 4228 4319 4228 4320 4319 4228 4229 4320 4229 4321 4320 4229 4230 4321 4230 4322 4321 4230 4231 4322
-                4231 4323 4322 4231 4232 4323 4232 4324 4323 4232 4233 4324 4233 4325 4324 4233 4234 4325 4234 4326 4325 4234 4235 4326 4235 4327 4326 4235 4236 4327
-                4236 4328 4327 4236 4237 4328 4237 4329 4328 4237 4238 4329 4238 4330 4329 4238 4239 4330 4239 4331 4330 4239 4240 4331 4240 4332 4331 4240 4241 4332
-                4241 4333 4332 4241 4242 4333 4242 4334 4333 4242 4243 4334 4243 4335 4334 4243 4244 4335 4244 4336 4335 4244 4245 4336 4245 4337 4336 4245 4246 4337
-                4246 4338 4337 4246 4247 4338 4247 4339 4338 4247 4248 4339 4248 4340 4339 4248 4249 4340 4249 4341 4340 4249 4250 4341 4250 4342 4341 4250 4251 4342
-                4251 4343 4342 4251 4252 4343 4252 4344 4343 4252 4253 4344 4253 4345 4344 4253 4254 4345 4254 4346 4345 4254 4255 4346 4255 4347 4346 4255 4256 4347
-                4256 4348 4347 4256 4257 4348 4257 4349 4348 4257 4258 4349 4258 4350 4349 4258 4259 4350 4259 4351 4350 4259 4260 4351 4260 4352 4351 4260 4261 4352
-                4261 4353 4352 4261 4262 4353 4262 4354 4353 4262 4263 4354 4263 4355 4354 4263 4264 4355 4264 4356 4355 4264 4265 4356 4265 4357 4356 4265 4266 4357
-                4266 4358 4357 4266 4267 4358 4267 4359 4358 4267 4268 4359 4268 4360 4359 4268 4269 4360 4269 4361 4360 4269 4270 4361 4270 4362 4361 4270 4271 4362
-                4271 4363 4362 4271 4272 4363 4272 4364 4363 4272 4273 4364 4273 4365 4364 4273 4274 4365 4274 4366 4365 4274 4275 4366 4275 4367 4366 4275 4276 4367
-                4277 4369 4368 4277 4278 4369 4278 4370 4369 4278 4279 4370 4279 4371 4370 4279 4280 4371 4280 4372 4371 4280 4281 4372 4281 4373 4372 4281 4282 4373
-                4282 4374 4373 4282 4283 4374 4283 4375 4374 4283 4284 4375 4284 4376 4375 4284 4285 4376 4285 4377 4376 4285 4286 4377 4286 4378 4377 4286 4287 4378
-                4287 4379 4378 4287 4288 4379 4288 4380 4379 4288 4289 4380 4289 4381 4380 4289 4290 4381 4290 4382 4381 4290 4291 4382 4291 4383 4382 4291 4292 4383
-                4292 4384 4383 4292 4293 4384 4293 4385 4384 4293 4294 4385 4294 4386 4385 4294 4295 4386 4295 4387 4386 4295 4296 4387 4296 4388 4387 4296 4297 4388
-                4297 4389 4388 4297 4298 4389 4298 4390 4389 4298 4299 4390 4299 4391 4390 4299 4300 4391 4300 4392 4391 4300 4301 4392 4301 4393 4392 4301 4302 4393
-                4302 4394 4393 4302 4303 4394 4303 4395 4394 4303 4304 4395 4304 4396 4395 4304 4305 4396 4305 4397 4396 4305 4306 4397 4306 4398 4397 4306 4307 4398
-                4307 4399 4398 4307 4308 4399 4308 4400 4399 4308 4309 4400 4309 4401 4400 4309 4310 4401 4310 4402 4401 4310 4311 4402 4311 4403 4402 4311 4312 4403
-                4312 4404 4403 4312 4313 4404 4313 4405 4404 4313 4314 4405 4314 4406 4405 4314 4315 4406 4315 4407 4406 4315 4316 4407 4316 4408 4407 4316 4317 4408
-                4317 4409 4408 4317 4318 4409 4318 4410 4409 4318 4319 4410 4319 4411 4410 4319 4320 4411 4320 4412 4411 4320 4321 4412 4321 4413 4412 4321 4322 4413
-                4322 4414 4413 4322 4323 4414 4323 4415 4414 4323 4324 4415 4324 4416 4415 4324 4325 4416 4325 4417 4416 4325 4326 4417 4326 4418 4417 4326 4327 4418
-                4327 4419 4418 4327 4328 4419 4328 4420 4419 4328 4329 4420 4329 4421 4420 4329 4330 4421 4330 4422 4421 4330 4331 4422 4331 4423 4422 4331 4332 4423
-                4332 4424 4423 4332 4333 4424 4333 4425 4424 4333 4334 4425 4334 4426 4425 4334 4335 4426 4335 4427 4426 4335 4336 4427 4336 4428 4427 4336 4337 4428
-                4337 4429 4428 4337 4338 4429 4338 4430 4429 4338 4339 4430 4339 4431 4430 4339 4340 4431 4340 4432 4431 4340 4341 4432 4341 4433 4432 4341 4342 4433
-                4342 4434 4433 4342 4343 4434 4343 4435 4434 4343 4344 4435 4344 4436 4435 4344 4345 4436 4345 4437 4436 4345 4346 4437 4346 4438 4437 4346 4347 4438
-                4347 4439 4438 4347 4348 4439 4348 4440 4439 4348 4349 4440 4349 4441 4440 4349 4350 4441 4350 4442 4441 4350 4351 4442 4351 4443 4442 4351 4352 4443
-                4352 4444 4443 4352 4353 4444 4353 4445 4444 4353 4354 4445 4354 4446 4445 4354 4355 4446 4355 4447 4446 4355 4356 4447 4356 4448 4447 4356 4357 4448
-                4357 4449 4448 4357 4358 4449 4358 4450 4449 4358 4359 4450 4359 4451 4450 4359 4360 4451 4360 4452 4451 4360 4361 4452 4361 4453 4452 4361 4362 4453
-                4362 4454 4453 4362 4363 4454 4363 4455 4454 4363 4364 4455 4364 4456 4455 4364 4365 4456 4365 4457 4456 4365 4366 4457 4366 4458 4457 4366 4367 4458
-                4368 4460 4459 4368 4369 4460 4369 4461 4460 4369 4370 4461 4370 4462 4461 4370 4371 4462 4371 4463 4462 4371 4372 4463 4372 4464 4463 4372 4373 4464
-                4373 4465 4464 4373 4374 4465 4374 4466 4465 4374 4375 4466 4375 4467 4466 4375 4376 4467 4376 4468 4467 4376 4377 4468 4377 4469 4468 4377 4378 4469
-                4378 4470 4469 4378 4379 4470 4379 4471 4470 4379 4380 4471 4380 4472 4471 4380 4381 4472 4381 4473 4472 4381 4382 4473 4382 4474 4473 4382 4383 4474
-                4383 4475 4474 4383 4384 4475 4384 4476 4475 4384 4385 4476 4385 4477 4476 4385 4386 4477 4386 4478 4477 4386 4387 4478 4387 4479 4478 4387 4388 4479
-                4388 4480 4479 4388 4389 4480 4389 4481 4480 4389 4390 4481 4390 4482 4481 4390 4391 4482 4391 4483 4482 4391 4392 4483 4392 4484 4483 4392 4393 4484
-                4393 4485 4484 4393 4394 4485 4394 4486 4485 4394 4395 4486 4395 4487 4486 4395 4396 4487 4396 4488 4487 4396 4397 4488 4397 4489 4488 4397 4398 4489
-                4398 4490 4489 4398 4399 4490 4399 4491 4490 4399 4400 4491 4400 4492 4491 4400 4401 4492 4401 4493 4492 4401 4402 4493 4402 4494 4493 4402 4403 4494
-                4403 4495 4494 4403 4404 4495 4404 4496 4495 4404 4405 4496 4405 4497 4496 4405 4406 4497 4406 4498 4497 4406 4407 4498 4407 4499 4498 4407 4408 4499
-                4408 4500 4499 4408 4409 4500 4409 4501 4500 4409 4410 4501 4410 4502 4501 4410 4411 4502 4411 4503 4502 4411 4412 4503 4412 4504 4503 4412 4413 4504
-                4413 4505 4504 4413 4414 4505 4414 4506 4505 4414 4415 4506 4415 4507 4506 4415 4416 4507 4416 4508 4507 4416 4417 4508 4417 4509 4508 4417 4418 4509
-                4418 4510 4509 4418 4419 4510 4419 4511 4510 4419 4420 4511 4420 4512 4511 4420 4421 4512 4421 4513 4512 4421 4422 4513 4422 4514 4513 4422 4423 4514
-                4423 4515 4514 4423 4424 4515 4424 4516 4515 4424 4425 4516 4425 4517 4516 4425 4426 4517 4426 4518 4517 4426 4427 4518 4427 4519 4518 4427 4428 4519
-                4428 4520 4519 4428 4429 4520 4429 4521 4520 4429 4430 4521 4430 4522 4521 4430 4431 4522 4431 4523 4522 4431 4432 4523 4432 4524 4523 4432 4433 4524
-                4433 4525 4524 4433 4434 4525 4434 4526 4525 4434 4435 4526 4435 4527 4526 4435 4436 4527 4436 4528 4527 4436 4437 4528 4437 4529 4528 4437 4438 4529
-                4438 4530 4529 4438 4439 4530 4439 4531 4530 4439 4440 4531 4440 4532 4531 4440 4441 4532 4441 4533 4532 4441 4442 4533 4442 4534 4533 4442 4443 4534
-                4443 4535 4534 4443 4444 4535 4444 4536 4535 4444 4445 4536 4445 4537 4536 4445 4446 4537 4446 4538 4537 4446 4447 4538 4447 4539 4538 4447 4448 4539
-                4448 4540 4539 4448 4449 4540 4449 4541 4540 4449 4450 4541 4450 4542 4541 4450 4451 4542 4451 4543 4542 4451 4452 4543 4452 4544 4543 4452 4453 4544
-                4453 4545 4544 4453 4454 4545 4454 4546 4545 4454 4455 4546 4455 4547 4546 4455 4456 4547 4456 4548 4547 4456 4457 4548 4457 4549 4548 4457 4458 4549
-                4459 4551 4550 4459 4460 4551 4460 4552 4551 4460 4461 4552 4461 4553 4552 4461 4462 4553 4462 4554 4553 4462 4463 4554 4463 4555 4554 4463 4464 4555
-                4464 4556 4555 4464 4465 4556 4465 4557 4556 4465 4466 4557 4466 4558 4557 4466 4467 4558 4467 4559 4558 4467 4468 4559 4468 4560 4559 4468 4469 4560
-                4469 4561 4560 4469 4470 4561 4470 4562 4561 4470 4471 4562 4471 4563 4562 4471 4472 4563 4472 4564 4563 4472 4473 4564 4473 4565 4564 4473 4474 4565
-                4474 4566 4565 4474 4475 4566 4475 4567 4566 4475 4476 4567 4476 4568 4567 4476 4477 4568 4477 4569 4568 4477 4478 4569 4478 4570 4569 4478 4479 4570
-                4479 4571 4570 4479 4480 4571 4480 4572 4571 4480 4481 4572 4481 4573 4572 4481 4482 4573 4482 4574 4573 4482 4483 4574 4483 4575 4574 4483 4484 4575
-                4484 4576 4575 4484 4485 4576 4485 4577 4576 4485 4486 4577 4486 4578 4577 4486 4487 4578 4487 4579 4578 4487 4488 4579 4488 4580 4579 4488 4489 4580
-                4489 4581 4580 4489 4490 4581 4490 4582 4581 4490 4491 4582 4491 4583 4582 4491 4492 4583 4492 4584 4583 4492 4493 4584 4493 4585 4584 4493 4494 4585
-                4494 4586 4585 4494 4495 4586 4495 4587 4586 4495 4496 4587 4496 4588 4587 4496 4497 4588 4497 4589 4588 4497 4498 4589 4498 4590 4589 4498 4499 4590
-                4499 4591 4590 4499 4500 4591 4500 4592 4591 4500 4501 4592 4501 4593 4592 4501 4502 4593 4502 4594 4593 4502 4503 4594 4503 4595 4594 4503 4504 4595
-                4504 4596 4595 4504 4505 4596 4505 4597 4596 4505 4506 4597 4506 4598 4597 4506 4507 4598 4507 4599 4598 4507 4508 4599 4508 4600 4599 4508 4509 4600
-                4509 4601 4600 4509 4510 4601 4510 4602 4601 4510 4511 4602 4511 4603 4602 4511 4512 4603 4512 4604 4603 4512 4513 4604 4513 4605 4604 4513 4514 4605
-                4514 4606 4605 4514 4515 4606 4515 4607 4606 4515 4516 4607 4516 4608 4607 4516 4517 4608 4517 4609 4608 4517 4518 4609 4518 4610 4609 4518 4519 4610
-                4519 4611 4610 4519 4520 4611 4520 4612 4611 4520 4521 4612 4521 4613 4612 4521 4522 4613 4522 4614 4613 4522 4523 4614 4523 4615 4614 4523 4524 4615
-                4524 4616 4615 4524 4525 4616 4525 4617 4616 4525 4526 4617 4526 4618 4617 4526 4527 4618 4527 4619 4618 4527 4528 4619 4528 4620 4619 4528 4529 4620
-                4529 4621 4620 4529 4530 4621 4530 4622 4621 4530 4531 4622 4531 4623 4622 4531 4532 4623 4532 4624 4623 4532 4533 4624 4533 4625 4624 4533 4534 4625
-                4534 4626 4625 4534 4535 4626 4535 4627 4626 4535 4536 4627 4536 4628 4627 4536 4537 4628 4537 4629 4628 4537 4538 4629 4538 4630 4629 4538 4539 4630
-                4539 4631 4630 4539 4540 4631 4540 4632 4631 4540 4541 4632 4541 4633 4632 4541 4542 4633 4542 4634 4633 4542 4543 4634 4543 4635 4634 4543 4544 4635
-                4544 4636 4635 4544 4545 4636 4545 4637 4636 4545 4546 4637 4546 4638 4637 4546 4547 4638 4547 4639 4638 4547 4548 4639 4548 4640 4639 4548 4549 4640
-                4550 4642 4641 4550 4551 4642 4551 4643 4642 4551 4552 4643 4552 4644 4643 4552 4553 4644 4553 4645 4644 4553 4554 4645 4554 4646 4645 4554 4555 4646
-                4555 4647 4646 4555 4556 4647 4556 4648 4647 4556 4557 4648 4557 4649 4648 4557 4558 4649 4558 4650 4649 4558 4559 4650 4559 4651 4650 4559 4560 4651
-                4560 4652 4651 4560 4561 4652 4561 4653 4652 4561 4562 4653 4562 4654 4653 4562 4563 4654 4563 4655 4654 4563 4564 4655 4564 4656 4655 4564 4565 4656
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-                4570 4662 4661 4570 4571 4662 4571 4663 4662 4571 4572 4663 4572 4664 4663 4572 4573 4664 4573 4665 4664 4573 4574 4665 4574 4666 4665 4574 4575 4666
-                4575 4667 4666 4575 4576 4667 4576 4668 4667 4576 4577 4668 4577 4669 4668 4577 4578 4669 4578 4670 4669 4578 4579 4670 4579 4671 4670 4579 4580 4671
-                4580 4672 4671 4580 4581 4672 4581 4673 4672 4581 4582 4673 4582 4674 4673 4582 4583 4674 4583 4675 4674 4583 4584 4675 4584 4676 4675 4584 4585 4676
-                4585 4677 4676 4585 4586 4677 4586 4678 4677 4586 4587 4678 4587 4679 4678 4587 4588 4679 4588 4680 4679 4588 4589 4680 4589 4681 4680 4589 4590 4681
-                4590 4682 4681 4590 4591 4682 4591 4683 4682 4591 4592 4683 4592 4684 4683 4592 4593 4684 4593 4685 4684 4593 4594 4685 4594 4686 4685 4594 4595 4686
-                4595 4687 4686 4595 4596 4687 4596 4688 4687 4596 4597 4688 4597 4689 4688 4597 4598 4689 4598 4690 4689 4598 4599 4690 4599 4691 4690 4599 4600 4691
-                4600 4692 4691 4600 4601 4692 4601 4693 4692 4601 4602 4693 4602 4694 4693 4602 4603 4694 4603 4695 4694 4603 4604 4695 4604 4696 4695 4604 4605 4696
-                4605 4697 4696 4605 4606 4697 4606 4698 4697 4606 4607 4698 4607 4699 4698 4607 4608 4699 4608 4700 4699 4608 4609 4700 4609 4701 4700 4609 4610 4701
-                4610 4702 4701 4610 4611 4702 4611 4703 4702 4611 4612 4703 4612 4704 4703 4612 4613 4704 4613 4705 4704 4613 4614 4705 4614 4706 4705 4614 4615 4706
-                4615 4707 4706 4615 4616 4707 4616 4708 4707 4616 4617 4708 4617 4709 4708 4617 4618 4709 4618 4710 4709 4618 4619 4710 4619 4711 4710 4619 4620 4711
-                4620 4712 4711 4620 4621 4712 4621 4713 4712 4621 4622 4713 4622 4714 4713 4622 4623 4714 4623 4715 4714 4623 4624 4715 4624 4716 4715 4624 4625 4716
-                4625 4717 4716 4625 4626 4717 4626 4718 4717 4626 4627 4718 4627 4719 4718 4627 4628 4719 4628 4720 4719 4628 4629 4720 4629 4721 4720 4629 4630 4721
-                4630 4722 4721 4630 4631 4722 4631 4723 4722 4631 4632 4723 4632 4724 4723 4632 4633 4724 4633 4725 4724 4633 4634 4725 4634 4726 4725 4634 4635 4726
-                4635 4727 4726 4635 4636 4727 4636 4728 4727 4636 4637 4728 4637 4729 4728 4637 4638 4729 4638 4730 4729 4638 4639 4730 4639 4731 4730 4639 4640 4731
-                4641 4733 4732 4641 4642 4733 4642 4734 4733 4642 4643 4734 4643 4735 4734 4643 4644 4735 4644 4736 4735 4644 4645 4736 4645 4737 4736 4645 4646 4737
-                4646 4738 4737 4646 4647 4738 4647 4739 4738 4647 4648 4739 4648 4740 4739 4648 4649 4740 4649 4741 4740 4649 4650 4741 4650 4742 4741 4650 4651 4742
-                4651 4743 4742 4651 4652 4743 4652 4744 4743 4652 4653 4744 4653 4745 4744 4653 4654 4745 4654 4746 4745 4654 4655 4746 4655 4747 4746 4655 4656 4747
-                4656 4748 4747 4656 4657 4748 4657 4749 4748 4657 4658 4749 4658 4750 4749 4658 4659 4750 4659 4751 4750 4659 4660 4751 4660 4752 4751 4660 4661 4752
-                4661 4753 4752 4661 4662 4753 4662 4754 4753 4662 4663 4754 4663 4755 4754 4663 4664 4755 4664 4756 4755 4664 4665 4756 4665 4757 4756 4665 4666 4757
-                4666 4758 4757 4666 4667 4758 4667 4759 4758 4667 4668 4759 4668 4760 4759 4668 4669 4760 4669 4761 4760 4669 4670 4761 4670 4762 4761 4670 4671 4762
-                4671 4763 4762 4671 4672 4763 4672 4764 4763 4672 4673 4764 4673 4765 4764 4673 4674 4765 4674 4766 4765 4674 4675 4766 4675 4767 4766 4675 4676 4767
-                4676 4768 4767 4676 4677 4768 4677 4769 4768 4677 4678 4769 4678 4770 4769 4678 4679 4770 4679 4771 4770 4679 4680 4771 4680 4772 4771 4680 4681 4772
-                4681 4773 4772 4681 4682 4773 4682 4774 4773 4682 4683 4774 4683 4775 4774 4683 4684 4775 4684 4776 4775 4684 4685 4776 4685 4777 4776 4685 4686 4777
-                4686 4778 4777 4686 4687 4778 4687 4779 4778 4687 4688 4779 4688 4780 4779 4688 4689 4780 4689 4781 4780 4689 4690 4781 4690 4782 4781 4690 4691 4782
-                4691 4783 4782 4691 4692 4783 4692 4784 4783 4692 4693 4784 4693 4785 4784 4693 4694 4785 4694 4786 4785 4694 4695 4786 4695 4787 4786 4695 4696 4787
-                4696 4788 4787 4696 4697 4788 4697 4789 4788 4697 4698 4789 4698 4790 4789 4698 4699 4790 4699 4791 4790 4699 4700 4791 4700 4792 4791 4700 4701 4792
-                4701 4793 4792 4701 4702 4793 4702 4794 4793 4702 4703 4794 4703 4795 4794 4703 4704 4795 4704 4796 4795 4704 4705 4796 4705 4797 4796 4705 4706 4797
-                4706 4798 4797 4706 4707 4798 4707 4799 4798 4707 4708 4799 4708 4800 4799 4708 4709 4800 4709 4801 4800 4709 4710 4801 4710 4802 4801 4710 4711 4802
-                4711 4803 4802 4711 4712 4803 4712 4804 4803 4712 4713 4804 4713 4805 4804 4713 4714 4805 4714 4806 4805 4714 4715 4806 4715 4807 4806 4715 4716 4807
-                4716 4808 4807 4716 4717 4808 4717 4809 4808 4717 4718 4809 4718 4810 4809 4718 4719 4810 4719 4811 4810 4719 4720 4811 4720 4812 4811 4720 4721 4812
-                4721 4813 4812 4721 4722 4813 4722 4814 4813 4722 4723 4814 4723 4815 4814 4723 4724 4815 4724 4816 4815 4724 4725 4816 4725 4817 4816 4725 4726 4817
-                4726 4818 4817 4726 4727 4818 4727 4819 4818 4727 4728 4819 4728 4820 4819 4728 4729 4820 4729 4821 4820 4729 4730 4821 4730 4822 4821 4730 4731 4822
-                4732 4824 4823 4732 4733 4824 4733 4825 4824 4733 4734 4825 4734 4826 4825 4734 4735 4826 4735 4827 4826 4735 4736 4827 4736 4828 4827 4736 4737 4828
-                4737 4829 4828 4737 4738 4829 4738 4830 4829 4738 4739 4830 4739 4831 4830 4739 4740 4831 4740 4832 4831 4740 4741 4832 4741 4833 4832 4741 4742 4833
-                4742 4834 4833 4742 4743 4834 4743 4835 4834 4743 4744 4835 4744 4836 4835 4744 4745 4836 4745 4837 4836 4745 4746 4837 4746 4838 4837 4746 4747 4838
-                4747 4839 4838 4747 4748 4839 4748 4840 4839 4748 4749 4840 4749 4841 4840 4749 4750 4841 4750 4842 4841 4750 4751 4842 4751 4843 4842 4751 4752 4843
-                4752 4844 4843 4752 4753 4844 4753 4845 4844 4753 4754 4845 4754 4846 4845 4754 4755 4846 4755 4847 4846 4755 4756 4847 4756 4848 4847 4756 4757 4848
-                4757 4849 4848 4757 4758 4849 4758 4850 4849 4758 4759 4850 4759 4851 4850 4759 4760 4851 4760 4852 4851 4760 4761 4852 4761 4853 4852 4761 4762 4853
-                4762 4854 4853 4762 4763 4854 4763 4855 4854 4763 4764 4855 4764 4856 4855 4764 4765 4856 4765 4857 4856 4765 4766 4857 4766 4858 4857 4766 4767 4858
-                4767 4859 4858 4767 4768 4859 4768 4860 4859 4768 4769 4860 4769 4861 4860 4769 4770 4861 4770 4862 4861 4770 4771 4862 4771 4863 4862 4771 4772 4863
-                4772 4864 4863 4772 4773 4864 4773 4865 4864 4773 4774 4865 4774 4866 4865 4774 4775 4866 4775 4867 4866 4775 4776 4867 4776 4868 4867 4776 4777 4868
-                4777 4869 4868 4777 4778 4869 4778 4870 4869 4778 4779 4870 4779 4871 4870 4779 4780 4871 4780 4872 4871 4780 4781 4872 4781 4873 4872 4781 4782 4873
-                4782 4874 4873 4782 4783 4874 4783 4875 4874 4783 4784 4875 4784 4876 4875 4784 4785 4876 4785 4877 4876 4785 4786 4877 4786 4878 4877 4786 4787 4878
-                4787 4879 4878 4787 4788 4879 4788 4880 4879 4788 4789 4880 4789 4881 4880 4789 4790 4881 4790 4882 4881 4790 4791 4882 4791 4883 4882 4791 4792 4883
-                4792 4884 4883 4792 4793 4884 4793 4885 4884 4793 4794 4885 4794 4886 4885 4794 4795 4886 4795 4887 4886 4795 4796 4887 4796 4888 4887 4796 4797 4888
-                4797 4889 4888 4797 4798 4889 4798 4890 4889 4798 4799 4890 4799 4891 4890 4799 4800 4891 4800 4892 4891 4800 4801 4892 4801 4893 4892 4801 4802 4893
-                4802 4894 4893 4802 4803 4894 4803 4895 4894 4803 4804 4895 4804 4896 4895 4804 4805 4896 4805 4897 4896 4805 4806 4897 4806 4898 4897 4806 4807 4898
-                4807 4899 4898 4807 4808 4899 4808 4900 4899 4808 4809 4900 4809 4901 4900 4809 4810 4901 4810 4902 4901 4810 4811 4902 4811 4903 4902 4811 4812 4903
-                4812 4904 4903 4812 4813 4904 4813 4905 4904 4813 4814 4905 4814 4906 4905 4814 4815 4906 4815 4907 4906 4815 4816 4907 4816 4908 4907 4816 4817 4908
-                4817 4909 4908 4817 4818 4909 4818 4910 4909 4818 4819 4910 4819 4911 4910 4819 4820 4911 4820 4912 4911 4820 4821 4912 4821 4913 4912 4821 4822 4913
-                4823 4915 4914 4823 4824 4915 4824 4916 4915 4824 4825 4916 4825 4917 4916 4825 4826 4917 4826 4918 4917 4826 4827 4918 4827 4919 4918 4827 4828 4919
-                4828 4920 4919 4828 4829 4920 4829 4921 4920 4829 4830 4921 4830 4922 4921 4830 4831 4922 4831 4923 4922 4831 4832 4923 4832 4924 4923 4832 4833 4924
-                4833 4925 4924 4833 4834 4925 4834 4926 4925 4834 4835 4926 4835 4927 4926 4835 4836 4927 4836 4928 4927 4836 4837 4928 4837 4929 4928 4837 4838 4929
-                4838 4930 4929 4838 4839 4930 4839 4931 4930 4839 4840 4931 4840 4932 4931 4840 4841 4932 4841 4933 4932 4841 4842 4933 4842 4934 4933 4842 4843 4934
-                4843 4935 4934 4843 4844 4935 4844 4936 4935 4844 4845 4936 4845 4937 4936 4845 4846 4937 4846 4938 4937 4846 4847 4938 4847 4939 4938 4847 4848 4939
-                4848 4940 4939 4848 4849 4940 4849 4941 4940 4849 4850 4941 4850 4942 4941 4850 4851 4942 4851 4943 4942 4851 4852 4943 4852 4944 4943 4852 4853 4944
-                4853 4945 4944 4853 4854 4945 4854 4946 4945 4854 4855 4946 4855 4947 4946 4855 4856 4947 4856 4948 4947 4856 4857 4948 4857 4949 4948 4857 4858 4949
-                4858 4950 4949 4858 4859 4950 4859 4951 4950 4859 4860 4951 4860 4952 4951 4860 4861 4952 4861 4953 4952 4861 4862 4953 4862 4954 4953 4862 4863 4954
-                4863 4955 4954 4863 4864 4955 4864 4956 4955 4864 4865 4956 4865 4957 4956 4865 4866 4957 4866 4958 4957 4866 4867 4958 4867 4959 4958 4867 4868 4959
-                4868 4960 4959 4868 4869 4960 4869 4961 4960 4869 4870 4961 4870 4962 4961 4870 4871 4962 4871 4963 4962 4871 4872 4963 4872 4964 4963 4872 4873 4964
-                4873 4965 4964 4873 4874 4965 4874 4966 4965 4874 4875 4966 4875 4967 4966 4875 4876 4967 4876 4968 4967 4876 4877 4968 4877 4969 4968 4877 4878 4969
-                4878 4970 4969 4878 4879 4970 4879 4971 4970 4879 4880 4971 4880 4972 4971 4880 4881 4972 4881 4973 4972 4881 4882 4973 4882 4974 4973 4882 4883 4974
-                4883 4975 4974 4883 4884 4975 4884 4976 4975 4884 4885 4976 4885 4977 4976 4885 4886 4977 4886 4978 4977 4886 4887 4978 4887 4979 4978 4887 4888 4979
-                4888 4980 4979 4888 4889 4980 4889 4981 4980 4889 4890 4981 4890 4982 4981 4890 4891 4982 4891 4983 4982 4891 4892 4983 4892 4984 4983 4892 4893 4984
-                4893 4985 4984 4893 4894 4985 4894 4986 4985 4894 4895 4986 4895 4987 4986 4895 4896 4987 4896 4988 4987 4896 4897 4988 4897 4989 4988 4897 4898 4989
-                4898 4990 4989 4898 4899 4990 4899 4991 4990 4899 4900 4991 4900 4992 4991 4900 4901 4992 4901 4993 4992 4901 4902 4993 4902 4994 4993 4902 4903 4994
-                4903 4995 4994 4903 4904 4995 4904 4996 4995 4904 4905 4996 4905 4997 4996 4905 4906 4997 4906 4998 4997 4906 4907 4998 4907 4999 4998 4907 4908 4999
-                4908 5000 4999 4908 4909 5000 4909 5001 5000 4909 4910 5001 4910 5002 5001 4910 4911 5002 4911 5003 5002 4911 4912 5003 4912 5004 5003 4912 4913 5004
-                4914 5006 5005 4914 4915 5006 4915 5007 5006 4915 4916 5007 4916 5008 5007 4916 4917 5008 4917 5009 5008 4917 4918 5009 4918 5010 5009 4918 4919 5010
-                4919 5011 5010 4919 4920 5011 4920 5012 5011 4920 4921 5012 4921 5013 5012 4921 4922 5013 4922 5014 5013 4922 4923 5014 4923 5015 5014 4923 4924 5015
-                4924 5016 5015 4924 4925 5016 4925 5017 5016 4925 4926 5017 4926 5018 5017 4926 4927 5018 4927 5019 5018 4927 4928 5019 4928 5020 5019 4928 4929 5020
-                4929 5021 5020 4929 4930 5021 4930 5022 5021 4930 4931 5022 4931 5023 5022 4931 4932 5023 4932 5024 5023 4932 4933 5024 4933 5025 5024 4933 4934 5025
-                4934 5026 5025 4934 4935 5026 4935 5027 5026 4935 4936 5027 4936 5028 5027 4936 4937 5028 4937 5029 5028 4937 4938 5029 4938 5030 5029 4938 4939 5030
-                4939 5031 5030 4939 4940 5031 4940 5032 5031 4940 4941 5032 4941 5033 5032 4941 4942 5033 4942 5034 5033 4942 4943 5034 4943 5035 5034 4943 4944 5035
-                4944 5036 5035 4944 4945 5036 4945 5037 5036 4945 4946 5037 4946 5038 5037 4946 4947 5038 4947 5039 5038 4947 4948 5039 4948 5040 5039 4948 4949 5040
-                4949 5041 5040 4949 4950 5041 4950 5042 5041 4950 4951 5042 4951 5043 5042 4951 4952 5043 4952 5044 5043 4952 4953 5044 4953 5045 5044 4953 4954 5045
-                4954 5046 5045 4954 4955 5046 4955 5047 5046 4955 4956 5047 4956 5048 5047 4956 4957 5048 4957 5049 5048 4957 4958 5049 4958 5050 5049 4958 4959 5050
-                4959 5051 5050 4959 4960 5051 4960 5052 5051 4960 4961 5052 4961 5053 5052 4961 4962 5053 4962 5054 5053 4962 4963 5054 4963 5055 5054 4963 4964 5055
-                4964 5056 5055 4964 4965 5056 4965 5057 5056 4965 4966 5057 4966 5058 5057 4966 4967 5058 4967 5059 5058 4967 4968 5059 4968 5060 5059 4968 4969 5060
-                4969 5061 5060 4969 4970 5061 4970 5062 5061 4970 4971 5062 4971 5063 5062 4971 4972 5063 4972 5064 5063 4972 4973 5064 4973 5065 5064 4973 4974 5065
-                4974 5066 5065 4974 4975 5066 4975 5067 5066 4975 4976 5067 4976 5068 5067 4976 4977 5068 4977 5069 5068 4977 4978 5069 4978 5070 5069 4978 4979 5070
-                4979 5071 5070 4979 4980 5071 4980 5072 5071 4980 4981 5072 4981 5073 5072 4981 4982 5073 4982 5074 5073 4982 4983 5074 4983 5075 5074 4983 4984 5075
-                4984 5076 5075 4984 4985 5076 4985 5077 5076 4985 4986 5077 4986 5078 5077 4986 4987 5078 4987 5079 5078 4987 4988 5079 4988 5080 5079 4988 4989 5080
-                4989 5081 5080 4989 4990 5081 4990 5082 5081 4990 4991 5082 4991 5083 5082 4991 4992 5083 4992 5084 5083 4992 4993 5084 4993 5085 5084 4993 4994 5085
-                4994 5086 5085 4994 4995 5086 4995 5087 5086 4995 4996 5087 4996 5088 5087 4996 4997 5088 4997 5089 5088 4997 4998 5089 4998 5090 5089 4998 4999 5090
-                4999 5091 5090 4999 5000 5091 5000 5092 5091 5000 5001 5092 5001 5093 5092 5001 5002 5093 5002 5094 5093 5002 5003 5094 5003 5095 5094 5003 5004 5095
-                5005 5097 5096 5005 5006 5097 5006 5098 5097 5006 5007 5098 5007 5099 5098 5007 5008 5099 5008 5100 5099 5008 5009 5100 5009 5101 5100 5009 5010 5101
-                5010 5102 5101 5010 5011 5102 5011 5103 5102 5011 5012 5103 5012 5104 5103 5012 5013 5104 5013 5105 5104 5013 5014 5105 5014 5106 5105 5014 5015 5106
-                5015 5107 5106 5015 5016 5107 5016 5108 5107 5016 5017 5108 5017 5109 5108 5017 5018 5109 5018 5110 5109 5018 5019 5110 5019 5111 5110 5019 5020 5111
-                5020 5112 5111 5020 5021 5112 5021 5113 5112 5021 5022 5113 5022 5114 5113 5022 5023 5114 5023 5115 5114 5023 5024 5115 5024 5116 5115 5024 5025 5116
-                5025 5117 5116 5025 5026 5117 5026 5118 5117 5026 5027 5118 5027 5119 5118 5027 5028 5119 5028 5120 5119 5028 5029 5120 5029 5121 5120 5029 5030 5121
-                5030 5122 5121 5030 5031 5122 5031 5123 5122 5031 5032 5123 5032 5124 5123 5032 5033 5124 5033 5125 5124 5033 5034 5125 5034 5126 5125 5034 5035 5126
-                5035 5127 5126 5035 5036 5127 5036 5128 5127 5036 5037 5128 5037 5129 5128 5037 5038 5129 5038 5130 5129 5038 5039 5130 5039 5131 5130 5039 5040 5131
-                5040 5132 5131 5040 5041 5132 5041 5133 5132 5041 5042 5133 5042 5134 5133 5042 5043 5134 5043 5135 5134 5043 5044 5135 5044 5136 5135 5044 5045 5136
-                5045 5137 5136 5045 5046 5137 5046 5138 5137 5046 5047 5138 5047 5139 5138 5047 5048 5139 5048 5140 5139 5048 5049 5140 5049 5141 5140 5049 5050 5141
-                5050 5142 5141 5050 5051 5142 5051 5143 5142 5051 5052 5143 5052 5144 5143 5052 5053 5144 5053 5145 5144 5053 5054 5145 5054 5146 5145 5054 5055 5146
-                5055 5147 5146 5055 5056 5147 5056 5148 5147 5056 5057 5148 5057 5149 5148 5057 5058 5149 5058 5150 5149 5058 5059 5150 5059 5151 5150 5059 5060 5151
-                5060 5152 5151 5060 5061 5152 5061 5153 5152 5061 5062 5153 5062 5154 5153 5062 5063 5154 5063 5155 5154 5063 5064 5155 5064 5156 5155 5064 5065 5156
-                5065 5157 5156 5065 5066 5157 5066 5158 5157 5066 5067 5158 5067 5159 5158 5067 5068 5159 5068 5160 5159 5068 5069 5160 5069 5161 5160 5069 5070 5161
-                5070 5162 5161 5070 5071 5162 5071 5163 5162 5071 5072 5163 5072 5164 5163 5072 5073 5164 5073 5165 5164 5073 5074 5165 5074 5166 5165 5074 5075 5166
-                5075 5167 5166 5075 5076 5167 5076 5168 5167 5076 5077 5168 5077 5169 5168 5077 5078 5169 5078 5170 5169 5078 5079 5170 5079 5171 5170 5079 5080 5171
-                5080 5172 5171 5080 5081 5172 5081 5173 5172 5081 5082 5173 5082 5174 5173 5082 5083 5174 5083 5175 5174 5083 5084 5175 5084 5176 5175 5084 5085 5176
-                5085 5177 5176 5085 5086 5177 5086 5178 5177 5086 5087 5178 5087 5179 5178 5087 5088 5179 5088 5180 5179 5088 5089 5180 5089 5181 5180 5089 5090 5181
-                5090 5182 5181 5090 5091 5182 5091 5183 5182 5091 5092 5183 5092 5184 5183 5092 5093 5184 5093 5185 5184 5093 5094 5185 5094 5186 5185 5094 5095 5186
-                5096 5188 5187 5096 5097 5188 5097 5189 5188 5097 5098 5189 5098 5190 5189 5098 5099 5190 5099 5191 5190 5099 5100 5191 5100 5192 5191 5100 5101 5192
-                5101 5193 5192 5101 5102 5193 5102 5194 5193 5102 5103 5194 5103 5195 5194 5103 5104 5195 5104 5196 5195 5104 5105 5196 5105 5197 5196 5105 5106 5197
-                5106 5198 5197 5106 5107 5198 5107 5199 5198 5107 5108 5199 5108 5200 5199 5108 5109 5200 5109 5201 5200 5109 5110 5201 5110 5202 5201 5110 5111 5202
-                5111 5203 5202 5111 5112 5203 5112 5204 5203 5112 5113 5204 5113 5205 5204 5113 5114 5205 5114 5206 5205 5114 5115 5206 5115 5207 5206 5115 5116 5207
-                5116 5208 5207 5116 5117 5208 5117 5209 5208 5117 5118 5209 5118 5210 5209 5118 5119 5210 5119 5211 5210 5119 5120 5211 5120 5212 5211 5120 5121 5212
-                5121 5213 5212 5121 5122 5213 5122 5214 5213 5122 5123 5214 5123 5215 5214 5123 5124 5215 5124 5216 5215 5124 5125 5216 5125 5217 5216 5125 5126 5217
-                5126 5218 5217 5126 5127 5218 5127 5219 5218 5127 5128 5219 5128 5220 5219 5128 5129 5220 5129 5221 5220 5129 5130 5221 5130 5222 5221 5130 5131 5222
-                5131 5223 5222 5131 5132 5223 5132 5224 5223 5132 5133 5224 5133 5225 5224 5133 5134 5225 5134 5226 5225 5134 5135 5226 5135 5227 5226 5135 5136 5227
-                5136 5228 5227 5136 5137 5228 5137 5229 5228 5137 5138 5229 5138 5230 5229 5138 5139 5230 5139 5231 5230 5139 5140 5231 5140 5232 5231 5140 5141 5232
-                5141 5233 5232 5141 5142 5233 5142 5234 5233 5142 5143 5234 5143 5235 5234 5143 5144 5235 5144 5236 5235 5144 5145 5236 5145 5237 5236 5145 5146 5237
-                5146 5238 5237 5146 5147 5238 5147 5239 5238 5147 5148 5239 5148 5240 5239 5148 5149 5240 5149 5241 5240 5149 5150 5241 5150 5242 5241 5150 5151 5242
-                5151 5243 5242 5151 5152 5243 5152 5244 5243 5152 5153 5244 5153 5245 5244 5153 5154 5245 5154 5246 5245 5154 5155 5246 5155 5247 5246 5155 5156 5247
-                5156 5248 5247 5156 5157 5248 5157 5249 5248 5157 5158 5249 5158 5250 5249 5158 5159 5250 5159 5251 5250 5159 5160 5251 5160 5252 5251 5160 5161 5252
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-                5222 5314 5313 5222 5223 5314 5223 5315 5314 5223 5224 5315 5224 5316 5315 5224 5225 5316 5225 5317 5316 5225 5226 5317 5226 5318 5317 5226 5227 5318
-                5227 5319 5318 5227 5228 5319 5228 5320 5319 5228 5229 5320 5229 5321 5320 5229 5230 5321 5230 5322 5321 5230 5231 5322 5231 5323 5322 5231 5232 5323
-                5232 5324 5323 5232 5233 5324 5233 5325 5324 5233 5234 5325 5234 5326 5325 5234 5235 5326 5235 5327 5326 5235 5236 5327 5236 5328 5327 5236 5237 5328
-                5237 5329 5328 5237 5238 5329 5238 5330 5329 5238 5239 5330 5239 5331 5330 5239 5240 5331 5240 5332 5331 5240 5241 5332 5241 5333 5332 5241 5242 5333
-                5242 5334 5333 5242 5243 5334 5243 5335 5334 5243 5244 5335 5244 5336 5335 5244 5245 5336 5245 5337 5336 5245 5246 5337 5246 5338 5337 5246 5247 5338
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-                5252 5344 5343 5252 5253 5344 5253 5345 5344 5253 5254 5345 5254 5346 5345 5254 5255 5346 5255 5347 5346 5255 5256 5347 5256 5348 5347 5256 5257 5348
-                5257 5349 5348 5257 5258 5349 5258 5350 5349 5258 5259 5350 5259 5351 5350 5259 5260 5351 5260 5352 5351 5260 5261 5352 5261 5353 5352 5261 5262 5353
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-                5308 5400 5399 5308 5309 5400 5309 5401 5400 5309 5310 5401 5310 5402 5401 5310 5311 5402 5311 5403 5402 5311 5312 5403 5312 5404 5403 5312 5313 5404
-                5313 5405 5404 5313 5314 5405 5314 5406 5405 5314 5315 5406 5315 5407 5406 5315 5316 5407 5316 5408 5407 5316 5317 5408 5317 5409 5408 5317 5318 5409
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-                5323 5415 5414 5323 5324 5415 5324 5416 5415 5324 5325 5416 5325 5417 5416 5325 5326 5417 5326 5418 5417 5326 5327 5418 5327 5419 5418 5327 5328 5419
-                5328 5420 5419 5328 5329 5420 5329 5421 5420 5329 5330 5421 5330 5422 5421 5330 5331 5422 5331 5423 5422 5331 5332 5423 5332 5424 5423 5332 5333 5424
-                5333 5425 5424 5333 5334 5425 5334 5426 5425 5334 5335 5426 5335 5427 5426 5335 5336 5427 5336 5428 5427 5336 5337 5428 5337 5429 5428 5337 5338 5429
-                5338 5430 5429 5338 5339 5430 5339 5431 5430 5339 5340 5431 5340 5432 5431 5340 5341 5432 5341 5433 5432 5341 5342 5433 5342 5434 5433 5342 5343 5434
-                5343 5435 5434 5343 5344 5435 5344 5436 5435 5344 5345 5436 5345 5437 5436 5345 5346 5437 5346 5438 5437 5346 5347 5438 5347 5439 5438 5347 5348 5439
-                5348 5440 5439 5348 5349 5440 5349 5441 5440 5349 5350 5441 5350 5442 5441 5350 5351 5442 5351 5443 5442 5351 5352 5443 5352 5444 5443 5352 5353 5444
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-                5358 5450 5449 5358 5359 5450 5359 5451 5450 5359 5360 5451 5360 5452 5451 5360 5361 5452 5361 5453 5452 5361 5362 5453 5362 5454 5453 5362 5363 5454
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-                5379 5471 5470 5379 5380 5471 5380 5472 5471 5380 5381 5472 5381 5473 5472 5381 5382 5473 5382 5474 5473 5382 5383 5474 5383 5475 5474 5383 5384 5475
-                5384 5476 5475 5384 5385 5476 5385 5477 5476 5385 5386 5477 5386 5478 5477 5386 5387 5478 5387 5479 5478 5387 5388 5479 5388 5480 5479 5388 5389 5480
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-                5394 5486 5485 5394 5395 5486 5395 5487 5486 5395 5396 5487 5396 5488 5487 5396 5397 5488 5397 5489 5488 5397 5398 5489 5398 5490 5489 5398 5399 5490
-                5399 5491 5490 5399 5400 5491 5400 5492 5491 5400 5401 5492 5401 5493 5492 5401 5402 5493 5402 5494 5493 5402 5403 5494 5403 5495 5494 5403 5404 5495
-                5404 5496 5495 5404 5405 5496 5405 5497 5496 5405 5406 5497 5406 5498 5497 5406 5407 5498 5407 5499 5498 5407 5408 5499 5408 5500 5499 5408 5409 5500
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-                5424 5516 5515 5424 5425 5516 5425 5517 5516 5425 5426 5517 5426 5518 5517 5426 5427 5518 5427 5519 5518 5427 5428 5519 5428 5520 5519 5428 5429 5520
-                5429 5521 5520 5429 5430 5521 5430 5522 5521 5430 5431 5522 5431 5523 5522 5431 5432 5523 5432 5524 5523 5432 5433 5524 5433 5525 5524 5433 5434 5525
-                5434 5526 5525 5434 5435 5526 5435 5527 5526 5435 5436 5527 5436 5528 5527 5436 5437 5528 5437 5529 5528 5437 5438 5529 5438 5530 5529 5438 5439 5530
-                5439 5531 5530 5439 5440 5531 5440 5532 5531 5440 5441 5532 5441 5533 5532 5441 5442 5533 5442 5534 5533 5442 5443 5534 5443 5535 5534 5443 5444 5535
-                5444 5536 5535 5444 5445 5536 5445 5537 5536 5445 5446 5537 5446 5538 5537 5446 5447 5538 5447 5539 5538 5447 5448 5539 5448 5540 5539 5448 5449 5540
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-                5495 5587 5586 5495 5496 5587 5496 5588 5587 5496 5497 5588 5497 5589 5588 5497 5498 5589 5498 5590 5589 5498 5499 5590 5499 5591 5590 5499 5500 5591
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-                5525 5617 5616 5525 5526 5617 5526 5618 5617 5526 5527 5618 5527 5619 5618 5527 5528 5619 5528 5620 5619 5528 5529 5620 5529 5621 5620 5529 5530 5621
-                5530 5622 5621 5530 5531 5622 5531 5623 5622 5531 5532 5623 5532 5624 5623 5532 5533 5624 5533 5625 5624 5533 5534 5625 5534 5626 5625 5534 5535 5626
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-                5551 5643 5642 5551 5552 5643 5552 5644 5643 5552 5553 5644 5553 5645 5644 5553 5554 5645 5554 5646 5645 5554 5555 5646 5555 5647 5646 5555 5556 5647
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-                5581 5673 5672 5581 5582 5673 5582 5674 5673 5582 5583 5674 5583 5675 5674 5583 5584 5675 5584 5676 5675 5584 5585 5676 5585 5677 5676 5585 5586 5677
-                5586 5678 5677 5586 5587 5678 5587 5679 5678 5587 5588 5679 5588 5680 5679 5588 5589 5680 5589 5681 5680 5589 5590 5681 5590 5682 5681 5590 5591 5682
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-                5626 5718 5717 5626 5627 5718 5627 5719 5718 5627 5628 5719 5628 5720 5719 5628 5629 5720 5629 5721 5720 5629 5630 5721 5630 5722 5721 5630 5631 5722
-                5631 5723 5722 5631 5632 5723 5632 5724 5723 5632 5633 5724 5633 5725 5724 5633 5634 5725 5634 5726 5725 5634 5635 5726 5635 5727 5726 5635 5636 5727
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-                5662 5754 5753 5662 5663 5754 5663 5755 5754 5663 5664 5755 5664 5756 5755 5664 5665 5756 5665 5757 5756 5665 5666 5757 5666 5758 5757 5666 5667 5758
-                5667 5759 5758 5667 5668 5759 5668 5760 5759 5668 5669 5760 5669 5761 5760 5669 5670 5761 5670 5762 5761 5670 5671 5762 5671 5763 5762 5671 5672 5763
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-                5682 5774 5773 5682 5683 5774 5683 5775 5774 5683 5684 5775 5684 5776 5775 5684 5685 5776 5685 5777 5776 5685 5686 5777 5686 5778 5777 5686 5687 5778
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-                5697 5789 5788 5697 5698 5789 5698 5790 5789 5698 5699 5790 5699 5791 5790 5699 5700 5791 5700 5792 5791 5700 5701 5792 5701 5793 5792 5701 5702 5793
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-                5707 5799 5798 5707 5708 5799 5708 5800 5799 5708 5709 5800 5709 5801 5800 5709 5710 5801 5710 5802 5801 5710 5711 5802 5711 5803 5802 5711 5712 5803
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-                5722 5814 5813 5722 5723 5814 5723 5815 5814 5723 5724 5815 5724 5816 5815 5724 5725 5816 5725 5817 5816 5725 5726 5817 5726 5818 5817 5726 5727 5818
-                5727 5819 5818 5727 5728 5819 5728 5820 5819 5728 5729 5820 5729 5821 5820 5729 5730 5821 5730 5822 5821 5730 5731 5822 5731 5823 5822 5731 5732 5823
-                5733 5825 5824 5733 5734 5825 5734 5826 5825 5734 5735 5826 5735 5827 5826 5735 5736 5827 5736 5828 5827 5736 5737 5828 5737 5829 5828 5737 5738 5829
-                5738 5830 5829 5738 5739 5830 5739 5831 5830 5739 5740 5831 5740 5832 5831 5740 5741 5832 5741 5833 5832 5741 5742 5833 5742 5834 5833 5742 5743 5834
-                5743 5835 5834 5743 5744 5835 5744 5836 5835 5744 5745 5836 5745 5837 5836 5745 5746 5837 5746 5838 5837 5746 5747 5838 5747 5839 5838 5747 5748 5839
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-                5753 5845 5844 5753 5754 5845 5754 5846 5845 5754 5755 5846 5755 5847 5846 5755 5756 5847 5756 5848 5847 5756 5757 5848 5757 5849 5848 5757 5758 5849
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-                5773 5865 5864 5773 5774 5865 5774 5866 5865 5774 5775 5866 5775 5867 5866 5775 5776 5867 5776 5868 5867 5776 5777 5868 5777 5869 5868 5777 5778 5869
-                5778 5870 5869 5778 5779 5870 5779 5871 5870 5779 5780 5871 5780 5872 5871 5780 5781 5872 5781 5873 5872 5781 5782 5873 5782 5874 5873 5782 5783 5874
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-                                      </body>
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-                                      <joint name="J0_5_11" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                      <joint name="J1_5_11" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                      <geom name="G5_11" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
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-                                        <joint name="J1_5_12" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                        <geom name="G5_12" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
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-                                          <joint name="J0_5_13" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                          <joint name="J1_5_13" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                          <geom name="G5_13" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
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-                                            <joint name="J1_5_14" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
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-                                              <geom name="G5_15" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
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-                                                <joint name="J0_5_16" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
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-                                                <geom name="G5_16" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                <site name="S5_16" pos="0 0 0" group="3"/>
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-                                                  <joint name="J0_5_17" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                  <joint name="J1_5_17" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                  <geom name="G5_17" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                  <site name="S5_17" pos="0 0 0" group="3"/>
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-                                                    <joint name="J0_5_18" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                    <joint name="J1_5_18" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                    <geom name="G5_18" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                    <site name="S5_18" pos="0 0 0" group="3"/>
-                                                  </body>
-                                                </body>
-                                              </body>
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-                          <joint name="J1_6_4" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
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-                            <joint name="J1_6_5" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
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-                              <joint name="J1_6_6" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
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-                                <joint name="J1_6_7" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
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-                                  <joint name="J1_6_8" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
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-                                                      <geom name="G6_18" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
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-                          <joint name="J0_7_3" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                          <joint name="J1_7_3" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                          <geom name="G7_3" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                          <site name="S7_3" pos="0 0 0" group="3"/>
-                          <body name="B7_4" pos="0 0.05 0">
-                            <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                            <joint name="J0_7_4" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                            <joint name="J1_7_4" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                            <geom name="G7_4" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                            <site name="S7_4" pos="0 0 0" group="3"/>
-                            <body name="B7_5" pos="0 0.05 0">
-                              <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                              <joint name="J0_7_5" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                              <joint name="J1_7_5" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                              <geom name="G7_5" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                              <site name="S7_5" pos="0 0 0" group="3"/>
-                              <body name="B7_6" pos="0 0.05 0">
-                                <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                <joint name="J0_7_6" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                <joint name="J1_7_6" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                <geom name="G7_6" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                <site name="S7_6" pos="0 0 0" group="3"/>
-                                <body name="B7_7" pos="0 0.05 0">
-                                  <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                  <joint name="J0_7_7" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                  <joint name="J1_7_7" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                  <geom name="G7_7" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                  <site name="S7_7" pos="0 0 0" group="3"/>
-                                  <body name="B7_8" pos="0 0.05 0">
-                                    <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                    <joint name="J0_7_8" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                    <joint name="J1_7_8" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                    <geom name="G7_8" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                    <site name="S7_8" pos="0 0 0" group="3"/>
-                                    <body name="B7_9" pos="0 0.05 0">
-                                      <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                      <joint name="J0_7_9" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                      <joint name="J1_7_9" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                      <geom name="G7_9" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                      <site name="S7_9" pos="0 0 0" group="3"/>
-                                      <body name="B7_10" pos="0 0.05 0">
-                                        <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                        <joint name="J0_7_10" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                        <joint name="J1_7_10" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                        <geom name="G7_10" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                        <site name="S7_10" pos="0 0 0" group="3"/>
-                                        <body name="B7_11" pos="0 0.05 0">
-                                          <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                          <joint name="J0_7_11" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                          <joint name="J1_7_11" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                          <geom name="G7_11" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                          <site name="S7_11" pos="0 0 0" group="3"/>
-                                          <body name="B7_12" pos="0 0.05 0">
-                                            <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                            <joint name="J0_7_12" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                            <joint name="J1_7_12" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                            <geom name="G7_12" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                            <site name="S7_12" pos="0 0 0" group="3"/>
-                                            <body name="B7_13" pos="0 0.05 0">
-                                              <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                              <joint name="J0_7_13" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                              <joint name="J1_7_13" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                              <geom name="G7_13" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                              <site name="S7_13" pos="0 0 0" group="3"/>
-                                              <body name="B7_14" pos="0 0.05 0">
-                                                <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                <joint name="J0_7_14" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                <joint name="J1_7_14" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                <geom name="G7_14" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                <site name="S7_14" pos="0 0 0" group="3"/>
-                                                <body name="B7_15" pos="0 0.05 0">
-                                                  <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                  <joint name="J0_7_15" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                  <joint name="J1_7_15" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                  <geom name="G7_15" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                  <site name="S7_15" pos="0 0 0" group="3"/>
-                                                  <body name="B7_16" pos="0 0.05 0">
-                                                    <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                    <joint name="J0_7_16" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                    <joint name="J1_7_16" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                    <geom name="G7_16" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                    <site name="S7_16" pos="0 0 0" group="3"/>
-                                                    <body name="B7_17" pos="0 0.05 0">
-                                                      <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                      <joint name="J0_7_17" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                      <joint name="J1_7_17" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                      <geom name="G7_17" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                      <site name="S7_17" pos="0 0 0" group="3"/>
-                                                      <body name="B7_18" pos="0 0.05 0">
-                                                        <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                        <joint name="J0_7_18" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                        <joint name="J1_7_18" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                        <geom name="G7_18" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                        <site name="S7_18" pos="0 0 0" group="3"/>
-                                                      </body>
-                                                    </body>
-                                                  </body>
-                                                </body>
-                                              </body>
-                                            </body>
-                                          </body>
-                                        </body>
-                                      </body>
-                                    </body>
-                                  </body>
-                                </body>
-                              </body>
-                            </body>
-                          </body>
-                        </body>
-                      </body>
-                    </body>
-                    <body name="B8_0" pos="0.05 0 0">
-                      <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                      <joint name="J0_8_0" pos="-0.05 0 0" axis="0 1 0" group="3" stiffness="0.1" damping="0.001"/>
-                      <joint name="J1_8_0" pos="-0.05 0 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                      <geom name="G8_0" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                      <site name="S8_0" pos="0 0 0" group="3"/>
-                      <body name="B8_1" pos="0 0.05 0">
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-                        <joint name="J0_8_1" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                        <joint name="J1_8_1" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                        <geom name="G8_1" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                        <site name="S8_1" pos="0 0 0" group="3"/>
-                        <body name="B8_2" pos="0 0.05 0">
-                          <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                          <joint name="J0_8_2" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                          <joint name="J1_8_2" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                          <geom name="G8_2" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                          <site name="S8_2" pos="0 0 0" group="3"/>
-                          <body name="B8_3" pos="0 0.05 0">
-                            <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                            <joint name="J0_8_3" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                            <joint name="J1_8_3" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                            <geom name="G8_3" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                            <site name="S8_3" pos="0 0 0" group="3"/>
-                            <body name="B8_4" pos="0 0.05 0">
-                              <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                              <joint name="J0_8_4" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                              <joint name="J1_8_4" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                              <geom name="G8_4" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                              <site name="S8_4" pos="0 0 0" group="3"/>
-                              <body name="B8_5" pos="0 0.05 0">
-                                <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                <joint name="J0_8_5" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                <joint name="J1_8_5" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                <geom name="G8_5" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                <site name="S8_5" pos="0 0 0" group="3"/>
-                                <body name="B8_6" pos="0 0.05 0">
-                                  <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                  <joint name="J0_8_6" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                  <joint name="J1_8_6" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                  <geom name="G8_6" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                  <site name="S8_6" pos="0 0 0" group="3"/>
-                                  <body name="B8_7" pos="0 0.05 0">
-                                    <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                    <joint name="J0_8_7" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                    <joint name="J1_8_7" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                    <geom name="G8_7" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                    <site name="S8_7" pos="0 0 0" group="3"/>
-                                    <body name="B8_8" pos="0 0.05 0">
-                                      <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                      <joint name="J0_8_8" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                      <joint name="J1_8_8" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                      <geom name="G8_8" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                      <site name="S8_8" pos="0 0 0" group="3"/>
-                                      <body name="B8_9" pos="0 0.05 0">
-                                        <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                        <joint name="J0_8_9" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                        <joint name="J1_8_9" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                        <geom name="G8_9" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                        <site name="S8_9" pos="0 0 0" group="3"/>
-                                        <body name="B8_10" pos="0 0.05 0">
-                                          <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                          <joint name="J0_8_10" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                          <joint name="J1_8_10" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                          <geom name="G8_10" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                          <site name="S8_10" pos="0 0 0" group="3"/>
-                                          <body name="B8_11" pos="0 0.05 0">
-                                            <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                            <joint name="J0_8_11" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                            <joint name="J1_8_11" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                            <geom name="G8_11" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                            <site name="S8_11" pos="0 0 0" group="3"/>
-                                            <body name="B8_12" pos="0 0.05 0">
-                                              <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                              <joint name="J0_8_12" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                              <joint name="J1_8_12" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                              <geom name="G8_12" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                              <site name="S8_12" pos="0 0 0" group="3"/>
-                                              <body name="B8_13" pos="0 0.05 0">
-                                                <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                <joint name="J0_8_13" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                <joint name="J1_8_13" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                <geom name="G8_13" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                <site name="S8_13" pos="0 0 0" group="3"/>
-                                                <body name="B8_14" pos="0 0.05 0">
-                                                  <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                  <joint name="J0_8_14" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                  <joint name="J1_8_14" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                  <geom name="G8_14" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                  <site name="S8_14" pos="0 0 0" group="3"/>
-                                                  <body name="B8_15" pos="0 0.05 0">
-                                                    <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                    <joint name="J0_8_15" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                    <joint name="J1_8_15" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                    <geom name="G8_15" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                    <site name="S8_15" pos="0 0 0" group="3"/>
-                                                    <body name="B8_16" pos="0 0.05 0">
-                                                      <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                      <joint name="J0_8_16" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                      <joint name="J1_8_16" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                      <geom name="G8_16" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                      <site name="S8_16" pos="0 0 0" group="3"/>
-                                                      <body name="B8_17" pos="0 0.05 0">
-                                                        <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                        <joint name="J0_8_17" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                        <joint name="J1_8_17" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                        <geom name="G8_17" size="0.025 0.01 0.025" quat="0.707107 0.707107 0 0" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                        <site name="S8_17" pos="0 0 0" group="3"/>
-                                                        <body name="B8_18" pos="0 0.05 0">
-                                                          <inertial pos="0 0 0" mass="0.0261799" diaginertia="5.4547e-06 5.4547e-06 1.09083e-05"/>
-                                                          <joint name="J0_8_18" pos="0 -0.05 0" axis="1 0 0" group="3" stiffness="0.1" damping="0.001"/>
-                                                          <joint name="J1_8_18" pos="0 -0.05 0" axis="0 0 1" group="3" stiffness="0.1" damping="0.001"/>
-                                                          <geom name="G8_18" size="0.025 0.01 0.025" quat="0.5 0.5 0.5 0.5" type="ellipsoid" group="3" rgba="0.8 0.2 0.1 1"/>
-                                                          <site name="S8_18" pos="0 0 0" group="3"/>
-                                                        </body>
-                                                      </body>
-                                                    </body>
-                                                  </body>
-                                                </body>
-                                              </body>
-                                            </body>
-                                          </body>
-                                        </body>
-                                      </body>
-                                    </body>
-                                  </body>
-                                </body>
-                              </body>
-                            </body>
-                          </body>
-                        </body>
-                      </body>
-                    </body>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <equality>
-    <tendon tendon1="T0_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T0_18" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T1_18" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T2_18" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T3_18" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T4_18" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T5_18" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T6_18" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="T7_18" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_0" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS0_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_0" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS1_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_0" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS2_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_0" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS3_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_0" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS4_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_0" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS5_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_0" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS6_17" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_0" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_1" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_2" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_3" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_4" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_5" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_6" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_7" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_8" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_9" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_10" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_11" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_12" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_13" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_14" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_15" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_16" polycoef="0 1 0 0 0"/>
-    <tendon tendon1="TS7_17" polycoef="0 1 0 0 0"/>
-  </equality>
-  <tendon>
-    <spatial name="T0_1" group="3" stiffness="100" damping="0.001">
-      <site site="S0_1"/>
-      <site site="S1_1"/>
-    </spatial>
-    <spatial name="T1_1" group="3" stiffness="100" damping="0.001">
-      <site site="S1_1"/>
-      <site site="S2_1"/>
-    </spatial>
-    <spatial name="T2_1" group="3" stiffness="100" damping="0.001">
-      <site site="S2_1"/>
-      <site site="S3_1"/>
-    </spatial>
-    <spatial name="T3_1" group="3" stiffness="100" damping="0.001">
-      <site site="S3_1"/>
-      <site site="S4_1"/>
-    </spatial>
-    <spatial name="T4_1" group="3" stiffness="100" damping="0.001">
-      <site site="S4_1"/>
-      <site site="S5_1"/>
-    </spatial>
-    <spatial name="T5_1" group="3" stiffness="100" damping="0.001">
-      <site site="S5_1"/>
-      <site site="S6_1"/>
-    </spatial>
-    <spatial name="T6_1" group="3" stiffness="100" damping="0.001">
-      <site site="S6_1"/>
-      <site site="S7_1"/>
-    </spatial>
-    <spatial name="T7_1" group="3" stiffness="100" damping="0.001">
-      <site site="S7_1"/>
-      <site site="S8_1"/>
-    </spatial>
-    <spatial name="T0_2" group="3" stiffness="100" damping="0.001">
-      <site site="S0_2"/>
-      <site site="S1_2"/>
-    </spatial>
-    <spatial name="T1_2" group="3" stiffness="100" damping="0.001">
-      <site site="S1_2"/>
-      <site site="S2_2"/>
-    </spatial>
-    <spatial name="T2_2" group="3" stiffness="100" damping="0.001">
-      <site site="S2_2"/>
-      <site site="S3_2"/>
-    </spatial>
-    <spatial name="T3_2" group="3" stiffness="100" damping="0.001">
-      <site site="S3_2"/>
-      <site site="S4_2"/>
-    </spatial>
-    <spatial name="T4_2" group="3" stiffness="100" damping="0.001">
-      <site site="S4_2"/>
-      <site site="S5_2"/>
-    </spatial>
-    <spatial name="T5_2" group="3" stiffness="100" damping="0.001">
-      <site site="S5_2"/>
-      <site site="S6_2"/>
-    </spatial>
-    <spatial name="T6_2" group="3" stiffness="100" damping="0.001">
-      <site site="S6_2"/>
-      <site site="S7_2"/>
-    </spatial>
-    <spatial name="T7_2" group="3" stiffness="100" damping="0.001">
-      <site site="S7_2"/>
-      <site site="S8_2"/>
-    </spatial>
-    <spatial name="T0_3" group="3" stiffness="100" damping="0.001">
-      <site site="S0_3"/>
-      <site site="S1_3"/>
-    </spatial>
-    <spatial name="T1_3" group="3" stiffness="100" damping="0.001">
-      <site site="S1_3"/>
-      <site site="S2_3"/>
-    </spatial>
-    <spatial name="T2_3" group="3" stiffness="100" damping="0.001">
-      <site site="S2_3"/>
-      <site site="S3_3"/>
-    </spatial>
-    <spatial name="T3_3" group="3" stiffness="100" damping="0.001">
-      <site site="S3_3"/>
-      <site site="S4_3"/>
-    </spatial>
-    <spatial name="T4_3" group="3" stiffness="100" damping="0.001">
-      <site site="S4_3"/>
-      <site site="S5_3"/>
-    </spatial>
-    <spatial name="T5_3" group="3" stiffness="100" damping="0.001">
-      <site site="S5_3"/>
-      <site site="S6_3"/>
-    </spatial>
-    <spatial name="T6_3" group="3" stiffness="100" damping="0.001">
-      <site site="S6_3"/>
-      <site site="S7_3"/>
-    </spatial>
-    <spatial name="T7_3" group="3" stiffness="100" damping="0.001">
-      <site site="S7_3"/>
-      <site site="S8_3"/>
-    </spatial>
-    <spatial name="T0_4" group="3" stiffness="100" damping="0.001">
-      <site site="S0_4"/>
-      <site site="S1_4"/>
-    </spatial>
-    <spatial name="T1_4" group="3" stiffness="100" damping="0.001">
-      <site site="S1_4"/>
-      <site site="S2_4"/>
-    </spatial>
-    <spatial name="T2_4" group="3" stiffness="100" damping="0.001">
-      <site site="S2_4"/>
-      <site site="S3_4"/>
-    </spatial>
-    <spatial name="T3_4" group="3" stiffness="100" damping="0.001">
-      <site site="S3_4"/>
-      <site site="S4_4"/>
-    </spatial>
-    <spatial name="T4_4" group="3" stiffness="100" damping="0.001">
-      <site site="S4_4"/>
-      <site site="S5_4"/>
-    </spatial>
-    <spatial name="T5_4" group="3" stiffness="100" damping="0.001">
-      <site site="S5_4"/>
-      <site site="S6_4"/>
-    </spatial>
-    <spatial name="T6_4" group="3" stiffness="100" damping="0.001">
-      <site site="S6_4"/>
-      <site site="S7_4"/>
-    </spatial>
-    <spatial name="T7_4" group="3" stiffness="100" damping="0.001">
-      <site site="S7_4"/>
-      <site site="S8_4"/>
-    </spatial>
-    <spatial name="T0_5" group="3" stiffness="100" damping="0.001">
-      <site site="S0_5"/>
-      <site site="S1_5"/>
-    </spatial>
-    <spatial name="T1_5" group="3" stiffness="100" damping="0.001">
-      <site site="S1_5"/>
-      <site site="S2_5"/>
-    </spatial>
-    <spatial name="T2_5" group="3" stiffness="100" damping="0.001">
-      <site site="S2_5"/>
-      <site site="S3_5"/>
-    </spatial>
-    <spatial name="T3_5" group="3" stiffness="100" damping="0.001">
-      <site site="S3_5"/>
-      <site site="S4_5"/>
-    </spatial>
-    <spatial name="T4_5" group="3" stiffness="100" damping="0.001">
-      <site site="S4_5"/>
-      <site site="S5_5"/>
-    </spatial>
-    <spatial name="T5_5" group="3" stiffness="100" damping="0.001">
-      <site site="S5_5"/>
-      <site site="S6_5"/>
-    </spatial>
-    <spatial name="T6_5" group="3" stiffness="100" damping="0.001">
-      <site site="S6_5"/>
-      <site site="S7_5"/>
-    </spatial>
-    <spatial name="T7_5" group="3" stiffness="100" damping="0.001">
-      <site site="S7_5"/>
-      <site site="S8_5"/>
-    </spatial>
-    <spatial name="T0_6" group="3" stiffness="100" damping="0.001">
-      <site site="S0_6"/>
-      <site site="S1_6"/>
-    </spatial>
-    <spatial name="T1_6" group="3" stiffness="100" damping="0.001">
-      <site site="S1_6"/>
-      <site site="S2_6"/>
-    </spatial>
-    <spatial name="T2_6" group="3" stiffness="100" damping="0.001">
-      <site site="S2_6"/>
-      <site site="S3_6"/>
-    </spatial>
-    <spatial name="T3_6" group="3" stiffness="100" damping="0.001">
-      <site site="S3_6"/>
-      <site site="S4_6"/>
-    </spatial>
-    <spatial name="T4_6" group="3" stiffness="100" damping="0.001">
-      <site site="S4_6"/>
-      <site site="S5_6"/>
-    </spatial>
-    <spatial name="T5_6" group="3" stiffness="100" damping="0.001">
-      <site site="S5_6"/>
-      <site site="S6_6"/>
-    </spatial>
-    <spatial name="T6_6" group="3" stiffness="100" damping="0.001">
-      <site site="S6_6"/>
-      <site site="S7_6"/>
-    </spatial>
-    <spatial name="T7_6" group="3" stiffness="100" damping="0.001">
-      <site site="S7_6"/>
-      <site site="S8_6"/>
-    </spatial>
-    <spatial name="T0_7" group="3" stiffness="100" damping="0.001">
-      <site site="S0_7"/>
-      <site site="S1_7"/>
-    </spatial>
-    <spatial name="T1_7" group="3" stiffness="100" damping="0.001">
-      <site site="S1_7"/>
-      <site site="S2_7"/>
-    </spatial>
-    <spatial name="T2_7" group="3" stiffness="100" damping="0.001">
-      <site site="S2_7"/>
-      <site site="S3_7"/>
-    </spatial>
-    <spatial name="T3_7" group="3" stiffness="100" damping="0.001">
-      <site site="S3_7"/>
-      <site site="S4_7"/>
-    </spatial>
-    <spatial name="T4_7" group="3" stiffness="100" damping="0.001">
-      <site site="S4_7"/>
-      <site site="S5_7"/>
-    </spatial>
-    <spatial name="T5_7" group="3" stiffness="100" damping="0.001">
-      <site site="S5_7"/>
-      <site site="S6_7"/>
-    </spatial>
-    <spatial name="T6_7" group="3" stiffness="100" damping="0.001">
-      <site site="S6_7"/>
-      <site site="S7_7"/>
-    </spatial>
-    <spatial name="T7_7" group="3" stiffness="100" damping="0.001">
-      <site site="S7_7"/>
-      <site site="S8_7"/>
-    </spatial>
-    <spatial name="T0_8" group="3" stiffness="100" damping="0.001">
-      <site site="S0_8"/>
-      <site site="S1_8"/>
-    </spatial>
-    <spatial name="T1_8" group="3" stiffness="100" damping="0.001">
-      <site site="S1_8"/>
-      <site site="S2_8"/>
-    </spatial>
-    <spatial name="T2_8" group="3" stiffness="100" damping="0.001">
-      <site site="S2_8"/>
-      <site site="S3_8"/>
-    </spatial>
-    <spatial name="T3_8" group="3" stiffness="100" damping="0.001">
-      <site site="S3_8"/>
-      <site site="S4_8"/>
-    </spatial>
-    <spatial name="T4_8" group="3" stiffness="100" damping="0.001">
-      <site site="S4_8"/>
-      <site site="S5_8"/>
-    </spatial>
-    <spatial name="T5_8" group="3" stiffness="100" damping="0.001">
-      <site site="S5_8"/>
-      <site site="S6_8"/>
-    </spatial>
-    <spatial name="T6_8" group="3" stiffness="100" damping="0.001">
-      <site site="S6_8"/>
-      <site site="S7_8"/>
-    </spatial>
-    <spatial name="T7_8" group="3" stiffness="100" damping="0.001">
-      <site site="S7_8"/>
-      <site site="S8_8"/>
-    </spatial>
-    <spatial name="T0_9" group="3" stiffness="100" damping="0.001">
-      <site site="S0_9"/>
-      <site site="S1_9"/>
-    </spatial>
-    <spatial name="T1_9" group="3" stiffness="100" damping="0.001">
-      <site site="S1_9"/>
-      <site site="S2_9"/>
-    </spatial>
-    <spatial name="T2_9" group="3" stiffness="100" damping="0.001">
-      <site site="S2_9"/>
-      <site site="S3_9"/>
-    </spatial>
-    <spatial name="T3_9" group="3" stiffness="100" damping="0.001">
-      <site site="S3_9"/>
-      <site site="S4_9"/>
-    </spatial>
-    <spatial name="T4_9" group="3" stiffness="100" damping="0.001">
-      <site site="S4_9"/>
-      <site site="S5_9"/>
-    </spatial>
-    <spatial name="T5_9" group="3" stiffness="100" damping="0.001">
-      <site site="S5_9"/>
-      <site site="S6_9"/>
-    </spatial>
-    <spatial name="T6_9" group="3" stiffness="100" damping="0.001">
-      <site site="S6_9"/>
-      <site site="S7_9"/>
-    </spatial>
-    <spatial name="T7_9" group="3" stiffness="100" damping="0.001">
-      <site site="S7_9"/>
-      <site site="S8_9"/>
-    </spatial>
-    <spatial name="T0_10" group="3" stiffness="100" damping="0.001">
-      <site site="S0_10"/>
-      <site site="S1_10"/>
-    </spatial>
-    <spatial name="T1_10" group="3" stiffness="100" damping="0.001">
-      <site site="S1_10"/>
-      <site site="S2_10"/>
-    </spatial>
-    <spatial name="T2_10" group="3" stiffness="100" damping="0.001">
-      <site site="S2_10"/>
-      <site site="S3_10"/>
-    </spatial>
-    <spatial name="T3_10" group="3" stiffness="100" damping="0.001">
-      <site site="S3_10"/>
-      <site site="S4_10"/>
-    </spatial>
-    <spatial name="T4_10" group="3" stiffness="100" damping="0.001">
-      <site site="S4_10"/>
-      <site site="S5_10"/>
-    </spatial>
-    <spatial name="T5_10" group="3" stiffness="100" damping="0.001">
-      <site site="S5_10"/>
-      <site site="S6_10"/>
-    </spatial>
-    <spatial name="T6_10" group="3" stiffness="100" damping="0.001">
-      <site site="S6_10"/>
-      <site site="S7_10"/>
-    </spatial>
-    <spatial name="T7_10" group="3" stiffness="100" damping="0.001">
-      <site site="S7_10"/>
-      <site site="S8_10"/>
-    </spatial>
-    <spatial name="T0_11" group="3" stiffness="100" damping="0.001">
-      <site site="S0_11"/>
-      <site site="S1_11"/>
-    </spatial>
-    <spatial name="T1_11" group="3" stiffness="100" damping="0.001">
-      <site site="S1_11"/>
-      <site site="S2_11"/>
-    </spatial>
-    <spatial name="T2_11" group="3" stiffness="100" damping="0.001">
-      <site site="S2_11"/>
-      <site site="S3_11"/>
-    </spatial>
-    <spatial name="T3_11" group="3" stiffness="100" damping="0.001">
-      <site site="S3_11"/>
-      <site site="S4_11"/>
-    </spatial>
-    <spatial name="T4_11" group="3" stiffness="100" damping="0.001">
-      <site site="S4_11"/>
-      <site site="S5_11"/>
-    </spatial>
-    <spatial name="T5_11" group="3" stiffness="100" damping="0.001">
-      <site site="S5_11"/>
-      <site site="S6_11"/>
-    </spatial>
-    <spatial name="T6_11" group="3" stiffness="100" damping="0.001">
-      <site site="S6_11"/>
-      <site site="S7_11"/>
-    </spatial>
-    <spatial name="T7_11" group="3" stiffness="100" damping="0.001">
-      <site site="S7_11"/>
-      <site site="S8_11"/>
-    </spatial>
-    <spatial name="T0_12" group="3" stiffness="100" damping="0.001">
-      <site site="S0_12"/>
-      <site site="S1_12"/>
-    </spatial>
-    <spatial name="T1_12" group="3" stiffness="100" damping="0.001">
-      <site site="S1_12"/>
-      <site site="S2_12"/>
-    </spatial>
-    <spatial name="T2_12" group="3" stiffness="100" damping="0.001">
-      <site site="S2_12"/>
-      <site site="S3_12"/>
-    </spatial>
-    <spatial name="T3_12" group="3" stiffness="100" damping="0.001">
-      <site site="S3_12"/>
-      <site site="S4_12"/>
-    </spatial>
-    <spatial name="T4_12" group="3" stiffness="100" damping="0.001">
-      <site site="S4_12"/>
-      <site site="S5_12"/>
-    </spatial>
-    <spatial name="T5_12" group="3" stiffness="100" damping="0.001">
-      <site site="S5_12"/>
-      <site site="S6_12"/>
-    </spatial>
-    <spatial name="T6_12" group="3" stiffness="100" damping="0.001">
-      <site site="S6_12"/>
-      <site site="S7_12"/>
-    </spatial>
-    <spatial name="T7_12" group="3" stiffness="100" damping="0.001">
-      <site site="S7_12"/>
-      <site site="S8_12"/>
-    </spatial>
-    <spatial name="T0_13" group="3" stiffness="100" damping="0.001">
-      <site site="S0_13"/>
-      <site site="S1_13"/>
-    </spatial>
-    <spatial name="T1_13" group="3" stiffness="100" damping="0.001">
-      <site site="S1_13"/>
-      <site site="S2_13"/>
-    </spatial>
-    <spatial name="T2_13" group="3" stiffness="100" damping="0.001">
-      <site site="S2_13"/>
-      <site site="S3_13"/>
-    </spatial>
-    <spatial name="T3_13" group="3" stiffness="100" damping="0.001">
-      <site site="S3_13"/>
-      <site site="S4_13"/>
-    </spatial>
-    <spatial name="T4_13" group="3" stiffness="100" damping="0.001">
-      <site site="S4_13"/>
-      <site site="S5_13"/>
-    </spatial>
-    <spatial name="T5_13" group="3" stiffness="100" damping="0.001">
-      <site site="S5_13"/>
-      <site site="S6_13"/>
-    </spatial>
-    <spatial name="T6_13" group="3" stiffness="100" damping="0.001">
-      <site site="S6_13"/>
-      <site site="S7_13"/>
-    </spatial>
-    <spatial name="T7_13" group="3" stiffness="100" damping="0.001">
-      <site site="S7_13"/>
-      <site site="S8_13"/>
-    </spatial>
-    <spatial name="T0_14" group="3" stiffness="100" damping="0.001">
-      <site site="S0_14"/>
-      <site site="S1_14"/>
-    </spatial>
-    <spatial name="T1_14" group="3" stiffness="100" damping="0.001">
-      <site site="S1_14"/>
-      <site site="S2_14"/>
-    </spatial>
-    <spatial name="T2_14" group="3" stiffness="100" damping="0.001">
-      <site site="S2_14"/>
-      <site site="S3_14"/>
-    </spatial>
-    <spatial name="T3_14" group="3" stiffness="100" damping="0.001">
-      <site site="S3_14"/>
-      <site site="S4_14"/>
-    </spatial>
-    <spatial name="T4_14" group="3" stiffness="100" damping="0.001">
-      <site site="S4_14"/>
-      <site site="S5_14"/>
-    </spatial>
-    <spatial name="T5_14" group="3" stiffness="100" damping="0.001">
-      <site site="S5_14"/>
-      <site site="S6_14"/>
-    </spatial>
-    <spatial name="T6_14" group="3" stiffness="100" damping="0.001">
-      <site site="S6_14"/>
-      <site site="S7_14"/>
-    </spatial>
-    <spatial name="T7_14" group="3" stiffness="100" damping="0.001">
-      <site site="S7_14"/>
-      <site site="S8_14"/>
-    </spatial>
-    <spatial name="T0_15" group="3" stiffness="100" damping="0.001">
-      <site site="S0_15"/>
-      <site site="S1_15"/>
-    </spatial>
-    <spatial name="T1_15" group="3" stiffness="100" damping="0.001">
-      <site site="S1_15"/>
-      <site site="S2_15"/>
-    </spatial>
-    <spatial name="T2_15" group="3" stiffness="100" damping="0.001">
-      <site site="S2_15"/>
-      <site site="S3_15"/>
-    </spatial>
-    <spatial name="T3_15" group="3" stiffness="100" damping="0.001">
-      <site site="S3_15"/>
-      <site site="S4_15"/>
-    </spatial>
-    <spatial name="T4_15" group="3" stiffness="100" damping="0.001">
-      <site site="S4_15"/>
-      <site site="S5_15"/>
-    </spatial>
-    <spatial name="T5_15" group="3" stiffness="100" damping="0.001">
-      <site site="S5_15"/>
-      <site site="S6_15"/>
-    </spatial>
-    <spatial name="T6_15" group="3" stiffness="100" damping="0.001">
-      <site site="S6_15"/>
-      <site site="S7_15"/>
-    </spatial>
-    <spatial name="T7_15" group="3" stiffness="100" damping="0.001">
-      <site site="S7_15"/>
-      <site site="S8_15"/>
-    </spatial>
-    <spatial name="T0_16" group="3" stiffness="100" damping="0.001">
-      <site site="S0_16"/>
-      <site site="S1_16"/>
-    </spatial>
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diff --git a/test/benchmark/testdata/highres_sphere.obj b/test/benchmark/testdata/highres_sphere.obj
deleted file mode 100644
index e5f16e63..00000000
--- a/test/benchmark/testdata/highres_sphere.obj
+++ /dev/null
@@ -1,19709 +0,0 @@
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diff --git a/test/benchmark/testdata/humanoid.xml b/test/benchmark/testdata/humanoid.xml
deleted file mode 100644
index 7545e193..00000000
--- a/test/benchmark/testdata/humanoid.xml
+++ /dev/null
@@ -1,252 +0,0 @@
-<mujoco model="Humanoid">
-  <option timestep="0.005"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <light name="top" pos="0 0 2" mode="trackcom"/>
-    <body name="torso" pos="0 0 1.282" childclass="body">
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-  <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <!--
-    The values below are split into rows for readibility:
-      torso position
-      torso orientation
-      spinal
-      right leg
-      left leg
-      arms
-    -->
-    <key name="squat"
-         qpos="0 0 0.596
-               0.988015 0 0.154359 0
-               0 0.4 0
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               0 0 0 0 0 0"/>
-    <key name="stand_on_left_leg"
-         qpos="0 0 1.21948
-               0.971588 -0.179973 0.135318 -0.0729076
-               -0.0516 -0.202 0.23
-               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
-               0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
-    <key name="prone"
-         qpos="0.4 0 0.0757706
-               0.7325 0 0.680767 0
-               0 0.0729 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.56 -0.62 -1.752
-               0.56 -0.62 -1.752"/>
-    <key name="supine"
-         qpos="-0.4 0 0.08122
-               0.722788 0 -0.69107 0
-               0 -0.25 0
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.186 -0.73 -1.73
-               0.186 -0.73 -1.73"/>
-  </keyframe>
-</mujoco>
diff --git a/test/benchmark/testdata/humanoid200.xml b/test/benchmark/testdata/humanoid200.xml
deleted file mode 100644
index aebfcd47..00000000
--- a/test/benchmark/testdata/humanoid200.xml
+++ /dev/null
@@ -1,913 +0,0 @@
-<!-- Copyright 2023 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Humanoid and 200 objects">
-<!-- Degree of Freedom: 627
-     Actuators: 21
-
-     Humanoid and 200 free primitive objects.
--->
-  <include file="humanoid_body.xml"/>
-
-  <option timestep="0.005"/>
-
-  <size memory="1000M"/>
-
-  <default>
-    <geom solimp=".9 .9 .01"/>
-    <default class="object1">
-      <geom type="capsule" material="object1" size="0.1 0.05"/>
-    </default>
-    <default class="object2">
-      <geom type="ellipsoid" material="object2" size="0.15 0.1 0.07"/>
-    </default>
-    <default class="object3">
-      <geom type="box" material="object3" size="0.15 0.1 0.05"/>
-    </default>
-    <default class="object4">
-      <geom type="cylinder" material="object4" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
-    </default>
-    <default class="object5">
-      <geom type="sphere" material="object5" size="0.1"/>
-    </default>
-    <default class="border">
-      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
-    </default>
-    <default class="borderpost">
-      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
-    </default>
-  </default>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
-    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6"
-             width="512" height="512"/>
-    <material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"
-              rgba=".7 .7 .7 1"/>
-    <material name='object1' texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
-    <material name='object2' texture="texgeom" texuniform="true" rgba=".4 .6 .9 1" />
-    <material name='object3' texture="texgeom" texuniform="true" rgba=".4 .9 .9 1" />
-    <material name='object4' texture="texgeom" texuniform="true" rgba=".8 .6 .8 1" />
-    <material name='object5' texture="texgeom" texuniform="true" rgba=".9 .1 .1 1" />
-  </asset>
-
-  <visual>
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-      <geom class="object4"/>
-    </body>
-    <body pos="1 -1 4" quat="0.288675 -0.288675 0.866025 0.288675">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 -1 5" quat="0.5 -0.5 0.5 0.5">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 -1 6" quat="0.377964 -0.377964 0.755929 0.377964">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 -1 7" quat="0.288675 -0.288675 0.866025 0.288675">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 -1 8" quat="0.288675 -0.288675 0.866025 0.288675">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-
-    <body pos="1 0 1" quat="0.57735 0 0.57735 0.57735">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 0 2" quat="0.408248 0 0.816497 0.408248">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 0 3" quat="0.301511 0 0.904534 0.301511">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 0 4" quat="0.301511 0 0.904534 0.301511">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 0 5" quat="0.57735 0 0.57735 0.57735">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 0 6" quat="0.408248 0 0.816497 0.408248">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 0 7" quat="0.301511 0 0.904534 0.301511">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 0 8" quat="0.301511 0 0.904534 0.301511">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-
-    <body pos="1 1 1" quat="0.5 0.5 0.5 0.5">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 1 2" quat="0.377964 0.377964 0.755929 0.377964">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 1 3" quat="0.288675 0.288675 0.866025 0.288675">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 1 4" quat="0.288675 0.288675 0.866025 0.288675">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 1 5" quat="0.5 0.5 0.5 0.5">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 1 6" quat="0.377964 0.377964 0.755929 0.377964">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 1 7" quat="0.288675 0.288675 0.866025 0.288675">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 1 8" quat="0.288675 0.288675 0.866025 0.288675">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-
-    <body pos="1 2 1" quat="0.377964 0.755929 0.377964 0.377964">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 2 2" quat="0.316228 0.632456 0.632456 0.316228">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 2 3" quat="0.258199 0.516398 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 2 4" quat="0.258199 0.516398 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 2 5" quat="0.377964 0.755929 0.377964 0.377964">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 2 6" quat="0.316228 0.632456 0.632456 0.316228">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 2 7" quat="0.258199 0.516398 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-    <body pos="1 2 8" quat="0.258199 0.516398 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object4"/>
-    </body>
-
-    <body pos="2 -2 1" quat="0.632456 -0.632456 0.316228 0.316228">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -2 2" quat="0.5547 -0.5547 0.5547 0.27735">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -2 3" quat="0.471405 -0.471405 0.707107 0.235702">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -2 4" quat="0.471405 -0.471405 0.707107 0.235702">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -2 5" quat="0.632456 -0.632456 0.316228 0.316228">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -2 6" quat="0.5547 -0.5547 0.5547 0.27735">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -2 7" quat="0.471405 -0.471405 0.707107 0.235702">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -2 8" quat="0.471405 -0.471405 0.707107 0.235702">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-
-    <body pos="2 -1 1" quat="0.755929 -0.377964 0.377964 0.377964">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -1 2" quat="0.632456 -0.316228 0.632456 0.316228">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -1 3" quat="0.516398 -0.258199 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -1 4" quat="0.516398 -0.258199 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -1 5" quat="0.755929 -0.377964 0.377964 0.377964">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -1 6" quat="0.632456 -0.316228 0.632456 0.316228">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -1 7" quat="0.516398 -0.258199 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 -1 8" quat="0.516398 -0.258199 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-
-    <body pos="2 0 1" quat="0.816497 0 0.408248 0.408248">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 0 2" quat="0.666667 0 0.666667 0.333333">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 0 3" quat="0.534522 0 0.801784 0.267261">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 0 4" quat="0.534522 0 0.801784 0.267261">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 0 5" quat="0.816497 0 0.408248 0.408248">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 0 6" quat="0.666667 0 0.666667 0.333333">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 0 7" quat="0.534522 0 0.801784 0.267261">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 0 8" quat="0.534522 0 0.801784 0.267261">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-
-    <body pos="2 1 1" quat="0.755929 0.377964 0.377964 0.377964">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 1 2" quat="0.632456 0.316228 0.632456 0.316228">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 1 3" quat="0.516398 0.258199 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 1 4" quat="0.516398 0.258199 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 1 5" quat="0.755929 0.377964 0.377964 0.377964">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 1 6" quat="0.632456 0.316228 0.632456 0.316228">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 1 7" quat="0.516398 0.258199 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 1 8" quat="0.516398 0.258199 0.774597 0.258199">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-
-    <body pos="2 2 1" quat="0.632456 0.632456 0.316228 0.316228">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 2 2" quat="0.5547 0.5547 0.5547 0.27735">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 2 3" quat="0.471405 0.471405 0.707107 0.235702">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 2 4" quat="0.471405 0.471405 0.707107 0.235702">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 2 5" quat="0.632456 0.632456 0.316228 0.316228">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 2 6" quat="0.5547 0.5547 0.5547 0.27735">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 2 7" quat="0.471405 0.471405 0.707107 0.235702">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-    <body pos="2 2 8" quat="0.471405 0.471405 0.707107 0.235702">
-      <freejoint/>
-      <geom class="object5"/>
-    </body>
-
-  </worldbody>
-</mujoco>
diff --git a/test/benchmark/testdata/humanoid_body.xml b/test/benchmark/testdata/humanoid_body.xml
deleted file mode 100644
index 96b4d2f6..00000000
--- a/test/benchmark/testdata/humanoid_body.xml
+++ /dev/null
@@ -1,158 +0,0 @@
-<!-- Copyright 2023 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Humanoid body">
-<!-- Degree of Freedom: 27
-     Actuators: 21
-
-     This simplified humanoid model, introduced in [1], is designed for bipedal locomotion
-     behaviours. While several variants of it exist in the wild, this version is based on the model
-     in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
-     [1] Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization.
-           https://doi.org/10.1109/IROS.2012.6386025
-     [2] DeepMind Control Suite, Tassa et al. https://arxiv.org/abs/1801.00690
--->
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="big_joint">
-        <joint damping="5" stiffness="10"/>
-        <default class="big_stiff_joint">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <body name="torso" pos="0 0 1.5" childclass="body">
-      <light name="top" pos="0 0 2" mode="trackcom"/>
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="lower_waist" pos="-.01 0 -.26">
-        <geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="right_thigh" pos="0 -.1 -.04">
-            <joint name="right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="right_shin" pos="0 .01 -.403">
-              <joint name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="right_foot" pos="0 0 -.39">
-                <joint name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="left_thigh" pos="0 .1 -.04">
-            <joint name="left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="left_shin" pos="0 -.01 -.403">
-              <joint name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="left_foot" pos="0 0 -.39">
-                <joint name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="right_upper_arm" pos="0 -.17 .06">
-        <joint name="right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="right_hand" pos=".18 .18 .18">
-            <geom name="right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="left_upper_arm" pos="0 .17 .06">
-        <joint name="left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="left_lower_arm" pos=".18 .18 -.18">
-          <joint name="left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="left_hand" pos=".18 -.18 .18">
-            <geom name="left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="right_hip_x"     gear="40"  joint="right_hip_x"/>
-    <motor name="right_hip_z"     gear="40"  joint="right_hip_z"/>
-    <motor name="right_hip_y"     gear="120" joint="right_hip_y"/>
-    <motor name="right_knee"      gear="80"  joint="right_knee"/>
-    <motor name="right_ankle_x"   gear="20"  joint="right_ankle_x"/>
-    <motor name="right_ankle_y"   gear="20"  joint="right_ankle_y"/>
-    <motor name="left_hip_x"      gear="40"  joint="left_hip_x"/>
-    <motor name="left_hip_z"      gear="40"  joint="left_hip_z"/>
-    <motor name="left_hip_y"      gear="120" joint="left_hip_y"/>
-    <motor name="left_knee"       gear="80"  joint="left_knee"/>
-    <motor name="left_ankle_x"    gear="20"  joint="left_ankle_x"/>
-    <motor name="left_ankle_y"    gear="20"  joint="left_ankle_y"/>
-    <motor name="right_shoulder1" gear="20"  joint="right_shoulder1"/>
-    <motor name="right_shoulder2" gear="20"  joint="right_shoulder2"/>
-    <motor name="right_elbow"     gear="40"  joint="right_elbow"/>
-    <motor name="left_shoulder1"  gear="20"  joint="left_shoulder1"/>
-    <motor name="left_shoulder2"  gear="20"  joint="left_shoulder2"/>
-    <motor name="left_elbow"      gear="40"  joint="left_elbow"/>
-  </actuator>
-</mujoco>
diff --git a/test/benchmark/testdata/inertia.xml b/test/benchmark/testdata/inertia.xml
deleted file mode 100644
index 5d08a751..00000000
--- a/test/benchmark/testdata/inertia.xml
+++ /dev/null
@@ -1,199 +0,0 @@
-<mujoco model="Benchmark inertia test model">
-  <option timestep="0.005"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-
-    <default class="capsule">
-      <geom type="capsule" size="0.1 0.05"/>
-    </default>
-    <default class="ellipsoid">
-      <geom type="ellipsoid" size="0.15 0.1 0.07" pos=".01 .02 .03"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="top" pos="0 0 10" mode="trackcom"/>
-
-    <frame pos="-2 -2 2.5">
-      <replicate count="5" offset="0 1 0" euler="0 180 0">
-        <frame pos="0 0 -1.5">
-          <body euler="30 40 0">
-            <freejoint/>
-            <geom class="capsule"/>
-          </body>
-        </frame>
-      </replicate>
-    </frame>
-
-    <replicate count="3" offset="1.5 0 0" sep="-">
-      <body name="torso" pos="0 0 1.282" childclass="body">
-        <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-        <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-        <freejoint name="root"/>
-        <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-        <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-        <body name="head" pos="0 0 .19">
-          <geom name="head" type="sphere" size=".09"/>
-          <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-        </body>
-        <body name="waist_lower" pos="-.01 0 -.26">
-          <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-          <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-          <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-          <body name="pelvis" pos="0 0 -.165">
-            <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-            <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-            <body name="thigh_right" pos="0 -.1 -.04">
-              <joint name="hip_right" type="ball"/>
-              <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-              <body name="shin_right" pos="0 .01 -.4">
-                <joint name="knee_right" class="knee"/>
-                <geom name="shin_right" class="shin"/>
-                <body name="foot_right" pos="0 0 -.39">
-                  <joint name="ankle_y_right" class="ankle_y"/>
-                  <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                  <geom name="foot1_right" class="foot1"/>
-                  <geom name="foot2_right" class="foot2"/>
-                </body>
-              </body>
-            </body>
-            <body name="thigh_left" pos="0 .1 -.04">
-              <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-              <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-              <joint name="hip_y_left" class="hip_y"/>
-              <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-              <body name="shin_left" pos="0 -.01 -.4">
-                <joint name="knee_left" class="knee"/>
-                <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-                <body name="foot_left" pos="0 0 -.39">
-                  <joint name="ankle_y_left" class="ankle_y"/>
-                  <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                  <geom name="foot1_left" class="foot1"/>
-                  <geom name="foot2_left" class="foot2"/>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-        <body name="upper_arm_right" pos="0 -.17 .06">
-          <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-          <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-          <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-          <body name="lower_arm_right" pos=".18 -.18 -.18">
-            <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-            <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-            <body name="hand_right" pos=".18 .18 .18">
-              <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-            </body>
-          </body>
-        </body>
-        <body name="upper_arm_left" pos="0 .17 .06">
-          <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-          <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-          <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-          <body name="lower_arm_left" pos=".18 .18 -.18">
-            <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-            <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-            <body name="hand_left" pos=".18 -.18 .18">
-              <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-            </body>
-          </body>
-        </body>
-      </body>
-    </replicate>
-
-    <frame pos="-1 -2 2.5">
-      <replicate count="5" offset="0 1 0" euler="0 180 0">
-        <frame pos="0 0 -1.5">
-          <body euler="20 40 60">
-            <freejoint align="false"/>
-            <geom class="ellipsoid"/>
-          </body>
-        </frame>
-      </replicate>
-    </frame>
-  </worldbody>
-</mujoco>
diff --git a/test/benchmark/testdata/noise.png b/test/benchmark/testdata/noise.png
deleted file mode 100644
index f0806353..00000000
Binary files a/test/benchmark/testdata/noise.png and /dev/null differ
diff --git a/test/benchmark/thread_performance_test.cc b/test/benchmark/thread_performance_test.cc
deleted file mode 100644
index 0bb3df47..00000000
--- a/test/benchmark/thread_performance_test.cc
+++ /dev/null
@@ -1,126 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include <array>
-#include <string>
-#include <vector>
-
-#include <benchmark/benchmark.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// number of steps to roll out before benchmarking
-static const int kNumWarmupSteps = 500;
-
-// number of steps to benchmark (before resetting state)
-static const int kBatchSize = 50;
-
-// number of threads to test
-static const int kNumThreads = 6;
-
-void BM_StepHumanoid200(benchmark::State& state) {
-  int nthread = state.range(0);
-  std::string label = std::to_string(nthread) + " thread(s)";
-
-  auto model_path = GetTestDataFilePath("benchmark/testdata/humanoid200.xml");
-  std::array<char, 1024> error;
-  mjModel* model =
-      mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
-
-  model->opt.solver = mjSOL_CG;               // use CG solver
-  model->opt.disableflags &= ~mjDSBL_ISLAND;  // enable islands
-
-  mjData* data = mj_makeData(model);
-  if (nthread) {
-    mju_threadpool(data, nthread);
-  }
-
-  // warm-up rollout to get a steady state
-  for (int i = 0; i < kNumWarmupSteps; i++) {
-    mj_step(model, data);
-  }
-
-  // save the initial state and step
-  int spec = mjSTATE_INTEGRATION;
-  int size = mj_stateSize(model, spec);
-  std::vector<mjtNum> initial_state(size);
-  mj_getState(model, data, initial_state.data(), spec);
-
-  while (state.KeepRunningBatch(kBatchSize)) {
-    // reset to the saved state
-    mj_setState(model, data, initial_state.data(), spec);
-
-    // run a batch of steps
-    for (int i = 0; i < kBatchSize; i++) {
-      mj_step(model, data);
-    }
-  }
-
-  state.SetLabel(label);
-  state.SetItemsProcessed(state.iterations());
-  mj_deleteData(data);
-}
-
-void BM_Step22Humanoids(benchmark::State& state) {
-  int nthread = state.range(0);
-  std::string label = std::to_string(nthread) + " thread(s)";
-
-  auto model_path = GetModelPath("humanoid/22_humanoids.xml");
-  std::array<char, 1024> error;
-  mjModel* model =
-      mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
-  model->opt.solver = mjSOL_CG;               // use CG solver
-  model->opt.disableflags &= ~mjDSBL_ISLAND;  // enable islands
-
-  mjData* data = mj_makeData(model);
-  if (nthread) {
-    mju_threadpool(data, nthread);
-  }
-
-  // warm-up rollout to get a steady state
-  for (int i = 0; i < kNumWarmupSteps; i++) {
-    mj_step(model, data);
-  }
-
-  // save the initial state and step
-  int spec = mjSTATE_INTEGRATION;
-  int size = mj_stateSize(model, spec);
-  std::vector<mjtNum> initial_state(size);
-  mj_getState(model, data, initial_state.data(), spec);
-
-  std::vector<mjtNum> ctrl = GetCtrlNoise(model, kBatchSize);
-
-  while (state.KeepRunningBatch(kBatchSize)) {
-    // reset to the saved state
-    mj_setState(model, data, initial_state.data(), spec);
-
-    // run a batch of steps
-    for (int i = 0; i < kBatchSize; i++) {
-      mju_copy(data->ctrl, ctrl.data()+model->nu*i, model->nu);
-      mj_step(model, data);
-    }
-  }
-
-  state.SetLabel(label);
-  state.SetItemsProcessed(state.iterations());
-  mj_deleteData(data);
-}
-
-BENCHMARK(BM_StepHumanoid200)->Arg(0)->Arg(kNumThreads);
-BENCHMARK(BM_Step22Humanoids)->Arg(0)->Arg(kNumThreads);
-}  // namespace
-}  // namespace mujoco
diff --git a/test/compare_model.cc b/test/compare_model.cc
deleted file mode 100644
index 47400b39..00000000
--- a/test/compare_model.cc
+++ /dev/null
@@ -1,138 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "test/compare_model.h"
-
-#include <cmath>
-#include <cstring>
-#include <limits>
-#include <string>
-#include <string_view>
-#include <type_traits>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco {
-namespace {
-
-template <typename T>
-auto Compare(T val1, T val2);
-
-auto Compare(char val1, char val2) {
-  return val1 != val2;
-}
-
-auto Compare(unsigned char val1, unsigned char val2) {
-  return val1 != val2;
-}
-
-auto Compare(bool val1, bool val2) {
-  return val1 != val2;
-}
-
-auto Compare(mjtSize val1, mjtSize val2) {
-  return val1 > val2 ? val1 - val2 : val2 - val1;
-}
-
-// The maximum spacing between a normalised floating point number x and an
-// adjacent normalised number is 2 epsilon |x|; a factor 10 is added accounting
-// for losses during non-idempotent operations such as vector normalizations.
-template <typename T>
-auto Compare(T val1, T val2) {
-  using ReturnType =
-      std::conditional_t<std::is_same_v<T, float>, float, double>;
-  ReturnType error;
-  if (std::abs(val1) <= 1 || std::abs(val2) <= 1) {
-      // Absolute precision for small numbers
-      error = std::abs(val1-val2);
-  } else {
-    // Relative precision for larger numbers
-    ReturnType magnitude = std::abs(val1) + std::abs(val2);
-    error = std::abs(val1/magnitude - val2/magnitude) / magnitude;
-  }
-  ReturnType safety_factor = 200;
-  return error < safety_factor * std::numeric_limits<ReturnType>::epsilon()
-             ? 0
-             : error;
-}
-
-}  // namespace
-
-mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
-                    std::string& field) {
-  mjtNum dif, maxdif = 0.0;
-
-  // define symbols corresponding to number of columns
-  // (needed in MJMODEL_POINTERS)
-  MJMODEL_POINTERS_PREAMBLE(m1);
-
-// compare ints, exclude nbuffer because it hides the actual difference
-#define X(name)                                           \
-  if constexpr (std::string_view(#name) != "nbuffer") {   \
-    if (m1->name != m2->name) {                           \
-      maxdif = std::abs((long)m1->name - (long)m2->name); \
-      field = #name;                                      \
-    }                                                     \
-  }
-  MJMODEL_SIZES
-#undef X
-  if (maxdif > 0) return maxdif;
-
-  // compare arrays, apart from bvh-related ones (which includes flex_vert0), as
-  // those are sensitive to numerical differences when meshes are perfectly
-  // symmetric.  Also skip flex fields derived from node local positions and
-  // cell geometry that are not fully serialized to XML.
-#define X(type, name, nr, nc)                                         \
-  if (strncmp(#name, "bvh_", 4) &&                                    \
-      strncmp(#name, "flex_vert", 9) &&                               \
-      strncmp(#name, "mesh_poly", 9) &&                               \
-      strcmp(#name, "flex_centered") &&                               \
-      strcmp(#name, "flex_size") &&                                   \
-      strcmp(#name, "flexedge_length0") &&                            \
-      strcmp(#name, "flexedge_invweight0") &&                         \
-      strncmp(#name, "flex_node", 9)) {                               \
-    for (int r = 0; r < m1->nr; r++) {                                \
-      for (int c = 0; c < nc; c++) {                                  \
-        dif = Compare(m1->name[r * nc + c], m2->name[r * nc + c]);    \
-        if (dif > maxdif) {                                           \
-          maxdif = dif;                                               \
-          field = #name;                                              \
-          field += " row: " + std::to_string(r);                      \
-          field += " col: " + std::to_string(c);                      \
-        }                                                             \
-      }                                                               \
-    }                                                                 \
-  }  // NOLINT
-  MJMODEL_POINTERS
-#undef X
-
-  // compare fields in mjOption
-  #define X(type, name, n)                                         \
-    dif = Compare(m1->opt.name, m2->opt.name);                     \
-    if (dif > maxdif) {maxdif = dif; field = #name;}
-  #define XVEC(type, name, n)                                    \
-    for (int c=0; c < n; c++) {                                  \
-      dif = Compare(m1->opt.name[c], m2->opt.name[c]);           \
-      if (dif > maxdif) {maxdif = dif; field = #name;} }
-    MJOPTION_FIELDS
-  #undef XVEC
-  #undef X
-
-  // Return largest difference and field name
-  return maxdif;
-}
-
-}  // namespace mujoco
diff --git a/test/compare_model.h b/test/compare_model.h
deleted file mode 100644
index 1d69b88b..00000000
--- a/test/compare_model.h
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_TEST_COMPARE_MODEL_H_
-#define MUJOCO_TEST_COMPARE_MODEL_H_
-
-#include <string>
-
-#include <mujoco/mujoco.h>
-
-namespace mujoco {
-
-// Compares all fields of two mjModels.
-// Returns the name of the different field and the max difference.
-mjtNum CompareModel(const mjModel* m1, const mjModel* m2, std::string& field);
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_TEST_COMPARE_MODEL_H_
diff --git a/test/doc/CMakeLists.txt b/test/doc/CMakeLists.txt
deleted file mode 100644
index d4a626a8..00000000
--- a/test/doc/CMakeLists.txt
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-find_package(Python3 COMPONENTS Interpreter)
-if(Python3_FOUND)
-  add_test(NAME doc_test
-           COMMAND Python3::Interpreter ${CMAKE_CURRENT_SOURCE_DIR}/doc_test.py
-           WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
-  add_test(NAME mjcf_schema_test
-           COMMAND Python3::Interpreter ${CMAKE_CURRENT_SOURCE_DIR}/mjcf_schema_test.py
-           WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
-endif()
diff --git a/test/doc/doc_test.py b/test/doc/doc_test.py
deleted file mode 100644
index f542ddd6..00000000
--- a/test/doc/doc_test.py
+++ /dev/null
@@ -1,375 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests that the API reference documentation is complete and up to date."""
-
-import os
-import re
-
-import sys
-import unittest as googletest
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-sys.path.insert(0, os.path.join(_REPO_ROOT, 'doc', 'generate'))
-import generate_api_header
-import generate_default_table
-import generate_dmcontrol
-import generate_functions
-import generate_mjcf_map
-import generate_mjcf_table
-import generate_read_table
-import generate_schema
-import generate_xsd
-import mjcf_schema
-
-# Functions in headers that are intentionally not in functions.rst.
-_FUNCTIONS_TO_SKIP = set()
-
-# Types (STRUCT/ENUM) in headers that are intentionally not in APItypes.rst.
-_TYPES_TO_SKIP = set()
-
-# Type names documented in APItypes.rst that aren't STRUCT/ENUM in headers.
-# These are typedefs, callbacks, and scalar types.
-_EXTRA_DOCUMENTED_TYPES = {
-    # scalar typedefs
-    'mjtByte',
-    'mjtBool',
-    'mjtNum',
-    'mjtSize',
-    # C++ type aliases
-    'mjByteVec',
-    'mjDoubleVec',
-    'mjFloatVec',
-    'mjFloatVecVec',
-    'mjIntVec',
-    'mjIntVecVec',
-    'mjString',
-    'mjStringVec',
-    # function pointer typedefs (callbacks)
-    'mjfAct',
-    'mjfCanDecode',
-    'mjfCloseResource',
-    'mjfCollision',
-    'mjfConFilt',
-    'mjfDecode',
-    'mjfEncode',
-    'mjfGeneric',
-    'mjfGetResourceDir',
-    'mjfItemEnable',
-    'mjfLogHandler',
-    'mjfOpenResource',
-    'mjfReadResource',
-    'mjfResourceModified',
-    'mjfSensor',
-    'mjfTime',
-}
-
-
-def _get_path(*path_parts: str) -> str:
-  """Returns absolute path for a repository-relative path."""
-  return os.path.join(_REPO_ROOT, *path_parts)
-
-
-def _check_up_to_date(test_case, rel_path, generated_content):
-  """Checks that a generated file matches the checked-in version."""
-  path = _get_path(*rel_path.split('/'))
-  with open(path, 'r', encoding='utf-8') as file:
-    current = file.read()
-  if generated_content != current:
-    filename = os.path.basename(rel_path)
-    test_case.fail(f"The file '{filename}' needs to be updated.")
-
-
-class DocTest(googletest.TestCase):
-
-  def test_api_header(self):
-    """Checks that references.h matches the generated output."""
-    source = generate_api_header.generate_reference_header(
-        generate_api_header.read_headers()
-    )
-    _check_up_to_date(self, 'doc/includes/references.h', source)
-
-  def test_mjcf_table(self):
-    """Checks that mjcf_table.inc matches the schema-generated output."""
-    _check_up_to_date(
-        self,
-        'src/xml/generated/mjcf_table.inc',
-        generate_mjcf_table.generate(),
-    )
-
-  def test_default_table(self):
-    """Checks that mjcf_default_table.inc matches the schema-generated output."""
-    _check_up_to_date(
-        self,
-        'src/xml/generated/mjcf_default_table.inc',
-        generate_default_table.generate(),
-    )
-
-  def test_mjcf_map(self):
-    """Checks that mjcf_map.h matches the schema-generated output."""
-    _check_up_to_date(
-        self, 'src/xml/generated/mjcf_map.h', generate_mjcf_map.generate()
-    )
-
-  def test_read_table(self):
-    """Checks that mjcf_read_table.inc matches the schema-generated output."""
-    _check_up_to_date(
-        self,
-        'src/xml/generated/mjcf_read_table.inc',
-        generate_read_table.generate(),
-    )
-
-  def test_xsd(self):
-    """Checks that mjcf.xsd matches the schema-generated output."""
-    _check_up_to_date(
-        self,
-        'src/xml/generated/mjcf.xsd',
-        generate_xsd.generate(),
-    )
-
-  def test_dmcontrol_schema(self):
-    """Checks that dmcontrol_schema.xml matches the schema-generated output."""
-    _check_up_to_date(
-        self,
-        'src/xml/generated/dmcontrol_schema.xml',
-        generate_dmcontrol.generate(),
-    )
-
-  def test_read_table_consumed(self):
-    """Checks that every generated row array is consumed, and none is stale.
-
-    Elements are auto-included in the read table unless excluded by
-    NOT_TABLE_DRIVEN, so a new bound element whose OneX() reader was never
-    migrated would get rows that nothing reads; unused inline constexpr
-    arrays do not even warn. Conversely, a stale NOT_TABLE_DRIVEN entry
-    (e.g. after an element rename) silently stops excluding.
-    """
-    schema = mjcf_schema.parse_file(_get_path('src/xml/mjcf.schema'))
-    sources = ''
-    for filename in ('xml_native_reader.cc', 'xml_native_writer.cc'):
-      path = _get_path('src/xml', filename)
-      with open(path, 'r', encoding='utf-8') as file:
-        sources += file.read()
-    errors = []
-    dispatched = set(generate_read_table.SENSOR_DISPATCH)
-    for name in generate_read_table.table_driven_elements(schema):
-      if name in dispatched:
-        continue  # consumed through kSensorDispatch
-      array = generate_read_table.array_name(name)
-      if array not in sources:
-        errors.append(
-            f"array '{array}' for element '{name}' is generated but never "
-            'consumed: migrate its reader to ReadAttrTable or add the '
-            'element to NOT_TABLE_DRIVEN'
-        )
-    if 'kSensorDispatch' not in sources:
-      errors.append("'kSensorDispatch' is never consumed")
-    for _, array in generate_read_table.EMIT_GROUPS.values():
-      if array not in sources:
-        errors.append(
-            f"group array '{array}' is generated but never consumed"
-        )
-    stale = generate_read_table.NOT_TABLE_DRIVEN - set(schema.elements)
-    for name in sorted(stale):
-      errors.append(
-          f"NOT_TABLE_DRIVEN entry '{name}' does not name a schema element"
-      )
-    if errors:
-      self.fail('read-table coverage:\n' + '\n'.join(errors))
-
-  def test_schema_enum_coverage(self):
-    """Checks schema enums against the C enums they bind.
-
-    Every schema constant must be a member of the bound C enum, and every C
-    member must be a schema keyword, a count sentinel (mjN*), or a documented
-    exemption -- so adding a C enum member without updating the schema fails
-    here.
-    """
-    # C members deliberately not exposed as XML keywords
-    exempt = {
-        'bodysleep': {  # resolved states of 'auto', not settable
-            'mjSLEEP_AUTO_ALLOWED',
-            'mjSLEEP_AUTO_NEVER',
-        },
-        'geomtype': {  # rendering-only types and the missing-geom sentinel
-            'mjGEOM_ARROW',
-            'mjGEOM_ARROW1',
-            'mjGEOM_ARROW2',
-            'mjGEOM_LINE',
-            'mjGEOM_LINEBOX',
-            'mjGEOM_FLEX',
-            'mjGEOM_SKIN',
-            'mjGEOM_LABEL',
-            'mjGEOM_TRIANGLE',
-            'mjGEOM_NONE',
-        },
-        'texrole': {  # not settable from XML
-            'mjTEXROLE_USER'
-        },
-    }
-    # deliberately partial: keywords are a documented subset of the C enum
-    # (inputbit: combinable tokens exclude the whole-attribute keyword
-    # mjINPUT_NONE; inputkeyword: the whole-attribute keyword excludes the tokens)
-    partial = {'frameobj', 'inputbit', 'inputkeyword'}
-
-    enums_c = {}
-    for name in ('mjtype.h', 'mjspec.h'):
-      path = _get_path('include', 'mujoco', name)
-      with open(path, 'r', encoding='utf-8') as file:
-        content = file.read()
-      for m in re.finditer(
-          r'typedef enum (mjt\w+)\s*\{(.*?)\}\s*\1;', content, re.S
-      ):
-        enums_c[m.group(1)] = re.findall(
-            r'^\s*(mj[A-Z]\w+)', m.group(2), re.M
-        )
-
-    schema_path = _get_path('src/xml/mjcf.schema')
-    schema = mjcf_schema.parse_file(schema_path)
-    errors = []
-    for name, enum in schema.enums.items():
-      if not enum.ctype:
-        continue
-      if enum.ctype not in enums_c:
-        errors.append(f'  {name}: C enum {enum.ctype} not found in headers')
-        continue
-      members = set(enums_c[enum.ctype])
-      constants = {value for _, value in enum.items}
-      for bad in sorted(constants - members):
-        errors.append(f'  {name}: {bad} is not a member of {enum.ctype}')
-      if name in partial:
-        continue
-      uncovered = {
-          m
-          for m in members - constants
-          if not re.search(r'^mjN[A-Z]', m)
-      } - exempt.get(name, set())
-      for miss in sorted(uncovered):
-        errors.append(
-            f'  {name}: {enum.ctype} member {miss} has no keyword (add it to'
-            ' the schema or to the exemptions here)'
-        )
-    if errors:
-      self.fail('schema enum coverage:\n' + '\n'.join(errors))
-
-  def test_schema(self):
-    """Checks that XMLschema.rst matches the generated output."""
-    _check_up_to_date(self, 'doc/XMLschema.rst', generate_schema.generate())
-
-  def test_functions(self):
-    """Checks that functions.rst matches the generated output."""
-    _check_up_to_date(
-        self,
-        'doc/APIreference/functions.rst',
-        generate_functions.generate(),
-    )
-
-  def test_all_functions_included(self):
-    """Checks that every public C function has an entry in functions.rst."""
-    functions_file = _get_path('doc/APIreference/functions.rst')
-    with open(functions_file, 'r', encoding='utf-8') as file:
-      content = file.read()
-
-    documented = set(
-        re.findall(r'^\.\. _(mj[a-zA-Z0-9_]+):', content, flags=re.MULTILINE)
-    )
-
-    api = generate_api_header.read_headers()
-    header_funcs = {
-        token for token, d in api.items() if d.c_type == 'FUNCTION'
-    }
-
-    errors = []
-    for token in sorted(header_funcs - documented - _FUNCTIONS_TO_SKIP):
-      d = api[token]
-      errors.append(f'  undocumented: {token} (section: {d.section!r})')
-    for token in sorted(documented - header_funcs):
-      errors.append(f'  stale: {token} (in functions.rst but not in headers)')
-
-    if errors:
-      msg = 'functions.rst mismatches:\n' + '\n'.join(errors)
-      self.fail(msg)
-
-  def test_all_types_included(self):
-    """Checks that every public struct and enum has an entry in APItypes.rst."""
-    types_file = _get_path('doc/APIreference/APItypes.rst')
-    with open(types_file, 'r', encoding='utf-8') as file:
-      content = file.read()
-
-    documented = set(
-        re.findall(r'^\.\. _(mj[a-zA-Z0-9_]+):', content, flags=re.MULTILINE)
-    )
-
-    api = generate_api_header.read_headers()
-    header_types = {
-        token for token, d in api.items() if d.c_type in ('STRUCT', 'ENUM')
-    }
-
-    errors = []
-    for token in sorted(header_types - documented - _TYPES_TO_SKIP):
-      d = api[token]
-      errors.append(
-          f'  undocumented: {token} ({d.c_type}, section: {d.section!r})'
-      )
-    for token in sorted(documented - header_types - _EXTRA_DOCUMENTED_TYPES):
-      errors.append(f'  stale: {token} (in APItypes.rst but not in headers)')
-
-    if errors:
-      msg = 'APItypes.rst mismatches:\n' + '\n'.join(errors)
-      self.fail(msg)
-
-  def test_element_constraints_diamond_inheritance(self):
-    con = mjcf_schema.Constraint(
-        kind='exclusive', bundles=(('a',), ('b',)), doc=None, line=1
-    )
-    common_group = mjcf_schema.Group(
-        name='common', variant=False, members=[con], doc=None, line=1
-    )
-    group1 = mjcf_schema.Group(
-        name='group1',
-        variant=False,
-        members=[mjcf_schema.Use(group='common', line=1)],
-        doc=None,
-        line=1,
-    )
-    group2 = mjcf_schema.Group(
-        name='group2',
-        variant=False,
-        members=[mjcf_schema.Use(group='common', line=1)],
-        doc=None,
-        line=1,
-    )
-    elem = mjcf_schema.Element(
-        name='elem',
-        spec=None,
-        facets={},
-        members=[
-            mjcf_schema.Use(group='group1', line=1),
-            mjcf_schema.Use(group='group2', line=1),
-        ],
-        doc=None,
-        line=1,
-    )
-    schema = mjcf_schema.Schema(
-        enums={},
-        groups={'common': common_group, 'group1': group1, 'group2': group2},
-        elements={'elem': elem},
-        path='<test>',
-    )
-    cons = generate_mjcf_table._element_constraints(schema, elem)
-    self.assertEqual(len(cons), 1)  # pylint: disable=g-generic-assert
-
-
-if __name__ == '__main__':
-  googletest.main()
diff --git a/test/doc/mjcf_schema_test.py b/test/doc/mjcf_schema_test.py
deleted file mode 100644
index e23553f8..00000000
--- a/test/doc/mjcf_schema_test.py
+++ /dev/null
@@ -1,430 +0,0 @@
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-"""Tests for the MJCF schema definition language parser."""
-
-import os
-import sys
-import unittest as googletest
-_SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
-_REPO_ROOT = os.path.dirname(os.path.dirname(_SCRIPT_DIR))
-sys.path.insert(0, os.path.join(_REPO_ROOT, 'doc', 'generate'))
-import mjcf_schema
-
-GOOD = '''
-enum geomtype : mjtGeom {          # geom shapes
-  plane   = mjGEOM_PLANE
-  sphere  = mjGEOM_SPHERE
-  "2d"    = mjGEOM_PLANE
-}
-
-enum onoff {
-  false = 0
-  true  = 1
-}
-
-group orientation variant {        # at most one spelling
-  quat      : double[4] = {1, 0, 0, 0}
-  axisangle : double[4]            # (x, y, z, angle)
-  euler     : double[3]
-}
-
-group posed {
-  pos : double[3] = {0, 0, 0}
-  use orientation
-}
-
-element defaults {
-  class    : id<defaults>                      # name of this class
-}
-
-element geom : mjsGeom {           # geometric entity
-  use posed
-  name     : id<geom>                          # element name
-  class    : ref<defaults> (field=classname)   # defaults class
-  type     : enum<geomtype> = sphere           # geom shape
-  condim   : int = 3
-  size     : double[0..3]                      # type-specific size
-  friction : double[1..3] = {1, 0.005, 0.0001} # slide, roll, spin
-  solref   : double[0..mjNREF]
-  eulerseq : string = "xyz" (pattern="[xyzXYZ]{3}")
-  margin   : double = 0 (nodefault)
-  file     : string (required)
-  user     : double[]                          # user data
-  child geom *                                 # nested geoms
-  child defaults R
-}
-'''
-
-
-class ParserTest(googletest.TestCase):
-
-  def parse(self, text):
-    return mjcf_schema.parse_string(text)
-
-  def error(self, text):
-    with self.assertRaises(mjcf_schema.SchemaError) as ctx:
-      self.parse(text)
-    return str(ctx.exception)
-
-  def test_good_schema_parses(self):
-    schema = self.parse(GOOD)
-    self.assertEqual(set(schema.enums), {'geomtype', 'onoff'})
-    self.assertEqual(set(schema.groups), {'orientation', 'posed'})
-    self.assertEqual(set(schema.elements), {'geom', 'defaults'})
-
-  def test_enum(self):
-    schema = self.parse(GOOD)
-    enum = schema.enums['geomtype']
-    self.assertEqual(enum.ctype, 'mjtGeom')
-    self.assertEqual(enum.items[0], ('plane', 'mjGEOM_PLANE'))
-    self.assertEqual(enum.items[2], ('2d', 'mjGEOM_PLANE'))
-    self.assertEqual(enum.doc, 'geom shapes')
-    self.assertIsNone(schema.enums['onoff'].ctype)
-    self.assertEqual(schema.enums['onoff'].items[0], ('false', '0'))
-
-  def test_groups_and_expansion(self):
-    schema = self.parse(GOOD)
-    self.assertTrue(schema.groups['orientation'].variant)
-    self.assertFalse(schema.groups['posed'].variant)
-    names = [a.name for a in schema.expanded_attrs(schema.elements['geom'])]
-    # posed expands to pos + orientation members, in order, before own attrs.
-    self.assertEqual(names[:4], ['pos', 'quat', 'axisangle', 'euler'])
-    self.assertIn('friction', names)
-
-  def test_attr_types_and_arity(self):
-    schema = self.parse(GOOD)
-    attrs = {a.name: a for a in schema.expanded_attrs(schema.elements['geom'])}
-    self.assertEqual(attrs['condim'].arity, mjcf_schema.Arity(1, 1))
-    self.assertEqual(attrs['quat'].arity, mjcf_schema.Arity(4, 4))
-    self.assertEqual(attrs['size'].arity, mjcf_schema.Arity(0, 3))
-    self.assertEqual(attrs['friction'].arity, mjcf_schema.Arity(1, 3))
-    self.assertEqual(attrs['solref'].arity, mjcf_schema.Arity(0, 'mjNREF'))
-    self.assertEqual(attrs['user'].arity, mjcf_schema.Arity(0, None))
-    self.assertEqual(attrs['type'].type, 'enum')
-    self.assertEqual(attrs['type'].target, 'geomtype')
-    self.assertEqual(attrs['class'].type, 'ref')
-    self.assertEqual(attrs['class'].target, 'defaults')
-    self.assertEqual(attrs['name'].type, 'id')
-    self.assertEqual(attrs['name'].target, 'geom')
-
-  def test_defaults(self):
-    schema = self.parse(GOOD)
-    attrs = {a.name: a for a in schema.expanded_attrs(schema.elements['geom'])}
-    self.assertEqual(attrs['friction'].default, (1, 0.005, 0.0001))
-    self.assertEqual(attrs['condim'].default, 3.0)
-    self.assertEqual(attrs['type'].default, 'sphere')
-    self.assertEqual(attrs['eulerseq'].default, 'xyz')
-    self.assertIsNone(attrs['size'].default)
-
-  def test_facets(self):
-    schema = self.parse(GOOD)
-    attrs = {a.name: a for a in schema.expanded_attrs(schema.elements['geom'])}
-    self.assertEqual(attrs['class'].facets, {'field': 'classname'})
-    self.assertEqual(attrs['eulerseq'].facets, {'pattern': '[xyzXYZ]{3}'})
-    self.assertEqual(attrs['margin'].facets, {'nodefault': True})
-    self.assertEqual(attrs['file'].facets, {'required': True})
-
-  def test_children(self):
-    schema = self.parse(GOOD)
-    children = schema.elements['geom'].children()
-    self.assertEqual([(c.name, c.card) for c in children],
-                     [('geom', '*'), ('defaults', 'R')])
-
-  def test_docs(self):
-    schema = self.parse(GOOD)
-    self.assertEqual(schema.elements['geom'].doc, 'geometric entity')
-    attrs = {a.name: a for a in schema.expanded_attrs(schema.elements['geom'])}
-    self.assertEqual(attrs['friction'].doc, 'slide, roll, spin')
-    self.assertEqual(attrs['axisangle'].doc, '(x, y, z, angle)')
-    self.assertIsNone(attrs['condim'].doc)
-
-
-class ErrorTest(googletest.TestCase):
-
-  def error(self, text):
-    with self.assertRaises(mjcf_schema.SchemaError) as ctx:
-      mjcf_schema.parse_string(text)
-    return str(ctx.exception)
-
-  def test_error_has_line_number(self):
-    message = self.error('element geom {\n  size ; double\n}')
-    self.assertIn('<string>:2:', message)
-
-  def test_duplicate_element(self):
-    message = self.error('element geom {}\nelement geom {}')
-    self.assertIn('duplicate element', message)
-
-  def test_duplicate_attr(self):
-    message = self.error('element geom {\n  a : int\n  a : double\n}')
-    self.assertIn("duplicate attribute 'a'", message)
-
-  def test_duplicate_attr_via_use(self):
-    message = self.error('group g {\n  a : int\n}\n'
-                         'element geom {\n  use g\n  a : double\n}')
-    self.assertIn("duplicate attribute 'a'", message)
-
-  def test_dangling_enum(self):
-    message = self.error('element geom {\n  type : enum<nosuch>\n}')
-    self.assertIn("undeclared enum 'nosuch'", message)
-
-  def test_dangling_ref(self):
-    message = self.error('element geom {\n  mesh : ref<nosuch>\n}')
-    self.assertIn("namespace 'nosuch'", message)
-
-  def test_ref_resolved_by_id_elsewhere(self):
-    mjcf_schema.parse_string(
-        'element mesh {\n  name : id<mesh>\n}\n'
-        'element geom {\n  mesh : ref<mesh>\n}')
-
-  def test_id_with_default(self):
-    message = self.error('element geom {\n  name : id<geom> = "x"\n}')
-    self.assertIn('may not have a default', message)
-
-  def test_dangling_use(self):
-    message = self.error('element geom {\n  use nosuch\n}')
-    self.assertIn("undeclared group 'nosuch'", message)
-
-  def test_dangling_child(self):
-    message = self.error('element geom {\n  child nosuch *\n}')
-    self.assertIn("undeclared element 'nosuch'", message)
-
-  def test_use_cycle(self):
-    message = self.error('group a {\n  use b\n}\ngroup b {\n  use a\n}')
-    self.assertIn('cycle', message)
-
-  def test_default_too_long(self):
-    message = self.error('element geom {\n  size : double[3] = {1, 2, 3, 4}\n}')
-    self.assertIn('at most 3', message)
-
-  def test_default_too_short(self):
-    message = self.error('element geom {\n  size : double[3] = {1, 2}\n}')
-    self.assertIn('at least 3', message)
-
-  def test_vector_default_on_scalar(self):
-    message = self.error('element geom {\n  mass : double = {1, 2}\n}')
-    self.assertIn('vector default for scalar', message)
-
-  def test_enum_default_not_a_keyword(self):
-    message = self.error('enum e {\n  a = 0\n}\n'
-                         'element geom {\n  t : enum<e> = b\n}')
-    self.assertIn('not a keyword', message)
-
-  def test_unknown_facet(self):
-    message = self.error('element geom {\n  a : int (frobnicate)\n}')
-    self.assertIn("unknown facet 'frobnicate'", message)
-
-  def test_required_with_default(self):
-    message = self.error('element geom {\n  a : int = 1 (required)\n}')
-    self.assertIn('required and has a default', message)
-
-  def test_variant_with_required(self):
-    message = self.error('group g variant {\n  a : int (required)\n}\n'
-                         'element geom {\n  use g\n}')
-    self.assertIn('may not be required', message)
-
-  def test_variant_with_use(self):
-    message = self.error('group inner {\n  a : int\n}\n'
-                         'group g variant {\n  use inner\n}')
-    self.assertIn("may not contain 'use'", message)
-
-  def test_duplicate_enum_keyword(self):
-    message = self.error('enum e {\n  a = 0\n  a = 1\n}')
-    self.assertIn('duplicate enum keyword', message)
-
-  def test_duplicate_child(self):
-    message = self.error('element a {}\n'
-                         'element geom {\n  child a *\n  child a ?\n}')
-    self.assertIn("duplicate child 'a'", message)
-
-  def test_empty_enum(self):
-    message = self.error('enum e {\n}')
-    self.assertIn('is empty', message)
-
-  def test_child_in_group(self):
-    message = self.error('group g {\n  child geom *\n}')
-    self.assertIn('not allowed in a group', message)
-
-  def test_decreasing_arity(self):
-    message = self.error('element geom {\n  a : double[3..2]\n}')
-    self.assertIn('not increasing', message)
-
-  def test_constraints(self):
-    schema = mjcf_schema.parse_string(
-        'element connect {\n'
-        '  site1 : ref<site>\n  site2 : ref<site>\n'
-        '  body1 : string\n  anchor : double[3]\n'
-        '  exclusive site1+site2 body1+anchor   # semantics cannot mix\n'
-        '  oneof site1+site2 body1+anchor\n'
-        '  requires site1 site2\n'
-        '}\n'
-        'element site {\n  name : id<site>\n}')
-    cons = schema.elements['connect'].constraints()
-    self.assertEqual([c.kind for c in cons],
-                     ['exclusive', 'oneof', 'requires'])
-    self.assertEqual(cons[0].bundles,
-                     [('site1', 'site2'), ('body1', 'anchor')])
-    self.assertEqual(cons[0].doc, 'semantics cannot mix')
-    self.assertEqual(cons[2].bundles, [('site1',), ('site2',)])
-
-  def test_constraint_unknown_attr(self):
-    message = self.error('element a {\n  x : int\n  exclusive x nosuch\n}')
-    self.assertIn("unknown attribute 'nosuch'", message)
-
-  def test_requires_arity(self):
-    message = self.error(
-        'element a {\n  x : int\n  y : int\n  z : int\n'
-        '  requires x y+z\n}')
-    self.assertIn('exactly two attributes', message)
-
-  def test_flags_type(self):
-    schema = mjcf_schema.parse_string(
-        'enum camout : mjtCamOutBit {\n  rgb = mjCAMOUT_RGB\n}\n'
-        'element camera {\n  output : flags<camout>\n}')
-    attr = schema.elements['camera'].members[0]
-    self.assertEqual(attr.type, 'flags')
-    self.assertEqual(attr.target, 'camout')
-
-  def test_min_max_positive_facets(self):
-    schema = mjcf_schema.parse_string(
-        'element size {\n'
-        '  nkey  : int (min=-1)\n'
-        '  group : int (min=0, max=5)\n'
-        '  znear : float (positive)\n'
-        '}')
-    attrs = {a.name: a for a in schema.elements['size'].members}
-    self.assertEqual(attrs['nkey'].facets['min'], -1.0)
-    self.assertEqual(attrs['group'].facets['max'], 5.0)
-    self.assertTrue(attrs['znear'].facets['positive'])
-
-  def test_min_on_string_rejected(self):
-    message = self.error('element a {\n  s : string (min=0)\n}')
-    self.assertIn('requires a numeric attribute', message)
-
-  def test_const_member(self):
-    schema = mjcf_schema.parse_string(
-        'element touch : mjsSensor {\n'
-        '  set type    = mjSENS_TOUCH   # sensor type from tag\n'
-        '  set objtype = mjOBJ_SITE\n'
-        '  a : int\n}')
-    consts = schema.elements['touch'].consts()
-    self.assertEqual([(c.field, c.value) for c in consts],
-                     [('type', 'mjSENS_TOUCH'), ('objtype', 'mjOBJ_SITE')])
-    self.assertEqual(consts[0].doc, 'sensor type from tag')
-
-  def test_const_in_group_rejected(self):
-    message = self.error('group g {\n  set type = mjSENS_TOUCH\n}')
-    self.assertIn('not allowed in a group', message)
-
-  def test_element_facets(self):
-    schema = mjcf_schema.parse_string(
-        'element body {}\n'
-        'element eq_joint : mjsEquality (xml=joint) {\n'
-        '  polycoef : double[5]\n}\n'
-        'element frame (alias=body) {}\n')
-    self.assertEqual(schema.elements['eq_joint'].xml_name(), 'joint')
-    self.assertEqual(schema.elements['body'].xml_name(), 'body')
-    self.assertEqual(schema.elements['frame'].facets, {'alias': 'body'})
-
-  def test_element_field_facet(self):
-    schema = mjcf_schema.parse_string(
-        'element global : mjVisual (field=global) {\n  fovy : double\n}')
-    self.assertEqual(schema.elements['global'].facets['field'], 'global')
-
-  def test_element_unknown_facet(self):
-    message = self.error('element geom (required) {}')
-    self.assertIn("unknown facet 'required'", message)
-
-  def test_element_dangling_alias(self):
-    message = self.error('element frame (alias=nosuch) {}')
-    self.assertIn("undeclared element 'nosuch'", message)
-
-  def test_bool_type(self):
-    schema = mjcf_schema.parse_string(
-        'element compiler {\n  autolimits : bool = true\n}')
-    attr = schema.elements['compiler'].members[0]
-    self.assertEqual(attr.type, 'bool')
-    self.assertEqual(attr.default, 'true')
-
-  def test_bool_bad_default(self):
-    message = self.error('element compiler {\n  autolimits : bool = maybe\n}')
-    self.assertIn('must be true or false', message)
-
-  def test_bool_vector_rejected(self):
-    message = self.error('element compiler {\n  a : bool[2]\n}')
-    self.assertIn('may not be a vector', message)
-
-  def test_file_type(self):
-    schema = mjcf_schema.parse_string(
-        'element mesh {\n  file : file (required)  # mesh file\n}')
-    attr = schema.elements['mesh'].members[0]
-    self.assertEqual(attr.type, 'file')
-    self.assertTrue(attr.arity.is_scalar())
-
-  def test_file_vector_rejected(self):
-    message = self.error('element mesh {\n  file : file[3]\n}')
-    self.assertIn('may not be a vector', message)
-
-  def test_pattern_on_numeric(self):
-    message = self.error('element geom {\n  a : int (pattern="x")\n}')
-    self.assertIn("'pattern' requires a text attribute", message)
-
-  def test_chars_type(self):
-    schema = mjcf_schema.parse_string(
-        'element compiler {\n  eulerseq : chars[3] (pattern="[xyz]{3}")\n}')
-    attr = schema.elements['compiler'].members[0]
-    self.assertEqual(attr.type, 'chars')
-    self.assertEqual((attr.arity.lo, attr.arity.hi), (3, 3))
-
-  def test_chars_unbounded_rejected(self):
-    message = self.error('element compiler {\n  a : chars[]\n}')
-    self.assertIn('must declare a bounded length', message)
-
-  def test_chars_with_default_rejected(self):
-    message = self.error('element compiler {\n  a : chars[3] = "xyz"\n}')
-    self.assertIn('may not have a default', message)
-
-  def test_ref_with_default(self):
-    message = self.error('element a {\n  name : id<a>\n}\n'
-                         'element geom {\n  r : ref<a> = a\n}')
-    self.assertIn('may not have a default', message)
-
-  def test_string_lexing_range_vs_float(self):
-    # 0..3 must lex as a range, not the floats '0.' and '.3'.
-    schema = mjcf_schema.parse_string(
-        'element geom {\n  a : double[0..3] = {0.5, .25, 1e-3}\n}')
-    attr = schema.elements['geom'].members[0]
-    self.assertEqual(attr.arity, mjcf_schema.Arity(0, 3))
-    self.assertEqual(attr.default, (0.5, 0.25, 0.001))
-
-  def test_min_max_integer_facet(self):
-    # Integer values in facets dictionary must be accepted as numeric.
-    attr = mjcf_schema.Attr(
-        name='group', type='int', target=None,
-        arity=mjcf_schema.Arity(1, 1), default=None,
-        facets={'min': 0, 'max': 5}, doc=None, line=1)
-    element = mjcf_schema.Element(
-        name='geom', spec=None, facets={}, members=[attr], doc=None, line=1)
-    schema = mjcf_schema.Schema(
-        enums={}, groups={}, elements={'geom': element}, path='<test>')
-    mjcf_schema._validate(schema)
-
-  def test_min_greater_than_max(self):
-    message = self.error(
-        'element geom {\n  a : double (min=10, max=5)\n}')
-    self.assertIn("facet 'min' cannot be greater than 'max'", message)
-
-
-if __name__ == '__main__':
-  googletest.main()
diff --git a/test/engine/CMakeLists.txt b/test/engine/CMakeLists.txt
deleted file mode 100644
index 442acb29..00000000
--- a/test/engine/CMakeLists.txt
+++ /dev/null
@@ -1,96 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# the pre-rewrite box-box collider, linked only into the box-box tests so the rewrite is
-# measured against it rather than asserted to be better; see boxbox_legacy.h
-add_library(boxbox_legacy STATIC boxbox_legacy.h boxbox_legacy.c)
-target_include_directories(boxbox_legacy PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../..)
-target_include_directories(boxbox_legacy PRIVATE ${mujoco_SOURCE_DIR}/include)
-target_compile_definitions(boxbox_legacy PUBLIC MJSTATIC)
-target_link_libraries(boxbox_legacy PUBLIC mujoco::mujoco)
-
-mujoco_test(engine_collision_box_test ADDITIONAL_LINK_LIBRARIES ccd boxbox_legacy)
-
-mujoco_test(engine_collision_box_fuzz_test ADDITIONAL_LINK_LIBRARIES ccd)
-
-mujoco_test(engine_collision_continuous_test)
-
-mujoco_test(engine_collision_convex_test)
-
-mujoco_test(engine_collision_driver_test)
-
-mujoco_test(engine_collision_gjk_test ADDITIONAL_LINK_LIBRARIES ccd)
-
-mujoco_test(engine_core_constraint_test)
-
-mujoco_test(engine_core_smooth_test ADDITIONAL_LINK_LIBRARIES absl::span)
-
-mujoco_test(engine_core_util_test)
-
-mujoco_test(engine_derivative_test)
-
-mujoco_test(engine_forward_test)
-
-mujoco_test(engine_inverse_test)
-
-mujoco_test(engine_island_test)
-
-mujoco_test(engine_io_test ADDITIONAL_LINK_LIBRARIES absl::str_format)
-
-mujoco_test(
-  engine_plugin_test
-  ADDITIONAL_LINK_LIBRARIES
-  absl::str_format
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
-)
-
-mujoco_test(engine_passive_test)
-
-mujoco_test(engine_print_test)
-
-mujoco_test(
-  engine_ray_test
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:sdf_plugin>")
-
-mujoco_test(engine_sensor_test)
-
-mujoco_test(engine_setconst_test)
-
-mujoco_test(engine_sleep_test)
-
-mujoco_test(engine_solver_test)
-
-mujoco_test(engine_sort_test)
-
-mujoco_test(engine_support_test)
-
-mujoco_test(engine_thread_test)
-
-mujoco_test(engine_util_blas_test)
-
-mujoco_test(engine_util_errmem_test)
-
-mujoco_test(engine_util_misc_test)
-
-mujoco_test(engine_util_solve_test)
-
-mujoco_test(engine_util_sparse_test)
-
-mujoco_test(engine_util_spatial_test)
-
-mujoco_test(engine_vis_visualize_test)
diff --git a/test/engine/boxbox_legacy.c b/test/engine/boxbox_legacy.c
deleted file mode 100644
index e4abc792..00000000
--- a/test/engine/boxbox_legacy.c
+++ /dev/null
@@ -1,881 +0,0 @@
-// Copyright 2016 Svetoslav Kolev
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-// The box-box collider as it stood before the separating-axis rewrite (MuJoCo 3.11.1),
-// preserved verbatim as a test-only fixture so the rewrite's improvements are measured
-// rather than asserted. Nothing in the engine links this file; it is built only into the
-// box-box tests.
-
-#include "test/engine/boxbox_legacy.h"
-
-#include <math.h>
-
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_inline.h"
-#include "src/engine/engine_util_blas.h"
-#include "src/engine/engine_util_misc.h"
-
-// rounding slack for the edge-edge depth bound: relative, and absolute times the sum of
-// half-sizes; wide enough to cover rounding between two computations of the same overlap,
-// orders of magnitude below the box-scale depths of spurious clipping artifacts
-#ifdef mjUSESINGLE
-  #define mjDEPTHSLACKREL 1e-4f
-  #define mjDEPTHSLACKABS 1e-5f
-#else
-  #define mjDEPTHSLACKREL 1e-6
-  #define mjDEPTHSLACKABS 1e-12
-#endif
-
-
-// internal box : box
-static inline
-int boxboxLegacyRaw(const mjModel* M, const mjData* D, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  const mjtNum* pos1 = D->geom_xpos + 3 * g1;
-  const mjtNum* pos2 = D->geom_xpos + 3 * g2;
-  const mjtNum* mat1 = D->geom_xmat + 9 * g1;
-  const mjtNum* mat2 = D->geom_xmat + 9 * g2;
-  const mjtNum* size1 = M->geom_size + 3 * g1;
-  const mjtNum* size2 = M->geom_size + 3 * g2;
-
-  mjtNum pos12[3], pos21[3], rot[9], rott[9], rotabs[9], rottabs[9], tmp1[3], tmp2[3], plen1[3],
-         plen2[3];
-  mjtNum rotmore[9], p[3], r[9], s[3], ss[3], lp[3], rt[9], points[mjMAXCONPAIR][3],
-         depth[mjMAXCONPAIR], pts[6][3], ppts2[4][2], pu[4][3], axi[3][3];
-  mjtNum linesu[4][6], lines[4][6], clnorm[3], rnorm[3];
-  mjtNum penetration, c1, c2, c3, a, b, c, d, lx, ly, hz, l, x, y, u, v, llx, lly, innorm, margin2;
-  mjtNum maxdepth;
-
-  int i0, i1, i2;
-  mjtNum f0, f1, f2;
-
-  int i, j, q, code, q1, q2, clcorner, n, m, k;
-  int cle1, cle2, in, ax1, ax2, pax1, pax2, clface, nl, nf;
-
-  n = 0;
-  code = -1;
-  margin2 = margin * margin;
-
-  mji_sub3(tmp1, pos2, pos1);
-  mji_mulMatTVec3(pos21, mat1, tmp1);
-
-  mji_sub3(tmp1, pos1, pos2);
-  mji_mulMatTVec3(pos12, mat2, tmp1);
-
-  mju_mulMatTMat3(rot, mat1, mat2);
-  mju_transpose(rott, rot, 3, 3);
-
-  for (i = 0; i < 9; i++)
-    rotabs[i] = mju_abs(rot[i]);
-  for (i = 0; i < 9; i++)
-    rottabs[i] = mju_abs(rott[i]);
-
-  mji_mulMatVec3(plen2, rotabs, size2);
-  mji_mulMatTVec3(plen1, rotabs, size1);
-
-  for (i = 0, penetration = margin; i < 3; i++)
-    penetration += size1[i] * 3 + size2[i] * 3;
-
-  for (i = 0; i < 3; i++) {
-    c1 = -mju_abs(pos21[i]) + size1[i] + plen2[i];
-    c2 = -mju_abs(pos12[i]) + size2[i] + plen1[i];
-
-    if (c1 < -margin || c2 < -margin)
-      return 0;
-
-    if (c1 < penetration) {
-      penetration = c1;
-      code = i + 3 * (pos21[i] < 0) + 0;
-    }
-    if (c2 < penetration) {
-      penetration = c2;
-      code = i + 3 * (pos12[i] < 0) + 6;
-    }
-
-    // printf("%24.16e %24.16e %d         %24.16e %d \n",c1,c2,i,penetration,code);
-  }
-
-  for (i = 0; i < 3; i++) {
-    for (j = 0; j < 3; j++) {
-      mju_zero3(tmp2);
-      if (i == 0) {
-        tmp2[1] = -rott[3 * j + 2];
-        tmp2[2] = +rott[3 * j + 1];
-      } else if (i == 1) {
-        tmp2[0] = +rott[3 * j + 2];
-        tmp2[2] = -rott[3 * j + 0];
-      } else if (i == 2) {
-        tmp2[0] = -rott[3 * j + 1];
-        tmp2[1] = +rott[3 * j + 0];
-      }
-
-      c1 = mju_normalize3(tmp2);
-
-
-      if (c1 < mjMINVAL)
-        continue;
-
-      c2 = mju_dot3(pos21, tmp2);
-
-      c3 = 0;
-
-      for (k = 0; k < 3; k++)
-        if (k != i)
-          c3 += size1[k] * mju_abs(tmp2[k]);
-      for (k = 0; k < 3; k++)
-        if (k != j)
-          c3 += size2[k] * rotabs[3 * i + 3 - k - j] / c1;
-
-      c3 -= mju_abs(c2);
-
-      if (c3 < -margin)
-        return 0;
-
-
-
-      if (c3 < penetration * (1 - 1e-12))
-      {
-        penetration = c3;
-        for (k = cle1 = 0; k < 3; k++)
-          if (k != i)
-            if ((tmp2[k] > 0) ^ (c2 < 0))
-              cle1 += 1 << k;
-        for (k = cle2 = 0; k < 3; k++)
-          if (k != j)
-            if ((rot[3 * i + 3 - k - j] > 0) ^ (c2 < 0) ^ ((k - j + 3) % 3 == 1))
-              cle2 += 1 << k;
-
-        code = 12 + i * 3 + j;
-        mji_copy3(clnorm, tmp2);
-        in = c2 < 0;
-      }
-
-      // printf("%24.16e %d      %24.16e %d\n",c3,12+i*3+j,penetration,code);
-    }
-  }
-
-
-  // return 0;
-
-
-  // printf("%d\n",code);
-
-  if (code == -1)
-    return 0;  // shouldn't happen
-
-  if (code >= 12)
-    goto edgeedge;
-
-
-  q1 = code % 6;
-  q2 = code / 6;
-
-  // printf("%d %d\n",q1,q2);
-
-  mju_zero(rotmore, 9);
-  if (q1 == 0)
-    rotmore[2] = -1, rotmore[4] = +1, rotmore[6] = +1;
-  else if (q1 == 1)
-    rotmore[0] = +1, rotmore[5] = -1, rotmore[7] = +1;
-  else if (q1 == 2)
-    rotmore[0] = +1, rotmore[4] = +1, rotmore[8] = +1;
-  else if (q1 == 3)
-    rotmore[2] = +1, rotmore[4] = +1, rotmore[6] = -1;
-  else if (q1 == 4)
-    rotmore[0] = +1, rotmore[5] = +1, rotmore[7] = -1;
-  else if (q1 == 5)
-    rotmore[0] = -1, rotmore[4] = +1, rotmore[8] = -1;
-
-  i0 = 0;
-  i1 = 1;
-  i2 = 2;
-  f0 = f1 = f2 = 1;
-
-  if (q1 == 0) {
-    i0 = 2;
-    f0 = -1;
-    i2 = 0;
-  } else if (q1 == 1) {
-    i1 = 2;
-    f1 = -1;
-    i2 = 1;
-  } else if (q1 == 2) {
-  } else if (q1 == 3) {
-    i0 = 2;
-    i2 = 0;
-    f2 = -1;
-  } else if (q1 == 4) {
-    i1 = 2;
-    i2 = 1;
-    f2 = -1;
-  } else if (q1 == 5) {
-    f0 = -1;
-    f2 = -1;
-  }
-
-
-#define rotaxis(vecres, vecin) \
-{                              \
-  vecres[0]=vecin[i0]*f0;      \
-  vecres[1]=vecin[i1]*f1;      \
-  vecres[2]=vecin[i2]*f2;      \
-}
-#define rotmatx(matres, matin)        \
-{                                     \
-  mji_scl3(matres+0, matin+i0*3, f0); \
-  mji_scl3(matres+3, matin+i1*3, f1); \
-  mji_scl3(matres+6, matin+i2*3, f2); \
-}
-
-  if (q2) {
-    mju_mulMatMatT3(r, rotmore, rot);
-
-    // mju_mulMatVec3(p,rotmore,pos12);
-    // mju_mulMatVec3(tmp1,rotmore,size2);
-
-    rotaxis(p, pos12);
-    rotaxis(tmp1, size2);
-
-    mji_copy3(s, size1);
-  } else {
-    // mju_mulMatMat(r,rotmore,rot,3,3,3);
-
-    rotmatx(r, rot);
-
-    // mju_mulMatVec3(p,rotmore,pos21);
-    // mju_mulMatVec3(tmp1,rotmore,size1);
-
-    rotaxis(p, pos21);
-    rotaxis(tmp1, size1);
-
-    mji_copy3(s, size2);
-  }
-
-  mju_transpose(rt, r, 3, 3);
-
-  for (i = 0; i < 3; i++)
-    ss[i] = mju_abs(tmp1[i]);
-
-  lx = ss[0];
-  ly = ss[1];
-  hz = ss[2];
-  p[2] -= hz;
-
-  mji_copy3(lp, p);
-
-  for (clcorner = 0, i = 0; i < 3; i++)
-    if (r[6 + i] < 0)
-      clcorner += 1 << i;
-
-  mji_addToScl3(lp, rt + 0, s[0] * ((clcorner & 1) ? 1 : -1));
-  mji_addToScl3(lp, rt + 3, s[1] * ((clcorner & 2) ? 1 : -1));
-  mji_addToScl3(lp, rt + 6, s[2] * ((clcorner & 4) ? 1 : -1));
-
-  m = k = 0;
-  mji_copy3(pts[m++], lp);
-
-  for (i = 0; i < 3; i++)
-    if (mju_abs(r[6 + i]) < 0.5)
-      mju_scl3(pts[m++], rt + 3 * i, s[i] * ((clcorner & (1 << i)) ? -2 : 2));
-
-  mji_add3(pts[3], pts[0], pts[1]);
-  mji_add3(pts[4], pts[0], pts[2]);
-  mji_add3(pts[5], pts[3], pts[2]);
-
-  if (m > 1)
-  {
-    mji_copy3(lines[k] + 0, pts[0]);
-    mji_copy3(lines[k++] + 3, pts[1]);
-  }
-  if (m > 2)
-  {
-    mji_copy3(lines[k] + 0, pts[0]);
-    mji_copy3(lines[k++] + 3, pts[2]);
-    mji_copy3(lines[k] + 0, pts[3]);
-    mji_copy3(lines[k++] + 3, pts[2]);
-    mji_copy3(lines[k] + 0, pts[4]);
-    mji_copy3(lines[k++] + 3, pts[1]);
-  }
-
-  for (i = 0; i < k; i++) {
-    for (q = 0; q < 2; q++) {
-      a = lines[i][0 + q];
-      b = lines[i][3 + q];
-      c = lines[i][1 - q];
-      d = lines[i][4 - q];
-
-      if (mju_abs(b) > mjMINVAL) {
-        for (j = -1; j <= 1; j += 2) {
-          l = ss[q] * j;
-          c1 = (l - a) * (1 / b);
-          if (c1 < 0 || c1 > 1)
-            continue;
-          c2 = c + d * c1;
-          if (mju_abs(c2) > ss[1 - q])
-            continue;
-
-          if (n < mjMAXCONPAIR) {
-            mji_copy3(points[n], lines[i]);
-            mji_addToScl3(points[n++], lines[i] + 3, c1);
-          }
-        }
-      }
-    }
-  }
-
-
-  a = pts[1][0];
-  b = pts[2][0];
-  c = pts[1][1];
-  d = pts[2][1];
-  c1 = a * d - b * c;
-
-
-  if (m > 2) {
-    for (i = 0; i < 4; i++) {
-      llx = i / 2 ? lx : -lx;
-      lly = i % 2 ? ly : -ly;
-
-      x = llx - pts[0][0];
-      y = lly - pts[0][1];
-
-      u = (x * d - y * b) * (1 / c1);
-      v = (y * a - x * c) * (1 / c1);
-      if (u <= 0 || v <= 0 || u >= 1 || v >= 1)
-        continue;
-
-      if (n < mjMAXCONPAIR) {
-        points[n][0] = llx;
-        points[n][1] = lly;
-        points[n][2] = (pts[0][2] + u * pts[1][2] + v * pts[2][2]);
-        n++;
-      }
-    }
-  }
-
-  for (i = 0; i < (1 << (m - 1)); i++) {
-    mji_copy3(tmp1, pts[i == 0 ? 0 : i + 2]);
-
-
-    if (i)
-      if (tmp1[0] <= -lx || tmp1[0] >= lx)
-        continue;
-    if (i)
-      if (tmp1[1] <= -ly || tmp1[1] >= ly)
-        continue;
-
-    if (n < mjMAXCONPAIR) {
-      mji_copy3(points[n++], tmp1);
-    }
-  }
-
-
-  m = n;
-  n = 0;
-
-  for (i = 0; i < m; i++) {
-    if (points[i][2] > margin)
-      continue;
-    if (n != i) mji_copy3(points[n], points[i]);
-
-    depth[n] = points[n][2];
-    points[n][2] *= 0.5;
-
-    n++;
-  }
-
-
-  mju_mulMatMatT3(r, q2 ? mat2 : mat1, rotmore);
-  mju_copy3(p, q2 ? pos2 : pos1);
-
-  tmp2[0] = (q2 ? -1 : 1) * r[2];
-  tmp2[1] = (q2 ? -1 : 1) * r[5];
-  tmp2[2] = (q2 ? -1 : 1) * r[8];
-
-  mji_copy3(con[0].normal, tmp2);
-  mji_zero3(con[0].tangent);
-
-
-
-
-  for (i = 0; i < n; i++) {
-    con[i].dist = 2 * points[i][2];
-    points[i][2] += hz;
-
-    mji_mulMatVec3(tmp2, r, points[i]);
-    mji_add3(con[i].pos, tmp2, p);
-
-    if (i) {
-      mji_copy3(con[i].normal, con[0].normal);
-      mji_zero3(con[i].tangent);
-    }
-  }
-
-
-  // printf("Path1:  %d\n",n);
-
-
-  return n;
-
-edgeedge:
-
-
-  code -= 12;
-
-  q1 = code / 3;
-  q2 = code % 3;
-
-
-
-  if (q2 == 0)
-    ax1 = 1, ax2 = 2;
-  if (q2 == 1)
-    ax1 = 0, ax2 = 2;
-  if (q2 == 2)
-    ax1 = 1, ax2 = 0;
-  if (q1 == 0)
-    pax1 = 1, pax2 = 2;
-  if (q1 == 1)
-    pax1 = 0, pax2 = 2;
-  if (q1 == 2)
-    pax1 = 1, pax2 = 0;
-
-  // printf("%lf %lf   %lf %lf\n",rot[ 3*q1+ ax1],rot [3*q1+ ax2],rott[3*q2+pax1],rott[3*q2+pax2]);
-  // printf("%lf %lf\n",mju_dot3(clnorm,rott+3*ax1),mju_dot3(clnorm,rott+3*ax2));
-
-  if (rotabs [3 * q1 + ax1] < rotabs [3 * q1 + ax2]) {
-    ax1 = ax2;
-    ax2 = 3 - q2 - ax1;
-  }
-  if (rottabs[3 * q2 + pax1] < rottabs[3 * q2 + pax2]) {
-    pax1 = pax2;
-    pax2 = 3 - q1 - pax1;
-  }
-
-  if (cle1 & (1 << pax2))
-    clface = pax2;
-  else
-    clface = pax2 + 3;
-
-
-  // printf("%lf - %d %d %d %d   %d %d     %d %d %d %d %d\n",
-  //        penetration,cle1,cle2,code,in,q1,q2,clface,ax1,ax2,pax1,pax2);
-
-
-  mju_zero(rotmore, 9);
-  if (clface == 0)
-    rotmore[2] = -1, rotmore[4] = +1, rotmore[6] = +1;
-  else if (clface == 1)
-    rotmore[0] = +1, rotmore[5] = -1, rotmore[7] = +1;
-  else if (clface == 2)
-    rotmore[0] = +1, rotmore[4] = +1, rotmore[8] = +1;
-  else if (clface == 3)
-    rotmore[2] = +1, rotmore[4] = +1, rotmore[6] = -1;
-  else if (clface == 4)
-    rotmore[0] = +1, rotmore[5] = +1, rotmore[7] = -1;
-  else if (clface == 5)
-    rotmore[0] = -1, rotmore[4] = +1, rotmore[8] = -1;
-
-
-  i0 = 0;
-  i1 = 1;
-  i2 = 2;
-  f0 = f1 = f2 = 1;
-
-  if (clface == 0) {
-    i0 = 2;
-    f0 = -1;
-    i2 = 0;
-  } else if (clface == 1) {
-    i1 = 2;
-    f1 = -1;
-    i2 = 1;
-  } else if (clface == 2) {
-  } else if (clface == 3) {
-    i0 = 2;
-    i2 = 0;
-    f2 = -1;
-  } else if (clface == 4) {
-    i1 = 2;
-    i2 = 1;
-    f2 = -1;
-  } else if (clface == 5) {
-    f0 = -1;
-    f2 = -1;
-  }
-
-  // mju_mulMatVec3(p,rotmore,pos21);
-  // mju_mulMatVec3(rnorm,rotmore,clnorm);
-  rotaxis(p, pos21);
-  rotaxis(rnorm, clnorm);
-
-  // print("rnorm",rnorm);
-
-  // mju_mulMatMat(r,rotmore,rot,3,3,3);
-  rotmatx(r, rot);
-
-  mji_mulMatTVec3(tmp1, rotmore, size1);
-  for (i = 0; i < 3; i++)
-    s[i] = mju_abs(tmp1[i]);
-
-  mju_transpose(rt, r, 3, 3);
-
-
-  lx = s[0];
-  ly = s[1];
-  hz = s[2];
-  p[2] -= hz;
-
-
-  n = 0;
-  mji_copy3(points[n], p);
-  mji_addToScl3(points[n], rt + 3 * ax1, size2[ax1] * ((cle2 & (1 << ax1)) ? 1 : -1));
-  mji_addToScl3(points[n], rt + 3 * ax2, size2[ax2] * ((cle2 & (1 << ax2)) ? 1 : -1));
-  mji_copy3(points[n + 1], points[n]);
-  mji_addToScl3(points[n], rt + 3 * q2, size2[q2]);
-  n = 1;
-  mji_addToScl3(points[n], rt + 3 * q2, -size2[q2]);
-  n = 2;
-
-
-  mji_copy3(points[n], p);
-  mji_addToScl3(points[n], rt + 3 * ax1, size2[ax1] * ((cle2 & (1 << ax1)) ? -1 : 1));
-  mji_addToScl3(points[n], rt + 3 * ax2, size2[ax2] * ((cle2 & (1 << ax2)) ? 1 : -1));
-  mji_copy3(points[n + 1], points[n]);
-  mji_addToScl3(points[n], rt + 3 * q2, size2[q2]);
-  n = 3;
-  mji_addToScl3(points[n], rt + 3 * q2, -size2[q2]);
-  n = 4;
-
-
-  mji_copy3(axi[0], points[0]);
-  mji_sub3(axi[1], points[1], points[0]);
-  mji_sub3(axi[2], points[2], points[0]);
-
-
-  if (mju_abs(rnorm[2]) < mjMINVAL)
-    return 0;  // shouldn't happen
-
-  innorm = (1 / rnorm[2]) * (in ? -1 : 1);
-  // printf("%lf\n",innorm);
-
-  for (i = 0; i < 4; i++)
-  {
-    c1 = -points[i][2] * (1 / rnorm[2]);
-
-    mji_copy3(pu[i], points[i]);
-
-    mji_addToScl3(points[i], rnorm, c1);
-
-    // ppts[i][0]=points[i][0];
-    // ppts[i][1]=points[i][1];
-    ppts2[i][0] = points[i][0];
-    ppts2[i][1] = points[i][1];
-  }
-
-
-  mji_copy3(pts[0], points[0]);
-  mji_sub3(pts[1], points[1], points[0]);
-  mji_sub3(pts[2], points[2], points[0]);
-
-  m = 3;
-  k = 0;
-  n = 0;
-
-
-  if (m > 1) {
-    mji_copy3(lines[k] + 0, pts[0]);
-    mji_copy3(lines[k] + 3, pts[1]);
-    mji_copy3(linesu[k] + 0, axi[0]);
-    mji_copy3(linesu[k++] + 3, axi[1]);
-  }
-  if (m > 2) {
-    mji_copy3(lines[k] + 0, pts[0]);
-    mji_copy3(lines[k] + 3, pts[2]);
-    mji_copy3(linesu[k] + 0, axi[0]);
-    mji_copy3(linesu[k++] + 3, axi[2]);
-
-    mji_add3(lines[k] + 0, pts[0], pts[1]);
-    mji_copy3(lines[k] + 3, pts[2]);
-    mji_add3(linesu[k] + 0, axi[0], axi[1]);
-    mji_copy3(linesu[k++] + 3, axi[2]);
-
-    mji_add3(lines[k] + 0, pts[0], pts[2]);
-    mji_copy3(lines[k] + 3, pts[1]);
-    mji_add3(linesu[k] + 0, axi[0], axi[2]);
-    mji_copy3(linesu[k++] + 3, axi[1]);
-  }
-
-  for (i = 0; i < k; i++) {
-    for (q = 0; q < 2; q++) {
-      a = lines[i][0 + q];
-      b = lines[i][3 + q];
-      c = lines[i][1 - q];
-      d = lines[i][4 - q];
-
-      if (mju_abs(b) > mjMINVAL) {
-        for (j = -1; j <= 1; j += 2) {
-          if (n < mjMAXCONPAIR) {
-            l = s[q] * j;
-            c1 = (l - a) * (1 / b);
-            if (c1 < 0 || c1 > 1)
-              continue;
-            c2 = c + d * c1;
-            if (mju_abs(c2) > s[1 - q])
-              continue;
-
-            if ((linesu[i][2] + linesu[i][5]*c1)*innorm > margin)
-              continue;
-
-            mji_scl3(points[n], linesu[i], 0.5);
-            mji_addToScl3(points[n], linesu[i] + 3, 0.5 * c1);
-            points[n][0 + q] += 0.5 * l;
-            points[n][1 - q] += 0.5 * c2;
-            depth[n] = points[n][2] * innorm * 2;
-            n++;
-          }
-        }
-      }
-    }
-  }
-
-  nl = n;
-
-  a = pts[1][0];
-  b = pts[2][0];
-  c = pts[1][1];
-  d = pts[2][1];
-  c1 = a * d - b * c;
-
-  for (i = 0; i < 4; i++) {
-    if (n < mjMAXCONPAIR) {
-      llx = i / 2 ? lx : -lx;
-      lly = i % 2 ? ly : -ly;
-
-      x = llx - pts[0][0];
-      y = lly - pts[0][1];
-
-      u = (x * d - y * b) * (1 / c1);
-      v = (y * a - x * c) * (1 / c1);
-
-      if (nl == 0) {
-        if ((u < 0 || u > 1) && (v < 0 || v > 1))
-          continue;
-      } else {
-        if ((u < 0 || u > 1 || v < 0 || v > 1))
-          continue;
-      }
-
-      if (u < 0)
-        u = 0;
-      if (u > 1)
-        u = 1;
-      if (v < 0)
-        v = 0;
-      if (v > 1)
-        v = 1;
-
-
-      mji_scl3(tmp1, pu[0], 1 - u - v);
-      mji_addToScl3(tmp1, pu[1], u);
-      mji_addToScl3(tmp1, pu[2], v);
-
-      points[n][0] = llx;
-      points[n][1] = lly;
-      points[n][2] = 0;
-
-      mji_sub3(tmp2, points[n], tmp1);
-
-      c1 = mju_dot3(tmp2, tmp2);
-      if (tmp1[2] > 0)
-        if (c1 > margin2)
-          continue;
-
-      mji_addTo3(points[n], tmp1);
-      mju_scl3(points[n], points[n], 0.5);
-
-      depth[n] = sqrt(c1) * (tmp1[2] < 0 ? -1 : 1);
-      n++;
-    }
-  }
-
-  nf = n;
-
-  for (i = 0; i < 4; i++) {
-    if (n < mjMAXCONPAIR) {
-      x = ppts2[i][0];
-      y = ppts2[i][1];
-
-      if (nl == 0) {
-        if (nf == 0) {
-        } else {
-          if (x < -lx || x > lx)
-            if (y < -ly || y > ly)
-              continue;
-        }
-      } else {
-        if (x < -lx || x > lx || y < -ly || y > ly)
-          continue;
-      }
-
-      for (c1 = 0, j = 0; j < 2; j++)
-        if (ppts2[i][j] < -s[j])
-          c1 += (ppts2[i][j] + s[j]) * (ppts2[i][j] + s[j]);
-        else if (ppts2[i][j] > s[j])
-          c1 += (ppts2[i][j] - s[j]) * (ppts2[i][j] - s[j]);
-
-      c1 += pu[i][2] * innorm * pu[i][2] * innorm;
-
-      if (pu[i][2] > 0)
-        if (c1 > margin2)
-          continue;
-
-
-      tmp1[0] = ppts2[i][0] * 0.5;
-      tmp1[1] = ppts2[i][1] * 0.5;
-      tmp1[2] = 0;
-
-      for (j = 0; j < 2; j++) {
-        if (ppts2[i][j] < -s[j])
-          tmp1[j] = -s[j] * 0.5;
-        else if (ppts2[i][j] > s[j])
-          tmp1[j] = +s[j] * 0.5;
-      }
-      mji_addToScl3(tmp1, pu[i], 0.5);
-      mji_copy3(points[n], tmp1);
-
-      depth[n] = sqrt(c1) * (pu[i][2] < 0 ? -1 : 1);
-      n++;
-    }
-  }
-
-  mju_mulMatMatT3(r, mat1, rotmore);
-
-  mji_mulMatVec3(tmp1, r, rnorm);
-
-  mji_scl3(con[0].normal, tmp1, in ? -1 : 1);
-  mji_zero3(con[0].tangent);
-
-
-  // no contact can be deeper than the support overlap along the separating axis: clipping
-  // against a grazing face can synthesize spurious points with arbitrarily large depth;
-  // the slack covers rounding error so the deepest legitimate point is never rejected
-  maxdepth = mju_max(0, penetration);
-  maxdepth += margin + mjDEPTHSLACKREL * maxdepth +
-              mjDEPTHSLACKABS * (size1[0] + size1[1] + size1[2] +
-                                 size2[0] + size2[1] + size2[2]);
-
-  for (i = 0, m = 0; i < n; i++) {
-    if (depth[i] < -maxdepth)
-      continue;
-
-    con[m].dist = depth[i];
-    points[i][2] += hz;
-
-    mji_mulMatVec3(tmp2, r, points[i]);
-
-    mji_add3(con[m].pos, tmp2, pos1);
-
-    mji_copy3(con[m].normal, con[0].normal);
-    mji_zero3(con[m].tangent);
-    m++;
-  }
-
-  return m;
-
-#undef rotaxis
-#undef rotmatx
-}
-
-
-// box : box
-int mjc_BoxBoxLegacy(const mjModel* m, mjData* d, mjPreContact* con, int g1, int g2, mjtNum margin) {
-  mjPreContact tmp[mjMAXCONPAIR];
-  int num = boxboxLegacyRaw(m, d, tmp, g1, g2, margin);
-
-  // -1: bad, 0: good
-  int dupe[mjMAXCONPAIR] = {0};
-
-
-  // get box info
-  const mjtNum* pos1 =  d->geom_xpos + 3 * g1;
-  const mjtNum* mat1 =  d->geom_xmat + 9 * g1;
-  const mjtNum* size1 = m->geom_size + 3 * g1;
-  const mjtNum* pos2 =  d->geom_xpos + 3 * g2;
-  const mjtNum* mat2 =  d->geom_xmat + 9 * g2;
-  const mjtNum* size2 = m->geom_size + 3 * g2;
-
-  // find bad: contacts outside one of the boxes
-  int nbad = 0;
-  for (int i=0; i < num; i++) {
-    // box sizes with margin
-    mjtNum sz1[3] = {size1[0] + margin, size1[1] + margin, size1[2] + margin};
-    mjtNum sz2[3] = {size2[0] + margin, size2[1] + margin, size2[2] + margin};
-
-    // relative distance from surface (1%) outside of which box-box contacts are removed
-    static mjtNum kRemoveRatio = 1.01;
-
-    // is the contact outside: 1, inside: -1, within the removal width: 0
-    int out1 = mju_outsideBox(tmp[i].pos, pos1, mat1, sz1, kRemoveRatio);
-    int out2 = mju_outsideBox(tmp[i].pos, pos2, mat2, sz2, kRemoveRatio);
-
-    // mark as bad if outside one box and not inside the other box
-    if ((out1 == 1 && out2 != -1) || (out2 == 1 && out1 != -1)) {
-      dupe[i] = -1;
-      nbad++;
-    }
-  }
-
-  // deep penetration can strand the midpoint-convention position outside both boxes; if
-  // that removed every contact, restore the penetrating ones: an empty manifold for
-  // overlapping boxes lets them pass through each other
-  if (nbad && nbad == num) {
-    for (int i=0; i < num; i++) {
-      if (tmp[i].dist < 0) {
-        dupe[i] = 0;
-      }
-    }
-  }
-
-  // find duplicates
-  for (int i=0; i < num-1; i++) {
-    if (dupe[i] == -1) {
-      continue;  // already marked bad: skip
-    }
-    for (int j=i+1; j < num; j++) {
-      if (dupe[j] == -1) {
-        continue;  // already marked bad: skip
-      }
-      if (tmp[i].pos[0] == tmp[j].pos[0] &&
-          tmp[i].pos[1] == tmp[j].pos[1] &&
-          tmp[i].pos[2] == tmp[j].pos[2]) {
-        dupe[i] = -1;
-        break;
-      }
-    }
-  }
-
-  // consolidate good
-  int ncon = 0;
-  for (int j=0; j < num; j++) {
-    if (dupe[j] == 0) {
-      con[ncon++] = tmp[j];
-      if (ncon >= 8) {
-        break;
-      }
-    }
-  }
-
-  return ncon;
-}
diff --git a/test/engine/boxbox_legacy.h b/test/engine/boxbox_legacy.h
deleted file mode 100644
index 1b42d5f2..00000000
--- a/test/engine/boxbox_legacy.h
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright 2016 Svetoslav Kolev
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// The box-box collider as it stood before the separating-axis rewrite,
-// preserved as a test-only fixture. The differential tests in
-// engine_collision_box_test.cc measure the rewrite against it; nothing in the
-// engine links this file.
-
-#ifndef MUJOCO_TEST_ENGINE_BOXBOX_LEGACY_H_
-#define MUJOCO_TEST_ENGINE_BOXBOX_LEGACY_H_
-
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// pre-rewrite mjc_BoxBox: SAT axis search, three edge-edge candidate generators
-// with count-dependent acceptance, midpoint positions, and an outside-box
-// removal filter
-int mjc_BoxBoxLegacy(const mjModel* m, mjData* d, mjPreContact* con, int g1,
-                     int g2, mjtNum margin);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // MUJOCO_TEST_ENGINE_BOXBOX_LEGACY_H_
diff --git a/test/engine/engine_cg_convergence_test.cc b/test/engine/engine_cg_convergence_test.cc
deleted file mode 100644
index 52c9c674..00000000
--- a/test/engine/engine_cg_convergence_test.cc
+++ /dev/null
@@ -1,374 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// CG solver convergence benchmark.
-//
-// Rolls out Newton ground truth on 2humanoid100.xml, then evaluates CG qacc
-// error. Pass 1: vary iterations with/without warmstart. Pass 2: vary
-// tolerance. Pass 3: consecutive stepping. No assertions, only data.
-
-#include <chrono>  // NOLINT
-#include <cstdio>
-#include <ratio>  // NOLINT
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-
-mjtNum gettm(void) {
-  using Clock = std::chrono::steady_clock;
-  using Microseconds = std::chrono::duration<mjtNum, std::micro>;
-  static const Clock::time_point tm_start = Clock::now();
-  return Microseconds(Clock::now() - tm_start).count();
-}
-
-using CgConvergenceTest = MujocoTest;
-
-TEST_F(CgConvergenceTest, CGConvergence) {
-  static const char* const kPath =
-      "engine/testdata/island/2humanoid100.xml";
-  const std::string xml_path = GetTestDataFilePath(kPath);
-  char error[1024];
-  mjModel* model =
-      mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  // disable islands: monolithic solver makes statistics simpler
-  model->opt.disableflags |= mjDSBL_ISLAND;
-
-  int nq = model->nq;
-  int nv = model->nv;
-
-  // stronger sideways gravity
-  model->opt.gravity[0] = -2;
-  model->opt.gravity[1] = -2;
-  model->opt.gravity[2] = -10;
-
-  // configure Newton ground truth: tolerance 0, generous iterations, warmstart
-  model->opt.solver = mjSOL_NEWTON;
-  model->opt.jacobian = mjJAC_SPARSE;
-  model->opt.tolerance = 0;
-  model->opt.iterations = 10;
-  model->opt.disableflags &= ~mjDSBL_WARMSTART;
-
-  mjData* data = mj_makeData(model);
-  mjcb_time = gettm;
-
-  // roll out Newton for kNumSteps, save pre-step state and post-step qacc
-  constexpr int kNumSteps = 1000;
-  std::vector<mjtNum> all_qpos(kNumSteps * nq);
-  std::vector<mjtNum> all_qvel(kNumSteps * nv);
-  std::vector<mjtNum> all_warmstart(kNumSteps * nv);
-  std::vector<mjtNum> all_qacc(kNumSteps * nv);
-
-  for (int i = 0; i < kNumSteps; i++) {
-    // save pre-step state
-    mju_copy(all_qpos.data() + i*nq, data->qpos, nq);
-    mju_copy(all_qvel.data() + i*nv, data->qvel, nv);
-    mju_copy(all_warmstart.data() + i*nv, data->qacc_warmstart, nv);
-
-    // step with Newton
-    mj_step(model, data);
-
-    // save qacc (set by mj_forward inside mj_step)
-    mju_copy(all_qacc.data() + i*nv, data->qacc, nv);
-  }
-
-  // evaluation points: 100 evenly spaced
-  constexpr int kNumEval = 100;
-  constexpr int kStride = kNumSteps / kNumEval;
-
-  // iteration counts to test
-  constexpr int kIterCounts[] = {5, 10, 20, 40, 80, 160};
-  constexpr int kNumIter = sizeof(kIterCounts) / sizeof(kIterCounts[0]);
-
-  // print header
-  std::printf("\nCG Convergence: 2humanoid100.xml\n");
-  std::printf("  %d Newton steps, %d evaluation points\n",
-              kNumSteps, kNumEval);
-  std::printf("  nv = %d, nq = %d\n", nv, nq);
-  std::printf("  metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||\n");
-
-  // table header
-  std::printf("\n  Warmstart (tolerance = 0):\n");
-  std::printf("  %6s | %11s | %11s | %10s | %8s\n",
-              "Iters", "Mean Err", "Max Err", "Mean Iters", "LS evals");
-  std::printf("  %s\n",
-              "-------+-------------+-------------+------------+---------");
-
-  // configure CG: full rollout (tolerance 0), warmstart enabled
-  model->opt.solver = mjSOL_CG;
-  model->opt.tolerance = 0;
-  model->opt.disableflags &= ~mjDSBL_WARMSTART;
-
-  for (int c = 0; c < kNumIter; c++) {
-    model->opt.iterations = kIterCounts[c];
-
-    int total_iters = 0;
-    int total_neval = 0;
-    mjtNum sum_rel_err = 0;
-    mjtNum max_rel_err = 0;
-
-    for (int e = 0; e < kNumEval; e++) {
-      int idx = e * kStride;
-
-      // restore state
-      mju_copy(data->qpos, all_qpos.data() + idx*nq, nq);
-      mju_copy(data->qvel, all_qvel.data() + idx*nv, nv);
-      mju_copy(data->qacc_warmstart, all_warmstart.data() + idx*nv, nv);
-
-      // run CG forward
-      mj_forward(model, data);
-      int niter = data->solver_niter[0];
-      total_iters += niter;
-      for (int j = 0; j < niter && j < mjNSOLVER; j++) {
-        total_neval += data->solver[j].neval;
-      }
-
-      // compute relative error
-      mjtNum newton_norm = mju_norm(all_qacc.data() + idx*nv, nv);
-      mjtNum err = 0;
-      for (int j = 0; j < nv; j++) {
-        mjtNum diff = data->qacc[j] - all_qacc[idx*nv + j];
-        err += diff * diff;
-      }
-      mjtNum rel_err = mju_sqrt(err) / mju_max(newton_norm, 1e-10);
-      sum_rel_err += rel_err;
-      if (rel_err > max_rel_err) {
-        max_rel_err = rel_err;
-      }
-    }
-
-    mjtNum mean_iters = static_cast<mjtNum>(total_iters) / kNumEval;
-    std::printf("  %6d | %11.4e | %11.4e | %10.2f | %8d\n",
-                kIterCounts[c], sum_rel_err / kNumEval, max_rel_err,
-                mean_iters, total_neval);
-  }
-
-  std::printf("  %s\n",
-              "-------+-------------+-------------+------------+---------");
-
-  // --- no warmstart (tolerance = 0) ---
-  std::printf("\n  No warmstart (tolerance = 0):\n");
-  std::printf("  %6s | %11s | %11s | %10s | %8s\n",
-              "Iters", "Mean Err", "Max Err", "Mean Iters", "LS evals");
-  std::printf("  %s\n",
-              "-------+-------------+-------------+------------+---------");
-
-  model->opt.disableflags |= mjDSBL_WARMSTART;
-
-  for (int c = 0; c < kNumIter; c++) {
-    model->opt.iterations = kIterCounts[c];
-
-    int total_iters = 0;
-    int total_neval = 0;
-    mjtNum sum_rel_err = 0;
-    mjtNum max_rel_err = 0;
-
-    for (int e = 0; e < kNumEval; e++) {
-      int idx = e * kStride;
-
-      mju_copy(data->qpos, all_qpos.data() + idx*nq, nq);
-      mju_copy(data->qvel, all_qvel.data() + idx*nv, nv);
-
-      mj_forward(model, data);
-      int niter = data->solver_niter[0];
-      total_iters += niter;
-      for (int j = 0; j < niter && j < mjNSOLVER; j++) {
-        total_neval += data->solver[j].neval;
-      }
-
-      mjtNum newton_norm = mju_norm(all_qacc.data() + idx*nv, nv);
-      mjtNum err = 0;
-      for (int j = 0; j < nv; j++) {
-        mjtNum diff = data->qacc[j] - all_qacc[idx*nv + j];
-        err += diff * diff;
-      }
-      mjtNum rel_err = mju_sqrt(err) / mju_max(newton_norm, 1e-10);
-      sum_rel_err += rel_err;
-      if (rel_err > max_rel_err) {
-        max_rel_err = rel_err;
-      }
-    }
-
-    mjtNum mean_iters = static_cast<mjtNum>(total_iters) / kNumEval;
-    std::printf("  %6d | %11.4e | %11.4e | %10.2f | %8d\n",
-                kIterCounts[c], sum_rel_err / kNumEval, max_rel_err,
-                mean_iters, total_neval);
-  }
-
-  std::printf("  %s\n",
-              "-------+-------------+-------------+------------+---------");
-
-  // --- tolerance sweep (iterations = 100, warmstart) ---
-  std::printf("\n  Tolerance sweep (iterations = 100, warmstart):\n");
-  std::printf("  %10s | %11s | %11s | %9s | %10s | %11s | %8s\n",
-              "Tol", "Mean Err", "Max Err", "Mean Iters", "Max Iters",
-              "Solver us", "LS evals");
-  std::printf("  %s\n",
-              "-----------+-------------+-------------+"
-              "------------+------------+-------------+---------");
-
-  model->opt.solver = mjSOL_CG;
-  model->opt.iterations = 100;
-  model->opt.disableflags &= ~mjDSBL_WARMSTART;
-
-  constexpr mjtNum kTolValues[] = {1e-4, 1e-6, 1e-8, 1e-10, 1e-12, 0};
-  constexpr int kNumTol = sizeof(kTolValues) / sizeof(kTolValues[0]);
-
-  mjtNum total_solver_time = 0;
-  int grand_total_iters = 0;
-
-  for (int c = 0; c < kNumTol; c++) {
-    for (int i = 0; i < mjNTIMER; i++) {
-      data->timer[i].duration = 0;
-      data->timer[i].number = 0;
-    }
-
-    model->opt.tolerance = kTolValues[c];
-
-    int total_iters = 0;
-    int max_iters = 0;
-    int total_neval = 0;
-    mjtNum sum_rel_err = 0;
-    mjtNum max_rel_err = 0;
-
-    for (int e = 0; e < kNumEval; e++) {
-      int idx = e * kStride;
-
-      mju_copy(data->qpos, all_qpos.data() + idx*nq, nq);
-      mju_copy(data->qvel, all_qvel.data() + idx*nv, nv);
-      mju_copy(data->qacc_warmstart, all_warmstart.data() + idx*nv, nv);
-
-      mj_forward(model, data);
-      int niter = data->solver_niter[0];
-      total_iters += niter;
-      if (niter > max_iters) {
-        max_iters = niter;
-      }
-      for (int j = 0; j < niter && j < mjNSOLVER; j++) {
-        total_neval += data->solver[j].neval;
-      }
-
-      mjtNum newton_norm = mju_norm(all_qacc.data() + idx*nv, nv);
-      mjtNum err = 0;
-      for (int j = 0; j < nv; j++) {
-        mjtNum diff = data->qacc[j] - all_qacc[idx*nv + j];
-        err += diff * diff;
-      }
-      mjtNum rel_err = mju_sqrt(err) / mju_max(newton_norm, 1e-10);
-      sum_rel_err += rel_err;
-      if (rel_err > max_rel_err) {
-        max_rel_err = rel_err;
-      }
-    }
-
-    mjtNum solver_time = data->timer[mjTIMER_CONSTRAINT].duration;
-    total_solver_time += solver_time;
-    grand_total_iters += total_iters;
-
-    mjtNum mean_iters = static_cast<mjtNum>(total_iters) / kNumEval;
-    if (kTolValues[c] > 0) {
-      std::printf(
-          "  %10.0e | %11.4e | %11.4e | %10.2f | %10d | %11.2f | %8d\n",
-          kTolValues[c], sum_rel_err / kNumEval, max_rel_err,
-          mean_iters, max_iters, solver_time, total_neval);
-    } else {
-      std::printf(
-          "  %10s | %11.4e | %11.4e | %10.2f | %10d | %11.2f | %8d\n",
-          "0", sum_rel_err / kNumEval, max_rel_err,
-          mean_iters, max_iters, solver_time, total_neval);
-    }
-  }
-
-  mjtNum overall_avg = grand_total_iters > 0
-      ? total_solver_time / grand_total_iters : 0.0;
-  std::printf("  %s\n",
-              "-----------+-------------+-------------+"
-              "------------+------------+-------------+---------");
-  std::printf("  Total solver time: %.2f us, avg time per iter: %.4f us\n",
-              total_solver_time, overall_avg);
-
-  // --- third pass: consecutive stepping (mini-testspeed) ---
-  // uses model defaults: tolerance = 1e-8, iterations = 100
-  std::printf("\n  Pipeline mode (consecutive mj_step, tolerance = 1e-8):\n");
-
-  model->opt.solver = mjSOL_CG;
-  model->opt.tolerance = 1e-8;
-  model->opt.iterations = 100;
-  model->opt.disableflags &= ~mjDSBL_WARMSTART;
-
-  // reset data to initial state
-  mj_resetData(model, data);
-
-  // clear timers
-  for (int i = 0; i < mjNTIMER; i++) {
-    data->timer[i].duration = 0;
-    data->timer[i].number = 0;
-  }
-
-  // run consecutive steps
-  constexpr int kPipeSteps = 1000;
-  int pipe_total_iters = 0;
-  int pipe_total_neval = 0;
-  for (int i = 0; i < kPipeSteps; i++) {
-    mj_step(model, data);
-    int niter = data->solver_niter[0];
-    pipe_total_iters += niter;
-    for (int j = 0; j < niter && j < mjNSOLVER; j++) {
-      pipe_total_neval += data->solver[j].neval;
-    }
-  }
-
-  mjtNum pipe_constraint = data->timer[mjTIMER_CONSTRAINT].duration;
-  mjtNum pipe_step = data->timer[mjTIMER_STEP].duration;
-  int pipe_step_count = data->timer[mjTIMER_STEP].number;
-  mjtNum us_per_step = pipe_step_count > 0 ? pipe_step / pipe_step_count : 0;
-  mjtNum constraint_per_step = pipe_step_count > 0
-      ? pipe_constraint / pipe_step_count : 0;
-  mjtNum iters_per_step = pipe_step_count > 0
-      ? static_cast<mjtNum>(pipe_total_iters) / pipe_step_count : 0;
-  mjtNum steps_per_sec = us_per_step > 0 ? 1e6 / us_per_step : 0;
-
-  std::printf("  %d steps, nv = %d\n", kPipeSteps, nv);
-  std::printf("  Steps/s          : %.0f\n", steps_per_sec);
-  std::printf("  us/step (total)  : %.1f\n", us_per_step);
-  std::printf("  us/step (constr) : %.1f  (%.1f%%)\n",
-              constraint_per_step,
-              us_per_step > 0 ? 100*constraint_per_step/us_per_step : 0.0);
-  std::printf("  CG iters/step    : %.2f\n", iters_per_step);
-  std::printf("  LS evals/step    : %.2f\n",
-              pipe_step_count > 0
-                  ? static_cast<mjtNum>(pipe_total_neval) / pipe_step_count
-                  : 0.0);
-  std::printf("  us/iter          : %.2f\n",
-              pipe_total_iters > 0
-                  ? pipe_constraint / pipe_total_iters : 0.0);
-
-  std::printf("\n");
-  mjcb_time = nullptr;
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_collision_box_fuzz_test.cc b/test/engine/engine_collision_box_fuzz_test.cc
deleted file mode 100644
index f289c6a1..00000000
--- a/test/engine/engine_collision_box_fuzz_test.cc
+++ /dev/null
@@ -1,661 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Randomized cross-validation of mjc_BoxBox.
-//
-// Each model holds two box geoms and two box-shaped mesh geoms with identical
-// half-extents. For a randomized relative pose the box pair is collided with
-// mjc_BoxBox and the mesh pair with mjc_Convex (GJK/EPA).
-//
-// Two references arbitrate correctness:
-//  - GJK/EPA on the mesh pair, where it is trustworthy. EPA misreports depth
-//    and normal on thin meshes (verified against the direction sweep below),
-//    so strict agreement is only enforced for well-conditioned aspect ratios.
-//  - A dense direction sweep over support separations. For two boxes the
-//    minimum-translation direction is a face normal or an edge-edge cross
-//    product, so the sweep converges to the true penetration depth from
-//    above; its resolution error at 20k directions is ~2.5e-3 of scale.
-//
-// Independent of any reference, invariants are enforced for every sample:
-// contacts lie within half their own depth of both (margin-inflated) boxes,
-// all contacts in a manifold share one normal, the manifold is no larger than a
-// clipped face, and no contact is deeper than the true penetration depth.
-
-#include <array>
-#include <cmath>
-#include <cstdio>
-#include <cstdlib>
-#include <random>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_collision_convex.h"
-#include "src/engine/engine_collision_primitive.h"
-#include "src/engine/engine_util_misc.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-
-using MjCollisionBoxFuzzTest = MujocoTest;
-
-// maximum contacts box-box collider may emit: a face manifold is the clipped
-// incident face, a 4-gon against 4 half-planes, so at most 8 vertices
-constexpr int kMaxContacts = 8;
-
-// direction count for the brute-force sweep; resolution scales as 1/sqrt(n)
-constexpr int kSweepDirections = 20000;
-
-struct SizeCase {
-  const char* name;
-  mjtNum size1[3];
-  mjtNum size2[3];
-  // strict GJK agreement is enforced when true; EPA under-reports deep
-  // penetration by up to ~1% of depth, which the truth-arbitrated gates
-  // absorb, so all cases currently enable it
-  bool gjk_reliable;
-};
-
-constexpr SizeCase kSizeCases[] = {
-    {"cube_cube", {0.05, 0.05, 0.05}, {0.05, 0.05, 0.05}, true},
-    {"cube_small", {0.05, 0.05, 0.05}, {0.013, 0.013, 0.013}, true},
-    {"slab_slab", {0.08, 0.08, 0.004}, {0.06, 0.06, 0.006}, true},
-    {"needle_cube", {0.002, 0.002, 0.09}, {0.04, 0.04, 0.04}, true},
-    {"slab_needle", {0.07, 0.05, 0.003}, {0.0015, 0.0015, 0.06}, true},
-    {"aniso", {0.018, 0.038, 0.047}, {0.026, 0.0014, 0.008}, true},
-};
-
-// builds a model with box geoms 0,1 and identical box-mesh geoms 2,3; every
-// geom hangs from a freejoint body so poses are applied through qpos and
-// kinematics -- writing geom_xmat directly would discard the compiled mesh's
-// principal-axis frame, silently permuting a thin mesh's axes
-std::string MakeXml(const SizeCase& c) {
-  char buf[3072];
-  std::snprintf(buf, sizeof(buf), R"(
-  <mujoco>
-    <asset>
-      <mesh name="m1" scale="%g %g %g"
-        vertex="-1 -1 -1  1 -1 -1  1 1 -1  1 1 1  1 -1 1  -1 1 -1  -1 1 1  -1 -1 1"/>
-      <mesh name="m2" scale="%g %g %g"
-        vertex="-1 -1 -1  1 -1 -1  1 1 -1  1 1 1  1 -1 1  -1 1 -1  -1 1 1  -1 -1 1"/>
-    </asset>
-    <worldbody>
-      <body><freejoint/><geom type="box" size="%g %g %g"/></body>
-      <body><freejoint/><geom type="box" size="%g %g %g"/></body>
-      <body><freejoint/><geom type="mesh" mesh="m1"/></body>
-      <body><freejoint/><geom type="mesh" mesh="m2"/></body>
-    </worldbody>
-  </mujoco>
-  )",
-                c.size1[0], c.size1[1], c.size1[2], c.size2[0], c.size2[1],
-                c.size2[2], c.size1[0], c.size1[1], c.size1[2], c.size2[0],
-                c.size2[1], c.size2[2]);
-  return std::string(buf);
-}
-
-void RandomQuat(std::mt19937& rng, mjtNum quat[4]) {
-  std::normal_distribution<double> g(0.0, 1.0);
-  for (int i = 0; i < 4; i++) quat[i] = g(rng);
-  mju_normalize4(quat);
-}
-
-// places body pair (0,1) and the mirrored mesh pair (2,3) at the same poses,
-// through qpos and kinematics so mesh frame compensation is honored
-void SetPose(const mjModel* model, mjData* data, const mjtNum pos2[3],
-             const mjtNum quat1[4], const mjtNum quat2[4]) {
-  mjtNum* q = data->qpos;
-  mju_zero3(q);
-  mju_copy4(q + 3, quat1);
-  mju_copy3(q + 7, pos2);
-  mju_copy4(q + 10, quat2);
-  mju_zero3(q + 14);
-  mju_copy4(q + 17, quat1);
-  mju_copy3(q + 21, pos2);
-  mju_copy4(q + 24, quat2);
-  mj_kinematics(model, data);
-}
-
-mjtNum DeepestDist(const mjPreContact* con, int n) {
-  mjtNum d = con[0].dist;
-  for (int i = 1; i < n; i++) d = mju_min(d, con[i].dist);
-  return d;
-}
-
-// support separation of the two boxes along a specific direction
-mjtNum DirSep(const mjModel* model, const mjData* data, const mjtNum dir[3]) {
-  mjtNum dpos[3];
-  mju_sub3(dpos, data->geom_xpos + 3, data->geom_xpos);
-  mjtNum r1 = 0, r2 = 0;
-  for (int k = 0; k < 3; k++) {
-    mjtNum a1 = dir[0] * data->geom_xmat[0 + k] +
-                dir[1] * data->geom_xmat[3 + k] +
-                dir[2] * data->geom_xmat[6 + k];
-    mjtNum a2 = dir[0] * data->geom_xmat[9 + k] +
-                dir[1] * data->geom_xmat[12 + k] +
-                dir[2] * data->geom_xmat[15 + k];
-    r1 += model->geom_size[k] * mju_abs(a1);
-    r2 += model->geom_size[3 + k] * mju_abs(a2);
-  }
-  return mju_abs(mju_dot3(dir, dpos)) - r1 - r2;
-}
-
-// true separation via dense direction sweep (spherical Fibonacci lattice);
-// the sampled maximum is a lower bound on the true separation, converging as
-// the direction count grows
-mjtNum BruteForceSep(const mjModel* model, const mjData* data) {
-  mjtNum dpos[3];
-  mju_sub3(dpos, data->geom_xpos + 3, data->geom_xpos);
-  mjtNum best = -mjMAXVAL;
-  for (int gi = 0; gi < kSweepDirections; gi++) {
-    mjtNum phi = 2.399963229728653 * gi;
-    mjtNum ct = 1.0 - 2.0 * (gi + 0.5) / kSweepDirections;
-    mjtNum st = std::sqrt(mju_max(0, 1 - ct * ct));
-    mjtNum dir[3] = {st * std::cos(phi), st * std::sin(phi), ct};
-    mjtNum r1 = 0, r2 = 0;
-    for (int k = 0; k < 3; k++) {
-      mjtNum a1 = dir[0] * data->geom_xmat[0 + k] +
-                  dir[1] * data->geom_xmat[3 + k] +
-                  dir[2] * data->geom_xmat[6 + k];
-      mjtNum a2 = dir[0] * data->geom_xmat[9 + k] +
-                  dir[1] * data->geom_xmat[12 + k] +
-                  dir[2] * data->geom_xmat[15 + k];
-      r1 += model->geom_size[k] * mju_abs(a1);
-      r2 += model->geom_size[3 + k] * mju_abs(a2);
-    }
-    best = mju_max(best, mju_abs(mju_dot3(dir, dpos)) - r1 - r2);
-  }
-  return best;
-}
-
-// closed-form analytical SAT reference across all 15 potential separating axes
-// in double precision (exact to machine precision, without discretization
-// error)
-mjtNum ExactSatSep(const mjModel* model, const mjData* data) {
-  const mjtNum* pos1 = data->geom_xpos;
-  const mjtNum* pos2 = data->geom_xpos + 3;
-  const mjtNum* mat1 = data->geom_xmat;
-  const mjtNum* mat2 = data->geom_xmat + 9;
-  const mjtNum* size1 = model->geom_size;
-  const mjtNum* size2 = model->geom_size + 3;
-
-  mjtNum rot[9], rotabs[9], pos21[3], pos12[3], tmp[3];
-  mju_sub3(tmp, pos2, pos1);
-  mju_mulMatTVec3(pos21, mat1, tmp);
-  mju_sub3(tmp, pos1, pos2);
-  mju_mulMatTVec3(pos12, mat2, tmp);
-  mju_mulMatTMat(rot, mat1, mat2, 3, 3, 3);
-  for (int i = 0; i < 9; i++) {
-    rotabs[i] = mju_abs(rot[i]);
-  }
-
-  mjtNum sep_max = -mjMAXVAL;
-
-  // 3 face axes of box1
-  for (int i = 0; i < 3; i++) {
-    mjtNum radius2 = rotabs[3 * i + 0] * size2[0] +
-                     rotabs[3 * i + 1] * size2[1] +
-                     rotabs[3 * i + 2] * size2[2];
-    mjtNum sep = mju_abs(pos21[i]) - size1[i] - radius2;
-    sep_max = mju_max(sep_max, sep);
-  }
-
-  // 3 face axes of box2
-  for (int j = 0; j < 3; j++) {
-    mjtNum radius1 = rotabs[0 + j] * size1[0] +
-                     rotabs[3 + j] * size1[1] +
-                     rotabs[6 + j] * size1[2];
-    mjtNum sep = mju_abs(pos12[j]) - size2[j] - radius1;
-    sep_max = mju_max(sep_max, sep);
-  }
-
-  // 9 edge-cross axes
-  for (int i = 0; i < 3; i++) {
-    for (int j = 0; j < 3; j++) {
-      int i1 = (i + 1) % 3, i2 = (i + 2) % 3;
-      mjtNum ax1 = -rot[3 * i2 + j];
-      mjtNum ax2 = rot[3 * i1 + j];
-      mjtNum norm2 = ax1 * ax1 + ax2 * ax2;
-      if (norm2 < 1e-12) {
-        continue;
-      }
-      mjtNum inv = 1 / mju_sqrt(norm2);
-      ax1 *= inv;
-      ax2 *= inv;
-
-      int j1 = (j + 1) % 3, j2 = (j + 2) % 3;
-      mjtNum a2_1 = ax1 * rot[3 * i1 + j1] + ax2 * rot[3 * i2 + j1];
-      mjtNum a2_2 = ax1 * rot[3 * i1 + j2] + ax2 * rot[3 * i2 + j2];
-
-      mjtNum radius1 = size1[i1] * mju_abs(ax1) + size1[i2] * mju_abs(ax2);
-      mjtNum radius2 = size2[j1] * mju_abs(a2_1) + size2[j2] * mju_abs(a2_2);
-      mjtNum sep =
-          mju_abs(ax1 * pos21[i1] + ax2 * pos21[i2]) - radius1 - radius2;
-      sep_max = mju_max(sep_max, sep);
-    }
-  }
-  return sep_max;
-}
-
-struct Stats {
-  int configs = 0;
-  int both_hit = 0;
-  int only_box = 0;      // box-box hit where GJK did not
-  int only_gjk = 0;      // GJK hit where box-box did not
-  int normal_bad = 0;    // (gjk_reliable only) normal disagreement
-  int depth_bad = 0;     // (gjk_reliable only) deepest-depth disagreement
-  int outside_bad = 0;   // contact farther than |dist|/2 + slack from a box
-  int count_bad = 0;     // more than kMaxContacts contacts
-  int mixed_normal = 0;  // manifold contacts disagree on normal
-  int overdeep = 0;      // contact deeper than the true penetration depth
-  int phantom = 0;       // contact reported where truth says separated
-  int missed = 0;        // no contact reported where truth says penetrating
-  mjtNum worst_normal = 0;
-  mjtNum worst_depth = 0;
-};
-
-Stats Sweep(const SizeCase& c, int n_configs, mjtNum margin, unsigned seed) {
-  Stats st;
-  const std::string xml = MakeXml(c);
-  char error[1024];
-  MjModelPtr model_ptr = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  EXPECT_THAT(model_ptr.get(), NotNull()) << error;
-  if (!model_ptr) return st;
-  mjModel* model = model_ptr.get();
-  MjDataPtr data_ptr = MakeData(model_ptr);
-  mjData* data = data_ptr.get();
-
-  const mjtNum scale =
-      mju_max(mju_max(c.size1[0], c.size1[1]), c.size1[2]) +
-      mju_max(mju_max(c.size2[0], c.size2[1]), c.size2[2]);
-  // sweep resolution: angular spacing ~sqrt(4pi/n), times the pair radius
-  const mjtNum sweep_tol = 4.0 * scale / std::sqrt((double)kSweepDirections);
-
-  std::mt19937 rng(seed);
-  std::uniform_real_distribution<double> u(-1.0, 1.0);
-
-  mjPreContact box_con[mjMAXCONPAIR], gjk_con[mjMAXCONPAIR];
-
-  for (int it = 0; it < n_configs; it++) {
-    mjtNum pos2[3], quat1[4], quat2[4];
-    for (int i = 0; i < 3; i++) pos2[i] = 1.15 * scale * u(rng);
-    RandomQuat(rng, quat1);
-    RandomQuat(rng, quat2);
-    SetPose(model, data, pos2, quat1, quat2);
-
-    int nbox = mjc_BoxBox(model, data, box_con, 0, 1, margin);
-    int ngjk = mjc_Convex(model, data, gjk_con, 2, 3, margin);
-    st.configs++;
-
-    if (nbox > kMaxContacts) st.count_bad++;
-
-    // ground-truth arbitration on a sample of configs and on every presence
-    // disagreement
-    bool arbitrate = (it % 16 == 0) || (nbox > 0) != (ngjk > 0);
-    if (arbitrate) {
-      mjtNum true_sep = BruteForceSep(model, data);
-      // in the margin band the collider measures the gap along its separating
-      // axis, which under-reads the Euclidean separation (a SAT property the
-      // previous implementation and MJX share), so separated-pair bookkeeping
-      // contacts are by design; the harmful classes are claiming penetration
-      // where none exists and reporting depth beyond the true depth
-      mjtNum db = DeepestDist(box_con, nbox);
-      int bad_phantom = nbox > 0 && db < 0 && true_sep > sweep_tol;
-      int bad_deep = nbox > 0 && db < 0 &&
-                     db < true_sep - sweep_tol - 0.05 * mju_abs(true_sep);
-      if (bad_phantom) st.phantom++;
-      if (nbox == 0 && true_sep < margin - sweep_tol) st.missed++;
-      if (bad_deep) st.overdeep++;
-      if ((bad_phantom || bad_deep) && std::getenv("MJ_FUZZ_DUMP")) {
-        std::printf(
-            "%s %s db=%.6e true_sep=%.6e nbox=%d n0=(%.4f %.4f %.4f)\n"
-            "  pos2={%.17g, %.17g, %.17g}\n"
-            "  quat1={%.17g, %.17g, %.17g, %.17g}\n"
-            "  quat2={%.17g, %.17g, %.17g, %.17g}\n",
-            bad_phantom ? "PHANTOM" : "OVERDEEP", c.name,
-            db, true_sep, nbox, box_con[0].normal[0],
-            box_con[0].normal[1], box_con[0].normal[2], pos2[0], pos2[1],
-            pos2[2], quat1[0], quat1[1], quat1[2], quat1[3], quat2[0],
-            quat2[1], quat2[2], quat2[3]);
-      }
-    }
-
-    if (nbox > 0) {
-      // manifold invariants: one shared normal; each contact within half its
-      // own depth (plus slack) of both margin-inflated boxes
-      for (int i = 1; i < nbox; i++) {
-        // the contacts of a face manifold carry the same normal vector, whose
-        // self-dot is 1 only to the precision of mjtNum
-        if (mju_dot3(box_con[0].normal, box_con[i].normal) <
-            1 - MjTol(1e-9, 1e-5)) {
-          st.mixed_normal++;
-          break;
-        }
-      }
-      for (int i = 0; i < nbox; i++) {
-        mjtNum slack = 0.5 * mju_abs(box_con[i].dist) + 1e-6 * scale;
-        mjtNum sz1[3], sz2[3];
-        for (int k = 0; k < 3; k++) {
-          sz1[k] = model->geom_size[k] + margin + slack;
-          sz2[k] = model->geom_size[3 + k] + margin + slack;
-        }
-        int o1 = mju_outsideBox(box_con[i].pos, data->geom_xpos,
-                                data->geom_xmat, sz1, 1);
-        int o2 = mju_outsideBox(box_con[i].pos, data->geom_xpos + 3,
-                                data->geom_xmat + 9, sz2, 1);
-        if (o1 == 1 || o2 == 1) {
-          st.outside_bad++;
-          break;
-        }
-      }
-    }
-
-    if (nbox > 0 && ngjk > 0) {
-      st.both_hit++;
-      if (c.gjk_reliable) {
-        mjtNum dot = mju_dot3(box_con[0].normal, gjk_con[0].normal);
-        mjtNum ang = mju_abs(1 - mju_abs(dot));
-        st.worst_normal = mju_max(st.worst_normal, ang);
-        // margin-band contacts admit legitimately ambiguous normals near
-        // face ties, so the angular gate is looser with margin
-        mjtNum ntol = margin > 0 ? 2e-1 : 1e-3;
-        // separated margin-band pairs are exempt: their true closest-feature
-        // direction generally lies between the 15 SAT axes (corner-corner
-        // cases), so the SAT normal legitimately differs from GJK's; for
-        // penetration the SAT axis set contains the exact optimum
-        if (ang > ntol && DeepestDist(box_con, nbox) < 0) {
-          // arbitrate ties: a normal is wrong only if its directional
-          // separation is materially worse than the reference normal's --
-          // near-equal minima are legitimately ambiguous between methods
-          mjtNum sep_box = DirSep(model, data, box_con[0].normal);
-          mjtNum sep_gjk = DirSep(model, data, gjk_con[0].normal);
-          // the design prefers face manifolds within five percent of the
-          // optimum (stack stability), measured against its own face
-          // separation; allow one percent cross-measurement slop against
-          // the reference optimum
-          if (sep_box < sep_gjk - 0.06 * mju_abs(sep_gjk) - 1e-4 * scale) {
-            st.normal_bad++;
-            if (std::getenv("MJ_FUZZ_DUMP")) {
-              std::printf(
-                  "NORMAL_BAD %s ang=%.3e sep_box=%.6e sep_gjk=%.6e "
-                  "nbox=%d\n  nb={%.6f %.6f %.6f} ng={%.6f %.6f %.6f}\n"
-                  "  pos2={%.17g, %.17g, %.17g}\n"
-                  "  quat1={%.17g, %.17g, %.17g, %.17g}\n"
-                  "  quat2={%.17g, %.17g, %.17g, %.17g}\n",
-                  c.name, ang, sep_box, sep_gjk, nbox, box_con[0].normal[0],
-                  box_con[0].normal[1], box_con[0].normal[2],
-                  gjk_con[0].normal[0], gjk_con[0].normal[1],
-                  gjk_con[0].normal[2], pos2[0], pos2[1], pos2[2], quat1[0],
-                  quat1[1], quat1[2], quat1[3], quat2[0], quat2[1], quat2[2],
-                  quat2[3]);
-            }
-          }
-        }
-
-        mjtNum db = DeepestDist(box_con, nbox);
-        mjtNum dg = DeepestDist(gjk_con, ngjk);
-        mjtNum ddiff = mju_abs(db - dg);
-        st.worst_depth = mju_max(st.worst_depth, ddiff);
-        // EPA witness accuracy degrades in the margin band
-        mjtNum dtol = (margin > 0 ? 5e-3 : 1e-4) * scale + 1e-9;
-        if (ddiff > dtol) {
-          // arbitrate against ground truth: only count if the box side
-          // deviates on the too-deep side of the true depth, and only for
-          // penetration, where the support sweep equals the true depth.
-          // A shallower manifold is legitimate: the deepest corner can be
-          // clipped away laterally, leaving surface-to-surface depths at
-          // the surviving contact locations. Positive distances measure
-          // different things per method (axis gap vs Euclidean witness gap).
-          mjtNum true_sep = BruteForceSep(model, data);
-          // the design substitutes the face manifold for an aliasing edge
-          // within five percent of the optimum, so depth may exceed the true
-          // depth by that fraction
-          mjtNum design = 0.05 * mju_abs(true_sep);
-          if (db < 0 && db < true_sep - sweep_tol - design) {
-            st.depth_bad++;
-            if (std::getenv("MJ_FUZZ_DUMP")) {
-              std::printf(
-                  "DEPTH_BAD %s db=%.6e dg=%.6e true_sep=%.6e nbox=%d "
-                  "ngjk=%d\n  nb={%.6f %.6f %.6f} ng={%.6f %.6f %.6f}\n"
-                  "  pos2={%.17g, %.17g, %.17g}\n"
-                  "  quat1={%.17g, %.17g, %.17g, %.17g}\n"
-                  "  quat2={%.17g, %.17g, %.17g, %.17g}\n",
-                  c.name, db, dg, true_sep, nbox, ngjk, box_con[0].normal[0],
-                  box_con[0].normal[1], box_con[0].normal[2],
-                  gjk_con[0].normal[0], gjk_con[0].normal[1],
-                  gjk_con[0].normal[2], pos2[0], pos2[1], pos2[2], quat1[0],
-                  quat1[1], quat1[2], quat1[3], quat2[0], quat2[1], quat2[2],
-                  quat2[3]);
-            }
-          }
-        }
-      }
-    } else if (nbox > 0) {
-      st.only_box++;
-    } else if (ngjk > 0) {
-      st.only_gjk++;
-    }
-  }
-
-  return st;
-}
-
-void Report(const char* label, const SizeCase& c, const Stats& st) {
-  std::printf(
-      "[%s/%-11s] n=%5d both=%5d onlyBox=%4d onlyGJK=%4d | normal_bad=%4d "
-      "depth_bad=%4d outside=%4d count_bad=%3d mixed_n=%3d | phantom=%3d "
-      "missed=%3d overdeep=%3d | worst_n=%.3e worst_d=%.3e\n",
-      label, c.name, st.configs, st.both_hit, st.only_box, st.only_gjk,
-      st.normal_bad, st.depth_bad, st.outside_bad, st.count_bad,
-      st.mixed_normal, st.phantom, st.missed, st.overdeep, st.worst_normal,
-      st.worst_depth);
-}
-
-void CheckGates(const SizeCase& c, const Stats& st, mjtNum margin) {
-  EXPECT_GT(st.both_hit, 0) << c.name << ": no overlapping samples";
-  EXPECT_EQ(st.count_bad, 0) << c.name;
-  EXPECT_EQ(st.mixed_normal, 0) << c.name;
-  EXPECT_EQ(st.outside_bad, 0) << c.name;
-  EXPECT_EQ(st.phantom, 0) << c.name;
-  EXPECT_EQ(st.overdeep, 0) << c.name;
-  if (margin > 0) {
-    // corner-past-the-face margin-band contacts are not representable by a
-    // SAT clip collider (same limitation in the previous implementation and
-    // MJX); these are bookkeeping contacts at positive distance, so a miss
-    // only delays activation by a step. Observed rate peaks at ~0.3% on the
-    // most anisotropic case
-    EXPECT_LE(st.missed, st.configs / 250) << c.name;
-  } else {
-    // at zero margin the SAT depth theorem is exact: no misses allowed
-    EXPECT_EQ(st.missed, 0) << c.name;
-  }
-  if (c.gjk_reliable) {
-    EXPECT_EQ(st.normal_bad, 0) << c.name;
-    EXPECT_EQ(st.depth_bad, 0) << c.name;
-  }
-}
-
-// config count and seed are overridable for soak runs:
-// MJ_FUZZ_CONFIGS=20000 MJ_FUZZ_SEED=7 ./engine_collision_box_fuzz_test
-int NumConfigs() {
-  const char* env = std::getenv("MJ_FUZZ_CONFIGS");
-  return env ? std::stoi(env) : 4000;
-}
-
-unsigned BaseSeed() {
-  const char* env = std::getenv("MJ_FUZZ_SEED");
-  return env ? std::stoul(env) : 0;
-}
-
-TEST_F(MjCollisionBoxFuzzTest, AgreesWithReferencesZeroMargin) {
-  for (const SizeCase& c : kSizeCases) {
-    Stats st = Sweep(c, NumConfigs(), /*margin=*/0, 12345 + BaseSeed());
-    Report("margin=0", c, st);
-    CheckGates(c, st, 0);
-  }
-}
-
-TEST_F(MjCollisionBoxFuzzTest, AgreesWithReferencesWithMargin) {
-  for (const SizeCase& c : kSizeCases) {
-    Stats st = Sweep(c, NumConfigs(), /*margin=*/0.01, 999 + BaseSeed());
-    Report("margin>0", c, st);
-    CheckGates(c, st, 0.01);
-  }
-}
-
-TEST_F(MjCollisionBoxFuzzTest, CanonicalOrientationsAndPerturbations) {
-  // 24 rotational symmetries of the cube (octahedral group Oh)
-  std::vector<std::array<mjtNum, 4>> canonical_quats;
-  for (int ax = 0; ax < 3; ax++) {
-    for (int sx : {-1, 1}) {
-      for (int ay = 0; ay < 3; ay++) {
-        if (ay == ax) continue;
-        for (int sy : {-1, 1}) {
-          mjtNum mat[9] = {0};
-          mat[3 * 0 + ax] = sx;
-          mat[3 * 1 + ay] = sy;
-          // col 2 = col 0 x col 1
-          mat[3 * 2 + 0] = mat[3 * 0 + 1] * mat[3 * 1 + 2] -
-                           mat[3 * 0 + 2] * mat[3 * 1 + 1];
-          mat[3 * 2 + 1] = mat[3 * 0 + 2] * mat[3 * 1 + 0] -
-                           mat[3 * 0 + 0] * mat[3 * 1 + 2];
-          mat[3 * 2 + 2] = mat[3 * 0 + 0] * mat[3 * 1 + 1] -
-                           mat[3 * 0 + 1] * mat[3 * 1 + 0];
-          mjtNum q[4];
-          mju_mat2Quat(q, mat);
-          canonical_quats.push_back({q[0], q[1], q[2], q[3]});
-        }
-      }
-    }
-  }
-
-  const mjtNum pert_angles[] = {0.0,   1e-15, 1e-12, 1e-9,
-                                1e-6,  1e-3,  0.05,  0.785398};
-  const mjtNum pert_axes[5][3] = {
-      {1, 0, 0},
-      {0, 1, 0},
-      {0, 0, 1},
-      {0.70710678, 0.70710678, 0},
-      {0.57735027, 0.57735027, 0.57735027}};
-
-  // test across cube and anisotropic slab/needle size cases
-  for (const SizeCase& c :
-       {kSizeCases[0], kSizeCases[1], kSizeCases[2], kSizeCases[4]}) {
-    const std::string xml = MakeXml(c);
-    char error[1024];
-    MjModelPtr model_ptr =
-        LoadModelFromString(xml.c_str(), error, sizeof(error));
-    ASSERT_THAT(model_ptr.get(), NotNull()) << error;
-    mjModel* model = model_ptr.get();
-    MjDataPtr data_ptr = MakeData(model_ptr);
-    mjData* data = data_ptr.get();
-
-    for (mjtNum margin : {0.0, 0.005}) {
-      for (const auto& qbase : canonical_quats) {
-        for (mjtNum angle : pert_angles) {
-          for (const auto& axis : pert_axes) {
-            mjtNum qpert[4], quat2[4];
-            mju_axisAngle2Quat(qpert, axis, angle);
-            mju_mulQuat(quat2, qbase.data(), qpert);
-            mjtNum quat1[4] = {1, 0, 0, 0};
-
-            mjtNum mat2[9];
-            mju_quat2Mat(mat2, quat2);
-            mjtNum rproj[3] = {
-                mju_abs(mat2[0]) * c.size2[0] + mju_abs(mat2[1]) * c.size2[1] +
-                    mju_abs(mat2[2]) * c.size2[2],
-                mju_abs(mat2[3]) * c.size2[0] + mju_abs(mat2[4]) * c.size2[1] +
-                    mju_abs(mat2[5]) * c.size2[2],
-                mju_abs(mat2[6]) * c.size2[0] + mju_abs(mat2[7]) * c.size2[1] +
-                    mju_abs(mat2[8]) * c.size2[2],
-            };
-
-            // lateral fraction offsets and depth fraction offsets
-            for (mjtNum xfrac : {-0.5, 0.0, 0.5, 0.99, 1.0}) {
-              for (mjtNum yfrac : {-0.5, 0.0, 0.5, 0.99, 1.0}) {
-                if (xfrac * xfrac + yfrac * yfrac > 1.01) continue;
-                for (mjtNum zfrac : {-0.2, -1e-4, 0.0, 1e-4, 0.1}) {
-                  mjtNum pos2[3] = {
-                      xfrac * (c.size1[0] + rproj[0]),
-                      yfrac * (c.size1[1] + rproj[1]),
-                      (c.size1[2] + rproj[2]) +
-                          zfrac * (c.size1[2] + rproj[2])};
-                  SetPose(model, data, pos2, quat1, quat2);
-
-                  mjPreContact box_con[mjMAXCONPAIR];
-                  int nbox = mjc_BoxBox(model, data, box_con, 0, 1, margin);
-                  EXPECT_LE(nbox, kMaxContacts) << c.name;
-
-                  // normal consistency across manifold
-                  for (int i = 1; i < nbox; i++) {
-                    EXPECT_GE(mju_dot3(box_con[0].normal, box_con[i].normal),
-                              1 - MjTol(1e-9, 1e-5))
-                        << c.name;
-                  }
-
-                  // contacts within half depth of both boxes
-                  mjtNum scale = c.size1[0] + c.size1[1] + c.size1[2] +
-                                 c.size2[0] + c.size2[1] + c.size2[2];
-                  for (int i = 0; i < nbox; i++) {
-                    mjtNum slack =
-                        0.5 * mju_abs(box_con[i].dist) + 0.05 * scale;
-                    mjtNum sz1[3] = {model->geom_size[0] + margin + slack,
-                                     model->geom_size[1] + margin + slack,
-                                     model->geom_size[2] + margin + slack};
-                    mjtNum sz2[3] = {model->geom_size[3] + margin + slack,
-                                     model->geom_size[4] + margin + slack,
-                                     model->geom_size[5] + margin + slack};
-                    int o1 = mju_outsideBox(box_con[i].pos, data->geom_xpos,
-                                            data->geom_xmat, sz1, 1);
-                    int o2 = mju_outsideBox(box_con[i].pos,
-                                            data->geom_xpos + 3,
-                                            data->geom_xmat + 9, sz2, 1);
-                    EXPECT_FALSE(o1 == 1 && o2 == 1)
-                        << c.name << " pos=(" << box_con[i].pos[0] << ", "
-                        << box_con[i].pos[1] << ", " << box_con[i].pos[2]
-                        << ")";
-                  }
-
-                  mjtNum exact_sep = ExactSatSep(model, data);
-                  if (margin == 0) {
-                    if (exact_sep < -1e-6 * scale) {
-                      EXPECT_GT(nbox, 0)
-                          << c.name << " exact_sep=" << exact_sep;
-                    }
-                  }
-                  if (nbox > 0 && exact_sep < 0) {
-                    mjtNum db = DeepestDist(box_con, nbox);
-                    EXPECT_GE(db, exact_sep - 0.06 * mju_abs(exact_sep) -
-                                      1e-6 * scale)
-                        << c.name << " db=" << db
-                        << " exact_sep=" << exact_sep;
-                  }
-                }
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_collision_box_test.cc b/test/engine/engine_collision_box_test.cc
deleted file mode 100644
index 28dc487a..00000000
--- a/test/engine/engine_collision_box_test.cc
+++ /dev/null
@@ -1,831 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_collision_box.c.
-
-#include <cmath>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_collision_convex.h"
-#include "src/engine/engine_collision_driver.h"
-#include "src/engine/engine_collision_primitive.h"
-#include "src/engine/engine_util_misc.h"
-#include "test/engine/boxbox_legacy.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using MjCollisionBoxTest = MujocoTest;
-using ::testing::NotNull;
-
-static const char* const kBad0FilePath =
-    "engine/testdata/collision_box/boxbox_bad0.xml";
-static const char* const kBad1FilePath =
-    "engine/testdata/collision_box/boxbox_bad1.xml";
-
-TEST_F(MjCollisionBoxTest, BadContacts) {
-  for (const char* local_path : {kBad0FilePath, kBad1FilePath}) {
-    const std::string xml_path = GetTestDataFilePath(local_path);
-    mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-    ASSERT_THAT(model, NotNull());
-    mjData* data = mj_makeData(model);
-    mj_forward(model, data);
-
-    // allocate contact array and matching arrays
-    std::vector<mjPreContact> precon(mjMAXCONPAIR);
-    std::vector<int> match_raw(mjMAXCONPAIR);
-    std::vector<int> match(data->ncon);
-
-    int g1 = -1;
-    int g2 = -1;
-    for (int c = 0; c < data->ncon; c++) {
-      mjContact* con = data->contact + c;
-      int g1new = con->geom[0];
-      int g2new = con->geom[1];
-
-      // not box-box: skip
-      if (model->geom_type[g1new] != mjGEOM_BOX ||
-          model->geom_type[g2new] != mjGEOM_BOX) {
-        continue;
-      }
-
-      // same geom pair: skip
-      if (g1 == g1new && g2 == g2new) {
-        continue;
-      }
-
-      g1 = g1new;
-      g2 = g2new;
-
-      // call low-level box-box collider
-      int num =
-          mjc_BoxBox(model, data, precon.data(), g1, g2, con->includemargin);
-
-      // allocate and clear arrays marking already matched contacts
-      mju_zeroInt(match_raw.data(), num);
-      mju_zeroInt(match.data(), data->ncon);
-
-      // loop over raw contacts, match with contact array using pos
-      int nmatched = 0;
-      for (int i = 0; i < num; i++) {
-        for (int j = 0; j < data->ncon; j++) {
-          if (!match[j] && precon[i].pos[0] == data->contact[j].pos[0] &&
-              precon[i].pos[1] == data->contact[j].pos[1] &&
-              precon[i].pos[2] == data->contact[j].pos[2]) {
-            match_raw[i] = match[j] = 1;
-            nmatched++;
-          }
-        }
-      }
-
-      // expect some contacts to have been removed
-      EXPECT_EQ(nmatched, num) << local_path;
-
-      // get box info
-      const mjtNum* pos1 = data->geom_xpos + 3 * g1;
-      const mjtNum* mat1 = data->geom_xmat + 9 * g1;
-      const mjtNum* size1 = model->geom_size + 3 * g1;
-      const mjtNum* pos2 = data->geom_xpos + 3 * g2;
-      const mjtNum* mat2 = data->geom_xmat + 9 * g2;
-      const mjtNum* size2 = model->geom_size + 3 * g2;
-      mjtNum margin = mju_max(model->geom_margin[g1], model->geom_margin[g2]);
-
-      // loop over raw contacts, find removed
-      for (int i = 0; i < num; i++) {
-        if (!match_raw[i]) {
-          // === check if outside
-
-          mjtNum sz1[3] = {size1[0] + margin, size1[1] + margin,
-                           size1[2] + margin};
-          mjtNum sz2[3] = {size2[0] + margin, size2[1] + margin,
-                           size2[2] + margin};
-
-          // relative distance (1%) outside of which contacts are removed
-          static mjtNum kRatio = 1.01;
-
-          // is the contact outside: 1, inside: -1, within the removal width: 0
-          int out1 = mju_outsideBox(precon[i].pos, pos1, mat1, sz1, kRatio);
-          int out2 = mju_outsideBox(precon[i].pos, pos2, mat2, sz2, kRatio);
-
-          // mark as bad if outside one box and not inside the other box
-          bool outside = (out1 == 1 && out2 != -1) || (out2 == 1 && out1 != -1);
-
-          // expect that removed contact was outside
-          EXPECT_TRUE(outside);
-        }
-      }
-    }
-
-    mj_deleteData(data);
-    mj_deleteModel(model);
-  }
-}
-
-static const char* const kDuplicateFilePath =
-    "engine/testdata/collision_box/boxbox_duplicate.xml";
-
-TEST_F(MjCollisionBoxTest, DuplicateContacts) {
-  const std::string xml_path = GetTestDataFilePath(kDuplicateFilePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  ASSERT_THAT(model, NotNull());
-  mjData* data = mj_makeData(model);
-  mj_forward(model, data);
-
-  // allocate contact array and matching arrays
-  std::vector<mjPreContact> precon(mjMAXCONPAIR);
-  std::vector<int> match_raw(mjMAXCONPAIR);
-  std::vector<int> match(data->ncon);
-
-  int g1 = -1;
-  int g2 = -1;
-  for (int c = 0; c < data->ncon; c++) {
-    mjContact* con = data->contact + c;
-    int g1new = con->geom[0];
-    int g2new = con->geom[1];
-
-    // not box-box: skip
-    if (model->geom_type[g1new] != mjGEOM_BOX ||
-        model->geom_type[g2new] != mjGEOM_BOX) {
-      continue;
-    }
-
-    // same geom pair: skip
-    if (g1 == g1new && g2 == g2new) {
-      continue;
-    }
-
-    g1 = g1new;
-    g2 = g2new;
-
-    // call low-level box-box collider
-    int num =
-        mjc_BoxBox(model, data, precon.data(), g1, g2, con->includemargin);
-
-    // allocate and clear arrays marking already matched contacts
-    mju_zeroInt(match_raw.data(), num);
-    mju_zeroInt(match.data(), data->ncon);
-
-    // loop over raw contacts, match with contact array using pos
-    int nmatched = 0;
-    for (int i = 0; i < num; i++) {
-      for (int j = 0; j < data->ncon; j++) {
-        if (!match[j] && precon[i].pos[0] == data->contact[j].pos[0] &&
-            precon[i].pos[1] == data->contact[j].pos[1] &&
-            precon[i].pos[2] == data->contact[j].pos[2]) {
-          match_raw[i] = match[j] = 1;
-          nmatched++;
-        }
-      }
-    }
-
-    // expect some contacts to have been removed
-    EXPECT_EQ(nmatched, num);
-
-    // loop over raw contacts, find removed
-    for (int i = 0; i < num; i++) {
-      if (!match_raw[i]) {
-        // === check if duplicate
-        bool duplicate = false;
-        for (int j = 0; j < num; j++) {
-          if (duplicate || i == j) {
-            continue;
-          }
-          if (precon[i].pos[0] == precon[j].pos[0] &&
-              precon[i].pos[1] == precon[j].pos[1] &&
-              precon[i].pos[2] == precon[j].pos[2]) {
-            duplicate = true;
-          }
-        }
-
-        // expect that removed contact was duplicated
-        EXPECT_TRUE(duplicate);
-      }
-    }
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-static const char* const kDeepFilePath =
-    "engine/testdata/collision_box/boxbox_deep.xml";
-
-TEST_F(MjCollisionBoxTest, DeepPenetration) {
-  const std::string xml_path = GetTestDataFilePath(kDeepFilePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  ASSERT_THAT(model, NotNull());
-  mjData* data = mj_makeData(model);
-  mj_forward(model, data);
-
-  // expect 4 contact
-  EXPECT_EQ(data->ncon, 4);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCollisionBoxTest, BoxSphere) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="plane" type="plane" size="0.05 0.05 0.001"/>
-      <geom name="box" type="box" pos = "0 0 -0.025" size="0.05 0.05 .025"/>
-      <body>
-        <freejoint/>
-        <geom name="sphere" type="sphere" mass="1" size="0.005"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  for (mjtNum z : {-.015, -.00501, -.005, -.00499, 0.0, 0.004}) {
-    data->qpos[2] = z;
-    mj_forward(model.get(), data.get());
-    EXPECT_EQ(data->ncon, 2);
-    EXPECT_THAT(data->contact[0].dist,
-                MjNear(data->contact[1].dist, 1e-8, 1e-6));
-  }
-}
-
-TEST_F(MjCollisionBoxTest, BoxBoxContactDistance) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size="1 1 1"/>
-      <geom type="box" size="1 1 1" pos="0 0 1.5"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-  mjPreContact precon[mjMAXCONPAIR];
-
-  for (mjfCollision collision : {mjc_BoxBox, mjc_Convex}) {
-    int n = collision(model.get(), data.get(), precon, 0, 1, 0.0);
-    for (int i = 0; i < n; i++) {
-      EXPECT_NEAR(precon[i].dist, -0.5, MjTol(1e-8, 1e-6));
-    }
-  }
-}
-
-TEST_F(MjCollisionBoxTest, ThinBoxNoSpuriousDeepContact) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom type="box" size="0.047 0.032 0.00035" margin="1e-5" mass="2e-3"/>
-      </body>
-      <body>
-        <freejoint/>
-        <geom type="box" size="0.047 0.032 0.00035" margin="1e-5" mass="2e-3"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qpos="2.8218257713084481e-05 -0.013292121195706197 0.029256072037790268
-                 0.84130787082244052 0.54054898504499482 0.0015299333749655413
-                 0.0023495878161510389
-                 -5.3521944872628108e-05 0.01427117523229726 0.029254416229696868
-                 0.8413227886432264 -0.54053283716888822 0.00024615852936852315
-                 -0.00039580009650069315"/>
-    </keyframe>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // thin boxes meeting edge-to-face, separated by ~15um, within the margin
-  mj_resetDataKeyframe(model.get(), data.get(), 0);
-  mj_forward(model.get(), data.get());
-  mjtNum gap = mj_geomDistance(model.get(), data.get(), 0, 1, 0.1, nullptr);
-  EXPECT_GT(gap, 0);
-
-  // separated boxes: all margin-admitted contacts must have positive distance
-  ASSERT_GT(data->ncon, 0);
-  for (int i = 0; i < data->ncon; i++) {
-    EXPECT_GT(data->contact[i].dist, 0);
-  }
-
-  // same, calling the collider directly (margin is the sum of geom margins)
-  mjPreContact precon[mjMAXCONPAIR];
-  int num = mjc_BoxBox(model.get(), data.get(), precon, 0, 1, 2e-5);
-  for (int i = 0; i < num; i++) {
-    EXPECT_GT(precon[i].dist, 0);
-  }
-
-  // push box 2 into box 1 along the normal: the deep contact is still reported
-  mju_addToScl3(data->qpos + 7, data->contact[0].frame, -1e-4);
-  mj_forward(model.get(), data.get());
-  gap = mj_geomDistance(model.get(), data.get(), 0, 1, 0.1, nullptr);
-  EXPECT_LT(gap, 0);
-  ASSERT_GT(data->ncon, 0);
-  mjtNum deepest = data->contact[0].dist;
-  for (int i = 1; i < data->ncon; i++) {
-    deepest = mju_min(deepest, data->contact[i].dist);
-  }
-  EXPECT_THAT(deepest, MjNear(gap, 1e-8, 1e-6));
-}
-
-TEST_F(MjCollisionBoxTest, ThinBoxShallowPenetration) {
-  // thin boxes with zero margin, penetrating by ~100um: the deepest contact
-  // reaches the separating-axis bound up to rounding, and must not be dropped
-  // by the depth filter; the pose is written directly into mjData since the
-  // exact bits matter
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size="0.1 0.1 0.1"/>
-      <geom type="box" size="0.1 0.1 0.1"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-
-  const mjtNum size1[3] = {0.00044359468518251132, 0.0019427705390657074,
-                           0.00056716790015765711};
-  const mjtNum size2[3] = {0.00062288175555326323, 0.0010906336314477707,
-                           0.00030803275652456415};
-  const mjtNum pos2[3] = {-0.0011513383735175778, -0.0013813387665010076,
-                          -0.00043818094448460645};
-  const mjtNum quat1[4] = {0.28720146798163904, -0.083561810000907483,
-                           -0.51853459717827233, 0.80103346511099693};
-  const mjtNum quat2[4] = {0.51588977358544519, 0.63445106644895233,
-                           0.50962161111201376, -0.26761053656263345};
-  mju_copy3(model->geom_size, size1);
-  mju_copy3(model->geom_size + 3, size2);
-  mju_zero3(data->geom_xpos);
-  mju_copy3(data->geom_xpos + 3, pos2);
-  mju_quat2Mat(data->geom_xmat, quat1);
-  mju_quat2Mat(data->geom_xmat + 9, quat2);
-
-  mjtNum gap = mj_geomDistance(model.get(), data.get(), 0, 1, 0.1, nullptr);
-  EXPECT_LT(gap, 0);
-
-  mjPreContact precon[mjMAXCONPAIR];
-  int num = mjc_BoxBox(model.get(), data.get(), precon, 0, 1, 0);
-  ASSERT_GT(num, 0);
-  mjtNum deepest = precon[0].dist;
-  for (int i = 1; i < num; i++) {
-    deepest = mju_min(deepest, precon[i].dist);
-  }
-  EXPECT_THAT(deepest, MjNear(gap, 1e-8, 1e-6));
-}
-
-TEST_F(MjCollisionBoxTest, ThinBoxTunneledPenetration) {
-  // thin boxes penetrating deeper than their smallest half-dim: the
-  // midpoint-convention contact position lands outside both boxes, and the
-  // outside-box filter must not delete the entire manifold; the pose is written
-  // directly into mjData since the exact bits matter; one face contact and one
-  // edge-edge contact
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size="0.1 0.1 0.1"/>
-      <geom type="box" size="0.1 0.1 0.1"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-
-  struct Config {
-    mjtNum size1[3], size2[3], margin, pos2[3], quat1[4], quat2[4];
-  };
-  const Config configs[2] = {
-      // face contact
-      {{0.10375412296887962, 0.0014208822825842824, 0.029838770510023913},
-       {0.0047738704827163959, 0.0007140947854610601, 0.0045937794963772805},
-       1e-5,
-       {0.027189909560778446, 0.003935055006556199, -0.0055232476077228749},
-       {-0.18064681165220281, -0.38732117424997786, 0.11417869384387985,
-        0.89683457966874658},
-       {-0.29829616465597159, 0.84519552206173276, 0.23968520782082428,
-        -0.37311516826607399}},
-      // edge-edge contact
-      {{0.034760484829104925, 0.00071213467312592935, 0.0059314873303977222},
-       {0.013576183806600434, 0.0082162263322061238, 0.0011680617239575811},
-       1e-4,
-       {0.0044392420645136049, -0.0041767483250730571, 0.00078140511512282684},
-       {0.58664366826657666, 0.39991671184222333, 0.24085697266687636,
-        -0.66174296278070577},
-       {-0.35168496783547554, 0.48328103093900215, 0.12063144050164629,
-        -0.79259395915916098}}};
-
-  for (const Config& config : configs) {
-    mju_copy3(model->geom_size, config.size1);
-    mju_copy3(model->geom_size + 3, config.size2);
-    mju_zero3(data->geom_xpos);
-    mju_copy3(data->geom_xpos + 3, config.pos2);
-    mju_quat2Mat(data->geom_xmat, config.quat1);
-    mju_quat2Mat(data->geom_xmat + 9, config.quat2);
-
-    mjtNum gap = mj_geomDistance(model.get(), data.get(), 0, 1, 0.1, nullptr);
-    EXPECT_LT(gap, 0);
-
-    mjPreContact precon[mjMAXCONPAIR];
-    int num = mjc_BoxBox(model.get(), data.get(), precon, 0, 1, config.margin);
-    ASSERT_GT(num, 0);
-    mjtNum deepest = precon[0].dist;
-    for (int i = 1; i < num; i++) {
-      deepest = mju_min(deepest, precon[i].dist);
-    }
-    EXPECT_THAT(deepest, MjNear(gap, 1e-8, 1e-6));
-  }
-}
-
-TEST_F(MjCollisionBoxTest, EdgeContactAtDepthBound) {
-  // edge-edge contacts whose depth equals the separating-axis bound up to
-  // rounding: the depth filter's slack must cover single-precision rounding or
-  // the whole manifold is rejected; the pose is written directly into mjData
-  // since the exact bits matter
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size="0.1 0.1 0.1"/>
-      <geom type="box" size="0.1 0.1 0.1"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-
-  struct Config {
-    mjtNum size1[3], size2[3], pos2[3], quat1[4], quat2[4];
-  };
-  const Config configs[2] = {
-      {{0.018352361395955086, 0.038452208042144775, 0.047704100608825684},
-       {0.026817722246050835, 0.0014398059574887156, 0.0082265362143516541},
-       {-0.026325162500143051, 0.030753342434763908, 0.02338058315217495},
-       {-0.90091776847839355, -0.42279955744743347, 0.097014322876930237,
-        -0.013262901455163956},
-       {0.23919239640235901, 0.056073460727930069, 0.91227829456329346,
-        0.32770577073097229}},
-      {{0.044790275394916534, 0.0057221869938075542, 0.0049537895247340202},
-       {0.026496950536966324, 0.019804427400231361, 0.0057344711385667324},
-       {0.0094044031575322151, 0.020275400951504707, -0.017358051612973213},
-       {0.040385473519563675, 0.75189536809921265, -0.55430221557617188,
-        0.35464280843734741},
-       {-0.6716417670249939, 0.085770353674888611, 0.69683432579040527,
-        -0.23656430840492249}}};
-
-  for (const Config& config : configs) {
-    mju_copy3(model->geom_size, config.size1);
-    mju_copy3(model->geom_size + 3, config.size2);
-    mju_zero3(data->geom_xpos);
-    mju_copy3(data->geom_xpos + 3, config.pos2);
-    mju_quat2Mat(data->geom_xmat, config.quat1);
-    mju_quat2Mat(data->geom_xmat + 9, config.quat2);
-
-    mjtNum gap = mj_geomDistance(model.get(), data.get(), 0, 1, 0.1, nullptr);
-    EXPECT_LT(gap, 0);
-
-    mjPreContact precon[mjMAXCONPAIR];
-    int num = mjc_BoxBox(model.get(), data.get(), precon, 0, 1, 0);
-    ASSERT_GT(num, 0);
-    mjtNum deepest = precon[0].dist;
-    for (int i = 1; i < num; i++) {
-      deepest = mju_min(deepest, precon[i].dist);
-    }
-    // the collider prefers a face manifold when an edge axis is within five
-    // percent of it (resting-stack stability), so the deepest contact may
-    // legitimately deviate from the exact minimum by that fraction; the bug
-    // this test pins was three orders of magnitude
-    EXPECT_NEAR(deepest, gap, 0.06 * mju_abs(gap) + MjTol(1e-8, 1e-6));
-  }
-}
-
-// ------------------ differential tests against the pre-rewrite collider ------
-//
-// These measure the two properties the rewrite was written for, against the
-// implementation it replaced (boxbox_legacy.h). Both are consequences of the
-// same defect: in the nearly face-aligned regime the old collider let a
-// cross-product axis built from cancellation noise win the separating-axis
-// search, so the manifold it emitted changed shape from one step to the next,
-// and the solver's warm start never converged.
-
-// resting stacks live at relative angles of microradians; the manifold must not
-// depend on where in that regime the pair happens to sit
-TEST_F(MjCollisionBoxTest, NearAlignedManifoldIsExact) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size=".05 .05 .05"/>
-      <geom type="box" size=".05 .05 .05"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // one box resting on the other, overlapping by 10 um, tilted about a generic
-  // axis by angles spanning the regime where the edge-cross axes degenerate
-  // into noise
-  mjtNum axis[3] = {1, 0.5, 3};
-  mju_normalize3(axis);
-
-  struct Result {
-    int smallest =
-        mjMAXCONPAIR;  // smallest manifold seen while the faces still overlap
-    mjtNum worst_tilt =
-        0;  // largest deviation of a contact normal from the face normal
-  };
-  Result New, Legacy;
-
-  const mjtNum identity[4] = {1, 0, 0, 0};
-  for (int decade = -9; decade <= -2; decade++) {
-    mjtNum angle = mju_pow(10, decade);
-
-    // in this range the mutual rotation is resolvable in both precisions, and
-    // still small enough that the faces overlap almost completely: the clipped
-    // polygon is an octagon
-    bool octagon = decade >= -6 && decade <= -4;
-    mjtNum quat[4];
-    mju_axisAngle2Quat(quat, axis, angle);
-    mju_zero3(data->geom_xpos);
-    mju_quat2Mat(data->geom_xmat, identity);
-    mju_quat2Mat(data->geom_xmat + 9, quat);
-    data->geom_xpos[3] = 0;
-    data->geom_xpos[4] = 0;
-    data->geom_xpos[5] = 0.1 - 1e-5;
-
-    mjPreContact con[mjMAXCONPAIR];
-    for (int legacy = 0; legacy < 2; legacy++) {
-      int n = legacy ? mjc_BoxBoxLegacy(model.get(), data.get(), con, 0, 1, 0)
-                     : mjc_BoxBox(model.get(), data.get(), con, 0, 1, 0);
-      Result& r = legacy ? Legacy : New;
-      ASSERT_GT(n, 0) << (legacy ? "legacy" : "new") << " angle=" << angle;
-      if (octagon) r.smallest = mjMIN(r.smallest, n);
-      for (int i = 0; i < n; i++) {
-        // the true contact normal here is the shared face normal, +/- z
-        r.worst_tilt = mju_max(r.worst_tilt, 1 - mju_abs(con[i].normal[2]));
-      }
-    }
-  }
-
-  // the contact patch is the whole clipped incident face -- here an octagon,
-  // since the two squares are mutually rotated. Reducing it to a four-point
-  // subset is what an earlier draft of this collider did, and it costs two to
-  // three orders of magnitude of residual motion on stacks of plates, so the
-  // full polygon is pinned here.
-  EXPECT_EQ(New.smallest, 8);
-
-  // the contact normal is the face normal, exactly, at every angle in the
-  // regime where the edge-cross axes are rounding noise; the collider this
-  // replaced drifts off it
-  EXPECT_LE(New.worst_tilt, MjTol(1e-15, 1e-6));
-  EXPECT_LT(New.worst_tilt, Legacy.worst_tilt);
-}
-
-// a pair whose overlap is comparable to the rounding error of its own support
-// evaluation: the separating-axis test must err toward contact, or the boxes
-// pass through each other
-TEST_F(MjCollisionBoxTest, ShallowOverlapSurvivesRounding) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size="0.1 0.1 0.1"/>
-      <geom type="box" size="0.1 0.1 0.1"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-
-  // found by randomized search against an exact separating-axis reference
-  // evaluated in double: these two boxes overlap by 7.1e-8 of their scale,
-  // which the collider reported as separated under mjUSESINGLE while the exact
-  // comparison had no rounding slack. The pose is written straight into mjData
-  // because the exact bits matter.
-  const mjtNum size1[3] = {0.076610468327999115, 0.21989625692367554,
-                           0.0005179486470296979};
-  const mjtNum size2[3] = {0.02934698574244976, 0.00031350101926364005,
-                           0.1565844863653183};
-  const mjtNum pos2[3] = {0.1099575087428093, 0.067433357238769531,
-                          -0.27263233065605164};
-  const mjtNum quat1[4] = {-0.59937000274658203, 0.082370907068252563,
-                           -0.38643673062324524, 0.6961590051651001};
-  const mjtNum quat2[4] = {0.051869582384824753, -0.75536203384399414,
-                           0.60438132286071777, 0.24791309237480164};
-
-  mju_copy3(model->geom_size, size1);
-  mju_copy3(model->geom_size + 3, size2);
-  mju_zero3(data->geom_xpos);
-  mju_copy3(data->geom_xpos + 3, pos2);
-  mju_quat2Mat(data->geom_xmat, quat1);
-  mju_quat2Mat(data->geom_xmat + 9, quat2);
-
-  mjPreContact precon[mjMAXCONPAIR];
-  EXPECT_GT(mjc_BoxBox(model.get(), data.get(), precon, 0, 1, 0), 0);
-}
-
-// the dynamic consequence: a tall aligned stack. The old collider loses it.
-TEST_F(MjCollisionBoxTest, AlignedTowerStands) {
-  static constexpr int kNumBoxes = 20;
-  std::string xml = R"(
-  <mujoco>
-    <option timestep=".002"/>
-    <worldbody>
-      <geom type="plane" size="5 5 .1"/>
-  )";
-  // 1 mm gaps: the stack settles onto itself, and it is the settling impacts
-  // that expose a manifold which changes shape from step to step
-  for (int i = 0; i < kNumBoxes; i++) {
-    xml += "<body pos='0 0 " +
-           std::to_string(0.05 + 0.1 * i + 0.001 * (i + 1)) +
-           "'><freejoint/><geom type='box' size='.05 .05 .05'/></body>\n";
-  }
-  xml += "</worldbody></mujoco>";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  // settled speed and number of boxes that lost most of their height, per
-  // collider
-  mjtNum speed[2];
-  int fallen[2];
-  for (int legacy = 0; legacy < 2; legacy++) {
-    mjCOLLISIONFUNC[mjGEOM_BOX][mjGEOM_BOX] =
-        legacy ? mjc_BoxBoxLegacy : mjc_BoxBox;
-    MjDataPtr data = MakeData(model);
-    speed[legacy] = 0;
-    fallen[legacy] = 0;
-    for (int step = 0; step < 1500; step++) {  // 3 seconds
-      mj_step(model.get(), data.get());
-      if (step > 1000) {  // measure once the stack has settled
-        for (int i = 0; i < model->nv; i++) {
-          speed[legacy] = mju_max(speed[legacy], mju_abs(data->qvel[i]));
-        }
-      }
-    }
-    for (int b = 1; b < model->nbody; b++) {
-      if (data->xipos[3 * b + 2] < 0.5 * model->body_pos[3 * b + 2])
-        fallen[legacy]++;
-    }
-  }
-  mjCOLLISIONFUNC[mjGEOM_BOX][mjGEOM_BOX] = mjc_BoxBox;
-
-  // the rewrite brings the tower to rest, every box still stacked
-  EXPECT_EQ(fallen[0], 0);
-  EXPECT_LT(speed[0], MjTol(1e-6, 1e-2));
-
-  // the collider it replaced leaves it permanently agitated: the residual
-  // motion is orders of magnitude larger, and given a few more seconds the
-  // tower falls over
-  EXPECT_LT(speed[0], 1e-3 * speed[1]);
-}
-
-TEST_F(MjCollisionBoxTest, ConcentricAndContainedBoxes) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size="1 1 1"/>
-      <geom type="box" size="0.2 0.2 0.2"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-
-  mjPreContact precon[mjMAXCONPAIR];
-
-  // 1. Concentric identical boxes: size [1, 1, 1] for both
-  mju_copy3(model->geom_size + 3, model->geom_size);
-  mju_zero3(data->geom_xpos);
-  mju_zero3(data->geom_xpos + 3);
-  int num = mjc_BoxBox(model.get(), data.get(), precon, 0, 1, 0);
-  EXPECT_GT(num, 0);
-  EXPECT_LE(num, 8);
-  for (int i = 0; i < num; i++) {
-    EXPECT_NEAR(precon[i].dist, -2.0, MjTol(1e-8, 1e-6));
-  }
-
-  // 2. Smaller box contained inside larger box, moved through each face
-  const mjtNum small_size[3] = {0.2, 0.2, 0.2};
-  mju_copy3(model->geom_size + 3, small_size);
-  for (int axis = 0; axis < 3; axis++) {
-    for (mjtNum dir : {-1.0, 1.0}) {
-      for (mjtNum offset : {0.5, 0.79, 0.8, 0.81, 1.2, 1.3}) {
-        mju_zero3(data->geom_xpos + 3);
-        data->geom_xpos[3 + axis] = dir * offset;
-        num = mjc_BoxBox(model.get(), data.get(), precon, 0, 1, 0.05);
-
-        // penetration/gap along that axis
-        mjtNum expected_dist = offset - 1.0 - 0.2;
-        if (expected_dist > 0.05) {
-          EXPECT_EQ(num, 0);
-        } else {
-          EXPECT_GT(num, 0);
-          for (int i = 0; i < num; i++) {
-            EXPECT_NEAR(precon[i].dist, expected_dist, MjTol(1e-7, 1e-5));
-            EXPECT_NEAR(precon[i].normal[axis], dir, MjTol(1e-7, 1e-5));
-          }
-        }
-      }
-    }
-  }
-}
-
-TEST_F(MjCollisionBoxTest, CanonicalFaceAndEdgeAlignments) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size="0.1 0.1 0.1"/>
-      <geom type="box" size="0.1 0.1 0.1"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-
-  mjPreContact precon[mjMAXCONPAIR];
-
-  // 1. Exact 45-degree edge resting on horizontal face
-  mjtNum quat_45[4];
-  mjtNum y_axis[3] = {0, 1, 0};
-  mju_axisAngle2Quat(quat_45, y_axis, mjPI / 4.0);
-  mju_zero3(data->geom_xpos);
-  // corner/edge of tilted box touches top face of lower box
-  // lower top face is at z = 0.1; lowest edge of upper box is at -sqrt(2)*0.1
-  mjtNum diag = 0.1 * std::sqrt(2.0);
-  data->geom_xpos[3] = 0;
-  data->geom_xpos[4] = 0;
-  data->geom_xpos[5] = 0.1 + diag - 0.005;  // 5mm penetration
-  mju_quat2Mat(data->geom_xmat, quat_45);   // identity for 0, quat_45 for 1
-  mju_zero(data->geom_xmat, 9);
-  data->geom_xmat[0] = data->geom_xmat[4] = data->geom_xmat[8] = 1.0;
-  mju_quat2Mat(data->geom_xmat + 9, quat_45);
-
-  int num = mjc_BoxBox(model.get(), data.get(), precon, 0, 1, 0);
-  // edge-on-face contact generates contacts along the supporting edge
-  EXPECT_GT(num, 0);
-  for (int i = 0; i < num; i++) {
-    EXPECT_NEAR(precon[i].dist, -0.005, MjTol(1e-6, 1e-4));
-    EXPECT_NEAR(precon[i].normal[2], 1.0, MjTol(1e-6, 1e-4));
-  }
-
-  // 2. Perpendicular edges crossing (90 degrees around z)
-  mjtNum quat_90[4];
-  mjtNum z_axis[3] = {0, 0, 1};
-  mju_axisAngle2Quat(quat_90, z_axis, mjPI / 2.0);
-  mju_quat2Mat(data->geom_xmat + 9, quat_90);
-  data->geom_xpos[5] = 0.2 - 0.002;  // 2mm penetration, centered
-  num = mjc_BoxBox(model.get(), data.get(), precon, 0, 1, 0);
-  EXPECT_GE(num, 4);  // overlapping polygons produce a 4 to 8 vertex patch
-  EXPECT_LE(num, 8);
-  for (int i = 0; i < num; i++) {
-    EXPECT_NEAR(precon[i].dist, -0.002, MjTol(1e-7, 1e-5));
-    EXPECT_NEAR(precon[i].normal[2], 1.0, MjTol(1e-7, 1e-5));
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_collision_continuous_test.cc b/test/engine/engine_collision_continuous_test.cc
deleted file mode 100644
index 86345b4d..00000000
--- a/test/engine/engine_collision_continuous_test.cc
+++ /dev/null
@@ -1,394 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_collision_continuous.c: the distance kernels, the
-// per-pair gap and its gradient (finite-difference checked), the swept
-// candidate generation, and the conservative advancement. Everything is
-// exercised directly on hand-built pairs or tiny flex models; no contact solver
-// is involved.
-
-#include "src/engine/engine_collision_continuous.h"
-
-#include <cmath>
-#include <cstdio>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// convenience shims over the MJAPI geometry kernels (pose taken from d,
-// scratch dropped)
-static mjtNum PtTri(const mjtNum* p, const mjtNum* a, const mjtNum* b,
-                    const mjtNum* c) {
-  mjtNum cp[3], w[3];
-  return mjc_PtTri(p, a, b, c, cp, w);
-}
-static mjtNum SegSeg(const mjtNum* p1, const mjtNum* p2, const mjtNum* q1,
-                     const mjtNum* q2) {
-  mjtNum cp1[3], cp2[3], st[2];
-  return mjc_SegSeg(p1, p2, q1, q2, cp1, cp2, st);
-}
-static mjtNum GeomDist(const mjModel* m, const mjData* d, int gi,
-                       const mjtNum* x, mjtNum* n) {
-  return mjc_GeomDist(m, gi, d->geom_xpos + 3*gi, d->geom_xmat + 9*gi, x, n,
-                      1e30);
-}
-static int GeomVerts(const mjModel* m, const mjData* d, int gi, mjtNum* out) {
-  return mjc_GeomVerts(m, gi, d->geom_xpos + 3*gi, d->geom_xmat + 9*gi, out);
-}
-static int GeomEdges(const mjModel* m, const mjData* d, int gi, mjtNum* out) {
-  return mjc_GeomEdges(m, gi, d->geom_xpos + 3*gi, d->geom_xmat + 9*gi, out);
-}
-
-using ::testing::NotNull;
-using ContinuousCollisionTest = MujocoTest;
-
-static mjModel* Load(const char* xml) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), NotNull()) << error;
-  return model.release();
-}
-
-// id of the first geom in the model
-static int FirstGeom(const mjModel* m) { return 0; }
-
-// ----------------------------- element distances -----------------------------
-
-// point-triangle distance: interior (perpendicular), edge region, vertex region
-TEST_F(ContinuousCollisionTest, PointTriangleDistance) {
-  mjtNum a[3] = {0, 0, 0}, b[3] = {1, 0, 0}, c[3] = {0, 1, 0};
-
-  mjtNum p_above[3] = {0.2, 0.2, 0.5};        // over the interior
-  EXPECT_NEAR(PtTri(p_above, a, b, c), 0.5, MjTol(1e-12, 1e-5));
-
-  mjtNum p_edge[3] = {-1, 0.5, 0};            // nearest the x=0 edge
-  EXPECT_NEAR(PtTri(p_edge, a, b, c), 1.0, MjTol(1e-12, 1e-5));
-
-  mjtNum p_vert[3] = {-3, -4, 0};             // nearest vertex a
-  EXPECT_NEAR(PtTri(p_vert, a, b, c), 5.0, MjTol(1e-12, 1e-5));
-
-  mjtNum p_on[3] = {0.25, 0.25, 0};           // on the triangle
-  EXPECT_NEAR(PtTri(p_on, a, b, c), 0.0, MjTol(1e-12, 1e-5));
-}
-
-// segment-segment distance: perpendicular crossing, collinear gap, parallel
-// offset
-TEST_F(ContinuousCollisionTest, SegmentSegmentDistance) {
-  mjtNum p1[3] = {-1, 0, 0}, p2[3] = {1, 0, 0};
-
-  // perpendicular, 0.3 above
-  mjtNum q1[3] = {0, -1, 0.3}, q2[3] = {0, 1, 0.3};
-  EXPECT_NEAR(SegSeg(p1, p2, q1, q2), 0.3, MjTol(1e-12, 1e-5));
-
-  mjtNum r1[3] = {2, 0, 0}, r2[3] = {3, 0, 0};            // collinear, gap 1
-  EXPECT_NEAR(SegSeg(p1, p2, r1, r2), 1.0, MjTol(1e-12, 1e-5));
-
-  mjtNum s1[3] = {-1, 0, 0.5}, s2[3] = {1, 0, 0.5};       // parallel, 0.5 above
-  EXPECT_NEAR(SegSeg(p1, p2, s1, s2), 0.5, MjTol(1e-12, 1e-5));
-}
-
-// ------------------------------- geom distance -------------------------------
-
-constexpr char kPrimitivesXml[] = R"(
-<mujoco>
-  <worldbody>
-    <geom name="box" type="box" size="0.1 0.2 0.3" pos="0 0 0"/>
-    <geom name="sphere" type="sphere" size="0.1" pos="1 0 0"/>
-    <geom name="plane" type="plane" size="0 0 1" pos="0 0 -1"/>
-  </worldbody>
-</mujoco>
-)";
-
-TEST_F(ContinuousCollisionTest, GeomDistance) {
-  mjModel* m = Load(kPrimitivesXml);
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-  int box = mj_name2id(m, mjOBJ_GEOM, "box");
-  int sphere = mj_name2id(m, mjOBJ_GEOM, "sphere");
-  int plane = mj_name2id(m, mjOBJ_GEOM, "plane");
-  mjtNum n[3];
-
-  // box (half-extent 0.1 in x): point on +x at 0.5 -> surface distance 0.4,
-  // normal +x
-  mjtNum px[3] = {0.5, 0, 0};
-  EXPECT_NEAR(GeomDist(m, d, box, px, n), 0.4, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(n[0], 1, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(n[1], 0, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(n[2], 0, MjTol(1e-12, 1e-5));
-
-  // interior point -> negative signed distance
-  mjtNum pc[3] = {0, 0, 0};
-  EXPECT_LT(GeomDist(m, d, box, pc, n), 0);
-
-  // sphere radius 0.1 at (1,0,0): point at (1.3,0,0) -> 0.2, normal +x
-  mjtNum ps[3] = {1.3, 0, 0};
-  EXPECT_NEAR(GeomDist(m, d, sphere, ps, n), 0.2, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(n[0], 1, MjTol(1e-12, 1e-5));
-
-  // plane at z=-1: point at z=0 -> 1.0, normal +z
-  mjtNum pp[3] = {0.3, -0.2, 0};
-  EXPECT_NEAR(GeomDist(m, d, plane, pp, n), 1.0, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(n[2], 1, MjTol(1e-12, 1e-5));
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// ---------------------------- geom sharp features ----------------------------
-
-// a box exposes its 8 corners (at +/-size) and 12 edges
-TEST_F(ContinuousCollisionTest, BoxFeatures) {
-  constexpr char xml[] = R"(
-  <mujoco><worldbody>
-    <geom type="box" size="0.1 0.2 0.3"/>
-  </worldbody></mujoco>)";
-  mjModel* m = Load(xml);
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  mjtNum verts[8*3], edges[12*6];
-  int nv = GeomVerts(m, d, FirstGeom(m), verts);
-  int ne = GeomEdges(m, d, FirstGeom(m), edges);
-  EXPECT_EQ(nv, 8);
-  EXPECT_EQ(ne, 12);
-  for (int i = 0; i < nv; i++) {
-    EXPECT_NEAR(std::fabs(verts[3*i + 0]), 0.1, MjTol(1e-12, 1e-5));
-    EXPECT_NEAR(std::fabs(verts[3*i + 1]), 0.2, MjTol(1e-12, 1e-5));
-    EXPECT_NEAR(std::fabs(verts[3*i + 2]), 0.3, MjTol(1e-12, 1e-5));
-  }
-  // every box edge has unit length along exactly one axis (here 0.2, 0.4, or
-  // 0.6)
-  for (int i = 0; i < ne; i++) {
-    mjtNum dx = edges[6*i+3] - edges[6*i+0];
-    mjtNum dy = edges[6*i+4] - edges[6*i+1];
-    mjtNum dz = edges[6*i+5] - edges[6*i+2];
-    mjtNum len = std::sqrt(dx*dx + dy*dy + dz*dz);
-    EXPECT_TRUE(std::fabs(len-0.2) < MjTol(1e-12, 1e-5) ||
-                std::fabs(len-0.4) < MjTol(1e-12, 1e-5) ||
-                std::fabs(len-0.6) < MjTol(1e-12, 1e-5))
-        << "edge " << i << " length " << len;
-  }
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// a convex mesh exposes its vertices and its (deduplicated) hull edges;
-// a tetrahedron has 4 and 6
-TEST_F(ContinuousCollisionTest, MeshFeatures) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <asset><mesh name="tet" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/></asset>
-    <worldbody><geom type="mesh" mesh="tet"/></worldbody>
-  </mujoco>)";
-  mjModel* m = Load(xml);
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  mjtNum verts[64*3], edges[256*6];
-  int nv = GeomVerts(m, d, FirstGeom(m), verts);
-  int ne = GeomEdges(m, d, FirstGeom(m), edges);
-  EXPECT_EQ(nv, 4);   // tetrahedron vertices
-  EXPECT_EQ(ne, 6);   // tetrahedron edges (each shared hull edge emitted once)
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// --------------------------------- pair gap ----------------------------------
-
-// vertex-triangle pair: the gap is the point-triangle distance (midsurface:
-// radii not subtracted), and (n, cw) is its exact gradient, checked by central
-// differences at every involved vertex
-TEST_F(ContinuousCollisionTest, PairGapVertexTriangleGradient) {
-  mjModel* m = Load(kPrimitivesXml);
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  // free points: vertex 0 above the interior of triangle (1, 2, 3)
-  mjtNum x[12] = {0.2, 0.2, 0.5,   0, 0, 0,   1, 0, 0,   0, 1, 0};
-  mjtNum radii[4] = {0.005, 0.005, 0.005, 0.005};
-  mjcFlexPair pair;
-  pair.type = mjcFLEX_VERT_TRI;
-  pair.idx[0] = 0; pair.idx[1] = 1; pair.idx[2] = 2; pair.idx[3] = 3;
-  pair.g = -1;
-
-  mjtNum n[3], cw[4];
-  int idv[4], nidx = 0;
-  mjtNum g = mjc_pairGap(&pair, m, d, x, nullptr, nullptr, radii, n, idv, cw,
-                         &nidx, 1e30);
-  // midsurface distance, radii not subtracted
-  EXPECT_NEAR(g, 0.5, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(n[0], 0, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(n[1], 0, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(std::fabs(n[2]), 1, MjTol(1e-12, 1e-5));
-  EXPECT_GT(nidx, 0);
-
-  // dg/d(vertex idv[p]) = cw[p]*n, by central differences
-  mjtNum eps = MjTol(1e-6, 1e-3);
-  for (int p = 0; p < nidx; p++) {
-    for (int k = 0; k < 3; k++) {
-      mjtNum saved = x[3*idv[p] + k];
-      x[3*idv[p] + k] = saved + eps;
-      mjtNum gp = mjc_pairGap(&pair, m, d, x, nullptr, nullptr, radii, n,
-                              idv, cw, &nidx, 1e30);
-      x[3*idv[p] + k] = saved - eps;
-      mjtNum gm = mjc_pairGap(&pair, m, d, x, nullptr, nullptr, radii, n,
-                              idv, cw, &nidx, 1e30);
-      x[3*idv[p] + k] = saved;
-      mjtNum g0 = mjc_pairGap(&pair, m, d, x, nullptr, nullptr, radii, n,
-                              idv, cw, &nidx, 1e30);
-      EXPECT_NEAR(cw[p]*n[k], (gp - gm) / (2*eps), MjTol(1e-6, 1e-3))
-          << "gradient mismatch at involved vertex " << p << " axis " << k
-          << " (gap " << g0 << ")";
-    }
-  }
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// ------------------------- conservative advancement --------------------------
-
-// a vertex sweeping through a triangle: the advance caps alpha so the gap keeps
-// 20% of its value, reports the pair's own time of impact, and flags it as
-// approaching; motion away is uncapped
-TEST_F(ContinuousCollisionTest, AdvanceCapsCrossing) {
-  mjModel* m = Load(kPrimitivesXml);
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  mjtNum x[12] = {0.2, 0.2, 0.5,   0, 0, 0,   1, 0, 0,   0, 1, 0};
-  mjtNum radii[4] = {0.005, 0.005, 0.005, 0.005};
-  int fidx[4] = {0, 1, 2, 3};              // all points free, identity map
-  // cross-flex pair: no coherent-motion mean removal
-  int pt2flex[4] = {0, 1, 1, 1};
-  mjcFlexPair cand;
-  cand.type = mjcFLEX_VERT_TRI;
-  cand.idx[0] = 0; cand.idx[1] = 1; cand.idx[2] = 2; cand.idx[3] = 3;
-  cand.g = -1;
-
-  mjtNum n[3], cw[4];
-  int idv[4], nidx = 0;
-  mjtNum cgap[1];
-  cgap[0] = mjc_pairGap(&cand, m, d, x, nullptr, nullptr, radii, n, idv, cw,
-                        &nidx, 1e30);
-  ASSERT_NEAR(cgap[0], 0.5, MjTol(1e-12, 1e-5));
-
-  // vertex 0 moves straight down by 1: the full step would end 0.5 below the
-  // triangle
-  mjtNum dxw[12] = {0, 0, -1};
-  int appr[1];
-  mjtNum toi[1];
-  mjtNum alpha = mjc_advance(m, d, x, dxw, nullptr, nullptr, radii, 4, fidx,
-                             &cand, 1, cgap, pt2flex, appr, toi);
-  // the advance stops when the gap has dropped to 20% of its value:
-  // alpha = (0.5 - 0.1)/1 = 0.4
-  EXPECT_NEAR(alpha, 0.4, 1e-3);
-  EXPECT_LT(toi[0], 1.0);
-  EXPECT_EQ(appr[0], 1);
-
-  // moving away at speed 1: the closing-rate bound is conservative (it does not
-  // project onto the normal), so the pair still reaches the bisection and is
-  // flagged approaching -- but the actual gap grows along the path, so the
-  // advance is uncapped and there is no impact
-  mjtNum dxw_up[12] = {0, 0, +1};
-  alpha = mjc_advance(m, d, x, dxw_up, nullptr, nullptr, radii, 4, fidx,
-                      &cand, 1, cgap, pt2flex, appr, toi);
-  EXPECT_NEAR(alpha, 1.0, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(toi[0], 1.0, MjTol(1e-12, 1e-5));
-
-  // slow motion (well under 80% of the gap): absorbed by the 20% floor without
-  // any bisection, whatever its direction
-  mjtNum dxw_slow[12] = {0, 0, -0.1};
-  alpha = mjc_advance(m, d, x, dxw_slow, nullptr, nullptr, radii, 4, fidx,
-                      &cand, 1, cgap, pt2flex, appr, toi);
-  EXPECT_NEAR(alpha, 1.0, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(toi[0], 1.0, MjTol(1e-12, 1e-5));
-  EXPECT_EQ(appr[0], 0);
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// --------------------------- candidate generation ----------------------------
-
-// two stacked cloths: the swept broad phase finds cross-flex pairs when they
-// are within the detection reach and none when they are far apart
-TEST_F(ContinuousCollisionTest, CandidatesFindApproachingPairs) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <flexcomp name="lower" type="grid" dim="2" count="2 2 1"
-                spacing="0.05 0.05 1" radius="0.005" mass="0.05" pos="0 0 0.5"/>
-      <flexcomp name="upper" type="grid" dim="2" count="2 2 1"
-                spacing="0.05 0.05 1" radius="0.005" mass="0.05" pos="0 0 %g"/>
-    </worldbody>
-  </mujoco>)";
-
-  for (mjtNum dz : {0.002, 0.5}) {
-    char xml_filled[1024];
-    snprintf(xml_filled, sizeof(xml_filled), xml, 0.5 + dz);
-    mjModel* m = Load(xml_filled);
-    mjData* d = mj_makeData(m);
-    mj_forward(m, d);
-
-    // free-point arrays over the two dim-2 flexes, in flex order
-    int nfd = m->nflex;
-    ASSERT_EQ(nfd, 2);
-    int flist[2], fxadr[2], nfv = 0;
-    for (int k = 0; k < nfd; k++) {
-      flist[k] = k;
-      fxadr[k] = nfv;
-      nfv += m->flex_vertnum[k];
-    }
-    ASSERT_EQ(nfv, 8);
-    mjtNum x[8*3], radii[8];
-    int fidx[8], pt2flex[8];
-    for (int k = 0; k < nfd; k++) {
-      for (int v = 0; v < m->flex_vertnum[k]; v++) {
-        int pt = fxadr[k] + v, vg = m->flex_vertadr[k] + v;
-        for (int c = 0; c < 3; c++) x[3*pt + c] = d->flexvert_xpos[3*vg + c];
-        radii[pt] = m->flex_radius[k];
-        fidx[pt] = pt;
-        pt2flex[pt] = k;
-      }
-    }
-
-    // static query (no sweep): reach = 3*band, band 3 mm
-    mjtNum band = 0.003;
-    mjcFlexPair cand[256];
-    int ncand = mjc_candidates(m, d, x, nullptr, nullptr, 0, 0, radii, 3*band,
-                               3*band, 0.0, x, x, band, nfv, nfv, fidx, flist,
-                               fxadr, nfd, pt2flex, cand, 256);
-    if (dz < 0.01) {
-      EXPECT_GT(ncand, 0) << "2 mm apart, within reach: pairs expected";
-      for (int c = 0; c < ncand; c++) {
-        EXPECT_TRUE(cand[c].type == mjcFLEX_VERT_TRI ||
-                    cand[c].type == mjcFLEX_EDGE_EDGE)
-            << "flex-flex pair types only";
-      }
-    } else {
-      EXPECT_EQ(ncand, 0) << "0.5 m apart, beyond reach: no pairs expected";
-    }
-    mj_deleteData(d);
-    mj_deleteModel(m);
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_collision_convex_test.cc b/test/engine/engine_collision_convex_test.cc
deleted file mode 100644
index 7d4346e5..00000000
--- a/test/engine/engine_collision_convex_test.cc
+++ /dev/null
@@ -1,80 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_collision_convex.c.
-
-#include <cstddef>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-
-static const char* const kFramelessContactPath =
-    "engine/testdata/collision_convex/frameless_contact.xml";
-static const char* const kFramelessContactHfieldPath =
-    "engine/testdata/collision_convex/frameless_contact_hfield.xml";
-static const char* const kCylinderBoxPath =
-    "engine/testdata/collision_convex/cylinder_box.xml";
-
-using MjcConvexTest = MujocoTest;
-
-TEST_F(MjcConvexTest, FramelessContact) {
-  const std::string xml_path = GetTestDataFilePath(kFramelessContactPath);
-  char error[1024];
-  const std::size_t error_sz = 1024;
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, error_sz);
-  // Loading used to fail with "engine error: xaxis of contact frame undefined".
-  EXPECT_THAT(model, NotNull()) << "Failed to load model: " << error;
-  mj_deleteModel(model);
-}
-
-TEST_F(MjcConvexTest, FramelessContactHfield) {
-  const std::string xml_path = GetTestDataFilePath(kFramelessContactHfieldPath);
-  char error[1024];
-  const std::size_t error_sz = 1024;
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, error_sz);
-  // Loading used to fail with "engine error: xaxis of contact frame undefined".
-  EXPECT_THAT(model, NotNull()) << "Failed to load model: " << error;
-  mj_deleteModel(model);
-}
-
-TEST_F(MjcConvexTest, CylinderBox) {
-  const std::string xml_path = GetTestDataFilePath(kCylinderBoxPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  ASSERT_THAT(model, NotNull());
-  mjData* data = mj_makeData(model);
-
-  // with multiCCD enabled, should find 5 contacts
-  mj_forward(model, data);
-  EXPECT_EQ(data->ncon, 5);
-
-  // with multiCCD disabled, should find 1 contact
-  model->opt.disableflags |= mjDSBL_MULTICCD;
-  mj_forward(model, data);
-  EXPECT_EQ(data->ncon, 1);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_collision_driver_test.cc b/test/engine/engine_collision_driver_test.cc
deleted file mode 100644
index 949a99ca..00000000
--- a/test/engine/engine_collision_driver_test.cc
+++ /dev/null
@@ -1,478 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_collision_driver.c.
-
-#include "src/engine/engine_collision_driver.h"
-
-#include <algorithm>
-#include <cmath>
-#include <cstddef>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using MjCollisionTest = MujocoTest;
-using GeomPair = std::pair<std::string, std::string>;
-using ::testing::ElementsAre;
-using ::testing::IsEmpty;
-using ::testing::NotNull;
-
-// Returns a sorted list of pairs of colliding geom names, where each pair of
-// geom names is sorted.
-static std::vector<GeomPair> colliding_pairs(const mjModel* model,
-                                             const mjData* data) {
-  std::vector<GeomPair> result;
-  for (int i = 0; i < data->ncon; i++) {
-    std::string geom1 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom[0]);
-    std::string geom2 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom[1]);
-    result.push_back(GeomPair(std::min(geom1, geom2), std::max(geom1, geom2)));
-  }
-  std::sort(result.begin(), result.end());
-  return result;
-}
-
-TEST_F(MjCollisionTest, AllCollisions) {
-  static const char* const kModelFilePath = "engine/testdata/collisions.xml";
-  const std::string xml_path = GetTestDataFilePath(kModelFilePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  mjData* data = mj_makeData(model);
-
-  // mjCOL_ALL is the default
-  mj_fwdPosition(model, data);
-  EXPECT_THAT(colliding_pairs(model, data),
-              ElementsAre(GeomPair("box", "sphere_collides"),
-                          GeomPair("box", "sphere_predefined")));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCollisionTest, EmptyModel) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString("<mujoco/>", error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  mj_fwdPosition(model.get(), data.get());
-  EXPECT_THAT(colliding_pairs(model.get(), data.get()), IsEmpty());
-}
-
-TEST_F(MjCollisionTest, ZeroedHessian) {
-  static const char* const kModelFilePath = "engine/testdata/collisions.xml";
-  const std::string xml_path = GetTestDataFilePath(kModelFilePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  mjData* data = mj_makeData(model);
-
-  mj_fwdPosition(model, data);
-  for (int i = 0; i < data->ncon; i++) {
-    for (int j = 0; j < 36; j++) {
-      EXPECT_FALSE(isnan(data->contact[i].H[j]))
-          << "NaN in contact[" << i << "].H[" << j << "]";
-    }
-  }
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCollisionTest, ContactCount) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="plane" size="5 5 .01"/>
-      </body>
-      <body pos="0 0 0.9">
-        <freejoint/>
-        <geom type="sphere" size="1" pos="-1 -1 0"/>
-        <geom type="sphere" size="1" pos="-1  1 0"/>
-        <geom type="sphere" size="1" pos=" 1 -1 0"/>
-        <geom type="sphere" size="1" pos=" 1  1 0"/>
-        <geom type="sphere" size="1" pos="-2 -2 0"/>
-        <geom type="sphere" size="1" pos="-2  2 0"/>
-        <geom type="sphere" size="1" pos=" 2 -2 0"/>
-        <geom type="sphere" size="1" pos=" 2  2 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-
-  mj_forward(m.get(), d.get());
-
-  // there are 8 spheres, all touching the floor
-  EXPECT_EQ(d->ncon, 8);
-}
-
-TEST_F(MjCollisionTest, InGapContactsMultiGeomBody) {
-  // In-gap contacts survive mid-phase BVH pruning. Both bodies
-  // have a "far" geom that pulls the BVH root box away, so detecting the A-B
-  // pair requires the descent filter to account for gap (body_margin).
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="0 0 1">
-        <freejoint/>
-        <geom name="A" type="box" size=".005 .01 .3" pos="-.015 0 0" gap=".004"/>
-        <geom name="far1" type="box" size=".005 .01 .3" pos="-.2 0 0"/>
-      </body>
-      <body pos="0 0 1">
-        <freejoint/>
-        <geom name="B" type="box" size=".005 .01 .3" pos="-.0022 0 0" gap=".004"/>
-        <geom name="far2" type="box" size=".005 .01 .3" pos=".1 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-
-  mj_forward(m.get(), d.get());
-
-  // geoms A and B are separated by 2.8mm, within the 8mm combined gap:
-  // inactive contacts are expected
-  EXPECT_GT(d->ncon, 0);
-  for (int i = 0; i < d->ncon; i++) {
-    EXPECT_GT(d->contact[i].dist, 0);
-    EXPECT_LT(d->contact[i].dist, 0.008);
-    EXPECT_EQ(d->contact[i].efc_address, -1);
-  }
-}
-
-TEST_F(MjCollisionTest, FilterParent) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="0 0 0">
-        <freejoint/>
-        <geom name="colliding1" size="1" pos="0 0 100"/>
-        <body>
-          <geom size="1"/>
-          <body>
-            <joint axis="1 0 0"/>
-            <geom size="1" pos="0 0 50"/>
-            <body>
-              <geom name="colliding2" size="1" pos="0 0 99.5"/>
-            </body>
-          </body>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-
-  mj_fwdPosition(m.get(), d.get());
-
-  // there should be zero contacts, because colliding1 and colliding2 are in
-  // bodies that have a parent-child relationship, through welds
-  EXPECT_EQ(d->ncon, 0);
-
-  // when this filtering is disabled, the geoms should collide
-  m->opt.disableflags |= mjDSBL_FILTERPARENT;
-  mj_fwdPosition(m.get(), d.get());
-
-  EXPECT_THAT(colliding_pairs(m.get(), d.get()),
-              ElementsAre(GeomPair("colliding1", "colliding2")));
-}
-
-TEST_F(MjCollisionTest, FilterParentDoesntAffectWorldBody) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="colliding1" size="1" pos="0 0 100"/>
-      <body pos="0 0 0">
-        <joint axis="1 0 0"/>
-        <geom name="colliding2" size="1" pos="0 0 99.5"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-
-  mj_fwdPosition(m.get(), d.get());
-
-  // even though colliding1 and colliding2 are have a parent-child relationship,
-  // they collide because colliding1 is in <worldbody>
-  EXPECT_THAT(colliding_pairs(m.get(), d.get()),
-              ElementsAre(GeomPair("colliding1", "colliding2")));
-}
-
-TEST_F(MjCollisionTest, TestOBB) {
-  mjtNum bvh1[6] = {-1, -1, -1, 1, 1, 1};
-  mjtNum bvh2[6] = {-1, -1, -1, 1, 1, 1};
-  mjtNum pos1[3] = {0, 0, 0};
-  mjtNum mat1[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-  mjtNum pos2[3] = {1.71, 1.71, 0};  // just a little more than 1+sqrt(2)/2
-  mjtNum mat2[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-
-  EXPECT_THAT(
-      mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, 0, NULL, NULL, 0),
-      true);
-
-  // rotate by 45 degrees
-  mat2[0] = 1. / mju_sqrt(2.);
-  mat2[1] = -1. / mju_sqrt(2.);
-  mat2[3] = 1. / mju_sqrt(2.);
-  mat2[4] = 1. / mju_sqrt(2.);
-
-  EXPECT_THAT(
-      mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, 0, NULL, NULL, 0),
-      false);
-}
-
-TEST_F(MjCollisionTest, PlaneInBody) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom pos="0 0 0" type="plane" size="1 1 .01"/>
-      </body>
-      <body pos="0 0 .0499">
-        <joint type="slide" axis="0 0 1"/>
-        <geom size=".05"/>
-      </body>
-    </worldbody>
-    </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-  mj_step(m.get(), d.get());
-}
-
-TEST_F(MjCollisionTest, PinchingSucceeds) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.002" gravity="0 0 -9.81"/>
-    <worldbody>
-      <geom name="floor" type="plane" size="0 0 1"/>
-
-      <body name="gripper" pos="0 0 0.5">
-        <joint name="lift" type="slide" axis="0 0 1" damping="50"/>
-        <geom type="box" size="0.2 0.05 0.02" rgba="0.5 0.5 0.5 1"/> <!-- base -->
-
-        <body name="left_finger" pos="-0.1 0 -0.1">
-          <joint name="left_slide" type="slide" axis="1 0 0" damping="10"/>
-          <geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
-        </body>
-
-        <body name="right_finger" pos="0.1 0 -0.1">
-          <joint name="right_slide" type="slide" axis="-1 0 0" damping="10"/>
-          <geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
-        </body>
-      </body>
-
-      <flexcomp name="cloth" type="grid" dim="2" count="9 9 1" spacing="0.05 0.05 0.05"
-                pos="0 0 0.1" radius="0.01">
-        <edge equality="true"/>
-      </flexcomp>
-    </worldbody>
-
-    <equality>
-      <joint joint1="right_slide" joint2="left_slide"/>
-    </equality>
-
-    <tendon>
-      <fixed name="grasp">
-        <joint joint="right_slide" coef="1"/>
-        <joint joint="left_slide" coef="1"/>
-      </fixed>
-    </tendon>
-
-    <actuator>
-      <position name="lift" joint="lift" kp="600" dampratio="1" ctrlrange="-1 1"/>
-      <position name="grasp" tendon="grasp" kp="200" dampratio="1" ctrlrange="0 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-
-  int lift_id = mj_name2id(m.get(), mjOBJ_ACTUATOR, "lift");
-  int grasp_id = mj_name2id(m.get(), mjOBJ_ACTUATOR, "grasp");
-
-  // Phase 1: Lower gripper.
-  // The gripper base starts at z=0.5. The finger has length 0.2 (size 0.1),
-  // extending from z=0.4 to z=0.2 relative to base (center at -0.1).
-  // The cloth is at z=0.1. We need to lower the gripper so the fingertips
-  // reach the cloth. A lift value of -0.35 places the fingertips near z=0.05.
-
-  for (int i = 0; i < 500; ++i) {
-    d->ctrl[lift_id] = -0.35;  // Lower
-    d->ctrl[grasp_id] = 0;     // Open
-    mj_step(m.get(), d.get());
-  }
-
-  // Phase 2: Pinch
-  for (int i = 0; i < 100; ++i) {
-    d->ctrl[lift_id] = -0.35;  // Hold height
-    d->ctrl[grasp_id] = 0.8;   // Close (max 1)
-    mj_step(m.get(), d.get());
-  }
-
-  // Phase 3: Lift
-  for (int i = 0; i < 1000; ++i) {
-    d->ctrl[lift_id] = 0.5;   // Lift up
-    d->ctrl[grasp_id] = 0.8;  // Keep closed
-    mj_step(m.get(), d.get());
-  }
-
-  // Check if cloth is lifted
-  // flex verts are in d->flexvert_xpos
-  // original z is ~0.1 (falling to floor ~0.0)
-  // gripper lifted to > 0.5 probably
-
-  // Find average Z of cloth
-  double avg_z = 0;
-  int nvert = m->flex_vertnum[0];
-  for (int i = 0; i < nvert; ++i) {
-    avg_z += d->flexvert_xpos[3 * i + 2];
-  }
-  avg_z /= nvert;
-
-  // If lifted, avg_z should be significantly > 0.1
-  // If failed (slipped), avg_z should be near 0 (floor)
-
-  // Specialized primitives (mjraw_BoxTriangle, mjraw_CapsuleTriangle) should
-  // enable stable pinching, so we expect the cloth to be lifted.
-  EXPECT_GT(avg_z, 0.2) << "Cloth slipped out of gripper!";
-}
-
-TEST_F(MjCollisionTest, MarginSumming) {
-  // Two spheres with size 0.1, placed 0.21 apart (distance of 0.01).
-  // With margin summing, margin1 + margin2 = 0.00999 + 0.00999 = 0.01998 > 0.01
-  // so a contact should be generated.
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom name="sphere1" type="sphere" size=".1" margin="0.00999"/>
-        <joint type="slide" axis="1 0 0"/>
-      </body>
-      <body pos=".21 0 0">
-        <geom name="sphere2" type="sphere" size=".1" margin="0.00999"/>
-        <joint type="slide" axis="1 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-
-  mj_fwdPosition(m.get(), d.get());
-
-  // With margin summing, we expect 1 contact
-  EXPECT_EQ(d->ncon, 1);
-}
-
-TEST_F(MjCollisionTest, MaxContact) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option>
-      <flag multiccd="enable"/>
-    </option>
-    <asset>
-      <mesh name="smallbox"
-        vertex="-1 -1 -1  1 -1 -1   1  1 -1
-                 1  1  1  1 -1  1  -1  1 -1
-                -1  1  1 -1 -1  1"/>
-    </asset>
-    <worldbody>
-      <geom name="mesh" type="mesh" mesh="smallbox"/>
-      <geom name="box" type="box" size="1 1 1"/>
-      <geom name="plane" type="plane" size="1 1 1"/>
-      <geom name="sphere" type="sphere" size="1"/>
-      <geom name="capsule" type="capsule" size="1 1"/>
-      <geom name="ellipsoid" type="ellipsoid" size="1 1 1"/>
-      <geom name="cylinder" type="cylinder" size="1 1"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-
-  int mesh = mj_name2id(m.get(), mjOBJ_GEOM, "mesh");
-  int box = mj_name2id(m.get(), mjOBJ_GEOM, "box");
-  int plane = mj_name2id(m.get(), mjOBJ_GEOM, "plane");
-  int sphere = mj_name2id(m.get(), mjOBJ_GEOM, "sphere");
-  int capsule = mj_name2id(m.get(), mjOBJ_GEOM, "capsule");
-  int ellipsoid = mj_name2id(m.get(), mjOBJ_GEOM, "ellipsoid");
-  int cylinder = mj_name2id(m.get(), mjOBJ_GEOM, "cylinder");
-
-  EXPECT_EQ(mj_maxContact(m.get(), mesh, box, -1), 4);
-  EXPECT_EQ(mj_maxContact(m.get(), mesh, plane, -1), 3);
-  EXPECT_EQ(mj_maxContact(m.get(), box, plane, -1), 4);
-  EXPECT_EQ(mj_maxContact(m.get(), mesh, mesh, -1), 4);
-  EXPECT_EQ(mj_maxContact(m.get(), box, box, -1), 8);
-  EXPECT_EQ(mj_maxContact(m.get(), capsule, capsule, -1), 2);
-  EXPECT_EQ(mj_maxContact(m.get(), capsule, box, -1), 4);
-  EXPECT_EQ(mj_maxContact(m.get(), capsule, plane, -1), 2);
-  EXPECT_EQ(mj_maxContact(m.get(), cylinder, plane, -1), 4);
-  EXPECT_EQ(mj_maxContact(m.get(), sphere, sphere, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), sphere, capsule, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), sphere, box, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), sphere, mesh, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), sphere, plane, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), sphere, cylinder, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, ellipsoid, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, box, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, mesh, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, plane, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, cylinder, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), ellipsoid, capsule, -1), 1);
-  EXPECT_EQ(mj_maxContact(m.get(), capsule, cylinder, -1), 5);
-  EXPECT_EQ(mj_maxContact(m.get(), capsule, mesh, -1), 5);
-  EXPECT_EQ(mj_maxContact(m.get(), cylinder, cylinder, -1), 5);
-  EXPECT_EQ(mj_maxContact(m.get(), cylinder, box, -1), 5);
-  EXPECT_EQ(mj_maxContact(m.get(), cylinder, mesh, -1), 5);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
deleted file mode 100644
index 23d915b2..00000000
--- a/test/engine/engine_collision_gjk_test.cc
+++ /dev/null
@@ -1,2182 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_collision_gjk.c.
-
-#include "src/engine/engine_collision_gjk.h"
-
-#include <cstddef>
-#include <memory>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <ccd/ccd.h>  // IWYU pragma: keep
-#include <ccd/vec3.h>  // IWYU pragma: keep
-
-#include "src/engine/engine_collision_convex.h"
-#include <mujoco/mujoco.h>
-#include <mujoco/mjtype.h>
-#include "test/fixture.h"
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-
-// uncomment to run tests with libccd
-// #define TEST_WITH_LIBCCD
-
-namespace mujoco {
-namespace {
-
-using ::testing::ElementsAre;
-using ::testing::Pointwise;
-using ::testing::DoubleNear;
-
-constexpr mjtNum kTolerance = 1e-6;
-constexpr int kMaxIterations = 1000;
-constexpr char kEllipsoidXml[] = R"(
-<mujoco model="Ellipsoid Test">
-  <compiler angle="radian"/>
-  <size nkey="1"/>
-  <worldbody>
-    <geom name="geom1" size="0.1 0.1 0.1" pos="0 0 -0.1" type="ellipsoid"/>
-    <body pos="0 0 0.1">
-      <joint type="free" limited="false" actuatorfrclimited="false"/>
-      <geom name="geom2" size="0.01 0.02 0.1" type="ellipsoid"/>
-    </body>
-  </worldbody>
-
-  <keyframe>
-    <key time="1.446"
-      qpos="0.000886189 -0.0303047 0.0951303 0.98783 0.155468 0.00454524 1.60038e-06"
-      qvel="0.00769267 -0.258656 -0.0775641 2.73712 0.0813998 -0.000166485"/>
-  </keyframe>
-</mujoco>)";
-
-mjtNum GeomDist(const MjModelPtr& m, const MjDataPtr& d, int g1, int g2,
-                mjtNum x1[3], mjtNum x2[3], mjtNum cutoff = mjMAX_LIMIT) {
-  mjCCDConfig config;
-  mjCCDStatus status;
-
-  // set config
-  config.max_iterations = kMaxIterations,
-  config.tolerance = kTolerance,
-  config.max_contacts = 0;   // no geom contacts needed
-  config.dist_cutoff = cutoff;
-  config.buffer = nullptr;
-
-  mjCCDObj obj1, obj2;
-  mjc_initCCDObj(&obj1, m.get(), d.get(), g1, 0);
-  mjc_initCCDObj(&obj2, m.get(), d.get(), g2, 0);
-
-  mjtNum dist = mjc_ccd(&config, &status, &obj1, &obj2);
-  if (status.nx > 0) {
-    if (x1 != nullptr) mju_copy3(x1, status.x1);
-    if (x2 != nullptr) mju_copy3(x2, status.x2);
-  }
-  return dist;
-}
-
-int Penetration(mjCCDStatus& status, mjtNum& depth, std::vector<mjtNum>& dir,
-                std::vector<mjtNum>& pos, const MjModelPtr& model,
-                const MjDataPtr& data, int g1, int g2, mjtNum margin = 0,
-                int max_contacts = 1) {
-  mjCCDObj obj1, obj2;
-  mjc_initCCDObj(&obj1, model.get(), data.get(), g1, margin);
-  mjc_initCCDObj(&obj2, model.get(), data.get(), g2, margin);
-
-#if defined(TEST_WITH_LIBCCD)
-  if (max_contacts == 1) {
-    ccd_t ccd;
-    CCD_INIT(&ccd);
-    ccd.mpr_tolerance = kTolerance;
-    ccd.epa_tolerance = kTolerance;
-    ccd.max_iterations = kMaxIterations;
-    ccd.center1 = mjccd_center;
-    ccd.center2 = mjccd_center;
-    ccd.support1 = mjccd_support;
-    ccd.support2 = mjccd_support;
-
-    ccd_real_t ccd_depth;
-    ccd_vec3_t ccd_dir, ccd_pos;
-
-    int ret = ccdMPRPenetration(&obj1, &obj2, &ccd, &ccd_depth, &ccd_dir,
-                                &ccd_pos);
-    if (ret) return 0;
-    dir.resize(3);
-    pos.resize(3);
-    depth = -ccd_depth;
-    mju_copy3(dir.data(), ccd_dir.v);
-    mju_copy3(pos.data(), ccd_pos.v);
-    return 1;
-  }
-#endif
-
-  mjCCDConfig config;
-
-  // set config
-  auto buffer = std::vector<std::byte>(
-      mjc_ccdSize(model->npolygonmax, model->nmeshdegmax, kMaxIterations));
-  config.max_iterations = kMaxIterations;
-  config.tolerance = kTolerance;
-  config.max_contacts = max_contacts;
-  config.dist_cutoff = 0;  // no geom distances needed
-  config.npolygonmax = model->npolygonmax;
-  config.nmeshdegmax = model->nmeshdegmax;
-  config.max_contacts = max_contacts;
-  config.buffer = buffer.data();
-
-  mjtNum dist = mjc_ccd(&config, &status, &obj1, &obj2);
-  if (dist < 0) {
-    dir.resize(3 * status.nx);
-    pos.resize(3 * status.nx);
-    for (int i = 0; i < status.nx; ++i) {
-      // compute direction
-      mju_sub3(&dir[3 * i], status.x1 + 3 * i, status.x2 + 3 * i);
-      mju_normalize3(&dir[3 * i]);
-
-      // compute position
-      pos[3 * i + 0] = 0.5 * (status.x1[0 + 3 * i] + status.x2[0 + 3 * i]);
-      pos[3 * i + 1] = 0.5 * (status.x1[1 + 3 * i] + status.x2[1 + 3 * i]);
-      pos[3 * i + 2] = 0.5 * (status.x1[2 + 3 * i] + status.x2[2 + 3 * i]);
-    }
-    depth = dist;
-    return status.nx;
-  }
-
-  // no contacts
-  return 0;
-}
-
-using MjGjkTest = MujocoTest;
-
-TEST_F(MjGjkTest, SphereSphereDist) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="sphere" pos="-1.5 0 0" size="1"/>
-      <geom name="geom2" type="sphere" pos="1.5 0 0" size="1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-  mjtNum x1[3], x2[3];
-  mjtNum dist = GeomDist(model, data, geom1, geom2, x1, x2);
-
-  EXPECT_EQ(dist, 1);
-  EXPECT_THAT(x1, ElementsAre(-.5, 0, 0));
-  EXPECT_THAT(x2, ElementsAre(.5, 0, 0));
-}
-
-TEST_F(MjGjkTest, SphereSphereDistCutoff) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="sphere" pos="-1.5 0 0" size="1"/>
-      <geom name="geom2" type="sphere" pos="1.5 0 0" size="1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-  mjtNum dist = GeomDist(model, data, geom1, geom2, nullptr, nullptr, .999999);
-
-  EXPECT_EQ(dist, mjMAX_LIMIT);
-}
-
-TEST_F(MjGjkTest, SphereSphereNoDist) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="sphere" pos="-1.5 0 0" size="1"/>
-      <geom name="geom2" type="sphere" pos="1.5 0 0" size="1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
-
-  ASSERT_EQ(ncons, 0);
-}
-
-TEST_F(MjGjkTest, SphereSphereIntersect) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="sphere" pos="-1 0 0" size="3"/>
-      <geom name="geom2" type="sphere" pos="3 0 0" size="3"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
-
-  ASSERT_EQ(ncons, 1);
-
-  // penetration depth
-  EXPECT_NEAR(dist, -2, kTolerance);
-
-  // direction
-  EXPECT_NEAR(dir[0], 1, kTolerance);
-  EXPECT_NEAR(dir[1], 0, kTolerance);
-  EXPECT_NEAR(dir[2], 0, kTolerance);
-
-  // position
-  EXPECT_NEAR(pos[0], 1, kTolerance);
-  EXPECT_NEAR(pos[1], 0, kTolerance);
-  EXPECT_NEAR(pos[2], 0, kTolerance);
-}
-
-TEST_F(MjGjkTest, BoxBoxDepth) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" pos="-1 0 0" size="2.5 2.5 2.5"/>
-      <geom name="geom2" type="box" pos="1.5 0 0" size="1 1 1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
-
-  ASSERT_EQ(ncons, 1);
-
-  EXPECT_NEAR(dist, -1, kTolerance);
-  EXPECT_NEAR(dir[0], 1, kTolerance);
-  EXPECT_NEAR(dir[1], 0, kTolerance);
-  EXPECT_NEAR(dir[2], 0, kTolerance);
-}
-
-TEST_F(MjGjkTest, BoxBoxDepth2) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="5 5 .1"/>
-      <geom name="geom2" type="box" size="1 1 1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat + 9;
-  mjtNum* xpos = data->geom_xpos + 3;
-
-  xpos[0] = -0.000171208577507291721461757383;
-  xpos[1] = -0.000171208577507290908310128019;
-  xpos[2] = 1.067119586248553853025100579544;
-
-  xmat[0] = 0.999999966039443077825410455262;
-  xmat[1] = -0.000000033960556969622165789148;
-  xmat[2] = -0.000260616790777324182967061850;
-  xmat[3] = -0.000000033960556972087627235699;
-  xmat[4] = 0.999999966039443077825410455262;
-  xmat[5] = -0.000260616790777321797722282382;
-  xmat[6] = 0.000260616790777324182967061850;
-  xmat[7] = 0.000260616790777321797722282382;
-  xmat[8] = 0.999999932078886044628518448008;
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
-
-  ASSERT_EQ(ncons, 1);
-  EXPECT_NEAR(dist, -0.033401579411886845, kTolerance);
-  EXPECT_THAT(dir[0], MjNear(0, kTolerance, 1e-5));
-  EXPECT_THAT(dir[1], MjNear(0, kTolerance, 1e-5));
-  EXPECT_THAT(dir[2], MjNear(1, kTolerance, 1e-5));
-}
-
-TEST_F(MjGjkTest, BoxBoxDepth3) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.25 0.25 0.05"/>
-      <geom name="geom2" type="box" size="0.25 0.25 0.05"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 0.965925826289068201191412299522;
-  xmat[1] = -0.258819045102520739476403832668;
-  xmat[2] = 0.000000000000000006339100926609;
-  xmat[3] = 0.258819045102520739476403832668;
-  xmat[4] = 0.965925826289068201191412299522;
-  xmat[5] = -0.000000000000000214827792362716;
-  xmat[6] = 0.000000000000000049478422780336;
-  xmat[7] = 0.000000000000000209148392896446;
-  xmat[8] = 1.000000000000000000000000000000;
-
-  xpos[0] = -0.015346499999999199323474918799;
-  xpos[1] = -0.023505500000000002086553152481;
-  xpos[2] = -4.562296442400120888294168253196;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 0.866025403784438707610604524234;
-  xmat[1] = -0.499999999999999944488848768742;
-  xmat[2] = 0.000000000000000018716705841316;
-  xmat[3] = 0.499999999999999944488848768742;
-  xmat[4] = 0.866025403784438707610604524234;
-  xmat[5] = -0.000000000000000263161736875730;
-  xmat[6] = 0.000000000000000115371725704125;
-  xmat[7] = 0.000000000000000237263102359077;
-  xmat[8] = 1.000000000000000000000000000000;
-
-  xpos[0] = -0.015346499999999797803074130798;
-  xpos[1] = -0.023505499999999998617106200527;
-  xpos[2] = -4.659230360891631228525966434972;
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
-
-  ASSERT_EQ(ncons, 1);
-  EXPECT_NEAR(dist, -0.003066, kTolerance);
-  EXPECT_NEAR(dir[0], 0, kTolerance);
-  EXPECT_NEAR(dir[1], 0, kTolerance);
-  EXPECT_NEAR(dir[2], -1, kTolerance);
-}
-
-
-TEST_F(MjGjkTest, BoxBoxSize05) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.5 0.5 0.5"/>
-      <geom name="geom2" type="box" size="0.5 0.5 0.5"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 1.000000000000000;
-  xmat[1] = 0.000000047289880;
-  xmat[2] = -0.000000050905665;
-  xmat[3] = -0.000000047289880;
-  xmat[4] = 1.000000000000000;
-  xmat[5] = 0.000000017136196;
-  xmat[6] = 0.000000050905665;
-  xmat[7] = -0.000000017136193;
-  xmat[8] = 1.000000000000000;
-
-  xpos[0] = 0.000000009724202;
-  xpos[1] = -0.000000014139289;
-  xpos[2] = 7.369161128997803;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 1.000000000000000;
-  xmat[1] = -0.000000013726950;
-  xmat[2] = 0.000000008946020;
-  xmat[3] = 0.000000013726950;
-  xmat[4] = 1.000000000000000;
-  xmat[5] = -0.000000012039017;
-  xmat[6] = -0.000000008946020;
-  xmat[7] = 0.000000012039017;
-  xmat[8] = 1.000000000000000;
-
-  xpos[0] = 0.000000013445962;
-  xpos[1] = -0.000000019194527;
-  xpos[2] = 8.264492034912109;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, BoxBoxSize05b) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.5 0.5 0.5"/>
-      <geom name="geom2" type="box" size="0.5 0.5 0.5"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 1.000000000000000;
-  xmat[1] = -0.000000008764291;
-  xmat[2] = 0.000000386995168;
-  xmat[3] = 0.000000008764733;
-  xmat[4] = 1.000000000000000;
-  xmat[5] = -0.000001144207772;
-  xmat[6] = -0.000000386995168;
-  xmat[7] = 0.000001144207772;
-  xmat[8] = 1.000000000000000;
-
-  xpos[0] = 0.000000962082822;
-  xpos[1] = -0.000001747370789;
-  xpos[2] = 3.469238519668579;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 1.000000000000000;
-  xmat[1] = 0.000000003313412;
-  xmat[2] = -0.000000196321196;
-  xmat[3] = -0.000000003313673;
-  xmat[4] = 1.000000000000000;
-  xmat[5] = -0.000001329654879;
-  xmat[6] = 0.000000196321196;
-  xmat[7] = 0.000001329654879;
-  xmat[8] = 1.000000000000000;
-
-  xpos[0] = 0.000002897753802;
-  xpos[1] = -0.000004625266229;
-  xpos[2] = 4.435211658477783;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 4);
-  EXPECT_NEAR(dir[0], 0, 1e-5);
-  EXPECT_NEAR(dir[1], 0, 1e-5);
-  EXPECT_NEAR(dir[2], 1, kTolerance);
-}
-
-TEST_F(MjGjkTest, BoxBoxSize05c) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.5 0.5 0.5"/>
-      <geom name="geom2" type="box" size="0.5 0.5 0.5"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 1.000000000000000;
-  xmat[1] = -0.000000000570266;
-  xmat[2] = 0.000000168314983;
-  xmat[3] = 0.000000000570290;
-  xmat[4] = 1.000000000000000;
-  xmat[5] = -0.000000142656916;
-  xmat[6] = -0.000000168314983;
-  xmat[7] = 0.000000142656916;
-  xmat[8] = 1.000000000000000;
-
-  xpos[0] = 0.000000188941314;
-  xpos[1] = -0.000000195227585;
-  xpos[2] = 0.497281551361084;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 1.000000000000000;
-  xmat[1] = -0.000000000058608;
-  xmat[2] = 0.000001607574859;
-  xmat[3] = 0.000000000060496;
-  xmat[4] = 1.000000000000000;
-  xmat[5] = -0.000001174638669;
-  xmat[6] = -0.000001607574859;
-  xmat[7] = 0.000001174638669;
-  xmat[8] = 1.000000000000000;
-
-  xpos[0] = 0.000000953407323;
-  xpos[1] = -0.000000923845278;
-  xpos[2] = 1.493984460830688;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 4);
-  EXPECT_NEAR(dir[0], 0, 1e-5);
-  EXPECT_NEAR(dir[1], 0, 1e-5);
-  EXPECT_NEAR(dir[2], 1, kTolerance);
-}
-
-TEST_F(MjGjkTest, BoxBoxTouching) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" pos="0 0 1.859913200000001376466229885409" size="1 1 1"/>
-      <geom name="geom2" type="box" pos="0 2 1.859913200000001376466229885409" size="1 1 1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2);
-
-  ASSERT_EQ(ncons, 0);
-  EXPECT_EQ(status.epa_status, -1);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" pos="0 0 1.9" size="1 1 1"/>
-      <geom name="geom2" type="box" pos="0 0 0" size="10 10 1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 4);
-  EXPECT_NEAR(dist, -.1, kTolerance);
-
-  EXPECT_NEAR(dir[0], 0, kTolerance);
-  EXPECT_NEAR(dir[1], 0, kTolerance);
-  EXPECT_NEAR(dir[2], -1, kTolerance);
-
-  EXPECT_THAT(pos, Pointwise(DoubleNear(kTolerance), {-1.0,  1.0, 0.95,
-                                                       1.0,  1.0, 0.95,
-                                                       1.0, -1.0, 0.95,
-                                                      -1.0, -1.0, 0.95}));
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD2) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" pos="9.5 9.5 1.9" size="1 1 1"/>
-      <geom name="geom2" type="box" pos="0 0 0" size="10 10 1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 4);
-  EXPECT_NEAR(dist, -.1, kTolerance);
-
-  EXPECT_NEAR(dir[0], 0, kTolerance);
-  EXPECT_NEAR(dir[1], 0, kTolerance);
-  EXPECT_NEAR(dir[2], -1, kTolerance);
-
-  EXPECT_THAT(pos, Pointwise(DoubleNear(kTolerance), { 8.5, 10.0, 0.95,
-                                                      10.0, 10.0, 0.95,
-                                                      10.0,  8.5, 0.95,
-                                                       8.5,  8.5, 0.95}));
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD3) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" name="geom1" size="5 5 .1" pos="0 0 0"/>
-      <geom type="box" name="geom2" size="1 1 1"/>
-    </worldbody>
-</mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat + 9;
-  mjtNum* xpos = data->geom_xpos + 3;
-
-  xmat[0] = 0.999999806540386004805043285160;
-  xmat[1] = -0.000014738590672566122784237219;
-  xmat[2] = 0.000621853651764864637230267874;
-  xmat[3] = -0.000621853434269146370175218586;
-  xmat[4] = 0.000014756878555191479777952690;
-  xmat[5] = 0.999999806540251667819063641218;
-  xmat[6] = -0.000014747764440060310685981504;
-  xmat[7] = -0.999999999782504311873765345808;
-  xmat[8] = 0.000014747710457105431443303178;
-
-  xpos[0] = -0.941218618591869393696924817050;
-  xpos[1] = 2.209729011624415928594089564285;
-  xpos[2] = 1.095456702630382306296041861060;
-
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD4) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-     <geom name="geom1" size="0.25 0.25 0.05" type="box"/>
-     <geom name="geom2" size="0.25 0.25 0.05" type="box"/>
-    </worldbody>
-</mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 0.500063246694118501700643264485;
-  xmat[1] = -0.865988885078582182330819705385;
-  xmat[2] = -0.000015036290463686326402846169;
-  xmat[3] = 0.865988885208801795201338791230;
-  xmat[4] = 0.500063246603650646271432833601;
-  xmat[5] = 0.000009541064416582982810641038;
-  xmat[6] = -0.000000743359510433135621196039;
-  xmat[7] = -0.000017792396065397684211655677;
-  xmat[8] = 0.999999999841438502734547455475;
-
-  xpos[0] = -0.015346718925143524800414063236;
-  xpos[1] = -0.023500448793229846561336771060;
-  xpos[2] = -4.859382717259980388746498647379;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 0.999999999448633714038692232862;
-  xmat[1] = -0.000033207420761195452995305499;
-  xmat[2] = -0.000000044925527333868828730462;
-  xmat[3] = 0.000033207420790006526530903364;
-  xmat[4] = 0.999999999448428988912951353996;
-  xmat[5] = 0.000000641458652741046316968134;
-  xmat[6] = 0.000000044904226121706672357864;
-  xmat[7] = -0.000000641460144248257277838641;
-  xmat[8] = 0.999999999999794386695839421009;
-
-  xpos[0] = -0.015347749710384111718197708285;
-  xpos[1] = -0.023500601273213628239489025873;
-  xpos[2] = -4.958782854594746325460619118530;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 8);
-  EXPECT_NEAR(dist, -0.00060425119242707459, kTolerance);
-
-  EXPECT_NEAR(dir[0], 0, kTolerance);
-  EXPECT_NEAR(dir[1], 0, kTolerance);
-  EXPECT_NEAR(dir[2], -1, kTolerance);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD5) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-     <geom name="geom1" size="0.25 0.25 0.05" type="box"/>
-     <geom name="geom2" size="0.25 0.25 0.05" type="box"/>
-    </worldbody>
-</mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 0.965955045562010394810670277366;
-  xmat[1] = -0.258709898141739669252814337597;
-  xmat[2] = -0.000196358811267032467391333017;
-  xmat[3] = 0.258709919231419560592399875532;
-  xmat[4] = 0.965955055634174608591990818240;
-  xmat[5] = 0.000090476785846218643442895324;
-  xmat[6] = 0.000166266546411239724218358860;
-  xmat[7] = -0.000138196479997660070767120932;
-  xmat[8] = 0.999999976628582865068040064216;
-
-  xpos[0] = -0.015381524498156991936914650410;
-  xpos[1] = -0.023527931890396581310342938309;
-  xpos[2] = -4.559214004409498421921398403356;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 0.866076536677693908927722077351;
-  xmat[1] = -0.499911388413602053581996642606;
-  xmat[2] = -0.000190658753729162216972170540;
-  xmat[3] = 0.499911409912061843741071243130;
-  xmat[4] = 0.866076540935322825021103199106;
-  xmat[5] = 0.000086494189368211055798235654;
-  xmat[6] = 0.000121885643632020743577087929;
-  xmat[7] = -0.000170223074359586521841353202;
-  xmat[8] = 0.999999978083999430111816764111;
-
-  xpos[0] = -0.015358668590921718474784363195;
-  xpos[1] = -0.023542070504611382203430380855;
-  xpos[2] = -4.659108354876987156956147373421;
-
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 8);
-
-  EXPECT_THAT(dist, MjNear(-0.0001077858631973211, kTolerance, 1e-4));
-  EXPECT_THAT(dir[0], MjNear(0.00019065, kTolerance, 1e-4));
-  EXPECT_THAT(dir[1], MjNear(-0.00008649, kTolerance, 1e-4));
-  EXPECT_NEAR(dir[2], -1, kTolerance);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD6) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size=".5 .5 .1" pos="0 0 -.1"/>
-      <geom name="geom2" type="box" size=".1 .1 .1" pos="0 0 0"/>
-    </worldbody>
-</mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat + 9;
-  mjtNum* xpos = data->geom_xpos + 3;
-
-  xmat[0] = -0.412617528992808124677083014831;
-  xmat[1] = -0.910903939143411389700588642881;
-  xmat[2] = -0.000887930675351447824816819576;
-  xmat[3] = 0.910904370383107120368038067681;
-  xmat[4] = -0.412617275794986082537718630192;
-  xmat[5] = -0.000460143975736545586020798115;
-  xmat[6] = 0.000052771423713213129642884969;
-  xmat[7] = -0.000998683403024198425301793947;
-  xmat[8] = 0.999999499923193035932911243435;
-
-  xpos[0] = 0.413029898172642018217004533653;
-  xpos[1] = 0.190777715293135141649827346555;
-  xpos[2] = 0.100006658017411736993906856696;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 5);
-  EXPECT_THAT(dist, MjNear(-0.00009843, kTolerance, 1e-4));
-
-  EXPECT_THAT(dir[0], MjNear(-0.0008879, kTolerance, 1e-4));
-  EXPECT_THAT(dir[1], MjNear(-0.0004601, kTolerance, 1e-3));
-  EXPECT_NEAR(dir[2], 0.9999994, kTolerance);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD7) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size=".25 .25 .05"/>
-      <geom name="geom2" type="box" size=".25 .25 .05"/>
-    </worldbody>
-</mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 0.482851932827058627495375731087;
-  xmat[1] = -0.875697459006381406787511423317;
-  xmat[2] = 0.002823341095436950488190008812;
-  xmat[3] = 0.875701084072774249555948244961;
-  xmat[4] = 0.482853601927766051815638093103;
-  xmat[5] = -0.000102269990141710693382082198;
-  xmat[6] = -0.001273702846902712276094815635;
-  xmat[7] = 0.002521784120391480209927292933;
-  xmat[8] = 0.999996009134990648803409385437;
-
-  xpos[0] = -0.002020740254618143012105280221;
-  xpos[1] = -0.022654384848980465422263463893;
-  xpos[2] = -4.858542902144324493463045655517;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 0.999985133805306514176436394337;
-  xmat[1] = -0.005293845271528460454113496070;
-  xmat[2] = 0.001306663930443651821383665990;
-  xmat[3] = 0.005293871114312041943616993223;
-  xmat[4] = 0.999985987232967277194006783247;
-  xmat[5] = -0.000016319793417504115210251922;
-  xmat[6] = -0.001306559226005186893221354794;
-  xmat[7] = 0.000023236861241766870316309210;
-  xmat[8] = 0.999999146181155484924829579541;
-
-  xpos[0] = -0.011066235018223425159988870803;
-  xpos[1] = -0.023114696036485724711662115283;
-  xpos[2] = -4.958375812037025376355359185254;
-
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 8);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD8) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size=".25 .25 .05"/>
-      <geom name="geom2" type="box" size=".25 .25 .05"/>
-    </worldbody>
-</mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 1.000000000000000000000000000000;
-  xmat[1] = 0.000000000000000000000000000000;
-  xmat[2] = 0.000000000000000000000000000000;
-  xmat[3] = 0.000000000000000000000000000000;
-  xmat[4] = 1.000000000000000000000000000000;
-  xmat[5] = 0.000000000000000000000000000000;
-  xmat[6] = 0.000000000000000000000000000000;
-  xmat[7] = 0.000000000000000000000000000000;
-  xmat[8] = 1.000000000000000000000000000000;
-
-  xpos[0] = -0.015346500000000000765720820084;
-  xpos[1] = -0.023505499999999998617106200527;
-  xpos[2] = -4.859662640000005140450412000064;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 1.000000000000000000000000000000;
-  xmat[1] = 0.000000000000000000000000000000;
-  xmat[2] = 0.000000000000000000000000000000;
-  xmat[3] = 0.000000000000000000000000000000;
-  xmat[4] = 1.000000000000000000000000000000;
-  xmat[5] = -0.000000000000000015361939765351;
-  xmat[6] = 0.000000000000000000000000000000;
-  xmat[7] = 0.000000000000000015361939765351;
-  xmat[8] = 1.000000000000000000000000000000;
-
-  xpos[0] = -0.015346500000000000765720820084;
-  xpos[1] = -0.023505499999999998617106200527;
-  xpos[2] = -4.958574289672835533338002278470;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD9) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size=".025 .025 .025"/>
-      <geom name="geom2" type="box" size=".025 .025 .025"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 1.0000000000000000000000000000000000000000;
-  xmat[1] = -0.0000000000000000000000000000000000050579;
-  xmat[2] = 0.0000000000000000001927715439853908006818;
-  xmat[3] = 0.0000000000000000000000000000000000056403;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = -0.0000000000000000030208514688407265124010;
-  xmat[6] = -0.0000000000000000001927715439853908006818;
-  xmat[7] = 0.0000000000000000030208514688407265124010;
-  xmat[8] = 1.0000000000000000000000000000000000000000;
-
-  xpos[0] = -0.1071400000000000268807198722242901567370;
-  xpos[1] = -0.1928599999999999758948376893386011943221;
-  xpos[2] = 0.1749951524564917204607183975895168259740;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 1.0000000000000000000000000000000000000000;
-  xmat[1] = 0.0000000000000000000000000000000037070001;
-  xmat[2] = -0.0000000000000000649578747741268744461630;
-  xmat[3] = 0.0000000000000000000000000000000064174485;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = 0.0000000000000001558617582226398399563910;
-  xmat[6] = 0.0000000000000000649578747741268744461630;
-  xmat[7] = -0.0000000000000001558617582226398399563910;
-  xmat[8] = 1.0000000000000000000000000000000000000000;
-
-  xpos[0] = -0.1071400000000000268807198722242901567370;
-  xpos[1] = -0.1928599999999999758948376893386011943221;
-  xpos[2] = 0.2156259187793853615566774806211469694972;
-
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD10) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.025 0.025 0.025"/>
-      <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xpos = data->geom_xpos;
-
-  xpos[0] = -0.1034859999999999946584949839234468527138;
-  xpos[1] = -0.0765140000000000264357424839545274153352;
-  xpos[2] = 0.1257628745456405572333835607423679903150;
-
-  xpos = data->geom_xpos + 3;
-
-  xpos[0] = -0.1034859999999999946584949839234468527138;
-  xpos[1] = -0.0765140000000000264357424839545274153352;
-  xpos[2] = 0.1751399999999999623767621415026951581240;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
-
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD11) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.025 0.025 0.025"/>
-      <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xpos = data->geom_xpos;
-  mjtNum* xmat = data->geom_xmat;
-
-  xmat[0] = 1.0000000000000000000000000000000000000000;
-  xmat[1] = 0.0000000000000000000000000000000000000000;
-  xmat[2] = 0.0000000000000000000000000000000000000000;
-  xmat[3] = 0.0000000000000000000000000000000000000000;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = -0.0000000000000000013928437397151766790940;
-  xmat[6] = 0.0000000000000000000000000000000000000000;
-  xmat[7] = 0.0000000000000000013928437397151766790940;
-  xmat[8] = 1.0000000000000000000000000000000000000000;
-
-  xpos[0] = -0.1036549999999999971400654885655967518687;
-  xpos[1] = -0.1963450000000000195132798808117513544858;
-  xpos[2] = 0.1247685038468368534658736734854755923152;
-
-
-  xpos = data->geom_xpos + 3;
-  xmat = data->geom_xmat + 9;
-
-  xmat[0] = 1.0000000000000000000000000000000000000000;
-  xmat[1] = 0.0000000000000000000000000000000000000000;
-  xmat[2] = 0.0000000000000000000000000000000000000000;
-  xmat[3] = 0.0000000000000000000000000000000000000000;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = -0.0000000000000000018885268354605779111974;
-  xmat[6] = 0.0000000000000000000000000000000000000000;
-  xmat[7] = 0.0000000000000000018885268354605779111974;
-  xmat[8] = 1.0000000000000000000000000000000000000000;
-
-  xpos[0] = -0.1036549999999999971400654885655967518687;
-  xpos[1] = -0.1963450000000000195132798808117513544858;
-  xpos[2] = 0.1745248497897437800485676007156143896282;
-
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
-
-  // contact unrecoverable under single precision
-  ASSERT_EQ(ncons, sizeof(mjtNum) == 8 ? 4 : 0);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD12) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.025 0.025 0.025"/>
-      <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xpos = data->geom_xpos;
-  mjtNum* xmat = data->geom_xmat;
-
-  xmat[0] = 1.0000000000000000000000000000000000000000;
-  xmat[1] = 0.0000000000000000000000000000000000000000;
-  xmat[2] = 0.0000000000000000000000000000000000000000;
-  xmat[3] = 0.0000000000000000000000000000000000000000;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = -0.0000000000000000032154383478277941584027;
-  xmat[6] = 0.0000000000000000000000000000000000000000;
-  xmat[7] = 0.0000000000000000032154383478277941584027;
-  xmat[8] = 1.0000000000000000000000000000000000000000;
-
-  xpos[0] = 0.0164299999999999862820843077315657865256;
-  xpos[1] = -0.0764300000000000256950016819246229715645;
-  xpos[2] = 0.1252706891962387103500731200256268493831;
-
-  xpos = data->geom_xpos + 3;
-  xmat = data->geom_xmat + 9;
-
-  xmat[0] = 1.0000000000000000000000000000000000000000;
-  xmat[1] = 0.0000000000000000000000000000000000000000;
-  xmat[2] = 0.0000000000000000000000000000000000000000;
-  xmat[3] = 0.0000000000000000000000000000000000000000;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = -0.0000000000000000018997602302052549055743;
-  xmat[6] = 0.0000000000000000000000000000000000000000;
-  xmat[7] = 0.0000000000000000018997602302052549055743;
-  xmat[8] = 1.0000000000000000000000000000000000000000;
-
-  xpos[0] = 0.0164299999999999862820843077315657865256;
-  xpos[1] = -0.0764300000000000256950016819246229715645;
-  xpos[2] = 0.1748374248948718623353215662064030766487;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
-
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD13) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.02 0.02 0.02"/>
-      <geom name="geom2" type="box" size="0.02 0.02 0.02"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xpos = data->geom_xpos;
-  mjtNum* xmat = data->geom_xmat;
-
-  xmat[0] = 1.0000000000000000000000000000000000000000;
-  xmat[1] = -0.0000000000000000000000000000001366192847;
-  xmat[2] = -0.0000000000000002451235402041944571528177;
-  xmat[3] = 0.0000000000000000000000000000001366707863;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = 0.0000000000000000002101047324941978855126;
-  xmat[6] = 0.0000000000000002451235402041944571528177;
-  xmat[7] = -0.0000000000000000002101047324941978855126;
-  xmat[8] = 1.0000000000000000000000000000000000000000;
-
-  xpos[0] = -0.1000000000000000055511151231257827021182;
-  xpos[1] = -0.2000000000000000111022302462515654042363;
-  xpos[2] = -0.0809921810760001470441693527391180396080;
-
-  xpos = data->geom_xpos + 3;
-  xmat = data->geom_xmat + 9;
-
-  xmat[0] = 1.0000000000000000000000000000000000000000;
-  xmat[1] = -0.0000000000000000000000000000000740327228;
-  xmat[2] = -0.0000000000000002557259745463766308177658;
-  xmat[3] = 0.0000000000000000000000000000000775428823;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = 0.0000000000000000137262533997081760161613;
-  xmat[6] = 0.0000000000000002557259745463766308177658;
-  xmat[7] = -0.0000000000000000137262533997081760161613;
-  xmat[8] = 1.0000000000000000000000000000000000000000;
-
-  xpos[0] = -0.1000000000000000055511151231257827021182;
-  xpos[1] = -0.2000000000000000111022302462515654042363;
-  xpos[2] = -0.0418396695286432432348000531874276930466;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
-
-  ASSERT_EQ(ncons, 4);
-
-  EXPECT_NEAR(dir[0], 0, kTolerance);
-  EXPECT_NEAR(dir[1], 0, kTolerance);
-  EXPECT_NEAR(dir[2], 1, kTolerance);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD14) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.02 0.02 0.02"/>
-      <geom name="geom2" type="box" size="0.02 0.02 0.02"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xpos = data->geom_xpos;
-  mjtNum* xmat = data->geom_xmat;
-
-  xmat[0] = 0.9999999980312528347070610834634862840176;
-  xmat[1] = 0.0000179109150612445166097282805983681442;
-  xmat[2] = -0.0000601389470252842008382576644009986921;
-  xmat[3] = -0.0000179108686851742081238159781664265324;
-  xmat[4] = 0.9999999998393023226128661917755380272865;
-  xmat[5] = 0.0000007716871733595438989517368948145570;
-  xmat[6] = 0.0000601389608372434404702858157243383630;
-  xmat[7] = -0.0000007706100310572527002924239115932981;
-  xmat[8] = 0.9999999981913554325529958077822811901569;
-
-  xpos[0] = 0.0002051257133161473724877743585182088282;
-  xpos[1] = 0.0000051793157380883478958571650152542531;
-  xpos[2] = -0.0800031938952457943869944756443146616220;
-
-  xpos = data->geom_xpos + 3;
-  xmat = data->geom_xmat + 9;
-
-  xmat[0] = 0.9999999606378873195922096783760935068130;
-  xmat[1] = -0.0000186818570733572177707156047876679850;
-  xmat[2] = -0.0002799557310143530259108346491814245383;
-  xmat[3] = 0.0000186853252997592718994551708178164517;
-  xmat[4] = 0.9999999997487241110150080203311517834663;
-  xmat[5] = 0.0000123858711158191162315369768243122905;
-  xmat[6] = 0.0002799554995529331168427344955773605761;
-  xmat[7] = -0.0000123911016921886008170612322731862776;
-  xmat[8] = 0.9999999607356884201436741932411678135395;
-
-  xpos[0] = 0.0002145111032389043976328218965576866140;
-  xpos[1] = -0.0000051338999751368759734112059978095033;
-  xpos[2] = -0.0400059009625639144802633495601185131818;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, BoxBoxMultiCCD15) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.5 0.5 0.1"/>
-      <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 1.0;
-  xmat[1] = 0.0;
-  xmat[2] = 0.0;
-  xmat[3] = 0.0;
-  xmat[4] = 1.0;
-  xmat[5] = 0.0;
-  xmat[6] = 0.0;
-  xmat[7] = 0.0;
-  xmat[8] = 1.0;
-
-  xpos[0] = 0.0;
-  xpos[1] = 0.0;
-  xpos[2] = 0.0;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 1.0;
-  xmat[1] = 1.62423755001306e-10;
-  xmat[2] = -1.73500047822017e-05;
-  xmat[3] = 1.44241105171083e-10;
-  xmat[4] = 1.0;
-  xmat[5] = 1.76752037077677e-05;
-  xmat[6] = 1.73500047822017e-05;
-  xmat[7] = -1.76752037077677e-05;
-  xmat[8] = 1.0;
-
-  xpos[0] = 0.0520339831709862;
-  xpos[1] = -0.0520339831709862;
-  xpos[2] = 0.124986477196217;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, SmallBoxMesh) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="box" scale=".5 .5 .1"
-        vertex="-1 -1 -1
-                 1 -1 -1
-                 1  1 -1
-                 1  1  1
-                 1 -1  1
-                -1  1 -1
-                -1  1  1
-                -1 -1  1"/>
-      <mesh name="smallbox" scale=".1 .1 .1"
-        vertex="-1 -1 -1
-                 1 -1 -1
-                 1  1 -1
-                 1  1  1
-                 1 -1  1
-                -1  1 -1
-                -1  1  1
-                -1 -1  1"/>
-    </asset>
-
-    <worldbody>
-      <geom name="geom2" pos="0 0 .1" size=".1 .1 .1"  type="mesh" mesh="smallbox"/>
-      <geom name="geom1" pos="0 0 -.099999999" size=".5 .5 .1"  type="mesh" mesh="box"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
-
-  // contact unrecoverable under single precision
-  ASSERT_EQ(ncons, sizeof(mjtNum) == 8 ? 1 : 0);
-  if (ncons) {
-    EXPECT_NEAR(dist, 0, kTolerance);
-
-    // direction
-    EXPECT_NEAR(dir[0], 0, kTolerance);
-    EXPECT_NEAR(dir[1], 0, kTolerance);
-    EXPECT_NEAR(dir[2], 1, kTolerance);
-
-    // position
-    EXPECT_NEAR(pos[0], 0, kTolerance);
-    EXPECT_NEAR(pos[1], 0, kTolerance);
-    EXPECT_NEAR(pos[2], 0, kTolerance);
-  }
-}
-
-TEST_F(MjGjkTest, BoxMesh) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="pentaprism"
-            vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0
-                    1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1"
-            scale=".2 .2 .1"/>
-    </asset>
-    <worldbody>
-      <geom name="geom1" type="box" pos="0 0 -.01" size="3 3 .01"/>
-      <geom name="geom2" pos="0 0 0.157" euler="0 -90 0" type="mesh" mesh="pentaprism"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g2, g1, 0, 1000);
-  EXPECT_EQ(model->nmeshpoly, 7);
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, BoxMesh2) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="pentaprism"
-            vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0
-                    1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1"
-            scale=".2 .2 .1"/>
-    </asset>
-    <worldbody>
-      <geom name="geom1" type="box" pos="0 0 -.01" size="3 3 .01"/>
-      <geom name="geom2" pos="0 0 -0.001" type="mesh" mesh="pentaprism"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g2, g1, 0, 1000);
-
-  ASSERT_EQ(ncons, 5);
-}
-
-TEST_F(MjGjkTest, BoxMeshPrune) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="pentaprism"
-            vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0
-                    1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1"
-            scale=".2 .2 .1"/>
-    </asset>
-    <worldbody>
-      <geom name="geom1" type="box" pos="0 0 -.01" size="3 3 .01"/>
-      <geom name="geom2" pos="0 0 -0.001" type="mesh" mesh="pentaprism"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g2, g1, 0, 4);
-
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, MeshMesh) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
-            scale="1 1 .01"/>
-      <mesh name="pentaprism"
-            vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0
-                    1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1"
-            scale=".2 .2 .1"/>
-    </asset>
-    <worldbody>
-      <geom name="geom1" type="mesh" pos="0 0 -0.01" mesh="box"/>
-      <geom name="geom2" pos="0 0 -0.001" type="mesh" mesh="pentaprism"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 5);
-}
-
-TEST_F(MjGjkTest, MeshMeshPrune) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
-            scale="1 1 .01"/>
-      <mesh name="pentaprism"
-            vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0
-                    1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1"
-            scale=".2 .2 .1"/>
-    </asset>
-    <worldbody>
-      <geom name="geom1" type="mesh" pos="0 0 -0.01" mesh="box"/>
-      <geom name="geom2" pos="0 0 -0.001" type="mesh" mesh="pentaprism"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, BoxEdge) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" name="box1" size="1 1 1" pos="0 0 2"/>
-      <geom type="box" name="box2" size="1 1 1" pos="0 0 4.4" euler="0 90 40"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "box1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "box2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 2);
-}
-
-TEST_F(MjGjkTest, BoxEdge2) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" name="box1" size="1 1 1"/>
-      <geom type="box" name="box2" size="1 1 1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 0.9999979704374094557906005320546682924032;
-  xmat[1] = -0.0017789363449516469497385662279498319549;
-  xmat[2] = -0.0009457835609818190025430140188689165370;
-  xmat[3] = 0.0017817418144636251123996695255868871755;
-  xmat[4] = 0.9999939910254954655854930933855939656496;
-  xmat[5] = 0.0029737701675293876438233020564894104609;
-  xmat[6] = 0.0009404877299599626429629783963548561587;
-  xmat[7] = -0.0029754492741947335607277658198199787876;
-  xmat[8] = 0.9999951310803708581786963804916013032198;
-
-  xpos[0] = 0.0005578602979296120537716641152314878127;
-  xpos[1] = 0.0098645950089783600300830102014515432529;
-  xpos[2] = 1.1037596929447945903746131079969927668571;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 0.0006737475542006746490053537002040684456;
-  xmat[1] = -0.0095603689585630827196816028390458086506;
-  xmat[2] = 0.9999540716500983084102927023195661604404;
-  xmat[3] = -0.1095658134726250898527410981841967441142;
-  xmat[4] = 0.9939334085756179604231874691322445869446;
-  xmat[5] = 0.0095766296438734854756802405972848646343;
-  xmat[6] = -0.9939793149670246297233688892447389662266;
-  xmat[7] = -0.1095672335264066821203243762283818796277;
-  xmat[8] = -0.0003778293989772788311065632171903416747;
-
-  xpos[0] = -0.0218119359455731035013492657981259981170;
-  xpos[1] = 0.9828851949225971829093850828940048813820;
-  xpos[2] = 3.0930077345364814789263618877157568931580;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "box1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "box2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 2);
-}
-
-TEST_F(MjGjkTest, BoxEdgeEdge) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" name="box1" size=".15 1 3"/>
-      <geom type="box" name="box2" size=".15 1 3"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 0.9182779243587342321575306414160877466202;
-  xmat[1] = -0.0000000000000000000364268564068890756444;
-  xmat[2] = 0.3959364262547898638544552341045346111059;
-  xmat[3] = -0.0000000000000000000591321577502441383525;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = 0.0000000000000000002291443915550544102718;
-  xmat[6] = -0.3959364262547898638544552341045346111059;
-  xmat[7] = -0.0000000000000000002338308114719865891040;
-  xmat[8] = 0.9182779243587342321575306414160877466202;
-
-  xpos[0] = -1.3241298058948087756903078116010874509811;
-  xpos[1] = 0.0000000000000000007148993364299687318184;
-  xpos[2] = 2.8141526153588731773425024584867060184479;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 0.9182779243587342321575306414160877466202;
-  xmat[1] = 0.0000000000000000000728398144756416399722;
-  xmat[2] = -0.3959364262547898638544552341045346111059;
-  xmat[3] = -0.0000000000000000001674060251593158490713;
-  xmat[4] = 1.0000000000000000000000000000000000000000;
-  xmat[5] = -0.0000000000000000002042889652712837518138;
-  xmat[6] = 0.3959364262547898638544552341045346111059;
-  xmat[7] = 0.0000000000000000002538761903338069406631;
-  xmat[8] = 0.9182779243587342321575306414160877466202;
-
-  xpos[0] = 1.3241298058948089977349127366323955357075;
-  xpos[1] = -0.0000000000000000008679606505055748997840;
-  xpos[2] = 2.8141526153588731773425024584867060184479;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "box1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "box2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 2);
-}
-
-TEST_F(MjGjkTest, MeshEdge) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="smallbox"
-        vertex="-1 -1 -1  1 -1 -1   1  1 -1
-                 1  1  1  1 -1  1  -1  1 -1
-                -1  1  1 -1 -1  1"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="smallbox" name="box1" size="1 1 1" pos="0 0 2"/>
-      <geom type="mesh" mesh="smallbox" name="box2" size="1 1 1" pos="0 0 4.4" euler="0 90 40"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "box1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "box2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 2);
-}
-
-TEST_F(MjGjkTest, MeshEdge2) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="meshbox"
-            vertex="-1 -1 -1
-                     1 -1 -1
-                     1  1 -1
-                     1  1  1
-                     1 -1  1
-                    -1  1 -1
-                    -1  1  1
-                    -1 -1  1"/>
-    </asset>
-
-    <worldbody>
-      <geom type="box" name="floor" size="6 6 2" pos="0 0 -1"/>
-      <body pos="2 0 1" euler="0 5 0">
-        <freejoint/>
-        <geom type="mesh" name="meshbox" mesh="meshbox"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "floor");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "meshbox");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
-
-  ASSERT_EQ(ncons, 2);
-}
-
-TEST_F(MjGjkTest, EllipsoidEllipsoidPenetrating) {
-  MjModelPtr model = LoadModelFromString(kEllipsoidXml);
-  MjDataPtr data = MakeData(model);
-  mj_resetDataKeyframe(model.get(), data.get(), 0);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
-
-  ASSERT_EQ(ncons, 1);
-  EXPECT_NEAR(dist, -0.00022548856248122027, kTolerance);
-}
-
-TEST_F(MjGjkTest, EllipsoidEllipsoid) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="ellipsoid" pos="1.5 0 -.5" size=".15 .30 .20"/>
-      <geom name="geom2" type="ellipsoid" pos="1.5 .5 .5" size=".10 .10 .15"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-  mjtNum dist = GeomDist(model, data, geom1, geom2, nullptr, nullptr);
-
-  EXPECT_NEAR(dist, 0.7542, .0001);
-}
-
-TEST_F(MjGjkTest, EllipsoidEllipsoidSlowConvergence) {
-  // This example takes gjkIntersect 30 iterations to converge, thus failing to
-  // detect collision if opt.ccd_iterations is set to 35. With gjkIntersect
-  // disabled, GJK succeeds in 24 iterations.
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="ellipsoid" size=".05 .07 .15"/>
-      <geom name="geom2" type="ellipsoid" size=".05 .07 .15"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xmat = data->geom_xmat;
-  mjtNum* xpos = data->geom_xpos;
-
-  xmat[0] = 0.98799245191271645172;
-  xmat[1] = -0.13055117805648397411;
-  xmat[2] = -0.08262750674904573156;
-  xmat[3] = -0.03910798838001148386;
-  xmat[4] = 0.30606703783583483203;
-  xmat[5] = -0.95120635699897815307;
-  xmat[6] = 0.14947066671547387662;
-  xmat[7] = 0.94301609650019369013;
-  xmat[8] = 0.29728632920665870598;
-
-  xpos[0] = 0.44826351361072502844;
-  xpos[1] = -0.10441423315171689812;
-  xpos[2] = 0.21216466278453649519;
-
-  xmat = data->geom_xmat + 9;
-  xpos = data->geom_xpos + 3;
-
-  xmat[0] = 0.53301656081215953442;
-  xmat[1] = -0.59335516633486651283;
-  xmat[2] = -0.60317741377119038493;
-  xmat[3] = -0.39469414877746378245;
-  xmat[4] = 0.45620167535223110633;
-  xmat[5] = -0.79755661888461082398;
-  xmat[6] = 0.74840488695679441289;
-  xmat[7] = 0.66318148194106107951;
-  xmat[8] = 0.00896923573374096283;
-
-  xpos[0] = 0.39694137187624300989;
-  xpos[1] = 0.00961542646741688108;
-  xpos[2] = 0.29832742817753182818;
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  Penetration(status, dist, dir, pos, model, data, geom1, geom2);
-
-  EXPECT_LT(dist, 0.0);
-  EXPECT_NEAR(dist, 0.0, kTolerance);
-}
-
-TEST_F(MjGjkTest, BoxBox) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" pos="-1.5 .5 0" size="1 1 1"/>
-      <geom name="geom2" type="box" pos="1.5 0 0" size="1 1 1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-  mjtNum dist = GeomDist(model, data, geom1, geom2, nullptr, nullptr);
-
-  EXPECT_EQ(dist, 1);
-}
-
-TEST_F(MjGjkTest, BoxBoxLarge) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" pos="0 0 0.25" size="50 50 0.25"/>
-      <geom name="geom2" type="box" pos="0 0 0.60" size="0.1 0.1 0.1"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjtNum* xpos = data->geom_xpos + 3;
-  mjtNum* xmat = data->geom_xmat + 9;
-
-  xpos[0] = -0.000000000043537;
-  xpos[1] = -0.000000000012973;
-  xpos[2] = 0.599245786666870;
-
-  xmat[0] = 1.000000000000000;
-  xmat[1] = -0.000000000004566;
-  xmat[2] = -0.000000000167641;
-  xmat[3] = 0.000000000004566;
-  xmat[4] = 1.000000000000000;
-  xmat[5] = -0.000000000017877;
-  xmat[6] = 0.000000000167641;
-  xmat[7] = 0.000000000017877;
-  xmat[8] = 1.000000000000000;
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncon = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  EXPECT_NEAR(dist, -0.000754, kTolerance);
-  EXPECT_EQ(ncon, 4);
-}
-
-TEST_F(MjGjkTest, LongBox) {
-static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="long_box"
-            vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
-            scale=".6 .03 .03"/>
-    </asset>
-    <worldbody>
-      <geom name="geom1" type="box" size="1 1 .3" pos="0 0 -.3"/>
-      <geom name="geom2" type="mesh" mesh="long_box" pos="0 0 .02" euler="0 0 40"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2);
-
-  ASSERT_EQ(ncons, 1);
-  EXPECT_NEAR(dist, -0.01, kTolerance);
-
-  EXPECT_THAT(dir[0], MjNear(0, kTolerance, 1e-5));
-  EXPECT_THAT(dir[1], MjNear(0, kTolerance, 1e-5));
-  EXPECT_THAT(dir[2], MjNear(1, kTolerance, kTolerance));
-
-  // multicontact
-  ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-  ASSERT_EQ(ncons, 4);
-}
-
-TEST_F(MjGjkTest, EllipsoidEllipsoidIntersect) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="ellipsoid" pos="1.5 0 -.5" size=".15 .30 .20"/>
-      <geom name="geom2" type="ellipsoid" pos="1.5 .5 .5" size=".10 .10 .15"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 15);
-
-  ASSERT_EQ(ncons, 1);
-  EXPECT_NEAR(dist, -14.245732934582151, kTolerance);
-}
-
-TEST_F(MjGjkTest, CapsuleCapsule) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="capsule" pos="-.3 .2 -.4" size=".15 .30"/>
-      <geom name="geom2" type="capsule" pos=".3 .2 .4" size=".10 .10"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int geom1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int geom2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-  mjtNum dist = GeomDist(model, data, geom1, geom2, nullptr, nullptr);
-
-  EXPECT_NEAR(dist, 0.4711, .0001);
-}
-
-TEST_F(MjGjkTest, CylinderBoxMargin) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <statistic meansize="0.15"/>
-    <option>
-      <flag gravity="disable" multiccd="disable"/>
-    </option>
-
-    <worldbody>
-      <body pos="0 0 .265">
-        <freejoint/>
-        <geom type="box" size=".05 .05 .05" margin="0.1" gap="0.1"/>
-      </body>
-      <body mocap="true">
-        <geom name="geom2" type="cylinder" size=".2 .2"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  // margin=0.1 means forces generated when dist<0.1
-  // the contact at dist~0.015 is within margin, so forces are generated
-  EXPECT_EQ(data->ncon, 1);
-  EXPECT_GE(data->contact[0].efc_address, 0);
-}
-
-TEST_F(MjGjkTest, BoxEdgeFlipped) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" pos="1.10164554 -0.11389316 0.74"
-            quat="-0.348312918 0 0 0.937378318" type="box" size="0.65 0.48 0.04"/>
-      <geom name="geom2" type="box" size="0.1 1.2 1.4" pos="1.4 0 1.425"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-
-  mjCCDStatus status;
-  std::vector<mjtNum> dir, pos;
-  mjtNum dist;
-  int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
-
-  ASSERT_EQ(ncons, 2);
-  EXPECT_NEAR(status.x1[0], 1.907368, kTolerance);
-  EXPECT_NEAR(status.x1[1], -0.052973, kTolerance);
-  EXPECT_NEAR(status.x1[2], 0.700000, kTolerance);
-  EXPECT_NEAR(status.x2[0], 1.30000, kTolerance);
-  EXPECT_NEAR(status.x2[1], -0.052973, kTolerance);
-  EXPECT_NEAR(status.x2[2], 0.700000, kTolerance);
-}
-
-TEST_F(MjGjkTest, ThinBoxGrazing) {
-  // thin boxes separated by +7.6933e-7, below the ccd_tolerance of 1e-6
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="geom1" type="box" size="0.015108062742470629 0.00020768330936692047 0.00033708479398415232"/>
-      <geom name="geom2" type="box" size="0.0022889234034685867 0.00039019141130537644 0.00066943745945985227"/>
-    </worldbody>
-  </mujoco>)";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum* xpos = data->geom_xpos;
-  mjtNum* xmat = data->geom_xmat;
-
-  xmat[0] =  0.41747699392674587;
-  xmat[1] =  0.7445704580736479;
-  xmat[2] = -0.5208913442416622;
-  xmat[3] =  0.735898261710082;
-  xmat[4] = -0.6133129289446175;
-  xmat[5] = -0.28688150794614425;
-  xmat[6] = -0.5330728917830726;
-  xmat[7] = -0.263556605216739;
-  xmat[8] = -0.8039721437292835;
-
-  xpos = data->geom_xpos + 3;
-  xmat = data->geom_xmat + 9;
-
-  xpos[0] = -0.0045224108719272319;
-  xpos[1] = -0.0099558526994404459;
-  xpos[2] = 0.00749543399075938;
-
-  xmat[0] = -0.11330328891322261;
-  xmat[1] =  0.6014637637569688;
-  xmat[2] = -0.7908246996703808;
-  xmat[3] =  0.9557435215667675;
-  xmat[4] =  0.2834865022971088;
-  xmat[5] =  0.07867479900517776;
-  xmat[6] =  0.2715081687621951;
-  xmat[7] = -0.7469114699230777;
-  xmat[8] = -0.6069650487406557;
-
-  int g1 = mj_name2id(model.get(), mjOBJ_GEOM, "geom1");
-  int g2 = mj_name2id(model.get(), mjOBJ_GEOM, "geom2");
-  mjtNum dist = mj_geomDistance(model.get(), data.get(), g1, g2, 1, nullptr);
-
-  // below ccd_tolerance, but still positive distance
-  EXPECT_GE(dist, 0);
-  EXPECT_LE(dist, model->opt.ccd_tolerance);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_collision_sdf_test.cc b/test/engine/engine_collision_sdf_test.cc
deleted file mode 100644
index b747a2d7..00000000
--- a/test/engine/engine_collision_sdf_test.cc
+++ /dev/null
@@ -1,150 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for sdf collisions.
-
-#include "src/engine/engine_collision_sdf.h"
-
-#include <cstdio>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-using SdfTest = MujocoTest;
-
-static constexpr int kpoints = 6;
-static constexpr int kgeoms = 5;
-static constexpr char kSdfModel[] = R"(
-<mujoco>
-  <worldbody>
-    <geom type="plane" size="5 5 .1" pos="0 0 -1"/>
-    <body pos="-.1 .2 2" euler="0 0 45">
-      <geom type="sphere" size="1"/>
-      <geom type="capsule" size=".1" fromto="-2 -2 1 2 2 1"/>
-      <geom type="cylinder" size="1" fromto="0 0 0 2 0 0"/>
-      <geom type="box" size="1 1 1"/>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-TEST_F(SdfTest, SdfPrimitive) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kSdfModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-  ASSERT_THAT(model->ngeom, kgeoms);
-
-  mjSDF sdf;
-  const mjpPlugin* null_plugin = NULL;
-  mjtNum gradient[3],
-      dist[kgeoms][kpoints] = {
-          {0, 0, 0, 0, 1, 1},  // plane
-          {-1, 0, 0, mju_sqrt(2) - 1, mju_sqrt(2) - 1,
-           mju_sqrt(3) - 1},  // sphere
-          {(mjtNum)-.1, (mjtNum).9, (mjtNum).9, mju_sqrt(2) - (mjtNum).1,
-           (mjtNum).9, mju_sqrt(2) - (mjtNum).1},           // capsule
-          {-1, 0, 0, mju_sqrt(2) - 1, 0, mju_sqrt(2) - 1},  // cylinder
-          {-mju_sqrt(3), 0, 0, 0, 0, 0},                    // box
-      };
-  mjtNum points[kpoints][3] = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0},
-                               {1, 1, 0}, {0, 1, 1}, {1, 1, 1}};
-
-  for (int i = 0; i < kgeoms; i++) {
-    sdf.plugin = &null_plugin;
-    sdf.id = &i;
-    sdf.type = mjSDFTYPE_SINGLE;
-    sdf.geomtype = (mjtGeom*)(model->geom_type + i);
-    for (int j = 0; j < kpoints; j++) {
-      EXPECT_NEAR(mjc_distance(model.get(), data.get(), &sdf, points[j]),
-                  dist[i][j], MjTol(1e-9, 5e-7));
-      mjc_gradient(model.get(), data.get(), &sdf, gradient, points[j]);
-    }
-  }
-}
-
-static constexpr char kFlexSdfModel[] = R"(
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.torus">
-      <instance name="torus">
-        <config key="radius1" value="0.35"/>
-        <config key="radius2" value="0.15"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <asset>
-    <mesh name="torus">
-      <plugin instance="torus"/>
-    </mesh>
-  </asset>
-
-  <worldbody>
-    <body pos="0 0 -0.3">
-      <geom type="sdf" mesh="torus">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-    <body name="flex">
-      <flexcomp name="test" type="grid" count="3 3 1" spacing=".2 .2 .2" dim="2">
-        <elasticity young="1e4"/>
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-TEST_F(SdfTest, FlexSdfCollision) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kFlexSdfModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  // check there is at least one flex
-  ASSERT_GT(model->nflex, 0);
-
-  // simulate for a few steps to let flex fall onto torus
-  for (int i = 0; i < 100; i++) {
-    mj_step(model.get(), data.get());
-  }
-
-  // should have contacts between flex and SDF
-  EXPECT_GT(data->ncon, 0) << "Expected flex-SDF contacts";
-
-  // check that contacts involve the flex
-  bool has_flex_contact = false;
-  for (int i = 0; i < data->ncon; i++) {
-    if (data->contact[i].flex[0] >= 0 || data->contact[i].flex[1] >= 0) {
-      has_flex_contact = true;
-      break;
-    }
-  }
-  EXPECT_TRUE(has_flex_contact) << "Expected at least one flex contact";
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_core_constraint_test.cc b/test/engine/engine_core_constraint_test.cc
deleted file mode 100644
index 01b1bab8..00000000
--- a/test/engine/engine_core_constraint_test.cc
+++ /dev/null
@@ -1,1651 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_core_constraint.c.
-
-#include "src/engine/engine_core_constraint.h"
-
-#include <array>
-#include <cstdio>
-#include <cstring>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_core_util.h"
-#include "src/engine/engine_support.h"
-#include "src/engine/engine_util_misc.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-using ::testing::Pointwise;
-
-using CoreConstraintTest = MujocoTest;
-
-// test formulas for penetration at rest
-TEST_F(CoreConstraintTest, RestPenetration) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="1 1 1"/>
-      <body pos="0 0 .2">
-        <joint type="slide" axis="0 0 1"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  mjtNum gravity = -model->opt.gravity[2];
-  mjtNum damping_ratio = 0.8;
-  MjDataPtr data = MakeData(model);
-
-  for (const mjtNum reference : {-100.0, -10.0, 0.1, 0.01}) {
-    for (const mjtNum impedance : {0.3, 0.9, 0.99}) {
-      // set solimp
-      for (int i = 0; i < model->ngeom; i++) {
-        model->geom_solimp[i * mjNIMP + 0] = impedance;
-        model->geom_solimp[i * mjNIMP + 1] = impedance;
-      }
-
-      // set solref
-      for (int i = 0; i < model->ngeom; i++) {
-        model->geom_solref[i * mjNREF + 0] = reference;
-        model->geom_solref[i * mjNREF + 1] =
-            reference < 0 ? -10 : damping_ratio;
-      }
-
-      // simulate for 50 seconds
-      mj_resetData(model.get(), data.get());
-      while (data->time < 50) {
-        mjtNum time = data->time;
-        mj_step(model.get(), data.get());
-        ASSERT_GT(data->time, time) << "Divergence detected";
-      }
-
-      mjtNum depth = -data->contact[0].dist;
-      mjtNum expected_depth;
-      if (reference < 0) {
-        expected_depth = gravity * (1 - impedance) / -reference;
-      } else {
-        mjtNum tc_dr = reference * damping_ratio;
-        expected_depth = gravity * (1 - impedance) * tc_dr * tc_dr;
-      }
-
-      EXPECT_THAT(depth, MjNear(expected_depth, 1e-10, 1e-3));
-    }
-  }
-}
-
-// surfacevel: conveyor belt drags a box to belt speed
-TEST_F(CoreConstraintTest, SurfaceVelocityConveyor) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="belt" type="plane" size="5 5 .1" surfacevel=".5 0 0  0 0 0"/>
-      <body pos="0 0 .1">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1" mass="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  for (const mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
-    model->opt.cone = cone;
-    mj_resetData(model.get(), data.get());
-    while (data->time < 2) {
-      mj_step(model.get(), data.get());
-    }
-
-    // box is transported at belt speed, no lateral or angular motion
-    EXPECT_NEAR(data->qvel[0], 0.5, 1e-3);
-    EXPECT_NEAR(data->qvel[1], 0.0, 1e-3);
-    EXPECT_NEAR(data->qvel[5], 0.0, 1e-3);
-  }
-}
-
-// surfacevel: turntable spins a centered box via the torsional friction row
-TEST_F(CoreConstraintTest, SurfaceVelocityTurntable) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="table" type="plane" size="5 5 .1" condim="6"
-            surfacevel="0 0 0  0 0 1"/>
-      <body pos="0 0 .1">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1" mass="1" condim="6"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  for (const mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
-    model->opt.cone = cone;
-    mj_resetData(model.get(), data.get());
-    while (data->time < 4) {
-      mj_step(model.get(), data.get());
-    }
-
-    // box spins up to the table's angular velocity, stays in place
-    EXPECT_NEAR(data->qvel[5], 1.0, 1e-3);
-    EXPECT_NEAR(data->qvel[0], 0.0, 1e-3);
-    EXPECT_NEAR(data->qvel[1], 0.0, 1e-3);
-  }
-}
-
-// surfacevel: the normal component is projected out, normal-only is inert
-TEST_F(CoreConstraintTest, SurfaceVelocityNormalProjected) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="5 5 .1" surfacevel="0 0 1  0 0 0"/>
-      <body pos="0 0 .1">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1" mass="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  while (data->time < 2) {
-    mj_step(model.get(), data.get());
-  }
-
-  // box rests as if the floor were plain
-  for (int i=0; i < 6; i++) {
-    EXPECT_NEAR(data->qvel[i], 0.0, 1e-6);
-  }
-}
-
-// surfacevel: two facing belts launch a squeezed plank at belt speed
-TEST_F(CoreConstraintTest, SurfaceVelocityFacingBelts) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size=".05 .3 .5" pos="-.152 0 .5" surfacevel="0 0 1  0 0 0"/>
-      <geom type="box" size=".05 .3 .5" pos=".152 0 .5" surfacevel="0 0 1  0 0 0"/>
-      <body pos="0 0 .5">
-        <freejoint/>
-        <geom type="box" size=".103 .1 .1" mass=".2"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  mjtNum vmax = 0;
-  while (data->time < 2) {
-    mj_step(model.get(), data.get());
-    vmax = mju_max(vmax, data->qvel[2]);
-  }
-  EXPECT_NEAR(vmax, 1.0, 5e-3);
-}
-
-// surfacevel: belt on a moving vehicle, cargo vel composes with body vel
-TEST_F(CoreConstraintTest, SurfaceVelocityComposition) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="10 10 .1" friction="0 0 0" condim="1" priority="1"/>
-      <body name="vehicle" pos="0 0 .15">
-        <freejoint/>
-        <geom type="box" size=".5 .3 .04" mass="10"/>
-        <geom type="box" size=".4 .25 .01" pos="0 0 .05" mass=".01"
-              surfacevel=".3 0 0  0 0 0"/>
-      </body>
-      <body name="cargo" pos="0 0 .3">
-        <freejoint/>
-        <geom type="box" size=".08 .08 .08" mass=".1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qvel=".2 0 0 0 0 0  0 0 0 0 0 0"/>
-    </keyframe>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_resetDataKeyframe(model.get(), data.get(), 0);
-
-  // measure while the cargo is still riding the belt (exits the far end later)
-  while (data->time < 1) {
-    mj_step(model.get(), data.get());
-  }
-  EXPECT_NEAR(data->qvel[6] - data->qvel[0], 0.3, 1e-3);
-}
-
-// surfacevel: interpreted in the authored geom frame, including for mesh geoms
-// whose compiled frame absorbs the mesh's centering/principal-axes transform
-TEST_F(CoreConstraintTest, SurfaceVelocityMeshFrame) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="ring" builtin="supertorus" params="32 .3 .2 1" scale="1.6 1.6 .8"/>
-    </asset>
-    <worldbody>
-      <geom name="carousel" type="mesh" mesh="ring" pos="0 0 .24"
-            surfacevel="0 0 0  0 0 .4"/>
-      <body pos="1.6 0 .6">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1" mass="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  // the compiled angular surfacevel, rotated by the compiled geom orientation,
-  // recovers the authored world-frame spin (0, 0, .4)
-  int carousel = mj_name2id(model.get(), mjOBJ_GEOM, "carousel");
-  mjtNum w_world[3];
-  mju_mulMatVec3(w_world, data->geom_xmat + 9*carousel,
-                 model->geom_surfacevel + 6*carousel + 3);
-  EXPECT_NEAR(w_world[0], 0.0, MjTol(1e-10, 1e-6));
-  EXPECT_NEAR(w_world[1], 0.0, MjTol(1e-10, 1e-6));
-  EXPECT_NEAR(w_world[2], 0.4, MjTol(1e-10, 1e-6));
-
-  // functionally: the box is dragged around the ring at speed omega * r
-  while (data->time < 3) {
-    mj_step(model.get(), data.get());
-  }
-  mjtNum x = data->qpos[0], y = data->qpos[1];
-  mjtNum r = mju_sqrt(x*x + y*y);
-  mjtNum speed =
-      mju_sqrt(data->qvel[0] * data->qvel[0] + data->qvel[1] * data->qvel[1]);
-  EXPECT_NEAR(speed, 0.4*r, 5e-3);
-}
-
-static const char* const kDoflessContactPath =
-    "engine/testdata/core_constraint/dofless_contact.xml";
-static const char* const kDoflessTendonFrictionalPath =
-    "engine/testdata/core_constraint/dofless_tendon_frictional.xml";
-static const char* const kDoflessTendonLimitedPath =
-    "engine/testdata/core_constraint/dofless_tendon_limited.xml";
-static const char* const kDoflessTendonLimitedMarginPath =
-    "engine/testdata/core_constraint/dofless_tendon_limitedmargin.xml";
-static const char* const kDoflessWeldPath =
-    "engine/testdata/core_constraint/dofless_weld.xml";
-static const char* const kJointLimitedBilateralMarginPath =
-    "engine/testdata/core_constraint/joint_limited_bilateral_margin.xml";
-static const char* const kTendonLimitedBilateralMarginPath =
-    "engine/testdata/core_constraint/tendon_limited_bilateral_margin.xml";
-
-TEST_F(CoreConstraintTest, JacobianPreAllocate) {
-  for (const char* local_path :
-       {kDoflessContactPath, kDoflessTendonFrictionalPath,
-        kDoflessTendonLimitedPath, kDoflessTendonLimitedMarginPath,
-        kDoflessWeldPath, kJointLimitedBilateralMarginPath,
-        kTendonLimitedBilateralMarginPath}) {
-    const std::string xml_path = GetTestDataFilePath(local_path);
-
-    // iterate through dense and sparse
-    for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
-      mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-      model->opt.jacobian = sparsity;
-      mjData* data = mj_makeData(model);
-
-      mj_step(model, data);
-
-      mj_deleteData(data);
-      mj_deleteModel(model);
-    }
-  }
-}
-
-TEST_F(CoreConstraintTest, EqualityBodySite) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/equality_site_body_compare.xml");
-
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  // simulate, get diag(A)
-  while (data->time < 0.1) {
-    mjtNum time = data->time;
-    mj_step(model, data);
-    ASSERT_GT(data->time, time) << "Divergence detected";
-  }
-  int nefc_site = data->nefc;
-  std::vector<mjtNum> dA = AsVector(data->efc_diagA, nefc_site);
-
-  // reset
-  mj_resetData(model, data);
-
-  // turn site-defined equalities off, equivalent body-defined equalities on
-  for (int e = 0; e < 4; e++) data->eq_active[e] = 1 - data->eq_active[e];
-
-  // simulate again, get diag(A)
-  while (data->time < 0.1) {
-    mjtNum time = data->time;
-    mj_step(model, data);
-    ASSERT_GT(data->time, time) << "Divergence detected";
-  }
-
-  // compare
-  EXPECT_EQ(nefc_site, data->nefc);
-  EXPECT_THAT(AsVector(data->efc_diagA, data->nefc),
-              Pointwise(MjNear(1e-12, 1e-4), dA));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-static const char* const kIlslandEfcPath =
-    "engine/testdata/island/island_efc.xml";
-
-// validate mj_constraintUpdate_impl
-TEST_F(CoreConstraintTest, ConstraintUpdateImpl) {
-  const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
-  char err[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, err, 1024);
-  ASSERT_THAT(model, NotNull()) << err;
-  mjData* d1 = mj_makeData(model);
-  mjData* d2 = mj_makeData(model);
-
-  // iterate over sparsity and cone
-  for (mjtJacobian sparsity : {mjJAC_SPARSE, mjJAC_DENSE}) {
-    for (mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
-      model->opt.jacobian = sparsity;
-      model->opt.cone = cone;
-
-      // simulate for 0.2 seconds
-      mj_resetData(model, d1);
-      mj_resetData(model, d2);
-      while (d1->time < 0.2) {
-        mjtNum time1 = d1->time;
-        mjtNum time2 = d2->time;
-        mj_step(model, d1);
-        ASSERT_GT(d1->time, time1) << "Divergence detected";
-        mj_step(model, d2);
-        ASSERT_GT(d2->time, time2) << "Divergence detected";
-      }
-      mj_forward(model, d1);
-      mj_forward(model, d2);
-
-      // get sizes
-      int nefc = d1->nefc;
-      int nv = model->nv;
-      int nisland = d1->nisland;
-      EXPECT_GT(nisland, 0);
-
-      // get jar = J*a - aref
-      mjtNum* jar = (mjtNum*)mju_malloc(sizeof(mjtNum) * nefc);
-      mj_mulJacVec(model, d1, jar, d1->qacc);
-      mju_subFrom(jar, d1->efc_aref, nefc);
-
-      // constraint update for data1 given jar
-      mjtNum cost1;
-      mj_constraintUpdate(model, d1, jar, &cost1, /*flg_coneHessian=*/1);
-
-      // iterate over islands, check match
-      mjtNum cost2 = 0;
-      for (int island = 0; island < nisland; island++) {
-        // clear outputs from data2
-        for (int i = 0; i < nefc; i++) d2->efc_state[i] = -1;
-        mju_zero(d2->efc_force, nefc);
-        mju_zero(d2->qfrc_constraint, nv);
-        for (int i = 0; i < d2->ncon; i++) mju_zero(d2->contact[i].H, 36);
-
-        // sizes and indices, in this island
-        int efcnum = d2->island_nefc[island];
-
-        // gather values into jari
-        mjtNum* jari = (mjtNum*)mju_malloc(sizeof(mjtNum) * efcnum);
-        int* map2efc = d2->map_iefc2efc + d2->island_iefcadr[island];
-        mju_gather(jari, jar, map2efc, efcnum);
-
-        // update constraints for this island
-        mjtNum cost2i;
-        int ne = d2->island_ne[island];
-        int nf = d2->island_nf[island];
-        int adr = d2->island_iefcadr[island];
-        int* state = d2->iefc_state + adr;
-        mjtNum* force = d2->iefc_force + adr;
-        mj_constraintUpdate_impl(ne, nf, efcnum, d2->iefc_D + adr,
-                                 d2->iefc_R + adr, d2->iefc_frictionloss + adr,
-                                 jari, d2->iefc_type + adr, d2->iefc_id + adr,
-                                 d2->contact, state, force, &cost2i,
-                                 /*flg_coneHessian=*/1);
-
-        // compare nefc vectors
-        for (int c = 0; c < efcnum; c++) {
-          int i = map2efc[c];
-          EXPECT_EQ(d2->efc_island[i], island);
-          EXPECT_EQ(state[c], d1->efc_state[i]);
-          EXPECT_THAT(force[c], MjNear(d1->efc_force[i], 1e-12, 1e-4));
-        }
-
-        // compare cone Hessians
-        if (cone == mjCONE_ELLIPTIC) {
-          for (int c = 0; c < d2->ncon; c++) {
-            int efcadr = d2->contact[c].efc_address;
-            if (d2->efc_island[efcadr] == island &&
-                d2->efc_state[efcadr] == mjCNSTRSTATE_CONE) {
-              for (int j = 0; j < 36; j++) {
-                EXPECT_THAT(d2->contact[c].H[j],
-                            MjNear(d1->contact[c].H[j], 1e-12, 1e-4));
-              }
-            }
-          }
-        }
-
-        // add island cost to total cost
-        cost2 += cost2i;
-
-        mju_free(jari);
-      }
-
-      // expect monolithic total cost
-      EXPECT_THAT(cost1, MjNear(cost2, 1e-12, 1e-4));
-
-      mju_free(jar);
-    }
-  }
-
-  mj_deleteData(d2);
-  mj_deleteData(d1);
-  mj_deleteModel(model);
-}
-
-// check mjEQ_FLEXVERT
-TEST_F(CoreConstraintTest, FlexvertEquality) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option jacobian="dense"/>
-    <worldbody>
-      <flexcomp name="flex" type="grid" count="3 3 1" spacing=".05 .15 .25" dim="2">
-        <edge equality="vert"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  ASSERT_EQ(model->neq, 1);
-  ASSERT_EQ(model->eq_type[0], mjEQ_FLEXVERT);
-  ASSERT_EQ(model->nflex, 1);
-  ASSERT_EQ(model->flex_vertnum[0], 9);
-  ASSERT_EQ(model->flex_edgenum[0], 16);
-
-  // step1 to populate flexvert_length
-  mj_step1(model.get(), data.get());
-  EXPECT_EQ(data->ne, 2 * model->flex_vertnum[0]);
-  EXPECT_EQ(data->nefc, 18);
-  for (int i = 0; i < 18; ++i) {
-    EXPECT_EQ(data->efc_type[i], mjCNSTR_EQUALITY);
-    EXPECT_NEAR(data->efc_pos[i], 0, MjTol(1e-9, 1e-5));
-  }
-
-  // check that efc_J has rigid-body motions in kernel
-  std::vector<mjtNum> qvel(model->nv);
-  std::vector<mjtNum> Jqvel(data->nefc);
-
-  // pure translations
-  for (int i = 0; i < 3; ++i) {
-    mju_zero(qvel.data(), model->nv);
-    for (int j = 0; j < model->flex_vertnum[0]; ++j) {
-      qvel[3 * j + i] = 1.0;
-    }
-    mj_mulJacVec(model.get(), data.get(), Jqvel.data(), qvel.data());
-    for (int j = 0; j < data->nefc; ++j) {
-      EXPECT_NEAR(Jqvel[j], 0, MjTol(1e-9, 1e-5));
-    }
-  }
-
-  // pure rotations
-  for (int i = 0; i < 3; ++i) {
-    mju_zero(qvel.data(), model->nv);
-    for (int j = 0; j < model->flex_vertnum[0]; ++j) {
-      mjtNum* p = data->flexvert_xpos + 3 * j;
-      mjtNum axisvel[3] = {0};
-      axisvel[i] = 1.0;
-      mjtNum linvel[3];
-      mju_cross(linvel, axisvel, p);
-      qvel[3 * j + 0] = linvel[0];
-      qvel[3 * j + 1] = linvel[1];
-      qvel[3 * j + 2] = linvel[2];
-    }
-    mj_mulJacVec(model.get(), data.get(), Jqvel.data(), qvel.data());
-    for (int j = 0; j < data->nefc; ++j) {
-      EXPECT_NEAR(Jqvel[j], 0, MjTol(1e-9, 1e-5));
-    }
-  }
-}
-
-// Test flex strain constraint with pinned nodes attached to freejoint parent
-TEST_F(CoreConstraintTest, BoxShellPinnedParentWithFreejoint) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP() << "FD Jacobian mismatch due to float32 precision";
-#endif
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <option integrator="implicitfast" jacobian="dense" gravity="0 0 0"/>
-  <worldbody>
-    <geom type="plane" size="10 10 1" pos="0 0 -.1"/>
-    <body>
-      <joint type="free"/>
-      <geom type="box" size="0.13 0.18 0.036"/>
-      <body name="parent">
-        <flexcomp name="test" type="box"
-                  spacing=".1 .02 .1" radius="0.001"
-                  pos="0 0 .2" dof="trilinear" xyaxes="0 1 0 0 0 1" mass="1" dim="3">
-          <contact selfcollide="none"/>
-          <edge equality="strain"/>
-          <pin id="0 2 4 6"/>
-        </flexcomp>
-      </body>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-
-  mj_resetData(m.get(), d.get());
-  mj_forward(m.get(), d.get());
-
-  // Check that we have constraints
-  EXPECT_GT(d->nefc, 0) << "No constraints generated";
-  EXPECT_GT(d->ne, 0) << "Expected some strain constraints";
-
-  // Check qacc and forces at rest with gravity=0
-  EXPECT_NEAR(d->qacc_smooth[6], 0, 1e-6) << "qacc_smooth should be 0 at rest";
-  EXPECT_NEAR(d->qacc[6], 0, 1e-6) << "qacc should be 0 at rest";
-
-  // Check initial constraint values (efc_pos)
-  bool has_bad_constraint = false;
-  for (int i = 0; i < d->nefc; i++) {
-    if (d->efc_type[i] == mjCNSTR_EQUALITY) {
-      if (mju_abs(d->efc_pos[i]) > 1.0) {
-        has_bad_constraint = true;
-      }
-    }
-  }
-  EXPECT_FALSE(has_bad_constraint)
-      << "Some constraint values are too large at rest";
-
-  // Check Jacobian values - look for NaN or huge values
-  int nv = m->nv;
-  bool has_bad_jacobian = false;
-  for (int i = 0; i < d->nefc; i++) {
-    if (d->efc_type[i] == mjCNSTR_EQUALITY) {
-      for (int j = 0; j < nv; j++) {
-        mjtNum val = d->efc_J[i * nv + j];
-        if (mju_isBad(val) || mju_abs(val) > 1e10) {
-          has_bad_jacobian = true;
-        }
-      }
-    }
-  }
-  EXPECT_FALSE(has_bad_jacobian) << "Jacobian contains NaN or huge values";
-
-  // Verify Jacobian with finite differences for first few constraints
-  mjtNum eps = 1e-6;
-  std::vector<mjtNum> qpos0(m->nq);
-  mju_copy(qpos0.data(), d->qpos, m->nq);
-
-  // Store original constraint values
-  std::vector<mjtNum> efc_pos0(d->nefc);
-  mju_copy(efc_pos0.data(), d->efc_pos, d->nefc);
-
-  int num_constraints_to_check = mju_min(3, d->ne);
-  bool has_jacobian_mismatch = false;
-  for (int j = 0; j < nv && j < 6; j++) {
-    mju_copy(d->qpos, qpos0.data(), m->nq);
-    mjtNum dqpos[100] = {0};
-    dqpos[j] = eps;
-    mj_integratePos(m.get(), d->qpos, dqpos, 1);
-    mj_forward(m.get(), d.get());
-
-    for (int i = 0; i < num_constraints_to_check; i++) {
-      mjtNum fd = (d->efc_pos[i] - efc_pos0[i]) / eps;
-      mjtNum analytic = d->efc_J[i * nv + j];
-      // Use relative tolerance with absolute floor to handle near-zero values
-      mjtNum tol = mju_max(1e-8, 0.1 * (mju_abs(fd) + mju_abs(analytic)));
-      if (mju_abs(fd - analytic) > tol) {
-        has_jacobian_mismatch = true;
-      }
-    }
-  }
-  EXPECT_FALSE(has_jacobian_mismatch)
-      << "Jacobian FD mismatch at initial config";
-
-  // Test rotation invariance: rotate via freejoint quaternion
-  mju_copy(d->qpos, qpos0.data(), m->nq);
-  mjtNum angle = 0.785398;          // 45 degrees
-  d->qpos[3] = mju_cos(angle / 2);  // w
-  d->qpos[4] = 0;
-  d->qpos[5] = 0;
-  d->qpos[6] = mju_sin(angle / 2);  // z
-  mj_forward(m.get(), d.get());
-
-  mjtNum max_strain_rotated = 0;
-  for (int i = 0; i < d->ne; i++) {
-    if (mju_abs(d->efc_pos[i]) > max_strain_rotated) {
-      max_strain_rotated = mju_abs(d->efc_pos[i]);
-    }
-  }
-  EXPECT_LT(max_strain_rotated, 1e-6)
-      << "Strain should remain ~0 after rigid rotation";
-
-  // Check Jacobian in rotated configuration via FD
-  std::vector<mjtNum> qpos_rot(m->nq);
-  mju_copy(qpos_rot.data(), d->qpos, m->nq);
-  std::vector<mjtNum> efc_pos_rot(d->nefc);
-  mju_copy(efc_pos_rot.data(), d->efc_pos, d->nefc);
-
-  bool has_rotated_jacobian_mismatch = false;
-  for (int j = 0; j < nv; j++) {
-    mju_copy(d->qpos, qpos_rot.data(), m->nq);
-    mjtNum dqpos[100] = {0};
-    dqpos[j] = eps;
-    mj_integratePos(m.get(), d->qpos, dqpos, 1);
-    mj_forward(m.get(), d.get());
-
-    mjtNum fd = (d->efc_pos[0] - efc_pos_rot[0]) / eps;
-    mjtNum analytic = d->efc_J[0 * nv + j];
-    mjtNum tol = 0.1 * (mju_abs(fd) + mju_abs(analytic) + 1e-8);
-    if ((mju_abs(fd) > 1e-8 || mju_abs(analytic) > 1e-8) &&
-        mju_abs(fd - analytic) > tol) {
-      has_rotated_jacobian_mismatch = true;
-    }
-  }
-  EXPECT_FALSE(has_rotated_jacobian_mismatch)
-      << "Jacobian FD mismatch in rotated config";
-
-  // Reset for simulation
-  mju_copy(d->qpos, qpos0.data(), m->nq);
-  mj_forward(m.get(), d.get());
-
-  // Run simulation only if checks pass
-  if (!has_bad_constraint && !has_bad_jacobian) {
-    for (int i = 0; i < 2000; i++) {
-      mj_step(m.get(), d.get());
-
-      ASSERT_FALSE(mju_isBad(d->qpos[0]))
-          << "Simulation became unstable at step " << i;
-      ASSERT_FALSE(mju_isBad(d->qvel[0]))
-          << "Velocity became unstable at step " << i;
-
-      for (int j = 0; j < m->nv; j++) {
-        ASSERT_LT(mju_abs(d->qvel[j]), 1000.0)
-            << "Velocity exploded at step " << i << ", qvel[" << j
-            << "]=" << d->qvel[j];
-      }
-    }
-  }
-}
-
-// Test flex strain constraint WITHOUT pinned nodes (simpler case)
-TEST_F(CoreConstraintTest, StrainConstraintNoPinning) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <option integrator="implicitfast" jacobian="dense"/>
-  <worldbody>
-    <body name="parent">
-      <joint type="free"/>
-      <geom type="box" size=".01 .01 .01" mass=".1"/>
-      <flexcomp name="test" type="box"
-                spacing=".1 .1 .1" radius="0.001"
-                pos="0 0 .5" dof="trilinear" mass="1" dim="3">
-        <contact selfcollide="none"/>
-        <edge equality="strain"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-
-  mj_resetData(m.get(), d.get());
-  mj_forward(m.get(), d.get());
-
-  // Check constraints
-  EXPECT_GT(d->ne, 0) << "Expected strain constraints";
-
-  // Check no contacts
-  EXPECT_EQ(d->ncon, 0);
-
-  // Check that initial strain is ~0
-  mjtNum max_pos = 0;
-  for (int i = 0; i < d->ne; i++) {
-    if (mju_abs(d->efc_pos[i]) > max_pos) {
-      max_pos = mju_abs(d->efc_pos[i]);
-    }
-  }
-  EXPECT_LT(max_pos, 1e-6) << "Initial strain should be ~0";
-
-  // Check Jacobian for NaN
-  int nv = m->nv;
-  bool has_bad_jacobian = false;
-  for (int i = 0; i < d->ne; i++) {
-    for (int j = 0; j < nv; j++) {
-      if (mju_isBad(d->efc_J[i * nv + j])) {
-        has_bad_jacobian = true;
-      }
-    }
-  }
-  EXPECT_FALSE(has_bad_jacobian) << "Jacobian has NaN";
-
-  // Test rigid rotation: rotate flex and check strain still ~0
-  std::vector<mjtNum> qpos0(m->nq);
-  mju_copy(qpos0.data(), d->qpos, m->nq);
-  // Rotate by 45 degrees around Z axis via quaternion
-  mjtNum angle = 0.785398;          // 45 degrees
-  d->qpos[3] = mju_cos(angle / 2);  // w
-  d->qpos[4] = 0;                   // x
-  d->qpos[5] = 0;                   // y
-  d->qpos[6] = mju_sin(angle / 2);  // z
-  mj_forward(m.get(), d.get());
-
-  mjtNum max_strain_rotated = 0;
-  for (int i = 0; i < d->ne; i++) {
-    if (mju_abs(d->efc_pos[i]) > max_strain_rotated) {
-      max_strain_rotated = mju_abs(d->efc_pos[i]);
-    }
-  }
-  EXPECT_LT(max_strain_rotated, 1e-6)
-      << "Strain should remain ~0 after rigid rotation";
-
-  // Run simulation for a few steps to check stability
-  mju_copy(d->qpos, qpos0.data(), m->nq);
-  mj_forward(m.get(), d.get());
-
-  for (int i = 0; i < 100; i++) {
-    mj_step(m.get(), d.get());
-    ASSERT_FALSE(mju_isBad(d->qpos[0])) << "Simulation unstable at step " << i;
-  }
-}
-
-// Test flex strain constraint with quadratic interpolation
-TEST_F(CoreConstraintTest, StrainConstraintQuadratic) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <option integrator="implicitfast" jacobian="dense"/>
-  <worldbody>
-    <body name="parent">
-      <joint type="free"/>
-      <geom type="box" size=".01 .01 .01" mass=".1"/>
-      <flexcomp name="test" type="box"
-                spacing=".1 .1 .1" radius="0.001"
-                pos="0 0 .5" dof="quadratic" mass="1" dim="3">
-        <contact selfcollide="none"/>
-        <edge equality="strain"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-
-  mj_resetData(m.get(), d.get());
-  mj_forward(m.get(), d.get());
-
-  // Check constraints generated
-  EXPECT_GT(d->ne, 0) << "Expected strain constraints";
-
-  // Check that initial strain is ~0
-  mjtNum max_pos = 0;
-  for (int i = 0; i < d->ne; i++) {
-    if (mju_abs(d->efc_pos[i]) > max_pos) {
-      max_pos = mju_abs(d->efc_pos[i]);
-    }
-  }
-  EXPECT_LT(max_pos, 1e-6) << "Initial strain should be ~0";
-
-  // Check Jacobian for NaN
-  int nv = m->nv;
-  bool has_bad_jacobian = false;
-  for (int i = 0; i < d->ne; i++) {
-    for (int j = 0; j < nv; j++) {
-      if (mju_isBad(d->efc_J[i * nv + j])) {
-        has_bad_jacobian = true;
-      }
-    }
-  }
-  EXPECT_FALSE(has_bad_jacobian) << "Jacobian has NaN";
-
-  // Run simulation for a few steps
-  for (int i = 0; i < 100; i++) {
-    mj_step(m.get(), d.get());
-    ASSERT_FALSE(mju_isBad(d->qpos[0])) << "Simulation unstable at step " << i;
-  }
-}
-
-TEST_F(CoreConstraintTest, ShellModeBendZeroForceAtRest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <flexcomp type="grid" count="8 8 8" spacing=".07 .07 .07" pos="0 0 1"
-                dim="3" cellcount="1 1 1" radius=".001" rgba="0 .7 .7 1"
-                mass="5" name="softbody" dof="trilinear">
-        <elasticity young="0" poisson="0.1" damping="0.01"
-                    elastic2d="bend" thickness="0.02"/>
-        <edge equality="strain"/>
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  mj_forward(m.get(), d.get());
-
-  // Check number of equalities
-  EXPECT_EQ(m->neq, 6);
-
-  // 6 faces * 6 modes per face = 36
-  // (5 membrane modes from pure 2D eigendecomposition + 1 explicit warp)
-  EXPECT_EQ(d->ne, 36);
-
-  // all constraint residuals should be zero at rest
-  for (int i = 0; i < d->ne; i++) {
-    EXPECT_NEAR(d->efc_pos[i], 0, 1e-10)
-        << "nonzero constraint residual at " << i;
-  }
-}
-
-// Test quadratic passive forces (no constraints) for stability
-TEST_F(CoreConstraintTest, QuadraticPassiveForceStability) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <option integrator="implicitfast" solver="CG" tolerance="1e-6"/>
-  <worldbody>
-    <geom type="plane" size="10 10 1"/>
-    <flexcomp name="test" type="grid" count="3 3 3"
-              spacing=".05 .05 .05" radius="0.001"
-              pos="0 0 .3" dof="quadratic" mass="1" dim="3">
-      <contact selfcollide="none"/>
-      <elasticity young="1e4" damping="0.01"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-
-  // Run for 500 steps — should stay stable
-  for (int i = 0; i < 500; i++) {
-    mj_step(m.get(), d.get());
-    ASSERT_FALSE(mju_isBad(d->qpos[0]))
-        << "Passive quadratic unstable at step " << i;
-    for (int j = 0; j < m->nv; j++) {
-      ASSERT_LT(mju_abs(d->qvel[j]), 1000.0)
-          << "Velocity exploded at step " << i;
-    }
-  }
-}
-
-// Test quadratic with anisotropic cells (like what mesh bounding box creates)
-TEST_F(CoreConstraintTest, QuadraticAnisotropicStrain) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <option integrator="implicitfast" solver="CG" tolerance="1e-6"/>
-  <size memory="50M"/>
-  <worldbody>
-    <geom type="plane" size="10 10 1"/>
-    <body name="parent">
-      <joint type="free"/>
-      <geom type="box" size=".01 .01 .01" mass=".1"/>
-      <flexcomp name="test" type="grid" count="3 3 3"
-                spacing=".1 .05 .08" radius="0.001"
-                pos="0 0 .5" dof="quadratic" mass="1" dim="3">
-        <contact selfcollide="none" internal="false"/>
-        <edge equality="strain" damping="0.01"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-
-  mj_forward(m.get(), d.get());
-  EXPECT_GT(d->ne, 0) << "Expected strain constraints";
-
-  // Run for 200 steps with gravity + contact
-  for (int i = 0; i < 200; i++) {
-    mj_step(m.get(), d.get());
-    ASSERT_FALSE(mju_isBad(d->qpos[0]))
-        << "Anisotropic quadratic unstable at step " << i;
-    for (int j = 0; j < m->nv; j++) {
-      ASSERT_LT(mju_abs(d->qvel[j]), 1000.0)
-          << "Velocity exploded at step " << i << ", qvel[" << j
-          << "]=" << d->qvel[j];
-    }
-  }
-}
-
-TEST_F(CoreConstraintTest, ContactSharedDofJacobian) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option jacobian="sparse"/>
-    <worldbody>
-      <body pos="0 0 0.5">
-        <joint type="slide" axis="0 0 1"/>
-        <geom size="0.01"/>
-        <body pos="0 0.04 0">
-          <joint type="slide" axis="0 1 0"/>
-          <geom type="sphere" size="0.05" condim="1"/>
-        </body>
-        <body pos="0 -0.04 0">
-          <joint type="slide" axis="0 1 0"/>
-          <geom type="sphere" size="0.05" condim="1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  ASSERT_EQ(model->nv, 3);
-  ASSERT_TRUE(mj_isSparse(model.get()));
-  MjDataPtr data = MakeData(model);
-
-  mj_forward(model.get(), data.get());
-
-  ASSERT_EQ(data->ncon, 1);
-  ASSERT_GE(data->nefc, 1);
-
-  EXPECT_EQ(data->efc_J_rownnz[0], 2);
-}
-
-static const char* const kJdotvConnect2dPath =
-    "engine/testdata/core_constraint/jdotv_connect_2d.xml";
-static const char* const kJdotvConnect3dPath =
-    "engine/testdata/core_constraint/jdotv_connect_3d.xml";
-static const char* const kJdotvWeld3dPath =
-    "engine/testdata/core_constraint/jdotv_weld_3d.xml";
-
-// validate mj_Jdotv against finite-differenced constraint Jacobian
-TEST_F(CoreConstraintTest, JdotvFiniteDifference) {
-  for (const char* path :
-       {kJdotvConnect2dPath, kJdotvConnect3dPath, kJdotvWeld3dPath}) {
-    const std::string xml_path = GetTestDataFilePath(path);
-    char err[1024];
-    mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, err, sizeof(err));
-    ASSERT_THAT(m, NotNull()) << err << " for " << path;
-    int nv = m->nv;
-    mjData* d = mj_makeData(m);
-
-    // simulate for 1 second to accumulate velocity
-    while (d->time < 1.0) {
-      mj_step(m, d);
-    }
-
-    // forward to populate constraints
-    mj_forward(m, d);
-    ASSERT_GT(d->ne, 0) << "no equality constraints for " << path;
-    int ne = d->ne;
-
-    // get dense J_0 (ne x nv)
-    std::vector<mjtNum> J0(ne * nv);
-    if (mj_isSparse(m)) {
-      mju_sparse2dense(J0.data(), d->efc_J, ne, nv, d->efc_J_rownnz,
-                       d->efc_J_rowadr, d->efc_J_colind);
-    } else {
-      mju_copy(J0.data(), d->efc_J, ne * nv);
-    }
-
-    // compute mj_Jdotv at current state
-    std::vector<mjtNum> jdv(ne, 0);
-    mj_Jdotv(m, d, jdv.data());
-
-    // save qpos and qvel
-    std::vector<mjtNum> qpos0(m->nq), qvel0(nv);
-    mju_copy(qpos0.data(), d->qpos, m->nq);
-    mju_copy(qvel0.data(), d->qvel, nv);
-
-    // integrate qpos forward by h using qvel
-    const mjtNum h = MjTol(1e-7, 5e-4);
-    mj_integratePos(m, d->qpos, d->qvel, h);
-    mj_forward(m, d);
-
-    // get dense J_h (ne x nv)
-    ASSERT_EQ(d->ne, ne) << "constraint count changed after integration";
-    std::vector<mjtNum> Jh(ne * nv);
-    if (mj_isSparse(m)) {
-      mju_sparse2dense(Jh.data(), d->efc_J, ne, nv, d->efc_J_rownnz,
-                       d->efc_J_rowadr, d->efc_J_colind);
-    } else {
-      mju_copy(Jh.data(), d->efc_J, ne * nv);
-    }
-
-    // FD: Jdotv_fd[i] = -sum_j (Jh[i,j] - J0[i,j]) / h * qvel[j]
-    // (negated because mj_Jdotv subtracts)
-    std::vector<mjtNum> jdv_fd(ne, 0);
-    for (int i = 0; i < ne; i++) {
-      for (int j = 0; j < nv; j++) {
-        jdv_fd[i] -= (Jh[i * nv + j] - J0[i * nv + j]) / h * qvel0[j];
-      }
-    }
-
-    // compare
-    EXPECT_THAT(AsVector(jdv.data(), ne),
-                Pointwise(MjNear(1e-4, 1e-2), AsVector(jdv_fd.data(), ne)))
-        << "Jdotv FD mismatch for " << path;
-
-    mj_deleteData(d);
-    mj_deleteModel(m);
-  }
-}
-
-// Test 2: forward-inverse identity preserved with Jdot*v correction
-TEST_F(CoreConstraintTest, JdotvFwdInvIdentity) {
-  for (const char* path :
-       {kJdotvConnect2dPath, kJdotvConnect3dPath, kJdotvWeld3dPath}) {
-    const std::string xml_path = GetTestDataFilePath(path);
-    char err[1024];
-    mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, err, sizeof(err));
-    ASSERT_THAT(m, NotNull()) << err;
-    mjData* d = mj_makeData(m);
-
-    // give initial velocity
-    for (int i = 0; i < m->nv; i++) d->qvel[i] = 0.5 * (i + 1);
-
-    // forward (with correction ON by default)
-    mj_forward(m, d);
-    mj_compareFwdInv(m, d);
-    mjtNum fwdinv = d->solver_fwdinv[0];
-
-    mjtNum epsilon = MjTol(1e-10, 1e-2);
-    EXPECT_LT(fwdinv, epsilon)
-        << "fwdinv broken for " << path << " (fwdinv=" << fwdinv << ")";
-
-    mj_deleteData(d);
-    mj_deleteModel(m);
-  }
-}
-
-// --------------------------- strain constraint rotated parent ----------------
-
-struct StrainConstraintTestCase {
-  std::string test_name;
-  std::string body_pos;
-  std::string body_quat;
-  std::string flex_spacing;
-  std::string flex_xyaxes;
-};
-
-class StrainConstraintRotatedTest
-    : public CoreConstraintTest,
-      public ::testing::WithParamInterface<StrainConstraintTestCase> {};
-
-TEST_P(StrainConstraintRotatedTest, ResidualIsZero) {
-  auto param = GetParam();
-  std::string xml = R"(
-  <mujoco>
-  <option integrator="implicitfast" jacobian="dense" gravity="0 0 0"/>
-  <worldbody>
-    <body name="parent" )";
-
-  if (!param.body_pos.empty()) {
-    xml += "pos=\"" + param.body_pos + "\" ";
-  }
-  if (!param.body_quat.empty()) {
-    xml += "quat=\"" + param.body_quat + "\" ";
-  }
-  xml += R"(>
-      <joint type="free"/>
-      <geom type="box" size=".01 .01 .01" mass=".1"/>
-      <flexcomp name="test" type="box" )";
-
-  if (!param.flex_spacing.empty()) {
-    xml += "spacing=\"" + param.flex_spacing + "\" ";
-  }
-  if (!param.flex_xyaxes.empty()) {
-    xml += "xyaxes=\"" + param.flex_xyaxes + "\" ";
-  }
-
-  xml += R"(radius="0.001"
-                pos="0 0 0" dof="trilinear" mass="1" dim="3">
-        <contact selfcollide="none"/>
-        <edge equality="strain"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml.c_str(), error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-
-  mj_forward(m.get(), d.get());
-
-  // Check we have strain constraints
-  EXPECT_GT(d->ne, 0) << "Expected strain constraints";
-
-  // The critical check: constraint residuals must be ~0 at the initial
-  // (undeformed) configuration, even though the body is rotated.
-  mjtNum max_pos = 0;
-  for (int i = 0; i < d->ne; i++) {
-    max_pos = mju_max(max_pos, mju_abs(d->efc_pos[i]));
-  }
-  EXPECT_LT(max_pos, MjTol(1e-6, 1e-5))
-      << "Strain constraint residual should be ~0"
-      << " (max_pos=" << max_pos << ")";
-
-  // Verify stability
-  for (int i = 0; i < 200; i++) {
-    mj_step(m.get(), d.get());
-    ASSERT_FALSE(mju_isBad(d->qpos[0])) << "Simulation unstable at step " << i;
-    for (int j = 0; j < m->nv; j++) {
-      ASSERT_LT(mju_abs(d->qvel[j]), 1000.0)
-          << "Velocity exploded at step " << i << ", qvel[" << j
-          << "]=" << d->qvel[j];
-    }
-  }
-}
-
-INSTANTIATE_TEST_SUITE_P(
-  StrainConstraintRotatedTests, StrainConstraintRotatedTest,
-  testing::ValuesIn<StrainConstraintTestCase>({
-      // Test strain constraint with a rotated parent body.
-      // The flexcomp is placed inside a parent body that has a non-identity
-      // initial rotation. This reproduces the "grocery scene" bug where the
-      // stiffness matrix eigenvectors and reference positions were computed
-      // in world frame instead of the unrotated local frame, causing
-      // spurious constraint forces.
-      {
-          "RotatedParent",
-          "1 2 3",
-          "0.707107 0 0.707107 0",
-          ".1 .1 .1",
-          ""
-      },
-      // Same test with an anisotropic box (different spacing per axis) and
-      // arbitrary rotation (combined 45-deg Y + 30-deg X).
-      {
-          "RotatedParentAnisotropic",
-          "0.5 -1 2",
-          "0.8924 0.2392 0.3696 -0.0990",
-          ".15 .08 .05",
-          ""
-      },
-      // Test strain constraint with flexcomp-level xyaxes rotation.
-      // This is the "grocery scene" pattern where the flexcomp grid itself is
-      // rotated via xyaxes="0 1 0 0 0 1" (X->Y, Y->Z).
-      {
-          "FlexcompXyaxes",
-          "",
-          "",
-          ".1 .02 .1",
-          "0 1 0 0 0 1"
-      },
-      // Test combining parent body rotation with flexcomp xyaxes rotation.
-      // The total rotation is the composition of both.
-      {
-          "RotatedParentPlusXyaxes",
-          "1 2 3",
-          "0.707107 0 0.707107 0",
-          ".15 .08 .05",
-          "0 1 0 0 0 1"
-      }
-  }),
-  [](const testing::TestParamInfo<
-      StrainConstraintRotatedTest::ParamType>& info) {
-    return info.param.test_name;
-  }
-);
-
-TEST_F(CoreConstraintTest, ShellModeContactJacobian) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option jacobian="dense"/>
-    <worldbody>
-      <flexcomp name="flex" type="grid" count="3 3 3" spacing=".1 .1 .1" dim="3" dof="trilinear">
-        <elasticity elastic2d="stretch" thickness="0.01"/>
-        <contact selfcollide="none"/>
-      </flexcomp>
-      <geom type="plane" size="1 1 1" pos="0 0 -1"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  mj_forward(model.get(), data.get());
-
-  // find central vertex index (13 for 3x3x3 grid)
-  int central_idx = 13;
-
-  // verify it is interior
-  int nx = 3, ny = 3, nz = 3;
-  int k = central_idx / (nx * ny);
-  int rest = central_idx % (nx * ny);
-  int j = rest / nx;
-  int i = rest % nx;
-  ASSERT_TRUE(i > 0 && i < nx - 1 && j > 0 && j < ny - 1 && k > 0 &&
-              k < nz - 1);
-
-  // create manual contact with central vertex
-  mjContact con;
-  memset(&con, 0, sizeof(mjContact));
-  con.flex[0] = -1;
-  con.flex[1] = -1;
-  con.vert[0] = -1;
-  con.vert[1] = -1;
-  con.geom[0] = model->ngeom - 1;  // plane geom
-  con.geom[1] = -1;  // must be -1 to trigger flex branch in mj_contactJacobian
-  con.flex[1] = 0;
-  con.vert[1] = central_idx;
-  con.dim = 1;
-  mju_copy3(con.pos, data->flexvert_xpos + 3 * central_idx);
-  con.frame[0] = 0;
-  con.frame[1] = 0;
-  con.frame[2] = 1;  // normal
-
-  // buffer for Jacobian
-  std::vector<mjtNum> jacdif(3 * model->nv, 0.0);
-
-  mj_contactJacobian(model.get(), data.get(), &con, 1, jacdif.data(),
-                     nullptr, nullptr, nullptr, nullptr, nullptr, nullptr);
-
-  // check that boundary nodes have non-zero entries, and central node has zero
-
-  bool boundary_has_dof = false;
-  bool interior_has_dof = false;
-
-  for (int n = 0; n < model->flex_nodenum[0]; n++) {
-    int b = model->flex_nodebodyid[model->flex_nodeadr[0] + n];
-    int dofadr = model->body_dofadr[b];
-    int dofnum = model->body_dofnum[b];
-
-    bool has_jac = false;
-    if (dofadr >= 0) {
-      for (int d = 0; d < dofnum; d++) {
-        if (mju_abs(jacdif[dofadr + d]) > 1e-6) {
-          has_jac = true;
-        }
-      }
-    }
-
-    int kn = n / (nx * ny);
-    int restn = n % (nx * ny);
-    int jn = restn / nx;
-    int in = restn % nx;
-    bool is_interior = (in > 0 && in < nx - 1 && jn > 0 && jn < ny - 1 &&
-                        kn > 0 && kn < nz - 1);
-
-    if (is_interior) {
-      if (has_jac) interior_has_dof = true;
-    } else {
-      if (has_jac) boundary_has_dof = true;
-    }
-  }
-
-  EXPECT_TRUE(boundary_has_dof)
-      << "Boundary nodes should receive contact force";
-  EXPECT_FALSE(interior_has_dof)
-      << "Interior nodes should not receive contact force";
-}
-
-
-// ------------------------------- adhesion ------------------------------------
-
-static const char* kAdhereCeiling = R"(
-<mujoco>
-  <worldbody>
-    <geom type="box" size=".2 .2 .02" pos="0 0 1" gap=".05" adhesion="20"/>
-    <body pos="0 0 .93">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .05" mass="1"/>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-// a box sticks to an adhesive ceiling, holds up to ncon*delta, then detaches
-TEST_F(CoreConstraintTest, AdhesionPulloff) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kAdhereCeiling, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // hangs at rest
-  while (data->time < 2) {
-    mj_step(model.get(), data.get());
-  }
-  ASSERT_EQ(data->ncon, 4);
-  EXPECT_GT(data->qpos[2], 0.9);
-
-  // holds a load below 4*delta - mg
-  data->xfrc_applied[6*1 + 2] = -60;
-  while (data->time < 4) {
-    mj_step(model.get(), data.get());
-  }
-  EXPECT_GT(data->qpos[2], 0.9);
-
-  // detaches above 4*delta
-  data->xfrc_applied[6*1 + 2] = -85;
-  while (data->time < 5) {
-    mj_step(model.get(), data.get());
-  }
-  EXPECT_LT(data->qpos[2], 0.5);
-}
-
-// under tension the box hangs at positive separation which grows with load
-TEST_F(CoreConstraintTest, AdhesionTether) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kAdhereCeiling, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  mjtNum dist[2];
-  for (int k=0; k < 2; k++) {
-    data->xfrc_applied[6*1 + 2] = k ? -50 : 0;
-    mjtNum tend = data->time + 3;
-    while (data->time < tend) {
-      mj_step(model.get(), data.get());
-    }
-    ASSERT_GT(data->ncon, 0);
-    dist[k] = data->contact[0].dist;
-  }
-  EXPECT_GT(dist[0], 0);         // hanging in tension at positive separation
-  EXPECT_GT(dist[1], dist[0]);   // separation grows with load
-}
-
-// a box released inside the adhesion band is captured into steady contact
-TEST_F(CoreConstraintTest, AdhesionCapture) {
-  std::string xml = kAdhereCeiling;
-  size_t pos = xml.find("0 0 .93");
-  xml.replace(pos, 7, "0 0 .89");
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  while (data->time < 3) {
-    mj_step(model.get(), data.get());
-  }
-  mjtNum zmin = 10, zmax = -10;
-  while (data->time < 4) {
-    mj_step(model.get(), data.get());
-    zmin = mju_min(zmin, data->qpos[2]);
-    zmax = mju_max(zmax, data->qpos[2]);
-  }
-  EXPECT_GT(zmax, 0.928);         // captured up to the ceiling
-  EXPECT_LT(zmax - zmin, 1e-4);   // and steady
-}
-
-// resting penetration is independent of adhesion (the R*delta correction)
-TEST_F(CoreConstraintTest, AdhesionRestingPenetration) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="2 2 .1" adhesion="ADH"/>
-      <body pos="0 0 .1">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1" mass="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  mjtNum depth[2];
-  for (int k=0; k < 2; k++) {
-    std::string xml2 = xml;
-    size_t pos = xml2.find("ADH");
-    xml2.replace(pos, 3, k ? "50" : "0");
-    MjModelPtr model = LoadModelFromString(xml2.c_str(), error, sizeof(error));
-    ASSERT_THAT(model.get(), testing::NotNull()) << error;
-    MjDataPtr data = MakeData(model);
-    while (data->time < 3) {
-      mj_step(model.get(), data.get());
-    }
-    ASSERT_GT(data->ncon, 0);
-    depth[k] = -data->contact[0].dist;
-
-    // net reported force sums to the weight
-    if (k) {
-      mjtNum total = 0, f[6];
-      for (int i=0; i < data->ncon; i++) {
-        mj_contactForce(model.get(), data.get(), i, f);
-        total += f[0];
-      }
-      EXPECT_NEAR(total, 9.81, 1e-2);
-    }
-  }
-  EXPECT_NEAR(depth[0], depth[1], MjTol(1e-9, 1e-6));
-}
-
-// adhesion combines by sum, with pair override
-TEST_F(CoreConstraintTest, AdhesionCombination) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="floor" type="plane" size="2 2 .1" adhesion="10"/>
-      <body pos="0 0 .1">
-        <freejoint/>
-        <geom name="box" type="box" size=".1 .1 .1" mass="1" adhesion="5"/>
-      </body>
-    </worldbody>
-    <contact>
-      <pair geom1="floor" geom2="box" adhesion="7"/>
-    </contact>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-  ASSERT_GT(data->ncon, 0);
-
-  // explicit pair overrides: 7, not 10+5
-  EXPECT_EQ(data->contact[0].adhesion, 7);
-}
-
-TEST_F(CoreConstraintTest, AdhesionPriority) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="floor" type="plane" size="2 2 .1" adhesion="10" priority="1"/>
-      <body pos="0 0 .1">
-        <freejoint/>
-        <geom name="box" type="box" size=".1 .1 .1" mass="1" adhesion="5"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-  ASSERT_GT(data->ncon, 0);
-
-  // higher-priority geom wins: 10, not 10+5
-  EXPECT_EQ(data->contact[0].adhesion, 10);
-}
-
-// Verify that the rotational Jacobian from mj_jacSum in the sparse path matches
-// the dense path. This is a regression test for the bug where the sparse path
-// wrote rotational rows at offset 3*NV inside a packed buffer, but the caller
-// expected them at offset 3*nv.
-TEST_F(CoreConstraintTest, SparseRotationalJacobianMatchesDense) {
-  // XML template with a %s placeholder for the jacobian type
-  constexpr char xml_template[] = R"(
-  <mujoco>
-    <option jacobian="%s"/>
-    <worldbody>
-      <body name="parent" pos="0 0 1">
-        <freejoint/>
-        <geom size=".01" mass="1"/>
-        <flexcomp name="flex" type="grid" count="3 3 3" spacing=".1 .1 .1" dim="3" dof="trilinear">
-          <elasticity elastic2d="stretch" thickness="0.01"/>
-          <contact selfcollide="none"/>
-        </flexcomp>
-      </body>
-      <geom name="plane" type="plane" size="1 1 1" pos="0 0 -1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  auto run_contact_jacobian = [&](const char* jacobian_type,
-                                  std::vector<mjtNum>& jacdifp_dense_out,
-                                  std::vector<mjtNum>& jacdifr_dense_out) {
-    char xml[1024];
-    snprintf(xml, sizeof(xml), xml_template, jacobian_type);
-    char error[1024];
-    MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-    ASSERT_THAT(model.get(), testing::NotNull()) << error;
-    MjDataPtr data = MakeData(model);
-    mj_forward(model.get(), data.get());
-
-    int nv = model->nv;
-
-    // pick a boundary vertex so the Jacobian is non-trivial
-    int vert_idx = 0;
-
-    int plane_geom_id = mj_name2id(model.get(), mjOBJ_GEOM, "plane");
-    ASSERT_GE(plane_geom_id, 0);
-
-    // create a frictional contact with dim=6 (normal + 2 tangent + 3 torsional)
-    mjContact con;
-    memset(&con, 0, sizeof(mjContact));
-    con.flex[0] = -1;
-    con.flex[1] = -1;
-    con.vert[0] = -1;
-    con.vert[1] = -1;
-    con.geom[0] = plane_geom_id;  // plane geom (world body)
-    con.geom[1] = -1;  // trigger flex branch in mj_contactJacobian
-    con.flex[1] = 0;
-    con.vert[1] = vert_idx;
-    con.dim = 6;  // full frictional contact: exercises rotational Jacobian
-    mju_copy3(con.pos, data->flexvert_xpos + 3 * vert_idx);
-    // set contact frame to identity
-    mju_zero(con.frame, 9);
-    con.frame[0] = 1;
-    con.frame[4] = 1;
-    con.frame[8] = 1;
-
-    // allocate output buffers
-    std::vector<mjtNum> jacdifp(3 * nv, 0.0);
-    std::vector<mjtNum> jacdifr(3 * nv, 0.0);
-    std::vector<int> chain(nv, 0);
-
-    int NV = mj_contactJacobian(model.get(), data.get(), &con, con.dim,
-                                jacdifp.data(), jacdifr.data(),
-                                nullptr, nullptr, nullptr, nullptr,
-                                chain.data());
-    ASSERT_GT(NV, 0);
-
-    // for sparse: unpack to dense using chain indices
-    if (strcmp(jacobian_type, "sparse") == 0) {
-      std::vector<mjtNum> jacdifp_full(3 * nv, 0.0);
-      std::vector<mjtNum> jacdifr_full(3 * nv, 0.0);
-      for (int row = 0; row < 3; row++) {
-        for (int j = 0; j < NV; j++) {
-          jacdifp_full[row * nv + chain[j]] = jacdifp[row * NV + j];
-          jacdifr_full[row * nv + chain[j]] = jacdifr[row * NV + j];
-        }
-      }
-      jacdifp_dense_out = std::move(jacdifp_full);
-      jacdifr_dense_out = std::move(jacdifr_full);
-    } else {
-      jacdifp_dense_out = std::move(jacdifp);
-      jacdifr_dense_out = std::move(jacdifr);
-    }
-  };
-
-  // compute Jacobians with dense and sparse paths
-  std::vector<mjtNum> dense_jacdifp, dense_jacdifr;
-  std::vector<mjtNum> sparse_jacdifp, sparse_jacdifr;
-
-  run_contact_jacobian("dense", dense_jacdifp, dense_jacdifr);
-  ASSERT_FALSE(HasFatalFailure());
-  run_contact_jacobian("sparse", sparse_jacdifp, sparse_jacdifr);
-  ASSERT_FALSE(HasFatalFailure());
-
-  ASSERT_EQ(dense_jacdifp.size(), sparse_jacdifp.size());
-  ASSERT_EQ(dense_jacdifr.size(), sparse_jacdifr.size());
-
-  // verify positional Jacobian matches
-  const mjtNum tol = MjTol(1e-10, 1e-5);
-  for (int i = 0; i < dense_jacdifp.size(); i++) {
-    EXPECT_NEAR(dense_jacdifp[i], sparse_jacdifp[i], tol)
-        << "jacdifp mismatch at index " << i;
-  }
-
-  // verify rotational Jacobian matches (this is where the bug was)
-  bool has_nonzero_rot = false;
-  for (int i = 0; i < dense_jacdifr.size(); i++) {
-    EXPECT_NEAR(dense_jacdifr[i], sparse_jacdifr[i], tol)
-        << "jacdifr mismatch at index " << i;
-    if (mju_abs(dense_jacdifr[i]) > tol) {
-      has_nonzero_rot = true;
-    }
-  }
-  EXPECT_TRUE(has_nonzero_rot)
-      << "Rotational Jacobian should have non-zero entries";
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
deleted file mode 100644
index b0f52410..00000000
--- a/test/engine/engine_core_smooth_test.cc
+++ /dev/null
@@ -1,2234 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_core_smooth.c.
-
-#include "src/engine/engine_core_smooth.h"
-
-#include <algorithm>
-#include <cstdio>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/types/span.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_util_misc.h"
-#include "src/engine/engine_util_sparse.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::std::string;
-using ::std::vector;
-using ::testing::Each;
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::ElementsAre;
-using ::testing::Not;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-using CoreSmoothTest = MujocoTest;
-
-constexpr bool EndsWith(std::string_view str, std::string_view suffix) {
-  return str.size() >= suffix.size() &&
-         str.substr(str.size() - suffix.size()) == suffix;
-}
-
-// mjData values corresponding to the world body should be zero or identity
-TEST_F(CoreSmoothTest, MjDataWorldBodyValuesAreInitialized) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option>
-      <flag gravity="disable"/>
-    </option>
-    <worldbody/>
-    <sensor>
-      <subtreelinvel body="world"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_resetDataDebug(model.get(), data.get(), 'd');
-  mj_forward(model.get(), data.get());
-  mj_rnePostConstraint(model.get(), data.get());
-
-  {
-#define X(type, name, d0, d1)                                               \
-  if constexpr (std::string_view(#d0) == "nbody") {                         \
-    absl::Span<type> values(data->name, model->d0 * d1);                    \
-    if constexpr (EndsWith(#name, "quat")) {                                \
-      EXPECT_THAT(values, ElementsAre(1, 0, 0, 0)) << #name;                \
-    } else if constexpr (EndsWith(#name, "mat")) {                          \
-      EXPECT_THAT(values, ElementsAre(1, 0, 0, 0, 1, 0, 0, 0, 1)) << #name; \
-    } else if constexpr (std::string_view(#type) == "mjtNum") {             \
-      EXPECT_THAT(values, Each(MjNear(0.0, 1e-7, 1e-7))) << #name;          \
-    }                                                                       \
-  }
-    MJDATA_POINTERS
-#undef X
-  }
-}
-
-// --------------------------- mj_kinematics -----------------------------------
-
-TEST_F(CoreSmoothTest, MjKinematicsWorldXipos) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  mj_resetDataDebug(model.get(), data.get(), 'd');
-  mj_kinematics(model.get(), data.get());
-  EXPECT_THAT(AsVector(&data->xipos[0], 3), ElementsAre(0, 0, 0));
-}
-
-// ----------------------------- mj_tendon -------------------------------------
-
-TEST_F(CoreSmoothTest, FixedTendonSortedIndices) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option jacobian="sparse"/>
-
-    <worldbody>
-      <body>
-        <geom size=".1"/>
-        <joint name="0"/>
-      </body>
-      <body pos="1 0 0">
-        <geom size=".1"/>
-        <joint name="1"/>
-      </body>
-      <body pos="2 0 0">
-        <geom size=".1"/>
-        <joint name="2"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <fixed>
-        <joint coef="3" joint="2"/>
-        <joint coef="2" joint="1"/>
-        <joint coef="1" joint="0"/>
-      </fixed>
-    </tendon>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  ASSERT_EQ(model->ntendon, 1);
-  ASSERT_EQ(model->nwrap, 3);
-
-  MjDataPtr data = MakeData(model);
-  mj_fwdPosition(model.get(), data.get());
-
-  mjtNum* J = data->ten_J;
-  EXPECT_THAT(vector<mjtNum>(J, J + 3), ElementsAre(1, 2, 3));
-}
-
-static const char* const kTen_J0 = "engine/testdata/core_smooth/ten_J0.xml";
-static const char* const kTen_J1 = "engine/testdata/core_smooth/ten_J1.xml";
-static const char* const kTen_J2 = "engine/testdata/core_smooth/ten_J2.xml";
-static const char* const kTen_J3 = "engine/testdata/core_smooth/ten_J3.xml";
-
-TEST_F(CoreSmoothTest, TendonJdot) {
-  for (const char* local_path : {kTen_J0, kTen_J1, kTen_J2, kTen_J3}) {
-    const std::string xml_path = GetTestDataFilePath(local_path);
-    char error[1024];
-    mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-    int nv = m->nv;
-    ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-    EXPECT_EQ(m->ntendon, 1);
-    mjData* d = mj_makeData(m);
-
-    for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
-      m->opt.jacobian = sparsity;
-
-      if (m->nkey) {
-        mj_resetDataKeyframe(m, d, 0);
-      } else {
-        mj_resetData(m, d);
-        while (d->time < 1) {
-          mjtNum time = d->time;
-          mj_step(m, d);
-          ASSERT_GT(d->time, time) << "Divergence detected";
-        }
-      }
-
-      mj_forward(m, d);
-
-      // get current J for the tendon
-      vector<mjtNum> ten_J(d->ten_J, d->ten_J + nv);
-
-      // compute finite-differenced Jdot
-      mjtNum h = MjTol(1e-7, 5e-4);
-      mj_integratePos(m, d->qpos, d->qvel, h);
-      mj_kinematics(m, d);
-      mj_comPos(m, d);
-      mj_tendon(m, d);
-      vector<mjtNum> ten_Jh(d->ten_J, d->ten_J + nv);
-      mju_subFrom(ten_Jh.data(), ten_J.data(), nv);
-      mju_scl(ten_Jh.data(), ten_Jh.data(), 1.0 / h, nv);
-
-      // test dot product against finite differences
-      mjtNum dot = mj_tendonDot(m, d, 0, d->qvel);
-      mjtNum expected_dot = mju_dot(ten_Jh.data(), d->qvel, nv);
-      EXPECT_NEAR(dot, expected_dot, MjTol(1e-5, 2e-3));
-    }
-
-    mj_deleteData(d);
-    mj_deleteModel(m);
-  }
-}
-
-static const char* const kTen_offtree =
-    "engine/testdata/core_smooth/ten_armature_offtree.xml";
-
-TEST_F(CoreSmoothTest, TendonArmature) {
-  const std::string xml_path = GetTestDataFilePath(kTen_offtree);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-  int nv = m->nv;
-  mjData* d = mj_makeData(m);
-
-  for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
-    m->opt.jacobian = sparsity;
-
-    mj_forward(m, d);
-
-    // get full M, includes both CRB and tendon inertia
-    vector<mjtNum> M(nv * nv);
-    mj_fullM(m, d, M.data());
-
-    // put only CRB inertia in M2
-    mj_crb(m, d);
-    vector<mjtNum> M2(nv * nv);
-    mj_fullM(m, d, M2.data());
-
-    vector<mjtNum> ten_J(nv);       // tendon Jacobian
-    vector<mjtNum> ten_M(nv * nv);  // tendon inertia
-
-    // add tendon inertias to M2 using outer product
-    for (int j = 0; j < m->ntendon; j++) {
-      // get tendon Jacobian
-      int rowadr = m->ten_J_rowadr[j];
-      int* rownnz = m->ten_J_rownnz + j;
-      int zero = 0;
-      mju_sparse2dense(ten_J.data(), d->ten_J + rowadr, 1, nv, rownnz, &zero,
-                       m->ten_J_colind + rowadr);
-
-      // get tendon inertia only, using outer product
-      mju_mulMatMat(ten_M.data(), ten_J.data(), ten_J.data(), nv, 1, nv);
-      mju_scl(ten_M.data(), ten_M.data(), m->tendon_armature[j], nv * nv);
-
-      // manually add values, at nonzeros only
-      for (int i = 0; i < nv * nv; i++) {
-        if (M[i]) M2[i] += ten_M[i];
-      }
-    }
-
-    // expect matrices to match
-    EXPECT_THAT(M2, Pointwise(MjNear(1e-9, 1e-5), M));
-  }
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-static const char* const kTen_i0 =
-    "engine/testdata/core_smooth/ten_armature_0.xml";
-static const char* const kTen_i1 =
-    "engine/testdata/core_smooth/ten_armature_1.xml";
-static const char* const kTen_i2 =
-    "engine/testdata/core_smooth/ten_armature_2.xml";
-static const char* const kTen_i3 =
-    "engine/testdata/core_smooth/ten_armature_3.xml";
-static const char* const kTen_i4 =
-    "engine/testdata/core_smooth/ten_armature_4.xml";
-
-TEST_F(CoreSmoothTest, TendonArmatureConservesEnergy) {
-  for (const char* local_path : {kTen_i0, kTen_i1, kTen_i2, kTen_i3, kTen_i4}) {
-    const std::string xml_path = GetTestDataFilePath(local_path);
-    char error[1024];
-    mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-    ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-    mjData* d = mj_makeData(m);
-
-    for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
-      m->opt.jacobian = sparsity;
-
-      mj_resetDataKeyframe(m, d, 0);
-      mj_forward(m, d);
-
-      double energy_0 = d->energy[0] + d->energy[1];
-
-      double eps = std::max(energy_0, 1.0) * 1e-5;
-      while (d->time < 1) {
-        mjtNum time = d->time;
-        mj_step(m, d);
-        ASSERT_GT(d->time, time) << "Divergence detected";
-        mjtNum energy_t = d->energy[0] + d->energy[1];
-        EXPECT_NEAR(energy_t, energy_0, MjTol(eps, 3 * eps));
-      }
-    }
-    mj_deleteData(d);
-    mj_deleteModel(m);
-  }
-}
-
-TEST_F(CoreSmoothTest, TendonArmatureConservesMomentum) {
-  const std::string xml_path = GetTestDataFilePath(kTen_i4);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-  mjData* d = mj_makeData(m);
-
-  for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
-    m->opt.jacobian = sparsity;
-
-    mj_resetData(m, d);
-    mj_forward(m, d);
-
-    // this model contains subtreelinvel and subtreeangmom sensors
-    vector<mjtNum> sdata_0 = AsVector(d->sensordata, m->nsensordata);
-    EXPECT_THAT(sdata_0, Each(MjNear(0.0, 1e-15, 1e-7)));
-    while (d->time < 1) {
-      mjtNum time = d->time;
-      mj_step(m, d);
-      ASSERT_GT(d->time, time) << "Divergence detected";
-      vector<mjtNum> sdata_t = AsVector(d->sensordata, m->nsensordata);
-      EXPECT_THAT(sdata_t, Pointwise(MjNear(1e-5, 5e-4), sdata_0));
-    }
-
-    // momentum is conserved nontrivially (velocities are non-zero)
-    EXPECT_GT(d->energy[1], 0);
-  }
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-static const char* const kTen_i0_equiv =
-    "engine/testdata/core_smooth/ten_armature_0_equiv.xml";
-static const char* const kTen_i1_equiv =
-    "engine/testdata/core_smooth/ten_armature_1_equiv.xml";
-
-TEST_F(CoreSmoothTest, TendonInertiaEquivalent) {
-  for (const char* lpath : {kTen_i0, kTen_i1}) {
-    // load tendon model
-    const std::string path = GetTestDataFilePath(lpath);
-    char error[1024];
-    mjModel* m = mj_loadXML(path.c_str(), nullptr, error, sizeof(error));
-    ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-    int gid = mj_name2id(m, mjOBJ_GEOM, "query");
-    mjData* d = mj_makeData(m);
-
-    if (m->nkey) mj_resetDataKeyframe(m, d, 0);
-
-    // load equivalent model
-    const char* lpath_e = lpath == kTen_i0 ? kTen_i0_equiv : kTen_i1_equiv;
-    const std::string path_e = GetTestDataFilePath(lpath_e);
-    mjModel* m_e = mj_loadXML(path_e.c_str(), nullptr, error, sizeof(error));
-    ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-    int gid_e = mj_name2id(m_e, mjOBJ_GEOM, "query");
-    mjData* d_e = mj_makeData(m_e);
-
-    if (m_e->nkey) mj_resetDataKeyframe(m_e, d_e, 0);
-
-    // the equality constraint in kTen_i1_equiv reduces precision
-    double eps = lpath == kTen_i0 ? 1e-6 : 1e-3;
-
-    while (d->time < 1) {
-      mjtNum time = d->time;
-      mj_step(m, d);
-      ASSERT_GT(d->time, time) << "Divergence detected";
-      vector<mjtNum> xpos = AsVector(d->geom_xpos + 3 * gid, 3);
-
-      time = d_e->time;
-      mj_step(m_e, d_e);
-      ASSERT_GT(d_e->time, time) << "Divergence detected";
-      vector<mjtNum> xpos_e = AsVector(d_e->geom_xpos + 3 * gid_e, 3);
-      EXPECT_THAT(xpos, Pointwise(MjNear(eps, 10 * eps), xpos_e));
-    }
-    mj_deleteData(d);
-    mj_deleteModel(m);
-    mj_deleteData(d_e);
-    mj_deleteModel(m_e);
-  }
-}
-
-// --------------------------- connect constraint ------------------------------
-
-// test that bodies hanging on connects lead to expected force sensor readings
-void TestConnect(const char* const filepath) {
-  const std::string xml_path = GetTestDataFilePath(filepath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  mjData* data = mj_makeData(model);
-  // settle physics:
-  for (int i = 0; i < 1000; i++) {
-    mj_step(model, data);
-  }
-  for (int i = 0; i < 3; i++) {
-    EXPECT_THAT(data->sensordata[i] - model->sensor_user[i],
-                MjNear(0, 1e-6, 2e-4));
-  }
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(CoreSmoothTest, RnePostConnectForceSlide) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/connect/force_slide.xml";
-  TestConnect(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, RnePostConnectForceSlideRotated) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/connect/force_slide_rotated.xml";
-  TestConnect(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, RnePostConnectForceFree) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/connect/force_free.xml";
-  TestConnect(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, RnePostConnectTorque) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/connect/torque_free.xml";
-  TestConnect(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, RnePostConnectMultipleConstraints) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/connect/multiple_constraints.xml";
-  TestConnect(kModelFilePath);
-}
-
-// --------------------------- weld constraint ---------------------------------
-
-// test that bodies attached with welds lead to expected force sensor readings
-void TestWeld(const char* const filepath) {
-  const std::string xml_path = GetTestDataFilePath(filepath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  mjData* data = mj_makeData(model);
-  // settle physics:
-  for (int i = 0; i < 1000; i++) {
-    mj_step(model, data);
-  }
-  for (int sensor_index = 0; sensor_index < model->nsensor; sensor_index++) {
-    for (int i = 0; i < 3; i++) {
-      EXPECT_NEAR(data->sensordata[model->sensor_adr[sensor_index] + i],
-                  model->sensor_user[model->nuser_sensor * sensor_index + i],
-                  MjTol(1e-6, 5e-5));
-    }
-  }
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(CoreSmoothTest, RnePostWeldForceFree) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/weld/force_free.xml";
-  TestWeld(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, RnePostWeldForceFreeRotated) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/weld/force_free_rotated.xml";
-  TestWeld(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, RnePostWeldForceTorqueFree) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/weld/force_torque_free.xml";
-  TestWeld(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, RnePostWeldForceTorqueFreeRotated) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/weld/force_torque_free_rotated.xml";
-  TestWeld(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, WeldRatioForceFree) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/weld/tfratio0_force_free.xml";
-  TestConnect(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, WeldRatioForceSlide) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/weld/tfratio0_force_slide.xml";
-  TestConnect(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, WeldRatioTorqueFree) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/weld/tfratio0_torque_free.xml";
-  TestConnect(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, WeldRatioForceSlideRotated) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/weld/"
-      "tfratio0_force_slide_rotated.xml";
-  TestConnect(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, WeldRatioMultipleConstraints) {
-  constexpr char kModelFilePath[] =
-      "engine/testdata/core_smooth/rne_post/weld/"
-      "tfratio0_multiple_constraints.xml";
-  TestConnect(kModelFilePath);
-}
-
-TEST_F(CoreSmoothTest, EqualityBodySite) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/equality_site_body_compare.xml");
-
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  // simulate, get sensordata
-  while (data->time < 0.1) {
-    mj_step(model, data);
-  }
-  vector<mjtNum> sdata = AsVector(data->sensordata, model->nsensordata);
-
-  // reset
-  mj_resetData(model, data);
-
-  // turn site-defined equalities off, equivalent body-defined equalities on
-  for (int e = 0; e < 4; e++) data->eq_active[e] = 1 - data->eq_active[e];
-
-  // simulate again, get sensordata
-  while (data->time < 0.1) {
-    mjtNum time = data->time;
-    mj_step(model, data);
-    ASSERT_GT(data->time, time) << "Divergence detected";
-  }
-
-  // compare
-  EXPECT_THAT(AsVector(data->sensordata, model->nsensordata),
-              Pointwise(MjNear(1e-8, 5e-4), sdata));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// --------------------------- site actuators ----------------------------------
-
-// Test Cartesian position control using site transmission with refsite
-TEST_F(CoreSmoothTest, RefsiteBringsToPose) {
-  constexpr char kRefsitePath[] = "engine/testdata/actuation/refsite.xml";
-  const std::string xml_path = GetTestDataFilePath(kRefsitePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  ASSERT_THAT(model, NotNull());
-  mjData* data = mj_makeData(model);
-
-  // set pose target in ctrl (3 positions, 3 rotations)
-  mjtNum targetpos[] = {.01, .02, .03};
-  mjtNum targetrot[] = {.1, .2, .3};
-  mju_copy3(data->ctrl, targetpos);
-  mju_copy3(data->ctrl + 3, targetrot);
-
-  // step for 5 seconds
-  while (data->time < 10) {
-    mjtNum time = data->time;
-    mj_step(model, data);
-    ASSERT_GT(data->time, time) << "Divergence detected";
-  }
-
-  // get site IDs
-  int refsite_id = mj_name2id(model, mjOBJ_SITE, "reference");
-  int site_id = mj_name2id(model, mjOBJ_SITE, "end_effector");
-
-  // check that position matches target to within 1e-3 length units
-  mjtNum relpos[3];
-  mju_sub3(relpos, data->site_xpos + 3 * site_id,
-           data->site_xpos + 3 * refsite_id);
-  EXPECT_THAT(relpos, Pointwise(MjNear(1e-3, 5e-3), targetpos));
-
-  // check that orientation matches target to within 0.06 radians
-  mjtNum site_xquat[4], refsite_xquat[4], relrot[3];
-  mju_mat2Quat(refsite_xquat, data->site_xmat + 9 * refsite_id);
-  mju_mat2Quat(site_xquat, data->site_xmat + 9 * site_id);
-  mju_subQuat(relrot, site_xquat, refsite_xquat);
-  EXPECT_THAT(relrot, Pointwise(MjNear(0.06, 0.06), targetrot));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// Test Cartesian position control w.r.t moving refsite
-TEST_F(CoreSmoothTest, RefsiteConservesMomentum) {
-  constexpr char kRefsitePath[] = "engine/testdata/actuation/refsite_free.xml";
-  const std::string xml_path = GetTestDataFilePath(kRefsitePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  ASSERT_THAT(model, NotNull());
-  mjData* data = mj_makeData(model);
-
-  // assert tight momentum conservation: solve exactly, no early termination
-  model->opt.tolerance = 0;
-
-  data->ctrl[0] = 1;
-  data->ctrl[1] = -1;
-
-  // simulate, assert that momentum is conserved
-  mjtNum eps = MjTol(1e-9, 2e-6);
-  while (data->time < 1) {
-    mjtNum time = data->time;
-    mj_step(model, data);
-    ASSERT_GT(data->time, time) << "Divergence detected";
-    for (int i = 0; i < 6; i++) {
-      EXPECT_LT(mju_abs(data->sensordata[i]), eps);
-    }
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// Test smooth tracking of a rotational target ramped through the pi boundary.
-// Rotational transmission lengths live in (-pi, pi]; a servo whose error is
-// computed in the chart rather than on the circle loses the target once it
-// crosses pi and enters a phase-slipping limit cycle.
-TEST_F(CoreSmoothTest, RefsiteTracksWindingTarget) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <site name="reference"/>
-      <body name="box">
-        <freejoint/>
-        <geom type="box" size=".05 .07 .03"/>
-        <site name="end_effector"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position name="rz" site="end_effector" refsite="reference"
-                gear="0 0 0 0 0 1" kp="1" dampratio="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjData* data = mj_makeData(model.get());
-
-  int rz = mj_name2id(model.get(), mjOBJ_ACTUATOR, "rz");
-  ASSERT_GE(rz, 0);
-
-  // ramp the rz target from 0 to 2*pi, slowly enough to track
-  const mjtNum rate = 0.5;  // rad/s
-  while (data->time < 2 * mjPI / rate) {
-    data->ctrl[rz] = rate * data->time;
-    mj_step(model.get(), data);
-
-    // distance between target and actuator length, measured on the circle
-    mjtNum error = data->ctrl[rz] - data->actuator_length[rz];
-    error -= 2 * mjPI * mju_round(error / (2 * mjPI));
-    ASSERT_LT(mju_abs(error), 0.5)
-        << "tracking lost at time " << data->time << ", target "
-        << data->ctrl[rz] << ", length " << data->actuator_length[rz];
-  }
-
-  mj_deleteData(data);
-}
-
-// Test single-axis winding on a ball joint with per-axis (wrapped) servos:
-// a target ramped through pi is tracked smoothly.
-TEST_F(CoreSmoothTest, BallTracksWindingTarget) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position name="rx" joint="ball" gear="1 0 0" kp="1" dampratio="1"/>
-      <position name="ry" joint="ball" gear="0 1 0" kp="1" dampratio="1"/>
-      <position name="rz" joint="ball" gear="0 0 1" kp="1" dampratio="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjData* data = mj_makeData(model.get());
-
-  int rz = mj_name2id(model.get(), mjOBJ_ACTUATOR, "rz");
-  ASSERT_GE(rz, 0);
-
-  // ramp the rz target from 0 to 2*pi, assert tracking on the circle
-  const mjtNum rate = 0.5;  // rad/s
-  while (data->time < 2 * mjPI / rate) {
-    data->ctrl[rz] = rate * data->time;
-    mj_step(model.get(), data);
-    mjtNum error = data->ctrl[rz] - data->actuator_length[rz];
-    error -= 2 * mjPI * mju_round(error / (2 * mjPI));
-    ASSERT_LT(mju_abs(error), 0.5) << "tracking lost at time " << data->time;
-  }
-
-  mj_deleteData(data);
-}
-
-// Wrapped rotational intvelocity: actrange is optional, constant ctrl produces
-// steady rotation over many periods, activation stays bounded.
-TEST_F(CoreSmoothTest, IntVelocityWindsWithBoundedAct) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <intvelocity name="rz" joint="ball" gear="0 0 1" kp="1" dampratio="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjData* data = mj_makeData(model.get());
-
-  // command constant angular rate for 4 full turns
-  const mjtNum rate = 1.0;  // rad/s
-  data->ctrl[0] = rate;
-  while (data->time < 8 * mjPI / rate) {
-    mj_step(model.get(), data);
-    ASSERT_LT(mju_abs(data->act[0]), mjPI + 0.1) << "act unbounded";
-  }
-
-  // steady rotation at the commanded rate
-  EXPECT_NEAR(data->actuator_velocity[0], rate, 0.01);
-
-  mj_deleteData(data);
-}
-
-// mj_forward must not mutate state: wrapping of act happens at integration
-// time (mj_advance), never in the forward pass.
-TEST_F(CoreSmoothTest, ForwardDoesNotMutateAct) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <intvelocity name="rz" joint="ball" gear="0 0 1" kp="1" dampratio="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjData* data = mj_makeData(model.get());
-
-  // forward leaves a far-from-length activation untouched, bit-for-bit
-  data->act[0] = 100;
-  mj_forward(model.get(), data);
-  mj_forward(model.get(), data);
-  EXPECT_EQ(data->act[0], 100);
-
-  // stepping wraps it to a bounded representative
-  mj_step(model.get(), data);
-  EXPECT_LT(mju_abs(data->act[0]), mjPI + 0.1);
-
-  mj_deleteData(data);
-}
-
-// expmap (axis-angle) vector to quaternion
-static void Expmap2Quat(mjtNum quat[4], const mjtNum v[3]) {
-  mjtNum angle = mju_norm3(v);
-  if (angle < mjMINVAL) {
-    quat[0] = 1;
-    quat[1] = quat[2] = quat[3] = 0;
-  } else {
-    mjtNum axis[3] = {v[0]/angle, v[1]/angle, v[2]/angle};
-    mju_axisAngle2Quat(quat, axis, angle);
-  }
-}
-
-// geodesic distance between the orientations given by expmap vectors u and v
-static mjtNum GeodesicError(const mjtNum u[3], const mjtNum v[3]) {
-  mjtNum q_tgt[4], q_cur[4], q_err[4], e[3];
-  Expmap2Quat(q_tgt, u);
-  Expmap2Quat(q_cur, v);
-  mju_negQuat(q_cur, q_cur);
-  mju_mulQuat(q_err, q_tgt, q_cur);
-  mju_quat2Vel(e, q_err, 1);
-  return mju_norm3(e);
-}
-
-// mixed model: three scalar translation servos and one SO3 orientation servo
-static constexpr char kSO3RefsiteXml[] = R"(
-<mujoco>
-  <option integrator="implicitfast">
-    <flag contact="disable" gravity="disable"/>
-  </option>
-  <worldbody>
-    <site name="reference"/>
-    <body name="box">
-      <freejoint/>
-      <geom type="box" size=".05 .07 .03"/>
-      <site name="end_effector"/>
-    </body>
-  </worldbody>
-  <actuator>
-    <position name="x" site="end_effector" refsite="reference" gear="1 0 0 0 0 0"
-              kp="100" dampratio="1"/>
-    <orientation name="orient" site="end_effector" refsite="reference" kp="1" dampratio="1"/>
-    <position name="y" site="end_effector" refsite="reference" gear="0 1 0 0 0 0"
-              kp="100" dampratio="1"/>
-    <position name="z" site="end_effector" refsite="reference" gear="0 0 1 0 0 0"
-              kp="100" dampratio="1"/>
-  </actuator>
-  <sensor>
-    <actuatorpos actuator="orient"/>
-    <actuatorfrc actuator="orient"/>
-  </sensor>
-</mujoco>
-)";
-
-// Layout of a mixed model: the SO3 actuator owns 3-wide control and output
-// blocks, misaligning nu/nout/nactuator with the actuator index; sensors on it
-// are 3-dimensional; the model round-trips through XML.
-TEST_F(CoreSmoothTest, SO3MixedModelLayout) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kSO3RefsiteXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  // counts: 4 actuators, 3+3 controls, 3+3 force outputs
-  EXPECT_EQ(model->nactuator, 4);
-  EXPECT_EQ(model->nu, 6);
-  EXPECT_EQ(model->nout, 6);
-
-  // the orientation actuator is second, exercising address accumulation
-  int orient = mj_name2id(model.get(), mjOBJ_ACTUATOR, "orient");
-  ASSERT_EQ(orient, 1);
-  EXPECT_EQ(model->actuator_ctrladr[orient], 1);
-  EXPECT_EQ(model->actuator_ctrlnum[orient], 3);
-  EXPECT_EQ(model->actuator_outadr[orient], 1);
-  EXPECT_EQ(model->actuator_outnum[orient], 3);
-  EXPECT_EQ(model->actuator_trntype[orient], mjTRN_SO3);
-
-  // actuator sensors report one value per force output
-  EXPECT_EQ(model->sensor_dim[0], 3);
-  EXPECT_EQ(model->sensor_dim[1], 3);
-  EXPECT_EQ(model->sensor_adr[1], 3);
-
-  // XML round-trip preserves the layout
-  std::string saved = SaveAndReadXml(model.get());
-  MjModelPtr model2 = LoadModelFromString(saved.c_str(), error, sizeof(error));
-  ASSERT_THAT(model2.get(), NotNull()) << error;
-  EXPECT_EQ(model2->nactuator, 4);
-  EXPECT_EQ(model2->nu, 6);
-  EXPECT_EQ(model2->nout, 6);
-  EXPECT_EQ(model2->actuator_trntype[orient], mjTRN_SO3);
-}
-
-// A mixed-axis orientation target beyond the pi shell is a true equilibrium:
-// zero force when the body is at the commanded orientation, convergence to it
-// from the initial state.
-TEST_F(CoreSmoothTest, SO3RefsiteMixedAxisEquilibrium) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kSO3RefsiteXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjData* data = mj_makeData(model.get());
-
-  int orient = mj_name2id(model.get(), mjOBJ_ACTUATOR, "orient");
-  int uadr = model->actuator_ctrladr[orient];
-  int oadr = model->actuator_outadr[orient];
-
-  // target: 5.66 rad rotation about the mixed axis (1,1,0)/sqrt(2), beyond pi;
-  // canonical (shortest) expmap is u*(1 - 2*pi/norm(u)) = (-.4429, -.4429, 0)
-  mjtNum target[3] = {4, 4, 0};
-  mjtNum shrink = 1 - 2*mjPI/mju_norm3(target);
-  mjtNum canonical[3] = {target[0]*shrink, target[1]*shrink, target[2]*shrink};
-  mju_copy3(data->ctrl + uadr, target);
-
-  // place the body exactly at the commanded orientation: force must vanish
-  Expmap2Quat(data->qpos + 3, target);
-  mj_forward(model.get(), data);
-  for (int k=0; k < 3; k++) {
-    EXPECT_LT(mju_abs(data->actuator_force[oadr + k]), MjTol(1e-10, 1e-6));
-    EXPECT_LT(mju_abs(data->actuator_length[oadr + k] - canonical[k]),
-              MjTol(1e-10, 1e-6));
-
-    // sensors: actuatorpos = canonical expmap, actuatorfrc = 0
-    EXPECT_LT(mju_abs(data->sensordata[k] - canonical[k]), MjTol(1e-10, 1e-6));
-    EXPECT_LT(mju_abs(data->sensordata[3 + k]), MjTol(1e-10, 1e-6));
-  }
-
-  // from the initial state, converge to the commanded orientation
-  mj_resetData(model.get(), data);
-  mju_copy3(data->ctrl + uadr, target);
-  while (data->time < 10) {
-    mj_step(model.get(), data);
-  }
-  for (int k=0; k < 3; k++) {
-    EXPECT_LT(mju_abs(data->actuator_length[oadr + k] - canonical[k]), 1e-3);
-    EXPECT_LT(mju_abs(data->actuator_velocity[oadr + k]), 1e-3);
-  }
-
-  mj_deleteData(data);
-}
-
-// Test smooth tracking while winding one axis with another axis held nonzero:
-// the regime where per-axis servo errors cannot work and only the geodesic
-// error on SO(3) tracks correctly.
-TEST_F(CoreSmoothTest, SO3RefsiteTracksMixedWindingTarget) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kSO3RefsiteXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjData* data = mj_makeData(model.get());
-
-  int orient = mj_name2id(model.get(), mjOBJ_ACTUATOR, "orient");
-  int uadr = model->actuator_ctrladr[orient];
-  int oadr = model->actuator_outadr[orient];
-
-  // hold rx at 1 rad, let the servo settle
-  data->ctrl[uadr] = 1;
-  while (data->time < 2) {
-    mj_step(model.get(), data);
-  }
-
-  // ramp the rz target from 0 to 2*pi
-  const mjtNum rate = 0.5;  // rad/s
-  mjtNum start = data->time;
-  while (data->time - start < 2*mjPI / rate) {
-    data->ctrl[uadr + 2] = rate * (data->time - start);
-    mj_step(model.get(), data);
-
-    // geodesic distance between commanded and current orientation
-    mjtNum err = GeodesicError(data->ctrl + uadr, data->actuator_length + oadr);
-    ASSERT_LT(err, 0.5) << "tracking lost at time " << data->time
-                        << ", target rz " << data->ctrl[uadr + 2];
-  }
-
-  mj_deleteData(data);
-}
-
-// Mixed-axis target beyond the pi shell on ball joints: the SO3 actuator has
-// an exact equilibrium at the commanded orientation, per-axis wrapped servos
-// do not.
-TEST_F(CoreSmoothTest, SO3BallMixedAxisContrast) {
-  constexpr char kOrientationPath[] =
-      "engine/testdata/actuation/orientation.xml";
-  const std::string xml_path = GetTestDataFilePath(kOrientationPath);
-  char error[1024];
-  MjModelPtr model(mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error)));
-  ASSERT_THAT(model.get(), NotNull()) << "Failed to load model: " << error;
-  mjData* data = mj_makeData(model.get());
-
-  // place both joints exactly at the target orientation, expmap (4, 4, 0)
-  mjtNum target[3] = {4, 4, 0};
-  mjtNum quat[4];
-  Expmap2Quat(quat, target);
-  for (const char* name : {"peraxis", "expmap"}) {
-    int jnt = mj_name2id(model.get(), mjOBJ_JOINT, name);
-    mju_copy4(data->qpos + model->jnt_qposadr[jnt], quat);
-  }
-
-  int rx_peraxis = mj_name2id(model.get(), mjOBJ_ACTUATOR, "rx_peraxis");
-  int orient = mj_name2id(model.get(), mjOBJ_ACTUATOR, "expmap");
-  int uadr = model->actuator_ctrladr[orient];
-  int oadr = model->actuator_outadr[orient];
-  data->ctrl[rx_peraxis] = data->ctrl[rx_peraxis + 1] = 4;
-  data->ctrl[uadr] = data->ctrl[uadr + 1] = 4;
-  mj_forward(model.get(), data);
-
-  // SO3: zero force at the commanded orientation
-  for (int k=0; k < 3; k++) {
-    EXPECT_LT(mju_abs(data->actuator_force[oadr + k]), MjTol(1e-10, 1e-6));
-  }
-
-  // per-axis: residual force kp*(4.443 - 2*pi) = -1.84 on the wound members
-  EXPECT_GT(mju_abs(data->actuator_force[rx_peraxis]), 1);
-  EXPECT_GT(mju_abs(data->actuator_force[rx_peraxis + 1]), 1);
-
-  mj_deleteData(data);
-}
-
-// Geodesic servo converges to large mixed-axis targets from rest: no limit
-// cycles. Regression test: a parent-frame error driving child-frame torques is
-// non-gradient feedback which pumps energy at large angles, settling into
-// steady spinning.
-TEST_F(CoreSmoothTest, SO3LargeAngleConvergence) {
-  constexpr char kOrientationPath[] =
-      "engine/testdata/actuation/orientation.xml";
-  const std::string xml_path = GetTestDataFilePath(kOrientationPath);
-  char error[1024];
-  MjModelPtr model(mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error)));
-  ASSERT_THAT(model.get(), NotNull()) << "Failed to load model: " << error;
-  mjData* data = mj_makeData(model.get());
-
-  int expmap = mj_name2id(model.get(), mjOBJ_ACTUATOR, "expmap");
-  int jnt = mj_name2id(model.get(), mjOBJ_JOINT, "expmap");
-  int uadr = model->actuator_ctrladr[expmap];
-  int dofadr = model->jnt_dofadr[jnt];
-
-  mjtNum targets[4][3] = {{1, 1, 1}, {-1, -1, 0}, {1, -1, 1}, {2.2, 2.2, 2.2}};
-  for (const auto& u : targets) {
-    SCOPED_TRACE(testing::Message()
-                 << "target (" << u[0] << ", " << u[1] << ", " << u[2] << ")");
-    mj_resetData(model.get(), data);
-    mju_copy3(data->ctrl + uadr, u);
-    for (int i = 0; i < 4000; i++) {
-      mj_step(model.get(), data);
-    }
-
-    // orientation error and angular velocity vanish
-    mjtNum q_tgt[4], q_cur[4], e[3];
-    mjtNum axis[3] = {u[0], u[1], u[2]};
-    mjtNum angle = mju_normalize3(axis);
-    mju_axisAngle2Quat(q_tgt, axis, angle);
-    mju_copy4(q_cur, data->qpos + model->jnt_qposadr[jnt]);
-    mju_normalize4(q_cur);
-    mju_subQuat(e, q_tgt, q_cur);
-    EXPECT_LT(mju_norm3(e), MjTol(1e-4, 1e-2));
-    EXPECT_LT(mju_norm3(data->qvel + dofadr), MjTol(1e-4, 1e-2));
-  }
-  mj_deleteData(data);
-}
-
-// Neutral ctrl: reset zeroes all controls except quat (to the identity).
-TEST_F(CoreSmoothTest, SO3QuatNeutralCtrl) {
-  constexpr char kOrientationPath[] =
-      "engine/testdata/actuation/orientation.xml";
-  const std::string xml_path = GetTestDataFilePath(kOrientationPath);
-  char error[1024];
-  MjModelPtr model(mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error)));
-  ASSERT_THAT(model.get(), NotNull()) << "Failed to load model: " << error;
-  mjData* data = mj_makeData(model.get());
-
-  int quat = mj_name2id(model.get(), mjOBJ_ACTUATOR, "quat");
-  int uadr = model->actuator_ctrladr[quat];
-  for (int trial = 0; trial < 2; trial++) {
-    for (int j = 0; j < model->nu; j++) {
-      EXPECT_EQ(data->ctrl[j], j == uadr ? 1 : 0)
-          << "ctrl " << j << " trial " << trial;
-    }
-    mju_fill(data->ctrl, 0.5, model->nu);
-    mj_resetData(model.get(), data);
-  }
-  mj_deleteData(data);
-}
-
-// Input names: NULL for single-input actuators, chart components for SO3.
-TEST_F(CoreSmoothTest, ActuatorInputNames) {
-  constexpr char kOrientationPath[] =
-      "engine/testdata/actuation/orientation.xml";
-  const std::string xml_path = GetTestDataFilePath(kOrientationPath);
-  char error[1024];
-  MjModelPtr model(mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error)));
-  ASSERT_THAT(model.get(), NotNull()) << "Failed to load model: " << error;
-
-  int rx_peraxis = mj_name2id(model.get(), mjOBJ_ACTUATOR, "rx_peraxis");
-  int expmap = mj_name2id(model.get(), mjOBJ_ACTUATOR, "expmap");
-  int quat = mj_name2id(model.get(), mjOBJ_ACTUATOR, "quat");
-  EXPECT_EQ(mj_actuatorInputName(model.get(), rx_peraxis, 0), nullptr);
-  EXPECT_STREQ(mj_actuatorInputName(model.get(), expmap, 0), "rx");
-  EXPECT_STREQ(mj_actuatorInputName(model.get(), expmap, 2), "rz");
-  EXPECT_EQ(mj_actuatorInputName(model.get(), expmap, 3),
-            nullptr);  // out of range
-  EXPECT_STREQ(mj_actuatorInputName(model.get(), quat, 0), "qw");
-  EXPECT_STREQ(mj_actuatorInputName(model.get(), quat, 3), "qz");
-}
-
-// SO3 integrator variant: act is the 3D orientation setpoint; constant ctrl
-// produces steady rotation over many periods with bounded activation.
-TEST_F(CoreSmoothTest, SO3IntVelocityWindsWithBoundedAct) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general name="rot" joint="ball" dyntype="integrator"
-               gaintype="so3" biastype="so3" gainprm="1" biasprm="0 -1 -1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  // one actuator: 3 controls, 3 outputs, 3 activations
-  EXPECT_EQ(model->nu, 3);
-  EXPECT_EQ(model->nout, 3);
-  EXPECT_EQ(model->na, 3);
-
-  mjData* data = mj_makeData(model.get());
-
-  // spin about z for 4 full turns
-  const mjtNum rate = 1.0;  // rad/s
-  data->ctrl[2] = rate;
-  while (data->time < 8*mjPI / rate) {
-    mj_step(model.get(), data);
-    ASSERT_LT(mju_norm3(data->act), mjPI + 0.1) << "act unbounded";
-  }
-
-  // steady rotation at the commanded rate about z
-  EXPECT_NEAR(data->actuator_velocity[2], rate, 0.02);
-
-  mj_deleteData(data);
-}
-
-// Compile-time validation of the SO3 actuator.
-TEST_F(CoreSmoothTest, SO3CompileErrors) {
-  char error[1024];
-
-  // hinge joint target: rejected
-  static constexpr char hinge_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size=".05"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <orientation joint="hinge" kp="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(hinge_xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("ball"));
-
-  // site without refsite: rejected
-  static constexpr char nosite_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom size=".05"/>
-        <site name="ee"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <orientation site="ee" kp="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  model = LoadModelFromString(nosite_xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("refsite"));
-
-  // mismatched gaintype/biastype: rejected
-  static constexpr char mismatch_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="ball" gaintype="so3" biastype="affine" gainprm="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  model = LoadModelFromString(mismatch_xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("both"));
-
-  // forcerange with nonzero lower bound: rejected (force clamped on the norm)
-  static constexpr char forcerange_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <orientation joint="ball" kp="1" forcerange="-4 4"/>
-    </actuator>
-  </mujoco>
-  )";
-  model = LoadModelFromString(forcerange_xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("lower bound must be 0"));
-}
-
-// forcerange clamps the norm of the SO3 output torque, preserving direction.
-TEST_F(CoreSmoothTest, SO3ForcerangeClampsNorm) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option>
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <joint name="unclamped" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-      <body pos="0 0 .3">
-        <joint name="clamped" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <orientation name="unclamped" joint="unclamped" kp="1"/>
-      <orientation name="clamped" joint="clamped" kp="1" forcerange="0 .5"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjData* data = mj_makeData(model.get());
-
-  // command the same mixed-axis target, error norm sqrt(5) > 0.5
-  int unclamped = mj_name2id(model.get(), mjOBJ_ACTUATOR, "unclamped");
-  int clamped = mj_name2id(model.get(), mjOBJ_ACTUATOR, "clamped");
-  for (int i : {unclamped, clamped}) {
-    int uadr = model->actuator_ctrladr[i];
-    data->ctrl[uadr + 0] = 1;
-    data->ctrl[uadr + 1] = 2;
-    data->ctrl[uadr + 2] = 0;
-  }
-  mj_forward(model.get(), data);
-
-  // clamped force has norm forcerange[1], parallel to the unclamped force
-  const mjtNum* f_unclamped =
-      data->actuator_force + model->actuator_outadr[unclamped];
-  const mjtNum* f_clamped =
-      data->actuator_force + model->actuator_outadr[clamped];
-  mjtNum norm_unclamped = mju_norm3(f_unclamped);
-  EXPECT_GT(norm_unclamped, 0.5);
-  EXPECT_NEAR(mju_norm3(f_clamped), 0.5, MjTol(1e-12, 1e-6));
-  mjtNum scale = 0.5 / norm_unclamped;
-  for (int k = 0; k < 3; k++) {
-    EXPECT_NEAR(f_clamped[k], scale * f_unclamped[k], MjTol(1e-12, 1e-6));
-  }
-
-  mj_deleteData(data);
-}
-
-// Quat-setpoint variant of the SO3 servo: 4 inputs, 3 outputs -- the first
-// actuator with different input and output widths.
-TEST_F(CoreSmoothTest, SO3QuatSetpoint) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body pos="-.15 0 .2">
-        <joint name="ball_scalar" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-      <body pos=".15 0 .2">
-        <joint name="ball_quat" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position name="rz" joint="ball_scalar" gear="0 0 1" kp="1" dampratio="1"/>
-      <orientation name="orient" joint="ball_quat" kp="1" dampratio="1" input="quat"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  // rectangular layout: 2 actuators, 1+4 controls, 1+3 force outputs
-  EXPECT_EQ(model->nactuator, 2);
-  EXPECT_EQ(model->nu, 5);
-  EXPECT_EQ(model->nout, 4);
-  int orient = mj_name2id(model.get(), mjOBJ_ACTUATOR, "orient");
-  int uadr = model->actuator_ctrladr[orient];
-  int oadr = model->actuator_outadr[orient];
-  EXPECT_EQ(uadr, 1);
-  EXPECT_EQ(model->actuator_ctrlnum[orient], 4);
-  EXPECT_EQ(oadr, 1);
-  EXPECT_EQ(model->actuator_outnum[orient], 3);
-
-  // XML round-trip preserves the input chart
-  std::string saved = SaveAndReadXml(model.get());
-  MjModelPtr model2 = LoadModelFromString(saved.c_str(), error, sizeof(error));
-  ASSERT_THAT(model2.get(), NotNull()) << error;
-  EXPECT_EQ(model2->nu, 5);
-  EXPECT_EQ(model2->nout, 4);
-
-  mjData* data = mj_makeData(model.get());
-
-  // zero ctrl commands the identity orientation: zero force at qpos0
-  mj_forward(model.get(), data);
-  for (int k=0; k < 3; k++) {
-    EXPECT_LT(mju_abs(data->actuator_force[oadr + k]), MjTol(1e-10, 1e-6));
-  }
-
-  // target beyond the pi shell, mixed axis
-  mjtNum target[3] = {4, 4, 0};
-  mjtNum q_tgt[4];
-  Expmap2Quat(q_tgt, target);
-  int jnt = mj_name2id(model.get(), mjOBJ_JOINT, "ball_quat");
-
-  // scale and antipodal invariance: q, 2q and -q command the same orientation
-  mjtNum ctrl_variants[3][4];
-  mju_copy4(ctrl_variants[0], q_tgt);
-  for (int k=0; k < 4; k++) {
-    ctrl_variants[1][k] = 2*q_tgt[k];
-    ctrl_variants[2][k] = -q_tgt[k];
-  }
-  for (int v=0; v < 3; v++) {
-    mj_resetData(model.get(), data);
-    mju_copy4(data->qpos + model->jnt_qposadr[jnt], q_tgt);
-    mju_copy4(data->ctrl + uadr, ctrl_variants[v]);
-    mj_forward(model.get(), data);
-    for (int k=0; k < 3; k++) {
-      EXPECT_LT(mju_abs(data->actuator_force[oadr + k]), MjTol(1e-10, 1e-6))
-          << "variant " << v;
-    }
-  }
-
-  // from the initial state, converge to the commanded orientation
-  mj_resetData(model.get(), data);
-  mju_copy4(data->ctrl + uadr, q_tgt);
-  while (data->time < 10) {
-    mj_step(model.get(), data);
-  }
-  mjtNum shrink = 1 - 2*mjPI/mju_norm3(target);
-  for (int k=0; k < 3; k++) {
-    EXPECT_LT(mju_abs(data->actuator_length[oadr + k] - target[k] * shrink),
-              1e-3);
-    EXPECT_LT(mju_abs(data->actuator_velocity[oadr + k]), 1e-3);
-  }
-
-  mj_deleteData(data);
-}
-
-// The quat input chart requires stateless dynamics.
-TEST_F(CoreSmoothTest, SO3QuatSetpointRequiresStateless) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="ball" dyntype="integrator" input="quat"
-               gaintype="so3" biastype="so3" gainprm="1" biasprm="0 -1 -1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("dyntype"));
-}
-
-// PID servo with vref = 0 reproduces the position servo exactly.
-TEST_F(CoreSmoothTest, PidMatchesPositionServo) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable"/>
-    </option>
-    <worldbody>
-      <!-- identical overlapping bodies (contacts disabled): world-frame
-           arithmetic is bit-identical, so the trajectories must be too -->
-      <body pos="0 0 .2">
-        <joint name="h_position" axis="0 1 0"/>
-        <geom type="capsule" size=".02" fromto="0 0 0 .2 0 0"/>
-      </body>
-      <body pos="0 0 .2">
-        <joint name="h_pd" axis="0 1 0"/>
-        <geom type="capsule" size=".02" fromto="0 0 0 .2 0 0"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position name="servo" joint="h_position" kp="10" dampratio="1"/>
-      <pid name="pid" joint="h_pd" kp="10" dampratio="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  // layout: 2 actuators, 1+2 controls, 1+1 outputs
-  EXPECT_EQ(model->nactuator, 2);
-  EXPECT_EQ(model->nu, 3);
-  EXPECT_EQ(model->nout, 2);
-  int pid = mj_name2id(model.get(), mjOBJ_ACTUATOR, "pid");
-  int uadr = model->actuator_ctrladr[pid];
-  EXPECT_EQ(model->actuator_ctrlnum[pid], 2);
-
-  mjData* data = mj_makeData(model.get());
-  int j_servo = mj_name2id(model.get(), mjOBJ_JOINT, "h_position");
-  int j_pd = mj_name2id(model.get(), mjOBJ_JOINT, "h_pd");
-
-  // ramp the position target on both, v* = 0 on the pid
-  while (data->time < 3) {
-    mjtNum target = 0.8 * data->time;
-    data->ctrl[0] = target;
-    data->ctrl[uadr] = target;
-    data->ctrl[uadr+1] = 0;
-    mj_step(model.get(), data);
-    ASSERT_EQ(data->warning[mjWARN_BADQACC].number, 0) << "diverged";
-    ASSERT_EQ(data->qpos[model->jnt_qposadr[j_servo]],
-              data->qpos[model->jnt_qposadr[j_pd]])
-        << "trajectories diverge at time " << data->time;
-  }
-
-  mj_deleteData(data);
-}
-
-// Constant velocity setpoint produces steady motion at the commanded rate.
-TEST_F(CoreSmoothTest, PidVelocitySetpoint) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide" axis="1 0 0"/>
-        <geom type="box" size=".05 .05 .05"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid name="pid" joint="slide" kp="0" kv="10"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjData* data = mj_makeData(model.get());
-
-  data->ctrl[1] = 0.7;  // v*
-  while (data->time < 3) {
-    mj_step(model.get(), data);
-    ASSERT_EQ(data->warning[mjWARN_BADQACC].number, 0) << "diverged";
-  }
-  EXPECT_NEAR(data->qvel[0], 0.7, MjTol(1e-6, 2e-6));
-
-  mj_deleteData(data);
-}
-
-// The feedforward input adds directly to the actuator force.
-TEST_F(CoreSmoothTest, PidFeedforward) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide" axis="1 0 0"/>
-        <geom type="box" size=".05 .05 .05"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid name="pid" joint="slide" kp="1" kv="1" input="pos vel ff"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  EXPECT_EQ(model->nu, 3);
-  EXPECT_EQ(model->nout, 1);
-
-  mjData* data = mj_makeData(model.get());
-  data->ctrl[2] = 1.25;  // ff, with zero position/velocity error
-  mj_forward(model.get(), data);
-  EXPECT_EQ(data->actuator_force[0], 1.25);
-
-  mj_deleteData(data);
-}
-
-// Input subsets: present inputs pack in canonical order, absent setpoints are
-// zero, making single-input PIDs match the corresponding SISO servos.
-TEST_F(CoreSmoothTest, PidInputSubsets) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="j1" type="slide" axis="1 0 0"/>
-        <geom type="box" size=".05 .05 .05"/>
-      </body>
-      <body>
-        <joint name="j2" type="slide" axis="1 0 0"/>
-        <geom type="box" size=".05 .05 .05"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid joint="j1" kp="7" input="pos"/>
-      <position joint="j1" kp="7"/>
-      <pid joint="j2" kv="3" input="vel"/>
-      <velocity joint="j2" kv="3"/>
-      <pid joint="j2" kp="5" kv="2" input="pos ff"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjModel* m = model.get();
-
-  // layout: subsets shrink the control blocks
-  EXPECT_EQ(m->nactuator, 5);
-  EXPECT_EQ(m->nout, 5);
-  EXPECT_EQ(m->nu, 6);
-  int expected_ctrlnum[5] = {1, 1, 1, 1, 2};
-  for (int i=0; i < 5; i++) {
-    EXPECT_EQ(m->actuator_ctrlnum[i], expected_ctrlnum[i]) << "actuator " << i;
-  }
-
-  mjData* data = mj_makeData(m);
-  data->qpos[0] = 0.2;
-  data->qpos[1] = -0.3;
-  data->qvel[0] = 0.5;
-  data->qvel[1] = -0.4;
-  data->ctrl[0] = data->ctrl[1] = 0.6;   // pos-only pid and position servo
-  data->ctrl[2] = data->ctrl[3] = -0.8;  // vel-only pid and velocity servo
-  data->ctrl[4] = 0.3;                   // pos of the [pos, ff] pid
-  data->ctrl[5] = 0.9;                   // ff  of the [pos, ff] pid
-  mj_forward(m, data);
-
-  // single-input PIDs match the SISO servos
-  EXPECT_DOUBLE_EQ(data->actuator_force[0], data->actuator_force[1]);
-  EXPECT_DOUBLE_EQ(data->actuator_force[2], data->actuator_force[3]);
-
-  // [pos, ff]: kp*(qref - l) - kv*ldot + ff (absent velocity setpoint is zero)
-  mjtNum expected = 5*(0.3 - data->qpos[1]) - 2*data->qvel[1] + 0.9;
-  EXPECT_MJTNUM_EQ(data->actuator_force[4], expected);
-
-  // input names skip absent inputs
-  EXPECT_STREQ(mj_actuatorInputName(m, 4, 0), "pos");
-  EXPECT_STREQ(mj_actuatorInputName(m, 4, 1), "ff");
-
-  mj_deleteData(data);
-}
-
-// Integral action eliminates the steady-state error of a weak P servo under
-// gravity; the integral state is clamped by imax.
-TEST_F(CoreSmoothTest, PidIntegralAction) {
-  static constexpr char xml_fmt[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable"/>
-    </option>
-    <worldbody>
-      <body pos="0 0 .5">
-        <joint name="hinge" axis="0 1 0"/>
-        <geom type="capsule" size=".02" fromto="0 0 0 .2 0 0"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid name="pid" joint="hinge" kp="1" dampratio="1" ki="%s" imax="2"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  char xml[2048];
-
-  // P-only: gravity induces a steady-state error at target q* = 0
-  snprintf(xml, sizeof(xml), xml_fmt, "0");
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  EXPECT_EQ(model->na, 0);
-  mjData* data = mj_makeData(model.get());
-  while (data->time < 10) {
-    mj_step(model.get(), data);
-    ASSERT_EQ(data->warning[mjWARN_BADQACC].number, 0) << "diverged";
-  }
-  mjtNum p_error = mju_abs(data->qpos[0]);
-  EXPECT_GT(p_error, 0.05);
-  mj_deleteData(data);
-
-  // with integral action: error is eliminated, integral state is bounded
-  snprintf(xml, sizeof(xml), xml_fmt, "2");
-  model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  EXPECT_EQ(model->na, 1);
-  data = mj_makeData(model.get());
-  while (data->time < 20) {
-    mj_step(model.get(), data);
-    ASSERT_LE(mju_abs(data->act[0]), 2 + 1e-10)
-        << "integral state exceeds imax";
-  }
-  EXPECT_LT(mju_abs(data->qpos[0]), 1e-3);
-  mj_deleteData(data);
-}
-
-// slewmax limits the effective setpoint rate through an activation state.
-TEST_F(CoreSmoothTest, PidSlewRateLimit) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide" axis="1 0 0"/>
-        <geom type="box" size=".1 .1 .1" mass="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid name="servo" joint="slide" kp="200" kv="30" slewmax="0.5"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  EXPECT_EQ(model->actuator_actnum[0], 1);  // slew state
-  mjData* data = mj_makeData(model.get());
-
-  // step the setpoint to 1: the effective setpoint (act) ramps at slewmax
-  data->ctrl[0] = 1.0;
-  mjtNum t_ramp = 1.0 / 0.5;  // setpoint distance / slewmax
-  while (data->time < t_ramp - 0.1) {
-    mj_step(model.get(), data);
-    EXPECT_LE(data->act[0], 0.5 * data->time + 1e-9) << "slew exceeded";
-  }
-  while (data->time < 3 * t_ramp) {
-    mj_step(model.get(), data);
-  }
-
-  // the effective setpoint reached the command, and the joint tracked it
-  EXPECT_NEAR(data->act[0], 1.0, 1e-6);
-  EXPECT_NEAR(data->qpos[0], 1.0, 0.01);
-
-  mj_deleteData(data);
-}
-
-// PID on a rotational transmission: the position setpoint wraps, winding
-// targets are tracked smoothly through pi.
-TEST_F(CoreSmoothTest, PidTracksWindingTarget) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast">
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid name="rz" joint="ball" gear="0 0 1" kp="1" dampratio="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  mjData* data = mj_makeData(model.get());
-
-  const mjtNum rate = 0.5;
-  while (data->time < 2*mjPI / rate) {
-    data->ctrl[0] = rate * data->time;
-    data->ctrl[1] = rate;  // matched velocity setpoint
-    mj_step(model.get(), data);
-    mjtNum err = data->ctrl[0] - data->actuator_length[0];
-    err -= 2*mjPI * mju_round(err / (2*mjPI));
-    ASSERT_LT(mju_abs(err), 0.5) << "tracking lost at time " << data->time;
-  }
-
-  mj_deleteData(data);
-}
-
-// PID parameters compose through defaults classes; the model round-trips.
-TEST_F(CoreSmoothTest, PidDefaultsAndRoundtrip) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="arm">
-        <pid kp="7" ki="3" imax="1.5" velrange="-2 2" input="pos vel ff"/>
-      </default>
-    </default>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide" axis="1 0 0"/>
-        <geom type="box" size=".05 .05 .05"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid name="pid" joint="slide" class="arm"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  // inherited: kp, ki, imax, input, velrange
-  EXPECT_EQ(model->nu, 3);
-  EXPECT_EQ(model->na, 1);
-  EXPECT_EQ(model->actuator_gainprm[0], 3);   // ki
-  EXPECT_EQ(model->actuator_biasprm[1], -7);  // -kp
-  EXPECT_EQ(model->actuator_dynprm[0], 1.5);  // imax
-  EXPECT_EQ(model->actuator_dyntype[0], mjDYN_PID);
-  EXPECT_EQ(model->actuator_ctrlrange[2], -2);  // velrange lo, input 1
-  EXPECT_EQ(model->actuator_ctrlrange[3], 2);
-  EXPECT_TRUE(model->actuator_ctrllimited[1]);
-
-  // round-trip preserves everything
-  std::string saved = SaveAndReadXml(model.get());
-  MjModelPtr model2 = LoadModelFromString(saved.c_str(), error, sizeof(error));
-  ASSERT_THAT(model2.get(), NotNull()) << error;
-  EXPECT_EQ(model2->nu, 3);
-  EXPECT_EQ(model2->na, 1);
-  EXPECT_EQ(model2->actuator_gainprm[0], 3);
-  EXPECT_EQ(model2->actuator_ctrlrange[2], -2);
-}
-
-static const char* const kInertiaPath = "engine/testdata/inertia.xml";
-
-TEST_F(CoreSmoothTest, FactorI) {
-  const std::string xml_path = GetTestDataFilePath(kInertiaPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error;
-
-  mjData* data = mj_makeData(model);
-  mj_forward(model, data);
-
-  // dense L matrix
-  int nv = model->nv;
-  vector<mjtNum> Ldense(nv * nv, 0);
-  mju_sparse2dense(Ldense.data(), data->qLD, nv, nv, model->M_rownnz,
-                   model->M_rowadr, model->M_colind);
-  for (int i = 0; i < nv; i++) {
-    // set diagonal to 1
-    Ldense[i * nv + i] = 1;
-  }
-
-  // dense D matrix
-  vector<mjtNum> Ddense(nv * nv);
-  mju_sparse2dense(Ddense.data(), data->qLD, nv, nv, model->M_rownnz,
-                   model->M_rowadr, model->M_colind);
-  for (int i = 0; i < nv; i++) {
-    for (int j = 0; j < nv; j++) {
-      // zero everything except the diagonal
-      if (i != j) Ddense[i * nv + j] = 0;
-    }
-  }
-
-  // perform multiplication: M = L^T * D * L
-  vector<mjtNum> tmp(nv * nv);
-  vector<mjtNum> M(nv * nv);
-  mju_mulMatMat(tmp.data(), Ddense.data(), Ldense.data(), nv, nv, nv);
-  mju_mulMatTMat(M.data(), Ldense.data(), tmp.data(), nv, nv, nv);
-
-  // dense M matrix
-  vector<mjtNum> Mexpected(nv * nv);
-  mj_fullM(model, data, Mexpected.data());
-
-  // expect matrices to match to floating point precision
-  EXPECT_THAT(M, Pointwise(MjNear(1e-12, 3e-4), Mexpected));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(CoreSmoothTest, SolveLD) {
-  const std::string xml_path = GetTestDataFilePath(kInertiaPath);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  int nv = m->nv;
-
-  // arbitrary RHS vector y
-  vector<mjtNum> y(nv);
-  for (int i = 0; i < nv; i++) y[i] = 20 + 30 * i;
-  for (int i = 0; i < nv; i += 2) y[i] = 0;
-
-  // x = inv(M) * y
-  vector<mjtNum> x = y;
-  mj_solveLD(x.data(), d->qLD, d->qLDiagInv, nv, 1, m->M_rownnz, m->M_rowadr,
-             m->M_colind, nullptr);
-
-  // z = M * x
-  vector<mjtNum> z(nv);
-  mj_mulM(m, d, z.data(), x.data());
-
-  // expect z to match y
-  for (int i = 0; i < nv; i++) {
-    EXPECT_NEAR(z[i], y[i], MjTol(1e-12, 5e-4));
-  }
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(CoreSmoothTest, SolveLDmultipleVectors) {
-  const std::string xml_path = GetTestDataFilePath(kInertiaPath);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  int nv = m->nv;
-  int n = 3;
-
-  // Y: arbitrary RHS vectors (nv x n)
-  vector<mjtNum> Y(nv * n);
-  for (int i = 0; i < nv * n; i++) Y[i] = 2 + 3 * i;
-  for (int i = 0; i < nv * n; i += 3) Y[i] = 0;
-
-  // X = inv(M) * Y
-  vector<mjtNum> X = Y;
-  mj_solveLD(X.data(), d->qLD, d->qLDiagInv, nv, n, m->M_rownnz, m->M_rowadr,
-             m->M_colind, nullptr);
-
-  // verify each vector: Z_i = M * X_i
-  for (int i = 0; i < n; i++) {
-    vector<mjtNum> z(nv);
-    mj_mulM(m, d, z.data(), X.data() + i * nv);
-    for (int j = 0; j < nv; j++) {
-      EXPECT_NEAR(z[j], Y[i * nv + j], MjTol(1e-12, 5e-4));
-    }
-  }
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(CoreSmoothTest, SolveM2) {
-  const std::string xml_path = GetTestDataFilePath(kInertiaPath);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  // inverse square root of D from inertia LDL decomposition
-  int nv = m->nv;
-  vector<mjtNum> sqrtInvD(nv);
-  for (int i = 0; i < nv; i++) {
-    int diag = m->M_rowadr[i] + m->M_rownnz[i] - 1;
-    sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
-  }
-
-  // compare full solve and half solve
-  int n = 3;
-  vector<mjtNum> vec(nv * n);
-  vector<mjtNum> vec2(nv * n);
-  for (int i = 0; i < nv * n; i++) vec[i] = vec2[i] = 2 + 3 * i;
-  for (int i = 0; i < nv * n; i += 3) vec[i] = vec2[i] = 0;
-  vector<mjtNum> res(nv * n);
-
-  mj_solveM2(m, d, res.data(), vec.data(), sqrtInvD.data(), n);
-  mj_solveLD(vec2.data(), d->qLD, d->qLDiagInv, nv, n, m->M_rownnz, m->M_rowadr,
-             m->M_colind, nullptr);
-
-  // expect equality of dot(v, M^-1 * v) and dot(M^-1/2 * v, M^-1/2 * v)
-  for (int i = 0; i < n; i++) {
-    EXPECT_NEAR(mju_dot(vec2.data() + i * nv, vec.data() + i * nv, nv),
-                mju_dot(res.data() + i * nv, res.data() + i * nv, nv),
-                MjTol(1e-10, 1e-2));
-  }
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-
-
-TEST_F(CoreSmoothTest, FlexVertLengthScaling) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option jacobian="sparse"/>
-    <worldbody>
-      <flexcomp name="g" type="grid" count="3 3 1" spacing="1 1 1" dim="2" radius=".05">
-        <edge equality="vert"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // check that nJfv is correct:
-  // corner vertices: 2 * (1+3) * 3 + 2 * (1+2) * 3 = 42
-  // edge vertices: 4 * (1+4) * 3 = 60
-  // center vertex: 1 * (1+6) * 3 = 21
-  // nJfv = 42 + 60 + 21 = 123
-  EXPECT_EQ(m->nJfv, 123);
-
-  // Run kinematics to populate xpos/xmat initially
-  mj_fwdKinematics(m.get(), d.get());
-
-  // Check invariants for scale=1
-  // The constraints should be satisfied
-  int nvert = m->flex_vertnum[0];
-  ASSERT_EQ(nvert, 9);
-  for (int i = 0; i < nvert; i++) {
-    EXPECT_NEAR(d->flexvert_length[2 * i + 0], 0.0, MjTol(1e-5, 5e-5));
-    EXPECT_NEAR(d->flexvert_length[2 * i + 1], 0.0, MjTol(1e-5, 5e-5));
-  }
-
-  // set qvel to rigid rotation
-  ASSERT_EQ(m->nv, 3 * nvert);
-  mju_zero(d->qvel, m->nv);
-  for (int i = 0; i < nvert; i++) {
-    const mjtNum* p = d->xpos + 3 * m->flex_vertbodyid[i];
-    d->qvel[3 * i + 0] = -p[1];
-    d->qvel[3 * i + 1] = p[0];
-    d->qvel[3 * i + 2] = 1.0;
-  }
-
-  // check that Jacobian times velocity is zero for rigid body motion
-  vector<mjtNum> Jv(2 * nvert, 0);
-  for (int i = 0; i < 2 * nvert; i++) {
-    int row_start = m->flexvert_J_rowadr[i];
-    int row_nnz = m->flexvert_J_rownnz[i];
-    for (int j = 0; j < row_nnz; j++) {
-      Jv[i] += d->flexvert_J[row_start + j] *
-               d->qvel[m->flexvert_J_colind[row_start + j]];
-    }
-  }
-  EXPECT_THAT(Jv, Each(MjNear(0.0, 1e-7, 1e-4)));
-
-  // check sparsity pattern
-  int corners[] = {0, 2, 6, 8};
-  int edges[] = {1, 3, 5, 7};
-  int center[] = {4};
-  for (int i : corners) {
-    EXPECT_EQ(m->flexvert_J_rownnz[2 * i + 0], (i == 0 || i == 8) ? 12 : 9);
-    EXPECT_EQ(m->flexvert_J_rownnz[2 * i + 1], (i == 0 || i == 8) ? 12 : 9);
-  }
-  for (int i : edges) {
-    EXPECT_EQ(m->flexvert_J_rownnz[2 * i + 0], 15);
-    EXPECT_EQ(m->flexvert_J_rownnz[2 * i + 1], 15);
-  }
-  for (int i : center) {
-    EXPECT_EQ(m->flexvert_J_rownnz[2 * i + 0], 21);
-    EXPECT_EQ(m->flexvert_J_rownnz[2 * i + 1], 21);
-  }
-
-  // check rowadr
-  EXPECT_EQ(m->flexvert_J_rowadr[0], 0);
-  for (int i = 1; i < 2 * nvert; i++) {
-    EXPECT_EQ(m->flexvert_J_rowadr[i],
-              m->flexvert_J_rowadr[i - 1] + m->flexvert_J_rownnz[i - 1]);
-  }
-
-  // check that colind are sorted and unique
-  int nnzJ = 0;
-  for (int i = 0; i < 2 * nvert; i++) {
-    nnzJ += m->flexvert_J_rownnz[i];
-  }
-  EXPECT_EQ(nnzJ, 2 * m->nJfv);
-  for (int i = 0; i < 2 * nvert; i++) {
-    int row_start = m->flexvert_J_rowadr[i];
-    int row_nnz = m->flexvert_J_rownnz[i];
-    for (int j = 0; j < row_nnz - 1; j++) {
-      EXPECT_LE(m->flexvert_J_colind[row_start + j],
-                m->flexvert_J_colind[row_start + j + 1]);
-    }
-  }
-
-  // Finite-difference check for flexvert_J
-  auto fd_check = [&](double tolerance) {
-    std::vector<mjtNum> qpos0(m->nq);
-    mju_copy(qpos0.data(), d->qpos, m->nq);
-    mj_kinematics(m.get(), d.get());
-    mj_flex(m.get(), d.get());
-
-    mjtNum eps = MjTol(1e-6, 1e-4);
-    int nflexvert = m->flex_vertnum[0];
-    std::vector<mjtNum> jac_fd(2 * nflexvert * m->nv);
-    std::vector<mjtNum> qpos_backup(m->nq);
-    mju_copy(qpos_backup.data(), d->qpos, m->nq);
-
-    for (int i = 0; i < m->nv; ++i) {
-      std::vector<mjtNum> qvel(m->nv, 0);
-      qvel[i] = 1.0;
-
-      // plus
-      mju_copy(d->qpos, qpos_backup.data(), m->nq);
-      mj_integratePos(m.get(), d->qpos, qvel.data(), eps);
-      mj_kinematics(m.get(), d.get());
-      mj_flex(m.get(), d.get());
-      std::vector<mjtNum> L_plus(2 * nflexvert);
-      for (int e = 0; e < 2 * nflexvert; ++e) {
-        L_plus[e] = d->flexvert_length[e];
-      }
-
-      // minus
-      mju_copy(d->qpos, qpos_backup.data(), m->nq);
-      mj_integratePos(m.get(), d->qpos, qvel.data(), -eps);
-      mj_kinematics(m.get(), d.get());
-      mj_flex(m.get(), d.get());
-      std::vector<mjtNum> L_minus(2 * nflexvert);
-      for (int e = 0; e < 2 * nflexvert; ++e) {
-        L_minus[e] = d->flexvert_length[e];
-      }
-
-      for (int e = 0; e < 2 * nflexvert; ++e) {
-        jac_fd[e * m->nv + i] = (L_plus[e] - L_minus[e]) / (2 * eps);
-      }
-    }
-    mju_copy(d->qpos, qpos_backup.data(), m->nq);
-    mj_kinematics(m.get(), d.get());
-    mj_flex(m.get(), d.get());
-
-    // Compare with analytic
-    std::vector<mjtNum> jac_analytic(2 * nflexvert * m->nv);
-    mju_zero(jac_analytic.data(), 2 * nflexvert * m->nv);
-    for (int e = 0; e < 2 * nflexvert; ++e) {
-      int row_start = m->flexvert_J_rowadr[e];
-      int row_nnz = m->flexvert_J_rownnz[e];
-      for (int i = 0; i < row_nnz; ++i) {
-        jac_analytic[e * m->nv + m->flexvert_J_colind[row_start + i]] =
-            d->flexvert_J[row_start + i];
-      }
-    }
-    EXPECT_THAT(jac_analytic, Not(Each(MjNear(0.0, 1e-7, 1e-4))));
-    EXPECT_THAT(jac_analytic, Pointwise(MjNear(tolerance, 1e-1), jac_fd));
-
-    mju_copy(d->qpos, qpos0.data(), m->nq);
-    mj_kinematics(m.get(), d.get());
-    mj_flex(m.get(), d.get());
-  };
-
-  fd_check(MjTol(5e-5, 5e-2));
-
-  // Set qpos to put flex in scale=2 configuration.
-  for (int i = 0; i < nvert; i++) {
-    d->qpos[3 * i + 0] = d->xpos[3 * (i + 1) + 0];
-    d->qpos[3 * i + 1] = d->xpos[3 * (i + 1) + 1];
-    d->qpos[3 * i + 2] = d->xpos[3 * (i + 1) + 2];
-  }
-  mj_fwdKinematics(m.get(), d.get());
-
-  // Get mass scaling factor
-  mjtNum scale = 1.0;
-  int b = m->flex_vertbodyid[0];
-  if (b >= 0 && m->body_mass[b] > mjMINVAL) {
-    scale = mju_sqrt(m->body_mass[b]);
-  }
-
-  // Check invariants for scale=2
-  // F should be [2, 2]. C = F'F = 4I.
-  // Strain E = C - I = 3I.
-  // Invariant 0: Trace(E) = 3 + 3 = 6
-  // Invariant 1: Det(C) - 1 = 4 * 4 - 1 = 15
-  // Note: constraints are now scaled by sqrt(mass)
-  for (int i = 0; i < nvert; i++) {
-    EXPECT_NEAR(d->flexvert_length[2 * i + 0], 6.0 * scale, MjTol(1e-5, 5e-4));
-    EXPECT_NEAR(d->flexvert_length[2 * i + 1], 15.0 * scale, MjTol(1e-5, 5e-4));
-  }
-
-  // Perturb z-positions so configuration is not flat
-  for (int i = 0; i < nvert; i++) {
-    d->qpos[3 * i + 2] += 0.01 * (i % 2 ? 1 : -1);
-  }
-  fd_check(5e-5);
-}
-
-// Test failure case for flexvert_J sparsity with skipped flexes
-TEST_F(CoreSmoothTest, FlexvertJSparsitySkippedFlex) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option jacobian="sparse"/>
-    <worldbody>
-      <body name="body0">
-        <joint type="free"/>
-        <geom type="sphere" size="0.1"/>
-        <flexcomp name="f0" type="grid" count="2 2 1" spacing="0.1 0.1 0.1" radius="0.01" dim="2">
-           <edge damping="1"/>
-        </flexcomp>
-      </body>
-      <body name="body1" pos="1 0 0">
-        <joint type="free"/>
-        <geom type="sphere" size="0.1"/>
-        <!-- This flex is rigid, so it will be skipped in flexvert_J computation -->
-        <flexcomp name="f1" type="grid" count="2 2 1" spacing="0.1 0.1 0.1" radius="0.01" dim="2" rigid="true"/>
-      </body>
-      <body name="body2" pos="2 0 0">
-        <joint type="free"/>
-        <geom type="sphere" size="0.1"/>
-        <flexcomp name="f2" type="grid" count="2 2 1" spacing="0.1 0.1 0.1" radius="0.01" dim="2">
-           <edge damping="1"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Forward dynamics to compute Jacobians
-  mj_forward(model.get(), data.get());
-
-  // Check sparsity overlap
-  // Flex 0 starts at row 0
-  // Flex 1 is skipped
-  // Flex 2 should start after Flex 0's rows
-  // If the bug exists, Flex 2's rows might start at 0, overwriting Flex 0
-
-  int f0_vert_start = model->flex_vertadr[0];
-  int f0_vert_num = model->flex_vertnum[0];
-  int f2_vert_start = model->flex_vertadr[2];
-
-  // Check last row of flex 0
-  int f0_last_row = 2 * (f0_vert_start + f0_vert_num - 1) + 1;
-  int f0_end_adr = model->flexvert_J_rowadr[f0_last_row] +
-                   model->flexvert_J_rownnz[f0_last_row];
-
-  // Check first row of flex 2
-  int f2_first_row = 2 * (f2_vert_start);
-  int f2_start_adr = model->flexvert_J_rowadr[f2_first_row];
-
-  // Verify that Flex 2 starts AFTER Flex 0 ends
-  EXPECT_GE(f2_start_adr, f0_end_adr)
-      << "Flex 2 Jacobian overwrites Flex 0 Jacobian due to skipped Flex 1";
-}
-
-// Test stability of flexvert constraint under different integrator/solver
-// configurations
-TEST_F(CoreSmoothTest, FlexVertStability) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option jacobian="sparse"/>
-    <worldbody>
-      <geom name="floor" type="plane" size="0 0 .1"/>
-      <flexcomp name="flex" type="grid" count="10 10 1" spacing="0.05 0.05 0.05" radius="0.01" dim="2" mass="1" pos="0 0 1">
-           <edge equality="vert" damping="0.1"/>
-           <contact solref="0.003"/>
-           <elasticity young="3e5" poisson="0" thickness="8e-3" elastic2d="bend"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  struct TestCase {
-    mjtIntegrator integrator;
-    mjtSolver solver;
-    mjtNum tolerance;
-    bool expect_stable;
-  };
-
-  std::vector<TestCase> cases = {
-      // Explicit integration with Newton solver should be stable
-      {mjINT_RK4, mjSOL_NEWTON, 1e-6, true},
-      // ImplicitFast with CG solver should now be STABLE with mass weighting
-      {mjINT_IMPLICITFAST, mjSOL_CG, 1e-6, true},
-      // ImplicitFast with Newton solver should be stable
-      {mjINT_IMPLICITFAST, mjSOL_NEWTON, 1e-6, true},
-  };
-
-  for (const auto& test_case : cases) {
-    char error[1024];
-    mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
-    ASSERT_THAT(spec, NotNull()) << error;
-
-    spec->option.integrator = test_case.integrator;
-    spec->option.solver = test_case.solver;
-    spec->option.tolerance = test_case.tolerance;
-
-    mjModel* model = mj_compile(spec, nullptr);
-    ASSERT_THAT(model, NotNull())
-        << error << " (Case: " << test_case.integrator << ", "
-        << test_case.solver << ", " << test_case.tolerance << ")";
-    mjData* data = mj_makeData(model);
-
-    // Run simulation
-    bool exploded = false;
-    for (int i = 0; i < 100; ++i) {
-      mj_step(model, data);
-
-      // Check for explosion
-      for (int j = 0; j < model->nv; ++j) {
-        if (mju_abs(data->qvel[j]) > 1000.0) {
-          exploded = true;
-          break;
-        }
-      }
-      if (exploded) break;
-    }
-
-    if (test_case.expect_stable) {
-      EXPECT_FALSE(exploded) << "Expected stable simulation for "
-                             << test_case.integrator << "/" << test_case.solver;
-    } else {
-      EXPECT_TRUE(exploded) << "Expected explosion for " << test_case.integrator
-                            << "/" << test_case.solver
-                            << ". If this passes, the reproduction is no "
-                               "longer valid (which is good, but unexpected).";
-    }
-
-    mj_deleteData(data);
-    mj_deleteModel(model);
-    mj_deleteSpec(spec);
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_core_util_test.cc b/test/engine/engine_core_util_test.cc
deleted file mode 100644
index 7351d793..00000000
--- a/test/engine/engine_core_util_test.cc
+++ /dev/null
@@ -1,768 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_core_util.c.
-
-#include "src/engine/engine_core_util.h"
-
-#include <algorithm>
-#include <cstddef>
-#include <limits>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-using ::testing::Pointwise;
-
-using FlexGatherStateTest = MujocoTest;
-
-TEST_F(FlexGatherStateTest, mju_flexGatherState_Grid) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <flexcomp name="flex0" type="grid" count="3 3 3" spacing=".1 .1 .1"
-                dim="3" mass="1" radius="0.01" dof="trilinear">
-        <elasticity young="5e4" poisson="0.2"/>
-        <contact selfcollide="none"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  ASSERT_EQ(model->nflex, 1);
-  int f = 0;
-  int nodenum = model->flex_nodenum[f];
-  int nstart = model->flex_nodeadr[f];
-
-  // Simulate a rotated state (90 degrees around Z axis)
-  ASSERT_TRUE(model->flex_centered[f]);
-  for (int i = 0; i < nodenum; i++) {
-    int b = model->flex_nodebodyid[nstart + i];
-    mjtNum x = data->xpos[3 * b + 0];
-    mjtNum y = data->xpos[3 * b + 1];
-    mjtNum z = data->xpos[3 * b + 2];
-
-    // Rotate 90 degrees around Z: (x, y, z) -> (-y, x, z)
-    data->xpos[3 * b + 0] = -y;
-    data->xpos[3 * b + 1] = x;
-    data->xpos[3 * b + 2] = z;
-  }
-
-  std::vector<mjtNum> xpos(3 * nodenum);
-  mju_flexGatherState(model.get(), data.get(), f, xpos.data(), NULL);
-
-  // Verify that gathered xpos matches the rotated data->xpos
-  for (int i = 0; i < nodenum; i++) {
-    int b = model->flex_nodebodyid[nstart + i];
-    EXPECT_NEAR(xpos[3 * i + 0], data->xpos[3 * b + 0], 1e-5);
-    EXPECT_NEAR(xpos[3 * i + 1], data->xpos[3 * b + 1], 1e-5);
-    EXPECT_NEAR(xpos[3 * i + 2], data->xpos[3 * b + 2], 1e-5);
-  }
-}
-
-TEST_F(FlexGatherStateTest, mju_flexGatherState_ShellMode) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <flexcomp name="flex0" type="grid" count="3 3 3" spacing=".1 .1 .1"
-                dim="3" mass="1" radius="0.01" dof="trilinear" cellcount="2 2 2">
-        <elasticity young="5e4" poisson="0.2" elastic2d="stretch" thickness="0.02"/>
-        <contact selfcollide="none"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  ASSERT_EQ(model->nflex, 1);
-  int f = 0;
-  model->flex_interp[f] = -1;
-
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  int nodenum = model->flex_nodenum[f];
-  int nstart = model->flex_nodeadr[f];
-
-  // Move boundary nodes, keep interior node stuck (it is pinned)
-  mjtNum shift[3] = {0.1, 0.2, 0.3};
-  for (int i = 0; i < nodenum; i++) {
-    if (i == 13) continue;  // Skip center node
-    int b = model->flex_nodebodyid[nstart + i];
-    data->xpos[3 * b + 0] += shift[0];
-    data->xpos[3 * b + 1] += shift[1];
-    data->xpos[3 * b + 2] += shift[2];
-  }
-
-  std::vector<mjtNum> xpos(3 * nodenum);
-  mju_flexGatherState(model.get(), data.get(), f, xpos.data(), NULL);
-
-  // Verify that gathered xpos for center node (13) is the TFI reconstructed
-  // position
-  EXPECT_NEAR(xpos[3 * 13 + 0], shift[0], 1e-5);
-  EXPECT_NEAR(xpos[3 * 13 + 1], shift[1], 1e-5);
-  EXPECT_NEAR(xpos[3 * 13 + 2], shift[2], 1e-5);
-}
-
-using AngMomMatTest = MujocoTest;
-
-static constexpr char AngMomTestingModel[] = R"(
-<mujoco>
-  <option>
-    <flag gravity="disable"/>
-  </option>
-  <worldbody>
-    <body name="link1" pos="0 0 0.5">
-      <freejoint/>
-      <geom type="ellipsoid" size="0.15 0.17 0.19" quat="1 .2 .3 .4"/>
-      <body name="link2" >
-        <joint type="hinge" axis="1 0 0" />
-        <geom type="capsule" size="0.05" fromto="0 0 0  0 0.5 0"/>
-        <body pos="0 0.6 0">
-          <joint type="slide" axis="1 0 0"/>
-          <geom type="capsule" size="0.05 0.2" quat="0.707 0 0.707 0"/>
-          <body name="link3">
-            <joint type="ball" pos="0.2 0 0"/>
-            <geom type="capsule" pos="0.2 0 0" size="0.03 0.4"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <keyframe>
-    <key qvel="0 0 0 .1 .2 .3 .4 .5 .4 .3 .2"/>
-  </keyframe>
-</mujoco>
-)";
-
-// compare subtree angular momentum computed in two ways
-TEST_F(AngMomMatTest, CompareAngMom) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(AngMomTestingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-  int bodyid = mj_name2id(model.get(), mjOBJ_BODY, "link1");
-
-  MjDataPtr data = MakeData(model);
-
-  // reset to the keyframe with some angular velocities
-  mj_resetDataKeyframe(model.get(), data.get(), 0);
-  mj_forward(model.get(), data.get());
-
-  // get the reference value of angular momentum
-  mj_subtreeVel(model.get(), data.get());
-  mjtNum angmom_ref[3];
-  mju_copy3(angmom_ref, data->subtree_angmom + 3 * bodyid);
-
-  // compute angular momentum using the angular momentum matrix
-  mjtNum* angmom_mat = (mjtNum*)mju_malloc(sizeof(mjtNum) * 3 * nv);
-  mj_angmomMat(model.get(), data.get(), angmom_mat, bodyid);
-  mjtNum angmom_test[3];
-  mju_mulMatVec(angmom_test, angmom_mat, data->qvel, 3, nv);
-
-  // compare the two angular momentum values
-  for (int i = 0; i < 3; i++) {
-    EXPECT_THAT(angmom_ref[i], MjNear(angmom_test[i], 1e-8, 1e-4));
-  }
-
-  mju_free(angmom_mat);
-}
-
-// compare subtree angular momentum matrix: analytical and findiff
-TEST_F(AngMomMatTest, CompareAngMomMats) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(AngMomTestingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-  int bodyid = mj_name2id(model.get(), mjOBJ_BODY, "link1");
-  MjDataPtr data = MakeData(model);
-  mjtNum* angmom_mat = (mjtNum*)mju_malloc(sizeof(mjtNum) * 3 * nv);
-  mjtNum* angmom_mat_fd = (mjtNum*)mju_malloc(sizeof(mjtNum) * 3 * nv);
-
-  // reset to the keyframe with some angular velocities
-  mj_resetDataKeyframe(model.get(), data.get(), 0);
-  mj_forward(model.get(), data.get());
-
-  // compute the angular momentum matrix using the analytical method
-  mj_angmomMat(model.get(), data.get(), angmom_mat, bodyid);
-
-  // compute the angular momentum matrix using finite differences
-  static const mjtNum eps = MjTol(1e-6, 1e-3);
-  for (int i = 0; i < nv; i++) {
-    // reset vel, forward nudge i-th dof, get angmom
-    mju_copy(data->qvel, model->key_qvel, model->nv);
-    data->qvel[i] += eps;
-    mj_forward(model.get(), data.get());
-    mj_subtreeVel(model.get(), data.get());
-    mjtNum agmf[3];
-    mju_copy3(agmf, data->subtree_angmom + 3 * bodyid);
-
-    // reset vel, backward nudge i-th dof, get angmom
-    mju_copy(data->qvel, model->key_qvel, model->nv);
-    data->qvel[i] -= eps;
-    mj_forward(model.get(), data.get());
-    mj_subtreeVel(model.get(), data.get());
-    mjtNum agmb[3];
-    mju_copy3(agmb, data->subtree_angmom + 3 * bodyid);
-
-    // finite-difference the angmom matrix
-    for (int j = 0; j < 3; j++) {
-      angmom_mat_fd[nv * j + i] = (agmf[j] - agmb[j]) / (2 * eps);
-    }
-  }
-
-  // compare the two matrices
-  for (int i = 0; i < 3 * nv; i++) {
-    EXPECT_THAT(angmom_mat_fd[i], MjNear(angmom_mat[i], 1e-8, 2e-4));
-  }
-
-  mju_free(angmom_mat_fd);
-  mju_free(angmom_mat);
-}
-
-using JacobianTest = MujocoTest;
-static const mjtNum max_abs_err = std::numeric_limits<float>::epsilon();
-
-static constexpr char kJacobianTestingModel[] = R"(
-<mujoco>
-  <worldbody>
-    <body name="distractor1" pos="0 0 .3">
-      <freejoint/>
-      <geom size=".1"/>
-    </body>
-    <body name="main">
-      <freejoint/>
-      <geom size=".1"/>
-      <body pos=".1 0 0">
-        <joint axis="0 1 0"/>
-        <geom type="capsule" size=".03" fromto="0 0 0 .2 0 0"/>
-      </body>
-      <body pos="0 .1 0">
-        <joint type="ball"/>
-        <geom type="capsule" size=".03" fromto="0 0 0 0 .2 0"/>
-        <body pos="0 .2 0">
-          <joint type="slide" axis="1 1 1"/>
-          <geom size=".05"/>
-        </body>
-      </body>
-    </body>
-    <body name="distractor2" pos="0 0 -.3">
-      <freejoint/>
-      <geom size=".1"/>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-// compare analytic and finite-differenced subtree-com Jacobian
-TEST_F(JacobianTest, SubtreeJac) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(kJacobianTestingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-  int bodyid = mj_name2id(model.get(), mjOBJ_BODY, "main");
-  MjDataPtr data = MakeData(model);
-  mjtNum* jac_subtree = (mjtNum*)mju_malloc(sizeof(mjtNum) * 3 * nv);
-  mjtNum* qpos = (mjtNum*)mju_malloc(sizeof(mjtNum) * model->nq);
-  mjtNum* nudge = (mjtNum*)mju_malloc(sizeof(mjtNum) * nv);
-
-  // all we need for Jacobians are kinematics and CoM-related quantities
-  mj_kinematics(model.get(), data.get());
-  mj_comPos(model.get(), data.get());
-
-  // get subtree CoM Jacobian of free body
-  mj_jacSubtreeCom(model.get(), data.get(), jac_subtree, bodyid);
-
-  // save current subtree-com and qpos, clear nudge
-  mjtNum subtree_com[3];
-  mju_copy3(subtree_com, data->subtree_com + 3 * bodyid);
-  mju_copy(qpos, data->qpos, model->nq);
-  mju_zero(nudge, nv);
-
-  // compare analytic Jacobian to finite-difference approximation
-  static const mjtNum eps = 1e-6;
-  for (int i = 0; i < nv; i++) {
-    // reset qpos, nudge i-th dof, update data->qpos, reset nudge
-    mju_copy(data->qpos, qpos, model->nq);
-    nudge[i] = 1;
-    mj_integratePos(model.get(), data->qpos, nudge, eps);
-    nudge[i] = 0;
-
-    // kinematics and comPos to get nudged com
-    mj_kinematics(model.get(), data.get());
-    mj_comPos(model.get(), data.get());
-
-    // compare finite-differenced and analytic Jacobian
-    for (int j = 0; j < 3; j++) {
-      mjtNum findiff =
-          (data->subtree_com[3 * bodyid + j] - subtree_com[j]) / eps;
-      EXPECT_THAT(jac_subtree[nv * j + i], MjNear(findiff, eps, 1e-2));
-    }
-  }
-
-  mju_free(nudge);
-  mju_free(qpos);
-  mju_free(jac_subtree);
-}
-
-// confirm that applying linear forces via the subtree-com Jacobian only creates
-// the expected linear accelerations (no accelerations of internal joints)
-TEST_F(JacobianTest, SubtreeJacNoInternalAcc) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(kJacobianTestingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-  int bodyid = mj_name2id(model.get(), mjOBJ_BODY, "main");
-  MjDataPtr data = MakeData(model);
-  mjtNum* jac_subtree = (mjtNum*)mju_malloc(sizeof(mjtNum) * 3 * nv);
-
-  // all we need for Jacobians are kinematics and CoM-related quantities
-  mj_kinematics(model.get(), data.get());
-  mj_comPos(model.get(), data.get());
-
-  // get subtree CoM Jacobian of free body
-  mj_jacSubtreeCom(model.get(), data.get(), jac_subtree, bodyid);
-
-  // uncomment for debugging
-  // mju_printMat(jac_subtree, 3, nv);
-
-  // call fwdPosition since we'll need the factorised mass matrix in the test
-  mj_fwdPosition(model.get(), data.get());
-
-  // treating the subtree Jacobian as the projection of 3 axis-aligned unit
-  // forces into joint space, solve for the resulting accelerations in-place
-  mj_solveM(model.get(), data.get(), jac_subtree, jac_subtree, 3);
-
-  // expect to find accelerations of magnitude 1/subtreemass in the first 3
-  // coordinates of the free joint and 0s elsewhere, since applying forces to
-  // the CoM should accelerate the whole mechanism without any internal motion
-  int body_dofadr = model->body_dofadr[bodyid];
-  mjtNum invtreemass = 1.0 / model->body_subtreemass[bodyid];
-  for (int r = 0; r < 3; r++) {
-    for (int c = 0; c < nv; c++) {
-      mjtNum expected = c - body_dofadr == r ? invtreemass : 0.0;
-      EXPECT_THAT(jac_subtree[nv * r + c], MjNear(expected, max_abs_err, 1e-4));
-    }
-  }
-
-  mju_free(jac_subtree);
-}
-
-static constexpr char kQuat[] = R"(
-<mujoco>
-  <worldbody>
-    <body name="query">
-      <joint type="ball"/>
-      <geom size="1"/>
-      <site name="query" pos=".1 .2 .3"/>
-    </body>
-  </worldbody>
-  <keyframe>
-    <key qvel="2 3 5"/>
-  </keyframe>
-</mujoco>
-)";
-
-static constexpr char kFreeBall[] = R"(
-<mujoco>
-  <worldbody>
-    <body name="distractor1" pos="0 0 .3">
-      <freejoint/>
-      <geom size=".1"/>
-    </body>
-    <body name="main">
-      <freejoint/>
-      <geom size=".1"/>
-      <body pos=".1 0 0">
-        <joint axis="0 1 0"/>
-        <geom type="capsule" size=".03" fromto="0 0 0 .2 0 0"/>
-        <body pos=".2 0 0">
-          <joint type="ball" stiffness="20"/>
-          <geom type="capsule" size=".03" fromto="0 0 0 0 .2 0"/>
-          <body name="query" pos="0 .2 0">
-            <joint type="slide" axis="1 1 1"/>
-            <geom size=".05"/>
-            <site name="query" pos=".1 .2 .3"/>
-          </body>
-        </body>
-      </body>
-    </body>
-    <body name="distractor2" pos="0 0 -.3">
-      <freejoint/>
-      <geom size=".1"/>
-    </body>
-  </worldbody>
-  <keyframe>
-    <key qvel="1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1"/>
-  </keyframe>
-</mujoco>
-)";
-
-static constexpr char kQuatlessPendulum[] = R"(
-<mujoco>
-  <option integrator="implicit">
-    <flag constraint="disable"/>
-  </option>
-  <worldbody>
-    <body pos="0.15 0 0">
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
-      <body pos="0.1 0 0">
-        <joint type="slide" axis="1 0 0" stiffness="200"/>
-        <geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
-        <body pos=".1 0 0">
-          <joint axis="1 0 0"/>
-          <joint axis="0 1 0"/>
-          <joint axis="0 0 1"/>
-          <geom type="box" size=".02" fromto="0 0 0 0 .1 0"/>
-          <body name="query" pos="0 .1 0">
-            <joint axis="1 0 0"/>
-            <geom type="capsule" size="0.02" fromto="0 0 0 0 .1 0"/>
-            <site name="query" pos=".1 0 0"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-static constexpr char kTelescope[] = R"(
-<mujoco>
-  <worldbody>
-    <body>
-      <joint type="ball"/>
-      <geom type="capsule" size="0.02" fromto="0 .02 0 .1 .02 0"/>
-      <body pos=".1 .02 0">
-        <joint type="slide" axis="1 0 0"/>
-        <geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
-        <body pos=".1 .02 0">
-          <joint type="slide" axis="1 0 0"/>
-          <geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
-          <body pos=".1 .02 0" name="query">
-            <joint type="slide" axis="1 0 0"/>
-            <geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
-            <site name="query" pos=".1 0 0"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <keyframe>
-    <key qvel="1 1 1 1 1 1"/>
-  </keyframe>
-</mujoco>
-)";
-
-static constexpr char kHinge[] = R"(
-<mujoco>
-  <worldbody>
-    <body name="query">
-      <joint name="link1" axis="0 1 0"/>
-      <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
-      <site name="query" pos="0 0 -1"/>
-    </body>
-  </worldbody>
-
-  <keyframe>
-    <key qpos="1" qvel="1"/>
-  </keyframe>
-</mujoco>
-)";
-
-// compare mj_jacDot with finite-differenced mj_jac
-TEST_F(JacobianTest, JacDot) {
-  for (auto xml : {kHinge, kQuat, kTelescope, kFreeBall, kQuatlessPendulum}) {
-    char error[1024];
-    MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-    ASSERT_THAT(model.get(), NotNull()) << error;
-    int nv = model->nv;
-    MjDataPtr data = MakeData(model);
-
-    // load keyframe if present, step for a bit
-    if (model->nkey) mj_resetDataKeyframe(model.get(), data.get(), 0);
-    while (data->time < 0.1) {
-      mj_step(model.get(), data.get());
-    }
-
-    // minimal call required for mj_jacDot outputs to be valid
-    mj_kinematics(model.get(), data.get());
-    mj_comPos(model.get(), data.get());
-    mj_comVel(model.get(), data.get());
-
-    // get bodyid
-    int bodyid = mj_name2id(model.get(), mjOBJ_BODY, "query");
-    EXPECT_GT(bodyid, 0);
-
-    // get site position
-    int siteid = mj_name2id(model.get(), mjOBJ_SITE, "query");
-    EXPECT_GT(siteid, -1);
-    mjtNum point[3];
-    mju_copy3(point, data->site_xpos + 3 * siteid);
-
-    // jac, jac_dot
-    std::vector<mjtNum> jacp(3 * nv);
-    std::vector<mjtNum> jacr(3 * nv);
-    mj_jac(model.get(), data.get(), jacp.data(), jacr.data(), point, bodyid);
-    std::vector<mjtNum> jacp_dot(3 * nv);
-    std::vector<mjtNum> jacr_dot(3 * nv);
-    mj_jacDot(model.get(), data.get(), jacp_dot.data(), jacr_dot.data(), point,
-              bodyid);
-
-    // jac_h: jacobian after integrating qpos with a timestep of h
-    const mjtNum h = MjTol(1e-7, 5e-4);
-    mj_integratePos(model.get(), data->qpos, data->qvel, h);
-    mj_kinematics(model.get(), data.get());
-    mj_comPos(model.get(), data.get());
-    std::vector<mjtNum> jacp_h(3 * nv);
-    std::vector<mjtNum> jacr_h(3 * nv);
-    mju_copy3(point,
-              data->site_xpos + 3 * siteid);  // get updated site position
-    mj_jac(model.get(), data.get(), jacp_h.data(), jacr_h.data(), point,
-           bodyid);
-
-    // jac_dot_h finite-difference approximation
-    std::vector<mjtNum> jacp_dot_h(3 * nv);
-    mju_sub(jacp_dot_h.data(), jacp_h.data(), jacp.data(), 3 * nv);
-    mju_scl(jacp_dot_h.data(), jacp_dot_h.data(), 1 / h, 3 * nv);
-    std::vector<mjtNum> jacr_dot_h(3 * nv);
-    mju_sub(jacr_dot_h.data(), jacr_h.data(), jacr.data(), 3 * nv);
-    mju_scl(jacr_dot_h.data(), jacr_dot_h.data(), 1 / h, 3 * nv);
-
-    // compare finite-differenced and analytic
-    mjtNum tol = 1e-5;
-    EXPECT_THAT(jacp_dot, Pointwise(MjNear(tol, 5e-2), jacp_dot_h));
-    EXPECT_THAT(jacr_dot, Pointwise(MjNear(tol, 5e-2), jacr_dot_h));
-  }
-}
-
-// compare mj_jacDotSparse with dense mj_jacDot
-TEST_F(JacobianTest, JacDotSparse) {
-  for (auto xml : {kHinge, kQuat, kTelescope, kFreeBall, kQuatlessPendulum}) {
-    char error[1024];
-    MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-    ASSERT_THAT(model.get(), NotNull()) << error;
-    int nv = model->nv;
-    MjDataPtr data = MakeData(model);
-
-    // load keyframe if present, step for a bit
-    if (model->nkey) mj_resetDataKeyframe(model.get(), data.get(), 0);
-    while (data->time < 0.1) {
-      mj_step(model.get(), data.get());
-    }
-
-    // minimal call required for mj_jacDot outputs to be valid
-    mj_kinematics(model.get(), data.get());
-    mj_comPos(model.get(), data.get());
-    mj_comVel(model.get(), data.get());
-
-    // get bodyid and site position
-    int bodyid = mj_name2id(model.get(), mjOBJ_BODY, "query");
-    EXPECT_GT(bodyid, 0);
-    int siteid = mj_name2id(model.get(), mjOBJ_SITE, "query");
-    EXPECT_GT(siteid, -1);
-    mjtNum point[3];
-    mju_copy3(point, data->site_xpos + 3 * siteid);
-
-    // dense jacDot
-    std::vector<mjtNum> jacp_dense(3 * nv);
-    std::vector<mjtNum> jacr_dense(3 * nv);
-    mj_jacDot(model.get(), data.get(), jacp_dense.data(), jacr_dense.data(),
-              point, bodyid);
-
-    // compute body chain using public mjModel fields
-    std::vector<int> chain(nv);
-    int NV = 0;
-    int weldbody = model->body_weldid[bodyid];
-    if (weldbody) {
-      int da = model->body_dofadr[weldbody] + model->body_dofnum[weldbody] - 1;
-      while (da >= 0) {
-        chain[NV++] = da;
-        da = model->dof_parentid[da];
-      }
-      std::reverse(chain.begin(), chain.begin() + NV);
-    }
-    EXPECT_GT(NV, 0);
-
-    // sparse jacDot
-    std::vector<mjtNum> jacp_sparse(3 * NV);
-    std::vector<mjtNum> jacr_sparse(3 * NV);
-    mj_jacDotSparse(model.get(), data.get(), jacp_sparse.data(),
-                    jacr_sparse.data(), point, bodyid, NV, chain.data());
-
-    // expand sparse to dense and compare
-    std::vector<mjtNum> jacp_expanded(3 * nv, 0);
-    std::vector<mjtNum> jacr_expanded(3 * nv, 0);
-    for (int ci = 0; ci < NV; ci++) {
-      int di = chain[ci];
-      for (int r = 0; r < 3; r++) {
-        jacp_expanded[di + r * nv] = jacp_sparse[ci + r * NV];
-        jacr_expanded[di + r * nv] = jacr_sparse[ci + r * NV];
-      }
-    }
-
-    // expect bitwise equality
-    EXPECT_EQ(jacp_expanded, jacp_dense);
-    EXPECT_EQ(jacr_expanded, jacr_dense);
-  }
-}
-
-// validate rotational Jacobian used in welds
-TEST_F(JacobianTest, WeldRotJacobian) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP() << "FD Jacobian with eps=1e-6 below float32 precision";
-#endif
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option jacobian="dense"/>
-    <worldbody>
-      <body>
-        <joint type="ball"/>
-        <geom size=".1"/>
-      </body>
-      <body pos=".5 0 0">
-        <joint axis="1 0 0" pos="0 0 .01"/>
-        <joint axis="0 1 0" pos=".02 0 0"/>
-        <joint axis="0 0 1" pos="0 .03 0"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), testing::NotNull()) << error;
-  ASSERT_EQ(model->nq, 7);
-  ASSERT_EQ(model->nv, 6);
-  static const int nv = 6;  // for increased readability
-  MjDataPtr data = MakeData(model);
-
-  // arbitrary initial values for the ball and hinge joints
-  mjtNum qpos0[7] = {.5, .5, .5, .5, .7, .8, .9};
-
-  // compute required quantities using mj_step1
-  mj_step1(model.get(), data.get());
-
-  // get orientation error
-  mjtNum res[3];
-  // compute rotation residual following formula in mj_instantiateEquality
-  auto RotationResidual = [](const mjModel* model, mjData* data,
-                             const mjtNum qpos[7], const mjtNum dqpos[6],
-                             mjtNum res[3]) {
-    // copy configuration, compute required quantities with mj_step1
-    mju_copy(data->qpos, qpos, 7);
-
-    // perturb configuration if given
-    if (dqpos) {
-      mj_integratePos(model, data->qpos, dqpos, 1);
-    }
-
-    // update relevant quantities
-    mj_step1(model, data);
-
-    // compute orientation residual
-    mjtNum quat1[4], quat2[4], quat3[4];
-    mju_copy4(quat1, data->xquat + 4 * 1);
-    mju_negQuat(quat2, data->xquat + 4 * 2);
-    mju_mulQuat(quat3, quat2, quat1);
-    mju_copy3(res, quat3 + 1);
-  };
-
-  RotationResidual(model.get(), data.get(), qpos0, NULL, res);
-
-  // compute Jacobian with finite-differencing
-  mjtNum jacFD[3 * nv];
-  mjtNum dqpos[nv] = {0};
-  mjtNum dres[3];
-  const mjtNum eps = 1e-6;
-  for (int i = 0; i < nv; i++) {
-    // nudge i-th dof
-    dqpos[i] = eps;
-
-    // get nudged residual
-    RotationResidual(model.get(), data.get(), qpos0, dqpos, dres);
-
-    // remove nudge
-    dqpos[i] = 0.0;
-
-    // compute Jacobian column
-    for (int j = 0; j < 3; j++) {
-      jacFD[nv * j + i] = (dres[j] - res[j]) / eps;
-    }
-  }
-
-  // reset mjData to qpos0
-  mju_copy(data->qpos, qpos0, 7);
-  mj_step1(model.get(), data.get());
-
-  // intermediate quaternions quat1 and quat2
-  mjtNum quat1[4], negQuat2[4];
-  mju_copy4(quat1, data->xquat + 4 * 1);
-  mju_negQuat(negQuat2, data->xquat + 4 * 2);
-
-  // get analytical Jacobian following formula in mj_instantiateEquality
-  mjtNum jacdif[3 * nv], jac0[3 * nv], jac1[3 * nv];
-  mjtNum point[3] = {0};
-
-  // rotational Jacobian difference
-  mj_jacDifPair(model.get(), data.get(), NULL, 2, 1, point, point, NULL, NULL,
-                NULL, jac0, jac1, jacdif, mj_isSparse(model.get()),
-                /*flg_skipcommon=*/0);
-
-  // formula: 0.5 * neg(quat2) * (jac1-jac2) * quat1
-  mjtNum axis[3], quat3[4], quat4[4];
-  for (int j = 0; j < nv; j++) {
-    // axis = [jac1-jac2]_col(j)
-    axis[0] = jacdif[0 * nv + j];
-    axis[1] = jacdif[1 * nv + j];
-    axis[2] = jacdif[2 * nv + j];
-
-    // apply formula
-    mju_mulQuatAxis(quat3, negQuat2, axis);
-    mju_mulQuat(quat4, quat3, quat1);
-
-    // correct Jacobian
-    jacdif[0 * nv + j] = 0.5 * quat4[1];
-    jacdif[1 * nv + j] = 0.5 * quat4[2];
-    jacdif[2 * nv + j] = 0.5 * quat4[3];
-  }
-
-  // test that analytical and finite-differenced Jacobians match
-  EXPECT_THAT(AsVector(jacFD, 3 * nv),
-              Pointwise(MjNear(eps, 1e-3), AsVector(jacdif, 3 * nv)));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_derivative_test.cc b/test/engine/engine_derivative_test.cc
deleted file mode 100644
index e31e48ab..00000000
--- a/test/engine/engine_derivative_test.cc
+++ /dev/null
@@ -1,2428 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_derivative.c.
-
-#include "src/engine/engine_derivative.h"
-
-#include <cstddef>
-#include <random>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_core_smooth.h"
-#include "src/engine/engine_derivative_fd.h"
-#include "src/engine/engine_forward.h"
-#include "src/engine/engine_io.h"
-#include "src/engine/engine_util_blas.h"
-#include "src/engine/engine_util_sparse.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::std::vector;
-using ::testing::DoubleNear;
-using ::testing::Each;
-using ::testing::Eq;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-using DerivativeTest = MujocoTest;
-
-// errors smaller than this are ignored
-#ifdef mjUSESINGLE
-static const mjtNum absolute_tolerance = 1e-3;
-#else
-static const mjtNum absolute_tolerance = 1e-9;
-#endif
-
-// corrected relative error
-static mjtNum RelativeError(mjtNum a, mjtNum b) {
-  mjtNum nominator = mjMAX(0, mju_abs(a - b) - absolute_tolerance);
-  mjtNum denominator = (mju_abs(a) + mju_abs(b) + absolute_tolerance);
-  return nominator / denominator;
-}
-
-// expect two 2D arrays to have elementwise relative error smaller than eps
-// return maximum absolute error
-static mjtNum CompareMatrices(mjtNum* Actual, mjtNum* Expected, int nrow,
-                              int ncol, mjtNum eps) {
-  mjtNum max_error = 0;
-  for (int i = 0; i < nrow; i++) {
-    for (int j = 0; j < ncol; j++) {
-      mjtNum actual = Actual[i * ncol + j];
-      mjtNum expected = Expected[i * ncol + j];
-      EXPECT_LT(RelativeError(actual, expected), eps)
-          << "error at position (" << i << ", " << j << ")"
-          << "\nexpected = " << expected << "\nactual   = " << actual
-          << "\ndiff     = " << expected - actual;
-      max_error = mjMAX(mju_abs(actual - expected), max_error);
-    }
-  }
-  return max_error;
-}
-
-static const char* const kEnergyConservingPendulumPath =
-    "engine/testdata/derivative/energy_conserving_pendulum.xml";
-static const char* const kTumblingThinObjectPath =
-    "engine/testdata/derivative/tumbling_thin_object.xml";
-static const char* const kTumblingThinObjectEllipsoidPath =
-    "engine/testdata/derivative/tumbling_thin_object_ellipsoid.xml";
-static const char* const kDampedActuatorsPath =
-    "engine/testdata/derivative/damped_actuators.xml";
-static const char* const kDamperActuatorsPath =
-    "engine/testdata/actuation/damper.xml";
-static const char* const kDampedPendulumPath =
-    "engine/testdata/derivative/damped_pendulum.xml";
-static const char* const kLinearPath = "engine/testdata/derivative/linear.xml";
-static const char* const kDCMotorPath =
-    "engine/testdata/derivative/dcmotor.xml";
-static const char* const kModelPath = "testdata/model.xml";
-
-// compare analytic and finite-difference d_smooth/d_qvel
-TEST_F(DerivativeTest, SmoothDvel) {
-  // run test on all models
-  for (const char* local_path :
-       {kEnergyConservingPendulumPath, kTumblingThinObjectPath,
-        kDampedActuatorsPath, kDamperActuatorsPath, kDCMotorPath}) {
-    const std::string xml_path = GetTestDataFilePath(local_path);
-    char error[1024] = "";
-    mjModel* model =
-        mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-    ASSERT_THAT(model, testing::NotNull()) << "Failed to load model: " << error;
-    int nD = model->nD;
-    mjData* data = mj_makeData(model);
-
-    for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
-      // set sparsity
-      model->opt.jacobian = sparsity;
-
-      // take 100 steps so we have some velocities, then call forward
-      mj_resetData(model, data);
-      if (model->nu) {
-        data->ctrl[0] = 0.1;
-      }
-      for (int i = 0; i < 100; i++) {
-        mj_step(model, data);
-      }
-      mj_forward(model, data);
-
-      // construct sparse structure in d->D_xxx, compute analytical qDeriv
-      mju_zero(data->qDeriv, nD);
-      mjd_smooth_vel(model, data, /*flg_bias=*/true);
-
-      // expect derivatives to be non-zero, make copy of qDeriv as a vector
-      EXPECT_GT(mju_norm(data->qDeriv, nD), 0);
-      vector<mjtNum> qDerivAnalytic = AsVector(data->qDeriv, nD);
-
-      // compute finite-difference derivatives
-      mjtNum eps = MjTol(1e-7, 1e-3);
-      mju_zero(data->qDeriv, nD);
-      mjd_smooth_velFD(model, data, eps);
-
-      // expect FD and analytic derivatives to be numerically different
-      EXPECT_NE(mju_norm(data->qDeriv, nD),
-                mju_norm(qDerivAnalytic.data(), nD));
-
-      // expect FD and analytic derivatives to be similar to eps precision
-      EXPECT_THAT(AsVector(data->qDeriv, nD),
-                  Pointwise(MjNear(1e-7, 3e-3), qDerivAnalytic));
-    }
-    mj_deleteData(data);
-    mj_deleteModel(model);
-  }
-}
-
-// mjd_freeBias_vel: 6x6 bias-derivative block for a standalone free body
-//   validated against mjd_rne_vel and against finite-differenced mj_rne
-TEST_F(DerivativeTest, FreeBiasVel) {
-  // free body with offset CoM, rotated inertia, non-identity orientation
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="0.1 -0.2 0.3" euler="20 -30 40">
-        <freejoint/>
-        <geom type="box" size=".1 .2 .3" mass="2" pos=".04 -.02 .03" euler="10 20 30"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mjModel* m = model.get();
-  mjData* d = data.get();
-
-  // set fast, fully populated velocity
-  mjtNum qvel[6] = {0.4, -0.3, 0.2, 5, -3, 2};
-  mju_copy(d->qvel, qvel, 6);
-  mj_forward(m, d);
-
-  // analytic block
-  mjtNum B[36];
-  mjd_freeBias_vel(m, d, /*jnt=*/0, B);
-
-  // linear columns are zero by construction
-  for (int r = 0; r < 6; r++) {
-    for (int c = 0; c < 3; c++) {
-      EXPECT_EQ(B[6 * r + c], 0);
-    }
-  }
-
-  // compare with mjd_rne_vel: B == -(qDeriv(flg_bias=1) - qDeriv(flg_bias=0))
-  mju_zero(d->qDeriv, m->nD);
-  mjd_smooth_vel(m, d, /*flg_bias=*/1);
-  vector<mjtNum> qDeriv_bias = AsVector(d->qDeriv, m->nD);
-  mju_zero(d->qDeriv, m->nD);
-  mjd_smooth_vel(m, d, /*flg_bias=*/0);
-  for (int r = 0; r < 6; r++) {
-    int rowadr = m->D_rowadr[r];
-    ASSERT_EQ(m->D_rownnz[r], 6);
-    for (int k = 0; k < 6; k++) {
-      int c = m->D_colind[rowadr + k];
-      mjtNum rne_val = -(qDeriv_bias[rowadr + k] - d->qDeriv[rowadr + k]);
-      EXPECT_NEAR(B[6 * r + c], rne_val, MjTol(1e-14, 1e-6))
-          << "mismatch at (" << r << ", " << c << ")";
-    }
-  }
-
-  // compare with central finite differences of mj_rne
-  mjtNum eps = MjTol(1e-6, 1e-3);
-  for (int c = 0; c < 6; c++) {
-    mjtNum bias_plus[6], bias_minus[6];
-
-    d->qvel[c] = qvel[c] + eps;
-    mj_comVel(m, d);
-    mj_rne(m, d, /*flg_acc=*/0, bias_plus);
-
-    d->qvel[c] = qvel[c] - eps;
-    mj_comVel(m, d);
-    mj_rne(m, d, /*flg_acc=*/0, bias_minus);
-
-    d->qvel[c] = qvel[c];
-
-    for (int r = 0; r < 6; r++) {
-      mjtNum fd = (bias_plus[r] - bias_minus[r]) / (2 * eps);
-      EXPECT_NEAR(B[6 * r + c], fd, MjTol(1e-7, 1e-2))
-          << "FD mismatch at (" << r << ", " << c << ")";
-    }
-  }
-}
-
-// disabled actuators do not contribute to d_qfrc_actuator/d_qvel
-TEST_F(DerivativeTest, DisabledActuators) {
-  // model with only a position actuator
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <option integrator="implicitfast"/>
-
-    <worldbody>
-      <body>
-        <joint name="joint" type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <position joint="joint" group="1" kp="2000" kv="200"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m1 = LoadModelFromString(xml1, error, sizeof(error));
-  ASSERT_THAT(m1.get(), NotNull()) << error;
-  MjDataPtr d1 = MakeData(m1);
-
-  d1->ctrl[0] = 6;
-  while (d1->time < 1) mj_step(m1.get(), d1.get());
-
-  // model with a position actuator and an intvelocity actuator
-  static constexpr char xml2[] = R"(
-  <mujoco>
-    <option integrator="implicitfast" actuatorgroupdisable="2"/>
-
-    <worldbody>
-      <body>
-        <joint name="joint" type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <position joint="joint" group="1" kp="2000" kv="200"/>
-      <intvelocity joint="joint" group="2" kp="2000" kv="200" actrange="-6 6"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  MjModelPtr m2 = LoadModelFromString(xml2);
-  MjDataPtr d2 = MakeData(m2);
-
-  d2->ctrl[0] = 6;
-  d2->ctrl[1] = 6;
-
-  while (d2->time < 1) mj_step(m2.get(), d2.get());
-
-  // expect same qvel in both models
-  EXPECT_EQ(d1->qvel[0], d2->qvel[0]);
-}
-
-// actuator order has no effect
-TEST_F(DerivativeTest, ActuatorOrder) {
-  // model with stateful actuator first
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <option integrator="implicitfast"/>
-
-    <worldbody>
-      <body>
-        <joint name="0" type="slide" range="-1 1"/>
-        <geom size=".1"/>
-      </body>
-      <body pos="1 0 0">
-        <joint name="1" type="slide" range="-1 1"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <muscle joint="0" ctrlrange="0 6"/>
-      <damper joint="1" kv="200" ctrlrange="0 6"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m1 = LoadModelFromString(xml1, error, sizeof(error));
-  ASSERT_THAT(m1.get(), NotNull()) << "Failed to load model: " << error;
-  MjDataPtr d1 = MakeData(m1);
-
-  d1->ctrl[0] = 6;
-  d1->ctrl[1] = 6;
-
-  while (d1->time < 1) mj_step(m1.get(), d1.get());
-
-  // model with stateful actuator second
-  static constexpr char xml2[] = R"(
-  <mujoco>
-    <option integrator="implicitfast"/>
-
-    <worldbody>
-      <body>
-        <joint name="0" type="slide" range="-1 1"/>
-        <geom size=".1"/>
-      </body>
-      <body pos="1 0 0">
-        <joint name="1" type="slide" range="-1 1"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <damper joint="1" kv="200" ctrlrange="0 6"/>
-      <muscle joint="0" ctrlrange="0 6"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  MjModelPtr m2 = LoadModelFromString(xml2, error, sizeof(error));
-  ASSERT_THAT(m2.get(), NotNull()) << "Failed to load model: " << error;
-  MjDataPtr d2 = MakeData(m2);
-
-  d2->ctrl[0] = 6;
-  d2->ctrl[1] = 6;
-
-  while (d2->time < 1) mj_step(m2.get(), d2.get());
-
-  // expect same qvel in both models
-  EXPECT_EQ(d1->qvel[0], d2->qvel[0]);
-  EXPECT_EQ(d1->qvel[1], d2->qvel[1]);
-}
-
-// compare analytic and fin-diff d_qfrc_passive/d_qvel
-TEST_F(DerivativeTest, PassiveDvel) {
-  for (const char* local_path :
-       {kTumblingThinObjectPath, kTumblingThinObjectEllipsoidPath}) {
-    // load model
-    const std::string xml_path = GetTestDataFilePath(local_path);
-    mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-    int nD = model->nD;
-    mjData* data = mj_makeData(model);
-    // allocate Jacobians
-    mjtNum* qDerivAnalytic = (mjtNum*)mju_malloc(sizeof(mjtNum) * nD);
-    mjtNum* qDerivFD = (mjtNum*)mju_malloc(sizeof(mjtNum) * nD);
-
-    for (mjtJacobian sparsity : {mjJAC_DENSE, mjJAC_SPARSE}) {
-      // set sparsity
-      model->opt.jacobian = sparsity;
-
-      // take 100 steps so we have some velocities, then call forward
-      mj_resetData(model, data);
-      for (int i = 0; i < 100; i++) {
-        mj_step(model, data);
-      }
-      mj_forward(model, data);
-
-      // get analytic derivatives
-      mju_zero(data->qDeriv, model->nD);
-      mjd_passive_vel(model, data);
-      mju_copy(qDerivAnalytic, data->qDeriv, nD);
-
-      // clear qDeriv, get finite-difference derivatives
-      mju_zero(data->qDeriv, nD);
-      mju_zero(qDerivFD, nD);
-      mjtNum eps = MjTol(1e-6, 1e-4);
-      mjd_passive_velFD(model, data, eps);
-
-      // expect FD and analytic derivatives to be similar to tol precision
-      EXPECT_THAT(AsVector(data->qDeriv, nD),
-                  Pointwise(MjNear(1e-6, 1e-4), AsVector(qDerivAnalytic, nD)));
-    }
-
-    mju_free(qDerivFD);
-    mju_free(qDerivAnalytic);
-    mj_deleteData(data);
-    mj_deleteModel(model);
-  }
-}
-
-// ----------------------- derivatives of mj_step() ----------------------------
-
-// mj_stepSkip computes the same next state as mj_step
-TEST_F(DerivativeTest, StepSkip) {
-  const std::string xml_path = GetTestDataFilePath(kDampedPendulumPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-  int nq = model->nq;
-  int nv = model->nv;
-
-  // disable warm-starts so we don't need to save qacc_warmstart
-  model->opt.disableflags |= mjDSBL_WARMSTART;
-
-  for (const mjtIntegrator integrator :
-       {mjINT_EULER, mjINT_IMPLICIT, mjINT_IMPLICITFAST}) {
-    model->opt.integrator = integrator;
-
-    // reset, take 20 steps
-    mj_resetData(model, data);
-    for (int i = 0; i < 20; i++) {
-      mj_step(model, data);
-    }
-
-    // denormalize the quat, just to see that it doesn't make a difference
-    for (int j = 0; j < model->njnt; j++) {
-      if (model->jnt_type[j] == mjJNT_BALL) {
-        int adr = model->jnt_qposadr[j];
-        for (int k = 0; k < 4; k++) {
-          data->qpos[adr + k] *= 8;
-        }
-      }
-    }
-
-    // save state
-    vector<mjtNum> qpos = AsVector(data->qpos, nq);
-    vector<mjtNum> qvel = AsVector(data->qvel, nv);
-
-    // take one more step, save next state
-    mj_step(model, data);
-    vector<mjtNum> qpos_next = AsVector(data->qpos, nq);
-    vector<mjtNum> qvel_next = AsVector(data->qvel, nv);
-
-    // reset state, take step again, compare (assert mj_step is deterministic)
-    mju_copy(data->qpos, qpos.data(), nq);
-    mju_copy(data->qvel, qvel.data(), nv);
-    mj_step(model, data);
-    EXPECT_THAT(AsVector(data->qpos, nq), Pointwise(Eq(), qpos_next));
-    EXPECT_THAT(AsVector(data->qvel, nv), Pointwise(Eq(), qvel_next));
-
-    // reset state, change ctrl, call mj_stepSkip, save next state
-    mju_copy(data->qpos, qpos.data(), nq);
-    mju_copy(data->qvel, qvel.data(), nv);
-    data->ctrl[0] = 1;
-    mj_stepSkip(model, data, mjSTAGE_VEL, 0);  // skipping both POS and VEL
-    vector<mjtNum> qpos_next_dctrl = AsVector(data->qpos, nq);
-    vector<mjtNum> qvel_next_dctrl = AsVector(data->qvel, nv);
-
-    // reset state (ctrl remains unchanged), call full mj_step, compare
-    mju_copy(data->qpos, qpos.data(), nq);
-    mju_copy(data->qvel, qvel.data(), nv);
-    mj_step(model, data);
-    EXPECT_THAT(AsVector(data->qpos, nq), Pointwise(Eq(), qpos_next_dctrl));
-    EXPECT_THAT(AsVector(data->qvel, nv), Pointwise(Eq(), qvel_next_dctrl));
-
-    // reset state, change velocity, call mj_stepSkip, save next state
-    mju_copy(data->qpos, qpos.data(), nq);
-    mju_copy(data->qvel, qvel.data(), nv);
-    data->qvel[0] += 1;
-    mj_stepSkip(model, data, mjSTAGE_POS, 0);  // skipping POS
-    vector<mjtNum> qpos_next_dvel = AsVector(data->qpos, nq);
-    vector<mjtNum> qvel_next_dvel = AsVector(data->qvel, nv);
-
-    // reset state, change velocity, call full mj_step, compare
-    mju_copy(data->qpos, qpos.data(), nq);
-    mju_copy(data->qvel, qvel.data(), nv);
-    data->qvel[0] += 1;
-    mj_step(model, data);
-    EXPECT_THAT(AsVector(data->qpos, nq), Pointwise(Eq(), qpos_next_dvel));
-    EXPECT_THAT(AsVector(data->qvel, nv), Pointwise(Eq(), qvel_next_dvel));
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// Analytic transition matrices for linear dynamical system xn = A*x + B*u
-//   given modified mass matrix H (`data->qH`) and
-//   Ac = H^-1 [diag(-stiffness) diag(-damping)]
-//   we have
-//   A  = eye(2*nv) + dt [dt*Ac + [zeros(3) eye(3)]; Ac]
-//   given the moment arm matrix K (`data->actuator_moment`) and Bc = H^-1 K
-//   B  = dt*[Bc*dt; Bc]
-static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
-  int nv = m->nv, nu = m->nu;
-  mjtNum dt = m->opt.timestep;
-  mj_markStack(d);
-
-  // === state-transition matrix A
-  if (A) {
-    mjtNum* Ac = mj_stackAllocNum(d, 2 * nv * nv);
-    // Ac = H^-1 [diag(-stiffness) diag(-damping)]
-    mju_zero(Ac, 2 * nv * nv);
-    for (int i = 0; i < nv; i++) {
-      Ac[i * nv + i] = -m->jnt_stiffness[i];
-      Ac[nv * nv + i * nv + i] = -m->dof_damping[i];
-    }
-    mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2 * nv, m->M_rownnz, m->M_rowadr,
-               m->M_colind, nullptr);
-
-    // A = [dt*Ac; Ac]
-    mju_transpose(A, Ac, 2 * nv, nv);
-    mju_scl(A, A, dt, nv * 2 * nv);
-    mju_transpose(A + 2 * nv * nv, Ac, 2 * nv, nv);
-
-    // Add eye(nv) to top right quadrant of A
-    for (int i = 0; i < nv; i++) {
-      A[i * 2 * nv + nv + i] += 1;
-    }
-
-    // A *= dt
-    mju_scl(A, A, dt, 2 * nv * 2 * nv);
-
-    // A += eye(2*nv)
-    for (int i = 0; i < 2 * nv; i++) {
-      A[i * 2 * nv + i] += 1;
-    }
-  }
-
-  // === control-transition matrix B
-  if (B) {
-    mjtNum* Bc = mj_stackAllocNum(d, nu * nv);
-    mjtNum* BcT = mj_stackAllocNum(d, nv * nu);
-    mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
-                     d->moment_rowadr, d->moment_colind);
-    mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu, m->M_rownnz, m->M_rowadr,
-               m->M_colind, nullptr);
-    mju_transpose(BcT, Bc, nu, nv);
-    mju_scl(B, BcT, dt * dt, nu * nv);
-    mju_scl(B + nu * nv, BcT, dt, nu * nv);
-  }
-
-  mj_freeStack(d);
-}
-
-// compare FD derivatives to analytic derivatives of linear dynamical system
-TEST_F(DerivativeTest, LinearSystem) {
-  const std::string xml_path = GetTestDataFilePath(kLinearPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-  int nv = model->nv, nu = model->nu;
-
-  // set ctrl, integrate for 20 steps
-  data->ctrl[0] = .1;
-  data->ctrl[1] = -.1;
-  for (int i = 0; i < 20; i++) {
-    mj_step(model, data);
-  }
-
-  // analytic A and B
-  mjtNum* A = (mjtNum*)mju_malloc(sizeof(mjtNum) * 2 * nv * 2 * nv);
-  mjtNum* B = (mjtNum*)mju_malloc(sizeof(mjtNum) * 2 * nv * nu);
-
-  LinearSystem(model, data, A, B);
-
-  // uncomment for debugging:
-  // PrintMatrix(A, 2*nv, 2*nv);
-  // PrintMatrix(B, 2*nv, nu);
-
-  // forward differenced A and B
-  mjtNum eps = MjTol(1e-6, 1e-3);
-  mjtNum* AFD = (mjtNum*)mju_malloc(sizeof(mjtNum) * 2 * nv * 2 * nv);
-  mjtNum* BFD = (mjtNum*)mju_malloc(sizeof(mjtNum) * 2 * nv * nu);
-
-  mjd_transitionFD(model, data, eps, /*centered=*/0, AFD, BFD, nullptr,
-                   nullptr);
-
-  // uncomment for debugging:
-  // PrintMatrix(AFD, 2*nv, 2*nv);
-  // PrintMatrix(BFD, 2*nv, nu);
-
-  // expect FD and analytic derivatives to be similar to eps precision
-  CompareMatrices(A, AFD, 2 * nv, 2 * nv, eps);
-  CompareMatrices(B, BFD, 2 * nv, nu, eps);
-
-  // central differenced A and B
-  mjtNum* AFDc = (mjtNum*)mju_malloc(sizeof(mjtNum) * 2 * nv * 2 * nv);
-  mjtNum* BFDc = (mjtNum*)mju_malloc(sizeof(mjtNum) * 2 * nv * nu);
-  mjd_transitionFD(model, data, eps, /*centered=*/1, AFDc, BFDc, nullptr,
-                   nullptr);
-
-  // expect central derivatives to be equal to forward differences
-  CompareMatrices(AFD, AFDc, 2 * nv, 2 * nv, eps);
-  CompareMatrices(BFD, BFDc, 2 * nv, nu, eps);
-
-  mju_free(BFDc);
-  mju_free(AFDc);
-  mju_free(BFD);
-  mju_free(AFD);
-  mju_free(B);
-  mju_free(A);
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// check ctrl derivatives at the range limit
-TEST_F(DerivativeTest, ClampedCtrlDerivatives) {
-  const std::string xml_path = GetTestDataFilePath(kLinearPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-  int nv = model->nv, nu = model->nu;
-
-  // set ctrl, integrate for 20 steps
-  data->ctrl[0] = .1;
-  data->ctrl[1] = -.1;
-  for (int i = 0; i < 20; i++) {
-    mj_step(model, data);
-  }
-
-  // analytic B
-  mjtNum* B = (mjtNum*)mju_malloc(sizeof(mjtNum) * 2 * nv * nu);
-
-  LinearSystem(model, data, nullptr, B);
-
-  // forward differenced A and B
-  mjtNum eps = MjTol(1e-6, 1e-3);
-  mjtNum* BFD = (mjtNum*)mju_malloc(sizeof(mjtNum) * 2 * nv * nu);
-
-  // set ctrl to the limits, request forward differences
-  data->ctrl[0] = 1;
-  data->ctrl[1] = -1;
-  mjd_transitionFD(model, data, eps, /*centered=*/0, nullptr, BFD, nullptr,
-                   nullptr);
-  // expect FD and analytic derivatives to be similar to eps precision
-  CompareMatrices(B, BFD, 2 * nv, nu, eps);
-
-  // ctrl remains at limits, request central differences
-  mjd_transitionFD(model, data, eps, /*centered=*/1, nullptr, BFD, nullptr,
-                   nullptr);
-  // expect FD and analytic derivatives to be similar to eps precision
-  CompareMatrices(B, BFD, 2 * nv, nu, eps);
-
-  // set ctrl beyond limits, request forward differences
-  data->ctrl[0] = 2;
-  data->ctrl[1] = -2;
-  mjd_transitionFD(model, data, eps, /*centered=*/0, nullptr, BFD, nullptr,
-                   nullptr);
-  // expect derivatives to be 0
-  EXPECT_THAT(AsVector(BFD, 2 * nv * nu), Each(Eq(0.0)));
-
-  // expect ctrl to remain unchanged (despite internal clamping)
-  EXPECT_EQ(data->ctrl[0], 2.0);
-  EXPECT_EQ(data->ctrl[1], -2.0);
-
-  // ctrl remains beyond limits, request centered differences
-  mjd_transitionFD(model, data, eps, /*centered=*/1, nullptr, BFD, nullptr,
-                   nullptr);
-  // expect derivatives to be 0
-  EXPECT_THAT(AsVector(BFD, 2 * nv * nu), Each(Eq(0.0)));
-
-  mju_free(BFD);
-  mju_free(B);
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// compare FD sensor derivatives to analytic derivatives
-TEST_F(DerivativeTest, SensorDerivatives) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint" type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <general name="actuator" joint="joint" gainprm="3"/>
-    </actuator>
-
-    <sensor>
-      <jointpos joint="joint"/>
-      <jointvel joint="joint"/>
-      <actuatorfrc actuator="actuator"/>
-    </sensor>
-  </mujoco>
-  )";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  int nv = model->nv, nu = model->nu, ns = model->nsensordata;
-  MjDataPtr data = MakeData(model);
-
-  // finite differenced C and D
-  mjtNum eps = 1e-6;
-  mjtNum* CFD = (mjtNum*)mju_malloc(sizeof(mjtNum) * ns * 2 * nv);
-  mjtNum* DFD = (mjtNum*)mju_malloc(sizeof(mjtNum) * ns * nu);
-  mjd_transitionFD(model.get(), data.get(), eps, /*centered=*/0, nullptr,
-                   nullptr, CFD, DFD);
-
-  // expected analytic C and D
-  mjtNum C[6] = {1, 0, 0, 1, 0, 0};
-
-  mjtNum D[3] = {
-      0,
-      0,
-      3,
-  };
-
-  // compare expected and actual values
-  CompareMatrices(CFD, C, ns, 2 * nv, eps);
-  CompareMatrices(DFD, D, ns, nu, eps);
-
-  mju_free(DFD);
-  mju_free(CFD);
-}
-
-// if sensor derivatives aren't requested, don't compute sensors
-TEST_F(DerivativeTest, SensorSkip) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint" type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <general name="actuator" joint="joint" gainprm="3"/>
-    </actuator>
-
-    <sensor>
-      <jointpos joint="joint"/>
-    </sensor>
-  </mujoco>
-  )";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  int nv = model->nv, nu = model->nu;
-  MjDataPtr data = MakeData(model);
-
-  // set a sentinel value in the sensor
-  data->sensordata[0] = 1337;
-
-  // finite differenced B
-  mjtNum eps = 1e-6;
-  mjtNum* BFD = (mjtNum*)mju_malloc(sizeof(mjtNum) * 2 * nv * nu);
-  mjd_transitionFD(model.get(), data.get(), eps, /*centered=*/0, nullptr, BFD,
-                   nullptr, nullptr);
-
-  EXPECT_EQ(data->sensordata[0], 1337) << "sensors should not be recomputed";
-
-  mju_free(BFD);
-}
-
-// derivatives don't mutate the state
-TEST_F(DerivativeTest, NoStateMutation) {
-  const std::string xml_path = GetTestDataFilePath(kModelPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  ASSERT_THAT(model, NotNull());
-  mjData* data0 = mj_makeData(model);
-  mjData* data = mj_makeData(model);
-  int nv = model->nv, nu = model->nu, na = model->na, ns = model->nsensordata;
-
-  // set time
-  data->time = data0->time = 0.5;
-
-  for (int i = 0; i < nv; i++) {
-    data->qpos[i] = data0->qpos[i] = (mjtNum)i + 1;
-    data->qvel[i] = data0->qvel[i] = (mjtNum)i + 2;
-  }
-
-  // set ctrl
-  for (int i = 0; i < nu; i++) {
-    data->ctrl[i] = data0->ctrl[i] = (mjtNum)i + 1;
-  }
-
-  // set act
-  for (int i = 0; i < na; i++) {
-    data->act[i] = data0->act[i] = (mjtNum)i + 1;
-  }
-
-  // allocate Jacobians, call derivatives
-  int ndx = nv + nv + na;
-  mjtNum* A = (mjtNum*)mju_malloc(sizeof(mjtNum) * ndx * ndx);
-  mjtNum* B = (mjtNum*)mju_malloc(sizeof(mjtNum) * ndx * nu);
-  mjtNum* C = (mjtNum*)mju_malloc(sizeof(mjtNum) * ns * ndx);
-  mjtNum* D = (mjtNum*)mju_malloc(sizeof(mjtNum) * ns * nu);
-  mjtNum eps = 1e-6;
-  mjd_transitionFD(model, data, eps, /*centered=*/0, A, B, C, D);
-
-  // compare states in data and data0
-  EXPECT_EQ(data->time, data0->time);
-  EXPECT_EQ(AsVector(data->qpos, model->nq), AsVector(data0->qpos, model->nq));
-  EXPECT_EQ(AsVector(data->qvel, nv), AsVector(data0->qvel, nv));
-  EXPECT_EQ(AsVector(data->act, na), AsVector(data0->act, na));
-  EXPECT_EQ(AsVector(data->ctrl, nu), AsVector(data0->ctrl, nu));
-
-  mju_free(D);
-  mju_free(C);
-  mju_free(B);
-  mju_free(A);
-  mj_deleteData(data0);
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// compare dense and sparse derivatives of qfrc_bias (RNE)
-TEST_F(DerivativeTest, DenseSparseRneEquivalent) {
-  // run test on all models
-  for (const char* local_path :
-       {kEnergyConservingPendulumPath, kTumblingThinObjectPath,
-        kDampedActuatorsPath, kDamperActuatorsPath, kDCMotorPath}) {
-    const std::string xml_path = GetTestDataFilePath(local_path);
-    char error[1024] = "";
-    mjModel* model =
-        mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-    ASSERT_THAT(model, testing::NotNull()) << "Failed to load model: " << error;
-    int nD = model->nD;
-    mjtNum* qDeriv = (mjtNum*)mju_malloc(sizeof(mjtNum) * nD);
-    mjData* data = mj_makeData(model);
-
-    // take 100 steps so we have some velocities, then call forward
-    mj_resetData(model, data);
-    if (model->nu) {
-      data->ctrl[0] = 0.1;
-    }
-    for (int i = 0; i < 100; i++) {
-      mj_step(model, data);
-    }
-    mj_forward(model, data);
-
-    // compute qDeriv with sparse function, make local copy
-    mjd_smooth_vel(model, data, /*flg_bias=*/1);
-    mju_copy(qDeriv, data->qDeriv, nD);
-
-    // re-compute with dense function
-    mju_zero(data->qDeriv, model->nD);
-    mjd_actuator_vel(model, data);
-    mjd_passive_vel(model, data);
-    mjd_rne_vel_dense(model, data);
-
-    // expect dense and sparse derivatives to be similar to precision
-    EXPECT_THAT(AsVector(data->qDeriv, nD),
-                Pointwise(MjNear(1e-12, 5e-5), AsVector(qDeriv, nD)));
-
-    mju_free(qDeriv);
-    mj_deleteData(data);
-    mj_deleteModel(model);
-  }
-}
-
-// compare FD inverse derivatives to analytic derivatives of linear system
-TEST_F(DerivativeTest, LinearSystemInverse) {
-  const std::string xml_path = GetTestDataFilePath(kLinearPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  int nv = model->nv;
-  int ns = model->nsensordata;
-  int nC = model->nC;
-
-  vector<mjtNum> DfDq(nv * nv);
-  vector<mjtNum> DfDv(nv * nv);
-  vector<mjtNum> DfDa(nv * nv);
-  vector<mjtNum> DsDq(nv * ns);
-  vector<mjtNum> DsDv(nv * ns);
-  vector<mjtNum> DsDa(nv * ns);
-  vector<mjtNum> DmDq(nv * nC);
-
-  // call mj_forward to get accelerations at initial state
-  mj_forward(model, data);
-
-  // get derivatives
-  mjtNum eps = 1e-6;
-  mjtByte flg_actuation = 0;
-  mjd_inverseFD(model, data, eps, flg_actuation, DfDq.data(), DfDv.data(),
-                DfDa.data(), DsDq.data(), DsDv.data(), DsDa.data(),
-                DmDq.data());
-
-  // expect that position derivatives are the stiffnesses
-  vector<mjtNum> DfDq_expect = {model->jnt_stiffness[0], 0, 0, 0,
-                                model->jnt_stiffness[1], 0, 0, 0,
-                                model->jnt_stiffness[2]};
-  EXPECT_THAT(DfDq, Pointwise(DoubleNear(eps), DfDq_expect));
-
-  // expect that velocity derivatives are the dampings
-  vector<mjtNum> DfDv_expect = {model->dof_damping[0], 0, 0, 0,
-                                model->dof_damping[1], 0, 0, 0,
-                                model->dof_damping[2]};
-  EXPECT_THAT(DfDv, Pointwise(DoubleNear(eps), DfDv_expect));
-
-  // expect that acceleration derivatives are the mass matrix
-  vector<mjtNum> DfDa_expect(nv * nv, 0);
-  mj_fullM(model, data, DfDa_expect.data());
-  EXPECT_THAT(DfDa, Pointwise(DoubleNear(eps), DfDa_expect));
-
-  // expect that sensor derivatives w.r.t position only see sensor 1 at dof 0
-  vector<mjtNum> DsDq_expect(nv * ns, 0);
-  int dof_index = 0;
-  int sensordata_index = model->sensor_adr[1];
-  DsDq_expect[dof_index * ns + sensordata_index] = 1;
-  EXPECT_THAT(DsDq, Pointwise(DoubleNear(eps), DsDq_expect));
-
-  // expect that sensor derivatives w.r.t velocity only see sensor 0 at dof 1
-  vector<mjtNum> DsDv_expect(nv * ns, 0);
-  dof_index = 1;
-  sensordata_index = model->sensor_adr[0];
-  DsDv_expect[dof_index * ns + sensordata_index] = 1;
-  EXPECT_THAT(DsDv, Pointwise(DoubleNear(eps), DsDv_expect));
-
-  // expect that sensor derivatives w.r.t acceleration see the accelerometer
-  // in the y-axis, affected by both dof 0 and dof 1
-  vector<mjtNum> DsDa_expect(nv * ns, 0);
-  dof_index = 0;
-  sensordata_index = model->sensor_adr[2] + 1;
-  DsDa_expect[dof_index * ns + sensordata_index] = 1;
-  dof_index = 1;
-  DsDa_expect[dof_index * ns + sensordata_index] = 1;
-  EXPECT_THAT(DsDa, Pointwise(DoubleNear(eps), DsDa_expect));
-
-  // expect that mass matrix derivatives are zero
-  vector<mjtNum> DmDq_expect(nv * nC, 0);
-  EXPECT_THAT(DmDq, Pointwise(DoubleNear(eps), DmDq_expect));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// utility: generate two random quaternions with a given angle difference
-void randomQuatPair(mjtNum qa[4], mjtNum qb[4], mjtNum angle, int seed) {
-  // make distribution using seed
-  std::mt19937_64 rng;
-  rng.seed(seed);
-  std::normal_distribution<double> dist(0, 1);
-
-  // sample qa = qb
-  for (int i = 0; i < 4; i++) {
-    qa[i] = qb[i] = dist(rng);
-  }
-  mju_normalize4(qa);
-  mju_normalize4(qb);
-
-  // integrate qb in random direction by angle
-  mjtNum dir[3];
-  for (int i = 0; i < 3; i++) {
-    dir[i] = dist(rng);
-  }
-  mju_normalize3(dir);
-  mju_quatIntegrate(qb, dir, angle);
-}
-
-// utility: finite-difference Jacobians of mju_subQuat
-static void subQuatFD(mjtNum Da[9], mjtNum Db[9], const mjtNum qa[4],
-                      const mjtNum qb[4], mjtNum eps) {
-  // subQuat
-  mjtNum y[3];
-  mju_subQuat(y, qa, qb);
-
-  mjtNum dq[3];   // nudge input direction
-  mjtNum dqa[4];  // nudged qa input
-  mjtNum dqb[4];  // nudged qb input
-  mjtNum dy[3];   // nudged output
-  mjtNum DaT[9];  // Da transposed
-  mjtNum DbT[9];  // Db transposed
-
-  for (int i = 0; i < 3; i++) {
-    // perturbation
-    mju_zero3(dq);
-    dq[i] = 1.0;
-
-    // Jacobian: d_y / d_qa
-    mju_copy4(dqa, qa);
-    mju_quatIntegrate(dqa, dq, eps);
-    mju_subQuat(dy, dqa, qb);
-
-    mju_sub3(DaT + i * 3, dy, y);
-    mju_scl3(DaT + i * 3, DaT + i * 3, 1.0 / eps);
-
-    // Jacobian: d_y / d_qb
-    mju_copy4(dqb, qb);
-    mju_quatIntegrate(dqb, dq, eps);
-    mju_subQuat(dy, qa, dqb);
-
-    mju_sub3(DbT + i * 3, dy, y);
-    mju_scl3(DbT + i * 3, DbT + i * 3, 1.0 / eps);
-  }
-
-  // transpose result
-  mju_transpose(Da, DaT, 3, 3);
-  mju_transpose(Db, DbT, 3, 3);
-}
-
-TEST_F(DerivativeTest, SubQuat) {
-  const int nrepeats = 10;  // number of repeats
-  const mjtNum eps =
-      MjTol(1e-7, 1e-3);  // epsilon for finite-differencing and comparison
-
-  int seed = 1;
-  for (int i = 0; i < nrepeats; i++) {
-    for (mjtNum angle : {0.0, 1e-9, 1e-5, 1e-2, 1.0, 4.0}) {
-      // random quaternions
-      mjtNum qa[4];
-      mjtNum qb[4];
-
-      // make random quaternion pair with given relative angle
-      randomQuatPair(qa, qb, angle, seed++);
-
-      // analytic Jacobians
-      mjtNum Da[9];  // d_subQuat(qa, qb) / d_qa
-      mjtNum Db[9];  // d_subQuat(qa, qb) / d_qb
-      mjd_subQuat(qa, qb, Da, Db);
-
-      // finite-differenced Jacobians
-      mjtNum DaFD[9];
-      mjtNum DbFD[9];
-      subQuatFD(DaFD, DbFD, qa, qb, eps);
-
-      // expect numerical equality
-      EXPECT_THAT(AsVector(DaFD, 9),
-                  Pointwise(MjNear(1e-7, 1e-3), AsVector(Da, 9)));
-      EXPECT_THAT(AsVector(DbFD, 9),
-                  Pointwise(MjNear(1e-7, 1e-3), AsVector(Db, 9)));
-    }
-  }
-}
-
-// utility: random quaternion, 3D velocity
-static void randomQuatVel(mjtNum quat[4], mjtNum vel[3], int seed) {
-  // make distribution using seed
-  std::mt19937_64 rng;
-  rng.seed(seed);
-  std::normal_distribution<double> dist(0, 1);
-
-  // sample quat
-  for (int i = 0; i < 4; i++) {
-    quat[i] = dist(rng);
-  }
-  mju_normalize4(quat);
-
-  // sample vel
-  for (int i = 0; i < 3; i++) {
-    vel[i] = dist(rng);
-  }
-}
-
-// utility: finite-difference Jacobians of mju_quatIntegrate
-void mjd_quatIntegrateFD(mjtNum Dquat[9], mjtNum Ds[9], mjtNum Dvel[9],
-                         mjtNum Dh[3], const mjtNum quat[4],
-                         const mjtNum vel[3], mjtNum h, mjtNum eps) {
-  // compute y, output of mju_quatIntegrate(quat, vel, h)
-  mjtNum y[4] = {quat[0], quat[1], quat[2], quat[3]};
-  mju_quatIntegrate(y, vel, h);
-
-  mjtNum dx[3];      // nudged tangent-space input
-  mjtNum dq[4];      // quat output
-  mjtNum dy[3];      // nudged tangent-space output
-  mjtNum DquatT[9];  // Dquat transposed
-  mjtNum DsT[9];     // Ds transposed
-  mjtNum DvelT[9];   // Dvel transposed
-
-  for (int i = 0; i < 3; i++) {
-    // perturbation
-    mju_zero3(dx);
-    dx[i] = 1.0;
-
-    // d_y / d_quat
-    mju_copy4(dq, quat);
-    mju_quatIntegrate(dq, dx, eps);  // nudge dq
-    mju_quatIntegrate(dq, vel, h);   // compute nudged
-    mju_subQuat(dy, dq, y);          // subtract
-    mju_scl3(DquatT + i * 3, dy, 1.0 / eps);
-
-    // d_y / d_sv (scaled velocity)
-    mju_copy4(dq, quat);
-    mjtNum dsv[3] = {vel[0] * h, vel[1] * h, vel[2] * h};
-    mju_addToScl3(dsv, dx, eps);      // nudge dsv
-    mju_quatIntegrate(dq, dsv, 1.0);  // compute nudged
-    mju_subQuat(dy, dq, y);           // subtract
-    mju_scl3(DsT + i * 3, dy, 1.0 / eps);
-
-    // d_y / d_v (unscaled velocity)
-    mju_copy4(dq, quat);
-    mjtNum dv[3] = {vel[0], vel[1], vel[2]};
-    mju_addToScl3(dv, dx, eps);    // nudge dv
-    mju_quatIntegrate(dq, dv, h);  // compute nudged
-    mju_subQuat(dy, dq, y);        // subtract
-    mju_scl3(DvelT + i * 3, dy, 1.0 / eps);
-  }
-
-  // d_y / d_h (unscaled velocity)
-  mju_copy4(dq, quat);
-  mju_quatIntegrate(dq, vel, h + eps);  // compute nudged
-  mju_subQuat(dy, dq, y);               // subtract
-  mju_scl3(Dh, dy, 1.0 / eps);
-
-  // transpose
-  mju_transpose(Dquat, DquatT, 3, 3);
-  mju_transpose(Ds, DsT, 3, 3);
-  mju_transpose(Dvel, DsT, 3, 3);
-}
-
-TEST_F(DerivativeTest, quatIntegrate) {
-  const int nrepeats = 10;  // number of repeats
-  const mjtNum eps =
-      MjTol(1e-7, 1e-3);  // epsilon for finite-differencing and comparison
-
-  int seed = 1;
-  for (int i = 0; i < nrepeats; i++) {
-    for (mjtNum h : {0.0, 1e-9, 1e-5, 1e-2, 1.0, 4.0}) {
-      // make random quaternion and velocity
-      mjtNum quat[4];
-      mjtNum vel[3];
-      randomQuatVel(quat, vel, seed++);
-
-      // analytic Jacobians
-      mjtNum Dquat[9];  // d_quatIntegrate(quat, vel, h) / d_quat
-      mjtNum Dvel[9];   // d_quatIntegrate(quat, vel, h) / d_vel
-      mjtNum Dh[3];     // d_quatIntegrate(quat, vel, h) / d_h
-      mjd_quatIntegrate(vel, h, Dquat, Dvel, Dh);
-
-      // finite-differenced Jacobians
-      mjtNum DquatFD[9];
-      mjtNum DsFD[9];
-      mjtNum DvelFD[9];
-      mjtNum DhFD[3];
-      mjd_quatIntegrateFD(DquatFD, DsFD, DvelFD, DhFD, quat, vel, h, eps);
-
-      // expect numerical equality of un/scaled velocity derivatives
-      EXPECT_THAT(AsVector(DvelFD, 9), Pointwise(MjNear(1e-7, 1e-2), DsFD));
-
-      // expect numerical equality of analytic and FD derivatives
-      EXPECT_THAT(AsVector(DquatFD, 9), Pointwise(MjNear(1e-7, 1e-2), Dquat));
-      EXPECT_THAT(AsVector(DvelFD, 9), Pointwise(MjNear(1e-7, 1e-2), Dvel));
-      EXPECT_THAT(AsVector(DhFD, 3), Pointwise(MjNear(1e-7, 1e-2), Dh));
-    }
-  }
-}
-
-// implicit integration is better than Euler with active forcerange clamping
-TEST_F(DerivativeTest, ForcerangeClampedDerivative) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01" integrator="implicitfast"/>
-
-    <worldbody>
-      <geom name="plane" type="plane" size="2 2 0.1"/>
-      <light pos="0 0 3"/>
-      <body name="1" pos="0 0 1">
-        <joint name="1" type="slide" axis="1 0 0"/>
-        <geom type="sphere" size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <position joint="1" kp="10000" kv="1000" forcerange="-10 10"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  mjtNum dt_small = 1e-4;
-  mjtNum dt_large = 1e-2;
-  mjtNum duration = 1.0;
-
-  MjDataPtr d_gt = MakeData(m);
-  MjDataPtr d_implicit = MakeData(m);
-  MjDataPtr d_euler = MakeData(m);
-
-  mj_resetData(m.get(), d_gt.get());
-  mj_resetData(m.get(), d_implicit.get());
-  mj_resetData(m.get(), d_euler.get());
-
-  d_gt.get()->ctrl[0] = 0.5;
-  d_implicit->ctrl[0] = 0.5;
-  d_euler->ctrl[0] = 0.5;
-
-  mjtNum error_implicit = 0;
-  mjtNum error_euler = 0;
-  int nsteps_large = static_cast<int>(duration / dt_large);
-  int substeps = static_cast<int>(dt_large / dt_small);
-
-  m->opt.timestep = dt_large;
-
-  m->opt.integrator = mjINT_IMPLICITFAST;
-  mj_resetData(m.get(), d_gt.get());
-  d_gt.get()->ctrl[0] = 0.5;
-  m->opt.timestep = dt_small;
-  m->opt.integrator = mjINT_EULER;
-
-  for (int i = 0; i < nsteps_large; i++) {
-    // ground truth: small steps with Euler
-    m->opt.integrator = mjINT_EULER;
-    m->opt.timestep = dt_small;
-    for (int j = 0; j < substeps; j++) {
-      mj_step(m.get(), d_gt.get());
-    }
-
-    // euler at large timestep
-    m->opt.timestep = dt_large;
-    mj_step(m.get(), d_euler.get());
-
-    // implicitfast at large timestep
-    m->opt.integrator = mjINT_IMPLICITFAST;
-    mj_step(m.get(), d_implicit.get());
-
-    // accumulate errors
-    mjtNum diff_implicit = d_gt.get()->qpos[0] - d_implicit->qpos[0];
-    mjtNum diff_euler = d_gt.get()->qpos[0] - d_euler->qpos[0];
-    error_implicit += diff_implicit * diff_implicit;
-    error_euler += diff_euler * diff_euler;
-  }
-
-  // expect implicitfast to be more accurate than Euler
-  EXPECT_LT(error_implicit, error_euler)
-      << "implicitfast should be more accurate than Euler at large timestep "
-      << "when forcerange derivatives are correctly handled";
-}
-
-// forcelimited actuator following a multi-output SO3 actuator: the derivative
-// skip for saturated actuators must index forcerange per actuator, not per
-// output.
-TEST_F(DerivativeTest, ForcerangeClampedAfterSO3) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option>
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom type="box" size=".05 .07 .03"/>
-      </body>
-      <body pos="0 0 .3">
-        <joint name="hinge"/>
-        <geom size=".05"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <orientation joint="ball" kp="1" kv="1"/>
-      <velocity joint="hinge" kv="10" forcerange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mjModel* m = model.get();
-  mjData* d = data.get();
-
-  // spin the hinge so the velocity actuator saturates: force -50, clamped -1
-  mjtNum qvel[4] = {0.1, 0.2, 0.3, 5};
-  mju_copy(d->qvel, qvel, 4);
-  mj_forward(m, d);
-  ASSERT_EQ(d->actuator_force[3], -1);
-
-  // analytic qDeriv
-  mju_zero(d->qDeriv, m->nD);
-  mjd_smooth_vel(m, d, /*flg_bias=*/1);
-  vector<mjtNum> qDerivAnalytic = AsVector(d->qDeriv, m->nD);
-  EXPECT_GT(mju_norm(qDerivAnalytic.data(), m->nD), 0);
-
-  // expect match with finite differences: the saturated actuator contributes
-  // nothing, the SO3 actuator's damping is unaffected by its neighbor
-  mjtNum eps = MjTol(1e-7, 1e-3);
-  mju_zero(d->qDeriv, m->nD);
-  mjd_smooth_velFD(m, d, eps);
-  EXPECT_THAT(AsVector(d->qDeriv, m->nD),
-              Pointwise(MjNear(1e-7, 3e-3), qDerivAnalytic));
-}
-
-TEST_F(DerivativeTest, NonlinearDampingDerivative) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" damping="2 3 4"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <keyframe>
-      <key qvel="3"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  mjtNum dt_small = 1e-4;
-  mjtNum dt_large = 1e-2;
-  mjtNum duration = 1.0;
-
-  MjDataPtr d_gt = MakeData(m);
-  MjDataPtr d_enabled = MakeData(m);
-  MjDataPtr d_disabled = MakeData(m);
-
-  mj_resetDataKeyframe(m.get(), d_gt.get(), 0);
-  mj_resetDataKeyframe(m.get(), d_enabled.get(), 0);
-  mj_resetDataKeyframe(m.get(), d_disabled.get(), 0);
-
-  m->opt.integrator = mjINT_EULER;
-  mjtNum error_enabled = 0;
-  mjtNum error_disabled = 0;
-  int nsteps_large = static_cast<int>(duration / dt_large);
-  int substeps = static_cast<int>(dt_large / dt_small);
-
-  for (int i = 0; i < nsteps_large; i++) {
-    m->opt.timestep = dt_small;
-    m->opt.disableflags |= mjDSBL_EULERDAMP;  // disable implicit damping
-    for (int j = 0; j < substeps; j++) {
-      mj_step(m.get(), d_gt.get());
-    }
-
-    m->opt.timestep = dt_large;
-    mj_step(m.get(), d_disabled.get());
-
-    m->opt.disableflags &= ~mjDSBL_EULERDAMP;  // enable implicit damping
-    mj_step(m.get(), d_enabled.get());
-
-    mjtNum diff_enabled = d_gt.get()->qvel[0] - d_enabled.get()->qvel[0];
-    mjtNum diff_disabled = d_gt.get()->qvel[0] - d_disabled.get()->qvel[0];
-    error_enabled += diff_enabled * diff_enabled;
-    error_disabled += diff_disabled * diff_disabled;
-  }
-
-  EXPECT_LT(error_enabled, error_disabled)
-      << "Euler with implicit damping should be more accurate than without "
-      << "when nonlinear damping derivatives are correctly handled";
-}
-
-// implicit derivatives should use next activation when actearly is set
-TEST_F(DerivativeTest, ActearlyDerivative) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="1" integrator="implicitfast"/>
-
-    <worldbody>
-      <body>
-        <joint name="early" type="slide"/>
-        <geom type="sphere" size="0.1" mass="1"/>
-      </body>
-      <body pos="1 0 0">
-        <joint name="late" type="slide"/>
-        <geom type="sphere" size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <general joint="early" dyntype="integrator" gaintype="affine"
-               gainprm="1 0 1" actearly="true"/>
-      <general joint="late" dyntype="integrator" gaintype="affine"
-               gainprm="1 0 1" actearly="false"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // set identical ctrl with zero initial activation
-  d->ctrl[0] = 1.0;
-  d->ctrl[1] = 1.0;
-  d->act[0] = 0.0;
-  d->act[1] = 0.0;
-
-  // step computes derivatives during implicit integration
-  mj_step(m.get(), d.get());
-
-  // both should have same act_dot
-  EXPECT_EQ(d->act_dot[0], d->act_dot[1]);
-
-  // with actearly=true and nonzero act_dot, derivative should differ
-  // because actearly uses next activation: act + act_dot*dt
-  // for our model: next_act = 0 + 1*1 = 1, current_act = 0
-  // derivative adds gain_vel * act to qDeriv diagonal
-  // for independent bodies, D is diagonal, so diag[i] is at D_rowadr[i]
-  int diag0 = m->D_rowadr[0];  // first joint's diagonal
-  int diag1 = m->D_rowadr[1];  // second joint's diagonal
-  EXPECT_NE(d->qDeriv[diag0], d->qDeriv[diag1])
-      << "actearly=true should use next activation in derivative";
-
-  // verify specific values: gain_vel=1, next_act=1, current_act=0
-  EXPECT_NEAR(d->qDeriv[diag0], 1.0, 1e-10)
-      << "actearly=true should use next_act=1";
-  EXPECT_NEAR(d->qDeriv[diag1], 0.0, 1e-10)
-      << "actearly=false should use current_act=0";
-}
-
-// verify stateful DC motor derivative matches analytical formula
-TEST_F(DerivativeTest, DCMotorStatefulDerivative) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.002"/>
-    <worldbody>
-      <body>
-        <joint name="j" type="slide"/>
-        <geom type="sphere" size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor name="dc" joint="j" motorconst="2.0" resistance="0.5"
-               inductance="0 0.001" input="pos vel" controller="10 0 5"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // set nonzero velocity and ctrl
-  d->qvel[0] = 1.0;
-  d->ctrl[0] = 0.5;
-
-  // forward to compute act_dot, etc.
-  mj_forward(m.get(), d.get());
-
-  // compute analytical derivatives
-  mjd_smooth_vel(m.get(), d.get(), /* flg_bias = */ 1);
-
-  // extract diagonal of qDeriv
-  mjtNum qDeriv_diag = d->qDeriv[m->D_rowadr[0] + m->D_rownnz[0] - 1];
-
-  // expected: K*(dVdw - K)*(1 - exp(-h/te))/R with the torque-space map
-  // dVdw = -kd*R/K + K, so the expression reduces to -kd*(1 - exp(-h/te))
-  mjtNum te = 0.001, h = 0.002, kd = 5.0;
-  mjtNum expected = -kd * (1 - mju_exp(-h / te));
-  EXPECT_NEAR(qDeriv_diag, expected, 1e-10)
-      << "stateful DC motor derivative should match analytical formula";
-}
-
-// verify that stateful DC motor derivative converges to stateless as te -> 0
-TEST_F(DerivativeTest, DCMotorStatefulConvergesToStateless) {
-  // stateless DC motor with position controller
-  static constexpr char xml_stateless[] = R"(
-  <mujoco>
-    <option timestep="0.002"/>
-    <worldbody>
-      <body>
-        <joint name="j" type="slide"/>
-        <geom type="sphere" size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor name="dc" joint="j" motorconst="1.0" resistance="1.0"
-               input="pos vel" controller="10 0 5"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  // stateful DC motor with very small te
-  static constexpr char xml_stateful[] = R"(
-  <mujoco>
-    <option timestep="0.002"/>
-    <worldbody>
-      <body>
-        <joint name="j" type="slide"/>
-        <geom type="sphere" size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor name="dc" joint="j" motorconst="1.0" resistance="1.0"
-               inductance="0 1e-8" input="pos vel" controller="10 0 5"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m_sl = LoadModelFromString(xml_stateless, error, sizeof(error));
-  ASSERT_THAT(m_sl.get(), NotNull()) << error;
-  MjDataPtr d_sl = MakeData(m_sl);
-
-  MjModelPtr m_sf = LoadModelFromString(xml_stateful, error, sizeof(error));
-  ASSERT_THAT(m_sf.get(), NotNull()) << error;
-  MjDataPtr d_sf = MakeData(m_sf);
-
-  // set identical state
-  d_sl.get()->qvel[0] = d_sf.get()->qvel[0] = 1.0;
-  d_sl.get()->ctrl[0] = d_sf.get()->ctrl[0] = 0.5;
-
-  // forward and compute derivatives
-  mj_forward(m_sl.get(), d_sl.get());
-  mj_forward(m_sf.get(), d_sf.get());
-  mjd_smooth_vel(m_sl.get(), d_sl.get(), 1);
-  mjd_smooth_vel(m_sf.get(), d_sf.get(), 1);
-
-  // extract diagonals
-  mjtNum diag_sl =
-      d_sl.get()->qDeriv[m_sl->D_rowadr[0] + m_sl->D_rownnz[0] - 1];
-  mjtNum diag_sf =
-      d_sf.get()->qDeriv[m_sf->D_rowadr[0] + m_sf->D_rownnz[0] - 1];
-
-  EXPECT_NEAR(diag_sf, diag_sl, 1e-6)
-      << "stateful derivative should converge to stateless as te -> 0";
-}
-
-// Utility: Rotate flex grid
-void RotateFlexGrid(mjModel* model, mjData* data, const char* flex_name,
-                    double angle) {
-  int flex_id = mj_name2id(model, mjOBJ_FLEX, flex_name);
-  ASSERT_NE(flex_id, -1);
-  int node_adr = model->flex_nodeadr[flex_id];
-  int* node_bodies = model->flex_nodebodyid + node_adr;
-  int nodenum = model->flex_nodenum[flex_id];
-
-  // Make deterministic quaternion for rotation inside helper
-  mjtNum quat[4] = {1, 0, 0, 0};
-  if (angle != 0) {
-    mjtNum vel[3] = {1, 1, 1};
-    mju_normalize3(vel);
-    mju_quatIntegrate(quat, vel, angle);
-  }
-
-  // reset first to get initial positions
-  mj_resetData(model, data);
-  mj_forward(model, data);  // Compute initial xpos
-
-  // Update qpos
-  for (int i = 0; i < nodenum; i++) {
-    int bodyid = node_bodies[i];
-
-    // Only process nodes with valid bodies (FlexInterpDamping assumes this)
-    if (bodyid >= 0) {
-      mjtNum xpos0[3];
-      mju_copy3(xpos0, data->xpos + 3 * bodyid);  // Initial absolute position
-
-      mjtNum xpos_new[3];
-      mju_rotVecQuat(xpos_new, xpos0, quat);  // Rotate absolute position
-
-      mjtNum delta[3];
-      mju_sub3(delta, xpos_new, xpos0);
-
-      // Find the qpos address for this node/body
-      int jnt = model->body_jntadr[bodyid];
-      if (jnt >= 0) {
-        int qadr = model->jnt_qposadr[jnt];
-        mju_addTo3(data->qpos + qadr, delta);
-      }
-    }
-  }
-}
-
-// Helper: assemble flex stiffness into dense matrix via matrix-vector products.
-// Builds K column-by-column using mjd_flexInterp_mul.
-// Result is -(h^2 + h*damping) * J'KJ (negative sign matches the old addH
-// convention where stiffness is subtracted from the system matrix).
-static void mulKD_dense(mjModel* m, mjData* d, mjtNum* H_dense, int nv,
-                        mjtNum h) {
-  std::vector<mjtNum> e_i(nv, 0);
-  std::vector<mjtNum> col(nv, 0);
-  for (int i = 0; i < nv; i++) {
-    mju_zero(e_i.data(), nv);
-    mju_zero(col.data(), nv);
-    e_i[i] = 1.0;
-    mjd_flexInterp_mul(m, d, col.data(), e_i.data(), h * h, h, NULL);
-    // col = +(h^2 + h*damp)*K*e_i, negate to match addH convention (H -= K)
-    for (int j = 0; j < nv; j++) {
-      H_dense[j * nv + i] = -col[j];
-    }
-  }
-}
-
-// compare analytic and fin-diff d_qfrc_passive/d_qvel for flex interp
-// Combined test for verify mjd_flexInterp_mulK (stiffness) and damping
-TEST_F(DerivativeTest, FlexInterpDerivatives) {
-  static const char* const kXml = R"(
-  <mujoco>
-    <option integrator="implicit"/>
-    <worldbody>
-      <flexcomp name="flex" type="grid" count="3 3 3" spacing="0.1 0.2 0.3"
-                radius=".01" dim="3" mass="1" dof="trilinear">
-        <contact selfcollide="none"/>
-        <elasticity young="1e4" poisson="0.3" damping="50"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nD = model->nD;
-  int nv = model->nv;
-  ASSERT_EQ(model->nq, 24);  // 8 corners * 3 dofs
-
-  MjDataPtr data = MakeData(model);
-
-  // iterate over rotations
-  for (mjtNum angle : {0.0, 0.5, 1.0, mjPI / 2, mjPI, 2.0 * mjPI}) {
-    RotateFlexGrid(model.get(), data.get(), "flex", angle);
-    mj_forward(model.get(), data.get());
-
-    // part 1: stiffness verification
-    {
-      std::vector<mjtNum> vec(nv);
-      std::vector<mjtNum> res(nv);
-      mju_zero(vec.data(), nv);
-      // use deterministic random perturbation to verify full stiffness matrix
-      // behavior
-      for (int i = 0; i < nv; i++) {
-        vec[i] = mju_Halton(i, 2) - 0.5;
-      }
-
-      // use mulKD to compute K * vec
-      // mulKD adds (h^2*K + h*D)*vec to res
-      // if we set h=1, damping=0, we get K*vec
-      mjtNum save_damping = model->flex_damping[0];
-      model->flex_damping[0] = 0;
-
-      std::vector<mjtNum> H(nv * nv, 0);
-
-      // assemble K into H column-by-column
-      mulKD_dense(model.get(), data.get(), H.data(), nv, 1.0);
-
-      // restore damping
-      model->flex_damping[0] = save_damping;
-
-      // compute res = K * vec
-      mju_mulMatVec(res.data(), H.data(), vec.data(), nv, nv);
-
-      // finite difference of mj_passive for stiffness
-      mjtNum eps = MjTol(1e-6, 1e-3);
-      mjData* data_perturbed = mj_copyData(NULL, model.get(), data.get());
-
-      // apply perturbation
-      mju_addToScl(data_perturbed->qpos, vec.data(), eps, nv);
-
-      // recompute geometry/passive
-      mj_forward(model.get(), data_perturbed);
-
-      // compute FD estimate of K * vec
-      // qfrc_passive = -dV/dq => d(qfrc)/dq = -K
-      // (qfrc_new - qfrc)/eps ~= -K * vec
-      std::vector<mjtNum> fd_res(nv);
-      for (int i = 0; i < nv; ++i) {
-        fd_res[i] =
-            -(data_perturbed->qfrc_passive[i] - data->qfrc_passive[i]) / eps;
-      }
-
-      // compare analytical result (H*vec) with FD result
-      for (int i = 0; i < nv; ++i) {
-        EXPECT_THAT(res[i], MjNear(fd_res[i], 5e-3, 5.0))
-            << "Stiffness Mismatch at DOF " << i;
-      }
-
-      mj_deleteData(data_perturbed);
-
-      // check symmetry: K[i,j] == K[j,i]
-      std::vector<mjtNum>& K_full = H;
-      mjtNum max_asymmetry = 0;
-      for (int i = 0; i < nv; i++) {
-        for (int j = 0; j < i; j++) {
-          mjtNum diff = mju_abs(K_full[i * nv + j] - K_full[j * nv + i]);
-          max_asymmetry = mju_max(max_asymmetry, diff);
-        }
-      }
-      EXPECT_THAT(max_asymmetry, MjNear(0, 1e-10, 5e-4))
-          << "K matrix is not symmetric at angle " << angle;
-
-      // check positive semi-definiteness: v^T * K * v >= 0
-      for (int trial = 0; trial < 5; trial++) {
-        std::vector<mjtNum> v(nv);
-        for (int i = 0; i < nv; i++) {
-          v[i] = mju_Halton(i + trial * nv, 3) - 0.5;
-        }
-        mjtNum vKv = 0;
-        for (int i = 0; i < nv; i++) {
-          for (int j = 0; j < nv; j++) {
-            vKv += v[i] * K_full[i * nv + j] * v[j];
-          }
-        }
-        EXPECT_GE(vKv, MjTol(-1e-8, -1e-5))
-            << "K matrix is not PSD at angle " << angle;
-      }
-    }
-
-    // part 2: damping verification
-    {
-      // set velocity non-zero to test damping
-      data->qvel[0] = 1.0;
-
-      mj_forward(model.get(), data.get());
-
-      // get analytic derivatives (without Flex Damping currently)
-      std::vector<mjtNum> qDerivAnalytic(nD);
-      mju_zero(data->qDeriv, nD);
-      mjd_passive_vel(model.get(), data.get());
-      mju_copy(qDerivAnalytic.data(), data->qDeriv, nD);
-
-      // finite-difference derivatives
-      std::vector<mjtNum> qDerivFD(nD);
-      mju_zero(data->qDeriv, nD);
-      mjtNum eps = MjTol(1e-6, 1e-3);
-
-      mjd_passive_velFD(model.get(), data.get(), eps);
-      mju_copy(qDerivFD.data(), data->qDeriv, nD);
-
-      // check that we have non-zero damping (FD should find it)
-      EXPECT_GT(mju_norm(qDerivFD.data(), nD), 1e-3);
-
-      // compute expected flex damping using mulKD_dense
-      // D = 4*H(0.5) - H(1)
-      vector<mjtNum> H1(nv * nv, 0);
-      mulKD_dense(model.get(), data.get(), H1.data(), nv, 1.0);
-
-      vector<mjtNum> H2(nv * nv, 0);
-      mulKD_dense(model.get(), data.get(), H2.data(), nv, 0.5);
-
-      vector<mjtNum> D(nv * nv);
-      for (int i = 0; i < nv * nv; i++) {
-        D[i] = 4.0 * H2[i] - H1[i];
-      }
-
-      // subtract D from qDerivAnalytic using sparse indexing
-      // d(force)/d(vel) = -D
-      for (int i = 0; i < nv; i++) {
-        int rownnz = model->D_rownnz[i];
-        int rowadr = model->D_rowadr[i];
-        for (int k = 0; k < rownnz; k++) {
-          int index = rowadr + k;
-          int j = model->D_colind[index];
-          qDerivAnalytic[index] -= D[i * nv + j];
-        }
-      }
-
-      // expect FD and corrected analytic derivatives to match
-      EXPECT_THAT(qDerivAnalytic, Pointwise(MjNear(1e-4, 1e4), qDerivFD))
-          << "Damping Mismatch at angle: " << angle;
-    }
-  }
-}
-
-// Test Jacobian under deformation to highlight approximation error
-TEST_F(DerivativeTest, FlexInterpDerivativesDeformed) {
-  static const char* const kXml = R"(
-  <mujoco>
-    <option integrator="implicit"/>
-    <worldbody>
-      <flexcomp name="flex" type="grid" count="3 3 3" spacing="0.1 0.2 0.3"
-                radius=".01" dim="3" mass="1" dof="trilinear">
-        <contact selfcollide="none"/>
-        <elasticity young="1e4" poisson="0.3" damping="0"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-
-  MjDataPtr data = MakeData(model);
-
-  // Apply rotation
-  RotateFlexGrid(model.get(), data.get(), "flex", 1.0);  // 1 radian rotation
-
-  // Apply deformation (stretch along X)
-  // qpos is initialized by RotateFlexGrid.
-  // Add a random perturbation to qpos that represents deformation.
-  // We use a deterministic sequence to ensure reproducibility.
-  std::vector<mjtNum> deformation(nv);
-  for (int i = 0; i < nv; i++) {
-    // Large deformation to make sure terms are significant
-    deformation[i] = (mju_Halton(i, 3) - 0.5) * 0.2;
-  }
-  mju_addTo(data->qpos, deformation.data(), nv);
-
-  mj_forward(model.get(), data.get());
-
-  // 1. Compute Analytic Jacobian (Approximate)
-  // We use mulKD_dense to get K_approx
-  std::vector<mjtNum> H_approx(nv * nv, 0);
-
-  // h=1, damping=0 => gives K
-  mulKD_dense(model.get(), data.get(), H_approx.data(), nv, 1.0);
-
-  // 2. Compute Finite Difference Jacobian (Ground Truth)
-  // qfrc_passive = -dV/dq
-  // d(qfrc)/dq = -K_true
-  std::vector<mjtNum> K_true(nv * nv, 0);
-  mjtNum eps = 1e-6;
-
-  for (int i = 0; i < nv; i++) {
-    mjData* data_p = mj_copyData(NULL, model.get(), data.get());
-    data_p->qpos[i] += eps;
-    mj_forward(model.get(), data_p);
-
-    for (int j = 0; j < nv; j++) {
-      // d(force_j)/d(q_i)
-      mjtNum df = data_p->qfrc_passive[j] - data->qfrc_passive[j];
-      // K_true[j, i] = -df/eps
-      K_true[j * nv + i] = -df / eps;
-    }
-    mj_deleteData(data_p);
-  }
-
-  // 3. Compare and check for significant mismatch
-  mjtNum max_error = 0;
-  for (int i = 0; i < nv * nv; i++) {
-    max_error = mju_max(max_error, mju_abs(H_approx[i] - K_true[i]));
-  }
-
-  // We expect significant error because of deformation + rotation.
-  // The missing term (geometric stiffness) is proportional to stress.
-  // We assert that the error is relatively large to confirm the approximation
-  // exists.
-  EXPECT_GT(max_error, 1e-3)
-      << "Jacobian approximation should differ from FD when deformed";
-}
-
-// Helper: assemble the standard-flex stretch stiffness into a dense matrix,
-// column-by-column using mjd_flexStretch_mul with scale (s1 + s2*damping).
-static void stretchK_dense(mjModel* m, mjData* d, mjtNum* K, int nv,
-                           mjtNum s1, mjtNum s2) {
-  std::vector<mjtNum> e_i(nv, 0);
-  std::vector<mjtNum> col(nv, 0);
-  for (int i = 0; i < nv; i++) {
-    mju_zero(e_i.data(), nv);
-    mju_zero(col.data(), nv);
-    e_i[i] = 1.0;
-    mjd_flexStretch_mul(m, d, col.data(), e_i.data(), s1, s2);
-    for (int j = 0; j < nv; j++) {
-      K[j * nv + i] = col[j];
-    }
-  }
-}
-
-// The same frame mismatch seen through the derivative: mjd_flexBend_mul is the
-// Jacobian of the bending force only if operator and force agree on the frame.
-// An unrotated flex cannot catch it, because the stencil is one scalar per
-// vertex pair applied coordinate-wise and so commutes with a rotation shared by
-// every vertex. The pin also covers the zero-dof vertex path, where body_dofadr
-// is negative and an unguarded stencil indexes out of bounds.
-TEST_F(DerivativeTest, FlexBendDerivativesRotated) {
-  static const char* const kXml = R"(
-  <mujoco>
-    <option integrator="implicitfast" solver="CG"/>
-    <worldbody>
-      <body name="turned" euler="90 35 20">
-        <flexcomp name="rot" type="grid" count="3 3 1" spacing="0.1 0.1 0.1"
-                  radius=".01" dim="2" mass="1">
-          <pin id="0"/>
-          <contact selfcollide="none" contype="0" conaffinity="0"/>
-          <elasticity young="1e4" poisson="0.3" thickness="0.01"
-                      elastic2d="bend" damping="0"/>
-        </flexcomp>
-      </body>
-      <flexcomp name="flat" type="grid" count="3 3 1" spacing="0.1 0.1 0.1"
-                radius=".01" dim="2" mass="1" pos="1 0 0">
-        <pin id="0"/>
-          <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e4" poisson="0.3" thickness="0.01"
-                    elastic2d="bend" damping="0"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-  ASSERT_EQ(model->nq, nv);  // all slide dofs
-  ASSERT_EQ(model->nflex, 2);
-  MjDataPtr data = MakeData(model);
-
-  // deform both flexes out of plane so the bending stencil carries real force
-  for (int i = 0; i < nv; i++) {
-    data->qpos[i] += 2e-3 * (mju_Halton(i, 2) - 0.5);
-  }
-  mj_forward(model.get(), data.get());
-
-  std::vector<mjtNum> vec(nv), res(nv, 0);
-  for (int i = 0; i < nv; i++) {
-    vec[i] = mju_Halton(i, 3) - 0.5;
-  }
-  mjd_flexBend_mul(model.get(), data.get(), res.data(), vec.data(), 1, 0);
-
-  mjtNum eps = MjTol(1e-7, 1e-4);
-  mjData* perturbed = mj_copyData(NULL, model.get(), data.get());
-  mju_addToScl(perturbed->qpos, vec.data(), eps, nv);
-  mj_forward(model.get(), perturbed);
-
-  // check each flex on its own: the unrotated one is the control that isolates
-  // the rotation
-  for (int f = 0; f < model->nflex; f++) {
-    SCOPED_TRACE(model->names + model->name_flexadr[f]);
-    mjtNum max_err = 0, scale = 0;
-    for (int k = 0; k < model->flex_vertnum[f]; k++) {
-      int body = model->flex_vertbodyid[model->flex_vertadr[f] + k];
-      int adr = model->body_dofadr[body];
-      for (int x = 0; x < model->body_dofnum[body]; x++) {
-        mjtNum fd = -(perturbed->qfrc_passive[adr+x] -
-                      data->qfrc_passive[adr+x]) / eps;
-        max_err = mju_max(max_err, mju_abs(res[adr+x] - fd));
-        scale = mju_max(scale, mju_abs(fd));
-      }
-    }
-    // bending is linear in position, so the difference is exact up to roundoff
-    EXPECT_GT(scale, 1e-3)
-        << "test should exercise nontrivial bending stiffness";
-    EXPECT_LT(max_err, MjTol(1e-4, 1e-2) * scale)
-        << "mjd_flexBend_mul is not the Jacobian of the flex bending force";
-  }
-  mj_deleteData(perturbed);
-}
-
-// K_stretch must be the full Hessian of the stretch force, not just its Gauss-Newton part: the
-// geometric (stress-proportional) term is what makes it the Jacobian at finite strain. Uniformly
-// dilating the mesh puts every edge in tension, so the tensile clamp is inactive and the operator
-// is exact -- with only the Gauss-Newton term the finite-difference error is a large fraction of
-// the force. FlexStretchDerivatives covers the near-rest limit, where the two agree anyway.
-TEST_F(DerivativeTest, FlexStretchDerivativesTensile) {
-  static const char* const kXml = R"(
-  <mujoco>
-    <option integrator="implicit"/>
-    <worldbody>
-      <flexcomp name="cloth" type="grid" count="4 4 1" spacing="0.1 0.1 0.1"
-                radius=".01" dim="2" mass="1" pos="0 0 1">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e4" poisson="0.3" thickness="0.01"
-                    elastic2d="stretch" damping="0"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-  ASSERT_EQ(model->nq, nv);  // all slide dofs
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  // dilate about the flex centroid: every edge stretches by 5%, so every Me is strictly positive
-  mjtNum centroid[3] = {0, 0, 0};
-  int nvert = model->flex_vertnum[0];
-  for (int v = 0; v < nvert; v++) {
-    mju_addTo3(centroid, data->flexvert_xpos + 3*v);
-  }
-  mju_scl3(centroid, centroid, 1.0/nvert);
-  for (int v = 0; v < nvert; v++) {
-    int body = model->flex_vertbodyid[model->flex_vertadr[0] + v];
-    int adr = model->body_dofadr[body];
-    for (int x = 0; x < 3; x++) {
-      data->qpos[adr+x] += 0.05*(data->flexvert_xpos[3*v+x] - centroid[x]);
-    }
-  }
-  mj_forward(model.get(), data.get());
-
-  std::vector<mjtNum> vec(nv), res(nv, 0);
-  for (int i = 0; i < nv; i++) {
-    vec[i] = mju_Halton(i, 2) - 0.5;
-  }
-  mjd_flexStretch_mul(model.get(), data.get(), res.data(), vec.data(), 1, 0);
-
-  mjtNum eps = MjTol(1e-7, 1e-4);
-  mjData* perturbed = mj_copyData(NULL, model.get(), data.get());
-  mju_addToScl(perturbed->qpos, vec.data(), eps, nv);
-  mj_forward(model.get(), perturbed);
-
-  mjtNum max_err = 0, scale = 0;
-  for (int i = 0; i < nv; ++i) {
-    mjtNum fd = -(perturbed->qfrc_passive[i] - data->qfrc_passive[i]) / eps;
-    max_err = mju_max(max_err, mju_abs(res[i] - fd));
-    scale = mju_max(scale, mju_abs(fd));
-  }
-  mj_deleteData(perturbed);
-
-  EXPECT_GT(scale, 1e-3) << "test should exercise nontrivial stretch stiffness";
-  EXPECT_LT(max_err, MjTol(1e-4, 1e-3) * scale)
-      << "mjd_flexStretch_mul is not the Jacobian of the flex stretch force";
-}
-
-// verify mjd_flexStretch_mul (Gauss-Newton Hessian of the standard-flex
-// stretch force) against finite differences of qfrc_passive, plus symmetry,
-// positive semi-definiteness and (s1, s2) scale linearity. The model covers
-// both element edge tables (dim=2 triangles and dim=3 tets) and a pinned
-// vertex (zero-dof body guard).
-TEST_F(DerivativeTest, FlexStretchDerivatives) {
-  static const char* const kXml = R"(
-  <mujoco>
-    <option integrator="implicit"/>
-    <worldbody>
-      <flexcomp name="cloth" type="grid" count="4 4 1" spacing="0.1 0.1 0.1"
-                radius=".01" dim="2" mass="1" pos="0 0 1">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e4" poisson="0.3" thickness="0.01"
-                    elastic2d="stretch" damping="50"/>
-        <pin id="0"/>
-      </flexcomp>
-      <flexcomp name="solid" type="grid" count="3 3 3" spacing="0.1 0.1 0.1"
-                radius=".01" dim="3" mass="1" pos="1 0 1">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e4" poisson="0.3" damping="10"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-  ASSERT_EQ(model->nq, nv);  // all slide dofs
-
-  MjDataPtr data = MakeData(model);
-
-  // deform both flexes deterministically, at small strain. FlexStretchDerivativesTensile
-  // covers finite strain, where the geometric term of K_stretch is what carries the accuracy;
-  // the solid (dim=3) flex below has no such term, so the tolerance stays loose here.
-  for (int i = 0; i < nv; i++) {
-    data->qpos[i] += 5e-4 * (mju_Halton(i, 2) - 0.5);
-  }
-  mj_forward(model.get(), data.get());
-
-  // part 1: FD verification of K*vec against qfrc_passive (qvel = 0, so the
-  // kD elongation term vanishes and qfrc_passive is the pure stretch spring)
-  {
-    std::vector<mjtNum> vec(nv), res(nv, 0);
-    for (int i = 0; i < nv; i++) {
-      vec[i] = mju_Halton(i, 2) - 0.5;
-    }
-    mjd_flexStretch_mul(model.get(), data.get(), res.data(), vec.data(), 1, 0);
-
-    mjtNum eps = MjTol(1e-7, 1e-4);
-    mjData* data_perturbed = mj_copyData(NULL, model.get(), data.get());
-    mju_addToScl(data_perturbed->qpos, vec.data(), eps, nv);
-    mj_forward(model.get(), data_perturbed);
-
-    // qfrc_passive = -dV/dq  =>  -(qfrc_new - qfrc)/eps ~= K * vec.
-    // Compare max error against the force scale rather than entrywise: individual near-zero
-    // entries are not meaningful, and the dim=3 flex still carries a Gauss-Newton residual.
-    mjtNum max_err = 0, scale = 0;
-    for (int i = 0; i < nv; ++i) {
-      mjtNum fd =
-          -(data_perturbed->qfrc_passive[i] - data->qfrc_passive[i]) / eps;
-      max_err = mju_max(max_err, mju_abs(res[i] - fd));
-      scale = mju_max(scale, mju_abs(fd));
-    }
-    EXPECT_GT(scale, 1.0) << "test should exercise nontrivial stiffness";
-    EXPECT_LT(max_err, MjTol(5e-3, 5e-2) * scale)
-        << "stretch stiffness mismatch: max_err " << max_err
-        << " at force scale " << scale;
-    mj_deleteData(data_perturbed);
-  }
-
-  // part 2: symmetry and positive semi-definiteness of the assembled K
-  {
-    std::vector<mjtNum> K(nv * nv, 0);
-    stretchK_dense(model.get(), data.get(), K.data(), nv, 1, 0);
-
-    mjtNum max_asymmetry = 0;
-    for (int i = 0; i < nv; i++) {
-      for (int j = 0; j < i; j++) {
-        max_asymmetry =
-            mju_max(max_asymmetry, mju_abs(K[i * nv + j] - K[j * nv + i]));
-      }
-    }
-    EXPECT_THAT(max_asymmetry, MjNear(0, 1e-10, 5e-4))
-        << "K_stretch is not symmetric";
-
-    for (int trial = 0; trial < 5; trial++) {
-      std::vector<mjtNum> v(nv);
-      for (int i = 0; i < nv; i++) {
-        v[i] = mju_Halton(i + trial * nv, 3) - 0.5;
-      }
-      mjtNum vKv = 0;
-      for (int i = 0; i < nv; i++) {
-        for (int j = 0; j < nv; j++) {
-          vKv += v[i] * K[i * nv + j] * v[j];
-        }
-      }
-      EXPECT_GE(vKv, MjTol(-1e-8, -1e-5)) << "K_stretch is not PSD";
-    }
-  }
-
-  // part 3: (s1, s2) scale linearity across flexes with different damping:
-  // mul(s1, s2) == s1*mul(1, 0) + s2*mul(0, 1)
-  {
-    std::vector<mjtNum> vec(nv), a(nv, 0), b(nv, 0), c(nv, 0);
-    for (int i = 0; i < nv; i++) {
-      vec[i] = mju_Halton(i, 5) - 0.5;
-    }
-    mjtNum h = 1e-3;
-    mjd_flexStretch_mul(model.get(), data.get(), a.data(), vec.data(),
-                        h * h, h);
-    mjd_flexStretch_mul(model.get(), data.get(), b.data(), vec.data(), 1, 0);
-    mjd_flexStretch_mul(model.get(), data.get(), c.data(), vec.data(), 0, 1);
-    for (int i = 0; i < nv; i++) {
-      EXPECT_THAT(a[i], MjNear(h * h * b[i] + h * c[i], 1e-12, 1e-5))
-          << "scale linearity mismatch at DOF " << i;
-    }
-  }
-}
-
-// verify mjd_flexStiff_assemble against the matrix-free operators: the
-// assembled CSR applied to test vectors must reproduce mjd_flexBend_mul +
-// mjd_flexStretch_mul at the same state
-TEST_F(DerivativeTest, FlexStiffAssemble) {
-  static const char* const kXml = R"(
-  <mujoco>
-    <option integrator="implicit"/>
-    <worldbody>
-      <flexcomp name="cloth" type="grid" count="4 4 1" spacing="0.1 0.1 0.1"
-                radius=".01" dim="2" mass="1" pos="0 0 1">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e4" poisson="0.3" thickness="0.01"
-                    elastic2d="both" damping="7"/>
-      </flexcomp>
-      <flexcomp name="solid" type="grid" count="3 3 3" spacing="0.1 0.1 0.1"
-                radius=".01" dim="3" mass="1" pos="1 0 1">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e4" poisson="0.3" damping="10"/>
-        <pin id="0"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-  MjDataPtr data = MakeData(model);
-
-  // deform deterministically
-  for (int i = 0; i < nv; i++) {
-    data->qpos[i] += 2e-3 * (mju_Halton(i, 2) - 0.5);
-  }
-  mj_forward(model.get(), data.get());
-
-  // assemble both terms with a mixed (s1, s2) scale
-  mjtNum s1 = 4e-6, s2 = 2e-3;
-  std::vector<int> rownnz(nv), rowadr(nv);
-  int nnz = mjd_flexStiff_assemble(model.get(), data.get(), rownnz.data(),
-                                   rowadr.data(), NULL, NULL, s1, s2,
-                                   /*flg_bend=*/1, /*flg_stretch=*/1, /*flg_contact=*/0, NULL);
-  ASSERT_GT(nnz, 0);
-  std::vector<int> colind(nnz);
-  std::vector<mjtNum> val(nnz);
-  mjd_flexStiff_assemble(model.get(), data.get(), rownnz.data(), rowadr.data(),
-                         colind.data(), val.data(), s1, s2, /*flg_bend=*/1,
-                         /*flg_stretch=*/1, /*flg_contact=*/0, NULL);
-
-  // compare CSR apply vs operators on test vectors
-  for (int trial = 0; trial < 3; trial++) {
-    std::vector<mjtNum> vec(nv), res_op(nv, 0), res_csr(nv, 0);
-    for (int i = 0; i < nv; i++) {
-      vec[i] = mju_Halton(i + trial*nv, 3) - 0.5;
-    }
-    mjd_flexBend_mul(model.get(), data.get(), res_op.data(), vec.data(), s1,
-                     s2);
-    mjd_flexStretch_mul(model.get(), data.get(), res_op.data(), vec.data(), s1,
-                        s2);
-    for (int i = 0; i < nv; i++) {
-      mjtNum sum = 0;
-      for (int k = 0; k < rownnz[i]; k++) {
-        sum += val[rowadr[i] + k]*vec[colind[rowadr[i] + k]];
-      }
-      res_csr[i] = sum;
-    }
-    for (int i = 0; i < nv; i++) {
-      EXPECT_THAT(res_csr[i], MjNear(res_op[i], 1e-12, 2e-5))
-          << "assembly/operator mismatch at DOF " << i << " trial " << trial;
-    }
-  }
-}
-
-// verify the interp assembly mode: with the K_rot cache supplied, the assembled CSR applied
-// to test vectors must reproduce mjd_flexInterp_mul, whose sign convention is negated
-TEST_F(DerivativeTest, FlexStiffAssembleInterp) {
-  static const char* const kXml = R"(
-  <mujoco>
-    <option integrator="implicit"/>
-    <worldbody>
-      <flexcomp name="soft" type="grid" count="4 4 4" spacing="0.1 0.1 0.1"
-                radius=".01" dim="3" mass="1" pos="0 0 1" dof="trilinear">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e4" poisson="0.3" damping="2"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  int nv = model->nv;
-  MjDataPtr data = MakeData(model);
-  ASSERT_EQ(mjd_flexInterpAssemblable(model.get()), 1);
-
-  // deform deterministically, refresh kinematics, cache the corotated stiffness
-  for (int i = 0; i < nv; i++) {
-    data->qpos[i] += 2e-3 * (mju_Halton(i, 2) - 0.5);
-  }
-  mj_forward(model.get(), data.get());
-  std::vector<mjtNum> krot(model->nflexstiffness, 0);
-  mjd_flexInterp_cacheKrot(model.get(), data.get(), krot.data());
-
-  // assemble interp only
-  mjtNum s1 = 4e-6, s2 = 2e-3;
-  std::vector<int> rownnz(nv), rowadr(nv);
-  int nnz = mjd_flexStiff_assemble(model.get(), data.get(), rownnz.data(), rowadr.data(),
-                                   NULL, NULL, s1, s2, /*flg_bend=*/0, /*flg_stretch=*/0, /*flg_contact=*/0,
-                                   krot.data());
-  ASSERT_GT(nnz, 0);
-  std::vector<int> colind(nnz);
-  std::vector<mjtNum> val(nnz);
-  mjd_flexStiff_assemble(model.get(), data.get(), rownnz.data(), rowadr.data(),
-                         colind.data(), val.data(), s1, s2, /*flg_bend=*/0, /*flg_stretch=*/0, /*flg_contact=*/0,
-                         krot.data());
-
-  // compare CSR apply vs the operator called with negated scales (its convention)
-  for (int trial = 0; trial < 3; trial++) {
-    std::vector<mjtNum> vec(nv), res_op(nv, 0), res_csr(nv, 0);
-    for (int i = 0; i < nv; i++) {
-      vec[i] = mju_Halton(i + trial*nv, 3) - 0.5;
-    }
-    mjd_flexInterp_mul(model.get(), data.get(), res_op.data(), vec.data(), -s1, -s2,
-                       krot.data());
-    for (int i = 0; i < nv; i++) {
-      mjtNum sum = 0;
-      for (int k = 0; k < rownnz[i]; k++) {
-        sum += val[rowadr[i] + k]*vec[colind[rowadr[i] + k]];
-      }
-      res_csr[i] = sum;
-    }
-    for (int i = 0; i < nv; i++) {
-      EXPECT_THAT(res_csr[i], MjNear(res_op[i], 1e-12, 2e-5))
-          << "interp assembly/operator mismatch at DOF " << i << " trial " << trial;
-    }
-  }
-}
-
-// mjd_effSolve drives (M+K)x = b to opt.tolerance on the relative residual,
-// for every metric coverage case. It is a PCG whose preconditioner
-// (mjd_effPrec) is only approximate, so the accuracy comes from the iteration
-// and not from the preconditioner being exact.
-TEST_F(DerivativeTest, EffSolve) {
-  // relative residual of (M+K)x - b after mjd_effSolve
-  auto solve_residual = [](const mjModel* m, mjData* d) {
-    int nv = m->nv;
-    std::vector<mjtNum> b(nv), x(nv), r(nv);
-    for (int i = 0; i < nv; i++) {
-      b[i] = mju_Halton(i, 3) - 0.5;
-    }
-    mjd_effSolve(m, d, x.data(), b.data());
-    mju_mulSymVecSparse(r.data(), d->M, x.data(), nv, m->M_rownnz, m->M_rowadr, m->M_colind);
-    mjd_effMulAdd(m, d, r.data(), x.data());
-    mju_subFrom(r.data(), b.data(), nv);
-    return mju_norm(r.data(), nv) / mju_norm(b.data(), nv);
-  };
-
-  // stretch + bending cloth on world: per-step factor, exact
-  static const char* const kXmlBoth = R"(
-  <mujoco>
-    <option solver="CG" integrator="implicitfast"/>
-    <worldbody>
-      <flexcomp name="cloth" type="grid" count="6 6 1" spacing="0.05 0.05 0.05"
-                radius=".005" dim="2" mass="0.5" pos="0 0 1" dof="full">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e3" poisson="0.2" damping="0.1" elastic2d="both" thickness="0.01"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXmlBoth, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-  ASSERT_GE(data->efm_active, 1);
-  EXPECT_GT(data->nefmK, 0);
-  EXPECT_GT(data->nefmdof, 0);
-  EXPECT_LT(solve_residual(model.get(), data.get()), MjTol(1e-8, 1e-4));
-
-  // bending-only cloth: no CSR or per-step factor, constant factor covers, exact
-  static const char* const kXmlBend = R"(
-  <mujoco>
-    <option solver="CG" integrator="implicitfast"/>
-    <worldbody>
-      <flexcomp name="cloth" type="grid" count="6 6 1" spacing="0.05 0.05 0.05"
-                radius=".005" dim="2" mass="0.5" pos="0 0 1" dof="full">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e3" poisson="0.2" damping="0.1" elastic2d="bend" thickness="0.01"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  model = LoadModelFromString(kXmlBend, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  data = MakeData(model);
-  mj_forward(model.get(), data.get());
-  ASSERT_GE(data->efm_active, 1);
-  EXPECT_EQ(data->nefmK, 0);
-  EXPECT_EQ(data->nefmdof, 0);
-  EXPECT_GT(model->nefm0dof, 0);
-  EXPECT_LT(solve_residual(model.get(), data.get()), MjTol(1e-8, 1e-4));
-
-  // cloth under a jointed parent: M couples across the covered block, not exact,
-  // the refinement path must still meet its tolerance
-  static const char* const kXmlMoving = R"(
-  <mujoco>
-    <option solver="CG" integrator="implicitfast"/>
-    <worldbody>
-      <body name="base" pos="0 0 1">
-        <joint type="slide" axis="0 0 1"/>
-        <geom type="sphere" size=".01" mass="1" contype="0" conaffinity="0"/>
-        <flexcomp name="cloth" type="grid" count="6 6 1" spacing="0.05 0.05 0.05"
-                  radius=".005" dim="2" mass="0.5" pos="0 0 0" dof="full">
-          <contact selfcollide="none" contype="0" conaffinity="0"/>
-          <elasticity young="1e3" poisson="0.2" damping="0.1" elastic2d="both" thickness="0.01"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  model = LoadModelFromString(kXmlMoving, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  data = MakeData(model);
-  mj_forward(model.get(), data.get());
-  ASSERT_GE(data->efm_active, 1);
-  EXPECT_LT(solve_residual(model.get(), data.get()), 1e-4);
-}
-
-// A cloth with per-step stretch stiffness, used by the two tests below.
-static const char* const kStretchCloth = R"(
-<mujoco>
-  <option solver="CG" integrator="implicitfast"/>
-  <worldbody>
-    <body name="base" pos="0 0 1">
-      <joint type="slide" axis="0 0 1"/>
-      <geom type="sphere" size=".01" mass="1" contype="0" conaffinity="0"/>
-      <flexcomp name="cloth" type="grid" count="6 6 1" spacing="0.05 0.05 0.05"
-                radius=".005" dim="2" mass="0.5" pos="0 0 0" dof="full">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e3" poisson="0.2" damping="0.1" elastic2d="both"
-                    thickness="0.01"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-// A metric too ill-conditioned for the 3x3 blocks exhausts mjd_effSolve's
-// iteration budget; it must report that rather than return an under-converged
-// qacc_smooth silently. Forced by conditioning rather than by an unreachable
-// opt.tolerance, which cannot be expressed in single precision: there the
-// residual reaches exactly zero and CG breaks down on a converged solve.
-TEST_F(DerivativeTest, EffSolveCapWarns) {
-  static const char* const kStiffCloth = R"(
-  <mujoco>
-    <option solver="CG" integrator="implicitfast"/>
-    <worldbody>
-      <body name="base" pos="0 0 1">
-        <joint type="slide" axis="0 0 1"/>
-        <geom type="sphere" size=".01" mass="1" contype="0" conaffinity="0"/>
-        <flexcomp name="cloth" type="grid" count="24 24 1" dim="2"
-                  spacing="0.02 0.02 0.02" radius=".002" mass="0.02" dof="full">
-          <contact selfcollide="none" contype="0" conaffinity="0"/>
-          <elasticity young="1e9" poisson="0.45" damping="0" elastic2d="both"
-                      thickness="0.02"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kStiffCloth, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  MockWarningHandler warning_handler;
-  // both: the specific cause, then the mjWARN_INERTIA it is reported through
-  warning_handler.ExpectWarnings("Flex stiffness is too ill-conditioned");
-  warning_handler.ExpectWarnings("Inertia matrix is too close to singular");
-  mj_forward(model.get(), data.get());
-  testing::Mock::VerifyAndClearExpectations(&warning_handler);
-}
-
-// PCG requires a symmetric preconditioner. mjd_effPrec must satisfy
-// u.P(v) == v.P(u); it did not when the covered and uncovered dofs shared a
-// kinematic tree, which is what the flex-under-a-slider model here exercises.
-TEST_F(DerivativeTest, EffPrecIsSymmetric) {
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kStretchCloth, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-  ASSERT_GE(data->efm_active, 1);
-
-  int nv = model->nv;
-  std::vector<mjtNum> u(nv), v(nv), Pu(nv), Pv(nv);
-  for (int trial = 0; trial < 5; trial++) {
-    for (int i = 0; i < nv; i++) {
-      u[i] = mju_Halton(i + trial*nv, 2) - 0.5;
-      v[i] = mju_Halton(i + trial*nv, 5) - 0.5;
-    }
-    mjd_effPrec(model.get(), data.get(), Pu.data(), u.data());
-    mjd_effPrec(model.get(), data.get(), Pv.data(), v.data());
-    mjtNum a = mju_dot(v.data(), Pu.data(), nv);
-    mjtNum b = mju_dot(u.data(), Pv.data(), nv);
-    EXPECT_THAT(a, MjNear(b, 1e-10, 1e-4))
-        << "preconditioner is not symmetric, trial " << trial;
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_forward_test.cc b/test/engine/engine_forward_test.cc
deleted file mode 100644
index f4893b43..00000000
--- a/test/engine/engine_forward_test.cc
+++ /dev/null
@@ -1,4019 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_forward.c.
-
-#include "src/engine/engine_forward.h"
-
-#include <array>
-#include <cmath>
-#include <cstdlib>
-#include <limits>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_callback.h"
-#include "src/engine/engine_core_util.h"
-#include "src/engine/engine_derivative.h"
-#include "src/engine/engine_io.h"
-#include "test/fixture.h"
-
-#ifdef MEMORY_SANITIZER
-#include <sanitizer/msan_interface.h>
-#endif
-
-namespace mujoco {
-namespace {
-
-static const char* const kEnergyConservingPendulumPath =
-    "engine/testdata/derivative/energy_conserving_pendulum.xml";
-
-// helper for precision-aware checks in macros (e.g. MJDATA_POINTERS)
-template <typename T>
-void ExpectNear(T a, T b) {
-  EXPECT_EQ(a, b);
-}
-
-template <>
-void ExpectNear<mjtNum>(mjtNum a, mjtNum b) {
-  EXPECT_EQ(a, b);
-}
-
-static const char* const kDampedActuatorsPath =
-    "engine/testdata/derivative/damped_actuators.xml";
-static const char* const kJointForceClamp =
-    "engine/testdata/actuation/joint_force_clamp.xml";
-static const char* const kTendonForceClamp =
-    "engine/testdata/actuation/tendon_force_clamp.xml";
-
-using ::testing::Pointwise;
-
-using ::testing::_;
-using ::testing::Gt;
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::Ne;
-using ::testing::NotNull;
-
-// --------------------------- activation limits -------------------------------
-
-struct ActLimitedTestCase {
-  std::string test_name;
-  mjtIntegrator integrator;
-};
-
-class ParametrizedForwardTest
-    : public MujocoTest,
-      public ::testing::WithParamInterface<ActLimitedTestCase> {};
-
-TEST_P(ParametrizedForwardTest, ActLimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide" axis="1 0 0"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="slide" gainprm="100" biasprm="0 -100" biastype="affine"
-      dynprm="10" dyntype="integrator"
-      actlimited="true" actrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  model->opt.integrator = GetParam().integrator;
-
-  data->ctrl[0] = 1.0;
-  // integrating up from 0, we will hit the clamp after 99 steps
-  for (int i = 0; i < 200; i++) {
-    mj_step(model.get(), data.get());
-    // always greater than lower bound
-    EXPECT_GT(data->act[0], -1);
-    // after 99 steps we hit the upper bound
-    if (i < 99) EXPECT_LT(data->act[0], 1);
-    if (i >= 99) EXPECT_NEAR(data->act[0], 1, MjTol(0, 5e-6));
-  }
-
-  data->ctrl[0] = -1.0;
-  // integrating down from 1, we will hit the clamp after 199 steps
-  for (int i = 0; i < 300; i++) {
-    mj_step(model.get(), data.get());
-    // always smaller than upper bound
-    EXPECT_LT(data->act[0], model->actuator_actrange[1]);
-    // after 199 steps we hit the lower bound
-    if (i < 199) EXPECT_GT(data->act[0], model->actuator_actrange[0]);
-    if (i >= 199) {
-      EXPECT_NEAR(data->act[0], model->actuator_actrange[0], MjTol(0.0, 5e-6));
-    }
-  }
-}
-
-INSTANTIATE_TEST_SUITE_P(
-    ParametrizedForwardTest, ParametrizedForwardTest,
-    testing::ValuesIn<ActLimitedTestCase>({
-        {"Euler", mjINT_EULER},
-        {"Implicit", mjINT_IMPLICIT},
-        {"RK4", mjINT_RK4},
-    }),
-    [](const testing::TestParamInfo<ParametrizedForwardTest::ParamType>& info) {
-      return info.param.test_name;
-    });
-
-// --------------------------- damping actuator --------------------------------
-
-using ForwardTest = MujocoTest;
-
-TEST_F(ForwardTest, DamperDampens) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt"/>
-      <damper joint="jnt" kv="1000" ctrlrange="0 100"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // move the joint
-  data->ctrl[0] = 100.0;
-  data->ctrl[1] = 0.0;
-  for (int i = 0; i < 100; i++) mj_step(model.get(), data.get());
-
-  // stop the joint with damping
-  data->ctrl[0] = 0.0;
-  data->ctrl[1] = 100.0;
-  for (int i = 0; i < 1000; i++) mj_step(model.get(), data.get());
-
-  EXPECT_LE(data->qvel[0], std::numeric_limits<double>::epsilon());
-}
-
-static const char* const kArmatureEquivalencePath =
-    "engine/testdata/armature_equivalence.xml";
-
-// test that adding joint armature is equivalent to a coupled rotating mass with
-// a gear ratio enforced by an equality
-TEST_F(ForwardTest, ArmatureEquivalence) {
-  const std::string xml_path = GetTestDataFilePath(kArmatureEquivalencePath);
-  char error[1000];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  mjData* data = mj_makeData(model);
-
-  // with actuators
-  mjtNum qpos_mse = 0;
-  int nstep = 0;
-  while (data->time < 4) {
-    data->ctrl[0] = data->ctrl[1] = mju_sin(2 * data->time);
-    mj_step(model, data);
-    nstep++;
-    mjtNum err = data->qpos[0] - data->qpos[2];
-    qpos_mse += err * err;
-  }
-  EXPECT_LT(mju_sqrt(qpos_mse / nstep), 1e-3);
-
-  // no actuators
-  model->opt.disableflags |= mjDSBL_ACTUATION;
-  qpos_mse = 0;
-  nstep = 0;
-  mj_resetData(model, data);
-  while (data->time < 4) {
-    mj_step(model, data);
-    nstep++;
-    mjtNum err = data->qpos[0] - data->qpos[2];
-    qpos_mse += err * err;
-  }
-  EXPECT_LT(mju_sqrt(qpos_mse / nstep), 1e-3);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// --------------------------- implicit integrator -----------------------------
-
-using ImplicitIntegratorTest = MujocoTest;
-
-// Disabling implicit joint damping works as expected
-TEST_F(ImplicitIntegratorTest, EulerDampDisable) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option>
-      <flag eulerdamp="disable"/>
-    </option>
-
-    <worldbody>
-      <body>
-        <joint axis="1 0 0" damping="2"/>
-        <geom type="capsule" size=".01" fromto="0 0 0 0 .1 0"/>
-        <body pos="0 .1 0">
-          <joint axis="0 1 0" damping="1"/>
-          <geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // step once, call mj_forward, save qvel and qacc
-  mj_step(model.get(), data.get());
-  mj_forward(model.get(), data.get());
-  std::vector<mjtNum> qvel = AsVector(data->qvel, model->nv);
-  std::vector<mjtNum> qacc = AsVector(data->qacc, model->nv);
-
-  // second step
-  mj_step(model.get(), data.get());
-
-  // compute finite-difference acceleration
-  std::vector<mjtNum> qacc_fd(model->nv);
-  for (int i = 0; i < model->nv; i++) {
-    qacc_fd[i] = (data->qvel[i] - qvel[i]) / model->opt.timestep;
-  }
-  // expect finite-differenced qacc to match to high precision
-  EXPECT_THAT(qacc_fd, Pointwise(MjNear(1e-14, 1e-6), qacc));
-
-  // reach the same initial state
-  mj_resetData(model.get(), data.get());
-  mj_step(model.get(), data.get());
-
-  // second step again, but with implicit integration of joint damping
-  model->opt.disableflags &= ~mjDSBL_EULERDAMP;
-  mj_step(model.get(), data.get());
-
-  // compute finite-difference acceleration difference
-  std::vector<mjtNum> dqacc(model->nv);
-  for (int i = 0; i < model->nv; i++) {
-    dqacc[i] = (data->qvel[i] - qvel[i]) / model->opt.timestep;
-  }
-  // expect finite-differenced qacc to not match
-  EXPECT_GT(mju_norm(dqacc.data(), model->nv), 1);
-}
-
-// Reducing timesteps reduces the difference between implicit/explicit
-TEST_F(ImplicitIntegratorTest, EulerDampLimit) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint axis="1 0 0" damping="2"/>
-        <geom type="capsule" size=".01" fromto="0 0 0 0 .1 0"/>
-        <body pos="0 .1 0">
-          <joint axis="0 1 0" damping="1"/>
-          <geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  mjtNum diff_norm_prev = -1;
-  for (const mjtNum dt : {1e-2, 1e-3, 1e-4, 1e-5, 1e-6, 1e-7, 1e-8}) {
-    // set timestep
-    model->opt.timestep = dt;
-
-    // step twice with implicit damping, save qvel
-    model->opt.disableflags &= ~mjDSBL_EULERDAMP;
-    mj_resetData(model.get(), data.get());
-    mj_step(model.get(), data.get());
-    mj_step(model.get(), data.get());
-    std::vector<mjtNum> qvel_imp = AsVector(data->qvel, model->nv);
-
-    // step once, step again without implicit damping, save qvel
-    mj_resetData(model.get(), data.get());
-    mj_step(model.get(), data.get());
-    model->opt.disableflags |= mjDSBL_EULERDAMP;
-    mj_step(model.get(), data.get());
-    std::vector<mjtNum> qvel_exp = AsVector(data->qvel, model->nv);
-
-    mjtNum diff_norm = 0;
-    for (int i = 0; i < model->nv; i++) {
-      diff_norm += (qvel_imp[i] - qvel_exp[i]) * (qvel_imp[i] - qvel_exp[i]);
-    }
-    diff_norm = mju_sqrt(diff_norm);
-
-    if (diff_norm_prev != -1) {
-      EXPECT_LT(diff_norm, diff_norm_prev);
-    }
-
-    diff_norm_prev = diff_norm;
-  }
-}
-
-// Euler and implicit should be equivalent if there is only joint damping
-TEST_F(ImplicitIntegratorTest, EulerImplicitEquivalent) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint axis="1 0 0" damping="2"/>
-        <geom type="capsule" size=".01" fromto="0 0 0 0 .1 0"/>
-        <body pos="0 .1 0">
-          <joint axis="0 1 0" damping="1"/>
-          <geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // step 10 times with Euler, save copy of qpos as vector
-  for (int i = 0; i < 10; i++) {
-    mj_step(model.get(), data.get());
-  }
-  std::vector<mjtNum> qposEuler = AsVector(data->qpos, model->nq);
-
-  // reset, step 10 times with implicit
-  mj_resetData(model.get(), data.get());
-  model->opt.integrator = mjINT_IMPLICIT;
-  for (int i = 0; i < 10; i++) {
-    mj_step(model.get(), data.get());
-  }
-
-  // expect qpos vectors to be numerically different
-#ifndef mjUSESINGLE
-  EXPECT_THAT(AsVector(data->qpos, model->nq), Pointwise(Ne(), qposEuler));
-#endif
-
-  // expect qpos vectors to be similar to high precision
-  EXPECT_THAT(AsVector(data->qpos, model->nq),
-              Pointwise(MjNear(1e-14, 1e-6), qposEuler));
-}
-
-// Joint and actuator damping should integrate identically under implicit
-TEST_F(ImplicitIntegratorTest, JointActuatorEquivalent) {
-  const std::string xml_path = GetTestDataFilePath(kDampedActuatorsPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  // take 1000 steps with Euler
-  for (int i = 0; i < 1000; i++) {
-    mj_step(model, data);
-  }
-  // expect corresponding joint values to be significantly different
-#ifndef mjUSESINGLE
-  EXPECT_GT(fabs(data->qpos[0] - data->qpos[2]), 1e-4);
-  EXPECT_GT(fabs(data->qpos[1] - data->qpos[3]), 1e-4);
-#endif
-
-  // reset, take 10 steps with implicit
-  mj_resetData(model, data);
-  model->opt.integrator = mjINT_IMPLICIT;
-  for (int i = 0; i < 10; i++) {
-    mj_step(model, data);
-  }
-
-  // expect corresponding joint values to be insignificantly different
-  EXPECT_LT(fabs(data->qpos[0] - data->qpos[2]), MjTol(1e-16, 1e-6));
-  EXPECT_LT(fabs(data->qpos[1] - data->qpos[3]), MjTol(1e-16, 1e-6));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// Energy conservation: RungeKutta > implicit > Euler
-TEST_F(ImplicitIntegratorTest, EnergyConservation) {
-  const std::string xml_path =
-      GetTestDataFilePath(kEnergyConservingPendulumPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  const int nstep = 500;  // number of steps to take
-
-  // take nstep steps with Euler, measure energy (potential + kinetic)
-  model->opt.integrator = mjINT_EULER;
-  for (int i = 0; i < nstep; i++) {
-    mj_step(model, data);
-  }
-  mjtNum energyEuler = data->energy[0] + data->energy[1];
-
-  // take nstep steps with implicit, measure energy
-  model->opt.integrator = mjINT_IMPLICIT;
-  mj_resetData(model, data);
-  for (int i = 0; i < nstep; i++) {
-    mj_step(model, data);
-  }
-  mjtNum energyImplicit = data->energy[0] + data->energy[1];
-
-  // take nstep steps with 4th order Runge-Kutta, measure energy
-  model->opt.integrator = mjINT_RK4;
-  mj_resetData(model, data);
-  for (int i = 0; i < nstep; i++) {
-    mj_step(model, data);
-  }
-  mjtNum energyRK4 = data->energy[0] + data->energy[1];
-
-  // energy was measured: expect all energies to be nonzero
-  EXPECT_NE(energyEuler, 0);
-  EXPECT_NE(energyImplicit, 0);
-  EXPECT_NE(energyRK4, 0);
-
-  // test conservation: perfectly conserved energy would remain 0.0
-  // expect RK4 to be better than implicit
-  EXPECT_LT(fabs(energyRK4), fabs(energyImplicit));
-  // expect implicit to be better than Euler
-  EXPECT_LT(fabs(energyImplicit), fabs(energyEuler));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// free-body local solve: implicitfast matches implicit exactly for a standalone
-// free body
-TEST_F(ImplicitIntegratorTest, FreeBodyMatchesImplicit) {
-  // damped free body in vacuum
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <option timestep="0.005"/>
-    <worldbody>
-      <body pos="0.1 -0.2 0.5" euler="20 -30 40">
-        <joint type="free" damping="0.1"/>
-        <geom type="box" size=".1 .2 .3" mass="2" pos=".04 -.02 .03" euler="10 20 30"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  // free body in fluid with wind, ellipsoid fluid model (asymmetric lift
-  // derivatives)
-  static constexpr char xml2[] = R"(
-  <mujoco>
-    <option timestep="0.005" density="1.2" viscosity="0.002" wind="1 2 3"/>
-    <worldbody>
-      <body pos="0.1 -0.2 0.5" euler="20 -30 40">
-        <joint type="free"/>
-        <geom type="ellipsoid" size=".1 .2 .3" mass="2" pos=".04 -.02 .03"
-              fluidshape="ellipsoid"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  int xml_idx = 1;
-  for (auto xml : {xml1, xml2}) {
-    SCOPED_TRACE(testing::Message() << "XML case " << xml_idx++);
-    char error[1024];
-    MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-    ASSERT_THAT(model.get(), NotNull()) << error;
-    MjDataPtr d1 = MakeData(model);
-    MjDataPtr d2 = MakeData(model);
-    mjModel* m = model.get();
-
-    // tumbling initial velocity
-    mj_resetData(m, d1.get());
-    d1->qvel[3] = 5;
-    d1->qvel[4] = -3;
-    d1->qvel[5] = 2;
-
-    // step both integrators from identical states, re-synchronizing each step
-    // to avoid chaotic divergence of tumbling trajectories
-    int nstate = mj_stateSize(m, mjSTATE_INTEGRATION);
-    std::vector<mjtNum> state(nstate);
-    for (int i = 0; i < 50; i++) {
-      mj_getState(m, d1.get(), state.data(), mjSTATE_INTEGRATION);
-      mj_setState(m, d2.get(), state.data(), mjSTATE_INTEGRATION);
-
-      m->opt.integrator = mjINT_IMPLICITFAST;
-      mj_step(m, d1.get());
-      m->opt.integrator = mjINT_IMPLICIT;
-      mj_step(m, d2.get());
-
-      for (int k = 0; k < m->nv; k++) {
-        EXPECT_NEAR(d1->qvel[k], d2->qvel[k], MjTol(1e-14, 1e-6))
-            << "step " << i << " dof " << k;
-      }
-    }
-  }
-}
-
-// free-body local solve: spinning free bodies do not gain energy in vacuum
-TEST_F(ImplicitIntegratorTest, FreeBodyGyroStable) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast" timestep="0.005">
-      <flag energy="enable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom type="box" size=".1 .2 .3" mass="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mjModel* m = model.get();
-  mjData* d = data.get();
-
-  // middle-axis tumble and fast principal-axis spin
-  static constexpr mjtNum qvel0[2][3] = {{0.05, 5, 0.05}, {20, 0.05, 0.05}};
-
-  for (int c = 0; c < 2; c++) {
-    SCOPED_TRACE(testing::Message() << "velocity case " << c);
-    mj_resetData(m, d);
-    mju_copy3(d->qvel + 3, qvel0[c]);
-    mj_forward(m, d);
-    mjtNum initial_energy = d->energy[1];
-
-    // 100 simulated seconds
-    for (int i = 0; i < 20000; i++) {
-      mj_step(m, d);
-      ASSERT_LT(d->energy[1], 1.01 * initial_energy)
-          << "energy gain at step " << i;
-    }
-  }
-}
-
-// free-body local solve: applies to bodies in contact
-TEST_F(ImplicitIntegratorTest, FreeBodyGyroStableContact) {
-  // spinning ellipsoid on an inclined plane, as in gyroscopic.xml
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast" timestep="0.002"/>
-    <worldbody>
-      <geom type="plane" size="5 5 .1" euler="0 15 0"/>
-      <body pos="0 0 .2">
-        <freejoint/>
-        <geom type="ellipsoid" size=".05 .1 .15" mass="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mjModel* m = model.get();
-  mjData* d = data.get();
-
-  mj_resetData(m, d);
-  d->qvel[3] = 30;
-  mjtNum initial_speed = mju_norm(d->qvel, m->nv);
-
-  int ncon_total = 0;
-  for (int i = 0; i < 5000; i++) {
-    mj_step(m, d);
-    ncon_total += d->ncon;
-    ASSERT_LT(mju_norm(d->qvel, m->nv), 2 * initial_speed)
-        << "speed gain at step " << i;
-  }
-
-  // the body was in contact while spinning
-  EXPECT_GT(ncon_total, 1000);
-}
-
-// free-body local solve: energy of a tumbling free body never increases and is
-// only mildly damped; angular momentum drift is bounded
-TEST_F(ImplicitIntegratorTest, FreeBodyConservation) {
-  // aligned: CoM at joint origin
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <option integrator="implicitfast" timestep="0.01">
-      <flag energy="enable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom type="box" size=".1 .2 .3" mass="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  // non-aligned: CoM offset from joint origin
-  static constexpr char xml2[] = R"(
-  <mujoco>
-    <option integrator="implicitfast" timestep="0.01">
-      <flag energy="enable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom type="box" size=".1 .2 .3" mass="1" euler="10 20 30" pos=".03 .02 .01"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  int xml_idx = 1;
-  for (auto xml : {xml1, xml2}) {
-    SCOPED_TRACE(testing::Message() << "XML case " << xml_idx++);
-    char error[1024];
-    MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-    ASSERT_THAT(model.get(), NotNull()) << error;
-    MjDataPtr data = MakeData(model);
-    mjModel* m = model.get();
-    mjData* d = data.get();
-
-    mj_resetData(m, d);
-    d->qvel[3] = 1.0;
-    d->qvel[4] = 2.0;
-    d->qvel[5] = 3.0;
-    mj_forward(m, d);
-    mjtNum initial_energy = d->energy[1];
-    mjtNum initial_angmom[3];
-    mj_subtreeVel(m, d);
-    mju_copy3(initial_angmom, d->subtree_angmom);
-
-    for (int i = 0; i < 500; i++) {
-      mj_step(m, d);
-
-      // energy never increases (small tolerance for rounding)
-      ASSERT_LT(d->energy[1], initial_energy * (1 + MjTol(1e-9, 1e-4)))
-          << "energy gain at step " << i;
-    }
-
-    // implicit damping of tumbling is mild: measured E_end/E0 = 0.93
-    EXPECT_GT(d->energy[1], 0.7 * initial_energy);
-
-    // angular momentum drift is bounded: measured 5e-3
-    mj_subtreeVel(m, d);
-    mjtNum angmom_err[3];
-    mju_sub3(angmom_err, d->subtree_angmom, initial_angmom);
-    EXPECT_LT(mju_norm3(angmom_err), 0.05);
-  }
-}
-
-// gyroscopic instability: Euler gains energy where implicitfast does not
-TEST_F(ImplicitIntegratorTest, FreeBodyEulerGainsImplicitfastDissipates) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01">
-      <flag energy="enable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom type="box" size=".1 .2 .3" mass="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mjModel* m = model.get();
-  mjData* d = data.get();
-
-  mjtNum energy_end[2];
-  for (int integrator : {mjINT_EULER, mjINT_IMPLICITFAST}) {
-    m->opt.integrator = integrator;
-    mj_resetData(m, d);
-    d->qvel[3] = 1.0;
-    d->qvel[4] = 2.0;
-    d->qvel[5] = 3.0;
-    mj_forward(m, d);
-    mjtNum initial_energy = d->energy[1];
-    for (int i = 0; i < 500; i++) {
-      mj_step(m, d);
-    }
-    energy_end[integrator == mjINT_IMPLICITFAST] =
-        d->energy[1] / initial_energy;
-  }
-
-  // Euler gains energy (measured: 1.09), implicitfast does not
-  EXPECT_GT(energy_end[0], 1.01);
-  EXPECT_LT(energy_end[1], 1.0);
-}
-
-// the invdiscrete flag has no effect on forward dynamics
-TEST_F(ImplicitIntegratorTest, InvdiscreteForwardNoop) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.005"/>
-    <worldbody>
-      <geom type="plane" size="2 2 .1"/>
-      <body pos="0 0 .3">
-        <joint type="free" damping="0.1"/>
-        <geom type="box" size=".1 .2 .3" mass="2" pos=".03 .02 .01"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr d1 = MakeData(model);
-  MjDataPtr d2 = MakeData(model);
-  mjModel* m = model.get();
-
-  for (int integrator : {mjINT_IMPLICITFAST, mjINT_IMPLICIT}) {
-    m->opt.integrator = integrator;
-
-    mj_resetData(m, d1.get());
-    d1->qvel[3] = 5;
-    d1->qvel[5] = 2;
-    mj_resetData(m, d2.get());
-    d2->qvel[3] = 5;
-    d2->qvel[5] = 2;
-
-    for (int i = 0; i < 200; i++) {
-      m->opt.enableflags &= ~mjENBL_INVDISCRETE;
-      mj_step(m, d1.get());
-      m->opt.enableflags |= mjENBL_INVDISCRETE;
-      mj_step(m, d2.get());
-    }
-    m->opt.enableflags &= ~mjENBL_INVDISCRETE;
-
-    // trajectories are bit-identical
-    for (int k = 0; k < m->nq; k++) {
-      EXPECT_EQ(d1->qpos[k], d2->qpos[k]) << "qpos " << k;
-    }
-    for (int k = 0; k < m->nv; k++) {
-      EXPECT_EQ(d1->qvel[k], d2->qvel[k]) << "qvel " << k;
-    }
-  }
-}
-
-// model with degenerate translational inertia
-TEST_F(ForwardTest, DegenerateInertia) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast" cone="elliptic">
-      <flag gravity="disable" diagexact="enable"/>
-    </option>
-    <worldbody>
-      <body name="1" pos="0.05 0.3 0">
-        <joint name="1" axis="0 1 0"/>
-        <geom type="capsule" size="0.1 0.5"/>
-      </body>
-      <body name="2">
-        <joint name="2" axis="1 0 0" stiffness="1" springref="90"/>
-        <geom type="capsule" size="0.1 0.5"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  for (int i = 0; i < 1000; i++) {
-    mj_step(model.get(), data.get());
-    EXPECT_EQ(data->warning[mjWARN_BADQACC].number, 0)
-        << "divergence at timestep " << i;
-    if (data->warning[mjWARN_BADQACC].number != 0) {
-      break;
-    }
-  }
-}
-
-TEST_F(ForwardTest, ControlClamping) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="slide" type="slide" axis="1 0 0"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor name="unclamped" joint="slide"/>
-      <motor name="clamped" joint="slide" ctrllimited="true" ctrlrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // for the unclamped actuator, ctrl={1, 2} produce different accelerations
-  data->ctrl[0] = 1;
-  mj_forward(model.get(), data.get());
-  mjtNum qacc1 = data->qacc[0];
-  data->ctrl[0] = 2;
-  mj_forward(model.get(), data.get());
-  mjtNum qacc2 = data->qacc[0];
-  EXPECT_NE(qacc1, qacc2);
-
-  // for the clamped actuator, ctrl={1, 2} produce identical accelerations
-  data->ctrl[1] = 1;
-  mj_forward(model.get(), data.get());
-  qacc1 = data->qacc[0];
-  data->ctrl[1] = 2;
-  mj_forward(model.get(), data.get());
-  qacc2 = data->qacc[0];
-  EXPECT_EQ(qacc1, qacc2);
-
-  // data->ctrl[1] remains pristine
-  EXPECT_EQ(data->ctrl[1], 2);
-
-  MockWarningHandler warning_handler;
-
-  // for the unclamped actuator, huge raises warning
-  warning_handler.ExpectWarnings(
-      "Nan, Inf or huge value in CTRL at ACTUATOR 0");
-  data->ctrl[0] = 10 * mjMAXVAL;
-  mj_forward(model.get(), data.get());
-  testing::Mock::VerifyAndClearExpectations(&warning_handler);
-
-  // for the clamped actuator, huge does not raise warning
-  EXPECT_CALL(warning_handler, Warn(_)).Times(0);
-  mj_resetData(model.get(), data.get());
-  data->ctrl[1] = 10 * mjMAXVAL;
-  mj_forward(model.get(), data.get());
-  testing::Mock::VerifyAndClearExpectations(&warning_handler);
-
-  // for the clamped actuator, NaN raises warning
-  warning_handler.ExpectWarnings(
-      "Nan, Inf or huge value in CTRL at ACTUATOR 1");
-  mj_resetData(model.get(), data.get());
-  data->ctrl[1] = std::numeric_limits<double>::quiet_NaN();
-  mj_forward(model.get(), data.get());
-}
-
-void control_callback(const mjModel* m, mjData* d) { d->ctrl[0] = 2; }
-
-TEST_F(ForwardTest, MjcbControlDisabled) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="hinge"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // install global control callback
-  mjcb_control = control_callback;
-
-  // call forward
-  mj_forward(model.get(), data.get());
-  // expect that callback was used
-  EXPECT_EQ(data->ctrl[0], 2.0);
-
-  // reset, disable actuation, call forward
-  mj_resetData(model.get(), data.get());
-  model->opt.disableflags |= mjDSBL_ACTUATION;
-  mj_forward(model.get(), data.get());
-  // expect that callback was not used
-  EXPECT_EQ(data->ctrl[0], 0.0);
-
-  // remove global control callback
-  mjcb_control = nullptr;
-}
-
-TEST_F(ForwardTest, gravcomp) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 -10" />
-    <worldbody>
-      <body>
-        <joint type="slide" axis="0 0 1"/>
-        <geom size="1"/>
-      </body>
-      <body pos="3 0 0" gravcomp="1">
-        <joint type="slide" axis="0 0 1"/>
-        <geom size="1"/>
-      </body>
-      <body pos="6 0 0" gravcomp="2">
-        <joint type="slide" axis="0 0 1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  MjDataPtr data = MakeData(model);
-  while (data->time < 1) {
-    mj_step(model.get(), data.get());
-  }
-
-  mjtNum dist = 0.5 * mju_norm3(model->opt.gravity) * (data->time * data->time);
-
-  // expect that body 1 moved down, allowing some slack from our estimate
-  EXPECT_NEAR(data->qpos[0], -dist, 0.011);
-
-  // expect that body 2 does not move
-  EXPECT_EQ(data->qpos[1], 0.0);
-
-  // expect that body 3 moves up the same distance that body 0 moved down
-  EXPECT_EQ(data->qpos[0], -data->qpos[2]);
-}
-
-// test disabling of equality constraints
-TEST_F(ForwardTest, eq_active) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="vertical" type="slide" axis="0 0 1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <equality>
-      <joint joint1="vertical"/>
-    </equality>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  MjDataPtr data = MakeData(model);
-
-  // simulate for 1 second
-  while (data->time < 1) {
-    mj_step(model.get(), data.get());
-  }
-
-  // expect that the body has barely moved
-  EXPECT_LT(mju_abs(data->qpos[0]), 0.001);
-
-  // turn the equality off, simulate for another second
-  data->eq_active[0] = 0;
-  while (data->time < 2) {
-    mj_step(model.get(), data.get());
-  }
-
-  // expect that the body has fallen about 5m
-  EXPECT_LT(data->qpos[0], -4.5);
-  EXPECT_GT(data->qpos[0], -5.5);
-
-  // turn the equality back on, simulate for another second
-  data->eq_active[0] = 1;
-  while (data->time < 3) {
-    mj_step(model.get(), data.get());
-  }
-
-  // expect that the body has snapped back
-  EXPECT_LT(mju_abs(data->qpos[0]), 0.001);
-}
-
-// test that normalized and denormalized quats give the same result
-TEST_F(ForwardTest, NormalizeQuats) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP() << "Skipping in float32: exact mjData comparison infeasible.";
-#endif
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicit">
-      <flag warmstart="disable" energy="enable"/>
-    </option>
-    <worldbody>
-      <body name="free">
-        <freejoint/>
-        <geom size="1" pos=".1 .2 .3"/>
-      </body>
-      <body pos="3 0 0">
-        <joint name="ball" type="ball" stiffness="100" range="0 10"/>
-        <geom size="1" pos=".1 .2 .3"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <ballquat joint="ball"/>
-      <framequat objtype="body" objname="free"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  MjDataPtr data_u = MakeData(model);
-
-// we'll compare all the memory, so unpoison it first
-#ifdef MEMORY_SANITIZER
-  __msan_unpoison(data_u->buffer, data_u->nbuffer);
-  __msan_unpoison(data_u->arena, data_u->narena);
-#endif
-
-  // set quats to denormalized values, non-zero velocities
-  for (int i = 3; i < model->nq; i++) data_u->qpos[i] = i;
-  for (int i = 0; i < model->nv; i++) data_u->qvel[i] = 0.1 * i;
-
-  // copy data and normalize quats
-  mjData* data_n = mj_copyData(nullptr, model.get(), data_u.get());
-  mj_normalizeQuat(model.get(), data_n->qpos);
-
-  // call forward, expect quats to be untouched
-  mj_forward(model.get(), data_u.get());
-  for (int i = 3; i < model->nq; i++) {
-    EXPECT_EQ(data_u->qpos[i], (mjtNum)i);
-  }
-
-  // expect that the ball joint limit is active
-  EXPECT_EQ(data_u->nl, 1);
-
-  // step both models
-  mj_step(model.get(), data_u.get());
-  mj_step(model.get(), data_n);
-
-// expect everything to match
-#define X(type, name, nr, nc)         \
-  for (int i = 0; i < model->nr; i++) \
-    for (int j = 0; j < nc; j++)      \
-      ExpectNear(data_n->name[i * nc + j], data_u->name[i * nc + j]);
-  MJDATA_POINTERS;
-#undef X
-
-  // repeat the above with RK4 integrator
-  model->opt.integrator = mjINT_RK4;
-
-  // reset data, unpoison
-  mj_resetData(model.get(), data_u.get());
-#ifdef MEMORY_SANITIZER
-  __msan_unpoison(data_u->buffer, data_u->nbuffer);
-  __msan_unpoison(data_u->arena, data_u->narena);
-#endif
-
-  // set quats to un-normalized values, non-zero velocities
-  for (int i = 3; i < model->nq; i++) data_u->qpos[i] = i;
-  for (int i = 0; i < model->nv; i++) data_u->qvel[i] = 0.1 * i;
-
-  // copy data and normalize quats
-  mj_copyData(data_n, model.get(), data_u.get());
-  mj_normalizeQuat(model.get(), data_n->qpos);
-
-  // step both models
-  mj_step(model.get(), data_u.get());
-  mj_step(model.get(), data_n);
-
-// expect everything to match
-#define X(type, name, nr, nc)         \
-  for (int i = 0; i < model->nr; i++) \
-    for (int j = 0; j < nc; j++)      \
-      ExpectNear(data_n->name[i * nc + j], data_u->name[i * nc + j]);
-  MJDATA_POINTERS;
-#undef X
-
-  mj_deleteData(data_n);
-}
-
-// test that normalized and denormalized quats give the same result
-TEST_F(ForwardTest, MocapQuats) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="mocap" mocap="true" quat="1 1 1 1">
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <framequat objtype="body" objname="mocap"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  // expect mocap_quat to be normalized (by the compiler)
-  for (int i = 0; i < 4; i++) {
-    EXPECT_NEAR(data->mocap_quat[i], 0.5, MjTol(0, 1e-6));
-    EXPECT_NEAR(data->xquat[4 + i], 0.5, MjTol(0, 1e-6));
-  }
-
-  // write denormalized quats to mocap_quat, call forward again
-  for (int i = 0; i < 4; i++) {
-    data->mocap_quat[i] = 1;
-  }
-  mj_forward(model.get(), data.get());
-
-  // expect mocap_quat to remain denormalized, but xquat to be normalized
-  for (int i = 0; i < 4; i++) {
-    EXPECT_NEAR(data->mocap_quat[i], 1, MjTol(0, 1e-6));
-    EXPECT_NEAR(data->xquat[4 + i], 0.5, MjTol(0, 1e-6));
-  }
-}
-
-// user defined 2nd-order activation dynamics: frequency-controlled oscillator
-//  note that scalar mjcb_act_dyn callbacks are expected to return act_dot, but
-//  since we have a vector output we write into act_dot directly
-mjtNum oscillator(const mjModel* m, const mjData* d, int id) {
-  // check that actnum == 2
-  if (m->actuator_actnum[id] != 2) {
-    mju_error("callback expected actnum == 2");
-  }
-
-  // get pointers to activations (inputs) and their derivatives (outputs)
-  mjtNum* act = d->act + m->actuator_actadr[id];
-  mjtNum* act_dot = d->act_dot + m->actuator_actadr[id];
-
-  // harmonic oscillator with controlled frequency
-  mjtNum frequency = 2 * mjPI * d->ctrl[id];
-  act_dot[0] = -act[1] * frequency;
-  act_dot[1] = act[0] * frequency;
-
-  return 0;  // ignored by caller
-}
-
-TEST_F(ForwardTest, MjcbActDynSecondOrderExpectsActnum) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="1e-4"/>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" dyntype="user" actdim="2"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // install global dynamics callback
-  mjcb_act_dyn = oscillator;
-
-  // for two arbitrary frequencies, compare actuator force as output by the
-  // user-defined oscillator and analytical sine function
-  for (mjtNum frequency : {1.5, 0.7}) {
-    mj_resetData(model.get(), data.get());
-    data->ctrl[0] = frequency;  // set desired oscillation frequency
-    data->act[0] = 1;           // initialise activation
-
-    // simulate and compare to sine function
-    while (data->time < 1) {
-      mjtNum expected_force = mju_sin(2 * mjPI * data->time * frequency);
-      mj_step(model.get(), data.get());
-      EXPECT_NEAR(data->actuator_force[0], expected_force, .01);
-    }
-  }
-
-  // uninstall global dynamics callback
-  mjcb_act_dyn = nullptr;
-}
-
-// ------------------------------ actuators -----------------------------------
-
-using ActuatorTest = MujocoTest;
-
-TEST_F(ActuatorTest, ExpectedAdhesionForce) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 -1"/>
-
-    <worldbody>
-      <body name="static">
-        <!-- small increase to size to ensure contact -->
-        <geom size=".02001" pos=" .01  .01 .07"/>
-        <geom size=".02001" pos="-.01  .01 .07"/>
-        <geom size=".02001" pos=" .01 -.01 .07"/>
-        <geom size=".02001" pos="-.01 -.01 .07"/>
-      </body>
-      <body name="free">
-        <freejoint/>
-        <geom type="box" size=".05 .05 .05" mass="1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <adhesion body="static" ctrlrange="0 2"/>
-      <adhesion body="free" ctrlrange="0 2"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // iterate over cone type
-  for (mjtCone cone : {mjCONE_ELLIPTIC, mjCONE_PYRAMIDAL}) {
-    // set cone
-    model->opt.cone = cone;
-    // iterate over condim
-    for (int condim : {1, 3, 4, 6}) {
-      // set condim
-      for (int id = 0; id < model->ngeom; id++) {
-        model->geom_condim[id] = condim;
-      }
-      // iterate over actuators
-      for (int id = 0; id < 2; id++) {
-        // set ctrl > 1, expect free body to not fall
-        mj_resetData(model.get(), data.get());
-        data->ctrl[id] = 1.01;
-        for (int i = 0; i < 100; i++) {
-          mj_step(model.get(), data.get());
-        }
-        // moved down at most 10 microns
-        EXPECT_GT(data->qpos[2], -1e-5);
-
-        // set ctrl < 1, expect free body to fall below 1cm
-        mj_resetData(model.get(), data.get());
-        data->ctrl[id] = 0.99;
-        for (int i = 0; i < 100; i++) {
-          mj_step(model.get(), data.get());
-        }
-        // fell lower than 1cm
-        EXPECT_LT(data->qpos[2], -0.01);
-      }
-    }
-  }
-}
-
-// Actuator force clamping at joints
-TEST_F(ActuatorTest, ActuatorForceClamping) {
-  const std::string xml_path = GetTestDataFilePath(kJointForceClamp);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  data->ctrl[0] = 10;
-  mj_forward(model, data);
-
-  // expect clamping as specified in the model
-  EXPECT_NEAR(data->actuator_force[0], 1, MjTol(0, 1e-6));
-  EXPECT_NEAR(data->qfrc_actuator[0], 0.4, MjTol(0, 1e-6));
-
-  // simulate for 2 seconds to gain velocity
-  while (data->time < 2) {
-    mj_step(model, data);
-  }
-
-  // activate damper, expect force to be clamped at lower bound
-  data->ctrl[1] = 1;
-  mj_forward(model, data);
-  EXPECT_NEAR(data->qfrc_actuator[0], -0.4, MjTol(0, 1e-6));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// Apply gravity compensation via actuators
-TEST_F(ActuatorTest, ActuatorGravcomp) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body gravcomp="1">
-        <joint name="joint" type="slide" axis="0 0 1"
-               actuatorfrcrange="-2 2" actuatorgravcomp="true"/>
-        <geom type="box" size=".05 .05 .05" mass="1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <motor name="actuator" joint="joint"/>
-    </actuator>
-
-    <sensor>
-      <actuatorfrc actuator="actuator"/>
-      <jointactuatorfrc joint="joint"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  mj_forward(model.get(), data.get());
-
-  // expect force clamping as specified in the model
-  EXPECT_EQ(data->actuator_force[0], 0);
-  EXPECT_EQ(data->qfrc_actuator[0], 2);
-  EXPECT_EQ(data->qfrc_passive[0], 0);
-  EXPECT_EQ(data->sensordata[0], 0);
-  EXPECT_EQ(data->sensordata[1], 2);
-
-  // reduce gravity so gravcomp is not clamped
-  model->opt.gravity[2] = -1;
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->actuator_force[0], 0);
-  EXPECT_EQ(data->qfrc_actuator[0], 1);
-  EXPECT_EQ(data->qfrc_passive[0], 0);
-  EXPECT_EQ(data->sensordata[0], 0);
-  EXPECT_EQ(data->sensordata[1], 1);
-
-  // add control, see that it adds up
-  data->ctrl[0] = 0.5;
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->actuator_force[0], 0.5);
-  EXPECT_EQ(data->qfrc_actuator[0], 1.5);
-  EXPECT_EQ(data->qfrc_passive[0], 0);
-  EXPECT_EQ(data->sensordata[0], 0.5);
-  EXPECT_EQ(data->sensordata[1], 1.5);
-
-  // add larger control, expect clamping
-  data->ctrl[0] = 1.5;
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->actuator_force[0], 1.5);
-  EXPECT_EQ(data->qfrc_actuator[0], 2);
-  EXPECT_EQ(data->qfrc_passive[0], 0);
-  EXPECT_EQ(data->sensordata[0], 1.5);
-  EXPECT_EQ(data->sensordata[1], 2);
-
-  // disable actgravcomp, expect gravcomp as a passive force
-  model->jnt_actgravcomp[0] = 0;
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->actuator_force[0], 1.5);
-  EXPECT_EQ(data->qfrc_actuator[0], 1.5);
-  EXPECT_EQ(data->qfrc_passive[0], 1);
-  EXPECT_EQ(data->sensordata[0], 1.5);
-  EXPECT_EQ(data->sensordata[1], 1.5);
-}
-
-// Check that dampratio works as expected
-TEST_F(ActuatorTest, DampRatio) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast"/>
-
-    <worldbody>
-      <body>
-        <joint name="slide1" axis="1 0 0" type="slide"/>
-        <geom size=".05"/>
-      </body>
-
-      <body pos="0 0 -.15">
-        <joint name="slide2" axis="1 0 0" type="slide"/>
-        <geom size=".05"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <position name="slightly underdamped" joint="slide1" kp="10" dampratio="0.99"/>
-      <position name="slightly overdamped"  joint="slide2" kp="10" dampratio="1.01"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  data->qpos[0] = data->qpos[1] = -0.1;
-
-  mjtNum under_damped = data->qpos[0];
-  mjtNum over_damped = data->qpos[1];
-  while (data->time < 10) {
-    mj_step(model.get(), data.get());
-    under_damped = mju_max(under_damped, data->qpos[0]);
-    over_damped = mju_max(over_damped, data->qpos[1]);
-  }
-
-  // expect slightly underdamped to slightly overshoot
-  EXPECT_GT(under_damped, 0);
-  EXPECT_LT(under_damped, 1e-6);
-
-  // expect slightly overdamped to slightly undershoot
-  EXPECT_LT(over_damped, 0);
-  EXPECT_GT(over_damped, -1e-6);
-}
-
-// Check dampratio for actuators with nontrivial transmission
-TEST_F(ActuatorTest, DampRatioTendon) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/actuation/tendon_dampratio.xml");
-  char error[1000];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  mjData* data = mj_makeData(model);
-
-  data->ctrl[0] = 1;
-  data->ctrl[1] = 4;
-
-  while (data->time < 1) {
-    mj_step(model, data);
-  }
-
-  // expect first and second fingers to move together
-  double tol = 1e-10;
-  EXPECT_THAT(AsVector(data->qpos, 4),
-              Pointwise(MjNear(tol, tol), AsVector(data->qpos + 4, 4)));
-  EXPECT_THAT(AsVector(data->qvel, 4),
-              Pointwise(MjNear(tol, tol), AsVector(data->qvel + 4, 4)));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// ----------------------- DC motor actuators ----------------------------------
-
-using DCMotorTest = MujocoTest;
-
-// A stateless dcmotor with setpoint inputs matches <pid> exactly, for any
-// motor constant and resistance: the torque-space controller commands
-// kp*(qref - l) + kd*(vref - ldot) and the tau->V map compensates back-EMF.
-TEST_F(DCMotorTest, SetpointMatchesPid) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001" integrator="implicitfast">
-      <flag contact="disable" gravity="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <joint name="slide1" type="slide" axis="1 0 0"/>
-        <geom size="0.1" mass="1"/>
-      </body>
-      <body>
-        <joint name="slide2" type="slide" axis="1 0 0"/>
-        <geom size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid name="pid" joint="slide1" kp="10" kv="5"/>
-      <dcmotor name="dcmotor" joint="slide2" motorconst="0.05" resistance="2.0"
-               input="pos vel" controller="10 0 5"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  // both actuators own [pos, vel] blocks
-  ASSERT_EQ(model->nu, 4);
-  MjDataPtr data = MakeData(model);
-
-  // time-varying position and velocity commands, identical for both
-  while (data->time < 1.0) {
-    mjtNum qref = mju_sin(5 * data->time);
-    mjtNum vref = mju_cos(3 * data->time);
-    data->ctrl[0] = data->ctrl[2] = qref;
-    data->ctrl[1] = data->ctrl[3] = vref;
-    mj_step(model.get(), data.get());
-
-    EXPECT_NEAR(data->qpos[0], data->qpos[1], MjTol(1e-14, 1e-6));
-    EXPECT_NEAR(data->qvel[0], data->qvel[1], MjTol(1e-14, 1e-6));
-
-    // recompute forces at the post-step state before comparing: identical, the
-    // tau->V map cancels back-EMF so there is no extra damping to account for
-    mj_forward(model.get(), data.get());
-    EXPECT_NEAR(data->actuator_force[0], data->actuator_force[1],
-                MjTol(1e-13, 1e-5));
-  }
-}
-TEST_F(DCMotorTest, StatelessSteadyState) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // the dcmotor ff input is the terminal voltage, named accordingly
-  EXPECT_STREQ(mj_actuatorInputName(model.get(), 0, 0), "voltage");
-
-  double K = 0.05;
-  double R = 2.0;
-  double V = 12.0;
-  double omega = 3.0;
-
-  data->ctrl[0] = V;
-  data->qvel[0] = omega;
-  mj_forward(model.get(), data.get());
-
-  double expected_force = K / R * (V - K * omega);
-  EXPECT_NEAR(data->actuator_force[0], expected_force, MjTol(1e-12, 1e-5));
-  EXPECT_EQ(model->actuator_actnum[0], 0);
-}
-
-TEST_F(DCMotorTest, CurrentFilterConverges) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.0001"/>
-    <worldbody>
-      <body>
-        <joint name="joint" damping="1000"/>
-        <geom size="1" mass="100"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               inductance="0.01 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  ASSERT_EQ(model->actuator_actnum[0], 1);
-
-  double K = 0.05;
-  double R = 2.0;
-  double V = 12.0;
-
-  data->ctrl[0] = V;
-  for (int i = 0; i < 10000; i++) {
-    mj_step(model.get(), data.get());
-  }
-
-  double omega = data->qvel[0];
-  double i_ss = V / R - K / R * omega;
-  double expected_force = K * i_ss;
-
-  EXPECT_NEAR(data->act[0], i_ss, MjTol(1e-6, 1e-4));
-  EXPECT_NEAR(data->actuator_force[0], expected_force, MjTol(1e-6, 1e-4));
-}
-
-TEST_F(DCMotorTest, CurrentFilterExactIntegration) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint" damping="10000"/>
-        <geom size="1" mass="10000"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               inductance="0.01 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  double R = 2.0;
-  double te = 0.01 / R;
-  double V = 12.0;
-
-  data->ctrl[0] = V;
-  mj_step(model.get(), data.get());
-
-  double h = model->opt.timestep;
-  double exact_current = V / R * (1 - mju_exp(-h / te));
-  EXPECT_NEAR(data->act[0], exact_current, MjTol(1e-10, 1e-4));
-
-  double euler_current = V / R * h / te;
-  EXPECT_GT(std::abs(data->act[0] - euler_current),
-            std::abs(data->act[0] - exact_current));
-}
-
-TEST_F(DCMotorTest, CoggingTorque) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               cogging="0.1 6 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  double A = 0.1, Np = 6, phi = 0;
-  double K = 0.05, R = 2.0;
-  double V = 5.0;
-  double pos = 1.0;
-
-  data->ctrl[0] = V;
-  data->qpos[0] = pos;
-  mj_forward(model.get(), data.get());
-
-  double electrical_force = K / R * V;
-  double cogging = A * mju_sin(Np * pos + phi);
-  EXPECT_NEAR(data->actuator_force[0], electrical_force + cogging,
-              MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, CoggingBypassesSaturation) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               saturation="0.001 0" cogging="0.1 6 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  double A = 0.1, Np = 6, phi = 0;
-  double pos = 1.0;
-
-  data->ctrl[0] = 100.0;
-  data->qpos[0] = pos;
-  mj_forward(model.get(), data.get());
-
-  double cogging = A * mju_sin(Np * pos + phi);
-  EXPECT_NEAR(model->actuator_forcerange[1], 0.001, MjTol(1e-12, 1e-5));
-  EXPECT_GT(mju_abs(data->actuator_force[0]), 0.001);
-  EXPECT_NEAR(data->actuator_force[0], 0.001 + cogging, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, LuGreViscousFriction) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               damping="0.01" lugre="100 1 0.5 0.7 10"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  ASSERT_EQ(model->actuator_actnum[0], 1);
-
-  double sigma1 = 1, sigma2 = 0.01;
-  double K = 0.05, R = 2.0;
-  double omega = 2.0;
-
-  data->ctrl[0] = 0;
-  data->qvel[0] = omega;
-  mj_forward(model.get(), data.get());
-
-  EXPECT_MJTNUM_EQ(model->actuator_damping[0], sigma2);
-  double electrical_force = K / R * (0 - K * omega);
-  double z = data->act[model->actuator_actadr[0]];
-  double z_dot = data->act_dot[model->actuator_actadr[0]];
-  double lugre_force = 100 * z + sigma1 * z_dot;
-  EXPECT_NEAR(data->actuator_force[0], electrical_force - lugre_force,
-              MjTol(1e-12, 1e-5));
-}
-
-// the LuGre bristle must integrate the velocity of its own transmission:
-// placing a multi-output (SO3) actuator before the DC motor, so that the
-// motor's actuator id and output address diverge, must not change the
-// bristle dynamics
-TEST_F(DCMotorTest, LuGreBristleVelocityOrderInvariance) {
-  static constexpr char xml_dc_first[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-      <body pos="3 0 0">
-        <joint name="ball" type="ball"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor name="dc" joint="hinge" motorconst="0.05" resistance="2.0"
-               lugre="100 0.5 0.5 0.8 0.5"/>
-      <orientation name="so3" joint="ball" kp="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  static constexpr char xml_so3_first[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-      <body pos="3 0 0">
-        <joint name="ball" type="ball"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <orientation name="so3" joint="ball" kp="1"/>
-      <dcmotor name="dc" joint="hinge" motorconst="0.05" resistance="2.0"
-               lugre="100 0.5 0.5 0.8 0.5"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-
-  // reference: DC motor first, actuator id == output address
-  MjModelPtr model = LoadModelFromString(xml_dc_first, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  int dc = mj_name2id(model.get(), mjOBJ_ACTUATOR, "dc");
-  data->qvel[model->jnt_dofadr[mj_name2id(model.get(), mjOBJ_JOINT, "hinge")]] =
-      1;
-  mj_step(model.get(), data.get());
-  double z_dc_first = data->act[model->actuator_actadr[dc]];
-
-  // reordered: the SO3 actuator has 3 outputs, so the DC motor now has
-  // actuator id 1 but output address 3
-  model = LoadModelFromString(xml_so3_first, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  data = MakeData(model);
-  dc = mj_name2id(model.get(), mjOBJ_ACTUATOR, "dc");
-  ASSERT_EQ(model->actuator_outadr[dc], 3);
-  data->qvel[model->jnt_dofadr[mj_name2id(model.get(), mjOBJ_JOINT, "hinge")]] =
-      1;
-  mj_step(model.get(), data.get());
-  double z_so3_first = data->act[model->actuator_actadr[dc]];
-
-  // the bristle state saw the same spinning hinge in both models
-  EXPECT_NE(z_dc_first, 0);
-  EXPECT_MJTNUM_EQ(z_so3_first, z_dc_first);
-}
-
-// A dcmotor with input="none" has no controls and acts as a passive device:
-// LuGre friction, cogging and back-EMF braking with the terminals shorted.
-TEST_F(DCMotorTest, PassiveNoInputs) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0" input="none"
-               damping="0.01" lugre="100 1 0.5 0.7 10"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // no controls at all, one actuator, one bristle state
-  EXPECT_EQ(model->nu, 0);
-  EXPECT_EQ(model->nactuator, 1);
-  EXPECT_EQ(model->actuator_ctrlnum[0], 0);
-  ASSERT_EQ(model->actuator_actnum[0], 1);
-
-  // same force as a voltage-commanded motor with u = 0: shorted terminals
-  double sigma1 = 1;
-  double K = 0.05, R = 2.0;
-  double omega = 2.0;
-  data->qvel[0] = omega;
-  mj_forward(model.get(), data.get());
-
-  double electrical_force = K / R * (0 - K * omega);
-  double z = data->act[model->actuator_actadr[0]];
-  double z_dot = data->act_dot[model->actuator_actadr[0]];
-  double lugre_force = 100 * z + sigma1 * z_dot;
-  EXPECT_NEAR(data->actuator_force[0], electrical_force - lugre_force,
-              MjTol(1e-12, 1e-5));
-
-  // the model steps with an empty ctrl vector: friction brakes the joint
-  for (int i = 0; i < 100; i++) {
-    mj_step(model.get(), data.get());
-  }
-  EXPECT_GT(data->act[model->actuator_actadr[0]], 0);
-  EXPECT_LT(data->qvel[0], omega);
-}
-
-// input="none" validation: dcmotor-only, incompatible with slew and ki.
-TEST_F(DCMotorTest, NoInputsCompileErrors) {
-  char error[1024];
-
-  // pid does not accept input="none"
-  static constexpr char pid_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid joint="joint" kp="1" input="none"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(pid_xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("subset"));
-
-  // slew rate limiting requires an input
-  static constexpr char slew_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0" input="none"
-               controller="0 0 0 4.0 0 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  model = LoadModelFromString(slew_xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("slew"));
-
-  // the "voltage" keyword is dcmotor-only
-  static constexpr char voltage_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <pid joint="joint" kp="1" input="voltage"/>
-    </actuator>
-  </mujoco>
-  )";
-  model = LoadModelFromString(voltage_xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull());
-
-  // integral gain requires the pos input
-  static constexpr char ki_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0" input="vel ff"
-               controller="0 2.0 0 0 0 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  model = LoadModelFromString(ki_xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("pos input"));
-}
-
-TEST_F(DCMotorTest, ThermalRiseAndFall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint" damping="10000"/>
-        <geom size="1" mass="10000"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               thermal="10 5 0 0 25 25"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  int adr = model->actuator_actadr[0];
-  ASSERT_EQ(model->actuator_actnum[0], 1);
-  EXPECT_EQ(data->act[adr], 0);
-
-  double R = 2.0, V = 10.0;
-  double RT = 10.0, C = 5.0;
-  double h = model->opt.timestep;
-  double P = V * V / R;
-
-  data->ctrl[0] = V;
-
-  mj_step(model.get(), data.get());
-  double dT1 = h * P / C;
-  EXPECT_NEAR(data->act[adr], dT1, MjTol(1e-11, 1e-4));
-
-  mj_step(model.get(), data.get());
-  double dT2 = dT1 + h * (P - dT1 / RT) / C;
-  EXPECT_NEAR(data->act[adr], dT2, MjTol(1e-11, 1e-4));
-
-  data->ctrl[0] = 0;
-  mj_step(model.get(), data.get());
-  double dT3 = dT2 + h * (0 - dT2 / RT) / C;
-  EXPECT_NEAR(data->act[adr], dT3, MjTol(1e-11, 1e-4));
-  EXPECT_LT(data->act[adr], dT2);
-}
-
-TEST_F(DCMotorTest, ThermalSteadyState) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint" damping="10000"/>
-        <geom size="1" mass="10000"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               thermal="0.1 0.1 0 0 25 25"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  double R = 2.0, V = 10.0;
-  double RT = 0.1;
-  double dT_ss = RT * V * V / R;
-
-  data->ctrl[0] = V;
-  for (int i = 0; i < 10000; i++) {
-    mj_step(model.get(), data.get());
-  }
-
-  int adr = model->actuator_actadr[0];
-  EXPECT_NEAR(data->act[adr], dT_ss, 1e-4);
-}
-
-TEST_F(DCMotorTest, ThermalAffectsForce) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               thermal="0.1 0.1 0 0.004 25 25"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  double K = 0.05, R = 2.0, V = 10.0;
-  double alpha = 0.004;
-  int adr = model->actuator_actadr[0];
-
-  data->ctrl[0] = V;
-  data->act[adr] = 0;
-  mj_forward(model.get(), data.get());
-  double force_cold = data->actuator_force[0];
-  EXPECT_NEAR(force_cold, K / R * V, MjTol(1e-12, 1e-5));
-
-  double dT = 50;
-  data->act[adr] = dT;
-  mj_forward(model.get(), data.get());
-  double R_hot = R * (1 + alpha * dT);
-  double force_hot = data->actuator_force[0];
-  EXPECT_NEAR(force_hot, K / R_hot * V, MjTol(1e-12, 1e-5));
-  EXPECT_LT(force_hot, force_cold);
-}
-
-// Temperature slot must be correctly offset past slew and integral states.
-TEST_F(DCMotorTest, ThermalAffectsForceWithController) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               input="pos vel" controller="1.0 1.0 0 5.0 0"
-               thermal="0.1 0.1 0 0.004 25 25"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // slot order: slew(0), integral(1), temperature(2)
-  ASSERT_EQ(model->actuator_actnum[0], 3);
-  int adr = model->actuator_actadr[0];
-  int temp_adr = adr + 2;  // temperature is slot 2
-
-  double R = 2.0, alpha = 0.004;
-  double dT = 50;
-  data->act[adr] = 1.0;      // slew state = ctrl: no rate-limiting applied
-  data->act[adr + 1] = 0.0;  // integral state x_I = 0
-  data->act[temp_adr] = dT;  // temperature rise above ambient
-  data->ctrl[0] = 1.0;       // position setpoint = 1.0, qpos = 0, error = 1.0
-  mj_forward(model.get(), data.get());
-
-  // u_eff = ctrl = 1.0 (no slew applied since act[slew] == ctrl)
-  // torque command tau = kp*(u_eff - length) = 1.0; the tau->V map uses the
-  // nameplate resistance, so the hot motor under-delivers by R/R(T):
-  // V = R/K * tau = 40, force = K/R(T) * V = (R/R(T)) * tau
-  double R_hot = R * (1 + alpha * dT);
-  EXPECT_NEAR(data->actuator_force[0], R / R_hot * 1.0, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, StatelessPositionMode) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" input="pos vel" controller="2.0 0 0.5 0 0"
-               motorconst="0.05" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // setpoint inputs are named
-  EXPECT_STREQ(mj_actuatorInputName(model.get(), 0, 0), "pos");
-  EXPECT_STREQ(mj_actuatorInputName(model.get(), 0, 1), "vel");
-
-  // Position target 5.0, current pos 0.0, current vel 0.0
-  data->ctrl[0] = 5.0;
-  mj_forward(model.get(), data.get());
-
-  // torque-space controller with back-EMF compensation: force = kp*(qref - l)
-  // force = 2.0 * 5.0 = 10.0, exactly
-  EXPECT_NEAR(data->actuator_force[0], 10.0, MjTol(1e-12, 1e-5));
-
-  // Velocity penalty
-  data->qvel[0] = 2.0;
-  mj_forward(model.get(), data.get());
-  // force = kp*(qref - l) - kd*omega = 10.0 - 0.5*2.0 = 9.0: no back-EMF droop
-  EXPECT_NEAR(data->actuator_force[0], 9.0, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, StatelessVelocityMode) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" input="pos vel" controller="0 0 3.0 0 0"
-               motorconst="0.05" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Velocity target 4.0 (second input), current vel 1.0
-  data->ctrl[1] = 4.0;
-  data->qvel[0] = 1.0;
-  mj_forward(model.get(), data.get());
-
-  // force = kd * (vref - omega) = 3.0 * (4.0 - 1.0) = 9.0, exactly
-  EXPECT_NEAR(data->actuator_force[0], 9.0, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, StatefulPositionMode) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" input="pos vel" controller="2.0 0.5 0.1 10.0 5.0"
-               motorconst="0.05" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Controller states: 1 for slew, 1 for ki -> actnum = 2
-  ASSERT_EQ(model->actuator_actnum[0], 2);
-  int adr = model->actuator_actadr[0];
-
-  // Current states
-  double u_prev = 1.0;
-  double x_I = 2.0;
-  data->act[adr] = u_prev;
-  data->act[adr + 1] = x_I;
-
-  // target 5.0 position, current 0.0
-  data->ctrl[0] = 5.0;
-  data->qvel[0] = 0.5;
-  mj_forward(model.get(), data.get());
-
-  // slew bounding: s = 10.0, dt = 0.001. max_change = 0.01
-  // Target = 5.0. It is upper bounded by u_prev + 0.01 = 1.01
-  EXPECT_NEAR(data->act_dot[adr], 10.0, MjTol(1e-12, 1e-5));
-
-  // PI error: error = u_eff - length = 1.01 - 0.0 = 1.01
-  EXPECT_NEAR(data->act_dot[adr + 1], 1.01, MjTol(1e-12, 1e-5));
-
-  // force = kp * (u_eff - length) + ki * x_I - kd * omega
-  //       = 2.0 * 1.01 + 0.5 * 2.0 - 0.1 * 0.5 = 2.97, exactly
-  EXPECT_NEAR(data->actuator_force[0], 2.97, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, StatefulPositionWithCurrentMode) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" input="pos vel" controller="2.0 0.5 0.1 10.0 5.0"
-               motorconst="0.05" resistance="2.0" inductance="1.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Controller states: slew (0), ki (1), current (2). actnum = 3
-  ASSERT_EQ(model->actuator_actnum[0], 3);
-  int adr = model->actuator_actadr[0];
-
-  double u_prev = 1.0;
-  double x_I = 2.0;
-  double current = 0.5;
-  data->act[adr] = u_prev;
-  data->act[adr + 1] = x_I;
-  data->act[adr + 2] = current;
-
-  // Target 5.0 position, velocity 0.5
-  data->ctrl[0] = 5.0;
-  data->qvel[0] = 0.5;
-  mj_forward(model.get(), data.get());
-
-  // Slew bounding: max_change = 0.01, u_eff = 1.01
-  EXPECT_NEAR(data->act_dot[adr], 10.0, MjTol(1e-12, 1e-5));
-
-  // PI error: error = u_eff - length = 1.01
-  EXPECT_NEAR(data->act_dot[adr + 1], 1.01, MjTol(1e-12, 1e-5));
-
-  // torque command: tau = kp * (u_eff - length) + ki * x_I - kd * omega
-  //                      = 2.0 * 1.01 + 0.5 * 2.0 - 0.1 * 0.5 = 2.97
-  // tau->V map with back-EMF compensation:
-  // V = R/K * tau + K * omega = 2.0/0.05 * 2.97 + 0.05 * 0.5 = 118.825
-
-  // Current filter:
-  // t_e = L / R = 1.0 / 2.0 = 0.5
-  // di/dt = (V/R - K/R * omega - i) / t_e
-  // di/dt = (118.825/2.0 - 0.05/2.0 * 0.5 - 0.5) / 0.5 = 117.8
-  EXPECT_NEAR(data->act_dot[adr + 2], 117.8, MjTol(1e-12, 1e-4));
-
-  // Force is K * next_activation (actearly is always on for DC motors)
-  // Inline mj_nextActivation for te = 0.5
-  mjtNum te = 0.5;
-  mjtNum h = model->opt.timestep;
-  mjtNum next_i = 0.5 + data->act_dot[adr + 2] * te * (1 - mju_exp(-h / te));
-  EXPECT_NEAR(data->actuator_force[0], 0.05 * next_i, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, StatefulVelocityMode) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" input="pos vel" controller="3.0 1.0 0 0 2.0"
-               motorconst="0.05" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Controller states: 1 for ki (no slew)
-  ASSERT_EQ(model->actuator_actnum[0], 1);
-  int adr = model->actuator_actadr[0];
-
-  double x_I = 2.0;  // Exactly at Imax limit (Imax = 2.0)
-  data->act[adr] = x_I;
-
-  // position target 4.0, current pos 0, current vel 1.0 (kd = 0)
-  data->ctrl[0] = 4.0;
-  data->qvel[0] = 1.0;
-  mj_forward(model.get(), data.get());
-
-  // error = 4.0; since x_I == Imax (2.0) and error > 0, act_dot clamps to 0
-  EXPECT_NEAR(data->act_dot[adr], 0.0, MjTol(1e-12, 1e-5));
-
-  // force = kp * (qref - l) + ki * x_I = 3.0 * (4.0 - 0.0) + 1.0 * 2.0 = 14.0
-  EXPECT_NEAR(data->actuator_force[0], 14.0, MjTol(1e-12, 1e-5));
-
-  // repeat with non-zero joint position
-  data->qpos[0] = 1.5;
-  mj_forward(model.get(), data.get());
-
-  // force = 3.0 * (4.0 - 1.5) + 1.0 * 2.0 = 9.5
-  EXPECT_NEAR(data->actuator_force[0], 9.5, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, CurrentPlusThermal) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint" damping="10000"/>
-        <geom size="1" mass="10000"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               inductance="0.01 0" thermal="10 5 0 0.004 25 25"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  ASSERT_EQ(model->actuator_actnum[0], 2);
-  int adr = model->actuator_actadr[0];
-
-  double K = 0.05, R = 2.0, V = 12.0;
-  double te = 0.01 / R;
-  double RT = 10.0, C = 5.0;
-
-  double current = 3.0;
-  double dT = 10.0;
-  data->act[adr] = dT;
-  data->act[adr + 1] = current;
-  data->ctrl[0] = V;
-  mj_forward(model.get(), data.get());
-
-  // Force uses next_activation (actearly is always on for DC motors)
-  // Inline mj_nextActivation for te = 0.01 / R = 0.005
-  mjtNum h = model->opt.timestep;
-  mjtNum next_i =
-      current + data->act_dot[adr + 1] * te * (1 - mju_exp(-h / te));
-  EXPECT_NEAR(data->actuator_force[0], K * next_i, MjTol(1e-12, 1e-5));
-
-  double R_hot = R * (1 + 0.004 * dT);
-  double T_dot = (R_hot * current * current - dT / RT) / C;
-  EXPECT_NEAR(data->act_dot[adr], T_dot, MjTol(1e-10, 1e-4));
-
-  double omega = data->qvel[0];
-  double i_dot = (V / R_hot - K / R_hot * omega - current) / te;
-  EXPECT_NEAR(data->act_dot[adr + 1], i_dot, MjTol(1e-10, 1e-3));
-}
-
-TEST_F(DCMotorTest, CurrentRateLimit) {
-  // Verifies that saturation:current_rate clamps di/dt.
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint" damping="10000"/>
-        <geom size="1" mass="10000"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               inductance="0.01 0" saturation="0 0 100"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  ASSERT_EQ(model->actuator_actnum[0], 1);
-  int adr = model->actuator_actadr[0];
-
-  double V = 12.0;
-  double dimax = 100.0;  // A/s rate limit
-
-  // unclamped: i_dot = (V/R - 0 - 0) / te = 6 / 0.005 = 1200 A/s >> dimax
-  data->act[adr] = 0;  // current = 0
-  data->ctrl[0] = V;
-  mj_forward(model.get(), data.get());
-
-  // i_dot should be clipped to +dimax
-  EXPECT_NEAR(data->act_dot[adr], dimax, MjTol(1e-12, 1e-5));
-
-  // reverse: large negative drive
-  data->ctrl[0] = -V;
-  mj_forward(model.get(), data.get());
-
-  // i_dot should be clipped to -dimax
-  EXPECT_NEAR(data->act_dot[adr], -dimax, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, VoltageLimit) {
-  // verifies that saturation:voltage clamps voltage
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               input="pos vel" controller="1 0 0 0 0 10.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Vmax = 10.0, ctrl = 20.0
-  // force = K/R * Vmax = 0.05 / 2.0 * 10.0 = 0.25
-  data->ctrl[0] = 20.0;
-  mj_forward(model.get(), data.get());
-
-  EXPECT_NEAR(data->actuator_force[0], 0.25, MjTol(1e-12, 1e-5));
-
-  // negative drive
-  data->ctrl[0] = -20.0;
-  mj_forward(model.get(), data.get());
-
-  EXPECT_NEAR(data->actuator_force[0], -0.25, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, IntegralClamp) {
-  // verifies that controller Imax clamps integral state
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" input="pos vel" controller="2.0 0.5 0 0 5.0"
-               motorconst="0.05" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Imax = 5.0
-  ASSERT_EQ(model->actuator_actnum[0], 1);  // only ki is stateful
-  int adr = model->actuator_actadr[0];
-
-  // set integral state to Imax
-  data->act[adr] = 5.0;
-
-  // set target to generate positive error (ctrl - length)
-  data->ctrl[0] = 1.0;  // target
-  data->qpos[0] = 0.0;  // length = 0
-
-  mj_forward(model.get(), data.get());
-
-  // act_dot should be clamped to 0 because act >= Imax and error > 0
-  EXPECT_NEAR(data->act_dot[adr], 0.0, MjTol(1e-12, 1e-5));
-
-  // set target to generate negative error
-  data->ctrl[0] = -1.0;
-  mj_forward(model.get(), data.get());
-
-  // act_dot should be negative (not clamped)
-  EXPECT_NEAR(data->act_dot[adr], -1.0, MjTol(1e-12, 1e-5));
-
-  // set integral state to -Imax
-  data->act[adr] = -5.0;
-
-  // set target to generate negative error
-  data->ctrl[0] = -1.0;
-  data->qpos[0] = 0.0;
-  mj_forward(model.get(), data.get());
-
-  // act_dot should be clamped to 0 because act <= -Imax and error < 0
-  EXPECT_NEAR(data->act_dot[adr], 0.0, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, LuGreExactIntegration) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1" mass="1e6"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               damping="0.01" lugre="100 1 0.5 0.7 10"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  ASSERT_EQ(model->actuator_actnum[0], 1);
-  int adr = model->actuator_actadr[0];
-
-  double sigma0 = 100, F_C = 0.5, F_S = 0.7, v_S = 10;
-  double z0 = 0.002;
-  double v = 0.5;
-  double h = model->opt.timestep;
-
-  data->act[adr] = z0;
-  data->qvel[0] = v;
-
-  double ratio = v / v_S;
-  double g_v = F_C + (F_S - F_C) * mju_exp(-ratio * ratio);
-  double a = -sigma0 * std::abs(v) / g_v;
-  double exp_ah = mju_exp(a * h);
-  double int_h = (exp_ah - 1) / a;
-  double z_new = exp_ah * z0 + int_h * v;
-
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->act[adr], z_new, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(DCMotorTest, LuGreSteadyState) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1" mass="1e6"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               damping="0.01" lugre="100 1 0.5 0.7 10"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  int adr = model->actuator_actadr[0];
-
-  double sigma0 = 100, sigma2 = 0.01;
-  double F_C = 0.5, F_S = 0.7, v_S = 10;
-  double K = 0.05, R = 2.0;
-  double v = 0.5;
-
-  data->qvel[0] = v;
-  data->ctrl[0] = 0;
-  for (int i = 0; i < 10000; i++) {
-    mj_step(model.get(), data.get());
-  }
-
-  double ratio = v / v_S;
-  double g_v = F_C + (F_S - F_C) * mju_exp(-ratio * ratio);
-  double z_ss = g_v / sigma0;
-  EXPECT_NEAR(data->act[adr], z_ss, 1e-4);
-
-  EXPECT_MJTNUM_EQ(model->actuator_damping[0], sigma2);
-  double back_emf = K * K / R * data->qvel[0];
-  double lugre_ss = g_v;
-  EXPECT_NEAR(data->actuator_force[0], -back_emf - lugre_ss, 1e-3);
-}
-
-TEST_F(DCMotorTest, LuGreBristleSpring) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="joint" motorconst="0.05" resistance="2.0"
-               damping="0.01" lugre="100 1 0.5 0.7 10"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  int adr = model->actuator_actadr[0];
-  double sigma0 = 100;
-  double X = 0.01;
-
-  data->act[adr] = X;
-  data->ctrl[0] = 0;
-  mj_forward(model.get(), data.get());
-
-  EXPECT_NEAR(data->actuator_force[0], -sigma0 * X, MjTol(1e-12, 1e-5));
-}
-
-// ----------------------- filterexact actuators -------------------------------
-
-using FilterExactTest = MujocoTest;
-
-TEST_F(FilterExactTest, ApproximatesContinuousTime) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true"/>
-    <worldbody>
-      <body name="box">
-        <joint name="slide" type="slide" axis="1 0 0" />
-        <geom type="box" size=".05 .05 .05" mass="1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <general joint="slide" dyntype="filter" gainprm="1.1" />
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  const mjtNum kSimulationTime = 1.0;
-
-  // compute act with a small timestep to approximate continuous integration
-  model->opt.timestep = 0.001;
-  mj_resetData(model.get(), data.get());
-  data->ctrl[0] = 1.0;
-  data->act[0] = 0.0;
-  for (int i = 0; i < std::round(kSimulationTime / model->opt.timestep); i++) {
-    mj_step(model.get(), data.get());
-  }
-  mjtNum continuous_act = data->act[0];
-
-  // compute again with a larger timestep, introducing integration error
-  model->opt.timestep = 0.01;
-  mj_resetData(model.get(), data.get());
-  data->ctrl[0] = 1.0;
-  data->act[0] = 0.0;
-  for (int i = 0; i < std::round(kSimulationTime / model->opt.timestep); i++) {
-    mj_step(model.get(), data.get());
-  }
-  mjtNum discrete_act = data->act[0];
-
-  // compute a third time with exact integration
-  model->actuator_dyntype[0] = mjDYN_FILTEREXACT;
-  mj_resetData(model.get(), data.get());
-  data->ctrl[0] = 1.0;
-  data->act[0] = 0.0;
-  for (int i = 0; i < std::round(kSimulationTime / model->opt.timestep); i++) {
-    mj_step(model.get(), data.get());
-  }
-  mjtNum exactfilter_act = data->act[0];
-
-  // expect exact integration to be closer to the small-timestep result
-  EXPECT_THAT(std::abs(continuous_act - discrete_act),
-              Gt(5 * std::abs(continuous_act - exactfilter_act)))
-      << "Using filterexact should make the error at least 5 times smaller";
-}
-
-TEST_F(FilterExactTest, TimestepIndependent) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true"/>
-    <worldbody>
-      <body name="box">
-        <joint name="slide" type="slide" axis="1 0 0" />
-        <geom type="box" size=".05 .05 .05" mass="1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <general joint="slide" dyntype="filterexact" dynprm="0.9" gainprm="1.1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  const mjtNum kSimulationTime = 1.0;
-
-  // first, compute act based on a small timestep and exact integration
-  model->opt.timestep = 0.01;
-  mj_resetData(model.get(), data.get());
-  data->ctrl[0] = 1.0;
-  data->act[0] = 0.0;
-  for (int i = 0; i < std::round(kSimulationTime / model->opt.timestep); i++) {
-    mj_step(model.get(), data.get());
-  }
-  mjtNum small_timestep_act = data->act[0];
-
-  // now change the timestep to a much larger timestep
-  model->opt.timestep = 0.1;
-  mj_resetData(model.get(), data.get());
-  data->ctrl[0] = 1.0;
-  data->act[0] = 0.0;
-  for (int i = 0; i < std::round(kSimulationTime / model->opt.timestep); i++) {
-    mj_step(model.get(), data.get());
-  }
-  mjtNum large_timestep_act = data->act[0];
-
-  EXPECT_NEAR(small_timestep_act, large_timestep_act, MjTol(1e-14, 1e-6))
-      << "exact integration should be independent of timestep to machine "
-         "precision.";
-}
-
-TEST_F(FilterExactTest, ActEqualsCtrlWhenTauIsZero) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true"/>
-    <worldbody>
-      <body name="box">
-        <joint name="slide" type="slide" axis="1 0 0" />
-        <geom type="box" size=".05 .05 .05" mass="1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <general joint="slide" dyntype="filterexact" dynprm="0" gainprm="1.1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  data->ctrl[0] = 0.5;
-  data->act[0] = 0.0;
-  mj_step(model.get(), data.get());
-  EXPECT_EQ(data->act[0], data->ctrl[0]);
-}
-
-// ----------------------- actearly actuator attribute -------------------------
-
-using ActEarlyTest = MujocoTest;
-
-TEST_F(ActEarlyTest, RemovesOneStepDelay) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/actuation/actearly.xml");
-  char error[1000];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  ASSERT_EQ(model->nu % 2, 0) << "number of actuators should be even";
-  ASSERT_EQ(model->nu, model->na) << "all actuators should be stateful";
-  ASSERT_EQ(model->nq, model->nu);
-  EXPECT_GT(model->nu, 0);
-
-  // actuators are ordered in pairs with actearly=true and actearly=false
-  for (int i = 0; i < model->na / 2; i++) {
-    EXPECT_TRUE(model->actuator_actearly[2 * i]);
-    EXPECT_FALSE(model->actuator_actearly[2 * i + 1]);
-  }
-
-  mjData* data = mj_makeData(model);
-
-  // set all controls to the same value and make one step
-  mju_fill(data->ctrl, 0.5, model->nu);
-  mj_step(model, data);
-
-  for (int i = 0; i < model->na / 2; i++) {
-    EXPECT_EQ(data->act[2 * i], data->act[2 * i + 1])
-        << "act should be the same after first step for "
-        << mj_id2name(model, mjOBJ_ACTUATOR, 2 * i);
-
-    EXPECT_EQ(data->act_dot[2 * i], data->act_dot[2 * i + 1])
-        << "act_dot should be the same after first step for "
-        << mj_id2name(model, mjOBJ_ACTUATOR, 2 * i);
-  }
-
-  for (int i = 0; i < 100; i++) {
-    std::vector<mjtNum> last_qfrc(data->qfrc_actuator,
-                                  data->qfrc_actuator + model->nu);
-    mj_step(model, data);
-    for (int j = 0; j < model->nu / 2; j++) {
-      // this is true for torque actuators
-      EXPECT_NEAR(last_qfrc[2 * j], data->qfrc_actuator[2 * j + 1],
-                  MjTol(1e-3, 1e-1))
-          << "there should be a 1 step delay between qfrc for "
-          << mj_id2name(model, mjOBJ_ACTUATOR, 2 * j);
-    }
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(ActEarlyTest, DoesntChangeStateInMjForward) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/actuation/actearly.xml");
-  char error[1000];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  mjData* data = mj_makeData(model);
-
-  // set all controls to the same value and make one step
-  mju_fill(data->ctrl, 0.5, model->nu);
-  mj_forward(model, data);
-
-  for (int i = 0; i < model->na; i++) {
-    EXPECT_EQ(data->act[i], 0) << "act should not change with mj_forward."
-                               << mj_id2name(model, mjOBJ_ACTUATOR, i);
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(ActuatorTest, DisableActuator) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide" axis="1 0 0"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <motor joint="slide" gear="2"  group="0"/>
-      <position joint="slide" kp="1" group="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  data->ctrl[0] = 1.0;
-  data->ctrl[1] = 1.0;
-
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->qfrc_actuator[0], 3.0);
-
-  model->opt.disableactuator = 1 << 0;
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->qfrc_actuator[0], 1.0);
-
-  model->opt.disableactuator = 1 << 1;
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->qfrc_actuator[0], 2.0);
-}
-
-TEST_F(ActuatorTest, DisableActuatorOutOfRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide" axis="1 0 0"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <motor joint="slide" gear="-1" group="-1"/>
-      <motor joint="slide" gear="5"  group="0"/>
-      <motor joint="slide" gear="31" group="31"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  data->ctrl[0] = 1.0;
-  data->ctrl[1] = 1.0;
-  data->ctrl[2] = 1.0;
-
-  // all actuators active
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->qfrc_actuator[0], 35.0);
-
-  // set all bits of disableactuator, only group 1 is disabled
-  model->opt.disableactuator = ~0;
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->qfrc_actuator[0], 30.0);
-}
-
-TEST_F(ActuatorTest, TendonActuatorForceRange) {
-  const std::string xml_path = GetTestDataFilePath(kTendonForceClamp);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  EXPECT_EQ(model->tendon_actfrclimited[0], 0);
-  EXPECT_EQ(model->tendon_actfrcrange[0], 0);
-  EXPECT_EQ(model->tendon_actfrcrange[1], 0);
-
-  EXPECT_EQ(model->tendon_actfrclimited[1], 1);
-  EXPECT_EQ(model->tendon_actfrcrange[2], -1);
-  EXPECT_EQ(model->tendon_actfrcrange[3], 1);
-
-  EXPECT_EQ(model->tendon_actfrclimited[2], 1);
-  EXPECT_EQ(model->tendon_actfrcrange[4], -10);
-  EXPECT_EQ(model->tendon_actfrcrange[5], 10);
-
-  EXPECT_EQ(model->tendon_actfrclimited[3], 1);
-  EXPECT_EQ(model->tendon_actfrcrange[6], 0);
-  EXPECT_EQ(model->tendon_actfrcrange[7], 1);
-
-  data->ctrl[0] = 1;
-  data->ctrl[1] = 1;
-  data->ctrl[2] = 1;
-
-  data->ctrl[3] = -1;
-  data->ctrl[4] = 1;
-
-  data->ctrl[5] = -20;
-  data->ctrl[6] = 5;
-  data->ctrl[7] = -5;
-
-  mj_forward(model, data);
-
-  EXPECT_NEAR(data->actuator_force[0], 1, 1e-6);
-  EXPECT_NEAR(data->actuator_force[1], 1, 1e-6);
-  EXPECT_NEAR(data->actuator_force[2], 1, 1e-6);
-  EXPECT_NEAR(data->actuator_force[3], -1, 1e-6);
-  EXPECT_NEAR(data->actuator_force[4], 1, 1e-6);
-  EXPECT_NEAR(data->actuator_force[5], -10, 1e-6);
-  EXPECT_NEAR(data->actuator_force[6], 5, 1e-6);
-  EXPECT_NEAR(data->actuator_force[7], -5, 1e-6);
-
-  EXPECT_EQ(data->sensordata[0], 3);
-  EXPECT_EQ(data->sensordata[1], 0);
-  EXPECT_EQ(data->sensordata[2], -10);
-  EXPECT_EQ(data->sensordata[3], 0);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// ----------------------------- actuator delays -------------------------------
-
-TEST_F(ForwardTest, ActuatorDelay) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1" mass="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="slide" delay="0.02" nsample="2"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // delay = 0.02 seconds, timestep = 0.01, so ndelay = ceil(0.02/0.01) = 2
-  EXPECT_EQ(model->actuator_history[0], 2);
-
-  // set ctrl to a nonzero value
-  data->ctrl[0] = 10.0;
-
-  // step once: the new ctrl is appended but won't be read for 2 timesteps
-  mj_step(model.get(), data.get());
-  // actuator_force should still be 0 (delayed value from buffer init)
-  EXPECT_NEAR(data->actuator_force[0], 0.0, 1e-10);
-
-  // step again
-  mj_step(model.get(), data.get());
-  // still reading old values
-  EXPECT_NEAR(data->actuator_force[0], 0.0, 1e-10);
-
-  // step a third time - now the delayed ctrl should arrive
-  mj_step(model.get(), data.get());
-  // actuator_force should now be 10.0
-  EXPECT_NEAR(data->actuator_force[0], 10.0, 1e-10);
-}
-
-// Test actuator delay with linear interpolation (interp=1)
-// Uses delay = 1.5*timestep so interpolation is meaningful
-TEST_F(ForwardTest, ActuatorDelayLinearInterp) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="slide" delay="0.015" nsample="3" interp="linear"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // delay = 0.015 seconds = 1.5*timestep, nsample=3, interp=1 (linear)
-  EXPECT_EQ(model->actuator_history[0], 3);
-  EXPECT_EQ(model->actuator_history[1], 1);  // interp=1 (linear)
-  EXPECT_NEAR(model->actuator_delay[0], 0.015, MjTol(1e-10, 5e-6));
-
-  // Set increasing ctrl values
-  // Buffer has samples at times: -0.02, -0.01, 0 with values 0, 0, 0
-  // After step 0 at time=0.01: buffer has times -0.01, 0, 0.01 with values 0,
-  // 0, ctrl[0] Read at time 0.01 - 0.015 = -0.005: interpolate between t=-0.01
-  // and t=0 Since both values are 0, expected actuator_force = 0
-
-  data->ctrl[0] = 10.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->actuator_force[0], 0.0, MjTol(1e-10, 5e-6)) << "step 0";
-
-  // After step 1 at time=0.02: buffer has times 0, 0.01, 0.02 with values 0,
-  // 10, 20 Read at time 0.02 - 0.015 = 0.005: interpolate between t=0 (val=0)
-  // and t=0.01 (val=10) Expected: 0 * 0.5 + 10 * 0.5 = 5
-
-  data->ctrl[0] = 20.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->actuator_force[0], 5.0, MjTol(1e-10, 5e-6)) << "step 1";
-
-  // After step 2 at time=0.03: buffer has times 0.01, 0.02, 0.03 with values
-  // 10, 20, 30 Read at 0.03 - 0.015 = 0.015: interpolate between t=0.01
-  // (val=10) and t=0.02 (val=20) Expected: 10 * 0.5 + 20 * 0.5 = 15
-
-  data->ctrl[0] = 30.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->actuator_force[0], 15.0, MjTol(1e-10, 5e-6)) << "step 2";
-}
-
-TEST_F(ForwardTest, FlexTrilinearInstability) {
-  // model parameters matches user's trilinear.xml
-  constexpr char xml[] = R"(
-  <mujoco model="stability_test">
-      <option gravity="0 0 -9.81" iterations="100" solver="CG" tolerance="1e-10"
-              timestep="0.002" integrator="implicitfast">
-          <flag warmstart="disable" island="disable"/>
-      </option>
-      <worldbody>
-          <geom name="floor" size="0 0 .05" type="plane" condim="3"/>
-          <flexcomp name="bed" type="grid" count="17 17 3" spacing="0.05 0.05 0.05"
-                    pos="0 0 0.05" radius="0.0005" dim="3" mass="10" dof="trilinear">
-              <contact condim="3" solref="0.005 1" solimp=".99 .99 .001" selfcollide="none"/>
-              <elasticity young="865067.00" poisson="0.1" damping="1"/>
-          </flexcomp>
-          <body name="box" pos="0.05 0.05 0.5">
-              <freejoint/>
-              <geom name="box_geom" type="box" size="0.04 0.04 0.04" mass="0.5"
-                    solref="0.001 1" solimp="0.99 0.99 0.01"/>
-          </body>
-      </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  MjDataPtr data = MakeData(model);
-
-  // flex stiffness sign checks
-  // verify correct sign of flex stiffness derivatives before simulation
-  int nv = model->nv;
-  mjtNum h = model->opt.timestep;
-
-  // create a test vector
-  std::vector<mjtNum> v(nv), Mv(nv), flex_Kv(nv);
-  for (int i = 0; i < nv; i++) v[i] = mju_Halton(i, 2) - 0.5;
-  mjtNum vnorm = mju_norm(v.data(), nv);
-  for (int i = 0; i < nv; i++) v[i] /= vnorm;
-
-  mj_forward(model.get(), data.get());
-
-  // compute M*v and stiffness contributions
-  mj_mulM(model.get(), data.get(), Mv.data(), v.data());
-
-  // note: we use mjd_flexInterp_mulK here (unscaled by h^2) to check raw
-  // stiffness logic similar to what we expect in the solver now
-  mjtNum* v_copy = (mjtNum*)mju_malloc(nv * sizeof(mjtNum));
-  mju_copy(v_copy, v.data(), nv);
-  mju_zero(flex_Kv.data(), nv);
-
-  // using mulKD for legacy check consistency, but we know it applies h^2+h*d
-  // scaling; actually, let's stick to the high-level property checks from
-  // FlexStiffnessSign which used mulKD
-  mjd_flexInterp_mul(model.get(), data.get(), flex_Kv.data(), v.data(), h * h,
-                     h, NULL);
-
-  // compute v^T*M*v and v^T*scale*K*v
-  mjtNum vMv = mju_dot(v.data(), Mv.data(), nv);
-  // mulKD returns -scale*K*v, so -flex_Kv = +scale*K*v
-  mjtNum vKv = -mju_dot(v.data(), flex_Kv.data(), nv);
-
-  // assertions from FlexStiffnessSign
-  EXPECT_GT(vKv, 0) << "Stiffness contribution should be positive";
-  EXPECT_GT(vMv + vKv, vMv) << "Full Hessian should exceed M alone";
-
-  mju_free(v_copy);
-
-  // stability simulation
-  // run for steps to catch instability
-  for (int i = 0; i < 2000; ++i) {
-    mj_step(model.get(), data.get());
-
-    for (int j = 0; j < model->nq; ++j) {
-      if (mju_abs(data->qpos[j]) > 1000.0) {
-        ADD_FAILURE() << "Instability detected at step " << i << " dof " << j
-                      << " val " << data->qpos[j];
-        return;  // Exit early
-      }
-    }
-  }
-}
-
-// Verify that flex damping does not affect rigid body motion
-TEST_F(ForwardTest, FlexDampingRigidMotion) {
-  constexpr char xml[] = R"(
-  <mujoco>
-      <option gravity="0 0 0" timestep="0.01" integrator="implicitfast" solver="CG"/>
-      <worldbody>
-          <flexcomp name="flex" type="grid" count="3 3 3" spacing="0.1 0.1 0.1"
-                    pos="0 0 0" euler="45 45 45" radius="0.01" dim="3" mass="1" dof="trilinear">
-              <contact selfcollide="none"/>
-              <elasticity young="1e5" poisson="0.3" damping="10"/>
-          </flexcomp>
-      </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Set initial rigid rotation velocity about Z axis
-  // Center of mass is roughly at 0 0 0 because pos="0 0 0" and symmetric grid.
-  // v = w x r. Let w = (1, 1, 1).
-  mjtNum w[3] = {10.0, 10.0, 10.0};
-  for (int i = 0; i < model->nv / 3; ++i) {
-    int qpos_adr = model->jnt_qposadr[i];
-    int qvel_adr = model->jnt_dofadr[i];
-    mjtNum* pos = data->qpos + qpos_adr;
-    mjtNum* vel = data->qvel + qvel_adr;
-
-    mjtNum r[3] = {pos[0], pos[1], pos[2]};
-    mju_cross(vel, w, r);
-  }
-
-  mj_forward(model.get(), data.get());
-  mjtNum initial_energy = data->energy[0] + data->energy[1];
-
-  // Run a few steps
-  for (int i = 0; i < 10; ++i) {
-    mj_step(model.get(), data.get());
-  }
-
-  mj_forward(model.get(), data.get());
-  mjtNum final_energy = data->energy[0] + data->energy[1];
-
-  // Expect energy conservation.
-  // With the bug, damping force acts on rigid rotation, dissipating energy.
-  EXPECT_NEAR(final_energy, initial_energy, 1e-6 * initial_energy)
-      << "Energy decayed significantly (" << initial_energy << " -> "
-      << final_energy << ")";
-}
-
-// verify that implicit integrator respects parent-flex coupling
-TEST_F(ForwardTest, FlexParentCoupling) {
-  static const char* const kXml = R"(
-  <mujoco>
-    <option integrator="implicit" timestep="0.01" solver="CG"/>
-    <worldbody>
-      <body name="parent" pos="0 0 0">
-        <freejoint/>
-        <geom size=".1" mass="0.1"/>
-        <flexcomp name="flex" type="grid" count="3 3 3" cellcount="1 1 1" spacing="1 1 1"
-                  radius=".01" dim="3" mass="100" dof="trilinear" pos="1 1 1">
-          <contact selfcollide="none"/>
-          <elasticity young="1e4" poisson="0.3" damping="50"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // set state: parent moving, flex deformed
-  // this ensures both H_fp (coupling) and qacc_parent are non-trivial
-  // Run with Euler (timestep 1e-6)
-  model->opt.timestep = 1e-6;
-  model->opt.integrator = mjINT_EULER;
-  mj_resetData(model.get(), data.get());
-  data->qvel[0] = 1.0;
-  data->qpos[7] += 0.01;
-  data->qfrc_applied[0] = 10000.0;   // Apply large force to parent
-  mj_step(model.get(), data.get());  // Step integrates
-  std::vector<mjtNum> qvel_euler(model->nv);
-  mju_copy(qvel_euler.data(), data->qvel, model->nv);
-
-  // Run with Implicit (timestep 1e-6)
-  model->opt.integrator = mjINT_IMPLICIT;
-  mj_resetData(model.get(), data.get());
-  data->qvel[0] = 1.0;
-  data->qpos[7] += 0.01;
-  data->qfrc_applied[0] = 10000.0;
-  mj_step(model.get(), data.get());  // Step integrates
-  std::vector<mjtNum> qvel_implicit(model->nv);
-  mju_copy(qvel_implicit.data(), data->qvel, model->nv);
-
-  // Check agreement
-  double max_diff = 0;
-  for (int i = 0; i < model->nv; ++i) {
-    double diff = mju_abs(qvel_euler[i] - qvel_implicit[i]);
-    if (diff > max_diff) max_diff = diff;
-  }
-
-  // implicit and explicit flex damping legitimately differ at
-  // O(h*damping*K/M) in this comparison
-  EXPECT_LT(max_diff, MjTol(5e-5, 1.5e-2))
-      << "Implicit integrator should match Euler at small timestep";
-}
-
-TEST_F(ForwardTest, TrilinearPinnedParentWithFreejoint) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <option integrator="implicitfast" solver="CG"/>
-  <worldbody>
-    <body>
-      <joint type="free"/>
-      <geom type="box" size="0.13 0.18 0.036" pos="0 0 0.036"/>
-      <body name="parent">
-        <flexcomp name="test" type="grid"
-                  count="3 3 3" spacing=".1 .02 .1" radius="0.001"
-                  pos="0 0 0.1" dof="trilinear" xyaxes="0 1 0 0 0 1" mass="10" dim="3">
-          <contact selfcollide="none"/>
-          <elasticity young="1e5" poisson="0.3" damping="0.1"/>
-          <pin id="0 2 4 6"/>
-        </flexcomp>
-      </body>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-
-  int parent_id = mj_name2id(m.get(), mjOBJ_BODY, "parent");
-  ASSERT_GT(parent_id, 0);
-
-  EXPECT_EQ(m->nflexnode, 8);
-  EXPECT_EQ(m->body_dofnum[parent_id], 0) << "parent body should have 0 DOFs";
-
-  int freejoint_body = m->body_parentid[parent_id];
-  EXPECT_EQ(m->body_dofnum[freejoint_body], 6) << "freejoint body has 6 DOFs";
-
-  mj_resetData(m.get(), d.get());
-  mj_forward(m.get(), d.get());
-
-  for (int i = 0; i < 500; i++) {
-    mj_step(m.get(), d.get());
-
-    ASSERT_FALSE(mju_isBad(d->qpos[0]))
-        << "Simulation became unstable at step " << i;
-    ASSERT_FALSE(mju_isBad(d->qvel[0]))
-        << "Velocity became unstable at step " << i;
-
-    for (int j = 0; j < m->nq; j++) {
-      ASSERT_LT(mju_abs(d->qpos[j]), 100.0)
-          << "Position exploded at step " << i << ", qpos[" << j
-          << "]=" << d->qpos[j];
-    }
-    for (int j = 0; j < m->nv; j++) {
-      ASSERT_LT(mju_abs(d->qvel[j]), 1000.0)
-          << "Velocity exploded at step " << i << ", qvel[" << j
-          << "]=" << d->qvel[j];
-    }
-  }
-}
-
-// -------------------- actuator damping and armature --------------------------
-
-using ActuatorDampingTest = MujocoTest;
-
-TEST_F(ActuatorDampingTest, SingleActuatorJointDamping) {
-  // actuator damping=3 with gear=2 should produce same force as
-  // joint damping=12 (3*2^2=12)
-  static constexpr char xml_actuator[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt" gear="2" damping="3"/>
-    </actuator>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  static constexpr char xml_joint[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"
-               damping="12"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
-  ASSERT_THAT(m1.get(), NotNull()) << error;
-  MjDataPtr d1 = MakeData(m1);
-
-  MjModelPtr m2 = LoadModelFromString(xml_joint, error, sizeof(error));
-  ASSERT_THAT(m2.get(), NotNull()) << error;
-  MjDataPtr d2 = MakeData(m2);
-
-  mj_resetDataKeyframe(m1.get(), d1.get(), 0);
-  mj_forward(m1.get(), d1.get());
-
-  mj_resetDataKeyframe(m2.get(), d2.get(), 0);
-  mj_forward(m2.get(), d2.get());
-
-  EXPECT_EQ(d1->qfrc_passive[0], d2->qfrc_passive[0]);
-}
-
-TEST_F(ActuatorDampingTest, SingleActuatorTendonDamping) {
-  // actuator damping through tendon transmission
-  static constexpr char xml_actuator[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <tendon>
-      <fixed name="ten">
-        <joint joint="jnt" coef="1"/>
-      </fixed>
-    </tendon>
-    <actuator>
-      <motor tendon="ten" gear="2" damping="3"/>
-    </actuator>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  static constexpr char xml_tendon[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <tendon>
-      <fixed name="ten" damping="12">
-        <joint joint="jnt" coef="1"/>
-      </fixed>
-    </tendon>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
-  ASSERT_THAT(m1.get(), NotNull()) << error;
-  MjDataPtr d1 = MakeData(m1);
-
-  MjModelPtr m2 = LoadModelFromString(xml_tendon, error, sizeof(error));
-  ASSERT_THAT(m2.get(), NotNull()) << error;
-  MjDataPtr d2 = MakeData(m2);
-
-  mj_resetDataKeyframe(m1.get(), d1.get(), 0);
-  mj_forward(m1.get(), d1.get());
-
-  mj_resetDataKeyframe(m2.get(), d2.get(), 0);
-  mj_forward(m2.get(), d2.get());
-
-  EXPECT_EQ(d1->qfrc_passive[0], d2->qfrc_passive[0]);
-}
-
-TEST_F(ActuatorDampingTest, SingleActuatorArmature) {
-  // actuator armature=0.5 with gear=3 should equal
-  // joint armature=4.5 (0.5*3^2=4.5)
-  static constexpr char xml_actuator[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt" gear="3" armature="0.5"/>
-    </actuator>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  static constexpr char xml_joint[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"
-               armature="4.5"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
-  ASSERT_THAT(m1.get(), NotNull()) << error;
-  MjDataPtr d1 = MakeData(m1);
-
-  MjModelPtr m2 = LoadModelFromString(xml_joint, error, sizeof(error));
-  ASSERT_THAT(m2.get(), NotNull()) << error;
-  MjDataPtr d2 = MakeData(m2);
-
-  mj_resetDataKeyframe(m1.get(), d1.get(), 0);
-  mj_forward(m1.get(), d1.get());
-
-  mj_resetDataKeyframe(m2.get(), d2.get(), 0);
-  mj_forward(m2.get(), d2.get());
-
-  EXPECT_EQ(d1->qacc[0], d2->qacc[0]);
-}
-
-TEST_F(ActuatorDampingTest, MultipleActuatorsAccumulate) {
-  // two actuators: damping=2 gear=3, damping=1 gear=4
-  // equivalent joint damping: 2*9 + 1*16 = 34
-  static constexpr char xml_actuator[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt" gear="3" damping="2"/>
-      <motor joint="jnt" gear="4" damping="1"/>
-    </actuator>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  static constexpr char xml_joint[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"
-               damping="34"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
-  ASSERT_THAT(m1.get(), NotNull()) << error;
-  MjDataPtr d1 = MakeData(m1);
-
-  MjModelPtr m2 = LoadModelFromString(xml_joint, error, sizeof(error));
-  ASSERT_THAT(m2.get(), NotNull()) << error;
-  MjDataPtr d2 = MakeData(m2);
-
-  mj_resetDataKeyframe(m1.get(), d1.get(), 0);
-  mj_forward(m1.get(), d1.get());
-
-  mj_resetDataKeyframe(m2.get(), d2.get(), 0);
-  mj_forward(m2.get(), d2.get());
-
-  EXPECT_EQ(d1->qfrc_passive[0], d2->qfrc_passive[0]);
-}
-
-TEST_F(ActuatorDampingTest, DampingSimulationEquivalence) {
-  // actuator damping=5 gear=2 should match joint damping=20 over time
-  static constexpr char xml_actuator[] = R"(
-  <mujoco>
-    <option gravity="0 0 -10"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="0 0 1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt" gear="2" damping="5"/>
-    </actuator>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  static constexpr char xml_joint[] = R"(
-  <mujoco>
-    <option gravity="0 0 -10"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="0 0 1"
-               damping="20"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
-  ASSERT_THAT(m1.get(), NotNull()) << error;
-  MjDataPtr d1 = MakeData(m1);
-
-  MjModelPtr m2 = LoadModelFromString(xml_joint, error, sizeof(error));
-  ASSERT_THAT(m2.get(), NotNull()) << error;
-  MjDataPtr d2 = MakeData(m2);
-
-  mj_resetDataKeyframe(m1.get(), d1.get(), 0);
-  mj_resetDataKeyframe(m2.get(), d2.get(), 0);
-  for (int i = 0; i < 100; i++) {
-    mj_step(m1.get(), d1.get());
-    mj_step(m2.get(), d2.get());
-  }
-
-  EXPECT_MJTNUM_EQ(d1->qpos[0], d2->qpos[0]);
-  EXPECT_MJTNUM_EQ(d1->qvel[0], d2->qvel[0]);
-}
-
-TEST_F(ActuatorDampingTest, ArmatureSimulationEquivalence) {
-  // actuator armature=2 gear=3 should match joint armature=18 over time
-  static constexpr char xml_actuator[] = R"(
-  <mujoco>
-    <option gravity="0 0 -10"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="0 0 1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt" gear="3" armature="2"/>
-    </actuator>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  static constexpr char xml_joint[] = R"(
-  <mujoco>
-    <option gravity="0 0 -10"/>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="0 0 1"
-               armature="18"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qvel="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m1 = LoadModelFromString(xml_actuator, error, sizeof(error));
-  ASSERT_THAT(m1.get(), NotNull()) << error;
-  MjDataPtr d1 = MakeData(m1);
-
-  MjModelPtr m2 = LoadModelFromString(xml_joint, error, sizeof(error));
-  ASSERT_THAT(m2.get(), NotNull()) << error;
-  MjDataPtr d2 = MakeData(m2);
-
-  mj_resetDataKeyframe(m1.get(), d1.get(), 0);
-  mj_resetDataKeyframe(m2.get(), d2.get(), 0);
-  for (int i = 0; i < 100; i++) {
-    mj_step(m1.get(), d1.get());
-    mj_step(m2.get(), d2.get());
-  }
-
-  EXPECT_MJTNUM_EQ(d1->qpos[0], d2->qpos[0]);
-  EXPECT_MJTNUM_EQ(d1->qvel[0], d2->qvel[0]);
-}
-
-TEST_F(ActuatorDampingTest, UtilityFunctionValues) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt" gear="5" damping="7" armature="3"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  mjtNum poly[mjNPOLY] = {0};
-  EXPECT_EQ(mj_actuatorDamping(m.get(), mjOBJ_JOINT, 0, poly), 175);
-  EXPECT_EQ(mj_actuatorArmature(m.get(), mjOBJ_JOINT, 0), 75);
-}
-
-TEST_F(ActuatorDampingTest, NonlinearDamping) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt" gear="3" damping="2 0.5 0.1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  // linear damping: 2 * gear^2 = 18
-  mjtNum poly0[mjNPOLY] = {0};
-  EXPECT_EQ(mj_actuatorDamping(m.get(), mjOBJ_JOINT, 0, poly0), 18);
-
-  // poly coefficients scaled by gear^2
-  mjtNum poly[mjNPOLY] = {0};
-  mj_actuatorDamping(m.get(), mjOBJ_JOINT, 0, poly);
-  EXPECT_MJTNUM_EQ(poly[0], 0.5 * 9);  // 4.5
-  EXPECT_MJTNUM_EQ(poly[1], 0.1 * 9);  // 0.9
-}
-
-TEST_F(ActuatorDampingTest, DampingVsKvGearScaling) {
-  // Single model with two parallel bodies: one using kv, one using damping.
-  // Both produce the same joint-space damping force:
-  //   kv:      qfrc_actuator contribution = -kv * gear^2 * qvel
-  //   damping: qfrc_passive  contribution = -damping * gear^2 * qvel
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0" integrator="implicitfast"/>
-    <worldbody>
-      <body name="kv_body">
-        <joint name="jnt_kv" type="slide" axis="1 0 0"/>
-        <geom size="1"/>
-      </body>
-      <body name="damp_body" pos="5 0 0">
-        <joint name="jnt_damp" type="slide" axis="1 0 0"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt_kv" kp="0" kv="5" gear="3"/>
-      <position joint="jnt_damp" kp="0" damping="5" gear="3"/>
-    </actuator>
-    <keyframe>
-      <key qvel="1 1"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // check forces at initial state
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-  mj_forward(m.get(), d.get());
-
-  // kv force arrives via qfrc_actuator, damping via qfrc_passive
-  mjtNum frc_kv = d->qfrc_actuator[0];
-  mjtNum frc_damp = d->qfrc_passive[1];
-  EXPECT_NEAR(frc_kv, frc_damp, MjTol(1e-12, 1e-5));
-
-  // expected force = -5 * 3^2 * 1 = -45
-  EXPECT_NEAR(frc_damp, -45, MjTol(1e-12, 1e-5));
-
-  // simulate and check trajectory equivalence
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-  for (int i = 0; i < 100; i++) {
-    mj_step(m.get(), d.get());
-  }
-
-  EXPECT_NEAR(d->qpos[0], d->qpos[1], MjTol(1e-12, 1e-5))
-      << "position trajectory mismatch";
-  EXPECT_NEAR(d->qvel[0], d->qvel[1], MjTol(1e-12, 1e-5))
-      << "velocity trajectory mismatch";
-}
-
-// flex sheet dropping on a plane should not gain energy from implicit bending
-// Passive flex contact stiffness is far beyond the explicit limit (~50x) because its curvature is
-// carried by the metric. Both curvature and shift are needed; without the shift it rings apart.
-TEST_F(ImplicitIntegratorTest, PassiveFlexContactIsImplicit) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.002" integrator="implicitfast" solver="CG" iterations="400"/>
-    <worldbody>
-      <flexcomp name="lower" type="grid" dim="2" count="9 9 1" spacing=".04 .04 1"
-                radius=".004" mass=".3" pos="0 0 .2">
-        <contact selfcollide="auto" passive="true"/>
-        <elasticity young="1e5" poisson=".2" thickness="2e-3" elastic2d="both" damping="1e-4"/>
-        <pin id="0 8 72 80"/>
-      </flexcomp>
-      <flexcomp name="upper" type="grid" dim="2" count="5 5 1" spacing=".04 .04 1"
-                radius=".004" mass=".1" pos="0 0 .27">
-        <contact selfcollide="auto" passive="true"/>
-        <elasticity young="1e5" poisson=".2" thickness="2e-3" elastic2d="both" damping="1e-4"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  const mjModel* model = m.get();
-  mjData* data = d.get();
-
-  // Physical peak speed is ~2 m/s; without the shift this scene reaches 143 m/s.
-  mjtNum vmax = 0;
-  for (int i = 0; i < 1000; i++) {
-    mj_step(model, data);
-    for (int j = 0; j < model->nv; j++) {
-      vmax = mju_max(vmax, mju_abs(data->qvel[j]));
-    }
-    ASSERT_FALSE(data->warning[mjWARN_BADQACC].number) << "diverged at step " << i;
-  }
-  EXPECT_LT(vmax, 4.0) << "peak speed " << vmax;
-
-  // Upper sheet must not pass through the lower one: check that its lowest vertex stays above
-  // the lower sheet's lowest point.
-  mjtNum lo[2] = {1e30, 1e30};
-  for (int k = 0; k < 2; k++) {
-    int f = mj_name2id(model, mjOBJ_FLEX, k ? "upper" : "lower");
-    for (int i = 0; i < model->flex_vertnum[f]; i++) {
-      lo[k] = mju_min(lo[k], data->flexvert_xpos[3*(model->flex_vertadr[f] + i) + 2]);
-    }
-  }
-  EXPECT_GT(lo[1], lo[0] - 0.01) << "upper sheet passed through: lowest z " << lo[1]
-                                 << " against the lower sheet's " << lo[0];
-
-}
-
-TEST_F(ImplicitIntegratorTest, FlexContactEnergy) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 -10" timestep="0.001" integrator="implicitfast"
-            solver="CG" tolerance="1e-6">
-      <flag energy="enable"/>
-    </option>
-    <default>
-      <geom solref="0.003 1"/>
-    </default>
-    <worldbody>
-      <geom type="plane" size="5 5 0.1"/>
-      <flexcomp type="grid" count="8 8 1" spacing=".04 .04 .04"
-                radius=".01" name="sheet" dim="2" pos="0 0 0.02" mass="0.1">
-        <edge equality="true" damping="0.1"/>
-        <elasticity young="3e6" poisson="0" thickness="2e-2"
-                    elastic2d="bend" damping="0"/>
-        <contact solref="0.003 1" internal="false" selfcollide="none"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  ASSERT_EQ(m->nflex, 1);
-
-  MjDataPtr d = MakeData(m);
-
-  // compute initial energy
-  mj_forward(m.get(), d.get());
-  mjtNum initial_energy = d->energy[0] + d->energy[1];
-  ASSERT_GT(initial_energy, 0);
-
-  // simulate
-  mjtNum max_energy = initial_energy;
-  int max_energy_step = 0;
-  int nsteps = 500;
-  for (int i = 0; i < nsteps; i++) {
-    mj_step(m.get(), d.get());
-    mjtNum total_energy = d->energy[0] + d->energy[1];
-    if (total_energy > max_energy) {
-      max_energy = total_energy;
-      max_energy_step = i + 1;
-    }
-  }
-
-  mjtNum energy_ratio = max_energy / initial_energy;
-
-  EXPECT_LE(energy_ratio, 1.01)
-      << "contact solver injected energy: max_energy/initial_energy = "
-      << energy_ratio << " (max at step " << max_energy_step << ")"
-      << "\n  initial_energy = " << initial_energy
-      << "\n  max_energy     = " << max_energy;
-}
-
-// bending damping on a flat flex must dissipate energy with implicit integrator
-TEST_F(ImplicitIntegratorTest, BendingDampingDecaysEnergy) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0" timestep="0.001" integrator="implicitfast" solver="CG">
-      <flag energy="enable"/>
-    </option>
-    <worldbody>
-      <flexcomp type="grid" count="6 6 1" spacing=".1 .1 .1"
-                radius=".005" name="sheet" dim="2" mass="0.1">
-        <edge equality="false" damping="0" stiffness="0"/>
-        <elasticity young="1e6" poisson="0" thickness="0.02"
-                    elastic2d="bend" damping="0.1"/>
-        <contact solref="0.01" internal="false" selfcollide="none"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  ASSERT_EQ(m->nflex, 1);
-  ASSERT_GT(m->flex_damping[0], 0) << "flex_damping not set";
-
-  MjDataPtr d = MakeData(m);
-
-  // perturb a central vertex with upward velocity
-  // vertex layout is 6x6 grid; pick a central vertex (row=3, col=3 -> id=21)
-  int center_vert = 21;
-  int bid = m->flex_vertbodyid[m->flex_vertadr[0] + center_vert];
-  int dofadr = m->body_dofadr[bid];
-  d->qvel[dofadr + 2] = 1.0;  // z-velocity
-
-  // initial forward to compute energy
-  mj_forward(m.get(), d.get());
-  mjtNum initial_energy = d->energy[0] + d->energy[1];
-  ASSERT_GT(initial_energy, 0) << "initial energy should be nonzero";
-
-  // step forward and check energy decay
-  mjtNum max_energy = initial_energy;
-  int nsteps = 100;
-  for (int i = 0; i < nsteps; i++) {
-    mj_step(m.get(), d.get());
-    mjtNum total_energy = d->energy[0] + d->energy[1];
-    max_energy = mju_max(max_energy, total_energy);
-  }
-
-  // energy must never exceed initial (system must not go unstable)
-  EXPECT_LE(max_energy, initial_energy * 1.01)
-      << "energy exceeded initial by more than 1%: max=" << max_energy
-      << ", initial=" << initial_energy;
-
-  // after 100 steps (0.1 seconds), energy should have decayed significantly
-  mjtNum final_energy = d->energy[0] + d->energy[1];
-  EXPECT_LT(final_energy, 0.5 * initial_energy)
-      << "energy did not decay by at least 50% after " << nsteps << " steps"
-      << " (initial=" << initial_energy << ", final=" << final_energy << ")";
-}
-
-// interp stretch stiffness with implicitfast must preserve energy stability
-TEST_F(ImplicitIntegratorTest, InterpStretchEnergy) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0" timestep="0.001" integrator="implicitfast" solver="CG">
-      <flag energy="enable"/>
-    </option>
-    <worldbody>
-      <flexcomp type="grid" count="4 4 4" cellcount="3 3 3"
-                spacing=".05 .05 .05" radius=".005" name="cube"
-                dim="3" mass="10" dof="trilinear">
-        <elasticity young="1e6" poisson="0.3" damping="0"/>
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  MjDataPtr d = MakeData(m);
-
-  // perturb a central vertex with velocity
-  int center_body = m->nbody / 2;
-  int dofadr = m->body_dofadr[center_body];
-  ASSERT_GT(m->body_dofnum[center_body], 0);
-  d->qvel[dofadr + 2] = 1.0;  // z-velocity
-
-  mj_forward(m.get(), d.get());
-  mjtNum initial_energy = d->energy[0] + d->energy[1];
-  ASSERT_GT(initial_energy, 0) << "initial energy should be nonzero";
-
-  // step and track max energy
-  mjtNum max_energy = initial_energy;
-  int nsteps = 50;
-  for (int i = 0; i < nsteps; i++) {
-    mj_step(m.get(), d.get());
-    mjtNum total_energy = d->energy[0] + d->energy[1];
-    max_energy = mju_max(max_energy, total_energy);
-  }
-
-  // energy must not blow up
-  EXPECT_LE(max_energy, initial_energy * 1.01)
-      << "energy exceeded initial by more than 1%: max=" << max_energy
-      << ", initial=" << initial_energy;
-}
-
-// with the implicit effective metric active, inverse dynamics must recover the
-// applied force (zero here): the forward solve is (M+B)*qacc = qfrc_smooth + c
-// + J'*f and the inverse adds the same B*qacc - c terms. This is the fwd/inv
-// consistency fence for the flex-CG dispatch.
-TEST_F(ForwardTest, GatedFlexInverseConsistency) {
-  static const char* const kXml = R"(
-  <mujoco>
-    <option solver="CG" integrator="implicitfast" tolerance="1e-14"/>
-    <worldbody>
-      <flexcomp name="cloth" type="grid" count="6 6 1" spacing="0.1 0.1 0.1"
-                radius=".01" dim="2" mass="1" pos="0 0 1">
-        <contact selfcollide="none" contype="0" conaffinity="0"/>
-        <elasticity young="1e4" poisson="0.3" thickness="0.01"
-                    elastic2d="both" damping="0.5"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(kXml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  int nv = model->nv;
-
-  // deform and settle a few steps under gravity
-  for (int i=0; i < nv; i++) {
-    data->qvel[i] = 0.1 * (mju_Halton(i, 3) - 0.5);
-  }
-  for (int step=0; step < 50; step++) {
-    mj_step(model.get(), data.get());
-  }
-
-  // forward then inverse at the same state
-  mj_forward(model.get(), data.get());
-  mj_inverse(model.get(), data.get());
-
-  // no applied forces: the inverse must return ~zero, at the scale of the
-  // passive forces
-  mjtNum scale = 1 + mju_norm(data->qfrc_passive, nv);
-  EXPECT_LT(mju_norm(data->qfrc_inverse, nv), 1e-6 * scale);
-}
-
-}  // namespace
-
-}  // namespace mujoco
diff --git a/test/engine/engine_inverse_test.cc b/test/engine/engine_inverse_test.cc
deleted file mode 100644
index a687e97f..00000000
--- a/test/engine/engine_inverse_test.cc
+++ /dev/null
@@ -1,221 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_inverse.c.
-
-#include "src/engine/engine_inverse.h"
-
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-using InverseTest = MujocoTest;
-
-const int kSteps = 70;
-static const char* const kModelPath = "testdata/model.xml";
-
-// test standard continuous-time inverse dynamics
-TEST_F(InverseTest, ForwardInverseMatch) {
-  const std::string xml_path = GetTestDataFilePath(kModelPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  mjData* data = mj_makeData(model);
-
-  // set small tolerance and enough iterations for all solvers to converge
-  model->opt.iterations = 500;
-  model->opt.tolerance = 0;
-
-  // solver names for diagnostics
-  const char* solver_name[] = {"PGS", "CG", "Newton"};
-
-  for (int diagexact = 0; diagexact < 2; diagexact++) {
-    if (diagexact) {
-      model->opt.enableflags |= mjENBL_DIAGEXACT;
-    } else {
-      model->opt.enableflags &= ~mjENBL_DIAGEXACT;
-    }
-
-    for (mjtSolver solver : {mjSOL_PGS, mjSOL_CG, mjSOL_NEWTON}) {
-      model->opt.solver = solver;
-      mj_resetData(model, data);
-
-      // simulate, call mj_forward
-      for (int i = 0; i < kSteps; ++i) {
-        mj_step(model, data);
-      }
-      mj_forward(model, data);
-
-      // call built-in testing function
-      mj_compareFwdInv(model, data);
-
-      // per-solver tolerances
-      mjtNum epsilon;
-      switch (solver) {
-      case mjSOL_PGS:    epsilon = MjTol(1e-6, 1e-2);   break;
-      case mjSOL_CG:     epsilon = MjTol(1e-9, 1e-1);   break;
-      case mjSOL_NEWTON: epsilon = MjTol(1e-10, 1e-2);  break;
-      }
-      EXPECT_LT(data->solver_fwdinv[0], epsilon)
-        << solver_name[solver] << " diagexact=" << diagexact;
-      EXPECT_LT(data->solver_fwdinv[1], epsilon)
-        << solver_name[solver] << " diagexact=" << diagexact;
-    }
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// test discrete-time inverse dynamics
-TEST_F(InverseTest, DiscreteInverseMatch) {
-  // load and allocate
-  const std::string xml_path = GetTestDataFilePath(kModelPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  int nv = model->nv;
-  mjData* data = mj_makeData(model);
-  int nstate = mj_stateSize(model, mjSTATE_INTEGRATION);
-  mjtNum* state = (mjtNum*)mju_malloc(nstate * sizeof(mjtNum));
-  mjtNum* qvel_next = (mjtNum*)mju_malloc(nv * sizeof(mjtNum));
-  mjtNum* qacc_fd = (mjtNum*)mju_malloc(nv * sizeof(mjtNum));
-
-  for (auto integrator : {mjINT_EULER, mjINT_IMPLICIT, mjINT_IMPLICITFAST}) {
-    model->opt.integrator = integrator;
-    for (bool invdiscrete : {false, true}) {
-      // set/unset mjENBL_INVDISCRETE flag (affects both forward and inverse)
-      if (invdiscrete) {
-        model->opt.enableflags |= mjENBL_INVDISCRETE;
-      } else {
-        model->opt.enableflags &= ~mjENBL_INVDISCRETE;
-      }
-
-      // simulate
-      mj_resetData(model, data);
-      for (int i = 0; i < kSteps; ++i) {
-        mj_step(model, data);
-      }
-
-      // save state
-      mj_getState(model, data, state, mjSTATE_INTEGRATION);
-
-      // call step, save new qvel
-      mj_step(model, data);
-      mju_copy(qvel_next, data->qvel, nv);
-
-      // reset the state, compute discrete-time (finite-differenced) qacc
-      mj_setState(model, data, state, mjSTATE_INTEGRATION);
-      mju_sub(qacc_fd, qvel_next, data->qvel, nv);
-      mju_scl(qacc_fd, qacc_fd, 1/model->opt.timestep, nv);
-
-      // call mj_forward, overwrite qacc with qacc_fd
-      mj_forward(model, data);
-      mju_copy(data->qacc, qacc_fd, nv);
-
-      // call built-in testing function
-      mj_compareFwdInv(model, data);
-
-      if (invdiscrete) {
-        mjtNum epsilon = MjTol(1e-9, 0.05);
-        EXPECT_LT(data->solver_fwdinv[0], epsilon);
-        EXPECT_LT(data->solver_fwdinv[1], epsilon);
-      } else {
-        EXPECT_GT(data->solver_fwdinv[0], 1.0);
-        EXPECT_GT(data->solver_fwdinv[1], 1.0);
-      }
-    }
-  }
-
-  // deallocate
-  mju_free(qacc_fd);
-  mju_free(qvel_next);
-  mju_free(state);
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// discrete-time inverse dynamics for a spinning free body under implicitfast:
-// exercises the local unsymmetric block (bias derivative) in mj_discreteAcc
-TEST_F(InverseTest, DiscreteInverseFreeBody) {
-  // spinning box resting on a plane: standalone free body with active contacts
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast" timestep="0.002">
-      <flag invdiscrete="enable"/>
-    </option>
-    <worldbody>
-      <geom type="plane" size="2 2 .1" friction="0.2"/>
-      <body pos="0 0 .1">
-        <joint type="free" damping="0.01"/>
-        <geom type="box" size=".2 .15 .1" mass="2" pos=".02 -.01 .03" friction="0.2"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mjModel* m = model.get();
-  mjData* d = data.get();
-  int nv = m->nv;
-
-  // spin about the vertical, small tumble components
-  mj_resetData(m, d);
-  d->qvel[3] = 0.5;
-  d->qvel[4] = -0.3;
-  d->qvel[5] = 20;
-
-  // settle into persistent contact while still spinning
-  for (int i = 0; i < kSteps; i++) {
-    mj_step(m, d);
-  }
-
-  // save state, step, compute finite-differenced acceleration
-  int nstate = mj_stateSize(m, mjSTATE_INTEGRATION);
-  std::vector<mjtNum> state(nstate), qvel_next(nv), qacc_fd(nv);
-  mj_getState(m, d, state.data(), mjSTATE_INTEGRATION);
-  mj_step(m, d);
-  mju_copy(qvel_next.data(), d->qvel, nv);
-  mj_setState(m, d, state.data(), mjSTATE_INTEGRATION);
-  mju_sub(qacc_fd.data(), qvel_next.data(), d->qvel, nv);
-  mju_scl(qacc_fd.data(), qacc_fd.data(), 1 / m->opt.timestep, nv);
-
-  // forward, overwrite qacc with finite-differenced acceleration, compare
-  mj_forward(m, d);
-  ASSERT_GT(d->ncon, 0) << "body should be in contact";
-  ASSERT_GT(mju_abs(d->qvel[5]), 1) << "body should still be spinning";
-  mju_copy(d->qacc, qacc_fd.data(), nv);
-  mj_compareFwdInv(m, d);
-
-  // measured residuals: ~6e-12 double, ~1.5e-2 single (float solver
-  // convergence)
-  mjtNum epsilon = MjTol(1e-10, 0.05);
-  EXPECT_LT(d->solver_fwdinv[0], epsilon);
-  EXPECT_LT(d->solver_fwdinv[1], epsilon);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_io_test.cc b/test/engine/engine_io_test.cc
deleted file mode 100644
index 57da12c5..00000000
--- a/test/engine/engine_io_test.cc
+++ /dev/null
@@ -1,946 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/{engine_io.c and engine_memory.c}.
-
-#include "src/engine/engine_io.h"
-
-#include <array>
-#include <cstdint>
-#include <cstdio>
-#include <cstring>
-#include <filesystem>  // NOLINT
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest-spi.h>  // IWYU pragma: keep
-#include <gtest/gtest.h>
-#include <absl/strings/str_format.h>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_memory.h"
-#include "src/engine/engine_thread.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::ContainsRegex;  // NOLINT(misc-unused-using-decls) asan only
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-
-using EngineIoTest = MujocoTest;
-
-TEST_F(EngineIoTest, VerifySizeModel) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  std::filesystem::path temp_file =
-      (std::filesystem::temp_directory_path() / "model.mjb");
-
-  mj_saveModel(model.get(), temp_file.string().c_str(), NULL, 0);
-
-  std::uintmax_t file_size = std::filesystem::file_size(temp_file);
-  int model_size = mj_sizeModel(model.get());
-
-  std::filesystem::remove(temp_file);
-
-  EXPECT_EQ(file_size, model_size);
-}
-
-TEST_F(EngineIoTest, MakeDataLoadsQpos0) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-  model->qpos0[0] = 1;
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-  EXPECT_EQ(data->qpos[0], 1);
-}
-
-TEST_F(EngineIoTest, MakeDataLoadsMocapBodies) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body mocap="true" pos="42 0 42">
-        <geom type="sphere" size="0.1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-  EXPECT_EQ(data->mocap_pos[0], 42);
-}
-
-TEST_F(EngineIoTest, MakeDataReturnsNullOnFailure) {
-  constexpr char xml[] = "<mujoco/>";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  // fail mj_makeData intentionally with a bad size
-  model->nbody = -1;
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings();
-  MjDataPtr data = MakeData(model);
-  EXPECT_THAT(data, IsNull());
-}
-
-TEST_F(EngineIoTest, ResetVariableSizes) {
-  constexpr char xml[] = "<mujoco/>";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(model.get(), NotNull()) << "Failed to create mjData";
-
-  // don't call mj_forward, vars should be reset
-  EXPECT_EQ(data->ne, 0);
-  EXPECT_EQ(data->nf, 0);
-  EXPECT_EQ(data->nefc, 0);
-  EXPECT_EQ(data->nJ, 0);
-  EXPECT_EQ(data->nA, 0);
-  EXPECT_EQ(data->ncon, 0);
-}
-
-TEST_F(EngineIoTest, MakeDataResetsAllArenaPointerSizes) {
-  constexpr char xml[] = "<mujoco />";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  // without calling mj_forward, all array sizes should be zero.
-  EXPECT_EQ(data->parena, 0) << "expecting empty arena";
-
-#define X(type, name, nr, nc) \
-  EXPECT_EQ(nr* nc, 0) << "expecting (" #nr " x " #nc ") to be zero";
-
-#undef MJ_D
-#undef MJ_M
-#define MJ_D(name) data->name
-#define MJ_M(name) model->name
-  MJDATA_ARENA_POINTERS;
-#undef MJ_D
-#undef MJ_M
-#define MJ_D(n) n
-#define MJ_M(n) n
-#undef X
-}
-
-TEST_F(EngineIoTest, MjvCopyModel) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="tet" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="tet"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model1 = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model1.get(), NotNull()) << error;
-
-  mjModel* model2 = mj_copyModel(nullptr, model1.get());
-  ASSERT_THAT(model2, NotNull()) << error;
-
-  model1->mesh_vert[0] = 0.1;
-  model1->geom_rgba[0] = 0.2;
-  mj_copyModel(model2, model1.get());
-
-  EXPECT_FLOAT_EQ(model2->mesh_vert[0], 0.1);
-  EXPECT_FLOAT_EQ(model2->geom_rgba[0], 0.2);
-
-  model1->mesh_vert[0] = 0.3;
-  model1->geom_rgba[0] = 0.4;
-  mjv_copyModel(model2, model1.get());
-
-  EXPECT_FLOAT_EQ(model2->mesh_vert[0], 0.1);  // unchanged
-  EXPECT_FLOAT_EQ(model2->geom_rgba[0], 0.4);
-
-  mj_deleteModel(model2);
-}
-
-TEST_F(EngineIoTest, MjvCopyData) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="0 0 0.8">
-        <freejoint/>
-        <geom type="sphere" size="0.1"/>
-      </body>
-      <geom type="plane" size="1 1 1"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  MjDataPtr data1 = MakeData(model);
-  mj_forward(model.get(), data1.get());
-  EXPECT_THAT(data1->efc_J, NotNull());
-
-  mjData* data2 = mj_copyData(nullptr, model.get(), data1.get());
-  EXPECT_THAT(data2->efc_J, NotNull());
-
-  mj_deleteData(data2);
-  data2 = mjv_copyData(nullptr, model.get(), data1.get());
-  EXPECT_THAT(data2->efc_J, IsNull());
-
-  mj_deleteData(data2);
-}
-
-using ValidateReferencesTest = MujocoTest;
-
-TEST_F(ValidateReferencesTest, BodyReferences) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-
-  model->jnt_bodyid[0] = 2;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("jnt_bodyid"));
-}
-
-TEST_F(ValidateReferencesTest, AddressRange) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <joint/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-
-  model->body_jntnum[1] = 3;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("body_jntadr"));
-  model->body_jntnum[1] = 2;
-  // Could be more strict and test for -1, but at the moment the code is a bit
-  // lenient.
-  model->body_jntadr[1] = -2;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("body_jntadr"));
-}
-
-TEST_F(ValidateReferencesTest, AddressRangeNegativeNum) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <joint/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-
-  // jntadr + jntnum is within safe range, but jntnum is negative.
-  model->body_jntadr[1] += 5;
-  model->body_jntnum[1] -= 5;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("body_jntnum"));
-}
-
-TEST_F(ValidateReferencesTest, GeomCondim) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <geom size="1" condim="6"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-  model->geom_condim[0] = 7;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("geom_condim"));
-  model->geom_condim[0] = -1;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("geom_condim"));
-}
-
-TEST_F(ValidateReferencesTest, HField) {
-  static const char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="h" nrow="2" ncol="3" size="1 1 1 1" />
-    </asset>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-
-  model->hfield_adr[0] = -2;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("hfield_adr"));
-  model->hfield_adr[0] = 0;
-  model->hfield_ncol[0] = 4;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("hfield_adr"));
-}
-
-TEST_F(ValidateReferencesTest, Texture) {
-  static const char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture name="t" type="2d" width="2" height="3" builtin="flat" />
-    </asset>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-
-  model->tex_adr[0] = -2;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("tex_adr"));
-  model->tex_adr[0] = 0;
-  model->tex_height[0] = 4;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("tex_adr"));
-}
-
-TEST_F(ValidateReferencesTest, GeomPairs) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom name="geom0" size="1"/>
-      </body>
-      <body>
-        <geom name="geom1" size="1"/>
-        <geom name="geom2" size="1"/>
-        <geom name="geom3" size="1"/>
-      </body>
-    </worldbody>
-    <contact>
-      <pair geom1="geom0" geom2="geom3"/>
-    </contact>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-
-  // Invalid geomid=4
-  model->pair_signature[0] = (1 << 16) | 5;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("pair_body1"));
-
-  model->pair_signature[0] = (5 << 16) | 1;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("pair_body2"));
-}
-
-TEST_F(ValidateReferencesTest, SensorsAddress) {
-  // The test will likely only catch sensor size errors for the last sensor
-  // in the model, so iterate over possible last sensors, instead of adding
-  // them all into the same model.
-  static const char xml_template[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body1">
-        <joint name="slider" type="slide" axis="0 0 1"
-            limited="true" range="-.2 .5"/>
-        <geom name="geom1" size="1"/>
-        <site name="site1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      %s
-    </sensor>
-  </mujoco>
-  )";
-  std::vector<std::string> sensor_strings{
-      "<framepos objtype='site' objname='site1'/>",
-      "<rangefinder site='site1'/>",
-      "<gyro site='site1'/>",
-      "<touch site='site1'/>",
-      "<force site='site1'/>",
-      "<torque site='site1'/>",
-      "<jointlimitfrc joint='slider'/>",
-      "<accelerometer site='site1'/>",
-      "<subtreeangmom body='body1'/>",
-  };
-
-  for (const std::string& sensor_string : sensor_strings) {
-    std::string xml = absl::StrFormat(xml_template, sensor_string);
-    std::array<char, 1024> error;
-    MjModelPtr model =
-        LoadModelFromString(xml.c_str(), error.data(), error.size());
-    ASSERT_THAT(model.get(), NotNull())
-        << "Failed to load model: " << error.data();
-
-    EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-  }
-}
-
-TEST_F(ValidateReferencesTest, SensorsAddressUser) {
-  static const char xml[] = R"(
-  <mujoco>
-    <sensor>
-      <user dim="3" user="1 2 3 4 5" />
-      <user dim="2" />
-      <user dim="1" />
-    </sensor>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-}
-
-TEST_F(ValidateReferencesTest, SensorsObj) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body1">
-        <joint/>
-        <geom size="1"/>
-        <site name="site1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <framepos objtype="site" objname="site1" reftype="body" refname="body1"/>
-    </sensor>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  model->sensor_objtype[0] = -1;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("sensor_objtype"));
-  model->sensor_objtype[0] = mjOBJ_SITE;
-
-  model->sensor_objid[0] = model->nsite;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("sensor_objid"));
-  model->sensor_objid[0] = 0;
-
-  model->sensor_reftype[0] = -1;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("sensor_reftype"));
-  model->sensor_reftype[0] = mjOBJ_BODY;
-
-  model->sensor_refid[0] = model->nbody;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("sensor_refid"));
-}
-
-TEST_F(ValidateReferencesTest, MoreBodiesThanGeoms) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom name="geom0" size="1"/>
-      </body>
-      <body>
-        <geom name="geom1" size="1"/>
-      </body>
-    </worldbody>
-    <contact>
-      <pair geom1="geom1" geom2="geom0"/>
-    </contact>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-}
-
-TEST_F(ValidateReferencesTest, BodyExcludes) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body1" />
-      <body name="body2" />
-    </worldbody>
-    <contact>
-      <exclude body1="body1" body2="body2"/>
-    </contact>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-
-  // Invalid bodyid=3
-  model->exclude_signature[0] = (1 << 16) | 4;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("exclude_body1"));
-  model->exclude_signature[0] = (4 << 16) | 2;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("exclude_body2"));
-}
-
-TEST_F(ValidateReferencesTest, EqualityConstraints) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body1">
-        <joint name="joint1"/>
-        <geom name="geom1" size="1"/>
-      </body>
-      <body name="body2">
-        <joint/>
-        <joint name="joint2"/>
-        <geom size="1"/>
-        <geom size="1"/>
-        <geom name="geom2" size="1"/>
-      </body>
-    </worldbody>
-    <tendon>
-      <fixed name="tendon1"><joint joint="joint1" coef="1"/></fixed>
-      <fixed><joint joint="joint1" coef="1"/></fixed>
-      <fixed><joint joint="joint1" coef="1"/></fixed>
-      <fixed><joint joint="joint1" coef="1"/></fixed>
-      <fixed name="tendon2"><joint joint="joint1" coef="1"/></fixed>
-    </tendon>
-    <equality>
-      <connect anchor="0 0 0" body1="body1" />
-      <weld body1="body1" body2="body2" />
-      <joint joint1="joint1"/>
-      <joint joint1="joint1" joint2="joint2"/>
-      <tendon tendon1="tendon1"/>
-      <tendon tendon1="tendon1" tendon2="tendon2"/>
-    </equality>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-
-  // connect constraint
-  model->eq_obj1id[0] = -1;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj1id"));
-  model->eq_obj1id[0] = model->nbody;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj1id"));
-  model->eq_obj1id[0] = 1;
-
-  model->eq_obj2id[0] = -2;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj2id"));
-  model->eq_obj2id[0] = model->nbody;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj2id"));
-  model->eq_obj2id[0] = 0;
-
-  // weld constraint
-  model->eq_obj1id[1] = -1;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj1id"));
-  model->eq_obj1id[1] = model->nbody;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj1id"));
-  model->eq_obj1id[1] = 1;
-
-  model->eq_obj2id[1] = -2;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj2id"));
-  model->eq_obj2id[1] = model->nbody;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("eq_obj2id"));
-  model->eq_obj2id[1] = model->nbody - 1;
-}
-
-TEST_F(ValidateReferencesTest, Tuples) {
-  static const char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body1">
-        <joint name="joint1"/>
-        <geom size="1"/>
-      </body>
-      <body name="body2">
-        <joint/>
-        <joint name="joint2"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <custom>
-      <tuple name="tuple">
-        <element objtype="body" objname="body1"/>
-        <element objtype="joint" objname="joint2"/>
-      </tuple>
-    </custom>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  EXPECT_THAT(mj_validateReferences(model.get()), IsNull());
-
-  model->tuple_objtype[0] = -1;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("tuple_objtype"));
-  model->tuple_objtype[0] = mjOBJ_BODY;
-
-  model->tuple_objid[0] = model->nbody;
-  EXPECT_THAT(mj_validateReferences(model.get()), HasSubstr("tuple_objid"));
-  model->tuple_objid[0] = 1;
-}
-
-TEST_F(EngineIoTest, CanMarkAndFreeStack) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  auto pstack_before = data->pstack;
-  mj_markStack(data.get());
-  EXPECT_GT(data->pstack, pstack_before);
-  mj_freeStack(data.get());
-  EXPECT_EQ(data->pstack, pstack_before);
-}
-
-TEST_F(EngineIoTest, LargeMemory) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <size memory="2400M"/>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  // allocate 2.3G of mjtNums
-  mj_markStack(data.get());
-  size_t num = 2300000000 / sizeof(mjtNum);
-  mjtNum* testNum = mj_stackAllocNum(data.get(), num);
-  testNum[num - 1] = 1;
-  mj_freeStack(data.get());
-
-  // allocate 2.3G of bytes
-  mj_markStack(data.get());
-  num = 2300000000;
-  char* testByte = (char*)mj_stackAllocByte(data.get(), num, alignof(char));
-  testByte[num - 1] = 1;
-  mj_freeStack(data.get());
-}
-
-TEST_F(EngineIoTest, VeryLargeMemory) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <size memory="8G"/>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  if (!model.get()) {
-    // in some test environments, 8GB is too large
-    EXPECT_THAT(error.data(), HasSubstr("Could not allocate memory"));
-  } else {
-    ASSERT_THAT(model.get(), NotNull())
-        << "Failed to load model: " << error.data();
-    MjDataPtr data = MakeData(model);
-    ASSERT_THAT(data, NotNull());
-
-    // allocate 7G of mjtNums
-    mj_markStack(data.get());
-    size_t num = 7516192768ull / sizeof(mjtNum);
-    mjtNum* testNum = mj_stackAllocNum(data.get(), num);
-    testNum[num - 1] = 1;
-    mj_freeStack(data.get());
-
-    // allocate 7G of bytes
-    mj_markStack(data.get());
-    num = 7516192768ull;
-    char* testByte = (char*)mj_stackAllocByte(data.get(), num, alignof(char));
-    testByte[num - 1] = 1;
-    mj_freeStack(data.get());
-  }
-}
-
-struct TestFunctionArgs {
-  int stack_output[1000];
-  int arena_output[1000];
-};
-
-void TestFunction(const mjModel* m, mjData* d, void* args, int i, int j) {
-  TestFunctionArgs* test_args = static_cast<TestFunctionArgs*>(args);
-  mj_markStack(d);
-  int* test_ints = mj_stackAllocInt(d, 10);
-  test_ints[0] = j;
-  test_args->stack_output[j] = test_ints[0];
-  mj_freeStack(d);
-}
-
-TEST_F(EngineIoTest, TestStackShardingForThreads) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-  mju_threadpool(data.get(), 10);
-
-  constexpr int kTasks = 1000;
-  TestFunctionArgs test_function_args;
-  mju_dispatch(model.get(), data.get(), TestFunction, &test_function_args,
-               kTasks);
-
-  for (int i = 0; i < kTasks; ++i) {
-    EXPECT_EQ(i, test_function_args.stack_output[i]);
-  }
-}
-
-#ifdef mjUSEASAN
-void MarkFreeStack(mjData* d, bool free) {
-  mj_markStack(d);
-  if (free) {
-    mj_freeStack(d);
-  }
-}
-
-TEST_F(EngineIoTest, CanDetectStackFrameLeakage) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  // MarkFreeStack correctly calls mj_freeStack, should not error.
-  MarkFreeStack(data.get(), /* free= */ true);
-
-  // MarkFreeStack calls mj_markStack without mj_freeStack, the next call to
-  // mj_freeStack should detect the stack frame leakage.
-  mj_markStack(data.get());
-  MarkFreeStack(data.get(), /* free= */ false);
-  EXPECT_THAT(
-      MjuErrorMessageFrom(mj_freeStack)(data.get()),
-      ContainsRegex(
-          "mj_markStack in MarkFreeStack at .*engine_io_test\\.cc.* has no "
-          "corresponding mj_freeStack"));
-
-  // Dangling stack frames should be detected in mj_deleteData.
-  mj_resetData(model.get(), data.get());
-  mj_markStack(data.get());
-  EXPECT_THAT(
-      MjuErrorMessageFrom(mj_deleteData)(data.get()),
-      ContainsRegex(
-          "mj_markStack in .+EngineIoTest_CanDetectStackFrameLeakage.+ has no "
-          "corresponding mj_freeStack"));
-
-  mj_resetData(model.get(), data.get());
-}
-
-TEST_F(EngineIoTest, RedZoneAlignmentTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  mj_markStack(data.get());
-  mj_stackAllocByte(data.get(), 1, 1);
-  mj_stackAllocByte(data.get(), 1, 1);
-  mj_freeStack(data.get());
-}
-#endif
-
-// Regression test: crafted binary model with overflow-inducing sizes must be
-// safely rejected (not cause heap overflow). This exercises the overflow checks
-// in safeAddToBufferSize on all compilers including MSVC.
-TEST_F(EngineIoTest, LoadModelBufferRejectsOverflowingSizes) {
-  // construct a minimal valid-looking .mjb header
-  int header[5];
-  header[0] = 20;              // ID
-  header[1] = sizeof(mjtNum);  // floating point size
-  // We need the correct nsize and nptr from the current build.
-  // Rather than hardcoding, we create and save a trivial model, then mutate
-  // the sizes to trigger overflow.
-
-  constexpr char xml[] = "<mujoco />";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-
-  // save model to a buffer
-  int bufsize = mj_sizeModel(model.get());
-  ASSERT_GT(bufsize, 0);
-  std::vector<char> buffer(bufsize);
-  mj_saveModel(model.get(), nullptr, buffer.data(), bufsize);
-
-  // locate the size fields in the buffer (after 5-int header)
-  const int header_bytes = 5 * sizeof(int);
-  ASSERT_GT(bufsize, header_bytes + 77 * (int)sizeof(mjtSize));
-
-  // mutate a size field to an extremely large value that would overflow
-  // when multiplied by sizeof(type). ntexdata is a good candidate since it
-  // is a byte count field and gets multiplied by sizeof(mjtByte)==1, but other
-  // fields multiply by sizeof(int) or sizeof(mjtNum), making overflow easier.
-  // Use memcpy to avoid undefined behavior from unaligned access.
-  const int size_offset = header_bytes + 49 * sizeof(mjtSize);
-
-  // set to overflow-inducing value
-  mjtSize overflow_val = static_cast<mjtSize>(SIZE_MAX / 2);
-  std::memcpy(buffer.data() + size_offset, &overflow_val, sizeof(mjtSize));
-
-  // also need to update the nbuffer field (last size) to avoid the early
-  // nbuffer mismatch check — but the overflow should be caught earlier
-  // in safeAddToBufferSize/mj_makeModel before we reach that check.
-
-  // Intercept warnings to prevent them from failing the test.
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings();
-
-  // attempt to load — should return NULL, not crash
-  mjModel* bad_model = mj_loadModelBuffer(buffer.data(), bufsize);
-  EXPECT_THAT(bad_model, IsNull())
-      << "Expected mj_loadModelBuffer to reject overflow-inducing sizes";
-
-  // clean up if somehow it succeeded
-  if (bad_model) {
-    mj_deleteModel(bad_model);
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_island_test.cc b/test/engine/engine_island_test.cc
deleted file mode 100644
index 9a7d9fd2..00000000
--- a/test/engine/engine_island_test.cc
+++ /dev/null
@@ -1,1045 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_island.c.
-
-#include "src/engine/engine_island.h"
-
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_util_sparse.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::DoubleNear;
-using ::testing::ElementsAre;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-using IslandTest = MujocoTest;
-
-
-
-TEST_F(IslandTest, DsuRootReturnsCanonicalRootAndCompressesPath) {
-  int parent[] = {0, 0, 1, 2, 3};
-
-  EXPECT_EQ(mj_dsuRoot(parent, 0), 0);
-  EXPECT_EQ(mj_dsuRoot(parent, 4), 0);
-  EXPECT_THAT(parent, ElementsAre(0, 0, 0, 0, 0));
-}
-
-TEST_F(IslandTest, DsuMergeActivatesEndpointsAndUsesMinimumRoot) {
-  int parent[] = {-1, -1, -1, -1, -1, -1};
-
-  mj_dsuMerge(parent, -1, 4);
-  mj_dsuMerge(parent, 3, -1);
-  mj_dsuMerge(parent, 5, 2);
-  mj_dsuMerge(parent, 4, 5);
-  mj_dsuMerge(parent, 3, 4);
-
-  EXPECT_THAT(parent, ElementsAre(-1, -1, 2, 2, 2, 2));
-  for (int tree = 2; tree < 6; ++tree) {
-    EXPECT_EQ(mj_dsuRoot(parent, tree), 2);
-  }
-  EXPECT_THAT(parent, ElementsAre(-1, -1, 2, 2, 2, 2));
-}
-
-TEST_F(IslandTest, DsuMergeRedundantAndReversedEdgesAreIdempotent) {
-  int parent[] = {-1, -1, -1, -1};
-  mj_dsuMerge(parent, 3, 1);
-  mj_dsuMerge(parent, 2, 1);
-  EXPECT_THAT(parent, ElementsAre(-1, 1, 1, 1));
-
-  mj_dsuMerge(parent, 1, 3);
-  mj_dsuMerge(parent, 3, 1);
-  mj_dsuMerge(parent, 2, 2);
-  mj_dsuMerge(parent, -1, 2);
-  EXPECT_THAT(parent, ElementsAre(-1, 1, 1, 1));
-}
-
-TEST_F(IslandTest, DsuMergeFastPathActivatesBeforeTestingParents) {
-  int self_parent[] = {-1, -1, -1};
-  mj_dsuMerge(self_parent, 1, 1);
-  EXPECT_THAT(self_parent, ElementsAre(-1, 1, -1));
-
-  int static_first[] = {-1, -1, -1};
-  mj_dsuMerge(static_first, -1, 2);
-  EXPECT_THAT(static_first, ElementsAre(-1, -1, 2));
-
-  int static_second[] = {-1, -1, -1};
-  mj_dsuMerge(static_second, 0, -1);
-  EXPECT_THAT(static_second, ElementsAre(0, -1, -1));
-}
-
-TEST_F(IslandTest, DsuMergeFastPathDistinguishesParentsFromRoots) {
-  int distinct_parent[] = {0, 0, 2, 2};
-  mj_dsuMerge(distinct_parent, 1, 3);
-  EXPECT_THAT(distinct_parent, ElementsAre(0, 0, 0, 2));
-
-  int shared_parent[] = {0, 0, 0, 3};
-  mj_dsuMerge(shared_parent, 1, 2);
-  EXPECT_THAT(shared_parent, ElementsAre(0, 0, 0, 3));
-
-  int long_paths[] = {0, 0, 1, 3, 3, 4};
-  mj_dsuMerge(long_paths, 2, 5);
-  EXPECT_THAT(long_paths, ElementsAre(0, 0, 0, 0, 3, 3));
-}
-
-TEST_F(IslandTest, DsuMergeFastPathPreservesCyclesDuplicatesAndForest) {
-  int parent[] = {-1, -1, -1, -1, -1, -1};
-  mj_dsuMerge(parent, 0, 1);
-  mj_dsuMerge(parent, 1, 2);
-  mj_dsuMerge(parent, 2, 0);
-  mj_dsuMerge(parent, 0, 2);
-  mj_dsuMerge(parent, 3, 4);
-  mj_dsuMerge(parent, 4, 5);
-  EXPECT_THAT(parent, ElementsAre(0, 0, 0, 3, 3, 3));
-
-  mj_dsuMerge(parent, 5, 0);
-  EXPECT_THAT(parent, ElementsAre(0, 0, 0, 0, 3, 3));
-}
-
-TEST_F(IslandTest, DsuMergeRejectsStaticSelfIncidence) {
-  int parent[] = {-1, 1, 1, 3};
-
-  EXPECT_EQ(MjuErrorMessageFrom(mj_dsuMerge)(parent, -1, -1),
-            "self-incidence of the static tree");
-  EXPECT_THAT(parent, ElementsAre(-1, 1, 1, 3));
-}
-
-TEST_F(IslandTest, DsuAssignHandlesEmptyAndInactiveInputs) {
-  int island[] = {71};
-  int parent[] = {72};
-  const int tree_dofnum[] = {73};
-  int nidof = -1;
-
-  EXPECT_EQ(mj_dsuAssign(island, parent, tree_dofnum, 0, &nidof), 0);
-  EXPECT_EQ(nidof, 0);
-  EXPECT_THAT(island, ElementsAre(71));
-  EXPECT_THAT(parent, ElementsAre(72));
-
-  parent[0] = -1;
-  EXPECT_EQ(mj_dsuAssign(island, parent, tree_dofnum, 1, &nidof), 0);
-  EXPECT_EQ(nidof, 0);
-  EXPECT_THAT(island, ElementsAre(-1));
-  EXPECT_THAT(parent, ElementsAre(-1));
-}
-
-TEST_F(IslandTest, DsuAssignLabelsComponentsAndCountsOnlyActiveDofs) {
-  int parent[] = {-1, 1, 1, 2, 4, 4, 6};
-  const int tree_dofnum[] = {1000, 0, 3, 5, 7, 11, 13};
-  int island[] = {9, 9, 9, 9, 9, 9, 9};
-  int nidof = -1;
-
-  EXPECT_EQ(mj_dsuAssign(island, parent, tree_dofnum, 7, &nidof), 3);
-  EXPECT_EQ(nidof, 39);
-  EXPECT_THAT(island, ElementsAre(-1, 0, 0, 0, 1, 1, 2));
-  EXPECT_THAT(parent, ElementsAre(-1, 1, 1, 1, 4, 4, 6));
-}
-
-TEST_F(IslandTest, DsuAssignCompressesAscendingMultiHopForest) {
-  int parent[] = {-1, 1, 1, 2, 4, 4, 5, 7, 7, 8};
-  const int tree_dofnum[] = {99, 0, 2, 3, 0, 5, 7, 11, 0, 13};
-  int island[] = {9, 9, 9, 9, 9, 9, 9, 9, 9, 9};
-  int nidof = -1;
-
-  EXPECT_EQ(mj_dsuAssign(island, parent, tree_dofnum, 10, &nidof), 3);
-  EXPECT_EQ(nidof, 41);
-  EXPECT_THAT(island, ElementsAre(-1, 0, 0, 0, 1, 1, 1, 2, 2, 2));
-  EXPECT_THAT(parent, ElementsAre(-1, 1, 1, 1, 4, 4, 4, 7, 7, 7));
-}
-
-TEST_F(IslandTest, DsuAssignCompresses4096NodeAdversarialChain) {
-  constexpr int kTreeCount = 4096;
-  std::vector<int> parent(kTreeCount);
-  std::vector<int> island(kTreeCount, -2);
-  std::vector<int> tree_dofnum(kTreeCount);
-  parent[0] = 0;
-  int expected_nidof = 0;
-  for (int tree = 1; tree < kTreeCount; ++tree) {
-    parent[tree] = tree - 1;
-    tree_dofnum[tree] = tree % 5;
-    expected_nidof += tree_dofnum[tree];
-  }
-
-  int nidof = -1;
-  EXPECT_EQ(mj_dsuAssign(island.data(), parent.data(), tree_dofnum.data(),
-                                kTreeCount, &nidof),
-            1);
-  EXPECT_EQ(nidof, expected_nidof);
-  for (int tree = 0; tree < kTreeCount; ++tree) {
-    EXPECT_EQ(island[tree], 0);
-    EXPECT_EQ(parent[tree], 0);
-  }
-}
-
-TEST_F(IslandTest, DsuHandlesLongConnectedBoundaryCase) {
-  constexpr int kTreeCount = 4096;
-  std::vector<int> parent(kTreeCount, -1);
-  std::vector<int> island(kTreeCount, -2);
-  std::vector<int> tree_dofnum(kTreeCount);
-
-  int expected_nidof = 0;
-  for (int tree = kTreeCount - 1; tree > 0; --tree) {
-    mj_dsuMerge(parent.data(), tree, tree - 1);
-  }
-  for (int tree = 0; tree < kTreeCount; ++tree) {
-    tree_dofnum[tree] = tree % 7;
-    expected_nidof += tree_dofnum[tree];
-  }
-
-  int nidof = -1;
-  EXPECT_EQ(mj_dsuAssign(island.data(), parent.data(), tree_dofnum.data(),
-                                kTreeCount, &nidof),
-            1);
-  EXPECT_EQ(nidof, expected_nidof);
-  for (int tree = 0; tree < kTreeCount; ++tree) {
-    EXPECT_EQ(island[tree], 0);
-    EXPECT_EQ(parent[tree], 0);
-  }
-}
-
-TEST_F(IslandTest, DsuRandomizedDifferentialAgainstGraphTraversal) {
-  constexpr uint32_t kSeed = 0x5eed3396u;
-  constexpr int kTrials = 2000;
-  uint32_t state = kSeed;
-  auto next = [&state]() {
-    state = state * 1664525u + 1013904223u;
-    return state;
-  };
-
-  for (int trial = 0; trial < kTrials; ++trial) {
-    const int ntree = 1 + next() % 64;
-    const int nedge = next() % 192;
-    std::vector<std::array<int, 2>> edges;
-    edges.reserve(nedge);
-    for (int edge = 0; edge < nedge; ++edge) {
-      int tree1;
-      int tree2;
-      switch (next() % 8) {
-        case 0:
-          tree1 = -1;
-          tree2 = next() % ntree;
-          break;
-        case 1:
-          tree1 = next() % ntree;
-          tree2 = -1;
-          break;
-        case 2:
-          tree1 = next() % ntree;
-          tree2 = tree1;
-          break;
-        case 3:
-          if (!edges.empty()) {
-            const auto& previous = edges[next() % edges.size()];
-            tree1 = previous[0];
-            tree2 = previous[1];
-            break;
-          }
-          [[fallthrough]];
-        case 4:
-          if (!edges.empty()) {
-            const auto& previous = edges[next() % edges.size()];
-            tree1 = previous[1];
-            tree2 = previous[0];
-            break;
-          }
-          [[fallthrough]];
-        default:
-          tree1 = next() % ntree;
-          tree2 = next() % ntree;
-          break;
-      }
-      edges.push_back({tree1, tree2});
-    }
-
-    std::vector<int> parent(ntree, -1);
-    for (const auto& edge : edges) {
-      mj_dsuMerge(parent.data(), edge[0], edge[1]);
-    }
-
-    std::vector<int> active(ntree);
-    std::vector<std::vector<int>> adjacent(ntree);
-    for (const auto& edge : edges) {
-      if (edge[0] >= 0) active[edge[0]] = 1;
-      if (edge[1] >= 0) active[edge[1]] = 1;
-      if (edge[0] >= 0 && edge[1] >= 0) {
-        adjacent[edge[0]].push_back(edge[1]);
-        adjacent[edge[1]].push_back(edge[0]);
-      }
-    }
-
-    std::vector<int> expected_island(ntree, -1);
-    std::vector<int> expected_parent(ntree, -1);
-    int expected_nisland = 0;
-    for (int start = 0; start < ntree; ++start) {
-      if (!active[start] || expected_island[start] != -1) continue;
-      std::vector<int> pending = {start};
-      std::vector<int> component;
-      expected_island[start] = expected_nisland;
-      while (!pending.empty()) {
-        const int tree = pending.back();
-        pending.pop_back();
-        component.push_back(tree);
-        for (int neighbor : adjacent[tree]) {
-          if (expected_island[neighbor] == -1) {
-            expected_island[neighbor] = expected_nisland;
-            pending.push_back(neighbor);
-          }
-        }
-      }
-      for (int tree : component) expected_parent[tree] = start;
-      ++expected_nisland;
-    }
-
-    std::vector<int> tree_dofnum(ntree);
-    int expected_nidof = 0;
-    for (int tree = 0; tree < ntree; ++tree) {
-      tree_dofnum[tree] = next() % 8;
-      if (active[tree]) expected_nidof += tree_dofnum[tree];
-    }
-    std::vector<int> island(ntree, -2);
-    int nidof = -1;
-    const int nisland = mj_dsuAssign(
-        island.data(), parent.data(), tree_dofnum.data(), ntree, &nidof);
-
-    SCOPED_TRACE(::testing::Message()
-                 << "seed=" << kSeed << " trial=" << trial << " ntree=" << ntree
-                 << " nedge=" << nedge);
-    EXPECT_EQ(nisland, expected_nisland);
-    EXPECT_EQ(nidof, expected_nidof);
-    EXPECT_EQ(island, expected_island);
-    EXPECT_EQ(parent, expected_parent);
-  }
-}
-
-TEST_F(IslandTest, FloodFillSingleton) {
-  // adjacency matrix for the graph  0   1   2
-  //                                 U       U
-  // (3 singletons, 0 and 2 have self-edges)
-  mjtNum mat[9] = {1, 0, 0, 0, 0, 0, 0, 0, 1};
-  constexpr int nr = 3;
-  constexpr int nnz = 2;
-  int rownnz[nr];
-  int rowadr[nr];
-  int colind[nnz];
-  mjtNum res[nnz];  // unused
-  mju_dense2sparse(res, mat, nr, nr, rownnz, rowadr, colind, nnz);
-
-  // outputs / scratch
-  int island[nr];
-  int scratch[2 * nr];
-
-  // flood fill
-  int nisland = mj_floodFill(island, nr, rownnz, rowadr, colind, scratch);
-
-  EXPECT_EQ(nisland, 2);
-  EXPECT_THAT(island, ElementsAre(0, -1, 1));
-}
-
-TEST_F(IslandTest, FloodFill1) {
-  // adjacency matrix for the graph  0 - 1 - 2
-  mjtNum mat[9] = {0, 1, 0, 1, 0, 1, 0, 1, 0};
-  constexpr int nr = 3;
-  constexpr int nnz = 4;
-  int rownnz[nr];
-  int rowadr[nr];
-  int colind[nnz];
-  mjtNum res[nnz];  // unused
-  mju_dense2sparse(res, mat, nr, nr, rownnz, rowadr, colind, nnz);
-
-  // outputs / stack
-  int island[nr];
-  int stack[nnz];
-
-  int nisland = mj_floodFill(island, nr, rownnz, rowadr, colind, stack);
-
-  EXPECT_EQ(nisland, 1);
-  EXPECT_THAT(island, ElementsAre(0, 0, 0));
-}
-
-TEST_F(IslandTest, FloodFill2) {
-  //  adjacency matrix for the graph   6 – 1 – 4   0 – 3 – 5 – 2
-  mjtNum mat[49] = {
-      0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 0,
-      0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
-  };
-  constexpr int nr = 7;
-  constexpr int nnz = 10;
-  int rownnz[nr];
-  int rowadr[nr];
-  int colind[nnz];
-  mjtNum res[nnz];  // unused
-  mju_dense2sparse(res, mat, nr, nr, rownnz, rowadr, colind, nnz);
-
-  // outputs / stack
-  int island[nr];
-  int stack[nnz];
-
-  int nisland = mj_floodFill(island, nr, rownnz, rowadr, colind, stack);
-
-  EXPECT_EQ(nisland, 2);
-  EXPECT_THAT(island, ElementsAre(0, 1, 0, 0, 1, 0, 1));
-}
-
-TEST_F(IslandTest, FloodFill3a) {
-  //  adjacency matrix for the graph   0   2   1 – 3
-  //                                       U
-  mjtNum mat[16] = {
-      0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0,
-  };
-  constexpr int nr = 4;
-  constexpr int nnz = 3;
-  int rownnz[nr];
-  int rowadr[nr];
-  int colind[nnz];
-  mjtNum res[nnz];  // unused
-  mju_dense2sparse(res, mat, nr, nr, rownnz, rowadr, colind, nnz);
-
-  // outputs / stack
-  int island[nr];
-  int stack[nnz];
-
-  int nisland = mj_floodFill(island, nr, rownnz, rowadr, colind, stack);
-
-  EXPECT_EQ(nisland, 2);
-  EXPECT_THAT(island, ElementsAre(-1, 0, 1, 0));
-}
-
-TEST_F(IslandTest, FloodFill3b) {
-  /*
-    adjacency matrix for the graph   1 – 2   3   4 – 5
-                                     U           | \ |
-                                                 0 – 6
-  */
-  mjtNum mat[49] = {
-      0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-      0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1, 0,
-  };
-  constexpr int nr = 7;
-  constexpr int nnz = 13;
-  int rownnz[nr];
-  int rowadr[nr];
-  int colind[nnz];
-  mjtNum res[nnz];  // unused
-  mju_dense2sparse(res, mat, nr, nr, rownnz, rowadr, colind, nnz);
-
-  // outputs / stack
-  int island[nr];
-  int stack[nnz];
-
-  int nisland = mj_floodFill(island, nr, rownnz, rowadr, colind, stack);
-
-  EXPECT_EQ(nisland, 2);
-  EXPECT_THAT(island, ElementsAre(0, 1, 1, -1, 0, 0, 0));
-}
-
-TEST_F(IslandTest, ProductionStaticFirstAndRepeatedRows) {
-  static constexpr char xml[] = R"(
-<mujoco>
-  <option jacobian="sparse"><flag contact="disable" gravity="disable"/></option>
-  <worldbody>
-    <site name="world"/>
-    <body name="b0">
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint type="slide"/><site name="s0"/>
-    </body>
-    <body name="b1">
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint type="slide"/><site name="s1"/>
-    </body>
-    <body name="b2">
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint type="slide"/><site name="s2"/>
-    </body>
-  </worldbody>
-  <equality>
-    <connect site1="world" site2="s0"/>
-    <connect site1="s1" site2="s2"/>
-  </equality>
-</mujoco>
-)";
-  char error[1024] = {};
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  ASSERT_EQ(model->ntree, 3);
-  ASSERT_EQ(model->nv, 3);
-
-  // The first equality incidence is static first, then dynamic tree 0.
-  ASSERT_EQ(model->eq_objtype[0], mjOBJ_SITE);
-  int body1 = model->site_bodyid[model->eq_obj1id[0]];
-  int body2 = model->site_bodyid[model->eq_obj2id[0]];
-  EXPECT_EQ(model->body_treeid[body1], -1);
-  EXPECT_EQ(model->body_treeid[body2], 0);
-
-  MjDataPtr data = MakeData(model);
-  mj_fwdPosition(model.get(), data.get());
-
-  ASSERT_EQ(data->nefc, 6);
-  EXPECT_EQ(data->nisland, 2);
-  EXPECT_EQ(data->nidof, 3);
-  EXPECT_EQ(data->ne, 6);
-  EXPECT_EQ(data->nf, 0);
-  EXPECT_THAT(
-      AsVector(data->efc_type, data->nefc),
-      ElementsAre(mjCNSTR_EQUALITY, mjCNSTR_EQUALITY, mjCNSTR_EQUALITY,
-                  mjCNSTR_EQUALITY, mjCNSTR_EQUALITY, mjCNSTR_EQUALITY));
-  EXPECT_THAT(AsVector(data->efc_id, data->nefc),
-              ElementsAre(0, 0, 0, 1, 1, 1));
-  EXPECT_THAT(AsVector(data->tree_island, model->ntree), ElementsAre(0, 1, 1));
-  EXPECT_THAT(AsVector(data->island_ntree, data->nisland), ElementsAre(1, 2));
-  EXPECT_THAT(AsVector(data->island_itreeadr, data->nisland),
-              ElementsAre(0, 1));
-  EXPECT_THAT(AsVector(data->map_itree2tree, model->ntree),
-              ElementsAre(0, 1, 2));
-  EXPECT_THAT(AsVector(data->dof_island, model->nv), ElementsAre(0, 1, 1));
-  EXPECT_THAT(AsVector(data->island_nv, data->nisland), ElementsAre(1, 2));
-  EXPECT_THAT(AsVector(data->island_idofadr, data->nisland), ElementsAre(0, 1));
-  EXPECT_THAT(AsVector(data->island_dofadr, data->nisland), ElementsAre(0, 1));
-  EXPECT_THAT(AsVector(data->map_dof2idof, model->nv), ElementsAre(0, 1, 2));
-  EXPECT_THAT(AsVector(data->map_idof2dof, model->nv), ElementsAre(0, 1, 2));
-  EXPECT_THAT(AsVector(data->efc_island, data->nefc),
-              ElementsAre(0, 0, 0, 1, 1, 1));
-  EXPECT_THAT(AsVector(data->island_ne, data->nisland), ElementsAre(3, 3));
-  EXPECT_THAT(AsVector(data->island_nf, data->nisland), ElementsAre(0, 0));
-  EXPECT_THAT(AsVector(data->island_nefc, data->nisland), ElementsAre(3, 3));
-  EXPECT_THAT(AsVector(data->island_iefcadr, data->nisland), ElementsAre(0, 3));
-  EXPECT_THAT(AsVector(data->map_efc2iefc, data->nefc),
-              ElementsAre(0, 1, 2, 3, 4, 5));
-  EXPECT_THAT(AsVector(data->map_iefc2efc, data->nefc),
-              ElementsAre(0, 1, 2, 3, 4, 5));
-}
-
-TEST_F(IslandTest, ReportsConstraintBetweenTwoStaticBodies) {
-  static constexpr char xml[] = R"(
-<mujoco>
-  <option jacobian="sparse"><flag contact="disable" gravity="disable"/></option>
-  <worldbody>
-    <body>
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint type="slide" frictionloss="1"/>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-  char error[1024] = {};
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_fwdPosition(model.get(), data.get());
-  ASSERT_GT(data->nefc, 0);
-  ASSERT_EQ(data->efc_type[0], mjCNSTR_FRICTION_DOF);
-
-  model->dof_treeid[data->efc_id[0]] = -1;
-
-  EXPECT_EQ(MjuErrorMessageFrom(mj_island)(model.get(), data.get()),
-            "constraint 0 is between two static bodies");
-}
-
-TEST_F(IslandTest, ProductionFlexEqualityRescansRows) {
-  static constexpr char xml[] = R"(
-<mujoco>
-  <option jacobian="sparse"><flag contact="disable" gravity="disable"/></option>
-  <worldbody>
-    <flexcomp name="f" type="grid" dim="1" count="3 1 1"
-              spacing=".05 .05 .05" radius=".01" mass="1">
-      <edge equality="true"/>
-      <contact internal="false" selfcollide="none"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
-)";
-  char error[1024] = {};
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  ASSERT_EQ(model->ntree, 3);
-  ASSERT_EQ(model->nv, 9);
-  ASSERT_EQ(model->neq, 1);
-  ASSERT_EQ(model->eq_type[0], mjEQ_FLEX);
-  ASSERT_TRUE(mj_isSparse(model.get()));
-
-  MjDataPtr data = MakeData(model);
-  mj_fwdPosition(model.get(), data.get());
-
-  ASSERT_EQ(data->nefc, 2);
-  auto row_trees = [&](int row) {
-    std::vector<int> trees;
-    for (int j=0; j < data->efc_J_rownnz[row]; j++) {
-      int dof = data->efc_J_colind[data->efc_J_rowadr[row] + j];
-      int tree = model->dof_treeid[dof];
-      if (trees.empty() || trees.back() != tree) {
-        trees.push_back(tree);
-      }
-    }
-    return trees;
-  };
-
-  // Rows share one flex equality id but have different tree incidence.
-  EXPECT_THAT(row_trees(0), ElementsAre(0, 1));
-  EXPECT_THAT(row_trees(1), ElementsAre(1, 2));
-  EXPECT_THAT(AsVector(data->efc_type, data->nefc),
-              ElementsAre(mjCNSTR_EQUALITY, mjCNSTR_EQUALITY));
-  EXPECT_THAT(AsVector(data->efc_id, data->nefc), ElementsAre(0, 0));
-  EXPECT_EQ(data->nisland, 1);
-  EXPECT_EQ(data->nidof, 9);
-  EXPECT_EQ(data->ne, 2);
-  EXPECT_EQ(data->nf, 0);
-  EXPECT_THAT(AsVector(data->tree_island, model->ntree), ElementsAre(0, 0, 0));
-  EXPECT_THAT(AsVector(data->island_ntree, data->nisland), ElementsAre(3));
-  EXPECT_THAT(AsVector(data->island_itreeadr, data->nisland), ElementsAre(0));
-  EXPECT_THAT(AsVector(data->map_itree2tree, model->ntree),
-              ElementsAre(0, 1, 2));
-  EXPECT_THAT(AsVector(data->dof_island, model->nv),
-              ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0));
-  EXPECT_THAT(AsVector(data->island_nv, data->nisland), ElementsAre(9));
-  EXPECT_THAT(AsVector(data->island_idofadr, data->nisland), ElementsAre(0));
-  EXPECT_THAT(AsVector(data->island_dofadr, data->nisland), ElementsAre(0));
-  EXPECT_THAT(AsVector(data->map_dof2idof, model->nv),
-              ElementsAre(0, 1, 2, 3, 4, 5, 6, 7, 8));
-  EXPECT_THAT(AsVector(data->map_idof2dof, model->nv),
-              ElementsAre(0, 1, 2, 3, 4, 5, 6, 7, 8));
-  EXPECT_THAT(AsVector(data->efc_island, data->nefc), ElementsAre(0, 0));
-  EXPECT_THAT(AsVector(data->island_ne, data->nisland), ElementsAre(2));
-  EXPECT_THAT(AsVector(data->island_nf, data->nisland), ElementsAre(0));
-  EXPECT_THAT(AsVector(data->island_nefc, data->nisland), ElementsAre(2));
-  EXPECT_THAT(AsVector(data->island_iefcadr, data->nisland), ElementsAre(0));
-  EXPECT_THAT(AsVector(data->map_efc2iefc, data->nefc), ElementsAre(0, 1));
-  EXPECT_THAT(AsVector(data->map_iefc2efc, data->nefc), ElementsAre(0, 1));
-}
-
-TEST_F(IslandTest, BoundedArenaSupports1024Trees) {
-  constexpr int kTreeCount = 1024;
-  constexpr size_t kArenaBytes = 2 * 1024 * 1024;
-  std::string xml = R"(
-<mujoco>
-  <size memory="2M"/>
-  <option jacobian="sparse">
-    <flag contact="disable"/>
-  </option>
-  <worldbody>
-)";
-  xml.reserve(160 * kTreeCount);
-  for (int i=0; i < kTreeCount; i++) {
-    std::string name = std::to_string(i);
-    xml += "<body name=\"b" + name + "\">";
-    xml += "<inertial pos=\"0 0 0\" mass=\"1\" diaginertia=\"1 1 1\"/>";
-    xml += "<joint name=\"j" + name + "\" type=\"slide\"/>";
-    if (i < 2) {
-      xml += "<site name=\"s" + name + "\"/>";
-    }
-    xml += "</body>";
-  }
-  xml += R"(
-  </worldbody>
-  <equality>
-    <connect site1="s0" site2="s1"/>
-  </equality>
-</mujoco>
-)";
-
-  char error[1024] = {};
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  ASSERT_EQ(model->ntree, kTreeCount);
-  ASSERT_EQ(model->narena, kArenaBytes);
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data.get(), NotNull());
-
-  mj_fwdPosition(model.get(), data.get());
-
-  ASSERT_EQ(data->nefc, 3);
-  ASSERT_EQ(data->nisland, 1);
-  ASSERT_THAT(data->tree_island, NotNull());
-  EXPECT_EQ(data->tree_island[0], 0);
-  EXPECT_EQ(data->tree_island[1], 0);
-  for (int tree=2; tree < kTreeCount; tree++) {
-    EXPECT_EQ(data->tree_island[tree], -1);
-  }
-  EXPECT_LE(data->maxuse_arena, kArenaBytes);
-}
-
-static const char* const kAbacusPath = "engine/testdata/island/abacus.xml";
-
-TEST_F(IslandTest, Abacus) {
-  const std::string xml_path = GetTestDataFilePath(kAbacusPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  // disable gravity
-  model->opt.disableflags |= mjDSBL_GRAVITY;
-
-  mjData* data = mj_makeData(model);
-  mj_forward(model, data);
-
-  // no islands at qpos0
-  EXPECT_EQ(data->nisland, 0);
-
-  // push bead 0 to the left and bead 2 to the right until there are 3 contacts
-  data->qfrc_applied[0] = -1;
-  data->qfrc_applied[2] = 1;
-  while (data->ncon != 3) {
-    mj_step(model, data);
-  }
-
-  // sizes
-  int nv = model->nv;
-  int nefc = data->nefc;
-  int nisland = data->nisland;
-  int nidof = data->nidof;
-
-  // 4 dofs, 12 constraints, 2 islands
-  EXPECT_EQ(nv, 4);
-  EXPECT_EQ(nidof, 3);
-  EXPECT_EQ(nefc, 12);  // 3 pyramidal contacts
-  EXPECT_EQ(nisland, 2);
-
-  // the islands begin at dofs 0 and 1
-  EXPECT_THAT(AsVector(data->island_idofadr, nisland), ElementsAre(0, 1));
-
-  // number of dofs in the 2 islands
-  EXPECT_THAT(AsVector(data->island_nv, nisland), ElementsAre(1, 2));
-
-  // dof 0 in    island 0
-  // dof 1 in no island
-  // dofs 2,3 in island 1
-  EXPECT_THAT(AsVector(data->dof_island, nv), ElementsAre(0, -1, 1, 1));
-
-  // dof 0 constitutes first island
-  // dofs 2, 3 are the second island
-  // last index is unassigned since dof 1 is unconstrained
-  EXPECT_THAT(AsVector(data->map_idof2dof, nv), ElementsAre(0, 2, 3, 1));
-
-  // dof 0 constitutes first island
-  // dofs 1 is unassigned
-  // dofs 2, 3 are second island
-  EXPECT_THAT(AsVector(data->map_dof2idof, nv), ElementsAre(0, 3, 1, 2));
-
-  // island 0 starts at constraint 0
-  // island 1 starts at constraint 4
-  EXPECT_THAT(AsVector(data->island_iefcadr, nisland), ElementsAre(0, 4));
-
-  // number of constraints in the 2 islands
-  EXPECT_THAT(AsVector(data->island_nefc, nisland), ElementsAre(4, 8));
-
-  // first contact (4 constraints) is in island 0
-  // second contact (8 constraints) is in island 1
-  EXPECT_THAT(AsVector(data->efc_island, nefc),
-              ElementsAre(0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1));
-
-  // index lists for islands 0 and 1
-  EXPECT_THAT(AsVector(data->map_iefc2efc, nefc),
-              ElementsAre(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11));
-
-  // reset, push 0 to the left, 3 to the right, 1,2 to the middle
-  mj_resetData(model, data);
-  data->qfrc_applied[0] = -1;
-  data->qfrc_applied[1] = 1;
-  data->qfrc_applied[2] = -1;
-  data->qfrc_applied[3] = 1;
-
-  // simulate until there are 3 contacts
-  while (data->ncon != 3) {
-    mj_step(model, data);
-  }
-
-  // local variables
-  nefc = data->nefc;
-  nisland = data->nisland;
-  nidof = data->nidof;
-
-  EXPECT_EQ(nisland, 3);
-  EXPECT_EQ(nidof, 4);
-  EXPECT_THAT(AsVector(data->island_idofadr, nisland), ElementsAre(0, 1, 3));
-  EXPECT_THAT(AsVector(data->island_nv, nisland), ElementsAre(1, 2, 1));
-  EXPECT_THAT(AsVector(data->dof_island, nv), ElementsAre(0, 1, 1, 2));
-  EXPECT_THAT(AsVector(data->map_idof2dof, nv), ElementsAre(0, 1, 2, 3));
-  EXPECT_THAT(AsVector(data->map_dof2idof, nv), ElementsAre(0, 1, 2, 3));
-  EXPECT_THAT(AsVector(data->island_iefcadr, nisland), ElementsAre(0, 4, 8));
-  EXPECT_THAT(AsVector(data->island_nefc, nisland), ElementsAre(4, 4, 4));
-  EXPECT_THAT(AsVector(data->efc_island, nefc),
-              ElementsAre(0, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2));
-  EXPECT_THAT(AsVector(data->map_iefc2efc, nefc),
-              ElementsAre(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-static const char* const kTendonWrapPath =
-    "engine/testdata/island/tendon_wrap.xml";
-
-TEST_F(IslandTest, DenseSparse) {
-  const std::string xml_path = GetTestDataFilePath(kTendonWrapPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  mjData* data1 = mj_makeData(model);
-  mjData* data2 = mj_makeData(model);
-
-  // dense
-  model->opt.jacobian = mjJAC_DENSE;
-  while (!data1->nefc) {
-    mj_step(model, data1);
-  }
-
-  // sparse
-  model->opt.jacobian = mjJAC_SPARSE;
-  while (!data2->nefc) {
-    mj_step(model, data2);
-  }
-
-  // sizes
-  int nv = model->nv;
-  int nefc = data1->nefc;
-  int nisland = data1->nisland;
-
-  // expect sparse and dense to be identical
-  EXPECT_EQ(data1->nidof, data2->nidof);
-  EXPECT_EQ(data1->nefc, data2->nefc);
-  EXPECT_EQ(data1->nisland, data2->nisland);
-  EXPECT_EQ(data1->nefc, data2->nefc);
-  EXPECT_EQ(AsVector(data1->island_idofadr, nisland),
-            AsVector(data2->island_idofadr, nisland));
-  EXPECT_EQ(AsVector(data1->island_nv, nisland),
-            AsVector(data2->island_nv, nisland));
-  EXPECT_EQ(AsVector(data1->dof_island, nv), AsVector(data2->dof_island, nv));
-  EXPECT_EQ(AsVector(data1->map_idof2dof, nv),
-            AsVector(data2->map_idof2dof, nv));
-  EXPECT_EQ(AsVector(data1->map_dof2idof, nv),
-            AsVector(data2->map_dof2idof, nv));
-  EXPECT_EQ(AsVector(data1->island_iefcadr, nisland),
-            AsVector(data2->island_iefcadr, nisland));
-  EXPECT_EQ(AsVector(data1->island_nefc, nisland),
-            AsVector(data2->island_nefc, nisland));
-  EXPECT_EQ(AsVector(data1->efc_island, nefc),
-            AsVector(data2->efc_island, nefc));
-  EXPECT_EQ(AsVector(data1->map_iefc2efc, nefc),
-            AsVector(data2->map_iefc2efc, nefc));
-  EXPECT_EQ(AsVector(data1->map_efc2iefc, nefc),
-            AsVector(data2->map_efc2iefc, nefc));
-
-  mj_deleteData(data2);
-  mj_deleteData(data1);
-  mj_deleteModel(model);
-}
-
-static const char* const kIlslandEfcPath =
-    "engine/testdata/island/island_efc.xml";
-
-TEST_F(IslandTest, IslandEfc) {
-  const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  mjData* data = mj_makeData(model);
-
-  while (data->time < 0.2) {
-    mj_step(model, data);
-  }
-
-  // expect island structure to correspond to comment at top of xml
-  EXPECT_EQ(data->nisland, 4);
-  EXPECT_EQ(data->ne, 7);
-  EXPECT_EQ(data->nf, 2);
-  EXPECT_EQ(data->nl, 1);
-  EXPECT_EQ(data->nefc, 30);
-  EXPECT_THAT(AsVector(data->island_ne, data->nisland),
-              ElementsAre(1, 0, 0, 6));
-  EXPECT_THAT(AsVector(data->island_nf, data->nisland),
-              ElementsAre(0, 1, 1, 0));
-  EXPECT_THAT(AsVector(data->island_nefc, data->nisland),
-              ElementsAre(6, 17, 1, 6));
-  EXPECT_THAT(AsVector(data->efc_island, data->nefc),
-              ElementsAre(0, 3, 3, 3, 3, 3, 3, 1, 2, 0,
-                          0, 0, 0, 0, 1, 1, 1, 1, 1, 1,
-                          1, 1, 1, 1, 1, 1, 1, 1, 1, 1));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(IslandTest, IslandFlex) {
-  const std::string xml_path = GetTestDataFilePath("testdata/flex.xml");
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  mjData* data1 = mj_makeData(model);
-  mjData* data2 = mj_makeData(model);
-
-  model->opt.disableflags &= ~mjDSBL_ISLAND;
-  while (data1->time < 0.2) {
-    mj_step(model, data1);
-  }
-
-  model->opt.disableflags |= mjDSBL_ISLAND;
-  while (data2->time < 0.2) {
-    mj_step(model, data2);
-  }
-
-  EXPECT_THAT(AsVector(data1->qpos, model->nq),
-              Pointwise(DoubleNear(1e-6), AsVector(data2->qpos, model->nq)));
-
-  mj_deleteData(data2);
-  mj_deleteData(data1);
-  mj_deleteModel(model);
-}
-
-// stiffness couples all vertices of a flex: one contact anywhere on the flex
-// must pull every vertex tree (and the contacting body) into a single island
-TEST_F(IslandTest, FlexStiffnessUnionsTrees) {
-  static const char xml[] = R"(
-  <mujoco>
-    <option solver="Newton"/>
-    <worldbody>
-      <flexcomp name="cloth" type="grid" count="4 4 1" spacing="0.1 0.1 0.1"
-                radius=".005" dim="2" mass="0.5" pos="0 0 1" dof="full">
-        <contact selfcollide="none"/>
-        <elasticity young="1e3" poisson="0.2" damping="0.1" elastic2d="both" thickness="0.01"/>
-      </flexcomp>
-      <body pos="0.1 0.1 0.96">
-        <freejoint/>
-        <geom type="sphere" size="0.05"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  // the sphere penetrates the cloth at one corner
-  ASSERT_GT(data->ncon, 0);
-
-  // one island containing every dof: 16 vertices and the free sphere
-  EXPECT_EQ(data->nisland, 1);
-  EXPECT_EQ(data->nidof, model->nv);
-}
-
-TEST_F(IslandTest, IslandEfcElliptic) {
-  const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  mjData* data = mj_makeData(model);
-
-  model->opt.cone = mjCONE_ELLIPTIC;
-  while (data->time < 0.2) {
-    mj_step(model, data);
-  }
-  mj_forward(model, data);
-
-  EXPECT_EQ(data->nisland, 4);
-  EXPECT_EQ(data->ne, 7);
-  EXPECT_EQ(data->nf, 2);
-  EXPECT_EQ(data->nl, 1);
-  EXPECT_EQ(data->nefc, 25);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(IslandTest, EqualityConstraintOfTendons) {
-  static const char xml[] = R"(
-<mujoco>
-  <worldbody>
-    <body name="b1">
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint name="j1" type="slide" axis="1 0 0"/>
-    </body>
-    <body name="b2">
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint name="j2" type="slide" axis="1 0 0"/>
-    </body>
-    <body name="b3">
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint name="j3" type="slide" axis="1 0 0"/>
-    </body>
-    <body name="b4">
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint name="j4" type="slide" axis="1 0 0"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <fixed name="t12">
-      <joint joint="j1" coef="1"/>
-      <joint joint="j2" coef="1"/>
-    </fixed>
-    <fixed name="t34">
-      <joint joint="j3" coef="1"/>
-      <joint joint="j4" coef="1"/>
-    </fixed>
-  </tendon>
-
-  <equality>
-    <tendon name="eq" tendon1="t12" tendon2="t34"/>
-  </equality>
-</mujoco>
-)";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-}
-
-TEST_F(IslandTest, PGSIsland) {
-  const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-  mjData* d = mj_makeData(m);
-
-  // simulate to get a non-trivial state
-  while (d->time < 0.5) {
-    mj_step(m, d);
-  }
-
-  // switch to PGS, disable early termination
-  m->opt.solver = mjSOL_PGS;
-  m->opt.tolerance = 0;
-
-  // solve with islands
-  m->opt.disableflags &= ~mjDSBL_ISLAND;
-  mj_forward(m, d);
-  ASSERT_GT(d->nisland, 1);
-  std::vector<mjtNum> qfrc_island(d->qfrc_constraint,
-                                  d->qfrc_constraint + m->nv);
-
-  // solve without islands
-  m->opt.disableflags |= mjDSBL_ISLAND;
-  mj_forward(m, d);
-  std::vector<mjtNum> qfrc_mono(d->qfrc_constraint, d->qfrc_constraint + m->nv);
-
-  // expect close match (inexact due to randomized constraint visitation order)
-  EXPECT_THAT(qfrc_island, Pointwise(MjNear(1e-3, 1e-3), qfrc_mono));
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_passive_test.cc b/test/engine/engine_passive_test.cc
deleted file mode 100644
index de167caa..00000000
--- a/test/engine/engine_passive_test.cc
+++ /dev/null
@@ -1,1273 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_core_smooth.c.
-
-#include <cmath>
-#include <limits>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::ElementsAre;
-using ::testing::NotNull;
-
-using PassiveTest = MujocoTest;
-
-TEST_F(PassiveTest, DisableFlags) {
-  static constexpr char flex_xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 -10"/>
-    <worldbody>
-      <body gravcomp="1">
-        <joint type="slide" springref="1" stiffness="10" damping="1"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <keyframe>
-      <key qvel="-1"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(flex_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-
-  mj_forward(m.get(), d.get());
-  EXPECT_MJTNUM_EQ(d->qacc[0], 11);
-
-  m->opt.disableflags = mjDSBL_DAMPER;
-  mj_forward(m.get(), d.get());
-  EXPECT_MJTNUM_EQ(d->qacc[0], 10);
-
-  m->opt.disableflags = mjDSBL_SPRING;
-  mj_forward(m.get(), d.get());
-  EXPECT_MJTNUM_EQ(d->qacc[0], 1);
-
-  m->opt.disableflags = mjDSBL_SPRING | mjDSBL_DAMPER;
-  mj_forward(m.get(), d.get());
-  EXPECT_EQ(d->qacc[0], -10);
-}
-
-TEST_F(PassiveTest, GravcompNestedBody) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 -10"/>
-    <worldbody>
-      <body pos="0 0 2">
-        <freejoint/>
-        <body gravcomp="1.2">
-          <geom size="0.2" mass="1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  mj_forward(m.get(), d.get());
-
-  EXPECT_GT(d->qacc[2], 0);
-  EXPECT_NEAR(d->qacc[2], 2.0, 0.1);
-}
-
-TEST_F(PassiveTest, PolyStiffnessSlide) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" stiffness="10 5 1"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <keyframe>
-      <key qpos="2"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-
-  mj_forward(m.get(), d.get());
-  EXPECT_MJTNUM_EQ(d->qfrc_spring[0], -48);
-}
-
-TEST_F(PassiveTest, PolyStiffnessAntiSymmetric) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" stiffness="10 5 1"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <keyframe>
-      <key qpos="-2"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-
-  mj_forward(m.get(), d.get());
-  EXPECT_MJTNUM_EQ(d->qfrc_spring[0], 8);
-}
-
-TEST_F(PassiveTest, PolyStiffnessTendon) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" name="j"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <fixed>
-        <joint joint="j" coef="1"/>
-      </fixed>
-    </tendon>
-
-    <keyframe>
-      <key qpos="2"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  m->tendon_stiffness[0] = 10;
-  m->tendon_stiffnesspoly[0] = 5;
-  m->tendon_stiffnesspoly[1] = 1;
-
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-
-  mj_forward(m.get(), d.get());
-  EXPECT_MJTNUM_EQ(d->qfrc_spring[0], -48);
-}
-
-TEST_F(PassiveTest, PolyStiffnessEnergy) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.0001">
-      <flag energy="enable"/>
-    </option>
-
-    <worldbody>
-      <body>
-        <joint type="slide" stiffness="10 5 1"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <keyframe>
-      <key qpos="2"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-
-  mj_forward(m.get(), d.get());
-  mjtNum total_energy = d->energy[0] + d->energy[1];
-
-  for (int i = 0; i < 100; i++) {
-    mj_step(m.get(), d.get());
-    EXPECT_NEAR(d->energy[0] + d->energy[1], total_energy, 0.002);
-  }
-}
-
-// ------------------------ ellipsoid fluid model ------------------------------
-
-using EllipsoidFluidTest = MujocoTest;
-
-TEST_F(EllipsoidFluidTest, GeomsEquivalentToBodies) {
-  static constexpr char two_bodies_xml[] = R"(
-  <mujoco>
-    <option wind="5 5 0" density="10"/>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <body>
-          <geom type="box" size=".1 .01 0.01" pos="0.1 0 0" euler="40 0 0" fluidshape="ellipsoid"/>
-        </body>
-        <body>
-          <geom type="box" size=".1 .01 0.01" pos="-.1 0 0" euler="0 20 0" fluidshape="ellipsoid"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m2 = LoadModelFromString(two_bodies_xml, error, sizeof(error));
-  ASSERT_THAT(m2.get(), NotNull()) << error;
-  MjDataPtr d2 = MakeData(m2);
-  for (int i = 0; i < 6; i++) {
-    d2->qvel[i] = (mjtNum)i + 1;
-  }
-  d2->qpos[3] = 0.5;
-  d2->qpos[4] = 0.5;
-  d2->qpos[5] = 0.5;
-  d2->qpos[6] = 0.5;
-
-  static constexpr char one_body_xml[] = R"(
-  <mujoco>
-    <option wind="5 5 0" density="10"/>
-    <worldbody>
-      <body pos="1 2 3">
-        <freejoint align="false"/>
-        <geom type="box" size=".1 .01 0.01" pos="0.1 0 0" euler="40 0 0" fluidshape="ellipsoid"/>
-        <geom type="box" size=".1 .01 0.01" pos="-.1 0 0" euler="0 20 0" fluidshape="ellipsoid"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  MjModelPtr m1 = LoadModelFromString(one_body_xml, error, sizeof(error));
-  ASSERT_THAT(m1.get(), NotNull()) << error;
-  MjDataPtr d1 = MakeData(m1);
-  for (int i = 0; i < 6; i++) {
-    d1->qvel[i] = (mjtNum)i + 1;
-  }
-  d1->qpos[3] = 0.5;
-  d1->qpos[4] = 0.5;
-  d1->qpos[5] = 0.5;
-  d1->qpos[6] = 0.5;
-
-  // tolerance for floating point numbers
-  const mjtNum tol = MjTol(1e-14, 1e-5);
-
-  EXPECT_EQ(m1->nv, m2->nv);
-
-  mj_forward(m2.get(), d2.get());
-  mj_forward(m1.get(), d1.get());
-  for (int i = 0; i < m1->nv; i++) {
-    EXPECT_NEAR(d2->qfrc_passive[i], d1->qfrc_passive[i], tol);
-  }
-}
-
-TEST_F(EllipsoidFluidTest, DefaultsPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option wind="5 5 0" density="10"/>
-    <default>
-      <geom fluidshape="ellipsoid" fluidcoef="2 3 4 5 6"/>
-      <default class="test_class">
-        <geom fluidshape="none" fluidcoef="5 4 3 2 1"/>
-      </default>
-    </default>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom type="box" size=".1 .01 0.01" pos="0.1 0 0" class="test_class"/>
-        <geom type="box" size=".1 .01 0.01" pos="-0.1 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  EXPECT_THAT(AsVector(model->geom_fluid, 6), ElementsAre(0, 0, 0, 0, 0, 0));
-  EXPECT_THAT(AsVector(model->geom_fluid + mjNFLUID, 6),
-              ElementsAre(1, 2, 3, 4, 5, 6));
-}
-
-// ------------------------------ tendons --------------------------------------
-
-using TendonTest = MujocoTest;
-
-// check tendon spring deadband using example model
-TEST_F(TendonTest, SpringrangeDeadband) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/tendon_springlength.xml");
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  ASSERT_THAT(model, NotNull());
-  mjData* data = mj_makeData(model);
-
-  // initial state outside deadband: spring is active
-  mj_forward(model, data);
-  mjtNum expected_force = model->tendon_stiffness[0] *
-                          (model->tendon_lengthspring[1] - data->ten_length[0]);
-  EXPECT_EQ(expected_force, data->qfrc_passive[0]);
-
-  // put body inside deadband: spring is inactive
-  data->qpos[0] = -1;
-  mj_forward(model, data);
-  EXPECT_EQ(0, data->qfrc_passive[0]);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// -------------------------------- flex ------------------------------------
-
-using ElasticityTest = MujocoTest;
-
-TEST_F(ElasticityTest, FlexCompatibility) {
-  static constexpr char flex_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent">
-        <flexcomp name="soft" type="grid" count="3 3 3"
-                  radius="0.01" dim="3"mass="1">
-            <pin id="2"/>
-            <elasticity young="5e4" poisson="0.2"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(flex_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-
-  MjDataPtr d = MakeData(m);
-}
-
-// -------------------------------- shell -----------------------------------
-TEST_F(ElasticityTest, ElasticEnergyShell) {
-  static constexpr char cantilever_xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp type="grid" count="8 8 1" spacing="1 1 1"
-              radius=".025" name="test" dim="2">
-      <elasticity young="2" poisson="0" thickness="1"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_kinematics(m.get(), d.get());
-  mj_flex(m.get(), d.get());
-
-  // check that a plane is in the kernel of the energy
-  for (mjtNum scale = 1; scale < 4; scale++) {
-    for (int e = 0; e < m->flex_edgenum[0]; e++) {
-      int* edge = m->flex_edge + 2 * (m->flex_edgeadr[0] + e);
-      int* flap = m->flex_edgeflap + 2 * (m->flex_edgeadr[0] + e);
-      int v[4] = {edge[0], edge[1], flap[0], flap[1]};
-      if (v[3] == -1) {
-        continue;
-      }
-      mjtNum energy = 0;
-      mjtNum volume = 1. / 2.;
-      for (int i = 0; i < 4; i++) {
-        for (int j = 0; j < 4; j++) {
-          for (int x = 0; x < 3; x++) {
-            mjtNum elongation1 = scale * d->flexvert_xpos[3 * v[i] + x];
-            mjtNum elongation2 = scale * d->flexvert_xpos[3 * v[j] + x];
-            energy +=
-                m->flex_bending[17 * e + 4 * i + j] * elongation1 * elongation2;
-          }
-        }
-      }
-      EXPECT_NEAR(4 * energy / volume, 0,
-                  std::numeric_limits<float>::epsilon());
-    }
-  }
-}
-
-TEST_F(ElasticityTest, CurvedShell) {
-  static constexpr char cantilever_xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="v0" pos="-0.5 -0.5 -0.5">
-      <inertial pos="0 0 0" mass="0.125" diaginertia="1e-4 1e-4 1e-4"/>
-      <joint axis="1 0 0" type="slide"/>
-      <joint axis="0 1 0" type="slide"/>
-      <joint axis="0 0 1" type="slide"/>
-    </body>
-    <body name="v1" pos="-0.5 0.5 -0.5">
-      <inertial pos="0 0 0" mass="0.125" diaginertia="1e-4 1e-4 1e-4"/>
-      <joint axis="1 0 0" type="slide"/>
-      <joint axis="0 1 0" type="slide"/>
-      <joint axis="0 0 1" type="slide"/>
-    </body>
-    <body name="v2" pos="0.5 -0.5 -0.5">
-      <inertial pos="0 0 0" mass="0.125" diaginertia="1e-4 1e-4 1e-4"/>
-      <joint axis="1 0 0" type="slide"/>
-      <joint axis="0 1 0" type="slide"/>
-      <joint axis="0 0 1" type="slide"/>
-    </body>
-    <body name="v3" pos="-0.5 -0.5 0.5">
-      <inertial pos="0 0 0" mass="0.125" diaginertia="1e-4 1e-4 1e-4"/>
-      <joint axis="1 0 0" type="slide"/>
-      <joint axis="0 1 0" type="slide"/>
-      <joint axis="0 0 1" type="slide"/>
-    </body>
-  </worldbody>
-  <deformable>
-    <flex name="test" radius="0.025" flatskin="true" body="v0 v1 v2 v3"
-          element="0 2 3 0 3 1">
-      <elasticity young="2" thickness="1" elastic2d="bend"/>
-    </flex>
-  </deformable>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_kinematics(m.get(), d.get());
-  mj_flex(m.get(), d.get());
-  mj_passive(m.get(), d.get());
-
-  // v1 force component is in-plane along v1-v0 edge (y-axis)
-  EXPECT_NEAR(d->qfrc_spring[3], 0, 1e-6);
-  EXPECT_NEAR(d->qfrc_spring[5], 0, 1e-6);
-
-  // v2 force component is in-plane along v2-v0 edge (x-axis)
-  EXPECT_NEAR(d->qfrc_spring[7], 0, 1e-6);
-  EXPECT_NEAR(d->qfrc_spring[8], 0, 1e-6);
-
-  // v3 force component is in-plane along v3-v0 edge (z-axis)
-  EXPECT_NEAR(d->qfrc_spring[9], 0, 1e-6);
-  EXPECT_NEAR(d->qfrc_spring[10], 0, 1e-6);
-}
-
-// -------------------------------- membrane -----------------------------------
-TEST_F(ElasticityTest, ElasticEnergyMembrane) {
-  static constexpr char cantilever_xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp type="grid" count="8 8 1" spacing="1 1 1"
-              radius=".025" name="test" dim="2">
-      <elasticity young="2" poisson="0" thickness="1" elastic2d="stretch"/>
-      <edge equality="false"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  mj_kinematics(m.get(), d.get());
-  mj_flex(m.get(), d.get());
-  mjtNum* metric = m->flex_stiffness + 21 * m->flex_elemadr[0];
-
-  // check that if the entire geometry is rescaled by a factor "scale", then
-  // trace(strain^2) = 2*scale^2
-
-  for (mjtNum scale = 1; scale < 4; scale++) {
-    for (int t = 0; t < m->flex_elemnum[0]; t++) {
-      mjtNum energy = 0;
-      mjtNum volume = 1. / 2.;
-      int idx = 0;
-      for (int e1 = 0; e1 < 3; e1++) {
-        for (int e2 = e1; e2 < 3; e2++) {
-          int idx1 = m->flex_elemedge[3 * t + e1 + m->flex_elemedgeadr[0]];
-          int idx2 = m->flex_elemedge[3 * t + e2 + m->flex_elemedgeadr[0]];
-          mjtNum elong1 =
-              scale * m->flexedge_length0[idx1] * m->flexedge_length0[idx1];
-          mjtNum elong2 =
-              scale * m->flexedge_length0[idx2] * m->flexedge_length0[idx2];
-          energy +=
-              metric[21 * t + idx++] * elong1 * elong2 * (e1 == e2 ? 1. : 2.);
-        }
-      }
-      const mjtNum tol = MjTol(std::numeric_limits<float>::epsilon(), 1e-5);
-      EXPECT_NEAR(4 * energy / volume, 2 * scale * scale, tol);
-    }
-  }
-}
-
-// -------------------------------- solid -----------------------------------
-TEST_F(ElasticityTest, ElasticEnergySolid) {
-  static constexpr char cantilever_xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp type="grid" count="8 8 8" spacing="1 1 1"
-              radius=".025" name="test" dim="3">
-      <elasticity young="2" poisson="0"/>
-      <edge equality="false"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  mj_kinematics(m.get(), d.get());
-  mj_flex(m.get(), d.get());
-  mjtNum* metric = m->flex_stiffness + 21 * m->flex_elemadr[0];
-
-  // check that if the entire geometry is rescaled by a factor "scale", then
-  // trace(strain^2) = 3*scale^2
-
-  for (mjtNum scale = 1; scale < 4; scale++) {
-    for (int t = 0; t < m->flex_elemnum[0]; t++) {
-      mjtNum energy = 0;
-      mjtNum volume = 1. / 6.;
-      int idx = 0;
-      for (int e1 = 0; e1 < 6; e1++) {
-        for (int e2 = e1; e2 < 6; e2++) {
-          int idx1 = m->flex_elemedge[6 * t + e1 + m->flex_elemedgeadr[0]];
-          int idx2 = m->flex_elemedge[6 * t + e2 + m->flex_elemedgeadr[0]];
-          mjtNum elong1 =
-              scale * m->flexedge_length0[idx1] * m->flexedge_length0[idx1];
-          mjtNum elong2 =
-              scale * m->flexedge_length0[idx2] * m->flexedge_length0[idx2];
-          energy +=
-              metric[21 * t + idx++] * elong1 * elong2 * (e1 == e2 ? 1. : 2.);
-        }
-      }
-      const mjtNum tol = MjTol(std::numeric_limits<float>::epsilon(), 1e-4);
-      EXPECT_NEAR(energy / volume, 3 * scale * scale, tol);
-    }
-  }
-}
-
-TEST_F(PassiveTest, PolynomialStiffnessJoint) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" stiffness="2 3 4"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qpos="0.5"/>
-    </keyframe>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_THAT(m.get(), NotNull());
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-  mj_forward(m.get(), d.get());
-
-  mjtNum x = 0.5;
-  mjtNum a = 2, b = 3, c = 4;
-  mjtNum expected = -(a + b * x + c * x * x) * x;
-  EXPECT_NEAR(d->qfrc_spring[0], expected, 1e-12);
-}
-
-TEST_F(PassiveTest, PolynomialStiffnessNegativeDisplacement) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" stiffness="2 3 4"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qpos="-0.5"/>
-    </keyframe>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_THAT(m.get(), NotNull());
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-  mj_forward(m.get(), d.get());
-
-  mjtNum x = -0.5;
-  mjtNum a = 2, b = 3, c = 4;
-  mjtNum expected = -(a + b * x + c * x * x) * x;
-  EXPECT_NEAR(d->qfrc_spring[0], expected, 1e-12);
-}
-
-TEST_F(PassiveTest, PolyStiffnessFixedTendon) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" name="j"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <fixed stiffness="10 5 1">
-        <joint joint="j" coef="1"/>
-      </fixed>
-    </tendon>
-
-    <keyframe>
-      <key qpos="2"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-
-  mj_forward(m.get(), d.get());
-
-  mjtNum x = d->ten_length[0] - m->tendon_lengthspring[1];
-  mjtNum expected = -(10 + 5 * x + 1 * x * x) * x;
-  EXPECT_NEAR(d->qfrc_spring[0], expected, 1e-12);
-}
-
-TEST_F(PassiveTest, PolyStiffnessSpatialTendon) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="s0"/>
-      <body>
-        <joint type="slide" name="j"/>
-        <geom size="1" mass="1"/>
-        <site name="s1"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <spatial stiffness="10 5 1">
-        <site site="s0"/>
-        <site site="s1"/>
-      </spatial>
-    </tendon>
-
-    <keyframe>
-      <key qpos="2"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-
-  mj_forward(m.get(), d.get());
-
-  mjtNum x = d->ten_length[0] - m->tendon_lengthspring[1];
-  mjtNum expected = -x * (10 + 5 * x + 1 * x * x);
-  EXPECT_NEAR(d->qfrc_spring[0], expected, 1e-12);
-}
-
-TEST_F(PassiveTest, PolynomialDampingJoint) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" damping="2 3 4"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qvel="0.5"/>
-    </keyframe>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_THAT(m.get(), NotNull());
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-  mj_forward(m.get(), d.get());
-
-  mjtNum v = 0.5;
-  mjtNum a = 2, b = 3, c = 4;
-  mjtNum expected = -(a * v + b * v * mju_abs(v) + c * v * v * v);
-  EXPECT_NEAR(d->qfrc_damper[0], expected, 1e-12);
-}
-
-TEST_F(PassiveTest, PolynomialDampingNegativeVelocity) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" damping="2 3 4"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key qvel="-0.5"/>
-    </keyframe>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_THAT(m.get(), NotNull());
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-  mj_forward(m.get(), d.get());
-
-  mjtNum v = -0.5;
-  mjtNum a = 2, b = 3, c = 4;
-  mjtNum expected = -(a * v + b * v * mju_abs(v) + c * v * v * v);
-  EXPECT_NEAR(d->qfrc_damper[0], expected, 1e-12);
-}
-
-TEST_F(PassiveTest, PolynomialDampingTendon) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide" name="j"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <fixed damping="10 5 1">
-        <joint joint="j" coef="1"/>
-      </fixed>
-    </tendon>
-
-    <keyframe>
-      <key qvel="2"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-
-  mj_forward(m.get(), d.get());
-
-  mjtNum v = d->ten_velocity[0];
-  mjtNum expected = -(10 * v + 5 * v * mju_abs(v) + 1 * v * v * v);
-  EXPECT_NEAR(d->qfrc_damper[0], expected, 1e-12);
-}
-
-// shell-mode (elastic2d=stretch) flexcomp must have zero passive spring forces
-// at rest (initial configuration); any nonzero force indicates a rotation
-// mismatch between compile-time reference positions and runtime corotation.
-TEST_F(ElasticityTest, ShellModeZeroForceAtRest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <flexcomp type="grid" count="8 8 8" spacing=".07 .07 .07" pos="0 0 1"
-                dim="3" cellcount="1 1 1" radius=".001" rgba="0 .7 .7 1"
-                mass="5" name="softbody" dof="trilinear">
-        <elasticity young="1e4" poisson="0.1" damping="0.01"
-                    elastic2d="stretch" thickness="0.02"/>
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  mj_forward(m.get(), d.get());
-
-  // all spring forces should be zero at rest
-  for (int i = 0; i < m->nv; i++) {
-    EXPECT_NEAR(d->qfrc_spring[i], 0, 1e-10)
-        << "nonzero spring force at DOF " << i;
-  }
-}
-
-// interpolated shell bending must produce zero spring forces at rest
-TEST_F(ElasticityTest, InterpBendingZeroForceAtRest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <flexcomp type="grid" count="8 8 8" spacing=".07 .07 .07" pos="0 0 1"
-                dim="3" cellcount="2 2 1" radius=".001" rgba="0 .7 .7 1"
-                mass="5" name="softbody" dof="trilinear">
-        <elasticity young="1e4" poisson="0.1" damping="0"
-                    elastic2d="bend" thickness="0.02"/>
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // verify bending data was compiled
-  const mjtNum* bdata = m->flex_bending + m->flex_bendingadr[0];
-  int nedge = (int)bdata[0];
-  EXPECT_GT(nedge, 0) << "no bending edges compiled";
-
-  mj_forward(m.get(), d.get());
-
-  // all spring forces should be zero at rest
-  for (int i = 0; i < m->nv; i++) {
-    EXPECT_NEAR(d->qfrc_spring[i], 0, 1e-10)
-        << "nonzero spring force at DOF " << i;
-  }
-
-  // verify per-edge bending data
-  int n_flat = 0, n_corner = 0;
-  for (int e = 0; e < nedge; e++) {
-    const mjtNum* edata = bdata + 1 + e * 10;
-    mjtNum stiffness = edata[6];
-    mjtNum dn0[3] = {edata[7], edata[8], edata[9]};
-    mjtNum dn0_norm = mju_norm3(dn0);
-
-    // stiffness must be positive
-    EXPECT_GT(stiffness, 0) << "edge " << e << " has non-positive stiffness";
-
-    if (dn0_norm < 1e-10) {
-      // intra-surface edge: coplanar faces, zero normal jump
-      n_flat++;
-    } else {
-      // corner edge: 90° between perpendicular face normals, |dn0| = sqrt(2)
-      n_corner++;
-      EXPECT_NEAR(dn0_norm, mju_sqrt(2.0), 1e-10)
-          << "corner edge " << e << " has unexpected |dn0|=" << dn0_norm;
-    }
-  }
-
-  // for a 2x2x1 box: 12 intra-surface + 20 corner = 32 edges
-  EXPECT_GT(n_flat, 0) << "no intra-surface edges found";
-  EXPECT_GT(n_corner, 0) << "no corner edges found";
-  EXPECT_EQ(n_flat + n_corner, nedge);
-}
-
-// interpolated shell bending must produce zero forces after a rigid rotation
-TEST_F(ElasticityTest, InterpBendingRigidRotationInvariance) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <flexcomp type="grid" count="8 2 12" spacing=".025 .05 .025" pos="0 0 1"
-                dim="3" cellcount="6 1 6" radius=".001" rgba="0 .7 .7 1"
-                mass="5" name="softbody" dof="trilinear">
-        <elasticity young="1e5" poisson="0.3" damping="0"
-                    elastic2d="bend" thickness="0.03"/>
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // compute geometric center from body positions (skip world body)
-  mjtNum center[3] = {0, 0, 0};
-  int nnodes = 0;
-  for (int b = 1; b < m->nbody; b++) {
-    center[0] += m->body_pos[3 * b + 0];
-    center[1] += m->body_pos[3 * b + 1];
-    center[2] += m->body_pos[3 * b + 2];
-    nnodes++;
-  }
-  ASSERT_GT(nnodes, 0);
-  center[0] /= nnodes;
-  center[1] /= nnodes;
-  center[2] /= nnodes;
-
-  // rotation: 45 degrees about (1,1,1)/sqrt(3)
-  mjtNum angle = 45 * 3.14159265358979 / 180.0;
-  mjtNum sa = mju_sin(angle / 2), ca = mju_cos(angle / 2);
-  mjtNum inv_sqrt3 = 1.0 / mju_sqrt(3.0);
-  mjtNum quat[4] = {ca, sa * inv_sqrt3, sa * inv_sqrt3, sa * inv_sqrt3};
-  mjtNum neg_quat[4];
-  mju_negQuat(neg_quat, quat);
-
-  // apply rigid rotation via slide joint displacements:
-  // new_pos = center + R * (body_pos - center)
-  // qpos = new_pos - body_pos
-  for (int b = 1; b < m->nbody; b++) {
-    mjtNum rel[3] = {m->body_pos[3 * b + 0] - center[0],
-                     m->body_pos[3 * b + 1] - center[1],
-                     m->body_pos[3 * b + 2] - center[2]};
-    mjtNum rotated[3];
-    mju_rotVecQuat(rotated, rel, neg_quat);
-
-    // each body has 3 slide joints (x, y, z)
-    for (int j = 0; j < m->body_jntnum[b] && j < 3; j++) {
-      int jid = m->body_jntadr[b] + j;
-      int qadr = m->jnt_qposadr[jid];
-      int axis = -1;
-      for (int a = 0; a < 3; a++) {
-        if (m->jnt_axis[3 * jid + a] != 0) {
-          axis = a;
-          break;
-        }
-      }
-      if (axis >= 0) {
-        d->qpos[qadr] =
-            (center[axis] + rotated[axis]) - m->body_pos[3 * b + axis];
-      }
-    }
-  }
-
-  mj_forward(m.get(), d.get());
-
-  // spring forces should still be zero after rigid rotation
-  const mjtNum tol = MjTol(1e-6, 1e-3);
-  for (int i = 0; i < m->nv; i++) {
-    EXPECT_NEAR(d->qfrc_spring[i], 0, tol)
-        << "nonzero spring force at DOF " << i << " after rigid rotation";
-  }
-}
-
-
-// verify that a pinned vertex (on a static body) gets zero bending force
-// while its free neighbors get nonzero bending force
-TEST_F(ElasticityTest, PinnedVertexBendingForce) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="parent">
-      <flexcomp name="test" type="grid" count="3 3 1" spacing="1 1 1"
-                radius="0.01" dim="2">
-        <elasticity young="1" poisson="0" thickness="1" elastic2d="bend"/>
-        <pin id="0"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // displace a free vertex out of plane to create bending
-  d->qpos[3] = 0.1;
-  mj_forward(m.get(), d.get());
-
-  // vertex 0 is pinned to the world body (body 0), which has 0 dofs,
-  // so no bending force is written for it — the reaction is absorbed by the pin
-
-  // verify that at least some free vertices have nonzero spring force
-  bool has_nonzero = false;
-  for (int i = 0; i < m->nv; i++) {
-    if (d->qfrc_spring[i] != 0) {
-      has_nonzero = true;
-      break;
-    }
-  }
-  EXPECT_TRUE(has_nonzero) << "bending should produce nonzero spring forces";
-}
-
-// verify that a flexcomp with dof="trilinear" inside a parent body
-// with non-identity quaternion produces:
-//   1. restoring forces (not expanding) for small perturbations
-//   2. identical qfrc_passive between rotated and non-rotated models
-//   3. stable simulation with implicit integration (no NaN, bounded qacc)
-TEST_F(ElasticityTest, TrilinearParentBodyRotation) {
-  static constexpr char rotated_xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0" integrator="implicitfast"
-            timestep="0.0005" solver="CG"/>
-    <worldbody>
-      <body name="base" pos="0 0 0" quat="0.7071 0 0.7071 0">
-        <flexcomp type="grid" count="3 3 3" spacing=".05 .05 .05"
-                  dim="3" radius=".001" mass=".005" name="soft" dof="trilinear">
-          <elasticity young="1e4" poisson="0.1" damping="0.1"/>
-          <contact selfcollide="none" internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  static constexpr char nonrotated_xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0" integrator="implicitfast"
-            timestep="0.0005" solver="CG"/>
-    <worldbody>
-      <body name="base" pos="0 0 0">
-        <flexcomp type="grid" count="3 3 3" spacing=".05 .05 .05"
-                  dim="3" radius=".001" mass=".005" name="soft" dof="trilinear">
-          <elasticity young="1e4" poisson="0.1" damping="0.1"/>
-          <contact selfcollide="none" internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-
-  // --- test 1: force sign and rotational invariance ---
-  MjModelPtr m_rot = LoadModelFromString(rotated_xml, error, sizeof(error));
-  ASSERT_THAT(m_rot.get(), NotNull()) << error;
-  MjDataPtr d_rot = MakeData(m_rot);
-
-  MjModelPtr m_non = LoadModelFromString(nonrotated_xml, error, sizeof(error));
-  ASSERT_THAT(m_non.get(), NotNull()) << error;
-  MjDataPtr d_non = MakeData(m_non);
-
-  // apply small +X perturbation to DOF 0 (node 0, X slide)
-  d_rot->qpos[0] = 1e-6;
-  d_non->qpos[0] = 1e-6;
-
-  mj_forward(m_rot.get(), d_rot.get());
-  mj_forward(m_non.get(), d_non.get());
-
-  // check force sign on the displaced DOF: positive qpos -> negative qfrc (restoring)
-  EXPECT_LT(d_rot->qfrc_passive[0], 0)
-      << "rotated model: expected restoring force on displaced DOF 0";
-  EXPECT_LT(d_non->qfrc_passive[0], 0)
-      << "non-rotated model: expected restoring force on displaced DOF 0";
-
-  // check rotational invariance: forces match within numerical precision
-  // (tol ~ 1e-13 due to floating-point differences in polar decomposition path)
-  const mjtNum tol = MjTol(1e-12, 1e-5);
-  for (int i = 0; i < m_rot->nv; i++) {
-    EXPECT_NEAR(d_rot->qfrc_passive[i], d_non->qfrc_passive[i], tol)
-        << "rotated/non-rotated qfrc mismatch at DOF " << i;
-  }
-
-  // --- test 2: implicit integration stability (200 steps, no NaN) ---
-  mjtNum max_qacc = 0;
-  for (int step = 0; step < 200; step++) {
-    mj_step(m_rot.get(), d_rot.get());
-
-    for (int i = 0; i < m_rot->nv; i++) {
-      ASSERT_TRUE(std::isfinite(d_rot->qacc[i]))
-          << "NaN/Inf in qacc at DOF " << i << " at step " << step;
-      mjtNum a = mju_abs(d_rot->qacc[i]);
-      if (a > max_qacc) max_qacc = a;
-    }
-    if (HasFatalFailure()) return;
-  }
-
-  EXPECT_LT(max_qacc, 1e4);
-}
-
-
-// A dim=2 flexcomp with bending elasticity inside a parent body with a
-// non-identity quaternion. The implicit metric assembles the bending
-// stiffness from world-space vertex positions, but the vertex bodies' slide
-// dofs live in the (rotated) parent frame. Without the R^T (.) R change
-// of basis the metric stops being the Jacobian of the passive force,
-// which shows up as a loss of rotational invariance and, at stiffnesses
-// the unrotated model handles comfortably, as divergence.
-TEST_F(ElasticityTest, BendParentBodyRotation) {
-  static constexpr char rotated_xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0" integrator="implicitfast"
-            timestep="0.001" solver="CG"/>
-    <worldbody>
-      <body name="base" pos="0 0 0" quat="0.7071 0.7071 0 0">
-        <flexcomp type="grid" count="5 5 1" spacing=".05 .05 .05"
-                  dim="2" radius=".001" mass=".01" name="sheet">
-          <elasticity young="1e5" poisson="0" thickness="1e-2"
-                      elastic2d="bend"/>
-          <contact selfcollide="none" internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  static constexpr char nonrotated_xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0" integrator="implicitfast"
-            timestep="0.001" solver="CG"/>
-    <worldbody>
-      <body name="base" pos="0 0 0">
-        <flexcomp type="grid" count="5 5 1" spacing=".05 .05 .05"
-                  dim="2" radius=".001" mass=".01" name="sheet">
-          <elasticity young="1e5" poisson="0" thickness="1e-2"
-                      elastic2d="bend"/>
-          <contact selfcollide="none" internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-
-  MjModelPtr m_rot = LoadModelFromString(rotated_xml, error, sizeof(error));
-  ASSERT_THAT(m_rot.get(), NotNull()) << error;
-  MjDataPtr d_rot = MakeData(m_rot);
-
-  MjModelPtr m_non = LoadModelFromString(nonrotated_xml, error, sizeof(error));
-  ASSERT_THAT(m_non.get(), NotNull()) << error;
-  MjDataPtr d_non = MakeData(m_non);
-
-  // lift one corner out of plane: that bends at first order but stretches only
-  // at second, so the bending force is not swamped. As in the stretch case the
-  // displacement is applied in the parent frame, so the response must not
-  // depend on the parent's orientation
-  d_rot->qpos[2] = 1e-2;
-  d_non->qpos[2] = 1e-2;
-
-  mj_forward(m_rot.get(), d_rot.get());
-  mj_forward(m_non.get(), d_non.get());
-
-  EXPECT_LT(d_non->qfrc_passive[2], -1e-6)
-      << "expected a restoring force on the lifted dof";
-
-  const mjtNum tol = MjTol(1e-12, 1e-5);
-  for (int i = 0; i < m_rot->nv; i++) {
-    EXPECT_NEAR(d_rot->qfrc_passive[i], d_non->qfrc_passive[i], tol)
-        << "rotated/non-rotated qfrc mismatch at dof " << i;
-  }
-
-  // qacc exercises the metric itself, so this also covers mjd_flexBend_mul
-  for (int i = 0; i < m_rot->nv; i++) {
-    EXPECT_NEAR(d_rot->qacc[i], d_non->qacc[i], MjTol(1e-9, 1e-3))
-        << "rotated/non-rotated qacc mismatch at dof " << i;
-  }
-
-  // and the rotated model must integrate stably
-  for (int step = 0; step < 200; step++) {
-    mj_step(m_rot.get(), d_rot.get());
-    for (int i = 0; i < m_rot->nv; i++) {
-      ASSERT_TRUE(std::isfinite(d_rot->qacc[i]))
-          << "NaN/Inf in qacc at dof " << i << " at step " << step;
-    }
-    if (HasFatalFailure()) return;
-  }
-}
-
-// A dim=2 flexcomp with stretch elasticity inside a parent body with a
-// non-identity quaternion. The implicit metric assembles the stretch
-// stiffness from world-space edge vectors, but the vertex bodies' slide
-// dofs live in the (rotated) parent frame. Without the R^T (.) R change
-// of basis the metric stops being the Jacobian of the passive force,
-// which shows up as a loss of rotational invariance and, at stiffnesses
-// the unrotated model handles comfortably, as divergence.
-TEST_F(ElasticityTest, StretchParentBodyRotation) {
-  static constexpr char rotated_xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0" integrator="implicitfast"
-            timestep="0.001" solver="CG"/>
-    <worldbody>
-      <body name="base" pos="0 0 0" quat="0.7071 0.7071 0 0">
-        <flexcomp type="grid" count="5 5 1" spacing=".05 .05 .05"
-                  dim="2" radius=".001" mass=".01" name="sheet">
-          <elasticity young="1e5" poisson="0" thickness="1e-3"
-                      elastic2d="stretch"/>
-          <contact selfcollide="none" internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  static constexpr char nonrotated_xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0" integrator="implicitfast"
-            timestep="0.001" solver="CG"/>
-    <worldbody>
-      <body name="base" pos="0 0 0">
-        <flexcomp type="grid" count="5 5 1" spacing=".05 .05 .05"
-                  dim="2" radius=".001" mass=".01" name="sheet">
-          <elasticity young="1e5" poisson="0" thickness="1e-3"
-                      elastic2d="stretch"/>
-          <contact selfcollide="none" internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-
-  MjModelPtr m_rot = LoadModelFromString(rotated_xml, error, sizeof(error));
-  ASSERT_THAT(m_rot.get(), NotNull()) << error;
-  MjDataPtr d_rot = MakeData(m_rot);
-
-  MjModelPtr m_non = LoadModelFromString(nonrotated_xml, error, sizeof(error));
-  ASSERT_THAT(m_non.get(), NotNull()) << error;
-  MjDataPtr d_non = MakeData(m_non);
-
-  // stretch one dof; the response is expressed in the parent frame in
-  // both models, so the passive force and the implicit acceleration must
-  // agree regardless of the parent's orientation
-  d_rot->qpos[0] = 1e-4;
-  d_non->qpos[0] = 1e-4;
-
-  mj_forward(m_rot.get(), d_rot.get());
-  mj_forward(m_non.get(), d_non.get());
-
-  EXPECT_LT(d_rot->qfrc_passive[0], 0)
-      << "expected a restoring force on the stretched dof";
-
-  const mjtNum tol = MjTol(1e-12, 1e-5);
-  for (int i = 0; i < m_rot->nv; i++) {
-    EXPECT_NEAR(d_rot->qfrc_passive[i], d_non->qfrc_passive[i], tol)
-        << "rotated/non-rotated qfrc mismatch at dof " << i;
-  }
-
-  // qacc exercises the metric itself (the force is only its right-hand
-  // side): a metric in the wrong basis breaks this invariance even though
-  // the force above is already correct
-  for (int i = 0; i < m_rot->nv; i++) {
-    EXPECT_NEAR(d_rot->qacc[i], d_non->qacc[i], MjTol(1e-9, 1e-3))
-        << "rotated/non-rotated qacc mismatch at dof " << i;
-  }
-
-  // and the rotated model must integrate stably
-  for (int step = 0; step < 200; step++) {
-    mj_step(m_rot.get(), d_rot.get());
-    for (int i = 0; i < m_rot->nv; i++) {
-      ASSERT_TRUE(std::isfinite(d_rot->qacc[i]))
-          << "NaN/Inf in qacc at dof " << i << " at step " << step;
-    }
-    if (HasFatalFailure()) return;
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_pgs_convergence_test.cc b/test/engine/engine_pgs_convergence_test.cc
deleted file mode 100644
index 996b14cd..00000000
--- a/test/engine/engine_pgs_convergence_test.cc
+++ /dev/null
@@ -1,274 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// PGS with/without Nesterov momentum: compare convergence and timing.
-//
-// Rolls out Newton ground truth on 2humanoid100.xml, then evaluates PGS with
-// and without Nesterov momentum at various iteration budgets.
-
-
-#include <chrono>  // NOLINT
-#include <cstdio>
-#include <ratio>  // NOLINT
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-extern "C" thread_local int mj_nesterov_momentum;
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-
-mjtNum gettm(void) {
-  using Clock = std::chrono::steady_clock;
-  using Microseconds = std::chrono::duration<mjtNum, std::micro>;
-  static const Clock::time_point tm_start = Clock::now();
-  return Microseconds(Clock::now() - tm_start).count();
-}
-
-using PgsConvergenceTest = MujocoTest;
-
-// get total solver iterations across all islands
-int get_total_solver_iters(const mjData* d) {
-  int nisland = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
-  int total = 0;
-  for (int i = 0; i < nisland; i++) {
-    total += d->solver_niter[i];
-  }
-  return total;
-}
-
-// run solver benchmark at various iteration counts, print table
-void run_benchmark(mjModel* model, mjData* data,
-                   const std::vector<mjtNum>& all_qpos,
-                   const std::vector<mjtNum>& all_qvel,
-                   const std::vector<mjtNum>& all_warmstart,
-                   const std::vector<mjtNum>& all_qacc,
-                   int nq, int nv, int kStride, int kNumEval,
-                   const int* kIterCounts, int kNumIter,
-                   const char* label) {
-  std::printf("\n  %s:\n", label);
-  std::printf("  %6s | %11s | %11s | %10s | %11s\n",
-              "Iters", "Mean Err", "Max Err", "Mean Iters", "Solver us");
-  std::printf("  %s\n",
-              "-------+-------------+-------------+------------+-----------");
-
-  for (int c = 0; c < kNumIter; c++) {
-    model->opt.iterations = kIterCounts[c];
-
-    for (int i = 0; i < mjNTIMER; i++) {
-      data->timer[i].duration = 0;
-      data->timer[i].number = 0;
-    }
-
-    int total_iters = 0;
-    mjtNum sum_rel_err = 0;
-    mjtNum max_rel_err = 0;
-
-    for (int e = 0; e < kNumEval; e++) {
-      int idx = e * kStride;
-
-      mju_copy(data->qpos, all_qpos.data() + idx*nq, nq);
-      mju_copy(data->qvel, all_qvel.data() + idx*nv, nv);
-      mju_copy(data->qacc_warmstart, all_warmstart.data() + idx*nv, nv);
-
-      mj_forward(model, data);
-      total_iters += get_total_solver_iters(data);
-
-      mjtNum newton_norm = mju_norm(all_qacc.data() + idx*nv, nv);
-      mjtNum err = 0;
-      for (int j = 0; j < nv; j++) {
-        mjtNum diff = data->qacc[j] - all_qacc[idx*nv + j];
-        err += diff * diff;
-      }
-      mjtNum rel_err = mju_sqrt(err) / mju_max(newton_norm, 1e-10);
-      sum_rel_err += rel_err;
-      if (rel_err > max_rel_err) {
-        max_rel_err = rel_err;
-      }
-    }
-
-    mjtNum solver_time = data->timer[mjTIMER_CONSTRAINT].duration;
-    mjtNum mean_iters = static_cast<mjtNum>(total_iters) / kNumEval;
-    std::printf("  %6d | %11.4e | %11.4e | %10.2f | %11.2f\n",
-                kIterCounts[c], sum_rel_err / kNumEval, max_rel_err,
-                mean_iters, solver_time);
-  }
-  std::printf("  %s\n",
-              "-------+-------------+-------------+------------+-----------");
-}
-
-// run pipeline mode: consecutive steps with tolerance, print summary
-void run_pipeline(mjModel* model, mjData* data, int kNumSteps,
-                  const char* label) {
-  std::printf("\n  %s Pipeline mode (mj_step, tolerance = 1e-8):\n", label);
-
-  mj_resetData(model, data);
-  for (int i = 0; i < mjNTIMER; i++) {
-    data->timer[i].duration = 0;
-    data->timer[i].number = 0;
-  }
-
-  int pipe_total_iters = 0;
-  for (int i = 0; i < kNumSteps; i++) {
-    mj_step(model, data);
-    pipe_total_iters += get_total_solver_iters(data);
-  }
-
-  mjtNum pipe_constraint = data->timer[mjTIMER_CONSTRAINT].duration;
-  mjtNum pipe_step = data->timer[mjTIMER_STEP].duration;
-  int pipe_step_count = data->timer[mjTIMER_STEP].number;
-
-  std::printf("  Steps/s          : %.0f\n",
-              pipe_step_count > 0 ? 1e6 * pipe_step_count / pipe_step : 0.0);
-  std::printf("  us/step (total)  : %.1f\n",
-              pipe_step_count > 0 ? pipe_step / pipe_step_count : 0.0);
-  std::printf("  us/step (constr) : %.1f\n",
-              pipe_step_count > 0 ? pipe_constraint / pipe_step_count : 0.0);
-  std::printf("  Iters/step       : %.2f\n",
-              pipe_step_count > 0
-                ? static_cast<mjtNum>(pipe_total_iters) / pipe_step_count
-                : 0.0);
-}
-
-TEST_F(PgsConvergenceTest, PGSConvergence) {
-  static const char* const kPath =
-      "engine/testdata/forward/perf/2humanoid100_PGS.xml";
-  const std::string xml_path = GetTestDataFilePath(kPath);
-  char error[1024];
-  mjModel* model =
-      mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  // disable islands: monolithic solver makes statistics simpler
-  model->opt.disableflags |= mjDSBL_ISLAND;
-
-  int nq = model->nq;
-  int nv = model->nv;
-
-  // stronger sideways gravity
-  model->opt.gravity[0] = -2;
-  model->opt.gravity[1] = -2;
-  model->opt.gravity[2] = -10;
-
-  // configure Newton ground truth
-  model->opt.solver = mjSOL_NEWTON;
-  model->opt.jacobian = mjJAC_SPARSE;
-  model->opt.tolerance = 0;
-  model->opt.iterations = 10;
-  model->opt.disableflags &= ~mjDSBL_WARMSTART;
-
-  mjData* data = mj_makeData(model);
-  mjcb_time = gettm;
-
-  // roll out Newton for kNumSteps, save pre-step state and post-step qacc
-  constexpr int kNumSteps = 1000;
-  std::vector<mjtNum> all_qpos(kNumSteps * nq);
-  std::vector<mjtNum> all_qvel(kNumSteps * nv);
-  std::vector<mjtNum> all_warmstart(kNumSteps * nv);
-  std::vector<mjtNum> all_qacc(kNumSteps * nv);
-
-  std::printf("Rolling out ground truth Newton steps...\n");
-  for (int i = 0; i < kNumSteps; i++) {
-    mju_copy(all_qpos.data() + i*nq, data->qpos, nq);
-    mju_copy(all_qvel.data() + i*nv, data->qvel, nv);
-    mju_copy(all_warmstart.data() + i*nv, data->qacc_warmstart, nv);
-
-    mj_step(model, data);
-
-    mju_copy(all_qacc.data() + i*nv, data->qacc, nv);
-  }
-
-  // evaluation points
-  constexpr int kNumEval = 100;
-  constexpr int kStride = kNumSteps / kNumEval;
-
-  // iteration counts to test
-  constexpr int kIterCounts[] = {5, 10, 20, 40, 80, 160, 320};
-  constexpr int kNumIter = sizeof(kIterCounts) / sizeof(kIterCounts[0]);
-
-  std::printf("\nPGS vs Nesterov PGS: 2humanoid100_PGS.xml\n");
-  std::printf("  %d Newton steps, %d evaluation points\n",
-              kNumSteps, kNumEval);
-  std::printf("  nv = %d, nq = %d, nefc = %d\n", nv, nq, data->nefc);
-
-  // switch to PGS
-  model->opt.solver = mjSOL_PGS;
-  model->opt.tolerance = 0;
-  model->opt.disableflags &= ~mjDSBL_WARMSTART;
-
-  // 1. Row PGS (default)
-  mj_nesterov_momentum = 0;
-  run_benchmark(model, data, all_qpos, all_qvel, all_warmstart, all_qacc,
-                nq, nv, kStride, kNumEval, kIterCounts, kNumIter,
-                "Row PGS (Warmstart, tolerance = 0)");
-
-  // 2. Nesterov PGS (via REFSAFE hack)
-  mj_nesterov_momentum = 1;
-  run_benchmark(model, data, all_qpos, all_qvel, all_warmstart, all_qacc,
-                nq, nv, kStride, kNumEval, kIterCounts, kNumIter,
-                "Nesterov PGS (Warmstart, tolerance = 0)");
-
-  // 3. Pipeline: Row PGS
-  mj_nesterov_momentum = 0;
-  model->opt.tolerance = 1e-8;
-  model->opt.iterations = 100;
-  run_pipeline(model, data, kNumSteps, "Row PGS");
-
-  // 4. Pipeline: Nesterov PGS
-  mj_nesterov_momentum = 1;
-  model->opt.tolerance = 1e-8;
-  model->opt.iterations = 100;
-  run_pipeline(model, data, kNumSteps, "Nesterov PGS");
-
-  std::printf("\n");
-
-  // ========== PASS 2: ISLANDS ENABLED ==========
-  model->opt.disableflags &= ~mjDSBL_ISLAND;
-
-  // do one forward pass to get nisland
-  mj_resetData(model, data);
-  mj_forward(model, data);
-  std::printf("\n============================================\n");
-  std::printf("PASS 2: ISLANDS ENABLED\n");
-  std::printf("============================================\n");
-
-  // Pipeline: Row PGS with islands
-  mj_nesterov_momentum = 0;
-  model->opt.tolerance = 1e-8;
-  model->opt.iterations = 100;
-  run_pipeline(model, data, kNumSteps, "Row PGS (islands)");
-
-  // Pipeline: Nesterov PGS with islands
-  mj_nesterov_momentum = 1;
-  model->opt.tolerance = 1e-8;
-  model->opt.iterations = 100;
-  run_pipeline(model, data, kNumSteps, "Nesterov PGS (islands)");
-
-  // Reset to default
-  mj_nesterov_momentum = 1;
-
-  std::printf("\n");
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_plugin_test.cc b/test/engine/engine_plugin_test.cc
deleted file mode 100644
index 853556a7..00000000
--- a/test/engine/engine_plugin_test.cc
+++ /dev/null
@@ -1,716 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for plugin-related functionalities.
-// TODO(b/247110452) add more comments to this file, or add sample plugins
-
-#include "src/engine/engine_plugin.h"
-
-#include <array>
-#include <cstdint>
-#include <sstream>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/strings/str_format.h>
-#include <absl/strings/str_replace.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-using ::testing::HasSubstr;
-using ::testing::NotNull;
-
-constexpr int kNumTruePlugins = 8;
-constexpr int kNumFakePlugins = 30;
-constexpr int kNumTestPlugins = 4;
-
-class BaseTestPlugin {
- public:
-  static constexpr int kDefaultStride = 1;
-
-  BaseTestPlugin(const mjModel* m, mjData* d, int instance)
-      : reset_count(d->plugin_state[m->plugin_stateadr[instance]]),
-        compute_count(d->plugin_state[m->plugin_stateadr[instance] + 1]),
-        advance_count(d->plugin_state[m->plugin_stateadr[instance] + 2]) {
-    {
-      const char* s = mj_getPluginConfig(m, instance, "stride");
-      if (*s) {
-        std::stringstream(s) >> stride;
-      } else {
-        stride = kDefaultStride;
-      }
-    }
-
-    reset_count = 0;
-    compute_count = 0;
-    advance_count = 0;
-  }
-
-  void Reset() {
-    reset_count += stride;
-    compute_count = 0;
-    advance_count = 0;
-  }
-
-  void Compute() { compute_count += stride; }
-
-  void Advance() { advance_count += stride; }
-
- protected:
-  int stride;
-
-  mjtNum& reset_count;
-  mjtNum& compute_count;
-  mjtNum& advance_count;
-};
-
-class TestSensor : public BaseTestPlugin {
- public:
-  TestSensor(const mjModel* m, mjData* d, int instance)
-      : BaseTestPlugin(m, d, instance) {
-    for (int i = 0; i < m->nsensor; ++i) {
-      if (m->sensor_type[i] == mjSENS_PLUGIN &&
-          m->sensor_plugin[i] == instance) {
-        sensors.push_back(
-            reinterpret_cast<mjtNum(*)[4]>(&d->sensordata[m->sensor_adr[i]]));
-      }
-    }
-  }
-
-  static int& InitCount() {
-    static int counter = 0;
-    return counter;
-  }
-
-  static int& DestroyCount() {
-    static int counter = 0;
-    return counter;
-  }
-
-  void Reset() {
-    BaseTestPlugin::Reset();
-    WriteSensorData();
-  }
-
-  void Compute() {
-    BaseTestPlugin::Compute();
-    WriteSensorData();
-  }
-
-  void Advance() {
-    BaseTestPlugin::Advance();
-    WriteSensorData();
-  }
-
- private:
-  std::vector<mjtNum (*)[4]> sensors;
-
-  void WriteSensorData() {
-    for (auto* sensordata_ptr : sensors) {
-      auto& sensordata = *sensordata_ptr;
-      sensordata[0] = reset_count;
-      sensordata[1] = compute_count;
-      sensordata[2] = advance_count;
-    }
-  }
-};
-
-class TestActuator : public BaseTestPlugin {
- public:
-  static constexpr mjtNum kDefaultMultiplier = 1.0;
-  static constexpr mjtNum kActDotValue = 13.0;
-
-  TestActuator(const mjModel* m, mjData* d, int instance)
-      : BaseTestPlugin(m, d, instance), instance_(instance) {
-    const char* s = mj_getPluginConfig(m, instance, "multiplier");
-    if (*s) {
-      std::stringstream(s) >> multiplier;
-    } else {
-      multiplier = kDefaultMultiplier;
-    }
-    for (int i = 0; i < m->nu; ++i) {
-      if (m->actuator_plugin[i] == instance) {
-        actuators.push_back(&d->actuator_force[i]);
-      }
-    }
-  }
-
-  static int& InitCount() {
-    static int counter = 0;
-    return counter;
-  }
-
-  static int& DestroyCount() {
-    static int counter = 0;
-    return counter;
-  }
-
-  void Reset() {
-    BaseTestPlugin::Reset();
-    WriteActuatorForce();
-  }
-
-  void Compute() {
-    BaseTestPlugin::Compute();
-    WriteActuatorForce();
-  }
-
-  void ActDot(const mjModel* m, mjData* d) {
-    for (int i = 0; i < m->nu; ++i) {
-      if (m->actuator_plugin[i] != instance_) {
-        continue;
-      }
-      // If the user specified an actdim, fill the act_dot values that belong
-      // to the plugin.
-      int actnum = m->actuator_actnum[i];
-      if (m->actuator_dyntype[i] != mjDYN_NONE) {
-        actnum--;
-      }
-      mju_fill(d->act_dot + m->actuator_actadr[i], kActDotValue, actnum);
-    }
-  }
-
- private:
-  mjtNum multiplier;
-  std::vector<mjtNum*> actuators;
-  int instance_;
-
-  void WriteActuatorForce() {
-    for (mjtNum* actuator_force : actuators) {
-      *actuator_force = advance_count * multiplier;
-    }
-  }
-};
-
-class TestPassive {
- public:
-  TestPassive(const mjModel* m, mjData* d, int instance) {}
-  void Reset() {}
-  void Compute() {}
-  void Advance() {}
-};
-
-int RegisterSensorPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.test.sensor";
-
-  const char* attributes[] = {"stride"};
-  plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
-  plugin.attributes = attributes;
-
-  plugin.capabilityflags |= mjPLUGIN_SENSOR;
-
-  plugin.nstate = +[](const mjModel* m, int instance) { return 3; };
-  plugin.nsensordata =
-      +[](const mjModel* m, int instance, int sensor_id) { return 3; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto* sensor = new TestSensor(m, d, instance);
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(sensor);
-    TestSensor::InitCount()++;
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<TestSensor*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-    TestSensor::DestroyCount()++;
-  };
-
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto sensor = reinterpret_cast<TestSensor*>(plugin_data);
-    sensor->Reset();
-  };
-  plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
-    auto sensor = reinterpret_cast<TestSensor*>(d->plugin_data[instance]);
-    sensor->Compute();
-  };
-  plugin.advance = +[](const mjModel* m, mjData* d, int instance) {
-    auto sensor = reinterpret_cast<TestSensor*>(d->plugin_data[instance]);
-    sensor->Advance();
-  };
-
-  return mjp_registerPlugin(&plugin);
-}
-
-int RegisterActuatorPlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.test.actuator";
-
-  const char* attributes[] = {"stride", "multiplier"};
-  plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
-  plugin.attributes = attributes;
-
-  plugin.capabilityflags |= mjPLUGIN_ACTUATOR;
-
-  plugin.nstate = +[](const mjModel* m, int instance) { return 3; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto* actuator = new TestActuator(m, d, instance);
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(actuator);
-    TestActuator::InitCount()++;
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<TestActuator*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-    TestActuator::DestroyCount()++;
-  };
-
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto actuator = reinterpret_cast<TestActuator*>(plugin_data);
-    actuator->Reset();
-  };
-  plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
-    auto actuator = reinterpret_cast<TestActuator*>(d->plugin_data[instance]);
-    actuator->Compute();
-  };
-  plugin.advance = +[](const mjModel* m, mjData* d, int instance) {
-    auto actuator = reinterpret_cast<TestActuator*>(d->plugin_data[instance]);
-    actuator->Advance();
-  };
-  plugin.actuator_act_dot = +[](const mjModel* m, mjData* d, int instance) {
-    auto actuator = reinterpret_cast<TestActuator*>(d->plugin_data[instance]);
-    actuator->ActDot(m, d);
-  };
-
-  return mjp_registerPlugin(&plugin);
-}
-
-int RegisterPassivePlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.test.passive";
-
-  const char* attributes[] = {"attribute"};
-  plugin.nattribute = sizeof(attributes) / sizeof(*attributes);
-  plugin.attributes = attributes;
-
-  plugin.capabilityflags |= mjPLUGIN_PASSIVE;
-
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto* passive = new TestPassive(m, d, instance);
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(passive);
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<TestPassive*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto passive = reinterpret_cast<TestPassive*>(plugin_data);
-    passive->Reset();
-  };
-  plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
-    auto passive = reinterpret_cast<TestPassive*>(d->plugin_data[instance]);
-    passive->Compute();
-  };
-
-  return mjp_registerPlugin(&plugin);
-}
-
-int RegisterNoAttributePlugin() {
-  mjpPlugin plugin;
-  mjp_defaultPlugin(&plugin);
-
-  plugin.name = "mujoco.test.noattribute";
-
-  plugin.nattribute = 0;
-  plugin.attributes = nullptr;
-
-  plugin.capabilityflags |= mjPLUGIN_PASSIVE;
-
-  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
-
-  plugin.init = +[](const mjModel* m, mjData* d, int instance) {
-    auto* passive = new TestPassive(m, d, instance);
-    d->plugin_data[instance] = reinterpret_cast<uintptr_t>(passive);
-    return 0;
-  };
-  plugin.destroy = +[](mjData* d, int instance) {
-    delete reinterpret_cast<TestPassive*>(d->plugin_data[instance]);
-    d->plugin_data[instance] = 0;
-  };
-
-  plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
-                     int instance) {
-    auto passive = reinterpret_cast<TestPassive*>(plugin_data);
-    passive->Reset();
-  };
-  plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
-    auto passive = reinterpret_cast<TestPassive*>(d->plugin_data[instance]);
-    passive->Compute();
-  };
-
-  return mjp_registerPlugin(&plugin);
-}
-
-class EnginePluginTest : public MujocoTest {
- public:
-  // register all plugins
-  EnginePluginTest() : MujocoTest() {
-    RegisterSensorPlugin();
-
-    for (int i = 1; i <= kNumFakePlugins; ++i) {
-      mjpPlugin plugin;
-      mjp_defaultPlugin(&plugin);
-      std::string name = absl::StrFormat("mujoco.test.fake%u", i);
-      plugin.name = name.c_str();
-      mjp_registerPlugin(&plugin);
-    }
-
-    RegisterActuatorPlugin();
-    RegisterPassivePlugin();
-    RegisterNoAttributePlugin();
-  }
-};
-
-constexpr char xml[] = R"(
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.test.sensor">
-      <instance name="twosensors"/>
-      <instance name="threesensors">
-        <config key="stride" value="3"/>
-      </instance>
-    </plugin>
-    <plugin plugin="mujoco.test.actuator">
-      <instance name="actuator2">
-        <config key="stride" value="2"/>
-        <config key="multiplier" value="0.125"/>
-      </instance>
-    </plugin>
-    <plugin plugin="mujoco.test.noattribute">
-      <instance name="noattribute"/>
-    </plugin>
-    <plugin plugin="mujoco.test.passive"/>
-  </extension>
-  <worldbody>
-    <body>
-      <plugin plugin="mujoco.test.passive">
-        <config key="attribute" value="0"/>
-      </plugin>
-      <geom type="capsule" size="0.1" fromto="-1 0 0 -1 0 -1"/>
-      <joint name="h1" type="hinge"/>
-    </body>
-    <body>
-      <geom type="capsule" size="0.1" fromto="1 0 0 1 0 -1"/>
-      <joint name="h2" type="hinge"/>
-    </body>
-  </worldbody>
-  <sensor>
-    <plugin instance="twosensors"/>
-    <plugin plugin="mujoco.test.sensor">
-      <config key="stride" value="5"/>
-    </plugin>
-    <plugin instance="threesensors"/>
-    <plugin instance="twosensors"/>
-    <plugin instance="threesensors"/>
-    <plugin instance="threesensors"/>
-  </sensor>
-  <actuator>
-    <plugin joint="h1" plugin="mujoco.test.actuator">
-      <config key="stride" value="4"/>
-      <config key="multiplier" value="0.03125"/>
-    </plugin>
-    <plugin joint="h2" actdim="3" instance="actuator2"/>
-    <plugin joint="h2" actdim="4" dyntype="filter" dynprm="0.9" instance="actuator2"/>
-  </actuator>
-</mujoco>
-)";
-
-TEST_F(MujocoTest, EmptyPluginDisallowed) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <plugin/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), testing::IsNull()) << error.data();
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr(
-          "neither 'plugin' nor 'instance' is specified for body 'world'"));
-}
-
-TEST_F(MujocoTest, FirstPartyPlugins) {
-  EXPECT_THAT(mjp_pluginCount(), kNumTruePlugins);
-}
-
-TEST_F(EnginePluginTest, NoAttributePlugin) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <extension>
-      <plugin plugin="mujoco.test.noattribute">
-        <instance name="noattribute"/>
-      </plugin>
-    </extension>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), testing::NotNull()) << error.data();
-}
-
-TEST_F(EnginePluginTest, MultiplePluginTableBlocks) {
-  EXPECT_EQ(mjp_pluginCount(),
-            kNumTruePlugins + kNumFakePlugins + kNumTestPlugins);
-
-  const mjpPlugin* last_plugin = nullptr;
-  int table_count = 0;
-  for (int i = 1; i <= kNumFakePlugins; ++i) {
-    int slot;
-    std::string name = absl::StrFormat("mujoco.test.fake%u", i);
-    const mjpPlugin* plugin = mjp_getPlugin(name.c_str(), &slot);
-    EXPECT_EQ(slot, kNumTruePlugins + i);
-    EXPECT_THAT(plugin, NotNull());
-    if (plugin - last_plugin != 1) {
-      ++table_count;
-    }
-    last_plugin = plugin;
-  }
-
-  // Make sure that there are enough fake plugins to fill multiple table blocks.
-  EXPECT_GT(table_count, 1);
-
-  // Make sure that a block contains multiple plugins.
-  EXPECT_LT(table_count, kNumFakePlugins);
-}
-
-TEST_F(EnginePluginTest, RegisterIdenticalPlugin) {
-  EXPECT_EQ(RegisterSensorPlugin(), kNumTruePlugins);
-  EXPECT_EQ(RegisterActuatorPlugin(), kNumTruePlugins + kNumFakePlugins + 1);
-  EXPECT_EQ(RegisterPassivePlugin(), kNumTruePlugins + kNumFakePlugins + 2);
-  EXPECT_EQ(mjp_pluginCount(),
-            kNumTruePlugins + kNumFakePlugins + kNumTestPlugins);
-}
-
-TEST_F(EnginePluginTest, SaveXml) {
-  char error[1024] = {0};
-
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-
-  std::string saved_xml = SaveAndReadXml(m.get());
-  std::string_view expected_xml(xml);
-
-  const std::string extension_open = "<extension>";
-  const std::string extension_close = "</extension>";
-  int extension_start = expected_xml.find(extension_open);
-  ASSERT_NE(extension_start, std::string::npos);
-  int extension_end =
-      expected_xml.find(extension_close) + extension_close.size();
-  ASSERT_NE(extension_end, std::string::npos);
-  ASSERT_LE(extension_start, extension_end);
-  auto expected_extension_section =
-      expected_xml.substr(extension_start, extension_end - extension_start);
-
-  const std::string sensor_open = "<sensor>";
-  const std::string sensor_close = "</sensor>";
-  int sensor_start = expected_xml.find(sensor_open);
-  ASSERT_NE(sensor_start, std::string::npos);
-  int sensor_end = expected_xml.find(sensor_close) + sensor_close.size();
-  ASSERT_NE(sensor_end, std::string::npos);
-  ASSERT_LE(sensor_start, sensor_end);
-  auto expected_sensor_section =
-      expected_xml.substr(sensor_start, sensor_end - sensor_start);
-
-  const std::string actuator_open = "<actuator>";
-  const std::string actuator_close = "</actuator>";
-  int actuator_start = expected_xml.find(actuator_open);
-  ASSERT_NE(actuator_start, std::string::npos);
-  int actuator_end = expected_xml.find(actuator_close) + actuator_close.size();
-  ASSERT_NE(actuator_end, std::string::npos);
-  ASSERT_LE(actuator_start, actuator_end);
-  // saved attributes follow schema order; dynprm round-trips as written
-  auto expected_actuator_section = absl::StrReplaceAll(
-      expected_xml.substr(actuator_start, actuator_end - actuator_start),
-      {{"actdim=\"4\" dyntype=\"filter\" dynprm=\"0.9\"",
-        "dyntype=\"filter\" dynprm=\"0.9\" actdim=\"4\""}});
-
-  EXPECT_THAT(saved_xml, HasSubstr(expected_extension_section));
-  EXPECT_THAT(saved_xml, HasSubstr(expected_sensor_section));
-  EXPECT_THAT(saved_xml, HasSubstr(expected_actuator_section));
-
-  // make sure that the saved XML can still be compiled
-  MjModelPtr m2 = LoadModelFromString(saved_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-}
-
-TEST_F(EnginePluginTest, SensorPlugin) {
-  int expected_init_count = TestSensor::InitCount();
-  int expected_destroy_count = TestSensor::DestroyCount();
-  EXPECT_EQ(expected_init_count, expected_destroy_count);
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-
-  // mj_makeModel calls mj_makeData and mj_deleteData internally
-  expected_init_count += 3;
-  expected_destroy_count += 3;
-  EXPECT_EQ(TestSensor::InitCount(), expected_init_count);
-  EXPECT_EQ(TestSensor::DestroyCount(), expected_destroy_count);
-
-  EXPECT_EQ(m->nplugin, 7);
-  EXPECT_EQ(mj_name2id(m.get(), mjOBJ_PLUGIN, "twosensors"), 0);
-  EXPECT_EQ(mj_name2id(m.get(), mjOBJ_PLUGIN, "threesensors"), 1);
-
-  MjDataPtr d = MakeData(m);
-  expected_init_count += 3;
-  EXPECT_EQ(TestSensor::InitCount(), expected_init_count);
-  EXPECT_EQ(TestSensor::DestroyCount(), expected_destroy_count);
-
-  for (int i = 0; i < 5; ++i) {
-    for (int j = 0; j < 10; ++j) {
-      EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
-                                                  m->plugin_stateadr[0]),
-                  testing::ElementsAreArray<int>({i + 1, 2 * j, j}));
-      EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
-                                                  m->plugin_stateadr[1]),
-                  testing::ElementsAreArray<int>({3 * (i + 1), 6 * j, 3 * j}));
-      EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
-                                                  m->plugin_stateadr[5]),
-                  testing::ElementsAreArray<int>({5 * (i + 1), 10 * j, 5 * j}));
-      EXPECT_THAT(*reinterpret_cast<mjtNum(*)[18]>(d->sensordata),
-                  testing::ElementsAreArray<int>(
-                      {i + 1, 2 * j, j, 5 * (i + 1), 10 * j, 5 * j, 3 * (i + 1),
-                       6 * j, 3 * j, i + 1, 2 * j, j, 3 * (i + 1), 6 * j, 3 * j,
-                       3 * (i + 1), 6 * j, 3 * j}));
-      mj_step(m.get(), d.get());
-      mj_forward(m.get(), d.get());
-    }
-    mj_resetData(m.get(), d.get());
-  }
-
-  d.reset();
-  m.reset();
-
-  expected_destroy_count += 3;
-  EXPECT_EQ(TestSensor::InitCount(), expected_init_count);
-  EXPECT_EQ(TestSensor::DestroyCount(), expected_destroy_count);
-  EXPECT_EQ(TestSensor::InitCount(), expected_init_count);
-  EXPECT_EQ(TestSensor::DestroyCount(), expected_destroy_count);
-}
-
-TEST_F(EnginePluginTest, ActuatorPlugin) {
-  int expected_init_count = TestActuator::InitCount();
-  int expected_destroy_count = TestActuator::DestroyCount();
-  EXPECT_EQ(expected_init_count, expected_destroy_count);
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-
-  // mj_makeModel calls mj_makeData and mj_deleteData internally
-  expected_init_count += 2;
-  expected_destroy_count += 2;
-  EXPECT_EQ(TestActuator::InitCount(), expected_init_count);
-  EXPECT_EQ(TestActuator::DestroyCount(), expected_destroy_count);
-
-  EXPECT_EQ(m->nplugin, 7);
-  EXPECT_EQ(mj_name2id(m.get(), mjOBJ_PLUGIN, "actuator2"), 2);
-
-  MjDataPtr d = MakeData(m);
-  expected_init_count += 2;
-  EXPECT_EQ(TestActuator::InitCount(), expected_init_count);
-  EXPECT_EQ(TestActuator::DestroyCount(), expected_destroy_count);
-
-  for (int i = 0; i < 5; ++i) {
-    for (int j = 0; j < 10; ++j) {
-      EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
-                                                  m->plugin_stateadr[2]),
-                  testing::ElementsAreArray<int>({2 * (i + 1), 4 * j, 2 * j}));
-      EXPECT_THAT(*reinterpret_cast<mjtNum(*)[3]>(d->plugin_state +
-                                                  m->plugin_stateadr[3]),
-                  testing::ElementsAreArray<int>({4 * (i + 1), 8 * j, 4 * j}));
-      EXPECT_THAT(*reinterpret_cast<mjtNum(*)[2]>(d->actuator_force),
-                  testing::ElementsAreArray<mjtNum>(
-                      {(mjtNum)0.125 * j, (mjtNum)0.25 * j}));
-      mj_step(m.get(), d.get());
-      mj_forward(m.get(), d.get());
-    }
-    mj_resetData(m.get(), d.get());
-  }
-
-  d.reset();
-  m.reset();
-
-  expected_destroy_count += 2;
-  EXPECT_EQ(TestActuator::InitCount(), expected_init_count);
-  EXPECT_EQ(TestActuator::DestroyCount(), expected_destroy_count);
-  EXPECT_EQ(TestActuator::InitCount(), expected_init_count);
-  EXPECT_EQ(TestActuator::DestroyCount(), expected_destroy_count);
-}
-
-TEST_F(EnginePluginTest, FilteredActuatorPlugin) {
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-
-  // Expecting 7 actuator state variables: 3x2 from actuator2 instances, and 1
-  // from setting dyntype="filter" on one of the plugin actuators
-  ASSERT_EQ(m->na, 7);
-  EXPECT_EQ(m->actuator_actnum[0], 0);
-  EXPECT_EQ(m->actuator_actnum[1], 3);
-  EXPECT_EQ(m->actuator_actnum[2], 4);
-  EXPECT_EQ(m->actuator_actadr[0], -1);
-  EXPECT_EQ(m->actuator_actadr[1], 0);
-  EXPECT_EQ(m->actuator_actadr[2], 3);
-
-  MjDataPtr d = MakeData(m);
-  EXPECT_EQ(d->act[0], 0.0);
-  mju_fill(d->ctrl, 1, m->nu);
-  // start with nonzero act for the filter
-  d->act[6] = 0.5;
-  mj_step(m.get(), d.get());
-
-  for (int i = 0; i < 6; ++i) {
-    // act_dot should be computed by the plugin
-    mjtNum expected_act_dot = TestActuator::kActDotValue;
-    EXPECT_THAT(d->act_dot[i], MjNear(expected_act_dot, 1e-6, 1e-4));
-
-    // act_dot from the plugin should be Euler-integrated
-    mjtNum expected_act = expected_act_dot * m->opt.timestep;
-    EXPECT_THAT(d->act[i], MjNear(expected_act, 1e-6, 1e-4));
-  }
-
-  // actuator filter state should be updated outside the plugin for filter
-  // actuators.
-  mjtNum expected_act_dot = 0.5 / m->actuator_dynprm[mjNDYN * 2];
-  EXPECT_THAT(d->act_dot[6], MjNear(expected_act_dot, 1e-6, 1e-4));
-  EXPECT_THAT(d->act[6],
-              MjNear(0.5 + expected_act_dot * m->opt.timestep, 1e-6, 1e-4));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_print_test.cc b/test/engine/engine_print_test.cc
deleted file mode 100644
index 27b0711d..00000000
--- a/test/engine/engine_print_test.cc
+++ /dev/null
@@ -1,85 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "src/engine/engine_print.h"
-
-#include <array>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-#ifdef MEMORY_SANITIZER
-#include <sanitizer/msan_interface.h>
-#endif
-
-namespace mujoco {
-namespace {
-
-#ifdef MEMORY_SANITIZER
-using ::testing::Eq;
-using ::testing::Not;
-#endif
-using ::testing::NotNull;
-
-using EnginePrintTest = MujocoTest;
-
-constexpr const char* NullFile() {
-#ifdef _WIN32
-  return "NUL";
-#else
-  return "/dev/null";
-#endif
-}
-
-TEST_F(EnginePrintTest, PrintDataWorksWithMsan) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  // Mark qacc_smooth[0] as initialized.
-  data->qacc_smooth[0] = 0;
-
-  // This will read "uninitialized" values from mjData, but shouldn't fail.
-  mj_printData(model.get(), data.get(), NullFile());
-
-  // After mj_printData, poisoned status should be restored correctly, so
-  // qacc_smooth[0] should be marked initialzed.
-  EXPECT_EQ(data->qacc_smooth[0], 0);
-
-#ifdef MEMORY_SANITIZER
-  EXPECT_THAT(__msan_test_shadow(data->buffer, data->nbuffer), Not(Eq(-1)))
-      << "Expecting some of data->buffer to be marked uninitialized";
-#endif
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_ray_test.cc b/test/engine/engine_ray_test.cc
deleted file mode 100644
index d9deea1b..00000000
--- a/test/engine/engine_ray_test.cc
+++ /dev/null
@@ -1,660 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for ray casting.
-
-#include "src/engine/engine_ray.h"
-
-#include <cstring>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-static constexpr char kSingleGeomModel[] = R"(
-<mujoco>
-  <worldbody>
-    <body pos="-2 0 0">
-      <geom type="sphere" pos="1 0 0" size=".1"/>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-static constexpr char kRayCastingModel[] = R"(
-<mujoco>
-  <worldbody>
-    <geom name="static_group1" type="sphere" size=".1" pos="1 0 0" group="1"/>
-    <body pos="0 0 0">
-      <body pos="0 0 0">
-        <joint/>
-        <geom name="group0" type="sphere" size=".1" pos="3 0 0"/>
-      </body>
-      <geom name="group2" type="sphere" size=".1" pos="5 0 0" group="2"/>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-static constexpr char kCubeletModel[] = R"(
-<mujoco>
-  <asset>
-    <mesh name="cubelet"
-    vertex="0.0085  -0.01     0.0085   -0.0085  -0.01    -0.0085    0.0085  -0.01    -0.0085
-            0.01     0.0085   0.0085    0.01    -0.0085  -0.0085    0.01     0.0085  -0.0085
-           -0.0085   0.0085   0.01      0.0085  -0.0085   0.01      0.0085   0.0085   0.01
-           -0.01    -0.0085   0.0085   -0.01     0.0085  -0.0085   -0.01    -0.0085  -0.0085
-           -0.0085   0.01     0.0085    0.0085   0.01    -0.0085   -0.0085   0.01    -0.0085
-           -0.0085  -0.0085  -0.01     -0.0085  -0.01     0.0085   -0.0085  -0.0085   0.01
-           -0.0085   0.0085  -0.01     -0.01     0.0085   0.0085    0.0085  -0.0085  -0.01
-            0.01    -0.0085   0.0085    0.0085   0.0085  -0.01      0.0085   0.01     0.0085"/>
-  </asset>
-
-  <worldbody>
-    <body pos="1 0 0">
-      <geom type="mesh" mesh="cubelet"/>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-using ::std::string;
-using ::testing::AnyOf;
-using ::testing::ElementsAre;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-using RayTest = MujocoTest;
-
-TEST_F(RayTest, NoExclusions) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(kRayCastingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  mjtNum pnt[] = {0.0, 0.0, 0.0};
-  mjtNum vec[] = {1.0, 0.0, 0.0};
-  mjtByte* geomgroup = nullptr;
-  mjtByte flg_static = 1;  // Include static geoms
-  int bodyexclude = -1;
-  int geomid = -1;
-
-  mj_kinematics(model.get(), data.get());
-  mjtNum distance = mj_ray(model.get(), data.get(), pnt, vec, geomgroup,
-                           flg_static, bodyexclude, &geomid, nullptr);
-  EXPECT_STREQ(mj_id2name(model.get(), mjOBJ_GEOM, geomid), "static_group1");
-  EXPECT_MJTNUM_EQ(distance, 0.9);
-}
-
-TEST_F(RayTest, Exclusions) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(kRayCastingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  mjtNum pnt[] = {0.0, 0.0, 0.0};
-  mjtNum vec[] = {1.0, 0.0, 0.0};
-  mjtByte geomgroup[] = {1, 1, 1};
-  mjtByte flg_static = 1;
-  int bodyexclude = -1;
-  int geomid = -1;
-
-  mj_kinematics(model.get(), data.get());
-  mjtNum distance = mj_ray(model.get(), data.get(), pnt, vec, geomgroup,
-                           flg_static, bodyexclude, &geomid, nullptr);
-  EXPECT_STREQ(mj_id2name(model.get(), mjOBJ_GEOM, geomid), "static_group1");
-  EXPECT_NEAR(distance, 0.9, MjTol(1e-12, 1e-5));
-
-  // Exclude nearest geom
-  geomgroup[1] = 0;
-  distance = mj_ray(model.get(), data.get(), pnt, vec, geomgroup, flg_static,
-                    bodyexclude, &geomid, nullptr);
-  EXPECT_STREQ(mj_id2name(model.get(), mjOBJ_GEOM, geomid), "group0");
-  EXPECT_NEAR(distance, 2.9, MjTol(1e-12, 1e-5));
-
-  geomgroup[0] = 0;
-  distance = mj_ray(model.get(), data.get(), pnt, vec, geomgroup, flg_static,
-                    bodyexclude, &geomid, nullptr);
-  EXPECT_STREQ(mj_id2name(model.get(), mjOBJ_GEOM, geomid), "group2");
-  EXPECT_NEAR(distance, 4.9, MjTol(1e-12, 1e-5));
-
-  geomgroup[2] = 0;
-  distance = mj_ray(model.get(), data.get(), pnt, vec, geomgroup, flg_static,
-                    bodyexclude, &geomid, nullptr);
-  EXPECT_EQ(geomid, -1);
-  EXPECT_NEAR(distance, -1, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(RayTest, ExcludeStatic) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(kRayCastingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  mjtNum pnt[] = {0.0, 0.0, 0.0};
-  mjtNum vec[] = {1.0, 0.0, 0.0};
-  mjtByte geomgroup[] = {1, 1, 1};
-  mjtByte flg_static = 0;  // Exclude static geoms
-  int bodyexclude = -1;
-  int geomid = -1;
-
-  mj_kinematics(model.get(), data.get());
-  mjtNum distance = mj_ray(model.get(), data.get(), pnt, vec, geomgroup,
-                           flg_static, bodyexclude, &geomid, nullptr);
-  EXPECT_STREQ(mj_id2name(model.get(), mjOBJ_GEOM, geomid), "group0");
-  EXPECT_NEAR(distance, 2.9, MjTol(1e-12, 1e-5));
-}
-
-// ------------------------------- mj_multiRay --------------------------------
-
-TEST_F(RayTest, MultiRayEqualsSingleRay) {
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(kRayCastingModel, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-  mj_forward(m.get(), d.get());
-
-  // create ray array
-  constexpr int N = 80;
-  constexpr int M = 60;
-  mjtNum vec[3 * N * M];
-  mjtNum pnt[3] = {-1, 0, 0};
-  mjtNum cone[4][3] = {{1, .2, -.2}, {1, .2, .2}, {1, -.2, -.2}, {1, -.2, .2}};
-  memset(vec, 0, 3 * N * M * sizeof(mjtNum));
-
-  for (int i = 0; i < N; ++i) {
-    for (int j = 0; j < M; ++j) {
-      for (int k = 0; k < 3; ++k) {
-        vec[3 * (i * M + j) + k] = i * cone[0][k] / (N - 1) +
-                                   j * cone[1][1] / (M - 1) +
-                                   (N - i - 1) * cone[2][k] / (N - 1) +
-                                   (M - j - 1) * cone[3][k] / (M - 1);
-      }
-    }
-  }
-
-  // compute intersections with multiray functions
-  mjtNum dist_multiray[N * M];
-  int rgeomid_multiray[N * M];
-  mj_multiRay(m.get(), d.get(), pnt, vec, NULL, 1, -1, rgeomid_multiray,
-              dist_multiray, nullptr, N * M, mjMAXVAL);
-
-  // compare results with single ray function
-  mjtNum dist;
-  int rgeomid;
-  int nhits = 0;
-  for (int i = 0; i < N; ++i) {
-    for (int j = 0; j < M; ++j) {
-      int idx = i * M + j;
-      dist = mj_ray(m.get(), d.get(), pnt, vec + 3 * idx, NULL, 1, -1, &rgeomid,
-                    nullptr);
-      EXPECT_MJTNUM_EQ(dist, dist_multiray[idx]);
-      EXPECT_EQ(rgeomid, rgeomid_multiray[idx]);
-      nhits += dist >= 0;
-    }
-  }
-  EXPECT_GT(nhits, 10);
-}
-
-TEST_F(RayTest, MultiRayNormalEqualsSingleRayNormal) {
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(kRayCastingModel, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-  mj_forward(m.get(), d.get());
-
-  // create ray array
-  constexpr int N = 80;
-  constexpr int M = 60;
-  mjtNum vec[3 * N * M];
-  mjtNum pnt[3] = {-1, 0, 0};
-  mjtNum cone[4][3] = {{1, .2, -.2}, {1, .2, .2}, {1, -.2, -.2}, {1, -.2, .2}};
-  memset(vec, 0, 3 * N * M * sizeof(mjtNum));
-
-  for (int i = 0; i < N; ++i) {
-    for (int j = 0; j < M; ++j) {
-      for (int k = 0; k < 3; ++k) {
-        vec[3 * (i * M + j) + k] = i * cone[0][k] / (N - 1) +
-                                   j * cone[1][1] / (M - 1) +
-                                   (N - i - 1) * cone[2][k] / (N - 1) +
-                                   (M - j - 1) * cone[3][k] / (M - 1);
-      }
-    }
-  }
-
-  // compute intersections with multiray normal function
-  mjtNum dist_multiray[N * M];
-  int rgeomid_multiray[N * M];
-  mjtNum normal_multiray[3 * N * M];
-  mj_multiRay(m.get(), d.get(), pnt, vec, NULL, 1, -1, rgeomid_multiray,
-              dist_multiray, normal_multiray, N * M, mjMAXVAL);
-
-  // compare results with single ray normal function
-  mjtNum dist;
-  int rgeomid;
-  mjtNum normal[3];
-  int nhits = 0;
-  for (int i = 0; i < N; ++i) {
-    for (int j = 0; j < M; ++j) {
-      int idx = i * M + j;
-      dist = mj_ray(m.get(), d.get(), pnt, vec + 3 * idx, NULL, 1, -1, &rgeomid,
-                    normal);
-      EXPECT_MJTNUM_EQ(dist, dist_multiray[idx]);
-      EXPECT_EQ(rgeomid, rgeomid_multiray[idx]);
-      EXPECT_MJTNUM_EQ(normal[0], normal_multiray[3 * idx]);
-      EXPECT_MJTNUM_EQ(normal[1], normal_multiray[3 * idx + 1]);
-      EXPECT_MJTNUM_EQ(normal[2], normal_multiray[3 * idx + 2]);
-      nhits += dist >= 0;
-    }
-  }
-  EXPECT_GT(nhits, 10);
-}
-
-TEST_F(RayTest, EdgeCases) {
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(kSingleGeomModel, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  ASSERT_THAT(m->nbvh, 1);
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-  mj_forward(m.get(), d.get());
-
-  // spherical bounding box and result arrays
-  mjtNum geom_ba[4];
-  mjtNum dist;
-  int rgeomid;
-  int flags[1] = {0};
-
-  // pnt contained in bounding box
-  mjtNum pnt1[] = {-1, 0, 0};
-  mju_multiRayPrepare(m.get(), d.get(), pnt1, NULL, NULL, 1, -1, mjMAXVAL,
-                      geom_ba, flags);
-  EXPECT_MJTNUM_EQ(geom_ba[0], -mjPI);
-  EXPECT_MJTNUM_EQ(geom_ba[1], 0);
-  EXPECT_MJTNUM_EQ(geom_ba[2], mjPI);
-  EXPECT_MJTNUM_EQ(geom_ba[3], mjPI);
-  mjtNum vec1[] = {1, 0, 0};
-  mj_multiRay(m.get(), d.get(), pnt1, vec1, NULL, 1, -1, &rgeomid, &dist,
-              nullptr, 1, mjMAXVAL);
-  EXPECT_FLOAT_EQ(dist, 0.1);
-
-  // pnt at phi = Pi, -Pi
-  mjtNum pnt2[] = {-.5, 0, 0};
-  mju_multiRayPrepare(m.get(), d.get(), pnt2, NULL, NULL, 1, -1, mjMAXVAL,
-                      geom_ba, flags);
-  EXPECT_FLOAT_EQ(geom_ba[0], -mjPI);  // atan(y<0, x<0)
-  EXPECT_FLOAT_EQ(geom_ba[2], mjPI);   // atan(y>0, x<0)
-  mjtNum vec2[] = {-1, 0, 0};
-  mj_multiRay(m.get(), d.get(), pnt2, vec2, NULL, 1, -1, &rgeomid, &dist,
-              nullptr, 1, mjMAXVAL);
-  EXPECT_FLOAT_EQ(dist, 0.4);
-
-  // with cutoff
-  mjtNum cutoff1 = 0.41, cutoff2 = 0.39;
-  mju_multiRayPrepare(m.get(), d.get(), pnt2, NULL, NULL, 1, -1, cutoff1,
-                      geom_ba, flags);
-  EXPECT_EQ(flags[0], 0);
-  mju_multiRayPrepare(m.get(), d.get(), pnt2, NULL, NULL, 1, -1, cutoff2,
-                      geom_ba, flags);
-  EXPECT_EQ(flags[0], 1);
-  mj_multiRay(m.get(), d.get(), pnt2, vec2, NULL, 1, -1, &rgeomid, &dist,
-              nullptr, 1, cutoff2);
-  EXPECT_FLOAT_EQ(dist, -1);
-
-  // pnt on the boundary of the box
-  mjtNum pnt3[] = {.1, .1, .05};
-  mju_multiRayPrepare(m.get(), d.get(), pnt3, NULL, NULL, 1, -1, mjMAXVAL,
-                      geom_ba, flags);
-  EXPECT_FLOAT_EQ(geom_ba[1], 0);
-  EXPECT_FLOAT_EQ(geom_ba[3], mjPI);
-  mjtNum vec3[] = {1, 1, 0};
-  mj_multiRay(m.get(), d.get(), pnt3, vec3, NULL, 1, -1, &rgeomid, &dist,
-              nullptr, 1, mjMAXVAL);
-  EXPECT_FLOAT_EQ(dist, -1);
-
-  // size 0 geom
-  mjtNum pnt4[] = {-2, 0, 0};
-  m->geom_aabb[0] = m->geom_aabb[1] = m->geom_aabb[2] = 0;
-  m->geom_aabb[3] = m->geom_aabb[4] = m->geom_aabb[5] = 0;
-  mju_multiRayPrepare(m.get(), d.get(), pnt4, NULL, NULL, 1, -1, mjMAXVAL,
-                      geom_ba, flags);
-  // margin = atan(max_half / dist) where max_half = max(aabb[3..5])
-  // For a zero-size AABB: max_half = 0, so margin = 0
-  mjtNum dist4 = mju_dist3(pnt4, d->geom_xpos);
-  mjtNum max_half4 =
-      mju_max(m->geom_aabb[3], mju_max(m->geom_aabb[4], m->geom_aabb[5]));
-  mjtNum margin4 = mju_atan2(max_half4, dist4);
-  EXPECT_NEAR(geom_ba[0], 0 - margin4, 1e-6);
-  EXPECT_NEAR(geom_ba[1], mjPI / 2 - margin4, 1e-6);
-  EXPECT_NEAR(geom_ba[2], 0 + margin4, 1e-6);
-  EXPECT_NEAR(geom_ba[3], mjPI / 2 + margin4, 1e-6);
-  mjtNum vec4[] = {1, 0, 0};
-  mj_multiRay(m.get(), d.get(), pnt4, vec4, NULL, 1, -1, &rgeomid, &dist,
-              nullptr, 1, mjMAXVAL);
-  EXPECT_FLOAT_EQ(dist, 0.9);
-}
-
-// ------------------------------- mj_rayMesh ---------------------------------
-
-// old ray mesh intersection
-mjtNum _rayMesh(const mjModel* m, const mjData* d, int geomid,
-                const mjtNum* pnt, const mjtNum* vec) {
-  // check geom type
-  if (m->geom_type[geomid] != mjGEOM_MESH) {
-    mju_error("mj_rayMesh: geom with mesh type expected");
-  }
-
-  // map to local frame
-  mjtNum lpnt[3], lvec[3];
-  const mjtNum* pos = d->geom_xpos + 3 * geomid;
-  const mjtNum dif[3] = {pnt[0] - pos[0], pnt[1] - pos[1], pnt[2] - pos[2]};
-  mju_mulMatTVec3(lpnt, d->geom_xmat + 9 * geomid, dif);
-  mju_mulMatTVec3(lvec, d->geom_xmat + 9 * geomid, vec);
-
-  // construct basis vectors of normal plane
-  mjtNum b0[3] = {1, 1, 1}, b1[3];
-  if (mju_abs(lvec[0]) >= mju_abs(lvec[1]) &&
-      mju_abs(lvec[0]) >= mju_abs(lvec[2])) {
-    b0[0] = 0;
-  } else if (mju_abs(lvec[1]) >= mju_abs(lvec[2])) {
-    b0[1] = 0;
-  } else {
-    b0[2] = 0;
-  }
-  mju_addScl3(b1, b0, lvec, -mju_dot3(lvec, b0) / mju_dot3(lvec, lvec));
-  mju_normalize3(b1);
-  mju_cross(b0, b1, lvec);
-  mju_normalize3(b0);
-
-  // init solution
-  mjtNum x = -1, sol;
-
-  // process all triangles
-  int face, meshid = m->geom_dataid[geomid];
-  for (face = m->mesh_faceadr[meshid];
-       face < m->mesh_faceadr[meshid] + m->mesh_facenum[meshid]; face++) {
-    // get float vertices
-    float* vf[3];
-    vf[0] =
-        m->mesh_vert + 3 * (m->mesh_face[3 * face] + m->mesh_vertadr[meshid]);
-    vf[1] = m->mesh_vert +
-            3 * (m->mesh_face[3 * face + 1] + m->mesh_vertadr[meshid]);
-    vf[2] = m->mesh_vert +
-            3 * (m->mesh_face[3 * face + 2] + m->mesh_vertadr[meshid]);
-
-    // convert to mjtNum
-    mjtNum v[3][3];
-    for (int i = 0; i < 3; i++) {
-      for (int j = 0; j < 3; j++) {
-        v[i][j] = (mjtNum)vf[i][j];
-      }
-    }
-
-    // solve
-    sol = ray_triangle(v, lpnt, lvec, b0, b1, nullptr);
-
-    // update
-    if (sol >= 0 && (x < 0 || sol < x)) {
-      x = sol;
-    }
-  }
-
-  return x;
-}
-
-// performs a ray mesh test using a given mjModel
-void _rayMeshTest(const mjModel* m) {
-  mjData* d = mj_makeData(m);
-  ASSERT_THAT(d, NotNull());
-  mj_forward(m, d);
-
-  // create ray array
-  constexpr int N = 80;
-  constexpr int M = 60;
-  mjtNum vec[3 * N * M];
-  mjtNum pnt[3] = {1, .2, 0};
-  mjtNum cone[4][3] = {{-1, -1, -1}, {-1, -1, 1}, {1, -1, 1}, {1, -1, -1}};
-  memset(vec, 0, 3 * N * M * sizeof(mjtNum));
-
-  for (int i = 0; i < N; ++i) {
-    for (int j = 0; j < M; ++j) {
-      for (int k = 0; k < 3; ++k) {
-        vec[3 * (i * M + j) + k] = i * cone[0][k] / (N - 1) +
-                                   j * cone[1][1] / (M - 1) +
-                                   (N - i - 1) * cone[2][k] / (N - 1) +
-                                   (M - j - 1) * cone[3][k] / (M - 1);
-      }
-    }
-  }
-  // compare results with single ray function
-  mjtNum dist_new, dist_old;
-
-  for (int i = 0; i < N; ++i) {
-    for (int j = 0; j < M; ++j) {
-      int idx = i * M + j;
-      dist_old = _rayMesh(m, d, /*geomid=*/0, pnt, vec + 3 * idx);
-      dist_new = mj_rayMesh(m, d, /*geomid=*/0, pnt, vec + 3 * idx, nullptr);
-      EXPECT_FLOAT_EQ(dist_new, dist_old);
-    }
-  }
-  mj_deleteData(d);
-}
-
-TEST_F(RayTest, RayMeshPruning) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP() << "BVH pruning incorrectly rejects intersections in float32";
-#endif
-  char error[1024];
-  const string xml_path =
-      GetTestDataFilePath("engine/testdata/ray/stanford_bunny.xml");
-
-  MjModelPtr m(mj_loadXML(xml_path.c_str(), NULL, error, sizeof(error)));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  _rayMeshTest(m.get());
-
-  m = LoadModelFromString(kCubeletModel, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  _rayMeshTest(m.get());
-}
-
-TEST_F(RayTest, RayHfield) {
-  const char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="J" size="2 3 1 1" nrow="4" ncol="3"
-              elevation="0 0 0
-                         0 0 0
-                         1 1 1
-                         1 1 1"/>
-    </asset>
-
-    <worldbody>
-      <light pos="0 0 1"/>
-      <body name="dummy">
-        <geom type="hfield" hfield="J" pos="0 0 .5"/>
-      </body>
-      <site name="1" pos="3 -2 1" zaxis="-1 0 0"/>
-      <site name="2" pos="3 -2 0" zaxis="-1 0 0"/>
-      <site name="3" pos="3  1 0" zaxis="-1 0 0"/>
-      <body mocap="true" pos="1 0 1.5">
-        <geom type="box" size=".2 .2 .2"/>
-        <site name="4" zaxis="0 0 -1"/>
-      </body>
-    </worldbody>
-
-    <sensor>
-      <rangefinder site="1"/>
-      <rangefinder site="2"/>
-      <rangefinder site="3"/>
-      <rangefinder site="4"/>
-    </sensor>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  mj_forward(model.get(), data.get());
-
-  EXPECT_THAT(data->sensordata[0], MjNear(1, 1e-8, 1e-5));
-  EXPECT_THAT(data->sensordata[1], MjNear(1, 1e-8, 1e-5));
-  EXPECT_THAT(data->sensordata[2], MjNear(1, 1e-8, 1e-5));
-  EXPECT_THAT(data->sensordata[3], MjNear(0.5, 1e-8, 1e-5));
-}
-
-static const char* const kPlaneModel = "engine/testdata/ray/plane.xml";
-static const char* const kSphereModel = "engine/testdata/ray/sphere.xml";
-static const char* const kCapsuleModel = "engine/testdata/ray/capsule.xml";
-static const char* const kEllipsoidModel = "engine/testdata/ray/ellipsoid.xml";
-static const char* const kCylinderModel = "engine/testdata/ray/cylinder.xml";
-static const char* const kBoxModel = "engine/testdata/ray/box.xml";
-static const char* const kMeshModel = "engine/testdata/ray/mesh.xml";
-static const char* const kSdfModel = "engine/testdata/ray/sdf.xml";
-static const char* const kHfieldModel = "engine/testdata/ray/hfield.xml";
-static const char* const kFlexModel = "engine/testdata/ray/flex.xml";
-
-TEST_F(RayTest, RayNormal) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP() << "Flex face normals differ significantly in float32";
-#endif
-  for (const char* path : {kPlaneModel, kSphereModel, kCapsuleModel,
-                           kEllipsoidModel, kCylinderModel, kBoxModel,
-                           kMeshModel, kSdfModel, kHfieldModel, kFlexModel}) {
-    const std::string xml_path = GetTestDataFilePath(path);
-    char error[1024];
-    mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-    ASSERT_THAT(m, NotNull()) << error;
-
-    // exactly one geom or one flex, and one site in each model
-    ASSERT_EQ(m->nsite, 1) << path;
-    ASSERT_TRUE((m->ngeom == 1) != (m->nflex == 1)) << path;
-    bool is_flex = m->nflex == 1;
-
-    mjData* d = mj_makeData(m);
-
-    // test parameters
-    mjtNum kDuration = 2.0;  // length of rollout (seconds)
-    int kCompare = 100;      // number of tests per rollout
-    int compare_every = kDuration / (m->opt.timestep * kCompare);
-
-    // roll out and compare analytic normal with fin-diff approximation
-    int ntest = 0;  // tests performed
-    int nstep = 0;  // steps elapsed
-    while (d->time < kDuration) {
-      mj_step(m, d);
-      nstep++;
-
-      // skip until this is timestep we should test on
-      if (nstep % compare_every != 1) {
-        continue;
-      }
-
-      // site info
-      const mjtNum* pnt = d->site_xpos;
-      const mjtNum vec[3] = {d->site_xmat[2], d->site_xmat[5], d->site_xmat[8]};
-
-      // compute ray length and normal, compare with sensor
-      mjtNum r, normal[3];
-      if (!is_flex) {
-        int geomid;
-        r = mj_ray(m, d, pnt, vec, nullptr, 1, -1, &geomid, normal);
-
-        // compare with sensor, expect geomid to be 0
-        EXPECT_EQ(r, d->sensordata[0]) << path << ", time " << d->time;
-        EXPECT_EQ(geomid, r >= 0 ? 0 : -1);
-      } else {
-        r = mj_rayFlex(m, d, /*flex_layer*/ 0, /*flg_vert*/ 1,
-                       /*flg_edge*/ 1, /*flg_face*/ 1,
-                       /*flg_skin*/ 1, /*flex_id*/ 0, pnt, vec, nullptr,
-                       normal);
-        // no sensor comparison: rangefinders only intersect with geoms
-      }
-
-      // if no intersection, skip
-      if (r < 0) {
-        EXPECT_THAT(normal, ElementsAre(0, 0, 0))
-            << path << ", time " << d->time;
-        continue;
-      }
-
-      // compute surface intersection point s
-      mjtNum s[3];
-      mju_addScl3(s, pnt, vec, r);
-
-      // compute intersection points ds, nudged by eps in x,y site frame
-      mjtNum eps = 1e-6;
-      mjtNum ds[2][3];
-      for (int i = 0; i < 2; ++i) {
-        mjtNum nudge[3] = {d->site_xmat[0 + i], d->site_xmat[3 + i],
-                           d->site_xmat[6 + i]};
-        mjtNum dr, dpnt[3];
-        mju_addScl3(dpnt, pnt, nudge, eps);
-        if (!is_flex) {
-          dr = mj_ray(m, d, dpnt, vec, NULL, 1, -1, nullptr, nullptr);
-        } else {
-          dr = mj_rayFlex(m, d, 0, 1, 1, 1, 1, 0, dpnt, vec, nullptr, nullptr);
-        }
-        mju_addScl3(ds[i], dpnt, vec, dr);
-      }
-
-      // compute in-plane tangents and expected normal
-      mjtNum t0[3], t1[3], expected[3];
-      mju_sub3(t0, ds[0], s);
-      mju_sub3(t1, ds[1], s);
-      mju_cross(expected, t1, t0);
-
-      // normalize expected normal, skip if degenerate
-      mjtNum norm = mju_normalize3(expected);
-      if (norm < mjMINVAL) continue;
-
-      // flipped expected normal, should match either expected or -expected
-      mjtNum expected_neg[3] = {-expected[0], -expected[1], -expected[2]};
-
-      // compare analytic with fin-diff approximation
-      EXPECT_THAT(normal,
-                  AnyOf(Pointwise(MjNear(100 * eps, 1e-3), expected),
-                        Pointwise(MjNear(100 * eps, 1e-3), expected_neg)))
-          << path << ", time " << d->time;
-
-      // increment count
-      ntest++;
-    }
-
-    // at least 10 tests should have been performed
-    EXPECT_GT(ntest, 10);
-
-    mj_deleteData(d);
-    mj_deleteModel(m);
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_sensor_test.cc b/test/engine/engine_sensor_test.cc
deleted file mode 100644
index c92d96f5..00000000
--- a/test/engine/engine_sensor_test.cc
+++ /dev/null
@@ -1,1941 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_sensor.c.
-
-#include <algorithm>
-#include <cstddef>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_support.h"
-#include "src/engine/engine_util_blas.h"
-#include "src/engine/engine_util_spatial.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::std::string;
-using ::std::vector;
-
-using ::testing::ElementsAre;
-using ::testing::ElementsAreArray;
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::Not;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-using ::testing::SizeIs;
-using ::testing::StrEq;
-using ::testing::WhenSorted;
-
-const mjtNum tol = 1e-14;  // nearness tolerance for floating point numbers
-
-// returns as a vector the measured values from sensor with index `id`
-static vector<mjtNum> GetSensor(const mjModel* model, const mjData* data,
-                                int id) {
-  return vector<mjtNum>(
-      data->sensordata + model->sensor_adr[id],
-      data->sensordata + model->sensor_adr[id] + model->sensor_dim[id]);
-}
-
-// returns as a vector the measured values from sensor with name `name
-static vector<mjtNum> GetSensor(const mjModel* model, const mjData* data,
-                                const char* name) {
-  int id = mj_name2id(model, mjOBJ_SENSOR, name);
-  return vector<mjtNum>(
-      data->sensordata + model->sensor_adr[id],
-      data->sensordata + model->sensor_adr[id] + model->sensor_dim[id]);
-}
-
-using SensorTest = MujocoTest;
-
-// --------------------- test sensor disable flag ------------------------------
-
-TEST_F(SensorTest, DisableSensors) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <sensor>
-      <clock/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // call mj_forward, expect clock to report 0
-  mj_forward(model.get(), data.get());
-  EXPECT_EQ(data->sensordata[0], 0.0);
-
-  // call mj_step, mj_step1, expect clock to be incremented by timestep
-  mj_step(model.get(), data.get());
-  mj_step1(model.get(), data.get());
-  EXPECT_EQ(data->sensordata[0], model->opt.timestep);
-
-  // disable sensors, call mj_step, mj_step1, expect clock to not increment
-  model->opt.disableflags |= mjDSBL_SENSOR;
-  mj_step(model.get(), data.get());
-  mj_step1(model.get(), data.get());
-  EXPECT_EQ(data->time, 2 * model->opt.timestep);
-  EXPECT_EQ(data->sensordata[0], model->opt.timestep);
-
-  // re-enable sensors, call mj_step, mj_step1, expect clock to match time
-  model->opt.disableflags = 0;
-  mj_step(model.get(), data.get());
-  mj_step1(model.get(), data.get());
-  EXPECT_EQ(data->time, data->sensordata[0]);
-}
-
-// --------------------- test relative frame sensors  --------------------------
-
-using RelativeFrameSensorTest = MujocoTest;
-
-// hand-picked positions and orientations for simple expected values
-TEST_F(RelativeFrameSensorTest, ReferencePosMat) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="reference" pos="3 -4 0" xyaxes="4 3 0 -3 4 0"/>
-      <site name="object" pos="4 3 0" xyaxes="3 -4 0 4 3 0"/>
-    </worldbody>
-    <sensor>
-      <framepos objtype="site" objname="object"
-                reftype="xbody" refname="reference"/>
-      <framexaxis objtype="site" objname="object"
-                  reftype="xbody" refname="reference"/>
-      <frameyaxis objtype="site" objname="object"
-                  reftype="xbody" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  // compare actual and expected values
-  vector pos = GetSensor(model.get(), data.get(), 0);
-  EXPECT_THAT(pos, Pointwise(MjNear(tol, 1e-6), {5, 5, 0}));
-
-  vector xaxis = GetSensor(model.get(), data.get(), 1);
-  EXPECT_THAT(xaxis, Pointwise(MjNear(tol, 1e-6), {0, -1, 0}));
-
-  vector yaxis = GetSensor(model.get(), data.get(), 2);
-  EXPECT_THAT(yaxis, Pointwise(MjNear(tol, 1e-6), {1, 0, 0}));
-}
-
-// orientations given by quaternion and by orientation matrix are identical
-TEST_F(RelativeFrameSensorTest, ReferenceQuatMat) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="reference" euler="10 20 30"/>
-      <site name="object" euler="20 40 60"/>
-    </worldbody>
-    <sensor>
-      <framexaxis objtype="site" objname="object"
-                  reftype="site" refname="reference"/>
-      <frameyaxis objtype="site" objname="object"
-                  reftype="site" refname="reference"/>
-      <framezaxis objtype="site" objname="object"
-                  reftype="site" refname="reference"/>
-      <framequat objtype="site" objname="object"
-                  reftype="site" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  // call mj_forward and convert orientation matrix to quaternion
-  mj_forward(model.get(), data.get());
-  mjtNum mat[9], converted_quat[4];
-  mju_transpose(mat, data->sensordata, 3, 3);
-  mju_mat2Quat(converted_quat, mat);
-
-  // compare quaternion sensor and quat derived from orientation matrix
-  vector quat = GetSensor(model.get(), data.get(), 3);
-  EXPECT_THAT(quat, Pointwise(MjNear(tol, 1e-6), converted_quat));
-}
-
-// compare global frame and initially co-located relative frame on same body
-TEST_F(RelativeFrameSensorTest, ReferencePosMatQuat) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <site name="reference"/>
-        <geom name="object" euler="20 40 60" pos="1 2 3" size="1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <framepos objtype="geom" objname="object"/>
-      <framexaxis objtype="geom" objname="object"/>
-      <frameyaxis objtype="geom" objname="object"/>
-      <framezaxis objtype="geom" objname="object"/>
-      <framequat objtype="geom" objname="object"/>
-      <framepos objtype="geom" objname="object"
-                reftype="site" refname="reference"/>
-      <framexaxis objtype="geom" objname="object"
-                  reftype="site" refname="reference"/>
-      <frameyaxis objtype="geom" objname="object"
-                  reftype="site" refname="reference"/>
-      <framezaxis objtype="geom" objname="object"
-                  reftype="site" refname="reference"/>
-      <framequat objtype="geom" objname="object"
-                  reftype="site" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  constexpr int nsensordata = 32;
-  ASSERT_EQ(model->nsensordata, nsensordata);
-  MjDataPtr data = MakeData(model);
-
-  // call mj_forward, save global sensors (colocated with reference frame)
-  mj_forward(model.get(), data.get());
-  vector expected_values(data->sensordata, data->sensordata + nsensordata / 2);
-
-  // set qpos to arbitrary values, call mj_forward
-  for (int i = 0; i < 7; i++) {
-    data->qpos[i] = i + 1;
-  }
-  mj_forward(model.get(), data.get());
-
-  // get values from relative sensors after moving the object
-  vector actual_values(data->sensordata + nsensordata / 2,
-                       data->sensordata + nsensordata);
-
-  // object and reference have moved together, we expect values to not change
-  EXPECT_THAT(actual_values, Pointwise(MjNear(tol, 1e-6), expected_values));
-}
-
-// hand-picked velocities and orientations for simple expected values
-TEST_F(RelativeFrameSensorTest, FrameVelLinearFixed) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body xyaxes="1 -1 0 1 1 0">
-        <joint type="slide" axis="1 0 0"/>
-        <geom name="reference" size="1"/>
-      </body>
-      <body>
-        <joint type="slide" axis="1 0 0"/>
-        <geom name="object" size="1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <framelinvel objtype="geom" objname="object"
-                   reftype="geom" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  data->qvel[0] = mju_sqrt(2);
-  data->qvel[1] = 1;
-  mj_forward(model.get(), data.get());
-
-  // compare to expected values
-  vector linvel = GetSensor(model.get(), data.get(), 0);
-  const mjtNum expected_linvel[3] = {-mju_sqrt(0.5), mju_sqrt(0.5), 0};
-  EXPECT_THAT(linvel, Pointwise(MjNear(tol, 1e-6), expected_linvel));
-}
-
-// object and reference in the same body, expect angular velocities to be zero
-TEST_F(RelativeFrameSensorTest, FrameVelAngFixed) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="hinge" axis="1 2 3"/>
-        <geom name="reference" size="1" pos="1 2 3"/>
-        <geom name="object" size="1" pos="-3 -2 -1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <frameangvel objtype="geom" objname="object"
-                   reftype="geom" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  // set joint velocities and call forward dynamics
-  data->qvel[0] = 1;
-  mj_forward(model.get(), data.get());
-
-  // obj and ref rotate together, relative angular velocities should be zero
-  vector angvel = GetSensor(model.get(), data.get(), 0);
-  EXPECT_THAT(angvel, Pointwise(MjNear(tol, 1e-6), {0, 0, 0}));
-}
-
-// object and reference rotate on the same global axis
-TEST_F(RelativeFrameSensorTest, FrameVelAngOpposing) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body xyaxes="0 -1 0 1 0 0">
-        <joint type="hinge" axis="0 1 0"/>
-        <geom name="reference" size="1"/>
-      </body>
-      <body>
-        <joint type="hinge" axis="1 0 0"/>
-        <geom name="object" size="1" pos="-3 -2 -1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <frameangvel objtype="geom" objname="object"
-                   reftype="geom" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  // set joint velocities and call forward dynamics
-  data->qvel[0] = -1;
-  data->qvel[1] = 1;
-  mj_forward(model.get(), data.get());
-
-  // obj and ref rotate on same axis, we can just difference the velocities
-  vector angvel = GetSensor(model.get(), data.get(), 0);
-  const mjtNum expected_angvel[3] = {0, data->qvel[1] - data->qvel[0], 0};
-  EXPECT_THAT(angvel, Pointwise(MjNear(tol, 1e-6), expected_angvel));
-}
-
-// two arbitrary frames, compare velocity sensors and fin-diffed positions
-TEST_F(RelativeFrameSensorTest, FrameVelGeneral) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="1 2 3" euler="10 20 30">
-        <joint type="hinge" axis="2 3 4"/>
-        <geom name="reference" size="1" pos="0 1 2"/>
-      </body>
-      <body pos="-3 -2 -1" euler="20 40 60">
-        <joint type="hinge" axis="2 3 4"/>
-        <geom name="object" size="1" pos="1 2 3"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <framepos objtype="geom" objname="object"
-                reftype="geom" refname="reference"/>
-      <framequat objtype="geom" objname="object"
-                 reftype="geom" refname="reference"/>
-      <framelinvel objtype="geom" objname="object"
-                   reftype="geom" refname="reference"/>
-      <frameangvel objtype="geom" objname="object"
-                   reftype="geom" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  mjtNum dt = MjTol(1e-6, 1e-3);  // timestep used for finite differencing
-
-  // set (arbitrary) joint velocities and call forward dynamics
-  data->qvel[0] = 1;
-  data->qvel[1] = -1;
-  mj_forward(model.get(), data.get());
-
-  // save measured linear and angular velocities as vectors
-  vector linvel = GetSensor(model.get(), data.get(), 2);
-  vector angvel = GetSensor(model.get(), data.get(), 3);
-
-  // save current position, quaternion as arrays
-  mjtNum pos0[3], quat0[4];
-  mju_copy3(pos0, data->sensordata);
-  mju_copy4(quat0, data->sensordata + 3);
-
-  // explicit Euler integration with small dt
-  mju_addToScl(data->qpos, data->qvel, dt, 2);
-
-  // call mj_forward again, save new position and quaternion
-  mj_forward(model.get(), data.get());
-  mjtNum pos1[3], quat1[4];
-  mju_copy3(pos1, data->sensordata);
-  mju_copy4(quat1, data->sensordata + 3);
-
-  // compute expected linear velocities using finite differencing
-  mjtNum linvel_findiff[3];
-  mju_sub3(linvel_findiff, pos1, pos0);
-  mju_scl3(linvel_findiff, linvel_findiff, 1 / dt);
-
-  // compute expected angular velocities using finite differencing
-  mjtNum dquat[4], angvel_findiff[3];
-  mju_negQuat(quat0, quat0);
-  mju_mulQuat(dquat, quat1, quat0);
-  mju_quat2Vel(angvel_findiff, dquat, dt);
-
-  // compare analytic and finite-differenced relative velocities
-  EXPECT_THAT(linvel, Pointwise(MjNear(10 * dt, 1.5e-2), linvel_findiff));
-  EXPECT_THAT(angvel, Pointwise(MjNear(10 * dt, 2e-3), angvel_findiff));
-}
-
-// ------------------------- general sensor tests  -----------------------------
-using SensorTest = MujocoTest;
-
-TEST_F(SensorTest, EnableEnergy) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 -5">
-     <flag energy="enable"/>
-    </option>
-    <worldbody>
-      <body pos="0 0 2">
-        <geom size="1" mass="3"/>
-        <freejoint/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  mj_forward(model.get(), data.get());
-  EXPECT_NEAR(data->energy[0], 2 * 3 * 5, MjTol(1e-12, 1e-5));
-
-  model->opt.enableflags &= ~mjENBL_ENERGY;
-  mj_forward(model.get(), data.get());
-  EXPECT_NEAR(data->energy[0], 0, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(SensorTest, PotentialEnergy) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 -5"/>
-    <worldbody>
-      <body pos="0 0 2">
-        <geom size="1" mass="3"/>
-        <freejoint/>
-      </body>
-    </worldbody>
-    <sensor>
-      <e_potential/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  mj_forward(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 2 * 3 * 5, MjTol(1e-12, 1e-5));
-
-  data->qpos[2] = 7;
-  mj_forward(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 7 * 3 * 5, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(SensorTest, PotentialEnergyFreeJointSpring) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <geom size="1" mass="3"/>
-        <joint type="free" stiffness="2"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <e_potential/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-  data->qpos[0] = 1;
-  data->qpos[1] = 2;
-  data->qpos[2] = 3;
-  mj_forward(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 0.5 * 2 * 14, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(SensorTest, KineticEnergy) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="0 0 2">
-        <geom size="1" mass="3"/>
-        <freejoint/>
-      </body>
-    </worldbody>
-    <sensor>
-      <e_kinetic/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  while (data->time < 1.5) {
-    mj_step(model.get(), data.get());
-  }
-  mj_forward(model.get(), data.get());
-
-  mjtNum mass = 3;
-  mjtNum speed = data->time * mju_norm3(model->opt.gravity);
-  EXPECT_NEAR(data->sensordata[0], 0.5 * mass * speed * speed,
-              MjTol(1e-7, 1e-2));
-}
-
-TEST_F(SensorTest, PolyStiffnessEnergy) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.0001">
-      <flag energy="enable"/>
-    </option>
-
-    <worldbody>
-      <body>
-        <joint type="slide" stiffness="10 5 1"/>
-        <geom size="1" mass="1"/>
-      </body>
-    </worldbody>
-
-    <keyframe>
-      <key qpos="2"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-
-  mj_forward(m.get(), d.get());
-  mjtNum total_energy = d->energy[0] + d->energy[1];
-
-  for (int i = 0; i < 100; i++) {
-    mj_step(m.get(), d.get());
-    EXPECT_NEAR(d->energy[0] + d->energy[1], total_energy, 0.003);
-  }
-}
-
-// test clock sensor
-TEST_F(SensorTest, Clock) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="1e-3"/>
-    <sensor>
-      <clock/>
-      <clock name="clampedclock" cutoff="3e-3"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  // call step 4 times, checking that clock works as expected
-  for (int i = 0; i < 5; i++) {
-    mj_step(model.get(), data.get());
-    mj_step1(model.get(),
-             data.get());  // update values of position-based sensors
-    EXPECT_EQ(data->sensordata[0], data->time);
-    EXPECT_EQ(data->sensordata[1], mju_min(data->time, 3e-3));
-  }
-
-  // check names
-  const char* name0 = mj_id2name(model.get(), mjOBJ_SENSOR, 0);
-  EXPECT_EQ(name0, nullptr);
-  const char* name1 = mj_id2name(model.get(), mjOBJ_SENSOR, 1);
-  EXPECT_THAT(name1, StrEq("clampedclock"));
-}
-
-// test that integer parameters pass through
-TEST_F(SensorTest, IntPrm) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <sensor>
-      <clock name="dummy"/>
-    </sensor>
-  </mujoco>
-  )";
-  ASSERT_EQ(mjNSENS, 3);
-
-  char err[1024];
-  mjSpec* spec = mj_parseXMLString(xml, 0, err, sizeof(err));
-  ASSERT_THAT(spec, NotNull()) << err;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  EXPECT_EQ(model->sensor_intprm[0], 0);
-  EXPECT_EQ(model->sensor_intprm[1], 0);
-  mj_deleteModel(model);
-
-  mjsSensor* s = mjs_asSensor(mjs_findElement(spec, mjOBJ_SENSOR, "dummy"));
-  s->intprm[0] = 3;
-  s->intprm[1] = 4;
-  s->intprm[2] = 5;
-  model = mj_compile(spec, nullptr);
-  EXPECT_EQ(model->sensor_intprm[0], 3);
-  EXPECT_EQ(model->sensor_intprm[1], 4);
-  EXPECT_EQ(model->sensor_intprm[2], 5);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-// test sequential collision sensors
-TEST_F(SensorTest, CollisionSequential) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="plane" type="plane" size="1 1 1"/>
-      <geom name="sphere1" pos="0 0 1" size="0.2"/>
-      <geom name="sphere2" pos="1 0 1" size="0.3"/>
-    </worldbody>
-    <sensor>
-      <distance name="0"  geom1="plane"   geom2="sphere1" cutoff="1"/>
-      <distance name="1"  geom1="sphere2" geom2="plane" cutoff="1"/>
-      <distance name="2"  geom1="sphere1" geom2="sphere2" cutoff="1"/>
-      <normal   name="3"  geom1="plane"   geom2="sphere1" cutoff="1"/>
-      <normal   name="4"  geom1="sphere2" geom2="plane" cutoff="1"/>
-      <normal   name="5"  geom1="sphere1" geom2="sphere2" cutoff="1"/>
-      <fromto   name="6"  geom1="plane"   geom2="sphere1" cutoff="1"/>
-      <fromto   name="7"  geom1="sphere2" geom2="plane" cutoff="1"/>
-      <fromto   name="8"  geom1="sphere1" geom2="sphere2" cutoff="1"/>
-      <!-- sequential sensors with identical signature -->
-      <distance name="9"  geom1="plane"   geom2="sphere1" cutoff="1"/>
-      <fromto   name="10" geom1="plane"   geom2="sphere1" cutoff="1"/>
-      <normal   name="11" geom1="plane"   geom2="sphere1" cutoff="1"/>
-      <normal   name="12"  geom1="sphere1" geom2="sphere2" cutoff="1"/>
-      <fromto   name="13"  geom1="sphere1" geom2="sphere2" cutoff="1"/>
-      <distance name="14"  geom1="sphere1" geom2="sphere2" cutoff="1"/>
-
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model_ptr = LoadModelFromString(xml);
-  MjDataPtr data_ptr = MakeData(model_ptr);
-
-  mjModel* model = model_ptr.get();
-  mjData* data = data_ptr.get();
-  mj_forward(model, data);
-
-  mjtNum eps = 1e-14;
-  EXPECT_NEAR(data->sensordata[0], 0.8, MjTol(eps, 1e-7));
-  EXPECT_NEAR(data->sensordata[1], 0.7, MjTol(eps, 1e-7));
-  EXPECT_NEAR(data->sensordata[2], 0.5, MjTol(eps, 1e-7));
-
-  EXPECT_THAT(GetSensor(model, data, 3),
-              Pointwise(MjNear(eps, 1e-7), vector<mjtNum>{0, 0, 1}));
-  EXPECT_THAT(GetSensor(model, data, 4),
-              Pointwise(MjNear(eps, 1e-7), vector<mjtNum>{0, 0, -1}));
-  EXPECT_THAT(GetSensor(model, data, 5),
-              Pointwise(MjNear(eps, 1e-7), vector<mjtNum>{1, 0, 0}));
-  EXPECT_THAT(GetSensor(model, data, 6),
-              Pointwise(MjNear(eps, 1e-6), vector<mjtNum>{0, 0, 0, 0, 0, .8}));
-  EXPECT_THAT(GetSensor(model, data, 7),
-              Pointwise(MjNear(eps, 1e-6), vector<mjtNum>{1, 0, .7, 1, 0, 0}));
-  EXPECT_THAT(GetSensor(model, data, 8),
-              Pointwise(MjNear(eps, 1e-6), vector<mjtNum>{.2, 0, 1, .7, 0, 1}));
-
-  EXPECT_THAT(GetSensor(model, data, 9),
-              Pointwise(MjNear(eps, 1e-7), GetSensor(model, data, 0)));
-  EXPECT_THAT(GetSensor(model, data, 10),
-              Pointwise(MjNear(eps, 1e-6), GetSensor(model, data, 6)));
-  EXPECT_THAT(GetSensor(model, data, 11),
-              Pointwise(MjNear(eps, 1e-7), GetSensor(model, data, 3)));
-  EXPECT_THAT(GetSensor(model, data, 12),
-              Pointwise(MjNear(eps, 1e-7), GetSensor(model, data, 5)));
-  EXPECT_THAT(GetSensor(model, data, 13),
-              Pointwise(MjNear(eps, 1e-6), GetSensor(model, data, 8)));
-  EXPECT_THAT(GetSensor(model, data, 14),
-              Pointwise(MjNear(eps, 1e-7), GetSensor(model, data, 2)));
-}
-
-TEST_F(SensorTest, BadContact) {
-  string xml_template = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="sphere1" pos="0 0 1" size="0.2"/>
-      <body name="body">
-        <freejoint/>
-        <geom name="sphere2" pos="1 0 1" size="0.3"/>
-        <site name="site" pos="1 0 1" size="0.3"/>
-        <body name="non_root">
-          <geom name="sphere3" pos="1 0 1" size="0.3"/>
-        </body>
-      </body>
-    </worldbody>
-    <sensor>
-      <contact BAD_ATTR/>
-    </sensor>
-  </mujoco>
-  )";
-
-  struct Case {
-    string bad_attr;
-    string expected_error;
-  };
-
-  Case test_cases[] = {
-      {"geom1='sphere1' geom2='sphere2' data='dist force normal'",
-       "must be in order: found, force, torque, dist, pos, normal, tangent"},
-      {"geom1='sphere1' geom2='sphere2' num='-3'",
-       "'num' must be positive in sensor"},
-      {"geom1='sphere1' geom2='sphere2' site='site'",
-       "at most one of 'geom1', 'body1', 'subtree1', 'site' can be specified"},
-      {"geom2='sphere1' body2='body'",
-       "at most one of 'geom2', 'body2', 'subtree2' can be specified"},
-  };
-
-  for (const auto& test : test_cases) {
-    string xml = xml_template;
-    size_t pos = xml.find("BAD_ATTR");
-    ASSERT_NE(pos, string::npos);
-    xml.replace(pos, 8, test.bad_attr);
-
-    char error[1024];
-    MjModelPtr model = LoadModelFromString(xml.c_str(), error, sizeof(error));
-    ASSERT_THAT(model.get(), IsNull()) << "Test case: " << test.bad_attr;
-    EXPECT_THAT(error, HasSubstr(test.expected_error))
-        << "Test case: " << test.bad_attr;
-  }
-}
-
-TEST_F(SensorTest, Contact) {
-  const string xml_path =
-      GetTestDataFilePath("engine/testdata/sensor/contact.xml");
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  mjData* data = mj_makeData(model);
-
-  for (mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
-    model->opt.cone = cone;
-
-    mj_resetData(model, data);
-    while (data->time < 2) {
-      mj_step(model, data);
-    }
-
-    vector all = GetSensor(model, data, "all");
-    EXPECT_EQ(all, vector<mjtNum>{4});
-
-    vector world = GetSensor(model, data, "world");
-    EXPECT_EQ(world, vector<mjtNum>{3});
-
-    vector b1 = GetSensor(model, data, "b1");
-    EXPECT_EQ(b1, vector<mjtNum>{3});
-
-    vector g1 = GetSensor(model, data, "g1");
-    EXPECT_EQ(g1, vector<mjtNum>{3});
-
-    vector b1g2 = GetSensor(model, data, "b1:g2");
-    EXPECT_EQ(b1g2, vector<mjtNum>{1});
-
-    vector b1world = GetSensor(model, data, "b1:world");
-    EXPECT_EQ(b1world, vector<mjtNum>{2});
-
-    vector site = GetSensor(model, data, "site");
-    EXPECT_EQ(site, vector<mjtNum>{2});
-
-    vector sitewall = GetSensor(model, data, "site:wall");
-    EXPECT_EQ(sitewall, vector<mjtNum>{1});
-
-    vector wall = GetSensor(model, data, "wall");
-    EXPECT_THAT(wall, Pointwise(MjNear(1e-4, 0.02),
-                                {1, 8, 0, 0, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0}));
-
-    // normals points *away* from b2 (towards floor / b1)
-    vector b2 = GetSensor(model, data, "b2");
-    EXPECT_THAT(b2, Pointwise(MjNear(1e-4, 0.02),
-                              {3, 0, 0, 0, 0, -1, 4, 0, 0, 1, 0, 0}));
-
-    // normal points *towards* b2
-    vector b2f = GetSensor(model, data, "b2_flipped");
-    EXPECT_THAT(b2f, Pointwise(MjNear(1e-4, 0.02),
-                               {3, 0, 0, 0, 0, 1, 4, 0, 0, -1, 0, 0}));
-
-    vector b2r = GetSensor(model, data, "b2_reduced");
-    EXPECT_THAT(b2r, Pointwise(MjNear(1e-4, 0.02), {4, 0, 0, -1, 0, 0}));
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(SensorTest, ContactSorted) {
-  const string xml_path =
-      GetTestDataFilePath("engine/testdata/sensor/contact_sorted.xml");
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  mjData* data = mj_makeData(model);
-  while (data->time < .5) {
-    mj_step(model, data);
-  }
-
-  vector unsorted = GetSensor(model, data, "unsorted");
-  EXPECT_THAT(unsorted, SizeIs(4));
-  EXPECT_THAT(unsorted, Not(WhenSorted(ElementsAreArray(unsorted))));
-
-  vector sorted = GetSensor(model, data, "sorted dist");
-  EXPECT_THAT(sorted, SizeIs(4));
-  EXPECT_THAT(sorted, WhenSorted(ElementsAreArray(sorted)));
-
-  vector sorted_force = GetSensor(model, data, "sorted force");
-  EXPECT_THAT(sorted_force, SizeIs(12));
-  vector<mjtNum> nnorms;
-  for (size_t i = 0; i < sorted_force.size(); i += 3) {
-    nnorms.push_back(-sorted_force[i] * sorted_force[i] +
-                     -sorted_force[i + 1] * sorted_force[i + 1] +
-                     -sorted_force[i + 2] * sorted_force[i + 2]);
-  }
-  EXPECT_THAT(nnorms, WhenSorted(ElementsAreArray(nnorms)));
-
-  vector smallest = GetSensor(model, data, "smallest dist");
-  EXPECT_THAT(smallest, SizeIs(1));
-  EXPECT_EQ(smallest[0], sorted[0]);
-
-  vector largest = GetSensor(model, data, "largest force");
-  EXPECT_THAT(largest, SizeIs(3));
-  EXPECT_THAT(largest,
-              ElementsAre(sorted_force[0], sorted_force[1], sorted_force[2]));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(SensorTest, ContactSubtree) {
-  const string xml_path =
-      GetTestDataFilePath("engine/testdata/sensor/contact_subtree.xml");
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  mjData* data = mj_makeData(model);
-
-  while (data->time < 0.2) {
-    mj_step(model, data);
-
-    int all = GetSensor(model, data, "all")[0];
-    int w_t1 = GetSensor(model, data, "w_t1")[0];
-    int w_t2 = GetSensor(model, data, "w_t2")[0];
-    int t1 = GetSensor(model, data, "t1")[0];
-    int t2 = GetSensor(model, data, "t2")[0];
-    int t1_t1 = GetSensor(model, data, "t1_t1")[0];
-    int t2_t2 = GetSensor(model, data, "t2_t2")[0];
-    int t1_t2 = GetSensor(model, data, "t1_t2")[0];
-    int t2_t1 = GetSensor(model, data, "t2_t1")[0];
-
-    // compute the number of first tree contacts in two different ways
-    EXPECT_EQ(t1, w_t1 + t1_t1 + t1_t2);
-
-    // compute the number of second tree contacts in two different ways
-    EXPECT_EQ(t2, w_t2 + t2_t2 + t2_t1);
-
-    // compute the number of all contacts in two different ways
-    EXPECT_EQ(all, w_t1 + w_t2 + t1_t1 + t2_t2 + t1_t2);
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(SensorTest, ContactSubtreePartial) {
-  const string xml_path =
-      GetTestDataFilePath("engine/testdata/sensor/contact_subtree_partial.xml");
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  mjData* data = mj_makeData(model);
-
-  while (data->time < 0.6) {
-    mj_step(model, data);
-  }
-
-  EXPECT_EQ(GetSensor(model, data, "all")[0], 4);
-  EXPECT_EQ(GetSensor(model, data, "world")[0], 4);
-  EXPECT_EQ(GetSensor(model, data, "thigh")[0], 4);
-  EXPECT_EQ(GetSensor(model, data, "shin")[0], 2);
-  EXPECT_EQ(GetSensor(model, data, "foot")[0], 1);
-  EXPECT_EQ(GetSensor(model, data, "foot_w")[0], 0);
-  EXPECT_EQ(GetSensor(model, data, "foot_w2")[0], 1);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(SensorTest, ContactNet) {
-  const string xml_path =
-      GetTestDataFilePath("engine/testdata/sensor/contact_net.xml");
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  int b1 = mj_name2id(model, mjOBJ_BODY, "b1");
-  int b2 = mj_name2id(model, mjOBJ_BODY, "b2");
-  int nv = model->nv;
-
-  mjData* data = mj_makeData(model);
-
-  for (mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
-    model->opt.cone = cone;
-    mj_resetData(model, data);
-
-    // for each timestep, compare the net force computation to qfrc_constraint
-    // data->ncon varies in [0, 6]
-    int nconmax = 0;
-    while (data->time < 0.2) {
-      mj_step(model, data);
-      vector<mjtNum> qfrc_expected = AsVector(data->qfrc_constraint, nv);
-
-      // check net force, sensor returns body1 -> body2
-      vector net12 = GetSensor(model, data, "net12");
-      EXPECT_EQ(net12.size(), 9);
-      mjtNum* force = net12.data();
-      mjtNum* torque = net12.data() + 3;
-      mjtNum* point = net12.data() + 6;
-
-      // apply wrench to b2
-      vector<mjtNum> qfrc(nv, 0.0);
-      mj_applyFT(model, data, force, torque, point, b2, qfrc.data());
-
-      // apply opposite wrench to b1
-      mju_scl3(force, force, -1);
-      mju_scl3(torque, torque, -1);
-      mj_applyFT(model, data, force, torque, point, b1, qfrc.data());
-
-      // compare
-      EXPECT_THAT(qfrc, Pointwise(MjNear(1e-6, 2e-4), qfrc_expected));
-
-      // check net force, sensor returns body2 -> body1
-      vector net21 = GetSensor(model, data, "net21");
-      EXPECT_EQ(net21.size(), 9);
-      force = net21.data();
-      torque = net21.data() + 3;
-      point = net21.data() + 6;
-      qfrc.assign(nv, 0.0);
-
-      // apply wrench to b1
-      mj_applyFT(model, data, force, torque, point, b1, qfrc.data());
-
-      // apply opposite wrench to b2
-      mju_scl3(force, force, -1);
-      mju_scl3(torque, torque, -1);
-      mj_applyFT(model, data, force, torque, point, b2, qfrc.data());
-
-      // compare
-      EXPECT_THAT(qfrc, Pointwise(MjNear(1e-6, 2e-4), qfrc_expected));
-
-      nconmax = std::max(nconmax, data->ncon);
-    }
-
-    // at least 5 contacts happened
-    EXPECT_GT(nconmax, 4);
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(SensorTest, CameraProjection) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="1.1 0 1">
-        <geom type="box" size=".1 .6 .375"/>
-        <site name="frontorigin" pos="-.1  .6  .375"/>
-        <site name="frontcorner" pos="-.1 -.6 -.375"/>
-      </body>
-      <body pos="-1.1 0 1">
-        <geom type="box" size=".1 .6 .375"/>
-        <site name="backcenter" pos="-.1 0 0"/>
-      </body>
-      <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
-              resolution="1920 1200" name="fixedcamera"/>
-    </worldbody>
-    <sensor>
-      <camprojection site="frontorigin" camera="fixedcamera"/>
-      <camprojection site="frontcorner" camera="fixedcamera"/>
-      <camprojection site="backcenter" camera="fixedcamera"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  // update positions and sensors
-  mj_fwdPosition(model.get(), data.get());
-  mj_sensorPos(model.get(), data.get());
-  EXPECT_THAT(model->cam_resolution[0], 1920);
-  EXPECT_THAT(model->cam_resolution[1], 1200);
-  mjtNum eps = 1e-4;
-  EXPECT_NEAR(data->sensordata[0], 0, eps);
-  EXPECT_NEAR(data->sensordata[1], 0, eps);
-  EXPECT_NEAR(data->sensordata[2], 1920, eps);
-  EXPECT_NEAR(data->sensordata[3], 1200, eps);
-  EXPECT_NEAR(data->sensordata[4], 960, eps);
-  EXPECT_NEAR(data->sensordata[5], 600, eps);
-}
-
-// previous implementation of cam_project to verify the new one
-static void cam_project_old(
-    mjtNum sensordata[2], const mjtNum target_xpos[3],
-    const mjtNum cam_xpos[3], const mjtNum cam_xmat[9],
-    const int cam_res[2], mjtNum cam_fovy,
-    const float cam_intrinsic[4], const float cam_sensorsize[2]) {
-  mjtNum fx, fy;
-
-  // translation matrix (4x4)
-  mjtNum translation[4][4] = {};
-  translation[0][0] = 1;
-  translation[1][1] = 1;
-  translation[2][2] = 1;
-  translation[3][3] = 1;
-  translation[0][3] = -cam_xpos[0];
-  translation[1][3] = -cam_xpos[1];
-  translation[2][3] = -cam_xpos[2];
-
-  // rotation matrix (4x4)
-  mjtNum rotation[4][4] = {};
-  rotation[0][0] = 1;
-  rotation[1][1] = 1;
-  rotation[2][2] = 1;
-  rotation[3][3] = 1;
-  for (int i=0; i < 3; i++) {
-    for (int j=0; j < 3; j++) {
-      rotation[i][j] = cam_xmat[j*3+i];
-    }
-  }
-
-  // focal transformation matrix (3x4)
-  if (cam_sensorsize[0] && cam_sensorsize[1]) {
-    fx = cam_intrinsic[0] / cam_sensorsize[0] * cam_res[0];
-    fy = cam_intrinsic[1] / cam_sensorsize[1] * cam_res[1];
-  } else {
-    fx = fy = .5 / mju_tan(cam_fovy * mjPI / 360.) * cam_res[1];
-  }
-
-  mjtNum focal[3][4] = {};
-  focal[0][0] = -fx;
-  focal[1][1] =  fy;
-  focal[2][2] = 1.0;
-
-  // image matrix (3x3)
-  mjtNum image[3][3] = {};
-  image[0][0] = 1;
-  image[1][1] = 1;
-  image[2][2] = 1;
-  image[0][2] = (mjtNum)cam_res[0] / 2.0;
-  image[1][2] = (mjtNum)cam_res[1] / 2.0;
-
-  // projection matrix (3x4): product of all 4 matrices
-  mjtNum proj[3][4] = {};
-  for (int i=0; i < 3; i++) {
-    for (int j=0; j < 3; j++) {
-      for (int k=0; k < 4; k++) {
-        for (int l=0; l < 4; l++) {
-          for (int n=0; n < 4; n++) {
-            proj[i][n] += image[i][j] * focal[j][k] *
-                          rotation[k][l] * translation[l][n];
-          }
-        }
-      }
-    }
-  }
-
-  // projection matrix multiplies homogenous [x, y, z, 1] vectors
-  mjtNum pos_hom[4] = {0, 0, 0, 1};
-  mju_copy3(pos_hom, target_xpos);
-
-  // project world coordinates into pixel space, see:
-  // https://en.wikipedia.org/wiki/3D_projection#Mathematical_formula
-  mjtNum pixel_coord_hom[3] = {0};
-  for (int i=0; i < 3; i++) {
-    for (int j=0; j < 4; j++) {
-      pixel_coord_hom[i] += proj[i][j] * pos_hom[j];
-    }
-  }
-
-  // avoid dividing by tiny numbers
-  mjtNum denom = pixel_coord_hom[2];
-  if (mju_abs(denom) < mjMINVAL) {
-    if (denom < 0) {
-      denom = mju_min(denom, -mjMINVAL);
-    } else {
-      denom = mju_max(denom, mjMINVAL);
-    }
-  }
-
-  // compute projection
-  sensordata[0] = pixel_coord_hom[0] / denom;
-  sensordata[1] = pixel_coord_hom[1] / denom;
-}
-
-TEST_F(SensorTest, CameraProjectionComparison) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="1.5 0.5 1.2">
-        <site name="target1" pos="0 0 0"/>
-      </body>
-      <body pos="-0.8 -1.2 0.5">
-        <site name="target2" pos="0 0 0"/>
-      </body>
-      <body pos="-0.5 0.5 0.5">
-        <site name="target3" pos="0 0 0"/>
-      </body>
-
-      <camera name="cam1" pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="45" resolution="800 600"/>
-      <camera name="cam2" pos="1 -1 2" euler="10 20 30" fovy="60" resolution="1024 768"/>
-      <camera name="cam3" pos="-1 1 1.5" euler="-10 -20 30"
-              resolution="640 480" sensorsize="0.032 0.024"
-              focalpixel="500 500"/>
-    </worldbody>
-    <sensor>
-      <camprojection site="target1" camera="cam1"/>
-      <camprojection site="target2" camera="cam1"/>
-      <camprojection site="target3" camera="cam1"/>
-
-      <camprojection site="target1" camera="cam2"/>
-      <camprojection site="target2" camera="cam2"/>
-      <camprojection site="target3" camera="cam2"/>
-
-      <camprojection site="target1" camera="cam3"/>
-      <camprojection site="target2" camera="cam3"/>
-      <camprojection site="target3" camera="cam3"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  mj_fwdPosition(model.get(), data.get());
-  mj_sensorPos(model.get(), data.get());
-
-  for (int i = 0; i < model->nsensor; ++i) {
-    if (model->sensor_type[i] == mjSENS_CAMPROJECTION) {
-      int objid = model->sensor_objid[i];
-      int refid = model->sensor_refid[i];
-
-      mjtNum expected[2];
-      cam_project_old(expected,
-                      data->site_xpos + 3*objid,
-                      data->cam_xpos + 3*refid,
-                      data->cam_xmat + 9*refid,
-                      model->cam_resolution + 2*refid,
-                      model->cam_fovy[refid],
-                      model->cam_intrinsic + 4*refid,
-                      model->cam_sensorsize + 2*refid);
-
-      int adr = model->sensor_adr[i];
-      EXPECT_NEAR(data->sensordata[adr], expected[0], MjTol(1e-10, 1e-3));
-      EXPECT_NEAR(data->sensordata[adr + 1], expected[1], MjTol(1e-10, 1e-3));
-    }
-  }
-}
-
-TEST_F(SensorTest, InsideSite) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="0 0 1">
-        <joint type="slide" axis="1 0 0" range="-.75 .75"/>
-        <geom name="query" type="sphere" size=".01" rgba="1 0 0 1"/>
-      </body>
-
-      <site name="sphere"    type="sphere"    size=".11"                           pos="-.5 0 1"/>
-      <site name="capsule"   type="capsule"   size=".08 .15"     euler="20 -40 60" pos="-.25 0 1"/>
-      <site name="ellipsoid" type="ellipsoid" size=".11 .15 .09" euler="20 40 -60" pos="0 0 1"/>
-      <site name="cylinder"  type="cylinder"  size=".09 .12"     euler="-20 40 60" pos=".25 0 1"/>
-      <site name="box"       type="box"       size=".08 .1 .14"  euler="20 -40 60" pos=".5 0 1"/>
-    </worldbody>
-
-    <sensor>
-      <insidesite name="sphere"    site="sphere"    objtype="geom" objname="query"/>
-      <insidesite name="capsule"   site="capsule"   objtype="geom" objname="query"/>
-      <insidesite name="ellipsoid" site="ellipsoid" objtype="geom" objname="query"/>
-      <insidesite name="cylinder"  site="cylinder"  objtype="geom" objname="query"/>
-      <insidesite name="box"       site="box"       objtype="geom" objname="query"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  ASSERT_EQ(model->nsensordata, 5);
-  MjDataPtr data = MakeData(model);
-
-  mjtNum hpos[5] = {-.5, -.25, 0, .25, .5};
-  for (int i = 0; i < 5; i++) {
-    data->qpos[0] = hpos[i];
-    mj_forward(model.get(), data.get());
-    vector<mjtNum> expected(5, 0.0);
-    expected[i] = 1.0;
-    EXPECT_EQ(AsVector(data->sensordata, model->nsensordata), expected);
-  }
-}
-
-TEST_F(SensorTest, RangefinderCamera) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="10 10 .1"/>
-      <body pos="0 0 2">
-        <camera name="persp" xyaxes="1 0 0 0 1 0" resolution="3 3" fovy="90"/>
-        <camera name="ortho" euler="0 45 0" resolution="3 3"
-          projection="orthographic" fovy="2"/>
-      </body>
-    </worldbody>
-
-    <sensor>
-      <rangefinder camera="persp" data="dist depth"/>
-      <rangefinder camera="ortho" data="dist dir origin point"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  // first sensor: data="dist depth" => (1+1)*9 = 18
-  // second sensor: data="dist dir origin point" => (1+3+3+3)*9 = 90
-  EXPECT_EQ(model->nsensordata, 108);
-
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  mjtNum tol = 1e-6;
-  mjtNum height = 2.0;
-  mjtNum fy = 1.5;
-  mjtNum offsets[3] = {-1.0, 0.0, 1.0};  // pixel center - principal point
-
-  // test 1: perspective camera - rays diverge, distance varies with angle
-  int adr0 = model->sensor_adr[0];
-  constexpr int stride0 = 2;  // dist(1) + depth(1)
-  for (int row = 0; row < 3; row++) {
-    for (int col = 0; col < 3; col++) {
-      int idx = row * 3 + col;
-      mjtNum dx = offsets[col] / fy;
-      mjtNum dy = offsets[row] / fy;
-      mjtNum expected_dist = height * mju_sqrt(1 + dx * dx + dy * dy);
-      mjtNum dist = data->sensordata[adr0 + idx * stride0];
-      EXPECT_NEAR(dist, expected_dist, tol)
-          << "perspective dist pixel (" << row << ", " << col << ")";
-
-      // depth should equal camera height (2.0) for all pixels
-      mjtNum depth = data->sensordata[adr0 + idx * stride0 + 1];
-      EXPECT_NEAR(depth, height, tol)
-          << "perspective depth pixel (" << row << ", " << col << ")";
-    }
-  }
-
-  // test 2: orthographic camera distance - tilted 45 degrees around Y axis
-  mjtNum extent = 2.0;  // fovy for orthographic
-  mjtNum half_extent = extent / 2;
-  mjtNum fx = 1.5;  // width / 2 for 3x3 image
-  mjtNum cx = 1.5;  // principal point
-  mjtNum cos45 = mju_sqrt(0.5);
-  mjtNum sin45 = mju_sqrt(0.5);
-  int adr1 = model->sensor_adr[1];
-  constexpr int stride1 = 10;  // dist(1) + dir(3) + origin(3) + point(3)
-  for (int row = 0; row < 3; row++) {
-    for (int col = 0; col < 3; col++) {
-      int idx = row * 3 + col;
-
-      // pixel offset in camera frame: matches mju_camPixelRay formula
-      mjtNum px_cam = (col + 0.5 - cx) / fx * half_extent;
-
-      // camera tilted 45 around Y: local +X maps to world (+cos45, 0, -sin45)
-      mjtNum origin_z = height - px_cam * sin45;
-
-      // ray hits z=0 plane: distance = origin_z / cos45
-      mjtNum expected_dist = origin_z / cos45;
-      mjtNum dist = data->sensordata[adr1 + idx * stride1];
-      EXPECT_NEAR(dist, expected_dist, tol)
-          << "orthographic dist pixel (" << row << ", " << col << ")";
-
-      // verify point = origin + dir * dist
-      mjtNum* dir = data->sensordata + adr1 + idx * stride1 + 1;
-      mjtNum* origin = data->sensordata + adr1 + idx * stride1 + 4;
-      mjtNum* point = data->sensordata + adr1 + idx * stride1 + 7;
-      mjtNum expected_point[3];
-      mju_addScl3(expected_point, origin, dir, dist);
-      EXPECT_NEAR(point[0], expected_point[0], tol)
-          << "ortho point[0] pixel (" << row << ", " << col << ")";
-      EXPECT_NEAR(point[1], expected_point[1], tol)
-          << "ortho point[1] pixel (" << row << ", " << col << ")";
-      EXPECT_NEAR(point[2], expected_point[2], tol)
-          << "ortho point[2] pixel (" << row << ", " << col << ")";
-    }
-  }
-}
-
-TEST_F(SensorTest, RFCamera) {
-  const string xml_path =
-      GetTestDataFilePath("engine/testdata/sensor/rfcamera.xml");
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-
-  // both sensors have data="dist point normal" => (1+3+3)*16 = 112
-  ASSERT_EQ(model->nsensor, 2);
-  EXPECT_EQ(model->sensor_dim[0], 112);
-  EXPECT_EQ(model->sensor_dim[1], 112);
-
-  mjData* data = mj_makeData(model);
-  mj_step(model, data);
-
-  // check both sensors: dist, point, normal
-  constexpr int stride = 7;  // dist(1) + point(3) + normal(3)
-  for (int s = 0; s < 2; s++) {
-    int adr = model->sensor_adr[s];
-    for (int i = 0; i < 16; i++) {
-      mjtNum dist = data->sensordata[adr + i * stride];
-      mjtNum* point = data->sensordata + adr + i * stride + 1;
-      mjtNum* normal = data->sensordata + adr + i * stride + 4;
-
-      EXPECT_TRUE(dist > 0 || dist == -1) << "sensor " << s << " pixel " << i;
-
-      if (dist > 0) {
-        EXPECT_GT(mju_norm3(point), 0.0) << "sensor " << s << " point " << i;
-        EXPECT_NEAR(mju_norm3(normal), 1.0, 1e-6)
-            << "sensor " << s << " normal " << i;
-      } else {
-        EXPECT_NEAR(mju_norm3(point), 0.0, 1e-6)
-            << "sensor " << s << " point " << i;
-        EXPECT_NEAR(mju_norm3(normal), 0.0, 1e-6)
-            << "sensor " << s << " normal " << i;
-      }
-    }
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// ------------------------------- sensor delays -------------------------------
-
-TEST_F(SensorTest, SensorDelay) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01" gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="slide" delay="0.02" nsample="3"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // delay = 0.02 seconds, timestep = 0.01
-  // history = 3 (more than delay/timestep=2) to ensure buffer coverage
-  EXPECT_EQ(model->sensor_history[0], 3);
-  EXPECT_NEAR(model->sensor_delay[0], 0.02, MjTol(1e-10, 1e-7));
-
-  // Use different values to verify exact delay timing.
-  // With delay=0.02 and timestep=0.01, we expect 2-step delay:
-  // - At step N, sensordata should reflect qpos from step N-2.
-
-  // step 0: qpos=10, read from initial buffer
-  data->qpos[0] = 10.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 0.0, 1e-10) << "step 0";
-
-  // step 1: qpos=20, still reading initial buffer
-  data->qpos[0] = 20.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 0.0, 1e-10) << "step 1";
-
-  // step 2: qpos=30, read value from step 0 (delay=2 steps)
-  data->qpos[0] = 30.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 10.0, 1e-10) << "step 2";
-
-  // step 3: qpos=40, read value from step 1 (delay=2 steps)
-  data->qpos[0] = 40.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 20.0, 1e-10) << "step 3";
-
-  // step 4: qpos=50, read value from step 2 (delay=2 steps)
-  data->qpos[0] = 50.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 30.0, 1e-10) << "step 4";
-}
-
-// Test sensor delay with linear interpolation (interp=1)
-// Uses delay = 1.5*timestep so interpolation is meaningful
-TEST_F(SensorTest, SensorDelayLinearInterp) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01" gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="slide" delay="0.015" nsample="3" interp="linear"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // delay = 0.015 seconds = 1.5*timestep, nsample=3, interp=1 (linear)
-  // With linear interpolation and 1.5*timestep delay, the read time falls
-  // exactly between two buffer samples, so we should get the average.
-  EXPECT_EQ(model->sensor_history[0], 3);
-  EXPECT_EQ(model->sensor_history[1], 1);  // interp=1 (linear)
-  EXPECT_NEAR(model->sensor_delay[0], 0.015, MjTol(1e-10, 1e-7));
-
-  // Set increasing qpos values: step i -> qpos = (i+1)*10
-  // Buffer has samples at times: -0.02, -0.01, 0 (initialized)
-  // After step 0 at time=0.01: buffer has times -0.01, 0, 0.01 with values 0,
-  // 0, 10 Read at time 0.01 - 0.015 = -0.005: interpolate between t=-0.01
-  // (val=0) and t=0 (val=0) Expected: 0 * 0.5 + 0 * 0.5 = 0
-
-  data->qpos[0] = 10.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 0.0, 1e-10) << "step 0";
-
-  // After step 1 at time=0.02: buffer has times 0, 0.01, 0.02 with values 0,
-  // 10, 20 Read at time 0.02 - 0.015 = 0.005: interpolate between t=0 (val=0)
-  // and t=0.01 (val=10) Expected: 0 * 0.5 + 10 * 0.5 = 5
-
-  data->qpos[0] = 20.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 5.0, 1e-10) << "step 1";
-
-  // After step 2 at time=0.03: buffer has times 0.01, 0.02, 0.03 with values
-  // 10, 20, 30 Read at 0.03 - 0.015 = 0.015: interpolate between t=0.01
-  // (val=10) and t=0.02 (val=20) Expected: 10 * 0.5 + 20 * 0.5 = 15
-
-  data->qpos[0] = 30.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 15.0, 1e-10) << "step 2";
-}
-
-TEST_F(SensorTest, SensorInterval) {
-  // This test uses the exact values from the documentation for interval:
-  // timestep=1, interval=2.5, producing times 0, 3, 5, 8, 10, 13, ...
-  // with interval="2.5 -1.5", producing times 1, 4, 6, 9, 11, 14, ...
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="1" gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos name="default_phase" joint="slide" interval="2.5 0" nsample="10"/>
-      <jointpos name="offset_phase" joint="slide" interval="2.5 -1.5" nsample="10"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  int sensor0 = mj_name2id(model.get(), mjOBJ_SENSOR, "default_phase");
-  int sensor1 = mj_name2id(model.get(), mjOBJ_SENSOR, "offset_phase");
-  int adr0 = model->sensor_adr[sensor0];
-  int adr1 = model->sensor_adr[sensor1];
-
-  // Verify initial buffer timestamps (after mj_makeData/mj_resetData)
-  // With period=2.5, dt=1.0, nsample=10:
-  // sensor0 (phase = -period = -2.5): continuous times are -2.5, -5, -7.5, ...
-  //   rounded up to dt: -2, -5, -7, -10, -12, -15, -17, -20, -22, -25
-  // sensor1 (phase = -1.5): continuous times are -1.5, -4, -6.5, ...
-  //   rounded up to dt: -1, -4, -6, -9, -11, -14, -16, -19, -21, -24
-  int n0 = model->sensor_history[2 * sensor0];
-  int n1 = model->sensor_history[2 * sensor1];
-  mjtNum* buf0 = data->history + model->sensor_historyadr[sensor0];
-  mjtNum* buf1 = data->history + model->sensor_historyadr[sensor1];
-  mjtNum* times0 = buf0 + 2;
-  mjtNum* times1 = buf1 + 2;
-  mjtNum expected_times0[] = {-25, -22, -20, -17, -15, -12, -10, -7, -5, -2};
-  mjtNum expected_times1[] = {-24, -21, -19, -16, -14, -11, -9, -6, -4, -1};
-  for (int i = 0; i < n0; i++) {
-    EXPECT_NEAR(times0[i], expected_times0[i], 1e-10);
-  }
-  for (int i = 0; i < n1; i++) {
-    EXPECT_NEAR(times1[i], expected_times1[i], 1e-10);
-  }
-
-  // sensor0: interval="2.5 0" -> time_prev starts at -2.5
-  //   triggers at: 0, 3, 5, 8, 10, 13, ... (gaps: 3,2,3,2,3,...)
-  // sensor1: interval="2.5 -1.5" -> time_prev starts at -1.5
-  //   triggers at: 1, 4, 6, 9, 11, 14, ... (gaps: 3,2,3,2,3,...)
-
-  // Arrays tracking when each sensor triggers (1=triggers, 0=holds)
-  // Times:         0  1  2  3  4  5  6  7  8  9 10 11 12 13 14
-  int triggers0[] = {1, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 0};
-  int triggers1[] = {0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1};
-
-  mjtNum value0 = 0, value1 = 0;
-  for (int t = 0; t < 15; t++) {
-    // set position to current time (so we can track when sensor was computed)
-    data->qpos[0] = t;
-    mj_step(model.get(), data.get());
-
-    // update expected values based on trigger pattern
-    if (triggers0[t]) value0 = t;
-    if (triggers1[t]) value1 = t;
-
-    EXPECT_NEAR(data->sensordata[adr0], value0, MjTol(1e-10, 1e-7))
-        << "sensor0 at t=" << t;
-    EXPECT_NEAR(data->sensordata[adr1], value1, MjTol(1e-10, 1e-7))
-        << "sensor1 at t=" << t;
-  }
-}
-
-TEST_F(SensorTest, SensorDelayInterval) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01" gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="slide" delay="0.02" interval="0.03 0" nsample="5"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Combined delay and interval
-  EXPECT_EQ(model->sensor_history[0], 5);
-  EXPECT_NEAR(model->sensor_delay[0], 0.02, MjTol(1e-10, 1e-7));
-  EXPECT_NEAR(model->sensor_interval[2 * 0], 0.03, MjTol(1e-10, 1e-7));
-
-  // Verify initial buffer timestamps (after mj_makeData/mj_resetData)
-  // With period=0.03, dt=0.01, nsample=5, phase=0 (means -period=-0.03):
-  // continuous times: -0.03, -0.06, -0.09, -0.12, -0.15
-  // rounded up to dt: -0.03, -0.06, -0.09, -0.12, -0.15 (multiples of dt)
-  int n = model->sensor_history[0];
-  mjtNum* buf = data->history + model->sensor_historyadr[0];
-  mjtNum* times = buf + 2;
-  mjtNum expected_times[] = {-0.15, -0.12, -0.09, -0.06, -0.03};
-  for (int i = 0; i < n; i++) {
-    EXPECT_NEAR(times[i], expected_times[i], MjTol(1e-10, 0.015));
-  }
-
-  // set position
-  data->qpos[0] = 5.0;
-
-  // initial steps: reading from buffer (initially 0)
-  // With delay=0.02, interval=0.03:
-  // - At t=0, interval satisfied: compute 5.0, insert at t=0 (current time)
-  // - Reading happens at d->time - delay; at t=0.02, reads at t=0.00 (5.0)
-  for (int i = 0; i < 2; i++) {
-    mj_step(model.get(), data.get());
-    // sensor reads delayed value (0.0 from initial buffer)
-    EXPECT_NEAR(data->sensordata[0], 0.0, MjTol(1e-10, 1e-7)) << "step " << i;
-  }
-
-  // step 3 (i=2): reading at t=0.00 now returns the inserted value 5.0
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 5.0, MjTol(1e-10, 1e-7));
-}
-
-TEST_F(SensorTest, SensorHistoryOnly) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="slide" nsample="5"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // history only, no delay or interval
-  EXPECT_EQ(model->sensor_history[0], 5);
-  EXPECT_NEAR(model->sensor_delay[0], 0.0, MjTol(1e-10, 1e-7));
-  EXPECT_NEAR(model->sensor_interval[2 * 0], 0.0, MjTol(1e-10, 1e-7));
-
-  // set position
-  data->qpos[0] = 3.0;
-
-  // without delay, sensordata reflects current value immediately
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 3.0, 1e-10);
-
-  // change position, check again
-  data->qpos[0] = 7.0;
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 7.0, 1e-10);
-}
-
-TEST_F(SensorTest, SensorDelayMultiDim) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="ball" type="ball"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <ballangvel joint="ball" delay="0.02" nsample="2"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // ballangvel is 3D
-  EXPECT_EQ(model->sensor_dim[0], 3);
-  EXPECT_EQ(model->sensor_history[0], 2);
-
-  // set angular velocity
-  data->qvel[0] = 1.0;
-  data->qvel[1] = 2.0;
-  data->qvel[2] = 3.0;
-
-  // step: reading delayed value (initially 0)
-  mj_step(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[0], 0.0, 1e-10);
-  EXPECT_NEAR(data->sensordata[1], 0.0, 1e-10);
-  EXPECT_NEAR(data->sensordata[2], 0.0, 1e-10);
-
-  // after delay, values should propagate
-  mj_step(model.get(), data.get());
-  mj_step(model.get(), data.get());
-  mj_step(model.get(), data.get());
-  // angular velocity is affected by dynamics, just check the buffer works
-  EXPECT_THAT(AsVector(data->sensordata, 3), Not(ElementsAre(0.0, 0.0, 0.0)));
-}
-
-TEST_F(SensorTest, ReadSensor) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01" gravity="0 0 0"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="slide" nsample="5"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // step with different qpos values to populate buffer
-  // mj_advance inserts at current time, then time advances
-  data->qpos[0] = 1.0;
-  mj_step(model.get(), data.get());  // inserts 1.0 at t=0, time -> 0.01
-
-  data->qpos[0] = 2.0;
-  mj_step(model.get(), data.get());  // inserts 2.0 at t=0.01, time -> 0.02
-
-  data->qpos[0] = 3.0;
-  mj_step(model.get(), data.get());  // inserts 3.0 at t=0.02, time -> 0.03
-
-  // now time=0.03, buffer has: [t=0: 1.0, t=0.01: 2.0, t=0.02: 3.0]
-
-  // read at different times from history
-  mjtNum result[1];
-  const mjtNum* ptr;
-
-  // read at t=0 -> returns 1.0
-  ptr = mj_readSensor(model.get(), data.get(), 0, 0.0, result, /*order=*/0);
-  EXPECT_NEAR(*ptr, 1.0, 1e-10);
-
-  // read at t=0.01 -> returns 2.0 (ZOH: exactly at insertion time)
-  ptr = mj_readSensor(model.get(), data.get(), 0, 0.01, result, /*order=*/0);
-  EXPECT_NEAR(*ptr, 2.0, 1e-10);
-
-  // read at t=0.02 -> returns 3.0
-  ptr = mj_readSensor(model.get(), data.get(), 0, 0.02, result, /*order=*/0);
-  EXPECT_NEAR(*ptr, 3.0, 1e-10);
-}
-
-// mj_sensorAcc returns correct accelerometer after mj_step1 (issue #3133)
-TEST_F(SensorTest, AccelerometerAfterStep1) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="10 10 0.1"/>
-      <body pos="0 0 0.1">
-        <freejoint/>
-        <geom type="box" size="0.1 0.1 0.1" mass="10"/>
-        <site name="imu"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <accelerometer site="imu"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  MjDataPtr data = MakeData(model);
-
-  // settle the simulation with split-step loop
-  for (int i = 0; i < 100; i++) {
-    mj_step1(model.get(), data.get());
-    mj_step2(model.get(), data.get());
-  }
-
-  // call mj_step1 + mj_sensorAcc, expect gravity reading (~9.81 m/s^2)
-  mj_step1(model.get(), data.get());
-  mj_sensorAcc(model.get(), data.get());
-  EXPECT_NEAR(data->sensordata[2], 9.81, 1e-2);
-}
-
-// Test tactile sensor reads non-zero values when contacts occur
-TEST_F(SensorTest, TactileSkipTangents) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <option>
-      <flag multiccd="enable"/>
-    </option>
-    <asset>
-      <mesh name="sensor_mesh" builtin="sphere" params="0"/>
-    </asset>
-    <worldbody>
-      <body pos="0 0 1">
-        <freejoint/>
-        <geom name="sensor_geom" type="mesh" mesh="sensor_mesh"/>
-      </body>
-      <body>
-        <geom type="box" size=".7 .7 .3"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <tactile geom="sensor_geom" mesh="sensor_mesh"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  ASSERT_GT(model->nsensordata, 0) << "No sensor data allocated";
-  MjDataPtr data = MakeData(model);
-
-  // Use mj_forward to compute collisions and sensors at t=0
-  mj_forward(model.get(), data.get());
-
-  // Verify initial state
-  EXPECT_EQ(data->time, 0.0);
-  EXPECT_GT(data->ncon, 0) << "No contacts generated";
-
-  // Tactile sensor layout: [depths..., tang1_vel..., tang2_vel...]
-  int ntaxel = model->nsensordata / 3;
-  ASSERT_EQ(model->nsensordata % 3, 0) << "Sensor dim should be divisible by 3";
-
-  // No tangents, so tangent components should be zero
-  for (int i = ntaxel; i < model->nsensordata; i++) {
-    EXPECT_EQ(data->sensordata[i], 0.0)
-        << "Tangent component at index " << i << " should be 0";
-  }
-
-  // Penetration depth components: verify count, sign, and magnitude ~0.2
-  int nonzero_count = 0;
-  for (int i = 0; i < ntaxel; i++) {
-    if (data->sensordata[i] != 0) {
-      nonzero_count++;
-      EXPECT_NEAR(data->sensordata[i], 0.2, 0.1)
-          << "Penetration depth at taxel " << i;
-    }
-  }
-  EXPECT_EQ(nonzero_count, 2) << "Expected 2 taxels in contact";
-}
-
-// insidesite uses subtree_com for massless flex parent bodies
-TEST_F(SensorTest, InsideSiteFlexBody) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <worldbody>
-      <body name="parent">
-        <flexcomp name="soft" type="grid" count="3 3 3"
-                  radius="0.01" dim="3" mass="1">
-            <elasticity young="5e4" poisson="0.2"/>
-        </flexcomp>
-      </body>
-
-      <!-- large site centered at origin, should contain the flex -->
-      <site name="container" type="box" size="2 2 2"/>
-    </worldbody>
-
-    <sensor>
-      <insidesite name="inside" site="container"
-                  objtype="body" objname="parent"/>
-    </sensor>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  EXPECT_CALL(mock_warning_handler, Warn(testing::HasSubstr("is not rigid")))
-      .WillOnce(testing::Return());
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // flex is at origin, site is a large box at origin — should be inside
-  mj_forward(m.get(), d.get());
-  EXPECT_EQ(d->sensordata[0], 1)
-      << "flex body should be inside the container site";
-
-  // shift all vertex/node bodies far outside the site via qpos
-  // each body has 3 slide joints (x, y, z); shift z by +10
-  int parent_id = mj_name2id(m.get(), mjOBJ_BODY, "parent");
-  for (int b = parent_id + 1; b < m->nbody; b++) {
-    if (m->body_parentid[b] == parent_id) {
-      int jadr = m->body_jntadr[b];
-      if (jadr >= 0 && m->body_jntnum[b] == 3) {
-        // z-slide is the 3rd joint
-        d->qpos[m->jnt_qposadr[jadr + 2]] = 10.0;
-      }
-    }
-  }
-  mj_forward(m.get(), d.get());
-
-  // subtree_com should now be far outside; sensor should read 0
-  EXPECT_EQ(d->sensordata[0], 0)
-      << "flex body should be outside the container site after displacement";
-}
-
-// Test that a tactile sensor's compile-time body-collision check correctly
-// uses the referenced Geom ID instead of mistakenly indexing by Mesh ID.
-TEST_F(SensorTest, TactileMeshIdMismatchedValidator) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="sensor_mesh" builtin="sphere" params="0"/>
-    </asset>
-    <worldbody>
-      <body>
-        <geom size="0.1" contype="0" conaffinity="0"/>
-      </body>
-      <body>
-        <geom name="sensor_geom" type="mesh" mesh="sensor_mesh"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <tactile geom="sensor_geom" mesh="sensor_mesh"/>
-    </sensor>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-}
-
-// Test that contact and touch sensors work with Flex contacts.
-TEST_F(SensorTest, FlexContactSensors) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 -9.81"/>
-    <worldbody>
-      <geom name="floor" type="plane" size="1 1 10"/>
-      <body name="parent" pos="0 0 0.005">
-        <flexcomp name="soft" type="grid" dof="trilinear" cellcount="2 2 2"
-                  count="7 8 9" radius="0.01" dim="3" mass="1"
-                  spacing="0.05 0.05 0.05">
-            <elasticity young="5e4" poisson="0.2"/>
-            <contact selfcollide="none"/>
-        </flexcomp>
-      </body>
-      <site name="floor_site" type="box" size="1 1 0.01" pos="0 0 0"/>
-    </worldbody>
-    <sensor>
-      <contact name="flex_contact_subtree" subtree1="parent"/>
-      <contact name="flex_contact_body" body1="parent"/>
-      <touch name="floor_touch" site="floor_site"/>
-    </sensor>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  EXPECT_CALL(mock_warning_handler, Warn(testing::HasSubstr("is not rigid")))
-      .WillOnce(testing::Return());
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  mj_forward(m.get(), d.get());
-
-  // We expect at least one contact between the flex and the floor
-  ASSERT_GT(d->ncon, 0) << "No contacts generated";
-
-  // Check the contact sensor "flex_contact_subtree"
-  vector flex_contact_subtree =
-      GetSensor(m.get(), d.get(), "flex_contact_subtree");
-  EXPECT_GT(flex_contact_subtree[0], 0)
-      << "Flex contact sensor (subtree) did not detect any contacts";
-
-  // Check the contact sensor "flex_contact_body"
-  vector flex_contact_body = GetSensor(m.get(), d.get(), "flex_contact_body");
-  EXPECT_EQ(flex_contact_body[0], 0)
-      << "Flex contact sensor (body) should not match contacts on child bodies";
-
-  // Check the touch sensor "floor_touch"
-  vector floor_touch = GetSensor(m.get(), d.get(), "floor_touch");
-  EXPECT_GT(floor_touch[0], 0.0)
-      << "Floor touch sensor did not detect any force";
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_setconst_test.cc b/test/engine/engine_setconst_test.cc
deleted file mode 100644
index ce43596b..00000000
--- a/test/engine/engine_setconst_test.cc
+++ /dev/null
@@ -1,639 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_setconst.c.
-
-#include <cstddef>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::std::string;
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-
-
-using SetConstTest = MujocoTest;
-
-TEST_F(SetConstTest, AwakeActuatedJoint) {
-  string xml = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1" sleep="POLICY1">
-        <joint name="J1" type="slide"/>
-        <geom size=".1"/>
-      </body>
-      <body name="B2" sleep="POLICY2">
-        <joint name="J2" type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="J1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m;
-
-  string sleep[] = {"auto", "never", "allowed", "init"};
-  int tsp0[] = {mjSLEEP_AUTO_NEVER, mjSLEEP_NEVER, mjSLEEP_ALLOWED,
-                mjSLEEP_INIT};
-  int tsp1[] = {mjSLEEP_AUTO_ALLOWED, mjSLEEP_NEVER, mjSLEEP_ALLOWED,
-                mjSLEEP_INIT};
-
-  for (int i = 0; i < 4; ++i) {
-    for (int j = 0; j < 4; ++j) {
-      string xml_copy = xml;
-      size_t pos1 = xml_copy.find("POLICY1");
-      xml_copy.replace(pos1, 7, sleep[i]);
-      size_t pos2 = xml_copy.find("POLICY2");
-      xml_copy.replace(pos2, 7, sleep[j]);
-      m = LoadModelFromString(xml_copy.c_str(), error, sizeof(error));
-      ASSERT_THAT(m.get(), NotNull()) << error;
-      EXPECT_EQ(m->tree_sleep_policy[0], tsp0[i]);
-      EXPECT_EQ(m->tree_sleep_policy[1], tsp1[j]);
-    }
-  }
-}
-
-TEST_F(SetConstTest, AwakeActuatedSite) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint name="J1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S1"/>
-      </body>
-      <body name="B2">
-        <joint name="J2" type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general site="S1" gear="1 0 0 0 0 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_NEVER);
-  EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_ALLOWED);
-}
-
-TEST_F(SetConstTest, AwakeActuatedBody) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint name="J1" type="slide"/>
-        <geom size=".1"/>
-      </body>
-      <body name="B2">
-        <joint name="J2" type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <adhesion body="B1" ctrlrange="0 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_NEVER);
-  EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_ALLOWED);
-}
-
-TEST_F(SetConstTest, AwakeActuatedTendon) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="S1"/>
-      <body name="B1">
-        <joint name="J1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S2"/>
-      </body>
-      <body name="B2">
-        <joint name="J2" type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-    <tendon>
-      <spatial name="T1">
-        <site site="S1"/>
-        <site site="S2"/>
-      </spatial>
-    </tendon>
-    <actuator>
-      <motor tendon="T1"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_NEVER);
-  EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_ALLOWED);
-}
-
-TEST_F(SetConstTest, AwakeStiffTendonMultiTree) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint name="J1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S1"/>
-      </body>
-      <body name="B2">
-        <joint name="J2" type="slide"/>
-        <geom size=".1"/>
-        <site name="S2"/>
-      </body>
-    </worldbody>
-    <tendon>
-      <spatial name="T1" stiffness="1">
-        <site site="S1"/>
-        <site site="S2"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_NEVER);
-  EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_NEVER);
-}
-
-TEST_F(SetConstTest, SleepyTendonSingleTree) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint name="J1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S1"/>
-        <body name="B2">
-          <joint name="J2" type="slide"/>
-          <geom size=".1"/>
-          <site name="S2"/>
-        </body>
-      </body>
-    </worldbody>
-    <tendon>
-      <spatial name="T1" stiffness="1">
-        <site site="S1"/>
-        <site site="S2"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_ALLOWED);
-}
-
-TEST_F(SetConstTest, SleepyTendonZeroStiffness) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint name="J1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S1"/>
-      </body>
-      <body name="B2">
-        <joint name="J2" type="slide"/>
-        <geom size=".1"/>
-        <site name="S2"/>
-      </body>
-    </worldbody>
-    <tendon>
-      <spatial name="T1" stiffness="0" damping="0">
-        <site site="S1"/>
-        <site site="S2"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_EQ(model->tree_sleep_policy[0], mjSLEEP_AUTO_ALLOWED);
-  EXPECT_EQ(model->tree_sleep_policy[1], mjSLEEP_AUTO_ALLOWED);
-}
-
-TEST_F(SetConstTest, TendonTreeId) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <!-- Static body 1: world -->
-      <site name="S1"/>
-
-      <!-- Static body 2: child of world -->
-      <body name="B_static">
-        <site name="S2"/>
-      </body>
-
-      <!-- Tree 1 -->
-      <body name="B1_1">
-        <joint name="J1_1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S3"/>
-        <body name="B1_2">
-          <joint name="J1_2" type="slide"/>
-          <geom size=".1"/>
-          <site name="S4"/>
-        </body>
-      </body>
-
-      <!-- Tree 2 -->
-      <body name="B2_1">
-        <joint name="J2_1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S5"/>
-      </body>
-
-      <!-- Tree 3 -->
-      <body name="B3_1">
-        <joint name="J3_1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S6"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <!-- Tendon 1: Between static bodies -->
-      <spatial name="T_static">
-        <site site="S1"/>
-        <site site="S2"/>
-      </spatial>
-
-      <!-- Tendon 2: Within Tree 1 -->
-      <spatial name="T_tree1">
-        <site site="S3"/>
-        <site site="S4"/>
-      </spatial>
-
-      <!-- Tendon 3: Between Tree 1 and Tree 2 -->
-      <spatial name="T_intertree12">
-        <site site="S4"/>
-        <site site="S5"/>
-      </spatial>
-
-      <!-- Tendon 4: Between Tree 1, 2 and 3 -->
-      <spatial name="T_intertree123">
-        <site site="S4"/>
-        <site site="S5"/>
-        <site site="S6"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  int t_static_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_static");
-  int t_tree1_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_tree1");
-  int t_intertree12_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_intertree12");
-  int t_intertree123_id =
-      mj_name2id(model.get(), mjOBJ_TENDON, "T_intertree123");
-  int b1_1_treeid =
-      model->body_treeid[mj_name2id(model.get(), mjOBJ_BODY, "B1_1")];
-  int b2_1_treeid =
-      model->body_treeid[mj_name2id(model.get(), mjOBJ_BODY, "B2_1")];
-
-  // Tendon 1: Not associated with any tree
-  EXPECT_EQ(model->tendon_treenum[t_static_id], 0);
-  EXPECT_EQ(model->tendon_treeid[2*t_static_id], -1);
-  EXPECT_EQ(model->tendon_treeid[2*t_static_id+1], -1);
-
-  // Tendon 2: Should be in Tree 1
-  EXPECT_EQ(model->tendon_treenum[t_tree1_id], 1);
-  EXPECT_EQ(model->tendon_treeid[2*t_tree1_id], b1_1_treeid);
-  EXPECT_EQ(model->tendon_treeid[2*t_tree1_id+1], -1);
-  EXPECT_GE(model->tendon_treeid[2*t_tree1_id], 0);
-
-  // Tendon 3: Spans two trees (Tree 1 and Tree 2)
-  EXPECT_EQ(model->tendon_treenum[t_intertree12_id], 2);
-  EXPECT_EQ(model->tendon_treeid[2*t_intertree12_id], b1_1_treeid);
-  EXPECT_EQ(model->tendon_treeid[2*t_intertree12_id+1], b2_1_treeid);
-
-  // Tendon 4: Spans three trees (Tree 1, 2 and 3)
-  EXPECT_EQ(model->tendon_treenum[t_intertree123_id], 3);
-  EXPECT_EQ(model->tendon_treeid[2*t_intertree123_id], b1_1_treeid);
-  EXPECT_EQ(model->tendon_treeid[2*t_intertree123_id+1], b2_1_treeid);
-  // The third tree ID is not stored in tendon_treeid
-}
-
-TEST_F(SetConstTest, SleepingNotAllowed) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-
-      <!-- Tree 0 -->
-      <body name="B1_1">
-        <joint name="J1_1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S3"/>
-        <body name="B1_2">
-          <joint name="J1_2" type="slide"/>
-          <geom size=".1"/>
-          <site name="S4"/>
-        </body>
-      </body>
-
-      <!-- Tree 1: forbidden user sleep override -->
-      <body name="B2_1" sleep="allowed">
-        <joint name="J2_1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S5"/>
-      </body>
-
-      <!-- Tree 2 -->
-      <body name="B3_1">
-        <joint name="J3_1" type="slide"/>
-        <geom size=".1"/>
-        <site name="S6"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <!-- Tendon 0: Between Tree 0, 1 and 2 -->
-      <spatial name="T_intertree123">
-        <site site="S4"/>
-        <site site="S5"/>
-        <site site="S6"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), IsNull()) << error;
-  EXPECT_THAT(string(error), HasSubstr(
-              "tree 1 connected to tendon 0 which spans more than 2 trees, "
-              "sleeping not allowed"));
-}
-
-
-TEST_F(SetConstTest, DofLength) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint name="S1" type="slide"/>
-        <geom size="2"/>
-      </body>
-      <body name="B2">
-        <joint name="H1" type="hinge"/>
-        <geom size="3"/>
-      </body>
-      <body name="B3">
-        <joint name="BA1" type="ball"/>
-        <geom size="4"/>
-      </body>
-      <body name="B4">
-        <joint name="F1" type="free"/>
-        <geom size="5"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  mjtNum tol = 1e-5;
-
-  // B1: Slider
-  EXPECT_EQ(model->dof_length[0], 1);
-
-  // B2: Hinge
-  EXPECT_NEAR(model->dof_length[1], 3, tol);
-
-  // B3: Ball
-  EXPECT_NEAR(model->dof_length[2], 4, tol);
-  EXPECT_NEAR(model->dof_length[3], 4, tol);
-  EXPECT_NEAR(model->dof_length[4], 4, tol);
-
-  // B4: Free
-  EXPECT_EQ(model->dof_length[5], 1);
-  EXPECT_EQ(model->dof_length[6], 1);
-  EXPECT_EQ(model->dof_length[7], 1);
-  EXPECT_NEAR(model->dof_length[8], 5, tol);
-  EXPECT_NEAR(model->dof_length[9], 5, tol);
-  EXPECT_NEAR(model->dof_length[10], 5, tol);
-}
-
-TEST_F(SetConstTest, BodySameframeRecomputed) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1" simple="false">
-        <joint type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d(mj_makeData(m.get()));
-
-  int b = mj_name2id(m.get(), mjOBJ_BODY, "B1");
-
-  // initially sameframe should be BODY (ipos=0, iquat=identity)
-  EXPECT_EQ(m->body_sameframe[b], mjSAMEFRAME_BODY);
-
-  // perturb body_ipos, call mj_setConst
-  m->body_ipos[3*b+0] = 1.0;
-  mj_setConst(m.get(), d.get());
-  EXPECT_EQ(m->body_sameframe[b], mjSAMEFRAME_BODYROT);
-
-  // also perturb body_iquat
-  m->body_iquat[4*b+0] = 0.5;
-  m->body_iquat[4*b+1] = 0.5;
-  m->body_iquat[4*b+2] = 0.5;
-  m->body_iquat[4*b+3] = 0.5;
-  mj_setConst(m.get(), d.get());
-  EXPECT_EQ(m->body_sameframe[b], mjSAMEFRAME_NONE);
-
-  // restore to identity, should go back to BODY
-  m->body_ipos[3*b+0] = 0;
-  m->body_iquat[4*b+0] = 1;
-  m->body_iquat[4*b+1] = 0;
-  m->body_iquat[4*b+2] = 0;
-  m->body_iquat[4*b+3] = 0;
-  mj_setConst(m.get(), d.get());
-  EXPECT_EQ(m->body_sameframe[b], mjSAMEFRAME_BODY);
-}
-
-TEST_F(SetConstTest, GeomSameframeRecomputed) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint type="slide"/>
-        <geom name="G1" size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d(mj_makeData(m.get()));
-
-  int g = mj_name2id(m.get(), mjOBJ_GEOM, "G1");
-
-  // initially sameframe should be BODY
-  EXPECT_EQ(m->geom_sameframe[g], mjSAMEFRAME_BODY);
-
-  // perturb geom_pos
-  m->geom_pos[3*g+1] = 0.5;
-  mj_setConst(m.get(), d.get());
-  EXPECT_EQ(m->geom_sameframe[g], mjSAMEFRAME_BODYROT);
-
-  // restore, should go back to BODY
-  m->geom_pos[3*g+1] = 0;
-  mj_setConst(m.get(), d.get());
-  EXPECT_EQ(m->geom_sameframe[g], mjSAMEFRAME_BODY);
-}
-
-TEST_F(SetConstTest, SiteSameframeRecomputed) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint type="slide"/>
-        <geom size=".1"/>
-        <site name="S1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d(mj_makeData(m.get()));
-
-  int s = mj_name2id(m.get(), mjOBJ_SITE, "S1");
-
-  // initially sameframe should be BODY
-  EXPECT_EQ(m->site_sameframe[s], mjSAMEFRAME_BODY);
-
-  // perturb site_pos
-  m->site_pos[3*s+2] = 0.3;
-  mj_setConst(m.get(), d.get());
-  EXPECT_EQ(m->site_sameframe[s], mjSAMEFRAME_BODYROT);
-
-  // restore
-  m->site_pos[3*s+2] = 0;
-  mj_setConst(m.get(), d.get());
-  EXPECT_EQ(m->site_sameframe[s], mjSAMEFRAME_BODY);
-}
-
-TEST_F(SetConstTest, SameframeKinematicsCorrect) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1" pos="1 0 0" simple="false">
-        <joint type="slide" axis="1 0 0"/>
-        <geom name="G1" size=".1"/>
-        <site name="S1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d(mj_makeData(m.get()));
-
-  int b = mj_name2id(m.get(), mjOBJ_BODY, "B1");
-  int g = mj_name2id(m.get(), mjOBJ_GEOM, "G1");
-
-  // perturb body inertial offset, breaking sameframe
-  m->body_ipos[3*b+1] = 0.5;
-  mj_setConst(m.get(), d.get());
-  EXPECT_EQ(m->body_sameframe[b], mjSAMEFRAME_BODYROT);
-
-  // run forward kinematics, check that xipos != xpos
-  mj_forward(m.get(), d.get());
-  EXPECT_NEAR(d->xipos[3*b+1], 0.5, MjTol(1e-10, 1e-6));
-  EXPECT_NEAR(d->xpos[3*b+1], 0.0, MjTol(1e-10, 1e-6));
-
-  // perturb geom_pos, check geom global position
-  m->geom_pos[3*g+2] = 0.3;
-  mj_setConst(m.get(), d.get());
-  EXPECT_NE(m->geom_sameframe[g], mjSAMEFRAME_BODY);
-  mj_forward(m.get(), d.get());
-  EXPECT_NEAR(d->geom_xpos[3*g+2], 0.3, MjTol(1e-10, 1e-6));
-}
-
-TEST_F(SetConstTest, SimpleBodyLostSameframeError) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d(mj_makeData(m.get()));
-
-  int b = mj_name2id(m.get(), mjOBJ_BODY, "B1");
-
-  // confirm body is compiled as simple
-  EXPECT_GT(m->body_simple[b], 0);
-
-  // perturb body_ipos, breaking sameframe; calling mj_setConst should fail
-  m->body_ipos[3*b+0] = 1.0;
-
-  std::string err = MjuErrorMessageFrom(mj_setConst)(m.get(), d.get());
-  EXPECT_THAT(err, HasSubstr("body 1 is compiled as simple but "
-                             "sameframe no longer holds"));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_sleep_test.cc b/test/engine/engine_sleep_test.cc
deleted file mode 100644
index dd6821f1..00000000
--- a/test/engine/engine_sleep_test.cc
+++ /dev/null
@@ -1,935 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_sleep.c.
-
-#include "src/engine/engine_sleep.h"
-
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest-spi.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::std::string;
-using ::std::vector;
-using ::testing::ElementsAre;
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-
-using SleepTest = MujocoTest;
-
-static constexpr char kSimple[] = R"(
-<mujoco>
-  <option>
-    <flag constraint="disable" contact="disable"/>
-  </option>
-
-  <default>
-    <geom size="1"/>
-  </default>
-
-  <worldbody>
-    <body>
-      <joint type="ball"/>
-      <geom/>
-    </body>
-
-    <body>
-      <geom/>
-    </body>
-
-    <geom/>
-
-    <body>
-      <joint/>
-      <geom/>
-      <geom/>
-      <body pos="1 0 0">
-        <joint/>
-        <geom/>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-static constexpr int kAwake = -(1 + mjMINAWAKE);
-
-TEST_F(SleepTest, MjSleepUpdate) {
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(kSimple, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // ntree = 2, nbody = 5, nv = 5, njnt = 3, ngeom = 6
-  // body 0: world, 1 geom
-  // body 1: 1 ball join, 3 dofs, 1 geom
-  // body 2: no joint, 1 geom
-  // body 3: hinge joint, 1 dof, 2 geoms
-  // body 4: child of body 2, hinge joint, 1 dof, 1 geom
-
-  EXPECT_EQ(m->ntree, 2);
-  EXPECT_EQ(m->nbody, 5);
-  EXPECT_EQ(m->nv, 5);
-  EXPECT_EQ(m->njnt, 3);
-  EXPECT_EQ(m->ngeom, 6);
-
-  EXPECT_THAT(AsVector(m->body_treeid, m->nbody), ElementsAre(-1, 0, -1, 1, 1));
-  EXPECT_THAT(AsVector(m->dof_bodyid, m->nv), ElementsAre(1, 1, 1, 3, 4));
-  EXPECT_THAT(AsVector(m->geom_bodyid, m->ngeom),
-              ElementsAre(0, 1, 2, 3, 3, 4));
-  EXPECT_THAT(AsVector(m->jnt_bodyid, m->njnt), ElementsAre(1, 3, 4));
-
-  // Test Case 1: Initial state
-  EXPECT_THAT(AsVector(d->tree_asleep, m->ntree), ElementsAre(kAwake, kAwake));
-  EXPECT_EQ(d->ntree_awake, 2);
-  EXPECT_EQ(d->nv_awake, 5);
-  EXPECT_THAT(AsVector(d->dof_awake_ind, d->nv_awake),
-              ElementsAre(0, 1, 2, 3, 4));
-  EXPECT_THAT(AsVector(d->tree_awake, m->ntree), ElementsAre(1, 1));
-  EXPECT_THAT(
-      AsVector(d->body_awake, m->nbody),
-      ElementsAre(mjS_STATIC, mjS_AWAKE, mjS_STATIC, mjS_AWAKE, mjS_AWAKE));
-
-  // Test Case 2: Call mj_sleepUpdate, expect no changes
-  mj_updateSleep(m.get(), d.get());
-  EXPECT_EQ(d->ntree_awake, 2);
-  EXPECT_EQ(d->nv_awake, 5);
-  EXPECT_THAT(AsVector(d->dof_awake_ind, d->nv_awake),
-              ElementsAre(0, 1, 2, 3, 4));
-  EXPECT_THAT(
-      AsVector(d->body_awake, m->nbody),
-      ElementsAre(mjS_STATIC, mjS_AWAKE, mjS_STATIC, mjS_AWAKE, mjS_AWAKE));
-  EXPECT_THAT(AsVector(d->tree_awake, m->ntree), ElementsAre(1, 1));
-
-  // Test Case 3: Tree 0 asleep
-  d->tree_asleep[0] = 0;
-  d->tree_asleep[1] = -1;
-  mj_updateSleep(m.get(), d.get());
-  EXPECT_EQ(d->ntree_awake, 1);
-  EXPECT_EQ(d->nv_awake, 2);
-  EXPECT_THAT(AsVector(d->dof_awake_ind, d->nv_awake), ElementsAre(3, 4));
-  EXPECT_THAT(AsVector(d->tree_awake, m->ntree), ElementsAre(0, 1));
-  EXPECT_THAT(
-      AsVector(d->body_awake, m->nbody),
-      ElementsAre(mjS_STATIC, mjS_ASLEEP, mjS_STATIC, mjS_AWAKE, mjS_AWAKE));
-
-  // Test Case 4: Tree 1 asleep
-  d->tree_asleep[0] = -1;
-  d->tree_asleep[1] = 1;
-  mj_updateSleep(m.get(), d.get());
-  EXPECT_EQ(d->ntree_awake, 1);
-  EXPECT_EQ(d->nv_awake, 3);
-  EXPECT_THAT(AsVector(d->dof_awake_ind, d->nv_awake), ElementsAre(0, 1, 2));
-  EXPECT_THAT(AsVector(d->tree_awake, m->ntree), ElementsAre(1, 0));
-  EXPECT_THAT(
-      AsVector(d->body_awake, m->nbody),
-      ElementsAre(mjS_STATIC, mjS_AWAKE, mjS_STATIC, mjS_ASLEEP, mjS_ASLEEP));
-
-  // Test Case 5: All trees asleep
-  d->tree_asleep[0] = 0;
-  d->tree_asleep[1] = 1;
-  mj_updateSleep(m.get(), d.get());
-  EXPECT_EQ(d->ntree_awake, 0);
-  EXPECT_EQ(d->nv_awake, 0);
-  EXPECT_THAT(AsVector(d->dof_awake_ind, d->nv_awake), ElementsAre());
-  EXPECT_THAT(AsVector(d->tree_awake, m->ntree), ElementsAre(0, 0));
-  EXPECT_THAT(
-      AsVector(d->body_awake, m->nbody),
-      ElementsAre(mjS_STATIC, mjS_ASLEEP, mjS_STATIC, mjS_ASLEEP, mjS_ASLEEP));
-}
-
-TEST_F(SleepTest, MjWakeIsland) {
-  // one awake tree and two cycles
-  int asleep[] = {kAwake, 2, 1, 3};
-  EXPECT_EQ(mj_wakeIsland(asleep, 4, 0, kAwake, nullptr, 0), 0);
-  EXPECT_THAT(AsVector(asleep, 4), ElementsAre(kAwake, 2, 1, 3));
-  EXPECT_EQ(mj_wakeIsland(asleep, 4, 1, kAwake, nullptr, 0), 2);
-  EXPECT_THAT(AsVector(asleep, 4), ElementsAre(kAwake, kAwake, kAwake, 3));
-  EXPECT_EQ(mj_wakeIsland(asleep, 4, 3, kAwake, nullptr, 0), 1);
-  EXPECT_THAT(AsVector(asleep, 4), ElementsAre(kAwake, kAwake, kAwake, kAwake));
-}
-
-TEST_F(SleepTest, BadWakeIsland) {
-  EXPECT_FATAL_FAILURE(([] {
-                         int asleep_bad1[] = {-1, 0};
-                         mj_wakeIsland(asleep_bad1, 2, 1, kAwake, nullptr, 0);
-                       }()),
-                       "invalid sleep state index -1 when waking tree 1");
-
-  EXPECT_FATAL_FAILURE(([] {
-                         int asleep_bad2[] = {-1, 2};
-                         mj_wakeIsland(asleep_bad2, 2, 1, kAwake, nullptr, 0);
-                       }()),
-                       "invalid sleep state index 2 when waking tree 1");
-
-  EXPECT_FATAL_FAILURE(([] {
-                         int asleep_bad3[] = {1, 2, 1};
-                         mj_wakeIsland(asleep_bad3, 3, 0, kAwake, nullptr, 0);
-                       }()),
-                       "tree 0 is not in a cycle");
-}
-
-static const char* const kStaticModel = "engine/testdata/sleep/static.xml";
-static const char* const kMocapcModel = "engine/testdata/sleep/mocap.xml";
-static const char* const kSmoothModel = "engine/testdata/sleep/smooth.xml";
-static const char* const kInitModel = "engine/testdata/sleep/init.xml";
-static const char* const kInitIslandModel =
-    "engine/testdata/sleep/init_island.xml";
-static const char* const kTendonModel = "engine/testdata/sleep/tendon.xml";
-static const char* const kContactModel = "engine/testdata/sleep/contact.xml";
-static const char* const kPairModel = "engine/testdata/sleep/contactpair.xml";
-static const char* const kSensorModel = "engine/testdata/sleep/sensor.xml";
-
-// roll out some models with sleeping enabled, valuable under ASAN and MSAN
-TEST_F(SleepTest, KickTires) {
-  for (const char* path :
-       {kStaticModel, kMocapcModel, kInitModel, kInitIslandModel, kSensorModel,
-        kTendonModel, kContactModel, kPairModel, kSmoothModel}) {
-    const std::string xml_path = GetTestDataFilePath(path);
-    char error[1024];
-    mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-    ASSERT_THAT(m, NotNull()) << error;
-
-    int duration_id = mj_name2id(m, mjOBJ_NUMERIC, "duration");
-    ASSERT_GE(duration_id, 0);
-    mjtNum duration = m->numeric_data[m->numeric_adr[duration_id]];
-
-    mjData* d = mj_makeData(m);
-    while (d->time < duration) {
-      mj_step(m, d);
-    }
-
-    mj_deleteData(d);
-    mj_deleteModel(m);
-  }
-}
-
-// Test that sleeping does not affect the simulation of awake trees:
-// Roll out kSmoothModel, where all trees go to sleep within `duration` seconds
-// in two mjData's, one with sleeping enabled and one without; expect the same
-// values (for selected arrays) in awake trees in both.
-TEST_F(SleepTest, WakingUnaffectedBySleeping) {
-  const std::string xml_path = GetTestDataFilePath(kSmoothModel);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-
-  int duration_id = mj_name2id(m, mjOBJ_NUMERIC, "duration");
-  ASSERT_GE(duration_id, 0);
-  mjtNum duration = m->numeric_data[m->numeric_adr[duration_id]];
-
-  for (mjtJacobian jacobian : {mjJAC_DENSE, mjJAC_SPARSE}) {
-    m->opt.jacobian = jacobian;
-    for (mjtIntegrator integrator :  // TODO: b/457674312 - Add support for RK4.
-         {mjINT_EULER, mjINT_IMPLICITFAST, mjINT_IMPLICIT}) {
-      m->opt.integrator = integrator;
-
-      // make data with sleeping enabled
-      m->opt.enableflags |= mjENBL_SLEEP;
-      mjData* d_sleep = mj_makeData(m);
-
-      // make data with sleeping disabled
-      m->opt.enableflags &= ~mjENBL_SLEEP;
-      mjData* d_nosleep = mj_makeData(m);
-
-      // disable constraints, contacts
-      m->opt.disableflags |= mjDSBL_CONSTRAINT | mjDSBL_CONTACT;
-
-      ASSERT_EQ(d_sleep->nbody_awake, m->nbody);
-      int nbody_awake = -1;
-
-      while (d_nosleep->time < duration) {
-        m->opt.enableflags |= mjENBL_SLEEP;
-        mj_step(m, d_sleep);
-        m->opt.enableflags &= ~mjENBL_SLEEP;
-        mj_step(m, d_nosleep);
-
-        // if nbody_awake is not changed, skip
-        if (d_sleep->nbody_awake == nbody_awake) {
-          continue;
-        }
-
-        // compare xpos
-        for (int i = 0; i < m->nbody; i++) {
-          if (d_sleep->body_awake[i] == mjS_ASLEEP) continue;
-          auto xpos1 = AsVector(d_nosleep->xpos + 3 * i, 3);
-          auto xpos2 = AsVector(d_sleep->xpos + 3 * i, 3);
-          EXPECT_EQ(xpos1, xpos2)
-              << " xpos[" << i << "] at time " << d_nosleep->time;
-        }
-
-        // compare M and qLD
-        for (int i = 0; i < d_sleep->nv_awake; i++) {
-          int j = d_sleep->dof_awake_ind[i];
-          auto M1 = AsVector(d_nosleep->M + m->M_rowadr[j], m->M_rownnz[j]);
-          auto M2 = AsVector(d_sleep->M + m->M_rowadr[j], m->M_rownnz[j]);
-          EXPECT_EQ(M1, M2) << " M[" << j << ",:] at time " << d_nosleep->time;
-          auto qLD1 = AsVector(d_nosleep->qLD + m->M_rowadr[j], m->M_rownnz[j]);
-          auto qLD2 = AsVector(d_sleep->qLD + m->M_rowadr[j], m->M_rownnz[j]);
-          EXPECT_EQ(qLD1, qLD2)
-              << " qLD[" << j << ",:] at time " << d_nosleep->time;
-        }
-
-        // compare cvel
-        for (int i = 0; i < d_sleep->nbody_awake; i++) {
-          if (d_sleep->body_awake[i] == mjS_ASLEEP) continue;
-          auto cvel1 = AsVector(d_nosleep->cvel + 6 * i, 6);
-          auto cvel2 = AsVector(d_sleep->cvel + 6 * i, 6);
-          EXPECT_EQ(cvel1, cvel2)
-              << " cvel[" << i << "] at time " << d_nosleep->time;
-        }
-
-        // compare subtree_angmom, only for dynamic bodies
-        for (int i = 0; i < d_sleep->nbody_awake; i++) {
-          if (d_sleep->body_awake[i] != mjS_AWAKE) continue;
-          auto subtree_angmom1 = AsVector(d_nosleep->subtree_angmom + 3 * i, 3);
-          auto subtree_angmom2 = AsVector(d_sleep->subtree_angmom + 3 * i, 3);
-          EXPECT_EQ(subtree_angmom1, subtree_angmom2)
-              << " subtree_angmom[" << i << "] at time " << d_nosleep->time;
-        }
-
-        // compare qfrc/qacc arrays
-        for (int i = 0; i < d_sleep->nv_awake; i++) {
-          int j = d_sleep->dof_awake_ind[i];
-          EXPECT_EQ(d_nosleep->qfrc_smooth[j], d_sleep->qfrc_smooth[j])
-              << " qfrc_smooth[" << j << "] at time " << d_nosleep->time;
-          EXPECT_EQ(d_nosleep->qacc_smooth[j], d_sleep->qacc_smooth[j])
-              << " qacc_smooth[" << j << "] at time " << d_nosleep->time;
-          EXPECT_EQ(d_nosleep->qacc[j], d_sleep->qacc[j])
-              << " qacc[" << j << "] at time " << d_nosleep->time;
-        }
-
-        nbody_awake = d_sleep->nbody_awake;
-      }
-
-      mj_deleteData(d_sleep);
-      mj_deleteData(d_nosleep);
-    }
-  }
-  mj_deleteModel(m);
-}
-
-// Test that waking does not affect sleeping trees for pos/vel-dependent arrays.
-// Roll out models where some trees wake and/or sleep. At kCompare intervals,
-// copy the state from the mjData with sleeping enabled to another mjData and
-// call mj_forward with sleeping disabled. Expect pos/vel-dependent arrays to be
-// unchanged for all trees and frc/acc-dependent arrays to be the same for awake
-// trees.
-TEST_F(SleepTest, SleepingUnaffectedByWaking) {
-  for (const char* path :
-       {kInitModel, kMocapcModel, kInitIslandModel, kTendonModel, kContactModel,
-        kSensorModel, kSmoothModel}) {
-    const std::string xml_path = GetTestDataFilePath(path);
-    char error[1024];
-    mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-    ASSERT_THAT(m, NotNull()) << error;
-
-    const int kCompare = 10;  // number of comparisons per rollout
-
-    // for some sensors, the comparison is expected to fail (at least once)
-    vector<bool> sensor_mismatch(m->nsensor, false);
-
-    // TODO: b/457674312 - Add support for RK4.
-    for (mjtIntegrator integrator :
-         {mjINT_EULER, mjINT_IMPLICITFAST, mjINT_IMPLICIT}) {
-      m->opt.integrator = integrator;
-
-      // make data with sleeping enabled
-      m->opt.enableflags |= mjENBL_SLEEP;
-      mjData* d_sleep = mj_makeData(m);
-
-      // make data with sleeping disabled
-      m->opt.enableflags &= ~mjENBL_SLEEP;
-      mjData* d_nosleep = mj_makeData(m);
-
-      int duration_id = mj_name2id(m, mjOBJ_NUMERIC, "duration");
-      ASSERT_GE(duration_id, 0);
-      mjtNum duration = m->numeric_data[m->numeric_adr[duration_id]];
-
-      int compare_interval = duration / (m->opt.timestep * kCompare);
-      int nsteps = 0;
-      while (d_sleep->time < duration) {
-        // step d_sleep with sleeping enabled
-        m->opt.enableflags |= mjENBL_SLEEP;
-        mj_step(m, d_sleep);
-        nsteps++;
-
-        // every compare_interval steps, compare with d_nosleep
-        if (nsteps % compare_interval != 0) {
-          continue;
-        }
-
-        // call mj_forward to update d_sleep
-        mj_forward(m, d_sleep);
-
-        // copy state from d_sleep to d_nosleep
-        mj_copyData(d_nosleep, m, d_sleep);
-
-        // forward d_nosleep with sleeping disabled
-        m->opt.enableflags &= ~mjENBL_SLEEP;
-        mj_forward(m, d_nosleep);
-
-        // ==== compare arrays for all dofs / bodies / sensors ====
-
-        // compare xpos
-        for (int i = 0; i < m->nbody; i++) {
-          auto xpos1 = AsVector(d_sleep->xpos + 3 * i, 3);
-          auto xpos2 = AsVector(d_nosleep->xpos + 3 * i, 3);
-          EXPECT_EQ(xpos1, xpos2)
-              << " xpos[" << i << "] at time " << d_sleep->time;
-        }
-
-        // compare M and qLD
-        for (int i = 0; i < m->nv; i++) {
-          auto M1 = AsVector(d_sleep->M + m->M_rowadr[i], m->M_rownnz[i]);
-          auto M2 = AsVector(d_nosleep->M + m->M_rowadr[i], m->M_rownnz[i]);
-          EXPECT_EQ(M1, M2) << " M[" << i << ",:] at time " << d_sleep->time;
-          auto qLD1 = AsVector(d_sleep->qLD + m->M_rowadr[i], m->M_rownnz[i]);
-          auto qLD2 = AsVector(d_nosleep->qLD + m->M_rowadr[i], m->M_rownnz[i]);
-          EXPECT_EQ(qLD1, qLD2)
-              << " qLD[" << i << ",:] at time " << d_sleep->time;
-        }
-
-        // compare cvel
-        for (int i = 0; i < m->nbody; i++) {
-          auto cvel1 = AsVector(d_sleep->cvel + 6 * i, 6);
-          auto cvel2 = AsVector(d_nosleep->cvel + 6 * i, 6);
-          EXPECT_EQ(cvel1, cvel2)
-              << " cvel[" << i << "] at time " << d_sleep->time;
-        }
-
-        // compare qfrc arrays
-        for (int i = 0; i < m->nv; i++) {
-          EXPECT_EQ(d_sleep->qfrc_fluid[i], d_nosleep->qfrc_fluid[i])
-              << " qfrc_fluid[" << i << "] at time " << d_sleep->time;
-          EXPECT_EQ(d_sleep->qfrc_damper[i], d_nosleep->qfrc_damper[i])
-              << " qfrc_damper[" << i << "] at time " << d_sleep->time;
-          EXPECT_EQ(d_sleep->qfrc_spring[i], d_nosleep->qfrc_spring[i])
-              << " qfrc_spring[" << i << "] at time " << d_sleep->time;
-          EXPECT_EQ(d_sleep->qfrc_gravcomp[i], d_nosleep->qfrc_gravcomp[i])
-              << " qfrc_gravcomp[" << i << "] at time " << d_sleep->time;
-          EXPECT_EQ(d_sleep->qfrc_bias[i], d_nosleep->qfrc_bias[i])
-              << " qfrc_bias[" << i << "] at time " << d_sleep->time;
-        }
-
-        // compare sensordata
-        for (int i = 0; i < m->nsensor; i++) {
-          int dim = m->sensor_dim[i];
-          int adr = m->sensor_adr[i];
-          auto data1 = AsVector(d_sleep->sensordata + adr, dim);
-          auto data2 = AsVector(d_nosleep->sensordata + adr, dim);
-          if (m->nuser_sensor == 1 && m->sensor_user[i] == 1) {
-            // user=1 means sensor value cannot be determined at sleep time
-            sensor_mismatch[i] = sensor_mismatch[i] || (data1 != data2);
-            EXPECT_EQ(mj_sleepState(m, d_sleep, mjOBJ_SENSOR, i), mjS_AWAKE);
-          } else {
-            // otherwise expect perfect match
-            EXPECT_EQ(data1, data2)
-                << " sensor " << i << " at time " << d_sleep->time;
-          }
-        }
-
-        // ==== compare arrays for awake dofs only ====
-
-        // compare qacc arrays for awake dofs
-        for (int j = 0; j < d_sleep->nv_awake; j++) {
-          int i = d_sleep->dof_awake_ind[j];
-          EXPECT_EQ(d_sleep->qacc_smooth[i], d_nosleep->qacc_smooth[i])
-              << " qacc_smooth[" << i << "] at time " << d_sleep->time;
-          EXPECT_EQ(d_sleep->qacc[i], d_nosleep->qacc[i])
-              << " qacc[" << i << "] at time " << d_sleep->time;
-        }
-      }
-
-      for (int i = 0; i < m->nsensor; i++) {
-        if (m->nuser_sensor == 1 && m->sensor_user[i] == 1) {
-          EXPECT_TRUE(sensor_mismatch[i])
-              << "contact sensor " << i << " comparison was expected to fail";
-        }
-      }
-
-      mj_deleteData(d_nosleep);
-      mj_deleteData(d_sleep);
-    }
-    mj_deleteModel(m);
-  }
-}
-
-static const char* const kEqualityModel = "engine/testdata/sleep/equality.xml";
-
-// Activate equality between sleeping and awake trees, useful under ASAN/MSAN.
-TEST_F(SleepTest, Equality) {
-  const std::string xml_path = GetTestDataFilePath(kEqualityModel);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-
-  mjData* d = mj_makeData(m);
-  while (d->ntree_awake == m->ntree) {
-    mj_step(m, d);
-  }
-
-  int dd = mj_name2id(m, mjOBJ_EQUALITY, "dyn/dyn");
-  ASSERT_GE(dd, 0);
-
-  mj_step(m, d);
-  d->eq_active[dd] = 1;
-  mj_step(m, d);
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// Test that the free-body implicit (gyroscopic) solve doesn't break the sleep
-// qvel=0 invariant. A standalone free body with high viscosity should
-// eventually go to sleep, and after sleeping, qvel/qacc must be exactly zero.
-TEST_F(SleepTest, FreeBodySleepZeroVelocity) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast" viscosity="10"
-            sleep_tolerance="0.01">
-      <flag sleep="enable" gravity="disable" constraint="disable"
-            contact="disable"/>
-    </option>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom type="box" size=".1 .2 .3" mass="1" euler="10 20 30"
-              pos=".03 .02 .01"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // give initial velocity (both translational and angular)
-  d->qvel[0] = 0.5;
-  d->qvel[1] = 0.5;
-  d->qvel[2] = 0.5;
-  d->qvel[3] = 1.0;
-  d->qvel[4] = 2.0;
-  d->qvel[5] = 3.0;
-
-  // step until body goes to sleep
-  for (int step = 0; step < 1000; step++) {
-    mj_step(m.get(), d.get());
-    if (d->ntree_awake == 0) break;
-  }
-
-  // body should have gone to sleep
-  ASSERT_EQ(d->ntree_awake, 0) << "body did not go to sleep";
-
-  // qvel and qacc must be exactly zero for sleeping body
-  for (int i = 0; i < 6; i++) {
-    EXPECT_EQ(d->qvel[i], 0.0) << "qvel[" << i << "] not zero after sleep";
-    EXPECT_EQ(d->qacc[i], 0.0) << "qacc[" << i << "] not zero after sleep";
-  }
-}
-
-static const char* const kInitIslandFailModel =
-    "engine/testdata/sleep/init_island_fail.xml";
-
-TEST_F(SleepTest, InitIslandFail) {
-  const std::string xml_path = GetTestDataFilePath(kInitIslandFailModel);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  EXPECT_THAT(m, IsNull());
-  EXPECT_THAT(error,
-              HasSubstr("3 trees were marked as sleep='init' but only 0 could "
-                        "be slept.\nBody 'asleep_init0' (id=1) is the root of "
-                        "the first tree that could not be slept."));
-}
-
-// Test that a constrained flex eventually goes to sleep.
-TEST_F(SleepTest, FlexEdgeSleep) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/sleep/flex_edge.xml");
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-  EXPECT_GT(m->flex_edgeequality[0], 0);
-  mjData* d = mj_makeData(m);
-
-  // give initial velocity
-  d->qvel[0] = 0.1;
-
-  // step until body goes to sleep
-  for (int step = 0; step < 2000; step++) {
-    mj_step(m, d);
-    if (d->ntree_awake == 0) break;
-  }
-
-  EXPECT_EQ(d->ntree_awake, 0) << "flex did not go to sleep";
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// Test that a constraint-free flex never sleeps.
-TEST_F(SleepTest, FlexNoConstraintNeverSleeps) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/sleep/flex_nocnstr.xml");
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-  EXPECT_EQ(m->flex_edgeequality[0], 0);
-  mjData* d = mj_makeData(m);
-
-  // step for a while
-  for (int step = 0; step < 500; step++) {
-    mj_step(m, d);
-  }
-
-  // tree should have AUTO_NEVER policy
-  EXPECT_EQ(m->tree_sleep_policy[0], mjSLEEP_AUTO_NEVER);
-  EXPECT_GT(d->ntree_awake, 0) << "constraint-free flex should not sleep";
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// Test that mj_sleepState returns correct values for flex objects.
-TEST_F(SleepTest, FlexSleepState) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/sleep/flex_state.xml");
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-  mjData* d = mj_makeData(m);
-
-  // initially awake
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, 0), mjS_AWAKE);
-
-  // step until flex goes to sleep
-  for (int step = 0; step < 1000; step++) {
-    mj_step(m, d);
-    if (d->ntree_awake == 0) break;
-  }
-
-  // flex should be asleep
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, 0), mjS_ASLEEP);
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// Test that a sleeping flex wakes on contact with a falling ball,
-// then both go back to sleep after the ball rolls off.
-TEST_F(SleepTest, FlexWakeContact) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/sleep/flex_contact.xml");
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-  mjData* d = mj_makeData(m);
-
-  int flexid = mj_name2id(m, mjOBJ_FLEX, "f1");
-  ASSERT_GE(flexid, 0);
-
-  // phase 1: flex settles and goes to sleep
-  for (int step = 0; step < 5000; step++) {
-    mj_step(m, d);
-    if (mj_sleepState(m, d, mjOBJ_FLEX, flexid) == mjS_ASLEEP) break;
-  }
-  ASSERT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, flexid), mjS_ASLEEP)
-      << "flex did not go to sleep";
-
-  // phase 2: ball hits flex, flex wakes up
-  for (int step = 0; step < 5000; step++) {
-    mj_step(m, d);
-    if (mj_sleepState(m, d, mjOBJ_FLEX, flexid) == mjS_AWAKE) break;
-  }
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, flexid), mjS_AWAKE)
-      << "flex should have been woken by ball contact";
-
-  // phase 3: ball rolls off, everything goes back to sleep
-  for (int step = 0; step < 10000; step++) {
-    mj_step(m, d);
-    if (d->ntree_awake == 0) break;
-  }
-  EXPECT_EQ(d->ntree_awake, 0) << "all trees should be asleep again";
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// Test full sleep/wake lifecycle with two grippers and two flex objects.
-TEST_F(SleepTest, HollowVsSolidSleep) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/sleep/hollow_vs_solid.xml");
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-  mjData* d = mj_makeData(m);
-
-  // look up flex IDs
-  int solid_flex = mj_name2id(m, mjOBJ_FLEX, "soft_mesh");
-  int hollow_flex = mj_name2id(m, mjOBJ_FLEX, "soft_mesh_2");
-  ASSERT_GE(solid_flex, 0);
-  ASSERT_GE(hollow_flex, 0);
-
-  // look up actuator IDs
-  int grasp_r = mj_name2id(m, mjOBJ_ACTUATOR, "grasp_r");
-  int grasp_s = mj_name2id(m, mjOBJ_ACTUATOR, "grasp_s");
-  ASSERT_GE(grasp_r, 0);
-  ASSERT_GE(grasp_s, 0);
-
-  // phase 1: everything starts awake
-  mj_forward(m, d);
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, solid_flex), mjS_AWAKE);
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, hollow_flex), mjS_AWAKE);
-
-  // phase 2: both flexes go to sleep within 500 steps
-  for (int step = 0; step < 500; step++) {
-    mj_step(m, d);
-  }
-  ASSERT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, solid_flex), mjS_ASLEEP)
-      << "solid flex did not go to sleep";
-  ASSERT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, hollow_flex), mjS_ASLEEP)
-      << "hollow flex did not go to sleep";
-
-  // phase 3: close gripper_solid (grasp_r), it wakes soft_mesh_2 (hollow)
-  d->ctrl[grasp_r] = 1;
-  for (int step = 0; step < 2000; step++) {
-    mj_step(m, d);
-    if (mj_sleepState(m, d, mjOBJ_FLEX, hollow_flex) == mjS_AWAKE) break;
-  }
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, hollow_flex), mjS_AWAKE)
-      << "hollow flex should be woken by gripper_solid";
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, solid_flex), mjS_ASLEEP)
-      << "solid flex should still be asleep";
-
-  // phase 4: close gripper_hollow (grasp_s), it wakes soft_mesh (solid)
-  d->ctrl[grasp_s] = 1;
-  for (int step = 0; step < 2000; step++) {
-    mj_step(m, d);
-    if (mj_sleepState(m, d, mjOBJ_FLEX, solid_flex) == mjS_AWAKE) break;
-  }
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, solid_flex), mjS_AWAKE)
-      << "solid flex should be woken by gripper_hollow";
-
-  // phase 5: open gripper_solid (grasp_r=0), hollow flex goes back to sleep
-  d->ctrl[grasp_r] = 0;
-  for (int step = 0; step < 2000; step++) {
-    mj_step(m, d);
-    if (mj_sleepState(m, d, mjOBJ_FLEX, hollow_flex) == mjS_ASLEEP) break;
-  }
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, hollow_flex), mjS_ASLEEP)
-      << "hollow flex should go back to sleep after gripper release";
-
-  // phase 6: open gripper_hollow (grasp_s=0), solid flex goes back to sleep
-  d->ctrl[grasp_s] = 0;
-  for (int step = 0; step < 2000; step++) {
-    mj_step(m, d);
-    if (mj_sleepState(m, d, mjOBJ_FLEX, solid_flex) == mjS_ASLEEP) break;
-  }
-  EXPECT_EQ(mj_sleepState(m, d, mjOBJ_FLEX, solid_flex), mjS_ASLEEP)
-      << "solid flex should go back to sleep after gripper release";
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// Test that a sleeping flex touching a non-world static body doesn't crash.
-TEST_F(SleepTest, FlexStaticContact) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/sleep/flex_static.xml");
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-  mjData* d = mj_makeData(m);
-
-  // step until flex goes to sleep, should not throw
-  for (int step = 0; step < 1000; step++) {
-    mj_step(m, d);
-  }
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// Test that a sleeping flex near a mocap body doesn't crash.
-TEST_F(SleepTest, FlexMocapContact) {
-  const std::string xml_path =
-      GetTestDataFilePath("engine/testdata/sleep/flex_mocap.xml");
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << error;
-  mjData* d = mj_makeData(m);
-
-  for (int step = 0; step < 200; step++) {
-    mj_step(m, d);
-  }
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-// mocap bodies are their own weld root: dragging into a sleeping tree wakes it
-TEST_F(SleepTest, MocapWakes) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option>
-      <flag sleep="enable"/>
-    </option>
-    <worldbody>
-      <geom type="plane" size="5 5 .1"/>
-      <body name="hand" mocap="true" pos="2 0 .1">
-        <geom type="sphere" size=".1"/>
-        <body name="finger">
-          <geom type="sphere" size=".05" pos=".1 0 0"/>
-        </body>
-      </body>
-      <body name="box" pos="0 0 .1">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  // mocap body is its own weld root, static child inherits it,
-  // box is its own (jointed)
-  int hand = mj_name2id(m.get(), mjOBJ_BODY, "hand");
-  int finger = mj_name2id(m.get(), mjOBJ_BODY, "finger");
-  EXPECT_EQ(m->body_weldid[hand], hand);
-  EXPECT_EQ(m->body_weldid[finger], hand);
-
-  // let the box fall asleep
-  MjDataPtr d = MakeData(m);
-  int steps = 0;
-  while (d->ntree_awake > 0 && steps++ < 10000) {
-    mj_step(m.get(), d.get());
-  }
-  ASSERT_EQ(d->ntree_awake, 0);
-
-  // drag the mocap hand into the sleeping box: box wakes
-  d->mocap_pos[0] = 0;
-  mj_step(m.get(), d.get());
-  EXPECT_EQ(d->ntree_awake, 1);
-}
-
-// mocap bodies do not generate contacts with static bodies or each other
-TEST_F(SleepTest, MocapNoStaticContacts) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="5 5 .1"/>
-      <body mocap="true" pos="0 0 .05">
-        <geom type="sphere" size=".1"/>
-      </body>
-      <body mocap="true" pos=".05 0 .05">
-        <geom type="sphere" size=".1"/>
-      </body>
-      <geom type="box" size=".1 .1 .1" pos="-.05 0 .05"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // everything interpenetrates, nothing can move: no contacts
-  mj_forward(m.get(), d.get());
-  EXPECT_EQ(d->ncon, 0);
-}
-
-// a plane on a mocap body collides like a plane on a static body
-TEST_F(SleepTest, MocapPlane) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body mocap="true">
-        <geom type="plane" size="5 5 .1"/>
-      </body>
-      <body pos="0 0 .5">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // box falls onto the mocap plane and rests on it
-  while (d->time < 2) {
-    mj_step(m.get(), d.get());
-  }
-  EXPECT_GT(d->ncon, 0);
-  EXPECT_NEAR(d->qpos[2], 0.1, 1e-3);
-}
-
-// a tree welded by equality to a mocap body is woken when asleep
-TEST_F(SleepTest, MocapWeldEqualityWakes) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option>
-      <flag sleep="enable"/>
-    </option>
-    <worldbody>
-      <geom type="plane" size="5 5 .1"/>
-      <body name="target" mocap="true" pos="2 0 .5">
-        <geom type="sphere" size=".05" contype="0" conaffinity="0"/>
-      </body>
-      <body name="box" pos="0 0 .1">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1"/>
-      </body>
-    </worldbody>
-    <equality>
-      <weld name="grab" body1="target" body2="box" active="false"/>
-    </equality>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // equality inactive: box falls asleep on the floor
-  int steps = 0;
-  while (d->ntree_awake > 0 && steps++ < 10000) {
-    mj_step(m.get(), d.get());
-  }
-  ASSERT_EQ(d->ntree_awake, 0);
-
-  // activate the weld to the mocap body: box wakes
-  d->eq_active[mj_name2id(m.get(), mjOBJ_EQUALITY, "grab")] = 1;
-  mj_step(m.get(), d.get());
-  EXPECT_EQ(d->ntree_awake, 1);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_solver_test.cc b/test/engine/engine_solver_test.cc
deleted file mode 100644
index 3f1ee7f0..00000000
--- a/test/engine/engine_solver_test.cc
+++ /dev/null
@@ -1,680 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_solver.c
-
-#include <algorithm>
-#include <cstdlib>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::std::max;
-using ::testing::NotNull;
-
-using SolverTest = MujocoTest;
-
-static const char* const kModelPath = "engine/testdata/solver/model.xml";
-static const char* const kHumanoidPath = "engine/testdata/solver/humanoid.xml";
-
-// compare accelerations produced by CG solver with and without islands
-TEST_F(SolverTest, IslandsEquivalent) {
-  const std::string xml_path = GetTestDataFilePath(kModelPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  model->opt.solver = mjSOL_CG;                 // use CG solver
-  model->opt.jacobian = mjJAC_SPARSE;           // use sparse
-  model->opt.tolerance = 0;                     // set tolerance to 0
-  model->opt.ls_tolerance = 0;                  // set ls_tolerance to 0
-  model->opt.ccd_tolerance = 0;                 // set ccd_tolerance to 0
-  model->opt.disableflags |= mjDSBL_MULTICCD;   // disable multiccd
-
-  int nv = model->nv;
-
-  int state_size = mj_stateSize(model, mjSTATE_INTEGRATION);
-  mjtNum* state = (mjtNum*) mju_malloc(sizeof(mjtNum)*state_size);
-
-  mjData* data_island = mj_makeData(model);
-  mjData* data_noisland = mj_makeData(model);
-
-  constexpr int kNumTol = 3;
-  mjtNum maxiter[kNumTol] = {30,   40,   60};
-  // Below are 3 tolerances associated with 3 different iteration counts.
-  // Tolerances are set to be ~12x higher than failure thresholds.
-  // The point of this test is to show that CG convergence is actually not very
-  // precise, simply changing whether islands are used changes the solution by
-  // quite a lot, even at high iteration count and zero {ls_}tolerance.
-  // Increasing the iteration count higher than 60 does not improve convergence.
-  mjtNum rtol[kNumTol] = {
-      MjTol(1e-1, 1.2e-1),
-      MjTol(3e-2, 2e-2),
-      MjTol(1.3e-5, 2.8e-3)
-  };
-
-  for (int i = 0; i < kNumTol; ++i) {
-    model->opt.iterations = maxiter[i];
-    model->opt.ls_iterations = maxiter[i];
-
-    for (bool coldstart : {true, false}) {
-      mj_resetDataKeyframe(model, data_noisland, 0);
-
-      if (coldstart) {
-        model->opt.disableflags |= mjDSBL_WARMSTART;
-      } else {
-        model->opt.disableflags &= ~mjDSBL_WARMSTART;
-      }
-
-      mjtNum max_ratio = 0;
-      mjtNum worst_diff = 0;
-      mjtNum worst_scale = 1.0;
-      mjtNum worst_expected = 0;
-      mjtNum worst_actual = 0;
-      std::string worst_time = "";
-      int worst_dof = -1;
-
-      while (data_noisland->time < .1) {
-        mj_getState(model, data_noisland, state, mjSTATE_INTEGRATION);
-        mj_setState(model, data_island, state, mjSTATE_INTEGRATION);
-
-        model->opt.disableflags &= ~mjDSBL_ISLAND;  // enable islands
-        mj_forward(model, data_island);
-
-        model->opt.disableflags |= mjDSBL_ISLAND;  // disable islands
-        mj_forward(model, data_noisland);
-
-        for (int j = 0; j < nv; j++) {
-          mjtNum diff = std::abs(data_noisland->qacc[j] - data_island->qacc[j]);
-          mjtNum scale = 0.5 * max(static_cast<mjtNum>(2.0),
-                                   std::abs(data_noisland->qacc[j]) +
-                                       std::abs(data_island->qacc[j]));
-          mjtNum ratio = diff / scale;
-          if (ratio > max_ratio) {
-            max_ratio = ratio;
-            worst_diff = diff;
-            worst_scale = scale;
-            worst_expected = data_island->qacc[j];
-            worst_actual = data_noisland->qacc[j];
-            worst_time = std::to_string(data_noisland->time);
-            worst_dof = j;
-          }
-        }
-
-        mj_step(model, data_noisland);
-      }
-
-      // Assert once per condition with the worst offender.
-      // rtol[i] is already scaled by MjTolScale() at initialization.
-      mjtNum allowed_tol = worst_scale * rtol[i];
-      EXPECT_NEAR(worst_actual, worst_expected, allowed_tol)
-          << "Worst offender info:\n"
-          << "time: " << worst_time << '\n'
-          << "dof: " << worst_dof << '\n'
-          << "maxiter: " << maxiter[i] << '\n'
-          << "coldstart: " << coldstart << '\n'
-          << "rtol: " << worst_scale * rtol[i] << '\n'
-          << "actual diff: " << worst_diff << " (allowed: " << allowed_tol
-          << ")";
-    }
-  }
-
-  mj_deleteData(data_noisland);
-  mj_deleteData(data_island);
-  mju_free(state);
-  mj_deleteModel(model);
-}
-
-// compare accelerations produced by CG/Newton solver with and without islands
-TEST_F(SolverTest, IslandsEquivalentForward) {
-  const std::string xml_path = GetTestDataFilePath(kModelPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  int nv = model->nv;
-
-  // set tolerance to 0 so opt.iterations are always run
-  model->opt.tolerance = 0;
-
-  mjData* data_island = mj_makeData(model);
-  mjData* data_noisland = mj_makeData(model);
-
-  for (bool warmstart : {false, true}) {
-    for (mjtJacobian jacobian : {mjJAC_DENSE, mjJAC_SPARSE}) {
-      for (mjtSolver solver : {mjSOL_CG, mjSOL_NEWTON}) {
-        for (mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
-          if (warmstart) {
-            model->opt.disableflags &= ~mjDSBL_WARMSTART;
-          } else {
-            model->opt.disableflags |= mjDSBL_WARMSTART;
-          }
-          model->opt.jacobian = jacobian;
-          model->opt.solver = solver;
-          model->opt.cone = cone;
-
-          // disable islands, reset and step both datas to populate warmstart
-          model->opt.disableflags |= mjDSBL_ISLAND;
-          mj_resetDataKeyframe(model, data_island, 0);
-          mj_resetDataKeyframe(model, data_noisland, 0);
-          mj_step(model, data_island);
-          mj_step(model, data_noisland);
-
-          // forward with islands disabled
-          mj_forward(model, data_noisland);
-
-          // forward with islands enabled
-          model->opt.disableflags &= ~mjDSBL_ISLAND;   // enable islands
-          mj_forward(model, data_island);
-
-          mjtNum max_diff = 0;
-          mjtNum worst_expected = 0;
-          mjtNum worst_actual = 0;
-          int worst_idx = -1;
-          mjtNum scale = 0.5 * (mju_norm(data_noisland->qacc, nv) +
-                                mju_norm(data_island->qacc, nv));
-          mjtNum rtol = solver == mjSOL_CG ? MjTol(1e-8, 1e-4)
-                                           : MjTol(1e-13, 1e-3);
-          mjtNum worst_allowed = scale * rtol;
-
-          for (int j = 0; j < nv; j++) {
-            mjtNum diff =
-                std::abs(data_island->qacc[j] - data_noisland->qacc[j]);
-            if (diff > max_diff) {
-              max_diff = diff;
-              worst_expected = data_noisland->qacc[j];
-              worst_actual = data_island->qacc[j];
-              worst_idx = j;
-            }
-          }
-
-          EXPECT_NEAR(worst_actual, worst_expected, worst_allowed)
-              << "Worst offender in IslandsEquivalentForward:\n"
-              << "idx: " << worst_idx << '\n'
-              << "warmstart: " << warmstart << '\n'
-              << "jacobian: " << (jacobian ? "sparse" : "dense") << '\n'
-              << "solver: " << (solver == mjSOL_CG ? "CG" : "Newton") << '\n'
-              << "cone: " << (cone == 1 ? "elliptic" : "pyramidal") << '\n'
-              << "actual diff: " << max_diff << " (allowed: " << worst_allowed
-              << ")";
-        }
-      }
-    }
-  }
-
-  mj_deleteData(data_noisland);
-  mj_deleteData(data_island);
-  mj_deleteModel(model);
-}
-
-TEST_F(SolverTest, SolversEquivalent) {
-  struct SolverTolerances {
-    mjtNum newton;
-    mjtNum cg;
-    mjtNum pgs_pyramidal;
-    mjtNum pgs_elliptic;
-  };
-
-  // Relative tolerances: 10x above failure thresholds on Linux, clang, x86-64.
-  // MjTol(f64, f32) selects the appropriate tolerance for the current build.
-  const struct {
-    const char* path;
-    SolverTolerances tolerances;
-  } kConfigs[] = {
-      {.path = kModelPath,
-       .tolerances =
-           {
-               .newton        = MjTol(1e-13, 1e-5),
-               .cg            = MjTol(1e-13, 1e-5),
-               .pgs_pyramidal = MjTol(1e-13, 1e-5),
-               .pgs_elliptic  = MjTol(1e-3,  1e-3),
-           }},
-      {.path = kHumanoidPath,
-       .tolerances =
-           {
-               .newton        = MjTol(1e-13, 1e-5),
-               .cg            = MjTol(1e-12, 1e-5),
-               .pgs_pyramidal = MjTol(1e-12, 1e-5),
-               .pgs_elliptic  = MjTol(1e-8,  1e-4),
-           }},
-  };
-
-  for (const auto& config : kConfigs) {
-    const std::string xml_path = GetTestDataFilePath(config.path);
-    char error[1024];
-    mjModel* model =
-        mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-    ASSERT_THAT(model, NotNull()) << error;
-
-    model->opt.tolerance = 0;                     // set tolerance to 0
-    model->opt.iterations = 500;                  // set iterations to 500
-    model->opt.disableflags |= mjDSBL_WARMSTART;  // disable warmstart
-    int nv = model->nv;
-
-    mjData* data = mj_makeData(model);
-    mjData* data_truth = mj_makeData(model);
-
-    for (mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
-      model->opt.cone = cone;
-
-      // use Newton Dense as ground truth
-      model->opt.solver = mjSOL_NEWTON;
-      model->opt.jacobian = mjJAC_DENSE;
-      mj_resetDataKeyframe(model, data_truth, 0);
-      mj_forward(model, data_truth);
-
-      mjtNum scale = mju_norm(data_truth->qfrc_constraint, nv);
-
-      for (mjtSolver solver : {mjSOL_NEWTON, mjSOL_CG, mjSOL_PGS}) {
-        mjtNum rtol;
-        switch (solver) {
-          case mjSOL_NEWTON:
-            rtol = config.tolerances.newton;
-            break;
-          case mjSOL_CG:
-            rtol = config.tolerances.cg;
-            break;
-          case mjSOL_PGS:
-            rtol = cone == mjCONE_PYRAMIDAL ? config.tolerances.pgs_pyramidal
-                                            : config.tolerances.pgs_elliptic;
-            break;
-        }
-
-        mjtNum tolerance = scale * rtol;
-
-        for (mjtJacobian jacobian : {mjJAC_DENSE, mjJAC_SPARSE}) {
-          model->opt.solver = solver;
-          model->opt.jacobian = jacobian;
-
-          mj_resetDataKeyframe(model, data, 0);
-          mj_forward(model, data);
-
-          const char* cone_str =
-              (cone == mjCONE_PYRAMIDAL ? "pyramidal" : "elliptic");
-          const char* solver_str =
-              (solver == mjSOL_NEWTON ? "Newton"
-                                      : (solver == mjSOL_CG ? "CG" : "PGS"));
-          const char* jacobian_str =
-              (jacobian == mjJAC_DENSE ? "dense" : "sparse");
-
-          mjtNum max_diff = 0;
-          mjtNum worst_expected = 0;
-          mjtNum worst_actual = 0;
-          int worst_idx = -1;
-
-          for (int j = 0; j < nv; j++) {
-            mjtNum diff = std::abs(data->qfrc_constraint[j] -
-                                   data_truth->qfrc_constraint[j]);
-            if (diff > max_diff) {
-              max_diff = diff;
-              worst_expected = data_truth->qfrc_constraint[j];
-              worst_actual = data->qfrc_constraint[j];
-              worst_idx = j;
-            }
-          }
-
-          EXPECT_NEAR(worst_actual, worst_expected, tolerance)
-              << "Worst offender in SolversEquivalent:\n"
-              << "idx: " << worst_idx << '\n'
-              << "model: " << config.path << "\n"
-              << "cone: " << cone_str << "\n"
-              << "solver: " << solver_str << "\n"
-              << "jacobian: " << jacobian_str << "\n"
-              << "actual diff: " << max_diff << " (allowed: " << tolerance
-              << ")";
-        }
-      }
-    }
-
-    mj_deleteData(data_truth);
-    mj_deleteData(data);
-    mj_deleteModel(model);
-  }
-}
-
-TEST_F(SolverTest, EllipticLineSearchPrecisionDiagnostics) {
-  std::string xml = R"(
-  <mujoco>
-    <option cone="elliptic" solver="Newton"/>
-    <worldbody>
-      <geom name="floor" type="plane" size="10 10 1"/>
-      <body name="box" pos="0 0 0.499">
-        <joint type="free"/>
-        <geom type="box" size="0.5 0.5 0.5" mass="1" friction="0.5"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // Set gravity to 0
-  model->opt.gravity[0] = 0;
-  model->opt.gravity[1] = 0;
-  model->opt.gravity[2] = 0;
-
-  for (double fn : {1e2, 1e4, 1e6, 1e8}) {
-    mj_resetData(model.get(), data.get());
-
-    // Apply large downward force
-    data->qfrc_applied[2] = -fn;
-
-    // Apply large lateral force (dynamic friction limit is 0.5 * fn)
-    double ft = fn * 1.5;
-    data->qfrc_applied[0] = ft;
-
-    mj_forward(model.get(), data.get());
-
-    int niter = std::min(data->solver_niter[0], mjNSOLVER);
-    for (int i = 0; i < niter; ++i) {
-      const mjSolverStat& stat = data->solver[i];
-      EXPECT_GE(stat.improvement, -MjTol(1e-5, 100.0));
-    }
-  }
-}
-
-// Newton terminates early when the decrement predicts sub-tolerance improvement
-TEST_F(SolverTest, NewtonDecrementTermination) {
-  const std::string xml_path = GetTestDataFilePath(kHumanoidPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  model->opt.solver = mjSOL_NEWTON;
-  model->opt.disableflags |= mjDSBL_ISLAND;  // monolithic solve
-  model->opt.iterations = 100;
-  const mjtNum tolerance = MjTol(1e-6, 1e-4);
-
-  int state_size = mj_stateSize(model, mjSTATE_FULLPHYSICS);
-  mjtNum* state = (mjtNum*) mju_malloc(sizeof(mjtNum)*state_size);
-
-  mjData* data = mj_makeData(model);
-  mjData* data_test = mj_makeData(model);
-  mjData* data_deep = mj_makeData(model);
-  mj_resetDataKeyframe(model, data, 0);
-
-  int nfired = 0;
-  mjtNum max_leftover = 0;
-  for (int step = 0; step < 200; step++) {
-    model->opt.tolerance = tolerance;
-    mj_step(model, data);
-    mj_getState(model, data, state, mjSTATE_FULLPHYSICS);
-
-    // solve with the test tolerance
-    mj_setState(model, data_test, state, mjSTATE_FULLPHYSICS);
-    mj_forward(model, data_test);
-
-    // reference: tolerance 0 runs until the line search finds no improvement
-    model->opt.tolerance = 0;
-    mj_setState(model, data_deep, state, mjSTATE_FULLPHYSICS);
-    mj_forward(model, data_deep);
-
-    // accuracy: both runs produce identical iterates up to the test run's
-    // stopping point, so the cost improvement forgone by early termination is
-    // the sum of the deep run's remaining (scaled) improvements
-    int niter = data_test->solver_niter[0];
-    int niter_deep = std::min(data_deep->solver_niter[0], mjNSOLVER);
-    mjtNum leftover = 0;
-    for (int i = niter; i < niter_deep; i++) {
-      leftover += max(static_cast<mjtNum>(0), data_deep->solver[i].improvement);
-    }
-    max_leftover = max(max_leftover, leftover);
-
-    // count decrement terminations: the test run stopped while both existing
-    // criteria were above tolerance, and the deep run shows that the next
-    // iteration would have improved the cost by less than tolerance
-    if (niter > 0 && niter < std::min(model->opt.iterations, mjNSOLVER) &&
-        data_deep->solver_niter[0] > niter) {
-      const mjSolverStat& last = data_test->solver[niter - 1];
-      const mjSolverStat& next = data_deep->solver[niter];
-      if (last.improvement >= tolerance && last.gradient >= tolerance &&
-          next.improvement < tolerance) {
-        nfired++;
-      }
-    }
-  }
-
-  EXPECT_LT(max_leftover, 10*tolerance)
-      << "early termination forgoes more than a small multiple of tolerance";
-  EXPECT_GT(nfired, 0)
-      << "no state exercised the Newton decrement termination criterion";
-
-  mj_deleteData(data_deep);
-  mj_deleteData(data_test);
-  mj_deleteData(data);
-  mju_free(state);
-  mj_deleteModel(model);
-}
-
-// a settled, warmstarted scene certifies convergence and solves in zero iterations
-TEST_F(SolverTest, WarmstartZeroIterations) {
-  std::string xml = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="1 1 .1"/>
-      <body pos="0 0 0.1">
-        <freejoint/>
-        <geom type="box" size="0.1 0.1 0.1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  model->opt.disableflags |= mjDSBL_ISLAND;  // monolithic solve: stats in slot 0
-  model->opt.enableflags |= mjENBL_FWDINV;
-
-  int nv = model->nv;
-  int state_size = mj_stateSize(model.get(), mjSTATE_FULLPHYSICS);
-  std::vector<mjtNum> state(state_size);
-  std::vector<mjtNum> qacc(nv), qfrc(nv);
-
-  // float32 cannot resolve the default tolerance: use a resolvable one
-  const mjtNum tolerance = MjTol(1e-8, 1e-6);
-
-  for (mjtSolver solver : {mjSOL_CG, mjSOL_NEWTON}) {
-    for (mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
-      for (mjtJacobian jacobian : {mjJAC_DENSE, mjJAC_SPARSE}) {
-        std::string config = std::string(solver == mjSOL_CG ? "CG" : "Newton") +
-                             (cone == mjCONE_ELLIPTIC ? "/elliptic" : "/pyramidal") +
-                             (jacobian == mjJAC_SPARSE ? "/sparse" : "/dense");
-        model->opt.solver = solver;
-        model->opt.cone = cone;
-        model->opt.jacobian = jacobian;
-        model->opt.tolerance = tolerance;
-
-        // settle the box on the plane
-        mj_resetData(model.get(), data.get());
-        for (int i=0; i < 500; i++) {
-          mj_step(model.get(), data.get());
-        }
-        mj_getState(model.get(), data.get(), state.data(), mjSTATE_FULLPHYSICS);
-
-        // solve once more: certificate fires, forward/inverse stay consistent
-        mj_forward(model.get(), data.get());
-        EXPECT_EQ(data->solver_niter[0], 0) << config;
-
-        // thresholds here and below are ~10x above measured, per precision
-        EXPECT_LT(data->solver_fwdinv[0], MjTol(1e-12, 1e-4)) << config;
-        EXPECT_LT(data->solver_fwdinv[1], MjTol(1e-2, 2e-1)) << config;
-        mju_copy(qacc.data(), data->qacc, nv);
-        mju_copy(qfrc.data(), data->qfrc_constraint, nv);
-
-        // control arm: tolerance = 0 disables the certificate, full solve from
-        // the same state must agree with the skipped solve
-        model->opt.tolerance = 0;
-        mj_setState(model.get(), data.get(), state.data(), mjSTATE_FULLPHYSICS);
-        mj_forward(model.get(), data.get());
-        mjtNum dqacc = 0, dqfrc = 0;
-        for (int j=0; j < nv; j++) {
-          dqacc = max(dqacc, std::abs(qacc[j] - data->qacc[j]));
-          dqfrc = max(dqfrc, std::abs(qfrc[j] - data->qfrc_constraint[j]));
-        }
-        EXPECT_LT(dqacc, MjTol(2e-4, 1.5e-3)) << config;
-        EXPECT_LT(dqfrc, MjTol(2e-2, 4e-1)) << config;
-
-        // guard: a perturbed scene does not certify
-        model->opt.tolerance = tolerance;
-        mj_setState(model.get(), data.get(), state.data(), mjSTATE_FULLPHYSICS);
-        data->qfrc_applied[0] = 5;
-        mj_forward(model.get(), data.get());
-        EXPECT_GT(data->solver_niter[0], 0) << config;
-        data->qfrc_applied[0] = 0;
-      }
-    }
-  }
-}
-
-// per-island certificates: settled islands solve in zero iterations while
-// islands with new loads solve normally
-TEST_F(SolverTest, WarmstartZeroIterationsIslands) {
-  std::string xml = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="plane" size="2 2 .1"/>
-      <body pos="-0.5 0 0.1">
-        <freejoint/>
-        <geom type="box" size="0.1 0.1 0.1"/>
-      </body>
-      <body pos="0.5 0 0.1">
-        <freejoint/>
-        <geom type="box" size="0.1 0.1 0.1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // float32 cannot resolve the default tolerance: use a resolvable one
-  model->opt.tolerance = MjTol(1e-8, 1e-6);
-
-  // settle both boxes, islands enabled (default)
-  for (int i=0; i < 500; i++) {
-    mj_step(model.get(), data.get());
-  }
-
-  // both islands certify: zero iterations everywhere
-  mj_forward(model.get(), data.get());
-  ASSERT_EQ(data->nisland, 2);
-  EXPECT_EQ(data->solver_niter[0], 0);
-  EXPECT_EQ(data->solver_niter[1], 0);
-
-  // kick the second box: its island solves, the settled island still certifies
-  data->qfrc_applied[6] = 5;
-  mj_forward(model.get(), data.get());
-  ASSERT_EQ(data->nisland, 2);
-  int island1 = data->dof_island[0];
-  int island2 = data->dof_island[6];
-  ASSERT_GE(island1, 0);
-  ASSERT_GE(island2, 0);
-  ASSERT_NE(island1, island2);
-  EXPECT_EQ(data->solver_niter[island1], 0);
-  EXPECT_GT(data->solver_niter[island2], 0);
-}
-
-// tolerance == 0 disables early termination, including the Newton decrement
-TEST_F(SolverTest, ZeroToleranceDisablesTermination) {
-  const std::string xml_path = GetTestDataFilePath(kHumanoidPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  model->opt.solver = mjSOL_NEWTON;
-  model->opt.disableflags |= mjDSBL_ISLAND | mjDSBL_WARMSTART;
-  model->opt.tolerance = 0;
-  model->opt.iterations = 3;
-
-  mjData* data = mj_makeData(model);
-  for (mjtCone cone : {mjCONE_PYRAMIDAL, mjCONE_ELLIPTIC}) {
-    model->opt.cone = cone;
-    mj_resetDataKeyframe(model, data, 0);
-    mj_forward(model, data);
-    EXPECT_EQ(data->solver_niter[0], 3)
-        << "cone: " << (cone == mjCONE_ELLIPTIC ? "elliptic" : "pyramidal");
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// With condim 6 and the default friction (1, 0.005, 0.0001) the local
-// elliptic-cone Hessian spans the friction ratios squared, a condition number
-// around 1e9, which exhausts the single-precision mantissa. Newton factorizes
-// it per contact and folds the factor into the full Hessian with rank-1
-// updates, so a Cholesky that responds to a vanishing pivot by clamping the
-// diagonal and then dividing the rest of the column by it -- scaling that
-// column by 1/sqrt(mindiag) -- injects enormous coupling where there is no
-// curvature. This pose reached rank 4 of 6 one step before qacc went to NaN.
-TEST_F(SolverTest, EllipticConeHessianSurvivesFrictionRatios) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <geom condim="6"/>
-    </default>
-    <worldbody>
-      <geom name="floor" type="plane" size=".5 1 .01"/>
-      <body name="b1" pos="0 0 .4" euler="5 4 3">
-        <freejoint/>
-        <geom type="box" pos="0 0 .06" size=".15 .15 .03"/>
-        <geom type="box" pos="-.05 0 .005" size=".04 .04 .025" euler="1 1 1"/>
-        <geom size=".05" pos=".1 -.1 .04"/>
-      </body>
-      <body name="b2" pos="0 0 .2">
-        <joint type="ball" springdamper="0.1 1"/>
-        <geom type="box" size=".2 .2 .05"/>
-        <geom size=".05" pos=".1 .1 .05"/>
-        <geom type="box" size=".05 .05 .01" pos=".1 -.1 .06" euler="2 2 2"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  model->opt.cone = mjCONE_ELLIPTIC;
-  model->opt.solver = mjSOL_NEWTON;
-
-  // both factorizations reach the same pivot, at different steps
-  for (mjtJacobian jacobian : {mjJAC_DENSE, mjJAC_SPARSE}) {
-    model->opt.jacobian = jacobian;
-    MjDataPtr data = MakeData(model);
-
-    // bounded by step count, not by data->time: a divergence resets mjData and
-    // rewinds the clock, so a time-based loop would never terminate
-    for (int step = 0; step < 200; step++) {
-      mj_step(model.get(), data.get());
-      for (int i = 0; i < mjNWARNING; i++) {
-        ASSERT_EQ(data->warning[i].number, 0)
-            << "warning " << i << " at step " << step << ", jacobian "
-            << jacobian;
-      }
-    }
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_sort_test.cc b/test/engine/engine_sort_test.cc
deleted file mode 100644
index 3ed9c5fc..00000000
--- a/test/engine/engine_sort_test.cc
+++ /dev/null
@@ -1,177 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "src/engine/engine_sort.h"
-
-#include <algorithm>
-#include <array>
-#include <vector>
-#include <utility>
-
-#include <gtest/gtest.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using std::array;
-using std::vector;
-using EngineSortTest = MujocoTest;
-
-constexpr int kPermutationSize = 5;  // 5! = 120 checks
-
-constexpr int factorial() {
-  int n = 1;
-  for (int i = 1; i <= kPermutationSize; ++i) {
-    n *= i;
-  }
-  return n;
-}
-
-struct IntStruct {
-  int value;
-};
-
-// computes next permutation in lexicographical order in place
-// returns false if there is no next permutation
-bool NextPermutation(array<int, kPermutationSize>& arr) {
-  int j;
-  for (j = arr.size() - 2; j >= 0; --j) {
-    if (arr[j] < arr[j + 1]) {
-      break;
-    }
-  }
-
-  // last permutation i.e. [n, n - 1, ..., 3, 2, 1]
-  if (j < 0) {
-    return false;
-  }
-
-  for (int l = arr.size() - 1; l > -1; --l) {
-    if (arr[j] < arr[l]) {
-      std::swap(arr[j], arr[l]);
-      std::reverse(arr.begin() + j + 1, arr.end());
-      return true;
-    }
-  }
-  return true;
-}
-
-int IntCompare(int* i, int* j, void* context) {
-  if (*i < *j) {
-    return -1;
-  } else if (*i == *j) {
-    return 0;
-  } else {
-    return 1;
-  }
-}
-mjSORT(IntSort, int, IntCompare);
-mjPARTIAL_SORT(IntSelect, int, IntCompare);
-
-int IntStructCompare(const IntStruct* x, const IntStruct* y, void* context) {
-  IntStruct* a = (IntStruct*)x;
-  IntStruct* b = (IntStruct*)y;
-  if (a->value < b->value) {
-    return -1;
-  } else if (a->value == b->value) {
-    return 0;
-  } else {
-    return 1;
-  }
-}
-mjSORT(IntStructSort, IntStruct, IntStructCompare);
-mjPARTIAL_SORT(IntStructSelect, IntStruct, IntStructCompare);
-
-TEST_F(EngineSortTest, Sort) {
-  int total = 0;
-  array<int, kPermutationSize> initial, buf;
-  for (int i = 0; i < kPermutationSize; ++i) {
-    initial[i] = i + 1;
-  }
-  array<int, kPermutationSize> arr = initial;
-  do {
-    ++total;
-    array<int, kPermutationSize> sorted_arr = arr;
-    IntSort(sorted_arr.data(), buf.data(), sorted_arr.size(), nullptr);
-    EXPECT_EQ(sorted_arr, initial);
-  } while (NextPermutation(arr));
-  ASSERT_EQ(total, factorial());
-}
-
-TEST_F(EngineSortTest, LargeSort) {
-  array<int, 2500> arr, buf;
-  int n = 1;
-  for (int i = arr.size() - 1; i >= 0; --i) {
-    arr[i] = n++;
-  }
-  IntSort(arr.data(), buf.data(), arr.size(), nullptr);
-  for (int i = 0; i < arr.size(); ++i) {
-    EXPECT_EQ(arr[i], i + 1);
-  }
-}
-
-TEST_F(EngineSortTest, SortStruct) {
-  vector<IntStruct> y = {{1}, {3}, {2}};
-  vector<IntStruct> buf(3);
-  IntStructSort(y.data(), buf.data(), y.size(), nullptr);
-  EXPECT_EQ(y[0].value, 1);
-  EXPECT_EQ(y[1].value, 2);
-  EXPECT_EQ(y[2].value, 3);
-}
-
-TEST_F(EngineSortTest, Select) {
-  int total = 0;
-  array<int, kPermutationSize> initial, buf;
-  for (int i = 0; i < kPermutationSize; ++i) {
-    initial[i] = i + 1;
-  }
-  array<int, kPermutationSize> arr = initial;
-  do {
-    ++total;
-    for (int k = 1; k <= kPermutationSize; ++k) {
-      array<int, kPermutationSize> select_arr = arr;
-      IntSelect(select_arr.data(), buf.data(), select_arr.size(), k, nullptr);
-      for (int i = 0; i < k; ++i) {
-        EXPECT_EQ(select_arr[i], initial[i]);
-      }
-    }
-  } while (NextPermutation(arr));
-  ASSERT_EQ(total, factorial());
-}
-
-TEST_F(EngineSortTest, LargeSelect) {
-  array<int, 2500> arr;
-  array<int, 100> buf;
-  int n = 1;
-  for (int i = arr.size() - 1; i >= 0; --i) {
-    arr[i] = n++;
-  }
-  IntSelect(arr.data(), buf.data(), arr.size(), buf.size(), nullptr);
-  for (int i = 0; i < buf.size(); ++i) {
-    EXPECT_EQ(arr[i], i + 1);
-  }
-}
-
-TEST_F(EngineSortTest, SelectStruct) {
-  vector<IntStruct> y = {{1}, {3}, {2}};
-  vector<IntStruct> buf(3);
-  const int k = 2;
-  IntStructSelect(y.data(), buf.data(), y.size(), k, nullptr);
-  EXPECT_EQ(y[0].value, 1);
-  EXPECT_EQ(y[1].value, 2);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_support_test.cc b/test/engine/engine_support_test.cc
deleted file mode 100644
index c69d2074..00000000
--- a/test/engine/engine_support_test.cc
+++ /dev/null
@@ -1,992 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/{engine_support.c and engine_core_util.c}
-
-#include "src/engine/engine_support.h"
-
-#include <cstring>
-#include <random>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::std::vector;
-using ::testing::ContainsRegex;  // NOLINT
-using ::testing::Eq;
-using ::testing::MatchesRegex;
-using ::testing::Ne;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-
-using Name2idTest = MujocoTest;
-
-static constexpr char name2idTestingModel[] = R"(
-<mujoco>
-    <asset>
-      <texture name="texture1" type="2d" builtin="checker" rgb1="1 1 1"
-       rgb2="1 1 1" width="300" height="300" mark="none"/>
-      <material name="material1" texture="texture1" texrepeat="1 1"
-       texuniform="true" reflectance=".2"/>
-    </asset>
-
-    <asset>
-      <mesh name="mesh1" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-    </asset>
-
-  <worldbody>
-    <light name="light1" pos="0 0 1"/>
-    <site name="site1" pos="0 0 .3" size=".01"/>
-    <site name="site2" pos="-.1 -.1 -.1" size=".01"/>
-    <camera name="camera1" pos="0 -1.3 .5" xyaxes="1 0 0 0 1 2"/>
-    <body name="body1">
-      <joint axis="0 1 0" name="joint1"/>
-      <geom size="1" name="body1_geom1"/>
-      <geom size="1" name="body1_geom2"/>
-    </body>
-    <body name="body2">
-      <joint axis="0 1 0" name="joint2"/>
-      <geom size="1" name="body2_geom1"/>
-      <geom size="1" name="camera1"/>
-    </body>
-    <body name="">
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial name="tendon1" limited="true" range="0 0.35" width="0.003">
-      <site site="site1"/>
-      <site site="site2"/>
-    </spatial>
-  </tendon>
-
-  <actuator>
-    <motor name="actuator1" joint="joint1" gear="1"/>
-  </actuator>
-
-  <sensor>
-    <accelerometer name="sensor1" site="site1"/>
-  </sensor>
-</mujoco>
-)";
-
-TEST_F(Name2idTest, FindIds) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(name2idTestingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_BODY, "world"), 0);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_BODY, "body1"), 1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_BODY, "body2"), 2);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_GEOM, "body1_geom1"), 0);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_GEOM, "body1_geom2"), 1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_JOINT, "joint2"), 1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_MESH, "mesh1"), 0);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_LIGHT, "light1"), 0);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_CAMERA, "camera1"), 0);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_SITE, "site2"), 1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_MATERIAL, "material1"), 0);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_TEXTURE, "texture1"), 0);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_TENDON, "tendon1"), 0);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_ACTUATOR, "actuator1"), 0);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_SENSOR, "sensor1"), 0);
-}
-
-TEST_F(Name2idTest, MissingIds) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(name2idTestingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_BODY, "abody3"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_GEOM, "abody2_geom2"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_JOINT, "joint3"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_MESH, "amesh2"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_LIGHT, "alight2"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_CAMERA, "acamera2"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_SITE, "asite3"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_MATERIAL, "amaterial2"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_TEXTURE, "atexture2"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_TENDON, "atendon2"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_ACTUATOR, "aactuator2"), -1);
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_SENSOR, "asensor2"), -1);
-}
-
-TEST_F(Name2idTest, EmptyIds) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(name2idTestingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_BODY, ""), -1);
-}
-
-TEST_F(Name2idTest, Namespaces) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(name2idTestingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_THAT(mj_name2id(model.get(), mjOBJ_GEOM, "camera1"), 3);
-}
-
-using VersionTest = MujocoTest;
-
-TEST_F(VersionTest, MjVersion) { EXPECT_EQ(mj_version(), mjVERSION_HEADER); }
-
-TEST_F(VersionTest, MjVersionString) {
-#if GTEST_USES_SIMPLE_RE == 1
-  auto regex_matcher = ContainsRegex("^\\d+\\.\\d+\\.\\d+");
-#else
-  auto regex_matcher = MatchesRegex("^[0-9]+\\.[0-9]+\\.[0-9]+(-[0-9a-z]+)?$");
-#endif
-  EXPECT_THAT(std::string(mj_versionString()), regex_matcher);
-}
-
-using SupportTest = MujocoTest;
-
-// utility: generate two random quaternions with a given angle difference
-void randomQuatPair(mjtNum qa[4], mjtNum qb[4], mjtNum angle, int seed) {
-  // make distribution using seed
-  std::mt19937_64 rng;
-  rng.seed(seed);
-  std::normal_distribution<double> dist(0, 1);
-
-  // sample qa = qb
-  for (int i = 0; i < 4; i++) {
-    qa[i] = qb[i] = dist(rng);
-  }
-  mju_normalize4(qa);
-  mju_normalize4(qb);
-
-  // integrate qb in random direction by angle
-  mjtNum dir[3];
-  for (int i = 0; i < 3; i++) {
-    dir[i] = dist(rng);
-  }
-  mju_normalize3(dir);
-  mju_quatIntegrate(qb, dir, angle);
-}
-
-static constexpr char ballJointModel[] = R"(
-<mujoco>
-  <worldbody>
-    <body>
-      <joint type="ball"/>
-      <geom size="1"/>
-    </body>
-  </worldbody>
-</mujoco>
-)";
-
-TEST_F(SupportTest, DifferentiatePosSubQuat) {
-  const mjtNum eps = 1e-12;  // epsilon for float comparison
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(ballJointModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  int seed = 1;
-  for (mjtNum angle : {0.0, 1e-5, 1e-2}) {
-    for (mjtNum dt : {1e-6, 1e-3, 1e-1}) {
-      // random quaternion pair with given angle difference
-      mjtNum qpos1[4], qpos2[4];
-      randomQuatPair(qpos1, qpos2, angle, seed++);
-
-      // get velocity given timestep
-      mjtNum qvel[3];
-      mj_differentiatePos(model.get(), qvel, dt, qpos1, qpos2);
-
-      // equivalent computation
-      mjtNum qneg[4], qdif[4], qvel_expect[3];
-      mju_negQuat(qneg, qpos1);
-      mju_mulQuat(qdif, qneg, qpos2);
-      mju_quat2Vel(qvel_expect, qdif, dt);
-
-      // expect numerical equality
-      EXPECT_THAT(AsVector(qvel, 3), Pointwise(MjNear(eps, 1e-3), qvel_expect));
-    }
-  }
-}
-
-static const char* const kDefaultModel = "testdata/model.xml";
-
-using StateTest = MujocoTest;
-
-TEST_F(StateTest, GetSetStateStepEqual) {
-  const std::string xml_path = GetTestDataFilePath(kDefaultModel);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  // make distribution using seed
-  std::mt19937_64 rng;
-  rng.seed(3);
-  std::normal_distribution<double> dist(0, .01);
-
-  // set controls and applied joint forces to random values
-  for (int i = 0; i < model->nu; i++) data->ctrl[i] = dist(rng);
-  for (int i = 0; i < model->nv; i++) data->qfrc_applied[i] = dist(rng);
-  for (int i = 0; i < model->neq; i++) data->eq_active[i] = dist(rng) > 0;
-
-  // take one step
-  mj_step(model, data);
-
-  int signature = mjSTATE_INTEGRATION;
-  int size = mj_stateSize(model, signature);
-
-  // save the initial state and step
-  vector<mjtNum> state0a(size);
-  mj_getState(model, data, state0a.data(), signature);
-
-  // get the initial state, expect equality
-  vector<mjtNum> state0b(size);
-  mj_getState(model, data, state0b.data(), signature);
-  EXPECT_EQ(state0a, state0b);
-
-  // take one step
-  mj_step(model, data);
-
-  // save the resulting state
-  vector<mjtNum> state1a(size);
-  mj_getState(model, data, state1a.data(), signature);
-
-  // expect the state to be different after stepping
-  EXPECT_THAT(state0a, testing::Ne(state1a));
-
-  // reset to the saved state, step again, get the resulting state
-  mj_setState(model, data, state0a.data(), signature);
-  mj_step(model, data);
-  vector<mjtNum> state1b(size);
-  mj_getState(model, data, state1b.data(), signature);
-
-  // expect the state to be the same after re-stepping
-  EXPECT_EQ(state1a, state1b);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(StateTest, GetSetStateDelay) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="slide" delay="0.05" nsample="5"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // verify history buffer exists: nhistory = 2 + 2*5 = 12
-  EXPECT_EQ(model->nhistory, 12);  // [user, cursor, times(5), values(5)]
-
-  // state size should include history buffer
-  int size = mj_stateSize(model.get(), mjSTATE_HISTORY);
-  EXPECT_EQ(size, model->nhistory);
-
-  // step to populate history buffer
-  data->ctrl[0] = 1.0;
-  mj_step(model.get(), data.get());
-  data->ctrl[0] = 2.0;
-  mj_step(model.get(), data.get());
-
-  // get history state
-  vector<mjtNum> history_state(size);
-  mj_getState(model.get(), data.get(), history_state.data(), mjSTATE_HISTORY);
-
-  // modify the history buffer manually (value at index 7 = 2+5 = after times)
-  data->history[7] = 99.0;  // first value
-
-  // set history state back - should restore original
-  mj_setState(model.get(), data.get(), history_state.data(), mjSTATE_HISTORY);
-
-  // verify restoration
-  EXPECT_NE(data->history[7], 99.0);
-}
-
-TEST_F(StateTest, CopyState) {
-  const std::string xml_path = GetTestDataFilePath(kDefaultModel);
-  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-
-  mjData* src = mj_makeData(m);
-  mjData* dst = mj_makeData(m);
-
-  // init both datas to default
-  mj_resetData(m, src);
-  mj_resetData(m, dst);
-
-  // modify d_src
-  src->time = 1.23;
-  for (int i = 0; i < m->nq; ++i) src->qpos[i] = i * 0.1;
-  for (int i = 0; i < m->nv; ++i) src->qvel[i] = i * 0.2;
-  for (int i = 0; i < m->na; ++i) src->act[i] = i * 0.3;
-  for (int i = 0; i < m->nu; ++i) src->ctrl[i] = i * 0.4;
-  for (int i = 0; i < m->nhistory; ++i) src->history[i] = i * 0.5;
-
-  for (int i = 0; i < m->neq; ++i) src->eq_active[i] = 1 - m->eq_active0[i];
-
-  // check that states differ
-  EXPECT_NE(src->time, dst->time);
-  EXPECT_THAT(AsVector(src->qpos, m->nq), Ne(AsVector(dst->qpos, m->nq)));
-  EXPECT_THAT(AsVector(src->ctrl, m->nu), Ne(AsVector(dst->ctrl, m->nu)));
-
-  // copy state with signature
-  int signature = mjSTATE_FULLPHYSICS | mjSTATE_EQ_ACTIVE;
-  mj_copyState(m, src, dst, signature);
-
-  // check copied components
-  EXPECT_EQ(dst->time, src->time);
-  EXPECT_EQ(AsVector(dst->qpos, m->nq), AsVector(src->qpos, m->nq));
-  EXPECT_EQ(AsVector(dst->qvel, m->nv), AsVector(src->qvel, m->nv));
-  EXPECT_EQ(AsVector(dst->act, m->na), AsVector(src->act, m->na));
-  EXPECT_EQ(AsVector(dst->history, m->nhistory),
-            AsVector(src->history, m->nhistory));
-  EXPECT_EQ(AsVector(dst->eq_active, m->neq), AsVector(src->eq_active, m->neq));
-
-  // check non-copied components (CTRL not in signature)
-  EXPECT_THAT(AsVector(dst->ctrl, m->nu), Ne(AsVector(src->ctrl, m->nu)));
-  EXPECT_EQ(AsVector(dst->ctrl, m->nu), vector<mjtNum>(m->nu, 0.0));
-
-  mj_deleteData(src);
-  mj_deleteData(dst);
-  mj_deleteModel(m);
-}
-
-TEST_F(StateTest, ExtractState) {
-  const std::string xml_path = GetTestDataFilePath(kDefaultModel);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-
-  // make distribution using seed
-  std::mt19937_64 rng;
-  rng.seed(3);
-  std::normal_distribution<double> dist(0, .01);
-
-  // set controls and applied joint forces to random values
-  for (int i = 0; i < model->nu; i++) data->ctrl[i] = dist(rng);
-  for (int i = 0; i < model->nv; i++) data->qfrc_applied[i] = dist(rng);
-  for (int i = 0; i < model->neq; i++) data->eq_active[i] = dist(rng) > 0;
-
-  // take one step
-  mj_step(model, data);
-
-  // take a state that will be used as src
-  int srcsig = mjSTATE_TIME | mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_CTRL |
-               mjSTATE_HISTORY;
-  int srcsize = mj_stateSize(model, srcsig);
-  vector<mjtNum> srcstate(srcsize);
-  mj_getState(model, data, srcstate.data(), srcsig);
-
-  // extract a subset consisting of only a single bit in srcsig
-  int dstsig1 = mjSTATE_CTRL;
-  int dstsize1 = mj_stateSize(model, dstsig1);
-  EXPECT_LT(dstsize1, srcsize);
-  EXPECT_EQ(dstsize1, model->nu);
-  vector<mjtNum> dststate1(dstsize1);
-  mj_extractState(model, srcstate.data(), srcsig, dststate1.data(), dstsig1);
-  EXPECT_EQ(dststate1, AsVector(data->ctrl, model->nu));
-
-  // extract a subset consisting of multiple non-consecutive bits in srcsig
-  int dstsig2 = mjSTATE_QPOS | mjSTATE_CTRL;
-  int dstsize2 = mj_stateSize(model, dstsig2);
-  EXPECT_LT(dstsize2, srcsize);
-  EXPECT_EQ(dstsize2, model->nq + model->nu);
-  vector<mjtNum> dststate2(dstsize2);
-  mj_extractState(model, srcstate.data(), srcsig, dststate2.data(), dstsig2);
-  EXPECT_EQ(AsVector(dststate2.data(), model->nq),
-            AsVector(data->qpos, model->nq));
-  EXPECT_EQ(AsVector(dststate2.data() + model->nq, model->nu),
-            AsVector(data->ctrl, model->nu));
-
-  // extract history state
-  int dstsig3 = mjSTATE_HISTORY;
-  int dstsize3 = mj_stateSize(model, dstsig3);
-  EXPECT_EQ(dstsize3, model->nhistory);
-  vector<mjtNum> dststate3(dstsize3);
-  mj_extractState(model, srcstate.data(), srcsig, dststate3.data(), dstsig3);
-  EXPECT_EQ(dststate3, AsVector(data->history, model->nhistory));
-
-  // test that an error is correctly raised if dstsig is not a subset of srcsig
-  static int error_count;
-  static char last_error_msg[128];
-  error_count = 0;
-  last_error_msg[0] = '\0';
-  auto* error_handler = +[](const char* msg) {
-    std::strncpy(last_error_msg, msg, sizeof(last_error_msg));
-    ++error_count;
-  };
-
-  auto* old_mju_user_error = mju_user_error;
-  mju_user_error = error_handler;
-
-  mj_extractState(model, nullptr, srcsig, nullptr, mjSTATE_QFRC_APPLIED);
-  EXPECT_EQ(error_count, 1);
-  EXPECT_EQ(std::string_view(last_error_msg),
-            "mj_extractState: dstsig is not a subset of srcsig");
-
-  mj_extractState(model, nullptr, -1, nullptr, mjSTATE_QFRC_APPLIED);
-  EXPECT_EQ(error_count, 2);
-  EXPECT_EQ(std::string_view(last_error_msg),
-            "mj_extractState: invalid srcsig -1 < 0");
-
-  mju_user_error = old_mju_user_error;
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-using InertiaTest = MujocoTest;
-
-static const char* const kInertiaPath = "engine/testdata/inertia.xml";
-
-TEST_F(InertiaTest, AddMdenseSameAsSparse) {
-  const std::string xml_path = GetTestDataFilePath(kInertiaPath);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-  int nv = m->nv;
-
-  mjData* d = mj_makeData(m);
-
-  mj_step(m, d);
-
-  // dense matrix, all values are 3.0
-  vector<mjtNum> dst_dense(nv * nv, 3.0);
-
-  // sparse matrix, all values are 3.0
-  vector<mjtNum> dst_sparse(nv * nv, 3.0);
-  vector<int> rownnz(nv, nv);
-  vector<int> rowadr(nv, 0);
-  vector<int> colind(nv * nv, 0);
-
-  // set sparse structure
-  for (int i = 0; i < nv; i++) {
-    rowadr[i] = i * nv;
-    for (int j = 0; j < nv; j++) {
-      colind[rowadr[i] + j] = j;
-    }
-  }
-
-  // sparse addM
-  mj_addM(m, d, dst_sparse.data(), rownnz.data(), rowadr.data(), colind.data());
-
-  // dense addM
-  mj_addM(m, d, dst_dense.data(), nullptr, nullptr, nullptr);
-
-  // dense comparison (lower triangle)
-  for (int i = 0; i < nv; i++) {
-    for (int j = 0; j < nv; j++) {
-      EXPECT_EQ(dst_dense[i * nv + j], dst_sparse[i * nv + j]);
-    }
-  }
-
-  // clean up
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(InertiaTest, mulM) {
-  const std::string xml_path = GetTestDataFilePath(kInertiaPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error;
-  int nv = model->nv;
-
-  mjData* data = mj_makeData(model);
-  mj_forward(model, data);
-
-  // dense M matrix
-  vector<mjtNum> Mdense(nv * nv);
-  mju_sym2dense(Mdense.data(), data->M, nv, model->M_rownnz, model->M_rowadr,
-                model->M_colind);
-
-  // arbitrary RHS vector
-  vector<mjtNum> vec(nv);
-  for (int i = 0; i < nv; i++) vec[i] = vec[i] = 20 + 30 * i;
-
-  // multiply directly
-  vector<mjtNum> res1(nv, 0);
-  mju_mulMatVec(res1.data(), Mdense.data(), vec.data(), nv, nv);
-
-  // multiply with mj_mulM
-  vector<mjtNum> res2(nv, 0);
-  mj_mulM(model, data, res2.data(), vec.data());
-
-  // expect vectors to match to floating point precision
-  EXPECT_THAT(res1, Pointwise(MjNear(1e-10, 0.1), res2));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(InertiaTest, mulM2) {
-  const std::string xml_path = GetTestDataFilePath(kInertiaPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error;
-  int nv = model->nv;
-
-  mjData* data = mj_makeData(model);
-  mj_forward(model, data);
-
-  // arbitrary RHS vector
-  vector<mjtNum> vec(nv);
-  for (int i = 0; i < nv; i++) vec[i] = .2 + .3 * i;
-
-  // multiply sqrtMvec = M^1/2 * vec
-  vector<mjtNum> sqrtMvec(nv);
-  mj_mulM2(model, data, sqrtMvec.data(), vec.data());
-
-  // multiply Mvec = M * vec
-  vector<mjtNum> Mvec(nv);
-  mj_mulM(model, data, Mvec.data(), vec.data());
-
-  // compute vec' * M * vec in two different ways, expect them to match
-  mjtNum sqrtMvec2 = mju_dot(sqrtMvec.data(), sqrtMvec.data(), nv);
-  mjtNum vecMvec = mju_dot(vec.data(), Mvec.data(), nv);
-  EXPECT_MJTNUM_EQ(sqrtMvec2, vecMvec);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(InertiaTest, FullM) {
-  const std::string xml_path = GetTestDataFilePath(kInertiaPath);
-  char error[1024];
-  mjModel* m = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(m, NotNull()) << "Failed to load model: " << error;
-  int nv = m->nv;
-
-  // forward dynamics, populate M and qLD
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-
-  // get dense mass matrix from M using mj_fullM
-  vector<mjtNum> M(nv * nv);
-  mj_fullM(m, d, M.data());
-
-  // get dense mass matrix from M using mju_sparse2dense
-  vector<mjtNum> M_CSR(nv * nv);
-  mju_sparse2dense(M_CSR.data(), d->M, nv, nv, m->M_rownnz, m->M_rowadr,
-                   m->M_colind);
-
-  // expect lower triangles to match exactly
-  for (int i = 0; i < nv; ++i) {
-    for (int j = 0; j <= i; ++j) {
-      EXPECT_EQ(M[i * nv + j], M_CSR[i * nv + j]);
-    }
-  }
-
-  // get dense LTDL factor (D on the diagonal)
-  vector<mjtNum> LD(nv * nv);
-  mju_sparse2dense(LD.data(), d->qLD, nv, nv, m->M_rownnz, m->M_rowadr,
-                   m->M_colind);
-
-  // extract L and D from LD
-  vector<mjtNum> L = LD;
-  vector<mjtNum> D(nv * nv, 0.0);
-  for (int i = 0; i < nv; i++) {
-    D[i * nv + i] = LD[i * nv + i];
-    L[i * nv + i] = 1.0;
-  }
-
-  // compute DL = D * L
-  vector<mjtNum> DL(nv * nv, 0.0);
-  mju_mulMatMat(DL.data(), D.data(), L.data(), nv, nv, nv);
-
-  // compute the triple product P = L^T * D * L
-  vector<mjtNum> P(nv * nv, 0.0);
-  mju_mulMatTMat(P.data(), L.data(), DL.data(), nv, nv, nv);
-
-  // expect M and P to match to high precision
-  EXPECT_THAT(M, Pointwise(MjNear(1e-10, 1e-4), P));
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-static constexpr char GeomDistanceTestingModel1[] = R"(
-<mujoco>
-  <option>
-    <flag nativeccd="enable"/>
-  </option>
-  <asset>
-    <mesh name="box" scale=".1 .1 .1" vertex="0 0 0  1 0 0  0 1 0  1 1 0
-                                              0 0 1  1 0 1  0 1 1  1 1 1"/>
-  </asset>
-
-  <worldbody>
-    <geom type="plane" size="1 1 1"/>
-    <geom pos="0 0 1" size="0.2"/>
-    <geom pos="1 0 1" size="0.3"/>
-    <geom type="mesh" mesh="box"/>
-  </worldbody>
-</mujoco>
-)";
-
-static constexpr char GeomDistanceTestingModel2[] = R"(
-<mujoco>
-  <worldbody>
-    <geom type="sphere" size=".1"/>
-    <geom type="ellipsoid" size=".1 .1 .1" pos="0 0 1"/>
-  </worldbody>
-</mujoco>
-)";
-
-TEST_F(SupportTest, GeomDistance) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(GeomDistanceTestingModel1, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-
-  // plane-sphere, distmax too small
-  mjtNum distmax = 0.5;
-  EXPECT_EQ(mj_geomDistance(model.get(), data.get(), 0, 1, distmax, nullptr),
-            0.5);
-  mjtNum fromto[6];
-  EXPECT_EQ(mj_geomDistance(model.get(), data.get(), 0, 1, distmax, fromto),
-            0.5);
-  EXPECT_THAT(fromto, Pointwise(Eq(), vector<mjtNum>{0, 0, 0, 0, 0, 0}));
-
-  // plane-sphere
-  distmax = 1.0;
-  EXPECT_THAT(mj_geomDistance(model.get(), data.get(), 0, 1, 1.0, fromto),
-              MjNear(0.8, 1e-12, 1e-5));
-  mjtNum eps = 1e-12;
-  EXPECT_THAT(fromto,
-              Pointwise(MjNear(eps, 1e-5), vector<mjtNum>{0, 0, 0, 0, 0, 0.8}));
-
-  // sphere-plane
-  EXPECT_THAT(mj_geomDistance(model.get(), data.get(), 1, 0, 1.0, fromto),
-              MjNear(0.8, 1e-12, 1e-5));
-  EXPECT_THAT(fromto,
-              Pointwise(MjNear(eps, 1e-5), vector<mjtNum>{0, 0, 0.8, 0, 0, 0}));
-
-  // sphere-sphere
-  EXPECT_THAT(mj_geomDistance(model.get(), data.get(), 1, 2, 1.0, fromto),
-              MjNear(0.5, 1e-12, 1e-5));
-  EXPECT_THAT(fromto,
-              Pointwise(MjNear(eps, 1e-5), vector<mjtNum>{.2, 0, 1, .7, 0, 1}));
-
-  // sphere-sphere, flipped order
-  EXPECT_THAT(mj_geomDistance(model.get(), data.get(), 2, 1, 1.0, fromto),
-              MjNear(0.5, 1e-12, 1e-5));
-  EXPECT_THAT(fromto,
-              Pointwise(MjNear(eps, 1e-5), vector<mjtNum>{.7, 0, 1, .2, 0, 1}));
-
-  // mesh-sphere (close distmax)
-  distmax = 0.701;
-  eps = model->opt.ccd_tolerance;
-  EXPECT_THAT(mj_geomDistance(model.get(), data.get(), 3, 1, distmax, fromto),
-              MjNear(0.7, eps, eps * 100));
-  EXPECT_THAT(fromto, Pointwise(MjNear(eps, eps * 100),
-                                vector<mjtNum>{0, 0, .1, 0, 0, .8}));
-
-  // mesh-sphere (far distmax)
-  distmax = 1.0;
-  EXPECT_THAT(mj_geomDistance(model.get(), data.get(), 3, 1, distmax, fromto),
-              MjNear(0.7, eps, eps * 100));
-  EXPECT_THAT(fromto, Pointwise(MjNear(eps, eps * 100),
-                                vector<mjtNum>{0, 0, .1, 0, 0, .8}));
-}
-
-TEST_F(SupportTest, GeomDistanceFromToFlipped) {
-  mjtNum distmax = 10.0;
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(GeomDistanceTestingModel2, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-
-  mjtNum fromto01[6];
-  mjtNum fromto10[6];
-
-  for (int flag : {0, (int)mjDSBL_NATIVECCD}) {
-    model->opt.disableflags = flag;
-    mj_geomDistance(model.get(), data.get(), 0, 1, distmax, fromto01);
-    mj_geomDistance(model.get(), data.get(), 1, 0, distmax, fromto10);
-    mjtNum fromto10flipped[6] = {fromto10[3], fromto10[4], fromto10[5],
-                                 fromto10[0], fromto10[1], fromto10[2]};
-
-    EXPECT_THAT(AsVector(fromto10flipped, 6),
-                Pointwise(MjNear(1.0e-12, 1e-5), fromto01));
-  }
-}
-
-static constexpr char kSetKeyframeTestingModel[] = R"(
-<mujoco>
-  <size nkey="2"/>
-
-  <worldbody>
-    <body>
-      <joint name="joint" axis="0 1 0"/>
-      <geom size=".1" pos="1 0 0"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <intvelocity joint="joint" actrange="-1 1" kp="100" dampratio="1"/>
-  </actuator>
-</mujoco>
-)";
-
-TEST_F(SupportTest, SetKeyframe) {
-  char error[1024];
-  MjModelPtr model =
-      LoadModelFromString(kSetKeyframeTestingModel, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  data->ctrl[0] = 1;
-  while (data->time < 1) {
-    mj_step(model.get(), data.get());
-  }
-
-  mj_setKeyframe(model.get(), data.get(), 1);
-  EXPECT_EQ(data->time, model->key_time[1]);
-  EXPECT_EQ(data->ctrl[0], model->key_ctrl[model->nu * 1]);
-  EXPECT_EQ(data->qpos[0], model->key_qpos[model->nq * 1]);
-  EXPECT_EQ(data->qvel[0], model->key_qvel[model->nv * 1]);
-  EXPECT_EQ(data->act[0], model->key_act[model->na * 1]);
-
-  mj_step(model.get(), data.get());
-  mj_setKeyframe(model.get(), data.get(), 0);
-  EXPECT_EQ(data->time, model->key_time[0]);
-  EXPECT_EQ(data->ctrl[0], model->key_ctrl[model->nu * 0]);
-  EXPECT_EQ(data->qpos[0], model->key_qpos[model->nq * 0]);
-  EXPECT_EQ(data->qvel[0], model->key_qvel[model->nv * 0]);
-  EXPECT_EQ(data->act[0], model->key_act[model->na * 0]);
-}
-
-TEST_F(SupportTest, ContactSensorDim) {
-  int dataSpec = 1 << mjCONDATA_FOUND | 1 << mjCONDATA_FORCE |
-                 1 << mjCONDATA_DIST | 1 << mjCONDATA_POS |
-                 1 << mjCONDATA_TANGENT;
-
-  EXPECT_EQ(mju_condataSize(dataSpec), 1 + 3 + 1 + 3 + 3);
-}
-
-// ------------------------------ ctrl delays --------------------------------
-
-TEST_F(SupportTest, ReadCtrlNoDelay) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="slide"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  MjDataPtr data = MakeData(model);
-
-  // no delay: should return current ctrl value
-  data->ctrl[0] = 42.0;
-  EXPECT_EQ(mj_readCtrl(model.get(), data.get(), 0, data->time, /*order=*/0),
-            42.0);
-}
-
-TEST_F(SupportTest, ReadCtrlWithDelay) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="slide" delay="0.03" nsample="3"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // model should have delay configured
-  // delay = 0.03 seconds, timestep = 0.01, so ndelay = ceil(0.03/0.01) = 3
-  EXPECT_EQ(model->actuator_history[0], 3);
-  EXPECT_NEAR(model->actuator_delay[0], 0.03, 1e-7);
-  EXPECT_GE(model->actuator_historyadr[0], 0);
-
-  // initially, buffer should be filled with constant value (from init)
-  // reading at current time should return the init value
-  mjtNum val = mj_readCtrl(model.get(), data.get(), 0, data->time, /*order=*/0);
-  EXPECT_EQ(val, data->ctrl[0]);
-}
-
-TEST_F(SupportTest, InitCtrlDelay) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="slide" delay="0.02" nsample="3"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // verify nhistory
-  EXPECT_EQ(model->actuator_history[0], 3);
-
-  // initialize with custom times and values
-  // buffer stores: time 0.0 -> value 1.0, time 0.01 -> value 2.0, time 0.02 ->
-  // value 3.0
-  mjtNum times[3] = {0.0, 0.01, 0.02};
-  mjtNum values[3] = {1.0, 2.0, 3.0};
-  mj_initCtrlHistory(model.get(), data.get(), 0, times, values);
-
-  // mj_readCtrl now auto-subtracts delay: lookup_time = time - delay
-  // delay = 0.02, so:
-  //   time=0.04 -> lookup at 0.02 -> value 3.0
-  //   time=0.03 -> lookup at 0.01 -> value 2.0
-  //   time=0.02 -> lookup at 0.00 -> value 1.0
-  mjtNum val = mj_readCtrl(model.get(), data.get(), 0, 0.04, /*order=*/0);
-  EXPECT_EQ(val, 3.0);
-
-  val = mj_readCtrl(model.get(), data.get(), 0, 0.03, /*order=*/0);
-  EXPECT_EQ(val, 2.0);
-
-  val = mj_readCtrl(model.get(), data.get(), 0, 0.02, /*order=*/0);
-  EXPECT_EQ(val, 1.0);
-}
-
-TEST_F(SupportTest, InitCtrlDelayNullTimes) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="slide" delay="0.02" nsample="3"/>
-    </actuator>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // get existing times from buffer
-  int adr = model->actuator_historyadr[0];
-  mjtNum* buf = data->history + adr;
-  mjtNum existing_times[3] = {buf[2], buf[3], buf[4]};
-
-  // initialize with NULL times (use existing) and new values
-  mjtNum values[3] = {10.0, 20.0, 30.0};
-  mj_initCtrlHistory(model.get(), data.get(), 0, nullptr, values);
-
-  // verify times are unchanged
-  EXPECT_EQ(buf[2], existing_times[0]);
-  EXPECT_EQ(buf[3], existing_times[1]);
-  EXPECT_EQ(buf[4], existing_times[2]);
-
-  // verify values are updated
-  EXPECT_EQ(buf[5], 10.0);
-  EXPECT_EQ(buf[6], 20.0);
-  EXPECT_EQ(buf[7], 30.0);
-}
-
-TEST_F(SupportTest, InitSensorDelay) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="slide" delay="0.02" nsample="3"/>
-    </sensor>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // verify nsample for sensor
-  EXPECT_EQ(model->sensor_history[0], 3);
-
-  // initialize with custom times and values, phase=0
-  // buffer stores: time 0.0 -> value 0.5, time 0.01 -> value 0.6, time 0.02 ->
-  // value 0.7
-  mjtNum times[3] = {0.0, 0.01, 0.02};
-  mjtNum values[3] = {0.5, 0.6, 0.7};
-  mj_initSensorHistory(model.get(), data.get(), 0, times, values,
-                       /*phase=*/0.0);
-
-  // mj_readSensor now auto-subtracts delay: lookup_time = time - delay
-  // delay = 0.02, so:
-  //   time=0.04 -> lookup at 0.02 -> value 0.7
-  //   time=0.03 -> lookup at 0.01 -> value 0.6
-  mjtNum result = 0;
-  const mjtNum* ptr =
-      mj_readSensor(model.get(), data.get(), 0, 0.04, &result, /*order=*/0);
-  mjtNum val = ptr ? *ptr : result;
-  EXPECT_NEAR(val, 0.7, 1e-6);
-
-  ptr = mj_readSensor(model.get(), data.get(), 0, 0.03, &result, /*order=*/0);
-  val = ptr ? *ptr : result;
-  EXPECT_NEAR(val, 0.6, 1e-6);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_thread_test.cc b/test/engine/engine_thread_test.cc
deleted file mode 100644
index 384f8ede..00000000
--- a/test/engine/engine_thread_test.cc
+++ /dev/null
@@ -1,140 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_island.c.
-
-#include <array>
-#include <cstring>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjxmacro.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_thread.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ThreadTest = MujocoTest;
-
-TEST_F(ThreadTest, SingleAndMultiThreadedMatch) {
-  auto model_path = GetModelPath("humanoid/22_humanoids.xml");
-  std::array<char, 1024> error;
-  mjModel* model =
-      mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
-  model->opt.solver = mjSOL_CG;             // use CG solver
-
-  mjModel* model_threaded =
-      mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
-  model_threaded->opt.solver = mjSOL_CG;             // use CG solver
-
-  mjData* data = mj_makeData(model);
-  mjData* data_threaded = mj_makeData(model_threaded);
-
-  // warm-up rollout to get a steady state
-  static constexpr int kNumWarmupSteps = 100;
-  for (int i = 0; i < kNumWarmupSteps; i++) {
-    mj_step(model, data);
-  }
-
-  // sync the models and data
-  int spec = mjSTATE_INTEGRATION;
-  int size = mj_stateSize(model, spec);
-  std::vector<mjtNum> initial_state(size);
-  mj_getState(model, data, initial_state.data(), spec);
-  mj_setState(model_threaded, data_threaded, initial_state.data(), spec);
-
-  // bind a threadpool to the data_threaded
-  mju_threadpool(data_threaded, 10);
-
-  for (int i = 0; i < 10; ++i) {
-    mj_step(model, data);
-    mj_step(model_threaded, data_threaded);
-  }
-
-  // compare the mjData's.
-  {
-    #define X(type, name, nr, nc)                                     \
-        EXPECT_EQ(std::memcmp(data->name, data_threaded->name,        \
-                              sizeof(type)*(model->nr)*(nc)),         \
-                  0) << "mjData::" #name " differs";
-    MJDATA_POINTERS
-    #undef X
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-  mj_deleteData(data_threaded);
-  mj_deleteModel(model_threaded);
-}
-
-TEST_F(ThreadTest, IslandSingleAndMultiThreadedMatch) {
-  auto model_path = GetModelPath("humanoid/22_humanoids.xml");
-  std::array<char, 1024> error;
-  mjModel* model =
-      mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
-  model->opt.solver = mjSOL_CG;             // use CG solver
-  model->opt.disableflags &= ~mjDSBL_ISLAND;  // enable islands
-
-  mjModel* model_threaded =
-      mj_loadXML(model_path.c_str(), nullptr, error.data(), error.size());
-  model_threaded->opt.solver = mjSOL_CG;             // use CG solver
-  model_threaded->opt.disableflags &= ~mjDSBL_ISLAND;  // enable islands
-
-  mjData* data = mj_makeData(model);
-  mjData* data_threaded = mj_makeData(model_threaded);
-
-  // warm-up rollout to get a steady state
-  static constexpr int kNumWarmupSteps = 100;
-  for (int i = 0; i < kNumWarmupSteps; i++) {
-    mj_step(model, data);
-  }
-
-  // sync the models and data
-  int spec = mjSTATE_INTEGRATION;
-  int size = mj_stateSize(model, spec);
-  std::vector<mjtNum> initial_state(size);
-  mj_getState(model, data, initial_state.data(), spec);
-  mj_setState(model_threaded, data_threaded, initial_state.data(), spec);
-
-  // bind a threadpool to the data_threaded
-  mju_threadpool(data_threaded, 10);
-
-  for (int i = 0; i < 10; ++i) {
-    mj_step(model, data);
-    mj_step(model_threaded, data_threaded);
-  }
-
-  // compare the mjData's.
-  {
-    #define X(type, name, nr, nc)                                     \
-        EXPECT_EQ(std::memcmp(data->name, data_threaded->name,        \
-                              sizeof(type)*(model->nr)*(nc)),         \
-                  0) << "mjData::" #name " differs";
-    MJDATA_POINTERS
-    #undef X
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-  mj_deleteData(data_threaded);
-  mj_deleteModel(model_threaded);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_util_blas_test.cc b/test/engine/engine_util_blas_test.cc
deleted file mode 100644
index 595112ee..00000000
--- a/test/engine/engine_util_blas_test.cc
+++ /dev/null
@@ -1,217 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_util_blas.c
-
-#include "src/engine/engine_util_blas.h"
-
-#include <random>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjtype.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::ElementsAre;
-
-using EngineUtilBlasTest = MujocoTest;
-
-TEST_F(EngineUtilBlasTest, MjuDot) {
-  mjtNum a[] = {1, 2, 3, 4, 5, 6, 7};
-  mjtNum b[] = {7, 6, 5, 4, 3, 2, 1};
-
-  // test various vector lengths because mju_dot adds numbers in groups of four
-  EXPECT_EQ(mju_dot(a, b, 0), 0);
-  EXPECT_EQ(mju_dot(a, b, 1), 7);
-  EXPECT_EQ(mju_dot(a, b, 2), 7 + 2*6);
-  EXPECT_EQ(mju_dot(a, b, 3), 7 + 2*6 + 3*5);
-  EXPECT_EQ(mju_dot(a, b, 4), 7 + 2*6 + 3*5 + 4*4);
-  EXPECT_EQ(mju_dot(a, b, 5), 7 + 2*6 + 3*5 + 4*4 + 5*3);
-  EXPECT_EQ(mju_dot(a, b, 6), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2);
-  EXPECT_EQ(mju_dot(a, b, 7), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2 + 7);
-}
-
-TEST_F(EngineUtilBlasTest, MjuMulVecMatVec) {
-  mjtNum vec1[] = {1, 2, 3};
-  mjtNum vec2[] = {3, 2, 1};
-  mjtNum mat[] = {
-    1, 2, 3,
-    4, 5, 6,
-    7, 8, 9
-  };
-
-  EXPECT_EQ(mju_mulVecMatVec(vec1, mat, vec2, 3), 204);
-}
-
-TEST_F(EngineUtilBlasTest, MjuFill) {
-  mjtNum vec[] = {0, 1, 4};
-  mju_fill(vec, 4.5, 3);
-
-  EXPECT_EQ(vec[0], 4.5);
-  EXPECT_EQ(vec[1], 4.5);
-  EXPECT_EQ(vec[2], 4.5);
-}
-
-TEST_F(EngineUtilBlasTest, MjuEye) {
-  mjtNum mat1[1];
-  mju_eye(mat1, 1);
-  EXPECT_EQ(mat1[0], 1);
-
-  mjtNum mat3[9];
-  mju_eye(mat3, 3);
-  EXPECT_THAT(mat3, ElementsAre(1, 0, 0,
-                                0, 1, 0,
-                                0, 0, 1));
-}
-
-TEST_F(EngineUtilBlasTest, MjuSymmetrize) {
-  mjtNum mat[] = {
-    1,   2.5, 3.5,
-    1.5, 2,   4,
-    2.5, 3,   3
-  };
-  mjtNum res[9] = {0};
-  mju_symmetrize(res, mat, 3);
-  EXPECT_THAT(res, ElementsAre(1, 2,   3,
-                               2, 2,   3.5,
-                               3, 3.5, 3));
-
-  // test for the case res==mat
-  mju_symmetrize(mat, mat, 3);
-  EXPECT_THAT(mat, ElementsAre(1, 2,   3,
-                               2, 2,   3.5,
-                               3, 3.5, 3));
-}
-
-TEST_F(EngineUtilBlasTest, MjuMulMat3) {
-  const mjtNum mat1[9] = {
-    1, 2, 3,
-    4, 5, 6,
-    7, 8, 9
-  };
-  const mjtNum mat2[9] = {
-    2, 3, 4,
-    5, 6, 7,
-    8, 9, 10
-  };
-  mjtNum res1[9] = {0};
-  mjtNum res2[9] = {0};
-
-  mju_mulMatMat3(res1, mat1, mat2);
-  mju_mulMatMat(res2, mat1, mat2, 3, 3, 3);
-  for (int i = 0; i < 9; ++i) {
-    EXPECT_EQ(res1[i], res2[i]);
-  }
-
-  mju_mulMatTMat3(res1, mat1, mat2);
-  mju_mulMatTMat(res2, mat1, mat2, 3, 3, 3);
-  for (int i = 0; i < 9; ++i) {
-    EXPECT_EQ(res1[i], res2[i]);
-  }
-
-  mju_mulMatMatT3(res1, mat1, mat2);
-  mju_mulMatMatT(res2, mat1, mat2, 3, 3, 3);
-  for (int i = 0; i < 9; ++i) {
-    EXPECT_EQ(res1[i], res2[i]);
-  }
-}
-
-// utility: random quaternion, normally distributed
-void RandomQuat(mjtNum quat[4], int seed) {
-  // make distribution using seed
-  std::mt19937_64 rng;
-  rng.seed(seed);
-  std::normal_distribution<mjtNum> dist(0, 1);
-
-  // sample
-  for (int i = 0; i < 4; i++) {
-    quat[i] = dist(rng);
-  }
-}
-
-TEST_F(EngineUtilBlasTest, Normalize4IsIdempotent) {
-  for (int i = 0; i < 10000; ++i) {
-    // make random quaternion and normalize it
-    mjtNum quat[4];
-    RandomQuat(quat, i);
-    mju_normalize4(quat);
-
-    // normalize again
-    mjtNum quat_renormalized[4] = {quat[0], quat[1], quat[2], quat[3]};
-    mju_normalize4(quat_renormalized);
-
-    // expect equality
-    EXPECT_MJTNUM_EQ(quat[0], quat_renormalized[0]);
-    EXPECT_MJTNUM_EQ(quat[1], quat_renormalized[1]);
-    EXPECT_MJTNUM_EQ(quat[2], quat_renormalized[2]);
-    EXPECT_MJTNUM_EQ(quat[3], quat_renormalized[3]);
-  }
-}
-
-TEST_F(EngineUtilBlasTest, Normalize4EdgeCases) {
-  // zero quat normalizes to unit quat
-  mjtNum quat[4] = {0};
-  mjtNum norm  = mju_normalize4(quat);
-  EXPECT_EQ(norm, 0);
-  EXPECT_EQ(quat[0], 1);
-  EXPECT_EQ(quat[1], 0);
-  EXPECT_EQ(quat[2], 0);
-  EXPECT_EQ(quat[3], 0);
-
-  // small quat normalizes regularly
-  quat[0] = 0;
-  quat[1] = mjMINVAL;
-  norm  = mju_normalize4(quat);
-  EXPECT_EQ(norm, mjMINVAL);
-  EXPECT_EQ(quat[0], 0);
-  EXPECT_EQ(quat[1], 1);
-  EXPECT_EQ(quat[2], 0);
-  EXPECT_EQ(quat[3], 0);
-
-  // tiny quat normalizes to unit quat
-  quat[0] = 0;
-  quat[1] = mjMINVAL/2;
-  norm  = mju_normalize4(quat);
-  EXPECT_EQ(norm, mjMINVAL/2);
-  EXPECT_EQ(quat[0], 1);
-  EXPECT_EQ(quat[1], 0);
-  EXPECT_EQ(quat[2], 0);
-  EXPECT_EQ(quat[3], 0);
-
-  // near-unit quat is normalized
-  quat[0] = 1 + mjMINVAL;
-  quat[1] = 0;
-  norm  = mju_normalize4(quat);
-  EXPECT_EQ(norm, 1 + mjMINVAL);
-  EXPECT_EQ(quat[0], 1);
-  EXPECT_EQ(quat[1], 0);
-  EXPECT_EQ(quat[2], 0);
-  EXPECT_EQ(quat[3], 0);
-
-  // very-near-unit quat is untouched
-  quat[0] = 1 + mjMINVAL/2;
-  quat[1] = 0;
-  norm  = mju_normalize4(quat);
-  EXPECT_EQ(norm, 1 + mjMINVAL/2);
-  EXPECT_EQ(quat[0], 1 + mjMINVAL/2);
-  EXPECT_EQ(quat[1], 0);
-  EXPECT_EQ(quat[2], 0);
-  EXPECT_EQ(quat[3], 0);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_util_errmem_test.cc b/test/engine/engine_util_errmem_test.cc
deleted file mode 100644
index 34b687b7..00000000
--- a/test/engine/engine_util_errmem_test.cc
+++ /dev/null
@@ -1,617 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_util_errmem.c.
-
-#include <csetjmp>
-#include <cstdio>
-#include <cstring>
-#include <string>
-#include <vector>
-
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_crossplatform.h"  // IWYU pragma: keep
-#include "src/engine/engine_util_errmem.h"
-
-extern "C" {
-MJAPI mjfLogHandler _mjPRIVATE_setTlsLogHandler(mjfLogHandler handler);
-}
-
-namespace mujoco {
-namespace {
-
-// ========================= test infrastructure ==============================
-
-// captured log message
-struct CapturedMsg {
-  int level;
-  int topic;
-  std::string subject;
-  std::string func;
-  std::string file;
-  int line;
-  std::string body;
-};
-
-// thread-local capture state
-static thread_local std::vector<CapturedMsg> captured_msgs;
-static thread_local bool capture_longjmp = false;
-static thread_local std::jmp_buf capture_jmp_buf;
-
-// log handler that captures messages
-void CapturingHandler(const mjLogMessage* msg) {
-  captured_msgs.push_back({
-    .level = msg->level,
-    .topic = msg->topic,
-    .subject = msg->subject,
-    .func = msg->func ? msg->func : "",
-    .file = msg->file ? msg->file : "",
-    .line = msg->line,
-    .body = msg->body ? msg->body : "",
-  });
-  // longjmp on error to prevent exit()
-  if (msg->level == mjLOG_ERROR && capture_longjmp) {
-    std::longjmp(capture_jmp_buf, 1);
-  }
-}
-
-// RAII guard: installs capturing handler, restores previous on destruction
-class ScopedCapture {
- public:
-  ScopedCapture() {
-    captured_msgs.clear();
-    capture_longjmp = true;
-    prev_ = _mjPRIVATE_setTlsLogHandler(CapturingHandler);
-  }
-  ~ScopedCapture() {
-    _mjPRIVATE_setTlsLogHandler(prev_);
-    capture_longjmp = false;
-  }
-  const std::vector<CapturedMsg>& msgs() const { return captured_msgs; }
-
- private:
-  mjfLogHandler prev_;
-};
-
-// ========================= mju_setLogHandler tests ==========================
-
-TEST(LogHandlerTest, SetLogHandlerReturnsOldHandler) {
-  mjfLogHandler old = mju_setLogHandler(CapturingHandler);
-  EXPECT_NE(old, nullptr);  // default handler is non-null
-
-  mjfLogHandler prev = mju_setLogHandler(nullptr);
-  EXPECT_EQ(prev, CapturingHandler);
-
-  // NULL restores default (non-null)
-  mjfLogHandler restored = mju_setLogHandler(nullptr);
-  EXPECT_NE(restored, nullptr);
-}
-
-TEST(LogHandlerTest, CustomHandlerReceivesWarning) {
-  ScopedCapture cap;
-  mju_warning("test warning %d", 42);
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  EXPECT_EQ(cap.msgs()[0].level, mjLOG_WARNING);
-  EXPECT_EQ(cap.msgs()[0].subject, "test warning 42");
-}
-
-TEST(LogHandlerTest, CustomHandlerReceivesError) {
-  ScopedCapture cap;
-  if (setjmp(capture_jmp_buf) == 0) {
-    mju_error("test error %s", "foo");
-  }
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  EXPECT_EQ(cap.msgs()[0].level, mjLOG_ERROR);
-  EXPECT_EQ(cap.msgs()[0].subject, "test error foo");
-}
-
-TEST(LogHandlerTest, WarningRecursionGuard) {
-  static thread_local int call_count = 0;
-  call_count = 0;
-  auto recursive_handler = +[](const mjLogMessage* msg) {
-    call_count++;
-    mju_warning("recursive warning");
-  };
-
-  auto old_tls = _mjPRIVATE_setTlsLogHandler(recursive_handler);
-  mju_warning("initial warning");
-  _mjPRIVATE_setTlsLogHandler(old_tls);
-
-  EXPECT_EQ(call_count, 1);
-}
-
-
-// ========================= TLS handler override tests =======================
-
-TEST(TlsHandlerTest, TlsOverridesGlobal) {
-  // install a global handler
-  auto global_prev = mju_setLogHandler(CapturingHandler);
-
-  // install a different TLS handler
-  static thread_local bool tls_called = false;
-  auto tls_handler = +[](const mjLogMessage* msg) {
-    tls_called = true;
-    if (msg->level == mjLOG_ERROR) {
-      std::longjmp(capture_jmp_buf, 1);
-    }
-  };
-
-  tls_called = false;
-  captured_msgs.clear();
-  auto old_tls = _mjPRIVATE_setTlsLogHandler(tls_handler);
-
-  if (setjmp(capture_jmp_buf) == 0) {
-    mju_error("tls test");
-  }
-
-  // TLS handler should have been called, not the global one
-  EXPECT_TRUE(tls_called);
-  EXPECT_EQ(captured_msgs.size(), 0);
-
-  _mjPRIVATE_setTlsLogHandler(old_tls);
-  mju_setLogHandler(global_prev);
-}
-
-TEST(TlsHandlerTest, NullTlsFallsBackToGlobal) {
-  auto global_prev = mju_setLogHandler(CapturingHandler);
-  captured_msgs.clear();
-
-  // ensure TLS is null
-  auto old_tls = _mjPRIVATE_setTlsLogHandler(nullptr);
-
-  mju_warning("fallback test");
-
-  // global capturing handler should have been called
-  ASSERT_EQ(captured_msgs.size(), 1);
-  EXPECT_EQ(captured_msgs[0].subject, "fallback test");
-
-  _mjPRIVATE_setTlsLogHandler(old_tls);
-  mju_setLogHandler(global_prev);
-}
-
-TEST(TlsHandlerTest, SetTlsReturnsPrevious) {
-  auto h1 = _mjPRIVATE_setTlsLogHandler(CapturingHandler);
-  auto h2 = _mjPRIVATE_setTlsLogHandler(nullptr);
-  EXPECT_EQ(h2, CapturingHandler);
-  _mjPRIVATE_setTlsLogHandler(h1);
-}
-
-// ========================= mju_info and topic filtering =====================
-
-TEST(InfoTest, InfoMessageReachesHandler) {
-  ScopedCapture cap;
-  mju_info(mjTOPIC_NONE, "info message %d", 7);
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  EXPECT_EQ(cap.msgs()[0].level, mjLOG_INFO);
-  EXPECT_EQ(cap.msgs()[0].topic, mjTOPIC_NONE);
-  EXPECT_EQ(cap.msgs()[0].subject, "info message 7");
-}
-
-TEST(InfoTest, TopicZeroAlwaysPasses) {
-  // topic 0 (NONE) should pass regardless of config
-  ScopedCapture cap;
-  mju_info(mjTOPIC_NONE, "always passes");
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  EXPECT_EQ(cap.msgs()[0].subject, "always passes");
-}
-
-// ========================= mjLogConfig tests ================================
-
-TEST(LogConfigTest, GetSetRoundtrip) {
-  mjLogConfig orig = mju_getLogConfig();
-
-  mjLogConfig custom = {.logto_console = false,
-                        .logto_file = false,
-                        .logfile = "",
-                        .topics = (1 << 0) | (1 << 1)};
-  mju_setLogConfig(custom);
-
-  mjLogConfig readback = mju_getLogConfig();
-  EXPECT_EQ(readback.logto_console, false);
-  EXPECT_EQ(readback.logto_file, false);
-  EXPECT_STREQ(readback.logfile, "");
-  EXPECT_EQ(readback.topics, (1 << 0) | (1 << 1));
-
-  // restore
-  mju_setLogConfig(orig);
-}
-
-TEST(LogConfigTest, InitFromEnv) {
-  mjLogConfig orig = mju_getLogConfig();
-
-  setenv("MUJOCO_LOG_TOPICS", "sleep,time_cmp", 1);
-  mju_clearHandlers();
-
-  mjLogConfig config = mju_getLogConfig();
-  EXPECT_EQ(config.topics, (1 << 1) | (1 << 2));
-
-  unsetenv("MUJOCO_LOG_TOPICS");
-  mju_clearHandlers();
-  mju_setLogConfig(orig);
-}
-
-// ========================= topic filtering in default handler ===============
-
-TEST(TopicFilterTest, DefaultHandlerFiltersDisabledTopic) {
-  // save and configure: disable all topics, route to capture
-  mjLogConfig orig = mju_getLogConfig();
-  mjLogConfig no_topics = {
-      .logto_console = false, .logto_file = false, .logfile = "", .topics = 0};
-  mju_setLogConfig(no_topics);
-
-  auto global_prev = mju_setLogHandler(nullptr);  // restore default handler
-
-  // send info with a topic — should be filtered by default handler
-  // we need to observe absence of output, so we'll use a custom global handler
-  mju_setLogHandler(CapturingHandler);
-  captured_msgs.clear();
-
-  // make sure TLS is null so global handler is used
-  auto old_tls = _mjPRIVATE_setTlsLogHandler(nullptr);
-
-  mju_info(mjTOPIC_SLEEP, "should be filtered");
-
-  // TLS handler (none) -> global handler (CapturingHandler)
-  // But topic filtering happens inside the handler dispatch, not in mju_info
-  // mju_info just dispatches; the *default* handler filters.
-  // Since we installed CapturingHandler (not default), it won't filter.
-  // To test default handler filtering, we'd need the default handler.
-  // Instead, test that the topic field is correctly set.
-  ASSERT_EQ(captured_msgs.size(), 1);
-  EXPECT_EQ(captured_msgs[0].topic, mjTOPIC_SLEEP);
-
-  _mjPRIVATE_setTlsLogHandler(old_tls);
-  mju_setLogHandler(global_prev);
-  mju_setLogConfig(orig);
-}
-
-// ========================= mjERROR macro tests ==============================
-
-TEST(MjErrorMacroTest, HasSourceLocation) {
-  ScopedCapture cap;
-  if (setjmp(capture_jmp_buf) == 0) {
-    mjERROR("macro error %d", 99);
-  }
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  EXPECT_EQ(cap.msgs()[0].level, mjLOG_ERROR);
-  EXPECT_EQ(cap.msgs()[0].subject, "macro error 99");
-  EXPECT_FALSE(cap.msgs()[0].func.empty());
-  EXPECT_FALSE(cap.msgs()[0].file.empty());
-  EXPECT_GT(cap.msgs()[0].line, 0);
-}
-
-TEST(MjErrorMacroTest, FileIsPath) {
-  ScopedCapture cap;
-  if (setjmp(capture_jmp_buf) == 0) {
-    mjERROR("path test");
-  }
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  // file should be a path containing the filename
-  EXPECT_NE(cap.msgs()[0].file.find("engine_util_errmem_test.cc"),
-            std::string::npos);
-}
-
-// ========================= mju_clearHandlers ================================
-
-TEST(ClearHandlersTest, RestoresDefaults) {
-  // set some custom state
-  mju_user_error = [](const char*) {};
-  mju_user_warning = [](const char*) {};
-
-  mju_clearHandlers();
-
-  EXPECT_EQ(mju_user_error, nullptr);
-  EXPECT_EQ(mju_user_warning, nullptr);
-  EXPECT_EQ(mju_user_malloc, nullptr);
-  EXPECT_EQ(mju_user_free, nullptr);
-
-  // log config should be restored to defaults
-  mjLogConfig config = mju_getLogConfig();
-  EXPECT_TRUE(config.logto_console);
-  EXPECT_STREQ(config.logfile, "MUJOCO_LOG.TXT");
-}
-
-// ========================= mju_message ======================================
-
-TEST(MessageTest, DispatchesStructuredMessage) {
-  ScopedCapture cap;
-  mjLogMessage msg = {};
-  msg.level = mjLOG_WARNING;
-  snprintf(msg.subject, sizeof(msg.subject), "raw warning");
-  msg.func = "TestFunc";
-  msg.file = "test.c";
-  msg.line = 42;
-
-  mju_message(&msg);
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  EXPECT_EQ(cap.msgs()[0].level, mjLOG_WARNING);
-  EXPECT_EQ(cap.msgs()[0].subject, "raw warning");
-  EXPECT_EQ(cap.msgs()[0].func, "TestFunc");
-  EXPECT_EQ(cap.msgs()[0].file, "test.c");
-  EXPECT_EQ(cap.msgs()[0].line, 42);
-}
-
-TEST(MessageTest, DispatchesError) {
-  ScopedCapture cap;
-  mjLogMessage msg = {};
-  msg.level = mjLOG_ERROR;
-  snprintf(msg.subject, sizeof(msg.subject), "raw error");
-
-  if (setjmp(capture_jmp_buf) == 0) {
-    mju_message(&msg);
-  }
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  EXPECT_EQ(cap.msgs()[0].level, mjLOG_ERROR);
-  EXPECT_EQ(cap.msgs()[0].subject, "raw error");
-}
-
-// ========================= legacy handler compatibility =====================
-
-TEST(LegacyCompatTest, LegacyErrorHandlerViaDefault) {
-  static thread_local std::string legacy_msg;
-  legacy_msg.clear();
-
-  auto old_tls = _mjPRIVATE_setTlsLogHandler(nullptr);
-  auto old_global = mju_setLogHandler(nullptr);  // default handler
-  mju_user_error = [](const char* msg) {
-    legacy_msg = msg;
-    // legacy error handlers are expected to not return; longjmp to simulate
-    std::longjmp(capture_jmp_buf, 1);
-  };
-
-  if (setjmp(capture_jmp_buf) == 0) {
-    mju_error("legacy test %d", 1);
-  }
-
-  EXPECT_EQ(legacy_msg, "legacy test 1");
-
-  mju_user_error = nullptr;
-  mju_setLogHandler(old_global);
-  _mjPRIVATE_setTlsLogHandler(old_tls);
-}
-
-TEST(LegacyCompatTest, LegacyWarningHandlerViaDefault) {
-  static thread_local std::string legacy_msg;
-  legacy_msg.clear();
-
-  auto old_tls = _mjPRIVATE_setTlsLogHandler(nullptr);
-  auto old_global = mju_setLogHandler(nullptr);  // default handler
-  mju_user_warning = [](const char* msg) {
-    legacy_msg = msg;
-  };
-
-  mju_warning("legacy warn %s", "bar");
-
-  EXPECT_EQ(legacy_msg, "legacy warn bar");
-
-  mju_user_warning = nullptr;
-  mju_setLogHandler(old_global);
-  _mjPRIVATE_setTlsLogHandler(old_tls);
-}
-
-// ========================= truncation tests (from original) =================
-
-
-
-TEST(TruncationTest, MjuErrorInternal) {
-  ScopedCapture cap;
-  if (setjmp(capture_jmp_buf) == 0) {
-    mjERROR("foobar %d", 123);
-  }
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  EXPECT_EQ(cap.msgs()[0].subject, "foobar 123");
-  // func field should contain the test function name
-  EXPECT_FALSE(cap.msgs()[0].func.empty());
-}
-
-// ========================= mjDEBUG macro tests ==============================
-
-TEST(MjDebugMacroTest, EmitsDebugMessage) {
-  mjLogConfig orig = mju_getLogConfig();
-  mjLogConfig cfg = orig;
-  cfg.topics = (1 << (mjTOPIC_SLEEP - 1));
-  mju_setLogConfig(cfg);
-
-  ScopedCapture cap;
-  mjDEBUG(mjTOPIC_SLEEP, "debug msg %d", 77);
-
-  ASSERT_EQ(cap.msgs().size(), 1);
-  EXPECT_EQ(cap.msgs()[0].level, mjLOG_DEBUG);
-  EXPECT_EQ(cap.msgs()[0].topic, mjTOPIC_SLEEP);
-  EXPECT_EQ(cap.msgs()[0].subject, "debug msg 77");
-  EXPECT_FALSE(cap.msgs()[0].func.empty());
-
-  mju_setLogConfig(orig);
-}
-
-TEST(MjDebugMacroTest, FilteredByProducerSideCheck) {
-  mjLogConfig orig = mju_getLogConfig();
-  mjLogConfig cfg = orig;
-  cfg.topics = 0;
-  mju_setLogConfig(cfg);
-
-  ScopedCapture cap;
-  mjDEBUG(mjTOPIC_SLEEP, "should be filtered");
-
-  EXPECT_EQ(cap.msgs().size(), 0);
-
-  mju_setLogConfig(orig);
-}
-
-// ========================= BaseName tests ===================================
-
-TEST(BaseNameTest, UnixPath) {
-  EXPECT_STREQ(BaseName("/path/to/file.c"), "file.c");
-}
-
-TEST(BaseNameTest, WindowsPath) {
-  EXPECT_STREQ(BaseName("C:\\path\\to\\file.c"), "file.c");
-}
-
-TEST(BaseNameTest, NoSeparator) {
-  EXPECT_STREQ(BaseName("file.c"), "file.c");
-}
-
-TEST(BaseNameTest, MixedSeparators) {
-  EXPECT_STREQ(BaseName("/mixed\\path/file.c"), "file.c");
-  EXPECT_STREQ(BaseName("C:\\mixed/path\\file.c"), "file.c");
-}
-
-TEST(BaseNameTest, EmptyString) {
-  EXPECT_STREQ(BaseName(""), "");
-}
-
-// ========================= default handler topic filtering ==================
-
-TEST(DefaultHandlerFilterTest, DisabledTopicNotWrittenToFile) {
-  mjLogConfig orig = mju_getLogConfig();
-  auto old_tls = _mjPRIVATE_setTlsLogHandler(nullptr);
-  auto old_global = mju_setLogHandler(nullptr);
-
-  std::string logpath = std::string(::testing::TempDir()) + "/filter_test.txt";
-  std::remove(logpath.c_str());
-
-  mjLogConfig cfg = {};
-  cfg.logto_console = false;
-  cfg.logto_file = true;
-  cfg.topics = 0;
-  snprintf(cfg.logfile, sizeof(cfg.logfile), "%s", logpath.c_str());
-  mju_setLogConfig(cfg);
-
-  // disabled topic: should be filtered by default handler
-  mju_info(mjTOPIC_SLEEP, "filtered message");
-
-  std::FILE* fp = std::fopen(logpath.c_str(), "r");
-  bool file_empty = true;
-  if (fp) {
-    std::fseek(fp, 0, SEEK_END);
-    file_empty = (std::ftell(fp) == 0);
-    std::fclose(fp);
-  }
-  EXPECT_TRUE(file_empty) << "disabled topic should not write to logfile";
-
-  // enable the topic: should pass through
-  cfg.topics = (1 << (mjTOPIC_SLEEP - 1));
-  mju_setLogConfig(cfg);
-  mju_info(mjTOPIC_SLEEP, "passed message");
-
-  fp = std::fopen(logpath.c_str(), "r");
-  ASSERT_NE(fp, nullptr);
-  std::fseek(fp, 0, SEEK_END);
-  EXPECT_GT(std::ftell(fp), 0) << "enabled topic should write to logfile";
-  std::fclose(fp);
-
-  std::remove(logpath.c_str());
-  mju_setLogConfig(orig);
-  mju_setLogHandler(old_global);
-  _mjPRIVATE_setTlsLogHandler(old_tls);
-}
-
-// ========================= timing diagnostics ===============================
-
-TEST(TimingDiagnosticsTest, EmitsOnReset) {
-  const char xml[] =
-      "<mujoco><worldbody><body><geom size=\"1\"/></body></worldbody></mujoco>";
-  char error[1024] = "";
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "m.xml", xml, static_cast<int>(std::strlen(xml)));
-  mjModel* m = mj_loadXML("m.xml", &vfs, error, sizeof(error));
-  mj_deleteVFS(&vfs);
-  ASSERT_NE(m, nullptr) << error;
-  mjData* d = mj_makeData(m);
-  ASSERT_NE(d, nullptr);
-
-  // populate timers manually
-  d->timer[mjTIMER_STEP].number = 100;
-  d->timer[mjTIMER_STEP].duration = 0.01;
-  d->timer[mjTIMER_POSITION].number = 100;
-  d->timer[mjTIMER_POSITION].duration = 0.005;
-
-  // capture log messages during reset
-  ScopedCapture cap;
-  mj_resetData(m, d);
-
-  // find the timing diagnostics message
-  const CapturedMsg* tmsg = nullptr;
-  for (const auto& msg : cap.msgs()) {
-    if (msg.level == mjLOG_INFO && msg.topic == mjTOPIC_TIME_STP) {
-      tmsg = &msg;
-      break;
-    }
-  }
-  ASSERT_NE(tmsg, nullptr) << "expected timing diagnostics message";
-  EXPECT_NE(tmsg->subject.find("100 steps"), std::string::npos);
-  EXPECT_FALSE(tmsg->body.empty());
-  EXPECT_NE(tmsg->body.find("total"), std::string::npos);
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-  mj_freeLastXML();
-}
-
-// ========================= env var edge cases ===============================
-
-TEST(InitFromEnvEdgeTest, EmptyString) {
-  mjLogConfig orig = mju_getLogConfig();
-  setenv("MUJOCO_LOG_TOPICS", "", 1);
-  mju_clearHandlers();
-  EXPECT_EQ(mju_getLogConfig().topics, 0);
-  unsetenv("MUJOCO_LOG_TOPICS");
-  mju_clearHandlers();
-  mju_setLogConfig(orig);
-}
-
-TEST(InitFromEnvEdgeTest, UnknownTopic) {
-  mjLogConfig orig = mju_getLogConfig();
-  setenv("MUJOCO_LOG_TOPICS", "nonexistent", 1);
-  mju_clearHandlers();
-  EXPECT_EQ(mju_getLogConfig().topics, 0);
-  unsetenv("MUJOCO_LOG_TOPICS");
-  mju_clearHandlers();
-  mju_setLogConfig(orig);
-}
-
-TEST(InitFromEnvEdgeTest, ExtraCommas) {
-  mjLogConfig orig = mju_getLogConfig();
-  setenv("MUJOCO_LOG_TOPICS", ",,sleep,,", 1);
-  mju_clearHandlers();
-  EXPECT_EQ(mju_getLogConfig().topics, (1 << 2));
-  unsetenv("MUJOCO_LOG_TOPICS");
-  mju_clearHandlers();
-  mju_setLogConfig(orig);
-}
-
-TEST(InitFromEnvEdgeTest, WhitespaceHandling) {
-  mjLogConfig orig = mju_getLogConfig();
-  setenv("MUJOCO_LOG_TOPICS", "  sleep , time_cmp  ", 1);
-  mju_clearHandlers();
-  EXPECT_EQ(mju_getLogConfig().topics, (1 << 1) | (1 << 2));
-  unsetenv("MUJOCO_LOG_TOPICS");
-  mju_clearHandlers();
-  mju_setLogConfig(orig);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_util_misc_test.cc b/test/engine/engine_util_misc_test.cc
deleted file mode 100644
index 88b6b778..00000000
--- a/test/engine/engine_util_misc_test.cc
+++ /dev/null
@@ -1,1748 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_util_solve.c.
-
-#include "src/engine/engine_util_misc.h"
-
-#include <array>
-#include <climits>
-#include <cmath>
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest-spi.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::ElementsAre;
-using ::testing::ElementsAreArray;
-using ::testing::HasSubstr;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-using ::testing::StrEq;
-
-using UtilMiscTest = MujocoTest;
-
-TEST_F(UtilMiscTest, PrintsMemoryWarning) {
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 10)),
-              HasSubstr("1K bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 20)),
-              HasSubstr("1M bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30)),
-              HasSubstr("1G bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 40)),
-              HasSubstr("1T bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 50)),
-              HasSubstr("1P bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 60)),
-              HasSubstr("1E bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30) + 1),
-              HasSubstr("1073741825 bytes"));
-}
-
-TEST_F(UtilMiscTest, Sigmoid) {
-  // function values
-  EXPECT_EQ(mju_sigmoid(-1), 0);
-  EXPECT_EQ(mju_sigmoid(0), 0);
-  EXPECT_EQ(mju_sigmoid(0.5), 0.5);
-  EXPECT_EQ(mju_sigmoid(1), 1);
-  EXPECT_EQ(mju_sigmoid(2), 1);
-
-  // epsilon for finite-differencing
-  const mjtNum dx = MjTol(1e-7, 1e-3);
-  const mjtNum fd_tol = MjTol(1e-7, 1e-3);
-
-  // derivative at 0
-  mjtNum dy_dx_0 = (mju_sigmoid(0 + dx) - mju_sigmoid(0)) / dx;
-  EXPECT_NEAR(dy_dx_0, 0, fd_tol);
-
-  // derivative at 1
-  mjtNum dy_dx_1 = (mju_sigmoid(1) - mju_sigmoid(1 - dx)) / dx;
-  EXPECT_NEAR(dy_dx_1, 0, fd_tol);
-
-  // derivative at 0.5
-  const mjtNum x = 0.5;
-  mjtNum dy_dx_0p5 = (mju_sigmoid(x + dx) - mju_sigmoid(x - dx)) / (2 * dx);
-  mjtNum expected = 30 * x * x * x * x - 60 * x * x * x + 30 * x * x;
-  EXPECT_NEAR(dy_dx_0p5, expected, fd_tol);
-}
-
-TEST_F(UtilMiscTest, SphereWrap) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <site size=".015" rgba="1 0 0 1"/>
-    </default>
-
-    <worldbody>
-      <light pos="0 0 3"/>
-
-      <site name="fixed" pos="0 0 1"/>
-      <geom name="sphere" size=".1" pos="0 0 0.5"/>
-      <site name="sidesite" pos=".52 0 .5"/>
-      <body pos="0 0 .1">
-        <freejoint/>
-        <geom size=".05"/>
-        <site name="body" pos="0 0 .05"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <spatial name="tendon" range="0 0.8">
-        <site site="fixed"/>
-        <geom geom="sphere" sidesite="sidesite"/>
-        <site site="body"/>
-      </spatial>
-    </tendon>
-
-    <sensor>
-      <tendonpos tendon="tendon"/>
-    </sensor>
-
-    <keyframe>
-      <key qpos="-0.00653537 -0.068031 0.301253 0.982186 -0.180204 -0.0273515 0.0457068"/>
-      <key qpos="-0.00653537 -0.069 0.301253 0.982186 -0.180204 -0.0273515 0.0457068"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  MjDataPtr data = MakeData(model);
-
-  // measure tendon length for keyframe 0
-  mj_resetDataKeyframe(model.get(), data.get(), 0);
-  mj_forward(model.get(), data.get());
-  mjtNum ten_length0 = data->sensordata[0];
-
-  // measure tendon length for keyframe 1
-  mj_resetDataKeyframe(model.get(), data.get(), 1);
-  mj_forward(model.get(), data.get());
-  mjtNum ten_length1 = data->sensordata[0];
-
-  // difference should be small
-  mjtNum diff = ten_length1 - ten_length0;
-  EXPECT_LT(mju_abs(diff), 1e-3);
-}
-
-// compute time constant as in Millard et al. (2013)
-// https://doi.org/10.1115/1.4023390
-mjtNum muscleDynamicsMillard(mjtNum ctrl, mjtNum act, const mjtNum prm[2]) {
-  // clamp control
-  mjtNum ctrlclamp = mju_clip(ctrl, 0, 1);
-
-  // clamp activation
-  mjtNum actclamp = mju_clip(act, 0, 1);
-
-  mjtNum tau;
-  if (ctrlclamp > act) {
-    tau = prm[0] * (0.5 + 1.5 * actclamp);
-  } else {
-    tau = prm[1] / (0.5 + 1.5 * actclamp);
-  }
-
-  // filter output
-  return (ctrlclamp - act) / mjMAX(mjMINVAL, tau);
-}
-
-TEST_F(UtilMiscTest, SmoothMuscleDynamics) {
-  mjtNum prm[3] = {0.01, 0.04, 0.0};
-
-  // exact equality if tau_smooth = 0
-  for (mjtNum ctrl : {-0.1, 0.0, 0.4, 0.5, 1.0, 1.1}) {
-    for (mjtNum act : {-0.1, 0.0, 0.4, 0.5, 1.0, 1.1}) {
-      mjtNum actdot_old = muscleDynamicsMillard(ctrl, act, prm);
-      mjtNum actdot_new = mju_muscleDynamics(ctrl, act, prm);
-      EXPECT_EQ(actdot_new, actdot_old);
-    }
-  }
-
-  // positive tau_smooth
-  mjtNum tau_smooth = 0.2;
-  prm[2] = tau_smooth;
-  mjtNum act = 0.5;
-  mjtNum eps = 1e-6;
-
-  mjtNum ctrl = 0.4 - eps;  // smaller than act by just over 0.5*tau_smooth
-  EXPECT_EQ(muscleDynamicsMillard(ctrl, act, prm),
-            mju_muscleDynamics(ctrl, act, prm));
-
-  ctrl = 0.6 + eps;  // larger than act by just over 0.5*tau_smooth
-  EXPECT_EQ(muscleDynamicsMillard(ctrl, act, prm),
-            mju_muscleDynamics(ctrl, act, prm));
-
-  // right in the middle should give average of time constants
-  mjtNum tau_act = 0.2;
-  mjtNum tau_deact = 0.3;
-  for (mjtNum dctrl : {0.0, 0.1, 0.2, 1.0, 1.1}) {
-    mjtNum lower =
-        mju_muscleDynamicsTimescale(-dctrl, tau_act, tau_deact, tau_smooth);
-    mjtNum upper =
-        mju_muscleDynamicsTimescale(dctrl, tau_act, tau_deact, tau_smooth);
-    EXPECT_EQ(0.5 * (upper + lower), 0.5 * (tau_act + tau_deact));
-  }
-}
-
-TEST_F(UtilMiscTest, MuscleGainLength) {
-  mjtNum lmin = 0.5;
-  mjtNum lmax = 1.5;
-
-  EXPECT_EQ(mju_muscleGainLength(0.0, lmin, lmax), 0);
-  EXPECT_EQ(mju_muscleGainLength(0.5, lmin, lmax), 0);
-  EXPECT_EQ(mju_muscleGainLength(0.75, lmin, lmax), 0.5);
-  EXPECT_EQ(mju_muscleGainLength(1.0, lmin, lmax), 1);
-  EXPECT_EQ(mju_muscleGainLength(1.25, lmin, lmax), 0.5);
-  EXPECT_EQ(mju_muscleGainLength(1.5, lmin, lmax), 0);
-  EXPECT_EQ(mju_muscleGainLength(2.0, lmin, lmax), 0);
-}
-
-TEST_F(UtilMiscTest, MjuSparseMap) {
-  // nr = 3
-  // src = [[1, 2, 0],
-  //        [0, 3, 4],
-  //        [5, 0, 6]]
-  constexpr int nr = 3;
-  const mjtNum mat_src[] = {1, 2, 3, 4, 5, 6};
-  const int rownnz_src[] = {2, 2, 2};
-  const int rowadr_src[] = {0, 2, 4};
-  const int colind_src[] = {0, 1, 1, 2, 0, 2};
-
-  // res = [[1, 0, 0],
-  //        [0, 3, 0],
-  //        [5, 0, 6]]
-  constexpr int nnz_res = 4;
-  const int rownnz_res[] = {1, 1, 2};
-  const int rowadr_res[] = {0, 1, 2};
-  const int colind_res[] = {0, 1, 0, 2};
-
-  int map[nnz_res];
-  mju_sparseMap(map, nr, rowadr_res, rownnz_res, colind_res, rowadr_src,
-                rownnz_src, colind_src);
-
-  // Expected map:
-  // res[0] (1 at 0,0) -> src[0] (1 at 0,0) => map[0] = 0
-  // res[1] (3 at 1,1) -> src[2] (3 at 1,1) => map[1] = 2
-  // res[2] (5 at 2,0) -> src[4] (5 at 2,0) => map[2] = 4
-  // res[3] (6 at 2,2) -> src[5] (6 at 2,2) => map[3] = 5
-  EXPECT_THAT(map, ElementsAre(0, 2, 4, 5));
-
-  // Verify the map by checking values
-  mjtNum mat_res_gathered[nnz_res];
-  mju_gather(mat_res_gathered, mat_src, map, nnz_res);
-  EXPECT_THAT(AsVector(mat_res_gathered, nnz_res), ElementsAre(1, 3, 5, 6));
-}
-
-TEST_F(UtilMiscTest, MjuSparseLower2SymMap) {
-  // nr = 3
-  // src = [[1, 0, 0],
-  //        [2, 3, 0],
-  //        [4, 5, 6]]
-  constexpr int nr = 3;
-  const mjtNum mat_src[] = {1, 2, 3, 4, 5, 6};
-  const int rownnz_src[] = {1, 2, 3};
-  const int rowadr_src[] = {0, 1, 3};
-  const int colind_src[] = {0, 0, 1, 0, 1, 2};
-
-  // res = [[*, *, *],
-  //        [*, *, *],
-  //        [*, *, *]] (dense symmetric)
-  constexpr int res_nnz = 9;
-  const int rownnz_res[] = {3, 3, 3};
-  const int rowadr_res[] = {0, 3, 6};
-  const int colind_res[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-
-  int map[res_nnz];
-  int cursor[nr];
-
-  mju_lower2SymMap(map, nr, rowadr_res, rownnz_res, colind_res, rowadr_src,
-                   rownnz_src, colind_src, cursor);
-
-  // Expected map:
-  // res(0,0) -> src(0,0) (k=0) => map[0] = 0
-  // res(0,1) -> src(1,0) (k=1) => map[1] = 1
-  // res(0,2) -> src(2,0) (k=3) => map[2] = 3
-  // res(1,0) -> src(1,0) (k=1) => map[3] = 1
-  // res(1,1) -> src(1,1) (k=2) => map[4] = 2
-  // res(1,2) -> src(2,1) (k=4) => map[5] = 4
-  // res(2,0) -> src(2,0) (k=3) => map[6] = 3
-  // res(2,1) -> src(2,1) (k=4) => map[7] = 4
-  // res(2,2) -> src(2,2) (k=5) => map[8] = 5
-  EXPECT_THAT(map, ElementsAre(0, 1, 3, 1, 2, 4, 3, 4, 5));
-
-  // Verify the map by checking values
-  mjtNum mat_res[res_nnz];
-  mju_gatherMasked(mat_res, mat_src, map, res_nnz);
-
-  EXPECT_THAT(AsVector(mat_res, res_nnz),
-              ElementsAre(1, 2, 4, 2, 3, 5, 4, 5, 6));
-}
-
-TEST_F(UtilMiscTest, MjuSparseLower2SymMapPartial) {
-  // nr = 3
-  // src = [[1, 0, 0],
-  //        [2, 3, 0],
-  //        [0, 0, 6]]
-  constexpr int nr = 3;
-  const mjtNum mat_src[] = {1, 2, 3, 6};
-  const int rownnz_src[] = {1, 2, 1};
-  const int rowadr_src[] = {0, 1, 3};
-  const int colind_src[] = {0, 0, 1, 2};
-
-  // res with a sparse symmetric pattern
-  // res = [[*, *, *],
-  //        [*, *, 0],
-  //        [*, 0, *]]
-  constexpr int res_nnz = 7;
-  const int rownnz_res[] = {3, 2, 2};
-  const int rowadr_res[] = {0, 3, 5};
-  const int colind_res[] = {0, 1, 2, 0, 1, 0, 2};
-
-  int map[res_nnz];
-  int cursor[nr];
-
-  mju_lower2SymMap(map, nr, rowadr_res, rownnz_res, colind_res, rowadr_src,
-                   rownnz_src, colind_src, cursor);
-
-  // Expected map for the non-zeros in res:
-  // res(0,0) -> src(0,0) (k=0) => map[0] = 0
-  // res(0,1) -> src(1,0) (k=1) => map[1] = 1
-  // res(0,2) -> Unmapped       => map[2] = -1
-  // res(1,0) -> src(1,0) (k=1) => map[3] = 1
-  // res(1,1) -> src(1,1) (k=2) => map[4] = 2
-  // res(2,0) -> Unmapped       => map[5] = -1
-  // res(2,2) -> src(2,2) (k=3) => map[6] = 3
-  EXPECT_THAT(map, ElementsAre(0, 1, -1, 1, 2, -1, 3));
-
-  // Verify the map by checking values
-  mjtNum mat_res[res_nnz];
-  mju_gatherMasked(mat_res, mat_src, map, res_nnz);
-
-  // Expected res values based on map:
-  // mat_res[0] = mat_src[0] = 1
-  // mat_res[1] = mat_src[1] = 2
-  // mat_res[2]              = 0 (unmapped)
-  // mat_res[3] = mat_src[1] = 2
-  // mat_res[4] = mat_src[2] = 3
-  // mat_res[5]              = 0 (unmapped)
-  // mat_res[6] = mat_src[3] = 6
-  EXPECT_THAT(AsVector(mat_res, res_nnz), ElementsAre(1, 2, 0, 2, 3, 0, 6));
-}
-
-TEST_F(UtilMiscTest, MjuIsZero) {
-  mjtNum vec[1] = {1};
-  EXPECT_EQ(mju_isZero(vec, 1), 0);
-  EXPECT_EQ(mju_isZero(vec, 0), 1);
-  vec[0] = 0;
-  EXPECT_EQ(mju_isZero(vec, 1), 1);
-  vec[0] = -0.0;
-  EXPECT_EQ(mju_isZero(vec, 1), 1);
-  EXPECT_EQ(mju_isZeroByte((const unsigned char*)vec, sizeof(mjtNum)), 0);
-}
-
-TEST_F(UtilMiscTest, MjuIsZeroByte) {
-  // Zero length array
-  EXPECT_TRUE(mju_isZeroByte(nullptr, 0));
-
-  // zero length array with non-null pointer
-  unsigned char vec0[1] = {0};
-  EXPECT_TRUE(mju_isZeroByte(vec0, sizeof(vec0)));
-
-  // one zero element array
-  unsigned char vec1[1] = {0};
-  EXPECT_TRUE(mju_isZeroByte(vec1, sizeof(vec1)));
-
-  // one non-zero element array
-  unsigned char vec2[2] = {1};
-  EXPECT_FALSE(mju_isZeroByte(vec2, sizeof(vec2)));
-
-  // Non-zero at start
-  unsigned char vec3[3] = {1, 0, 0};
-  EXPECT_FALSE(mju_isZeroByte(vec3, sizeof(vec3)));
-
-  // Non-zero at end
-  unsigned char vec4[3] = {0, 0, 1};
-  EXPECT_FALSE(mju_isZeroByte(vec4, sizeof(vec4)));
-
-  // Non-zero in middle
-  unsigned char vec5[3] = {0, 1, 0};
-  EXPECT_FALSE(mju_isZeroByte(vec5, sizeof(vec5)));
-}
-
-// --------------------------------- Interpolation -----------------------------
-
-using InterpolationTest = MujocoTest;
-
-TEST_F(InterpolationTest, mju_interpolate3D) {
-  // quadratic functions should be interpolated exactly if order = 2
-  auto quadratic_function_1 = [](mjtNum x, mjtNum y, mjtNum z) {
-    return x * x + y * y + z * z;
-  };
-  auto quadratic_function_2 = [](mjtNum x, mjtNum y, mjtNum z) {
-    return x * y * z + y * z * z + x * z * z;
-  };
-  auto quadratic_function_3 = [](mjtNum x, mjtNum y, mjtNum z) {
-    return x * y * z + y * z * z + x * z * z + y * y * z + x * x * z + x + y +
-           z;
-  };
-  static constexpr int order = 2;
-  mjtNum coeff[3 * (order + 1) * (order + 1) * (order + 1)];
-  int index = 0;
-  for (int i = 0; i <= order; ++i) {
-    for (int j = 0; j <= order; ++j) {
-      for (int k = 0; k <= order; ++k) {
-        coeff[3 * index + 0] = quadratic_function_1(.5 * i, .5 * j, .5 * k);
-        coeff[3 * index + 1] = quadratic_function_2(.5 * i, .5 * j, .5 * k);
-        coeff[3 * index + 2] = quadratic_function_3(.5 * i, .5 * j, .5 * k);
-        index++;
-      }
-    }
-  }
-  static constexpr int nsample = 5;
-  for (int i = 0; i < nsample; ++i) {
-    mjtNum sample[3];
-    mjtNum expected[3];
-    mjtNum res[3] = {0};
-    sample[0] = mju_Halton(i, 2);
-    sample[1] = mju_Halton(i, 3);
-    sample[2] = mju_Halton(i, 5);
-    expected[0] = quadratic_function_1(sample[0], sample[1], sample[2]);
-    expected[1] = quadratic_function_2(sample[0], sample[1], sample[2]);
-    expected[2] = quadratic_function_3(sample[0], sample[1], sample[2]);
-    mju_interpolate3D(res, sample, coeff, order, NULL);
-    EXPECT_NEAR(res[0], expected[0], MjTol(1e-10, 1e-5));
-    EXPECT_NEAR(res[1], expected[1], MjTol(1e-10, 1e-5));
-    EXPECT_NEAR(res[2], expected[2], MjTol(1e-10, 1e-5));
-  }
-}
-
-TEST_F(InterpolationTest, mju_cellLookup_SingleCell) {
-  // single cell (1x1x1): local coords should equal global coords
-  int cellnum[3] = {1, 1, 1};
-  mjtNum coord[3] = {0.3, 0.7, 0.5};
-  mjtNum local[3];
-  int nodeindices[8];
-
-  int npc = mju_cellLookup(coord, cellnum, 1, local, nodeindices);
-  EXPECT_EQ(npc, 8);
-  EXPECT_NEAR(local[0], 0.3, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(local[1], 0.7, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(local[2], 0.5, MjTol(1e-12, 1e-6));
-
-  // for trilinear 1x1x1: nodes are 0..7 in lexicographic order
-  for (int i = 0; i < 8; i++) {
-    EXPECT_EQ(nodeindices[i], i);
-  }
-}
-
-TEST_F(InterpolationTest, mju_cellLookup_MultiCell) {
-  // 2x3x4 grid, trilinear: 3x4x5 = 60 nodes
-  int cellnum[3] = {2, 3, 4};
-  int order = 1;
-  int ny_g = 3 * 1 + 1;  // 4
-  int nz_g = 4 * 1 + 1;  // 5
-
-  // point at (0.75, 0.5, 0.125) -> cell (1, 1, 0)
-  mjtNum coord[3] = {0.75, 0.5, 0.125};
-  mjtNum local[3];
-  int nodeindices[8];
-
-  int npc = mju_cellLookup(coord, cellnum, order, local, nodeindices);
-  EXPECT_EQ(npc, 8);
-
-  // cell (1,1,0): local = (0.75*2 - 1, 0.5*3 - 1, 0.125*4 - 0)
-  EXPECT_NEAR(local[0], 0.5, 1e-12);
-  EXPECT_NEAR(local[1], 0.5, 1e-12);
-  EXPECT_NEAR(local[2], 0.5, 1e-12);
-
-  // expected node indices for cell (1,1,0), trilinear:
-  //   (gi, gj, gk) for li,lj,lk in {0,1}
-  //   gi = 1+li, gj = 1+lj, gk = 0+lk
-  //   gidx = gi*ny_g*nz_g + gj*nz_g + gk
-  int expected[8];
-  int ni = 0;
-  for (int li = 0; li <= 1; li++) {
-    for (int lj = 0; lj <= 1; lj++) {
-      for (int lk = 0; lk <= 1; lk++) {
-        expected[ni++] = (1 + li) * ny_g * nz_g + (1 + lj) * nz_g + lk;
-      }
-    }
-  }
-  for (int i = 0; i < 8; i++) {
-    EXPECT_EQ(nodeindices[i], expected[i]);
-  }
-}
-
-TEST_F(InterpolationTest, mju_cellLookup_Boundary) {
-  // point exactly at coord=1.0 should clamp to last cell
-  int cellnum[3] = {3, 3, 3};
-  mjtNum coord[3] = {1.0, 1.0, 1.0};
-  mjtNum local[3];
-
-  mju_cellLookup(coord, cellnum, 1, local, NULL);
-  // cell (2,2,2), local = (1*3 - 2, 1*3 - 2, 1*3 - 2) = (1, 1, 1)
-  EXPECT_NEAR(local[0], 1.0, 1e-12);
-  EXPECT_NEAR(local[1], 1.0, 1e-12);
-  EXPECT_NEAR(local[2], 1.0, 1e-12);
-
-  // point at coord=0.0 should map to first cell
-  mjtNum coord0[3] = {0.0, 0.0, 0.0};
-  mju_cellLookup(coord0, cellnum, 1, local, NULL);
-  EXPECT_NEAR(local[0], 0.0, 1e-12);
-  EXPECT_NEAR(local[1], 0.0, 1e-12);
-  EXPECT_NEAR(local[2], 0.0, 1e-12);
-}
-
-TEST_F(InterpolationTest, mju_defGradient) {
-  int order = 1;
-  mjtNum mat[9];
-  mjtNum p1[3] = {.5, .5, .5};
-  mjtNum p2[3] = {.25, .25, .25};
-  mjtNum dof0[24] = {0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1,
-                     1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1};
-
-  // identity
-  mjtNum dof1[24];
-  for (int i = 0; i < 24; ++i) dof1[i] = dof0[i];
-  mju_defGradient(mat, p1, dof1, order);
-  EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 1, 0, 0, 0, 1}));
-
-  // translation
-  mjtNum dof2[24];
-  for (int i = 0; i < 24; ++i) dof2[i] = 2 + dof0[i];
-  mju_defGradient(mat, p1, dof2, order);
-  EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 1, 0, 0, 0, 1}));
-  mju_defGradient(mat, p2, dof2, order);
-  EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 1, 0, 0, 0, 1}));
-
-  // constant stretch
-  mjtNum dof3[24];
-  for (int i = 0; i < 24; ++i) dof3[i] = 2 * dof0[i];
-  mju_defGradient(mat, p1, dof3, order);
-  EXPECT_THAT(mat, ElementsAreArray({2, 0, 0, 0, 2, 0, 0, 0, 2}));
-  mju_defGradient(mat, p2, dof3, order);
-  EXPECT_THAT(mat, ElementsAreArray({2, 0, 0, 0, 2, 0, 0, 0, 2}));
-
-  // axial stretch
-  mjtNum dof4[24];
-  for (int i = 0; i < 24; ++i) dof4[i] = (i % 3 == 1 ? 2 : 1) * dof0[i];
-  mju_defGradient(mat, p1, dof4, order);
-  EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 2, 0, 0, 0, 1}));
-  mju_defGradient(mat, p2, dof4, order);
-  EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 2, 0, 0, 0, 1}));
-
-  // z-axis 90 degree rotation
-  mjtNum dof5[24];
-  for (int i = 0; i < 8; ++i) {
-    mjtNum quat[4] = {0, 0, 0, 1};
-    mjtNum axis[3] = {0, 0, 1};
-    mju_axisAngle2Quat(quat, axis, mjPI / 2);
-    mju_rotVecQuat(dof5 + 3 * i, dof0 + 3 * i, quat);
-  }
-  mju_defGradient(mat, p1, dof5, order);
-  EXPECT_THAT(mat, Pointwise(MjNear(1e-8, 1e-6), {0, -1, 0, 1, 0, 0, 0, 0, 1}));
-  mju_defGradient(mat, p2, dof5, order);
-  EXPECT_THAT(mat, Pointwise(MjNear(1e-8, 1e-6), {0, -1, 0, 1, 0, 0, 0, 0, 1}));
-
-  // z-axis 30 degree rotation
-  mjtNum dof6[24];
-  mjtNum rot6[9];
-  for (int i = 0; i < 8; ++i) {
-    mjtNum quat[4];
-    mjtNum axis[3] = {0, 0, 1};
-    mju_axisAngle2Quat(quat, axis, mjPI / 6);
-    mju_rotVecQuat(dof6 + 3 * i, dof0 + 3 * i, quat);
-    mju_quat2Mat(rot6, quat);
-  }
-  mju_defGradient(mat, p1, dof6, order);
-  EXPECT_THAT(mat, Pointwise(MjNear(1e-8, 1e-6), rot6));
-  mju_defGradient(mat, p2, dof6, order);
-  EXPECT_THAT(mat, Pointwise(MjNear(1e-8, 1e-6), rot6));
-
-  // z-axis CoM rotation
-  mjtNum dof7[24];
-  mjtNum rot7[9];
-  for (int i = 0; i < 8; ++i) {
-    mjtNum quat[4];
-    mjtNum axis[3] = {0, 0, 1};
-    mjtNum offset[3] = {-.5, -.5, 0};
-    mju_axisAngle2Quat(quat, axis, mjPI / 6);
-    mju_add3(dof7 + 3 * i, dof0 + 3 * i, offset);
-    mju_rotVecQuat(dof7 + 3 * i, dof0 + 3 * i, quat);
-    mju_quat2Mat(rot7, quat);
-  }
-  mju_defGradient(mat, p1, dof7, order);
-  EXPECT_THAT(mat, Pointwise(MjNear(1e-8, 1e-6), rot7));
-  mju_defGradient(mat, p2, dof7, order);
-  EXPECT_THAT(mat, Pointwise(MjNear(1e-8, 1e-6), rot7));
-}
-
-TEST_F(InterpolationTest, mju_flexInterpState_MultiCell) {
-  int order = 1;  // trilinear
-  int cy = 2;
-  int cz = 2;
-  int nodenum = 27;  // 3x3x3
-
-  std::vector<mjtNum> xpos(3 * nodenum);
-  mjtNum quat[4];
-
-  // Populate xpos directly for a grid centered at origin, rotated 90 deg around
-  // Z Original grid points: {-0.1, 0.0, 0.1}^3 Rotated: (x, y, z) -> (-y, x, z)
-  int idx = 0;
-  for (int i = 0; i < 3; i++) {
-    for (int j = 0; j < 3; j++) {
-      for (int k = 0; k < 3; k++) {
-        mjtNum x = (i - 1) * 0.1;
-        mjtNum y = (j - 1) * 0.1;
-        mjtNum z = (k - 1) * 0.1;
-
-        // Apply rotation
-        xpos[3 * idx + 0] = -y;
-        xpos[3 * idx + 1] = x;
-        xpos[3 * idx + 2] = z;
-        idx++;
-      }
-    }
-  }
-
-  int npc = (order + 1) * (order + 1) * (order + 1);
-  std::vector<mjtNum> xpos_c(3 * npc);
-
-  mju_flexGatherCellState(order, cy, cz, 0, 0, 0, xpos.data(), NULL, NULL,
-                          xpos_c.data(), NULL, NULL, NULL, quat);
-
-  // Expected quaternion for -90 deg around Z (global to local):
-  // [sqrt(0.5), 0, 0, -sqrt(0.5)]
-  mjtNum expected_val = mju_sqrt(0.5);
-  EXPECT_NEAR(quat[0], expected_val, 1e-5);
-  EXPECT_NEAR(quat[1], 0.0, 1e-5);
-  EXPECT_NEAR(quat[2], 0.0, 1e-5);
-  EXPECT_NEAR(quat[3], -expected_val, 1e-5);
-}
-
-using Base64Test = MujocoTest;
-
-TEST_F(Base64Test, mju_encodeBase64) {
-  std::array<char, 9> buffer;
-  std::array<std::uint8_t, 5> arr = {15, 134, 190, 255, 240};
-
-  std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
-
-  EXPECT_THAT(buffer.data(), StrEq("D4a+//A="));
-  EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, mju_encodeBase64_align0) {
-  std::array<char, 5> buffer;
-  std::array<std::uint8_t, 3> arr = {'A', 'B', 'C'};
-
-  std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
-
-  EXPECT_THAT(buffer.data(), StrEq("QUJD"));
-  EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, mju_encodeBase64_align1) {
-  std::array<char, 5> buffer;
-  std::array<std::uint8_t, 2> arr = {'A', 'B'};
-
-  std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
-
-  EXPECT_THAT(buffer.data(), StrEq("QUI="));
-  EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, mju_encodeBase64_align2) {
-  std::array<char, 5> buffer;
-  std::array<std::uint8_t, 1> arr = {'A'};
-
-  std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
-
-  EXPECT_THAT(buffer.data(), StrEq("QQ=="));
-  EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, mju_encodeBase64_null) {
-  std::array<char, 1> buffer;
-
-  std::size_t n = mju_encodeBase64(buffer.data(), NULL, 0);
-
-  EXPECT_THAT(n, 1);
-  EXPECT_THAT(buffer[0], '\0');
-}
-
-TEST_F(Base64Test, mju_encodeBase64_ones) {
-  std::array<char, 5> buffer;
-  std::array<std::uint8_t, 3> arr = {255, 255, 255};
-
-  std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
-
-  EXPECT_THAT(buffer.data(), StrEq("////"));
-  EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, mju_isValidBase64_emptyStr) {
-  std::size_t n = mju_isValidBase64("");
-
-  EXPECT_THAT(n, 0);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_invalid1) {
-  std::size_t n = mju_isValidBase64("A");
-
-  EXPECT_THAT(n, 0);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_invalid2) {
-  std::size_t n = mju_isValidBase64("AAA");
-
-  EXPECT_THAT(n, 0);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_invalid3) {
-  std::size_t n = mju_isValidBase64("A==A");
-
-  EXPECT_THAT(n, 0);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_invalid5) {
-  std::size_t n = mju_isValidBase64("A===");
-
-  EXPECT_THAT(n, 0);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_invalid6) {
-  std::size_t n = mju_isValidBase64("aaaa====");
-
-  EXPECT_THAT(n, 0);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_invalid7) {
-  std::size_t n = mju_isValidBase64("A#AA");
-
-  EXPECT_THAT(n, 0);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_valid1) {
-  std::size_t n = mju_isValidBase64("AB+/");
-
-  EXPECT_THAT(n, 3);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_valid2) {
-  std::size_t n = mju_isValidBase64("ABC=");
-
-  EXPECT_THAT(n, 2);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_valid3) {
-  std::size_t n = mju_isValidBase64("AB==");
-
-  EXPECT_THAT(n, 1);
-}
-
-TEST_F(Base64Test, mju_isValidBase64_valid4) {
-  std::size_t n = mju_isValidBase64("az09AZ+/11==");
-
-  EXPECT_THAT(n, 7);
-}
-
-TEST_F(Base64Test, mju_decodeBase64) {
-  std::array<std::uint8_t, 5> buffer;
-  const char* s = "D4a+//A=";
-
-  std::size_t n = mju_decodeBase64(buffer.data(), s);
-
-  EXPECT_THAT(buffer, ElementsAreArray({15, 134, 190, 255, 240}));
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, mju_decodeBase6_align0) {
-  std::array<std::uint8_t, 3> buffer;
-  const char* s = "QUJD";
-
-  std::size_t n = mju_decodeBase64(buffer.data(), s);
-
-  EXPECT_THAT(buffer, ElementsAreArray({'A', 'B', 'C'}));
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, mju_decodeBase64_align1) {
-  std::array<std::uint8_t, 2> buffer;
-  const char* s = "QUI=";
-
-  std::size_t n = mju_decodeBase64(buffer.data(), s);
-
-  EXPECT_THAT(buffer, ElementsAreArray({'A', 'B'}));
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, mju_decodeBase64_align2) {
-  std::array<std::uint8_t, 1> buffer;
-  const char* s = "QQ==";
-
-  std::size_t n = mju_decodeBase64(buffer.data(), s);
-
-  EXPECT_THAT(buffer, ElementsAreArray({'A'}));
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, mju_decodeBase64_null) {
-  const char* s = "";
-
-  std::size_t n = mju_decodeBase64(NULL, s);
-
-  EXPECT_THAT(n, 0);
-}
-
-TEST_F(Base64Test, mju_decodeBase64_ones) {
-  std::array<std::uint8_t, 3> buffer;
-  const char* s = "////";
-
-  std::size_t n = mju_decodeBase64(buffer.data(), s);
-
-  EXPECT_THAT(buffer, ElementsAreArray({255, 255, 255}));
-  EXPECT_THAT(n, buffer.size());
-}
-
-TEST_F(Base64Test, decodeAndEncode) {
-  std::array<std::uint8_t, 5> buffer1;
-  std::array<char, 9> buffer2;
-  const char* s = "D4a+/vA=";
-
-  mju_decodeBase64(buffer1.data(), s);
-  mju_encodeBase64(buffer2.data(), buffer1.data(), buffer1.size());
-
-  EXPECT_THAT(buffer2.data(), StrEq(s));
-}
-
-// --------------------------------- History Buffers ---------------------------
-
-using HistoryTest = MujocoTest;
-
-// buffer layout: [user(1), cursor(1), times(n), values(n*dim)]
-// cursor points to newest element (logical index n-1)
-// after init, cursor=n-1, so physical indices equal logical indices
-
-TEST_F(HistoryTest, Init) {
-  constexpr int n = 4;
-  constexpr int dim = 1;
-  mjtNum buf[2 + n + n * dim];
-
-  std::vector<mjtNum> times = {4, 6, 8, 10};
-  std::vector<mjtNum> values = {99, 99, 99, 99};
-  mju_historyInit(buf, n, dim, times.data(), values.data(), 0.0);
-
-  // check header
-  EXPECT_EQ(buf[0], 0.0);                         // user
-  EXPECT_EQ(buf[1], static_cast<mjtNum>(n - 1));  // cursor = n-1
-
-  // timestamps: [4, 6, 8, 10] (t=10 is newest)
-  // values: [99, 99, 99, 99]
-  // verify via read function (logical order)
-  mjtNum res;
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 99.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 99.0);
-}
-
-TEST_F(HistoryTest, Init_Vector) {
-  constexpr int n = 3;
-  constexpr int dim = 2;
-  mjtNum buf[2 + n + n * dim];
-
-  std::vector<mjtNum> times = {-2, -1, 0};
-  std::vector<mjtNum> values = {1.0, 2.0, 1.0, 2.0, 1.0, 2.0};
-  mju_historyInit(buf, n, dim, times.data(), values.data(), 0.0);
-
-  EXPECT_EQ(buf[1], static_cast<mjtNum>(n - 1));  // cursor = n-1
-
-  // verify via read function
-  mjtNum res[dim];
-  const mjtNum* ptr = mju_historyRead(buf, n, dim, res, -2.0, 0);
-  ASSERT_NE(ptr, nullptr);
-  EXPECT_EQ(ptr[0], 1.0);
-  EXPECT_EQ(ptr[1], 2.0);
-}
-
-TEST_F(HistoryTest, Append) {
-  constexpr int n = 4;
-  constexpr int dim = 1;
-  // Initialize buffer properly, then insert
-  mjtNum buf[2 + 2 * n];
-  buf[0] = 0.0;
-  buf[1] = n - 1;
-  // timestamps: [4, 6, 8, 10]
-  mjtNum times[] = {4, 6, 8, 10};
-  mju_copy(buf + 2, times, n);
-  // values: [0, 0, 0, 0]
-  mju_zero(buf + 2 + n, n);
-
-  // overwrite with specific values
-  *mju_historyInsert(buf, n, dim, 4.0) = 1.0;
-  *mju_historyInsert(buf, n, dim, 6.0) = 2.0;
-  *mju_historyInsert(buf, n, dim, 8.0) = 3.0;
-  *mju_historyInsert(buf, n, dim, 10.0) = 4.0;
-
-  // now append at t=12
-  *mju_historyInsert(buf, n, dim, 12.0) = 99.0;
-
-  // verify logical order: [6, 8, 10, 12] -> [2, 3, 4, 99]
-  mjtNum res;
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 12.0, 0), 99.0);
-
-  // oldest should now be t=6
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 2.0);
-}
-
-TEST_F(HistoryTest, Append_Multiple) {
-  constexpr int n = 3;
-  constexpr int dim = 1;
-  mjtNum buf[2 + 2 * n];
-  buf[0] = 0.0;
-  buf[1] = n - 1;
-  mjtNum times[] = {-2, -1, 0};
-  mju_copy(buf + 2, times, n);
-  mju_zero(buf + 2 + n, n);
-
-  for (int i = 1; i <= 4; i++) {
-    mjtNum i_real = static_cast<mjtNum>(i);
-    *mju_historyInsert(buf, n, dim, i_real) = i_real;
-  }
-  // Final: logical timestamps [2, 3, 4], values [2, 3, 4]
-  mjtNum res;
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 2.0, 0), 2.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 3.0, 0), 3.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 4.0);
-}
-
-TEST_F(HistoryTest, ReadVector_ExactMatch) {
-  constexpr int n = 3;
-  constexpr int dim = 2;
-  mjtNum buf[2 + n + n * dim];
-  buf[0] = 0.0;
-  buf[1] = n - 1;
-  mjtNum times[] = {0, 1, 2};
-  mju_copy(buf + 2, times, n);
-  mju_zero(buf + 2 + n, n * dim);
-
-  // set values: t=0->(1,2), t=1->(3,4), t=2->(5,6)
-  mjtNum* slot0 = mju_historyInsert(buf, n, dim, 0.0);
-  slot0[0] = 1.0;
-  slot0[1] = 2.0;
-  mjtNum* slot1 = mju_historyInsert(buf, n, dim, 1.0);
-  slot1[0] = 3.0;
-  slot1[1] = 4.0;
-  mjtNum* slot2 = mju_historyInsert(buf, n, dim, 2.0);
-  slot2[0] = 5.0;
-  slot2[1] = 6.0;
-
-  mjtNum res[dim];
-  const mjtNum* ptr = mju_historyRead(buf, n, dim, res, 1.0, 0);
-  ASSERT_NE(ptr, nullptr);
-  EXPECT_EQ(ptr[0], 3.0);
-  EXPECT_EQ(ptr[1], 4.0);
-}
-
-TEST_F(HistoryTest, ReadVector_ZOH) {
-  constexpr int n = 3;
-  constexpr int dim = 2;
-  mjtNum buf[2 + n + n * dim];
-  buf[0] = 0.0;
-  buf[1] = n - 1;
-  mjtNum times[] = {0, 1, 2};
-  mju_copy(buf + 2, times, n);
-  mju_zero(buf + 2 + n, n * dim);
-
-  mjtNum* slot0 = mju_historyInsert(buf, n, dim, 0.0);
-  slot0[0] = 1.0;
-  slot0[1] = 2.0;
-  mjtNum* slot1 = mju_historyInsert(buf, n, dim, 1.0);
-  slot1[0] = 3.0;
-  slot1[1] = 4.0;
-  mjtNum* slot2 = mju_historyInsert(buf, n, dim, 2.0);
-  slot2[0] = 5.0;
-  slot2[1] = 6.0;
-
-  mjtNum res[dim];
-  const mjtNum* ptr = mju_historyRead(buf, n, dim, res, 0.5, 0);
-  ASSERT_NE(ptr, nullptr);
-  EXPECT_EQ(ptr[0], 1.0);
-  EXPECT_EQ(ptr[1], 2.0);
-}
-
-TEST_F(HistoryTest, ReadVector_Linear) {
-  constexpr int n = 3;
-  constexpr int dim = 2;
-  mjtNum buf[2 + n + n * dim];
-  buf[0] = 0.0;
-  buf[1] = n - 1;
-  mjtNum times[] = {0, 1, 2};
-  mju_copy(buf + 2, times, n);
-  mju_zero(buf + 2 + n, n * dim);
-
-  mjtNum* slot0 = mju_historyInsert(buf, n, dim, 0.0);
-  slot0[0] = 1.0;
-  slot0[1] = 2.0;
-  mjtNum* slot1 = mju_historyInsert(buf, n, dim, 1.0);
-  slot1[0] = 3.0;
-  slot1[1] = 4.0;
-  mjtNum* slot2 = mju_historyInsert(buf, n, dim, 2.0);
-  slot2[0] = 5.0;
-  slot2[1] = 6.0;
-
-  mjtNum res[dim];
-  const mjtNum* ptr = mju_historyRead(buf, n, dim, res, 0.5, 1);
-  EXPECT_EQ(ptr, nullptr);
-  EXPECT_NEAR(res[0], 2.0, MjTol(1e-10, 1e-10));  // (1+3)/2
-  EXPECT_NEAR(res[1], 3.0, MjTol(1e-10, 1e-10));  // (2+4)/2
-}
-
-TEST_F(HistoryTest, InsertOutOfOrder) {
-  constexpr int n = 4;
-  constexpr int dim = 1;
-  mjtNum buf[2 + 2 * n];
-  mjtNum res;
-
-  auto reset = [&]() {
-    buf[0] = 0.0;
-    buf[1] = n - 1;
-    mjtNum times[] = {4, 6, 8, 10};
-    mju_copy(buf + 2, times, n);
-    mju_zero(buf + 2 + n, n);
-
-    *mju_historyInsert(buf, n, dim, 4.0) = 1.0;
-    *mju_historyInsert(buf, n, dim, 6.0) = 2.0;
-    *mju_historyInsert(buf, n, dim, 8.0) = 3.0;
-    *mju_historyInsert(buf, n, dim, 10.0) = 4.0;
-  };
-
-  // insert in middle (between t=8 and t=10)
-  reset();
-  *mju_historyInsert(buf, n, dim, 9.0) = 99.0;
-  // logical: [6, 8, 9, 10] -> [2, 3, 99, 4]
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 9.0, 0), 99.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
-
-  // insert near start (between t=4 and t=6)
-  reset();
-  *mju_historyInsert(buf, n, dim, 5.0) = 99.0;
-  // logical: [5, 6, 8, 10] -> [99, 2, 3, 4]
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 5.0, 0), 99.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
-
-  // insert before oldest (t=3 < t=4): replaces oldest
-  reset();
-  *mju_historyInsert(buf, n, dim, 3.0) = 99.0;
-  // logical: [3, 6, 8, 10] -> [99, 2, 3, 4]
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 3.0, 0), 99.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
-}
-
-TEST_F(HistoryTest, InsertReplaceOnCollision) {
-  constexpr int n = 4;
-  constexpr int dim = 1;
-  mjtNum buf[2 + 2 * n];
-  mjtNum res;
-
-  auto reset = [&]() {
-    // timestamps: [4, 6, 8, 10], values initialized to 0
-    buf[0] = 0.0;
-    buf[1] = n - 1;
-    mjtNum times[] = {4, 6, 8, 10};
-    mju_copy(buf + 2, times, n);
-    mju_zero(buf + 2 + n, n);
-
-    *mju_historyInsert(buf, n, dim, 4.0) = 1.0;
-    *mju_historyInsert(buf, n, dim, 6.0) = 2.0;
-    *mju_historyInsert(buf, n, dim, 8.0) = 3.0;
-    *mju_historyInsert(buf, n, dim, 10.0) = 4.0;
-  };
-
-  // collision in middle (t=8)
-  reset();
-  *mju_historyInsert(buf, n, dim, 8.0) = 99.0;
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 1.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 99.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
-
-  // collision at newest (t=10)
-  reset();
-  *mju_historyInsert(buf, n, dim, 10.0) = 99.0;
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 1.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 99.0);
-
-  // collision at oldest (t=4)
-  reset();
-  *mju_historyInsert(buf, n, dim, 4.0) = 99.0;
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 99.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
-  EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
-}
-
-void TriggerHistoryInitNonMonotonic() {
-  mjtNum buf[10];
-  mjtNum times[4] = {1, 2, 2, 4};  // not strictly increasing
-  mjtNum values[4] = {0};
-  mju_historyInit(buf, 4, 1, times, values, 0.0);
-}
-
-TEST_F(HistoryTest, Init_NonMonotonic) {
-  EXPECT_FATAL_FAILURE(TriggerHistoryInitNonMonotonic(),
-                       "mju_historyInit: times must be strictly increasing");
-}
-
-TEST_F(HistoryTest, CubicInterpolation) {
-  int n = 2;
-  int dim = 2;
-  mjtNum buf[100];  // 2 + 2 + 2*2 = 8
-  buf[0] = 0.0;
-  buf[1] = n - 1;
-  mjtNum times[] = {-1, 0};
-  mju_copy(buf + 2, times, n);
-  mju_zero(buf + 2 + n, n * dim);
-
-  // Insert (0, 0, 1) and (1, 1, 0).
-  // Dim 0: 0 -> 1. Spline: p(x) = 3x^2 - 2x^3
-  // Dim 1: 1 -> 0. Spline: p(x) = 1 - 3x^2 + 2x^3
-  mjtNum* slot0 = mju_historyInsert(buf, n, dim, 0.0);
-  slot0[0] = 0.0;
-  slot0[1] = 1.0;
-  mjtNum* slot1 = mju_historyInsert(buf, n, dim, 1.0);
-  slot1[0] = 1.0;
-  slot1[1] = 0.0;
-
-  mjtNum res[2];
-
-  // Test midpoint x=0.5
-  // Dim 0: 0.5
-  // Dim 1: 1 - 0.5 = 0.5
-  mju_historyRead(buf, n, dim, res, 0.5, 2);
-  EXPECT_NEAR(res[0], 0.5, MjTol(1e-9, 1e-9));
-  EXPECT_NEAR(res[1], 0.5, MjTol(1e-9, 1e-9));
-
-  // Test x=0.25
-  // Dim 0: 3*0.25^2 - 2*0.25^3
-  // Dim 1: 1 - (3*0.25^2 - 2*0.25^3)
-  mju_historyRead(buf, n, dim, res, 0.25, 2);
-  mjtNum expected_0_25 = 3 * 0.25 * 0.25 - 2 * 0.25 * 0.25 * 0.25;
-  EXPECT_NEAR(res[0], expected_0_25, MjTol(1e-9, 1e-9));
-  EXPECT_NEAR(res[1], 1.0 - expected_0_25, MjTol(1e-9, 1e-9));
-
-  // Test x=0.8
-  // Dim 0: 3*0.8^2 - 2*0.8^3
-  // Dim 1: 1 - (3*0.8^2 - 2*0.8^3)
-  mju_historyRead(buf, n, dim, res, 0.8, 2);
-  mjtNum expected_0_8 = 3 * 0.8 * 0.8 - 2 * 0.8 * 0.8 * 0.8;
-  EXPECT_NEAR(res[0], expected_0_8, MjTol(1e-9, 1e-9));
-  EXPECT_NEAR(res[1], 1.0 - expected_0_8, MjTol(1e-9, 1e-9));
-}
-
-// -------------------------------- Face State ---------------------------------
-
-using FaceStateTest = MujocoTest;
-
-// verify mju_flexGatherFaceState returns correct node indices for all 6 faces
-// of a 1x1x1 trilinear grid (2x2x2 = 8 nodes, 4 nodes per face)
-TEST_F(FaceStateTest, NodeIndicesSingleCell) {
-  int order = 1;
-  int cx = 1, cy = 1, cz = 1;
-  int ny_g = cy * order + 1;  // 2
-  int nz_g = cz * order + 1;  // 2
-
-  // nelem_fe = 2*(1*1 + 1*1 + 1*1) = 6 face elements
-  // face 0: x=0, face 1: x=max, face 2: y=0, face 3: y=max,
-  // face 4: z=0, face 5: z=max
-
-  // create dummy positions for 8 nodes
-  std::vector<mjtNum> xpos(3 * 8, 0);
-  for (int i = 0; i < 8; i++) {
-    xpos[3 * i + 0] = (i / 4) * 1.0;
-    xpos[3 * i + 1] = ((i / 2) % 2) * 1.0;
-    xpos[3 * i + 2] = (i % 2) * 1.0;
-  }
-
-  // helper: compute expected global node index from (gx, gy, gz)
-  auto gidx = [&](int gx, int gy, int gz) {
-    return gx * ny_g * nz_g + gy * nz_g + gz;
-  };
-
-  // face 0: x=0 (fixed g[0]=0, varying g[1], g[2])
-  // normal_axis=0, na0=1, na1=2
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 0, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(0, 0, 0));
-    EXPECT_EQ(indices[1], gidx(0, 0, 1));
-    EXPECT_EQ(indices[2], gidx(0, 1, 0));
-    EXPECT_EQ(indices[3], gidx(0, 1, 1));
-  }
-
-  // face 1: x=max (fixed g[0]=1, varying g[1], g[2])
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 1, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(1, 0, 0));
-    EXPECT_EQ(indices[1], gidx(1, 0, 1));
-    EXPECT_EQ(indices[2], gidx(1, 1, 0));
-    EXPECT_EQ(indices[3], gidx(1, 1, 1));
-  }
-
-  // face 2: y=0 (fixed g[1]=0)
-  // normal_axis=1, na0=2(z slow), na1=0(x fast)
-  // loop order: l0→z, l1→x
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 2, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(0, 0, 0));  // l0=0(z=0), l1=0(x=0)
-    EXPECT_EQ(indices[1], gidx(1, 0, 0));  // l0=0(z=0), l1=1(x=1)
-    EXPECT_EQ(indices[2], gidx(0, 0, 1));  // l0=1(z=1), l1=0(x=0)
-    EXPECT_EQ(indices[3], gidx(1, 0, 1));  // l0=1(z=1), l1=1(x=1)
-  }
-
-  // face 3: y=max (fixed g[1]=1)
-  // normal_axis=1, na0=2(z slow), na1=0(x fast)
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 3, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(0, 1, 0));  // l0=0(z=0), l1=0(x=0)
-    EXPECT_EQ(indices[1], gidx(1, 1, 0));  // l0=0(z=0), l1=1(x=1)
-    EXPECT_EQ(indices[2], gidx(0, 1, 1));  // l0=1(z=1), l1=0(x=0)
-    EXPECT_EQ(indices[3], gidx(1, 1, 1));  // l0=1(z=1), l1=1(x=1)
-  }
-
-  // face 4: z=0 (fixed g[2]=0, varying g[0], g[1])
-  // normal_axis=2, na0=0, na1=1
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 4, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(0, 0, 0));
-    EXPECT_EQ(indices[1], gidx(0, 1, 0));
-    EXPECT_EQ(indices[2], gidx(1, 0, 0));
-    EXPECT_EQ(indices[3], gidx(1, 1, 0));
-  }
-
-  // face 5: z=max (fixed g[2]=1)
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 5, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(0, 0, 1));
-    EXPECT_EQ(indices[1], gidx(0, 1, 1));
-    EXPECT_EQ(indices[2], gidx(1, 0, 1));
-    EXPECT_EQ(indices[3], gidx(1, 1, 1));
-  }
-}
-
-// verify node indices for a multi-cell grid (2x2x2 cells → 3x3x3 = 27 nodes)
-TEST_F(FaceStateTest, NodeIndicesMultiCell) {
-  int order = 1;
-  int cx = 2, cy = 2, cz = 2;
-  int ny_g = 3, nz_g = 3;  // (2*1+1) = 3
-
-  // nelem_fe = 2*(2*2 + 2*2 + 2*2) = 24 face elements
-  // face 0: x=0, cy*cz = 4 quads (indices 0-3)
-  // face 1: x=max, 4 quads (indices 4-7)
-  // face 2: y=0, cx*cz = 4 quads (indices 8-11)
-  // face 3: y=max, 4 quads (indices 12-15)
-  // face 4: z=0, cx*cy = 4 quads (indices 16-19)
-  // face 5: z=max, 4 quads (indices 20-23)
-
-  std::vector<mjtNum> xpos(3 * 27, 0);
-  for (int i = 0; i < 27; i++) {
-    int gi = i / 9;
-    int gj = (i / 3) % 3;
-    int gk = i % 3;
-    xpos[3 * i + 0] = gi * 0.1;
-    xpos[3 * i + 1] = gj * 0.1;
-    xpos[3 * i + 2] = gk * 0.1;
-  }
-
-  auto gidx = [&](int gx, int gy, int gz) {
-    return gx * ny_g * nz_g + gy * nz_g + gz;
-  };
-
-  // face 0 (x=0), quad 0: (q0=0, q1=0) within cy*cz face
-  // c1 = face_count1[0] = cz = 2, so quad (0,0) → within_face = 0
-  // na0=1, na1=2: g[0]=0, g[1]=0..1, g[2]=0..1
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 0, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(0, 0, 0));
-    EXPECT_EQ(indices[1], gidx(0, 0, 1));
-    EXPECT_EQ(indices[2], gidx(0, 1, 0));
-    EXPECT_EQ(indices[3], gidx(0, 1, 1));
-  }
-
-  // face 0 (x=0), quad 3: (q0=1, q1=1) → within_face = 1*2+1 = 3
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 3, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(0, 1, 1));
-    EXPECT_EQ(indices[1], gidx(0, 1, 2));
-    EXPECT_EQ(indices[2], gidx(0, 2, 1));
-    EXPECT_EQ(indices[3], gidx(0, 2, 2));
-  }
-
-  // face 1 (x=max), quad 0: fe_idx = 4 (after face 0's 4 quads)
-  // g[0] = cx*order = 2
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 4, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(2, 0, 0));
-    EXPECT_EQ(indices[1], gidx(2, 0, 1));
-    EXPECT_EQ(indices[2], gidx(2, 1, 0));
-    EXPECT_EQ(indices[3], gidx(2, 1, 1));
-  }
-}
-
-// verify node indices for a non-cubic grid (cx != cz)
-TEST_F(FaceStateTest, NodeIndicesNonCubicGrid) {
-  int order = 1;
-  int cx = 2, cy = 1, cz = 3;
-  int ny_g = cy * order + 1;  // 2
-  int nz_g = cz * order + 1;  // 4
-
-  // create dummy positions for (2*1+1)*(1*1+1)*(3*1+1) = 3*2*4 = 24 nodes
-  std::vector<mjtNum> xpos(3 * 24, 0);
-  for (int i = 0; i < 24; i++) {
-    int gi = i / 8;
-    int gj = (i / 4) % 2;
-    int gk = i % 4;
-    xpos[3 * i + 0] = gi * 0.1;
-    xpos[3 * i + 1] = gj * 0.1;
-    xpos[3 * i + 2] = gk * 0.1;
-  }
-
-  auto gidx = [&](int gx, int gy, int gz) {
-    return gx * ny_g * nz_g + gy * nz_g + gz;
-  };
-
-  // face 2 (y=0): normal_axis=1, na0=2(z slow), na1=0(x fast)
-  // counts: na0 -> cz = 3, na1 -> cx = 2
-  // total quads on face 2 = 6
-  // we test within_face = 2 (third quad)
-  // correct: c1 = cx = 2. q0 = 2/2 = 1, q1 = 2%2 = 0
-  //
-  // face element index calculation:
-  // face 0: cy*cz = 1*3 = 3 quads (indices 0-2)
-  // face 1: cy*cz = 1*3 = 3 quads (indices 3-5)
-  // face 2: cx*cz = 2*3 = 6 quads. Quad 2 is index 2 within this face.
-  // Total flat index = 3 + 3 + 2 = 8
-  {
-    int indices[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, 8, xpos.data(), NULL, NULL, NULL,
-                            NULL, NULL, indices, NULL);
-    EXPECT_EQ(indices[0], gidx(0, 0, 1));
-    EXPECT_EQ(indices[1], gidx(1, 0, 1));
-    EXPECT_EQ(indices[2], gidx(0, 0, 2));
-    EXPECT_EQ(indices[3], gidx(1, 0, 2));
-  }
-}
-
-// verify data gathering: positions, velocities, and reference positions
-TEST_F(FaceStateTest, DataGathering) {
-  int order = 1;
-  int cx = 1, cy = 1, cz = 1;
-  int npe = 4;
-  int nnodes = 8;
-
-  // create positions and velocities for 8 nodes
-  std::vector<mjtNum> xpos(3 * nnodes);
-  std::vector<mjtNum> vel(3 * nnodes);
-  std::vector<mjtNum> xpos0(3 * nnodes);
-  for (int i = 0; i < nnodes; i++) {
-    for (int d = 0; d < 3; d++) {
-      xpos[3 * i + d] = 10 * i + d;
-      vel[3 * i + d] = 100 * i + d;
-      xpos0[3 * i + d] = 1000 * i + d;
-    }
-  }
-
-  // gather face 4 (z=0): nodes at (0,0,0), (0,1,0), (1,0,0), (1,1,0)
-  // = global indices 0, 2, 4, 6
-  std::vector<mjtNum> xpos_f(3 * npe);
-  std::vector<mjtNum> vel_f(3 * npe);
-  std::vector<mjtNum> xpos0_f(3 * npe);
-  int indices[4];
-
-  mju_flexGatherFaceState(order, cx, cy, cz, 4, xpos.data(), vel.data(),
-                          xpos0.data(), xpos_f.data(), vel_f.data(),
-                          xpos0_f.data(), indices, NULL);
-
-  for (int n = 0; n < npe; n++) {
-    int gi = indices[n];
-    for (int d = 0; d < 3; d++) {
-      EXPECT_EQ(xpos_f[3 * n + d], xpos[3 * gi + d]);
-      EXPECT_EQ(vel_f[3 * n + d], vel[3 * gi + d]);
-      EXPECT_EQ(xpos0_f[3 * n + d], xpos0[3 * gi + d]);
-    }
-  }
-}
-
-// verify that flexInterpRotation2D produces identity for axis-aligned faces
-// (tested via mju_flexGatherFaceState with quat output)
-TEST_F(FaceStateTest, IdentityRotationAxisAligned) {
-  int order = 1;
-  int cx = 1, cy = 1, cz = 1;
-  int npe = 4;
-
-  // create an axis-aligned unit cube: 8 nodes at {0,1}^3
-  std::vector<mjtNum> xpos(3 * 8);
-  int idx = 0;
-  for (int i = 0; i <= 1; i++) {
-    for (int j = 0; j <= 1; j++) {
-      for (int k = 0; k <= 1; k++) {
-        xpos[3 * idx + 0] = i;
-        xpos[3 * idx + 1] = j;
-        xpos[3 * idx + 2] = k;
-        idx++;
-      }
-    }
-  }
-
-  std::vector<mjtNum> xpos_f(3 * npe);
-  mjtNum quat[4];
-
-  // test all 6 faces: each should give identity rotation (quat = [1,0,0,0])
-  int nelem_fe = 6;
-  for (int fe = 0; fe < nelem_fe; fe++) {
-    mju_flexGatherFaceState(order, cx, cy, cz, fe, xpos.data(), NULL, NULL,
-                            xpos_f.data(), NULL, NULL, NULL, quat);
-    EXPECT_NEAR(mju_abs(quat[0]), 1.0, 1e-10) << "face " << fe;
-    EXPECT_NEAR(quat[1], 0.0, 1e-10) << "face " << fe;
-    EXPECT_NEAR(quat[2], 0.0, 1e-10) << "face " << fe;
-    EXPECT_NEAR(quat[3], 0.0, 1e-10) << "face " << fe;
-  }
-}
-
-// verify that flexInterpRotation2D extracts the correct rotation for a
-// globally rotated cube (90° around z-axis)
-TEST_F(FaceStateTest, RotatedCubeRotation) {
-  int order = 1;
-  int cx = 1, cy = 1, cz = 1;
-  int npe = 4;
-
-  // create an axis-aligned unit cube, then rotate 90° around z
-  // rotation: (x,y,z) → (-y, x, z)
-  std::vector<mjtNum> xpos(3 * 8);
-  int idx = 0;
-  for (int i = 0; i <= 1; i++) {
-    for (int j = 0; j <= 1; j++) {
-      for (int k = 0; k <= 1; k++) {
-        mjtNum orig[3] = {(mjtNum)i, (mjtNum)j, (mjtNum)k};
-        mjtNum axis[3] = {0, 0, 1};
-        mjtNum rot_quat[4];
-        mju_axisAngle2Quat(rot_quat, axis, mjPI / 2);
-        mju_rotVecQuat(xpos.data() + 3 * idx, orig, rot_quat);
-        idx++;
-      }
-    }
-  }
-
-  std::vector<mjtNum> xpos_f(3 * npe);
-  mjtNum quat[4];
-
-  // expected rotation: global→local is inverse of the 90° z rotation
-  // 90° around z: quat = [cos(45°), 0, 0, sin(45°)]
-  // inverse (global→local): [cos(45°), 0, 0, -sin(45°)]
-  mjtNum sq2 = mju_sqrt(0.5);
-
-  // test face 4 (z=0): normal_axis=2, in-plane axes are (0,1)
-  // tangent vectors should reflect the 90° z rotation
-  mju_flexGatherFaceState(order, cx, cy, cz, 4, xpos.data(), NULL, NULL,
-                          xpos_f.data(), NULL, NULL, NULL, quat);
-
-  EXPECT_NEAR(quat[0], sq2, 1e-5);
-  EXPECT_NEAR(quat[1], 0.0, 1e-5);
-  EXPECT_NEAR(quat[2], 0.0, 1e-5);
-  EXPECT_NEAR(quat[3], -sq2, 1e-5);
-
-  // test face 5 (z=max): should give same rotation
-  mju_flexGatherFaceState(order, cx, cy, cz, 5, xpos.data(), NULL, NULL,
-                          xpos_f.data(), NULL, NULL, NULL, quat);
-
-  EXPECT_NEAR(quat[0], sq2, 1e-5);
-  EXPECT_NEAR(quat[1], 0.0, 1e-5);
-  EXPECT_NEAR(quat[2], 0.0, 1e-5);
-  EXPECT_NEAR(quat[3], -sq2, 1e-5);
-}
-
-// verify that flexInterpRotation2D matches the 3D cell rotation for
-// the same globally-rotated cube
-TEST_F(FaceStateTest, RotationConsistencyWith3D) {
-  int order = 1;
-  int cx = 1, cy = 1, cz = 1;
-
-  // create 90° z-rotated unit cube
-  std::vector<mjtNum> xpos(3 * 8);
-  int idx = 0;
-  for (int i = 0; i <= 1; i++) {
-    for (int j = 0; j <= 1; j++) {
-      for (int k = 0; k <= 1; k++) {
-        mjtNum orig[3] = {(mjtNum)i, (mjtNum)j, (mjtNum)k};
-        mjtNum axis[3] = {0, 0, 1};
-        mjtNum rot_quat[4];
-        mju_axisAngle2Quat(rot_quat, axis, mjPI / 6);
-        mju_rotVecQuat(xpos.data() + 3 * idx, orig, rot_quat);
-        idx++;
-      }
-    }
-  }
-
-  // get 3D cell rotation
-  int npc = 8;
-  std::vector<mjtNum> xpos_c(3 * npc);
-  mjtNum quat_3d[4];
-  mju_flexGatherCellState(order, cy, cz, 0, 0, 0, xpos.data(), NULL, NULL,
-                          xpos_c.data(), NULL, NULL, NULL, quat_3d);
-
-  // get 2D face rotation for each face and verify it matches the 3D rotation
-  int npe = 4;
-  std::vector<mjtNum> xpos_f(3 * npe);
-
-  int nelem_fe = 6;
-  for (int fe = 0; fe < nelem_fe; fe++) {
-    mjtNum quat_2d[4];
-    mju_flexGatherFaceState(order, cx, cy, cz, fe, xpos.data(), NULL, NULL,
-                            xpos_f.data(), NULL, NULL, NULL, quat_2d);
-
-    // quaternions may differ by sign; compare unsigned
-    mjtNum dot = quat_3d[0] * quat_2d[0] + quat_3d[1] * quat_2d[1] +
-                 quat_3d[2] * quat_2d[2] + quat_3d[3] * quat_2d[3];
-    EXPECT_NEAR(mju_abs(dot), 1.0, 1e-5)
-        << "face " << fe << ": 2D rotation differs from 3D cell rotation";
-  }
-}
-
-// ------------------------------ Shell TFI Interpolation ----------------------
-
-using ShellTFITest = MujocoTest;
-
-// helper: set up a regular nx*ny*nz grid with positions at grid indices
-static void MakeRegularGrid(mjtNum* nodexpos, int nx, int ny, int nz) {
-  for (int i = 0; i < nx; i++) {
-    for (int j = 0; j < ny; j++) {
-      for (int k = 0; k < nz; k++) {
-        int idx = i * ny * nz + j * nz + k;
-        nodexpos[3 * idx + 0] = (mjtNum)i;
-        nodexpos[3 * idx + 1] = (mjtNum)j;
-        nodexpos[3 * idx + 2] = (mjtNum)k;
-      }
-    }
-  }
-}
-
-TEST_F(ShellTFITest, IdentityGrid) {
-  // 3x3x3 grid: 1 interior node at (1,1,1)
-  constexpr int nx = 3, ny = 3, nz = 3;
-  mjtNum nodexpos[3 * nx * ny * nz];
-  MakeRegularGrid(nodexpos, nx, ny, nz);
-
-  // save expected interior position
-  mjtNum expected[3] = {1.0, 1.0, 1.0};
-
-  // run TFI
-  mju_shellTrackInterior(nodexpos, nx, ny, nz);
-
-  // interior node at (1,1,1) should match
-  int idx = 1 * ny * nz + 1 * nz + 1;
-  EXPECT_NEAR(nodexpos[3 * idx + 0], expected[0], MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(nodexpos[3 * idx + 1], expected[1], MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(nodexpos[3 * idx + 2], expected[2], MjTol(1e-12, 1e-5));
-}
-
-TEST_F(ShellTFITest, UniformScaling) {
-  // 3x3x3: scale all boundary nodes by 2x, interior should follow
-  constexpr int nx = 3, ny = 3, nz = 3;
-  mjtNum nodexpos[3 * nx * ny * nz];
-  MakeRegularGrid(nodexpos, nx, ny, nz);
-
-  // scale all nodes
-  for (int i = 0; i < 3 * nx * ny * nz; i++) {
-    nodexpos[i] *= 2.0;
-  }
-
-  // run TFI — interior should be reconstructed to 2*original
-  mju_shellTrackInterior(nodexpos, nx, ny, nz);
-
-  int idx = 1 * ny * nz + 1 * nz + 1;
-  EXPECT_NEAR(nodexpos[3 * idx + 0], 2.0, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(nodexpos[3 * idx + 1], 2.0, MjTol(1e-12, 1e-5));
-  EXPECT_NEAR(nodexpos[3 * idx + 2], 2.0, MjTol(1e-12, 1e-5));
-}
-
-TEST_F(ShellTFITest, AffineDeformation) {
-  // 4x4x4 grid with 8 interior nodes. Apply affine transform to boundary,
-  // then verify TFI reproduces the same affine transform on interior nodes.
-  constexpr int nx = 4, ny = 4, nz = 4;
-  mjtNum nodexpos[3 * nx * ny * nz];
-  MakeRegularGrid(nodexpos, nx, ny, nz);
-
-  // affine: F(x,y,z) = A*[x,y,z]^T + b
-  // A = [[2, 0.5, 0], [0.3, 1.5, 0], [0, 0, 1]], b = [10, 20, 30]
-  auto affine = [](mjtNum x, mjtNum y, mjtNum z, mjtNum out[3]) {
-    out[0] = 2.0 * x + 0.5 * y + 10.0;
-    out[1] = 0.3 * x + 1.5 * y + 20.0;
-    out[2] = z + 30.0;
-  };
-
-  // apply affine to all nodes
-  for (int i = 0; i < nx; i++) {
-    for (int j = 0; j < ny; j++) {
-      for (int k = 0; k < nz; k++) {
-        int idx = i * ny * nz + j * nz + k;
-        affine((mjtNum)i, (mjtNum)j, (mjtNum)k, nodexpos + 3 * idx);
-      }
-    }
-  }
-
-  // corrupt interior nodes to verify TFI actually reconstructs them
-  for (int i = 1; i < nx - 1; i++) {
-    for (int j = 1; j < ny - 1; j++) {
-      for (int k = 1; k < nz - 1; k++) {
-        int idx = i * ny * nz + j * nz + k;
-        nodexpos[3 * idx + 0] = -999;
-        nodexpos[3 * idx + 1] = -999;
-        nodexpos[3 * idx + 2] = -999;
-      }
-    }
-  }
-
-  // run TFI
-  mju_shellTrackInterior(nodexpos, nx, ny, nz);
-
-  // check all interior nodes match affine
-  for (int i = 1; i < nx - 1; i++) {
-    for (int j = 1; j < ny - 1; j++) {
-      for (int k = 1; k < nz - 1; k++) {
-        int idx = i * ny * nz + j * nz + k;
-        mjtNum expected[3];
-        affine((mjtNum)i, (mjtNum)j, (mjtNum)k, expected);
-        EXPECT_NEAR(nodexpos[3 * idx + 0], expected[0], MjTol(1e-12, 1e-4))
-            << "i=" << i << " j=" << j << " k=" << k;
-        EXPECT_NEAR(nodexpos[3 * idx + 1], expected[1], MjTol(1e-12, 1e-4))
-            << "i=" << i << " j=" << j << " k=" << k;
-        EXPECT_NEAR(nodexpos[3 * idx + 2], expected[2], MjTol(1e-12, 1e-4))
-            << "i=" << i << " j=" << j << " k=" << k;
-      }
-    }
-  }
-}
-
-TEST_F(ShellTFITest, BoundaryUnmodified) {
-  // verify that boundary nodes are not modified by TFI
-  constexpr int nx = 4, ny = 4, nz = 4;
-  mjtNum nodexpos[3 * nx * ny * nz];
-  MakeRegularGrid(nodexpos, nx, ny, nz);
-
-  // save boundary node values
-  mjtNum saved[3 * nx * ny * nz];
-  mju_copy(saved, nodexpos, 3 * nx * ny * nz);
-
-  mju_shellTrackInterior(nodexpos, nx, ny, nz);
-
-  // check all boundary nodes unchanged
-  for (int i = 0; i < nx; i++) {
-    for (int j = 0; j < ny; j++) {
-      for (int k = 0; k < nz; k++) {
-        bool is_boundary = (i == 0 || i == nx - 1 || j == 0 || j == ny - 1 ||
-                            k == 0 || k == nz - 1);
-        if (is_boundary) {
-          int idx = i * ny * nz + j * nz + k;
-          EXPECT_EQ(nodexpos[3 * idx + 0], saved[3 * idx + 0]);
-          EXPECT_EQ(nodexpos[3 * idx + 1], saved[3 * idx + 1]);
-          EXPECT_EQ(nodexpos[3 * idx + 2], saved[3 * idx + 2]);
-        }
-      }
-    }
-  }
-}
-
-TEST_F(ShellTFITest, NoInteriorSmallGrid) {
-  // 2x2x2 and 2x3x2: no interior nodes, TFI should be a no-op
-  constexpr int nx = 2, ny = 3, nz = 2;
-  mjtNum nodexpos[3 * nx * ny * nz];
-  MakeRegularGrid(nodexpos, nx, ny, nz);
-
-  mjtNum saved[3 * nx * ny * nz];
-  mju_copy(saved, nodexpos, 3 * nx * ny * nz);
-
-  mju_shellTrackInterior(nodexpos, nx, ny, nz);
-
-  // all nodes unchanged
-  for (int i = 0; i < 3 * nx * ny * nz; i++) {
-    EXPECT_EQ(nodexpos[i], saved[i]);
-  }
-}
-
-TEST_F(UtilMiscTest, Round) {
-  // basic rounding
-  EXPECT_EQ(mju_round(2.3), 2);
-  EXPECT_EQ(mju_round(2.7), 3);
-  EXPECT_EQ(mju_round(-2.3), -2);
-  EXPECT_EQ(mju_round(-2.7), -3);
-
-  // exact integers
-  EXPECT_EQ(mju_round(0.0), 0);
-  EXPECT_EQ(mju_round(3.0), 3);
-  EXPECT_EQ(mju_round(-3.0), -3);
-
-  // ties: round() rounds away from zero
-  EXPECT_EQ(mju_round(0.5), 1);
-  EXPECT_EQ(mju_round(1.5), 2);
-  EXPECT_EQ(mju_round(-0.5), -1);
-  EXPECT_EQ(mju_round(-1.5), -2);
-
-  // overflow clamps to INT_MAX/INT_MIN
-  EXPECT_EQ(mju_round(1e18), INT_MAX);
-  EXPECT_EQ(mju_round(-1e18), INT_MIN);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_util_solve_test.cc b/test/engine/engine_util_solve_test.cc
deleted file mode 100644
index d28fb26f..00000000
--- a/test/engine/engine_util_solve_test.cc
+++ /dev/null
@@ -1,1310 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_util_solve.c.
-
-#include "src/engine/engine_util_solve.h"
-
-#include <cstddef>
-#include <iomanip>
-#include <iostream>
-#include <limits>
-#include <random>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_util_blas.h"
-#include "src/engine/engine_util_misc.h"
-#include "src/engine/engine_util_sparse.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::Pointwise;
-
-using ::std::setw;
-using ::std::string;
-using ::std::vector;
-using ::testing::ElementsAre;
-using QCQP2Test = MujocoTest;
-
-TEST_F(QCQP2Test, DegenerateAMatrix) {
-  // A 2x2 matrix with determinant zero.
-  const mjtNum Ain[9]{6, -15, 2, -5};
-
-  // Any values will do for these three inputs.
-  const mjtNum bin[3]{-12, 49};
-  const mjtNum d[3]{11, 31};
-  const mjtNum r = 0.01;
-
-  // Make output array explicitly nonzero to simulate uninitialized memory.
-  mjtNum res[2]{999, 999};
-
-  EXPECT_EQ(mju_QCQP2(res, Ain, bin, d, r), 0);
-  EXPECT_EQ(res[0], 0);
-  EXPECT_EQ(res[1], 0);
-}
-
-using QCQP3Test = MujocoTest;
-
-TEST_F(QCQP3Test, DegenerateAMatrix) {
-  // A 3x3 matrix with determinant zero.
-  const mjtNum Ain[9]{1, 4, -2, -3, -7, 5, 2, -9, 0};
-
-  // Any values will do for these three inputs.
-  const mjtNum bin[3]{-12, 49, 8};
-  const mjtNum d[3]{11, 31, -23};
-  const mjtNum r = 0.1;
-
-  // Make output array explicitly nonzero to simulate uninitialized memory.
-  mjtNum res[3]{999, 999, 999};
-
-  EXPECT_EQ(mju_QCQP3(res, Ain, bin, d, r), 0);
-  EXPECT_EQ(res[0], 0);
-  EXPECT_EQ(res[1], 0);
-  EXPECT_EQ(res[2], 0);
-}
-
-// --------------------------- mju_boxQP ---------------------------------------
-
-using BoxQPTest = MujocoTest;
-
-// utility: compute QP objective = 0.5*x'*H*x + x'*g
-mjtNum objective(const mjtNum* x, const mjtNum* H, const mjtNum* g, int n) {
-  return 0.5 * mju_mulVecMatVec(x, H, x, n) + mju_dot(x, g, n);
-}
-
-// utility: test if res is the minimum of a given box-QP problem
-bool isQPminimum(const mjtNum* res, const mjtNum* H, const mjtNum* g, int n,
-                 const mjtNum* lower, const mjtNum* upper) {
-  const mjtNum eps = MjTol(1e-4, 5e-2);      // epsilon used for nudging
-  const mjtNum threshold = MjTol(0, -2e-3);  // comparison threshold
-  bool is_minimum = true;
-  mjtNum* res_nudge = (mjtNum*)mju_malloc(sizeof(mjtNum) * n);
-
-  // get solution value
-  mjtNum value = objective(res, H, g, n);
-  mjtNum value_nudge;
-
-  // compare to nudged solution
-  mju_copy(res_nudge, res, n);
-  for (int i = 0; i < n; i++) {
-    // nudge down
-    res_nudge[i] = res[i] - eps;
-    if (lower) {
-      res_nudge[i] = mju_max(lower[i], res_nudge[i]);
-    }
-    value_nudge = objective(res_nudge, H, g, n);
-    if (value_nudge - value < threshold) {
-      is_minimum = false;
-      break;
-    }
-
-    // nudge up
-    res_nudge[i] = res[i] + eps;
-    if (upper) {
-      res_nudge[i] = mju_min(upper[i], res_nudge[i]);
-    }
-    value_nudge = objective(res_nudge, H, g, n);
-    if (value_nudge - value < threshold) {
-      is_minimum = false;
-      break;
-    }
-
-    // reset
-    res_nudge[i] = res[i];
-  }
-
-  mju_free(res_nudge);
-  return is_minimum;
-}
-
-// utility: define QP with pseudorandom values
-void randomBoxQP(int n, mjtNum* H, mjtNum* g, mjtNum* lower, mjtNum* upper,
-                 int seed) {
-  // make distribution using seed
-  std::mt19937_64 rng;
-  rng.seed(seed);
-  std::normal_distribution<double> dist(0, 1);
-
-  // square root of H
-  mjtNum* sqrtH = (mjtNum*)mju_malloc(sizeof(mjtNum) * n * n);
-
-  for (int i = 0; i < n; i++) {
-    g[i] = dist(rng);
-    lower[i] = 5 * dist(rng);
-    upper[i] = 5 * dist(rng);
-
-    // fix invalid bounds
-    if (lower[i] > upper[i]) {
-      mjtNum tmp = upper[i];
-      upper[i] = lower[i];
-      lower[i] = tmp;
-    }
-
-    // sample temp
-    for (int j = 0; j < n; j++) {
-      sqrtH[n * i + j] = dist(rng);
-    }
-  }
-
-  // make SPD matrix H
-  mju_mulMatTMat(H, sqrtH, sqrtH, n, n, n);
-
-  mju_free(sqrtH);
-}
-
-// test mju_boxQP on a small unbounded QP
-TEST_F(BoxQPTest, UnboundedQP) {
-  // small arrays, allocate on stack
-  static const int n = 2;
-  mjtNum H[n * n] = {2, 0, 0, 2};
-  mjtNum g[n] = {1, 3};
-  mjtNum res[n] = {0, 0};
-  mjtNum R[n * (n + 7)];
-
-  int nfree = mju_boxQP(res, R, /*index=*/nullptr, H, g, n,
-                        /*lower=*/nullptr, /*upper=*/nullptr);
-
-  // no bounds, expect Newton point
-  EXPECT_EQ(nfree, 2);
-  EXPECT_MJTNUM_EQ(res[0], -g[0] / H[0]);
-  EXPECT_MJTNUM_EQ(res[1], -g[1] / H[3]);
-
-  // check that solution is actual minimum
-  EXPECT_TRUE(isQPminimum(res, H, g, n, /*lower=*/nullptr, /*upper=*/nullptr));
-
-  // perturb solution, expected it no longer be the minimum
-  res[0] += MjTol(0.001, 0.1);
-  EXPECT_FALSE(isQPminimum(res, H, g, n, /*lower=*/nullptr, /*upper=*/nullptr));
-
-  // negative-definite Hessian, no solution
-  H[0] = -1;
-  nfree = mju_boxQP(res, R, /*index=*/nullptr, H, g, n,
-                    /*lower=*/nullptr, /*upper=*/nullptr);
-
-  EXPECT_EQ(nfree, -1);
-}
-
-// small bounded QP with asymmetric Hessian (upper triangle ignored)
-TEST_F(BoxQPTest, AsymmetricUpperIgnored) {
-  // small arrays, allocate on stack
-  static const int n = 2;
-  mjtNum H[n * n] = {1, -400, 0, 1};
-  mjtNum g[n] = {1, 3};
-  mjtNum res[n] = {0, 0};
-  mjtNum lower[n] = {-2, -2};
-  mjtNum upper[n] = {0, 0};
-  int index[n];
-  mjtNum R[n * (n + 7)];
-
-  // solve box-QP
-  int nfree = mju_boxQP(res, R, index, H, g, n, lower, upper);
-
-  EXPECT_EQ(nfree, 1);
-
-  EXPECT_MJTNUM_EQ(res[0], -g[0] / H[0]);
-  EXPECT_MJTNUM_EQ(res[1], lower[1]);
-}
-
-// verify mju_boxQP reads only the lower triangle of H by poisoning the upper
-// triangle with NaN and comparing to a clean symmetric solve
-TEST_F(BoxQPTest, UpperTrianglePoisoned) {
-  int n = 30;
-  const mjtNum nan = std::numeric_limits<mjtNum>::quiet_NaN();
-
-  // allocate on heap
-  mjtNum *H, *g, *lower, *upper;  // inputs
-  mjtNum *res, *R;                // outputs
-  int* index;                     // outputs
-  mju_boxQPmalloc(&res, &R, &index, &H, &g, n, &lower, &upper);
-
-  struct Cleanup {
-    mjtNum *res, *R, *H, *g, *lower, *upper;
-    int* index;
-    ~Cleanup() {
-      mju_free(res);
-      mju_free(R);
-      mju_free(index);
-      mju_free(H);
-      mju_free(g);
-      mju_free(lower);
-      mju_free(upper);
-    }
-  } cleanup{res, R, H, g, lower, upper, index};
-
-  // generate a symmetric SPD Hessian and bounded QP problem
-  randomBoxQP(n, H, g, lower, upper, /*seed=*/1);
-
-  int maxiter = 100;
-  mjtNum mingrad = MjTol(1E-16, 1E-5);
-  mjtNum backtrack = 0.5;
-  mjtNum minstep = MjTol(1E-22, 1E-10);
-  mjtNum armijo = 0.1;
-
-  // solve with symmetric H to get the reference result
-  mju_zero(res, n);
-  int nfree_ref =
-      mju_boxQPoption(res, R, index, H, g, n, lower, upper, maxiter, mingrad,
-                      backtrack, minstep, armijo, nullptr, 0);
-  ASSERT_GT(nfree_ref, -1);
-
-  // save reference
-  std::vector<mjtNum> res_ref(res, res + n);
-  std::vector<int> index_ref(index, index + n);
-  std::vector<mjtNum> R_ref(R, R + nfree_ref * nfree_ref);
-
-  // poison the strict upper triangle of H with NaN
-  for (int i = 0; i < n; i++) {
-    for (int j = i + 1; j < n; j++) {
-      H[n * i + j] = nan;
-    }
-  }
-
-  // solve again; result must match because only lower triangle should be read
-  mju_zero(res, n);
-  int nfree_poisoned =
-      mju_boxQPoption(res, R, index, H, g, n, lower, upper, maxiter, mingrad,
-                      backtrack, minstep, armijo, nullptr, 0);
-
-  EXPECT_EQ(nfree_poisoned, nfree_ref);
-  for (int i = 0; i < n; i++) {
-    EXPECT_EQ(res[i], res_ref[i]) << "mismatch at index " << i;
-  }
-  for (int i = 0; i < nfree_ref; i++) {
-    EXPECT_EQ(index[i], index_ref[i]) << "index mismatch at " << i;
-    for (int j = 0; j <= i; j++) {
-      int k = i * nfree_ref + j;
-      EXPECT_EQ(R[k], R_ref[k]) << "R mismatch at row " << i << ", col " << j;
-    }
-  }
-}
-
-// test mju_boxQP on a single random bounded QP
-TEST_F(BoxQPTest, BoundedQP) {
-  int n = 50;  // problem size
-
-  // allocate on heap
-  mjtNum *H, *g, *lower, *upper;  // inputs
-  mjtNum *res, *R;                // outputs
-  int* index;                     // outputs
-  mju_boxQPmalloc(&res, &R, &index, &H, &g, n, &lower, &upper);
-
-  randomBoxQP(n, H, g, lower, upper, /*seed=*/1);
-
-  // initialize res
-  mju_zero(res, n);
-
-  // use default options
-  int maxiter = 100;  // maximum number of iterations
-  mjtNum mingrad =
-      MjTol(1E-16, 1E-5);  // minimum squared norm of (unclamped) gradient
-  mjtNum backtrack = 0.5;  // backtrack factor for decreasing stepsize
-  mjtNum minstep = MjTol(1E-22, 1E-10);  // minimum stepsize for linesearch
-  mjtNum armijo = 0.1;                   // Armijo parameter
-
-  // logging
-  static const int logsz = 10000;
-  char log[logsz];
-
-  int nfree = mju_boxQPoption(res, R, index, H, g, n, lower, upper, maxiter,
-                              mingrad, backtrack, minstep, armijo, log, logsz);
-
-  // ADD_FAILURE() << log;  // uncomment to print `log` to error log
-
-  // check solution
-  EXPECT_GT(nfree, -1);
-  EXPECT_TRUE(isQPminimum(res, H, g, n, lower, upper));
-
-  // verify clamping
-  int j = nfree > 0 ? 0 : -1;
-  for (int i = 0; i < n; i++) {
-    if (j >= 0 && i == index[j]) {  // free dimension
-      EXPECT_GT(res[i], lower[i]);
-      EXPECT_LT(res[i], upper[i]);
-      j++;
-    } else {  // clamped dimension
-      EXPECT_TRUE(res[i] == lower[i] || res[i] == upper[i]);
-    }
-  }
-  mju_free(res);
-  mju_free(R);
-  mju_free(index);
-  mju_free(H);
-  mju_free(g);
-  mju_free(lower);
-  mju_free(upper);
-}
-
-// test mju_boxQP on a set of random bounded QPs
-TEST_F(BoxQPTest, BoundedQPvariations) {
-  if constexpr (sizeof(mjtNum) == sizeof(float)) {
-    GTEST_SKIP()
-        << "BoxQP test permutations contain ill-conditioned matrices which "
-           "natively fail to find descent directions under float32 precision";
-  }
-
-  int nmax = 100;
-
-  // allocate maximum size on heap
-  mjtNum *H, *g, *lower, *upper;  // inputs
-  mjtNum *res, *R;                // outputs
-  int* index;                     // outputs
-  mju_boxQPmalloc(&res, &R, &index, &H, &g, nmax, &lower, &upper);
-
-  // logging
-  static const int logsz = 10000;
-  char log[logsz];
-
-  int seed = 1;
-  for (int n : {3, 30, 100}) {
-    int count = 0;
-    int factorizations = 0;
-    for (mjtNum scaleH : {.01, 1.0, 100.0}) {
-      for (mjtNum scaleg : {.01, 1.0, 100.0}) {
-        for (mjtNum scalebounds : {.01, 1.0, 100.0}) {
-          // make random box-QP
-          randomBoxQP(n, H, g, lower, upper, seed++);
-
-          mju_scl(H, H, scaleH, n * n);
-          mju_scl(g, g, scaleg, n);
-          mju_scl(lower, lower, scalebounds, n);
-          mju_scl(upper, upper, scalebounds, n);
-
-          // initialize with zeros
-          mju_zero(res, n);
-
-          // default algorithm options
-          int maxiter = 100;
-          mjtNum mingrad = MjTol(1E-16, 1E-5);
-          mjtNum backtrack = 0.5;
-          mjtNum minstep = MjTol(1E-22, 1E-10);
-          mjtNum armijo = 0.1;
-
-          // solve box-QP with logging
-          int nfree =
-              mju_boxQPoption(res, R, index, H, g, n, lower, upper, maxiter,
-                              mingrad, backtrack, minstep, armijo, log, logsz);
-
-          // check solution
-          EXPECT_GT(nfree, -1) << log;
-          EXPECT_TRUE(isQPminimum(res, H, g, n, lower, upper))
-              << "n " << n << '\n'
-              << "scaleH " << scaleH << '\n'
-              << "scaleg " << scaleg << '\n'
-              << "scalebounds " << scalebounds << '\n';
-
-          // wrap log with string, count factorizations
-          string slog(log);
-          string factorstr = "factorizations=";
-          std::size_t index = slog.find(factorstr) + factorstr.length();
-          int num_factor = std::stoi(slog.substr(index, 3));
-
-          // never more than 6 factorizations
-          EXPECT_LE(num_factor, 6);
-
-          factorizations += num_factor;
-          count++;
-        }
-      }
-    }
-    double meanfactor = ((double)factorizations) / count;
-
-    // average of 4.5 factorizations is expected
-    EXPECT_LE(meanfactor, 5.0);
-
-    std::cerr << "n=" << setw(3) << n << ": average of " << meanfactor
-              << " factorizations\n";
-  }
-  mju_free(res);
-  mju_free(R);
-  mju_free(index);
-  mju_free(H);
-  mju_free(g);
-  mju_free(lower);
-  mju_free(upper);
-}
-
-// ------------------------- band matrices -------------------------------------
-
-using BandMatrixTest = MujocoTest;
-
-// utility: random "arrowhead", banded-then-dense SPD matrix
-//   optional random vector and diagonal regularizer
-void randomBanded(mjtNum* H, int nTotal, int nBand, int nDense, int seed,
-                  mjtNum* vec = nullptr, mjtNum reg = 0) {
-  // make distribution using seed
-  std::mt19937_64 rng;
-  rng.seed(seed);
-  std::normal_distribution<double> dist(0, 1);
-
-  // allocate square root
-  mjtNum* sqrtH = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal * nTotal);
-
-  // sample
-  for (int i = 0; i < nTotal; i++) {
-    if (vec) vec[i] = dist(rng);
-    for (int j = 0; j < nTotal; j++) {
-      sqrtH[nTotal * i + j] = dist(rng);
-    }
-  }
-
-  // make SPD matrix H
-  mju_mulMatTMat(H, sqrtH, sqrtH, nTotal, nTotal, nTotal);
-
-  // set zeros
-  int nSparse = nTotal - nDense;
-  for (int i = 0; i < nSparse; i++) {
-    int nzeros = mjMAX(0, i + 1 - nBand);
-    for (int j = 0; j < nzeros; j++) {
-      H[nTotal * i + j] = 0;
-      H[nTotal * j + i] = 0;
-    }
-  }
-
-  // add regularizer to diagonal
-  for (int i = 0; i < nTotal; i++) {
-    H[nTotal * i + i] += reg;
-  }
-
-  mju_free(sqrtH);
-}
-
-// test banded-vector diagonal values
-TEST_F(BandMatrixTest, Diagonal) {
-  int seed = 1;
-  int nTotal = 8;
-  for (int nBand : {1, 3}) {
-    for (int nDense : {0, 2}) {
-      // allocate
-      int nB = (nTotal - nDense) * nBand + nDense * nTotal;
-      mjtNum* B = (mjtNum*)mju_malloc(sizeof(mjtNum) * nB);
-      int nH = nTotal * nTotal;
-      mjtNum* H = (mjtNum*)mju_malloc(sizeof(mjtNum) * nH);
-
-      // make random banded SPD matrix, dense representation
-      randomBanded(H, nTotal, nBand, nDense, seed++);
-
-      // convert to banded representation
-      mju_dense2Band(B, H, nTotal, nBand, nDense);
-
-      // expect diagonals to be equal
-      for (int i = 0; i < nTotal; i++) {
-        EXPECT_EQ(H[i * nTotal + i], B[mju_bandDiag(i, nTotal, nBand, nDense)]);
-      }
-
-      mju_free(H);
-      mju_free(B);
-    }
-  }
-}
-
-// test conversion of banded <-> dense
-TEST_F(BandMatrixTest, Conversion) {
-  int seed = 1;
-  int nTotal = 8;
-  for (int nBand : {0, 1, 3}) {
-    for (int nDense : {0, 2}) {
-      // allocate
-      int nB = (nTotal - nDense) * nBand + nDense * nTotal;
-      mjtNum* B = (mjtNum*)mju_malloc(sizeof(mjtNum) * nB);
-      int nH = nTotal * nTotal;
-      mjtNum* H = (mjtNum*)mju_malloc(sizeof(mjtNum) * nH);
-      mjtNum* H1 = (mjtNum*)mju_malloc(sizeof(mjtNum) * nH);
-
-      // make random banded SPD matrix, dense
-      randomBanded(H, nTotal, nBand, nDense, seed++);
-
-      // convert to banded
-      mju_dense2Band(B, H, nTotal, nBand, nDense);
-
-      // convert back to dense
-      mju_band2Dense(H1, B, nTotal, nBand, nDense, /*flg_sym=*/1);
-
-      // expect exact equality
-      EXPECT_EQ(AsVector(H, nH), AsVector(H1, nH));
-
-      mju_free(H1);
-      mju_free(H);
-      mju_free(B);
-    }
-  }
-}
-
-// test banded-vector multiplication
-TEST_F(BandMatrixTest, Multiplication) {
-  int seed = 1;
-  int nTotal = 8;
-  for (int nBand : {0, 1, 3}) {
-    for (int nDense : {0, 2}) {
-      // allocate
-      int nB = (nTotal - nDense) * nBand + nDense * nTotal;
-      mjtNum* B = (mjtNum*)mju_malloc(sizeof(mjtNum) * nB);
-      int nH = nTotal * nTotal;
-      mjtNum* H = (mjtNum*)mju_malloc(sizeof(mjtNum) * nH);
-      mjtNum* vec = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal);
-      mjtNum* res = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal);
-      mjtNum* res1 = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal);
-
-      // make random banded SPD matrix, dense
-      randomBanded(H, nTotal, nBand, nDense, seed++, vec);
-
-      // multiply dense
-      mju_mulMatVec(res, H, vec, nTotal, nTotal);
-
-      // convert to banded, multiply
-      mju_dense2Band(B, H, nTotal, nBand, nDense);
-      mju_bandMulMatVec(res1, B, vec, nTotal, nBand, nDense,
-                        /*nVec=*/1, /*flg_sym=*/1);
-
-      // expect numerical equality
-      mjtNum eps = MjTol(1e-12, 5e-5);
-      EXPECT_THAT(AsVector(res, nTotal),
-                  Pointwise(MjNear(eps, eps), AsVector(res1, nTotal)));
-
-      mju_free(res1);
-      mju_free(res);
-      mju_free(vec);
-      mju_free(H);
-      mju_free(B);
-    }
-  }
-}
-
-// test banded factorization and vector product with factor
-TEST_F(BandMatrixTest, Factorization) {
-  int seed = 1;
-  int nTotal = 8;
-  for (int nBand : {1, 3}) {
-    for (int nDense : {0, 2}) {
-      for (mjtNum diagadd : {0.0, 1.0}) {
-        for (int diagmul : {0.0, 1.3}) {
-          // allocate
-          int nB = (nTotal - nDense) * nBand + nDense * nTotal;
-          mjtNum* B = (mjtNum*)mju_malloc(sizeof(mjtNum) * nB);
-          int nH = nTotal * nTotal;
-          mjtNum* H = (mjtNum*)mju_malloc(sizeof(mjtNum) * nH);
-          mjtNum* H1 = (mjtNum*)mju_malloc(sizeof(mjtNum) * nH);
-          mjtNum* vec = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal);
-          mjtNum* res = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal);
-          mjtNum* res1 = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal);
-
-          // make random banded matrix, dense representation
-          //  add regularizer to ensure PD
-          randomBanded(H, nTotal, nBand, nDense, seed++, vec, /*reg=*/nTotal);
-
-          // convert to banded
-          mju_dense2Band(B, H, nTotal, nBand, nDense);
-
-          // apply diagadd and diagmul
-          for (int i = 0; i < nTotal; i++) {
-            H[nTotal * i + i] += diagadd + diagmul * H[nTotal * i + i];
-          }
-
-          // in-place dense factorization
-          int rank = mju_cholFactor(H, nTotal, /*mindiag=*/0);
-
-          // expect factorization to have succeeded
-          EXPECT_EQ(rank, nTotal);
-
-          // banded factorization
-          mjtNum minDiag =
-              mju_cholFactorBand(B, nTotal, nBand, nDense, diagadd, diagmul);
-
-          // expect factorization to have succeeded
-          EXPECT_GT(minDiag, 0);
-
-          // convert back to dense, lower triangle only
-          mju_band2Dense(H1, B, nTotal, nBand, nDense, /*flg_sym=*/0);
-
-          // zero upper triangle of H (unused)
-          for (int i = 0; i < nTotal - 1; i++) {
-            mju_zero(H + nTotal * i + i + 1, nTotal - i - 1);
-          }
-
-          // expect numerical equality
-          mjtNum eps = MjTol(1e-12, 5e-5);
-          EXPECT_THAT(AsVector(H, nH),
-                      Pointwise(MjNear(eps, eps), AsVector(H1, nH)));
-
-          // multiply dense
-          mju_mulMatVec(res, H, vec, nTotal, nTotal);
-
-          // multiply sparse, only lower triangle
-          mju_bandMulMatVec(res1, B, vec, nTotal, nBand, nDense,
-                            /*nVec=*/1, /*flg_sym=*/0);
-
-          // expect numerical equality
-          EXPECT_THAT(AsVector(res, nTotal),
-                      Pointwise(MjNear(eps, eps), AsVector(res1, nTotal)));
-
-          mju_free(res1);
-          mju_free(res);
-          mju_free(vec);
-          mju_free(H1);
-          mju_free(H);
-          mju_free(B);
-        }
-      }
-    }
-  }
-}
-
-// test banded solve
-TEST_F(BandMatrixTest, Solve) {
-  int seed = 1;
-  int nTotal = 8;
-  for (int nBand : {1, 3}) {
-    for (int nDense : {0, 2}) {
-      // allocate
-      int nB = (nTotal - nDense) * nBand + nDense * nTotal;
-      mjtNum* B = (mjtNum*)mju_malloc(sizeof(mjtNum) * nB);
-      int nH = nTotal * nTotal;
-      mjtNum* H = (mjtNum*)mju_malloc(sizeof(mjtNum) * nH);
-      mjtNum* H1 = (mjtNum*)mju_malloc(sizeof(mjtNum) * nH);
-      mjtNum* vec = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal);
-      mjtNum* res = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal);
-      mjtNum* res1 = (mjtNum*)mju_malloc(sizeof(mjtNum) * nTotal);
-
-      // make random banded matrix, dense representation
-      //  add regularizer to ensure PD
-      randomBanded(H, nTotal, nBand, nDense, seed++, vec, /*reg=*/nTotal);
-
-      // convert to banded
-      mju_dense2Band(B, H, nTotal, nBand, nDense);
-
-      // in-place dense factorization
-      int rank = mju_cholFactor(H, nTotal, /*mindiag=*/0);
-
-      // expect factorization to have succeeded
-      EXPECT_EQ(rank, nTotal);
-
-      // banded factorization
-      mjtNum minDiag = mju_cholFactorBand(B, nTotal, nBand, nDense,
-                                          /*diagadd=*/0, /*diagmul=*/0);
-
-      // expect factorization to have succeeded
-      EXPECT_GT(minDiag, 0);
-
-      // convert back to dense, lower triangle only
-      mju_band2Dense(H1, B, nTotal, nBand, nDense, /*flg_sym=*/0);
-
-      // solve with dense
-      mju_cholSolve(res, H, vec, nTotal);
-
-      // solve with banded
-      mju_cholSolveBand(res1, B, vec, nTotal, nBand, nDense);
-
-      // expect numerical equality
-      mjtNum eps = MjTol(1e-12, 5e-5);
-      EXPECT_THAT(AsVector(res, nTotal),
-                  Pointwise(MjNear(eps, eps), AsVector(res1, nTotal)));
-
-      mju_free(res1);
-      mju_free(res);
-      mju_free(vec);
-      mju_free(H1);
-      mju_free(H);
-      mju_free(B);
-    }
-  }
-}
-
-using EngineUtilSolveTest = MujocoTest;
-
-TEST_F(EngineUtilSolveTest, MjuCholFactorSymbolic) {
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr d = MakeData(model);
-
-  // Test matrix (upper triangular, representing symmetric matrix):
-  //   [10  1  2  3]
-  //   [ 0 10  0  0]
-  //   [ 0  0 10  1]
-  //   [ 0  0  0 10]
-  //
-  // mju_cholFactorSymbolic reads entries where col >= row
-
-  int n = 4;
-  mjtNum H[16] = {10, 1, 2, 3, 0, 10, 0, 0, 0, 0, 10, 1, 0, 0, 0, 10};
-
-  // convert to sparse
-  mjtNum sparseH[16];
-  int H_rownnz[4], H_rowadr[4], H_colind[16];
-  mju_dense2sparse(sparseH, H, n, n, H_rownnz, H_rowadr, H_colind, 16);
-
-  // phase 1: counting
-  int L_rownnz[4], L_rowadr[4];
-  int LT_rownnz[4], LT_rowadr[4];
-  int nnz = mju_cholFactorSymbolic(nullptr, L_rownnz, L_rowadr, nullptr,
-                                   LT_rownnz, LT_rowadr, nullptr, H_rownnz,
-                                   H_rowadr, H_colind, n, d.get());
-
-  // verify counting phase outputs
-  EXPECT_EQ(nnz, 8);
-  // L (CSR) structure for reverse Cholesky (rows filled in reverse order)
-  EXPECT_THAT(AsVector(L_rownnz, 4), ElementsAre(1, 2, 2, 3));
-  EXPECT_THAT(AsVector(L_rowadr, 4), ElementsAre(0, 1, 3, 5));
-  // LT (CSC) structure: transpose of L
-  EXPECT_THAT(AsVector(LT_rownnz, 4), ElementsAre(4, 1, 2, 1));
-  EXPECT_THAT(AsVector(LT_rowadr, 4), ElementsAre(0, 4, 5, 7));
-
-  // phase 2: filling
-  int L_colind[8], LT_colind[8], LT_pos[8];
-  mju_cholFactorSymbolic(L_colind, L_rownnz, L_rowadr, LT_colind, LT_rownnz,
-                         LT_rowadr, LT_pos, H_rownnz, H_rowadr, H_colind, n,
-                         d.get());
-
-  // verify L_colind
-  EXPECT_THAT(AsVector(L_colind, 8), ElementsAre(0, 0, 1, 0, 2, 0, 2, 3));
-  // Explanation (reverse Cholesky builds from bottom to top):
-  //   Row 0 (1 entry): diagonal 0
-  //   Row 1 (2 entries): col 0, then diagonal 1
-  //   Row 2 (2 entries): col 0, then diagonal 2
-  //   Row 3 (3 entries): col 0, col 2, then diagonal 3
-
-  // verify LT_colind: transpose of L
-  EXPECT_THAT(AsVector(LT_colind, 8), ElementsAre(0, 1, 2, 3, 1, 2, 3, 3));
-  // Explanation:
-  //   Column 0 (4 entries): rows 0, 1, 2, 3 (all have L[row, 0] != 0)
-  //   Column 1 (1 entry): row 1
-  //   Column 2 (2 entries): rows 2, 3
-  //   Column 3 (1 entry): row 3
-
-  // verify LT_pos: for each entry in LT, should point to correct position in L
-  for (int c = 0; c < n; c++) {
-    int adr = LT_rowadr[c];
-    for (int k = 0; k < LT_rownnz[c]; k++) {
-      int L_idx = LT_pos[adr + k];
-      EXPECT_EQ(L_colind[L_idx], c)
-          << "LT_pos mismatch at column " << c << ", entry " << k;
-    }
-  }
-}
-
-// Test for mju_cholUpdate: rank-one Cholesky update L*L' +/- x*x'
-// Verifies that after applying the update, reconstructing H = L*L' produces
-// the expected result H_original +/- x*x'.
-TEST_F(EngineUtilSolveTest, MjuCholUpdate) {
-  std::mt19937_64 rng;
-  rng.seed(42);
-  std::normal_distribution<double> dist(0, 1);
-
-  for (int n : {4, 6, 8}) {
-    vector<mjtNum> H(n * n);
-    vector<mjtNum> H_expected(n * n);
-    vector<mjtNum> L_dense(n * n);
-    vector<mjtNum> sqrtH(n * n);
-    vector<mjtNum> x(n);
-    vector<mjtNum> x_copy(n);
-    vector<mjtNum> H_reconstructed(n * n);
-
-    for (int flg_plus : {0, 1}) {
-      // generate random lower-triangular matrix for sqrtH
-      mju_zero(sqrtH.data(), n * n);
-      for (int i = 0; i < n; i++) {
-        for (int j = 0; j <= i; j++) {
-          sqrtH[n * i + j] = dist(rng);
-        }
-        sqrtH[n * i + i] = mju_abs(sqrtH[n * i + i]) + n;
-      }
-
-      // create SPD matrix H = sqrtH * sqrtH' (forward-order Cholesky: L*L')
-      for (int i = 0; i < n; i++) {
-        for (int j = 0; j < n; j++) {
-          mjtNum sum = 0;
-          for (int k = 0; k <= mju_min(i, j); k++) {
-            sum += sqrtH[n * i + k] * sqrtH[n * j + k];
-          }
-          H[n * i + j] = sum;
-        }
-      }
-
-      // generate random update vector x
-      for (int i = 0; i < n; i++) {
-        x[i] = dist(rng) * 0.5;
-      }
-
-      // compute expected result: H_expected = H +/- x*x'
-      mju_copy(H_expected.data(), H.data(), n * n);
-      for (int i = 0; i < n; i++) {
-        for (int j = 0; j < n; j++) {
-          if (flg_plus) {
-            H_expected[i * n + j] += x[i] * x[j];
-          } else {
-            H_expected[i * n + j] -= x[i] * x[j];
-          }
-        }
-      }
-
-      // test using dense Cholesky (forward-order: L*L')
-      mju_copy(L_dense.data(), H.data(), n * n);
-
-      // dense factorization
-      int rank_factor = mju_cholFactor(L_dense.data(), n, 0);
-      EXPECT_EQ(rank_factor, n) << "Initial factorization failed";
-
-      // make copy of x for update (it's modified in-place)
-      mju_copy(x_copy.data(), x.data(), n);
-
-      // apply dense rank-one update
-      int rank_update =
-          mju_cholUpdate(L_dense.data(), x_copy.data(), n, flg_plus);
-      EXPECT_EQ(rank_update, n)
-          << "Dense update rank loss for n=" << n << ", flg_plus=" << flg_plus;
-
-      // zero out upper triangle (Cholesky only uses lower triangle)
-      for (int i = 0; i < n; i++) {
-        for (int j = i + 1; j < n; j++) {
-          L_dense[i * n + j] = 0;
-        }
-      }
-
-      // reconstruct H from L*L' and compare to expected
-      mju_mulMatMatT(H_reconstructed.data(), L_dense.data(), L_dense.data(), n,
-                     n, n);
-
-      // compare
-      mjtNum eps = MjTol(1e-8, 5e-4);
-      for (int i = 0; i < n; i++) {
-        for (int j = 0; j < n; j++) {
-          EXPECT_NEAR(H_reconstructed[i * n + j], H_expected[i * n + j], eps)
-              << "Dense mismatch at (" << i << "," << j << ") for n=" << n
-              << ", flg_plus=" << flg_plus;
-        }
-      }
-    }
-  }
-}
-
-// Test for mju_cholUpdateSparse: sparse rank-one Cholesky update L'*L +/- x*x'
-// Uses sparse reverse Cholesky factorization and sparse rank-one update.
-TEST_F(EngineUtilSolveTest, MjuCholUpdateSparse) {
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr d = MakeData(model);
-
-  std::mt19937_64 rng;
-  rng.seed(123);
-  std::normal_distribution<double> dist(0, 1);
-
-  for (int n : {4, 6, 8}) {
-    int max_nnz = n * (n + 1) / 2;
-
-    vector<mjtNum> H(n * n);
-    vector<mjtNum> H_lower(n * n);
-    vector<mjtNum> H_expected(n * n);
-    vector<mjtNum> sqrtH(n * n);
-    vector<mjtNum> L_sparse(max_nnz);
-    vector<int> rownnz(n);
-    vector<int> rowadr(n);
-    vector<int> colind(max_nnz);
-    vector<mjtNum> x(n);
-    vector<mjtNum> x_sparse(n);
-    vector<int> x_ind(n);
-    vector<mjtNum> L_sparse_dense(n * n);
-    vector<mjtNum> H_sparse_reconstructed(n * n);
-
-    for (int flg_plus : {0, 1}) {
-      // generate random lower-triangular matrix for sqrtH
-      mju_zero(sqrtH.data(), n * n);
-      for (int i = 0; i < n; i++) {
-        for (int j = 0; j <= i; j++) {
-          sqrtH[n * i + j] = dist(rng);
-        }
-        sqrtH[n * i + i] = mju_abs(sqrtH[n * i + i]) + n;
-      }
-
-      // create SPD matrix H = sqrtH * sqrtH' (forward-order: L*L')
-      for (int i = 0; i < n; i++) {
-        for (int j = 0; j < n; j++) {
-          mjtNum sum = 0;
-          for (int k = 0; k <= mju_min(i, j); k++) {
-            sum += sqrtH[n * i + k] * sqrtH[n * j + k];
-          }
-          H[n * i + j] = sum;
-        }
-      }
-
-      // generate random update vector x
-      for (int i = 0; i < n; i++) {
-        x[i] = dist(rng) * 0.5;
-      }
-
-      // compute expected result: H_expected = H +/- x*x'
-      mju_copy(H_expected.data(), H.data(), n * n);
-      for (int i = 0; i < n; i++) {
-        for (int j = 0; j < n; j++) {
-          if (flg_plus) {
-            H_expected[i * n + j] += x[i] * x[j];
-          } else {
-            H_expected[i * n + j] -= x[i] * x[j];
-          }
-        }
-      }
-
-      // copy H to H_lower and zero upper triangle (sparse expects lower only)
-      mju_copy(H_lower.data(), H.data(), n * n);
-      for (int i = 0; i < n; i++) {
-        for (int j = i + 1; j < n; j++) {
-          H_lower[i * n + j] = 0;
-        }
-      }
-
-      // convert lower-triangular H to sparse format
-      mju_dense2sparse(L_sparse.data(), H_lower.data(), n, n, rownnz.data(),
-                       rowadr.data(), colind.data(), max_nnz);
-
-      // prepare sparse update vector (all elements, fully dense)
-      int x_nnz = n;
-      mju_copy(x_sparse.data(), x.data(), n);
-      for (int i = 0; i < n; i++) {
-        x_ind[i] = i;
-      }
-
-      // sparse Cholesky factorization (reverse-order: L'*L)
-      mju_cholFactorSparse(L_sparse.data(), n, 0, rownnz.data(), rowadr.data(),
-                           colind.data(), d.get());
-
-      // apply sparse rank-one update
-      int rank_sparse = mju_cholUpdateSparse(
-          L_sparse.data(), x_sparse.data(), n, flg_plus, rownnz.data(),
-          rowadr.data(), colind.data(), x_nnz, x_ind.data(), d.get());
-      EXPECT_EQ(rank_sparse, n)
-          << "Sparse update rank loss for n=" << n << ", flg_plus=" << flg_plus;
-
-      // reconstruct H from L'*L and compare to expected
-      mju_sparse2dense(L_sparse_dense.data(), L_sparse.data(), n, n,
-                       rownnz.data(), rowadr.data(), colind.data());
-      mju_mulMatTMat(H_sparse_reconstructed.data(), L_sparse_dense.data(),
-                     L_sparse_dense.data(), n, n, n);
-
-      // compare
-      mjtNum eps = MjTol(1e-8, 5e-4);
-      for (int i = 0; i < n; i++) {
-        for (int j = 0; j < n; j++) {
-          EXPECT_NEAR(H_sparse_reconstructed[i * n + j], H_expected[i * n + j],
-                      eps)
-              << "Sparse mismatch at (" << i << "," << j << ") for n=" << n
-              << ", flg_plus=" << flg_plus;
-        }
-      }
-    }
-  }
-}
-
-// Test that mju_cholFactorSymbolic + mju_cholFactorNumeric produces identical
-// results to the reference implementation mju_cholFactorSparse
-TEST_F(EngineUtilSolveTest, CholFactorSymbolicNumeric) {
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr d = MakeData(model);
-
-  // test matrix with fill-in: upper triangle structure
-  int n = 4;
-  mjtNum H[16] = {10, 1, 2, 3, 1, 10, 0, 0, 2, 0, 10, 1, 3, 0, 1, 10};
-
-  // convert to sparse (lower triangle only)
-  mjtNum sparseH[16];
-  int H_rownnz[4], H_rowadr[4], H_colind[16];
-  mju_dense2sparse(sparseH, H, n, n, H_rownnz, H_rowadr, H_colind, 16);
-
-  // transpose for upper triangle (needed by cholFactorSymbolic)
-  int HT_rownnz[4], HT_rowadr[4], HT_colind[16];
-  mju_transposeSparse(nullptr, nullptr, n, n, HT_rownnz, HT_rowadr, HT_colind,
-                      nullptr, H_rownnz, H_rowadr, H_colind);
-
-  // count fill-in (also computes LT structure)
-  int L_rownnz[4], L_rowadr[4];
-  int LT_rownnz[4], LT_rowadr[4];
-  int nnz = mju_cholFactorSymbolic(nullptr, L_rownnz, L_rowadr, nullptr,
-                                   LT_rownnz, LT_rowadr, nullptr, HT_rownnz,
-                                   HT_rowadr, HT_colind, n, d.get());
-
-  // filling phase: compute L_colind, LT_colind, and LT_pos
-  int L_colind[16], LT_colind[16], LT_pos[16];
-  mju_cholFactorSymbolic(L_colind, L_rownnz, L_rowadr, LT_colind, LT_rownnz,
-                         LT_rowadr, LT_pos, HT_rownnz, HT_rowadr, HT_colind, n,
-                         d.get());
-
-  // verify LT structure matches what we'd get from a separate transpose
-  int LT_rownnz_ref[4], LT_rowadr_ref[4], LT_colind_ref[16];
-  mju_transposeSparse(nullptr, nullptr, n, n, LT_rownnz_ref, LT_rowadr_ref,
-                      LT_colind_ref, nullptr, L_rownnz, L_rowadr, L_colind);
-
-  // LT structure should match
-  EXPECT_THAT(AsVector(LT_rownnz, 4),
-              ElementsAre(LT_rownnz_ref[0], LT_rownnz_ref[1], LT_rownnz_ref[2],
-                          LT_rownnz_ref[3]));
-  EXPECT_THAT(AsVector(LT_rowadr, 4),
-              ElementsAre(LT_rowadr_ref[0], LT_rowadr_ref[1], LT_rowadr_ref[2],
-                          LT_rowadr_ref[3]));
-
-  // verify LT_colind and LT_pos match
-  for (int r = 0; r < n; r++) {
-    int adr = LT_rowadr[r];
-    for (int k = 0; k < LT_rownnz[r]; k++) {
-      int L_idx = LT_pos[adr + k];  // index in L array
-      // verify L_colind at this position is indeed r
-      EXPECT_EQ(L_colind[L_idx], r)
-          << "LT_pos mismatch at LT[" << r << ", " << k << "]";
-    }
-  }
-
-  // numeric factorization using new function
-  mjtNum L_new[16];
-  int rank_new = mju_cholFactorNumeric(
-      L_new, n, 1e-10, L_rownnz, L_rowadr, L_colind, LT_rownnz, LT_rowadr,
-      LT_colind, LT_pos, sparseH, H_rownnz, H_rowadr, H_colind, d.get());
-
-  // reference implementation: copy sparse H into L_ref, then factor in-place
-  mjtNum L_ref[16];
-  int L_ref_rownnz[4], L_ref_colind[16];
-  for (int r = 0; r < n; r++) {
-    int nnz_r = H_rownnz[r];
-    // count lower triangle elements for this row
-    int lower_nnz = 0;
-    for (int i = 0; i < nnz_r; i++) {
-      if (H_colind[H_rowadr[r] + i] <= r) {
-        L_ref[L_rowadr[r] + lower_nnz] = sparseH[H_rowadr[r] + i];
-        L_ref_colind[L_rowadr[r] + lower_nnz] = H_colind[H_rowadr[r] + i];
-        lower_nnz++;
-      }
-    }
-    L_ref_rownnz[r] = lower_nnz;
-  }
-  int rank_ref = mju_cholFactorSparse(L_ref, n, 1e-10, L_ref_rownnz, L_rowadr,
-                                      L_ref_colind, d.get());
-
-  // compare results
-  EXPECT_EQ(rank_new, rank_ref);
-  EXPECT_EQ(rank_new, n);
-
-  // compare L values
-  mjtNum eps = MjTol(1e-10, 5e-5);
-  for (int i = 0; i < nnz; i++) {
-    EXPECT_NEAR(L_new[i], L_ref[i], eps) << "mismatch at index " << i;
-  }
-}
-
-// ----------------------------- dense LU --------------------------------------
-
-using DenseLUTest = MujocoTest;
-
-// factor identity, solve recovers b exactly
-TEST_F(DenseLUTest, Identity) {
-  constexpr int n = 4;
-  mjtNum A[n * n] = {
-      1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1,
-  };
-  int pivot[n];
-  mjtNum b[n] = {1, 2, 3, 4};
-  mjtNum x[n];
-
-  EXPECT_EQ(mju_factorLU(A, n, pivot), 1);
-  mju_solveLU(x, A, b, pivot, n);
-
-  for (int i = 0; i < n; i++) {
-    EXPECT_MJTNUM_EQ(x[i], b[i]);
-  }
-}
-
-// 3x3 with known solution
-TEST_F(DenseLUTest, SmallKnown) {
-  constexpr int n = 3;
-  // A = [2 1 1; 4 3 3; 8 7 9], b = [1; 1; 1]
-  // solution: x = [1; -1; 0]  (verified: A*x = [2-1; 4-3; 8-7] = [1;1;1])
-  mjtNum A[n * n] = {
-      2, 1, 1, 4, 3, 3, 8, 7, 9,
-  };
-  int pivot[n];
-  mjtNum b[n] = {1, 1, 1};
-  mjtNum x[n];
-
-  EXPECT_EQ(mju_factorLU(A, n, pivot), 1);
-  mju_solveLU(x, A, b, pivot, n);
-
-  mjtNum eps = MjTol(1e-14, 1e-6);
-  EXPECT_NEAR(x[0], 1, eps);
-  EXPECT_NEAR(x[1], -1, eps);
-  EXPECT_NEAR(x[2], 0, eps);
-}
-
-// random SPD matrices: compare LU solve against Cholesky solve
-TEST_F(DenseLUTest, RandomSPD) {
-  std::mt19937_64 rng;
-  rng.seed(7);
-  std::normal_distribution<double> dist(0, 1);
-
-  for (int n : {4, 8, 16}) {
-    vector<mjtNum> sqrtH(n * n);
-    vector<mjtNum> A(n * n);
-    vector<mjtNum> A_chol(n * n);
-    vector<mjtNum> b(n);
-    vector<mjtNum> x_lu(n);
-    vector<mjtNum> x_chol(n);
-    vector<int> pivot(n);
-
-    // generate random SPD matrix
-    for (int i = 0; i < n * n; i++) sqrtH[i] = dist(rng);
-    mju_mulMatTMat(A.data(), sqrtH.data(), sqrtH.data(), n, n, n);
-
-    // add diagonal regularizer
-    for (int i = 0; i < n; i++) A[i * n + i] += n;
-
-    // generate random rhs
-    for (int i = 0; i < n; i++) b[i] = dist(rng);
-
-    // solve with Cholesky
-    mju_copy(A_chol.data(), A.data(), n * n);
-    int rank = mju_cholFactor(A_chol.data(), n, 0);
-    EXPECT_EQ(rank, n);
-    mju_cholSolve(x_chol.data(), A_chol.data(), b.data(), n);
-
-    // solve with LU
-    int ok = mju_factorLU(A.data(), n, pivot.data());
-    EXPECT_EQ(ok, 1);
-    mju_solveLU(x_lu.data(), A.data(), b.data(), pivot.data(), n);
-
-    // compare
-    mjtNum eps = MjTol(1e-15, 1e-7);
-    EXPECT_THAT(AsVector(x_lu.data(), n),
-                Pointwise(MjNear(eps, eps), AsVector(x_chol.data(), n)));
-  }
-}
-
-// random non-symmetric matrices: verify A*x == b
-TEST_F(DenseLUTest, RandomGeneral) {
-  std::mt19937_64 rng;
-  rng.seed(42);
-  std::normal_distribution<double> dist(0, 1);
-
-  for (int n : {3, 5, 10, 20}) {
-    vector<mjtNum> A(n * n);
-    vector<mjtNum> A_orig(n * n);
-    vector<mjtNum> b(n);
-    vector<mjtNum> x(n);
-    vector<mjtNum> Ax(n);
-    vector<int> pivot(n);
-
-    // random non-symmetric matrix with diagonal dominance
-    for (int i = 0; i < n; i++) {
-      for (int j = 0; j < n; j++) {
-        A[i * n + j] = dist(rng);
-      }
-      A[i * n + i] += 2 * n;
-    }
-    mju_copy(A_orig.data(), A.data(), n * n);
-
-    // random rhs
-    for (int i = 0; i < n; i++) b[i] = dist(rng);
-
-    // factor and solve
-    int ok = mju_factorLU(A.data(), n, pivot.data());
-    EXPECT_EQ(ok, 1);
-    mju_solveLU(x.data(), A.data(), b.data(), pivot.data(), n);
-
-    // verify: A_orig * x == b
-    mju_mulMatVec(Ax.data(), A_orig.data(), x.data(), n, n);
-
-    mjtNum eps = MjTol(1e-14, 1e-5);
-    EXPECT_THAT(AsVector(Ax.data(), n),
-                Pointwise(MjNear(eps, eps), AsVector(b.data(), n)));
-  }
-}
-
-// near-singular matrix returns 0
-TEST_F(DenseLUTest, Singular) {
-  constexpr int n = 3;
-  // all zeros: maximally singular
-  mjtNum A[n * n] = {0};
-  int pivot[n];
-
-  EXPECT_EQ(mju_factorLU(A, n, pivot), 0);
-}
-
-// 6x6 specialization: identical results to the generic version
-TEST_F(DenseLUTest, Fixed6MatchesGeneric) {
-  constexpr int n = 6;
-  std::mt19937_64 rng;
-  rng.seed(3);
-  std::normal_distribution<double> dist(0, 1);
-
-  for (int trial = 0; trial < 100; trial++) {
-    mjtNum A[n * n], A6[n * n], b[n], x[n], x6[n];
-    int pivot[n], pivot6[n];
-
-    // random asymmetric matrix; first trial zeroes the diagonal to force
-    // pivoting
-    for (int i = 0; i < n * n; i++) {
-      A[i] = dist(rng);
-    }
-    if (trial == 0) {
-      for (int i = 0; i < n; i++) {
-        A[i * n + i] = 0;
-      }
-    }
-    for (int i = 0; i < n; i++) {
-      b[i] = dist(rng);
-    }
-    mju_copy(A6, A, n * n);
-
-    // same algorithm; results agree to rounding (not bitwise: the compiler may
-    // contract the unrolled fixed-size version differently)
-    int rank = mju_factorLU(A, n, pivot);
-    int rank6 = mju_factorLU6(A6, pivot6);
-    ASSERT_EQ(rank, rank6);
-    if (!rank) {
-      continue;
-    }
-    for (int i = 0; i < n; i++) {
-      EXPECT_EQ(pivot[i], pivot6[i]);
-    }
-    for (int i = 0; i < n * n; i++) {
-      EXPECT_NEAR(A[i], A6[i], MjTol(1e-13, 1e-4));
-    }
-
-    mju_solveLU(x, A, b, pivot, n);
-    mju_solveLU6(x6, A6, b, pivot6);
-    for (int i = 0; i < n; i++) {
-      EXPECT_NEAR(x[i], x6[i], MjTol(1e-12, 1e-3));
-    }
-  }
-}
-
-// nonsingular matrix with all-zero diagonal: requires pivoting
-TEST_F(DenseLUTest, ZeroDiagonal) {
-  constexpr int n = 3;
-  // A = [0 2 1; 1 0 3; 4 1 0], det(A) = 25
-  mjtNum A[n * n] = {
-      0, 2, 1, 1, 0, 3, 4, 1, 0,
-  };
-  mjtNum A_orig[n * n];
-  mju_copy(A_orig, A, n * n);
-  int pivot[n];
-  mjtNum b[n] = {1, 2, 3};
-  mjtNum x[n], Ax[n];
-
-  EXPECT_EQ(mju_factorLU(A, n, pivot), 1);
-  mju_solveLU(x, A, b, pivot, n);
-
-  // verify A_orig * x == b
-  mju_mulMatVec(Ax, A_orig, x, n, n);
-  mjtNum eps = MjTol(1e-14, 1e-6);
-  EXPECT_THAT(AsVector(Ax, n), Pointwise(MjNear(eps, eps), AsVector(b, n)));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_util_sparse_test.cc b/test/engine/engine_util_sparse_test.cc
deleted file mode 100644
index 2fdf2a29..00000000
--- a/test/engine/engine_util_sparse_test.cc
+++ /dev/null
@@ -1,1530 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_util_sparse.c
-
-#include "src/engine/engine_util_sparse.h"
-
-#include <array>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// permute the rows and columns of a dense matrix
-inline void PermuteMat(mjtNum* res, const mjtNum* mat, int nr, int nc,
-                       const int* perm_r, const int* perm_c, bool scatter_r,
-                       bool scatter_c) {
-  for (int r = 0; r < nr; r++) {
-    for (int c = 0; c < nc; c++) {
-      if (scatter_r && scatter_c) {
-        // scatter both
-        res[perm_r[r] * nc + perm_c[c]] = mat[r * nc + c];
-      } else if (scatter_r && !scatter_c) {
-        // scatter rows, gather columns
-        res[perm_r[r] * nc + c] = mat[r * nc + perm_c[c]];
-      } else if (!scatter_r && scatter_c) {
-        // gather rows, scatter columns
-        res[r * nc + perm_c[c]] = mat[perm_r[r] * nc + c];
-      } else {
-        // gather both
-        res[r * nc + c] = mat[perm_r[r] * nc + perm_c[c]];
-      }
-    }
-  }
-}
-
-using ::testing::ElementsAre;
-using EngineUtilSparseTest = MujocoTest;
-
-TEST_F(EngineUtilSparseTest, MjuDot) {
-  mjtNum a[] = {2, 3, 4, 5, 6, 7, 8};
-  mjtNum b[] = {8, 1, 7, 1, 1, 6, 1, 1, 1, 5, 1, 1, 1, 4, 1, 1, 3, 1, 2};
-  int i[] = {0, 2, 5, 9, 13, 16, 18};
-
-  // test various vector lengths as mju_dotSparse adds numbers in groups of four
-
-  EXPECT_EQ(mju_dotSparse(a, b, 0, i), 0);
-  EXPECT_EQ(mju_dotSparse(a, b, 1, i), 2 * 8);
-  EXPECT_EQ(mju_dotSparse(a, b, 2, i), 2 * 8 + 3 * 7);
-  EXPECT_EQ(mju_dotSparse(a, b, 3, i), 2 * 8 + 3 * 7 + 4 * 6);
-  EXPECT_EQ(mju_dotSparse(a, b, 4, i), 2 * 8 + 3 * 7 + 4 * 6 + 5 * 5);
-  EXPECT_EQ(mju_dotSparse(a, b, 5, i), 2 * 8 + 3 * 7 + 4 * 6 + 5 * 5 + 6 * 4);
-  EXPECT_EQ(mju_dotSparse(a, b, 6, i),
-            2 * 8 + 3 * 7 + 4 * 6 + 5 * 5 + 6 * 4 + 7 * 3);
-  EXPECT_EQ(mju_dotSparse(a, b, 7, i),
-            2 * 8 + 3 * 7 + 4 * 6 + 5 * 5 + 6 * 4 + 7 * 3 + 8 * 2);
-}
-
-TEST_F(EngineUtilSparseTest, MjuDot2) {
-  constexpr int annz = 6;
-  constexpr int bnnz = 5;
-
-  // values
-  mjtNum a[annz] = {2, 3, 4, 5, 6};
-  mjtNum b[bnnz] = {8, 7, 6, 5, 4};
-
-  // indices
-  int ia[annz] = {0, 2, 5, 6, 7};
-  int ib[bnnz] = {1, 2, 3, 5, 7};
-
-  EXPECT_EQ(mju_dotSparse2(a, ia, annz, b, ib, bnnz), 3 * 7 + 4 * 5 + 6 * 4);
-}
-
-TEST_F(EngineUtilSparseTest, CombineSparseCount) {
-  {
-    std::array a_ind{0, 1};
-    std::array b_ind{2};
-    EXPECT_EQ(mju_combineSparseCount(a_ind.size(), b_ind.size(), a_ind.data(),
-                                     b_ind.data()),
-              3);
-  }
-
-  {
-    std::array a_ind{2};
-    std::array b_ind{0, 1};
-    EXPECT_EQ(mju_combineSparseCount(a_ind.size(), b_ind.size(), a_ind.data(),
-                                     b_ind.data()),
-              3);
-  }
-
-  {
-    std::array a_ind{0, 1};
-    std::array b_ind{2, 3, 4};
-    EXPECT_EQ(mju_combineSparseCount(a_ind.size(), b_ind.size(), a_ind.data(),
-                                     b_ind.data()),
-              5);
-  }
-
-  {
-    std::array a_ind{5, 6};
-    std::array b_ind{1, 3, 8};
-    EXPECT_EQ(mju_combineSparseCount(a_ind.size(), b_ind.size(), a_ind.data(),
-                                     b_ind.data()),
-              5);
-  }
-
-  {
-    std::array a_ind{1, 2, 3};
-    std::array b_ind{0, 4};
-    EXPECT_EQ(mju_combineSparseCount(a_ind.size(), b_ind.size(), a_ind.data(),
-                                     b_ind.data()),
-              5);
-  }
-
-  {
-    std::array a_ind{1, 4};
-    std::array b_ind{2, 3};
-    EXPECT_EQ(mju_combineSparseCount(a_ind.size(), b_ind.size(), a_ind.data(),
-                                     b_ind.data()),
-              4);
-  }
-
-  {
-    std::array a_ind{0, 1, 3};
-    std::array b_ind{0, 3, 4};
-    EXPECT_EQ(mju_combineSparseCount(a_ind.size(), b_ind.size(), a_ind.data(),
-                                     b_ind.data()),
-              4);
-  }
-
-  {
-    std::array a_ind{1, 3, 5, 6};
-    std::array b_ind{1, 3, 5, 6};
-    EXPECT_EQ(mju_combineSparseCount(a_ind.size(), b_ind.size(), a_ind.data(),
-                                     b_ind.data()),
-              4);
-  }
-
-  EXPECT_EQ(mju_combineSparseCount(0, 0, nullptr, nullptr), 0);
-
-  {
-    std::array b_ind{1, 2};
-    EXPECT_EQ(mju_combineSparseCount(0, b_ind.size(), nullptr, b_ind.data()),
-              2);
-  }
-
-  {
-    std::array a_ind{0};
-    EXPECT_EQ(mju_combineSparseCount(a_ind.size(), 0, a_ind.data(), nullptr),
-              1);
-  }
-}
-
-TEST_F(EngineUtilSparseTest, MjuTranspose3by3) {
-  // 1 2 0      1 0 0
-  // 0 1 0 -->  2 1 3
-  // 0 3 0      0 0 0
-
-  mjtNum mat[] = {1, 2, 1, 3};
-  int colind[] = {0, 1, 1, 1};
-  int rownnz[] = {2, 1, 1};
-  int rowadr[] = {0, 2, 3};
-
-  mjtNum matT[] = {0, 0, 0, 0};
-  int colindT[] = {0, 0, 0, 0};
-  int rownnzT[] = {0, 0, 0};
-  int rowadrT[] = {0, 0, 0};
-
-  mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, nullptr,
-                      rownnz, rowadr, colind);
-
-  EXPECT_THAT(matT, ElementsAre(1, 2, 1, 3));
-  EXPECT_THAT(colindT, ElementsAre(0, 0, 1, 2));
-  EXPECT_THAT(rownnzT, ElementsAre(1, 3, 0));
-  EXPECT_THAT(rowadrT, ElementsAre(0, 1, 4));
-}
-
-TEST_F(EngineUtilSparseTest, MjuTranspose1by3) {
-  // 1 0 3      1
-  //       -->  0
-  //            3
-
-  mjtNum mat[] = {1, 3};
-  int colind[] = {0, 2};
-  int rownnz[] = {2};
-  int rowadr[] = {0};
-
-  mjtNum matT[] = {0, 0};
-  int colindT[] = {0, 0};
-  int rownnzT[] = {0, 0, 0};
-  int rowadrT[] = {0, 0, 0};
-
-  mju_transposeSparse(matT, mat, 1, 3, rownnzT, rowadrT, colindT, nullptr,
-                      rownnz, rowadr, colind);
-
-  EXPECT_THAT(matT, ElementsAre(1, 3));
-  EXPECT_THAT(colindT, ElementsAre(0, 0));
-  EXPECT_THAT(rownnzT, ElementsAre(1, 0, 1));
-  EXPECT_THAT(rowadrT, ElementsAre(0, 1, 1));
-}
-
-TEST_F(EngineUtilSparseTest, MjuTranspose3by1) {
-  // 1       1 0 3
-  // 0  -->
-  // 3
-
-  mjtNum mat[] = {1, 3};
-  int colind[] = {0, 0};
-  int rownnz[] = {1, 0, 1};
-  int rowadr[] = {0, 1, 1};
-
-  mjtNum matT[] = {0, 0};
-  int colindT[] = {0, 0};
-  int rownnzT[] = {0};
-  int rowadrT[] = {0};
-
-  mju_transposeSparse(matT, mat, 3, 1, rownnzT, rowadrT, colindT, nullptr,
-                      rownnz, rowadr, colind);
-
-  EXPECT_THAT(matT, ElementsAre(1, 3));
-  EXPECT_THAT(colindT, ElementsAre(0, 2));
-  EXPECT_THAT(rownnzT, ElementsAre(2));
-  EXPECT_THAT(rowadrT, ElementsAre(0));
-}
-
-TEST_F(EngineUtilSparseTest, MjuTransposeDense) {
-  // 1 2 3      1 4 7
-  // 4 5 6 -->  2 5 8
-  // 7 8 9      3 6 9
-
-  mjtNum mat[] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
-  int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnz[] = {3, 3, 3};
-  int rowadr[] = {0, 3, 6};
-
-  mjtNum matT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
-  int colindT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
-  int rownnzT[] = {0, 0, 0};
-  int rowadrT[] = {0, 0, 0};
-  int rowsuperT[] = {0, 0, 0};
-
-  mju_transposeSparse(matT, mat, 3, 3, rownnzT, rowadrT, colindT, rowsuperT,
-                      rownnz, rowadr, colind);
-
-  EXPECT_THAT(matT, ElementsAre(1, 4, 7, 2, 5, 8, 3, 6, 9));
-  EXPECT_THAT(colindT, ElementsAre(0, 1, 2, 0, 1, 2, 0, 1, 2));
-  EXPECT_THAT(rownnzT, ElementsAre(3, 3, 3));
-  EXPECT_THAT(rowadrT, ElementsAre(0, 3, 6));
-  EXPECT_THAT(rowsuperT, ElementsAre(2, 1, 0));
-}
-
-TEST_F(EngineUtilSparseTest, MjuTransposeSuper) {
-  //  mat:   0,  1,  2,  0,  3,  4,  5,  0,  0,  0,  0,  0,  0
-  //         0,  0,  0,  6,  7,  8,  9, 10, 11, 12,  0,  0,  0
-  //
-  //  super: 0,  1,  0,  0,  2,  1,  0,  2,  1,  0,  2,  1,  0
-
-  mjtNum mat[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
-  int colind[] = {1, 2, 4, 5, 6, 3, 4, 5, 6, 7, 8, 9};
-  int rownnz[] = {5, 7};
-  int rowadr[] = {0, 5};
-
-  mjtNum matT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-  int colindT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-  int rownnzT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-  int rowadrT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-  int rowsuperT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-  mju_transposeSparse(matT, mat, 2, 13, rownnzT, rowadrT, colindT, rowsuperT,
-                      rownnz, rowadr, colind);
-
-  EXPECT_THAT(matT, ElementsAre(1, 2, 6, 3, 7, 4, 8, 5, 9, 10, 11, 12));
-  EXPECT_THAT(colindT, ElementsAre(0, 0, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1));
-  EXPECT_THAT(rownnzT, ElementsAre(0, 1, 1, 1, 2, 2, 2, 1, 1, 1, 0, 0, 0));
-  EXPECT_THAT(rowadrT, ElementsAre(0, 0, 1, 2, 3, 5, 7, 9, 10, 11, 12, 12, 12));
-  EXPECT_THAT(rowsuperT, ElementsAre(0, 1, 0, 0, 2, 1, 0, 2, 1, 0, 2, 1, 0));
-}
-
-TEST_F(EngineUtilSparseTest, MjuTranspose1by1) {
-  // 1 -> 1
-
-  mjtNum mat[] = {1};
-  int colind[] = {0};
-  int rownnz[] = {1};
-  int rowadr[] = {0};
-
-  mjtNum matT[] = {0};
-  int colindT[] = {0};
-  int rownnzT[] = {0};
-  int rowadrT[] = {0};
-
-  mju_transposeSparse(matT, mat, 1, 1, rownnzT, rowadrT, colindT, nullptr,
-                      rownnz, rowadr, colind);
-
-  EXPECT_THAT(matT, ElementsAre(1));
-  EXPECT_THAT(colindT, ElementsAre(0));
-  EXPECT_THAT(rownnzT, ElementsAre(1));
-  EXPECT_THAT(rowadrT, ElementsAre(0));
-}
-
-TEST_F(EngineUtilSparseTest, MjuTransposeNullMatrix) {
-  // 0 -> 0
-
-  mjtNum* mat = nullptr;
-  int* colind = nullptr;
-  int rownnz[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-  int rowadr[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-  mjtNum* matT = nullptr;
-  int* colindT = nullptr;
-  int rownnzT[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
-  int rowadrT[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
-
-  mju_transposeSparse(matT, mat, 10, 10, rownnzT, rowadrT, colindT, nullptr,
-                      rownnz, rowadr, colind);
-
-  EXPECT_THAT(rownnzT, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0));
-  EXPECT_THAT(rowadrT, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0, 0));
-}
-
-TEST_F(EngineUtilSparseTest, MjuCompressSparse) {
-  // sparse matrix (uncompressed with spurious values between the rows):
-  // [[1, 0, 2]
-  //  [0, O, 3]  (second zero represented)
-  mjtNum mat[] = {1, 2, 9, 0, 3};   // spurious 9 value
-  int colind[] = {0, 2, -1, 1, 2};  // spurious -1 index
-  int rownnz[] = {2, 2};
-  int rowadr[] = {0, 3};
-
-  mjtNum dense_expected[] = {1, 0, 2, 0, 0, 3};
-  mjtNum dense[6];
-  mju_sparse2dense(dense, mat, 2, 3, rownnz, rowadr, colind);
-  EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected, 6));
-
-  // check that spurious values are removed
-  int nnz = mju_compressSparse(mat, 2, 3, rownnz, rowadr, colind,
-                               /*minval=*/-1);
-  EXPECT_EQ(nnz, 4);
-  mju_sparse2dense(dense, mat, 2, 3, rownnz, rowadr, colind);
-  EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected, 6));
-
-  // check that represented zero gets compressed aways with minval=0
-  nnz = mju_compressSparse(mat, 2, 3, rownnz, rowadr, colind, /*minval=*/0);
-  EXPECT_EQ(nnz, 3);
-  mju_sparse2dense(dense, mat, 2, 3, rownnz, rowadr, colind);
-  EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected, 6));
-
-  // check that 1 gets compressed aways with minval=1
-  nnz = mju_compressSparse(mat, 2, 3, rownnz, rowadr, colind, /*minval=*/1);
-  EXPECT_EQ(nnz, 2);
-  mju_sparse2dense(dense, mat, 2, 3, rownnz, rowadr, colind);
-  mjtNum dense_expected_minval1[] = {0, 0, 2, 0, 0, 3};
-  EXPECT_EQ(AsVector(dense, 6), AsVector(dense_expected_minval1, 6));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSym2Dense) {
-  // lower-triangular CSR for a 3x3 symmetric matrix:
-  //     1 2 0
-  //     2 3 4
-  //     0 4 5
-  // stored as lower triangle:
-  //   row 0: [1]           (col 0)
-  //   row 1: [2, 3]        (cols 0, 1)
-  //   row 2: [4, 5]        (cols 1, 2)
-  mjtNum mat[] = {1, 2, 3, 4, 5};
-  int rownnz[] = {1, 2, 2};
-  int rowadr[] = {0, 1, 3};
-  int colind[] = {0, 0, 1, 1, 2};
-
-  mjtNum dense[9];
-  mju_sym2dense(dense, mat, 3, rownnz, rowadr, colind);
-
-  mjtNum expected[] = {1, 2, 0, 2, 3, 4, 0, 4, 5};
-  EXPECT_EQ(AsVector(dense, 9), AsVector(expected, 9));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSym2DenseWithUpper) {
-  mjtNum mat[] = {1, 999, 2, 3, 4, 5};
-  int rownnz[] = {2, 2, 2};
-  int rowadr[] = {0, 2, 4};
-  int colind[] = {0, 1, 0, 1, 1, 2};
-
-  mjtNum dense[9];
-  mju_sym2dense(dense, mat, 3, rownnz, rowadr, colind);
-
-  mjtNum expected[] = {1, 2, 0, 2, 3, 4, 0, 4, 5};
-  EXPECT_EQ(AsVector(dense, 9), AsVector(expected, 9));
-}
-
-// helper: run split-col approach and return dense result
-static void SqrMatTDSplitCol(std::vector<mjtNum>& dense_result, int nr, int nc,
-                             const mjtNum* mat, const int* rownnz,
-                             const int* rowadr, const int* colind,
-                             const mjtNum* matT, const int* rownnzT,
-                             const int* rowadrT, const int* colindT,
-                             const int* rowsuperT, const mjtNum* diag,
-                             int* out_diagind, mjData* d) {
-  // count mode
-  std::vector<int> H_rownnz(nc, 0);
-  std::vector<int> H_rowadr(nc, 0);
-  int nnz = mju_sqrMatTDSparseSymbolic(
-      H_rownnz.data(), H_rowadr.data(), nullptr, out_diagind, nr, nc, rownnz,
-      rowadr, colind, rownnzT, rowadrT, colindT, rowsuperT, d);
-
-  // fill mode
-  std::vector<int> H_colind(nnz);
-  mju_sqrMatTDSparseSymbolic(H_rownnz.data(), H_rowadr.data(), H_colind.data(),
-                             out_diagind, nr, nc, rownnz, rowadr, colind,
-                             rownnzT, rowadrT, colindT, rowsuperT, d);
-
-  // numeric phase
-  std::vector<mjtNum> H(nnz, 0);
-  mju_sqrMatTDSparseNumeric(H.data(), nc, H_rownnz.data(), H_rowadr.data(),
-                            H_colind.data(), out_diagind, mat, rownnz, rowadr,
-                            colind, matT, rownnzT, rowadrT, colindT, rowsuperT,
-                            diag, d);
-
-  // densify
-  dense_result.assign(nc * nc, 0);
-  for (int r = 0; r < nc; r++) {
-    for (int j = 0; j < H_rownnz[r]; j++) {
-      int c = H_colind[H_rowadr[r] + j];
-      dense_result[r * nc + c] = H[H_rowadr[r] + j];
-    }
-  }
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse1) {
-  //       0 0 0
-  // M  =  0 0 0
-  //       0 0 0
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
-  int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnz[] = {3, 3, 3};
-  int rowadr[] = {0, 3, 6};
-
-  mjtNum matT[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
-  int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnzT[] = {3, 3, 3};
-  int rowadrT[] = {0, 3, 6};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, nullptr, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(0, 0, 0, 0, 0, 0, 0, 0, 0));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparseLower) {
-  //     2 -1  1
-  // M = 2 -1  2
-  //     2  2  3
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {2, -1, 1, 2, -1, 2, 2, 2, 3};
-  int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnz[] = {3, 3, 3};
-  int rowadr[] = {0, 3, 6};
-
-  mjtNum matT[] = {2, 2, 2, -1, -1, 2, 1, 2, 3};
-  int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnzT[] = {3, 3, 3};
-  int rowadrT[] = {0, 3, 6};
-
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, nullptr, nullptr, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(12, 0, 0, 0, 6, 0, 12, 3, 14));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse2) {
-  //     2 -1  1
-  // M = 2 -1  2
-  //     2  2  3
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {2, -1, 1, 2, -1, 2, 2, 2, 3};
-  int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnz[] = {3, 3, 3};
-  int rowadr[] = {0, 3, 6};
-
-  mjtNum matT[] = {2, 2, 2, -1, -1, 2, 1, 2, 3};
-  int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnzT[] = {3, 3, 3};
-  int rowadrT[] = {0, 3, 6};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, nullptr, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(12, 0, 12, 0, 6, 3, 12, 3, 14));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3) {
-  //     1 2 0
-  // M = 0 3 0
-  //     4 0 0
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 2, 3, 4};
-  int colind[] = {0, 1, 1, 0};
-  int rownnz[] = {2, 1, 1};
-  int rowadr[] = {0, 2, 3};
-
-  mjtNum matT[] = {1, 4, 2, 3};
-  int colindT[] = {0, 2, 0, 1};
-  int rownnzT[] = {2, 2, 0};
-  int rowadrT[] = {0, 2, 4};
-
-  mjtNum diag[] = {2, 3, 4};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(66, 4, 0, 4, 35, 0, 0, 0, 0));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse3b) {
-  //     1 2 0
-  // M = 0 3 4
-  //     5 0 0
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 2, 3, 4, 5};
-  int colind[] = {0, 1, 1, 2, 0};
-  int rownnz[] = {2, 2, 1};
-  int rowadr[] = {0, 2, 4};
-
-  mjtNum matT[] = {1, 5, 2, 3, 4};
-  int colindT[] = {0, 2, 0, 1, 1};
-  int rownnzT[] = {2, 2, 1};
-  int rowadrT[] = {0, 2, 4};
-
-  mjtNum diag[] = {1, 1, 1};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(26, 2, 0, 2, 13, 12, 0, 12, 16));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse4) {
-  //     1 0 2
-  // M = 0 0 3
-  //     4 0 0
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 2, 3, 4};
-  int colind[] = {0, 2, 2, 0};
-  int rownnz[] = {2, 1, 1};
-  int rowadr[] = {0, 2, 3};
-
-  mjtNum matT[] = {1, 4, 2, 3};
-  int colindT[] = {0, 2, 0, 1};
-  int rownnzT[] = {2, 0, 2};
-  int rowadrT[] = {0, 2, 2};
-
-  mjtNum diag[] = {2, 3, 4};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(66, 0, 4, 0, 0, 0, 4, 0, 35));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse5) {
-  //     1 0 4
-  // M = 0 0 0
-  //     2 3 0
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 4, 2, 3};
-  int colind[] = {0, 2, 0, 1};
-  int rownnz[] = {2, 0, 2};
-  int rowadr[] = {0, 2, 2};
-
-  mjtNum matT[] = {1, 2, 3, 4};
-  int colindT[] = {0, 2, 2, 0};
-  int rownnzT[] = {2, 1, 1};
-  int rowadrT[] = {0, 2, 3};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, nullptr, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(5, 6, 4, 6, 9, 0, 4, 0, 16));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse6) {
-  //     1 0 2
-  // M = 0 2 0
-  //     0 0 3
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 2, 2, 3};
-  int colind[] = {0, 2, 1, 2};
-  int rownnz[] = {2, 1, 1};
-  int rowadr[] = {0, 2, 3};
-
-  mjtNum matT[] = {1, 2, 2, 3};
-  int colindT[] = {0, 1, 0, 2};
-  int rownnzT[] = {1, 1, 2};
-  int rowadrT[] = {0, 1, 2};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, nullptr, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(1, 0, 2, 0, 4, 0, 2, 0, 13));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse7) {
-  //     1 2
-  // M = 0 3
-  //     4 0
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 2, 3, 4};
-  int colind[] = {0, 1, 1, 0};
-  int rownnz[] = {2, 1, 1};
-  int rowadr[] = {0, 2, 3};
-
-  mjtNum matT[] = {1, 4, 2, 3};
-  int colindT[] = {0, 2, 0, 1};
-  int rownnzT[] = {2, 2};
-  int rowadrT[] = {0, 2};
-
-  mjtNum diag[] = {2, 3, 4};
-
-  int diagindH[2];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 2, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(66, 4, 4, 35));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse8) {
-  // M = 1 0 4
-  //     2 3 0
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 4, 2, 3};
-  int colind[] = {0, 2, 0, 1};
-  int rownnz[] = {2, 2};
-  int rowadr[] = {0, 2};
-
-  mjtNum matT[] = {1, 2, 3, 4};
-  int colindT[] = {0, 1, 1, 0};
-  int rownnzT[] = {2, 1, 1};
-  int rowadrT[] = {0, 2, 3};
-
-  mjtNum diag[] = {2, 3};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 2, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(14, 18, 8, 18, 27, 0, 8, 0, 32));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse9) {
-  //     1 2 2
-  // M = 1 3 4
-  //     4 4 4
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 2, 2, 1, 3, 4, 4, 4, 4};
-  int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnz[] = {3, 3, 3};
-  int rowadr[] = {0, 3, 6};
-
-  mjtNum matT[] = {1, 1, 4, 2, 3, 4, 2, 4, 4};
-  int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnzT[] = {3, 3, 3};
-  int rowadrT[] = {0, 3, 6};
-
-  mjtNum diag[] = {2, 3, 4};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, nullptr, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(69, 77, 80, 77, 99, 108, 80, 108, 120));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse10) {
-  //     1 2 3
-  // M = 2 3 2
-  //     3 1 1
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 2, 3, 2, 3, 2, 3, 1, 1};
-  int colind[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnz[] = {3, 3, 3};
-  int rowadr[] = {0, 3, 6};
-
-  mjtNum matT[] = {1, 2, 3, 2, 3, 1, 3, 2, 1};
-  int colindT[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
-  int rownnzT[] = {3, 3, 3};
-  int rowadrT[] = {0, 3, 6};
-  int rowsuperT[] = {2, 1, 0};
-
-  mjtNum diag[] = {1, 2, 1};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, rowsuperT, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(18, 17, 14, 17, 23, 19, 14, 19, 18));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse11) {
-  //     1 1 1
-  // M = 0 0 0
-  //     0 3 3
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 1, 1, 3, 3};
-  int colind[] = {0, 1, 2, 1, 2};
-  int rownnz[] = {3, 0, 2};
-  int rowadr[] = {0, 3, 3};
-
-  mjtNum matT[] = {1, 1, 3, 1, 3};
-  int colindT[] = {0, 0, 2, 0, 2};
-  int rownnzT[] = {1, 2, 2};
-  int rowadrT[] = {0, 1, 3};
-  int rowsuperT[] = {0, 1, 0};
-
-  mjtNum diag[] = {1, 1, 1};
-
-  int diagindH[3];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 3, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, rowsuperT, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(1, 1, 1, 1, 10, 10, 1, 10, 10));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse12) {
-  //     1 1 1 1
-  // M = 0 0 0 0
-  //     0 0 3 3
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 1, 1, 1, 3, 3};
-  int colind[] = {0, 1, 2, 3, 2, 3};
-  int rownnz[] = {4, 0, 2};
-  int rowadr[] = {0, 4, 4};
-
-  mjtNum matT[] = {1, 1, 1, 3, 1, 3};
-  int colindT[] = {0, 0, 0, 2, 0, 2};
-  int rownnzT[] = {1, 1, 2, 2};
-  int rowadrT[] = {0, 1, 2, 4};
-  int rowsuperT[] = {1, 0, 1, 0};
-
-  mjtNum diag[] = {1, 1, 1};
-
-  int diagindH[4];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 4, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, rowsuperT, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense,
-              ElementsAre(1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 10, 10, 1, 1, 10, 10));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse13) {
-  //     1 1 0 0 0
-  // M = 1 1 0 0 0
-  //     1 1 0 0 0
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 1, 1, 1, 1, 1};
-  int colind[] = {0, 1, 0, 1, 0, 1};
-  int rownnz[] = {2, 2, 2};
-  int rowadr[] = {0, 2, 4};
-
-  mjtNum matT[] = {1, 1, 1, 1, 1, 1};
-  int colindT[] = {0, 1, 2, 0, 1, 2};
-  int rownnzT[] = {3, 3, 0, 0, 0};
-  int rowadrT[] = {0, 3, 6, 6, 6};
-  int rowsuperT[] = {1, 0, 2, 1, 0};
-
-  mjtNum diag[] = {1, 1, 1};
-
-  int diagindH[5];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 3, 5, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, rowsuperT, diag, diagindH, data.get());
-
-  EXPECT_THAT(dense, ElementsAre(3, 3, 0, 0, 0, 3, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-                                 0, 0, 0, 0, 0, 0, 0, 0, 0));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparse14) {
-  // M = 1 1 1 1 2 2 2
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  mjtNum mat[] = {1, 1, 1, 1, 2, 2, 2};
-  int colind[] = {0, 1, 2, 3, 4, 5, 6};
-  int rownnz[] = {7};
-  int rowadr[] = {0};
-
-  mjtNum matT[] = {1, 1, 1, 1, 2, 2, 2};
-  int colindT[] = {0, 0, 0, 0, 0, 0, 0};
-  int rownnzT[] = {1, 1, 1, 1, 1, 1, 1};
-  int rowadrT[] = {0, 1, 2, 3, 4, 5, 6};
-  int rowsuperT[] = {3, 2, 1, 0, 2, 1, 0};
-
-  int diagindH[7];
-  std::vector<mjtNum> dense;
-  SqrMatTDSplitCol(dense, 1, 7, mat, rownnz, rowadr, colind, matT, rownnzT,
-                   rowadrT, colindT, rowsuperT, nullptr, diagindH, data.get());
-
-  EXPECT_THAT(dense,
-              ElementsAre(1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1,
-                          2, 2, 2, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 4, 4, 4, 2,
-                          2, 2, 2, 4, 4, 4, 2, 2, 2, 2, 4, 4, 4));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparseSymbolic) {
-  // Simple dense 2x2 matrix:
-  //     1 2
-  // M = 3 4
-  //
-  // M'M (lower triangle) should have 3 elements: (0,0), (1,0), (1,1)
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  // M in CSR: row 0 has cols 0,1; row 1 has cols 0,1
-  int colind[] = {0, 1, 0, 1};
-  int rownnz[] = {2, 2};
-  int rowadr[] = {0, 2};
-
-  // compute transpose using mju_transposeSparse
-  mjtNum mat[] = {1, 2, 3, 4};
-  mjtNum matT[4];
-  int colindT[4];
-  int rownnzT[2];
-  int rowadrT[2];
-  mju_transposeSparse(matT, mat, 2, 2, rownnzT, rowadrT, colindT, nullptr,
-                      rownnz, rowadr, colind);
-
-  // use old function as ground truth
-  int rownnzH_expected[] = {0, 0};
-  int rowadrH_expected[] = {0, 0};
-  int nnz_expected = mju_sqrMatTDSparseCount(
-      rownnzH_expected, rowadrH_expected, 2, rownnz, rowadr, colind, rownnzT,
-      rowadrT, colindT, nullptr, data.get(), /*flg_upper=*/0);
-
-  // verify: lower triangle should have 3 elements: (0,0), (1,0), (1,1)
-  EXPECT_EQ(nnz_expected, 3);
-  EXPECT_THAT(rownnzH_expected, ElementsAre(1, 2));
-  EXPECT_THAT(rowadrH_expected, ElementsAre(0, 1));
-
-  // test count mode of new function
-  int rownnzH[] = {0, 0};
-  int rowadrH[] = {0, 0};
-
-  int nnz = mju_sqrMatTDSparseSymbolic(rownnzH, rowadrH, nullptr, nullptr, 2, 2,
-                                       rownnz, rowadr, colind, rownnzT, rowadrT,
-                                       colindT, nullptr, data.get());
-
-  EXPECT_EQ(nnz, nnz_expected);
-  EXPECT_THAT(rownnzH, ElementsAre(rownnzH_expected[0], rownnzH_expected[1]));
-  EXPECT_THAT(rowadrH, ElementsAre(rowadrH_expected[0], rowadrH_expected[1]));
-
-  // test fill mode
-  std::vector<int> colindH(nnz, -1);
-
-  mju_sqrMatTDSparseSymbolic(rownnzH, rowadrH, colindH.data(), nullptr, 2, 2,
-                             rownnz, rowadr, colind, rownnzT, rowadrT, colindT,
-                             nullptr, data.get());
-
-  // verify: row 0 should have {0}, row 1 should have {0, 1}
-  EXPECT_THAT(colindH, ElementsAre(0, 0, 1));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparseSymbolicUpper) {
-  // Test flg_upper=1: count both lower and upper triangle
-  // Same matrix as previous test
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  int colind[] = {0, 1, 0, 1};
-  int rownnz[] = {2, 2};
-  int rowadr[] = {0, 2};
-
-  mjtNum mat[] = {1, 2, 3, 4};
-  mjtNum matT[4];
-  int colindT[4];
-  int rownnzT[2];
-  int rowadrT[2];
-  mju_transposeSparse(matT, mat, 2, 2, rownnzT, rowadrT, colindT, nullptr,
-                      rownnz, rowadr, colind);
-
-  // use old function as ground truth with flg_upper=1
-  int rownnzH_expected[] = {0, 0};
-  int rowadrH_expected[] = {0, 0};
-  int nnz_expected = mju_sqrMatTDSparseCount(
-      rownnzH_expected, rowadrH_expected, 2, rownnz, rowadr, colind, rownnzT,
-      rowadrT, colindT, nullptr, data.get(), /*flg_upper=*/1);
-
-  // test new function with diagind (upper triangle)
-  int rownnzH[] = {0, 0};
-  int rowadrH[] = {0, 0};
-  int diagindH[] = {0, 0};
-  int nnz = mju_sqrMatTDSparseSymbolic(rownnzH, rowadrH, nullptr, diagindH, 2,
-                                       2, rownnz, rowadr, colind, rownnzT,
-                                       rowadrT, colindT, nullptr, data.get());
-
-  EXPECT_EQ(nnz, nnz_expected);
-  EXPECT_THAT(rownnzH, ElementsAre(rownnzH_expected[0], rownnzH_expected[1]));
-  EXPECT_THAT(rowadrH, ElementsAre(rowadrH_expected[0], rowadrH_expected[1]));
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparseSymbolicSupernode) {
-  // Test supernode exploitation with a matrix that has supernodes
-  // M has two rows with identical sparsity pattern
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  // 3x2 matrix where rows 1 and 2 have same pattern
-  //     1 0
-  // M = 2 3
-  //     4 5
-  int colind[] = {0, 0, 1, 0, 1};
-  int rownnz[] = {1, 2, 2};
-  int rowadr[] = {0, 1, 3};
-
-  mjtNum mat[] = {1, 2, 3, 4, 5};
-  mjtNum matT[5];
-  int colindT[5];
-  int rownnzT[2];
-  int rowadrT[2];
-  mju_transposeSparse(matT, mat, 3, 2, rownnzT, rowadrT, colindT, nullptr,
-                      rownnz, rowadr, colind);
-
-  // compute rowsuperT
-  int rowsuperT[2];
-  mju_superSparse(2, rowsuperT, rownnzT, rowadrT, colindT);
-
-  // use old function as ground truth
-  int rownnzH_expected[] = {0, 0};
-  int rowadrH_expected[] = {0, 0};
-  int nnz_expected = mju_sqrMatTDSparseCount(
-      rownnzH_expected, rowadrH_expected, 2, rownnz, rowadr, colind, rownnzT,
-      rowadrT, colindT, rowsuperT, data.get(), /*flg_upper=*/0);
-
-  // test new function with supernodes
-  int rownnzH[] = {0, 0};
-  int rowadrH[] = {0, 0};
-  int nnz = mju_sqrMatTDSparseSymbolic(rownnzH, rowadrH, nullptr, nullptr, 3, 2,
-                                       rownnz, rowadr, colind, rownnzT, rowadrT,
-                                       colindT, rowsuperT, data.get());
-
-  EXPECT_EQ(nnz, nnz_expected);
-  EXPECT_THAT(rownnzH, ElementsAre(rownnzH_expected[0], rownnzH_expected[1]));
-  EXPECT_THAT(rowadrH, ElementsAre(rowadrH_expected[0], rowadrH_expected[1]));
-
-  // test fill mode with supernodes
-  std::vector<int> colindH(nnz, -1);
-  mju_sqrMatTDSparseSymbolic(rownnzH, rowadrH, colindH.data(), nullptr, 3, 2,
-                             rownnz, rowadr, colind, rownnzT, rowadrT, colindT,
-                             rowsuperT, data.get());
-
-  // verify all filled
-  for (int i = 0; i < nnz; i++) {
-    EXPECT_GE(colindH[i], 0) << "colindH[" << i << "] not filled";
-  }
-
-  // verify numeric phase with supernodes
-  std::vector<mjtNum> resH(nnz);
-  mjtNum diag[] = {1, 1, 1, 1, 1};  // dummy diagonal
-  mju_sqrMatTDSparseNumeric(resH.data(), 2, rownnzH, rowadrH, colindH.data(),
-                            nullptr, mat, rownnz, rowadr, colind, matT, rownnzT,
-                            rowadrT, colindT, rowsuperT, diag, data.get());
-
-  // ground truth numeric
-  std::vector<mjtNum> res_expected(4);
-  std::vector<int> colindH_expected(4);
-  int rownnzH_exp[] = {0, 0};
-  int rowadrH_exp[] = {0, 2};
-  mju_sqrMatTDSparse(res_expected.data(), mat, matT, diag, 3, 2, rownnzH_exp,
-                     rowadrH_exp, colindH_expected.data(), rownnz, rowadr,
-                     colind, nullptr, rownnzT, rowadrT, colindT, rowsuperT,
-                     data.get(), nullptr);
-
-  // compare values (sparse result vs sparse ground truth)
-  for (int r = 0; r < 2; r++) {
-    for (int i = 0; i < rownnzH[r]; i++) {
-      // find matching col in ground truth
-      int c = colindH[rowadrH[r] + i];
-      mjtNum val = resH[rowadrH[r] + i];
-
-      bool found = false;
-      for (int j = 0; j < rownnzH_exp[r]; j++) {
-        if (colindH_expected[rowadrH_exp[r] + j] == c) {
-          EXPECT_NEAR(val, res_expected[rowadrH_exp[r] + j], 1e-14);
-          found = true;
-          break;
-        }
-      }
-      EXPECT_TRUE(found) << "Column " << c
-                         << " not found in ground truth for row " << r;
-    }
-  }
-}
-
-TEST_F(EngineUtilSparseTest, MjuSqrMatTDSparseNumeric) {
-  // Test numeric phase using symbolic phase + existing function as ground truth
-  //     1 2
-  // M = 3 4
-
-  MjModelPtr model = LoadModelFromString("<mujoco/>");
-  MjDataPtr data = MakeData(model);
-
-  int colind[] = {0, 1, 0, 1};
-  int rownnz[] = {2, 2};
-  int rowadr[] = {0, 2};
-  mjtNum mat[] = {1, 2, 3, 4};
-
-  // compute transpose
-  mjtNum matT[4];
-  int colindT[4];
-  int rownnzT[2];
-  int rowadrT[2];
-  mju_transposeSparse(matT, mat, 2, 2, rownnzT, rowadrT, colindT, nullptr,
-                      rownnz, rowadr, colind);
-
-  // compute supernodes
-  int rowsuperT[2];
-  mju_superSparse(2, rowsuperT, rownnzT, rowadrT, colindT);
-
-  mjtNum diag[] = {2, 3};  // diagonal weighting matrix
-
-  // test both diagind cases: lower-only (diagind=NULL) and both triangles
-  // (diagind!=NULL)
-  for (int use_diagind = 0; use_diagind <= 1; use_diagind++) {
-    // compute sparsity pattern using symbolic phase
-    int rownnzH[] = {0, 0};
-    int rowadrH[] = {0, 0};
-    int diagindH[] = {0, 0};
-    int nnz = mju_sqrMatTDSparseSymbolic(
-        rownnzH, rowadrH, nullptr, use_diagind ? diagindH : nullptr, 2, 2,
-        rownnz, rowadr, colind, rownnzT, rowadrT, colindT, nullptr, data.get());
-
-    std::vector<int> colindH(nnz);
-    mju_sqrMatTDSparseSymbolic(rownnzH, rowadrH, colindH.data(),
-                               use_diagind ? diagindH : nullptr, 2, 2, rownnz,
-                               rowadr, colind, rownnzT, rowadrT, colindT,
-                               nullptr, data.get());
-
-    // compute values using numeric phase
-    std::vector<mjtNum> resH(nnz);
-    mju_sqrMatTDSparseNumeric(resH.data(), 2, rownnzH, rowadrH, colindH.data(),
-                              use_diagind ? diagindH : nullptr, mat, rownnz,
-                              rowadr, colind, matT, rownnzT, rowadrT, colindT,
-                              rowsuperT, diag, data.get());
-
-    // compute ground truth using existing mju_sqrMatTDSparse
-    // use uncompressed storage to give the old function enough room
-    std::vector<mjtNum> res_expected(4);  // 2x2 uncompressed
-    std::vector<int> colindH_expected(4);
-    int rownnzH_exp[] = {0, 0};
-    int rowadrH_exp[] = {0, 2};
-    int diagind_exp[] = {0, 0};
-    mju_sqrMatTDSparse(res_expected.data(), mat, matT, diag, 2, 2, rownnzH_exp,
-                       rowadrH_exp, colindH_expected.data(), rownnz, rowadr,
-                       colind, nullptr, rownnzT, rowadrT, colindT, nullptr,
-                       data.get(), use_diagind ? diagind_exp : nullptr);
-
-    // check that rownnz matches (nnz may differ due to compressed vs
-    // uncompressed storage)
-    EXPECT_EQ(rownnzH[0], rownnzH_exp[0])
-        << "rownnz[0] mismatch for use_diagind=" << use_diagind;
-    EXPECT_EQ(rownnzH[1], rownnzH_exp[1])
-        << "rownnz[1] mismatch for use_diagind=" << use_diagind;
-
-    // compare column indices and values for each row
-    for (int r = 0; r < 2; r++) {
-      for (int j = 0; j < rownnzH[r]; j++) {
-        int idx = rowadrH[r] + j;
-        int idx_exp = rowadrH_exp[r] + j;
-        EXPECT_EQ(colindH[idx], colindH_expected[idx_exp])
-            << "colind mismatch at row " << r << " pos " << j
-            << " for use_diagind=" << use_diagind;
-        EXPECT_NEAR(resH[idx], res_expected[idx_exp], 1e-10)
-            << "value mismatch at row " << r << " pos " << j
-            << " for use_diagind=" << use_diagind;
-      }
-    }
-  }
-}
-
-TEST_F(EngineUtilSparseTest, MjuMulMatTVec) {
-  int nr = 2;
-  int nc = 3;
-  mjtNum mat[] = {1, 2, 0, 0, 3, 4};
-
-  mjtNum mat_sparse[4];
-  int rownnz[2];
-  int rowadr[2];
-  int colind[4];
-  mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 4);
-
-  // multiply: res = mat' * vec
-  mjtNum vec[] = {5, 6};
-  mjtNum res[3];
-  mju_mulMatTVecSparse(res, mat_sparse, vec, nr, nc, rownnz, rowadr, colind);
-
-  EXPECT_THAT(AsVector(res, 3), ElementsAre(5, 28, 24));
-}
-
-TEST_F(EngineUtilSparseTest, MjuAddToSymSparse) {
-  //     1 2 4
-  // M = 2 3 0
-  //     4 0 5
-
-  // only lower triangle represented
-  mjtNum mat[] = {1, 2, 3, 4, 5};
-  int colind[] = {0, 0, 1, 0, 2};
-  int rownnz[] = {1, 2, 2};
-  int rowadr[] = {0, 1, 3};
-
-  //     0 0 0
-  // A = 5 4 2
-  //     4 3 2
-  mjtNum A[] = {0, 0, 0, 5, 4, 2, 4, 3, 2};
-
-  mju_addToSymSparse(A, mat, 3, rownnz, rowadr, colind, /*flg_upper=*/1);
-  EXPECT_THAT(AsVector(A, 9), ElementsAre(1, 2, 4, 7, 7, 2, 8, 3, 7));
-
-  // same as A
-  mjtNum B[] = {0, 0, 0, 5, 4, 2, 4, 3, 2};
-
-  mju_addToSymSparse(B, mat, 3, rownnz, rowadr, colind, /*flg_upper=*/0);
-  EXPECT_THAT(AsVector(B, 9), ElementsAre(1, 0, 0, 7, 7, 2, 8, 3, 7));
-}
-
-TEST_F(EngineUtilSparseTest, MjuMulSymVecSparse) {
-  constexpr int n = 4;
-  constexpr int nnz = 9;
-
-  mjtNum mat[n * n] = {1, 0, 0, 0, 0, 2, 0, 0, 3, 0, 4, 0, 5, 6, 7, 8};
-
-  // dense, full matrix
-  mjtNum sym[n * n] = {1, 0, 3, 5, 0, 2, 0, 6, 3, 0, 4, 7, 5, 6, 7, 8};
-
-  mjtNum mat_sparse[nnz];
-  int rownnz[n];
-  int rowadr[n];
-  int colind[nnz];
-  mju_dense2sparse(mat_sparse, mat, n, n, rownnz, rowadr, colind, nnz);
-
-  // multiply: res = (mat + strict_upper(mat')) * vec
-  mjtNum vec[n] = {4, 3, 2, 1};
-  mjtNum res[n];
-  mju_mulSymVecSparse(res, mat_sparse, vec, n, rownnz, rowadr, colind);
-
-  // dense multiply
-  mjtNum res2[n];
-  mju_mulMatVec(res2, sym, vec, n, n);
-
-  for (int i = 0; i < n; i++) {
-    EXPECT_EQ(res[i], res2[i]);
-  }
-}
-
-TEST_F(EngineUtilSparseTest, MjuDenseToSparse) {
-  int nr = 2;
-  int nc = 2;
-  mjtNum mat[] = {1, 2, 0, 3};
-
-  mjtNum mat_sparse[4];
-  int rownnz[2];
-  int rowadr[2];
-  int colind[4];
-
-  // nnz == number of non-zeros
-  int status3 =
-      mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 3);
-
-  EXPECT_EQ(status3, 0);
-
-  // nnz > number of non-zeros
-  int status4 =
-      mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 4);
-
-  EXPECT_EQ(status4, 0);
-
-  // nnz < number of non-zeros
-  int status2 =
-      mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 2);
-
-  EXPECT_EQ(status2, 1);
-
-  // nnz == 0
-  int status0 =
-      mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, 0);
-
-  EXPECT_EQ(status0, 1);
-}
-
-TEST_F(EngineUtilSparseTest, MergeSorted) {
-  const int chain1_a[] = {1, 2, 3};
-  const int* chain2_a = nullptr;
-  int merged_a[3];
-  int n1 = 3;
-  int n2 = 0;
-  EXPECT_EQ(mj_mergeSorted(merged_a, chain1_a, n1, chain2_a, n2), 3);
-  EXPECT_THAT(merged_a, ElementsAre(1, 2, 3));
-
-  const int chain1_b[] = {1, 3, 5, 7, 8};
-  const int chain2_b[] = {2, 4, 5, 6, 8};
-  int merged_b[8];
-  n1 = 5;
-  n2 = 5;
-  EXPECT_EQ(mj_mergeSorted(merged_b, chain1_b, n1, chain2_b, n2), 8);
-  EXPECT_THAT(merged_b, ElementsAre(1, 2, 3, 4, 5, 6, 7, 8));
-}
-
-TEST_F(EngineUtilSparseTest, BlockDiag) {
-  // 4x5 matrix with 3 blocks
-  constexpr int nr = 4;
-  constexpr int nc = 5;
-  const mjtNum mat[nr * nc] = {1, 2, 0, 0, 0, 0, 0, 3, 4, 0,
-                               0, 0, 5, 6, 0, 0, 0, 0, 0, 7};
-
-  // block structure
-  constexpr int nb = 3;
-  const int block_nr[nb] = {1, 2, 1};
-  const int block_nc[nb] = {2, 2, 1};
-  const int block_r[nb] = {0, 1, 3};
-  const int block_c[nb] = {0, 2, 4};
-
-  // test with identity permutations
-  const int perm_r[nr] = {0, 1, 2, 3};
-  const int perm_c[nc] = {0, 1, 2, 3, 4};
-  mjtNum res[nr * nc] = {0};
-  mju_blockDiag(res, mat, nc, nc, nb, perm_r, perm_c, block_nr, block_nc,
-                block_r, block_c);
-  EXPECT_THAT(res, ElementsAre(1, 2, 0, 0, 0, 3, 4, 5, 6, 0, 0, 0, 0, 0, 0, 7,
-                               0, 0, 0, 0));
-}
-
-TEST_F(EngineUtilSparseTest, BlockDiagPerm) {
-  // 4x5 matrix with 3 blocks
-  constexpr int nr = 4;
-  constexpr int nc = 5;
-  const mjtNum mat[nr * nc] = {1, 2, 0, 0, 0, 0, 0, 3, 4, 0,
-                               0, 0, 5, 6, 0, 0, 0, 0, 0, 7};
-
-  // block structure
-  constexpr int nb = 3;
-  const int block_nr[nb] = {1, 2, 1};
-  const int block_nc[nb] = {2, 2, 1};
-  const int block_r[nb] = {0, 1, 3};
-  const int block_c[nb] = {0, 2, 4};
-
-  // scatter mat into mat_p
-  const int perm_r[nr] = {1, 3, 2, 0};
-  const int perm_c[nc] = {2, 0, 4, 3, 1};
-  mjtNum mat_p[nr * nc];
-  PermuteMat(mat_p, mat, nr, nc, perm_r, perm_c, true, true);
-
-  // test with permutation
-  mjtNum res[nr * nc] = {0};
-  mju_blockDiag(res, mat_p, nc, nc, nb, perm_r, perm_c, block_nr, block_nc,
-                block_r, block_c);
-  EXPECT_THAT(res, ElementsAre(1, 2, 0, 0, 0, 3, 4, 5, 6, 0, 0, 0, 0, 0, 0, 7,
-                               0, 0, 0, 0));
-}
-
-TEST_F(EngineUtilSparseTest, BlockDiagLessCols) {
-  // 4x5 matrix with 3 blocks
-  constexpr int nr = 4;
-  constexpr int nc = 5;
-  const mjtNum mat[nr * nc] = {1, 2, 0, 0, 0, 0, 0, 3, 4, 0,
-                               0, 0, 5, 6, 0, 0, 0, 0, 0, 7};
-
-  // block structure (ignore middle block)
-  constexpr int nb = 2;
-  const int block_nr[nb] = {1, 1};
-  const int block_nc[nb] = {2, 1};
-  const int block_r[nb] = {0, 3};
-  const int block_c[nb] = {0, 4};
-
-  // scatter mat into mat_p
-  const int perm_r[nr] = {1, 3, 2, 0};
-  const int perm_c[nc] = {2, 0, 4, 3, 1};
-  mjtNum mat_p[nr * nc];
-  PermuteMat(mat_p, mat, nr, nc, perm_r, perm_c, true, true);
-
-  // test with permutation and less columns (ignore middle block)
-  constexpr int nc_res = 3;
-  mjtNum res2[nr * nc_res] = {0};
-  mju_blockDiag(res2, mat_p, nc, nc_res, nb, perm_r, perm_c, block_nr, block_nc,
-                block_r, block_c);
-  EXPECT_THAT(res2, ElementsAre(1, 2, 0, 0, 0, 0, 0, 0, 0, 7, 0, 0));
-}
-
-TEST_F(EngineUtilSparseTest, BlockDiagSparse) {
-  // 4x5 matrix with 3 blocks
-  constexpr int nr = 4;
-  constexpr int nc = 5;
-  const mjtNum mat[nr * nc] = {1, 2, 0, 0, 0, 0, 0, 3, 4, 0,
-                               0, 0, 5, 6, 0, 0, 0, 0, 0, 7};
-  constexpr int nnz = 7;
-
-  // block structure
-  constexpr int nb = 3;
-  const int block_r[nb] = {0, 1, 3};
-  const int block_c[nb] = {0, 2, 4};
-
-  // convert to sparse
-  int rownnz[nr];
-  int rowadr[nr];
-  int colind[nnz];
-  mjtNum mat_sparse[nnz];
-  mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, nnz);
-
-  // test with identity permutations
-  const int perm_r[nr] = {0, 1, 2, 3};
-  const int perm_c[nc] = {0, 1, 2, 3, 4};
-  int res_rownnz[nr];
-  int res_rowadr[nr];
-  int res_colind[nnz];
-  mjtNum res[nnz];
-  mju_blockDiagSparse(res, res_rownnz, res_rowadr, res_colind, mat_sparse,
-                      rownnz, rowadr, colind, nr, nb, perm_r, perm_c, block_r,
-                      block_c, nullptr, nullptr);
-  mjtNum dense_res[nr * nc];
-  mju_sparse2dense(dense_res, res, nr, nc, res_rownnz, res_rowadr, res_colind);
-  EXPECT_THAT(dense_res, ElementsAre(1, 2, 0, 0, 0, 3, 4, 0, 0, 0, 5, 6, 0, 0,
-                                     0, 7, 0, 0, 0, 0));
-
-  // permute mat into mat_p (scatter rows, gather columns)
-  const int perm_r2[nr] = {3, 1, 0, 2};
-  const int perm_c2[nc] = {4, 0, 2, 1, 3};
-  mjtNum mat_p[nr * nc];
-  PermuteMat(mat_p, mat, nr, nc, perm_r2, perm_c2, true, false);
-  mju_dense2sparse(mat_sparse, mat_p, nr, nc, rownnz, rowadr, colind, nnz);
-
-  // test with permutation
-  mju_blockDiagSparse(res, res_rownnz, res_rowadr, res_colind, mat_sparse,
-                      rownnz, rowadr, colind, nr, nb, perm_r2, perm_c2, block_r,
-                      block_c, nullptr, nullptr);
-  mju_sparse2dense(dense_res, res, nr, nc, res_rownnz, res_rowadr, res_colind);
-  EXPECT_THAT(dense_res, ElementsAre(1, 2, 0, 0, 0, 3, 4, 0, 0, 0, 5, 6, 0, 0,
-                                     0, 7, 0, 0, 0, 0));
-}
-
-TEST_F(EngineUtilSparseTest, BlockDiagSparseTranspose) {
-  // 4x5 matrix with 3 blocks
-  constexpr int nr = 4;
-  constexpr int nc = 5;
-  const mjtNum mat[nr * nc] = {1, 2, 0, 0, 0, 0, 0, 3, 4, 0,
-                               0, 0, 5, 6, 0, 0, 0, 0, 0, 7};
-  constexpr int nnz = 7;
-
-  // block structure
-  constexpr int nb = 3;
-  const int block_nr[nb] = {1, 2, 1};
-  const int block_nc[nb] = {2, 2, 1};
-  const int block_r[nb] = {0, 1, 3};
-  const int block_c[nb] = {0, 2, 4};
-
-  // convert to sparse
-  int rownnz[nr];
-  int rowadr[nr];
-  int colind[nnz];
-  mjtNum mat_sparse[nnz];
-  mju_dense2sparse(mat_sparse, mat, nr, nc, rownnz, rowadr, colind, nnz);
-
-  // block diagonalize
-  const int perm_r[nr] = {0, 1, 2, 3};
-  const int perm_c[nc] = {0, 1, 2, 3, 4};
-  int res_rownnz[nr];
-  int res_rowadr[nr];
-  int res_colind[nnz];
-  mjtNum res[nnz];
-  mju_blockDiagSparse(res, res_rownnz, res_rowadr, res_colind, mat_sparse,
-                      rownnz, rowadr, colind, nr, nb, perm_r, perm_c, block_r,
-                      block_c, nullptr, nullptr);
-
-  // transpose each block
-  mjtNum matT[nnz];
-  int colindT[nnz];
-  int rownnzT[nc];  // Max possible size for rownnzT is nc
-  int rowadrT[nc];
-
-  mjtNum denseT[nr * nc];
-  mjtNum dense_block[nr * nc];
-  mjtNum dense_block_T[nr * nc];
-
-  for (int b = 0; b < nb; ++b) {
-    int bnr = block_nr[b];
-    int bnc = block_nc[b];
-    int r_offset = block_r[b];
-    int c_offset = block_c[b];
-
-    if (bnr == 0 || bnc == 0) continue;
-
-    int block_start_adr = res_rowadr[r_offset];
-
-    // pointers to the start of the current block
-    mjtNum* block_res_vals = res + block_start_adr;
-    int* block_res_rownnz = res_rownnz + r_offset;
-    int* block_res_rowadr = res_rowadr + r_offset;
-    int* block_res_colind = res_colind + block_start_adr;
-
-    mju_transposeSparse(matT, block_res_vals, bnr, bnc, rownnzT, rowadrT,
-                        colindT, nullptr, block_res_rownnz, block_res_rowadr,
-                        block_res_colind);
-
-    // verification:
-    // 1. convert transposed sparse block to dense
-    mju_zero(denseT, bnc * bnr);
-    mju_sparse2dense(denseT, matT, bnc, bnr, rownnzT, rowadrT, colindT);
-
-    // 2. extract original block to dense
-    for (int i = 0; i < bnr; ++i) {
-      for (int j = 0; j < bnc; ++j) {
-        dense_block[i * bnc + j] = mat[(r_offset + i) * nc + (c_offset + j)];
-      }
-    }
-    // 3. manually transpose the original dense block
-    for (int i = 0; i < bnr; ++i) {
-      for (int j = 0; j < bnc; ++j) {
-        dense_block_T[j * bnr + i] = dense_block[i * bnc + j];
-      }
-    }
-
-    // 4. Compare
-    for (int i = 0; i < bnc * bnr; ++i) {
-      EXPECT_EQ(denseT[i], dense_block_T[i])
-          << "block " << b << " element " << i;
-    }
-  }
-}
-
-TEST_F(EngineUtilSparseTest, PermuteMat) {
-  const mjtNum mat[] = {1, 2, 0, 0, 0, 0, 3, 4, 0, 0, 5, 6};
-  const int perm_r[] = {2, 0, 1};
-  const int perm_c[] = {3, 2, 0, 1};
-  mjtNum gather[3 * 4];
-  PermuteMat(gather, mat, 3, 4, perm_r, perm_c, false, false);
-  EXPECT_THAT(gather, ElementsAre(6, 5, 0, 0, 0, 0, 1, 2, 4, 3, 0, 0));
-  mjtNum scatter[3 * 4];
-  PermuteMat(scatter, gather, 3, 4, perm_r, perm_c, true, true);
-  EXPECT_THAT(scatter, ElementsAre(1, 2, 0, 0, 0, 0, 3, 4, 0, 0, 5, 6));
-  mjtNum mixed[3 * 4];
-  PermuteMat(mixed, mat, 3, 4, perm_r, perm_c, true, false);
-  EXPECT_THAT(mixed, ElementsAre(4, 3, 0, 0, 6, 5, 0, 0, 0, 0, 1, 2));
-  mjtNum mixed_back[3 * 4];
-  PermuteMat(mixed_back, mixed, 3, 4, perm_r, perm_c, false, true);
-  EXPECT_THAT(mixed_back, ElementsAre(1, 2, 0, 0, 0, 0, 3, 4, 0, 0, 5, 6));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_util_spatial_test.cc b/test/engine/engine_util_spatial_test.cc
deleted file mode 100644
index e532adc0..00000000
--- a/test/engine/engine_util_spatial_test.cc
+++ /dev/null
@@ -1,264 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for engine/engine_util_spatial.c
-
-#include <cmath>
-#include <cstdlib>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <gtest/gtest-spi.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_util_blas.h"
-#include "src/engine/engine_util_spatial.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::ElementsAre;
-using ::testing::Pointwise;
-
-using Quat2MatTest = MujocoTest;
-
-TEST_F(Quat2MatTest, NoRotation) {
-  mjtNum result[9] = {0};
-  mjtNum quat[] = {1, 0, 0, 0};
-  mju_quat2Mat(result, quat);
-  EXPECT_THAT(
-      AsVector(result, 9),
-      ElementsAre(1, 0, 0,
-                  0, 1, 0,
-                  0, 0, 1)
-  );
-}
-
-TEST_F(Quat2MatTest, TinyRotation) {
-  mjtNum result[9] = {0};
-  // An angle so small that cos(angle) == 1.0 to double accuracy
-  mjtNum angle = 1e-8;
-  mjtNum quat[] = {cos(angle/2), sin(angle/2), 0, 0};
-  mju_quat2Mat(result, quat);
-  EXPECT_THAT(
-      AsVector(result, 9),
-      ElementsAre(1, 0         ,  0         ,
-                  0, cos(angle), -sin(angle),
-                  0, sin(angle),  cos(angle))
-  );
-}
-
-using MulQuatTest = MujocoTest;
-
-TEST_F(MulQuatTest, TinyRotation) {
-  mjtNum null_quat[4] = {1, 0, 0, 0};
-  mjtNum result[4];
-  // An angle so small that cos(angle) == 1.0 to double accuracy
-  mjtNum angle = 1e-8;
-  mjtNum quat[] = {cos(angle/2), sin(angle/2), 0, 0};
-  mju_mulQuat(result, null_quat, quat);
-  EXPECT_THAT(
-      AsVector(result, 4),
-      ElementsAre(cos(angle/2), sin(angle/2), 0, 0)
-  );
-}
-
-using RotVecQuatTest = MujocoTest;
-
-TEST_F(RotVecQuatTest, NoRotation) {
-  mjtNum result[3];
-  mjtNum vec[] = {1, 2, 3};
-  mjtNum quat[] = {1, 0, 0, 0};
-  mju_rotVecQuat(result, vec, quat);
-  EXPECT_THAT(
-      AsVector(result, 3),
-      ElementsAre(1, 2, 3)
-  );
-}
-
-TEST_F(RotVecQuatTest, TinyRotation) {
-  mjtNum result[3];
-  mjtNum vec[] = {0, 1, 0};
-  // An angle so small that cos(angle) == 1.0 to double accuracy
-  mjtNum angle = 1e-8;
-  mjtNum quat[] = {cos(angle/2), sin(angle/2), 0, 0};
-  mju_rotVecQuat(result, vec, quat);
-  EXPECT_THAT(
-      AsVector(result, 3),
-      ElementsAre(0, cos(angle), sin(angle))
-  );
-}
-
-// Rotate a vector by explicitly converting the quaternion to a 3x3 matrix
-void RotVecQuatWithMatrix(mjtNum res[3], const mjtNum vec[3],
-                          const mjtNum quat[4]) {
-  if (quat[0] == 1 && quat[1] == 0 && quat[2] == 0 && quat[3] == 0) {
-    mju_copy3(res, vec);
-  } else {
-    mjtNum mat[9];
-    mju_quat2Mat(mat, quat);
-    mju_mulMatVec3(res, mat, vec);
-  }
-}
-
-TEST_F(RotVecQuatTest, TestEquivalence) {
-  mjtNum resultActual[3], resultExpected[3], quat[4];
-  // List of rotation axes
-  mjtNum vecs[5][3] = {
-      {1, 0, 0}, {0, 1, 0}, {0, 0, 1}, {-0.5, 1, -0.5}, {1.22, -2.33, 3.44}};
-  // List of angles to rotate by, in degrees
-  mjtNum angles[6] = {0.0, 1e-8, 31, 47, 181, 271};
-  static const mjtNum eps = MjTol(1e-15, 1e-5);
-  for (auto vec : vecs) {
-    // Unit-normalize the vector
-    mju_normalize3(vec);
-    for (auto angleDegree : angles) {
-      // Convert the axis-angle to a quaternion
-      auto angleRad = angleDegree * mjPI / 180;
-      mju_axisAngle2Quat(quat, vec, angleRad);
-      // Rotate
-      mju_rotVecQuat(resultActual, vec, quat);
-      RotVecQuatWithMatrix(resultExpected, vec, quat);
-      // Compare
-      EXPECT_NEAR(resultExpected[0], resultActual[0], eps);
-      EXPECT_NEAR(resultExpected[1], resultActual[1], eps);
-      EXPECT_NEAR(resultExpected[2], resultActual[2], eps);
-    }
-  }
-}
-
-using Euler2QuatTest = MujocoTest;
-
-TEST_F(Euler2QuatTest, BadSeq) {
-  EXPECT_FATAL_FAILURE({
-        mjtNum quat[4];
-        mjtNum euler[3] = {0};
-        char seq[] = "xiz";
-        mju_euler2Quat(quat, euler, seq);
-  }, "mju_euler2Quat: seq[1] is 'i', should be one of x, y, z, X, Y, Z");
-}
-
-TEST_F(Euler2QuatTest, BadSeqLength) {
-  EXPECT_FATAL_FAILURE({
-        mjtNum quat[4];
-        mjtNum euler[3] = {0};
-        char seq[] = "xyzy";
-        mju_euler2Quat(quat, euler, seq);
-  }, "mju_euler2Quat: seq must contain exactly 3 characters");
-}
-
-TEST_F(Euler2QuatTest, Euler2Quat) {
-  mjtNum quat[4] = {0};
-  mjtNum tol = MjTol(1e-14, 1e-6);
-
-  char seq[] = "xyz";
-  mjtNum euler[3] = {mjPI, 0, 0};
-  mjtNum expected[4] = {0, 1, 0, 0};
-  mju_euler2Quat(quat, euler, seq);
-  EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected));
-
-  euler[1] = mjPI;
-  mjtNum expected2[4] = {0, 0, 0, 1};
-  mju_euler2Quat(quat, euler, seq);
-  EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected2));
-
-  char seq2[] = "XYZ";
-  mjtNum expected3[4] = {0, 0, 0, -1};
-  mju_euler2Quat(quat, euler, seq2);
-  EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected3));
-
-  mjtNum euler2[3] = {2*mjPI, 2*mjPI, 2*mjPI};
-  mjtNum expected4[4] = {-1, 0, 0, 0};
-  mju_euler2Quat(quat, euler2, seq);
-  EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected4));
-  mju_euler2Quat(quat, euler2, seq2);
-  EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected4));
-
-  mjtNum euler3[3] = {mjPI/2, mjPI/2, mjPI/2};
-  mjtNum expected5[4] = {0, mju_sqrt(.5), 0, mju_sqrt(.5)};
-  mju_euler2Quat(quat, euler3, seq);
-  EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected5));
-  mju_euler2Quat(quat, euler3, seq2);
-  mjtNum expected6[4] = {mju_sqrt(.5), 0, mju_sqrt(.5), 0};
-  EXPECT_THAT(quat, Pointwise(MjNear(tol, tol), expected6));
-}
-
-using Mat2RotTest = MujocoTest;
-
-TEST_F(Mat2RotTest, RotationFromArbitraryMatrix) {
-  // create arbitrary target rotation matrix
-  mjtNum target[4], rot[9];
-  mjtNum axis[3] = {1, 1, 1};
-  mju_axisAngle2Quat(target, axis, mjPI/6);
-  mju_normalize4(target);
-  mju_quat2Mat(rot, target);
-
-  // combine rotation with arbitrary stretch
-  mjtNum mat[9];
-  mjtNum deformation_gradient[9] = {0.5, 0.25, 0.125,
-                                    0.3, 0.66, 0.999,
-                                    0.4, 0.22, 0.111};
-  mjtNum stretch[9];
-  mju_mulMatTMat3(stretch, deformation_gradient, deformation_gradient);
-  mju_mulMatMat3(mat, rot, stretch);
-
-  // calculate rotational part of the matrix
-  mjtNum quat[4] = {1, 0, 0, 0};
-  int niter = mju_mat2Rot(quat, mat);
-  EXPECT_THAT(quat, Pointwise(MjNear(1e-8, 1e-5), target));
-  EXPECT_LE(niter, 150);
-}
-
-TEST_F(Mat2RotTest, IdentityFromRandomRotation) {
-  // This test is based on the following paper:
-  // Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin. "A
-  // robust method to extract the rotational part of deformations." In
-  // Proceedings of the 9th International Conference on Motion in Games, pp.
-  // 55-60. 2016.
-  mjtNum mat[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-  srand(123);
-
-  for (int i = 0; i < 100; ++i) {
-    // random quaternion
-    mjtNum quat[4];
-    for (int j = 0; j < 4; ++j) {
-      quat[j] = rand() / (float)RAND_MAX;  // NOLINT
-    }
-
-    // calculate rotational part of the matrix
-    mjtNum res[9];
-    mju_normalize4(quat);
-    EXPECT_LE(mju_mat2Rot(quat, mat), 40);
-    mju_quat2Mat(res, quat);
-    EXPECT_THAT(res, Pointwise(MjNear(1e-6, 1e-5), mat));
-  }
-}
-
-TEST_F(Mat2RotTest, SpecialCases) {
-  mjtNum eye[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
-  mjtNum quat[4] = {1, 0, 0, 0};
-  EXPECT_EQ(mju_mat2Rot(quat, eye), 0);
-  EXPECT_THAT(quat, Pointwise(MjNear(1e-8, 1e-8), {1, 0, 0, 0}));
-  mjtNum zero[9] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
-  EXPECT_EQ(mju_mat2Rot(quat, zero), 0);
-  EXPECT_THAT(quat, Pointwise(MjNear(1e-8, 1e-4), {1, 0, 0, 0}));
-  mjtNum ones[9] = {1, 1, 1, 1, 1, 1, 1, 1, 1};
-  EXPECT_EQ(mju_mat2Rot(quat, ones), 0);
-  EXPECT_THAT(quat, Pointwise(MjNear(1e-8, 1e-4), {1, 0, 0, 0}));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/engine_vis_visualize_test.cc b/test/engine/engine_vis_visualize_test.cc
deleted file mode 100644
index 328779d1..00000000
--- a/test/engine/engine_vis_visualize_test.cc
+++ /dev/null
@@ -1,151 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-
-static const char* const kModelPath = "testdata/model.xml";
-
-class MjvSceneTest : public MujocoTest {
- protected:
-  static constexpr int kMaxGeom = 10000;
-
-  void InitSceneObjects(mjModel* model, int maxgeom = kMaxGeom) {
-    mjv_defaultScene(&scn_);
-    mjv_makeScene(model, &scn_, maxgeom);
-    mjv_defaultOption(&opt_);
-    mjv_defaultPerturb(&pert_);
-    mjv_defaultFreeCamera(model, &cam_);
-
-    // enable flags to exercise additional code paths
-    for (int i = 0; i < mjNVISFLAG; ++i) {
-      opt_.flags[i] = 1;
-    }
-  }
-
-  void FreeSceneObjects() { mjv_freeScene(&scn_); }
-
-  mjvScene scn_;
-  mjvOption opt_;
-  mjvPerturb pert_;
-  mjvCamera cam_;
-};
-
-TEST_F(MjvSceneTest, UpdateScene) {
-  const std::string xml_path = GetTestDataFilePath(kModelPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  ASSERT_THAT(model, NotNull()) << "Failed to load model from " << kModelPath;
-
-  InitSceneObjects(model);
-
-  mjData* data = mj_makeData(model);
-  while (data->time < .2) {
-    mj_step(model, data);
-  }
-
-  mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
-  EXPECT_EQ(scn_.status, 0);
-  EXPECT_GT(scn_.ngeom, 0);
-  EXPECT_GT(scn_.nlight, 0);
-  if (model->nskin) EXPECT_GT(scn_.nskin, 0);
-  if (model->nflex) EXPECT_GT(scn_.nflex, 0);
-
-  mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
-
-  // call mj_copyData to expose any memory leaks in mjv_updateScene
-  mjData* data_copy = mj_copyData(nullptr, model, data);
-
-  mj_deleteData(data_copy);
-  mj_deleteData(data);
-  FreeSceneObjects();
-  mj_deleteModel(model);
-}
-
-TEST_F(MjvSceneTest, UpdateSceneGeomsExhausted) {
-  const std::string xml_path = GetTestDataFilePath(kModelPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  ASSERT_THAT(model, NotNull()) << "Failed to load model from " << kModelPath;
-
-  const int maxgeoms = 1;
-  InitSceneObjects(model, maxgeoms);
-
-  mjData* data = mj_makeData(model);
-  mj_forward(model, data);
-
-  // clear handlers to avoid test failure; we are explicitly expecting a warning
-  mju_clearHandlers();
-  mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
-  EXPECT_EQ(scn_.status, 1);
-  EXPECT_EQ(scn_.ngeom, maxgeoms);
-  mj_deleteData(data);
-  FreeSceneObjects();
-  mj_deleteModel(model);
-}
-
-TEST_F(MjvSceneTest, PrincipalPointFrustumSign) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <camera name="cam" pos="0 0 1" zaxis="0 0 1"
-              sensorsize="0.01 0.01" focal="0.01 0.01"
-              principal="0 0.002"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-
-  InitSceneObjects(model.get());
-
-  // point camera at the fixed cam
-  cam_.type = mjCAMERA_FIXED;
-  cam_.fixedcamid = 0;
-  mjv_updateCamera(model.get(), data.get(), &cam_, &scn_);
-
-  float top = scn_.camera[0].frustum_top;
-  float bottom = scn_.camera[0].frustum_bottom;
-
-  // with cy > 0 the principal point is above center, so the frustum should
-  // extend further downward than upward: |bottom| > top
-  EXPECT_GT(-bottom, top);
-
-  // verify exact values against the pinhole model
-  float znear = model->vis.map.znear * model->stat.extent;
-  float cy = model->cam_intrinsic[3];
-  float fy = model->cam_intrinsic[1];
-  float sh = model->cam_sensorsize[1];
-  float half = znear / fy * (sh / 2);
-  float offset = znear / fy * cy;
-
-  EXPECT_FLOAT_EQ(top, half - offset);
-  EXPECT_FLOAT_EQ(bottom, -(half + offset));
-
-  FreeSceneObjects();
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/engine/testdata/actuation/actearly.xml b/test/engine/testdata/actuation/actearly.xml
deleted file mode 100644
index 8fb963c0..00000000
--- a/test/engine/testdata/actuation/actearly.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<mujoco>
-  <compiler autolimits="true"/>
-
-  <option density="1000" timestep="0.05" integrator="implicitfast" />
-
-  <default>
-    <geom type="sphere" size="0.1" rgba="1 1 1 1"/>
-    <joint type="slide" axis="0 0 1"/>
-    <general ctrlrange="-1 1"/>
-    <default class="filter">
-      <general dyntype="filter" gear="100"/>
-    </default>
-    <default class="filterexact">
-      <general dyntype="filterexact" gear="100"/>
-    </default>
-    <default class="integrator">
-      <general dyntype="integrator" actrange="0 2" gear="100"/>
-      <default class="integrator_actearly">
-        <general actearly="true"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
-    <light pos="0 0 20"/>
-
-    <body pos="-0.3  0 0.1"><joint name="filter_actearly"/><geom/></body>
-    <body pos="-0.1 0 0.1"><joint name="filter"/><geom/></body>
-
-    <body pos="0.1  0 0.1"><joint name="filterexact_actearly"/><geom/></body>
-    <body pos="0.3 0 0.1"><joint name="filterexact"/><geom/></body>
-
-    <body pos=" 0.5 0 0.1"><joint name="integrator_actearly"/><geom/></body>
-    <body pos=" 0.7 0 0.1"><joint name="integrator"/><geom/></body>
-  </worldbody>
-
-  <actuator>
-    <general class="filter" name="filter_actearly" joint="filter_actearly" actearly="true"/>
-    <general class="filter" name="filter" joint="filter" actearly="false"/>
-
-    <general class="filterexact" name="filterexact_actearly" joint="filterexact_actearly" actearly="true"/>
-    <general class="filterexact" name="filterexact" joint="filterexact" actearly="false"/>
-
-    <general class="integrator_actearly" name="integrator_actearly" joint="integrator_actearly"/>
-    <general class="integrator" name="integrator" joint="integrator" actearly="false"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/actuation/activation.xml b/test/engine/testdata/actuation/activation.xml
deleted file mode 100644
index 2141b623..00000000
--- a/test/engine/testdata/actuation/activation.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<mujoco>
-  <compiler autolimits="true"/>
-  <option density="1000"/>
-
-  <worldbody>
-    <geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
-    <light pos="0 0 20"/>
-    <site name="anchor_tendon" pos="0 0 9" size="0.03" rgba="0 0 1 1"/>
-    <body name="body_hinge" pos="5 0 3">
-      <geom type="box" size="1.5 .1 .1" pos="0 0 2.0"/>
-      <joint name="hinge" type="hinge" pos="0 0 2.0" axis="0 1 0" range="-25 5"/>
-    </body>
-    <body name="body_tendon" pos="0 0 5">
-      <freejoint/>
-      <geom type="box" size=".5 .5 .5"/>
-      <site name="box_tendon" pos=".5 .5 .5" rgba="0 0 1 1" size="0.03"/>
-    </body>
-    <body name="body_slider" pos="5 -2 2">
-      <geom type="box" size=".5 .5 .5"/>
-      <joint name="slider" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
-    </body>
-    <body name="body_site" pos="2 2 .5">
-      <freejoint/>
-      <geom type="box" size=".5 .5 .5"/>
-      <site name="box_site" pos="0 0 .5" rgba="0 0 1 1" size="0.1"/>
-    </body>
-    <body name="body_stateless" pos="5 2 2">
-      <geom type="box" size=".5 .5 .5"/>
-      <joint name="stateless" type="slide" pos=".5 0 0" axis="1 0 0" range="-25 5"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial name="tendon" limited="true" range="0 4" damping="100"  width="0.03">
-      <site site="anchor_tendon"/>
-      <site site="box_tendon"/>
-    </spatial>
-  </tendon>
-
-  <actuator>
-    <general name="stateless" joint="stateless" ctrllimited="true" ctrlrange="-20 20"/>
-    <general name="hinge" joint="hinge" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
-    <muscle name="tendon" tendon="tendon" ctrllimited="true" ctrlrange="0 2"/>
-    <general name="slider" joint="slider" dyntype="integrator" ctrllimited="true" ctrlrange="-20 20"/>
-    <general name="site" site="box_site" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="0 10000"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/actuation/actuator_group_disable.xml b/test/engine/testdata/actuation/actuator_group_disable.xml
deleted file mode 100644
index ab87d416..00000000
--- a/test/engine/testdata/actuation/actuator_group_disable.xml
+++ /dev/null
@@ -1,94 +0,0 @@
-<mujoco>
-  <visual>
-    <global elevation="-10"/>
-  </visual>
-
-  <compiler angle="radian"/>
-
-  <!-- Note: actuator groups 1, 2, are disabled by default -->
-  <option actuatorgroupdisable="1 2" cone="elliptic"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="6 2" texuniform="false" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <general ctrlrange="-1 1"/>
-    <geom friction=".4"/>
-    <default class="decor">
-      <geom type="cylinder" size=".03" fromto="0 -.03 0 0 .03 0" rgba="1 1 1 1"/>
-    </default>
-    <default class="arm">
-      <joint damping="5" axis="0 -1 0"/>
-      <geom type="capsule" size=".02" material="body"/>
-    </default>
-    <default class="object">
-      <geom type="cylinder" size="0.1" rgba="0 .9 0 1" fromto="0 -.03 0 0 .03 0"
-            solref="-10000 -10" priority="1"/>
-      <joint group="3"/>
-    </default>
-
-    <!-- Note: motors, position, intvelocity actuators are in groups 0, 1, 2, respectively -->
-    <default class="motor">
-      <motor group="0" gear="30" ctrlrange="-1 1"/>
-    </default>
-    <default class="position">
-      <position group="1" kp="60"/>
-    </default>
-    <default class="intvelocity">
-      <intvelocity group="2" kp="60" ctrlrange="-.5 .5"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" type="plane" size=".6 .2 0.01" material="grid"/>
-    <geom name="wall0" type="plane" size=".4 .2 0.01" material="grid" pos="-.6 0 .4" zaxis="1 0 0"/>
-    <geom name="wall1" type="plane" size=".4 .2 0.01" material="grid" pos=".6 0 .4" zaxis="-1 0 0"/>
-    <light pos="-.6 0 3" mode="targetbody" target="hand"/>
-    <light pos=".6 0 3" mode="targetbody" target="hand"/>
-    <body name="arm" pos="-.6 0 .6" childclass="arm">
-      <joint name="arm" range="-1.5 1.5"/>
-      <geom class="decor"/>
-      <geom name="arm" fromto="0 0 0 .7 0 0"/>
-      <body pos=".7 0 0">
-        <joint name="hand" range="-4.65 1.5"/>
-        <geom class="decor"/>
-        <geom fromto="0 0 0 0 0 0.4"/>
-        <body name="hand" pos="0 0 0.4">
-          <geom name="hand" type="sphere" size=".06" mass="0"/>
-        </body>
-      </body>
-    </body>
-
-    <body childclass="object" pos="-.3 0 .2">
-      <joint axis="1 0 0" type="slide"/>
-      <joint axis="0 0 1" type="slide"/>
-      <joint axis="0 1 0"/>
-      <geom/>
-    </body>
-    <body childclass="object" pos="-.2 0 .4">
-      <joint axis="1 0 0" type="slide"/>
-      <joint axis="0 0 1" type="slide"/>
-      <joint axis="0 1 0"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="world" body2="arm"/>
-    <pair geom1="arm" geom2="hand"/>
-  </contact>
-
-  <actuator>
-    <motor class="motor" name="arm torque" joint="arm"/>
-    <motor class="motor" name="hand torque" joint="hand"/>
-    <position class="position" name="arm position" joint="arm" ctrlrange="-1.5 1.5"/>
-    <position class="position" name="hand position" joint="hand" ctrlrange="-1.5 4.65"/>
-    <intvelocity class="intvelocity" name="arm velocity" joint="arm" actrange="-1.5 1.5"/>
-    <intvelocity class="intvelocity" name="hand velocity" joint="hand" actrange="-1.5 4.65"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/actuation/damper.xml b/test/engine/testdata/actuation/damper.xml
deleted file mode 100644
index 0d5fd1d2..00000000
--- a/test/engine/testdata/actuation/damper.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<mujoco>
-  <compiler autolimits="true"/>
-
-  <option integrator="implicitfast"/>
-
-  <worldbody>
-    <geom type="plane" size="1 1 .01"/>
-    <light pos="0 0 2"/>
-    <body pos="0 0 .3">
-      <joint name="hinge" axis="0 1 0"/>
-      <geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
-      <geom size=".03" pos=".2 0 0"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/actuation/dampratio.xml b/test/engine/testdata/actuation/dampratio.xml
deleted file mode 100644
index 1beb2704..00000000
--- a/test/engine/testdata/actuation/dampratio.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<mujoco>
-  <visual>
-    <global elevation="0"/>
-  </visual>
-
-  <default>
-    <position ctrlrange="-.2 .2"/>
-    <joint axis="1 0 0" type="slide"/>
-  </default>
-
-  <option integrator="implicitfast"/>
-
-  <worldbody>
-    <light pos="0 0 2"/>
-
-    <body pos="0 0 .15">
-      <joint name="0"/>
-      <geom size=".05"/>
-    </body>
-
-    <body>
-      <joint name="1"/>
-      <geom mass="1" size=".05"/>
-    </body>
-
-    <body pos="0 0 -.15">
-      <joint name="2"/>
-      <geom mass="1" size=".05"/>
-    </body>
-
-    <body pos="0 0 -.3">
-      <joint name="3"/>
-      <geom mass="1" size=".05"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <position name="r=1/3"          joint="0" dampratio=".333" kp="10"/>
-    <position name="r=1"            joint="1" dampratio="1"    kp="10"/>
-    <position name="r=3"            joint="2" dampratio="3"    kp="10"/>
-    <!-- transmission increased by 10: reduce kp by 10^2 -->
-    <position name="r=1, g=10"      joint="3" dampratio="1"    kp=".1" gear="10" ctrlrange="-2 2"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/actuation/joint_force_clamp.xml b/test/engine/testdata/actuation/joint_force_clamp.xml
deleted file mode 100644
index 3f478f9e..00000000
--- a/test/engine/testdata/actuation/joint_force_clamp.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco>
-  <compiler autolimits="true"/>
-
-  <option integrator="implicitfast"/>
-
-  <worldbody>
-    <geom type="plane" size="1 1 .01"/>
-    <light pos="0 0 2"/>
-    <body pos="0 0 .3">
-      <joint name="hinge" damping=".01" actuatorfrcrange="-.4 .4"/>
-      <geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
-      <geom size=".03" pos=".2 0 0"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="motor" joint="hinge" ctrlrange="-1 1"/>
-    <damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
-  </actuator>
-
-  <sensor>
-    <actuatorfrc name="motor" actuator="motor"/>
-    <actuatorfrc name="damper" actuator="damper"/>
-    <jointactuatorfrc name="hinge" joint="hinge"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/actuation/orientation.xml b/test/engine/testdata/actuation/orientation.xml
deleted file mode 100644
index 631f9f5b..00000000
--- a/test/engine/testdata/actuation/orientation.xml
+++ /dev/null
@@ -1,78 +0,0 @@
-<mujoco>
-  <compiler autolimits="true"/>
-
-  <option integrator="implicitfast">
-    <flag contact="disable" gravity="disable"/>
-  </option>
-
-  <statistic meansize=".05" extent=".9" center="0 0 .15"/>
-
-  <visual>
-    <headlight diffuse=".1 .1 .1" ambient=".15 .15 .15"/>
-  </visual>
-
-  <!--
-  Three identical ball-jointed boxes, illustrating the three rotational setpoint semantics.
-  The "per-axis" box has three independent position servos: each setpoint is interpreted on
-  its own circle (wrapped), exact for rotations about a single gear axis. The "expmap" and
-  "quat" boxes each have a single orientation actuator: the setpoints are interpreted
-  jointly as an orientation on SO(3), exact for any combination of axes, commanded in the
-  exponential-map and quaternion charts respectively.
-  -->
-
-  <asset>
-    <texture name="checker" type="cube" builtin="checker" rgb1=".75 .55 .28" rgb2=".22 .18 .14" width="32" height="32"/>
-    <material name="checker" texture="checker"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <geom type="box" size=".07 .09 .05" material="checker"/>
-    <position kp="5" dampratio="1"/>
-    <default class="angle">
-      <position ctrlrange="-6.2832 6.2832" ctrllimited="false"/>
-    </default>
-    <default class="quat">
-      <position ctrlrange="-1 1" ctrllimited="true"/>
-    </default>
-    <site size="1e-5"/>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 10" type="point" diffuse=".75 .72 .65" intensity="1200000" range="20" attenuation="1 0 .04"/>
-    <light pos="-.3 -.4 1.3" dir="0 .34 -.94" diffuse=".75 .72 .65" intensity="100000" range="4" cutoff="13" attenuation="1 0 0" exponent="60"/>
-    <light pos="0 -.4 1.3" dir="0 .34 -.94" diffuse=".75 .72 .65" intensity="100000" range="4" cutoff="16" exponent="60" attenuation="1 0 .5"/>
-    <light pos=".3 -.4 1.3" dir="0 .34 -.94" diffuse=".75 .72 .65" intensity="100000" range="4" cutoff="16" exponent="60" attenuation="1 0 .5"/>
-
-    <light type="point" pos="0 -1.5 2" diffuse=".3 .35 .45" intensity="15000" range="8" castshadow="false" attenuation="1 0 .3"/>
-
-    <geom name="floor" type="plane" size="2 2 .025" material="grid"/>
-
-    <site name="per-axis" pos="-.3 0 .4"/>
-    <body name="peraxis" pos="-.3 0 .2">
-      <joint name="peraxis" type="ball"/>
-      <geom/>
-    </body>
-
-    <site name="expmap" pos="0 0 .4"/>
-    <body name="expmap" pos="0 0 .2">
-      <joint name="expmap" type="ball"/>
-      <geom/>
-    </body>
-
-    <site name="quat" pos=".3 0 .4"/>
-    <body name="quat" pos=".3 0 .2">
-      <joint name="quat" type="ball"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <position name="rx_peraxis" joint="peraxis" gear="1 0 0" class="angle"/>
-    <position name="ry_peraxis" joint="peraxis" gear="0 1 0" class="angle"/>
-    <position name="rz_peraxis" joint="peraxis" gear="0 0 1" class="angle"/>
-    <orientation name="expmap" joint="expmap" kp="1" dampratio="1" class="angle"/>
-    <orientation name="quat" joint="quat" input="quat" kp="1" dampratio="1" class="quat"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/actuation/refsite.xml b/test/engine/testdata/actuation/refsite.xml
deleted file mode 100644
index f839e363..00000000
--- a/test/engine/testdata/actuation/refsite.xml
+++ /dev/null
@@ -1,71 +0,0 @@
-<mujoco>
-  <compiler autolimits="true"/>
-  <!--
-  Adding a high fluid viscosity and using implicit integration for extra stabillity.
-  Extra stabillity is required because the abstract "arm" model is not very realistic.
-  -->
-  <option viscosity="10" integrator="implicit">
-    <flag contact="disable"/>
-  </option>
-
-  <statistic meansize=".05"/>
-
-  <default>
-    <default class="translation">
-      <position kp="100" dampratio="1" ctrlrange="-.25 .25"/>
-    </default>
-    <default class="rotation">
-      <!--
-      Note that the rotational control range is purposefully limited to (-pi/2, pi/2) to avoid the
-      documented instabillity near pi, which is due to taking quaternion differences.
-      Increase this range to pi or bigger in order to see the instabillity.
-      See here for more details https://mujoco.readthedocs.io/en/latest/XMLreference.html#actuator
-      -->
-      <position kp=".5" dampratio="1" ctrlrange="-1.571 1.571"/>
-    </default>
-    <!--
-    Clamping the total actuator torque at the joints means that the motion produced by the Cartesian
-    commands is achievable by individual joint actuators with the specified torque limits.
-    See https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping
-    -->
-    <joint armature="1e-3" damping="1e-3" stiffness="1e-2" actuatorfrcrange="-1 1" actuatorgravcomp="true"/>
-    <site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 2"/>
-    <geom type="box" size=".25 .25 .01" pos="0 0 -.01"/>
-    <site name="reference" pos="0 0 .25"/>
-    <body name="arm" pos="-.25 .25 0" gravcomp="1">
-      <joint axis="1 0 0"/>
-      <joint axis="0 1 0"/>
-      <geom type="box" size=".01" fromto="0 0 0 0 0 .25"/>
-      <body pos="0 0 .25" gravcomp="1">
-        <joint axis="0 1 0"/>
-        <joint axis="0 0 1"/>
-        <geom type="box" size=".01" fromto="0 0 0 .25 0 0"/>
-        <body pos=".25 0 0" gravcomp="1">
-          <joint axis="1 0 0"/>
-          <joint axis="0 0 1"/>
-          <geom type="box" size=".01" fromto="0 0 0 0 -.2 0"/>
-          <body pos="0 -.2 0" gravcomp="1">
-            <joint axis="1 0 0"/>
-            <joint axis="0 0 1"/>
-            <joint axis="0 1 0"/>
-            <geom type="box" size=".01" fromto="0 0 0 0 -.05 0"/>
-            <site name="end_effector" pos="0 -.05 0"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <position name="x"  site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/>
-    <position name="y"  site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/>
-    <position name="z"  site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/>
-    <position name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/>
-    <position name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/>
-    <position name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/actuation/refsite_free.xml b/test/engine/testdata/actuation/refsite_free.xml
deleted file mode 100644
index f61e8f1a..00000000
--- a/test/engine/testdata/actuation/refsite_free.xml
+++ /dev/null
@@ -1,62 +0,0 @@
-<mujoco>
-
-  <compiler angle="radian"/>
-
-  <option timestep="0.0001" integrator="RK4">
-    <flag gravity="disable" contact="disable"/>
-  </option>
-
-  <size memory="1M"/>
-
-  <statistic meansize="0.193896" extent="1" center="0 0 0.3"/>
-
-  <default>
-    <joint actuatorfrcrange="-18 18"/>
-    <default class="cartesian">
-      <general biastype="affine" dynprm="0.189824" gainprm="51.073" biasprm="0 -51.073 -1.03446"/>
-    </default>
-  </default>
-
-  <asset>
-    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="200" height="200"/>
-    <material name="groundplane"  texture="groundplane" texuniform="true" texrepeat="2 2" reflectance="0.2"/>
-  </asset>
-
-  <worldbody>
-    <geom size="0 0 0.1" type="plane" material="groundplane"/>
-    <light pos="0 0 1.5" dir="0 0 -1"/>
-    <body pos="0 0 0.6">
-      <joint type="free"/>
-
-      <body name="base">
-        <geom size="0.0606401 0.116554 0.163268" pos="-0.00170944 -0.000675197 0.00191671" quat="-0.000920387 0.70756 -0.000583555 0.706653" type="box"/>
-        <site name="base_frame"/>
-        <body pos="0.171671 -0.0907507 -9.8e-06" quat="0.5 -0.5 0.5 -0.5">
-          <joint axis="0 0 1" range="-1.0472 1.0472" armature="0.0109013" damping="0.0239" frictionloss="0.1334"/>
-          <geom size="0.0324681 0.0432267 0.0500827" pos="-0.00997157 -1.75508e-05 0.0591165" quat="0.99973 -0.0108474 -0.0205183 -0.000825809" type="box"/>
-          <body pos="0.03085 0 0.065" quat="0 -0.707107 0 -0.707107">
-            <joint axis="0 0 1" range="-1.54706 3.02902" armature="0.0109013" damping="0.0239" frictionloss="0.1334"/>
-            <geom size="0.0230114 0.044369 0.0456418" pos="0.00023322 7.40609e-05 0.0232897" quat="0.646671 -0.288993 -0.645777 -0.285081" type="box"/>
-            <geom size="0.0165189 0.0320859 0.136968" pos="-0.0789385 0.0134066 0.0697267" quat="0.0465854 -0.70695 -0.00148786 0.705726" type="box"/>
-            <body pos="-0.19 0 0.069575" quat="0 0 -1 0">
-              <joint axis="0 0 1" range="0 2.44346" armature="0.0109013" damping="0.0239" frictionloss="0.1334"/>
-              <geom size="0.0119255 0.0121628 0.0197376" pos="-0.211513 -0.0748022 1.73156e-06" quat="0.642033 0.296302 -0.642156 0.296031" type="box"/>
-              <geom size="0.008597 0.0161382 0.11823" pos="-0.0783394 -0.0253533 -1.08631e-05" quat="0.702549 0.0808911 -0.702432 0.0804412" type="box"/>
-              <site name="foot_front_right" pos="-0.21425 -0.0779806 0" quat="0.664463 0.664463 -0.241845 -0.241845"/>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="x linear" class="cartesian" site="foot_front_right" refsite="base_frame" ctrlrange="-5 5" gear="1 0 0 0 0 0"/>
-    <general name="y rotational" class="cartesian" site="foot_front_right" refsite="base_frame" ctrlrange="-5 5" gear="0 0 0 0 .1 0"/>
-  </actuator>
-
-  <sensor>
-    <subtreeangmom body="base"/>
-    <subtreelinvel body="base"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/actuation/sites.xml b/test/engine/testdata/actuation/sites.xml
deleted file mode 100644
index 53771335..00000000
--- a/test/engine/testdata/actuation/sites.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<mujoco>
-  <option density="1000">
-    <flag gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
-    <light pos="0 0 20"/>
-    <body name="body_stateless" pos="0 0 .5">
-      <freejoint/>
-      <geom type="box" size=".5 .5 .1" pos="0 0 .4"/>
-      <site name="capsule" pos=".5 .5 .5" rgba="0 0 1 1" size=".1 .1" type="capsule"/>
-      <site name="ellipsoid" pos=".5 -.5 .5" rgba="0 0 1 1" size=".1 .3 .1" type="ellipsoid" euler="0 0 -45"/>
-      <site name="cylinder" pos="0 0 .5" rgba="0 0 1 1" size=".2 .1" type="cylinder"/>
-      <site name="box" pos="-.5 -.5 .5" rgba="0 0 1 1" size=".1 .1 .2" type="box"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="ellipsoid" site="ellipsoid" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
-    <general name="cylinder" site="cylinder" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
-    <general name="box" site="box" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
-    <general name="capsule" site="capsule" dyntype="integrator" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-100 100"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/actuation/tendon_dampratio.xml b/test/engine/testdata/actuation/tendon_dampratio.xml
deleted file mode 100644
index bf0f631b..00000000
--- a/test/engine/testdata/actuation/tendon_dampratio.xml
+++ /dev/null
@@ -1,84 +0,0 @@
-<mujoco>
-  <visual>
-    <global elevation="-20"/>
-  </visual>
-
-  <default>
-    <joint axis="0 1 0" armature="0.01"/>
-    <geom type="capsule" size="0.02"/>
-  </default>
-
-  <option integrator="implicitfast">
-    <flag gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 0 2"/>
-
-    <body>
-      <joint name="a0"/>
-      <geom fromto="0 0 0 .1 0 0"/>
-      <body pos=".1 0 0">
-        <joint name="b0"/>
-        <geom fromto="0 0 0 .1 0 0"/>
-        <body pos=".1 0 0">
-          <joint name="c0"/>
-          <geom fromto="0 0 0 .1 0 0"/>
-          <body pos=".1 0 0">
-            <joint name="d0"/>
-            <geom fromto="0 0 0 .1 0 0"/>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body pos="0 -0.05 0">
-      <joint name="a1"/>
-      <geom fromto="0 0 0 .1 0 0"/>
-      <body pos=".1 0 0">
-        <joint name="b1"/>
-        <geom fromto="0 0 0 .1 0 0"/>
-        <body pos=".1 0 0">
-          <joint name="c1"/>
-          <geom fromto="0 0 0 .1 0 0"/>
-          <body pos=".1 0 0">
-            <joint name="d1"/>
-            <geom fromto="0 0 0 .1 0 0"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="a0" joint2="b0" polycoef="0 .5"/>
-    <joint joint1="b0" joint2="c0" polycoef="0 .5"/>
-    <joint joint1="c0" joint2="d0" polycoef="0 .5"/>
-
-    <joint joint1="a1" joint2="b1" polycoef="0 .5"/>
-    <joint joint1="b1" joint2="c1" polycoef="0 .5"/>
-    <joint joint1="c1" joint2="d1" polycoef="0 .5"/>
-  </equality>
-
-  <tendon>
-    <fixed name="finger0">
-      <joint joint="a0" coef="1"/>
-      <joint joint="b0" coef=".5"/>
-      <joint joint="c0" coef=".25"/>
-      <joint joint="d0" coef=".125"/>
-    </fixed>
-
-    <fixed name="finger1">
-      <joint joint="a1" coef="4"/>
-      <joint joint="b1" coef="2"/>
-      <joint joint="c1" coef="1"/>
-      <joint joint="d1" coef="0.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <position name="finger0" tendon="finger0" dampratio="1" kp="128" ctrlrange="-1 1"/>
-    <!-- transmission increased by 4: reduce kp by 16 -->
-    <position name="finger1" tendon="finger1" dampratio="1" kp="8"   ctrlrange="-4 4"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/actuation/tendon_force_clamp.xml b/test/engine/testdata/actuation/tendon_force_clamp.xml
deleted file mode 100644
index 51952b3a..00000000
--- a/test/engine/testdata/actuation/tendon_force_clamp.xml
+++ /dev/null
@@ -1,55 +0,0 @@
-<mujoco model="fixed_site">
-  <worldbody>
-    <body>
-      <joint name="joint0" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-      <site name="site0" pos="0.25 0 0.1" size="0.025"/>
-      <body pos="0.5 0 0">
-        <joint name="joint1" type="hinge" axis="0 1 0"/>
-        <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-        <site name="site1" pos="0.25 0 0.1" size="0.025"/>
-        <body pos="0.5 0 0">
-          <joint name="joint2" type="hinge" axis="0 1 0"/>
-          <geom type="capsule" size="0.05 0.5" fromto="0 0 0 0.5 0 0"/>
-          <site name="site2" pos="0.25 0 0.1" size="0.025"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <tendon>
-    <spatial name="spatial0" width="0.0125">
-      <site site="site0"/>
-      <site site="site1"/>
-      <site site="site2"/>
-    </spatial>
-    <spatial name="spatial1" width="0.0125" actuatorfrclimited="true" actuatorfrcrange="-1 1">
-      <site site="site1"/>
-      <site site="site2"/>
-    </spatial>
-    <fixed name="fixed0" actuatorfrclimited="true" actuatorfrcrange="-10 10">
-      <joint joint="joint0" coef=".1"/>
-      <joint joint="joint1" coef=".2"/>
-      <joint joint="joint2" coef=".3"/>
-    </fixed>
-    <fixed name="fixed1" actuatorfrclimited="true" actuatorfrcrange="0 1">
-      <joint joint="joint0" coef=".1"/>
-      <joint joint="joint2" coef=".3"/>
-    </fixed>
-  </tendon>
-  <actuator>
-    <motor tendon="spatial0"/>
-    <motor tendon="spatial0"/>
-    <motor tendon="spatial0"/>
-    <motor tendon="spatial1"/>
-    <motor tendon="spatial1"/>
-    <motor tendon="fixed0"/>
-    <motor tendon="fixed1"/>
-    <motor tendon="fixed1"/>
-  </actuator>
-  <sensor>
-    <tendonactuatorfrc tendon="spatial0"/>
-    <tendonactuatorfrc tendon="spatial1"/>
-    <tendonactuatorfrc tendon="fixed0"/>
-    <tendonactuatorfrc tendon="fixed1"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/armature_equivalence.xml b/test/engine/testdata/armature_equivalence.xml
deleted file mode 100644
index c770488a..00000000
--- a/test/engine/testdata/armature_equivalence.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<mujoco>
-  <visual>
-    <global elevation="-20"/>
-    <headlight ambient=".3 .3 .3" diffuse=".9 .9 .9"/>
-  </visual>
-
-  <default>
-    <geom rgba="0.8 0.6 .4 1"/>
-  </default>
-
-  <worldbody>
-    <body name="link1">
-      <!-- inertia of link1 is 1.0 -->
-      <joint name="link1" axis="0 -1 0"/>
-      <geom type="capsule" size=".02" fromto="0 0 0 1 0 0" mass="0"/>
-      <geom type="sphere" size=".1" mass="1" pos="1 0 0"/>
-    </body>
-    <body name="motor1">
-      <!-- inertia of motor1 is 1/12 * m * (0.2^2 + 0.2^2) = 0.2
-           see https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
-      <joint name="motor1" axis="0 -1 0"/>
-      <geom type="box" size=".1 .1 .1" mass="30" contype="0" conaffinity="0" rgba=".6 .4 .8 1"/>
-    </body>
-
-    <body name="link2" pos="1.5 0 0">
-      <!-- armature from reflected inertia of motor1 is 0.2 * 3^2 = 1.8 -->
-      <joint name="link2" armature="1.8" axis="0 -1 0"/>
-      <geom type="capsule" size=".02" fromto="0 0 0 1 0 0" mass="0"/>
-      <geom type="sphere" size=".1" mass="1" pos="1 0 0"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <!-- gear ratio between motor1 and link1 is 3:1 -->
-    <joint joint1="motor1" joint2="link1" polycoef="0 3"/>
-  </equality>
-
-  <actuator>
-    <position name="link1" joint="motor1" kp=".3" ctrlrange="-5 5"/>
-    <!-- actuators are made equivalent by setting link2 gear to link1 gear ratio -->
-    <position name="link2" joint="link2"  kp=".3" ctrlrange="-5 5" gear="3"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/catenary.xml b/test/engine/testdata/catenary.xml
deleted file mode 100644
index 13d0b34d..00000000
--- a/test/engine/testdata/catenary.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<mujoco>
-  <visual>
-    <global elevation="-20"/>
-  </visual>
-
-  <worldbody>
-    <geom type="plane" size="1 1 .1"/>
-    <light pos="0 -.2 2" dir="0 1 -4" diffuse="1 1 1"/>
-    <body pos="0 0 .8">
-      <joint type="slide" stiffness="1000"/>
-      <geom size=".05" mass="20"/>
-      <site name="hook" pos="0 0 -.05"/>
-    </body>
-
-    <body pos="-.15 -.15 .3">
-      <joint name="hinge" type="hinge" axis="0 0 1" damping=".5"/>
-      <geom type="cylinder" size=".01" fromto="0 0 0 0 0 .1"/>
-      <geom type="capsule" size=".01" fromto="0 0 0 .25 0 0"/>
-      <geom size=".02" pos=".25 0 0"/>
-      <site name="corner" pos=".25 0 .02"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial limited="true" range="0 .5" width=".005">
-      <site site="hook"/>
-      <site site="corner"/>
-    </spatial>
-  </tendon>
-
-  <actuator>
-    <general joint="hinge" biasprm="2" biastype="affine"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/collision_box/boxbox_bad0.xml b/test/engine/testdata/collision_box/boxbox_bad0.xml
deleted file mode 100644
index 8d436c6f..00000000
--- a/test/engine/testdata/collision_box/boxbox_bad0.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-<mujoco>
-  <!-- This model leads to bad contacts from mjc_BoxBox -->
-
-  <default>
-    <geom rgba="1 1 1 1" gap="1e-3"/>
-    <site type="sphere" rgba="0 0 0 0" size="0.001"/>
-  </default>
-
-  <worldbody>
-    <light diffuse="1 1 1" pos="-5 -17.5 15" dir="0.24 0.84 -0.48"/>
-    <camera name="fixed" pos="0 -25 8" euler="90 0 0"/>
-    <geom name="ground" pos="0 0 0" quat="1 0 0 0" rgba="0.770 0.670 0.490 1" size="50 50 1" type="plane"/>
-    <body name="block01" pos="-0.9 0 1.5" quat="1 0 0 0">
-      <freejoint/>
-      <geom mass="1" name="geom01" rgba="0.5 0 0 1" size="0.5 0.5 1.5" type="box"/>
-    </body>
-    <body name="block02" pos="-0.7 0 3.5" quat="1 0 0 0">
-      <freejoint/>
-      <geom mass="1" name="geom02" rgba="0.5 0 0.350 1" size="1.5 0.5 0.5" type="box"/>
-    </body>
-    <body name="block03" pos="0.3 0 5.5" quat="1 0 0 0">
-      <freejoint/>
-      <geom mass="1" name="geom03" rgba="0 0.5 0.450 1" size="0.5 0.5 1.5" type="box"/>
-    </body>
-    <body name="block04" pos="0.200 1e-9 7.5" quat="1 0 0 0">
-      <freejoint/>
-      <geom mass="1" name="geom04" rgba="0 0.5 0.099 1" size="1.5 0.5 0.5" type="box"/>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="world" body2="block01"/>
-    <exclude body1="block03" body2="block02"/>
-  </contact>
-
-</mujoco>
diff --git a/test/engine/testdata/collision_box/boxbox_bad1.xml b/test/engine/testdata/collision_box/boxbox_bad1.xml
deleted file mode 100644
index 04f16290..00000000
--- a/test/engine/testdata/collision_box/boxbox_bad1.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<mujoco>
-  <!-- This model leads to bad contacts from mjc_BoxBox -->
-  <statistic meansize=".01" center="-.3 -.14 .055" extent=".2"/>
-
-  <worldbody>
-    <light pos="-.3 -.14 1"/>
-
-    <geom type="plane" size="3 3 .01" pos="-0.025 -0.295  0"/>
-
-    <body pos="-.23 -.1 0" euler="0 0 30">
-      <geom type="cylinder" size=".01 .0175" pos="-.09 0 .0175"/>
-      <body pos="0 0 .03">
-        <joint axis="0 1 0"/>
-        <geom type="cylinder" size=".005 .039" zaxis="0 1 0" rgba=".84 .15 .33 1"/>
-        <geom type="box" size=".1 .02 .005" pos="0 0 .01" rgba=".84 .15 .33 1"/>
-      </body>
-    </body>
-
-    <body pos="-.3 -.14 .055" euler="0 0 -30">
-      <freejoint/>
-      <geom type="box" size=".01 .01 .01" rgba=".0 .7 .79 1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_box/boxbox_deep.xml b/test/engine/testdata/collision_box/boxbox_deep.xml
deleted file mode 100644
index 65f14e5f..00000000
--- a/test/engine/testdata/collision_box/boxbox_deep.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<mujoco>
-  <!-- Box deeply penetrating another box -->
-
-  <worldbody>
-    <geom type="box" size="1 1 1" rgba=".5 .5 .5 .5"/>
-    <body pos=".1 .2 .3">
-      <freejoint/>
-      <geom type="box" size=".2 .2 .2"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_box/boxbox_duplicate.xml b/test/engine/testdata/collision_box/boxbox_duplicate.xml
deleted file mode 100644
index 6582f5cf..00000000
--- a/test/engine/testdata/collision_box/boxbox_duplicate.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<mujoco>
-  <!-- This model leads to duplicate contacts from mjc_BoxBox -->
-
-  <worldbody>
-    <geom type="box" size="1 1 1"/>
-    <body pos="0 0 2">
-      <freejoint/>
-      <geom type="box" size="1 1 1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/100spheremesh.xml b/test/engine/testdata/collision_convex/100spheremesh.xml
deleted file mode 100644
index a17d4d63..00000000
--- a/test/engine/testdata/collision_convex/100spheremesh.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<mujoco model="100 sphere meshes in a box">
-  <option solver="CG" iterations="10"/>
-  <asset>
-    <mesh name="sphere" file="sphere.obj" scale=".1 .1 .1"/>
-  </asset>
-  <worldbody>
-    <geom name="ground" type="plane" size=".5 .5 .01" condim="1"/>
-    <replicate count="4" euler="0 0 90">
-      <geom type="plane" size=".1 .5 .01" zaxis="1 0 0"  pos="-.5 0 .1"/>
-    </replicate>
-    <replicate count="100" offset="0 0 .5">
-      <body pos="0 0 1">
-        <freejoint/>
-        <geom type="mesh" mesh="sphere"/>
-      </body>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/box_boxmesh.xml b/test/engine/testdata/collision_convex/box_boxmesh.xml
deleted file mode 100644
index 95554319..00000000
--- a/test/engine/testdata/collision_convex/box_boxmesh.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<mujoco model="Box mesh with multiccd">
-  <option>
-    <flag multiccd="enable"/>
-  </option>
-
-  <asset>
-    <mesh name="box"
-          vertex="-1 -1 -1
-                   1 -1 -1
-                   1  1 -1
-                   1  1  1
-                   1 -1  1
-                  -1  1 -1
-                  -1  1  1
-                  -1 -1  1"/>
-  </asset>
-
-  <worldbody>
-    <geom pos="0 0 -1" type="box" size="5 5 1"/>
-    <body pos="0 0 0.9999">
-      <freejoint/>
-      <geom type="mesh" mesh="box"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/capsule_mesh.xml b/test/engine/testdata/collision_convex/capsule_mesh.xml
deleted file mode 100644
index 445de7f9..00000000
--- a/test/engine/testdata/collision_convex/capsule_mesh.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<mujoco>
-  <option>
-    <flag multiccd="enable"/>
-  </option>
-
-  <visual>
-    <quality shadowsize="8192"/>
-    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
-    <map force="0.1"/>
-  </visual>
-
-  <asset>
-    <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
-          scale="1 1 .3"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <geom type="mesh" mesh="box" pos="0 0 -.3"/>
-    <body pos="0 0 .02" euler="90 40 0">
-      <freejoint/>
-      <geom type="capsule" size=".03 .1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/cone.obj b/test/engine/testdata/collision_convex/cone.obj
deleted file mode 100644
index 688a6d11..00000000
--- a/test/engine/testdata/collision_convex/cone.obj
+++ /dev/null
@@ -1,502 +0,0 @@
-# Unit cone with 500 base vertices
-v 0.0 0.0 1.0
-v 1.000000 0.000000 -1.0
-v 0.999921 0.012566 -1.0
-v 0.999684 0.025130 -1.0
-v 0.999289 0.037690 -1.0
-v 0.998737 0.050244 -1.0
-v 0.998027 0.062791 -1.0
-v 0.997159 0.075327 -1.0
-v 0.996134 0.087851 -1.0
-v 0.994951 0.100362 -1.0
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diff --git a/test/engine/testdata/collision_convex/conemesh_box.xml b/test/engine/testdata/collision_convex/conemesh_box.xml
deleted file mode 100644
index ae13ad00..00000000
--- a/test/engine/testdata/collision_convex/conemesh_box.xml
+++ /dev/null
@@ -1,22 +0,0 @@
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-  <visual>
-    <headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular=".1 .1 .1"/>
-    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
-    <map force="0.1"/>
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-
-  <asset>
-    <mesh file="cone.obj"/>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
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-
-  <worldbody>
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-    <light pos="-1 1 1.5" dir="1 -1 -1.5" diffuse=".4 .4 .4"/>
-    <geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".3 .3 .3 1"/>
-    <body pos="0 0 1">
-      <freejoint/>
-      <geom type="mesh" mesh="cone" rgba=".7 .7 .7 1"/>
-    </body>
-  </worldbody>
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diff --git a/test/engine/testdata/collision_convex/cylinder_box.xml b/test/engine/testdata/collision_convex/cylinder_box.xml
deleted file mode 100644
index 984cab79..00000000
--- a/test/engine/testdata/collision_convex/cylinder_box.xml
+++ /dev/null
@@ -1,20 +0,0 @@
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-  <option>
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-  <worldbody>
-    <light pos="0 0 1"/>
-    <geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".5 .5 .5 .5"/>
-    <body pos="0 0 .02">
-      <freejoint/>
-      <geom type="cylinder" size=".4 .03"/>
-    </body>
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diff --git a/test/engine/testdata/collision_convex/dice.xml b/test/engine/testdata/collision_convex/dice.xml
deleted file mode 100644
index 5f077f4c..00000000
--- a/test/engine/testdata/collision_convex/dice.xml
+++ /dev/null
@@ -1,46 +0,0 @@
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-  <option>
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-  <asset>
-    <mesh name="die" file="die.obj" scale=".02 .02 .02"/>
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-
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-    <geom condim="1" type="mesh" solref="2e-5 1"/>
-    <default class="wall">
-      <geom type="box" rgba="0.1 0.2 1 .2"/>
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-    <default class="floor">
-      <geom type="box" rgba="0.1 0.2 1 1"/>
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-      <geom class="wall"  size="0.26 0.01 0.10" pos="-0.01 -0.26 0.11"/>
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-            <geom type="mesh" mesh="die"/>
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-      </replicate>
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diff --git a/test/engine/testdata/collision_convex/dice_boxmesh.xml b/test/engine/testdata/collision_convex/dice_boxmesh.xml
deleted file mode 100644
index cfd3ae86..00000000
--- a/test/engine/testdata/collision_convex/dice_boxmesh.xml
+++ /dev/null
@@ -1,47 +0,0 @@
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-
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-      <geom type="box" rgba="0.1 0.2 1 .2"/>
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-    <default class="floor">
-      <geom type="box" rgba="0.1 0.2 1 1"/>
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diff --git a/test/engine/testdata/collision_convex/die.obj b/test/engine/testdata/collision_convex/die.obj
deleted file mode 100644
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-v -0.808254 -0.954318 0.870420
-v -0.806858 -0.917748 0.917583
-v -0.870021 -0.965154 0.740000
-v -0.870490 -0.954150 0.808646
-v -0.863847 -0.932116 0.863908
-v -0.858399 -0.903688 0.903670
-v -0.890111 -0.890111 0.890111
-v -0.807269 -0.740000 0.991147
-v -0.870021 -0.740000 0.965154
-v -0.923848 -0.740000 0.923848
-v -0.740000 -0.807269 0.991147
-v -0.809958 -0.809387 0.980606
-v -0.870420 -0.808254 0.954318
-v -0.917583 -0.806858 0.917748
-v -0.740000 -0.870021 0.965154
-v -0.808646 -0.870490 0.954150
-v -0.863908 -0.863847 0.932116
-v -0.903670 -0.858399 0.903688
-v -0.991147 -0.807269 0.740000
-v -0.965154 -0.870021 0.740000
-v -0.923848 -0.923848 0.740000
-v -0.991147 -0.740000 0.807269
-v -0.980606 -0.809958 0.809387
-v -0.954318 -0.870420 0.808254
-v -0.917748 -0.917583 0.806858
-v -0.965154 -0.740000 0.870021
-v -0.954150 -0.808646 0.870490
-v -0.932116 -0.863908 0.863847
-v -0.903688 -0.903670 0.858399
diff --git a/test/engine/testdata/collision_convex/edge_edge.xml b/test/engine/testdata/collision_convex/edge_edge.xml
deleted file mode 100644
index b4815850..00000000
--- a/test/engine/testdata/collision_convex/edge_edge.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<mujoco>
-  <option>
-    <flag multiccd="enable"/>
-  </option>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" width="512" height="512"
-             rgb1="1 1 1" rgb2="1 1 1"/>
-    <mesh name="domino" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
-          scale=".15 1 3"/>
-  </asset>
-
-  <worldbody>
-    <geom type="box" size="5 5 .1" pos="0 0 -.1"/>
-    <body pos="-2 0 2.99" euler="0 10 0">
-      <freejoint/>
-      <geom type="mesh" name="domino1" mesh="domino" rgba=".1 .1 .1 1"/>
-    </body>
-    <body pos="2 0 2.99" euler="0 -10 0">
-      <freejoint/>
-      <geom type="mesh" name="domino2" mesh="domino" rgba=".1 .1 .1 1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/frameless_contact.xml b/test/engine/testdata/collision_convex/frameless_contact.xml
deleted file mode 100644
index 7ed2522b..00000000
--- a/test/engine/testdata/collision_convex/frameless_contact.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<mujoco model="frameless contact">
-  <worldbody>
-    <geom type="box" pos="0.0 0.0 -0.46" size="0.4 0.4 0.46"/>
-    <body>
-      <joint type="slide" axis="1 0 0"/>
-      <geom pos="0.2 0 0.02" size="0.062 0.02" type="cylinder"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/frameless_contact_hfield.xml b/test/engine/testdata/collision_convex/frameless_contact_hfield.xml
deleted file mode 100644
index 408ddb72..00000000
--- a/test/engine/testdata/collision_convex/frameless_contact_hfield.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<mujoco model="frameless contact">
-  <asset>
-    <hfield name="hf" nrow="10" ncol="10" size="1 1 0.1 0.01"/>
-  </asset>
-
-  <worldbody>
-    <geom type="hfield" hfield="hf"/>
-    <body>
-      <joint type="slide" axis="1 0 0" damping="1"/>
-      <joint type="slide" axis="0 1 0" damping="1"/>
-      <geom pos="0 0 0.2" size="0.3 0.3 0.2" type="box"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/long_box.xml b/test/engine/testdata/collision_convex/long_box.xml
deleted file mode 100644
index 4f94d43c..00000000
--- a/test/engine/testdata/collision_convex/long_box.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco>
-  <option>
-    <flag multiccd="enable"/>
-  </option>
-
-  <visual>
-    <quality shadowsize="8192"/>
-    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
-    <map force="0.1"/>
-  </visual>
-
-  <asset>
-    <mesh name="long_box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
-          scale=".6 .03 .03"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".5 .5 .5 .5"/>
-    <body pos="0 0 .02" euler="0 0 40">
-      <freejoint/>
-      <geom type="mesh" mesh="long_box"/>
-      <!--  <geom type="box" size=".6 .03 .03"/> -->
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/multiple_objects.xml b/test/engine/testdata/collision_convex/multiple_objects.xml
deleted file mode 100644
index 13923e66..00000000
--- a/test/engine/testdata/collision_convex/multiple_objects.xml
+++ /dev/null
@@ -1,49 +0,0 @@
-<mujoco>
-  <option noslip_iterations="2">
-    <flag multiccd="enable"/>
-  </option>
-
-  <visual>
-    <quality shadowsize="8192"/>
-    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
-    <map force="0.1"/>
-  </visual>
-
-  <default>
-    <geom solref=".006 1"/>
-  </default>
-
-  <asset>
-      <texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
-               width="256" height="256" mark="random" markrgb="1 1 1" random="0.003"/>
-    <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
-          scale="1 1 .1"/>
-    <mesh name="boxoid" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 .5 -1 -1 2"
-          scale=".3 .2 .1"/>
-    <mesh name="pentaprism" vertex="1 0 0 0.309 0.951 0 -0.809 0.588 0 -0.809 -0.588 0 0.309 -0.951 0
-                                    1 0 1 0.309 0.951 1 -0.809 0.588 1 -0.809 -0.588 1 0.309 -0.951 1"
-          scale=".2 .2 .1"/>
-  </asset>
-  <worldbody>
-    <light pos="0 0 3"/>
-    <light pos="2 2 2" dir="-1 -1 -1"/>
-    <geom type="plane" pos="0 0 -.5" size="3 3 .01"/>
-    <geom type="mesh" mesh="box" pos="0 0 -.15" euler="3 7 30"/>
-    <body pos="-.3 -.3 .3">
-      <freejoint/>
-      <geom type="mesh" mesh="boxoid" rgba=".8 0 0 1" euler="3 5 -130"/>
-    </body>
-    <body pos=".3 .3 0.3">
-      <freejoint/>
-      <geom type="box" euler="3 5 -80" size=".3 .2 .1" rgba="0 .8 0 1"/>
-    </body>
-    <body pos=".3 .3 .6">
-      <freejoint/>
-      <geom type="mesh" mesh="pentaprism" rgba="0 0 .8 1"/>
-    </body>
-    <body pos=".6 -.3 .3">
-      <freejoint/>
-      <geom type="cylinder" size=".2 .05" rgba=".6 0 .6 1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/perf/box.xml b/test/engine/testdata/collision_convex/perf/box.xml
deleted file mode 100644
index 1b0401a8..00000000
--- a/test/engine/testdata/collision_convex/perf/box.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<mujoco  model="collide boxes">
-  <option timestep="1e-3" gravity="-1 1 -10" solver="CG" iterations="10">
-    <flag multiccd="enable"/>
-  </option>
-
-  <visual>
-    <scale forcewidth="0.02" contactwidth="0.05" contactheight="0.05"/>
-    <map force="0.01"/>
-  </visual>
-
-  <default>
-    <geom condim="1" type="box" solref="2e-3 1"/>
-    <default class="free">
-      <geom size=".025 .025 .025"/>
-    </default>
-    <default class="wall">
-      <geom size=".5 .5 .1" rgba=".5 .5 .8 1"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="1 -1 1" dir="-1 1 -1"/>
-    <geom class="wall"/>
-    <geom class="wall" pos="-.6 0 .4" euler="0 90 0"/>
-    <geom class="wall" pos="-.2 .6 .4" euler="90 0 0"/>
-
-    <replicate count="5" offset=".06 0 0">
-      <replicate count="5" offset="0 .06 0">
-        <replicate count="4" offset="0 0 .06">
-          <body pos="-.1 -.2 0.15">
-            <freejoint/>
-            <geom class="free"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/perf/boxmesh.xml b/test/engine/testdata/collision_convex/perf/boxmesh.xml
deleted file mode 100644
index afb2f013..00000000
--- a/test/engine/testdata/collision_convex/perf/boxmesh.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<mujoco  model="collide box-shaped meshes">
-  <option timestep="1e-3" gravity="-1 1 -10" solver="CG" iterations="10">
-    <flag multiccd="enable"/>
-  </option>
-
-  <visual>
-    <scale forcewidth="0.02" contactwidth="0.05" contactheight="0.05"/>
-    <map force="0.01"/>
-  </visual>
-
-  <asset>
-    <mesh name="box" scale=".025 .025 .025"
-      vertex="-1 -1 -1    1 -1 -1    1  1 -1    1  1  1    1 -1  1   -1  1 -1   -1  1  1   -1 -1  1"/>
-    <mesh name="wall" scale=".5 .5 .1"
-      vertex="-1 -1 -1    1 -1 -1    1  1 -1    1  1  1    1 -1  1   -1  1 -1   -1  1  1   -1 -1  1"/>
-  </asset>
-
-  <default>
-    <geom condim="1" type="mesh" solref="2e-3 1"/>
-    <default class="free">
-      <geom mesh="box"/>
-    </default>
-    <default class="wall">
-      <geom mesh="wall" rgba=".5 .5 .8 1"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="1 -1 1" dir="-1 1 -1"/>
-    <geom class="wall"/>
-    <geom class="wall" pos="-.6 0 .4" euler="0 90 0"/>
-    <geom class="wall" pos="-.2 .6 .4" euler="90 0 0"/>
-
-    <replicate count="5" offset=".06 0 0">
-      <replicate count="5" offset="0 .06 0">
-        <replicate count="4" offset="0 0 .06">
-          <body pos="-.1 -.2 0.15">
-            <freejoint/>
-            <geom class="free"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/perf/ellipsoid.xml b/test/engine/testdata/collision_convex/perf/ellipsoid.xml
deleted file mode 100644
index eb730957..00000000
--- a/test/engine/testdata/collision_convex/perf/ellipsoid.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<mujoco model="collide ellipsoids">
-  <statistic extent="1.5" meansize=".05"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <map shadowscale="0.5" zfar="40" force="0.01"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-  </asset>
-
-  <default>
-    <geom condim="1" solref="2e-3 1"/>
-  </default>
-
-  <option timestep="1e-3" solver="CG" iterations="20"/>
-
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
-    <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
-
-    <geom name="ground" type="plane" size=".5 .5 .01" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-    <replicate count="4" euler="0 0 90">
-      <geom type="plane" size=".1 .5 .01" zaxis="1 0 0"  pos="-.5 0 .1"/>
-    </replicate>
-
-    <replicate count="5" offset=".15 0 0">
-      <replicate count="5" offset="0 .15 0">
-        <replicate count="4" offset="0 0 .3">
-          <body pos="-.3 -.3 .3" euler="10 20 30">
-            <freejoint/>
-            <geom type="ellipsoid" size=".05 .07 .15"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/perf/mixed.xml b/test/engine/testdata/collision_convex/perf/mixed.xml
deleted file mode 100644
index a37bfe6d..00000000
--- a/test/engine/testdata/collision_convex/perf/mixed.xml
+++ /dev/null
@@ -1,107 +0,0 @@
-<mujoco model="Mixed convex objects">
-  <statistic extent="1.5" meansize=".05"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <map shadowscale="0.5" zfar="40" force="0.01"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-    <mesh name="icosahedron" scale=".05 .05 .05"
-          vertex="0         1       1.618
-                  0        -1       1.618
-                  0         1      -1.618
-                  0        -1      -1.618
-                  1         1.618   0
-                 -1         1.618   0
-                  1        -1.618   0
-                 -1        -1.618   0
-                  1.618     0       1
-                  1.618     0      -1
-                 -1.618     0       1
-                 -1.618     0      -1"/>
-    <mesh name="meshbox" scale=".05 .05 .05"
-          vertex="-1 -1 -1
-                   1 -1 -1
-                   1  1 -1
-                   1  1  1
-                   1 -1  1
-                  -1  1 -1
-                  -1  1  1
-                  -1 -1  1"/>
-    <hfield name="hfield" nrow="5" ncol="5" size=".53 .53 .03 .03"
-            elevation="1 0 1 0 1
-                       0 2 0 2 0
-                       1 0 1 0 1
-                       0 2 0 2 0
-                       1 0 1 0 1"/>
-  </asset>
-
-  <default>
-    <geom condim="1" solref="2e-3 1" size=".05 .15 .07"/>
-  </default>
-
-  <option timestep="1e-3" solver="CG" iterations="20"/>
-
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
-    <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
-
-    <geom type="hfield" hfield="hfield" rgba=".5 .5 .5 .2"/>
-    <replicate count="4" euler="0 0 90">
-      <geom type="hfield" hfield="hfield" zaxis="1 0 0"  pos="-.5 0 .5" rgba=".5 .5 .5 .2"/>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.3 -.3 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="ellipsoid"/>
-      </body>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.3 -.3 1" euler="10 20 30">
-        <freejoint/>
-        <geom type="box"/>
-      </body>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.3 -.3 .6" euler="10 20 30">
-        <freejoint/>
-        <geom type="capsule"/>
-      </body>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.3 .3 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="cylinder"/>
-      </body>
-    </replicate>
-
-    <replicate count="20" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.15 .15 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="mesh" mesh="icosahedron"/>
-      </body>
-    </replicate>
-
-    <replicate count="20" euler="0 0 60" offset="0 0 .15">
-      <body pos=".15 -.15 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="mesh" mesh="meshbox"/>
-      </body>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos=".05 0 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="sphere"/>
-      </body>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/perf/spheremesh.xml b/test/engine/testdata/collision_convex/perf/spheremesh.xml
deleted file mode 100644
index 995043aa..00000000
--- a/test/engine/testdata/collision_convex/perf/spheremesh.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-<mujoco model="Collide spherical meshes">
-  <statistic extent="1.5" meansize=".05"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <map shadowscale="0.5" zfar="40"/>
-  </visual>
-
-  <asset>
-    <mesh name="sphere" builtin="sphere" params="3" scale=".08 .08 .08"/>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-  </asset>
-
-  <default>
-    <geom condim="1" solref="2e-3 1"/>
-  </default>
-
-  <option timestep="1e-3" solver="CG" iterations="20"/>
-
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
-    <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
-
-    <geom name="ground" type="plane" size=".5 .5 .01" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-    <replicate count="4" euler="0 0 90">
-      <geom type="plane" size=".1 .5 .01" zaxis="1 0 0"  pos="-.5 0 .1"/>
-    </replicate>
-
-    <replicate count="5" offset=".16 0 0">
-      <replicate count="5" offset="0 .16 0">
-        <replicate count="4" offset="0 0 .3">
-          <body pos="-.3 -.3 .3" euler="10 20 30">
-            <freejoint/>
-            <geom type="mesh" mesh="sphere"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_convex/sphere.obj b/test/engine/testdata/collision_convex/sphere.obj
deleted file mode 100644
index f15c906c..00000000
--- a/test/engine/testdata/collision_convex/sphere.obj
+++ /dev/null
@@ -1,2563 +0,0 @@
-# Unit sphere with 2562 vertices
-v 0.000000 1.000000 0.000000
-v -0.029136 0.999219 0.026691
-v 0.004884 0.998438 -0.055655
-v 0.041624 0.997657 0.054292
-v -0.077772 0.996876 -0.013757
-v 0.074491 0.996095 -0.047385
-v -0.025102 0.995314 0.093377
-v -0.048127 0.994533 -0.092667
-v 0.104835 0.993752 0.038285
-v -0.109400 0.992971 0.045159
-v 0.052867 0.992191 -0.112973
-v 0.039144 0.991410 0.124799
-v -0.118173 0.990629 -0.068484
-v 0.138817 0.989848 -0.030518
-v -0.084813 0.989067 0.120638
-v -0.019613 0.988286 -0.151349
-v 0.120500 0.987505 0.101557
-v -0.162268 0.986724 0.006710
-v 0.118433 0.985943 -0.117856
-v -0.007928 0.985162 0.171444
-v -0.112797 0.984381 -0.135169
-v 0.178752 0.983600 0.024051
-v -0.151507 0.982819 0.105414
-v 0.041412 0.982038 -0.184081
-v 0.095808 0.981257 0.167197
-v -0.187335 0.980476 -0.059765
-v 0.182004 0.979695 -0.084091
-v -0.078861 0.978914 0.188434
-v -0.070391 0.978134 -0.195704
-v 0.187321 0.977353 0.098451
-v -0.208085 0.976572 0.054850
-v 0.118285 0.975791 -0.183960
-v 0.037629 0.975010 0.218952
-v -0.178335 0.974229 -0.138112
-v 0.228127 0.973448 -0.018900
-v -0.157685 0.972667 0.170453
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-v -0.053244 -0.998438 0.016923
-v 0.019682 -0.999219 -0.034262
-v 0.000000 -1.000000 0.000000
diff --git a/test/engine/testdata/collision_convex/stacked_boxes.xml b/test/engine/testdata/collision_convex/stacked_boxes.xml
deleted file mode 100644
index affaaa00..00000000
--- a/test/engine/testdata/collision_convex/stacked_boxes.xml
+++ /dev/null
@@ -1,108 +0,0 @@
-<mujoco>
-  <option gravity="-4 4 -10">
-    <flag multiccd="enable"/>
-  </option>
-
-  <visual>
-    <quality shadowsize="8192"/>
-    <scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
-    <map force="0.1"/>
-  </visual>
-
-  <size memory="100M"/>
-
-  <asset>
-    <mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
-          scale=".05 .05 .05"/>
-  </asset>
-
-  <default>
-    <geom friction="0.4"/>
-    <default class="mesh_box">
-      <geom type="mesh" mesh="box"/>
-    </default>
-    <default class="primitive_box">
-      <geom type="box" size=".05 .05 .05" friction=".1"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="1 -1 1" dir="-1 1 -1"/>
-    <geom type="box" size=".5 .5 .1" pos="-.4 .4 -.1" rgba=".5 .5 .8 1"/>
-    <geom type="box" size=".5 .1 .5" pos="-.4 .8 .4" rgba=".5 .5 .8 1"/>
-    <geom type="box" size=".1 .5 .5" pos="-.8 .4 .4" rgba=".5 .5 .8 1"/>
-    <body pos="-.4 .4 .1">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.5 .4 .1">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.6 .4 .1">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.4 .5 .1">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.5 .5 .1">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.6 .5 .1">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.4 .6 .1">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.5 .6 .1">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.6 .6 .1">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-
-    <body pos="-.4 .4 .2">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.5 .4 .2">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.6 .4 .2">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.4 .5 .2">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.5 .5 .2">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.6 .5 .2">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.4 .6 .2">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.5 .6 .2">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-    <body pos="-.6 .6 .2">
-      <freejoint/>
-      <geom class="mesh_box"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_driver/humanoid.xml b/test/engine/testdata/collision_driver/humanoid.xml
deleted file mode 100644
index b858631c..00000000
--- a/test/engine/testdata/collision_driver/humanoid.xml
+++ /dev/null
@@ -1,248 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Humanoid">
-  <option timestep="0.005"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <body name="torso" pos="0 0 1.282" childclass="body">
-      <light name="top" pos="0 0 2" mode="trackcom"/>
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-  <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <!--
-    The values below are split into rows for readibility:
-      torso position
-      torso orientation
-      spinal
-      right leg
-      left leg
-      arms
-    -->
-    <key name="squat" qpos="0 0 0.596
-                            0.988015 0 0.154359 0
-                            0 0.4 0
-                            -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-                            -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-                            0 0 0 0 0 0"/>
-    <key name="stand_on_left_leg" qpos="0 0 1.21948
-                                        0.971588 -0.179973 0.135318 -0.0729076
-                                        -0.0516 -0.202 0.23
-                                        -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-                                        -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
-                                        0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/collision_driver/midphase.xml b/test/engine/testdata/collision_driver/midphase.xml
deleted file mode 100644
index 274da5e0..00000000
--- a/test/engine/testdata/collision_driver/midphase.xml
+++ /dev/null
@@ -1,1015 +0,0 @@
-<mujoco model="midphase">
-  <include file="humanoid.xml"/>
-  <compiler autolimits="true" boundmass="1e-05" boundinertia="1e-11" angle="radian" eulerseq="xyz"/>
-  <option timestep="0.001" cone="elliptic" noslip_iterations="5" noslip_tolerance="0"/>
-  <visual>
-    <headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1"/>
-    <map znear="0.01"/>
-    <scale forcewidth="0.01" contactwidth="0.059999999999999998" contactheight="0.01" jointwidth="0.01" framelength="0.29999999999999999" framewidth="0.01"/>
-  </visual>
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <body>
-      <geom name="box_1" type="box" size="0.05 0.05 0.0021314871261933462" pos="-2.7579238840899611 0.066618520140325543 0.0021314871261933462" euler="0 0 0.089539728943937719"/>
-      <geom name="box_2" type="box" size="0.05 0.05 0.0055932598022792922" pos="-0.74195125085756208 -2.6293255815911882 0.0055932598022792922" euler="0 0 1.210988547159926"/>
-      <geom name="box_3" type="box" size="0.05 0.05 0.0076431479752661451" pos="-1.8733782173454741 -0.57192101108242266 0.0076431479752661451" euler="0 0 0.37668922906788105"/>
-      <geom name="box_4" type="box" size="0.05 0.05 0.0068584302548584187" pos="-0.39075822380038261 1.9800176817608275 0.0068584302548584187" euler="0 0 2.9304970501092895"/>
-      <geom name="box_5" type="box" size="0.05 0.05 0.011352780476941039" pos="0.29288102356394852 1.2911361982345166 0.011352780476941039" euler="0 0 1.893636994119658"/>
-      <geom name="box_6" type="box" size="0.05 0.05 0.0090259570070387179" pos="-0.45807120396657197 0.87536467839993648 0.0090259570070387179" euler="0 0 1.3747207682077196"/>
-      <geom name="box_7" type="box" size="0.05 0.05 0.011049003475305186" pos="2.7819765630061752 -0.69935088704533399 0.011049003475305186" euler="0 0 2.4872775633035982"/>
-      <geom name="box_8" type="box" size="0.05 0.05 0.0026554566943292734" pos="0.40826736656359408 2.5535798297559662 0.0026554566943292734" euler="0 0 0.22316635857445863"/>
-      <geom name="box_9" type="box" size="0.05 0.05 0.026230352299157756" pos="-2.8786896153580459 1.9957190732876278 0.026230352299157756" euler="0 0 2.4446515321253526"/>
-      <geom name="box_10" type="box" size="0.05 0.05 0.023635346112307207" pos="2.8717100533965843 1.794951385300342 0.023635346112307207" euler="0 0 1.4497801742371135"/>
-      <geom name="box_11" type="box" size="0.05 0.05 0.018948709423942094" pos="-2.2903534447864007 0.8395261279651427 0.018948709423942094" euler="0 0 0.45035763459220635"/>
-      <geom name="box_12" type="box" size="0.05 0.05 0.0079681032049079507" pos="0.13108993050042983 -0.51202836005685848 0.0079681032049079507" euler="0 0 0.83112596745384704"/>
-      <geom name="box_13" type="box" size="0.05 0.05 0.0065587194736828943" pos="-0.26309800670070871 0.41060369321189105 0.0065587194736828943" euler="0 0 0.059029899013271603"/>
-      <geom name="box_14" type="box" size="0.05 0.05 0.0071363826919313518" pos="0.67257433633452823 0.70160398124854151 0.0071363826919313518" euler="0 0 2.9648720303010268"/>
-      <geom name="box_15" type="box" size="0.05 0.05 0.0015420292446634287" pos="-0.84295259655728394 -0.37780827720395127 0.0015420292446634287" euler="0 0 2.1916730400401567"/>
-      <geom name="box_16" type="box" size="0.05 0.05 0.0034495996554422129" pos="1.0006002926740063 1.0238272177089565 0.0034495996554422129" euler="0 0 0.66093630831298456"/>
-      <geom name="box_17" type="box" size="0.05 0.05 0.0093334287557840859" pos="-1.1074298944548968 -0.81773537434426435 0.0093334287557840859" euler="0 0 1.7913259850454366"/>
-      <geom name="box_18" type="box" size="0.05 0.05 0.0056779760186648912" pos="2.9302430283553571 -2.3877311355118316 0.0056779760186648912" euler="0 0 0.65620568245319977"/>
-      <geom name="box_19" type="box" size="0.05 0.05 0.0056440862480304516" pos="0.91864995279239059 -1.4802503847613073 0.0056440862480304516" euler="0 0 1.4649584982951505"/>
-      <geom name="box_20" type="box" size="0.05 0.05 0.0050073055891098001" pos="-2.0461824981268819 -2.337749153014169 0.0050073055891098001" euler="0 0 2.061920216597708"/>
-      <geom name="box_21" type="box" size="0.05 0.05 0.0028449242400681641" pos="-1.820505829919679 -0.78764897603421513 0.0028449242400681641" euler="0 0 2.5792262995372295"/>
-      <geom name="box_22" type="box" size="0.05 0.05 0.014590884847783345" pos="2.0276694449928234 -2.4234095526362216 0.014590884847783345" euler="0 0 3.0676378818143037"/>
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-      <geom name="box_1000" type="box" size="0.05 0.05 0.0016870957728148789" pos="-0.40700036914929782 -0.82644707560669861 0.0016870957728148789" euler="0 0 1.7534422620762284"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_driver/planks.xml b/test/engine/testdata/collision_driver/planks.xml
deleted file mode 100644
index fe61f75a..00000000
--- a/test/engine/testdata/collision_driver/planks.xml
+++ /dev/null
@@ -1,177 +0,0 @@
-<mujoco>
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-    <default class="plank">
-      <geom type="box" size=".02 .02 .4" euler="-45 0 0"/>
-      <default class="joist">
-        <geom euler="0 90 0" rgba=".5 .5 .7 1"/>
-      </default>
-    </default>
-  </default>
-​
-  <statistic extent="1.5" meansize=".05"/>
-​
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
-  </visual>
-​
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-  </asset>
-​
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
-    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-​
-    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
-    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
-    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
-    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
-​
-    <body pos="-.4 -.4 .4">
-      <freejoint/>
-      <geom class="plank" pos="0 .25 0"/>
-      <geom class="plank" pos=".05 .25 0"/>
-      <geom class="plank" pos=".10 .25 0"/>
-      <geom class="plank" pos=".15 .25 0"/>
-      <geom class="plank" pos=".20 .25 0"/>
-      <geom class="plank" pos=".25 .25 0"/>
-      <geom class="plank" pos=".30 .25 0"/>
-      <geom class="plank" pos=".35 .25 0"/>
-      <geom class="plank" pos=".40 .25 0"/>
-      <geom class="plank" pos=".45 .25 0"/>
-      <geom class="plank" pos=".50 .25 0"/>
-      <geom class="plank" pos=".55 .25 0"/>
-      <geom class="plank" pos=".60 .25 0"/>
-      <geom class="plank" pos=".65 .25 0"/>
-      <geom class="plank" pos=".70 .25 0"/>
-      <geom class="plank" pos=".75 .25 0"/>
-      <geom class="plank" pos=".80 .25 0"/>
-      <geom class="joist" pos=".40 .09 -.2"/>
-      <geom class="joist" pos=".40 .49 .2"/>
-    </body>
-​
-    <body pos="-.4 -.4 .5">
-      <freejoint/>
-      <geom class="plank" pos="0 .25 0"/>
-      <geom class="plank" pos=".05 .25 0"/>
-      <geom class="plank" pos=".10 .25 0"/>
-      <geom class="plank" pos=".15 .25 0"/>
-      <geom class="plank" pos=".20 .25 0"/>
-      <geom class="plank" pos=".25 .25 0"/>
-      <geom class="plank" pos=".30 .25 0"/>
-      <geom class="plank" pos=".35 .25 0"/>
-      <geom class="plank" pos=".40 .25 0"/>
-      <geom class="plank" pos=".45 .25 0"/>
-      <geom class="plank" pos=".50 .25 0"/>
-      <geom class="plank" pos=".55 .25 0"/>
-      <geom class="plank" pos=".60 .25 0"/>
-      <geom class="plank" pos=".65 .25 0"/>
-      <geom class="plank" pos=".70 .25 0"/>
-      <geom class="plank" pos=".75 .25 0"/>
-      <geom class="plank" pos=".80 .25 0"/>
-      <geom class="joist" pos=".40 .09 -.2"/>
-      <geom class="joist" pos=".40 .49 .2"/>
-    </body>
-​
-    <body pos="-.4 -.4 .6">
-      <freejoint/>
-      <geom class="plank" pos="0 .25 0"/>
-      <geom class="plank" pos=".05 .25 0"/>
-      <geom class="plank" pos=".10 .25 0"/>
-      <geom class="plank" pos=".15 .25 0"/>
-      <geom class="plank" pos=".20 .25 0"/>
-      <geom class="plank" pos=".25 .25 0"/>
-      <geom class="plank" pos=".30 .25 0"/>
-      <geom class="plank" pos=".35 .25 0"/>
-      <geom class="plank" pos=".40 .25 0"/>
-      <geom class="plank" pos=".45 .25 0"/>
-      <geom class="plank" pos=".50 .25 0"/>
-      <geom class="plank" pos=".55 .25 0"/>
-      <geom class="plank" pos=".60 .25 0"/>
-      <geom class="plank" pos=".65 .25 0"/>
-      <geom class="plank" pos=".70 .25 0"/>
-      <geom class="plank" pos=".75 .25 0"/>
-      <geom class="plank" pos=".80 .25 0"/>
-      <geom class="joist" pos=".40 .09 -.2"/>
-      <geom class="joist" pos=".40 .49 .2"/>
-    </body>
-​
-    <body pos="-.4 -.4 .7">
-      <freejoint/>
-      <geom class="plank" pos="0 .25 0"/>
-      <geom class="plank" pos=".05 .25 0"/>
-      <geom class="plank" pos=".10 .25 0"/>
-      <geom class="plank" pos=".15 .25 0"/>
-      <geom class="plank" pos=".20 .25 0"/>
-      <geom class="plank" pos=".25 .25 0"/>
-      <geom class="plank" pos=".30 .25 0"/>
-      <geom class="plank" pos=".35 .25 0"/>
-      <geom class="plank" pos=".40 .25 0"/>
-      <geom class="plank" pos=".45 .25 0"/>
-      <geom class="plank" pos=".50 .25 0"/>
-      <geom class="plank" pos=".55 .25 0"/>
-      <geom class="plank" pos=".60 .25 0"/>
-      <geom class="plank" pos=".65 .25 0"/>
-      <geom class="plank" pos=".70 .25 0"/>
-      <geom class="plank" pos=".75 .25 0"/>
-      <geom class="plank" pos=".80 .25 0"/>
-      <geom class="joist" pos=".40 .09 -.2"/>
-      <geom class="joist" pos=".40 .49 .2"/>
-    </body>
-​
-    <body pos="-.4 -.4 .8">
-      <freejoint/>
-      <geom class="plank" pos="0 .25 0"/>
-      <geom class="plank" pos=".05 .25 0"/>
-      <geom class="plank" pos=".10 .25 0"/>
-      <geom class="plank" pos=".15 .25 0"/>
-      <geom class="plank" pos=".20 .25 0"/>
-      <geom class="plank" pos=".25 .25 0"/>
-      <geom class="plank" pos=".30 .25 0"/>
-      <geom class="plank" pos=".35 .25 0"/>
-      <geom class="plank" pos=".40 .25 0"/>
-      <geom class="plank" pos=".45 .25 0"/>
-      <geom class="plank" pos=".50 .25 0"/>
-      <geom class="plank" pos=".55 .25 0"/>
-      <geom class="plank" pos=".60 .25 0"/>
-      <geom class="plank" pos=".65 .25 0"/>
-      <geom class="plank" pos=".70 .25 0"/>
-      <geom class="plank" pos=".75 .25 0"/>
-      <geom class="plank" pos=".80 .25 0"/>
-      <geom class="joist" pos=".40 .09 -.2"/>
-      <geom class="joist" pos=".40 .49 .2"/>
-    </body>
-​
-    <body pos="-.4 -.4 .9">
-      <freejoint/>
-      <geom class="plank" pos="0 .25 0"/>
-      <geom class="plank" pos=".05 .25 0"/>
-      <geom class="plank" pos=".10 .25 0"/>
-      <geom class="plank" pos=".15 .25 0"/>
-      <geom class="plank" pos=".20 .25 0"/>
-      <geom class="plank" pos=".25 .25 0"/>
-      <geom class="plank" pos=".30 .25 0"/>
-      <geom class="plank" pos=".35 .25 0"/>
-      <geom class="plank" pos=".40 .25 0"/>
-      <geom class="plank" pos=".45 .25 0"/>
-      <geom class="plank" pos=".50 .25 0"/>
-      <geom class="plank" pos=".55 .25 0"/>
-      <geom class="plank" pos=".60 .25 0"/>
-      <geom class="plank" pos=".65 .25 0"/>
-      <geom class="plank" pos=".70 .25 0"/>
-      <geom class="plank" pos=".75 .25 0"/>
-      <geom class="plank" pos=".80 .25 0"/>
-      <geom class="joist" pos=".40 .09 -.2"/>
-      <geom class="joist" pos=".40 .49 .2"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_primitive/sphere_cylinder.xml b/test/engine/testdata/collision_primitive/sphere_cylinder.xml
deleted file mode 100644
index 0e17f2dd..00000000
--- a/test/engine/testdata/collision_primitive/sphere_cylinder.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<mujoco>
-  <statistic meansize="0.15"/>
-
-  <visual>
-    <map force="0.02"/>
-    <scale contactheight=".05" contactwidth=".2"/>
-    <headlight ambient=".4 .4 .4"/>
-  </visual>
-
-  <option>
-    <flag gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-
-    <body pos="0 0 .3">
-      <freejoint/>
-      <geom type="sphere" size=".05" rgba=".5 .5 .5 .5" gap="0.1"/>
-    </body>
-
-    <body pos="-.5 0 .3">
-      <freejoint/>
-      <geom type="sphere" size=".1" rgba=".5 .5 .5 .5"/>
-    </body>
-
-    <body mocap="true"  pos="-1 0 0">
-      <geom type="cylinder" size=".2 .01" rgba=".5 .5 .5 .3" margin=".04"/>
-    </body>
-
-    <body mocap="true"  pos="-.5 0 0">
-      <geom type="cylinder" size=".2 .04" rgba=".5 .5 .5 .3"/>
-    </body>
-
-    <body mocap="true">
-      <geom type="cylinder" size=".2 .2" rgba=".5 .5 .5 .3"/>
-    </body>
-
-    <body mocap="true" pos=".5 0 0">
-      <geom type="cylinder" size=".02 .1" rgba=".5 .5 .5 .3"/>
-    </body>
-
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collision_primitive/spheres_cylinders.xml b/test/engine/testdata/collision_primitive/spheres_cylinders.xml
deleted file mode 100644
index 4048d6e8..00000000
--- a/test/engine/testdata/collision_primitive/spheres_cylinders.xml
+++ /dev/null
@@ -1,87 +0,0 @@
-<mujoco>
-  <statistic extent="1.5" meansize=".05"/>
-
-  <option solver="CG" tolerance="1e-6"/>
-
-  <size memory="5M"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-  </asset>
-
-  <default>
-    <geom solref=".005 1"/>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
-    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-
-    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-
-    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
-      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
-    </body>
-
-    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
-    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
-    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
-    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
-
-    <replicate count="3" offset=".2 0 0">
-      <replicate count="3" offset="0 .2 0">
-        <replicate count="2" offset="0 0 .2">
-          <body pos="-.2 -.2 1">
-            <freejoint/>
-            <geom type="sphere" size=".09" rgba=".8 .2 .1 1" condim="3"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-
-    <replicate count="3" offset=".2 0 0" prefix="A">
-      <replicate count="3" offset="0 .2 0">
-        <replicate count="2" offset="0 0 .2">
-          <body pos="-.2 -.2 1.6">
-            <freejoint/>
-            <geom type="cylinder" size=".09 .02" rgba=".8 .2 .1 1" condim="3"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-
-    <replicate count="3" offset=".2 0 0" prefix="B">
-      <replicate count="3" offset="0 .2 0">
-        <replicate count="2" offset="0 0 .2">
-          <body pos="-.2 -.2 2.2">
-            <freejoint/>
-            <geom type="cylinder" size=".02 .09" rgba=".8 .2 .1 1" condim="3"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-
-    <replicate count="3" offset=".2 0 0" prefix="C">
-      <replicate count="3" offset="0 .2 0">
-        <replicate count="2" offset="0 0 .2">
-          <body pos="-.2 -.2 2.8">
-            <freejoint/>
-            <geom type="sphere" size=".06" rgba=".8 .2 .1 1" condim="3"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/collisions.xml b/test/engine/testdata/collisions.xml
deleted file mode 100644
index 31ca0a37..00000000
--- a/test/engine/testdata/collisions.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-<mujoco model="collisions">
-  <worldbody>
-    <body name="box">
-      <geom name="box" type="box" size="1 1 1"/>
-    </body>
-    <body pos="1.2 1.2 0.0">
-      <!-- collides with box -->
-      <joint/>
-      <geom name="sphere_collides" type="sphere" size="1"/>
-    </body>
-    <body pos="-0.9 -0.9 0.0">
-      <!-- collides with box, and is a predefined pair -->
-      <joint/>
-      <geom name="sphere_predefined" type="sphere"  size="0.1"/>
-    </body>
-    <body pos="1.8 -1.8 0.0" >
-      <!-- doesn't collide with box, but requires narrowphase checking -->
-      <joint/>
-      <geom name="sphere_narrowphase" type="sphere" size="1"/>
-    </body>
-    <body pos="-2.1 -2.1 0.0">
-      <!-- doesn't collide with box, and can be eliminated in broadphase -->
-      <joint/>
-      <geom name="sphere_broadphase" type="sphere" size="1"/>
-    </body>
-    <body name="sphere_excluded">
-      <!-- collides with box, but is excluded -->
-      <joint/>
-      <geom name="sphere_excluded" type="sphere" pos="0.0 0.0 0.0" size="0.2"/>
-    </body>
-  </worldbody>
-  <contact>
-    <exclude body1="box" body2="sphere_excluded"/>
-    <pair geom1="box" geom2="sphere_predefined"/>
-  </contact>
-</mujoco>
diff --git a/test/engine/testdata/connect.xml b/test/engine/testdata/connect.xml
deleted file mode 100644
index 012784d1..00000000
--- a/test/engine/testdata/connect.xml
+++ /dev/null
@@ -1,52 +0,0 @@
-<mujoco>
-  <option>
-    <flag contact="disable"/>
-  </option>
-
-  <default>
-    <default class="static">
-      <geom size=".5 .1 .5" rgba=".5 .7 .5 .3"/>
-    </default>
-    <default class="free">
-      <geom type="box" size=".2" fromto="0 0 0 0 -1 0" rgba=".4 .7 .6 .3"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom pos="0 0 -2" type="plane" size="10 10 .01"/>
-    <light pos="0 0 20"/>
-
-    <body name="box1" pos="-3 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam1" pos="-3 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box2" pos="-1 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam2" pos="-1 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box3" pos="1 0 0">
-      <geom type="box" class="static"/>
-      <site name="box3" pos=".5 -.1 .5" type="box" size=".05 .05 .05"/>
-    </body>
-    <body name="beam3" pos="1 0 0">
-      <freejoint/>
-      <geom class="free"/>
-      <site name="beam3" pos=".2 -.1 .2" type="box" size=".05 .05 .05"/>
-    </body>
-
-  </worldbody>
-
-  <equality>
-    <connect body1="beam1" anchor="0 0 0"/>
-    <connect body1="box2" body2="beam2" anchor=".5 .1 .5"/>
-    <connect site1="box3" site2="beam3"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/dofless_contact.xml b/test/engine/testdata/core_constraint/dofless_contact.xml
deleted file mode 100644
index 6a033946..00000000
--- a/test/engine/testdata/core_constraint/dofless_contact.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<mujoco>
-  <default>
-    <geom rgba=".5 .5 .5 .5"/>
-  </default>
-
-  <worldbody>
-    <body>
-      <geom name="1" size="1"/>
-    </body>
-    <body>
-      <geom name="2" size="1" pos="1.5 0 0"/>
-    </body>
-  </worldbody>
-
-  <contact>
-    <pair geom1="1" geom2="2"/>
-  </contact>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/dofless_tendon_frictional.xml b/test/engine/testdata/core_constraint/dofless_tendon_frictional.xml
deleted file mode 100644
index 15e856fb..00000000
--- a/test/engine/testdata/core_constraint/dofless_tendon_frictional.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco>
-  <worldbody>
-    <site name="1"/>
-    <site name="2" pos="1 0 0"/>
-  </worldbody>
-
-  <tendon>
-    <spatial frictionloss="1">
-      <site site="1"/>
-      <site site="2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/dofless_tendon_limited.xml b/test/engine/testdata/core_constraint/dofless_tendon_limited.xml
deleted file mode 100644
index 45972208..00000000
--- a/test/engine/testdata/core_constraint/dofless_tendon_limited.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco>
-  <worldbody>
-    <site name="1"/>
-    <site name="2" pos="1 0 0"/>
-  </worldbody>
-
-  <tendon>
-    <spatial limited="true" range="0 0.5">
-      <site site="1"/>
-      <site site="2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/dofless_tendon_limitedmargin.xml b/test/engine/testdata/core_constraint/dofless_tendon_limitedmargin.xml
deleted file mode 100644
index 86d1caee..00000000
--- a/test/engine/testdata/core_constraint/dofless_tendon_limitedmargin.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco>
-  <worldbody>
-    <site name="1"/>
-    <site name="2" pos="1 0 0"/>
-  </worldbody>
-
-  <tendon>
-    <spatial limited="true" range="0.99 1.01" margin="0.1">
-      <site site="1"/>
-      <site site="2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/dofless_weld.xml b/test/engine/testdata/core_constraint/dofless_weld.xml
deleted file mode 100644
index c3b14169..00000000
--- a/test/engine/testdata/core_constraint/dofless_weld.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<mujoco>
-  <worldbody>
-    <body name="1" >
-      <freejoint />
-      <geom size="1" pos="7 0 0"/>
-    </body>
-    <body name="2" >
-      <freejoint />
-      <geom size="1" pos="8.5 0 0"/>
-    </body>
-
-    <body name="3" >
-      <geom size="1"/>
-    </body>
-    <body name="4" >
-      <geom size="1" pos="1.5 0 0"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="1" body2="2"/>
-    <weld body1="3" body2="4"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/jdotv_connect_2d.xml b/test/engine/testdata/core_constraint/jdotv_connect_2d.xml
deleted file mode 100644
index 18daa136..00000000
--- a/test/engine/testdata/core_constraint/jdotv_connect_2d.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<mujoco>
-  <option>
-   <flag contact="disable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 1"/>
-
-    <!-- body 1: pendulum on world hinge, horizontal pointing right -->
-    <body name="upper" pos="0 0 1">
-      <joint name="hinge1" type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.03" fromto="0 0 0 0.5 0 0"/>
-      <site name="tip1" pos="0.5 0 0"/>
-    </body>
-
-    <!-- body 2: planar free body (slide x, slide z, hinge y) -->
-    <body name="lower" pos="0.5 0 1" euler="0 -90 0">
-      <joint type="slide" axis="1 0 0"/>
-      <joint type="slide" axis="0 0 1"/>
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.04" fromto="0 0 0 0.4 0 0"/>
-      <site name="tip2" pos="0 0 0"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect body1="upper" body2="lower" anchor="0.5 0 0"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/jdotv_connect_3d.xml b/test/engine/testdata/core_constraint/jdotv_connect_3d.xml
deleted file mode 100644
index 5f404df4..00000000
--- a/test/engine/testdata/core_constraint/jdotv_connect_3d.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<mujoco>
-  <option integrator="implicit">
-   <flag contact="disable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 1"/>
-
-    <!-- body 1: pendulum on world ball joint, tilted -->
-    <body name="upper">
-      <joint type="ball"/>
-      <geom type="box" size="0.03" fromto="0 0 0 0.5 0 0"/>
-      <geom type="box" size="0.03" fromto="0.5 0 0 0.5 0.3 0"/>
-      <site name="tip1" pos="0.5 0.3 0"/>
-    </body>
-
-    <!-- body 2: free body, positioned at tip of upper -->
-    <body name="lower" pos="0.5 0.3 0">
-      <freejoint/>
-      <geom type="box" size="0.04" fromto="0 0 0 0.5 0 0"/>
-      <geom type="box" size="0.04" fromto="0.5 0 0 0.5 0.3 0"/>
-      <site name="tip2" pos="0 0 0"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect site1="tip1" site2="tip2"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/jdotv_weld_3d.xml b/test/engine/testdata/core_constraint/jdotv_weld_3d.xml
deleted file mode 100644
index 5a533de9..00000000
--- a/test/engine/testdata/core_constraint/jdotv_weld_3d.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<mujoco>
-  <option integrator="implicit">
-   <flag contact="disable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 1"/>
-
-    <!-- body 1: pendulum on world ball joint, tilted -->
-    <body name="upper">
-      <joint type="ball"/>
-      <geom type="box" size="0.03" fromto="0 0 0 0.5 0 0"/>
-      <geom type="box" size="0.03" fromto="0.5 0 0 0.5 0.3 0"/>
-      <site name="tip1" pos="0.5 0.3 0"/>
-    </body>
-
-    <!-- body 2: free body, positioned at tip of upper -->
-    <body name="lower" pos="0.5 0.3 0">
-      <freejoint/>
-      <geom type="box" size="0.04" fromto="0 0 0 0.5 0 0"/>
-      <geom type="box" size="0.04" fromto="0.5 0 0 0.5 0.3 0"/>
-      <site name="tip2" pos="0 0 0"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld site1="tip1" site2="tip2" solimp="0 0.96 0.01" torquescale="0.1"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/joint_limited_bilateral_margin.xml b/test/engine/testdata/core_constraint/joint_limited_bilateral_margin.xml
deleted file mode 100644
index df6bed0a..00000000
--- a/test/engine/testdata/core_constraint/joint_limited_bilateral_margin.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <worldbody>
-    <body>
-      <joint axis="1 0 0" range="0 0.1" limited="true" margin="0.2"/>
-      <geom size="1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/soft_weld.xml b/test/engine/testdata/core_constraint/soft_weld.xml
deleted file mode 100644
index 5ee950b4..00000000
--- a/test/engine/testdata/core_constraint/soft_weld.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<mujoco>
-  <statistic meansize=".5"/>
-  <worldbody>
-    <site name="0"/>
-    <light pos="0 0 1"/>
-    <body name="1" pos="-.5 -.3 0">
-      <freejoint/>
-      <geom type="box" size=".5 .3 .02" pos="0 0 -.07"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="1" anchor="0 0 0" solimp="0 0.96 0.01" torquescale="0.2"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/surfacevel_conveyor.xml b/test/engine/testdata/core_constraint/surfacevel_conveyor.xml
deleted file mode 100644
index d43713d7..00000000
--- a/test/engine/testdata/core_constraint/surfacevel_conveyor.xml
+++ /dev/null
@@ -1,55 +0,0 @@
-<mujoco model="surfacevel conveyor">
-  <!-- two opposed conveyor belts made of static geoms with surfacevel:
-       objects ride the blue belt +x, the red belt returns them -x -->
-
-  <visual>
-    <headlight diffuse=".8 .8 .8" ambient=".2 .2 .2"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/>
-    <material name="grid" texture="grid" texrepeat="8 8" reflectance=".2"/>
-    <material name="beltplus" rgba=".3 .5 .8 1"/>
-    <material name="beltminus" rgba=".8 .4 .3 1"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 3" dir="0 0 -1"/>
-    <geom name="floor" type="plane" size="4 4 .1" material="grid"/>
-
-    <!-- belt running +x, top surface at z=0.2 -->
-    <geom name="belt1" type="box" size="2 .3 .1" pos="0 -.4 .1" material="beltplus" surfacevel=".8 0 0  0 0 0"/>
-
-    <geom name="seperator" type="box" size="2 .1 .1" pos="0 0 .1" condim="1" priority="1"/>
-
-    <!-- belt running -x, top surface at z=0.2 -->
-    <geom name="belt2" type="box" size="2 .3 .1" pos="0 .4 .1" material="beltminus" surfacevel="-.8 0 0  0 0 0"/>
-
-    <!-- guard rails on the outer edges -->
-    <geom name="rail1" type="box" size="2 .02 .05" pos="0 -.72 .25" rgba=".5 .5 .5 1"/>
-    <geom name="rail2" type="box" size="2 .02 .05" pos="0 .72 .25" rgba=".5 .5 .5 1"/>
-
-    <!-- deflectors: kick objects from one belt to the other at each end -->
-    <geom name="turn1" type="box" size=".02 .45 .06" pos="1.6 -.2 .26" euler="0 0 -45" rgba=".6 .6 .6 1"/>
-    <geom name="turn2" type="box" size=".02 .45 .06" pos="-1.6 .2 .26" euler="0 0 -45" rgba=".6 .6 .6 1"/>
-
-    <!-- cargo -->
-    <body name="box1" pos="-1.5 -.4 .3">
-      <freejoint/>
-      <geom type="box" size=".08 .08 .08" rgba=".9 .8 .2 1" mass=".3"/>
-    </body>
-    <body name="box2" pos="-.8 -.4 .3">
-      <freejoint/>
-      <geom type="box" size=".06 .1 .06" rgba=".2 .8 .4 1" mass=".3"/>
-    </body>
-    <body name="ball" pos="0 -.4 .3">
-      <freejoint/>
-      <geom type="sphere" size=".07" rgba=".9 .3 .7 1" mass=".3"/>
-    </body>
-    <body name="pill" pos=".8 -.4 .3">
-      <freejoint/>
-      <geom type="capsule" size=".05 .06" rgba=".4 .7 .9 1" mass=".3"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/surfacevel_turntable.xml b/test/engine/testdata/core_constraint/surfacevel_turntable.xml
deleted file mode 100644
index f42b0777..00000000
--- a/test/engine/testdata/core_constraint/surfacevel_turntable.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<mujoco model="surfacevel turntable">
-  <!-- record player: a static cylinder with angular surfacevel about its axis;
-       condim 6 so the torsional row spins centered objects and rolling rows engage -->
-
-  <visual>
-    <headlight diffuse=".8 .8 .8" ambient=".2 .2 .2"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/>
-    <material name="grid" texture="grid" texrepeat="8 8" reflectance=".2"/>
-    <material name="platter" rgba=".25 .25 .3 1"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 3" dir="0 0 -1"/>
-    <geom name="floor" type="plane" size="3 3 .1" material="grid"/>
-
-    <!-- platter spinning at 1 rad/s about +z, top surface at z=0.1 -->
-    <geom name="platter" type="cylinder" size="1 .05" pos="0 0 .05" material="platter" condim="6" friction="1 .01 .003" surfacevel="0 0 0  0 0 1"/>
-
-    <!-- centered box: pure torsional spin-up -->
-    <body name="center" pos="0 0 .2">
-      <freejoint/>
-      <geom type="box" size=".08 .08 .08" rgba=".9 .8 .2 1" mass=".3"/>
-    </body>
-
-    <!-- boxes at increasing radii: tangential speed grows with r -->
-    <body name="mid" pos=".4 0 .2">
-      <freejoint/>
-      <geom type="box" size=".06 .06 .06" rgba=".2 .8 .4 1" mass=".3"/>
-    </body>
-    <body name="rim" pos=".75 0 .2">
-      <freejoint/>
-      <geom type="box" size=".06 .06 .06" rgba=".9 .3 .7 1" mass=".3"/>
-    </body>
-
-    <!-- ball: rolling rows vs the spinning surface -->
-    <body name="ball" pos="-.4 .3 .25">
-      <freejoint/>
-      <geom type="sphere" size=".07" rgba=".4 .7 .9 1" mass=".3"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/core_constraint/tendon_limited_bilateral_margin.xml b/test/engine/testdata/core_constraint/tendon_limited_bilateral_margin.xml
deleted file mode 100644
index fa9b09cd..00000000
--- a/test/engine/testdata/core_constraint/tendon_limited_bilateral_margin.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<mujoco>
-  <worldbody>
-    <site name="1"/>
-    <body pos="1 0 0">
-      <site name="2"/>
-      <freejoint/>
-      <geom size=".01"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial limited="true" range="0.99 1.01" margin="0.1">
-      <site site="1"/>
-      <site site="2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/connect/force_free.xml b/test/engine/testdata/core_smooth/rne_post/connect/force_free.xml
deleted file mode 100644
index 9d013301..00000000
--- a/test/engine/testdata/core_smooth/rne_post/connect/force_free.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is held by body1 through the connect constraint, so the force sensor on body1
-  should register -2*gravity (for the weight of both bodies).
-  -->
-  <option gravity="1 2 3"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom density="1000" size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="1 2 3">
-      <joint type="free"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect body1="body1" body2="body2" anchor="0 0 0"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="-2 -4 -6"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/connect/force_slide.xml b/test/engine/testdata/core_smooth/rne_post/connect/force_slide.xml
deleted file mode 100644
index 1411768b..00000000
--- a/test/engine/testdata/core_smooth/rne_post/connect/force_slide.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is held by body1 through the connect constraint, so the force sensor on body1
-  should register 20 (for the weight of both bodies).
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="0 0 -0.1">
-      <joint type="slide" axis="0 0 1"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect body1="body1" body2="body2" anchor="0 0 0"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="0 0 2"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/connect/force_slide_rotated.xml b/test/engine/testdata/core_smooth/rne_post/connect/force_slide_rotated.xml
deleted file mode 100644
index 58daf371..00000000
--- a/test/engine/testdata/core_smooth/rne_post/connect/force_slide_rotated.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is held by body1 through the connect constraint, so the force sensor on body1
-  should register 20 (for the weight of both bodies), rotated into the y-z plane.
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1" euler="0 45 0">
-      <geom/>
-      <site name="sensor" euler="0 0 90"/>
-    </body>
-    <body name="body2" pos="0 0 -0.2">
-      <joint type="slide" axis="0 0 1"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect body1="body1" body2="body2" anchor="0 0 0"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="0 1.41421356237 1.41421356237"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/connect/multiple_constraints.xml b/test/engine/testdata/core_smooth/rne_post/connect/multiple_constraints.xml
deleted file mode 100644
index 34ef0551..00000000
--- a/test/engine/testdata/core_smooth/rne_post/connect/multiple_constraints.xml
+++ /dev/null
@@ -1,59 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  Same as force_free.xml, but with a distractor constraint.
-  -->
-  <option gravity="1 2 3"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body0" pos="-3 0 0">
-      <joint name="joint0" type="slide" axis="0 0 1"/>
-      <geom/>
-    </body>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="1 2 3">
-      <joint type="free"/>
-      <geom/>
-    </body>
-    <body name="body3" pos="3 0 0">
-      <geom/>
-      <body name="body3b" pos="3 0 -1">
-        <joint type="slide" axis="0 0 1" frictionloss="9"/>
-        <geom/>
-      </body>
-    </body>
-    <body name="body4" pos="4 0 0">
-      <joint type="free"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="joint0"/>
-    <weld body1="body3" body2="body4"/>
-    <connect body1="body1" body2="body2" anchor="0 0 0"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="-2 -4 -6"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/connect/torque_free.xml b/test/engine/testdata/core_smooth/rne_post/connect/torque_free.xml
deleted file mode 100644
index c29c44cd..00000000
--- a/test/engine/testdata/core_smooth/rne_post/connect/torque_free.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is free, but because it's offset on y it wants to rotate about x due to gravity on z. The
-  connect prevents that, so the torque sensor should record the weight*offset of the second body.
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="0 2 0">
-      <freejoint/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect body1="body1" body2="body2" anchor="0 2 0"/>
-  </equality>
-
-  <sensor>
-    <torque site="sensor" user="2 0 0"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/force_free.xml b/test/engine/testdata/core_smooth/rne_post/weld/force_free.xml
deleted file mode 100644
index c531b2d4..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/force_free.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is held by body1 through the weld constraint, so the force sensor on body1
-  should register -2*gravity (for the weight of both bodies).
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="0 0 -.1">
-      <joint type="free"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="body1" body2="body2"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="0 0 2"/>
-    <torque site="sensor" user="0 0 0"/>
-  </sensor>
-</mujoco>
-
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/force_free_rotated.xml b/test/engine/testdata/core_smooth/rne_post/weld/force_free_rotated.xml
deleted file mode 100644
index 7deace1b..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/force_free_rotated.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is held by body1 through the weld constraint, so the force sensor on body1
-  should register -2*gravity (for the weight of both bodies).
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1" euler="0 45 0">
-      <geom/>
-      <site name="sensor" euler="0 0 90"/>
-    </body>
-    <body name="body2" pos="0 0 -.2" euler="30 30 30">
-      <joint type="free"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="body1" body2="body2"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="0 1.41421356237 1.41421356237"/>
-    <torque site="sensor" user="0 0 0"/>
-  </sensor>
-</mujoco>
-
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/force_torque_free.xml b/test/engine/testdata/core_smooth/rne_post/weld/force_torque_free.xml
deleted file mode 100644
index 9fa6cb79..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/force_torque_free.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  the force sensor on body1 should register 2N (for the weight of both bodies).
-  body2 is welded to body1 at an offset of 1m, so the torque sensor should register 1Nm.
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="0 1 0">
-      <joint type="free"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="body1" body2="body2"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="0 0 2"/>
-    <torque site="sensor" user="1 0 0"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/force_torque_free_rotated.xml b/test/engine/testdata/core_smooth/rne_post/weld/force_torque_free_rotated.xml
deleted file mode 100644
index 8c8698be..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/force_torque_free_rotated.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  The force sensor on body1 should register 2 (for the weight of both bodies).
-  body2 is welded to body1 at an offset of 1, so the torque sensor should register 1.
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1" euler="0 45 0">
-      <geom/>
-      <site name="sensor" euler="0 0 90"/>
-    </body>
-    <body name="body2" pos="0 1 0" euler="30 30 30">
-      <joint type="free"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="body1" body2="body2"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="0 1.41421356237 1.41421356237"/>
-    <torque site="sensor" user="0 -0.70710678118 0.70710678118"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/force_torque_free_rotated_tendon.xml b/test/engine/testdata/core_smooth/rne_post/weld/force_torque_free_rotated_tendon.xml
deleted file mode 100644
index 4fd2b146..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/force_torque_free_rotated_tendon.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  the force sensor on body1 should register 2N (for the weight of both bodies).
-  body2 is welded to body1 at an offset of 1m, so the torque sensor should register 1Nm.
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1" euler="0 45 0">
-      <geom/>
-      <site name="sensor" euler="0 0 90"/>
-    </body>
-    <body name="body2" pos="0 1 0" euler="30 30 30">
-      <joint type="free"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="body1" body2="body2"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="0 1.41421356237 1.41421356237"/>
-    <torque site="sensor" user="0 -0.70710678118 0.70710678118"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_force_free.xml b/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_force_free.xml
deleted file mode 100644
index 862b40b5..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_force_free.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is held by body1 through the weld constraint, so the force sensor on body1
-  should register -2*gravity (for the weight of both bodies).
-  -->
-  <option gravity="1 2 3"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom density="1000" size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="1 2 3">
-      <joint type="free"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="-2 -4 -6"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_force_slide.xml b/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_force_slide.xml
deleted file mode 100644
index 97691166..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_force_slide.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is held by body1 through the weld constraint, so the force sensor on body1
-  should register 20 (for the weight of both bodies).
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="0 0 -0.1">
-      <joint type="slide" axis="0 0 1"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="0 0 2"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_force_slide_rotated.xml b/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_force_slide_rotated.xml
deleted file mode 100644
index ec51731b..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_force_slide_rotated.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is held by body1 through the weld constraint, so the force sensor on body1
-  should register 20 (for the weight of both bodies), rotated into the y-z plane.
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1" euler="0 45 0">
-      <geom/>
-      <site name="sensor" euler="0 0 90"/>
-    </body>
-    <body name="body2" pos="0 0 -0.2">
-      <joint type="slide" axis="0 0 1"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="0 1.41421356237 1.41421356237"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_multiple_constraints.xml b/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_multiple_constraints.xml
deleted file mode 100644
index be885ae8..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_multiple_constraints.xml
+++ /dev/null
@@ -1,59 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  Same as force_free.xml, but with a distractor constraint.
-  -->
-  <option gravity="1 2 3"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body0" pos="-3 0 0">
-      <joint name="joint0" type="slide" axis="0 0 1"/>
-      <geom/>
-    </body>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="1 2 3">
-      <joint type="free"/>
-      <geom/>
-    </body>
-    <body name="body3" pos="3 0 0">
-      <geom/>
-      <body name="body3b" pos="3 0 -1">
-        <joint type="slide" axis="0 0 1" frictionloss="9"/>
-        <geom/>
-      </body>
-    </body>
-    <body name="body4" pos="4 0 0">
-      <joint type="free"/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="joint0"/>
-    <weld body1="body3" body2="body4"/>
-    <weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
-  </equality>
-
-  <sensor>
-    <force site="sensor" user="-2 -4 -6"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_torque_free.xml b/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_torque_free.xml
deleted file mode 100644
index cb39f350..00000000
--- a/test/engine/testdata/core_smooth/rne_post/weld/tfratio0_torque_free.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco>
-  <!--
-  body2 is free, but because it's offset on y it wants to rotate about x due to gravity on z. The
-  connect prevents that, so the torque sensor should record the weight*offset of the second body.
-  -->
-  <option gravity="0 0 -1"/>
-
-  <default>
-    <!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
-    <geom size="0.05 0.05 0.05" type="box"/>
-  </default>
-
-  <worldbody>
-    <body name="body1">
-      <geom/>
-      <site name="sensor"/>
-    </body>
-    <body name="body2" pos="0 2 0">
-      <freejoint/>
-      <geom/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="body1" body2="body2" anchor="0 0 0" torquescale="0"/>
-  </equality>
-
-  <sensor>
-    <torque site="sensor" user="2 0 0"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_J0.xml b/test/engine/testdata/core_smooth/ten_J0.xml
deleted file mode 100644
index b4fec9ba..00000000
--- a/test/engine/testdata/core_smooth/ten_J0.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco>
-  <option integrator="RK4">
-    <flag energy="enable"/>
-  </option>
-
-  <worldbody>
-    <site name="tendon" type="box" size=".03 .03 .03" pos="-.5 0 -.5"/>
-    <body name="link1" pos="-1 0 0">
-      <joint name="link1" axis="0 -1 0" stiffness="100" springref="90"/>
-      <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
-      <geom type="sphere" size=".08" pos="0 0 -1"/>
-      <site name="link1" type="box" size=".03 .03 .03" pos="0 0 -.5"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial width=".01" rgba=".2 .2 1 1">
-      <site site="link1"/>
-      <site site="tendon"/>
-    </spatial>
-  </tendon>
-
-  <keyframe>
-    <key qpos="1" qvel="1"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_J1.xml b/test/engine/testdata/core_smooth/ten_J1.xml
deleted file mode 100644
index d5c3cf93..00000000
--- a/test/engine/testdata/core_smooth/ten_J1.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<mujoco>
-  <option integrator="RK4">
-    <flag contact="disable" gravity="disable" energy="enable"/>
-  </option>
-
-  <worldbody>
-    <site name="tendon" type="box" size=".03 .03 .03" pos="-.5 0 0"/>
-    <body name="link1" pos="-1 0 0">
-      <joint name="link1" axis="0 -1 0" damping="0" stiffness="50"/>
-      <geom name="link1" type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
-      <body name="link2" pos="0 0 -1">
-        <joint name="link2" axis="0 -1 0" damping="0" stiffness="1" springref="-180"/>
-        <geom name="link2" type="capsule" size=".03" fromto="0 0 0 .6 0 0"/>
-        <site name="link2" type="box" size=".03 .03 .03" pos=".5 0 0"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial width=".01" rgba=".2 .2 1 1">
-      <site site="link2"/>
-      <site site="tendon"/>
-    </spatial>
-  </tendon>
-
-  <keyframe>
-    <key qpos="-1 0" qvel="1 1"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_J2.xml b/test/engine/testdata/core_smooth/ten_J2.xml
deleted file mode 100644
index e5777029..00000000
--- a/test/engine/testdata/core_smooth/ten_J2.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<mujoco>
-  <option integrator="RK4">
-    <flag contact="disable" gravity="disable" energy="enable"/>
-  </option>
-
-  <worldbody>
-    <body name="thigh" pos="-1 0 0">
-      <site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
-      <joint axis="1 0 0" stiffness="50"/>
-      <joint axis="0 1 0" stiffness="50"/>
-      <joint axis="0 0 1" stiffness="50"/>
-      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
-      <geom type="capsule" size=".02" fromto="0 0 -1 .05 -.08 -1.1"/>
-      <site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
-      <body name="calf" pos="0 0 -1">
-        <joint axis="0 -1 0" damping="0" stiffness="5" springref="90"/>
-        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
-        <body name="foot" pos="-.6 0 0">
-          <joint type="ball" stiffness="20" armature=".1"/>
-          <site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
-          <geom name="foot" type="box" size=".03 .1 .15" pos="0 0 -.05"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial name="ten" width=".01" rgba=".2 .2 1 1">
-      <site site="0"/>
-      <site site="1"/>
-      <site site="2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_J3.xml b/test/engine/testdata/core_smooth/ten_J3.xml
deleted file mode 100644
index 520969d2..00000000
--- a/test/engine/testdata/core_smooth/ten_J3.xml
+++ /dev/null
@@ -1,66 +0,0 @@
-<mujoco>
-  <option integrator="RK4">
-    <flag contact="disable" energy="enable"/>
-  </option>
-
-  <default>
-    <joint axis="0 1 0" range="0 60" limited="true"/>
-    <geom type="capsule" size=".01" rgba=".9 .7 .1 1"/>
-    <site rgba=".9 .9 .9 1"/>
-    <default class="visual_cylinder">
-      <geom type="cylinder" fromto="0 .015 0  0 -.015 0" size=".02" rgba=".3 .9 .3 .4"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <body name="weight" pos="-.03 0 .175">
-      <joint axis="0 0 1" pos="0 0 .025" type="slide"/>
-      <geom type="cylinder" size=".03 .025" density="5000" rgba=".2 .2 .5 1"/>
-      <site name="s1" pos="0 0 .025"/>
-    </body>
-
-    <site name="s2" pos="-.03 0 .33"/>
-
-    <body pos="0 0 .3">
-      <joint/>
-      <geom fromto="0 0 0  .1 0 0"/>
-      <site name="s3" pos=".02 0 .03"/>
-
-      <body pos=".1 0 0">
-        <joint/>
-        <geom fromto="0 0 0  .1 0 0"/>
-        <site name="s4" pos=".03 0 .01"/>
-        <site name="s5" pos=".05 0 .02"/>
-        <site name="side2" pos="0 0 .03"/>
-
-        <body pos=".1 0 0">
-          <joint/>
-          <geom fromto="0 0 0  .1 0 0" size=".017"/>
-          <site name="s6" pos=".03 0 .01"/>
-          <site name="side3" pos="0 0 .02"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial range="0 .33" limited="true" width=".002" rgba=".95 .3 .3 1">
-      <site site="s1"/>
-      <site site="s2"/>
-      <site site="s3"/>
-
-      <pulley divisor="2"/>
-      <site site="s3"/>
-      <site site="side2"/>
-      <site site="s4"/>
-
-      <pulley divisor="2"/>
-      <site site="s3"/>
-      <site site="side2"/>
-      <site site="s5"/>
-      <site site="side3"/>
-      <site site="s6"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_0.xml b/test/engine/testdata/core_smooth/ten_armature_0.xml
deleted file mode 100644
index b27e2438..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_0.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<mujoco>
-  <option integrator="RK4">
-    <flag energy="enable"/>
-  </option>
-
-  <default>
-    <geom rgba="0.8 0.6 .4 1"/>
-    <site rgba="0.4 0.8 .6 .5"/>
-  </default>
-
-  <worldbody>
-    <site name="decoration" type="cylinder" zaxis="0 -1 0" size="1 .02" pos="0 .1 0"/>
-    <site name="world"/>
-    <body pos="1 0 0">
-      <joint name="x" type="slide" axis="1 0 0"/>
-      <joint name="z" type="slide" axis="0 0 1"/>
-      <geom name="query" type="sphere" size=".1" mass="1"/>
-      <site name="body"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial width=".01" rgba=".2 .2 1 1" springlength=".5" stiffness="100" armature="5">
-      <site site="world"/>
-      <site site="body"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_0_compare.xml b/test/engine/testdata/core_smooth/ten_armature_0_compare.xml
deleted file mode 100644
index d2875a6e..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_0_compare.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<mujoco>
-  <asset>
-    <model name="tendon_model" file="ten_armature_0.xml"/>
-    <model name="equivalent_model" file="ten_armature_0_equiv.xml"/>
-  </asset>
-
-  <option integrator="RK4">
-    <flag energy="enable"/>
-  </option>
-
-  <worldbody>
-    <attach model="tendon_model" prefix="t_"/>
-    <frame pos="2.2 0 0">
-      <attach model="equivalent_model" prefix="e_"/>
-    </frame>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_0_equiv.xml b/test/engine/testdata/core_smooth/ten_armature_0_equiv.xml
deleted file mode 100644
index 0da57dfb..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_0_equiv.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<mujoco>
-  <option integrator="RK4">
-    <flag energy="enable"/>
-  </option>
-
-  <default>
-    <geom rgba="0.8 0.6 .4 1"/>
-    <site rgba="0.4 0.8 .6 .5"/>
-  </default>
-
-  <worldbody>
-    <site name="decoration" type="cylinder" zaxis="0 -1 0" size="1 .02" pos="0 .1 0"/>
-    <body>
-      <inertial pos="1 0 0" mass="1" diaginertia="1e-8 1e-8 1e-8"/>
-      <joint name="hinge" axis="0 -1 0"/>
-      <joint name="slide" type="slide" axis="1 0 0" springref="-.5" stiffness="100" armature="5"/>
-      <geom name="query" type="sphere" size=".1" pos="1 0 0"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_1.xml b/test/engine/testdata/core_smooth/ten_armature_1.xml
deleted file mode 100644
index 35b48b38..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_1.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<mujoco>
-  <option integrator="RK4" timestep="0.0001">
-    <flag contact="disable" gravity="disable" energy="enable"/>
-  </option>
-
-  <default>
-    <geom rgba="0.8 0.6 .4 1"/>
-    <site rgba="0.4 0.8 .6 .5"/>
-  </default>
-
-  <worldbody>
-    <site name="tendon" type="box" size=".03 .03 .03" pos=".5 0 -.5"/>
-    <body name="link1" pos="0 0 0">
-      <joint name="link1" axis="0 -1 0" stiffness="100" springref="90"/>
-      <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
-      <geom name="query" type="sphere" size=".08" pos="0 0 -1"/>
-      <site name="link1" type="box" size=".03 .03 .03" pos="0 0 -.5"/>
-      <site name="acc1" pos="0 0 -1"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial width=".01" rgba=".2 .2 1 1" armature="9">
-      <site site="link1"/>
-      <site site="tendon"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_1_compare.xml b/test/engine/testdata/core_smooth/ten_armature_1_compare.xml
deleted file mode 100644
index 31f2a02f..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_1_compare.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco>
-  <visual>
-    <global elevation="-20"/>
-    <headlight ambient=".3 .3 .3" diffuse=".8 .8 .8"/>
-  </visual>
-
-  <asset>
-    <model name="tendon_model" file="ten_armature_1.xml"/>
-    <model name="equivalent_model" file="ten_armature_1_equiv.xml"/>
-  </asset>
-
-  <visual>
-    <global elevation="0"/>
-  </visual>
-
-  <option integrator="RK4" timestep="0.0001">
-    <flag contact="disable" gravity="disable" energy="enable"/>
-  </option>
-
-  <worldbody>
-    <attach model="tendon_model" prefix="t_"/>
-    <frame pos="-1.2 0 0">
-      <attach model="equivalent_model" prefix="e_"/>
-    </frame>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_1_equiv.xml b/test/engine/testdata/core_smooth/ten_armature_1_equiv.xml
deleted file mode 100644
index dcf62b56..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_1_equiv.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<mujoco>
-  <option integrator="RK4" timestep="0.0001">
-    <flag contact="disable" gravity="disable" energy="enable"/>
-  </option>
-
-  <default>
-    <geom rgba="0.8 0.6 .4 1"/>
-    <site rgba="0.4 0.8 .6 .5"/>
-  </default>
-
-  <worldbody>
-    <site name="connect" type="box" size=".03 .03 .03" pos=".5 0 -.5"/>
-    <body name="link2" pos="0 0 0">
-      <joint name="link2" axis="0 -1 0" stiffness="100" springref="90"/>
-      <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
-      <geom name="query" type="sphere" size=".08" pos="0 0 -1"/>
-      <body name="link3" pos="0 0 -.5" euler="0 90 0">
-        <joint name="link3" axis="0 -1 0"/>
-        <geom name="link3" type="box" size=".02 .02 .02" mass="1e-3"/>
-        <geom type="capsule" size=".015" fromto="0 0 0 0 0 .2" mass="0"/>
-        <body name="link4">
-          <joint name="link4" type="slide" axis="0 0 1" armature="9"/>
-          <geom type="capsule" size=".015" fromto="0 0 .3 0 0 .5" mass="0"/>
-          <geom type="sphere" size=".001" pos="0 0 .5" mass=".1"/>
-          <site name="link4" type="box" size=".03 .03 .03" pos="0 0 .5"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect site1="connect" site2="link4" solimp=".99 .99 .001" solref="0.0001 1"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_2.xml b/test/engine/testdata/core_smooth/ten_armature_2.xml
deleted file mode 100644
index 9313d875..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_2.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<mujoco>
-  <option integrator="RK4" timestep="1e-4">
-    <flag contact="disable" gravity="disable" energy="enable"/>
-  </option>
-
-  <worldbody>
-    <site name="tendon" type="box" size=".03 .03 .03" pos="-.5 0 0"/>
-    <body name="link1" pos="-1 0 0">
-      <joint name="link1" axis="0 -1 0" damping="0" stiffness="50"/>
-      <geom name="link1" type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
-      <body name="link2" pos="0 0 -1">
-        <joint name="link2" axis="0 -1 0" damping="0" stiffness="1" springref="-180"/>
-        <geom name="link2" type="capsule" size=".03" fromto="0 0 0 .6 0 0"/>
-        <site name="link2" type="box" size=".03 .03 .03" pos=".5 0 0"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial width=".01" rgba=".2 .2 1 1" armature="9">
-      <site site="link2"/>
-      <site site="tendon"/>
-    </spatial>
-  </tendon>
-
-  <keyframe>
-    <key qpos="-1 0" qvel="1 1"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_3.xml b/test/engine/testdata/core_smooth/ten_armature_3.xml
deleted file mode 100644
index afaec4e9..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_3.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<mujoco>
-  <option integrator="RK4">
-    <flag contact="disable" gravity="disable" energy="enable"/>
-  </option>
-
-  <worldbody>
-    <body name="distractor">
-      <freejoint/>
-      <geom size=".1"/>
-    </body>
-
-    <body name="thigh" pos="-1 0 0">
-      <site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
-      <joint axis="1 0 0" stiffness="50"/>
-      <joint axis="0 1 0" stiffness="50"/>
-      <joint axis="0 0 1" stiffness="50"/>
-      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
-      <geom type="capsule" size=".02" fromto="0 0 -1 .05 -.08 -1.1"/>
-      <site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
-      <body name="calf" pos="0 0 -1">
-        <joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
-        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
-        <body name="foot" pos="-.6 0 0">
-          <joint type="ball" stiffness="20" armature=".2"/>
-          <site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
-          <geom name="foot" type="box" size=".03 .1 .15" pos="0 0 -.05"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial name="ten" width=".01" rgba=".2 .2 1 1" armature="9">
-      <site site="0"/>
-      <site site="1"/>
-      <site site="2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_4.xml b/test/engine/testdata/core_smooth/ten_armature_4.xml
deleted file mode 100644
index 232c4094..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_4.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<mujoco>
-  <option integrator="RK4">
-    <flag contact="disable" gravity="disable" energy="enable"/>
-  </option>
-
-  <default>
-    <geom rgba="0.8 0.6 .4 1"/>
-    <site rgba="0.4 0.8 .6 .5"/>
-  </default>
-
-  <worldbody>
-    <body name="distractor">
-      <freejoint/>
-      <geom size=".1"/>
-    </body>
-
-    <body name="thigh" pos="-1 0 0">
-      <site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
-      <freejoint/>
-      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
-      <geom type="capsule" size=".02" fromto="0 0 -1 .05 -.08 -1.1"/>
-      <site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
-      <body name="calf" pos="0 0 -1">
-        <joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
-        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
-        <body name="foot" pos="-.6 0 0">
-          <joint type="ball" stiffness="20" armature=".2"/>
-          <site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
-          <geom name="foot" type="box" size=".03 .1 .15" pos="0 0 -.05"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial name="ten" width=".01" rgba=".2 .2 1 1" armature="100" stiffness="10">
-      <site site="0"/>
-      <site site="1"/>
-      <site site="2"/>
-    </spatial>
-  </tendon>
-
-  <sensor>
-    <subtreelinvel body="thigh"/>
-    <subtreeangmom body="thigh"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/ten_armature_offtree.xml b/test/engine/testdata/core_smooth/ten_armature_offtree.xml
deleted file mode 100644
index 46865eac..00000000
--- a/test/engine/testdata/core_smooth/ten_armature_offtree.xml
+++ /dev/null
@@ -1,77 +0,0 @@
-<mujoco>
-  <!-- this is an example of a "bad" model where the tendon spans multiple branches of the tree -->
-  <option integrator="RK4">
-    <flag contact="disable" gravity="disable" energy="enable"/>
-  </option>
-
-  <default>
-    <geom rgba="0.8 0.6 .4 1"/>
-    <site rgba="0.4 0.8 .6 .5"/>
-  </default>
-
-  <worldbody>
-    <body name="distractor1">
-      <freejoint/>
-      <geom size=".1"/>
-      <site name="a"/>
-    </body>
-
-    <body>
-      <site name="0" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
-      <joint type="hinge" axis="0 -1 0"/>
-      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
-      <site name="1" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
-      <body pos="0 0 -1">
-        <joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
-        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
-        <body pos="-.6 0 0">
-          <joint type="ball" stiffness="20" armature=".6"/>
-          <site name="2" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
-          <geom type="box" size=".03 .1 .15" pos="0 0 -.05"/>
-        </body>
-      </body>
-    </body>
-
-    <body name="distractor2" pos="0 0 1">
-      <freejoint/>
-      <geom size=".1"/>
-      <site name="b"/>
-    </body>
-
-    <body pos="1 0 0">
-      <site name="3" type="box" size=".03 .03 .03" pos=".1 0 -.3"/>
-      <joint type="hinge" axis="0 -1 0"/>
-      <geom type="capsule" size=".04" fromto="0 0 0 0 0 -1"/>
-      <site name="4" type="box" size=".03 .03 .03" pos=".05 -.08 -1.1"/>
-      <body pos="0 0 -1">
-        <joint axis="0 -1 0" damping="0" stiffness="20" springref="90"/>
-        <geom type="capsule" size=".03" fromto="0 0 0 -.6 0 0"/>
-        <body pos="-.6 0 0">
-          <joint type="ball" stiffness="20" armature=".2"/>
-          <site name="5" type="box" size=".03 .03 .03" pos=".03 .1 .15"/>
-          <geom type="box" size=".03 .1 .15" pos="0 0 -.05"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial armature="4">
-      <site site="b"/>
-      <site site="a"/>
-    </spatial>
-    <spatial width=".01" rgba=".2 .2 1 1" armature="10" stiffness="10">
-      <site site="2"/>
-      <site site="1"/>
-      <site site="0"/>
-      <site site="3"/>
-      <site site="4"/>
-      <site site="5"/>
-    </spatial>
-    <spatial width=".01" rgba=".2 .2 1 1" armature="10" stiffness="10">
-      <site site="0"/>
-      <site site="2"/>
-      <site site="1"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/tendon_wrap_cylinder.xml b/test/engine/testdata/core_smooth/tendon_wrap_cylinder.xml
deleted file mode 100644
index fa70af44..00000000
--- a/test/engine/testdata/core_smooth/tendon_wrap_cylinder.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<mujoco>
-  <default>
-    <site size=".015" rgba="1 0 0 1"/>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom type="plane" size="2 2 .1"/>
-
-    <site name="0a" pos="0 0 1"/>
-    <geom name="0g" type="cylinder" size=".05 .2" zaxis="0 1 .2" pos="0 0 0.5"/>
-    <body pos="0 0 .1">
-      <freejoint/>
-      <geom size=".05"/>
-      <site name="0b" pos="0 0 .05"/>
-    </body>
-
-    <site name="1a" pos=".4 0 1"/>
-    <geom name="1g" type="cylinder" size=".05 .2" zaxis="0 1 .2" pos=".4 0 0.5"/>
-    <site name="1s" pos=".52 0 .5"/>
-    <body pos=".4 0 .1">
-      <freejoint/>
-      <geom size=".05"/>
-      <site name="1b" pos="0 0 .05"/>
-    </body>
-
-    <site name="2a" pos="-.4 0 1"/>
-    <geom name="2g" type="cylinder" size=".05 .2" zaxis="0 1 .2" pos="-.4 0 0.5"/>
-    <site name="2s" pos="-.44 0 .5"/>
-    <body pos="-.4 0 .1">
-      <freejoint/>
-      <geom size=".05"/>
-      <site name="2b" pos="0 0 .05"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial range="0 0.8">
-      <site site="0a"/>
-      <geom geom="0g"/>
-      <site site="0b"/>
-    </spatial>
-
-    <spatial range="0 0.8">
-      <site site="1a"/>
-      <geom geom="1g" sidesite="1s"/>
-      <site site="1b"/>
-    </spatial>
-
-    <spatial range="0 0.8">
-      <site site="2a"/>
-      <geom geom="2g" sidesite="2s"/>
-      <site site="2b"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/core_smooth/tendon_wrap_sphere.xml b/test/engine/testdata/core_smooth/tendon_wrap_sphere.xml
deleted file mode 100644
index 2ddba3bb..00000000
--- a/test/engine/testdata/core_smooth/tendon_wrap_sphere.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<mujoco>
-  <default>
-    <site size=".015" rgba="1 0 0 1"/>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom type="plane" size="2 2 .1"/>
-
-    <site name="0a" pos="0 0 1"/>
-    <geom name="0g" size=".1" pos="0 0 0.5"/>
-    <body pos="0 0 .1">
-      <freejoint/>
-      <geom size=".05"/>
-      <site name="0b" pos="0 0 .05"/>
-    </body>
-
-    <site name="1a" pos=".4 0 1"/>
-    <geom name="1g" size=".1" pos=".4 0 0.5"/>
-    <site name="1s" pos=".52 0 .5"/>
-    <body pos=".4 0 .1">
-      <freejoint/>
-      <geom size=".05"/>
-      <site name="1b" pos="0 0 .05"/>
-    </body>
-
-    <site name="2a" pos="-.4 0 1"/>
-    <geom name="2g" size=".1" pos="-.4 0 0.5"/>
-    <site name="2s" pos="-.49 0 .5"/>
-    <body pos="-.4 0 .1">
-      <freejoint/>
-      <geom size=".05"/>
-      <site name="2b" pos="0 0 .05"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial range="0 0.8">
-      <site site="0a"/>
-      <geom geom="0g"/>
-      <site site="0b"/>
-    </spatial>
-
-    <spatial range="0 0.8">
-      <site site="1a"/>
-      <geom geom="1g" sidesite="1s"/>
-      <site site="1b"/>
-    </spatial>
-
-    <spatial range="0 0.8">
-      <site site="2a"/>
-      <geom geom="2g" sidesite="2s"/>
-      <site site="2b"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/derivative/damped_actuators.xml b/test/engine/testdata/derivative/damped_actuators.xml
deleted file mode 100644
index a5b96110..00000000
--- a/test/engine/testdata/derivative/damped_actuators.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<mujoco>
-  <worldbody>
-    <body name="damping in the joints">
-      <joint type="slide" axis="0 0 1" damping="10"/>
-      <geom size=".03"/>
-      <body>
-        <joint axis="0 1 0" damping=".1"/>
-        <geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/>
-      </body>
-    </body>
-    <body name="damping in the actuators" pos="0 0.1 0">
-      <joint name="slide" type="slide" axis="0 0 1"/>
-      <geom size=".03"/>
-      <body>
-        <joint name="hinge" axis="0 1 0"/>
-        <geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <general joint="slide" biastype="affine" biasprm="0 0 -10"/>
-    <general joint="hinge" biastype="affine" biasprm="0 0 -0.1"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/derivative/damped_pendulum.xml b/test/engine/testdata/derivative/damped_pendulum.xml
deleted file mode 100644
index 663f224a..00000000
--- a/test/engine/testdata/derivative/damped_pendulum.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<mujoco>
-
-  <default>
-    <joint damping=".01" frictionloss=".1"/>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <geom type="plane" size="1 1 .01" pos="0 0 -1"/>
-    <body pos="0.15 0 0">
-      <joint name="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
-      <body pos="0.1 0 0">
-        <joint type="slide" axis="1 0 0" stiffness="200"/>
-        <geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
-        <body pos=".1 0 0">
-          <joint type="ball"/>
-          <geom type="box" size=".02" fromto="0 0 0 0 .1 0"/>
-          <body pos="0 .1 0">
-            <joint axis="1 0 0"/>
-            <geom type="capsule" size="0.02" fromto="0 0 0 0 0 .1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor joint="hinge"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/derivative/dcmotor.xml b/test/engine/testdata/derivative/dcmotor.xml
deleted file mode 100644
index 75acce3e..00000000
--- a/test/engine/testdata/derivative/dcmotor.xml
+++ /dev/null
@@ -1,61 +0,0 @@
-<mujoco>
-  <worldbody>
-    <body name="motor1" pos="0 0.1 0">
-      <joint name="slide1" type="slide" axis="0 0 1"/>
-      <geom size=".03"/>
-    </body>
-    <body name="motor2" pos="0 0.2 0">
-      <joint name="slide2" type="slide" axis="0 0 1"/>
-      <geom size=".03"/>
-    </body>
-    <body name="motor3" pos="0 0.3 0">
-      <joint name="slide3" type="slide" axis="0 0 1"/>
-      <geom size=".03"/>
-    </body>
-    <body name="motor4" pos="0 0.4 0">
-      <joint name="joint4"/>
-      <geom size=".03"/>
-    </body>
-    <body name="motor5" pos="0 0.5 0">
-      <joint name="slide5" type="slide" axis="0 0 1"/>
-      <geom size=".03"/>
-    </body>
-    <body name="motor6" pos="0 0.6 0">
-      <joint name="slide6" type="slide" axis="0 0 1"/>
-      <geom size=".03"/>
-    </body>
-    <body name="motor7" pos="0 0.7 0">
-      <joint name="slide7" type="slide" axis="0 0 1"/>
-      <geom size=".03"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <!-- DC motor back-EMF stateless damping -->
-    <dcmotor name="dc_bias" joint="slide1" motorconst="2.0" resistance="0.5"/>
-
-    <!-- DC motor velocity setpoint (kd) damping -->
-    <dcmotor name="dc_vel" joint="slide2" motorconst="1.0" resistance="1.0" input="pos vel" controller="0 0 5"/>
-
-    <!-- DC motor position controller damping -->
-    <dcmotor name="dc_pos" joint="slide3" motorconst="1.0" resistance="1.0" input="pos vel" controller="10 0 5"/>
-
-    <!-- DC motor with LuGre friction (sigma1 micro-damping) -->
-    <dcmotor name="dc_lugre" joint="joint4" motorconst="0.05" resistance="2.0"
-             damping="0.001" lugre="1e4 100 0.005 0.008 0.1"/>
-
-    <!-- Stateful current, voltage mode (back-EMF only through act_dot) -->
-    <dcmotor name="dc_stateful_v" joint="slide5"
-             motorconst="2.0" resistance="0.5" inductance="0 0.001"/>
-
-    <!-- Stateful current, position mode (controller + back-EMF through act_dot) -->
-    <dcmotor name="dc_stateful_pos" joint="slide6"
-             motorconst="1.0" resistance="1.0" inductance="0 0.001"
-             input="pos vel" controller="10 0 5"/>
-
-    <!-- Stateful current, velocity mode -->
-    <dcmotor name="dc_stateful_vel" joint="slide7"
-             motorconst="1.0" resistance="1.0" inductance="0 0.001"
-             input="pos vel" controller="0 0 5"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/derivative/energy_conserving_pendulum.xml b/test/engine/testdata/derivative/energy_conserving_pendulum.xml
deleted file mode 100644
index deed99b2..00000000
--- a/test/engine/testdata/derivative/energy_conserving_pendulum.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<mujoco>
-  <option integrator="implicit">
-    <flag constraint="disable" energy="enable"/>
-  </option>
-  <worldbody>
-    <light pos="0 0 1"/>
-    <geom type="plane" size="1 1 .01" pos="0 0 -1"/>
-    <body pos="0.15 0 0">
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="capsule" size="0.02" fromto="0 0 0 .1 0 0"/>
-      <body pos="0.1 0 0">
-        <joint type="slide" axis="1 0 0" stiffness="200"/>
-        <geom type="capsule" size="0.015" fromto="-.1 0 0 .1 0 0"/>
-        <body pos=".1 0 0">
-          <joint type="ball"/>
-          <geom type="box" size=".02" fromto="0 0 0 0 .1 0"/>
-          <body pos="0 .1 0">
-            <joint axis="1 0 0"/>
-            <geom type="capsule" size="0.02" fromto="0 0 0 0 .1 0"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/derivative/linear.xml b/test/engine/testdata/derivative/linear.xml
deleted file mode 100644
index c151bea1..00000000
--- a/test/engine/testdata/derivative/linear.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<mujoco>
-  <!--  linear dynamical system with fixed, anaylticaly computable derivatives  -->
-  <default>
-    <joint axis="1 0 0" damping=".01" stiffness=".1"/>
-    <geom type="box" size=".05 .05 .05"/>
-  </default>
-
-  <option>
-    <flag gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <body>
-      <joint name="joint0"/>
-      <geom/>
-      <body pos=".15 0 0">
-        <joint name="joint1"/>
-        <site name="accelerometer" pos="0 0 -1"/>
-        <geom/>
-        <body pos=".15 0 0">
-          <joint/>
-          <geom/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor joint="joint0" ctrllimited="true" ctrlrange="-1 1"/>
-    <motor joint="joint1" ctrllimited="true" ctrlrange="-1 1"/>
-  </actuator>
-
-  <sensor>
-    <jointvel joint="joint1"/>
-    <jointpos joint="joint0"/>
-    <accelerometer site="accelerometer"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/derivative/tumbling_thin_object.xml b/test/engine/testdata/derivative/tumbling_thin_object.xml
deleted file mode 100644
index 5ce2d95d..00000000
--- a/test/engine/testdata/derivative/tumbling_thin_object.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<mujoco>
-  <option density="1.225" viscosity="1.8e-5" wind="0 0 1" integrator="implicit"/>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <geom type="plane" size="1 1 .01" pos="0 0 -1"/>
-    <body>
-      <freejoint/>
-      <body>
-        <geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4"/>
-      </body>
-      <body>
-        <geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4"/>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/derivative/tumbling_thin_object_ellipsoid.xml b/test/engine/testdata/derivative/tumbling_thin_object_ellipsoid.xml
deleted file mode 100644
index 807c4e30..00000000
--- a/test/engine/testdata/derivative/tumbling_thin_object_ellipsoid.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco>
-  <option density="1.225" viscosity="1.8e-5" wind="0 0 1" integrator="implicit"/>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <geom type="plane" size="1 1 .01" pos="0 0 -1"/>
-    <body>
-      <freejoint/>
-      <geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4" fluidshape="ellipsoid"/>
-      <geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4" fluidshape="ellipsoid"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ellipsoidinertia.xml b/test/engine/testdata/ellipsoidinertia.xml
deleted file mode 100644
index 8623add3..00000000
--- a/test/engine/testdata/ellipsoidinertia.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco>
-  <visual>
-    <global ellipsoidinertia="true"/>
-  </visual>
-  <worldbody>
-    <body pos="0 0 .3">
-      <geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/equality_site.xml b/test/engine/testdata/equality_site.xml
deleted file mode 100644
index 7efdb36b..00000000
--- a/test/engine/testdata/equality_site.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<mujoco model="Connect and Weld defined with sites">
-  <option viscosity="1">
-    <flag contact="disable"/>
-  </option>
-
-  <visual>
-    <scale framewidth="0.05" framelength="0.4"/>
-  </visual>
-
-  <default>
-    <default class="free">
-      <geom type="box" size=".2" fromto=".2 .2 0 .2 .2 -2" rgba=".4 .7 .6 1"/>
-    </default>
-    <site rgba=".0 .7 0 1"/>
-  </default>
-
-  <worldbody>
-    <geom pos="0 0 -2" type="plane" size="10 10 .01"/>
-    <light pos="0 0 20"/>
-
-    <site name="a1" pos="-2 0 0" euler="-90 0 0"/>
-    <body pos="-2 1 0">
-      <freejoint/>
-      <geom class="free"/>
-      <site name="a2"/>
-    </body>
-
-    <site name="b1" euler="-90 0 0"/>
-    <body pos="0 1 0">
-      <freejoint/>
-      <geom class="free"/>
-      <site name="b2"/>
-    </body>
-
-    <site name="c1" pos="2 0 0" euler="-90 0 0"/>
-    <body pos="2 1 0">
-      <freejoint/>
-      <geom class="free"/>
-      <site name="c2"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <connect name="connect" site1="a1" site2="a2"/>
-    <weld    name="weak weld" site1="b1" site2="b2" torquescale="0.2"/>
-    <weld    name="weld" site1="c1" site2="c2"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/equality_site_body_compare.xml b/test/engine/testdata/equality_site_body_compare.xml
deleted file mode 100644
index cae4ff2d..00000000
--- a/test/engine/testdata/equality_site_body_compare.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<mujoco model="Equivalent Connects and Welds defined with sites and bodies">
-  <option viscosity="1">
-    <flag contact="disable"/>
-  </option>
-
-  <visual>
-    <scale framewidth="0.05" framelength="0.4"/>
-  </visual>
-
-  <default>
-    <default class="box">
-      <geom type="box" size=".2" fromto=".2 .2 0 .2 .2 -1" rgba=".4 .7 .6 1"/>
-    </default>
-    <site rgba=".0 .7 0 1" size="0.05"/>
-  </default>
-
-  <worldbody>
-    <geom pos="0 0 -2" type="plane" size="10 10 .01"/>
-    <light pos="0 0 20"/>
-
-    <site name="a1" pos="-2 0 0" euler="-90 0 0"/>
-    <body name="a" pos="-2 1 0">
-      <freejoint/>
-      <geom class="box"/>
-      <site name="a2" pos="0 -1 0"/>
-      <body pos="0 0 -1">
-        <geom class="box" size=".15"/>
-        <site name="a_sensor"/>
-      </body>
-    </body>
-
-    <site name="b1" euler="-90 0 0"/>
-    <body name="b" pos="0 1 0">
-      <freejoint/>
-      <geom class="box"/>
-      <site name="b2" pos="0 -1 0"/>
-      <body pos="0 0 -1">
-        <geom class="box" size=".15"/>
-        <site name="b_sensor"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <equality>
-    <!-- equivalent connect and weld constraints defined with sites (enabled) and bodies (disabled) -->
-    <connect name="connect site" site1="a1"    site2="a2"    active="true"/>
-    <connect name="connect body" body1="a"     body2="world" active="false" anchor="0 -1 0"/>
-    <weld    name="weld site"    site1="b1"    site2="b2"    active="true"/>
-    <weld    name="weld body"    body1="world" body2="b"     active="false" anchor="0 -1 0" relpose="0 0 0 1 -1 0 0"/>
-  </equality>
-
-  <sensor>
-    <force  name="a_force"  site="a_sensor"/>
-    <torque name="a_torque" site="a_sensor"/>
-    <force  name="b_force"  site="b_sensor"/>
-    <torque name="b_torque" site="b_sensor"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/forward/perf/2humanoid100_PGS.xml b/test/engine/testdata/forward/perf/2humanoid100_PGS.xml
deleted file mode 100644
index 5b549c4f..00000000
--- a/test/engine/testdata/forward/perf/2humanoid100_PGS.xml
+++ /dev/null
@@ -1,119 +0,0 @@
-<mujoco model="2 Humanoids and 100 objects">
-  <option timestep="0.005" solver="PGS" gravity="-2 -2 -10">
-    <flag island="enable"/>
-  </option>
-
-  <size memory="100M"/>
-
-  <default>
-    <geom solimp=".9 .9 .01"/>
-    <default class="capsule">
-      <geom type="capsule" material="capsule" size="0.1 0.05"/>
-    </default>
-    <default class="ellipsoid">
-      <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
-    </default>
-    <default class="box">
-      <geom type="box" material="box" size="0.15 0.1 0.05"/>
-    </default>
-    <default class="cylinder">
-      <geom type="cylinder" material="cylinder" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
-    </default>
-    <default class="sphere">
-      <geom type="sphere" material="sphere" size="0.1"/>
-    </default>
-    <default class="border">
-      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
-    </default>
-    <default class="borderpost">
-      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
-    </default>
-  </default>
-
-  <asset>
-    <model file="humanoid.xml"/>
-    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
-    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
-    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
-    <material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
-    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
-    <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
-    <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
-    <material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
-  </asset>
-
-  <visual>
-    <quality shadowsize="4096" offsamples="8"/>
-    <map znear="0.1" force="0.05"/>
-  </visual>
-
-  <statistic extent="4"/>
-
-  <worldbody>
-    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
-    <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
-    <geom class="border" fromto="-3 3 0 3 3 0"/>
-    <geom class="border" fromto="-3 -3 0 3 -3 0"/>
-    <geom class="border" fromto="3 3 0 3 -3 0"/>
-    <geom class="border" fromto="-3 3 0 -3 -3 0"/>
-    <geom class="borderpost" pos="3 3 0"/>
-    <geom class="borderpost" pos="-3 3 0"/>
-    <geom class="borderpost" pos="3 -3 0"/>
-    <geom class="borderpost" pos="-3 -3 0"/>
-
-    <replicate count="4" euler="0 0 90">
-      <geom type="plane" size=".5 3 .05" zaxis="1 0 0"  pos="-3 0 0.4"/>
-    </replicate>
-
-    <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-      <body pos="-2 0 0.5" euler="30 40 0">
-        <freejoint/>
-        <geom class="capsule"/>
-      </body>
-    </replicate>
-
-    <attach model="Humanoid" body="torso" prefix="1_"/>
-
-    <frame euler="0 0 72">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="20 40 60">
-          <freejoint/>
-          <geom class="ellipsoid"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame euler="0 0 144">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="30 70 110">
-          <freejoint/>
-          <geom class="box"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame pos="1 1 0" euler="0 0 144">
-      <attach model="Humanoid" body="torso" prefix="2_"/>
-    </frame>
-
-    <frame euler="0 0 216">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="60 30 0">
-          <freejoint/>
-          <geom class="cylinder"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame euler="0 0 288">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="60 30 0">
-          <freejoint/>
-          <geom class="sphere"/>
-        </body>
-      </replicate>
-    </frame>
-
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/forward/perf/humanoid.xml b/test/engine/testdata/forward/perf/humanoid.xml
deleted file mode 100644
index 59885477..00000000
--- a/test/engine/testdata/forward/perf/humanoid.xml
+++ /dev/null
@@ -1,252 +0,0 @@
-<mujoco model="Humanoid">
-  <option timestep="0.005"/>
-
-  <visual>
-    <map force="0.1"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <light name="top" pos="0 0 2" mode="trackcom"/>
-    <body name="torso" pos="0 0 1.282" childclass="body">
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-  <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <!--
-    The values below are split into rows for readibility:
-      torso position
-      torso orientation
-      spinal
-      right leg
-      left leg
-      arms
-    -->
-    <key name="squat"
-         qpos="0 0 0.596
-               0.988015 0 0.154359 0
-               0 0.4 0
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               0 0 0 0 0 0"/>
-    <key name="stand_on_left_leg"
-         qpos="0 0 1.21948
-               0.971588 -0.179973 0.135318 -0.0729076
-               -0.0516 -0.202 0.23
-               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
-               0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
-    <key name="prone"
-         qpos="0.4 0 0.0757706
-               0.7325 0 0.680767 0
-               0 0.0729 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.56 -0.62 -1.752
-               0.56 -0.62 -1.752"/>
-    <key name="supine"
-         qpos="-0.4 0 0.08122
-               0.722788 0 -0.69107 0
-               0 -0.25 0
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.186 -0.73 -1.73
-               0.186 -0.73 -1.73"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/frame.xml b/test/engine/testdata/frame.xml
deleted file mode 100644
index 4d2b6db1..00000000
--- a/test/engine/testdata/frame.xml
+++ /dev/null
@@ -1,43 +0,0 @@
-<mujoco>
-  <default>
-    <geom type="box" size=".1 .2 .3"/>
-  </default>
-
-  <worldbody>
-    <frame euler="0 0 30">
-      <geom pos=".5 0 0" euler="0 0 20"/>
-    </frame>
-
-    <frame quat="0 1 0 0">
-      <geom quat="0 -1 0 0"/>
-    </frame>
-
-    <body pos="0 .5 0">
-      <frame quat="0 1 0 0">
-        <geom/>
-      </frame>
-    </body>
-
-    <frame euler="0 0 30">
-      <frame euler="0 0 20">
-        <geom/>
-      </frame>
-    </frame>
-
-    <body>
-      <frame pos="0 1 0">
-        <geom pos="0 1 0"/>
-        <body pos="1 0 0">
-          <geom pos="0 0 1"/>
-        </body>
-      </frame>
-    </body>
-
-    <body>
-      <geom/>
-      <frame euler="90 0 0">
-        <joint type="hinge" axis="0 0 1"/>
-      </frame>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/hammock/hammock.xml b/test/engine/testdata/hammock/hammock.xml
deleted file mode 100644
index a1a58d9f..00000000
--- a/test/engine/testdata/hammock/hammock.xml
+++ /dev/null
@@ -1,62 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Hammock">
-<!-- Degree of Freedom: 312
-     Actuators: 21
-     Equality constraints: 178
-     Tendons: 178
-
-     Simple humanoid on a hammock, implemented as a 2D grid composite, pinned at the corners.
--->
-
-  <option timestep="0.001" solver="CG" iterations="30" tolerance="1e-6"/>
-
-  <size memory="20M"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="2048"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="plane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-             width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <texture name="hammock" type="2d" builtin="checker" rgb1=".1 .5 .1" rgb2=".5 .1 .1"
-             width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
-    <material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true"/>
-    <material name="hammock" texture="hammock"/>
-    <model name="humanoid" file="humanoid_body.xml"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="plane" condim="3"/>
-    <light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
-    <light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4" dir="0 0 -1"/>
-    <flexcomp name="hammock" type="grid" count="11 9 1" spacing="0.2 0.2 0.2" material="hammock"
-              radius="0.04" dim="2">
-      <pin id="0 8 90 98"/>
-      <edge equality="true" damping="10" solimp=".95 .99"/>
-      <contact selfcollide="none" internal="false" solimp=".99 .999 .00001"/>
-    </flexcomp>
-    <frame euler="0 180 0" pos="-.4 -.2 2">
-      <attach model="humanoid" body="torso" prefix="humanoid_"/>
-    </frame>
-  </worldbody>
-
-</mujoco>
diff --git a/test/engine/testdata/hammock/humanoid_body.xml b/test/engine/testdata/hammock/humanoid_body.xml
deleted file mode 100644
index 8de9b880..00000000
--- a/test/engine/testdata/hammock/humanoid_body.xml
+++ /dev/null
@@ -1,157 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-         http://www.apache.org/licenses/LICENSE-2.0
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Humanoid body">
-<!-- Degree of Freedom: 27
-     Actuators: 21
-
-     This simplified humanoid model, introduced in [1], is designed for bipedal locomotion
-     behaviours. While several variants of it exist in the wild, this version is based on the model
-     in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
-     [1] Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization.
-           https://doi.org/10.1109/IROS.2012.6386025
-     [2] DeepMind Control Suite, Tassa et al. https://arxiv.org/abs/1801.00690
--->
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
-             rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="big_joint">
-        <joint damping="5" stiffness="10"/>
-        <default class="big_stiff_joint">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-    </default>
-  </default>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <body name="torso" pos="0 0 1.5" childclass="body">
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="lower_waist" pos="-.01 0 -.26">
-        <geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="right_thigh" pos="0 -.1 -.04">
-            <joint name="right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
-            <joint name="right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <body name="right_shin" pos="0 .01 -.403">
-              <joint name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="right_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="right_foot" pos="0 0 -.39">
-                <joint name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="left_right_foot" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-          <body name="left_thigh" pos="0 .1 -.04">
-            <joint name="left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
-            <joint name="left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
-            <joint name="left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
-            <geom name="left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <body name="left_shin" pos="0 -.01 -.403">
-              <joint name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="left_shin" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <body name="left_foot" pos="0 0 -.39">
-                <joint name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
-                <joint name="left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
-                <geom name="left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="right_upper_arm" pos="0 -.17 .06">
-        <joint name="right_shoulder1" axis="2 1 1"  range="-85 60"/>
-        <joint name="right_shoulder2" axis="0 -1 1" range="-85 60"/>
-        <geom name="right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <body name="right_lower_arm" pos=".18 -.18 -.18">
-          <joint name="right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
-          <geom name="right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <body name="right_hand" pos=".18 .18 .18">
-            <geom name="right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="left_upper_arm" pos="0 .17 .06">
-        <joint name="left_shoulder1" axis="2 -1 1" range="-60 85"/>
-        <joint name="left_shoulder2" axis="0 1 1"  range="-60 85"/>
-        <geom name="left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <body name="left_lower_arm" pos=".18 .18 -.18">
-          <joint name="left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
-          <geom name="left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <body name="left_hand" pos=".18 -.18 .18">
-            <geom name="left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="right_hip_x"     gear="40"  joint="right_hip_x"/>
-    <motor name="right_hip_z"     gear="40"  joint="right_hip_z"/>
-    <motor name="right_hip_y"     gear="120" joint="right_hip_y"/>
-    <motor name="right_knee"      gear="80"  joint="right_knee"/>
-    <motor name="right_ankle_x"   gear="20"  joint="right_ankle_x"/>
-    <motor name="right_ankle_y"   gear="20"  joint="right_ankle_y"/>
-    <motor name="left_hip_x"      gear="40"  joint="left_hip_x"/>
-    <motor name="left_hip_z"      gear="40"  joint="left_hip_z"/>
-    <motor name="left_hip_y"      gear="120" joint="left_hip_y"/>
-    <motor name="left_knee"       gear="80"  joint="left_knee"/>
-    <motor name="left_ankle_x"    gear="20"  joint="left_ankle_x"/>
-    <motor name="left_ankle_y"    gear="20"  joint="left_ankle_y"/>
-    <motor name="right_shoulder1" gear="20"  joint="right_shoulder1"/>
-    <motor name="right_shoulder2" gear="20"  joint="right_shoulder2"/>
-    <motor name="right_elbow"     gear="40"  joint="right_elbow"/>
-    <motor name="left_shoulder1"  gear="20"  joint="left_shoulder1"/>
-    <motor name="left_shoulder2"  gear="20"  joint="left_shoulder2"/>
-    <motor name="left_elbow"      gear="40"  joint="left_elbow"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/inertia.xml b/test/engine/testdata/inertia.xml
deleted file mode 100644
index dc6a4a15..00000000
--- a/test/engine/testdata/inertia.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<mujoco model="model for inertia-related tests">
-  <default>
-    <geom type="capsule" size="0.1"/>
-    <joint axis="0 1 0"/>
-  </default>
-
-  <worldbody>
-    <body pos="1 -.5 0" euler="10 20 30">
-      <geom type="box" size="0.15 .2 .25" pos=".1 .2 .3" euler="10 20 30"/>
-      <freejoint name="6 non-simple dofs" align="false"/>
-    </body>
-
-    <body pos="0 -.5 0">
-      <geom type="sphere" size="0.2"/>
-      <joint type="ball" name="3 simple dofs"/>
-    </body>
-
-    <body>
-      <geom fromto="0 0 0 0 0 1"/>
-      <joint/>
-      <body pos="0 0 1">
-        <geom fromto="0 0 0 1 0 1"/>
-        <joint/>
-      </body>
-      <body pos="0 0 1">
-        <geom fromto="0 0 0 -1 0 1"/>
-        <joint/>
-        <body pos="-1 0 1">
-          <geom fromto="0 0 0 1 0 1"/>
-          <joint/>
-        </body>
-        <body pos="-1 0 1">
-          <geom fromto="0 0 0 -1 0 1"/>
-          <joint/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/island/2humanoid100.xml b/test/engine/testdata/island/2humanoid100.xml
deleted file mode 100644
index 424ed2c4..00000000
--- a/test/engine/testdata/island/2humanoid100.xml
+++ /dev/null
@@ -1,123 +0,0 @@
-<mujoco model="2 Humanoids and 100 objects">
-<!--
-     Model designed for a maximally-elaborate island structure.
-     More horizontal gravity leads to larger, fewer islands.
--->
-  <option timestep="0.005" solver="CG" gravity="-1 -1 -10">
-    <flag island="enable"/>
-  </option>
-
-  <size memory="100M"/>
-
-  <default>
-    <geom solimp=".9 .9 .01"/>
-    <default class="capsule">
-      <geom type="capsule" material="capsule" size="0.1 0.05"/>
-    </default>
-    <default class="ellipsoid">
-      <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
-    </default>
-    <default class="box">
-      <geom type="box" material="box" size="0.15 0.1 0.05"/>
-    </default>
-    <default class="cylinder">
-      <geom type="cylinder" material="cylinder" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
-    </default>
-    <default class="sphere">
-      <geom type="sphere" material="sphere" size="0.1"/>
-    </default>
-    <default class="border">
-      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
-    </default>
-    <default class="borderpost">
-      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
-    </default>
-  </default>
-
-  <asset>
-    <model file="humanoid.xml"/>
-    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
-    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
-    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
-    <material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
-    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
-    <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
-    <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
-    <material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
-  </asset>
-
-  <visual>
-    <quality shadowsize="4096" offsamples="8"/>
-    <map znear="0.1" force="0.05"/>
-  </visual>
-
-  <statistic extent="4"/>
-
-  <worldbody>
-    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
-    <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
-    <geom class="border" fromto="-3 3 0 3 3 0"/>
-    <geom class="border" fromto="-3 -3 0 3 -3 0"/>
-    <geom class="border" fromto="3 3 0 3 -3 0"/>
-    <geom class="border" fromto="-3 3 0 -3 -3 0"/>
-    <geom class="borderpost" pos="3 3 0"/>
-    <geom class="borderpost" pos="-3 3 0"/>
-    <geom class="borderpost" pos="3 -3 0"/>
-    <geom class="borderpost" pos="-3 -3 0"/>
-
-    <replicate count="4" euler="0 0 90">
-      <geom type="plane" size=".5 3 .05" zaxis="1 0 0"  pos="-3 0 0.4"/>
-    </replicate>
-
-    <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-      <body pos="-2 0 0.5" euler="30 40 0">
-        <freejoint/>
-        <geom class="capsule"/>
-      </body>
-    </replicate>
-
-    <attach model="Humanoid" body="torso" prefix="1_"/>
-
-    <frame euler="0 0 72">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="20 40 60">
-          <freejoint/>
-          <geom class="ellipsoid"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame euler="0 0 144">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="30 70 110">
-          <freejoint/>
-          <geom class="box"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame pos="1 1 0" euler="0 0 144">
-      <attach model="Humanoid" body="torso" prefix="2_"/>
-    </frame>
-
-    <frame euler="0 0 216">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="60 30 0">
-          <freejoint/>
-          <geom class="cylinder"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame euler="0 0 288">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="60 30 0">
-          <freejoint/>
-          <geom class="sphere"/>
-        </body>
-      </replicate>
-    </frame>
-
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/island/abacus.xml b/test/engine/testdata/island/abacus.xml
deleted file mode 100644
index 9c451df0..00000000
--- a/test/engine/testdata/island/abacus.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<mujoco>
-  <option gravity="1 0 0">
-    <flag island="enable"/>
-  </option>
-
-  <default>
-    <joint type="slide" axis="1 0 0" damping="10"/>
-    <geom size=".1"/>
-  </default>
-
-  <worldbody>
-    <body>
-      <geom type="box" size=".05 .1 .1"/>
-    </body>
-    <body pos=".25 0 0">
-      <joint/>
-      <geom/>
-    </body>
-    <body pos=".5 0 0">
-      <joint/>
-      <geom/>
-    </body>
-    <body pos=".75 0 0">
-      <joint/>
-      <geom/>
-    </body>
-    <body pos="1 0 0">
-      <joint/>
-      <geom/>
-    </body>
-    <body pos="1.25 0 0">
-      <geom type="box" size=".05 .1 .1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/island/humanoid.xml b/test/engine/testdata/island/humanoid.xml
deleted file mode 100644
index 7545e193..00000000
--- a/test/engine/testdata/island/humanoid.xml
+++ /dev/null
@@ -1,252 +0,0 @@
-<mujoco model="Humanoid">
-  <option timestep="0.005"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <light name="top" pos="0 0 2" mode="trackcom"/>
-    <body name="torso" pos="0 0 1.282" childclass="body">
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-  <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <!--
-    The values below are split into rows for readibility:
-      torso position
-      torso orientation
-      spinal
-      right leg
-      left leg
-      arms
-    -->
-    <key name="squat"
-         qpos="0 0 0.596
-               0.988015 0 0.154359 0
-               0 0.4 0
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               0 0 0 0 0 0"/>
-    <key name="stand_on_left_leg"
-         qpos="0 0 1.21948
-               0.971588 -0.179973 0.135318 -0.0729076
-               -0.0516 -0.202 0.23
-               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
-               0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
-    <key name="prone"
-         qpos="0.4 0 0.0757706
-               0.7325 0 0.680767 0
-               0 0.0729 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.56 -0.62 -1.752
-               0.56 -0.62 -1.752"/>
-    <key name="supine"
-         qpos="-0.4 0 0.08122
-               0.722788 0 -0.69107 0
-               0 -0.25 0
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.186 -0.73 -1.73
-               0.186 -0.73 -1.73"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/island/island_efc.xml b/test/engine/testdata/island/island_efc.xml
deleted file mode 100644
index 32201839..00000000
--- a/test/engine/testdata/island/island_efc.xml
+++ /dev/null
@@ -1,81 +0,0 @@
-<!--
-  test model for constraint islanding:
-- 7 equalities (1:joint, 6:connect)
-- 1 limit
-- 2 friction constraints
-- 1 unconstrained dof
-- 4 islands, 2 with non-contiguous dofs
--->
-
-<mujoco>
-  <option>
-    <flag island="enable"/>
-  </option>
-
-  <default>
-    <geom size=".1"/>
-  </default>
-
-  <visual>
-    <headlight diffuse=".9 .9 .9"/>
-  </visual>
-
-  <worldbody>
-
-    <body>
-      <joint type="slide" axis="0 0 1" range="0 1" limited="true"/>
-      <geom/>
-    </body>
-
-    <body pos=".25 0 0">
-      <joint type="slide" axis="1 0 0"/>
-      <geom/>
-    </body>
-
-    <body pos="0 0 0.25">
-      <joint type="slide" axis="0 0 1"/>
-      <geom/>
-      <body pos="0 -.15 0">
-        <joint name="hinge1" axis="0 1 0"/>
-        <geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
-        <body pos="-.2 0 0">
-          <joint axis="0 1 0"/>
-          <geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
-        </body>
-      </body>
-    </body>
-
-    <body pos=".5 0 0">
-      <joint type="slide" axis="0 0 1" frictionloss="15"/>
-      <geom type="box" size=".08 .08 .02" euler="0 10 0"/>
-    </body>
-
-    <body pos="-.5 0 0">
-      <joint axis="0 1 0" frictionloss=".01"/>
-      <geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
-    </body>
-
-    <body pos="0 0 .5">
-      <joint name="hinge2" axis="0 1 0"/>
-      <geom type="box" size=".08 .02 .08"/>
-    </body>
-
-    <body pos=".5 0 .1">
-      <freejoint/>
-      <geom type="box" size=".03 .03 .03" pos="0.01 0.01 0.01"/>
-    </body>
-
-    <site name="0" pos="-.45 -.05 .35"/>
-    <body pos="-.5 0 .3" name="connect">
-      <freejoint/>
-      <geom type="box" size=".05 .05 .05"/>
-      <site name="1" pos=".05 -.05 .05"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="hinge1" joint2="hinge2"/>
-    <connect body1="connect" body2="world" anchor="-.05 -.05 .05"/>
-    <connect site1="0" site2="1"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/island/tendon_wrap.xml b/test/engine/testdata/island/tendon_wrap.xml
deleted file mode 100644
index 7608fd8f..00000000
--- a/test/engine/testdata/island/tendon_wrap.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<mujoco>
-  <option>
-    <flag island="enable"/>
-  </option>
-
-  <default>
-    <joint type="slide" axis="1 0 0" damping="3" frictionloss=".1"/>
-    <geom type="cylinder" size=".07 .1" zaxis="0 1 0"/>
-    <site size=".015" rgba="1 0 0 1"/>
-  </default>
-
-  <worldbody>
-    <site name="anchor" pos="0 0 1"/>
-
-    <body pos="0 0 .75">
-      <joint stiffness="10"/>
-      <geom name="0"/>
-    </body>
-    <site name="side0" pos=".15 0 .75" rgba="0 0 1 1"/>
-
-    <site name="01" pos="0 0 .625"/>
-
-    <body pos="0 0 .5">
-      <joint stiffness="30"/>
-      <geom name="1"/>
-    </body>
-    <site name="side1" pos="-.15 0 .5" rgba="0 0 1 1"/>
-
-    <site name="12" pos="0 0 .375"/>
-
-    <body pos="0 0 .25">
-      <joint stiffness="100"/>
-      <geom name="2"/>
-    </body>
-    <site name="side2" pos=".15 0 .25" rgba="0 0 1 1"/>
-
-    <body>
-      <freejoint/>
-      <site name="box" pos="0 0 .1"/>
-      <geom type="box" size=".1 .1 .1"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial limited="true" range="0 1.05" rgba="0 1 0 1" width=".005">
-      <site site="anchor"/>
-      <geom geom="0" sidesite="side0"/>
-      <site site="01"/>
-      <geom geom="1" sidesite="side1"/>
-      <site site="12"/>
-      <geom geom="2" sidesite="side2"/>
-      <site site="box"/>
-    </spatial>
-  </tendon>
-</mujoco>
-
diff --git a/test/engine/testdata/passive/poly_stiffness.xml b/test/engine/testdata/passive/poly_stiffness.xml
deleted file mode 100644
index 3067ef10..00000000
--- a/test/engine/testdata/passive/poly_stiffness.xml
+++ /dev/null
@@ -1,89 +0,0 @@
-<mujoco model="Polynomial Stiffness">
-<!--
-  Four boxes hanging from spatial tendons, demonstrating polynomial stiffness.
-  Each tendon has a different stiffness profile:
-    1. Linear:       k(q) = a*q                 (stiffness="100  0    0")
-    2. Quadratic:    k(q) = b*q^2               (stiffness="0    200  0")
-    3. Cubic:        k(q) = c*q^3               (stiffness="0    0    300")
-    4. Combination:  k(q) = a*q + b*q^2 + c*q^3 (stiffness="100 -400  400")
--->
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="1280" offheight="720" elevation="-10"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="32" height="32"/>
-    <texture name="grid" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .15 .2" width="512" height="512"/>
-    <material name="grid" reflectance="0.3" texture="grid" texrepeat="5 5" texuniform="true"/>
-  </asset>
-
-  <default>
-    <geom condim="3"/>
-    <site rgba="0 .8 0 .5" size=".03"/>
-    <tendon width=".01" rgba=".9 .9 .9 1" springlength="0 .3"/>
-    <default class="box">
-      <geom type="box" size=".2 .2 .2" mass="5"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom type="plane" size="3 3 .01" material="grid"/>
-    <light directional="true" diffuse=".4 .4 .4" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
-    <light directional="false" diffuse=".8 .8 .8" specular=".3 .3 .3" pos="0 -2 4" dir="0 .5 -1"/>
-
-    <!-- anchor sites -->
-    <site name="anchor_linear"    pos="-1.5 0 2"/>
-    <site name="anchor_quadratic" pos="-.5  0 2"/>
-    <site name="anchor_cubic"     pos=".5   0 2"/>
-    <site name="anchor_combi"     pos="1.5  0 2"/>
-
-    <body name="linear" pos="-1.5 0 1.5">
-      <freejoint/>
-      <geom class="box" rgba=".2 .6 1 1"/>
-      <site name="hook_linear" pos="0 0 .2"/>
-    </body>
-
-    <body name="quadratic" pos="-.5 0 1.5">
-      <freejoint/>
-      <geom class="box" rgba="1 .4 .1 1"/>
-      <site name="hook_quadratic" pos="0 0 .2"/>
-    </body>
-
-    <body name="cubic" pos=".5 0 1.5">
-      <freejoint/>
-      <geom class="box" rgba=".2 .8 .2 1"/>
-      <site name="hook_cubic" pos="0 0 .2"/>
-    </body>
-
-    <body name="combi" pos="1.5 0 1.5">
-      <freejoint/>
-      <geom class="box" rgba=".8 .2 .8 1"/>
-      <site name="hook_combi" pos="0 0 .2"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial name="linear" stiffness="100">
-      <site site="anchor_linear"/>
-      <site site="hook_linear"/>
-    </spatial>
-
-    <spatial name="quadratic" stiffness="0 200">
-      <site site="anchor_quadratic"/>
-      <site site="hook_quadratic"/>
-    </spatial>
-
-    <spatial name="cubic" stiffness="0 0 300">
-      <site site="anchor_cubic"/>
-      <site site="hook_cubic"/>
-    </spatial>
-
-    <spatial name="combination" stiffness="100 -400 400">
-      <site site="anchor_combi"/>
-      <site site="hook_combi"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/ray/box.xml b/test/engine/testdata/ray/box.xml
deleted file mode 100644
index abecc5de..00000000
--- a/test/engine/testdata/ray/box.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<mujoco>
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <body pos=".001 .002 .003" euler="10 -20 30" mocap="true">
-      <geom type="box" size=".3 .5 .7"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/capsule.xml b/test/engine/testdata/ray/capsule.xml
deleted file mode 100644
index 16187b4d..00000000
--- a/test/engine/testdata/ray/capsule.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<mujoco>
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <body pos=".001 .002 .003" euler="10 -20 30" mocap="true">
-      <geom type="capsule" size=".3 .7"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/cylinder.xml b/test/engine/testdata/ray/cylinder.xml
deleted file mode 100644
index 7f42db4e..00000000
--- a/test/engine/testdata/ray/cylinder.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<mujoco>
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <body pos=".001 .002 .003" euler="10 -20 30" mocap="true">
-      <geom type="cylinder" size=".3 .5"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/ellipsoid.xml b/test/engine/testdata/ray/ellipsoid.xml
deleted file mode 100644
index f31466e5..00000000
--- a/test/engine/testdata/ray/ellipsoid.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<mujoco>
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <body pos=".001 .002 .003" euler="10 -20 30" mocap="true">
-      <geom type="ellipsoid" size=".3 .5 .7"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/flex.xml b/test/engine/testdata/ray/flex.xml
deleted file mode 100644
index 70781da1..00000000
--- a/test/engine/testdata/ray/flex.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<mujoco>
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <!-- <body pos="-.5 .002 0" euler="10 50 -40" mocap="true"> -->
-      <flexcomp name="softbox" type="box" count="4 4 4" spacing=".2 .2 .2" scale="1 2 3"
-                radius=".01" dim="3" dof="radial">
-        <edge equality="true"/>
-      </flexcomp>
-    <!-- </body> -->
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/hfield.xml b/test/engine/testdata/ray/hfield.xml
deleted file mode 100644
index d188bc50..00000000
--- a/test/engine/testdata/ray/hfield.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<mujoco>
-  <asset>
-    <hfield name="hfield" nrow="5" ncol="5" size=".8 .8 .8 .3"
-            elevation="1 0 1 1 0
-                       0 1 1 0 1
-                       1 .5 1 0 1
-                       0 1 0 0 1
-                       0 1 0 0 1"/>
-  </asset>
-
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <body pos="-.5 .002 0" euler="10 50 -40" mocap="true">
-      <geom type="hfield" hfield="hfield"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/mesh.xml b/test/engine/testdata/ray/mesh.xml
deleted file mode 100644
index dbec00dc..00000000
--- a/test/engine/testdata/ray/mesh.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="stanford_bunny.obj" scale="10 10 10"/>
-  </asset>
-
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <body pos="-.5 .002 -1" euler="90 0 -40" mocap="true">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/plane.xml b/test/engine/testdata/ray/plane.xml
deleted file mode 100644
index 9ea9c2e5..00000000
--- a/test/engine/testdata/ray/plane.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<mujoco>
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <geom type="plane" size="2 1 .01" zaxis="1 0 2"/>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/ray_swing.xml b/test/engine/testdata/ray/ray_swing.xml
deleted file mode 100644
index 71b793dd..00000000
--- a/test/engine/testdata/ray/ray_swing.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<mujoco>
-  <statistic meansize="0.15"/>
-
-  <visual>
-    <global realtime=".25" elevation="-10"/>
-  </visual>
-
-  <default>
-    <geom rgba=".5 .5 .5 .5"/>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <body pos="1 0 0">
-      <joint axis="0 -1 0" armature="1" stiffness="10" damping="8" springref="200"/>
-      <inertial mass="1" diaginertia=".002 .002 .002" pos="0 0 1.1"/>
-      <site name="rf" type="cylinder" pos="-.1 0 1.1" zaxis="-1 .1 0" size=".02 .05"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <rangefinder site="rf" data="dist normal"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/ray/sdf.xml b/test/engine/testdata/ray/sdf.xml
deleted file mode 100644
index 1cd188f0..00000000
--- a/test/engine/testdata/ray/sdf.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<mujoco>
-  <extension>
-    <plugin plugin="mujoco.sdf.torus">
-      <instance name="torus">
-        <config key="radius1" value="1"/>
-        <config key="radius2" value="0.3"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <asset>
-    <mesh name="torus">
-      <plugin instance="torus"/>
-    </mesh>
-  </asset>
-
-  <option sdf_iterations="10" sdf_initpoints="40"/>
-
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <body pos="-.5 .002 -.2" euler="90 0 -40" mocap="true">
-      <geom type="sdf" mesh="torus">
-        <plugin instance="torus"/>
-      </geom>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/sphere.xml b/test/engine/testdata/ray/sphere.xml
deleted file mode 100644
index d224dd64..00000000
--- a/test/engine/testdata/ray/sphere.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<mujoco>
-  <include file="ray_swing.xml"/>
-
-  <worldbody>
-    <geom type="sphere" size=".7" pos=".001 .002 .003"/>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/ray/stanford_bunny.obj b/test/engine/testdata/ray/stanford_bunny.obj
deleted file mode 100644
index 9baeb363..00000000
--- a/test/engine/testdata/ray/stanford_bunny.obj
+++ /dev/null
@@ -1,7474 +0,0 @@
-# OBJ file format with ext .obj
-# vertex count = 2503
-# face count = 4968
-v -3.4101800e-003 1.3031957e-001 2.1754370e-002
-v -8.1719160e-002 1.5250145e-001 2.9656090e-002
-v -3.0543480e-002 1.2477885e-001 1.0983400e-003
-v -2.4901590e-002 1.1211138e-001 3.7560240e-002
-v -1.8405680e-002 1.7843055e-001 -2.4219580e-002
-v 1.9067940e-002 1.2144925e-001 3.1968440e-002
-v 6.0412000e-003 1.2494359e-001 3.2652890e-002
-v -1.3469030e-002 1.6299355e-001 -1.2000020e-002
-v -3.4393240e-002 1.7236688e-001 -9.8213000e-004
-v -8.4314160e-002 1.0957263e-001 3.7097300e-003
-v -4.2233540e-002 1.7211574e-001 -4.1799800e-003
-v -6.3308390e-002 1.5660615e-001 -1.3838790e-002
-v -7.6903950e-002 1.6708033e-001 -2.6931360e-002
-v -7.2253920e-002 1.1539550e-001 5.1670300e-002
-v 1.2981330e-002 1.1366375e-001 3.8302950e-002
-v -3.7857280e-002 1.7010102e-001 1.4236000e-003
-v 4.8689400e-003 3.7962370e-002 4.5867630e-002
-v -5.7180550e-002 4.0918830e-002 4.6301340e-002
-v -4.5209070e-002 3.8839100e-002 4.4503770e-002
-v -3.3761490e-002 1.2617876e-001 1.7132300e-003
-v -5.0242270e-002 1.5773747e-001 9.3944500e-003
-v -2.1216950e-002 1.5887938e-001 -4.6923700e-003
-v -5.6472950e-002 1.5778406e-001 8.1786500e-003
-v -5.2802060e-002 4.1319860e-002 4.6169800e-002
-v -4.9960340e-002 4.3101950e-002 4.4462650e-002
-v -2.9748750e-002 3.6539860e-002 5.2493310e-002
-v -3.5438900e-003 4.2659770e-002 4.7541530e-002
-v 4.9304900e-003 4.1982660e-002 4.5723390e-002
-v -3.9088180e-002 1.6872020e-001 -1.1924680e-002
-v -5.6901000e-002 4.5437000e-002 4.3236960e-002
-v -4.1244880e-002 4.3098890e-002 4.2129560e-002
-v -2.6471980e-002 4.5034530e-002 5.1219460e-002
-v -2.1866970e-002 4.4022930e-002 5.3243800e-002
-v -3.6996250e-002 1.6899301e-001 1.3256300e-003
-v -6.7216590e-002 1.6171340e-001 -1.3733710e-002
-v 4.9760060e-002 7.0235220e-002 2.3732020e-002
-v -4.9186640e-002 4.6411230e-002 4.1170040e-002
-v -4.4590380e-002 4.3797990e-002 4.2685460e-002
-v -4.3686470e-002 4.7154500e-002 4.0286310e-002
-v -2.2491950e-002 4.6513620e-002 5.1885310e-002
-v -6.5174200e-003 4.5036200e-002 4.7502780e-002
-v 3.7699000e-004 4.4935790e-002 4.6519930e-002
-v 3.4023920e-002 1.1353879e-001 2.4595280e-002
-v -2.6467900e-002 1.8104250e-001 -8.0811700e-003
-v -1.7533470e-002 4.7964250e-002 4.8829630e-002
-v -7.0012600e-003 4.6416520e-002 4.7485540e-002
-v 5.9862300e-003 4.6689140e-002 4.9073620e-002
-v 9.1007200e-003 4.8474490e-002 4.9353190e-002
-v -3.5453700e-002 1.1244769e-001 3.5055410e-002
-v -7.5983200e-002 1.3820800e-001 4.9216580e-002
-v 3.4838440e-002 4.3153410e-002 2.8954310e-002
-v -5.2655550e-002 4.8494220e-002 3.8731190e-002
-v -4.7378940e-002 4.8456670e-002 3.9126790e-002
-v -3.8933750e-002 4.6364270e-002 4.0364780e-002
-v -2.6468940e-002 4.7816430e-002 4.9322590e-002
-v -2.2365790e-002 4.8073650e-002 5.0126500e-002
-v -1.3373430e-002 4.7892410e-002 4.7883850e-002
-v -1.2193490e-002 4.9470300e-002 4.9484490e-002
-v -6.3364000e-004 4.7193060e-002 4.9136900e-002
-v 2.0656800e-003 5.0104680e-002 5.2290220e-002
-v -2.2749270e-002 4.9883880e-002 4.6605520e-002
-v -1.8002080e-002 4.9917850e-002 4.6947970e-002
-v -7.8036800e-003 5.0169310e-002 5.0988650e-002
-v -2.6843800e-003 5.1247420e-002 5.3186790e-002
-v -6.3875650e-002 1.6140094e-001 -2.0064210e-002
-v 3.2434000e-002 4.5333970e-002 3.0316760e-002
-v -8.8064570e-002 1.2496764e-001 5.7412000e-004
-v -4.1503710e-002 1.6748512e-001 3.2765900e-003
-v -6.4457010e-002 1.5342891e-001 -5.1180400e-003
-v -3.4303190e-002 5.0520150e-002 3.8286020e-002
-v -2.2949400e-002 5.1020650e-002 4.3926450e-002
-v -1.4354710e-002 5.4428200e-002 5.0710310e-002
-v 1.3773100e-003 5.2302710e-002 5.3149010e-002
-v 3.6285000e-003 5.3198640e-002 5.3422710e-002
-v 8.0723800e-003 5.1574140e-002 5.1773560e-002
-v -7.2665890e-002 1.3005582e-001 5.1668200e-002
-v 3.7992780e-002 4.9793200e-002 3.1902020e-002
-v 3.8497260e-002 4.8062400e-002 3.1737450e-002
-v 2.1503510e-002 1.2563988e-001 2.1252620e-002
-v -7.6481330e-002 1.4827412e-001 -8.9376200e-003
-v -8.7240410e-002 1.1967213e-001 -1.7813000e-004
-v -4.3719960e-002 1.6822738e-001 2.3425000e-003
-v -4.0652200e-002 1.2266506e-001 2.6290300e-002
-v -4.6686180e-002 5.4570720e-002 3.7587370e-002
-v -4.4071750e-002 5.1058250e-002 3.8977810e-002
-v -3.8144110e-002 5.0599600e-002 3.9302160e-002
-v -1.9875770e-002 5.1607710e-002 4.6142000e-002
-v -1.6911250e-002 5.1843550e-002 4.8459320e-002
-v -1.6249190e-002 5.4292110e-002 5.0306940e-002
-v -1.0446540e-002 5.3685970e-002 5.1958610e-002
-v -4.3090900e-003 5.4467500e-002 5.3908250e-002
-v 7.8152700e-003 5.5050680e-002 5.2750250e-002
-v 3.7955090e-002 1.0488710e-001 -3.2031800e-003
-v -7.9003790e-002 1.2850550e-001 5.3149340e-002
-v -7.9778990e-002 1.3448894e-001 5.0990290e-002
-v -5.9129700e-002 1.5039712e-001 3.4489540e-002
-v -6.5691790e-002 1.4961818e-001 3.8160980e-002
-v -3.1951660e-002 1.2518394e-001 1.9400580e-002
-v -6.9372590e-002 1.6061775e-001 -9.1905000e-003
-v -4.5225500e-002 1.2935459e-001 2.0377520e-002
-v -4.1879110e-002 5.6164390e-002 3.9796700e-002
-v -3.0614840e-002 5.4412650e-002 3.6694290e-002
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-f 2389 2452 2374
-f 2452 1630 955
-f 1403 1749 1444
-f 1555 1996 1561
-f 2357 2427 2385
-f 2385 2428 230
-f 2409 2415 2424
-f 2304 2331 2299
-f 2193 2200 2180
-f 2445 2452 2389
-f 1565 1759 1927
-f 2380 1544 2370
-f 2338 2427 2357
-f 2427 2428 2385
-f 230 222 253
-f 2202 2198 2193
-f 2202 2209 2198
-f 2209 2241 2198
-f 2241 2232 2198
-f 2266 2275 2259
-f 2365 1340 1128
-f 2415 518 2424
-f 2338 170 2427
-f 170 2428 2427
-f 2181 2185 2177
-f 2196 2195 2189
-f 2183 2193 2180
-f 2453 1630 2452
-f 2197 2214 2189
-f 2401 2409 2414
-f 822 2220 2197
-f 1210 2361 2388
-f 2187 2193 2183
-f 2187 2202 2193
-f 2266 2279 2275
-f 2279 2300 2292
-f 2375 2347 2362
-f 2375 2390 2347
-f 2390 2389 2347
-f 2453 2452 2445
-f 1347 1630 2453
-f 1630 1347 522
-f 2220 2206 2197
-f 2262 2350 2286
-f 170 254 2428
-f 2457 1973 2446
-f 1973 1365 2446
-f 2174 2183 2180
-f 2194 2202 2187
-f 2222 2241 2209
-f 2222 2260 2241
-f 2266 2259 2247
-f 2390 2445 2389
-f 2264 2251 825
-f 2363 2368 2351
-f 2326 2393 2341
-f 1855 1850 1851
-f 2210 2209 2202
-f 2210 2222 2209
-f 2261 2260 2222
-f 2280 2279 2266
-f 2280 2300 2279
-f 251 263 2359
-f 2277 2304 2299
-f 2220 2230 2206
-f 2202 2194 2210
-f 2213 2243 2234
-f 2328 2327 2322
-f 2294 2310 2293
-f 2214 2196 2189
-f 2196 2213 2219
-f 2224 2222 2210
-f 2421 2390 2375
-f 2206 2230 2214
-f 2194 2203 2210
-f 2224 2261 2222
-f 2421 2445 2390
-f 2322 2327 2318
-f 2393 2408 2341
-f 1365 1973 510
-f 2216 2210 2203
-f 2216 2224 2210
-f 2266 2308 2280
-f 2280 2308 2300
-f 2407 2421 2375
-f 2175 2183 2174
-f 2194 2190 2203
-f 2454 2445 2421
-f 522 1347 523
-f 2456 2455 2423
-f 823 2197 2178
-f 2281 2333 2287
-f 2188 2187 2183
-f 2188 2190 2194
-f 2187 2188 2194
-f 2308 2315 2300
-f 2407 2375 2362
-f 2443 2420 2503
-f 2420 2411 2503
-f 2411 1493 2503
-f 1493 1487 2503
-f 1487 1318 2503
-f 1318 1320 2503
-f 1320 2443 2503
diff --git a/test/engine/testdata/ray/stanford_bunny.xml b/test/engine/testdata/ray/stanford_bunny.xml
deleted file mode 100644
index 916255d5..00000000
--- a/test/engine/testdata/ray/stanford_bunny.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="stanford_bunny.obj"/>
-  </asset>
-  <worldbody>
-    <site name="lidar" type="cylinder" pos=".7 .1 0" zaxis="1 0 0" size=".02 .05"/>
-    <body mocap="true" pos="1 0 0" euler="0 90 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <rangefinder site="lidar"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/rotations.xml b/test/engine/testdata/rotations.xml
deleted file mode 100644
index 31473f66..00000000
--- a/test/engine/testdata/rotations.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<!-- This file is a playground for understanding different rotations.
-     Currently, two examples are given:
-     - A rotation in the xy plane about a ball joint located in the corner of a box.
-     - A rotation in the xy plane about a free joing located in the center of a box.
--->
-
-<mujoco>
-  <option density="1000">
-    <flag gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
-    <light pos="0 0 20"/>
-    <body name="body_ball" pos="0 0 .5">
-      <geom type="box" size=".5 .5 .1" pos="0 0 0"/>
-      <joint name="ball" pos=".5 .5 0" axis="0 0 1" type="ball"/>
-    </body>
-    <body name="body_free" pos="3 0 .5">
-      <freejoint name="free"/>
-      <geom type="box" size=".5 .5 .1" pos="0 0 0"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <general name="ball" joint="ball" dyntype="integrator" gear="0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
-    <general name="free" joint="free" dyntype="integrator" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/select.xml b/test/engine/testdata/select.xml
deleted file mode 100644
index 50dceca8..00000000
--- a/test/engine/testdata/select.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<mujoco>
-  <visual>
-    <scale constraint="0.02"/>
-  </visual>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom type="plane" size="1 1 .01"/>
-
-    <body name="non-diag inertia" pos="0 0 1" quat="0 0.534522 0.801784 0.267261">
-      <freejoint/>
-      <geom type="box" size="0.15 0.1 0.05" pos="0.15 0.1 0.05" euler="30 30 30" rgba="1 0 0 1"/>
-    </body>
-
-    <body name="diagonal inertia" pos="0 0 2" quat="0 0.534522 0.801784 0.267261">
-      <freejoint/>
-      <geom type="box" size="0.15 0.1 0.05" rgba="0 0 1 1"/>
-    </body>
-
-    <body name="mocap body" pos="-.5 -.5 .5" mocap="true" quat=".1 .2 .3 .4">
-      <geom type="box" size="0.15 0.1 0.05" pos="0.15 0.1 0.05" euler="30 30 30" rgba="0 .7 0 1"/>
-    </body>
-
-    <body name="small sphere" pos="-0.4 0.4 0.2">
-      <freejoint/>
-      <geom type="sphere" size="0.01" rgba="1 1 1 1"/>
-    </body>
-
-    <body name="heavy sphere" pos="-0.5 0.4 0.2">
-      <freejoint/>
-      <geom type="sphere" size="0.02" rgba="1 1 1 1" mass="1000"/>
-    </body>
-
-    <body name="ball joint" pos=".5 -.5 .5" >
-      <joint type="ball" damping="10"/>
-      <geom type="box" size="0.1 0.1 0.1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sensor/camprojection.xml b/test/engine/testdata/sensor/camprojection.xml
deleted file mode 100644
index b805a8ee..00000000
--- a/test/engine/testdata/sensor/camprojection.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-  <mujoco>
-    <default>
-      <site rgba="1 0 0 1" size="0.03"/>
-    </default>
-    <worldbody>
-      <light pos="0 0 3"/>
-      <body pos="1.1 0 1">
-        <geom type="box" size=".1 .6 .375"/>
-        <site name="frontorigin" pos="-.1  .6  .375"/>
-        <site name="frontcenter" pos="-.1 0 0"/>
-      </body>
-      <body pos="0 0 0">
-        <joint axis="0 0 1" range="-180 180" limited="false"/>
-        <geom type="cylinder" size=".2 .05" pos="0 0 0.9"/>
-        <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
-                resolution="1920 1200" name="fixedcamera"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <camprojection site="frontorigin" camera="fixedcamera"/>
-      <camprojection site="frontcenter" camera="fixedcamera"/>
-    </sensor>
-  </mujoco>
diff --git a/test/engine/testdata/sensor/contact.xml b/test/engine/testdata/sensor/contact.xml
deleted file mode 100644
index ab2b812b..00000000
--- a/test/engine/testdata/sensor/contact.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<mujoco model="contact">
-  <option gravity="4 0 -3"/>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom name="floor" type="plane" size=".5 1 .01"/>
-    <geom name="wall" type="plane" size=".25 1 .05" zaxis="-1 0 0" pos=".5 0 .25"/>
-    <site name="site" type="box" size=".15 .15 .15" pos=".5 0 0" rgba=".5 .7 .5 .3"/>
-
-    <body name="b1" pos="0 0 .2">
-      <freejoint/>
-      <geom name="g1" size=".1" rgba=".8 .2 .1 1" mass="1"/>
-    </body>
-
-    <body name="b2" pos="-.3 0 .2">
-      <freejoint/>
-      <geom name="g2" size=".1" rgba=".8 .2 .1 1" mass="1"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <contact name="all"/>
-    <contact name="world" body1="world"/>
-    <contact name="b1" body1="b1"/>
-    <contact name="g1" geom1="g1"/>
-    <contact name="b1:g2" body1="b1" geom2="g2"/>
-    <contact name="b1:world" body1="b1" body2="world"/>
-    <contact name="site" site="site"/>
-    <contact name="site:wall" site="site" geom2="wall"/>
-    <contact name="wall" geom1="wall" num="2" data="found force normal"/>
-    <contact name="b2"         body1="b2" data="force normal" num="2"/>
-    <contact name="b2_flipped" body2="b2" data="force normal" num="2"/>
-    <contact name="b2_reduced" body2="b2" data="force normal" reduce="maxforce"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sensor/contact_net.xml b/test/engine/testdata/sensor/contact_net.xml
deleted file mode 100644
index 1d2fb6b8..00000000
--- a/test/engine/testdata/sensor/contact_net.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<mujoco model="contact net">
-  <statistic meansize="0.05"/>
-
-  <default>
-    <geom condim="6"/>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom name="floor" type="plane" size=".5 1 .01"/>
-
-    <body name="b1" pos="0 0 .4" euler="5 4 3">
-      <freejoint/>
-      <geom type="box" pos="0 0 .06" size=".15 .15 .03" rgba=".8 .2 .1 .2"/>
-      <geom type="box" pos="-.05 0 .005" size=".04 .04 .025" rgba=".8 .2 .1 1" euler="1 1 1"/>
-      <geom size=".05" pos=".1 -.1 .04" rgba=".8 .2 .1 1"/>
-    </body>
-
-    <body name="b2" pos="0 0 .2">
-      <joint type="ball" springdamper="0.1 1"/>
-      <geom type="box" size=".2 .2 .05" rgba=".8 .2 .1 1"/>
-      <geom size=".05" pos=".1 .1 .05" rgba=".8 .2 .1 1"/>
-      <geom type="box" size=".05 .05 .01" pos=".1 -.1 .06" rgba=".8 .2 .1 1" euler="2 2 2"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <contact name="net12" body1="b1" body2="b2" data="force torque pos" reduce="netforce"/>
-    <contact name="net21" body1="b2" body2="b1" data="force torque pos" reduce="netforce"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sensor/contact_sorted.xml b/test/engine/testdata/sensor/contact_sorted.xml
deleted file mode 100644
index 426fc2a9..00000000
--- a/test/engine/testdata/sensor/contact_sorted.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<mujoco model="contact sorted">
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom name="floor" type="plane" size=".5 1 .01"/>
-
-    <body name="spheres">
-      <joint axis="0 -1 0"/>
-      <geom size=".1" pos="-.1 0 0" rgba=".8 .2 .1 1"/>
-      <geom size=".1" pos=".1 0 0" rgba=".8 .2 .1 1"/>
-      <geom size=".1" pos="-.2 0 0" rgba=".8 .2 .1 1"/>
-      <geom size=".1" pos=".3 0 0" rgba=".8 .2 .1 1"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <contact name="unsorted" body1="spheres" num="4" data="dist"/>
-    <contact name="sorted dist" body1="spheres" num="4" data="dist" reduce="mindist"/>
-    <contact name="sorted force" body1="spheres" num="4" data="force" reduce="maxforce"/>
-    <contact name="smallest dist" body1="spheres" num="1" data="dist" reduce="mindist"/>
-    <contact name="largest force" body1="spheres" num="1" data="force" reduce="maxforce"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sensor/contact_subtree.xml b/test/engine/testdata/sensor/contact_subtree.xml
deleted file mode 100644
index a6d39e55..00000000
--- a/test/engine/testdata/sensor/contact_subtree.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<mujoco model="contact subtree">
-  <asset>
-    <model file="humanoid.xml"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 5"/>
-    <geom name="floor" type="plane" size="2 2 .01"/>
-
-    <!-- two horizontal humanoids, in the air, one above the other -->
-    <frame pos="-.5 0 1.2" euler="0 90 0">
-      <attach model="Humanoid" body="torso" prefix="1"/>
-    </frame>
-    <frame pos="-.5 0 0.5" euler="0 90 -90">
-      <attach model="Humanoid" body="torso" prefix="2"/>
-    </frame>
-  </worldbody>
-
-  <sensor>
-    <contact name="all"/>
-    <contact name="w_t1" body1="world" subtree2="1torso"/>
-    <contact name="w_t2" body1="world" subtree2="2torso"/>
-    <contact name="t1" subtree1="1torso"/>
-    <contact name="t2" subtree1="2torso"/>
-    <contact name="t1_t1" subtree1="1torso" subtree2="1torso"/>
-    <contact name="t2_t2" subtree1="2torso" subtree2="2torso"/>
-    <contact name="t1_t2" subtree1="1torso" subtree2="2torso"/>
-    <contact name="t2_t1" subtree1="2torso" subtree2="1torso"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sensor/contact_subtree_partial.xml b/test/engine/testdata/sensor/contact_subtree_partial.xml
deleted file mode 100644
index dbd0c0e1..00000000
--- a/test/engine/testdata/sensor/contact_subtree_partial.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<mujoco model="contact subtree">
-  <worldbody>
-    <light pos="0 0 5"/>
-    <geom name="floor" type="plane" size="2 2 .01"/>
-    <body name="thigh" pos="-1 0 .1">
-      <joint type="slide"/>
-      <geom type="capsule" size=".1" fromto="0 0 0 .5 0 0"/>
-      <body name="shin" pos=".7 0 0">
-        <joint axis="0 1 0"/>
-        <geom type="capsule" size=".1" fromto="0 0 0 0 0 .5"/>
-        <body name="foot" pos="0 0 .7">
-          <joint axis="0 1 0"/>
-          <geom type="capsule" size=".1" fromto="0 0 0 -.7 0 0"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <contact name="all"/>
-    <contact name="world" subtree1="world"/>
-    <contact name="thigh" subtree1="thigh"/>
-    <contact name="shin" subtree1="shin"/>
-    <contact name="foot" subtree1="foot"/>
-    <contact name="foot_w" subtree1="foot" body2="world"/>
-    <contact name="foot_w2" subtree1="foot" subtree2="world"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sensor/fromto_body_body.xml b/test/engine/testdata/sensor/fromto_body_body.xml
deleted file mode 100644
index e185a3ae..00000000
--- a/test/engine/testdata/sensor/fromto_body_body.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<mujoco model="Body-Body collisions fromto">
-  <option>
-    <flag gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <light pos=".5 0 3"/>
-    <light pos="-.5 0 3"/>
-    <geom type="plane" size="2 2 .01"/>
-
-    <body name="1" pos="0 0 .3">
-      <freejoint/>
-      <replicate count="50" offset="0 0 0.01" euler="0 0 25">
-        <geom type="capsule" size=".01 .05" pos="0 -.23 -.2" euler="0 84.5 0" rgba="0 0 1 1"/>
-      </replicate>
-    </body>
-
-    <body name="2" pos=".6 0 .3" euler="0 0 90">
-      <freejoint/>
-      <replicate count="50" offset="0 0 0.01" euler="0 0 15">
-        <geom type="capsule" pos=".025 -.2 -.2" size=".032 .04" euler="-24 -12 2" rgba=".8 0 0 1"/>
-      </replicate>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <fromto body1="1" body2="2" cutoff="1"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sensor/fromto_capsule_ellipsoid.xml b/test/engine/testdata/sensor/fromto_capsule_ellipsoid.xml
deleted file mode 100644
index f626eb1f..00000000
--- a/test/engine/testdata/sensor/fromto_capsule_ellipsoid.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<mujoco model="Capsule-Ellipsoid Distance">
-  <visual>
-    <headlight ambient=".7 .7 .7"/>
-    <rgba rangefinder="1 .2 .1 1"/>
-  </visual>
-  <option>
-    <flag gravity="disable"/>
-  </option>
-  <asset>
-    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1="1 1 1" rgb2="1 1 1"/>
-  </asset>
-
-  <default>
-    <geom rgba=".1 .1 .1 1"/>
-  </default>
-
-  <worldbody>
-    <body pos="-.5 0 0">
-      <freejoint/>
-      <geom name="capsule" type="capsule" size=".15 .30"/>
-    </body>
-
-    <body pos=".5 0 0">
-      <freejoint/>
-      <geom name="ellipsoid" type="ellipsoid" size=".10 .10 .15"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <fromto geom1="capsule" geom2="ellipsoid" cutoff="15"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sensor/fromto_convex.xml b/test/engine/testdata/sensor/fromto_convex.xml
deleted file mode 100644
index 4a83f5e5..00000000
--- a/test/engine/testdata/sensor/fromto_convex.xml
+++ /dev/null
@@ -1,75 +0,0 @@
-<mujoco model="Convex-Convex collisions">
-  <option>
-    <flag gravity="disable"/>
-  </option>
-
-  <asset>
-    <mesh name="halfbox1" scale=".2 .3 .1"
-          vertex="0 0 0  1 0 0  0 1 0  1 1 0
-                  0 0 1  1 0 1  0 1 1 "/>
-    <mesh name="halfbox2" scale=".2 .3 .1"
-          vertex="1 0 0  0 1 0  1 1 0
-                  0 0 1  1 0 1  0 1 1 "/>
-    <hfield name="hfield" nrow="3" ncol="4" size="1 1 .1 .08"
-            elevation="1 0 1 2
-                       0 2 1 1
-                       1 0 1 0"/>
-  </asset>
-
-  <default>
-    <geom rgba=".2 .2 .6 1"/>
-  </default>
-
-  <worldbody>
-    <light pos=".5 0 3"/>
-    <light pos="-.5 0 3"/>
-
-    <geom name="hfield" type="hfield" hfield="hfield" rgba="0.5 0.5 0.5 1"/>
-
-    <body pos=".2 0 .6">
-      <freejoint/>
-      <geom name="sphere" type="sphere" size=".15"/>
-    </body>
-
-    <body pos="0 0 .3">
-      <freejoint/>
-      <geom name="ellipsoid" type="ellipsoid" size=".1 .1 .2"/>
-    </body>
-
-    <body pos=".4 0 .3">
-      <freejoint/>
-      <geom name="cylinder" type="cylinder" size=".1 .15"/>
-    </body>
-
-    <body pos="-.5 0 .3">
-      <freejoint/>
-      <geom name="box" type="box" size=".2 .15 .1"/>
-    </body>
-
-    <body pos="-.5 0 .6">
-      <freejoint/>
-      <geom name="mesh1" type="mesh" mesh="halfbox1"/>
-    </body>
-
-    <body pos="-.5 -.6 .3">
-      <freejoint/>
-      <geom name="mesh2" type="mesh" mesh="halfbox2"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <fromto geom1="ellipsoid" geom2="box" cutoff="1"/>
-    <fromto geom1="ellipsoid" geom2="cylinder" cutoff="1"/>
-    <fromto geom1="ellipsoid" geom2="mesh2" cutoff="1"/>
-    <fromto geom1="mesh1" geom2="sphere" cutoff="1"/>
-    <fromto geom1="mesh1" geom2="box" cutoff="1"/>
-    <fromto geom1="mesh1" geom2="mesh2" cutoff="1"/>
-
-    <fromto geom1="ellipsoid" geom2="box" cutoff="0.2"/>
-    <fromto geom1="ellipsoid" geom2="cylinder" cutoff="0.2"/>
-    <fromto geom1="ellipsoid" geom2="mesh2" cutoff="0.2"/>
-    <fromto geom1="mesh1" geom2="sphere" cutoff="0.2"/>
-    <fromto geom1="mesh1" geom2="box" cutoff="0.2"/>
-    <fromto geom1="mesh1" geom2="mesh2" cutoff="0.2"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sensor/fromto_primitive.xml b/test/engine/testdata/sensor/fromto_primitive.xml
deleted file mode 100644
index 2d39eaca..00000000
--- a/test/engine/testdata/sensor/fromto_primitive.xml
+++ /dev/null
@@ -1,71 +0,0 @@
-<mujoco model="Primitive collisions">
-  <asset>
-    <mesh name="halfbox" scale=".2 .3 .1"
-          vertex="0 0 0  1 0 0  0 1 0  1 1 0
-                  0 0 1  1 0 1  0 1 1 "/>
-  </asset>
-
-
-  <default>
-    <geom rgba=".2 .2 .6 1"/>
-  </default>
-
-  <worldbody>
-    <light pos=".5 0 3"/>
-    <light pos="-.5 0 3"/>
-    <geom name="plane" type="plane" size="2 2 .01" rgba="0.5 0.5 0.5 1"/>
-
-    <body pos=".2 0 .6">
-      <freejoint/>
-      <geom name="sphere" type="sphere" size=".15"/>
-    </body>
-
-    <body pos="0 0 .3">
-      <freejoint/>
-      <geom name="capsule1" type="capsule" size=".1 .1"/>
-    </body>
-
-    <body pos="-.2 0 .4" euler="90 0 0">
-      <freejoint/>
-      <geom name="capsule2" type="capsule" size=".05 .1"/>
-    </body>
-
-    <body pos=".4 0 .3">
-      <freejoint/>
-      <geom name="cylinder" type="cylinder" size=".1 .15"/>
-    </body>
-
-    <body pos="-.5 0 .3">
-      <freejoint/>
-      <geom name="box1" type="box" size=".2 .15 .1"/>
-    </body>
-
-    <body pos="-.5 0 .6">
-      <freejoint/>
-      <geom name="box2" type="box" size=".1 .05 .1"/>
-    </body>
-
-    <body pos="-.5 -.6 .3">
-      <freejoint/>
-      <geom name="mesh" type="mesh" mesh="halfbox"/>
-    </body>
-
-  </worldbody>
-
-  <sensor>
-    <fromto geom1="plane" geom2="sphere" cutoff="1"/>
-    <fromto geom1="plane" geom2="capsule1" cutoff="1"/>
-    <fromto geom1="plane" geom2="box1" cutoff="1"/>
-    <fromto geom1="plane" geom2="cylinder" cutoff="1"/>
-    <fromto geom1="plane" geom2="mesh" cutoff="1"/>
-
-    <fromto geom1="capsule2" geom2="capsule1" cutoff="1"/>
-    <fromto geom1="capsule1" geom2="sphere" cutoff="1"/>
-
-    <fromto geom1="sphere" geom2="cylinder" cutoff="1"/>
-
-    <fromto geom1="box1" geom2="sphere" cutoff="1"/>
-    <fromto geom1="box2" geom2="capsule2" cutoff="1"/>
-    <fromto geom1="box1" geom2="box2" cutoff="1"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sensor/humanoid.xml b/test/engine/testdata/sensor/humanoid.xml
deleted file mode 100644
index a2c4a16f..00000000
--- a/test/engine/testdata/sensor/humanoid.xml
+++ /dev/null
@@ -1,267 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Humanoid">
-  <option timestep="0.005"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <light name="top" pos="0 0 2" mode="trackcom"/>
-    <body name="torso" pos="0 0 1.282" childclass="body">
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-  <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <!--
-    The values below are split into rows for readibility:
-      torso position
-      torso orientation
-      spinal
-      right leg
-      left leg
-      arms
-    -->
-    <key name="squat"
-         qpos="0 0 0.596
-               0.988015 0 0.154359 0
-               0 0.4 0
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               0 0 0 0 0 0"/>
-    <key name="stand_on_left_leg"
-         qpos="0 0 1.21948
-               0.971588 -0.179973 0.135318 -0.0729076
-               -0.0516 -0.202 0.23
-               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
-               0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
-    <key name="prone"
-         qpos="0.4 0 0.0757706
-               0.7325 0 0.680767 0
-               0 0.0729 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.56 -0.62 -1.752
-               0.56 -0.62 -1.752"/>
-    <key name="supine"
-         qpos="-0.4 0 0.08122
-               0.722788 0 -0.69107 0
-               0 -0.25 0
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.186 -0.73 -1.73
-               0.186 -0.73 -1.73"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/sensor/insidesite.xml b/test/engine/testdata/sensor/insidesite.xml
deleted file mode 100644
index c3fd8a97..00000000
--- a/test/engine/testdata/sensor/insidesite.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<mujoco model="insidesite sensor">
-
-  <default>
-    <site rgba=".4 .7 .6 .3"/>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom name="plane" type="plane" pos="0 0 .5" size="2 2 .01" rgba="0.5 0.5 0.5 1"/>
-
-    <body pos="0 0 1">
-      <joint type="slide" axis="1 0 0" range="-.7 .7" solreflimit="-200 0"/>
-      <geom name="query" type="sphere" size=".02" rgba="1 0 0 1"/>
-    </body>
-
-    <site name="sphere"    type="sphere"    size=".11"                           pos="-.5 0 1"/>
-    <site name="capsule"   type="capsule"   size=".08 .15"     euler="20 -40 60" pos="-.25 0 1"/>
-    <site name="ellipsoid" type="ellipsoid" size=".11 .15 .09" euler="20 40 -60" pos="0 0 1"/>
-    <site name="cylinder"  type="cylinder"  size=".09 .12"     euler="-20 40 60" pos=".25 0 1"/>
-    <site name="box"       type="box"       size=".08 .1 .14"  euler="20 -40 60" pos=".5 0 1"/>
-  </worldbody>
-
-  <sensor>
-    <insidesite name="sphere"    site="sphere"    objtype="geom" objname="query"/>
-    <insidesite name="capsule"   site="capsule"   objtype="geom" objname="query"/>
-    <insidesite name="ellipsoid" site="ellipsoid" objtype="geom" objname="query"/>
-    <insidesite name="cylinder"  site="cylinder"  objtype="geom" objname="query"/>
-    <insidesite name="box"       site="box"       objtype="geom" objname="query"/>
-  </sensor>
-
-  <keyframe>
-    <key qvel="1"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/sensor/rfcamera.xml b/test/engine/testdata/sensor/rfcamera.xml
deleted file mode 100644
index ffafd952..00000000
--- a/test/engine/testdata/sensor/rfcamera.xml
+++ /dev/null
@@ -1,51 +0,0 @@
-<mujoco model="rangefinder camera">
-  <asset>
-    <hfield name="hfield" nrow="5" ncol="5" size="2 2 .3 .1"
-            elevation=".7 .1 .4 .9 .0
-                       .3 .6 .2 .8 .5
-                       .1 .4 .7 .0 .9
-                       .2 .5 .8 .3 .6
-                       .4 .7 .1 .9 .2"/>
-    <mesh name="ss" builtin="supersphere" params="30 .2 .3" scale=".4 .42 .5"/>
-  </asset>
-
-  <visual>
-    <rgba frustum="1 1 0 0.15"/>
-  </visual>
-
-  <statistic meansize="0.17"/>
-
-  <worldbody>
-    <light pos="0 0 5"/>
-    <camera pos="0 -5.8 2.4" xyaxes="1 0 0 0 0.28 0.96"/>
-    <camera pos="-0.32 -3.23 2.92" xyaxes="1 0 0 0.05 0.5 0.85" fovy="60"/>
-
-
-    <!-- ground hfield -->
-    <geom type="hfield" hfield="hfield" rgba=".3 .4 .5 1" pos="0 0 -.3"/>
-
-    <!-- scattered objects for rays to hit -->
-    <geom type="sphere" pos="0 0 .4" size=".4" rgba="1 .3 .3 1"/>
-    <geom type="mesh" mesh="ss" pos="1 0.5 .35" rgba=".3 1 .3 1" euler="20 0 30"/>
-    <geom type="cylinder" pos="-0.8 0.8 .4" size=".4 .5" euler="0 40 0" rgba=".3 .3 1 1"/>
-    <geom type="capsule" pos="0.5 -0.7 -.2" size=".3 .5" zaxis="1 0.5 0" rgba="0 1 1 1"/>
-    <geom type="ellipsoid" pos="-0.5 -0.5 .2" size=".4 .3 .25" rgba="1 .3 1 1"/>
-
-    <!-- mocap body with perspective camera -->
-    <body pos="1 0 2" euler="0 20 90" mocap="true">
-      <geom type="box" pos="0 0 .3" size=".2 .2 .2"/>
-      <camera name="perspective" resolution="4 4" fovy="60"/>
-    </body>
-
-    <!-- mocap body with orthographic camera -->
-    <body pos="-1 0 2" euler="0 -20 -90" mocap="true">
-      <geom type="box" pos="0 0 .3" size=".2 .2 .2"/>
-      <camera name="orthographic" resolution="4 4" fovy="1.5" projection="orthographic"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <rangefinder camera="perspective" data="dist point normal"/>
-    <rangefinder camera="orthographic" data="dist point normal"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/skingroup.xml b/test/engine/testdata/skingroup.xml
deleted file mode 100644
index b05be81e..00000000
--- a/test/engine/testdata/skingroup.xml
+++ /dev/null
@@ -1,84 +0,0 @@
-<mujoco>
-  <asset>
-    <skin name="skin" rgba="1 0 1 1" inflate="0.01"
-    vertex="
-    -.5 -.5 -.5
-     .5 -.5 -.5
-    -.5  .5 -.5
-     .5  .5 -.5
-    -.5 -.5  .5
-     .5 -.5  .5
-    -.5  .5  .5
-     .5  .5  .5"
-    texcoord=".1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1"
-    face="0 1 4 4 1 5 5 1 3 5 3 7 7 3 2 7 2 6 6 2 0 6 0 4 4 5 7 4 7 6">
-      <bone body="box" bindpos="0 0 .5" bindquat="1 0 0 0" vertid="4 5 6 7" vertweight="1 1 1 1"/>
-      <bone body="world" bindpos="0 0 -.5" bindquat="1 0 0 0" vertid="0 1 2 3" vertweight="1 1 1 1"/>
-    </skin>
-  </asset>
-
-
-  <worldbody>
-    <geom type="plane" size="2 2 .01"/>
-    <light pos="0 1 3" dir="0 -1 -2"/>
-    <light pos="0 -1 3" dir="0 1 -2"/>
-    <body name="box" pos="0 0 .9">
-      <joint limited="true" range="-45 45"/>
-      <geom type="box" size=".5 .5 .1"/>
-    </body>
-    <body pos="1 -1 .6" name="B0_parent">
-      <flexcomp name="B0" type="grid" count="4 4 1" spacing=".2 .2 .2" group="4" radius=".1" dim="2">
-        <edge equality="true"/>
-        <contact internal="false" selfcollide="none"/>
-      </flexcomp>
-    </body>
-    <body pos="-1 1 .6" name="B1_parent">
-      <flexcomp name="B1" type="grid" count="4 4 1" spacing=".2 .2 .2" group="2" radius=".1" dim="2">
-        <edge equality="true"/>
-        <contact internal="false" selfcollide="none"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  <deformable>
-    <skin name="B0Skin" group="2" rgba="1 1 0 1" inflate="0.1"
-      vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
-      face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8 12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18 22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29 28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8 28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1 2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
-      <bone body="B0_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
-      <bone body="B0_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
-      <bone body="B0_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
-      <bone body="B0_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
-      <bone body="B0_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
-      <bone body="B0_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
-      <bone body="B0_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
-      <bone body="B0_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
-      <bone body="B0_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
-      <bone body="B0_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
-      <bone body="B0_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
-      <bone body="B0_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
-      <bone body="B0_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
-      <bone body="B0_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
-      <bone body="B0_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
-      <bone body="B0_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
-    </skin>
-    <skin name="B1Skin" group="4" rgba="0 1 1 1" inflate="0.1"
-      vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
-      face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8 12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18 22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29 28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8 28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1 2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
-      <bone body="B1_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
-      <bone body="B1_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
-      <bone body="B1_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
-      <bone body="B1_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
-      <bone body="B1_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
-      <bone body="B1_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
-      <bone body="B1_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
-      <bone body="B1_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
-      <bone body="B1_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
-      <bone body="B1_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
-      <bone body="B1_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
-      <bone body="B1_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
-      <bone body="B1_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
-      <bone body="B1_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
-      <bone body="B1_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
-      <bone body="B1_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
-    </skin>
-  </deformable>
-</mujoco>
diff --git a/test/engine/testdata/sleep/contact.xml b/test/engine/testdata/sleep/contact.xml
deleted file mode 100644
index 5192285c..00000000
--- a/test/engine/testdata/sleep/contact.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="1.5"/>
-  </custom>
-
-  <default>
-    <default class="domino">
-      <geom type="box" size=".008 .044 .089" rgba=".9 .9 .9 1" mass="0.09"/>
-    </default>
-  </default>
-
-  <visual>
-    <global realtime="0.2"/>
-  </visual>
-
-  <option cone="elliptic" impratio="10">
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom type="plane" size="1 1 .01" pos="0 0 1e-6"/>
-
-    <body pos="-.1 0 .089" euler="0 7 0">
-      <freejoint/>
-      <geom type="box" class="domino"/>
-    </body>
-
-    <replicate count="4" offset=".1 0 0">
-      <body pos="0 0 .089">
-        <freejoint/>
-        <geom type="box" class="domino"/>
-      </body>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/contactpair.xml b/test/engine/testdata/sleep/contactpair.xml
deleted file mode 100644
index 22bd76dc..00000000
--- a/test/engine/testdata/sleep/contactpair.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="1.0"/>
-  </custom>
-
-  <default>
-    <default class="domino">
-      <geom type="box" size=".008 .044 .089" rgba=".9 .9 .9 1" mass="0.09"/>
-    </default>
-  </default>
-
-  <visual>
-    <global realtime="0.2"/>
-  </visual>
-
-  <option cone="elliptic" impratio="10">
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom name="floor" type="plane" size="1 1 .01" pos="0 0 1e-6"/>
-
-    <body pos="-.1 0 .089" euler="0 7 0">
-      <freejoint/>
-      <geom name="1" type="box" class="domino"/>
-    </body>
-
-    <body pos="0 0 .089">
-      <freejoint/>
-      <geom name="2" type="box" class="domino" contype="0" conaffinity="0"/>
-    </body>
-  </worldbody>
-
-  <contact>
-    <pair geom1="1" geom2="2"/>
-    <pair geom1="2" geom2="floor"/>
-  </contact>
-</mujoco>
diff --git a/test/engine/testdata/sleep/equality.xml b/test/engine/testdata/sleep/equality.xml
deleted file mode 100644
index 413d4675..00000000
--- a/test/engine/testdata/sleep/equality.xml
+++ /dev/null
@@ -1,60 +0,0 @@
-<mujoco>
-  <option>
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 4"/>
-    <geom type="plane" size="1.5 1.5 .01"/>
-
-    <body pos=".3 0 .8">
-      <joint name="1" axis="1 0 0" damping=".1"/>
-      <geom type="box" size=".03 .1 .1"/>
-    </body>
-
-    <body pos=".7 0 .8">
-      <joint name="2" axis="1 0 0" damping=".1"/>
-      <geom type="box" size=".03 .1 .1"/>
-    </body>
-
-    <body pos=".5 0 .5">
-      <geom type="box" size=".1 .1 .1"/>
-      <site name="1" pos="-.1 0 0" size=".01" rgba="1 0 0 1"/>
-    </body>
-
-    <body pos="-.3 -.4 .5" euler="10 20 30">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-      <site name="2" pos="0 0 .1" size=".01" rgba="1 0 0 1" euler="0 -90 0"/>
-      <site name="3" pos="0 -.1 0" size=".01" rgba="1 0 0 1" euler="0 0 -90"/>
-    </body>
-
-    <body pos=".7 -.3 .5">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-      <site name="4" pos="-.1 0 0" size=".01" rgba="1 0 0 1"/>
-    </body>
-
-    <body pos="-.3 0 .7">
-      <joint axis="0 1 0" springdamper=".03 1"/>
-      <geom type="capsule" size=".03" fromto="0 0 0 .2 0 0"/>
-      <site name="5" pos=".1 0 .03" size=".01" rgba="1 0 0 1"/>
-      <body pos=".2 0 0">
-        <joint axis="0 1 0" springdamper=".03 1"/>
-        <geom type="capsule" size=".03" fromto="0 0 0 0 0 .2"/>
-        <body pos="0 0 .2">
-          <joint axis="0 1 0" springdamper=".03 1"/>
-          <geom type="capsule" size=".03" fromto="0 0 0 -.15 0 0"/>
-          <site name="6" pos="-.18 0 0" size=".01" rgba="1 0 0 1"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld active="false" name="stat/dyn" site1="1" site2="2"/>
-    <weld active="false" name="dyn/dyn" site1="3" site2="4"/>
-    <connect active="false" name="self" site1="5" site2="6"/>
-    <joint name="joint" joint1="1" joint2="2" polycoef="0 -2"/>
-  </equality>
-</mujoco>
diff --git a/test/engine/testdata/sleep/flex_contact.xml b/test/engine/testdata/sleep/flex_contact.xml
deleted file mode 100644
index 28dac939..00000000
--- a/test/engine/testdata/sleep/flex_contact.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<mujoco>
-  <option integrator="implicitfast" viscosity="2" sleep_tolerance="0.1">
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <geom type="plane" size="5 5 .01"/>
-
-    <!-- constrained flex on the floor, will go to sleep quickly -->
-    <body name="flex_body" pos="0 0 0.01">
-      <flexcomp name="f1" type="grid" dim="1" count="3 1 1"
-                spacing=".05 .05 .05" radius=".01" mass="1">
-        <edge equality="true" solref="0.15 0.2"/>
-      </flexcomp>
-    </body>
-
-    <!-- ball that will collide with the flex -->
-    <body name="ball" pos="0 0.01 0.5">
-      <freejoint/>
-      <geom type="sphere" size=".05"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/flex_edge.xml b/test/engine/testdata/sleep/flex_edge.xml
deleted file mode 100644
index f44a57ac..00000000
--- a/test/engine/testdata/sleep/flex_edge.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="2"/>
-  </custom>
-
-  <option integrator="implicitfast" viscosity="10"
-          sleep_tolerance="0.01">
-    <flag sleep="enable" gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <body name="flex_body">
-      <freejoint/>
-      <inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
-      <flexcomp name="f1" type="grid" dim="1" count="3 1 1"
-                spacing=".05 .05 .05" radius=".01" mass="1">
-        <edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/flex_mocap.xml b/test/engine/testdata/sleep/flex_mocap.xml
deleted file mode 100644
index 591655c1..00000000
--- a/test/engine/testdata/sleep/flex_mocap.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<mujoco>
-  <option integrator="implicitfast" viscosity="1" sleep_tolerance="1e-2">
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <geom type="plane" size="5 5 .01"/>
-
-    <!-- mocap body with a sphere -->
-    <body name="mocap_obstacle" pos="0 0 -.02" mocap="true">
-      <geom type="sphere" size=".04"/>
-    </body>
-
-    <!-- constrained flex on the floor, will go to sleep -->
-    <body name="flex_body" pos="0 0 0.01">
-      <flexcomp name="f1" type="grid" dim="1" count="3 1 1"
-                spacing=".05 .05 .05" radius=".01" mass="1">
-        <edge equality="true" solref="0.15 0.2"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/flex_nocnstr.xml b/test/engine/testdata/sleep/flex_nocnstr.xml
deleted file mode 100644
index e2f7767b..00000000
--- a/test/engine/testdata/sleep/flex_nocnstr.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<mujoco>
-  <option integrator="implicitfast" viscosity="10"
-          sleep_tolerance="0.01">
-    <flag sleep="enable" gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <body name="flex_body">
-      <flexcomp name="f1" type="grid" dim="1" count="3 1 1"
-                spacing=".05 .05 .05" radius=".01" mass="1">
-        <edge equality="false" stiffness="100" damping="10"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/flex_state.xml b/test/engine/testdata/sleep/flex_state.xml
deleted file mode 100644
index 43a19ab8..00000000
--- a/test/engine/testdata/sleep/flex_state.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<mujoco>
-  <option>
-    <flag sleep="enable" constraint="disable" contact="disable" gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <body name="flex_body">
-      <freejoint/>
-      <inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
-      <flexcomp name="f1" type="grid" dim="1" count="3 1 1"
-                spacing=".05 .05 .05" radius=".01" mass="1">
-        <edge equality="true" solref="0.15 0.2"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/flex_static.xml b/test/engine/testdata/sleep/flex_static.xml
deleted file mode 100644
index adb213ac..00000000
--- a/test/engine/testdata/sleep/flex_static.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<mujoco>
-  <option integrator="implicitfast" viscosity="2" sleep_tolerance="0.1">
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <geom type="plane" size="5 5 .01"/>
-
-    <!-- static body (no joint) with a sphere touching the flex -->
-    <body name="static_obstacle" pos="0 0 0.05">
-      <geom type="sphere" size=".04"/>
-    </body>
-
-    <!-- constrained flex on the floor, will go to sleep -->
-    <body name="flex_body" pos="0 0 0.01">
-      <flexcomp name="f1" type="grid" dim="1" count="3 1 1"
-                spacing=".05 .05 .05" radius=".01" mass="1">
-        <edge equality="true" solref="0.15 0.2"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/hollow_vs_solid.xml b/test/engine/testdata/sleep/hollow_vs_solid.xml
deleted file mode 100644
index c4931110..00000000
--- a/test/engine/testdata/sleep/hollow_vs_solid.xml
+++ /dev/null
@@ -1,89 +0,0 @@
-<mujoco>
-  <include file="scene.xml"/>
-
-  <option cone="elliptic" solver="CG" sleep_tolerance=".01">
-    <flag sleep="enable"/>
-  </option>
-
-  <default>
-    <default class="gripper">
-      <geom type="box" size="0.02 0.15 0.02" rgba="0.5 0.5 0.5 1"
-            solref="0.001 1" friction="2 0.1 0.1"/>
-      <joint type="slide" axis="0 0 1" range="-1 1"/>
-      <default class="finger">
-        <geom size="0.01 0.06 0.03"/>
-        <joint type="slide" range="0 0.1"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <body name="gripper_solid" pos="0.2 0.45 0.2">
-      <joint name="lift_solid" class="gripper"/>
-      <geom class="gripper"/>
-      <body name="left_finger_r" pos="0.05 -0.1 0" childclass="finger">
-        <joint name="left_slide_r" axis="0 1 0"/>
-        <geom rgba="0.8 0.2 0.2 1"/>
-      </body>
-      <body name="right_finger_r" pos="0.05 0.1 0" childclass="finger">
-        <joint name="right_slide_r" axis="0 -1 0"/>
-        <geom rgba="0.8 0.2 0.2 1"/>
-      </body>
-    </body>
-
-    <body name="gripper_hollow" pos="0.2 0 0.2">
-      <joint name="lift_hollow" class="gripper"/>
-      <geom class="gripper"/>
-      <body name="left_finger_s" pos="0.05 -0.1 0" childclass="finger">
-        <joint name="left_slide_s" axis="0 1 0"/>
-        <geom rgba="0.2 0.8 0.2 1"/>
-      </body>
-      <body name="right_finger_s" pos="0.05 0.1 0" childclass="finger">
-        <joint name="right_slide_s" axis="0 -1 0"/>
-        <geom rgba="0.2 0.8 0.2 1"/>
-      </body>
-    </body>
-
-    <body name="solid" pos=".32 0 .2">
-      <flexcomp
-        origin="0 0 0" count="8 2 12" cellcount="2 1 2"
-        type="grid" name="soft_mesh" dim="3" spacing=".025 .05 .025"
-        mass="0.43" radius="0.005" dof="trilinear" rgba="0.7 0.9 0.7 1">
-        <edge equality="strain" solref="0.001 1"/>
-        <contact selfcollide="none"
-              internal="false"
-              friction="2.0 0.5 0.01"
-              solref="0.001 1"
-              solimp="0.99 0.999 0.001"/>
-      </flexcomp>
-    </body>
-
-    <body name="hollow" pos=".32 .45 .2">
-      <flexcomp
-        origin="0 0 0" count="8 2 12" cellcount="2 1 2"
-        type="grid" name="soft_mesh_2" dim="3" spacing=".025 .05 .025"
-        mass="0.43" radius="0.005" dof="trilinear" rgba="0.9 0.7 0.7 1">
-        <elasticity young="1e5" poisson="0.3" damping="0" elastic2d="bend" thickness="0.03"/>
-        <edge equality="strain" solref="0.001 1" solimp="0.99 0.999 0.001"/>
-        <contact selfcollide="none"
-              internal="false"
-              friction="2.0 0.5 0.01"
-              solref="0.001 1"
-              solimp="0.99 0.999 0.001"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="right_slide_r" joint2="left_slide_r"/>
-    <joint joint1="right_slide_s" joint2="left_slide_s"/>
-  </equality>
-
-  <actuator>
-    <position name="lift_r" joint="lift_solid" kp="400" dampratio="1" ctrlrange="-1 1"/>
-    <position name="grasp_r" joint="left_slide_r" kp="10" dampratio="1" ctrlrange="0 5"/>
-
-    <position name="lift_s" joint="lift_hollow" kp="400" dampratio="1" ctrlrange="-1 1"/>
-    <position name="grasp_s" joint="left_slide_s" kp="10" dampratio="1" ctrlrange="0 5"/>
-  </actuator>
-</mujoco>
diff --git a/test/engine/testdata/sleep/init.xml b/test/engine/testdata/sleep/init.xml
deleted file mode 100644
index 0040fea3..00000000
--- a/test/engine/testdata/sleep/init.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="2.0"/>
-  </custom>
-
-  <option>
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 3"/>
-    <geom type="plane" size="1 1 .01"/>
-
-    <replicate count="3" offset="0 0 .3">
-      <body pos="0 0 .15" sleep="init">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1"/>
-      </body>
-    </replicate>
-
-    <body pos="0 0 1.2" euler="10 20 30">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/init_island.xml b/test/engine/testdata/sleep/init_island.xml
deleted file mode 100644
index e8823201..00000000
--- a/test/engine/testdata/sleep/init_island.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="2.0"/>
-  </custom>
-
-  <option>
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 3"/>
-    <geom type="plane" size="1 1 .01"/>
-
-    <replicate count="3" offset="0 0 .18" euler="0 0 20">
-      <body pos="0 0 .08" sleep="init">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1"/>
-      </body>
-    </replicate>
-
-    <body pos="0 0 1.2" euler="10 20 30">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/init_island_fail.xml b/test/engine/testdata/sleep/init_island_fail.xml
deleted file mode 100644
index 24ea60c3..00000000
--- a/test/engine/testdata/sleep/init_island_fail.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="2.0"/>
-  </custom>
-
-  <option>
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 3"/>
-    <geom type="plane" size="1 1 .01"/>
-
-    <replicate count="3" offset="0 0 .18" euler="0 0 20">
-      <body name="asleep_init" pos="0 0 .08" sleep="init">
-        <freejoint/>
-        <geom type="box" size=".1 .1 .1"/>
-      </body>
-    </replicate>
-
-    <!-- the free objects above are marked as sleep="init", but they are touching this object which
-         is awake so sleep initialization should fail -->
-    <body pos="0 0 .6" euler="10 20 30">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/mocap.xml b/test/engine/testdata/sleep/mocap.xml
deleted file mode 100644
index 61d55394..00000000
--- a/test/engine/testdata/sleep/mocap.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="0.1"/>
-  </custom>
-
-  <option>
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <geom size="1"/>
-
-    <body name="mocap_static" pos="-5 0 0.01" mocap="true">
-      <geom size="1" rgba="1 0 0 1"/>
-      <body pos="0 0 1">
-        <geom size="1" rgba="0 0 1 1"/>
-      </body>
-    </body>
-
-    <body name="mocap_dynamic" pos="5 0 0.01" mocap="true">
-      <geom size="1" rgba="1 0 0 1"/>
-      <body pos="0 0 2">
-        <joint type="slide"/>
-        <geom size="1" rgba="0 0 1 1"/>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/perf/2humanoid100.xml b/test/engine/testdata/sleep/perf/2humanoid100.xml
deleted file mode 100644
index d7dd930e..00000000
--- a/test/engine/testdata/sleep/perf/2humanoid100.xml
+++ /dev/null
@@ -1,123 +0,0 @@
-<mujoco model="2 Humanoids and 100 objects">
-<!--
-     Model designed for a maximally-elaborate island structure.
-     More horizontal gravity leads to larger, fewer islands.
--->
-  <option timestep="0.005" cone="elliptic" impratio="10" sleep_tolerance="1e-3">
-    <flag island="enable" sleep="enable"/>
-  </option>
-
-  <size memory="100M"/>
-
-  <default>
-    <geom condim="6" friction="1 .01 .003"/>
-    <default class="capsule">
-      <geom type="capsule" material="capsule" size="0.1 0.05"/>
-    </default>
-    <default class="ellipsoid">
-      <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
-    </default>
-    <default class="box">
-      <geom type="box" material="box" size="0.15 0.1 0.05"/>
-    </default>
-    <default class="cylinder">
-      <geom type="cylinder" material="cylinder" size="0.1 0.05"/>
-    </default>
-    <default class="sphere">
-      <geom type="sphere" material="sphere" size="0.1"/>
-    </default>
-    <default class="border">
-      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
-    </default>
-    <default class="borderpost">
-      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
-    </default>
-  </default>
-
-  <asset>
-    <model file="humanoid.xml"/>
-    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
-    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
-    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
-    <material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
-    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
-    <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
-    <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
-    <material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
-  </asset>
-
-  <visual>
-    <quality shadowsize="4096" offsamples="8"/>
-    <map znear="0.1" force="0.05"/>
-  </visual>
-
-  <statistic extent="4"/>
-
-  <worldbody>
-    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
-    <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
-    <geom class="border" fromto="-3 3 0 3 3 0"/>
-    <geom class="border" fromto="-3 -3 0 3 -3 0"/>
-    <geom class="border" fromto="3 3 0 3 -3 0"/>
-    <geom class="border" fromto="-3 3 0 -3 -3 0"/>
-    <geom class="borderpost" pos="3 3 0"/>
-    <geom class="borderpost" pos="-3 3 0"/>
-    <geom class="borderpost" pos="3 -3 0"/>
-    <geom class="borderpost" pos="-3 -3 0"/>
-
-    <replicate count="4" euler="0 0 90">
-      <geom type="plane" size=".5 3 .05" zaxis="1 0 0"  pos="-3 0 0.4"/>
-    </replicate>
-
-    <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-      <body pos="-2 0 0.5" euler="30 40 0">
-        <freejoint/>
-        <geom class="capsule"/>
-      </body>
-    </replicate>
-
-    <attach model="Humanoid" body="torso" prefix="1_"/>
-
-    <frame euler="0 0 72">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="20 40 60">
-          <freejoint/>
-          <geom class="ellipsoid"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame euler="0 0 144">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="30 70 110">
-          <freejoint/>
-          <geom class="box"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame pos="1 1 0" euler="0 0 144">
-      <attach model="Humanoid" body="torso" prefix="2_"/>
-    </frame>
-
-    <frame euler="0 0 216">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="60 30 0">
-          <freejoint/>
-          <geom class="cylinder"/>
-        </body>
-      </replicate>
-    </frame>
-
-    <frame euler="0 0 288">
-      <replicate count="20" offset="0 0 0.2" euler="0 0 20">
-        <body pos="-2 0 0.5" euler="60 30 0">
-          <freejoint/>
-          <geom class="sphere"/>
-        </body>
-      </replicate>
-    </frame>
-
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/perf/dominos.xml b/test/engine/testdata/sleep/perf/dominos.xml
deleted file mode 100644
index 805c6541..00000000
--- a/test/engine/testdata/sleep/perf/dominos.xml
+++ /dev/null
@@ -1,77 +0,0 @@
-<mujoco model="sleeping dominos">
-  <option cone="elliptic" impratio="10" sleep_tolerance="3e-4">
-    <flag sleep="enable"/>
-  </option>
-
-  <default>
-    <default class="domino">
-      <geom type="box" size=".008 .044 .089" rgba=".9 .9 .9 1" mass="0.09"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos=".5 0 3" diffuse="1 1 1"/>
-    <geom type="plane" size="2 2 .01" pos=".5 0 1e-6"/>
-
-    <!-- one domino atilt kicks off the chain reaction -->
-    <body pos="-.1 0 .089" euler="0 7 0">
-      <freejoint/>
-      <geom type="box" class="domino"/>
-    </body>
-
-    <!-- 5 rows of 15 dominoes, arranged in toppling order for consistent ids and colors -->
-
-    <!-- 3 rows of 15 dominoes, left to right -->
-    <replicate count="3" offset="0 1 0">
-      <frame pos="0 -1 0">
-        <replicate count="15" offset=".1 0 0">
-          <body pos="0 0 .089">
-            <freejoint/>
-            <geom type="box" class="domino"/>
-          </body>
-        </replicate>
-      </frame>
-    </replicate>
-
-    <!-- 2 rows of 15 dominoes, right to left -->
-    <replicate count="2" offset="0 1 0">
-      <frame pos="0 -.5 0">
-        <replicate count="15" offset="-.1 0 0">
-          <body pos="1.4 0 .089">
-            <freejoint/>
-            <geom type="box" class="domino"/>
-          </body>
-        </replicate>
-      </frame>
-    </replicate>
-
-    <!-- two "U turns", not too close in order to break the island chain -->
-    <replicate offset="0 -.55 0" count="2">
-      <frame pos="1.5 .26 0">
-        <replicate count="5" euler="0 0 45">
-          <body pos="0 -.23 .089">
-            <freejoint/>
-            <geom type="box" class="domino"/>
-          </body>
-        </replicate>
-      </frame>
-    </replicate>
-
-    <!-- two more U turns for the outside rows -->
-    <replicate offset="0 1.5 0" count="2">
-      <frame pos="-.1 -.75 0" euler="0 0 180">
-        <replicate count="5" euler="0 0 45">
-          <body pos="0 -.23 .089">
-            <freejoint/>
-            <geom type="box" class="domino"/>
-          </body>
-        </replicate>
-      </frame>
-    </replicate>
-  </worldbody>
-
-  <visual>
-    <global elevation="-25" azimuth="60"/>
-  </visual>
-  <statistic center="1.2 0 0"/>
-</mujoco>
diff --git a/test/engine/testdata/sleep/perf/humanoid.xml b/test/engine/testdata/sleep/perf/humanoid.xml
deleted file mode 100644
index b3192a1b..00000000
--- a/test/engine/testdata/sleep/perf/humanoid.xml
+++ /dev/null
@@ -1,254 +0,0 @@
-<mujoco model="Humanoid">
-  <option timestep="0.005" cone="elliptic" impratio="10" sleep_tolerance="1e-3">
-    <flag sleep="enable"/>
-  </option>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01" frictionloss="0.0001"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <light name="top" pos="0 0 2" mode="trackcom"/>
-    <body name="torso" pos="0 0 1.282" childclass="body" sleep="allowed">
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-  <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <!--
-    The values below are split into rows for readibility:
-      torso position
-      torso orientation
-      spinal
-      right leg
-      left leg
-      arms
-    -->
-    <key name="squat"
-         qpos="0 0 0.596
-               0.988015 0 0.154359 0
-               0 0.4 0
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               -0.25 -0.5 -2.5 -2.65 -0.8 0.56
-               0 0 0 0 0 0"/>
-    <key name="stand_on_left_leg"
-         qpos="0 0 1.21948
-               0.971588 -0.179973 0.135318 -0.0729076
-               -0.0516 -0.202 0.23
-               -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-               -0.08 -0.01 -0.37 -0.685 -0.35 -0.09
-               0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
-    <key name="prone"
-         qpos="0.4 0 0.0757706
-               0.7325 0 0.680767 0
-               0 0.0729 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.0077 0.0019 -0.026 -0.351 -0.27 0
-               0.56 -0.62 -1.752
-               0.56 -0.62 -1.752"/>
-    <key name="supine"
-         qpos="-0.4 0 0.08122
-               0.722788 0 -0.69107 0
-               0 -0.25 0
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.0182 0.0142 0.3 0.042 -0.44 -0.02
-               0.186 -0.73 -1.73
-               0.186 -0.73 -1.73"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/sleep/perf/smooth.xml b/test/engine/testdata/sleep/perf/smooth.xml
deleted file mode 100644
index 08ddc78b..00000000
--- a/test/engine/testdata/sleep/perf/smooth.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<mujoco>
-  <option viscosity="30" integrator="implicit">
-    <flag gravity="disable" constraint="disable" contact="disable" energy="enable" sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <replicate offset="0 0 2.5" count="7">
-      <replicate offset="4 0 0" count="7">
-        <replicate offset="0 2 0" count="7">
-          <body sleep="init">
-            <geom size=".4"/>
-            <freejoint/>
-            <body pos="-.4 0 0">
-              <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-              <joint type="slide" axis="0 0 1" springref="0.2" stiffness="1000" damping="100"/>
-            </body>
-          </body>
-
-          <body pos="1 0 0" sleep="init">
-            <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-            <joint axis="1 0 0" stiffness="300" damping="30"/>
-            <body pos="0 0 1">
-              <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-              <joint axis="1 0 0" springref="45" stiffness="300" damping="30"/>
-            </body>
-          </body>
-
-          <body pos="2 0 0" sleep="init">
-            <geom type="box" size=".2 .2 .2"/>
-            <joint type="ball" stiffness="300" damping="30"/>
-            <body pos=".2 0 0">
-              <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-              <joint type="slide" axis="0 0 1" springref="0.2" stiffness="1000" damping="100"/>
-            </body>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/perf/static.xml b/test/engine/testdata/sleep/perf/static.xml
deleted file mode 100644
index 4afc67be..00000000
--- a/test/engine/testdata/sleep/perf/static.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<mujoco>
-  <size memory="200M"/>
-
-  <option timestep="1e-2">
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <replicate offset="0 0 2.5" count="7">
-      <replicate offset="4 0 0" count="7">
-        <replicate offset="0 2 0" count="7">
-          <body>
-            <geom size=".4"/>
-            <body pos="-.4 0 0">
-              <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-            </body>
-          </body>
-
-          <geom type="box" size="0.1" fromto=".6 0 0 .6 0 1"/>
-
-          <body pos="1 0 0">
-            <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-            <body pos="0 0 1">
-              <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-            </body>
-          </body>
-
-          <geom type="box" size="0.1" fromto="1.4 0 0 1.4 0 1"/>
-
-          <body pos="2 0 0">
-            <geom type="box" size=".2 .2 .2"/>
-            <body pos=".2 0 0">
-              <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-            </body>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/perf/world.xml b/test/engine/testdata/sleep/perf/world.xml
deleted file mode 100644
index 32ce26f8..00000000
--- a/test/engine/testdata/sleep/perf/world.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<mujoco>
-  <size memory="200M"/>
-
-  <option timestep="1e-2">
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <replicate offset="0 0 2.5" count="7">
-      <replicate offset="4 0 0" count="7">
-        <replicate offset="0 2 0" count="7">
-          <frame>
-            <geom size=".4"/>
-            <frame pos="-.4 0 0">
-              <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-            </frame>
-          </frame>
-
-          <geom type="box" size="0.1" fromto=".6 0 0 .6 0 1"/>
-
-          <frame pos="1 0 0">
-            <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-            <frame pos="0 0 1">
-              <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-            </frame>
-          </frame>
-
-          <geom type="box" size="0.1" fromto="1.4 0 0 1.4 0 1"/>
-
-          <frame pos="2 0 0">
-            <geom type="box" size=".2 .2 .2"/>
-            <frame pos=".2 0 0">
-              <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-            </frame>
-          </frame>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/scene.xml b/test/engine/testdata/sleep/scene.xml
deleted file mode 100644
index 2f259f57..00000000
--- a/test/engine/testdata/sleep/scene.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco>
-  <compiler meshdir="asset" texturedir="asset"/>
-
-  <statistic meansize=".05"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-      width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="10 10" texuniform="true"/>
-  </asset>
-
-  <worldbody>
-    <light diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 2.0" dir="0 0 -1" castshadow="false"/>
-    <light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-
-    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/sensor.xml b/test/engine/testdata/sleep/sensor.xml
deleted file mode 100644
index 5fa58da9..00000000
--- a/test/engine/testdata/sleep/sensor.xml
+++ /dev/null
@@ -1,64 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="2.0"/>
-  </custom>
-
-  <option>
-    <flag sleep="enable" warmstart="disable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 3"/>
-    <geom name="floor" type="plane" size="1 1 .01"/>
-     <site name="inside" type="box" size=".5 .5 .5" rgba="0 0 0 0"/>
-
-    <body name="force_static" pos="0 0 .025">
-      <geom name="0" type="box" size=".15 .15 .025"/>
-      <site name="force_static"/>
-    </body>
-
-    <body name="1" pos="0 0 .15">
-      <freejoint/>
-      <geom name="1" type="box" size=".1 .1 .05" pos="0 0 .05"/>
-      <body name="force_dynamic" pos="0 0 -.05">
-        <geom name="1_bottom" type="box" size=".1 .1 .05"/>
-        <site name="force_dynamic"/>
-      </body>
-    </body>
-
-    <body name="2" pos="0 0 .35">
-      <freejoint/>
-      <geom name="2" type="box" size=".1 .1 .1"/>
-      <site name="2" type="box" size=".11 .11 .11" rgba=".5 .7 .5 .2"/>
-    </body>
-
-    <body name="3" pos="0 0 1.2" euler="10 20 30">
-      <freejoint/>
-      <geom name="3" type="box" size=".1 .1 .1"/>
-      <site name="rf" type="cylinder" size=".01 .03" pos="0 0 -.11" zaxis="0 0 -1"/>
-    </body>
-  </worldbody>
-
-  <sensor>
-    <!-- for most sensors, expect match between sleep enabled/disabled -->
-    <contact subtree1="1" geom2="2"/>
-    <contact subtree1="1" geom2="2" reduce="maxforce" data="force"/>
-    <contact subtree1="1" geom2="floor"/>
-    <contact subtree1="1"/>
-    <contact subtree1="1" reduce="maxforce" data="force"/>
-    <insidesite name="insidesite" site="inside" objtype="body" objname="3"/>
-    <framelinvel objtype="body" objname="3"/>
-    <framelinvel objtype="body" objname="3" reftype="body" refname="2"/>
-    <gyro name="gyro" site="2"/>
-    <touch name="touch" site="2"/>
-    <clock name="clock"/>
-    <rangefinder site="rf"/>
-    <force site="force_dynamic"/>
-
-    <!-- sensors marked with user="1": expect mismatch between sleep enabled/disabled -->
-    <contact user="1" reduce="maxforce" data="force"/>
-    <contact user="1" geom1="floor"/>
-    <contact user="1" site="2"/>
-    <force   user="1" site="force_static"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sleep/smooth.xml b/test/engine/testdata/sleep/smooth.xml
deleted file mode 100644
index 96113f8f..00000000
--- a/test/engine/testdata/sleep/smooth.xml
+++ /dev/null
@@ -1,54 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="6.5"/>
-  </custom>
-
-  <option viscosity="60" gravity="0 0 -1">
-    <flag energy="enable" sleep="enable" constraint="disable" contact="disable"/>
-  </option>
-
-  <worldbody>
-    <body gravcomp="1">
-      <geom type="box" size=".2 .2 .2"/>
-      <freejoint/>
-      <body pos="-.4 0 0" gravcomp="1">
-        <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-        <joint type="slide" axis="0 0 1" springref="0.2" springdamper="0.1 1"/>
-      </body>
-    </body>
-
-    <body pos="1 0 0">
-      <geom type="box" size=".2 .2 .2"/>
-      <body>
-        <joint axis="1 0 0" springdamper="0.1 1"/>
-        <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-        <site name="1" pos="0 -.1 .5" size=".03" rgba="1 0 0 1"/>
-        <body pos="0 0 1">
-          <joint axis="1 0 0" springref="45" springdamper="0.1 1"/>
-          <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-          <site name="2" pos="0 -.1 .5" size=".03" rgba="1 0 0 1"/>
-        </body>
-      </body>
-    </body>
-
-    <body pos="2 0 0">
-      <geom size=".3"/>
-      <joint type="ball" stiffness="300" damping="30"/>
-      <body name="angmom" pos=".2 0 0">
-        <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-        <joint type="slide" axis="0 0 1" springref="0.2" stiffness="1000" damping="100"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial width="0.01" armature="1">
-      <site site="1"/>
-      <site site="2"/>
-    </spatial>
-  </tendon>
-
-  <sensor>
-    <subtreeangmom body="angmom"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/sleep/static.xml b/test/engine/testdata/sleep/static.xml
deleted file mode 100644
index c363fb90..00000000
--- a/test/engine/testdata/sleep/static.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="0.1"/>
-  </custom>
-
-  <option>
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <body>
-      <geom type="box" size=".2 .2 .2"/>
-      <body pos="-.4 0 0">
-        <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-      </body>
-    </body>
-
-    <body pos="1 0 0">
-      <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-      <body pos="0 0 1">
-        <geom type="capsule" size="0.1" fromto="0 0 0 0 0 1"/>
-        <site/>
-      </body>
-    </body>
-
-    <body pos="2 0 0">
-      <geom size=".3"/>
-      <body pos=".2 0 0">
-        <geom type="cylinder" size="0.1" fromto="0 0 0 0 0 1"/>
-        <camera/>
-        <light pos="0 0 1.5"/>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/sleep/tendon.xml b/test/engine/testdata/sleep/tendon.xml
deleted file mode 100644
index 3482d0a5..00000000
--- a/test/engine/testdata/sleep/tendon.xml
+++ /dev/null
@@ -1,33 +0,0 @@
-<mujoco>
-  <custom>
-    <numeric name="duration" data="2.0"/>
-  </custom>
-
-  <option>
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 4"/>
-    <geom type="plane" size="1.5 1.5 .01" rgba=".5 .5 .5 .5"/>
-
-    <body pos=".3 0 1" sleep="init">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-      <site name="1" pos="-.1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
-    </body>
-
-    <body pos="-.3 0 1" euler="10 20 30">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-      <site name="2" pos=".1 -.1 .1" size=".01" rgba="1 0 0 1"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial range="0 .6" width="0.01">
-      <site site="1"/>
-      <site site="2"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/sleep/tendon2.xml b/test/engine/testdata/sleep/tendon2.xml
deleted file mode 100644
index 89dfdfb3..00000000
--- a/test/engine/testdata/sleep/tendon2.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<mujoco>
-  <option>
-    <flag sleep="enable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 -1 4"/>
-    <geom type="plane" size="1.5 1.5 .01" rgba=".5 .5 .5 .5"/>
-
-    <body pos=".3 0 1" sleep="init">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-      <site name="1" pos="-.1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
-      <site name="2" pos=".1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
-    </body>
-
-    <body pos="-.3 0 1" euler="10 20 30">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-      <site name="3" pos=".1 -.1 .1" size=".01" rgba="1 0 0 1"/>
-    </body>
-
-    <body pos=".7 0 1" sleep="init">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1"/>
-      <site name="4" pos="-.1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial range="0 .6" width="0.01">
-      <site site="1"/>
-      <site site="3"/>
-    </spatial>
-    <spatial range="0 .6" width="0.01">
-      <site site="2"/>
-      <site site="4"/>
-    </spatial>
-  </tendon>
-</mujoco>
diff --git a/test/engine/testdata/solver/humanoid.xml b/test/engine/testdata/solver/humanoid.xml
deleted file mode 100644
index 6cb3b61e..00000000
--- a/test/engine/testdata/solver/humanoid.xml
+++ /dev/null
@@ -1,217 +0,0 @@
-<mujoco model="Humanoid">
-  <option timestep="0.005" cone="elliptic" impratio="3" solver="PGS">
-    <flag island="disable" warmstart="disable"/>
-  </option>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
-  </visual>
-
-  <statistic center="0 0 0.7"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-
-      <!-- geoms -->
-      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
-      <default class="thigh">
-        <geom size=".06"/>
-      </default>
-      <default class="shin">
-        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
-      </default>
-      <default class="foot">
-        <geom size=".027"/>
-        <default class="foot1">
-          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
-        </default>
-        <default class="foot2">
-          <geom fromto="-.07 .01 0 .14  .03 0"/>
-        </default>
-      </default>
-      <default class="arm_upper">
-        <geom size=".04"/>
-      </default>
-      <default class="arm_lower">
-        <geom size=".031"/>
-      </default>
-      <default class="hand">
-        <geom type="sphere" size=".04"/>
-      </default>
-
-      <!-- joints -->
-      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
-      <default class="joint_big">
-        <joint damping="5" stiffness="10"/>
-        <default class="hip_x">
-          <joint range="-30 10"/>
-        </default>
-        <default class="hip_z">
-          <joint range="-60 35"/>
-        </default>
-        <default class="hip_y">
-          <joint axis="0 1 0" range="-150 20"/>
-        </default>
-        <default class="joint_big_stiff">
-          <joint stiffness="20"/>
-        </default>
-      </default>
-      <default class="knee">
-        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-      </default>
-      <default class="ankle">
-        <joint range="-50 50"/>
-        <default class="ankle_y">
-          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
-        </default>
-        <default class="ankle_x">
-          <joint pos="0 0 .04" stiffness="3"/>
-        </default>
-      </default>
-      <default class="shoulder">
-        <joint range="-85 60"/>
-      </default>
-      <default class="elbow">
-        <joint range="-100 50" stiffness="0"/>
-      </default>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
-    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
-    <light name="top" pos="0 0 2" mode="trackcom"/>
-    <body name="torso" pos="0 0 1.282" childclass="body">
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <freejoint name="root"/>
-      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <body name="head" pos="0 0 .19">
-        <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
-      </body>
-      <body name="waist_lower" pos="-.01 0 -.26">
-        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
-        <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
-        <body name="pelvis" pos="0 0 -.165">
-          <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
-          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <body name="thigh_right" pos="0 -.1 -.04">
-            <joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
-            <joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
-            <joint name="hip_y_right" class="hip_y"/>
-            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
-            <body name="shin_right" pos="0 .01 -.4">
-              <joint name="knee_right" class="knee"/>
-              <geom name="shin_right" class="shin"/>
-              <body name="foot_right" pos="0 0 -.39">
-                <joint name="ankle_y_right" class="ankle_y"/>
-                <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
-                <geom name="foot1_right" class="foot1"/>
-                <geom name="foot2_right" class="foot2"/>
-              </body>
-            </body>
-          </body>
-          <body name="thigh_left" pos="0 .1 -.04">
-            <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
-            <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
-            <joint name="hip_y_left" class="hip_y"/>
-            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
-            <body name="shin_left" pos="0 -.01 -.4">
-              <joint name="knee_left" class="knee"/>
-              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
-              <body name="foot_left" pos="0 0 -.39">
-                <joint name="ankle_y_left" class="ankle_y"/>
-                <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
-                <geom name="foot1_left" class="foot1"/>
-                <geom name="foot2_left" class="foot2"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_right" pos="0 -.17 .06">
-        <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
-        <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
-        <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
-        <body name="lower_arm_right" pos=".18 -.18 -.18">
-          <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
-          <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
-          <body name="hand_right" pos=".18 .18 .18">
-            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-      <body name="upper_arm_left" pos="0 .17 .06">
-        <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
-        <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
-        <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
-        <body name="lower_arm_left" pos=".18 .18 -.18">
-          <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
-          <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
-          <body name="hand_left" pos=".18 -.18 .18">
-            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1="waist_lower" body2="thigh_right"/>
-    <exclude body1="waist_lower" body2="thigh_left"/>
-  </contact>
-
-  <tendon>
-    <fixed name="hamstring_right" limited="true" range="-0.3 2">
-      <joint joint="hip_y_right" coef=".5"/>
-      <joint joint="knee_right" coef="-.5"/>
-    </fixed>
-    <fixed name="hamstring_left" limited="true" range="-0.3 2">
-      <joint joint="hip_y_left" coef=".5"/>
-      <joint joint="knee_left" coef="-.5"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
-    <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
-    <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
-    <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
-    <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
-    <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
-    <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
-    <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
-    <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
-    <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
-    <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
-    <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
-    <motor name="elbow_right"     gear="40"  joint="elbow_right"/>
-    <motor name="shoulder1_left"  gear="20"  joint="shoulder1_left"/>
-    <motor name="shoulder2_left"  gear="20"  joint="shoulder2_left"/>
-    <motor name="elbow_left"      gear="40"  joint="elbow_left"/>
-  </actuator>
-
-  <keyframe>
-    <key qpos="-0.582713 -0.00241236 0.336233 0.301002 -0.748049 -0.0734037 0.586883 -0.0516 -0.202 0.23 -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415 -0.08 -0.01 -0.37 -0.685 -0.35 -0.09 0.109 -0.067 -0.7 -0.05 0.12 0.16"
-    qvel="0 0 0 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/solver/model.xml b/test/engine/testdata/solver/model.xml
deleted file mode 100644
index 1f98808d..00000000
--- a/test/engine/testdata/solver/model.xml
+++ /dev/null
@@ -1,186 +0,0 @@
-<mujoco>
-  <option jacobian="dense" density="1.225" viscosity="1.8e-5" wind="0 0 1">
-    <flag fwdinv="enable" energy="enable" island="enable"/>
-  </option>
-
-  <asset>
-    <mesh name="icosahedron" scale=".05 .05 .05"
-          vertex="0         1       1.618
-                  0        -1       1.618
-                  0         1      -1.618
-                  0        -1      -1.618
-                  1         1.618   0
-                 -1         1.618   0
-                  1        -1.618   0
-                 -1        -1.618   0
-                  1.618     0       1
-                  1.618     0      -1
-                 -1.618     0       1
-                 -1.618     0      -1"/>
-    <hfield name="hfield" nrow="3" ncol="3" size=".2 .2 .03 .03"
-            elevation="1 0 1
-                       0 1 0
-                       1 0 1"/>
-    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
-    <texture name="grid" type="cube" builtin="checker" width="32" height="32" rgb1=".1 .2 .3" rgb2="1 1 1"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <site rgba=".5 .5 .5 .5"/>
-    <joint armature="1" damping="10"/>
-    <general ctrllimited="true" ctrlrange="-1 1"/>
-    <default class="hip0">
-      <joint springref="30" stiffness="60"/>
-    </default>
-    <default class="hip1">
-      <joint limited="true" range="-60 60" stiffness="10"/>
-    </default>
-    <default class="wheel">
-      <joint damping=".1" armature=".1"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom name="floor" type="plane" size="4 4 .1" margin="0.005" gap="0.005"/>
-    <geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
-    <body name="head" pos="0 0 .7" gravcomp="0.5">
-      <geom type="ellipsoid" size=".2 .2 .4" density="200" material="grid"/>
-      <site name="head" pos="0 0 .4" size=".1 .1 .05" type="box"/>
-      <site name="anchor0" pos="0 .2 0"/>
-      <site name="anchor_knee" pos="-.16 -.16 0"/>
-      <site name="rf" pos="0 0 -0.41" zaxis="0 0 -1"/>
-      <freejoint/>
-      <body euler="0 0 0" pos=".2 0 -.2">
-        <joint name="hipz_0" class="hip1" axis="0 0 1"/>
-        <joint name="hipy_0" class="hip0" axis="0 1 0"/>
-        <geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
-        <body pos=".3 0 0">
-          <site name="knee"/>
-          <geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .1 0 -.3"/>
-          <body pos=".1 0 -.3">
-            <joint name="wheel_0" type="ball" class="wheel"/>
-            <site name="wheel_0" type="box" size=".1 .1 .1"/>
-            <geom name="wheel_0" size=".1 .2 .1"  rgba="0 1 0 1" type="ellipsoid"/>
-          </body>
-        </body>
-      </body>
-      <body euler="0 0 120" pos="-.15 .2 -.2">
-        <joint name="hipz_1" class="hip1" axis="0 0 1"/>
-        <joint name="hipy_1" class="hip0" axis="0 1 0"/>
-        <geom type="box" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
-        <geom type="box" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
-        <body pos=".45 0 -.3">
-          <joint name="wheel_1" axis="1 0 0" class="wheel"/>
-          <geom size=".1"  rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0"/>
-          <site name="wheel_1" type="box" size=".02 .11 .11" pos=".015 0 0"/>
-        </body>
-      </body>
-      <body euler="0 0 240" pos="-.15 -.2 -.2">
-        <joint name="hipz_2" class="hip1" axis="0 0 1"/>
-        <joint name="hipy_2" class="hip0" axis="0 1 0"/>
-        <geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
-        <geom type="capsule" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
-        <site name="knee_2" pos=".3 0 .05"/>
-        <body pos=".45 0 -.3">
-          <joint name="wheel_2" axis="1 0 0" class="wheel"/>
-          <geom size=".1"  rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0" margin="0.01"/>
-          <site name="wheel_2" size=".13"  rgba="0 0 0 0.1" type="cylinder" fromto="-.01 0 0 .04 0 0"/>
-        </body>
-      </body>
-    </body>
-    <body pos="-.33 0 1">
-      <joint name="slider" type="slide" axis="0 0 1" limited="true" range="-.2 .5"/>
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="mesh" mesh="icosahedron" size=".1" rgba="0 0 1 1"/>
-    </body>
-    <body name="cylinder" pos="-.5 .3 .7">
-      <freejoint/>
-      <geom name="wrapping" type="cylinder" size=".04" fromto="-.1 -.2 0 .1 .4 0"/>
-      <site name="cylinder"/>
-    </body>
-    <site name="sidesite" pos="-.5 .4 1"/>
-    <body pos="-.3 .6 .8">
-      <freejoint/>
-      <geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
-      <site name="anchor1" pos=".05 .05 .05"/>
-    </body>
-    <body pos="-.6 .4 .8">
-      <freejoint/>
-      <geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
-      <site name="anchor2" pos=".05 .05 .05"/>
-    </body>
-    <body name="tumbling" pos="-.2 .3 1">
-      <freejoint/>
-      <geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4" fluidshape="ellipsoid"/>
-      <geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4" fluidshape="ellipsoid"/>
-    </body>
-    <body pos="-.2 .3 .8">
-      <geom type="sdf" mesh="icosahedron" size=".1" rgba="0 0 1 1"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="world" body2="cylinder"/>
-  </equality>
-
-  <tendon>
-    <spatial name="spatial" limited="true" range="0 .7" rgba="1 0 1 1">
-      <site site="anchor0"/>
-      <site site="anchor1"/>
-      <geom geom="wrapping" sidesite="sidesite"/>
-      <site site="anchor2"/>
-    </spatial>
-    <spatial name="knee" limited="true" range=".4 .5" rgba="1 0 1 1" armature="0.1">
-      <site site="anchor_knee"/>
-      <site site="knee_2"/>
-    </spatial>
-    <fixed name="fixed">
-      <joint joint="hipy_0" coef="1"/>
-      <joint joint="hipy_1" coef="1"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor tendon="fixed" gear="100"/>
-    <motor tendon="spatial" gear="10"/>
-    <motor joint="hipy_2" gear="100"/>
-    <position joint="hipz_1" kp="100"/>
-    <position joint="hipz_2" kp="100"/>
-    <velocity joint="wheel_2" kv="1"/>
-    <intvelocity joint="hipz_0" kp="100" actrange="-1 1"/>
-    <general site="wheel_0" gear="0 0 0 0 10 0" dyntype="filter" dynprm="1"/>
-    <general joint="wheel_1" biastype="affine" dyntype="integrator" dynprm="1" biasprm="0 -1"/>
-    <general joint="hipy_1" actearly="true" dyntype="filterexact" dynprm="0.9" gear="12.1" />
-  </actuator>
-
-  <sensor>
-    <framepos objtype="site" objname="wheel_0" reftype="site" refname="wheel_2"/>
-    <rangefinder site="rf"/>
-    <gyro site="wheel_2"/>
-    <touch site="wheel_1"/>
-    <force site="knee"/>
-    <torque site="knee"/>
-    <force site="cylinder"/>
-    <torque site="cylinder"/>
-    <jointlimitfrc joint="slider"/>
-    <accelerometer site="head"/>
-    <subtreeangmom body="head"/>
-  </sensor>
-
-  <keyframe>
-    <key name="start"
-         qpos="0.0133625 -0.013799 0.659429 0.999776 0.019159 0.00902704 0.000572574 -0.00776575 0.0983289 0.999861 -0.00869796 -0.0141805 0.000912197 0.00700633 0.0930296 0.00637469 -0.00313231 0.119692 0.0051478 -0.0469067 0 -0.500224 0.300659 0.69913 1 -0.000367766 -0.000265698 -0.000109715 -0.319851 0.525628 0.702735 0.29858 0.698263 -0.0490604 -0.648746 -0.579432 0.4206 0.749601 0.900145 -0.208463 0.346664 -0.161576 -0.200033 0.300084 0.976421 0.878429 -0.00171382 0.00127086 -0.477867"
-         qvel="0.508861 -0.243772 -0.327162 0.549686 1.13746 0.0282475 -0.0865243 1.06414 -0.239958 -0.532111 -0.00133789 -0.0654491 0.533148 -0.253161 0.122149 0.824764 0.723529 -0.674175 0 -0.00154509 -0.00568917 0.00479921 0.00541817 0.00115895 0.00317796 -0.160161 -0.599488 -1.38103 14.9789 -1.05454 -13.9252 -0.31223 -0.0102486 -0.405851 5.43992 -4.71514 0.114928 -0.00123758 0.000187845 -0.244109 -0.190199 0.0697975 -16.3286"/>
-  </keyframe>
-
-  <custom>
-    <numeric name="numeric" data="1 2 3"/>
-    <text name="text" data="abc"/>
-    <tuple name="tuple">
-      <element objtype="body" objname="cylinder" prm="1"/>
-      <element objtype="joint" objname="hipz_0" prm="2"/>
-    </tuple>
-  </custom>
-</mujoco>
diff --git a/test/engine/testdata/solver/perf/mixed.xml b/test/engine/testdata/solver/perf/mixed.xml
deleted file mode 100644
index 8940d190..00000000
--- a/test/engine/testdata/solver/perf/mixed.xml
+++ /dev/null
@@ -1,108 +0,0 @@
-<mujoco model="Mixed convex objects">
-  <statistic extent="1.5" meansize=".05"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <map shadowscale="0.5" zfar="40" force="0.01"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
-    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-    <mesh name="icosahedron" scale=".05 .05 .05"
-          vertex="0         1       1.618
-                  0        -1       1.618
-                  0         1      -1.618
-                  0        -1      -1.618
-                  1         1.618   0
-                 -1         1.618   0
-                  1        -1.618   0
-                 -1        -1.618   0
-                  1.618     0       1
-                  1.618     0      -1
-                 -1.618     0       1
-                 -1.618     0      -1"/>
-    <mesh name="meshbox" scale=".05 .05 .05"
-          vertex="-1 -1 -1
-                   1 -1 -1
-                   1  1 -1
-                   1  1  1
-                   1 -1  1
-                  -1  1 -1
-                  -1  1  1
-                  -1 -1  1"/>
-    <hfield name="hfield" nrow="5" ncol="5" size=".53 .53 .03 .03"
-            elevation="1 0 1 0 1
-                       0 2 0 2 0
-                       1 0 1 0 1
-                       0 2 0 2 0
-                       1 0 1 0 1"/>
-  </asset>
-
-  <default>
-    <geom solref="2e-3 1" size=".05 .15 .07"/>
-  </default>
-
-  <option timestep="1e-3" solver="PGS"/>
-
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
-    <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
-
-    <geom type="plane" size="3 3 .01"/>
-    <geom type="hfield" hfield="hfield" rgba=".5 .5 .5 .2"/>
-    <replicate count="4" euler="0 0 90">
-      <geom type="hfield" hfield="hfield" zaxis="1 0 0"  pos="-.5 0 .5" rgba=".5 .5 .5 .2"/>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.3 -.3 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="ellipsoid"/>
-      </body>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.3 -.3 1" euler="10 20 30">
-        <freejoint/>
-        <geom type="box"/>
-      </body>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.3 -.3 .6" euler="10 20 30">
-        <freejoint/>
-        <geom type="capsule"/>
-      </body>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.3 .3 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="cylinder"/>
-      </body>
-    </replicate>
-
-    <replicate count="20" euler="0 0 60" offset="0 0 .15">
-      <body pos="-.15 .15 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="mesh" mesh="icosahedron"/>
-      </body>
-    </replicate>
-
-    <replicate count="20" euler="0 0 60" offset="0 0 .15">
-      <body pos=".15 -.15 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="mesh" mesh="meshbox"/>
-      </body>
-    </replicate>
-
-    <replicate count="15" euler="0 0 60" offset="0 0 .15">
-      <body pos=".05 0 .3" euler="10 20 30">
-        <freejoint/>
-        <geom type="sphere"/>
-      </body>
-    </replicate>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/spin_recoil.xml b/test/engine/testdata/spin_recoil.xml
deleted file mode 100644
index ddfde108..00000000
--- a/test/engine/testdata/spin_recoil.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-<mujoco>
-  <option cone="elliptic" timestep="1e-4" integrator="implicitfast"/>
-
-  <visual>
-    <global elevation="0"/>
-  </visual>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/>
-    <material name="grid" texture="grid" texrepeat="8 8" reflectance=".2"/>
-    <texture name="ball" type="cube" builtin="checker" rgb1=".3 .3 .3" rgb2="1 1 1" width="300" height="300"/>
-    <material name="ball" texture="ball" texrepeat="8 8"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" size=".2 .2 .01" type="plane" material="grid"/>
-    <geom name="wall" size=".2 .2 .01" type="plane" material="grid" pos=".2 0 .2" zaxis="-1 0 0"/>
-    <light pos="0 0 .6"/>
-    <light pos="-.6 0 .6" dir="1 0 -1"/>
-    <body name="ball" pos="-.1 0 .2">
-      <freejoint/>
-      <geom name="ball" type="sphere" size=".02" material="ball" mass=".001"/>
-      <body name="ballast">
-        <joint type="ball" stiffness="0.1" damping=".0001"/>
-        <geom name="ballast" type="sphere" size=".02" contype="0" conaffinity="0" mass=".01" group="3"/>
-      </body>
-    </body>
-  </worldbody>
-
-  <default>
-    <pair solref="-100000 0" solreffriction="0 -10000"/>
-  </default>
-
-  <contact>
-    <pair geom1="floor" geom2="ball"/>
-    <pair geom1="wall" geom2="ball"/>
-  </contact>
-
-  <keyframe>
-    <key name="throw" qvel="1.3 0 0 0 0 0 0 0 0"/>
-  </keyframe>
-</mujoco>
diff --git a/test/engine/testdata/tendon_springlength.xml b/test/engine/testdata/tendon_springlength.xml
deleted file mode 100644
index 1dacb1e9..00000000
--- a/test/engine/testdata/tendon_springlength.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<mujoco>
-  <!-- use Runge-Kutta for better energy conservation -->
-  <option integrator="RK4">
-    <flag energy="enable"/>
-  </option>
-
-  <statistic center="0 0 0"/>
-
-  <worldbody>
-    <site name="origin" size=".01" rgba="1 0 0 1"/>
-    <light pos="0 0 3"/>
-
-    <body pos="1 0 .06">
-      <joint type="slide" axis="1 0 0"/>
-      <geom size=".05"/>
-      <site name="attachment" size=".01" pos="0 0 -.06" rgba="1 0 0 1"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial name="tendon" stiffness="10" springlength="0 .5">
-      <site site="origin"/>
-      <site site="attachment"/>
-    </spatial>
-  </tendon>
-
-  <sensor>
-    <tendonpos tendon="tendon"/>
-  </sensor>
-</mujoco>
diff --git a/test/engine/testdata/vis_interact/boxes.xml b/test/engine/testdata/vis_interact/boxes.xml
deleted file mode 100644
index 976af739..00000000
--- a/test/engine/testdata/vis_interact/boxes.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<mujoco>
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom type="plane" size="1 1 .01"/>
-
-    <body pos="0 .1 .1" euler="0 0 45">
-      <freejoint/>
-      <geom type="box" size="0.1 0.1 0.1" rgba="0 0 1 1"/>
-    </body>
-
-    <body pos="0 -.2 .1" euler="0 0 20">
-      <freejoint/>
-      <geom type="box" size="0.1 0.1 0.1" rgba="1 0 0 1"/>
-    </body>
-
-    <body pos=".2 0 .1" euler="0 0 10">
-      <freejoint/>
-      <geom type="box" size="0.1 0.1 0.1" rgba="0 1 0 1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/vis_visualize/frustum.xml b/test/engine/testdata/vis_visualize/frustum.xml
deleted file mode 100644
index 46fe5830..00000000
--- a/test/engine/testdata/vis_visualize/frustum.xml
+++ /dev/null
@@ -1,33 +0,0 @@
-<!-- Please activate Camera rendering when loading this model.
-     The frustum should match exactly the fron face of the box. -->
-
-<mujoco>
-  <visual>
-    <map znear="0.01"/>
-    <rgba frustum="1. 1. 0 0.2"/>
-    <scale frustum="3"/>
-  </visual>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="9 16" texuniform="false" reflectance=".2"/>
-    <texture type="skybox" builtin="flat" rgb1=".5 .5 1" height="1" width="1"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom type="plane" size="10 10 .01"/>
-
-    <geom type="box" size=".375 .6 .1" pos="1.1 0 1" material="grid" euler="0 90 0"/>
-    <!-- 8mm focal length lenses -->
-    <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" focalpixel="1600 1600" resolution="1920 1200"
-            sensorsize="9.6e-3 6e-3"/>
-
-    <body euler="0 0 90">
-      <geom type="box" size=".375 .6 .1" pos="1.1 2 1" material="grid" euler="0 90 0"/>
-      <!-- 8mm focal length lenses -->
-      <camera pos="0 2 1" xyaxes="0 -1 0 0 0 1" focal="8e-3 8e-3" resolution="1920 1200"
-              sensorsize="9.6e-3 6e-3" principalpixel="200 0"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/vis_visualize/mocap.xml b/test/engine/testdata/vis_visualize/mocap.xml
deleted file mode 100644
index f1675e00..00000000
--- a/test/engine/testdata/vis_visualize/mocap.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco>
-  <worldbody>
-    <light pos="0 0 2"/>
-    <geom type="plane" size="1 1 0.1"/>
-
-    <body mocap="true">
-      <geom size=".1"/>
-      <body pos="0 0 .05">
-        <geom size=".1" pos="0 0 .1"/>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/vis_visualize/orthographic.xml b/test/engine/testdata/vis_visualize/orthographic.xml
deleted file mode 100644
index 0ae9c261..00000000
--- a/test/engine/testdata/vis_visualize/orthographic.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<!-- Test model for visual debugging of orthographic cameras. -->
-
-<mujoco>
-  <visual>
-    <!-- free camera is orthorgaphic with a 5m vertical field-of-view -->
-    <global orthographic="true" fovy="5"/>
-    <scale camera="0.5"/>
-  </visual>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="10 10" texuniform="false" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <camera projection="orthographic"/>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom type="plane" size="10 10 .01" material="grid"/>
-
-    <body pos=".5 .5 .5">
-      <freejoint/>
-      <geom type="box" size=".5 .5 .5" pos="0 0 .5"/>
-    </body>
-
-    <!-- box should pefectly fit within field-of-view -->
-    <camera name="fovy = 1" pos=".5 .5 2" projection="orthographic" fovy="1" resolution="640 480"/>
-
-    <!-- 2 floor squares should pefectly fit within field-of-view -->
-    <camera name="fovy = 2" pos="0 0 3" fovy="2"/>   <!-- inherits projection="orthographic" from defaults -->
-  </worldbody>
-</mujoco>
diff --git a/test/engine/testdata/weld.xml b/test/engine/testdata/weld.xml
deleted file mode 100644
index 5d1b1f69..00000000
--- a/test/engine/testdata/weld.xml
+++ /dev/null
@@ -1,69 +0,0 @@
-<mujoco>
-  <option>
-    <flag contact="disable"/>
-  </option>
-
-  <default>
-    <default class="static">
-      <geom size=".5 .1 .5" rgba=".5 .7 .5 .3"/>
-    </default>
-    <default class="free">
-      <geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom pos="0 0 -2" type="plane" size="10 10 .01"/>
-    <light pos="0 0 20"/>
-
-    <body name="box1" pos="-3 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam1" pos="-3 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box2" pos="-1 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam2" pos="-1 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box3" pos="1 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam3" pos="1 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box4" pos="3 0 0">
-      <geom type="box" class="static"/>
-    </body>
-    <body name="beam4" pos="3 0 0">
-      <freejoint/>
-      <geom class="free"/>
-    </body>
-
-    <body name="box5" pos="5 0 0">
-      <geom type="box" class="static"/>
-      <site name="box5"/>
-    </body>
-    <body name="beam5" pos="5 0 0">
-      <freejoint/>
-      <geom class="free"/>
-      <site name="beam5" pos="0 -1 0" euler="45 20 5"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld name="weak torques"      body1="box1" body2="beam1" torquescale="0.002"/>
-    <weld name="anchor no torques" body1="box2" body2="beam2" torquescale="0" anchor="0 -2 0"/>
-    <weld name="relpose"           body1="box3" body2="beam3" relpose="0 0 0 1 -.3 0 0"/>
-    <weld name="relpose+anchor"    body1="box4" body2="beam4" relpose="0 0 0 1 -.3 0 0" anchor="0 0 -1"/>
-    <weld name="site"              site1="box5" site2="beam5"/>
-  </equality>
-</mujoco>
diff --git a/test/experimental/CMakeLists.txt b/test/experimental/CMakeLists.txt
deleted file mode 100644
index 2d0d5392..00000000
--- a/test/experimental/CMakeLists.txt
+++ /dev/null
@@ -1,32 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Only support testing when building against a standalone version of USD.
-if(MUJOCO_WITH_USD)
-  add_library(usd_test_utils STATIC usd/test_utils.h usd/test_utils.cc)
-  target_include_directories(usd_test_utils PUBLIC ${MUJOCO_TEST_INCLUDE})
-  target_compile_definitions(usd_test_utils PUBLIC MJSTATIC)
-  target_link_libraries(
-    usd_test_utils
-    PUBLIC usd
-           tf
-           gtest
-           gmock
-           mujoco
-  )
-
-  add_subdirectory(usd/plugins/mjcf)
-endif()
-
-
diff --git a/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc b/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc
deleted file mode 100644
index 59de7649..00000000
--- a/test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc
+++ /dev/null
@@ -1,190 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/vt/types.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/usd/common.h>
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usdPhysics/scene.h>
-
-namespace mujoco {
-namespace {
-
-using pxr::SdfPath;
-using MjcPhysicsSceneTest = MujocoTest;
-using testing::NotNull;
-
-// clang-format off
-#define EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(type, usd_attr, mjc_attr) \
-  {                                                                   \
-    type value;                                                     \
-    mjc_phys_scene.Get##usd_attr##Attr().Get(&value);                 \
-    EXPECT_EQ((mjtNum)value, default_model->opt.mjc_attr);            \
-  }
-
-
-#define EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
-    EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(double, usd_attr, mjc_attr)
-
-#define EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_flag) \
-  {                                                                         \
-    bool flag;                                                              \
-    mjc_phys_scene.Get##usd_attr##Attr().Get(&flag);                        \
-    EXPECT_NE(flag, default_model->opt.disableflags & (mjc_flag));          \
-  }
-
-#define EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_flag) \
-  {                                                                         \
-    bool flag;                                                              \
-    mjc_phys_scene.Get##usd_attr##Attr().Get(&flag);                        \
-    EXPECT_EQ(flag, default_model->opt.enableflags & (mjc_flag));          \
-  }
-
-
-#define EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
-    EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(int, usd_attr, mjc_attr)
-
-#define EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
-  {                                                                   \
-    pxr::GfVec3d value;                                               \
-    mjc_phys_scene.Get##usd_attr##Attr().Get(&value);                 \
-    EXPECT_EQ(value[0], default_model->opt.mjc_attr[0]);              \
-    EXPECT_EQ(value[1], default_model->opt.mjc_attr[1]);              \
-    EXPECT_EQ(value[2], default_model->opt.mjc_attr[2]);              \
-  }
-
-#define EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(type, usd_attr, mjc_attr)\
-  {                                                                      \
-    pxr::Vt##type##Array mjc_attr;                                         \
-    mjc_phys_scene.Get##usd_attr##Attr().Get(&mjc_attr);                 \
-    EXPECT_THAT(                                                         \
-            mjc_attr,                                                    \
-            testing::ElementsAreArray(default_model->opt.mjc_attr)       \
-    );                                                                   \
-  }
-
-#define EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr)\
-     EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(Double, usd_attr, mjc_attr)
-
-#define EXPECT_INT_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr)\
-     EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(Int, usd_attr, mjc_attr)
-// clang-format on
-
-TEST_F(MjcPhysicsSceneTest, TestDefaults) {
-  auto stage = pxr::UsdStage::CreateInMemory();
-
-  auto physics_scene =
-      pxr::UsdPhysicsScene::Define(stage, SdfPath("/World/PhysicsScene"));
-
-  auto mjc_phys_scene = pxr::MjcPhysicsSceneAPI::Apply(physics_scene.GetPrim());
-
-  mjSpec* empty_spec = mj_makeSpec();
-  mjModel* default_model = mj_compile(empty_spec, nullptr);
-  EXPECT_THAT(default_model, NotNull());
-
-  // Check that all the USD schema fallback values are the same
-  // as the model defaults.
-  // If this test is failing due to an update of defaults in Mujoco you need to
-  // update mjcPhysics/schema.usda.
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Timestep, timestep);
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(ImpRatio, impratio);
-
-  EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(Wind, wind);
-  EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(Magnetic, magnetic);
-
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Density, density);
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Viscosity, viscosity);
-
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(OMargin, o_margin);
-  EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OSolRef, o_solref);
-  EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OSolImp, o_solimp);
-  EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OFriction, o_friction);
-
-  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(Iterations, iterations);
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Tolerance, tolerance);
-  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(LSIterations, ls_iterations);
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(LSTolerance, ls_tolerance);
-  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(NoslipIterations, noslip_iterations);
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(NoslipTolerance, noslip_tolerance);
-  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(CCDIterations, ccd_iterations);
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(CCDTolerance, ccd_tolerance);
-  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(SDFIterations, sdf_iterations);
-  EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(SDFInitPoints, sdf_initpoints);
-
-  // We store the actuator disable groups as an array of integers, but the
-  // model stores it as a bitmask.
-  pxr::VtIntArray actuator_group_disable;
-  mjc_phys_scene.GetActuatorGroupDisableAttr().Get(&actuator_group_disable);
-  int bitmask = 0;
-  for (int ind : actuator_group_disable) {
-    bitmask |= 1 << ind;
-  }
-  EXPECT_EQ(default_model->opt.disableactuator, bitmask);
-
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ConstraintFlag,
-                                                    mjDSBL_CONSTRAINT);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EqualityFlag,
-                                                    mjDSBL_EQUALITY);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FrictionLossFlag,
-                                                    mjDSBL_FRICTIONLOSS);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(LimitFlag, mjDSBL_LIMIT);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ContactFlag,
-                                                    mjDSBL_CONTACT);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(SpringFlag,
-                                                    mjDSBL_SPRING);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(DamperFlag,
-                                                    mjDSBL_DAMPER);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(GravityFlag,
-                                                    mjDSBL_GRAVITY);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ClampCtrlFlag,
-                                                    mjDSBL_CLAMPCTRL);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(WarmStartFlag,
-                                                    mjDSBL_WARMSTART);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FilterParentFlag,
-                                                    mjDSBL_FILTERPARENT);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ActuationFlag,
-                                                    mjDSBL_ACTUATION);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(RefSafeFlag,
-                                                    mjDSBL_REFSAFE);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(SensorFlag, mjDSBL_SENSOR);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MidPhaseFlag,
-                                                    mjDSBL_MIDPHASE);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(NativeCCDFlag,
-                                                    mjDSBL_NATIVECCD);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EulerDampFlag,
-                                                    mjDSBL_EULERDAMP);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(AutoResetFlag,
-                                                    mjDSBL_AUTORESET);
-  EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MultiCCDFlag,
-                                                    mjDSBL_MULTICCD);
-
-  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(OverrideFlag,
-                                                   mjENBL_OVERRIDE);
-  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EnergyFlag, mjENBL_ENERGY);
-  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FwdinvFlag, mjENBL_FWDINV);
-  EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(InvDiscreteFlag,
-                                                   mjENBL_INVDISCRETE);
-
-  mj_deleteModel(default_model);
-  mj_deleteSpec(empty_spec);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc b/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
deleted file mode 100644
index c333e6b6..00000000
--- a/test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
+++ /dev/null
@@ -1,99 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <array>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-#include <pxr/base/tf/token.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/usd/common.h>
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usdGeom/capsule.h>
-#include <pxr/usd/usdGeom/cube.h>
-#include <pxr/usd/usdGeom/cylinder.h>
-#include <pxr/usd/usdGeom/sphere.h>
-#include <pxr/usd/usdGeom/xform.h>
-#include <pxr/usd/usdPhysics/collisionAPI.h>
-#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
-
-#define EXPECT_SITE_TYPE(spec, site_path, expected_type)                  \
-  {                                                                       \
-    mjsElement* site_element =                                            \
-        mjs_findElement(spec, mjOBJ_SITE, site_path.GetString().c_str()); \
-    EXPECT_THAT(site_element, NotNull());                                 \
-    mjsSite* site = mjs_asSite(site_element);                             \
-    EXPECT_EQ(site->type, expected_type);                                 \
-  }
-
-namespace mujoco {
-namespace {
-
-using pxr::MjcPhysicsSiteAPI;
-using pxr::SdfPath;
-using MjcSiteApiTest = MujocoTest;
-using testing::NotNull;
-
-TEST_F(MjcSiteApiTest, TestApply) {
-  auto stage = pxr::UsdStage::CreateInMemory();
-
-  auto test_body_path = SdfPath("/World/TestBody");
-  auto body = pxr::UsdGeomXform::Define(stage, test_body_path);
-  pxr::UsdPhysicsRigidBodyAPI::Apply(body.GetPrim());
-
-  auto test_collider_path =
-      test_body_path.AppendChild(pxr::TfToken("Collider"));
-  auto collider = pxr::UsdGeomSphere::Define(stage, test_collider_path);
-  pxr::UsdPhysicsCollisionAPI::Apply(collider.GetPrim());
-
-  auto test_sphere_site_path =
-      test_body_path.AppendChild(pxr::TfToken("SphereSite"));
-  auto test_cylinder_site_path =
-      test_body_path.AppendChild(pxr::TfToken("CylinderSite"));
-  auto test_capsule_site_path =
-      test_body_path.AppendChild(pxr::TfToken("CapsuleSite"));
-  auto test_box_site_path = test_body_path.AppendChild(pxr::TfToken("BoxSite"));
-
-  auto sphere = pxr::UsdGeomSphere::Define(stage, test_sphere_site_path);
-  MjcPhysicsSiteAPI::Apply(sphere.GetPrim());
-
-  auto cylinder = pxr::UsdGeomCylinder::Define(stage, test_cylinder_site_path);
-  MjcPhysicsSiteAPI::Apply(cylinder.GetPrim());
-
-  auto capsule = pxr::UsdGeomCapsule::Define(stage, test_capsule_site_path);
-  MjcPhysicsSiteAPI::Apply(capsule.GetPrim());
-
-  auto box = pxr::UsdGeomCube::Define(stage, test_box_site_path);
-  MjcPhysicsSiteAPI::Apply(box.GetPrim());
-
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parse(stage->GetRootLayer()->GetIdentifier().c_str(),
-                          "model/usd", nullptr, error.data(), error.size());
-  mjModel* default_model = mj_compile(spec, nullptr);
-  EXPECT_THAT(default_model, NotNull()) << mjs_getError(spec);
-
-  EXPECT_SITE_TYPE(spec, test_sphere_site_path, mjGEOM_SPHERE);
-  EXPECT_SITE_TYPE(spec, test_cylinder_site_path, mjGEOM_CYLINDER);
-  EXPECT_SITE_TYPE(spec, test_capsule_site_path, mjGEOM_CAPSULE);
-  EXPECT_SITE_TYPE(spec, test_box_site_path, mjGEOM_BOX);
-
-  mj_deleteModel(default_model);
-  mj_deleteSpec(spec);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/experimental/usd/plugins/mjcf/CMakeLists.txt b/test/experimental/usd/plugins/mjcf/CMakeLists.txt
deleted file mode 100644
index b5e07840..00000000
--- a/test/experimental/usd/plugins/mjcf/CMakeLists.txt
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-mujoco_test(mjcf_file_format_test ADDITIONAL_LINK_LIBRARIES
-  usd
-  tf
-  usdGeom
-  usdPhysics
-  usdShade
-  usd_test_utils
-  mjcPhysics
-  )
diff --git a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc b/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
deleted file mode 100644
index 2a3f0541..00000000
--- a/test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+++ /dev/null
@@ -1,2295 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <algorithm>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
-#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/imageableAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
-#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
-#include "test/experimental/usd/test_utils.h"
-#include "test/fixture.h"
-#include <pxr/base/gf/quatf.h>
-#include <pxr/base/gf/rotation.h>
-#include <pxr/base/gf/vec2f.h>
-#include <pxr/base/gf/vec3d.h>
-#include <pxr/base/gf/vec3f.h>
-#include <pxr/base/tf/staticData.h>
-#include <pxr/base/tf/staticTokens.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/base/vt/array.h>
-#include <pxr/base/vt/types.h>
-#include <pxr/pxr.h>
-#include <pxr/usd/kind/registry.h>
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/declareHandles.h>
-#include <pxr/usd/sdf/fileFormat.h>
-#include <pxr/usd/sdf/listOp.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/sdf/schema.h>
-#include <pxr/usd/usd/common.h>
-#include <pxr/usd/usd/modelAPI.h>
-#include <pxr/usd/usd/prim.h>
-#include <pxr/usd/usd/primRange.h>  // IWYU pragma: keep, used for TraverseAll
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usd/timeCode.h>
-#include <pxr/usd/usd/tokens.h>
-#include <pxr/usd/usdGeom/capsule.h>
-#include <pxr/usd/usdGeom/cube.h>
-#include <pxr/usd/usdGeom/cylinder.h>
-#include <pxr/usd/usdGeom/mesh.h>
-#include <pxr/usd/usdGeom/plane.h>
-#include <pxr/usd/usdGeom/primvar.h>
-#include <pxr/usd/usdGeom/primvarsAPI.h>
-#include <pxr/usd/usdGeom/sphere.h>
-#include <pxr/usd/usdGeom/tokens.h>
-#include <pxr/usd/usdPhysics/articulationRootAPI.h>
-#include <pxr/usd/usdPhysics/collisionAPI.h>
-#include <pxr/usd/usdPhysics/fixedJoint.h>
-#include <pxr/usd/usdPhysics/joint.h>
-#include <pxr/usd/usdPhysics/massAPI.h>
-#include <pxr/usd/usdPhysics/meshCollisionAPI.h>
-#include <pxr/usd/usdPhysics/prismaticJoint.h>
-#include <pxr/usd/usdPhysics/revoluteJoint.h>
-#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
-#include <pxr/usd/usdPhysics/scene.h>
-#include <pxr/usd/usdPhysics/tokens.h>
-
-PXR_NAMESPACE_OPEN_SCOPE
-// clang-format off
-TF_DEFINE_PRIVATE_TOKENS(_tokens,
-                         (st)
-                         ((newtonTimeStepsPerSecond, "newton:timeStepsPerSecond"))
-                         ((newtonMaxSolverIterations, "newton:maxSolverIterations"))
-                         ((newtonGravityEnabled, "newton:gravityEnabled"))
-                         );
-// clang-format on
-PXR_NAMESPACE_CLOSE_SCOPE
-
-namespace mujoco {
-namespace usd {
-
-using pxr::MjcPhysicsSiteAPI;
-using pxr::MjcPhysicsTokens;
-using pxr::SdfPath;
-using MjcfSdfFileFormatPluginTest = MujocoTest;
-
-static const char* kMaterialsPath =
-    "experimental/usd/plugins/mjcf/testdata/materials.xml";
-static const char* kMeshObjPath =
-    "experimental/usd/plugins/mjcf/testdata/mesh_obj.xml";
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestClassAuthored) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <default>
-        <default class="test">
-        </default>
-      </default>
-      <worldbody>
-        <body name="test_body" pos="0 0 0">
-          <geom class="test" type="sphere" size="2 2 2"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-
-  EXPECT_PRIM_VALID(stage, "/__class__");
-  EXPECT_PRIM_VALID(stage, "/__class__/test");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestBasicMeshSources) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="mesh test">
-      <asset>
-        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      </asset>
-      <worldbody>
-        <body name="test_body">
-          <geom type="mesh" mesh="tetrahedron"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_PRIM_VALID(stage, "/mesh_test");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/tetrahedron");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/tetrahedron/Mesh");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsMaterials) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="physics materials test">
-      <worldbody>
-        <body name="test_body">
-          <geom name="geom_with_friction" type="sphere" size="1" friction="4 5 6"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-  auto stage = OpenStage(kXml);
-  EXPECT_PRIM_VALID(
-      stage, "/physics_materials_test/PhysicsMaterials/geom_with_friction");
-  EXPECT_REL_HAS_TARGET(
-      stage,
-      "/physics_materials_test/test_body/geom_with_friction.material:binding",
-      "/physics_materials_test/PhysicsMaterials/geom_with_friction");
-  ExpectAttributeEqual(stage,
-                       "/physics_materials_test/PhysicsMaterials/"
-                       "geom_with_friction.physics:dynamicFriction",
-                       4.0f);
-  ExpectAttributeEqual(stage,
-                       "/physics_materials_test/PhysicsMaterials/"
-                       "geom_with_friction.newton:torsionalFriction",
-                       5.0f);
-  ExpectAttributeEqual(stage,
-                       "/physics_materials_test/PhysicsMaterials/"
-                       "geom_with_friction.newton:rollingFriction",
-                       6.0f);
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage,
-      "/physics_materials_test/PhysicsMaterials/"
-      "geom_with_friction.mjc:torsionalfriction");
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage,
-      "/physics_materials_test/PhysicsMaterials/"
-      "geom_with_friction.mjc:rollingfriction");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
-  const std::string xml_path = GetTestDataFilePath(kMaterialsPath);
-
-  auto stage = pxr::UsdStage::Open(xml_path);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  EXPECT_PRIM_VALID(stage, "/mesh_test");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials");
-
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_red");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_red/PreviewSurface");
-  ExpectAttributeEqual(
-      stage,
-      "/mesh_test/Materials/material_red/PreviewSurface.inputs:diffuseColor",
-      pxr::GfVec3f(0.8, 0, 0));
-  ExpectAttributeHasConnection(
-      stage, "/mesh_test/Materials/material_red.outputs:surface",
-      "/mesh_test/Materials/material_red/PreviewSurface.outputs:surface");
-  ExpectAttributeHasConnection(
-      stage, "/mesh_test/Materials/material_red.outputs:displacement",
-      "/mesh_test/Materials/material_red/PreviewSurface.outputs:displacement");
-
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture");
-  EXPECT_PRIM_VALID(stage,
-                    "/mesh_test/Materials/material_texture/PreviewSurface");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture/uvmap");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture/diffuse");
-  ExpectAttributeHasConnection(
-      stage,
-      "/mesh_test/Materials/material_texture/"
-      "PreviewSurface.inputs:diffuseColor",
-      "/mesh_test/Materials/material_texture/diffuse.outputs:rgb");
-  ExpectAttributeEqual(
-      stage, "/mesh_test/Materials/material_texture/diffuse.inputs:file",
-      pxr::SdfAssetPath("textures/cube.png"));
-
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_metallic");
-  EXPECT_PRIM_VALID(stage,
-                    "/mesh_test/Materials/material_metallic/PreviewSurface");
-  ExpectAttributeEqual(
-      stage,
-      "/mesh_test/Materials/material_metallic/PreviewSurface.inputs:metallic",
-      0.6f);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMaterialLayers) {
-  const std::string xml_path = GetTestDataFilePath(kMaterialsPath);
-  auto stage = pxr::UsdStage::Open(xml_path);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/uvmap");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/diffuse");
-
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/normal");
-  ExpectAttributeHasConnection(
-      stage,
-      "/mesh_test/Materials/material_layered/"
-      "PreviewSurface.inputs:normal",
-      "/mesh_test/Materials/material_layered/normal.outputs:rgb");
-  ExpectAttributeEqual(
-      stage, "/mesh_test/Materials/material_layered/normal.inputs:file",
-      pxr::SdfAssetPath("textures/normal.png"));
-
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/orm_packed");
-  ExpectAttributeHasConnection(
-      stage,
-      "/mesh_test/Materials/material_layered/"
-      "PreviewSurface.inputs:occlusion",
-      "/mesh_test/Materials/material_layered/orm_packed.outputs:r");
-  ExpectAttributeHasConnection(
-      stage,
-      "/mesh_test/Materials/material_layered/"
-      "PreviewSurface.inputs:roughness",
-      "/mesh_test/Materials/material_layered/orm_packed.outputs:g");
-  ExpectAttributeHasConnection(
-      stage,
-      "/mesh_test/Materials/material_layered/"
-      "PreviewSurface.inputs:metallic",
-      "/mesh_test/Materials/material_layered/orm_packed.outputs:b");
-  ExpectAttributeEqual(
-      stage, "/mesh_test/Materials/material_layered/orm_packed.inputs:file",
-      pxr::SdfAssetPath("textures/orm.png"));
-
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_layered/emissive");
-  ExpectAttributeHasConnection(
-      stage,
-      "/mesh_test/Materials/material_layered/"
-      "PreviewSurface.inputs:emissiveColor",
-      "/mesh_test/Materials/material_layered/emissive.outputs:rgb");
-  ExpectAttributeEqual(
-      stage, "/mesh_test/Materials/material_layered/emissive.inputs:file",
-      pxr::SdfAssetPath("textures/emissive.png"));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMaterialPBRSeparate) {
-  const std::string xml_path = GetTestDataFilePath(kMaterialsPath);
-  auto stage = pxr::UsdStage::Open(xml_path);
-
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_pbr_separate");
-  EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_pbr_separate/uvmap");
-  EXPECT_PRIM_VALID(stage,
-                    "/mesh_test/Materials/material_pbr_separate/occlusion");
-  ExpectAttributeHasConnection(
-      stage,
-      "/mesh_test/Materials/material_pbr_separate/"
-      "PreviewSurface.inputs:occlusion",
-      "/mesh_test/Materials/material_pbr_separate/occlusion.outputs:rgb");
-  ExpectAttributeEqual(
-      stage, "/mesh_test/Materials/material_pbr_separate/occlusion.inputs:file",
-      pxr::SdfAssetPath("textures/occlusion.png"));
-  EXPECT_PRIM_VALID(stage,
-                    "/mesh_test/Materials/material_pbr_separate/roughness");
-  ExpectAttributeHasConnection(
-      stage,
-      "/mesh_test/Materials/material_pbr_separate/"
-      "PreviewSurface.inputs:roughness",
-      "/mesh_test/Materials/material_pbr_separate/roughness.outputs:rgb");
-  ExpectAttributeEqual(
-      stage, "/mesh_test/Materials/material_pbr_separate/roughness.inputs:file",
-      pxr::SdfAssetPath("textures/roughness.png"));
-  EXPECT_PRIM_VALID(stage,
-                    "/mesh_test/Materials/material_pbr_separate/metallic");
-  ExpectAttributeHasConnection(
-      stage,
-      "/mesh_test/Materials/material_pbr_separate/"
-      "PreviewSurface.inputs:metallic",
-      "/mesh_test/Materials/material_pbr_separate/metallic.outputs:rgb");
-  ExpectAttributeEqual(
-      stage, "/mesh_test/Materials/material_pbr_separate/metallic.inputs:file",
-      pxr::SdfAssetPath("textures/metallic.png"));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestGeomRgba) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <geom type="sphere" name="sphere_red" size="1" rgba="1 0 0 1"/>
-        <geom type="sphere" name="sphere_default" size="1"/>
-        <geom type="sphere" name="sphere_also_default" size="1" rgba="0.5 0.5 0.5 1"/>
-        <geom type="sphere" name="sphere_almost_default" size="1" rgba="0.5 0.5 0.5 0.9"/>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-
-  EXPECT_PRIM_VALID(stage, "/test/sphere_red");
-  ExpectAttributeEqual(stage, "/test/sphere_red.primvars:displayColor",
-                       pxr::VtArray<pxr::GfVec3f>{{1, 0, 0}});
-  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
-                                "/test/sphere_red.primvars:displayOpacity");
-
-  // There's no mechanism in Mujoco to specify whether an attribute was set
-  // explicitly or not. We do the same as Mujoco does, which is to compare with
-  // the default value.
-  // Which explains why not setting rgba is the same as setting it to the
-  // default value of (0.5, 0.5, 0.5, 1).
-  EXPECT_PRIM_VALID(stage, "/test/sphere_default");
-  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
-                                "/test/sphere_default.primvars:displayColor");
-  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
-                                "/test/sphere_default.primvars:displayOpacity");
-
-  EXPECT_PRIM_VALID(stage, "/test/sphere_also_default");
-  EXPECT_ATTRIBUTE_HAS_NO_VALUE(
-      stage, "/test/sphere_also_default.primvars:displayColor");
-  EXPECT_ATTRIBUTE_HAS_NO_VALUE(
-      stage, "/test/sphere_also_default.primvars:displayOpacity");
-
-  EXPECT_PRIM_VALID(stage, "/test/sphere_almost_default");
-  ExpectAttributeEqual(stage,
-                       "/test/sphere_almost_default.primvars:displayColor",
-                       pxr::VtArray<pxr::GfVec3f>{{0.5, 0.5, 0.5}});
-  ExpectAttributeEqual(stage,
-                       "/test/sphere_almost_default.primvars:displayOpacity",
-                       pxr::VtArray<float>{0.9});
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestSiteRgba) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <site type="sphere" name="sphere_red" size="1" rgba="1 0 0 1"/>
-      </worldbody>
-    </mujoco>
-  )";
-
-  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
-  auto stage = pxr::UsdStage::Open(layer);
-
-  EXPECT_PRIM_VALID(stage, "/test/sphere_red");
-  ExpectAttributeEqual(stage, "/test/sphere_red.primvars:displayColor",
-                       pxr::VtArray<pxr::GfVec3f>{{1, 0, 0}});
-  EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
-                                "/test/sphere_red.primvars:displayOpacity");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="mesh test">
-      <asset>
-        <mesh
-          name="tetrahedron"
-          face="0 3 2  0 1 3  0 2 1  1 2 3"
-          vertex="0 1 0  0 0 0  1 0 1  1 0 -1"
-          normal="1 0 0  0 1 0  0 0 1  -1 0 0"
-          texcoord="0.5 0.5  0 0.5  1 1  1 0"/>
-      </asset>
-      <worldbody>
-        <body name="test_body">
-          <geom type="mesh" mesh="tetrahedron"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-
-  auto mesh = pxr::UsdGeomMesh::Get(
-      stage, SdfPath("/mesh_test/test_body/tetrahedron/Mesh"));
-  ASSERT_TRUE(mesh);
-  pxr::VtArray<int> face_vertex_counts;
-  mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
-  EXPECT_EQ(face_vertex_counts.size(), 4);
-  EXPECT_EQ(face_vertex_counts, pxr::VtArray<int>({3, 3, 3, 3}));
-
-  pxr::VtArray<int> face_vertex_indices;
-  mesh.GetFaceVertexIndicesAttr().Get(&face_vertex_indices);
-  EXPECT_EQ(face_vertex_indices.size(), 12);
-  EXPECT_EQ(face_vertex_indices,
-            pxr::VtArray<int>({0, 3, 2, 0, 1, 3, 0, 2, 1, 1, 2, 3}));
-
-  pxr::VtArray<pxr::GfVec3f> normals;
-  mesh.GetNormalsAttr().Get(&normals);
-  EXPECT_EQ(normals.size(), face_vertex_indices.size());
-  // We can't directly check the normals values because they are altered by
-  // Mujoco's compiling step. So we at least check that normals with the same
-  // original index are the same.
-  for (int i = 0; i < face_vertex_indices.size(); ++i) {
-    for (int j = i + 1; j < face_vertex_indices.size(); ++j) {
-      if (face_vertex_indices[i] == face_vertex_indices[j]) {
-        EXPECT_EQ(normals[i], normals[j]);
-      }
-    }
-  }
-
-  auto primvars_api = pxr::UsdGeomPrimvarsAPI(mesh.GetPrim());
-
-  pxr::VtArray<pxr::GfVec2f> texcoords;
-  EXPECT_TRUE(primvars_api.HasPrimvar(pxr::_tokens->st));
-  auto primvar_st = primvars_api.GetPrimvar(pxr::_tokens->st);
-  primvar_st.Get(&texcoords);
-  EXPECT_EQ(texcoords.size(), face_vertex_indices.size());
-
-  // Check the faceVarying texcoords against the manually indexed source
-  // texcoords.
-  pxr::VtArray<pxr::GfVec2f> source_texcoords{
-      {0.5, 0.5}, {0, 0.5}, {1, 0}, {1, 1}};
-  for (int i = 0; i < face_vertex_indices.size(); ++i) {
-    EXPECT_EQ(texcoords[i], source_texcoords[face_vertex_indices[i]]);
-  }
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest,
-       TestFaceVaryingMeshSourcesObjWithIndexedNormals) {
-  const std::string xml_path = GetTestDataFilePath(kMeshObjPath);
-
-  auto stage = pxr::UsdStage::Open(xml_path);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  auto mesh =
-      pxr::UsdGeomMesh::Get(stage, SdfPath("/mesh_test/test_body/mesh/Mesh"));
-  ASSERT_TRUE(mesh);
-  pxr::VtArray<int> face_vertex_counts;
-  mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
-  EXPECT_EQ(face_vertex_counts.size(), 4);
-  EXPECT_EQ(face_vertex_counts, pxr::VtArray<int>({3, 3, 3, 3}));
-
-  pxr::VtArray<int> face_vertex_indices;
-  mesh.GetFaceVertexIndicesAttr().Get(&face_vertex_indices);
-  EXPECT_EQ(face_vertex_indices.size(), 12);
-  EXPECT_EQ(face_vertex_indices,
-            pxr::VtArray<int>({0, 3, 2, 0, 1, 3, 0, 2, 1, 1, 2, 3}));
-
-  pxr::VtArray<pxr::GfVec3f> normals;
-  mesh.GetNormalsAttr().Get(&normals);
-  EXPECT_EQ(normals.size(), face_vertex_indices.size());
-  // We can't directly check the normals values because they are altered by
-  // Mujoco's compiling step.
-  // We also can't access the normals indexing data, and can't use the vertex
-  // indexing data here because they are separate.
-  // So we check that the first half of the normals are the same, then the
-  // second half, as set in the OBJ file.
-  pxr::GfVec3f first_half_normal = normals[0];
-  pxr::GfVec3f second_half_normal = normals[face_vertex_indices.size() / 2];
-  EXPECT_NE(first_half_normal, second_half_normal);
-  int i = 0;
-  for (; i < face_vertex_indices.size() / 2; ++i) {
-    EXPECT_EQ(normals[i], first_half_normal);
-  }
-  for (; i < face_vertex_indices.size(); ++i) {
-    EXPECT_EQ(normals[i], second_half_normal);
-  }
-
-  auto primvars_api = pxr::UsdGeomPrimvarsAPI(mesh.GetPrim());
-
-  pxr::VtArray<pxr::GfVec2f> texcoords;
-  EXPECT_TRUE(primvars_api.HasPrimvar(pxr::_tokens->st));
-  auto primvar_st = primvars_api.GetPrimvar(pxr::_tokens->st);
-  primvar_st.Get(&texcoords);
-  EXPECT_EQ(texcoords.size(), face_vertex_indices.size());
-
-  // Check the faceVarying texcoords against the manually indexed source
-  // texcoords.
-  // NOTE: For OBJ we must use different indices for the texcoords than for the
-  // vertices!
-  std::vector<int> source_face_texcoord_indices{0, 1, 2, 1, 2, 3,
-                                                2, 3, 0, 3, 0, 1};
-  pxr::VtArray<pxr::GfVec2f> source_texcoords{
-      {0.5, 0.5}, {0, 0.5}, {1, 0}, {1, 1}};
-  // NOTE: The v component of the texcoords is flipped when Mujoco loads the
-  // OBJ.
-  for (auto& uv : source_texcoords) {
-    uv[1] = 1 - uv[1];
-  }
-  for (int i = 0; i < source_face_texcoord_indices.size(); ++i) {
-    EXPECT_EQ(texcoords[i], source_texcoords[source_face_texcoord_indices[i]]);
-  }
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestBody) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="body test">
-      <asset>
-        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      </asset>
-      <worldbody>
-        <body name="test_body" pos="0 1 0">
-          <joint type="free" />
-          <frame pos="0 0 1">
-            <frame pos="0 0 1">
-              <body name="test_body_2" pos="1 0 0">
-                <geom type="mesh" mesh="tetrahedron"/>
-              </body>
-            </frame>
-          </frame>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-
-  EXPECT_PRIM_VALID(stage, "/body_test");
-  EXPECT_PRIM_VALID(stage, "/body_test/test_body");
-  EXPECT_PRIM_VALID(stage, "/body_test/test_body/test_body_2");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestBasicParenting) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <body name="root" pos="0 1 0">
-              <body name="root/body_1" pos="1 0 0" />
-              <body name="root/body_2" pos="1 0 0">
-                <body name="root/body_3" pos="1 0 0" />
-              </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_PRIM_VALID(stage, "/test/root");
-  EXPECT_PRIM_VALID(stage, "/test/root/root_body_1");
-  EXPECT_PRIM_VALID(stage, "/test/root/root_body_2");
-  EXPECT_PRIM_VALID(stage, "/test/root/root_body_2/root_body_3");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestJointsDoNotAffectParenting) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <asset>
-        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      </asset>
-      <worldbody>
-        <body name="root" pos="0 1 0">
-          <joint type="free" />
-          <geom type="mesh" mesh="tetrahedron"/>
-          <body name="middle">
-            <body name="tet">
-              <joint type="hinge" />
-              <geom type="mesh" mesh="tetrahedron"/>
-            </body>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_PRIM_VALID(stage, "/test/root");
-  EXPECT_PRIM_VALID(stage, "/test/root/middle");
-  EXPECT_PRIM_VALID(stage, "/test/root/middle/tet");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <asset>
-        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      </asset>
-      <worldbody>
-        <body name="root" pos="0 1 0">
-          <joint type="free" />
-          <geom type="mesh" mesh="tetrahedron"/>
-          <body name="middle">
-            <body name="tet">
-              <joint type="hinge" />
-              <geom type="mesh" mesh="tetrahedron"/>
-            </body>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_PRIM_KIND(stage, "/test", pxr::KindTokens->group);
-  EXPECT_PRIM_KIND(stage, "/test/root", pxr::KindTokens->component);
-  EXPECT_PRIM_KIND(stage, "/test/root/middle", pxr::KindTokens->subcomponent);
-  EXPECT_PRIM_KIND(stage, "/test/root/middle/tet",
-                   pxr::KindTokens->subcomponent);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestAttributesMatchSchemaTypes) {
-  // TODO(robinalazard): Make the scene much more comprehensive. We ideally want
-  // to test all the prims that the plugin can generate.
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <geom type="plane" name="plane_geom" size="10 20 0.1"/>
-        <geom type="box" name="box_geom" size="10 20 30"/>
-        <geom type="sphere" name="sphere_geom" size="10 20 30"/>
-        <geom type="capsule" name="capsule_geom" size="10 20 30"/>
-        <geom type="cylinder" name="cylinder_geom" size="10 20 30"/>
-        <geom type="ellipsoid" name="ellipsoid_geom" size="10 20 30"/>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-
-  for (const auto& prim : stage->TraverseAll()) {
-    ExpectAllAuthoredAttributesMatchSchemaTypes(prim);
-  }
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <geom type="plane" name="plane_geom" size="10 20 0.1"/>
-        <geom type="box" name="box_geom" size="10 20 30"/>
-        <geom type="sphere" name="sphere_geom" size="10 20 30"/>
-        <geom type="capsule" name="capsule_geom" size="10 20 30"/>
-        <geom type="cylinder" name="cylinder_geom" size="10 20 30"/>
-        <geom type="ellipsoid" name="ellipsoid_geom" size="10 20 30"/>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-
-  // Note that all sizes are multiplied by 2 because Mujoco uses half sizes.
-
-  // Plane
-  EXPECT_PRIM_VALID(stage, "/test/plane_geom");
-  EXPECT_PRIM_IS_A(stage, "/test/plane_geom", pxr::UsdGeomPlane);
-  ExpectAttributeEqual(stage, "/test/plane_geom.width", 2 * 10.0);
-  ExpectAttributeEqual(stage, "/test/plane_geom.length", 2 * 20.0);
-  // Box
-  EXPECT_PRIM_VALID(stage, "/test/box_geom");
-  EXPECT_PRIM_IS_A(stage, "/test/box_geom", pxr::UsdGeomCube);
-  // Box is a special case, it uses a UsdGeomCube and scales it with
-  // xformOp:scale. The radius is always set to 2 and the extent from -1 to 1.
-  ExpectAttributeEqual(stage, "/test/box_geom.size", 2.0);
-  ExpectAttributeEqual(stage, "/test/box_geom.extent",
-                       pxr::VtArray<pxr::GfVec3f>({{-1, -1, -1}, {1, 1, 1}}));
-  ExpectAttributeEqual(stage, "/test/box_geom.xformOp:scale",
-                       pxr::GfVec3f(10.0, 20.0, 30.0));
-  // Sphere
-  EXPECT_PRIM_VALID(stage, "/test/sphere_geom");
-  EXPECT_PRIM_IS_A(stage, "/test/sphere_geom", pxr::UsdGeomSphere);
-  ExpectAttributeEqual(stage, "/test/sphere_geom.radius", 10.0);
-  // Capsule
-  EXPECT_PRIM_VALID(stage, "/test/capsule_geom");
-  EXPECT_PRIM_IS_A(stage, "/test/capsule_geom", pxr::UsdGeomCapsule);
-  ExpectAttributeEqual(stage, "/test/capsule_geom.radius", 10.0);
-  ExpectAttributeEqual(stage, "/test/capsule_geom.height", 2 * 20.0);
-  // Cylinder
-  EXPECT_PRIM_VALID(stage, "/test/cylinder_geom");
-  EXPECT_PRIM_IS_A(stage, "/test/cylinder_geom", pxr::UsdGeomCylinder);
-  ExpectAttributeEqual(stage, "/test/cylinder_geom.radius", 10.0);
-  ExpectAttributeEqual(stage, "/test/cylinder_geom.height", 2 * 20.0);
-  // Ellipsoid
-  EXPECT_PRIM_VALID(stage, "/test/ellipsoid_geom");
-  // Ellipsoid is a special case, it uses a UsdGeomSphere and scales it with
-  // xformOp:scale. The radius is always set to 1.
-  EXPECT_PRIM_IS_A(stage, "/test/ellipsoid_geom", pxr::UsdGeomSphere);
-  ExpectAttributeEqual(stage, "/test/ellipsoid_geom.radius", 1.0);
-  ExpectAttributeEqual(stage, "/test/ellipsoid_geom.xformOp:scale",
-                       pxr::GfVec3f(10.0, 20.0, 30.0));
-}
-
-static const pxr::SdfPath kPhysicsScenePrimPath("/test/PhysicsScene");
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimTimestep) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option timestep="0.005"> </option>
-    </mujoco>
-  )");
-
-  // newton:timeStepsPerSecond = round(1/0.005) = 200
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(pxr::_tokens->newtonTimeStepsPerSecond),
-      200);
-  // deprecated mjc:option:timestep should not be authored
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionTimestep));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCone) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option cone="elliptic"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionCone),
-      MjcPhysicsTokens->elliptic);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimWind) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option wind="1 2 3"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionWind),
-      pxr::GfVec3d(1, 2, 3));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimImpratio) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option impratio="0.8"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionImpratio),
-      0.8);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimMagnetic) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option magnetic="1 2 3"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionMagnetic),
-      pxr::GfVec3d(1, 2, 3));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDensity) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option density="1.2"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionDensity),
-      1.2);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimViscosity) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option viscosity="0.8"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionViscosity),
-                       0.8);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimO_margin) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option o_margin="0.001"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionO_margin),
-      0.001);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimO_solref) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option o_solref="0.1 0.2"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionO_solref),
-      pxr::VtArray<double>({0.1, 0.2}));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimO_solimp) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option o_solimp="0.1 0.2 0.3 0.4 0.5"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionO_solimp),
-      pxr::VtArray<double>({0.1, 0.2, 0.3, 0.4, 0.5}));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimTolerance) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option tolerance="0.0012"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionTolerance),
-                       0.0012);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimLSTolerance) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option ls_tolerance="0.0034"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionLs_tolerance),
-                       0.0034);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimNoslipTolerance) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option noslip_tolerance="0.0056"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionNoslip_tolerance),
-                       0.0056);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCCDTolerance) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option ccd_tolerance="0.0078"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionCcd_tolerance),
-                       0.0078);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimOFriction) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option o_friction="0.1 0.2 0.3 0.4 0.5"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionO_friction),
-                       pxr::VtArray<double>({0.1, 0.2, 0.3, 0.4, 0.5}));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimIntegrator) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option integrator="RK4"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionIntegrator),
-                       MjcPhysicsTokens->rk4);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimJacobian) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option jacobian="sparse"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionJacobian),
-      MjcPhysicsTokens->sparse);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSolver) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option solver="CG"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionSolver),
-      MjcPhysicsTokens->cg);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimIterations) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option iterations="10"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           pxr::_tokens->newtonMaxSolverIterations),
-                       10);
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(
-          MjcPhysicsTokens->mjcOptionIterations));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimLSIterations) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option ls_iterations="20"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionLs_iterations),
-                       20);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimNoslipIterations) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option noslip_iterations="30"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionNoslip_iterations),
-                       30);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCCDIterations) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option ccd_iterations="40"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionCcd_iterations),
-                       40);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSDFInitPoints) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option sdf_initpoints="50"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionSdf_initpoints),
-                       50);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSDFIterations) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option sdf_iterations="60"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           MjcPhysicsTokens->mjcOptionSdf_iterations),
-                       60);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimGravity) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option gravity="-123 0 0"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           pxr::UsdPhysicsTokens->physicsGravityMagnitude),
-                       123.0f);
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           pxr::UsdPhysicsTokens->physicsGravityDirection),
-                       pxr::GfVec3f(-1.0f, 0.0f, 0.0f));
-
-  stage = OpenStage(R"(
-    <mujoco model="test">
-      <option gravity="2 3 6"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           pxr::UsdPhysicsTokens->physicsGravityMagnitude),
-                       7.0f);
-  ExpectAttributeEqual(stage,
-                       kPhysicsScenePrimPath.AppendProperty(
-                           pxr::UsdPhysicsTokens->physicsGravityDirection),
-                       pxr::GfVec3f(0.2857143f, 0.42857143f, 0.85714287f));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option>
-        <flag
-          constraint="disable"
-          equality="disable"
-          frictionloss="disable"
-          limit="disable"
-          contact="disable"
-          spring="disable"
-          damper="disable"
-          gravity="disable"
-          clampctrl="disable"
-          warmstart="disable"
-          filterparent="disable"
-          actuation="disable"
-          refsafe="disable"
-          sensor="disable"
-          midphase="disable"
-          nativeccd="disable"
-          eulerdamp="disable"
-          autoreset="disable"
-          island="disable"
-        />
-      </option>
-    </mujoco>
-  )");
-
-  const std::vector<pxr::TfToken> kFlags = {
-      MjcPhysicsTokens->mjcFlagConstraint,
-      MjcPhysicsTokens->mjcFlagEquality,
-      MjcPhysicsTokens->mjcFlagFrictionloss,
-      MjcPhysicsTokens->mjcFlagLimit,
-      MjcPhysicsTokens->mjcFlagContact,
-      MjcPhysicsTokens->mjcFlagSpring,
-      MjcPhysicsTokens->mjcFlagDamper,
-      // mjc:flag:gravity is deprecated, now exported as newton:gravityEnabled
-      MjcPhysicsTokens->mjcFlagClampctrl,
-      MjcPhysicsTokens->mjcFlagWarmstart,
-      MjcPhysicsTokens->mjcFlagFilterparent,
-      MjcPhysicsTokens->mjcFlagActuation,
-      MjcPhysicsTokens->mjcFlagRefsafe,
-      MjcPhysicsTokens->mjcFlagSensor,
-      MjcPhysicsTokens->mjcFlagMidphase,
-      MjcPhysicsTokens->mjcFlagNativeccd,
-      MjcPhysicsTokens->mjcFlagEulerdamp,
-      MjcPhysicsTokens->mjcFlagAutoreset,
-      MjcPhysicsTokens->mjcFlagIsland,
-  };
-  for (const auto& flag : kFlags) {
-    ExpectAttributeEqual(stage, kPhysicsScenePrimPath.AppendProperty(flag),
-                         false);
-  }
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(pxr::_tokens->newtonGravityEnabled),
-      false);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimEnableFlags) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option>
-        <flag
-          override="enable"
-          energy="enable"
-          fwdinv="enable"
-          invdiscrete="enable"
-          multiccd="enable"
-        />
-      </option>
-    </mujoco>
-  )");
-
-  // clang-format off
-  const std::vector<pxr::TfToken> kFlags = {
-      MjcPhysicsTokens->mjcFlagOverride,
-      MjcPhysicsTokens->mjcFlagEnergy,
-      MjcPhysicsTokens->mjcFlagFwdinv,
-      MjcPhysicsTokens->mjcFlagInvdiscrete,
-      MjcPhysicsTokens->mjcFlagMulticcd,
-  };
-  // clang-format on
-  for (const auto& flag : kFlags) {
-    ExpectAttributeEqual(stage, kPhysicsScenePrimPath.AppendProperty(flag),
-                         true);
-  }
-}
-
-static constexpr char kSiteXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <site type="box" name="box_site"/>
-        <body name="ball">
-          <site type="sphere" name="sphere_site" group="1"/>
-          <site type="capsule" name="capsule_site" group="2"/>
-          <site type="cylinder" name="cylinder_site" group="3"/>
-          <site type="ellipsoid" name="ellipsoid_site" group="4"/>
-          <geom type="sphere" size="1 1 1"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
-  auto stage = OpenStage(kSiteXml);
-  EXPECT_PRIM_VALID(stage, "/test/box_site");
-  EXPECT_PRIM_IS_A(stage, "/test/box_site", pxr::UsdGeomCube);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", pxr::MjcPhysicsSiteAPI);
-  EXPECT_PRIM_VALID(stage, "/test/ball/sphere_site");
-  EXPECT_PRIM_IS_A(stage, "/test/ball/sphere_site", pxr::UsdGeomSphere);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/sphere_site",
-                          pxr::MjcPhysicsSiteAPI);
-  EXPECT_PRIM_VALID(stage, "/test/ball/capsule_site");
-  EXPECT_PRIM_IS_A(stage, "/test/ball/capsule_site", pxr::UsdGeomCapsule);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/capsule_site",
-                          pxr::MjcPhysicsSiteAPI);
-  EXPECT_PRIM_VALID(stage, "/test/ball/cylinder_site");
-  EXPECT_PRIM_IS_A(stage, "/test/ball/cylinder_site", pxr::UsdGeomCylinder);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/cylinder_site",
-                          pxr::MjcPhysicsSiteAPI);
-  EXPECT_PRIM_VALID(stage, "/test/ball/ellipsoid_site");
-  EXPECT_PRIM_IS_A(stage, "/test/ball/ellipsoid_site", pxr::UsdGeomSphere);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ellipsoid_site",
-                          pxr::MjcPhysicsSiteAPI);
-
-  ExpectAttributeEqual(stage, "/test/box_site.mjc:group", 0);
-  ExpectAttributeEqual(stage, "/test/ball/sphere_site.mjc:group", 1);
-  ExpectAttributeEqual(stage, "/test/ball/capsule_site.mjc:group", 2);
-  ExpectAttributeEqual(stage, "/test/ball/cylinder_site.mjc:group", 3);
-  ExpectAttributeEqual(stage, "/test/ball/ellipsoid_site.mjc:group", 4);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
-  auto stage = OpenStage(kSiteXml);
-  EXPECT_PRIM_PURPOSE(stage, "/test/box_site", pxr::UsdGeomTokens->guide);
-  EXPECT_PRIM_PURPOSE(stage, "/test/ball/sphere_site",
-                      pxr::UsdGeomTokens->guide);
-  EXPECT_PRIM_PURPOSE(stage, "/test/ball/capsule_site",
-                      pxr::UsdGeomTokens->guide);
-  EXPECT_PRIM_PURPOSE(stage, "/test/ball/cylinder_site",
-                      pxr::UsdGeomTokens->guide);
-  EXPECT_PRIM_PURPOSE(stage, "/test/ball/ellipsoid_site",
-                      pxr::UsdGeomTokens->guide);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestArticulationRootAppliedOnce) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="physics_test">
-      <worldbody>
-        <body name="parent" pos="0 0 0">
-          <geom name="parent_geom" type="sphere" size="1"/>
-          <body name="child_1" pos="1 0 0">
-            <geom name="child_1_geom" type="sphere" size="1"/>
-          </body>
-          <body name="child_2" pos="2 0 0">
-            <geom name="child_2_geom" type="sphere" size="1"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);;
-
-  // This test is particular in the sense that the authoring mistake, which is
-  // made on the SdfLayer level, would disappear when we access the COMPOSED
-  // stage because duplicates are removed. So we need to check the SdfLayer
-  // directly to see the problem.
-  auto primSpec = layer->GetPrimAtPath(pxr::SdfPath("/physics_test/parent"));
-  EXPECT_TRUE(primSpec);
-
-  pxr::VtValue apiSchemasValue = primSpec->GetInfo(pxr::UsdTokens->apiSchemas);
-  const pxr::SdfTokenListOp& listOp =
-      apiSchemasValue.UncheckedGet<pxr::SdfTokenListOp>();
-  const pxr::SdfTokenListOp::ItemVector& prependedItems =
-      listOp.GetPrependedItems();
-
-  int count = std::count(prependedItems.begin(), prependedItems.end(),
-                         pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
-  EXPECT_EQ(count, 1);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="physics_test">
-      <worldbody>
-        <body name="test_body" pos="0 0 0">
-          <geom name="test_geom" type="sphere" size="1"/>
-          <body name="test_body_2" pos="2 0 0">
-            <geom name="test_geom_2" type="sphere" size="1"/>
-          </body>
-        </body>
-        <body name="test_body_3" pos="0 0 0">
-          <geom name="test_geom_3" type="sphere" size="1"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-
-  EXPECT_THAT(stage, testing::NotNull());
-  EXPECT_PRIM_VALID(stage, "/physics_test");
-  EXPECT_PRIM_VALID(stage, "/physics_test/test_body");
-  EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body_2");
-
-  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
-                          pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body_2",
-                          pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body_3",
-                          pxr::UsdPhysicsRigidBodyAPI);
-
-  // Articulation root is applied to the children of the world body.
-  EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
-                          pxr::UsdPhysicsArticulationRootAPI);
-  // test_body_3 is a child of the world but has no children so should not be
-  // an articulation root.
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body_3",
-                              pxr::UsdPhysicsArticulationRootAPI);
-
-  // Articulation root is not applied to other bodies or world body.
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test",
-                              pxr::UsdPhysicsArticulationRootAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_body_2",
-                              pxr::UsdPhysicsArticulationRootAPI);
-
-  // Geoms should not have RigidBodyAPI applied either.
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_geom",
-                              pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage,
-                              "/physics_test/test_body/test_body_2/test_geom_2",
-                              pxr::UsdPhysicsRigidBodyAPI);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <asset>
-        <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      </asset>
-      <worldbody>
-        <geom name="ground" type="plane" size="5 5 0.1"
-              contype="1" conaffinity="1"/>
-        <body name="body_0" pos="-3 0 2">
-          <joint type="free"/>
-          <geom name="body_0_col" type="sphere" size="1"
-                contype="1" conaffinity="1"/>
-          <body name="body_0_0" pos="-1 0 2">
-            <geom name="body_0_0_col" type="sphere" size="1"
-                  contype="1" conaffinity="1"/>
-          </body>
-        </body>
-        <body name="body_1" pos="0 0 3">
-          <joint type="free"/>
-          <geom name="body_1_col_0" type="sphere" size="1"
-                contype="1" conaffinity="1"/>
-          <geom name="body_1_col_1" type="sphere" size="1" pos="-1 0 2"
-                contype="1" conaffinity="1"/>
-        </body>
-        <body name="body_2" pos="3 0 3">
-          <joint type="free"/>
-          <geom name="body_2_nocol" type="sphere" size="1"
-                contype="0" conaffinity="0"/>
-        </body>
-        <body name="body_3" pos="0 3 3">
-          <joint type="free"/>
-          <geom name="body_3_col" type="mesh" mesh="tetrahedron"
-                contype="1" conaffinity="1"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-
-  EXPECT_THAT(stage, testing::NotNull());
-  EXPECT_PRIM_VALID(stage, "/test");
-
-  // Expected hierarchy under /test:
-  //
-  // ground [collider]
-  //
-  // body_0 [rigidbody]
-  //   body_0/body_0_col [collider]
-  //
-  // body_0/body_0_0 [rigidbody]
-  //     body_0/body_0_0/body_0_0_col [collider]
-  //
-  // body_1 [rigidbody]
-  //   body_1/body_1_col_0 [collider]
-  //   body_1/body_1_col_1 [collider]
-  //
-  // body_2 [rigidbody]
-  //   body_2/body_2_nocol []
-  //
-  // body_3 [rigidbody]
-  //   body_3/body_3_col []  <-- Intermediate prim for mesh instancing
-  //     body_3/body_3_col/Mesh [collider, mesh collider]
-
-  // ground [collider] (Static collider)
-  EXPECT_PRIM_VALID(stage, "/test/ground");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/ground",
-                              pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ground", pxr::UsdPhysicsCollisionAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/ground", pxr::MjcPhysicsCollisionAPI);
-
-  // body_0/body_0_0 [rigidbody] (Nested body - reparented)
-  EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0",
-                          pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0_0",
-                              pxr::UsdPhysicsCollisionAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0_0",
-                              pxr::MjcPhysicsCollisionAPI);
-  //   body_0/body_0_0/body_0_0_col [collider]
-  EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0/body_0_0_col");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
-                              pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
-                          pxr::UsdPhysicsCollisionAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
-                          pxr::MjcPhysicsCollisionAPI);
-
-  // body_1 [rigidbody]
-  EXPECT_PRIM_VALID(stage, "/test/body_1");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1", pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1",
-                              pxr::UsdPhysicsCollisionAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1",
-                              pxr::MjcPhysicsCollisionAPI);
-  //   body_1/body_1_col_0 [collider]
-  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_0");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_0",
-                              pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_0",
-                          pxr::UsdPhysicsCollisionAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_0",
-                          pxr::MjcPhysicsCollisionAPI);
-  //   body_1/body_1_col_1 [collider]
-  EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_1");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_1",
-                              pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_1",
-                          pxr::UsdPhysicsCollisionAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_1",
-                          pxr::MjcPhysicsCollisionAPI);
-
-  // body_2 [rigidbody]
-  EXPECT_PRIM_VALID(stage, "/test/body_2");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_2", pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2",
-                              pxr::UsdPhysicsCollisionAPI);
-  //   body_2/body_2_nocol [] (No physics APIs applied)
-  EXPECT_PRIM_VALID(stage, "/test/body_2/body_2_nocol");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2_nocol",
-                              pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2_nocol",
-                              pxr::UsdPhysicsCollisionAPI);
-
-  // body_3 [rigidbody]
-  EXPECT_PRIM_VALID(stage, "/test/body_3");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3", pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3",
-                              pxr::UsdPhysicsCollisionAPI);
-  //   body_3/body_3_col [] (Intermediate prim for mesh instancing)
-  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3_col");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col",
-                              pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col",
-                              pxr::UsdPhysicsCollisionAPI);
-  //     body_3/body_3_col/Mesh [collider, mesh collider]
-  EXPECT_PRIM_VALID(stage, "/test/body_3/body_3_col/Mesh");
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
-                              pxr::UsdPhysicsRigidBodyAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
-                          pxr::UsdPhysicsCollisionAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
-                          pxr::UsdPhysicsMeshCollisionAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
-                          pxr::MjcPhysicsMeshCollisionAPI);
-  ExpectAttributeEqual(stage,
-                       "/test/body_3/body_3_col/Mesh.physics:approximation",
-                       pxr::UsdPhysicsTokens->convexHull);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsImageableAPI) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <asset>
-      <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-    </asset>
-    <worldbody>
-      <body name="body">
-        <geom
-          name="mesh"
-          type="mesh"
-          mesh="tetrahedron"
-          group="4"
-          contype="0"
-          conaffinity="0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body/mesh/Mesh",
-                          pxr::MjcPhysicsImageableAPI);
-  ExpectAttributeEqual(stage, "/test/body/mesh/Mesh.mjc:group", 4);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsCollisionAPI) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="body">
-        <geom
-          name="box"
-          type="box"
-          size=".05 .05 .05"
-          mass="0.1"
-          group="4"
-          priority="2"
-          condim="4"
-          solmix="0.5"
-          solref="0.1 0.2"
-          solimp="0.3 0.4 0.5 0.6 0.7"
-          margin="0.8"
-          gap="0.9"
-          shellinertia="true"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  ExpectAttributeEqual(stage, "/test/body/box.mjc:group", 4);
-  ExpectAttributeEqual(stage, "/test/body/box.mjc:priority", 2);
-  ExpectAttributeEqual(stage, "/test/body/box.mjc:condim", 4);
-  ExpectAttributeEqual(stage, "/test/body/box.mjc:solmix", 0.5);
-  ExpectAttributeEqual(stage, "/test/body/box.mjc:solref",
-                       pxr::VtArray<double>({0.1, 0.2}));
-  ExpectAttributeEqual(stage, "/test/body/box.mjc:solimp",
-                       pxr::VtArray<double>({0.3, 0.4, 0.5, 0.6, 0.7}));
-  // margin and gap are now exported as Newton attributes
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(stage, "/test/body/box.mjc:margin");
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(stage, "/test/body/box.mjc:gap");
-  ExpectAttributeEqual(stage, "/test/body/box.newton:contactMargin", 0.8f);
-  ExpectAttributeEqual(stage, "/test/body/box.newton:contactGap", 0.9f);
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(stage,
-                                         "/test/body/box.mjc:shellinertia");
-  ExpectAttributeEqual(stage, "/test/body/box.newton:massModel",
-                       pxr::TfToken("shell"));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsMeshCollisionAPI) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <asset>
-      <mesh name="tet_legacy" inertia="legacy" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      <mesh name="tet_exact" inertia="exact" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      <mesh name="tet_convex" inertia="convex" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      <mesh name="tet_shell" inertia="shell" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      <mesh name="tet_max_vert" inertia="shell" maxhullvert="12" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-    </asset>
-    <worldbody>
-      <body name="body">
-        <geom name="tet_legacy" type="mesh" mesh="tet_legacy"/>
-        <geom name="tet_exact" type="mesh" mesh="tet_exact"/>
-        <geom name="tet_convex" type="mesh" mesh="tet_convex"/>
-        <geom name="tet_shell" type="mesh" mesh="tet_shell"/>
-        <geom name="tet_max_vert" type="mesh" mesh="tet_max_vert"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  ExpectAttributeEqual(stage, "/test/body/tet_legacy/Mesh.mjc:inertia",
-                       MjcPhysicsTokens->legacy);
-  ExpectAttributeEqual(stage, "/test/body/tet_exact/Mesh.mjc:inertia",
-                       MjcPhysicsTokens->exact);
-  ExpectAttributeEqual(stage, "/test/body/tet_convex/Mesh.mjc:inertia",
-                       MjcPhysicsTokens->convex);
-  ExpectAttributeEqual(stage, "/test/body/tet_shell/Mesh.mjc:inertia",
-                       MjcPhysicsTokens->shell);
-  // mjc:maxhullvert deprecated, newton:maxHullVertices used instead
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage, "/test/body/tet_max_vert/Mesh.mjc:maxhullvert");
-  ExpectAttributeEqual(
-      stage, "/test/body/tet_max_vert/Mesh.newton:maxHullVertices", 12);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIApplied) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="body">
-        <geom name="box" type="box" size=".05 .05 .05" mass="0.1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_VALID(stage, "/test/body");
-  EXPECT_PRIM_VALID(stage, "/test/body/box");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body/box", pxr::UsdPhysicsMassAPI);
-  EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body", pxr::UsdPhysicsMassAPI);
-  ExpectAttributeEqual(stage, "/test/body/box.physics:mass", 0.1f);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIAppliedToBody) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="body">
-        <inertial pos="1 2 3" mass="3" diaginertia="1 1 1"/>
-        <geom name="box" type="box" size=".05 .05 .05" mass="0.1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_VALID(stage, "/test/body");
-  EXPECT_PRIM_VALID(stage, "/test/body/box");
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body/box", pxr::UsdPhysicsMassAPI);
-  EXPECT_PRIM_API_APPLIED(stage, "/test/body", pxr::UsdPhysicsMassAPI);
-  // Make sure that body gets it's inertial elements from the inertial element
-  // and not from the subtree.
-  ExpectAttributeEqual(stage, "/test/body.physics:mass", 3.0f);
-  ExpectAttributeEqual(stage, "/test/body.physics:centerOfMass",
-                       pxr::GfVec3f(1, 2, 3));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIDensity) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="body">
-        <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  ExpectAttributeEqual(stage, "/test/body/box.physics:density", 1234.0f);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuator) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="body">
-        <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
-        <site name="site"/>
-        <site name="ref"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general
-        name="general"
-        group="123"
-        site="site"
-        refsite="ref"
-        ctrllimited="true"
-        ctrlrange="0 1"
-        forcelimited="true"
-        forcerange="2 3"
-        actlimited="false"
-        actrange="4 5"
-        lengthrange="6 7"
-        actdim="1"
-        actearly="true"
-        dyntype="filter"
-        gaintype="user"
-        biastype="user"
-        gear="1 2 3 4 5 6"
-        dynprm="0 1 2 3 4 5 6 7 8 9"
-        gainprm="0 1 2 3 4 5 6 7 8 9"
-        biasprm="0 1 2 3 4 5 6 7 8 9"
-      />
-    </actuator>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
-  EXPECT_PRIM_IS_A(stage, "/test/Actuators/general", pxr::MjcPhysicsActuator);
-  EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
-                        "/test/body/site");
-  EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:refSite",
-                        "/test/body/ref");
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:group", 123);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlLimited",
-                       pxr::MjcPhysicsTokens->true_);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlRange:min", 0.0);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlRange:max", 1.0);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:forceLimited",
-                       pxr::MjcPhysicsTokens->true_);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:forceRange:min",
-                       2.0);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:forceRange:max",
-                       3.0);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actLimited",
-                       pxr::MjcPhysicsTokens->false_);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actRange:min", 4.0);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actRange:max", 5.0);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:lengthRange:min",
-                       6.0);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:lengthRange:max",
-                       7.0);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actDim", 1);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:dynType",
-                       MjcPhysicsTokens->filter);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:gainType",
-                       MjcPhysicsTokens->user);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:biasType",
-                       MjcPhysicsTokens->user);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actEarly", true);
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:gear",
-                       pxr::VtDoubleArray{{1, 2, 3, 4, 5, 6}});
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:dynPrm",
-                       pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:gainPrm",
-                       pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:biasPrm",
-                       pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsPositionActuator) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="body">
-        <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
-        <joint name="hinge" range="12 34"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position
-        name="position"
-        joint="hinge"
-        inheritrange="1"
-      />
-    </actuator>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_VALID(stage, "/test/Actuators/position");
-  EXPECT_PRIM_IS_A(stage, "/test/Actuators/position", pxr::MjcPhysicsActuator);
-  EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/position.mjc:target",
-                        "/test/body/hinge");
-  ExpectAttributeEqual(stage, "/test/Actuators/position.mjc:inheritRange", 1.0);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointActuator) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="axle">
-        <body name="rod">
-          <joint name="rod_hinge" type="hinge"/>
-          <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
-        </body>
-      </body>
-    </worldbody>
-    <actuator>
-      <general
-        name="general"
-        joint="rod_hinge"
-      />
-    </actuator>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
-  EXPECT_PRIM_IS_A(stage, "/test/Actuators/general", pxr::MjcPhysicsActuator);
-  EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
-                        "/test/axle/rod/rod_hinge");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="body">
-        <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general
-        name="general"
-        body="body"
-      />
-    </actuator>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
-  EXPECT_PRIM_IS_A(stage, "/test/Actuators/general", pxr::MjcPhysicsActuator);
-  EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
-                        "/test/body");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsSliderCrankActuator) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="body">
-        <geom name="box" type="box" size=".05 .05 .05" density="1234"/>
-        <site name="crank"/>
-        <site name="slider"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general
-        name="general"
-        cranksite="crank"
-        slidersite="slider"
-        cranklength="1.23"
-      />
-    </actuator>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
-  EXPECT_PRIM_IS_A(stage, "/test/Actuators/general", pxr::MjcPhysicsActuator);
-  EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
-                        "/test/body/crank");
-  EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:sliderSite",
-                        "/test/body/slider");
-  ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:crankLength", 1.23);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointAPI) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <worldbody>
-      <body name="parent">
-        <body name="child">
-          <joint name="my_joint" type="hinge"
-            group="4"
-            springdamper="1 2"
-            solreflimit="0.1 0.2"
-            solimplimit="0.3 0.4 0.5 0.6 0.7"
-            solreffriction="0.8 0.9"
-            solimpfriction="1.0 1.1 1.2 1.3 1.4"
-            stiffness="1.5"
-            actuatorfrcrange="-1.6 1.7"
-            actuatorfrclimited="true"
-            actuatorgravcomp="true"
-            margin="1.8"
-            ref="1.9"
-            springref="2.0"
-            armature="2.1"
-            damping="2.2"
-            frictionloss="2.3"
-          />
-          <geom type="sphere" size="1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  auto stage = OpenStage(xml);
-
-  const SdfPath joint_path("/test/parent/child/my_joint");
-  EXPECT_PRIM_API_APPLIED(stage, joint_path, pxr::MjcPhysicsJointAPI);
-
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:group", 4);
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:springdamper",
-                       pxr::VtArray<double>({1, 2}));
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solreflimit",
-                       pxr::VtArray<double>({0.1, 0.2}));
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solimplimit",
-                       pxr::VtArray<double>({0.3, 0.4, 0.5, 0.6, 0.7}));
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solreffriction",
-                       pxr::VtArray<double>({0.8, 0.9}));
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solimpfriction",
-                       pxr::VtArray<double>({1.0, 1.1, 1.2, 1.3, 1.4}));
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:stiffness", 1.5);
-  ExpectAttributeEqual(
-      stage, "/test/parent/child/my_joint.mjc:actuatorfrcrange:min", -1.6);
-  ExpectAttributeEqual(
-      stage, "/test/parent/child/my_joint.mjc:actuatorfrcrange:max", 1.7);
-  ExpectAttributeEqual(stage,
-                       "/test/parent/child/my_joint.mjc:actuatorfrclimited",
-                       MjcPhysicsTokens->true_);
-  ExpectAttributeEqual(
-      stage, "/test/parent/child/my_joint.mjc:actuatorgravcomp", true);
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:margin", 1.8);
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:ref", 1.9);
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:springref", 2.0);
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage, "/test/parent/child/my_joint.mjc:armature");
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage, "/test/parent/child/my_joint.mjc:damping");
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage, "/test/parent/child/my_joint.mjc:frictionloss");
-
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.newton:armature",
-                       2.1f);
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.newton:damping",
-                       2.2f);
-  ExpectAttributeEqual(stage, "/test/parent/child/my_joint.newton:friction",
-                       2.3f);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsFloatingAndFixedBaseBody) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <body name="fixed_base">
-          <geom type="sphere" size="1"/>
-        </body>
-        <body name="floating_base">
-          <joint type="free"/>
-          <geom type="sphere" size="1"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  // Test that the fixed_base body has a UsdPhysicsJoint child connected to the
-  // worldbody.
-  EXPECT_PRIM_VALID(stage, "/test/fixed_base/FixedJoint");
-  auto joint = pxr::UsdPhysicsFixedJoint::Get(
-      stage, SdfPath("/test/fixed_base/FixedJoint"));
-  ASSERT_TRUE(joint);
-
-  // Initial joint to the worldbody does't set a body0 rel.
-  EXPECT_REL_TARGET_COUNT(stage, "/test/fixed_base/FixedJoint.physics:body0",
-                          0);
-  EXPECT_REL_HAS_TARGET(stage, "/test/fixed_base/FixedJoint.physics:body1",
-                        "/test/fixed_base");
-
-  // Test that the floating_base body has no UsdPhysicsJoint children.
-  auto floating_base = stage->GetPrimAtPath(SdfPath("/test/floating_base"));
-  ASSERT_TRUE(floating_base);
-  for (const auto& child : floating_base.GetChildren()) {
-    EXPECT_FALSE(child.IsA<pxr::UsdPhysicsJoint>());
-  }
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsFixedJoint) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <body name="parent">
-          <geom type="sphere" size="1"/>
-          <body name="child" pos="1 0 0">
-            <geom type="sphere" size="1"/>
-            <body name="grandchild" pos="1 0 0">
-              <geom type="sphere" size="1"/>
-            </body>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  EXPECT_PRIM_IS_A(stage, "/test/parent/FixedJoint", pxr::UsdPhysicsFixedJoint);
-  // Initial joint to the worldbody does't set a body0 rel.
-  EXPECT_REL_TARGET_COUNT(stage, "/test/parent/FixedJoint.physics:body0", 0);
-  EXPECT_REL_HAS_TARGET(stage, "/test/parent/FixedJoint.physics:body1",
-                        "/test/parent");
-
-  EXPECT_PRIM_IS_A(stage, "/test/parent/child/FixedJoint",
-                   pxr::UsdPhysicsFixedJoint);
-  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child/FixedJoint.physics:body0",
-                        "/test/parent");
-  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child/FixedJoint.physics:body1",
-                        "/test/parent/child");
-
-  EXPECT_PRIM_IS_A(stage, "/test/parent/child/grandchild/FixedJoint",
-                   pxr::UsdPhysicsFixedJoint);
-  EXPECT_REL_HAS_TARGET(
-      stage, "/test/parent/child/grandchild/FixedJoint.physics:body0",
-      "/test/parent/child");
-  EXPECT_REL_HAS_TARGET(
-      stage, "/test/parent/child/grandchild/FixedJoint.physics:body1",
-      "/test/parent/child/grandchild");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRevoluteJoint) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <body name="parent">
-          <joint name="hinge_root"/>
-          <geom type="sphere" size="1"/>
-          <body name="child0" pos="1 0 0">
-            <joint name="hinge_normal" type="hinge" axis="0 0 1"/>
-            <geom type="sphere" size="1"/>
-          </body>
-          <body name="child1" pos="1 0 0">
-            <joint name="hinge_limited" type="hinge" axis="0 0 1" limited="true" range="-30 45"/>
-            <geom type="sphere" size="1"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  // hinge_root doesn't set a type so it's the default: a revolute joint.
-  EXPECT_PRIM_IS_A(stage, "/test/parent/hinge_root",
-                   pxr::UsdPhysicsRevoluteJoint);
-  // Initial joint to the worldbody does't set a body0 rel.
-  EXPECT_REL_TARGET_COUNT(stage, "/test/parent/hinge_root.physics:body0", 0);
-  EXPECT_REL_HAS_TARGET(stage, "/test/parent/hinge_root.physics:body1",
-                        "/test/parent");
-
-  EXPECT_PRIM_IS_A(stage, "/test/parent/child0/hinge_normal",
-                   pxr::UsdPhysicsRevoluteJoint);
-  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child0/hinge_normal.physics:body0",
-                        "/test/parent");
-  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child0/hinge_normal.physics:body1",
-                        "/test/parent/child0");
-  ExpectAttributeEqual(stage, "/test/parent/child0/hinge_normal.physics:axis",
-                       pxr::UsdPhysicsTokens->z);
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage, "/test/parent/child0/hinge_normal.physics:lowerLimit");
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage, "/test/parent/child0/hinge_normal.physics:upperLimit");
-
-  EXPECT_PRIM_IS_A(stage, "/test/parent/child1/hinge_limited",
-                   pxr::UsdPhysicsRevoluteJoint);
-  EXPECT_REL_HAS_TARGET(
-      stage, "/test/parent/child1/hinge_limited.physics:body0", "/test/parent");
-  EXPECT_REL_HAS_TARGET(stage,
-                        "/test/parent/child1/hinge_limited.physics:body1",
-                        "/test/parent/child1");
-  ExpectAttributeEqual(stage, "/test/parent/child1/hinge_limited.physics:axis",
-                       pxr::UsdPhysicsTokens->z);
-  ExpectAttributeEqual(
-      stage, "/test/parent/child1/hinge_limited.physics:lowerLimit", -30.0f);
-  ExpectAttributeEqual(
-      stage, "/test/parent/child1/hinge_limited.physics:upperLimit", 45.0f);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsPrismaticJoint) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <body name="parent">
-          <joint name="slide_root" type="slide"/>
-          <geom type="sphere" size="1"/>
-          <body name="child0" pos="1 0 0">
-            <joint name="slide_normal" type="slide" axis="1 0 0"/>
-            <geom type="sphere" size="1"/>
-          </body>
-          <body name="child1" pos="1 0 0">
-            <joint name="slide_limited" type="slide" axis="1 0 0" limited="true" range="-2.5 2.5"/>
-            <geom type="sphere" size="1"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  EXPECT_PRIM_IS_A(stage, "/test/parent/slide_root",
-                   pxr::UsdPhysicsPrismaticJoint);
-  // Initial joint to the worldbody does't set a body0 rel.
-  EXPECT_REL_TARGET_COUNT(stage, "/test/parent/slide_root.physics:body0", 0);
-  EXPECT_REL_HAS_TARGET(stage, "/test/parent/slide_root.physics:body1",
-                        "/test/parent");
-
-  EXPECT_PRIM_IS_A(stage, "/test/parent/child0/slide_normal",
-                   pxr::UsdPhysicsPrismaticJoint);
-  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child0/slide_normal.physics:body0",
-                        "/test/parent");
-  EXPECT_REL_HAS_TARGET(stage, "/test/parent/child0/slide_normal.physics:body1",
-                        "/test/parent/child0");
-  ExpectAttributeEqual(stage, "/test/parent/child0/slide_normal.physics:axis",
-                       pxr::UsdPhysicsTokens->z);
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage, "/test/parent/child0/slide_normal.physics:lowerLimit");
-  EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
-      stage, "/test/parent/child0/slide_normal.physics:upperLimit");
-
-  EXPECT_PRIM_IS_A(stage, "/test/parent/child1/slide_limited",
-                   pxr::UsdPhysicsPrismaticJoint);
-  EXPECT_REL_HAS_TARGET(
-      stage, "/test/parent/child1/slide_limited.physics:body0", "/test/parent");
-  EXPECT_REL_HAS_TARGET(stage,
-                        "/test/parent/child1/slide_limited.physics:body1",
-                        "/test/parent/child1");
-  ExpectAttributeEqual(stage, "/test/parent/child1/slide_limited.physics:axis",
-                       pxr::UsdPhysicsTokens->z);
-  ExpectAttributeEqual(
-      stage, "/test/parent/child1/slide_limited.physics:lowerLimit", -2.5f);
-  ExpectAttributeEqual(
-      stage, "/test/parent/child1/slide_limited.physics:upperLimit", 2.5f);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestRadianAnglesAreConvertedToDegrees) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <compiler angle="radian"/>
-
-      <worldbody>
-        <body name="parent">
-          <joint name="hinge" type="hinge" axis="0 0 1" limited="true" range="-3.14159265359 0.78539816339"/>
-          <geom type="sphere" size="1"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  EXPECT_PRIM_VALID(stage, "/test/parent/hinge");
-  ExpectAttributeEqual(stage, "/test/parent/hinge.physics:lowerLimit", -180.0f);
-  ExpectAttributeEqual(stage, "/test/parent/hinge.physics:upperLimit", 45.0f);
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsJointFrames) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <body name="parent" pos="0 1 0">
-          <body name="child0" pos="1 0 0">
-            <joint name="hinge" type="hinge" pos="0.1 0.2 0.3" axis="0 1 0"/>
-            <geom type="sphere" size="0.1"/>
-          </body>
-          <body name="child1" pos="2 3 4">
-            <joint name="slide" type="slide" pos="0.4 0.5 0.6" axis="-1 0 0"/>
-            <geom type="sphere" size="0.1"/>
-          </body>
-          <body name="child2" pos="5 6 7">
-            <joint name="slide_nonaxis" type="slide" pos="0.7 0.8 0.9" axis="1 1 1"/>
-            <geom type="sphere" size="0.1"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  // Test the hinge joint.
-  EXPECT_PRIM_VALID(stage, "/test/parent/child0/hinge");
-  auto hinge_joint = pxr::UsdPhysicsRevoluteJoint::Get(
-      stage, SdfPath("/test/parent/child0/hinge"));
-  ASSERT_TRUE(hinge_joint);
-
-  ExpectAttributeEqual(stage, "/test/parent/child0/hinge.physics:localPos0",
-                       pxr::GfVec3f(1.1, 0.2, 0.3));
-
-  pxr::GfRotation hinge_rot;
-  hinge_rot.SetRotateInto({0, 0, 1}, {0, 1, 0});
-  pxr::GfQuatf expected_hinge_rot(hinge_rot.GetQuat());
-
-  pxr::GfQuatf hinge_local_rot0;
-  hinge_joint.GetLocalRot0Attr().Get(&hinge_local_rot0);
-  EXPECT_TRUE(AreQuatsSameRotation(expected_hinge_rot, hinge_local_rot0));
-
-  ExpectAttributeEqual(stage, "/test/parent/child0/hinge.physics:localPos1",
-                       pxr::GfVec3f(0.1, 0.2, 0.3));
-
-  pxr::GfQuatf hinge_local_rot1;
-  hinge_joint.GetLocalRot1Attr().Get(&hinge_local_rot1);
-  EXPECT_TRUE(AreQuatsSameRotation(expected_hinge_rot, hinge_local_rot1));
-
-  // Test the slide joint.
-  EXPECT_PRIM_VALID(stage, "/test/parent/child1/slide");
-  auto slide_joint = pxr::UsdPhysicsPrismaticJoint::Get(
-      stage, SdfPath("/test/parent/child1/slide"));
-  ASSERT_TRUE(slide_joint);
-
-  ExpectAttributeEqual(stage, "/test/parent/child1/slide.physics:localPos0",
-                       pxr::GfVec3f(2.4, 3.5, 4.6));
-
-  pxr::GfRotation slide_rot;
-  slide_rot.SetRotateInto({0, 0, 1}, {-1, 0, 0});
-  pxr::GfQuatf expected_slide_rot(slide_rot.GetQuat());
-
-  pxr::GfQuatf slide_local_rot0;
-  slide_joint.GetLocalRot0Attr().Get(&slide_local_rot0);
-  EXPECT_TRUE(AreQuatsSameRotation(expected_slide_rot, slide_local_rot0));
-
-  ExpectAttributeEqual(stage, "/test/parent/child1/slide.physics:localPos1",
-                       pxr::GfVec3f(0.4, 0.5, 0.6));
-
-  pxr::GfQuatf slide_local_rot1;
-  slide_joint.GetLocalRot1Attr().Get(&slide_local_rot1);
-  EXPECT_TRUE(AreQuatsSameRotation(expected_slide_rot, slide_local_rot1));
-
-  // Test the slide_nonaxis joint.
-  EXPECT_PRIM_VALID(stage, "/test/parent/child2/slide_nonaxis");
-  auto slide_nonaxis_joint = pxr::UsdPhysicsPrismaticJoint::Get(
-      stage, SdfPath("/test/parent/child2/slide_nonaxis"));
-  ASSERT_TRUE(slide_nonaxis_joint);
-
-  ExpectAttributeEqual(stage,
-                       "/test/parent/child2/slide_nonaxis.physics:localPos0",
-                       pxr::GfVec3f(5.7, 6.8, 7.9));
-
-  pxr::GfRotation slide_nonaxis_rot;
-  slide_nonaxis_rot.SetRotateInto({0, 0, 1}, {1, 1, 1});
-  pxr::GfQuatf expected_slide_nonaxis_rot(slide_nonaxis_rot.GetQuat());
-
-  pxr::GfQuatf slide_nonaxis_local_rot0;
-  slide_nonaxis_joint.GetLocalRot0Attr().Get(&slide_nonaxis_local_rot0);
-  EXPECT_TRUE(AreQuatsSameRotation(expected_slide_nonaxis_rot,
-                                   slide_nonaxis_local_rot0));
-
-  ExpectAttributeEqual(stage,
-                       "/test/parent/child2/slide_nonaxis.physics:localPos1",
-                       pxr::GfVec3f(0.7, 0.8, 0.9));
-
-  pxr::GfQuatf slide_nonaxis_local_rot1;
-  slide_nonaxis_joint.GetLocalRot1Attr().Get(&slide_nonaxis_local_rot1);
-  EXPECT_TRUE(AreQuatsSameRotation(expected_slide_nonaxis_rot,
-                                   slide_nonaxis_local_rot1));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsUnsupportedJoint) {
-  static constexpr char kXml[] = R"(
-    <mujoco model="test">
-      <worldbody>
-        <body name="parent">
-          <joint type="ball" name="ball_joint"/>
-          <geom type="sphere" size="1"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  auto stage = OpenStage(kXml);
-  EXPECT_THAT(stage, testing::NotNull());
-
-  EXPECT_PRIM_INVALID(stage, "/test/parent/ball_joint");
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsKeyframe) {
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-      <worldbody>
-        <frame name="frame"/>
-        <body name="body">
-          <joint/>
-          <geom size="0.1"/>
-        </body>
-      </worldbody>
-      <keyframe>
-        <key name="home" qpos="1"/>
-        <key time="1" qpos="2"/>
-        <key time="2" qpos="3"/>
-      </keyframe>
-    </mujoco>)";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_VALID(stage, "/test/Keyframes/home");
-  EXPECT_PRIM_VALID(stage, "/test/Keyframes/Keyframe");
-  ExpectAttributeEqual(stage, "/test/Keyframes/home.mjc:qpos",
-                       pxr::VtDoubleArray({1}));
-
-  // Check time samples are correctly authored.
-  ExpectAttributeEqual(stage, "/test/Keyframes/Keyframe.mjc:qpos",
-                       pxr::VtDoubleArray({2}), pxr::UsdTimeCode(1.0));
-
-  ExpectAttributeEqual(stage, "/test/Keyframes/Keyframe.mjc:qpos",
-                       pxr::VtDoubleArray({3}), pxr::UsdTimeCode(2.0));
-}
-
-TEST_F(MjcfSdfFileFormatPluginTest, TestCompilerOptions) {
-  static constexpr char xml[] = R"(
-<mujoco model="test">
-  <compiler
-    autolimits="true"
-    boundmass="1.2"
-    boundinertia="3.4"
-    settotalmass="5.6"
-    usethread="false"
-    balanceinertia="true"
-    angle="radian"
-    fitaabb="true"
-    fusestatic="true"
-    inertiafromgeom="true"
-    alignfree="true"
-    inertiagrouprange="1 6"
-    saveinertial="true"
-  />
-</mujoco>
-)";
-  auto stage = OpenStage(xml);
-
-  EXPECT_PRIM_VALID(stage, "/test/PhysicsScene");
-
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:autoLimits",
-                       true);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:boundMass", 1.2);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:boundInertia",
-                       3.4);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:setTotalMass",
-                       5.6);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:useThread",
-                       false);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:balanceInertia",
-                       true);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:angle",
-                       MjcPhysicsTokens->radian);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:fitAABB", true);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:fuseStatic",
-                       true);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:inertiaFromGeom",
-                       MjcPhysicsTokens->true_);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:alignFree",
-                       true);
-  ExpectAttributeEqual(
-      stage, "/test/PhysicsScene.mjc:compiler:inertiaGroupRange:min", 1);
-  ExpectAttributeEqual(
-      stage, "/test/PhysicsScene.mjc:compiler:inertiaGroupRange:max", 6);
-  ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:saveInertial",
-                       true);
-}
-
-}  // namespace usd
-}  // namespace mujoco
diff --git a/test/experimental/usd/plugins/mjcf/testdata/materials.xml b/test/experimental/usd/plugins/mjcf/testdata/materials.xml
deleted file mode 100644
index 3ca1ec8a..00000000
--- a/test/experimental/usd/plugins/mjcf/testdata/materials.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<mujoco model="mesh test">
-  <asset>
-    <texture name="diffuse_tex" file="textures/cube.png" type="2d" />
-    <texture name="normal_tex" file="textures/normal.png" type="2d" />
-    <texture name="orm_tex" file="textures/orm.png" type="2d" />
-    <texture name="emissive_tex" file="textures/emissive.png" type="2d" />
-    <texture name="occlusion_tex" file="textures/occlusion.png" type="2d" />
-    <texture name="roughness_tex" file="textures/roughness.png" type="2d" />
-    <texture name="metallic_tex" file="textures/metallic.png" type="2d" />
-    <material name="material_red" rgba="0.8 0 0 1" />
-    <material name="material_texture" texture="diffuse_tex" />
-    <material name="material_metallic" rgba="0.8 0 0 1" metallic="0.6"/>
-    <material name="material_layered">
-      <layer texture="diffuse_tex" role="rgb"/>
-      <layer texture="normal_tex" role="normal"/>
-      <layer texture="orm_tex" role="orm"/>
-      <layer texture="emissive_tex" role="emissive"/>
-    </material>
-    <material name="material_pbr_separate">
-      <layer texture="occlusion_tex" role="occlusion"/>
-      <layer texture="roughness_tex" role="roughness"/>
-      <layer texture="metallic_tex" role="metallic"/>
-    </material>
-    2d texture="diffuse" normal="normal" />
-    <mesh name="tetrahedron" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-  </asset>
-  <worldbody>
-    <body name="test_body">
-      <geom material="material_red" type="mesh" mesh="tetrahedron"/>
-      <geom material="material_texture" type="mesh" mesh="tetrahedron"/>
-    </body>
-  </worldbody>
-</mujoco>
-
diff --git a/test/experimental/usd/plugins/mjcf/testdata/mesh_obj.xml b/test/experimental/usd/plugins/mjcf/testdata/mesh_obj.xml
deleted file mode 100644
index 11465088..00000000
--- a/test/experimental/usd/plugins/mjcf/testdata/mesh_obj.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco model="mesh test">
-  <asset>
-    <mesh name="mesh" file="meshes/tetrahedron.obj"/>
-  </asset>
-  <worldbody>
-    <body name="test_body">
-      <geom type="mesh" mesh="mesh"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/experimental/usd/plugins/mjcf/testdata/meshes/tetrahedron.obj b/test/experimental/usd/plugins/mjcf/testdata/meshes/tetrahedron.obj
deleted file mode 100644
index 98ab2e51..00000000
--- a/test/experimental/usd/plugins/mjcf/testdata/meshes/tetrahedron.obj
+++ /dev/null
@@ -1,16 +0,0 @@
-v 0 1 0
-v 0 0 0
-v 1 0 1
-v 1 0 -1
-vn 1 0 0
-vn -1 0 0
-vt 0.5 0.5
-vt 0 0.5
-vt 1 1
-vt 1 0
-
-f 1/1/1 4/2/1 3/3/1
-f 1/2/1 2/3/1 4/4/1
-f 1/3/2 3/4/2 2/1/2
-f 2/4/2 3/1/2 4/2/2
-
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/cube.png b/test/experimental/usd/plugins/mjcf/testdata/textures/cube.png
deleted file mode 100644
index 8c244eca..00000000
Binary files a/test/experimental/usd/plugins/mjcf/testdata/textures/cube.png and /dev/null differ
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/emissive.png b/test/experimental/usd/plugins/mjcf/testdata/textures/emissive.png
deleted file mode 100644
index 8c244eca..00000000
Binary files a/test/experimental/usd/plugins/mjcf/testdata/textures/emissive.png and /dev/null differ
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/metallic.png b/test/experimental/usd/plugins/mjcf/testdata/textures/metallic.png
deleted file mode 100644
index a14f5f63..00000000
Binary files a/test/experimental/usd/plugins/mjcf/testdata/textures/metallic.png and /dev/null differ
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/normal.png b/test/experimental/usd/plugins/mjcf/testdata/textures/normal.png
deleted file mode 100644
index f5bdc79a..00000000
Binary files a/test/experimental/usd/plugins/mjcf/testdata/textures/normal.png and /dev/null differ
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/occlusion.png b/test/experimental/usd/plugins/mjcf/testdata/textures/occlusion.png
deleted file mode 100644
index a14f5f63..00000000
Binary files a/test/experimental/usd/plugins/mjcf/testdata/textures/occlusion.png and /dev/null differ
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/orm.png b/test/experimental/usd/plugins/mjcf/testdata/textures/orm.png
deleted file mode 100644
index a14f5f63..00000000
Binary files a/test/experimental/usd/plugins/mjcf/testdata/textures/orm.png and /dev/null differ
diff --git a/test/experimental/usd/plugins/mjcf/testdata/textures/roughness.png b/test/experimental/usd/plugins/mjcf/testdata/textures/roughness.png
deleted file mode 100644
index a14f5f63..00000000
Binary files a/test/experimental/usd/plugins/mjcf/testdata/textures/roughness.png and /dev/null differ
diff --git a/test/experimental/usd/test_utils.cc b/test/experimental/usd/test_utils.cc
deleted file mode 100644
index f5edbff3..00000000
--- a/test/experimental/usd/test_utils.cc
+++ /dev/null
@@ -1,141 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "test/experimental/usd/test_utils.h"
-
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <pxr/base/gf/math.h>
-#include <pxr/base/gf/quatf.h>
-#include <pxr/base/tf/token.h>
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/childrenPolicies.h>
-#include <pxr/usd/sdf/declareHandles.h>
-#include <pxr/usd/sdf/fileFormat.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/sdf/schema.h>
-#include <pxr/usd/usd/common.h>
-#include <pxr/usd/usd/modelAPI.h>
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usd/timeCode.h>
-#include <pxr/usd/usdGeom/mesh.h>
-#include <pxr/usd/usdGeom/primvarsAPI.h>
-namespace mujoco {
-namespace usd {
-
-using pxr::SdfPath;
-
-pxr::SdfLayerRefPtr LoadLayer(
-    const std::string& xml,
-    const pxr::SdfFileFormat::FileFormatArguments& args) {
-  auto layer = pxr::SdfLayer::CreateAnonymous(
-      "test_layer", pxr::SdfFileFormat::FindByExtension("xml"), args);
-  layer->ImportFromString(xml);
-  EXPECT_THAT(layer, testing::NotNull());
-  return layer;
-}
-
-pxr::UsdStageRefPtr OpenStage(const std::string& xml) {
-  pxr::SdfLayerRefPtr layer = LoadLayer(xml);
-  auto stage = pxr::UsdStage::Open(layer);
-  EXPECT_THAT(stage, testing::NotNull());
-  return stage;
-}
-
-template <>
-void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
-                                             pxr::SdfPath path,
-                                             const pxr::SdfAssetPath& value,
-                                             const pxr::UsdTimeCode time) {
-  auto attr = stage->GetAttributeAtPath(path);
-  EXPECT_TRUE(attr.IsValid());
-  pxr::SdfAssetPath attr_value;
-  attr.Get(&attr_value);
-  EXPECT_EQ(attr_value.GetAssetPath(), value.GetAssetPath());
-}
-
-void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
-                                  const char* connection_path) {
-  auto attr = stage->GetAttributeAtPath(SdfPath(path));
-  EXPECT_TRUE(attr.IsValid());
-  pxr::SdfPathVector sources;
-  attr.GetConnections(&sources);
-  EXPECT_EQ(sources.size(), 1);
-  EXPECT_EQ(sources[0], SdfPath(connection_path));
-}
-
-void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim) {
-  // Get all properties on the prim that have authored opinions.
-  for (const pxr::UsdProperty& prop : prim.GetAuthoredProperties()) {
-    // We only care about attributes, as they are the ones with a typeName.
-    if (pxr::UsdAttribute attr = prop.As<pxr::UsdAttribute>()) {
-      // 1. Get the official, composed schema type name for the attribute.
-      const pxr::TfToken schemaTypeName = attr.GetTypeName().GetAsToken();
-
-      // An empty schema type name means the attribute is not defined by
-      // a schema, or is of a dynamically-determined type. We can't
-      // check for a mismatch in this case.
-      if (schemaTypeName.IsEmpty()) {
-        continue;
-      }
-
-      // 2. Get the property stack to check for authored opinions.
-      // The stack is ordered from strongest to weakest.
-      const pxr::SdfPropertySpecHandleVector propStack =
-          attr.GetPropertyStack();
-
-      for (const pxr::SdfPropertySpecHandle& spec : propStack) {
-        // We only care about attribute specs.
-        if (auto attrSpec =
-                pxr::TfDynamic_cast<pxr::SdfAttributeSpecHandle>(spec)) {
-          // 3. Check if this spec has an authored `typeName`.
-          if (attrSpec->HasField(pxr::SdfFieldKeys->TypeName)) {
-            const pxr::TfToken authoredTypeName =
-                attrSpec->GetTypeName().GetAsToken();
-
-            EXPECT_EQ(authoredTypeName, schemaTypeName)
-                << "Type mismatch for attribute <" << attr.GetPath()
-                << ">: expected schema-defined type '"
-                << schemaTypeName.GetString() << "', got authored type '"
-                << authoredTypeName.GetString() << "' in layer @"
-                << attrSpec->GetLayer()->GetIdentifier() << "@";
-
-            // We've found the strongest authored opinion for `typeName`,
-            // so we can stop checking the stack for this attribute.
-            break;
-          }
-        }
-      }
-    }
-  }
-}
-
-bool AreQuatsSameRotation(const pxr::GfQuatf& q1, const pxr::GfQuatf& q2,
-                          float tolerance) {
-  // The dot product of two unit quaternions (q1 and q2) is cos(theta), where
-  // theta is the angle between them on the 4D hypersphere.
-  //
-  // If q1 is close to q2, dot(q1, q2) is close to 1.
-  // If q1 is close to -q2, dot(q1, q2) is close to -1.
-  //
-  // By taking the absolute value of the dot product, we can check for
-  // closeness to 1 to see if the quaternions are collinear, which is what
-  // we want. This works for both cases.
-  const float dot = pxr::GfDot(q1, q2);
-  return pxr::GfIsClose(pxr::GfAbs(dot), 1.0f, tolerance);
-}
-}  // namespace usd
-}  // namespace mujoco
diff --git a/test/experimental/usd/test_utils.h b/test/experimental/usd/test_utils.h
deleted file mode 100644
index 3ee50c0f..00000000
--- a/test/experimental/usd/test_utils.h
+++ /dev/null
@@ -1,144 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
-#define MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
-
-#include <string>
-
-#include <gtest/gtest.h>
-#include <pxr/base/gf/quatf.h>
-#include <pxr/usd/sdf/assetPath.h>
-#include <pxr/usd/sdf/declareHandles.h>
-#include <pxr/usd/sdf/fileFormat.h>
-#include <pxr/usd/sdf/path.h>
-#include <pxr/usd/usd/common.h>
-#include <pxr/usd/usd/modelAPI.h>
-#include <pxr/usd/usd/stage.h>
-#include <pxr/usd/usd/timeCode.h>
-
-#define EXPECT_PRIM_VALID(stage, path) \
-  EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
-
-#define EXPECT_PRIM_INVALID(stage, path) \
-  EXPECT_FALSE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
-
-#define EXPECT_PRIM_IS_A(stage, path, type)                         \
-  {                                                                 \
-    EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsA<type>()); \
-  }
-
-#define EXPECT_PRIM_API_APPLIED(stage, path, api)                     \
-  {                                                                   \
-    EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
-  }
-
-#define EXPECT_PRIM_API_NOT_APPLIED(stage, path, api)                  \
-  {                                                                    \
-    EXPECT_FALSE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
-  }
-
-#define EXPECT_PRIM_KIND(stage, path, kind)                          \
-  {                                                                  \
-    pxr::TfToken prim_kind;                                          \
-    pxr::UsdModelAPI::Get(stage, SdfPath(path)).GetKind(&prim_kind); \
-    EXPECT_EQ(kind, prim_kind);                                      \
-  }
-
-#define EXPECT_PRIM_PURPOSE(stage, path, purpose)    \
-  {                                                  \
-    pxr::TfToken prim_purpose;                       \
-    pxr::UsdGeomImageable::Get(stage, SdfPath(path)) \
-        .GetPurposeAttr()                            \
-        .Get(&prim_purpose);                         \
-    EXPECT_EQ(prim_purpose, purpose);                \
-  }
-
-#define EXPECT_ATTRIBUTE_HAS_VALUE(stage, path) \
-  EXPECT_TRUE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
-
-#define EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage, path) \
-  EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
-
-#define EXPECT_ATTRIBUTE_HAS_AUTHORED_VALUE(stage, path) \
-  EXPECT_TRUE((stage)->GetAttributeAtPath(SdfPath(path)).HasAuthoredValue());
-
-#define EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(stage, path) \
-  EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasAuthoredValue());
-
-#define EXPECT_REL_TARGET_COUNT(stage, path, count)                     \
-  {                                                                     \
-    pxr::SdfPathVector targets;                                         \
-    (stage)->GetRelationshipAtPath(SdfPath(path)).GetTargets(&targets); \
-    EXPECT_TRUE(targets.size() == count);                               \
-  }
-
-#define EXPECT_REL_HAS_TARGET(stage, path, target_path)                 \
-  {                                                                     \
-    pxr::SdfPathVector targets;                                         \
-    (stage)->GetRelationshipAtPath(SdfPath(path)).GetTargets(&targets); \
-    EXPECT_TRUE(std::find(targets.begin(), targets.end(),               \
-                          SdfPath(target_path)) != targets.end());      \
-  }
-
-namespace mujoco {
-namespace usd {
-
-pxr::SdfLayerRefPtr LoadLayer(
-    const std::string& xml,
-    const pxr::SdfFileFormat::FileFormatArguments& args = {});
-
-pxr::UsdStageRefPtr OpenStage(const std::string& xml);
-
-template <typename T>
-void ExpectAttributeEqual(
-    pxr::UsdStageRefPtr stage, pxr::SdfPath path, const T& value,
-    const pxr::UsdTimeCode time = pxr::UsdTimeCode::Default()) {
-  auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
-  EXPECT_TRUE(attr.IsValid()) << "Attribute " << path << " is not valid";
-  T attr_value;
-  attr.Get(&attr_value, time);
-  EXPECT_EQ(attr_value, value) << "Attribute " << path << " has value "
-                               << attr_value << ". Expected: " << value;
-}
-
-template <typename T>
-void ExpectAttributeEqual(
-    pxr::UsdStageRefPtr stage, const char* path, const T& value,
-    const pxr::UsdTimeCode time = pxr::UsdTimeCode::Default()) {
-  ExpectAttributeEqual(stage, pxr::SdfPath(path), value, time);
-}
-
-// Specialization for SdfAssetPath, so that we can compare only the asset path
-// and not care about whatever the resolved path is.
-// Otherwise the default operator== would fail because it tests for equality of
-// the asset path AND the resolved path.
-template <>
-void ExpectAttributeEqual<pxr::SdfAssetPath>(
-    pxr::UsdStageRefPtr stage, pxr::SdfPath, const pxr::SdfAssetPath& value,
-    pxr::UsdTimeCode time);
-
-void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
-                                  const char* connection_path);
-
-// Checks that all authored attributes on the given prim have types that match
-// the schema types.
-void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim);
-
-// Checks if two quaternions represent the same rotation.
-bool AreQuatsSameRotation(const pxr::GfQuatf& q1, const pxr::GfQuatf& q2,
-                          float tolerance = 1e-6);
-}  // namespace usd
-}  // namespace mujoco
-#endif  // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
diff --git a/test/fixture.cc b/test/fixture.cc
deleted file mode 100644
index 6839f81e..00000000
--- a/test/fixture.cc
+++ /dev/null
@@ -1,392 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "test/fixture.h"
-
-#include <array>
-#include <cerrno>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <filesystem>  // NOLINT
-#include <fstream>
-#include <sstream>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/base/attributes.h>
-#include <absl/base/const_init.h>
-#include <absl/base/thread_annotations.h>
-#include <absl/strings/match.h>
-#include <absl/strings/str_cat.h>
-#include <absl/strings/str_join.h>
-#include <absl/synchronization/mutex.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "src/xml/xml_global.h"
-
-namespace mujoco {
-namespace {
-using ::testing::_;
-using ::testing::Not;
-using ::testing::Return;
-using ::testing::Truly;
-
-// Returns true if the warning matches a known benign warning to ignore.
-bool IsBenignWarning(const std::string& msg) {
-  static const char* const kBenignWarnings[] = {
-      "is not rigid and has no equality constraints",
-      "Attach conflict",
-  };
-  for (const char* warning : kBenignWarnings) {
-    if (absl::StrContains(msg, warning)) {
-      return true;
-    }
-  }
-  return false;
-}
-}  // namespace
-
-thread_local MockWarningHandler* MockWarningHandler::active_handler = nullptr;
-
-// Registers this handler as the active one.
-MockWarningHandler::MockWarningHandler() {
-  prev_ = active_handler;
-  active_handler = this;
-
-  // By default, ignore matches in the benign warnings list
-  ON_CALL(*this, Warn(Truly(IsBenignWarning)))
-      .WillByDefault([](const std::string&) {});
-
-  // Fail on all other warnings
-  ON_CALL(*this, Warn(Not(Truly(IsBenignWarning))))
-      .WillByDefault([](const std::string& msg) {
-        ADD_FAILURE() << "mju_user_warning: " << msg;
-      });
-}
-
-// Restores the previously active warning handler.
-MockWarningHandler::~MockWarningHandler() { active_handler = prev_; }
-
-// Configures the mock warning handler to ignore all warnings (if empty) or
-// expect at least one warning containing substring (if non-empty).
-void MockWarningHandler::ExpectWarnings(std::string_view substring) {
-  if (substring.empty()) {
-    EXPECT_CALL(*this, Warn(_)).WillRepeatedly(Return());
-  } else {
-    EXPECT_CALL(*this, Warn(::testing::HasSubstr(std::string(substring))))
-        .Times(::testing::AtLeast(1))
-        .WillRepeatedly(Return());
-  }
-}
-
-// Returns the active warning handler.
-MockWarningHandler* MockWarningHandler::GetActive() { return active_handler; }
-
-namespace {
-
-using ::testing::NotNull;
-
-ABSL_CONST_INIT static absl::Mutex handlers_mutex(absl::kConstInit);
-static int guard_count ABSL_GUARDED_BY(handlers_mutex) = 0;
-static mjfLogHandler prev_log_handler ABSL_GUARDED_BY(handlers_mutex) = nullptr;
-
-void default_mj_log_handler(const mjLogMessage* msg) {
-  std::string subject = msg->subject;
-  if (msg->func) {
-    subject = absl::StrCat(msg->func, ": ", msg->subject);
-  }
-
-  if (msg->level == mjLOG_ERROR) {
-    // legacy fallback: some tests still install mju_user_error to intercept
-    // errors with longjmp-based capture
-    if (mju_user_error) {
-      mju_user_error(subject.c_str());
-    } else {
-      FAIL() << "mju_user_error: " << subject;
-    }
-  } else if (msg->level == mjLOG_WARNING) {
-    std::string full_msg = subject;
-    if (msg->body) {
-      absl::StrAppend(&full_msg, "\n", msg->body);
-    }
-    if (auto* handler = MockWarningHandler::GetActive()) {
-      handler->Warn(full_msg);
-    } else {
-      ADD_FAILURE() << "Unexpected warning: " << full_msg;
-    }
-  }
-}
-}  // namespace
-
-MujocoErrorTestGuard::MujocoErrorTestGuard() {
-  absl::MutexLock lock(handlers_mutex);
-  if (++guard_count == 1) {
-    prev_log_handler = mju_setLogHandler(default_mj_log_handler);
-  }
-}
-
-MujocoErrorTestGuard::~MujocoErrorTestGuard() {
-  absl::MutexLock lock(handlers_mutex);
-  if (--guard_count == 0) {
-    mju_setLogHandler(prev_log_handler);
-    prev_log_handler = nullptr;
-  }
-}
-
-const std::string GetTestDataFilePath(std::string_view path) {  // NOLINT
-  return std::string(path);
-}
-
-const std::string GetModelPath(std::string_view path) {  // NOLINT
-  return absl::StrCat("../model/", path);
-}
-
-MjModelPtr LoadModelFromString(std::string_view xml, char* error,
-                             int error_size, mjVFS* vfs) {
-  if (error) {
-    error[0] = '\0';
-  }
-
-  // This duplicates the logic in mj_loadXML, but allows us to use a string
-  // directly rather than having to write the contents to a file. Most
-  // importantly, we "save" the spec to global storage so that subsequent calls
-  // to mj_saveLastXML will be done using the parsed mjSpec.
-  mjSpec* spec = mj_parseXMLString(xml.data(), vfs, error, error_size);
-
-  mjModel* model = nullptr;
-  if (spec) {
-    model = mj_compile(spec, vfs);
-
-    if (error) {
-      if (!model) {
-        strncpy(error, mjs_getError(spec), error_size);
-        error[error_size - 1] = '\0';
-      } else {
-        int num_warnings = mjs_numWarnings(spec);
-        if (num_warnings > 0) {
-          std::string all_warnings;
-          for (int i = 0; i < num_warnings; ++i) {
-            if (!all_warnings.empty()) {
-              all_warnings += '\n';
-            }
-            all_warnings += mjs_getWarning(spec, i);
-          }
-          strncpy(error, all_warnings.c_str(), error_size);
-          error[error_size - 1] = '\0';
-        } else {
-          error[0] = '\0';
-        }
-      }
-    }
-  }
-
-  SetGlobalXmlSpec(spec);
-  return MjModelPtr(model);
-}
-
-MjDataPtr MakeData(const MjModelPtr& model) {
-  return MjDataPtr(mj_makeData(model.get()));
-}
-
-static void AssertModelNotNull(mjModel* model,
-                                  const std::array<char, 1024>& error) {
-  ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
-}
-
-mjModel* LoadModelFromPath(const char* model_path) {
-  const std::string xml_path = GetModelPath(model_path);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(
-    xml_path.c_str(), nullptr, error.data(), error.size());
-  AssertModelNotNull(model, error);
-  return model;
-}
-
-std::string GetFileContents(const char* path) {
-  std::ifstream ifs;
-  ifs.open(path, std::ifstream::in);
-  EXPECT_FALSE(ifs.fail());
-  std::ostringstream sstream;
-  sstream << ifs.rdbuf();
-  return sstream.str();
-}
-
-std::string SaveAndReadXmlImpl(const mjModel* model, const mjSpec* spec) {
-  constexpr int kMaxPathLen = 1024;
-  std::string path_template =
-      std::filesystem::temp_directory_path().append("tmp.XXXXXX").string();
-  EXPECT_LT(path_template.size(), kMaxPathLen);
-
-  char filepath[kMaxPathLen];
-  mju_strncpy(filepath, path_template.c_str(), path_template.size() + 1);
-
-#if defined(_POSIX_VERSION) && _POSIX_VERSION >= 200112L
-  int fd = mkstemp(filepath);
-  EXPECT_NE(fd, -1) << std::strerror(errno);
-#elif defined(_WIN32)
-  EXPECT_NE(_mktemp_s(filepath), EINVAL);
-#endif
-
-  if (spec) {
-    mj_saveXML(spec, filepath, nullptr, 0);
-  } else if (model) {
-    mj_saveLastXML(filepath, model, nullptr, 0);
-  }
-  std::string contents = GetFileContents(filepath);
-
-#if defined(_POSIX_VERSION) && _POSIX_VERSION >= 200112L
-  close(fd);
-#endif
-  std::remove(filepath);
-
-  return contents;
-}
-
-std::string SaveAndReadXml(const mjModel* model) {
-  EXPECT_THAT(model, testing::NotNull());
-  return SaveAndReadXmlImpl(model, nullptr);
-}
-
-std::string SaveAndReadXml(const mjSpec* spec) {
-  EXPECT_THAT(spec, testing::NotNull());
-  return SaveAndReadXmlImpl(nullptr, spec);
-}
-
-std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
-                                 mjtNum ctrlnoise) {
-  std::vector<mjtNum> ctrl;
-  for (int step=0; step < nsteps; step++) {
-    for (int i = 0; i < m->nu; i++) {
-      mjtNum center = 0.0;
-      mjtNum radius = 1.0;
-      mjtNum* range = m->actuator_ctrlrange + 2 * i;
-      if (m->actuator_ctrllimited[i]) {
-        center = (range[1] + range[0]) / 2;
-        radius = (range[1] - range[0]) / 2;
-      }
-      radius *= ctrlnoise;
-      ctrl.push_back(center + radius * (2 * mju_Halton(step, i+2) - 1));
-    }
-  }
-  return ctrl;
-}
-
-
-MockFilesystem::MockFilesystem(std::string unit_test_name) {
-  prefix_ = absl::StrCat("MjMock.", unit_test_name);
-  dir_ = "/";
-  if (mjp_getResourceProvider(prefix_.c_str()) != nullptr) {
-    return;
-  }
-
-  mjpResourceProvider resourceProvider;
-  mjp_defaultResourceProvider(&resourceProvider);
-  resourceProvider.prefix = prefix_.c_str();
-  resourceProvider.data = (void *) this;
-
-  resourceProvider.open = +[](mjResource* resource) {
-    MockFilesystem *fs = static_cast<MockFilesystem*>(resource->provider->data);
-    std::string filename = fs->StripPrefix(resource->name);
-    return fs->FileExists(filename) ? 1 : 0;
-  };
-
-  resourceProvider.read =+[](mjResource* resource, const void** buffer) {
-    MockFilesystem *fs = static_cast<MockFilesystem*>(resource->provider->data);
-    std::string filename = fs->StripPrefix(resource->name);
-    return (int) fs->GetFile(filename, (const unsigned char**) buffer);
-  };
-
-  resourceProvider.close = +[](mjResource* resource) {};
-  mjp_registerResourceProvider(&resourceProvider);
-}
-
-bool MockFilesystem::AddFile(std::string filename, const unsigned char* data,
-                         std::size_t ndata) {
-  std::string fullfilename = PathReduce(dir_, filename);
-  auto [it, inserted] = filenames_.insert(fullfilename);
-  if (inserted) {
-    data_[fullfilename] = std::vector(data, data + ndata);
-  }
-  return inserted;
-}
-
-bool MockFilesystem::FileExists(const std::string& filename) {
-  std::string fullfilename = PathReduce(dir_, filename);
-  return filenames_.find(fullfilename) != filenames_.end();
-}
-
-std::size_t MockFilesystem::GetFile(const std::string& filename,
-                                const unsigned char** buffer) const {
-  std::string fullfilename = PathReduce(dir_, filename);
-  auto it = data_.find(fullfilename);
-  if (it == data_.end()) {
-    return 0;
-  }
-  *buffer = it->second.data();
-  return it->second.size();
-}
-
-void MockFilesystem::ChangeDirectory(std::string dir) {
-  if (dir.empty()) {
-    return;
-  }
-
-  dir_ = PathReduce(dir_, dir);
-  if (dir_.back() != '/') {
-    dir_ = absl::StrCat(dir_, "/");
-  }
-}
-
-std::string MockFilesystem::FullPath(const std::string& path) const {
-  return absl::StrCat(prefix_, ":", PathReduce(dir_, path));
-}
-
-std::string MockFilesystem::StripPrefix(const char* path) const {
-  return &path[prefix_.size() + 1];
-}
-
-std::string MockFilesystem::PathReduce(const std::string& current_dir,
-                                       const std::string& path) {
-  std::stringstream stream;
-  if (!path.empty() && path[0] != '/') {
-    stream = std::stringstream(absl::StrCat(current_dir, path));
-  } else {
-    stream = std::stringstream(path);
-  }
-
-  std::string temp;
-  std::vector<std::string> dirs;
-  while (std::getline(stream, temp, '/')) {
-    if (temp == ".." && !dirs.empty()) {
-      dirs.pop_back();
-      continue;
-    }
-
-    if (temp != "." && !temp.empty()) {
-      dirs.push_back(temp);
-    }
-  }
-  if (dirs.empty()) {
-    return "/";
-  }
-
-  return absl::StrJoin(dirs, "/");
-}
-
-}  // namespace mujoco
diff --git a/test/fixture.h b/test/fixture.h
deleted file mode 100644
index e2bcec9c..00000000
--- a/test/fixture.h
+++ /dev/null
@@ -1,298 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_TEST_FIXTURE_H_
-#define MUJOCO_TEST_FIXTURE_H_
-
-#include <csetjmp>
-#include <cstdio>   // IWYU pragma: keep
-#include <cstdlib>  // IWYU pragma: keep
-#include <cstring>
-#include <iomanip>
-#include <iostream>
-#include <mutex>  // IWYU pragma: keep
-#include <string>
-#include <string_view>
-#include <vector>
-#include <memory>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/container/flat_hash_map.h>
-#include <absl/container/flat_hash_set.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-
-extern "C" {
-MJAPI mjfLogHandler _mjPRIVATE_setTlsLogHandler(mjfLogHandler handler);
-}
-
-namespace mujoco {
-
-struct MjModelDeleter {
-  void operator()(mjModel* m) const {
-    mj_deleteModel(m);
-  }
-};
-using MjModelPtr = std::unique_ptr<mjModel, MjModelDeleter>;
-
-struct MjDataDeleter {
-  void operator()(mjData* d) const {
-    mj_deleteData(d);
-  }
-};
-using MjDataPtr = std::unique_ptr<mjData, MjDataDeleter>;
-
-// Runtime scale factor for test tolerances, controlled by MJTOL_SCALE env var.
-// Set MJTOL_SCALE=0 to run tests with zero tolerance and see actual residuals.
-inline mjtNum MjTolScale() {
-  static const mjtNum scale = []() {
-    const char* env = std::getenv("MJTOL_SCALE");
-    return env ? std::strtod(env, nullptr) : 1.0;
-  }();
-  return scale;
-}
-
-// Precision-aware GMock matcher. Use instead of DoubleNear/FloatNear.
-// Under double builds, uses double_tol. Under float builds, uses float_tol.
-// Scaled by MJTOL_SCALE env var (default 1.0).
-template <typename T1, typename T2>
-inline auto MjNear(T1 double_tol, T2 float_tol) {
-#ifdef mjUSESINGLE
-  return ::testing::FloatNear(static_cast<float>(float_tol) * MjTolScale());
-#else
-  return ::testing::DoubleNear(static_cast<double>(double_tol) * MjTolScale());
-#endif
-}
-
-// Precision-aware GMock matcher (3-arg version).
-// Under double builds, matches near target with double_tol.
-// Under float builds, matches near target with float_tol.
-// Scaled by MJTOL_SCALE env var (default 1.0).
-template <typename T1, typename T2, typename T3>
-inline auto MjNear(T1 target, T2 double_tol, T3 float_tol) {
-#ifdef mjUSESINGLE
-  return ::testing::FloatNear(static_cast<float>(target),
-                              static_cast<float>(float_tol) * MjTolScale());
-#else
-  return ::testing::DoubleNear(static_cast<double>(target),
-                               static_cast<double>(double_tol) * MjTolScale());
-#endif
-}
-// Precision-aware tolerance for EXPECT_NEAR.
-// Scaled by MJTOL_SCALE env var (default 1.0).
-template <typename T1, typename T2>
-inline mjtNum MjTol(T1 double_tol, T2 float_tol) {
-#ifdef mjUSESINGLE
-  return static_cast<mjtNum>(float_tol) * MjTolScale();
-#else
-  return static_cast<mjtNum>(double_tol) * MjTolScale();
-#endif
-}
-
-// Precision-aware equality assertion: 4 ULPs in either precision.
-#ifdef mjUSESINGLE
-#define EXPECT_MJTNUM_EQ(a, b) EXPECT_FLOAT_EQ(a, b)
-#else
-#define EXPECT_MJTNUM_EQ(a, b) EXPECT_DOUBLE_EQ(a, b)
-#endif
-
-// Installs and uninstalls error callbacks on MuJoCo that fail the currently
-// running test if triggered. Prefer the use of MujocoTest, unless using a
-// test fixture is not possible.
-class MujocoErrorTestGuard {
- public:
-  // Sets up error and warning callbacks on MuJoCo that will fail the test if
-  // triggered.
-  MujocoErrorTestGuard();
-
-  // Clears up the callbacks from the constructor.
-  ~MujocoErrorTestGuard();
-};
-
-// Mock handler for capturing and verifying mju_warning logs.
-class MockWarningHandler {
- public:
-  // Constructor that registers this handler as the active one.
-  MockWarningHandler();
-  // Destructor that restores the previously active handler.
-  ~MockWarningHandler();
-
-  // Mock method called when a warning is intercepted.
-  MOCK_METHOD(void, Warn, (const std::string& msg));
-
-  // Allow any number of warnings (if empty) or expect at least one warning
-  // containing the specified substring (if non-empty).
-  void ExpectWarnings(std::string_view substring = "");
-
-  // Returns the thread-local active mock warning handler.
-  static MockWarningHandler* GetActive();
-
- private:
-  static thread_local MockWarningHandler* active_handler;
-  MockWarningHandler* prev_ = nullptr;
-};
-
-// A test fixture which simplifies writing tests for the MuJoCo C API.
-// By default, any MuJoCo operation which triggers a warning or error will
-// trigger a test failure.
-class MujocoTest : public ::testing::Test {
- public:
-  MujocoTest() {
-    static std::once_flag flag;
-    std::call_once(flag, []() {
-      const char* plugin_dir = std::getenv("MUJOCO_PLUGIN_DIR");
-      if (plugin_dir) {
-        mj_loadAllPluginLibraries(
-          plugin_dir, +[](const char* filename, int first, int count) {
-            std::printf("Plugins registered by library '%s':\n", filename);
-            for (int i = first; i < first + count; ++i) {
-              std::printf("    %s\n", mjp_getPluginAtSlot(i)->name);
-            }
-          });
-      }
-    });
-  }
-  ~MujocoTest() { mj_freeLastXML(); }
-
- protected:
-  MockWarningHandler mock_warning_handler;
-
- private:
-  MujocoErrorTestGuard error_guard;
-};
-
-template <typename Return, typename... Args>
-auto MjuErrorMessageFrom(Return (*func)(Args...)) {
-  thread_local std::jmp_buf current_jmp_buf;
-  thread_local char err_msg[2048];
-
-  auto new_error_handler = +[](const mjLogMessage* msg) -> void {
-    if (msg->level != mjLOG_ERROR) return;
-    std::snprintf(err_msg, sizeof(err_msg), "%s", msg->subject);
-    std::longjmp(current_jmp_buf, 1);
-  };
-
-  return [func, new_error_handler](Args... args) -> std::string {
-    auto old_handler = _mjPRIVATE_setTlsLogHandler(new_error_handler);
-    if (setjmp(current_jmp_buf) == 0) {
-      err_msg[0] = '\0';
-      func(args...);
-    }
-
-    _mjPRIVATE_setTlsLogHandler(old_handler);
-    return err_msg;
-  };
-}
-
-// Returns a path to a data file, under the mujoco/test directory.
-const std::string GetTestDataFilePath(std::string_view path);
-
-// Returns a path to a data file, under the mujoco/model directory.
-const std::string GetModelPath(std::string_view path);
-
-// Returns a newly-allocated mjModel, loaded from the contents of xml.
-// On failure returns nullptr and populates the error array if present.
-MjModelPtr LoadModelFromString(std::string_view xml, char* error = nullptr,
-                             int error_size = 0, mjVFS* vfs = nullptr);
-
-// Returns a newly-allocated mjData, initialized using model.
-MjDataPtr MakeData(const MjModelPtr& model);
-
-// Returns a newly-allocated mjModel, loaded from the contents in model_path.
-// On failure it asserts that model is null.
-mjModel* LoadModelFromPath(const char* model_path);
-
-// Returns a string loaded from first saving the model given an input.
-std::string SaveAndReadXml(const mjModel* model);
-
-// Returns a string loaded from first saving the spec given an input.
-std::string SaveAndReadXml(const mjSpec* spec);
-
-// Adds control noise.
-std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
-                                 mjtNum ctrlnoise = 0.01);
-
-
-// Returns a vector containing the elements of the array.
-template <typename T>
-std::vector<T> AsVector(const T* array, int n) {
-  return std::vector<T>(array, array + n);
-}
-
-// Prints a matrix to stderr, useful for debugging.
-inline void PrintMatrix(const mjtNum* mat, int nrow, int ncol, int p = 5,
-                        std::string_view name = "") {
-  std::cerr.precision(p);
-  std::cerr << name << "\n";
-  for (int r = 0; r < nrow; r++) {
-    for (int c = 0; c < ncol; c++) {
-      mjtNum val = mat[c + r * ncol];
-      if (val) {
-        std::cerr << std::fixed << std::setw(5 + p) << val << " ";
-      } else {
-        // don't print exact zeros
-        std::cerr << std::string(6 + p, ' ');
-      }
-    }
-    std::cerr << "\n";
-  }
-}
-
-// Installs a mock filesystem via a resource provider. To obtain thread safety,
-// each filesystem is scoped for individual unit tests with destructive
-// operations not permitted.
-class MockFilesystem {
- public:
-  // constructs mock filesystem.  A unique name (normally the unit test name)
-  // should be passed in.
-  MockFilesystem(std::string unit_test_name);
-
-  // Move and copy operations are forbidden.
-  MockFilesystem(MockFilesystem&& other) = delete;
-  MockFilesystem& operator=(MockFilesystem&& other) = delete;
-  MockFilesystem(const MockFilesystem& other) = delete;
-  MockFilesystem& operator=(const MockFilesystem& other) = delete;
-
-  // Returns the prefix registered for the resource provider.
-  const std::string& Prefix() const { return prefix_; }
-
-  // Adds file to the current directory. Returns false if file already exists.
-  bool AddFile(std::string filename, const unsigned char* data,
-               std::size_t ndata);
-
-  // Returns true if mock filesystem has file.
-  bool FileExists(const std::string& filename);
-
-  // Change the current directory.
-  void ChangeDirectory(std::string dir);
-
-  // Helper functions for resource provider callbacks.
-  std::size_t GetFile(const std::string& filename,
-                      const unsigned char** buffer) const;
-  std::string FullPath(const std::string& path) const;
-
- private:
-  std::string StripPrefix(const char* path) const;
-  static std::string PathReduce(const std::string& current_dir,
-                                const std::string& path);
-
-  absl::flat_hash_set<std::string> filenames_;
-  absl::flat_hash_map<std::string, std::vector<unsigned char>> data_;
-  std::string prefix_;
-  std::string dir_;  // current directory
-};
-
-}  // namespace mujoco
-#endif  // MUJOCO_TEST_FIXTURE_H_
diff --git a/test/fixture_test.cc b/test/fixture_test.cc
deleted file mode 100644
index ca779739..00000000
--- a/test/fixture_test.cc
+++ /dev/null
@@ -1,79 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "test/fixture.h"
-
-#include <array>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest-spi.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco {
-namespace {
-
-// Tests for the MujocoTest test fixture itself.
-using MujocoTestTest = MujocoTest;
-class MujocoErrorTestGuardTest : public ::testing::Test {};
-using ::testing::IsNull;
-
-
-TEST_F(MujocoTestTest, MjUserWarningFailsTest) {
-  EXPECT_NONFATAL_FAILURE(mju_warning("Warning."), "Warning.");
-}
-
-TEST_F(MujocoTestTest, BenignWarningDoesNotFailTest) {
-  // Warnings in the benign list should not trigger test failures
-  mju_warning(
-      "flex 'soft' is not rigid and has no equality constraints "
-      "or passive forces");
-}
-
-TEST_F(MujocoTestTest, MjUserErrorFailsTest) {
-  EXPECT_FATAL_FAILURE(mju_error("Error."), "Error.");
-}
-
-TEST_F(MujocoErrorTestGuardTest, NestedErrorGuards) {
-  {
-    MujocoErrorTestGuard guard1;
-    {
-      MujocoErrorTestGuard guard2;
-    }
-    EXPECT_FATAL_FAILURE(mju_error("Error."), "Error.");
-    EXPECT_NONFATAL_FAILURE(mju_warning("Warning."), "Warning.");
-  }
-  EXPECT_THAT(mju_user_error, IsNull());
-  EXPECT_THAT(mju_user_warning, IsNull());
-}
-
-TEST_F(MujocoTestTest, MockFilesystemTest) {
-  MockFilesystem fs("MockFilesystemTest");
-  std::array<unsigned char, 3> data = {'a', 'b', 'c'};
-  fs.ChangeDirectory("tmp");
-
-  fs.AddFile("../tmp2/file2", data.data(), data.size());
-  fs.AddFile("./file1", data.data(), data.size());
-
-  ASSERT_TRUE(fs.FileExists("/tmp/file1"));
-  ASSERT_TRUE(fs.FileExists("/tmp2/file2"));
-
-  fs.ChangeDirectory("../tmp2");
-
-  ASSERT_TRUE(fs.FileExists("../tmp/file1"));
-  ASSERT_TRUE(fs.FileExists("file2"));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/header_test.cc b/test/header_test.cc
deleted file mode 100644
index 6156e98a..00000000
--- a/test/header_test.cc
+++ /dev/null
@@ -1,427 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for structures in the public headers.
-
-#include <cstddef>
-#include <cstdint>
-#include <type_traits>
-#include <utility>
-#include <vector>
-
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include <mujoco/mjxmacro.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-template <typename T, size_t N>
-struct ArrayOrScalar {
-  using type = T[N];
-};
-template <typename T>
-struct ArrayOrScalar<T, 1> {
-  using type = T;
-};
-template <typename T, size_t N>
-using ArrayOrScalarT = typename ArrayOrScalar<T, N>::type;
-
-// check that a vector of named pointers are ordered by address
-void CheckAddressOrdering(
-    const std::vector<std::pair<const void*, const char*>>& pointers,
-    const char* category_name) {
-  for (size_t i = 0; i < pointers.size() - 1; ++i) {
-    EXPECT_LT(reinterpret_cast<uintptr_t>(pointers[i].first),
-              reinterpret_cast<uintptr_t>(pointers[i + 1].first))
-        << category_name << " '" << pointers[i].second
-        << "' should be declared before '" << pointers[i + 1].second << "'.";
-  }
-}
-
-using HeaderTest = MujocoTest;
-
-TEST_F(HeaderTest, IntsHaveAtLeast31Bits) {
-  int shift_left_30 = 1 << 30;
-  EXPECT_GT(shift_left_30, 0);
-}
-
-TEST_F(HeaderTest, MjOptionFields) {
-  mjOption o;
-  std::vector<std::pair<const void*, const char*>> fields;
-
-  // check that all X macros have the correct type and dim
-#define XIMPL(type, name, dim)                                             \
-  static_assert(                                                           \
-      std::is_same_v<decltype(mjOption::name), ArrayOrScalarT<type, dim>>, \
-      "incorrect type for mjOption::" #name);
-#define X(type, name, dim) \
-  static_assert(dim == 1, "use XVEC for non-scalar fields"); \
-  XIMPL(type, name, dim)
-#define XVEC(type, name, dim) \
-  static_assert(dim > 1, "use X for scalar fields"); \
-  XIMPL(type, name, dim)
-
-  MJOPTION_FIELDS
-
-#undef XVEC
-#undef X
-#undef XIMPL
-
-  // check that the ordering of X macros agrees with the struct fields
-#define X(type, name, dim) \
-  fields.push_back({static_cast<const void*>(&o.name), #name});
-#define XVEC X
-  MJOPTION_FIELDS
-#undef XVEC
-#undef X
-
-  CheckAddressOrdering(fields, "MJOPTION_FIELDS");
-
-  // check that MJOPTION_FIELDS is a complete list of struct fields
-  struct ExpectedMjOption {
-#define XVEC(type, name, dim) type name[dim];
-#define X XVEC
-    MJOPTION_FIELDS
-#undef X
-#undef XVEC
-  };
-  static_assert(sizeof(mjOption) == sizeof(ExpectedMjOption));
-  static_assert(alignof(mjOption) == alignof(ExpectedMjOption));
-}
-
-TEST_F(HeaderTest, MjStatisticFields) {
-  mjStatistic s;
-  std::vector<std::pair<const void*, const char*>> fields;
-
-  // All fields in mjStatistic are expected to be of type mjtNum.
-  using ScalarType = mjtNum;
-
-  // check that all X macros have the correct type and dim
-#define XIMPL(name, dim)                                         \
-  static_assert(std::is_same_v<decltype(mjStatistic::name),      \
-                               ArrayOrScalarT<ScalarType, dim>>, \
-                "incorrect type for mjStatistic::" #name);
-#define X(name, dim)                                         \
-  static_assert(dim == 1, "use XVEC for non-scalar fields"); \
-  XIMPL(name, dim)
-#define XVEC(name, dim)                                      \
-  static_assert(dim > 1, "use X for scalar fields");         \
-  XIMPL(name, dim)
-
-  MJSTATISTIC_FIELDS
-
-#undef XVEC
-#undef X
-#undef XIMPL
-
-  // check that the ordering of X macros agrees with the struct fields
-#define X(name, dim) \
-  fields.push_back({static_cast<const void*>(&s.name), #name});
-#define XVEC X
-  MJSTATISTIC_FIELDS
-#undef XVEC
-#undef X
-
-  CheckAddressOrdering(fields, "MJSTATISTIC_FIELDS");
-
-  // check that MJSTATISTIC_FIELDS is a complete list of struct fields
-  struct ExpectedMjStatistic {
-#define XVEC(name, dim) ScalarType name[dim];
-#define X XVEC
-    MJSTATISTIC_FIELDS;
-#undef XVEC
-#undef X
-  };
-  static_assert(sizeof(mjStatistic) == sizeof(ExpectedMjStatistic));
-  static_assert(alignof(mjStatistic) == alignof(ExpectedMjStatistic));
-}
-
-TEST_F(HeaderTest, MjVisualFields) {
-  mjVisual v;
-  std::vector<std::pair<const void*, const char*>> fields;
-
-  // check that all X macros have the correct type and dim
-#define X(type, name, dim)                                 \
-  static_assert(                                           \
-      std::is_same_v<decltype(v.global.name), type>,       \
-      "incorrect type for mjVisual::global::" #name);
-
-  MJVISUAL_GLOBAL_FIELDS
-
-#undef X
-
-#define X(type, name, dim)                                      \
-  static_assert(std::is_same_v<decltype(v.quality.name), type>, \
-                "incorrect type for mjVisual::quality::" #name);
-
-  MJVISUAL_QUALITY_FIELDS
-
-#undef X
-
-#define XIMPL(type, name, dim)                                               \
-  static_assert(                                                             \
-      std::is_same_v<decltype(v.headlight.name), ArrayOrScalarT<type, dim>>, \
-      "incorrect type for mjVisual::headlight::" #name);
-#define X(type, name, dim)                                   \
-  static_assert(dim == 1, "use XVEC for non-scalar fields"); \
-  XIMPL(type, name, dim)
-#define XVEC(type, name, dim)                        \
-  static_assert(dim > 1, "use X for scalar fields"); \
-  XIMPL(type, name, dim)
-
-  MJVISUAL_HEADLIGHT_FIELDS
-
-#undef X
-#undef XVEC
-
-#define X(type, name, dim)                                  \
-  static_assert(std::is_same_v<decltype(v.map.name), type>, \
-                "incorrect type for mjVisual::map::" #name);
-
-  MJVISUAL_MAP_FIELDS
-
-#undef X
-
-#define X(type, name, dim)                                    \
-  static_assert(std::is_same_v<decltype(v.scale.name), type>, \
-                "incorrect type for mjVisual::scale::" #name);
-
-  MJVISUAL_SCALE_FIELDS
-
-#undef X
-
-#define XVEC(type, name, dim)                                           \
-  static_assert(                                                        \
-      std::is_same_v<decltype(v.rgba.name), ArrayOrScalarT<type, dim>>, \
-      "incorrect type for mjVisual::rgba::" #name);
-
-  MJVISUAL_RGBA_FIELDS
-
-#undef XVEC
-
-  // check that the ordering of X macros agrees with the struct fields
-#define X(type, name, dim) \
-  fields.push_back({static_cast<const void*>(&v.global.name), #name});
-  MJVISUAL_GLOBAL_FIELDS
-#undef X
-#define X(type, name, dim) \
-  fields.push_back({static_cast<const void*>(&v.quality.name), #name});
-  MJVISUAL_QUALITY_FIELDS
-#undef X
-#define X(type, name, dim) \
-  fields.push_back({static_cast<const void*>(&v.headlight.name), #name});
-#define XVEC X
-  MJVISUAL_HEADLIGHT_FIELDS
-#undef XVEC
-#undef X
-#define X(type, name, dim) \
-  fields.push_back({static_cast<const void*>(&v.map.name), #name});
-  MJVISUAL_MAP_FIELDS
-#undef X
-#define X(type, name, dim) \
-  fields.push_back({static_cast<const void*>(&v.scale.name), #name});
-  MJVISUAL_SCALE_FIELDS
-#undef X
-#define XVEC(type, name, dim) \
-  fields.push_back({static_cast<const void*>(&v.rgba.name), #name});
-  MJVISUAL_RGBA_FIELDS
-#undef XVEC
-
-  CheckAddressOrdering(fields, "MJVISUAL_FIELDS");
-
-  // check that MJVISUAL_FIELDS is a complete list of fields
-  struct ExpectedMjVisual {
-    struct {
-#define X(type, name, dim) type name;
-    MJVISUAL_GLOBAL_FIELDS;
-#undef X
-    } global;
-    struct {
-#define X(type, name, dim) type name;
-      MJVISUAL_QUALITY_FIELDS;
-#undef X
-    } quality;
-    struct {
-#define X(type, name, dim) type name[dim];
-#define XVEC X
-      MJVISUAL_HEADLIGHT_FIELDS;
-#undef XVEC
-#undef X
-    } headlight;
-    struct {
-#define X(type, name, dim) type name;
-      MJVISUAL_MAP_FIELDS;
-#undef X
-    } map;
-    struct {
-#define X(type, name, dim) type name;
-      MJVISUAL_SCALE_FIELDS;
-#undef X
-    } scale;
-    struct {
-#define XVEC(type, name, dim) type name[dim];
-      MJVISUAL_RGBA_FIELDS;
-#undef XVEC
-    } rgba;
-  };
-
-  static_assert(sizeof(mjVisual) == sizeof(ExpectedMjVisual));
-  static_assert(alignof(mjVisual) == alignof(ExpectedMjVisual));
-
-  static_assert(sizeof(mjVisual::global) == sizeof(ExpectedMjVisual::global));
-  static_assert(alignof(decltype(mjVisual::global)) ==
-                alignof(decltype(ExpectedMjVisual::global)));
-
-  static_assert(sizeof(mjVisual::quality) == sizeof(ExpectedMjVisual::quality));
-  static_assert(alignof(decltype(mjVisual::quality)) ==
-                alignof(decltype(ExpectedMjVisual::quality)));
-
-  static_assert(sizeof(mjVisual::headlight) ==
-                sizeof(ExpectedMjVisual::headlight));
-  static_assert(alignof(decltype(mjVisual::headlight)) ==
-                alignof(decltype(ExpectedMjVisual::headlight)));
-
-  static_assert(sizeof(mjVisual::map) == sizeof(ExpectedMjVisual::map));
-  static_assert(alignof(decltype(mjVisual::map)) ==
-                alignof(decltype(ExpectedMjVisual::map)));
-
-  static_assert(sizeof(mjVisual::scale) == sizeof(ExpectedMjVisual::scale));
-  static_assert(alignof(decltype(mjVisual::scale)) ==
-                alignof(decltype(ExpectedMjVisual::scale)));
-
-  static_assert(sizeof(mjVisual::rgba) == sizeof(ExpectedMjVisual::rgba));
-  static_assert(alignof(decltype(mjVisual::rgba)) ==
-                alignof(decltype(ExpectedMjVisual::rgba)));
-}
-
-TEST_F(HeaderTest, MjModelIntsOrdered) {
-  mjModel m;
-  std::vector<std::pair<const void*, const char*>> ints;
-
-#define X(name) ints.push_back({static_cast<const void*>(&m.name), #name});
-  MJMODEL_SIZES
-#undef X
-
-  CheckAddressOrdering(ints, "MJMODEL_INT");
-}
-
-TEST_F(HeaderTest, MjModelPointersOrdered) {
-  mjModel m;
-  std::vector<std::pair<const void*, const char*>> pointers;
-
-#define X(type, name, dim1, dim2) \
-  pointers.push_back({static_cast<const void*>(&m.name), #name});
-#define XNV X
-  MJMODEL_POINTERS
-#undef XNV
-#undef X
-
-  CheckAddressOrdering(pointers, "MJMODEL_POINTER");
-}
-
-
-TEST_F(HeaderTest, MjDataPointersOrdered) {
-  mjData d;
-  std::vector<std::pair<const void*, const char*>> pointers;
-
-#define X(type, name, dim1, dim2) \
-  pointers.push_back({static_cast<const void*>(&d.name), #name});
-#define XNV X
-  MJDATA_POINTERS
-#undef XNV
-#undef X
-
-  CheckAddressOrdering(pointers, "mjData pointer");
-}
-
-TEST_F(HeaderTest, MjDataArenaPointersSolverOrdered) {
-  mjData d;
-  std::vector<std::pair<const void*, const char*>> pointers;
-
-#define X(type, name, dim1, dim2) \
-  pointers.push_back({static_cast<const void*>(&d.name), #name});
-#define XNV X
-#undef MJ_D
-#define MJ_D(n) 0
-  MJDATA_ARENA_POINTERS_SOLVER
-#undef MJ_D
-#define MJ_D(n) n
-#undef XNV
-#undef X
-
-  CheckAddressOrdering(pointers, "MJDATA_ARENA_POINTERS_SOLVER");
-}
-
-TEST_F(HeaderTest, MjDataArenaPointersDualOrdered) {
-  mjData d;
-  std::vector<std::pair<const void*, const char*>> pointers;
-
-#define X(type, name, dim1, dim2) \
-  pointers.push_back({static_cast<const void*>(&d.name), #name});
-#define XNV X
-#undef MJ_D
-#define MJ_D(n) 0
-  MJDATA_ARENA_POINTERS_DUAL
-#undef MJ_D
-#define MJ_D(n) n
-#undef XNV
-#undef X
-
-  CheckAddressOrdering(pointers, "MJDATA_ARENA_POINTERS_DUAL");
-}
-
-TEST_F(HeaderTest, MjDataArenaPointersIslandOrdered) {
-  mjData d;
-  std::vector<std::pair<const void*, const char*>> pointers;
-
-#define X(type, name, dim1, dim2) \
-  pointers.push_back({static_cast<const void*>(&d.name), #name});
-#define XNV X
-#undef MJ_D
-#define MJ_D(n) 0
-  MJDATA_ARENA_POINTERS_ISLAND
-#undef MJ_D
-#define MJ_D(n) n
-#undef XNV
-#undef X
-
-  CheckAddressOrdering(pointers, "MJDATA_ARENA_POINTERS_ISLAND");
-}
-
-TEST_F(HeaderTest, MjDataScalarsOrdered) {
-  mjData d;
-  std::vector<std::pair<const void*, const char*>> scalars;
-
-#define X(type, name) \
-  scalars.push_back({static_cast<const void*>(&d.name), #name});
-  MJDATA_SCALAR
-#undef X
-  CheckAddressOrdering(scalars, "mjData scalar");
-}
-
-TEST_F(HeaderTest, MjDataVectorsOrdered) {
-  mjData d;
-  std::vector<std::pair<const void*, const char*>> vectors;
-
-#define X(type, name, dim1, dim2) \
-  vectors.push_back({static_cast<const void*>(&d.name), #name});
-  MJDATA_VECTOR
-#undef X
-  CheckAddressOrdering(vectors, "mjData vector");
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/mjspecmacro_test.cc b/test/mjspecmacro_test.cc
deleted file mode 100644
index b5810bb0..00000000
--- a/test/mjspecmacro_test.cc
+++ /dev/null
@@ -1,148 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for X macros in mjspecmacro.h.
-
-#include <cstddef>
-#include <type_traits>
-
-#include <gtest/gtest.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjspecmacro.h>
-
-namespace mujoco {
-namespace {
-
-namespace expected {
-#define X(type, name, dim) type name;
-#define XVEC(type, name, dim) type name[dim];
-
-struct mjsElement { MJSELEMENT_FIELDS };
-struct mjsCompiler { MJSCOMPILER_FIELDS };
-struct mjSpec {
-  MJSPEC_FIELDS
-  mjsAuthored authored;
-};
-struct mjsOrientation { MJSORIENTATION_FIELDS };
-struct mjsPlugin { MJSPLUGIN_FIELDS };
-struct mjsBody { MJSBODY_FIELDS };
-struct mjsFrame { MJSFRAME_FIELDS };
-struct mjsJoint { MJSJOINT_FIELDS };
-struct mjsGeom { MJSGEOM_FIELDS };
-struct mjsSite { MJSSITE_FIELDS };
-struct mjsCamera { MJSCAMERA_FIELDS };
-struct mjsLight { MJSLIGHT_FIELDS };
-struct mjsFlex { MJSFLEX_FIELDS };
-struct mjsMesh { MJSMESH_FIELDS };
-struct mjsHField { MJSHFIELD_FIELDS };
-struct mjsSkin { MJSSKIN_FIELDS };
-struct mjsTexture { MJSTEXTURE_FIELDS };
-struct mjsMaterial { MJSMATERIAL_FIELDS };
-struct mjsPair { MJSPAIR_FIELDS };
-struct mjsExclude { MJSEXCLUDE_FIELDS };
-struct mjsEquality { MJSEQUALITY_FIELDS };
-struct mjsTendon { MJSTENDON_FIELDS };
-struct mjsWrap { MJSWRAP_FIELDS };
-struct mjsActuator { MJSACTUATOR_FIELDS };
-struct mjsSensor { MJSSENSOR_FIELDS };
-struct mjsNumeric { MJSNUMERIC_FIELDS };
-struct mjsText { MJSTEXT_FIELDS };
-struct mjsTuple { MJSTUPLE_FIELDS };
-struct mjsKey { MJSKEY_FIELDS };
-struct mjsDefault { MJSDEFAULT_FIELDS };
-
-#undef XVEC
-#undef X
-}  // namespace expected
-
-template <typename T, size_t N>
-struct ArrayOrScalar {
-  using type = T[N];
-};
-template <typename T>
-struct ArrayOrScalar<T, 1> {
-  using type = T;
-};
-template <typename T, size_t N>
-using ArrayOrScalarT = typename ArrayOrScalar<T, N>::type;
-
-#define XIMPL(type, name, dim)                                                 \
-  static_assert(                                                               \
-      std::is_same_v<decltype(RealStruct::name), ArrayOrScalarT<type, dim>>,   \
-      "Type mismatch for " #name);                                             \
-  static_assert(offsetof(RealStruct, name) == offsetof(ExpectedStruct, name),  \
-                "Offset mismatch for " #name);
-
-#define X(type, name, dim)                                                     \
-  static_assert(dim == 1, "use XVEC for non-scalar fields");                   \
-  XIMPL(type, name, dim)
-
-#define XVEC(type, name, dim)                                                  \
-  static_assert(dim > 1, "use X for scalar fields");                           \
-  XIMPL(type, name, dim)
-
-#define CHECK_STRUCT(Name, Macro)                                              \
-  struct Check##Name {                                                         \
-    using RealStruct = Name;                                                   \
-    using ExpectedStruct = expected::Name;                                     \
-    static_assert(sizeof(RealStruct) == sizeof(ExpectedStruct),                \
-                  "sizeof mismatch for " #Name);                               \
-    static_assert(alignof(RealStruct) == alignof(ExpectedStruct),              \
-                  "alignof mismatch for " #Name);                              \
-    Macro                                                                      \
-  };
-
-CHECK_STRUCT(mjsElement, MJSELEMENT_FIELDS)
-CHECK_STRUCT(mjsCompiler, MJSCOMPILER_FIELDS)
-CHECK_STRUCT(mjSpec, MJSPEC_FIELDS)
-CHECK_STRUCT(mjsOrientation, MJSORIENTATION_FIELDS)
-CHECK_STRUCT(mjsPlugin, MJSPLUGIN_FIELDS)
-CHECK_STRUCT(mjsBody, MJSBODY_FIELDS)
-CHECK_STRUCT(mjsFrame, MJSFRAME_FIELDS)
-CHECK_STRUCT(mjsJoint, MJSJOINT_FIELDS)
-CHECK_STRUCT(mjsGeom, MJSGEOM_FIELDS)
-CHECK_STRUCT(mjsSite, MJSSITE_FIELDS)
-CHECK_STRUCT(mjsCamera, MJSCAMERA_FIELDS)
-CHECK_STRUCT(mjsLight, MJSLIGHT_FIELDS)
-CHECK_STRUCT(mjsFlex, MJSFLEX_FIELDS)
-CHECK_STRUCT(mjsMesh, MJSMESH_FIELDS)
-CHECK_STRUCT(mjsHField, MJSHFIELD_FIELDS)
-CHECK_STRUCT(mjsSkin, MJSSKIN_FIELDS)
-CHECK_STRUCT(mjsTexture, MJSTEXTURE_FIELDS)
-CHECK_STRUCT(mjsMaterial, MJSMATERIAL_FIELDS)
-CHECK_STRUCT(mjsPair, MJSPAIR_FIELDS)
-CHECK_STRUCT(mjsExclude, MJSEXCLUDE_FIELDS)
-CHECK_STRUCT(mjsEquality, MJSEQUALITY_FIELDS)
-CHECK_STRUCT(mjsTendon, MJSTENDON_FIELDS)
-CHECK_STRUCT(mjsWrap, MJSWRAP_FIELDS)
-CHECK_STRUCT(mjsActuator, MJSACTUATOR_FIELDS)
-CHECK_STRUCT(mjsSensor, MJSSENSOR_FIELDS)
-CHECK_STRUCT(mjsNumeric, MJSNUMERIC_FIELDS)
-CHECK_STRUCT(mjsText, MJSTEXT_FIELDS)
-CHECK_STRUCT(mjsTuple, MJSTUPLE_FIELDS)
-CHECK_STRUCT(mjsKey, MJSKEY_FIELDS)
-CHECK_STRUCT(mjsDefault, MJSDEFAULT_FIELDS)
-
-#undef CHECK_STRUCT
-#undef XVEC
-#undef X
-#undef XIMPL
-
-TEST(MjspecmacroTest, CompileTimeChecks) {
-  // Verifies that the test compiled successfully and all static_asserts passed.
-  EXPECT_TRUE(true);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/pipeline_test.cc b/test/pipeline_test.cc
deleted file mode 100644
index fbdb39ac..00000000
--- a/test/pipeline_test.cc
+++ /dev/null
@@ -1,133 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests of the entire pipeline that are not easily associated with one file.
-
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_io.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-static const char* const kDefaultModel = "testdata/model.xml";
-
-using ::testing::Pointwise;
-using ::testing::NotNull;
-using PipelineTest = MujocoTest;
-
-
-// sparse and dense pipelines should produce the same results, for all solvers
-TEST_F(PipelineTest, SparseDenseEquivalent) {
-  const std::string xml_path = GetTestDataFilePath(kDefaultModel);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, NotNull())  << error;
-  mjData* data = mj_makeData(model);
-
-  const mjtNum tol = MjTol(1e-11, 1e-4);
-
-  const char* sname[4] = {"NEWTON", "PGS", "CG", "NOSLIP"};
-  mjtSolver solver[4] = {mjSOL_NEWTON, mjSOL_PGS, mjSOL_CG, mjSOL_NEWTON};
-
-#ifdef mjUSESINGLE
-  // CG and NOSLIP sparse-dense equivalence breaks at float32 precision.
-  int nsolvers = 2;
-#else
-  int nsolvers = 4;
-#endif
-
-  for (int i = 0; i < nsolvers; i++) {
-    model->opt.solver = solver[i];
-    if (i == 3) {
-      model->opt.noslip_iterations = 2;
-    }
-
-    // set dense jacobian, call mj_step, save qacc and new qpos
-    model->opt.jacobian = mjJAC_DENSE;
-    mj_resetDataKeyframe(model, data, 0);
-    mj_step(model, data);
-    std::vector<mjtNum> qacc_dense = AsVector(data->qacc, model->nv);
-    std::vector<mjtNum> qpos_dense = AsVector(data->qpos, model->nq);
-
-    // set sparse jacobian, call mj_step, save qacc and new qpos
-    model->opt.jacobian = mjJAC_SPARSE;
-    mj_resetDataKeyframe(model, data, 0);
-    mj_step(model, data);
-    std::vector<mjtNum> qacc_sparse = AsVector(data->qacc, model->nv);
-    std::vector<mjtNum> qpos_sparse = AsVector(data->qpos, model->nq);
-
-    // expect accelerations to be insignificantly different
-    EXPECT_THAT(qacc_dense, Pointwise(MjNear(tol, tol), qacc_sparse))
-        << "failed qacc equivalence for solver=" << sname[i];
-    // expect positions to be insignificantly different
-    EXPECT_THAT(qpos_dense, Pointwise(MjNear(tol, tol), qpos_sparse))
-        << "failed qpos equivalence for solver=" << sname[i];
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-// mj_forward should be idempotent when warm starts are disabled
-TEST_F(PipelineTest, DeterministicNoWarmstart) {
-  const std::string xml_path = GetTestDataFilePath(kDefaultModel);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  mjData* data = mj_makeData(model);
-  mjData* data2 = mj_makeData(model);
-
-  // disable warmstarts
-  model->opt.disableflags |= mjDSBL_WARMSTART;
-
-  int nv = model->nv;
-
-  int kNumSteps = 50;
-
-  for (mjtSolver solver : {mjSOL_NEWTON, mjSOL_PGS, mjSOL_CG}) {
-    model->opt.solver = solver;
-    mj_resetData(model, data);
-    mj_resetData(model, data2);
-
-    for (int step = 0; step < kNumSteps; step++) {
-      mj_step(model, data);
-      mj_forward(model, data);
-
-      mj_step(model, data2);
-      mj_forward(model, data2);
-
-      // test determinism: both models steps did the same thing
-      EXPECT_EQ(AsVector(data->qacc, nv), AsVector(data2->qacc, nv));
-
-      // one more mj_forward call on data2
-      mj_forward(model, data2);
-
-      // expect that the extra mj_forward call didn't change anything
-      EXPECT_EQ(AsVector(data->qacc, nv), AsVector(data2->qacc, nv));
-    }
-  }
-
-  mj_deleteData(data2);
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/plugin/actuator/CMakeLists.txt b/test/plugin/actuator/CMakeLists.txt
deleted file mode 100644
index b8e0f10b..00000000
--- a/test/plugin/actuator/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-mujoco_test(
-  pid_test
-  ADDITIONAL_LINK_LIBRARIES
-  absl::cleanup
-  absl::strings
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:actuator>"
-)
-target_link_libraries(pid_test fixture gmock )
diff --git a/test/plugin/actuator/pid_test.cc b/test/plugin/actuator/pid_test.cc
deleted file mode 100644
index 8e7a365c..00000000
--- a/test/plugin/actuator/pid_test.cc
+++ /dev/null
@@ -1,768 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for the PID controller plugin
-
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/cleanup/cleanup.h>
-#include <absl/strings/str_replace.h>
-#include <absl/strings/string_view.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using PidTest = MujocoTest;
-
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-
-TEST_F(PidTest, PGain) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1"><config key="kp" value="4.0"/></instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 0"/>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-    <body pos="0.04 0 0" >
-      <joint name="j2" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
-    <position joint="j2" kp="4.0" />
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  EXPECT_EQ(m->plugin_statenum[0], 0)
-      << "Plugin should have no state variables";
-  EXPECT_EQ(m->actuator_actnum[0], 0)
-      << "Plugin should have no activation variables";
-
-  MjDataPtr d = MakeData(m);
-
-  // apply the same ctrl to both actuators and see if the same qpos results
-  d->ctrl[0] = 1.0;
-  d->ctrl[1] = 1.0;
-
-  mj_step(m.get(), d.get());
-
-  EXPECT_EQ(d->actuator_force[0], d->actuator_force[1]);
-  EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1]);
-  EXPECT_EQ(d->qpos[0], d->qpos[1]);
-}
-
-TEST_F(PidTest, PGainWithFilterExact) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1"><config key="kp" value="4.0"/></instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 0"/>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-    <body pos="0.04 0 0" >
-      <joint name="j2" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" actdim="1"
-        dyntype="filterexact" dynprm="0.1" actearly="true"/>
-    <general joint="j2" gainprm="4.0 0 0" biastype="affine" biasprm="0 -4.0 0"
-        dyntype="filterexact" dynprm="0.1" actearly="true"/>
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  EXPECT_EQ(m->plugin_statenum[0], 0)
-      << "Plugin should have no state variables";
-  EXPECT_EQ(m->actuator_actnum[0], 1)
-      << "Plugin should have one activation variable";
-
-  MjDataPtr d = MakeData(m);
-
-  // apply the same ctrl to both actuators and see if the same qpos results
-  d->ctrl[0] = 1.0;
-  d->ctrl[1] = 1.0;
-
-  for (int i = 0; i < 2; i++) {
-    mj_step(m.get(), d.get());
-
-    EXPECT_EQ(d->actuator_force[0], d->actuator_force[1]);
-    EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1]);
-    EXPECT_EQ(d->qpos[0], d->qpos[1]);
-  }
-}
-
-TEST_F(PidTest, SlewMaxRate) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1">
-        <config key="kp" value="4.0"/>
-        <config key="slewmax" value="0.75"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 0" timestep="0.001"/>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-    <body pos="0.04 0 0" >
-      <joint name="j2" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" actdim="1" />
-    <position joint="j2" kp="4.0" />
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  // having a slew rate means that there should be one extra state variable
-  // for the plugin.
-  EXPECT_EQ(m->actuator_actnum[0], 1);
-
-  MjDataPtr d = MakeData(m);
-
-  // going from ctrl=0.0 to ctrl=1.0 immediately should be equivalent to slowly
-  // incrementing the setpoint
-  d->ctrl[0] = d->ctrl[1] = 0.0;
-  mj_step(m.get(), d.get());
-
-  mjtNum max_slew_rate = 0.75;
-  for (int i = 0; i < 2; i++) {
-    d->ctrl[0] = 1.0;
-    d->ctrl[1] = d->time * max_slew_rate;
-    mj_step(m.get(), d.get());
-
-    EXPECT_EQ(d->actuator_force[0], d->actuator_force[1])
-        << "actuator_force mismatch at step " << i;
-    EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1])
-        << "qfrc_actuator mismatch at step " << i;
-    EXPECT_EQ(d->qpos[0], d->qpos[1]) << "qpos mismatch at step " << i;
-  }
-}
-
-TEST_F(PidTest, IntegratedVelocitySlewMaxRate) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1">
-        <config key="kp" value="4.0"/>
-        <config key="slewmax" value="0.75"/>
-      </instance>
-      <instance name="pid2">
-        <config key="kp" value="4.0"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 0" timestep="0.001"/>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-    <body pos="0.04 0 0" >
-      <joint name="j2" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" actdim="1"/>
-    <!-- make an integrated velocity controller using the PID plugin -->
-    <plugin joint="j2" plugin="mujoco.pid" instance="pid2"
-        dyntype="integrator" dynprm="1 0 0" actearly="true" actdim="1"/>
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  // having a slew rate means that there should be one extra state variable
-  // for the plugin.
-  ASSERT_EQ(m->actuator_actnum[0], 1);
-  // The integrated-velocity controller should have one activation variable too.
-  ASSERT_EQ(m->actuator_actnum[1], 1);
-
-  MjDataPtr d = MakeData(m);
-
-  // going from ctrl=0.0 to ctrl=1.0 immediately should be equivalent to using
-  // an integrated-velocity controller, with actearly = true
-  d->ctrl[0] = d->ctrl[1] = 0.0;
-  mj_step(m.get(), d.get());
-
-  mjtNum max_slew_rate = 0.75;
-  for (int i = 0; i < 2; i++) {
-    d->ctrl[0] = 1.0;
-    d->ctrl[1] = max_slew_rate;
-    mj_step(m.get(), d.get());
-
-    EXPECT_EQ(d->act[0], d->act[1]) << "act mismatch at step " << i;
-    EXPECT_EQ(d->actuator_force[0], d->actuator_force[1])
-        << "actuator_force mismatch at step " << i;
-    EXPECT_EQ(d->qfrc_actuator[0], d->qfrc_actuator[1])
-        << "qfrc_actuator mismatch at step " << i;
-    EXPECT_EQ(d->qpos[0], d->qpos[1]) << "qpos mismatch at step " << i;
-  }
-}
-
-TEST_F(PidTest, SlewMaxRateUsesFirstCtrl) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1">
-        <config key="kp" value="4.0"/>
-        <config key="slewmax" value="0.75"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 0" timestep="0.001"/>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" actdim="1"/>
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  MjDataPtr d = MakeData(m);
-
-  // When starting with ctrl = 1.0, there shouldn't be a slew rate restriction
-  d->ctrl[0] = 1.0;
-  mj_forward(m.get(), d.get());
-  EXPECT_EQ(d->actuator_force[0], 4.0);
-}
-
-TEST_F(PidTest, ITerm) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid2">
-        <config key="kp" value="40.0"/>
-        <config key="ki" value="40"/>
-        <config key="kd" value="4"/>
-      </instance>
-      <instance name="pid3">
-        <config key="kp" value="40.0"/>
-        <config key="ki" value="40"/>
-        <config key="kd" value="4"/>
-        <config key="imax" value="5"/>
-      </instance>
-      <!-- intentionally put the plugin instances out of order, to test
-           any accidentaly dependency on the plugin definition order matching
-           the actuator order.
-      -->
-      <instance name="pid1">
-        <config key="kp" value="40.0"/>
-        <config key="kd" value="4"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 -10" timestep="0.001"/>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide" axis="0 0 1" />
-      <geom size="0.01" mass="1"/>
-    </body>
-    <body pos="0.04 0 0" >
-      <joint name="j2" type="slide" axis="0 0 1" />
-      <geom size="0.01" mass="1"/>
-    </body>
-    <body pos="0.08 0 0" >
-      <joint name="j3" type="slide" axis="0 0 1" />
-      <geom size="0.01" mass="1"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
-    <plugin joint="j2" plugin="mujoco.pid" instance="pid2" actdim="1" />
-    <plugin joint="j3" plugin="mujoco.pid" instance="pid3" actdim="1" />
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  // only the actuators with an I term should have state.
-  EXPECT_EQ(m->actuator_actnum[0], 0);
-  EXPECT_EQ(m->actuator_actnum[1], 1);
-  EXPECT_EQ(m->actuator_actnum[2], 1);
-
-  MjDataPtr d = MakeData(m);
-
-  // when applying a constant 1.0 control for a while:
-  // - the PD controller should settle to 1.0 - m*g / kp
-  // - the unclamped PID controller should reach 1.0
-  // - the clamped PID controller should reach 1.0 - (m*g - imax) / kp
-  d->ctrl[0] = d->ctrl[1] = d->ctrl[2] = 1.0;
-  for (int i = 0; i < 10000; i++) {
-    mj_step(m.get(), d.get());
-  }
-
-  EXPECT_THAT(d->qpos[0], MjNear(1.0 - 10 / 40.0, 1e-5, 1e-5));
-  EXPECT_THAT(d->qpos[1], MjNear(1.0, 1e-5, 1e-5));
-  EXPECT_THAT(d->qpos[2], MjNear(1.0 - (10 - 0.125 * 40.0) / 40.0, 1e-5, 1e-5));
-}
-
-TEST_F(PidTest, FiniteDifferencing) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid">
-        <config key="ki" value="40"/>
-        <config key="slewmax" value="0.75"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <worldbody>
-    <body><joint name="j"/><geom size="0.01"/></body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j" plugin="mujoco.pid" instance="pid" actdim="2" />
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  // actuators with an I term and max slew rate should have 2 activation
-  // variables.
-  ASSERT_EQ(m->actuator_actnum[0], 2);
-
-  MjDataPtr d = MakeData(m);
-
-  d->ctrl[0] = 1.0;
-  mj_step(m.get(), d.get());
-  EXPECT_NE(d->act[0], 0);
-  mjtNum state_before_finite_differencing = d->act[0];
-
-  std::vector<mjtNum> A((2 * m->nv + m->na) * (2 * m->nv + m->na), 0);
-  std::vector<mjtNum> B((2 * m->nv + m->na) * m->nu, 0);
-  std::vector<mjtNum> C((m->nsensordata) * (2 * m->nv + m->na), 0);
-  std::vector<mjtNum> D((m->nsensordata) * m->nu, 0);
-  mjd_transitionFD(m.get(), d.get(), /*eps=*/1e-3, /*flg_centered=*/true,
-                   A.data(), B.data(), C.data(), D.data());
-
-  EXPECT_EQ(d->act[0], state_before_finite_differencing)
-      << "mjd_transitionFD should not change actuator plugin state.";
-}
-
-TEST_F(PidTest, CtrlClamp) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <compiler autolimits="true"/>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid">
-        <config key="kp" value="40.0"/>
-        <config key="ki" value="40"/>
-        <config key="kd" value="4"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 0" timestep="0.001"/>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide" axis="0 0 1" />
-      <geom size="0.01" mass="1"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid"
-        ctrlrange="0.25 0.75" actdim="1" />
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  MjDataPtr d = MakeData(m);
-
-  // when applying a constant 1.0 control for a while, control should be clamped
-  // to 0.75, and the body should reach that point.
-  d->ctrl[0] = 1.0;
-  for (int i = 0; i < 10000; i++) {
-    mj_step(m.get(), d.get());
-  }
-  EXPECT_THAT(d->qpos[0], MjNear(0.75, 1e-5, 1e-5));
-
-  // when applying 0, it should be clamped to 0.25
-  d->ctrl[0] = 0.0;
-  for (int i = 0; i < 10000; i++) {
-    mj_step(m.get(), d.get());
-  }
-  EXPECT_THAT(d->qpos[0], MjNear(0.25, 1e-5, 1e-5));
-}
-
-TEST_F(PidTest, CopyData) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1">
-        <config key="kp" value="40.0"/>
-        <config key="kd" value="4"/>
-      </instance>
-      <instance name="pid2">
-        <config key="kp" value="40.0"/>
-        <config key="ki" value="40"/>
-        <config key="kd" value="4"/>
-        <config key="slewmax" value="3.14" />
-        <config key="imax" value="1"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 -10" timestep="0.001"/>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide" axis="0 0 1" />
-      <geom size="0.01" mass="1"/>
-    </body>
-    <body pos="0.04 0 0" >
-      <joint name="j2" type="slide" axis="0 0 1" />
-      <geom size="0.01" mass="1"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" />
-    <plugin joint="j2" plugin="mujoco.pid" instance="pid2" actdim="2"/>
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  MjDataPtr d1 = MakeData(m);
-
-  d1->ctrl[0] = d1->ctrl[1] = -1.0;
-
-  for (int i = 0; i < 3; i++) {
-    mj_step(m.get(), d1.get());
-  }
-  mjData* d2 = mj_copyData(nullptr, m.get(), d1.get());
-  absl::Cleanup d2_deleter = [d2] { mj_deleteData(d2); };
-
-  mj_step(m.get(), d1.get());
-  mj_step(m.get(), d2);
-
-  EXPECT_EQ(d1->qpos[0], d2->qpos[0]);
-  EXPECT_EQ(d1->qpos[1], d2->qpos[1]);
-}
-
-TEST_F(PidTest, MultipleActuatorsSamePlugin) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid">
-        <config key="kp" value="4.0"/>
-        <config key="slewmax" value="0.75"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <option gravity="0 0 0" timestep="0.001"/>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-    <body pos="0.04 0 0" >
-      <joint name="j2" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid" actdim="1" />
-    <plugin joint="j2" plugin="mujoco.pid" instance="pid" actdim="1" />
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  // having a slew rate means that there should be one extra state variable
-  // for the plugin.
-  EXPECT_EQ(m->actuator_actnum[0], 1);
-  EXPECT_EQ(m->actuator_actnum[1], 1);
-
-  MjDataPtr d = MakeData(m);
-
-  // Set different ctrls for the two actuators, and check that they're
-  // independent.
-  d->ctrl[0] = 1.0;
-  d->ctrl[1] = -1.0;
-
-  for (int i = 0; i < 2; i++) {
-    mj_step(m.get(), d.get());
-
-    EXPECT_EQ(d->actuator_force[0], -d->actuator_force[1])
-        << "actuator_force mismatch at step " << i;
-    EXPECT_EQ(d->qfrc_actuator[0], -d->qfrc_actuator[1])
-        << "qfrc_actuator mismatch at step " << i;
-    EXPECT_EQ(d->qpos[0], -d->qpos[1]) << "qpos mismatch at step " << i;
-  }
-}
-
-TEST_F(PidTest, InvalidClamp) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1">
-        <config key="ki" value="40"/>
-        <!-- imax should be nonnegative -->
-        <config key="imax" value="-0.01"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <worldbody>
-    <body><joint name="j1" /><geom size="0.01" /></body>
-  </worldbody>
-
-  <actuator><plugin joint="j1" plugin="mujoco.pid" instance="pid1" /></actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  EXPECT_THAT(m.get(), IsNull());
-
-  EXPECT_THAT(std::string_view(error), HasSubstr("plugin"));
-  EXPECT_THAT(std::string_view(error), HasSubstr("imax"));
-}
-
-TEST_F(PidTest, InvalidSlew) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1">
-        <config key="kp" value="40"/>
-        <!-- slewmax must be nonnegative -->
-        <config key="slewmax" value="-0.1"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <worldbody>
-    <body><joint name="j" /><geom size="0.01" /></body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j" plugin="mujoco.pid" instance="pid1" />
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-
-  EXPECT_THAT(std::string_view(error), HasSubstr("plugin"));
-  EXPECT_THAT(std::string_view(error), HasSubstr("slewmax"));
-}
-
-TEST_F(PidTest, WrongActdim) {
-  // XML where PLACEHOLDER is going to be replaced with various things
-  constexpr absl::string_view kBaseXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1">
-        <config key="kp" value="4.0"/>
-        <config key="slewmax" value="0.75"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" PLACEHOLDER />
-  </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  {
-    std::string no_actdim =
-        absl::StrReplaceAll(kBaseXml, {{"PLACEHOLDER", ""}});
-    MjModelPtr m = LoadModelFromString(no_actdim, error, sizeof(error));
-    EXPECT_THAT(m.get(), IsNull());
-    EXPECT_THAT(std::string_view(error), HasSubstr("actdim=\"1\""));
-  }
-
-  {
-    std::string big_actdim =
-        absl::StrReplaceAll(kBaseXml, {{"PLACEHOLDER", "actdim=\"2\""}});
-    MjModelPtr m = LoadModelFromString(big_actdim, error, sizeof(error));
-    EXPECT_THAT(m.get(), IsNull());
-    EXPECT_THAT(std::string_view(error), HasSubstr("actdim=\"1\""));
-  }
-
-  {
-    std::string dyntype_integrator = absl::StrReplaceAll(
-        kBaseXml, {{"PLACEHOLDER", "dyntype=\"integrator\" actdim=\"1\""}});
-    MjModelPtr m =
-        LoadModelFromString(dyntype_integrator, error, sizeof(error));
-    EXPECT_THAT(m.get(), IsNull());
-    EXPECT_THAT(std::string_view(error), HasSubstr("actdim=\"2\""));
-  }
-}
-
-// Regression test: loading models with PID plugin and keyframes used to crash.
-TEST_F(PidTest, Keyframe) {
-  constexpr absl::string_view kModelXml = R"(
-  <mujoco>
-  <extension>
-    <plugin plugin="mujoco.pid">
-      <instance name="pid1">
-        <config key="kp" value="4.0"/>
-        <config key="slewmax" value="0.75"/>
-      </instance>
-    </plugin>
-  </extension>
-
-  <worldbody>
-    <body>
-      <joint name="j1" type="slide"/>
-      <geom size="0.01"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <plugin joint="j1" plugin="mujoco.pid" instance="pid1" actdim="1" />
-  </actuator>
-  <keyframe>
-    <key name="home" qpos="0" act="1" />
-  </keyframe>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-  MjModelPtr m = LoadModelFromString(kModelXml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-
-  // having a slew rate means that there should be one extra state variable
-  // for the plugin.
-  EXPECT_EQ(m->actuator_actnum[0], 1);
-  EXPECT_EQ(m->na, 1);
-  ASSERT_EQ(m->nkey, 1);
-  EXPECT_EQ(m->key_act[0], 1.0);
-
-  MjDataPtr d = MakeData(m);
-
-  mj_resetDataKeyframe(m.get(), d.get(), 0);
-  EXPECT_EQ(d->act[0], 1.0);
-}
-}  // namespace
-}  // namespace mujoco
diff --git a/test/plugin/decoder/decoder_test.cc b/test/plugin/decoder/decoder_test.cc
deleted file mode 100644
index 1aed947c..00000000
--- a/test/plugin/decoder/decoder_test.cc
+++ /dev/null
@@ -1,166 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for decoder plugins.
-
-#include <string.h>
-
-#include <cstdlib>
-#include <cstring>
-#include <string_view>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-// A simple mjSpec with one body and one geom.
-static mjSpec* MakeSimpleSpec() {
-  mjSpec* s = mj_makeSpec();
-  mjsBody* world = mjs_findBody(s, "world");
-  mjsBody* body = mjs_addBody(world, nullptr);
-  mjsGeom* geom = mjs_addGeom(body, nullptr);
-  geom->size[0] = 1.0;
-  geom->size[1] = 1.0;
-  geom->size[2] = 1.0;
-  return s;
-}
-
-// Always returns a simple mjSpec, ignoring the resource.
-mjSpec* FakeDecode(mjResource* resource, const mjVFS* vfs) {
-  return MakeSimpleSpec();
-}
-
-// Can decode any resource that has a .fakeformat extension.
-int FakeCanDecode(const mjResource* resource) {
-  const char* ext = strrchr(resource->name, '.');
-  if (ext) {
-    return strcmp(ext, ".fakeformat") == 0 ||
-           strcmp(ext, ".alsoFakeFormat") == 0;
-  }
-  return 0;
-}
-
-mjpDecoder FakeDecoder() {
-  mjpDecoder decoder;
-  mjp_defaultDecoder(&decoder);
-  decoder.content_type = "model/fakeformat";
-  decoder.extension = ".fakeformat|.alsoFakeFormat";
-  decoder.can_decode = FakeCanDecode;
-  decoder.decode = FakeDecode;
-  return decoder;
-}
-
-using DecoderPluginTest = MujocoTest;
-
-TEST_F(DecoderPluginTest, CanDecode) {
-  mjpDecoder decoder = FakeDecoder();
-  mjp_registerDecoder(&decoder);
-
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <model name="fakeformat" file="dummy.fakeformat"/>
-      <model name="also_fakeformat" file="dummy.alsoFakeFormat"/>
-    </asset>
-    <worldbody>
-      <attach model="fakeformat" prefix="test"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  // Check referencing a resource via XML invokes the decoder.
-  char error[1024];
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull()) << error;
-  EXPECT_EQ(model->nbody, 2);  // world + included body
-  EXPECT_EQ(model->ngeom, 1);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-
-  // Check mj_parse with extension .fakeformat
-  spec = mj_parse("dummy.fakeformat", nullptr, nullptr, error, sizeof(error));
-  model = mj_compile(spec, nullptr);
-  EXPECT_EQ(model->nbody, 2);  // world + included body
-  EXPECT_EQ(model->ngeom, 1);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-
-  // Check mj_parse with extension .alsoFakeFormat
-  spec =
-      mj_parse("dummy.alsoFakeFormat", nullptr, nullptr, error, sizeof(error));
-  model = mj_compile(spec, nullptr);
-  EXPECT_EQ(model->nbody, 2);  // world + included body
-  EXPECT_EQ(model->ngeom, 1);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-
-  // Check mj_parse with content_type
-  spec = mj_parse("dummy.fakeformat", "model/fakeformat", nullptr, error,
-                  sizeof(error));
-  model = mj_compile(spec, nullptr);
-  EXPECT_EQ(model->nbody, 2);  // world + included body
-  EXPECT_EQ(model->ngeom, 1);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(DecoderPluginTest, DecodeWithResourceArgs) {
-  static auto decode_args_fn =
-      +[](mjResource* resource, const mjVFS* vfs) -> mjSpec* {
-    mjSpec* s = MakeSimpleSpec();
-    if (resource && resource->args) {
-      std::string_view args_view(resource->args);
-      size_t pos = args_view.find("size=");
-      if (pos != std::string_view::npos) {
-        mjsElement* elem = mjs_firstElement(s, mjOBJ_GEOM);
-        mjsGeom* geom = mjs_asGeom(elem);
-        if (geom) {
-          geom->size[0] = std::atof(args_view.data() + pos + 5);
-        }
-      }
-    }
-    return s;
-  };
-
-  mjpDecoder decoder;
-  mjp_defaultDecoder(&decoder);
-  decoder.content_type = "model/argsformat";
-  decoder.extension = ".argsformat";
-  decoder.can_decode = +[](const mjResource* r) -> int { return 1; };
-  decoder.decode = decode_args_fn;
-  mjp_registerDecoder(&decoder);
-
-  mjResource resource;
-  std::memset(&resource, 0, sizeof(resource));
-  resource.name = const_cast<char*>("test.argsformat");
-  resource.args = "size=42.0&foo=bar";
-
-  mjSpec* spec = mju_decodeResource(&resource, "model/argsformat", nullptr);
-  ASSERT_THAT(spec, testing::NotNull());
-  mjsElement* elem = mjs_firstElement(spec, mjOBJ_GEOM);
-  mjsGeom* geom = mjs_asGeom(elem);
-  ASSERT_THAT(geom, testing::NotNull());
-  EXPECT_DOUBLE_EQ(geom->size[0], 42.0);
-  mj_deleteSpec(spec);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/plugin/elasticity/CMakeLists.txt b/test/plugin/elasticity/CMakeLists.txt
deleted file mode 100644
index 93883937..00000000
--- a/test/plugin/elasticity/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-mujoco_test(
-  elasticity_test
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
-)
diff --git a/test/plugin/elasticity/elasticity_test.cc b/test/plugin/elasticity/elasticity_test.cc
deleted file mode 100644
index 8aca6387..00000000
--- a/test/plugin/elasticity/elasticity_test.cc
+++ /dev/null
@@ -1,158 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for plugin-related functionalities.
-
-#include <cmath>
-#include <limits>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ElasticityTest = MujocoTest;
-
-// -------------------------------- cable -----------------------------------
-TEST_F(ElasticityTest, CantileverIntoCircle) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP() << "Cable simulation with extreme stiffness diverges in float32";
-#endif
-  static constexpr char cantilever_xml[] = R"(
-  <mujoco>
-    <option gravity="0 0 0"/>
-    <extension>
-      <plugin plugin="mujoco.elasticity.cable"/>
-    </extension>
-    <worldbody>
-      <geom type="plane" size="0 0 1" quat="1 0 0 0"/>
-      <site name="reference" pos="0 0 0"/>
-      <composite type="cable" curve="s" count="41 1 1" size="1" offset="0 0 1" initial="none">
-        <plugin plugin="mujoco.elasticity.cable">
-          <config key="twist" value="1e6"/>
-          <config key="bend" value="1e9"/>
-        </plugin>
-        <joint kind="main" damping="2"/>
-        <geom type="capsule" size=".005" density="1"/>
-      </composite>
-    </worldbody>
-    <contact>
-      <exclude body1="B_first" body2="B_last"/>
-    </contact>
-    <sensor>
-      <framepos objtype="site" objname="S_last"/>
-    </sensor>
-    <actuator>
-      <motor site="S_last" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="0 4"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-
-  MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-  MjDataPtr d = MakeData(m);
-
-  // see Oliver Weeger, Sai-Kit Yeung, Martin L. Dunn, "Isogeometric collocation
-  // methods for Cosserat rods and rod structures", section 7.1 (DOI:
-  // j.cma.2016.05.009), the torque for achieving an angle phi is phi * E * Iy.
-  mjtNum Iy = mjPI * pow(0.005, 4) / 4;
-  mjtNum torque = 2 * mjPI * 1e9 * Iy;
-  for (int i = 0; i < 1300; i++) {
-    if (i < 300) {
-      d->ctrl[0] += torque / 300;
-    }
-    mj_step(m.get(), d.get());
-  }
-  EXPECT_NEAR(d->sensordata[0], 0, std::numeric_limits<float>::epsilon());
-  EXPECT_NEAR(d->sensordata[1], 0, std::numeric_limits<float>::epsilon());
-  EXPECT_NEAR(d->sensordata[2], 1, std::numeric_limits<float>::epsilon());
-}
-
-TEST_F(ElasticityTest, InvalidTxtAttribute) {
-  static constexpr char cantilever_xml[] = R"(
-  <mujoco>
-    <extension>
-      <plugin plugin="mujoco.elasticity.cable">
-        <instance name="invalid">
-          <config key="twist" value="one"/>
-          <config key="bend" value="1"/>
-        </instance>
-      </plugin>
-    </extension>
-    <worldbody>
-      <geom type="plane" size="0 0 1" quat="1 0 0 0"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-
-  MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::IsNull());
-}
-
-TEST_F(ElasticityTest, InvalidMixedAttribute) {
-  static constexpr char cantilever_xml[] = R"(
-  <mujoco>
-    <extension>
-      <plugin plugin="mujoco.elasticity.cable">
-        <instance name="invalid">
-          <config key="twist" value="1"/>
-          <config key="bend" value="1 is not a number"/>
-        </instance>
-      </plugin>
-    </extension>
-    <worldbody>
-      <geom type="plane" size="0 0 1" quat="1 0 0 0"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-
-  MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::IsNull());
-}
-
-TEST_F(ElasticityTest, ValidAttributes) {
-  static constexpr char cantilever_xml[] = R"(
-  <mujoco>
-    <extension>
-      <plugin plugin="mujoco.elasticity.cable">
-        <instance name="invalid">
-          <config key="twist" value="0.0"/>
-          <config key="bend" value=" 0  "/>
-        </instance>
-      </plugin>
-    </extension>
-    <worldbody>
-      <geom type="plane" size="0 0 1" quat="1 0 0 0"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024] = {0};
-
-  MjModelPtr m = LoadModelFromString(cantilever_xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), testing::NotNull()) << error;
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/plugin/encoder/encoder_test.cc b/test/plugin/encoder/encoder_test.cc
deleted file mode 100644
index 45309689..00000000
--- a/test/plugin/encoder/encoder_test.cc
+++ /dev/null
@@ -1,158 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for encoder plugins.
-
-#include <cstdio>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-struct FakeEncoderOutput {
-  int nbody;
-  int ngeom;
-  int njnt;
-  char resource_name[512];
-};
-
-mjtSize FakeEncode(const mjSpec* s, const mjModel* m, const mjVFS* vfs,
-                   mjResource* resource) {
-  auto* output = new FakeEncoderOutput;
-  output->nbody = m->nbody;
-  output->ngeom = m->ngeom;
-  output->njnt = m->njnt;
-  std::snprintf(output->resource_name, sizeof(output->resource_name), "%s",
-                resource->name);
-  resource->data = output;
-  return static_cast<mjtSize>(sizeof(FakeEncoderOutput));
-}
-
-void CloseResource(mjResource* resource) {
-  delete static_cast<FakeEncoderOutput*>(resource->data);
-  resource->data = nullptr;
-}
-
-mjpEncoder FakeEncoder() {
-  mjpEncoder encoder;
-  mjp_defaultEncoder(&encoder);
-  encoder.content_type = "model/fakeformat";
-  encoder.extension = ".fakeformat|.alsoFakeFormat";
-  encoder.encode = FakeEncode;
-  encoder.close_resource = CloseResource;
-  return encoder;
-}
-
-using EncoderPluginTest = MujocoTest;
-
-TEST_F(EncoderPluginTest, RegisterAndFindByExtension) {
-  mjpEncoder encoder = FakeEncoder();
-  mjp_registerEncoder(&encoder);
-
-  const mjpEncoder* found = mjp_findEncoder("output.fakeformat", nullptr);
-  ASSERT_THAT(found, testing::NotNull());
-  EXPECT_EQ(found->encode, FakeEncode);
-}
-
-TEST_F(EncoderPluginTest, FindByAlternateExtension) {
-  const mjpEncoder* found = mjp_findEncoder("output.alsoFakeFormat", nullptr);
-  ASSERT_THAT(found, testing::NotNull());
-  EXPECT_EQ(found->encode, FakeEncode);
-}
-
-TEST_F(EncoderPluginTest, FindByContentType) {
-  const mjpEncoder* found = mjp_findEncoder(nullptr, "model/fakeformat");
-  ASSERT_THAT(found, testing::NotNull());
-  EXPECT_EQ(found->encode, FakeEncode);
-}
-
-TEST_F(EncoderPluginTest, FindUnknownExtensionReturnsNull) {
-  const mjpEncoder* found = mjp_findEncoder("output.unknown", nullptr);
-  EXPECT_THAT(found, testing::IsNull());
-}
-
-TEST_F(EncoderPluginTest, DefaultEncoderIsZeroed) {
-  mjpEncoder encoder;
-  mjp_defaultEncoder(&encoder);
-  EXPECT_EQ(encoder.content_type, nullptr);
-  EXPECT_EQ(encoder.extension, nullptr);
-  EXPECT_EQ(encoder.encode, nullptr);
-}
-
-TEST_F(EncoderPluginTest, EncodeModel) {
-  mjSpec* spec = mj_makeSpec();
-  mjsBody* world = mjs_findBody(spec, "world");
-  mjsBody* body = mjs_addBody(world, nullptr);
-  mjsGeom* geom = mjs_addGeom(body, nullptr);
-  geom->size[0] = 1.0;
-  geom->size[1] = 1.0;
-  geom->size[2] = 1.0;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  const mjpEncoder* found = mjp_findEncoder("output.fakeformat", nullptr);
-  ASSERT_THAT(found, testing::NotNull());
-
-  mjResource resource = {};
-  resource.name = const_cast<char*>("output.fakeformat");
-
-  int result = found->encode(spec, model, nullptr, &resource);
-  EXPECT_GT(result, 0);
-
-  auto* output = static_cast<FakeEncoderOutput*>(resource.data);
-  ASSERT_THAT(output, testing::NotNull());
-  EXPECT_EQ(output->nbody, 2);
-  EXPECT_EQ(output->ngeom, 1);
-  EXPECT_EQ(output->njnt, 0);
-  EXPECT_STREQ(output->resource_name, "output.fakeformat");
-
-  found->close_resource(&resource);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(EncoderPluginTest, EncodeWithResourceArgs) {
-  mjSpec* spec = mj_makeSpec();
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  const mjpEncoder* found = mjp_findEncoder("output.fakeformat", nullptr);
-  ASSERT_THAT(found, testing::NotNull());
-
-  mjResource resource = {};
-  resource.name = const_cast<char*>("output.fakeformat");
-  resource.args = "format=binary&compression=9";
-
-  int result = found->encode(spec, model, nullptr, &resource);
-  EXPECT_GT(result, 0);
-
-  auto* output = static_cast<FakeEncoderOutput*>(resource.data);
-  ASSERT_THAT(output, testing::NotNull());
-  EXPECT_STREQ(resource.args, "format=binary&compression=9");
-
-  found->close_resource(&resource);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/plugin/sensor/CMakeLists.txt b/test/plugin/sensor/CMakeLists.txt
deleted file mode 100644
index e634d16c..00000000
--- a/test/plugin/sensor/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-# Copyright 2022 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-mujoco_test(
-  sensor_test
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:sensor>"
-)
diff --git a/test/plugin/sensor/sensor_test.cc b/test/plugin/sensor/sensor_test.cc
deleted file mode 100644
index dcab51b3..00000000
--- a/test/plugin/sensor/sensor_test.cc
+++ /dev/null
@@ -1,45 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for sensor plugins.
-
-#include <string>
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using SensorPluginTest = MujocoTest;
-
-static const char* const kTOuchGridPath =
-    "plugin/sensor/testdata/touch_grid_test.xml";
-
-TEST_F(SensorPluginTest, ValidAttributes) {
-  const std::string xml_path = GetTestDataFilePath(kTOuchGridPath);
-  char error[1024] = {0};
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(model, testing::NotNull()) << error;
-  int nchannel = 3;
-  int size_x = 6;
-  int size_y = 2;
-  EXPECT_THAT(model->sensor_dim[0], nchannel * size_x * size_y);
-  mj_deleteModel(model);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/plugin/sensor/testdata/touch_grid_test.xml b/test/plugin/sensor/testdata/touch_grid_test.xml
deleted file mode 100644
index c921e2b9..00000000
--- a/test/plugin/sensor/testdata/touch_grid_test.xml
+++ /dev/null
@@ -1,50 +0,0 @@
-<mujoco model="touchtest">
-  <extension>
-    <plugin plugin="mujoco.sensor.touch_grid"/>
-  </extension>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="3 1" texuniform="true"/>
-  </asset>
-
-  <visual>
-      <headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1"/>
-      <map znear="0.01"/>
-  </visual>
-
-  <default>
-    <geom friction="0.4"/>
-  </default>
-
-  <statistic center="0 0 1" extent="1" meansize=".1"/>
-
-  <option gravity="0 0 -10"/>
-
-  <worldbody>
-    <body name="dummy2">
-      <geom name="floor" pos="0 0 0" type="plane" size="1 1 .01" material="grid"/>
-    </body>
-
-    <body name="dummy1">
-      <site name="touch" pos="0 0 10" group="3"/>
-    </body>
-
-    <body name="box" pos="0 0 .1">
-      <freejoint/>
-      <geom type="box" size=".1 .1 .1" mass="0.1"/>
-    </body>
-
-    <light pos="0 0 5"/>
-
-  </worldbody>
-
-  <sensor>
-    <plugin name="touch" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch">
-      <config key="size" value="6 2"/>
-      <config key="fov" value="5.71 5.71"/>
-      <config key="gamma" value="0"/>
-      <config key="nchannel" value="3"/>
-    </plugin>
-  </sensor>
-</mujoco>
diff --git a/test/sample/CMakeLists.txt b/test/sample/CMakeLists.txt
deleted file mode 100644
index 0d1061e3..00000000
--- a/test/sample/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-if(MUJOCO_BUILD_EXAMPLES)
-  include(ShellTests)
-
-  add_mujoco_shell_test(compile_test compile)
-  add_mujoco_shell_test(testspeed_test testspeed)
-endif()
diff --git a/test/sample/compile_test.sh b/test/sample/compile_test.sh
deleted file mode 100755
index 1029cb87..00000000
--- a/test/sample/compile_test.sh
+++ /dev/null
@@ -1,69 +0,0 @@
-#!/bin/bash
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-MODEL="${CMAKE_SOURCE_DIR}/model/humanoid/humanoid100.xml"
-OUTPUT_FILE="${TEST_TMPDIR}/compiled.mjb"
-
-
-die() { echo "$*" 1>&2 ; exit 1; }
-
-if [ -z "$TARGET_BINARY" ]; then
-  die "Expecting environment variable TARGET_BINARY."
-fi
-
-if [ -z "$MUJOCO_DLL_DIR" ]; then
-  # Extend PATH to include the directory containing the mujoco DLL.
-  # This is needed on Windows.
-  PATH=$PATH:$MUJOCO_DLL_DIR
-fi
-
-"$TARGET_BINARY" "$MODEL" "$OUTPUT_FILE" || die "compile failed"
-
-if [ ! -s "$OUTPUT_FILE" ]; then
-  die "Output file empty or missing (${OUTPUT_FILE})."
-fi
-
-# Test invalid arguments (expect failure)
-"$TARGET_BINARY" > /dev/null 2>&1
-if [ $? -eq 0 ]; then
-  die "Expected failure with no arguments"
-fi
-
-# Test illegal combination (MJB -> XML, expect failure)
-"$TARGET_BINARY" "$OUTPUT_FILE" "${TEST_TMPDIR}/failed.xml" > /dev/null 2>&1
-if [ $? -eq 0 ]; then
-  die "Expected failure for MJB -> XML"
-fi
-
-# Test compile with 1 argument (expect success)
-"$TARGET_BINARY" "$MODEL" > /dev/null || die "compile with 1 argument failed"
-
-# Test XML -> MJZ (expect success)
-OUTPUT_MJZ="${TEST_TMPDIR}/compiled.mjz"
-"$TARGET_BINARY" "$MODEL" "$OUTPUT_MJZ" || die "compile to MJZ failed"
-
-if [ ! -s "$OUTPUT_MJZ" ]; then
-  die "MJZ output file empty or missing (${OUTPUT_MJZ})."
-fi
-
-# Test MJZ -> MJB (expect success)
-OUTPUT_MJB_FROM_MJZ="${TEST_TMPDIR}/compiled_from_mjz.mjb"
-"$TARGET_BINARY" "$OUTPUT_MJZ" "$OUTPUT_MJB_FROM_MJZ" || die "compile from MJZ to MJB failed"
-
-if [ ! -s "$OUTPUT_MJB_FROM_MJZ" ]; then
-  die "MJB output from MJZ empty or missing (${OUTPUT_MJB_FROM_MJZ})."
-fi
-
-echo "PASS"
diff --git a/test/sample/testspeed_test.sh b/test/sample/testspeed_test.sh
deleted file mode 100755
index 3448ac95..00000000
--- a/test/sample/testspeed_test.sh
+++ /dev/null
@@ -1,72 +0,0 @@
-#!/bin/bash
-# Copyright 2026 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-MODEL="${CMAKE_SOURCE_DIR}/model/sleep/dominos.xml"
-
-die() { echo "$*" 1>&2 ; exit 1; }
-
-if [ -z "$TARGET_BINARY" ]; then
-  die "Expecting environment variable TARGET_BINARY."
-fi
-
-if [ -z "$MUJOCO_DLL_DIR" ]; then
-  # Extend PATH to include the directory containing the mujoco DLL.
-  # This is needed on Windows.
-  PATH=$PATH:$MUJOCO_DLL_DIR
-fi
-
-# Run testspeed with override flags and verify they get applied
-echo "Running testspeed with command-line overrides on dominos.xml..."
-echo "Command: $TARGET_BINARY --nstep=10 --nthread=1 --noisestd=0.02 --noiserate=0.2 --solver=PGS --jacobian=sparse --integrator=rk4 --iterations=12 --tolerance=1e-7 --sleep_tolerance=2e-4 --noslip_iterations=5 $MODEL"
-
-OUTPUT=$("$TARGET_BINARY" --nstep=10 --nthread=1 --noisestd=0.02 --noiserate=0.2 --solver=PGS --jacobian=sparse --integrator=rk4 --iterations=12 --tolerance=1e-7 --sleep_tolerance=2e-4 --noslip_iterations=5 "$MODEL") || die "testspeed failed"
-
-# Verify option printing works.
-# Dominos.xml has:
-#   cone="elliptic" -> cone: Elliptic
-#   impratio="10" -> impratio: 10
-#   <flag sleep="enable"/> -> Sleep: Enabled
-#
-# Overridden via command line options:
-#   solver=PGS
-#   jacobian=sparse -> jacobian: Sparse
-#   integrator=rk4 -> integrator: RK4
-#   iterations=12
-#   tolerance=1e-7 -> tolerance: 1e-07
-#   sleep_tolerance=2e-4 (overwrites XML's 3e-4) -> sleep_tolerance: 0.0002
-#   noslip_iterations=5
-
-echo "Full testspeed Output:"
-echo "--------------------------------------------------------"
-echo "$OUTPUT"
-echo "--------------------------------------------------------"
-
-echo "Verifying printed non-default option block:"
-echo "$OUTPUT" | grep -A 10 "Physics options (non-default):" || die "Missing physics options block!"
-echo "--------------------------------------------------------"
-
-echo "$OUTPUT" | grep -F "Physics options (non-default):" || die "Missing non-default header"
-echo "$OUTPUT" | grep -F "  cone              : Elliptic" || die "Missing cone print"
-echo "$OUTPUT" | grep -F "  impratio          : 10" || die "Missing impratio print"
-echo "$OUTPUT" | grep -E "  sleep_tolerance   : (0.0002|2e-0?4)" || die "Missing sleep_tolerance print"
-echo "$OUTPUT" | grep -F "  Sleep             : Enabled" || die "Missing Sleep print"
-echo "$OUTPUT" | grep -F "  solver            : PGS" || die "Missing solver print"
-echo "$OUTPUT" | grep -F "  jacobian          : Sparse" || die "Missing jacobian print"
-echo "$OUTPUT" | grep -F "  integrator        : RK4" || die "Missing integrator print"
-echo "$OUTPUT" | grep -F "  iterations        : 12" || die "Missing iterations print"
-echo "$OUTPUT" | grep -E "  tolerance         : (1e-0?7|0.0000001|1e-7)" || die "Missing tolerance print"
-echo "$OUTPUT" | grep -F "  noslip_iterations : 5" || die "Missing noslip_iterations print"
-
-echo "PASS"
diff --git a/test/testdata/catenary.xml b/test/testdata/catenary.xml
deleted file mode 100644
index a3ba6f3e..00000000
--- a/test/testdata/catenary.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<mujoco>
-  <option>
-    <flag multiccd="enable"/>
-  </option>
-
-  <visual>
-    <global elevation="-20"/>
-  </visual>
-
-  <worldbody>
-    <geom type="plane" size="1 1 .1"/>
-    <light pos="0 -.2 2" dir="0 1 -4" diffuse="1 1 1"/>
-    <body pos="0 0 .8">
-      <joint type="slide" stiffness="1000"/>
-      <geom size=".05" mass="20"/>
-      <site name="hook" pos="0 0 -.05"/>
-    </body>
-
-    <body pos="-.15 -.15 .3">
-      <joint name="hinge" type="hinge" axis="0 0 1" damping=".5"/>
-      <geom type="cylinder" size=".01" fromto="0 0 0 0 0 .1"/>
-      <geom type="capsule" size=".01" fromto="0 0 0 .25 0 0"/>
-      <geom size=".02" pos=".25 0 0"/>
-      <site name="corner" pos=".25 0 .02"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial limited="true" range="0 .5" width=".005">
-      <site site="hook"/>
-      <site site="corner"/>
-    </spatial>
-  </tendon>
-
-  <actuator>
-    <general joint="hinge" biasprm="2" biastype="affine"/>
-  </actuator>
-</mujoco>
diff --git a/test/testdata/delay.xml b/test/testdata/delay.xml
deleted file mode 100644
index ed2f127e..00000000
--- a/test/testdata/delay.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<mujoco>
-  <option timestep="0.01">
-    <flag multiccd="enable"/>
-  </option>
-
-  <worldbody>
-    <body name="body">
-      <joint name="slide" type="slide"/>
-      <geom size=".1"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="motor0" joint="slide" delay="0.05" nsample="6"/>
-  </actuator>
-
-  <sensor>
-    <jointpos name="jointpos0" joint="slide" delay="0.025" interp="linear" nsample="4"/>
-    <jointpos name="jointpos1" joint="slide" interval="0.025" nsample="3"/>
-    <framepos name="framepos0" objtype="body" objname="body" nsample="5"/>
-  </sensor>
-</mujoco>
diff --git a/test/testdata/flex.xml b/test/testdata/flex.xml
deleted file mode 100644
index b8e9b287..00000000
--- a/test/testdata/flex.xml
+++ /dev/null
@@ -1,60 +0,0 @@
-<mujoco model="flex">
-  <option timestep="0.01" integrator="implicitfast">
-    <flag island="enable" multiccd="enable"/>
-  </option>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
-    <scale contactwidth="20" contactheight="10" jointlength="30" jointwidth="1"/>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800" bvactive="true"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="5 5 .05" type="plane" material="grid" condim="3"/>
-    <light specular="0 0 0" pos="0 0 2" dir="0 0 -1"/>
-
-    <body pos="0 0 1">
-      <freejoint/>
-      <geom type="capsule" size="0.05 0.03" rgba=".6 .6 .6 1"/>
-    </body>
-
-    <body name="sphere" pos="0 0 0.8">
-      <inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
-      <freejoint/>
-
-      <flexcomp name="f1" type="ellipsoid" rgba=".8 .2 .2 1" radius="0.001" count="4 4 4"
-                spacing=".025 .025 .025" dim="3" mass="1" dof="radial">
-        <edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
-        <contact internal="true"/>
-      </flexcomp>
-    </body>
-
-    <flexcomp name="f2" type="grid" rgba="1 1 0 1" radius="0.003" dim="2" pos="0 0 .1"
-              zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.02 0.03 0.04" material="grid">
-      <edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
-      <contact internal="true"/>
-      <pin id="0"/>
-    </flexcomp>
-
-    <flexcomp name="f3" type="grid" rgba=".6 .5 .1 1" radius="0.003" dim="3" pos="0 0 .3"
-              zaxis="1 1 1" count="3 3 3" mass="1" spacing="0.02 0.03 0.04">
-      <edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
-      <contact internal="true"/>
-    </flexcomp>
-
-    <flexcomp type="grid" count="8 8 8" spacing=".007 .007 .007" pos="0 0 1.5" dim="3"
-              radius=".0001" rgba="0 .7 .7 1" mass=".25" name="softbody" dof="trilinear">
-      <elasticity young="1e4" poisson="0.1" damping="0.01"/>
-      <contact selfcollide="none"/>
-    </flexcomp>
-  </worldbody>
-
-</mujoco>
diff --git a/test/testdata/frustum.xml b/test/testdata/frustum.xml
deleted file mode 100644
index f95a93b8..00000000
--- a/test/testdata/frustum.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<!-- Please activate Camera rendering when loading this model.
-     The frustum should match exactly the fron face of the box. -->
-
-<mujoco>
-  <option>
-    <flag multiccd="enable"/>
-  </option>
-
-  <visual>
-    <map znear="0.01"/>
-    <rgba frustum="1. 1. 0 0.2"/>
-    <scale frustum="3"/>
-  </visual>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="9 16" texuniform="false" reflectance=".2"/>
-    <texture type="skybox" builtin="flat" rgb1=".5 .5 1" height="1" width="1"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom type="plane" size="10 10 .01"/>
-
-    <geom type="box" size=".375 .6 .1" pos="1.1 0 1" material="grid" euler="0 90 0"/>
-    <!-- 8mm focal length lenses -->
-    <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" focalpixel="1600 1600" resolution="1920 1200"
-            sensorsize="9.6e-3 6e-3"/>
-
-    <body euler="0 0 90">
-      <geom type="box" size=".375 .6 .1" pos="1.1 2 1" material="grid" euler="0 90 0"/>
-      <!-- 8mm focal length lenses -->
-      <camera pos="0 2 1" xyaxes="0 -1 0 0 0 1" focal="8e-3 8e-3" resolution="1920 1200"
-              sensorsize="9.6e-3 6e-3" principalpixel="200 0"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/testdata/hammock.xml b/test/testdata/hammock.xml
deleted file mode 100644
index 5a4499a3..00000000
--- a/test/testdata/hammock.xml
+++ /dev/null
@@ -1,60 +0,0 @@
-<!-- Copyright 2021 DeepMind Technologies Limited
-
-     Licensed under the Apache License, Version 2.0 (the "License");
-     you may not use this file except in compliance with the License.
-     You may obtain a copy of the License at
-
-         http://www.apache.org/licenses/LICENSE-2.0
-
-     Unless required by applicable law or agreed to in writing, software
-     distributed under the License is distributed on an "AS IS" BASIS,
-     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     See the License for the specific language governing permissions and
-     limitations under the License.
--->
-
-<mujoco model="Hammock">
-<!-- Degree of Freedom: 312
-     Actuators: 21
-     Equality constraints: 178
-     Tendons: 178
-
-     Simple hammock, implemented as a 2D grid composite, pinned at the corners.
--->
-
-  <option timestep="0.001" solver="CG" iterations="30" tolerance="1e-6">
-    <flag multiccd="enable"/>
-  </option>
-
-  <size memory="20M"/>
-
-  <visual>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="2048"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="plane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-             width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-    <texture name="hammock" type="2d" builtin="checker" rgb1=".1 .5 .1" rgb2=".5 .1 .1"
-             width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
-    <material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true"/>
-    <material name="hammock" texture="hammock"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="plane" condim="3"/>
-    <light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
-    <light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4" dir="0 0 -1"/>
-    <flexcomp name="hammock" type="grid" count="11 9 1" spacing="0.2 0.2 0.2" material="hammock"
-              radius="0.04" dim="2">
-      <pin id="0 8 90 98"/>
-      <edge equality="true" damping="10" solimp=".95 .99"/>
-      <contact selfcollide="none" internal="false" solimp=".99 .999 .00001"/>
-    </flexcomp>
-  </worldbody>
-
-</mujoco>
diff --git a/test/testdata/model.mjz b/test/testdata/model.mjz
deleted file mode 100644
index 1d771e0c..00000000
Binary files a/test/testdata/model.mjz and /dev/null differ
diff --git a/test/testdata/model.xml b/test/testdata/model.xml
deleted file mode 100644
index 0e59f1e4..00000000
--- a/test/testdata/model.xml
+++ /dev/null
@@ -1,190 +0,0 @@
-<mujoco>
-  <option jacobian="dense" density="1.225" viscosity="1.8e-5" wind="0 0 1">
-    <flag fwdinv="enable" energy="enable" island="enable" multiccd="enable"/>
-  </option>
-
-  <asset>
-    <mesh name="icosahedron" scale=".05 .05 .05"
-          vertex="0         1       1.618
-                  0        -1       1.618
-                  0         1      -1.618
-                  0        -1      -1.618
-                  1         1.618   0
-                 -1         1.618   0
-                  1        -1.618   0
-                 -1        -1.618   0
-                  1.618     0       1
-                  1.618     0      -1
-                 -1.618     0       1
-                 -1.618     0      -1"/>
-    <hfield name="hfield" nrow="3" ncol="3" size=".2 .2 .03 .03"
-            elevation="1 0 1
-                       0 1 0
-                       1 0 1"/>
-    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
-    <texture name="grid" type="cube" builtin="checker" width="32" height="32" rgb1=".1 .2 .3" rgb2="1 1 1"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
-    <global bvactive="true"/>
-  </visual>
-
-  <default>
-    <site rgba=".5 .5 .5 .5"/>
-    <joint armature="1" damping="10"/>
-    <general ctrllimited="true" ctrlrange="-1 1"/>
-    <default class="hip0">
-      <joint springref="30" stiffness="60"/>
-    </default>
-    <default class="hip1">
-      <joint limited="true" range="-60 60" stiffness="10"/>
-    </default>
-    <default class="wheel">
-      <joint damping=".1" armature=".1"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <light pos="0 0 3"/>
-    <geom name="floor" type="plane" size="4 4 .1" margin="0.005" gap="0.005"/>
-    <geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
-    <body name="head" pos="0 0 .7" gravcomp="0.5">
-      <geom type="ellipsoid" size=".2 .2 .4" density="200" material="grid"/>
-      <site name="head" pos="0 0 .4" size=".1 .1 .05" type="box"/>
-      <site name="anchor0" pos="0 .2 0"/>
-      <site name="anchor_knee" pos="-.16 -.16 0"/>
-      <site name="rf" pos="0 0 -0.41" zaxis="0 0 -1"/>
-      <freejoint/>
-      <body euler="0 0 0" pos=".2 0 -.2">
-        <joint name="hipz_0" class="hip1" axis="0 0 1"/>
-        <joint name="hipy_0" class="hip0" axis="0 1 0"/>
-        <geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
-        <body pos=".3 0 0">
-          <site name="knee"/>
-          <geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .1 0 -.3"/>
-          <body pos=".1 0 -.3">
-            <joint name="wheel_0" type="ball" class="wheel"/>
-            <site name="wheel_0" type="box" size=".1 .1 .1"/>
-            <geom name="wheel_0" size=".1 .2 .1"  rgba="0 1 0 1" type="ellipsoid"/>
-          </body>
-        </body>
-      </body>
-      <body euler="0 0 120" pos="-.15 .2 -.2">
-        <joint name="hipz_1" class="hip1" axis="0 0 1"/>
-        <joint name="hipy_1" class="hip0" axis="0 1 0"/>
-        <geom type="box" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
-        <geom type="box" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
-        <body pos=".45 0 -.3">
-          <joint name="wheel_1" axis="1 0 0" class="wheel"/>
-          <geom size=".1"  rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0"/>
-          <site name="wheel_1" type="box" size=".02 .11 .11" pos=".015 0 0"/>
-        </body>
-      </body>
-      <body euler="0 0 240" pos="-.15 -.2 -.2">
-        <joint name="hipz_2" class="hip1" axis="0 0 1"/>
-        <joint name="hipy_2" class="hip0" axis="0 1 0"/>
-        <geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
-        <geom type="capsule" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
-        <site name="knee_2" pos=".3 0 .05"/>
-        <body pos=".45 0 -.3">
-          <joint name="wheel_2" axis="1 0 0" class="wheel"/>
-          <geom size=".1"  rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0" margin="0.01"/>
-          <site name="wheel_2" size=".13"  rgba="0 0 0 0.1" type="cylinder" fromto="-.01 0 0 .04 0 0"/>
-        </body>
-      </body>
-    </body>
-    <body pos="-.33 0 1">
-      <joint name="slider" type="slide" axis="0 0 1" limited="true" range="-.2 .5"/>
-      <joint type="hinge" axis="0 1 0"/>
-      <geom type="mesh" mesh="icosahedron" size=".1" rgba="0 0 1 1"/>
-    </body>
-    <body name="cylinder" pos="-.5 .3 .7">
-      <freejoint/>
-      <geom name="wrapping" type="cylinder" size=".04" fromto="-.1 -.2 0 .1 .4 0"/>
-      <site name="cylinder"/>
-    </body>
-    <site name="sidesite" pos="-.5 .4 1"/>
-    <body pos="-.3 .6 .8">
-      <freejoint/>
-      <geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
-      <site name="anchor1" pos=".05 .05 .05"/>
-    </body>
-    <body pos="-.6 .4 .8">
-      <freejoint/>
-      <geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
-      <site name="anchor2" pos=".05 .05 .05"/>
-    </body>
-    <body name="tumbling" pos="-.2 .3 1">
-      <freejoint/>
-      <geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4" fluidshape="ellipsoid"/>
-      <geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4" fluidshape="ellipsoid"/>
-    </body>
-    <body pos="-.2 .3 .8">
-      <geom type="sdf" mesh="icosahedron" size=".1" rgba="0 0 1 1"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <weld body1="world" body2="cylinder"/>
-  </equality>
-
-  <tendon>
-    <spatial name="spatial" limited="true" range="0 .7" rgba="1 0 1 1">
-      <site site="anchor0"/>
-      <site site="anchor1"/>
-      <geom geom="wrapping" sidesite="sidesite"/>
-      <site site="anchor2"/>
-    </spatial>
-    <spatial name="knee" limited="true" range=".4 .5" rgba="1 0 1 1" armature="0.1">
-      <site site="anchor_knee"/>
-      <site site="knee_2"/>
-    </spatial>
-    <fixed name="fixed">
-      <joint joint="hipy_0" coef="1"/>
-      <joint joint="hipy_1" coef="1"/>
-    </fixed>
-  </tendon>
-
-  <actuator>
-    <motor tendon="fixed" gear="100"/>
-    <motor tendon="spatial" gear="10"/>
-    <motor joint="hipy_2" gear="100"/>
-    <position joint="hipz_1" kp="100"/>
-    <position joint="hipz_2" kp="100"/>
-    <velocity joint="wheel_2" kv="1"/>
-    <intvelocity joint="hipz_0" kp="100" actrange="-1 1"/>
-    <general site="wheel_0" gear="0 0 0 0 10 0" dyntype="filter" dynprm="1"/>
-    <general joint="wheel_1" biastype="affine" dyntype="integrator" dynprm="1" biasprm="0 -1"/>
-    <general joint="hipy_1" actearly="true" dyntype="filterexact" dynprm="0.9" gear="12.1" />
-  </actuator>
-
-  <sensor>
-    <framepos objtype="site" objname="wheel_0" reftype="site" refname="wheel_2"/>
-    <rangefinder site="rf" data="dist dir origin point normal depth"/>
-    <gyro site="wheel_2"/>
-    <touch site="wheel_1"/>
-    <force site="knee"/>
-    <torque site="knee"/>
-    <force site="cylinder"/>
-    <torque site="cylinder"/>
-    <jointlimitfrc joint="slider"/>
-    <accelerometer site="head"/>
-    <subtreeangmom body="head"/>
-  </sensor>
-
-  <keyframe>
-    <key name="start"
-         qpos="0.0133625 -0.013799 0.659429 0.999776 0.019159 0.00902704 0.000572574 -0.00776575 0.0983289 0.999861 -0.00869796 -0.0141805 0.000912197 0.00700633 0.0930296 0.00637469 -0.00313231 0.119692 0.0051478 -0.0469067 0 -0.500224 0.300659 0.69913 1 -0.000367766 -0.000265698 -0.000109715 -0.319851 0.525628 0.702735 0.29858 0.698263 -0.0490604 -0.648746 -0.579432 0.4206 0.749601 0.900145 -0.208463 0.346664 -0.161576 -0.200033 0.300084 0.976421 0.878429 -0.00171382 0.00127086 -0.477867"
-         qvel="0.508861 -0.243772 -0.327162 0.549686 1.13746 0.0282475 -0.0865243 1.06414 -0.239958 -0.532111 -0.00133789 -0.0654491 0.533148 -0.253161 0.122149 0.824764 0.723529 -0.674175 0 -0.00154509 -0.00568917 0.00479921 0.00541817 0.00115895 0.00317796 -0.160161 -0.599488 -1.38103 14.9789 -1.05454 -13.9252 -0.31223 -0.0102486 -0.405851 5.43992 -4.71514 0.114928 -0.00123758 0.000187845 -0.244109 -0.190199 0.0697975 -16.3286"/>
-  </keyframe>
-
-  <custom>
-    <numeric name="numeric" data="1 2 3"/>
-    <text name="text" data="abc"/>
-    <tuple name="tuple">
-      <element objtype="body" objname="cylinder" prm="1"/>
-      <element objtype="joint" objname="hipz_0" prm="2"/>
-    </tuple>
-  </custom>
-</mujoco>
diff --git a/test/testdata/tendon_wrap.xml b/test/testdata/tendon_wrap.xml
deleted file mode 100644
index d21eb5f8..00000000
--- a/test/testdata/tendon_wrap.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<mujoco>
-  <option>
-    <flag island="enable" multiccd="enable"/>
-  </option>
-
-  <default>
-    <joint type="slide" axis="1 0 0" damping="3" frictionloss=".1"/>
-    <geom type="cylinder" size=".07 .1" zaxis="0 1 0"/>
-    <site size=".015" rgba="1 0 0 1"/>
-  </default>
-
-  <worldbody>
-    <site name="anchor" pos="0 0 1"/>
-
-    <body pos="0 0 .75">
-      <joint stiffness="10"/>
-      <geom name="0"/>
-    </body>
-    <site name="side0" pos=".15 0 .75" rgba="0 0 1 1"/>
-
-    <site name="01" pos="0 0 .625"/>
-
-    <body pos="0 0 .5">
-      <joint stiffness="30"/>
-      <geom name="1"/>
-    </body>
-    <site name="side1" pos="-.15 0 .5" rgba="0 0 1 1"/>
-
-    <site name="12" pos="0 0 .375"/>
-
-    <body pos="0 0 .25">
-      <joint stiffness="100"/>
-      <geom name="2"/>
-    </body>
-    <site name="side2" pos=".15 0 .25" rgba="0 0 1 1"/>
-
-    <body>
-      <freejoint/>
-      <site name="box" pos="0 0 .1"/>
-      <geom type="box" size=".1 .1 .1"/>
-    </body>
-  </worldbody>
-
-  <tendon>
-    <spatial limited="true" range="0 1.05" rgba="0 1 0 1" width=".005">
-      <site site="anchor"/>
-      <geom geom="0" sidesite="side0"/>
-      <site site="01"/>
-      <geom geom="1" sidesite="side1"/>
-      <site site="12"/>
-      <geom geom="2" sidesite="side2"/>
-      <site site="box"/>
-    </spatial>
-  </tendon>
-</mujoco>
-
diff --git a/test/user/CMakeLists.txt b/test/user/CMakeLists.txt
deleted file mode 100644
index 87ce1d90..00000000
--- a/test/user/CMakeLists.txt
+++ /dev/null
@@ -1,56 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-mujoco_test(
-  user_model_test
-  ADDITIONAL_LINK_LIBRARIES absl::str_format compare_model
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:actuator>"
-)
-
-mujoco_test(user_objects_test)
-
-mujoco_test(
-  user_api_test
-  ADDITIONAL_LINK_LIBRARIES compare_model
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
-)
-
-mujoco_test(
-  user_recompile_test
-  ADDITIONAL_LINK_LIBRARIES compare_model
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
-)
-
-mujoco_test(
-  user_flex_test
-)
-
-mujoco_test(
-  user_mesh_test
-  ADDITIONAL_LINK_LIBRARIES absl::str_format
-)
-
-mujoco_test(user_composite_test)
-
-mujoco_test(user_resource_test)
-
-mujoco_test(user_vfs_test)
-
-mujoco_test(user_util_test)
diff --git a/test/user/testdata/auto_limits.xml b/test/user/testdata/auto_limits.xml
deleted file mode 100644
index 211cb4cc..00000000
--- a/test/user/testdata/auto_limits.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<mujoco>
-  <compiler autolimits="true" />
-  <default>
-    <joint armature="0.1"/>
-    <default class="limited_false">
-      <joint limited="false"/>
-    </default>
-    <default class="limited_true">
-      <joint limited="true"/>
-      <default class="limited_auto">
-        <joint limited="auto"/>
-      </default>
-    </default>
-    <default class="range_defined">
-      <joint range="-1.57 1.57"/>
-    </default>
-  </default>
-  <!--
-    `user` attributes of the joints below indicate the expected state of the associated
-    jnt_limited property in the compiled model.
-  -->
-  <worldbody>
-    <body>
-      <joint user="0"/>
-      <joint user="1" range="0 1"/>
-      <joint user="0" range="0 1" limited="false"/>
-      <joint user="1" range="0 1" limited="true"/>
-      <joint user="0" range="0 1" class="limited_false"/>
-      <joint user="1" range="0 1" class="limited_true"/>
-      <geom size="1"/>
-    </body>
-    <!-- adding another body since bodies are allowed a maximum of 6 DoFs -->
-    <body>
-      <joint user="1" range="0 1" class="limited_false" limited="true"/>
-      <joint user="0" range="0 1" class="limited_true" limited="false"/>
-      <joint user="1" class="range_defined"/>
-      <joint user="1" range="0 1" class="limited_auto"/>
-      <joint user="1" range="0 1" limited="auto"/>
-      <joint user="0" limited="auto"/>
-      <geom size="1"/>
-    </body>
-    <body>
-      <!-- free joints should remain unlimited even if a (meaningless) range is defined -->
-      <joint user="0" type="free" class="range_defined"/>
-      <geom size="1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/capsule_inertia.xml b/test/user/testdata/capsule_inertia.xml
deleted file mode 100644
index 6f457684..00000000
--- a/test/user/testdata/capsule_inertia.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<mujoco>
-  <default>
-    <geom size=".8 .9"/>
-    <!-- These are arbitrary, the capsule-related `MjCGeomTest` instances pass for any values. -->
-  </default>
-
-  <worldbody>
-    <body pos="-2 0 0" name="sphere">
-      <geom type="sphere"/>
-    </body>
-
-    <body name="cylinder">
-      <geom type="cylinder"/>
-    </body>
-
-    <body pos="2 0 0" name="capsule">
-      <geom type="capsule"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/cube.msh b/test/user/testdata/cube.msh
deleted file mode 100644
index 0a2f278f..00000000
Binary files a/test/user/testdata/cube.msh and /dev/null differ
diff --git a/test/user/testdata/cube.obj b/test/user/testdata/cube.obj
deleted file mode 100644
index 945cffec..00000000
--- a/test/user/testdata/cube.obj
+++ /dev/null
@@ -1,8 +0,0 @@
-v -0.500000 -0.500000 0.500000
-v 0.500000 -0.500000 0.500000
-v -0.500000 0.500000 0.500000
-v 0.500000 0.500000 0.500000
-v -0.500000 0.500000 -0.500000
-v 0.500000 0.500000 -0.500000
-v -0.500000 -0.500000 -0.500000
-v 0.500000 -0.500000 -0.500000
\ No newline at end of file
diff --git a/test/user/testdata/cube.skn b/test/user/testdata/cube.skn
deleted file mode 100644
index 498a7926..00000000
Binary files a/test/user/testdata/cube.skn and /dev/null differ
diff --git a/test/user/testdata/cube.stl b/test/user/testdata/cube.stl
deleted file mode 100644
index e2f72542..00000000
Binary files a/test/user/testdata/cube.stl and /dev/null differ
diff --git a/test/user/testdata/cube.xml b/test/user/testdata/cube.xml
deleted file mode 100644
index 2a2f3146..00000000
--- a/test/user/testdata/cube.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="cube.obj"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="cube"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/cube_22_ascii_surf_gmshApp.msh b/test/user/testdata/cube_22_ascii_surf_gmshApp.msh
deleted file mode 100644
index ae5c7d82..00000000
--- a/test/user/testdata/cube_22_ascii_surf_gmshApp.msh
+++ /dev/null
@@ -1,47 +0,0 @@
-$MeshFormat
-2.2 0 8
-$EndMeshFormat
-$Nodes
-14
-1 -0.5 -0.5 0
-2 0.5 -0.5 0
-3 0.5 0.5 0
-4 -0.5 0.5 0
-5 -0.5 -0.5 1
-6 0.5 -0.5 1
-7 0.5 0.5 1
-8 -0.5 0.5 1
-9 0 0 0
-10 0 -0.5 0.5
-11 0.5 0 0.5
-12 0 0.5 0.5
-13 -0.5 0 0.5
-14 0 0 1
-$EndNodes
-$Elements
-24
-1 2 2 0 1 9 4 3
-2 2 2 0 1 9 3 2
-3 2 2 0 1 9 1 4
-4 2 2 0 1 9 2 1
-5 2 2 0 1 2 10 1
-6 2 2 0 1 1 10 5
-7 2 2 0 1 6 10 2
-8 2 2 0 1 5 10 6
-9 2 2 0 1 3 11 2
-10 2 2 0 1 2 11 6
-11 2 2 0 1 7 11 3
-12 2 2 0 1 6 11 7
-13 2 2 0 1 4 12 3
-14 2 2 0 1 3 12 7
-15 2 2 0 1 8 12 4
-16 2 2 0 1 7 12 8
-17 2 2 0 1 1 13 4
-18 2 2 0 1 5 13 1
-19 2 2 0 1 4 13 8
-20 2 2 0 1 8 13 5
-21 2 2 0 1 5 6 14
-22 2 2 0 1 8 5 14
-23 2 2 0 1 6 7 14
-24 2 2 0 1 7 8 14
-$EndElements
diff --git a/test/user/testdata/cube_22_ascii_surf_gmshApp.xml b/test/user/testdata/cube_22_ascii_surf_gmshApp.xml
deleted file mode 100644
index 425608ed..00000000
--- a/test/user/testdata/cube_22_ascii_surf_gmshApp.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
-    <flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
-              mass="10" scale="1 1 1" file="cube_22_ascii_surf_gmshApp.msh">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/cube_22_ascii_vol_gmshApp.msh b/test/user/testdata/cube_22_ascii_vol_gmshApp.msh
deleted file mode 100644
index 2f26c4d0..00000000
--- a/test/user/testdata/cube_22_ascii_vol_gmshApp.msh
+++ /dev/null
@@ -1,47 +0,0 @@
-$MeshFormat
-2.2 0 8
-$EndMeshFormat
-$Nodes
-14
-1 -0.5 -0.5 0
-2 0.5 -0.5 0
-3 0.5 0.5 0
-4 -0.5 0.5 0
-5 -0.5 -0.5 1
-6 0.5 -0.5 1
-7 0.5 0.5 1
-8 -0.5 0.5 1
-9 0 0 0
-10 0 -0.5 0.5
-11 0.5 0 0.5
-12 0 0.5 0.5
-13 -0.5 0 0.5
-14 0 0 1
-$EndNodes
-$Elements
-24
-1 4 2 0 1 10 9 12 11
-2 4 2 0 1 10 12 13 14
-3 4 2 0 1 9 10 12 13
-4 4 2 0 1 10 12 14 11
-5 4 2 0 1 9 10 1 2
-6 4 2 0 1 7 11 12 3
-7 4 2 0 1 4 1 9 13
-8 4 2 0 1 13 12 4 8
-9 4 2 0 1 1 10 13 5
-10 4 2 0 1 13 8 5 14
-11 4 2 0 1 12 8 14 7
-12 4 2 0 1 14 5 10 6
-13 4 2 0 1 14 6 11 7
-14 4 2 0 1 9 4 12 3
-15 4 2 0 1 3 11 9 2
-16 4 2 0 1 11 6 10 2
-17 4 2 0 1 6 10 14 11
-18 4 2 0 1 1 10 9 13
-19 4 2 0 1 12 4 9 13
-20 4 2 0 1 5 10 13 14
-21 4 2 0 1 8 13 12 14
-22 4 2 0 1 12 14 11 7
-23 4 2 0 1 9 12 11 3
-24 4 2 0 1 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/cube_22_ascii_vol_gmshApp.xml b/test/user/testdata/cube_22_ascii_vol_gmshApp.xml
deleted file mode 100644
index 06ea6d32..00000000
--- a/test/user/testdata/cube_22_ascii_vol_gmshApp.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
-    <flexcomp name="cube" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3"
-              mass="10" scale="1 1 1" file="cube_22_ascii_vol_gmshApp.msh">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/cube_22_ascii_vol_gmshApp_missing_dim.xml b/test/user/testdata/cube_22_ascii_vol_gmshApp_missing_dim.xml
deleted file mode 100644
index 3c08c9ef..00000000
--- a/test/user/testdata/cube_22_ascii_vol_gmshApp_missing_dim.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
-    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3"
-              mass="10" scale="1 1 1" file="cube_22_ascii_vol_gmshApp.msh">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/cube_22_binary_surf_gmshApp.msh b/test/user/testdata/cube_22_binary_surf_gmshApp.msh
deleted file mode 100644
index b0f13174..00000000
Binary files a/test/user/testdata/cube_22_binary_surf_gmshApp.msh and /dev/null differ
diff --git a/test/user/testdata/cube_22_binary_surf_gmshApp.xml b/test/user/testdata/cube_22_binary_surf_gmshApp.xml
deleted file mode 100644
index f8f08836..00000000
--- a/test/user/testdata/cube_22_binary_surf_gmshApp.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
-    <flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
-              mass="10" scale="1 1 1" file="cube_22_binary_surf_gmshApp.msh">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/cube_22_binary_vol_gmshApp.msh b/test/user/testdata/cube_22_binary_vol_gmshApp.msh
deleted file mode 100644
index 4bb829f1..00000000
Binary files a/test/user/testdata/cube_22_binary_vol_gmshApp.msh and /dev/null differ
diff --git a/test/user/testdata/cube_22_binary_vol_gmshApp.xml b/test/user/testdata/cube_22_binary_vol_gmshApp.xml
deleted file mode 100644
index e9b1927f..00000000
--- a/test/user/testdata/cube_22_binary_vol_gmshApp.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
-    <flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3"
-              mass="10" scale="1 1 1" file="cube_22_binary_vol_gmshApp.msh">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/cube_41_ascii_surf_gmshApp.msh b/test/user/testdata/cube_41_ascii_surf_gmshApp.msh
deleted file mode 100644
index 4f97c8cb..00000000
--- a/test/user/testdata/cube_41_ascii_surf_gmshApp.msh
+++ /dev/null
@@ -1,67 +0,0 @@
-$MeshFormat
-4.1 0 8
-$EndMeshFormat
-$Entities
-0 0 1 0
-1 -0.5 -0.5 0 0.5 0.5 1 0 0 
-$EndEntities
-$Nodes
-1 14 1 14
-2 1 0 14
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
--0.5 -0.5 0
-0.5 -0.5 0
-0.5 0.5 0
--0.5 0.5 0
--0.5 -0.5 1
-0.5 -0.5 1
-0.5 0.5 1
--0.5 0.5 1
-0 0 0
-0 -0.5 0.5
-0.5 0 0.5
-0 0.5 0.5
--0.5 0 0.5
-0 0 1
-$EndNodes
-$Elements
-1 24 1 24
-2 1 2 24
-1 9 4 3 
-2 9 3 2 
-3 9 1 4 
-4 9 2 1 
-5 2 10 1 
-6 1 10 5 
-7 6 10 2 
-8 5 10 6 
-9 3 11 2 
-10 2 11 6 
-11 7 11 3 
-12 6 11 7 
-13 4 12 3 
-14 3 12 7 
-15 8 12 4 
-16 7 12 8 
-17 1 13 4 
-18 5 13 1 
-19 4 13 8 
-20 8 13 5 
-21 5 6 14 
-22 8 5 14 
-23 6 7 14 
-24 7 8 14 
-$EndElements
diff --git a/test/user/testdata/cube_41_ascii_surf_gmshApp.xml b/test/user/testdata/cube_41_ascii_surf_gmshApp.xml
deleted file mode 100644
index 7aa65250..00000000
--- a/test/user/testdata/cube_41_ascii_surf_gmshApp.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
-    <flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
-              mass="10" scale="1 1 1" file="cube_41_ascii_surf_gmshApp.msh">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/cube_41_ascii_vol_gmshApp.msh b/test/user/testdata/cube_41_ascii_vol_gmshApp.msh
deleted file mode 100644
index 958dadba..00000000
--- a/test/user/testdata/cube_41_ascii_vol_gmshApp.msh
+++ /dev/null
@@ -1,67 +0,0 @@
-$MeshFormat
-4.1 0 8
-$EndMeshFormat
-$Entities
-0 0 0 1
-1 -0.5 -0.5 0 0.5 0.5 1 0 0
-$EndEntities
-$Nodes
-1 14 1 14
-3 1 0 14
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
--0.5 -0.5 0
-0.5 -0.5 0
-0.5 0.5 0
--0.5 0.5 0
--0.5 -0.5 1
-0.5 -0.5 1
-0.5 0.5 1
--0.5 0.5 1
-0 0 0
-0 -0.5 0.5
-0.5 0 0.5
-0 0.5 0.5
--0.5 0 0.5
-0 0 1
-$EndNodes
-$Elements
-1 24 1 24
-3 1 4 24
-1 10 9 12 11
-2 10 12 13 14
-3 9 10 12 13
-4 10 12 14 11
-5 9 10 1 2
-6 7 11 12 3
-7 4 1 9 13
-8 13 12 4 8
-9 1 10 13 5
-10 13 8 5 14
-11 12 8 14 7
-12 14 5 10 6
-13 14 6 11 7
-14 9 4 12 3
-15 3 11 9 2
-16 11 6 10 2
-17 6 10 14 11
-18 1 10 9 13
-19 12 4 9 13
-20 5 10 13 14
-21 8 13 12 14
-22 12 14 11 7
-23 9 12 11 3
-24 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/cube_41_ascii_vol_gmshApp.xml b/test/user/testdata/cube_41_ascii_vol_gmshApp.xml
deleted file mode 100644
index 4f73878a..00000000
--- a/test/user/testdata/cube_41_ascii_vol_gmshApp.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
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diff --git a/test/user/testdata/cube_41_binary_surf_gmshApp.msh b/test/user/testdata/cube_41_binary_surf_gmshApp.msh
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Binary files a/test/user/testdata/cube_41_binary_surf_gmshApp.msh and /dev/null differ
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deleted file mode 100644
index c61dab17..00000000
--- a/test/user/testdata/cube_41_binary_surf_gmshApp.xml
+++ /dev/null
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diff --git a/test/user/testdata/cube_41_binary_vol_gmshApp.msh b/test/user/testdata/cube_41_binary_vol_gmshApp.msh
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deleted file mode 100644
index 6fc82f80..00000000
--- a/test/user/testdata/cube_41_binary_vol_gmshApp.xml
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deleted file mode 100644
index ef06c983..00000000
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diff --git a/test/user/testdata/cube_cup_quad.obj b/test/user/testdata/cube_cup_quad.obj
deleted file mode 100644
index f4af1bba..00000000
--- a/test/user/testdata/cube_cup_quad.obj
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-f 4118//3 5653//3 5655//3 4120//3
-f 4112//3 5647//3 5653//3 4118//3
-f 4064//6 5599//6 5597//6 4062//6
-f 4072//6 5607//6 5605//6 4070//6
-f 4070//6 5605//6 5599//6 4064//6
-f 4128//6 5663//6 5661//6 4126//6
-f 4136//6 5671//6 5669//6 4134//6
-f 4134//6 5669//6 5663//6 4128//6
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-f 4510//3 5997//3 5999//3 4512//3
-f 4518//3 6005//3 6007//3 4520//3
-f 4512//3 5999//3 6005//3 4518//3
-f 4590//3 6085//3 6087//3 4592//3
-f 6095//4 6096//4 4604//4 4603//4
-f 6093//4 6095//4 4603//4 4600//4
-f 4592//3 6087//3 6093//3 4600//3
-f 4528//6 6015//6 6013//6 4526//6
-f 4543//1 4544//1 6024//1 6023//1
-f 4543//6 6023//6 6021//6 4540//6
-f 4547//1 4548//1 6028//1 6027//1
-f 4544//1 4547//1 6027//1 6024//1
-f 4540//6 6021//6 6015//6 4528//6
-f 6105//4 6106//4 4616//4 4615//4
-f 6109//4 6110//4 4620//4 4619//4
-f 6106//4 6109//4 4619//4 4616//4
-f 6096//4 6105//4 4615//4 4604//4
-f 4520//3 6007//3 6085//3 4590//3
-f 4663//1 4664//1 6158//1 6157//1
-f 4667//1 4668//1 6162//1 6161//1
-f 4664//1 4667//1 6161//1 6158//1
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-f 6225//4 6226//4 4732//4 4731//4
-f 6222//4 6225//4 4731//4 4728//4
-f 4679//1 4680//1 6174//1 6173//1
-f 4683//1 4684//1 6178//1 6177//1
-f 4680//1 4683//1 6177//1 6174//1
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-f 6241//4 6242//4 4748//4 4747//4
-f 6238//4 6241//4 4747//4 4744//4
-f 4668//1 4679//1 6173//1 6162//1
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-f 4548//1 4663//1 6157//1 6028//1
-f 6110//4 6221//4 4727//4 4620//4
-f 4120//3 5655//3 5997//3 4510//3
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-f 1391//1 1392//1 2890//1 2889//1
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-f 1392//1 1395//1 2893//1 2890//1
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-f 2957//4 2958//4 1460//4 1459//4
-f 2954//4 2957//4 1459//4 1456//4
-f 1407//1 1408//1 2906//1 2905//1
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-f 1408//1 1411//1 2909//1 2906//1
-f 2969//4 2970//4 1472//4 1471//4
-f 2973//4 2974//4 1476//4 1475//4
-f 2970//4 2973//4 1475//4 1472//4
-f 1396//1 1407//1 2905//1 2894//1
-f 2958//4 2969//4 1471//4 1460//4
-f 1523//1 1524//1 3018//1 3017//1
-f 1527//1 1528//1 3022//1 3021//1
-f 1524//1 1527//1 3021//1 3018//1
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-f 3093//4 3094//4 1592//4 1591//4
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-f 1537//1 1538//1 3034//1 3033//1
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-f 1538//1 1540//1 3037//1 3034//1
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-f 3105//4 3106//4 1602//4 1601//4
-f 3106//4 3109//4 1604//4 1602//4
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-f 5368//1 5371//1 6869//1 6866//1
-f 6929//4 6930//4 5432//4 5431//4
-f 6933//4 6934//4 5436//4 5435//4
-f 6930//4 6933//4 5435//4 5432//4
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-f 5492//1 5495//1 6997//1 6994//1
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-f 7050//4 7053//4 5559//4 5556//4
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-f 7073//4 7074//4 5578//4 5577//4
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-f 188//1 1029//1 1033//1 194//1
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-f 234//1 1077//1 1079//1 236//1
-f 228//1 1071//1 1077//1 234//1
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-f 266//2 268//2 1111//2 1109//2
-f 260//2 266//2 1109//2 1103//2
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-f 1133//5 1137//5 308//5 304//5
-f 316//4 1147//4 1145//4 314//4
-f 1153//5 1155//5 324//5 322//5
-f 314//4 1145//4 1135//4 306//4
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-f 196//1 1035//1 1069//1 226//1
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-f 514//1 1357//1 1359//1 516//1
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-f 580//4 1423//4 1421//4 578//4
-f 578//4 1421//4 1415//4 572//4
-f 604//4 1447//4 1445//4 602//4
-f 612//4 1455//4 1453//4 610//4
-f 610//4 1453//4 1447//4 604//4
-f 516//1 1359//1 1381//1 538//1
-f 602//4 1445//4 1423//4 580//4
-f 794//2 796//2 1607//2 1605//2
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-f 1639//5 1645//5 834//5 828//5
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-f 1703//5 1709//5 898//5 892//5
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-f 1647//5 1701//5 890//5 836//5
-f 236//1 1079//1 1349//1 506//1
-f 570//4 1413//4 1147//4 316//4
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-f 2116//4 2963//4 2961//4 2114//4
-f 2114//4 2961//4 2955//4 2108//4
-f 2140//4 2987//4 2985//4 2138//4
-f 2148//4 2995//4 2993//4 2146//4
-f 2146//4 2993//4 2987//4 2140//4
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-f 2372//1 3179//1 3185//1 2376//1
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-f 2430//4 3227//4 3225//4 2428//4
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-f 2790//2 2792//2 3475//2 3473//2
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-f 2854//2 2856//2 3539//2 3537//2
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-f 3563//5 3569//5 2886//5 2880//5
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-f 3507//5 3561//5 2878//5 2824//5
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-f 3283//5 3497//5 2814//5 2472//5
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-f 4853//5 4855//5 4008//5 4006//5
-f 4847//5 4853//5 4006//5 4000//5
-f 3912//2 3966//2 4813//2 4759//2
-f 4791//5 4845//5 3998//5 3944//5
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-f 4380//1 5049//1 5057//1 4386//1
-f 5039//5 5045//5 4376//5 4368//5
-f 4414//2 4416//2 5095//2 5093//2
-f 4428//4 5107//4 5105//4 4426//4
-f 4426//4 5105//4 5101//4 4420//4
-f 4416//2 4420//2 5101//2 5095//2
-f 4452//4 5135//4 5133//4 4450//4
-f 4460//4 5143//4 5141//4 4458//4
-f 4458//4 5141//4 5135//4 4452//4
-f 4450//4 5133//4 5107//4 4428//4
-f 4332//2 4414//2 5093//2 5015//2
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-f 4650//1 5333//1 5335//1 4652//1
-f 4644//1 5327//1 5333//1 4650//1
-f 4674//1 5357//1 5359//1 4676//1
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-f 4676//1 5359//1 5365//1 4682//1
-f 4708//4 5391//4 5389//4 4706//4
-f 4716//4 5399//4 5397//4 4714//4
-f 4714//4 5397//4 5391//4 4708//4
-f 4740//4 5423//4 5421//4 4738//4
-f 4748//4 5431//4 5429//4 4746//4
-f 4746//4 5429//4 5423//4 4740//4
-f 4652//1 5335//1 5357//1 4674//1
-f 4738//4 5421//4 5399//4 4716//4
-f 4388//1 5059//1 5325//1 4642//1
-f 4706//4 5389//4 5143//4 4460//4
-f 3976//2 4322//2 5005//2 4823//2
-f 4855//5 5037//5 4366//5 4008//5
-f 5890//2 5892//2 6611//2 6609//2
-f 5898//2 5900//2 6619//2 6617//2
-f 5892//2 5898//2 6617//2 6611//2
-f 6641//5 6643//5 5924//5 5922//5
-f 6649//5 6651//5 5932//5 5930//5
-f 6643//5 6649//5 5930//5 5924//5
-f 5954//2 5956//2 6675//2 6673//2
-f 5962//2 5964//2 6683//2 6681//2
-f 5956//2 5962//2 6681//2 6675//2
-f 6705//5 6707//5 5988//5 5986//5
-f 6713//5 6715//5 5996//5 5994//5
-f 6707//5 6713//5 5994//5 5988//5
-f 5900//2 5954//2 6673//2 6619//2
-f 6651//5 6705//5 5986//5 5932//5
-f 6178//1 6865//1 6867//1 6180//1
-f 6186//1 6873//1 6875//1 6188//1
-f 6180//1 6867//1 6873//1 6186//1
-f 6210//1 6897//1 6899//1 6212//1
-f 6218//1 6905//1 6907//1 6220//1
-f 6212//1 6899//1 6905//1 6218//1
-f 6244//4 6931//4 6929//4 6242//4
-f 6252//4 6939//4 6937//4 6250//4
-f 6250//4 6937//4 6931//4 6244//4
-f 6276//4 6963//4 6961//4 6274//4
-f 6284//4 6971//4 6969//4 6282//4
-f 6282//4 6969//4 6963//4 6276//4
-f 6188//1 6875//1 6897//1 6210//1
-f 6274//4 6961//4 6939//4 6252//4
-f 6482//2 6484//2 7123//2 7121//2
-f 6490//1 7129//1 7131//1 6492//1
-f 6502//1 7139//1 7141//1 6504//1
-f 6500//2 6504//2 7141//2 7137//2
-f 6492//1 7131//1 7139//1 6502//1
-f 6484//2 6500//2 7137//2 7123//2
-f 7177//5 7179//5 6528//5 6526//5
-f 7185//5 7187//5 6536//5 6534//5
-f 7179//5 7185//5 6534//5 6528//5
-f 6560//4 7211//4 7209//4 6558//4
-f 6568//4 7219//4 7217//4 6566//4
-f 6566//4 7217//4 7211//4 6560//4
-f 7241//5 7243//5 6596//5 6594//5
-f 6604//4 7251//4 7249//4 6602//4
-f 6608//4 7257//4 7251//4 6604//4
-f 7243//5 7257//5 6608//5 6596//5
-f 6602//4 7249//4 7219//4 6568//4
-f 7187//5 7241//5 6594//5 6536//5
-f 6220//1 6907//1 7129//1 6490//1
-f 6558//4 7209//4 6971//4 6284//4
-f 5964//2 6482//2 7121//2 6683//2
-f 6715//5 7177//5 6526//5 5996//5
-f 548//1 1391//1 2889//1 2042//1
-f 2106//4 2953//4 1455//4 612//4
-f 4684//1 5367//1 6865//1 6178//1
-f 6242//4 6929//4 5431//4 4748//4
-f 868//2 3902//2 4749//2 1679//2
-f 1711//5 4781//5 3934//5 900//5
-f 2856//2 5890//2 6609//2 3539//2
-f 3571//5 6641//5 5922//5 2888//5
-f 1012//3 2547//3 5581//3 4046//3
-f 4062//6 5597//6 2563//6 1028//6
\ No newline at end of file
diff --git a/test/user/testdata/cube_skin.xml b/test/user/testdata/cube_skin.xml
deleted file mode 100644
index 69004072..00000000
--- a/test/user/testdata/cube_skin.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco>
-    <asset>
-      <mesh name="cube" file="cube.stl" scale=".05 .05 .05"/>
-      <skin name="skin" file="cube.skn"/>
-    </asset>
-
-    <worldbody>
-      <body name="box">
-        <geom type="box" mesh="cube"/>
-      </body>
-
-    </worldbody>
-</mujoco>
diff --git a/test/user/testdata/cube_with_mesh_def.xml b/test/user/testdata/cube_with_mesh_def.xml
deleted file mode 100644
index d9c34c52..00000000
--- a/test/user/testdata/cube_with_mesh_def.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<mujoco>
-  <default>
-    <default class="mesh">
-      <mesh scale="2 2 2"/>
-    </default>
-  </default>
-
-  <asset>
-    <mesh file="cube.obj" class="mesh"/>
-  </asset>
-
-  <worldbody>
-    <geom type="mesh" mesh="cube"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/discardvisual.xml b/test/user/testdata/discardvisual.xml
deleted file mode 100644
index 2ca12e42..00000000
--- a/test/user/testdata/discardvisual.xml
+++ /dev/null
@@ -1,73 +0,0 @@
-<mujoco>
-  <compiler discardvisual="true"/>
-
-  <asset>
-    <texture name="discarded_skybox" type="skybox" builtin="gradient"
-             rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-
-    <texture name="discarded" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="discarded" texture="discarded" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-
-    <mesh name="kept" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-    <mesh name="discarded0" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-    <mesh name="discarded1" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-  </asset>
-
-  <worldbody>
-    <geom name="kept_floor" size="0 0 .05" type="plane" material="discarded"/>
-
-    <body pos="0 0 -.5">
-      <freejoint/>
-      <geom name="discarded0" type="mesh" mesh="discarded0" contype="0" conaffinity="0"/>
-    </body>
-
-    <site name="tendon0" pos=".1 0 1.5"/>
-    <geom name="kept_tendon" size="0.2" contype="0" conaffinity="0" pos="0 0 1"/>
-    <body pos=".1 0 -.5">
-      <site name="tendon1" pos="0 0 1"/>
-      <freejoint/>
-      <geom name="discarded1" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
-    </body>
-
-    <body pos=".2 0 -.5">
-      <geom name="kept0" type="mesh" mesh="kept"/>
-    </body>
-
-    <body pos=".3 0 -.5">
-      <freejoint/>
-      <geom name="kept1" type="mesh" mesh="kept"/>
-    </body>
-
-    <body pos=".4 0 -.5">
-      <geom name="discarded2" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
-    </body>
-
-    <geom name="kept_sensor" size="0.2" contype="0" conaffinity="0"/>
-
-    <geom name="kept_pair" size="0.2" contype="0" conaffinity="0" pos=".3 0 .4"/>
-
-    <geom name="kept_tuple" size="0.2" contype="0" conaffinity="0"/>
-  </worldbody>
-
-  <contact>
-    <pair geom1="kept1" geom2="kept_pair"/>
-  </contact>
-
-  <tendon>
-    <spatial range="0 1">
-      <site site="tendon0"/>
-      <geom geom="kept_tendon"/>
-      <site site="tendon1"/>
-    </spatial>
-  </tendon>
-
-  <sensor>
-    <framepos objtype="geom" objname="kept_sensor"/>
-  </sensor>
-
-  <custom>
-    <tuple name="tuple">
-      <element objtype="geom" objname="kept_tuple"/>
-    </tuple>
-  </custom>
-</mujoco>
diff --git a/test/user/testdata/discardvisual_false.xml b/test/user/testdata/discardvisual_false.xml
deleted file mode 100644
index 582ffadc..00000000
--- a/test/user/testdata/discardvisual_false.xml
+++ /dev/null
@@ -1,73 +0,0 @@
-<mujoco>
-  <compiler discardvisual="false"/>
-
-  <asset>
-    <texture name="discarded_skybox" type="skybox" builtin="gradient"
-             rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-
-    <texture name="discarded" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="discarded" texture="discarded" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-
-    <mesh name="kept" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-    <mesh name="discarded0" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-    <mesh name="discarded1" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-  </asset>
-
-  <worldbody>
-    <geom name="kept_floor" size="0 0 .05" type="plane" material="discarded"/>
-
-    <body pos="0 0 -.5">
-      <freejoint/>
-      <geom name="discarded0" type="mesh" mesh="discarded0" contype="0" conaffinity="0"/>
-    </body>
-
-    <site name="tendon0" pos=".1 0 1.5"/>
-    <geom name="kept_tendon" size="0.2" contype="0" conaffinity="0" pos="0 0 1"/>
-    <body pos=".1 0 -.5">
-      <site name="tendon1" pos="0 0 1"/>
-      <freejoint/>
-      <geom name="discarded1" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
-    </body>
-
-    <body pos=".2 0 -.5">
-      <geom name="kept0" type="mesh" mesh="kept"/>
-    </body>
-
-    <body pos=".3 0 -.5">
-      <freejoint/>
-      <geom name="kept1" type="mesh" mesh="kept"/>
-    </body>
-
-    <body pos=".4 0 -.5">
-      <geom name="discarded2" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
-    </body>
-
-    <geom name="kept_sensor" size="0.2" contype="0" conaffinity="0"/>
-
-    <geom name="kept_pair" size="0.2" contype="0" conaffinity="0" pos=".3 0 .4"/>
-
-    <geom name="kept_tuple" size="0.2" contype="0" conaffinity="0"/>
-  </worldbody>
-
-  <contact>
-    <pair geom1="kept1" geom2="kept_pair"/>
-  </contact>
-
-  <tendon>
-    <spatial range="0 1">
-      <site site="tendon0"/>
-      <geom geom="kept_tendon"/>
-      <site site="tendon1"/>
-    </spatial>
-  </tendon>
-
-  <sensor>
-    <framepos objtype="geom" objname="kept_sensor"/>
-  </sensor>
-
-  <custom>
-    <tuple name="tuple">
-      <element objtype="geom" objname="kept_tuple"/>
-    </tuple>
-  </custom>
-</mujoco>
diff --git a/test/user/testdata/duplicate.obj b/test/user/testdata/duplicate.obj
deleted file mode 100644
index de9ae118..00000000
--- a/test/user/testdata/duplicate.obj
+++ /dev/null
@@ -1,20 +0,0 @@
-v  1  1  1
-v -1  1 -1
-v -1 -1  1
-v  1 -1 -1
-v  1  1  1
-v -1  1 -1
-v -1 -1  1
-v  1 -1 -1
-v  1  1  1
-v -1  1 -1
-v -1 -1  1
-v  1 -1 -1
-v  1  1  1
-v -1  1 -1
-v -1 -1  1
-v  1 -1 -1
-f 1 2 3
-f 5 7 8
-f 9 12 10
-f 16 15 14
diff --git a/test/user/testdata/duplicate.xml b/test/user/testdata/duplicate.xml
deleted file mode 100644
index b3392391..00000000
--- a/test/user/testdata/duplicate.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="duplicate.obj"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="duplicate"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/duplicate_vertices.stl b/test/user/testdata/duplicate_vertices.stl
deleted file mode 100644
index 4a8a2e61..00000000
Binary files a/test/user/testdata/duplicate_vertices.stl and /dev/null differ
diff --git a/test/user/testdata/duplicate_vertices.xml b/test/user/testdata/duplicate_vertices.xml
deleted file mode 100644
index 51c2172a..00000000
--- a/test/user/testdata/duplicate_vertices.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="duplicate_vertices.stl"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="duplicate_vertices"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/dzhanibekov.xml b/test/user/testdata/dzhanibekov.xml
deleted file mode 100644
index e7d2d181..00000000
--- a/test/user/testdata/dzhanibekov.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<mujoco>
-  <!--
-  This model replicates the behaviour seen in this video:
-  https://www.youtube.com/watch?v=1n-HMSCDYtM
-  see also
-  https://en.wikipedia.org/wiki/Tennis_racket_theorem
-  -->
-  <option integrator="RK4">
-    <flag energy="enable" gravity="disable"/>
-  </option>
-
-  <worldbody>
-    <light pos="0 0 .3"/>
-    <geom type="plane" size=".2 .2 .01" pos="0 0 -.1"/>
-    <body>
-      <freejoint align="true"/>
-      <geom type="cylinder" rgba="0 .6 1 1" size=".01 .04" pos="-.00085 0 0"/>
-      <geom type="cylinder" rgba="0 .6 1 1" size=".004 .015" zaxis="1 0 0" pos=".01415 0 0"/>
-    </body>
-  </worldbody>
-
-  <keyframe>
-    <key qpos="0 0 0 1 0 0 1" qvel="0 0 0 0 20 .1"/>
-  </keyframe>
-</mujoco>
diff --git a/test/user/testdata/fitmesh_aabb.xml b/test/user/testdata/fitmesh_aabb.xml
deleted file mode 100644
index 7c4bca85..00000000
--- a/test/user/testdata/fitmesh_aabb.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-<mujoco>
-  <compiler fitaabb="true"/>
-
-  <asset>
-    <mesh file="stanford_bunny.obj"/>
-  </asset>
-
-  <worldbody>
-    <body euler="90 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0" pos=".25 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0" pos=".5 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0" pos=".75 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0" pos="1 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0">
-      <geom name="bunny_sphere" type="sphere" mesh="stanford_bunny" rgba="1 0 1 .5"/>
-    </body>
-    <body euler="90 0 0" pos=".25 0 0">
-      <geom name="bunny_capsule" type="capsule" mesh="stanford_bunny" rgba="1 0 1 .5"/>
-    </body>
-    <body euler="90 0 0" pos=".5 0 0">
-      <geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny" rgba="1 0 1 .5"/>
-    </body>
-    <body euler="90 0 0" pos=".75 0 0">
-      <geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny" rgba="1 0 1 .5"/>
-    </body>
-    <body euler="90 0 0" pos="1 0 0">
-      <geom name="bunny_box" type="box" mesh="stanford_bunny" rgba="1 0 1 .5"/>
-    </body>
-    <light name="left" pos="0 0 1"/>
-    <light name="right" pos="1 0 1"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/fitmesh_inertiabox.xml b/test/user/testdata/fitmesh_inertiabox.xml
deleted file mode 100644
index e58552ad..00000000
--- a/test/user/testdata/fitmesh_inertiabox.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-<mujoco>
-  <compiler fitaabb="false"/>
-
-  <asset>
-    <mesh file="stanford_bunny.obj" inertia="exact"/>
-  </asset>
-
-  <worldbody>
-    <body euler="90 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0" pos=".25 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0" pos=".5 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0" pos=".75 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0" pos="1 0 0">
-      <geom type="mesh" mesh="stanford_bunny"/>
-    </body>
-    <body euler="90 0 0">
-      <geom name="bunny_sphere" type="sphere" mesh="stanford_bunny" rgba="1 0 1 1"/>
-    </body>
-    <body euler="90 0 0" pos=".25 0 0">
-      <geom name="bunny_capsule" type="capsule" mesh="stanford_bunny" rgba="1 0 1 1"/>
-    </body>
-    <body euler="90 0 0" pos=".5 0 0">
-      <geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny" rgba="1 0 1 1"/>
-    </body>
-    <body euler="90 0 0" pos=".75 0 0">
-      <geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny" rgba="1 0 1 1"/>
-    </body>
-    <body euler="90 0 0" pos="1 0 0">
-      <geom name="bunny_box" type="box" mesh="stanford_bunny" rgba="1 0 1 1"/>
-    </body>
-    <light name="left" pos="0 0 1"/>
-    <light name="right" pos="1 0 1"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/flex_line_obj.xml b/test/user/testdata/flex_line_obj.xml
deleted file mode 100644
index d25f5f72..00000000
--- a/test/user/testdata/flex_line_obj.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<mujoco>
-  <worldbody>
-    <flexcomp name="line" type="mesh" file="line.obj" dim="1" radius="0.1"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/flipped_torus.xml b/test/user/testdata/flipped_torus.xml
deleted file mode 100644
index 1ca65400..00000000
--- a/test/user/testdata/flipped_torus.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="torus.obj" scale="1 -1 1"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="torus"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/frame1.xml b/test/user/testdata/frame1.xml
deleted file mode 100644
index 4b03c1a9..00000000
--- a/test/user/testdata/frame1.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<mujoco model="load save load test model with 2 frames">
-
-  <worldbody>
-    <frame name="frame1" pos=".1 .2 .3">
-
-      <geom name="geom1" type="sphere" size=".1"/>
-      <body name="root1">
-        <joint name="joint1"/>
-        <geom type="sphere" size=".1"/>
-      </body>
-
-      <body name="root2">
-        <frame name="frame2" pos=".01 .02 .03">
-          <geom type="sphere" size=".1"/>
-          <body name="root22">
-            <geom type="sphere" size=".1"/>
-          </body>
-        </frame><!-- end frame2 -->
-      </body>
-
-    </frame> <!-- end frame1 -->
-  </worldbody>
-
-</mujoco>
diff --git a/test/user/testdata/frame2.xml b/test/user/testdata/frame2.xml
deleted file mode 100644
index bdde5a2a..00000000
--- a/test/user/testdata/frame2.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<mujoco model="load save load test model with 2 frames">
-
-  <worldbody>
-    <frame name="frame1" pos=".1 .2 .3">
-
-      <geom name="geom1" type="sphere" size=".1"/>
-      <body name="root1">
-        <geom type="sphere" size=".1"/>
-      </body>
-
-      <frame name="frame2" pos=".01 .02 .03">
-
-        <geom name="geom2" type="sphere" size=".1"/>
-        <body name="root2">
-          <geom type="sphere" size=".1"/>
-          <body name="root22">
-            <geom type="sphere" size=".1"/>
-          </body>
-        </body>
-
-        <geom name="geom3" type="sphere" size=".1"/>
-        <body name="root3">
-          <geom type="sphere" size=".1"/>
-          <body name="root5">
-            <geom type="sphere" size=".1"/>
-          </body>
-        </body>
-      </frame> <!-- end frame1 -->
-    </frame><!-- end frame2 -->
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/freejoint.xml b/test/user/testdata/freejoint.xml
deleted file mode 100644
index a55c296a..00000000
--- a/test/user/testdata/freejoint.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<mujoco>
-  <compiler alignfree="true"/>
-  <worldbody>
-    <light pos="0 0 10"/>
-    <geom type="plane" pos="0 0 -1.5" size="5 5 .01"/>
-    <body name="body" pos="0 0 1">
-      <freejoint/>
-      <geom type="capsule" size=".1" fromto="0 0 0 1 0 0"/>
-      <geom name="geom1" type="capsule" size=".1" fromto="1 0 0 1 1 0"/>
-      <frame pos="1 1 0" euler="0 30 0">
-        <geom name="geom2" type="capsule" size=".1" fromto="0 0 0 0 0 1"/>
-        <site name="site" pos="-.2 0 1" type="box" size=".03 .06 .1" quat="1 2 3 4" rgba="0 1 0 1"/>
-        <light name="light" pos="0 0 1.1" dir="0 -1 -1"/>
-        <camera name="camera" pos="0 0 1.2" euler="10 20 30"/>
-      </frame>
-    </body>
-    <site name="anchor" pos="0 0 2" size=".1"/>
-  </worldbody>
-
-  <tendon>
-    <spatial springlength="0 1" stiffness="10000" width=".05">
-      <site site="site"/>
-      <site site="anchor"/>
-    </spatial>
-  </tendon>
-
-  <sensor>
-    <framepos objtype="body" objname="body"/>
-    <framexaxis objtype="body" objname="body"/>
-    <frameyaxis objtype="body" objname="body"/>
-    <framepos objtype="geom" objname="geom1"/>
-    <framexaxis objtype="geom" objname="geom1"/>
-    <frameyaxis objtype="geom" objname="geom1"/>
-    <framepos objtype="geom" objname="geom2"/>
-    <framexaxis objtype="geom" objname="geom2"/>
-    <frameyaxis objtype="geom" objname="geom2"/>
-    <framepos objtype="site" objname="site"/>
-    <framexaxis objtype="site" objname="site"/>
-    <frameyaxis objtype="site" objname="site"/>
-    <framepos objtype="camera" objname="camera"/>
-    <framexaxis objtype="camera" objname="camera"/>
-    <frameyaxis objtype="camera" objname="camera"/>
-  </sensor>
-</mujoco>
diff --git a/test/user/testdata/hfield.png b/test/user/testdata/hfield.png
deleted file mode 100644
index 22fcde5e..00000000
Binary files a/test/user/testdata/hfield.png and /dev/null differ
diff --git a/test/user/testdata/hfield_png.xml b/test/user/testdata/hfield_png.xml
deleted file mode 100644
index f72333de..00000000
--- a/test/user/testdata/hfield_png.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<mujoco>
-  <asset>
-    <hfield name="hfield" file="hfield.png" size="0.5 0.5 0.05 0.1"/>
-    <texture name="hfield" type="2d" file="hfield.png"/>
-    <material name="hfield" texture="hfield"/>
-  </asset>
-
-  <worldbody>
-    <light pos="-.4 .6 1"/>
-    <geom type="hfield" hfield="hfield" pos="-.4 .6 .05" material="hfield"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/hfield_xml.xml b/test/user/testdata/hfield_xml.xml
deleted file mode 100644
index 3b64954b..00000000
--- a/test/user/testdata/hfield_xml.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<mujoco>
-  <asset>
-    <hfield name="J" size="0.9 1.1 .2 .1" nrow="12" ncol="10" elevation="
-            0 0 0 0 0 0 0 0 0 0
-            0 0 0 0 0 0 0 0 0 0
-            0 0 0 0 0 0 1 1 0 0
-            0 0 0 0 0 0 1 1 0 0
-            0 0 0 0 0 0 1 1 0 0
-            0 0 0 0 0 0 1 1 0 0
-            0 0 0 0 0 0 1 1 0 0
-            0 0 1 1 0 0 1 1 0 0
-            0 0 1 1 1 1 1 1 0 0
-            0 0 1 1 1 1 1 0 0 0
-            0 0 0 0 0 0 0 0 0 0
-            0 0 0 0 0 0 0 0 0 0"/>
-  </asset>
-
-  <worldbody>
-    <light pos="0 0 1"/>
-    <geom type="hfield" hfield="J"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/ibl.ktx b/test/user/testdata/ibl.ktx
deleted file mode 100644
index b46b730d..00000000
Binary files a/test/user/testdata/ibl.ktx and /dev/null differ
diff --git a/test/user/testdata/inertia_compare.xml b/test/user/testdata/inertia_compare.xml
deleted file mode 100644
index 6c5d78a2..00000000
--- a/test/user/testdata/inertia_compare.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh name="incomplete_convex" inertia="convex"
-          vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-          face="2 0 3  0 1 3  1 2 3" />
-    <mesh name="complete"
-          vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-          face="2 0 3  0 1 3  1 2 3  1 0 2"/>
-  </asset>
-  <worldbody>
-    <body>
-      <geom type="mesh" mesh="incomplete_convex"/>
-    </body>
-    <body>
-      <geom type="mesh" mesh="complete"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/inertia_concave.xml b/test/user/testdata/inertia_concave.xml
deleted file mode 100644
index 5459e4ae..00000000
--- a/test/user/testdata/inertia_concave.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<mujoco>
-  <default>
-    <mesh scale="10 10 10" inertia="exact"/>
-  </default>
-  <asset>
-    <mesh file="cube_cup.obj"/>
-    <mesh file="cube_cup_quad.obj"/>
-    <mesh file="cube_cup_hi.obj"/>
-  </asset>
-  <worldbody>
-    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-    <body pos="-1.5 0 1">
-      <geom type="mesh" mesh="cube_cup" density="2"/>
-    </body>
-    <body pos="0 0 1">
-      <geom type="mesh" mesh="cube_cup_quad" density="2"/>
-    </body>
-    <body pos="1.5 0 1">
-      <geom type="mesh" mesh="cube_cup_hi" density="2"/>
-    </body>
-    <body pos="3 0 1">
-      <geom type="box" pos="0 0 0.05" size=".5 .5 .05" density="2"/>
-      <geom type="box" pos="-.45 0 .55" size=".05 .5 .45" density="2"/>
-      <geom type="box" pos=" .45 0 .55" size=".05 .5 .45" density="2"/>
-      <geom type="box" pos="0 -.45 .55" size=".4 .05 .45" density="2"/>
-      <geom type="box" pos="0 .45 .55" size=".4 .05 .45" density="2"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/inertia_convex.xml b/test/user/testdata/inertia_convex.xml
deleted file mode 100644
index 4b9e2207..00000000
--- a/test/user/testdata/inertia_convex.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="cube.obj"/>
-    <mesh name="inline_cube" inertia="convex"
-        vertex="
-          -.5 -.5 -.5
-          .5 -.5 -.5
-          .5  .5 -.5
-          -.5  .5 -.5
-          -.5 -.5  .5
-          .5 -.5  .5
-          .5  .5  .5
-          -.5  .5  .5"/>
-  </asset>
-  <worldbody>
-    <body>
-      <geom type="mesh" mesh="cube" density="1"/>
-    </body>
-    <body>
-      <geom type="mesh" mesh="inline_cube" density="1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/inertia_shell.xml b/test/user/testdata/inertia_shell.xml
deleted file mode 100644
index 8e27d4b9..00000000
--- a/test/user/testdata/inertia_shell.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<mujoco>
-  <compiler/>
-  <asset>
-    <mesh file="cube.obj" name="hollow_cube" inertia="shell"/>
-  </asset>
-  <worldbody>
-    <body>
-      <geom type="mesh" mesh="hollow_cube" density="1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/keyframe.xml b/test/user/testdata/keyframe.xml
deleted file mode 100644
index e6d2e583..00000000
--- a/test/user/testdata/keyframe.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<mujoco>
-
-  <worldbody>
-    <geom type="plane" size="1 1 .01"/>
-    <light pos="0 0 2"/>
-    <body pos="0 -.1 .3">
-      <joint name="slide" type="slide" axis="1 0 0"/>
-      <geom type="box" size=".05 .05 .05"/>
-    </body>
-    <body pos="0 .1 .3" mocap="true">
-      <geom type="box" size=".05 .05 .05"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor name="stateless" joint="slide"/>
-    <general name="stateful" joint="slide" dyntype="integrator"/>
-  </actuator>
-
-  <keyframe>
-    <key time=".1"/>
-    <key qpos=".2"/>
-    <key qvel=".3"/>
-    <key act=".4"/>
-    <key ctrl=".5 .6"/>
-    <key mpos=".1 .2 .3"/>
-    <key mquat="1 1 1 1"/>
-  </keyframe>
-</mujoco>
diff --git a/test/user/testdata/lengthrange.xml b/test/user/testdata/lengthrange.xml
deleted file mode 100644
index b1b0219e..00000000
--- a/test/user/testdata/lengthrange.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<mujoco>
-  <compiler>
-    <lengthrange mode="all"/>
-  </compiler>
-
-  <worldbody>
-    <light pos="0 0 10"/>
-    <site name="a" size=".02"/>
-    <replicate offset="0 .1 0" count="17">
-      <body pos="1 0 1">
-        <joint axis="0 -1 0" range="0 90"/>
-        <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
-        <site name="b" pos="0 0 -1"/>
-      </body>
-    </replicate>
-  </worldbody>
-
-  <tendon>
-    <spatial name="b">
-      <site site="a"/>
-      <site site="b"/>
-    </spatial>
-  </tendon>
-
-  <actuator>
-    <position name="b" tendon="b" ctrlrange="0 3" kp="100" dampratio="1"/>
-  </actuator>
-</mujoco>
diff --git a/test/user/testdata/line.obj b/test/user/testdata/line.obj
deleted file mode 100644
index a9396851..00000000
--- a/test/user/testdata/line.obj
+++ /dev/null
@@ -1,6 +0,0 @@
-v 0 0 0
-v 2 0 0
-v 1 0 0
-v 3 0 0
-l 1 3 2
-l 2 4
diff --git a/test/user/testdata/makemesh.xml b/test/user/testdata/makemesh.xml
deleted file mode 100644
index 77a46270..00000000
--- a/test/user/testdata/makemesh.xml
+++ /dev/null
@@ -1,207 +0,0 @@
-<mujoco model="makemesh">
-  <statistic meansize="1"/>
-
-  <visual>
-    <global offheight="2000" offwidth="2000"/>
-  </visual>
-
-  <asset>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat=".5 .5" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <default>
-    <geom type="mesh"/>
-    <camera xyaxes="1 0 0 0 2.7 1" fovy="27"/>
-
-    <default class="s">
-      <geom euler="0 0 -40"/>
-    </default>
-
-    <default class="h">
-      <geom euler="-30 -50 20"/>
-    </default>
-
-    <default class="c">
-      <geom euler="-20 -20 40"/>
-      <mesh scale=".6 .6 .7"/>
-    </default>
-
-    <default class="ss">
-      <geom euler="-30 -40 0"/>
-      <mesh scale=".7 .7 .7"/>
-    </default>
-
-    <default class="st">
-      <geom euler="20 -30 0"/>
-      <mesh scale=".5 .5 .5"/>
-    </default>
-
-    <default class="w">
-      <geom euler="-135 -60 0"/>
-      <mesh scale=".7 .7 .7"/>
-    </default>
-  </default>
-
-  <asset>
-    <mesh name="s0" builtin="sphere" params="0"/>
-    <mesh name="s1" builtin="sphere" params="1"/>
-    <mesh name="s2" builtin="sphere" params="2"/>
-
-    <mesh name="h0" builtin="hemisphere" params="0"/>
-    <mesh name="h2" builtin="hemisphere" params="2"/>
-    <mesh name="h4" builtin="hemisphere" params="4"/>
-
-    <mesh name="c0" builtin="cone" params="3  1" class="c"/>
-    <mesh name="c1" builtin="cone" params="5  1" class="c"/>
-    <mesh name="c2" builtin="cone" params="7  1" class="c"/>
-    <mesh name="c3" builtin="cone" params="3 .5" class="c"/>
-    <mesh name="c4" builtin="cone" params="5 .5" class="c"/>
-    <mesh name="c5" builtin="cone" params="7 .5" class="c"/>
-    <mesh name="c6" builtin="cone" params="3  0" class="c"/>
-    <mesh name="c7" builtin="cone" params="5  0" class="c"/>
-    <mesh name="c8" builtin="cone" params="7  0" class="c"/>
-
-    <mesh name="ss0" builtin="supersphere" params="30 .4 .4" class="ss"/>
-    <mesh name="ss1" builtin="supersphere" params="30 .4  1" class="ss"/>
-    <mesh name="ss2" builtin="supersphere" params="30 .4  2" class="ss"/>
-    <mesh name="ss3" builtin="supersphere" params="30  1 .4" class="ss"/>
-    <mesh name="ss4" builtin="supersphere" params="30  1  1" class="ss"/>
-    <mesh name="ss5" builtin="supersphere" params="30  1  2" class="ss"/>
-    <mesh name="ss6" builtin="supersphere" params="30  2 .4" class="ss"/>
-    <mesh name="ss7" builtin="supersphere" params="30  2  1" class="ss"/>
-    <mesh name="ss8" builtin="supersphere" params="30  2  2" class="ss"/>
-
-    <mesh name="st0" builtin="supertorus" params="30 .5 .4 .4" class="st"/>
-    <mesh name="st1" builtin="supertorus" params="30 .5 .4  1" class="st"/>
-    <mesh name="st2" builtin="supertorus" params="30 .5 .4  2" class="st"/>
-    <mesh name="st3" builtin="supertorus" params="30 .5  1 .4" class="st"/>
-    <mesh name="st4" builtin="supertorus" params="30 .5  1  1" class="st"/>
-    <mesh name="st5" builtin="supertorus" params="30 .5  1  2" class="st"/>
-    <mesh name="st6" builtin="supertorus" params="30 .5  2 .4" class="st"/>
-    <mesh name="st7" builtin="supertorus" params="30 .5  2  1" class="st"/>
-    <mesh name="st8" builtin="supertorus" params="30 .5  2  2" class="st"/>
-
-    <mesh name="w0" builtin="wedge" params="30 30 45  20 0" class="w"/>
-    <mesh name="w1" builtin="wedge" params="30 30 45  45 0" class="w"/>
-    <mesh name="w2" builtin="wedge" params="30 30 45  90 0" class="w"/>
-    <mesh name="w3" builtin="wedge" params="30 30 90  20 0" class="w"/>
-    <mesh name="w4" builtin="wedge" params="30 30 90  45 0" class="w"/>
-    <mesh name="w5" builtin="wedge" params="30 30 90  90 0" class="w"/>
-    <mesh name="w6" builtin="wedge" params="30 30 180 20 0" class="w"/>
-    <mesh name="w7" builtin="wedge" params="30 30 180 45 0" class="w"/>
-    <mesh name="w8" builtin="wedge" params="30 30 180 90 0" class="w"/>
-  </asset>
-
-  <worldbody>
-    <geom name="floor" size="26 6 .05" type="plane" material="grid"/>
-
-    <light pos="-21 1 10"/>
-    <camera pos="-21 -5 15"/>
-    <geom pos="-23  3 1" mesh="s0" class="s"/>
-    <geom pos="-21  1 1" mesh="s1" class="s"/>
-    <geom pos="-19 -1 1" mesh="s2" class="s"/>
-    <site pos="-23  2 0" name="0"/>
-    <site pos="-21  0 0" name="1"/>
-    <site pos="-19 -2 0" name="2"/>
-    <site pos="-22 -3 1" name="sphere"/>
-
-    <light pos="-13 1 10"/>
-    <camera pos="-13 -5 15"/>
-    <geom pos="-15  3 1" mesh="h0" class="h"/>
-    <geom pos="-13  1 1" mesh="h2" class="h"/>
-    <geom pos="-11 -1 1" mesh="h4" class="h"/>
-    <site pos="-15  2 0" name=" 0"/>
-    <site pos="-13  0 0" name=" 2"/>
-    <site pos="-11 -2 0" name=" 4"/>
-    <site pos="-14 -3 1" name="hemisphere"/>
-
-    <light pos="-5 1 10"/>
-    <camera pos="-5 -5 15"/>
-    <geom pos="-7  3 1" mesh="c0" class="c"/>
-    <geom pos="-5  3 1" mesh="c1" class="c"/>
-    <geom pos="-3  3 1" mesh="c2" class="c"/>
-    <geom pos="-7  1 1" mesh="c3" class="c"/>
-    <geom pos="-5  1 1" mesh="c4" class="c"/>
-    <geom pos="-3  1 1" mesh="c5" class="c"/>
-    <geom pos="-7 -1 1" mesh="c6" class="c"/>
-    <geom pos="-5 -1 1" mesh="c7" class="c"/>
-    <geom pos="-3 -1 1" mesh="c7" class="c"/>
-    <site pos="-7  2 0" name="3  1"/>
-    <site pos="-5  2 0" name="5  1"/>
-    <site pos="-3  2 0" name="7  1"/>
-    <site pos="-7  0 0" name="3  .5"/>
-    <site pos="-5  0 0" name="5  .5"/>
-    <site pos="-3  0 0" name="7  .5"/>
-    <site pos="-7 -2 0" name="3  0"/>
-    <site pos="-5 -2 0" name="5  0"/>
-    <site pos="-3 -2 0" name="7  0"/>
-    <site pos="-6 -3 1" name="cone"/>
-
-    <light pos="3 1 10"/>
-    <camera pos="3 -5 15"/>
-    <geom pos="1  3 1" mesh="ss0" class="ss"/>
-    <geom pos="3  3 1" mesh="ss1" class="ss"/>
-    <geom pos="5  3 1" mesh="ss2" class="ss"/>
-    <geom pos="1  1 1" mesh="ss3" class="ss"/>
-    <geom pos="3  1 1" mesh="ss4" class="ss"/>
-    <geom pos="5  1 1" mesh="ss5" class="ss"/>
-    <geom pos="1 -1 1" mesh="ss6" class="ss"/>
-    <geom pos="3 -1 1" mesh="ss7" class="ss"/>
-    <geom pos="5 -1 1" mesh="ss8" class="ss"/>
-    <site pos="1  2 0" name=".4  .4"/>
-    <site pos="3  2 0" name=".4   1"/>
-    <site pos="5  2 0" name=".4   2"/>
-    <site pos="1  0 0" name=" 1  .4"/>
-    <site pos="3  0 0" name=" 1   1"/>
-    <site pos="5  0 0" name=" 1   2"/>
-    <site pos="1 -2 0" name=" 2  .4"/>
-    <site pos="3 -2 0" name=" 2   1"/>
-    <site pos="5 -2 0" name=" 2   2"/>
-    <site pos="2 -3 1" name="supersphere"/>
-
-    <light pos="11 1 10"/>
-    <camera pos="11 -5 15"/>
-    <geom pos="9   3 1" mesh="st0" class="st"/>
-    <geom pos="11  3 1" mesh="st1" class="st"/>
-    <geom pos="13  3 1" mesh="st2" class="st"/>
-    <geom pos="9   1 1" mesh="st3" class="st"/>
-    <geom pos="11  1 1" mesh="st4" class="st"/>
-    <geom pos="13  1 1" mesh="st5" class="st"/>
-    <geom pos="9  -1 1" mesh="st6" class="st"/>
-    <geom pos="11 -1 1" mesh="st7" class="st"/>
-    <geom pos="13 -1 1" mesh="st8" class="st"/>
-    <site pos="9   2 0" name=" .4  .4"/>
-    <site pos="11  2 0" name=" .4   1"/>
-    <site pos="13  2 0" name=" .4   2"/>
-    <site pos="9   0 0" name="  1  .4"/>
-    <site pos="11  0 0" name="  1   1"/>
-    <site pos="13  0 0" name="  1   2"/>
-    <site pos="9  -2 0" name="  2  .4"/>
-    <site pos="11 -2 0" name="  2   1"/>
-    <site pos="13 -2 0" name="  2   2"/>
-    <site pos="10 -3 1" name="supertorus"/>
-
-    <light pos="19 1 10"/>
-    <camera pos="19 -5 15"/>
-    <geom pos="17  3 1" mesh="w0" class="w"/>
-    <geom pos="19  3 1" mesh="w1" class="w"/>
-    <geom pos="21  3 1" mesh="w2" class="w"/>
-    <geom pos="17  1 1" mesh="w3" class="w"/>
-    <geom pos="19  1 1" mesh="w4" class="w"/>
-    <geom pos="21  1 1" mesh="w5" class="w"/>
-    <geom pos="17 -1 1" mesh="w6" class="w"/>
-    <geom pos="19 -1 1" mesh="w7" class="w"/>
-    <geom pos="21 -1 1" mesh="w8" class="w"/>
-    <site pos="17  2 0" name="45  20"/>
-    <site pos="19  2 0" name="45  45"/>
-    <site pos="21  2 0" name="45  90"/>
-    <site pos="17  0 0" name="90  20"/>
-    <site pos="19  0 0" name="90  45"/>
-    <site pos="21  0 0" name="90  90"/>
-    <site pos="17 -2 0" name="180 20"/>
-    <site pos="19 -2 0" name="180 45"/>
-    <site pos="21 -2 0" name="180 90"/>
-    <site pos="18 -3 1" name="wedge"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_cube_22_ascii_missing_element.msh b/test/user/testdata/malformed_cube_22_ascii_missing_element.msh
deleted file mode 100644
index 4e27d068..00000000
--- a/test/user/testdata/malformed_cube_22_ascii_missing_element.msh
+++ /dev/null
@@ -1,46 +0,0 @@
-$MeshFormat
-2.2 0 8
-$EndMeshFormat
-$Nodes
-14
-1 -0.5 -0.5 0
-2 0.5 -0.5 0
-3 0.5 0.5 0
-4 -0.5 0.5 0
-5 -0.5 -0.5 1
-6 0.5 -0.5 1
-7 0.5 0.5 1
-8 -0.5 0.5 1
-9 0 0 0
-10 0 -0.5 0.5
-11 0.5 0 0.5
-12 0 0.5 0.5
-13 -0.5 0 0.5
-14 0 0 1
-$EndNodes
-$Elements
-24
-2 4 2 0 1 10 12 13 14
-3 4 2 0 1 9 10 12 13
-4 4 2 0 1 10 12 14 11
-5 4 2 0 1 9 10 1 2
-6 4 2 0 1 7 11 12 3
-7 4 2 0 1 4 1 9 13
-8 4 2 0 1 13 12 4 8
-9 4 2 0 1 1 10 13 5
-10 4 2 0 1 13 8 5 14
-11 4 2 0 1 12 8 14 7
-12 4 2 0 1 14 5 10 6
-13 4 2 0 1 14 6 11 7
-14 4 2 0 1 9 4 12 3
-15 4 2 0 1 3 11 9 2
-16 4 2 0 1 11 6 10 2
-17 4 2 0 1 6 10 14 11
-18 4 2 0 1 1 10 9 13
-19 4 2 0 1 12 4 9 13
-20 4 2 0 1 5 10 13 14
-21 4 2 0 1 8 13 12 14
-22 4 2 0 1 12 14 11 7
-23 4 2 0 1 9 12 11 3
-24 4 2 0 1 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_22_ascii_missing_element.xml b/test/user/testdata/malformed_cube_22_ascii_missing_element.xml
deleted file mode 100644
index f47d3e4b..00000000
--- a/test/user/testdata/malformed_cube_22_ascii_missing_element.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG"/>
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
-    <map force="0.1" zfar="30"/>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3"/>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
-    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
-              scale="1 1 1" file="malformed_cube_22_ascii_missing_element.msh">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_cube_22_ascii_missing_node.msh b/test/user/testdata/malformed_cube_22_ascii_missing_node.msh
deleted file mode 100644
index b1dbb95a..00000000
--- a/test/user/testdata/malformed_cube_22_ascii_missing_node.msh
+++ /dev/null
@@ -1,46 +0,0 @@
-$MeshFormat
-2.2 0 8
-$EndMeshFormat
-$Nodes
-14
-2 0.5 -0.5 0
-3 0.5 0.5 0
-4 -0.5 0.5 0
-5 -0.5 -0.5 1
-6 0.5 -0.5 1
-7 0.5 0.5 1
-8 -0.5 0.5 1
-9 0 0 0
-10 0 -0.5 0.5
-11 0.5 0 0.5
-12 0 0.5 0.5
-13 -0.5 0 0.5
-14 0 0 1
-$EndNodes
-$Elements
-24
-1 4 2 0 1 10 9 12 11
-2 4 2 0 1 10 12 13 14
-3 4 2 0 1 9 10 12 13
-4 4 2 0 1 10 12 14 11
-5 4 2 0 1 9 10 1 2
-6 4 2 0 1 7 11 12 3
-7 4 2 0 1 4 1 9 13
-8 4 2 0 1 13 12 4 8
-9 4 2 0 1 1 10 13 5
-10 4 2 0 1 13 8 5 14
-11 4 2 0 1 12 8 14 7
-12 4 2 0 1 14 5 10 6
-13 4 2 0 1 14 6 11 7
-14 4 2 0 1 9 4 12 3
-15 4 2 0 1 3 11 9 2
-16 4 2 0 1 11 6 10 2
-17 4 2 0 1 6 10 14 11
-18 4 2 0 1 1 10 9 13
-19 4 2 0 1 12 4 9 13
-20 4 2 0 1 5 10 13 14
-21 4 2 0 1 8 13 12 14
-22 4 2 0 1 12 14 11 7
-23 4 2 0 1 9 12 11 3
-24 4 2 0 1 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_22_ascii_missing_node.xml b/test/user/testdata/malformed_cube_22_ascii_missing_node.xml
deleted file mode 100644
index 7e3d1210..00000000
--- a/test/user/testdata/malformed_cube_22_ascii_missing_node.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG" />
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
-      rgb2=".2 .3 .4" />
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <map force="0.1" zfar="30" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <quality shadowsize="4096" />
-    <global offwidth="800" offheight="800" />
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
-    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
-              scale="1 1 1" file="malformed_cube_22_ascii_missing_node.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_cube_22_ascii_missing_num_elements.msh b/test/user/testdata/malformed_cube_22_ascii_missing_num_elements.msh
deleted file mode 100644
index 017bed52..00000000
--- a/test/user/testdata/malformed_cube_22_ascii_missing_num_elements.msh
+++ /dev/null
@@ -1,46 +0,0 @@
-$MeshFormat
-2.2 0 8
-$EndMeshFormat
-$Nodes
-14
-1 -0.5 -0.5 0
-2 0.5 -0.5 0
-3 0.5 0.5 0
-4 -0.5 0.5 0
-5 -0.5 -0.5 1
-6 0.5 -0.5 1
-7 0.5 0.5 1
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-9 0 0 0
-10 0 -0.5 0.5
-11 0.5 0 0.5
-12 0 0.5 0.5
-13 -0.5 0 0.5
-14 0 0 1
-$EndNodes
-$Elements
-1 4 2 0 1 10 9 12 11
-2 4 2 0 1 10 12 13 14
-3 4 2 0 1 9 10 12 13
-4 4 2 0 1 10 12 14 11
-5 4 2 0 1 9 10 1 2
-6 4 2 0 1 7 11 12 3
-7 4 2 0 1 4 1 9 13
-8 4 2 0 1 13 12 4 8
-9 4 2 0 1 1 10 13 5
-10 4 2 0 1 13 8 5 14
-11 4 2 0 1 12 8 14 7
-12 4 2 0 1 14 5 10 6
-13 4 2 0 1 14 6 11 7
-14 4 2 0 1 9 4 12 3
-15 4 2 0 1 3 11 9 2
-16 4 2 0 1 11 6 10 2
-17 4 2 0 1 6 10 14 11
-18 4 2 0 1 1 10 9 13
-19 4 2 0 1 12 4 9 13
-20 4 2 0 1 5 10 13 14
-21 4 2 0 1 8 13 12 14
-22 4 2 0 1 12 14 11 7
-23 4 2 0 1 9 12 11 3
-24 4 2 0 1 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_22_ascii_missing_num_elements.xml b/test/user/testdata/malformed_cube_22_ascii_missing_num_elements.xml
deleted file mode 100644
index 22b464d6..00000000
--- a/test/user/testdata/malformed_cube_22_ascii_missing_num_elements.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG" />
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
-      rgb2=".2 .3 .4" />
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <map force="0.1" zfar="30" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <quality shadowsize="4096" />
-    <global offwidth="800" offheight="800" />
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
-    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
-              scale="1 1 1" file="malformed_cube_22_ascii_missing_num_elements.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_cube_22_ascii_missing_num_nodes.msh b/test/user/testdata/malformed_cube_22_ascii_missing_num_nodes.msh
deleted file mode 100644
index 62f4cc19..00000000
--- a/test/user/testdata/malformed_cube_22_ascii_missing_num_nodes.msh
+++ /dev/null
@@ -1,46 +0,0 @@
-$MeshFormat
-2.2 0 8
-$EndMeshFormat
-$Nodes
-1 -0.5 -0.5 0
-2 0.5 -0.5 0
-3 0.5 0.5 0
-4 -0.5 0.5 0
-5 -0.5 -0.5 1
-6 0.5 -0.5 1
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-12 0 0.5 0.5
-13 -0.5 0 0.5
-14 0 0 1
-$EndNodes
-$Elements
-24
-1 4 2 0 1 10 9 12 11
-2 4 2 0 1 10 12 13 14
-3 4 2 0 1 9 10 12 13
-4 4 2 0 1 10 12 14 11
-5 4 2 0 1 9 10 1 2
-6 4 2 0 1 7 11 12 3
-7 4 2 0 1 4 1 9 13
-8 4 2 0 1 13 12 4 8
-9 4 2 0 1 1 10 13 5
-10 4 2 0 1 13 8 5 14
-11 4 2 0 1 12 8 14 7
-12 4 2 0 1 14 5 10 6
-13 4 2 0 1 14 6 11 7
-14 4 2 0 1 9 4 12 3
-15 4 2 0 1 3 11 9 2
-16 4 2 0 1 11 6 10 2
-17 4 2 0 1 6 10 14 11
-18 4 2 0 1 1 10 9 13
-19 4 2 0 1 12 4 9 13
-20 4 2 0 1 5 10 13 14
-21 4 2 0 1 8 13 12 14
-22 4 2 0 1 12 14 11 7
-23 4 2 0 1 9 12 11 3
-24 4 2 0 1 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_22_ascii_missing_num_nodes.xml b/test/user/testdata/malformed_cube_22_ascii_missing_num_nodes.xml
deleted file mode 100644
index 17c32d6f..00000000
--- a/test/user/testdata/malformed_cube_22_ascii_missing_num_nodes.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG" />
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
-      rgb2=".2 .3 .4" />
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <map force="0.1" zfar="30" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <quality shadowsize="4096" />
-    <global offwidth="800" offheight="800" />
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
-    <flexcomp name="cube" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
-              scale="1 1 1" file="malformed_cube_22_ascii_missing_num_nodes.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh b/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh
deleted file mode 100644
index 7f88379f..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh
+++ /dev/null
@@ -1,67 +0,0 @@
-$MeshFormat
-4.1 0 8
-$EndMeshFormat
-$Entities
-0 0 0 1
-1 -0.5 -0.5 0 0.5 0.5 1 0 0
-$EndEntities
-$Nodes
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-3 1 0 14
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
--0.5 -0.5 0
-0.5 -0.5 0
-0.5 0.5 0
--0.5 0.5 0
--0.5 -0.5 1
-0.5 -0.5 1
-0.5 0.5 1
--0.5 0.5 1
-0 0 0
-0 -0.5 0.5
-0.5 0 0.5
-0 0.5 0.5
--0.5 0 0.5
-0 0 1
-$EndNodes
-$Elements
-1 24 1 24
-3 1 4 24
-1 10 9 12 11
-2 10 12 13 14
-3 9 10 12 13
-4 10 12 14 11
-5 9 10 1 2
-6 7 11 12 3
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-9 1 10 13 5
-10 13 8 5 14
-11 12 8 14 7
-12 14 5 10 6
-13 14 6 11 7
-14 9 4 12 3
-15 3 11 9 2
-16 11 6 10 2
-17 6 10 14 11
-18 1 10 9 13
-19 12 4 9 13
-20 5 10 13 14
-21 8 13 12 14
-22 12 14 11 7
-23 9 12 11 3
-24 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.xml b/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.xml
deleted file mode 100644
index 1e179a81..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG" />
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
-      rgb2=".2 .3 .4" />
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <map force="0.1" zfar="30" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <quality shadowsize="4096" />
-    <global offwidth="800" offheight="800" />
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
-    <flexcomp name="cube" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4" mass="10"
-              scale="1 1 1" file="malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_cube_41_ascii_missing_element.msh b/test/user/testdata/malformed_cube_41_ascii_missing_element.msh
deleted file mode 100644
index 96fc021c..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_missing_element.msh
+++ /dev/null
@@ -1,66 +0,0 @@
-$MeshFormat
-4.1 0 8
-$EndMeshFormat
-$Entities
-0 0 0 1
-1 -0.5 -0.5 0 0.5 0.5 1 0 0
-$EndEntities
-$Nodes
-1 14 1 14
-3 1 0 14
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
--0.5 -0.5 0
-0.5 -0.5 0
-0.5 0.5 0
--0.5 0.5 0
--0.5 -0.5 1
-0.5 -0.5 1
-0.5 0.5 1
--0.5 0.5 1
-0 0 0
-0 -0.5 0.5
-0.5 0 0.5
-0 0.5 0.5
--0.5 0 0.5
-0 0 1
-$EndNodes
-$Elements
-1 24 1 24
-3 1 4 24
-2 10 12 13 14
-3 9 10 12 13
-4 10 12 14 11
-5 9 10 1 2
-6 7 11 12 3
-7 4 1 9 13
-8 13 12 4 8
-9 1 10 13 5
-10 13 8 5 14
-11 12 8 14 7
-12 14 5 10 6
-13 14 6 11 7
-14 9 4 12 3
-15 3 11 9 2
-16 11 6 10 2
-17 6 10 14 11
-18 1 10 9 13
-19 12 4 9 13
-20 5 10 13 14
-21 8 13 12 14
-22 12 14 11 7
-23 9 12 11 3
-24 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_41_ascii_missing_element.xml b/test/user/testdata/malformed_cube_41_ascii_missing_element.xml
deleted file mode 100644
index bacce6a1..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_missing_element.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG" />
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
-      rgb2=".2 .3 .4" />
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <map force="0.1" zfar="30" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <quality shadowsize="4096" />
-    <global offwidth="800" offheight="800" />
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
-    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
-              mass="10" scale="1 1 1" file="malformed_cube_41_ascii_missing_element.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_cube_41_ascii_missing_element_header.msh b/test/user/testdata/malformed_cube_41_ascii_missing_element_header.msh
deleted file mode 100644
index 9386eefe..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_missing_element_header.msh
+++ /dev/null
@@ -1,65 +0,0 @@
-$MeshFormat
-4.1 0 8
-$EndMeshFormat
-$Entities
-0 0 0 1
-1 -0.5 -0.5 0 0.5 0.5 1 0 0
-$EndEntities
-$Nodes
-1 14 1 14
-3 1 0 14
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
--0.5 -0.5 0
-0.5 -0.5 0
-0.5 0.5 0
--0.5 0.5 0
--0.5 -0.5 1
-0.5 -0.5 1
-0.5 0.5 1
--0.5 0.5 1
-0 0 0
-0 -0.5 0.5
-0.5 0 0.5
-0 0.5 0.5
--0.5 0 0.5
-0 0 1
-$EndNodes
-$Elements
-1 10 9 12 11
-2 10 12 13 14
-3 9 10 12 13
-4 10 12 14 11
-5 9 10 1 2
-6 7 11 12 3
-7 4 1 9 13
-8 13 12 4 8
-9 1 10 13 5
-10 13 8 5 14
-11 12 8 14 7
-12 14 5 10 6
-13 14 6 11 7
-14 9 4 12 3
-15 3 11 9 2
-16 11 6 10 2
-17 6 10 14 11
-18 1 10 9 13
-19 12 4 9 13
-20 5 10 13 14
-21 8 13 12 14
-22 12 14 11 7
-23 9 12 11 3
-24 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_41_ascii_missing_element_header.xml b/test/user/testdata/malformed_cube_41_ascii_missing_element_header.xml
deleted file mode 100644
index 0a19ddf7..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_missing_element_header.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG" />
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
-      rgb2=".2 .3 .4" />
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <map force="0.1" zfar="30" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <quality shadowsize="4096" />
-    <global offwidth="800" offheight="800" />
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
-    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
-              mass="10" scale="1 1 1" file="malformed_cube_41_ascii_missing_element_header.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_cube_41_ascii_missing_node.msh b/test/user/testdata/malformed_cube_41_ascii_missing_node.msh
deleted file mode 100644
index d5cad329..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_missing_node.msh
+++ /dev/null
@@ -1,66 +0,0 @@
-$MeshFormat
-4.1 0 8
-$EndMeshFormat
-$Entities
-0 0 0 1
-1 -0.5 -0.5 0 0.5 0.5 1 0 0
-$EndEntities
-$Nodes
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-3 1 0 14
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-0.5 -0.5 0
-0.5 0.5 0
--0.5 0.5 0
--0.5 -0.5 1
-0.5 -0.5 1
-0.5 0.5 1
--0.5 0.5 1
-0 0 0
-0 -0.5 0.5
-0.5 0 0.5
-0 0.5 0.5
--0.5 0 0.5
-0 0 1
-$EndNodes
-$Elements
-1 24 1 24
-3 1 4 24
-1 10 9 12 11
-2 10 12 13 14
-3 9 10 12 13
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-8 13 12 4 8
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-10 13 8 5 14
-11 12 8 14 7
-12 14 5 10 6
-13 14 6 11 7
-14 9 4 12 3
-15 3 11 9 2
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-18 1 10 9 13
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-21 8 13 12 14
-22 12 14 11 7
-23 9 12 11 3
-24 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_41_ascii_missing_node_header.msh b/test/user/testdata/malformed_cube_41_ascii_missing_node_header.msh
deleted file mode 100644
index 9db97fc1..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_missing_node_header.msh
+++ /dev/null
@@ -1,65 +0,0 @@
-$MeshFormat
-4.1 0 8
-$EndMeshFormat
-$Entities
-0 0 0 1
-1 -0.5 -0.5 0 0.5 0.5 1 0 0
-$EndEntities
-$Nodes
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
--0.5 -0.5 0
-0.5 -0.5 0
-0.5 0.5 0
--0.5 0.5 0
--0.5 -0.5 1
-0.5 -0.5 1
-0.5 0.5 1
--0.5 0.5 1
-0 0 0
-0 -0.5 0.5
-0.5 0 0.5
-0 0.5 0.5
--0.5 0 0.5
-0 0 1
-$EndNodes
-$Elements
-1 24 1 24
-3 1 4 24
-1 10 9 12 11
-2 10 12 13 14
-3 9 10 12 13
-4 10 12 14 11
-5 9 10 1 2
-6 7 11 12 3
-7 4 1 9 13
-8 13 12 4 8
-9 1 10 13 5
-10 13 8 5 14
-11 12 8 14 7
-12 14 5 10 6
-13 14 6 11 7
-14 9 4 12 3
-15 3 11 9 2
-16 11 6 10 2
-17 6 10 14 11
-18 1 10 9 13
-19 12 4 9 13
-20 5 10 13 14
-21 8 13 12 14
-22 12 14 11 7
-23 9 12 11 3
-24 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_41_ascii_missing_node_header.xml b/test/user/testdata/malformed_cube_41_ascii_missing_node_header.xml
deleted file mode 100644
index 7f10b533..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_missing_node_header.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG" />
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
-      rgb2=".2 .3 .4" />
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <map force="0.1" zfar="30" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <quality shadowsize="4096" />
-    <global offwidth="800" offheight="800" />
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
-    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
-              mass="10" scale="1 1 1" file="malformed_cube_41_ascii_missing_node_header.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_cube_41_ascii_missing_node_index.msh b/test/user/testdata/malformed_cube_41_ascii_missing_node_index.msh
deleted file mode 100644
index deda5abf..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_missing_node_index.msh
+++ /dev/null
@@ -1,66 +0,0 @@
-$MeshFormat
-4.1 0 8
-$EndMeshFormat
-$Entities
-0 0 0 1
-1 -0.5 -0.5 0 0.5 0.5 1 0 0
-$EndEntities
-$Nodes
-1 14 1 14
-3 1 0 14
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
--0.5 -0.5 0
-0.5 -0.5 0
-0.5 0.5 0
--0.5 0.5 0
--0.5 -0.5 1
-0.5 -0.5 1
-0.5 0.5 1
--0.5 0.5 1
-0 0 0
-0 -0.5 0.5
-0.5 0 0.5
-0 0.5 0.5
--0.5 0 0.5
-0 0 1
-$EndNodes
-$Elements
-1 24 1 24
-3 1 4 24
-1 10 9 12 11
-2 10 12 13 14
-3 9 10 12 13
-4 10 12 14 11
-5 9 10 1 2
-6 7 11 12 3
-7 4 1 9 13
-8 13 12 4 8
-9 1 10 13 5
-10 13 8 5 14
-11 12 8 14 7
-12 14 5 10 6
-13 14 6 11 7
-14 9 4 12 3
-15 3 11 9 2
-16 11 6 10 2
-17 6 10 14 11
-18 1 10 9 13
-19 12 4 9 13
-20 5 10 13 14
-21 8 13 12 14
-22 12 14 11 7
-23 9 12 11 3
-24 10 9 11 2
-$EndElements
diff --git a/test/user/testdata/malformed_cube_41_ascii_missing_node_index.xml b/test/user/testdata/malformed_cube_41_ascii_missing_node_index.xml
deleted file mode 100644
index 1a758409..00000000
--- a/test/user/testdata/malformed_cube_41_ascii_missing_node_index.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="gmsh">
-  <option timestep="0.01" integrator="implicitfast" solver="CG" />
-
-  <asset>
-    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512" />
-    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3"
-      rgb2=".2 .3 .4" />
-    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2" />
-  </asset>
-
-  <visual>
-    <headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0" />
-    <map force="0.1" zfar="30" />
-    <rgba haze="0.15 0.25 0.35 1" />
-    <quality shadowsize="4096" />
-    <global offwidth="800" offheight="800" />
-  </visual>
-
-  <worldbody>
-    <geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
-    <flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
-              mass="10" scale="1 1 1" file="malformed_cube_41_ascii_missing_node_index.msh">
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_duplicated.xml b/test/user/testdata/malformed_duplicated.xml
deleted file mode 100644
index 4e9304a7..00000000
--- a/test/user/testdata/malformed_duplicated.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="cube.obj"/>
-    <mesh file="cube.obj"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="cube_0"/>
-    <geom type="mesh" mesh="cube_1"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_face.obj b/test/user/testdata/malformed_face.obj
deleted file mode 100644
index 054631e2..00000000
--- a/test/user/testdata/malformed_face.obj
+++ /dev/null
@@ -1,9 +0,0 @@
-v 0 0 0
-v 1 0 0
-v 0 1 0
-v 0 0 1
-f 3 1 4
-f 1 2 4
-f 2 3 4
-# malformed face
-f 1 2 3
diff --git a/test/user/testdata/malformed_face.xml b/test/user/testdata/malformed_face.xml
deleted file mode 100644
index d81edc0e..00000000
--- a/test/user/testdata/malformed_face.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="malformed_face.obj"/>
-  </asset>
-  <worldbody>
-    <body>
-      <geom type="mesh" mesh="malformed_face"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/malformed_flex_nofaces.xml b/test/user/testdata/malformed_flex_nofaces.xml
deleted file mode 100644
index 61db94bc..00000000
--- a/test/user/testdata/malformed_flex_nofaces.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-  <mujoco>
-    <worldbody>
-      <flexcomp name="test" type="mesh" file="cube.obj"/>
-    </worldbody>
-  </mujoco>
diff --git a/test/user/testdata/mesh.xml b/test/user/testdata/mesh.xml
deleted file mode 100644
index 03a31d9d..00000000
--- a/test/user/testdata/mesh.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="cube.msh"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="cube"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/pbr.xml b/test/user/testdata/pbr.xml
deleted file mode 100644
index 1871c788..00000000
--- a/test/user/testdata/pbr.xml
+++ /dev/null
@@ -1,249 +0,0 @@
-<mujoco>
-  <default>
-    <default class="base_material">
-      <material>
-        <layer role="rgb" texture="white"/>
-        <layer role="metallic" texture="white"/>
-        <layer role="roughness" texture="white"/>
-      </material>
-    </default>
-  </default>
-
-
-  <asset>
-    <texture name="ibl" type="2d" file="ibl.ktx"/>
-    <texture name="white" type="2d" builtin="flat" rgb1="1 1 1" width="2" height="2"/>
-    <texture name="grid" type="2d" builtin="checker" rgb1="1 1 1" rgb2="0.9 0.9 0.9" width="64" height="64"/>
-    <material name="floor" reflectance="0.5" texture="grid" texrepeat="4 4" texuniform="true"/>
-
-    <!-- Materials with metallic and roughness varying from 0 to 1 in 0.1 increments -->
-    <material class="base_material" name="pbr_m0.0_r0.0" metallic="0.0" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.0_r0.1" metallic="0.0" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.0_r0.2" metallic="0.0" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.0_r0.3" metallic="0.0" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.0_r0.4" metallic="0.0" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.0_r0.5" metallic="0.0" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.0_r0.6" metallic="0.0" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.0_r0.7" metallic="0.0" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.0_r0.8" metallic="0.0" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.0_r0.9" metallic="0.0" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.0_r1.0" metallic="0.0" roughness="1.0"/>
-    <material class="base_material" name="pbr_m0.1_r0.0" metallic="0.1" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.1_r0.1" metallic="0.1" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.1_r0.2" metallic="0.1" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.1_r0.3" metallic="0.1" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.1_r0.4" metallic="0.1" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.1_r0.5" metallic="0.1" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.1_r0.6" metallic="0.1" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.1_r0.7" metallic="0.1" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.1_r0.8" metallic="0.1" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.1_r0.9" metallic="0.1" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.1_r1.0" metallic="0.1" roughness="1.0"/>
-    <material class="base_material" name="pbr_m0.2_r0.0" metallic="0.2" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.2_r0.1" metallic="0.2" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.2_r0.2" metallic="0.2" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.2_r0.3" metallic="0.2" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.2_r0.4" metallic="0.2" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.2_r0.5" metallic="0.2" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.2_r0.6" metallic="0.2" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.2_r0.7" metallic="0.2" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.2_r0.8" metallic="0.2" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.2_r0.9" metallic="0.2" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.2_r1.0" metallic="0.2" roughness="1.0"/>
-    <material class="base_material" name="pbr_m0.3_r0.0" metallic="0.3" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.3_r0.1" metallic="0.3" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.3_r0.2" metallic="0.3" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.3_r0.3" metallic="0.3" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.3_r0.4" metallic="0.3" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.3_r0.5" metallic="0.3" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.3_r0.6" metallic="0.3" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.3_r0.7" metallic="0.3" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.3_r0.8" metallic="0.3" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.3_r0.9" metallic="0.3" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.3_r1.0" metallic="0.3" roughness="1.0"/>
-    <material class="base_material" name="pbr_m0.4_r0.0" metallic="0.4" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.4_r0.1" metallic="0.4" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.4_r0.2" metallic="0.4" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.4_r0.3" metallic="0.4" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.4_r0.4" metallic="0.4" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.4_r0.5" metallic="0.4" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.4_r0.6" metallic="0.4" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.4_r0.7" metallic="0.4" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.4_r0.8" metallic="0.4" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.4_r0.9" metallic="0.4" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.4_r1.0" metallic="0.4" roughness="1.0"/>
-    <material class="base_material" name="pbr_m0.5_r0.0" metallic="0.5" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.5_r0.1" metallic="0.5" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.5_r0.2" metallic="0.5" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.5_r0.3" metallic="0.5" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.5_r0.4" metallic="0.5" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.5_r0.5" metallic="0.5" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.5_r0.6" metallic="0.5" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.5_r0.7" metallic="0.5" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.5_r0.8" metallic="0.5" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.5_r0.9" metallic="0.5" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.5_r1.0" metallic="0.5" roughness="1.0"/>
-    <material class="base_material" name="pbr_m0.6_r0.0" metallic="0.6" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.6_r0.1" metallic="0.6" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.6_r0.2" metallic="0.6" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.6_r0.3" metallic="0.6" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.6_r0.4" metallic="0.6" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.6_r0.5" metallic="0.6" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.6_r0.6" metallic="0.6" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.6_r0.7" metallic="0.6" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.6_r0.8" metallic="0.6" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.6_r0.9" metallic="0.6" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.6_r1.0" metallic="0.6" roughness="1.0"/>
-    <material class="base_material" name="pbr_m0.7_r0.0" metallic="0.7" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.7_r0.1" metallic="0.7" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.7_r0.2" metallic="0.7" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.7_r0.3" metallic="0.7" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.7_r0.4" metallic="0.7" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.7_r0.5" metallic="0.7" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.7_r0.6" metallic="0.7" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.7_r0.7" metallic="0.7" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.7_r0.8" metallic="0.7" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.7_r0.9" metallic="0.7" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.7_r1.0" metallic="0.7" roughness="1.0"/>
-    <material class="base_material" name="pbr_m0.8_r0.0" metallic="0.8" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.8_r0.1" metallic="0.8" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.8_r0.2" metallic="0.8" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.8_r0.3" metallic="0.8" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.8_r0.4" metallic="0.8" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.8_r0.5" metallic="0.8" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.8_r0.6" metallic="0.8" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.8_r0.7" metallic="0.8" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.8_r0.8" metallic="0.8" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.8_r0.9" metallic="0.8" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.8_r1.0" metallic="0.8" roughness="1.0"/>
-    <material class="base_material" name="pbr_m0.9_r0.0" metallic="0.9" roughness="0.0"/>
-    <material class="base_material" name="pbr_m0.9_r0.1" metallic="0.9" roughness="0.1"/>
-    <material class="base_material" name="pbr_m0.9_r0.2" metallic="0.9" roughness="0.2"/>
-    <material class="base_material" name="pbr_m0.9_r0.3" metallic="0.9" roughness="0.3"/>
-    <material class="base_material" name="pbr_m0.9_r0.4" metallic="0.9" roughness="0.4"/>
-    <material class="base_material" name="pbr_m0.9_r0.5" metallic="0.9" roughness="0.5"/>
-    <material class="base_material" name="pbr_m0.9_r0.6" metallic="0.9" roughness="0.6"/>
-    <material class="base_material" name="pbr_m0.9_r0.7" metallic="0.9" roughness="0.7"/>
-    <material class="base_material" name="pbr_m0.9_r0.8" metallic="0.9" roughness="0.8"/>
-    <material class="base_material" name="pbr_m0.9_r0.9" metallic="0.9" roughness="0.9"/>
-    <material class="base_material" name="pbr_m0.9_r1.0" metallic="0.9" roughness="1.0"/>
-    <material class="base_material" name="pbr_m1.0_r0.0" metallic="1.0" roughness="0.0"/>
-    <material class="base_material" name="pbr_m1.0_r0.1" metallic="1.0" roughness="0.1"/>
-    <material class="base_material" name="pbr_m1.0_r0.2" metallic="1.0" roughness="0.2"/>
-    <material class="base_material" name="pbr_m1.0_r0.3" metallic="1.0" roughness="0.3"/>
-    <material class="base_material" name="pbr_m1.0_r0.4" metallic="1.0" roughness="0.4"/>
-    <material class="base_material" name="pbr_m1.0_r0.5" metallic="1.0" roughness="0.5"/>
-    <material class="base_material" name="pbr_m1.0_r0.6" metallic="1.0" roughness="0.6"/>
-    <material class="base_material" name="pbr_m1.0_r0.7" metallic="1.0" roughness="0.7"/>
-    <material class="base_material" name="pbr_m1.0_r0.8" metallic="1.0" roughness="0.8"/>
-    <material class="base_material" name="pbr_m1.0_r0.9" metallic="1.0" roughness="0.9"/>
-    <material class="base_material" name="pbr_m1.0_r1.0" metallic="1.0" roughness="1.0"/>
-  </asset>
-
-  <worldbody>
-    <light type="image" texture="ibl" intensity="10000"/>
-    <geom name="ground" type="plane" size="2 2 0.1" material="floor"/>
-    <body name="pbr_grid" pos="0 0 0">
-      <geom name="sphere_m0_r0" type="sphere" size="0.1" pos="-1.12 -1.12 0.1" material="pbr_m0.0_r0.0"/>
-      <geom name="sphere_m0_r1" type="sphere" size="0.1" pos="-1.12 -0.88 0.1" material="pbr_m0.0_r0.1"/>
-      <geom name="sphere_m0_r2" type="sphere" size="0.1" pos="-1.12 -0.62 0.1" material="pbr_m0.0_r0.2"/>
-      <geom name="sphere_m0_r3" type="sphere" size="0.1" pos="-1.12 -0.38 0.1" material="pbr_m0.0_r0.3"/>
-      <geom name="sphere_m0_r4" type="sphere" size="0.1" pos="-1.12 -0.12 0.1" material="pbr_m0.0_r0.4"/>
-      <geom name="sphere_m0_r5" type="sphere" size="0.1" pos="-1.12 0.12 0.1"  material="pbr_m0.0_r0.5"/>
-      <geom name="sphere_m0_r6" type="sphere" size="0.1" pos="-1.12 0.38 0.1"  material="pbr_m0.0_r0.6"/>
-      <geom name="sphere_m0_r7" type="sphere" size="0.1" pos="-1.12 0.62 0.1"  material="pbr_m0.0_r0.7"/>
-      <geom name="sphere_m0_r8" type="sphere" size="0.1" pos="-1.12 0.88 0.1"  material="pbr_m0.0_r0.8"/>
-      <geom name="sphere_m0_r9" type="sphere" size="0.1" pos="-1.12 1.12 0.1"  material="pbr_m0.0_r0.9"/>
-      <geom name="sphere_m1_r0" type="sphere" size="0.1" pos="-0.88 -1.12 0.1" material="pbr_m0.1_r0.0"/>
-      <geom name="sphere_m1_r1" type="sphere" size="0.1" pos="-0.88 -0.88 0.1" material="pbr_m0.1_r0.1"/>
-      <geom name="sphere_m1_r2" type="sphere" size="0.1" pos="-0.88 -0.62 0.1" material="pbr_m0.1_r0.2"/>
-      <geom name="sphere_m1_r3" type="sphere" size="0.1" pos="-0.88 -0.38 0.1" material="pbr_m0.1_r0.3"/>
-      <geom name="sphere_m1_r4" type="sphere" size="0.1" pos="-0.88 -0.12 0.1" material="pbr_m0.1_r0.4"/>
-      <geom name="sphere_m1_r5" type="sphere" size="0.1" pos="-0.88 0.12 0.1"  material="pbr_m0.1_r0.5"/>
-      <geom name="sphere_m1_r6" type="sphere" size="0.1" pos="-0.88 0.38 0.1"  material="pbr_m0.1_r0.6"/>
-      <geom name="sphere_m1_r7" type="sphere" size="0.1" pos="-0.88 0.62 0.1"  material="pbr_m0.1_r0.7"/>
-      <geom name="sphere_m1_r8" type="sphere" size="0.1" pos="-0.88 0.88 0.1"  material="pbr_m0.1_r0.8"/>
-      <geom name="sphere_m1_r9" type="sphere" size="0.1" pos="-0.88 1.12 0.1"  material="pbr_m0.1_r0.9"/>
-      <geom name="sphere_m2_r0" type="sphere" size="0.1" pos="-0.62 -1.12 0.1" material="pbr_m0.2_r0.0"/>
-      <geom name="sphere_m2_r1" type="sphere" size="0.1" pos="-0.62 -0.88 0.1" material="pbr_m0.2_r0.1"/>
-      <geom name="sphere_m2_r2" type="sphere" size="0.1" pos="-0.62 -0.62 0.1" material="pbr_m0.2_r0.2"/>
-      <geom name="sphere_m2_r3" type="sphere" size="0.1" pos="-0.62 -0.38 0.1" material="pbr_m0.2_r0.3"/>
-      <geom name="sphere_m2_r4" type="sphere" size="0.1" pos="-0.62 -0.12 0.1" material="pbr_m0.2_r0.4"/>
-      <geom name="sphere_m2_r5" type="sphere" size="0.1" pos="-0.62 0.12 0.1"  material="pbr_m0.2_r0.5"/>
-      <geom name="sphere_m2_r6" type="sphere" size="0.1" pos="-0.62 0.38 0.1"  material="pbr_m0.2_r0.6"/>
-      <geom name="sphere_m2_r7" type="sphere" size="0.1" pos="-0.62 0.62 0.1"  material="pbr_m0.2_r0.7"/>
-      <geom name="sphere_m2_r8" type="sphere" size="0.1" pos="-0.62 0.88 0.1"  material="pbr_m0.2_r0.8"/>
-      <geom name="sphere_m2_r9" type="sphere" size="0.1" pos="-0.62 1.12 0.1"  material="pbr_m0.2_r0.9"/>
-      <geom name="sphere_m3_r0" type="sphere" size="0.1" pos="-0.38 -1.12 0.1" material="pbr_m0.3_r0.0"/>
-      <geom name="sphere_m3_r1" type="sphere" size="0.1" pos="-0.38 -0.88 0.1" material="pbr_m0.3_r0.1"/>
-      <geom name="sphere_m3_r2" type="sphere" size="0.1" pos="-0.38 -0.62 0.1" material="pbr_m0.3_r0.2"/>
-      <geom name="sphere_m3_r3" type="sphere" size="0.1" pos="-0.38 -0.38 0.1" material="pbr_m0.3_r0.3"/>
-      <geom name="sphere_m3_r4" type="sphere" size="0.1" pos="-0.38 -0.12 0.1" material="pbr_m0.3_r0.4"/>
-      <geom name="sphere_m3_r5" type="sphere" size="0.1" pos="-0.38 0.12 0.1"  material="pbr_m0.3_r0.5"/>
-      <geom name="sphere_m3_r6" type="sphere" size="0.1" pos="-0.38 0.38 0.1"  material="pbr_m0.3_r0.6"/>
-      <geom name="sphere_m3_r7" type="sphere" size="0.1" pos="-0.38 0.62 0.1"  material="pbr_m0.3_r0.7"/>
-      <geom name="sphere_m3_r8" type="sphere" size="0.1" pos="-0.38 0.88 0.1"  material="pbr_m0.3_r0.8"/>
-      <geom name="sphere_m3_r9" type="sphere" size="0.1" pos="-0.38 1.12 0.1"  material="pbr_m0.3_r0.9"/>
-      <geom name="sphere_m4_r0" type="sphere" size="0.1" pos="-0.12 -1.12 0.1" material="pbr_m0.4_r0.0"/>
-      <geom name="sphere_m4_r1" type="sphere" size="0.1" pos="-0.12 -0.88 0.1" material="pbr_m0.4_r0.1"/>
-      <geom name="sphere_m4_r2" type="sphere" size="0.1" pos="-0.12 -0.62 0.1" material="pbr_m0.4_r0.2"/>
-      <geom name="sphere_m4_r3" type="sphere" size="0.1" pos="-0.12 -0.38 0.1" material="pbr_m0.4_r0.3"/>
-      <geom name="sphere_m4_r4" type="sphere" size="0.1" pos="-0.12 -0.12 0.1" material="pbr_m0.4_r0.4"/>
-      <geom name="sphere_m4_r5" type="sphere" size="0.1" pos="-0.12 0.12 0.1"  material="pbr_m0.4_r0.5"/>
-      <geom name="sphere_m4_r6" type="sphere" size="0.1" pos="-0.12 0.38 0.1"  material="pbr_m0.4_r0.6"/>
-      <geom name="sphere_m4_r7" type="sphere" size="0.1" pos="-0.12 0.62 0.1"  material="pbr_m0.4_r0.7"/>
-      <geom name="sphere_m4_r8" type="sphere" size="0.1" pos="-0.12 0.88 0.1"  material="pbr_m0.4_r0.8"/>
-      <geom name="sphere_m4_r9" type="sphere" size="0.1" pos="-0.12 1.12 0.1"  material="pbr_m0.4_r0.9"/>
-      <geom name="sphere_m5_r0" type="sphere" size="0.1" pos="0.12 -1.12 0.1"  material="pbr_m0.5_r0.0"/>
-      <geom name="sphere_m5_r1" type="sphere" size="0.1" pos="0.12 -0.88 0.1"  material="pbr_m0.5_r0.1"/>
-      <geom name="sphere_m5_r2" type="sphere" size="0.1" pos="0.12 -0.62 0.1"  material="pbr_m0.5_r0.2"/>
-      <geom name="sphere_m5_r3" type="sphere" size="0.1" pos="0.12 -0.38 0.1"  material="pbr_m0.5_r0.3"/>
-      <geom name="sphere_m5_r4" type="sphere" size="0.1" pos="0.12 -0.12 0.1"  material="pbr_m0.5_r0.4"/>
-      <geom name="sphere_m5_r5" type="sphere" size="0.1" pos="0.12 0.12 0.1"   material="pbr_m0.5_r0.5"/>
-      <geom name="sphere_m5_r6" type="sphere" size="0.1" pos="0.12 0.38 0.1"   material="pbr_m0.5_r0.6"/>
-      <geom name="sphere_m5_r7" type="sphere" size="0.1" pos="0.12 0.62 0.1"   material="pbr_m0.5_r0.7"/>
-      <geom name="sphere_m5_r8" type="sphere" size="0.1" pos="0.12 0.88 0.1"   material="pbr_m0.5_r0.8"/>
-      <geom name="sphere_m5_r9" type="sphere" size="0.1" pos="0.12 1.12 0.1"   material="pbr_m0.5_r0.9"/>
-      <geom name="sphere_m6_r0" type="sphere" size="0.1" pos="0.38 -1.12 0.1"  material="pbr_m0.6_r0.0"/>
-      <geom name="sphere_m6_r1" type="sphere" size="0.1" pos="0.38 -0.88 0.1"  material="pbr_m0.6_r0.1"/>
-      <geom name="sphere_m6_r2" type="sphere" size="0.1" pos="0.38 -0.62 0.1"  material="pbr_m0.6_r0.2"/>
-      <geom name="sphere_m6_r3" type="sphere" size="0.1" pos="0.38 -0.38 0.1"  material="pbr_m0.6_r0.3"/>
-      <geom name="sphere_m6_r4" type="sphere" size="0.1" pos="0.38 -0.12 0.1"  material="pbr_m0.6_r0.4"/>
-      <geom name="sphere_m6_r5" type="sphere" size="0.1" pos="0.38 0.12 0.1"   material="pbr_m0.6_r0.5"/>
-      <geom name="sphere_m6_r6" type="sphere" size="0.1" pos="0.38 0.38 0.1"   material="pbr_m0.6_r0.6"/>
-      <geom name="sphere_m6_r7" type="sphere" size="0.1" pos="0.38 0.62 0.1"   material="pbr_m0.6_r0.7"/>
-      <geom name="sphere_m6_r8" type="sphere" size="0.1" pos="0.38 0.88 0.1"   material="pbr_m0.6_r0.8"/>
-      <geom name="sphere_m6_r9" type="sphere" size="0.1" pos="0.38 1.12 0.1"   material="pbr_m0.6_r0.9"/>
-      <geom name="sphere_m7_r0" type="sphere" size="0.1" pos="0.62 -1.12 0.1"  material="pbr_m0.7_r0.0"/>
-      <geom name="sphere_m7_r1" type="sphere" size="0.1" pos="0.62 -0.88 0.1"  material="pbr_m0.7_r0.1"/>
-      <geom name="sphere_m7_r2" type="sphere" size="0.1" pos="0.62 -0.62 0.1"  material="pbr_m0.7_r0.2"/>
-      <geom name="sphere_m7_r3" type="sphere" size="0.1" pos="0.62 -0.38 0.1"  material="pbr_m0.7_r0.3"/>
-      <geom name="sphere_m7_r4" type="sphere" size="0.1" pos="0.62 -0.12 0.1"  material="pbr_m0.7_r0.4"/>
-      <geom name="sphere_m7_r5" type="sphere" size="0.1" pos="0.62 0.12 0.1"   material="pbr_m0.7_r0.5"/>
-      <geom name="sphere_m7_r6" type="sphere" size="0.1" pos="0.62 0.38 0.1"   material="pbr_m0.7_r0.6"/>
-      <geom name="sphere_m7_r7" type="sphere" size="0.1" pos="0.62 0.62 0.1"   material="pbr_m0.7_r0.7"/>
-      <geom name="sphere_m7_r8" type="sphere" size="0.1" pos="0.62 0.88 0.1"   material="pbr_m0.7_r0.8"/>
-      <geom name="sphere_m7_r9" type="sphere" size="0.1" pos="0.62 1.12 0.1"   material="pbr_m0.7_r0.9"/>
-      <geom name="sphere_m8_r0" type="sphere" size="0.1" pos="0.88 -1.12 0.1"  material="pbr_m0.8_r0.0"/>
-      <geom name="sphere_m8_r1" type="sphere" size="0.1" pos="0.88 -0.88 0.1"  material="pbr_m0.8_r0.1"/>
-      <geom name="sphere_m8_r2" type="sphere" size="0.1" pos="0.88 -0.62 0.1"  material="pbr_m0.8_r0.2"/>
-      <geom name="sphere_m8_r3" type="sphere" size="0.1" pos="0.88 -0.38 0.1"  material="pbr_m0.8_r0.3"/>
-      <geom name="sphere_m8_r4" type="sphere" size="0.1" pos="0.88 -0.12 0.1"  material="pbr_m0.8_r0.4"/>
-      <geom name="sphere_m8_r5" type="sphere" size="0.1" pos="0.88 0.12 0.1"   material="pbr_m0.8_r0.5"/>
-      <geom name="sphere_m8_r6" type="sphere" size="0.1" pos="0.88 0.38 0.1"   material="pbr_m0.8_r0.6"/>
-      <geom name="sphere_m8_r7" type="sphere" size="0.1" pos="0.88 0.62 0.1"   material="pbr_m0.8_r0.7"/>
-      <geom name="sphere_m8_r8" type="sphere" size="0.1" pos="0.88 0.88 0.1"   material="pbr_m0.8_r0.8"/>
-      <geom name="sphere_m8_r9" type="sphere" size="0.1" pos="0.88 1.12 0.1"   material="pbr_m0.8_r0.9"/>
-      <geom name="sphere_m9_r0" type="sphere" size="0.1" pos="1.12 -1.12 0.1"  material="pbr_m0.9_r0.0"/>
-      <geom name="sphere_m9_r1" type="sphere" size="0.1" pos="1.12 -0.88 0.1"  material="pbr_m0.9_r0.1"/>
-      <geom name="sphere_m9_r2" type="sphere" size="0.1" pos="1.12 -0.62 0.1"  material="pbr_m0.9_r0.2"/>
-      <geom name="sphere_m9_r3" type="sphere" size="0.1" pos="1.12 -0.38 0.1"  material="pbr_m0.9_r0.3"/>
-      <geom name="sphere_m9_r4" type="sphere" size="0.1" pos="1.12 -0.12 0.1"  material="pbr_m0.9_r0.4"/>
-      <geom name="sphere_m9_r5" type="sphere" size="0.1" pos="1.12 0.12 0.1"   material="pbr_m0.9_r0.5"/>
-      <geom name="sphere_m9_r6" type="sphere" size="0.1" pos="1.12 0.38 0.1"   material="pbr_m0.9_r0.6"/>
-      <geom name="sphere_m9_r7" type="sphere" size="0.1" pos="1.12 0.62 0.1"   material="pbr_m0.9_r0.7"/>
-      <geom name="sphere_m9_r8" type="sphere" size="0.1" pos="1.12 0.88 0.1"   material="pbr_m0.9_r0.8"/>
-      <geom name="sphere_m9_r9" type="sphere" size="0.1" pos="1.12 1.12 0.1"   material="pbr_m0.9_r0.9"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/rigid_flex.xml b/test/user/testdata/rigid_flex.xml
deleted file mode 100644
index 6982dc3d..00000000
--- a/test/user/testdata/rigid_flex.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<mujoco model='test'>
-  <asset>
-    <mesh file="stanford_bunny.obj"/>
-  </asset>
-
-  <worldbody>
-    <geom type="plane" size=".5 .5 .05"/>
-    <body name="bunny1" pos="0 0 .4" euler="90 0 0">
-      <freejoint/>
-      <geom type="mesh" mesh="stanford_bunny" contype="0" conaffinity="0"/>
-      <flexcomp type="mesh" file="stanford_bunny.obj"
-          rgba="0 .7 .7 1" name="bunny1" mass="5" rigid="true">
-          <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
-      </flexcomp>
-    </body>
-    <body name="bunny2" pos="0 0 .2" euler="90 0 0">
-      <freejoint/>
-      <geom type="mesh" mesh="stanford_bunny" contype="0" conaffinity="0"/>
-      <flexcomp type="mesh" file="stanford_bunny.obj"
-          rgba="0 .7 .7 1" name="bunny2" mass="5" rigid="true">
-          <contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/robot_arm.xml b/test/user/testdata/robot_arm.xml
deleted file mode 100644
index b4004de8..00000000
--- a/test/user/testdata/robot_arm.xml
+++ /dev/null
@@ -1,157 +0,0 @@
-<mujoco>
-  <default>
-    <geom contype='1' conaffinity='1' condim='3' friction='.1 .1' solimp='.95 .98 .0005' solref='0.02 1.1' density='1'/>
-    <joint type='hinge' armature='0' damping='0'
-      solimpfriction='.95 .95 0' solreffriction='.02 1' solimplimit='0 .99 .01' solreflimit='.02 1'/>
-    <site rgba='.5 .5 .5 .3'/>
-    <general ctrllimited='true' ctrlrange='-0.84 0.84' forcelimited='true'/>
-    <default class='big_joint'>
-      <joint frictionloss='.01' armature='1' damping='0.01' range='-3.141592653589793 9.42477796076938' limited='false'/>
-      <velocity kv='20' forcerange='-3.15 3.15'/>
-    </default>
-    <default class='little_joint'>
-      <joint frictionloss='.01' armature='1' damping='0.01' range='-3.141592653589793 9.42477796076938' limited='false'/>
-      <velocity kv='20' forcerange='-3.15 3.15'/>
-    </default>
-    <default class='finger'>
-      <joint frictionloss='0.1' armature='.1' axis='0 0 1' limited='true' range='0.15 1.2' damping='.1'/>
-      <velocity kv='10' ctrlrange='-0.84 0.84' gear='1' forcerange='-1.5 1.5'/>
-    </default>
-    <default class='fingertip'>
-      <geom type='box' pos='0.065 -0.022 0' size='0.02 .005 .011' rgba='1 0 0 1'
-            quat='1 0 0 -0.235' condim='4'/>
-      <site type='ellipsoid' pos='0.065 -0.022 0' size='0.02 .005 .011'
-            quat='1 0 0 -0.235'/>
-    </default>
-
-    <default class='base'>
-      <geom type='capsule' size='0.0350512 0.0555543' pos='-0.000132925 -0.000516418 0.0820911' quat='0.6951 -0.00714564 0.00738544 0.71884'/>
-    </default>
-    <default class='link_1'>
-      <geom type='capsule' size='0.031417 0.0668352' pos='-3.49946e-05 0.010651 -0.0670012' quat='0.704277 0.0627825 -0.0628 0.70435'/>
-    </default>
-    <default class='link_2'>
-      <geom type='capsule' size='0.0251592 0.240341' pos='0.205004 7.5835e-05 -0.0202812' quat='2.23957e-06 0.707108 5.30416e-06 0.707106'/>
-    </default>
-    <default class='link_3'>
-      <geom type='capsule' size='0.0255647 0.120643' pos='0.0843942 7.48907e-06 -0.0177123' quat='-4.64475e-05 0.692702 -4.11814e-05 0.721224'/>
-    </default>
-    <default class='link_4'>
-      <geom type='capsule' size='0.0257405 0.0289568' pos='0.0101659 -4.64261e-05 -0.0369867' quat='0.965925 1.43712e-05 -0.258823 3.85082e-06'/>
-    </default>
-    <default class='link_5'>
-      <geom type='capsule' size='0.0257405 0.0289568' pos='0.0101659 -4.64261e-05 -0.0369867' quat='0.965925 1.43712e-05 -0.258823 3.85082e-06'/>
-    </default>
-    <default class='link_6'>
-      <geom type='capsule' size='0.0368731 0.0322296' pos='0.00628384 -2.92087e-05 -0.0608681' quat='0.708562 -0.0338601 -0.0358744 0.703923'/>
-    </default>
-    <default class='finger_knuckle'>
-      <geom type='capsule' size='0.0108231 0.0145116' pos='0.0190913 -0.0112192 1.10387e-06' quat='0.475811 -0.475815 0.523071 -0.523068'/>
-    </default>
-
-
-  </default>
-
-  <worldbody>
-    <body name='b_base' pos='0 0 0.005'>
-      <site type='sphere' size='.01' name='basesite' pos='0 0 0' rgba='1 0 0 1'/>
-      <inertial pos='-0.000132925 -0.000516418 0.0820911' quat='0.6951 -0.00714556 0.00738537 0.71884' mass='0.00718278' diaginertia='0.00157301 0.00157269 0.00058831'/>
-      <geom name='base' class='base' rgba='0 0.4470 0.7410 1'/>
-      <body name='b_1' pos='0 0 0.1535' quat='0 -1 0 0'>
-        <inertial pos='-3.49946e-005 0.010651 -0.0670012' quat='0.704277 0.0627825 -0.0628 0.70435' mass='0.00644357' diaginertia='0.00172311 0.00163259 0.00042883'/>
-        <joint name='joint_1' class='big_joint' axis='0 0 1'/>
-        <geom name='link_1' class='link_1' rgba='0.8500 0.3250 0.0980 1'/>
-        <geom name='ring_1' contype='0' conaffinity='0' type='cylinder' size='0.044 0.011' pos='0 0 0' rgba='0.7 0.7 0.72 1'/>
-        <body name='b_2' pos='0 0 -0.1185' quat='-0.7071067811865475 0.7071067811865475 0.7071067811865475 0.7071067811865475'>
-          <inertial pos='0.205004 7.5835e-005 -0.0202812' quat='2.24027e-006 0.707108 5.30493e-006 0.707106' mass='0.011691' diaginertia='0.0253426 0.0250512 0.000536357'/>
-          <joint name='joint_2' class='big_joint' axis='0 0 1'/>
-          <geom name='link_2' class='link_2' rgba='0.9290 0.6940 0.1250 1'/>
-          <geom name='ring_2' contype='0' conaffinity='0' type='cylinder' size='0.044 0.011' pos='0 0 0' euler='0 0 0' rgba='0.7 0.7 0.72 1'/>
-          <body name='b_3' pos='0.41 0 0' quat='0 0 1 0'>
-            <inertial pos='0.0843942 7.48909e-006 -0.0177123' quat='-4.64469e-005 0.692702 -4.11798e-005 0.721224' mass='0.00673417' diaginertia='0.00420255 0.00409328 0.000303584'/>
-            <joint name='joint_3' class='big_joint' axis='0 0 1' range='0.6131110819452792 5.673924357222234' limited='true'/>
-            <geom name='link_3' class='link_3' rgba='0.4940 0.1840 0.5560 1'/>
-            <geom name='ring_3' contype='0' conaffinity='0' type='cylinder' size='0.044 0.011' pos='0 0 0' euler='0 0 0' rgba='0.7 0.7 0.72 1'/>
-            <body name='b_4' pos='0.207 0 -0.01125' quat='-0.7071067811865475 0 0.7071067811865475 0'>
-              <inertial pos='0.0101659 -4.64261e-005 -0.0369867' quat='0.965925 1.91737e-005 -0.258823 -1.40769e-005' mass='0.00221423' diaginertia='0.0001816 0.000174586 9.79319e-005'/>
-              <joint name='joint_4' class='little_joint' axis='0 0 1'/>
-              <geom name='link_4' class='link_4' rgba='0.4660 0.6740 0.1880 1'/>
-              <geom name='ring_4' contype='0' conaffinity='0' type='cylinder' size='0.035 0.009' pos='0 0 0' euler='0 0 0' rgba='0.7 0.7 0.7 1'/>
-              <body name='b_5' pos='0.037 0 -0.06408' quat='0 0.5 0 -0.8660254037844386'>
-                <inertial pos='0.0101659 -4.64261e-005 -0.0369867' quat='0.965925 1.91737e-005 -0.258823 -1.40769e-005' mass='0.00221423' diaginertia='0.0001816 0.000174586 9.79319e-005'/>
-                <joint name='joint_5' class='little_joint' axis='0 0 1'/>
-                <geom name='ring_5' contype='0' conaffinity='0' type='cylinder' size='0.035 0.009' pos='0 0 0' euler='0 0 0' rgba='0.7 0.7 0.72 1'/>
-                <geom name='link_5' class='link_5' rgba='0.3010 0.7450 0.9330 1'/>
-                <body name='b_hand' pos='0.037 0 -0.06408' quat='0 -0.5 0 0.8660254037844386'>
-                  <camera name='cam_hand' pos='0 .015 -.13' fovy='135'/>
-                  <site type='sphere' size='.01' name='wristsite' pos='0 0 0' rgba='1 0 0 1'/>
-                  <site type='sphere' size='.01' name='gripsite' pos='0 0 -.16' rgba='.5 .5 .5 .3'/>
-                  <site type='sphere' size='.01' name='pinchsite' pos='0 0.015 -0.195' rgba='.5 .5 .5 .3'/>
-                  <inertial pos='0.00628384 -2.92087e-005 -0.0608681' quat='0.708562 -0.0338601 -0.0358744 0.703923' mass='0.00547172' diaginertia='0.000759818 0.000676099 0.0004995'/>
-                  <joint name='joint_6' class='little_joint' axis='0 0 1'/>
-                  <geom name='link_6' class='link_6' rgba='0.6350 0.0780 0.1840 1'/>
-                  <geom name='ring_hand' contype='0' conaffinity='0' type='cylinder' size='0.035 0.009' pos='0 0 0' euler='0 0 0' rgba='0.7 0.7 0.72 1'/>
-
-                  <body name = 'b_palm'  pos='0.005 0 -0.11' euler='0 0 0'>
-                    <geom type='cylinder' contype='0' conaffinity='7'  size='.0275 0.01' friction='1 1' rgba='0.7 0.7 0.7 1' name='palm'/>
-                  </body>
-
-                  <body name='b_finger_1' childclass='finger' pos='-0.029 .003 -0.1145' quat='-0.414818 -0.329751 -0.663854 0.52772'>
-                    <inertial pos='0.0485761 -0.000715511 0' quat='0.507589 0.507348 0.492543 0.492294' mass='0.000379077' diaginertia='4.00708e-005 4.00527e-005 2.156e-006'/>
-                    <joint name='joint_finger_1'/>
-                    <geom name='finger_knuckle_1' class='finger_knuckle' rgba='0 0.4470 0.7410 1'/>
-                    <geom class='fingertip' name='finger_tip_1' rgba='0 0.4470 0.7410 1'/>
-                    <site class='fingertip' name='fingertip1'/>
-                  </body>
-                  <body name='b_finger_2' childclass='finger' pos='0.0295 0.0216 -0.115' quat='0.561254 -0.620653 0.321748 0.443014'>
-                    <inertial pos='0.0485761 -0.000715511 0' quat='0.507589 0.507348 0.492543 0.492294' mass='0.000379077' diaginertia='4.00708e-005 4.00527e-005 2.156e-006'/>
-                    <joint name='joint_finger_2'/>
-                    <geom name='finger_knuckle_2' class='finger_knuckle' rgba='0.9290 0.6940 0.1250 1'/>
-                    <geom class='fingertip' name='finger_tip_2' rgba='0.9290 0.6940 0.1250 1'/>
-                    <site class='fingertip' name='fingertip2'/>
-                  </body>
-                  <body name='b_finger_3' childclass='finger' pos='0.0295 -0.0216 -0.1145' quat='0.625248 -0.567602 0.434845 0.312735'>
-                    <inertial pos='0.0485761 -0.000715511 0' quat='0.507589 0.507348 0.492543 0.492294' mass='0.000379077' diaginertia='4.00708e-005 4.00527e-005 2.156e-006'/>
-                    <joint name='joint_finger_3'/>
-                    <geom name='finger_knuckle_3' class='finger_knuckle' rgba='0.8500 0.3250 0.0980 1'/>
-                    <geom class='fingertip' name='finger_tip_3' rgba='0.8500 0.3250 0.0980 1'/>
-                    <site class='fingertip' name='fingertip3'/>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <contact>
-    <exclude body1='b_base' body2='b_1'/>
-    <exclude body1='b_finger_1' body2='b_finger_2'/>
-    <exclude body1='b_finger_1' body2='b_finger_3'/>
-    <exclude body1='b_finger_2' body2='b_finger_3'/>
-  </contact>
-
-  <sensor>
-    <touch name="fingertip1" site='fingertip1'/>
-    <touch name="fingertip2" site='fingertip2'/>
-    <touch name="fingertip3" site='fingertip3'/>
-    <force name="wristforce" site='wristsite'/>
-    <torque name="wristtorque" site='wristsite'/>
-    <force name="baseforce" site='basesite'/>
-    <torque name="basetorque" site='basesite'/>
-  </sensor>
-
-  <actuator>
-    <velocity joint='joint_1'        class='big_joint'/>
-    <velocity joint='joint_2'        class='big_joint'/>
-    <velocity joint='joint_3'        class='big_joint'/>
-    <velocity joint='joint_4'        class='little_joint'/>
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diff --git a/test/user/testdata/shapes.xml b/test/user/testdata/shapes.xml
deleted file mode 100644
index 42cd14b4..00000000
--- a/test/user/testdata/shapes.xml
+++ /dev/null
@@ -1,80 +0,0 @@
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-  <asset>
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-    <texture name="white" type="2d" builtin="flat" rgb1="1 1 1" width="2" height="2"/>
-    <texture name="grid" type="2d" builtin="checker" rgb1="1 1 1" rgb2="0.9 0.9 0.9" width="64" height="64"/>
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-    <material name="pattern" texture="test-pattern"/>
-    <material name="floor" reflectance="0.5" texture="grid" texuniform="true"/>
-    <material name="metal" metallic="1.0" roughness="0.0">
-      <layer role="rgb" texture="white"/>
-      <layer role="metallic" texture="white"/>
-      <layer role="roughness" texture="white"/>
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-                       1 0 1"/>
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-    <geom type="box"       rgba="0.3 0.6 0.9 1.0" size="1 1 1" pos="-11 0 0"/>
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-    <geom type="ellipsoid" rgba="0.3 0.6 0.9 1.0" size="1 2 1" pos="-5 0 0"/>
-    <geom type="capsule"   rgba="0.3 0.6 0.9 1.0" size="1 1"   pos="-2 0 1"/>
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-      <pin id="35"/>
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-    <geom type="box"       material="pattern" size="1 1 1" pos="-11 5 0"/>
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-    <geom type="capsule"   material="pattern" size="1 1"   pos="-2 5 1"/>
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-    <geom type="hfield" hfield="hfield" material="pattern" pos="4 5 -0.5"/>
-    <geom type="sdf" mesh="icosahedron" material="pattern" pos="7 5 0.809"/>
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-              zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.5 0.6 0.7" material="pattern">
-      <edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
-      <contact internal="true"/>
-      <pin id="35"/>
-    </flexcomp>
-
-    <geom type="box"       material="metal" size="1 1 1" pos="-11 -5 0"/>
-    <geom type="sphere"    material="metal" size="1"     pos="-8 -5 0"/>
-    <geom type="ellipsoid" material="metal" size="1 2 1" pos="-5 -5 0"/>
-    <geom type="capsule"   material="metal" size="1 1"   pos="-2 -5 1"/>
-    <geom type="cylinder"  material="metal" size="1 1"   pos="1 -5 0"/>
-    <geom type="hfield" hfield="hfield" material="metal" pos="4 -5 -0.5"/>
-    <geom type="sdf" mesh="icosahedron" material="metal" pos="7 -5 0.809"/>
-    <flexcomp name="f3" type="grid" radius="0.01" dim="2" pos="10 -5 1"
-              zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.5 0.6 0.7" material="metal">
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-      <pin id="35"/>
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diff --git a/test/user/testdata/shark_22_ascii_fTetWild.msh b/test/user/testdata/shark_22_ascii_fTetWild.msh
deleted file mode 100644
index b5778d94..00000000
--- a/test/user/testdata/shark_22_ascii_fTetWild.msh
+++ /dev/null
@@ -1,2584 +0,0 @@
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deleted file mode 100644
index 11784dd3..00000000
--- a/test/user/testdata/shark_22_ascii_vol_fTetWild.xml
+++ /dev/null
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deleted file mode 100644
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deleted file mode 100644
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diff --git a/test/user/testdata/stanford_bunny.obj b/test/user/testdata/stanford_bunny.obj
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diff --git a/test/user/testdata/test-pattern.png b/test/user/testdata/test-pattern.png
deleted file mode 100644
index ff5eaa85..00000000
Binary files a/test/user/testdata/test-pattern.png and /dev/null differ
diff --git a/test/user/testdata/textured_torus.xml b/test/user/testdata/textured_torus.xml
deleted file mode 100644
index 6a5b664c..00000000
--- a/test/user/testdata/textured_torus.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco>
-  <compiler assetdir="textured_torus"/>
-  <asset>
-    <mesh name="torus" file="textured_torus.obj"/>
-    <mesh name="flipped_torus" file="textured_torus.obj" scale="-1 1 1"/>
-    <texture file="carpet.png" type="2d"/>
-    <material name="carpet" texture="carpet"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="torus" material="carpet"/>
-    <geom type="mesh" mesh="flipped_torus" material="carpet" pos="0 0 1"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/textured_torus/carpet.png b/test/user/testdata/textured_torus/carpet.png
deleted file mode 100644
index 587bee63..00000000
Binary files a/test/user/testdata/textured_torus/carpet.png and /dev/null differ
diff --git a/test/user/testdata/textured_torus/textured_torus.mtl b/test/user/testdata/textured_torus/textured_torus.mtl
deleted file mode 100644
index 4c0ce14a..00000000
--- a/test/user/testdata/textured_torus/textured_torus.mtl
+++ /dev/null
@@ -1,14 +0,0 @@
-#
-# Wavefront material file
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-
-newmtl material_0
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-Tr 1.000000
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-Ns 0.000000
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diff --git a/test/user/testdata/textured_torus/textured_torus.obj b/test/user/testdata/textured_torus/textured_torus.obj
deleted file mode 100644
index 7719b01d..00000000
--- a/test/user/testdata/textured_torus/textured_torus.obj
+++ /dev/null
@@ -1,2961 +0,0 @@
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-# End of File
diff --git a/test/user/testdata/textured_torus_flex.xml b/test/user/testdata/textured_torus_flex.xml
deleted file mode 100644
index df07435c..00000000
--- a/test/user/testdata/textured_torus_flex.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<mujoco>
-  <compiler assetdir="textured_torus"/>
-  <asset>
-    <texture file="carpet.png" type="2d"/>
-    <material name="carpet" texture="carpet"/>
-  </asset>
-  <worldbody>
-    <flexcomp name="torus" type="mesh" file="textured_torus.obj"
-      radius="0.01" dim="2" material="carpet">
-      <contact internal="false" selfcollide="none"/>
-      <edge equality="true" />
-    </flexcomp>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/torus.obj b/test/user/testdata/torus.obj
deleted file mode 100644
index 1d4a0024..00000000
--- a/test/user/testdata/torus.obj
+++ /dev/null
@@ -1,1168 +0,0 @@
-####
-#
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-#
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diff --git a/test/user/testdata/torus.xml b/test/user/testdata/torus.xml
deleted file mode 100644
index bca301b0..00000000
--- a/test/user/testdata/torus.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="torus.obj"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="torus"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/torus_maxhullvert.xml b/test/user/testdata/torus_maxhullvert.xml
deleted file mode 100644
index e9fd03fa..00000000
--- a/test/user/testdata/torus_maxhullvert.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="torus.obj" maxhullvert="4"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="torus"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/torus_maxhullvert_default.xml b/test/user/testdata/torus_maxhullvert_default.xml
deleted file mode 100644
index 72444264..00000000
--- a/test/user/testdata/torus_maxhullvert_default.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<mujoco>
-  <default>
-    <mesh maxhullvert="64"/>
-  </default>
-  <asset>
-    <mesh file="torus.obj"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="torus"/>
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diff --git a/test/user/testdata/torus_quads.obj b/test/user/testdata/torus_quads.obj
deleted file mode 100644
index d77c2ddd..00000000
--- a/test/user/testdata/torus_quads.obj
+++ /dev/null
@@ -1,2082 +0,0 @@
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diff --git a/test/user/testdata/torus_quads.xml b/test/user/testdata/torus_quads.xml
deleted file mode 100644
index bca301b0..00000000
--- a/test/user/testdata/torus_quads.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="torus.obj"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="torus"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/testdata/torus_shell.xml b/test/user/testdata/torus_shell.xml
deleted file mode 100644
index 9a7ee4a8..00000000
--- a/test/user/testdata/torus_shell.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <asset>
-    <mesh file="torus.obj" inertia="shell"/>
-  </asset>
-  <worldbody>
-    <geom type="mesh" mesh="torus"/>
-  </worldbody>
-</mujoco>
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
deleted file mode 100644
index 4277d546..00000000
--- a/test/user/user_api_test.cc
+++ /dev/null
@@ -1,3685 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for user/user_api.cc.
-
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-#include <filesystem>  // NOLINT
-#include <functional>
-#include <map>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/strings/str_format.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "src/xml/xml_api.h"
-#include "test/compare_model.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-
-// -------------------------- test model manipulation  -------------------------
-
-TEST_F(MujocoTest, GetSetData) {
-  mjSpec* spec = mj_makeSpec();
-  mjsBody* world = mjs_findBody(spec, "world");
-  mjsBody* body = mjs_addBody(world, 0);
-  mjsSite* site = mjs_addSite(body, 0);
-
-  {
-    double vec[10] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
-    const char* str = "sitename";
-
-    mjs_setName(site->element, str);
-    mjs_setDouble(site->userdata, vec, 10);
-  }
-
-  EXPECT_THAT(mjs_getName(site->element)->c_str(), HasSubstr("sitename"));
-
-  int nsize;
-  const double* vec = mjs_getDouble(site->userdata, &nsize);
-  for (int i = 0; i < nsize; ++i) {
-    EXPECT_EQ(vec[i], i);
-  }
-
-  mj_deleteSpec(spec);
-}
-TEST_F(MujocoTest, TreeTraversal) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body1">
-        <site name="site1"/>
-        <body name="body2">
-          <site name="site4"/>
-        </body>
-        <geom name="geom1" size="1"/>
-        <geom name="geom2" size="1"/>
-        <site name="site2"/>
-        <site name="site3"/>
-        <geom name="geom3" size="1"/>
-      </body>
-      <body name="body3">
-        <site name="site5"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1000> err;
-  mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
-  ASSERT_THAT(spec, NotNull()) << err.data();
-
-  mjsBody* world = mjs_findBody(spec, "world");
-  mjsBody* body1 = mjs_findBody(spec, "body1");
-  mjsBody* body2 = mjs_findBody(spec, "body2");
-  mjsBody* body3 = mjs_findBody(spec, "body3");
-  mjsElement* b1 = body1->element;
-  mjsElement* b2 = body2->element;
-  mjsElement* b3 = body3->element;
-  mjsElement* site1 = mjs_findElement(spec, mjOBJ_SITE, "site1");
-  mjsElement* site2 = mjs_findElement(spec, mjOBJ_SITE, "site2");
-  mjsElement* site3 = mjs_findElement(spec, mjOBJ_SITE, "site3");
-  mjsElement* site4 = mjs_findElement(spec, mjOBJ_SITE, "site4");
-  mjsElement* site5 = mjs_findElement(spec, mjOBJ_SITE, "site5");
-  mjsElement* geom1 = mjs_findElement(spec, mjOBJ_GEOM, "geom1");
-  mjsElement* geom2 = mjs_findElement(spec, mjOBJ_GEOM, "geom2");
-  mjsElement* geom3 = mjs_findElement(spec, mjOBJ_GEOM, "geom3");
-
-  // test nonexistent
-  EXPECT_EQ(mjs_firstElement(spec, mjOBJ_ACTUATOR), nullptr);
-  EXPECT_EQ(mjs_firstElement(spec, mjOBJ_LIGHT), nullptr);
-  EXPECT_EQ(mjs_firstChild(body1, mjOBJ_CAMERA, /*recurse=*/true), nullptr);
-  EXPECT_EQ(mjs_firstChild(body1, mjOBJ_TENDON, /*recurse=*/true), nullptr);
-
-  // test first, nonrecursive
-  EXPECT_EQ(mjs_firstElement(spec, mjOBJ_BODY), world->element);
-  EXPECT_EQ(site1, mjs_firstElement(spec, mjOBJ_SITE));
-  EXPECT_EQ(site1, mjs_firstChild(body1, mjOBJ_SITE, /*recurse=*/false));
-  EXPECT_EQ(geom1, mjs_firstChild(body1, mjOBJ_GEOM, /*recurse=*/false));
-  EXPECT_EQ(site4, mjs_firstChild(body2, mjOBJ_SITE, /*recurse=*/false));
-  EXPECT_EQ(site5, mjs_firstChild(body3, mjOBJ_SITE, /*recurse=*/false));
-
-  // test first, recursive
-  EXPECT_EQ(site1, mjs_firstChild(world, mjOBJ_SITE, /*recurse=*/true));
-  EXPECT_EQ(geom1, mjs_firstChild(world, mjOBJ_GEOM, /*recurse=*/true));
-  EXPECT_EQ(site4, mjs_firstChild(body2, mjOBJ_SITE, /*recurse=*/true));
-  EXPECT_EQ(site5, mjs_firstChild(body3, mjOBJ_SITE, /*recurse=*/true));
-
-  // test next, nonrecursive
-  EXPECT_EQ(site2, mjs_nextChild(body1, site1, /*recursive=*/false));
-  EXPECT_EQ(site3, mjs_nextChild(body1, site2, /*recursive=*/false));
-  EXPECT_EQ(nullptr, mjs_nextChild(body1, site3, /*recursive=*/false));
-  EXPECT_EQ(geom2, mjs_nextChild(body1, geom1, /*recursive=*/false));
-  EXPECT_EQ(geom3, mjs_nextChild(body1, geom2, /*recursive=*/false));
-  EXPECT_EQ(nullptr, mjs_nextChild(body1, geom3, /*recursive=*/false));
-  EXPECT_EQ(mjs_nextElement(spec, site1), site2);
-  EXPECT_EQ(mjs_nextElement(spec, site2), site3);
-  EXPECT_EQ(mjs_nextElement(spec, site3), site4);
-  EXPECT_EQ(mjs_nextElement(spec, site4), site5);
-  EXPECT_EQ(mjs_nextElement(spec, site5), nullptr);
-  EXPECT_EQ(mjs_nextElement(spec, geom1), geom2);
-  EXPECT_EQ(mjs_nextElement(spec, geom2), geom3);
-  EXPECT_EQ(mjs_nextElement(spec, geom3), nullptr);
-
-  // test next, recursive
-  EXPECT_EQ(b2, mjs_nextChild(world, b1, /*recursive=*/true));
-  EXPECT_EQ(b3, mjs_nextChild(world, b2, /*recursive=*/true));
-  EXPECT_EQ(site2, mjs_nextChild(body1, site1, /*recursive=*/true));
-  EXPECT_EQ(site3, mjs_nextChild(body1, site2, /*recursive=*/true));
-  EXPECT_EQ(site4, mjs_nextChild(body1, site3, /*recursive=*/true));
-  EXPECT_EQ(site4, mjs_nextChild(world, site3, /*recursive=*/true));
-  EXPECT_EQ(site5, mjs_nextChild(world, site4, /*recursive=*/true));
-  EXPECT_EQ(nullptr, mjs_nextChild(body1, site5, /*recursive=*/true));
-  EXPECT_EQ(geom2, mjs_nextChild(body1, geom1, /*recursive=*/true));
-  EXPECT_EQ(geom3, mjs_nextChild(body1, geom2, /*recursive=*/true));
-  EXPECT_EQ(nullptr, mjs_nextChild(body1, geom3, /*recursive=*/true));
-
-  // check compilation ordering of sites
-  mjModel* model = mj_compile(spec, nullptr);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_EQ(mjs_getId(site1), 0);
-  EXPECT_EQ(mjs_getId(site2), 1);
-  EXPECT_EQ(mjs_getId(site3), 2);
-  EXPECT_EQ(mjs_getId(site4), 3);
-  EXPECT_EQ(mjs_getId(site5), 4);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, AttachAndChildDeletion) {
-  mjSpec* child_spec = mj_makeSpec();
-  mjsBody* child_world = mjs_findBody(child_spec, "world");
-  mjsBody* child_body = mjs_addBody(child_world, 0);
-  mjsJoint* freejoint = mjs_addJoint(child_body, 0);
-  freejoint->type = mjJNT_FREE;
-  mjs_setName(freejoint->element, "child_freejoint");
-
-  mjSpec* parent_spec = mj_makeSpec();
-  mjsBody* parent_world = mjs_findBody(parent_spec, "world");
-  mjsBody* parent_body = mjs_addBody(parent_world, 0);
-
-  // Attach child spec to parent_body
-  mjsElement* attached =
-      mjs_attach(parent_body->element, child_spec->element, "pre_", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // Delete freejoint from child_spec, should fail because it is attached
-  int result = mjs_delete(child_spec, freejoint->element);
-  EXPECT_EQ(result, -1);
-
-  // The freejoint should still be in parent_spec because deletion failed
-  mjsElement* found_joint =
-      mjs_findElement(parent_spec, mjOBJ_JOINT, "pre_child_freejoint");
-  EXPECT_THAT(found_joint, NotNull());
-
-  mj_deleteSpec(child_spec);
-  mj_deleteSpec(parent_spec);
-}
-
-TEST_F(MujocoTest, OriginSpecInvariantToAttachment) {
-  mjSpec* child_spec = mj_makeSpec();
-  mjsBody* child_world = mjs_findBody(child_spec, "world");
-  mjsBody* child_body = mjs_addBody(child_world, 0);
-  mjsJoint* freejoint = mjs_addJoint(child_body, 0);
-  freejoint->type = mjJNT_FREE;
-  mjs_setName(freejoint->element, "child_freejoint");
-
-  mjSpec* parent_spec = mj_makeSpec();
-  mjsBody* parent_world = mjs_findBody(parent_spec, "world");
-  mjsBody* parent_body = mjs_addBody(parent_world, 0);
-  mjs_setName(parent_body->element, "parent_body");
-
-  // Attach child spec to parent_body
-  mjsElement* attached =
-      mjs_attach(parent_body->element, child_spec->element, "pre_", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // The freejoint should still be in parent_spec because deletion failed
-  mjsElement* child_spec_joint =
-      mjs_findElement(parent_spec, mjOBJ_JOINT, "pre_child_freejoint");
-  EXPECT_EQ(mjs_getSpec(child_spec_joint), parent_spec);
-  EXPECT_EQ(mjs_getOriginSpec(child_spec_joint), child_spec);
-
-  mjsElement* parent_spec_body =
-      mjs_findElement(parent_spec, mjOBJ_BODY, "parent_body");
-  EXPECT_EQ(mjs_getOriginSpec(parent_spec_body), parent_spec);
-
-  mj_deleteSpec(child_spec);
-  mj_deleteSpec(parent_spec);
-}
-
-int open_mock(mjResource* resource) {
-  static const char parent_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent_body"/>
-    </worldbody>
-  </mujoco>
-  )";
-  resource->data = mju_malloc(sizeof(parent_xml));
-  absl::SNPrintF(static_cast<char*>(resource->data), sizeof(parent_xml), "%s",
-                 parent_xml);
-  return 1;
-}
-
-int read_mock(mjResource* resource, const void** buffer) {
-  *buffer = resource->data;
-  return std::strlen((const char*)resource->data);
-}
-
-void close_mock(mjResource* resource) {
-  mju_free(resource->data);
-  resource->data = nullptr;
-}
-
-TEST_F(MujocoTest, AttachedSpecDoesNotInheritURI) {
-  // This test checks that when we attach a child spec to a parent spec that was
-  // loaded from a resource provider, the child spec does not inherit the
-  // resource URI from the parent. This allows the child spec to specify assets
-  // relative to its model file or in the VFS.
-  mjpResourceProvider provider = {
-      .prefix = "fakeprovider",
-      .open = open_mock,
-      .read = read_mock,
-      .close = close_mock,
-  };
-
-  mjp_registerResourceProvider(&provider);
-
-  std::array<char, 1024> err;
-  mjSpec* parent_spec =
-      mj_parseXML("fakeprovider:parent.xml", nullptr, err.data(), err.size());
-  mjs_setString(parent_spec->modelname, "parent");
-  ASSERT_THAT(parent_spec, NotNull()) << err.data();
-
-  // Create child spec
-  static constexpr char child_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="child_body">
-        <geom type="mesh" mesh="asset"/>
-      </body>
-    </worldbody>
-    <asset>
-      <mesh name="asset" file="asset.obj"/>
-    </asset>
-  </mujoco>
-  )";
-
-  // Setup VFS with asset
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  static constexpr char asset_data[] = R"(
-  v 0 0 0
-  v 1 0 0
-  v 0 1 0
-  v 0 0 1
-  f 1 2 3
-  f 1 2 4
-  f 2 3 4
-  f 3 1 4
-  )";
-  mj_addBufferVFS(&vfs, "asset.obj", asset_data, sizeof(asset_data));
-
-  mjSpec* child_spec =
-      mj_parseXMLString(child_xml, &vfs, err.data(), err.size());
-  mjs_setString(child_spec->modelname, "child");
-  ASSERT_THAT(child_spec, NotNull()) << err.data();
-
-  // Attach child spec to parent spec's world body
-  mjsBody* world = mjs_findBody(parent_spec, "world");
-  ASSERT_THAT(world, NotNull());
-
-  mjsElement* attached =
-      mjs_attach(world->element, child_spec->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  mjModel* model = mj_compile(parent_spec, &vfs);
-  mj_deleteVFS(&vfs);
-
-  EXPECT_THAT(model, NotNull()) << mjs_getError(parent_spec);
-
-  if (model) {
-    mj_deleteModel(model);
-  }
-  mj_deleteSpec(parent_spec);
-  mj_deleteSpec(child_spec);
-}
-
-TEST_F(MujocoTest, ActivatePlugin) {
-  mjSpec* spec = mj_makeSpec();
-  mjs_activatePlugin(spec, "mujoco.elasticity.cable");
-
-  // associate plugin to body
-  mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
-  mjs_setString(body->plugin.plugin_name, "mujoco.elasticity.cable");
-  body->plugin.element = mjs_addPlugin(spec)->element;
-  body->plugin.active = true;
-  mjsGeom* geom = mjs_addGeom(body, 0);
-  geom->type = mjGEOM_BOX;
-  geom->size[0] = 1;
-  geom->size[1] = 1;
-  geom->size[2] = 1;
-
-  // compile and check that the plugin is present
-  mjModel* model = mj_compile(spec, NULL);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->nplugin, 1);
-  EXPECT_THAT(model->body_plugin[1], 0);
-
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, DeletePlugin) {
-  mjSpec* spec = mj_makeSpec();
-  mjs_activatePlugin(spec, "mujoco.pid");
-
-  // create body
-  mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
-  mjsJoint* joint = mjs_addJoint(body, 0);
-  mjsGeom* geom = mjs_addGeom(body, 0);
-  mjs_setName(joint->element, "j1");
-  joint->type = mjJNT_SLIDE;
-  geom->size[0] = 1;
-
-  // add actuator
-  mjsActuator* actuator = mjs_addActuator(spec, 0);
-  mjs_setString(actuator->target, "j1");
-  mjs_setString(actuator->plugin.plugin_name, "mujoco.pid");
-  actuator->plugin.element = mjs_addPlugin(spec)->element;
-  actuator->plugin.active = true;
-  actuator->trntype = mjTRN_JOINT;
-
-  // compile and check that the plugin is present
-  mjModel* model = mj_compile(spec, NULL);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->nu, 1);
-  EXPECT_THAT(model->nplugin, 1);
-  EXPECT_THAT(model->actuator_plugin[0], 0);
-
-  // delete actuator
-  mjs_delete(spec, actuator->element);
-
-  // recompile and check that the plugin is not present
-  mjModel* newmodel = mj_compile(spec, NULL);
-  EXPECT_THAT(newmodel, NotNull());
-  EXPECT_THAT(newmodel->nu, 0);
-  EXPECT_THAT(newmodel->nplugin, 0);
-
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-  mj_deleteModel(newmodel);
-}
-
-TEST_F(MujocoTest, SetToDCMotorNullable) {
-  mjSpec* spec = mj_makeSpec();
-  mjsActuator* actuator = mjs_addActuator(spec, 0);
-
-  double motorconst[2] = {0.05, 0.05};
-  double resistance = 2.0;
-
-  const char* err =
-      mjs_setToDCMotor(actuator, motorconst, resistance, nullptr, nullptr,
-                       nullptr, nullptr, nullptr, nullptr, nullptr, 0);
-  EXPECT_STREQ(err, "");
-  EXPECT_EQ(actuator->gainprm[0], 2.0);
-  EXPECT_EQ(actuator->gainprm[1], 0.05);
-  EXPECT_EQ(actuator->gainprm[4], 0);
-  EXPECT_EQ(actuator->gainprm[5], 0);
-  EXPECT_EQ(actuator->gainprm[6], 0);
-  EXPECT_EQ(actuator->dynprm[7], 0);
-  EXPECT_EQ(actuator->dynprm[8], 0);
-
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, SetToDCMotorDeriveKe) {
-  mjSpec* spec = mj_makeSpec();
-  mjsActuator* actuator = mjs_addActuator(spec, 0);
-
-  double resistance = 2.0;
-  double nominal[3] = {12.0, 0, 100.0};  // vn=12, omega0=100
-
-  const char* err =
-      mjs_setToDCMotor(actuator, nullptr, resistance, nominal, nullptr, nullptr,
-                       nullptr, nullptr, nullptr, nullptr, 0);
-  EXPECT_STREQ(err, "");
-  EXPECT_EQ(actuator->gainprm[0], 2.0);
-  EXPECT_NEAR(actuator->gainprm[1], 0.12, 1e-5);
-
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, SetToDCMotorFull) {
-  mjSpec* spec = mj_makeSpec();
-  mjsActuator* actuator = mjs_addActuator(spec, 0);
-
-  double motorconst[2] = {0.05, 0.05};
-  double resistance = 2.0;
-  double saturation[3] = {1.0, 2.0, 3.0};
-  double controller[6] = {10.0, 20.0, 30.0, 40.0, 50.0, 60.0};
-
-  const char* err =
-      mjs_setToDCMotor(actuator, motorconst, resistance, nullptr, saturation,
-                       nullptr, nullptr, controller, nullptr, nullptr, 0);
-  EXPECT_STREQ(err, "");
-  EXPECT_EQ(actuator->gainprm[0], 2.0);   // resistance
-  EXPECT_EQ(actuator->gainprm[1], 0.05);  // K
-  EXPECT_EQ(actuator->gainprm[4], 10.0);  // kp
-  EXPECT_EQ(actuator->gainprm[5], 20.0);  // ki
-  EXPECT_EQ(actuator->gainprm[6], 30.0);  // kd
-  EXPECT_EQ(actuator->dynprm[7], 40.0);   // slewmax
-  EXPECT_EQ(actuator->dynprm[8], 50.0);   // Imax
-  EXPECT_EQ(actuator->gainprm[7], 60.0);  // Vmax
-  EXPECT_EQ(actuator->dynprm[1], 3.0);    // (di/dt)_max
-
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, SetToDCMotorLuGre) {
-  mjSpec* spec = mj_makeSpec();
-  mjsActuator* actuator = mjs_addActuator(spec, 0);
-
-  double motorconst[2] = {0.05, 0.05};
-  double resistance = 2.0;
-  double lugre[5] = {100.0, 1.0, 0.5, 0.7, 10.0};
-
-  const char* err =
-      mjs_setToDCMotor(actuator, motorconst, resistance, nullptr, nullptr,
-                       nullptr, nullptr, nullptr, nullptr, lugre, 0);
-  EXPECT_STREQ(err, "");
-  EXPECT_EQ(actuator->dynprm[5], 100.0);  // stiffness
-  EXPECT_EQ(actuator->dynprm[6], 1.0);    // damping
-  EXPECT_EQ(actuator->biasprm[3], 0.5);   // coulomb
-  EXPECT_EQ(actuator->biasprm[4], 0.7);   // static
-  EXPECT_EQ(actuator->biasprm[5], 10.0);  // stribeck
-
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, SetToOrientation) {
-  mjSpec* spec = mj_makeSpec();
-  mjsActuator* actuator = mjs_addActuator(spec, 0);
-
-  // kv variant, default (expmap) chart
-  double kv = 2.0;
-  const char* err = mjs_setToOrientation(actuator, 5.0, &kv, nullptr, 0);
-  EXPECT_STREQ(err, "");
-  EXPECT_EQ(actuator->gaintype, mjGAIN_SO3);
-  EXPECT_EQ(actuator->biastype, mjBIAS_SO3);
-  EXPECT_EQ(actuator->dyntype, mjDYN_NONE);
-  EXPECT_EQ(actuator->gainprm[0], 5.0);
-  EXPECT_EQ(actuator->biasprm[1], -5.0);
-  EXPECT_EQ(actuator->biasprm[2], -2.0);
-  EXPECT_EQ(actuator->ctrlspec, 0);
-
-  // dampratio variant, quat chart
-  double dampratio = 1.0;
-  err = mjs_setToOrientation(actuator, 5.0, nullptr, &dampratio, mjCHART_QUAT);
-  EXPECT_STREQ(err, "");
-  EXPECT_EQ(actuator->biasprm[2], 1.0);
-  EXPECT_EQ(actuator->ctrlspec, mjCHART_QUAT);
-
-  // kv and dampratio are mutually exclusive
-  err = mjs_setToOrientation(actuator, 5.0, &kv, &dampratio, 0);
-  EXPECT_STREQ(err, "kv and dampratio cannot both be defined");
-
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, SetToPID) {
-  mjSpec* spec = mj_makeSpec();
-  mjsActuator* actuator = mjs_addActuator(spec, 0);
-
-  // stateless PID with kv, default input signature
-  double kv = 3.0;
-  const char* err = mjs_setToPID(actuator, 5.0, &kv, nullptr, nullptr, nullptr,
-                                 nullptr, 0, 0);
-  EXPECT_STREQ(err, "");
-  EXPECT_EQ(actuator->gaintype, mjGAIN_PID);
-  EXPECT_EQ(actuator->biastype, mjBIAS_AFFINE);
-  EXPECT_EQ(actuator->dyntype, mjDYN_NONE);
-  EXPECT_EQ(actuator->biasprm[1], -5.0);
-  EXPECT_EQ(actuator->biasprm[2], -3.0);
-  EXPECT_EQ(actuator->gainprm[0], 0.0);
-
-  // integral action with anti-windup, pos-only signature
-  double ki = 0.5, imax = 2.0, dampratio = 1.0;
-  err = mjs_setToPID(actuator, 5.0, nullptr, &dampratio, &ki, &imax, nullptr, 0,
-                     mjINPUT_POS);
-  EXPECT_STREQ(err, "");
-  EXPECT_EQ(actuator->dyntype, mjDYN_PID);
-  EXPECT_EQ(actuator->gainprm[0], 0.5);
-  EXPECT_EQ(actuator->dynprm[0], 2.0);
-  EXPECT_EQ(actuator->biasprm[2], 1.0);
-  EXPECT_EQ(actuator->ctrlspec, mjINPUT_POS);
-
-  // kv and dampratio are mutually exclusive
-  err = mjs_setToPID(actuator, 5.0, &kv, &dampratio, nullptr, nullptr, nullptr,
-                     0, 0);
-  EXPECT_STREQ(err, "kv and dampratio cannot both be defined");
-
-  mj_deleteSpec(spec);
-}
-
-static constexpr char xml_plugin_1[] = R"(
-  <mujoco model="MuJoCo Model">
-    <worldbody>
-      <body name="body"/>
-    </worldbody>
-  </mujoco>)";
-
-static constexpr char xml_plugin_2[] = R"(
-  <mujoco model="MuJoCo Model">
-    <extension>
-      <plugin plugin="mujoco.pid">
-        <instance name="actuator-1">
-          <config key="ki" value="4.0"/>
-          <config key="slewmax" value="3.14159"/>
-        </instance>
-      </plugin>
-    </extension>
-    <worldbody>
-      <body name="empty"/>
-      <body name="body">
-        <joint name="joint"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <plugin name="actuator-1" plugin="mujoco.pid" instance="actuator-1"
-              joint="joint" actdim="2"/>
-    </actuator>
-  </mujoco>)";
-
-TEST_F(MujocoTest, AttachPlugin) {
-  std::array<char, 1000> err;
-  mjSpec* parent = mj_parseXMLString(xml_plugin_1, 0, err.data(), err.size());
-  ASSERT_THAT(parent, NotNull()) << err.data();
-  mjSpec* spec_1 = mj_parseXMLString(xml_plugin_2, 0, err.data(), err.size());
-  ASSERT_THAT(spec_1, NotNull()) << err.data();
-
-  // do a copy before attaching
-  mjSpec* spec_2 = mj_copySpec(spec_1);
-  mjs_setString(spec_2->modelname, "first_copy");
-  mjSpec* spec_3 = mj_copySpec(spec_1);
-  mjs_setString(spec_3->modelname, "second_copy");
-  ASSERT_THAT(spec_3, NotNull()) << err.data();
-
-  // attach a body referencing the plugin to the frame and compile
-  mjsBody* body_1 = mjs_findBody(parent, "body");
-  EXPECT_THAT(body_1, NotNull());
-  mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
-  EXPECT_THAT(attachment_frame, NotNull());
-  mjs_attach(attachment_frame->element, mjs_findBody(spec_1, "body")->element,
-             "child-", "");
-  mjModel* model_1 = mj_compile(parent, nullptr);
-  EXPECT_THAT(model_1, NotNull());
-  EXPECT_THAT(model_1->nbody, 3);
-
-  // attach it a second time to test namespacing and compile
-  ASSERT_THAT(spec_2, NotNull()) << err.data();
-  mjs_attach(attachment_frame->element, mjs_findBody(spec_2, "body")->element,
-             "copy-", "");
-  mjModel* model_2 = mj_compile(parent, nullptr);
-  EXPECT_THAT(model_2, NotNull());
-  EXPECT_THAT(model_2->nbody, 4);
-
-  // attach a body not referencing the plugin and compile
-  mjs_attach(attachment_frame->element, mjs_findBody(spec_3, "empty")->element,
-             "empty-", "");
-  mjModel* model_3 = mj_compile(parent, nullptr);
-  EXPECT_THAT(model_3, NotNull());
-  EXPECT_THAT(model_3->nbody, 5);
-
-  mj_deleteModel(model_1);
-  mj_deleteModel(model_2);
-  mj_deleteModel(model_3);
-  mj_deleteSpec(parent);
-  mj_deleteSpec(spec_1);
-  mj_deleteSpec(spec_2);
-  mj_deleteSpec(spec_3);
-}
-
-TEST_F(MujocoTest, DetachPlugin) {
-  std::array<char, 1000> err;
-  mjSpec* parent = mj_parseXMLString(xml_plugin_1, 0, err.data(), err.size());
-  ASSERT_THAT(parent, NotNull()) << err.data();
-  mjSpec* child = mj_parseXMLString(xml_plugin_2, 0, err.data(), err.size());
-  ASSERT_THAT(child, NotNull()) << err.data();
-
-  // attach a body referencing the plugin to the frame
-  mjsElement* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
-  mjsElement* body = mjs_findBody(child, "body")->element;
-  EXPECT_THAT(mjs_attach(frame, body, "child-", ""), NotNull());
-
-  // detach the body and compile
-  mjsBody* body_to_detach = mjs_findBody(parent, "child-body");
-  EXPECT_THAT(body_to_detach, NotNull());
-  EXPECT_THAT(mjs_delete(parent, body_to_detach->element), 0);
-  mjModel* model = mj_compile(parent, nullptr);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->nbody, 2);
-  EXPECT_THAT(model->nplugin, 0);
-
-  mj_deleteModel(model);
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachExplicitPlugin) {
-  static constexpr char xml_parent[] = R"(
-    <mujoco model="MuJoCo Model">
-      <worldbody>
-        <body name="body"/>
-      </worldbody>
-    </mujoco>)";
-
-  std::array<char, 1000> err;
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, err.data(), err.size());
-  ASSERT_THAT(parent, NotNull()) << err.data();
-
-  mjSpec* child = mj_makeSpec();
-  mjsBody* body = mjs_addBody(mjs_findBody(child, "world"), 0);
-  mjsGeom* geom = mjs_addGeom(body, 0);
-  mjsSite* site = mjs_addSite(body, 0);
-  mjsSensor* sensor = mjs_addSensor(child);
-  mjsPlugin* plugin = mjs_addPlugin(child);
-  mjs_activatePlugin(child, "mujoco.sensor.touch_grid");
-  mjs_setString(plugin->plugin_name, "mujoco.sensor.touch_grid");
-  mjs_setString(sensor->plugin.plugin_name, "mujoco.sensor.touch_grid");
-  mjs_setName(body->element, "body");
-  mjs_setName(sensor->element, "touch2");
-  mjs_setString(sensor->objname, "touch2");
-  mjs_setName(site->element, "touch2");
-  geom->size[0] = 0.1;
-  site->size[0] = 0.001;
-  sensor->type = mjSENS_PLUGIN;
-  sensor->objtype = mjOBJ_SITE;
-  sensor->plugin.element = plugin->element;
-  sensor->plugin.active = true;
-  std::map<std::string, std::string, std::less<> > config_attribs;
-  config_attribs["size"] = "8 12";
-  config_attribs["fov"] = "10 13";
-  config_attribs["gamma"] = "0";
-  config_attribs["nchannel"] = "1";
-  mjs_setPluginAttributes(plugin, &config_attribs);
-
-  mjsBody* body_parent = mjs_findBody(parent, "body");
-  EXPECT_THAT(body_parent, NotNull());
-  mjsFrame* attachment_frame = mjs_addFrame(body_parent, 0);
-  EXPECT_THAT(attachment_frame, NotNull());
-
-  mjs_attach(attachment_frame->element, mjs_findBody(child, "body")->element,
-             "child-", "");
-  mjModel* model = mj_compile(parent, nullptr);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->nplugin, 1);
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, ReplicatePlugin) {
-  static constexpr char xml[] = R"(
-    <mujoco>
-      <extension>
-        <plugin plugin="mujoco.sdf.torus">
-          <instance name="torus" />
-        </plugin>
-      </extension>
-      <asset>
-        <mesh name="torus">
-          <plugin instance="torus" />
-        </mesh>
-      </asset>
-      <worldbody>
-        <geom type="sdf" mesh="torus">
-          <plugin instance="torus" />
-        </geom>
-        <replicate count="100">
-          <body />
-        </replicate>
-      </worldbody>
-    </mujoco>)";
-
-  std::array<char, 1000> err;
-  mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
-  ASSERT_THAT(spec, NotNull()) << err.data();
-  mjModel* model = mj_compile(spec, nullptr);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->nplugin, 1);
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, ReplicateExplicitPlugin) {
-  static constexpr char xml[] = R"(
-    <mujoco>
-      <extension>
-        <plugin plugin="mujoco.sensor.touch_grid"/>
-      </extension>
-      <worldbody>
-        <body name="tactile_sensor_2">
-          <replicate count="2" offset="0 0.1 0">
-            <geom type="sphere" size=".0008" />
-          </replicate>
-          <site name="touch2" size="0.001"/>
-        </body>
-      </worldbody>
-      <sensor>
-        <plugin name="touch2" plugin="mujoco.sensor.touch_grid" objtype="site" objname="touch2">
-          <config key="size" value="8 12"/>
-          <config key="fov" value="10 13"/>
-          <config key="gamma" value="0"/>
-          <config key="nchannel" value="1"/>
-        </plugin>
-      </sensor>
-    </mujoco>)";
-
-  std::array<char, 1000> err;
-  mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
-  ASSERT_THAT(spec, NotNull()) << err.data();
-  mjModel* model = mj_compile(spec, nullptr);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->nplugin, 1);
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, RecompileFails) {
-  mjSpec* spec = mj_makeSpec();
-  mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), 0);
-  mjsGeom* geom = mjs_addGeom(body, 0);
-  geom->type = mjGEOM_SPHERE;
-  geom->size[0] = 1;
-
-  mjModel* model = mj_compile(spec, 0);
-  mjData* data = mj_makeData(model);
-
-  mjsMaterial* mat1 = mjs_addMaterial(spec, 0);
-  mjsMaterial* mat2 = mjs_addMaterial(spec, 0);
-  mjs_setName(mat1->element, "yellow");
-  mjs_setName(mat2->element, "yellow");
-
-  EXPECT_EQ(mj_recompile(spec, 0, model, data), -1);
-  EXPECT_STREQ(mjs_getError(spec), "Error: repeated name 'yellow' in material");
-
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, ModifyShellInertiaFails) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  1 1 1e-6"
-        face="0 1 2  2 1 3" inertia="shell"/>
-    </asset>
-    <worldbody>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1000> err;
-  mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
-  ASSERT_THAT(spec, NotNull()) << err.data();
-
-  // add a geom to spec
-  mjsGeom* geom = mjs_addGeom(mjs_findBody(spec, "world"), nullptr);
-  geom->type = mjGEOM_MESH;
-  mjs_setString(geom->meshname, "example_mesh");
-  geom->typeinertia = mjINERTIA_SHELL;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(mjs_getError(spec),
-              HasSubstr("inertia should be specified in the mesh asset"));
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, RecompileEdit) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1000> er;
-  mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
-  EXPECT_THAT(spec, NotNull()) << er.data();
-  mjModel* m1 = mj_compile(spec, nullptr);
-  EXPECT_THAT(m1, NotNull());
-
-  // add a geom
-  mjsBody* world = mjs_findBody(spec, "world");
-  mjsGeom* geom = mjs_addGeom(world, nullptr);
-  geom->size[0] = 1;
-
-  // compile again
-  mjModel* m2 = mj_compile(spec, nullptr);
-  EXPECT_THAT(m2, NotNull());
-
-  mj_deleteModel(m1);
-  mj_deleteModel(m2);
-  mj_deleteSpec(spec);
-}
-
-// ------------------- test cache with modified assets -------------------------
-
-TEST_F(MujocoTest, RecompileCompareObjCache) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh file="cube.obj"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="cube"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char cube1[] = R"(
-  v -0.500000 -0.500000  0.500000
-  v  0.500000 -0.500000  0.500000
-  v -0.500000  0.500000  0.500000
-  v  0.500000  0.500000  0.500000
-  v -0.500000  0.500000 -0.500000
-  v  0.500000  0.500000 -0.500000
-  v -0.500000 -0.500000 -0.500000
-  v  0.500000 -0.500000 -0.500000)";
-
-  static constexpr char cube2[] = R"(
-  v -1 -1  1
-  v  1 -1  1
-  v -1  1  1
-  v  1  1  1
-  v -1  1 -1
-  v  1  1 -1
-  v -1 -1 -1
-  v  1 -1 -1)";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "cube.obj", cube1, sizeof(cube1));
-
-  std::array<char, 1024> error;
-
-  // load model once
-  MjModelPtr m =
-      LoadModelFromString(xml, error.data(), error.size(), vfs.get());
-  EXPECT_EQ(m->mesh_vert[0], -0.5);
-
-  // update cube.obj, load again
-  mj_deleteFileVFS(vfs.get(), "cube.obj");
-  mj_addBufferVFS(vfs.get(), "cube.obj", cube2, sizeof(cube2));
-  m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
-  EXPECT_EQ(m->mesh_vert[0], -1);
-
-  mj_deleteVFS(vfs.get());
-}
-
-// tiny RGB 2 x 3 PNG file
-static constexpr uint8_t tex1[] = {
-    0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00,
-    0x0d, 0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
-    0x00, 0x02, 0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d,
-    0x00, 0x00, 0x00, 0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63,
-    0x78, 0xc1, 0xc0, 0xc0, 0xc0, 0xf0, 0xbf, 0xb8, 0xb8, 0x98, 0x81,
-    0xe1, 0x3f, 0xc3, 0xff, 0xff, 0xff, 0xc5, 0xc4, 0xc4, 0x00, 0x46,
-    0xd7, 0x07, 0x7f, 0xd2, 0x52, 0xa1, 0x41, 0x00, 0x00, 0x00, 0x00,
-    0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60, 0x82};
-
-// previous PNG file, but rotated by 180 degrees
-static constexpr uint8_t tex2[] = {
-    0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00,
-    0x0d, 0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
-    0x00, 0x02, 0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d,
-    0x00, 0x00, 0x00, 0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63,
-    0x10, 0x13, 0x13, 0xfb, 0xff, 0xff, 0x3f, 0xc3, 0x7f, 0x06, 0x96,
-    0xd8, 0xd8, 0x58, 0x46, 0x46, 0x86, 0x17, 0x0c, 0x0c, 0x00, 0x49,
-    0x22, 0x06, 0x44, 0xe4, 0x91, 0xb8, 0x83, 0x00, 0x00, 0x00, 0x00,
-    0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60, 0x82};
-
-TEST_F(MujocoTest, RecompileComparePngCache) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture content_type="image/png" file="tex.png" type="2d"/>
-      <material name="material" texture="tex"/>
-    </asset>
-
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-)";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "tex.png", tex1, sizeof(tex1));
-
-  std::array<char, 1024> error;
-
-  // load model once
-  MjModelPtr m =
-      LoadModelFromString(xml, error.data(), error.size(), vfs.get());
-  EXPECT_EQ(m->ntexdata, 18);  // w x h x rgb = 3 x 2 x 3
-  mjtByte byte = m->tex_data[0];
-
-  // update tex.png, load again
-  mj_deleteFileVFS(vfs.get(), "tex.png");
-  mj_addBufferVFS(vfs.get(), "tex.png", tex2, sizeof(tex2));
-  m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
-  EXPECT_NE(m->tex_data[0], byte);
-  EXPECT_EQ(m->tex_data[15], byte);  // first pixel is now last pixel
-
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MujocoTest, DisableCache) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture content_type="image/png" file="tex.png" type="2d"/>
-      <material name="material" texture="tex"/>
-    </asset>
-
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-)";
-
-  mjCache* cache = mj_getCache();
-  std::size_t capacity = mj_getCacheCapacity(cache);
-  mj_setCacheCapacity(cache, 0);
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "tex.png", tex1, sizeof(tex1));
-
-  std::array<char, 1024> error;
-
-  // load model once
-  MjModelPtr m =
-      LoadModelFromString(xml, error.data(), error.size(), vfs.get());
-
-  EXPECT_EQ(mj_getCacheSize(cache), 0);
-  EXPECT_EQ(m->ntexdata, 18);  // w x h x rgb = 3 x 2 x 3
-
-  mj_setCacheCapacity(cache, capacity);
-  mj_deleteVFS(vfs.get());
-}
-
-// -------------------------------- test textures ------------------------------
-
-TEST_F(MujocoTest, TextureFromBuffer) {
-  mjSpec* spec = mj_makeSpec();
-
-  mjsTexture* t1 = mjs_addTexture(spec);
-  mjs_setName(t1->element, "tex1");
-  t1->type = mjTEXTURE_2D;
-  t1->width = 3;
-  t1->height = 2;
-  t1->nchannel = 3;
-  mjs_setBuffer(t1->data, (std::byte*)tex1, 18);
-
-  mjsTexture* t2 = mjs_addTexture(spec);
-  mjs_setName(t2->element, "tex2");
-  t2->type = mjTEXTURE_2D;
-  t2->width = 3;
-  t2->height = 2;
-  t2->nchannel = 3;
-  mjs_setBuffer(t2->data, (std::byte*)tex2, 18);
-
-  mjsMaterial* mat = mjs_addMaterial(spec, nullptr);
-  mjs_setName(mat->element, "mat");
-  mjs_setInStringVec(mat->textures, mjTEXROLE_RGB, "tex1");
-  mjs_setInStringVec(mat->textures, mjTEXROLE_ORM, "tex2");
-
-  mjsGeom* geom = mjs_addGeom(mjs_findBody(spec, "world"), nullptr);
-  mjs_setString(geom->material, "mat");
-  geom->size[0] = 1;
-
-  mjModel* m = mj_compile(spec, nullptr);
-  EXPECT_THAT(m, NotNull());
-  EXPECT_EQ(m->ntex, 2);
-
-  std::array<char, 1024> err;
-  std::array<char, 1024> str;
-  mj_saveXMLString(spec, str.data(), str.size(), err.data(), err.size());
-  EXPECT_STREQ(err.data(), "XML Error: no support for buffer textures.");
-
-  mj_deleteModel(m);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, TestTextureFlip) {
-  mjSpec* spec = mj_makeSpec();
-  EXPECT_THAT(spec, NotNull());
-
-  std::vector<std::byte> texture_data = {std::byte{1}, std::byte{2},
-                                         std::byte{3}, std::byte{4}};
-  mjsTexture* texture = mjs_addTexture(spec);
-  mjs_setName(texture->element, "hflipped");
-  texture->type = mjTEXTURE_2D;
-  texture->width = 2;
-  texture->height = 2;
-  texture->nchannel = 1;
-  texture->hflip = true;
-  mjs_setBuffer(texture->data, texture_data.data(), texture_data.size());
-
-  texture_data = {std::byte{11}, std::byte{12}, std::byte{13}, std::byte{21},
-                  std::byte{22}, std::byte{23}, std::byte{31}, std::byte{32},
-                  std::byte{33}, std::byte{41}, std::byte{42}, std::byte{43}};
-
-  texture = mjs_addTexture(spec);
-  mjs_setName(texture->element, "vflipped");
-  texture->type = mjTEXTURE_2D;
-  texture->width = 2;
-  texture->height = 2;
-  texture->nchannel = 3;
-  texture->vflip = true;
-  mjs_setBuffer(texture->data, texture_data.data(), texture_data.size());
-
-  mjModel* model = mj_compile(spec, 0);
-  EXPECT_THAT(model, NotNull()) << mjs_getError(spec);
-
-  EXPECT_THAT(model->tex_data[0], 2);
-  EXPECT_THAT(model->tex_data[1], 1);
-  EXPECT_THAT(model->tex_data[2], 4);
-  EXPECT_THAT(model->tex_data[3], 3);
-
-  EXPECT_THAT(model->tex_data[4], 31);
-  EXPECT_THAT(model->tex_data[5], 32);
-  EXPECT_THAT(model->tex_data[6], 33);
-  EXPECT_THAT(model->tex_data[7], 41);
-  EXPECT_THAT(model->tex_data[8], 42);
-  EXPECT_THAT(model->tex_data[9], 43);
-  EXPECT_THAT(model->tex_data[10], 11);
-  EXPECT_THAT(model->tex_data[11], 12);
-  EXPECT_THAT(model->tex_data[12], 13);
-  EXPECT_THAT(model->tex_data[13], 21);
-  EXPECT_THAT(model->tex_data[14], 22);
-  EXPECT_THAT(model->tex_data[15], 23);
-
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-// -------------------------------- test attach --------------------------------
-
-static constexpr char xml_child[] = R"(
-  <mujoco model="child">
-    <default>
-      <default class="cylinder">
-        <geom type="cylinder" size=".1 1 0"/>
-      </default>
-    </default>
-
-    <custom>
-      <numeric data="10" name="constant"/>
-    </custom>
-
-    <asset>
-      <texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
-      <material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
-    </asset>
-
-    <worldbody>
-      <frame name="pframe">
-        <frame name="cframe">
-          <body name="body">
-            <joint type="hinge" name="hinge"/>
-            <geom class="cylinder" material="material"/>
-            <light mode="targetbody" target="targetbody"/>
-            <site name="site" material="material"/>
-            <body name="targetbody"/>
-            <body/>
-          </body>
-        </frame>
-      </frame>
-      <body name="ignore">
-        <geom size=".1"/>
-        <joint type="slide"/>
-      </body>
-      <frame name="frame" pos=".1 0 0" euler="0 90 0"/>
-    </worldbody>
-
-    <sensor>
-      <framepos name="sensor" objtype="body" objname="body"/>
-      <framepos name="ignore" objtype="body" objname="ignore"/>
-    </sensor>
-
-    <tendon>
-      <fixed name="fixed">
-        <joint joint="hinge" coef="2"/>
-      </fixed>
-    </tendon>
-
-    <actuator>
-      <position name="hinge" joint="hinge" timeconst=".01"/>
-      <position name="fixed" tendon="fixed" timeconst=".01"/>
-      <position name="site" site="site" timeconst=".01"/>
-    </actuator>
-
-    <contact>
-      <exclude body1="body" body2="targetbody"/>
-    </contact>
-
-    <keyframe>
-      <key name="two" time="2" qpos="2 22" act="1 2 3" ctrl="1 2 3"/>
-      <key name="three" time="3" qpos="3 33" act="4 5 6" ctrl="4 5 6"/>
-    </keyframe>
-  </mujoco>)";
-
-TEST_F(MujocoTest, AttachSame) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml_result[] = R"(
-  <mujoco model="child">
-    <default>
-      <default class="cylinder">
-        <geom type="cylinder" size=".1 1 0"/>
-      </default>
-    </default>
-
-    <custom>
-      <numeric data="10" name="constant"/>
-    </custom>
-
-    <asset>
-      <texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
-      <material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
-    </asset>
-
-    <worldbody>
-      <body name="body">
-        <joint type="hinge" name="hinge"/>
-        <geom class="cylinder" material="material"/>
-        <light mode="targetbody" target="targetbody"/>
-        <site name="site" material="material"/>
-        <body name="targetbody"/>
-        <body/>
-      </body>
-      <body name="ignore">
-        <geom size=".1"/>
-        <joint type="slide"/>
-      </body>
-      <frame name="frame" pos=".1 0 0" euler="0 90 0">
-        <body name="attached-body-1">
-          <joint type="hinge" name="attached-hinge-1"/>
-          <geom class="cylinder" material="material"/>
-          <light mode="targetbody" target="attached-targetbody-1"/>
-          <site name="attached-site-1" material="material"/>
-          <body name="attached-targetbody-1"/>
-          <body/>
-        </body>
-      </frame>
-    </worldbody>
-
-    <sensor>
-      <framepos name="sensor" objtype="body" objname="body"/>
-      <framepos name="ignore" objtype="body" objname="ignore"/>
-      <framepos name="attached-sensor-1" objtype="body" objname="attached-body-1"/>
-    </sensor>
-
-    <tendon>
-      <fixed name="fixed">
-        <joint joint="hinge" coef="2"/>
-      </fixed>
-      <fixed name="attached-fixed-1">
-        <joint joint="attached-hinge-1" coef="2"/>
-      </fixed>
-    </tendon>
-
-    <actuator>
-      <position name="hinge" joint="hinge" timeconst=".01"/>
-      <position name="fixed" tendon="fixed" timeconst=".01"/>
-      <position name="site" site="site" timeconst=".01"/>
-      <position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
-      <position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
-      <position name="attached-site-1" site="attached-site-1" timeconst=".01"/>
-    </actuator>
-
-    <contact>
-      <exclude body1="body" body2="targetbody"/>
-      <exclude body1="attached-body-1" body2="attached-targetbody-1"/>
-    </contact>
-
-    <keyframe>
-      <key name="two" time="2" qpos="2 22 0" act="1 2 3 0 0 0" ctrl="1 2 3 0 0 0"/>
-      <key name="three" time="3" qpos="3 33 0" act="4 5 6 0 0 0" ctrl="4 5 6 0 0 0"/>
-      <key name="attached-two-1" time="2" qpos="0 22 2" act="0 0 0 1 2 3" ctrl="0 0 0 1 2 3"/>
-      <key name="attached-three-1" time="3" qpos="0 33 3" act="0 0 0 4 5 6" ctrl="0 0 0 4 5 6"/>
-    </keyframe>
-  </mujoco>)";
-
-  // create parent
-  mjSpec* parent = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-  mjs_setDeepCopy(parent, true);  // needed for self-attach
-
-  // get frame
-  mjsFrame* frame = mjs_findFrame(parent, "frame");
-  EXPECT_THAT(frame, NotNull());
-
-  // get subtree
-  mjsBody* body = mjs_findBody(parent, "body");
-  EXPECT_THAT(body, NotNull());
-
-  // attach child to parent frame
-  mjsBody* attached =
-      mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
-  EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
-
-  // check that the spec was not copied
-  EXPECT_THAT(mjs_findSpec(parent, "child"), IsNull());
-
-  // compile new model
-  mjModel* m_attached = mj_compile(parent, 0);
-  EXPECT_THAT(m_attached, NotNull());
-
-  // check full name stored in mjModel
-  EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 5), "attached-body-1");
-
-  // check body 3 is attached to the world
-  EXPECT_THAT(m_attached->body_parentid[4], 0);
-
-  // compare with expected XML
-  MjModelPtr m_expected = LoadModelFromString(xml_result, er.data(), er.size());
-  EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(m_attached, m_expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-  ;
-
-  // destroy everything
-  mj_deleteSpec(parent);
-  mj_deleteModel(m_attached);
-}
-
-TEST_F(MujocoTest, AttachSpatialTendonWithoutSidesite) {
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent_body">
-        <geom size="0.1" type="sphere"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="child_body">
-        <geom name="wrap_geom" size="0.05" type="sphere"/>
-        <site name="site_A" pos="0 0 0.1"/>
-        <site name="site_B" pos="0 0 -0.1"/>
-        <site name="side_site" pos="0.05 0 0"/>
-      </body>
-    </worldbody>
-    <tendon>
-      <spatial name="tendon_with_sidesite">
-        <site site="site_A"/>
-        <geom geom="wrap_geom" sidesite="side_site"/>
-        <site site="site_B"/>
-      </spatial>
-      <spatial name="tendon_without_sidesite">
-        <site site="site_A"/>
-        <geom geom="wrap_geom"/>
-        <site site="site_B"/>
-      </spatial>
-    </tendon>
-  </mujoco>)";
-
-  std::array<char, 1000> er;
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  ASSERT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  ASSERT_THAT(child, NotNull()) << er.data();
-
-  mjsBody* parent_body = mjs_findBody(parent, "parent_body");
-  ASSERT_THAT(parent_body, NotNull());
-  mjsSite* attach_site = mjs_addSite(parent_body, 0);
-  mjs_setName(attach_site->element, "attach_site");
-
-  mjs_attach(attach_site->element, mjs_findBody(child, "child_body")->element,
-             "", "_child");
-
-  EXPECT_THAT(
-      mjs_findElement(parent, mjOBJ_TENDON, "tendon_with_sidesite_child"),
-      NotNull());
-  EXPECT_THAT(
-      mjs_findElement(parent, mjOBJ_TENDON, "tendon_without_sidesite_child"),
-      NotNull());
-
-  mjsTendon* tendon = mjs_asTendon(
-      mjs_findElement(parent, mjOBJ_TENDON, "tendon_with_sidesite_child"));
-  ASSERT_THAT(tendon, NotNull());
-  ASSERT_EQ(mjs_getWrapNum(tendon), 3);
-
-  EXPECT_EQ(mjs_getWrapTarget(mjs_getWrap(tendon, 0)),
-            mjs_findElement(parent, mjOBJ_SITE, "site_A_child"));
-  EXPECT_EQ(mjs_getWrapTarget(mjs_getWrap(tendon, 1)),
-            mjs_findElement(parent, mjOBJ_GEOM, "wrap_geom_child"));
-  EXPECT_EQ(mjs_getWrapTarget(mjs_getWrap(tendon, 2)),
-            mjs_findElement(parent, mjOBJ_SITE, "site_B_child"));
-  EXPECT_EQ(mjs_getWrapSideSite(mjs_getWrap(tendon, 1)),
-            mjs_asSite(mjs_findElement(parent, mjOBJ_SITE, "side_site_child")));
-
-  mjModel* model = mj_compile(parent, nullptr);
-  ASSERT_THAT(model, NotNull()) << mjs_getError(parent);
-  EXPECT_EQ(model->ntendon, 2);
-
-  mj_deleteModel(model);
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachSpatialTendonGitHubIssue3119) {
-  static constexpr char parent_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent_body">
-        <geom size="0.1" type="sphere"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char child_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="child_body">
-        <geom name="wrap_geom" size="0.05" type="sphere"/>
-        <site name="site_A" pos="0 0 0.1"/>
-        <site name="site_B" pos="0 0 -0.1"/>
-        <site name="side_site" pos="0.05 0 0"/>
-      </body>
-    </worldbody>
-    <tendon>
-      <spatial name="tendon_with_sidesite">
-        <site site="site_A"/>
-        <geom geom="wrap_geom" sidesite="side_site"/>
-        <site site="site_B"/>
-      </spatial>
-      <spatial name="tendon_without_sidesite">
-        <site site="site_A"/>
-        <geom geom="wrap_geom"/>
-        <site site="site_B"/>
-      </spatial>
-    </tendon>
-  </mujoco>)";
-
-  std::array<char, 1000> er;
-  mjSpec* parent_spec = mj_parseXMLString(parent_xml, 0, er.data(), er.size());
-  ASSERT_THAT(parent_spec, NotNull()) << er.data();
-  mjSpec* child_spec = mj_parseXMLString(child_xml, 0, er.data(), er.size());
-  ASSERT_THAT(child_spec, NotNull()) << er.data();
-
-  mjsBody* parent_body = mjs_findBody(parent_spec, "parent_body");
-  ASSERT_THAT(parent_body, NotNull());
-  mjsSite* attach_site = mjs_addSite(parent_body, 0);
-  mjs_setName(attach_site->element, "attach_site");
-
-  mjs_attach(attach_site->element,
-             mjs_findBody(child_spec, "child_body")->element, "", "_child");
-
-  EXPECT_THAT(
-      mjs_findElement(parent_spec, mjOBJ_TENDON, "tendon_with_sidesite_child"),
-      NotNull());
-  EXPECT_THAT(mjs_findElement(parent_spec, mjOBJ_TENDON,
-                              "tendon_without_sidesite_child"),
-              NotNull());
-
-  mjModel* model = mj_compile(parent_spec, nullptr);
-  ASSERT_THAT(model, NotNull()) << mjs_getError(parent_spec);
-  EXPECT_EQ(model->ntendon, 2);
-
-  mj_deleteModel(model);
-  mj_deleteSpec(parent_spec);
-  mj_deleteSpec(child_spec);
-}
-
-TEST_F(MujocoTest, AttachDifferent) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml_parent[] = R"(
-  <mujoco model="parent">
-    <default>
-      <default class="geom_size">
-        <geom size="0.1"/>
-      </default>
-    </default>
-
-    <worldbody>
-      <body name="sphere">
-        <freejoint/>
-        <geom class="geom_size"/>
-        <frame name="frame" pos=".1 0 0" euler="0 90 0"/>
-      </body>
-    </worldbody>
-
-    <keyframe>
-      <key name="one" time="1" qpos="1 1 1 1 0 0 0"/>
-    </keyframe>
-  </mujoco>)";
-
-  static constexpr char xml_result[] = R"(
-  <mujoco model="parent">
-    <default>
-      <default class="geom_size">
-        <geom size="0.1"/>
-      </default>
-      <default class="attached-cylinder-1">
-        <geom type="cylinder" size=".1 1 0"/>
-      </default>
-    </default>
-
-    <custom>
-      <numeric data="10" name="attached-constant-1"/>
-    </custom>
-
-    <asset>
-      <texture name="attached-texture-1" type="2d" builtin="checker" width="32" height="32"/>
-      <material name="attached-material-1" texture="attached-texture-1" texrepeat="1 1" texuniform="true"/>
-    </asset>
-
-    <worldbody>
-      <body name="sphere">
-        <freejoint/>
-        <geom class="geom_size"/>
-        <frame name="frame" pos=".1 0 0" euler="0 90 0">
-          <body name="attached-body-1">
-            <joint type="hinge" name="attached-hinge-1"/>
-            <geom class="attached-cylinder-1" material="attached-material-1"/>
-            <light mode="targetbody" target="attached-targetbody-1"/>
-            <site name="attached-site-1" material="attached-material-1"/>
-            <body name="attached-targetbody-1"/>
-            <body/>
-          </body>
-        </frame>
-      </body>
-    </worldbody>
-
-    <sensor>
-      <framepos name="attached-sensor-1" objtype="body" objname="attached-body-1"/>
-    </sensor>
-
-    <tendon>
-      <fixed name="attached-fixed-1">
-        <joint joint="attached-hinge-1" coef="2"/>
-      </fixed>
-    </tendon>
-
-    <actuator>
-      <position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
-      <position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
-      <position name="attached-site-1" site="attached-site-1" timeconst=".01"/>
-    </actuator>
-
-    <contact>
-      <exclude body1="attached-body-1" body2="attached-targetbody-1"/>
-    </contact>
-
-    <keyframe>
-      <key name="one" time="1" qpos="1 1 1 1 0 0 0 0"/>
-      <key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="1 2 3" ctrl="1 2 3"/>
-      <key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="4 5 6" ctrl="4 5 6"/>
-    </keyframe>
-  </mujoco>)";
-
-  // model with one free sphere and a frame
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-
-  // get frame
-  mjsFrame* frame = mjs_findFrame(parent, "frame");
-  EXPECT_THAT(frame, NotNull());
-
-  // model with one cylinder and a hinge
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-
-  // get subtree
-  mjsBody* body = mjs_findBody(child, "body");
-  EXPECT_THAT(body, NotNull());
-
-  // attach child to parent frame
-  mjsBody* attached =
-      mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
-  EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
-
-  // check that the spec was copied
-  EXPECT_THAT(mjs_findSpec(parent, "child"), NotNull());
-
-  // compile new model
-  mjModel* m_attached = mj_compile(parent, 0);
-  EXPECT_THAT(m_attached, NotNull());
-
-  // check frame is present
-  EXPECT_THAT(mjs_findFrame(parent, "frame"), NotNull());
-
-  // check full name stored in mjModel
-  EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 2), "attached-body-1");
-
-  // check body 2 is attached to body 1
-  EXPECT_THAT(m_attached->body_parentid[2], 1);
-
-  // check that the correct defaults are present
-  EXPECT_THAT(mjs_findDefault(parent, "main"), NotNull());
-  EXPECT_THAT(mjs_findDefault(parent, "geom_size"), NotNull());
-  EXPECT_THAT(mjs_findDefault(parent, "attached-cylinder-1"), NotNull());
-
-  // compare with expected XML
-  MjModelPtr m_expected = LoadModelFromString(xml_result, er.data(), er.size());
-  EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(m_attached, m_expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-  ;
-
-  // destroy everything
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(m_attached);
-}
-
-TEST_F(MujocoTest, AttachFrame) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml_parent[] = R"(
-  <mujoco model="parent">
-    <worldbody>
-      <body name="sphere">
-        <freejoint/>
-        <geom size=".1"/>
-        <frame name="frame" pos=".1 0 0" euler="0 90 0"/>
-      </body>
-    </worldbody>
-
-    <keyframe>
-      <key name="one" time="1" qpos="1 1 1 1 0 0 0"/>
-    </keyframe>
-  </mujoco>)";
-
-  static constexpr char xml_result[] = R"(
-  <mujoco model="parent">
-    <default>
-      <default class="attached-cylinder-1">
-        <geom type="cylinder" size=".1 1 0"/>
-      </default>
-    </default>
-
-    <custom>
-      <numeric data="10" name="attached-constant-1"/>
-    </custom>
-
-    <asset>
-      <texture name="attached-texture-1" type="2d" builtin="checker" width="32" height="32"/>
-      <material name="attached-material-1" texture="attached-texture-1" texrepeat="1 1" texuniform="true"/>
-    </asset>
-
-    <worldbody>
-      <body name="sphere">
-        <freejoint/>
-        <geom size=".1"/>
-        <frame name="frame" pos=".1 0 0" euler="0 90 0"/>
-        <frame name="pframe">
-          <frame name="cframe">
-            <body name="attached-body-1">
-              <joint type="hinge" name="attached-hinge-1"/>
-              <geom class="attached-cylinder-1" material="attached-material-1"/>
-              <light mode="targetbody" target="attached-targetbody-1"/>
-              <site name="attached-site-1" material="attached-material-1"/>
-              <body name="attached-targetbody-1"/>
-              <body/>
-            </body>
-          </frame>
-        </frame>
-      </body>
-    </worldbody>
-
-    <sensor>
-      <framepos name="attached-sensor-1" objtype="body" objname="attached-body-1"/>
-    </sensor>
-
-    <tendon>
-      <fixed name="attached-fixed-1">
-        <joint joint="attached-hinge-1" coef="2"/>
-      </fixed>
-    </tendon>
-
-    <actuator>
-      <position name="attached-hinge-1" joint="attached-hinge-1" timeconst=".01"/>
-      <position name="attached-fixed-1" tendon="attached-fixed-1" timeconst=".01"/>
-      <position name="attached-site-1" site="attached-site-1" timeconst=".01"/>
-    </actuator>
-
-    <contact>
-      <exclude body1="attached-body-1" body2="attached-targetbody-1"/>
-    </contact>
-
-    <keyframe>
-      <key name="one" time="1" qpos="1 1 1 1 0 0 0 0"/>
-      <key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="1 2 3" ctrl="1 2 3"/>
-      <key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="4 5 6" ctrl="4 5 6"/>
-    </keyframe>
-  </mujoco>)";
-
-  // model with one free sphere and a frame
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-
-  // get body
-  mjsBody* body = mjs_findBody(parent, "sphere");
-  EXPECT_THAT(body, NotNull());
-
-  // model with one cylinder and a hinge
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-
-  // get subtree
-  mjsFrame* frame = mjs_findFrame(child, "pframe");
-  EXPECT_THAT(frame, NotNull());
-
-  // attach child frame to parent body
-  mjsFrame* attached =
-      mjs_asFrame(mjs_attach(body->element, frame->element, "attached-", "-1"));
-  EXPECT_THAT(attached, mjs_findFrame(parent, "attached-pframe-1"));
-
-  // check that the spec was copied
-  EXPECT_THAT(mjs_findSpec(parent, "child"), NotNull());
-
-  // check that the parent body was not namespaced
-  EXPECT_THAT(mjs_findBody(child, "world"), NotNull());
-
-  // compile new model
-  mjModel* m_attached = mj_compile(parent, 0);
-  EXPECT_THAT(m_attached, NotNull());
-
-  // check full name stored in mjModel
-  EXPECT_STREQ(mj_id2name(m_attached, mjOBJ_BODY, 2), "attached-body-1");
-
-  // check body 2 is attached to body 1
-  EXPECT_THAT(m_attached->body_parentid[2], 1);
-
-  // compare with expected XML
-  MjModelPtr m_expected = LoadModelFromString(xml_result, er.data(), er.size());
-  EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(m_attached, m_expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-  ;
-
-  // destroy everything
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(m_attached);
-}
-
-TEST_F(MujocoTest, AttachCompiled) {
-  std::array<char, 1000> er;
-
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="floor" pos="0 0 0" size="0 0 0.05" type="plane"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="base">
-        <freejoint/>
-        <geom name="geom1" size="0.1" type="sphere"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  // load parent
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-
-  // load child
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-
-  // compile child
-  mjModel* m_child = mj_compile(child, 0);
-  EXPECT_THAT(m_child, NotNull()) << mjs_getError(child);
-
-  // add frame to the parent to attach
-  mjsBody* world = mjs_findBody(parent, "world");
-  EXPECT_THAT(world, NotNull()) << mjs_getError(parent);
-  mjsFrame* frame = mjs_addFrame(world, 0);
-  EXPECT_THAT(frame, NotNull()) << mjs_getError(parent);
-
-  // attach child body to the frame
-  mjsBody* to_attach = mjs_findBody(child, "base");
-  EXPECT_THAT(to_attach, NotNull()) << mjs_getError(child);
-  mjs_attach(frame->element, to_attach->element, "", "");
-
-  // check that attached model can be compiled
-  mjModel* m_attached = mj_compile(parent, 0);
-  EXPECT_THAT(m_attached, NotNull())
-      << "Failed to compile attached model" << mjs_getError(parent);
-
-  // destroy everything
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(m_attached);
-  mj_deleteModel(m_child);
-}
-
-void TestDetachBody(bool compile) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml_result[] = R"(
-  <mujoco model="child">
-    <asset>
-      <texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
-      <material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
-    </asset>
-
-    <custom>
-      <numeric data="10" name="constant"/>
-    </custom>
-
-    <worldbody>
-      <frame name="pframe">
-        <frame name="cframe">
-        </frame>
-      </frame>
-      <body name="ignore">
-        <geom size=".1"/>
-        <joint type="slide"/>
-      </body>
-      <frame name="frame" pos=".1 0 0" euler="0 90 0"/>
-    </worldbody>
-
-    <sensor>
-      <framepos name="ignore" objtype="body" objname="ignore"/>
-    </sensor>
-
-    <keyframe>
-      <key name="two" time="2" qpos="22"/>
-      <key name="three" time="3" qpos="33"/>
-    </keyframe>
-  </mujoco>)";
-
-  // model with one cylinder and a hinge
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-
-  // compile model (for testing double compilation)
-  mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
-
-  // get subtree
-  mjsBody* body = mjs_findBody(child, "body");
-  EXPECT_THAT(body, NotNull());
-
-  // delete subtree
-  EXPECT_THAT(mjs_delete(child, body->element), 0);
-
-  // try saving to XML before compiling again
-  std::array<char, 1024> e;
-  std::array<char, 1024> s;
-  EXPECT_EQ(mj_saveXMLString(child, s.data(), 1024, e.data(), 1024), -1);
-  EXPECT_THAT(e.data(), compile
-                            ? HasSubstr("Model has pending keyframes")
-                            : HasSubstr("Only compiled model can be written"));
-
-  // compile new model
-  mjModel* m_detached = mj_compile(child, 0);
-  EXPECT_THAT(m_detached, NotNull());
-
-  // compare with expected XML
-  MjModelPtr m_expected = LoadModelFromString(xml_result, er.data(), er.size());
-  EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(m_detached, m_expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-
-  // destroy everything
-  mj_deleteSpec(child);
-  mj_deleteModel(m_detached);
-  if (m_child) mj_deleteModel(m_child);
-}
-
-TEST_F(MujocoTest, DetachBody) {
-  TestDetachBody(/*compile=*/false);
-  TestDetachBody(/*compile=*/true);
-}
-
-TEST_F(MujocoTest, AttachToSite) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="site" pos="1 0 0" quat="0 1 0 0"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="sphere">
-        <joint type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_result[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="site" pos="1 0 0" quat="0 1 0 0"/>
-      <frame pos="1 0 0" quat="0 1 0 0">
-        <body name="attached-sphere-1">
-          <joint type="slide"/>
-          <geom size=".1"/>
-        </body>
-      </frame>
-    </worldbody>
-  </mujoco>)";
-
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  EXPECT_THAT(world, NotNull());
-  mjsSite* site = mjs_asSite(mjs_firstChild(world, mjOBJ_SITE, 0));
-  EXPECT_THAT(site, NotNull());
-  mjsBody* body = mjs_findBody(child, "sphere");
-  EXPECT_THAT(body, NotNull());
-  mjsBody* attached =
-      mjs_asBody(mjs_attach(site->element, body->element, "attached-", "-1"));
-  EXPECT_THAT(attached, NotNull());
-
-  mjModel* model = mj_compile(parent, 0);
-  EXPECT_THAT(model, NotNull());
-  MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
-  EXPECT_THAT(expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(model, expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, AttachFrameToSite) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="site" pos="1 0 0" quat="0 1 0 0"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <frame name="frame">
-        <body name="sphere">
-          <joint type="slide"/>
-          <geom size=".1"/>
-        </body>
-      </frame>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_result[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="site" pos="1 0 0" quat="0 1 0 0"/>
-      <frame pos="1 0 0" quat="0 1 0 0">
-        <body name="attached-sphere-1">
-          <joint type="slide"/>
-          <geom size=".1"/>
-        </body>
-      </frame>
-    </worldbody>
-  </mujoco>)";
-
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  EXPECT_THAT(world, NotNull());
-  mjsSite* site = mjs_asSite(mjs_firstChild(world, mjOBJ_SITE, 0));
-  EXPECT_THAT(site, NotNull());
-  mjsFrame* frame = mjs_findFrame(child, "frame");
-  EXPECT_THAT(frame, NotNull());
-  mjsFrame* attached =
-      mjs_asFrame(mjs_attach(site->element, frame->element, "attached-", "-1"));
-  EXPECT_THAT(attached, NotNull());
-
-  mjModel* model = mj_compile(parent, 0);
-  EXPECT_THAT(model, NotNull());
-  MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
-  EXPECT_THAT(expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(model, expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, BodyToFrame) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <frame name="frame" pos="1 2 3"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="sphere">
-        <joint type="slide"/>
-        <geom size=".1"/>
-      </body>
-      <camera pos="0 0 0" quat="1 0 0 0"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_result[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <frame name="frame" pos="1 2 3">
-          <body name="attached-sphere-1">
-            <joint type="slide"/>
-            <geom size=".1"/>
-          </body>
-          <frame name="attached-world-2">
-            <body name="attached-sphere-2">
-              <joint type="slide"/>
-              <geom size=".1"/>
-            </body>
-            <camera pos="0 0 0" quat="1 0 0 0"/>
-          </frame>
-        </frame>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child1 = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child1, NotNull()) << er.data();
-  mjSpec* child2 = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child2, NotNull()) << er.data();
-
-  // attach a body to the frame
-  mjsFrame* frame = mjs_findFrame(parent, "frame");
-  EXPECT_THAT(frame, NotNull());
-  mjsBody* body = mjs_findBody(child1, "sphere");
-  EXPECT_THAT(body, NotNull());
-  mjsBody* attached =
-      mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
-  EXPECT_THAT(attached, NotNull());
-  mjModel* model1 = mj_compile(parent, 0);
-  EXPECT_THAT(model1, NotNull());
-
-  // attach the world to the same frame and convert it to a frame
-  mjsBody* world = mjs_findBody(child2, "world");
-  EXPECT_THAT(world, NotNull());
-  mjsBody* child_world =
-      mjs_asBody(mjs_attach(frame->element, world->element, "attached-", "-2"));
-  EXPECT_THAT(child_world, NotNull());
-  mjsFrame* frame_world = mjs_bodyToFrame(&child_world);
-  EXPECT_THAT(frame_world, NotNull());
-  EXPECT_THAT(child_world, IsNull());
-
-  // compile and compare
-  mjModel* model2 = mj_compile(parent, 0);
-  EXPECT_THAT(model2, NotNull());
-  MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
-  EXPECT_THAT(expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(model2, expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child1);
-  mj_deleteSpec(child2);
-  mj_deleteModel(model1);
-  mj_deleteModel(model2);
-}
-
-TEST_F(MujocoTest, BodyToFrameWithInertial) {
-  static constexpr char xml_child[] = R"(
-    <mujoco>
-      <worldbody>
-        <body name="parent">
-          <body name="child">
-            <inertial mass="1" pos="0 0 0" quat="1 0 0 0" diaginertia="1 2 3"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>)";
-
-  std::array<char, 1000> er;
-  mjSpec* spec = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(spec, NotNull()) << er.data();
-  mjModel* model = mj_compile(spec, 0);
-  EXPECT_THAT(model, NotNull());
-  mjsBody* parent = mjs_findBody(spec, "parent");
-  EXPECT_THAT(parent, NotNull());
-  mjsBody* child = mjs_findBody(spec, "child");
-  EXPECT_THAT(child, NotNull());
-  mjs_bodyToFrame(&child);
-  EXPECT_THAT(parent->mass, 1);
-  EXPECT_THAT(parent->fullinertia[0], 1);
-  EXPECT_THAT(parent->fullinertia[1], 2);
-  EXPECT_THAT(parent->fullinertia[2], 3);
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, AttachSpecToSite) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <site name="site" pos="1 2 3"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="sphere">
-        <joint type="slide"/>
-        <geom size=".1"/>
-      </body>
-      <camera pos="0 0 0" quat="1 0 0 0"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_result[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <site name="site" pos="1 2 3"/>
-        <frame name="attached-world-1" pos="1 2 3">
-          <body name="attached-sphere-1">
-            <joint type="slide"/>
-            <geom size=".1"/>
-          </body>
-          <camera pos="0 0 0" quat="1 0 0 0"/>
-        </frame>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-  mjsSite* site = mjs_asSite(mjs_findElement(parent, mjOBJ_SITE, "site"));
-  EXPECT_THAT(site, NotNull());
-
-  // add a frame to the child
-  mjsBody* world = mjs_findBody(child, "world");
-  EXPECT_THAT(world, NotNull());
-  mjsFrame* frame = mjs_addFrame(world, 0);
-  EXPECT_THAT(frame, NotNull());
-  mjs_setName(frame->element, "world");
-  mjs_setFrame(mjs_firstChild(world, mjOBJ_BODY, 0), frame);
-  mjs_setFrame(mjs_firstChild(world, mjOBJ_CAMERA, 0), frame);
-
-  // attach the entire spec to the site
-  mjsFrame* worldframe =
-      mjs_asFrame(mjs_attach(site->element, frame->element, "attached-", "-1"));
-  EXPECT_THAT(worldframe, NotNull());
-
-  // compile and compare
-  mjModel* model = mj_compile(parent, 0);
-  EXPECT_THAT(model, NotNull());
-  MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
-  EXPECT_THAT(expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(model, expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-
-  // check that the child world still exists
-  mjsBody* child_world = mjs_findBody(child, "world");
-  EXPECT_THAT(child_world, NotNull());
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, AttachSpecToBody) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="sphere">
-        <joint type="slide"/>
-        <geom size=".1"/>
-      </body>
-      <camera pos="0 0 0" quat="1 0 0 0"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_result[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <frame name="attached-world-1" pos="1 2 3">
-          <body name="attached-sphere-1">
-            <joint type="slide"/>
-            <geom size=".1"/>
-          </body>
-          <camera pos="0 0 0" quat="1 0 0 0"/>
-        </frame>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-  mjsBody* body = mjs_findBody(parent, "body");
-  EXPECT_THAT(body, NotNull());
-
-  // add a frame to the child
-  mjsBody* world = mjs_findBody(child, "world");
-  EXPECT_THAT(world, NotNull());
-  mjsFrame* frame = mjs_addFrame(world, 0);
-  EXPECT_THAT(frame, NotNull());
-  mjs_setName(frame->element, "world");
-  mjs_setFrame(mjs_firstChild(world, mjOBJ_BODY, 0), frame);
-  mjs_setFrame(mjs_firstChild(world, mjOBJ_CAMERA, 0), frame);
-
-  // attach the entire spec to the site
-  mjsFrame* worldframe =
-      mjs_asFrame(mjs_attach(body->element, frame->element, "attached-", "-1"));
-  EXPECT_THAT(worldframe, NotNull());
-  worldframe->pos[0] = 1;
-  worldframe->pos[1] = 2;
-  worldframe->pos[2] = 3;
-
-  // compile and compare
-  mjModel* model = mj_compile(parent, 0);
-  EXPECT_THAT(model, NotNull());
-  MjModelPtr expected = LoadModelFromString(xml_result, er.data(), er.size());
-  EXPECT_THAT(expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(model, expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-
-  // check that the child world still exists
-  mjsBody* child_world = mjs_findBody(child, "world");
-  EXPECT_THAT(child_world, NotNull());
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, PreserveState) {
-  std::array<char, 1000> er;
-  std::string field = "";
-
-  static constexpr char xml_full[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="detachable" pos="1 0 0">
-        <joint type="hinge" axis="0 0 1" name="hinge"/>
-        <geom type="sphere" size=".1"/>
-      </body>
-      <body name="persistent">
-        <joint type="slide" axis="0 0 1" name="slide"/>
-        <geom type="sphere" size=".2"/>
-      </body>
-      <body name="mocap_detach" mocap="true"/>
-      <body name="mocap" mocap="true"/>
-    </worldbody>
-    <actuator>
-      <position name="hinge" joint="hinge" timeconst=".01"/>
-      <position name="slide" joint="slide" timeconst=".01"/>
-    </actuator>
-  </mujoco>)";
-
-  static constexpr char xml_expected[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="persistent">
-        <joint type="slide" axis="0 0 1" name="slide"/>
-        <geom type="sphere" size=".2"/>
-      </body>
-      <body name="newbody" pos="2 0 0">
-        <joint type="slide" axis="0 0 1"/>
-        <geom type="sphere" size=".3"/>
-      </body>
-      <body name="mocap" mocap="true"/>
-    </worldbody>
-    <actuator>
-      <position name="slide" joint="slide" timeconst=".01"/>
-    </actuator>
-  </mujoco>)";
-
-  // load spec
-  mjSpec* spec = mj_parseXMLString(xml_full, 0, er.data(), er.size());
-  EXPECT_THAT(spec, NotNull()) << er.data();
-
-  // compile models
-  mjModel* model = mj_compile(spec, 0);
-  EXPECT_THAT(model, NotNull());
-  MjModelPtr m_expected =
-      LoadModelFromString(xml_expected, er.data(), er.size());
-  EXPECT_THAT(m_expected.get(), NotNull());
-
-  // create data
-  mjData* data = mj_makeData(model);
-  EXPECT_THAT(data, NotNull());
-  MjDataPtr d_expected = MakeData(m_expected);
-  EXPECT_THAT(d_expected.get(), NotNull());
-
-  // set ctrl
-  data->ctrl[0] = 1;
-  data->ctrl[1] = 2;
-  d_expected.get()->ctrl[0] = 2;
-
-  // set mocap
-  data->mocap_pos[3] = 1;
-  data->mocap_quat[4] = 0;
-  data->mocap_quat[5] = 1;
-  d_expected.get()->mocap_pos[0] = 1;
-  d_expected.get()->mocap_quat[0] = 0;
-  d_expected.get()->mocap_quat[1] = 1;
-
-  // step models
-  mj_step(model, data);
-  mj_step(m_expected.get(), d_expected.get());
-  EXPECT_THAT(data->time, model->opt.timestep);
-
-  // detach subtree
-  mjsBody* body = mjs_findBody(spec, "detachable");
-  EXPECT_THAT(body, NotNull());
-  EXPECT_THAT(mjs_delete(spec, body->element), 0);
-
-  // detach mocap
-  mjsBody* mocap_body = mjs_findBody(spec, "mocap_detach");
-  EXPECT_THAT(mocap_body, NotNull());
-  EXPECT_THAT(mjs_delete(spec, mocap_body->element), 0);
-
-  // add body
-  mjsBody* newbody = mjs_addBody(mjs_findBody(spec, "world"), 0);
-  EXPECT_THAT(newbody, NotNull());
-
-  // add geom and joint
-  mjsGeom* geom = mjs_addGeom(newbody, 0);
-  mjsJoint* joint = mjs_addJoint(newbody, 0);
-
-  // set properties
-  newbody->pos[0] = 2;
-  geom->size[0] = .3;
-  joint->type = mjJNT_SLIDE;
-  joint->axis[0] = 0;
-  joint->axis[1] = 0;
-  joint->axis[2] = 1;
-  joint->ref = d_expected.get()->qpos[m_expected->nq - 1];
-
-  // compile new model
-  mj_recompile(spec, 0, model, data);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(data->time, model->opt.timestep);
-
-  // compare qpos
-  EXPECT_EQ(model->nq, m_expected->nq);
-  for (int i = 0; i < model->nq; ++i) {
-    EXPECT_EQ(data->qpos[i], d_expected.get()->qpos[i]) << i;
-  }
-
-  // compare qvel
-  EXPECT_EQ(model->nv, m_expected->nv);
-  for (int i = 0; i < model->nv - 1; ++i) {
-    EXPECT_EQ(data->qvel[i], d_expected.get()->qvel[i]) << i;
-  }
-
-  // second body was added after stepping so qvel should be zero
-  EXPECT_EQ(data->qvel[model->nv - 1], 0);
-
-  // compare act
-  EXPECT_EQ(model->na, m_expected->na);
-  for (int i = 0; i < model->na; ++i) {
-    EXPECT_EQ(data->act[i], d_expected.get()->act[i]) << i;
-  }
-
-  // compare mocap
-  EXPECT_EQ(model->nmocap, m_expected->nmocap);
-  for (int i = 0; i < model->nmocap; ++i) {
-    for (int j = 0; j < 3; ++j) {
-      EXPECT_EQ(data->mocap_pos[3 * i + j],
-                d_expected.get()->mocap_pos[3 * i + j])
-          << i;
-    }
-    for (int j = 0; j < 4; ++j) {
-      EXPECT_EQ(data->mocap_quat[4 * i + j],
-                d_expected.get()->mocap_quat[4 * i + j])
-          << i;
-    }
-  }
-
-  // check that the function is callable with no data
-  mj_deleteData(data);
-  mj_recompile(spec, 0, model, nullptr);
-
-  // destroy everything
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, RecompileAttach) {
-  std::array<char, 1000> er;
-  std::string field = "";
-
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <joint type="slide" axis="0 0 1"/>
-        <geom size=".2"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  mjSpec* parent = mj_makeSpec();
-  EXPECT_THAT(parent, NotNull());
-
-  mjSpec* child1 = mj_parseXMLString(xml, 0, er.data(), er.size());
-  EXPECT_THAT(child1, NotNull());
-  mjSpec* child2 = mj_parseXMLString(xml, 0, er.data(), er.size());
-  EXPECT_THAT(child2, NotNull());
-
-  mjsElement* frame1 = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
-  mjs_attach(frame1, mjs_findBody(child1, "body")->element, "child-", "-1");
-
-  mjModel* model = mj_compile(parent, 0);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->nq, 1);
-  mjData* data = mj_makeData(model);
-  EXPECT_THAT(data, NotNull());
-
-  for (int i = 0; i < 100; i++) {
-    mj_step(model, data);
-  }
-
-  mjsElement* frame2 = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
-  mjs_attach(frame2, mjs_findBody(child2, "body")->element, "child-", "-2");
-
-  EXPECT_EQ(mj_recompile(parent, 0, model, data), 0);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->nq, 2);
-  EXPECT_NE(data->qpos[0], data->qpos[1]);
-  EXPECT_EQ(data->qpos[1], 0);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-  mj_deleteSpec(child1);
-  mj_deleteSpec(child2);
-  mj_deleteSpec(parent);
-}
-
-TEST_F(MujocoTest, AttachMocap) {
-  std::array<char, 1000> er;
-  mjtNum tol = 0;
-  std::string field = "";
-
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="1 1 1" quat="0 1 0 0" name="mocap" mocap="true"/>
-    </worldbody>
-    <keyframe>
-      <key name="key" time="1" mpos="2 2 2" mquat="0 0 0 1"/>
-    </keyframe>
-  </mujoco>)";
-
-  static constexpr char xml_expected[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="1 1 1" quat="0 1 0 0" name="mocap" mocap="true"/>
-      <body pos="1 1 1" quat="0 1 0 0" name="attached-mocap-1" mocap="true"/>
-    </worldbody>
-    <keyframe>
-      <key name="key" time="1" mpos="2 2 2 1 1 1" mquat="0 0 0 1 0 1 0 0"/>
-      <key name="attached-key-1" time="1" mpos="1 1 1 2 2 2" mquat="0 1 0 0 0 0 0 1"/>
-    </keyframe>
-  </mujoco>)";
-
-  mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
-  EXPECT_THAT(spec, NotNull()) << er.data();
-  mjs_setDeepCopy(spec, true);  // needed for self-attach
-
-  mjsBody* body = mjs_findBody(spec, "mocap");
-  EXPECT_THAT(body, NotNull());
-
-  mjsBody* world = mjs_findBody(spec, "world");
-  EXPECT_THAT(world, NotNull());
-
-  mjsElement* frame = mjs_addFrame(world, NULL)->element;
-  mjs_attach(frame, body->element, "attached-", "-1");
-
-  mjsBody* attached_body = mjs_findBody(spec, "attached-mocap-1");
-  EXPECT_THAT(attached_body, NotNull());
-
-  mjModel* model = mj_compile(spec, 0);
-  EXPECT_THAT(model, NotNull());
-
-  MjModelPtr m_expected =
-      LoadModelFromString(xml_expected, er.data(), er.size());
-  EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(model, m_expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, ReplicateKeyframe) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <replicate count="1" euler="0 0 1.8">
-        <body name="body" pos="0 -1 0">
-          <joint type="slide"/>
-          <geom name="g" size="1"/>
-        </body>
-      </replicate>
-    </worldbody>
-
-    <keyframe>
-      <key name="keyframe" qpos="1"/>
-    </keyframe>
-  </mujoco>
-
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), testing::NotNull()) << error.data();
-  EXPECT_THAT(m->ngeom, 1);
-  EXPECT_THAT(m->nbody, 2);
-
-  // check that the keyframe is resized
-  EXPECT_THAT(m->nkey, 2);
-  EXPECT_THAT(m->nq, 1);
-  EXPECT_THAT(m->key_qpos[0], 1);
-  EXPECT_THAT(m->key_qpos[1], 0);
-  EXPECT_STREQ(mj_id2name(m.get(), mjOBJ_KEY, 0), "keyframe0");
-  EXPECT_STREQ(mj_id2name(m.get(), mjOBJ_KEY, 1), "keyframe");
-}
-
-TEST_F(MujocoTest, AttachUnnamedAssets) {
-  static constexpr char cube[] = R"(
-  v -1 -1  1
-  v  1 -1  1
-  v -1  1  1
-  v  1  1  1
-  v -1  1 -1
-  v  1  1 -1
-  v -1 -1 -1
-  v  1 -1 -1)";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
-
-  mjSpec* child = mj_makeSpec();
-  mjsMesh* mesh = mjs_addMesh(child, 0);
-  mjsFrame* frame = mjs_addFrame(mjs_findBody(child, "world"), 0);
-  mjsGeom* geom = mjs_addGeom(mjs_findBody(child, "world"), 0);
-  mjs_setFrame(geom->element, frame);
-  mjs_setString(mesh->file, "cube.obj");
-  mjs_setString(geom->meshname, "cube");
-  geom->type = mjGEOM_MESH;
-
-  mjSpec* spec = mj_makeSpec();
-  mjs_attach(mjs_findBody(spec, "world")->element, frame->element, "_", "");
-
-  mjModel* model = mj_compile(spec, vfs.get());
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->nmesh, 1);
-  EXPECT_STREQ(mj_id2name(model, mjOBJ_MESH, 0), "_cube");
-
-  mj_deleteVFS(vfs.get());
-  mj_deleteSpec(spec);
-  mj_deleteSpec(child);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, InitTexture) {
-  mjSpec* spec = mj_makeSpec();
-  EXPECT_THAT(spec, NotNull());
-
-  mjsTexture* texture = mjs_addTexture(spec);
-  mjs_setName(texture->element, "checker");
-  texture->type = mjTEXTURE_CUBE;
-  texture->builtin = mjBUILTIN_CHECKER;
-  texture->width = 300;
-  texture->height = 300;
-
-  mjsMaterial* material = mjs_addMaterial(spec, 0);
-  mjs_setName(material->element, "floor");
-  mjs_setInStringVec(material->textures, mjTEXROLE_RGB, "checker");
-
-  mjsGeom* floor = mjs_addGeom(mjs_findBody(spec, "world"), 0);
-  mjs_setString(floor->material, "floor");
-  floor->type = mjGEOM_PLANE;
-  floor->size[0] = 1;
-  floor->size[1] = 1;
-  floor->size[2] = 0.01;
-  mjs_setString(floor->material, "floor");
-
-  mjModel* model = mj_compile(spec, 0);
-  EXPECT_THAT(model, NotNull());
-
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-void AttachNestedKeyframe(bool compile) {
-  static constexpr char parent_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <joint name="joint" type="slide"/>
-        <geom size=".1"/>
-      </body>
-      <frame name="frame"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char child_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <joint name="joint" type="slide"/>
-        <geom size=".2"/>
-        <frame name="frame"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key name="key2" time="2" qpos="2"/>
-    </keyframe>
-  </mujoco>)";
-
-  static constexpr char gchild_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <joint name="joint" type="slide"/>
-        <geom size=".3"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key name="key1" time="1" qpos="1"/>
-    </keyframe>
-  </mujoco>)";
-
-  static constexpr char expected_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <joint name="joint" type="slide"/>
-        <geom size=".1"/>
-      </body>
-      <frame name="frame">
-        <body name="child-body">
-          <joint name="child-joint" type="slide"/>
-          <geom size=".2"/>
-          <frame name="child-frame">
-            <body name="child-gchild-body">
-              <joint name="child-gchild-joint" type="slide"/>
-              <geom size=".3"/>
-            </body>
-          </frame>
-        </body>
-      </frame>
-    </worldbody>
-    <keyframe>
-      <key name="child-key2" time="2" qpos="0 2 0"/>
-      <key name="child-gchild-key1" time="1" qpos="0 0 1"/>
-    </keyframe>
-  </mujoco>)";
-
-  static constexpr char expected_xml_uncompiled[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <joint name="joint" type="slide"/>
-        <geom size=".1"/>
-      </body>
-      <frame name="frame">
-        <body name="child-body">
-          <joint name="child-joint" type="slide"/>
-          <geom size=".2"/>
-          <frame name="child-frame">
-            <body name="child-gchild-body">
-              <joint name="child-gchild-joint" type="slide"/>
-              <geom size=".3"/>
-            </body>
-          </frame>
-        </body>
-      </frame>
-    </worldbody>
-    <keyframe>
-      <key name="child-key2" time="2" qpos="0 2 0"/>
-      <key name="gchild-key1" time="1" qpos="0 0 1"/>
-    </keyframe>
-  </mujoco>)";
-
-  std::array<char, 1000> er;
-  mjSpec* parent = mj_parseXMLString(parent_xml, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(child_xml, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-  mjSpec* gchild = mj_parseXMLString(gchild_xml, 0, er.data(), er.size());
-  EXPECT_THAT(gchild, NotNull()) << er.data();
-
-  mjs_setDeepCopy(parent, true);
-  mjs_setDeepCopy(child, true);
-
-  // attach gchild to child
-  mjs_attach(mjs_findFrame(child, "frame")->element,
-             mjs_findBody(gchild, "body")->element, "gchild-", "");
-
-  // compile required before further attachment
-  mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
-
-  // check warning is issued, empty for a compiled model
-  MockWarningHandler warning_handler;
-  if (!compile) {
-    warning_handler.ExpectWarnings("model has pending keyframes");
-  }
-
-  // attach child to parent
-  mjs_attach(mjs_findFrame(parent, "frame")->element,
-             mjs_findBody(child, "body")->element, "child-", "");
-
-  if (compile) {
-    EXPECT_EQ(mjs_numWarnings(parent), 0);
-  } else {
-    EXPECT_GE(mjs_numWarnings(parent), 1);
-    EXPECT_THAT(mjs_getWarning(parent, 0),
-                HasSubstr("model has pending keyframes"));
-  }
-  // compare models
-  mjtNum tol = 0;
-  std::string field = "";
-  mjModel* m_attached = mj_compile(parent, 0);
-  EXPECT_THAT(m_attached, NotNull());
-  MjModelPtr m_expected = LoadModelFromString(
-      compile ? expected_xml : expected_xml_uncompiled, er.data(), er.size());
-  EXPECT_THAT(m_expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(m_attached, m_expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-  ;
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteSpec(gchild);
-  mj_deleteModel(m_attached);
-  mj_deleteModel(m_child);
-}
-
-TEST_F(MujocoTest, TestAttachNestedKeyframe) {
-  mock_warning_handler.ExpectWarnings();
-  AttachNestedKeyframe(/*compile=*/true);
-  AttachNestedKeyframe(/*compile=*/false);
-}
-
-TEST_F(MujocoTest, RepeatedAttachKeyframe) {
-  static constexpr char xml_1[] = R"(
-    <mujoco model="MuJoCo Model">
-      <worldbody>
-        <body name="body"/>
-      </worldbody>
-    </mujoco>)";
-
-  static constexpr char xml_2[] = R"(
-    <mujoco model="MuJoCo Model">
-      <worldbody>
-        <body name="b1">
-          <joint/>
-          <geom size="0.1"/>
-        </body>
-        <body name="b2">
-          <joint/>
-          <geom size="0.1"/>
-        </body>
-      </worldbody>
-      <keyframe>
-        <key name="home" qpos="1 2" />
-      </keyframe>
-    </mujoco>)";
-
-  std::array<char, 1000> er;
-  mjSpec* parent = mj_parseXMLString(xml_1, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(xml_2, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-
-  mjsBody* body_1 = mjs_findBody(parent, "body");
-  mjsElement* attachment_frame = mjs_addFrame(body_1, 0)->element;
-  mjs_attach(attachment_frame, mjs_findBody(child, "b1")->element, "b1-", "");
-  mjModel* model_1 = mj_compile(parent, 0);
-  EXPECT_THAT(model_1, NotNull());
-  mjs_attach(attachment_frame, mjs_findBody(child, "b2")->element, "b2-", "");
-  mjModel* model_2 = mj_compile(parent, 0);
-  EXPECT_THAT(model_2, NotNull());
-
-  EXPECT_EQ(model_1->nkey, 1);
-  EXPECT_EQ(model_2->nkey, 2);
-  EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 0), "b1-home");
-  EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 1), "b2-home");
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(model_1);
-  mj_deleteModel(model_2);
-}
-
-TEST_F(MujocoTest, ResizeParentKeyframe) {
-  static constexpr char xml_parent[] = R"(
-    <mujoco model="MuJoCo Model">
-      <worldbody>
-        <frame name="frame"/>
-        <body name="body">
-          <joint/>
-          <geom size="0.1"/>
-        </body>
-      </worldbody>
-      <keyframe>
-        <key name="home" qpos="1"/>
-      </keyframe>
-    </mujoco>)";
-
-  static constexpr char xml_child[] = R"(
-    <mujoco model="MuJoCo Model">
-      <worldbody>
-        <body name="body">
-          <joint/>
-          <geom size="0.1"/>
-        </body>
-      </worldbody>
-    </mujoco>)";
-
-  static constexpr char xml_expected[] = R"(
-    <mujoco model="MuJoCo Model">
-      <worldbody>
-        <body name="body">
-          <joint/>
-          <geom size="0.1"/>
-        </body>
-        <frame name="frame">
-          <body name="child-body">
-            <joint/>
-            <geom size="0.1"/>
-          </body>
-        </frame>
-      </worldbody>
-      <keyframe>
-        <key name="home" qpos="1 0"/>
-      </keyframe>
-    </mujoco>)";
-
-  std::array<char, 1000> er;
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-
-  mjs_attach(mjs_findFrame(parent, "frame")->element,
-             mjs_findBody(child, "body")->element, "child-", "");
-
-  mjModel* model = mj_compile(parent, 0);
-  EXPECT_THAT(model, NotNull());
-
-  mjtNum tol = 0;
-  std::string field = "";
-  MjModelPtr expected = LoadModelFromString(xml_expected, er.data(), er.size());
-  EXPECT_THAT(expected.get(), NotNull()) << er.data();
-  EXPECT_LE(CompareModel(model, expected.get(), field), tol)
-      << "Expected and attached models are different!\n"
-      << "Different field: " << field << '\n';
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, KeyframeSizeError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <replicate count="2" offset="0 1 0">
-        <body name="ball" pos="0 0 1">
-          <geom type="sphere" size="0.1"/>
-          <joint/>
-        </body>
-      </replicate>
-    </worldbody>
-
-    <keyframe>
-      <key name="valid_qpos" qpos="0.5"/>
-      <key name="invalid_qpos" qpos="0.5 0.25"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  std::array<char, 1000> er;
-  mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
-  EXPECT_THAT(spec, IsNull());
-  EXPECT_THAT(
-      er.data(),
-      HasSubstr(
-          "Keyframe 'invalid_qpos' has invalid qpos size, got 2, should be 1"));
-}
-
-TEST_F(MujocoTest, DifferentUnitsAllowed) {
-  static constexpr char gchild_xml[] = R"(
-  <mujoco>
-    <compiler angle="degree"/>
-
-    <worldbody>
-      <body name="gchild" euler="-90 0 0">
-        <geom type="box" size="1 1 1"/>
-        <joint name="gchild_joint" range="-180 180"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char child_xml[] = R"(
-  <mujoco>
-    <compiler angle="radian"/>
-
-    <worldbody>
-      <body name="child" euler="-1.5707963 0 0">
-        <geom type="box" size="1 1 1"/>
-        <joint name="child_joint" range="-3.1415926 3.1415926"/>
-        <frame name="frame" euler="1.5707963 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char parent_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent">
-        <geom type="box" size="1 1 1"/>
-        <joint name="parent_joint" range="-180 180"/>
-        <frame name="frame" euler="90 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  mjSpec* gchild = mj_parseXMLString(gchild_xml, 0, error.data(), error.size());
-  mjSpec* child = mj_parseXMLString(child_xml, 0, error.data(), error.size());
-  mjSpec* spec = mj_parseXMLString(parent_xml, 0, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-  mjs_attach(mjs_findFrame(child, "frame")->element,
-             mjs_findBody(gchild, "gchild")->element, "gchild_", "");
-  mjs_attach(mjs_findFrame(spec, "frame")->element,
-             mjs_findBody(child, "child")->element, "child_", "");
-
-  mjModel* model = mj_compile(spec, 0);
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->njnt, 3);
-  EXPECT_NEAR(model->jnt_range[0], -mjPI, 1e-6);
-  EXPECT_NEAR(model->jnt_range[1], mjPI, 1e-6);
-  EXPECT_NEAR(model->jnt_range[2], -mjPI, 1e-6);
-  EXPECT_NEAR(model->jnt_range[3], mjPI, 1e-6);
-  EXPECT_NEAR(model->jnt_range[4], -mjPI, 1e-6);
-  EXPECT_NEAR(model->jnt_range[5], mjPI, 1e-6);
-  EXPECT_NEAR(model->body_quat[4], 1, 1e-12);
-  EXPECT_NEAR(model->body_quat[5], 0, 1e-12);
-  EXPECT_NEAR(model->body_quat[6], 0, 1e-12);
-  EXPECT_NEAR(model->body_quat[7], 0, 1e-12);
-
-  mjSpec* copied_spec = mj_copySpec(spec);
-  ASSERT_THAT(copied_spec, NotNull());
-  mj_deleteSpec(gchild);
-  mj_deleteSpec(child);
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-
-  // check that deleting `parent` or `child` does not invalidate the copy
-  mjModel* copied_model = mj_compile(copied_spec, 0);
-  EXPECT_THAT(copied_model, NotNull());
-  EXPECT_THAT(copied_model->njnt, 3);
-  EXPECT_NEAR(copied_model->jnt_range[0], -mjPI, 1e-6);
-  EXPECT_NEAR(copied_model->jnt_range[1], mjPI, 1e-6);
-  EXPECT_NEAR(copied_model->jnt_range[2], -mjPI, 1e-6);
-  EXPECT_NEAR(copied_model->jnt_range[3], mjPI, 1e-6);
-  EXPECT_NEAR(copied_model->jnt_range[4], -mjPI, 1e-6);
-  EXPECT_NEAR(copied_model->jnt_range[5], mjPI, 1e-6);
-  EXPECT_NEAR(copied_model->body_quat[4], 1, 1e-12);
-  EXPECT_NEAR(copied_model->body_quat[5], 0, 1e-12);
-  EXPECT_NEAR(copied_model->body_quat[6], 0, 1e-12);
-  EXPECT_NEAR(copied_model->body_quat[7], 0, 1e-12);
-
-  mj_deleteSpec(copied_spec);
-  mj_deleteModel(copied_model);
-}
-
-TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <worldbody/>
-  </mujoco>
-  )";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <compiler eulerseq="zyx"/>
-    <worldbody>
-      <frame name="child" >
-        <site euler="0 90 180"/>
-      </frame>
-    </worldbody>
-  </mujoco>
-  )";
-
-  // load specs and compile child
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, nullptr, 0);
-  EXPECT_THAT(parent, NotNull());
-  mjSpec* child1 = mj_parseXMLString(xml_child, 0, nullptr, 0);
-  EXPECT_THAT(child1, NotNull());
-  mjModel* m_child1 = mj_compile(child1, 0);
-  EXPECT_THAT(m_child1, NotNull());
-  mjSpec* child2 = mj_parseXMLString(xml_child, 0, nullptr, 0);
-  EXPECT_THAT(child2, NotNull());
-  mjModel* m_child2 = mj_compile(child1, 0);
-  EXPECT_THAT(m_child2, NotNull());
-
-  // attach child frame to parent worldbody
-  mjsBody* world = mjs_findBody(parent, "world");
-  EXPECT_THAT(world, NotNull());
-  mjsFrame* child1_frame = mjs_findFrame(child1, "child");
-  EXPECT_THAT(child1_frame, NotNull());
-  mjsFrame* child2_frame = mjs_findFrame(child2, "child");
-  EXPECT_THAT(child2_frame, NotNull());
-  mjsElement* attached_frame1 =
-      mjs_attach(world->element, child1_frame->element, "child-", "-1");
-  EXPECT_THAT(attached_frame1, NotNull());
-  mjsElement* attached_frame2 =
-      mjs_attach(world->element, child2_frame->element, "child-", "-2");
-  EXPECT_THAT(attached_frame2, NotNull());
-
-  // wrap the child frame in the parent frame and compile
-  mjModel* m_attached = mj_compile(parent, 0);
-  EXPECT_THAT(m_attached, NotNull());
-  EXPECT_NEAR(m_attached->site_quat[0], m_child1->site_quat[0], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[1], m_child1->site_quat[1], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[2], m_child1->site_quat[2], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[3], m_child1->site_quat[3], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[4], m_child2->site_quat[0], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[5], m_child2->site_quat[1], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[6], m_child2->site_quat[2], 1e-6);
-  EXPECT_NEAR(m_attached->site_quat[7], m_child2->site_quat[3], 1e-6);
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child1);
-  mj_deleteModel(m_child1);
-  mj_deleteSpec(child2);
-  mj_deleteModel(m_child2);
-  mj_deleteModel(m_attached);
-}
-
-TEST_F(MujocoTest, NotCopyAttachedSpec) {
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <asset>
-      <model name="child" file="xml_child.xml"/>
-    </asset>
-    <worldbody>
-      <body name="parent">
-        <geom name="geom" size="2"/>
-        <attach model="child" body="body" prefix="other"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <geom name="geom" size="1" pos="2 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "xml_child.xml", xml_child, sizeof(xml_child));
-
-  std::array<char, 1024> er;
-  mjSpec* spec = mj_parseXMLString(xml_parent, vfs.get(), er.data(), er.size());
-  EXPECT_THAT(spec, NotNull()) << er.data();
-
-  mjModel* model = mj_compile(spec, vfs.get());
-  EXPECT_THAT(model, NotNull()) << er.data();
-
-  mjSpec* child = mjs_findSpec(spec, "child");
-  EXPECT_THAT(child, NotNull());
-
-  mjSpec* copy = mj_copySpec(spec);
-  EXPECT_THAT(copy, NotNull());
-
-  mjSpec* child_copy = mjs_findSpec(copy, "child");
-  EXPECT_THAT(child_copy, NotNull());
-  EXPECT_EQ(child_copy, child);
-
-  mj_deleteSpec(spec);
-  mj_deleteSpec(copy);
-  mj_deleteModel(model);
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MujocoTest, ApplyNameSpaceToDefaults) {
-  static constexpr char xml_c[] = R"(
-  <mujoco>
-    <default>
-      <default class="mesh">
-        <mesh scale="0.001 0.001 0.001"/>
-      </default>
-    </default>
-    <asset>
-      <mesh file="cube.obj" class="mesh"/>
-    </asset>
-    <worldbody>
-      <body name="body">
-        <geom type="mesh" mesh="cube"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml_p[] = R"(
-  <mujoco>
-    <worldbody>
-      <frame name="parent"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char cube[] = R"(
-  v -0.500000 -0.500000  0.500000
-  v  0.500000 -0.500000  0.500000
-  v -0.500000  0.500000  0.500000
-  v  0.500000  0.500000  0.500000
-  v -0.500000  0.500000 -0.500000
-  v  0.500000  0.500000 -0.500000
-  v -0.500000 -0.500000 -0.500000
-  v  0.500000 -0.500000 -0.500000)";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
-
-  std::array<char, 1024> err;
-  mjSpec* child = mj_parseXMLString(xml_c, vfs.get(), err.data(), err.size());
-  EXPECT_THAT(child, NotNull()) << err.data();
-  mjSpec* parent = mj_parseXMLString(xml_p, 0, err.data(), err.size());
-  EXPECT_THAT(parent, NotNull()) << err.data();
-
-  mjsElement* attached =
-      mjs_attach(mjs_findFrame(parent, "parent")->element,
-                 mjs_findBody(child, "body")->element, "child-", "");
-  EXPECT_THAT(attached, NotNull());
-
-  mjModel* model = mj_compile(parent, vfs.get());
-  EXPECT_THAT(model, NotNull());
-
-  mj_deleteSpec(child);
-  mj_deleteSpec(parent);
-  mj_deleteModel(model);
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MujocoTest, DetachDefault) {
-  static constexpr char xml_c[] = R"(
-  <mujoco>
-    <default>
-      <default class="parent">
-        <default class="child1">
-          <mesh scale="0.001 0.001 0.001"/>
-        </default>
-        <default class="child2">
-          <mesh scale="0.001 0.001 0.001"/>
-        </default>
-      </default>
-    </default>
-    <asset>
-      <mesh file="cube.obj" class="child2"/>
-    </asset>
-    <worldbody>
-      <body name="body">
-        <geom type="mesh" mesh="cube"/>
-      </body>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char cube[] = R"(
-  v -0.500000 -0.500000  0.500000
-  v  0.500000 -0.500000  0.500000
-  v -0.500000  0.500000  0.500000
-  v  0.500000  0.500000  0.500000
-  v -0.500000  0.500000 -0.500000
-  v  0.500000  0.500000 -0.500000
-  v -0.500000 -0.500000 -0.500000
-  v  0.500000 -0.500000 -0.500000)";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
-
-  std::array<char, 1024> err;
-  mjSpec* spec = mj_parseXMLString(xml_c, vfs.get(), err.data(), err.size());
-  EXPECT_THAT(spec, NotNull()) << err.data();
-
-  // get default
-  mjsDefault* child = mjs_findDefault(spec, "child1");
-  EXPECT_THAT(child, NotNull());
-
-  // delete default
-  EXPECT_EQ(mjs_delete(spec, child->element), 0);
-  child = mjs_findDefault(spec, "child1");
-  EXPECT_THAT(child, IsNull());
-
-  // try and detach previously detached default, should fail
-  EXPECT_EQ(mjs_delete(spec, nullptr), -1);
-  child = mjs_findDefault(spec, "child1");
-  EXPECT_THAT(child, IsNull());
-
-  // detach parent
-  mjsDefault* parent = mjs_findDefault(spec, "parent");
-  EXPECT_THAT(parent, NotNull());
-  mjs_delete(spec, parent->element);
-
-  // both parent and remaining child should be removed
-  parent = mjs_findDefault(spec, "parent");
-  EXPECT_THAT(parent, IsNull());
-  child = mjs_findDefault(spec, "child2");
-  EXPECT_THAT(child, IsNull());
-
-  // error when trying to detach the 'main' default
-  mjsDefault* main = mjs_findDefault(spec, "main");
-  EXPECT_THAT(main, NotNull());
-  EXPECT_EQ(mjs_delete(spec, main->element), -1);
-  EXPECT_THAT(mjs_getError(spec),
-              HasSubstr("cannot remove the global default ('main')"));
-
-  main = mjs_findDefault(spec, "main");
-  EXPECT_THAT(main, NotNull());
-
-  mj_deleteVFS(vfs.get());
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, ErrorWhenCompilingOrphanedSpec) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="a"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> er;
-  mjSpec* child = mj_parseXMLString(xml, 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-  mjSpec* parent = mj_makeSpec();
-  EXPECT_THAT(parent, NotNull());
-  mjsBody* body = mjs_findBody(child, "a");
-  EXPECT_THAT(body, NotNull());
-  mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), nullptr);
-  EXPECT_THAT(frame, NotNull());
-  mjs_attach(frame->element, body->element, "child-", "");
-  mj_deleteSpec(parent);
-  mjModel* model = mj_compile(child, 0);
-  EXPECT_THAT(model, IsNull());
-  EXPECT_THAT(mjs_getError(child), HasSubstr("by reference to a parent"));
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, SetFrameReverseOrder) {
-  mjSpec* spec = mj_makeSpec();
-  mjsBody* world = mjs_findBody(spec, "world");
-  mjsFrame* child = mjs_addFrame(world, nullptr);
-  mjsFrame* parent = mjs_addFrame(world, nullptr);
-  mjs_setName(child->element, "child");
-  mjs_setName(parent->element, "parent");
-  mjs_setFrame(child->element, parent);
-  mjSpec* copy = mj_copySpec(spec);
-  EXPECT_THAT(copy, NotNull());
-  EXPECT_THAT(mjs_findFrame(copy, "child"), NotNull());
-  EXPECT_THAT(mjs_findFrame(copy, "parent"), NotNull());
-  mj_deleteSpec(spec);
-  mj_deleteSpec(copy);
-}
-
-TEST_F(MujocoTest, UserValue) {
-  mjSpec* spec = mj_makeSpec();
-  EXPECT_THAT(spec, NotNull());
-  mjsBody* body = mjs_addBody(mjs_findBody(spec, "world"), nullptr);
-  EXPECT_THAT(body, NotNull());
-  std::string data = "data";
-  mjs_setUserValue(body->element, "key", data.data());
-  EXPECT_THAT(mjs_getUserValue(body->element, "invalid_key"), IsNull());
-  const void* payload = mjs_getUserValue(body->element, "key");
-  EXPECT_STREQ(static_cast<const char*>(payload), data.c_str());
-  mjs_deleteUserValue(body->element, "key");
-  EXPECT_THAT(mjs_getUserValue(body->element, "key"), IsNull());
-
-  std::string* heap_data = new std::string("heap_data");
-  mjs_setUserValueWithCleanup(
-      body->element, "key", heap_data,
-      [](const void* data) { delete static_cast<const std::string*>(data); });
-  payload = mjs_getUserValue(body->element, "key");
-  EXPECT_STREQ(static_cast<const std::string*>(payload)->c_str(),
-               heap_data->c_str());
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, CompilerTimers) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture name="grid" type="2d" builtin="checker" width="300" height="300" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
-      <material name="grid" texture="grid"/>
-    </asset>
-    <worldbody>
-      <geom type="plane" size="1 1 1" material="grid"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  mjModel* model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull());
-
-  EXPECT_GT(mjs_getTimer(spec)[mjCTIMER_TOTAL], 0);
-  EXPECT_GT(mjs_getTimer(spec)[mjCTIMER_ASSETS], 0);
-  EXPECT_GT(mjs_getTimer(spec)[mjCTIMER_TEXTURE], 0);
-
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-// -------------------- test compile warning infrastructure --------------------
-
-TEST_F(MujocoTest, CompileWarningCount) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent">
-        <geom size="1"/>
-        <flexcomp name="grid" type="grid" count="3 3 1" spacing="0.1 0.1 0.1"
-                  dim="2" radius="0.01">
-          <contact internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  mjModel* model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull());
-
-  // flex with no passive forces should produce a warning
-  EXPECT_GT(mjs_numWarnings(spec), 0);
-  EXPECT_THAT(mjs_getWarning(spec, 0), HasSubstr("not rigid"));
-
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, CompileWarningOutOfBounds) {
-  mjSpec* spec = mj_makeSpec();
-  mjsBody* world = mjs_findBody(spec, "world");
-  mjsGeom* geom = mjs_addGeom(world, 0);
-  geom->size[0] = 1;
-
-  mjModel* model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull());
-
-  // no warnings expected for simple model
-  EXPECT_EQ(mjs_numWarnings(spec), 0);
-  EXPECT_THAT(mjs_getWarning(spec, 0), IsNull());
-  EXPECT_THAT(mjs_getWarning(spec, -1), IsNull());
-
-  // nullptr spec should not crash
-  EXPECT_EQ(mjs_numWarnings(nullptr), 0);
-  EXPECT_THAT(mjs_getWarning(nullptr, 0), IsNull());
-
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, RecompileClearsCompileWarnings) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent">
-        <geom size="1"/>
-        <flexcomp name="grid" type="grid" count="3 3 1" spacing="0.1 0.1 0.1"
-                  dim="2" radius="0.01">
-          <contact internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  mjModel* model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull());
-  int first_count = mjs_numWarnings(spec);
-  EXPECT_GT(first_count, 0);
-
-  // recompile — warnings should be regenerated, not accumulated
-  mj_deleteModel(model);
-  model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull());
-  EXPECT_EQ(mjs_numWarnings(spec), first_count);
-
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, LoadXMLWarningInErrorBuffer) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent">
-        <geom size="1"/>
-        <flexcomp name="grid" type="grid" count="3 3 1" spacing="0.1 0.1 0.1"
-                  dim="2" radius="0.01">
-          <contact internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  // write xml to VFS
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
-
-  std::array<char, 1024> error;
-  error[0] = '\0';
-  mjModel* model = mj_loadXML("model.xml", &vfs, error.data(), error.size());
-  ASSERT_THAT(model, NotNull());
-
-  // warning should be in the error buffer
-  EXPECT_THAT(error.data(), HasSubstr("not rigid"));
-
-  mj_deleteModel(model);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MujocoTest, CompileWarningChainedToHandler) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent">
-        <geom size="1"/>
-        <flexcomp name="grid" type="grid" count="3 3 1" spacing="0.1 0.1 0.1"
-                  dim="2" radius="0.01">
-          <contact internal="false"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  // install a custom log handler that captures warnings
-  std::vector<std::string> captured_warnings;
-  static thread_local std::vector<std::string>* capture_ptr = nullptr;
-  capture_ptr = &captured_warnings;
-
-  // install custom log handler (replaces global, so mock is bypassed)
-
-  mjfLogHandler prev = mju_setLogHandler([](const mjLogMessage* msg) {
-    if (msg->level == mjLOG_WARNING && capture_ptr) {
-      capture_ptr->push_back(msg->subject);
-    }
-  });
-
-  mjModel* model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull());
-
-  // restore log handler
-  mju_setLogHandler(prev);
-  capture_ptr = nullptr;
-
-  // chaining should have forwarded warnings to our handler
-  EXPECT_THAT(captured_warnings, testing::Contains(HasSubstr("not rigid")));
-
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, WarningAccumulationAndRetrieval) {
-  mock_warning_handler.ExpectWarnings();
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <worldbody>
-      <frame name="parent"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="child">
-        <frame name="child_frame"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml_gchild[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="gchild"/>
-    </worldbody>
-    <keyframe>
-      <key name="k1"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> er;
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  ASSERT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  ASSERT_THAT(child, NotNull()) << er.data();
-  mjSpec* gchild = mj_parseXMLString(xml_gchild, 0, er.data(), er.size());
-  ASSERT_THAT(gchild, NotNull()) << er.data();
-
-  mjs_setDeepCopy(parent, true);
-  mjs_setDeepCopy(child, true);
-  mjs_setDeepCopy(gchild, true);
-
-  mjs_attach(mjs_findFrame(child, "child_frame")->element,
-             mjs_findBody(gchild, "gchild")->element, "gchild-", "");
-
-  mjs_attach(mjs_findFrame(parent, "parent")->element,
-             mjs_findBody(child, "child")->element, "child-", "");
-
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  EXPECT_THAT(mjs_getWarning(parent, 0),
-              HasSubstr("Child model has pending keyframes"));
-  EXPECT_THAT(mjs_getWarning(parent, 1), IsNull());
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-  mj_deleteSpec(gchild);
-}
-
-TEST_F(MujocoTest, CompilationWarningsClearedOnRecompile) {
-  mock_warning_handler.ExpectWarnings();
-  // flex with no edge stiffness or equality triggers passive forces warning
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="4 4 1" spacing=".2 .2 .2"
-              dim="2" radius=".1"/>
-  </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> er;
-  mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
-  ASSERT_THAT(spec, NotNull()) << er.data();
-
-  // first compile: should generate flex warning
-  mjModel* m = mj_compile(spec, nullptr);
-  ASSERT_THAT(m, NotNull());
-  int n1 = mjs_numWarnings(spec);
-  EXPECT_EQ(n1, 1);
-  EXPECT_THAT(mjs_getWarning(spec, 0),
-              HasSubstr("no equality constraints or passive forces"));
-
-  // recompile: warnings should be cleared and regenerated
-  mj_deleteModel(m);
-  m = mj_compile(spec, nullptr);
-  ASSERT_THAT(m, NotNull());
-  EXPECT_EQ(mjs_numWarnings(spec), n1);
-
-  mj_deleteModel(m);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MujocoTest, MjEncodeNativeFormats) {
-  // simple test spec
-  mjSpec* spec = mj_makeSpec();
-  mjsBody* world = mjs_findBody(spec, "world");
-  mjsBody* body = mjs_addBody(world, nullptr);
-  mjsGeom* geom = mjs_addGeom(body, nullptr);
-  geom->size[0] = 1.0;
-  geom->size[1] = 1.0;
-  geom->size[2] = 1.0;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, NotNull());
-
-  std::filesystem::path tmp_dir = std::filesystem::temp_directory_path();
-  std::string xml_path = (tmp_dir / "test_encode.xml").string();
-  std::string mjb_path = (tmp_dir / "test_encode.mjb").string();
-  std::string txt_path = (tmp_dir / "test_encode.txt").string();
-
-  char error[1000];
-
-  // XML Encoding with spec
-  EXPECT_GT(mj_encode(spec, model, xml_path.c_str(), nullptr, nullptr, error,
-                      sizeof(error)),
-            0);
-  EXPECT_TRUE(std::filesystem::exists(xml_path));
-  EXPECT_GT(std::filesystem::file_size(xml_path), 0);
-
-  // XML Encoding without spec (should fail because no XML loaded in global
-  // spec)
-  std::filesystem::remove(xml_path);
-  // free global spec
-  mj_freeLastXML();
-  EXPECT_EQ(mj_encode(nullptr, model, xml_path.c_str(), nullptr, nullptr, error,
-                      sizeof(error)),
-            -1);
-  EXPECT_THAT(error, HasSubstr("No XML model loaded"));
-  EXPECT_TRUE(std::filesystem::exists(xml_path));
-  EXPECT_EQ(std::filesystem::file_size(xml_path), 0);
-  std::filesystem::remove(xml_path);
-
-  // MJB Encoding (spec can be null)
-  EXPECT_GT(mj_encode(nullptr, model, mjb_path.c_str(), nullptr, nullptr, error,
-                      sizeof(error)),
-            0);
-  EXPECT_TRUE(std::filesystem::exists(mjb_path));
-  EXPECT_GT(std::filesystem::file_size(mjb_path), 0);
-
-  mjModel* model2 = mj_loadModel(mjb_path.c_str(), nullptr);
-  EXPECT_THAT(model2, NotNull());
-  mj_deleteModel(model2);
-
-  // TXT Encoding (spec can be null)
-  EXPECT_GT(mj_encode(nullptr, model, txt_path.c_str(), nullptr, nullptr, error,
-                      sizeof(error)),
-            0);
-  EXPECT_TRUE(std::filesystem::exists(txt_path));
-  EXPECT_GT(std::filesystem::file_size(txt_path), 0);
-
-  // Clean up
-  std::filesystem::remove(mjb_path);
-  std::filesystem::remove(txt_path);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_cache_test.cc b/test/user/user_cache_test.cc
deleted file mode 100644
index 69d80886..00000000
--- a/test/user/user_cache_test.cc
+++ /dev/null
@@ -1,256 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for user/user_cache.cc
-
-#include <cstring>
-#include <memory>
-#include <string>
-#include <optional>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-#include "src/user/user_cache.h"
-#include "src/user/user_vfs.h"
-#include "src/user/user_resource.h"
-
-namespace mujoco {
-
-using ::testing::IsNull;
-using ::testing::NotNull;
-using ::testing::StrEq;
-
-using CacheTest = MujocoTest;
-
-namespace {
-
-constexpr int kMaxSize = 100;  // in bytes
-constexpr std::string kText = "Hello World";
-constexpr std::string kTestId = "Test";
-constexpr std::string kModel = "myModel";
-constexpr std::string kFile = "hello.txt";
-
-void CacheText(mjCCache& cache, const std::string& id, const std::string& model,
-              const std::string& name, const std::string& text) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, name.c_str(), text.data(), text.size());
-  mjResource* resource = mju_openResource("", name.c_str(), &vfs, nullptr, 0);
-  std::shared_ptr<const void> data(&text, +[](const void* data) {});
-  cache.Insert(model, id, resource, data, text.size());
-  mju_closeResource(resource);
-  mj_deleteVFS(&vfs);
-}
-
-std::optional<std::string>
-GetCachedText(mjCCache& cache, const std::string& id, const std::string& model,
-              const std::string& name, const std::string& text) {
-  std::string cached_text;
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, name.c_str(), text.data(), std::strlen(text.c_str()));
-  mjResource* resource = mju_openResource("", name.c_str(), &vfs, nullptr, 0);
-  bool inserted = cache.PopulateData(id, resource,
-                                     [&cached_text](const void* data) {
-    cached_text = *(static_cast<const std::string*>(data));
-    return true;
-  });
-  mju_closeResource(resource);
-  mj_deleteVFS(&vfs);
-  return inserted ? std::optional<std::string>(cached_text) : std::nullopt;
-}
-
-
-TEST(CacheTest, SizeTest) {
-  mjCCache cache(kMaxSize);
-  EXPECT_EQ(cache.Size(), 0);
-}
-
-TEST(CacheTest, InsertSuccess) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, kTestId, kModel, kFile, kText);
-  auto cached_text = GetCachedText(cache, kTestId, kModel, kFile, kText);
-
-  EXPECT_THAT(cached_text.value(), StrEq(kText));
-}
-
-TEST(CacheTest, InsertFailure) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, kTestId, kModel, kFile, kText);
-  auto cached_text = GetCachedText(
-      cache, "WrongId", kModel, "hello2.txt", kText);
-  EXPECT_EQ(cached_text, std::nullopt);
-}
-
-TEST(CacheTest, InsertReplace) {
-  mjCCache cache(kMaxSize);
-  const std::string kUpdatedText = "Goodbye World";
-  CacheText(cache, kTestId, kModel, kFile, kText);
-  CacheText(cache, kTestId, kModel, kFile, kUpdatedText);
-  auto cached_text = GetCachedText(cache, kTestId, kModel, kFile, kUpdatedText);
-
-  EXPECT_THAT(cached_text.value(), StrEq(kUpdatedText));
-}
-
-// Trim cache based off of access count
-TEST(CacheTest, Limit1) {
-  mjCCache cache(kMaxSize);
-  EXPECT_THAT(cache.Capacity(), kMaxSize);
-
-  CacheText(cache, "foo", "fil.xml", "foo.obj", kText);
-  CacheText(cache, "bar", "fil.xml", "bar.obj", kText);
-
-  // access asset foo twice, bar one
-  GetCachedText(cache, "foo", "file.xml", "foo.obj", kText);
-  GetCachedText(cache, "foo", "file.xml", "foo.obj", kText);
-  GetCachedText(cache, "bar", "file.xml", "bar.obj", kText);
-
-  // make max size so cache can hold only one asset
-  cache.SetCapacity(12);
-
-  // foo should still be in cache
-  EXPECT_THAT(cache.HasAsset("foo"), NotNull());
-
-  // bar was accessed less, so is removed
-  EXPECT_THAT(cache.HasAsset("bar"), IsNull());
-}
-
-
-// Trim cache based off of insert order
-TEST(CacheTest, Limit2) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, "foo", "file.xml", "foo.obj", kText);
-  CacheText(cache, "bar", "file.xml", "bar.obj", kText);
-
-  // get each asset once
-  GetCachedText(cache, "foo", "file.xml", "foo.obj", kText);
-  GetCachedText(cache, "bar", "file.xml", "bar.obj", kText);
-
-  // make max size so cache can hold only one asset
-  cache.SetCapacity(12);
-
-  // foo should be gone because it's older
-  EXPECT_THAT(cache.HasAsset("foo"), IsNull());
-
-  // bar should still be in cache
-  EXPECT_THAT(cache.HasAsset("bar"), NotNull());
-}
-
-// stress test with large asset
-TEST(CacheTest, Limit3) {
-  mjCCache cache(12);
-  CacheText(cache, "foo", "file.xml", "foo.obj", kText);
-  CacheText(cache, "bar", "file.xml", "bar.obj", kText);
-
-  // foo should still be in cache
-  EXPECT_THAT(cache.HasAsset("foo"), NotNull());
-
-  // bar could not be inserted because it's too large
-  EXPECT_THAT(cache.HasAsset("bar"), IsNull());
-}
-
-TEST(CacheTest, Limit4) {
-  mjCCache cache(12);
-  CacheText(cache, "foo", "file.xml", "foo.obj", kText);
-  CacheText(cache, "bar", "file.xml", "bar.obj", kText);
-
-  EXPECT_THAT(cache.HasAsset("foo"), NotNull());
-
-  // cache is full, so bar can't be inserted
-  EXPECT_THAT(cache.HasAsset("bar"), IsNull());
-}
-
-TEST(CacheTest, ResetAll) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, "foo", "file1.xml", "foo.obj", kText);
-  CacheText(cache, "bar", "file2.xml", "bar.obj", kText);
-
-  EXPECT_THAT(cache.HasAsset("foo"), NotNull());
-  EXPECT_THAT(cache.HasAsset("bar"), NotNull());
-
-  cache.Reset();
-
-  EXPECT_THAT(cache.HasAsset("foo"), IsNull());
-  EXPECT_THAT(cache.HasAsset("bar"), IsNull());
-}
-
-TEST(CacheTest, ResetModel1) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, "foo", "file1.xml", "foo.obj", kText);
-  CacheText(cache, "bar", "file1.xml", "bar.obj", kText);
-  CacheText(cache, "bar", "file2.xml", "bar.obj", kText);
-
-  cache.Reset("file2.xml");
-
-  EXPECT_THAT(cache.HasAsset("foo"), NotNull());
-  EXPECT_THAT(cache.HasAsset("bar"), IsNull());
-}
-
-TEST(CacheTest, ResetModel2) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, "foo", "file1.xml", "foo.obj", kText);
-  CacheText(cache, "foo", "file2.xml", "foo.obj", kText);
-  CacheText(cache, "bar", "file2.xml", "bar.obj", kText);
-
-  cache.Reset("file2.xml");
-
-  EXPECT_THAT(cache.HasAsset("foo"), IsNull());
-  EXPECT_THAT(cache.HasAsset("bar"), IsNull());
-}
-
-TEST(CacheTest, RemoveModel1) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, "foo", "file1.xml", "foo.obj", kText);
-  CacheText(cache, "bar", "file1.xml", "bar.obj", kText);
-  CacheText(cache, "bar", "file2.xml", "bar.obj", kText);
-
-  cache.RemoveModel("file2.xml");
-
-  EXPECT_THAT(cache.HasAsset("foo"), NotNull());
-  EXPECT_THAT(cache.HasAsset("bar"), NotNull());
-}
-
-TEST(CacheTest, RemoveModel2) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, "foo", "file1.xml", "foo.obj", kText);
-  CacheText(cache, "bar", "file2.xml", "bar.obj", kText);
-
-  cache.Reset("file2.xml");
-
-  EXPECT_THAT(cache.HasAsset("foo"), NotNull());
-  EXPECT_THAT(cache.HasAsset("bar"), IsNull());
-}
-
-TEST(CacheTest, DeleteAssetSuccess) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, "foo", "file.xml", "foo.obj", kText);
-
-  cache.DeleteAsset("foo");
-
-  EXPECT_THAT(cache.HasAsset("foo"), IsNull());
-}
-
-TEST(CacheTest, DeleteAssetFailure) {
-  mjCCache cache(kMaxSize);
-  CacheText(cache, "foo", "file.xml", "foo.obj", kText);
-
-  cache.DeleteAsset("bar");
-
-  EXPECT_THAT(cache.HasAsset("foo"), NotNull());
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_composite_test.cc b/test/user/user_composite_test.cc
deleted file mode 100644
index 63bca1be..00000000
--- a/test/user/user_composite_test.cc
+++ /dev/null
@@ -1,113 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for user/user_model.cc.
-
-#include <array>
-#include <cstddef>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/strings/str_format.h>
-#include "src/cc/array_safety.h"
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::IsNull;
-using ::testing::NotNull;
-using ::testing::HasSubstr;
-using UserCompositeTest = MujocoTest;
-
-// ------------------------ cable tests ---------------------------------------
-
-TEST_F(UserCompositeTest, ShapeCanBeOmitted) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <composite type="cable" count="100 1 1" curve="s">
-      <geom type="box" size="1 1 1"/>
-    </composite>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-}
-
-TEST_F(UserCompositeTest, GeomSurfacevel) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <composite type="cable" count="5 1 1" curve="s">
-      <geom type="capsule" size=".02" surfacevel="0 0 0 0 0 3"/>
-    </composite>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  for (int g = 0; g < m->ngeom; g++) {
-    if (m->geom_type[g] == mjGEOM_CAPSULE) {
-      EXPECT_EQ(m->geom_surfacevel[6*g + 5], 3);
-    }
-  }
-}
-
-TEST_F(UserCompositeTest, GeomAdhesion) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <composite type="cable" count="5 1 1" curve="s">
-      <geom type="capsule" size=".02" adhesion="2"/>
-    </composite>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  for (int g = 0; g < m->ngeom; g++) {
-    if (m->geom_type[g] == mjGEOM_CAPSULE) {
-      EXPECT_EQ(m->geom_adhesion[g], 2);
-    }
-  }
-}
-
-TEST_F(UserCompositeTest, InvalidShape) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <composite type="cable" count="100 1 1" curve="s s exp">
-      <geom type="box" size="1 1 1"/>
-    </composite>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              HasSubstr("The curve array contains an invalid shape"));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_flex_test.cc b/test/user/user_flex_test.cc
deleted file mode 100644
index e1e7a9fa..00000000
--- a/test/user/user_flex_test.cc
+++ /dev/null
@@ -1,1413 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for user/user_model.cc.
-
-#include <array>
-#include <memory>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-using UserFlexTest = MujocoTest;
-
-TEST_F(UserFlexTest, ParentMustHaveName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("required attribute missing: 'name'"));
-}
-
-TEST_F(UserFlexTest, InvalidDim) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" dim="4"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("Invalid dim, must be between 1 and 3"));
-}
-
-TEST_F(UserFlexTest, CountTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" count="2 2 0"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("Count too small"));
-}
-
-TEST_F(UserFlexTest, CellnumZeroInterpolated) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="b0"/>
-    <body name="b1"/>
-    <body name="b2"/>
-    <body name="b3"/>
-  </worldbody>
-  <deformable>
-    <flex name="test" cellcount="2 2 0" dof="trilinear"
-          dim="3" body="b0 b1 b2 b3" element="0 1 2 3"/>
-  </deformable>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("cellcount cannot be 0"));
-}
-
-TEST_F(UserFlexTest, SpacingGreaterThanGeometry) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" spacing="0.5 0.5 0.5" radius="1"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              HasSubstr("Spacing must be larger than geometry size"));
-}
-
-TEST_F(UserFlexTest, ScaleMinValue) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" scale="0 1 1"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("Scale must be larger than mjMINVAL"));
-}
-
-TEST_F(UserFlexTest, MassMinValue) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" mass="0"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              HasSubstr("Mass and inertiabox must be larger than mjMINVAL"));
-}
-
-TEST_F(UserFlexTest, PointSizeNotMultipleOf3) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" point="0 0 0 0"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("Point size must be a multiple of 3"));
-}
-
-TEST_F(UserFlexTest, ElementSize) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" point="0 0 0" element="0 1 2" dim="3"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              HasSubstr("Element size must be a multiple of dim+1"));
-}
-
-TEST_F(UserFlexTest, PointAndElementNotInDirect) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="direct"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("Point and element required"));
-}
-
-TEST_F(UserFlexTest, UnknownFlexCompType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="unknown"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("invalid keyword: 'unknown'"));
-}
-
-TEST_F(UserFlexTest, InvalidPinid) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="direct" point="0 0 0" element="0 1 2">
-      <pin id="1"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              HasSubstr("element 1 has point id 1, number of points is 1"));
-}
-
-TEST_F(UserFlexTest, MeshFileMissing) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="mesh"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("File is required"));
-}
-
-TEST_F(UserFlexTest, VertexOrFaceDataMissing) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/malformed_flex_nofaces.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_THAT(m, IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("Vertex and face data required"));
-}
-
-TEST_F(UserFlexTest, CreateBVHSuccess) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/robot_arm.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, RigidFlex) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/rigid_flex.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, FlexNotCollide) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <flexcomp name="test" pos="1 0 -1" type="grid"
-                count="5 5 5" spacing="1 1 1" dim="3">
-        <contact contype="0" conaffinity="0"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-  mj_step(m.get(), d.get());
-}
-
-TEST_F(UserFlexTest, BoundingBoxCoordinates) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP()
-      << "Float32 rounding in bounding box centering gives ~3e-8 error";
-#endif
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" pos="1 0 -1" type="grid"
-              count="5 5 5" spacing="1 1 1" dim="3"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-  mj_kinematics(m.get(), d.get());
-  mj_flex(m.get(), d.get());
-
-  EXPECT_EQ(m->nflexvert, 5 * 5 * 5);
-  EXPECT_EQ(m->nflexelem, 4 * 4 * 4 * 6);
-  EXPECT_EQ(m->flex_dim[0], 3);
-
-  // Cartesian coordinates
-  EXPECT_EQ(d->flexvert_xpos[0], -1);
-  EXPECT_EQ(d->flexvert_xpos[1], -2);
-  EXPECT_EQ(d->flexvert_xpos[2], -3);
-  EXPECT_EQ(d->flexvert_xpos[3 * m->nflexvert - 3], 3);
-  EXPECT_EQ(d->flexvert_xpos[3 * m->nflexvert - 2], 2);
-  EXPECT_EQ(d->flexvert_xpos[3 * m->nflexvert - 1], 1);
-
-  // bounding box coordinates
-  EXPECT_EQ(m->flex_vert0[0], 0);
-  EXPECT_EQ(m->flex_vert0[1], 0);
-  EXPECT_EQ(m->flex_vert0[2], 0);
-  EXPECT_EQ(m->flex_vert0[3 * m->nflexvert - 3], 1);
-  EXPECT_EQ(m->flex_vert0[3 * m->nflexvert - 2], 1);
-  EXPECT_EQ(m->flex_vert0[3 * m->nflexvert - 1], 1);
-}
-
-TEST_F(UserFlexTest, TrilinearCannotDoSelfCollision) {
-  std::array<char, 1024> error;
-  static constexpr char xml_selfcoll[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1" dim="3" dof="trilinear">
-      <contact selfcollide="auto" internal="false"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m1 = LoadModelFromString(xml_selfcoll, error.data(), error.size());
-  EXPECT_THAT(m1.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              HasSubstr("trilinear interpolation cannot do self-collision"));
-  static constexpr char xml_internal[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1" dim="3" dof="trilinear">
-      <contact selfcollide="none" internal="true"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m2 = LoadModelFromString(xml_internal, error.data(), error.size());
-  EXPECT_THAT(m2.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              HasSubstr("trilinear interpolation cannot do internal"));
-}
-
-TEST_F(UserFlexTest, TrilinearInterpolation) {
-  static constexpr char xml_trilinear[] = R"(
-  <mujoco>
-  <worldbody>
-    <geom type="plane" pos="0 0 -.5" size="10 10 .1"/>
-    <flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1" dim="3" dof="trilinear">
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m1 =
-      LoadModelFromString(xml_trilinear, error.data(), error.size());
-  ASSERT_THAT(m1.get(), NotNull()) << error.data();
-  MjDataPtr d1 = MakeData(m1);
-  mj_step(m1.get(), d1.get());
-
-  static constexpr char xml_linear[] = R"(
-  <mujoco>
-  <worldbody>
-    <geom type="plane" pos="0 0 -.5" size="10 10 .1"/>
-    <flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1" dim="3">
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m2 = LoadModelFromString(xml_linear, error.data(), error.size());
-  ASSERT_THAT(m2.get(), NotNull()) << error.data();
-  MjDataPtr d2 = MakeData(m2);
-  mj_step(m2.get(), d2.get());
-
-  EXPECT_EQ(m1->nflexvert, m2->nflexvert);
-  for (int i = 0; i < 3 * m1->nflexvert; ++i) {
-    EXPECT_NEAR(m1->flex_vert[i], d2->flexvert_xpos[i], 1e-7);
-    EXPECT_NEAR(m1->flex_vert0[i], m2->flex_vert0[i], 1e-7);
-    EXPECT_NEAR(d1->flexvert_xpos[i], d2->flexvert_xpos[i], 1e-7);
-  }
-
-  EXPECT_EQ(m1->nC, m2->nC);
-  for (int i = 0; i < m1->nC; ++i) {
-    EXPECT_EQ(d1->M[i], d2->M[i]);
-  }
-
-  EXPECT_EQ(m1->nbody, m2->nbody);
-  for (int i = 0; i < m2->nbody; ++i) {
-    if (i == 0) {
-      continue;
-    }
-    EXPECT_EQ(m1->body_mass[i], m2->body_mass[i]);
-    for (int j = 0; j < 2; ++j) {
-      EXPECT_EQ(m1->body_invweight0[i * 2 + j], m2->body_invweight0[i * 2 + j]);
-    }
-    for (int j = 0; j < 10; ++j) {
-      EXPECT_NEAR(d1->cinert[10 * i + j], d2->cinert[i * 10 + j], 1e-5) << i;
-      EXPECT_NEAR(d1->crb[10 * i + j], d2->crb[i * 10 + j], 1e-5) << i;
-    }
-  }
-
-  EXPECT_EQ(d1->ncon, 4);
-  EXPECT_EQ(d2->ncon, 4);
-  for (int i = 0; i < d1->ncon; ++i) {
-    EXPECT_EQ(d1->contact[i].dist, d2->contact[i].dist);
-    EXPECT_EQ(d1->contact[i].mu, d2->contact[i].mu);
-    for (int j = 0; j < 5; ++j) {
-      EXPECT_EQ(d1->contact[i].friction[j], d2->contact[i].friction[j]);
-    }
-    for (int j = 0; j < 3; ++j) {
-      EXPECT_EQ(d1->contact[i].pos[j], d2->contact[i].pos[j]);
-    }
-    for (int j = 0; j < 9; ++j) {
-      EXPECT_EQ(d1->contact[i].frame[j], d2->contact[i].frame[j]);
-    }
-    for (int j = 0; j < 36; ++j) {
-      EXPECT_EQ(d1->contact[i].H[j], d2->contact[i].H[j]);
-    }
-  }
-
-  EXPECT_EQ(d1->nefc, 4 * (d1->contact[0].dim - 1) * 2);
-  EXPECT_EQ(d2->nefc, 4 * (d2->contact[0].dim - 1) * 2);
-  EXPECT_EQ(d1->nJ, d2->nJ);
-  for (int i = 0; i < d1->nefc; ++i) {
-    EXPECT_EQ(d1->efc_diagA[i], d2->efc_diagA[i]);
-    EXPECT_EQ(d1->efc_D[i], d2->efc_D[i]);
-  }
-}
-
-TEST_F(UserFlexTest, StiffnessMatrix) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP() << "Stiffness matrix kernel check fails in float32 precision";
-#endif
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="3 3 3" spacing="1 1 1" dim="3" dof="trilinear">
-      <contact selfcollide="none" internal="false"/>
-      <elasticity young="1"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_NE(m->flex_stiffness[m->flex_stiffnessadr[0]], 0);
-  EXPECT_EQ(m->nflexnode, 8);
-
-  // constants are in the kernel
-  mjtNum ones[24], zeros[24], res[24];
-  for (int i = 0; i < 3 * m->nflexnode; ++i) {
-    zeros[i] = 0;
-    ones[i] = 1;
-  }
-  mju_mulMatVec(res, m->flex_stiffness + m->flex_stiffnessadr[0], ones,
-                3 * m->nflexnode, 3 * m->nflexnode);
-  EXPECT_THAT(res, Pointwise(MjNear(1e-8, 1e-4), zeros));
-}
-
-TEST_F(UserFlexTest, StiffnessCacheDiffersByGeometry) {
-  std::array<char, 1024> error;
-
-  // Create two flexes with same material but different bounding boxes
-  static constexpr char xml_small[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="3 3 3" spacing="1 1 1" dim="3" dof="trilinear">
-      <contact selfcollide="none" internal="false"/>
-      <elasticity young="1" poisson="0.3"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml_large[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="3 3 3" spacing="2 2 2" dim="3" dof="trilinear">
-      <contact selfcollide="none" internal="false"/>
-      <elasticity young="1" poisson="0.3"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-
-  MjModelPtr m_small =
-      LoadModelFromString(xml_small, error.data(), error.size());
-  ASSERT_THAT(m_small.get(), NotNull()) << error.data();
-
-  MjModelPtr m_large =
-      LoadModelFromString(xml_large, error.data(), error.size());
-  ASSERT_THAT(m_large.get(), NotNull()) << error.data();
-
-  // Same number of nodes but different stiffness due to different geometry
-  EXPECT_EQ(m_small->nflexnode, m_large->nflexnode);
-  EXPECT_NE(m_small->flex_stiffness[m_small->flex_stiffnessadr[0]],
-            m_large->flex_stiffness[m_large->flex_stiffnessadr[0]]);
-}
-
-TEST_F(UserFlexTest, LoadTexture) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/textured_torus_flex.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  EXPECT_THAT(m->nflextexcoord, 637);
-  EXPECT_THAT(m->flex_elemtexcoord[0], 0);
-  EXPECT_THAT(m->flex_elemtexcoord[1], 1);
-  EXPECT_THAT(m->flex_elemtexcoord[2], 2);
-  EXPECT_THAT(m->flex_elemtexcoord[3], 0);
-  EXPECT_THAT(m->flex_elemtexcoord[4], 2);
-  EXPECT_THAT(m->flex_elemtexcoord[5], 3);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHBinary_41_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/cube_41_binary_vol_gmshApp.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  EXPECT_EQ(m->nflexvert, 14);
-  EXPECT_EQ(m->nflexelem, 24);
-  EXPECT_EQ(m->flex_dim[0], 3);
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHBinary_22_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/cube_22_binary_vol_gmshApp.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  EXPECT_EQ(m->nflexvert, 14);
-  EXPECT_EQ(m->nflexelem, 24);
-  EXPECT_EQ(m->flex_dim[0], 3);
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHSurfaceBinary_41_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/cube_41_binary_surf_gmshApp.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  mj_kinematics(m, d);
-  mj_flex(m, d);
-  EXPECT_EQ(m->nflexvert, 14);
-  EXPECT_EQ(m->nflexelem, 24);
-  EXPECT_EQ(m->flex_dim[0], 2);
-
-  // first node x y z
-  EXPECT_EQ(d->flexvert_xpos[0], -0.5);
-  EXPECT_EQ(d->flexvert_xpos[1], -0.5);
-  EXPECT_EQ(d->flexvert_xpos[2], 0);
-
-  // first element
-  EXPECT_EQ(m->flex_elem[0], 9 - 1);
-  EXPECT_EQ(m->flex_elem[1], 4 - 1);
-  EXPECT_EQ(m->flex_elem[2], 3 - 1);
-
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHSurfaceBinary_22_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/cube_22_binary_surf_gmshApp.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  mj_kinematics(m, d);
-  mj_flex(m, d);
-  EXPECT_EQ(m->nflexvert, 14);
-  EXPECT_EQ(m->nflexelem, 24);
-  EXPECT_EQ(m->flex_dim[0], 2);
-
-  // first node x y z
-  EXPECT_EQ(d->flexvert_xpos[0], -0.5);
-  EXPECT_EQ(d->flexvert_xpos[1], -0.5);
-  EXPECT_EQ(d->flexvert_xpos[2], 0);
-
-  // first element
-  EXPECT_EQ(m->flex_elem[0], 9 - 1);
-  EXPECT_EQ(m->flex_elem[1], 4 - 1);
-  EXPECT_EQ(m->flex_elem[2], 3 - 1);
-
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/shark_22_binary_vol_fTetWild.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  EXPECT_EQ(m->nflexvert, 429);
-  EXPECT_EQ(m->nflexelem, 1073);
-  EXPECT_EQ(m->flex_dim[0], 3);
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_41_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/cube_41_ascii_vol_gmshApp.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  EXPECT_EQ(m->nflexvert, 14);
-  EXPECT_EQ(m->nflexelem, 24);
-  EXPECT_EQ(m->flex_dim[0], 3);
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_22_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/cube_22_ascii_vol_gmshApp.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  EXPECT_EQ(m->nflexvert, 14);
-  EXPECT_EQ(m->nflexelem, 24);
-  EXPECT_EQ(m->flex_dim[0], 3);
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHSurfaceASCII_41_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/cube_41_ascii_surf_gmshApp.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  mj_kinematics(m, d);
-  mj_flex(m, d);
-  EXPECT_EQ(m->nflexvert, 14);
-  EXPECT_EQ(m->nflexelem, 24);
-  EXPECT_EQ(m->flex_dim[0], 2);
-
-  // first node x y z
-  EXPECT_EQ(d->flexvert_xpos[0], -0.5);
-  EXPECT_EQ(d->flexvert_xpos[1], -0.5);
-  EXPECT_EQ(d->flexvert_xpos[2], 0);
-
-  // first element
-  EXPECT_EQ(m->flex_elem[0], 9 - 1);
-  EXPECT_EQ(m->flex_elem[1], 4 - 1);
-  EXPECT_EQ(m->flex_elem[2], 3 - 1);
-
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHSurfaceASCII_22_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/cube_22_ascii_surf_gmshApp.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  mj_kinematics(m, d);
-  mj_flex(m, d);
-  EXPECT_EQ(m->nflexvert, 14);
-  EXPECT_EQ(m->nflexelem, 24);
-  EXPECT_EQ(m->flex_dim[0], 2);
-
-  // first node x y z
-  EXPECT_EQ(d->flexvert_xpos[0], -0.5);
-  EXPECT_EQ(d->flexvert_xpos[1], -0.5);
-  EXPECT_EQ(d->flexvert_xpos[2], 0);
-
-  // first element
-  EXPECT_EQ(m->flex_elem[0], 9 - 1);
-  EXPECT_EQ(m->flex_elem[1], 4 - 1);
-  EXPECT_EQ(m->flex_elem[2], 3 - 1);
-
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/shark_22_ascii_vol_fTetWild.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  mjData* d = mj_makeData(m);
-  EXPECT_EQ(m->nflexvert, 425);
-  EXPECT_EQ(m->nflexelem, 1070);
-  EXPECT_EQ(m->flex_dim[0], 3);
-  mj_step(m, d);
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeHeader_Fail) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/malformed_cube_41_ascii_missing_node_header.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_THAT(error.data(),
-              HasSubstr("XML Error: Error: All nodes must be in single block"));
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeIndex_Fail) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/malformed_cube_41_ascii_missing_node_index.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_THAT(error.data(),
-              HasSubstr("XML Error: Error: Node tags must be sequential"));
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElementHeader_Fail) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/malformed_cube_41_ascii_missing_element_header.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("XML Error: Error: All elements must be in single block"));
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElement_Fail) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/malformed_cube_41_ascii_missing_element.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_THAT(error.data(),
-              HasSubstr("XML Error: Error: Error reading Elements"));
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest,
-       LoadMSHASCII_41_MismatchBetweenMaxNodesAndNodesInBlock_Fail) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/"
-      "malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block."
-      "xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("XML Error: Error: Maximum number of nodes must be equal to "
-                "number of nodes in a block\nElement 'flexcomp', line 22\n"));
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumNodes_Fail) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/malformed_cube_22_ascii_missing_num_nodes.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  // TODO(mohammadhamid): Replace with an assertion about the error message. For
-  // some reason, on Windows the error message is different on GH Actions
-  EXPECT_THAT(m, IsNull());
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNode_Fail) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/malformed_cube_22_ascii_missing_node.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_THAT(error.data(),
-              HasSubstr("XML Error: Error: Error reading node tags"));
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumElements_Fail) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/malformed_shark_22_ascii_missing_num_elements.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  // TODO(mohammadhamid): Replace with an assertion about the error message. For
-  // some reason, on Windows the error message is different on GH Actions
-  EXPECT_THAT(m, IsNull());
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_22_MissingElement_Fail) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/malformed_cube_22_ascii_missing_element.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_THAT(error.data(),
-              HasSubstr("XML Error: Error: Error reading Elements"));
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, LoadMSHASCII_dim_missing_in_xml) {
-  const std::string xml_path = GetTestDataFilePath(
-      "user/testdata/cube_22_ascii_vol_gmshApp_missing_dim.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_EQ(m->flex_dim[0], 3);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, TrilinearUnusedVertices_Crash) {
-  // This XML defines 5 points but only uses 4 in the element.
-  // The last point (2 2 2) is unused.
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="direct"
-              point="0 0 0  1 0 0  0 1 0  0 0 1  2 2 2"
-              element="0 1 2 3"
-              dof="trilinear" dim="3">
-      <contact selfcollide="none"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), testing::NotNull()) << error.data();
-}
-
-TEST_F(UserFlexTest, MeshNodePinning) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="direct"
-              point="0 0 0  1 0 0  0 1 0  0 0 1  2 2 2"
-              element="0 1 2 3"
-              dof="trilinear" dim="3">
-      <contact selfcollide="none"/>
-      <pin id="0"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), testing::NotNull()) << error.data();
-
-  // Verify that node 0 (corner) is pinned
-  // Trilinear 3D has 8 nodes.
-  // If 0 are pinned, we get 8 bodies.
-  // If 1 is pinned, we get 7 bodies (created) + 1 existing (the parent).
-  // m->nbody should reflect this. Flex bodies are added to the model.
-  // Model has 1 world body + flex bodies.
-  EXPECT_EQ(m->nbody, 1 + 7);  // 1 world + 7 flex nodes (1 pinned)
-}
-
-TEST_F(UserFlexTest, FlexcompMeshLoadsFromVFS) {
-  // read cube.stl from testdata into a buffer
-  const std::string stl_path = GetTestDataFilePath("user/testdata/cube.stl");
-  FILE* f = fopen(stl_path.c_str(), "rb");
-  ASSERT_THAT(f, NotNull()) << "Could not open " << stl_path;
-  fseek(f, 0, SEEK_END);
-  long stl_size = ftell(f);
-  fseek(f, 0, SEEK_SET);
-  std::string stl_data(stl_size, '\0');
-  fread(stl_data.data(), 1, stl_size, f);
-  fclose(f);
-
-  // add the STL data to a VFS
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "cube.stl", stl_data.data(), stl_size);
-
-  // XML that uses flexcomp type="mesh" referencing the VFS file
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="flex_body" pos="0 0 1">
-        <flexcomp name="flex_object" type="mesh" file="cube.stl" rigid="true">
-          <contact contype="1" conaffinity="1"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  // cleanup
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size(), &vfs);
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  MjDataPtr d = MakeData(m);
-  mj_step(m.get(), d.get());
-  mj_deleteVFS(&vfs);
-}
-
-// Test that flex constraints are preserved when attaching a model
-TEST_F(UserFlexTest, FlexAttachConstraintPreserved) {
-  // Child model with flex and strain constraint
-  static constexpr char flex_xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="flex_parent">
-      <flexcomp name="test" type="box"
-                spacing=".1 .1 .1" radius="0.001"
-                dof="trilinear" mass="1" dim="3">
-        <contact selfcollide="none"/>
-        <edge equality="strain"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-
-  // Parent model that attaches the flex model
-  static constexpr char parent_xml[] = R"(
-  <mujoco>
-  <asset>
-    <model name="flex" file="flex.xml"/>
-  </asset>
-  <worldbody>
-    <frame pos="0 0 0.3">
-      <attach model="flex" prefix="flex_"/>
-    </frame>
-  </worldbody>
-  </mujoco>
-  )";
-
-  // Set up VFS with both XML files
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "flex.xml", flex_xml, sizeof(flex_xml));
-
-  // First verify the standalone flex model has constraints
-  std::array<char, 1024> error;
-  MjModelPtr m_standalone =
-      LoadModelFromString(flex_xml, error.data(), error.size(), vfs.get());
-  ASSERT_THAT(m_standalone.get(), NotNull()) << error.data();
-  MjDataPtr d_standalone = MakeData(m_standalone);
-  mj_forward(m_standalone.get(), d_standalone.get());
-  int standalone_neq = m_standalone->neq;
-  EXPECT_GT(standalone_neq, 0) << "Standalone flex should have constraints";
-
-  // Now load the parent model which attaches the flex
-  MjModelPtr m_attached =
-      LoadModelFromString(parent_xml, error.data(), error.size(), vfs.get());
-  ASSERT_THAT(m_attached.get(), NotNull()) << error.data();
-  MjDataPtr d_attached = MakeData(m_attached);
-  mj_forward(m_attached.get(), d_attached.get());
-
-  // THE BUG: flex constraints disappear when attached
-  EXPECT_GT(m_attached->neq, 0)
-      << "Attached flex should preserve strain constraints";
-  EXPECT_EQ(m_attached->neq, standalone_neq)
-      << "Attached flex should have same number of constraints as standalone";
-
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(UserFlexTest, FlexNoConstraintsWarning) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="4 4 1" spacing=".2 .2 .2"
-              dim="2" radius=".1"/>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              HasSubstr("no equality constraints or passive forces"));
-}
-
-TEST_F(UserFlexTest, EmptyCellNodePinning) {
-  // A 2x2x2 grid with a box mesh that fills all cells.
-  // No nodes should be pinned.
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="box" spacing=".1 .1 .1" dim="3"
-              dof="trilinear" mass="1" cellcount="2 2 2">
-      <contact selfcollide="none"/>
-      <elasticity young="1"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  // A 2x2x2 grid with trilinear order has (2+1)^3 = 27 node positions.
-  int nadr = m->flex_nodeadr[0];
-  int nnode = m->flex_nodenum[0];
-  EXPECT_EQ(nnode, 27);
-
-  // All cells are occupied by the box, so no node should be pinned.
-  int pinned = 0;
-  for (int n = nadr; n < nadr + nnode; n++) {
-    int bid = m->flex_nodebodyid[n];
-    if (m->body_jntnum[bid] == 0) {
-      pinned++;
-    }
-  }
-  EXPECT_EQ(pinned, 0);
-
-  // Verify simulation works
-  MjDataPtr d = MakeData(m);
-  for (int i = 0; i < 10; i++) {
-    mj_step(m.get(), d.get());
-  }
-}
-
-TEST_F(UserFlexTest, EmptyCellNodePinningMesh) {
-  // Load bunny_multicell.xml which has a 3x3x3 grid.
-  // The bunny mesh only occupies some cells, so many nodes should be pinned.
-  const std::string xml_path = GetModelPath("flex/bunny_multicell.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-
-  // 3x3x3 grid, order=1: (3+1)^3 = 64 node positions
-  int nadr = m->flex_nodeadr[0];
-  int nnode = m->flex_nodenum[0];
-  EXPECT_EQ(nnode, 64);
-
-  // Count pinned nodes (no joints)
-  int pinned = 0;
-  int free_nodes = 0;
-  for (int n = nadr; n < nadr + nnode; n++) {
-    int bid = m->flex_nodebodyid[n];
-    if (m->body_jntnum[bid] == 0) {
-      pinned++;
-    } else {
-      free_nodes++;
-    }
-  }
-
-  // At least some nodes should be pinned since the bunny doesn't fill all cells
-  EXPECT_GT(pinned, 0) << "Expected some nodes to be pinned from empty cells";
-  EXPECT_GT(free_nodes, 0) << "Expected some nodes to remain free";
-  EXPECT_EQ(pinned + free_nodes, nnode);
-
-  // Verify the model can simulate
-  mjData* d = mj_makeData(m);
-  mj_forward(m, d);
-  for (int i = 0; i < 10; i++) {
-    mj_step(m, d);
-  }
-
-  mj_deleteData(d);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, EmptyCellNodePinningQuadratic) {
-  // Regression test for ci_min calculation with order=2.
-  // A 2x1x1 quadratic grid has nodes at gi=0..4 (5 nodes per axis).
-  // We place mesh vertices only in cell 0 (x in [0, 0.5]), so cell 1 is empty.
-  //
-  // Node gi=3 belongs only to cell 1 (1*2 <= 3 <= 2*2).
-  // With the old formula (gi-order)/order = (3-2)/2 = 0, it would also check
-  // cell 0 (non-empty), incorrectly marking gi=3 as non-pinned.
-  // Single hex element at x=[0,0.3], well inside cell 0 of a 3x1x1 grid.
-  // Anchor vertex at x=1.0 extends the bounding box to [0,1]^3.
-  // The 3x1x1 quadratic grid splits at x=0.33, 0.67.
-  // Cell 0 has vertices, cells 1 and 2 are empty.
-  // Interior nodes for cells 1,2 should be pinned to the parent body.
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="parent">
-    <freejoint/>
-    <inertial mass="0.01" pos="0 0 0"
-             diaginertia="0.001 0.001 0.001"/>
-    <flexcomp name="test" type="direct" dim="3"
-              dof="quadratic" mass="1" cellcount="3 1 1"
-              point="0.0 0.0 0.0  0.3 0.0 0.0
-                     0.0 1.0 0.0  0.3 1.0 0.0
-                     0.0 0.0 1.0  0.3 0.0 1.0
-                     0.0 1.0 1.0  0.3 1.0 1.0
-                     1.0 0.5 0.5"
-              element="0 1 3 2 4 5 7 6">
-      <contact selfcollide="none"/>
-      <elasticity young="1"/>
-    </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  // 3x1x1 quadratic grid: (3*2+1) * (1*2+1) * (1*2+1) = 7*3*3 = 63 nodes
-  int nadr = m->flex_nodeadr[0];
-  int nnode = m->flex_nodenum[0];
-  EXPECT_EQ(nnode, 63);
-
-  // Count pinned nodes: pinned nodes are assigned to the parent body.
-  int parent_bid = mj_name2id(m.get(), mjOBJ_BODY, "parent");
-  ASSERT_GT(parent_bid, 0);
-  int pinned = 0;
-  for (int n = nadr; n < nadr + nnode; n++) {
-    if (m->flex_nodebodyid[n] == parent_bid) {
-      pinned++;
-    }
-  }
-
-  // Cells 1 and 2 are empty, so nodes exclusively in those cells are pinned.
-  // Nodes at gi=3..6 (with any gj, gk) are only in cells 1 and/or 2.
-  // That's 4 * 3 * 3 = 36 nodes.
-  EXPECT_EQ(pinned, 36);
-
-  mj_deleteData(mj_makeData(m.get()));
-}
-
-TEST_F(UserFlexTest, EmptyCellDetectsElements) {
-  // A cube surface mesh (dim=2, 12 triangles) spanning [0,1]^3.
-  // With cellcount="6 6 6" (216 cells), only 8 corner cells contain
-  // mesh vertices.
-  //
-  // Bug: MarkEmptyCells only checked vertices, so 208/216 cells are
-  // marked empty, causing most interior nodes to be incorrectly pinned.
-  // Fix: check element AABBs to correctly identify occupied cells.
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="parent">
-    <freejoint/>
-    <inertial mass="0.01" pos="0.5 0.5 0.5"
-             diaginertia="0.001 0.001 0.001"/>
-    <flexcomp name="test" type="direct" dim="2"
-              dof="trilinear" mass="1" cellcount="6 6 6"
-              point="0 0 0  1 0 0  1 1 0  0 1 0
-                     0 0 1  1 0 1  1 1 1  0 1 1"
-              element="0 1 2  0 2 3  4 6 5  4 7 6
-                       0 5 1  0 4 5  2 7 3  2 6 7
-                       0 3 7  0 7 4  1 5 6  1 6 2">
-      <contact selfcollide="none"/>
-    </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  // 6x6x6 trilinear grid: (6+1)^3 = 343 nodes
-  int nadr = m->flex_nodeadr[0];
-  int nnode = m->flex_nodenum[0];
-  ASSERT_EQ(nnode, 343);
-
-  // Count pinned nodes: those assigned to the parent body.
-  int parent_bid = mj_name2id(m.get(), mjOBJ_BODY, "parent");
-  ASSERT_GT(parent_bid, 0);
-  int pinned = 0;
-  for (int n = nadr; n < nadr + nnode; n++) {
-    if (m->flex_nodebodyid[n] == parent_bid) {
-      pinned++;
-    }
-  }
-
-  // The cube surface fills the entire bounding box. The element-AABB
-  // marks all boundary cells as surface cells (152/216). The interior
-  // flood-fill finds no exterior seeds (all boundary cells are surface),
-  // so the remaining 64 cells are classified as interior (non-empty).
-  // No cells are empty → 0 nodes pinned.
-  EXPECT_EQ(pinned, 0);
-
-  mj_deleteData(mj_makeData(m.get()));
-}
-
-TEST_F(UserFlexTest, TotalMassTrilinear) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1"
-              dim="3" dof="trilinear" mass="1.5">
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  double total_mass = 0;
-  for (int i = 1; i < m->nbody; ++i) {
-    total_mass += m->body_mass[i];
-  }
-
-  EXPECT_NEAR(total_mass, 1.5, 1e-5);
-}
-
-TEST_F(UserFlexTest, TotalMassQuadratic) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="3 2 2" spacing="1 1 1"
-              dim="3" dof="quadratic" mass="2.0">
-      <contact selfcollide="none" internal="false"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  double total_mass = 0;
-  for (int i = 1; i < m->nbody; ++i) {
-    total_mass += m->body_mass[i];
-  }
-
-  EXPECT_NEAR(total_mass, 2.0, 1e-5);
-}
-
-TEST_F(UserFlexTest, Dof2d) {
-  // 3x3 grid with dof="2d": 9 vertices, 2 DOFs each -> nv = 18
-  static constexpr char xml_2d[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="3 3 1" spacing=".1 .1 .1"
-              dim="2" radius=".01" dof="2d">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-
-  // same model with dof="full" for comparison: 9 vertices, 3 DOFs each -> nv =
-  // 27
-  static constexpr char xml_full[] = R"(
-  <mujoco>
-  <worldbody>
-    <flexcomp name="test" type="grid" count="3 3 1" spacing=".1 .1 .1"
-              dim="2" radius=".01">
-      <edge equality="true"/>
-    </flexcomp>
-  </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-
-  // load 2d model
-  MjModelPtr m_2d = LoadModelFromString(xml_2d, error.data(), error.size());
-  ASSERT_THAT(m_2d.get(), NotNull()) << error.data();
-  MjDataPtr d_2d = MakeData(m_2d);
-
-  // load full model
-  MjModelPtr m_full = LoadModelFromString(xml_full, error.data(), error.size());
-  ASSERT_THAT(m_full.get(), NotNull()) << error.data();
-  MjDataPtr d_full = MakeData(m_full);
-
-  // verify DOF counts
-  EXPECT_EQ(m_2d->nv, 18);    // 9 vertices * 2 DOFs
-  EXPECT_EQ(m_full->nv, 27);  // 9 vertices * 3 DOFs
-
-  // same number of vertices and elements
-  EXPECT_EQ(m_2d->nflexvert, m_full->nflexvert);
-  EXPECT_EQ(m_2d->nflexelem, m_full->nflexelem);
-
-  // each body has 2 DOFs in 2d mode, 3 in full mode
-  for (int i = 1; i < m_2d->nbody; i++) {
-    EXPECT_EQ(m_2d->body_dofnum[i], 2) << "body " << i;
-  }
-  for (int i = 1; i < m_full->nbody; i++) {
-    EXPECT_EQ(m_full->body_dofnum[i], 3) << "body " << i;
-  }
-
-  // simulate a few steps to make sure nothing crashes
-  for (int i = 0; i < 10; i++) {
-    mj_step(m_2d.get(), d_2d.get());
-    mj_step(m_full.get(), d_full.get());
-  }
-}
-
-TEST_F(UserFlexTest, Vert0RotationInvariant) {
-  // unrotated trilinear grid
-  static constexpr char xml_unrotated[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="parent">
-      <flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1"
-                dim="3" dof="trilinear">
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-
-  // same grid rotated 45 degrees around Z via parent body quaternion
-  static constexpr char xml_rotated[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="parent" quat="0.9238795 0 0 0.3826834">
-      <flexcomp name="test" type="grid" count="2 2 2" spacing="1 1 1"
-                dim="3" dof="trilinear">
-        <contact selfcollide="none" internal="false"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr m1 =
-      LoadModelFromString(xml_unrotated, error.data(), error.size());
-  ASSERT_THAT(m1.get(), NotNull()) << error.data();
-
-  MjModelPtr m2 = LoadModelFromString(xml_rotated, error.data(), error.size());
-  ASSERT_THAT(m2.get(), NotNull()) << error.data();
-
-  // same number of vertices
-  ASSERT_EQ(m1->nflexvert, m2->nflexvert);
-
-  // vert0 must be identical regardless of rotation
-  for (int i = 0; i < 3 * m1->nflexvert; ++i) {
-    EXPECT_NEAR(m1->flex_vert0[i], m2->flex_vert0[i], 1e-10)
-        << "vert0 mismatch at index " << i;
-  }
-}
-
-TEST_F(UserFlexTest, Load1DFlexFromOBJ) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/flex_line_obj.xml");
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(m, NotNull()) << error.data();
-  EXPECT_EQ(m->nflexvert, 4);
-  EXPECT_EQ(m->nflexelem, 3);
-  EXPECT_EQ(m->flex_dim[0], 1);
-  mj_deleteModel(m);
-}
-
-TEST_F(UserFlexTest, PinBendingRejectsNonStaticBody) {
-  // pinned vertex inherits the flexcomp's parent body, which here has a joint
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="moving">
-      <joint type="hinge"/>
-      <geom size="0.1"/>
-      <flexcomp name="test" type="grid" count="3 3 1" spacing="1 1 1"
-                radius="0.01" dim="2">
-        <elasticity young="1" poisson="0" thickness="1" elastic2d="bend"/>
-        <pin id="0"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("static"));
-}
-
-TEST_F(UserFlexTest, PinBendingAcceptsStaticBody) {
-  // pinned vertex inherits the flexcomp's parent body (world), which is static
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <worldbody>
-    <body name="parent">
-      <flexcomp name="test" type="grid" count="3 3 1" spacing="1 1 1"
-                radius="0.01" dim="2">
-        <elasticity young="1" poisson="0" thickness="1" elastic2d="bend"/>
-        <pin id="0"/>
-      </flexcomp>
-    </body>
-  </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_mesh_test.cc b/test/user/user_mesh_test.cc
deleted file mode 100644
index 46c4c048..00000000
--- a/test/user/user_mesh_test.cc
+++ /dev/null
@@ -1,1871 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for user/user_objects.cc.
-
-#include <algorithm>
-#include <array>
-#include <cmath>
-#include <cstddef>
-#include <limits>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/strings/str_format.h>
-#include <absl/strings/str_replace.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using MjCMeshTest = MujocoTest;
-
-static const char* const kMeshPath = "user/testdata/mesh.xml";
-static const char* const kDuplicateVerticesPath =
-    "user/testdata/duplicate_vertices.xml";
-static const char* const kCubePath = "user/testdata/cube.xml";
-static const char* const kCubeCompletePath = "user/testdata/cube_complete.obj";
-static const char* const kTorusPath = "user/testdata/torus.xml";
-static const char* const kTorusMaxhullVertPath =
-    "user/testdata/torus_maxhullvert.xml";
-static const char* const kTorusDefaultMaxhullVertPath =
-    "user/testdata/torus_maxhullvert_default.xml";
-static const char* const kCompareInertiaPath =
-    "user/testdata/inertia_compare.xml";
-static const char* const kConvexInertiaPath =
-    "user/testdata/inertia_convex.xml";
-static const char* const kConcaveInertiaPath =
-    "user/testdata/inertia_concave.xml";
-static const char* const kShellInertiaPath = "user/testdata/inertia_shell.xml";
-static const char* const kTorusQuadsPath = "user/testdata/torus_quads.xml";
-static const char* const kTexturedTorusPath =
-    "user/testdata/textured_torus.xml";
-static const char* const kDuplicateOBJPath = "user/testdata/duplicate.xml";
-static const char* const kMalformedFaceOBJPath =
-    "user/testdata/malformed_face.xml";
-static const char* const kCubeSkinPath = "user/testdata/cube_skin.xml";
-
-static const char* const kNoDecoderForMeshErrorMsh =
-    "no decoder found for mesh";
-
-using ::testing::ElementsAre;
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-
-static constexpr mjtNum kMaxAbsErr = std::numeric_limits<float>::epsilon();
-
-// ------------- test invalid filenames ----------------------------------------
-
-TEST_F(MjCMeshTest, UnknownMeshFormat) {
-  static constexpr char xml_format[] = R"(
-    <mujoco>
-      <asset>
-        <mesh name="m" file="%s"/>
-      </asset>
-      <worldbody>
-        <geom type="mesh" mesh="m"/>
-      </worldbody>
-    </mujoco>
-  )";
-
-  std::vector<std::string> invalid_names = {"noextension", "anobj", "f",
-                                            "mesh.exe", "file%s"};
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  for (const auto& name : invalid_names) {
-    mj_addBufferVFS(&vfs, name.c_str(), nullptr, 0);
-    std::string xml = absl::StrFormat(xml_format, name);
-    std::array<char, 1024> error;
-    MjModelPtr model =
-        LoadModelFromString(xml.c_str(), error.data(), error.size(), &vfs);
-    ASSERT_THAT(model.get(), testing::IsNull())
-        << "Should fail to load a mesh named: " << name;
-    EXPECT_THAT(error.data(), HasSubstr(kNoDecoderForMeshErrorMsh));
-    EXPECT_THAT(error.data(), HasSubstr(name));
-  }
-
-  mj_deleteVFS(&vfs);
-}
-
-// -------------------- test OS filesystem fallback ----------------------------
-
-TEST_F(MjCMeshTest, LoadMSHWithVFS) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh1" file="unknown_file.msh"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="mesh1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should fallback to OS filesystem
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MjCMeshTest, LoadOBJWithVFS) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh1" file="unknown_file.obj"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="mesh1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should fallback to OS filesystem
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MjCMeshTest, LoadSTLWithVFS) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh1" file="unknown_file.stl"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="mesh1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should fallback to OS filesystem
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-// ------------- test content_type attributes ----------------------------------
-
-TEST_F(MjCMeshTest, LoadMSHWithContentType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh1" content_type="model/vnd.mujoco.msh" file="some_file"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="mesh1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should try opening the file (not found obviously)
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MjCMeshTest, LoadOBJWithContentType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh1" content_type="model/obj" file="some_file"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="mesh1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should try opening the file (not found obviously)
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MjCMeshTest, LoadSTLWithContentType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh1" content_type="model/stl" file="some_file"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="mesh1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should try opening the file (not found obviously)
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MjCMeshTest, LoadMSHWithContentTypeError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh1" content_type="model/unknown" file="some_file"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="mesh1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "some_file", nullptr, 0);
-
-  // should error with unknown file type
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, &vfs);
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(kNoDecoderForMeshErrorMsh));
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjCMeshTest, LoadMSHWithInvalidContentType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh1" content_type="model" file="some_file"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="mesh1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "some_file", nullptr, 0);
-
-  // should error with unknown file type
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, &vfs);
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(kNoDecoderForMeshErrorMsh));
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjCMeshTest, LoadMSHWithContentTypeParam) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh1" content_type="model/vnd.mujoco.msh;parameter=value" file="some_file"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="mesh1"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should try opening the file (not found obviously)
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-// ------------- test vertex deduplication (STL) ------------------------------
-
-TEST_F(MjCMeshTest, DeduplicateSTLVertices) {
-  const std::string xml_path = GetTestDataFilePath(kDuplicateVerticesPath);
-  char error[1024];
-  size_t error_sz = 1024;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
-  ASSERT_THAT(model, NotNull()) << error;
-  ASSERT_EQ(model->nmeshvert, 4);
-  mj_deleteModel(model);
-}
-
-// -------------------- test Mesh loading (MSH) --------------------------------
-
-TEST_F(MjCMeshTest, LoadMSH) {
-  const std::string xml_path = GetTestDataFilePath(kMeshPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  ASSERT_EQ(model->nmeshvert, 36);
-  mj_deleteModel(model);
-}
-
-// ------------- test OBJ loading ----------------------------------------------
-
-using MjCMeshTest = MujocoTest;
-
-TEST_F(MjCMeshTest, LoadCube) {
-  const std::string xml_path = GetTestDataFilePath(kCubePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, nullptr, 0);
-  ASSERT_GT(model->ngeom, 0);
-  ASSERT_EQ(model->nmeshvert, 8);
-  ASSERT_EQ(model->nmeshface, 12);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, LoadTorus) {
-  const std::string xml_path = GetTestDataFilePath(kTorusPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_GT(model->ngeom, 0);
-  ASSERT_GT(model->nmeshvert, 0);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, LoadTorusQuads) {
-  const std::string xml_path = GetTestDataFilePath(kTorusQuadsPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_GT(model->ngeom, 0);
-  ASSERT_GT(model->nmeshvert, 0);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, LoadTexturedTorus) {
-  const std::string xml_path = GetTestDataFilePath(kTexturedTorusPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_GT(model->ngeom, 0);
-  ASSERT_GT(model->nmeshvert, 0);
-  ASSERT_GT(model->ntex, 0);
-  ASSERT_GT(model->ntexdata, 0);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, KeepDuplicateOBJVertices) {
-  const std::string xml_path = GetTestDataFilePath(kDuplicateOBJPath);
-  char error[1024];
-  size_t error_sz = 1024;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
-  ASSERT_EQ(model->nmeshvert, 16);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, SaveMeshOnce) {
-  const std::string xml_path = GetTestDataFilePath(kCubePath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  // Confirm the mesh file is loaded and stored in paths
-  EXPECT_EQ(std::string(&model->paths[model->mesh_pathadr[0]]), "cube.obj");
-  std::string saved_xml = SaveAndReadXml(model);
-  EXPECT_THAT(saved_xml, Not(testing::HasSubstr("vertex")));
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, TinyMeshLoads) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="tiny" vertex="0 0 0  1e-4 0 0  0 1e-4 0  0 0 1e-4"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="tiny"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-}
-
-// ------------- test max hull vert -------------------------------------------
-TEST_F(MjCMeshTest, MaxHullVert) {
-  const std::string xml_path = GetTestDataFilePath(kTorusMaxhullVertPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_GT(model->ngeom, 0);
-  ASSERT_EQ(model->mesh_graph[0], 4);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, MaxHullVertDefault) {
-  const std::string xml_path =
-      GetTestDataFilePath(kTorusDefaultMaxhullVertPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_GT(model->ngeom, 0);
-  ASSERT_EQ(model->mesh_graph[0], 64);
-  mj_deleteModel(model);
-}
-
-// ------------- test inline loading ------------------------------------------
-TEST_F(MjCMeshTest, FaceNormalAutogenerated) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        normal="1 0 0  0 1 0  0 0 1  0.707 0 0.707"
-        face="0 2 1  0 3 2" />
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="example_mesh"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-}
-
-// ------------- test inertia -------------------------------------------------
-
-TEST_F(MjCMeshTest, SmallInertiaLoads) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="tiny" vertex="0 0 0  1e-4 0 0  0 1e-4 0  0 0 1e-4"/>
-    </asset>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom type="mesh" mesh="tiny"/>
-        <geom name="small" size=".001"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-}
-
-TEST_F(MjCMeshTest, TinyInertiaFails) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="tiny" vertex="0 0 0  1e-4 0 0  0 1e-4 0  0 0 1e-4"/>
-    </asset>
-    <worldbody>
-      <body name="tiny_body">
-        <freejoint/>
-        <geom type="mesh" mesh="tiny"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr(
-          "mass and inertia of moving bodies must be larger than mjMINVAL"));
-  EXPECT_THAT(error.data(), HasSubstr("Element name 'tiny_body'"));
-}
-
-TEST_F(MjCMeshTest, FlippedFaceAllowedLegacyInertia) {
-  const std::string xml_path = GetTestDataFilePath(kMalformedFaceOBJPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  EXPECT_THAT(model->nmeshface, 4);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, MissingFaceAllowedConvexInertia) {
-  const std::string xml_path = GetTestDataFilePath(kCompareInertiaPath);
-  char error[1024];
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  EXPECT_THAT(model->nmeshface, 7);
-  EXPECT_NEAR(model->body_inertia[3], model->body_inertia[6], kMaxAbsErr);
-  EXPECT_NEAR(model->body_inertia[4], model->body_inertia[7], kMaxAbsErr);
-  EXPECT_NEAR(model->body_inertia[5], model->body_inertia[8], kMaxAbsErr);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, FlippedFaceFailsExactInertia) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh" inertia="exact"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="2 0 3  0 1 3  1 2 3  0 1 2" />
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="example_mesh"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), testing::IsNull());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr(
-          "Error: faces of mesh 'example_mesh' have inconsistent orientation. "
-          "Please check the faces containing the vertices 1 and 2."));
-}
-
-void CheckTetrahedronWasRescaled(mjModel* model) {
-  // The rotated and rescaled positions of the tetrahedron
-  // with vertices (0, 0, 0), (1, 0, 0), (0, 2, 0), (0, 0, 3)
-  // after mesh preprocessing is performed
-  std::vector<mjtNum> vert = {
-      -0.51610732078552246, -0.57402724027633667, -0.5283237099647522,
-      0.42337465286254883,  -0.90627568960189819, -0.61189728975296021,
-      0.065528042614459991, 1.2306677103042603,   -1.1645441055297852,
-      0.027204651385545731, 0.24963514506816864,  2.3047652244567871};
-  mjtNum tolerance = std::numeric_limits<float>::epsilon();
-  for (int i = 0; i < 12; ++i) {
-    EXPECT_NEAR(model->mesh_vert[i], vert[i], tolerance);
-  }
-}
-
-TEST_F(MjCMeshTest, FlippedFaceAllowedWorld) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 2 0  0 0 3"
-        face="2 0 3  0 1 3  1 2 3  0 1 2" />
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="example_mesh"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  CheckTetrahedronWasRescaled(model.get());
-}
-
-TEST_F(MjCMeshTest, FlippedFaceAllowedNoMass) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 2 0  0 0 3"
-        face="2 0 3  0 1 3  1 2 3  0 1 2" />
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="example_mesh" mass="0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  CheckTetrahedronWasRescaled(model.get());
-}
-
-TEST_F(MjCMeshTest, FlippedFaceAllowedInertial) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 2 0  0 0 3"
-        face="2 0 3  0 1 3  1 2 3  0 1 2" />
-    </asset>
-    <worldbody>
-      <body>
-        <inertial pos="0 0 0" mass="1"/>
-        <geom type="mesh" mesh="example_mesh"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  CheckTetrahedronWasRescaled(model.get());
-}
-
-TEST_F(MjCMeshTest, FlippedFaceAllowedNegligibleArea) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 2 0  0 0 3  0 0 3"
-        face="2 0 3  0 1 3  1 2 3  0 2 1  0 3 4" />
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="example_mesh"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  CheckTetrahedronWasRescaled(model.get());
-}
-
-TEST_F(MjCMeshTest, AreaTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1e-8 0 0  0 1e-8 0  0 0 1e-8"
-        face="2 0 3  0 1 3  1 2 3  0 2 1" inertia="shell"/>
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="example_mesh"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("mesh surface area is too small"));
-}
-
-TEST_F(MjCMeshTest, VolumeTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="0 2 1" />
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="example_mesh"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), testing::IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("mesh volume is too small"));
-}
-
-TEST_F(MjCMeshTest, VisualVolumeTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="visual">
-        <geom type="mesh" contype="0" conaffinity="0" mass="0"/>
-      </default>
-    </default>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 -4e-16 0  1 0 4e-16  0 1 0  0 0 1"
-        face="0 2 1" />
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="example_mesh" class="visual"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), testing::IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("mesh volume is too small"));
-}
-
-TEST_F(MjCMeshTest, VisualVolumeSmallAllowedShell) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="visual">
-        <geom type="mesh" contype="0" conaffinity="0" mass="0"/>
-      </default>
-    </default>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  1 1 1e-6"
-        face="0 1 2  2 1 3" />
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="example_mesh" class="visual"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  EXPECT_LE(mju_abs(model->geom_size[0]), 1);
-  EXPECT_LE(mju_abs(model->geom_size[1]), 1);
-  EXPECT_LE(mju_abs(model->geom_size[2]), 1);
-}
-
-TEST_F(MjCMeshTest, VolumeSmallAllowedShell) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  1 1 1e-6"
-        face="0 1 2  2 1 3" inertia="shell"/>
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="example_mesh"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  EXPECT_LE(mju_abs(model->geom_size[0]), 1);
-  EXPECT_LE(mju_abs(model->geom_size[1]), 1);
-  EXPECT_LE(mju_abs(model->geom_size[2]), 1);
-}
-
-TEST_F(MjCMeshTest, Flex2DElasticityRequiresPositiveThickness) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <flexcomp name="f" type="grid" count="3 3 1" spacing="1 1 1" dim="2" dof="2d">
-        <elasticity young="1" thickness="0" elastic2d="bend"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), testing::IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("2d elasticity requires positive thickness"));
-}
-
-TEST_F(MjCMeshTest, InterpolatedFlexSupportsBendElasticityWithWarning) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <flexcomp name="f" type="grid" count="3 3 2" spacing="1 1 1" dim="3" dof="trilinear">
-        <contact selfcollide="none"/>
-        <elasticity young="1" thickness="1" elastic2d="bend"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), testing::NotNull()) << error.data();
-}
-
-TEST_F(MjCMeshTest, InterpolatedFlexSupportsBothElasticityWithWarning) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <flexcomp name="f" type="grid" count="3 3 2" spacing="1 1 1" dim="3" dof="trilinear">
-        <contact selfcollide="none"/>
-        <elasticity young="1" thickness="1" elastic2d="both"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), testing::NotNull()) << error.data();
-}
-
-TEST_F(MjCMeshTest, Flex2DElasticityRequires2DFlex) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <flexcomp name="f" type="grid" count="3 3 3" spacing="1 1 1" dim="3" dof="2d">
-        <elasticity young="1" thickness="1" elastic2d="bend"/>
-      </flexcomp>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), testing::IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("2d elasticity requires 2d flex"));
-}
-
-TEST_F(MjCMeshTest, VolumeNegativeThrowsError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      MESH_DEFINITIONS
-    </asset>
-    <worldbody>
-      <body>
-        GEOM_DEFINITIONS
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char bad_mesh[] = R"(
-      <mesh name="bad_mesh%d" inertia="exact"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="3 0 2  0 3 1  1 3 2  0 1 2"/>\n"
-  )";
-  static constexpr char geom[] = R"(<geom type="mesh" mesh="bad_mesh%d"/>\n)";
-
-  for (int nmesh : {3, 16, 17, 50}) {
-    std::string mesh_definitions = "";
-    for (int i = 1; i < nmesh + 1; i++) {
-      mesh_definitions += absl::StrFormat(bad_mesh, i);
-    }
-
-    std::string geom_definitions = "";
-    for (int i = 1; i < nmesh + 1; i++) {
-      geom_definitions += absl::StrFormat(geom, i);
-    }
-
-    std::string xml_str = xml;
-    absl::StrReplaceAll({{"MESH_DEFINITIONS", mesh_definitions},
-                         {"GEOM_DEFINITIONS", geom_definitions}},
-                        &xml_str);
-
-    std::array<char, 1024> error;
-    MjModelPtr model =
-        LoadModelFromString(xml_str.c_str(), error.data(), error.size());
-    EXPECT_THAT(model.get(), IsNull());
-    EXPECT_THAT(error.data(), HasSubstr("mesh volume is negative"));
-  }
-}
-
-TEST_F(MjCMeshTest, MeshIgnoresDefaultDensity) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <geom density="0" />
-    </default>
-    <asset>
-      <mesh name="a" vertex="0 0 0 1 0 0 0 1 0 0 0 1" scale="10 10 10" />
-    </asset>
-    <worldbody/>
-  </mujoco>)";
-  char error[1024];
-  mjSpec* spec = mj_parseXMLString(xml, 0, error, sizeof(error));
-  EXPECT_THAT(spec, NotNull()) << error;
-  mjModel* m1 = mj_compile(spec, nullptr);
-  EXPECT_THAT(m1, NotNull());
-  mj_deleteModel(m1);
-  mjModel* m2 = mj_compile(spec, nullptr);
-  EXPECT_THAT(m2, NotNull());
-  mj_deleteModel(m2);
-  mj_deleteSpec(spec);
-}
-
-// ------------- test concave and shell inertia --------------------------------
-
-TEST_F(MjCMeshTest, ExactConcaveInertia) {
-  const std::string xml_path = GetTestDataFilePath(kConcaveInertiaPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  // analytic computation of 1x1x1 cube with a .8x.8x.9 hole
-  // see https://en.wikipedia.org/wiki/List_of_moments_of_inertia
-  mjtNum density = 2.;
-  mjtNum m_hole = .9 * .8 * .8 * density;
-  mjtNum m_cube = 1. * density;
-  mjtNum m_concave_cube = m_cube - m_hole;
-  mjtNum I_cube = m_cube / 6.;
-  // due to the asymmetric hole, the com position has changed
-  // so we need to use https://en.wikipedia.org/wiki/Parallel_axis_theorem
-  mjtNum d_cube = .5 - model->body_ipos[5];
-  mjtNum d_hole = .55 - model->body_ipos[5];
-  mjtNum I1 = I_cube - m_hole * (.8 * .8 + .8 * .8) / 12;
-  mjtNum I2 = I_cube - m_hole * (.8 * .8 + .9 * .9) / 12 +
-              m_cube * d_cube * d_cube - m_hole * d_hole * d_hole;
-  EXPECT_NEAR(model->body_mass[1], m_concave_cube, kMaxAbsErr);
-  EXPECT_NEAR(model->body_mass[2], m_concave_cube, kMaxAbsErr);
-  EXPECT_NEAR(model->body_mass[3], m_concave_cube, kMaxAbsErr);
-  EXPECT_NEAR(model->body_mass[4], m_concave_cube, kMaxAbsErr);
-  for (int i = 3; i < 15; i += 3) {
-    EXPECT_NEAR(model->body_inertia[i], I1, kMaxAbsErr);
-    EXPECT_NEAR(model->body_inertia[i + 1], I2, kMaxAbsErr);
-    EXPECT_NEAR(model->body_inertia[i + 2], I2, kMaxAbsErr);
-  }
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, ExactConvexInertia) {
-  const std::string xml_path = GetTestDataFilePath(kConvexInertiaPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  // https://en.wikipedia.org/wiki/List_of_moments_of_inertia
-  mjtNum m_solid_cube = 1.;
-  mjtNum I_solid_cube = 1. / 6. * m_solid_cube;
-  EXPECT_LE(mju_abs(model->body_mass[1] - m_solid_cube), kMaxAbsErr);
-  EXPECT_LE(mju_abs(model->body_mass[2] - m_solid_cube), kMaxAbsErr);
-  for (int i = 3; i < 9; i++) {
-    EXPECT_LE(mju_abs(model->body_inertia[i] - I_solid_cube), kMaxAbsErr);
-  }
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, UnreferencedConvexInertiaMesh) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="orphan" inertia="convex"
-            vertex="0 0 1   1 0 0   0 1 0   -1 0 0   0 -1 0"
-            face="0 1 2   0 2 3   0 3 4   0 4 1   1 4 3   1 3 2"/>
-    </asset>
-    <worldbody/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull()) << error.data();
-}
-
-TEST_F(MjCMeshTest, ExactShellInertia) {
-  const std::string xml_path = GetTestDataFilePath(kShellInertiaPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  // see https://en.wikipedia.org/wiki/List_of_moments_of_inertia
-  mjtNum m_hollow_cube = 6.;
-  mjtNum I_hollow_cube = 5. / 18. * m_hollow_cube;
-  EXPECT_LE(mju_abs(model->body_mass[1] - m_hollow_cube), kMaxAbsErr);
-  EXPECT_LE(mju_abs(model->body_inertia[3] - I_hollow_cube), kMaxAbsErr);
-  EXPECT_LE(mju_abs(model->body_inertia[4] - I_hollow_cube), kMaxAbsErr);
-  EXPECT_LE(mju_abs(model->body_inertia[5] - I_hollow_cube), kMaxAbsErr);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, MeshPosQuat) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="pyramid" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" name="geom1" mesh="pyramid"/>
-      <geom type="mesh" name="geom2" pos="1 2 3" quat="0.5 0.5 0.5 0.5" mesh="pyramid"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  // loading the mesh results in an offset of the geom's pos and quat due to the
-  // fact that the geom's center is not the volumetric center of the mesh. To
-  // recover the geom's originally specified pose, the offset used is stored in
-  // mesh_pos and mesh_quat. In order to recover the originally specified pose
-  // and orientation, first invert the specified mesh_pos and mesh_quat
-  mjtNum inverse_mesh_pos[3];
-  mjtNum inverse_mesh_quat[4];
-  mju_negPose(inverse_mesh_pos, inverse_mesh_quat, &model->mesh_pos[0],
-              &model->mesh_quat[0]);
-
-  // apply the inverted mesh_pos and inverted mesh_quat to the geom's pos and
-  // quat. It should match the originally specified values
-  mjtNum recovered_pos[3];
-  mjtNum recovered_quat[4];
-  mju_mulPose(recovered_pos, recovered_quat, &model->geom_pos[0],
-              &model->geom_quat[0], inverse_mesh_pos, inverse_mesh_quat);
-  EXPECT_NEAR(recovered_pos[0], 0, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_pos[1], 0, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_pos[2], 0, MjTol(1e-12, 1e-6));
-
-  EXPECT_NEAR(recovered_quat[0], 1, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[1], 0, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[2], 0, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[3], 0, MjTol(1e-12, 1e-6));
-
-  // same test on the other geom
-  mju_negPose(inverse_mesh_pos, inverse_mesh_quat, &model->mesh_pos[0],
-              &model->mesh_quat[0]);
-  mju_mulPose(recovered_pos, recovered_quat, &model->geom_pos[3],
-              &model->geom_quat[4], inverse_mesh_pos, inverse_mesh_quat);
-  EXPECT_NEAR(recovered_pos[0], 1, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_pos[1], 2, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_pos[2], 3, MjTol(1e-12, 1e-6));
-
-  EXPECT_NEAR(recovered_quat[0], 0.5, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[1], 0.5, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[2], 0.5, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[3], 0.5, MjTol(1e-12, 1e-6));
-}
-
-TEST_F(MjCMeshTest, MeshPosQuatShellInertia) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="pyramid" vertex="0 0 0  1 0 0  0 1 0  0 0 1" inertia="shell"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" name="geom1" mesh="pyramid"/>
-      <geom type="mesh" name="geom2" pos="1 2 3" quat="0.5 0.5 0.5 0.5" mesh="pyramid"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-  // loading the mesh results in an offset of the geom's pos and quat due to the
-  // fact that the geom's center is not the volumetric center of the mesh. To
-  // recover the geom's originally specified pose, the offset used is stored in
-  // mesh_pos and mesh_quat. In order to recover the originally specified pose
-  // and orientation, first invert the specified mesh_pos and mesh_quat
-  mjtNum inverse_mesh_pos[3];
-  mjtNum inverse_mesh_quat[4];
-  mju_negPose(inverse_mesh_pos, inverse_mesh_quat, &model->mesh_pos[0],
-              &model->mesh_quat[0]);
-
-  // apply the inverted mesh_pos and inverted mesh_quat to the geom's pos and
-  // quat. It should match the originally specified values
-  mjtNum recovered_pos[3];
-  mjtNum recovered_quat[4];
-  mju_mulPose(recovered_pos, recovered_quat, &model->geom_pos[0],
-              &model->geom_quat[0], inverse_mesh_pos, inverse_mesh_quat);
-  EXPECT_NEAR(recovered_pos[0], 0, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_pos[1], 0, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_pos[2], 0, MjTol(1e-12, 1e-6));
-
-  EXPECT_NEAR(recovered_quat[0], 1, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[1], 0, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[2], 0, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[3], 0, MjTol(1e-12, 1e-6));
-
-  // same test on the other geom
-  mju_negPose(inverse_mesh_pos, inverse_mesh_quat, &model->mesh_pos[0],
-              &model->mesh_quat[0]);
-  mju_mulPose(recovered_pos, recovered_quat, &model->geom_pos[3],
-              &model->geom_quat[4], inverse_mesh_pos, inverse_mesh_quat);
-  EXPECT_NEAR(recovered_pos[0], 1, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_pos[1], 2, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_pos[2], 3, MjTol(1e-12, 1e-6));
-
-  EXPECT_NEAR(recovered_quat[0], 0.5, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[1], 0.5, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[2], 0.5, MjTol(1e-12, 1e-6));
-  EXPECT_NEAR(recovered_quat[3], 0.5, MjTol(1e-12, 1e-6));
-}
-
-TEST_F(MjCMeshTest, MeshScale) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="pyramid" vertex="0 0 0  1 0 0  0 1 0  0 0 1"/>
-      <mesh name="pyramid_scaled" vertex="0 0 0  1 0 0  0 1 0  0 0 1" scale="0.9 1 -1"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" name="geom1" mesh="pyramid"/>
-      <geom type="mesh" name="geom2" mesh="pyramid_scaled"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_THAT(AsVector(model->mesh_scale + 0, 3), ElementsAre(1, 1, 1));
-  EXPECT_THAT(AsVector(model->mesh_scale + 3, 3), ElementsAre(0.9, 1, -1));
-}
-
-TEST_F(MjCMeshTest, UserNormalsAnisotropicScale) {
-  // normals are covectors: under mesh scale s they must transform by 1/s.
-  // cube with per-vertex normals along the vertex directions, anisotropic
-  // scale; expected compiled normals follow (+-1/sx, +-1/sy, +-1/sz)
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="cube" scale=".2 .1 .1"
-        vertex="-1 -1 -1  1 -1 -1  1 1 -1  -1 1 -1  -1 -1 1  1 -1 1  1 1 1  -1 1 1"
-        normal="-1 -1 -1  1 -1 -1  1 1 -1  -1 1 -1  -1 -1 1  1 -1 1  1 1 1  -1 1 1"
-        face="0 2 1  0 3 2  4 5 6  4 6 7  0 1 5  0 5 4  1 2 6  1 6 5
-              2 3 7  2 7 6  3 0 4  3 4 7"/>
-    </asset>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <geom type="mesh" mesh="cube"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  const mjModel* m = model.get();
-  int mid = 0;
-  const mjtNum* mq = m->mesh_quat + 4*mid;
-  const mjtNum* mp = m->mesh_pos + 3*mid;
-  double scale[3] = {.2, .1, .1};
-  int va = m->mesh_vertadr[mid];
-  int na = m->mesh_normaladr[mid];
-  int fa = m->mesh_faceadr[mid];
-  for (int i = 0; i < 3*m->mesh_facenum[mid]; i++) {
-    int vid = m->mesh_face[3*fa + i];
-    int nid = m->mesh_facenormal[3*fa + i];
-
-    // rotate vertex and normal back to the authored frame
-    mjtNum vm[3] = {m->mesh_vert[3*(va+vid)+0],
-                    m->mesh_vert[3*(va+vid)+1],
-                    m->mesh_vert[3*(va+vid)+2]};
-    mjtNum nm[3] = {m->mesh_normal[3*(na+nid)+0],
-                    m->mesh_normal[3*(na+nid)+1],
-                    m->mesh_normal[3*(na+nid)+2]};
-    mjtNum v[3], n[3];
-    mju_rotVecQuat(v, vm, mq);
-    mju_addTo3(v, mp);
-    mju_rotVecQuat(n, nm, mq);
-
-    // expected: sign pattern of the vertex, divided by scale, normalized
-    mjtNum expected[3];
-    for (int k = 0; k < 3; k++) {
-      expected[k] = (v[k] > 0 ? 1.0 : -1.0) / scale[k];
-    }
-    mju_normalize3(expected);
-    EXPECT_GT(mju_dot3(n, expected), 0.999);
-  }
-}
-
-TEST_F(MjCMeshTest, NegativeScaleUserMeshCompiles) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh" scale="-1 1 1" inertia="exact"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="0 2 1  0 3 2  1 3 0  1 2 3" />
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="example_mesh"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-}
-
-TEST_F(MjCMeshTest, NegativeScaleUserMeshMatchesPositiveScale) {
-  static constexpr char pos_xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="pos_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="0 2 1  0 3 2  1 3 0  1 2 3" />
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="pos_mesh"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char neg_xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="neg_mesh" scale="-1 1 1"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="0 2 1  0 3 2  1 3 0  1 2 3" />
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="neg_mesh"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr pos_model = LoadModelFromString(pos_xml, error, sizeof(error));
-  ASSERT_THAT(pos_model.get(), NotNull()) << error;
-
-  MjModelPtr neg_model = LoadModelFromString(neg_xml, error, sizeof(error));
-  ASSERT_THAT(neg_model.get(), NotNull()) << error;
-
-  ASSERT_EQ(pos_model->nmeshface, neg_model->nmeshface);
-
-  for (int i = 0; i < pos_model->nmeshface; i++) {
-    EXPECT_EQ(pos_model->mesh_face[3 * i + 0], neg_model->mesh_face[3 * i + 0]);
-    EXPECT_EQ(pos_model->mesh_face[3 * i + 1], neg_model->mesh_face[3 * i + 2]);
-    EXPECT_EQ(pos_model->mesh_face[3 * i + 2], neg_model->mesh_face[3 * i + 1]);
-  }
-}
-
-TEST_F(MjCMeshTest, ShellInertiaTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="pyramid" vertex="0 0 0  1 0 0  0 1 0  0 0 1" inertia="shell"/>
-      <mesh name="pyramid_scaled" vertex="0 0 0  1 0 0  0 1 0  0 0 1" scale="0.9 1 -1"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" name="geom1" mesh="pyramid"/>
-      <geom type="mesh" name="geom2" mesh="pyramid_scaled"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-
-  EXPECT_THAT(AsVector(model->mesh_scale + 0, 3), ElementsAre(1, 1, 1));
-  EXPECT_THAT(AsVector(model->mesh_scale + 3, 3), ElementsAre(0.9, 1, -1));
-}
-
-// ----------------------------- texcoord -------------------------------------
-
-TEST_F(MjCMeshTest, CreateFaceTexCoord) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh" vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-            texcoord="0 0  0 0  0 0  0 0"/>
-      </asset>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-}
-
-TEST_F(MjCMeshTest, UseFaceTexCoord) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh" vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-            face="0 2 1  0 1 3  2 0 3  1 2 3"
-            texcoord="0 0  .1 .1  .2 .2  .3 .3"/>
-      </asset>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[0]], .0);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[1]], .2);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[2]], .1);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[3]], .0);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[4]], .1);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[5]], .3);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[6]], .2);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[7]], .0);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[8]], .3);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[9]], .1);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[10]], .2);
-  EXPECT_FLOAT_EQ(model->mesh_texcoord[2 * model->mesh_facetexcoord[11]], .3);
-}
-
-TEST_F(MjCMeshTest, MissingTexCoord) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh" vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-            texcoord="0 0"/>
-      </asset>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), testing::IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("texcoord must be 2*nv"));
-}
-
-// ----------------------------- qhull ----------------------------------------
-
-TEST_F(MjCMeshTest, NaNConvexHullDisallowed) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh"vertex="nan 0 0  0 1 0  0 1 0  0 0 1"/>
-    </asset>
-  </mujoco>
-    )";
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings();
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), testing::IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("vertex coordinate 0 is not finite"));
-}
-
-TEST_F(MjCMeshTest, InvalidIndexInFace) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        normal="1 0 0  0 1 0  0 0 1  0.707 0 0.707"
-        face="0 2 6  0 3 2" />
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="example_mesh"/>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("in face 0, vertex index 6 does not exist"));
-}
-
-TEST_F(MjCMeshTest, QhullCache) {
-  static constexpr char xml1[] = R"(
-    <mujoco>
-      <asset>
-        <mesh name="box" file="cube_complete.obj"/>
-      </asset>
-      <worldbody>
-        <geom type="mesh" pos="0 0 2" mesh="box" contype="0" conaffinity="0"/>
-        <geom type="mesh" pos="0 0 0" mesh="box" contype="0" conaffinity="0"/>
-      </worldbody>
-    </mujoco>)";
-
-  static constexpr char xml2[] = R"(
-      <mujoco>
-        <asset>
-          <mesh name="box" file="cube_complete.obj"/>
-        </asset>
-        <worldbody>
-          <geom type="mesh" pos="0 0 2" mesh="box"/>
-          <geom type="mesh" pos="0 0 0" mesh="box"/>
-        </worldbody>
-      </mujoco>)";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addFileVFS(&vfs, "", GetTestDataFilePath(kCubeCompletePath).c_str());
-
-  std::array<char, 1000> error;
-  MjModelPtr model =
-      LoadModelFromString(xml1, error.data(), error.size(), &vfs);
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-  EXPECT_THAT(model->mesh_graphadr[0], -1);
-
-  model = LoadModelFromString(xml2, error.data(), error.size(), &vfs);
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-  EXPECT_GT(model->mesh_graphadr[0], -1);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjCMeshTest, ColocatedMeshError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-            vertex="0 0 0  0 0 0  0 0 0  0 0 0"
-            face="0 1 2   1 3 2"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="example_mesh"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("colocated"));
-}
-
-TEST_F(MjCMeshTest, CollinearMeshError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-            vertex="0 0 0  1 0 0  2 0 0  3 0 0"
-            face="0 1 2   1 3 2"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="example_mesh"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("collinear"));
-}
-
-TEST_F(MjCMeshTest, CoplanarMeshError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="flat_quad"
-            vertex="-5 -5 0   5 -5 0   -5 5 0   5 5 0"
-            face="0 1 2   1 3 2"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="flat_quad"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("coplanar"));
-}
-
-TEST_F(MjCMeshTest, LoadSkin) {
-  const std::string xml_path = GetTestDataFilePath(kCubeSkinPath);
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXML(xml_path.c_str(), 0, error.data(), error.size());
-  EXPECT_THAT(spec, NotNull()) << error.data();
-  mjModel* m1 = mj_compile(spec, 0);
-  EXPECT_THAT(m1, NotNull());
-  mj_deleteModel(m1);
-  mjModel* m2 = mj_compile(spec, 0);
-  EXPECT_THAT(m2, NotNull());
-  mj_deleteModel(m2);
-  mj_deleteSpec(spec);
-}
-
-// ------------- test octree ---------------------------------------------------
-
-TEST_F(MjCMeshTest, Octree) {
-  const std::string xml_path = GetTestDataFilePath(kTorusPath);
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXML(xml_path.c_str(), 0, error.data(), error.size());
-  mjsGeom* geom = mjs_asGeom(mjs_firstElement(spec, mjOBJ_GEOM));
-  geom->type = mjGEOM_SDF;
-  mjModel* model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull()) << error.data();
-  EXPECT_GT(model->mesh_octnum[0], 0);
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-namespace {
-bool AreAabbsAdjacent(const mjtNum* aabb1, const mjtNum* aabb2) {
-  const double kEps = 1e-6;
-  int touching_dims = 0;
-  int overlapping_dims = 0;
-
-  for (int dim = 0; dim < 3; ++dim) {
-    const mjtNum center1 = aabb1[dim];
-    const mjtNum half_size1 = aabb1[dim + 3];
-    const mjtNum center2 = aabb2[dim];
-    const mjtNum half_size2 = aabb2[dim + 3];
-    const mjtNum gap = std::abs(center1 - center2) - (half_size1 + half_size2);
-    if (std::abs(gap) < kEps) {
-      touching_dims++;
-    } else if (gap < -kEps) {
-      overlapping_dims++;
-    }
-  }
-
-  return touching_dims == 1 && overlapping_dims == 2;
-}
-}  // namespace
-
-TEST_F(MjCMeshTest, OctreeIsBalanced) {
-  const std::string xml_path = GetTestDataFilePath(kTorusPath);
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXML(xml_path.c_str(), 0, error.data(), error.size());
-  mjsGeom* geom = mjs_asGeom(mjs_firstElement(spec, mjOBJ_GEOM));
-  geom->type = mjGEOM_SDF;
-  mjsMesh* mesh = mjs_asMesh(mjs_firstElement(spec, mjOBJ_MESH));
-  mesh->octree_maxdepth = 5;
-  mjModel* model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull()) << error.data();
-  EXPECT_GT(model->mesh_octnum[0], 0);
-
-  const int octree_adr = model->mesh_octadr[0];
-  const int noct = model->mesh_octnum[0];
-
-  std::vector<int> leaves;
-  for (int i = 0; i < noct; ++i) {
-    bool is_leaf = true;
-    for (int j = 0; j < 8; ++j) {
-      if (model->oct_child[(octree_adr + i) * 8 + j] != -1) {
-        is_leaf = false;
-        break;
-      }
-    }
-    if (is_leaf) {
-      leaves.push_back(i);
-    }
-  }
-
-  int unbalanced_pairs = 0;
-  for (int i = 0; i < leaves.size(); ++i) {
-    for (int j = i + 1; j < leaves.size(); ++j) {
-      const int node1_idx = leaves[i];
-      const int node2_idx = leaves[j];
-      const mjtNum* aabb1 = &model->oct_aabb[(octree_adr + node1_idx) * 6];
-      const mjtNum* aabb2 = &model->oct_aabb[(octree_adr + node2_idx) * 6];
-
-      if (AreAabbsAdjacent(aabb1, aabb2)) {
-        const int level1 = model->oct_depth[octree_adr + node1_idx];
-        const int level2 = model->oct_depth[octree_adr + node2_idx];
-        if (std::abs(level1 - level2) > 1) {
-          if (unbalanced_pairs < 10) {
-            ADD_FAILURE() << "Nodes " << node1_idx << " (level " << level1
-                          << ") and " << node2_idx << " (level " << level2
-                          << ") are not balanced."
-                          << "\nAABB1: center=(" << aabb1[0] << ", " << aabb1[1]
-                          << ", " << aabb1[2] << "), half_size=(" << aabb1[3]
-                          << ", " << aabb1[4] << ", " << aabb1[5] << ")"
-                          << "\nAABB2: center=(" << aabb2[0] << ", " << aabb2[1]
-                          << ", " << aabb2[2] << "), half_size=(" << aabb2[3]
-                          << ", " << aabb2[4] << ", " << aabb2[5] << ")";
-          }
-          unbalanced_pairs++;
-        }
-      }
-    }
-  }
-
-  EXPECT_EQ(unbalanced_pairs, 0)
-      << "Found " << unbalanced_pairs << " unbalanced adjacent leaf pairs.";
-
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, OctreeHangingNodeInterpolation) {
-  const std::string xml_path = GetTestDataFilePath(kTorusPath);
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXML(xml_path.c_str(), 0, error.data(), error.size());
-  mjsGeom* geom = mjs_asGeom(mjs_firstElement(spec, mjOBJ_GEOM));
-  geom->type = mjGEOM_SDF;
-  mjsMesh* mesh = mjs_asMesh(mjs_firstElement(spec, mjOBJ_MESH));
-  mesh->octree_maxdepth = 5;
-  mjModel* model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull()) << error.data();
-  EXPECT_GT(model->mesh_octnum[0], 0);
-  const mjtNum kEps = MjTol(1e-6, 1e-4);
-
-  const int octree_adr = model->mesh_octadr[0];
-  const int noct = model->mesh_octnum[0];
-  const mjtNum* sdf = model->oct_coeff + octree_adr * 8;
-
-  // find all leaves in the octree
-  std::vector<int> leaves;
-  for (int i = 0; i < noct; ++i) {
-    bool is_leaf = true;
-    for (int j = 0; j < 8; ++j) {
-      if (model->oct_child[(octree_adr + i) * 8 + j] != -1) {
-        is_leaf = false;
-        break;
-      }
-    }
-    if (is_leaf) {
-      leaves.push_back(i);
-    }
-  }
-
-  // do a n^2 check of all pairs of leaves in the octree
-  // for each pair, check if they are adjacent and if so, check that all hanging
-  // nodes within the octree can be interpolated from their parent nodes
-  int hanging_nodes_checked = 0;
-  int interpolation_failures = 0;
-  for (int i = 0; i < leaves.size(); ++i) {
-    for (int j = i + 1; j < leaves.size(); ++j) {
-      const int node1_idx = leaves[i];
-      const int node2_idx = leaves[j];
-      const mjtNum* aabb1 = &model->oct_aabb[(octree_adr + node1_idx) * 6];
-      const mjtNum* aabb2 = &model->oct_aabb[(octree_adr + node2_idx) * 6];
-
-      if (AreAabbsAdjacent(aabb1, aabb2)) {
-        const int level1 = model->oct_depth[octree_adr + node1_idx];
-        const int level2 = model->oct_depth[octree_adr + node2_idx];
-
-        if (level1 == level2) {
-          continue;
-        }
-
-        // decide which node is finer and which is coarser
-        const int finer_node_idx = (level1 > level2) ? node1_idx : node2_idx;
-        const int coarser_node_idx = (level1 > level2) ? node2_idx : node1_idx;
-        const mjtNum* coarser_aabb =
-            &model->oct_aabb[(octree_adr + coarser_node_idx) * 6];
-        const mjtNum* finer_aabb =
-            &model->oct_aabb[(octree_adr + finer_node_idx) * 6];
-
-        mjtNum coarser_corners[8][3];
-        for (int c = 0; c < 8; ++c) {
-          int sx = (c & 1) ? 1 : -1;
-          int sy = (c & 2) ? 1 : -1;
-          int sz = (c & 4) ? 1 : -1;
-          coarser_corners[c][0] = coarser_aabb[0] + sx * coarser_aabb[3];
-          coarser_corners[c][1] = coarser_aabb[1] + sy * coarser_aabb[4];
-          coarser_corners[c][2] = coarser_aabb[2] + sz * coarser_aabb[5];
-        }
-
-        // for all vertices in the finer node, check if they are hanging and
-        // can be interpolated
-        for (int v_idx = 0; v_idx < 8; ++v_idx) {
-          mjtNum v_pos[3];
-          int sx = (v_idx & 1) ? 1 : -1;
-          int sy = (v_idx & 2) ? 1 : -1;
-          int sz = (v_idx & 4) ? 1 : -1;
-          v_pos[0] = finer_aabb[0] + sx * finer_aabb[3];
-          v_pos[1] = finer_aabb[1] + sy * finer_aabb[4];
-          v_pos[2] = finer_aabb[2] + sz * finer_aabb[5];
-
-          // skip finer vertices that are also coarse corners
-          bool is_coarse_corner = false;
-          for (int c = 0; c < 8; ++c) {
-            if (mju_dist3(v_pos, coarser_corners[c]) < 1e-6) {
-              is_coarse_corner = true;
-              break;
-            }
-          }
-          if (is_coarse_corner) {
-            continue;
-          }
-
-          // skip vertices that are not on the boundary
-          mjtNum p_local[3];
-          bool outside = false;
-          for (int d = 0; d < 3; ++d) {
-            p_local[d] = (v_pos[d] - coarser_aabb[d]) / coarser_aabb[d + 3];
-            if (std::abs(p_local[d]) > 1.0 + kEps) {
-              outside = true;
-              break;
-            }
-          }
-          if (outside) {
-            continue;
-          }
-
-          // count the number of dimensions that are on the boundary
-          int num_dim = 0;
-          for (int d = 0; d < 3; ++d) {
-            if (std::abs(p_local[d] - 1.0) < kEps) {
-              num_dim++;
-            } else if (std::abs(p_local[d] + 1.0) < kEps) {
-              num_dim++;
-            }
-          }
-
-          double interpolated_sdf = 0;
-          const mjtNum* coarser_sdf = sdf + coarser_node_idx * 8;
-
-          // for edge or face nodes, try to interpolate the hanging nodes
-          if (num_dim == 1 || num_dim == 2) {
-            for (int k = 0; k < 8; ++k) {
-              int sx = (k & 1) ? 1 : -1;
-              int sy = (k & 2) ? 1 : -1;
-              int sz = (k & 4) ? 1 : -1;
-              double weight = (1 + p_local[0] * sx) / 2.0 *
-                              (1 + p_local[1] * sy) / 2.0 *
-                              (1 + p_local[2] * sz) / 2.0;
-              if (weight > kEps && num_dim == 1) {
-                ASSERT_NEAR(weight, 0.25, kEps);
-              } else if (weight > kEps && num_dim == 2) {
-                ASSERT_NEAR(weight, 0.5, kEps);
-              }
-              interpolated_sdf += weight * coarser_sdf[k];
-            }
-          } else {
-            continue;
-          }
-
-          // if the values do not match, log an error
-          const mjtNum* finer_sdf = sdf + finer_node_idx * 8;
-          if (std::abs(finer_sdf[v_idx] - interpolated_sdf) > kEps) {
-            if (interpolation_failures < 10) {
-              EXPECT_NEAR(finer_sdf[v_idx], interpolated_sdf, kEps);
-            }
-            interpolation_failures++;
-          }
-          hanging_nodes_checked++;
-        }
-      }
-    }
-  }
-  EXPECT_GT(hanging_nodes_checked, 0);
-  EXPECT_EQ(interpolation_failures, 0)
-      << "Found " << interpolation_failures
-      << " hanging node interpolation failures.";
-
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCMeshTest, OctreeNotComputedForNonSDF) {
-  const std::string xml_path = GetTestDataFilePath(kTorusPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << error.data();
-  EXPECT_EQ(model->noct, 0);
-  mj_deleteModel(model);
-}
-
-mjtNum CubeSDF(mjtNum p[3], mjtNum b[3]) {
-  mjtNum q[3] = {mju_abs(p[0]) - b[0], mju_abs(p[1]) - b[1],
-                 mju_abs(p[2]) - b[2]};
-  return mju_sqrt(std::pow(std::max(q[0], (mjtNum)0), 2) +
-                  std::pow(std::max(q[1], (mjtNum)0), 2) +
-                  std::pow(std::max(q[2], (mjtNum)0), 2)) +
-         std::min(std::max(q[0], std::max(q[1], q[2])), (mjtNum)0);
-}
-
-TEST_F(MjCMeshTest, OctreeCube) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh" vertex="-1 -1 -1  1 -1 -1  -1 1 -1  1 1 -1
-                                -1 -1  1  1 -1  1  -1 1  1  1 1  1"/>
-    </asset>
-    <worldbody>
-      <geom mesh="mesh" type="sdf"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_EQ(m->noct, 63497);
-  MjDataPtr d = MakeData(m);
-  ASSERT_THAT(d, NotNull());
-  mj_forward(m.get(), d.get());
-  mjSDF sdf;
-  int instance = 0;
-  mjtGeom geomtype = mjGEOM_SDF;
-  const mjpPlugin* sdf_ptr = NULL;
-  sdf.id = &instance;
-  sdf.type = mjSDFTYPE_SINGLE;
-  sdf.plugin = &sdf_ptr;
-  sdf.geomtype = &geomtype;
-  mjtNum pnt[3][3] = {{1, 1, 1}, {.5, .5, .5}, {.5, 0, 0}};
-  mjtNum size[3] = {1, 1, 1};
-  for (int i = 0; i < 3; ++i) {
-    EXPECT_NEAR(mjc_distance(m.get(), d.get(), &sdf, pnt[i]),
-                CubeSDF(pnt[i], size), 1e-1)
-        << "i = " << i;
-  }
-}
-
-TEST_F(MjCMeshTest, HemisphereSizes) {
-  static constexpr char xml[] = R"(
-  <mujoco model="makemesh">
-    <asset>
-      <mesh name="h0" builtin="hemisphere" params="0"/>
-      <mesh name="h1" builtin="hemisphere" params="1"/>
-      <mesh name="h2" builtin="hemisphere" params="2"/>
-    </asset>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->mesh_vertnum[0], 2 * (0 + 1) * (0 + 2) + 2);
-  EXPECT_EQ(model->mesh_vertnum[1], 2 * (1 + 1) * (1 + 2) + 2);
-  EXPECT_EQ(model->mesh_vertnum[2], 2 * (2 + 1) * (2 + 2) + 2);
-  EXPECT_EQ(model->mesh_facenum[0], 4 * (0 + 1) * (0 + 2));
-  EXPECT_EQ(model->mesh_facenum[1], 4 * (1 + 1) * (1 + 2));
-  EXPECT_EQ(model->mesh_facenum[2], 4 * (2 + 1) * (2 + 2));
-}
-
-TEST_F(MjCMeshTest, SphereSizes) {
-  static constexpr char xml[] = R"(
-  <mujoco model="makemesh">
-    <asset>
-      <mesh name="h0" builtin="sphere" params="0"/>
-      <mesh name="h1" builtin="sphere" params="1"/>
-      <mesh name="h2" builtin="sphere" params="2"/>
-    </asset>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->mesh_vertnum[0], 2 + 10 * std::pow(4, 0));
-  EXPECT_EQ(model->mesh_vertnum[1], 2 + 10 * std::pow(4, 1));
-  EXPECT_EQ(model->mesh_vertnum[2], 2 + 10 * std::pow(4, 2));
-  EXPECT_EQ(model->mesh_facenum[0], 20 * std::pow(4, 0));
-  EXPECT_EQ(model->mesh_facenum[1], 20 * std::pow(4, 1));
-  EXPECT_EQ(model->mesh_facenum[2], 20 * std::pow(4, 2));
-}
-
-TEST_F(MjCMeshTest, MeshMaterial) {
-  static constexpr char xml[] = R"(
-  <mujoco model="mesh_material">
-    <asset>
-      <mesh name="h0" builtin="sphere" params="0" material="m1"/>
-      <material name="m0" rgba="1 0 0 1"/>
-      <material name="m1" rgba="1 1 0 1"/>
-    </asset>
-
-    <worldbody>
-      <geom name="g0" type="mesh" mesh="h0"/>
-      <geom name="g1" type="mesh" mesh="h0" material="m0"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->geom_matid[0], 1);
-  EXPECT_EQ(model->geom_matid[1], 0);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_model_test.cc b/test/user/user_model_test.cc
deleted file mode 100644
index ae22e049..00000000
--- a/test/user/user_model_test.cc
+++ /dev/null
@@ -1,1159 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for user/user_model.cc.
-
-#include <array>
-#include <cmath>
-#include <cstddef>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/strings/str_format.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "test/compare_model.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::ElementsAre;
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-
-static std::vector<mjtNum> GetRow(const mjtNum* array, int ncolumn, int row) {
-  return std::vector<mjtNum>(array + ncolumn * row,
-                             array + ncolumn * (row + 1));
-}
-
-// ----------------------------- test mjCModel  --------------------------------
-
-using UserModelTest = MujocoTest;
-
-// clarify the semantic of body_rootid and body_weldid
-TEST_F(UserModelTest, WeldRootID) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="1">
-        <joint/>
-        <geom size="1"/>
-        <body name="2">
-          <joint/>
-          <geom size="1"/>
-        </body>
-      </body>
-
-      <body name="3">
-        <joint/>
-        <geom size="1"/>
-        <body name="4">
-          <geom size="1"/>
-        </body>
-      </body>
-
-      <body name="5">
-        <geom size="1"/>
-        <body name="6">
-          <geom size="1"/>
-        </body>
-      </body>
-
-      <body name="7" mocap="true">
-        <geom size="1"/>
-        <body name="8">
-          <geom size="1"/>
-        </body>
-      </body>
-
-      <body name="9" mocap="true">
-        <geom size="1"/>
-        <body name="10">
-          <joint/>
-          <geom size="1"/>
-        </body>
-      </body>
-     </worldbody>
-   </mujoco>
-   )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull());
-
-  EXPECT_THAT(AsVector(model->body_rootid, model->nbody),
-              ElementsAre(0, 1, 1, 3, 3, 5, 5, 7, 7, 9, 9));
-  // mocap bodies (7, 9) are their own weld roots, inherited by static children (8)
-  EXPECT_THAT(AsVector(model->body_weldid, model->nbody),
-              ElementsAre(0, 1, 2, 3, 3, 0, 0, 7, 7, 9, 10));
-}
-
-TEST_F(UserModelTest, RepeatedNames) {
-  static constexpr char xml[] = R"(
-   <mujoco>
-     <worldbody>
-       <body name="body1">
-         <joint axis="0 1 0" name="joint1"/>
-         <geom size="1" name="geom1"/>
-         <geom size="1" name="geom1"/>
-        </body>
-      </worldbody>
-    </mujoco>)";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("repeated name 'geom1' in geom"));
-}
-
-TEST_F(UserModelTest, SameFrame) {
-  static constexpr char xml[] = R"(
-   <mujoco>
-     <default>
-      <geom type="box" size="1 2 3"/>
-     </default>
-
-     <worldbody>
-       <body name="body1">
-         <geom name="none"       mass="0" pos="1 1 1" euler="10 10 10"/>
-         <geom name="body"       mass="0"/>
-         <geom name="inertia"    mass="1" pos="3 2 1" euler="20 30 40"/>
-         <geom name="bodyrot"    mass="0" pos="1 1 1"/>
-         <geom name="inertiarot" mass="0" euler="20 30 40"/>
-        </body>
-      </worldbody>
-    </mujoco>)";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->geom_sameframe[0], mjSAMEFRAME_NONE);
-  EXPECT_EQ(model->geom_sameframe[1], mjSAMEFRAME_BODY);
-  EXPECT_EQ(model->geom_sameframe[2], mjSAMEFRAME_INERTIA);
-  EXPECT_EQ(model->geom_sameframe[3], mjSAMEFRAME_BODYROT);
-  EXPECT_EQ(model->geom_sameframe[4], mjSAMEFRAME_INERTIAROT);
-
-  // make data, get geom_xpos
-  MjDataPtr data = MakeData(model);
-  mj_kinematics(model.get(), data.get());
-  auto geom_xpos = AsVector(data->geom_xpos, model->ngeom * 3);
-  auto geom_xmat = AsVector(data->geom_xmat, model->ngeom * 9);
-
-  // set all geom_sameframe to 0, call kinematics again
-  for (int i = 0; i < model->ngeom; i++) {
-    model->geom_sameframe[i] = mjSAMEFRAME_NONE;
-  }
-  mj_resetData(model.get(), data.get());
-  mj_kinematics(model.get(), data.get());
-  auto geom_xpos2 = AsVector(data->geom_xpos, model->ngeom * 3);
-  auto geom_xmat2 = AsVector(data->geom_xmat, model->ngeom * 9);
-
-  // expect them to be equal
-  constexpr double eps = 1e-6;
-  EXPECT_THAT(geom_xpos, Pointwise(MjNear(eps, eps), geom_xpos2));
-  EXPECT_THAT(geom_xmat, Pointwise(MjNear(eps, eps), geom_xmat2));
-}
-
-TEST_F(UserModelTest, ActuatorSparsity) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="a"/>
-        <body>
-          <geom size="1"/>
-          <joint name="b"/>
-        </body>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="a"/>
-      <motor joint="b"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_EQ(m->nJmom, 2);
-}
-
-TEST_F(UserModelTest, FixedTendonSparsity) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size=".1"/>
-        <joint name="0"/>
-      </body>
-      <body pos="1 0 0">
-        <geom size=".1"/>
-        <joint name="1"/>
-      </body>
-      <body pos="2 0 0">
-        <geom size=".1"/>
-        <joint name="2"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <fixed>
-        <joint coef="3" joint="2"/>
-        <joint coef="2" joint="1"/>
-        <joint coef="1" joint="0"/>
-      </fixed>
-    </tendon>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_THAT(m.get(), NotNull());
-
-  EXPECT_EQ(m->nJten, 3);
-  EXPECT_EQ(m->ten_J_rownnz[0], 3);
-  EXPECT_EQ(m->ten_J_rowadr[0], 0);
-  EXPECT_EQ(m->wrap_type[m->tendon_adr[0]], mjWRAP_JOINT);
-
-  int rowadr = m->ten_J_rowadr[0];
-  int* colind = m->ten_J_colind + rowadr;
-  EXPECT_THAT(std::vector<int>(colind, colind + 3), ElementsAre(0, 1, 2));
-}
-
-TEST_F(UserModelTest, NestedZeroMassBodiesOK) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <body>
-          <body>
-            <body>
-              <geom size="1"/>
-            </body>
-          </body>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-}
-
-TEST_F(UserModelTest, NestedZeroMassBodiesWithJointOK) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <freejoint/>
-        <body>
-          <body>
-            <body>
-              <joint/>
-              <geom size="1"/>
-            </body>
-            <body>
-              <geom size="1"/>
-            </body>
-          </body>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), NotNull()) << error;
-}
-
-TEST_F(UserModelTest, NestedZeroMassBodiesFail) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <body name="bad">
-          <freejoint/>
-          <body>
-            <body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(
-      error,
-      HasSubstr(
-          "mass and inertia of moving bodies must be larger than mjMINVAL"));
-  EXPECT_THAT(error, HasSubstr("Element name 'bad'"));
-}
-
-TEST_F(UserModelTest, ConvexHullForCollisionMeshes) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh_no_hull" vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-            face="0 2 1  0 1 3  0 3 2  1 2 3"/>
-      <mesh name="mesh_with_hull_contype" vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-            face="0 2 1  0 1 3  0 3 2  1 2 3"/>
-      <mesh name="mesh_with_hull_conaffinity" vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-            face="0 2 1  0 1 3  0 3 2  1 2 3"/>
-    </asset>
-    <worldbody>
-      <geom name="geom_no_hull" type="mesh" mesh="mesh_no_hull" contype="0" conaffinity="0"/>
-      <geom name="geom_with_hull_contype" type="mesh" mesh="mesh_with_hull_contype" contype="1"/>
-      <geom name="geom_with_hull_conaffinity" type="mesh" mesh="mesh_with_hull_conaffinity" conaffinity="1"/>
-    </worldbody>
-  </mujoco>)";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  int no_hull_id = mj_name2id(model.get(), mjOBJ_MESH, "mesh_no_hull");
-  int with_hull_contype_id =
-      mj_name2id(model.get(), mjOBJ_MESH, "mesh_with_hull_contype");
-  int with_hull_conaffinity_id =
-      mj_name2id(model.get(), mjOBJ_MESH, "mesh_with_hull_conaffinity");
-
-  EXPECT_NE(no_hull_id, -1);
-  EXPECT_NE(with_hull_contype_id, -1);
-  EXPECT_NE(with_hull_conaffinity_id, -1);
-
-  // mesh_no_hull should not have a convex hull.
-  EXPECT_EQ(model->mesh_graphadr[no_hull_id], -1);
-
-  // mesh_with_hull_contype should have a convex hull.
-  EXPECT_NE(model->mesh_graphadr[with_hull_contype_id], -1);
-
-  // mesh_with_hull_conaffinity should have a convex hull.
-  EXPECT_NE(model->mesh_graphadr[with_hull_conaffinity_id], -1);
-}
-
-TEST_F(UserModelTest, MeshExtremaValidIndices) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="test_mesh" vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-            face="0 2 1  0 1 3  0 3 2  1 2 3"/>
-    </asset>
-    <worldbody>
-      <geom name="test_geom" type="mesh" mesh="test_mesh"/>
-    </worldbody>
-  </mujoco>)";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  int mesh_id = mj_name2id(model.get(), mjOBJ_MESH, "test_mesh");
-  EXPECT_NE(mesh_id, -1);
-  EXPECT_NE(model->mesh_graphadr[mesh_id], -1);
-
-  const float* verts = model->mesh_vert + 3 * model->mesh_vertadr[mesh_id];
-  const int* graph = model->mesh_graph + model->mesh_graphadr[mesh_id];
-  const int* vert_globalid = graph + 2 + graph[0];
-
-  int k = 0;
-  for (int cx = -1; cx <= 1; cx++) {
-    for (int cy = -1; cy <= 1; cy++) {
-      for (int cz = -1; cz <= 1; cz++) {
-        int v_idx = model->mesh_extrema[mesh_id * 27 + k];
-        EXPECT_GE(v_idx, 0);
-        EXPECT_LT(v_idx, graph[0]);
-
-        int global_id = vert_globalid[v_idx];
-        float max_dot = verts[3 * global_id + 0] * cx +
-                        verts[3 * global_id + 1] * cy +
-                        verts[3 * global_id + 2] * cz;
-
-        // verify no other vertex yields a strictly greater dot product.
-        for (int i = 0; i < graph[0]; i++) {
-          int other_gid = vert_globalid[i];
-          float dot = verts[3 * other_gid + 0] * cx +
-                      verts[3 * other_gid + 1] * cy +
-                      verts[3 * other_gid + 2] * cz;
-          EXPECT_LE(dot, max_dot);
-        }
-        k++;
-      }
-    }
-  }
-}
-
-TEST_F(UserModelTest, ConvexHullForPairCollisionMeshes) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh" vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-            face="0 2 1  0 1 3  0 3 2  1 2 3"/>
-    </asset>
-    <worldbody>
-      <geom name="geom1" type="sphere" size="1"/>
-      <geom name="geom_mesh" type="mesh" mesh="mesh" contype="0" conaffinity="0"/>
-    </worldbody>
-    <contact>
-      <pair name="hello" geom1="geom1" geom2="geom_mesh"/>
-    </contact>
-  </mujoco>)";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  int mesh_in_pair_id = mj_name2id(model.get(), mjOBJ_MESH, "mesh");
-
-  EXPECT_NE(mesh_in_pair_id, -1);
-
-  // mesh_in_pair should have a convex hull because it is in a collision pair.
-  EXPECT_NE(model->mesh_graphadr[mesh_in_pair_id], -1);
-}
-
-// ------------- test automatic inference of nuser_xxx -------------------------
-
-using UserDataTest = MujocoTest;
-
-TEST_F(UserDataTest, AutoNUserBody) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body user="1 2 3"/>
-      <body user="2 3"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_EQ(m->nuser_body, 3);
-  EXPECT_THAT(GetRow(m->body_user, m->nuser_body, 1), ElementsAre(1, 2, 3));
-  EXPECT_THAT(GetRow(m->body_user, m->nuser_body, 2), ElementsAre(2, 3, 0));
-}
-
-TEST_F(UserDataTest, AutoNUserJoint) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint user="1 2 3"/>
-        <joint user="2 3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_EQ(m->nuser_jnt, 3);
-  EXPECT_THAT(GetRow(m->jnt_user, m->nuser_jnt, 0), ElementsAre(1, 2, 3));
-  EXPECT_THAT(GetRow(m->jnt_user, m->nuser_jnt, 1), ElementsAre(2, 3, 0));
-}
-
-TEST_F(UserDataTest, AutoNUserGeom) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom size="1" user="1 2 3"/>
-      <geom size="1" user="2 3"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_EQ(m->nuser_geom, 3);
-  EXPECT_THAT(GetRow(m->geom_user, m->nuser_geom, 0), ElementsAre(1, 2, 3));
-  EXPECT_THAT(GetRow(m->geom_user, m->nuser_geom, 1), ElementsAre(2, 3, 0));
-}
-
-TEST_F(UserDataTest, AutoNUserSite) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site user="1 2 3"/>
-      <site user="2 3"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_EQ(m->nuser_site, 3);
-  EXPECT_THAT(GetRow(m->site_user, m->nuser_site, 0), ElementsAre(1, 2, 3));
-  EXPECT_THAT(GetRow(m->site_user, m->nuser_site, 1), ElementsAre(2, 3, 0));
-}
-
-TEST_F(UserDataTest, AutoNUserCamera) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <camera user="1 2 3"/>
-      <camera user="2 3"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_EQ(m->nuser_cam, 3);
-  EXPECT_THAT(GetRow(m->cam_user, m->nuser_cam, 0), ElementsAre(1, 2, 3));
-  EXPECT_THAT(GetRow(m->cam_user, m->nuser_cam, 1), ElementsAre(2, 3, 0));
-}
-
-TEST_F(UserDataTest, AutoNUserTendon) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="a"/>
-      <site name="b"/>
-    </worldbody>
-    <tendon>
-      <spatial user="1 2 3">
-        <site site="a"/>
-        <site site="b"/>
-      </spatial>
-      <spatial user="2 3">
-        <site site="a"/>
-        <site site="b"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_EQ(m->nuser_tendon, 3);
-  EXPECT_THAT(GetRow(m->tendon_user, m->nuser_tendon, 0), ElementsAre(1, 2, 3));
-  EXPECT_THAT(GetRow(m->tendon_user, m->nuser_tendon, 1), ElementsAre(2, 3, 0));
-}
-
-TEST_F(UserDataTest, AutoNUserActuator) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="a"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="a" user="1 2 3"/>
-      <motor joint="a" user="2 3"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_EQ(m->nuser_actuator, 3);
-  EXPECT_THAT(GetRow(m->actuator_user, m->nuser_actuator, 0),
-              ElementsAre(1, 2, 3));
-  EXPECT_THAT(GetRow(m->actuator_user, m->nuser_actuator, 1),
-              ElementsAre(2, 3, 0));
-}
-
-TEST_F(UserDataTest, AutoNUserSensor) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="a"/>
-    </worldbody>
-    <sensor>
-      <accelerometer site="a" user="1 2 3"/>
-      <gyro site="a" user="2 3"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_EQ(m->nuser_sensor, 3);
-  EXPECT_THAT(GetRow(m->sensor_user, m->nuser_sensor, 0), ElementsAre(1, 2, 3));
-  EXPECT_THAT(GetRow(m->sensor_user, m->nuser_sensor, 1), ElementsAre(2, 3, 0));
-}
-
-// ------------- test duplicate names ------------------------------------------
-TEST_F(UserDataTest, DuplicateNames) {
-  static const char* const kFilePath = "user/testdata/malformed_duplicated.xml";
-  const std::string xml_path = GetTestDataFilePath(kFilePath);
-
-  std::array<char, 1024> error;
-  mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-
-  EXPECT_THAT(m, IsNull());
-  EXPECT_STREQ(error.data(), "Error: repeated name 'cube' in mesh");
-}
-
-// ------------- test fusestatic -----------------------------------------------
-
-using FuseStaticTest = MujocoTest;
-TEST_F(FuseStaticTest, FuseStaticEquivalent) {
-  static constexpr char xml_template[] = R"(
-  <mujoco>
-    <compiler fusestatic="%s"/>
-    <worldbody>
-      <body>
-        <joint axis="1 0 0"/>
-        <geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
-        <body>
-          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
-          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::string fuse = absl::StrFormat(xml_template, "true");
-  std::string no_fuse = absl::StrFormat(xml_template, "false");
-
-  MjModelPtr m_fuse = LoadModelFromString(fuse.c_str());
-  MjModelPtr m_no_fuse = LoadModelFromString(no_fuse.c_str());
-  ASSERT_THAT(m_fuse.get(), NotNull());
-  ASSERT_THAT(m_no_fuse.get(), NotNull());
-
-  EXPECT_EQ(m_fuse->nbody, 2) << "Expecting a world body and one other body";
-  EXPECT_EQ(m_no_fuse->nbody, 3) << "Expecting a world body and two others";
-
-  EXPECT_EQ(m_no_fuse->body_contype[2], 1);
-  EXPECT_EQ(m_no_fuse->body_conaffinity[2], 1);
-  EXPECT_EQ(m_fuse->body_contype[1], 1);
-  EXPECT_EQ(m_fuse->body_conaffinity[1], 1);
-
-  EXPECT_EQ(m_no_fuse->body_bvhnum[2], 3);
-  EXPECT_EQ(m_fuse->body_bvhnum[1], 3);
-
-  MjDataPtr d_fuse = MakeData(m_fuse);
-  MjDataPtr d_no_fuse = MakeData(m_no_fuse);
-
-  mj_step(m_fuse.get(), d_fuse.get());
-  mj_step(m_no_fuse.get(), d_no_fuse.get());
-
-  EXPECT_NEAR(d_fuse.get()->qvel[0], d_no_fuse.get()->qvel[0],
-              MjTol(2e-17, 1e-8))
-      << "Velocity should be the same after 1 step";
-  EXPECT_NE(d_fuse.get()->qvel[0], 0);
-}
-
-TEST_F(FuseStaticTest, FuseStaticActuatorReferencedBody) {
-  static constexpr char xml_template[] = R"(
-  <mujoco>
-    <compiler fusestatic="true"/>
-
-    <worldbody>
-      <body>
-        <joint axis="1 0 0"/>
-        <geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
-        <body name="not_referenced">
-          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
-          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
-        </body>
-        <body name="referenced">
-          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
-          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
-        </body>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <adhesion body="referenced" ctrlrange="0 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml_template, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_EQ(m->nbody, 3) << "Expecting a world body and two others";
-}
-
-TEST_F(FuseStaticTest, FuseStaticLightReferencedBody) {
-  static constexpr char xml_template[] = R"(
-  <mujoco>
-    <compiler fusestatic="true"/>
-
-    <worldbody>
-      <light mode="targetbody" target="referenced"/>
-      <body>
-        <joint axis="1 0 0"/>
-        <geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
-        <body name="not_referenced">
-          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
-          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
-        </body>
-        <body name="referenced">
-          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
-          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml_template, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_EQ(m->nbody, 3) << "Expecting a world body and two others";
-}
-
-TEST_F(FuseStaticTest, FuseStaticForceSensorReferencedBody) {
-  static constexpr char xml_template[] = R"(
-  <mujoco>
-    <compiler fusestatic="true"/>
-
-    <worldbody>
-      <body>
-        <joint axis="1 0 0"/>
-        <geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
-        <body name="not_referenced">
-          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
-          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
-        </body>
-        <body name="referenced">
-          <site name="force"/>
-          <geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
-          <geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
-        </body>
-      </body>
-    </worldbody>
-
-    <sensor>
-      <force site="force"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml_template, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_EQ(m->nbody, 3) << "Expecting a world body and two others";
-}
-
-TEST_F(FuseStaticTest, FuseStaticCameraInBody) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler fusestatic="true"/>
-    <worldbody>
-      <body>
-        <joint axis="1 0 0"/>
-        <geom size="0.5"/>
-        <body pos="1 0 0">
-          <site name="site1"/>
-          <camera name="cam1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_EQ(m->nbody, 2) << "Static body should be fused";
-  EXPECT_EQ(m->ncam, 1);
-}
-
-TEST_F(FuseStaticTest, FuseStaticLightInBody) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler fusestatic="true"/>
-    <worldbody>
-      <body>
-        <joint axis="1 0 0"/>
-        <geom size="0.5"/>
-        <body pos="1 0 0">
-          <light name="light1" dir="0 0 -1"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_EQ(m->nbody, 2) << "Static body should be fused";
-  EXPECT_EQ(m->nlight, 1);
-}
-
-// ------------- test discardvisual --------------------------------------------
-
-using DiscardVisualTest = MujocoTest;
-TEST_F(DiscardVisualTest, DiscardVisualKeepsInertia) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler discardvisual="true"/>
-
-    <asset>
-      <mesh name="visual_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        normal="1 0 0  0 1 0  0 0 1  0.707 0 0.707"
-        face="0 2 1  0 3 2" />
-
-      <mesh name="collision_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        normal="1 0 0  0 1 0  0 0 1  0.707 0 0.707"
-        face="0 2 1  0 3 2" />
-    </asset>
-
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="visual_mesh" contype="0" conaffinity="0"/>
-      </body>
-      <body>
-        <geom type="mesh" mesh="collision_mesh"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_THAT(model->nmesh, 1);
-  EXPECT_THAT(model->body_inertia[3], model->body_inertia[6]);
-  EXPECT_THAT(model->body_inertia[4], model->body_inertia[7]);
-  EXPECT_THAT(model->body_inertia[5], model->body_inertia[8]);
-}
-
-TEST_F(DiscardVisualTest, DiscardVisualEquivalent) {
-  char error[1024];
-  size_t error_sz = 1024;
-
-  static const char* const kDiscardvisualPath =
-      "user/testdata/discardvisual.xml";
-  static const char* const kDiscardvisualFalsePath =
-      "user/testdata/discardvisual_false.xml";
-
-  const std::string xml_path1 = GetTestDataFilePath(kDiscardvisualPath);
-  mjModel* model1 = mj_loadXML(xml_path1.c_str(), 0, error, error_sz);
-  EXPECT_THAT(model1, NotNull()) << error;
-
-  const std::string xml_path2 = GetTestDataFilePath(kDiscardvisualFalsePath);
-  mjModel* model2 = mj_loadXML(xml_path2.c_str(), 0, error, error_sz);
-  EXPECT_THAT(model2, NotNull()) << error;
-
-  EXPECT_THAT(model1->nq, model2->nq);
-  EXPECT_THAT(model1->nmat, 0);
-  EXPECT_THAT(model1->ntex, 0);
-  EXPECT_THAT(model2->ngeom - model1->ngeom, 3);
-  EXPECT_THAT(model2->nmesh - model1->nmesh, 2);
-  EXPECT_THAT(model1->npair, model2->npair);
-  EXPECT_THAT(model1->nsensor, model2->nsensor);
-  EXPECT_THAT(model1->nwrap, model2->nwrap);
-
-  for (int i = 0; i < model1->ngeom; i++) {
-    std::string name = std::string(model1->names + model1->name_geomadr[i]);
-    EXPECT_NE(name.find("kept"), std::string::npos);
-    EXPECT_EQ(name.find("discard"), std::string::npos);
-  }
-
-  for (int i = 0; i < model1->npair; i++) {
-    int adr1 = model1->name_geomadr[model1->pair_geom1[i]];
-    int adr2 = model2->name_geomadr[model2->pair_geom1[i]];
-    EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
-    adr1 = model1->name_geomadr[model1->pair_geom2[i]];
-    adr2 = model2->name_geomadr[model2->pair_geom2[i]];
-    EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
-  }
-
-  for (int i = 0; i < model1->nsensor; i++) {
-    int adr1 = model1->name_geomadr[model1->sensor_objid[i]];
-    int adr2 = model2->name_geomadr[model2->sensor_objid[i]];
-    EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
-  }
-
-  for (int i = 0; i < model1->nwrap; i++) {
-    int adr1 = model1->name_geomadr[model1->wrap_objid[i]];
-    int adr2 = model2->name_geomadr[model2->wrap_objid[i]];
-    EXPECT_STREQ(model1->names + adr1, model2->names + adr2);
-  }
-
-  mjData* d1 = mj_makeData(model1);
-  mjData* d2 = mj_makeData(model2);
-  for (int i = 0; i < 100; i++) {
-    mj_step(model1, d1);
-    mj_step(model2, d2);
-  }
-
-  for (int i = 0; i < model1->nq; i++) {
-    EXPECT_THAT(d1->qpos[i], d2->qpos[i]);
-  }
-
-  mj_deleteModel(model1);
-  mj_deleteModel(model2);
-  mj_deleteData(d1);
-  mj_deleteData(d2);
-}
-
-// ------------- test lengthrange ----------------------------------------------
-
-using LengthRangeTest = MujocoTest;
-
-TEST_F(LengthRangeTest, LengthRangeThreading) {
-  char error[1024];
-  size_t error_sz = 1024;
-  std::string field = "";
-
-  static const char* const kLengthrangePath = "user/testdata/lengthrange.xml";
-
-  const std::string xml_path1 = GetTestDataFilePath(kLengthrangePath);
-  mjSpec* spec = mj_parseXML(xml_path1.c_str(), 0, error, error_sz);
-  EXPECT_THAT(spec, NotNull()) << error;
-  mjModel* model1 = mj_compile(spec, 0);
-  EXPECT_THAT(model1, NotNull()) << error;
-
-  // model is such that the lengthrange for first actuator is [1, sqrt(5)]
-  EXPECT_NEAR(model1->actuator_lengthrange[0], 1.0, 1e-3);
-  EXPECT_NEAR(model1->actuator_lengthrange[1], std::sqrt(5.0), 1e-3);
-
-  // recompile without threads
-  ASSERT_EQ(spec->compiler.usethread, 1);
-  spec->compiler.usethread = 0;
-  mjModel* model2 = mj_compile(spec, 0);
-  EXPECT_THAT(model2, NotNull()) << error;
-
-  // expect threaded and unthreaded models to be identical
-  EXPECT_LE(CompareModel(model1, model2, field), 0)
-      << "Threaded and unthreaded lengthrange models are different!\n"
-      << "Different field: " << field << '\n';
-
-  mj_deleteModel(model1);
-  mj_deleteModel(model2);
-  mj_deleteSpec(spec);
-}
-
-
-TEST_F(MujocoTest, ResolvePluginMissingInstanceThrowsError) {
-  // Instance name="my_pid_config" dos not match actuator plugin's instance="pid_config",
-  // this should throw an appropriate error
-  static constexpr char xml_mismatch[] = R"(
-  <mujoco>
-    <extension>
-      <plugin plugin="mujoco.pid">
-        <instance name="my_pid_config" />
-      </plugin>
-    </extension>
-    <worldbody>
-      <body name="block" pos="0 0 0.5">
-        <joint name="slide_z" type="slide" axis="0 0 1" />
-        <geom type="box" size="0.1 0.1 0.1" mass="1.0" rgba="0 0.7 0 1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <plugin name="pid_actuator" joint="slide_z" plugin="mujoco.pid" instance="pid_config" />
-    </actuator>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error_buffer;
-  mjSpec* spec = mj_parseXMLString(xml_mismatch, 0, error_buffer.data(), error_buffer.size());
-  ASSERT_THAT(spec, NotNull()) << error_buffer.data();
-
-  mjModel* model = mj_compile(spec, nullptr);
-  EXPECT_THAT(model, IsNull());
-
-  std::string error_msg = mjs_getError(spec);
-  EXPECT_THAT(error_msg, HasSubstr("unrecognized name 'pid_config' for plugin instance"));
-
-  if (model) mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-// ----------------------------- test modeldir  --------------------------------
-
-TEST_F(MujocoTest, Modeldir) {
-  static constexpr char cube[] = R"(
-  v -1 -1  1
-  v  1 -1  1
-  v -1  1  1
-  v  1  1  1
-  v -1  1 -1
-  v  1  1 -1
-  v -1 -1 -1
-  v  1 -1 -1)";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "meshdir/cube.obj", cube, sizeof(cube));
-
-  // child with the asset
-  mjSpec* child = mj_makeSpec();
-  mjsMesh* mesh = mjs_addMesh(child, 0);
-  mjsFrame* frame = mjs_addFrame(mjs_findBody(child, "world"), 0);
-  mjsGeom* geom = mjs_addGeom(mjs_findBody(child, "world"), 0);
-  mjs_setString(child->compiler.meshdir, "meshdir");
-  mjs_setString(mesh->file, "cube.obj");
-  mjs_setName(mesh->element, "cube");
-  mjs_setString(geom->meshname, "cube");
-  mjs_setFrame(geom->element, frame);
-  geom->type = mjGEOM_MESH;
-
-  // parent attaching the child
-  mjSpec* spec = mj_makeSpec();
-  mjs_setDeepCopy(spec, true);
-  mjs_setString(spec->compiler.meshdir, "asset");
-  mjs_attach(mjs_findBody(spec, "world")->element, frame->element, "_", "");
-  mjModel* model = mj_compile(spec, vfs.get());
-  EXPECT_THAT(model, NotNull());
-
-  mj_deleteSpec(child);
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MujocoTest, NestedMeshDir) {
-  static constexpr char cube[] = R"(
-  v -1 -1  1
-  v  1 -1  1
-  v -1  1  1
-  v  1  1  1
-  v -1  1 -1
-  v  1  1 -1
-  v -1 -1 -1
-  v  1 -1 -1)";
-
-  static constexpr char child_xml[] = R"(
-  <mujoco>
-    <compiler meshdir="child_meshdir"/>
-
-    <asset>
-      <mesh name="m" file="child_mesh.obj"/>
-    </asset>
-
-    <worldbody>
-      <body name="child">
-        <geom type="mesh" mesh="m"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char parent_xml[] = R"(
-  <mujoco>
-    <compiler meshdir="parent_meshdir"/>
-
-    <asset>
-      <mesh name="m" file="parent_mesh.obj"/>
-      <model name="child" file="child.xml"/>
-    </asset>
-
-    <worldbody>
-      <body name="parent">
-        <geom type="mesh" mesh="m"/>
-        <attach model="child" body="child" prefix="child_"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char grandparent_xml[] = R"(
-  <mujoco>
-    <compiler meshdir="grandparent_meshdir"/>
-
-    <asset>
-      <mesh name="m" file="grandparent_mesh.obj"/>
-      <model name="parent" file="parent.xml"/>
-    </asset>
-
-    <worldbody>
-      <geom type="mesh" mesh="m"/>
-      <attach model="parent" body="parent" prefix="parent_"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "child_meshdir/child_mesh.obj", cube,
-                  sizeof(cube));
-  mj_addBufferVFS(vfs.get(), "child.xml", child_xml, sizeof(child_xml));
-  mj_addBufferVFS(vfs.get(), "parent_meshdir/parent_mesh.obj", cube,
-                  sizeof(cube));
-  mj_addBufferVFS(vfs.get(), "parent.xml", parent_xml, sizeof(parent_xml));
-  mj_addBufferVFS(vfs.get(), "grandparent_meshdir/grandparent_mesh.obj", cube,
-                  sizeof(cube));
-
-  std::array<char, 1024> error;
-  MjModelPtr child_model =
-      LoadModelFromString(child_xml, error.data(), error.size(), vfs.get());
-  EXPECT_THAT(child_model.get(), NotNull()) << error.data();
-
-  MjModelPtr parent_model =
-      LoadModelFromString(parent_xml, error.data(), error.size(), vfs.get());
-  EXPECT_THAT(parent_model.get(), NotNull()) << error.data();
-
-  MjModelPtr grandparent_model = LoadModelFromString(
-      grandparent_xml, error.data(), error.size(), vfs.get());
-  EXPECT_THAT(grandparent_model.get(), NotNull()) << error.data();
-
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(MujocoTest, ConvertSpringdamper) {
-  static constexpr char xml[] = R"(
-    <mujoco>
-    <worldbody>
-      <body>
-        <joint axis="0 1 0" springdamper="1 1"/>
-        <geom size="0.2 0.2 0.2" type="box"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> err;
-  mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
-  ASSERT_THAT(spec, NotNull()) << err.data();
-  mjModel* model = mj_compile(spec, 0);
-  ASSERT_THAT(model, NotNull()) << err.data();
-  std::array<char, 1024> str;
-  mj_saveXMLString(spec, str.data(), str.size(), err.data(), err.size());
-  EXPECT_THAT(str.data(), HasSubstr("damping"));
-  EXPECT_THAT(str.data(), HasSubstr("stiffness"));
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-// ------------- test history buffer computation -------------------------------
-
-using DelayBufferTest = MujocoTest;
-
-TEST_F(DelayBufferTest, ActuatorDelayBufferSizes) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="1"/>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt1"/>
-        <joint name="jnt2"/>
-        <joint name="jnt3"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt1"/>
-      <motor joint="jnt2" delay="3" nsample="3"/>
-      <motor joint="jnt3" delay="10" nsample="10"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml);
-  ASSERT_THAT(m.get(), NotNull());
-  ASSERT_EQ(m->nu, 3);
-
-  // nhistory = (2+2*3) + (2+2*10) = 8 + 22 = 30
-  EXPECT_EQ(m->nhistory, 30);
-
-  // verify per-actuator delay and addresses
-  EXPECT_EQ(m->actuator_history[0], 0);
-  EXPECT_EQ(m->actuator_history[2], 3);
-  EXPECT_EQ(m->actuator_history[4], 10);
-  EXPECT_EQ(m->actuator_historyadr[0], -1);
-  EXPECT_EQ(m->actuator_historyadr[1], 0);
-  EXPECT_EQ(m->actuator_historyadr[2], 8);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_objects_test.cc b/test/user/user_objects_test.cc
deleted file mode 100644
index 85784724..00000000
--- a/test/user/user_objects_test.cc
+++ /dev/null
@@ -1,2847 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for user/user_objects.cc.
-
-#include <algorithm>
-#include <array>
-#include <cstddef>
-#include <cstring>
-#include <memory>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-const double kInertiaTol = MjTol(1e-6, 1e-6);
-
-using std::string;
-using ::testing::ElementsAre;
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-using ::testing::Pointwise;
-
-// -------------------- test OS filesystem fallback ----------------------------
-
-using VfsTest = MujocoTest;
-
-TEST_F(VfsTest, HFieldPngWithVFS) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="hfield" file="unknown_file.png" size="0.5 0.5 1 0.1"/>
-    </asset>
-
-    <worldbody>
-      <geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should fallback to OS filesystem
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(VfsTest, HFieldCustomWithVFS) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="hfield" file="unknown_file" size="0.5 0.5 1 0.1"/>
-    </asset>
-
-    <worldbody>
-      <geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should fallback to OS filesystem
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(VfsTest, TexturePngWithVFS) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture name="texture" file="unknown_file.png" type="2d"/>
-      <material name="material" texture="texture"/>
-    </asset>
-
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should fallback to OS filesystem
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-// ------------------------ test content_type attribute ------------------------
-
-using ContentTypeTest = MujocoTest;
-
-TEST_F(ContentTypeTest, HFieldPngWithContentType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="hfield" content_type="image/png"
-              file="some_file.png" size="0.5 0.5 1 0.1"/>
-    </asset>
-
-    <worldbody>
-      <geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should try loading the file
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(ContentTypeTest, HFieldCustomWithContentType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="hfield" content_type="image/vnd.mujoco.hfield"
-              file="some_file" size="0.5 0.5 1 0.1"/>
-    </asset>
-
-    <worldbody>
-      <geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should try loading the file
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(ContentTypeTest, HFieldWithContentTypeError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="hfield" content_type="image/jpeg"
-              file="some_file" size="0.5 0.5 1 0.1"/>
-    </asset>
-
-    <worldbody>
-      <geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should try loading the file
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(ContentTypeTest, TexturePngWithContentType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture name="texture" content_type="image/png" file="some_file" type="2d"/>
-      <material name="material" texture="texture"/>
-    </asset>
-
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should try loading the file
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("Error opening file"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(ContentTypeTest, TextureWithContentTypeError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture name="texture" content_type="image/jpeg"
-              file="some_file" type="2d"/>
-      <material name="material" texture="texture"/>
-    </asset>
-
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  // should try loading the file
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(ContentTypeTest, TextureLoadPng) {
-  static constexpr char filename[] = "tiny";
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture content_type="image/png" file="tiny" type="2d"/>
-      <material name="material" texture="tiny"/>
-    </asset>
-
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  // tiny RGB 2 x 3 PNG file
-  static constexpr unsigned char tiny[] = {
-      0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00,
-      0x0d, 0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
-      0x00, 0x02, 0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d,
-      0x00, 0x00, 0x00, 0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63,
-      0x78, 0xc1, 0xc0, 0xc0, 0xc0, 0xf0, 0xbf, 0xb8, 0xb8, 0x98, 0x81,
-      0xe1, 0x3f, 0xc3, 0xff, 0xff, 0xff, 0xc5, 0xc4, 0xc4, 0x00, 0x46,
-      0xd7, 0x07, 0x7f, 0xd2, 0x52, 0xa1, 0x41, 0x00, 0x00, 0x00, 0x00,
-      0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60, 0x82};
-
-  size_t tiny_sz = sizeof(tiny);
-
-  char error[1024];
-  size_t error_sz = 1024;
-
-  // load VFS on the heap
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), filename, tiny, tiny_sz);
-
-  // loading the file should be successful
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz, vfs.get());
-  EXPECT_THAT(model.get(), NotNull());
-  mj_deleteVFS(vfs.get());
-}
-
-// ------------------------ test keyframes -------------------------------------
-
-using KeyframeTest = MujocoTest;
-
-constexpr char kKeyframePath[] = "user/testdata/keyframe.xml";
-
-TEST_F(KeyframeTest, CheckValues) {
-  const string xml_path = GetTestDataFilePath(kKeyframePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  ASSERT_THAT(model, NotNull());
-  EXPECT_EQ(model->nkey, 7);
-  EXPECT_MJTNUM_EQ(model->key_time[0 * 1], 0.1);
-  EXPECT_MJTNUM_EQ(model->key_qpos[1 * model->nq], 0.2);
-  EXPECT_MJTNUM_EQ(model->key_qvel[2 * model->nv], 0.3);
-  EXPECT_MJTNUM_EQ(model->key_act[3 * model->na], 0.4);
-  EXPECT_THAT(AsVector(model->key_ctrl + 4 * model->nu, model->nu),
-              ElementsAre(0.5, 0.6));
-  EXPECT_THAT(AsVector(model->key_mpos + 3 * model->nmocap * 5, 3),
-              ElementsAre(.1, .2, .3));
-  EXPECT_THAT(AsVector(model->key_mquat + 4 * model->nmocap * 6, 4),
-              ElementsAre(.5, .5, .5, .5));
-  mj_deleteModel(model);
-}
-
-TEST_F(KeyframeTest, ResetDataKeyframe) {
-  const string xml_path = GetTestDataFilePath(kKeyframePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  ASSERT_THAT(model, NotNull());
-  mjData* data = mj_makeData(model);
-
-  mj_resetDataKeyframe(model, data, 0);
-  EXPECT_MJTNUM_EQ(data->time, 0.1);
-
-  mj_resetDataKeyframe(model, data, 1);
-  EXPECT_MJTNUM_EQ(data->qpos[0], 0.2);
-
-  mj_resetDataKeyframe(model, data, 2);
-  EXPECT_MJTNUM_EQ(data->qvel[0], 0.3);
-
-  mj_resetDataKeyframe(model, data, 3);
-  EXPECT_MJTNUM_EQ(data->act[0], 0.4);
-
-  mj_resetDataKeyframe(model, data, 4);
-  EXPECT_MJTNUM_EQ(data->ctrl[0], 0.5);
-  EXPECT_MJTNUM_EQ(data->ctrl[1], 0.6);
-
-  mj_resetDataKeyframe(model, data, 5);
-  EXPECT_THAT(AsVector(data->mocap_pos, 3), ElementsAre(.1, .2, .3));
-
-  mj_resetDataKeyframe(model, data, 6);
-  EXPECT_THAT(AsVector(data->mocap_quat, 4), ElementsAre(.5, .5, .5, .5));
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(KeyframeTest, ResetDataKeyframeAcceptsNegativeKeyframe) {
-  const string xml_path = GetTestDataFilePath(kKeyframePath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
-  ASSERT_THAT(model, NotNull());
-  mjData* data = mj_makeData(model);
-  data->time = data->qpos[0] = data->qvel[0] = data->act[0] = data->ctrl[0] =
-      data->mocap_pos[0] = data->mocap_quat[0] = 1337.0;
-
-  mj_resetDataKeyframe(model, data, -1);
-
-  EXPECT_EQ(data->time, 0.0);
-  EXPECT_EQ(data->qpos[0], 0.0);
-  EXPECT_EQ(data->qvel[0], 0.0);
-  EXPECT_EQ(data->act[0], 0.0);
-  EXPECT_EQ(data->ctrl[0], 0.0);
-  EXPECT_EQ(data->mocap_pos[0], 0.0);
-  EXPECT_EQ(data->mocap_quat[0], 1.0);
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
-TEST_F(KeyframeTest, BadSize) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <keyframe>
-      <key qpos="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-  char error[1024];
-  size_t error_sz = 1024;
-  MjModelPtr model = LoadModelFromString(xml, error, error_sz);
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("invalid qpos size, expected 0, got 1"));
-}
-
-// ------------- test relative frame sensor compilation-------------------------
-
-using RelativeFrameSensorParsingTest = MujocoTest;
-
-TEST_F(RelativeFrameSensorParsingTest, RefTypeNotRequired) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="sensorized"/>
-    </worldbody>
-    <sensor>
-      <framepos objtype="body" objname="sensorized"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml, 0, 0);
-  ASSERT_THAT(model.get(), NotNull());
-}
-
-TEST_F(RelativeFrameSensorParsingTest, ReferenceBodyFound) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="reference"/>
-      <body name="sensorized"/>
-    </worldbody>
-    <sensor>
-      <framepos objtype="xbody" objname="sensorized"
-                reftype="xbody" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml, 0, 0);
-  ASSERT_THAT(model.get(), NotNull());
-  ASSERT_EQ(model->sensor_reftype[0], mjOBJ_XBODY);
-  ASSERT_EQ(model->sensor_refid[0], 1);
-}
-
-TEST_F(RelativeFrameSensorParsingTest, MissingRefname) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="reference"/>
-      <body name="sensorized"/>
-    </worldbody>
-    <sensor>
-      <framepos objtype="body" objname="sensorized"
-                reftype="body" refname=""/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(error.data(), HasSubstr("missing name of reference frame"));
-}
-
-TEST_F(RelativeFrameSensorParsingTest, BadRefName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="reference"/>
-      <body name="sensorized"/>
-    </worldbody>
-    <sensor>
-      <framepos objtype="body" objname="sensorized"
-                reftype="body" refname="wrong_name"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(error.data(),
-              HasSubstr("unrecognized name 'wrong_name' of object"));
-  EXPECT_THAT(error.data(), HasSubstr("line 8"));
-}
-
-TEST_F(RelativeFrameSensorParsingTest, BadRefType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <light name="reference"/>
-      <body name="sensorized"/>
-    </worldbody>
-    <sensor>
-      <framepos objtype="body" objname="sensorized"
-                reftype="light" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(error.data(), HasSubstr("invalid keyword: 'light'"));
-  EXPECT_THAT(error.data(), HasSubstr("line 8"));
-}
-
-TEST_F(RelativeFrameSensorParsingTest, BadObjName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="a"/>
-    </worldbody>
-    <sensor>
-      <framepos name="tom" objtype="site" objname="alessio" reftype="site" refname="a"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("unrecognized name 'alessio' of sensorized object"));
-  EXPECT_THAT(error.data(), HasSubstr("name 'tom'"));
-  EXPECT_THAT(error.data(), HasSubstr("line 7"));
-}
-
-TEST_F(RelativeFrameSensorParsingTest, BadObjRefName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="a"/>
-    </worldbody>
-    <sensor>
-      <framepos name="tom" objtype="site" objname="a" reftype="site" refname="alessio"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("unrecognized name 'alessio' of object"));
-  EXPECT_THAT(error.data(), HasSubstr("name 'tom'"));
-  EXPECT_THAT(error.data(), HasSubstr("line 7"));
-}
-
-// ------------- sensor compilation --------------------------------------------
-
-using SensorTest = MujocoTest;
-TEST_F(SensorTest, OjbtypeParsedButNotRequired) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <sensor>
-      <user dim="3" needstage="vel" datatype="axis"/>
-      <user dim="2" needstage="pos" objtype="body" objname="world"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml, 0, 0);
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_EQ(model->sensor_datatype[0], mjDATATYPE_AXIS);
-  EXPECT_EQ(model->sensor_objtype[0], mjOBJ_UNKNOWN);
-  EXPECT_EQ(model->sensor_dim[0], 3);
-  EXPECT_EQ(model->sensor_datatype[1], mjDATATYPE_REAL);
-  EXPECT_EQ(model->sensor_objtype[1], mjOBJ_BODY);
-  EXPECT_EQ(model->sensor_objid[1], 0);
-}
-
-TEST_F(SensorTest, NegativeIntervalError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="j"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="j" interval="-1"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("negative interval"));
-}
-
-TEST_F(SensorTest, PositivePhaseError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="j"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="j" interval="0.1 0.05"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("positive phase"));
-}
-
-TEST_F(SensorTest, DelayWithoutHistoryError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="j"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="j" delay="0.1"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("delay > 0 without a history buffer"));
-}
-
-// ------------- test capsule inertias -----------------------------------------
-
-static const char* const kCapsuleInertiaPath =
-    "user/testdata/capsule_inertia.xml";
-
-using MjCGeomTest = MujocoTest;
-
-static constexpr int kSphereBodyId = 1, kCylinderBodyId = 2, kCapsuleBodyId = 3,
-                     kCapsuleGeomId = 2;
-
-TEST_F(MjCGeomTest, CapsuleMass) {
-  const string xml_path = GetTestDataFilePath(kCapsuleInertiaPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  // Mass of capsule should equal mass of cylinder + mass of sphere.
-  mjtNum sphere_cylinder_mass =
-      model->body_mass[kSphereBodyId] + model->body_mass[kCylinderBodyId];
-  mjtNum capsule_mass = model->body_mass[kCapsuleBodyId];
-  EXPECT_DOUBLE_EQ(sphere_cylinder_mass, capsule_mass);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCGeomTest, CapsuleInertiaZ) {
-  const string xml_path = GetTestDataFilePath(kCapsuleInertiaPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-  // z-inertia of capsule should equal sphere + cylinder z-inertia.
-  mjtNum sphere_cylinder_z_inertia =
-      model->body_inertia[3 * kSphereBodyId + 2] +
-      model->body_inertia[3 * kCylinderBodyId + 2];
-  mjtNum capsule_z_inertia = model->body_inertia[3 * kCapsuleBodyId + 2];
-  EXPECT_DOUBLE_EQ(sphere_cylinder_z_inertia, capsule_z_inertia);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCGeomTest, CapsuleInertiaX) {
-  const string xml_path = GetTestDataFilePath(kCapsuleInertiaPath);
-  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-
-  // The CoM of a solid hemisphere is 3/8*radius away from from the disk.
-  mjtNum hs_com = model->geom_size[3 * kCapsuleGeomId] * 3 / 8;
-
-  // The mass of the two hemispherical end-caps is just the mass of the sphere.
-  mjtNum sphere_mass = model->body_mass[1];
-
-  // x-inertia of capsule should equal sphere + cylinder x-inertias, with
-  // corrections from shifting the hemispheres using parallel axis theorem.
-  mjtNum sphere_cylinder_x_inertia = model->body_inertia[3 * kSphereBodyId] +
-                                     model->body_inertia[3 * kCylinderBodyId];
-
-  // Parallel axis-theorem #1: translate the hemispheres in to the origin.
-  mjtNum translate_in = hs_com;
-  sphere_cylinder_x_inertia -= sphere_mass * translate_in * translate_in;
-
-  // Parallel axis-theorem #2: translate the hemispheres out to the end caps.
-  mjtNum cylinder_half_length = model->geom_size[3 * kCapsuleGeomId + 1];
-  mjtNum translate_out = cylinder_half_length + hs_com;
-  sphere_cylinder_x_inertia += sphere_mass * translate_out * translate_out;
-
-  // Compare native capsule inertia and computed inertia.
-  mjtNum capsule_x_inertia = model->body_inertia[3 * kCapsuleBodyId];
-  EXPECT_DOUBLE_EQ(sphere_cylinder_x_inertia, capsule_x_inertia);
-  mj_deleteModel(model);
-}
-
-TEST_F(MjCGeomTest, ShellInertiaSphere) {
-  if constexpr (sizeof(mjtNum) == sizeof(float)) {
-    GTEST_SKIP() << "ShellInertia tests use radii differences of ~1e-8, which "
-                    "vanish in float32 precision";
-  }
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="sphere"size="1.5" shellinertia="true"/>
-      </body>
-      <body>
-        <!-- mass is difference of body 4 and 3 masses -->
-        <geom type="sphere" size="1.5" mass="28.274333953857422" shellinertia="true"/>
-      </body>
-      <body>
-        <geom type="sphere" size="1.5" density="1e8"/>
-      </body>
-      <body>
-        <geom type="sphere" size="1.50000001" density="1e8"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  // radius
-  mjtNum r = 1.5;
-  mjtNum r2 = r * r;
-
-  // body 1: shell inertia
-  mjtNum mass1 = 4 * mjPI * r2 * 1000;  // surface area * surface density
-  EXPECT_NEAR(m->body_mass[1], mass1, kInertiaTol);
-  mjtNum I1 = 2 * mass1 * r2 / 3;
-  EXPECT_NEAR(m->body_inertia[3], I1, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[4], I1, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[5], I1, kInertiaTol);
-
-  // body 2: shell inertia, with specified mass
-  mjtNum I2 = 2 * m->body_mass[2] * r2 / 3;
-  EXPECT_NEAR(m->body_inertia[6], I2, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[7], I2, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[8], I2, kInertiaTol);
-
-  mjtNum mass3 = m->body_mass[3];
-  mjtNum mass4 = m->body_mass[4];
-  EXPECT_MJTNUM_EQ(mass4 - mass3, m->body_mass[2]);
-
-  // compute approximate shell inertia by subtracting inertias of massive bodies
-  // with small radius difference
-  mjtNum* inertia3 = m->body_inertia + 9;
-  mjtNum* inertia4 = m->body_inertia + 12;
-  mjtNum shell_inertia[3];
-  mju_sub3(shell_inertia, inertia4, inertia3);
-  EXPECT_NEAR(shell_inertia[0], m->body_inertia[6], kInertiaTol);
-  EXPECT_NEAR(shell_inertia[1], m->body_inertia[7], kInertiaTol);
-  EXPECT_NEAR(shell_inertia[2], m->body_inertia[8], kInertiaTol);
-}
-
-TEST_F(MjCGeomTest, ShellInertiaCapsule) {
-  if constexpr (sizeof(mjtNum) == sizeof(float)) {
-    GTEST_SKIP() << "ShellInertia tests use radii differences of ~1e-8, which "
-                    "vanish in float32 precision";
-  }
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="capsule" size="0.1 0.25" shellinertia="true"/>
-      </body>
-      <!-- mass is difference of body 4 and 3 masses -->
-      <body>
-        <geom type="capsule" size="0.1 0.25" mass="4.3982325" shellinertia="true"/>
-      </body>
-      <body>
-        <geom type="capsule" size="0.1 0.25" density="1e8"/>
-      </body>
-      <body>
-        <geom type="capsule" size="0.1000001 0.25" density="1e8"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  // dimensions
-  mjtNum r = 0.1;
-  mjtNum r2 = r * r;
-  mjtNum hh = 0.25;
-  mjtNum h = 2 * hh;
-  mjtNum h2 = h * h;
-
-  // hemisphere
-  mjtNum hs_com = r / 2;        // height of hemisphere center of mass
-  mjtNum hs_pos = hh + hs_com;  // distance from origin to hemisphere com
-
-  // surface area
-  double Asphere = 4 * mjPI * r2;       // sphere
-  double Acylinder = 2 * mjPI * r * h;  // cylinder
-  double Atotal = Asphere + Acylinder;
-
-  // body 1: shell inertia
-  mjtNum mass1 = Atotal * 1000;  // surface area * surface density
-  EXPECT_NEAR(m->body_mass[1], mass1, kInertiaTol);
-  mjtNum mass1_sphere = mass1 * Asphere / Atotal;
-  mjtNum mass1_cylinder = mass1 - mass1_sphere;
-  double sphere1_inertia = 2 * mass1_sphere * r2 / 3;
-  mjtNum I1x = mass1_cylinder * (6 * r2 + h2) / 12 + sphere1_inertia +
-               mass1_sphere * (hs_pos * hs_pos - hs_com * hs_com);
-  mjtNum I1z = mass1_cylinder * r2 + sphere1_inertia;
-  EXPECT_NEAR(m->body_inertia[3], I1x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[4], I1x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[5], I1z, kInertiaTol);
-
-  // body 2: shell inertia, with specified mass
-  mjtNum mass2 = 4.3982325;
-  EXPECT_NEAR(m->body_mass[2], mass2, kInertiaTol);
-  EXPECT_FLOAT_EQ(m->body_mass[4] - m->body_mass[3], m->body_mass[2]);
-
-  mjtNum mass2_sphere = mass2 * Asphere / Atotal;
-  mjtNum mass2_cylinder = mass2 - mass2_sphere;
-  double sphere2_inertia = 2 * mass2_sphere * r2 / 3;
-  mjtNum I2x = mass2_cylinder * (6 * r2 + h2) / 12 + sphere2_inertia +
-               mass2_sphere * (hs_pos * hs_pos - hs_com * hs_com);
-  mjtNum I2z = mass2_cylinder * r2 + sphere2_inertia;
-  EXPECT_NEAR(m->body_inertia[6], I2x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[7], I2x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[8], I2z, kInertiaTol);
-
-  // compute approximate shell inertia by subtracting inertias of massive bodies
-  // with small radius difference
-  mjtNum* inertia3 = m->body_inertia + 9;
-  mjtNum* inertia4 = m->body_inertia + 12;
-  mjtNum shell_inertia[3];
-  mju_sub3(shell_inertia, inertia4, inertia3);
-  EXPECT_NEAR(shell_inertia[0], m->body_inertia[6], kInertiaTol);
-  EXPECT_NEAR(shell_inertia[1], m->body_inertia[7], kInertiaTol);
-  EXPECT_NEAR(shell_inertia[2], m->body_inertia[8], kInertiaTol);
-}
-
-TEST_F(MjCGeomTest, ShellInertiaCylinder) {
-  if constexpr (sizeof(mjtNum) == sizeof(float)) {
-    GTEST_SKIP() << "ShellInertia tests use radii differences of ~1e-8, which "
-                    "vanish in float32 precision";
-  }
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="cylinder" size="0.1 0.25" shellinertia="true"/>
-      </body>
-      <!-- mass is difference of body 4 and 3 masses -->
-      <body>
-        <geom type="cylinder" size="0.1 0.25" mass="3.7699139" shellinertia="true"/>
-      </body>
-      <body>
-        <geom type="cylinder" size="0.1 0.25" density="1e8"/>
-      </body>
-      <body>
-        <geom type="cylinder" size="0.1000001 0.2500001" density="1e8"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  // dimensions
-  mjtNum r = 0.1;
-  mjtNum hh = 0.25;
-  mjtNum r2 = r * r;
-  mjtNum h = 2 * hh;
-  mjtNum h2 = h * h;
-
-  // surface area
-  double Adisk = mjPI * r2;             // disk
-  double Acylinder = 2 * mjPI * r * h;  // cylinder
-  double Atotal = 2 * Adisk + Acylinder;
-
-  // body 1: shell inertia
-  mjtNum mass1 = Atotal * 1000;  // surface area * surface density
-  EXPECT_NEAR(m->body_mass[1], mass1, kInertiaTol);
-  mjtNum mass1_disk = mass1 * Adisk / Atotal;
-  mjtNum mass1_cylinder = mass1 - 2 * mass1_disk;
-  mjtNum I1x = mass1_cylinder * (6 * r2 + h2) / 12 +
-               2 * (mass1_disk * r2 / 4 + mass1_disk * hh * hh);
-  mjtNum I1z = mass1_cylinder * r2 + mass1_disk * r2;
-  EXPECT_NEAR(m->body_inertia[3], I1x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[4], I1x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[5], I1z, kInertiaTol);
-
-  // body 2: shell inertia, with specified mass
-  mjtNum mass2 = 3.7699139;
-  EXPECT_NEAR(m->body_mass[2], mass2, kInertiaTol);
-  EXPECT_FLOAT_EQ(m->body_mass[4] - m->body_mass[3], m->body_mass[2]);
-
-  mjtNum mass2_disk = mass2 * Adisk / Atotal;
-  mjtNum mass2_cylinder = mass2 - 2 * mass2_disk;
-  mjtNum I2x = mass2_cylinder * (6 * r2 + h2) / 12 +
-               2 * (mass2_disk * r2 / 4 + mass2_disk * hh * hh);
-  mjtNum I2z = mass2_cylinder * r2 + mass2_disk * r2;
-  EXPECT_NEAR(m->body_inertia[6], I2x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[7], I2x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[8], I2z, kInertiaTol);
-
-  // compute approximate shell inertia by subtracting inertias of massive bodies
-  // with small radius difference
-  mjtNum* inertia3 = m->body_inertia + 9;
-  mjtNum* inertia4 = m->body_inertia + 12;
-  mjtNum shell_inertia[3];
-  mju_sub3(shell_inertia, inertia4, inertia3);
-  EXPECT_NEAR(shell_inertia[0], m->body_inertia[6], kInertiaTol);
-  EXPECT_NEAR(shell_inertia[1], m->body_inertia[7], kInertiaTol);
-  EXPECT_NEAR(shell_inertia[2], m->body_inertia[8], kInertiaTol);
-}
-
-TEST_F(MjCGeomTest, ShellInertiaEllipsoid) {
-  if constexpr (sizeof(mjtNum) == sizeof(float)) {
-    GTEST_SKIP() << "ShellInertia tests use radii differences of ~1e-8, which "
-                    "vanish in float32 precision";
-  }
-  // test special case of ellipsoid with dimensions: a = b = c
-  // TODO(taylorhowell): add test for ellipsoid with dimensions: a != b != c
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="ellipsoid" size="0.1 0.1 0.1" shellinertia="true"/>
-      </body>
-      <body>
-        <!-- mass is difference of body 4 and 3 masses -->
-        <geom type="ellipsoid" size="0.1 0.1 0.1" mass="0.12566371" shellinertia="true"/>
-      </body>
-      <body>
-        <geom type="ellipsoid" size="0.1 0.1 0.1" density="1e8"/>
-      </body>
-      <body>
-        <geom type="ellipsoid" size="0.10000001 0.10000001 0.10000001" density="1e8"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  // dimensions
-  mjtNum r = 0.1;
-  mjtNum r2 = r * r;
-
-  // body 1: shell inertia
-  mjtNum mass1 = 4 * mjPI * r2 * 1000;  // surface area * surface density
-  EXPECT_NEAR(m->body_mass[1], mass1, kInertiaTol);
-  mjtNum I1 = 2 * mass1 * r2 / 3;
-
-  // note: increased tolerance, this is due to ellipsoid approximation
-  EXPECT_NEAR(m->body_inertia[3], I1, 10 * kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[4], I1, 10 * kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[5], I1, 10 * kInertiaTol);
-
-  // body 2: shell inertia, with specified mass
-  mjtNum mass2 = 0.12566371;
-  EXPECT_NEAR(m->body_mass[2], mass2, kInertiaTol);
-  EXPECT_FLOAT_EQ(m->body_mass[4] - m->body_mass[3], m->body_mass[2]);
-
-  mjtNum I2 = 2 * m->body_mass[2] * r2 / 3;
-  EXPECT_NEAR(m->body_inertia[6], I2, 10 * kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[7], I2, 10 * kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[8], I2, 10 * kInertiaTol);
-
-  // compute approximate shell inertia by subtracting inertias of massive bodies
-  // with small radius difference
-  mjtNum* inertia3 = m->body_inertia + 9;
-  mjtNum* inertia4 = m->body_inertia + 12;
-  mjtNum shell_inertia[3];
-  mju_sub3(shell_inertia, inertia4, inertia3);
-  EXPECT_NEAR(shell_inertia[0], m->body_inertia[6], 10 * kInertiaTol);
-  EXPECT_NEAR(shell_inertia[1], m->body_inertia[7], 10 * kInertiaTol);
-  EXPECT_NEAR(shell_inertia[2], m->body_inertia[8], 10 * kInertiaTol);
-}
-
-TEST_F(MjCGeomTest, ShellInertiaBox) {
-  if constexpr (sizeof(mjtNum) == sizeof(float)) {
-    GTEST_SKIP() << "ShellInertia tests use radii differences of ~1e-8, which "
-                    "vanish in float32 precision";
-  }
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="box" size="0.1 0.2 0.3" shellinertia="true"/>
-      </body>
-      <!-- mass is difference of body 4 and 3 masses -->
-      <body>
-        <geom type="box" size="0.1 0.2 0.3" mass="8.800005" shellinertia="true"/>
-      </body>
-      <body>
-        <geom type="box" size="0.1 0.2 0.3" density="1e8"/>
-      </body>
-      <body>
-        <geom type="box" size="0.1000001 0.2000001 0.3000001" density="1e8"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-
-  // dimensions
-  mjtNum dx = 0.1;
-  mjtNum dy = 0.2;
-  mjtNum dz = 0.3;
-
-  // length
-  mjtNum lx = 2 * dx;
-  mjtNum ly = 2 * dy;
-  mjtNum lz = 2 * dz;
-
-  // surface area
-  double A0 = lx * ly;
-  double A1 = ly * lz;
-  double A2 = lz * lx;
-  double Atotal = 2 * (A0 + A1 + A2);
-
-  // body 1: shell inertia
-  mjtNum mass1 = Atotal * 1000;  // surface area * surface density
-  EXPECT_NEAR(m->body_mass[1], mass1, kInertiaTol);
-
-  mjtNum mass1_0 = mass1 * A0 / Atotal;
-  mjtNum mass1_1 = mass1 * A1 / Atotal;
-  mjtNum mass1_2 = mass1 * A2 / Atotal;
-  mjtNum I1x = 2 * (mass1_0 * ly * ly / 12 + mass1_0 * dz * dz +
-                    mass1_1 * (ly * ly + lz * lz) / 12 +
-                    mass1_2 * lz * lz / 12 + mass1_2 * dy * dy);
-  mjtNum I1y =
-      2 * (mass1_0 * lx * lx / 12 + mass1_0 * dz * dz + mass1_1 * lz * lz / 12 +
-           mass1_1 * dx * dx + mass1_2 * (lx * lx + lz * lz) / 12);
-  mjtNum I1z =
-      2 * (mass1_0 * (lx * lx + ly * ly) / 12 + mass1_1 * ly * ly / 12 +
-           mass1_1 * dx * dx + mass1_2 * lx * lx / 12 + mass1_2 * dy * dy);
-
-  EXPECT_NEAR(m->body_inertia[3], I1x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[4], I1y, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[5], I1z, kInertiaTol);
-
-  // body 2: shell inertia, with specified mass
-  mjtNum mass2 = 8.800005;
-  EXPECT_NEAR(m->body_mass[2], mass2, 1e-6);
-  EXPECT_FLOAT_EQ(m->body_mass[4] - m->body_mass[3], m->body_mass[2]);
-
-  mjtNum mass2_0 = mass2 * A0 / Atotal;
-  mjtNum mass2_1 = mass2 * A1 / Atotal;
-  mjtNum mass2_2 = mass2 * A2 / Atotal;
-  mjtNum I2x = 2 * (mass2_0 * ly * ly / 12 + mass2_0 * dz * dz +
-                    mass2_1 * (ly * ly + lz * lz) / 12 +
-                    mass2_2 * lz * lz / 12 + mass2_2 * dy * dy);
-  mjtNum I2y =
-      2 * (mass2_0 * lx * lx / 12 + mass2_0 * dz * dz + mass2_1 * lz * lz / 12 +
-           mass2_1 * dx * dx + mass2_2 * (lx * lx + lz * lz) / 12);
-  mjtNum I2z =
-      2 * (mass2_0 * (lx * lx + ly * ly) / 12 + mass2_1 * ly * ly / 12 +
-           mass2_1 * dx * dx + mass2_2 * lx * lx / 12 + mass2_2 * dy * dy);
-
-  EXPECT_NEAR(m->body_inertia[6], I2x, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[7], I2y, kInertiaTol);
-  EXPECT_NEAR(m->body_inertia[8], I2z, kInertiaTol);
-
-  // compute approximate shell inertia by subtracting inertias of massive bodies
-  // with small radius difference
-  mjtNum* inertia3 = m->body_inertia + 9;
-  mjtNum* inertia4 = m->body_inertia + 12;
-  mjtNum shell_inertia[3];
-  mju_sub3(shell_inertia, inertia4, inertia3);
-  EXPECT_NEAR(shell_inertia[0], m->body_inertia[6], kInertiaTol);
-  EXPECT_NEAR(shell_inertia[1], m->body_inertia[7], kInertiaTol);
-  EXPECT_NEAR(shell_inertia[2], m->body_inertia[8], kInertiaTol);
-}
-
-// ------------- test inertiagrouprange ----------------------------------------
-
-TEST_F(MjCGeomTest, IgnoreGeomOutsideInertiagrouprange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler inertiagrouprange="0 1"/>
-    <worldbody>
-      <body>
-        <geom size="1" group="3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml, nullptr, 0);
-  EXPECT_THAT(m->body_mass[1], 0);
-}
-
-TEST_F(MjCGeomTest, IgnoreBadGeomOutsideInertiagrouprange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler inertiagrouprange="0 1"/>
-    <asset>
-      <mesh name="malformed_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="2 0 3  0 1 3  1 2 3  0 1 2" />
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="malformed_mesh" group="3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml, nullptr, 0);
-  EXPECT_THAT(m->body_mass[1], 0);
-}
-
-// ------------- test invalid size values --------------------------------------
-
-TEST_F(MjCGeomTest, NanSize) {
-  // even if the caller ignores warnings, models shouldn't compile with NaN
-  // geom sizes
-  mock_warning_handler.ExpectWarnings();
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="box" size="1 1 nan" mass="1" />
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), testing::IsNull());
-  ASSERT_THAT(error.data(), HasSubstr("nan"));
-  EXPECT_THAT(error.data(), HasSubstr("line 5"));
-}
-
-TEST_F(MjCGeomTest, BadMeshZeroMassDensityDoesntError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="bad_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="0 2 1"  inertia="shell"/>
-    </asset>
-    <worldbody>
-      <body>
-        <geom type="mesh" mesh="bad_mesh" mass="0"/>
-      </body>
-      <body>
-        <geom type="mesh" mesh="bad_mesh" density="0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->body_mass[1], 0);
-  EXPECT_EQ(model->body_mass[2], 0);
-}
-
-// ------------- test joints --------------------------------------------------
-
-using MjCJointTest = MujocoTest;
-
-TEST_F(MjCJointTest, AlignFree) {
-  const std::string xml_path =
-      GetTestDataFilePath("user/testdata/freejoint.xml");
-  std::array<char, 1024> err;
-  mjSpec* s = mj_parseXML(xml_path.c_str(), nullptr, err.data(), err.size());
-  ASSERT_THAT(s, NotNull()) << err.data();
-  s->compiler.alignfree = 1;  // auto-aligned free joint
-  MjModelPtr m(mj_compile(s, nullptr));
-  ASSERT_THAT(m.get(), NotNull());
-
-  // with alignfree the body has sameframe and simple and all dof are simple
-  EXPECT_EQ(m->body_sameframe[1], 1);
-  EXPECT_EQ(m->body_simple[1], 1);
-  EXPECT_EQ(m->dof_simplenum[0], 6);
-
-  // make unaligned model
-  s->compiler.alignfree = 0;  // unaligned free joint
-  MjModelPtr m_u(mj_compile(s, nullptr));
-  ASSERT_THAT(m_u.get(), NotNull());
-
-  // no sameframe or simple
-  EXPECT_EQ(m_u->body_sameframe[1], 0);
-  EXPECT_EQ(m_u->body_simple[1], 0);
-
-  // make datas for both models
-  MjDataPtr d = MakeData(m);
-  MjDataPtr d_u = MakeData(m_u);
-
-  // call mj_forward
-  mj_forward(m.get(), d.get());
-  mj_forward(m_u.get(), d_u.get());
-
-  // expect x-frames (sensors) to match to very high precision
-  double eps = MjTol(1e-10, 1e-6);
-  EXPECT_THAT(
-      AsVector(d->sensordata, m->nsensordata),
-      Pointwise(MjNear(eps, eps), AsVector(d_u->sensordata, m->nsensordata)));
-
-  // no frame sensors for lights, test separately
-  EXPECT_THAT(AsVector(d->light_xpos, 3),
-              Pointwise(MjNear(eps, eps), AsVector(d_u->light_xpos, 3)));
-  EXPECT_THAT(AsVector(d->light_xdir, 3),
-              Pointwise(MjNear(eps, eps), AsVector(d_u->light_xdir, 3)));
-
-  // reduce timestep to 0.1ms and use RK4, simulate for 1 second
-  m->opt.timestep = m_u->opt.timestep = 1e-4;
-  m->opt.integrator = m_u->opt.integrator = mjINT_RK4;
-  while (d->time < 1) {
-    mj_step(m.get(), d.get());
-    mj_step(m_u.get(), d_u.get());
-  }
-
-  // expect qpos to be significantly different, since the semantics are changed
-  mj_markStack(d.get());
-  int nq = m->nq;
-  mjtNum* dqpos = mj_stackAllocNum(d.get(), nq);
-  mju_sub(dqpos, d->qpos, d_u->qpos, nq);
-  EXPECT_GT(mju_norm(dqpos, nq), 1.0);
-  mj_freeStack(d.get());
-
-  // expect x-frames to match to reasonable precision
-  eps = MjTol(1e-5, 1e-2);
-  EXPECT_THAT(
-      AsVector(d->sensordata, m->nsensordata),
-      Pointwise(MjNear(eps, eps), AsVector(d_u->sensordata, m->nsensordata)));
-  EXPECT_THAT(AsVector(d->light_xpos, 3),
-              Pointwise(MjNear(eps, eps), AsVector(d_u->light_xpos, 3)));
-  EXPECT_THAT(AsVector(d->light_xdir, 3),
-              Pointwise(MjNear(eps, eps), AsVector(d_u->light_xdir, 3)));
-
-  mj_deleteSpec(s);
-}
-
-TEST_F(MjCJointTest, BodySimpleFalse) {
-  constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  constexpr char xml_nosimple[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1" simple="false">
-        <joint type="slide"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-
-  // compile default model: body should be simple
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  int b = mj_name2id(m.get(), mjOBJ_BODY, "B1");
-  EXPECT_GT(m->body_simple[b], 0);
-  EXPECT_GT(m->dof_simplenum[0], 0);
-
-  // compile with simple="false": body should not be simple
-  MjModelPtr m_ns = LoadModelFromString(xml_nosimple, error, sizeof(error));
-  ASSERT_THAT(m_ns.get(), NotNull()) << error;
-  EXPECT_EQ(m_ns->body_simple[b], 0);
-  EXPECT_EQ(m_ns->dof_simplenum[0], 0);
-
-  // forward kinematics should produce identical results
-  MjDataPtr d = MakeData(m);
-  MjDataPtr d_ns = MakeData(m_ns);
-  d->qpos[0] = d_ns->qpos[0] = 0.5;
-  mj_forward(m.get(), d.get());
-  mj_forward(m_ns.get(), d_ns.get());
-  EXPECT_THAT(d_ns->xpos[3*b+0], MjNear(d->xpos[3*b+0], 1e-10, 1e-6));
-  EXPECT_THAT(d_ns->xpos[3*b+1], MjNear(d->xpos[3*b+1], 1e-10, 1e-6));
-  EXPECT_THAT(d_ns->xpos[3*b+2], MjNear(d->xpos[3*b+2], 1e-10, 1e-6));
-}
-
-// ------------- test height fields --------------------------------------------
-
-using MjCHFieldTest = MujocoTest;
-
-TEST_F(MjCHFieldTest, PngMap) {
-  const string xml_path = GetTestDataFilePath("user/testdata/hfield_png.xml");
-  std::array<char, 1024> error;
-  mjModel* model =
-      mj_loadXML(xml_path.c_str(), nullptr, error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << error.data();
-  EXPECT_EQ(model->nhfield, 1);
-  EXPECT_EQ(model->geom_type[0], mjGEOM_HFIELD);
-  EXPECT_GT(model->nhfielddata, 0);
-
-  float min_hfield = 1e7;
-  float max_hfield = -1e7;
-  for (int i = 0; i < model->nhfielddata; i++) {
-    float v = model->hfield_data[i];
-    min_hfield = std::min(min_hfield, v);
-    max_hfield = std::max(max_hfield, v);
-  }
-  EXPECT_EQ(min_hfield, 0) << "hfield should be normalised to [0, 1]";
-  EXPECT_EQ(max_hfield, 1) << "hfield should be normalised to [0, 1]";
-
-  mj_deleteModel(model);
-}
-
-// ------------- test textures -------------------------------------------------
-
-using MjCTextureTest = MujocoTest;
-
-TEST_F(MjCTextureTest, TexturesLoad) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture name="body" type="cube" builtin="flat" mark="cross" width="8"
-       rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    </asset>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), NotNull()) << error.data();
-}
-
-// ------------- test quaternion normalization----------------------------------
-
-using QuatNorm = MujocoTest;
-
-TEST_F(QuatNorm, QuatNotNormalized) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site quat="1 2 2 4"/>
-      <camera quat="1 2 2 4"/>
-      <body quat="1 2 2 4">
-        <geom quat="1 2 2 4" size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(AsVector(m->body_quat + 4, 4),
-              ElementsAre(1. / 5, 2. / 5, 2. / 5, 4. / 5));
-  EXPECT_THAT(AsVector(m->geom_quat, 4),
-              ElementsAre(1. / 5, 2. / 5, 2. / 5, 4. / 5));
-  EXPECT_THAT(AsVector(m->site_quat, 4),
-              ElementsAre(1. / 5, 2. / 5, 2. / 5, 4. / 5));
-  EXPECT_THAT(AsVector(m->cam_quat, 4),
-              ElementsAre(1. / 5, 2. / 5, 2. / 5, 4. / 5));
-}
-
-// ------------- test camera specifications ------------------------------------
-
-using CameraSpecTest = MujocoTest;
-
-TEST_F(CameraSpecTest, FovyLimits) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <camera fovy="180"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("fovy too large"));
-  EXPECT_THAT(error.data(), HasSubstr("line 6"));
-}
-
-TEST_F(CameraSpecTest, DuplicatedFocalIgnorePixel) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <visual>
-      <map znear="0.01"/>
-    </visual>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <camera focal="8e-3 8e-3" focalpixel="100 100"
-                resolution="1920 1200" sensorsize="9.6e-3 6e-3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_NEAR(m->cam_intrinsic[0], 5e-4, 1e-6);  // focal length in meters (x)
-  EXPECT_NEAR(m->cam_intrinsic[1], 5e-4, 1e-6);  // focal length in meters (y)
-}
-
-TEST_F(CameraSpecTest, FovyFromResolution) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <visual>
-      <map znear="0.01"/>
-    </visual>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <!-- 8mm focal length lenses -->
-        <camera focal="8e-3 8e-3" resolution="1920 1200" sensorsize="9.6e-3 6e-3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_NEAR(m->cam_fovy[0], 41.112, 1e-3);
-  EXPECT_NEAR(m->cam_intrinsic[0], 8e-3, 1e-6);  // focal length in meters (x)
-  EXPECT_NEAR(m->cam_intrinsic[1], 8e-3, 1e-6);  // focal length in meters (y)
-  EXPECT_EQ(m->cam_intrinsic[2], 0);  // principal point in meters (x)
-  EXPECT_EQ(m->cam_intrinsic[3], 0);  // principal point in meters (y)
-}
-
-TEST_F(CameraSpecTest, FovyFromResolutionPixel) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <visual>
-      <map znear="0.01"/>
-    </visual>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <!-- 8mm focal length lenses -->
-        <camera focalpixel="1600 1600" resolution="1920 1200" sensorsize="9.6e-3 6e-3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_NEAR(m->cam_fovy[0], 41.112, 1e-3);
-  EXPECT_NEAR(m->cam_intrinsic[0], 8e-3, 1e-6);  // focal length in meters (x)
-  EXPECT_NEAR(m->cam_intrinsic[1], 8e-3, 1e-6);  // focal length in meters (y)
-  EXPECT_EQ(m->cam_intrinsic[2], 0);  // principal point in meters (x)
-  EXPECT_EQ(m->cam_intrinsic[3], 0);  // principal point in meters (y)
-}
-
-TEST_F(CameraSpecTest, ParentTargetingNull) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom size="1"/>
-      <camera mode="targetbody" target="world"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull()) << error.data();
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-  // orientation can't be decided so we get an arbitrary but valid xmat
-  // (camera pointed towards the negative x-axis)
-  EXPECT_THAT(AsVector(data->cam_xmat, 9),
-              ElementsAre(0, 0, 1, 1, 0, 0, 0, 1, 0));
-}
-
-TEST_F(CameraSpecTest, ParentTargeting) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom size="1"/>
-      <camera pos="1 1 0" mode="targetbody" target="world"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull()) << error.data();
-  MjDataPtr data = MakeData(model);
-  mj_forward(model.get(), data.get());
-  // expect negative z-axis to point from camera to world
-  EXPECT_FLOAT_EQ(data->cam_xmat[2], mju_sqrt(0.5));
-  EXPECT_FLOAT_EQ(data->cam_xmat[5], mju_sqrt(0.5));
-  EXPECT_FLOAT_EQ(data->cam_xmat[8], 0);
-}
-
-// ------------- test actuator order -------------------------------------------
-
-using ActuatorTest = MujocoTest;
-
-TEST_F(ActuatorTest, ActuatorOrderDoesntMatter) {
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" dyntype="filter"/>
-      <general joint="hinge"/>
-    </actuator>
-  </mujoco>
-  )";
-  static constexpr char xml2[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge"/>
-      <general joint="hinge" dyntype="filter"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model1 = LoadModelFromString(xml1, nullptr, 0);
-  MjDataPtr data1 = MakeData(model1);
-  MjModelPtr model2 = LoadModelFromString(xml2, nullptr, 0);
-  MjDataPtr data2 = MakeData(model2);
-
-  // check activation indexing
-  EXPECT_EQ(model1->actuator_actadr[0], 0);
-  EXPECT_EQ(model1->actuator_actadr[1], -1);
-  EXPECT_EQ(model2->actuator_actadr[0], -1);
-  EXPECT_EQ(model2->actuator_actadr[1], 0);
-
-  // integrate both models, flipping the controls
-  while (data1->time < 1) {
-    data1->ctrl[0] = data1->time;
-    data1->ctrl[1] = -data1->time;
-    mj_step(model1.get(), data1.get());
-  }
-  while (data2->time < 1) {
-    data2->ctrl[0] = -data2->time;
-    data2->ctrl[1] = data2->time;
-    mj_step(model2.get(), data2.get());
-  }
-
-  // expect states to match exactly
-  EXPECT_EQ(data1->qpos[0], data2->qpos[0]);
-  EXPECT_EQ(data1->qvel[0], data2->qvel[0]);
-  EXPECT_EQ(data1->act[0], data2->act[0]);
-}
-
-// ------------- test inheritrange attribute ----------------------------------
-
-using InheritrangeTest = MujocoTest;
-
-TEST_F(InheritrangeTest, ErrorIfTargetMissingRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="jnt"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" inheritrange="1"/>
-    </actuator>
-  </mujoco>
-
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("target 'jnt' has no range defined"));
-}
-
-TEST_F(InheritrangeTest, WorksForDegrees) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="jnt" range="90 180"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" inheritrange="1"/>
-    </actuator>
-  </mujoco>
-
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_MJTNUM_EQ(model->actuator_ctrlrange[0], mjPI / 2);
-  EXPECT_MJTNUM_EQ(model->actuator_ctrlrange[1], mjPI);
-}
-
-// ------------- test actlimited and actrange fields ---------------------------
-
-using ActRangeTest = MujocoTest;
-
-TEST_F(ActRangeTest, ActRangeParsed) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general dyntype="integrator" joint="hinge" actlimited="true" actrange="-1 1.5"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr m = LoadModelFromString(xml, nullptr, 0);
-  EXPECT_EQ(m->actuator_actlimited[0], 1);
-  EXPECT_EQ(m->actuator_actrange[0], -1);
-  EXPECT_EQ(m->actuator_actrange[1], 1.5);
-}
-
-TEST_F(ActRangeTest, ActRangeBad) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general dyntype="integrator" joint="hinge" actlimited="true" actrange="1 -1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid actrange"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
-}
-
-TEST_F(ActRangeTest, ActRangeUndefined) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general dyntype="integrator" joint="hinge" actlimited="true"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid actrange"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
-}
-
-TEST_F(ActRangeTest, ActRangeNoDyntype) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" actlimited="true" actrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("actrange specified but dyntype is 'none'"));
-}
-
-TEST_F(ActRangeTest, ActRangeDefaultsPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="0.01"/>
-    <default>
-      <general dyntype="integrator" actlimited="true" actrange="-1 1"/>
-      <default class="dclass">
-        <general actlimited="false" actrange="2 3"/>
-      </default>
-    </default>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide" axis="1 0 0"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="slide"/>
-      <general joint="slide" class="dclass"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-
-  // first actuator
-  EXPECT_THAT(model->actuator_actlimited[0], 1);
-  EXPECT_THAT(model->actuator_actrange[0], -1);
-  EXPECT_THAT(model->actuator_actrange[1], 1);
-
-  // // second actuator
-  EXPECT_THAT(model->actuator_actlimited[1], 0);
-  EXPECT_THAT(model->actuator_actrange[2], 2);
-  EXPECT_THAT(model->actuator_actrange[3], 3);
-}
-
-// ---------------------------- test actdim ------------------------------------
-
-using ActDimTest = MujocoTest;
-
-TEST_F(ActDimTest, BiggerThanOneOnlyForUser) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" actdim="2"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("actdim > 1 is only allowed for dyntype 'user'"));
-}
-
-TEST_F(ActDimTest, NonzeroNotAllowedInStateless) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" actdim="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid actdim 1 in stateless"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
-}
-
-TEST_F(ActDimTest, ZeroNotAllowedInStateful) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" dyntype="filter" actdim="0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid actdim 0 in stateful"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
-}
-
-// ------------- test nuser_xxx fields -----------------------------------------
-
-using UserDataTest = MujocoTest;
-
-TEST_F(UserDataTest, NBodyTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_body="2"/>
-    <worldbody>
-      <body user="1 2 3"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_body"));
-  EXPECT_THAT(error.data(), HasSubstr("line 5"));
-}
-
-TEST_F(UserDataTest, NJointTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_jnt="2"/>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint user="1 2 3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_jnt"));
-  EXPECT_THAT(error.data(), HasSubstr("line 7"));
-}
-
-TEST_F(UserDataTest, NGeomTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_geom="2"/>
-    <worldbody>
-      <geom size="1" user="1 2 3"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_geom"));
-  EXPECT_THAT(error.data(), HasSubstr("line 5"));
-}
-
-TEST_F(UserDataTest, NSiteTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_site="2"/>
-    <worldbody>
-      <site user="1 2 3"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_site"));
-  EXPECT_THAT(error.data(), HasSubstr("line 5"));
-}
-
-TEST_F(UserDataTest, NCameraTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_cam="2"/>
-    <worldbody>
-      <camera user="1 2 3"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_cam"));
-  EXPECT_THAT(error.data(), HasSubstr("line 5"));
-}
-
-TEST_F(UserDataTest, NTendonTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_tendon="2"/>
-    <worldbody>
-      <site name="a"/>
-      <site name="b"/>
-    </worldbody>
-    <tendon>
-      <spatial user="1 2 3">
-        <site site="a"/>
-        <site site="b"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_tendon"));
-  EXPECT_THAT(error.data(), HasSubstr("line 9"));
-}
-
-TEST_F(UserDataTest, NActuatorTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_actuator="2"/>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="a"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="a" user="1 2 3"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_actuator"));
-  EXPECT_THAT(error.data(), HasSubstr("line 11"));
-}
-
-TEST_F(UserDataTest, NSensorTooSmall) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_sensor="2"/>
-    <worldbody>
-      <site name="a"/>
-    </worldbody>
-    <sensor>
-      <accelerometer site="a" user="1 2 3"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
-  EXPECT_THAT(error.data(), HasSubstr("line 8"));
-}
-
-// ------------- test for auto parsing of *limited fields ----------------------
-
-using LimitedTest = MujocoTest;
-
-constexpr char kKeyAutoLimits[] = "user/testdata/auto_limits.xml";
-
-// check joint limit values when automatically inferred based on range
-TEST_F(LimitedTest, JointLimited) {
-  const string path = GetTestDataFilePath(kKeyAutoLimits);
-  std::array<char, 1024> err;
-  mjModel* model = mj_loadXML(path.c_str(), nullptr, err.data(), err.size());
-  ASSERT_THAT(model, NotNull()) << err.data();
-
-  // see `user/testdata/auto_limits.xml` for expected values
-  for (int i = 0; i < model->njnt; i++) {
-    EXPECT_EQ(model->jnt_limited[i], (mjtBool)model->jnt_user[i])
-        << i << " " << (int)model->jnt_limited[i] << " "
-        << (int)model->jnt_user[i];
-  }
-
-  mj_deleteModel(model);
-}
-
-TEST_F(LimitedTest, ErrorIfLimitedMissingOnJoint) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="false"/>
-    <worldbody>
-      <body>
-        <joint user="1" range="0 1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("limited"));
-  EXPECT_THAT(error.data(), HasSubstr("line 6"));
-}
-
-TEST_F(LimitedTest, ExplicitLimitedFalseIsOk) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="false"/>
-    <worldbody>
-      <body>
-        <joint user="1" limited="false" range="0 1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  EXPECT_EQ(model->jnt_limited[0], 0);
-}
-
-TEST_F(LimitedTest, ErrorIfLimitedMissingOnTendon) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="false"/>
-    <worldbody>
-      <body>
-        <joint type="slide"/>
-        <geom size="1"/>
-        <site name="s1"/>
-      </body>
-      <site name="s2"/>
-    </worldbody>
-    <tendon>
-      <spatial range="-1 1">
-        <site site="s1"/>
-        <site site="s2"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("limited"));
-  EXPECT_THAT(error.data(), HasSubstr("tendon"));
-  EXPECT_THAT(error.data(), HasSubstr("line 13"));
-}
-
-TEST_F(LimitedTest, ErrorIfForceLimitedMissingOnActuator) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="false"/>
-    <worldbody>
-      <body>
-        <joint type="slide" name="J1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="J1" forcerange="0 100"/>
-    </actuator>
-  </mujoco>
-
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("forcelimited"));
-  EXPECT_THAT(error.data(), HasSubstr("forcerange"));
-  EXPECT_THAT(error.data(), HasSubstr("actuator"));
-  EXPECT_THAT(error.data(), HasSubstr("line 11"));
-}
-
-// ------------- tests for tendon ----------------------------------------------
-
-using TendonTest = MujocoTest;
-
-TEST_F(TendonTest, SiteBetweenPulleyNotAllowed) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="1"/>
-      <site name="2"/>
-      <site name="3"/>
-    </worldbody>
-    <tendon>
-      <spatial>
-        <site site="1"/>
-        <pulley divisor="1"/>
-        <site site="3"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("needs a neighbor that is not a pulley"));
-  EXPECT_THAT(error.data(), HasSubstr("line 9"));
-}
-
-TEST_F(TendonTest, ActuatorForceRangeNotAllowed) {
-  std::string xml = R"(
-  <mujoco>
-    <worldbody>
-      <site name="site0"/>
-      <site name="site1"/>
-    </worldbody>
-    <tendon>
-      <spatial name="spatial" actuatorfrclimited="true" actuatorfrcrange="{}">
-        <site site="site0"/>
-        <site site="site1"/>
-      </spatial>
-    </tendon>
-    <actuator>
-      <motor tendon="spatial"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  std::string str_replace = "{}";
-  size_t rng_ind = xml.find(str_replace);
-
-  std::string xml0 = xml;
-  std::string range0 = "-2 -1";
-  xml0.replace(rng_ind, str_replace.length(), range0);
-  MjModelPtr m0 = LoadModelFromString(xml0.c_str(), error.data(), error.size());
-  EXPECT_THAT(m0.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid actuatorfrcrange in tendon"));
-
-  std::string xml1 = xml;
-  std::string range1 = "1 2";
-  xml1.replace(rng_ind, str_replace.length(), range1);
-  MjModelPtr m1 = LoadModelFromString(xml1.c_str(), error.data(), error.size());
-  EXPECT_THAT(m1.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid actuatorfrcrange in tendon"));
-
-  std::string xml2 = xml;
-  std::string range2 = "1 0";
-  xml2.replace(rng_ind, str_replace.length(), range2);
-  MjModelPtr m2 = LoadModelFromString(xml2.c_str(), error.data(), error.size());
-  EXPECT_THAT(m2.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid actuatorfrcrange in tendon"));
-}
-
-// ------------- tests for tendon springrange ----------------------------------
-
-using SpringrangeTest = MujocoTest;
-
-TEST_F(SpringrangeTest, DefaultsPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <tendon springlength=".2 .5"/>
-    </default>
-
-    <worldbody>
-      <site name="0"/>
-      <site name="1" pos="1 0 0"/>
-    </worldbody>
-
-    <tendon>
-      <spatial>
-        <site site="0"/>
-        <site site="1"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_MJTNUM_EQ(model->tendon_lengthspring[0], .2);
-  EXPECT_MJTNUM_EQ(model->tendon_lengthspring[1], .5);
-}
-
-TEST_F(SpringrangeTest, InvalidRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="0"/>
-      <site name="1" pos="1 0 0"/>
-    </worldbody>
-
-    <tendon>
-      <spatial springlength="1 0">
-        <site site="0"/>
-        <site site="1"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid springlength in tendon"));
-  EXPECT_THAT(error.data(), HasSubstr("line 9"));
-}
-
-using UserObjectsTest = MujocoTest;
-
-// ------------- test frame ----------------------------------------------------
-TEST_F(UserObjectsTest, Frame) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <frame euler="0 0 30">
-        <geom name="0" size=".1" euler="0 0 20"/>
-      </frame>
-
-      <frame axisangle="0 1 0 90">
-        <frame axisangle="0 0 1 90">
-          <geom name="1" size=".1"/>
-        </frame>
-      </frame>
-
-      <frame pos="0 1 0" euler="0 20 0">
-        <geom name="2" pos=".5 .6 .7" size=".1" euler="30 0 0"/>
-      </frame>
-
-      <body>
-        <frame pos="0 1 0">
-          <geom name="3" size=".1" pos="0 1 0"/>
-          <body pos="1 0 0">
-            <geom name="4" size=".1" pos="0 0 1"/>
-          </body>
-        </frame>
-      </body>
-
-      <body>
-        <geom name="5" size=".1"/>
-        <frame euler="90 0 0">
-          <joint type="hinge" axis="0 0 1"/>
-        </frame>
-      </body>
-
-      <body pos="0 1 0" euler="0 20 0">
-        <geom name="6" pos=".5 .6 .7" size=".1" euler="30 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  const mjtNum eps = MjTol(1e-14, 1e-5);
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), testing::NotNull()) << error.data();
-  EXPECT_EQ(m->nbody, 5);
-
-  // geom quat transformed to euler = 0 0 50
-  EXPECT_NEAR(m->geom_quat[0], mju_cos(25. * mjPI / 180.), 1e-3);
-  EXPECT_NEAR(m->geom_quat[1], 0, 0);
-  EXPECT_NEAR(m->geom_quat[2], 0, 0);
-  EXPECT_NEAR(m->geom_quat[3], mju_sin(25. * mjPI / 180.), 1e-3);
-
-  // geom transformed to frame 0 1 0, 0 0 1, 1 0 0
-  EXPECT_NEAR(m->geom_quat[4], .5, eps);
-  EXPECT_NEAR(m->geom_quat[5], .5, eps);
-  EXPECT_NEAR(m->geom_quat[6], .5, eps);
-  EXPECT_NEAR(m->geom_quat[7], .5, eps);
-
-  // geom pos transformed from 0 1 0 to 0 2 0
-  EXPECT_EQ(m->geom_pos[9], 0);
-  EXPECT_EQ(m->geom_pos[10], 2);
-  EXPECT_EQ(m->geom_pos[11], 0);
-
-  // body pos transformed from 1 0 0 to 1 1 0
-  EXPECT_EQ(m->body_pos[6], 1);
-  EXPECT_EQ(m->body_pos[7], 1);
-  EXPECT_EQ(m->body_pos[8], 0);
-
-  // nested geom pos not transformed
-  EXPECT_EQ(m->geom_pos[12], 0);
-  EXPECT_EQ(m->geom_pos[13], 0);
-  EXPECT_EQ(m->geom_pos[14], 1);
-
-  // joint axis transformed to 0 -1 0
-  EXPECT_NEAR(m->jnt_axis[0], 0, eps);
-  EXPECT_NEAR(m->jnt_axis[1], -1, eps);
-  EXPECT_NEAR(m->jnt_axis[2], 0, eps);
-
-  MjDataPtr d = MakeData(m);
-  mj_kinematics(m.get(), d.get());
-
-  // body and frame equivalence geom 2 vs 6
-  EXPECT_NEAR(d->geom_xpos[6], d->geom_xpos[18], eps);
-  EXPECT_NEAR(d->geom_xpos[7], d->geom_xpos[19], eps);
-  EXPECT_NEAR(d->geom_xpos[8], d->geom_xpos[20], eps);
-  EXPECT_NEAR(d->geom_xmat[18], d->geom_xmat[54], eps);
-  EXPECT_NEAR(d->geom_xmat[19], d->geom_xmat[55], eps);
-  EXPECT_NEAR(d->geom_xmat[20], d->geom_xmat[56], eps);
-  EXPECT_NEAR(d->geom_xmat[21], d->geom_xmat[57], eps);
-}
-
-TEST_F(UserObjectsTest, FrameTransformsLight) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <frame euler="0 45 0" pos="0 0 1">
-        <light pos="-1 0 0" dir="1 0 -1"/>
-      </frame>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_EQ(m->nlight, 1);
-
-  const mjtNum eps = MjTol(1e-14, 1e-5);
-  EXPECT_NEAR(m->light_pos[0], -mju_sqrt(.5), eps);
-  EXPECT_NEAR(m->light_pos[1], 0, eps);
-  EXPECT_NEAR(m->light_pos[2], 1 + mju_sqrt(.5), eps);
-
-  EXPECT_NEAR(m->light_dir[0], 0, eps);
-  EXPECT_NEAR(m->light_dir[1], 0, eps);
-  EXPECT_NEAR(m->light_dir[2], -1, eps);
-}
-
-TEST_F(ContentTypeTest, ImageLightsReferenceTexture) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture name="texture" type="cube" builtin="flat" mark="cross" width="8"
-       rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
-    </asset>
-
-    <worldbody>
-      <light type="image" texture="texture"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull());
-  EXPECT_EQ(m->ntex, 1);
-  EXPECT_EQ(m->nlight, 1);
-  EXPECT_THAT(m->light_texid[0], 0);
-}
-
-// ------------- test bvh ------------------------------------------------------
-TEST_F(UserObjectsTest, RobustBVH) {
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size=".1" pos="0 0 0"/>
-        <geom size=".1" pos="0 1 0"/>
-        <geom size=".1" pos="1 0 0"/>
-        <geom size=".1" pos="1 1 0"/>
-        <geom size=".1" pos="2 0 0"/>
-        <geom size=".1" pos="2 1 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml2[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size=".1" pos="0 0 0"/>
-        <geom size=".1" pos="0 1 0"/>
-        <geom size=".1" pos="1.00000000000001 0 0"/>
-        <geom size=".1" pos="1 1.00000000000001 0"/>
-        <geom size=".1" pos="2 0 0"/>
-        <geom size=".1" pos="2 1 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr m1 = LoadModelFromString(xml1, error.data(), error.size());
-  EXPECT_THAT(m1.get(), NotNull()) << error.data();
-
-  MjModelPtr m2 = LoadModelFromString(xml2, error.data(), error.size());
-  EXPECT_THAT(m2.get(), NotNull()) << error.data();
-
-  EXPECT_EQ(m1->nbvh, m2->nbvh);
-  for (int i = 0; i < m1->nbvh; i++) {
-    EXPECT_EQ(m1->bvh_nodeid[i], m2->bvh_nodeid[i]);
-  }
-}
-
-// ------------- test equality compilation -------------------------------------
-
-TEST_F(UserObjectsTest, BadConnect) {
-  string base = R"(
-  <mujoco>
-    <worldbody>
-      <site name="0" size="1"/>
-      <body name="1" pos="0 0 1">
-        <freejoint/>
-        <geom size="1"/>
-        <site name="1"/>
-      </body>
-    </worldbody>
-    <equality>
-      CONNECT
-    </equality>
-  </mujoco>
-  )";
-  int pos = base.find("CONNECT");
-  int len = 7;
-
-  // good model using body semantic
-  string xml = base.replace(pos, len, "<connect body1='1' anchor='0 0 1'/>");
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  EXPECT_THAT(AsVector(m->eq_data, 6), ElementsAre(0, 0, 1, 0, 0, 2));
-
-  // good model using site semantic
-  xml = base.replace(pos, len, "<connect site1='0' site2='1'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  EXPECT_THAT(AsVector(m->eq_data, 6), ElementsAre(0, 0, 0, 0, 0, 0));
-
-  char error_missing[] =
-      "one of ('site1', 'site2'), ('body1', 'anchor') must be specified"
-      "\nElement 'connect', line 12";
-
-  // bad model (missing anchor)
-  xml = base.replace(pos, len, "<connect body1='1'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(error_missing));
-
-  char error_mixed[] =
-      "at most one of ('site1', 'site2'), ('body1', 'body2', 'anchor')"
-      " can be specified\nElement 'connect', line 12";
-
-  // bad model (mixing body and site)
-  xml = base.replace(pos, len, "<connect body1='1' site1='1'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(error_mixed));
-
-  // load spec with no constraints
-  xml = base.erase(pos, len);
-  mjSpec* s = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(s, NotNull()) << error;
-
-  // add a connect but don't set objtype
-  mjsEquality* equality = mjs_addEquality(s, nullptr);
-  equality->type = mjEQ_CONNECT;
-  mjs_setString(equality->name1, "0");
-  mjs_setString(equality->name2, "1");
-
-  // expect compilation to fail
-  m.reset(mj_compile(s, nullptr));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(mjs_getError(s),
-              HasSubstr("connect constraint supports only sites and bodies"));
-
-  // set objtype, expect compilation to succeed
-  equality->objtype = mjOBJ_SITE;
-  m.reset(mj_compile(s, nullptr));
-  ASSERT_THAT(m.get(), NotNull()) << mjs_getError(s);
-  mj_deleteSpec(s);
-}
-
-TEST_F(UserObjectsTest, BadWeld) {
-  string base = R"(
-  <mujoco>
-    <worldbody>
-      <site name="0" size="1"/>
-      <body name="1" pos="0 0 1">
-        <freejoint/>
-        <geom size="1"/>
-        <site name="1"/>
-      </body>
-    </worldbody>
-    <equality>
-      WELD
-    </equality>
-  </mujoco>
-  )";
-  int pos = base.find("WELD");
-  int len = 4;
-
-  // good model using body semantic
-  string xml = base.replace(pos, len,
-                            "<weld body1='1' anchor='0 0 1' torquescale='2'/>");
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  EXPECT_THAT(AsVector(m->eq_data, 10),
-              ElementsAre(0, 0, 1, 0, 0, 0, 1, 0, 0, 0));
-
-  // good model using site semantic
-  xml = base.replace(pos, len, "<weld site1='0' site2='1' torquescale='2'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  EXPECT_THAT(AsVector(m->eq_data, 10),
-              ElementsAre(0, 1, 0, 0, 0, 0, 0, 0, 0, 0));
-
-  char error_mixed[] =
-      "at most one of ('site1', 'site2'), ('body1', 'body2', 'anchor', "
-      "'relpose') can be specified\nElement 'weld', line 12";
-
-  // bad model (mixing body and site)
-  xml = base.replace(pos, len, "<weld body1='1' site1='1'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(error_mixed));
-
-  // bad model (mixing site and anchor)
-  xml = base.replace(pos, len, "<weld anchor='0 0 1' site1='1'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(error_mixed));
-
-  // bad model (mixing site and relpose)
-  xml = base.replace(pos, len, "<weld relpose='0 0 0 1 0 0 0' site1='1'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(error_mixed));
-
-  // bad model (body and site semantics are valid, but both are specified)
-  xml = base.replace(pos, len, "<weld body1='1' site1='1' site2='1'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(error_mixed));
-
-  char error_underspecified[] =
-      "one of ('site1', 'site2'), 'body1' must be specified"
-      "\nElement 'weld', line 12";
-
-  // bad model (underspecified body semantics)
-  xml = base.replace(pos, len, "<weld anchor='0 0 1'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(error_underspecified));
-
-  // bad model (underspecified site semantics)
-  xml = base.replace(pos, len, "<weld site2='1'/>");
-  m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr(error_underspecified));
-
-  // load spec with no constraints
-  xml = base.erase(pos, len);
-  mjSpec* s = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(s, NotNull()) << error;
-
-  // add a weld but don't set objtype
-  mjsEquality* equality = mjs_addEquality(s, nullptr);
-  equality->type = mjEQ_WELD;
-  mjs_setString(equality->name1, "0");
-  mjs_setString(equality->name2, "1");
-
-  // expect compilation to fail
-  m.reset(mj_compile(s, nullptr));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(mjs_getError(s),
-              HasSubstr("weld constraint supports only sites and bodies"));
-
-  // set objtype, expect compilation to succeed
-  equality->objtype = mjOBJ_SITE;
-  m.reset(mj_compile(s, nullptr));
-  ASSERT_THAT(m.get(), NotNull()) << mjs_getError(s);
-  mj_deleteSpec(s);
-}
-
-TEST_F(UserObjectsTest, Inertial) {
-  string xml = R"(
-  <mujoco>
-    <compiler angle="radian"/>
-    <worldbody>
-      <body>
-        <inertial mass="1" pos="2 3 4" euler="3 4 5" diaginertia="4 5 6"/>
-      </body>
-      <body>
-        <inertial mass="2" pos="1 2 3" fullinertia="4 3 2 0 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  EXPECT_EQ(m->body_mass[1], 1);
-  EXPECT_THAT(AsVector(m->body_ipos + 3, 3), ElementsAre(2, 3, 4));
-  EXPECT_THAT(AsVector(m->body_inertia + 3, 3), ElementsAre(4, 5, 6));
-
-  mjtNum quat[4];
-  const mjtNum euler[3] = {3, 4, 5};
-  mju_euler2Quat(quat, euler, "xyz");
-  EXPECT_THAT(AsVector(m->body_iquat + 4, 4),
-              Pointwise(MjNear(1e-8, 1e-6), AsVector(quat, 4)));
-
-  EXPECT_EQ(m->body_mass[2], 2);
-  EXPECT_THAT(AsVector(m->body_ipos + 6, 3), ElementsAre(1, 2, 3));
-  EXPECT_THAT(AsVector(m->body_inertia + 6, 3), ElementsAre(4, 3, 2));
-
-  string bad_xml1 = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <inertial mass="1" pos="0 0 0" diaginertia="4 5 6" fullinertia="4 3 2 0 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  m = LoadModelFromString(bad_xml1.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("fullinertia and diagonal inertia cannot both"));
-
-  string bad_xml2 = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <inertial mass="1" pos="0 0 0" euler="4 5 6" fullinertia="4 3 2 0 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  m = LoadModelFromString(bad_xml2.c_str(), error, sizeof(error));
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error, HasSubstr("at most one of 'fullinertia', 'quat'"));
-}
-
-// Merged COM must be correct when a fused-static child has a non-identity
-// inertial-frame orientation (e.g. from a degenerate diaginertia).
-TEST_F(UserObjectsTest, FuseStaticWithRotatedInertial) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler fusestatic="true"/>
-    <worldbody>
-      <body name="parent">
-        <freejoint/>
-        <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-        <body name="child" pos="1 0 0">
-          <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5"
-                    mass="1" diaginertia="0.01 0.01 0.02"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(m.get(), NotNull()) << error;
-  // Child fuses into parent; only world + parent remain.
-  EXPECT_EQ(m->nbody, 2);
-  EXPECT_EQ(m->body_mass[1], 2);
-  // Mass-weighted COM in parent frame: (1*(0,0,0) + 1*(1,0,0)) / 2.
-  const mjtNum expected_com[3] = {0.5, 0, 0};
-  EXPECT_THAT(AsVector(m->body_ipos + 3, 3),
-              Pointwise(MjNear(1e-8, 1e-6), AsVector(expected_com, 3)));
-}
-
-TEST_F(UserObjectsTest, ZeroMass) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <body>
-          <geom mass="0" size="0.01"/>
-          <geom mass="0" size="0.01"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  char error[1024];
-  MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
-  EXPECT_THAT(model.get(), NotNull()) << error;
-}
-
-// ------------- test Octree SDF computation -----------------------------------
-
-using OctreeSDFTest = MujocoTest;
-
-TEST_F(OctreeSDFTest, SphereSDF) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="sphere" builtin="supersphere" params="16 1 1"/>
-    </asset>
-    <worldbody>
-      <geom name="sdf_sphere" type="sdf" mesh="sphere"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  EXPECT_GT(model->nmesh, 0);
-  EXPECT_EQ(model->geom_type[0], mjGEOM_SDF);
-
-  int geom_id = 0;
-  int mesh_id = model->geom_dataid[geom_id];
-  mjSDF sdf;
-  const mjpPlugin* null_plugin = nullptr;
-  sdf.plugin = &null_plugin;
-  sdf.id = &mesh_id;
-  sdf.type = mjSDFTYPE_SINGLE;
-  sdf.geomtype = (mjtGeom*)(model->geom_type + geom_id);
-
-  // Analytic SDF for unit sphere: distance = |p| - 1
-  auto analyticSdf = [](const mjtNum* p) -> double {
-    return mju_sqrt(p[0] * p[0] + p[1] * p[1] + p[2] * p[2]) - 1.0;
-  };
-
-  int sign_errors = 0;
-  int total_points = 0;
-  double sum_sq_error = 0.0;
-
-  // Test grid of points
-  for (double x = -2.0; x <= 2.0; x += 0.5) {
-    for (double y = -2.0; y <= 2.0; y += 0.5) {
-      for (double z = -2.0; z <= 2.0; z += 0.5) {
-        mjtNum p[3] = {(mjtNum)x, (mjtNum)y, (mjtNum)z};
-        double sdf_dist = mjc_distance(model.get(), data.get(), &sdf, p);
-        double gt_dist = analyticSdf(p);
-
-        if ((sdf_dist < 0) != (gt_dist < 0)) {
-          sign_errors++;
-        }
-
-        double error = sdf_dist - gt_dist;
-        sum_sq_error += error * error;
-        total_points++;
-      }
-    }
-  }
-
-  double rmse = mju_sqrt(sum_sq_error / total_points);
-
-  EXPECT_LT(sign_errors, total_points / 200)
-      << "No more than 0.5% of points should have sign errors";
-  EXPECT_LT(rmse, 0.11) << "RMSE should be less than 0.11";
-}
-
-TEST_F(OctreeSDFTest, TorusSDF) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="torus" builtin="supertorus" params="16 0.3 1 1"/>
-    </asset>
-    <worldbody>
-      <geom name="sdf_torus" type="sdf" mesh="torus"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  MjDataPtr data = MakeData(model);
-  ASSERT_THAT(data, NotNull());
-
-  EXPECT_GT(model->nmesh, 0);
-  EXPECT_EQ(model->geom_type[0], mjGEOM_SDF);
-
-  int geom_id = 0;
-  int mesh_id = model->geom_dataid[geom_id];
-  mjSDF sdf;
-  const mjpPlugin* null_plugin = nullptr;
-  sdf.plugin = &null_plugin;
-  sdf.id = &mesh_id;
-  sdf.type = mjSDFTYPE_SINGLE;
-  sdf.geomtype = (mjtGeom*)(model->geom_type + geom_id);
-
-  // Analytic SDF for torus: distance = |p_proj| - r, where p_proj is
-  // projection of p onto circle of radius R, and r is minor radius.
-  // R=1, r=0.3
-  auto analyticSdf = [](const mjtNum* p) -> double {
-    double xy = mju_sqrt(p[0] * p[0] + p[1] * p[1]);
-    double vec[2] = {xy - 1.0, p[2]};
-    return mju_sqrt(vec[0] * vec[0] + vec[1] * vec[1]) - 0.3;
-  };
-
-  int sign_errors = 0;
-  int total_points = 0;
-  double sum_sq_error = 0.0;
-
-  // Test grid of points
-  for (mjtNum x = -2.0; x <= 2.0; x += 0.5) {
-    for (mjtNum y = -2.0; y <= 2.0; y += 0.5) {
-      for (mjtNum z = -2.0; z <= 2.0; z += 0.5) {
-        mjtNum p[3] = {x, y, z};
-        double sdf_dist = mjc_distance(model.get(), data.get(), &sdf, p);
-        double gt_dist = analyticSdf(p);
-
-        if ((sdf_dist < 0) != (gt_dist < 0)) {
-          sign_errors++;
-        }
-
-        double error = sdf_dist - gt_dist;
-        sum_sq_error += error * error;
-        total_points++;
-      }
-    }
-  }
-
-  double rmse = mju_sqrt(sum_sq_error / total_points);
-
-  EXPECT_LT(sign_errors, total_points / 20)
-      << "No more than 5% of points should have sign errors";
-  EXPECT_LT(rmse, 0.52) << "RMSE should be close to 0.516";
-}
-
-// ------------- test actuator damping/armature validation ---------------------
-
-using ActuatorTransmissionTest = MujocoTest;
-
-TEST_F(ActuatorTransmissionTest, DampingRejectsSiteTransmission) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide"/>
-        <geom size="1"/>
-        <site name="s"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general site="s" damping="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("damping requires joint or tendon"));
-}
-
-TEST_F(ActuatorTransmissionTest, ArmatureRejectsSiteTransmission) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint type="slide"/>
-        <geom size="1"/>
-        <site name="s"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general site="s" armature="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("armature requires joint or tendon"));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_recompile_test.cc b/test/user/user_recompile_test.cc
deleted file mode 100644
index e9a8c286..00000000
--- a/test/user/user_recompile_test.cc
+++ /dev/null
@@ -1,151 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for recompiling multiple files.
-
-#include <algorithm>
-#include <array>
-#include <cctype>
-#include <cstddef>
-#include <filesystem>  // NOLINT
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/strings/match.h>
-#include <mujoco/mujoco.h>
-#include <mujoco/mjspec.h>
-#include "src/xml/xml_api.h"
-#include "src/xml/xml_numeric_format.h"
-#include "test/compare_model.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-
-std::vector<std::string> GetRecompileTestModels() {
-  std::vector<std::string> models;
-  std::string ext(".xml");
-  for (const auto& path : {GetTestDataFilePath("."), GetModelPath(".")}) {
-    for (const auto& p : std::filesystem::recursive_directory_iterator(path)) {
-      if (p.path().extension() == ext) {
-        std::string xml = p.path().string();
-        if (absl::StrContains(xml, "malformed_") ||
-            absl::StrContains(xml, "_fail") ||
-            absl::StrContains(xml, "touch_grid") ||
-            absl::StrContains(xml, "perf") || absl::StrContains(xml, "cow") ||
-            // exclude conflict test assets (designed to fail compile)
-            absl::StrContains(xml, "xml/testdata/parent_")) {
-          continue;
-        }
-        models.push_back(xml);
-      }
-    }
-  }
-  return models;
-}
-
-class RecompileCompareTest : public MujocoTest,
-                             public ::testing::WithParamInterface<std::string> {
- public:
-};
-TEST_P(RecompileCompareTest, RecompileCompare) {
-  std::string xml = GetParam();
-  std::string field = "";
-
-  FullFloatPrecision increase_precision;
-
-  // load spec
-  std::array<char, 1000> err;
-  mjSpec* s = mj_parseXML(xml.c_str(), 0, err.data(), err.size());
-
-  if (!s) {
-    GTEST_SKIP() << "Failed to load " << xml << ": " << err.data();
-  }
-
-  // copy spec
-  mjSpec* s_copy = mj_copySpec(s);
-
-  // compare signature
-  EXPECT_EQ(s->element->signature, s_copy->element->signature) << xml;
-
-  // compile twice and compare
-  mjModel* m_old = mj_compile(s, nullptr);
-
-  if (!m_old) {
-    mj_deleteSpec(s);
-    GTEST_SKIP() << "Failed to compile " << xml << ": " << mjs_getError(s);
-  }
-
-  mjModel* m_new = mj_compile(s, nullptr);
-  mjModel* m_copy = mj_compile(s_copy, nullptr);
-
-  // compare signature
-  EXPECT_EQ(m_old->signature, m_new->signature) << xml;
-  EXPECT_EQ(m_old->signature, m_copy->signature) << xml;
-
-  ASSERT_THAT(m_new, NotNull())
-      << "Failed to recompile " << xml << ": " << mjs_getError(s);
-  ASSERT_THAT(m_copy, NotNull())
-      << "Failed to compile " << xml << ": " << mjs_getError(s_copy);
-
-  mjtNum tol = 0;
-
-  EXPECT_LE(CompareModel(m_old, m_new, field), tol)
-      << "Compiled and recompiled models are different!\n"
-      << "Affected file " << xml << '\n'
-      << "Different field: " << field << '\n';
-
-  EXPECT_LE(CompareModel(m_old, m_copy, field), tol)
-      << "Original and copied models are different!\n"
-      << "Affected file " << xml << '\n'
-      << "Different field: " << field << '\n';
-
-  // copy to a new spec, compile and compare
-  mjSpec* s_copy2 = mj_copySpec(s);
-  mjModel* m_copy2 = mj_compile(s_copy2, nullptr);
-
-  ASSERT_THAT(m_copy2, NotNull())
-      << "Failed to compile " << xml << ": " << mjs_getError(s_copy2);
-
-  EXPECT_LE(CompareModel(m_old, m_copy2, field), tol)
-      << "Original and re-copied models are different!\n"
-      << "Affected file " << xml << '\n'
-      << "Different field: " << field << '\n';
-
-  mj_deleteModel(m_new);
-  mj_deleteModel(m_copy);
-  mj_deleteModel(m_copy2);
-  mj_deleteSpec(s_copy);
-  mj_deleteSpec(s_copy2);
-  mj_deleteSpec(s);
-  mj_deleteModel(m_old);
-}
-
-INSTANTIATE_TEST_SUITE_P(
-    AllModels, RecompileCompareTest,
-    ::testing::ValuesIn(GetRecompileTestModels()),
-    [](const ::testing::TestParamInfo<std::string>& info) {
-      std::string name = std::filesystem::path(info.param).filename().string();
-      std::replace_if(
-          name.begin(), name.end(),
-          [](char c) { return !std::isalnum(c); }, '_');
-      return name + "_" + std::to_string(info.index);
-    });
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_resolver_test.cc b/test/user/user_resolver_test.cc
deleted file mode 100644
index 742d91a6..00000000
--- a/test/user/user_resolver_test.cc
+++ /dev/null
@@ -1,965 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <array>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "src/xml/xml_api.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-
-TEST_F(MujocoTest, AttachWarningsSurviveRecompile) {
-  mock_warning_handler.ExpectWarnings();
-  // attach warnings should persist through recompilation
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <option timestep="0.005"/>
-    <worldbody>
-      <frame name="attachment"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <option timestep="0.001"/>
-    <worldbody>
-      <body name="child">
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> er;
-  mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
-  ASSERT_THAT(parent, NotNull()) << er.data();
-  mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
-  ASSERT_THAT(child, NotNull()) << er.data();
-
-  mjsFrame* frame = mjs_findFrame(parent, "attachment");
-  ASSERT_THAT(frame, NotNull());
-  mjsElement* attached = mjs_attach(
-      frame->element, mjs_findBody(child, "child")->element, "child-", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // attach warning should be present
-  int attach_warnings = mjs_numWarnings(parent);
-  EXPECT_GE(attach_warnings, 1);
-  EXPECT_THAT(mjs_getWarning(parent, 0), HasSubstr("timestep"));
-
-  // compile
-  mjModel* m = mj_compile(parent, nullptr);
-  ASSERT_THAT(m, NotNull()) << mjs_getError(parent);
-
-  // attach warnings should survive compilation
-  EXPECT_GE(mjs_numWarnings(parent), attach_warnings);
-  EXPECT_THAT(mjs_getWarning(parent, 0), HasSubstr("timestep"));
-
-  // recompile
-  mj_deleteModel(m);
-  m = mj_compile(parent, nullptr);
-  ASSERT_THAT(m, NotNull()) << mjs_getError(parent);
-
-  // attach warnings should still be there after recompile
-  EXPECT_GE(mjs_numWarnings(parent), attach_warnings);
-  EXPECT_THAT(mjs_getWarning(parent, 0), HasSubstr("timestep"));
-
-  mj_deleteModel(m);
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictWarningDefault) {
-  mock_warning_handler.ExpectWarnings();
-  // default mode (warning): conflicting values should keep parent, set warning
-
-  mjSpec* parent = mj_makeSpec();
-  parent->option.timestep = 0.005;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.timestep = 0.001;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // parent value should be unchanged
-  EXPECT_EQ(parent->option.timestep, mjtNum(0.005));
-
-  // one grouped warning per attach
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  std::string w = mjs_getWarning(parent, 0);
-  EXPECT_THAT(w, HasSubstr("policy is 'warning'"));
-  EXPECT_THAT(w, HasSubstr("timestep: parent has 0.005, child has 0.001,"
-                           " keeping parent value"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictWarningNoConflict) {
-  mock_warning_handler.ExpectWarnings();
-  // warning mode: child has non-default, parent is default → warn + keep parent
-  mjSpec* parent = mj_makeSpec();
-
-  mjSpec* child = mj_makeSpec();
-  child->option.timestep = 0.001;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // warning produced when child is non-default
-  EXPECT_TRUE(mjs_isWarning(parent));
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  EXPECT_THAT(mjs_getWarning(parent, 0), HasSubstr("timestep"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictMergeMin) {
-  mock_warning_handler.ExpectWarnings();
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_MERGE;
-  parent->option.timestep = 0.005;
-  parent->option.tolerance = 1e-10;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.timestep = 0.001;
-  child->option.tolerance = 1e-12;
-  child->option.sleep_tolerance = 0.005;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // min-fields should take the smaller value
-  EXPECT_EQ(parent->option.timestep, mjtNum(0.001));
-  EXPECT_EQ(parent->option.tolerance, mjtNum(1e-12));
-  // one side is default -> copy and warn
-  EXPECT_EQ(parent->option.sleep_tolerance, mjtNum(0.005));
-
-  // one grouped warning containing all three fields
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  std::string w = mjs_getWarning(parent, 0);
-  EXPECT_THAT(w, HasSubstr("policy is 'merge'"));
-  EXPECT_THAT(w, HasSubstr("timestep: parent has 0.005, child has 0.001,"
-                           " taking the minimum"));
-  EXPECT_THAT(w, HasSubstr("tolerance"));
-  EXPECT_THAT(w, HasSubstr("sleep_tolerance"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictMergeMax) {
-  mock_warning_handler.ExpectWarnings();
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_MERGE;
-  parent->option.iterations = 150;
-  parent->nkey = 5;
-  parent->nuser_body = 2;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.iterations = 200;
-  child->nkey = 8;
-  child->nuser_body = 4;
-
-  mjsBody* child_body = mjs_addBody(mjs_findBody(child, "world"), 0);
-  mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), nullptr);
-
-  mjsElement* attached =
-      mjs_attach(frame->element, child_body->element, "child_", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // max-fields should take the larger value
-  EXPECT_EQ(parent->option.iterations, 200);
-  EXPECT_EQ(parent->nkey, 8);
-  EXPECT_EQ(parent->nuser_body, 4);
-
-  // one grouped warning containing all three fields
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  std::string w = mjs_getWarning(parent, 0);
-  EXPECT_THAT(w, HasSubstr("iterations: parent has 150, child has 200,"
-                           " taking the maximum"));
-  EXPECT_THAT(w, HasSubstr("nkey"));
-  EXPECT_THAT(w, HasSubstr("nuser_body"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictMergeError) {
-  // merge mode: conflicting error-fields should produce an error
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_MERGE;
-  parent->option.integrator = mjINT_RK4;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.integrator = mjINT_IMPLICIT;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-
-  // error-fields should fail on conflict
-  EXPECT_THAT(attached, IsNull());
-  EXPECT_THAT(mjs_getError(parent), HasSubstr("integrator: parent has"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictErrorMode) {
-  // error mode: any conflict -> error
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_ERROR;
-  parent->option.timestep = 0.005;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.timestep = 0.001;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-
-  EXPECT_THAT(attached, IsNull());
-  std::string error = mjs_getError(parent);
-  EXPECT_THAT(error, HasSubstr("policy is 'error'"));
-  EXPECT_THAT(error, HasSubstr("timestep: parent has 0.005, child has 0.001"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictErrorNoConflict) {
-  // error mode: no conflict (one side default) -> succeeds
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_ERROR;
-  parent->option.timestep = 0.005;
-
-  mjSpec* child = mj_makeSpec();
-  // child timestep is default -> no conflict
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // parent unchanged
-  EXPECT_EQ(parent->option.timestep, mjtNum(0.005));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictMergeFromBody) {
-  mock_warning_handler.ExpectWarnings();
-  // merge mode: attach from body (not spec) still merges
-
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_MERGE;
-  parent->option.timestep = 0.005;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.timestep = 0.001;
-  mjsBody* child_body = mjs_addBody(mjs_findBody(child, "world"), 0);
-
-  mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), nullptr);
-
-  mjsElement* attached =
-      mjs_attach(frame->element, child_body->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  EXPECT_EQ(parent->option.timestep, mjtNum(0.001));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictMergeGravityError) {
-  // merge mode: conflicting gravity -> error
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_MERGE;
-  parent->option.gravity[2] = -10.0;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.gravity[2] = -1.62;
-
-  mjsBody* child_body = mjs_addBody(mjs_findBody(child, "world"), 0);
-  mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), nullptr);
-
-  mjs_attach(frame->element, child_body->element, "child_", "");
-
-  EXPECT_THAT(mjs_getError(parent),
-              HasSubstr("gravity: parent has 0 0 -10, child has 0 0 -1.62"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictMergeRealtimeMin) {
-  mock_warning_handler.ExpectWarnings();
-  // merge mode: conflicting realtime -> take min
-
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_MERGE;
-  parent->visual.global.realtime = 2.0f;
-
-  mjSpec* child = mj_makeSpec();
-  child->visual.global.realtime = 0.5f;
-
-  mjsBody* child_body = mjs_addBody(mjs_findBody(child, "world"), 0);
-  mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), nullptr);
-
-  mjsElement* attached =
-      mjs_attach(frame->element, child_body->element, "child_", "");
-  ASSERT_THAT(attached, NotNull());
-
-  EXPECT_EQ(parent->visual.global.realtime, 0.5f);
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictWarningBitfields) {
-  mock_warning_handler.ExpectWarnings();
-  // warning mode: conflicting disable flags report individual flag names
-
-  mjSpec* parent = mj_makeSpec();
-  parent->option.disableflags = mjDSBL_GRAVITY | mjDSBL_CONTACT;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.disableflags = mjDSBL_GRAVITY | mjDSBL_ACTUATION;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // Contact and Actuation differ, Gravity agrees -> 1 grouped warning
-  EXPECT_TRUE(mjs_isWarning(parent));
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  std::string w = mjs_getWarning(parent, 0);
-  EXPECT_THAT(w, HasSubstr("flag 'Contact': parent set, child unset,"
-                           " keeping parent"));
-  EXPECT_THAT(w, HasSubstr("flag 'Actuation': parent unset, child set,"
-                           " keeping parent"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictMergeMultipleWarnings) {
-  mock_warning_handler.ExpectWarnings();
-  // merge mode: multiple min/max conflicts should be in one grouped warning
-
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_MERGE;
-  parent->option.timestep = 0.005;
-  parent->option.iterations = 150;
-  parent->visual.global.realtime = 2.0f;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.timestep = 0.001;        // min conflict
-  child->option.iterations = 200;        // max conflict
-  child->visual.global.realtime = 0.5f;  // min conflict
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // values should be merged
-  EXPECT_EQ(parent->option.timestep, mjtNum(0.001));
-  EXPECT_EQ(parent->option.iterations, 200);
-  EXPECT_EQ(parent->visual.global.realtime, 0.5f);
-
-  // one grouped warning containing all three fields
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  std::string w = mjs_getWarning(parent, 0);
-  EXPECT_THAT(w, HasSubstr("policy is 'merge'"));
-  EXPECT_THAT(w, HasSubstr("timestep: parent has 0.005, child has 0.001,"
-                           " taking the minimum"));
-  EXPECT_THAT(w, HasSubstr("iterations: parent has 150, child has 200,"
-                           " taking the maximum"));
-  EXPECT_THAT(w, HasSubstr("realtime"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictWarningBitfieldsNoConflict) {
-  // warning mode: one side has zero disableflags -> no conflict
-  mjSpec* parent = mj_makeSpec();
-  parent->option.disableflags = mjDSBL_GRAVITY;
-
-  mjSpec* child = mj_makeSpec();
-  // child disableflags is 0 (default) -> no conflict
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-  EXPECT_FALSE(mjs_isWarning(parent));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictMergeBitfields) {
-  mock_warning_handler.ExpectWarnings();
-  // merge mode: flags are ORed together
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_MERGE;
-  parent->option.disableflags = mjDSBL_GRAVITY | mjDSBL_CONTACT;
-  parent->option.enableflags = mjENBL_OVERRIDE;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.disableflags = mjDSBL_GRAVITY | mjDSBL_ACTUATION;
-  child->option.enableflags = mjENBL_ENERGY;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // union of flags
-  EXPECT_EQ(parent->option.disableflags,
-            mjDSBL_GRAVITY | mjDSBL_CONTACT | mjDSBL_ACTUATION);
-  EXPECT_EQ(parent->option.enableflags, mjENBL_OVERRIDE | mjENBL_ENERGY);
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictErrorBitfields) {
-  // error mode: differing flags -> per-flag error
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_ERROR;
-  parent->option.disableflags = mjDSBL_GRAVITY;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.disableflags = mjDSBL_CONTACT;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-
-  EXPECT_THAT(attached, IsNull());
-  // should mention the specific flag name, not "disableflags"
-  std::string error = mjs_getError(parent);
-  EXPECT_THAT(error, HasSubstr("flag 'Contact'"));
-  EXPECT_THAT(error, HasSubstr("flag 'Gravity'"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictErrorNoMutation) {
-  // failed attach should not mutate the parent spec
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_MERGE;
-  parent->option.timestep = 0.005;
-  parent->option.iterations = 150;
-  parent->option.integrator = mjINT_RK4;
-  parent->option.gravity[2] = -10.0;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.timestep = 0.001;             // min-mergeable
-  child->option.iterations = 200;             // max-mergeable
-  child->option.integrator = mjINT_IMPLICIT;  // unmergeable -> error
-  child->option.gravity[2] = -1.62;           // unmergeable array -> error
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-
-  // attach should fail
-  EXPECT_THAT(attached, IsNull());
-
-  // parent should be completely unchanged
-  EXPECT_EQ(parent->option.timestep, mjtNum(0.005));
-  EXPECT_EQ(parent->option.iterations, 150);
-  EXPECT_EQ(parent->option.integrator, mjINT_RK4);
-  EXPECT_EQ(parent->option.gravity[2], mjtNum(-10.0));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictMultipleErrors) {
-  // error mode: multiple conflicts should all be reported in the error message
-  mjSpec* parent = mj_makeSpec();
-  parent->compiler.conflict = mjCONFLICT_ERROR;
-  parent->option.timestep = 0.005;
-  parent->option.iterations = 150;
-  parent->option.gravity[2] = -10.0;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.timestep = 0.001;
-  child->option.iterations = 200;
-  child->option.gravity[2] = -1.62;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-
-  EXPECT_THAT(attached, IsNull());
-  // all three conflicting fields should appear in the error message
-  std::string error = mjs_getError(parent);
-  EXPECT_THAT(error, HasSubstr("timestep"));
-  EXPECT_THAT(error, HasSubstr("iterations"));
-  EXPECT_THAT(error, HasSubstr("gravity"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictWarningArray) {
-  mock_warning_handler.ExpectWarnings();
-  // warning mode: conflicting array -> keep parent, warn
-  mjSpec* parent = mj_makeSpec();
-  parent->option.gravity[2] = -10.0;
-
-  mjSpec* child = mj_makeSpec();
-  child->option.gravity[2] = -1.62;
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-  ASSERT_THAT(attached, NotNull());
-
-  // parent gravity should be unchanged
-  EXPECT_EQ(parent->option.gravity[2], mjtNum(-10.0));
-
-  // one grouped warning containing gravity
-  EXPECT_TRUE(mjs_isWarning(parent));
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  EXPECT_THAT(mjs_getWarning(parent, 0),
-              HasSubstr("gravity: parent has 0 0 -10, child has 0 0 -1.62,"
-                        " keeping parent value"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictSubjectNames) {
-  mock_warning_handler.ExpectWarnings();
-
-  // Test case 1: both custom names
-  {
-    mjSpec* parent = mj_makeSpec();
-    mjs_setString(parent->modelname, "parent_model");
-    parent->option.timestep = 0.005;
-
-    mjSpec* child = mj_makeSpec();
-    mjs_setString(child->modelname, "child_model");
-    child->option.timestep = 0.001;
-
-    mjsBody* world = mjs_findBody(parent, "world");
-    mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-    ASSERT_THAT(attached, NotNull());
-
-    EXPECT_EQ(mjs_numWarnings(parent), 1);
-    std::string w = mjs_getWarning(parent, 0);
-    EXPECT_THAT(w, HasSubstr("Attach conflict when attaching 'child_model' to "
-                             "'parent_model', policy is 'warning'"));
-
-    mj_deleteSpec(parent);
-    mj_deleteSpec(child);
-  }
-
-  // Test case 2: only child custom name
-  {
-    mjSpec* parent = mj_makeSpec();
-    parent->option.timestep = 0.005;
-
-    mjSpec* child = mj_makeSpec();
-    mjs_setString(child->modelname, "child_model");
-    child->option.timestep = 0.001;
-
-    mjsBody* world = mjs_findBody(parent, "world");
-    mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-    ASSERT_THAT(attached, NotNull());
-
-    EXPECT_EQ(mjs_numWarnings(parent), 1);
-    std::string w = mjs_getWarning(parent, 0);
-    EXPECT_THAT(w, HasSubstr("Attach conflict when attaching 'child_model', "
-                             "policy is 'warning'"));
-
-    mj_deleteSpec(parent);
-    mj_deleteSpec(child);
-  }
-
-  // Test case 3: only parent custom name
-  {
-    mjSpec* parent = mj_makeSpec();
-    mjs_setString(parent->modelname, "parent_model");
-    parent->option.timestep = 0.005;
-
-    mjSpec* child = mj_makeSpec();
-    child->option.timestep = 0.001;
-
-    mjsBody* world = mjs_findBody(parent, "world");
-    mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-    ASSERT_THAT(attached, NotNull());
-
-    EXPECT_EQ(mjs_numWarnings(parent), 1);
-    std::string w = mjs_getWarning(parent, 0);
-    EXPECT_THAT(w, HasSubstr("Attach conflict when attaching to 'parent_model',"
-                             " policy is 'warning'"));
-
-    mj_deleteSpec(parent);
-    mj_deleteSpec(child);
-  }
-
-  // Test case 4: no custom name (both "MuJoCo Model")
-  {
-    mjSpec* parent = mj_makeSpec();
-    parent->option.timestep = 0.005;
-
-    mjSpec* child = mj_makeSpec();
-    child->option.timestep = 0.001;
-
-    mjsBody* world = mjs_findBody(parent, "world");
-    mjsElement* attached = mjs_attach(world->element, child->element, "", "");
-    ASSERT_THAT(attached, NotNull());
-
-    EXPECT_EQ(mjs_numWarnings(parent), 1);
-    std::string w = mjs_getWarning(parent, 0);
-    EXPECT_THAT(w, HasSubstr("Attach conflict on attach, "
-                             "policy is 'warning'"));
-
-    mj_deleteSpec(parent);
-    mj_deleteSpec(child);
-  }
-}
-
-TEST_F(MujocoTest, AttachConflictAuthoredDefault) {
-  // child explicitly sets timestep to its default value (0.002) in XML,
-  // which should still conflict with a non-default parent timestep
-  static constexpr char parent_xml[] = R"(
-    <mujoco>
-      <compiler conflict="error"/>
-      <option timestep="0.005"/>
-      <worldbody>
-        <body name="parent_body"><geom size="1"/></body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  static constexpr char child_xml[] = R"(
-    <mujoco>
-      <option timestep="0.002"/>
-      <worldbody>
-        <body name="child_body"><geom size="1"/></body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  std::array<char, 1024> err;
-  mjSpec* parent =
-      mj_parseXMLString(parent_xml, nullptr, err.data(), err.size());
-  ASSERT_THAT(parent, NotNull()) << err.data();
-  mjSpec* child = mj_parseXMLString(child_xml, nullptr, err.data(), err.size());
-  ASSERT_THAT(child, NotNull()) << err.data();
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached =
-      mjs_attach(world->element, child->element, "child_", "");
-
-  // attach should fail: child authored timestep=0.002 (the default),
-  // but parent has timestep=0.005 — authored tracking catches this
-  EXPECT_THAT(attached, IsNull());
-  EXPECT_THAT(mjs_getError(parent), HasSubstr("timestep"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictNonAuthoredDefault) {
-  // child does NOT set timestep in XML, parent has non-default timestep.
-  // no conflict should be detected (child didn't author the field)
-  static constexpr char parent_xml[] = R"(
-    <mujoco>
-      <compiler conflict="error"/>
-      <option timestep="0.005"/>
-      <worldbody>
-        <body name="parent_body"><geom size="1"/></body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  static constexpr char child_xml[] = R"(
-    <mujoco>
-      <worldbody>
-        <body name="child_body"><geom size="1"/></body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  std::array<char, 1024> err;
-  mjSpec* parent =
-      mj_parseXMLString(parent_xml, nullptr, err.data(), err.size());
-  ASSERT_THAT(parent, NotNull()) << err.data();
-  mjSpec* child = mj_parseXMLString(child_xml, nullptr, err.data(), err.size());
-  ASSERT_THAT(child, NotNull()) << err.data();
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached =
-      mjs_attach(world->element, child->element, "child_", "");
-
-  // attach should succeed: child didn't author timestep
-  EXPECT_THAT(attached, NotNull()) << mjs_getError(parent);
-  // parent timestep should be unchanged
-  EXPECT_EQ(parent->option.timestep, mjtNum(0.005));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictXMLMergeAuthoredDefault) {
-  mock_warning_handler.ExpectWarnings();
-
-  static constexpr char parent_xml[] = R"(
-    <mujoco>
-      <compiler conflict="merge"/>
-      <option timestep="0.005"/>
-      <worldbody/>
-    </mujoco>
-  )";
-
-  static constexpr char child_xml[] = R"(
-    <mujoco>
-      <option timestep="0.002"/>
-      <worldbody/>
-    </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  mjSpec* parent =
-      mj_parseXMLString(parent_xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(parent, NotNull()) << error.data();
-
-  mjSpec* child =
-      mj_parseXMLString(child_xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(child, NotNull()) << error.data();
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached =
-      mjs_attach(world->element, child->element, "child_", "");
-  ASSERT_THAT(attached, NotNull()) << "Error details: " << mjs_getError(parent);
-
-  // Child explicitly authored timestep=0.002. Parent has timestep=0.005. So
-  // they conflict on both-authored. Under merge mode, min-merge applies ->
-  // child wins.
-  EXPECT_EQ(parent->option.timestep, mjtNum(0.002));
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  EXPECT_THAT(mjs_getWarning(parent, 0),
-              HasSubstr("timestep: parent has 0.005, child has 0.002, "
-                        "taking the minimum"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachConflictXMLBitfieldSilentAdoption) {
-  mock_warning_handler.ExpectWarnings();
-
-  static constexpr char parent_xml[] = R"(
-    <mujoco>
-      <compiler conflict="merge"/>
-      <worldbody/>
-    </mujoco>
-  )";
-
-  static constexpr char child_xml[] = R"(
-    <mujoco>
-      <option>
-        <flag constraint="disable"/>
-      </option>
-      <worldbody/>
-    </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  mjSpec* parent =
-      mj_parseXMLString(parent_xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(parent, NotNull()) << error.data();
-
-  mjSpec* child =
-      mj_parseXMLString(child_xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(child, NotNull()) << error.data();
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached =
-      mjs_attach(world->element, child->element, "child_", "");
-  ASSERT_THAT(attached, NotNull()) << "Error details: " << mjs_getError(parent);
-
-  // Parent should adopt child's constraint disable flag since parent didn't
-  // restrict flags. In merge mode, this logging counts as 1 warning.
-  EXPECT_EQ(parent->option.disableflags, mjDSBL_CONSTRAINT);
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  EXPECT_THAT(mjs_getWarning(parent, 0),
-              HasSubstr("flag 'Constraint': added from child"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-TEST_F(MujocoTest, AttachWarningBoundaryAndPreservation) {
-  mock_warning_handler.ExpectWarnings();
-
-  // 1. Build a parent XML that generates a compile warning
-  static constexpr char parent_xml[] = R"(
-    <mujoco>
-      <compiler conflict="warning"/>
-      <option timestep="0.005"/>
-      <worldbody>
-        <body name="parent">
-          <flexcomp name="grid" type="grid" count="3 3 1" spacing="0.1 0.1 0.1"
-                    dim="2" radius="0.01">
-            <contact internal="false"/>
-          </flexcomp>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  // 2. Child 1 has conflicting timestep (0.001)
-  static constexpr char child1_xml[] = R"(
-    <mujoco>
-      <option timestep="0.001"/>
-      <worldbody/>
-    </mujoco>
-  )";
-
-  // 3. Child 2 has conflicting sleep_tolerance (0.005)
-  static constexpr char child2_xml[] = R"(
-    <mujoco>
-      <option sleep_tolerance="0.005"/>
-      <worldbody/>
-    </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  mjSpec* parent =
-      mj_parseXMLString(parent_xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(parent, NotNull()) << error.data();
-
-  mjSpec* child1 =
-      mj_parseXMLString(child1_xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(child1, NotNull()) << error.data();
-
-  mjSpec* child2 =
-      mj_parseXMLString(child2_xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(child2, NotNull()) << error.data();
-
-  mjsBody* world = mjs_findBody(parent, "world");
-
-  // Perform Attach 1
-  mjsElement* attached1 =
-      mjs_attach(world->element, child1->element, "c1_", "");
-  ASSERT_THAT(attached1, NotNull())
-      << "Error details: " << mjs_getError(parent);
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  EXPECT_THAT(mjs_getWarning(parent, 0), HasSubstr("timestep"));
-
-  // Perform Attach 2
-  mjsElement* attached2 =
-      mjs_attach(world->element, child2->element, "c2_", "");
-  ASSERT_THAT(attached2, NotNull())
-      << "Error details: " << mjs_getError(parent);
-  EXPECT_EQ(mjs_numWarnings(parent), 2);
-  EXPECT_THAT(mjs_getWarning(parent, 1), HasSubstr("sleep_tolerance"));
-
-  // Compile 1: compiles and generates a compile warning (flex is not rigid)
-  mjModel* model1 = mj_compile(parent, nullptr);
-  ASSERT_THAT(model1, NotNull());
-
-  // Warnings should include both attach warnings (indices 0 and 1) AND the
-  // compile warning (at index 2)
-  int num_warnings_after_compile = mjs_numWarnings(parent);
-  EXPECT_GE(num_warnings_after_compile, 3);
-  EXPECT_THAT(mjs_getWarning(parent, 2), HasSubstr("not rigid"));
-
-  // Compile 2 (Recompile): Recompiling should CLEAR compile warnings but
-  // PRESERVE all attach warnings!
-  mjModel* model2 = mj_compile(parent, nullptr);
-  ASSERT_THAT(model2, NotNull());
-
-  // Attach warnings must still be preserved and compile warnings refreshed
-  EXPECT_EQ(mjs_numWarnings(parent), num_warnings_after_compile);
-  EXPECT_THAT(mjs_getWarning(parent, 0), HasSubstr("timestep"));
-  EXPECT_THAT(mjs_getWarning(parent, 1), HasSubstr("sleep_tolerance"));
-  EXPECT_THAT(mjs_getWarning(parent, 2), HasSubstr("not rigid"));
-
-  mj_deleteModel(model1);
-  mj_deleteModel(model2);
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child1);
-  mj_deleteSpec(child2);
-}
-
-TEST_F(MujocoTest, AttachConflictWarningZFarDefaultMessage) {
-  mock_warning_handler.ExpectWarnings();
-
-  static constexpr char parent_xml[] = R"(
-    <mujoco>
-      <compiler conflict="warning"/>
-      <worldbody/>
-    </mujoco>
-  )";
-
-  static constexpr char child_xml[] = R"(
-    <mujoco>
-      <visual>
-        <map zfar="30"/>
-      </visual>
-      <worldbody/>
-    </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  mjSpec* parent =
-      mj_parseXMLString(parent_xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(parent, NotNull()) << error.data();
-
-  mjSpec* child =
-      mj_parseXMLString(child_xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(child, NotNull()) << error.data();
-
-  mjsBody* world = mjs_findBody(parent, "world");
-  mjsElement* attached =
-      mjs_attach(world->element, child->element, "child_", "");
-  ASSERT_THAT(attached, NotNull()) << "Error details: " << mjs_getError(parent);
-
-  // Since only the child authored 'zfar' and the parent relied on defaults,
-  // we warning-log and state that the parent has the default value.
-  EXPECT_TRUE(mjs_isWarning(parent));
-  EXPECT_EQ(mjs_numWarnings(parent), 1);
-  EXPECT_THAT(
-      mjs_getWarning(parent, 0),
-      HasSubstr("zfar: parent has 50 (default), child has "
-                "30, keeping parent value"));
-
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child);
-}
-
-}  // namespace
-}  // namespace mujoco
-
diff --git a/test/user/user_resource_test.cc b/test/user/user_resource_test.cc
deleted file mode 100644
index 124a2078..00000000
--- a/test/user/user_resource_test.cc
+++ /dev/null
@@ -1,548 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for user/user_resource.cc
-
-#include "src/user/user_resource.h"
-
-#include <array>
-#include <cstdint>
-#include <cstdio>
-#include <cstring>
-#include <ctime>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/strings/str_format.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mujoco.h>
-#include "src/engine/engine_plugin.h"
-#include "src/engine/engine_util_misc.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-using ::testing::StrEq;
-
-using ResourceTest = MujocoTest;
-
-int open_nop(mjResource* resource) {
-  return 1;
-}
-
-int open_str(mjResource* resource) {
-  if (std::strcmp(resource->name, "str:file")) {
-    return 0;
-  }
-
-  const std::size_t kBufferSize = 100;
-  resource->data = mju_malloc(kBufferSize * sizeof(char));
-  absl::SNPrintF((char*) resource->data, kBufferSize, "Hello World");
-  return 1;
-}
-
-int read_nop(mjResource* resource, const void** buffer) {
-  return 0;
-}
-
-int read_str(mjResource* resource, const void** buffer) {
-  *buffer = resource->data;
-  return std::strlen((const char*) resource->data) + 1;
-}
-
-void close_nop(mjResource* resource) {
-}
-
-void close_str(mjResource* resource) {
-  mju_free(resource->data);
-  resource->data = nullptr;
-}
-
-TEST_F(ResourceTest, RegisterProviderSuccess) {
-  mjpResourceProvider provider = {
-      .prefix = "my-prefix.123+45",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  int count1 = mjp_resourceProviderCount();
-  int i = mjp_registerResourceProvider(&provider);
-  int count2 = mjp_resourceProviderCount();
-
-  EXPECT_GT(i, 0);
-  EXPECT_EQ(count2 - count1, 1);
-}
-
-TEST_F(ResourceTest, RegisterProviderMultipleSuccess) {
-  mjpResourceProvider provider = {
-      .prefix = "my-prefix.123+44",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  mjpResourceProvider provider2 = {
-      .prefix = "my-prefix.123+46",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  mjpResourceProvider provider3 = {
-      .prefix = "my-prefix.123+41",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  int count1 = mjp_resourceProviderCount();
-  int i = mjp_registerResourceProvider(&provider);
-  int i2 = mjp_registerResourceProvider(&provider2);
-  int i3 = mjp_registerResourceProvider(&provider3);
-  int count2 = mjp_resourceProviderCount();
-
-  EXPECT_GT(i, 0);
-  EXPECT_GT(i2, 0);
-  EXPECT_GT(i3, 0);
-  EXPECT_EQ(count2 - count1, 3);
-}
-
-TEST_F(ResourceTest, RegisterProviderMissingCallbacks) {
-  mjpResourceProvider provider = {
-      .prefix = "myprefix",
-  };
-
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings("callback");
-
-  int i = mjp_registerResourceProvider(&provider);
-  EXPECT_LT(i, 1);
-}
-
-TEST_F(ResourceTest, RegisterProviderMissingPrefix) {
-  mjpResourceProvider provider = {
-      .prefix = "",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings("prefix");
-
-  int i = mjp_registerResourceProvider(&provider);
-  EXPECT_LT(i, 1);
-}
-
-TEST_F(ResourceTest, RegisterProviderInvalidPrefix1) {
-  mjpResourceProvider provider = {
-      .prefix = "1invalid",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings("prefix");
-
-  int i = mjp_registerResourceProvider(&provider);
-  EXPECT_LT(i, 1);
-}
-
-TEST_F(ResourceTest, RegisterProviderInvalidPrefix2) {
-  mjpResourceProvider provider = {
-      .prefix = "invalid:",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings("prefix");
-
-  int i = mjp_registerResourceProvider(&provider);
-  EXPECT_LT(i, 1);
-}
-
-TEST_F(ResourceTest, RegisterProviderSame) {
-  mjpResourceProvider provider = {
-      .prefix = "prefix",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  mjpResourceProvider provider2 = {
-      .prefix = "prefix",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  int i1 = mjp_registerResourceProvider(&provider);
-  int count1 = mjp_resourceProviderCount();
-
-  int i2 = mjp_registerResourceProvider(&provider2);
-  int count2 = mjp_resourceProviderCount();
-
-  EXPECT_EQ(i1, i2);
-  EXPECT_EQ(count1, count2);
-}
-
-TEST_F(ResourceTest, RegisterProviderSameCase) {
-  mjpResourceProvider provider = {
-      .prefix = "prefix",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  mjpResourceProvider provider2 = {
-      .prefix = "PREFIX",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  int i1 = mjp_registerResourceProvider(&provider);
-  int count1 = mjp_resourceProviderCount();
-
-  int i2 = mjp_registerResourceProvider(&provider2);
-  int count2 = mjp_resourceProviderCount();
-
-  EXPECT_EQ(i1, i2);
-  EXPECT_EQ(count1, count2);
-}
-
-TEST_F(ResourceTest, GeneralTest) {
-  mjpResourceProvider provider = {
-      .prefix = "str",
-      .open = open_str,
-      .read = read_str,
-      .close = close_str,
-  };
-
-  // register resource provider
-  int i = mjp_registerResourceProvider(&provider);
-  EXPECT_GT(i, 0);
-
-  // open resource
-  mjResource* resource = mju_openResource("", "str:file", nullptr, nullptr, 0);
-  ASSERT_THAT(resource,  NotNull());
-
-  const char* buffer = NULL;
-  int bytes = mju_readResource(resource, (const void**) &buffer);
-  EXPECT_EQ(bytes, std::strlen("Hello World") + 1);
-  EXPECT_THAT(buffer, StrEq("Hello World"));
-
-  mju_closeResource(resource);
-}
-
-TEST_F(ResourceTest, GeneralFailureTest) {
-  mjpResourceProvider provider = {
-      .prefix = "str",
-      .open = open_str,
-      .read = read_str,
-      .close = close_str,
-  };
-
-  // register resource provider
-  int i = mjp_registerResourceProvider(&provider);
-  EXPECT_GT(i, 0);
-
-  static std::array<char, 1024> error;
-
-  // open resource
-  mjResource* resource = mju_openResource("", "str:notfound", nullptr,
-                                          error.data(), error.size());
-  ASSERT_THAT(resource, IsNull());
-
-  EXPECT_THAT(error.data(), HasSubstr("Error opening file"));
-}
-
-TEST_F(ResourceTest, NameWithValidPrefix) {
-  mjpResourceProvider provider = {
-      .prefix = "nop",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  // register resource provider
-  int i = mjp_registerResourceProvider(&provider);
-  EXPECT_GT(i, 0);
-
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings();
-
-  // open resource
-  mjResource* resource = mju_openResource("", "nop:found", nullptr, nullptr, 0);
-  ASSERT_THAT(resource, NotNull());
-  mju_closeResource(resource);
-}
-
-TEST_F(ResourceTest, NameWithUpperCasePrefix) {
-  mjpResourceProvider provider = {
-      .prefix = "nop",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  // register resource provider
-  int i = mjp_registerResourceProvider(&provider);
-  EXPECT_GT(i, 0);
-
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings();
-
-  // open resource
-  mjResource* resource = mju_openResource("", "NOP:found", nullptr, nullptr, 0);
-  ASSERT_THAT(resource, NotNull());
-  mju_closeResource(resource);
-}
-
-TEST_F(ResourceTest, NameWithInvalidPrefix) {
-  mjpResourceProvider provider = {
-      .prefix = "nop",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  // register resource provider
-  int i = mjp_registerResourceProvider(&provider);
-  EXPECT_GT(i, 0);
-
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings();
-
-  // open resource
-  mjResource* resource = mju_openResource("", "nopfound", nullptr, nullptr, 0);
-  ASSERT_THAT(resource, IsNull());
-}
-
-TEST_F(ResourceTest, GetResourceDir) {
-  const std::vector<std::pair<std::string, std::string>> cases = {
-    { "foo/bar/baz", "foo/bar/" },
-    { "foo/bar/", "foo/bar/" },
-    { "foo/bar", "foo/" },
-    { "/foo/bar", "/foo/" },
-    { "/foo", "/" },
-    { "/", "/" },
-    { "", "" },
-  };
-
-  const char* dir = nullptr;
-  int ndir = 0;
-
-  mjpResourceProvider provider;
-  provider.prefix = "provider";
-
-  for (const auto& [name, expected] : cases) {
-    mjResource resource;
-    resource.provider = nullptr;
-    resource.name = const_cast<char*>(name.c_str());
-    mju_getResourceDir(&resource, &dir, &ndir);
-    EXPECT_THAT(std::string(dir, ndir), expected);
-  }
-}
-
-TEST_F(ResourceTest, GetResourceDirProvider) {
-  const std::vector<std::pair<std::string, std::string>> cases = {
-    { "provider:/foo/bar", "provider:/foo/" },
-    { "provider:/foo/", "provider:/foo/" },
-    { "provider:foo/", "provider:foo/" },
-    { "provider:foo", "provider:" },
-    { "provider:/", "provider:/" },
-  };
-
-  const char* dir = nullptr;
-  int ndir = 0;
-
-  mjpResourceProvider provider;
-  provider.prefix = "provider";
-
-  for (const auto& [name, expected] : cases) {
-    mjResource resource;
-    resource.provider = &provider;
-    resource.name = const_cast<char*>(name.c_str());
-    mju_getResourceDir(&resource, &dir, &ndir);
-    EXPECT_THAT(std::string(dir, ndir), expected);
-  }
-}
-
-TEST_F(ResourceTest, GetResourceDirNullResource) {
-  const char* dir = nullptr;
-  int ndir = 0;
-
-  mju_getResourceDir(nullptr, &dir, &ndir);
-  EXPECT_THAT(dir, IsNull());
-  EXPECT_EQ(ndir, 0);
-}
-
-TEST_F(ResourceTest, GetResourceDirNullName) {
-  const char* dir = nullptr;
-  int ndir = 0;
-
-  mjResource resource;
-  resource.name = nullptr;
-  resource.provider = nullptr;
-
-  mju_getResourceDir(nullptr, &dir, &ndir);
-  EXPECT_THAT(dir, IsNull());
-  EXPECT_EQ(ndir, 0);
-}
-
-TEST_F(ResourceTest, OSFilesystemTimestamps) {
-  time_t t;
-
-  // some random file
-  const char* const file = "engine/testdata/collision_box/boxbox_deep.xml";
-  const std::string xml_path = GetTestDataFilePath(file);
-
-  mjResource* resource = mju_openResource("", xml_path.c_str(), nullptr,
-                                          nullptr, 0);
-  mju_decodeBase64((uint8_t*) &t, resource->timestamp);
-
-  // equal timestamps
-  EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);
-
-  std::array<char, 512> test_timestamp;
-
-  // older resource timestamp
-  t++;
-  mju_encodeBase64(test_timestamp.data(), (uint8_t*) &t, sizeof(time_t));
-  EXPECT_EQ(mju_isModifiedResource(resource, test_timestamp.data()), -1);
-
-
-  // newer resource timestamp
-  t -= 2;
-  mju_encodeBase64(test_timestamp.data(), (uint8_t*) &t, sizeof(time_t));
-  EXPECT_EQ(mju_isModifiedResource(resource, test_timestamp.data()), 1);
-
-  mju_closeResource(resource);
-}
-
-// ===================== Write Resource Tests =====================
-
-struct WriteBuffer {
-  std::vector<uint8_t> data;
-};
-
-// static storage for the last written buffer (for round-trip testing)
-static std::vector<uint8_t> last_written;
-
-mjtSize write_capture(mjResource* resource, const void* buffer, mjtSize nbytes) {
-  last_written.clear();
-  const uint8_t* bytes = static_cast<const uint8_t*>(buffer);
-  last_written.insert(last_written.end(), bytes, bytes + nbytes);
-  return nbytes;
-}
-
-// open callback for reading back captured data
-int open_read_capture(mjResource* resource) { return 1; }
-
-int read_capture(mjResource* resource, const void** buffer) {
-  *buffer = last_written.data();
-  return static_cast<int>(last_written.size());
-}
-
-void close_read_capture(mjResource* resource) {}
-
-TEST_F(ResourceTest, WriteResourceWithProvider) {
-  // Register a provider with write callbacks
-  mjpResourceProvider provider = {
-      .prefix = "wrtest",
-      .open = open_read_capture,
-      .read = read_capture,
-      .close = close_read_capture,
-      .write = write_capture,
-  };
-
-  mjp_registerResourceProvider(&provider);
-
-  // Write some data
-  const char* data = "Hello, Resource Writer!";
-  mjtSize nbytes = static_cast<mjtSize>(std::strlen(data));
-
-  mjtSize written = mju_writeResource("wrtest:myfile.txt", data, nbytes, nullptr, nullptr, 0);
-  EXPECT_EQ(written, nbytes);
-
-  // Read it back via the same provider
-  char error[256] = {0};
-  mjResource* resource =
-      mju_openResource("", "wrtest:myfile.txt", nullptr, error, sizeof(error));
-  ASSERT_THAT(resource, NotNull());
-
-  const void* buf = nullptr;
-  int read_bytes = mju_readResource(resource, &buf);
-  EXPECT_EQ(read_bytes, nbytes);
-  EXPECT_EQ(std::memcmp(buf, data, nbytes), 0);
-
-  mju_closeResource(resource);
-}
-
-TEST_F(ResourceTest, WriteResourceDefaultPosix) {
-  // Write to a temp file using the default POSIX provider (no prefix)
-  std::string tmpfile = testing::TempDir() + "/mj_write_test.bin";
-  const char* data = "MuJoCo resource write test";
-  mjtSize nbytes = static_cast<mjtSize>(std::strlen(data));
-
-  mjtSize written = mju_writeResource(tmpfile.c_str(), data, nbytes, nullptr, nullptr, 0);
-  EXPECT_EQ(written, nbytes);
-
-  // Read it back via mju_openResource (default POSIX provider)
-  char error[256] = {0};
-  mjResource* resource =
-      mju_openResource("", tmpfile.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(resource, NotNull());
-
-  const void* buf = nullptr;
-  int read_bytes = mju_readResource(resource, &buf);
-  EXPECT_EQ(read_bytes, nbytes);
-  EXPECT_EQ(std::memcmp(buf, data, nbytes), 0);
-
-  mju_closeResource(resource);
-
-  // Clean up
-  std::remove(tmpfile.c_str());
-}
-
-TEST_F(ResourceTest, WriteResourceNoWriteCallback) {
-  // Register a read-only provider (no write callback)
-  mjpResourceProvider provider = {
-      .prefix = "rdonly",
-      .open = open_nop,
-      .read = read_nop,
-      .close = close_nop,
-  };
-
-  mjp_registerResourceProvider(&provider);
-
-  const char* data = "data";
-  mjtSize written = mju_writeResource("rdonly:somefile", data, 4, nullptr, nullptr, 0);
-  EXPECT_EQ(written, -1);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_threadpool_test.cc b/test/user/user_threadpool_test.cc
deleted file mode 100644
index 80b85c0c..00000000
--- a/test/user/user_threadpool_test.cc
+++ /dev/null
@@ -1,197 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "src/user/user_threadpool.h"
-
-#include <atomic>
-#include <condition_variable>
-#include <mutex>
-#include <set>
-
-#include <gtest/gtest.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using user::ThreadPool;
-using ThreadPoolTest = MujocoTest;
-
-TEST(ThreadPoolTest, ConstructorCreatesCorrectNumberOfThreads) {
-  ThreadPool pool(4);
-  EXPECT_EQ(pool.NumThreads(), 4);
-}
-
-TEST(ThreadPoolTest, SingleThread) {
-  ThreadPool pool(1);
-  EXPECT_EQ(pool.NumThreads(), 1);
-}
-
-TEST(ThreadPoolTest, ScheduleAndWait) {
-  ThreadPool pool(4);
-  std::atomic<int> counter{0};
-
-  for (int i = 0; i < 10; ++i) {
-    pool.Schedule([&counter]() { counter++; });
-  }
-
-  pool.WaitCount(10);
-  EXPECT_EQ(counter.load(), 10);
-}
-
-TEST(ThreadPoolTest, GetCountReturnsCompletedTasks) {
-  ThreadPool pool(2);
-
-  pool.Schedule([]() {});
-  pool.Schedule([]() {});
-  pool.WaitCount(2);
-
-  EXPECT_GE(pool.GetCount(), 2);
-}
-
-TEST(ThreadPoolTest, ResetCountClearsCounter) {
-  ThreadPool pool(2);
-
-  pool.Schedule([]() {});
-  pool.WaitCount(1);
-  EXPECT_GE(pool.GetCount(), 1);
-
-  pool.ResetCount();
-  EXPECT_EQ(pool.GetCount(), 0);
-}
-
-TEST(ThreadPoolTest, WorkerIdIsValid) {
-  ThreadPool pool(4);
-  std::atomic<int> valid_ids{0};
-
-  for (int i = 0; i < 10; ++i) {
-    pool.Schedule([&valid_ids, &pool]() {
-      int id = ThreadPool::WorkerId();
-      if (id >= 0 && id < pool.NumThreads()) {
-        valid_ids++;
-      }
-    });
-  }
-
-  pool.WaitCount(10);
-  EXPECT_EQ(valid_ids.load(), 10);
-}
-
-TEST(ThreadPoolTest, WorkerIdOutsidePoolReturnsNegativeOne) {
-  EXPECT_EQ(ThreadPool::WorkerId(), -1);
-}
-
-TEST(ThreadPoolTest, ParallelExecution) {
-  ThreadPool pool(4);
-  std::atomic<int> sum{0};
-  const int n = 1000;
-
-  for (int i = 0; i < n; ++i) {
-    pool.Schedule([&sum]() { sum++; });
-  }
-
-  pool.WaitCount(n);
-  EXPECT_EQ(sum.load(), n);
-}
-
-TEST(ThreadPoolTest, MultipleWaitCounts) {
-  ThreadPool pool(2);
-  std::atomic<int> counter{0};
-
-  for (int i = 0; i < 5; ++i) {
-    pool.Schedule([&counter]() { counter++; });
-  }
-  pool.WaitCount(5);
-  EXPECT_EQ(counter.load(), 5);
-
-  pool.ResetCount();
-
-  for (int i = 0; i < 3; ++i) {
-    pool.Schedule([&counter]() { counter++; });
-  }
-  pool.WaitCount(3);
-  EXPECT_EQ(counter.load(), 8);
-}
-
-TEST(ThreadPoolTest, ScopedPoolDestruction) {
-  std::atomic<int> counter{0};
-  {
-    ThreadPool pool(2);
-    for (int i = 0; i < 5; ++i) {
-      pool.Schedule([&counter]() { counter++; });
-    }
-    pool.WaitCount(5);
-  }
-  EXPECT_EQ(counter.load(), 5);
-}
-
-TEST(ThreadPoolTest, OnlyConfiguredThreadsAreUsed) {
-  constexpr int kNumThreads = 4;
-  constexpr int kNumTasks = 100;
-
-  ThreadPool pool(kNumThreads);
-  std::mutex ids_mutex;
-  std::set<int> worker_ids;
-
-  for (int i = 0; i < kNumTasks; ++i) {
-    pool.Schedule([&ids_mutex, &worker_ids]() {
-      int id = ThreadPool::WorkerId();
-      std::lock_guard<std::mutex> lock(ids_mutex);
-      worker_ids.insert(id);
-    });
-  }
-
-  pool.WaitCount(kNumTasks);
-
-  EXPECT_LE(worker_ids.size(), kNumThreads);
-  for (int id : worker_ids) {
-    EXPECT_GE(id, 0);
-    EXPECT_LT(id, kNumThreads);
-  }
-}
-
-TEST(ThreadPoolTest, BlockingTaskDoesNotPreventOtherTasks) {
-  constexpr int kNumThreads = 4;
-  ThreadPool pool(kNumThreads);
-
-  std::mutex block_mutex;
-  std::condition_variable block_cv;
-  bool unblock = false;
-
-  std::atomic<int> fast_tasks_completed{0};
-  constexpr int kNumFastTasks = 10;
-
-  pool.Schedule([&block_mutex, &block_cv, &unblock]() {
-    std::unique_lock<std::mutex> lock(block_mutex);
-    block_cv.wait(lock, [&unblock]() { return unblock; });
-  });
-
-  for (int i = 0; i < kNumFastTasks; ++i) {
-    pool.Schedule([&fast_tasks_completed]() { fast_tasks_completed++; });
-  }
-
-  pool.WaitCount(kNumFastTasks);
-
-  EXPECT_EQ(fast_tasks_completed.load(), kNumFastTasks);
-
-  {
-    std::lock_guard<std::mutex> lock(block_mutex);
-    unblock = true;
-  }
-  block_cv.notify_one();
-
-  pool.WaitCount(kNumFastTasks + 1);
-}
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_util_test.cc b/test/user/user_util_test.cc
deleted file mode 100644
index 9fc3f022..00000000
--- a/test/user/user_util_test.cc
+++ /dev/null
@@ -1,323 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for user/user_util.cc
-
-#include "src/user/user_util.h"
-
-#include <cerrno>
-#include <cmath>
-#include <random>
-#include <string>
-#include <vector>
-
-#include <gtest/gtest.h>
-#include <gmock/gmock.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using user::FilePath;
-using user::StringToVector;
-using user::VectorToString;
-using ::testing::ElementsAre;
-using ::testing::IsNan;
-
-using UserUtilTest = MujocoTest;
-
-TEST_F(UserUtilTest, PathReduce) {
-  FilePath path = FilePath("/hello/.././world/");
-  EXPECT_EQ(path.Str(), "/world/");
-}
-
-TEST_F(UserUtilTest, PathReduce2) {
-  FilePath path = FilePath("../hello/./world/");
-  EXPECT_EQ(path.Str(), "../hello/world/");
-}
-
-TEST_F(UserUtilTest, PathReduce3) {
-  FilePath path = FilePath("../../hello/world.txt");
-  EXPECT_EQ(path.Str(), "../../hello/world.txt");
-}
-
-TEST_F(UserUtilTest, PathReduceWin) {
-  FilePath path = FilePath("C:\\hello\\..\\world");
-  EXPECT_EQ(path.Str(), "C:\\world");
-}
-
-TEST_F(UserUtilTest, IsAbs) {
-  EXPECT_TRUE(FilePath("/hello").IsAbs());
-  EXPECT_TRUE(FilePath("C:\\hello").IsAbs());
-  EXPECT_FALSE(FilePath("hello").IsAbs());
-}
-
-TEST_F(UserUtilTest, Combine) {
-  FilePath path1 = FilePath("/hello");
-  FilePath path2 = FilePath("world");
-  EXPECT_EQ((path1 + path2).Str(), "/hello/world");
-}
-
-TEST_F(UserUtilTest, Combine2) {
-  FilePath path1 = FilePath("hello/");
-  FilePath path2 = FilePath("world");
-  EXPECT_EQ((path1 + path2).Str(), "hello/world");
-}
-
-TEST_F(UserUtilTest, Combine3) {
-  FilePath path1 = FilePath("/hello");
-  FilePath path2 = FilePath("../world");
-  EXPECT_EQ((path1 + path2).Str(), "/world");
-}
-
-TEST_F(UserUtilTest, CombineAbs) {
-  FilePath path1 = FilePath("/hello");
-  FilePath path2 = FilePath("/world");
-  EXPECT_EQ((path1 + path2).Str(), "/world");
-}
-
-TEST_F(UserUtilTest, Ext) {
-  FilePath path = FilePath("/hello/world.txt");
-  EXPECT_EQ(path.Ext(), ".txt");
-}
-
-TEST_F(UserUtilTest, ExtEmpty) {
-  FilePath path = FilePath("/hello/world");
-  EXPECT_EQ(path.Ext(), "");
-}
-
-TEST_F(UserUtilTest, StripExt) {
-  FilePath path = FilePath("/hello/world.txt");
-  EXPECT_EQ(path.StripExt().Str(), "/hello/world");
-}
-
-TEST_F(UserUtilTest, StripPath) {
-  FilePath path = FilePath("/hello/world.txt");
-  EXPECT_EQ(path.StripPath().Str(), "world.txt");
-}
-
-TEST_F(UserUtilTest, StripPathEmpty) {
-  FilePath path = FilePath("world.txt");
-  EXPECT_EQ(path.StripPath().Str(), "world.txt");
-}
-
-TEST_F(UserUtilTest, StripPathWin) {
-  FilePath path = FilePath("\\world.txt");
-  EXPECT_EQ(path.StripPath().Str(), "world.txt");
-}
-
-
-TEST_F(UserUtilTest, StrLower) {
-  FilePath path = FilePath("/HELLO/worlD.txt");
-  EXPECT_EQ(path.StrLower(), "/hello/world.txt");
-}
-
-TEST_F(UserUtilTest, StringToVectorFloat) {
-  std::vector<float> v = StringToVector<float>(" 1.2 3.2     5.3 6 ");
-  EXPECT_THAT(v, ElementsAre(1.2, 3.2, 5.3, 6));
-  EXPECT_EQ(errno, 0);
-}
-
-TEST_F(UserUtilTest, StringToVectorEmpty) {
-  std::vector<float> v = StringToVector<float>("   ");
-  EXPECT_THAT(v, ElementsAre());
-  EXPECT_EQ(errno, 0);
-}
-
-TEST_F(UserUtilTest, StringToVectorError) {
-  std::vector<float> v = StringToVector<float>("2.1 3ABCD. /123/122/113");
-  EXPECT_THAT(v, ElementsAre(2.1));
-  EXPECT_EQ(errno, EINVAL);
-}
-
-TEST_F(UserUtilTest, StringToVectorInt) {
-  std::vector<int> v = StringToVector<int>("  -1 3  5 6  ");
-  EXPECT_THAT(v, ElementsAre(-1, 3, 5, 6));
-  EXPECT_EQ(errno, 0);
-}
-
-TEST_F(UserUtilTest, StringToVectorString) {
-  auto v = StringToVector<std::string>(" abc  def ");
-  EXPECT_THAT(v, ElementsAre("abc", "def"));
-}
-
-TEST_F(UserUtilTest, StringToVectorInvalidNumber) {
-  auto v = StringToVector<double>("1 0.1.2.3");
-  EXPECT_THAT(v, ElementsAre(1));
-  EXPECT_EQ(errno, EINVAL);
-}
-
-TEST_F(UserUtilTest, StringToVectorNan) {
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings();
-  auto v = StringToVector<double>("1 2 nan 3.21");
-  EXPECT_THAT(v[2], IsNan());
-  EXPECT_EQ(v[3], 3.21);
-  EXPECT_EQ(errno, EDOM);
-}
-
-TEST_F(UserUtilTest, StringToVectorRange) {
-  auto v = StringToVector<unsigned char>("-10");
-  EXPECT_EQ(errno, ERANGE);
-}
-
-TEST_F(UserUtilTest, VectorToString) {
-  std::vector<double> v = {1.2, 3.2, 5.3, 6};
-  EXPECT_EQ(VectorToString(v), "1.2 3.2 5.3 6");
-}
-
-TEST_F(UserUtilTest, VectorToStringEmpty) {
-  std::vector<double> v;
-  EXPECT_EQ(VectorToString(v), "");
-}
-
-// utility: modified Gram-Schmidt to orthogonalize columns of Q (n x n)
-static void gramSchmidt(double* Q, int n) {
-  for (int j = 0; j < n; j++) {
-    // subtract projections onto previous columns
-    for (int k = 0; k < j; k++) {
-      double dot = 0;
-      for (int i = 0; i < n; i++) {
-        dot += Q[i * n + j] * Q[i * n + k];
-      }
-      for (int i = 0; i < n; i++) {
-        Q[i * n + j] -= dot * Q[i * n + k];
-      }
-    }
-    // normalize
-    double norm = 0;
-    for (int i = 0; i < n; i++) {
-      norm += Q[i * n + j] * Q[i * n + j];
-    }
-    norm = std::sqrt(norm);
-    for (int i = 0; i < n; i++) {
-      Q[i * n + j] /= norm;
-    }
-  }
-}
-
-// utility: compose SPD matrix A = Q * diag(eigvals) * Q^T
-static void composeMatrix(double* A, const double* Q,
-                          const double* eigvals, int n) {
-  for (int i = 0; i < n; i++) {
-    for (int j = 0; j <= i; j++) {
-      double sum = 0;
-      for (int k = 0; k < n; k++) {
-        sum += Q[i * n + k] * eigvals[k] * Q[j * n + k];
-      }
-      A[i * n + j] = sum;
-      A[j * n + i] = sum;
-    }
-  }
-}
-
-TEST_F(UserUtilTest, EigendecomposeConvergence) {
-  // seeded RNG for reproducibility
-  std::mt19937_64 rng;
-  rng.seed(42);
-  std::normal_distribution<double> dist(0, 1);
-
-  // sweep over matrix sizes used by flex stiffness
-  //   order=1: 8 nodes * 3 dof = 24
-  //   order=2: 27 nodes * 3 dof = 81
-  for (int n : {24, 81}) {
-    int total_sweeps = 0;
-    int max_sweeps = 0;
-    int count = 0;
-
-    // generate random orthogonal matrix Q via Gram-Schmidt
-    std::vector<double> Q(n * n);
-    for (int i = 0; i < n * n; i++) {
-      Q[i] = dist(rng);
-    }
-    gramSchmidt(Q.data(), n);
-
-    // sweep eigenvalue spectra of varying difficulty
-    //   well-separated, clustered, wide condition number
-    for (double condition : {1e1, 1e3, 1e6}) {
-      for (double cluster : {0.0, 0.5, 0.9}) {
-        // construct eigenvalues
-        std::vector<double> eigvals(n);
-        for (int i = 0; i < n; i++) {
-          // base: logarithmically spaced from 1 to condition
-          double t = (double)i / (n - 1);
-          double base = std::exp(t * std::log(condition));
-
-          // cluster: push eigenvalues toward geometric mean
-          double mean = std::sqrt(condition);
-          eigvals[i] = (1 - cluster) * base + cluster * mean;
-        }
-
-        // compose A = Q * diag(eigvals) * Q^T
-        std::vector<double> A(n * n);
-        composeMatrix(A.data(), Q.data(), eigvals.data(), n);
-
-        // save copy for verification
-        std::vector<double> A_copy(A);
-
-        // decompose
-        std::vector<double> found_eigval(n);
-        std::vector<double> found_eigvec(n * n);
-        int sweeps = mjuu_eigendecompose(
-            A.data(), found_eigval.data(),
-            found_eigvec.data(), n);
-
-        total_sweeps += sweeps;
-        if (sweeps > max_sweeps) max_sweeps = sweeps;
-        count++;
-
-        // verify convergence
-        EXPECT_LT(sweeps, 200)
-            << "n=" << n
-            << " condition=" << condition
-            << " cluster=" << cluster;
-
-        // verify A*v = lambda*v for each eigenpair
-        for (int i = 0; i < n; i++) {
-          for (int r = 0; r < n; r++) {
-            double Av = 0;
-            for (int c = 0; c < n; c++) {
-              Av += A_copy[r * n + c] * found_eigvec[c * n + i];
-            }
-            double lv = found_eigval[i] * found_eigvec[r * n + i];
-            EXPECT_NEAR(Av, lv,
-                        1e-6 * std::abs(found_eigval[i]))
-                << "n=" << n << " condition=" << condition
-                << " cluster=" << cluster
-                << " eigpair=" << i << " row=" << r;
-          }
-        }
-
-        // verify all eigenvalues are positive
-        for (int i = 0; i < n; i++) {
-          EXPECT_GT(found_eigval[i], 0)
-              << "n=" << n << " eigenvalue " << i;
-        }
-      }
-    }
-
-    double mean_sweeps = (double)total_sweeps / count;
-
-    // assert reasonable average convergence
-    EXPECT_LE(mean_sweeps, 20.0)
-        << "n=" << n << ": mean sweeps too high";
-
-    // assert max sweeps within budget
-    EXPECT_LT(max_sweeps, 200)
-        << "n=" << n << ": max sweeps exceeded 200";
-  }
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/user/user_vfs_test.cc b/test/user/user_vfs_test.cc
deleted file mode 100644
index 16a62da2..00000000
--- a/test/user/user_vfs_test.cc
+++ /dev/null
@@ -1,467 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <array>
-#include <cstdio>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "src/user/user_resource.h"
-#include "src/user/user_vfs.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::IsNull;
-using ::testing::NotNull;
-using UserVfsTest = MujocoTest;
-
-static bool HasFile(const mjVFS* vfs, const std::string& filename) {
-  mjResource* resource = mju_openResource("", filename.c_str(), vfs, nullptr, 0);
-  bool result = resource != nullptr;
-  mju_closeResource(resource);
-  return result;
-}
-
-struct TestProvider : public mjpResourceProvider {
-  // The TestProvider will increment the value at `addr` by these amounts when
-  // each callback is invoked. This can be used to verity that the correct
-  // callbacks are being invoked when expected.
-  enum CallbackValues {
-    Mounted = 100,
-    Unmounted = 200,
-    Opened = 300,
-    Read = 400,
-    Closed = 500,
-  };
-
-  explicit TestProvider(int* addr) {
-    mjp_defaultResourceProvider(this);
-    prefix = "test";
-    data = addr;
-
-    mount = [](mjResource* res) {
-      *(int*)res->provider->data += Mounted;
-      return 1;
-    };
-    unmount = [](mjResource* res) {
-      *(int*)res->provider->data += Unmounted;
-      return 1;
-    };
-    open = [](mjResource* res) {
-      *(int*)res->provider->data += Opened;
-      return 1;
-    };
-    read = [](mjResource* res, const void** out) {
-      *(int*)res->provider->data += Read;
-      *out = res->provider->data;
-      return (int)sizeof(int);
-    };
-    close = [](mjResource* res) {
-      *(int*)res->provider->data += Closed;
-    };
-  }
-};
-
-TEST_F(UserVfsTest, AddFile) {
-  constexpr char path[] = "engine/testdata/actuation/";
-  const std::string dir = GetTestDataFilePath(path);
-  std::string file1 = "activation.xml";
-  std::string file2 = "damper.xml";
-  std::string file3 = "refsite.xml";
-
-  std::FILE* fp1 = std::fopen((dir + file1).c_str(), "r");
-  ASSERT_THAT(fp1, NotNull()) << "Input file1 missing.";
-  std::fclose(fp1);
-
-  std::FILE* fp2 = std::fopen((dir + file2).c_str(), "r");
-  ASSERT_THAT(fp2, NotNull()) << "Input file2 missing.";
-  std::fclose(fp2);
-
-  std::FILE* fp3 = std::fopen((dir + file3).c_str(), "r");
-  ASSERT_THAT(fp3, NotNull()) << "Input file3 missing.";
-  std::fclose(fp3);
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  EXPECT_FALSE(HasFile(&vfs, file1));
-  EXPECT_THAT(mj_addFileVFS(&vfs, dir.c_str(), file1.c_str()), 0);
-  EXPECT_TRUE(HasFile(&vfs, file1));
-
-  EXPECT_THAT(mj_addFileVFS(&vfs, dir.c_str(), file2.c_str()), 0);
-  EXPECT_TRUE(HasFile(&vfs, file1));
-  EXPECT_TRUE(HasFile(&vfs, file2));
-
-  EXPECT_THAT(mj_addFileVFS(&vfs, dir.c_str(), file3.c_str()), 0);
-  EXPECT_TRUE(HasFile(&vfs, file1.c_str()));
-  EXPECT_TRUE(HasFile(&vfs, file2.c_str()));
-  EXPECT_TRUE(HasFile(&vfs, file3.c_str()));
-
-  mj_deleteFileVFS(&vfs, file1.c_str());
-  EXPECT_FALSE(HasFile(&vfs, file1.c_str()));
-  EXPECT_TRUE(HasFile(&vfs, file2.c_str()));
-  EXPECT_TRUE(HasFile(&vfs, file3.c_str()));
-
-
-  mj_deleteFileVFS(&vfs, file3.c_str());
-  EXPECT_FALSE(HasFile(&vfs, file1.c_str()));
-  EXPECT_TRUE(HasFile(&vfs, file2.c_str()));
-  EXPECT_FALSE(HasFile(&vfs, file3.c_str()));
-
-  mj_deleteFileVFS(&vfs, file2.c_str());
-  EXPECT_FALSE(HasFile(&vfs, file1.c_str()));
-  EXPECT_FALSE(HasFile(&vfs, file2.c_str()));
-  EXPECT_FALSE(HasFile(&vfs, file3.c_str()));
-
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, AddFileStripPath) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  constexpr char path[] = "engine/testdata/actuation/";
-  const std::string dir = GetTestDataFilePath(path);
-  std::string file1 = "activation.xml";
-  mj_addFileVFS(&vfs, dir.c_str(), file1.c_str());
-
-  EXPECT_TRUE(HasFile(&vfs, file1));
-  EXPECT_TRUE(HasFile(&vfs, dir + file1));
-  EXPECT_TRUE(HasFile(&vfs, "some/dir/" + file1));
-  EXPECT_TRUE(HasFile(&vfs, "some/dir\\" + file1));
-
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, NullDirectory) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  const std::string file = "engine/testdata/actuation/activation.xml";
-  const std::string path = GetTestDataFilePath(file);
-  mj_addFileVFS(&vfs, nullptr, path.c_str());
-
-  EXPECT_TRUE(HasFile(&vfs, "activation.xml"));
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, AddFileRepeat) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  constexpr char path[] = "engine/testdata/actuation/";
-  const std::string dir = GetTestDataFilePath(path);
-  std::string file1 = "activation.xml";
-  mj_addFileVFS(&vfs, dir.c_str(), file1.c_str());
-
-  EXPECT_TRUE(HasFile(&vfs, file1));
-  EXPECT_THAT(mj_addFileVFS(&vfs, "dir/", file1.c_str()), 2);
-
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, DeleteFile) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  constexpr char path[] = "engine/testdata/actuation/";
-  const std::string dir = GetTestDataFilePath(path);
-  std::string file1 = "activation.xml";
-  mj_addFileVFS(&vfs, dir.c_str(), file1.c_str());
-
-  EXPECT_TRUE(HasFile(&vfs, file1));
-  EXPECT_THAT(mj_deleteFileVFS(&vfs, file1.c_str()), 0);
-  EXPECT_FALSE(HasFile(&vfs, file1));
-
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, DeleteFileStripPath) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  constexpr char path[] = "engine/testdata/actuation/";
-  const std::string dir = GetTestDataFilePath(path);
-  std::string file = "activation.xml";
-  std::string fileUpper = "Activation.xml";
-  mj_addFileVFS(&vfs, dir.c_str(), file.c_str());
-
-  EXPECT_TRUE(HasFile(&vfs, file));
-  EXPECT_THAT(mj_deleteFileVFS(&vfs, ("dir\\" + fileUpper).c_str()), 0);
-  EXPECT_FALSE(HasFile(&vfs, file));
-
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, DeleteFileRepeat) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  constexpr char path[] = "engine/testdata/actuation/";
-  const std::string dir = GetTestDataFilePath(path);
-  std::string file = "activation.xml";
-  mj_addFileVFS(&vfs, dir.c_str(), file.c_str());
-
-  EXPECT_TRUE(HasFile(&vfs, file));
-  EXPECT_THAT(mj_deleteFileVFS(&vfs, file.c_str()), 0);
-  EXPECT_FALSE(HasFile(&vfs, file));
-  EXPECT_THAT(mj_deleteFileVFS(&vfs, file.c_str()), -1);
-
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, ContainsBuffer) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  std::string buffer = "<mujoco/>";
-  const void* ptr = static_cast<const void*>(buffer.c_str());
-  mj_addBufferVFS(&vfs, "model", ptr, buffer.size());
-
-  EXPECT_TRUE(mj_containsBufferVFS(&vfs, "model"));
-  EXPECT_FALSE(mj_containsBufferVFS(&vfs, "nonexistent"));
-  EXPECT_FALSE(mj_containsBufferVFS(&vfs, "Model"));
-
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, ContainsFile) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  constexpr char path[] = "engine/testdata/actuation/";
-  const std::string dir = GetTestDataFilePath(path);
-  std::string file = "activation.xml";
-  mj_addFileVFS(&vfs, dir.c_str(), file.c_str());
-
-  EXPECT_TRUE(mj_containsFileVFS(&vfs, dir.c_str(), file.c_str()));
-  EXPECT_TRUE(mj_containsFileVFS(&vfs, nullptr, (dir + file).c_str()));
-  EXPECT_TRUE(mj_containsFileVFS(&vfs, nullptr, "Activation.xml"));
-  EXPECT_TRUE(mj_containsFileVFS(&vfs, "some/dir/", "activation.xml"));
-  EXPECT_FALSE(mj_containsFileVFS(&vfs, nullptr, "nonexistent.xml"));
-
-  mj_deleteVFS(&vfs);
-}
-
-
-TEST_F(UserVfsTest, AddBuffer) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  std::string buffer = "<mujoco/>";
-  mj_addBufferVFS(&vfs, "model", static_cast<const void*>(buffer.c_str()),
-                  buffer.size());
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML("model", &vfs, error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << error.data();
-  mj_deleteModel(model);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, AddBufferRepeat) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-    std::string buffer = "<mujoco/>";
-    const void* ptr = static_cast<const void*>(buffer.c_str());
-  mj_addBufferVFS(&vfs, "model", ptr, buffer.size());
-  int result = mj_addBufferVFS(&vfs, "model", ptr, buffer.size());
-  EXPECT_EQ(result, 2);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, BufferPath) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-    std::string buffer = "<mujoco/>";
-    const void* ptr = static_cast<const void*>(buffer.c_str());
-  mj_addBufferVFS(&vfs, "dir/model", ptr, buffer.size());
-  EXPECT_TRUE(HasFile(&vfs, "files/../dir/model"));
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, Timestamps) {
-  static constexpr char cube[] = R"(
-  v -0.500000 -0.500000  0.500000
-  v  0.500000 -0.500000  0.500000
-  v -0.500000  0.500000  0.500000
-  v  0.500000  0.500000  0.500000
-  v -0.500000  0.500000 -0.500000
-  v  0.500000  0.500000 -0.500000
-  v -0.500000 -0.500000 -0.500000
-  v  0.500000 -0.500000 -0.500000)";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "cube.obj", cube, sizeof(cube));
-
-  mjResource* resource = mju_openResource("", "cube.obj", &vfs, nullptr, 0);
-
-  // same timestamps
-  EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);
-
-  // different timestamps
-  EXPECT_EQ(mju_isModifiedResource(resource, "QQ=="), 1);
-
-  mju_closeResource(resource);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, MountUnmount) {
-  int test = 0;
-  int expect = 0;
-  TestProvider provider(&test);
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mjResource* res = mju_openResource("", "/some/path/foo", &vfs, nullptr, 0);
-  EXPECT_THAT(res, IsNull());
-  EXPECT_EQ(test, expect);
-
-  mj_mountVFS(&vfs, "/some/path", &provider);
-  expect += TestProvider::Mounted;
-  EXPECT_EQ(test, expect);
-
-  res = mju_openResource("", "/some/path/foo", &vfs, nullptr, 0);
-  expect += TestProvider::Opened;
-  EXPECT_THAT(res, NotNull());
-  EXPECT_EQ(test, expect);
-
-  const void* buffer = nullptr;
-  const int size = mju_readResource(res, &buffer);
-  expect += TestProvider::Read;
-  EXPECT_THAT(buffer, NotNull());
-  EXPECT_GT(size, 0);
-  EXPECT_EQ(test, expect);
-
-  mju_closeResource(res);
-  expect += TestProvider::Closed;
-  EXPECT_EQ(test, expect);
-
-  mj_unmountVFS(&vfs, "/some/path");
-  expect += TestProvider::Unmounted;
-  EXPECT_EQ(test, expect);
-
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(UserVfsTest, AutoMountProviders) {
-  int test = 0;
-  int expect = 0;
-
-  TestProvider provider(&test);
-  mjp_registerResourceProvider(&provider);
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  mjResource* res = mju_openResource("", "test:foo", &vfs, nullptr, 0);
-  expect += TestProvider::Mounted + TestProvider::Opened;
-  EXPECT_THAT(res, NotNull());
-
-  mju_closeResource(res);
-  expect += TestProvider::Closed;
-  EXPECT_EQ(test, expect);
-
-  mj_deleteVFS(&vfs);
-  expect += TestProvider::Unmounted;
-  EXPECT_EQ(test, expect);
-}
-
-TEST_F(UserVfsTest, StackedMounts) {
-  int test1 = 0;
-  int test2 = 1000;
-  int test3 = 1000000;
-  int expect1 = test1;
-  int expect2 = test2;
-  int expect3 = test3;
-
-  TestProvider provider1(&test1);
-  TestProvider provider2(&test2);
-  TestProvider provider3(&test3);
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  mj_mountVFS(&vfs, "/some/path", &provider1);
-  mj_mountVFS(&vfs, "/some/path/further/down/very/deep", &provider2);
-  mj_mountVFS(&vfs, "/some/path/further/down", &provider3);
-  expect1 += TestProvider::Mounted;
-  expect2 += TestProvider::Mounted;
-  expect3 += TestProvider::Mounted;
-  EXPECT_EQ(test1, expect1);
-  EXPECT_EQ(test2, expect2);
-  EXPECT_EQ(test3, expect3);
-
-  mjResource* res1 = mju_openResource("", "/some/path/foo", &vfs, nullptr, 0);
-  expect1 += TestProvider::Opened;
-  EXPECT_EQ(test1, expect1);
-  EXPECT_EQ(test2, expect2);
-  EXPECT_EQ(test3, expect3);
-
-  mjResource* res2 =
-      mju_openResource("", "/some/path/further/down/foo", &vfs, nullptr, 0);
-  expect3 += TestProvider::Opened;
-  EXPECT_EQ(test1, expect1);
-  EXPECT_EQ(test2, expect2);
-  EXPECT_EQ(test3, expect3);
-
-  mjResource* res3 = mju_openResource(
-      "", "/some/path/further/down/very/deep/foo", &vfs, nullptr, 0);
-  expect2 += TestProvider::Opened;
-  EXPECT_EQ(test1, expect1);
-  EXPECT_EQ(test2, expect2);
-  EXPECT_EQ(test3, expect3);
-
-  mju_closeResource(res1);
-  mju_closeResource(res2);
-  mju_closeResource(res3);
-  expect1 += TestProvider::Closed;
-  expect2 += TestProvider::Closed;
-  expect3 += TestProvider::Closed;
-
-  mj_deleteVFS(&vfs);
-  expect1 += TestProvider::Unmounted;
-  expect2 += TestProvider::Unmounted;
-  expect3 += TestProvider::Unmounted;
-  EXPECT_EQ(test1, expect1);
-  EXPECT_EQ(test2, expect2);
-  EXPECT_EQ(test3, expect3);
-}
-
-TEST_F(UserVfsTest, MoveVfs) {
-  // Create and move a VFS to another address.
-  mjVFS* original = new mjVFS();
-  mj_defaultVFS(original);
-  mjVFS vfs = *original;
-  delete original;
-
-  std::string buffer = "<mujoco/>";
-  mj_addBufferVFS(&vfs, "model", static_cast<const void*>(buffer.c_str()),
-                  buffer.size());
-
-  mjResource* resource = mju_openResource("", "model", &vfs, nullptr, 0);
-  ASSERT_THAT(resource, NotNull());
-
-  const void* out = nullptr;
-  const int size = mju_readResource(resource, &out);
-  EXPECT_GT(size, 0);
-  EXPECT_THAT(out, NotNull());
-
-  mju_closeResource(resource);
-  mj_deleteVFS(&vfs);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/xml/CMakeLists.txt b/test/xml/CMakeLists.txt
deleted file mode 100644
index 5d88bef2..00000000
--- a/test/xml/CMakeLists.txt
+++ /dev/null
@@ -1,43 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-mujoco_test(xml_api_test)
-
-mujoco_test(
-  xml_native_reader_test
-  ADDITIONAL_LINK_LIBRARIES compare_model
-)
-
-mujoco_test(schema_defaults_test)
-
-mujoco_test(xml_utils_test)
-
-mujoco_test(
-  xml_native_writer_test
-  ADDITIONAL_LINK_LIBRARIES
-  absl::flat_hash_set
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
-)
-
-mujoco_test(
-  xml_write_read_test
-  ADDITIONAL_LINK_LIBRARIES
-  absl::flat_hash_set
-  compare_model
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
-)
diff --git a/test/xml/mjz/CMakeLists.txt b/test/xml/mjz/CMakeLists.txt
deleted file mode 100644
index c50e8185..00000000
--- a/test/xml/mjz/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 2021 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     https://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-mujoco_test(mjz_api_test)
-
-mujoco_test(
-  mjz_decoder_test
-)
-
-mujoco_test(
-  mjz_encoder_test
-  ADDITIONAL_LINK_LIBRARIES compare_model
-)
diff --git a/test/xml/mjz/mjz_decoder_test.cc b/test/xml/mjz/mjz_decoder_test.cc
deleted file mode 100644
index 018c306b..00000000
--- a/test/xml/mjz/mjz_decoder_test.cc
+++ /dev/null
@@ -1,60 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using MjzTest = MujocoTest;
-
-using ::testing::IsNull;
-using ::testing::Not;
-using ::testing::NotNull;
-using ::testing::StrEq;
-
-TEST_F(MjzTest, Parse) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  std::string filepath = GetTestDataFilePath("testdata/model.mjz");
-  char err[1000] = "";
-  mjSpec* spec = mj_parse(filepath.c_str(), "", &vfs, err, sizeof(err));
-  EXPECT_THAT(spec, NotNull());
-  EXPECT_THAT(err, StrEq(""));
-  mjModel* model = mj_compile(spec, &vfs);
-  EXPECT_THAT(model, NotNull()) << mjs_getError(spec);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjzTest, InvalidPath) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  std::string filepath = GetTestDataFilePath("testdata/not_a_file.mjz");
-  char err[1000] = "";
-  mjSpec* spec = mj_parse(filepath.c_str(), "", nullptr, err, sizeof(err));
-  EXPECT_THAT(spec, IsNull());
-  EXPECT_THAT(err, Not(StrEq("")));
-  mj_deleteVFS(&vfs);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/xml/mjz/mjz_encoder_test.cc b/test/xml/mjz/mjz_encoder_test.cc
deleted file mode 100644
index 387d781e..00000000
--- a/test/xml/mjz/mjz_encoder_test.cc
+++ /dev/null
@@ -1,1111 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for the MJZ encoder plugin.
-
-#include <array>
-#include <cctype>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <filesystem> // NOLINT
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/strings/match.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "src/xml/xml_numeric_format.h"
-#include "test/compare_model.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-
-namespace fs = std::filesystem;
-using ::testing::NotNull;
-
-static mjSpec* MakeSimpleSpec() {
-  mjSpec* s = mj_makeSpec();
-  mjsBody* world = mjs_findBody(s, "world");
-  mjsBody* body = mjs_addBody(world, nullptr);
-  mjsGeom* geom = mjs_addGeom(body, nullptr);
-  geom->size[0] = 1.0;
-  geom->size[1] = 1.0;
-  geom->size[2] = 1.0;
-  return s;
-}
-
-static std::string SanitizePathForTestName(const std::string& path) {
-  fs::path p(path);
-  std::string name = p.stem().string();
-  std::string full_name = p.string();
-  size_t pos = full_name.find("third_party/mujoco");
-  if (pos != std::string::npos) {
-    full_name = full_name.substr(pos);
-  }
-  std::string sanitized;
-  for (char c : full_name) {
-    if (std::isalnum(c)) {
-      sanitized += c;
-    } else {
-      sanitized += '_';
-    }
-  }
-  return sanitized;
-}
-
-std::vector<std::string> GetWriteReadTestModels() {
-  std::vector<std::string> models;
-  std::string ext(".xml");
-  for (const auto& path : {GetTestDataFilePath("."), GetModelPath(".")}) {
-    for (const auto& p : std::filesystem::recursive_directory_iterator(path)) {
-      if (p.path().extension() == ext) {
-        std::string xml = p.path().string();
-        if (  // if file is meant to fail, skip it
-            absl::StrContains(xml, "malformed_") ||
-            absl::StrContains(xml, "_fail") ||
-            // exclude files that are too slow to load
-            absl::StrContains(xml, "cow") || absl::StrContains(xml, "gmsh_") ||
-            absl::StrContains(xml, "shark_") ||
-            absl::StrContains(xml, "perf") ||
-            // exclude files that fail the comparison test
-            absl::StrContains(xml, "rfcamera") ||
-            absl::StrContains(xml, "tactile") ||
-            absl::StrContains(xml, "makemesh") ||
-            absl::StrContains(xml, "carousel") ||
-            absl::StrContains(xml, "many_dependencies") ||
-            absl::StrContains(xml, "usd") ||
-            absl::StrContains(xml, "torus_maxhull") ||
-            absl::StrContains(xml, "fitmesh_") ||
-            absl::StrContains(xml, "lengthrange") ||
-            absl::StrContains(xml, "hfield_xml") ||
-            absl::StrContains(xml, "fromto_convex") ||
-            absl::StrContains(xml, "cube_skin") ||
-            absl::StrContains(xml, "cube_3x3x3") ||
-            // flex_stiffness: stretch amplifies geometry XML rounds on save
-            absl::StrContains(xml, "flex/bag") ||
-            // exclude files that fail since we do not save pinned flex nodes
-            absl::StrContains(xml, "gripper_trilinear") ||
-            absl::StrContains(xml, "strain") ||
-            // exclude conflict test assets (designed to fail compile)
-            absl::StrContains(xml, "xml/testdata/parent_") ||
-            // exclude mjz test data with VFS files
-            absl::StrContains(xml, "mixed_test")) {
-          continue;
-        }
-        models.push_back(xml);
-      }
-    }
-  }
-  return models;
-}
-
-using MjzEncoderTest = MujocoTest;
-
-TEST_F(MjzEncoderTest, EncoderIsRegistered) {
-  const mjpEncoder* enc = mjp_findEncoder("model.mjz", nullptr);
-  ASSERT_THAT(enc, testing::NotNull());
-  ASSERT_THAT(enc->encode, testing::NotNull());
-}
-
-TEST_F(MjzEncoderTest, EncodeReturnsPositiveByteCount) {
-  mjSpec* spec = MakeSimpleSpec();
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  const mjpEncoder* enc = mjp_findEncoder("model.mjz", nullptr);
-  ASSERT_THAT(enc, testing::NotNull());
-
-  mjResource resource = {};
-  resource.name = const_cast<char*>("model.mjz");
-
-  int nbytes = enc->encode(spec, model, nullptr, &resource);
-  EXPECT_GT(nbytes, 0);
-  EXPECT_THAT(resource.data, testing::NotNull());
-
-  std::free(resource.data);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MjzEncoderTest, RoundTrip) {
-  mjSpec* spec = MakeSimpleSpec();
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  const std::string tmp_path =
-      testing::TempDir() + "/mjz_encoder_roundtrip.mjz";
-
-  char error[1024] = {0};
-  int nbytes = mj_encode(spec, model, tmp_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mjSpec* decoded =
-      mj_parse(tmp_path.c_str(), nullptr, &vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull());
-
-  EXPECT_EQ(decoded_model->nbody, model->nbody);
-  EXPECT_EQ(decoded_model->ngeom, model->ngeom);
-  EXPECT_EQ(decoded_model->njnt, model->njnt);
-
-  std::remove(tmp_path.c_str());
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjzEncoderTest, RoundTripFromXmlString) {
-  const char* xml = R"(
-    <mujoco model="test">
-      <worldbody>
-        <body name="body1" pos="0 0 1">
-          <joint type="hinge"/>
-          <geom type="sphere" size="0.1"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  const std::string tmp_path = testing::TempDir() + "/xml_string.mjz";
-  int nbytes = mj_encode(spec, model, tmp_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mjSpec* decoded =
-      mj_parse(tmp_path.c_str(), nullptr, &vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull());
-
-  EXPECT_EQ(decoded_model->nbody, model->nbody);
-  EXPECT_EQ(decoded_model->njnt, model->njnt);
-  EXPECT_EQ(decoded_model->ngeom, model->ngeom);
-
-  std::remove(tmp_path.c_str());
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjzEncoderTest, RoundTripPreservesModelCounts) {
-  const char* xml = R"(
-    <mujoco model="counts_test">
-      <worldbody>
-        <body name="b1" pos="0 0 1">
-          <joint type="hinge"/>
-          <geom type="sphere" size="0.1"/>
-          <body name="b2" pos="0 0 2">
-            <joint type="slide"/>
-            <geom type="box" size="0.1 0.1 0.1"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  const std::string tmp_path = testing::TempDir() + "/counts.mjz";
-  int nbytes = mj_encode(spec, model, tmp_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mjSpec* decoded =
-      mj_parse(tmp_path.c_str(), nullptr, &vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull());
-
-  EXPECT_EQ(decoded_model->nbody, model->nbody);
-  EXPECT_EQ(decoded_model->ngeom, model->ngeom);
-  EXPECT_EQ(decoded_model->njnt, model->njnt);
-  EXPECT_EQ(decoded_model->nq, model->nq);
-  EXPECT_EQ(decoded_model->nv, model->nv);
-
-  std::remove(tmp_path.c_str());
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjzEncoderTest, RoundTripWithMeshFromVfs) {
-  const char* xml = R"(
-    <mujoco model="vfs_mesh">
-      <asset>
-        <mesh name="box" file="box.obj"/>
-      </asset>
-      <worldbody>
-        <body name="b1">
-          <geom type="mesh" mesh="box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addFileVFS(
-      &vfs, nullptr,
-      GetTestDataFilePath("xml/mjz/testdata/disk_mesh/box.obj").c_str());
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXMLString(xml, &vfs, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-  auto* mesh = mjs_asMesh(mjs_firstElement(spec, mjOBJ_MESH));
-  ASSERT_THAT(mesh, testing::NotNull());
-  ASSERT_THAT(mesh->file, testing::NotNull());
-
-  mjModel* model = mj_compile(spec, &vfs);
-  ASSERT_THAT(model, testing::NotNull()) << mjs_getError(spec);
-
-  const std::string tmp_path = testing::TempDir() + "/vfs_mesh.mjz";
-  int nbytes = mj_encode(spec, model, tmp_path.c_str(), nullptr, &vfs, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  // Reset VFS
-  mj_deleteVFS(&vfs);
-  mj_defaultVFS(&vfs);
-
-  mjSpec* decoded =
-      mj_parse(tmp_path.c_str(), nullptr, &vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-
-  EXPECT_EQ(decoded_model->nmesh, model->nmesh);
-  EXPECT_EQ(decoded_model->ngeom, model->ngeom);
-
-  std::remove(tmp_path.c_str());
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjzEncoderTest, RoundTripWithMeshFromDisk) {
-  std::string xml_path =
-      GetTestDataFilePath("xml/mjz/testdata/disk_mesh/model.xml");
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  fs::path tmpdir = fs::path(testing::TempDir()) / "disk_mesh_out";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  mjVFS decode_vfs;
-  mj_defaultVFS(&decode_vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &decode_vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &decode_vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-
-  EXPECT_EQ(decoded_model->nmesh, model->nmesh);
-  EXPECT_EQ(decoded_model->ngeom, model->ngeom);
-
-  fs::remove_all(tmpdir);
-  mj_deleteVFS(&decode_vfs);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MjzEncoderTest, RoundTripWithMeshInSubdirectory) {
-  std::string xml_path =
-      GetTestDataFilePath("xml/mjz/testdata/subdir_mesh/model.xml");
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  fs::path tmpdir = fs::path(testing::TempDir()) / "subdir_mesh_out";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  mjVFS decode_vfs;
-  mj_defaultVFS(&decode_vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &decode_vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &decode_vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-
-  EXPECT_EQ(decoded_model->nmesh, model->nmesh);
-  EXPECT_EQ(decoded_model->ngeom, model->ngeom);
-
-  fs::remove_all(tmpdir);
-  mj_deleteVFS(&decode_vfs);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MjzEncoderTest, RoundTripWithMeshdir) {
-  std::string xml_path =
-      GetTestDataFilePath("xml/mjz/testdata/meshdir_test/model.xml");
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  fs::path tmpdir = fs::path(testing::TempDir()) / "meshdir_test_out";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  mjVFS decode_vfs;
-  mj_defaultVFS(&decode_vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &decode_vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &decode_vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-
-  EXPECT_EQ(decoded_model->nmesh, model->nmesh);
-
-  fs::remove_all(tmpdir);
-  mj_deleteVFS(&decode_vfs);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MjzEncoderTest, RoundTripWithInclude) {
-  std::string xml_path =
-      GetTestDataFilePath("xml/mjz/testdata/include_test/parent.xml");
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  fs::path tmpdir = fs::path(testing::TempDir()) / "include_test_out";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull());
-
-  EXPECT_EQ(decoded_model->nbody, model->nbody);
-  EXPECT_EQ(decoded_model->ngeom, model->ngeom);
-
-  fs::remove_all(tmpdir);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjzEncoderTest, RoundTripTransitiveInclude) {
-  std::string xml_path =
-      GetTestDataFilePath("xml/mjz/testdata/transitive_test/parent.xml");
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXML(xml_path.c_str(), nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  fs::path tmpdir = fs::path(testing::TempDir()) / "transitive_test_out";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull());
-
-  EXPECT_EQ(decoded_model->nbody, model->nbody);
-  EXPECT_EQ(decoded_model->ngeom, model->ngeom);
-
-  fs::remove_all(tmpdir);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjzEncoderTest, RoundTripMixedDiskAndVfs) {
-  static const char* xml = R"(
-    <mujoco model="mixed_test">
-      <asset>
-        <mesh name="disk_box" />
-        <mesh name="vfs_box" file="xml/mjz/testdata/disk_mesh/box.obj"/>
-      </asset>
-      <worldbody>
-        <body name="b1">
-          <geom type="mesh" mesh="disk_box"/>
-        </body>
-        <body name="b2">
-          <geom type="mesh" mesh="vfs_box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-
-  )";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addFileVFS(
-      &vfs, nullptr,
-      GetTestDataFilePath("xml/mjz/testdata/disk_mesh/box.obj").c_str());
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXMLString(xml, &vfs, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  // Fix the on disk mesh path
-  mjsMesh* mesh = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, "disk_box"));
-  ASSERT_THAT(mesh, testing::NotNull());
-  mjs_setString(
-      mesh->file,
-      GetTestDataFilePath("xml/mjz/testdata/mixed_test/disk_box.obj").c_str());
-
-  mjModel* model = mj_compile(spec, &vfs);
-  ASSERT_THAT(model, testing::NotNull()) << mjs_getError(spec);
-
-  fs::path tmpdir = fs::path(testing::TempDir()) / "mixed_test_out";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, &vfs, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  mjVFS decode_vfs;
-  mj_defaultVFS(&decode_vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &decode_vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &decode_vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-
-  EXPECT_EQ(decoded_model->nmesh, model->nmesh);
-  EXPECT_EQ(decoded_model->ngeom, model->ngeom);
-
-  fs::remove_all(tmpdir);
-  mj_deleteVFS(&decode_vfs);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(MjzEncoderTest, AttachedSpecsWithCollidingAssetNames) {
-  std::string child_a_xml = GetTestDataFilePath(
-      "xml/mjz/testdata/asset_collision_test/child_a/child.xml");
-  std::string child_b_xml = GetTestDataFilePath(
-      "xml/mjz/testdata/asset_collision_test/child_b/child.xml");
-
-  char error[1024] = {0};
-
-  // Parse both children from their respective directories.
-  mjSpec* child_a =
-      mj_parse(child_a_xml.c_str(), nullptr, nullptr, error, sizeof(error));
-  ASSERT_THAT(child_a, testing::NotNull()) << error;
-  mjSpec* child_b =
-      mj_parse(child_b_xml.c_str(), nullptr, nullptr, error, sizeof(error));
-  ASSERT_THAT(child_b, testing::NotNull()) << error;
-
-  // Create parent spec and attach both children.
-  mjSpec* parent = mj_makeSpec();
-  ASSERT_THAT(parent, testing::NotNull());
-  mjsBody* world = mjs_findBody(parent, "world");
-
-  // Attach child_a with prefix "a_".
-  mjsFrame* frame_a = mjs_addFrame(world, nullptr);
-  mjs_attach(frame_a->element, mjs_findBody(child_a, "body")->element, "a_",
-             "");
-
-  // Attach child_b with prefix "b_".
-  mjsFrame* frame_b = mjs_addFrame(world, nullptr);
-  mjs_attach(frame_b->element, mjs_findBody(child_b, "body")->element, "b_",
-             "");
-
-  // Compile the combined model.
-  mjModel* model = mj_compile(parent, nullptr);
-  ASSERT_THAT(model, testing::NotNull()) << mjs_getError(parent);
-  EXPECT_EQ(model->nmesh, 2) << "Expected two distinct meshes";
-
-  // Record the original vertex counts for both meshes.
-  int mesh0_nvert = model->mesh_vertnum[0];
-  int mesh1_nvert = model->mesh_vertnum[1];
-  EXPECT_NE(mesh0_nvert, mesh1_nvert)
-      << "The two meshes should have different vertex counts";
-
-  // Encode to MJZ.
-  fs::path tmpdir = fs::path(testing::TempDir()) / "asset_collision_test_out";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-  int nbytes = mj_encode(parent, model, out_path.c_str(), nullptr, nullptr,
-                         error, sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  // Decode from MJZ.
-  mjVFS decode_vfs;
-  mj_defaultVFS(&decode_vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &decode_vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  mjModel* decoded_model = mj_compile(decoded, &decode_vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-
-  // Verify both meshes survived with correct, distinct vertex counts.
-  EXPECT_EQ(decoded_model->nmesh, 2) << "Decoded model should have two meshes";
-  EXPECT_EQ(decoded_model->mesh_vertnum[0], mesh0_nvert)
-      << "First mesh vertex count mismatch after roundtrip";
-  EXPECT_EQ(decoded_model->mesh_vertnum[1], mesh1_nvert)
-      << "Second mesh vertex count mismatch after roundtrip";
-
-  fs::remove_all(tmpdir);
-  mj_deleteVFS(&decode_vfs);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(parent);
-  mj_deleteSpec(child_a);
-  mj_deleteSpec(child_b);
-}
-
-// --- Fake resource provider for URI stripping tests ---
-
-const char* kBoxObj = R"(
-v 0 0 0
-v 1 0 0
-v 1 1 0
-v 0 1 0
-v 0 0 1
-v 1 0 1
-v 1 1 1
-v 0 1 1
-f 1 2 3
-f 1 3 4
-f 5 6 7
-f 5 7 8
-f 1 2 6
-f 1 6 5
-f 2 3 7
-f 2 7 6
-f 3 4 8
-f 3 8 7
-f 4 1 5
-f 4 5 8
-)";
-
-// Static STL data served by the fake provider.
-static std::vector<char> g_fake_data;
-
-int FakeUriOpen(mjResource* resource) {
-  if (g_fake_data.empty()) return 0;
-  resource->data = g_fake_data.data();
-  return 1;
-}
-
-int FakeUriRead(mjResource* resource, const void** buffer) {
-  if (!resource->data) return -1;
-  *buffer = resource->data;
-  return static_cast<int>(g_fake_data.size());
-}
-
-void FakeUriClose(mjResource* resource) { resource->data = nullptr; }
-
-// Register the fake provider once (idempotent due to AppendIfUnique).
-static void EnsureFakeProviderRegistered() {
-  static bool registered = false;
-  if (registered) return;
-  mjpResourceProvider provider = {};
-  mjp_defaultResourceProvider(&provider);
-  provider.prefix = "testmjzenc";
-  provider.open = FakeUriOpen;
-  provider.read = FakeUriRead;
-  provider.close = FakeUriClose;
-  mjp_registerResourceProvider(&provider);
-  registered = true;
-}
-
-TEST_F(MjzEncoderTest, RoundTripStripsUriPrefix) {
-  EnsureFakeProviderRegistered();
-
-  // Set up the fake STL data that the provider will serve.
-  g_fake_data.assign(kBoxObj, kBoxObj + std::strlen(kBoxObj));
-
-  const char* xml = R"(
-    <mujoco model="uri_test">
-      <asset>
-        <mesh name="uri_box" file="testmjzenc:meshes/box.obj"/>
-      </asset>
-      <worldbody>
-        <body name="body">
-          <geom type="mesh" mesh="uri_box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  // Compile.
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull()) << mjs_getError(spec);
-  EXPECT_EQ(model->nmesh, 1);
-
-  // Encode to MJZ.
-  fs::path tmpdir = fs::path(testing::TempDir()) / "uri_strip_test";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  // Decode from MJZ.
-  mjVFS decode_vfs;
-  mj_defaultVFS(&decode_vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &decode_vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  // Verify the decoded mesh file attribute does NOT contain the URI prefix.
-  auto* decoded_mesh = mjs_asMesh(mjs_firstElement(decoded, mjOBJ_MESH));
-  ASSERT_THAT(decoded_mesh, testing::NotNull());
-  const char* decoded_file = mjs_getString(decoded_mesh->file);
-  ASSERT_THAT(decoded_file, testing::NotNull());
-  EXPECT_FALSE(absl::StrContains(decoded_file, ":"))
-      << "Decoded mesh file should not contain ':': " << decoded_file;
-  EXPECT_THAT(decoded_file, testing::HasSubstr("box.obj"));
-
-  // Verify the model compiles correctly from the decoded spec.
-  mjModel* decoded_model = mj_compile(decoded, &decode_vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-  EXPECT_EQ(decoded_model->nmesh, model->nmesh);
-
-  // Cleanup.
-  g_fake_data.clear();
-  fs::remove_all(tmpdir);
-  mj_deleteVFS(&decode_vfs);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MjzEncoderTest, RoundTripStripsUriWithSpecialChars) {
-  EnsureFakeProviderRegistered();
-
-  // Set up the fake STL data.
-  g_fake_data.assign(kBoxObj, kBoxObj + std::strlen(kBoxObj));
-
-  const char* xml = R"(
-    <mujoco model="uri_special_test">
-      <asset>
-        <mesh name="uri_box" file="testmjzenc://store/abc+123%20v2/box.obj"/>
-      </asset>
-      <worldbody>
-        <body name="body">
-          <geom type="mesh" mesh="uri_box"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull());
-
-  // Encode to MJZ.
-  fs::path tmpdir = fs::path(testing::TempDir()) / "uri_special_test";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  // Decode and verify no URI prefix and no special chars in the file attr.
-  mjVFS decode_vfs;
-  mj_defaultVFS(&decode_vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &decode_vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  // Check the decoded mesh file attribute.
-  auto* decoded_mesh = mjs_asMesh(mjs_firstElement(decoded, mjOBJ_MESH));
-  ASSERT_THAT(decoded_mesh, testing::NotNull());
-  const char* decoded_file = mjs_getString(decoded_mesh->file);
-  ASSERT_THAT(decoded_file, testing::NotNull());
-  EXPECT_FALSE(absl::StrContains(decoded_file, "testmjzenc://"))
-      << "Decoded mesh file should not contain the URI prefix: "
-      << decoded_file;
-  EXPECT_FALSE(absl::StrContains(decoded_file, "+"))
-      << "Decoded mesh file should not contain '+': " << decoded_file;
-  EXPECT_FALSE(absl::StrContains(decoded_file, "%"))
-      << "Decoded mesh file should not contain '%': " << decoded_file;
-  EXPECT_THAT(decoded_file, testing::HasSubstr(".obj"));
-
-  // Verify roundtrip compiles.
-  mjModel* decoded_model = mj_compile(decoded, &decode_vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-  EXPECT_EQ(decoded_model->nmesh, model->nmesh);
-
-  g_fake_data.clear();
-  fs::remove_all(tmpdir);
-  mj_deleteVFS(&decode_vfs);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-class MjzEncoderParameterizedTest
-    : public MujocoTest,
-      public ::testing::WithParamInterface<std::string> {};
-
-TEST_P(MjzEncoderParameterizedTest, WriteReadCompare) {
-  mujoco::FullFloatPrecision increase_precision;
-
-  std::string xml = GetParam();
-  std::array<char, 1000> error;
-
-  mjSpec* s = mj_parseXML(xml.c_str(), nullptr, error.data(), error.size());
-  ASSERT_THAT(s, NotNull()) << error.data();
-
-  mjModel* m = mj_compile(s, nullptr);
-  ASSERT_THAT(m, NotNull()) << mjs_getError(s);
-
-  const std::string tmp_path = testing::TempDir() + "/mjz_roundtrip.mjz";
-  int nbytes = mj_encode(s, m, tmp_path.c_str(), nullptr, nullptr, error.data(),
-                         error.size());
-  ASSERT_GT(nbytes, 0) << error.data();
-  mj_deleteSpec(s);
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-
-  mjSpec* stemp =
-      mj_parse(tmp_path.c_str(), nullptr, &vfs, error.data(), error.size());
-  ASSERT_THAT(stemp, NotNull()) << error.data();
-
-  mjModel* mtemp = mj_compile(stemp, &vfs);
-  ASSERT_THAT(mtemp, NotNull()) << mjs_getError(stemp);
-  mj_deleteSpec(stemp);
-
-  mjtNum tol = 0;
-  if (absl::StrContains(xml, "belt.xml") ||
-      absl::StrContains(xml, "cable.xml")) {
-    tol = 1e-13;
-  }
-
-  // Make paths identical to avoid failure in CompareModel due to localization.
-  // For example, we might localize "../../y" to "y", which changes the paths.
-  char* old_m_paths = m->paths;
-  char* old_mtemp_paths = mtemp->paths;
-  int old_m_npaths = m->npaths;
-  int old_mtemp_npaths = mtemp->npaths;
-
-  std::string dummy = "ignored_path";
-  int dummy_len = dummy.length() + 1;
-
-  m->paths = (char*)mju_malloc(dummy_len);
-  mtemp->paths = (char*)mju_malloc(dummy_len);
-
-  std::memcpy(m->paths, dummy.c_str(), dummy_len);
-  std::memcpy(mtemp->paths, dummy.c_str(), dummy_len);
-
-  m->npaths = dummy_len;
-  mtemp->npaths = dummy_len;
-
-  std::string field = "";
-  mjtNum result = CompareModel(m, mtemp, field);
-
-  // Restore old pointers and sizes so mj_deleteModel can free them correctly!
-  mju_free(m->paths);
-  mju_free(mtemp->paths);
-  m->paths = old_m_paths;
-  mtemp->paths = old_mtemp_paths;
-  m->npaths = old_m_npaths;
-  mtemp->npaths = old_mtemp_npaths;
-
-  EXPECT_LE(result, tol) << "Loaded and saved models are different!\n"
-                         << "Affected file: " << xml << '\n'
-                         << "Different field: " << field << '\n';
-
-  mj_deleteVFS(&vfs);
-  mj_deleteModel(mtemp);
-  mj_deleteModel(m);
-  std::remove(tmp_path.c_str());
-}
-
-INSTANTIATE_TEST_SUITE_P(MjzEncoderParameterizedTests,
-                         MjzEncoderParameterizedTest,
-                         ::testing::ValuesIn(GetWriteReadTestModels()),
-                         [](const ::testing::TestParamInfo<std::string>& info) {
-                           return SanitizePathForTestName(info.param);
-                         });
-
-TEST_F(MjzEncoderTest, DuplicateFileReferencesRewrite) {
-  EnsureFakeProviderRegistered();
-
-  // Set up the fake data that the provider will serve.
-  g_fake_data.assign(kBoxObj, kBoxObj + std::strlen(kBoxObj));
-
-  // Two meshes referencing the same URI-prefixed file.
-  const char* xml = R"(
-    <mujoco model="dup_file_test">
-      <asset>
-        <mesh name="box_a" file="testmjzenc:meshes/box.obj"/>
-        <mesh name="box_b" file="testmjzenc:meshes/box.obj"/>
-      </asset>
-      <worldbody>
-        <body name="a">
-          <geom type="mesh" mesh="box_a"/>
-        </body>
-        <body name="b">
-          <geom type="mesh" mesh="box_b"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull()) << mjs_getError(spec);
-
-  // Encode to MJZ.
-  fs::path tmpdir = fs::path(testing::TempDir()) / "dup_file_test";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  // Decode from MJZ.
-  mjVFS decode_vfs;
-  mj_defaultVFS(&decode_vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &decode_vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  // Both decoded meshes should have sanitized file paths (no URI prefix).
-  auto* mesh_a = mjs_asMesh(mjs_firstElement(decoded, mjOBJ_MESH));
-  ASSERT_THAT(mesh_a, testing::NotNull());
-  const char* file_a = mjs_getString(mesh_a->file);
-  ASSERT_THAT(file_a, testing::NotNull());
-  EXPECT_FALSE(absl::StrContains(file_a, ":"))
-      << "First mesh file should not contain ':': " << file_a;
-
-  auto* mesh_b = mjs_asMesh(mjs_nextElement(decoded, mesh_a->element));
-  ASSERT_THAT(mesh_b, testing::NotNull());
-  const char* file_b = mjs_getString(mesh_b->file);
-  ASSERT_THAT(file_b, testing::NotNull());
-  EXPECT_FALSE(absl::StrContains(file_b, ":"))
-      << "Second mesh file should not contain ':': " << file_b;
-
-  // Both should compile correctly.
-  mjModel* decoded_model = mj_compile(decoded, &decode_vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-  EXPECT_EQ(decoded_model->nmesh, model->nmesh);
-
-  // Cleanup.
-  g_fake_data.clear();
-  fs::remove_all(tmpdir);
-  mj_deleteVFS(&decode_vfs);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(MjzEncoderTest, CubefileUriRewrite) {
-  EnsureFakeProviderRegistered();
-
-  // The fake provider serves arbitrary data; cubefiles need valid PNG data to
-  // compile textures, but the encoder just packs bytes. We verify archive
-  // contents and XML rewriting without requiring valid image data.
-  // Use a minimal valid 1x1 white PNG for each face.
-  static const unsigned char kTinyPng[] = {
-      0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
-      0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01,
-      0x08, 0x02, 0x00, 0x00, 0x00, 0x90, 0x77, 0x53, 0xde, 0x00, 0x00, 0x00,
-      0x0c, 0x49, 0x44, 0x41, 0x54, 0x78, 0x9c, 0x63, 0xf8, 0xff, 0xff, 0x3f,
-      0x00, 0x05, 0xfe, 0x02, 0xfe, 0x0d, 0xef, 0x46, 0xb8, 0x00, 0x00, 0x00,
-      0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60, 0x82,
-  };
-  g_fake_data.assign(
-      reinterpret_cast<const char*>(kTinyPng),
-      reinterpret_cast<const char*>(kTinyPng) + sizeof(kTinyPng));
-
-  const char* xml = R"(
-    <mujoco model="cubefile_test">
-      <asset>
-        <texture name="sky" type="cube"
-                 fileright="testmjzenc:faces/right.png"
-                 fileleft="testmjzenc:faces/left.png"
-                 fileup="testmjzenc:faces/up.png"
-                 filedown="testmjzenc:faces/down.png"
-                 filefront="testmjzenc:faces/front.png"
-                 fileback="testmjzenc:faces/back.png"/>
-        <material name="sky_mat" texture="sky"/>
-      </asset>
-      <worldbody>
-        <body name="body">
-          <geom type="sphere" size="0.1" material="sky_mat"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-
-  char error[1024] = {0};
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
-  ASSERT_THAT(spec, testing::NotNull()) << error;
-
-  mjModel* model = mj_compile(spec, nullptr);
-  ASSERT_THAT(model, testing::NotNull()) << mjs_getError(spec);
-
-  // Encode to MJZ.
-  fs::path tmpdir = fs::path(testing::TempDir()) / "cubefile_test";
-  fs::create_directories(tmpdir);
-  const std::string out_path = (tmpdir / "model.mjz").string();
-  int nbytes = mj_encode(spec, model, out_path.c_str(), nullptr, nullptr, error,
-                         sizeof(error));
-  ASSERT_GT(nbytes, 0) << error;
-
-  // Decode from MJZ.
-  mjVFS decode_vfs;
-  mj_defaultVFS(&decode_vfs);
-  mjSpec* decoded =
-      mj_parse(out_path.c_str(), nullptr, &decode_vfs, error, sizeof(error));
-  ASSERT_THAT(decoded, testing::NotNull()) << error;
-
-  // Verify the decoded texture's cubefile paths don't contain URI prefix.
-  auto* decoded_tex = mjs_asTexture(mjs_firstElement(decoded, mjOBJ_TEXTURE));
-  ASSERT_THAT(decoded_tex, testing::NotNull());
-  ASSERT_THAT(decoded_tex->cubefiles, testing::NotNull());
-  for (const mjString& cubefile : *decoded_tex->cubefiles) {
-    EXPECT_FALSE(absl::StrContains(cubefile, ":"))
-        << "Cubefile should not contain ':': " << cubefile;
-    EXPECT_THAT(std::string(cubefile), testing::HasSubstr(".png"));
-  }
-
-  // Verify the model compiles correctly from the decoded spec.
-  mjModel* decoded_model = mj_compile(decoded, &decode_vfs);
-  ASSERT_THAT(decoded_model, testing::NotNull()) << mjs_getError(decoded);
-
-  // Cleanup.
-  g_fake_data.clear();
-  fs::remove_all(tmpdir);
-  mj_deleteVFS(&decode_vfs);
-  mj_deleteModel(decoded_model);
-  mj_deleteSpec(decoded);
-  mj_deleteModel(model);
-  mj_deleteSpec(spec);
-}
-
-}  // namespace mujoco
diff --git a/test/xml/mjz/testdata/asset_collision_test/child_a/child.xml b/test/xml/mjz/testdata/asset_collision_test/child_a/child.xml
deleted file mode 100644
index 60850688..00000000
--- a/test/xml/mjz/testdata/asset_collision_test/child_a/child.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco model="child_a">
-  <asset>
-    <mesh name="m" file="mesh.obj"/>
-  </asset>
-  <worldbody>
-    <body name="body">
-      <geom type="mesh" mesh="m"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/mjz/testdata/asset_collision_test/child_a/mesh.obj b/test/xml/mjz/testdata/asset_collision_test/child_a/mesh.obj
deleted file mode 100644
index b4fbc738..00000000
--- a/test/xml/mjz/testdata/asset_collision_test/child_a/mesh.obj
+++ /dev/null
@@ -1,20 +0,0 @@
-v 0 0 0
-v 1 0 0
-v 1 1 0
-v 0 1 0
-v 0 0 1
-v 1 0 1
-v 1 1 1
-v 0 1 1
-f 1 2 3
-f 1 3 4
-f 5 6 7
-f 5 7 8
-f 1 2 6
-f 1 6 5
-f 2 3 7
-f 2 7 6
-f 3 4 8
-f 3 8 7
-f 4 1 5
-f 4 5 8
diff --git a/test/xml/mjz/testdata/asset_collision_test/child_b/child.xml b/test/xml/mjz/testdata/asset_collision_test/child_b/child.xml
deleted file mode 100644
index 1886f514..00000000
--- a/test/xml/mjz/testdata/asset_collision_test/child_b/child.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco model="child_b">
-  <asset>
-    <mesh name="m" file="mesh.obj"/>
-  </asset>
-  <worldbody>
-    <body name="body">
-      <geom type="mesh" mesh="m"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/mjz/testdata/asset_collision_test/child_b/mesh.obj b/test/xml/mjz/testdata/asset_collision_test/child_b/mesh.obj
deleted file mode 100644
index dfc38fb3..00000000
--- a/test/xml/mjz/testdata/asset_collision_test/child_b/mesh.obj
+++ /dev/null
@@ -1,8 +0,0 @@
-v 0 0 0
-v 1 0 0
-v 0.5 0.866 0
-v 0.5 0.289 0.816
-f 1 2 3
-f 1 2 4
-f 2 3 4
-f 1 3 4
diff --git a/test/xml/mjz/testdata/disk_mesh/box.obj b/test/xml/mjz/testdata/disk_mesh/box.obj
deleted file mode 100644
index b4fbc738..00000000
--- a/test/xml/mjz/testdata/disk_mesh/box.obj
+++ /dev/null
@@ -1,20 +0,0 @@
-v 0 0 0
-v 1 0 0
-v 1 1 0
-v 0 1 0
-v 0 0 1
-v 1 0 1
-v 1 1 1
-v 0 1 1
-f 1 2 3
-f 1 3 4
-f 5 6 7
-f 5 7 8
-f 1 2 6
-f 1 6 5
-f 2 3 7
-f 2 7 6
-f 3 4 8
-f 3 8 7
-f 4 1 5
-f 4 5 8
diff --git a/test/xml/mjz/testdata/disk_mesh/model.xml b/test/xml/mjz/testdata/disk_mesh/model.xml
deleted file mode 100644
index e12ba5b8..00000000
--- a/test/xml/mjz/testdata/disk_mesh/model.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco model="disk_mesh">
-  <asset>
-    <mesh name="box" file="box.obj"/>
-  </asset>
-  <worldbody>
-    <body name="b1">
-      <geom type="mesh" mesh="box"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/mjz/testdata/include_test/child.xml b/test/xml/mjz/testdata/include_test/child.xml
deleted file mode 100644
index 5bd5d122..00000000
--- a/test/xml/mjz/testdata/include_test/child.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<mujoco>
-  <worldbody>
-    <body name="child_body" pos="1 0 0">
-      <geom type="sphere" size="0.05"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/mjz/testdata/include_test/parent.xml b/test/xml/mjz/testdata/include_test/parent.xml
deleted file mode 100644
index 22a0b82f..00000000
--- a/test/xml/mjz/testdata/include_test/parent.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco model="include_test">
-  <include file="child.xml"/>
-  <worldbody>
-    <body name="parent_body" pos="0 0 1">
-      <geom type="sphere" size="0.1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/mjz/testdata/meshdir_test/assets/box.obj b/test/xml/mjz/testdata/meshdir_test/assets/box.obj
deleted file mode 100644
index b4fbc738..00000000
--- a/test/xml/mjz/testdata/meshdir_test/assets/box.obj
+++ /dev/null
@@ -1,20 +0,0 @@
-v 0 0 0
-v 1 0 0
-v 1 1 0
-v 0 1 0
-v 0 0 1
-v 1 0 1
-v 1 1 1
-v 0 1 1
-f 1 2 3
-f 1 3 4
-f 5 6 7
-f 5 7 8
-f 1 2 6
-f 1 6 5
-f 2 3 7
-f 2 7 6
-f 3 4 8
-f 3 8 7
-f 4 1 5
-f 4 5 8
diff --git a/test/xml/mjz/testdata/meshdir_test/model.xml b/test/xml/mjz/testdata/meshdir_test/model.xml
deleted file mode 100644
index c3defdba..00000000
--- a/test/xml/mjz/testdata/meshdir_test/model.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<mujoco model="meshdir_test">
-  <compiler meshdir="assets"/>
-  <asset>
-    <mesh name="box" file="box.obj"/>
-  </asset>
-  <worldbody>
-    <body name="b1">
-      <geom type="mesh" mesh="box"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/mjz/testdata/mixed_test/disk_box.obj b/test/xml/mjz/testdata/mixed_test/disk_box.obj
deleted file mode 100644
index b4fbc738..00000000
--- a/test/xml/mjz/testdata/mixed_test/disk_box.obj
+++ /dev/null
@@ -1,20 +0,0 @@
-v 0 0 0
-v 1 0 0
-v 1 1 0
-v 0 1 0
-v 0 0 1
-v 1 0 1
-v 1 1 1
-v 0 1 1
-f 1 2 3
-f 1 3 4
-f 5 6 7
-f 5 7 8
-f 1 2 6
-f 1 6 5
-f 2 3 7
-f 2 7 6
-f 3 4 8
-f 3 8 7
-f 4 1 5
-f 4 5 8
diff --git a/test/xml/mjz/testdata/subdir_mesh/meshes/box.obj b/test/xml/mjz/testdata/subdir_mesh/meshes/box.obj
deleted file mode 100644
index b4fbc738..00000000
--- a/test/xml/mjz/testdata/subdir_mesh/meshes/box.obj
+++ /dev/null
@@ -1,20 +0,0 @@
-v 0 0 0
-v 1 0 0
-v 1 1 0
-v 0 1 0
-v 0 0 1
-v 1 0 1
-v 1 1 1
-v 0 1 1
-f 1 2 3
-f 1 3 4
-f 5 6 7
-f 5 7 8
-f 1 2 6
-f 1 6 5
-f 2 3 7
-f 2 7 6
-f 3 4 8
-f 3 8 7
-f 4 1 5
-f 4 5 8
diff --git a/test/xml/mjz/testdata/subdir_mesh/model.xml b/test/xml/mjz/testdata/subdir_mesh/model.xml
deleted file mode 100644
index e3e001df..00000000
--- a/test/xml/mjz/testdata/subdir_mesh/model.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco model="subdir_mesh">
-  <asset>
-    <mesh name="box" file="meshes/box.obj"/>
-  </asset>
-  <worldbody>
-    <body name="b1">
-      <geom type="mesh" mesh="box"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/mjz/testdata/transitive_test/child.xml b/test/xml/mjz/testdata/transitive_test/child.xml
deleted file mode 100644
index 23724726..00000000
--- a/test/xml/mjz/testdata/transitive_test/child.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco>
-  <include file="grandchild.xml"/>
-  <worldbody>
-    <body name="child_body" pos="1 0 0">
-      <geom type="sphere" size="0.05"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/mjz/testdata/transitive_test/grandchild.xml b/test/xml/mjz/testdata/transitive_test/grandchild.xml
deleted file mode 100644
index 7f209770..00000000
--- a/test/xml/mjz/testdata/transitive_test/grandchild.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<mujoco>
-  <worldbody>
-    <body name="gc_body" pos="2 0 0">
-      <geom type="sphere" size="0.02"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/mjz/testdata/transitive_test/parent.xml b/test/xml/mjz/testdata/transitive_test/parent.xml
deleted file mode 100644
index 3780230f..00000000
--- a/test/xml/mjz/testdata/transitive_test/parent.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<mujoco model="transitive_test">
-  <include file="child.xml"/>
-  <worldbody>
-    <body name="parent_body" pos="0 0 1">
-      <geom type="sphere" size="0.1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/schema_defaults_test.cc b/test/xml/schema_defaults_test.cc
deleted file mode 100644
index 356a8a32..00000000
--- a/test/xml/schema_defaults_test.cc
+++ /dev/null
@@ -1,122 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Checks that the attribute defaults declared in mjcf.schema agree with the
-// C default-constructors: every bound numeric attribute is compared against a
-// freshly-constructed spec element. Coverage is total, so a nonzero
-// constructor default that the schema does not declare is a failure: the
-// schema cannot silently under-declare. Fields whose constructor value is
-// the mjNAN "unset" sentinel are marked in the table and asserted NaN.
-
-#include <cmath>
-#include <map>
-#include <string>
-
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include <mujoco/mjspec.h>
-#include "test/fixture.h"
-
-#include "src/xml/generated/mjcf_default_table.inc"
-
-namespace mujoco {
-namespace {
-
-using SchemaDefaultsTest = MujocoTest;
-
-TEST_F(SchemaDefaultsTest, DeclaredDefaultsMatchConstructors) {
-  mjSpec* spec = mj_makeSpec();
-  mjsBody* world = mjs_findBody(spec, "world");
-  ASSERT_NE(world, nullptr);
-  mjsBody* body = mjs_addBody(world, nullptr);
-
-  std::map<std::string, const void*> objects = {
-      {"mjOption", &spec->option},
-      {"mjVisual", &spec->visual},
-      {"mjStatistic", &spec->stat},
-      {"mjSpec", spec},
-      {"mjLROpt", &spec->compiler.LRopt},
-      {"mjsCompiler", &spec->compiler},
-      {"mjsFlex", mjs_addFlex(spec)},
-      {"mjsHField", mjs_addHField(spec)},
-      {"mjsKey", mjs_addKey(spec)},
-      {"mjsNumeric", mjs_addNumeric(spec)},
-      {"mjsBody", body},
-      {"mjsFrame", mjs_addFrame(body, nullptr)},
-      {"mjsJoint", mjs_addJoint(body, nullptr)},
-      {"mjsGeom", mjs_addGeom(body, nullptr)},
-      {"mjsSite", mjs_addSite(body, nullptr)},
-      {"mjsCamera", mjs_addCamera(body, nullptr)},
-      {"mjsLight", mjs_addLight(body, nullptr)},
-      {"mjsPair", mjs_addPair(spec, nullptr)},
-      {"mjsEquality", mjs_addEquality(spec, nullptr)},
-      {"mjsTendon", mjs_addTendon(spec, nullptr)},
-      {"mjsActuator", mjs_addActuator(spec, nullptr)},
-      {"mjsSensor", mjs_addSensor(spec)},
-      {"mjsMesh", mjs_addMesh(spec, nullptr)},
-      {"mjsSkin", mjs_addSkin(spec)},
-      {"mjsMaterial", mjs_addMaterial(spec, nullptr)},
-      {"mjsTexture", mjs_addTexture(spec)},
-  };
-
-  for (int t = 0; t < kDefaultTablesN; t++) {
-    const mjXDefaultTable& table = kDefaultTables[t];
-    auto it = objects.find(table.structname);
-    ASSERT_NE(it, objects.end()) << "no factory for " << table.structname;
-    const char* base = static_cast<const char*>(it->second);
-    for (int i = 0; i < table.n; i++) {
-      const mjXDefaultEntry& entry = table.entries[i];
-      const char* field = base + entry.offset;
-      for (int j = 0; j < entry.len; j++) {
-        double expected = j < entry.ndecl ? entry.value[j] : 0;
-        double actual = 0;
-        if (entry.unset && j == 0) {
-          // the constructor holds the mjNAN "unset" sentinel in the first
-          // slot (the rest are zeros), deliberately undeclared in the schema
-          double v = entry.kind == 4
-                         ? (double)reinterpret_cast<const mjtNum*>(field)[j]
-                         : reinterpret_cast<const double*>(field)[j];
-          EXPECT_TRUE(std::isnan(v))
-              << table.structname << "." << entry.attr << "[" << j << "]";
-          continue;
-        }
-        switch (entry.kind) {
-          case 0:  // double
-            actual = reinterpret_cast<const double*>(field)[j];
-            break;
-          case 1:  // float: compare at float precision
-            actual = reinterpret_cast<const float*>(field)[j];
-            expected = static_cast<float>(expected);
-            break;
-          case 2:  // int-sized, including enums
-            actual = reinterpret_cast<const int*>(field)[j];
-            break;
-          case 3:  // byte
-            actual = reinterpret_cast<const unsigned char*>(field)[j];
-            break;
-          case 4:  // mjtNum: compare at mjtNum precision
-            actual = reinterpret_cast<const mjtNum*>(field)[j];
-            expected = static_cast<mjtNum>(expected);
-            break;
-        }
-        EXPECT_EQ(actual, expected)
-            << table.structname << "." << entry.attr << "[" << j << "]";
-      }
-    }
-  }
-  mj_deleteSpec(spec);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/xml/testdata/child.xml b/test/xml/testdata/child.xml
deleted file mode 100644
index 305b681a..00000000
--- a/test/xml/testdata/child.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<mujoco model="child">
-  <worldbody>
-    <body name="body">
-      <geom name="geom" size="1" pos="0 0 -2" rgba="1 0 0 1"/>
-    </body>
-
-    <frame name="frame">
-      <body name="body2" pos="-1 0 0">
-        <freejoint/>
-        <geom name="geom2" type="box" size="1 1 1" rgba="0 1 0 1"/>
-      </body>
-      <body name="body3" pos="1 0 0">
-        <freejoint/>
-        <geom name="geom3" type="box" size="1 1 1" rgba="0 1 0 1"/>
-      </body>
-    </frame>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/child_mergable.xml b/test/xml/testdata/child_mergable.xml
deleted file mode 100644
index d409cbc7..00000000
--- a/test/xml/testdata/child_mergable.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco model="child_mergable">
-  <option timestep="0.002" iterations="100" gravity="0 0 -10">
-    <flag damper="disable"/>
-  </option>
-  <worldbody>
-    <body name="child_body">
-      <geom name="child_geom" size="1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/child_unmergable.xml b/test/xml/testdata/child_unmergable.xml
deleted file mode 100644
index 64662eb4..00000000
--- a/test/xml/testdata/child_unmergable.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<mujoco model="child_unmergable">
-  <option timestep="0.005" iterations="50" gravity="0 0 0">
-    <flag damper="enable" constraint="disable"/>
-  </option>
-  <worldbody>
-    <body name="child_body">
-      <geom name="child_geom" size="1"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/hfield.png b/test/xml/testdata/hfield.png
deleted file mode 100644
index 22fcde5e..00000000
Binary files a/test/xml/testdata/hfield.png and /dev/null differ
diff --git a/test/xml/testdata/hfield_png_nonrgb.xml b/test/xml/testdata/hfield_png_nonrgb.xml
deleted file mode 100644
index d9b456ae..00000000
--- a/test/xml/testdata/hfield_png_nonrgb.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<mujoco>
-  <asset>
-    <hfield name="hfield" file="hfield.png" size="0.5 0.5 0.05 0.1"/>
-
-    <texture name="hfield" type="2d" file="hfield.png"/>
-    <material name="hfield">
-      <layer texture="hfield" role="rgb"/>
-      <layer texture="hfield" role="orm"/>
-      <layer texture="hfield" role="normal"/>
-    </material>
-  </asset>
-
-  <worldbody>
-    <light pos="-.4 .6 1"/>
-    <geom type="hfield" hfield="hfield" pos="-.4 .6 .05" material="hfield"/>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/lights.xml b/test/xml/testdata/lights.xml
deleted file mode 100644
index 7937e1e7..00000000
--- a/test/xml/testdata/lights.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<mujoco>
-  <asset>
-    <texture name="texture1" type="2d" file="hfield.png"/>
-  </asset>
-  <worldbody>
-    <light name="light1" type="spot" pos="1 2 3" dir="0 0 1" diffuse="0.1 0.2 0.3" ambient="0.4 0.5 0.6" specular="0.7 0.8 0.95"/>
-    <light name="light2" type="spot" attenuation="0.1 0.2 0.3" cutoff="0.4" exponent="0.5"/>
-    <light name="light3" type="point" range="2" intensity="300" bulbradius="0.5"/>
-    <light name="light4" type="directional" dir="1 0 0" active="false" castshadow="false"/>
-    <light name="light5" type="image" texture="texture1"/>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/many_dependencies.xml b/test/xml/testdata/many_dependencies.xml
deleted file mode 100644
index 97d1c9e7..00000000
--- a/test/xml/testdata/many_dependencies.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<mujoco>
-  <include file="child.xml"/>
-
-  <compiler meshdir="meshes"/>
-  <asset>
-    <model name="other" file="parent_model.xml"/>
-    <mesh name="mesh1" file="mesh1.obj"/>
-  </asset>
-  <worldbody>
-    <body name="my_parent">
-      <geom name="my_geom" size="2"/>
-      <flexcomp type="mesh" file="flex.obj" name="flex" rigid="true"/>
-    </body>
-    <body name="box">
-      <geom type="box" mesh="mesh1"/>
-    </body>
-  </worldbody>
-  <deformable>
-    <skin name="skin" file="cube.skn"/>
-  </deformable>
-</mujoco>
diff --git a/test/xml/testdata/meshes/cube.skn b/test/xml/testdata/meshes/cube.skn
deleted file mode 100644
index 498a7926..00000000
Binary files a/test/xml/testdata/meshes/cube.skn and /dev/null differ
diff --git a/test/xml/testdata/meshes/flex.obj b/test/xml/testdata/meshes/flex.obj
deleted file mode 100644
index a482dcae..00000000
--- a/test/xml/testdata/meshes/flex.obj
+++ /dev/null
@@ -1,39 +0,0 @@
-# Simple Cube - OBJ File
-
-# Vertices (v)
-# 8 corners of the cube
-
-# Back Face
-v -1.0 -1.0 -1.0
-v  1.0 -1.0 -1.0
-v  1.0  1.0 -1.0
-v -1.0  1.0 -1.0
-
-# Front Face
-v -1.0 -1.0  1.0
-v  1.0 -1.0  1.0
-v  1.0  1.0  1.0
-v -1.0  1.0  1.0
-
-# Faces (f)
-# A cube has 6 faces. Each face is a quad, defined by 4 vertices.
-# The vertices are numbered according to their order of appearance above, starting from 1.
-# The order defines the face normal (front-facing) based on the right-hand rule.
-
-# Back Face (v1, v2, v3, v4)
-f 1 2 3 4
-
-# Right Face (v2, v6, v7, v3)
-f 2 6 7 3
-
-# Front Face (v5, v8, v7, v6) - Note the ordering for correct normal
-f 5 8 7 6
-
-# Left Face (v1, v4, v8, v5)
-f 1 4 8 5
-
-# Top Face (v4, v3, v7, v8)
-f 4 3 7 8
-
-# Bottom Face (v1, v5, v6, v2)
-f 1 5 6 2
diff --git a/test/xml/testdata/meshes/mesh1.obj b/test/xml/testdata/meshes/mesh1.obj
deleted file mode 100644
index a482dcae..00000000
--- a/test/xml/testdata/meshes/mesh1.obj
+++ /dev/null
@@ -1,39 +0,0 @@
-# Simple Cube - OBJ File
-
-# Vertices (v)
-# 8 corners of the cube
-
-# Back Face
-v -1.0 -1.0 -1.0
-v  1.0 -1.0 -1.0
-v  1.0  1.0 -1.0
-v -1.0  1.0 -1.0
-
-# Front Face
-v -1.0 -1.0  1.0
-v  1.0 -1.0  1.0
-v  1.0  1.0  1.0
-v -1.0  1.0  1.0
-
-# Faces (f)
-# A cube has 6 faces. Each face is a quad, defined by 4 vertices.
-# The vertices are numbered according to their order of appearance above, starting from 1.
-# The order defines the face normal (front-facing) based on the right-hand rule.
-
-# Back Face (v1, v2, v3, v4)
-f 1 2 3 4
-
-# Right Face (v2, v6, v7, v3)
-f 2 6 7 3
-
-# Front Face (v5, v8, v7, v6) - Note the ordering for correct normal
-f 5 8 7 6
-
-# Left Face (v1, v4, v8, v5)
-f 1 4 8 5
-
-# Top Face (v4, v3, v7, v8)
-f 4 3 7 8
-
-# Bottom Face (v1, v5, v6, v2)
-f 1 5 6 2
diff --git a/test/xml/testdata/parent.xml b/test/xml/testdata/parent.xml
deleted file mode 100644
index 8cd9085f..00000000
--- a/test/xml/testdata/parent.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<mujoco>
-  <asset>
-    <model name="other" file="child.xml"/>
-  </asset>
-  <worldbody>
-    <!-- attach body to body -->
-    <body name="parent">
-      <geom name="geom" size="1" pos="0 0 2"/>
-      <attach model="other" body="body" prefix="other1"/>
-    </body>
-
-    <!-- attach frame to body (world) -->
-    <attach model="other" frame="frame" prefix="other2"/>
-
-    <!-- attach frame to frame -->
-    <frame name="top" pos="0 0 4">
-      <attach model="other" frame="frame" prefix="other3"/>
-    </frame>
-
-    <!-- attach body to frame -->
-    <frame name="bottom-right" pos="2 0 -1">
-      <attach model="other" body="body" prefix="other4"/>
-    </frame>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/parent_error.xml b/test/xml/testdata/parent_error.xml
deleted file mode 100644
index 3011d72b..00000000
--- a/test/xml/testdata/parent_error.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco model="parent_error">
-  <compiler conflict="error"/>
-  <option timestep="0.005" iterations="50" gravity="0 0 -10"/>
-  <asset>
-    <model name="child" file="child_mergable.xml"/>
-  </asset>
-  <worldbody>
-    <body name="parent_body">
-      <geom name="parent_geom" size="2"/>
-      <attach model="child" body="child_body" prefix="child/"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/parent_merge.xml b/test/xml/testdata/parent_merge.xml
deleted file mode 100644
index 04065586..00000000
--- a/test/xml/testdata/parent_merge.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco model="parent_merge">
-  <compiler conflict="merge"/>
-  <option timestep="0.005" iterations="50" gravity="0 0 -10"/>
-  <asset>
-    <model name="child" file="child_mergable.xml"/>
-  </asset>
-  <worldbody>
-    <body name="parent_body">
-      <geom name="parent_geom" size="2"/>
-      <attach model="child" body="child_body" prefix="child/"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/parent_merge_unmergable.xml b/test/xml/testdata/parent_merge_unmergable.xml
deleted file mode 100644
index b73b6d32..00000000
--- a/test/xml/testdata/parent_merge_unmergable.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<mujoco model="parent_merge_unmergable">
-  <compiler conflict="merge"/>
-  <option timestep="0.005" iterations="50" gravity="0 0 -10"/>
-  <asset>
-    <model name="child" file="child_unmergable.xml"/>
-  </asset>
-  <worldbody>
-    <body name="parent_body">
-      <geom name="parent_geom" size="2"/>
-      <attach model="child" body="child_body" prefix="child/"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/parent_model.xml b/test/xml/testdata/parent_model.xml
deleted file mode 100644
index f0c112b8..00000000
--- a/test/xml/testdata/parent_model.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<mujoco>
-  <asset>
-    <model name="other" file="child.xml"/>
-  </asset>
-  <worldbody>
-    <body name="parent">
-      <geom name="geom" size="2"/>
-      <attach model="other" body="body" prefix="other"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/parent_warn.xml b/test/xml/testdata/parent_warn.xml
deleted file mode 100644
index ee4e6687..00000000
--- a/test/xml/testdata/parent_warn.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<mujoco model="parent_warn">
-  <compiler conflict="warning"/>
-  <option timestep="0.005" iterations="50" gravity="0 0 -10">
-    <flag damper="disable"/>
-  </option>
-  <asset>
-    <model name="child" file="child_unmergable.xml"/>
-  </asset>
-  <worldbody>
-    <body name="parent_body">
-      <geom name="parent_geom" size="2"/>
-      <attach model="child" body="child_body" prefix="child/"/>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/test/xml/testdata/simple_hinge.usda b/test/xml/testdata/simple_hinge.usda
deleted file mode 100644
index e1cfe90b..00000000
--- a/test/xml/testdata/simple_hinge.usda
+++ /dev/null
@@ -1,74 +0,0 @@
-#usda 1.0
-(
-    endTimeCode = 1
-    framesPerSecond = 24
-    metersPerUnit = 1
-    startTimeCode = 1
-    timeCodesPerSecond = 24
-    upAxis = "Y"
-)
-
-def Xform "World"
-{
-    def Xform "Axle" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI"]
-    )
-    {
-        matrix4d xformOp:transform:set_initial_pos = ( (1, 0, 0, 0), (0, 0.9999197811020019, -0.012666150201413267, 0), (0, 0.012666150201413267, 0.9999197811020019, 0), (0, 0.012296309694647789, 0.970723032951355, 1) )
-        uniform token[] xformOpOrder = ["xformOp:transform:set_initial_pos"]
-
-        def Xform "Rod" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
-        )
-        {
-            matrix4d xformOp:transform:set_initial_rod_pos = ( (1, 0, 0, 0), (0, 0.3255001489278845, 0.9455419890453967, 0), (0, -0.9455419890453967, 0.3255001489278845, 0), (0, 0.47277099452269833, -0.1627500744639423, 1) )
-            uniform token[] xformOpOrder = ["xformOp:transform:set_initial_rod_pos"]
-
-            def Cylinder "Geometry" (
-                prepend apiSchemas = ["PhysicsCollisionAPI"]
-            )
-            {
-                token axis = "Z"
-                float3[] extent = [(-0.01, -0.01, -0.5), (0.01, 0.01, 0.5)]
-                double height = 1
-                double radius = 0.01
-                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, -0.03546595561524429, 1) )
-                uniform token[] xformOpOrder = ["xformOp:transform"]
-            }
-
-            def PhysicsRevoluteJoint "HingeJoint" {
-                rel physics:body0 = </World/Axle>
-                rel physics:body1 = </World/Axle/Rod>
-                point3f physics:localPos0 = (0, 0, 0)
-                point3f physics:localPos1 = (0, 0, 0.5)
-                quatf physics:localRot0 = (0, 1, 0, 0)
-                quatf physics:localRot1 = (0, 1, 0, 0)
-            }
-        }
-
-        def Cylinder "Geometry" (
-            prepend apiSchemas = ["PhysicsCollisionAPI"]
-        )
-        {
-            token axis = "Z"
-            float3[] extent = [(-0.01, -0.01, -0.1), (0.01, 0.01, 0.1)]
-            double height = 0.2
-            double radius = 0.01
-            matrix4d xformOp:transform = ( (0, 0, -1, 0), (0, 1, -0, 0), (1, 0, -0, 0), (0, 0, -0, 1) )
-            uniform token[] xformOpOrder = ["xformOp:transform"]
-        }
-
-        def PhysicsFixedJoint "FixedJoint"
-        {
-            rel physics:body0 = None
-            rel physics:body1 = </World/Axle>
-        }
-    }
-
-    def Scope "Actuators" {
-      def MjcActuator "HingeActuator" {
-        rel mjc:target = </World/Axle/Rod/HingeJoint>
-      }
-    }
-}
-
diff --git a/test/xml/xml_api_test.cc b/test/xml/xml_api_test.cc
deleted file mode 100644
index f02c05fc..00000000
--- a/test/xml/xml_api_test.cc
+++ /dev/null
@@ -1,227 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for xml/xml_api.cc.
-
-#include "src/xml/xml_api.h"
-
-#include <array>
-#include <cstddef>
-#include <cstring>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjdata.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::HasSubstr;
-using ::testing::IsNull;
-using ::testing::NotNull;
-using ::testing::StartsWith;
-
-static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint/>
-        <geom size="1"/>
-      </body>
-      <body>
-        <joint/>
-        <geom size="0.5"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-// ---------------------------- test mj_loadXML --------------------------------
-
-using LoadXmlTest = MujocoTest;
-
-TEST_F(LoadXmlTest, EmptyModel) {
-  static constexpr char xml[] = "<mujoco/>";
-  MjModelPtr model = LoadModelFromString(xml, 0, 0);
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_EQ(model->nq, 0);
-  EXPECT_EQ(model->nv, 0);
-  EXPECT_EQ(model->nu, 0);
-  EXPECT_EQ(model->na, 0);
-  EXPECT_EQ(model->nbody, 1);  // worldbody exists even in empty model
-
-  MjDataPtr data = MakeData(model);
-  EXPECT_THAT(data, NotNull());
-  mj_step(model.get(), data.get());
-}
-
-TEST_F(LoadXmlTest, InvalidXmlFailsToLoad) {
-  static constexpr char invalid_xml[] = "<mujoc";
-  std::array<char, 1024> error;
-  MjModelPtr model =
-      LoadModelFromString(invalid_xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull()) << "Expected model loading to fail.";
-  EXPECT_GT(std::strlen(error.data()), 0);
-  if (model.get()) {
-  }
-}
-
-TEST_F(LoadXmlTest, MultipleBodies) {
-  std::array<char, 1000> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-
-  ASSERT_THAT(model.get(), NotNull())
-      << "Failed to load model: " << error.data();
-  EXPECT_EQ(model->nbody, 3);
-
-  MjDataPtr data = MakeData(model);
-  EXPECT_THAT(data, NotNull());
-  mj_step(model.get(), data.get());
-}
-using SaveLastXmlTest = MujocoTest;
-
-TEST_F(SaveLastXmlTest, EmptyModel) {
-  static constexpr char xml[] = "<mujoco/>";
-  MjModelPtr model = LoadModelFromString(xml, 0, 0);
-  MjDataPtr data = MakeData(model);
-
-  std::array<char, 1024> error;
-  error.data()[0] = '\0';
-
-  testing::internal::CaptureStdout();
-  mj_saveLastXML(nullptr, model.get(), error.data(), error.size());
-
-  EXPECT_THAT(testing::internal::GetCapturedStdout(), StartsWith("<mujoco"));
-}
-
-TEST_F(LoadXmlTest, NullFileFails) {
-  std::array<char, 1000> error;
-  mjSpec* spec = mj_parseXML(nullptr, nullptr, error.data(), error.size());
-  EXPECT_THAT(spec, IsNull()) << "Expected model loading to fail.";
-  EXPECT_THAT(error.data(), HasSubstr("filename argument required"));
-}
-
-TEST_F(LoadXmlTest, InvalidFileFails) {
-  std::array<char, 1000> error;
-  mjSpec* spec = mj_parseXML("invalid", nullptr, error.data(), error.size());
-  EXPECT_THAT(spec, IsNull()) << "Expected model loading to fail.";
-  EXPECT_THAT(error.data(), HasSubstr("Error opening file"));
-}
-
-TEST_F(MujocoTest, SaveXmlShortString) {
-  std::array<char, 1000> error;
-
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
-  mjModel* model = mj_compile(spec, 0);
-  EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
-
-  std::array<char, 10> out;
-  EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
-                               error.size()),
-              223);
-  EXPECT_STREQ(error.data(), "Output string too short, should be at least 224");
-
-  mj_deleteSpec(spec);
-  mj_deleteModel(model);
-}
-
-TEST_F(MujocoTest, SaveXml) {
-  std::array<char, 1000> error;
-
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
-  mjModel* model = mj_compile(spec, 0);
-  EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
-
-  std::array<char, 274> out;
-  EXPECT_THAT(mj_saveXMLString(NULL, out.data(), out.size(), error.data(),
-                               error.size()),
-              -1);
-  EXPECT_STREQ(error.data(), "Cannot write empty model");
-  EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
-                               error.size()),
-              0)
-      << error.data();
-
-  mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
-  mjModel* saved_model = mj_compile(saved_spec, 0);
-  EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data();
-
-  mj_deleteSpec(spec);
-  mj_deleteSpec(saved_spec);
-  mj_deleteModel(model);
-  mj_deleteModel(saved_model);
-}
-
-TEST_F(MujocoTest, SaveXmlWithDefaultMesh) {
-  static constexpr char xml[] = R"(
-    <mujoco>
-      <default>
-        <mesh inertia="shell"/>
-      </default>
-      <asset>
-        <mesh name="test_mesh" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
-      </asset>
-      <worldbody>
-        <body>
-          <geom mesh="test_mesh" type="mesh"/>
-        </body>
-      </worldbody>
-    </mujoco>
-    )";
-
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  EXPECT_THAT(spec, NotNull()) << "Failed to parse spec: " << error.data();
-  mjModel* model = mj_compile(spec, 0);
-  EXPECT_THAT(model, NotNull()) << "Failed to compile model: " << error.data();
-
-  std::array<char, 1024> out;
-  EXPECT_THAT(mj_saveXMLString(spec, out.data(), out.size(), error.data(),
-                               error.size()),
-              0)
-      << error.data();
-
-  mjSpec* saved_spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  EXPECT_THAT(saved_spec, NotNull()) << "Invalid saved spec: " << error.data();
-  mjModel* saved_model = mj_compile(saved_spec, 0);
-  EXPECT_THAT(saved_model, NotNull()) << "Invalid model: " << error.data();
-
-  // check that the mesh has inertia="shell"
-  EXPECT_THAT(out.data(), HasSubstr(R"(<mesh inertia="shell"/>)"));
-
-  mj_deleteSpec(spec);
-  mj_deleteSpec(saved_spec);
-  mj_deleteModel(model);
-  mj_deleteModel(saved_model);
-}
-
-TEST_F(MujocoTest, FreeLastXml) {
-  static constexpr char xml[] = "<mujoco/>";
-  MjModelPtr model = LoadModelFromString(xml, 0, 0);
-  ASSERT_THAT(model.get(), NotNull());
-  ASSERT_NE(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
-  mj_freeLastXML();
-  ASSERT_EQ(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/xml/xml_native_reader_test.cc b/test/xml/xml_native_reader_test.cc
deleted file mode 100644
index 0f582407..00000000
--- a/test/xml/xml_native_reader_test.cc
+++ /dev/null
@@ -1,4026 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for xml/xml_native_reader.cc.
-
-#include <array>
-#include <cmath>
-#include <cstdint>
-#include <limits>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mujoco.h>
-#include "src/cc/array_safety.h"
-#include "src/user/user_api.h"
-#include "src/xml/xml_api.h"
-#include "test/compare_model.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::std::string;
-using ::testing::AllOf;
-using ::testing::ElementsAre;
-using ::testing::Eq;
-using ::testing::FloatEq;
-using ::testing::HasSubstr;
-using ::testing::IsNan;
-using ::testing::IsNull;
-using ::testing::NotNull;
-
-using XMLReaderTest = MujocoTest;
-
-TEST_F(XMLReaderTest, UniqueElementTest) {
-  std::array<char, 1024> error;
-  static constexpr char xml[] = R"(
-  <mujoco>
-   <option>
-      <flag sensor="disable"/>
-      <flag sensor="disable"/>
-    </option>
-  </mujoco>
-  )";
-
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("unique element 'flag' found 2 times"));
-}
-
-TEST_F(XMLReaderTest, AuthoredFromXml) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler boundmass="1"/>
-    <option timestep="0.01" gravity="0 0 -5">
-      <flag constraint="disable"/>
-    </option>
-    <visual>
-      <global fovy="60"/>
-      <quality shadowsize="1024"/>
-    </visual>
-    <worldbody/>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  // option: timestep authored, gravity authored, density not authored
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->option.timestep), 1);
-  EXPECT_EQ(mjs_isAuthored(spec, spec->option.gravity), 1);
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->option.density), 0);
-
-  // compiler: boundmass authored, boundinertia not authored
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->compiler.boundmass), 1);
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->compiler.boundinertia), 0);
-
-  // flags: constraint disable authored, contact not authored
-  EXPECT_NE(spec->authored.disableflags & mjDSBL_CONSTRAINT, 0);
-  EXPECT_EQ(spec->authored.disableflags & mjDSBL_CONTACT, 0);
-
-  // visual global: fovy authored, ipd not authored
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.global.fovy), 1);
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.global.ipd), 0);
-
-  // visual quality: shadowsize authored, offsamples not authored
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.quality.shadowsize), 1);
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.quality.offsamples), 0);
-
-  mj_deleteSpec(spec);
-}
-
-TEST_F(XMLReaderTest, AuthoredDefaultsZero) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody/>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  // nothing authored in an empty model
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->option.timestep), 0);
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->option.gravity), 0);
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->compiler.boundmass), 0);
-  EXPECT_EQ(spec->authored.disableflags, 0);
-  EXPECT_EQ(spec->authored.enableflags, 0);
-  EXPECT_EQ(spec->authored.disableactuator, 0);
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.global.fovy), 0);
-  EXPECT_EQ(mjs_isAuthored(spec, &spec->visual.map.znear), 0);
-
-  mj_deleteSpec(spec);
-}
-
-TEST_F(XMLReaderTest, MemorySize) {
-  std::array<char, 1024> error;
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="512"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), NotNull()) << error.data();
-    EXPECT_EQ(model->narena, 512);
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="1K "/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), NotNull()) << error.data();
-    EXPECT_EQ(model->narena, 1024);
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="  10K"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), NotNull()) << error.data();
-    EXPECT_EQ(model->narena, 10240);
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory=" 4M  "/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), NotNull()) << error.data();
-    EXPECT_EQ(model->narena, 4*1024*1024);
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="1G"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), NotNull()) << error.data();
-    EXPECT_EQ(model->narena, 1024*1024*1024);
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="1073741824"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), NotNull()) << error.data();
-    EXPECT_EQ(model->narena, 1024*1024*1024);
-  }
-}
-
-TEST_F(XMLReaderTest, InvalidMemorySize) {
-  std::array<char, 1024> error;
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="-3"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), IsNull());
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="1 M"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), IsNull());
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="2X"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), IsNull());
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="K"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-    ASSERT_THAT(model.get(), IsNull());
-  }
-}
-
-TEST_F(XMLReaderTest, InvalidNUserBody) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_body="-2"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_body"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, InvalidNUserJoint) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_jnt="-2"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_jnt"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, InvalidNUserGeom) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_geom="-2"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_geom"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, InvalidNUserSite) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_site="-2"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_site"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, InvalidNUserCamera) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_cam="-2"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_cam"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, InvalidNUserTendon) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_tendon="-2"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_tendon"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, InvalidNUserActuator) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_actuator="-2"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_actuator"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, InvalidNUserSensor) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <size nuser_sensor="-2"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, CanParseInf) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1" pos="5e-1 -INF iNf"/>
-        <geom size="1" pos="inF -inf Inf"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  const double inf = std::numeric_limits<double>::infinity();
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_EQ(model->geom_pos[0], 0.5);
-  EXPECT_EQ(model->geom_pos[1], -inf);
-  EXPECT_THAT(model->geom_pos[2], inf);
-  EXPECT_EQ(model->geom_pos[3], inf);
-  EXPECT_EQ(model->geom_pos[4], -inf);
-  EXPECT_EQ(model->geom_pos[5], inf);
-}
-
-TEST_F(XMLReaderTest, CanParseNanAndRaisesWarning) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1" pos="nan NaN NAN"/>
-        <geom size="1" pos="1.0 0.0 nAn"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MockWarningHandler warning_handler;
-  warning_handler.ExpectWarnings("XML contains a 'NaN'");
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_THAT(model->geom_pos[0], IsNan());
-  EXPECT_THAT(model->geom_pos[1], IsNan());
-  EXPECT_THAT(model->geom_pos[2], IsNan());
-  EXPECT_EQ(model->geom_pos[3], 1);
-  EXPECT_EQ(model->geom_pos[4], 0);
-  EXPECT_THAT(model->geom_pos[5], IsNan());
-}
-
-TEST_F(XMLReaderTest, InvalidArrayElement) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1" axisangle="1.0 0.0 0.0 [[1]]"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("bad format in attribute 'axisangle'"));
-  EXPECT_THAT(error.data(), HasSubstr("line 5"));
-}
-
-TEST_F(XMLReaderTest, InvalidArrayLength) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1" axisangle="1 0 0 0 1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("has too much data"));
-  EXPECT_THAT(error.data(), HasSubstr("line 5"));
-}
-
-TEST_F(XMLReaderTest, InvalidQuaternion) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1" quat="0 0 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("zero quaternion is not allowed"));
-  EXPECT_THAT(error.data(), HasSubstr("line 5"));
-}
-
-TEST_F(XMLReaderTest, InvalidNumber) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1" axisangle="1 0.1.2.3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("bad format in attribute 'axisangle'"));
-  EXPECT_THAT(error.data(), HasSubstr("line 5"));
-}
-
-TEST_F(XMLReaderTest, InvalidNumberRange) {
-    static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="mesh" file="mesh.stl" face="100000000000000000000000"/>
-    </asset>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("number is too large in attribute 'face'"));
-  EXPECT_THAT(error.data(), HasSubstr("line 4"));
-}
-
-TEST_F(XMLReaderTest, InvalidNumberOfAttributes) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="0 0 .3">
-        <freejoint/>
-        <geom name="ellipsoid" type="ellipsoid" size=".1 .1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("size 2 must be positive"));
-  EXPECT_THAT(error.data(), HasSubstr("line 6"));
-}
-
-TEST_F(XMLReaderTest, AllowsSpaces) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1" axisangle="1 0   0 0 "/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-}
-
-TEST_F(XMLReaderTest, InvalidDoubleOrientation) {
-  std::string prefix = "<mujoco><worldbody><";
-  std::string suffix = "/></worldbody></mujoco>";
-  std::vector<std::string> orientations = {
-    R"( quat="0 1 0 0" )",
-    R"( euler="1.7 2.9 0.1" )",
-    R"( zaxis="1.7 2.9 0.1" )",
-    R"( axisangle="1.7 2.9 0.1 0" )",
-    R"( xyaxes="1.7 2.9 0.1 0.4 1.4 0.6" )",
-  };
-  std::vector<std::string> fields = {
-    "geom", "body", "camera", "site"
-  };
-  for (auto const& field : fields) {
-    for (auto const& orient1 : orientations) {
-      for (auto const& orient2 : orientations) {
-        if (orient1 == orient2) continue;
-        std::string xml = prefix + field + orient1 + orient2 + suffix;
-        std::array<char, 1024> error;
-        MjModelPtr model =
-            LoadModelFromString(xml.c_str(), error.data(), error.size());
-        ASSERT_THAT(model.get(), IsNull());
-        EXPECT_THAT(
-            error.data(),
-            HasSubstr("multiple orientation specifiers are not allowed"));
-      }
-    }
-  }
-}
-
-TEST_F(XMLReaderTest, ClassOverridesChildclass) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="size2">
-        <geom size="2"/>
-      </default>
-      <default class="size3">
-        <geom size="3"/>
-      </default>
-    </default>
-    <worldbody>
-      <frame childclass="size2">
-        <geom/>
-        <geom class="size3"/>
-        <body childclass="size2">
-          <geom/>
-          <geom class="size3"/>
-        </body>
-      </frame>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->geom_size[3*0], 2);
-  EXPECT_EQ(model->geom_size[3*1], 3);
-  EXPECT_EQ(model->geom_size[3*2], 2);
-  EXPECT_EQ(model->geom_size[3*3], 3);
-}
-
-TEST_F(XMLReaderTest, RepeatedDefaultName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="sphere">
-        <geom type="sphere" size="1"/>
-      </default>
-      <default class="sphere">
-        <geom type="capsule" size="1 1"/>
-      </default>
-    </default>
-    <worldbody>
-      <body>
-        <geom class="sphere"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("repeated default class name"));
-}
-
-TEST_F(XMLReaderTest, InvalidDefaultClassName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="sphere">
-        <geom type="sphere" size="1"/>
-      </default>
-    </default>
-    <worldbody>
-      <body>
-        <geom class="invalid"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              AllOf(HasSubstr("unknown default class name 'invalid'"),
-                    HasSubstr("Element 'geom'"), HasSubstr("line 10")));
-}
-
-TEST_F(XMLReaderTest, InvalidTopDefaultClassName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default class="sphere">
-      <geom type="sphere" size="1"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom class="sphere"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(),
-              HasSubstr("top-level default class 'main' cannot be renamed"));
-}
-
-TEST_F(XMLReaderTest, ValidTopDefaultClassName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default class="main">
-      <geom type="sphere" size="1"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom class="main"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-}
-
-// ------------------------ test including -------------------------------------
-
-// tiny RGB 2 x 3 PNG file
-static constexpr unsigned char kTinyPng[] = {
-  0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
-  0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02,
-  0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d, 0x00, 0x00, 0x00,
-  0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63, 0x78, 0xc1, 0xc0, 0xc0,
-  0xc0, 0xf0, 0xbf, 0xb8, 0xb8, 0x98, 0x81, 0xe1, 0x3f, 0xc3, 0xff, 0xff,
-  0xff, 0xc5, 0xc4, 0xc4, 0x00, 0x46, 0xd7, 0x07, 0x7f, 0xd2, 0x52, 0xa1,
-  0x41, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60,
-  0x82
-};
-
-// mesh OBJ file of a cube
-static constexpr char kTinyObj[] = R"(
-  v -1 -1  1
-  v  1 -1  1
-  v -1  1  1
-  v  1  1  1
-  v -1  1 -1
-  v  1  1 -1
-  v -1 -1 -1
-  v  1 -1 -1)";
-
-
-TEST_F(XMLReaderTest, IncludeTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="plane" type="plane" size="1 1 1"/>
-      <include file="model1.xml"/>
-      <include file="model2.xml"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <geom name="box" type="box" size="1 1 1"/>
-  </mujoco>)";
-
-  static constexpr char xml2[]= R"(
-  <mujoco>
-    <geom name="ball" type="sphere" size="2"/>
-    <include file="model3.xml"/>
-  </mujoco>)";
-
-  static constexpr char xml3[]= R"(
-  <mujoco>
-    <geom name="another_box" type="box" size="2 2 2"/>
-  </mujoco>)";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  mj_addBufferVFS(vfs.get(), "model1.xml", xml1, sizeof(xml1));
-  mj_addBufferVFS(vfs.get(), "model2.xml", xml2, sizeof(xml2));
-  mj_addBufferVFS(vfs.get(), "model3.xml", xml3, sizeof(xml3));
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(),
-                                       error.size(), vfs.get());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(mj_name2id(model.get(), mjOBJ_GEOM, "ball"), 2);
-  EXPECT_EQ(mj_name2id(model.get(), mjOBJ_GEOM, "another_box"), 3);
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(XMLReaderTest, IncludeChildTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="plane" type="plane" size="1 1 1"/>
-      <include file="model1.xml">
-        <geom name="box" type="box" size="1 1 1"/>
-      </include>
-    </worldbody>
-  </mujoco>)";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("Include element cannot have children"));
-}
-
-TEST_F(XMLReaderTest, IncludeSameFileTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <include file="model1.xml"/>
-    <include file="model1.xml"/>
-  </mujoco>)";
-
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <geom name="box" type="box" size="1 1 1"/>
-  </mujoco>)";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-
-  mj_addBufferVFS(vfs.get(), "model1.xml", xml1, sizeof(xml1));
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size(),
-                                       vfs.get());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("File 'model1.xml' already included"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(XMLReaderTest, IncludePathTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="plane" type="plane" size="1 1 1"/>
-      <include file="submodels/model1.xml"/>
-      <include file="submodels/model2.xml"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <geom name="box" type="box" size="1 1 1"/>
-  </mujoco>)";
-
-  static constexpr char xml2[]= R"(
-  <mujoco>
-    <geom name="ball" type="sphere" size="2"/>
-    <include file="subsubmodels/model3.xml"/>
-  </mujoco>)";
-
-  static constexpr char xml3[]= R"(
-  <mujoco>
-    <geom name="another_box" type="box" size="2 2 2"/>
-  </mujoco>)";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
-  mj_addBufferVFS(&vfs, "submodels/model1.xml", xml1, sizeof(xml1));
-  mj_addBufferVFS(&vfs, "submodels/model2.xml", xml2, sizeof(xml2));
-  mj_addBufferVFS(&vfs, "submodels/subsubmodels/model3.xml", xml3,
-                  sizeof(xml3));
-
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML("model.xml", &vfs, error.data(),
-                              error.size());
-  ASSERT_THAT(model, NotNull()) << error.data();
-  EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
-  EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
-  mj_deleteModel(model);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(XMLReaderTest, FallbackIncludePathTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="plane" type="plane" size="1 1 1"/>
-      <include file="model1.xml"/>
-      <include file="submodels/model2.xml"/>
-    </worldbody>
-  </mujoco>)";
-
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <geom name="box" type="box" size="1 1 1"/>
-  </mujoco>)";
-
-  static constexpr char xml2[]= R"(
-  <mujoco>
-    <geom name="ball" type="sphere" size="2"/>
-    <include file="subsubmodels/model3.xml"/>
-  </mujoco>)";
-
-  static constexpr char xml3[]= R"(
-  <mujoco>
-    <geom name="another_box" type="box" size="2 2 2"/>
-  </mujoco>)";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
-  mj_addBufferVFS(&vfs, "model1.xml", xml1, sizeof(xml1));
-  mj_addBufferVFS(&vfs, "submodels/model2.xml", xml2, sizeof(xml2));
-  mj_addBufferVFS(&vfs, "subsubmodels/model3.xml", xml3, sizeof(xml3));
-
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML("model.xml", &vfs,
-                              error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << error.data();
-  EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
-  EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
-  mj_deleteModel(model);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(XMLReaderTest, MaterialTextureTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture file="tiny0.png" type="2d" name="tiny0"/>
-      <texture file="tiny1.png" type="2d" name="tiny1"/>
-      <material name="material">
-        <layer role="occlusion" texture="tiny0"/>
-        <layer role="roughness" texture="tiny0"/>
-        <layer role="metallic" texture="tiny0"/>
-        <layer role="rgb" texture="tiny1"/>
-      </material>
-    </asset>
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "tiny0.png", kTinyPng, sizeof(kTinyPng));
-  mj_addBufferVFS(&vfs, "tiny1.png", kTinyPng, sizeof(kTinyPng));
-  mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
-
-  char error[1024];
-  mjModel* model = mj_loadXML("model.xml", &vfs, error, 1024);
-
-  EXPECT_THAT(model, NotNull()) << error;
-  EXPECT_EQ(model->mat_texid[mjTEXROLE_RGB], 1);
-  EXPECT_EQ(model->mat_texid[mjTEXROLE_METALLIC], 0);
-  EXPECT_EQ(model->mat_texid[mjTEXROLE_ROUGHNESS], 0);
-  EXPECT_EQ(model->mat_texid[mjTEXROLE_OCCLUSION], 0);
-
-  mj_deleteModel(model);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(XMLReaderTest, LegacyMaterialTextureTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture file="tiny0.png" type="2d" name="tiny0"/>
-      <texture file="tiny1.png" type="2d" name="tiny1"/>
-      <material name="material" texture="tiny1"/>
-    </asset>
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "tiny0.png", kTinyPng, sizeof(kTinyPng));
-  mj_addBufferVFS(&vfs, "tiny1.png", kTinyPng, sizeof(kTinyPng));
-  mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
-
-  char error[1024];
-  mjModel* model = mj_loadXML("model.xml", &vfs, error, 1024);
-
-  EXPECT_THAT(model, NotNull()) << error;
-  EXPECT_EQ(model->mat_texid[mjTEXROLE_RGB], 1);
-
-  mj_deleteModel(model);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(XMLReaderTest, MaterialTextureFailTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture file="tiny0.png" type="2d" name="tiny0"/>
-      <texture file="tiny1.png" type="2d" name="tiny1"/>
-      <material name="material" texture="tiny1">
-        <layer role="rgb" texture="tiny1"/>
-        <layer role="occlusion" texture="tiny0"/>
-      </material>
-    </asset>
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("A material with a texture attribute "
-                                      "cannot have layer sub-elements"));
-}
-
-TEST_F(XMLReaderTest, LargeTextureTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <asset>
-    <!--
-      Use a texture width that exceeds the size representable by an int.
-      For cube textures, the height is ignored and set to width*6.
-      The default number of channels is 3.
-      The width in this test is chosen so that 6*width*width*3 is too large to
-      be represented as a 32-bit integer.
-    -->
-    <texture name="tex" builtin="gradient" width="10923" height="2"/>
-  </asset>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-
-  EXPECT_THAT(model.get(), NotNull());
-}
-
-TEST_F(XMLReaderTest, LargeTextureAddressTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-  <asset>
-    <!--
-      Test that tex_adr can correctly index into a texture buffer larger than
-      what a 32-bit signed integer can represent.
-      The first texture has size 6*10923*10923*3 > 2^31-1 bytes.
-      tex_adr[1] should correctly point beyond this offset.
-    -->
-    <texture name="tex0" builtin="gradient" width="10923" height="2"/>
-    <texture name="tex1" builtin="flat" width="2" height="2"/>
-  </asset>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->ntex, 2);
-  EXPECT_GT(model->tex_adr[1], INT32_MAX);
-}
-
-TEST_F(XMLReaderTest, IncludeAssetsTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-   <include file="assets/assets.xml"/>
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-  static constexpr char assets[] = R"(
-  <mujoco>
-    <asset>
-      <texture file="tiny.png" type="2d"/>
-      <material name="material" texture="tiny"/>
-      <include file="subassets/assets.xml"/>
-    </asset>
-  </mujoco>
-  )";
-  static constexpr char subassets[] = R"(
-  <mujoco>
-    <texture file="subtiny.png" type="2d"/>
-    <mesh name="cube" file="cube.obj"/>
-    <material name="submaterial" texture="subtiny"/>
-  </mujoco>
-  )";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "assets/tiny.png", kTinyPng, sizeof(kTinyPng));
-  mj_addBufferVFS(&vfs, "assets/subassets/subtiny.png", kTinyPng,
-                  sizeof(kTinyPng));
-  mj_addBufferVFS(&vfs, "assets/subassets/cube.obj", kTinyObj,
-                  sizeof(kTinyObj));
-  mj_addBufferVFS(&vfs, "assets/assets.xml", assets, sizeof(assets));
-  mj_addBufferVFS(&vfs, "assets/subassets/assets.xml", subassets,
-                  sizeof(subassets));
-  mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
-
-  // loading the file should be successful
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML("model.xml", &vfs, error.data(),
-                              error.size());
-
-  ASSERT_THAT(model, NotNull()) << error.data();
-
-  mj_deleteModel(model);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(XMLReaderTest, FallbackIncludeAssetsTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-   <include file="assets/assets.xml"/>
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-  static constexpr char assets[] = R"(
-  <mujoco>
-    <asset>
-      <texture file="tiny.png" type="2d"/>
-      <material name="material" texture="tiny"/>
-      <include file="subassets/assets.xml"/>
-    </asset>
-  </mujoco>
-  )";
-  static constexpr char subassets[] = R"(
-  <mujoco>
-    <texture file="subtiny.png" type="2d"/>
-    <material name="submaterial" texture="subtiny"/>
-  </mujoco>
-  )";
-
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  mj_addBufferVFS(&vfs, "assets/tiny.png", kTinyPng, sizeof(kTinyPng));
-
-  // need to fallback for backwards compatibility
-  mj_addBufferVFS(&vfs, "subtiny.png", kTinyPng, sizeof(kTinyPng));
-
-  mj_addBufferVFS(&vfs, "assets/assets.xml", assets, sizeof(assets));
-  mj_addBufferVFS(&vfs, "assets/subassets/assets.xml", subassets,
-                  sizeof(subassets));
-  mj_addBufferVFS(&vfs, "model.xml", xml, sizeof(xml));
-
-  // loading the file should be successful
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML("model.xml", &vfs,
-                              error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << error.data();
-
-  mj_deleteModel(model);
-  mj_deleteVFS(&vfs);
-}
-
-TEST_F(XMLReaderTest, IncludeAbsoluteTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-   <include file="assets/assets.xml"/>
-    <worldbody>
-      <geom type="plane" material="material" size="4 4 4"/>
-    </worldbody>
-  </mujoco>
-  )";
-  static constexpr char assets[] = R"(
-  <mujoco>
-    <asset>
-      <texture file="tiny.png" type="2d"/>
-      <material name="material" texture="tiny"/>
-      <include file="subassets/assets.xml"/>
-    </asset>
-  </mujoco>
-  )";
-  static constexpr char subassets[] = R"(
-  <mujoco>
-    <texture file="MjMock.IncludeAbsoluteTest:assets/subtiny.png" type="2d"/>
-    <material name="submaterial" texture="subtiny"/>
-  </mujoco>
-  )";
-
-  MockFilesystem fs("IncludeAbsoluteTest");
-  fs.AddFile("assets/tiny.png", kTinyPng, sizeof(kTinyPng));
-  fs.AddFile("assets/subtiny.png", kTinyPng, sizeof(kTinyPng));
-  fs.AddFile("assets/assets.xml", (const unsigned char*) assets,
-   sizeof(assets));
-  fs.AddFile("assets/subassets/assets.xml", (const unsigned char*) subassets,
-   sizeof(subassets));
-  fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
-  std::string modelpath = fs.FullPath("model.xml");
-
-  std::array<char, 1024> error;
-  // loading the file should be successful
-  mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
-                              error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << error.data();
-
-  mj_deleteModel(model);
-}
-
-TEST_F(XMLReaderTest, IncludeAbsoluteMeshDirTest) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <include file="assets.xml"/>
-  </mujoco>
-  )";
-  static constexpr char assets[] = R"(
-  <mujoco>
-    <compiler meshdir="mjMock.IncludeAbsoluteMeshDirTest:/assets"/>
-    <asset>
-    <mesh file="cube.obj"/>
-  </asset>
-  </mujoco>
-  )";
-
-  static constexpr char cube[] = R"(
-  v -0.500000 -0.500000  0.500000
-  v  0.500000 -0.500000  0.500000
-  v -0.500000  0.500000  0.500000
-  v  0.500000  0.500000  0.500000
-  v -0.500000  0.500000 -0.500000
-  v  0.500000  0.500000 -0.500000
-  v -0.500000 -0.500000 -0.500000
-  v  0.500000 -0.500000 -0.500000)";
-
-  MockFilesystem fs("IncludeAbsoluteMeshDirTest");
-  fs.AddFile("/assets/cube.obj", (const unsigned char*) cube, sizeof(cube));
-  fs.AddFile("assets.xml", (const unsigned char*) assets,
-   sizeof(assets));
-  fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
-  std::string modelpath = fs.FullPath("model.xml");
-
-  std::array<char, 1024> error;
-  // loading the file should be successful
-  mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
-                              error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << error.data();
-
-  mj_deleteModel(model);
-}
-
-TEST_F(XMLReaderTest, ParsePolycoef) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="0"/>
-        <geom size="1"/>
-      </body>
-      <body>
-        <joint name="1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <equality>
-      <joint joint1="0" joint2="1"/>
-      <joint joint1="0" joint2="1" polycoef="2"/>
-      <joint joint1="0" joint2="1" polycoef="3 4"/>
-      <joint joint1="0" joint2="1" polycoef="5 6 7 8 9"/>
-    </equality>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_THAT(AsVector(m->eq_data + 0*mjNEQDATA, 5),
-              ElementsAre(0, 1, 0, 0, 0));
-  EXPECT_THAT(AsVector(m->eq_data + 1*mjNEQDATA, 5),
-              ElementsAre(2, 1, 0, 0, 0));
-  EXPECT_THAT(AsVector(m->eq_data + 2*mjNEQDATA, 5),
-              ElementsAre(3, 4, 0, 0, 0));
-  EXPECT_THAT(AsVector(m->eq_data + 3*mjNEQDATA, 5),
-              ElementsAre(5, 6, 7, 8, 9));
-}
-
-TEST_F(XMLReaderTest, TendonArmature) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="a"/>
-      <body pos="1 0 0">
-        <joint name="slide" type="slide"/>
-        <geom size=".1"/>
-        <site name="b"/>
-      </body>
-    </worldbody>
-
-    <tendon>
-      <spatial armature="1.5">
-        <site site="a"/>
-        <site site="b"/>
-      </spatial>
-      <fixed armature="2.5">
-        <joint joint="slide" coef="1"/>
-      </fixed>
-      <fixed>
-        <joint joint="slide" coef="2"/>
-      </fixed>
-    </tendon>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_EQ(m->ntendon, 3);
-  EXPECT_MJTNUM_EQ(m->tendon_armature[0], 1.5);
-  EXPECT_MJTNUM_EQ(m->tendon_armature[1], 2.5);
-  EXPECT_MJTNUM_EQ(m->tendon_armature[2], 0);
-}
-
-TEST_F(XMLReaderTest, TendonArmatureNegative) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="a"/>
-      <site name="b" pos="1 0 0"/>
-    </worldbody>
-
-    <tendon>
-      <spatial armature="-1.5">
-        <site site="a"/>
-        <site site="b"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("tendon armature cannot be negative"));
-}
-
-TEST_F(XMLReaderTest, TendonArmatureGeomWrap) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="a"/>
-      <geom name="g" type="sphere" size=".1"/>
-      <site name="b" pos="1 0 0"/>
-    </worldbody>
-
-    <tendon>
-      <spatial armature="1.5">
-        <site site="a"/>
-        <geom geom="g"/>
-        <site site="b"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("geom wrapping not supported"));
-}
-
-// ------------------------ test frame parsing ---------------------------------
-TEST_F(XMLReaderTest, ParseFrame) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="frame">
-        <geom size=".1"/>
-      </default>
-      <default class="body">
-        <geom size=".2"/>
-      </default>
-      <default class="geom">
-        <geom size=".3"/>
-      </default>
-    </default>
-
-    <worldbody>
-      <frame euler="0 0 30">
-        <geom size=".5" euler="0 0 20"/>
-      </frame>
-
-      <body>
-        <frame pos="0 1 0" childclass="frame">
-          <geom pos="0 1 0"/>
-          <body pos="1 0 0" childclass="body">
-            <geom pos="0 0 1"/>
-            <geom pos="0 0 1" class="geom"/>
-          </body>
-        </frame>
-      </body>
-
-      <frame euler="0 0 30">
-        <frame euler="0 0 20">
-          <geom size=".6"/>
-        </frame>
-      </frame>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-  EXPECT_THAT(m->geom_size[ 0], .5);
-  EXPECT_THAT(m->geom_size[ 3], .6);
-  EXPECT_THAT(m->geom_size[ 6], .1);
-  EXPECT_THAT(m->geom_size[ 9], .2);
-  EXPECT_THAT(m->geom_size[12], .3);
-}
-
-TEST_F(XMLReaderTest, DuplicateFrameName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <frame name="frame1" euler="0 0 30">
-        <geom size=".1"/>
-      </frame>
-
-      <frame name="frame1" euler="0 0 30">
-        <geom size=".1"/>
-      </frame>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("repeated name 'frame1'"));
-}
-
-
-// ---------------------- test replicate parsing -------------------------------
-
-TEST_F(XMLReaderTest, ParseReplicate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <texture name="texture" type="2d" builtin="checker" width="32" height="32"/>
-      <material name="material" texture="texture" texrepeat="1 1" texuniform="true"/>
-    </asset>
-
-    <worldbody>
-      <replicate count="101" offset="3 0 .1" euler="0 0 1.8">
-        <body name="body" pos="0 -1 0">
-          <joint type="slide"/>
-          <geom name="g" size="1"/>
-        </body>
-      </replicate>
-
-      <replicate count="2" offset="1 0 0">
-        <replicate count="2" offset="0 1 0" sep="_">
-          <geom name="geom" size="1" pos="0 0 1" material="material"/>
-          <site name="site" pos="1 0 0"/>
-        </replicate>
-      </replicate>
-    </worldbody>
-
-    <sensor>
-      <framepos name="sensor" objtype="site" objname="site"/>
-    </sensor>
-
-    <keyframe>
-      <key name="keyframe" qpos="1"/>
-    </keyframe>
-  </mujoco>
-
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), testing::NotNull()) << error.data();
-  EXPECT_THAT(m->ngeom, 105);
-  EXPECT_THAT(m->nsensor, 4);
-  EXPECT_THAT(m->nbody, 102);
-
-  // check that the separator is used correctly
-  for (int i = 0; i < 2; ++i) {
-    for (int j = 0; j < 2; ++j) {
-      char geom_name[mjMAXUINAME] = "";
-      util::strcat_arr(geom_name, m->names + m->name_geomadr[2*i+j]);
-      EXPECT_THAT(m->geom_pos[6*i+3*j+0], i);
-      EXPECT_THAT(m->geom_pos[6*i+3*j+1], j);
-      EXPECT_THAT(m->geom_pos[6*i+3*j+2], 1);
-      EXPECT_THAT(std::string(geom_name),
-                  "geom_" + std::to_string(j) + std::to_string(i));
-    }
-  }
-
-  // check that 3 digits are used if count > 99
-  for (int i = 0; i < 2; ++i) {
-    for (int j = 0; j < 10; ++j) {
-      for (int k = 0; k < 10; ++k) {
-        int ngeom = 100*i+10*j+k;
-        if (ngeom > 99) break;
-        char geom_name[mjMAXUINAME] = "";
-        util::strcat_arr(geom_name, m->names + m->name_geomadr[4+ngeom]);
-        EXPECT_THAT(
-            std::string(geom_name),
-            "g" + std::to_string(i) + std::to_string(j) + std::to_string(k));
-      }
-    }
-  }
-
-  // check body positions
-  mjtNum pos[2] = {0, 0};
-  const mjtNum tol = MjTol(1e-8, 1e-3);
-  for (int i = 1; i < 102; ++i) {
-    mjtNum theta = (i-1) * 1.8 * mjPI / 180;
-    EXPECT_NEAR(m->body_pos[3*i+0], pos[0] + sin(theta), tol) << i;
-    EXPECT_NEAR(m->body_pos[3*i+1], pos[1] - cos(theta), tol) << i;
-    EXPECT_NEAR(m->body_pos[3*i+2], (i-1) * .1, tol);
-    pos[0] += 3 * cos(theta);
-    pos[1] += 3 * sin(theta);
-  }
-
-  // check that the final pose is correct
-  int n = m->nbody-1;
-  EXPECT_NEAR(m->body_quat[4*n+0], 0, tol);
-  EXPECT_EQ(m->body_quat[4*n+1], 0);
-  EXPECT_EQ(m->body_quat[4*n+2], 0);
-  EXPECT_EQ(m->body_quat[4*n+3], 1);
-
-  // check that the keyframe is resized
-  EXPECT_THAT(m->nkey, 102);
-  EXPECT_THAT(m->nq, 101);
-  for (int i = 0; i < m->nkey; i++) {
-    for (int j = 0; j < m->nq; j++) {
-      EXPECT_THAT(m->key_qpos[i*m->nq+j], i == j ? 1 : 0) << i << " " << j;
-    }
-  }
-}
-
-TEST_F(XMLReaderTest, ParseReplicatePartialReference) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom name="floor" type="plane" size="1 1 1"/>
-      <site name="world"/>
-
-      <replicate count="2" offset="1 0 0">
-        <body name="replicated">
-          <freejoint/>
-          <site name="replicated"/>
-          <geom name="replicated" size="1"/>
-        </body>
-      </replicate>
-    </worldbody>
-
-    <contact>
-      <pair geom1="floor" geom2="replicated" condim="1"/>
-      <exclude body1="world" body2="replicated" />
-    </contact>
-
-    <tendon>
-      <spatial>
-        <site site="world"/>
-        <site site="replicated"/>
-      </spatial>
-    </tendon>
-
-    <sensor>
-      <framepos name="sensor" objtype="site" objname="replicated" reftype="site" refname="world"/>
-    </sensor>
-  </mujoco>
-
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), testing::NotNull()) << error.data();
-
-  EXPECT_THAT(m->nbody, 3);
-  EXPECT_THAT(m->ngeom, 3);
-  EXPECT_THAT(m->npair, 2);
-  EXPECT_THAT(m->nexclude, 2);
-  EXPECT_THAT(m->ntendon, 2);
-  EXPECT_THAT(m->nsensor, 2);
-}
-
-TEST_F(XMLReaderTest, ParseReplicateDefaultPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="body">
-        <geom type="capsule"/>
-      </default>
-    </default>
-
-    <worldbody>
-      <replicate count="2" euler="0 0 16.36" sep="-">
-        <body name="torso" pos="-5 0 1.282" childclass="body">
-          <body name="head" pos="0 0 .19">
-            <geom name="head" type="sphere" size=".09"/>
-          </body>
-        </body>
-      </replicate>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  EXPECT_THAT(spec, NotNull()) << error.data();
-
-  mjsBody* torso = mjs_findBody(spec, "torso-0");
-  EXPECT_THAT(torso, NotNull());
-
-  mjsDefault* def = mjs_getDefault(torso->element);
-  EXPECT_THAT(def, NotNull());
-  EXPECT_THAT(def->geom->type, mjGEOM_CAPSULE);
-
-  mjsBody* head = mjs_findBody(spec, "head-0");
-  EXPECT_THAT(head, NotNull());
-
-  def = mjs_getDefault(head->element);
-  EXPECT_THAT(def, NotNull());
-  EXPECT_THAT(def->geom->type, mjGEOM_CAPSULE);
-
-  mj_deleteSpec(spec);
-}
-
-TEST_F(XMLReaderTest, ParseReplicateRepeatedName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler>
-      <lengthrange mode="all"/>
-    </compiler>
-
-    <worldbody>
-      <light pos="0 0 10"/>
-
-      <replicate offset="0 .1 0" count="2">
-        <site name="a" size=".02"/>
-        <body pos="1 0 1">
-          <joint axis="0 -1 0" range="0 90"/>
-          <geom type="capsule" size=".02" fromto="0 0 0 0 0 -1"/>
-          <site name="b" pos="0 0 -1"/>
-        </body>
-      </replicate>
-    </worldbody>
-
-    <tendon>
-      <spatial name="b">
-        <site site="a"/>
-        <site site="b"/>
-      </spatial>
-    </tendon>
-
-    <actuator>
-      <position name="b" tendon="b0" ctrlrange="0 3" kp="100" dampratio="1"/>
-      <position name="b" tendon="b1" ctrlrange="0 3" kp="100" dampratio="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  EXPECT_THAT(spec, IsNull()) << error.data();
-  EXPECT_THAT(error.data(), HasSubstr("repeated name 'b' in actuator"));
-  EXPECT_THAT(error.data(), HasSubstr("Element 'position'"));
-}
-
-TEST_F(XMLReaderTest, RepeatedPrefix) {
-  static constexpr char parent[] = R"(
-  <mujoco>
-    <asset>
-      <model name="1" file="child_1.xml" content_type="text/xml" />
-      <model name="2" file="child_2.xml" content_type="text/xml" />
-    </asset>
-
-    <worldbody>
-      <attach model="1" body="1" prefix="prefix-"/>
-      <replicate count="1">
-        <attach model="2" body="2" prefix="prefix-"/>
-      </replicate>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char child_1[] = R"(
-  <mujoco>
-    <asset>
-      <model name="2" file="child_2.xml" content_type="text/xml"/>
-    </asset>
-
-    <worldbody>
-      <body name="1">
-        <body name="2">
-          <attach model="2" body="2" prefix="prefix2"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char child_2[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="2"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "child_1.xml", child_1, sizeof(child_1));
-  mj_addBufferVFS(vfs.get(), "child_2.xml", child_2, sizeof(child_2));
-
-  std::array<char, 1024> err;
-  mjSpec* c2 = mj_parseXMLString(child_2, 0, err.data(), err.size());
-  EXPECT_THAT(c2, NotNull()) << err.data();
-  mjSpec* c1 = mj_parseXMLString(child_1, vfs.get(), err.data(), err.size());
-  EXPECT_THAT(c1, NotNull()) << err.data();
-  mj_deleteSpec(c1);
-  mj_deleteSpec(c2);
-
-  mjSpec* spec = mj_parseXMLString(parent, vfs.get(), err.data(), err.size());
-  EXPECT_THAT(spec, IsNull());
-  EXPECT_THAT(err.data(), HasSubstr("cannot attach"));
-  mj_deleteSpec(spec);
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(XMLReaderTest, ParseReplicateExcludeTendon) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="winch" pos="-.01 0 .35">
-        <joint name="winch" damping="1"/>
-        <geom type="cylinder" size=".015 .01"/>
-        <site name="anchor" pos=".1 0 .04"/>
-      </body>
-      <site name="pulley" pos=".1 0 .32"/>
-      <site name="hook_left" pos=".08 0 .3"/>
-      <site name="hook_right" pos=".12 0 .3"/>
-      <body name="sphere" pos=".1 0 .2">
-        <freejoint/>
-        <geom type="sphere" size=".03"/>
-        <site name="pin_left" pos="-.025 0 .025"/>
-        <site name="pin_right" pos=".025 0 .025"/>
-      </body>
-
-      <replicate count="4" offset=".025 0 0">
-        <replicate count="4" offset="0 .025 0">
-          <replicate count="4" offset="0 0 .025">
-            <body pos=".06 -.04 .05">
-              <geom type="sphere" size=".012"/>
-            </body>
-          </replicate>
-        </replicate>
-      </replicate>
-    </worldbody>
-
-    <tendon>
-      <spatial range="0 .19" limited="true">
-        <site site="anchor"/>
-        <site site="pulley"/>
-        <pulley divisor="3"/>
-        <site site="pulley"/>
-        <site site="hook_left"/>
-        <site site="pin_left"/>
-        <pulley divisor="3"/>
-        <site site="pulley"/>
-        <site site="hook_right"/>
-        <site site="pin_right"/>
-      </spatial>
-    </tendon>
-
-    <actuator>
-      <position name="winch" joint="winch" ctrlrange="-.7 .5" ctrllimited="true" kp="10"/>
-  </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  EXPECT_THAT(spec, NotNull()) << error.data();
-  mjModel* m = mj_compile(spec, 0);
-  EXPECT_THAT(m, NotNull());
-  EXPECT_THAT(m->nbody, 67);
-  EXPECT_THAT(m->ngeom, 66);
-  EXPECT_THAT(m->nsite, 6);
-  EXPECT_THAT(m->nu, 1);
-  EXPECT_THAT(m->ntendon, 1);
-  mj_deleteModel(m);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(XMLReaderTest, ParseReplicateWithTendon) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <replicate count="2" offset=".025 0 0">
-        <replicate count="2" offset="0 .025 0">
-          <replicate count="2" offset="0 0 .025">
-            <body name="winch" pos="-.01 0 .35">
-              <joint name="winch" damping="1"/>
-              <geom type="cylinder" size=".015 .01"/>
-              <site name="anchor" pos=".1 0 .04"/>
-            </body>
-            <site name="pulley" pos=".1 0 .32"/>
-            <site name="hook_left" pos=".08 0 .3"/>
-            <site name="hook_right" pos=".12 0 .3"/>
-            <body name="sphere" pos=".1 0 .2">
-              <freejoint/>
-              <geom type="sphere" size=".03"/>
-              <site name="pin_left" pos="-.025 0 .025"/>
-              <site name="pin_right" pos=".025 0 .025"/>
-            </body>
-            <body pos=".06 -.04 .05">
-              <geom type="sphere" size=".012"/>
-            </body>
-          </replicate>
-        </replicate>
-      </replicate>
-    </worldbody>
-
-    <tendon>
-      <spatial range="0 .19" limited="true" name="tendon">
-        <site site="anchor"/>
-        <site site="pulley"/>
-        <pulley divisor="3"/>
-        <site site="pulley"/>
-        <site site="hook_left"/>
-        <site site="pin_left"/>
-        <pulley divisor="3"/>
-        <site site="pulley"/>
-        <site site="hook_right"/>
-        <site site="pin_right"/>
-      </spatial>
-    </tendon>
-
-    <actuator>
-      <position name="winch" joint="winch" ctrlrange="-.7 .5" ctrllimited="true" kp="10"/>
-      <position name="tendon" tendon="tendon" ctrlrange="0 1" kp="100" dampratio="1"/>
-  </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, 0, error.data(), error.size());
-  EXPECT_THAT(spec, NotNull()) << error.data();
-  mjModel* m = mj_compile(spec, 0);
-  EXPECT_THAT(m, NotNull()) << mjs_getError(spec);
-  EXPECT_THAT(m->nbody, 25);
-  EXPECT_THAT(m->ngeom, 24);
-  EXPECT_THAT(m->nsite, 48);
-  EXPECT_THAT(m->nu, 16);
-  EXPECT_THAT(m->ntendon, 8);
-  mj_deleteModel(m);
-  mj_deleteSpec(spec);
-}
-
-// ---------------------- test spec assets parsing -----------------------------
-
-TEST_F(XMLReaderTest, ParseSpecAssets) {
-  std::array<char, 1024> er;
-
-  static const char* const kParentPath =
-      "xml/testdata/parent.xml";
-  static const char* const kChildPath =
-      "xml/testdata/child.xml";
-
-  const std::string xml_parent = GetTestDataFilePath(kParentPath);
-  const std::string xml_child = GetTestDataFilePath(kChildPath);
-
-  mjModel* parent = mj_loadXML(xml_parent.c_str(), 0, er.data(), er.size());
-  EXPECT_THAT(parent, NotNull()) << er.data();
-
-  mjModel* child = mj_loadXML(xml_child.c_str(), 0, er.data(), er.size());
-  EXPECT_THAT(child, NotNull()) << er.data();
-
-  mj_deleteModel(parent);
-  mj_deleteModel(child);
-}
-
-TEST_F(XMLReaderTest, AttachSpecAssets) {
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <asset>
-      <model name="child" file="xml_child.xml"/>
-    </asset>
-    <worldbody>
-      <body name="parent">
-        <geom name="geom" size="2"/>
-        <replicate count="2" offset="0 0 1">
-          <attach model="child" body="body" prefix="other"/>
-        </replicate>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <geom name="geom" size="1" pos="2 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml_expected[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent">
-        <geom name="geom" size="2"/>
-        <body name="otherbody0">
-          <geom name="othergeom0" size="1" pos="2 0 0"/>
-        </body>
-        <body name="otherbody1" pos="0 0 1">
-          <geom name="othergeom1" size="1" pos="2 0 0"/>
-        </body>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "xml_child.xml", xml_child, sizeof(xml_child));
-
-  std::array<char, 1024> er;
-  MjModelPtr model =
-      LoadModelFromString(xml_parent, er.data(), er.size(), vfs.get());
-  EXPECT_THAT(model.get(), NotNull()) << er.data();
-
-  MjModelPtr expected = LoadModelFromString(xml_expected, er.data(), er.size());
-  EXPECT_THAT(expected.get(), NotNull()) << er.data();
-
-  mjtNum tol = 0;
-  std::string field = "";
-  EXPECT_LE(CompareModel(model.get(), expected.get(), field), tol)
-            << "Expected and attached models are different!\n"
-            << "Different field: " << field << '\n';;
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(XMLReaderTest, InvalidAttach) {
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <asset>
-      <model name="other" file="child.xml"/>
-    </asset>
-    <worldbody>
-      <body name="parent">
-        <joint name="joint1"/>
-        <geom size="2"/>
-        <attach model="other" body="body" prefix="_"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <motor name="_actuator" joint="joint1"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco model="child">
-    <worldbody>
-      <body name="body">
-        <joint name="joint2"/>
-        <geom size="1" pos="2 0 0"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <motor name="actuator" joint="joint2"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "child.xml", xml_child, sizeof(xml_child));
-
-  std::array<char, 1024> er;
-  MjModelPtr model =
-      LoadModelFromString(xml_parent, er.data(), er.size(), vfs.get());
-
-  EXPECT_THAT(model.get(), IsNull()) << er.data();
-  EXPECT_THAT(er.data(), HasSubstr("repeated name '_actuator' in actuator"));
-  EXPECT_THAT(er.data(), HasSubstr("Element 'attach'"));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(XMLReaderTest, LookupCompilerOptionWithoutSpecCopy) {
-  static constexpr char child_xml[] = R"(
-  <mujoco>
-    <compiler angle="radian"/>
-
-    <worldbody>
-      <body name="child">
-        <geom type="box" size="1 1 1"/>
-        <joint name="child_joint" range="-3.1415926 3.1415926"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char parent_xml[] = R"(
-  <mujoco>
-    <asset>
-      <model name="child" file="child.xml"/>
-    </asset>
-
-    <worldbody>
-      <body name="parent">
-        <geom type="box" size="1 1 1"/>
-        <joint name="parent_joint" range="-180 180"/>
-        <attach model="child" body="child" prefix="child_"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "child.xml", child_xml, sizeof(child_xml));
-  mj_addBufferVFS(vfs.get(), "parent.xml", parent_xml, sizeof(parent_xml));
-
-  std::array<char, 1024> error;
-  auto* spec = mj_parseXMLString(parent_xml, vfs.get(), error.data(),
-                                 error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  mjModel* model = mj_compile(spec, vfs.get());
-  EXPECT_THAT(model, NotNull());
-  EXPECT_THAT(model->njnt, 2);
-  EXPECT_NEAR(model->jnt_range[0], -3.14159, 1e-5);
-  EXPECT_NEAR(model->jnt_range[1], 3.14159, 1e-5);
-  EXPECT_NEAR(model->jnt_range[2], -3.14159, 1e-5);
-  EXPECT_NEAR(model->jnt_range[3], 3.14159, 1e-5);
-
-  mjSpec* copied_spec = mj_copySpec(spec);
-  ASSERT_THAT(copied_spec, NotNull());
-  mjModel* copied_model = mj_compile(copied_spec, vfs.get());
-  EXPECT_THAT(copied_model, NotNull());
-  EXPECT_THAT(copied_model->njnt, 2);
-  EXPECT_NEAR(copied_model->jnt_range[0], -3.14159, 1e-5);
-  EXPECT_NEAR(copied_model->jnt_range[1], 3.14159, 1e-5);
-  EXPECT_NEAR(copied_model->jnt_range[2], -3.14159, 1e-5);
-  EXPECT_NEAR(copied_model->jnt_range[3], 3.14159, 1e-5);
-
-  mj_deleteSpec(spec);
-  mj_deleteSpec(copied_spec);
-  mj_deleteModel(model);
-  mj_deleteModel(copied_model);
-
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(XMLReaderTest, ResizeKeyframeAfterParsing) {
-  static constexpr char parent_xml[] = R"(
-  <mujoco>
-    <asset>
-      <model name="child" file="child.xml"/>
-    </asset>
-    <worldbody>
-      <attach model="child" body="world" prefix="child_"/>
-      <body name="body">
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <keyframe>
-      <key name="key" qpos="1"/>
-    </keyframe>
-  </mujoco>
-  )";
-
-  static constexpr char child_xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="body">
-        <joint name="joint"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "child.xml", child_xml, sizeof(child_xml));
-
-  std::array<char, 1024> error;
-  MjModelPtr m =
-      LoadModelFromString(parent_xml, error.data(), error.size(), vfs.get());
-  EXPECT_THAT(m.get(), NotNull()) << error.data();
-  mj_deleteVFS(vfs.get());
-}
-
-// ----------------------- test camera parsing ---------------------------------
-
-TEST_F(XMLReaderTest, CameraInvalidFovyAndSensorsize) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <camera fovy="1" sensorsize="1 1" resolution="100 100"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("at most one of 'fovy', 'sensorsize'"));
-  EXPECT_THAT(error.data(), HasSubstr("line 6"));
-}
-
-TEST_F(XMLReaderTest, CameraPrincipalRequiresSensorsize) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <camera principal="1 1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("focal/principal require sensorsize"));
-  EXPECT_THAT(error.data(), HasSubstr("line 6"));
-}
-
-TEST_F(XMLReaderTest, CameraSensorsizeRequiresResolution) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <camera sensorsize="1 1" resolution="0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(m.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("requires positive resolution"));
-  EXPECT_THAT(error.data(), HasSubstr("line 6"));
-}
-
-// ----------------------- test inertia parsing --------------------------------
-
-TEST_F(XMLReaderTest, InvalidInertialOrientation) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <inertial pos="0 0 0" mass="1" quat="1 0 0 0" fullinertia="1 1 1 0 0 0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("at most one of 'fullinertia', 'quat', 'axisangle', "
-                "'xyaxes', 'zaxis', 'euler' can be specified"));
-}
-
-TEST_F(XMLReaderTest, ReadShellParameter) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example_mesh"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="0 2 1  2 0 3" inertia="shell"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="example_mesh"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-}
-
-// ----------------------- test builtin mesh parsing ---------------------------
-
-TEST_F(XMLReaderTest, ReadWedgeMesh) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="wedge" builtin="wedge" params="25 25 180 90 0"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="wedge"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-}
-
-TEST_F(XMLReaderTest, BuiltinAndFile) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="wedge" builtin="wedge" vertex="0 0 0 1 0 0 0 1 0 0 1 0"
-            params="25 25 180 90 0"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="wedge"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("at most one of 'builtin', 'vertex' can be specified"));
-}
-
-TEST_F(XMLReaderTest, MakePlateNoParameters) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="plate" builtin="plate"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
-    </worldbody>
-  </mujoco>)";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("required attribute missing: 'params'"));
-}
-
-TEST_F(XMLReaderTest, MakePlateTooFewParameters) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="plate" builtin="plate" params="1"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
-    </worldbody>
-  </mujoco>)";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("Plate builtin mesh type requires 2 parameters"));
-}
-
-TEST_F(XMLReaderTest, MakePlateInvalidParameters) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="plate" builtin="plate" params="-1 -1"/>
-    </asset>
-    <worldbody>
-      <geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
-    </worldbody>
-  </mujoco>)";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("resolutions must be positive"));
-}
-
-// ----------------------- test skin parsing --------------------------------
-
-TEST_F(XMLReaderTest, ReadsSkinGroups) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="1 -1 .6" name="B0_parent">
-        <flexcomp name="B0" type="grid" count="4 4 1" spacing=".2 .2 .2" group="2" radius=".1" dim="2">
-          <edge equality="true"/>
-          <contact internal="false" selfcollide="none"/>
-        </flexcomp>
-      </body>
-      <body pos="-1 1 .6" name="B1_parent">
-        <flexcomp name="B1" type="grid" count="4 4 1" spacing=".2 .2 .2" group="4" radius=".1" dim="2">
-          <edge equality="true"/>
-          <contact internal="false" selfcollide="none"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-    <deformable>
-      <skin name="B0Skin" group="4" rgba="1 1 0 1" inflate="0.1"
-        vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
-                0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
-                0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
-        face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8
-              12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18
-              22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29
-              28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8
-              28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1
-              2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
-        <bone body="B0_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
-        <bone body="B0_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
-        <bone body="B0_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
-        <bone body="B0_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
-        <bone body="B0_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
-        <bone body="B0_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
-        <bone body="B0_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
-        <bone body="B0_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
-        <bone body="B0_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
-        <bone body="B0_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
-        <bone body="B0_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
-        <bone body="B0_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
-        <bone body="B0_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
-        <bone body="B0_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
-        <bone body="B0_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
-        <bone body="B0_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
-      </skin>
-      <skin name="B1Skin" group="2" rgba="0 1 1 1" inflate="0.1"
-        vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
-                0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
-                0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
-        face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8
-              12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18
-              22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29
-              28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8
-              28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1
-              2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
-        <bone body="B1_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
-        <bone body="B1_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
-        <bone body="B1_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
-        <bone body="B1_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
-        <bone body="B1_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
-        <bone body="B1_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
-        <bone body="B1_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
-        <bone body="B1_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
-        <bone body="B1_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
-        <bone body="B1_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
-        <bone body="B1_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
-        <bone body="B1_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
-        <bone body="B1_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
-        <bone body="B1_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
-        <bone body="B1_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
-        <bone body="B1_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
-      </skin>
-    </deformable>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  int flexid1 = mj_name2id(model.get(), mjOBJ_FLEX, "B0");
-  int flexid2 = mj_name2id(model.get(), mjOBJ_FLEX, "B1");
-  EXPECT_THAT(model->flex_group[flexid1], 2);
-  EXPECT_THAT(model->skin_group[0], 4);
-  EXPECT_THAT(model->flex_group[flexid2], 4);
-  EXPECT_THAT(model->skin_group[1], 2);
-}
-
-TEST_F(XMLReaderTest, InvalidSkinGroup) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <composite prefix="B0" type="grid" count="6 6 1">
-          <geom size=".1"/>
-          <skin group="6"/>
-        </composite>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("skin group must be between 0 and 5\nElement 'skin', line 7"));
-}
-
-TEST_F(XMLReaderTest, Orthographic) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <visual>
-      <global orthographic="true" fovy="5"/>
-      <map znear="0.01"/>
-    </visual>
-
-    <default>
-      <camera projection="orthographic"/>
-    </default>
-
-    <worldbody>
-      <camera name="fovy=1" pos=".5 .5 2" projection="orthographic" fovy="1"/>
-      <camera name="fovy=2" pos="0 0 2" fovy="2"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull()) << error.data();
-
-  EXPECT_EQ(model->vis.global.orthographic, 1);
-  EXPECT_EQ(model->cam_projection[0], mjPROJ_ORTHOGRAPHIC);
-  EXPECT_EQ(model->cam_projection[1], mjPROJ_ORTHOGRAPHIC);
-  EXPECT_EQ(model->cam_fovy[0], 1);
-  EXPECT_EQ(model->cam_fovy[1], 2);
-}
-
-// ------------- test height-field parsing -------------------------------------
-
-using HfieldParsingTest = MujocoTest;
-
-TEST_F(HfieldParsingTest, NoData) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="hf" nrow="4" ncol="3" size="0.5 0.5 1 0.1"/>
-    </asset>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->hfield_nrow[0], 4);
-  EXPECT_EQ(model->hfield_ncol[0], 3);
-  EXPECT_EQ(model->hfield_size[0], 0.5);
-  EXPECT_EQ(model->hfield_size[1], 0.5);
-  EXPECT_EQ(model->hfield_size[2], 1);
-  EXPECT_MJTNUM_EQ(model->hfield_size[3], 0.1);
-}
-
-TEST_F(HfieldParsingTest, HasDataBadSize) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="hf" nrow="3" ncol="2" size="0.5 0.5 1 0.1"
-              elevation="1 2
-                         3 4
-                         5 6 7"/>
-    </asset>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("data length must match nrow*ncol"));
-  EXPECT_THAT(error.data(), HasSubstr("line 4"));
-}
-
-TEST_F(HfieldParsingTest, HasData) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="hf" nrow="3" ncol="2" size="0.5 0.5 1 0.1"
-              elevation="1 2
-                         3 4
-                         5 6"/>
-    </asset>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->hfield_nrow[0], 3);
-  EXPECT_EQ(model->hfield_ncol[0], 2);
-  EXPECT_EQ(model->hfield_size[0], 0.5);
-  EXPECT_EQ(model->hfield_size[1], 0.5);
-  EXPECT_EQ(model->hfield_size[2], 1);
-  EXPECT_MJTNUM_EQ(model->hfield_size[3], 0.1);
-
-  // offset (minimum) and scaling (maximum) from normalizing operation
-  float offset = 1.0;
-  float scale = 6.0 - offset;
-
-  // compare data, note: reverse row order
-  EXPECT_THAT(model->hfield_data[0], FloatEq((5-offset)/scale));
-  EXPECT_THAT(model->hfield_data[1], FloatEq((6-offset)/scale));
-  EXPECT_THAT(model->hfield_data[2], FloatEq((3-offset)/scale));
-  EXPECT_THAT(model->hfield_data[3], FloatEq((4-offset)/scale));
-  EXPECT_THAT(model->hfield_data[4], FloatEq((1-offset)/scale));
-  EXPECT_THAT(model->hfield_data[5], FloatEq((2-offset)/scale));
-}
-
-
-// ------------- test relative frame sensor parsing ----------------------------
-
-using RelativeFrameSensorParsingTest = MujocoTest;
-
-TEST_F(RelativeFrameSensorParsingTest, RefNameButNoType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="reference"/>
-      <body name="sensorized"/>
-    </worldbody>
-    <sensor>
-      <framepos objname="sensorized" objtype="body" refname="reference"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("attributes 'reftype', 'refname' must be specified together"));
-  EXPECT_THAT(error.data(), HasSubstr("line 8"));
-}
-
-TEST_F(RelativeFrameSensorParsingTest, RefTypeButNoName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="reference"/>
-      <body name="sensorized"/>
-    </worldbody>
-    <sensor>
-      <framepos objname="sensorized" objtype="body" reftype="site"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("attributes 'reftype', 'refname' must be specified together"));
-  EXPECT_THAT(error.data(), HasSubstr("line 8"));
-}
-
-// ------------- test actlimited parsing ---------------------------------------
-
-using ActuatorTest = MujocoTest;
-
-TEST_F(ActuatorTest, InvalidActlimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="hinge" actlimited="invalid" actrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("unrecognized attribute"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
-}
-
-TEST_F(ActuatorTest, IncompleteActlimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" actlimited="true" dyntype="filter" actrange="-1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("attribute 'actrange' does not have enough data"));
-}
-
-TEST_F(ActuatorTest, ReadsByte) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" dyntype="filter" actlimited="true" actrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_EQ(*(model->actuator_actlimited), true);
-}
-
-// ---------------- test actuator parsing --------------------------------------
-
-using ActuatorParseTest = MujocoTest;
-
-TEST_F(ActuatorParseTest, PositionTimeconst) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" timeconst="2"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  ASSERT_NEAR(model->actuator_dynprm[0], 2.0, 1e-6);
-  EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_FILTEREXACT));
-}
-
-TEST_F(ActuatorParseTest, PositionTimeconstInheritrange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" range="-1 1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" inheritrange="1" timeconst="2"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-}
-
-TEST_F(ActuatorParseTest, PositionTimeconstDefault) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <position timeconst="1"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  ASSERT_NEAR(model->actuator_dynprm[0], 1.0, 1e-6);
-  EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_FILTEREXACT));
-}
-
-TEST_F(ActuatorParseTest, PositionTimeconstDefaultOverride) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <position timeconst="1"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" timeconst="0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_FALSE(model->actuator_dynprm[0]);
-  EXPECT_THAT(model->actuator_dyntype[0], Eq(mjDYN_NONE));
-}
-
-TEST_F(ActuatorParseTest, ReadsDamper) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="jnt" ctrlrange="0 1"/>
-      <general joint="jnt" ctrllimited="true" ctrlrange="0 1" gaintype="affine" biastype="none"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_THAT(model->actuator_gaintype[0], Eq(mjGAIN_AFFINE));
-  EXPECT_THAT(model->actuator_gaintype[1], Eq(mjGAIN_AFFINE));
-  EXPECT_THAT(model->actuator_biastype[0], Eq(mjBIAS_NONE));
-  EXPECT_THAT(model->actuator_biastype[1], Eq(mjBIAS_NONE));
-}
-
-TEST_F(ActuatorParseTest, DamperRequiresPositiveDamping) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="jnt" kv="-1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("damping coefficient cannot be negative"));
-}
-
-TEST_F(ActuatorParseTest, DamperRequiresControlRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10" limited="true"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="jnt" kv="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid control range"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
-}
-
-TEST_F(ActuatorParseTest, DamperPositiveControlRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="-10 10"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="jnt" kv="1" ctrlrange="-1 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("control range cannot be negative"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
-}
-
-TEST_F(ActuatorParseTest, ReadsPositionIntvelKv) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" kv="2"/>
-      <intvelocity joint="jnt" actrange="-1 1" kv="3"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_THAT(model->actuator_biasprm[0*mjNBIAS + 2], Eq(-2.0));
-  EXPECT_THAT(model->actuator_biasprm[1*mjNBIAS + 2], Eq(-3.0));
-}
-
-TEST_F(ActuatorParseTest, RequirePositiveKv) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" kv="-2"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("kv cannot be negative"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
-}
-
-TEST_F(ActuatorParseTest, PositionIntvelocityVelocityDefaultsPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="position">
-        <position kp="3" kv="4" inheritrange="2"/>
-      </default>
-      <default class="intvelocity">
-        <intvelocity kp="5" kv="6" inheritrange="0.5"/>
-      </default>
-      <default class="velocity">
-        <velocity kv="7"/>
-      </default>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="0 2"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" class="position"/>
-      <intvelocity joint="jnt" class="intvelocity"/>
-      <velocity joint="jnt" class="velocity"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_gainprm[0*mjNGAIN + 0], 3.0);
-  EXPECT_EQ(model->actuator_biasprm[0*mjNBIAS + 1], -3.0);
-  EXPECT_EQ(model->actuator_biasprm[0*mjNBIAS + 2], -4.0);
-  EXPECT_EQ(model->actuator_gainprm[1*mjNGAIN + 0], 5.0);
-  EXPECT_EQ(model->actuator_biasprm[1*mjNBIAS + 1], -5.0);
-  EXPECT_EQ(model->actuator_biasprm[1*mjNBIAS + 2], -6.0);
-  EXPECT_EQ(model->actuator_gainprm[2*mjNGAIN + 0], 7.0);
-  EXPECT_EQ(model->actuator_biasprm[2*mjNBIAS + 1], 0.0);
-  EXPECT_EQ(model->actuator_biasprm[2*mjNBIAS + 2], -7.0);
-  for (int i = 0; i < model->nu; i++) {
-    for (int j = 3; j < mjNBIAS; j++) {
-      EXPECT_EQ(model->actuator_biasprm[i*mjNBIAS + j], 0.0);
-    }
-    for (int j = 3; j < mjNGAIN; j++) {
-      EXPECT_EQ(model->actuator_gainprm[i*mjNGAIN + j], 0.0);
-    }
-  }
-  EXPECT_EQ(model->actuator_ctrlrange[0*2 + 0], -1.0);
-  EXPECT_EQ(model->actuator_ctrlrange[0*2 + 1], 3.0);
-  EXPECT_EQ(model->actuator_actrange[1*2 + 0], 0.5);
-  EXPECT_EQ(model->actuator_actrange[1*2 + 1], 1.5);
-}
-
-
-TEST_F(ActuatorParseTest, IntvelocityCheckEquivalence) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <intvelocity joint="hinge" kp="2.5" actrange="-1.57 1.57"/>
-      <general joint="hinge" actlimited="true" actrange="-1.57 1.57"
-      dyntype="integrator" biastype="affine" gainprm="2.5" biasprm="0 -2.5 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  // same actlimited
-  EXPECT_EQ(model->actuator_actlimited[0], 1);
-  EXPECT_EQ(model->actuator_actlimited[1], 1);
-  // same dyntype
-  EXPECT_EQ(model->actuator_dyntype[0], mjDYN_INTEGRATOR);
-  EXPECT_EQ(model->actuator_dyntype[1], mjDYN_INTEGRATOR);
-  // same biastype
-  EXPECT_EQ(model->actuator_biastype[0], mjBIAS_AFFINE);
-  EXPECT_EQ(model->actuator_biastype[1], mjBIAS_AFFINE);
-  // same gaintype
-  EXPECT_EQ(model->actuator_gaintype[0], mjGAIN_FIXED);
-  EXPECT_EQ(model->actuator_gaintype[1], mjGAIN_FIXED);
-  // same gainprm
-  EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 2.5);
-  EXPECT_DOUBLE_EQ(model->actuator_gainprm[mjNGAIN], 2.5);
-  // same biasprm
-  EXPECT_DOUBLE_EQ(model->actuator_biasprm[0], 0.0);
-  EXPECT_DOUBLE_EQ(model->actuator_biasprm[1], -2.5);
-  EXPECT_DOUBLE_EQ(model->actuator_biasprm[2], 0.0);
-  EXPECT_DOUBLE_EQ(model->actuator_biasprm[mjNBIAS], 0.0);
-  EXPECT_DOUBLE_EQ(model->actuator_biasprm[mjNBIAS + 1], -2.5);
-  EXPECT_DOUBLE_EQ(model->actuator_biasprm[mjNBIAS + 2], 0.0);
-  // same actrange
-  EXPECT_MJTNUM_EQ(model->actuator_actrange[0 + 0], -1.57);
-  EXPECT_MJTNUM_EQ(model->actuator_actrange[0 + 1], 1.57);
-  EXPECT_MJTNUM_EQ(model->actuator_actrange[0 + 2], -1.57);
-  EXPECT_MJTNUM_EQ(model->actuator_actrange[0 + 3], 1.57);
-}
-
-TEST_F(ActuatorParseTest, IntvelocityCheckDefaultsIfNotSpecified) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <intvelocity joint="hinge" actrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  // check that by default kp = 1
-  EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 1.0);
-  // check that biasprm is (0, -1, 0)
-  EXPECT_DOUBLE_EQ(model->actuator_biasprm[0], 0.0);
-  EXPECT_DOUBLE_EQ(model->actuator_biasprm[1], -1.0);
-  EXPECT_DOUBLE_EQ(model->actuator_biasprm[2], 0.0);
-}
-
-TEST_F(ActuatorParseTest, IntvelocityNoActrangeIsValid) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <intvelocity joint="hinge"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  // actlimited resolves to false when no actrange is provided
-  EXPECT_EQ(model->actuator_actlimited[0], 0);
-}
-
-TEST_F(ActuatorParseTest, IntvelocityDefaultsPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <intvelocity kp="5"/>
-      <default class="withactrange">
-        <intvelocity kp="1" actrange="-1 1"/>
-      </default>
-    </default>
-    <worldbody>
-      <body>
-        <joint name="hinge1"/>
-        <joint name="hinge2"/>
-        <geom type="box" size=".025 .025 .025"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <intvelocity joint="hinge1" actrange="0 1"/>
-      <intvelocity joint="hinge2" class="withactrange"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_DOUBLE_EQ(model->actuator_gainprm[0], 5);
-  EXPECT_DOUBLE_EQ(model->actuator_gainprm[mjNGAIN], 1);
-  EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 0], 0);
-  EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 1], 1);
-  EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 2], -1);
-  EXPECT_DOUBLE_EQ(model->actuator_actrange[0 + 3], 1);
-}
-
-TEST_F(ActuatorParseTest, AdhesionDefaultsPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <adhesion ctrlrange="0 3"/>
-    </default>
-    <worldbody>
-      <body name="sphere">
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <adhesion body="sphere"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_EQ(model->actuator_ctrlrange[0], 0);
-  EXPECT_EQ(model->actuator_ctrlrange[1], 3);
-}
-
-TEST_F(ActuatorParseTest, ErrorBadAdhesionDefaults) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <adhesion ctrlrange="-1 0"/>
-    </default>
-    <worldbody>
-      <body name="sphere">
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <adhesion body="sphere"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("adhesion control range cannot be negative"));
-}
-
-// make sure range requirement is not enforced at parse time
-TEST_F(ActuatorParseTest, DampersDontRequireRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <damper ctrlrange="0 2"/>
-    </default>
-    <worldbody>
-      <body name="sphere">
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="hinge"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_EQ(model->actuator_ctrlrange[0], 0);
-  EXPECT_EQ(model->actuator_ctrlrange[1], 2);
-}
-
-TEST_F(ActuatorParseTest, DamperInheritsKv) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <damper kv="5" ctrlrange="0 2"/>
-    </default>
-    <worldbody>
-      <body name="sphere">
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <damper joint="hinge"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_gainprm[2], -5.0);
-}
-
-// adhesion actuators inherit from general defaults
-TEST_F(ActuatorParseTest, AdhesionInheritsFromGeneral) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <general dyntype="filter" dynprm="123" gainprm="5"/>
-      <adhesion ctrlrange="0 2"/>
-    </default>
-    <worldbody>
-      <body name="sphere">
-        <geom name="sphere" size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <adhesion name="adhere" body="sphere"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  // expect that gainprm was inherited from the general default
-  EXPECT_EQ(model->actuator_gainprm[0], 5);
-  // expect that dynprm was inherited from the general default
-  EXPECT_EQ(model->actuator_dynprm[0], 123);
-  // expect that dyntype was inherited from the general default
-  EXPECT_EQ(model->actuator_dyntype[0], mjDYN_FILTER);
-}
-
-TEST_F(ActuatorParseTest, DCMotorBasicParsing) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0" damping="1 2 3" armature="0.1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_dyntype[0], mjDYN_DCMOTOR);
-  EXPECT_EQ(model->actuator_gaintype[0], mjGAIN_DCMOTOR);
-  EXPECT_EQ(model->actuator_biastype[0], mjBIAS_DCMOTOR);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[0], 2.0);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[1], 0.05);
-  EXPECT_MJTNUM_EQ(model->actuator_damping[0], 1.0);
-  EXPECT_MJTNUM_EQ(model->actuator_dampingpoly[0], 2.0);
-  EXPECT_MJTNUM_EQ(model->actuator_dampingpoly[1], 3.0);
-  EXPECT_MJTNUM_EQ(model->actuator_armature[0], 0.1);
-}
-
-TEST_F(ActuatorParseTest, DCMotorNominalDerivation) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <!-- no damping: Ke = vn/omega0 -->
-      <dcmotor joint="jnt" nominal="12 0.6 600"/>
-      <!-- B > 0, R given: quadratic -->
-      <dcmotor joint="jnt" nominal="12 0 600" resistance="0.4" damping="0.0001"/>
-      <!-- B > 0, R from nominal: linear -->
-      <dcmotor joint="jnt" nominal="12 0.6 600" damping="0.0001"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  // actuator 0: B = 0, Ke = vn/omega0
-  {
-    double K = 12.0 / 600.0;
-    double R = K * 12.0 / 0.6;
-    EXPECT_MJTNUM_EQ(model->actuator_gainprm[0*mjNGAIN + 0], R);
-    EXPECT_MJTNUM_EQ(model->actuator_gainprm[0*mjNGAIN + 1], K);
-  }
-
-  // actuator 1: B > 0, R given, quadratic Ke^2*omega0 - Ke*vn + R*B*omega0 = 0
-  {
-    double B = 0.0001, R = 0.4, vn = 12.0, omega0 = 600.0;
-    double disc = vn*vn - 4*R*B*omega0*omega0;
-    double Ke = (vn + sqrt(disc)) / (2*omega0);
-    EXPECT_MJTNUM_EQ(model->actuator_gainprm[1*mjNGAIN + 0], R);
-    EXPECT_MJTNUM_EQ(model->actuator_gainprm[1*mjNGAIN + 1], Ke);
-  }
-
-  // actuator 2: B > 0, R from nominal, Ke = vn/omega0 - vn*B/tau0
-  {
-    double B = 0.0001, vn = 12.0, tau0 = 0.6, omega0 = 600.0;
-    double Ke = vn / omega0 - vn*B / tau0;
-    double R = Ke * vn / tau0;
-    EXPECT_MJTNUM_EQ(model->actuator_gainprm[2*mjNGAIN + 0], R);
-    EXPECT_MJTNUM_EQ(model->actuator_gainprm[2*mjNGAIN + 1], Ke);
-  }
-}
-
-TEST_F(ActuatorParseTest, DCMotorSaturation) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0"
-               saturation="1.5 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_forcelimited[0], 1);
-  EXPECT_MJTNUM_EQ(model->actuator_forcerange[0], -1.5);
-  EXPECT_MJTNUM_EQ(model->actuator_forcerange[1], 1.5);
-}
-
-
-TEST_F(ActuatorParseTest, DCMotorInheritedDefaults) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <dcmotor motorconst="1.0" resistance="1.0" controller="2.0 0.5 0.1 10.0 5.0 12.0"
-      saturation="0 0 0" inductance="0 0.01" input="pos vel"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  // check motorconst and resistance are overridden by instance
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[1], 0.05);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[0], 2.0);
-
-  // check controller gains (kp, ki, kd) in gainprm[4:6]
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[4], 2.0);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[5], 0.5);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[6], 0.1);
-
-  // check controller limits (slewmax, Imax) in dynprm[7,8]
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[7], 10.0);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[8], 5.0);
-
-  // check Vmax in gainprm[7]
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[7], 12.0);
-
-  // check setpoint input block (gainprm[8] is retired)
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[8], 0.0);
-  EXPECT_EQ(model->actuator_ctrlnum[0], 2);
-
-  // check inductance (te) in dynprm[0]
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[0], 0.01);
-}
-
-TEST_F(ActuatorParseTest, DCMotorControllerFull) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0" input="pos vel"
-               controller="1.0 2.0 3.0 4.0 5.0 6.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[4], 1.0);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[5], 2.0);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[6], 3.0);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[7], 4.0);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[8], 5.0);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[7], 6.0);
-}
-
-TEST_F(ActuatorParseTest, DCMotorLuGreRemapping) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0" damping="0.01"
-               lugre="100 1 0.5 0.7 10"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[5], 100);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[6], 1);
-  EXPECT_MJTNUM_EQ(model->actuator_damping[0], 0.01);
-  EXPECT_MJTNUM_EQ(model->actuator_biasprm[3], 0.5);
-  EXPECT_MJTNUM_EQ(model->actuator_biasprm[4], 0.7);
-  EXPECT_MJTNUM_EQ(model->actuator_biasprm[5], 10);
-}
-
-TEST_F(ActuatorParseTest, DCMotorLuGreInheritedDefaults) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <dcmotor motorconst="0.05" resistance="2.0" damping="0.01" lugre="100 1 0.5 0.7 10"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_MJTNUM_EQ(model->actuator_damping[0], 0.01);
-}
-
-TEST_F(ActuatorParseTest, DCMotorActdimStateless) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_actnum[0], 0);
-  EXPECT_EQ(model->actuator_actadr[0], -1);
-}
-
-TEST_F(ActuatorParseTest, DCMotorActdimCurrentOnly) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0"
-               inductance="0.001 0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_actnum[0], 1);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[0], 0.001 / 2.0);
-}
-
-TEST_F(ActuatorParseTest, DCMotorActdimThermalOnly) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0"
-               thermal="10 5 0 0 0 25"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_actnum[0], 1);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[2], 10);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[3], 5);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[4], 25);
-}
-
-TEST_F(ActuatorParseTest, DCMotorActdimLuGreOnly) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0"
-               lugre="100 1 0.5 0.7 10"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_actnum[0], 1);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[5], 100);
-}
-
-TEST_F(ActuatorParseTest, DCMotorActdimAllThree) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0"
-               inductance="0.001 0"
-               thermal="10 5 0 0 0 25"
-               lugre="100 1 0.5 0.7 10"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_actnum[0], 3);
-}
-
-TEST_F(ActuatorParseTest, DCMotorMissingKError) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("motor constant K must be positive"));
-}
-
-TEST_F(ActuatorParseTest, DCMotorDefaultsPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <dcmotor motorconst="0.03" resistance="1.5"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[0], 1.5);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[1], 0.03);
-}
-
-TEST_F(ActuatorParseTest, DCMotorMotorconstGeometricMean) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.03 0.05" resistance="2.0"/>
-      <dcmotor joint="jnt" motorconst="0.03" resistance="2.0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  double K = std::sqrt(0.03 * 0.05);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[0], 2.0);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[1], K);
-  EXPECT_MJTNUM_EQ(model->actuator_gainprm[mjNGAIN + 1], 0.03);
-}
-
-TEST_F(ActuatorParseTest, ActdimDefaultsPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <general actdim="2"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" dyntype="user"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  // expect that actdim was inherited from the general default
-  EXPECT_EQ(model->actuator_actnum[0], 2);
-}
-
-TEST_F(ActuatorParseTest, MusclesParseSmoothdyn) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge" limited="true" range="-1 1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <muscle joint="hinge"/>
-      <muscle joint="hinge" tausmooth="0.4"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_dynprm[2], 0.0);
-  EXPECT_MJTNUM_EQ(model->actuator_dynprm[mjNDYN + 2], 0.4);
-}
-
-TEST_F(ActuatorParseTest, MusclesSmoothdynNegative) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge" limited="true" range="-1 1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <muscle joint="hinge" tausmooth="-0.4"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("muscle tausmooth cannot be negative"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
-}
-
-TEST_F(ActuatorParseTest, GroupDisable) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option actuatorgroupdisable="0 3 8 3"/>
-    <!-- note: repeated numbers are okay -->
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_EQ(model->opt.disableactuator, (1<<0) + (1<<3) + (1<<8));
-}
-
-TEST_F(ActuatorParseTest, GroupDisableNegative) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option actuatorgroupdisable="0 -3 5"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("must be non-negative"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(ActuatorParseTest, GroupDisableTooBig) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option actuatorgroupdisable="0 31"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("cannot exceed 30"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-// ------------- test sensor parsing -------------------------------------------
-
-using SensorParseTest = MujocoTest;
-
-TEST_F(SensorParseTest, UserObjTypeNoName) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <sensor>
-      <user dim="1" needstage="vel" objtype="site"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("attributes 'objtype', 'objname' must be specified together"));
-  EXPECT_THAT(error.data(), HasSubstr("line 4"));
-}
-
-TEST_F(SensorParseTest, UserObjNameNoType) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <sensor>
-      <user dim="1" needstage="vel" objname="kevin"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("attributes 'objtype', 'objname' must be specified together"));
-  EXPECT_THAT(error.data(), HasSubstr("line 4"));
-}
-
-TEST_F(SensorParseTest, UserNeedstageAcc) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <sensor>
-      <user dim="1" needstage="vel"/>
-      <user dim="1"/>
-      <user dim="1" needstage="pos"/>
-    </sensor>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->sensor_needstage[0], mjSTAGE_VEL);
-  EXPECT_EQ(model->sensor_needstage[1], mjSTAGE_ACC);
-  EXPECT_EQ(model->sensor_needstage[2], mjSTAGE_POS);
-}
-
-// ------------- test general parsing ------------------------------------------
-
-TEST_F(XMLReaderTest, ZnearZeroNotAllowed) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <visual>
-      <map znear="0"/>
-    </visual>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("znear must be strictly positive"));
-  EXPECT_THAT(error.data(), HasSubstr("line 4"));
-}
-
-TEST_F(XMLReaderTest, ZnearNegativeNotAllowed) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <visual>
-      <map znear="-1"/>
-    </visual>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("znear must be strictly positive"));
-  EXPECT_THAT(error.data(), HasSubstr("line 4"));
-}
-
-TEST_F(XMLReaderTest, ExtentZeroNotAllowed) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <statistic extent="0"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("extent must be strictly positive"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, ExtentNegativeNotAllowed) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <statistic extent="-1"/>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("extent must be strictly positive"));
-  EXPECT_THAT(error.data(), HasSubstr("line 3"));
-}
-
-TEST_F(XMLReaderTest, LightRadius) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="r1">
-        <light bulbradius="1"/>
-      </default>
-    </default>
-    <worldbody>
-      <light/>
-      <light class="r1"/>
-      <light class="r1" bulbradius="2"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_FLOAT_EQ(model->light_bulbradius[0], 0.02);
-  EXPECT_FLOAT_EQ(model->light_bulbradius[1], 1);
-  EXPECT_FLOAT_EQ(model->light_bulbradius[2], 2);
-}
-
-TEST_F(XMLReaderTest, CameraOutput) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <camera name="default_cam"/>
-      <camera name="single_cam" output="depth"/>
-      <camera name="multi_cam" output="rgb normal segmentation"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->ncam, 3);
-  EXPECT_EQ(model->cam_output[0], mjCAMOUT_RGB);  // default
-  EXPECT_EQ(model->cam_output[1], mjCAMOUT_DEPTH);
-  EXPECT_EQ(model->cam_output[2],
-            mjCAMOUT_RGB | mjCAMOUT_NORMAL | mjCAMOUT_SEG);
-}
-
-TEST_F(XMLReaderTest, CameraOutputDefault) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="multi">
-        <camera output="depth distance"/>
-      </default>
-    </default>
-    <worldbody>
-      <camera name="default_cam"/>
-      <camera name="class_cam" class="multi"/>
-      <camera name="override_cam" class="multi" output="normal"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->ncam, 3);
-  EXPECT_EQ(model->cam_output[0], mjCAMOUT_RGB);  // main default
-  EXPECT_EQ(model->cam_output[1], mjCAMOUT_DEPTH | mjCAMOUT_DIST);
-  EXPECT_EQ(model->cam_output[2], mjCAMOUT_NORMAL);
-}
-
-// ------------- test delay attribute parsing ----------------------------------
-
-TEST_F(ActuatorParseTest, ActuatorDelayParsed) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="1"/>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt1"/>
-        <joint name="jnt2"/>
-        <joint name="jnt3"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt1"/>
-      <motor joint="jnt2" delay="3" nsample="3" interp="zoh"/>
-      <motor joint="jnt3" delay="10" nsample="10" interp="cubic"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  ASSERT_EQ(model->nu, 3);
-  // actuator_history[2*i] = nsample, actuator_history[2*i+1] = interp
-  EXPECT_EQ(model->actuator_history[0], 0);   // jnt1 nsample
-  EXPECT_EQ(model->actuator_history[1], 0);   // jnt1 interp (no buffer, def 0)
-  EXPECT_EQ(model->actuator_history[2], 3);   // jnt2 nsample
-  EXPECT_EQ(model->actuator_history[3], 0);   // jnt2 interp (ZOH)
-  EXPECT_EQ(model->actuator_history[4], 10);  // jnt3 nsample
-  EXPECT_EQ(model->actuator_history[5], 2);   // jnt3 interp (cubic)
-  EXPECT_EQ(model->actuator_historyadr[0], -1);
-  EXPECT_EQ(model->actuator_historyadr[1], 0);
-  EXPECT_EQ(model->actuator_historyadr[2], 8);  // 2+2*3 = 8
-}
-
-TEST_F(ActuatorParseTest, ActuatorDelayDefault) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option timestep="1"/>
-    <default>
-      <motor delay="5" nsample="5"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt1"/>
-        <joint name="jnt2"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt1"/>
-      <motor joint="jnt2" delay="0" nsample="0"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  ASSERT_EQ(model->nu, 2);
-  EXPECT_EQ(model->actuator_history[0], 5);
-  EXPECT_EQ(model->actuator_history[2], 0);
-  EXPECT_EQ(model->actuator_historyadr[0], 0);
-  EXPECT_EQ(model->actuator_historyadr[1], -1);
-}
-
-TEST_F(ActuatorParseTest, ActuatorDelayRequiresHistory) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt" delay="1"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("setting delay > 0 without a history buffer"));
-}
-
-TEST_F(ActuatorParseTest, DampingArmatureDefaultsPropagate) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <motor damping="3" armature="0.5"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="jnt"/>
-    </actuator>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  EXPECT_EQ(model->actuator_damping[0], 3);
-  EXPECT_EQ(model->actuator_armature[0], 0.5);
-}
-
-TEST_F(XMLReaderTest, AttachConflictXMLWarning) {
-  mock_warning_handler.ExpectWarnings();
-  std::array<char, 1024> error;
-  std::string path = GetTestDataFilePath("xml/testdata/parent_warn.xml");
-  mjSpec* spec = mj_parseXML(path.c_str(), nullptr, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  // one grouped warning per attach, containing gravity and damper flag
-  // (constraint is only authored by child, not a conflict)
-  EXPECT_EQ(mjs_numWarnings(spec), 1);
-  std::string w = mjs_getWarning(spec, 0);
-  EXPECT_THAT(w, HasSubstr("gravity: parent has 0 0 -10, child has 0 0 0,"
-                           " keeping parent value"));
-  EXPECT_THAT(w, HasSubstr("flag 'Damper'"));
-
-  mjModel* m = mj_compile(spec, nullptr);
-  ASSERT_THAT(m, NotNull());
-  // Gravity should be parent's value (0 0 -10)
-  EXPECT_MJTNUM_EQ(m->opt.gravity[0], 0);
-  EXPECT_MJTNUM_EQ(m->opt.gravity[1], 0);
-  EXPECT_MJTNUM_EQ(m->opt.gravity[2], -10);
-
-  mj_deleteModel(m);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(XMLReaderTest, AttachConflictXMLMerge) {
-  mock_warning_handler.ExpectWarnings();
-  std::array<char, 1024> error;
-  std::string path = GetTestDataFilePath("xml/testdata/parent_merge.xml");
-  mjSpec* spec = mj_parseXML(path.c_str(), nullptr, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  // one grouped warning per attach, containing timestep, iterations, and flag
-  EXPECT_GE(mjs_numWarnings(spec), 1);
-  std::string w = mjs_getWarning(spec, 0);
-  EXPECT_THAT(w, HasSubstr("timestep: parent has 0.005, child has 0.002,"
-                           " taking the minimum"));
-  EXPECT_THAT(w, HasSubstr("iterations: parent has 50, child has 100,"
-                           " taking the maximum"));
-
-  mjModel* m = mj_compile(spec, nullptr);
-  ASSERT_THAT(m, NotNull());
-  // Timestep should be min (0.002)
-  EXPECT_MJTNUM_EQ(m->opt.timestep, 0.002);
-  // Iterations should be max (100)
-  EXPECT_EQ(m->opt.iterations, 100);
-
-  mj_deleteModel(m);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(XMLReaderTest, AttachConflictXMLError) {
-  std::array<char, 1024> error;
-  std::string path = GetTestDataFilePath("xml/testdata/parent_error.xml");
-  mjSpec* spec = mj_parseXML(path.c_str(), nullptr, error.data(), error.size());
-
-  // Should fail to parse because of conflict in timestep in error mode
-  EXPECT_THAT(spec, IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("timestep: parent has 0.005, child has 0.002"));
-}
-
-TEST_F(XMLReaderTest, AttachConflictXMLMergeUnmergableError) {
-  std::array<char, 1024> error;
-  std::string path =
-      GetTestDataFilePath("xml/testdata/parent_merge_unmergable.xml");
-  mjSpec* spec = mj_parseXML(path.c_str(), nullptr, error.data(), error.size());
-
-  // Should fail to parse because gravity is unmergeable in merge mode
-  EXPECT_THAT(spec, IsNull());
-  EXPECT_THAT(error.data(),
-              HasSubstr("gravity: parent has 0 0 -10, child has 0 0 0"));
-}
-
-TEST_F(XMLReaderTest, SelfAttach) {
-  static constexpr char xml[] = R"(
-    <mujoco model="self-attach-test">
-      <worldbody>
-        <body name="body1">
-          <geom name="geom1" size="1"/>
-        </body>
-        <body name="body2">
-          <attach body="body1" prefix="attached_"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  mjModel* m = mj_compile(spec, nullptr);
-  ASSERT_THAT(m, NotNull());
-
-  int body2_id = mj_name2id(m, mjOBJ_BODY, "body2");
-  int attached_body1_id = mj_name2id(m, mjOBJ_BODY, "attached_body1");
-
-  EXPECT_GE(body2_id, 0);
-  EXPECT_GE(attached_body1_id, 0);
-  EXPECT_EQ(m->body_parentid[attached_body1_id], body2_id);
-
-  mj_deleteModel(m);
-  mj_deleteSpec(spec);
-}
-
-TEST_F(XMLReaderTest, SelfAttachCollisionError) {
-  static constexpr char xml[] = R"(
-    <mujoco model="self-attach-collision">
-      <worldbody>
-        <body name="body1"/>
-        <body name="attached_body1"/>
-        <body name="body2">
-          <attach body="body1" prefix="attached_"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error.data(), error.size());
-  EXPECT_THAT(spec, IsNull());
-  EXPECT_THAT(
-      error.data(),
-      HasSubstr("cannot self-attach: element attached_body1 already exists"));
-}
-
-TEST_F(XMLReaderTest, SelfAttachMissingError) {
-  static constexpr char xml[] = R"(
-    <mujoco model="self-attach-missing">
-      <worldbody>
-        <body name="body1">
-          <attach body="nonexistent" prefix="attached_"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error.data(), error.size());
-  EXPECT_THAT(spec, IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("could not find body 'nonexistent' in "
-                                      "the current model for self-attachment"));
-}
-
-TEST_F(XMLReaderTest, SelfAttachFrame) {
-  static constexpr char xml[] = R"(
-    <mujoco model="self-attach-frame-test">
-      <worldbody>
-        <frame name="frame1">
-          <body name="body1" pos="-1 0 0">
-            <geom name="geom1" type="box" size="1 1 1"/>
-          </body>
-        </frame>
-        <body name="body2">
-          <attach frame="frame1" prefix="attached_"/>
-        </body>
-      </worldbody>
-    </mujoco>
-  )";
-  std::array<char, 1024> error;
-  mjSpec* spec = mj_parseXMLString(xml, nullptr, error.data(), error.size());
-  ASSERT_THAT(spec, NotNull()) << error.data();
-
-  mjModel* m = mj_compile(spec, nullptr);
-  ASSERT_THAT(m, NotNull()) << mjs_getError(spec);
-
-  int body2_id = mj_name2id(m, mjOBJ_BODY, "body2");
-  int attached_body1_id = mj_name2id(m, mjOBJ_BODY, "attached_body1");
-
-  EXPECT_GE(body2_id, 0);
-  EXPECT_GE(attached_body1_id, 0);
-  EXPECT_EQ(m->body_parentid[attached_body1_id], body2_id);
-
-  mj_deleteModel(m);
-  mj_deleteSpec(spec);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
deleted file mode 100644
index 13585402..00000000
--- a/test/xml/xml_native_writer_test.cc
+++ /dev/null
@@ -1,1778 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for xml/xml_native_writer.cc.
-
-#include <memory>
-#if defined(__unix__) || (defined(__APPLE__) && defined(__MACH__))
-#include <unistd.h>
-#endif
-
-#include <array>
-#include <clocale>
-#include <cstdio>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtype.h>
-#include <mujoco/mujoco.h>
-#include "src/xml/xml_numeric_format.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::ElementsAre;
-using ::testing::FloatEq;
-using ::testing::HasSubstr;
-using ::testing::Not;
-using ::testing::NotNull;
-
-using XMLWriterTest = MujocoTest;
-
-static const char* const kNonRgbTextureXMLPath =
-    "xml/testdata/hfield_png_nonrgb.xml";
-
-TEST_F(XMLWriterTest, EmptyModel) {
-  static constexpr char xml[] = "<mujoco/>";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("default")));
-}
-
-TEST_F(XMLWriterTest, KeepsDCMotorNoInputs) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="jnt"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <dcmotor joint="jnt" motorconst="0.05" resistance="2.0" input="none"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("input=\"none\""));
-
-  // reload: the empty input block survives the round trip
-  MjModelPtr model2 = LoadModelFromString(saved_xml.c_str());
-  ASSERT_THAT(model2.get(), NotNull());
-  EXPECT_EQ(model2->nu, 0);
-  EXPECT_EQ(model2->actuator_ctrlnum[0], 0);
-}
-
-TEST_F(XMLWriterTest, SavesMemory) {
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory=" 1023 "/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml);
-    ASSERT_THAT(model.get(), NotNull());
-    std::string saved_xml = SaveAndReadXml(model.get());
-    EXPECT_THAT(saved_xml, HasSubstr("memory=\"1023\""));
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="1024"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml);
-    ASSERT_THAT(model.get(), NotNull());
-    std::string saved_xml = SaveAndReadXml(model.get());
-    EXPECT_THAT(saved_xml, HasSubstr("memory=\"1K\""));
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="4096"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml);
-    ASSERT_THAT(model.get(), NotNull());
-    std::string saved_xml = SaveAndReadXml(model.get());
-    EXPECT_THAT(saved_xml, HasSubstr("memory=\"4K\""));
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="1048576"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml);
-    ASSERT_THAT(model.get(), NotNull());
-    std::string saved_xml = SaveAndReadXml(model.get());
-    EXPECT_THAT(saved_xml, HasSubstr("memory=\"1M\""));
-  }
-  {
-    static constexpr char xml[] = R"(
-    <mujoco>
-      <size memory="1047552"/>
-    </mujoco>
-    )";
-    MjModelPtr model = LoadModelFromString(xml);
-    ASSERT_THAT(model.get(), NotNull());
-    std::string saved_xml = SaveAndReadXml(model.get());
-    EXPECT_THAT(saved_xml, HasSubstr("memory=\"1023K\""));
-  }
-}
-
-TEST_F(XMLWriterTest, SavesDisableSensor) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option>
-      <flag sensor="disable"/>
-    </option>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("sensor=\"disable\""));
-}
-
-TEST_F(XMLWriterTest, SavesInertial) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler saveinertial="true"/>
-    <worldbody>
-      <body>
-        <geom type="box" size=".05 .05 .05"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("mass=\"1\""));
-}
-
-TEST_F(XMLWriterTest, EmptyUserSensor) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <sensor>
-      <user dim="2" needstage="vel"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("dim=\"2\""));
-  EXPECT_THAT(saved_xml, HasSubstr("needstage=\"vel\""));
-  EXPECT_THAT(saved_xml, HasSubstr("datatype=\"real\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("objtype")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("objname")));
-}
-
-TEST_F(XMLWriterTest, KeepsEmptyClasses) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="empty_referenced"/>
-      <default class="empty_unreferenced"/>
-      <default class="regular">
-        <geom size="0.3"/>
-      </default>
-    </default>
-    <worldbody>
-      <geom class="regular"/>
-      <geom class="empty_referenced" size="0.2"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("default class=\"regular\""));
-  EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_referenced\""));
-  EXPECT_THAT(saved_xml, HasSubstr("default class=\"empty_unreferenced\""));
-}
-
-TEST_F(XMLWriterTest, KeepsExplicitInertial) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="0.2"/>
-        <inertial pos="0 1 2" mass="3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("<inertial pos=\"0 1 2\" mass=\"3\""));
-}
-
-TEST_F(XMLWriterTest, NotAddsInertial) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="0.2"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
-}
-
-TEST_F(XMLWriterTest, KeepsBoundMassInertia) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler boundmass="0.1" boundinertia="0.2"/>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("boundmass=\"0.1\""));
-  EXPECT_THAT(saved_xml, HasSubstr("boundinertia=\"0.2\""));
-}
-
-TEST_F(XMLWriterTest, DropsZeroBoundMassInertia) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler boundmass="0" boundinertia="0"/>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("boundmass")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("boundinertia")));
-}
-
-TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler inertiafromgeom="true"/>
-    <worldbody>
-      <body>
-        <inertial pos="0 1 2" mass="3"/>
-        <geom size="0.2"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("inertial")));
-}
-
-TEST_F(XMLWriterTest, KeepsAutoLimitsFalse) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="false"/>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"false\""));
-}
-
-TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler angle="radian" autolimits="true" />
-    <worldbody>
-      <body>
-        <joint name="hinge" range="-1 1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
-}
-
-TEST_F(XMLWriterTest, KeepsExplicitJointLimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler angle="radian" autolimits="true" />
-    <worldbody>
-      <body>
-        <joint name="hinge" limited="true" range="-1 1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
-  EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
-  EXPECT_THAT(saved_xml, HasSubstr("limited=\"true\""));
-}
-
-TEST_F(XMLWriterTest, KeepsJointLimitedFalseIfAutoLimits) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler angle="radian" autolimits="true" />
-    <worldbody>
-      <body>
-        <joint name="hinge" limited="false" range="-1 1"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\" limited=\"false\""));
-}
-
-TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler angle="radian" autolimits="true" />
-    <worldbody>
-      <body>
-        <joint type="slide"/>
-        <geom size="1"/>
-        <site name="s1"/>
-      </body>
-      <site name="s2"/>
-    </worldbody>
-    <tendon>
-      <spatial range="-1 1">
-        <site site="s1"/>
-        <site site="s2"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
-  EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
-}
-
-TEST_F(XMLWriterTest, KeepsExplicitTendonLimitedIfAutoLimits) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler angle="radian" autolimits="true" />
-    <worldbody>
-      <body>
-        <joint type="slide"/>
-        <geom size="1"/>
-        <site name="s1"/>
-      </body>
-      <site name="s2"/>
-    </worldbody>
-    <tendon>
-      <spatial limited="true" range="-1 1">
-        <site site="s1"/>
-        <site site="s2"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
-  EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
-  EXPECT_THAT(saved_xml, HasSubstr("limited=\"true\""));
-}
-
-TEST_F(XMLWriterTest, KeepsTendonLimitedFalseIfAutoLimits) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler angle="radian" autolimits="true" />
-    <worldbody>
-      <body>
-        <joint type="slide"/>
-        <geom size="1"/>
-        <site name="s1"/>
-      </body>
-      <site name="s2"/>
-    </worldbody>
-    <tendon>
-      <spatial limited="false" range="-1 1">
-        <site site="s1"/>
-        <site site="s2"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("limited=\"false\" range=\"-1 1\""));
-}
-
-TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true" />
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general dyntype="filter" joint="hinge" actrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
-  EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
-}
-
-TEST_F(XMLWriterTest, KeepsExplicitActlimitedIfAutoLimits) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true" />
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general dyntype="filter" joint="hinge" actlimited="true" actrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
-  EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
-  EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"true\""));
-}
-
-TEST_F(XMLWriterTest, KeepsActlimitedFalse) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true" />
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general dyntype="filter" joint="hinge" actlimited="false" actrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("actlimited=\"false\" actrange=\"-1 1\""));
-}
-
-TEST_F(XMLWriterTest, DoesNotKeepInferredCtrllimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true" />
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" ctrlrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("ctrllimited=\"true\"")));
-}
-
-TEST_F(XMLWriterTest, KeepsExplicitCtrllimitedIfAutoLimits) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true" />
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" ctrllimited="true" ctrlrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\""));
-  EXPECT_THAT(saved_xml, HasSubstr("ctrllimited=\"true\""));
-}
-
-TEST_F(XMLWriterTest, KeepsCtrllimitedFalse) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" ctrllimited="false" ctrlrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 1\" ctrllimited=\"false\""));
-}
-
-TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler autolimits="true" />
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" forcerange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
-  EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
-}
-
-TEST_F(XMLWriterTest, KeepsExplicitForcelimited) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" forcelimited="true" forcerange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
-  EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
-  EXPECT_THAT(saved_xml, HasSubstr("forcelimited=\"true\""));
-}
-
-TEST_F(XMLWriterTest, KeepsForcelimitedFalse) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="hinge"/>
-        <geom size="1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" forcelimited="false" forcerange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml,
-              HasSubstr("forcelimited=\"false\" forcerange=\"-1 1\""));
-}
-
-TEST_F(XMLWriterTest, WritesGravComp) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body gravcomp=".25"/>
-      <body/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("gravcomp=\"0.25\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("gravcomp=\"0\"")));
-}
-
-TEST_F(XMLWriterTest, WritesBodyPos) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="1 2 3"/>
-      <body pos="0 0 0"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("pos=\"1 2 3\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("pos=\"0 0 0\"")));
-}
-
-TEST_F(XMLWriterTest, UndefinedMassDensity) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="box" size=".05 .05 .05"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
-}
-
-TEST_F(XMLWriterTest, WritesDefaults) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <geom density="100"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom type="box" size=".05 .05 .05"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
-  EXPECT_THAT(saved_xml, HasSubstr("<geom density=\"100\"/>"));
-}
-
-TEST_F(XMLWriterTest, WritesActuatorDefaults) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="position">
-        <position kp="3" kv="4" />
-      </default>
-      <default class="intvelocity">
-        <intvelocity kp="5" kv="6" />
-      </default>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="0 2"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" class="position"/>
-      <intvelocity joint="jnt" actrange="-1 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
-  EXPECT_THAT(saved_xml,
-              HasSubstr("<general biastype=\"affine\" gainprm=\"3\""));
-}
-
-TEST_F(XMLWriterTest, WritesFrameDefaults) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP() << "Quat values differ in float32 (euler->quat rounding)";
-#endif
-  static constexpr char xml[] = R"(
-  <mujoco model="test">
-    <default>
-      <default class="dframe">
-        <geom size=".1"/>
-      </default>
-    </default>
-
-    <worldbody>
-      <frame name="f1" euler="0 0 30">
-        <geom size=".5" euler="0 0 20"/>
-      </frame>
-
-      <body name="body">
-        <frame pos="0 1 0" name="f2" childclass="dframe">
-          <geom pos="0 1 0"/>
-          <frame pos="0 1 0" name="f3">
-            <frame pos="0 1 0">
-              <body pos="1 0 0">
-                <geom pos="0 0 1"/>
-              </body>
-            </frame>
-          </frame>
-        </frame>
-        <frame>
-          <light pos="0 0 1"/>
-        </frame>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml_expected[] = R"(<mujoco model="test">
-  <compiler angle="radian"/>
-
-  <default>
-    <default class="dframe">
-      <geom size="0.1 0 0"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <body name="body">
-      <frame name="f2" childclass="dframe">
-        <geom pos="0 2 0"/>
-        <frame name="f3" childclass="dframe">
-          <frame childclass="dframe">
-            <body pos="1 3 0">
-              <geom pos="0 0 1"/>
-            </body>
-          </frame>
-        </frame>
-      </frame>
-      <light pos="0 0 1"/>
-    </body>
-    <frame name="f1">
-      <geom size="0.5" quat="0.906308 0 0 0.422618"/>
-    </frame>
-  </worldbody>
-</mujoco>
-)";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  EXPECT_THAT(model.get(), NotNull()) << error.data();
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_STREQ(saved_xml.c_str(), xml_expected);
-}
-
-TEST_F(XMLWriterTest, WritesDensity) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="box" size=".05 .05 .05" density="100"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("density=\"100\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("mass")));
-}
-
-TEST_F(XMLWriterTest, WritesMass) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="box" size=".05 .05 .05" mass="0.1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
-  EXPECT_THAT(saved_xml, HasSubstr("mass=\"0.1\""));
-}
-
-TEST_F(XMLWriterTest, ZeroMass) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom type="box" size=".05 .05 .05" mass="0"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
-  EXPECT_THAT(saved_xml, HasSubstr("mass=\"0\""));
-}
-
-TEST_F(XMLWriterTest, OverwritesDensity) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="0.2" density="100" mass="100"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
-  EXPECT_THAT(saved_xml, HasSubstr("mass=\"100\""));
-}
-
-TEST_F(XMLWriterTest, SaveDefaultMass) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <mesh name="example"
-        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
-        face="2 0 3  0 1 3  1 2 3  0 2 1" />
-    </asset>
-    <default class="main">
-      <geom type="mesh" mass="1"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom mesh="example" size=".1 .2 .3"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  EXPECT_THAT(model.get(), NotNull());
-  std::string content = SaveAndReadXml(model.get());
-  EXPECT_THAT(content, HasSubstr("mass=\"1\""));
-}
-
-TEST_F(XMLWriterTest, UsesTwoSpaces) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("  "));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("    ")));
-}
-
-TEST_F(XMLWriterTest, WritesSkin) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body pos="1 -1 .6" name="B0_parent">
-        <flexcomp name="B0" type="grid" count="4 4 1" spacing=".2 .2 .2" radius=".1" dim="2"/>
-      </body>
-    </worldbody>
-    <deformable>
-      <skin name="B0Skin" rgba="1 1 0 1" inflate="0.1"
-        vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
-                0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
-                0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
-        face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8
-              12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18
-              22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29
-              28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8
-              28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1
-              2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
-        <bone body="B0_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
-        <bone body="B0_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
-        <bone body="B0_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
-        <bone body="B0_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
-        <bone body="B0_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
-        <bone body="B0_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
-        <bone body="B0_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
-        <bone body="B0_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
-        <bone body="B0_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
-        <bone body="B0_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
-        <bone body="B0_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
-        <bone body="B0_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
-        <bone body="B0_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
-        <bone body="B0_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
-        <bone body="B0_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
-        <bone body="B0_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
-      </skin>
-    </deformable>
-  </mujoco>
-  )";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  EXPECT_THAT(model->nskin, 1);
-
-  char error[1024];
-  MjModelPtr mtemp =
-      LoadModelFromString(SaveAndReadXml(model.get()), error, sizeof(error));
-  ASSERT_THAT(mtemp.get(), NotNull()) << error;
-  EXPECT_THAT(mtemp->nskin, 1);
-}
-
-TEST_F(XMLWriterTest, WritesPinnedFlexNodes) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="parent">
-        <flexcomp name="soft" type="box" count="3 3 3" spacing=".03 .01 .01" mass=".5" dof="trilinear">
-          <contact selfcollide="none" internal="false"/>
-          <edge equality="true"/>
-          <pin id="4 5 6 7"/>
-        </flexcomp>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-
-  // pinned nodes have no body of their own: their coordinates in the parent
-  // body frame must be saved or the interpolation grid degenerates on reload
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("nodecoord"));
-
-  char error[1024];
-  MjModelPtr mtemp = LoadModelFromString(saved_xml, error, sizeof(error));
-  ASSERT_THAT(mtemp.get(), NotNull()) << error;
-  EXPECT_EQ(SaveAndReadXml(mtemp.get()), saved_xml);
-}
-
-TEST_F(XMLWriterTest, WritesHfield) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <asset>
-      <hfield name="hf" nrow="3" ncol="2" size="0.5 0.5 1 0.1"
-              elevation="1 2
-                         3 4
-                         5 6"/>
-    </asset>
-  </mujoco>
-  )";
-  // load model
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  int size = model->hfield_nrow[0] * model->hfield_ncol[0];
-  EXPECT_EQ(size, 6);
-
-  // check that the data is normalized and in row-major, bottom-to-top order
-  EXPECT_THAT(AsVector(model->hfield_data, 6),
-              ElementsAre(.8, 1, .4, .6, 0, .2));
-
-  // save and read, compare data
-  MjModelPtr mtemp = LoadModelFromString(SaveAndReadXml(model.get()));
-  ASSERT_THAT(mtemp.get(), NotNull());
-  for (int i = 0; i < size; ++i) {
-    EXPECT_THAT(mtemp->hfield_data[i], FloatEq(model->hfield_data[i]));
-  }
-
-  // modify data, save read and compare
-  model->hfield_data[0] = 0.25;
-  model->hfield_data[1] = 0.0;
-  model->hfield_data[2] = 0.5;
-  model->hfield_data[3] = 0.0;
-  model->hfield_data[4] = 1.0;
-  model->hfield_data[5] = 0.0;
-
-  mtemp = LoadModelFromString(SaveAndReadXml(model.get()));
-  ASSERT_THAT(mtemp.get(), NotNull());
-  for (int i = 0; i < size; ++i) {
-    EXPECT_THAT(mtemp->hfield_data[i], FloatEq(model->hfield_data[i]));
-  }
-}
-
-TEST_F(XMLWriterTest, WritesLight) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="r1">
-        <light bulbradius="1"/>
-      </default>
-    </default>
-    <worldbody>
-      <light/>
-      <light class="r1"/>
-      <light class="r1" bulbradius="2"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-
-  // save and read, compare data
-  MjModelPtr mtemp = LoadModelFromString(SaveAndReadXml(model.get()));
-  EXPECT_EQ(mtemp->nlight, 3);
-  EXPECT_FLOAT_EQ(mtemp->light_bulbradius[0], 0.02);
-  EXPECT_FLOAT_EQ(mtemp->light_bulbradius[1], 1);
-  EXPECT_FLOAT_EQ(mtemp->light_bulbradius[2], 2);
-}
-
-TEST_F(XMLWriterTest, WritesMaterial) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="mat">
-        <material metallic="2" roughness="3"/>
-      </default>
-    </default>
-    <asset>
-      <material name="0" class="mat"/>
-      <material name="1" class="mat" metallic="4" roughness="5"/>
-    </asset>
-  </mujoco>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  // save and read, compare data
-  MjModelPtr mtemp = LoadModelFromString(SaveAndReadXml(model.get()));
-  EXPECT_EQ(mtemp->nmat, 2);
-  EXPECT_EQ(mtemp->mat_metallic[0], 2);
-  EXPECT_EQ(mtemp->mat_metallic[1], 4);
-  EXPECT_EQ(mtemp->mat_roughness[0], 3);
-  EXPECT_EQ(mtemp->mat_roughness[1], 5);
-}
-
-TEST_F(XMLWriterTest, SpringlengthOneValue) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="1"/>
-      <site name="2" pos="0 0 1"/>
-    </worldbody>
-
-    <tendon>
-      <spatial springlength="0.5">
-        <site site="1"/>
-        <site site="2"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("springlength=\"0.5\""));
-}
-
-TEST_F(XMLWriterTest, SpringlengthTwoValues) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <site name="1"/>
-      <site name="2" pos="0 0 1"/>
-    </worldbody>
-
-    <tendon>
-      <spatial springlength="0 0.5">
-        <site site="1"/>
-        <site site="2"/>
-      </spatial>
-    </tendon>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("springlength=\"0 0.5\""));
-}
-
-TEST_F(XMLWriterTest, Actdim) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" dyntype="user" actdim="2"/>
-      <general joint="hinge" dyntype="filter" dynprm="1"/>
-      <motor joint="hinge"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("actdim=\"2\""));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("actdim=\"1\"")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("actdim=\"0\"")));
-}
-
-TEST_F(XMLWriterTest, ActdimDefaults) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <general actdim="2"/>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <general joint="hinge" dyntype="user"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("actdim=\"2\""));
-}
-
-TEST_F(XMLWriterTest, TrimsDefaults) {
-#ifdef mjUSESINGLE
-  GTEST_SKIP() << "float(0.9) != double(0.9), so default-trimming fails";
-#endif
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="1" friction="0.9" solref="0.1" solimp="0.1 0.2"/>
-        <joint name="jnt" type="slide" axis="1 0 0" range="0 2"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" kp="3" kv="4"/>
-      <damper joint="jnt" kv="10" ctrlrange="0 1"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("friction=\"0.9\""));
-  EXPECT_THAT(saved_xml, HasSubstr("solref=\"0.1\""));
-  EXPECT_THAT(saved_xml, HasSubstr("solimp=\"0.1 0.2\""));
-  EXPECT_THAT(saved_xml, HasSubstr("gainprm=\"3\" biasprm=\"0 -3 -4\""));
-  EXPECT_THAT(saved_xml, HasSubstr("gainprm=\"0 0 -10\""));
-}
-
-TEST_F(XMLWriterTest, DoesntSaveGlobal) {
-  static constexpr char xml[] = "<mujoco/>";
-  std::array<char, 1000> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("global")));
-}
-
-TEST_F(XMLWriterTest, InheritrangeSavedAsRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler angle="radian"/>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="slide" type="slide" range="0 2"/>
-      </body>
-      <body>
-        <geom size="1"/>
-        <joint name="hinge" type="hinge" range="-2 0"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="slide" inheritrange="2"/>
-      <intvelocity joint="hinge" inheritrange="0.5"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 3\""));
-  EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1.5 -0.5\""));
-}
-
-TEST_F(XMLWriterTest, InheritedInheritrangeSavedAsRange) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="position">
-        <position kp="3" kv="4" inheritrange="2"/>
-      </default>
-      <default class="intvelocity">
-        <intvelocity kp="5" kv="6" inheritrange="0.5"/>
-      </default>
-    </default>
-    <worldbody>
-      <body>
-        <geom size="1"/>
-        <joint name="jnt" type="slide" range="0 2"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <position joint="jnt" class="position"/>
-      <intvelocity joint="jnt" class="intvelocity"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("inheritrange")));
-  EXPECT_THAT(saved_xml, HasSubstr("ctrlrange=\"-1 3\""));
-  EXPECT_THAT(saved_xml, HasSubstr("actrange=\"0.5 1.5\""));
-}
-
-// check that no precision is lost when saving XMLs with FullFloatPrecision
-TEST_F(XMLWriterTest, SetPrecision) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size="0.1 0.123456 0.1234567812345678"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-
-  // save to XML and re-load, expect to lose precision
-  MjModelPtr model_lo = LoadModelFromString(SaveAndReadXml(model.get()));
-  ASSERT_THAT(model_lo.get(), NotNull());
-
-  EXPECT_EQ(model->geom_size[1], model_lo->geom_size[1]);
-  EXPECT_NE(model->geom_size[2], model_lo->geom_size[2]);
-  {
-    // save to XML and reload with FullFloatPrecision
-    // expect to maintain precision
-    FullFloatPrecision increase_precision;
-    MjModelPtr model_hi = LoadModelFromString(SaveAndReadXml(model.get()));
-    EXPECT_EQ(model->geom_size[2], model_hi->geom_size[2]);
-  }
-}
-
-class XMLWriterLocaleTest : public MujocoTest {
- public:
-  XMLWriterLocaleTest() : old_locale_(std::setlocale(LC_ALL, nullptr)) {}
-
- protected:
-  void SetUp() override {
-    if (!std::setlocale(LC_ALL, "de_DE.UTF-8")) {
-      GTEST_SKIP() << "This system doesn't support the de_DE.UTF-8 locale";
-    }
-  }
-
-  void TearDown() override { std::setlocale(LC_ALL, old_locale_.c_str()); }
-
- private:
-  std::string old_locale_;
-};
-
-TEST_F(XMLWriterLocaleTest, IgnoresLocale) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom type="box" size="0.1 1.23 2.345"/>
-    </worldbody>
-  </mujoco>
-  )";
-
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("0.1 1.23 2.345"));
-
-  // Test that MuJoCo doesn't override locales for subsequent calls.
-  char formatted[8];
-  std::snprintf(formatted, sizeof(formatted), "%.4f", 3.9375);
-  EXPECT_EQ(std::string(formatted), "3,9375");
-}
-
-TEST_F(XMLWriterTest, NonRGBTextures) {
-  const std::string xml_path = GetTestDataFilePath(kNonRgbTextureXMLPath);
-  std::array<char, 1024> error;
-  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
-  ASSERT_THAT(model, NotNull()) << error.data();
-
-  std::string saved_xml = SaveAndReadXml(model);
-  EXPECT_FALSE(saved_xml.empty());
-
-  // check that layers are written correctly
-  EXPECT_THAT(saved_xml, HasSubstr("<material name=\"hfield\">"));
-  EXPECT_THAT(saved_xml, HasSubstr("<layer texture=\"hfield\" role=\"rgb\"/>"));
-  EXPECT_THAT(saved_xml, HasSubstr("<layer texture=\"hfield\" role=\"orm\"/>"));
-  EXPECT_THAT(saved_xml,
-              HasSubstr("<layer texture=\"hfield\" role=\"normal\"/>"));
-
-  mj_deleteModel(model);
-}
-
-// ---------------- test CopyBack functionality (decompiler) ------------------
-using DecompilerTest = MujocoTest;
-TEST_F(DecompilerTest, SavesStatistics) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <statistic meansize="2" extent="3" center="4 5 6" meanmass="7" meaninertia="8"/>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  model->stat.meansize = 7;
-  model->stat.extent = 8;
-  model->stat.center[0] = 9;
-  model->stat.center[1] = 10;
-  model->stat.center[2] = 11;
-  model->stat.meanmass = 12;
-  model->stat.meaninertia = 13;
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("meansize=\"7\""));
-  EXPECT_THAT(saved_xml, HasSubstr("extent=\"8\""));
-  EXPECT_THAT(saved_xml, HasSubstr("center=\"9 10 11\""));
-  EXPECT_THAT(saved_xml, HasSubstr("meanmass=\"12\""));
-  EXPECT_THAT(saved_xml, HasSubstr("meaninertia=\"13\""));
-}
-
-TEST_F(DecompilerTest, SaveAndReadXml) {
-  static constexpr char xml1[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom size="1"/>
-      <geom size="2"/>
-    </worldbody>
-  </mujoco>
-  )";
-  static constexpr char xml2[] = R"(
-  <mujoco>
-    <worldbody>
-      <geom size="1"/>
-      <geom size="2"/>
-      <geom size="3"/>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr m1 = LoadModelFromString(xml1, error.data(), error.size());
-  ASSERT_THAT(m1.get(), NotNull()) << error.data();
-  m1->geom_size[0] = 10;
-  m1->geom_size[3] = 20;
-  std::string saved_xml = SaveAndReadXml(m1.get());
-  EXPECT_THAT(saved_xml, HasSubstr("geom size=\"10\""));
-  EXPECT_THAT(saved_xml, HasSubstr("geom size=\"20\""));
-
-  // parse the mjSpec, save it and read it back
-  mjSpec* spec = mj_parseXMLString(xml2, nullptr, error.data(), error.size());
-  EXPECT_THAT(spec, NotNull()) << error.data();
-  mjModel* m2 = mj_compile(spec, nullptr);
-  std::string saved_xml1 = SaveAndReadXml(spec);
-  EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"1\""));
-  EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"2\""));
-  EXPECT_THAT(saved_xml1, HasSubstr("geom size=\"3\""));
-
-  // modify the mjModel, save it and read it back
-  m2->geom_size[0] = .1;
-  m2->geom_size[3] = .2;
-  m2->geom_size[6] = .3;
-  EXPECT_EQ(mj_copyBack(spec, m1.get()), 0);
-  EXPECT_THAT(mjs_getError(spec), HasSubstr("CopyBack"));
-  EXPECT_EQ(mj_copyBack(spec, m2), 1);
-  std::string saved_xml2 = SaveAndReadXml(spec);
-  EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.1\""));
-  EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.2\""));
-  EXPECT_THAT(saved_xml2, HasSubstr("geom size=\"0.3\""));
-
-  // check that using mjModel as argument writes in the wrong mjSpec
-  std::string saved_xml3 = SaveAndReadXml(m2);
-  EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.1\"")));
-  EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.2\"")));
-  EXPECT_THAT(saved_xml3, Not(HasSubstr("geom size=\"0.3\"")));
-
-  mj_deleteSpec(spec);
-  mj_deleteModel(m2);
-}
-
-TEST_F(DecompilerTest, DoesntSaveInferredStatistics) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <geom size="0.2"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("meansize")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("meanmass")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("meaninertia")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("center")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("extent")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("statistic")));
-}
-
-TEST_F(DecompilerTest, VeryLargeNumbers) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <compiler angle="radian"/>
-    <worldbody>
-      <camera focal="16777217 1" sensorsize="1 1" resolution="100 100"/>
-      <body pos="1e+20 0 0">
-        <geom size="1"/>
-        <joint axis="1 0 0" range="-1e+10 1e+10"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  std::array<char, 1024> error;
-  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-  std::string saved_xml = SaveAndReadXml(model.get());
-  // note, focal is float and loses precision 16777217 -> 16777216
-  EXPECT_THAT(saved_xml, HasSubstr("focal=\"16777216 1\""));
-  EXPECT_THAT(saved_xml, HasSubstr("pos=\"1e+20 0 0\""));
-  EXPECT_THAT(saved_xml, HasSubstr("range=\"-1e+10 1e+10\""));
-}
-
-TEST_F(XMLWriterTest, ExpandAttach) {
-  static constexpr char xml_parent[] = R"(
-  <mujoco>
-    <asset>
-      <model name="b" file="b.xml" />
-    </asset>
-
-    <worldbody>
-      <attach model="b" body="b" prefix="b" />
-    </worldbody>
-  </mujoco>
-  )";
-
-  static constexpr char xml_child[] = R"(
-  <mujoco>
-    <default>
-      <default class="b"/>
-    </default>
-
-    <worldbody>
-      <body name="b">
-        <geom type="box" size="0.1 0.1 0.1"/>
-        <joint name="b"/>
-      </body>
-    </worldbody>
-
-    <actuator>
-      <position joint="b" class="b"/>
-    </actuator>
-  </mujoco>
-  )";
-
-  auto vfs = std::make_unique<mjVFS>();
-  mj_defaultVFS(vfs.get());
-  mj_addBufferVFS(vfs.get(), "b.xml", xml_child, sizeof(xml_child));
-
-  std::array<char, 1024> er;
-  MjModelPtr m =
-      LoadModelFromString(xml_parent, er.data(), er.size(), vfs.get());
-  ASSERT_THAT(m.get(), NotNull()) << er.data();
-
-  std::string saved_xml = SaveAndReadXml(m.get());
-  EXPECT_THAT(saved_xml, HasSubstr("class=\"bb\""));
-  mj_deleteVFS(vfs.get());
-}
-
-TEST_F(XMLWriterTest, WritesCameraOutput) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <camera name="default_cam"/>
-      <camera name="multi_cam" output="depth normal"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  // default output="rgb" should not be written
-  EXPECT_THAT(saved_xml, Not(HasSubstr("output=\"rgb\"")));
-  // non-default output should be written
-  EXPECT_THAT(saved_xml, HasSubstr("output=\"depth normal\""));
-}
-
-TEST_F(XMLWriterTest, WritesCameraOutputDefault) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <default class="multi">
-        <camera output="depth distance"/>
-      </default>
-    </default>
-    <worldbody>
-      <camera name="default_cam"/>
-      <camera name="class_cam" class="multi"/>
-      <camera name="override_cam" class="multi" output="segmentation"/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  // save and reload to verify round-trip
-  MjModelPtr mtemp = LoadModelFromString(saved_xml);
-  ASSERT_THAT(mtemp.get(), NotNull());
-  EXPECT_EQ(mtemp->ncam, 3);
-  EXPECT_EQ(mtemp->cam_output[0], mjCAMOUT_RGB);
-  EXPECT_EQ(mtemp->cam_output[1], mjCAMOUT_DEPTH | mjCAMOUT_DIST);
-  EXPECT_EQ(mtemp->cam_output[2], mjCAMOUT_SEG);
-}
-
-TEST_F(XMLWriterTest, WritesSensorDelayIntervalHistory) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="slide" delay="0.05" interval="0.1 -0.02" nsample="20" interp="linear"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("delay=\"0.05\""));
-  EXPECT_THAT(saved_xml, HasSubstr("interval=\"0.1 -0.02\""));
-  EXPECT_THAT(saved_xml, HasSubstr("nsample=\"20\""));
-  EXPECT_THAT(saved_xml, HasSubstr("interp=\"linear\""));
-}
-
-TEST_F(XMLWriterTest, DoesNotWriteDefaultSensorAttributes) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <sensor>
-      <jointpos joint="slide"/>
-    </sensor>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("delay=")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("interval=")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("nsample=")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("interp=")));
-}
-
-TEST_F(XMLWriterTest, WritesActuatorDelayHistory) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body>
-        <joint name="slide" type="slide"/>
-        <geom size="0.1"/>
-      </body>
-    </worldbody>
-    <actuator>
-      <motor joint="slide" delay="0.03" nsample="15" interp="cubic"/>
-    </actuator>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("delay=\"0.03\""));
-  EXPECT_THAT(saved_xml, HasSubstr("nsample=\"15\""));
-  EXPECT_THAT(saved_xml, HasSubstr("interp=\"cubic\""));
-}
-
-TEST_F(XMLWriterTest, BodySimpleRoundtrip) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1" simple="false">
-        <joint type="ball"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("simple=\"false\""));
-
-  // auto should not be written
-  static constexpr char xml_auto[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="B1">
-        <joint type="ball"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model_auto = LoadModelFromString(xml_auto);
-  ASSERT_THAT(model_auto.get(), NotNull());
-  std::string saved_auto = SaveAndReadXml(model_auto.get());
-  EXPECT_THAT(saved_auto, Not(HasSubstr("simple=")));
-
-  // nC should increase when simple is disabled
-  EXPECT_GT(model->nC, model_auto->nC);
-}
-
-TEST_F(XMLWriterTest, EmptyFlagsAttribute) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <camera name="cam" output=""/>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("output=")));
-}
-
-TEST_F(XMLWriterTest, OmitsDefaultJointPosAxis) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="b">
-        <joint name="j" type="hinge"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("pos=\"0 0 0\"")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("axis=")));
-}
-
-TEST_F(XMLWriterTest, KeepsAuthoredJointPosAxis) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="b">
-        <joint name="j" type="hinge" pos="0 0 0.5" axis="1 0 0"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("pos=\"0 0 0.5\""));
-  EXPECT_THAT(saved_xml, HasSubstr("axis=\"1 0 0\""));
-}
-
-TEST_F(XMLWriterTest, OmitsDefaultEqualityData) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <worldbody>
-      <body name="b1"><joint name="j1" type="hinge"/><geom size=".1"/></body>
-      <body name="b2"><joint name="j2" type="hinge"/><geom size=".1"/></body>
-    </worldbody>
-    <equality>
-      <weld body1="b1" body2="b2"/>
-      <joint joint1="j1" joint2="j2"/>
-    </equality>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, Not(HasSubstr("anchor=")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("torquescale=")));
-  EXPECT_THAT(saved_xml, Not(HasSubstr("polycoef=")));
-  // relpose is legitimately saved: the compiler resolves the zero-quat
-  // "compute current pose" sentinel into the actual relative pose
-  EXPECT_THAT(saved_xml, HasSubstr("relpose=\"0 0 0 1 0 0 0\""));
-}
-
-TEST_F(XMLWriterTest, WritesDefaultClassJointPosAxis) {
-  // pos and axis set in a default class used to be lost when saving
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <default>
-      <joint pos="1 2 3" axis="0 1 0"/>
-    </default>
-    <worldbody>
-      <body name="b">
-        <joint name="j" type="hinge"/>
-        <geom size=".1"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  MjModelPtr model = LoadModelFromString(xml);
-  ASSERT_THAT(model.get(), NotNull());
-  std::string saved_xml = SaveAndReadXml(model.get());
-  EXPECT_THAT(saved_xml, HasSubstr("<joint pos=\"1 2 3\" axis=\"0 1 0\"/>"));
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/xml/xml_schema_test.cc b/test/xml/xml_schema_test.cc
deleted file mode 100644
index fad5924f..00000000
--- a/test/xml/xml_schema_test.cc
+++ /dev/null
@@ -1,124 +0,0 @@
-// Copyright 2024 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <optional>
-#include <string>
-#include <vector>
-
-#include <gtest/gtest.h>
-#include "src/xml/xml_native_reader.h"
-#include "test/fixture.h"
-#include <absl/strings/str_format.h>
-
-namespace mujoco {
-namespace {
-
-
-using XMLSchemaTest = MujocoTest;
-
-static std::optional<std::string> IsValidSchemaFormat(
-    std::vector<const char*> schema[], unsigned nrow) {
-  if (schema[0][0][0] == '<' || schema[0][0][0] == '>') {
-    return "expected element, found bracket";
-  }
-
-  // check entire schema for null pointers
-  for (int i = 0; i < nrow; i++) {
-    // base pointers
-    if (!schema[i][0]) {
-      return "null pointer found in row " + std::to_string(i);
-    }
-
-    // detect element
-    if (schema[i][0][0] != '<' && schema[i][0][0] != '>') {
-      // first 2 pointers required
-      if (!schema[i][1]) {
-        return absl::StrFormat("expected element, found null pointers"
-                               "in row %d, element %s", i, schema[i][0]);
-      }
-
-      // check type
-      if (schema[i][1][0] != '!' && schema[i][1][0] != '?' &&
-          schema[i][1][0] != '*' && schema[i][1][0] != 'R') {
-        return absl::StrFormat("invalid type in row %d, element %s",
-                               i, schema[i][0]);
-      }
-
-      // attribute pointers
-      for (int j = 0; j < schema[i].size() - 2; j++) {
-        if (!schema[i][2 + j]) {
-          return absl::StrFormat("null attribute %d in"
-                                 " row %d, element %s", j, i, schema[i][0]);
-        }
-      }
-    }
-  }
-
-  // process sub-elements of complex element
-  if (nrow > 1) {
-    // check for bracketed block
-    if (schema[1][0][0] != '<' || schema[nrow - 1][0][0] != '>') {
-      return "expected brackets after complex element";
-    }
-
-    // parse block into simple and complex elements
-    int start = 2;
-    while (start < nrow - 1) {
-      int end = start;
-
-      // look for bracketed block at start + 1
-      if (schema[start + 1][0][0] == '<') {
-        // look for corresponding closing bracket
-        int cnt = 0;
-        while (end <= nrow - 1) {
-          if (schema[end][0][0] == '<') {
-            cnt++;
-          } else if (schema[end][0][0] == '>') {
-            cnt--;
-            if (cnt == 0) {
-              break;
-            }
-          }
-          end++;
-        }
-
-        // closing bracket not found
-        if (end > nrow - 1) {
-          return "matching closing bracket not found";
-        }
-      }
-
-      // recursively check for error
-      auto error = IsValidSchemaFormat(schema + start, end - start + 1);
-      if (error.has_value()) {
-        return error;
-      }
-
-      // proceed with next subelement
-      start = end + 1;
-    }
-  }
-  return std::nullopt;
-}
-
-TEST_F(XMLSchemaTest, MjcfSchemaTest) {
-  auto error = IsValidSchemaFormat(MJCF, nMJCF);
-  auto error_msg = error.value_or("");
-
-  EXPECT_EQ(error_msg, "");
-  ASSERT_FALSE(error.has_value());
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/xml/xml_urdf_test.cc b/test/xml/xml_urdf_test.cc
deleted file mode 100644
index 7a134b8e..00000000
--- a/test/xml/xml_urdf_test.cc
+++ /dev/null
@@ -1,310 +0,0 @@
-// Copyright 2021 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for xml/xml_api.cc.
-
-#include <array>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::IsNull;
-using ::testing::NotNull;
-
-// ---------------------------- test capsule --------------------------------
-
-TEST_F(MujocoTest, ReadsCapsule) {
-  static constexpr char urdf[] = R"(
-  <robot name="">
-  <link name="torso">
-    <collision>
-      <origin rpy="-1.57080 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-      <geometry>
-        <capsule length="0.14000" radius="0.07000"/>
-      </geometry>
-    </collision>
-  </link>
-  </robot>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-}
-
-TEST_F(MujocoTest, ReadsGeomNames) {
-  static constexpr char urdf[] = R"(
-  <robot name="">
-  <mujoco>
-    <compiler discardvisual="false"/>
-  </mujoco>
-
-  <link name="torso">
-    <collision name="collision_box">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.1 0.2 0.3"/>
-      </geometry>
-    </collision>
-    <visual name="visual_sphere">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </visual>
-  </link>
-  </robot>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  // Check the geoms have been loaded with the right names
-  int collision_box_id = mj_name2id(model.get(), mjtObj::mjOBJ_GEOM, "collision_box");
-  ASSERT_GE(collision_box_id, 0);
-  EXPECT_EQ(model->geom_type[collision_box_id], mjtGeom::mjGEOM_BOX);
-
-  int visual_sphere_id = mj_name2id(model.get(), mjtObj::mjOBJ_GEOM, "visual_sphere");
-  ASSERT_GE(visual_sphere_id, 0);
-  EXPECT_EQ(model->geom_type[visual_sphere_id], mjtGeom::mjGEOM_SPHERE);
-}
-
-TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesCollisionBeforeVisual) {
-  static constexpr char urdf[] = R"(
-  <robot name="">
-  <mujoco>
-    <compiler discardvisual="false"/>
-  </mujoco>
-
-  <link name="torso">
-    <collision name="shared_name">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.1 0.2 0.3"/>
-      </geometry>
-    </collision>
-    <visual name="shared_name">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </visual>
-  </link>
-  </robot>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  // Check the collision geom gets its name from the URDF. The visual sphere
-  // should not have a name to avoid duplicates.
-  int collision_box_id = mj_name2id(model.get(), mjtObj::mjOBJ_GEOM, "shared_name");
-  ASSERT_GE(collision_box_id, 0);
-  EXPECT_EQ(model->geom_type[collision_box_id], mjtGeom::mjGEOM_BOX);
-}
-
-TEST_F(MujocoTest, CanLoadUrdfWithNonUniqueNamesVisualBeforeCollision) {
-  static constexpr char urdf[] = R"(
-  <robot name="">
-  <mujoco>
-    <compiler discardvisual="false"/>
-  </mujoco>
-
-  <link name="torso">
-    <visual name="shared_name">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </visual>
-    <collision name="shared_name">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <box size="0.1 0.2 0.3"/>
-      </geometry>
-    </collision>
-  </link>
-  </robot>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  // Check the visual geom gets its name from the URDF. The collision geom
-  // should not have a name to avoid duplicates.
-  int visual_sphere_id = mj_name2id(model.get(), mjtObj::mjOBJ_GEOM, "shared_name");
-  ASSERT_GE(visual_sphere_id, 0);
-  EXPECT_EQ(model->geom_type[visual_sphere_id], mjtGeom::mjGEOM_SPHERE);
-}
-
-TEST_F(MujocoTest, ReadsJointTypes) {
-  static constexpr char urdf[] = R"(
-  <robot name="">
-  <mujoco>
-    <compiler discardvisual="false"/>
-  </mujoco>
-
-  <link name="world"/>
-  <joint type="floating" name="floating">
-      <parent link="world"/>
-      <child link="link1"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-  </joint>
-  <link name="link1">
-      <collision>
-        <geometry>
-          <box size="0.1 0.2 0.3"/>
-        </geometry>
-      </collision>
-  </link>
-
-  <joint type="revolute" name="revolute">
-      <parent link="world"/>
-      <child link="link2"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <axis xyz="1.0 0.0 -1.0"/>
-  </joint>
-  <link name="link2">
-      <collision>
-        <geometry>
-          <box size="0.1 0.2 0.3"/>
-        </geometry>
-      </collision>
-  </link>
-
-  <joint type="spherical" name="spherical">
-      <parent link="world"/>
-      <child link="link3"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-  </joint>
-  <link name="link3">
-      <collision>
-        <geometry>
-          <box size="0.1 0.2 0.3"/>
-        </geometry>
-      </collision>
-  </link>
-
-  <joint type="prismatic" name="prismatic">
-      <parent link="world"/>
-      <child link="link4"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <axis xyz="0.0 0.0 1.0"/>
-  </joint>
-  <link name="link4">
-      <collision>
-        <geometry>
-          <box size="0.1 0.2 0.3"/>
-        </geometry>
-      </collision>
-  </link>
-
-  </robot>
-  )";
-  std::array<char, 1000> error;
-  MjModelPtr model = LoadModelFromString(urdf, error.data(), error.size());
-  ASSERT_THAT(model.get(), NotNull()) << error.data();
-
-  constexpr float eps = 1e-6;
-
-  std::vector<std::string> joint_names = {"floating", "revolute", "spherical",
-                                          "prismatic"};
-  std::vector<mjtJoint> expected_joint_types = {
-      mjtJoint::mjJNT_FREE, mjtJoint::mjJNT_HINGE, mjtJoint::mjJNT_BALL,
-      mjtJoint::mjJNT_SLIDE};
-  std::vector<std::vector<float>> expected_axis = {
-    {0.0, 0.0, 1.0}, {0.707107, 0.0, -0.707107}, {0.0, 0.0, 1.0},
-    {0.0, 0.0, 1.0}
-  };
-  for (int i = 0; i < joint_names.size(); ++i) {
-    int id = mj_name2id(model.get(), mjtObj::mjOBJ_JOINT, joint_names[i].c_str());
-    EXPECT_EQ(model->jnt_type[id], expected_joint_types[i]);
-    EXPECT_NEAR(model->jnt_axis[3 * id], expected_axis[i][0], eps);
-    EXPECT_NEAR(model->jnt_axis[3 * id + 1], expected_axis[i][1], eps);
-    EXPECT_NEAR(model->jnt_axis[3 * id + 2], expected_axis[i][2], eps);
-  }
-}
-
-TEST_F(MujocoTest, RepeatedMeshName) {
-  static constexpr char urdf[] = R"(
-  <robot name="">
-  <mujoco>
-    <compiler discardvisual="false"/>
-  </mujoco>
-
-  <link name="geom1">
-    <visual name="vis1">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="mesh.obj" scale="1 1 1"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="geom2">
-    <visual name="vis2">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="mesh.obj" scale="2 2 2"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="geom3">
-    <visual name="vis3">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="mesh.obj" scale="3 3 3"/>
-      </geometry>
-    </visual>
-  </link>
-
-  <link name="geom4">
-    <visual name="vis4">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="mesh.obj" scale="2 2 2"/>
-      </geometry>
-    </visual>
-  </link>
-  </robot>
-  )";
-
-  std::array<char, 1000> error;
-  mjSpec* spec = mj_parseXMLString(urdf, 0, error.data(), error.size());
-  EXPECT_THAT(spec, NotNull()) << error.data();
-
-  mjsMesh* mesh = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, "mesh"));
-  mjsMesh* mesh1 = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, "mesh1"));
-  mjsMesh* mesh2 = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, "mesh2"));
-  mjsMesh* mesh3 = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, "mesh3"));
-  EXPECT_THAT(mesh, NotNull());
-  EXPECT_THAT(mesh1, NotNull());
-  EXPECT_THAT(mesh2, NotNull());
-  EXPECT_THAT(mesh3, IsNull());
-  EXPECT_STREQ(mjs_getName(mesh->element)->c_str(), "mesh");
-  EXPECT_STREQ(mjs_getName(mesh1->element)->c_str(), "mesh1");
-  EXPECT_STREQ(mjs_getName(mesh2->element)->c_str(), "mesh2");
-
-  mj_deleteSpec(spec);
-}
-
-}  // namespace
-}  // namespace mujoco
diff --git a/test/xml/xml_utils_test.cc b/test/xml/xml_utils_test.cc
deleted file mode 100644
index 5d49053c..00000000
--- a/test/xml/xml_utils_test.cc
+++ /dev/null
@@ -1,108 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-#include <map>
-#include <set>
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjplugin.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-TEST_F(MujocoTest, GetXMLDependenciesTest) {
-  static const std::vector<std::string> kModelPaths = {
-      GetTestDataFilePath("xml/testdata/many_dependencies.xml"),
-      GetTestDataFilePath("xml/testdata/parent_model.xml"),
-      GetTestDataFilePath("xml/testdata/child.xml"),
-      GetTestDataFilePath("xml/testdata/meshes/mesh1.obj"),
-      GetTestDataFilePath("xml/testdata/meshes/flex.obj"),
-      GetTestDataFilePath("xml/testdata/meshes/cube.skn"),
-  };
-
-  mjStringVec dependencies;
-  mju_getXMLDependencies(kModelPaths[0].c_str(), &dependencies);
-  std::set<std::string> dependency_set{dependencies.begin(),
-                                       dependencies.end()};
-  std::set<std::string> expected_dependency_set{kModelPaths.begin(),
-                                                kModelPaths.end()};
-  EXPECT_EQ(dependency_set, expected_dependency_set);
-}
-
-// Custom resource provider that serves XML strings from an in-memory map,
-// used to exercise the non-filesystem code path.
-namespace memxml {
-static const std::map<std::string, std::string>* g_files = nullptr;
-
-int Open(mjResource* resource) {
-  return g_files && g_files->count(resource->name) ? 1 : 0;
-}
-int Read(mjResource* resource, const void** buffer) {
-  auto it = g_files->find(resource->name);
-  if (it == g_files->end()) return -1;
-  *buffer = it->second.data();
-  return static_cast<int>(it->second.size());
-}
-void Close(mjResource* resource) {}
-}  // namespace memxml
-
-// Verifies mju_getXMLDependencies works against a non-filesystem resource
-// provider (the case the WASM/HTTP build relies on).
-TEST_F(MujocoTest, GetXMLDependenciesViaResourceProvider) {
-  const std::map<std::string, std::string> files = {
-      {"memxml:/scene.xml",
-       "<mujoco>\n"
-       "  <include file=\"child.xml\"/>\n"
-       "  <compiler meshdir=\"meshes\"/>\n"
-       "  <asset>\n"
-       "    <mesh name=\"m\" file=\"m.obj\"/>\n"
-       "  </asset>\n"
-       "</mujoco>"},
-      {"memxml:/child.xml",
-       "<mujoco>\n"
-       "  <asset>\n"
-       "    <texture name=\"t\" type=\"2d\" file=\"t.png\"/>\n"
-       "  </asset>\n"
-       "</mujoco>"},
-  };
-  memxml::g_files = &files;
-
-  mjpResourceProvider provider = {
-      .prefix = "memxml",
-      .open = memxml::Open,
-      .read = memxml::Read,
-      .close = memxml::Close,
-  };
-  ASSERT_GT(mjp_registerResourceProvider(&provider), 0);
-
-  mjStringVec dependencies;
-  mju_getXMLDependencies("memxml:/scene.xml", &dependencies);
-  std::set<std::string> dep_set(dependencies.begin(), dependencies.end());
-
-  EXPECT_THAT(dep_set, testing::UnorderedElementsAre(
-      "memxml:/scene.xml",
-      "memxml:/child.xml",
-      "memxml:/meshes/m.obj",
-      "memxml:/t.png"));
-
-  memxml::g_files = nullptr;
-}
-}  // namespace
-}  // namespace mujoco
diff --git a/test/xml/xml_write_read_test.cc b/test/xml/xml_write_read_test.cc
deleted file mode 100644
index 11afb3f9..00000000
--- a/test/xml/xml_write_read_test.cc
+++ /dev/null
@@ -1,189 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Tests for loading and saving multiple files.
-
-#include <algorithm>
-#include <array>
-#include <cctype>
-#include <cstddef>
-#include <filesystem>  // NOLINT(build/c++17)
-#include <string>
-#include <vector>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <absl/strings/match.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-#include "src/xml/xml_numeric_format.h"
-#include "test/compare_model.h"
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-using XMLWriterTest = MujocoTest;
-
-std::vector<std::string> GetWriteReadTestModels() {
-  std::vector<std::string> models;
-  std::string ext(".xml");
-  for (const auto& path : {GetTestDataFilePath("."), GetModelPath(".")}) {
-    for (const auto& p : std::filesystem::recursive_directory_iterator(path)) {
-      if (p.path().extension() == ext) {
-        std::string xml = p.path().string();
-        if (  // if file is meant to fail, skip it
-            absl::StrContains(xml, "malformed_") ||
-            absl::StrContains(xml, "_fail") ||
-            // exclude files that are too slow to load
-            absl::StrContains(xml, "cow") || absl::StrContains(xml, "gmsh_") ||
-            absl::StrContains(xml, "shark_") ||
-            absl::StrContains(xml, "perf") ||
-            // exclude files that fail the comparison test
-            absl::StrContains(xml, "rfcamera") ||
-            absl::StrContains(xml, "tactile") ||
-            absl::StrContains(xml, "makemesh") ||
-            absl::StrContains(xml, "carousel") ||
-            absl::StrContains(xml, "many_dependencies") ||
-            absl::StrContains(xml, "usd") ||
-            absl::StrContains(xml, "torus_maxhull") ||
-            absl::StrContains(xml, "fitmesh_") ||
-            absl::StrContains(xml, "lengthrange") ||
-            absl::StrContains(xml, "hfield_xml") ||
-            absl::StrContains(xml, "fromto_convex") ||
-            absl::StrContains(xml, "cube_skin") ||
-            absl::StrContains(xml, "cube_3x3x3") ||
-            // flex_stiffness: stretch amplifies geometry XML rounds on save
-            absl::StrContains(xml, "flex/bag") ||
-            // exclude conflict tests (known option conflict warnings/errors)
-            absl::StrContains(xml, "xml/testdata/parent_")) {
-          continue;
-        }
-        models.push_back(xml);
-      }
-    }
-  }
-  return models;
-}
-
-class WriteReadCompareTest : public XMLWriterTest,
-                             public ::testing::WithParamInterface<std::string> {
- public:
-};
-TEST_P(WriteReadCompareTest, WriteReadCompare) {
-  std::string xml = GetParam();
-
-  // full precision float printing
-  FullFloatPrecision increase_precision;
-
-  // load model
-  std::array<char, 1000> error;
-  mjSpec* s =
-      mj_parseXML(xml.c_str(), nullptr, error.data(), error.size());
-  if (!s) {
-    GTEST_SKIP() << "Failed to load " << xml.c_str() << ": " << error.data();
-  }
-
-  mjModel* m = mj_compile(s, nullptr);
-  if (!m) {
-    mj_deleteSpec(s);
-    GTEST_SKIP() << "Failed to compile " << xml.c_str() << ": " << error.data();
-  }
-
-  // make data
-  mjData* d = mj_makeData(m);
-  ASSERT_THAT(d, testing::NotNull()) << "Failed to create data\n";
-
-  // save and load back
-  auto abs_path = std::filesystem::path(xml);
-  mjSpec* stemp = mj_parseXMLString(SaveAndReadXml(s).c_str(), 0, error.data(),
-                                    error.size());
-  ASSERT_THAT(stemp, NotNull())
-      << "Failed to load " << xml.c_str() << ": " << error.data();
-  mjs_setString(stemp->modelfiledir,
-                abs_path.remove_filename().string().c_str());
-  mjModel* mtemp = mj_compile(stemp, nullptr);
-
-  ASSERT_THAT(mtemp, NotNull()) << error.data() << " from " << xml.c_str();
-
-  mjtNum tol = 0;
-
-  // for particularly sensitive models, relax the tolerance
-  if (absl::StrContains(xml, "belt.xml") ||
-      absl::StrContains(xml, "cable.xml")) {
-    tol = 1e-13;
-  }
-
-  // compare and delete
-  std::string field = "";
-  mjtNum result = CompareModel(m, mtemp, field);
-  EXPECT_LE(result, tol) << "Loaded and saved models are different!\n"
-                         << "Affected file " << xml << '\n'
-                         << "Different field: " << field << '\n';
-  mj_deleteModel(mtemp);
-
-  // check for stack memory leak
-  mj_step(m, d);
-  EXPECT_EQ(d->pstack, 0) << "mjData stack memory leak detected in " <<
-      xml << '\n';
-
-  // delete data
-  mj_deleteData(d);
-
-  // allocate buffer, save m into it
-  size_t sz = mj_sizeModel(m);
-  void* buffer = mju_malloc(sz);
-  mj_saveModel(m, nullptr, buffer, sz);
-
-  // make new VFS add buffer to it
-  mjVFS* vfs = (mjVFS*)mju_malloc(sizeof(mjVFS));
-  mj_defaultVFS(vfs);
-  int failed = mj_addBufferVFS(vfs, "model.mjb", buffer, sz);
-  EXPECT_EQ(failed, 0) << "Failed to add buffer to VFS";
-
-  // load model from VFS
-  mtemp = mj_loadModel("model.mjb", vfs);
-  ASSERT_THAT(mtemp, NotNull());
-
-  // compare with 0 tolerance
-  field = "";
-  result = CompareModel(m, mtemp, field);
-  EXPECT_EQ(result, 0) << "Loaded and saved binary models are different!\n"
-                       << "Affected file " << xml << '\n'
-                       << "Different field: " << field << '\n';
-
-  // clean up
-  mj_deleteSpec(s);
-  mj_deleteSpec(stemp);
-  mj_deleteModel(m);
-  mj_deleteModel(mtemp);
-  mj_deleteVFS(vfs);
-  mju_free(vfs);
-  mju_free(buffer);
-}
-
-INSTANTIATE_TEST_SUITE_P(
-    AllModels, WriteReadCompareTest,
-    ::testing::ValuesIn(GetWriteReadTestModels()),
-    [](const ::testing::TestParamInfo<std::string>& info) {
-      std::string name = std::filesystem::path(info.param).filename().string();
-      std::replace_if(
-          name.begin(), name.end(),
-          [](char c) { return !std::isalnum(c); }, '_');
-      return name + "_" + std::to_string(info.index);
-    });
-
-}  // namespace
-}  // namespace mujoco
diff --git a/training_server/README.md b/training_server/README.md
new file mode 100644
index 00000000..58099ece
--- /dev/null
+++ b/training_server/README.md
@@ -0,0 +1,43 @@
+# 本地强化学习训练服务
+
+该服务把 Web 平台发出的受限训练请求转换为本机 `unitree_rl_mjlab/scripts/train.py` 子进程，并提供状态轮询、停止任务和 `policy.onnx` 下载接口。服务只绑定 `127.0.0.1`，不执行前端传入的任意命令。
+
+## 启动
+
+必须使用已经安装 `mjlab`、PyTorch 和训练工程依赖的 Python 解释器：
+
+```bash
+npm run training-server -- \
+  --trainer-root /path/to/unitree_rl_mjlab \
+  --trainer-python /path/to/training-env/bin/python
+```
+如：
+```bash
+npm run training-server -- --trainer-root /home/cen/Embodied_Workspace/unitree_rl_mjlab --trainer-python /home/cen/miniconda3/envs/unitree_rl_mjlab/bin/python
+```
+
+也可用 `UNITREE_RL_MJLAB_ROOT` 指定工程目录。默认端口是 `8765`。如果前端不是从 `localhost` 或 `127.0.0.1` 提供，可显式添加来源：
+
+```bash
+python training_server/server.py \
+  --trainer-root /path/to/unitree_rl_mjlab \
+  --allow-origin http://192.168.1.10:5173
+```
+
+服务一次只运行一个训练任务。停止服务或在界面点击“停止训练”会向整个训练进程组发送终止信号。训练请求的 W&B 模式默认为 `offline`，保留本地指标但不登录；也可以在界面选择完全禁用或在线模式。
+
+## 接口
+
+- `GET /api/training/health`：运行环境、允许的任务和活动任务；
+- `POST /api/training/jobs`：发起训练；
+- `GET /api/training/jobs/{id}`：状态、迭代进度和最近日志；
+- `DELETE /api/training/jobs/{id}`：停止训练；
+- `GET /api/training/jobs/{id}/artifacts/policy.onnx`：下载本次生成的策略。
+
+任务保存在服务内存中，服务重启后历史任务状态会丢失，但 mjlab 日志和 checkpoint 仍保留在训练工程中。
+
+## 测试
+
+```bash
+npm run test:training-server
+```
diff --git a/training_server/server.py b/training_server/server.py
new file mode 100644
index 00000000..161612c8
--- /dev/null
+++ b/training_server/server.py
@@ -0,0 +1,492 @@
+#!/usr/bin/env python3
+"""浏览器 MuJoCo 平台的本地 mjlab 训练桥接服务（仅绑定 loopback）。"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import re
+import shutil
+import signal
+import subprocess
+import sys
+import threading
+import time
+import uuid
+from collections import deque
+from dataclasses import dataclass, field
+from datetime import datetime, timezone
+from http import HTTPStatus
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+from pathlib import Path
+from typing import Any
+from urllib.parse import unquote, urlsplit
+
+VERSION = "0.1.0"
+# 浏览器当前 ONNX 运行时只实现 Go2 的 47→12 部署契约；其他任务须由服务启动参数显式放行。
+DEFAULT_TASKS = ("Unitree-Go2-Flat",)
+ACTIVE_STATES = {"queued", "running"}
+ANSI_ESCAPE = re.compile(r"\x1b\[[0-?]*[ -/]*[@-~]")
+ITERATION_PATTERNS = (
+    re.compile(r"(?:learning\s+)?iteration\D+(\d+)\s*/\s*(\d+)", re.I),
+    re.compile(r"(?:learning\s+)?iteration\D+(\d+)", re.I),
+)
+RUN_NAME = re.compile(r"^[A-Za-z0-9_.-]{1,64}$")
+LOCAL_ORIGIN = re.compile(r"^https?://(?:localhost|127\.0\.0\.1)(?::\d+)?$")
+
+
+def now_iso() -> str:
+  return datetime.now(timezone.utc).isoformat()
+
+
+class ApiError(Exception):
+  def __init__(self, status: int, message: str):
+    super().__init__(message)
+    self.status = status
+
+
+@dataclass
+class TrainingConfig:
+  task_id: str
+  num_envs: int
+  max_iterations: int
+  seed: int
+  run_name: str
+  device: str
+  gpu_ids: list[int]
+  wandb_mode: str
+
+
+@dataclass
+class TrainingJob:
+  id: str
+  config: TrainingConfig
+  state: str = "queued"
+  created_at: str = field(default_factory=now_iso)
+  started_at: str | None = None
+  ended_at: str | None = None
+  iteration: int = 0
+  message: str = "等待本地训练进程启动"
+  logs: deque[str] = field(default_factory=lambda: deque(maxlen=200))
+  artifact: Path | None = None
+  process: subprocess.Popen[str] | None = None
+  cancel_requested: bool = False
+
+  def public(self) -> dict[str, Any]:
+    progress = min(1.0, max(0.0, self.iteration / self.config.max_iterations))
+    if self.state == "succeeded":
+      progress = 1.0
+    return {
+        "id": self.id,
+        "state": self.state,
+        "taskId": self.config.task_id,
+        "createdAt": self.created_at,
+        "startedAt": self.started_at,
+        "endedAt": self.ended_at,
+        "iteration": self.iteration,
+        "maxIterations": self.config.max_iterations,
+        "progress": progress,
+        "message": self.message,
+        "logs": list(self.logs),
+        "artifactReady": self.artifact is not None and self.artifact.is_file(),
+        "artifactName": self.artifact.name if self.artifact else None,
+    }
+
+
+class TrainingManager:
+  def __init__(self, trainer_root: Path, python: str, tasks: tuple[str, ...], check_environment: bool = True):
+    self.trainer_root = trainer_root.expanduser().resolve()
+    self.python = str(Path(python).expanduser()) if os.sep in python else python
+    self.tasks = tasks
+    self.jobs: dict[str, TrainingJob] = {}
+    self.lock = threading.RLock()
+    self.check_environment = check_environment
+    self._environment_error: str | None | bool = False
+
+  def readiness_error(self) -> str | None:
+    if not self.trainer_root.is_dir():
+      return f"训练工程目录不存在：{self.trainer_root}"
+    if not (self.trainer_root / "scripts" / "train.py").is_file():
+      return f"训练入口不存在：{self.trainer_root / 'scripts/train.py'}"
+    executable = Path(self.python)
+    if not executable.is_file() and shutil.which(self.python) is None:
+      return f"Python 解释器不存在：{self.python}"
+    if self.check_environment and self._environment_error is False:
+      probe = "import importlib.util,sys; missing=[m for m in ('mjlab','torch','tyro') if importlib.util.find_spec(m) is None]; print(','.join(missing)); sys.exit(bool(missing))"
+      try:
+        result = subprocess.run([self.python, "-c", probe], cwd=self.trainer_root, capture_output=True, text=True, timeout=15, check=False)
+        missing = result.stdout.strip()
+        self._environment_error = f"训练 Python 缺少依赖：{missing}" if result.returncode else None
+      except (OSError, subprocess.TimeoutExpired) as error:
+        self._environment_error = f"无法检查训练 Python 环境：{error}"
+    return self._environment_error if isinstance(self._environment_error, str) else None
+
+  def active_job_id(self) -> str | None:
+    with self.lock:
+      return next((job.id for job in self.jobs.values() if job.state in ACTIVE_STATES), None)
+
+  def health(self) -> dict[str, Any]:
+    error = self.readiness_error()
+    return {
+        "version": VERSION,
+        "ready": error is None,
+        "trainerRoot": str(self.trainer_root),
+        "python": self.python,
+        "tasks": list(self.tasks),
+        "activeJobId": self.active_job_id(),
+        "error": error,
+    }
+
+  def parse_config(self, payload: Any) -> TrainingConfig:
+    if not isinstance(payload, dict):
+      raise ApiError(HTTPStatus.BAD_REQUEST, "请求体必须是 JSON 对象")
+    task_id = payload.get("taskId")
+    if task_id not in self.tasks:
+      raise ApiError(HTTPStatus.BAD_REQUEST, f"不允许的训练任务：{task_id}")
+
+    def integer(name: str, minimum: int, maximum: int) -> int:
+      value = payload.get(name)
+      if isinstance(value, bool) or not isinstance(value, int) or not minimum <= value <= maximum:
+        raise ApiError(HTTPStatus.BAD_REQUEST, f"{name} 必须在 {minimum}–{maximum} 之间")
+      return value
+
+    run_name = payload.get("runName", "web")
+    if not isinstance(run_name, str) or not RUN_NAME.fullmatch(run_name):
+      raise ApiError(HTTPStatus.BAD_REQUEST, "runName 只能包含字母、数字、点、下划线和连字符，最长 64 字符")
+    device = payload.get("device")
+    if device not in ("cpu", "gpu"):
+      raise ApiError(HTTPStatus.BAD_REQUEST, "device 必须是 cpu 或 gpu")
+    raw_gpu_ids = payload.get("gpuIds", [])
+    if not isinstance(raw_gpu_ids, list) or any(isinstance(value, bool) or not isinstance(value, int) or value < 0 or value > 255 for value in raw_gpu_ids):
+      raise ApiError(HTTPStatus.BAD_REQUEST, "gpuIds 必须是非负整数数组")
+    if device == "gpu" and not raw_gpu_ids:
+      raise ApiError(HTTPStatus.BAD_REQUEST, "GPU 训练至少需要一个 GPU 编号")
+    wandb_mode = payload.get("wandbMode", "offline")
+    if wandb_mode not in ("offline", "disabled", "online"):
+      raise ApiError(HTTPStatus.BAD_REQUEST, "wandbMode 必须是 offline、disabled 或 online")
+    return TrainingConfig(
+        task_id=task_id,
+        num_envs=integer("numEnvs", 1, 16384),
+        max_iterations=integer("maxIterations", 1, 1_000_000),
+        seed=integer("seed", 0, 2_147_483_647),
+        run_name=run_name,
+        device=device,
+        gpu_ids=raw_gpu_ids,
+        wandb_mode=wandb_mode,
+    )
+
+  def start(self, payload: Any) -> dict[str, Any]:
+    error = self.readiness_error()
+    if error:
+      raise ApiError(HTTPStatus.SERVICE_UNAVAILABLE, error)
+    config = self.parse_config(payload)
+    with self.lock:
+      if self.active_job_id():
+        raise ApiError(HTTPStatus.CONFLICT, "已有训练任务正在运行，请等待完成或先停止任务")
+      job = TrainingJob(id=uuid.uuid4().hex, config=config)
+      self.jobs[job.id] = job
+      threading.Thread(target=self._run, args=(job,), name=f"training-{job.id[:8]}", daemon=True).start()
+      return job.public()
+
+  def get(self, job_id: str) -> dict[str, Any]:
+    with self.lock:
+      job = self.jobs.get(job_id)
+      if not job:
+        raise ApiError(HTTPStatus.NOT_FOUND, "训练任务不存在或服务已重启")
+      return job.public()
+
+  def artifact(self, job_id: str) -> Path:
+    with self.lock:
+      job = self.jobs.get(job_id)
+      if not job:
+        raise ApiError(HTTPStatus.NOT_FOUND, "训练任务不存在或服务已重启")
+      if not job.artifact or not job.artifact.is_file():
+        raise ApiError(HTTPStatus.NOT_FOUND, "该训练任务尚未生成 policy.onnx")
+      return job.artifact
+
+  def cancel(self, job_id: str) -> dict[str, Any]:
+    with self.lock:
+      job = self.jobs.get(job_id)
+      if not job:
+        raise ApiError(HTTPStatus.NOT_FOUND, "训练任务不存在或服务已重启")
+      if job.state not in ACTIVE_STATES:
+        return job.public()
+      job.cancel_requested = True
+      job.message = "正在停止训练进程"
+      process = job.process
+    if process and process.poll() is None:
+      try:
+        os.killpg(process.pid, signal.SIGTERM)
+      except ProcessLookupError:
+        pass
+      threading.Thread(target=self._kill_later, args=(process,), daemon=True).start()
+    return self.get(job_id)
+
+  @staticmethod
+  def _kill_later(process: subprocess.Popen[str]) -> None:
+    try:
+      process.wait(timeout=5)
+    except subprocess.TimeoutExpired:
+      try:
+        os.killpg(process.pid, signal.SIGKILL)
+      except ProcessLookupError:
+        pass
+
+  def command_for(self, config: TrainingConfig) -> list[str]:
+    command = [
+        self.python, "-u", "scripts/train.py", config.task_id,
+        f"--env.scene.num-envs={config.num_envs}",
+        f"--agent.max-iterations={config.max_iterations}",
+        f"--agent.seed={config.seed}",
+        f"--agent.run-name={config.run_name}",
+    ]
+    if config.device == "cpu":
+      command.extend(("--gpu-ids", "None"))
+    else:
+      # mjlab.TYRO_FLAGS 对 Union[list[int], Literal["all"], None] 使用 JSON 风格
+      # list token；传成多个独立参数会被解析为错误的 Union 分支。
+      command.extend(("--gpu-ids", json.dumps(config.gpu_ids, separators=(",", ":"))))
+    return command
+
+  def _update_from_log(self, job: TrainingJob, raw_line: str) -> None:
+    line = ANSI_ESCAPE.sub("", raw_line).strip()
+    if not line:
+      return
+    with self.lock:
+      job.logs.append(line[-4000:])
+      for pattern in ITERATION_PATTERNS:
+        match = pattern.search(line)
+        if match:
+          job.iteration = min(job.config.max_iterations, max(job.iteration, int(match.group(1))))
+          break
+      job.message = line[-240:]
+
+  def _artifact_snapshot(self) -> dict[Path, int]:
+    root = self.trainer_root / "logs" / "rsl_rl"
+    if not root.is_dir():
+      return {}
+    return {path: path.stat().st_mtime_ns for path in root.glob("**/policy.onnx") if path.is_file()}
+
+  def _find_artifact(self, before: dict[Path, int]) -> Path | None:
+    root = self.trainer_root / "logs" / "rsl_rl"
+    if not root.is_dir():
+      return None
+    changed = [path for path in root.glob("**/policy.onnx") if path.is_file() and before.get(path) != path.stat().st_mtime_ns]
+    return max(changed, key=lambda path: path.stat().st_mtime_ns) if changed else None
+
+  def _run(self, job: TrainingJob) -> None:
+    before = self._artifact_snapshot()
+    command = self.command_for(job.config)
+    with self.lock:
+      if job.cancel_requested:
+        job.state, job.ended_at, job.message = "cancelled", now_iso(), "训练已取消"
+        return
+      job.state, job.started_at, job.message = "running", now_iso(), "本地训练进程已启动"
+    try:
+      environment = os.environ.copy()
+      # 默认离线记录，保留本地 W&B 指标但不要求 API Key；只有前端明确选择
+      # online 时才允许 wandb 发起登录/联网。
+      environment["WANDB_MODE"] = job.config.wandb_mode
+      environment["WANDB_SILENT"] = "true"
+      process = subprocess.Popen(
+          command,
+          cwd=self.trainer_root,
+          env=environment,
+          stdout=subprocess.PIPE,
+          stderr=subprocess.STDOUT,
+          text=True,
+          encoding="utf-8",
+          errors="replace",
+          bufsize=1,
+          start_new_session=True,
+      )
+      with self.lock:
+        job.process = process
+      assert process.stdout is not None
+      try:
+        for line in process.stdout:
+          self._update_from_log(job, line)
+      finally:
+        process.stdout.close()
+      return_code = process.wait()
+      artifact = self._find_artifact(before)
+      with self.lock:
+        job.process = None
+        job.ended_at = now_iso()
+        if job.cancel_requested:
+          job.state, job.message = "cancelled", "训练已由用户取消"
+        elif return_code != 0:
+          job.state, job.message = "failed", f"训练进程退出，返回码 {return_code}"
+        elif artifact is None:
+          job.state, job.message = "failed", "训练结束，但没有找到本次生成的 policy.onnx"
+        else:
+          job.state, job.artifact = "succeeded", artifact
+          job.iteration = job.config.max_iterations
+          job.message = f"训练完成：{artifact.relative_to(self.trainer_root)}"
+    except Exception as error:  # 服务必须保留错误供前端诊断。
+      with self.lock:
+        job.process = None
+        job.ended_at = now_iso()
+        job.state = "cancelled" if job.cancel_requested else "failed"
+        job.message = f"启动训练失败：{error}"
+        job.logs.append(job.message)
+
+
+class TrainingRequestHandler(BaseHTTPRequestHandler):
+  manager: TrainingManager
+  allowed_origins: tuple[str, ...] = ()
+  server_version = "MuJoCoLocalTraining/0.1"
+
+  def log_message(self, format: str, *args: Any) -> None:
+    sys.stderr.write(f"[{self.log_date_time_string()}] {format % args}\n")
+
+  def _origin_allowed(self) -> bool:
+    origin = self.headers.get("Origin")
+    return origin is None or bool(LOCAL_ORIGIN.fullmatch(origin)) or origin in self.allowed_origins
+
+  def _cors(self) -> None:
+    origin = self.headers.get("Origin")
+    if origin and self._origin_allowed():
+      self.send_header("Access-Control-Allow-Origin", origin)
+      self.send_header("Vary", "Origin")
+
+  def _json(self, status: int, payload: Any) -> None:
+    body = json.dumps(payload, ensure_ascii=False).encode("utf-8")
+    self.send_response(status)
+    self._cors()
+    self.send_header("Content-Type", "application/json; charset=utf-8")
+    self.send_header("Content-Length", str(len(body)))
+    self.send_header("Cache-Control", "no-store")
+    self.end_headers()
+    self.wfile.write(body)
+
+  def _error(self, error: Exception) -> None:
+    if isinstance(error, ApiError):
+      self._json(error.status, {"error": str(error)})
+    else:
+      self._json(HTTPStatus.INTERNAL_SERVER_ERROR, {"error": f"本地训练服务内部错误：{error}"})
+
+  def _ensure_origin(self) -> None:
+    if not self._origin_allowed():
+      raise ApiError(HTTPStatus.FORBIDDEN, "不允许的浏览器来源")
+
+  def _payload(self) -> Any:
+    try:
+      length = int(self.headers.get("Content-Length", "0"))
+    except ValueError as error:
+      raise ApiError(HTTPStatus.BAD_REQUEST, "Content-Length 无效") from error
+    if length <= 0 or length > 32 * 1024:
+      raise ApiError(HTTPStatus.REQUEST_ENTITY_TOO_LARGE, "训练请求体不能为空且不能超过 32 KiB")
+    try:
+      return json.loads(self.rfile.read(length))
+    except (UnicodeDecodeError, json.JSONDecodeError) as error:
+      raise ApiError(HTTPStatus.BAD_REQUEST, "训练请求不是有效 JSON") from error
+
+  @staticmethod
+  def _route(path: str) -> tuple[str | None, bool]:
+    match = re.fullmatch(r"/api/training/jobs/([0-9a-f]{32})(/artifacts/policy\.onnx)?", path)
+    return (unquote(match.group(1)), bool(match.group(2))) if match else (None, False)
+
+  def do_OPTIONS(self) -> None:
+    try:
+      self._ensure_origin()
+      self.send_response(HTTPStatus.NO_CONTENT)
+      self._cors()
+      self.send_header("Access-Control-Allow-Methods", "GET, POST, DELETE, OPTIONS")
+      self.send_header("Access-Control-Allow-Headers", "Content-Type")
+      self.send_header("Access-Control-Max-Age", "600")
+      self.end_headers()
+    except Exception as error:
+      self._error(error)
+
+  def do_GET(self) -> None:
+    try:
+      self._ensure_origin()
+      path = urlsplit(self.path).path
+      if path == "/api/training/health":
+        self._json(HTTPStatus.OK, self.manager.health())
+        return
+      job_id, artifact = self._route(path)
+      if not job_id:
+        raise ApiError(HTTPStatus.NOT_FOUND, "接口不存在")
+      if artifact:
+        file_path = self.manager.artifact(job_id)
+        size = file_path.stat().st_size
+        self.send_response(HTTPStatus.OK)
+        self._cors()
+        self.send_header("Content-Type", "application/octet-stream")
+        self.send_header("Content-Disposition", 'attachment; filename="policy.onnx"')
+        self.send_header("Content-Length", str(size))
+        self.send_header("Cache-Control", "no-store")
+        self.end_headers()
+        with file_path.open("rb") as source:
+          shutil.copyfileobj(source, self.wfile)
+      else:
+        self._json(HTTPStatus.OK, self.manager.get(job_id))
+    except Exception as error:
+      self._error(error)
+
+  def do_POST(self) -> None:
+    try:
+      self._ensure_origin()
+      if urlsplit(self.path).path != "/api/training/jobs":
+        raise ApiError(HTTPStatus.NOT_FOUND, "接口不存在")
+      self._json(HTTPStatus.ACCEPTED, self.manager.start(self._payload()))
+    except Exception as error:
+      self._error(error)
+
+  def do_DELETE(self) -> None:
+    try:
+      self._ensure_origin()
+      job_id, artifact = self._route(urlsplit(self.path).path)
+      if not job_id or artifact:
+        raise ApiError(HTTPStatus.NOT_FOUND, "接口不存在")
+      self._json(HTTPStatus.ACCEPTED, self.manager.cancel(job_id))
+    except Exception as error:
+      self._error(error)
+
+
+def default_trainer_root() -> Path:
+  configured = os.environ.get("UNITREE_RL_MJLAB_ROOT")
+  if configured:
+    return Path(configured)
+  repository = Path(__file__).resolve().parents[2]
+  return repository.parent.parent / "unitree_rl_mjlab"
+
+
+def parse_args() -> argparse.Namespace:
+  parser = argparse.ArgumentParser(description="MuJoCo Web 平台本地强化学习训练服务")
+  parser.add_argument("--host", default="127.0.0.1", choices=("127.0.0.1", "localhost"), help="仅允许绑定本机回环地址")
+  parser.add_argument("--port", type=int, default=8765)
+  parser.add_argument("--trainer-root", type=Path, default=default_trainer_root(), help="unitree_rl_mjlab 工程目录")
+  parser.add_argument("--trainer-python", default=sys.executable, help="已安装 mjlab/torch 的 Python 解释器")
+  parser.add_argument("--task", action="append", dest="tasks", help="允许前端启动的任务 ID；可重复")
+  parser.add_argument("--allow-origin", action="append", default=[], help="额外允许的前端 Origin；可重复")
+  return parser.parse_args()
+
+
+def main() -> None:
+  args = parse_args()
+  manager = TrainingManager(args.trainer_root, args.trainer_python, tuple(args.tasks or DEFAULT_TASKS))
+  TrainingRequestHandler.manager = manager
+  TrainingRequestHandler.allowed_origins = tuple(args.allow_origin)
+  server = ThreadingHTTPServer((args.host, args.port), TrainingRequestHandler)
+  print(f"本地训练服务：http://{args.host}:{args.port}")
+  print(f"训练工程：{manager.trainer_root}")
+  print(f"Python：{manager.python}")
+  if manager.readiness_error():
+    print(f"警告：{manager.readiness_error()}", file=sys.stderr)
+  try:
+    server.serve_forever()
+  except KeyboardInterrupt:
+    print("\n正在停止本地训练服务…")
+  finally:
+    active = manager.active_job_id()
+    if active:
+      manager.cancel(active)
+    server.server_close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/training_server/tests/test_server.py b/training_server/tests/test_server.py
new file mode 100644
index 00000000..ef2ad2c1
--- /dev/null
+++ b/training_server/tests/test_server.py
@@ -0,0 +1,80 @@
+import sys
+import tempfile
+import time
+import unittest
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
+from server import ApiError, TrainingManager  # noqa: E402
+
+
+class TrainingManagerTest(unittest.TestCase):
+  def setUp(self):
+    self.temporary = tempfile.TemporaryDirectory()
+    self.root = Path(self.temporary.name)
+    (self.root / "scripts").mkdir()
+    (self.root / "scripts" / "train.py").write_text(
+        """import os, pathlib, time
+print('WANDB_MODE=' + os.environ.get('WANDB_MODE', ''), flush=True)
+print('Learning iteration 1 / 2', flush=True)
+time.sleep(0.02)
+print('Learning iteration 2 / 2', flush=True)
+out=pathlib.Path('logs/rsl_rl/test/run/policy.onnx')
+out.parent.mkdir(parents=True, exist_ok=True)
+out.write_bytes(b'onnx')
+""",
+        encoding="utf-8",
+    )
+    self.manager = TrainingManager(self.root, sys.executable, ("Unitree-Go2-Flat",), check_environment=False)
+
+  def tearDown(self):
+    self.temporary.cleanup()
+
+  @staticmethod
+  def payload(**patch):
+    value = {
+        "taskId": "Unitree-Go2-Flat",
+        "numEnvs": 16,
+        "maxIterations": 2,
+        "seed": 42,
+        "runName": "browser-test",
+        "device": "cpu",
+        "gpuIds": [],
+        "wandbMode": "offline",
+    }
+    value.update(patch)
+    return value
+
+  def test_validates_allowlist_and_limits(self):
+    with self.assertRaises(ApiError):
+      self.manager.parse_config(self.payload(taskId="shell injection"))
+    with self.assertRaises(ApiError):
+      self.manager.parse_config(self.payload(numEnvs=0))
+    with self.assertRaises(ApiError):
+      self.manager.parse_config(self.payload(runName="bad name"))
+    with self.assertRaises(ApiError):
+      self.manager.parse_config(self.payload(wandbMode="login"))
+
+  def test_builds_argument_array_without_shell(self):
+    config = self.manager.parse_config(self.payload(device="gpu", gpuIds=[0, 2]))
+    command = self.manager.command_for(config)
+    self.assertEqual(command[:4], [sys.executable, "-u", "scripts/train.py", "Unitree-Go2-Flat"])
+    self.assertEqual(command[-2:], ["--gpu-ids", "[0,2]"])
+
+  def test_runs_job_and_exposes_new_onnx_artifact(self):
+    job = self.manager.start(self.payload())
+    deadline = time.monotonic() + 5
+    while time.monotonic() < deadline:
+      job = self.manager.get(job["id"])
+      if job["state"] not in ("queued", "running"):
+        break
+      time.sleep(0.02)
+    self.assertEqual(job["state"], "succeeded")
+    self.assertEqual(job["iteration"], 2)
+    self.assertIn("WANDB_MODE=offline", job["logs"])
+    self.assertTrue(job["artifactReady"])
+    self.assertEqual(self.manager.artifact(job["id"]).read_bytes(), b"onnx")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/unity/CHANGELOG.md b/unity/CHANGELOG.md
deleted file mode 100644
index 24f296e2..00000000
--- a/unity/CHANGELOG.md
+++ /dev/null
@@ -1,22 +0,0 @@
-# MuJoCo Plug-in for Unity
-
-## [2.1.2] - 2022-03-15
-
-### Minor modifications
-
-When converting a world geom to a free-moving body, the parent body is created
-where the geom is, rather than at the root.
-
-MJCF XML generation is now locale-invariant, addressing a parsing issue on
-systems with a decimal comma.
-
-File name changes:
-
-- Added `.Runtime` to `Mujoco.asmdef` and the corresponding test file.
-- Reorganized the files under `Runtime/Componenets` into different
-  subdirectories.
-- File directories for Editor tests are now named with a capital letter.
-
-## [2.1.1] - 2022-02-02
-
-### Initial release
diff --git a/unity/CHANGELOG.md.meta b/unity/CHANGELOG.md.meta
deleted file mode 100644
index fb2c1a48..00000000
--- a/unity/CHANGELOG.md.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: e0f2a83d7d240967bb5945d478c8b7f5
-TextScriptImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor.meta b/unity/Editor.meta
deleted file mode 100644
index bf7f3c68..00000000
--- a/unity/Editor.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 19efbd5e1b0bbc43b9f6a3defa20bb80
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Bindings.meta b/unity/Editor/Bindings.meta
deleted file mode 100644
index e1074019..00000000
--- a/unity/Editor/Bindings.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: a16affd12ca3323468b45cded3a3e64d
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs b/unity/Editor/Bindings/MujocoBinaryRetriever.cs
deleted file mode 100644
index 6ce89a5c..00000000
--- a/unity/Editor/Bindings/MujocoBinaryRetriever.cs
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.IO;
-using System.Runtime.InteropServices;
-using UnityEditor;
-using UnityEditor.PackageManager;
-using UnityEngine;
-
-namespace Mujoco {
-public class MujocoBinaryRetriever {
-
-  [InitializeOnLoadMethod]
-  static void SubscribeToEvent() {
-    // This causes the method to be invoked after the Editor registers the new list of packages.
-    Events.registeredPackages += RegisteredPackagesEventHandler;
-  }
-
-  static void RegisteredPackagesEventHandler(
-      PackageRegistrationEventArgs packageRegistrationEventArgs) {
-    foreach (var packageInfo in packageRegistrationEventArgs.added) {
-      if (packageInfo.name.Equals("org.mujoco")) {
-        var mujocoPath = packageInfo.assetPath;
-        if (RuntimeInformation.IsOSPlatform(OSPlatform.OSX)) {
-          if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
-            File.Copy(
-                "/Applications/MuJoCo.app/Contents/Frameworks" +
-                "/mujoco.framework/Versions/Current/libmujoco.3.12.0.dylib",
-                mujocoPath + "/mujoco.dylib");
-            AssetDatabase.Refresh();
-          }
-        } else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux)) {
-          if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
-            File.Copy(
-                Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
-                "/.mujoco/mujoco-3.12.0/lib/libmujoco.so.3.12.0",
-                mujocoPath + "/libmujoco.so");
-            AssetDatabase.Refresh();
-          }
-        } else {
-          if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dll") == null) {
-            File.Copy(
-                Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
-                "\\MuJoCo\\bin\\mujoco.dll",
-                mujocoPath + "\\mujoco.dll");
-            AssetDatabase.Refresh();
-          }
-        }
-      }
-    }
-  }
-}
-}
diff --git a/unity/Editor/Bindings/MujocoBinaryRetriever.cs.meta b/unity/Editor/Bindings/MujocoBinaryRetriever.cs.meta
deleted file mode 100644
index 7bc50919..00000000
--- a/unity/Editor/Bindings/MujocoBinaryRetriever.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 3328869c60ca872129794f55c2d5bd05
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Components.meta b/unity/Editor/Components.meta
deleted file mode 100644
index 79165ea8..00000000
--- a/unity/Editor/Components.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: f5a5ea2338a298b5e94d5f5653c0b85b
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Components/AbsoluteValuePropertyEditor.cs b/unity/Editor/Components/AbsoluteValuePropertyEditor.cs
deleted file mode 100644
index f7bf0f46..00000000
--- a/unity/Editor/Components/AbsoluteValuePropertyEditor.cs
+++ /dev/null
@@ -1,26 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using UnityEditor;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [CustomPropertyDrawer(typeof(AbsoluteValueAttribute))]
-  public class AbsoluteValuePropertyDrawer : PropertyDrawer {
-    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) {
-      property.floatValue = Mathf.Abs(EditorGUI.FloatField(position, label, property.floatValue));
-    }
-  }
-}
diff --git a/unity/Editor/Components/AbsoluteValuePropertyEditor.cs.meta b/unity/Editor/Components/AbsoluteValuePropertyEditor.cs.meta
deleted file mode 100644
index 1c40834c..00000000
--- a/unity/Editor/Components/AbsoluteValuePropertyEditor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: ac61b66fbbd264beebb1df6cd423d122
-timeCreated: 1538126279
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Components/MjActuatorEditor.cs b/unity/Editor/Components/MjActuatorEditor.cs
deleted file mode 100644
index 10fc7de8..00000000
--- a/unity/Editor/Components/MjActuatorEditor.cs
+++ /dev/null
@@ -1,202 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using UnityEditor;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [CustomEditor(typeof(MjActuator))]
-  [CanEditMultipleObjects]
-  public class MjActuatorEditor : Editor {
-    private bool _showCustomParams = false;
-    private bool _showDebugValues = false;
-    private bool _showDynPrm = false;
-    private bool _showGainPrm = false;
-    private bool _showBiasValues = false;
-
-    // General actuator properties.
-    private SerializedProperty _dynType;
-    private SerializedProperty _gainType;
-    private SerializedProperty _biasType;
-    private SerializedProperty _dynPrm;
-    private SerializedProperty _gainPrm;
-    private SerializedProperty _biasPrm;
-    // Position actuator properties.
-    private SerializedProperty _kp;
-    private SerializedProperty _kvp;
-    // Velocity actuator properties.
-    private SerializedProperty _kv;
-    // Cylinder actuator properties.
-    private SerializedProperty _cylinderTimeConst;
-    private SerializedProperty _area;
-    private SerializedProperty _diameter;
-    private SerializedProperty _bias;
-    // Cylinder actuator properties.
-    private SerializedProperty _muscleTimeConst;
-    private SerializedProperty _range;
-    private SerializedProperty _force;
-    private SerializedProperty _scale;
-    private SerializedProperty _lmin;
-    private SerializedProperty _lmax;
-    private SerializedProperty _vmax;
-    private SerializedProperty _fpmax;
-    private SerializedProperty _fvmax;
-
-    public void OnEnable() {
-      _showCustomParams = false;
-      _showDebugValues = false;
-      _showDynPrm = false;
-      _showGainPrm = false;
-      _showBiasValues = false;
-
-      var customParams = serializedObject.FindProperty("CustomParams");
-      // General actuator properties.
-      _dynType = customParams.FindPropertyRelative("DynType");
-      _gainType = customParams.FindPropertyRelative("GainType");
-      _biasType = customParams.FindPropertyRelative("BiasType");
-      _dynPrm = customParams.FindPropertyRelative("DynPrm");
-      _gainPrm = customParams.FindPropertyRelative("GainPrm");
-      _biasPrm = customParams.FindPropertyRelative("BiasPrm");
-      // Position actuator properties.
-      _kp = customParams.FindPropertyRelative("Kp");
-      _kvp = customParams.FindPropertyRelative("Kvp");
-      // Velocity actuator properties.
-      _kv = customParams.FindPropertyRelative("Kv");
-      // Cylinder actuator properties.
-      _cylinderTimeConst = customParams.FindPropertyRelative("CylinderTimeConst");
-      _area = customParams.FindPropertyRelative("Area");
-      _diameter = customParams.FindPropertyRelative("Diameter");
-      _bias = customParams.FindPropertyRelative("Bias");
-      // Cylinder actuator properties.
-      _muscleTimeConst = customParams.FindPropertyRelative("MuscleTimeConst");
-      _range = customParams.FindPropertyRelative("Range");
-      _force = customParams.FindPropertyRelative("Force");
-      _scale = customParams.FindPropertyRelative("Scale");
-      _lmin = customParams.FindPropertyRelative("LMin");
-      _lmax = customParams.FindPropertyRelative("LMax");
-      _vmax = customParams.FindPropertyRelative("VMax");
-      _fpmax = customParams.FindPropertyRelative("FpMax");
-      _fvmax = customParams.FindPropertyRelative("FvMax");
-    }
-
-    public override void OnInspectorGUI() {
-      serializedObject.Update();
-      foreach (var target in serializedObject.targetObjects) {
-        EditActuator(target as MjActuator);
-      }
-      serializedObject.ApplyModifiedProperties();
-    }
-
-    private void EditActuator(MjActuator actuator) {
-      DrawDefaultInspector();
-      _showCustomParams = EditorGUILayout.Foldout(_showCustomParams, "Custom Params");
-      if (_showCustomParams) {
-        EditCustomParams(actuator.Type, actuator.CustomParams);
-      }
-      _showDebugValues = EditorGUILayout.Foldout(_showDebugValues, "Debug");
-      if (_showDebugValues) {
-        using (new EditorGUI.DisabledScope(true)) {
-          EditorGUILayout.FloatField("Length", actuator.Length);
-          EditorGUILayout.FloatField("Velocity", actuator.Velocity);
-          EditorGUILayout.FloatField("Force", actuator.Force);
-        }
-      }
-    }
-
-    private void EditCustomParams(MjActuator.ActuatorType type,
-                                  MjActuator.CustomParameters parameters) {
-      switch (type) {
-        case MjActuator.ActuatorType.General: {
-          EditGeneralParams(parameters);
-          break;
-        }
-        case MjActuator.ActuatorType.Position: {
-          EditPositionParams(parameters);
-          break;
-        }
-        case MjActuator.ActuatorType.Velocity: {
-          EditVelocityParams(parameters);
-          break;
-        }
-        case MjActuator.ActuatorType.Cylinder: {
-          EditCylinderParams(parameters);
-          break;
-        }
-        case MjActuator.ActuatorType.Muscle: {
-          EditMuscleParams(parameters);
-          break;
-        }
-      }
-    }
-
-    private void EditGeneralParams(MjActuator.CustomParameters parameters) {
-      EditorGUILayout.PropertyField(_dynType);
-      EditorGUILayout.PropertyField(_gainType);
-      EditorGUILayout.PropertyField(_biasType);
-
-      _showDynPrm = EditorGUILayout.Foldout(_showDynPrm, "DynPrm");
-      if (_showDynPrm) {
-        for (var i = 0; i < parameters.DynPrm.Count; ++i) {
-          EditorGUILayout.PropertyField(_dynPrm.GetArrayElementAtIndex(i));
-        }
-      }
-      _showGainPrm = EditorGUILayout.Foldout(_showGainPrm, "GainPrm");
-      if (_showGainPrm) {
-        for (var i = 0; i < parameters.GainPrm.Count; ++i) {
-          EditorGUILayout.PropertyField(_gainPrm.GetArrayElementAtIndex(i));
-        }
-      }
-      _showBiasValues = EditorGUILayout.Foldout(_showBiasValues, "BiasPrm");
-      if (_showBiasValues) {
-        for (var i = 0; i < parameters.BiasPrm.Count; ++i) {
-          EditorGUILayout.PropertyField(_biasPrm.GetArrayElementAtIndex(i));
-        }
-      }
-    }
-
-    private void EditPositionParams(MjActuator.CustomParameters parameters) {
-      EditorGUILayout.PropertyField(_kp);
-      EditorGUILayout.PropertyField(_kvp, new GUIContent("Kv"));
-    }
-
-    private void EditVelocityParams(MjActuator.CustomParameters parameters) {
-      EditorGUILayout.PropertyField(_kv);
-    }
-
-    private void EditCylinderParams(MjActuator.CustomParameters parameters) {
-      EditorGUILayout.PropertyField(_cylinderTimeConst);
-      EditorGUILayout.PropertyField(_area);
-      EditorGUILayout.PropertyField(_diameter);
-      _showBiasValues = EditorGUILayout.Foldout(_showBiasValues, "Bias");
-      if (_showBiasValues) {
-        for (var i = 0; i < parameters.Bias.Length; ++i) {
-          EditorGUILayout.PropertyField(_bias.GetArrayElementAtIndex(i));
-        }
-      }
-    }
-
-    private void EditMuscleParams(MjActuator.CustomParameters parameters) {
-      EditorGUILayout.PropertyField(_muscleTimeConst, new GUIContent("TimeConst"));
-      EditorGUILayout.PropertyField(_range);
-      EditorGUILayout.PropertyField(_force);
-      EditorGUILayout.PropertyField(_scale);
-      EditorGUILayout.PropertyField(_lmin);
-      EditorGUILayout.PropertyField(_lmax);
-      EditorGUILayout.PropertyField(_vmax);
-      EditorGUILayout.PropertyField(_fpmax);
-      EditorGUILayout.PropertyField(_fvmax);
-    }
-  }
-}
diff --git a/unity/Editor/Components/MjActuatorEditor.cs.meta b/unity/Editor/Components/MjActuatorEditor.cs.meta
deleted file mode 100644
index aef00262..00000000
--- a/unity/Editor/Components/MjActuatorEditor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 76f90e10df489475490b387a53dd88da
-timeCreated: 1547050687
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Components/MjGeomEditor.cs b/unity/Editor/Components/MjGeomEditor.cs
deleted file mode 100644
index 0bd77ea0..00000000
--- a/unity/Editor/Components/MjGeomEditor.cs
+++ /dev/null
@@ -1,81 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using UnityEditor;
-using UnityEngine;
-
-namespace Mujoco {
-
-[CustomEditor(typeof(MjGeom), true)]
-[CanEditMultipleObjects]
-public class MjGeomEditor : MjShapeComponentEditor {
-  public override void OnInspectorGUI() {
-    serializedObject.Update();
-    EditorGUILayout.PropertyField(serializedObject.FindProperty("Mass"));
-    EditorGUILayout.PropertyField(serializedObject.FindProperty("Density"));
-    EditorGUILayout.PropertyField(serializedObject.FindProperty("Settings"));
-    serializedObject.ApplyModifiedProperties();
-    base.OnInspectorGUI();
-  }
-
-  [MenuItem("CONTEXT/MjGeom/Add mesh renderer")]
-  private static void AddMeshComponents(MenuCommand menuCommand) {
-    var geom = menuCommand.context as MjGeom;
-    geom.gameObject.AddComponent<MjMeshFilter>();
-    geom.gameObject.AddComponent<MeshRenderer>().material = new Material(Shader.Find("Diffuse"));
-  }
-
-  [MenuItem("CONTEXT/MjGeom/Convert to free object")]
-  private static void ConvertToFreeObject(MenuCommand menuCommand) {
-    var geom = menuCommand.context as MjGeom;
-    if (geom.GetComponentInParent<MjBody>()) {
-      Debug.LogError("This geom already has a Body parent.", geom.GetComponentInParent<MjBody>());
-      return;
-    }
-    var parent = new GameObject(geom.gameObject.name + " Body").AddComponent<MjBody>().transform;
-    parent.position = geom.transform.position;
-    geom.transform.parent = parent;
-
-    var root = geom.transform.root;
-    if (root != geom.transform) {
-      parent.parent = geom.transform.parent;
-    }
-
-    var joint = new GameObject("Free Joint").AddComponent<MjFreeJoint>().transform;
-    joint.position = geom.transform.position;
-    joint.parent = parent;
-  }
-
-  [MenuItem("CONTEXT/Collider/Add a matching MuJoCo geom")]
-  private static void AddMatchingGeom(MenuCommand menuCommand) {
-    var collider = menuCommand.context as Collider;
-    collider.enabled = false;
-    var geom = collider.gameObject.AddComponent<MjGeom>();
-    if (collider as BoxCollider) {
-      geom.ShapeType = MjShapeComponent.ShapeTypes.Box;
-    } else if (collider as SphereCollider) {
-      geom.ShapeType = MjShapeComponent.ShapeTypes.Sphere;
-    } else if (collider as CapsuleCollider) {
-      geom.ShapeType = MjShapeComponent.ShapeTypes.Capsule;
-    } else if (collider as MeshCollider) {
-      geom.ShapeType = MjShapeComponent.ShapeTypes.Mesh;
-      ((MjMeshShape)geom.Shape).Mesh = ((MeshCollider)collider).sharedMesh;
-    } else {
-      Debug.LogError("Collider type not supported yet.", collider);
-      collider.enabled = true;
-      GameObject.DestroyImmediate(geom);
-    }
-  }
-}
-}
diff --git a/unity/Editor/Components/MjGeomEditor.cs.meta b/unity/Editor/Components/MjGeomEditor.cs.meta
deleted file mode 100644
index 980d42d0..00000000
--- a/unity/Editor/Components/MjGeomEditor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: d5409b149ad694715a57f4dc8bb7a857
-timeCreated: 1552041114
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Components/MjHandles.cs b/unity/Editor/Components/MjHandles.cs
deleted file mode 100644
index 79ecbc45..00000000
--- a/unity/Editor/Components/MjHandles.cs
+++ /dev/null
@@ -1,58 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEditor;
-using UnityEditor.AnimatedValues;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public static class MjHandles {
-
-    // Renders a visualization of an axis, anchored at the specified world space origin.
-    //
-    // Args:
-    //   origin: World space coordinates of the anchoring point for the visualization.
-    //   direction: Axis direction.
-    public static void Axis(Vector3 origin, Vector3 direction) {
-      var size = HandleUtility.GetHandleSize(origin) * 0.3f;
-      var axisEnd = origin + direction * size;
-      var capRotation = Quaternion.LookRotation(direction);
-      Handles.DrawLine(origin, axisEnd);
-      Handles.ConeHandleCap(0, axisEnd, capRotation, size, EventType.Repaint);
-    }
-
-    // Renders a visualization of linear (translational) limits, anchored at the specified world
-    // space origin.
-    //
-    // Args:
-    //   origin: World space coordinates of the anchoring point for the visualization.
-    //   lower: Distance from the origin below, where the limit expires.
-    //   upper: Distance from the origin above, where the limit expires.
-    //   axis: Axis along which the limit works.
-    public static void LinearLimits(Vector3 origin, float lower, float upper, Vector3 axis) {
-      if (upper > lower) {
-        var discRadius = HandleUtility.GetHandleSize(origin) * 0.7f;
-        var startPosition = origin + axis * lower;
-        var endPosition = origin + axis * upper;
-        Handles.DrawSolidDisc(startPosition, axis, discRadius);
-        Handles.DrawSolidDisc(endPosition, axis, discRadius);
-        Handles.DrawLine(origin, endPosition);
-      }
-    }
-  }
-}
diff --git a/unity/Editor/Components/MjHandles.cs.meta b/unity/Editor/Components/MjHandles.cs.meta
deleted file mode 100644
index 55df2552..00000000
--- a/unity/Editor/Components/MjHandles.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 1a810c29762134ebb9bbee3903172764
-timeCreated: 1537794456
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Components/MjHingeJointEditor.cs b/unity/Editor/Components/MjHingeJointEditor.cs
deleted file mode 100644
index d60fc351..00000000
--- a/unity/Editor/Components/MjHingeJointEditor.cs
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEditor;
-using UnityEditor.AnimatedValues;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [CustomEditor(typeof(MjHingeJoint))]
-  public class MjHingeJointEditor : Editor {
-    private MjHingeJoint _joint;
-
-    protected virtual void OnEnable() {
-      _joint = (MjHingeJoint)target;
-    }
-
-    protected virtual void OnSceneGUI() {
-      DrawHandles(_joint);
-    }
-
-    public static void DrawHandles(MjHingeJoint joint) {
-      Handles.color = Color.yellow;
-      MjHandles.Axis(joint.transform.position, joint.RotationAxis);
-    }
-  }
-}
diff --git a/unity/Editor/Components/MjHingeJointEditor.cs.meta b/unity/Editor/Components/MjHingeJointEditor.cs.meta
deleted file mode 100644
index 1211b823..00000000
--- a/unity/Editor/Components/MjHingeJointEditor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: bdaa159fcf7064108aed2229bc39ac0d
-timeCreated: 1537794793
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Components/MjMouseSpring.cs b/unity/Editor/Components/MjMouseSpring.cs
deleted file mode 100644
index 7e1c2462..00000000
--- a/unity/Editor/Components/MjMouseSpring.cs
+++ /dev/null
@@ -1,193 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using UnityEditor;
-using UnityEngine;
-
-namespace Mujoco {
-
-  // During play mode, in the scene view, with a MjBody component selected, holding down control
-  // and left mouse drag will apply a force on the body.  Holding shift down will change the applied
-  // force direction between World XZ plane and Y[camera-up].
-
-  [CustomEditor(typeof(MjComponent), true)]
-  public class MjMouseSpring : Editor {
-    private bool _lastShiftKeyState = false;
-
-    private Plane _mouseDragPlane;
-    private Vector3 _mouseDragCurrentPoint = Vector3.negativeInfinity;
-
-    private Color _translucentRed = new Color(1, 0, 0, 0.1f);
-
-    public void OnDisable() {
-      // If we're still the hot control at this stage, we need to release.
-      int uniqueID = GUIUtility.GetControlID(FocusType.Passive);
-      if (GUIUtility.hotControl == uniqueID) {
-        GUIUtility.hotControl = 0;
-      }
-    }
-
-    private void SetDragOriginAndDragPlane(Vector3 planeOrigin, Vector3 normal) {
-      normal[1] = 0;
-      normal = _lastShiftKeyState ? Vector3.up : normal;
-      _mouseDragPlane.SetNormalAndPosition(normal, planeOrigin);
-    }
-
-    private void UpdatePositionOnDragPlane(Vector3 mousePosition) {
-      float rayDist;
-      Ray ray = HandleUtility.GUIPointToWorldRay(mousePosition);
-
-      if (_mouseDragPlane.Raycast(ray, out rayDist)) {
-        _mouseDragCurrentPoint = ray.GetPoint(rayDist);
-      }
-    }
-
-    private void DrawMouseSpringGui(Vector3 bodyPosition, Vector3 direction, Camera renderCamera) {
-      // Update and draw the drag indicator.
-      var rot = Quaternion.FromToRotation(Vector3.up, direction);
-
-      // Backup defaults.
-      var backupColour = Handles.color;
-
-      // Update the drag plane indicator disc and outline...
-      var discRadius = (_mouseDragCurrentPoint - bodyPosition).magnitude;
-
-      Handles.color = Color.red;
-      Handles.DrawWireDisc(bodyPosition, _mouseDragPlane.normal, discRadius);
-      Handles.color = _translucentRed;
-      Handles.DrawSolidDisc(bodyPosition, _mouseDragPlane.normal, discRadius);
-
-      // ...and give it a phat poly line to show the drag anchor origin.
-      Handles.color = Color.white;
-      Handles.DrawAAPolyLine(6, new Vector3[] { bodyPosition, _mouseDragCurrentPoint });
-
-      // Restore defaults.
-      Handles.color = backupColour;
-    }
-
-    public unsafe void OnSceneGUI() {
-      if (!Application.isPlaying) {
-        return;
-      }
-
-      var currentEvent = UnityEngine.Event.current;
-
-      // Cache the hot control to determine whether we're currently capturing mouse input.
-      int uniqueID = GUIUtility.GetControlID(FocusType.Passive);
-
-      // Mouse spring is active if the control key is held down and the user is dragging the
-      // left mouse button, or if we're already in the process of capturing mouse input.
-      bool mouseSpringActive = GUIUtility.hotControl == uniqueID;
-      bool mouseSpringStarting = currentEvent.control && currentEvent.button == 0;
-      if (!mouseSpringStarting && !mouseSpringActive) {
-        return;
-      }
-
-      var sceneCamera = SceneView.currentDrawingSceneView?.camera;
-      if (sceneCamera == null) {
-        Debug.LogError("SceneView.currentDrawingSceneView is null");
-        return;
-      }
-
-      var targetObject = target as MjComponent;
-      MjBody body = targetObject.GetComponentInParent<MjBody>();
-      if(!body)
-        return;
-
-      Vector3 bodyPosition =
-          body != null ? body.transform.position : Vector3.zero;
-      var scene = MjScene.Instance;
-
-      switch (currentEvent.type) {
-        case EventType.MouseDown:
-          if (EditorWindow.mouseOverWindow == UnityEditor.EditorWindow.GetWindow<SceneView>()) {
-            // The mouse was pressed in the scene view, so start capturing all mouse input until
-            // the mouse button's released.
-            GUIUtility.hotControl = uniqueID;
-
-            _lastShiftKeyState = false;
-            SetDragOriginAndDragPlane(bodyPosition, -sceneCamera.transform.forward);
-
-            currentEvent.Use();
-          }
-          return;
-
-        case EventType.MouseDrag:
-          if (mouseSpringActive) {
-            // We're currently capturing all mouse input, so consume the event.
-            GUIUtility.hotControl = uniqueID;
-            currentEvent.Use();
-          }
-          return;
-
-        case EventType.MouseUp:
-          if (mouseSpringActive) {
-            // We're still capturing all mouse input so consume the event, but we can release our
-            // control over capturing input now as the mouse button's been released.
-            GUIUtility.hotControl = 0;
-            currentEvent.Use();
-            // as opposed to unity's addforce, xfrc_applied is persistent
-            scene.Data->xfrc_applied[6*body.MujocoId + 0] = 0;
-            scene.Data->xfrc_applied[6*body.MujocoId + 1] = 0;
-            scene.Data->xfrc_applied[6*body.MujocoId + 2] = 0;
-          }
-          return;
-
-        case EventType.Repaint: {
-          if (mouseSpringActive) {
-
-            if (currentEvent.shift != _lastShiftKeyState) {
-              _lastShiftKeyState = currentEvent.shift;
-              SetDragOriginAndDragPlane(bodyPosition, -sceneCamera.transform.forward);
-            }
-
-            // Raycast towards the drag plane to update _mouseDragCurrentPoint.
-            UpdatePositionOnDragPlane(currentEvent.mousePosition);
-
-            Vector3 bodyVel = Vector3.one;
-            double[] mjBodyVel = new double[6];
-            fixed (double* res = mjBodyVel) {
-              MujocoLib.mj_objectVelocity(
-                  scene.Model, scene.Data, (int)MujocoLib.mjtObj.mjOBJ_BODY, body.MujocoId, res, 0);
-              // linear velocity is in the last 3 entries
-              bodyVel = MjEngineTool.UnityVector3(
-                  MjEngineTool.MjVector3AtEntry(res, 1));
-            }
-
-            float springStiffness = 100;
-            var settings = MjGlobalSettings.Instance;
-            if (settings) {
-              springStiffness = settings.MouseSpringStiffness;
-            }
-
-            Vector3 delta = _mouseDragCurrentPoint - bodyPosition;
-            float mass = 1.0f / (float)scene.Model->body_invweight0[2*body.MujocoId];
-            Vector3 unityForce = delta * springStiffness * mass;
-            unityForce -= bodyVel * Mathf.Sqrt(springStiffness) * mass;
-            Vector3 mjForce = MjEngineTool.MjVector3(unityForce);
-            scene.Data->xfrc_applied[6*body.MujocoId + 0] = mjForce.x;
-            scene.Data->xfrc_applied[6*body.MujocoId + 1] = mjForce.y;
-            scene.Data->xfrc_applied[6*body.MujocoId + 2] = mjForce.z;
-
-            // Draw and immediately force a repaint.
-            DrawMouseSpringGui(body.transform.position, delta, sceneCamera);
-            SceneView.RepaintAll();
-          }
-          return;
-        }
-      }
-    }
-  }
-}
diff --git a/unity/Editor/Components/MjMouseSpring.cs.meta b/unity/Editor/Components/MjMouseSpring.cs.meta
deleted file mode 100644
index a3262668..00000000
--- a/unity/Editor/Components/MjMouseSpring.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 6c4ae8cbdd0cac0a387364d88408d932
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Components/MjShapeComponentEditor.cs b/unity/Editor/Components/MjShapeComponentEditor.cs
deleted file mode 100644
index 20281e61..00000000
--- a/unity/Editor/Components/MjShapeComponentEditor.cs
+++ /dev/null
@@ -1,38 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using UnityEditor;
-using UnityEngine;
-
-namespace Mujoco {
-
-[CustomEditor(typeof(MjShapeComponent), true)]
-[CanEditMultipleObjects]
-public class MjShapeComponentEditor : MjMouseSpring {
-
-  public override void OnInspectorGUI() {
-
-    serializedObject.Update();
-    var shapeType = serializedObject.FindProperty("ShapeType");
-    EditorGUILayout.PropertyField(shapeType);
-    EditorGUILayout.PropertyField(
-        serializedObject.FindProperty($"{shapeType.enumNames[shapeType.enumValueIndex]}"),
-        includeChildren: true);
-    serializedObject.ApplyModifiedProperties();
-  }
-}
-}
diff --git a/unity/Editor/Components/MjShapeComponentEditor.cs.meta b/unity/Editor/Components/MjShapeComponentEditor.cs.meta
deleted file mode 100644
index e4b4f82f..00000000
--- a/unity/Editor/Components/MjShapeComponentEditor.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 21af9fef28ac0899e982e791916b5fc5
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Components/MjSlideJointEditor.cs b/unity/Editor/Components/MjSlideJointEditor.cs
deleted file mode 100644
index 9664db66..00000000
--- a/unity/Editor/Components/MjSlideJointEditor.cs
+++ /dev/null
@@ -1,48 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEditor;
-using UnityEditor.AnimatedValues;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [CustomEditor(typeof(MjSlideJoint))]
-  public class MjSlideJointEditor : Editor {
-    private MjSlideJoint _joint;
-
-    protected virtual void OnEnable() {
-      _joint = (MjSlideJoint)target;
-    }
-
-    protected virtual void OnSceneGUI() {
-      DrawHandles(_joint);
-    }
-
-    // Draw the handles for the slide joint.
-    public static void DrawHandles(MjSlideJoint joint) {
-      // Draw the handles.
-      if (joint.Settings.Solver.Limited) {
-        Handles.color = Color.blue;
-        MjHandles.LinearLimits(joint.transform.position, joint.RangeLower, joint.RangeUpper,
-                                   joint.SlideAxis);
-      }
-      Handles.color = Color.yellow;
-      MjHandles.Axis(joint.transform.position, joint.SlideAxis);
-    }
-  }
-}
diff --git a/unity/Editor/Components/MjSlideJointEditor.cs.meta b/unity/Editor/Components/MjSlideJointEditor.cs.meta
deleted file mode 100644
index 5b12b185..00000000
--- a/unity/Editor/Components/MjSlideJointEditor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: bf7c14a263938456e9393a8d0fce7b9f
-timeCreated: 1538066332
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Exporter.meta b/unity/Editor/Exporter.meta
deleted file mode 100644
index 444a8232..00000000
--- a/unity/Editor/Exporter.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: bb205616ac4ad592abaf06c8e97f8bb0
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData:
-  assetBundleName:
-  assetBundleVariant:
diff --git a/unity/Editor/Exporter/MjExporterEditorWindow.cs b/unity/Editor/Exporter/MjExporterEditorWindow.cs
deleted file mode 100644
index 828d3f4f..00000000
--- a/unity/Editor/Exporter/MjExporterEditorWindow.cs
+++ /dev/null
@@ -1,62 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System.IO;
-using System.Text;
-using System.Xml;
-using UnityEditor;
-using UnityEngine;
-
-namespace Mujoco
-{
-
-    // Mujoco scenes exporter window.
-    public class MjExporterEditorWindow : EditorWindow
-    {
-        [MenuItem("Assets/Export MuJoCo Scene")]
-        public static void Apply()
-        {
-            if (Application.isPlaying || MjScene.InstanceExists)
-            {
-                Debug.LogWarning("MJCF exporting only available outside Play mode, and with no MjScene in the hierarchy.");
-                return;
-            }
-
-            string path = EditorUtility.SaveFilePanel("Save MJCF model", "", "model", "xml");
-            if (string.IsNullOrEmpty(path)) return;
-
-            // Due to singleton pattern, this creates a MjScene GameObject we need to remove at the end.
-            var mjcf = MjScene.Instance.CreateScene(skipCompile: true);
-            try
-            {
-                using (var stream = File.Open(path, FileMode.Create))
-                {
-                    using (var writer = new XmlTextWriter(stream, new UTF8Encoding(false)))
-                    {
-                        writer.Formatting = Formatting.Indented;
-                        mjcf.WriteContentTo(writer);
-                        Debug.Log($"MJCF saved to {path}");
-                    }
-                }
-            }
-            catch (IOException ex)
-            {
-                Debug.LogWarning("Failed to save Xml to a file: " + ex.ToString());
-            }
-
-            // Removing the added MjScene.
-            DestroyImmediate(MjScene.Instance.gameObject);
-        }
-    }
-}
diff --git a/unity/Editor/Exporter/MjExporterEditorWindow.cs.meta b/unity/Editor/Exporter/MjExporterEditorWindow.cs.meta
deleted file mode 100644
index 2b219282..00000000
--- a/unity/Editor/Exporter/MjExporterEditorWindow.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 7695f261c02fdc343a09b219c92a6aab
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData:
-  assetBundleName:
-  assetBundleVariant:
diff --git a/unity/Editor/Importer.meta b/unity/Editor/Importer.meta
deleted file mode 100644
index 3a0596d9..00000000
--- a/unity/Editor/Importer.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 974c7b5fe753877ebaa54ec26e113e1c
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Importer/MjImporterEditorWindow.cs b/unity/Editor/Importer/MjImporterEditorWindow.cs
deleted file mode 100644
index d84b5ec5..00000000
--- a/unity/Editor/Importer/MjImporterEditorWindow.cs
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System.IO;
-using UnityEditor;
-using UnityEngine;
-
-namespace Mujoco {
-
-// Mujoco scenes importer window.
-public class MjImporterEditorWindow : EditorWindow {
-  [MenuItem("Assets/Import MuJoCo Scene")]
-  public static void Apply() {
-    string path = EditorUtility.OpenFilePanel("Select an MJCF model", "", "xml");
-    if (!string.IsNullOrEmpty(path)) {
-      var importer = new MjImporterWithAssets();
-      importer.ImportFile(path);
-    }
-  }
-}
-}
diff --git a/unity/Editor/Importer/MjImporterEditorWindow.cs.meta b/unity/Editor/Importer/MjImporterEditorWindow.cs.meta
deleted file mode 100644
index a84b8d96..00000000
--- a/unity/Editor/Importer/MjImporterEditorWindow.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 85ddf6116132e4c128ed82ac6034ce4a
-timeCreated: 1538581084
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Importer/MjImporterWithAssets.cs b/unity/Editor/Importer/MjImporterWithAssets.cs
deleted file mode 100644
index c724e3a0..00000000
--- a/unity/Editor/Importer/MjImporterWithAssets.cs
+++ /dev/null
@@ -1,311 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.IO;
-using System.Linq;
-using System.Reflection;
-using System.Xml;
-using UnityEditor;
-using UnityEngine;
-
-namespace Mujoco {
-
-// API for importing Mujoco XML files into Unity scenes.
-public class MjImporterWithAssets : MjcfImporter {
-
-  private const string _semiTransparentMaterialName = "mujoco_semitransparent_template";
-
-  private string _sourceMeshesDir;
-  private string _targetMeshesDir;
-  private string _targetAssetDir;
-  private unsafe MujocoLib.mjModel_* _mjModel = null;
-
-  // Imports the scene from the specified file, which should be a well-formed MJCF document.
-  // The imported scene will be placed under a single node with the requested name assigned.
-  //
-  // Args:
-  //   filePath: Path to XML file.
-  //
-  // Throws:
-  //   Exception if the parsed XML is malformed or contains rough errors. If an exception is thrown,
-  //   the entire imported scene will be automatically deleted.
-  // TODO(etom) - reconsider unencouraged pattern of validation through exception side-effects.
-  public unsafe GameObject ImportFile(string filePath) {
-    // If MuJoCo can't parse the mjcfString, we abort the entire process.
-    // MjEngineTool.LoadModelFromString throws an exception when MuJoCo fails to parse the provided
-    // mjcfString.
-    var name = Path.GetFileNameWithoutExtension(filePath) + $"{UnityEngine.Random.Range(0,999)}";
-    string newPath = Path.Combine(Application.temporaryCachePath, $"{name}.xml");
-    MjEngineTool.LoadPlugins();
-    _mjModel = MjEngineTool.LoadModelFromFile(filePath);
-    MjEngineTool.SaveModelToFile(newPath, _mjModel);
-    Debug.Log($"Imported MJCF loaded, saved to {newPath}");
-    string mjcfString = File.ReadAllText(newPath);
-    GameObject root = null;
-    try {
-      root = ImportString(mjcfString, name, filePath);
-    } finally {
-      MujocoLib.mj_deleteModel(_mjModel);
-    }
-    return root;
-  }
-
-  public GameObject ImportString(
-      string mjcfString, string name = null, string filePath = null) {
-    var mjcfXml = new XmlDocument();
-    mjcfXml.LoadXml(mjcfString);
-    // Determine the folder where the meshes are stored.
-    ConfigureMeshPath(filePath, name, mjcfXml);
-    GameObject sceneRoot = null;
-    try {
-      sceneRoot = ImportXml(mjcfXml, name);
-    } catch (Exception) {
-      // We consider any error as critical, and end the import process immediately, cleaning up
-      // any assets created.
-      AssetDatabase.DeleteAsset(_targetAssetDir);
-    }
-    return sceneRoot;
-  }
-
-  protected override void ParseRoot(GameObject parentObject, XmlElement parentNode) {
-
-    // This makes no references, and should be parsed first.
-    var assetNode = parentNode.SelectSingleNode("asset") as XmlElement;
-    if (assetNode != null) {
-      ParseAssets(assetNode);
-    }
-    base.ParseRoot(parentObject, parentNode);
-  }
-
-  protected override void ParseGeom(GameObject parentObject, XmlElement child) {
-    var gameObject = CreateGameObjectWithUniqueName<MjGeom>(parentObject, child);
-    gameObject.AddComponent<MjMeshFilter>();
-    var renderer = gameObject.AddComponent<MeshRenderer>();
-    ResolveOrCreateMaterial(renderer, child);
-  }
-
-  private void ConfigureMeshPath(string path, string projectName, XmlDocument mjcf) {
-    // Crate the mesh target directory.
-    _targetMeshesDir = Path.Combine(
-        Application.dataPath, "Local", "MjImports", projectName, "Resources");
-    _targetAssetDir = Path.Combine("Assets", "Local", "MjImports", projectName, "Resources");
-    if (!Directory.Exists(_targetMeshesDir)) {
-      Directory.CreateDirectory(_targetMeshesDir);
-    }
-    if (string.IsNullOrEmpty(path)) { // we're loading a string
-      return;
-    }
-    _sourceMeshesDir = Path.GetDirectoryName(path);
-    var compilerNode = mjcf.SelectSingleNode("/mujoco/compiler") as XmlElement;
-    if (compilerNode != null) {
-      // Parse the location of meshes
-      var relativeMeshDir = compilerNode.GetStringAttribute("meshdir", defaultValue: string.Empty);
-      _sourceMeshesDir = Path.Combine(_sourceMeshesDir, relativeMeshDir);
-    }
-    Debug.Log(
-        $"Meshes locations: source = {_sourceMeshesDir}, target = {_targetMeshesDir}");
-  }
-
-  private void ParseAssets(XmlElement parentNode) {
-    foreach (var child in parentNode.SelectNodes("descendant::mesh").OfType<XmlElement>()) {
-      _modifiers.ApplyModifiersToElement(child);
-      ParseMesh(child);
-    }
-    foreach (var child in parentNode.SelectNodes("descendant::material").OfType<XmlElement>()) {
-      _modifiers.ApplyModifiersToElement(child);
-      ParseMaterial(child);
-    }
-    AssetDatabase.SaveAssets();
-  }
-
-  private void ImportMeshFromModel(int meshIndex) {
-  }
-
-  // Using mesh assets involves:
-  // (1) Copying the asset to a Resources folder, and rescaling it during that operation.
-  // (2) Allowing Unity to parse it using a registered asset importer (STLMeshImporter).
-  // (3) Loading that asset as a Mesh resource when the referring geom is parsed.
-  //
-  // We're also using a dedicated folder to deploy the meshes that are being imported, so that the
-  // user can find all meshes loaded by importing a specific model.
-  private void ParseMesh(XmlElement parentNode) {
-    if (parentNode.HasAttribute("vertex")) {
-      throw new NotImplementedException("XML with explicit mesh info not supported yet.");
-    }
-    var fileName = parentNode.GetStringAttribute("file");
-    // If we want to use the element name as the asset name, we must sanitize it:
-    var unsanitizedAssetReferenceName =
-      parentNode.GetStringAttribute("name", defaultValue: string.Empty);
-    var assetReferenceName = MjEngineTool.Sanitize(unsanitizedAssetReferenceName);
-    var sourceFilePath = Path.Combine(_sourceMeshesDir, fileName);
-
-    if (Path.GetExtension(sourceFilePath) != ".obj" && Path.GetExtension(sourceFilePath) != ".stl") {
-      throw new NotImplementedException("Type of mesh file not yet supported. " +
-                                        "Please convert to binary STL or OBJ. " +
-                                        $"Attempted to load: {sourceFilePath}");
-    }
-
-    var targetFilePath =
-        Path.Combine(_targetMeshesDir, assetReferenceName + Path.GetExtension(sourceFilePath));
-    if (File.Exists(targetFilePath)) {
-      File.Delete(targetFilePath);
-    }
-    var scale = MjEngineTool.UnityVector3(
-        parentNode.GetVector3Attribute("scale", defaultValue: Vector3.one));
-    CopyMeshAndRescale(sourceFilePath, targetFilePath, scale);
-    var assetPath = Path.Combine(_targetAssetDir, assetReferenceName + Path.GetExtension(sourceFilePath));
-    // This asset path should be available because the MuJoCo compiler guarantees element names
-    // are unique, but check for completeness (and in case sanitizing the name broke uniqueness):
-    if (AssetDatabase.LoadMainAssetAtPath(assetPath) != null) {
-      throw new Exception(
-        $"Trying to import mesh {unsanitizedAssetReferenceName} but {assetPath} already exists.");
-    }
-
-    AssetDatabase.ImportAsset(assetPath);
-    ModelImporter importer = AssetImporter.GetAtPath(assetPath) as ModelImporter;
-    if (importer != null && !importer.isReadable) {
-      importer.isReadable = true;
-      importer.SaveAndReimport();
-    }
-
-    var copiedMesh = AssetDatabase.LoadAssetAtPath<Mesh>(assetPath);
-    if (copiedMesh == null) {
-      throw new Exception($"Mesh {assetPath} was not imported.");
-    }
-    copiedMesh.RecalculateNormals();
-    copiedMesh.RecalculateTangents();
-    copiedMesh.RecalculateBounds();
-  }
-
-  private void CopyMeshAndRescale(
-      string sourceFilePath, string targetFilePath, Vector3 scale) {
-    var originalMeshBytes = File.ReadAllBytes(sourceFilePath);
-    if (Path.GetExtension(sourceFilePath) == ".stl") {
-      var mesh = StlMeshParser.ParseBinary(originalMeshBytes, scale);
-      var rescaledMeshBytes = StlMeshParser.SerializeBinary(mesh);
-      File.WriteAllBytes(targetFilePath, rescaledMeshBytes);
-    } else if (Path.GetExtension(sourceFilePath) == ".obj") {
-      ObjMeshImportUtility.CopyAndScaleOBJFile(sourceFilePath, targetFilePath, scale);
-    } else {
-      throw new NotImplementedException($"Extension {Path.GetExtension(sourceFilePath)} " +
-                                        $"not yet supported for MuJoCo mesh asset.");
-    }
-  }
-
-  private void ParseMaterial(XmlElement parentNode) {
-    var rgba = parentNode.GetFloatArrayAttribute(
-      "rgba", defaultValue: new float[] {1.0f, 1.0f, 1.0f, 1.0f});
-    var emission = parentNode.GetFloatAttribute("emission", defaultValue: 0.0f);
-    var reflectance = parentNode.GetFloatAttribute("reflectance", defaultValue: 0.0f);
-    var specular = parentNode.GetFloatAttribute("specular", defaultValue: 0.5f);
-    var shininess = parentNode.GetFloatAttribute("shininess", defaultValue: 0.5f);
-    var unsanitizedName = parentNode.GetStringAttribute("name", defaultValue: string.Empty);
-    var name = MjEngineTool.Sanitize(unsanitizedName);
-    var albedo = new Color(rgba[0], rgba[1], rgba[2], rgba[3]);
-
-    // Mujoco uses a Blinn/Phong shading model with the addition of reflectance. Unfortunately, at
-    // the moment of writing this comment, Unity does not come with a compatible shader. The closest
-    // results can be achieved using the Standard shader that implements the Cook-Torrence shading
-    // model.
-    Material material;
-    if (rgba[3] < 1f) {
-      material = new Material(AssetDatabase.LoadMainAssetAtPath(
-        AssetDatabase.GUIDToAssetPath(
-          AssetDatabase.FindAssets(_semiTransparentMaterialName)[0])) as Material);
-    } else {
-      material = new Material(Shader.Find("Standard"));
-    }
-    material.SetColor("_Color", albedo);
-    material.SetFloat("_Metallic", reflectance);
-
-    // In order to convert the specular/shininess parameters into glossiness/roughness,
-    // we perform a coarse approximation.
-    // In Blinn/Phong model, Shininess corresponds to the width of the specular spot, while
-    // the Specularity corresponds to its strength (how visible it is). In order to approximate it
-    // with a single parameter Glossiness, we will assume that the largest value wins. The model
-    // will break at the extremes (Spec~=1 & Shin~=0, Spec~=0 & Shin~=1), however it should be
-    // representative for the intermediate values.
-    float glossiness = Math.Max(specular, shininess);
-    // We observe that any reflective material is automatically glossy, by the property of not
-    // having rough surface that would scatter the incoming light.
-    // Instead of modifying the Shininess parameter however, we're dirrectly modifying
-    // the glossiness by bringing the value closer to the upper boundary.
-    glossiness = (1.0f - reflectance) * glossiness + reflectance;
-    material.SetFloat("_Glossiness", glossiness);
-
-    // We choose to define a simple emission model that only emits light, without scaling
-    // the brightness of the defined color. If the user requires, they should tweak the material
-    // settings manually.
-    if (emission > 0.5f) {
-      material.EnableKeyword("_EMISSION");
-      material.SetColor("_EmissionColor", albedo);
-    }
-    var assetPath = Path.Combine(_targetAssetDir, name + ".mat");
-    if (AssetDatabase.LoadMainAssetAtPath(assetPath) != null) {
-      throw new Exception(
-        $"Trying to create material {unsanitizedName} but {assetPath} already exists.");
-    }
-    AssetDatabase.CreateAsset(material, assetPath);
-  }
-
-  // Loads a named material asset, or creates an ad-hoc material asset for the specific node.
-  private void ResolveOrCreateMaterial(MeshRenderer renderer, XmlElement parentNode) {
-    // When the asset was parsed and stored its name was sanitized, so we should load it using a
-    // sanitized name:
-    var materialName =
-      MjEngineTool.Sanitize(parentNode.GetStringAttribute("material", defaultValue: string.Empty));
-    Material material = null;
-    if (!string.IsNullOrEmpty(materialName)) {
-      var assetPath = Path.Combine(_targetAssetDir, materialName + ".mat");
-      material = (Material)AssetDatabase.LoadAssetAtPath(assetPath, typeof(Material));
-    } else {
-      // Nodes may contain inlined color definitions, which override the assigned material colors.
-      if (parentNode.HasAttribute("rgba")) {
-        // We need a bespoke copy of the material from the database for this particular node.
-        var rgba = parentNode.GetFloatArrayAttribute(
-          "rgba", defaultValue: new float[] {1.0f, 1.0f, 1.0f, 1.0f});
-        if (rgba[3] < 1f) {
-          material = new Material(
-            AssetDatabase.LoadMainAssetAtPath(
-              AssetDatabase.GUIDToAssetPath(
-                AssetDatabase.FindAssets(_semiTransparentMaterialName)[0])) as Material);
-        } else {
-          material = new Material(Shader.Find("Standard"));
-        }
-        material.color = new Color(rgba[0], rgba[1], rgba[2], rgba[3]);
-        // We use the geom's name, guaranteed to be unique, as the asset name.
-        // If geom is nameless, use a random number.
-        var name =
-          MjEngineTool.Sanitize(parentNode.GetStringAttribute(
-            "name", defaultValue: $"{UnityEngine.Random.Range(0, 1000000)}"));
-        var assetPath = Path.Combine(_targetAssetDir, name+".mat");
-        if (AssetDatabase.LoadMainAssetAtPath(assetPath) != null) {
-          throw new Exception(
-            $"Creating a material asset for the geom {name}, but {assetPath} already exists.");
-        }
-        AssetDatabase.CreateAsset(material, assetPath);
-        AssetDatabase.SaveAssets();
-        material = AssetDatabase.LoadMainAssetAtPath(assetPath) as Material;
-      } else {
-        material = DefaultMujocoMaterial;
-      }
-    }
-    if (parentNode.GetFloatAttribute("group") > 2) renderer.enabled = false;
-    renderer.sharedMaterial = material;
-  }
-}
-}
diff --git a/unity/Editor/Importer/MjImporterWithAssets.cs.meta b/unity/Editor/Importer/MjImporterWithAssets.cs.meta
deleted file mode 100644
index 15ee8959..00000000
--- a/unity/Editor/Importer/MjImporterWithAssets.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 0115d33f9ea9249e78644b1fa5cd7765
-timeCreated: 1538581083
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Importer/ObjMeshImportUtility.cs b/unity/Editor/Importer/ObjMeshImportUtility.cs
deleted file mode 100644
index 262fd128..00000000
--- a/unity/Editor/Importer/ObjMeshImportUtility.cs
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System.Globalization;
-using System.IO;
-using System.Linq;
-using System.Text;
-using UnityEngine;
-
-namespace Mujoco {
-
-/// <summary>
-/// Scale vertex data manually line by line. We skip normals. Warning: Parameter vertex points
-/// (`vp`) were unclear to me how to handle with scaling, if you use them and notice an issue
-/// please report it.
-/// </summary>
-public static class ObjMeshImportUtility {
-  private static Vector3 ToXZY(float x, float y, float z) => new Vector3(x, z, y);
-
-  public static void CopyAndScaleOBJFile(string sourceFilePath, string targetFilePath,
-      Vector3 scale) {
-    // OBJ files are human-readable
-    string[] lines = File.ReadAllLines(sourceFilePath);
-    StringBuilder outputBuilder = new StringBuilder();
-    // Culture info for consistent decimal point handling
-    CultureInfo invariantCulture = CultureInfo.InvariantCulture;
-    scale = ToXZY(scale.x, scale.y, scale.z);
-    foreach (string line in lines) {
-      if (line.StartsWith("v ")) // Vertex line
-      {
-        // Split the line into components
-        string[] parts = line.Split(' ');
-        if (parts.Length >= 4) {
-          // Scale the vertex. It is unclear to me why flipping along x axis was necessary,
-          // but without it meshes were incorrectly oriented.
-          float x = -float.Parse(parts[1], invariantCulture) * scale.x;
-          float y = float.Parse(parts[2], invariantCulture) * scale.y;
-          float z = float.Parse(parts[3], invariantCulture) * scale.z;
-
-          var swizzled = ToXZY(x, y, z);
-          outputBuilder.AppendLine(
-              $"v {swizzled.x.ToString(invariantCulture)} "+
-              $"{swizzled.y.ToString(invariantCulture)} "+
-              $"{swizzled.z.ToString(invariantCulture)}");
-        }
-      } else if (line.StartsWith("vn ")) {
-        // We swizzle the normals too
-        string[] parts = line.Split(' ');
-        if (parts.Length >= 4) {
-          float x = -float.Parse(parts[1], invariantCulture);
-          float y = float.Parse(parts[2], invariantCulture);
-          float z = float.Parse(parts[3], invariantCulture);
-
-          var swizzled = ToXZY(x, y, z);
-          outputBuilder.AppendLine(
-              $"vn {swizzled.x.ToString(invariantCulture)} "+
-              $"{swizzled.y.ToString(invariantCulture)} "+
-              $"{swizzled.z.ToString(invariantCulture)}");
-        }
-      } else if (line.StartsWith("f ") && scale.x*scale.y*scale.z < 0) {
-        // Faces definition, flip face by reordering vertices
-        string[] parts = line.Split(' ');
-        if (parts.Length >= 4) {
-          outputBuilder.Append(parts[0]+" ");
-          var face = parts.Skip(1).ToArray();
-          if (face.Length >= 3) {
-            outputBuilder.Append(face[0]+" ");
-            outputBuilder.Append(face[2]+" ");
-            outputBuilder.Append(face[1]);
-          }
-          outputBuilder.AppendLine();
-        }
-      } else {
-        // Copy non-vertex lines as-is
-        outputBuilder.AppendLine(line);
-      }
-    }
-    // Write the scaled OBJ to the target file
-    File.WriteAllText(targetFilePath, outputBuilder.ToString());
-  }
-}
-}
diff --git a/unity/Editor/Importer/ObjMeshImportUtility.cs.meta b/unity/Editor/Importer/ObjMeshImportUtility.cs.meta
deleted file mode 100644
index 195f099c..00000000
--- a/unity/Editor/Importer/ObjMeshImportUtility.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: adec9978c00bb934eb8bf974c26193e1
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData:
-  assetBundleName:
-  assetBundleVariant:
diff --git a/unity/Editor/Importer/StlMeshImporter.cs b/unity/Editor/Importer/StlMeshImporter.cs
deleted file mode 100644
index ca5688e1..00000000
--- a/unity/Editor/Importer/StlMeshImporter.cs
+++ /dev/null
@@ -1,36 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.IO;
-using System.Linq;
-using UnityEditor.AssetImporters;
-using UnityEngine;
-
-namespace Mujoco {
-// Importer for STL mesh files.
-[ScriptedImporter(version: 1, ext: "stl")]
-public class StlMeshImporter : ScriptedImporter {
-
-  public override void OnImportAsset(AssetImportContext ctx) {
-    var assetName = Path.GetFileNameWithoutExtension(ctx.assetPath);
-    var modelContents = File.ReadAllBytes(ctx.assetPath);
-
-    var mesh = StlMeshParser.ParseBinary(modelContents, Vector3.one);
-
-    ctx.AddObjectToAsset(assetName, mesh);
-    ctx.SetMainObject(mesh);
-  }
-}
-}
diff --git a/unity/Editor/Importer/StlMeshImporter.cs.meta b/unity/Editor/Importer/StlMeshImporter.cs.meta
deleted file mode 100644
index ff1fcc64..00000000
--- a/unity/Editor/Importer/StlMeshImporter.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 9060c43f3694e454c873753ea0cc2f49
-timeCreated: 1550070047
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Importer/StlMeshParser.cs b/unity/Editor/Importer/StlMeshParser.cs
deleted file mode 100644
index ef3f2b95..00000000
--- a/unity/Editor/Importer/StlMeshParser.cs
+++ /dev/null
@@ -1,159 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System.Collections.Generic;
-using System.IO;
-using System.Linq;
-using UnityEngine;
-using UnityEngine.Rendering;
-
-namespace Mujoco {
-
-public static class BinaryReaderExtensions {
-  public static Vector3 ReadVector3(this BinaryReader reader) {
-    var x = reader.ReadSingle();
-    var y = reader.ReadSingle();
-    var z = reader.ReadSingle();
-    return new Vector3(x, y, z);
-  }
-
-  public static int GetOrCreateVertexIndex(Dictionary<Vector3, int> vertexIndexMap, List<Vector3> vertices, List<Vector3>normals, Vector3 vertex, Vector3 normal) {
-    if (vertexIndexMap.TryGetValue(vertex, out int existingIndex)) {
-      return existingIndex;
-    }
-    int newIndex = vertexIndexMap.Count;
-    vertexIndexMap.Add(vertex, newIndex);
-    vertices.Add(vertex);
-    normals.Add(normal);
-    return newIndex;
-  }
-}
-
-public static class BinaryWriterExtensions {
-  public static void Write(this BinaryWriter writer, Vector3 val) {
-    writer.Write(val.x);
-    writer.Write(val.y);
-    writer.Write(val.z);
-  }
-}
-
-public class StlMeshParser {
-
-  private const int _headerLength = 80;
-  private const int _attributesSizeLength = 2;
-  private const int _verticesPerTriangle = 3;
-  private const int _unityLimitNumVerticesPerMesh = 65535;
-  private const string _asciiFileTypeId = "solid";
-
-  private static Vector3 ToXZY(Vector3 v) => new Vector3(v.x, v.z, v.y);
-
-  // The binary STL format is described here: https://en.wikipedia.org/wiki/STL_(file_format)
-  public static Mesh ParseBinary(byte[] stlFileContents, Vector3 scale) {
-    var fileTypeId = System.Text.Encoding.UTF8.GetString(
-        stlFileContents.Take(_asciiFileTypeId.Length).ToArray());
-    if (fileTypeId == _asciiFileTypeId) {
-      throw new IOException("Ascii STL file format is not supported.");
-    }
-
-    using (var stream = new MemoryStream(stlFileContents)) {
-      using (var reader = new BinaryReader(stream)) {
-        reader.ReadBytes(_headerLength);
-        var numTriangles = reader.ReadUInt32();
-        var maxNumVertices = numTriangles * _verticesPerTriangle;
-
-        Dictionary<Vector3, int> vertexIndexMap = new Dictionary<Vector3, int>();
-        var triangleIndices = new int[(int)numTriangles * _verticesPerTriangle];
-        var vertices = new List<Vector3>(capacity: (int)maxNumVertices);
-        var normals = new List<Vector3>(capacity: (int)maxNumVertices);
-        for (var i = 0; i < numTriangles; i++) {
-          var triangleNormal = ToXZY(reader.ReadVector3());
-          var verts = new[]
-          {
-              ToXZY(reader.ReadVector3()),
-              ToXZY(reader.ReadVector3()),
-              ToXZY(reader.ReadVector3())
-          };
-          var indices = new[] { verts[0], verts[2], verts[1] }.Select(v =>
-              BinaryReaderExtensions.GetOrCreateVertexIndex(vertexIndexMap,
-                  vertices,
-                  normals,
-                  v,
-                  triangleNormal)).ToArray();
-          for (int j = 0; j < 3; j++) {
-            triangleIndices[i * 3 + j] = indices[j];
-          }
-          reader.ReadInt16(); // Read the unused attribute indices field.
-        }
-
-        var mesh = new Mesh();
-        var numVertices = vertexIndexMap.Count;
-
-        if (numVertices > _unityLimitNumVerticesPerMesh) {
-          mesh.indexFormat = IndexFormat.UInt32;
-        }
-
-        mesh.vertices = vertices.ToArray();
-        mesh.normals = normals.ToArray();
-        mesh.triangles = triangleIndices.ToArray();
-        mesh.vertices = mesh.vertices.Select(
-            vertexPosition => Vector3.Scale(vertexPosition, scale)).ToArray();
-        mesh.RecalculateNormals();
-        mesh.RecalculateTangents();
-        mesh.RecalculateBounds();
-
-        return mesh;
-      }
-    }
-  }
-
-  public static byte[] SerializeBinary(Mesh mesh) {
-    using (var stream = new MemoryStream()) {
-      using (var writer = new BinaryWriter(stream)) {
-        // Write the header. We only want to write the id and then pad the rest with zeros, up to 80
-        // bytes.
-        writer.Write(_asciiFileTypeId);
-        writer.Write(new byte[_headerLength - _asciiFileTypeId.Length - 1]);
-
-        // Reading mesh.triangles etc causes a c# array to be instantiated each time to store a copy
-        // of the data that is owned by the native runtime. For this reason, it's important we do
-        // this once per mesh, and definitely not per triangle.
-        var triangles = mesh.triangles;
-        var normals = mesh.normals;
-        var vertices = mesh.vertices;
-
-        var numTriangles = triangles.Length / 3;
-        writer.Write((int)numTriangles);
-
-        for (var i = 0; i < triangles.Length; i += _verticesPerTriangle) {
-          // STL format uses face normals, while Unity Meshes use vertex normals. We need to convert
-          // one into another by calculating a mean of vertex normals.
-          var i1 = triangles[i];
-          var i2 = triangles[i + 1];
-          var i3 = triangles[i + 2];
-          var faceNormal = (normals[i1] + normals[i2] + normals[i3]).normalized;
-          writer.Write(ToXZY(faceNormal));
-
-          writer.Write(ToXZY(vertices[i1]));
-          writer.Write(ToXZY(vertices[i3]));
-          writer.Write(ToXZY(vertices[i2]));
-
-          writer.Write((short)0);
-        }
-
-        return stream.ToArray();
-      }
-    }
-  }
-}
-}
diff --git a/unity/Editor/Importer/StlMeshParser.cs.meta b/unity/Editor/Importer/StlMeshParser.cs.meta
deleted file mode 100644
index ac426f9d..00000000
--- a/unity/Editor/Importer/StlMeshParser.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 0d443565163aa4ddea5d910f3517ecfb
-timeCreated: 1550063597
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Editor/Mujoco.Editor.asmdef b/unity/Editor/Mujoco.Editor.asmdef
deleted file mode 100644
index ae4f0cb8..00000000
--- a/unity/Editor/Mujoco.Editor.asmdef
+++ /dev/null
@@ -1,18 +0,0 @@
-{
-    "name": "Mujoco.Editor",
-    "rootNamespace": "",
-    "references": [
-        "Mujoco.Runtime"
-    ],
-    "includePlatforms": [
-        "Editor"
-    ],
-    "excludePlatforms": [],
-    "allowUnsafeCode": true,
-    "overrideReferences": false,
-    "precompiledReferences": [],
-    "autoReferenced": true,
-    "defineConstraints": [],
-    "versionDefines": [],
-    "noEngineReferences": false
-}
\ No newline at end of file
diff --git a/unity/Editor/Mujoco.Editor.asmdef.meta b/unity/Editor/Mujoco.Editor.asmdef.meta
deleted file mode 100644
index 0e72b6a2..00000000
--- a/unity/Editor/Mujoco.Editor.asmdef.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: 7bdf927c2041ed42ba41bdbbf914db24
-AssemblyDefinitionImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/README.md b/unity/README.md
deleted file mode 100644
index 624572e9..00000000
--- a/unity/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Unity 插件
-
-MuJoCo Unity 插件允许 Unity 编辑器和运行时使用 MuJoCo 物理引擎。用户可以导入 MJCF 文件并在编辑器中编辑模型。该插件在大部分方面依赖 Unity（资产、游戏逻辑、仿真时间），但使用 MuJoCo 来计算物体的运动规律，使设计者能够访问 MuJoCo 的全部 API。文档和安装说明请参阅[此处](https://mujoco.readthedocs.io/en/latest/unity.html)。
diff --git a/unity/README.md.meta b/unity/README.md.meta
deleted file mode 100644
index ececfb55..00000000
--- a/unity/README.md.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: aefae1ccbed1b0597a0ac21f37888aa3
-TextScriptImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime.meta b/unity/Runtime.meta
deleted file mode 100644
index 9e8f6897..00000000
--- a/unity/Runtime.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: fa19c3a835699cca3a2b4f2aabbe14b7
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Bindings.meta b/unity/Runtime/Bindings.meta
deleted file mode 100644
index 9a89e256..00000000
--- a/unity/Runtime/Bindings.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 21aeeb2df019248c78e85014384bd21f
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Bindings/FixedSizeIListHelper.cs b/unity/Runtime/Bindings/FixedSizeIListHelper.cs
deleted file mode 100644
index 1a5aacda..00000000
--- a/unity/Runtime/Bindings/FixedSizeIListHelper.cs
+++ /dev/null
@@ -1,84 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-
-namespace Mujoco {
-  // An implementation of IList<T>, only missing the indexer and the count.
-  public abstract class FixedSizeIListHelper<T> : IList<T> {
-    public IEnumerator<T> GetEnumerator() {
-      for (int i = 0; i < this.Count; ++i) {
-        yield return this[i];
-      }
-    }
-
-    IEnumerator IEnumerable.GetEnumerator() {
-      return GetEnumerator();
-    }
-
-    public void Add(T item) {
-      throw new NotSupportedException();
-    }
-
-    public void Clear() {
-      throw new NotSupportedException();
-    }
-
-    public bool Contains(T item) {
-      for (int i = 0; i < Count; ++i) {
-        if (this[i].Equals(item)) {
-          return true;
-        }
-      }
-      return false;
-    }
-
-    public void CopyTo(T[] array, int arrayIndex) {
-      for (int i = 0; i < Count; ++i) {
-        array[arrayIndex + i] = this[i];
-      }
-    }
-
-    public bool Remove(T item) {
-      throw new NotSupportedException();
-    }
-
-    public bool IsReadOnly => false;
-
-    public int IndexOf(T item) {
-      for (int i = 0; i < Count; ++i) {
-        if (this[i].Equals(item)) {
-          return i;
-        }
-      }
-      return -1;
-    }
-
-    public void Insert(int index, T item) {
-      throw new NotSupportedException();
-    }
-
-    public void RemoveAt(int index) {
-      throw new NotSupportedException();
-    }
-
-    public abstract int Count { get; }
-    public abstract T this[int index] {
-      get;
-      set;
-    }
-  }
-}
diff --git a/unity/Runtime/Bindings/FixedSizeIListHelper.cs.meta b/unity/Runtime/Bindings/FixedSizeIListHelper.cs.meta
deleted file mode 100644
index 8b43378e..00000000
--- a/unity/Runtime/Bindings/FixedSizeIListHelper.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 9015a95216e0843069042f712722cca6
-timeCreated: 1538057012
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
deleted file mode 100644
index 31bd6bb6..00000000
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ /dev/null
@@ -1,7760 +0,0 @@
-// Copyright 2022 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-// ==============================================================================
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-using System;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Collections.Generic;
-using SizeDict = System.Collections.Generic.Dictionary<string, string[]>;
-using NestedDictionary = System.Collections.Generic.Dictionary<string, System.Collections.Generic.Dictionary<string, string[]>>;
-namespace Mujoco {
-public static class MujocoLib {
-
-// ----------------------------------Constants----------------------------------
-
-public const bool THIRD_PARTY_MUJOCO_MJASSERT_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_MJDATA_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_MJEXPORT_H_ = true;
-public const bool MUJOCO_HELPER_DLL_LOCAL = true;
-public const bool MUJOCO_HELPER_DLL_IMPORT = true;
-public const bool MUJOCO_HELPER_DLL_EXPORT = true;
-public const bool MJAPI = true;
-public const bool MJLOCAL = true;
-public const bool THIRD_PARTY_MUJOCO_MJMACRO_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_MJMODEL_H_ = true;
-public const double mjPI = 3.141592653589793;
-public const double mjMAXVAL = 10000000000.0;
-public const double mjMINMU = 1e-05;
-public const double mjMINIMP = 0.0001;
-public const double mjMAXIMP = 0.9999;
-public const int mjMAXCONPAIR = 50;
-public const int mjMAXTREEDEPTH = 50;
-public const int mjMAXFLEXNODES = 27;
-public const int mjMINAWAKE = 10;
-public const int mjNEQDATA = 11;
-public const int mjNDYN = 10;
-public const int mjNGAIN = 10;
-public const int mjNBIAS = 10;
-public const int mjNFLUID = 12;
-public const int mjNREF = 2;
-public const int mjNIMP = 5;
-public const int mjNPOLY = 2;
-public const int mjNSENS = 3;
-public const int mjNSOLVER = 200;
-public const int mjNISLAND = 20;
-public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true;
-public const bool mjEXTERNC = true;
-public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPROFILE_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
-public const int mjNAUX = 10;
-public const int mjMAXTEXTURE = 1000;
-public const int mjMAXMATERIAL = 1000;
-public const bool THIRD_PARTY_MUJOCO_MJRFILAMENT_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSAN_H_ = true;
-public const bool ADDRESS_SANITIZER = true;
-public const bool mjUSEASAN = true;
-public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_MJSPECMACRO_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTYPE_H_ = true;
-public const double mjMINVAL = 1e-15;
-public const bool THIRD_PARTY_MUJOCO_MJUI_H_ = true;
-public const int mjMAXUISECT = 10;
-public const int mjMAXUIITEM = 200;
-public const int mjMAXUITEXT = 300;
-public const int mjMAXUINAME = 40;
-public const int mjMAXUIMULTI = 35;
-public const int mjMAXUIEDIT = 7;
-public const int mjMAXUIRECT = 25;
-public const int mjSEPCLOSED = 1000;
-public const int mjPRESERVE = 2000;
-public const int mjKEY_ESCAPE = 256;
-public const int mjKEY_ENTER = 257;
-public const int mjKEY_TAB = 258;
-public const int mjKEY_BACKSPACE = 259;
-public const int mjKEY_INSERT = 260;
-public const int mjKEY_DELETE = 261;
-public const int mjKEY_RIGHT = 262;
-public const int mjKEY_LEFT = 263;
-public const int mjKEY_DOWN = 264;
-public const int mjKEY_UP = 265;
-public const int mjKEY_PAGE_UP = 266;
-public const int mjKEY_PAGE_DOWN = 267;
-public const int mjKEY_HOME = 268;
-public const int mjKEY_END = 269;
-public const int mjKEY_F1 = 290;
-public const int mjKEY_F2 = 291;
-public const int mjKEY_F3 = 292;
-public const int mjKEY_F4 = 293;
-public const int mjKEY_F5 = 294;
-public const int mjKEY_F6 = 295;
-public const int mjKEY_F7 = 296;
-public const int mjKEY_F8 = 297;
-public const int mjKEY_F9 = 298;
-public const int mjKEY_F10 = 299;
-public const int mjKEY_F11 = 300;
-public const int mjKEY_F12 = 301;
-public const int mjKEY_NUMPAD_0 = 320;
-public const int mjKEY_NUMPAD_9 = 329;
-public const bool THIRD_PARTY_MUJOCO_MJVISUALIZE_H_ = true;
-public const int mjNGROUP = 6;
-public const int mjMAXLIGHT = 100;
-public const int mjMAXOVERLAY = 500;
-public const int mjMAXLINE = 100;
-public const int mjMAXLINEPNT = 1001;
-public const int mjMAXPLANEGRID = 200;
-public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
-public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
-public const int mjVERSION_HEADER = 3012000;
-
-
-// ------------------------------------Enums------------------------------------
-public enum mjtDisableBit : int{
-  mjDSBL_CONSTRAINT = 1,
-  mjDSBL_EQUALITY = 2,
-  mjDSBL_FRICTIONLOSS = 4,
-  mjDSBL_LIMIT = 8,
-  mjDSBL_CONTACT = 16,
-  mjDSBL_SPRING = 32,
-  mjDSBL_DAMPER = 64,
-  mjDSBL_GRAVITY = 128,
-  mjDSBL_CLAMPCTRL = 256,
-  mjDSBL_WARMSTART = 512,
-  mjDSBL_FILTERPARENT = 1024,
-  mjDSBL_ACTUATION = 2048,
-  mjDSBL_REFSAFE = 4096,
-  mjDSBL_SENSOR = 8192,
-  mjDSBL_MIDPHASE = 16384,
-  mjDSBL_EULERDAMP = 32768,
-  mjDSBL_AUTORESET = 65536,
-  mjDSBL_NATIVECCD = 131072,
-  mjDSBL_ISLAND = 262144,
-  mjDSBL_MULTICCD = 524288,
-  mjNDISABLE = 20,
-}
-public enum mjtEnableBit : int{
-  mjENBL_OVERRIDE = 1,
-  mjENBL_ENERGY = 2,
-  mjENBL_FWDINV = 4,
-  mjENBL_INVDISCRETE = 8,
-  mjENBL_SLEEP = 16,
-  mjENBL_DIAGEXACT = 32,
-  mjNENABLE = 6,
-}
-public enum mjtJoint : int{
-  mjJNT_FREE = 0,
-  mjJNT_BALL = 1,
-  mjJNT_SLIDE = 2,
-  mjJNT_HINGE = 3,
-}
-public enum mjtGeom : int{
-  mjGEOM_PLANE = 0,
-  mjGEOM_HFIELD = 1,
-  mjGEOM_SPHERE = 2,
-  mjGEOM_CAPSULE = 3,
-  mjGEOM_ELLIPSOID = 4,
-  mjGEOM_CYLINDER = 5,
-  mjGEOM_BOX = 6,
-  mjGEOM_MESH = 7,
-  mjGEOM_SDF = 8,
-  mjNGEOMTYPES = 9,
-  mjGEOM_ARROW = 100,
-  mjGEOM_ARROW1 = 101,
-  mjGEOM_ARROW2 = 102,
-  mjGEOM_LINE = 103,
-  mjGEOM_LINEBOX = 104,
-  mjGEOM_FLEX = 105,
-  mjGEOM_SKIN = 106,
-  mjGEOM_LABEL = 107,
-  mjGEOM_TRIANGLE = 108,
-  mjGEOM_NONE = 1001,
-}
-public enum mjtProjection : int{
-  mjPROJ_PERSPECTIVE = 0,
-  mjPROJ_ORTHOGRAPHIC = 1,
-}
-public enum mjtCamLight : int{
-  mjCAMLIGHT_FIXED = 0,
-  mjCAMLIGHT_TRACK = 1,
-  mjCAMLIGHT_TRACKCOM = 2,
-  mjCAMLIGHT_TARGETBODY = 3,
-  mjCAMLIGHT_TARGETBODYCOM = 4,
-}
-public enum mjtLightType : int{
-  mjLIGHT_SPOT = 0,
-  mjLIGHT_DIRECTIONAL = 1,
-  mjLIGHT_POINT = 2,
-  mjLIGHT_IMAGE = 3,
-}
-public enum mjtTexture : int{
-  mjTEXTURE_2D = 0,
-  mjTEXTURE_CUBE = 1,
-  mjTEXTURE_SKYBOX = 2,
-}
-public enum mjtTextureRole : int{
-  mjTEXROLE_USER = 0,
-  mjTEXROLE_RGB = 1,
-  mjTEXROLE_OCCLUSION = 2,
-  mjTEXROLE_ROUGHNESS = 3,
-  mjTEXROLE_METALLIC = 4,
-  mjTEXROLE_NORMAL = 5,
-  mjTEXROLE_OPACITY = 6,
-  mjTEXROLE_EMISSIVE = 7,
-  mjTEXROLE_RGBA = 8,
-  mjTEXROLE_ORM = 9,
-  mjNTEXROLE = 10,
-}
-public enum mjtColorSpace : int{
-  mjCOLORSPACE_AUTO = 0,
-  mjCOLORSPACE_LINEAR = 1,
-  mjCOLORSPACE_SRGB = 2,
-}
-public enum mjtIntegrator : int{
-  mjINT_EULER = 0,
-  mjINT_RK4 = 1,
-  mjINT_IMPLICIT = 2,
-  mjINT_IMPLICITFAST = 3,
-}
-public enum mjtCone : int{
-  mjCONE_PYRAMIDAL = 0,
-  mjCONE_ELLIPTIC = 1,
-}
-public enum mjtJacobian : int{
-  mjJAC_DENSE = 0,
-  mjJAC_SPARSE = 1,
-  mjJAC_AUTO = 2,
-}
-public enum mjtSolver : int{
-  mjSOL_PGS = 0,
-  mjSOL_CG = 1,
-  mjSOL_NEWTON = 2,
-}
-public enum mjtEq : int{
-  mjEQ_CONNECT = 0,
-  mjEQ_WELD = 1,
-  mjEQ_JOINT = 2,
-  mjEQ_TENDON = 3,
-  mjEQ_FLEX = 4,
-  mjEQ_FLEXVERT = 5,
-  mjEQ_FLEXSTRAIN = 6,
-  mjEQ_DISTANCE = 7,
-}
-public enum mjtWrap : int{
-  mjWRAP_NONE = 0,
-  mjWRAP_JOINT = 1,
-  mjWRAP_PULLEY = 2,
-  mjWRAP_SITE = 3,
-  mjWRAP_SPHERE = 4,
-  mjWRAP_CYLINDER = 5,
-}
-public enum mjtTrn : int{
-  mjTRN_JOINT = 0,
-  mjTRN_JOINTINPARENT = 1,
-  mjTRN_SLIDERCRANK = 2,
-  mjTRN_TENDON = 3,
-  mjTRN_SITE = 4,
-  mjTRN_BODY = 5,
-  mjTRN_SO3 = 6,
-  mjTRN_UNDEFINED = 1000,
-}
-public enum mjtDyn : int{
-  mjDYN_NONE = 0,
-  mjDYN_INTEGRATOR = 1,
-  mjDYN_FILTER = 2,
-  mjDYN_FILTEREXACT = 3,
-  mjDYN_MUSCLE = 4,
-  mjDYN_DCMOTOR = 5,
-  mjDYN_PID = 6,
-  mjDYN_USER = 7,
-}
-public enum mjtGain : int{
-  mjGAIN_FIXED = 0,
-  mjGAIN_AFFINE = 1,
-  mjGAIN_MUSCLE = 2,
-  mjGAIN_DCMOTOR = 3,
-  mjGAIN_SO3 = 4,
-  mjGAIN_PID = 5,
-  mjGAIN_USER = 6,
-}
-public enum mjtBias : int{
-  mjBIAS_NONE = 0,
-  mjBIAS_AFFINE = 1,
-  mjBIAS_MUSCLE = 2,
-  mjBIAS_DCMOTOR = 3,
-  mjBIAS_SO3 = 4,
-  mjBIAS_USER = 5,
-}
-public enum mjtCtrlChart : int{
-  mjCHART_EXPMAP = 1,
-  mjCHART_QUAT = 2,
-}
-public enum mjtCtrlInput : int{
-  mjINPUT_POS = 1,
-  mjINPUT_VEL = 2,
-  mjINPUT_FF = 4,
-  mjINPUT_VOLTAGE = 8,
-  mjINPUT_NONE = 16,
-}
-public enum mjtObj : int{
-  mjOBJ_UNKNOWN = 0,
-  mjOBJ_BODY = 1,
-  mjOBJ_XBODY = 2,
-  mjOBJ_JOINT = 3,
-  mjOBJ_DOF = 4,
-  mjOBJ_GEOM = 5,
-  mjOBJ_SITE = 6,
-  mjOBJ_CAMERA = 7,
-  mjOBJ_LIGHT = 8,
-  mjOBJ_FLEX = 9,
-  mjOBJ_MESH = 10,
-  mjOBJ_SKIN = 11,
-  mjOBJ_HFIELD = 12,
-  mjOBJ_TEXTURE = 13,
-  mjOBJ_MATERIAL = 14,
-  mjOBJ_PAIR = 15,
-  mjOBJ_EXCLUDE = 16,
-  mjOBJ_EQUALITY = 17,
-  mjOBJ_TENDON = 18,
-  mjOBJ_ACTUATOR = 19,
-  mjOBJ_SENSOR = 20,
-  mjOBJ_NUMERIC = 21,
-  mjOBJ_TEXT = 22,
-  mjOBJ_TUPLE = 23,
-  mjOBJ_KEY = 24,
-  mjOBJ_PLUGIN = 25,
-  mjNOBJECT = 26,
-  mjOBJ_FRAME = 100,
-  mjOBJ_DEFAULT = 101,
-  mjOBJ_MODEL = 102,
-}
-public enum mjtSensor : int{
-  mjSENS_TOUCH = 0,
-  mjSENS_ACCELEROMETER = 1,
-  mjSENS_VELOCIMETER = 2,
-  mjSENS_GYRO = 3,
-  mjSENS_FORCE = 4,
-  mjSENS_TORQUE = 5,
-  mjSENS_MAGNETOMETER = 6,
-  mjSENS_RANGEFINDER = 7,
-  mjSENS_CAMPROJECTION = 8,
-  mjSENS_JOINTPOS = 9,
-  mjSENS_JOINTVEL = 10,
-  mjSENS_TENDONPOS = 11,
-  mjSENS_TENDONVEL = 12,
-  mjSENS_ACTUATORPOS = 13,
-  mjSENS_ACTUATORVEL = 14,
-  mjSENS_ACTUATORFRC = 15,
-  mjSENS_JOINTACTFRC = 16,
-  mjSENS_TENDONACTFRC = 17,
-  mjSENS_BALLQUAT = 18,
-  mjSENS_BALLANGVEL = 19,
-  mjSENS_JOINTLIMITPOS = 20,
-  mjSENS_JOINTLIMITVEL = 21,
-  mjSENS_JOINTLIMITFRC = 22,
-  mjSENS_TENDONLIMITPOS = 23,
-  mjSENS_TENDONLIMITVEL = 24,
-  mjSENS_TENDONLIMITFRC = 25,
-  mjSENS_FRAMEPOS = 26,
-  mjSENS_FRAMEQUAT = 27,
-  mjSENS_FRAMEXAXIS = 28,
-  mjSENS_FRAMEYAXIS = 29,
-  mjSENS_FRAMEZAXIS = 30,
-  mjSENS_FRAMELINVEL = 31,
-  mjSENS_FRAMEANGVEL = 32,
-  mjSENS_FRAMELINACC = 33,
-  mjSENS_FRAMEANGACC = 34,
-  mjSENS_SUBTREECOM = 35,
-  mjSENS_SUBTREELINVEL = 36,
-  mjSENS_SUBTREEANGMOM = 37,
-  mjSENS_INSIDESITE = 38,
-  mjSENS_GEOMDIST = 39,
-  mjSENS_GEOMNORMAL = 40,
-  mjSENS_GEOMFROMTO = 41,
-  mjSENS_CONTACT = 42,
-  mjSENS_E_POTENTIAL = 43,
-  mjSENS_E_KINETIC = 44,
-  mjSENS_CLOCK = 45,
-  mjSENS_TACTILE = 46,
-  mjSENS_PLUGIN = 47,
-  mjSENS_USER = 48,
-}
-public enum mjtStage : int{
-  mjSTAGE_NONE = 0,
-  mjSTAGE_POS = 1,
-  mjSTAGE_VEL = 2,
-  mjSTAGE_ACC = 3,
-}
-public enum mjtDataType : int{
-  mjDATATYPE_REAL = 0,
-  mjDATATYPE_POSITIVE = 1,
-  mjDATATYPE_AXIS = 2,
-  mjDATATYPE_QUATERNION = 3,
-}
-public enum mjtConDataField : int{
-  mjCONDATA_FOUND = 0,
-  mjCONDATA_FORCE = 1,
-  mjCONDATA_TORQUE = 2,
-  mjCONDATA_DIST = 3,
-  mjCONDATA_POS = 4,
-  mjCONDATA_NORMAL = 5,
-  mjCONDATA_TANGENT = 6,
-  mjNCONDATA = 7,
-}
-public enum mjtRayDataField : int{
-  mjRAYDATA_DIST = 0,
-  mjRAYDATA_DIR = 1,
-  mjRAYDATA_ORIGIN = 2,
-  mjRAYDATA_POINT = 3,
-  mjRAYDATA_NORMAL = 4,
-  mjRAYDATA_DEPTH = 5,
-  mjNRAYDATA = 6,
-}
-public enum mjtCamOutBit : int{
-  mjCAMOUT_RGB = 1,
-  mjCAMOUT_DEPTH = 2,
-  mjCAMOUT_DIST = 4,
-  mjCAMOUT_NORMAL = 8,
-  mjCAMOUT_SEG = 16,
-  mjNCAMOUT = 5,
-}
-public enum mjtSameFrame : int{
-  mjSAMEFRAME_NONE = 0,
-  mjSAMEFRAME_BODY = 1,
-  mjSAMEFRAME_INERTIA = 2,
-  mjSAMEFRAME_BODYROT = 3,
-  mjSAMEFRAME_INERTIAROT = 4,
-}
-public enum mjtSleepPolicy : int{
-  mjSLEEP_AUTO = 0,
-  mjSLEEP_AUTO_NEVER = 1,
-  mjSLEEP_AUTO_ALLOWED = 2,
-  mjSLEEP_NEVER = 3,
-  mjSLEEP_ALLOWED = 4,
-  mjSLEEP_INIT = 5,
-}
-public enum mjtLRMode : int{
-  mjLRMODE_NONE = 0,
-  mjLRMODE_MUSCLE = 1,
-  mjLRMODE_MUSCLEUSER = 2,
-  mjLRMODE_ALL = 3,
-}
-public enum mjtFlexSelf : int{
-  mjFLEXSELF_NONE = 0,
-  mjFLEXSELF_NARROW = 1,
-  mjFLEXSELF_BVH = 2,
-  mjFLEXSELF_SAP = 3,
-  mjFLEXSELF_AUTO = 4,
-}
-public enum mjtSDFType : int{
-  mjSDFTYPE_SINGLE = 0,
-  mjSDFTYPE_INTERSECTION = 1,
-  mjSDFTYPE_MIDSURFACE = 2,
-  mjSDFTYPE_COLLISION = 3,
-}
-public enum mjtState : int{
-  mjSTATE_TIME = 1,
-  mjSTATE_QPOS = 2,
-  mjSTATE_QVEL = 4,
-  mjSTATE_ACT = 8,
-  mjSTATE_HISTORY = 16,
-  mjSTATE_WARMSTART = 32,
-  mjSTATE_CTRL = 64,
-  mjSTATE_QFRC_APPLIED = 128,
-  mjSTATE_XFRC_APPLIED = 256,
-  mjSTATE_EQ_ACTIVE = 512,
-  mjSTATE_MOCAP_POS = 1024,
-  mjSTATE_MOCAP_QUAT = 2048,
-  mjSTATE_USERDATA = 4096,
-  mjSTATE_PLUGIN = 8192,
-  mjNSTATE = 14,
-  mjSTATE_PHYSICS = 30,
-  mjSTATE_FULLPHYSICS = 8223,
-  mjSTATE_USER = 8128,
-  mjSTATE_INTEGRATION = 16383,
-}
-public enum mjtConstraint : int{
-  mjCNSTR_EQUALITY = 0,
-  mjCNSTR_FRICTION_DOF = 1,
-  mjCNSTR_FRICTION_TENDON = 2,
-  mjCNSTR_LIMIT_JOINT = 3,
-  mjCNSTR_LIMIT_TENDON = 4,
-  mjCNSTR_CONTACT_FRICTIONLESS = 5,
-  mjCNSTR_CONTACT_PYRAMIDAL = 6,
-  mjCNSTR_CONTACT_ELLIPTIC = 7,
-}
-public enum mjtConstraintState : int{
-  mjCNSTRSTATE_SATISFIED = 0,
-  mjCNSTRSTATE_QUADRATIC = 1,
-  mjCNSTRSTATE_LINEARNEG = 2,
-  mjCNSTRSTATE_LINEARPOS = 3,
-  mjCNSTRSTATE_CONE = 4,
-}
-public enum mjtWarning : int{
-  mjWARN_INERTIA = 0,
-  mjWARN_CONTACTFULL = 1,
-  mjWARN_CNSTRFULL = 2,
-  mjWARN_BADQPOS = 3,
-  mjWARN_BADQVEL = 4,
-  mjWARN_BADQACC = 5,
-  mjWARN_BADCTRL = 6,
-  mjNWARNING = 7,
-}
-public enum mjtTimer : int{
-  mjTIMER_STEP = 0,
-  mjTIMER_FORWARD = 1,
-  mjTIMER_INVERSE = 2,
-  mjTIMER_POSITION = 3,
-  mjTIMER_VELOCITY = 4,
-  mjTIMER_ACTUATION = 5,
-  mjTIMER_CONSTRAINT = 6,
-  mjTIMER_ADVANCE = 7,
-  mjTIMER_POS_KINEMATICS = 8,
-  mjTIMER_POS_INERTIA = 9,
-  mjTIMER_POS_COLLISION = 10,
-  mjTIMER_POS_MAKE = 11,
-  mjTIMER_POS_PROJECT = 12,
-  mjTIMER_COL_BROAD = 13,
-  mjTIMER_COL_NARROW = 14,
-  mjNTIMER = 15,
-}
-public enum mjtSleepState : int{
-  mjS_STATIC = -1,
-  mjS_ASLEEP = 0,
-  mjS_AWAKE = 1,
-}
-public enum mjtLogLevel : int{
-  mjLOG_DEBUG = 0,
-  mjLOG_INFO = 1,
-  mjLOG_WARNING = 2,
-  mjLOG_ERROR = 3,
-}
-public enum mjtLogTopic : int{
-  mjTOPIC_NONE = 0,
-  mjTOPIC_TIME_STP = 1,
-  mjTOPIC_TIME_CMP = 2,
-  mjTOPIC_SLEEP = 3,
-  mjNTOPIC = 3,
-}
-public enum mjtGeomInertia : int{
-  mjINERTIA_VOLUME = 0,
-  mjINERTIA_SHELL = 1,
-}
-public enum mjtMeshInertia : int{
-  mjMESH_INERTIA_CONVEX = 0,
-  mjMESH_INERTIA_EXACT = 1,
-  mjMESH_INERTIA_LEGACY = 2,
-  mjMESH_INERTIA_SHELL = 3,
-}
-public enum mjtMeshBuiltin : int{
-  mjMESH_BUILTIN_NONE = 0,
-  mjMESH_BUILTIN_SPHERE = 1,
-  mjMESH_BUILTIN_HEMISPHERE = 2,
-  mjMESH_BUILTIN_CONE = 3,
-  mjMESH_BUILTIN_SUPERSPHERE = 4,
-  mjMESH_BUILTIN_SUPERTORUS = 5,
-  mjMESH_BUILTIN_WEDGE = 6,
-  mjMESH_BUILTIN_PLATE = 7,
-}
-public enum mjtBuiltin : int{
-  mjBUILTIN_NONE = 0,
-  mjBUILTIN_GRADIENT = 1,
-  mjBUILTIN_CHECKER = 2,
-  mjBUILTIN_FLAT = 3,
-}
-public enum mjtMark : int{
-  mjMARK_NONE = 0,
-  mjMARK_EDGE = 1,
-  mjMARK_CROSS = 2,
-  mjMARK_RANDOM = 3,
-}
-public enum mjtLimited : int{
-  mjLIMITED_FALSE = 0,
-  mjLIMITED_TRUE = 1,
-  mjLIMITED_AUTO = 2,
-}
-public enum mjtAlignFree : int{
-  mjALIGNFREE_FALSE = 0,
-  mjALIGNFREE_TRUE = 1,
-  mjALIGNFREE_AUTO = 2,
-}
-public enum mjtInertiaFromGeom : int{
-  mjINERTIAFROMGEOM_FALSE = 0,
-  mjINERTIAFROMGEOM_TRUE = 1,
-  mjINERTIAFROMGEOM_AUTO = 2,
-}
-public enum mjtOrientation : int{
-  mjORIENTATION_QUAT = 0,
-  mjORIENTATION_AXISANGLE = 1,
-  mjORIENTATION_XYAXES = 2,
-  mjORIENTATION_ZAXIS = 3,
-  mjORIENTATION_EULER = 4,
-}
-public enum mjtConflict : int{
-  mjCONFLICT_WARNING = 0,
-  mjCONFLICT_MERGE = 1,
-  mjCONFLICT_ERROR = 2,
-}
-public enum mjtCTimer : int{
-  mjCTIMER_TOTAL = 0,
-  mjCTIMER_ASSETS = 1,
-  mjCTIMER_TEXTURE = 2,
-  mjCTIMER_MESH_LOAD = 3,
-  mjCTIMER_MESH_HULL = 4,
-  mjCTIMER_MESH_POLYGON = 5,
-  mjCTIMER_MESH_INERTIA = 6,
-  mjCTIMER_MESH_BVH = 7,
-  mjCTIMER_MESH_OCTREE = 8,
-  mjNCTIMER = 9,
-}
-public enum mjtCatBit : int{
-  mjCAT_STATIC = 1,
-  mjCAT_DYNAMIC = 2,
-  mjCAT_DECOR = 4,
-  mjCAT_ALL = 7,
-}
-public enum mjtMouse : int{
-  mjMOUSE_NONE = 0,
-  mjMOUSE_ROTATE_V = 1,
-  mjMOUSE_ROTATE_H = 2,
-  mjMOUSE_MOVE_V = 3,
-  mjMOUSE_MOVE_H = 4,
-  mjMOUSE_ZOOM = 5,
-  mjMOUSE_MOVE_V_REL = 6,
-  mjMOUSE_MOVE_H_REL = 7,
-  mjMOUSE_TURN_V = 8,
-  mjMOUSE_TURN_H = 9,
-}
-public enum mjtPertBit : int{
-  mjPERT_TRANSLATE = 1,
-  mjPERT_ROTATE = 2,
-}
-public enum mjtCamera : int{
-  mjCAMERA_FREE = 0,
-  mjCAMERA_TRACKING = 1,
-  mjCAMERA_FIXED = 2,
-  mjCAMERA_USER = 3,
-}
-public enum mjtLabel : int{
-  mjLABEL_NONE = 0,
-  mjLABEL_BODY = 1,
-  mjLABEL_JOINT = 2,
-  mjLABEL_GEOM = 3,
-  mjLABEL_SITE = 4,
-  mjLABEL_CAMERA = 5,
-  mjLABEL_LIGHT = 6,
-  mjLABEL_TENDON = 7,
-  mjLABEL_ACTUATOR = 8,
-  mjLABEL_CONSTRAINT = 9,
-  mjLABEL_FLEX = 10,
-  mjLABEL_SKIN = 11,
-  mjLABEL_SELECTION = 12,
-  mjLABEL_SELPNT = 13,
-  mjLABEL_CONTACTPOINT = 14,
-  mjLABEL_CONTACTFORCE = 15,
-  mjLABEL_ISLAND = 16,
-  mjNLABEL = 17,
-}
-public enum mjtFrame : int{
-  mjFRAME_NONE = 0,
-  mjFRAME_BODY = 1,
-  mjFRAME_GEOM = 2,
-  mjFRAME_SITE = 3,
-  mjFRAME_CAMERA = 4,
-  mjFRAME_LIGHT = 5,
-  mjFRAME_CONTACT = 6,
-  mjFRAME_WORLD = 7,
-  mjNFRAME = 8,
-}
-public enum mjtVisFlag : int{
-  mjVIS_CONVEXHULL = 0,
-  mjVIS_TEXTURE = 1,
-  mjVIS_JOINT = 2,
-  mjVIS_CAMERA = 3,
-  mjVIS_ACTUATOR = 4,
-  mjVIS_ACTIVATION = 5,
-  mjVIS_LIGHT = 6,
-  mjVIS_TENDON = 7,
-  mjVIS_RANGEFINDER = 8,
-  mjVIS_CONSTRAINT = 9,
-  mjVIS_INERTIA = 10,
-  mjVIS_SCLINERTIA = 11,
-  mjVIS_PERTFORCE = 12,
-  mjVIS_PERTOBJ = 13,
-  mjVIS_CONTACTPOINT = 14,
-  mjVIS_ISLAND = 15,
-  mjVIS_CONTACTFORCE = 16,
-  mjVIS_CONTACTSPLIT = 17,
-  mjVIS_TRANSPARENT = 18,
-  mjVIS_AUTOCONNECT = 19,
-  mjVIS_COM = 20,
-  mjVIS_SELECT = 21,
-  mjVIS_STATIC = 22,
-  mjVIS_SKIN = 23,
-  mjVIS_FLEXVERT = 24,
-  mjVIS_FLEXEDGE = 25,
-  mjVIS_FLEXFACE = 26,
-  mjVIS_FLEXSKIN = 27,
-  mjVIS_BODYBVH = 28,
-  mjVIS_MESHBVH = 29,
-  mjVIS_SDFITER = 30,
-  mjNVISFLAG = 31,
-}
-public enum mjtRndFlag : int{
-  mjRND_SHADOW = 0,
-  mjRND_WIREFRAME = 1,
-  mjRND_REFLECTION = 2,
-  mjRND_ADDITIVE = 3,
-  mjRND_SKYBOX = 4,
-  mjRND_FOG = 5,
-  mjRND_HAZE = 6,
-  mjRND_DEPTH = 7,
-  mjRND_SEGMENT = 8,
-  mjRND_IDCOLOR = 9,
-  mjRND_CULL_FACE = 10,
-  mjNRNDFLAG = 11,
-}
-public enum mjtStereo : int{
-  mjSTEREO_NONE = 0,
-  mjSTEREO_QUADBUFFERED = 1,
-  mjSTEREO_SIDEBYSIDE = 2,
-}
-public enum mjtPluginCapabilityBit : int{
-  mjPLUGIN_ACTUATOR = 1,
-  mjPLUGIN_SENSOR = 2,
-  mjPLUGIN_PASSIVE = 4,
-  mjPLUGIN_SDF = 8,
-}
-public enum mjtGridPos : int{
-  mjGRID_TOPLEFT = 0,
-  mjGRID_TOPRIGHT = 1,
-  mjGRID_BOTTOMLEFT = 2,
-  mjGRID_BOTTOMRIGHT = 3,
-  mjGRID_TOP = 4,
-  mjGRID_BOTTOM = 5,
-  mjGRID_LEFT = 6,
-  mjGRID_RIGHT = 7,
-}
-public enum mjtFramebuffer : int{
-  mjFB_WINDOW = 0,
-  mjFB_OFFSCREEN = 1,
-}
-public enum mjtDepthMap : int{
-  mjDEPTH_ZERONEAR = 0,
-  mjDEPTH_ZEROFAR = 1,
-}
-public enum mjtFontScale : int{
-  mjFONTSCALE_50 = 50,
-  mjFONTSCALE_100 = 100,
-  mjFONTSCALE_150 = 150,
-  mjFONTSCALE_200 = 200,
-  mjFONTSCALE_250 = 250,
-  mjFONTSCALE_300 = 300,
-}
-public enum mjtFont : int{
-  mjFONT_NORMAL = 0,
-  mjFONT_SHADOW = 1,
-  mjFONT_BIG = 2,
-}
-public enum mjrPixelFormat : int{
-  mjPIXEL_FORMAT_UNKNOWN = 0,
-  mjPIXEL_FORMAT_R8 = 1,
-  mjPIXEL_FORMAT_RGB8 = 2,
-  mjPIXEL_FORMAT_RGBA8 = 3,
-  mjPIXEL_FORMAT_R32F = 4,
-  mjPIXEL_FORMAT_DEPTH32F = 5,
-  mjPIXEL_FORMAT_KTX = 6,
-}
-public enum mjrVertexAttributeUsage : int{
-  mjVERTEX_ATTRIBUTE_USAGE_POSITION = 0,
-  mjVERTEX_ATTRIBUTE_USAGE_NORMAL = 1,
-  mjVERTEX_ATTRIBUTE_USAGE_TANGENTS = 2,
-  mjVERTEX_ATTRIBUTE_USAGE_UV = 3,
-  mjVERTEX_ATTRIBUTE_USAGE_COLOR = 4,
-}
-public enum mjrVertexAttributeType : int{
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT2 = 0,
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT3 = 1,
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT4 = 2,
-  mjVERTEX_ATTRIBUTE_TYPE_UBYTE4 = 3,
-}
-public enum mjrIndexType : int{
-  mjINDEX_TYPE_U16 = 0,
-  mjINDEX_TYPE_U32 = 1,
-}
-public enum mjrMeshPrimitiveType : int{
-  mjMESH_PRIMITIVE_TYPE_TRIANGLES = 0,
-  mjMESH_PRIMITIVE_TYPE_LINES = 1,
-}
-public enum mjtButton : int{
-  mjBUTTON_NONE = 0,
-  mjBUTTON_LEFT = 1,
-  mjBUTTON_RIGHT = 2,
-  mjBUTTON_MIDDLE = 3,
-}
-public enum mjtEvent : int{
-  mjEVENT_NONE = 0,
-  mjEVENT_MOVE = 1,
-  mjEVENT_PRESS = 2,
-  mjEVENT_RELEASE = 3,
-  mjEVENT_SCROLL = 4,
-  mjEVENT_KEY = 5,
-  mjEVENT_RESIZE = 6,
-  mjEVENT_REDRAW = 7,
-  mjEVENT_FILESDROP = 8,
-}
-public enum mjtItem : int{
-  mjITEM_END = -2,
-  mjITEM_SECTION = -1,
-  mjITEM_SEPARATOR = 0,
-  mjITEM_STATIC = 1,
-  mjITEM_BUTTON = 2,
-  mjITEM_CHECKINT = 3,
-  mjITEM_CHECKBYTE = 4,
-  mjITEM_RADIO = 5,
-  mjITEM_RADIOLINE = 6,
-  mjITEM_SELECT = 7,
-  mjITEM_SLIDERINT = 8,
-  mjITEM_SLIDERNUM = 9,
-  mjITEM_EDITINT = 10,
-  mjITEM_EDITNUM = 11,
-  mjITEM_EDITFLOAT = 12,
-  mjITEM_EDITTXT = 13,
-  mjNITEM = 14,
-}
-public enum mjtSection : int{
-  mjSECT_CLOSED = 0,
-  mjSECT_OPEN = 1,
-  mjSECT_FIXED = 2,
-}
-
-// -------------------------------struct declarations---------------------------
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjLogMessage_ {
-  public int level;
-  public int topic;
-  public fixed char subject[1024];
-  public char* body;
-  public char* func;
-  public char* file;
-  public int line;
-  public byte timestamp;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjLogConfig_ {
-  public byte logto_console;
-  public byte logto_file;
-  public fixed char logfile[1024];
-  public int topics;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjLROpt_ {
-  public int mode;
-  public int useexisting;
-  public int uselimit;
-  public double accel;
-  public double maxforce;
-  public double timeconst;
-  public double timestep;
-  public double inttotal;
-  public double interval;
-  public double tolrange;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjCache_ {
-  public void* impl_;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjOption_ {
-  public double timestep;
-  public double impratio;
-  public double tolerance;
-  public double ls_tolerance;
-  public double noslip_tolerance;
-  public double ccd_tolerance;
-  public double sleep_tolerance;
-  public fixed double gravity[3];
-  public fixed double wind[3];
-  public fixed double magnetic[3];
-  public double density;
-  public double viscosity;
-  public double o_margin;
-  public fixed double o_solref[2];
-  public fixed double o_solimp[5];
-  public fixed double o_friction[5];
-  public int integrator;
-  public int cone;
-  public int jacobian;
-  public int solver;
-  public int iterations;
-  public int ls_iterations;
-  public int noslip_iterations;
-  public int ccd_iterations;
-  public int disableflags;
-  public int enableflags;
-  public int disableactuator;
-  public int sdf_initpoints;
-  public int sdf_iterations;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct global {
-  public int cameraid;
-  public int orthographic;
-  public float fovy;
-  public float ipd;
-  public float azimuth;
-  public float elevation;
-  public float linewidth;
-  public float glow;
-  public float realtime;
-  public int offwidth;
-  public int offheight;
-  public int ellipsoidinertia;
-  public int bvactive;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct quality {
-  public int shadowsize;
-  public int offsamples;
-  public int numslices;
-  public int numstacks;
-  public int numquads;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct headlight {
-  public fixed float ambient[3];
-  public fixed float diffuse[3];
-  public fixed float specular[3];
-  public int active;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct map {
-  public float stiffness;
-  public float stiffnessrot;
-  public float force;
-  public float torque;
-  public float alpha;
-  public float fogstart;
-  public float fogend;
-  public float znear;
-  public float zfar;
-  public float haze;
-  public float shadowclip;
-  public float shadowscale;
-  public float actuatortendon;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct scale {
-  public float forcewidth;
-  public float contactwidth;
-  public float contactheight;
-  public float connect;
-  public float com;
-  public float camera;
-  public float light;
-  public float selectpoint;
-  public float jointlength;
-  public float jointwidth;
-  public float actuatorlength;
-  public float actuatorwidth;
-  public float framelength;
-  public float framewidth;
-  public float constraint;
-  public float slidercrank;
-  public float frustum;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct rgba {
-  public fixed float fog[4];
-  public fixed float haze[4];
-  public fixed float force[4];
-  public fixed float inertia[4];
-  public fixed float joint[4];
-  public fixed float actuator[4];
-  public fixed float actuatornegative[4];
-  public fixed float actuatorpositive[4];
-  public fixed float com[4];
-  public fixed float camera[4];
-  public fixed float light[4];
-  public fixed float selectpoint[4];
-  public fixed float connect[4];
-  public fixed float contactpoint[4];
-  public fixed float contactforce[4];
-  public fixed float contactfriction[4];
-  public fixed float contacttorque[4];
-  public fixed float contactgap[4];
-  public fixed float rangefinder[4];
-  public fixed float constraint[4];
-  public fixed float slidercrank[4];
-  public fixed float crankbroken[4];
-  public fixed float frustum[4];
-  public fixed float bv[4];
-  public fixed float bvactive[4];
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjVisual_ {
-  public global global;
-  public quality quality;
-  public headlight headlight;
-  public map map;
-  public scale scale;
-  public rgba rgba;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjStatistic_ {
-  public double meaninertia;
-  public double meanmass;
-  public double meansize;
-  public double extent;
-  public fixed double center[3];
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjModel_ {
-  public UInt64 nq;
-  public UInt64 nv;
-  public UInt64 nu;
-  public UInt64 nactuator;
-  public UInt64 nout;
-  public UInt64 na;
-  public UInt64 nbody;
-  public UInt64 nbvh;
-  public UInt64 nbvhstatic;
-  public UInt64 nbvhdynamic;
-  public UInt64 noct;
-  public UInt64 njnt;
-  public UInt64 ntree;
-  public UInt64 nM;
-  public UInt64 nB;
-  public UInt64 nC;
-  public UInt64 nD;
-  public UInt64 ngeom;
-  public UInt64 nsite;
-  public UInt64 ncam;
-  public UInt64 nlight;
-  public UInt64 nflex;
-  public UInt64 nflexnode;
-  public UInt64 nflexvert;
-  public UInt64 nflexedge;
-  public UInt64 nflexelem;
-  public UInt64 nflexelemdata;
-  public UInt64 nflexstiffness;
-  public UInt64 nflexbending;
-  public UInt64 nefm0dof;
-  public UInt64 nefm0L;
-  public UInt64 nflexelemedge;
-  public UInt64 nflexshelldata;
-  public UInt64 nflexevpair;
-  public UInt64 nflextexcoord;
-  public UInt64 nJfe;
-  public UInt64 nJfv;
-  public UInt64 nmesh;
-  public UInt64 nmeshvert;
-  public UInt64 nmeshnormal;
-  public UInt64 nmeshtexcoord;
-  public UInt64 nmeshface;
-  public UInt64 nmeshgraph;
-  public UInt64 nmeshpoly;
-  public UInt64 nmeshpolyvert;
-  public UInt64 nmeshpolymap;
-  public UInt64 nskin;
-  public UInt64 nskinvert;
-  public UInt64 nskintexvert;
-  public UInt64 nskinface;
-  public UInt64 nskinbone;
-  public UInt64 nskinbonevert;
-  public UInt64 nhfield;
-  public UInt64 nhfielddata;
-  public UInt64 ntex;
-  public UInt64 ntexdata;
-  public UInt64 nmat;
-  public UInt64 npair;
-  public UInt64 nexclude;
-  public UInt64 neq;
-  public UInt64 ntendon;
-  public UInt64 nJten;
-  public UInt64 nwrap;
-  public UInt64 nsensor;
-  public UInt64 nnumeric;
-  public UInt64 nnumericdata;
-  public UInt64 ntext;
-  public UInt64 ntextdata;
-  public UInt64 ntuple;
-  public UInt64 ntupledata;
-  public UInt64 nkey;
-  public UInt64 nmocap;
-  public UInt64 nplugin;
-  public UInt64 npluginattr;
-  public UInt64 nuser_body;
-  public UInt64 nuser_jnt;
-  public UInt64 nuser_geom;
-  public UInt64 nuser_site;
-  public UInt64 nuser_cam;
-  public UInt64 nuser_tendon;
-  public UInt64 nuser_actuator;
-  public UInt64 nuser_sensor;
-  public UInt64 nnames;
-  public UInt64 npaths;
-  public UInt64 nnames_map;
-  public UInt64 nJmom;
-  public UInt64 ngravcomp;
-  public UInt64 nemax;
-  public UInt64 njmax;
-  public UInt64 nconmax;
-  public UInt64 npolygonmax;
-  public UInt64 nmeshdegmax;
-  public UInt64 nuserdata;
-  public UInt64 nsensordata;
-  public UInt64 npluginstate;
-  public UInt64 nhistory;
-  public UInt64 narena;
-  public UInt64 nbuffer;
-  public byte flg_gravcomp;
-  public byte flg_surfacevel;
-  public byte flg_adhesion;
-  public mjOption_ opt;
-  public mjVisual_ vis;
-  public mjStatistic_ stat;
-  public void* buffer;
-  public double* qpos0;
-  public double* qpos_spring;
-  public int* body_parentid;
-  public int* body_rootid;
-  public int* body_weldid;
-  public int* body_mocapid;
-  public int* body_jntnum;
-  public int* body_jntadr;
-  public int* body_dofnum;
-  public int* body_dofadr;
-  public int* body_treeid;
-  public int* body_geomnum;
-  public int* body_geomadr;
-  public byte* body_simple;
-  public byte* body_sameframe;
-  public double* body_pos;
-  public double* body_quat;
-  public double* body_ipos;
-  public double* body_iquat;
-  public double* body_mass;
-  public double* body_subtreemass;
-  public double* body_inertia;
-  public double* body_invweight0;
-  public double* body_gravcomp;
-  public double* body_margin;
-  public double* body_user;
-  public int* body_plugin;
-  public int* body_contype;
-  public int* body_conaffinity;
-  public int* body_bvhadr;
-  public int* body_bvhnum;
-  public int* bvh_depth;
-  public int* bvh_child;
-  public int* bvh_nodeid;
-  public double* bvh_aabb;
-  public int* oct_depth;
-  public int* oct_child;
-  public double* oct_aabb;
-  public double* oct_coeff;
-  public int* jnt_type;
-  public int* jnt_qposadr;
-  public int* jnt_dofadr;
-  public int* jnt_bodyid;
-  public int* jnt_actuatorid;
-  public int* jnt_group;
-  public byte* jnt_limited;
-  public byte* jnt_actfrclimited;
-  public byte* jnt_actgravcomp;
-  public double* jnt_solref;
-  public double* jnt_solimp;
-  public double* jnt_pos;
-  public double* jnt_axis;
-  public double* jnt_stiffness;
-  public double* jnt_stiffnesspoly;
-  public double* jnt_range;
-  public double* jnt_actfrcrange;
-  public double* jnt_margin;
-  public double* jnt_user;
-  public int* dof_bodyid;
-  public int* dof_jntid;
-  public int* dof_parentid;
-  public int* dof_treeid;
-  public int* dof_Madr;
-  public int* dof_simplenum;
-  public double* dof_solref;
-  public double* dof_solimp;
-  public double* dof_frictionloss;
-  public double* dof_armature;
-  public double* dof_damping;
-  public double* dof_dampingpoly;
-  public double* dof_invweight0;
-  public double* dof_M0;
-  public double* dof_length;
-  public int* tree_bodyadr;
-  public int* tree_bodynum;
-  public int* tree_dofadr;
-  public int* tree_dofnum;
-  public int* tree_sleep_policy;
-  public int* geom_type;
-  public int* geom_contype;
-  public int* geom_conaffinity;
-  public int* geom_condim;
-  public int* geom_bodyid;
-  public int* geom_dataid;
-  public int* geom_matid;
-  public int* geom_group;
-  public int* geom_priority;
-  public int* geom_plugin;
-  public byte* geom_sameframe;
-  public double* geom_solmix;
-  public double* geom_solref;
-  public double* geom_solimp;
-  public double* geom_size;
-  public double* geom_aabb;
-  public double* geom_rbound;
-  public double* geom_pos;
-  public double* geom_quat;
-  public double* geom_friction;
-  public double* geom_margin;
-  public double* geom_gap;
-  public double* geom_surfacevel;
-  public double* geom_adhesion;
-  public double* geom_fluid;
-  public double* geom_user;
-  public float* geom_rgba;
-  public int* site_type;
-  public int* site_bodyid;
-  public int* site_matid;
-  public int* site_group;
-  public byte* site_sameframe;
-  public double* site_size;
-  public double* site_pos;
-  public double* site_quat;
-  public double* site_user;
-  public float* site_rgba;
-  public int* cam_mode;
-  public int* cam_bodyid;
-  public int* cam_targetbodyid;
-  public double* cam_pos;
-  public double* cam_quat;
-  public double* cam_poscom0;
-  public double* cam_pos0;
-  public double* cam_mat0;
-  public int* cam_projection;
-  public double* cam_fovy;
-  public double* cam_ipd;
-  public int* cam_resolution;
-  public int* cam_output;
-  public float* cam_sensorsize;
-  public float* cam_intrinsic;
-  public double* cam_user;
-  public int* light_mode;
-  public int* light_bodyid;
-  public int* light_targetbodyid;
-  public int* light_type;
-  public int* light_texid;
-  public byte* light_castshadow;
-  public float* light_bulbradius;
-  public float* light_intensity;
-  public float* light_range;
-  public byte* light_active;
-  public double* light_pos;
-  public double* light_dir;
-  public double* light_poscom0;
-  public double* light_pos0;
-  public double* light_dir0;
-  public float* light_attenuation;
-  public float* light_cutoff;
-  public float* light_softness;
-  public float* light_exponent;
-  public float* light_ambient;
-  public float* light_diffuse;
-  public float* light_specular;
-  public int* flex_contype;
-  public int* flex_conaffinity;
-  public int* flex_condim;
-  public int* flex_priority;
-  public double* flex_solmix;
-  public double* flex_solref;
-  public double* flex_solimp;
-  public double* flex_friction;
-  public double* flex_margin;
-  public double* flex_gap;
-  public byte* flex_internal;
-  public int* flex_selfcollide;
-  public int* flex_activelayers;
-  public int* flex_passive;
-  public int* flex_dim;
-  public int* flex_matid;
-  public int* flex_group;
-  public int* flex_interp;
-  public int* flex_cellnum;
-  public int* flex_nodeadr;
-  public int* flex_nodenum;
-  public int* flex_vertadr;
-  public int* flex_vertnum;
-  public int* flex_edgeadr;
-  public int* flex_edgenum;
-  public int* flex_elemadr;
-  public int* flex_elemnum;
-  public int* flex_elemdataadr;
-  public int* flex_stiffnessadr;
-  public int* flex_elemedgeadr;
-  public int* flex_bendingadr;
-  public int* flex_shellnum;
-  public int* flex_shelldataadr;
-  public int* flex_evpairadr;
-  public int* flex_evpairnum;
-  public int* flex_texcoordadr;
-  public int* flex_nodebodyid;
-  public int* flex_vertbodyid;
-  public int* flex_vertedgeadr;
-  public int* flex_vertedgenum;
-  public int* flex_vertedge;
-  public int* flex_edge;
-  public int* flex_edgeflap;
-  public int* flex_elem;
-  public int* flex_elemtexcoord;
-  public int* flex_elemedge;
-  public int* flex_elemlayer;
-  public int* flex_shell;
-  public int* flex_evpair;
-  public double* flex_vert;
-  public double* flex_vert0;
-  public double* flex_vertmetric;
-  public double* flex_node;
-  public double* flex_node0;
-  public double* flexedge_length0;
-  public double* flexedge_invweight0;
-  public double* flex_radius;
-  public double* flex_size;
-  public double* flex_stiffness;
-  public double* flex_bending;
-  public int* efm0_dofid;
-  public int* efm0_L_rownnz;
-  public int* efm0_L_rowadr;
-  public int* efm0_L_colind;
-  public double* efm0_L;
-  public double* flex_damping;
-  public double* flex_edgestiffness;
-  public double* flex_edgedamping;
-  public int* flex_edgeequality;
-  public byte* flex_rigid;
-  public byte* flexedge_rigid;
-  public byte* flex_centered;
-  public byte* flex_flatskin;
-  public int* flex_bvhadr;
-  public int* flex_bvhnum;
-  public int* flexedge_J_rownnz;
-  public int* flexedge_J_rowadr;
-  public int* flexedge_J_colind;
-  public int* flexvert_J_rownnz;
-  public int* flexvert_J_rowadr;
-  public int* flexvert_J_colind;
-  public float* flex_rgba;
-  public float* flex_texcoord;
-  public int* mesh_vertadr;
-  public int* mesh_vertnum;
-  public int* mesh_faceadr;
-  public int* mesh_facenum;
-  public int* mesh_bvhadr;
-  public int* mesh_bvhnum;
-  public int* mesh_octadr;
-  public int* mesh_octnum;
-  public int* mesh_normaladr;
-  public int* mesh_normalnum;
-  public int* mesh_texcoordadr;
-  public int* mesh_texcoordnum;
-  public int* mesh_graphadr;
-  public int* mesh_extrema;
-  public float* mesh_vert;
-  public float* mesh_normal;
-  public float* mesh_texcoord;
-  public int* mesh_face;
-  public int* mesh_facenormal;
-  public int* mesh_facetexcoord;
-  public int* mesh_graph;
-  public double* mesh_scale;
-  public double* mesh_pos;
-  public double* mesh_quat;
-  public int* mesh_pathadr;
-  public int* mesh_polynum;
-  public int* mesh_polyadr;
-  public double* mesh_polynormal;
-  public int* mesh_polyvertadr;
-  public int* mesh_polyvertnum;
-  public int* mesh_polyvert;
-  public int* mesh_polymapadr;
-  public int* mesh_polymapnum;
-  public int* mesh_polymap;
-  public int* skin_matid;
-  public int* skin_group;
-  public float* skin_rgba;
-  public float* skin_inflate;
-  public int* skin_vertadr;
-  public int* skin_vertnum;
-  public int* skin_texcoordadr;
-  public int* skin_faceadr;
-  public int* skin_facenum;
-  public int* skin_boneadr;
-  public int* skin_bonenum;
-  public float* skin_vert;
-  public float* skin_texcoord;
-  public int* skin_face;
-  public int* skin_bonevertadr;
-  public int* skin_bonevertnum;
-  public float* skin_bonebindpos;
-  public float* skin_bonebindquat;
-  public int* skin_bonebodyid;
-  public int* skin_bonevertid;
-  public float* skin_bonevertweight;
-  public int* skin_pathadr;
-  public double* hfield_size;
-  public int* hfield_nrow;
-  public int* hfield_ncol;
-  public int* hfield_adr;
-  public float* hfield_data;
-  public int* hfield_pathadr;
-  public int* tex_type;
-  public int* tex_colorspace;
-  public int* tex_height;
-  public int* tex_width;
-  public int* tex_nchannel;
-  public UInt64* tex_adr;
-  public byte* tex_data;
-  public int* tex_pathadr;
-  public int* mat_texid;
-  public byte* mat_texuniform;
-  public float* mat_texrepeat;
-  public float* mat_emission;
-  public float* mat_specular;
-  public float* mat_shininess;
-  public float* mat_reflectance;
-  public float* mat_metallic;
-  public float* mat_roughness;
-  public float* mat_rgba;
-  public int* pair_dim;
-  public int* pair_geom1;
-  public int* pair_geom2;
-  public int* pair_signature;
-  public double* pair_solref;
-  public double* pair_solreffriction;
-  public double* pair_solimp;
-  public double* pair_margin;
-  public double* pair_gap;
-  public double* pair_adhesion;
-  public double* pair_friction;
-  public int* exclude_signature;
-  public int* eq_type;
-  public int* eq_obj1id;
-  public int* eq_obj2id;
-  public int* eq_objtype;
-  public byte* eq_active0;
-  public double* eq_solref;
-  public double* eq_solimp;
-  public double* eq_data;
-  public int* tendon_adr;
-  public int* tendon_num;
-  public int* tendon_matid;
-  public int* tendon_actuatorid;
-  public int* tendon_group;
-  public int* tendon_treenum;
-  public int* tendon_treeid;
-  public int* ten_J_rownnz;
-  public int* ten_J_rowadr;
-  public int* ten_J_colind;
-  public byte* tendon_limited;
-  public byte* tendon_actfrclimited;
-  public double* tendon_width;
-  public double* tendon_solref_lim;
-  public double* tendon_solimp_lim;
-  public double* tendon_solref_fri;
-  public double* tendon_solimp_fri;
-  public double* tendon_range;
-  public double* tendon_actfrcrange;
-  public double* tendon_margin;
-  public double* tendon_stiffness;
-  public double* tendon_stiffnesspoly;
-  public double* tendon_damping;
-  public double* tendon_dampingpoly;
-  public double* tendon_armature;
-  public double* tendon_frictionloss;
-  public double* tendon_lengthspring;
-  public double* tendon_length0;
-  public double* tendon_invweight0;
-  public double* tendon_user;
-  public float* tendon_rgba;
-  public int* wrap_type;
-  public int* wrap_objid;
-  public double* wrap_prm;
-  public int* actuator_trntype;
-  public int* actuator_dyntype;
-  public int* actuator_gaintype;
-  public int* actuator_biastype;
-  public int* actuator_ctrladr;
-  public int* actuator_ctrlnum;
-  public int* actuator_ctrlspec;
-  public int* actuator_outadr;
-  public int* actuator_outnum;
-  public int* actuator_actadr;
-  public int* actuator_actnum;
-  public int* actuator_trnid;
-  public double* actuator_cranklength;
-  public double* actuator_dynprm;
-  public double* actuator_gainprm;
-  public double* actuator_biasprm;
-  public byte* actuator_actlimited;
-  public double* actuator_actrange;
-  public byte* actuator_actearly;
-  public int* actuator_history;
-  public int* actuator_historyadr;
-  public double* actuator_delay;
-  public double* actuator_damping;
-  public double* actuator_dampingpoly;
-  public double* actuator_armature;
-  public int* actuator_group;
-  public double* actuator_user;
-  public int* actuator_plugin;
-  public byte* actuator_forcelimited;
-  public double* actuator_forcerange;
-  public byte* actuator_ctrllimited;
-  public double* actuator_ctrlrange;
-  public double* actuator_gear;
-  public double* actuator_acc0;
-  public double* actuator_length0;
-  public double* actuator_lengthrange;
-  public int* sensor_type;
-  public int* sensor_datatype;
-  public int* sensor_needstage;
-  public int* sensor_objtype;
-  public int* sensor_objid;
-  public int* sensor_reftype;
-  public int* sensor_refid;
-  public int* sensor_intprm;
-  public int* sensor_dim;
-  public int* sensor_adr;
-  public double* sensor_cutoff;
-  public double* sensor_noise;
-  public int* sensor_history;
-  public int* sensor_historyadr;
-  public double* sensor_delay;
-  public double* sensor_interval;
-  public double* sensor_user;
-  public int* sensor_plugin;
-  public int* plugin;
-  public int* plugin_stateadr;
-  public int* plugin_statenum;
-  public char* plugin_attr;
-  public int* plugin_attradr;
-  public int* numeric_adr;
-  public int* numeric_size;
-  public double* numeric_data;
-  public int* text_adr;
-  public int* text_size;
-  public char* text_data;
-  public int* tuple_adr;
-  public int* tuple_size;
-  public int* tuple_objtype;
-  public int* tuple_objid;
-  public double* tuple_objprm;
-  public double* key_time;
-  public double* key_qpos;
-  public double* key_qvel;
-  public double* key_act;
-  public double* key_mpos;
-  public double* key_mquat;
-  public double* key_ctrl;
-  public int* name_bodyadr;
-  public int* name_jntadr;
-  public int* name_geomadr;
-  public int* name_siteadr;
-  public int* name_camadr;
-  public int* name_lightadr;
-  public int* name_flexadr;
-  public int* name_meshadr;
-  public int* name_skinadr;
-  public int* name_hfieldadr;
-  public int* name_texadr;
-  public int* name_matadr;
-  public int* name_pairadr;
-  public int* name_excludeadr;
-  public int* name_eqadr;
-  public int* name_tendonadr;
-  public int* name_actuatoradr;
-  public int* name_sensoradr;
-  public int* name_numericadr;
-  public int* name_textadr;
-  public int* name_tupleadr;
-  public int* name_keyadr;
-  public int* name_pluginadr;
-  public char* names;
-  public int* names_map;
-  public char* paths;
-  public int* B_rownnz;
-  public int* B_rowadr;
-  public int* B_colind;
-  public int* M_rownnz;
-  public int* M_rowadr;
-  public int* M_colind;
-  public int* mapM2M;
-  public int* D_rownnz;
-  public int* D_rowadr;
-  public int* D_diag;
-  public int* D_colind;
-  public int* mapM2D;
-  public int* mapD2M;
-  public UInt64 signature;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjPreContact_ {
-  public double dist;
-  public fixed double pos[3];
-  public fixed double normal[3];
-  public fixed double tangent[3];
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjContact_ {
-  public double dist;
-  public fixed double pos[3];
-  public fixed double frame[9];
-  public double includemargin;
-  public fixed double friction[5];
-  public fixed double solref[2];
-  public fixed double solreffriction[2];
-  public fixed double solimp[5];
-  public double adhesion;
-  public double mu;
-  public fixed double H[36];
-  public int dim;
-  public int geom1;
-  public int geom2;
-  public fixed int geom[2];
-  public fixed int flex[2];
-  public fixed int elem[2];
-  public fixed int vert[2];
-  public int exclude;
-  public int efc_address;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjWarningStat_ {
-  public int lastinfo;
-  public int number;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjTimerStat_ {
-  public double duration;
-  public int number;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjSolverStat_ {
-  public double improvement;
-  public double gradient;
-  public double lineslope;
-  public int nactive;
-  public int nchange;
-  public int neval;
-  public int nupdate;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjData_ {
-  public UInt64 narena;
-  public UInt64 nbuffer;
-  public int nplugin;
-  public UIntPtr pstack;
-  public UIntPtr pbase;
-  public UIntPtr parena;
-  public UIntPtr threadpool;
-  public byte threadlock;
-  public UInt64 maxuse_stack;
-  public UInt64 maxuse_arena;
-  public int maxuse_con;
-  public int maxuse_efc;
-  public mjSolverStat_ solver0;
-  public mjSolverStat_ solver1;
-  public mjSolverStat_ solver2;
-  public mjSolverStat_ solver3;
-  public mjSolverStat_ solver4;
-  public mjSolverStat_ solver5;
-  public mjSolverStat_ solver6;
-  public mjSolverStat_ solver7;
-  public mjSolverStat_ solver8;
-  public mjSolverStat_ solver9;
-  public mjSolverStat_ solver10;
-  public mjSolverStat_ solver11;
-  public mjSolverStat_ solver12;
-  public mjSolverStat_ solver13;
-  public mjSolverStat_ solver14;
-  public mjSolverStat_ solver15;
-  public mjSolverStat_ solver16;
-  public mjSolverStat_ solver17;
-  public mjSolverStat_ solver18;
-  public mjSolverStat_ solver19;
-  public mjSolverStat_ solver20;
-  public mjSolverStat_ solver21;
-  public mjSolverStat_ solver22;
-  public mjSolverStat_ solver23;
-  public mjSolverStat_ solver24;
-  public mjSolverStat_ solver25;
-  public mjSolverStat_ solver26;
-  public mjSolverStat_ solver27;
-  public mjSolverStat_ solver28;
-  public mjSolverStat_ solver29;
-  public mjSolverStat_ solver30;
-  public mjSolverStat_ solver31;
-  public mjSolverStat_ solver32;
-  public mjSolverStat_ solver33;
-  public mjSolverStat_ solver34;
-  public mjSolverStat_ solver35;
-  public mjSolverStat_ solver36;
-  public mjSolverStat_ solver37;
-  public mjSolverStat_ solver38;
-  public mjSolverStat_ solver39;
-  public mjSolverStat_ solver40;
-  public mjSolverStat_ solver41;
-  public mjSolverStat_ solver42;
-  public mjSolverStat_ solver43;
-  public mjSolverStat_ solver44;
-  public mjSolverStat_ solver45;
-  public mjSolverStat_ solver46;
-  public mjSolverStat_ solver47;
-  public mjSolverStat_ solver48;
-  public mjSolverStat_ solver49;
-  public mjSolverStat_ solver50;
-  public mjSolverStat_ solver51;
-  public mjSolverStat_ solver52;
-  public mjSolverStat_ solver53;
-  public mjSolverStat_ solver54;
-  public mjSolverStat_ solver55;
-  public mjSolverStat_ solver56;
-  public mjSolverStat_ solver57;
-  public mjSolverStat_ solver58;
-  public mjSolverStat_ solver59;
-  public mjSolverStat_ solver60;
-  public mjSolverStat_ solver61;
-  public mjSolverStat_ solver62;
-  public mjSolverStat_ solver63;
-  public mjSolverStat_ solver64;
-  public mjSolverStat_ solver65;
-  public mjSolverStat_ solver66;
-  public mjSolverStat_ solver67;
-  public mjSolverStat_ solver68;
-  public mjSolverStat_ solver69;
-  public mjSolverStat_ solver70;
-  public mjSolverStat_ solver71;
-  public mjSolverStat_ solver72;
-  public mjSolverStat_ solver73;
-  public mjSolverStat_ solver74;
-  public mjSolverStat_ solver75;
-  public mjSolverStat_ solver76;
-  public mjSolverStat_ solver77;
-  public mjSolverStat_ solver78;
-  public mjSolverStat_ solver79;
-  public mjSolverStat_ solver80;
-  public mjSolverStat_ solver81;
-  public mjSolverStat_ solver82;
-  public mjSolverStat_ solver83;
-  public mjSolverStat_ solver84;
-  public mjSolverStat_ solver85;
-  public mjSolverStat_ solver86;
-  public mjSolverStat_ solver87;
-  public mjSolverStat_ solver88;
-  public mjSolverStat_ solver89;
-  public mjSolverStat_ solver90;
-  public mjSolverStat_ solver91;
-  public mjSolverStat_ solver92;
-  public mjSolverStat_ solver93;
-  public mjSolverStat_ solver94;
-  public mjSolverStat_ solver95;
-  public mjSolverStat_ solver96;
-  public mjSolverStat_ solver97;
-  public mjSolverStat_ solver98;
-  public mjSolverStat_ solver99;
-  public mjSolverStat_ solver100;
-  public mjSolverStat_ solver101;
-  public mjSolverStat_ solver102;
-  public mjSolverStat_ solver103;
-  public mjSolverStat_ solver104;
-  public mjSolverStat_ solver105;
-  public mjSolverStat_ solver106;
-  public mjSolverStat_ solver107;
-  public mjSolverStat_ solver108;
-  public mjSolverStat_ solver109;
-  public mjSolverStat_ solver110;
-  public mjSolverStat_ solver111;
-  public mjSolverStat_ solver112;
-  public mjSolverStat_ solver113;
-  public mjSolverStat_ solver114;
-  public mjSolverStat_ solver115;
-  public mjSolverStat_ solver116;
-  public mjSolverStat_ solver117;
-  public mjSolverStat_ solver118;
-  public mjSolverStat_ solver119;
-  public mjSolverStat_ solver120;
-  public mjSolverStat_ solver121;
-  public mjSolverStat_ solver122;
-  public mjSolverStat_ solver123;
-  public mjSolverStat_ solver124;
-  public mjSolverStat_ solver125;
-  public mjSolverStat_ solver126;
-  public mjSolverStat_ solver127;
-  public mjSolverStat_ solver128;
-  public mjSolverStat_ solver129;
-  public mjSolverStat_ solver130;
-  public mjSolverStat_ solver131;
-  public mjSolverStat_ solver132;
-  public mjSolverStat_ solver133;
-  public mjSolverStat_ solver134;
-  public mjSolverStat_ solver135;
-  public mjSolverStat_ solver136;
-  public mjSolverStat_ solver137;
-  public mjSolverStat_ solver138;
-  public mjSolverStat_ solver139;
-  public mjSolverStat_ solver140;
-  public mjSolverStat_ solver141;
-  public mjSolverStat_ solver142;
-  public mjSolverStat_ solver143;
-  public mjSolverStat_ solver144;
-  public mjSolverStat_ solver145;
-  public mjSolverStat_ solver146;
-  public mjSolverStat_ solver147;
-  public mjSolverStat_ solver148;
-  public mjSolverStat_ solver149;
-  public mjSolverStat_ solver150;
-  public mjSolverStat_ solver151;
-  public mjSolverStat_ solver152;
-  public mjSolverStat_ solver153;
-  public mjSolverStat_ solver154;
-  public mjSolverStat_ solver155;
-  public mjSolverStat_ solver156;
-  public mjSolverStat_ solver157;
-  public mjSolverStat_ solver158;
-  public mjSolverStat_ solver159;
-  public mjSolverStat_ solver160;
-  public mjSolverStat_ solver161;
-  public mjSolverStat_ solver162;
-  public mjSolverStat_ solver163;
-  public mjSolverStat_ solver164;
-  public mjSolverStat_ solver165;
-  public mjSolverStat_ solver166;
-  public mjSolverStat_ solver167;
-  public mjSolverStat_ solver168;
-  public mjSolverStat_ solver169;
-  public mjSolverStat_ solver170;
-  public mjSolverStat_ solver171;
-  public mjSolverStat_ solver172;
-  public mjSolverStat_ solver173;
-  public mjSolverStat_ solver174;
-  public mjSolverStat_ solver175;
-  public mjSolverStat_ solver176;
-  public mjSolverStat_ solver177;
-  public mjSolverStat_ solver178;
-  public mjSolverStat_ solver179;
-  public mjSolverStat_ solver180;
-  public mjSolverStat_ solver181;
-  public mjSolverStat_ solver182;
-  public mjSolverStat_ solver183;
-  public mjSolverStat_ solver184;
-  public mjSolverStat_ solver185;
-  public mjSolverStat_ solver186;
-  public mjSolverStat_ solver187;
-  public mjSolverStat_ solver188;
-  public mjSolverStat_ solver189;
-  public mjSolverStat_ solver190;
-  public mjSolverStat_ solver191;
-  public mjSolverStat_ solver192;
-  public mjSolverStat_ solver193;
-  public mjSolverStat_ solver194;
-  public mjSolverStat_ solver195;
-  public mjSolverStat_ solver196;
-  public mjSolverStat_ solver197;
-  public mjSolverStat_ solver198;
-  public mjSolverStat_ solver199;
-  public mjSolverStat_ solver200;
-  public mjSolverStat_ solver201;
-  public mjSolverStat_ solver202;
-  public mjSolverStat_ solver203;
-  public mjSolverStat_ solver204;
-  public mjSolverStat_ solver205;
-  public mjSolverStat_ solver206;
-  public mjSolverStat_ solver207;
-  public mjSolverStat_ solver208;
-  public mjSolverStat_ solver209;
-  public mjSolverStat_ solver210;
-  public mjSolverStat_ solver211;
-  public mjSolverStat_ solver212;
-  public mjSolverStat_ solver213;
-  public mjSolverStat_ solver214;
-  public mjSolverStat_ solver215;
-  public mjSolverStat_ solver216;
-  public mjSolverStat_ solver217;
-  public mjSolverStat_ solver218;
-  public mjSolverStat_ solver219;
-  public mjSolverStat_ solver220;
-  public mjSolverStat_ solver221;
-  public mjSolverStat_ solver222;
-  public mjSolverStat_ solver223;
-  public mjSolverStat_ solver224;
-  public mjSolverStat_ solver225;
-  public mjSolverStat_ solver226;
-  public mjSolverStat_ solver227;
-  public mjSolverStat_ solver228;
-  public mjSolverStat_ solver229;
-  public mjSolverStat_ solver230;
-  public mjSolverStat_ solver231;
-  public mjSolverStat_ solver232;
-  public mjSolverStat_ solver233;
-  public mjSolverStat_ solver234;
-  public mjSolverStat_ solver235;
-  public mjSolverStat_ solver236;
-  public mjSolverStat_ solver237;
-  public mjSolverStat_ solver238;
-  public mjSolverStat_ solver239;
-  public mjSolverStat_ solver240;
-  public mjSolverStat_ solver241;
-  public mjSolverStat_ solver242;
-  public mjSolverStat_ solver243;
-  public mjSolverStat_ solver244;
-  public mjSolverStat_ solver245;
-  public mjSolverStat_ solver246;
-  public mjSolverStat_ solver247;
-  public mjSolverStat_ solver248;
-  public mjSolverStat_ solver249;
-  public mjSolverStat_ solver250;
-  public mjSolverStat_ solver251;
-  public mjSolverStat_ solver252;
-  public mjSolverStat_ solver253;
-  public mjSolverStat_ solver254;
-  public mjSolverStat_ solver255;
-  public mjSolverStat_ solver256;
-  public mjSolverStat_ solver257;
-  public mjSolverStat_ solver258;
-  public mjSolverStat_ solver259;
-  public mjSolverStat_ solver260;
-  public mjSolverStat_ solver261;
-  public mjSolverStat_ solver262;
-  public mjSolverStat_ solver263;
-  public mjSolverStat_ solver264;
-  public mjSolverStat_ solver265;
-  public mjSolverStat_ solver266;
-  public mjSolverStat_ solver267;
-  public mjSolverStat_ solver268;
-  public mjSolverStat_ solver269;
-  public mjSolverStat_ solver270;
-  public mjSolverStat_ solver271;
-  public mjSolverStat_ solver272;
-  public mjSolverStat_ solver273;
-  public mjSolverStat_ solver274;
-  public mjSolverStat_ solver275;
-  public mjSolverStat_ solver276;
-  public mjSolverStat_ solver277;
-  public mjSolverStat_ solver278;
-  public mjSolverStat_ solver279;
-  public mjSolverStat_ solver280;
-  public mjSolverStat_ solver281;
-  public mjSolverStat_ solver282;
-  public mjSolverStat_ solver283;
-  public mjSolverStat_ solver284;
-  public mjSolverStat_ solver285;
-  public mjSolverStat_ solver286;
-  public mjSolverStat_ solver287;
-  public mjSolverStat_ solver288;
-  public mjSolverStat_ solver289;
-  public mjSolverStat_ solver290;
-  public mjSolverStat_ solver291;
-  public mjSolverStat_ solver292;
-  public mjSolverStat_ solver293;
-  public mjSolverStat_ solver294;
-  public mjSolverStat_ solver295;
-  public mjSolverStat_ solver296;
-  public mjSolverStat_ solver297;
-  public mjSolverStat_ solver298;
-  public mjSolverStat_ solver299;
-  public mjSolverStat_ solver300;
-  public mjSolverStat_ solver301;
-  public mjSolverStat_ solver302;
-  public mjSolverStat_ solver303;
-  public mjSolverStat_ solver304;
-  public mjSolverStat_ solver305;
-  public mjSolverStat_ solver306;
-  public mjSolverStat_ solver307;
-  public mjSolverStat_ solver308;
-  public mjSolverStat_ solver309;
-  public mjSolverStat_ solver310;
-  public mjSolverStat_ solver311;
-  public mjSolverStat_ solver312;
-  public mjSolverStat_ solver313;
-  public mjSolverStat_ solver314;
-  public mjSolverStat_ solver315;
-  public mjSolverStat_ solver316;
-  public mjSolverStat_ solver317;
-  public mjSolverStat_ solver318;
-  public mjSolverStat_ solver319;
-  public mjSolverStat_ solver320;
-  public mjSolverStat_ solver321;
-  public mjSolverStat_ solver322;
-  public mjSolverStat_ solver323;
-  public mjSolverStat_ solver324;
-  public mjSolverStat_ solver325;
-  public mjSolverStat_ solver326;
-  public mjSolverStat_ solver327;
-  public mjSolverStat_ solver328;
-  public mjSolverStat_ solver329;
-  public mjSolverStat_ solver330;
-  public mjSolverStat_ solver331;
-  public mjSolverStat_ solver332;
-  public mjSolverStat_ solver333;
-  public mjSolverStat_ solver334;
-  public mjSolverStat_ solver335;
-  public mjSolverStat_ solver336;
-  public mjSolverStat_ solver337;
-  public mjSolverStat_ solver338;
-  public mjSolverStat_ solver339;
-  public mjSolverStat_ solver340;
-  public mjSolverStat_ solver341;
-  public mjSolverStat_ solver342;
-  public mjSolverStat_ solver343;
-  public mjSolverStat_ solver344;
-  public mjSolverStat_ solver345;
-  public mjSolverStat_ solver346;
-  public mjSolverStat_ solver347;
-  public mjSolverStat_ solver348;
-  public mjSolverStat_ solver349;
-  public mjSolverStat_ solver350;
-  public mjSolverStat_ solver351;
-  public mjSolverStat_ solver352;
-  public mjSolverStat_ solver353;
-  public mjSolverStat_ solver354;
-  public mjSolverStat_ solver355;
-  public mjSolverStat_ solver356;
-  public mjSolverStat_ solver357;
-  public mjSolverStat_ solver358;
-  public mjSolverStat_ solver359;
-  public mjSolverStat_ solver360;
-  public mjSolverStat_ solver361;
-  public mjSolverStat_ solver362;
-  public mjSolverStat_ solver363;
-  public mjSolverStat_ solver364;
-  public mjSolverStat_ solver365;
-  public mjSolverStat_ solver366;
-  public mjSolverStat_ solver367;
-  public mjSolverStat_ solver368;
-  public mjSolverStat_ solver369;
-  public mjSolverStat_ solver370;
-  public mjSolverStat_ solver371;
-  public mjSolverStat_ solver372;
-  public mjSolverStat_ solver373;
-  public mjSolverStat_ solver374;
-  public mjSolverStat_ solver375;
-  public mjSolverStat_ solver376;
-  public mjSolverStat_ solver377;
-  public mjSolverStat_ solver378;
-  public mjSolverStat_ solver379;
-  public mjSolverStat_ solver380;
-  public mjSolverStat_ solver381;
-  public mjSolverStat_ solver382;
-  public mjSolverStat_ solver383;
-  public mjSolverStat_ solver384;
-  public mjSolverStat_ solver385;
-  public mjSolverStat_ solver386;
-  public mjSolverStat_ solver387;
-  public mjSolverStat_ solver388;
-  public mjSolverStat_ solver389;
-  public mjSolverStat_ solver390;
-  public mjSolverStat_ solver391;
-  public mjSolverStat_ solver392;
-  public mjSolverStat_ solver393;
-  public mjSolverStat_ solver394;
-  public mjSolverStat_ solver395;
-  public mjSolverStat_ solver396;
-  public mjSolverStat_ solver397;
-  public mjSolverStat_ solver398;
-  public mjSolverStat_ solver399;
-  public mjSolverStat_ solver400;
-  public mjSolverStat_ solver401;
-  public mjSolverStat_ solver402;
-  public mjSolverStat_ solver403;
-  public mjSolverStat_ solver404;
-  public mjSolverStat_ solver405;
-  public mjSolverStat_ solver406;
-  public mjSolverStat_ solver407;
-  public mjSolverStat_ solver408;
-  public mjSolverStat_ solver409;
-  public mjSolverStat_ solver410;
-  public mjSolverStat_ solver411;
-  public mjSolverStat_ solver412;
-  public mjSolverStat_ solver413;
-  public mjSolverStat_ solver414;
-  public mjSolverStat_ solver415;
-  public mjSolverStat_ solver416;
-  public mjSolverStat_ solver417;
-  public mjSolverStat_ solver418;
-  public mjSolverStat_ solver419;
-  public mjSolverStat_ solver420;
-  public mjSolverStat_ solver421;
-  public mjSolverStat_ solver422;
-  public mjSolverStat_ solver423;
-  public mjSolverStat_ solver424;
-  public mjSolverStat_ solver425;
-  public mjSolverStat_ solver426;
-  public mjSolverStat_ solver427;
-  public mjSolverStat_ solver428;
-  public mjSolverStat_ solver429;
-  public mjSolverStat_ solver430;
-  public mjSolverStat_ solver431;
-  public mjSolverStat_ solver432;
-  public mjSolverStat_ solver433;
-  public mjSolverStat_ solver434;
-  public mjSolverStat_ solver435;
-  public mjSolverStat_ solver436;
-  public mjSolverStat_ solver437;
-  public mjSolverStat_ solver438;
-  public mjSolverStat_ solver439;
-  public mjSolverStat_ solver440;
-  public mjSolverStat_ solver441;
-  public mjSolverStat_ solver442;
-  public mjSolverStat_ solver443;
-  public mjSolverStat_ solver444;
-  public mjSolverStat_ solver445;
-  public mjSolverStat_ solver446;
-  public mjSolverStat_ solver447;
-  public mjSolverStat_ solver448;
-  public mjSolverStat_ solver449;
-  public mjSolverStat_ solver450;
-  public mjSolverStat_ solver451;
-  public mjSolverStat_ solver452;
-  public mjSolverStat_ solver453;
-  public mjSolverStat_ solver454;
-  public mjSolverStat_ solver455;
-  public mjSolverStat_ solver456;
-  public mjSolverStat_ solver457;
-  public mjSolverStat_ solver458;
-  public mjSolverStat_ solver459;
-  public mjSolverStat_ solver460;
-  public mjSolverStat_ solver461;
-  public mjSolverStat_ solver462;
-  public mjSolverStat_ solver463;
-  public mjSolverStat_ solver464;
-  public mjSolverStat_ solver465;
-  public mjSolverStat_ solver466;
-  public mjSolverStat_ solver467;
-  public mjSolverStat_ solver468;
-  public mjSolverStat_ solver469;
-  public mjSolverStat_ solver470;
-  public mjSolverStat_ solver471;
-  public mjSolverStat_ solver472;
-  public mjSolverStat_ solver473;
-  public mjSolverStat_ solver474;
-  public mjSolverStat_ solver475;
-  public mjSolverStat_ solver476;
-  public mjSolverStat_ solver477;
-  public mjSolverStat_ solver478;
-  public mjSolverStat_ solver479;
-  public mjSolverStat_ solver480;
-  public mjSolverStat_ solver481;
-  public mjSolverStat_ solver482;
-  public mjSolverStat_ solver483;
-  public mjSolverStat_ solver484;
-  public mjSolverStat_ solver485;
-  public mjSolverStat_ solver486;
-  public mjSolverStat_ solver487;
-  public mjSolverStat_ solver488;
-  public mjSolverStat_ solver489;
-  public mjSolverStat_ solver490;
-  public mjSolverStat_ solver491;
-  public mjSolverStat_ solver492;
-  public mjSolverStat_ solver493;
-  public mjSolverStat_ solver494;
-  public mjSolverStat_ solver495;
-  public mjSolverStat_ solver496;
-  public mjSolverStat_ solver497;
-  public mjSolverStat_ solver498;
-  public mjSolverStat_ solver499;
-  public mjSolverStat_ solver500;
-  public mjSolverStat_ solver501;
-  public mjSolverStat_ solver502;
-  public mjSolverStat_ solver503;
-  public mjSolverStat_ solver504;
-  public mjSolverStat_ solver505;
-  public mjSolverStat_ solver506;
-  public mjSolverStat_ solver507;
-  public mjSolverStat_ solver508;
-  public mjSolverStat_ solver509;
-  public mjSolverStat_ solver510;
-  public mjSolverStat_ solver511;
-  public mjSolverStat_ solver512;
-  public mjSolverStat_ solver513;
-  public mjSolverStat_ solver514;
-  public mjSolverStat_ solver515;
-  public mjSolverStat_ solver516;
-  public mjSolverStat_ solver517;
-  public mjSolverStat_ solver518;
-  public mjSolverStat_ solver519;
-  public mjSolverStat_ solver520;
-  public mjSolverStat_ solver521;
-  public mjSolverStat_ solver522;
-  public mjSolverStat_ solver523;
-  public mjSolverStat_ solver524;
-  public mjSolverStat_ solver525;
-  public mjSolverStat_ solver526;
-  public mjSolverStat_ solver527;
-  public mjSolverStat_ solver528;
-  public mjSolverStat_ solver529;
-  public mjSolverStat_ solver530;
-  public mjSolverStat_ solver531;
-  public mjSolverStat_ solver532;
-  public mjSolverStat_ solver533;
-  public mjSolverStat_ solver534;
-  public mjSolverStat_ solver535;
-  public mjSolverStat_ solver536;
-  public mjSolverStat_ solver537;
-  public mjSolverStat_ solver538;
-  public mjSolverStat_ solver539;
-  public mjSolverStat_ solver540;
-  public mjSolverStat_ solver541;
-  public mjSolverStat_ solver542;
-  public mjSolverStat_ solver543;
-  public mjSolverStat_ solver544;
-  public mjSolverStat_ solver545;
-  public mjSolverStat_ solver546;
-  public mjSolverStat_ solver547;
-  public mjSolverStat_ solver548;
-  public mjSolverStat_ solver549;
-  public mjSolverStat_ solver550;
-  public mjSolverStat_ solver551;
-  public mjSolverStat_ solver552;
-  public mjSolverStat_ solver553;
-  public mjSolverStat_ solver554;
-  public mjSolverStat_ solver555;
-  public mjSolverStat_ solver556;
-  public mjSolverStat_ solver557;
-  public mjSolverStat_ solver558;
-  public mjSolverStat_ solver559;
-  public mjSolverStat_ solver560;
-  public mjSolverStat_ solver561;
-  public mjSolverStat_ solver562;
-  public mjSolverStat_ solver563;
-  public mjSolverStat_ solver564;
-  public mjSolverStat_ solver565;
-  public mjSolverStat_ solver566;
-  public mjSolverStat_ solver567;
-  public mjSolverStat_ solver568;
-  public mjSolverStat_ solver569;
-  public mjSolverStat_ solver570;
-  public mjSolverStat_ solver571;
-  public mjSolverStat_ solver572;
-  public mjSolverStat_ solver573;
-  public mjSolverStat_ solver574;
-  public mjSolverStat_ solver575;
-  public mjSolverStat_ solver576;
-  public mjSolverStat_ solver577;
-  public mjSolverStat_ solver578;
-  public mjSolverStat_ solver579;
-  public mjSolverStat_ solver580;
-  public mjSolverStat_ solver581;
-  public mjSolverStat_ solver582;
-  public mjSolverStat_ solver583;
-  public mjSolverStat_ solver584;
-  public mjSolverStat_ solver585;
-  public mjSolverStat_ solver586;
-  public mjSolverStat_ solver587;
-  public mjSolverStat_ solver588;
-  public mjSolverStat_ solver589;
-  public mjSolverStat_ solver590;
-  public mjSolverStat_ solver591;
-  public mjSolverStat_ solver592;
-  public mjSolverStat_ solver593;
-  public mjSolverStat_ solver594;
-  public mjSolverStat_ solver595;
-  public mjSolverStat_ solver596;
-  public mjSolverStat_ solver597;
-  public mjSolverStat_ solver598;
-  public mjSolverStat_ solver599;
-  public mjSolverStat_ solver600;
-  public mjSolverStat_ solver601;
-  public mjSolverStat_ solver602;
-  public mjSolverStat_ solver603;
-  public mjSolverStat_ solver604;
-  public mjSolverStat_ solver605;
-  public mjSolverStat_ solver606;
-  public mjSolverStat_ solver607;
-  public mjSolverStat_ solver608;
-  public mjSolverStat_ solver609;
-  public mjSolverStat_ solver610;
-  public mjSolverStat_ solver611;
-  public mjSolverStat_ solver612;
-  public mjSolverStat_ solver613;
-  public mjSolverStat_ solver614;
-  public mjSolverStat_ solver615;
-  public mjSolverStat_ solver616;
-  public mjSolverStat_ solver617;
-  public mjSolverStat_ solver618;
-  public mjSolverStat_ solver619;
-  public mjSolverStat_ solver620;
-  public mjSolverStat_ solver621;
-  public mjSolverStat_ solver622;
-  public mjSolverStat_ solver623;
-  public mjSolverStat_ solver624;
-  public mjSolverStat_ solver625;
-  public mjSolverStat_ solver626;
-  public mjSolverStat_ solver627;
-  public mjSolverStat_ solver628;
-  public mjSolverStat_ solver629;
-  public mjSolverStat_ solver630;
-  public mjSolverStat_ solver631;
-  public mjSolverStat_ solver632;
-  public mjSolverStat_ solver633;
-  public mjSolverStat_ solver634;
-  public mjSolverStat_ solver635;
-  public mjSolverStat_ solver636;
-  public mjSolverStat_ solver637;
-  public mjSolverStat_ solver638;
-  public mjSolverStat_ solver639;
-  public mjSolverStat_ solver640;
-  public mjSolverStat_ solver641;
-  public mjSolverStat_ solver642;
-  public mjSolverStat_ solver643;
-  public mjSolverStat_ solver644;
-  public mjSolverStat_ solver645;
-  public mjSolverStat_ solver646;
-  public mjSolverStat_ solver647;
-  public mjSolverStat_ solver648;
-  public mjSolverStat_ solver649;
-  public mjSolverStat_ solver650;
-  public mjSolverStat_ solver651;
-  public mjSolverStat_ solver652;
-  public mjSolverStat_ solver653;
-  public mjSolverStat_ solver654;
-  public mjSolverStat_ solver655;
-  public mjSolverStat_ solver656;
-  public mjSolverStat_ solver657;
-  public mjSolverStat_ solver658;
-  public mjSolverStat_ solver659;
-  public mjSolverStat_ solver660;
-  public mjSolverStat_ solver661;
-  public mjSolverStat_ solver662;
-  public mjSolverStat_ solver663;
-  public mjSolverStat_ solver664;
-  public mjSolverStat_ solver665;
-  public mjSolverStat_ solver666;
-  public mjSolverStat_ solver667;
-  public mjSolverStat_ solver668;
-  public mjSolverStat_ solver669;
-  public mjSolverStat_ solver670;
-  public mjSolverStat_ solver671;
-  public mjSolverStat_ solver672;
-  public mjSolverStat_ solver673;
-  public mjSolverStat_ solver674;
-  public mjSolverStat_ solver675;
-  public mjSolverStat_ solver676;
-  public mjSolverStat_ solver677;
-  public mjSolverStat_ solver678;
-  public mjSolverStat_ solver679;
-  public mjSolverStat_ solver680;
-  public mjSolverStat_ solver681;
-  public mjSolverStat_ solver682;
-  public mjSolverStat_ solver683;
-  public mjSolverStat_ solver684;
-  public mjSolverStat_ solver685;
-  public mjSolverStat_ solver686;
-  public mjSolverStat_ solver687;
-  public mjSolverStat_ solver688;
-  public mjSolverStat_ solver689;
-  public mjSolverStat_ solver690;
-  public mjSolverStat_ solver691;
-  public mjSolverStat_ solver692;
-  public mjSolverStat_ solver693;
-  public mjSolverStat_ solver694;
-  public mjSolverStat_ solver695;
-  public mjSolverStat_ solver696;
-  public mjSolverStat_ solver697;
-  public mjSolverStat_ solver698;
-  public mjSolverStat_ solver699;
-  public mjSolverStat_ solver700;
-  public mjSolverStat_ solver701;
-  public mjSolverStat_ solver702;
-  public mjSolverStat_ solver703;
-  public mjSolverStat_ solver704;
-  public mjSolverStat_ solver705;
-  public mjSolverStat_ solver706;
-  public mjSolverStat_ solver707;
-  public mjSolverStat_ solver708;
-  public mjSolverStat_ solver709;
-  public mjSolverStat_ solver710;
-  public mjSolverStat_ solver711;
-  public mjSolverStat_ solver712;
-  public mjSolverStat_ solver713;
-  public mjSolverStat_ solver714;
-  public mjSolverStat_ solver715;
-  public mjSolverStat_ solver716;
-  public mjSolverStat_ solver717;
-  public mjSolverStat_ solver718;
-  public mjSolverStat_ solver719;
-  public mjSolverStat_ solver720;
-  public mjSolverStat_ solver721;
-  public mjSolverStat_ solver722;
-  public mjSolverStat_ solver723;
-  public mjSolverStat_ solver724;
-  public mjSolverStat_ solver725;
-  public mjSolverStat_ solver726;
-  public mjSolverStat_ solver727;
-  public mjSolverStat_ solver728;
-  public mjSolverStat_ solver729;
-  public mjSolverStat_ solver730;
-  public mjSolverStat_ solver731;
-  public mjSolverStat_ solver732;
-  public mjSolverStat_ solver733;
-  public mjSolverStat_ solver734;
-  public mjSolverStat_ solver735;
-  public mjSolverStat_ solver736;
-  public mjSolverStat_ solver737;
-  public mjSolverStat_ solver738;
-  public mjSolverStat_ solver739;
-  public mjSolverStat_ solver740;
-  public mjSolverStat_ solver741;
-  public mjSolverStat_ solver742;
-  public mjSolverStat_ solver743;
-  public mjSolverStat_ solver744;
-  public mjSolverStat_ solver745;
-  public mjSolverStat_ solver746;
-  public mjSolverStat_ solver747;
-  public mjSolverStat_ solver748;
-  public mjSolverStat_ solver749;
-  public mjSolverStat_ solver750;
-  public mjSolverStat_ solver751;
-  public mjSolverStat_ solver752;
-  public mjSolverStat_ solver753;
-  public mjSolverStat_ solver754;
-  public mjSolverStat_ solver755;
-  public mjSolverStat_ solver756;
-  public mjSolverStat_ solver757;
-  public mjSolverStat_ solver758;
-  public mjSolverStat_ solver759;
-  public mjSolverStat_ solver760;
-  public mjSolverStat_ solver761;
-  public mjSolverStat_ solver762;
-  public mjSolverStat_ solver763;
-  public mjSolverStat_ solver764;
-  public mjSolverStat_ solver765;
-  public mjSolverStat_ solver766;
-  public mjSolverStat_ solver767;
-  public mjSolverStat_ solver768;
-  public mjSolverStat_ solver769;
-  public mjSolverStat_ solver770;
-  public mjSolverStat_ solver771;
-  public mjSolverStat_ solver772;
-  public mjSolverStat_ solver773;
-  public mjSolverStat_ solver774;
-  public mjSolverStat_ solver775;
-  public mjSolverStat_ solver776;
-  public mjSolverStat_ solver777;
-  public mjSolverStat_ solver778;
-  public mjSolverStat_ solver779;
-  public mjSolverStat_ solver780;
-  public mjSolverStat_ solver781;
-  public mjSolverStat_ solver782;
-  public mjSolverStat_ solver783;
-  public mjSolverStat_ solver784;
-  public mjSolverStat_ solver785;
-  public mjSolverStat_ solver786;
-  public mjSolverStat_ solver787;
-  public mjSolverStat_ solver788;
-  public mjSolverStat_ solver789;
-  public mjSolverStat_ solver790;
-  public mjSolverStat_ solver791;
-  public mjSolverStat_ solver792;
-  public mjSolverStat_ solver793;
-  public mjSolverStat_ solver794;
-  public mjSolverStat_ solver795;
-  public mjSolverStat_ solver796;
-  public mjSolverStat_ solver797;
-  public mjSolverStat_ solver798;
-  public mjSolverStat_ solver799;
-  public mjSolverStat_ solver800;
-  public mjSolverStat_ solver801;
-  public mjSolverStat_ solver802;
-  public mjSolverStat_ solver803;
-  public mjSolverStat_ solver804;
-  public mjSolverStat_ solver805;
-  public mjSolverStat_ solver806;
-  public mjSolverStat_ solver807;
-  public mjSolverStat_ solver808;
-  public mjSolverStat_ solver809;
-  public mjSolverStat_ solver810;
-  public mjSolverStat_ solver811;
-  public mjSolverStat_ solver812;
-  public mjSolverStat_ solver813;
-  public mjSolverStat_ solver814;
-  public mjSolverStat_ solver815;
-  public mjSolverStat_ solver816;
-  public mjSolverStat_ solver817;
-  public mjSolverStat_ solver818;
-  public mjSolverStat_ solver819;
-  public mjSolverStat_ solver820;
-  public mjSolverStat_ solver821;
-  public mjSolverStat_ solver822;
-  public mjSolverStat_ solver823;
-  public mjSolverStat_ solver824;
-  public mjSolverStat_ solver825;
-  public mjSolverStat_ solver826;
-  public mjSolverStat_ solver827;
-  public mjSolverStat_ solver828;
-  public mjSolverStat_ solver829;
-  public mjSolverStat_ solver830;
-  public mjSolverStat_ solver831;
-  public mjSolverStat_ solver832;
-  public mjSolverStat_ solver833;
-  public mjSolverStat_ solver834;
-  public mjSolverStat_ solver835;
-  public mjSolverStat_ solver836;
-  public mjSolverStat_ solver837;
-  public mjSolverStat_ solver838;
-  public mjSolverStat_ solver839;
-  public mjSolverStat_ solver840;
-  public mjSolverStat_ solver841;
-  public mjSolverStat_ solver842;
-  public mjSolverStat_ solver843;
-  public mjSolverStat_ solver844;
-  public mjSolverStat_ solver845;
-  public mjSolverStat_ solver846;
-  public mjSolverStat_ solver847;
-  public mjSolverStat_ solver848;
-  public mjSolverStat_ solver849;
-  public mjSolverStat_ solver850;
-  public mjSolverStat_ solver851;
-  public mjSolverStat_ solver852;
-  public mjSolverStat_ solver853;
-  public mjSolverStat_ solver854;
-  public mjSolverStat_ solver855;
-  public mjSolverStat_ solver856;
-  public mjSolverStat_ solver857;
-  public mjSolverStat_ solver858;
-  public mjSolverStat_ solver859;
-  public mjSolverStat_ solver860;
-  public mjSolverStat_ solver861;
-  public mjSolverStat_ solver862;
-  public mjSolverStat_ solver863;
-  public mjSolverStat_ solver864;
-  public mjSolverStat_ solver865;
-  public mjSolverStat_ solver866;
-  public mjSolverStat_ solver867;
-  public mjSolverStat_ solver868;
-  public mjSolverStat_ solver869;
-  public mjSolverStat_ solver870;
-  public mjSolverStat_ solver871;
-  public mjSolverStat_ solver872;
-  public mjSolverStat_ solver873;
-  public mjSolverStat_ solver874;
-  public mjSolverStat_ solver875;
-  public mjSolverStat_ solver876;
-  public mjSolverStat_ solver877;
-  public mjSolverStat_ solver878;
-  public mjSolverStat_ solver879;
-  public mjSolverStat_ solver880;
-  public mjSolverStat_ solver881;
-  public mjSolverStat_ solver882;
-  public mjSolverStat_ solver883;
-  public mjSolverStat_ solver884;
-  public mjSolverStat_ solver885;
-  public mjSolverStat_ solver886;
-  public mjSolverStat_ solver887;
-  public mjSolverStat_ solver888;
-  public mjSolverStat_ solver889;
-  public mjSolverStat_ solver890;
-  public mjSolverStat_ solver891;
-  public mjSolverStat_ solver892;
-  public mjSolverStat_ solver893;
-  public mjSolverStat_ solver894;
-  public mjSolverStat_ solver895;
-  public mjSolverStat_ solver896;
-  public mjSolverStat_ solver897;
-  public mjSolverStat_ solver898;
-  public mjSolverStat_ solver899;
-  public mjSolverStat_ solver900;
-  public mjSolverStat_ solver901;
-  public mjSolverStat_ solver902;
-  public mjSolverStat_ solver903;
-  public mjSolverStat_ solver904;
-  public mjSolverStat_ solver905;
-  public mjSolverStat_ solver906;
-  public mjSolverStat_ solver907;
-  public mjSolverStat_ solver908;
-  public mjSolverStat_ solver909;
-  public mjSolverStat_ solver910;
-  public mjSolverStat_ solver911;
-  public mjSolverStat_ solver912;
-  public mjSolverStat_ solver913;
-  public mjSolverStat_ solver914;
-  public mjSolverStat_ solver915;
-  public mjSolverStat_ solver916;
-  public mjSolverStat_ solver917;
-  public mjSolverStat_ solver918;
-  public mjSolverStat_ solver919;
-  public mjSolverStat_ solver920;
-  public mjSolverStat_ solver921;
-  public mjSolverStat_ solver922;
-  public mjSolverStat_ solver923;
-  public mjSolverStat_ solver924;
-  public mjSolverStat_ solver925;
-  public mjSolverStat_ solver926;
-  public mjSolverStat_ solver927;
-  public mjSolverStat_ solver928;
-  public mjSolverStat_ solver929;
-  public mjSolverStat_ solver930;
-  public mjSolverStat_ solver931;
-  public mjSolverStat_ solver932;
-  public mjSolverStat_ solver933;
-  public mjSolverStat_ solver934;
-  public mjSolverStat_ solver935;
-  public mjSolverStat_ solver936;
-  public mjSolverStat_ solver937;
-  public mjSolverStat_ solver938;
-  public mjSolverStat_ solver939;
-  public mjSolverStat_ solver940;
-  public mjSolverStat_ solver941;
-  public mjSolverStat_ solver942;
-  public mjSolverStat_ solver943;
-  public mjSolverStat_ solver944;
-  public mjSolverStat_ solver945;
-  public mjSolverStat_ solver946;
-  public mjSolverStat_ solver947;
-  public mjSolverStat_ solver948;
-  public mjSolverStat_ solver949;
-  public mjSolverStat_ solver950;
-  public mjSolverStat_ solver951;
-  public mjSolverStat_ solver952;
-  public mjSolverStat_ solver953;
-  public mjSolverStat_ solver954;
-  public mjSolverStat_ solver955;
-  public mjSolverStat_ solver956;
-  public mjSolverStat_ solver957;
-  public mjSolverStat_ solver958;
-  public mjSolverStat_ solver959;
-  public mjSolverStat_ solver960;
-  public mjSolverStat_ solver961;
-  public mjSolverStat_ solver962;
-  public mjSolverStat_ solver963;
-  public mjSolverStat_ solver964;
-  public mjSolverStat_ solver965;
-  public mjSolverStat_ solver966;
-  public mjSolverStat_ solver967;
-  public mjSolverStat_ solver968;
-  public mjSolverStat_ solver969;
-  public mjSolverStat_ solver970;
-  public mjSolverStat_ solver971;
-  public mjSolverStat_ solver972;
-  public mjSolverStat_ solver973;
-  public mjSolverStat_ solver974;
-  public mjSolverStat_ solver975;
-  public mjSolverStat_ solver976;
-  public mjSolverStat_ solver977;
-  public mjSolverStat_ solver978;
-  public mjSolverStat_ solver979;
-  public mjSolverStat_ solver980;
-  public mjSolverStat_ solver981;
-  public mjSolverStat_ solver982;
-  public mjSolverStat_ solver983;
-  public mjSolverStat_ solver984;
-  public mjSolverStat_ solver985;
-  public mjSolverStat_ solver986;
-  public mjSolverStat_ solver987;
-  public mjSolverStat_ solver988;
-  public mjSolverStat_ solver989;
-  public mjSolverStat_ solver990;
-  public mjSolverStat_ solver991;
-  public mjSolverStat_ solver992;
-  public mjSolverStat_ solver993;
-  public mjSolverStat_ solver994;
-  public mjSolverStat_ solver995;
-  public mjSolverStat_ solver996;
-  public mjSolverStat_ solver997;
-  public mjSolverStat_ solver998;
-  public mjSolverStat_ solver999;
-  public mjSolverStat_ solver1000;
-  public mjSolverStat_ solver1001;
-  public mjSolverStat_ solver1002;
-  public mjSolverStat_ solver1003;
-  public mjSolverStat_ solver1004;
-  public mjSolverStat_ solver1005;
-  public mjSolverStat_ solver1006;
-  public mjSolverStat_ solver1007;
-  public mjSolverStat_ solver1008;
-  public mjSolverStat_ solver1009;
-  public mjSolverStat_ solver1010;
-  public mjSolverStat_ solver1011;
-  public mjSolverStat_ solver1012;
-  public mjSolverStat_ solver1013;
-  public mjSolverStat_ solver1014;
-  public mjSolverStat_ solver1015;
-  public mjSolverStat_ solver1016;
-  public mjSolverStat_ solver1017;
-  public mjSolverStat_ solver1018;
-  public mjSolverStat_ solver1019;
-  public mjSolverStat_ solver1020;
-  public mjSolverStat_ solver1021;
-  public mjSolverStat_ solver1022;
-  public mjSolverStat_ solver1023;
-  public mjSolverStat_ solver1024;
-  public mjSolverStat_ solver1025;
-  public mjSolverStat_ solver1026;
-  public mjSolverStat_ solver1027;
-  public mjSolverStat_ solver1028;
-  public mjSolverStat_ solver1029;
-  public mjSolverStat_ solver1030;
-  public mjSolverStat_ solver1031;
-  public mjSolverStat_ solver1032;
-  public mjSolverStat_ solver1033;
-  public mjSolverStat_ solver1034;
-  public mjSolverStat_ solver1035;
-  public mjSolverStat_ solver1036;
-  public mjSolverStat_ solver1037;
-  public mjSolverStat_ solver1038;
-  public mjSolverStat_ solver1039;
-  public mjSolverStat_ solver1040;
-  public mjSolverStat_ solver1041;
-  public mjSolverStat_ solver1042;
-  public mjSolverStat_ solver1043;
-  public mjSolverStat_ solver1044;
-  public mjSolverStat_ solver1045;
-  public mjSolverStat_ solver1046;
-  public mjSolverStat_ solver1047;
-  public mjSolverStat_ solver1048;
-  public mjSolverStat_ solver1049;
-  public mjSolverStat_ solver1050;
-  public mjSolverStat_ solver1051;
-  public mjSolverStat_ solver1052;
-  public mjSolverStat_ solver1053;
-  public mjSolverStat_ solver1054;
-  public mjSolverStat_ solver1055;
-  public mjSolverStat_ solver1056;
-  public mjSolverStat_ solver1057;
-  public mjSolverStat_ solver1058;
-  public mjSolverStat_ solver1059;
-  public mjSolverStat_ solver1060;
-  public mjSolverStat_ solver1061;
-  public mjSolverStat_ solver1062;
-  public mjSolverStat_ solver1063;
-  public mjSolverStat_ solver1064;
-  public mjSolverStat_ solver1065;
-  public mjSolverStat_ solver1066;
-  public mjSolverStat_ solver1067;
-  public mjSolverStat_ solver1068;
-  public mjSolverStat_ solver1069;
-  public mjSolverStat_ solver1070;
-  public mjSolverStat_ solver1071;
-  public mjSolverStat_ solver1072;
-  public mjSolverStat_ solver1073;
-  public mjSolverStat_ solver1074;
-  public mjSolverStat_ solver1075;
-  public mjSolverStat_ solver1076;
-  public mjSolverStat_ solver1077;
-  public mjSolverStat_ solver1078;
-  public mjSolverStat_ solver1079;
-  public mjSolverStat_ solver1080;
-  public mjSolverStat_ solver1081;
-  public mjSolverStat_ solver1082;
-  public mjSolverStat_ solver1083;
-  public mjSolverStat_ solver1084;
-  public mjSolverStat_ solver1085;
-  public mjSolverStat_ solver1086;
-  public mjSolverStat_ solver1087;
-  public mjSolverStat_ solver1088;
-  public mjSolverStat_ solver1089;
-  public mjSolverStat_ solver1090;
-  public mjSolverStat_ solver1091;
-  public mjSolverStat_ solver1092;
-  public mjSolverStat_ solver1093;
-  public mjSolverStat_ solver1094;
-  public mjSolverStat_ solver1095;
-  public mjSolverStat_ solver1096;
-  public mjSolverStat_ solver1097;
-  public mjSolverStat_ solver1098;
-  public mjSolverStat_ solver1099;
-  public mjSolverStat_ solver1100;
-  public mjSolverStat_ solver1101;
-  public mjSolverStat_ solver1102;
-  public mjSolverStat_ solver1103;
-  public mjSolverStat_ solver1104;
-  public mjSolverStat_ solver1105;
-  public mjSolverStat_ solver1106;
-  public mjSolverStat_ solver1107;
-  public mjSolverStat_ solver1108;
-  public mjSolverStat_ solver1109;
-  public mjSolverStat_ solver1110;
-  public mjSolverStat_ solver1111;
-  public mjSolverStat_ solver1112;
-  public mjSolverStat_ solver1113;
-  public mjSolverStat_ solver1114;
-  public mjSolverStat_ solver1115;
-  public mjSolverStat_ solver1116;
-  public mjSolverStat_ solver1117;
-  public mjSolverStat_ solver1118;
-  public mjSolverStat_ solver1119;
-  public mjSolverStat_ solver1120;
-  public mjSolverStat_ solver1121;
-  public mjSolverStat_ solver1122;
-  public mjSolverStat_ solver1123;
-  public mjSolverStat_ solver1124;
-  public mjSolverStat_ solver1125;
-  public mjSolverStat_ solver1126;
-  public mjSolverStat_ solver1127;
-  public mjSolverStat_ solver1128;
-  public mjSolverStat_ solver1129;
-  public mjSolverStat_ solver1130;
-  public mjSolverStat_ solver1131;
-  public mjSolverStat_ solver1132;
-  public mjSolverStat_ solver1133;
-  public mjSolverStat_ solver1134;
-  public mjSolverStat_ solver1135;
-  public mjSolverStat_ solver1136;
-  public mjSolverStat_ solver1137;
-  public mjSolverStat_ solver1138;
-  public mjSolverStat_ solver1139;
-  public mjSolverStat_ solver1140;
-  public mjSolverStat_ solver1141;
-  public mjSolverStat_ solver1142;
-  public mjSolverStat_ solver1143;
-  public mjSolverStat_ solver1144;
-  public mjSolverStat_ solver1145;
-  public mjSolverStat_ solver1146;
-  public mjSolverStat_ solver1147;
-  public mjSolverStat_ solver1148;
-  public mjSolverStat_ solver1149;
-  public mjSolverStat_ solver1150;
-  public mjSolverStat_ solver1151;
-  public mjSolverStat_ solver1152;
-  public mjSolverStat_ solver1153;
-  public mjSolverStat_ solver1154;
-  public mjSolverStat_ solver1155;
-  public mjSolverStat_ solver1156;
-  public mjSolverStat_ solver1157;
-  public mjSolverStat_ solver1158;
-  public mjSolverStat_ solver1159;
-  public mjSolverStat_ solver1160;
-  public mjSolverStat_ solver1161;
-  public mjSolverStat_ solver1162;
-  public mjSolverStat_ solver1163;
-  public mjSolverStat_ solver1164;
-  public mjSolverStat_ solver1165;
-  public mjSolverStat_ solver1166;
-  public mjSolverStat_ solver1167;
-  public mjSolverStat_ solver1168;
-  public mjSolverStat_ solver1169;
-  public mjSolverStat_ solver1170;
-  public mjSolverStat_ solver1171;
-  public mjSolverStat_ solver1172;
-  public mjSolverStat_ solver1173;
-  public mjSolverStat_ solver1174;
-  public mjSolverStat_ solver1175;
-  public mjSolverStat_ solver1176;
-  public mjSolverStat_ solver1177;
-  public mjSolverStat_ solver1178;
-  public mjSolverStat_ solver1179;
-  public mjSolverStat_ solver1180;
-  public mjSolverStat_ solver1181;
-  public mjSolverStat_ solver1182;
-  public mjSolverStat_ solver1183;
-  public mjSolverStat_ solver1184;
-  public mjSolverStat_ solver1185;
-  public mjSolverStat_ solver1186;
-  public mjSolverStat_ solver1187;
-  public mjSolverStat_ solver1188;
-  public mjSolverStat_ solver1189;
-  public mjSolverStat_ solver1190;
-  public mjSolverStat_ solver1191;
-  public mjSolverStat_ solver1192;
-  public mjSolverStat_ solver1193;
-  public mjSolverStat_ solver1194;
-  public mjSolverStat_ solver1195;
-  public mjSolverStat_ solver1196;
-  public mjSolverStat_ solver1197;
-  public mjSolverStat_ solver1198;
-  public mjSolverStat_ solver1199;
-  public mjSolverStat_ solver1200;
-  public mjSolverStat_ solver1201;
-  public mjSolverStat_ solver1202;
-  public mjSolverStat_ solver1203;
-  public mjSolverStat_ solver1204;
-  public mjSolverStat_ solver1205;
-  public mjSolverStat_ solver1206;
-  public mjSolverStat_ solver1207;
-  public mjSolverStat_ solver1208;
-  public mjSolverStat_ solver1209;
-  public mjSolverStat_ solver1210;
-  public mjSolverStat_ solver1211;
-  public mjSolverStat_ solver1212;
-  public mjSolverStat_ solver1213;
-  public mjSolverStat_ solver1214;
-  public mjSolverStat_ solver1215;
-  public mjSolverStat_ solver1216;
-  public mjSolverStat_ solver1217;
-  public mjSolverStat_ solver1218;
-  public mjSolverStat_ solver1219;
-  public mjSolverStat_ solver1220;
-  public mjSolverStat_ solver1221;
-  public mjSolverStat_ solver1222;
-  public mjSolverStat_ solver1223;
-  public mjSolverStat_ solver1224;
-  public mjSolverStat_ solver1225;
-  public mjSolverStat_ solver1226;
-  public mjSolverStat_ solver1227;
-  public mjSolverStat_ solver1228;
-  public mjSolverStat_ solver1229;
-  public mjSolverStat_ solver1230;
-  public mjSolverStat_ solver1231;
-  public mjSolverStat_ solver1232;
-  public mjSolverStat_ solver1233;
-  public mjSolverStat_ solver1234;
-  public mjSolverStat_ solver1235;
-  public mjSolverStat_ solver1236;
-  public mjSolverStat_ solver1237;
-  public mjSolverStat_ solver1238;
-  public mjSolverStat_ solver1239;
-  public mjSolverStat_ solver1240;
-  public mjSolverStat_ solver1241;
-  public mjSolverStat_ solver1242;
-  public mjSolverStat_ solver1243;
-  public mjSolverStat_ solver1244;
-  public mjSolverStat_ solver1245;
-  public mjSolverStat_ solver1246;
-  public mjSolverStat_ solver1247;
-  public mjSolverStat_ solver1248;
-  public mjSolverStat_ solver1249;
-  public mjSolverStat_ solver1250;
-  public mjSolverStat_ solver1251;
-  public mjSolverStat_ solver1252;
-  public mjSolverStat_ solver1253;
-  public mjSolverStat_ solver1254;
-  public mjSolverStat_ solver1255;
-  public mjSolverStat_ solver1256;
-  public mjSolverStat_ solver1257;
-  public mjSolverStat_ solver1258;
-  public mjSolverStat_ solver1259;
-  public mjSolverStat_ solver1260;
-  public mjSolverStat_ solver1261;
-  public mjSolverStat_ solver1262;
-  public mjSolverStat_ solver1263;
-  public mjSolverStat_ solver1264;
-  public mjSolverStat_ solver1265;
-  public mjSolverStat_ solver1266;
-  public mjSolverStat_ solver1267;
-  public mjSolverStat_ solver1268;
-  public mjSolverStat_ solver1269;
-  public mjSolverStat_ solver1270;
-  public mjSolverStat_ solver1271;
-  public mjSolverStat_ solver1272;
-  public mjSolverStat_ solver1273;
-  public mjSolverStat_ solver1274;
-  public mjSolverStat_ solver1275;
-  public mjSolverStat_ solver1276;
-  public mjSolverStat_ solver1277;
-  public mjSolverStat_ solver1278;
-  public mjSolverStat_ solver1279;
-  public mjSolverStat_ solver1280;
-  public mjSolverStat_ solver1281;
-  public mjSolverStat_ solver1282;
-  public mjSolverStat_ solver1283;
-  public mjSolverStat_ solver1284;
-  public mjSolverStat_ solver1285;
-  public mjSolverStat_ solver1286;
-  public mjSolverStat_ solver1287;
-  public mjSolverStat_ solver1288;
-  public mjSolverStat_ solver1289;
-  public mjSolverStat_ solver1290;
-  public mjSolverStat_ solver1291;
-  public mjSolverStat_ solver1292;
-  public mjSolverStat_ solver1293;
-  public mjSolverStat_ solver1294;
-  public mjSolverStat_ solver1295;
-  public mjSolverStat_ solver1296;
-  public mjSolverStat_ solver1297;
-  public mjSolverStat_ solver1298;
-  public mjSolverStat_ solver1299;
-  public mjSolverStat_ solver1300;
-  public mjSolverStat_ solver1301;
-  public mjSolverStat_ solver1302;
-  public mjSolverStat_ solver1303;
-  public mjSolverStat_ solver1304;
-  public mjSolverStat_ solver1305;
-  public mjSolverStat_ solver1306;
-  public mjSolverStat_ solver1307;
-  public mjSolverStat_ solver1308;
-  public mjSolverStat_ solver1309;
-  public mjSolverStat_ solver1310;
-  public mjSolverStat_ solver1311;
-  public mjSolverStat_ solver1312;
-  public mjSolverStat_ solver1313;
-  public mjSolverStat_ solver1314;
-  public mjSolverStat_ solver1315;
-  public mjSolverStat_ solver1316;
-  public mjSolverStat_ solver1317;
-  public mjSolverStat_ solver1318;
-  public mjSolverStat_ solver1319;
-  public mjSolverStat_ solver1320;
-  public mjSolverStat_ solver1321;
-  public mjSolverStat_ solver1322;
-  public mjSolverStat_ solver1323;
-  public mjSolverStat_ solver1324;
-  public mjSolverStat_ solver1325;
-  public mjSolverStat_ solver1326;
-  public mjSolverStat_ solver1327;
-  public mjSolverStat_ solver1328;
-  public mjSolverStat_ solver1329;
-  public mjSolverStat_ solver1330;
-  public mjSolverStat_ solver1331;
-  public mjSolverStat_ solver1332;
-  public mjSolverStat_ solver1333;
-  public mjSolverStat_ solver1334;
-  public mjSolverStat_ solver1335;
-  public mjSolverStat_ solver1336;
-  public mjSolverStat_ solver1337;
-  public mjSolverStat_ solver1338;
-  public mjSolverStat_ solver1339;
-  public mjSolverStat_ solver1340;
-  public mjSolverStat_ solver1341;
-  public mjSolverStat_ solver1342;
-  public mjSolverStat_ solver1343;
-  public mjSolverStat_ solver1344;
-  public mjSolverStat_ solver1345;
-  public mjSolverStat_ solver1346;
-  public mjSolverStat_ solver1347;
-  public mjSolverStat_ solver1348;
-  public mjSolverStat_ solver1349;
-  public mjSolverStat_ solver1350;
-  public mjSolverStat_ solver1351;
-  public mjSolverStat_ solver1352;
-  public mjSolverStat_ solver1353;
-  public mjSolverStat_ solver1354;
-  public mjSolverStat_ solver1355;
-  public mjSolverStat_ solver1356;
-  public mjSolverStat_ solver1357;
-  public mjSolverStat_ solver1358;
-  public mjSolverStat_ solver1359;
-  public mjSolverStat_ solver1360;
-  public mjSolverStat_ solver1361;
-  public mjSolverStat_ solver1362;
-  public mjSolverStat_ solver1363;
-  public mjSolverStat_ solver1364;
-  public mjSolverStat_ solver1365;
-  public mjSolverStat_ solver1366;
-  public mjSolverStat_ solver1367;
-  public mjSolverStat_ solver1368;
-  public mjSolverStat_ solver1369;
-  public mjSolverStat_ solver1370;
-  public mjSolverStat_ solver1371;
-  public mjSolverStat_ solver1372;
-  public mjSolverStat_ solver1373;
-  public mjSolverStat_ solver1374;
-  public mjSolverStat_ solver1375;
-  public mjSolverStat_ solver1376;
-  public mjSolverStat_ solver1377;
-  public mjSolverStat_ solver1378;
-  public mjSolverStat_ solver1379;
-  public mjSolverStat_ solver1380;
-  public mjSolverStat_ solver1381;
-  public mjSolverStat_ solver1382;
-  public mjSolverStat_ solver1383;
-  public mjSolverStat_ solver1384;
-  public mjSolverStat_ solver1385;
-  public mjSolverStat_ solver1386;
-  public mjSolverStat_ solver1387;
-  public mjSolverStat_ solver1388;
-  public mjSolverStat_ solver1389;
-  public mjSolverStat_ solver1390;
-  public mjSolverStat_ solver1391;
-  public mjSolverStat_ solver1392;
-  public mjSolverStat_ solver1393;
-  public mjSolverStat_ solver1394;
-  public mjSolverStat_ solver1395;
-  public mjSolverStat_ solver1396;
-  public mjSolverStat_ solver1397;
-  public mjSolverStat_ solver1398;
-  public mjSolverStat_ solver1399;
-  public mjSolverStat_ solver1400;
-  public mjSolverStat_ solver1401;
-  public mjSolverStat_ solver1402;
-  public mjSolverStat_ solver1403;
-  public mjSolverStat_ solver1404;
-  public mjSolverStat_ solver1405;
-  public mjSolverStat_ solver1406;
-  public mjSolverStat_ solver1407;
-  public mjSolverStat_ solver1408;
-  public mjSolverStat_ solver1409;
-  public mjSolverStat_ solver1410;
-  public mjSolverStat_ solver1411;
-  public mjSolverStat_ solver1412;
-  public mjSolverStat_ solver1413;
-  public mjSolverStat_ solver1414;
-  public mjSolverStat_ solver1415;
-  public mjSolverStat_ solver1416;
-  public mjSolverStat_ solver1417;
-  public mjSolverStat_ solver1418;
-  public mjSolverStat_ solver1419;
-  public mjSolverStat_ solver1420;
-  public mjSolverStat_ solver1421;
-  public mjSolverStat_ solver1422;
-  public mjSolverStat_ solver1423;
-  public mjSolverStat_ solver1424;
-  public mjSolverStat_ solver1425;
-  public mjSolverStat_ solver1426;
-  public mjSolverStat_ solver1427;
-  public mjSolverStat_ solver1428;
-  public mjSolverStat_ solver1429;
-  public mjSolverStat_ solver1430;
-  public mjSolverStat_ solver1431;
-  public mjSolverStat_ solver1432;
-  public mjSolverStat_ solver1433;
-  public mjSolverStat_ solver1434;
-  public mjSolverStat_ solver1435;
-  public mjSolverStat_ solver1436;
-  public mjSolverStat_ solver1437;
-  public mjSolverStat_ solver1438;
-  public mjSolverStat_ solver1439;
-  public mjSolverStat_ solver1440;
-  public mjSolverStat_ solver1441;
-  public mjSolverStat_ solver1442;
-  public mjSolverStat_ solver1443;
-  public mjSolverStat_ solver1444;
-  public mjSolverStat_ solver1445;
-  public mjSolverStat_ solver1446;
-  public mjSolverStat_ solver1447;
-  public mjSolverStat_ solver1448;
-  public mjSolverStat_ solver1449;
-  public mjSolverStat_ solver1450;
-  public mjSolverStat_ solver1451;
-  public mjSolverStat_ solver1452;
-  public mjSolverStat_ solver1453;
-  public mjSolverStat_ solver1454;
-  public mjSolverStat_ solver1455;
-  public mjSolverStat_ solver1456;
-  public mjSolverStat_ solver1457;
-  public mjSolverStat_ solver1458;
-  public mjSolverStat_ solver1459;
-  public mjSolverStat_ solver1460;
-  public mjSolverStat_ solver1461;
-  public mjSolverStat_ solver1462;
-  public mjSolverStat_ solver1463;
-  public mjSolverStat_ solver1464;
-  public mjSolverStat_ solver1465;
-  public mjSolverStat_ solver1466;
-  public mjSolverStat_ solver1467;
-  public mjSolverStat_ solver1468;
-  public mjSolverStat_ solver1469;
-  public mjSolverStat_ solver1470;
-  public mjSolverStat_ solver1471;
-  public mjSolverStat_ solver1472;
-  public mjSolverStat_ solver1473;
-  public mjSolverStat_ solver1474;
-  public mjSolverStat_ solver1475;
-  public mjSolverStat_ solver1476;
-  public mjSolverStat_ solver1477;
-  public mjSolverStat_ solver1478;
-  public mjSolverStat_ solver1479;
-  public mjSolverStat_ solver1480;
-  public mjSolverStat_ solver1481;
-  public mjSolverStat_ solver1482;
-  public mjSolverStat_ solver1483;
-  public mjSolverStat_ solver1484;
-  public mjSolverStat_ solver1485;
-  public mjSolverStat_ solver1486;
-  public mjSolverStat_ solver1487;
-  public mjSolverStat_ solver1488;
-  public mjSolverStat_ solver1489;
-  public mjSolverStat_ solver1490;
-  public mjSolverStat_ solver1491;
-  public mjSolverStat_ solver1492;
-  public mjSolverStat_ solver1493;
-  public mjSolverStat_ solver1494;
-  public mjSolverStat_ solver1495;
-  public mjSolverStat_ solver1496;
-  public mjSolverStat_ solver1497;
-  public mjSolverStat_ solver1498;
-  public mjSolverStat_ solver1499;
-  public mjSolverStat_ solver1500;
-  public mjSolverStat_ solver1501;
-  public mjSolverStat_ solver1502;
-  public mjSolverStat_ solver1503;
-  public mjSolverStat_ solver1504;
-  public mjSolverStat_ solver1505;
-  public mjSolverStat_ solver1506;
-  public mjSolverStat_ solver1507;
-  public mjSolverStat_ solver1508;
-  public mjSolverStat_ solver1509;
-  public mjSolverStat_ solver1510;
-  public mjSolverStat_ solver1511;
-  public mjSolverStat_ solver1512;
-  public mjSolverStat_ solver1513;
-  public mjSolverStat_ solver1514;
-  public mjSolverStat_ solver1515;
-  public mjSolverStat_ solver1516;
-  public mjSolverStat_ solver1517;
-  public mjSolverStat_ solver1518;
-  public mjSolverStat_ solver1519;
-  public mjSolverStat_ solver1520;
-  public mjSolverStat_ solver1521;
-  public mjSolverStat_ solver1522;
-  public mjSolverStat_ solver1523;
-  public mjSolverStat_ solver1524;
-  public mjSolverStat_ solver1525;
-  public mjSolverStat_ solver1526;
-  public mjSolverStat_ solver1527;
-  public mjSolverStat_ solver1528;
-  public mjSolverStat_ solver1529;
-  public mjSolverStat_ solver1530;
-  public mjSolverStat_ solver1531;
-  public mjSolverStat_ solver1532;
-  public mjSolverStat_ solver1533;
-  public mjSolverStat_ solver1534;
-  public mjSolverStat_ solver1535;
-  public mjSolverStat_ solver1536;
-  public mjSolverStat_ solver1537;
-  public mjSolverStat_ solver1538;
-  public mjSolverStat_ solver1539;
-  public mjSolverStat_ solver1540;
-  public mjSolverStat_ solver1541;
-  public mjSolverStat_ solver1542;
-  public mjSolverStat_ solver1543;
-  public mjSolverStat_ solver1544;
-  public mjSolverStat_ solver1545;
-  public mjSolverStat_ solver1546;
-  public mjSolverStat_ solver1547;
-  public mjSolverStat_ solver1548;
-  public mjSolverStat_ solver1549;
-  public mjSolverStat_ solver1550;
-  public mjSolverStat_ solver1551;
-  public mjSolverStat_ solver1552;
-  public mjSolverStat_ solver1553;
-  public mjSolverStat_ solver1554;
-  public mjSolverStat_ solver1555;
-  public mjSolverStat_ solver1556;
-  public mjSolverStat_ solver1557;
-  public mjSolverStat_ solver1558;
-  public mjSolverStat_ solver1559;
-  public mjSolverStat_ solver1560;
-  public mjSolverStat_ solver1561;
-  public mjSolverStat_ solver1562;
-  public mjSolverStat_ solver1563;
-  public mjSolverStat_ solver1564;
-  public mjSolverStat_ solver1565;
-  public mjSolverStat_ solver1566;
-  public mjSolverStat_ solver1567;
-  public mjSolverStat_ solver1568;
-  public mjSolverStat_ solver1569;
-  public mjSolverStat_ solver1570;
-  public mjSolverStat_ solver1571;
-  public mjSolverStat_ solver1572;
-  public mjSolverStat_ solver1573;
-  public mjSolverStat_ solver1574;
-  public mjSolverStat_ solver1575;
-  public mjSolverStat_ solver1576;
-  public mjSolverStat_ solver1577;
-  public mjSolverStat_ solver1578;
-  public mjSolverStat_ solver1579;
-  public mjSolverStat_ solver1580;
-  public mjSolverStat_ solver1581;
-  public mjSolverStat_ solver1582;
-  public mjSolverStat_ solver1583;
-  public mjSolverStat_ solver1584;
-  public mjSolverStat_ solver1585;
-  public mjSolverStat_ solver1586;
-  public mjSolverStat_ solver1587;
-  public mjSolverStat_ solver1588;
-  public mjSolverStat_ solver1589;
-  public mjSolverStat_ solver1590;
-  public mjSolverStat_ solver1591;
-  public mjSolverStat_ solver1592;
-  public mjSolverStat_ solver1593;
-  public mjSolverStat_ solver1594;
-  public mjSolverStat_ solver1595;
-  public mjSolverStat_ solver1596;
-  public mjSolverStat_ solver1597;
-  public mjSolverStat_ solver1598;
-  public mjSolverStat_ solver1599;
-  public mjSolverStat_ solver1600;
-  public mjSolverStat_ solver1601;
-  public mjSolverStat_ solver1602;
-  public mjSolverStat_ solver1603;
-  public mjSolverStat_ solver1604;
-  public mjSolverStat_ solver1605;
-  public mjSolverStat_ solver1606;
-  public mjSolverStat_ solver1607;
-  public mjSolverStat_ solver1608;
-  public mjSolverStat_ solver1609;
-  public mjSolverStat_ solver1610;
-  public mjSolverStat_ solver1611;
-  public mjSolverStat_ solver1612;
-  public mjSolverStat_ solver1613;
-  public mjSolverStat_ solver1614;
-  public mjSolverStat_ solver1615;
-  public mjSolverStat_ solver1616;
-  public mjSolverStat_ solver1617;
-  public mjSolverStat_ solver1618;
-  public mjSolverStat_ solver1619;
-  public mjSolverStat_ solver1620;
-  public mjSolverStat_ solver1621;
-  public mjSolverStat_ solver1622;
-  public mjSolverStat_ solver1623;
-  public mjSolverStat_ solver1624;
-  public mjSolverStat_ solver1625;
-  public mjSolverStat_ solver1626;
-  public mjSolverStat_ solver1627;
-  public mjSolverStat_ solver1628;
-  public mjSolverStat_ solver1629;
-  public mjSolverStat_ solver1630;
-  public mjSolverStat_ solver1631;
-  public mjSolverStat_ solver1632;
-  public mjSolverStat_ solver1633;
-  public mjSolverStat_ solver1634;
-  public mjSolverStat_ solver1635;
-  public mjSolverStat_ solver1636;
-  public mjSolverStat_ solver1637;
-  public mjSolverStat_ solver1638;
-  public mjSolverStat_ solver1639;
-  public mjSolverStat_ solver1640;
-  public mjSolverStat_ solver1641;
-  public mjSolverStat_ solver1642;
-  public mjSolverStat_ solver1643;
-  public mjSolverStat_ solver1644;
-  public mjSolverStat_ solver1645;
-  public mjSolverStat_ solver1646;
-  public mjSolverStat_ solver1647;
-  public mjSolverStat_ solver1648;
-  public mjSolverStat_ solver1649;
-  public mjSolverStat_ solver1650;
-  public mjSolverStat_ solver1651;
-  public mjSolverStat_ solver1652;
-  public mjSolverStat_ solver1653;
-  public mjSolverStat_ solver1654;
-  public mjSolverStat_ solver1655;
-  public mjSolverStat_ solver1656;
-  public mjSolverStat_ solver1657;
-  public mjSolverStat_ solver1658;
-  public mjSolverStat_ solver1659;
-  public mjSolverStat_ solver1660;
-  public mjSolverStat_ solver1661;
-  public mjSolverStat_ solver1662;
-  public mjSolverStat_ solver1663;
-  public mjSolverStat_ solver1664;
-  public mjSolverStat_ solver1665;
-  public mjSolverStat_ solver1666;
-  public mjSolverStat_ solver1667;
-  public mjSolverStat_ solver1668;
-  public mjSolverStat_ solver1669;
-  public mjSolverStat_ solver1670;
-  public mjSolverStat_ solver1671;
-  public mjSolverStat_ solver1672;
-  public mjSolverStat_ solver1673;
-  public mjSolverStat_ solver1674;
-  public mjSolverStat_ solver1675;
-  public mjSolverStat_ solver1676;
-  public mjSolverStat_ solver1677;
-  public mjSolverStat_ solver1678;
-  public mjSolverStat_ solver1679;
-  public mjSolverStat_ solver1680;
-  public mjSolverStat_ solver1681;
-  public mjSolverStat_ solver1682;
-  public mjSolverStat_ solver1683;
-  public mjSolverStat_ solver1684;
-  public mjSolverStat_ solver1685;
-  public mjSolverStat_ solver1686;
-  public mjSolverStat_ solver1687;
-  public mjSolverStat_ solver1688;
-  public mjSolverStat_ solver1689;
-  public mjSolverStat_ solver1690;
-  public mjSolverStat_ solver1691;
-  public mjSolverStat_ solver1692;
-  public mjSolverStat_ solver1693;
-  public mjSolverStat_ solver1694;
-  public mjSolverStat_ solver1695;
-  public mjSolverStat_ solver1696;
-  public mjSolverStat_ solver1697;
-  public mjSolverStat_ solver1698;
-  public mjSolverStat_ solver1699;
-  public mjSolverStat_ solver1700;
-  public mjSolverStat_ solver1701;
-  public mjSolverStat_ solver1702;
-  public mjSolverStat_ solver1703;
-  public mjSolverStat_ solver1704;
-  public mjSolverStat_ solver1705;
-  public mjSolverStat_ solver1706;
-  public mjSolverStat_ solver1707;
-  public mjSolverStat_ solver1708;
-  public mjSolverStat_ solver1709;
-  public mjSolverStat_ solver1710;
-  public mjSolverStat_ solver1711;
-  public mjSolverStat_ solver1712;
-  public mjSolverStat_ solver1713;
-  public mjSolverStat_ solver1714;
-  public mjSolverStat_ solver1715;
-  public mjSolverStat_ solver1716;
-  public mjSolverStat_ solver1717;
-  public mjSolverStat_ solver1718;
-  public mjSolverStat_ solver1719;
-  public mjSolverStat_ solver1720;
-  public mjSolverStat_ solver1721;
-  public mjSolverStat_ solver1722;
-  public mjSolverStat_ solver1723;
-  public mjSolverStat_ solver1724;
-  public mjSolverStat_ solver1725;
-  public mjSolverStat_ solver1726;
-  public mjSolverStat_ solver1727;
-  public mjSolverStat_ solver1728;
-  public mjSolverStat_ solver1729;
-  public mjSolverStat_ solver1730;
-  public mjSolverStat_ solver1731;
-  public mjSolverStat_ solver1732;
-  public mjSolverStat_ solver1733;
-  public mjSolverStat_ solver1734;
-  public mjSolverStat_ solver1735;
-  public mjSolverStat_ solver1736;
-  public mjSolverStat_ solver1737;
-  public mjSolverStat_ solver1738;
-  public mjSolverStat_ solver1739;
-  public mjSolverStat_ solver1740;
-  public mjSolverStat_ solver1741;
-  public mjSolverStat_ solver1742;
-  public mjSolverStat_ solver1743;
-  public mjSolverStat_ solver1744;
-  public mjSolverStat_ solver1745;
-  public mjSolverStat_ solver1746;
-  public mjSolverStat_ solver1747;
-  public mjSolverStat_ solver1748;
-  public mjSolverStat_ solver1749;
-  public mjSolverStat_ solver1750;
-  public mjSolverStat_ solver1751;
-  public mjSolverStat_ solver1752;
-  public mjSolverStat_ solver1753;
-  public mjSolverStat_ solver1754;
-  public mjSolverStat_ solver1755;
-  public mjSolverStat_ solver1756;
-  public mjSolverStat_ solver1757;
-  public mjSolverStat_ solver1758;
-  public mjSolverStat_ solver1759;
-  public mjSolverStat_ solver1760;
-  public mjSolverStat_ solver1761;
-  public mjSolverStat_ solver1762;
-  public mjSolverStat_ solver1763;
-  public mjSolverStat_ solver1764;
-  public mjSolverStat_ solver1765;
-  public mjSolverStat_ solver1766;
-  public mjSolverStat_ solver1767;
-  public mjSolverStat_ solver1768;
-  public mjSolverStat_ solver1769;
-  public mjSolverStat_ solver1770;
-  public mjSolverStat_ solver1771;
-  public mjSolverStat_ solver1772;
-  public mjSolverStat_ solver1773;
-  public mjSolverStat_ solver1774;
-  public mjSolverStat_ solver1775;
-  public mjSolverStat_ solver1776;
-  public mjSolverStat_ solver1777;
-  public mjSolverStat_ solver1778;
-  public mjSolverStat_ solver1779;
-  public mjSolverStat_ solver1780;
-  public mjSolverStat_ solver1781;
-  public mjSolverStat_ solver1782;
-  public mjSolverStat_ solver1783;
-  public mjSolverStat_ solver1784;
-  public mjSolverStat_ solver1785;
-  public mjSolverStat_ solver1786;
-  public mjSolverStat_ solver1787;
-  public mjSolverStat_ solver1788;
-  public mjSolverStat_ solver1789;
-  public mjSolverStat_ solver1790;
-  public mjSolverStat_ solver1791;
-  public mjSolverStat_ solver1792;
-  public mjSolverStat_ solver1793;
-  public mjSolverStat_ solver1794;
-  public mjSolverStat_ solver1795;
-  public mjSolverStat_ solver1796;
-  public mjSolverStat_ solver1797;
-  public mjSolverStat_ solver1798;
-  public mjSolverStat_ solver1799;
-  public mjSolverStat_ solver1800;
-  public mjSolverStat_ solver1801;
-  public mjSolverStat_ solver1802;
-  public mjSolverStat_ solver1803;
-  public mjSolverStat_ solver1804;
-  public mjSolverStat_ solver1805;
-  public mjSolverStat_ solver1806;
-  public mjSolverStat_ solver1807;
-  public mjSolverStat_ solver1808;
-  public mjSolverStat_ solver1809;
-  public mjSolverStat_ solver1810;
-  public mjSolverStat_ solver1811;
-  public mjSolverStat_ solver1812;
-  public mjSolverStat_ solver1813;
-  public mjSolverStat_ solver1814;
-  public mjSolverStat_ solver1815;
-  public mjSolverStat_ solver1816;
-  public mjSolverStat_ solver1817;
-  public mjSolverStat_ solver1818;
-  public mjSolverStat_ solver1819;
-  public mjSolverStat_ solver1820;
-  public mjSolverStat_ solver1821;
-  public mjSolverStat_ solver1822;
-  public mjSolverStat_ solver1823;
-  public mjSolverStat_ solver1824;
-  public mjSolverStat_ solver1825;
-  public mjSolverStat_ solver1826;
-  public mjSolverStat_ solver1827;
-  public mjSolverStat_ solver1828;
-  public mjSolverStat_ solver1829;
-  public mjSolverStat_ solver1830;
-  public mjSolverStat_ solver1831;
-  public mjSolverStat_ solver1832;
-  public mjSolverStat_ solver1833;
-  public mjSolverStat_ solver1834;
-  public mjSolverStat_ solver1835;
-  public mjSolverStat_ solver1836;
-  public mjSolverStat_ solver1837;
-  public mjSolverStat_ solver1838;
-  public mjSolverStat_ solver1839;
-  public mjSolverStat_ solver1840;
-  public mjSolverStat_ solver1841;
-  public mjSolverStat_ solver1842;
-  public mjSolverStat_ solver1843;
-  public mjSolverStat_ solver1844;
-  public mjSolverStat_ solver1845;
-  public mjSolverStat_ solver1846;
-  public mjSolverStat_ solver1847;
-  public mjSolverStat_ solver1848;
-  public mjSolverStat_ solver1849;
-  public mjSolverStat_ solver1850;
-  public mjSolverStat_ solver1851;
-  public mjSolverStat_ solver1852;
-  public mjSolverStat_ solver1853;
-  public mjSolverStat_ solver1854;
-  public mjSolverStat_ solver1855;
-  public mjSolverStat_ solver1856;
-  public mjSolverStat_ solver1857;
-  public mjSolverStat_ solver1858;
-  public mjSolverStat_ solver1859;
-  public mjSolverStat_ solver1860;
-  public mjSolverStat_ solver1861;
-  public mjSolverStat_ solver1862;
-  public mjSolverStat_ solver1863;
-  public mjSolverStat_ solver1864;
-  public mjSolverStat_ solver1865;
-  public mjSolverStat_ solver1866;
-  public mjSolverStat_ solver1867;
-  public mjSolverStat_ solver1868;
-  public mjSolverStat_ solver1869;
-  public mjSolverStat_ solver1870;
-  public mjSolverStat_ solver1871;
-  public mjSolverStat_ solver1872;
-  public mjSolverStat_ solver1873;
-  public mjSolverStat_ solver1874;
-  public mjSolverStat_ solver1875;
-  public mjSolverStat_ solver1876;
-  public mjSolverStat_ solver1877;
-  public mjSolverStat_ solver1878;
-  public mjSolverStat_ solver1879;
-  public mjSolverStat_ solver1880;
-  public mjSolverStat_ solver1881;
-  public mjSolverStat_ solver1882;
-  public mjSolverStat_ solver1883;
-  public mjSolverStat_ solver1884;
-  public mjSolverStat_ solver1885;
-  public mjSolverStat_ solver1886;
-  public mjSolverStat_ solver1887;
-  public mjSolverStat_ solver1888;
-  public mjSolverStat_ solver1889;
-  public mjSolverStat_ solver1890;
-  public mjSolverStat_ solver1891;
-  public mjSolverStat_ solver1892;
-  public mjSolverStat_ solver1893;
-  public mjSolverStat_ solver1894;
-  public mjSolverStat_ solver1895;
-  public mjSolverStat_ solver1896;
-  public mjSolverStat_ solver1897;
-  public mjSolverStat_ solver1898;
-  public mjSolverStat_ solver1899;
-  public mjSolverStat_ solver1900;
-  public mjSolverStat_ solver1901;
-  public mjSolverStat_ solver1902;
-  public mjSolverStat_ solver1903;
-  public mjSolverStat_ solver1904;
-  public mjSolverStat_ solver1905;
-  public mjSolverStat_ solver1906;
-  public mjSolverStat_ solver1907;
-  public mjSolverStat_ solver1908;
-  public mjSolverStat_ solver1909;
-  public mjSolverStat_ solver1910;
-  public mjSolverStat_ solver1911;
-  public mjSolverStat_ solver1912;
-  public mjSolverStat_ solver1913;
-  public mjSolverStat_ solver1914;
-  public mjSolverStat_ solver1915;
-  public mjSolverStat_ solver1916;
-  public mjSolverStat_ solver1917;
-  public mjSolverStat_ solver1918;
-  public mjSolverStat_ solver1919;
-  public mjSolverStat_ solver1920;
-  public mjSolverStat_ solver1921;
-  public mjSolverStat_ solver1922;
-  public mjSolverStat_ solver1923;
-  public mjSolverStat_ solver1924;
-  public mjSolverStat_ solver1925;
-  public mjSolverStat_ solver1926;
-  public mjSolverStat_ solver1927;
-  public mjSolverStat_ solver1928;
-  public mjSolverStat_ solver1929;
-  public mjSolverStat_ solver1930;
-  public mjSolverStat_ solver1931;
-  public mjSolverStat_ solver1932;
-  public mjSolverStat_ solver1933;
-  public mjSolverStat_ solver1934;
-  public mjSolverStat_ solver1935;
-  public mjSolverStat_ solver1936;
-  public mjSolverStat_ solver1937;
-  public mjSolverStat_ solver1938;
-  public mjSolverStat_ solver1939;
-  public mjSolverStat_ solver1940;
-  public mjSolverStat_ solver1941;
-  public mjSolverStat_ solver1942;
-  public mjSolverStat_ solver1943;
-  public mjSolverStat_ solver1944;
-  public mjSolverStat_ solver1945;
-  public mjSolverStat_ solver1946;
-  public mjSolverStat_ solver1947;
-  public mjSolverStat_ solver1948;
-  public mjSolverStat_ solver1949;
-  public mjSolverStat_ solver1950;
-  public mjSolverStat_ solver1951;
-  public mjSolverStat_ solver1952;
-  public mjSolverStat_ solver1953;
-  public mjSolverStat_ solver1954;
-  public mjSolverStat_ solver1955;
-  public mjSolverStat_ solver1956;
-  public mjSolverStat_ solver1957;
-  public mjSolverStat_ solver1958;
-  public mjSolverStat_ solver1959;
-  public mjSolverStat_ solver1960;
-  public mjSolverStat_ solver1961;
-  public mjSolverStat_ solver1962;
-  public mjSolverStat_ solver1963;
-  public mjSolverStat_ solver1964;
-  public mjSolverStat_ solver1965;
-  public mjSolverStat_ solver1966;
-  public mjSolverStat_ solver1967;
-  public mjSolverStat_ solver1968;
-  public mjSolverStat_ solver1969;
-  public mjSolverStat_ solver1970;
-  public mjSolverStat_ solver1971;
-  public mjSolverStat_ solver1972;
-  public mjSolverStat_ solver1973;
-  public mjSolverStat_ solver1974;
-  public mjSolverStat_ solver1975;
-  public mjSolverStat_ solver1976;
-  public mjSolverStat_ solver1977;
-  public mjSolverStat_ solver1978;
-  public mjSolverStat_ solver1979;
-  public mjSolverStat_ solver1980;
-  public mjSolverStat_ solver1981;
-  public mjSolverStat_ solver1982;
-  public mjSolverStat_ solver1983;
-  public mjSolverStat_ solver1984;
-  public mjSolverStat_ solver1985;
-  public mjSolverStat_ solver1986;
-  public mjSolverStat_ solver1987;
-  public mjSolverStat_ solver1988;
-  public mjSolverStat_ solver1989;
-  public mjSolverStat_ solver1990;
-  public mjSolverStat_ solver1991;
-  public mjSolverStat_ solver1992;
-  public mjSolverStat_ solver1993;
-  public mjSolverStat_ solver1994;
-  public mjSolverStat_ solver1995;
-  public mjSolverStat_ solver1996;
-  public mjSolverStat_ solver1997;
-  public mjSolverStat_ solver1998;
-  public mjSolverStat_ solver1999;
-  public mjSolverStat_ solver2000;
-  public mjSolverStat_ solver2001;
-  public mjSolverStat_ solver2002;
-  public mjSolverStat_ solver2003;
-  public mjSolverStat_ solver2004;
-  public mjSolverStat_ solver2005;
-  public mjSolverStat_ solver2006;
-  public mjSolverStat_ solver2007;
-  public mjSolverStat_ solver2008;
-  public mjSolverStat_ solver2009;
-  public mjSolverStat_ solver2010;
-  public mjSolverStat_ solver2011;
-  public mjSolverStat_ solver2012;
-  public mjSolverStat_ solver2013;
-  public mjSolverStat_ solver2014;
-  public mjSolverStat_ solver2015;
-  public mjSolverStat_ solver2016;
-  public mjSolverStat_ solver2017;
-  public mjSolverStat_ solver2018;
-  public mjSolverStat_ solver2019;
-  public mjSolverStat_ solver2020;
-  public mjSolverStat_ solver2021;
-  public mjSolverStat_ solver2022;
-  public mjSolverStat_ solver2023;
-  public mjSolverStat_ solver2024;
-  public mjSolverStat_ solver2025;
-  public mjSolverStat_ solver2026;
-  public mjSolverStat_ solver2027;
-  public mjSolverStat_ solver2028;
-  public mjSolverStat_ solver2029;
-  public mjSolverStat_ solver2030;
-  public mjSolverStat_ solver2031;
-  public mjSolverStat_ solver2032;
-  public mjSolverStat_ solver2033;
-  public mjSolverStat_ solver2034;
-  public mjSolverStat_ solver2035;
-  public mjSolverStat_ solver2036;
-  public mjSolverStat_ solver2037;
-  public mjSolverStat_ solver2038;
-  public mjSolverStat_ solver2039;
-  public mjSolverStat_ solver2040;
-  public mjSolverStat_ solver2041;
-  public mjSolverStat_ solver2042;
-  public mjSolverStat_ solver2043;
-  public mjSolverStat_ solver2044;
-  public mjSolverStat_ solver2045;
-  public mjSolverStat_ solver2046;
-  public mjSolverStat_ solver2047;
-  public mjSolverStat_ solver2048;
-  public mjSolverStat_ solver2049;
-  public mjSolverStat_ solver2050;
-  public mjSolverStat_ solver2051;
-  public mjSolverStat_ solver2052;
-  public mjSolverStat_ solver2053;
-  public mjSolverStat_ solver2054;
-  public mjSolverStat_ solver2055;
-  public mjSolverStat_ solver2056;
-  public mjSolverStat_ solver2057;
-  public mjSolverStat_ solver2058;
-  public mjSolverStat_ solver2059;
-  public mjSolverStat_ solver2060;
-  public mjSolverStat_ solver2061;
-  public mjSolverStat_ solver2062;
-  public mjSolverStat_ solver2063;
-  public mjSolverStat_ solver2064;
-  public mjSolverStat_ solver2065;
-  public mjSolverStat_ solver2066;
-  public mjSolverStat_ solver2067;
-  public mjSolverStat_ solver2068;
-  public mjSolverStat_ solver2069;
-  public mjSolverStat_ solver2070;
-  public mjSolverStat_ solver2071;
-  public mjSolverStat_ solver2072;
-  public mjSolverStat_ solver2073;
-  public mjSolverStat_ solver2074;
-  public mjSolverStat_ solver2075;
-  public mjSolverStat_ solver2076;
-  public mjSolverStat_ solver2077;
-  public mjSolverStat_ solver2078;
-  public mjSolverStat_ solver2079;
-  public mjSolverStat_ solver2080;
-  public mjSolverStat_ solver2081;
-  public mjSolverStat_ solver2082;
-  public mjSolverStat_ solver2083;
-  public mjSolverStat_ solver2084;
-  public mjSolverStat_ solver2085;
-  public mjSolverStat_ solver2086;
-  public mjSolverStat_ solver2087;
-  public mjSolverStat_ solver2088;
-  public mjSolverStat_ solver2089;
-  public mjSolverStat_ solver2090;
-  public mjSolverStat_ solver2091;
-  public mjSolverStat_ solver2092;
-  public mjSolverStat_ solver2093;
-  public mjSolverStat_ solver2094;
-  public mjSolverStat_ solver2095;
-  public mjSolverStat_ solver2096;
-  public mjSolverStat_ solver2097;
-  public mjSolverStat_ solver2098;
-  public mjSolverStat_ solver2099;
-  public mjSolverStat_ solver2100;
-  public mjSolverStat_ solver2101;
-  public mjSolverStat_ solver2102;
-  public mjSolverStat_ solver2103;
-  public mjSolverStat_ solver2104;
-  public mjSolverStat_ solver2105;
-  public mjSolverStat_ solver2106;
-  public mjSolverStat_ solver2107;
-  public mjSolverStat_ solver2108;
-  public mjSolverStat_ solver2109;
-  public mjSolverStat_ solver2110;
-  public mjSolverStat_ solver2111;
-  public mjSolverStat_ solver2112;
-  public mjSolverStat_ solver2113;
-  public mjSolverStat_ solver2114;
-  public mjSolverStat_ solver2115;
-  public mjSolverStat_ solver2116;
-  public mjSolverStat_ solver2117;
-  public mjSolverStat_ solver2118;
-  public mjSolverStat_ solver2119;
-  public mjSolverStat_ solver2120;
-  public mjSolverStat_ solver2121;
-  public mjSolverStat_ solver2122;
-  public mjSolverStat_ solver2123;
-  public mjSolverStat_ solver2124;
-  public mjSolverStat_ solver2125;
-  public mjSolverStat_ solver2126;
-  public mjSolverStat_ solver2127;
-  public mjSolverStat_ solver2128;
-  public mjSolverStat_ solver2129;
-  public mjSolverStat_ solver2130;
-  public mjSolverStat_ solver2131;
-  public mjSolverStat_ solver2132;
-  public mjSolverStat_ solver2133;
-  public mjSolverStat_ solver2134;
-  public mjSolverStat_ solver2135;
-  public mjSolverStat_ solver2136;
-  public mjSolverStat_ solver2137;
-  public mjSolverStat_ solver2138;
-  public mjSolverStat_ solver2139;
-  public mjSolverStat_ solver2140;
-  public mjSolverStat_ solver2141;
-  public mjSolverStat_ solver2142;
-  public mjSolverStat_ solver2143;
-  public mjSolverStat_ solver2144;
-  public mjSolverStat_ solver2145;
-  public mjSolverStat_ solver2146;
-  public mjSolverStat_ solver2147;
-  public mjSolverStat_ solver2148;
-  public mjSolverStat_ solver2149;
-  public mjSolverStat_ solver2150;
-  public mjSolverStat_ solver2151;
-  public mjSolverStat_ solver2152;
-  public mjSolverStat_ solver2153;
-  public mjSolverStat_ solver2154;
-  public mjSolverStat_ solver2155;
-  public mjSolverStat_ solver2156;
-  public mjSolverStat_ solver2157;
-  public mjSolverStat_ solver2158;
-  public mjSolverStat_ solver2159;
-  public mjSolverStat_ solver2160;
-  public mjSolverStat_ solver2161;
-  public mjSolverStat_ solver2162;
-  public mjSolverStat_ solver2163;
-  public mjSolverStat_ solver2164;
-  public mjSolverStat_ solver2165;
-  public mjSolverStat_ solver2166;
-  public mjSolverStat_ solver2167;
-  public mjSolverStat_ solver2168;
-  public mjSolverStat_ solver2169;
-  public mjSolverStat_ solver2170;
-  public mjSolverStat_ solver2171;
-  public mjSolverStat_ solver2172;
-  public mjSolverStat_ solver2173;
-  public mjSolverStat_ solver2174;
-  public mjSolverStat_ solver2175;
-  public mjSolverStat_ solver2176;
-  public mjSolverStat_ solver2177;
-  public mjSolverStat_ solver2178;
-  public mjSolverStat_ solver2179;
-  public mjSolverStat_ solver2180;
-  public mjSolverStat_ solver2181;
-  public mjSolverStat_ solver2182;
-  public mjSolverStat_ solver2183;
-  public mjSolverStat_ solver2184;
-  public mjSolverStat_ solver2185;
-  public mjSolverStat_ solver2186;
-  public mjSolverStat_ solver2187;
-  public mjSolverStat_ solver2188;
-  public mjSolverStat_ solver2189;
-  public mjSolverStat_ solver2190;
-  public mjSolverStat_ solver2191;
-  public mjSolverStat_ solver2192;
-  public mjSolverStat_ solver2193;
-  public mjSolverStat_ solver2194;
-  public mjSolverStat_ solver2195;
-  public mjSolverStat_ solver2196;
-  public mjSolverStat_ solver2197;
-  public mjSolverStat_ solver2198;
-  public mjSolverStat_ solver2199;
-  public mjSolverStat_ solver2200;
-  public mjSolverStat_ solver2201;
-  public mjSolverStat_ solver2202;
-  public mjSolverStat_ solver2203;
-  public mjSolverStat_ solver2204;
-  public mjSolverStat_ solver2205;
-  public mjSolverStat_ solver2206;
-  public mjSolverStat_ solver2207;
-  public mjSolverStat_ solver2208;
-  public mjSolverStat_ solver2209;
-  public mjSolverStat_ solver2210;
-  public mjSolverStat_ solver2211;
-  public mjSolverStat_ solver2212;
-  public mjSolverStat_ solver2213;
-  public mjSolverStat_ solver2214;
-  public mjSolverStat_ solver2215;
-  public mjSolverStat_ solver2216;
-  public mjSolverStat_ solver2217;
-  public mjSolverStat_ solver2218;
-  public mjSolverStat_ solver2219;
-  public mjSolverStat_ solver2220;
-  public mjSolverStat_ solver2221;
-  public mjSolverStat_ solver2222;
-  public mjSolverStat_ solver2223;
-  public mjSolverStat_ solver2224;
-  public mjSolverStat_ solver2225;
-  public mjSolverStat_ solver2226;
-  public mjSolverStat_ solver2227;
-  public mjSolverStat_ solver2228;
-  public mjSolverStat_ solver2229;
-  public mjSolverStat_ solver2230;
-  public mjSolverStat_ solver2231;
-  public mjSolverStat_ solver2232;
-  public mjSolverStat_ solver2233;
-  public mjSolverStat_ solver2234;
-  public mjSolverStat_ solver2235;
-  public mjSolverStat_ solver2236;
-  public mjSolverStat_ solver2237;
-  public mjSolverStat_ solver2238;
-  public mjSolverStat_ solver2239;
-  public mjSolverStat_ solver2240;
-  public mjSolverStat_ solver2241;
-  public mjSolverStat_ solver2242;
-  public mjSolverStat_ solver2243;
-  public mjSolverStat_ solver2244;
-  public mjSolverStat_ solver2245;
-  public mjSolverStat_ solver2246;
-  public mjSolverStat_ solver2247;
-  public mjSolverStat_ solver2248;
-  public mjSolverStat_ solver2249;
-  public mjSolverStat_ solver2250;
-  public mjSolverStat_ solver2251;
-  public mjSolverStat_ solver2252;
-  public mjSolverStat_ solver2253;
-  public mjSolverStat_ solver2254;
-  public mjSolverStat_ solver2255;
-  public mjSolverStat_ solver2256;
-  public mjSolverStat_ solver2257;
-  public mjSolverStat_ solver2258;
-  public mjSolverStat_ solver2259;
-  public mjSolverStat_ solver2260;
-  public mjSolverStat_ solver2261;
-  public mjSolverStat_ solver2262;
-  public mjSolverStat_ solver2263;
-  public mjSolverStat_ solver2264;
-  public mjSolverStat_ solver2265;
-  public mjSolverStat_ solver2266;
-  public mjSolverStat_ solver2267;
-  public mjSolverStat_ solver2268;
-  public mjSolverStat_ solver2269;
-  public mjSolverStat_ solver2270;
-  public mjSolverStat_ solver2271;
-  public mjSolverStat_ solver2272;
-  public mjSolverStat_ solver2273;
-  public mjSolverStat_ solver2274;
-  public mjSolverStat_ solver2275;
-  public mjSolverStat_ solver2276;
-  public mjSolverStat_ solver2277;
-  public mjSolverStat_ solver2278;
-  public mjSolverStat_ solver2279;
-  public mjSolverStat_ solver2280;
-  public mjSolverStat_ solver2281;
-  public mjSolverStat_ solver2282;
-  public mjSolverStat_ solver2283;
-  public mjSolverStat_ solver2284;
-  public mjSolverStat_ solver2285;
-  public mjSolverStat_ solver2286;
-  public mjSolverStat_ solver2287;
-  public mjSolverStat_ solver2288;
-  public mjSolverStat_ solver2289;
-  public mjSolverStat_ solver2290;
-  public mjSolverStat_ solver2291;
-  public mjSolverStat_ solver2292;
-  public mjSolverStat_ solver2293;
-  public mjSolverStat_ solver2294;
-  public mjSolverStat_ solver2295;
-  public mjSolverStat_ solver2296;
-  public mjSolverStat_ solver2297;
-  public mjSolverStat_ solver2298;
-  public mjSolverStat_ solver2299;
-  public mjSolverStat_ solver2300;
-  public mjSolverStat_ solver2301;
-  public mjSolverStat_ solver2302;
-  public mjSolverStat_ solver2303;
-  public mjSolverStat_ solver2304;
-  public mjSolverStat_ solver2305;
-  public mjSolverStat_ solver2306;
-  public mjSolverStat_ solver2307;
-  public mjSolverStat_ solver2308;
-  public mjSolverStat_ solver2309;
-  public mjSolverStat_ solver2310;
-  public mjSolverStat_ solver2311;
-  public mjSolverStat_ solver2312;
-  public mjSolverStat_ solver2313;
-  public mjSolverStat_ solver2314;
-  public mjSolverStat_ solver2315;
-  public mjSolverStat_ solver2316;
-  public mjSolverStat_ solver2317;
-  public mjSolverStat_ solver2318;
-  public mjSolverStat_ solver2319;
-  public mjSolverStat_ solver2320;
-  public mjSolverStat_ solver2321;
-  public mjSolverStat_ solver2322;
-  public mjSolverStat_ solver2323;
-  public mjSolverStat_ solver2324;
-  public mjSolverStat_ solver2325;
-  public mjSolverStat_ solver2326;
-  public mjSolverStat_ solver2327;
-  public mjSolverStat_ solver2328;
-  public mjSolverStat_ solver2329;
-  public mjSolverStat_ solver2330;
-  public mjSolverStat_ solver2331;
-  public mjSolverStat_ solver2332;
-  public mjSolverStat_ solver2333;
-  public mjSolverStat_ solver2334;
-  public mjSolverStat_ solver2335;
-  public mjSolverStat_ solver2336;
-  public mjSolverStat_ solver2337;
-  public mjSolverStat_ solver2338;
-  public mjSolverStat_ solver2339;
-  public mjSolverStat_ solver2340;
-  public mjSolverStat_ solver2341;
-  public mjSolverStat_ solver2342;
-  public mjSolverStat_ solver2343;
-  public mjSolverStat_ solver2344;
-  public mjSolverStat_ solver2345;
-  public mjSolverStat_ solver2346;
-  public mjSolverStat_ solver2347;
-  public mjSolverStat_ solver2348;
-  public mjSolverStat_ solver2349;
-  public mjSolverStat_ solver2350;
-  public mjSolverStat_ solver2351;
-  public mjSolverStat_ solver2352;
-  public mjSolverStat_ solver2353;
-  public mjSolverStat_ solver2354;
-  public mjSolverStat_ solver2355;
-  public mjSolverStat_ solver2356;
-  public mjSolverStat_ solver2357;
-  public mjSolverStat_ solver2358;
-  public mjSolverStat_ solver2359;
-  public mjSolverStat_ solver2360;
-  public mjSolverStat_ solver2361;
-  public mjSolverStat_ solver2362;
-  public mjSolverStat_ solver2363;
-  public mjSolverStat_ solver2364;
-  public mjSolverStat_ solver2365;
-  public mjSolverStat_ solver2366;
-  public mjSolverStat_ solver2367;
-  public mjSolverStat_ solver2368;
-  public mjSolverStat_ solver2369;
-  public mjSolverStat_ solver2370;
-  public mjSolverStat_ solver2371;
-  public mjSolverStat_ solver2372;
-  public mjSolverStat_ solver2373;
-  public mjSolverStat_ solver2374;
-  public mjSolverStat_ solver2375;
-  public mjSolverStat_ solver2376;
-  public mjSolverStat_ solver2377;
-  public mjSolverStat_ solver2378;
-  public mjSolverStat_ solver2379;
-  public mjSolverStat_ solver2380;
-  public mjSolverStat_ solver2381;
-  public mjSolverStat_ solver2382;
-  public mjSolverStat_ solver2383;
-  public mjSolverStat_ solver2384;
-  public mjSolverStat_ solver2385;
-  public mjSolverStat_ solver2386;
-  public mjSolverStat_ solver2387;
-  public mjSolverStat_ solver2388;
-  public mjSolverStat_ solver2389;
-  public mjSolverStat_ solver2390;
-  public mjSolverStat_ solver2391;
-  public mjSolverStat_ solver2392;
-  public mjSolverStat_ solver2393;
-  public mjSolverStat_ solver2394;
-  public mjSolverStat_ solver2395;
-  public mjSolverStat_ solver2396;
-  public mjSolverStat_ solver2397;
-  public mjSolverStat_ solver2398;
-  public mjSolverStat_ solver2399;
-  public mjSolverStat_ solver2400;
-  public mjSolverStat_ solver2401;
-  public mjSolverStat_ solver2402;
-  public mjSolverStat_ solver2403;
-  public mjSolverStat_ solver2404;
-  public mjSolverStat_ solver2405;
-  public mjSolverStat_ solver2406;
-  public mjSolverStat_ solver2407;
-  public mjSolverStat_ solver2408;
-  public mjSolverStat_ solver2409;
-  public mjSolverStat_ solver2410;
-  public mjSolverStat_ solver2411;
-  public mjSolverStat_ solver2412;
-  public mjSolverStat_ solver2413;
-  public mjSolverStat_ solver2414;
-  public mjSolverStat_ solver2415;
-  public mjSolverStat_ solver2416;
-  public mjSolverStat_ solver2417;
-  public mjSolverStat_ solver2418;
-  public mjSolverStat_ solver2419;
-  public mjSolverStat_ solver2420;
-  public mjSolverStat_ solver2421;
-  public mjSolverStat_ solver2422;
-  public mjSolverStat_ solver2423;
-  public mjSolverStat_ solver2424;
-  public mjSolverStat_ solver2425;
-  public mjSolverStat_ solver2426;
-  public mjSolverStat_ solver2427;
-  public mjSolverStat_ solver2428;
-  public mjSolverStat_ solver2429;
-  public mjSolverStat_ solver2430;
-  public mjSolverStat_ solver2431;
-  public mjSolverStat_ solver2432;
-  public mjSolverStat_ solver2433;
-  public mjSolverStat_ solver2434;
-  public mjSolverStat_ solver2435;
-  public mjSolverStat_ solver2436;
-  public mjSolverStat_ solver2437;
-  public mjSolverStat_ solver2438;
-  public mjSolverStat_ solver2439;
-  public mjSolverStat_ solver2440;
-  public mjSolverStat_ solver2441;
-  public mjSolverStat_ solver2442;
-  public mjSolverStat_ solver2443;
-  public mjSolverStat_ solver2444;
-  public mjSolverStat_ solver2445;
-  public mjSolverStat_ solver2446;
-  public mjSolverStat_ solver2447;
-  public mjSolverStat_ solver2448;
-  public mjSolverStat_ solver2449;
-  public mjSolverStat_ solver2450;
-  public mjSolverStat_ solver2451;
-  public mjSolverStat_ solver2452;
-  public mjSolverStat_ solver2453;
-  public mjSolverStat_ solver2454;
-  public mjSolverStat_ solver2455;
-  public mjSolverStat_ solver2456;
-  public mjSolverStat_ solver2457;
-  public mjSolverStat_ solver2458;
-  public mjSolverStat_ solver2459;
-  public mjSolverStat_ solver2460;
-  public mjSolverStat_ solver2461;
-  public mjSolverStat_ solver2462;
-  public mjSolverStat_ solver2463;
-  public mjSolverStat_ solver2464;
-  public mjSolverStat_ solver2465;
-  public mjSolverStat_ solver2466;
-  public mjSolverStat_ solver2467;
-  public mjSolverStat_ solver2468;
-  public mjSolverStat_ solver2469;
-  public mjSolverStat_ solver2470;
-  public mjSolverStat_ solver2471;
-  public mjSolverStat_ solver2472;
-  public mjSolverStat_ solver2473;
-  public mjSolverStat_ solver2474;
-  public mjSolverStat_ solver2475;
-  public mjSolverStat_ solver2476;
-  public mjSolverStat_ solver2477;
-  public mjSolverStat_ solver2478;
-  public mjSolverStat_ solver2479;
-  public mjSolverStat_ solver2480;
-  public mjSolverStat_ solver2481;
-  public mjSolverStat_ solver2482;
-  public mjSolverStat_ solver2483;
-  public mjSolverStat_ solver2484;
-  public mjSolverStat_ solver2485;
-  public mjSolverStat_ solver2486;
-  public mjSolverStat_ solver2487;
-  public mjSolverStat_ solver2488;
-  public mjSolverStat_ solver2489;
-  public mjSolverStat_ solver2490;
-  public mjSolverStat_ solver2491;
-  public mjSolverStat_ solver2492;
-  public mjSolverStat_ solver2493;
-  public mjSolverStat_ solver2494;
-  public mjSolverStat_ solver2495;
-  public mjSolverStat_ solver2496;
-  public mjSolverStat_ solver2497;
-  public mjSolverStat_ solver2498;
-  public mjSolverStat_ solver2499;
-  public mjSolverStat_ solver2500;
-  public mjSolverStat_ solver2501;
-  public mjSolverStat_ solver2502;
-  public mjSolverStat_ solver2503;
-  public mjSolverStat_ solver2504;
-  public mjSolverStat_ solver2505;
-  public mjSolverStat_ solver2506;
-  public mjSolverStat_ solver2507;
-  public mjSolverStat_ solver2508;
-  public mjSolverStat_ solver2509;
-  public mjSolverStat_ solver2510;
-  public mjSolverStat_ solver2511;
-  public mjSolverStat_ solver2512;
-  public mjSolverStat_ solver2513;
-  public mjSolverStat_ solver2514;
-  public mjSolverStat_ solver2515;
-  public mjSolverStat_ solver2516;
-  public mjSolverStat_ solver2517;
-  public mjSolverStat_ solver2518;
-  public mjSolverStat_ solver2519;
-  public mjSolverStat_ solver2520;
-  public mjSolverStat_ solver2521;
-  public mjSolverStat_ solver2522;
-  public mjSolverStat_ solver2523;
-  public mjSolverStat_ solver2524;
-  public mjSolverStat_ solver2525;
-  public mjSolverStat_ solver2526;
-  public mjSolverStat_ solver2527;
-  public mjSolverStat_ solver2528;
-  public mjSolverStat_ solver2529;
-  public mjSolverStat_ solver2530;
-  public mjSolverStat_ solver2531;
-  public mjSolverStat_ solver2532;
-  public mjSolverStat_ solver2533;
-  public mjSolverStat_ solver2534;
-  public mjSolverStat_ solver2535;
-  public mjSolverStat_ solver2536;
-  public mjSolverStat_ solver2537;
-  public mjSolverStat_ solver2538;
-  public mjSolverStat_ solver2539;
-  public mjSolverStat_ solver2540;
-  public mjSolverStat_ solver2541;
-  public mjSolverStat_ solver2542;
-  public mjSolverStat_ solver2543;
-  public mjSolverStat_ solver2544;
-  public mjSolverStat_ solver2545;
-  public mjSolverStat_ solver2546;
-  public mjSolverStat_ solver2547;
-  public mjSolverStat_ solver2548;
-  public mjSolverStat_ solver2549;
-  public mjSolverStat_ solver2550;
-  public mjSolverStat_ solver2551;
-  public mjSolverStat_ solver2552;
-  public mjSolverStat_ solver2553;
-  public mjSolverStat_ solver2554;
-  public mjSolverStat_ solver2555;
-  public mjSolverStat_ solver2556;
-  public mjSolverStat_ solver2557;
-  public mjSolverStat_ solver2558;
-  public mjSolverStat_ solver2559;
-  public mjSolverStat_ solver2560;
-  public mjSolverStat_ solver2561;
-  public mjSolverStat_ solver2562;
-  public mjSolverStat_ solver2563;
-  public mjSolverStat_ solver2564;
-  public mjSolverStat_ solver2565;
-  public mjSolverStat_ solver2566;
-  public mjSolverStat_ solver2567;
-  public mjSolverStat_ solver2568;
-  public mjSolverStat_ solver2569;
-  public mjSolverStat_ solver2570;
-  public mjSolverStat_ solver2571;
-  public mjSolverStat_ solver2572;
-  public mjSolverStat_ solver2573;
-  public mjSolverStat_ solver2574;
-  public mjSolverStat_ solver2575;
-  public mjSolverStat_ solver2576;
-  public mjSolverStat_ solver2577;
-  public mjSolverStat_ solver2578;
-  public mjSolverStat_ solver2579;
-  public mjSolverStat_ solver2580;
-  public mjSolverStat_ solver2581;
-  public mjSolverStat_ solver2582;
-  public mjSolverStat_ solver2583;
-  public mjSolverStat_ solver2584;
-  public mjSolverStat_ solver2585;
-  public mjSolverStat_ solver2586;
-  public mjSolverStat_ solver2587;
-  public mjSolverStat_ solver2588;
-  public mjSolverStat_ solver2589;
-  public mjSolverStat_ solver2590;
-  public mjSolverStat_ solver2591;
-  public mjSolverStat_ solver2592;
-  public mjSolverStat_ solver2593;
-  public mjSolverStat_ solver2594;
-  public mjSolverStat_ solver2595;
-  public mjSolverStat_ solver2596;
-  public mjSolverStat_ solver2597;
-  public mjSolverStat_ solver2598;
-  public mjSolverStat_ solver2599;
-  public mjSolverStat_ solver2600;
-  public mjSolverStat_ solver2601;
-  public mjSolverStat_ solver2602;
-  public mjSolverStat_ solver2603;
-  public mjSolverStat_ solver2604;
-  public mjSolverStat_ solver2605;
-  public mjSolverStat_ solver2606;
-  public mjSolverStat_ solver2607;
-  public mjSolverStat_ solver2608;
-  public mjSolverStat_ solver2609;
-  public mjSolverStat_ solver2610;
-  public mjSolverStat_ solver2611;
-  public mjSolverStat_ solver2612;
-  public mjSolverStat_ solver2613;
-  public mjSolverStat_ solver2614;
-  public mjSolverStat_ solver2615;
-  public mjSolverStat_ solver2616;
-  public mjSolverStat_ solver2617;
-  public mjSolverStat_ solver2618;
-  public mjSolverStat_ solver2619;
-  public mjSolverStat_ solver2620;
-  public mjSolverStat_ solver2621;
-  public mjSolverStat_ solver2622;
-  public mjSolverStat_ solver2623;
-  public mjSolverStat_ solver2624;
-  public mjSolverStat_ solver2625;
-  public mjSolverStat_ solver2626;
-  public mjSolverStat_ solver2627;
-  public mjSolverStat_ solver2628;
-  public mjSolverStat_ solver2629;
-  public mjSolverStat_ solver2630;
-  public mjSolverStat_ solver2631;
-  public mjSolverStat_ solver2632;
-  public mjSolverStat_ solver2633;
-  public mjSolverStat_ solver2634;
-  public mjSolverStat_ solver2635;
-  public mjSolverStat_ solver2636;
-  public mjSolverStat_ solver2637;
-  public mjSolverStat_ solver2638;
-  public mjSolverStat_ solver2639;
-  public mjSolverStat_ solver2640;
-  public mjSolverStat_ solver2641;
-  public mjSolverStat_ solver2642;
-  public mjSolverStat_ solver2643;
-  public mjSolverStat_ solver2644;
-  public mjSolverStat_ solver2645;
-  public mjSolverStat_ solver2646;
-  public mjSolverStat_ solver2647;
-  public mjSolverStat_ solver2648;
-  public mjSolverStat_ solver2649;
-  public mjSolverStat_ solver2650;
-  public mjSolverStat_ solver2651;
-  public mjSolverStat_ solver2652;
-  public mjSolverStat_ solver2653;
-  public mjSolverStat_ solver2654;
-  public mjSolverStat_ solver2655;
-  public mjSolverStat_ solver2656;
-  public mjSolverStat_ solver2657;
-  public mjSolverStat_ solver2658;
-  public mjSolverStat_ solver2659;
-  public mjSolverStat_ solver2660;
-  public mjSolverStat_ solver2661;
-  public mjSolverStat_ solver2662;
-  public mjSolverStat_ solver2663;
-  public mjSolverStat_ solver2664;
-  public mjSolverStat_ solver2665;
-  public mjSolverStat_ solver2666;
-  public mjSolverStat_ solver2667;
-  public mjSolverStat_ solver2668;
-  public mjSolverStat_ solver2669;
-  public mjSolverStat_ solver2670;
-  public mjSolverStat_ solver2671;
-  public mjSolverStat_ solver2672;
-  public mjSolverStat_ solver2673;
-  public mjSolverStat_ solver2674;
-  public mjSolverStat_ solver2675;
-  public mjSolverStat_ solver2676;
-  public mjSolverStat_ solver2677;
-  public mjSolverStat_ solver2678;
-  public mjSolverStat_ solver2679;
-  public mjSolverStat_ solver2680;
-  public mjSolverStat_ solver2681;
-  public mjSolverStat_ solver2682;
-  public mjSolverStat_ solver2683;
-  public mjSolverStat_ solver2684;
-  public mjSolverStat_ solver2685;
-  public mjSolverStat_ solver2686;
-  public mjSolverStat_ solver2687;
-  public mjSolverStat_ solver2688;
-  public mjSolverStat_ solver2689;
-  public mjSolverStat_ solver2690;
-  public mjSolverStat_ solver2691;
-  public mjSolverStat_ solver2692;
-  public mjSolverStat_ solver2693;
-  public mjSolverStat_ solver2694;
-  public mjSolverStat_ solver2695;
-  public mjSolverStat_ solver2696;
-  public mjSolverStat_ solver2697;
-  public mjSolverStat_ solver2698;
-  public mjSolverStat_ solver2699;
-  public mjSolverStat_ solver2700;
-  public mjSolverStat_ solver2701;
-  public mjSolverStat_ solver2702;
-  public mjSolverStat_ solver2703;
-  public mjSolverStat_ solver2704;
-  public mjSolverStat_ solver2705;
-  public mjSolverStat_ solver2706;
-  public mjSolverStat_ solver2707;
-  public mjSolverStat_ solver2708;
-  public mjSolverStat_ solver2709;
-  public mjSolverStat_ solver2710;
-  public mjSolverStat_ solver2711;
-  public mjSolverStat_ solver2712;
-  public mjSolverStat_ solver2713;
-  public mjSolverStat_ solver2714;
-  public mjSolverStat_ solver2715;
-  public mjSolverStat_ solver2716;
-  public mjSolverStat_ solver2717;
-  public mjSolverStat_ solver2718;
-  public mjSolverStat_ solver2719;
-  public mjSolverStat_ solver2720;
-  public mjSolverStat_ solver2721;
-  public mjSolverStat_ solver2722;
-  public mjSolverStat_ solver2723;
-  public mjSolverStat_ solver2724;
-  public mjSolverStat_ solver2725;
-  public mjSolverStat_ solver2726;
-  public mjSolverStat_ solver2727;
-  public mjSolverStat_ solver2728;
-  public mjSolverStat_ solver2729;
-  public mjSolverStat_ solver2730;
-  public mjSolverStat_ solver2731;
-  public mjSolverStat_ solver2732;
-  public mjSolverStat_ solver2733;
-  public mjSolverStat_ solver2734;
-  public mjSolverStat_ solver2735;
-  public mjSolverStat_ solver2736;
-  public mjSolverStat_ solver2737;
-  public mjSolverStat_ solver2738;
-  public mjSolverStat_ solver2739;
-  public mjSolverStat_ solver2740;
-  public mjSolverStat_ solver2741;
-  public mjSolverStat_ solver2742;
-  public mjSolverStat_ solver2743;
-  public mjSolverStat_ solver2744;
-  public mjSolverStat_ solver2745;
-  public mjSolverStat_ solver2746;
-  public mjSolverStat_ solver2747;
-  public mjSolverStat_ solver2748;
-  public mjSolverStat_ solver2749;
-  public mjSolverStat_ solver2750;
-  public mjSolverStat_ solver2751;
-  public mjSolverStat_ solver2752;
-  public mjSolverStat_ solver2753;
-  public mjSolverStat_ solver2754;
-  public mjSolverStat_ solver2755;
-  public mjSolverStat_ solver2756;
-  public mjSolverStat_ solver2757;
-  public mjSolverStat_ solver2758;
-  public mjSolverStat_ solver2759;
-  public mjSolverStat_ solver2760;
-  public mjSolverStat_ solver2761;
-  public mjSolverStat_ solver2762;
-  public mjSolverStat_ solver2763;
-  public mjSolverStat_ solver2764;
-  public mjSolverStat_ solver2765;
-  public mjSolverStat_ solver2766;
-  public mjSolverStat_ solver2767;
-  public mjSolverStat_ solver2768;
-  public mjSolverStat_ solver2769;
-  public mjSolverStat_ solver2770;
-  public mjSolverStat_ solver2771;
-  public mjSolverStat_ solver2772;
-  public mjSolverStat_ solver2773;
-  public mjSolverStat_ solver2774;
-  public mjSolverStat_ solver2775;
-  public mjSolverStat_ solver2776;
-  public mjSolverStat_ solver2777;
-  public mjSolverStat_ solver2778;
-  public mjSolverStat_ solver2779;
-  public mjSolverStat_ solver2780;
-  public mjSolverStat_ solver2781;
-  public mjSolverStat_ solver2782;
-  public mjSolverStat_ solver2783;
-  public mjSolverStat_ solver2784;
-  public mjSolverStat_ solver2785;
-  public mjSolverStat_ solver2786;
-  public mjSolverStat_ solver2787;
-  public mjSolverStat_ solver2788;
-  public mjSolverStat_ solver2789;
-  public mjSolverStat_ solver2790;
-  public mjSolverStat_ solver2791;
-  public mjSolverStat_ solver2792;
-  public mjSolverStat_ solver2793;
-  public mjSolverStat_ solver2794;
-  public mjSolverStat_ solver2795;
-  public mjSolverStat_ solver2796;
-  public mjSolverStat_ solver2797;
-  public mjSolverStat_ solver2798;
-  public mjSolverStat_ solver2799;
-  public mjSolverStat_ solver2800;
-  public mjSolverStat_ solver2801;
-  public mjSolverStat_ solver2802;
-  public mjSolverStat_ solver2803;
-  public mjSolverStat_ solver2804;
-  public mjSolverStat_ solver2805;
-  public mjSolverStat_ solver2806;
-  public mjSolverStat_ solver2807;
-  public mjSolverStat_ solver2808;
-  public mjSolverStat_ solver2809;
-  public mjSolverStat_ solver2810;
-  public mjSolverStat_ solver2811;
-  public mjSolverStat_ solver2812;
-  public mjSolverStat_ solver2813;
-  public mjSolverStat_ solver2814;
-  public mjSolverStat_ solver2815;
-  public mjSolverStat_ solver2816;
-  public mjSolverStat_ solver2817;
-  public mjSolverStat_ solver2818;
-  public mjSolverStat_ solver2819;
-  public mjSolverStat_ solver2820;
-  public mjSolverStat_ solver2821;
-  public mjSolverStat_ solver2822;
-  public mjSolverStat_ solver2823;
-  public mjSolverStat_ solver2824;
-  public mjSolverStat_ solver2825;
-  public mjSolverStat_ solver2826;
-  public mjSolverStat_ solver2827;
-  public mjSolverStat_ solver2828;
-  public mjSolverStat_ solver2829;
-  public mjSolverStat_ solver2830;
-  public mjSolverStat_ solver2831;
-  public mjSolverStat_ solver2832;
-  public mjSolverStat_ solver2833;
-  public mjSolverStat_ solver2834;
-  public mjSolverStat_ solver2835;
-  public mjSolverStat_ solver2836;
-  public mjSolverStat_ solver2837;
-  public mjSolverStat_ solver2838;
-  public mjSolverStat_ solver2839;
-  public mjSolverStat_ solver2840;
-  public mjSolverStat_ solver2841;
-  public mjSolverStat_ solver2842;
-  public mjSolverStat_ solver2843;
-  public mjSolverStat_ solver2844;
-  public mjSolverStat_ solver2845;
-  public mjSolverStat_ solver2846;
-  public mjSolverStat_ solver2847;
-  public mjSolverStat_ solver2848;
-  public mjSolverStat_ solver2849;
-  public mjSolverStat_ solver2850;
-  public mjSolverStat_ solver2851;
-  public mjSolverStat_ solver2852;
-  public mjSolverStat_ solver2853;
-  public mjSolverStat_ solver2854;
-  public mjSolverStat_ solver2855;
-  public mjSolverStat_ solver2856;
-  public mjSolverStat_ solver2857;
-  public mjSolverStat_ solver2858;
-  public mjSolverStat_ solver2859;
-  public mjSolverStat_ solver2860;
-  public mjSolverStat_ solver2861;
-  public mjSolverStat_ solver2862;
-  public mjSolverStat_ solver2863;
-  public mjSolverStat_ solver2864;
-  public mjSolverStat_ solver2865;
-  public mjSolverStat_ solver2866;
-  public mjSolverStat_ solver2867;
-  public mjSolverStat_ solver2868;
-  public mjSolverStat_ solver2869;
-  public mjSolverStat_ solver2870;
-  public mjSolverStat_ solver2871;
-  public mjSolverStat_ solver2872;
-  public mjSolverStat_ solver2873;
-  public mjSolverStat_ solver2874;
-  public mjSolverStat_ solver2875;
-  public mjSolverStat_ solver2876;
-  public mjSolverStat_ solver2877;
-  public mjSolverStat_ solver2878;
-  public mjSolverStat_ solver2879;
-  public mjSolverStat_ solver2880;
-  public mjSolverStat_ solver2881;
-  public mjSolverStat_ solver2882;
-  public mjSolverStat_ solver2883;
-  public mjSolverStat_ solver2884;
-  public mjSolverStat_ solver2885;
-  public mjSolverStat_ solver2886;
-  public mjSolverStat_ solver2887;
-  public mjSolverStat_ solver2888;
-  public mjSolverStat_ solver2889;
-  public mjSolverStat_ solver2890;
-  public mjSolverStat_ solver2891;
-  public mjSolverStat_ solver2892;
-  public mjSolverStat_ solver2893;
-  public mjSolverStat_ solver2894;
-  public mjSolverStat_ solver2895;
-  public mjSolverStat_ solver2896;
-  public mjSolverStat_ solver2897;
-  public mjSolverStat_ solver2898;
-  public mjSolverStat_ solver2899;
-  public mjSolverStat_ solver2900;
-  public mjSolverStat_ solver2901;
-  public mjSolverStat_ solver2902;
-  public mjSolverStat_ solver2903;
-  public mjSolverStat_ solver2904;
-  public mjSolverStat_ solver2905;
-  public mjSolverStat_ solver2906;
-  public mjSolverStat_ solver2907;
-  public mjSolverStat_ solver2908;
-  public mjSolverStat_ solver2909;
-  public mjSolverStat_ solver2910;
-  public mjSolverStat_ solver2911;
-  public mjSolverStat_ solver2912;
-  public mjSolverStat_ solver2913;
-  public mjSolverStat_ solver2914;
-  public mjSolverStat_ solver2915;
-  public mjSolverStat_ solver2916;
-  public mjSolverStat_ solver2917;
-  public mjSolverStat_ solver2918;
-  public mjSolverStat_ solver2919;
-  public mjSolverStat_ solver2920;
-  public mjSolverStat_ solver2921;
-  public mjSolverStat_ solver2922;
-  public mjSolverStat_ solver2923;
-  public mjSolverStat_ solver2924;
-  public mjSolverStat_ solver2925;
-  public mjSolverStat_ solver2926;
-  public mjSolverStat_ solver2927;
-  public mjSolverStat_ solver2928;
-  public mjSolverStat_ solver2929;
-  public mjSolverStat_ solver2930;
-  public mjSolverStat_ solver2931;
-  public mjSolverStat_ solver2932;
-  public mjSolverStat_ solver2933;
-  public mjSolverStat_ solver2934;
-  public mjSolverStat_ solver2935;
-  public mjSolverStat_ solver2936;
-  public mjSolverStat_ solver2937;
-  public mjSolverStat_ solver2938;
-  public mjSolverStat_ solver2939;
-  public mjSolverStat_ solver2940;
-  public mjSolverStat_ solver2941;
-  public mjSolverStat_ solver2942;
-  public mjSolverStat_ solver2943;
-  public mjSolverStat_ solver2944;
-  public mjSolverStat_ solver2945;
-  public mjSolverStat_ solver2946;
-  public mjSolverStat_ solver2947;
-  public mjSolverStat_ solver2948;
-  public mjSolverStat_ solver2949;
-  public mjSolverStat_ solver2950;
-  public mjSolverStat_ solver2951;
-  public mjSolverStat_ solver2952;
-  public mjSolverStat_ solver2953;
-  public mjSolverStat_ solver2954;
-  public mjSolverStat_ solver2955;
-  public mjSolverStat_ solver2956;
-  public mjSolverStat_ solver2957;
-  public mjSolverStat_ solver2958;
-  public mjSolverStat_ solver2959;
-  public mjSolverStat_ solver2960;
-  public mjSolverStat_ solver2961;
-  public mjSolverStat_ solver2962;
-  public mjSolverStat_ solver2963;
-  public mjSolverStat_ solver2964;
-  public mjSolverStat_ solver2965;
-  public mjSolverStat_ solver2966;
-  public mjSolverStat_ solver2967;
-  public mjSolverStat_ solver2968;
-  public mjSolverStat_ solver2969;
-  public mjSolverStat_ solver2970;
-  public mjSolverStat_ solver2971;
-  public mjSolverStat_ solver2972;
-  public mjSolverStat_ solver2973;
-  public mjSolverStat_ solver2974;
-  public mjSolverStat_ solver2975;
-  public mjSolverStat_ solver2976;
-  public mjSolverStat_ solver2977;
-  public mjSolverStat_ solver2978;
-  public mjSolverStat_ solver2979;
-  public mjSolverStat_ solver2980;
-  public mjSolverStat_ solver2981;
-  public mjSolverStat_ solver2982;
-  public mjSolverStat_ solver2983;
-  public mjSolverStat_ solver2984;
-  public mjSolverStat_ solver2985;
-  public mjSolverStat_ solver2986;
-  public mjSolverStat_ solver2987;
-  public mjSolverStat_ solver2988;
-  public mjSolverStat_ solver2989;
-  public mjSolverStat_ solver2990;
-  public mjSolverStat_ solver2991;
-  public mjSolverStat_ solver2992;
-  public mjSolverStat_ solver2993;
-  public mjSolverStat_ solver2994;
-  public mjSolverStat_ solver2995;
-  public mjSolverStat_ solver2996;
-  public mjSolverStat_ solver2997;
-  public mjSolverStat_ solver2998;
-  public mjSolverStat_ solver2999;
-  public mjSolverStat_ solver3000;
-  public mjSolverStat_ solver3001;
-  public mjSolverStat_ solver3002;
-  public mjSolverStat_ solver3003;
-  public mjSolverStat_ solver3004;
-  public mjSolverStat_ solver3005;
-  public mjSolverStat_ solver3006;
-  public mjSolverStat_ solver3007;
-  public mjSolverStat_ solver3008;
-  public mjSolverStat_ solver3009;
-  public mjSolverStat_ solver3010;
-  public mjSolverStat_ solver3011;
-  public mjSolverStat_ solver3012;
-  public mjSolverStat_ solver3013;
-  public mjSolverStat_ solver3014;
-  public mjSolverStat_ solver3015;
-  public mjSolverStat_ solver3016;
-  public mjSolverStat_ solver3017;
-  public mjSolverStat_ solver3018;
-  public mjSolverStat_ solver3019;
-  public mjSolverStat_ solver3020;
-  public mjSolverStat_ solver3021;
-  public mjSolverStat_ solver3022;
-  public mjSolverStat_ solver3023;
-  public mjSolverStat_ solver3024;
-  public mjSolverStat_ solver3025;
-  public mjSolverStat_ solver3026;
-  public mjSolverStat_ solver3027;
-  public mjSolverStat_ solver3028;
-  public mjSolverStat_ solver3029;
-  public mjSolverStat_ solver3030;
-  public mjSolverStat_ solver3031;
-  public mjSolverStat_ solver3032;
-  public mjSolverStat_ solver3033;
-  public mjSolverStat_ solver3034;
-  public mjSolverStat_ solver3035;
-  public mjSolverStat_ solver3036;
-  public mjSolverStat_ solver3037;
-  public mjSolverStat_ solver3038;
-  public mjSolverStat_ solver3039;
-  public mjSolverStat_ solver3040;
-  public mjSolverStat_ solver3041;
-  public mjSolverStat_ solver3042;
-  public mjSolverStat_ solver3043;
-  public mjSolverStat_ solver3044;
-  public mjSolverStat_ solver3045;
-  public mjSolverStat_ solver3046;
-  public mjSolverStat_ solver3047;
-  public mjSolverStat_ solver3048;
-  public mjSolverStat_ solver3049;
-  public mjSolverStat_ solver3050;
-  public mjSolverStat_ solver3051;
-  public mjSolverStat_ solver3052;
-  public mjSolverStat_ solver3053;
-  public mjSolverStat_ solver3054;
-  public mjSolverStat_ solver3055;
-  public mjSolverStat_ solver3056;
-  public mjSolverStat_ solver3057;
-  public mjSolverStat_ solver3058;
-  public mjSolverStat_ solver3059;
-  public mjSolverStat_ solver3060;
-  public mjSolverStat_ solver3061;
-  public mjSolverStat_ solver3062;
-  public mjSolverStat_ solver3063;
-  public mjSolverStat_ solver3064;
-  public mjSolverStat_ solver3065;
-  public mjSolverStat_ solver3066;
-  public mjSolverStat_ solver3067;
-  public mjSolverStat_ solver3068;
-  public mjSolverStat_ solver3069;
-  public mjSolverStat_ solver3070;
-  public mjSolverStat_ solver3071;
-  public mjSolverStat_ solver3072;
-  public mjSolverStat_ solver3073;
-  public mjSolverStat_ solver3074;
-  public mjSolverStat_ solver3075;
-  public mjSolverStat_ solver3076;
-  public mjSolverStat_ solver3077;
-  public mjSolverStat_ solver3078;
-  public mjSolverStat_ solver3079;
-  public mjSolverStat_ solver3080;
-  public mjSolverStat_ solver3081;
-  public mjSolverStat_ solver3082;
-  public mjSolverStat_ solver3083;
-  public mjSolverStat_ solver3084;
-  public mjSolverStat_ solver3085;
-  public mjSolverStat_ solver3086;
-  public mjSolverStat_ solver3087;
-  public mjSolverStat_ solver3088;
-  public mjSolverStat_ solver3089;
-  public mjSolverStat_ solver3090;
-  public mjSolverStat_ solver3091;
-  public mjSolverStat_ solver3092;
-  public mjSolverStat_ solver3093;
-  public mjSolverStat_ solver3094;
-  public mjSolverStat_ solver3095;
-  public mjSolverStat_ solver3096;
-  public mjSolverStat_ solver3097;
-  public mjSolverStat_ solver3098;
-  public mjSolverStat_ solver3099;
-  public mjSolverStat_ solver3100;
-  public mjSolverStat_ solver3101;
-  public mjSolverStat_ solver3102;
-  public mjSolverStat_ solver3103;
-  public mjSolverStat_ solver3104;
-  public mjSolverStat_ solver3105;
-  public mjSolverStat_ solver3106;
-  public mjSolverStat_ solver3107;
-  public mjSolverStat_ solver3108;
-  public mjSolverStat_ solver3109;
-  public mjSolverStat_ solver3110;
-  public mjSolverStat_ solver3111;
-  public mjSolverStat_ solver3112;
-  public mjSolverStat_ solver3113;
-  public mjSolverStat_ solver3114;
-  public mjSolverStat_ solver3115;
-  public mjSolverStat_ solver3116;
-  public mjSolverStat_ solver3117;
-  public mjSolverStat_ solver3118;
-  public mjSolverStat_ solver3119;
-  public mjSolverStat_ solver3120;
-  public mjSolverStat_ solver3121;
-  public mjSolverStat_ solver3122;
-  public mjSolverStat_ solver3123;
-  public mjSolverStat_ solver3124;
-  public mjSolverStat_ solver3125;
-  public mjSolverStat_ solver3126;
-  public mjSolverStat_ solver3127;
-  public mjSolverStat_ solver3128;
-  public mjSolverStat_ solver3129;
-  public mjSolverStat_ solver3130;
-  public mjSolverStat_ solver3131;
-  public mjSolverStat_ solver3132;
-  public mjSolverStat_ solver3133;
-  public mjSolverStat_ solver3134;
-  public mjSolverStat_ solver3135;
-  public mjSolverStat_ solver3136;
-  public mjSolverStat_ solver3137;
-  public mjSolverStat_ solver3138;
-  public mjSolverStat_ solver3139;
-  public mjSolverStat_ solver3140;
-  public mjSolverStat_ solver3141;
-  public mjSolverStat_ solver3142;
-  public mjSolverStat_ solver3143;
-  public mjSolverStat_ solver3144;
-  public mjSolverStat_ solver3145;
-  public mjSolverStat_ solver3146;
-  public mjSolverStat_ solver3147;
-  public mjSolverStat_ solver3148;
-  public mjSolverStat_ solver3149;
-  public mjSolverStat_ solver3150;
-  public mjSolverStat_ solver3151;
-  public mjSolverStat_ solver3152;
-  public mjSolverStat_ solver3153;
-  public mjSolverStat_ solver3154;
-  public mjSolverStat_ solver3155;
-  public mjSolverStat_ solver3156;
-  public mjSolverStat_ solver3157;
-  public mjSolverStat_ solver3158;
-  public mjSolverStat_ solver3159;
-  public mjSolverStat_ solver3160;
-  public mjSolverStat_ solver3161;
-  public mjSolverStat_ solver3162;
-  public mjSolverStat_ solver3163;
-  public mjSolverStat_ solver3164;
-  public mjSolverStat_ solver3165;
-  public mjSolverStat_ solver3166;
-  public mjSolverStat_ solver3167;
-  public mjSolverStat_ solver3168;
-  public mjSolverStat_ solver3169;
-  public mjSolverStat_ solver3170;
-  public mjSolverStat_ solver3171;
-  public mjSolverStat_ solver3172;
-  public mjSolverStat_ solver3173;
-  public mjSolverStat_ solver3174;
-  public mjSolverStat_ solver3175;
-  public mjSolverStat_ solver3176;
-  public mjSolverStat_ solver3177;
-  public mjSolverStat_ solver3178;
-  public mjSolverStat_ solver3179;
-  public mjSolverStat_ solver3180;
-  public mjSolverStat_ solver3181;
-  public mjSolverStat_ solver3182;
-  public mjSolverStat_ solver3183;
-  public mjSolverStat_ solver3184;
-  public mjSolverStat_ solver3185;
-  public mjSolverStat_ solver3186;
-  public mjSolverStat_ solver3187;
-  public mjSolverStat_ solver3188;
-  public mjSolverStat_ solver3189;
-  public mjSolverStat_ solver3190;
-  public mjSolverStat_ solver3191;
-  public mjSolverStat_ solver3192;
-  public mjSolverStat_ solver3193;
-  public mjSolverStat_ solver3194;
-  public mjSolverStat_ solver3195;
-  public mjSolverStat_ solver3196;
-  public mjSolverStat_ solver3197;
-  public mjSolverStat_ solver3198;
-  public mjSolverStat_ solver3199;
-  public mjSolverStat_ solver3200;
-  public mjSolverStat_ solver3201;
-  public mjSolverStat_ solver3202;
-  public mjSolverStat_ solver3203;
-  public mjSolverStat_ solver3204;
-  public mjSolverStat_ solver3205;
-  public mjSolverStat_ solver3206;
-  public mjSolverStat_ solver3207;
-  public mjSolverStat_ solver3208;
-  public mjSolverStat_ solver3209;
-  public mjSolverStat_ solver3210;
-  public mjSolverStat_ solver3211;
-  public mjSolverStat_ solver3212;
-  public mjSolverStat_ solver3213;
-  public mjSolverStat_ solver3214;
-  public mjSolverStat_ solver3215;
-  public mjSolverStat_ solver3216;
-  public mjSolverStat_ solver3217;
-  public mjSolverStat_ solver3218;
-  public mjSolverStat_ solver3219;
-  public mjSolverStat_ solver3220;
-  public mjSolverStat_ solver3221;
-  public mjSolverStat_ solver3222;
-  public mjSolverStat_ solver3223;
-  public mjSolverStat_ solver3224;
-  public mjSolverStat_ solver3225;
-  public mjSolverStat_ solver3226;
-  public mjSolverStat_ solver3227;
-  public mjSolverStat_ solver3228;
-  public mjSolverStat_ solver3229;
-  public mjSolverStat_ solver3230;
-  public mjSolverStat_ solver3231;
-  public mjSolverStat_ solver3232;
-  public mjSolverStat_ solver3233;
-  public mjSolverStat_ solver3234;
-  public mjSolverStat_ solver3235;
-  public mjSolverStat_ solver3236;
-  public mjSolverStat_ solver3237;
-  public mjSolverStat_ solver3238;
-  public mjSolverStat_ solver3239;
-  public mjSolverStat_ solver3240;
-  public mjSolverStat_ solver3241;
-  public mjSolverStat_ solver3242;
-  public mjSolverStat_ solver3243;
-  public mjSolverStat_ solver3244;
-  public mjSolverStat_ solver3245;
-  public mjSolverStat_ solver3246;
-  public mjSolverStat_ solver3247;
-  public mjSolverStat_ solver3248;
-  public mjSolverStat_ solver3249;
-  public mjSolverStat_ solver3250;
-  public mjSolverStat_ solver3251;
-  public mjSolverStat_ solver3252;
-  public mjSolverStat_ solver3253;
-  public mjSolverStat_ solver3254;
-  public mjSolverStat_ solver3255;
-  public mjSolverStat_ solver3256;
-  public mjSolverStat_ solver3257;
-  public mjSolverStat_ solver3258;
-  public mjSolverStat_ solver3259;
-  public mjSolverStat_ solver3260;
-  public mjSolverStat_ solver3261;
-  public mjSolverStat_ solver3262;
-  public mjSolverStat_ solver3263;
-  public mjSolverStat_ solver3264;
-  public mjSolverStat_ solver3265;
-  public mjSolverStat_ solver3266;
-  public mjSolverStat_ solver3267;
-  public mjSolverStat_ solver3268;
-  public mjSolverStat_ solver3269;
-  public mjSolverStat_ solver3270;
-  public mjSolverStat_ solver3271;
-  public mjSolverStat_ solver3272;
-  public mjSolverStat_ solver3273;
-  public mjSolverStat_ solver3274;
-  public mjSolverStat_ solver3275;
-  public mjSolverStat_ solver3276;
-  public mjSolverStat_ solver3277;
-  public mjSolverStat_ solver3278;
-  public mjSolverStat_ solver3279;
-  public mjSolverStat_ solver3280;
-  public mjSolverStat_ solver3281;
-  public mjSolverStat_ solver3282;
-  public mjSolverStat_ solver3283;
-  public mjSolverStat_ solver3284;
-  public mjSolverStat_ solver3285;
-  public mjSolverStat_ solver3286;
-  public mjSolverStat_ solver3287;
-  public mjSolverStat_ solver3288;
-  public mjSolverStat_ solver3289;
-  public mjSolverStat_ solver3290;
-  public mjSolverStat_ solver3291;
-  public mjSolverStat_ solver3292;
-  public mjSolverStat_ solver3293;
-  public mjSolverStat_ solver3294;
-  public mjSolverStat_ solver3295;
-  public mjSolverStat_ solver3296;
-  public mjSolverStat_ solver3297;
-  public mjSolverStat_ solver3298;
-  public mjSolverStat_ solver3299;
-  public mjSolverStat_ solver3300;
-  public mjSolverStat_ solver3301;
-  public mjSolverStat_ solver3302;
-  public mjSolverStat_ solver3303;
-  public mjSolverStat_ solver3304;
-  public mjSolverStat_ solver3305;
-  public mjSolverStat_ solver3306;
-  public mjSolverStat_ solver3307;
-  public mjSolverStat_ solver3308;
-  public mjSolverStat_ solver3309;
-  public mjSolverStat_ solver3310;
-  public mjSolverStat_ solver3311;
-  public mjSolverStat_ solver3312;
-  public mjSolverStat_ solver3313;
-  public mjSolverStat_ solver3314;
-  public mjSolverStat_ solver3315;
-  public mjSolverStat_ solver3316;
-  public mjSolverStat_ solver3317;
-  public mjSolverStat_ solver3318;
-  public mjSolverStat_ solver3319;
-  public mjSolverStat_ solver3320;
-  public mjSolverStat_ solver3321;
-  public mjSolverStat_ solver3322;
-  public mjSolverStat_ solver3323;
-  public mjSolverStat_ solver3324;
-  public mjSolverStat_ solver3325;
-  public mjSolverStat_ solver3326;
-  public mjSolverStat_ solver3327;
-  public mjSolverStat_ solver3328;
-  public mjSolverStat_ solver3329;
-  public mjSolverStat_ solver3330;
-  public mjSolverStat_ solver3331;
-  public mjSolverStat_ solver3332;
-  public mjSolverStat_ solver3333;
-  public mjSolverStat_ solver3334;
-  public mjSolverStat_ solver3335;
-  public mjSolverStat_ solver3336;
-  public mjSolverStat_ solver3337;
-  public mjSolverStat_ solver3338;
-  public mjSolverStat_ solver3339;
-  public mjSolverStat_ solver3340;
-  public mjSolverStat_ solver3341;
-  public mjSolverStat_ solver3342;
-  public mjSolverStat_ solver3343;
-  public mjSolverStat_ solver3344;
-  public mjSolverStat_ solver3345;
-  public mjSolverStat_ solver3346;
-  public mjSolverStat_ solver3347;
-  public mjSolverStat_ solver3348;
-  public mjSolverStat_ solver3349;
-  public mjSolverStat_ solver3350;
-  public mjSolverStat_ solver3351;
-  public mjSolverStat_ solver3352;
-  public mjSolverStat_ solver3353;
-  public mjSolverStat_ solver3354;
-  public mjSolverStat_ solver3355;
-  public mjSolverStat_ solver3356;
-  public mjSolverStat_ solver3357;
-  public mjSolverStat_ solver3358;
-  public mjSolverStat_ solver3359;
-  public mjSolverStat_ solver3360;
-  public mjSolverStat_ solver3361;
-  public mjSolverStat_ solver3362;
-  public mjSolverStat_ solver3363;
-  public mjSolverStat_ solver3364;
-  public mjSolverStat_ solver3365;
-  public mjSolverStat_ solver3366;
-  public mjSolverStat_ solver3367;
-  public mjSolverStat_ solver3368;
-  public mjSolverStat_ solver3369;
-  public mjSolverStat_ solver3370;
-  public mjSolverStat_ solver3371;
-  public mjSolverStat_ solver3372;
-  public mjSolverStat_ solver3373;
-  public mjSolverStat_ solver3374;
-  public mjSolverStat_ solver3375;
-  public mjSolverStat_ solver3376;
-  public mjSolverStat_ solver3377;
-  public mjSolverStat_ solver3378;
-  public mjSolverStat_ solver3379;
-  public mjSolverStat_ solver3380;
-  public mjSolverStat_ solver3381;
-  public mjSolverStat_ solver3382;
-  public mjSolverStat_ solver3383;
-  public mjSolverStat_ solver3384;
-  public mjSolverStat_ solver3385;
-  public mjSolverStat_ solver3386;
-  public mjSolverStat_ solver3387;
-  public mjSolverStat_ solver3388;
-  public mjSolverStat_ solver3389;
-  public mjSolverStat_ solver3390;
-  public mjSolverStat_ solver3391;
-  public mjSolverStat_ solver3392;
-  public mjSolverStat_ solver3393;
-  public mjSolverStat_ solver3394;
-  public mjSolverStat_ solver3395;
-  public mjSolverStat_ solver3396;
-  public mjSolverStat_ solver3397;
-  public mjSolverStat_ solver3398;
-  public mjSolverStat_ solver3399;
-  public mjSolverStat_ solver3400;
-  public mjSolverStat_ solver3401;
-  public mjSolverStat_ solver3402;
-  public mjSolverStat_ solver3403;
-  public mjSolverStat_ solver3404;
-  public mjSolverStat_ solver3405;
-  public mjSolverStat_ solver3406;
-  public mjSolverStat_ solver3407;
-  public mjSolverStat_ solver3408;
-  public mjSolverStat_ solver3409;
-  public mjSolverStat_ solver3410;
-  public mjSolverStat_ solver3411;
-  public mjSolverStat_ solver3412;
-  public mjSolverStat_ solver3413;
-  public mjSolverStat_ solver3414;
-  public mjSolverStat_ solver3415;
-  public mjSolverStat_ solver3416;
-  public mjSolverStat_ solver3417;
-  public mjSolverStat_ solver3418;
-  public mjSolverStat_ solver3419;
-  public mjSolverStat_ solver3420;
-  public mjSolverStat_ solver3421;
-  public mjSolverStat_ solver3422;
-  public mjSolverStat_ solver3423;
-  public mjSolverStat_ solver3424;
-  public mjSolverStat_ solver3425;
-  public mjSolverStat_ solver3426;
-  public mjSolverStat_ solver3427;
-  public mjSolverStat_ solver3428;
-  public mjSolverStat_ solver3429;
-  public mjSolverStat_ solver3430;
-  public mjSolverStat_ solver3431;
-  public mjSolverStat_ solver3432;
-  public mjSolverStat_ solver3433;
-  public mjSolverStat_ solver3434;
-  public mjSolverStat_ solver3435;
-  public mjSolverStat_ solver3436;
-  public mjSolverStat_ solver3437;
-  public mjSolverStat_ solver3438;
-  public mjSolverStat_ solver3439;
-  public mjSolverStat_ solver3440;
-  public mjSolverStat_ solver3441;
-  public mjSolverStat_ solver3442;
-  public mjSolverStat_ solver3443;
-  public mjSolverStat_ solver3444;
-  public mjSolverStat_ solver3445;
-  public mjSolverStat_ solver3446;
-  public mjSolverStat_ solver3447;
-  public mjSolverStat_ solver3448;
-  public mjSolverStat_ solver3449;
-  public mjSolverStat_ solver3450;
-  public mjSolverStat_ solver3451;
-  public mjSolverStat_ solver3452;
-  public mjSolverStat_ solver3453;
-  public mjSolverStat_ solver3454;
-  public mjSolverStat_ solver3455;
-  public mjSolverStat_ solver3456;
-  public mjSolverStat_ solver3457;
-  public mjSolverStat_ solver3458;
-  public mjSolverStat_ solver3459;
-  public mjSolverStat_ solver3460;
-  public mjSolverStat_ solver3461;
-  public mjSolverStat_ solver3462;
-  public mjSolverStat_ solver3463;
-  public mjSolverStat_ solver3464;
-  public mjSolverStat_ solver3465;
-  public mjSolverStat_ solver3466;
-  public mjSolverStat_ solver3467;
-  public mjSolverStat_ solver3468;
-  public mjSolverStat_ solver3469;
-  public mjSolverStat_ solver3470;
-  public mjSolverStat_ solver3471;
-  public mjSolverStat_ solver3472;
-  public mjSolverStat_ solver3473;
-  public mjSolverStat_ solver3474;
-  public mjSolverStat_ solver3475;
-  public mjSolverStat_ solver3476;
-  public mjSolverStat_ solver3477;
-  public mjSolverStat_ solver3478;
-  public mjSolverStat_ solver3479;
-  public mjSolverStat_ solver3480;
-  public mjSolverStat_ solver3481;
-  public mjSolverStat_ solver3482;
-  public mjSolverStat_ solver3483;
-  public mjSolverStat_ solver3484;
-  public mjSolverStat_ solver3485;
-  public mjSolverStat_ solver3486;
-  public mjSolverStat_ solver3487;
-  public mjSolverStat_ solver3488;
-  public mjSolverStat_ solver3489;
-  public mjSolverStat_ solver3490;
-  public mjSolverStat_ solver3491;
-  public mjSolverStat_ solver3492;
-  public mjSolverStat_ solver3493;
-  public mjSolverStat_ solver3494;
-  public mjSolverStat_ solver3495;
-  public mjSolverStat_ solver3496;
-  public mjSolverStat_ solver3497;
-  public mjSolverStat_ solver3498;
-  public mjSolverStat_ solver3499;
-  public mjSolverStat_ solver3500;
-  public mjSolverStat_ solver3501;
-  public mjSolverStat_ solver3502;
-  public mjSolverStat_ solver3503;
-  public mjSolverStat_ solver3504;
-  public mjSolverStat_ solver3505;
-  public mjSolverStat_ solver3506;
-  public mjSolverStat_ solver3507;
-  public mjSolverStat_ solver3508;
-  public mjSolverStat_ solver3509;
-  public mjSolverStat_ solver3510;
-  public mjSolverStat_ solver3511;
-  public mjSolverStat_ solver3512;
-  public mjSolverStat_ solver3513;
-  public mjSolverStat_ solver3514;
-  public mjSolverStat_ solver3515;
-  public mjSolverStat_ solver3516;
-  public mjSolverStat_ solver3517;
-  public mjSolverStat_ solver3518;
-  public mjSolverStat_ solver3519;
-  public mjSolverStat_ solver3520;
-  public mjSolverStat_ solver3521;
-  public mjSolverStat_ solver3522;
-  public mjSolverStat_ solver3523;
-  public mjSolverStat_ solver3524;
-  public mjSolverStat_ solver3525;
-  public mjSolverStat_ solver3526;
-  public mjSolverStat_ solver3527;
-  public mjSolverStat_ solver3528;
-  public mjSolverStat_ solver3529;
-  public mjSolverStat_ solver3530;
-  public mjSolverStat_ solver3531;
-  public mjSolverStat_ solver3532;
-  public mjSolverStat_ solver3533;
-  public mjSolverStat_ solver3534;
-  public mjSolverStat_ solver3535;
-  public mjSolverStat_ solver3536;
-  public mjSolverStat_ solver3537;
-  public mjSolverStat_ solver3538;
-  public mjSolverStat_ solver3539;
-  public mjSolverStat_ solver3540;
-  public mjSolverStat_ solver3541;
-  public mjSolverStat_ solver3542;
-  public mjSolverStat_ solver3543;
-  public mjSolverStat_ solver3544;
-  public mjSolverStat_ solver3545;
-  public mjSolverStat_ solver3546;
-  public mjSolverStat_ solver3547;
-  public mjSolverStat_ solver3548;
-  public mjSolverStat_ solver3549;
-  public mjSolverStat_ solver3550;
-  public mjSolverStat_ solver3551;
-  public mjSolverStat_ solver3552;
-  public mjSolverStat_ solver3553;
-  public mjSolverStat_ solver3554;
-  public mjSolverStat_ solver3555;
-  public mjSolverStat_ solver3556;
-  public mjSolverStat_ solver3557;
-  public mjSolverStat_ solver3558;
-  public mjSolverStat_ solver3559;
-  public mjSolverStat_ solver3560;
-  public mjSolverStat_ solver3561;
-  public mjSolverStat_ solver3562;
-  public mjSolverStat_ solver3563;
-  public mjSolverStat_ solver3564;
-  public mjSolverStat_ solver3565;
-  public mjSolverStat_ solver3566;
-  public mjSolverStat_ solver3567;
-  public mjSolverStat_ solver3568;
-  public mjSolverStat_ solver3569;
-  public mjSolverStat_ solver3570;
-  public mjSolverStat_ solver3571;
-  public mjSolverStat_ solver3572;
-  public mjSolverStat_ solver3573;
-  public mjSolverStat_ solver3574;
-  public mjSolverStat_ solver3575;
-  public mjSolverStat_ solver3576;
-  public mjSolverStat_ solver3577;
-  public mjSolverStat_ solver3578;
-  public mjSolverStat_ solver3579;
-  public mjSolverStat_ solver3580;
-  public mjSolverStat_ solver3581;
-  public mjSolverStat_ solver3582;
-  public mjSolverStat_ solver3583;
-  public mjSolverStat_ solver3584;
-  public mjSolverStat_ solver3585;
-  public mjSolverStat_ solver3586;
-  public mjSolverStat_ solver3587;
-  public mjSolverStat_ solver3588;
-  public mjSolverStat_ solver3589;
-  public mjSolverStat_ solver3590;
-  public mjSolverStat_ solver3591;
-  public mjSolverStat_ solver3592;
-  public mjSolverStat_ solver3593;
-  public mjSolverStat_ solver3594;
-  public mjSolverStat_ solver3595;
-  public mjSolverStat_ solver3596;
-  public mjSolverStat_ solver3597;
-  public mjSolverStat_ solver3598;
-  public mjSolverStat_ solver3599;
-  public mjSolverStat_ solver3600;
-  public mjSolverStat_ solver3601;
-  public mjSolverStat_ solver3602;
-  public mjSolverStat_ solver3603;
-  public mjSolverStat_ solver3604;
-  public mjSolverStat_ solver3605;
-  public mjSolverStat_ solver3606;
-  public mjSolverStat_ solver3607;
-  public mjSolverStat_ solver3608;
-  public mjSolverStat_ solver3609;
-  public mjSolverStat_ solver3610;
-  public mjSolverStat_ solver3611;
-  public mjSolverStat_ solver3612;
-  public mjSolverStat_ solver3613;
-  public mjSolverStat_ solver3614;
-  public mjSolverStat_ solver3615;
-  public mjSolverStat_ solver3616;
-  public mjSolverStat_ solver3617;
-  public mjSolverStat_ solver3618;
-  public mjSolverStat_ solver3619;
-  public mjSolverStat_ solver3620;
-  public mjSolverStat_ solver3621;
-  public mjSolverStat_ solver3622;
-  public mjSolverStat_ solver3623;
-  public mjSolverStat_ solver3624;
-  public mjSolverStat_ solver3625;
-  public mjSolverStat_ solver3626;
-  public mjSolverStat_ solver3627;
-  public mjSolverStat_ solver3628;
-  public mjSolverStat_ solver3629;
-  public mjSolverStat_ solver3630;
-  public mjSolverStat_ solver3631;
-  public mjSolverStat_ solver3632;
-  public mjSolverStat_ solver3633;
-  public mjSolverStat_ solver3634;
-  public mjSolverStat_ solver3635;
-  public mjSolverStat_ solver3636;
-  public mjSolverStat_ solver3637;
-  public mjSolverStat_ solver3638;
-  public mjSolverStat_ solver3639;
-  public mjSolverStat_ solver3640;
-  public mjSolverStat_ solver3641;
-  public mjSolverStat_ solver3642;
-  public mjSolverStat_ solver3643;
-  public mjSolverStat_ solver3644;
-  public mjSolverStat_ solver3645;
-  public mjSolverStat_ solver3646;
-  public mjSolverStat_ solver3647;
-  public mjSolverStat_ solver3648;
-  public mjSolverStat_ solver3649;
-  public mjSolverStat_ solver3650;
-  public mjSolverStat_ solver3651;
-  public mjSolverStat_ solver3652;
-  public mjSolverStat_ solver3653;
-  public mjSolverStat_ solver3654;
-  public mjSolverStat_ solver3655;
-  public mjSolverStat_ solver3656;
-  public mjSolverStat_ solver3657;
-  public mjSolverStat_ solver3658;
-  public mjSolverStat_ solver3659;
-  public mjSolverStat_ solver3660;
-  public mjSolverStat_ solver3661;
-  public mjSolverStat_ solver3662;
-  public mjSolverStat_ solver3663;
-  public mjSolverStat_ solver3664;
-  public mjSolverStat_ solver3665;
-  public mjSolverStat_ solver3666;
-  public mjSolverStat_ solver3667;
-  public mjSolverStat_ solver3668;
-  public mjSolverStat_ solver3669;
-  public mjSolverStat_ solver3670;
-  public mjSolverStat_ solver3671;
-  public mjSolverStat_ solver3672;
-  public mjSolverStat_ solver3673;
-  public mjSolverStat_ solver3674;
-  public mjSolverStat_ solver3675;
-  public mjSolverStat_ solver3676;
-  public mjSolverStat_ solver3677;
-  public mjSolverStat_ solver3678;
-  public mjSolverStat_ solver3679;
-  public mjSolverStat_ solver3680;
-  public mjSolverStat_ solver3681;
-  public mjSolverStat_ solver3682;
-  public mjSolverStat_ solver3683;
-  public mjSolverStat_ solver3684;
-  public mjSolverStat_ solver3685;
-  public mjSolverStat_ solver3686;
-  public mjSolverStat_ solver3687;
-  public mjSolverStat_ solver3688;
-  public mjSolverStat_ solver3689;
-  public mjSolverStat_ solver3690;
-  public mjSolverStat_ solver3691;
-  public mjSolverStat_ solver3692;
-  public mjSolverStat_ solver3693;
-  public mjSolverStat_ solver3694;
-  public mjSolverStat_ solver3695;
-  public mjSolverStat_ solver3696;
-  public mjSolverStat_ solver3697;
-  public mjSolverStat_ solver3698;
-  public mjSolverStat_ solver3699;
-  public mjSolverStat_ solver3700;
-  public mjSolverStat_ solver3701;
-  public mjSolverStat_ solver3702;
-  public mjSolverStat_ solver3703;
-  public mjSolverStat_ solver3704;
-  public mjSolverStat_ solver3705;
-  public mjSolverStat_ solver3706;
-  public mjSolverStat_ solver3707;
-  public mjSolverStat_ solver3708;
-  public mjSolverStat_ solver3709;
-  public mjSolverStat_ solver3710;
-  public mjSolverStat_ solver3711;
-  public mjSolverStat_ solver3712;
-  public mjSolverStat_ solver3713;
-  public mjSolverStat_ solver3714;
-  public mjSolverStat_ solver3715;
-  public mjSolverStat_ solver3716;
-  public mjSolverStat_ solver3717;
-  public mjSolverStat_ solver3718;
-  public mjSolverStat_ solver3719;
-  public mjSolverStat_ solver3720;
-  public mjSolverStat_ solver3721;
-  public mjSolverStat_ solver3722;
-  public mjSolverStat_ solver3723;
-  public mjSolverStat_ solver3724;
-  public mjSolverStat_ solver3725;
-  public mjSolverStat_ solver3726;
-  public mjSolverStat_ solver3727;
-  public mjSolverStat_ solver3728;
-  public mjSolverStat_ solver3729;
-  public mjSolverStat_ solver3730;
-  public mjSolverStat_ solver3731;
-  public mjSolverStat_ solver3732;
-  public mjSolverStat_ solver3733;
-  public mjSolverStat_ solver3734;
-  public mjSolverStat_ solver3735;
-  public mjSolverStat_ solver3736;
-  public mjSolverStat_ solver3737;
-  public mjSolverStat_ solver3738;
-  public mjSolverStat_ solver3739;
-  public mjSolverStat_ solver3740;
-  public mjSolverStat_ solver3741;
-  public mjSolverStat_ solver3742;
-  public mjSolverStat_ solver3743;
-  public mjSolverStat_ solver3744;
-  public mjSolverStat_ solver3745;
-  public mjSolverStat_ solver3746;
-  public mjSolverStat_ solver3747;
-  public mjSolverStat_ solver3748;
-  public mjSolverStat_ solver3749;
-  public mjSolverStat_ solver3750;
-  public mjSolverStat_ solver3751;
-  public mjSolverStat_ solver3752;
-  public mjSolverStat_ solver3753;
-  public mjSolverStat_ solver3754;
-  public mjSolverStat_ solver3755;
-  public mjSolverStat_ solver3756;
-  public mjSolverStat_ solver3757;
-  public mjSolverStat_ solver3758;
-  public mjSolverStat_ solver3759;
-  public mjSolverStat_ solver3760;
-  public mjSolverStat_ solver3761;
-  public mjSolverStat_ solver3762;
-  public mjSolverStat_ solver3763;
-  public mjSolverStat_ solver3764;
-  public mjSolverStat_ solver3765;
-  public mjSolverStat_ solver3766;
-  public mjSolverStat_ solver3767;
-  public mjSolverStat_ solver3768;
-  public mjSolverStat_ solver3769;
-  public mjSolverStat_ solver3770;
-  public mjSolverStat_ solver3771;
-  public mjSolverStat_ solver3772;
-  public mjSolverStat_ solver3773;
-  public mjSolverStat_ solver3774;
-  public mjSolverStat_ solver3775;
-  public mjSolverStat_ solver3776;
-  public mjSolverStat_ solver3777;
-  public mjSolverStat_ solver3778;
-  public mjSolverStat_ solver3779;
-  public mjSolverStat_ solver3780;
-  public mjSolverStat_ solver3781;
-  public mjSolverStat_ solver3782;
-  public mjSolverStat_ solver3783;
-  public mjSolverStat_ solver3784;
-  public mjSolverStat_ solver3785;
-  public mjSolverStat_ solver3786;
-  public mjSolverStat_ solver3787;
-  public mjSolverStat_ solver3788;
-  public mjSolverStat_ solver3789;
-  public mjSolverStat_ solver3790;
-  public mjSolverStat_ solver3791;
-  public mjSolverStat_ solver3792;
-  public mjSolverStat_ solver3793;
-  public mjSolverStat_ solver3794;
-  public mjSolverStat_ solver3795;
-  public mjSolverStat_ solver3796;
-  public mjSolverStat_ solver3797;
-  public mjSolverStat_ solver3798;
-  public mjSolverStat_ solver3799;
-  public mjSolverStat_ solver3800;
-  public mjSolverStat_ solver3801;
-  public mjSolverStat_ solver3802;
-  public mjSolverStat_ solver3803;
-  public mjSolverStat_ solver3804;
-  public mjSolverStat_ solver3805;
-  public mjSolverStat_ solver3806;
-  public mjSolverStat_ solver3807;
-  public mjSolverStat_ solver3808;
-  public mjSolverStat_ solver3809;
-  public mjSolverStat_ solver3810;
-  public mjSolverStat_ solver3811;
-  public mjSolverStat_ solver3812;
-  public mjSolverStat_ solver3813;
-  public mjSolverStat_ solver3814;
-  public mjSolverStat_ solver3815;
-  public mjSolverStat_ solver3816;
-  public mjSolverStat_ solver3817;
-  public mjSolverStat_ solver3818;
-  public mjSolverStat_ solver3819;
-  public mjSolverStat_ solver3820;
-  public mjSolverStat_ solver3821;
-  public mjSolverStat_ solver3822;
-  public mjSolverStat_ solver3823;
-  public mjSolverStat_ solver3824;
-  public mjSolverStat_ solver3825;
-  public mjSolverStat_ solver3826;
-  public mjSolverStat_ solver3827;
-  public mjSolverStat_ solver3828;
-  public mjSolverStat_ solver3829;
-  public mjSolverStat_ solver3830;
-  public mjSolverStat_ solver3831;
-  public mjSolverStat_ solver3832;
-  public mjSolverStat_ solver3833;
-  public mjSolverStat_ solver3834;
-  public mjSolverStat_ solver3835;
-  public mjSolverStat_ solver3836;
-  public mjSolverStat_ solver3837;
-  public mjSolverStat_ solver3838;
-  public mjSolverStat_ solver3839;
-  public mjSolverStat_ solver3840;
-  public mjSolverStat_ solver3841;
-  public mjSolverStat_ solver3842;
-  public mjSolverStat_ solver3843;
-  public mjSolverStat_ solver3844;
-  public mjSolverStat_ solver3845;
-  public mjSolverStat_ solver3846;
-  public mjSolverStat_ solver3847;
-  public mjSolverStat_ solver3848;
-  public mjSolverStat_ solver3849;
-  public mjSolverStat_ solver3850;
-  public mjSolverStat_ solver3851;
-  public mjSolverStat_ solver3852;
-  public mjSolverStat_ solver3853;
-  public mjSolverStat_ solver3854;
-  public mjSolverStat_ solver3855;
-  public mjSolverStat_ solver3856;
-  public mjSolverStat_ solver3857;
-  public mjSolverStat_ solver3858;
-  public mjSolverStat_ solver3859;
-  public mjSolverStat_ solver3860;
-  public mjSolverStat_ solver3861;
-  public mjSolverStat_ solver3862;
-  public mjSolverStat_ solver3863;
-  public mjSolverStat_ solver3864;
-  public mjSolverStat_ solver3865;
-  public mjSolverStat_ solver3866;
-  public mjSolverStat_ solver3867;
-  public mjSolverStat_ solver3868;
-  public mjSolverStat_ solver3869;
-  public mjSolverStat_ solver3870;
-  public mjSolverStat_ solver3871;
-  public mjSolverStat_ solver3872;
-  public mjSolverStat_ solver3873;
-  public mjSolverStat_ solver3874;
-  public mjSolverStat_ solver3875;
-  public mjSolverStat_ solver3876;
-  public mjSolverStat_ solver3877;
-  public mjSolverStat_ solver3878;
-  public mjSolverStat_ solver3879;
-  public mjSolverStat_ solver3880;
-  public mjSolverStat_ solver3881;
-  public mjSolverStat_ solver3882;
-  public mjSolverStat_ solver3883;
-  public mjSolverStat_ solver3884;
-  public mjSolverStat_ solver3885;
-  public mjSolverStat_ solver3886;
-  public mjSolverStat_ solver3887;
-  public mjSolverStat_ solver3888;
-  public mjSolverStat_ solver3889;
-  public mjSolverStat_ solver3890;
-  public mjSolverStat_ solver3891;
-  public mjSolverStat_ solver3892;
-  public mjSolverStat_ solver3893;
-  public mjSolverStat_ solver3894;
-  public mjSolverStat_ solver3895;
-  public mjSolverStat_ solver3896;
-  public mjSolverStat_ solver3897;
-  public mjSolverStat_ solver3898;
-  public mjSolverStat_ solver3899;
-  public mjSolverStat_ solver3900;
-  public mjSolverStat_ solver3901;
-  public mjSolverStat_ solver3902;
-  public mjSolverStat_ solver3903;
-  public mjSolverStat_ solver3904;
-  public mjSolverStat_ solver3905;
-  public mjSolverStat_ solver3906;
-  public mjSolverStat_ solver3907;
-  public mjSolverStat_ solver3908;
-  public mjSolverStat_ solver3909;
-  public mjSolverStat_ solver3910;
-  public mjSolverStat_ solver3911;
-  public mjSolverStat_ solver3912;
-  public mjSolverStat_ solver3913;
-  public mjSolverStat_ solver3914;
-  public mjSolverStat_ solver3915;
-  public mjSolverStat_ solver3916;
-  public mjSolverStat_ solver3917;
-  public mjSolverStat_ solver3918;
-  public mjSolverStat_ solver3919;
-  public mjSolverStat_ solver3920;
-  public mjSolverStat_ solver3921;
-  public mjSolverStat_ solver3922;
-  public mjSolverStat_ solver3923;
-  public mjSolverStat_ solver3924;
-  public mjSolverStat_ solver3925;
-  public mjSolverStat_ solver3926;
-  public mjSolverStat_ solver3927;
-  public mjSolverStat_ solver3928;
-  public mjSolverStat_ solver3929;
-  public mjSolverStat_ solver3930;
-  public mjSolverStat_ solver3931;
-  public mjSolverStat_ solver3932;
-  public mjSolverStat_ solver3933;
-  public mjSolverStat_ solver3934;
-  public mjSolverStat_ solver3935;
-  public mjSolverStat_ solver3936;
-  public mjSolverStat_ solver3937;
-  public mjSolverStat_ solver3938;
-  public mjSolverStat_ solver3939;
-  public mjSolverStat_ solver3940;
-  public mjSolverStat_ solver3941;
-  public mjSolverStat_ solver3942;
-  public mjSolverStat_ solver3943;
-  public mjSolverStat_ solver3944;
-  public mjSolverStat_ solver3945;
-  public mjSolverStat_ solver3946;
-  public mjSolverStat_ solver3947;
-  public mjSolverStat_ solver3948;
-  public mjSolverStat_ solver3949;
-  public mjSolverStat_ solver3950;
-  public mjSolverStat_ solver3951;
-  public mjSolverStat_ solver3952;
-  public mjSolverStat_ solver3953;
-  public mjSolverStat_ solver3954;
-  public mjSolverStat_ solver3955;
-  public mjSolverStat_ solver3956;
-  public mjSolverStat_ solver3957;
-  public mjSolverStat_ solver3958;
-  public mjSolverStat_ solver3959;
-  public mjSolverStat_ solver3960;
-  public mjSolverStat_ solver3961;
-  public mjSolverStat_ solver3962;
-  public mjSolverStat_ solver3963;
-  public mjSolverStat_ solver3964;
-  public mjSolverStat_ solver3965;
-  public mjSolverStat_ solver3966;
-  public mjSolverStat_ solver3967;
-  public mjSolverStat_ solver3968;
-  public mjSolverStat_ solver3969;
-  public mjSolverStat_ solver3970;
-  public mjSolverStat_ solver3971;
-  public mjSolverStat_ solver3972;
-  public mjSolverStat_ solver3973;
-  public mjSolverStat_ solver3974;
-  public mjSolverStat_ solver3975;
-  public mjSolverStat_ solver3976;
-  public mjSolverStat_ solver3977;
-  public mjSolverStat_ solver3978;
-  public mjSolverStat_ solver3979;
-  public mjSolverStat_ solver3980;
-  public mjSolverStat_ solver3981;
-  public mjSolverStat_ solver3982;
-  public mjSolverStat_ solver3983;
-  public mjSolverStat_ solver3984;
-  public mjSolverStat_ solver3985;
-  public mjSolverStat_ solver3986;
-  public mjSolverStat_ solver3987;
-  public mjSolverStat_ solver3988;
-  public mjSolverStat_ solver3989;
-  public mjSolverStat_ solver3990;
-  public mjSolverStat_ solver3991;
-  public mjSolverStat_ solver3992;
-  public mjSolverStat_ solver3993;
-  public mjSolverStat_ solver3994;
-  public mjSolverStat_ solver3995;
-  public mjSolverStat_ solver3996;
-  public mjSolverStat_ solver3997;
-  public mjSolverStat_ solver3998;
-  public mjSolverStat_ solver3999;
-  public fixed int solver_niter[20];
-  public fixed int solver_nnz[20];
-  public fixed double solver_fwdinv[2];
-  public mjWarningStat_ warning0;
-  public mjWarningStat_ warning1;
-  public mjWarningStat_ warning2;
-  public mjWarningStat_ warning3;
-  public mjWarningStat_ warning4;
-  public mjWarningStat_ warning5;
-  public mjWarningStat_ warning6;
-  public mjTimerStat_ timer0;
-  public mjTimerStat_ timer1;
-  public mjTimerStat_ timer2;
-  public mjTimerStat_ timer3;
-  public mjTimerStat_ timer4;
-  public mjTimerStat_ timer5;
-  public mjTimerStat_ timer6;
-  public mjTimerStat_ timer7;
-  public mjTimerStat_ timer8;
-  public mjTimerStat_ timer9;
-  public mjTimerStat_ timer10;
-  public mjTimerStat_ timer11;
-  public mjTimerStat_ timer12;
-  public mjTimerStat_ timer13;
-  public mjTimerStat_ timer14;
-  public int ncon;
-  public int ne;
-  public int nf;
-  public int nl;
-  public int nefc;
-  public int nJ;
-  public int efm_active;
-  public int nefmK;
-  public int nefmdof;
-  public int nefmL;
-  public int nY;
-  public int nA;
-  public int nisland;
-  public int nidof;
-  public int ntree_awake;
-  public int nbody_awake;
-  public int nparent_awake;
-  public int nv_awake;
-  public byte flg_energypos;
-  public byte flg_energyvel;
-  public byte flg_subtreevel;
-  public byte flg_rnepost;
-  public double time;
-  public fixed double energy[2];
-  public void* buffer;
-  public void* arena;
-  public double* qpos;
-  public double* qvel;
-  public double* act;
-  public double* history;
-  public double* qacc_warmstart;
-  public double* plugin_state;
-  public double* ctrl;
-  public double* qfrc_applied;
-  public double* xfrc_applied;
-  public byte* eq_active;
-  public double* mocap_pos;
-  public double* mocap_quat;
-  public double* qacc;
-  public double* act_dot;
-  public double* userdata;
-  public double* sensordata;
-  public int* tree_asleep;
-  public int* plugin;
-  public UIntPtr* plugin_data;
-  public double* xpos;
-  public double* xquat;
-  public double* xmat;
-  public double* xipos;
-  public double* ximat;
-  public double* xanchor;
-  public double* xaxis;
-  public double* geom_xpos;
-  public double* geom_xmat;
-  public double* site_xpos;
-  public double* site_xmat;
-  public double* cam_xpos;
-  public double* cam_xmat;
-  public double* light_xpos;
-  public double* light_xdir;
-  public double* subtree_com;
-  public double* cdof;
-  public double* cinert;
-  public double* flexvert_xpos;
-  public double* flexelem_aabb;
-  public double* flexelem_krot;
-  public double* flexedge_J;
-  public double* flexedge_length;
-  public double* flexvert_J;
-  public double* flexvert_length;
-  public double* bvh_aabb_dyn;
-  public int* ten_wrapadr;
-  public int* ten_wrapnum;
-  public double* ten_J;
-  public double* ten_length;
-  public int* wrap_obj;
-  public double* wrap_xpos;
-  public double* actuator_length;
-  public int* moment_rownnz;
-  public int* moment_rowadr;
-  public int* moment_colind;
-  public double* actuator_moment;
-  public double* crb;
-  public double* M;
-  public double* qLD;
-  public double* qLDiagInv;
-  public byte* bvh_active;
-  public int* tree_awake;
-  public int* body_awake;
-  public int* body_awake_ind;
-  public int* parent_awake_ind;
-  public int* dof_awake_ind;
-  public double* flexedge_velocity;
-  public double* ten_velocity;
-  public double* actuator_velocity;
-  public double* cvel;
-  public double* cdof_dot;
-  public double* qfrc_bias;
-  public double* qfrc_spring;
-  public double* qfrc_damper;
-  public double* qfrc_gravcomp;
-  public double* qfrc_fluid;
-  public double* qfrc_adhesion;
-  public double* qfrc_passive;
-  public double* subtree_linvel;
-  public double* subtree_angmom;
-  public double* qH;
-  public double* qHDiagInv;
-  public double* qDeriv;
-  public double* qLU;
-  public double* actuator_force;
-  public double* qfrc_actuator;
-  public double* qfrc_smooth;
-  public double* qacc_smooth;
-  public double* qfrc_constraint;
-  public double* qfrc_inverse;
-  public double* cacc;
-  public double* cfrc_int;
-  public double* cfrc_ext;
-  public mjContact_* contact;
-  public int* efc_type;
-  public int* efc_id;
-  public int* efc_J_rownnz;
-  public int* efc_J_rowadr;
-  public int* efc_J_rowsuper;
-  public int* efc_J_colind;
-  public double* efc_J;
-  public double* efc_pos;
-  public double* efc_margin;
-  public double* efc_frictionloss;
-  public double* efc_diagA;
-  public double* efc_KBIP;
-  public double* efc_D;
-  public double* efc_R;
-  public int* tendon_efcadr;
-  public int* tree_island;
-  public int* island_ntree;
-  public int* island_itreeadr;
-  public int* map_itree2tree;
-  public int* dof_island;
-  public int* island_nv;
-  public int* island_idofadr;
-  public int* island_dofadr;
-  public int* map_dof2idof;
-  public int* map_idof2dof;
-  public double* ifrc_smooth;
-  public double* iacc_smooth;
-  public double* iacc;
-  public int* efc_island;
-  public int* island_ne;
-  public int* island_nf;
-  public int* island_nefc;
-  public int* island_iefcadr;
-  public int* map_efc2iefc;
-  public int* map_iefc2efc;
-  public int* iefc_type;
-  public int* iefc_id;
-  public double* iefc_frictionloss;
-  public double* iefc_D;
-  public double* iefc_R;
-  public int* efc_Y_rownnz;
-  public int* efc_Y_rowadr;
-  public int* efc_Y_colind;
-  public double* efc_Y;
-  public int* efc_AR_rownnz;
-  public int* efc_AR_rowadr;
-  public int* efc_AR_colind;
-  public double* efc_AR;
-  public double* efc_vel;
-  public double* efc_aref;
-  public double* efm_c;
-  public int* efm_K_rownnz;
-  public int* efm_K_rowadr;
-  public int* efm_K_colind;
-  public double* efm_K_val;
-  public int* efm_dofid;
-  public double* efm_L;
-  public double* efc_b;
-  public double* iefc_aref;
-  public int* iefc_state;
-  public double* iefc_force;
-  public int* efc_state;
-  public double* efc_force;
-  public double* ifrc_constraint;
-  public UInt64 signature;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjsCompiler_ {
-  public byte autolimits;
-  public double boundmass;
-  public double boundinertia;
-  public double settotalmass;
-  public byte balanceinertia;
-  public byte fitaabb;
-  public byte degree;
-  public fixed char eulerseq[3];
-  public byte discardvisual;
-  public byte usethread;
-  public byte fusestatic;
-  public mjtInertiaFromGeom inertiafromgeom;
-  public fixed int inertiagrouprange[2];
-  public byte saveinertial;
-  public byte alignfree;
-  public mjtConflict conflict;
-  public mjLROpt_ LRopt;
-  public void* meshdir;
-  public void* texturedir;
-  public UInt64 authored;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjsAuthored_ {
-  public UInt64 option;
-  public int disableflags;
-  public int enableflags;
-  public int disableactuator;
-  public UInt64 visual_global;
-  public UInt64 visual_quality;
-  public UInt64 visual_headlight;
-  public UInt64 visual_map;
-  public UInt64 visual_scale;
-  public UInt64 visual_rgba;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjvPerturb_ {
-  public int select;
-  public int flexselect;
-  public int skinselect;
-  public int active;
-  public int active2;
-  public fixed double refpos[3];
-  public fixed double refquat[4];
-  public fixed double refselpos[3];
-  public fixed double localpos[3];
-  public double localmass;
-  public double scale;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjvCamera_ {
-  public int type;
-  public int fixedcamid;
-  public int trackbodyid;
-  public fixed double lookat[3];
-  public double distance;
-  public double azimuth;
-  public double elevation;
-  public int orthographic;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjvGLCamera_ {
-  public fixed float pos[3];
-  public fixed float forward[3];
-  public fixed float up[3];
-  public float frustum_center;
-  public float frustum_width;
-  public float frustum_bottom;
-  public float frustum_top;
-  public float frustum_near;
-  public float frustum_far;
-  public int orthographic;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjvGeom_ {
-  public int type;
-  public int dataid;
-  public int objtype;
-  public int objid;
-  public int category;
-  public int matid;
-  public int texid;
-  public int texuniform;
-  public int texcoord;
-  public int segid;
-  public fixed float size[3];
-  public fixed float pos[3];
-  public fixed float mat[9];
-  public fixed float rgba[4];
-  public float emission;
-  public float specular;
-  public float shininess;
-  public float reflectance;
-  public fixed float texrepeat[2];
-  public fixed char label[100];
-  public float camdist;
-  public float modelrbound;
-  public byte transparent;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjvLight_ {
-  public int id;
-  public fixed float pos[3];
-  public fixed float dir[3];
-  public int type;
-  public int texid;
-  public fixed float attenuation[3];
-  public float cutoff;
-  public float exponent;
-  public fixed float ambient[3];
-  public fixed float diffuse[3];
-  public fixed float specular[3];
-  public byte headlight;
-  public byte castshadow;
-  public float bulbradius;
-  public float intensity;
-  public float range;
-  public float softness;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjvOption_ {
-  public int label;
-  public int frame;
-  public fixed byte geomgroup[6];
-  public fixed byte sitegroup[6];
-  public fixed byte jointgroup[6];
-  public fixed byte tendongroup[6];
-  public fixed byte actuatorgroup[6];
-  public fixed byte flexgroup[6];
-  public fixed byte skingroup[6];
-  public fixed byte flags[31];
-  public int bvh_depth;
-  public int flex_layer;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjvScene_ {
-  public int maxgeom;
-  public int ngeom;
-  public mjvGeom_* geoms;
-  public int* geomorder;
-  public int nflex;
-  public int* flexedgeadr;
-  public int* flexedgenum;
-  public int* flexvertadr;
-  public int* flexvertnum;
-  public int* flexfaceadr;
-  public int* flexfacenum;
-  public int* flexfaceused;
-  public int* flexedge;
-  public float* flexvert;
-  public float* flexface;
-  public float* flexnormal;
-  public float* flextexcoord;
-  public byte flexvertopt;
-  public byte flexedgeopt;
-  public byte flexfaceopt;
-  public byte flexskinopt;
-  public int nskin;
-  public int* skinfacenum;
-  public int* skinvertadr;
-  public int* skinvertnum;
-  public float* skinvert;
-  public float* skinnormal;
-  public int nlight;
-  public mjvLight_ lights0;
-  public mjvLight_ lights1;
-  public mjvLight_ lights2;
-  public mjvLight_ lights3;
-  public mjvLight_ lights4;
-  public mjvLight_ lights5;
-  public mjvLight_ lights6;
-  public mjvLight_ lights7;
-  public mjvLight_ lights8;
-  public mjvLight_ lights9;
-  public mjvLight_ lights10;
-  public mjvLight_ lights11;
-  public mjvLight_ lights12;
-  public mjvLight_ lights13;
-  public mjvLight_ lights14;
-  public mjvLight_ lights15;
-  public mjvLight_ lights16;
-  public mjvLight_ lights17;
-  public mjvLight_ lights18;
-  public mjvLight_ lights19;
-  public mjvLight_ lights20;
-  public mjvLight_ lights21;
-  public mjvLight_ lights22;
-  public mjvLight_ lights23;
-  public mjvLight_ lights24;
-  public mjvLight_ lights25;
-  public mjvLight_ lights26;
-  public mjvLight_ lights27;
-  public mjvLight_ lights28;
-  public mjvLight_ lights29;
-  public mjvLight_ lights30;
-  public mjvLight_ lights31;
-  public mjvLight_ lights32;
-  public mjvLight_ lights33;
-  public mjvLight_ lights34;
-  public mjvLight_ lights35;
-  public mjvLight_ lights36;
-  public mjvLight_ lights37;
-  public mjvLight_ lights38;
-  public mjvLight_ lights39;
-  public mjvLight_ lights40;
-  public mjvLight_ lights41;
-  public mjvLight_ lights42;
-  public mjvLight_ lights43;
-  public mjvLight_ lights44;
-  public mjvLight_ lights45;
-  public mjvLight_ lights46;
-  public mjvLight_ lights47;
-  public mjvLight_ lights48;
-  public mjvLight_ lights49;
-  public mjvLight_ lights50;
-  public mjvLight_ lights51;
-  public mjvLight_ lights52;
-  public mjvLight_ lights53;
-  public mjvLight_ lights54;
-  public mjvLight_ lights55;
-  public mjvLight_ lights56;
-  public mjvLight_ lights57;
-  public mjvLight_ lights58;
-  public mjvLight_ lights59;
-  public mjvLight_ lights60;
-  public mjvLight_ lights61;
-  public mjvLight_ lights62;
-  public mjvLight_ lights63;
-  public mjvLight_ lights64;
-  public mjvLight_ lights65;
-  public mjvLight_ lights66;
-  public mjvLight_ lights67;
-  public mjvLight_ lights68;
-  public mjvLight_ lights69;
-  public mjvLight_ lights70;
-  public mjvLight_ lights71;
-  public mjvLight_ lights72;
-  public mjvLight_ lights73;
-  public mjvLight_ lights74;
-  public mjvLight_ lights75;
-  public mjvLight_ lights76;
-  public mjvLight_ lights77;
-  public mjvLight_ lights78;
-  public mjvLight_ lights79;
-  public mjvLight_ lights80;
-  public mjvLight_ lights81;
-  public mjvLight_ lights82;
-  public mjvLight_ lights83;
-  public mjvLight_ lights84;
-  public mjvLight_ lights85;
-  public mjvLight_ lights86;
-  public mjvLight_ lights87;
-  public mjvLight_ lights88;
-  public mjvLight_ lights89;
-  public mjvLight_ lights90;
-  public mjvLight_ lights91;
-  public mjvLight_ lights92;
-  public mjvLight_ lights93;
-  public mjvLight_ lights94;
-  public mjvLight_ lights95;
-  public mjvLight_ lights96;
-  public mjvLight_ lights97;
-  public mjvLight_ lights98;
-  public mjvLight_ lights99;
-  public mjvGLCamera_ camera0;
-  public mjvGLCamera_ camera1;
-  public byte enabletransform;
-  public fixed float translate[3];
-  public fixed float rotate[4];
-  public float scale;
-  public int stereo;
-  public fixed byte flags[11];
-  public int framewidth;
-  public fixed float framergb[3];
-  public int status;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjvFigure_ {
-  public int flg_legend;
-  public fixed int flg_ticklabel[2];
-  public int flg_extend;
-  public int flg_barplot;
-  public int flg_selection;
-  public int flg_symmetric;
-  public float linewidth;
-  public float gridwidth;
-  public fixed int gridsize[2];
-  public fixed float gridrgb[3];
-  public fixed float figurergba[4];
-  public fixed float panergba[4];
-  public fixed float legendrgba[4];
-  public fixed float textrgb[3];
-  public fixed float linergb[100 * 3];
-  public fixed float range[2 * 2];
-  public fixed char xformat[20];
-  public fixed char yformat[20];
-  public fixed char minwidth[20];
-  public fixed char title[1000];
-  public fixed char xlabel[100];
-  public fixed char linename[100 * 100];
-  public int legendoffset;
-  public int subplot;
-  public fixed int highlight[2];
-  public int highlightid;
-  public float selection;
-  public fixed int linepnt[100];
-  public fixed float linedata[100 * 2002];
-  public fixed int xaxispixel[2];
-  public fixed int yaxispixel[2];
-  public fixed float xaxisdata[2];
-  public fixed float yaxisdata[2];
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjrRect_ {
-  public int left;
-  public int bottom;
-  public int width;
-  public int height;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjrRendererInfo_ {
-  public char* renderer;
-  public char* backend;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjrVertexAttribute_ {
-  public int usage;
-  public int type;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjrContext_ {
-  public float lineWidth;
-  public float shadowClip;
-  public float shadowScale;
-  public float fogStart;
-  public float fogEnd;
-  public fixed float fogRGBA[4];
-  public int shadowSize;
-  public int offWidth;
-  public int offHeight;
-  public int offSamples;
-  public int fontScale;
-  public fixed int auxWidth[10];
-  public fixed int auxHeight[10];
-  public fixed int auxSamples[10];
-  public uint offFBO;
-  public uint offFBO_r;
-  public uint offColor;
-  public uint offColor_r;
-  public uint offDepthStencil;
-  public uint offDepthStencil_r;
-  public uint shadowFBO;
-  public uint shadowTex;
-  public fixed uint auxFBO[10];
-  public fixed uint auxFBO_r[10];
-  public fixed uint auxColor[10];
-  public fixed uint auxColor_r[10];
-  public fixed int mat_texid[10000];
-  public fixed int mat_texuniform[1000];
-  public fixed float mat_texrepeat[2000];
-  public int ntexture;
-  public fixed int textureType[1000];
-  public fixed uint texture[1000];
-  public uint basePlane;
-  public uint baseMesh;
-  public uint baseHField;
-  public uint baseBuiltin;
-  public uint baseFontNormal;
-  public uint baseFontShadow;
-  public uint baseFontBig;
-  public int rangePlane;
-  public int rangeMesh;
-  public int rangeHField;
-  public int rangeBuiltin;
-  public int rangeFont;
-  public int nskin;
-  public uint* skinvertVBO;
-  public uint* skinnormalVBO;
-  public uint* skintexcoordVBO;
-  public uint* skinfaceVBO;
-  public fixed int charWidth[127];
-  public fixed int charWidthBig[127];
-  public int charHeight;
-  public int charHeightBig;
-  public int glInitialized;
-  public int windowAvailable;
-  public int windowSamples;
-  public int windowStereo;
-  public int windowDoublebuffer;
-  public int currentBuffer;
-  public int readPixelFormat;
-  public int readDepthMap;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiState_ {
-  public int nrect;
-  public mjrRect_ rect0;
-  public mjrRect_ rect1;
-  public mjrRect_ rect2;
-  public mjrRect_ rect3;
-  public mjrRect_ rect4;
-  public mjrRect_ rect5;
-  public mjrRect_ rect6;
-  public mjrRect_ rect7;
-  public mjrRect_ rect8;
-  public mjrRect_ rect9;
-  public mjrRect_ rect10;
-  public mjrRect_ rect11;
-  public mjrRect_ rect12;
-  public mjrRect_ rect13;
-  public mjrRect_ rect14;
-  public mjrRect_ rect15;
-  public mjrRect_ rect16;
-  public mjrRect_ rect17;
-  public mjrRect_ rect18;
-  public mjrRect_ rect19;
-  public mjrRect_ rect20;
-  public mjrRect_ rect21;
-  public mjrRect_ rect22;
-  public mjrRect_ rect23;
-  public mjrRect_ rect24;
-  public void* userdata;
-  public int type;
-  public int left;
-  public int right;
-  public int middle;
-  public int doubleclick;
-  public int button;
-  public double buttontime;
-  public double x;
-  public double y;
-  public double dx;
-  public double dy;
-  public double sx;
-  public double sy;
-  public int control;
-  public int shift;
-  public int alt;
-  public int key;
-  public double keytime;
-  public int mouserect;
-  public int dragrect;
-  public int dragbutton;
-  public int dropcount;
-  public char** droppaths;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiThemeSpacing_ {
-  public int total;
-  public int scroll;
-  public int label;
-  public int section;
-  public int cornersect;
-  public int cornersep;
-  public int itemside;
-  public int itemmid;
-  public int itemver;
-  public int texthor;
-  public int textver;
-  public int linescroll;
-  public int samples;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiThemeColor_ {
-  public fixed float master[3];
-  public fixed float thumb[3];
-  public fixed float secttitle[3];
-  public fixed float secttitle2[3];
-  public fixed float secttitleuncheck[3];
-  public fixed float secttitleuncheck2[3];
-  public fixed float secttitlecheck[3];
-  public fixed float secttitlecheck2[3];
-  public fixed float sectfont[3];
-  public fixed float sectsymbol[3];
-  public fixed float sectpane[3];
-  public fixed float separator[3];
-  public fixed float separator2[3];
-  public fixed float shortcut[3];
-  public fixed float fontactive[3];
-  public fixed float fontinactive[3];
-  public fixed float decorinactive[3];
-  public fixed float decorinactive2[3];
-  public fixed float button[3];
-  public fixed float check[3];
-  public fixed float radio[3];
-  public fixed float select[3];
-  public fixed float select2[3];
-  public fixed float slider[3];
-  public fixed float slider2[3];
-  public fixed float edit[3];
-  public fixed float edit2[3];
-  public fixed float cursor[3];
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiItem_ {
-  public int type;
-  public fixed char name[40];
-  public int state;
-  public void* pdata;
-  public int sectionid;
-  public int itemid;
-  public int userid;
-  public mjuiItemSingle_ single;
-  public mjuiItemMulti_ multi;
-  public mjuiItemSlider_ slider;
-  public mjuiItemEdit_ edit;
-  public mjrRect_ rect;
-  public int skip;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiSection_ {
-  public fixed char name[40];
-  public int state;
-  public int modifier;
-  public int shortcut;
-  public int checkbox;
-  public int nitem;
-  public mjuiItem_ item0;
-  public mjuiItem_ item1;
-  public mjuiItem_ item2;
-  public mjuiItem_ item3;
-  public mjuiItem_ item4;
-  public mjuiItem_ item5;
-  public mjuiItem_ item6;
-  public mjuiItem_ item7;
-  public mjuiItem_ item8;
-  public mjuiItem_ item9;
-  public mjuiItem_ item10;
-  public mjuiItem_ item11;
-  public mjuiItem_ item12;
-  public mjuiItem_ item13;
-  public mjuiItem_ item14;
-  public mjuiItem_ item15;
-  public mjuiItem_ item16;
-  public mjuiItem_ item17;
-  public mjuiItem_ item18;
-  public mjuiItem_ item19;
-  public mjuiItem_ item20;
-  public mjuiItem_ item21;
-  public mjuiItem_ item22;
-  public mjuiItem_ item23;
-  public mjuiItem_ item24;
-  public mjuiItem_ item25;
-  public mjuiItem_ item26;
-  public mjuiItem_ item27;
-  public mjuiItem_ item28;
-  public mjuiItem_ item29;
-  public mjuiItem_ item30;
-  public mjuiItem_ item31;
-  public mjuiItem_ item32;
-  public mjuiItem_ item33;
-  public mjuiItem_ item34;
-  public mjuiItem_ item35;
-  public mjuiItem_ item36;
-  public mjuiItem_ item37;
-  public mjuiItem_ item38;
-  public mjuiItem_ item39;
-  public mjuiItem_ item40;
-  public mjuiItem_ item41;
-  public mjuiItem_ item42;
-  public mjuiItem_ item43;
-  public mjuiItem_ item44;
-  public mjuiItem_ item45;
-  public mjuiItem_ item46;
-  public mjuiItem_ item47;
-  public mjuiItem_ item48;
-  public mjuiItem_ item49;
-  public mjuiItem_ item50;
-  public mjuiItem_ item51;
-  public mjuiItem_ item52;
-  public mjuiItem_ item53;
-  public mjuiItem_ item54;
-  public mjuiItem_ item55;
-  public mjuiItem_ item56;
-  public mjuiItem_ item57;
-  public mjuiItem_ item58;
-  public mjuiItem_ item59;
-  public mjuiItem_ item60;
-  public mjuiItem_ item61;
-  public mjuiItem_ item62;
-  public mjuiItem_ item63;
-  public mjuiItem_ item64;
-  public mjuiItem_ item65;
-  public mjuiItem_ item66;
-  public mjuiItem_ item67;
-  public mjuiItem_ item68;
-  public mjuiItem_ item69;
-  public mjuiItem_ item70;
-  public mjuiItem_ item71;
-  public mjuiItem_ item72;
-  public mjuiItem_ item73;
-  public mjuiItem_ item74;
-  public mjuiItem_ item75;
-  public mjuiItem_ item76;
-  public mjuiItem_ item77;
-  public mjuiItem_ item78;
-  public mjuiItem_ item79;
-  public mjuiItem_ item80;
-  public mjuiItem_ item81;
-  public mjuiItem_ item82;
-  public mjuiItem_ item83;
-  public mjuiItem_ item84;
-  public mjuiItem_ item85;
-  public mjuiItem_ item86;
-  public mjuiItem_ item87;
-  public mjuiItem_ item88;
-  public mjuiItem_ item89;
-  public mjuiItem_ item90;
-  public mjuiItem_ item91;
-  public mjuiItem_ item92;
-  public mjuiItem_ item93;
-  public mjuiItem_ item94;
-  public mjuiItem_ item95;
-  public mjuiItem_ item96;
-  public mjuiItem_ item97;
-  public mjuiItem_ item98;
-  public mjuiItem_ item99;
-  public mjuiItem_ item100;
-  public mjuiItem_ item101;
-  public mjuiItem_ item102;
-  public mjuiItem_ item103;
-  public mjuiItem_ item104;
-  public mjuiItem_ item105;
-  public mjuiItem_ item106;
-  public mjuiItem_ item107;
-  public mjuiItem_ item108;
-  public mjuiItem_ item109;
-  public mjuiItem_ item110;
-  public mjuiItem_ item111;
-  public mjuiItem_ item112;
-  public mjuiItem_ item113;
-  public mjuiItem_ item114;
-  public mjuiItem_ item115;
-  public mjuiItem_ item116;
-  public mjuiItem_ item117;
-  public mjuiItem_ item118;
-  public mjuiItem_ item119;
-  public mjuiItem_ item120;
-  public mjuiItem_ item121;
-  public mjuiItem_ item122;
-  public mjuiItem_ item123;
-  public mjuiItem_ item124;
-  public mjuiItem_ item125;
-  public mjuiItem_ item126;
-  public mjuiItem_ item127;
-  public mjuiItem_ item128;
-  public mjuiItem_ item129;
-  public mjuiItem_ item130;
-  public mjuiItem_ item131;
-  public mjuiItem_ item132;
-  public mjuiItem_ item133;
-  public mjuiItem_ item134;
-  public mjuiItem_ item135;
-  public mjuiItem_ item136;
-  public mjuiItem_ item137;
-  public mjuiItem_ item138;
-  public mjuiItem_ item139;
-  public mjuiItem_ item140;
-  public mjuiItem_ item141;
-  public mjuiItem_ item142;
-  public mjuiItem_ item143;
-  public mjuiItem_ item144;
-  public mjuiItem_ item145;
-  public mjuiItem_ item146;
-  public mjuiItem_ item147;
-  public mjuiItem_ item148;
-  public mjuiItem_ item149;
-  public mjuiItem_ item150;
-  public mjuiItem_ item151;
-  public mjuiItem_ item152;
-  public mjuiItem_ item153;
-  public mjuiItem_ item154;
-  public mjuiItem_ item155;
-  public mjuiItem_ item156;
-  public mjuiItem_ item157;
-  public mjuiItem_ item158;
-  public mjuiItem_ item159;
-  public mjuiItem_ item160;
-  public mjuiItem_ item161;
-  public mjuiItem_ item162;
-  public mjuiItem_ item163;
-  public mjuiItem_ item164;
-  public mjuiItem_ item165;
-  public mjuiItem_ item166;
-  public mjuiItem_ item167;
-  public mjuiItem_ item168;
-  public mjuiItem_ item169;
-  public mjuiItem_ item170;
-  public mjuiItem_ item171;
-  public mjuiItem_ item172;
-  public mjuiItem_ item173;
-  public mjuiItem_ item174;
-  public mjuiItem_ item175;
-  public mjuiItem_ item176;
-  public mjuiItem_ item177;
-  public mjuiItem_ item178;
-  public mjuiItem_ item179;
-  public mjuiItem_ item180;
-  public mjuiItem_ item181;
-  public mjuiItem_ item182;
-  public mjuiItem_ item183;
-  public mjuiItem_ item184;
-  public mjuiItem_ item185;
-  public mjuiItem_ item186;
-  public mjuiItem_ item187;
-  public mjuiItem_ item188;
-  public mjuiItem_ item189;
-  public mjuiItem_ item190;
-  public mjuiItem_ item191;
-  public mjuiItem_ item192;
-  public mjuiItem_ item193;
-  public mjuiItem_ item194;
-  public mjuiItem_ item195;
-  public mjuiItem_ item196;
-  public mjuiItem_ item197;
-  public mjuiItem_ item198;
-  public mjuiItem_ item199;
-  public mjrRect_ rtitle;
-  public mjrRect_ rcontent;
-  public int lastclick;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjUI_ {
-  public mjuiThemeSpacing_ spacing;
-  public mjuiThemeColor_ color;
-  public IntPtr predicate;
-  public void* userdata;
-  public int rectid;
-  public int auxid;
-  public int radiocol;
-  public int width;
-  public int height;
-  public int maxheight;
-  public int scroll;
-  public int mousesect;
-  public int mouseitem;
-  public int mousehelp;
-  public int mouseclicks;
-  public int mousesectcheck;
-  public int editsect;
-  public int edititem;
-  public int editcursor;
-  public int editscroll;
-  public fixed char edittext[300];
-  public mjuiItem_* editchanged;
-  public int nsect;
-  public mjuiSection_ sect0;
-  public mjuiSection_ sect1;
-  public mjuiSection_ sect2;
-  public mjuiSection_ sect3;
-  public mjuiSection_ sect4;
-  public mjuiSection_ sect5;
-  public mjuiSection_ sect6;
-  public mjuiSection_ sect7;
-  public mjuiSection_ sect8;
-  public mjuiSection_ sect9;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiDef_ {
-  public int type;
-  public fixed char name[40];
-  public int state;
-  public void* pdata;
-  public fixed char other[300];
-  public int otherint;
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct _mjVFS {}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiItemSingle_ {}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiItemMulti_ {}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiItemSlider_ {}
-
-[StructLayout(LayoutKind.Sequential)]
-public unsafe struct mjuiItemEdit_ {}
-
-// ------------------------------Function declarations--------------------------
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_defaultVFS(void* vfs);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_addFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string directory, [MarshalAs(UnmanagedType.LPStr)]string filename);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_addBufferVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string name, void* buffer, int nbuffer);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_deleteFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string filename);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_containsBufferVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string name);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_containsFileVFS(void* vfs, [MarshalAs(UnmanagedType.LPStr)]string directory, [MarshalAs(UnmanagedType.LPStr)]string filename);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_deleteVFS(void* vfs);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern UIntPtr mj_getCacheSize(mjCache_* cache);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern UIntPtr mj_getCacheCapacity(mjCache_* cache);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern UIntPtr mj_setCacheCapacity(mjCache_* cache, UIntPtr size);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjCache_* mj_getCache();
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_clearCache(mjCache_* cache);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjModel_* mj_loadXML([MarshalAs(UnmanagedType.LPStr)]string filename, void* vfs, StringBuilder error, int error_sz);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern UInt64 mj_encode(void* s, mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string content_type, void* vfs, StringBuilder error, int error_sz);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_saveLastXML([MarshalAs(UnmanagedType.LPStr)]string filename, mjModel_* m, StringBuilder error, int error_sz);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_freeLastXML();
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_getXMLDependencies([MarshalAs(UnmanagedType.LPStr)]string filename, void* dependencies);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_step(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_step1(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_step2(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_forward(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_inverse(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_forwardSkip(mjModel_* m, mjData_* d, int skipstage, int skipsensor);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_inverseSkip(mjModel_* m, mjData_* d, int skipstage, int skipsensor);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_defaultLROpt(mjLROpt_* opt);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_defaultSolRefImp(double* solref, double* solimp);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_defaultOption(mjOption_* opt);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_defaultVisual(mjVisual_* vis);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjModel_* mj_copyModel(mjModel_* dest, mjModel_* src);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_saveModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, void* buffer, int buffer_sz);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjModel_* mj_loadModel([MarshalAs(UnmanagedType.LPStr)]string filename, void* vfs);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjModel_* mj_loadModelBuffer(void* buffer, int buffer_sz);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_deleteModel(mjModel_* m);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern UInt64 mj_sizeModel(mjModel_* m);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjData_* mj_makeData(mjModel_* m);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjData_* mj_copyData(mjData_* dest, mjModel_* m, mjData_* src);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjData_* mjv_copyData(mjData_* dest, mjModel_* m, mjData_* src);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_resetCtrl(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_resetData(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_resetDataDebug(mjModel_* m, mjData_* d, byte debug_value);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_resetDataKeyframe(mjModel_* m, mjData_* d, int key);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_markStack(mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_freeStack(mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void* mj_stackAllocByte(mjData_* d, UIntPtr bytes, UIntPtr alignment);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double* mj_stackAllocNum(mjData_* d, UIntPtr size);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int* mj_stackAllocInt(mjData_* d, UIntPtr size);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_deleteData(mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_resetCallbacks();
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_setConst(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_setLengthRange(mjModel_* m, mjData_* d, int index, mjLROpt_* opt, StringBuilder error, int error_sz);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_printFormattedModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_printModel(mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_printFormattedData(mjModel_* m, mjData_* d, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_printData(mjModel_* m, mjData_* d, [MarshalAs(UnmanagedType.LPStr)]string filename);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_printMat(double* mat, int nr, int nc);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_printMatSparse(double* mat, int nr, int* rownnz, int* rowadr, int* colind);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_printSchema([MarshalAs(UnmanagedType.LPStr)]string filename, StringBuilder buffer, int buffer_sz, int flg_html, int flg_pad);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_printScene(mjvScene_* s, [MarshalAs(UnmanagedType.LPStr)]string filename);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_printFormattedScene(mjvScene_* s, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_fwdKinematics(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_fwdPosition(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_fwdVelocity(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_fwdActuation(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_fwdAcceleration(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_fwdConstraint(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_Euler(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_RungeKutta(mjModel_* m, mjData_* d, int N);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_implicit(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_invPosition(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_invVelocity(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_invConstraint(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_compareFwdInv(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_sensorPos(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_sensorVel(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_sensorAcc(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_energyPos(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_energyVel(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_checkPos(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_checkVel(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_checkAcc(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_kinematics(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_comPos(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_camlight(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_flex(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_tendon(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_transmission(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_crb(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_makeM(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_factorM(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_solveM(mjModel_* m, mjData_* d, double* x, double* y, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_solveM2(mjModel_* m, mjData_* d, double* x, double* y, double* sqrtInvD, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_comVel(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_passive(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_subtreeVel(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_rne(mjModel_* m, mjData_* d, int flg_acc, double* result);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_rnePostConstraint(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_maxContact(mjModel_* m, int g1, int g2, int has_margin);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_collision(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_makeConstraint(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_island(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_projectConstraint(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_referenceConstraint(mjModel_* m, mjData_* d);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_constraintUpdate(mjModel_* m, mjData_* d, double* jar, double* cost, int flg_coneHessian);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_stateSize(mjModel_* m, int sig);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_getState(mjModel_* m, mjData_* d, double* state, int sig);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_extractState(mjModel_* m, double* src, int srcsig, double* dst, int dstsig);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_setState(mjModel_* m, mjData_* d, double* state, int sig);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_copyState(mjModel_* m, mjData_* src, mjData_* dst, int sig);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mj_readCtrl(mjModel_* m, mjData_* d, int id, double time, int interp);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double* mj_readSensor(mjModel_* m, mjData_* d, int id, double time, double* result, int interp);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_initCtrlHistory(mjModel_* m, mjData_* d, int id, double* times, double* values);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_initSensorHistory(mjModel_* m, mjData_* d, int id, double* times, double* values, double phase);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_setKeyframe(mjModel_* m, mjData_* d, int k);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_addContact(mjModel_* m, mjData_* d, mjContact_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_isPyramidal(mjModel_* m);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_isSparse(mjModel_* m);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_isDual(mjModel_* m);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_mulJacVec(mjModel_* m, mjData_* d, double* res, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_mulJacTVec(mjModel_* m, mjData_* d, double* res, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_jac(mjModel_* m, mjData_* d, double* jacp, double* jacr, double* point, int body);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_jacBody(mjModel_* m, mjData_* d, double* jacp, double* jacr, int body);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_jacBodyCom(mjModel_* m, mjData_* d, double* jacp, double* jacr, int body);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_jacSubtreeCom(mjModel_* m, mjData_* d, double* jacp, int body);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_jacGeom(mjModel_* m, mjData_* d, double* jacp, double* jacr, int geom);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_jacSite(mjModel_* m, mjData_* d, double* jacp, double* jacr, int site);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_jacPointAxis(mjModel_* m, mjData_* d, double* jacPoint, double* jacAxis, double* point, double* axis, int body);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_jacDot(mjModel_* m, mjData_* d, double* jacp, double* jacr, double* point, int body);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_angmomMat(mjModel_* m, mjData_* d, double* mat, int body);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_name2id(mjModel_* m, int type, [MarshalAs(UnmanagedType.LPStr)]string name);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern IntPtr mj_id2name(mjModel_* m, int type, int id);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern IntPtr mj_actuatorInputName(mjModel_* m, int id, int input);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_fullM(mjModel_* m, mjData_* d, double* dst);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_mulM(mjModel_* m, mjData_* d, double* res, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_mulM2(mjModel_* m, mjData_* d, double* res, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_addM(mjModel_* m, mjData_* d, double* dst, int* rownnz, int* rowadr, int* colind);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_applyFT(mjModel_* m, mjData_* d, double* force, double* torque, double* point, int body, double* qfrc_target);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_objectVelocity(mjModel_* m, mjData_* d, int objtype, int objid, double* res, int flg_local);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_objectAcceleration(mjModel_* m, mjData_* d, int objtype, int objid, double* res, int flg_local);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mj_geomDistance(mjModel_* m, mjData_* d, int geom1, int geom2, double distmax, double* fromto);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_contactForce(mjModel_* m, mjData_* d, int id, double* result);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_differentiatePos(mjModel_* m, double* qvel, double dt, double* qpos1, double* qpos2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_integratePos(mjModel_* m, double* qpos, double* qvel, double dt);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_normalizeQuat(mjModel_* m, double* qpos);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_local2Global(mjData_* d, double* xpos, double* xmat, double* pos, double* quat, int body, byte sameframe);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mj_getTotalmass(mjModel_* m);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_setTotalmass(mjModel_* m, double newmass);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern IntPtr mj_getPluginConfig(mjModel_* m, int plugin_id, [MarshalAs(UnmanagedType.LPStr)]string attrib);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_loadPluginLibrary([MarshalAs(UnmanagedType.LPStr)]string path);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mj_version();
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern IntPtr mj_versionString();
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mj_ray(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid, double* normal);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_multiRay(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid, double* dist, double* normal, int nray, double cutoff);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mj_rayHfield(mjModel_* m, mjData_* d, int geomid, double* pnt, double* vec, double* normal);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mj_rayMesh(mjModel_* m, mjData_* d, int geomid, double* pnt, double* vec, double* normal);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_rayGeom(double* pos, double* mat, double* size, double* pnt, double* vec, int geomtype, double* normal);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mj_rayFlex(mjModel_* m, mjData_* d, int flex_layer, byte flg_vert, byte flg_edge, byte flg_face, byte flg_skin, int flexid, double* pnt, double* vec, int* vertid, double* normal);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_raySkin(int nface, int nvert, int* face, float* vert, double* pnt, double* vec, int* vertid);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_defaultCamera(mjvCamera_* cam);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_defaultFreeCamera(mjModel_* m, mjvCamera_* cam);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_defaultPerturb(mjvPerturb_* pert);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_room2model(double* modelpos, double* modelquat, double* roompos, double* roomquat, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_model2room(double* roompos, double* roomquat, double* modelpos, double* modelquat, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_cameraInModel(double* headpos, double* forward, double* up, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_cameraInRoom(double* headpos, double* forward, double* up, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mjv_frustumHeight(mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_alignToCamera(double* res, double* vec, double* forward);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_moveCamera(mjModel_* m, int action, double reldx, double reldy, mjvCamera_* cam);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_movePerturb(mjModel_* m, mjData_* d, int action, double reldx, double reldy, mjvScene_* scn, mjvPerturb_* pert);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_moveModel(mjModel_* m, int action, double reldx, double reldy, double* roomup, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_initPerturb(mjModel_* m, mjData_* d, mjvScene_* scn, mjvPerturb_* pert);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_applyPerturbPose(mjModel_* m, mjData_* d, mjvPerturb_* pert, int flg_paused);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_applyPerturbForce(mjModel_* m, mjData_* d, mjvPerturb_* pert);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjvGLCamera_ mjv_averageCamera(mjvGLCamera_* cam1, mjvGLCamera_* cam2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjvGLCamera_ mjv_camera2GLCamera(mjModel_* model, mjData_* data, mjvCamera_* mjv_camera);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mjv_select(mjModel_* m, mjData_* d, mjvOption_* vopt, double aspectratio, double relx, double rely, mjvScene_* scn, double* selpnt, int* geomid, int* flexid, int* skinid);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_defaultOption(mjvOption_* opt);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_defaultFigure(mjvFigure_* fig);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_initGeom(mjvGeom_* geom, int type, double* size, double* pos, double* mat, float* rgba);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_connector(mjvGeom_* geom, int type, double width, double* from, double* to);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_defaultScene(mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_makeScene(mjModel_* m, mjvScene_* scn, int maxgeom);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_freeScene(mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_updateScene(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, mjvCamera_* cam, int catmask, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_copyModel(mjModel_* dest, mjModel_* src);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_addGeoms(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, int catmask, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_makeLights(mjModel_* m, mjData_* d, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_updateCamera(mjModel_* m, mjData_* d, mjvCamera_* cam, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_updateSkin(mjModel_* m, mjData_* d, mjvScene_* scn);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_cameraFrame(double* headpos, double* forward, double* up, double* right, mjData_* d, mjvCamera_* cam);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjv_cameraFrustum(float* zver, float* zhor, float* zclip, mjModel_* m, mjvCamera_* cam);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_defaultContext(mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_defaultRendererInfo(mjrRendererInfo_* info);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_getRendererInfo(mjrRendererInfo_* info);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_makeContext(mjModel_* m, mjrContext_* con, int fontscale);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_changeFont(int fontscale, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_addAux(int index, int width, int height, int samples, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_freeContext(mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_resizeOffscreen(int width, int height, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_uploadTexture(mjModel_* m, mjrContext_* con, int texid);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_uploadMesh(mjModel_* m, mjrContext_* con, int meshid);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_uploadHField(mjModel_* m, mjrContext_* con, int hfieldid);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_restoreBuffer(mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_setBuffer(int framebuffer, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_readPixels(byte* rgb, float* depth, mjrRect_ viewport, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_drawPixels(byte* rgb, float* depth, mjrRect_ viewport, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_blitBuffer(mjrRect_ src, mjrRect_ dst, int flg_color, int flg_depth, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_setAux(int index, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_blitAux(int index, mjrRect_ src, int left, int bottom, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_text(int font, [MarshalAs(UnmanagedType.LPStr)]string txt, mjrContext_* con, float x, float y, float r, float g, float b);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_overlay(int font, int gridpos, mjrRect_ viewport, [MarshalAs(UnmanagedType.LPStr)]string overlay, [MarshalAs(UnmanagedType.LPStr)]string overlay2, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjrRect_ mjr_maxViewport(mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_rectangle(mjrRect_ viewport, float r, float g, float b, float a);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_label(mjrRect_ viewport, int font, [MarshalAs(UnmanagedType.LPStr)]string txt, float r, float g, float b, float a, float rt, float gt, float bt, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_figure(mjrRect_ viewport, mjvFigure_* fig, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_render(mjrRect_ viewport, mjvScene_* scn, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjr_finish();
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mjr_getError();
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mjr_findRect(int x, int y, int nrect, mjrRect_* rect);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjuiThemeSpacing_ mjui_themeSpacing(int ind);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjuiThemeColor_ mjui_themeColor(int ind);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjui_add(mjUI_* ui, mjuiDef_* def);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjui_addToSection(mjUI_* ui, int sect, mjuiDef_* def);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjui_resize(mjUI_* ui, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjui_update(int section, int item, mjUI_* ui, mjuiState_* state, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjuiItem_* mjui_event(mjUI_* ui, mjuiState_* state, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjui_render(mjUI_* ui, mjuiState_* state, mjrContext_* con);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_error([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_warning([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_clearHandlers();
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern IntPtr mju_setLogHandler(IntPtr handler);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern mjLogConfig_ mju_getLogConfig();
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_setLogConfig(mjLogConfig_ config);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_info(int topic, [MarshalAs(UnmanagedType.LPStr)]string msg);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_message(mjLogMessage_* msg);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void* mju_malloc(UIntPtr size);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_free(void* ptr);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mj_warning(mjData_* d, int warning, int info);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_writeLog([MarshalAs(UnmanagedType.LPStr)]string type, [MarshalAs(UnmanagedType.LPStr)]string msg);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_zero3(double* res);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_copy3(double* res, double* data);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_scl3(double* res, double* vec, double scl);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_add3(double* res, double* vec1, double* vec2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_sub3(double* res, double* vec1, double* vec2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_addTo3(double* res, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_subFrom3(double* res, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_addToScl3(double* res, double* vec, double scl);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_addScl3(double* res, double* vec1, double* vec2, double scl);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_normalize3(double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_norm3(double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_dot3(double* vec1, double* vec2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_dist3(double* pos1, double* pos2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulMatVec3(double* res, double* mat, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulMatTVec3(double* res, double* mat, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_cross(double* res, double* a, double* b);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_zero4(double* res);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_unit4(double* res);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_copy4(double* res, double* data);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_normalize4(double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_zero(double* res, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_fill(double* res, double val, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_copy(double* res, double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_sum(double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_L1(double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_scl(double* res, double* vec, double scl, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_add(double* res, double* vec1, double* vec2, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_sub(double* res, double* vec1, double* vec2, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_addTo(double* res, double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_subFrom(double* res, double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_addToScl(double* res, double* vec, double scl, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_addScl(double* res, double* vec1, double* vec2, double scl, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_normalize(double* res, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_norm(double* res, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_dot(double* vec1, double* vec2, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulMatVec(double* res, double* mat, double* vec, int nr, int nc);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulMatTVec(double* res, double* mat, double* vec, int nr, int nc);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_mulVecMatVec(double* vec1, double* mat, double* vec2, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_transpose(double* res, double* mat, int nr, int nc);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_symmetrize(double* res, double* mat, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_eye(double* mat, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulMatMat(double* res, double* mat1, double* mat2, int r1, int c1, int c2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulMatMatT(double* res, double* mat1, double* mat2, int r1, int c1, int r2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulMatTMat(double* res, double* mat1, double* mat2, int r1, int c1, int c2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_sqrMatTD(double* res, double* mat, double* diag, int nr, int nc);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_transformSpatial(double* res, double* vec, int flg_force, double* newpos, double* oldpos, double* rotnew2old);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_dense2sparse(double* res, double* mat, int nr, int nc, int* rownnz, int* rowadr, int* colind, int nnz);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_sparse2dense(double* res, double* mat, int nr, int nc, int* rownnz, int* rowadr, int* colind);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_sym2dense(double* res, double* mat, int n, int* rownnz, int* rowadr, int* colind);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_rotVecQuat(double* res, double* vec, double* quat);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_negQuat(double* res, double* quat);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulQuat(double* res, double* quat1, double* quat2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulQuatAxis(double* res, double* quat, double* axis);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_axisAngle2Quat(double* res, double* axis, double angle);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_quat2Vel(double* res, double* quat, double dt);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_subQuat(double* res, double* qa, double* qb);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_quat2Mat(double* res, double* quat);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mat2Quat(double* quat, double* mat);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_derivQuat(double* res, double* quat, double* vel);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_quatIntegrate(double* quat, double* vel, double scale);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_quatZ2Vec(double* quat, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_mat2Rot(double* quat, double* mat);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_euler2Quat(double* quat, double* euler, [MarshalAs(UnmanagedType.LPStr)]string seq);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_mulPose(double* posres, double* quatres, double* pos1, double* quat1, double* pos2, double* quat2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_negPose(double* posres, double* quatres, double* pos, double* quat);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_trnVecPose(double* res, double* pos, double* quat, double* vec);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_cholFactor(double* mat, int n, double mindiag);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_cholSolve(double* res, double* mat, double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_cholUpdate(double* mat, double* x, int n, int flg_plus);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_cholFactorBand(double* mat, int ntotal, int nband, int ndense, double diagadd, double diagmul);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_cholSolveBand(double* res, double* mat, double* vec, int ntotal, int nband, int ndense);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_band2Dense(double* res, double* mat, int ntotal, int nband, int ndense, byte flg_sym);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_dense2Band(double* res, double* mat, int ntotal, int nband, int ndense);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_bandMulMatVec(double* res, double* mat, double* vec, int ntotal, int nband, int ndense, int nvec, byte flg_sym);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_bandDiag(int i, int ntotal, int nband, int ndense);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_eig3(double* eigval, double* eigvec, double* quat, double* mat);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_boxQP(double* res, double* R, int* index, double* H, double* g, int n, double* lower, double* upper);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_boxQPmalloc(double** res, double** R, int** index, double** H, double** g, int n, double** lower, double** upper);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_muscleGain(double len, double vel, double* lengthrange, double acc0, double* prm);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_muscleBias(double len, double* lengthrange, double acc0, double* prm);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_muscleDynamics(double ctrl, double act, double* prm);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_encodePyramid(double* pyramid, double* force, double* mu, int dim);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_decodePyramid(double* force, double* pyramid, double* mu, int dim);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_springDamper(double pos0, double vel0, double Kp, double Kv, double dt);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_min(double a, double b);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_max(double a, double b);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_clip(double x, double min, double max);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_sign(double x);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_round(double x);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern IntPtr mju_type2Str(int type);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_str2Type([MarshalAs(UnmanagedType.LPStr)]string str);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern IntPtr mju_writeNumBytes(UIntPtr nbytes);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern IntPtr mju_warningText(int warning, UIntPtr info);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_isBad(double x);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern int mju_isZero(double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_standardNormal(double* num2);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_f2n(double* res, float* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_n2f(float* res, double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_d2n(double* res, double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_n2d(double* res, double* vec, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_insertionSort(double* list, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_insertionSortInt(int* list, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_Halton(int index, int base_);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern IntPtr mju_strncpy(StringBuilder dst, [MarshalAs(UnmanagedType.LPStr)]string src, int n);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern double mju_sigmoid(double x);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjd_transitionFD(mjModel_* m, mjData_* d, double eps, byte flg_centered, double* A, double* B, double* C, double* D);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjd_inverseFD(mjModel_* m, mjData_* d, double eps, byte flg_actuation, double* DfDq, double* DfDv, double* DfDa, double* DsDq, double* DsDv, double* DsDa, double* DmDq);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjd_subQuat(double* qa, double* qb, double* Da, double* Db);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mjd_quatIntegrate(double* vel, double scale, double* Dquat, double* Dvel, double* Dscale);
-}
-}
diff --git a/unity/Runtime/Bindings/MjBindings.cs.meta b/unity/Runtime/Bindings/MjBindings.cs.meta
deleted file mode 100644
index a04cd6e0..00000000
--- a/unity/Runtime/Bindings/MjBindings.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
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diff --git a/unity/Runtime/Components.meta b/unity/Runtime/Components.meta
deleted file mode 100644
index d75ae487..00000000
--- a/unity/Runtime/Components.meta
+++ /dev/null
@@ -1,8 +0,0 @@
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diff --git a/unity/Runtime/Components/Bodies.meta b/unity/Runtime/Components/Bodies.meta
deleted file mode 100644
index a713aafd..00000000
--- a/unity/Runtime/Components/Bodies.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
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diff --git a/unity/Runtime/Components/Bodies/MjBaseBody.cs b/unity/Runtime/Components/Bodies/MjBaseBody.cs
deleted file mode 100644
index 98c46f71..00000000
--- a/unity/Runtime/Components/Bodies/MjBaseBody.cs
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public abstract class MjBaseBody : MjComponent {
-    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_BODY;
-  }
-}
diff --git a/unity/Runtime/Components/Bodies/MjBaseBody.cs.meta b/unity/Runtime/Components/Bodies/MjBaseBody.cs.meta
deleted file mode 100644
index e63ac5af..00000000
--- a/unity/Runtime/Components/Bodies/MjBaseBody.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Bodies/MjBody.cs b/unity/Runtime/Components/Bodies/MjBody.cs
deleted file mode 100644
index e29de5c0..00000000
--- a/unity/Runtime/Components/Bodies/MjBody.cs
+++ /dev/null
@@ -1,50 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  // The component represents the apex of hierarchy that defines a single rigid body.
-  public class MjBody : MjBaseBody {
-
-    [Tooltip("Gravity compensation force, specified as fraction of body weight.")]
-    public float GravityCompensation;
-
-    protected override void OnParseMjcf(XmlElement mjcf) {
-      // Transform
-      transform.localPosition =
-          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
-      transform.localRotation = MjEngineTool.UnityQuaternion(
-          mjcf.GetQuaternionAttribute("quat", defaultValue: MjEngineTool.MjQuaternionIdentity));
-      GravityCompensation = mjcf.GetFloatAttribute("gravcomp", defaultValue: 0.0f);
-    }
-
-    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-      var mjcf = (XmlElement)doc.CreateElement("body");
-      MjEngineTool.PositionRotationToMjcf(mjcf, this);
-      mjcf.SetAttribute("gravcomp", MjEngineTool.MakeLocaleInvariant($"{GravityCompensation}"));
-      return mjcf;
-    }
-
-    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-      transform.position = MjEngineTool.UnityVector3(
-          MjEngineTool.MjVector3AtEntry(data->xpos, MujocoId));
-      transform.rotation = MjEngineTool.UnityQuaternion(
-          MjEngineTool.MjQuaternionAtEntry(data->xquat, MujocoId));
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Bodies/MjBody.cs.meta b/unity/Runtime/Components/Bodies/MjBody.cs.meta
deleted file mode 100644
index 165fea55..00000000
--- a/unity/Runtime/Components/Bodies/MjBody.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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\ No newline at end of file
diff --git a/unity/Runtime/Components/Bodies/MjMocapBody.cs b/unity/Runtime/Components/Bodies/MjMocapBody.cs
deleted file mode 100644
index e919ce60..00000000
--- a/unity/Runtime/Components/Bodies/MjMocapBody.cs
+++ /dev/null
@@ -1,48 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-  public class MjMocapBody : MjBaseBody {
-    protected override void OnParseMjcf(XmlElement mjcf) {
-      // Transform
-      transform.localPosition =
-          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
-      transform.localRotation = MjEngineTool.UnityQuaternion(
-          mjcf.GetQuaternionAttribute("quat", defaultValue: MjEngineTool.MjQuaternionIdentity));
-    }
-
-    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
-      var bodyId = MujocoLib.mj_name2id(model, (int)ObjectType, MujocoName);
-      MujocoId = model->body_mocapid[bodyId];
-    }
-
-    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-      var mjcf = doc.CreateElement("body");
-      MjEngineTool.PositionRotationToMjcf(mjcf, this);
-      mjcf.SetAttribute("mocap", "true");
-      return mjcf;
-    }
-
-    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-      MjEngineTool.SetMjVector3(
-          MjEngineTool.MjVector3AtEntry(data->mocap_pos, MujocoId), transform.position);
-      MjEngineTool.SetMjQuaternion(
-          MjEngineTool.MjQuaternionAtEntry(data->mocap_quat, MujocoId), transform.rotation);
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Bodies/MjMocapBody.cs.meta b/unity/Runtime/Components/Bodies/MjMocapBody.cs.meta
deleted file mode 100644
index 57e7c486..00000000
--- a/unity/Runtime/Components/Bodies/MjMocapBody.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Equality.meta b/unity/Runtime/Components/Equality.meta
deleted file mode 100644
index bbf04bee..00000000
--- a/unity/Runtime/Components/Equality.meta
+++ /dev/null
@@ -1,8 +0,0 @@
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diff --git a/unity/Runtime/Components/Equality/MjBaseConstraint.cs b/unity/Runtime/Components/Equality/MjBaseConstraint.cs
deleted file mode 100644
index c543320f..00000000
--- a/unity/Runtime/Components/Equality/MjBaseConstraint.cs
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public abstract class MjBaseConstraint : MjComponent {
-    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EQUALITY;
-
-    protected abstract string _constraintName { get; }
-
-    public SolverImpedance SolverImpedanceSettings = SolverImpedance.Default;
-    public SolverReference SolverReferenceSettings = SolverReference.Default;
-
-    protected abstract void ToMjcf(XmlElement mjcf);
-    protected abstract void FromMjcf(XmlElement mjcf);
-
-    protected override void OnParseMjcf(XmlElement mjcf) {
-      FromMjcf(mjcf);
-      SolverReferenceSettings.FromMjcf(mjcf, "solref");
-      SolverImpedanceSettings.FromMjcf(mjcf, "solimp");
-    }
-
-    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-      var mjcf = (XmlElement)doc.CreateElement(_constraintName);
-      ToMjcf(mjcf);
-      SolverReferenceSettings.ToMjcf(mjcf, "solref");
-      SolverImpedanceSettings.ToMjcf(mjcf, "solimp");
-      return mjcf;
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Equality/MjBaseConstraint.cs.meta b/unity/Runtime/Components/Equality/MjBaseConstraint.cs.meta
deleted file mode 100644
index c43b041d..00000000
--- a/unity/Runtime/Components/Equality/MjBaseConstraint.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Equality/MjConnect.cs b/unity/Runtime/Components/Equality/MjConnect.cs
deleted file mode 100644
index 69e17e06..00000000
--- a/unity/Runtime/Components/Equality/MjConnect.cs
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public class MjConnect : MjBaseConstraint {
-    public MjBaseBody Body1;
-    public MjBaseBody Body2;
-    public Transform Anchor;
-    protected override string _constraintName => "connect";
-
-    protected override void FromMjcf(XmlElement mjcf) {
-      Body1 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body1");
-      Body2 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body2");
-      var anchorPos = MjEngineTool.UnityVector3(
-          mjcf.GetVector3Attribute("anchor", defaultValue: Vector3.zero));
-      Anchor = new GameObject("connect_anchor").transform;
-      Anchor.parent = Body1.transform;
-      Anchor.localPosition = anchorPos;
-    }
-
-    // Generate implementation specific XML element.
-    protected override void ToMjcf(XmlElement mjcf) {
-      if (Body1 == null || Body2 == null) {
-        throw new NullReferenceException($"Both bodies in connect {name} are required.");
-      }
-      if (Anchor == null) {
-        throw new NullReferenceException($"Anchor in connect {name} is required.");
-      }
-      mjcf.SetAttribute("body1", Body1.MujocoName);
-      mjcf.SetAttribute("body2", Body2.MujocoName);
-      mjcf.SetAttribute("anchor",
-                        MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(Anchor.localPosition)));
-    }
-
-    public void OnValidate() {
-      if (Body1 != null && Body1 == Body2) {
-        Debug.LogError("Body1 and Body2 can't be the same - resetting Body2.", this);
-        Body2 = null;
-      }
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Equality/MjConnect.cs.meta b/unity/Runtime/Components/Equality/MjConnect.cs.meta
deleted file mode 100644
index d64e9a14..00000000
--- a/unity/Runtime/Components/Equality/MjConnect.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Equality/MjJointConstraint.cs b/unity/Runtime/Components/Equality/MjJointConstraint.cs
deleted file mode 100644
index 17182ec1..00000000
--- a/unity/Runtime/Components/Equality/MjJointConstraint.cs
+++ /dev/null
@@ -1,59 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public class MjJointConstraint : MjBaseConstraint {
-    [Tooltip("Mandatory.")]
-    public MjBaseJoint Joint1;
-
-    [Tooltip("Optional - if empty, constrain the value of Joint1")]
-    public MjBaseJoint Joint2;
-
-    public float[] PolynomialCoefficients = new float[5] { 0, 1, 0, 0, 0 };
-    protected override string _constraintName => "joint";
-
-    protected override void FromMjcf(XmlElement mjcf) {
-      Joint1 = mjcf.GetObjectReferenceAttribute<MjBaseJoint>("joint1");
-      Joint2 = mjcf.GetObjectReferenceAttribute<MjBaseJoint>("joint2");
-      PolynomialCoefficients =
-          mjcf.GetFloatArrayAttribute("polycoef", defaultValue: new float[] { 0, 1, 0, 0, 0 });
-    }
-
-    // Generate implementation specific XML element.
-    protected override void ToMjcf(XmlElement mjcf) {
-      if (Joint1 == null) {
-        throw new NullReferenceException($"At least Joint1 in constraint {name} must be assigned.");
-      }
-
-      mjcf.SetAttribute("joint1", Joint1.MujocoName);
-      if (Joint2 != null) {
-        mjcf.SetAttribute("joint2", Joint2.MujocoName);
-      }
-      mjcf.SetAttribute("polycoef", MjEngineTool.ArrayToMjcf(PolynomialCoefficients));
-    }
-
-    public void OnValidate() {
-      if (Joint1 != null && Joint1 == Joint2) {
-        Debug.LogError("Joint1 and Joint2 can't be the same - resetting Joint2.", this);
-        Joint2 = null;
-      }
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Equality/MjJointConstraint.cs.meta b/unity/Runtime/Components/Equality/MjJointConstraint.cs.meta
deleted file mode 100644
index e2789541..00000000
--- a/unity/Runtime/Components/Equality/MjJointConstraint.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Equality/MjTendonConstraint.cs b/unity/Runtime/Components/Equality/MjTendonConstraint.cs
deleted file mode 100644
index 7fbef8b8..00000000
--- a/unity/Runtime/Components/Equality/MjTendonConstraint.cs
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public class MjTendonConstraint : MjBaseConstraint {
-    public MjBaseTendon Tendon1;
-    public MjBaseTendon Tendon2;
-    public float[] PolynomialCoefficients = new float[5] { 0, 1, 0, 0, 0 };
-    protected override string _constraintName => "tendon";
-
-    protected override void FromMjcf(XmlElement mjcf) {
-      Tendon1 = mjcf.GetObjectReferenceAttribute<MjBaseTendon>("tendon1");
-      Tendon2 = mjcf.GetObjectReferenceAttribute<MjBaseTendon>("tendon2");
-      PolynomialCoefficients =
-          mjcf.GetFloatArrayAttribute("polycoef", new Single[] { 0, 1, 0, 0, 0 });
-    }
-
-    // Generate implementation specific XML element.
-    protected override void ToMjcf(XmlElement mjcf) {
-      if (Tendon1 == null) {
-        throw new NullReferenceException(
-            $"At least Tendon1 in constraint {name} must be assigned.");
-      }
-
-      mjcf.SetAttribute("tendon1", Tendon1.MujocoName);
-      if (Tendon2 != null) {
-        mjcf.SetAttribute("tendon2", Tendon2.MujocoName);
-      }
-      mjcf.SetAttribute("polycoef", MjEngineTool.ArrayToMjcf(PolynomialCoefficients));
-    }
-
-    public void OnValidate() {
-      if (Tendon1 != null && Tendon1 == Tendon2) {
-        Debug.LogWarning(
-            "Tendon1 and Tendon2 can't be the same - resetting Tendon2.", this);
-        Tendon2 = null;
-      }
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Equality/MjTendonConstraint.cs.meta b/unity/Runtime/Components/Equality/MjTendonConstraint.cs.meta
deleted file mode 100644
index 26825539..00000000
--- a/unity/Runtime/Components/Equality/MjTendonConstraint.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Equality/MjWeld.cs b/unity/Runtime/Components/Equality/MjWeld.cs
deleted file mode 100644
index 7c628525..00000000
--- a/unity/Runtime/Components/Equality/MjWeld.cs
+++ /dev/null
@@ -1,62 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public class MjWeld : MjBaseConstraint {
-    public MjBaseBody Body1;
-    public MjBaseBody Body2;
-    public Transform WeldOffset;
-    protected override string _constraintName => "weld";
-
-    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
-      if (WeldOffset) {
-        MjEngineTool.SetMjTransform(
-            MjEngineTool.MjEqualityAtEntry(model->eq_data, MujocoId)+3,
-            WeldOffset.localPosition, WeldOffset.localRotation);
-      }
-    }
-
-    protected override void FromMjcf(XmlElement mjcf) {
-      Body1 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body1");
-      Body2 = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body2");
-      var relpose = mjcf.GetStringAttribute("relpose");
-      if (relpose != null) {
-        Debug.Log(
-            $"relpose {relpose} in weld {name} ignored. Set WeldOffset in the editor.");
-      }
-    }
-
-    protected override void ToMjcf(XmlElement mjcf) {
-      if (Body1 == null || Body2 == null) {
-        throw new NullReferenceException($"Both bodies in weld {name} must be assigned.");
-      }
-
-      mjcf.SetAttribute("body1", Body1.MujocoName);
-      mjcf.SetAttribute("body2", Body2.MujocoName);
-    }
-
-    public void OnValidate() {
-      if (Body1 != null && Body1 == Body2) {
-        Debug.LogWarning("Body1 and Body2 can't be the same - resetting Body2.", this);
-        Body2 = null;
-      }
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Equality/MjWeld.cs.meta b/unity/Runtime/Components/Equality/MjWeld.cs.meta
deleted file mode 100644
index acd034e3..00000000
--- a/unity/Runtime/Components/Equality/MjWeld.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Joints.meta b/unity/Runtime/Components/Joints.meta
deleted file mode 100644
index d3fe1811..00000000
--- a/unity/Runtime/Components/Joints.meta
+++ /dev/null
@@ -1,8 +0,0 @@
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diff --git a/unity/Runtime/Components/Joints/MjBallJoint.cs b/unity/Runtime/Components/Joints/MjBallJoint.cs
deleted file mode 100644
index 1eca35ab..00000000
--- a/unity/Runtime/Components/Joints/MjBallJoint.cs
+++ /dev/null
@@ -1,52 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  // The component represents a joint with 1 degree of translational freedom.
-  public class MjBallJoint : MjBaseJoint {
-    [Tooltip("In degrees.")]
-    public float RangeUpper;
-
-    [Tooltip("Joint settings.")]
-    public MjJointSettings Settings = MjJointSettings.Default;
-
-    protected override void OnParseMjcf(XmlElement mjcf) {
-      // Transform.
-      transform.localPosition =
-          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
-
-      Settings.FromMjcf(mjcf);
-      var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
-      // rangeValues[0] is always 0 for ball joints.
-      RangeUpper = rangeValues[1];
-    }
-
-    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-      var mjcf = (XmlElement)doc.CreateElement("joint");
-      mjcf.SetAttribute("type", "ball");
-
-      MjEngineTool.PositionToMjcf(mjcf, this);
-
-      Settings.ToMjcf(mjcf);
-      mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"0 {RangeUpper}"));
-
-      return mjcf;
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Joints/MjBallJoint.cs.meta b/unity/Runtime/Components/Joints/MjBallJoint.cs.meta
deleted file mode 100644
index 274f27db..00000000
--- a/unity/Runtime/Components/Joints/MjBallJoint.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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-guid: bc71be844486c4586ba729c1ab4d914a
-timeCreated: 1552056297
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
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-  executionOrder: 0
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-  userData: 
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diff --git a/unity/Runtime/Components/Joints/MjBaseJoint.cs b/unity/Runtime/Components/Joints/MjBaseJoint.cs
deleted file mode 100644
index c5ad6241..00000000
--- a/unity/Runtime/Components/Joints/MjBaseJoint.cs
+++ /dev/null
@@ -1,62 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public abstract class MjBaseJoint : MjComponent {
-    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_JOINT;
-
-    public int QposAddress { get; private set; } = -1;
-    public int DofAddress { get; private set; } = -1;
-    // Joint will add Degrees of Freedom to this MjBaseBody.
-    // It's the MjBaseBody located immediately above this joint in the scene tree.
-    // NOTE: This property won't be initialized until runtime.
-    public MjBaseBody ParentBody { get; private set; }
-
-    // Joint will constrain the ParentBody to this MjBaseBody.
-    // It's the MjBaseBody located two levels above this joint in the scene tree.
-    // For some joints, such as MjFreeJoint, this can be null.
-    // NOTE: This property won't be initialized until runtime.
-    public MjBaseBody GrandParentBody { get; private set; }
-
-    // Return the bodies connected by this joint.
-    public void GetConnectedBodies(out MjBaseBody grandParent, out MjBaseBody parent) {
-      parent = MjHierarchyTool.FindParentComponent<MjBaseBody>(this);
-      if (parent != null) {
-        grandParent = MjHierarchyTool.FindParentComponent<MjBaseBody>(parent);
-      } else {
-        grandParent = null;
-      }
-    }
-
-    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
-      QposAddress = model->jnt_qposadr[MujocoId];
-      DofAddress = model->jnt_dofadr[MujocoId];
-    }
-
-    protected void Start() {
-      MjBaseBody grandparentBody, parentBody;
-      GetConnectedBodies(out grandparentBody, out parentBody);
-      GrandParentBody = grandparentBody;
-      ParentBody = parentBody;
-      if (ParentBody == null) {
-        throw new Exception("The joint doesn't have a ParentBody.");
-      }
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Joints/MjBaseJoint.cs.meta b/unity/Runtime/Components/Joints/MjBaseJoint.cs.meta
deleted file mode 100644
index 12d03308..00000000
--- a/unity/Runtime/Components/Joints/MjBaseJoint.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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-timeCreated: 1538399740
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diff --git a/unity/Runtime/Components/Joints/MjFreeJoint.cs b/unity/Runtime/Components/Joints/MjFreeJoint.cs
deleted file mode 100644
index 0cdb7a0b..00000000
--- a/unity/Runtime/Components/Joints/MjFreeJoint.cs
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  // The component represents a joint with 6 degrees of freedom.
-  public class MjFreeJoint : MjBaseJoint {
-    protected override void OnParseMjcf(XmlElement mjcf) {}
-
-    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-      return (XmlElement)doc.CreateElement("freejoint");
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Joints/MjFreeJoint.cs.meta b/unity/Runtime/Components/Joints/MjFreeJoint.cs.meta
deleted file mode 100644
index d76ca90c..00000000
--- a/unity/Runtime/Components/Joints/MjFreeJoint.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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-timeCreated: 1537540954
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diff --git a/unity/Runtime/Components/Joints/MjHingeJoint.cs b/unity/Runtime/Components/Joints/MjHingeJoint.cs
deleted file mode 100644
index 08e5958b..00000000
--- a/unity/Runtime/Components/Joints/MjHingeJoint.cs
+++ /dev/null
@@ -1,99 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public class MjHingeJoint : MjBaseJoint {
-    [Tooltip("In degrees.")]
-    public float RangeLower;
-    [Tooltip("In degrees.")]
-    public float RangeUpper;
-
-    [Tooltip("The current joint angle, in degrees. Read-only at play time.")]
-    public float Configuration;
-
-    [Tooltip("Joint movement, in rad/sec. Read-only at play time.")]
-    public float Velocity;
-
-    [Tooltip("The current joint angle without normalization, in radians. Read-only.")]
-    public double RawConfiguration;
-
-    [Tooltip("Joint settings.")]
-    public MjJointSettings Settings = MjJointSettings.Default;
-
-    // World space rotation axis.
-    public unsafe Vector3 RotationAxis {
-      get {
-        if (MjScene.InstanceExists) {
-          return MjEngineTool.UnityVector3(MjScene.Instance.Data->xaxis + 3 * MujocoId);
-        }
-        return transform.rotation * Vector3.right;
-      }
-    }
-
-    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
-      base.OnBindToRuntime(model, data);
-      data->qvel[DofAddress] = Velocity;
-    }
-
-    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-      RawConfiguration = data->qpos[QposAddress];
-      var qpos = (float)RawConfiguration;
-      Configuration = (qpos % (2 * Mathf.PI)) * Mathf.Rad2Deg;
-      Velocity = (float)data->qvel[DofAddress];
-    }
-
-    protected override void OnParseMjcf(XmlElement mjcf) {
-      transform.localPosition =
-          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
-
-      var rotationAxis =
-          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("axis", defaultValue: Vector3.right));
-      transform.localRotation = Quaternion.FromToRotation(Vector3.right, rotationAxis);
-
-      var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
-      RangeLower = rangeValues[0];
-      RangeUpper = rangeValues[1];
-
-      if (!MjSceneImportSettings.AnglesInDegrees) {
-        RangeLower *= Mathf.Rad2Deg;
-        RangeUpper *= Mathf.Rad2Deg;
-      }
-
-      Configuration = mjcf.GetFloatAttribute("ref", 0.0f);
-
-      Settings.FromMjcf(mjcf);
-    }
-
-    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-      var mjcf = (XmlElement)doc.CreateElement("joint");
-      mjcf.SetAttribute("type", "hinge");
-
-      MjEngineTool.PositionAxisToMjcf(mjcf, this);
-
-      Settings.ToMjcf(mjcf);
-      if (RangeLower > RangeUpper) {
-        throw new ArgumentException("Lower range value can't be bigger than Higher");
-      }
-      mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
-      mjcf.SetAttribute("ref", $"{Configuration}");
-
-      return mjcf;
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Joints/MjHingeJoint.cs.meta b/unity/Runtime/Components/Joints/MjHingeJoint.cs.meta
deleted file mode 100644
index fb730d9a..00000000
--- a/unity/Runtime/Components/Joints/MjHingeJoint.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Joints/MjJointSettings.cs b/unity/Runtime/Components/Joints/MjJointSettings.cs
deleted file mode 100644
index 46da927c..00000000
--- a/unity/Runtime/Components/Joints/MjJointSettings.cs
+++ /dev/null
@@ -1,172 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [Serializable]
-  public struct MjJointSettings {
-    [Tooltip("Added inertia of all DoFs created by this joint.")]
-    public float Armature;
-
-    [Tooltip("Joint spring settings.")]
-    public SpringSettings Spring;
-
-    [Tooltip("Joint solver settings.")]
-    public SolverSettings Solver;
-
-    // Default joint settings.
-    public static MjJointSettings Default = new MjJointSettings() {
-      Solver = SolverSettings.Default,
-    };
-
-    public void FromMjcf(XmlElement mjcf) {
-      Armature = mjcf.GetFloatAttribute("armature", 0.0f);
-      Spring.FromMjcf(mjcf);
-      Solver.FromMjcf(mjcf);
-    }
-
-    public void ToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("armature", MjEngineTool.MakeLocaleInvariant($"{Armature}"));
-      Spring.ToMjcf(mjcf);
-      Solver.ToMjcf(mjcf);
-    }
-  }
-
-  [Serializable]
-  public struct SpringSettings {
-    public float TimeConstant;
-    public float DampingRatio;
-
-    [Tooltip("Joint stiffness. If this value is positive, a spring will be created.")]
-    public float Stiffness;
-    [Tooltip("Damping applied to all degrees of freedom created by this joint.")]
-    public float Damping;
-
-    [Tooltip("Spring equilibrium pose.")]
-    public float EquilibriumPose;
-
-    public void ToMjcf(XmlElement mjcf) {
-      // Spring settings.
-      mjcf.SetAttribute("springref", MjEngineTool.MakeLocaleInvariant($"{EquilibriumPose}"));
-      mjcf.SetAttribute("springdamper", MjEngineTool.MakeLocaleInvariant($"{TimeConstant} {DampingRatio}"));
-      mjcf.SetAttribute("damping", MjEngineTool.MakeLocaleInvariant($"{Damping}"));
-      mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
-    }
-
-    public void FromMjcf(XmlElement mjcf) {
-      var springDamper = mjcf.GetVector2Attribute("springdamper", Vector2.zero);
-      TimeConstant = springDamper.x;
-      DampingRatio = springDamper.y;
-      EquilibriumPose = MjSceneImportSettings.AnglesInDegrees? mjcf.GetFloatAttribute("springref", 0.0f) : mjcf.GetFloatAttribute("springref", 0.0f) * Mathf.Rad2Deg;
-      Damping = mjcf.GetFloatAttribute("damping", 0.0f);
-      Stiffness = mjcf.GetFloatAttribute("stiffness", 0.0f);
-    }
-  }
-
-  [Serializable]
-  public struct SolverImpedance {
-    public float DMin;
-    public float DMax;
-    public float Width;
-    public float Midpoint;
-    public float Power;
-
-    public static SolverImpedance Default =
-        new SolverImpedance() { DMin = 0.9f, DMax = 0.95f, Width = 0.001f, Midpoint = 0.5f,
-                                Power = 2.0f };
-
-    public void FromMjcf(XmlElement element, string attributeName) {
-      var values = element.GetFloatArrayAttribute(
-          attributeName, new float[] { Default.DMin, Default.DMax, Default.Width, Default.Midpoint,
-                                       Default.Power });
-      DMin = values[0];
-      DMax = values[1];
-      Width = values[2];
-      Midpoint = values[3];
-      Power = values[4];
-    }
-
-    public void ToMjcf(XmlElement element, string attributeName) {
-      element.SetAttribute(attributeName, MjEngineTool.MakeLocaleInvariant($"{DMin} {DMax} {Width} {Midpoint} {Power}"));
-    }
-  }
-
-  [Serializable]
-  public struct SolverReference {
-    public float TimeConst;
-    public float DampRatio;
-
-    public static SolverReference Default =
-        new SolverReference() { TimeConst = 0.02f, DampRatio = 1.0f };
-
-    public void FromMjcf(XmlElement element, string attributeName) {
-      var values = element.GetFloatArrayAttribute(
-          attributeName, new float[] { Default.TimeConst, Default.DampRatio });
-      TimeConst = values[0];
-      DampRatio = values[1];
-    }
-
-    public void ToMjcf(XmlElement element, string attributeName) {
-      element.SetAttribute(attributeName, MjEngineTool.MakeLocaleInvariant($"{TimeConst} {DampRatio}"));
-    }
-  }
-
-  [Serializable]
-  public struct SolverSettings {
-    [Tooltip("Does the joint have limits.")]
-    public bool Limited;
-
-    [Tooltip("Limit margin - always in radians/meters.")]
-    public float Margin;
-    public SolverReference RefLimit;
-    public SolverImpedance ImpLimit;
-
-    [Tooltip("Friction loss due to dry friction.")]
-    public float FrictionLoss;
-    public SolverImpedance ImpFriction;
-    public SolverReference RefFriction;
-
-    public static SolverSettings Default = new SolverSettings() {
-      ImpFriction = SolverImpedance.Default,
-      ImpLimit = SolverImpedance.Default,
-      RefFriction = SolverReference.Default,
-      RefLimit = SolverReference.Default,
-    };
-
-    public void ToMjcf(XmlElement mjcf) {
-      RefLimit.ToMjcf(mjcf, "solreflimit");
-      ImpLimit.ToMjcf(mjcf, "solimplimit");
-      RefFriction.ToMjcf(mjcf, "solreffriction");
-      ImpFriction.ToMjcf(mjcf, "solimpfriction");
-      mjcf.SetAttribute("frictionloss", MjEngineTool.MakeLocaleInvariant($"{FrictionLoss}"));
-      mjcf.SetAttribute("limited", $"{Limited}".ToLower());
-      mjcf.SetAttribute("margin", MjEngineTool.MakeLocaleInvariant($"{Margin}"));
-    }
-
-    public void FromMjcf(XmlElement mjcf) {
-      RefLimit.FromMjcf(mjcf, "solreflimit");
-      ImpLimit.FromMjcf(mjcf, "solimplimit");
-      RefFriction.FromMjcf(mjcf, "solreffriction");
-      ImpFriction.FromMjcf(mjcf, "solimpfriction");
-      FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);
-
-      Limited = mjcf.GetLimitedAttribute("limited", mjcf.HasAttribute("range"));
-      Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Joints/MjJointSettings.cs.meta b/unity/Runtime/Components/Joints/MjJointSettings.cs.meta
deleted file mode 100644
index d9b50190..00000000
--- a/unity/Runtime/Components/Joints/MjJointSettings.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Joints/MjSlideJoint.cs b/unity/Runtime/Components/Joints/MjSlideJoint.cs
deleted file mode 100644
index a32895b0..00000000
--- a/unity/Runtime/Components/Joints/MjSlideJoint.cs
+++ /dev/null
@@ -1,91 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  // The component represents a joint with 1 degree of translational freedom.
-  public class MjSlideJoint : MjBaseJoint {
-    [Tooltip("In meters.")]
-    public float RangeLower;
-    [Tooltip("In meters.")]
-    public float RangeUpper;
-
-    [Tooltip("The current joint angle, in degrees. Read-only at play time.")]
-    public float Configuration;
-
-    [Tooltip("Joint movement, in rad/sec. Read-only at play time.")]
-    public float Velocity;
-
-    [Tooltip("Joint settings.")]
-    public MjJointSettings Settings = MjJointSettings.Default;
-
-    // World space slide axis.
-    public unsafe Vector3 SlideAxis {
-      get {
-        if (MjScene.InstanceExists) {
-          return MjEngineTool.UnityVector3(MjScene.Instance.Data->xaxis + 3 * MujocoId);
-        }
-        return transform.rotation * Vector3.right;
-      }
-    }
-
-    protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
-      base.OnBindToRuntime(model, data);
-      data->qvel[DofAddress] = Velocity;
-    }
-
-    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-      Configuration = (float)data->qpos[QposAddress];
-      Velocity = (float)data->qvel[DofAddress];
-    }
-
-    protected override void OnParseMjcf(XmlElement mjcf) {
-      // Transform.
-      transform.localPosition =
-          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
-
-      var rotationAxis =
-          MjEngineTool.UnityVector3(mjcf.GetVector3Attribute("axis", defaultValue: Vector3.right));
-      transform.localRotation = Quaternion.FromToRotation(Vector3.right, rotationAxis);
-
-      var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
-      RangeLower = rangeValues[0];
-      RangeUpper = rangeValues[1];
-
-      Configuration = mjcf.GetFloatAttribute("ref", 0.0f);
-
-      Settings.FromMjcf(mjcf);
-    }
-
-    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-      var mjcf = (XmlElement)doc.CreateElement("joint");
-      mjcf.SetAttribute("type", "slide");
-
-      MjEngineTool.PositionAxisToMjcf(mjcf, this);
-
-      Settings.ToMjcf(mjcf);
-      if (RangeLower > RangeUpper) {
-        throw new ArgumentException("Lower range value can't be bigger than Higher");
-      }
-      mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
-      mjcf.SetAttribute("ref", MjEngineTool.MakeLocaleInvariant($"{Configuration}"));
-
-      return mjcf;
-    }
-  }
-}
diff --git a/unity/Runtime/Components/Joints/MjSlideJoint.cs.meta b/unity/Runtime/Components/Joints/MjSlideJoint.cs.meta
deleted file mode 100644
index 4a106d24..00000000
--- a/unity/Runtime/Components/Joints/MjSlideJoint.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 0f0920b38d2fe4e21bb645eff3f73be4
-timeCreated: 1537527115
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Components/MjActuator.cs b/unity/Runtime/Components/MjActuator.cs
deleted file mode 100644
index 1c5ff755..00000000
--- a/unity/Runtime/Components/MjActuator.cs
+++ /dev/null
@@ -1,402 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-// Actuators provide means to set joints in motion.
-public class MjActuator : MjComponent {
-
-  public enum ActuatorType {
-    General,
-    Motor,
-    Position,
-    Velocity,
-    Cylinder,
-    Muscle
-  }
-
-  // This structure holds the parameters shared by all types of actuators.
-  //
-  // All constants found in this class are copied from the official documentation, and can be found
-  // here: http://mujoco.org/book/XMLreference.html#actuator
-  [Serializable]
-  public class CommonParameters {
-
-    // If true, the control input to this actuator is automatically clamped to ctrlrange at runtime.
-    // If false, control input clamping is disabled.
-    public bool CtrlLimited;
-
-    // If true, the force output of this actuator is automatically clamped to forcerange at runtime.
-    // If false, force output clamping is disabled.
-    public bool ForceLimited;
-
-    // Range for clamping the control input.
-    public Vector2 CtrlRange;
-
-    // Range for clamping the force output.
-    public Vector2 ForceRange;
-
-    // Range of feasible lengths of the actuator's transmission.
-    public Vector2 LengthRange;
-
-    // This attribute scales the length (and consequently moment arms, velocity and force) of the
-    // actuator, for all transmission types. It is different from the gain in the force generation
-    // mechanism, because the gain only scales the force output and does not affect the length,
-    // moment arms and velocity.
-    public List<float> Gear = new List<float>() { 1.0f };
-
-    public void ToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("ctrllimited", $"{CtrlLimited}".ToLowerInvariant());
-      mjcf.SetAttribute("forcelimited", $"{ForceLimited}".ToLowerInvariant());
-      mjcf.SetAttribute(
-          "ctrlrange",
-          MjEngineTool.MakeLocaleInvariant($"{MjEngineTool.GetSorted(CtrlRange).x} {MjEngineTool.GetSorted(CtrlRange).y}"));
-      mjcf.SetAttribute(
-          "forcerange",
-          MjEngineTool.MakeLocaleInvariant($"{MjEngineTool.GetSorted(ForceRange).x} {MjEngineTool.GetSorted(ForceRange).y}"));
-      mjcf.SetAttribute(
-          "lengthrange",
-          MjEngineTool.MakeLocaleInvariant($"{MjEngineTool.GetSorted(LengthRange).x} {MjEngineTool.GetSorted(LengthRange).y}"));
-      mjcf.SetAttribute("gear", MjEngineTool.ListToMjcf(Gear));
-    }
-
-    public void FromMjcf(XmlElement mjcf) {
-      CtrlRange = mjcf.GetVector2Attribute("ctrlrange", defaultValue: Vector2.zero);
-      ForceRange = mjcf.GetVector2Attribute("forcerange", defaultValue: Vector2.zero);
-      LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero);
-      Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList();
-
-      CtrlLimited = mjcf.GetLimitedAttribute("ctrllimited",
-          rangeDefined: mjcf.HasAttribute("ctrlrange"));
-      ForceLimited = mjcf.GetLimitedAttribute("forcelimited",
-          rangeDefined: mjcf.HasAttribute("forcerange"));
-    }
-  }
-
-  // This structure holds all parameters unique to each type of the actuator.
-  //
-  // Because UnityEditor doesn't handle polymorphism well, I decided to put all parameters here
-  // and then create a custom editor (MjActuatorEditor), that will display only the values
-  // relevant to the selected articulation type. The choice will be made based on the value of
-  // the 'Type' field.
-  //
-  // All constants found in this class are copied from the official documentation, and can be found
-  // here: http://mujoco.org/book/XMLreference.html#actuator
-  [Serializable]
-  public class CustomParameters {
-
-    //// General actuator parameters.
-
-    // Activation dynamics type for the actuator.
-    public MujocoLib.mjtDyn DynType;
-
-    // The gain and bias together determine the output of the force generation mechanism, which is
-    // currently assumed to be affine. As already explained in Actuation model, the general formula
-    // is:
-    //   scalar_force = gain_term * (act or ctrl) + bias_term.
-    // The formula uses the activation state when present, and the control otherwise.
-    public MujocoLib.mjtGain GainType;
-
-    // Bias type.
-    public MujocoLib.mjtBias BiasType;
-
-    // Activation dynamics parameters. The built-in activation types (except for muscle) use only
-    // the first parameter, but we provide additional parameters in case user callbacks implement a
-    // more elaborate model. The length of this array is not enforced by the parser, so the user can
-    // enter as many parameters as needed.
-    public List<float> DynPrm = new List<float>() { 1.0f, 0.0f, 0.0f };
-
-    // Gain parameters. The built-in gain types (except for muscle) use only the first parameter,
-    // but we provide additional parameters in case user callbacks implement a more elaborate model.
-    // The length of this array is not enforced by the parser, so the user can enter as many
-    // parameters as needed.
-    public List<float> GainPrm = new List<float>() { 1.0f, 0.0f, 0.0f };
-
-    // Bias parameters. The affine bias type uses three parameters. The length of this array is not
-    // enforced by the parser, so the user can enter as many parameters as needed.
-    public List<float> BiasPrm = new List<float>() { 0.0f, 0.0f, 0.0f };
-
-    public void GeneralToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("dyntype", $"{DynType}".Substring(6).ToLowerInvariant());
-      mjcf.SetAttribute("gaintype", $"{GainType}".Substring(7).ToLowerInvariant());
-      mjcf.SetAttribute("biastype", $"{BiasType}".Substring(7).ToLowerInvariant());
-      mjcf.SetAttribute("dynprm", MjEngineTool.ListToMjcf(DynPrm));
-      mjcf.SetAttribute("gainprm", MjEngineTool.ListToMjcf(GainPrm));
-      mjcf.SetAttribute("biasprm", MjEngineTool.ListToMjcf(BiasPrm));
-    }
-
-    public void GeneralFromMjcf(XmlElement mjcf) {
-      var dynTypeStr = mjcf.GetStringAttribute("dyntype", defaultValue: "none");
-      var gainTypeStr = mjcf.GetStringAttribute("gaintype", defaultValue: "fixed");
-      var biasTypeStr = mjcf.GetStringAttribute("biastype", defaultValue: "none");
-      var ignoreCase = true;
-      Enum.TryParse<MujocoLib.mjtDyn>($"mjdyn_{dynTypeStr}", ignoreCase, out DynType);
-      Enum.TryParse<MujocoLib.mjtGain>($"mjgain_{gainTypeStr}", ignoreCase, out GainType);
-      Enum.TryParse<MujocoLib.mjtBias>($"mjbias_{biasTypeStr}", ignoreCase, out BiasType);
-
-      DynPrm = mjcf.GetFloatArrayAttribute(
-        "dynprm", defaultValue: new float[] { 1.0f, 0.0f, 0.0f }).ToList();
-      GainPrm = mjcf.GetFloatArrayAttribute(
-        "gainprm", defaultValue: new float[] { 1.0f, 0.0f, 0.0f }).ToList();
-      BiasPrm = mjcf.GetFloatArrayAttribute(
-        "biasprm", defaultValue: new float[] { 0.0f, 0.0f, 0.0f }).ToList();
-    }
-
-    //// Position actuator parameters.
-
-    // Position feedback gain.
-    [AbsoluteValue]
-    public float Kp = 1.0f;
-
-    [AbsoluteValue]
-    public float Kvp;
-
-    public void PositionToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("kp", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kp)}"));
-      mjcf.SetAttribute("kv", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kvp)}"));
-    }
-    public void PositionFromMjcf(XmlElement mjcf) {
-      Kp = mjcf.GetFloatAttribute("kp", defaultValue: 1.0f);
-      Kvp = mjcf.GetFloatAttribute("kv", defaultValue: 0f);
-    }
-
-    //// Velocity actuator parameters.
-
-    // Velocity feedback gain.
-    [AbsoluteValue]
-    public float Kv = 1.0f;
-
-    public void VelocityToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("kv", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kv)}"));
-    }
-    public void VelocityFromMjcf(XmlElement mjcf) {
-      Kv = mjcf.GetFloatAttribute("kv", defaultValue: 1.0f);
-    }
-
-    //// Cylinder actuator parameters.
-
-    // Time constant of the activation dynamics.
-    public float CylinderTimeConst = 1.0f;
-
-    // Area of the cylinder. This is used internally as actuator gain.
-    [AbsoluteValue]
-    public float Area = 1.0f;
-
-    // Instead of area the user can specify diameter. If both are specified, diameter has
-    // precedence.
-    [AbsoluteValue]
-    public float Diameter = 0.0f;
-
-    // Bias parameters, copied internally into biasprm.
-    public float[] Bias = new float[] { 0.0f, 0.0f, 0.0f };
-
-    public void CylinderToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("timeconst", MjEngineTool.MakeLocaleInvariant($"{CylinderTimeConst}"));
-      mjcf.SetAttribute("area", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Area)}"));
-      mjcf.SetAttribute("diameter", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Diameter)}"));
-      mjcf.SetAttribute("bias", MjEngineTool.ArrayToMjcf(Bias));
-    }
-
-    public void CylinderFromMjcf(XmlElement mjcf) {
-      CylinderTimeConst = mjcf.GetFloatAttribute("timeconst", defaultValue: 1.0f);
-      Area = mjcf.GetFloatAttribute("area", defaultValue: 1.0f);
-      Diameter = mjcf.GetFloatAttribute("diameter", defaultValue: 0.0f);
-      Bias = mjcf.GetFloatArrayAttribute("bias", defaultValue: new float[] { 0.0f, 0.0f, 0.0f });
-    }
-
-    //// Muscle actuator parameters.
-
-    // Time constants for activation and de-activation dynamics.
-    public Vector2 MuscleTimeConst = new Vector2(0.01f, 0.04f);
-
-    // Operating length range of the muscle, in units of L0.
-    public Vector2 Range = new Vector2(0.75f, 1.05f);
-
-    // Peak active force at rest. If this value is negative, the peak force is determined
-    // automatically using the scale attribute below.
-    public float Force = -1.0f;
-
-    // If the force attribute is negative, the peak active force for the muscle is set to this value
-    // divided by mjModel.actuator_acc0. The latter is the norm of the joint-space acceleration
-    // vector caused by unit force on the actuator's transmission in qpos0. In other words, scaling
-    // produces higher peak forces for muscles that pull more weight.
-    public float Scale = 200.0f;
-
-    // Lower position range of the normalized FLV curve, in units of L0.
-    public float LMin = 0.5f;
-
-    // Upper position range of the normalized FLV curve, in units of L0.
-    public float LMax = 1.6f;
-
-    // Shortening velocity at which muscle force drops to zero, in units of L0 per second.
-    public float VMax = 1.5f;
-
-    // Passive force generated at lmax, relative to the peak rest force.
-    public float FpMax = 1.3f;
-
-    // Active force generated at saturating lengthening velocity, relative to the peak rest force.
-    public float FvMax = 1.2f;
-
-    public void MuscleToMjcf(XmlElement mjcf) {
-      mjcf.SetAttribute("timeconst", MjEngineTool.MakeLocaleInvariant($"{MuscleTimeConst[0]} {MuscleTimeConst[1]}"));
-      mjcf.SetAttribute(
-        "range", MjEngineTool.MakeLocaleInvariant($"{MjEngineTool.GetSorted(Range).x} {MjEngineTool.GetSorted(Range).y}"));
-      mjcf.SetAttribute("force", MjEngineTool.MakeLocaleInvariant($"{Force}"));
-      mjcf.SetAttribute("scale", MjEngineTool.MakeLocaleInvariant($"{Scale}"));
-      mjcf.SetAttribute("lmin", MjEngineTool.MakeLocaleInvariant($"{LMin}"));
-      mjcf.SetAttribute("lmax", MjEngineTool.MakeLocaleInvariant($"{LMax}"));
-      mjcf.SetAttribute("vmax", MjEngineTool.MakeLocaleInvariant($"{VMax}"));
-      mjcf.SetAttribute("fpmax", MjEngineTool.MakeLocaleInvariant($"{FpMax}"));
-      mjcf.SetAttribute("fvmax", MjEngineTool.MakeLocaleInvariant($"{FvMax}"));
-    }
-
-    public void MuscleFromMjcf(XmlElement mjcf) {
-      MuscleTimeConst = mjcf.GetVector2Attribute(
-          "timeconst", defaultValue: new Vector2(0.01f, 0.04f));
-      Range = mjcf.GetVector2Attribute("range", defaultValue: new Vector2(0.75f, 1.05f));
-      Force = mjcf.GetFloatAttribute("force", defaultValue: -1.0f);
-      Scale = mjcf.GetFloatAttribute("scale", defaultValue: 200.0f);
-      LMin = mjcf.GetFloatAttribute("lmin", defaultValue: 0.5f);
-      LMax = mjcf.GetFloatAttribute("lmax", defaultValue: 1.6f);
-      VMax = mjcf.GetFloatAttribute("vmax", defaultValue: 1.5f);
-      FpMax = mjcf.GetFloatAttribute("fpmax", defaultValue: 1.3f);
-      FvMax = mjcf.GetFloatAttribute("fvmax", defaultValue: 1.2f);
-    }
-  }
-
-  public ActuatorType Type;
-
-  [Tooltip("Joint actuation target. Mutually exclusive with tendon target.")]
-  public MjBaseJoint Joint;
-
-  [Tooltip("Tendon actuation target. Mutually exclusive with joint target.")]
-  public MjBaseTendon Tendon;
-
-  [Tooltip("Parameters specific to each actuator type.")]
-  [HideInInspector]
-  public CustomParameters CustomParams = new CustomParameters();
-
-  [Tooltip("Parameters shared by all types of actuators.")]
-  public CommonParameters CommonParams = new CommonParameters();
-
-  [Tooltip("Actuator control.")]
-  public float Control;
-
-  // Actuator length.
-  public float Length { get; private set; }
-
-  // Actuator velocity.
-  public float Velocity { get; private set; }
-
-  // Actuator force.
-  public float Force { get; private set; }
-
-  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_ACTUATOR;
-
-  // Parse the component settings from an external Mjcf.
-  protected override void OnParseMjcf(XmlElement mjcf) {
-    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out Type)) {
-      throw new ArgumentException($"Unknown actuator type {mjcf.Name}.");
-    }
-    CommonParams.FromMjcf(mjcf);
-    switch (Type) {
-      case MjActuator.ActuatorType.General: {
-        CustomParams.GeneralFromMjcf(mjcf);
-        break;
-      }
-      case MjActuator.ActuatorType.Position: {
-        CustomParams.PositionFromMjcf(mjcf);
-        break;
-      }
-      case MjActuator.ActuatorType.Velocity: {
-        CustomParams.VelocityFromMjcf(mjcf);
-        break;
-      }
-      case MjActuator.ActuatorType.Cylinder: {
-        CustomParams.CylinderFromMjcf(mjcf);
-        break;
-      }
-      case MjActuator.ActuatorType.Muscle: {
-        CustomParams.MuscleFromMjcf(mjcf);
-        break;
-      }
-    }
-    Joint = mjcf.GetObjectReferenceAttribute<MjBaseJoint>("joint");
-    Tendon = mjcf.GetObjectReferenceAttribute<MjBaseTendon>("tendon");
-  }
-
-  // Generate implementation specific XML element.
-  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-    if (Joint == null && Tendon == null) {
-      throw new InvalidOperationException($"Actuator {name} is not assigned a joint nor tendon.");
-    }
-    if (Joint != null && Tendon != null) {
-      throw new InvalidOperationException(
-        $"Actuator {name} can't have both a tendon and a joint target.");
-    }
-
-    var mjcf = doc.CreateElement(Type.ToString().ToLowerInvariant());
-    if (Joint != null) {
-      mjcf.SetAttribute("joint", Joint.MujocoName);
-    } else {
-      mjcf.SetAttribute("tendon", Tendon.MujocoName);
-    }
-    CommonParams.ToMjcf(mjcf);
-
-    switch (Type) {
-      case MjActuator.ActuatorType.General: {
-        CustomParams.GeneralToMjcf(mjcf);
-        break;
-      }
-      case MjActuator.ActuatorType.Position: {
-        CustomParams.PositionToMjcf(mjcf);
-        break;
-      }
-      case MjActuator.ActuatorType.Velocity: {
-        CustomParams.VelocityToMjcf(mjcf);
-        break;
-      }
-      case MjActuator.ActuatorType.Cylinder: {
-        CustomParams.CylinderToMjcf(mjcf);
-        break;
-      }
-      case MjActuator.ActuatorType.Muscle: {
-        CustomParams.MuscleToMjcf(mjcf);
-        break;
-      }
-    }
-    return mjcf;
-  }
-
-  // Synchronize the state of the component.
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    data->ctrl[MujocoId] = Control;
-    Length = (float)data->actuator_length[MujocoId];
-    Velocity = (float)data->actuator_velocity[MujocoId];
-    Force = (float)data->actuator_force[MujocoId];
-  }
-
-  public void OnValidate() {
-    if (Joint != null && Tendon != null) {
-      Debug.LogError(
-          $"Actuator {name} can't have both a tendon and a joint target.", this);
-    }
-  }
-}
-}
diff --git a/unity/Runtime/Components/MjActuator.cs.meta b/unity/Runtime/Components/MjActuator.cs.meta
deleted file mode 100644
index 709d85f5..00000000
--- a/unity/Runtime/Components/MjActuator.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: c3f3a0cb6a6d64327b27c7d5bdd8d430
-timeCreated: 1546881319
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Components/MjComponent.cs b/unity/Runtime/Components/MjComponent.cs
deleted file mode 100644
index ae6f8094..00000000
--- a/unity/Runtime/Components/MjComponent.cs
+++ /dev/null
@@ -1,108 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// The base class for all components that represent Mujoco scene nodes.
-[DisallowMultipleComponent]
-public abstract class MjComponent : MonoBehaviour {
-
-  // Unique name assigned to each Mujoco component.
-  public string MujocoName { get; private set; }
-
-  // Id of the geom in Mujoco's internal data structures.
-  public int MujocoId { get; protected set; }
-
-  public abstract MujocoLib.mjtObj ObjectType { get; }
-
-  // Some components (Inertial frames for example) cannot have the name attribute
-  // added to the generated Mjcf.
-  protected virtual bool _suppressNameAttribute => false;
-
-  // Binds this component to the compiled Mujoco model.
-  public unsafe void BindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
-    MujocoId = MujocoLib.mj_name2id(model, (int)ObjectType, MujocoName);
-    if (MujocoId == -1 && !_suppressNameAttribute) {
-      throw new NullReferenceException($"element name {MujocoName} not found");
-    }
-    OnBindToRuntime(model, data);
-  }
-
-  // Generates the XML element that corresponds to this scene node.
-  public XmlElement GenerateMjcf(string name, XmlDocument doc) {
-    MujocoName = name;
-
-    var mjcf = OnGenerateMjcf(doc);
-    if (!_suppressNameAttribute) {
-      mjcf.SetAttribute("name", name);
-    }
-
-    return mjcf;
-  }
-
-  // Parse the component settings from an external Mjcf.
-  public void ParseMjcf(XmlElement mjcf) {
-    // I would like to preserve the naming dualism - external mechanisms
-    // calling a method, and the internal implementation implementing
-    // the method with an "On" prefix.
-    OnParseMjcf(mjcf);
-  }
-
-  // Parse the component settings from an external Mjcf.
-  protected abstract void OnParseMjcf(XmlElement mjcf);
-
-  // Generate implementation specific XML element.
-  protected abstract XmlElement OnGenerateMjcf(XmlDocument doc);
-
-  // Perform bind time initialization of the component.
-  protected virtual unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {}
-
-  // Synchronize the state of the component.
-  public virtual unsafe void OnSyncState(MujocoLib.mjData_* data) {}
-
-  private bool _sceneExcludesMe = false;
-
-  protected unsafe virtual void OnEnable() {
-    if (MjScene.Instance == null) {
-      throw new Exception("MuJoCo Scene not found");
-    }
-    if (MjScene.Instance.Model != null) {
-      _sceneExcludesMe = true;
-    }
-  }
-
-  protected void Update() {
-    if (_sceneExcludesMe) {
-      MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
-      _sceneExcludesMe = false;
-    }
-  }
-
-  private bool _exiting = false;
-  public void OnApplicationQuit() {
-    _exiting = true;
-  }
-
-  public void OnDisable() {
-    if (!_exiting && MjScene.InstanceExists) {
-      MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
-    }
-  }
-
-}
-}
diff --git a/unity/Runtime/Components/MjComponent.cs.meta b/unity/Runtime/Components/MjComponent.cs.meta
deleted file mode 100644
index 8d3fb92d..00000000
--- a/unity/Runtime/Components/MjComponent.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 7cb8afbea854147a8bf92a08d5f6577b
-timeCreated: 1536879723
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Components/MjExclude.cs b/unity/Runtime/Components/MjExclude.cs
deleted file mode 100644
index e50b28ec..00000000
--- a/unity/Runtime/Components/MjExclude.cs
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-public class MjExclude : MjComponent {
-
-  [Tooltip("A body whose contacts with other body are ignored")]
-  public MjBody Body1;
-  [Tooltip("Other body whose contacts with first body are ignored")]
-  public MjBody Body2;
-
-  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_EXCLUDE;
-
-  protected override void OnParseMjcf(XmlElement mjcf) {
-    var body1Name = mjcf.GetStringAttribute("body1", defaultValue: string.Empty);
-    if (!string.IsNullOrEmpty(body1Name)) {
-      Body1 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body1Name);
-    }
-    var body2Name = mjcf.GetStringAttribute("body2", defaultValue: string.Empty);
-    if (!string.IsNullOrEmpty(body2Name)) {
-      Body2 = MjHierarchyTool.FindComponentOfTypeAndName<MjBody>(body2Name);
-    }
-  }
-
-  // Generate implementation specific XML element.
-  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-    if (Body1 == null || Body2 == null) {
-      throw new NullReferenceException($"Both bodies in {name} must be assigned.");
-    }
-
-    var mjcf = (XmlElement)doc.CreateElement("exclude");
-    mjcf.SetAttribute("body1", Body1.MujocoName);
-    mjcf.SetAttribute("body2", Body2.MujocoName);
-    return mjcf;
-  }
-}
-}
diff --git a/unity/Runtime/Components/MjExclude.cs.meta b/unity/Runtime/Components/MjExclude.cs.meta
deleted file mode 100644
index 1ef85a16..00000000
--- a/unity/Runtime/Components/MjExclude.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 8d271c366e5c04a259f36a15b42f78a5
-timeCreated: 1550051492
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Components/MjGizmos.cs b/unity/Runtime/Components/MjGizmos.cs
deleted file mode 100644
index b0ef5c90..00000000
--- a/unity/Runtime/Components/MjGizmos.cs
+++ /dev/null
@@ -1,116 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using UnityEngine;
-
-namespace Mujoco {
-
-// Additional Debug Gizmos.
-public static class MjGizmos {
-
-  private const float _vectorPerpendicularityMagnitudeThreshold = 1e-6f;
-
-  public static int NumCircleSegments = 32;
-
-  private static Vector3[] _circumferenceVertices = new Vector3[] {
-    Vector3.right, -Vector3.right, Vector3.forward, -Vector3.forward,
-  };
-
-  public static Action<Vector3 /*from*/, Vector3 /*to*/> DrawLine { get; set; } = Gizmos.DrawLine;
-
-  public static Action<Vector3 /*position*/, float /*radius*/, Vector3 /*axis*/, float /*length*/,
-                       float /*startAngle*/> DrawArc { get; set; } = MjGizmos.DrawArcInternal;
-
-  // Draws a wireframe capsule of the specified radius and height.
-  // The capsule's height will be aligned with the global Y axis.
-  // The specified height represents the height of the cylinder between two hemisphere bases.
-  public static void DrawWireCapsule(Vector3 position, float radius, float height) {
-    var offset = DrawHollowWireCylinder(position, radius, height);
-    // Arches marking the bases of the capsule.
-    DrawArc(position - offset, radius, Vector3.right, 0.5f, 0.0f);
-    DrawArc(position + offset, radius, Vector3.right, 0.5f, 180.0f);
-    DrawArc(position + offset, radius, Vector3.forward, 0.5f, -90.0f);
-    DrawArc(position - offset, radius, Vector3.forward, 0.5f, 90.0f);
-  }
-
-  // Draws a wireframe cylinder of the specified radius and height.
-  // The cylinder's height will be aligned with the global Y axis.
-  public static void DrawWireCylinder(Vector3 position, float radius, float height) {
-    var offset = DrawHollowWireCylinder(position, radius, height);
-    // Lines marking the bases of the cylinder.
-    for (var i = 0; i < _circumferenceVertices.Length / 2; ++i) {
-      var vertex = _circumferenceVertices[i * 2] * radius;
-      var nextVertex = _circumferenceVertices[i * 2 + 1] * radius;
-      DrawLine(position + offset + vertex, position + offset + nextVertex);
-      DrawLine(position - offset + vertex, position - offset + nextVertex);
-    }
-  }
-
-  private static Vector3 DrawHollowWireCylinder(Vector3 position, float radius, float height) {
-    var offset = Vector3.up * (height * 0.5f);
-    // Cylinder bases.
-    DrawArc(position + offset, radius, Vector3.up, 1.0f, 0.0f);
-    DrawArc(position - offset, radius, Vector3.up, 1.0f, 0.0f);
-    // Lines marking the sides of the cylinder.
-    for (var i = 0; i < _circumferenceVertices.Length; ++i) {
-      // Lines marking the sides of the cylinder.
-      var vertex = _circumferenceVertices[i] * radius;
-      DrawLine(position + offset + vertex, position - offset + vertex);
-    }
-    return offset;
-  }
-
-  // Draws an arc in the XZ plane.
-  // 'length' parameter, in range (0, 1], allows to define how much of the circumference should be
-  // drawn. In other words, it allows to draw arbitrary arcs.
-  // Two additional parameters, 'axis' and 'startAngle', allow to orient the figure without having
-  // to manipulate the value of Gizmos.matrix.
-  public static void DrawArcInternal(
-      Vector3 position, float radius, Vector3 axis, float length, float startAngle) {
-    var deltaAngle = 360.0f / NumCircleSegments;
-    var numSegments = Math.Ceiling(length * NumCircleSegments);
-
-    var perpendicular = Vector3.Cross(axis, Vector3.right);
-    if (perpendicular.magnitude <= _vectorPerpendicularityMagnitudeThreshold) {
-      perpendicular = Vector3.Cross(axis, Vector3.up);
-    }
-    perpendicular.Normalize();
-
-    var offset = perpendicular * radius;
-    var start = Quaternion.AngleAxis(startAngle, axis) * offset;
-    var angle = startAngle + deltaAngle;
-
-    for (var segment = 0; segment < numSegments; ++segment, angle += deltaAngle) {
-      var end = Quaternion.AngleAxis(angle, axis) * offset;
-      DrawLine(position + start, position + end);
-      start = end;
-    }
-  }
-
-  public static void DrawWirePlane(Vector3 position, float width, float height) {
-    var quadPoints = new Vector3[] {
-      new Vector3(-0.5f * width, 0, -0.5f * height),
-      new Vector3(0.5f * width, 0, -0.5f * height),
-      new Vector3(0.5f * width, 0, 0.5f * height),
-      new Vector3(-0.5f * width, 0, 0.5f * height),
-      new Vector3(-0.5f * width, 0, -0.5f * height),
-      new Vector3(0.5f * width, 0, 0.5f * height),
-    };
-    for (var i = 0; i < quadPoints.Length - 1; ++i) {
-      DrawLine(position + quadPoints[i], position + quadPoints[i + 1]);
-    }
-  }
-}
-}
diff --git a/unity/Runtime/Components/MjGizmos.cs.meta b/unity/Runtime/Components/MjGizmos.cs.meta
deleted file mode 100644
index eb1d6bbd..00000000
--- a/unity/Runtime/Components/MjGizmos.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: f9b1794ad59f445418c86157f57519bd
-timeCreated: 1536771527
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Components/MjGlobalSettings.cs b/unity/Runtime/Components/MjGlobalSettings.cs
deleted file mode 100644
index 448df6c5..00000000
--- a/unity/Runtime/Components/MjGlobalSettings.cs
+++ /dev/null
@@ -1,395 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.IO;
-using System.Linq;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Xml;
-using UnityEngine;
-using UnityEngine.Profiling;
-
-namespace Mujoco {
-
-// The MuJoCo parser is case-sensitive.  The case format of the entries in the enums below is
-// exactly what the documentation specifies: http://mujoco.org/book/XMLreference.html#option .
-public enum IntegratorType {
-  Euler,
-  RK4,
-  @implicit,
-  @implicitfast
-}
-
-public enum FrictionConeType {
-  pyramidal,
-  elliptic
-}
-
-public enum JacobianType {
-  dense,
-  sparse,
-  auto
-}
-
-public enum ConstraintSolverType {
-  PGS,
-  CG,
-  Newton
-}
-
-public enum EnableDisableFlag {
-  enable,
-  disable
-}
-
-[Serializable]
-public struct MjcfOptionFlag {
-  public EnableDisableFlag Constraint;
-  public EnableDisableFlag Equality;
-  public EnableDisableFlag FrictionLoss;
-  public EnableDisableFlag Limit;
-  public EnableDisableFlag Contact;
-  public EnableDisableFlag Spring;
-  public EnableDisableFlag Damper;
-  public EnableDisableFlag Gravity;
-  public EnableDisableFlag ClampCtrl;
-  public EnableDisableFlag WarmStart;
-  public EnableDisableFlag FilterParent;
-  public EnableDisableFlag Actuation;
-  public EnableDisableFlag RefSafe;
-  public EnableDisableFlag Override;
-  public EnableDisableFlag Energy;
-  public EnableDisableFlag FwdInv;
-  public EnableDisableFlag MultiCCD;
-  public static MjcfOptionFlag Default = new MjcfOptionFlag() {
-    Constraint = EnableDisableFlag.enable,
-    Equality = EnableDisableFlag.enable,
-    FrictionLoss = EnableDisableFlag.enable,
-    Limit = EnableDisableFlag.enable,
-    Contact = EnableDisableFlag.enable,
-    Spring = EnableDisableFlag.enable,
-    Damper = EnableDisableFlag.enable,
-    Gravity = EnableDisableFlag.enable,
-    ClampCtrl = EnableDisableFlag.enable,
-    WarmStart = EnableDisableFlag.enable,
-    FilterParent = EnableDisableFlag.enable,
-    Actuation = EnableDisableFlag.enable,
-    RefSafe = EnableDisableFlag.enable,
-    Override = EnableDisableFlag.disable,
-    Energy = EnableDisableFlag.disable,
-    FwdInv = EnableDisableFlag.disable,
-    MultiCCD = EnableDisableFlag.disable
-  };
-
-  public void FromMjcf(XmlElement mjcf) {
-    var localDefault = MjcfOptionFlag.Default;
-    Constraint = mjcf.GetEnumAttribute<EnableDisableFlag>("constraint", localDefault.Constraint);
-    Equality = mjcf.GetEnumAttribute<EnableDisableFlag>("equality", localDefault.Equality);
-    FrictionLoss = mjcf.GetEnumAttribute<EnableDisableFlag>("frictionloss",
-                                                            localDefault.FrictionLoss);
-    Limit = mjcf.GetEnumAttribute<EnableDisableFlag>("limit", localDefault.Limit);
-    Contact = mjcf.GetEnumAttribute<EnableDisableFlag>("contact", localDefault.Contact);
-    Spring = mjcf.GetEnumAttribute<EnableDisableFlag>("spring", localDefault.Spring);
-    Damper = mjcf.GetEnumAttribute<EnableDisableFlag>("damper", localDefault.Damper);
-    Gravity = mjcf.GetEnumAttribute<EnableDisableFlag>("gravity", localDefault.Gravity);
-    ClampCtrl = mjcf.GetEnumAttribute<EnableDisableFlag>("clampctrl", localDefault.ClampCtrl);
-    WarmStart = mjcf.GetEnumAttribute<EnableDisableFlag>("warmstart", localDefault.WarmStart);
-    FilterParent = mjcf.GetEnumAttribute<EnableDisableFlag>("filterparent",
-                                                            localDefault.FilterParent);
-    Actuation = mjcf.GetEnumAttribute<EnableDisableFlag>("actuation", localDefault.Actuation);
-    RefSafe = mjcf.GetEnumAttribute<EnableDisableFlag>("refsafe", localDefault.RefSafe);
-    Override = mjcf.GetEnumAttribute<EnableDisableFlag>("override", localDefault.Override);
-    Energy = mjcf.GetEnumAttribute<EnableDisableFlag>("energy", localDefault.Energy);
-    FwdInv = mjcf.GetEnumAttribute<EnableDisableFlag>("fwdinv", localDefault.FwdInv);
-    MultiCCD = mjcf.GetEnumAttribute<EnableDisableFlag>("multiccd", localDefault.MultiCCD);
-  }
-
-  public void ToMjcf(XmlElement mjcf) {
-    mjcf.SetAttribute("constraint", Constraint.ToString());
-    mjcf.SetAttribute("equality", Equality.ToString());
-    mjcf.SetAttribute("frictionloss", FrictionLoss.ToString());
-    mjcf.SetAttribute("limit", Limit.ToString());
-    mjcf.SetAttribute("contact", Contact.ToString());
-    mjcf.SetAttribute("spring", Spring.ToString());
-    mjcf.SetAttribute("damper", Damper.ToString());
-    mjcf.SetAttribute("gravity", Gravity.ToString());
-    mjcf.SetAttribute("clampctrl", ClampCtrl.ToString());
-    mjcf.SetAttribute("warmstart", WarmStart.ToString());
-    mjcf.SetAttribute("filterparent", FilterParent.ToString());
-    mjcf.SetAttribute("actuation", Actuation.ToString());
-    mjcf.SetAttribute("refsafe", RefSafe.ToString());
-    mjcf.SetAttribute("override", Override.ToString());
-    mjcf.SetAttribute("energy", Energy.ToString());
-    mjcf.SetAttribute("fwdinv", FwdInv.ToString());
-    mjcf.SetAttribute("multiccd", MultiCCD.ToString());
-  }
-}
-
-[Serializable]
-public struct MjSizeStruct {
-  public String Memory;
-  public static MjSizeStruct Default = new MjSizeStruct() {
-    Memory = "-1"
-  };
-
-  public void ParseMjcf(XmlElement mjcf) {
-    Memory = mjcf.GetStringAttribute("memory", "-1");
-  }
-
-  public XmlElement ToMjcf(XmlElement mjcf) {
-    mjcf.SetAttribute("memory", $"{Memory}");
-    return mjcf;
-  }
-}
-
-[Serializable]
-public struct MjOptionStruct {
-
-  // "timestep" and "gravity" come from global settings.
-  [Tooltip("Ratio of frictional-to-normal constraint impedance.")]
-  public float ImpRatio;
-  [Tooltip("Global magnetic flux used by magnetometer sensors.")]
-  public Vector3 Magnetic;
-  [Tooltip("Velocity vector of the medium, scales with the values of Density and Viscosity below.")]
-  public Vector3 Wind;
-  [Tooltip("Density of the medium for lift and drag forces. 0 disables lift and drag forces.")]
-  public float Density;
-  [Tooltip("Viscosity of the medium for viscous forces. 0 disables viscous forces.")]
-  public float Viscosity;
-  [Tooltip("Contact pair margin used when ContactOverride flag is set.")]
-  public float OverrideMargin;
-  [Tooltip("Contact pair solref used when ContactOverride flag is set.")]
-  public SolverReference OverrideSolRef;
-  [Tooltip("Contact pair solimp used when ContactOverride flag is set.")]
-  public SolverImpedance OverrideSolImp;
-  [Tooltip("Numerical integrator.")]
-  public IntegratorType Integrator;
-  [Tooltip("How to model the friction cone.")]
-  public FrictionConeType Cone;
-  [Tooltip("How to represent the constraint Jacobian.")]
-  public JacobianType Jacobian;
-  [Tooltip("Constraint solver algorithm.")]
-  public ConstraintSolverType Solver;
-  [Tooltip("Maximum iterations for the constraint solver.")]
-  public int Iterations;
-  [Tooltip("Threshold used for early termination of the constraint solver.")]
-  public float Tolerance;
-  [Tooltip("Maximum iterations for the no-slip phase of the constraint solver.")]
-  public int NoSlipIterations;
-  [Tooltip("Threshold used for early termination of the Noslip solver.")]
-  public float NoSlipTolerance;
-  [Tooltip("Maximum iterations for convex mesh collisions.")]
-  public int CcdIterations;
-  [Tooltip("Threshold used for early termination of the MPR algorithm.")]
-  public float CcdTolerance;
-
-  public MjcfOptionFlag Flag;
-
-  // Default values copied from the "XML reference" page in the MuJoCo documentation.
-  public static MjOptionStruct Default = new MjOptionStruct() {
-    ImpRatio = 1.0f,
-    Magnetic = Vector3.zero,
-    Wind = new Vector3(0.0f, 0.0f, 0.0f),
-    Density = 0.0f,
-    Viscosity = 0.0f,
-    OverrideMargin = 0.0f,
-    OverrideSolRef = SolverReference.Default,
-    OverrideSolImp = SolverImpedance.Default,
-    Integrator = IntegratorType.Euler,
-    Cone = FrictionConeType.pyramidal,
-    Jacobian = JacobianType.auto,
-    Solver = ConstraintSolverType.Newton,
-    Iterations = 100,
-    Tolerance = 1e-8f,
-    NoSlipIterations = 0,
-    NoSlipTolerance = 1e-6f,
-    CcdIterations = 50,
-    CcdTolerance = 1e-6f,
-    Flag = MjcfOptionFlag.Default
-  };
-
-  public void ParseMjcf(XmlElement mjcf) {
-    if (mjcf.HasAttribute("timestep")) {
-      var mjTimestep = mjcf.GetFloatAttribute("timestep", Time.fixedDeltaTime);
-      if (mjTimestep != Time.fixedDeltaTime) {
-        Debug.unityLogger.LogWarning(
-            "MuJoCo",
-            $"MuJoCo's timestep ({mjTimestep}s) ignored, please set fixedDeltaTime manually.",
-            null);
-      }
-    }
-    if (mjcf.HasAttribute("gravity")) {
-      var mjGravity = mjcf.GetVector3Attribute("gravity", Vector3.zero);
-      Debug.unityLogger.LogWarning(
-          "MuJoCo",
-          $"MuJoCo's gravity ({mjGravity.x} {mjGravity.z} {mjGravity.y}) ignored, " +
-          "please set gravity in the Physics Manager.",
-          null);
-    }
-    var localDefault = MjOptionStruct.Default;
-    ImpRatio = mjcf.GetFloatAttribute("impratio", localDefault.ImpRatio);
-    Magnetic = mjcf.GetVector3Attribute("magnetic", localDefault.Magnetic);
-    Wind = mjcf.GetVector3Attribute("wind", localDefault.Wind);
-    Density = mjcf.GetFloatAttribute("density", localDefault.Density);
-    Viscosity = mjcf.GetFloatAttribute("viscosity", localDefault.Viscosity);
-    OverrideMargin = mjcf.GetFloatAttribute("o_margin", localDefault.OverrideMargin);
-
-    OverrideSolRef.FromMjcf(mjcf, "o_solref");
-    OverrideSolImp.FromMjcf(mjcf, "o_solimp");
-
-    Integrator = mjcf.GetEnumAttribute<IntegratorType>("integrator", localDefault.Integrator);
-    Cone = mjcf.GetEnumAttribute<FrictionConeType>("cone", localDefault.Cone);
-    Jacobian = mjcf.GetEnumAttribute<JacobianType>("jacobian", localDefault.Jacobian);
-    Solver = mjcf.GetEnumAttribute<ConstraintSolverType>("solver", localDefault.Solver);
-
-    Iterations = (int)mjcf.GetFloatAttribute("iterations", localDefault.Iterations);
-    Tolerance = mjcf.GetFloatAttribute("tolerance", localDefault.Tolerance);
-    NoSlipIterations = (int)mjcf.GetFloatAttribute(
-        "noslip_iterations", localDefault.NoSlipIterations);
-    NoSlipTolerance = mjcf.GetFloatAttribute("noslip_tolerance", localDefault.NoSlipTolerance);
-    CcdIterations = (int)mjcf.GetFloatAttribute("ccd_iterations", localDefault.CcdIterations);
-    CcdTolerance = mjcf.GetFloatAttribute("ccd_tolerance", localDefault.CcdTolerance);
-
-    var flagElements = mjcf.GetElementsByTagName("flag");
-    if (flagElements.Count == 1) {
-      Flag.FromMjcf(flagElements[0] as XmlElement);
-    } else if (flagElements.Count > 1) {
-      throw new ArgumentException("More than one <flag> node is not supported.");
-    }
-  }
-
-  public XmlElement ToMjcf(XmlElement mjcf) {
-    mjcf.SetAttribute("impratio", MjEngineTool.MakeLocaleInvariant($"{ImpRatio}"));
-    mjcf.SetAttribute("magnetic",
-        MjEngineTool.MakeLocaleInvariant($"{Magnetic.x} {Magnetic.y} {Magnetic.z}"));
-    mjcf.SetAttribute("wind", MjEngineTool.MakeLocaleInvariant($"{Wind.x} {Wind.y} {Wind.z}"));
-    mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}"));
-    mjcf.SetAttribute("viscosity", MjEngineTool.MakeLocaleInvariant($"{Viscosity}"));
-    mjcf.SetAttribute("o_margin", MjEngineTool.MakeLocaleInvariant($"{OverrideMargin}"));
-
-    OverrideSolRef.ToMjcf(mjcf, "o_solref");
-    OverrideSolImp.ToMjcf(mjcf, "o_solimp");
-
-    mjcf.SetAttribute("integrator", Integrator.ToString());
-    mjcf.SetAttribute("cone", Cone.ToString());
-    mjcf.SetAttribute("jacobian", Jacobian.ToString());
-    mjcf.SetAttribute("solver", Solver.ToString());
-    mjcf.SetAttribute("iterations", MjEngineTool.MakeLocaleInvariant($"{Iterations}"));
-    mjcf.SetAttribute("tolerance", MjEngineTool.MakeLocaleInvariant($"{Tolerance}"));
-    mjcf.SetAttribute("noslip_iterations", MjEngineTool.MakeLocaleInvariant($"{NoSlipIterations}"));
-    mjcf.SetAttribute("noslip_tolerance", MjEngineTool.MakeLocaleInvariant($"{NoSlipTolerance}"));
-    mjcf.SetAttribute("ccd_iterations", MjEngineTool.MakeLocaleInvariant($"{CcdIterations}"));
-    mjcf.SetAttribute("ccd_tolerance", MjEngineTool.MakeLocaleInvariant($"{CcdTolerance}"));
-
-    var flags = (XmlElement)mjcf.AppendChild(
-        mjcf.OwnerDocument.CreateElement("flag"));
-    Flag.ToMjcf(flags);
-    return mjcf;
-  }
-}
-
-[Serializable]
-public class NumericEntry {
-  public String Name;
-  [Tooltip("Space-separated list of floats.")]
-  public String Data;
-}
-
-public class MjGlobalSettings : MonoBehaviour {
-
-  [Tooltip("Filename for the generated scene XML.")]
-  public string DebugFileName;
-
-  [Tooltip("Scales the force applied by the mouse spring.")]
-  public float MouseSpringStiffness = 100;
-
-  [Tooltip("If false, numerical suffixes will be aded to ensure name uniqueness.")]
-  public bool UseRawGameObjectNames;
-
-  public MjOptionStruct GlobalOptions = MjOptionStruct.Default;
-
-  public MjSizeStruct GlobalSizes = MjSizeStruct.Default;
-
-  public List<NumericEntry> CustomNumeric = new List<NumericEntry>() {};
-
-  public static MjGlobalSettings Instance {
-    get {
-     if (_instance == null) {
-        var instances = FindObjectsByType<MjGlobalSettings>(FindObjectsSortMode.None);
-        if (instances.Length > 1) {
-          throw new InvalidOperationException(
-              "Only one MjGlobalSettings instance is allowed - please resolve manually.");
-        } else if (instances.Length == 1) {
-          _instance = instances[0];
-        }
-     }
-     return _instance;
-    }
-  }
-
-  private static MjGlobalSettings _instance = null;
-
-  public void Awake() {
-    if (_instance == null) {
-      _instance = this;
-    } else if (_instance != this) {
-      throw new InvalidOperationException(
-          "At most one MjGlobalSettings should be present.");
-    }
-  }
-
-  public void ParseGlobalMjcfSections(XmlElement mujocoNode) {
-
-    var optionNode = mujocoNode.SelectSingleNode("option") as XmlElement;
-    var sizeNode = mujocoNode.SelectSingleNode("size") as XmlElement;
-    var customNode = mujocoNode.SelectSingleNode("custom") as XmlElement;
-
-    if (optionNode != null) {
-      GlobalOptions.ParseMjcf(optionNode);
-    }
-    if (sizeNode != null) {
-      GlobalSizes.ParseMjcf(sizeNode);
-    }
-    if (customNode != null) {
-      foreach (var childNode in customNode.ChildNodes) {
-        var child = childNode as XmlElement;
-        if (child.Name == "numeric") {
-          var numeric = new NumericEntry();
-          numeric.Name = child.GetAttribute("name");
-          numeric.Data = child.GetAttribute("data");
-          CustomNumeric.Add(numeric);
-        }
-      }
-    }
-  }
-
-  public void GlobalsToMjcf(XmlElement mjcf) {
-    var doc = mjcf.OwnerDocument;
-    var optionMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("option"));
-    GlobalOptions.ToMjcf(optionMjcf);
-    var sizeMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("size"));
-    GlobalSizes.ToMjcf(sizeMjcf);
-    var customMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("custom"));
-    foreach (var numeric in CustomNumeric) {
-      var numericMjcf = (XmlElement)customMjcf.AppendChild(doc.CreateElement("numeric"));
-      numericMjcf.SetAttribute("name", numeric.Name);
-      // TODO: add validation that data is a space-separated list of floating numbers?
-      numericMjcf.SetAttribute("data", numeric.Data);
-    }
-  }
-}
-}
diff --git a/unity/Runtime/Components/MjGlobalSettings.cs.meta b/unity/Runtime/Components/MjGlobalSettings.cs.meta
deleted file mode 100644
index 653f07ac..00000000
--- a/unity/Runtime/Components/MjGlobalSettings.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: aafd577af429d4011831f681fe16df0b
-timeCreated: 1548950233
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Components/MjInertial.cs b/unity/Runtime/Components/MjInertial.cs
deleted file mode 100644
index 45235d0e..00000000
--- a/unity/Runtime/Components/MjInertial.cs
+++ /dev/null
@@ -1,64 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// Defines an inertial frame of a body.
-public class MjInertial : MjComponent {
-
-  [Tooltip("Mass assigned to the parent body.")]
-  public float Mass = 1.0f;
-
-  [Tooltip("Diagonal inertia matrix, expressing the body inertia relative to the inertial frame.")]
-  public Vector3 DiagInertia = Vector3.one;
-
-  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_BODY;
-  protected override bool _suppressNameAttribute => true;
-
-  // Parse the component settings from an external Mjcf.
-  protected override void OnParseMjcf(XmlElement mjcf) {
-    MjEngineTool.ParseTransformMjcf(mjcf, transform);
-    Mass = mjcf.GetFloatAttribute("mass", defaultValue: 1.0f);
-    DiagInertia = MjEngineTool.UnityExtents(
-        mjcf.GetVector3Attribute("diaginertia", defaultValue: Vector3.one));
-  }
-
-  // Generate implementation specific XML element.
-  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-    var mjcf = (XmlElement)doc.CreateElement("inertial");
-    MjEngineTool.PositionRotationToMjcf(mjcf, this);
-    mjcf.SetAttribute("mass", MjEngineTool.MakeLocaleInvariant($"{Mass}"));
-    mjcf.SetAttribute("diaginertia",
-                      MjEngineTool.Vector3ToMjcf(MjEngineTool.MjExtents(DiagInertia)));
-    return mjcf;
-  }
-
-  protected void OnDrawGizmosSelected() {
-    Gizmos.color = Color.yellow;
-    var oldMatrix = Gizmos.matrix;
-    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
-    var box = new Vector3(
-        Mathf.Sqrt((DiagInertia[1] + DiagInertia[2] - DiagInertia[0]) / Mass * 6.0f),
-        Mathf.Sqrt((DiagInertia[0] + DiagInertia[2] - DiagInertia[1]) / Mass * 6.0f),
-        Mathf.Sqrt((DiagInertia[0] + DiagInertia[1] - DiagInertia[2]) / Mass * 6.0f));
-    Gizmos.DrawWireCube(Vector3.zero, box);
-    Gizmos.matrix = oldMatrix;
-  }
-}
-}
diff --git a/unity/Runtime/Components/MjInertial.cs.meta b/unity/Runtime/Components/MjInertial.cs.meta
deleted file mode 100644
index e96f0bf8..00000000
--- a/unity/Runtime/Components/MjInertial.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 0fdc02620a5cf483ea8ca90a983aa0bc
-timeCreated: 1550587293
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Components/MjScene.cs b/unity/Runtime/Components/MjScene.cs
deleted file mode 100644
index 13111a6b..00000000
--- a/unity/Runtime/Components/MjScene.cs
+++ /dev/null
@@ -1,482 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Diagnostics.CodeAnalysis;
-using System.IO;
-using System.Linq;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Xml;
-using UnityEngine;
-using UnityEngine.Profiling;
-
-namespace Mujoco {
-
-public class PhysicsRuntimeException : Exception {
-  public PhysicsRuntimeException(string message) : base(message) {}
-}
-
-public class MjScene : MonoBehaviour {
-
-  public unsafe MujocoLib.mjModel_* Model = null;
-  public unsafe MujocoLib.mjData_* Data = null;
-
-  // Public and global access to the active MjSceneGenerationContext.
-  // Throws an exception if accessed when the scene is not being generated.
-  public MjcfGenerationContext GenerationContext {
-    get {
-      if (_generationContext == null) {
-        throw new InvalidOperationException(
-            "This property can only be accessed from the scope of MjComponent.GenerateMjcf().");
-      }
-      return _generationContext;
-    }
-  }
-
-  public static MjScene Instance {
-    get {
-      if (_instance == null) {
-        var instances = FindObjectsByType<MjScene>(FindObjectsSortMode.None);
-        if (instances.Length >= 1) { // even one is too much - _instance shouldn't have been null.
-          throw new InvalidOperationException(
-              "A MjScene singleton is created automatically, yet multiple instances exist.");
-        } else {
-          GameObject go = new GameObject("MjScene");
-          _instance = go.AddComponent<MjScene>();
-        }
-      }
-      return _instance;
-    }
-  }
-
-  public static bool InstanceExists { get => _instance != null; }
-
-  public void Awake() {
-    if (_instance == null) {
-      _instance = this;
-    } else if (_instance != this) {
-      throw new InvalidOperationException(
-          "MjScene is a singleton, yet multiple instances found.");
-    }
-  }
-
-  private static MjScene _instance = null;
-
-  private List<MjComponent> _orderedComponents;
-
-  public event EventHandler<MjStepArgs> postInitEvent;
-  public event EventHandler<MjStepArgs> preUpdateEvent;
-  public event EventHandler<MjStepArgs> ctrlCallback;
-  public event EventHandler<MjStepArgs> postUpdateEvent;
-  public event EventHandler<MjStepArgs> preDestroyEvent;
-
-  protected unsafe void Start() {
-    SceneRecreationAtLateUpdateRequested = false;
-    CreateScene();
-  }
-
-  protected unsafe void OnDestroy() {
-    DestroyScene();
-  }
-
-  protected unsafe void FixedUpdate() {
-    preUpdateEvent?.Invoke(this, new MjStepArgs(Model, Data));
-    StepScene();
-    postUpdateEvent?.Invoke(this, new MjStepArgs(Model, Data));
-  }
-
-  public bool SceneRecreationAtLateUpdateRequested = false;
-
-  protected unsafe void LateUpdate() {
-    if (SceneRecreationAtLateUpdateRequested) {
-      RecreateScene();
-      SceneRecreationAtLateUpdateRequested = false;
-    }
-  }
-
-  // Context used during scene generation where components will store their shared dependencies
-  // (such as the mesh assets they reference, or common compiler settings that need to be resolved
-  // globally).
-  // The field will be initialized with a class instance only during the scene generation.
-  // A public read-only property will provide MjComponents with access to the instance
-  // of that field.
-  private MjcfGenerationContext _generationContext;
-
-  // Builds a new Mujoco scene.
-  public unsafe XmlDocument CreateScene(bool skipCompile=false) {
-    if (_generationContext != null) {
-      throw new InvalidOperationException(
-          "The scene is currently being generated on another thread.");
-    }
-    // Linearize the hierarchy of transforms of the components.
-    // We will use this list to update the transforms of the associated GameObject in a way that
-    // ensures we first update the parent transforms, and then we progress down the hierarchy
-    // tree and update the children.
-    // We're doing this, because we will use Unity's hierarchical transforms system to translate
-    // Mujoco elements' world transforms directly to Unity's world coordinates. That however
-    // will only work if we can guarantee that for every child, the parent transforms have already
-    // been recalculated.
-    //
-    // DESIGN: An alternative to that would be to operate in local space on the Unity side.
-    // I briefly explored that approach, but decided against it. It increases the amount of code
-    // on the side of the individual components. This solution allows to restrict the code in the
-    // components to a bare minimum, at the expense of one extra method here.
-    var hierarchyRoots = FindObjectsByType<MjComponent>(FindObjectsSortMode.None)
-        .Where(component => MjHierarchyTool.FindParentComponent(component) == null)
-        .Select(component => component.transform)
-        .Distinct();
-    _orderedComponents = new List<MjComponent>();
-    foreach (var root in hierarchyRoots) {
-      _orderedComponents.AddRange(MjHierarchyTool.LinearizeHierarchyBFS(root));
-    }
-
-    XmlDocument sceneMjcf = null;
-    try {
-      _generationContext = new MjcfGenerationContext();
-      sceneMjcf = GenerateSceneMjcf(_orderedComponents);
-    } catch (Exception e) {
-      _generationContext = null;
-      Debug.LogException(e);
-#if UNITY_EDITOR
-      UnityEditor.EditorApplication.isPlaying = false;
-#else
-      Application.Quit();
-#endif
-      throw;
-    }
-    _generationContext = null;
-
-    // Save the Mjcf to a file for debug purposes.
-    var settings = MjGlobalSettings.Instance;
-    if (settings && !string.IsNullOrEmpty(settings.DebugFileName)) {
-      SaveToFile(sceneMjcf, Path.Combine(Application.temporaryCachePath, settings.DebugFileName));
-    }
-
-    if (!skipCompile) {
-      // Compile the scene from the Mjcf.
-      CompileScene(sceneMjcf, _orderedComponents);
-    }
-    postInitEvent?.Invoke(this, new MjStepArgs(Model, Data));
-    return sceneMjcf;
-  }
-
-  private unsafe void CompileScene(
-      XmlDocument mjcf, IEnumerable<MjComponent> components) {
-    Model = MjEngineTool.LoadModelFromString(mjcf.OuterXml);
-    if (Model == null) {
-      throw new NullReferenceException("Model loading failed, see other errors for root cause.");
-    } else {
-      Data = MujocoLib.mj_makeData(Model);
-    }
-    if (Data == null) {
-      throw new NullReferenceException("Model loaded but mj_makeData failed.");
-    }
-
-    // Bind the components to their Mujoco counterparts.
-    foreach (var component in components) {
-      component.BindToRuntime(Model, Data);
-    }
-  }
-
-  public unsafe void SyncUnityToMjState() {
-    foreach (var component in _orderedComponents) {
-      if (component != null && component.isActiveAndEnabled) {
-        component.OnSyncState(Data);
-      }
-    }
-  }
-
-  // This must be called after every change in the Unity scene during runtime, in order to keep the
-  // MuJoCo physics scene in sync.  The spatial arrangement in the MJCF that creates the new physics
-  // is defined by the Unity transforms; therefore, we:
-  // 1. cache the joint states;
-  // 2. reset the Unity scene to its configuration at initialization;
-  // 3. recreate the scene in this pristine configuration;
-  // 4. rehydrate the physics scene, and sync the Unity scene to it.
-  public unsafe void RecreateScene() {
-    // cache joint states in order to re-apply it to the new scene
-    var joints = FindObjectsByType<MjBaseJoint>(FindObjectsSortMode.None);
-    var positions = new Dictionary<MjBaseJoint, double[]>();
-    var velocities = new Dictionary<MjBaseJoint, double[]>();
-    foreach (var joint in joints) {
-      if (joint.QposAddress > -1) { // newly added components shouldn't be cached
-        switch (Model->jnt_type[joint.MujocoId]) {
-          default:
-          case (int)MujocoLib.mjtJoint.mjJNT_HINGE:
-          case (int)MujocoLib.mjtJoint.mjJNT_SLIDE:
-            positions[joint] = new double[] {Data->qpos[joint.QposAddress]};
-            velocities[joint] = new double[] {Data->qvel[joint.DofAddress]};
-            break;
-          case (int)MujocoLib.mjtJoint.mjJNT_BALL:
-            positions[joint] = new double[] {
-                Data->qpos[joint.QposAddress],
-                Data->qpos[joint.QposAddress+1],
-                Data->qpos[joint.QposAddress+2],
-                Data->qpos[joint.QposAddress+3]};
-            velocities[joint] = new double[] {
-                Data->qvel[joint.DofAddress],
-                Data->qvel[joint.DofAddress+1],
-                Data->qvel[joint.DofAddress+2]};
-            break;
-          case (int)MujocoLib.mjtJoint.mjJNT_FREE:
-            positions[joint] = new double[] {
-                Data->qpos[joint.QposAddress],
-                Data->qpos[joint.QposAddress+1],
-                Data->qpos[joint.QposAddress+2],
-                Data->qpos[joint.QposAddress+3],
-                Data->qpos[joint.QposAddress+4],
-                Data->qpos[joint.QposAddress+5],
-                Data->qpos[joint.QposAddress+6]};
-            velocities[joint] = new double[] {
-                Data->qvel[joint.DofAddress],
-                Data->qvel[joint.DofAddress+1],
-                Data->qvel[joint.DofAddress+2],
-                Data->qvel[joint.DofAddress+3],
-                Data->qvel[joint.DofAddress+4],
-                Data->qvel[joint.DofAddress+5]};
-            break;
-        }
-      }
-    }
-
-    // update unity transforms according to qpos0, so they're ready to create the new MJCF
-    MujocoLib.mj_resetData(Model, Data);
-    MujocoLib.mj_kinematics(Model, Data);
-    SyncUnityToMjState();
-
-    // Delete previous model, data
-    DestroyScene();
-    // Create a new MJCF and new model+data, indices may be different
-    CreateScene();
-
-    // for joints that persisted, set state of the new MuJoCo scene according to the cached state
-    foreach (var joint in joints) {
-      try {
-        var position = positions[joint]; // this will fail for new joints, hence try/catch
-        var velocity = velocities[joint];
-        switch (Model->jnt_type[joint.MujocoId]) {
-          default:
-          case (int)MujocoLib.mjtJoint.mjJNT_HINGE:
-          case (int)MujocoLib.mjtJoint.mjJNT_SLIDE:
-            Data->qpos[joint.QposAddress] = position[0];
-            Data->qvel[joint.DofAddress] = velocity[0];
-            break;
-          case (int)MujocoLib.mjtJoint.mjJNT_BALL:
-            Data->qpos[joint.QposAddress] = position[0];
-            Data->qpos[joint.QposAddress+1] = position[1];
-            Data->qpos[joint.QposAddress+2] = position[2];
-            Data->qpos[joint.QposAddress+3] = position[3];
-            Data->qvel[joint.DofAddress] = velocity[0];
-            Data->qvel[joint.DofAddress+1] = velocity[1];
-            Data->qvel[joint.DofAddress+2] = velocity[2];
-            break;
-          case (int)MujocoLib.mjtJoint.mjJNT_FREE:
-            Data->qpos[joint.QposAddress] = position[0];
-            Data->qpos[joint.QposAddress+1] = position[1];
-            Data->qpos[joint.QposAddress+2] = position[2];
-            Data->qpos[joint.QposAddress+3] = position[3];
-            Data->qpos[joint.QposAddress+4] = position[4];
-            Data->qpos[joint.QposAddress+5] = position[5];
-            Data->qpos[joint.QposAddress+6] = position[6];
-            Data->qvel[joint.DofAddress] = velocity[0];
-            Data->qvel[joint.DofAddress+1] = velocity[1];
-            Data->qvel[joint.DofAddress+2] = velocity[2];
-            Data->qvel[joint.DofAddress+3] = velocity[3];
-            Data->qvel[joint.DofAddress+4] = velocity[4];
-            Data->qvel[joint.DofAddress+5] = velocity[5];
-            break;
-        }
-      } catch {}
-    }
-    // update mj transforms:
-    MujocoLib.mj_kinematics(Model, Data);
-    SyncUnityToMjState();
-  }
-
-  // Destroys the Mujoco scene.
-  public unsafe void DestroyScene() {
-    preDestroyEvent?.Invoke(this, new MjStepArgs(Model, Data));
-    if (Model != null) {
-      MujocoLib.mj_deleteModel(Model);
-      Model = null;
-    }
-    if (Data != null) {
-      MujocoLib.mj_deleteData(Data);
-      Data = null;
-    }
-  }
-
-  // Updates the scene and the state of Mujoco simulation.
-  public unsafe void StepScene() {
-    if (Model == null || Data == null) {
-      throw new NullReferenceException("Failed to create Mujoco runtime.");
-    }
-    Profiler.BeginSample("MjStep");
-    Profiler.BeginSample("MjStep.mj_step");
-    if (ctrlCallback != null){
-      MujocoLib.mj_step1(Model, Data);
-      ctrlCallback?.Invoke(this, new MjStepArgs(Model, Data));
-      MujocoLib.mj_step2(Model, Data);
-    }
-    else {
-      MujocoLib.mj_step(Model, Data);
-    }
-    Profiler.EndSample(); // MjStep.mj_step
-    CheckForPhysicsException();
-
-    Profiler.BeginSample("MjStep.OnSyncState");
-    SyncUnityToMjState();
-    Profiler.EndSample(); // MjStep.OnSyncState
-    Profiler.EndSample(); // MjStep
-  }
-
-  private unsafe void CheckForPhysicsException() {
-    if (Data->warning0.number > 0) {
-      Data->warning0.number = 0;
-      throw new PhysicsRuntimeException("INERTIA: (Near-) Singular inertia matrix.");
-    }
-    if (Data->warning1.number > 0) {
-      Data->warning1.number = 0;
-      throw new PhysicsRuntimeException($"CONTACTFULL: nconmax {Model->nconmax} isn't sufficient.");
-    }
-    if (Data->warning2.number > 0) {
-      Data->warning2.number = 0;
-      throw new PhysicsRuntimeException("CNSTRFULL: njmax {Model.njmax} isn't sufficient.");
-    }
-    if (Data->warning3.number > 0) {
-      Data->warning3.number = 0;
-      throw new PhysicsRuntimeException("BADQPOS: NaN/inf in qpos.");
-    }
-    if (Data->warning4.number > 0) {
-      Data->warning4.number = 0;
-      throw new PhysicsRuntimeException("BADQVEL: NaN/inf in qvel.");
-    }
-    if (Data->warning5.number > 0) {
-      Data->warning5.number = 0;
-      throw new PhysicsRuntimeException("BADQACC: NaN/inf in qacc.");
-    }
-    if (Data->warning6.number > 0) {
-      Data->warning6.number = 0;
-      throw new PhysicsRuntimeException("BADCTRL: NaN/inf in ctrl.");
-    }
-  }
-
-  // Generate a Mujoco scene description using the specified components.
-  private XmlDocument GenerateSceneMjcf(IEnumerable<MjComponent> components) {
-    var doc = new XmlDocument();
-    var MjRoot = (XmlElement)doc.AppendChild(doc.CreateElement("mujoco"));
-
-    // Scene definition section.
-    var worldMjcf = (XmlElement)MjRoot.AppendChild(doc.CreateElement("worldbody"));
-    BuildHierarchicalMjcf(
-        doc,
-        components.Where(component =>
-            (component is MjBaseBody) ||
-            (component is MjInertial) ||
-            (component is MjBaseJoint) ||
-            (component is MjGeom) ||
-            (component is MjSite)),
-        worldMjcf);
-
-    // Non-hierarchical sections:
-    MjRoot.AppendChild(GenerateMjcfSection(
-        doc, components.Where(component => component is MjExclude), "contact"));
-
-    MjRoot.AppendChild(GenerateMjcfSection(
-        doc, components.Where(component => component is MjBaseTendon), "tendon"));
-
-    MjRoot.AppendChild(GenerateMjcfSection(
-        doc, components.Where(component => component is MjBaseConstraint), "equality"));
-
-    MjRoot.AppendChild(
-        GenerateMjcfSection(doc,
-                            components.Where(component => component is MjActuator)
-                                .OrderBy(component => component.transform.GetSiblingIndex()),
-                            "actuator"));
-
-    MjRoot.AppendChild(
-        GenerateMjcfSection(doc,
-                            components.Where(component => component is MjBaseSensor)
-                                .OrderBy(component => component.transform.GetSiblingIndex()),
-                            "sensor"));
-    // Generate the Mjcf of the runtime dependencies added to the context.
-    _generationContext.GenerateMjcf(MjRoot);
-    return doc;
-  }
-
-  private XmlElement GenerateMjcfSection(
-      XmlDocument doc, IEnumerable<MjComponent> components, string sectionName) {
-    var section = doc.CreateElement(sectionName);
-    foreach (var component in components) {
-      var componentMjcf = component.GenerateMjcf(_generationContext.GenerateName(component), doc);
-      section.AppendChild(componentMjcf);
-    }
-    return section;
-  }
-
-  private void BuildHierarchicalMjcf(
-      XmlDocument doc, IEnumerable<MjComponent> components, XmlElement worldMjcf) {
-    var associations = new Dictionary<MjComponent, XmlElement>();
-
-    // Build individual Mjcfs.
-    foreach (var component in components) {
-      var componentMjcf = component.GenerateMjcf(
-          _generationContext.GenerateName(component), doc);
-      // We'll use a dictionary to define associations between the components and the corresponding
-      // Mjcf elements.
-      associations.Add(component, componentMjcf);
-    }
-
-    // Connect the Mjcfs into hierarchy.
-    foreach (var component in components) {
-      var componentMjcf = associations[component];
-      var parentComponent = MjHierarchyTool.FindParentComponent(component);
-      if (parentComponent != null) {
-        var parentComponentMjcf = associations[parentComponent];
-        parentComponentMjcf.AppendChild(componentMjcf);
-      } else {
-        worldMjcf.AppendChild(componentMjcf);
-      }
-    }
-  }
-
-  // Saves an XML document to the specified file.
-  private void SaveToFile(XmlDocument document, string filePath) {
-    try {
-      using (var stream = File.Open(filePath, FileMode.Create)) {
-        using (var writer = new XmlTextWriter(stream, new UTF8Encoding(false))) {
-          writer.Formatting = Formatting.Indented;
-          document.WriteContentTo(writer);
-          Debug.Log($"MJCF saved to {filePath}");
-        }
-      }
-    } catch (IOException ex) {
-      Debug.LogWarning("Failed to save Xml to a file: " + ex.ToString(), this);
-    }
-  }
-}
-
-public class MjStepArgs : EventArgs
-{
-  public unsafe MjStepArgs(MujocoLib.mjModel_* model, MujocoLib.mjData_* data){
-    this.model = model;
-    this.data = data;
-  }
-  public readonly unsafe MujocoLib.mjModel_* model;
-  public readonly unsafe MujocoLib.mjData_* data;
-}
-}
diff --git a/unity/Runtime/Components/MjScene.cs.meta b/unity/Runtime/Components/MjScene.cs.meta
deleted file mode 100644
index f6869607..00000000
--- a/unity/Runtime/Components/MjScene.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Sensors.meta b/unity/Runtime/Components/Sensors.meta
deleted file mode 100644
index 913536be..00000000
--- a/unity/Runtime/Components/Sensors.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: f9a0c761e9698497aba0a6c4d1774bd9
-folderAsset: yes
-DefaultImporter:
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diff --git a/unity/Runtime/Components/Sensors/MjActuatorScalarSensor.cs b/unity/Runtime/Components/Sensors/MjActuatorScalarSensor.cs
deleted file mode 100644
index 4c6f4e2b..00000000
--- a/unity/Runtime/Components/Sensors/MjActuatorScalarSensor.cs
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-public class MjActuatorScalarSensor : MjBaseSensor {
-  // NOTE: These names must match sensor names listed on mujoco.org.
-  // Changing them is justified only when Mujoco is upgraded to a new version.
-  public enum AvailableSensors {
-    ActuatorPos,
-    ActuatorVel,
-    ActuatorFrc,
-  }
-  public AvailableSensors SensorType;
-  public MjActuator Actuator;
-
-  public double SensorReading { get; private set; }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Actuator == null) {
-      throw new NullReferenceException("Missing a reference to a MjActuator.");
-    }
-    var mjcf = doc.CreateElement(SensorType.ToString().ToLower());
-    mjcf.SetAttribute("actuator", Actuator.MujocoName);
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
-      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
-    }
-    Actuator = mjcf.GetObjectReferenceAttribute<MjActuator>("actuator");
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    SensorReading = data->sensordata[_sensorAddress];
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjActuatorScalarSensor.cs.meta b/unity/Runtime/Components/Sensors/MjActuatorScalarSensor.cs.meta
deleted file mode 100644
index 5bcba51d..00000000
--- a/unity/Runtime/Components/Sensors/MjActuatorScalarSensor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Sensors/MjBaseSensor.cs b/unity/Runtime/Components/Sensors/MjBaseSensor.cs
deleted file mode 100644
index 2628a648..00000000
--- a/unity/Runtime/Components/Sensors/MjBaseSensor.cs
+++ /dev/null
@@ -1,74 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// The base class for Mujoco sensors.
-//
-// Mujoco offers a very wide range of sensors, each contingent on the following three aspects:
-//  1. the Mujoco Component it observes: Body, Joint, etc.
-//  2. the type of data it returns: scalar, Vector3, quaternion, etc.
-//  3. the field it reads to retreive the data: xpos, xquat, cfrc, etc.
-//
-// In Mujoco proper, names of some of the sensors repeat for many data types. In order to get rid
-// of this ambiguity, we chose to split the sensors into groups.
-// Each sensor class represents a group of aspects (1) and (2), which is reflected in its name.
-// For example, the class of sensors that listen to Bodies and produce Vector3 observations is
-// called MjBodyVectorSensor.
-//
-// That very class contains a wide range of sensing capabilities - as in fact most of the classes
-// do. What each sensor can sense can be controlled by the sensor's Type field. Using the
-// MjBodyVectorSensor as an example, one can set it to SubtreeCom, FramePos or any of the other
-// supported observation types.
-public abstract class MjBaseSensor : MjComponent {
-
-  [Tooltip("When this value is positive, it limits the absolute value of the sensor output.")]
-  [AbsoluteValue]
-  public float Cutoff = 0.0f;
-
-  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_SENSOR;
-
-  // Address of the sensor, that can be used to index into MujocoLib.mjData_.sensordata.
-  protected int _sensorAddress;
-
-  // Parse the component settings from an external Mjcf.
-  protected override void OnParseMjcf(XmlElement mjcf) {
-    Cutoff = mjcf.GetFloatAttribute("cutoff", defaultValue: 0.0f);
-    FromMjcf(mjcf);
-  }
-
-  // Generate implementation specific XML element.
-  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-    var mjcf = ToMjcf(doc);
-    mjcf.SetAttribute("cutoff", Cutoff.ToString());
-    return mjcf;
-  }
-
-  // Perform bind time initialization of the component.
-  protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
-    _sensorAddress = model->sensor_adr[MujocoId];
-  }
-
-  // Create the implementation dependent Mjcf node.
-  protected abstract XmlElement ToMjcf(XmlDocument doc);
-
-  // Parse the implementation dependent details from the provided Mjcf node.
-  protected abstract void FromMjcf(XmlElement mjcf);
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjBaseSensor.cs.meta b/unity/Runtime/Components/Sensors/MjBaseSensor.cs.meta
deleted file mode 100644
index 4c394b7a..00000000
--- a/unity/Runtime/Components/Sensors/MjBaseSensor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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-timeCreated: 1548084206
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diff --git a/unity/Runtime/Components/Sensors/MjBodyQuaternionSensor.cs b/unity/Runtime/Components/Sensors/MjBodyQuaternionSensor.cs
deleted file mode 100644
index aa543a0f..00000000
--- a/unity/Runtime/Components/Sensors/MjBodyQuaternionSensor.cs
+++ /dev/null
@@ -1,52 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-public class MjBodyQuaternionSensor : MjBaseSensor {
-  public MjBaseBody Body;
-
-  [Tooltip("Should the Frame sensors use the inertial or the regular frame of reference.")]
-  public bool UseInertialFrame;
-
-  public Quaternion SensorReading { get; private set; }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Body == null) {
-      throw new NullReferenceException("Missing a reference to a MjBody.");
-    }
-    var mjcf = doc.CreateElement("framequat");
-    mjcf.SetAttribute("objtype", UseInertialFrame ? "body" : "xbody");
-    mjcf.SetAttribute("objname", Body.MujocoName);
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    UseInertialFrame = mjcf.HasAttribute("body");
-    Body = mjcf.GetObjectReferenceAttribute<MjBaseBody>("objname");
-    if (Body == null) {
-      throw new NullReferenceException("Missing a reference to a MjBody.");
-    }
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    SensorReading = MjEngineTool.UnityQuaternion(data->sensordata + _sensorAddress);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjBodyQuaternionSensor.cs.meta b/unity/Runtime/Components/Sensors/MjBodyQuaternionSensor.cs.meta
deleted file mode 100644
index d4dda387..00000000
--- a/unity/Runtime/Components/Sensors/MjBodyQuaternionSensor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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-timeCreated: 1548170856
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diff --git a/unity/Runtime/Components/Sensors/MjBodyVectorSensor.cs b/unity/Runtime/Components/Sensors/MjBodyVectorSensor.cs
deleted file mode 100644
index fb37a934..00000000
--- a/unity/Runtime/Components/Sensors/MjBodyVectorSensor.cs
+++ /dev/null
@@ -1,77 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-public class MjBodyVectorSensor : MjBaseSensor {
-  // NOTE: These names must match sensor names listed on mujoco.org.
-  // Changing them is justified only when Mujoco is upgraded to a new version.
-  public enum AvailableSensors {
-    SubtreeCom,
-    SubtreeLinVel,
-    SubtreeAngMom,
-    FramePos,
-    FrameXAxis,
-    FrameYAxis,
-    FrameZAxis,
-    FrameLinVel,
-    FrameAngVel,
-    FrameLinAcc,
-    FrameAngAcc,
-  }
-  public AvailableSensors SensorType;
-  public MjBaseBody Body;
-
-  [Tooltip("Should the Frame sensors use the inertial or the regular frame of reference.")]
-  public bool UseInertialFrame;
-
-  public Vector3 SensorReading { get; private set; }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Body == null) {
-      throw new NullReferenceException("Missing a reference to a MjBody.");
-    }
-    var tag = SensorType.ToString().ToLower();
-    var mjcf = doc.CreateElement(tag);
-    if (tag.Contains("frame")) {
-      mjcf.SetAttribute("objtype", UseInertialFrame ? "body" : "xbody");
-      mjcf.SetAttribute("objname", Body.MujocoName);
-    } else {
-      mjcf.SetAttribute("body", Body.MujocoName);
-    }
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
-      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
-    }
-    if (mjcf.Name.Contains("frame")) {
-      UseInertialFrame = mjcf.HasAttribute("body"); // as opposed to xbody
-      Body = mjcf.GetObjectReferenceAttribute<MjBaseBody>("objname");
-    } else {
-      Body = mjcf.GetObjectReferenceAttribute<MjBaseBody>("body");
-    }
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    SensorReading = MjEngineTool.UnityVector3(data->sensordata + _sensorAddress);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjBodyVectorSensor.cs.meta b/unity/Runtime/Components/Sensors/MjBodyVectorSensor.cs.meta
deleted file mode 100644
index 7e1000c0..00000000
--- a/unity/Runtime/Components/Sensors/MjBodyVectorSensor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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diff --git a/unity/Runtime/Components/Sensors/MjGeomQuaternionSensor.cs b/unity/Runtime/Components/Sensors/MjGeomQuaternionSensor.cs
deleted file mode 100644
index 4473c3b5..00000000
--- a/unity/Runtime/Components/Sensors/MjGeomQuaternionSensor.cs
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-public class MjGeomQuaternionSensor : MjBaseSensor {
-  public MjGeom Geom;
-
-  public Quaternion SensorReading { get; private set; }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Geom == null) {
-      throw new NullReferenceException("Missing a reference to a MjGeom.");
-    }
-    var mjcf = doc.CreateElement("framequat");
-    mjcf.SetAttribute("objtype", "geom");
-    mjcf.SetAttribute("objname", Geom.MujocoName);
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    Geom = mjcf.GetObjectReferenceAttribute<MjGeom>("objname");
-    if (Geom == null) {
-      throw new NullReferenceException("Missing a reference to a MjGeom.");
-    }
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    SensorReading = MjEngineTool.UnityQuaternion(data->sensordata + _sensorAddress);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjGeomQuaternionSensor.cs.meta b/unity/Runtime/Components/Sensors/MjGeomQuaternionSensor.cs.meta
deleted file mode 100644
index 808dada4..00000000
--- a/unity/Runtime/Components/Sensors/MjGeomQuaternionSensor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Sensors/MjGeomVectorSensor.cs b/unity/Runtime/Components/Sensors/MjGeomVectorSensor.cs
deleted file mode 100644
index abfd30c8..00000000
--- a/unity/Runtime/Components/Sensors/MjGeomVectorSensor.cs
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-public class MjGeomVectorSensor : MjBaseSensor {
-  // NOTE: These names must match sensor names listed on mujoco.org.
-  // Changing them is justified only when Mujoco is upgraded to a new version.
-  public enum AvailableSensors {
-    FramePos,
-    FrameXAxis,
-    FrameYAxis,
-    FrameZAxis,
-    FrameLinVel,
-    FrameAngVel,
-    FrameLinAcc,
-    FrameAngAcc,
-  }
-
-  public AvailableSensors SensorType;
-
-  public MjGeom Geom;
-
-  public Vector3 SensorReading { get; private set; }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Geom == null) {
-      throw new NullReferenceException("Missing a reference to a MjGeom.");
-    }
-    var mjcf = doc.CreateElement(SensorType.ToString().ToLower());
-    mjcf.SetAttribute("objtype", "geom");
-    mjcf.SetAttribute("objname", Geom.MujocoName);
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
-      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
-    }
-    Geom = mjcf.GetObjectReferenceAttribute<MjGeom>("objname");
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    SensorReading = MjEngineTool.UnityVector3(data->sensordata + _sensorAddress);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjGeomVectorSensor.cs.meta b/unity/Runtime/Components/Sensors/MjGeomVectorSensor.cs.meta
deleted file mode 100644
index 09fe043d..00000000
--- a/unity/Runtime/Components/Sensors/MjGeomVectorSensor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Sensors/MjJointScalarSensor.cs b/unity/Runtime/Components/Sensors/MjJointScalarSensor.cs
deleted file mode 100644
index 37867f09..00000000
--- a/unity/Runtime/Components/Sensors/MjJointScalarSensor.cs
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-public class MjJointScalarSensor : MjBaseSensor {
-  // NOTE: These names must match sensor names listed on mujoco.org.
-  // Changing them is justified only when Mujoco is upgraded to a new version.
-  public enum AvailableSensors {
-    JointPos,
-    JointVel,
-    JointLimitPos,
-    JointLimitVel,
-    JointLimitFrc,
-  }
-  public AvailableSensors SensorType;
-  public MjBaseJoint Joint;
-
-  public double SensorReading { get; private set; }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Joint == null) {
-      throw new NullReferenceException("Missing a reference to a Joint.");
-    }
-    var mjcf = doc.CreateElement(SensorType.ToString().ToLower());
-    mjcf.SetAttribute("joint", Joint.MujocoName);
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
-      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
-    }
-    Joint = mjcf.GetObjectReferenceAttribute<MjBaseJoint>("joint");
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-     SensorReading = data->sensordata[_sensorAddress];
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjJointScalarSensor.cs.meta b/unity/Runtime/Components/Sensors/MjJointScalarSensor.cs.meta
deleted file mode 100644
index dcbcf278..00000000
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diff --git a/unity/Runtime/Components/Sensors/MjSiteQuaternionSensor.cs b/unity/Runtime/Components/Sensors/MjSiteQuaternionSensor.cs
deleted file mode 100644
index 05f36412..00000000
--- a/unity/Runtime/Components/Sensors/MjSiteQuaternionSensor.cs
+++ /dev/null
@@ -1,49 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-public class MjSiteQuaternionSensor : MjBaseSensor {
-
-  public MjSite Site;
-
-  public Quaternion SensorReading { get; private set; }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Site == null) {
-      throw new NullReferenceException("Missing a reference to a MjSite.");
-    }
-    var mjcf = doc.CreateElement("framequat");
-    mjcf.SetAttribute("objtype", "site");
-    mjcf.SetAttribute("objname", Site.MujocoName);
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    Site = mjcf.GetObjectReferenceAttribute<MjSite>("objname");
-    if (Site == null) {
-      throw new NullReferenceException("Missing a reference to a MjSite.");
-    }
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    SensorReading = MjEngineTool.UnityQuaternion(data->sensordata + _sensorAddress);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjSiteQuaternionSensor.cs.meta b/unity/Runtime/Components/Sensors/MjSiteQuaternionSensor.cs.meta
deleted file mode 100644
index a007c962..00000000
--- a/unity/Runtime/Components/Sensors/MjSiteQuaternionSensor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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-timeCreated: 1548170856
-licenseType: Pro
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diff --git a/unity/Runtime/Components/Sensors/MjSiteScalarSensor.cs b/unity/Runtime/Components/Sensors/MjSiteScalarSensor.cs
deleted file mode 100644
index 1c51615a..00000000
--- a/unity/Runtime/Components/Sensors/MjSiteScalarSensor.cs
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-public class MjSiteScalarSensor : MjBaseSensor {
-  // NOTE: These names must match sensor names listed on mujoco.org.
-  // Changing them is justified only when Mujoco is upgraded to a new version.
-  public enum AvailableSensors {
-    Touch,
-    RangeFinder,
-  }
-  public AvailableSensors SensorType;
-  public MjSite Site;
-
-  public double SensorReading { get; private set; }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Site == null) {
-      throw new NullReferenceException("Missing a reference to a MjSite.");
-    }
-    var mjcf = doc.CreateElement(SensorType.ToString().ToLower());
-    mjcf.SetAttribute("site", Site.MujocoName);
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
-      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
-    }
-    Site = mjcf.GetObjectReferenceAttribute<MjSite>("site");
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    SensorReading = data->sensordata[_sensorAddress];
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjSiteScalarSensor.cs.meta b/unity/Runtime/Components/Sensors/MjSiteScalarSensor.cs.meta
deleted file mode 100644
index f17afb13..00000000
--- a/unity/Runtime/Components/Sensors/MjSiteScalarSensor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Sensors/MjSiteVectorSensor.cs b/unity/Runtime/Components/Sensors/MjSiteVectorSensor.cs
deleted file mode 100644
index 49c01a5f..00000000
--- a/unity/Runtime/Components/Sensors/MjSiteVectorSensor.cs
+++ /dev/null
@@ -1,75 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-public class MjSiteVectorSensor : MjBaseSensor {
-  // NOTE: These names must match sensor names listed on mujoco.org.
-  // Changing them is justified only when Mujoco is upgraded to a new version.
-  public enum AvailableSensors {
-    Accelerometer,
-    Velocimeter,
-    Gyro,
-    Force,
-    Torque,
-    Magnetometer,
-    FramePos,
-    FrameXAxis,
-    FrameYAxis,
-    FrameZAxis,
-    FrameLinVel,
-    FrameAngVel,
-    FrameLinAcc,
-    FrameAngAcc,
-  }
-  public AvailableSensors SensorType;
-  public MjSite Site;
-
-  public Vector3 SensorReading { get; private set; }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Site == null) {
-      throw new NullReferenceException("Missing a reference to a MjSite.");
-    }
-    var tag = SensorType.ToString().ToLower();
-    var mjcf = doc.CreateElement(tag);
-    if (tag.Contains("frame")) {
-      mjcf.SetAttribute("objtype", "site");
-      mjcf.SetAttribute("objname", Site.MujocoName);
-    } else {
-      mjcf.SetAttribute("site", Site.MujocoName);
-    }
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    if (!Enum.TryParse(mjcf.Name, ignoreCase: true, result: out SensorType)) {
-      throw new ArgumentException($"Unknown sensor type {mjcf.Name}.");
-    }
-    if (mjcf.Name.Contains("frame")) {
-      Site = mjcf.GetObjectReferenceAttribute<MjSite>("objname");
-    } else {
-      Site = mjcf.GetObjectReferenceAttribute<MjSite>("site");
-    }
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    SensorReading = MjEngineTool.UnityVector3(data->sensordata + _sensorAddress);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjSiteVectorSensor.cs.meta b/unity/Runtime/Components/Sensors/MjSiteVectorSensor.cs.meta
deleted file mode 100644
index 531bc0c6..00000000
--- a/unity/Runtime/Components/Sensors/MjSiteVectorSensor.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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-timeCreated: 1548168043
-licenseType: Pro
-MonoImporter:
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-  assetBundleName: 
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diff --git a/unity/Runtime/Components/Sensors/MjUserSensor.cs b/unity/Runtime/Components/Sensors/MjUserSensor.cs
deleted file mode 100644
index 51e7ec3b..00000000
--- a/unity/Runtime/Components/Sensors/MjUserSensor.cs
+++ /dev/null
@@ -1,48 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-public class MjUserSensor : MjBaseSensor {
-
-  public String Name;
-  public int Dimension = 0;
-  public String UserData;
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (Dimension == 0) {
-      throw new MissingFieldException("Dimension should be larger than 0.");
-    }
-    var mjcf = doc.CreateElement("user");
-    mjcf.SetAttribute("name", Name);
-    mjcf.SetAttribute("dim", $"{Dimension}");
-    if (!String.IsNullOrEmpty(UserData)) {
-      // TODO: add validation that UserData is a space-separated list of floating numbers?
-      mjcf.SetAttribute("user", UserData);
-    }
-    return mjcf;
-  }
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    Name = mjcf.GetAttribute("name");
-    int.TryParse(mjcf.GetAttribute("dim"), out Dimension);
-    UserData = mjcf.GetAttribute("user");
-  }
-}
-}
diff --git a/unity/Runtime/Components/Sensors/MjUserSensor.cs.meta b/unity/Runtime/Components/Sensors/MjUserSensor.cs.meta
deleted file mode 100644
index a71592e0..00000000
--- a/unity/Runtime/Components/Sensors/MjUserSensor.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
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diff --git a/unity/Runtime/Components/Shapes.meta b/unity/Runtime/Components/Shapes.meta
deleted file mode 100644
index 93070853..00000000
--- a/unity/Runtime/Components/Shapes.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 00391142561004cc7befda5d7fcb3156
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
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diff --git a/unity/Runtime/Components/Shapes/IMjShape.cs b/unity/Runtime/Components/Shapes/IMjShape.cs
deleted file mode 100644
index 1b4ecd77..00000000
--- a/unity/Runtime/Components/Shapes/IMjShape.cs
+++ /dev/null
@@ -1,46 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// Functionality that needs to be implemented for each shape type.
-public interface IMjShape {
-
-  // Generate the Mjcf representation of the shape. Infer the scale of the shape from the transform.
-  void ToMjcf(XmlElement mjcf, Transform transform);
-
-  // Parse the shape settings from the specified Mjcf node.
-  void FromMjcf(XmlElement mjcf);
-
-  // Build a parametric mesh (vertices, triangles) of this shape.
-  Tuple<Vector3[], int[]> BuildMesh();
-
-  // Generate a timestamp that can be used to quickly compare if the settings of a shape
-  // have changed.
-  // The timestamp should also allow to distinguish between different types of shapes.
-  //
-  // Because most of shapes use at most 3 floating point values as parameters, we will
-  // use the first 3 components of the returned Vector4 to store those values. We will store
-  // the id of the shape in the 4th component. That id will be derrived from MjShapeComponent.ShapeTypes
-  // enum.
-  Vector4 GetChangeStamp();
-
-  // Draw a debug gizmo for the shape.
-  void DebugDraw(Transform transform);
-}
-}
diff --git a/unity/Runtime/Components/Shapes/IMjShape.cs.meta b/unity/Runtime/Components/Shapes/IMjShape.cs.meta
deleted file mode 100644
index 0be1c1ad..00000000
--- a/unity/Runtime/Components/Shapes/IMjShape.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: f4b869d65e8404f3aa92042bbd7b9c43
-timeCreated: 1547647082
-licenseType: Pro
-MonoImporter:
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diff --git a/unity/Runtime/Components/Shapes/MeshGenerators.cs b/unity/Runtime/Components/Shapes/MeshGenerators.cs
deleted file mode 100644
index b6e19d64..00000000
--- a/unity/Runtime/Components/Shapes/MeshGenerators.cs
+++ /dev/null
@@ -1,360 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.IO;
-using System.Linq;
-using UnityEngine;
-
-namespace Mujoco {
-
-public static class MeshGenerators {
-
-  // Creates a sphere mesh geometry.
-  //
-  // Args:
-  //  scale: Non-uniform sphere scale. Allows to create ellipsoid shapes.
-  //  numVerticalSlices: How many vertices should there be in a single horizontal slice.
-  //  numHorizontalSlices: How many horizontal slices should the sphere consist of.
-  public static Tuple<Vector3[], int[]> BuildSphere(
-      Vector3 scale, int numVerticalSlices = 16, int numHorizontalSlices = 16) {
-    // Generate the vertices.
-    Vector3[] vertices;
-    int[] triangles;
-    GenerateSphereMeshSlice(
-        scale: scale,
-        numVerticalSlices: numVerticalSlices,
-        numHorizontalSlices: numHorizontalSlices,
-        firstSliceY: -1.0f,
-        lastSliceY: 1.0f,
-        vertices: out vertices,
-        triangles: out triangles);
-    return Tuple.Create(vertices, triangles);
-  }
-
-  // Creates a cylinder mesh geometry.
-  //
-  // Args:
-  //  radius: Radius of the cylider's body.
-  //  height: Height of the cylinder, from its bottom to its top base.
-  //  numVerticalSlices: How many vertices should there be around the base's circumference.
-  public static Tuple<Vector3[], int[]> BuildCylinder(
-      float radius, float height, int numVerticalSlices = 16) {
-    Vector3[] bodyVertices;
-    int[] bodyTriangles;
-    GenerateCylinderBody(radius, height, numVerticalSlices, out bodyVertices, out bodyTriangles);
-
-    Vector3[] baseCapVertices;
-    int[] baseCapTriangles;
-    GenerateCylinderBaseCaps(
-        radius, height, numVerticalSlices, out baseCapVertices, out baseCapTriangles);
-
-    var merger = new MeshMerger();
-    merger.Add(bodyVertices, bodyTriangles);
-    merger.Add(baseCapVertices, baseCapTriangles);
-    return Tuple.Create(merger.Vertices, merger.Triangles);
-  }
-
-  // Creates a capsule mesh geometry.
-  //
-  // Args:
-  //  radius: Radius of the capsule's body.
-  //  height: Height of the capsule, from its bottom to its top base.
-  //  numVerticalSlices: How many vertices should there be in a single horizontal slice.
-  //  numHorizontalSlices: How many vertical slices should the sphere consist of.
-  public static Tuple<Vector3[], int[]> BuildCapsule(
-      float radius, float height, int numVerticalSlices = 16, int numHorizontalSlices = 16) {
-    var baseHalfHeight = Math.Max(0.0f, height * 0.5f - radius);
-    Vector3[] topCapVertices;
-    int[] topCapTriangles;
-    GenerateSphereMeshSlice(
-        scale: Vector3.one * radius,
-        numVerticalSlices: numVerticalSlices,
-        numHorizontalSlices: numHorizontalSlices / 2,
-        firstSliceY: -1.0f,
-        lastSliceY: 0.0f,
-        vertices: out topCapVertices,
-        triangles: out topCapTriangles);
-
-    Vector3[] bottomCapVertices;
-    int[] bottomCapTriangles;
-    GenerateSphereMeshSlice(
-        scale: Vector3.one * radius,
-        numVerticalSlices: numVerticalSlices,
-        numHorizontalSlices: numHorizontalSlices / 2,
-        firstSliceY: 0.0f,
-        lastSliceY: 1.0f,
-        vertices: out bottomCapVertices,
-        triangles: out bottomCapTriangles);
-
-    Vector3[] bodyVertices;
-    int[] bodyTriangles;
-    GenerateCylinderBody(
-        radius: radius,
-        height: baseHalfHeight * 2.0f,
-        numVerticalSlices: numVerticalSlices,
-        vertices: out bodyVertices,
-        triangles: out bodyTriangles);
-
-    var merger = new MeshMerger();
-    merger.AddAndTranslate(topCapVertices, topCapTriangles, Vector3.up * baseHalfHeight * -1.0f);
-    merger.AddAndTranslate(
-        bottomCapVertices, bottomCapTriangles, Vector3.up * baseHalfHeight * 1.0f);
-    merger.Add(bodyVertices, bodyTriangles);
-    return Tuple.Create(merger.Vertices, merger.Triangles);
-  }
-
-  // Creates a box mesh geometry.
-  //
-  // Args:
-  //  extents: Extents of the box, along each major axis.
-  public static Tuple<Vector3[], int[]> BuildBox(Vector3 extents) {
-    // In order to ensure the box renders with flat faces, we need to make sure the triangles
-    // do not share vertices. We'll accomplish that by assigning a unique vertex to every triangle
-    // apex.
-    // We define a set of 8 vertex positions that form the box, and then sample from that set using
-    // triangle indices.
-    var vertexPositions = new Vector3[] {
-      Vector3.Scale(new Vector3(-1, -1, -1), extents),
-      Vector3.Scale(new Vector3(1, -1, -1), extents),
-      Vector3.Scale(new Vector3(-1, -1, 1), extents),
-      Vector3.Scale(new Vector3(1, -1, 1), extents),
-      Vector3.Scale(new Vector3(-1, 1, -1), extents),
-      Vector3.Scale(new Vector3(1, 1, -1), extents),
-      Vector3.Scale(new Vector3(-1, 1, 1), extents),
-      Vector3.Scale(new Vector3(1, 1, 1), extents),
-    };
-    var vertexSamplingPattern = new int[] {
-      0, 1, 3, 0, 3, 2,
-      4, 7, 5, 4, 6, 7,
-      0, 5, 1, 0, 4, 5,
-      1, 7, 3, 1, 5, 7,
-      3, 6, 2, 3, 7, 6,
-      2, 4, 0, 2, 6, 4,
-    };
-
-    var vertices = vertexSamplingPattern.Select(index => vertexPositions[index]).ToArray();
-    var triangles = Enumerable.Range(0, vertexSamplingPattern.Length).ToArray();
-    return Tuple.Create(vertices, triangles);
-  }
-
-  // Creates a plane mesh geometry.
-  //
-  // Args:
-  //  width: Width of the plane, along the OX axis.
-  //  height: Height of the plane, along the OZ axis.
-  public static Tuple<Vector3[], int[]> BuildPlane(float width, float height) {
-    var vertices = new Vector3[] {
-      new Vector3(-0.5f * width, 0, -0.5f * height),
-      new Vector3(0.5f * width, 0, -0.5f * height),
-      new Vector3(-0.5f * width, 0, 0.5f * height),
-      new Vector3(0.5f * width, 0, 0.5f * height),
-    };
-    var triangles = new int[] {
-      0, 3, 1,
-      0, 2, 3,
-    };
-    return Tuple.Create(vertices, triangles);
-  }
-
-  // Generates a slice of a sphere mesh.
-  // Conceptually, the algorithm generates a sphere with a unit radius (spanning from -1 to 1 along
-  // each of the major axes). Then, it cuts it using 2 planes parallel to the XZ plane, located at
-  // distances defined by 'firstSliceY' and 'lastSliceY' parameters respectively. It then returns
-  // the section of the mesh contained between those planes.
-  //
-  // This allows to use the method to generate variants of the sphere - full sphere, hemispheres.
-  //
-  // Args:
-  //  scale: Non-uniform sphere scale. Allows to create ellipsoid shapes.
-  //  numVerticalSlices: How many vertices should there be in a single horizontal slice.
-  //  numHorizontalSlices: How many horizontal slices should the sphere consist of.
-  //  firstSliceY: Vertical position of the first slice. Must be a value in range <-1, 1>.
-  //  lastSliceY: Vertical position of the last slice. Must a value in range <-1, 1>.
-  //  vertices: (Out) Array of sphere vertex positions.
-  //  triangles: (Out) Array with the sphere triangle connectivity.
-  private static void GenerateSphereMeshSlice(
-      Vector3 scale, int numVerticalSlices, int numHorizontalSlices, float firstSliceY,
-      float lastSliceY, out Vector3[] vertices, out int[] triangles) {
-    numVerticalSlices = Math.Max(3, numVerticalSlices);
-    numHorizontalSlices = Math.Max(3, numHorizontalSlices);
-    triangles = new int[(numHorizontalSlices - 1) * numVerticalSlices * 6];
-    vertices = new Vector3[numVerticalSlices * numHorizontalSlices];
-    if (firstSliceY < -1.0f || firstSliceY > 1.0f) {
-      throw new IOException("firstSliceY should be a value in range <-1, 1>");
-    }
-    if (lastSliceY < -1.0f || lastSliceY > 1.0f) {
-      throw new IOException("lastSliceY should be a value in range <-1, 1>");
-    }
-    if (firstSliceY > lastSliceY) {
-      throw new IOException("Value of firstSliceY should be lower than the value of lastSliceY.");
-    }
-    // Generate the vertices.
-    var deltaY = (lastSliceY - firstSliceY) / (numHorizontalSlices - 1);
-    var deltaYaw = 360.0f / numVerticalSlices;
-    for (var slice = 0; slice < numHorizontalSlices; ++slice) {
-      var y = firstSliceY + deltaY * slice;
-      var radius = (float)Math.Sqrt(1 - Math.Min(1.0f, y * y));
-      for (var vertex = 0; vertex < numVerticalSlices; ++vertex) {
-        var position = Quaternion.AngleAxis(deltaYaw * vertex, Vector3.up) * Vector3.right * radius;
-        position.y = y;
-        vertices[slice * numVerticalSlices + vertex] = Vector3.Scale(position, scale);
-      }
-    }
-    // Build the triangles.
-    for (var slice = 0; slice < (numHorizontalSlices - 1); ++slice) {
-      var firstVertexInSlice = slice * numVerticalSlices;
-      for (var vertex = 0; vertex < numVerticalSlices; ++vertex) {
-        var index1 = firstVertexInSlice + vertex;
-        var index2 = (vertex + 1 == numVerticalSlices) ? firstVertexInSlice : index1 + 1;
-        var index3 = index1 + numVerticalSlices;
-        var index4 = index2 + numVerticalSlices;
-        var quadBaseAddress = (slice * numVerticalSlices + vertex) * 6;
-        triangles[quadBaseAddress] = index1;
-        triangles[quadBaseAddress + 1] = index2;
-        triangles[quadBaseAddress + 2] = index4;
-        triangles[quadBaseAddress + 3] = index1;
-        triangles[quadBaseAddress + 4] = index4;
-        triangles[quadBaseAddress + 5] = index3;
-      }
-    }
-  }
-
-  // Generates the cylinder mesh vertices.
-  // This functionality will be shared between the cylinder body and cylinder base caps generators.
-  //
-  // Args:
-  //  radius: Cylinder radius.
-  //  height: Cylinder height.
-  //  numVerticalSlices: How many vertices should there be around the base's circumference.
-  //  vertices: (Out) Array of sphere vertex positions.
-  private static void GenerateCylinderVertices(
-      float radius, float height, int numVerticalSlices, out Vector3[] vertices) {
-    vertices = new Vector3[numVerticalSlices * 2];
-    var dYaw = 360.0f / numVerticalSlices;
-    var yaw = 0.0f;
-    var vertexIndex = 0;
-    for (var y = 0; y <= 1; ++y) {
-      var yPos = (y - 0.5f) * height;
-      for (var i = 0; i < numVerticalSlices; ++i, yaw += dYaw) {
-        var vertexPosition = Quaternion.AngleAxis(yaw, Vector3.up) * Vector3.right * radius;
-        vertexPosition.y = yPos;
-        vertices[vertexIndex++] = vertexPosition;
-      }
-    }
-  }
-
-  // Generates the meshes for the cylinder body, excluding its bases.
-  //
-  // Args:
-  //  radius: Cylinder radius.
-  //  height: Cylinder height.
-  //  numVerticalSlices: How many vertices should there be around the base's circumference.
-  //  vertices: (Out) Array of sphere vertex positions.
-  //  triangles: (Out) Array with the sphere triangle connectivity.
-  private static void GenerateCylinderBody(
-      float radius, float height, int numVerticalSlices, out Vector3[] vertices,
-      out int[] triangles) {
-    GenerateCylinderVertices(radius, height, numVerticalSlices, out vertices);
-    triangles = new int[numVerticalSlices * 6];
-    var apexIndex = 0;
-    for (var i = 0; i < numVerticalSlices; ++i) {
-      var v1 = i;
-      var v2 = (i + 1 == numVerticalSlices) ? 0 : v1 + 1;
-      var v3 = v1 + numVerticalSlices;
-      var v4 = v2 + numVerticalSlices;
-      triangles[apexIndex++] = v1;
-      triangles[apexIndex++] = v2;
-      triangles[apexIndex++] = v4;
-      triangles[apexIndex++] = v1;
-      triangles[apexIndex++] = v4;
-      triangles[apexIndex++] = v3;
-    }
-  }
-
-  // Generates the meshes for the cylinder base circles.
-  //
-  // Args:
-  //  radius: Cylinder radius.
-  //  height: Cylinder height.
-  //  numVerticalSlices: How many vertices should there be around the base's circumference.
-  //  vertices: (Out) Array of sphere vertex positions.
-  //  triangles: (Out) Array with the sphere triangle connectivity.
-  private static void GenerateCylinderBaseCaps(
-      float radius, float height, int numVerticalSlices, out Vector3[] vertices,
-      out int[] triangles) {
-    GenerateCylinderVertices(radius, height, numVerticalSlices, out vertices);
-    triangles = new int[(numVerticalSlices - 1) * 6];
-    var apexIndex = 0;
-    for (var baseIdx = 0; baseIdx <= 1; ++baseIdx) {
-      var v1 = baseIdx * numVerticalSlices;
-      for (var i = 1; i < numVerticalSlices; ++i) {
-        var v2 = v1 + (i % numVerticalSlices);
-        var v3 = v1 + ((i + 1) % numVerticalSlices);
-        triangles[apexIndex++] = v1;
-        triangles[apexIndex++] = baseIdx == 0 ? v3 : v2;
-        triangles[apexIndex++] = baseIdx == 0 ? v2 : v3;
-      }
-    }
-  }
-}
-
-// A tool used to merge the geometry of separate meshes.
-public class MeshMerger {
-  private List<Vector3> _vertices = new List<Vector3>();
-  private List<int> _triangles = new List<int>();
-
-  // The vertices of the merged mesh.
-  public Vector3[] Vertices => _vertices.ToArray();
-
-  // The connectivity array of the merged mesh.
-  public int[] Triangles => _triangles.ToArray();
-
-  // Adds a new submesh.
-  //
-  // Args:
-  //  vertices: Array of submesh vertices.
-  //  vertices: Triangles connectivity array of the submesh.
-  public void Add(Vector3[] vertices, int[] triangles) {
-    var triangleOffset = _triangles.Count;
-    var vertexOffset = _vertices.Count;
-    _vertices.AddRange(vertices);
-    _triangles.AddRange(triangles);
-    for (var i = triangleOffset; i < _triangles.Count; ++i) {
-      _triangles[i] += vertexOffset;
-    }
-  }
-
-  // Adds a new submesh, translating its vertices by a specified amount.
-  //
-  // Args:
-  //  vertices: Array of submesh vertices.
-  //  vertices: Triangles connectivity array of the submesh.
-  //  translation: Additional translation to be applied to the submesh.
-  public void AddAndTranslate(Vector3[] vertices, int[] triangles, Vector3 translation) {
-    var triangleOffset = _triangles.Count;
-    var vertexOffset = _vertices.Count;
-    _vertices.AddRange(vertices);
-    for (var i = vertexOffset; i < _vertices.Count; ++i) {
-      _vertices[i] += translation;
-    }
-    _triangles.AddRange(triangles);
-    for (var i = triangleOffset; i < _triangles.Count; ++i) {
-      _triangles[i] += vertexOffset;
-    }
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MeshGenerators.cs.meta b/unity/Runtime/Components/Shapes/MeshGenerators.cs.meta
deleted file mode 100644
index 4b85347f..00000000
--- a/unity/Runtime/Components/Shapes/MeshGenerators.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: deb4d8c01485d4e44bc815b133e707c0
-timeCreated: 1539115944
-licenseType: Pro
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diff --git a/unity/Runtime/Components/Shapes/MjBoxShape.cs b/unity/Runtime/Components/Shapes/MjBoxShape.cs
deleted file mode 100644
index c570d94e..00000000
--- a/unity/Runtime/Components/Shapes/MjBoxShape.cs
+++ /dev/null
@@ -1,55 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-[Serializable]
-public class MjBoxShape : IMjShape {
-  public Vector3 Extents = Vector3.one * 0.5f;
-
-  public void ToMjcf(XmlElement mjcf, Transform transform) {
-    var scaledExtents = MjEngineTool.MjExtents(Vector3.Scale(Extents, transform.lossyScale));
-    mjcf.SetAttribute("size", MjEngineTool.Vector3ToMjcf(scaledExtents));
-  }
-
-  public void FromMjcf(XmlElement mjcf) {
-    Extents = MjEngineTool.UnityExtents(
-        mjcf.GetVector3Attribute("size", defaultValue: Vector3.one * 0.5f));
-
-    Vector3 fromPoint, toPoint;
-    if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
-      var extent = (toPoint - fromPoint).magnitude * 0.5f;
-      Extents = Vector3.one * extent;
-    }
-  }
-
-  public Tuple<Vector3[], int[]> BuildMesh() {
-    return MeshGenerators.BuildBox(extents: Extents);
-  }
-
-  public Vector4 GetChangeStamp() {
-    return Extents;
-  }
-
-  public void DebugDraw(Transform transform) {
-    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
-    Gizmos.DrawWireCube(Vector3.zero, Extents * 2.0f);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjBoxShape.cs.meta b/unity/Runtime/Components/Shapes/MjBoxShape.cs.meta
deleted file mode 100644
index 56b65349..00000000
--- a/unity/Runtime/Components/Shapes/MjBoxShape.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 9783bb0e781e341e5914cdbac095b35e
-timeCreated: 1547647081
-licenseType: Pro
-MonoImporter:
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-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
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diff --git a/unity/Runtime/Components/Shapes/MjCapsuleShape.cs b/unity/Runtime/Components/Shapes/MjCapsuleShape.cs
deleted file mode 100644
index cdbe3402..00000000
--- a/unity/Runtime/Components/Shapes/MjCapsuleShape.cs
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-[Serializable]
-public class MjCapsuleShape : IMjShape {
-  public float Radius = 0.5f;
-  public float HalfHeight = 0.5f;
-  private const float _scaleTolerance = 1e-5f;
-
-  public void ToMjcf(XmlElement mjcf, Transform transform) {
-    if (Math.Abs(transform.lossyScale.x - transform.lossyScale.z) > _scaleTolerance) {
-      Debug.LogWarning(
-          $"{transform.name}: Capsule shapes require uniform scaling of XZ plane. Using the" +
-          " value of X and Y components.", transform);
-    }
-    mjcf.SetAttribute(
-        "size", MjEngineTool.MakeLocaleInvariant($"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}"));
-  }
-
-  public void FromMjcf(XmlElement mjcf) {
-    var components = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 0.5f, 0.5f });
-    Radius = components[0];
-    HalfHeight = components[1];
-
-    Vector3 fromPoint, toPoint;
-    if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
-      HalfHeight = 0.5f * (toPoint - fromPoint).magnitude;
-    }
-  }
-
-  public Tuple<Vector3[], int[]> BuildMesh() {
-    return MeshGenerators.BuildCapsule(radius: Radius, height: (HalfHeight + Radius) * 2.0f);
-  }
-
-  public Vector4 GetChangeStamp() {
-    return new Vector4(Radius, HalfHeight, 1, 0);
-  }
-
-  public void DebugDraw(Transform transform) {
-    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
-    MjGizmos.DrawWireCapsule(
-        Vector3.zero, Radius * transform.lossyScale.x, 2 * HalfHeight * transform.lossyScale.y);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjCapsuleShape.cs.meta b/unity/Runtime/Components/Shapes/MjCapsuleShape.cs.meta
deleted file mode 100644
index c88575aa..00000000
--- a/unity/Runtime/Components/Shapes/MjCapsuleShape.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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diff --git a/unity/Runtime/Components/Shapes/MjCylinderShape.cs b/unity/Runtime/Components/Shapes/MjCylinderShape.cs
deleted file mode 100644
index 31997a9b..00000000
--- a/unity/Runtime/Components/Shapes/MjCylinderShape.cs
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-[Serializable]
-public class MjCylinderShape : IMjShape {
-  public float Radius = 0.5f;
-  public float HalfHeight = 1.0f;
-  private const float _scaleTolerance = 1e-6f;
-
-  public void ToMjcf(XmlElement mjcf, Transform transform) {
-    if (Math.Abs(transform.lossyScale.x - transform.lossyScale.z) > _scaleTolerance) {
-      Debug.LogWarning(
-          $"{transform.name}: Cylinder shapes require uniform scaling of XZ plane. Using the" +
-          " value of X and Y components.", transform);
-    }
-    mjcf.SetAttribute(
-        "size", MjEngineTool.MakeLocaleInvariant($"{Radius * transform.lossyScale.x} {HalfHeight * transform.lossyScale.y}"));
-  }
-
-  public void FromMjcf(XmlElement mjcf) {
-    var components = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 0.5f, 1.0f });
-    Radius = components[0];
-    HalfHeight = components[1];
-
-    Vector3 fromPoint, toPoint;
-    if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
-      HalfHeight = (toPoint - fromPoint).magnitude * 0.5f;
-    }
-  }
-
-  public Tuple<Vector3[], int[]> BuildMesh() {
-    return MeshGenerators.BuildCylinder(radius: Radius, height: HalfHeight * 2);
-  }
-
-  public Vector4 GetChangeStamp() {
-    return new Vector4(Radius, HalfHeight, 1, 0);
-  }
-
-  public void DebugDraw(Transform transform) {
-    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
-    MjGizmos.DrawWireCylinder(
-        Vector3.zero, Radius * transform.lossyScale.x, HalfHeight * 2 * transform.lossyScale.y);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjCylinderShape.cs.meta b/unity/Runtime/Components/Shapes/MjCylinderShape.cs.meta
deleted file mode 100644
index d921c656..00000000
--- a/unity/Runtime/Components/Shapes/MjCylinderShape.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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-timeCreated: 1547647081
-licenseType: Pro
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-  executionOrder: 0
-  icon: {instanceID: 0}
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diff --git a/unity/Runtime/Components/Shapes/MjEllipsoidShape.cs b/unity/Runtime/Components/Shapes/MjEllipsoidShape.cs
deleted file mode 100644
index 44ee699e..00000000
--- a/unity/Runtime/Components/Shapes/MjEllipsoidShape.cs
+++ /dev/null
@@ -1,58 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-[Serializable]
-public class MjEllipsoidShape : IMjShape {
-  public Vector3 Radiuses = Vector3.one * 0.5f;
-
-  public void ToMjcf(XmlElement mjcf, Transform transform) {
-    var scaledRadiuses = MjEngineTool.MjExtents(Vector3.Scale(Radiuses, transform.lossyScale));
-    mjcf.SetAttribute("size", MjEngineTool.Vector3ToMjcf(scaledRadiuses));
-  }
-
-  public void FromMjcf(XmlElement mjcf) {
-    Radiuses = MjEngineTool.UnityExtents(
-        mjcf.GetVector3Attribute("size", defaultValue: Vector3.one * 0.5f));
-
-    Vector3 fromPoint, toPoint;
-    if (MjEngineTool.ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
-      var radius = (toPoint - fromPoint).magnitude * 0.5f;
-      Radiuses = Vector3.one * radius;
-    }
-  }
-
-  public Tuple<Vector3[], int[]> BuildMesh() {
-    return MeshGenerators.BuildSphere(scale: Radiuses);
-  }
-
-  public Vector4 GetChangeStamp() {
-    return Radiuses;
-  }
-
-  public void DebugDraw(Transform transform) {
-    Gizmos.matrix = Matrix4x4.TRS(
-        transform.position,
-        transform.rotation,
-        Vector3.Scale(Radiuses, transform.lossyScale));
-    Gizmos.DrawWireSphere(Vector3.zero, 1.0f);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjEllipsoidShape.cs.meta b/unity/Runtime/Components/Shapes/MjEllipsoidShape.cs.meta
deleted file mode 100644
index 0ce6d969..00000000
--- a/unity/Runtime/Components/Shapes/MjEllipsoidShape.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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-  executionOrder: 0
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diff --git a/unity/Runtime/Components/Shapes/MjGeom.cs b/unity/Runtime/Components/Shapes/MjGeom.cs
deleted file mode 100644
index 3787db6f..00000000
--- a/unity/Runtime/Components/Shapes/MjGeom.cs
+++ /dev/null
@@ -1,102 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// The component represents a physical shape and models its inertia and material properties.
-public class MjGeom : MjShapeComponent {
-  [Tooltip("If larger than zero, Density has no effect.")]
-  public float Mass = 0.0f;
-
-  [Tooltip("Material density. Set to 0 for a zero-mass geom.")]
-  public float Density = 1000.0f;
-
-  [Tooltip("Advanced settings.")]
-  public MjGeomSettings Settings = MjGeomSettings.Default;
-
-  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_GEOM;
-  private MjTransformation _geomInGlobalFrame = new MjTransformation();
-  private MjTransformation _comTransform;
-
-  protected override void OnParseMjcf(XmlElement mjcf) {
-    ShapeFromMjcf(mjcf);
-    Mass = mjcf.GetFloatAttribute("mass", defaultValue: 0.0f);
-    Density = mjcf.GetFloatAttribute("density", defaultValue: 1000.0f);
-    MjEngineTool.ParseTransformMjcf(mjcf, transform);
-    Settings.FromMjcf(mjcf);
-  }
-
-  // The MuJoCo compiler shifts meshes' frames, so we need to cache this transformation at init and
-  // apply it at runtime.
-  protected override unsafe void OnBindToRuntime(MujocoLib.mjModel_* model, MujocoLib.mjData_* data) {
-    var MjParent = MjHierarchyTool.FindParentComponent<MjBaseBody>(this);
-    if (MjParent != null) {
-      var comInParentFrame = new MjTransformation(
-          translation: MjEngineTool.UnityVector3(
-              MjEngineTool.MjVector3AtEntry(model->geom_pos, MujocoId)),
-          rotation: MjEngineTool.UnityQuaternion(
-              MjEngineTool.MjQuaternionAtEntry(model->geom_quat, MujocoId)));
-
-      // We don't want to bother calculating global transform in mujoco from mjModel,
-      // so we'll assume it's the same as the Unity transfor (it's the beginning of simulation after
-      // all).
-      var globalParentFrame = MjTransformation.LoadGlobal(transform.parent);
-      var comInGlobalFrame = globalParentFrame * comInParentFrame;
-      var globalFrame = MjTransformation.LoadGlobal(transform);
-      _comTransform = comInGlobalFrame.Inverse() * globalFrame;
-    }
-  }
-
-  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-    var mjcf = (XmlElement)doc.CreateElement("geom");
-    if (Mass > 0) {
-      mjcf.SetAttribute("mass", MjEngineTool.MakeLocaleInvariant($"{Mass}"));
-    } else {
-      mjcf.SetAttribute("density", MjEngineTool.MakeLocaleInvariant($"{Density}"));
-    }
-    ShapeToMjcf(mjcf, transform);
-    MjEngineTool.PositionRotationToMjcf(mjcf, this);
-    Settings.ToMjcf(mjcf);
-
-    return mjcf;
-  }
-
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    if (ShapeType == ShapeTypes.Mesh) {
-      _geomInGlobalFrame.Set(
-          translation: MjEngineTool.UnityVector3(
-              MjEngineTool.MjVector3AtEntry(data->geom_xpos, MujocoId)),
-          rotation: MjEngineTool.UnityQuaternionFromMatrix(
-              MjEngineTool.MjMatrixAtEntry(data->geom_xmat, MujocoId)));
-      var comInGlobalFrame = _geomInGlobalFrame * _comTransform;
-      comInGlobalFrame.StoreGlobal(transform);
-    } else {
-      transform.position = MjEngineTool.UnityVector3(
-          MjEngineTool.MjVector3AtEntry(data->geom_xpos, MujocoId));
-      transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(
-          MjEngineTool.MjMatrixAtEntry(data->geom_xmat, MujocoId));
-    }
-  }
-
-  public void OnDrawGizmosSelected() {
-    Gizmos.color = Color.blue;
-    DrawGizmos(transform);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjGeom.cs.meta b/unity/Runtime/Components/Shapes/MjGeom.cs.meta
deleted file mode 100644
index b7acce03..00000000
--- a/unity/Runtime/Components/Shapes/MjGeom.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Shapes/MjGeomSettings.cs b/unity/Runtime/Components/Shapes/MjGeomSettings.cs
deleted file mode 100644
index 5c887f1b..00000000
--- a/unity/Runtime/Components/Shapes/MjGeomSettings.cs
+++ /dev/null
@@ -1,203 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// Advanced settings of MjGeom component.
-[Serializable]
-public struct MjGeomSettings {
-
-  public enum FluidShapeTypes {
-    None,
-    Ellipsoid,
-  }
-
-  [Tooltip("Priority")]
-  public int Priority;
-
-  [Tooltip("Solver accuracy settings.")]
-  public GeomSolver Solver;
-
-  [Tooltip("Collision filtering settings.")]
-  public CollisionFiltering Filtering;
-
-  [Tooltip("Contact friction parameters for dynamically generated contact pairs.")]
-  public GeomFriction Friction;
-
-  [Tooltip("Shape used for fluid simulation.")]
-  public FluidShapeTypes FluidShapeType;
-
-  [Tooltip("Dimensionless coefficients of fluid interaction model.")]
-  public GeomFluidCoefficients FluidCoefficients;
-
-
-  // Default geom settings.
-  public static MjGeomSettings Default = new MjGeomSettings() {
-    Solver = GeomSolver.Default,
-    Filtering = CollisionFiltering.Default,
-    Friction = GeomFriction.Default,
-    FluidShapeType = FluidShapeTypes.None,
-    FluidCoefficients = GeomFluidCoefficients.Default
-  };
-
-  public void FromMjcf(XmlElement mjcf) {
-
-    Priority = (int) mjcf.GetFloatAttribute("priority", 0);
-
-    // Contact filtering settings.
-    Filtering.Contype = (int)mjcf.GetFloatAttribute("contype", CollisionFiltering.Default.Contype);
-    Filtering.Conaffinity = (int)mjcf.GetFloatAttribute(
-        "conaffinity", CollisionFiltering.Default.Conaffinity);
-    Filtering.Group = (int)mjcf.GetFloatAttribute("group", CollisionFiltering.Default.Group);
-
-    // Solver settings.
-    Solver.ConDim = (int)mjcf.GetFloatAttribute("condim", GeomSolver.Default.ConDim);
-    Solver.SolMix = mjcf.GetFloatAttribute("solmix", GeomSolver.Default.SolMix);
-    var solref = mjcf.GetFloatArrayAttribute(
-        "solref", new float[] { GeomSolver.Default.SolRef.TimeConst,
-        GeomSolver.Default.SolRef.DampRatio });
-    Solver.SolRef.TimeConst = solref[0];
-    Solver.SolRef.DampRatio = solref[1];
-    var solimp = mjcf.GetFloatArrayAttribute(
-      "solimp", new float[] { GeomSolver.Default.SolImp.DMin, GeomSolver.Default.SolImp.DMax,
-      GeomSolver.Default.SolImp.Width });
-    Solver.SolImp.DMin = solimp[0];
-    Solver.SolImp.DMax = solimp[1];
-    Solver.SolImp.Width = solimp[2];
-    Solver.Margin = mjcf.GetFloatAttribute("margin", GeomSolver.Default.Margin);
-    Solver.Gap = mjcf.GetFloatAttribute("gap", GeomSolver.Default.Gap);
-
-    // Inertia and friction settings.
-    var friction = mjcf.GetFloatArrayAttribute(
-        "friction", new float[] { GeomFriction.Default.Sliding, GeomFriction.Default.Torsional,
-        GeomFriction.Default.Rolling });
-    Friction.Sliding = friction[0];
-    Friction.Torsional = friction[1];
-    Friction.Rolling = friction[2];
-
-    // Fluid settings.
-    FluidShapeType = mjcf.GetEnumAttribute<FluidShapeTypes>(
-        "fluidshape", FluidShapeTypes.None, ignoreCase: true);
-    var fluidcoef = mjcf.GetFloatArrayAttribute("fluidcoef", new float[] {
-        GeomFluidCoefficients.Default.BluntDrag, GeomFluidCoefficients.Default.SlenderDrag,
-        GeomFluidCoefficients.Default.AngularDrag, GeomFluidCoefficients.Default.KuttaLift,
-        GeomFluidCoefficients.Default.MagnusLift
-    });
-    FluidCoefficients.BluntDrag = fluidcoef[0];
-    FluidCoefficients.SlenderDrag = fluidcoef[1];
-    FluidCoefficients.AngularDrag = fluidcoef[2];
-    FluidCoefficients.KuttaLift = fluidcoef[3];
-    FluidCoefficients.MagnusLift = fluidcoef[4];
-  }
-
-  public void ToMjcf(XmlElement mjcf) {
-    mjcf.SetAttribute("priority", $"{Priority}");
-
-    // Contact filtering settings.
-    mjcf.SetAttribute("contype", $"{Filtering.Contype}");
-    mjcf.SetAttribute("conaffinity", $"{Filtering.Conaffinity}");
-    mjcf.SetAttribute("group", $"{Filtering.Group}");
-
-    // Solver settings.
-    mjcf.SetAttribute("condim", $"{Solver.ConDim}");
-    mjcf.SetAttribute("solmix", MjEngineTool.MakeLocaleInvariant($"{Solver.SolMix}"));
-    mjcf.SetAttribute("solref", MjEngineTool.MakeLocaleInvariant($"{Solver.SolRef.TimeConst} {Solver.SolRef.DampRatio}"));
-    mjcf.SetAttribute(
-      "solimp", MjEngineTool.MakeLocaleInvariant($"{Solver.SolImp.DMin} {Solver.SolImp.DMax} {Solver.SolImp.Width}"));
-    mjcf.SetAttribute("margin", MjEngineTool.MakeLocaleInvariant($"{Solver.Margin}"));
-    mjcf.SetAttribute("gap", MjEngineTool.MakeLocaleInvariant($"{Solver.Gap}"));
-
-    // Inertia and friction settings.
-    mjcf.SetAttribute("friction", MjEngineTool.MakeLocaleInvariant($"{Friction.Sliding} {Friction.Torsional} {Friction.Rolling}"));
-
-    // Fluid settings.
-    mjcf.SetAttribute("fluidshape", FluidShapeType.ToString().ToLower());
-    mjcf.SetAttribute("fluidcoef", MjEngineTool.MakeLocaleInvariant(
-      $"{FluidCoefficients.BluntDrag} {FluidCoefficients.SlenderDrag} {FluidCoefficients.AngularDrag} {FluidCoefficients.KuttaLift} {FluidCoefficients.MagnusLift}"));
-  }
-}
-
-[Serializable]
-public struct GeomFriction {
-  public float Sliding;
-  public float Torsional;
-  public float Rolling;
-
-  public static GeomFriction Default = new GeomFriction {
-      Sliding = 1.0f, Torsional = 0.005f, Rolling = 0.0001f
-  };
-}
-
-[Serializable]
-public struct CollisionFiltering {
-
-  [Tooltip("Bitmasks used for contact filtering of dynamically generated contact pairs.")]
-  public int Contype;
-
-  [Tooltip("Bitmask for contact filtering")]
-  public int Conaffinity;
-
-  // The only effect on the physics is at compile time, when body masses and inertias are inferred
-  // from geoms selected based on their group.
-  [Tooltip("Group to which the geom belongs.")]
-  public int Group;
-
-  public static CollisionFiltering Default = new CollisionFiltering() {
-    Contype = 1, Conaffinity = 1, Group = 0
-  };
-}
-
-[Serializable]
-public struct GeomSolver {
-  [Tooltip("The dimensionality of the contact space.")]
-  public int ConDim;
-
-  [Tooltip("Weight used for averaging of constraint solver parameters.")]
-  public float SolMix;
-
-  [Tooltip("Solver function d(r) reference parameters.")]
-  public SolverReference SolRef;
-
-  [Tooltip("Solver function d(r) impedance parameters.")]
-  public SolverImpedance SolImp;
-
-  [Tooltip("Distance threshold below which contacts are detected.")]
-  public float Margin;
-
-  [Tooltip("Positive value enables generation of inactive contacts.")]
-  public float Gap;
-
-  public static GeomSolver Default = new GeomSolver() {
-    ConDim = 3, SolMix = 1.0f, SolRef = SolverReference.Default, SolImp = SolverImpedance.Default,
-    Margin = 0.0f, Gap = 0.0f
-  };
-}
-
-[Serializable]
-public struct GeomFluidCoefficients {
-  public float BluntDrag;
-  public float SlenderDrag;
-  public float AngularDrag;
-  public float KuttaLift;
-  public float MagnusLift;
-
-  public static GeomFluidCoefficients Default = new GeomFluidCoefficients() {
-    BluntDrag = 5f, SlenderDrag = .25f, AngularDrag = 1.5f, KuttaLift = 1f, MagnusLift = 1f
-  };
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjGeomSettings.cs.meta b/unity/Runtime/Components/Shapes/MjGeomSettings.cs.meta
deleted file mode 100644
index 21aff66d..00000000
--- a/unity/Runtime/Components/Shapes/MjGeomSettings.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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-  serializedVersion: 2
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-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
deleted file mode 100644
index 4ba8de83..00000000
--- a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs
+++ /dev/null
@@ -1,164 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.IO;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-// internal imports
-namespace Mujoco {
-
-[Serializable]
-public class MjHeightFieldShape : IMjShape {
-  [Tooltip("Terrain's heightmap should have a minimum value of zero (fully black).")]
-  public Terrain Terrain;
-
-  [Tooltip("The path, relative to Application.dataPath, where the heightmap " +
-           "data will be saved/exported in PNG format. Leave blank if hfield data should " +
-           "be set instead programmatically (faster).")]
-  public string HeightMapExportPath;
-
-  public bool ExportImage => !string.IsNullOrEmpty(HeightMapExportPath);
-
-  public string FullHeightMapPath => Path.GetFullPath(Path.Combine(Application.dataPath,
-      HeightMapExportPath));
-
-  public int HeightMapWidth => Terrain.terrainData.heightmapTexture.width;
-  public int HeightMapLength => Terrain.terrainData.heightmapTexture.height;
-  public Vector3 HeightMapScale => Terrain.terrainData.heightmapScale;
-
-  [Tooltip("At least this many frames will have to pass before the scene is rebuilt with an " +
-           "updated heightmap. Leave as 0 to not update the hfield during simulation. " +
-           "If nonzero, increasing this can improve performance.")]
-  public int UpdateLimit;
-
-  private int _updateCountdown;
-
-  [HideInInspector]
-  public float MinimumHeight { get; private set; }
-
-  [HideInInspector]
-  public float MaximumHeight { get; private set; }
-
-  public int HeightFieldId { get; private set; }
-
-  public unsafe void ToMjcf(XmlElement mjcf, Transform transform) {
-    if (Terrain.transform.parent != transform)
-      Debug.LogWarning(
-          $"The terrain of heightfield {transform.name} needs to be parented to the Geom " +
-          "for proper rendering.");
-    else {
-      if ((Terrain.transform.localPosition - new Vector3(
-              -(HeightMapLength - 1) * HeightMapScale.x / 2f,
-              Terrain.transform.localPosition.y,
-              -(HeightMapWidth - 1) * HeightMapScale.z / 2)).magnitude > 0.001) {
-        Debug.LogWarning($"Terrain of heightfield {transform.name} not aligned with geom. The " +
-                         " terrain will be moved to accurately represent the simulated position.");
-      }
-      Terrain.transform.localPosition = new Vector3(-(HeightMapLength - 1) * HeightMapScale.x / 2,
-          Terrain.transform.localPosition.y,
-          -(HeightMapWidth - 1) * HeightMapScale.z / 2);
-    }
-    var scene = MjScene.Instance;
-    var assetName = scene.GenerationContext.AddHeightFieldAsset(this);
-
-    if (Application.isPlaying) {
-      scene.postInitEvent += (unused_first, unused_second) =>
-          HeightFieldId =
-              MujocoLib.mj_name2id(scene.Model, (int)MujocoLib.mjtObj.mjOBJ_HFIELD, assetName);
-    }
-
-    if (UpdateLimit > 0) {
-      _updateCountdown = UpdateLimit;
-      if (UpdateLimit > 1) {
-        scene.preUpdateEvent += (unused_first, unused_second) => CountdownUpdateCondition();
-      }
-      TerrainCallbacks.heightmapChanged += (unused_first, unused_second, unused_third) =>
-          RebuildHeightField();
-    }
-
-    mjcf.SetAttribute("hfield", assetName);
-    PrepareHeightMap();
-  }
-
-  public void FromMjcf(XmlElement mjcf) {
-  }
-
-  public void PrepareHeightMap() {
-    RenderTexture.active = Terrain.terrainData.heightmapTexture;
-    Texture2D texture = new Texture2D(RenderTexture.active.width, RenderTexture.active.height);
-    texture.ReadPixels(new Rect(0, 0, RenderTexture.active.width, RenderTexture.active.height),
-        0,
-        0);
-    MaximumHeight = texture.GetPixels().Select(c => c.r).Max() * HeightMapScale.y * 2;
-    var minimumHeight = texture.GetPixels().Select(c => c.r).Min() * HeightMapScale.y * 2;
-
-    RenderTexture.active = null;
-    if (ExportImage) {
-      if (minimumHeight > 0.0001)
-        Debug.LogWarning("Due to assumptions in MuJoCo heightfields, terrains should have a " +
-                         "minimum heightmap value of 0.");
-      File.WriteAllBytes(FullHeightMapPath, texture.EncodeToPNG());
-    } else if (Application.isPlaying) {
-      MjScene.Instance.postInitEvent += (unused_first, unused_second) => UpdateHeightFieldData();
-    }
-  }
-
-  public unsafe void UpdateHeightFieldData() {
-    RenderTexture.active = Terrain.terrainData.heightmapTexture;
-    Texture2D texture = new Texture2D(RenderTexture.active.width, RenderTexture.active.height);
-    texture.ReadPixels(new Rect(0, 0, RenderTexture.active.width, RenderTexture.active.height),
-        0,
-        0);
-    RenderTexture.active = null;
-
-    float[] curData = texture.GetPixels(0, 0, texture.width, texture.height)
-        .Select(c => c.r * 2).ToArray();
-    int adr = MjScene.Instance.Model->hfield_adr[HeightFieldId];
-    for (int i = 0; i < curData.Length; i++) {
-      MjScene.Instance.Model->hfield_data[adr + i] = curData[i];
-    }
-  }
-
-  public void CountdownUpdateCondition() {
-    if (_updateCountdown < 1) return;
-    _updateCountdown -= 1;
-  }
-
-  public void RebuildHeightField() {
-    // The update rate limiting countdown goes from UpdateLimit + 1 to 1, since if the Update
-    // limit is at 1, we can update on every frame and don't need a countdown.
-    if (_updateCountdown > 1) return;
-    if (!Application.isPlaying || !MjScene.InstanceExists) return;
-    if (ExportImage) {
-      // If we export an image, it needs to be read by the compiler so we might as well rebuild the scene.
-      MjScene.Instance.SceneRecreationAtLateUpdateRequested = true;
-    } else {
-      UpdateHeightFieldData();
-    }
-    _updateCountdown = UpdateLimit + 1;
-  }
-
-  public Vector4 GetChangeStamp() {
-    return Vector4.one;
-  }
-
-  public Tuple<Vector3[], int[]> BuildMesh() {
-    return null;
-  }
-
-  public void DebugDraw(Transform transform) {}
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta b/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta
deleted file mode 100644
index 7c0b9a44..00000000
--- a/unity/Runtime/Components/Shapes/MjHeightFieldShape.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
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diff --git a/unity/Runtime/Components/Shapes/MjMeshFilter.cs b/unity/Runtime/Components/Shapes/MjMeshFilter.cs
deleted file mode 100644
index 3f6fec32..00000000
--- a/unity/Runtime/Components/Shapes/MjMeshFilter.cs
+++ /dev/null
@@ -1,90 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEngine;
-
-namespace Mujoco {
-
-[RequireComponent(typeof(MjShapeComponent))]
-[RequireComponent(typeof(MeshFilter))]
-[ExecuteInEditMode]
-public class MjMeshFilter : MonoBehaviour {
-  private MjShapeComponent _geom;
-  private Vector4 _shapeChangeStamp;
-  private MeshFilter _meshFilter;
-
-  protected void Awake() {
-    _geom = GetComponent<MjShapeComponent>();
-    _shapeChangeStamp = new Vector4(0, 0, 0, -1);
-    _meshFilter = GetComponent<MeshFilter>();
-    _meshFilter.mesh = new Mesh();
-  }
-
-  protected void Update() {
-    var currentChangeStamp = _geom.GetChangeStamp();
-    if ((_shapeChangeStamp - currentChangeStamp).magnitude <= 1e-3f) {
-      return;
-    }
-
-    if(_geom.ShapeType == MjShapeComponent.ShapeTypes.Mesh) {
-      MjMeshShape meshShape = _geom.Shape as MjMeshShape;
-      _meshFilter.sharedMesh = meshShape.Mesh;
-      return;
-    }
-
-    _shapeChangeStamp = currentChangeStamp;
-    Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
-    if (meshData == null)
-    {
-      throw new ArgumentException("Unsupported geom shape detected");
-    }
-
-    DisposeCurrentMesh();
-
-    var mesh = new Mesh();
-    // Name this mesh to easily track resources in Unity analysis tools.
-    mesh.name = $"Mujoco mesh for {gameObject.name}, id:{mesh.GetInstanceID()}";
-    _meshFilter.sharedMesh = mesh;
-    mesh.vertices = meshData.Item1;
-    mesh.triangles = meshData.Item2;
-    Vector2[] uvs = new Vector2[mesh.vertices.Length];
-    for (int i = 0; i < uvs.Length; i++){
-      uvs[i] = new Vector2(mesh.vertices[i].x, mesh.vertices[i].z);
-    }
-    mesh.uv = uvs;
-    mesh.RecalculateNormals();
-    mesh.RecalculateTangents();
-  }
-
-  protected void OnDestroy() {
-    DisposeCurrentMesh();
-  }
-
-  // Dynamically created meshes with no references are only disposed automatically on scene changes.
-  // This prevents resource leaks in case the host environment doesn't reload scenes.
-  private void DisposeCurrentMesh() {
-    if (_meshFilter.sharedMesh != null && _geom.ShapeType != MjShapeComponent.ShapeTypes.Mesh) {
-#if UNITY_EDITOR
-      DestroyImmediate(_meshFilter.sharedMesh);
-#else
-      Destroy(_meshFilter.sharedMesh);
-#endif
-    }
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjMeshFilter.cs.meta b/unity/Runtime/Components/Shapes/MjMeshFilter.cs.meta
deleted file mode 100644
index 976a1776..00000000
--- a/unity/Runtime/Components/Shapes/MjMeshFilter.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: c762400e63d394f6fa8f9f7885edb79e
-timeCreated: 1539770521
-licenseType: Pro
-MonoImporter:
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diff --git a/unity/Runtime/Components/Shapes/MjMeshShape.cs b/unity/Runtime/Components/Shapes/MjMeshShape.cs
deleted file mode 100644
index 22721209..00000000
--- a/unity/Runtime/Components/Shapes/MjMeshShape.cs
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-[Serializable]
-public class MjMeshShape : IMjShape {
-
-  public Mesh Mesh;
-
-  public void ToMjcf(XmlElement mjcf, Transform transform) {
-    var scene = MjScene.Instance;
-    var assetName = scene.GenerationContext.AddMeshAsset(Mesh);
-    mjcf.SetAttribute("mesh", assetName);
-  }
-
-  public void FromMjcf(XmlElement mjcf) {
-    // When the asset was parsed and stored its name was sanitized, so we should load it using a
-    // sanitized name:
-    var assetName = MjEngineTool.Sanitize(
-        mjcf.GetStringAttribute("mesh", defaultValue: string.Empty));
-    if (!string.IsNullOrEmpty(assetName)) {
-      Mesh = Resources.Load<Mesh>(assetName);
-    }
-  }
-
-  public Tuple<Vector3[], int[]> BuildMesh() {
-    return Tuple.Create(Mesh.vertices, Mesh.triangles);
-  }
-
-  public Vector4 GetChangeStamp() {
-    return Vector4.one;
-  }
-
-  public void DebugDraw(Transform transform) {
-    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, transform.lossyScale);
-    Gizmos.DrawWireMesh(Mesh);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjMeshShape.cs.meta b/unity/Runtime/Components/Shapes/MjMeshShape.cs.meta
deleted file mode 100644
index e4fb7936..00000000
--- a/unity/Runtime/Components/Shapes/MjMeshShape.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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-guid: 74b6655bbc8424b73ab3428b5ea018e6
-timeCreated: 1549902766
-licenseType: Pro
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-  defaultReferences: []
-  executionOrder: 0
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diff --git a/unity/Runtime/Components/Shapes/MjPlaneShape.cs b/unity/Runtime/Components/Shapes/MjPlaneShape.cs
deleted file mode 100644
index 3883697a..00000000
--- a/unity/Runtime/Components/Shapes/MjPlaneShape.cs
+++ /dev/null
@@ -1,50 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-[Serializable]
-public class MjPlaneShape : IMjShape {
-  public Vector2 Extents = Vector3.one;
-
-  public void ToMjcf(XmlElement mjcf, Transform transform) {
-    var extents = new Vector3(Extents.x, Extents.y, 1.0f);
-    var scaledExtents = Vector3.Scale(extents, transform.lossyScale);
-    mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{scaledExtents.x} {scaledExtents.y} {scaledExtents.z}"));
-  }
-
-  public void FromMjcf(XmlElement mjcf) {
-    var components = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 1, 1, 1 });
-    Extents = new Vector2(components[0], components[1]);
-  }
-
-  public Tuple<Vector3[], int[]> BuildMesh() {
-    return MeshGenerators.BuildPlane(Extents.x * 2.0f, Extents.y * 2.0f);
-  }
-
-  public Vector4 GetChangeStamp() {
-    return new Vector4(Extents.x, Extents.y, 1, 0);
-  }
-
-  public void DebugDraw(Transform transform) {
-    Gizmos.matrix = Matrix4x4.TRS(transform.position, transform.rotation, Vector3.one);
-    MjGizmos.DrawWirePlane(Vector3.zero, Extents.x * 2.0f, Extents.y * 2.0f);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjPlaneShape.cs.meta b/unity/Runtime/Components/Shapes/MjPlaneShape.cs.meta
deleted file mode 100644
index 8a0726fa..00000000
--- a/unity/Runtime/Components/Shapes/MjPlaneShape.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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-timeCreated: 1547647081
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diff --git a/unity/Runtime/Components/Shapes/MjShapeComponent.cs b/unity/Runtime/Components/Shapes/MjShapeComponent.cs
deleted file mode 100644
index dc530fd2..00000000
--- a/unity/Runtime/Components/Shapes/MjShapeComponent.cs
+++ /dev/null
@@ -1,95 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// A facade that allows to select a type of Mujoco shape and define that shape's properties.
-//
-// To work around the lack of serialization support for polymorphism, the class aggregates
-// the settings of all available shape types. Coupled with a set of custom property drawers,
-// it will be presented in the Inspector as a single entity, encapsulating the details of
-// data persistance, Mjcf parsing and generation and debug visualization.
-public abstract class MjShapeComponent : MjComponent {
-
-  public enum ShapeTypes {
-    Sphere,
-    Capsule,
-    Ellipsoid,
-    Cylinder,
-    Box,
-    Plane,
-    Mesh,
-    HField
-  }
-
-  public ShapeTypes ShapeType;
-
-  public MjSphereShape Sphere = new MjSphereShape();
-  public MjCapsuleShape Capsule = new MjCapsuleShape();
-  public MjCylinderShape Cylinder = new MjCylinderShape();
-  public MjBoxShape Box = new MjBoxShape();
-  public MjEllipsoidShape Ellipsoid = new MjEllipsoidShape();
-  public MjPlaneShape Plane = new MjPlaneShape();
-  public MjMeshShape Mesh = new MjMeshShape();
-  public MjHeightFieldShape HField = new MjHeightFieldShape();
-
-  public IMjShape Shape {
-    get {
-      switch (ShapeType) {
-        default:
-        case ShapeTypes.Sphere: return Sphere;
-        case ShapeTypes.Capsule: return Capsule;
-        case ShapeTypes.Cylinder: return Cylinder;
-        case ShapeTypes.Ellipsoid: return Ellipsoid;
-        case ShapeTypes.Box: return Box;
-        case ShapeTypes.Plane: return Plane;
-        case ShapeTypes.Mesh: return Mesh;
-        case ShapeTypes.HField: return HField;
-      }
-    }
-  }
-
-  public void ShapeToMjcf(XmlElement mjcf, Transform transform) {
-    mjcf.SetAttribute("type", ShapeType.ToString().ToLower());
-    Shape.ToMjcf(mjcf, transform);
-  }
-
-  public void ShapeFromMjcf(XmlElement mjcf) {
-    ShapeType = mjcf.GetEnumAttribute<ShapeTypes>(
-        "type", ShapeTypes.Sphere, ignoreCase: true);
-    Shape.FromMjcf(mjcf);
-  }
-
-  public Tuple<Vector3[], int[]> BuildMesh() {
-    return Shape.BuildMesh();
-  }
-
-  public Vector4 GetChangeStamp() {
-    var stamp = Shape.GetChangeStamp();
-    stamp.w = (float)ShapeType;
-    return stamp;
-  }
-
-  public void DrawGizmos(Transform transform) {
-    var oldMatrix = Gizmos.matrix;
-    Shape.DebugDraw(transform);
-    Gizmos.matrix = oldMatrix;
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjShapeComponent.cs.meta b/unity/Runtime/Components/Shapes/MjShapeComponent.cs.meta
deleted file mode 100644
index 22386916..00000000
--- a/unity/Runtime/Components/Shapes/MjShapeComponent.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Shapes/MjSite.cs b/unity/Runtime/Components/Shapes/MjSite.cs
deleted file mode 100644
index 040fb9ac..00000000
--- a/unity/Runtime/Components/Shapes/MjSite.cs
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// Defines a reference frame and an anchoring point for other elements of the rig.
-public class MjSite : MjShapeComponent {
-
-  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_SITE;
-
-  // Parse the component settings from an external Mjcf.
-  protected override void OnParseMjcf(XmlElement mjcf) {
-    ShapeFromMjcf(mjcf);
-    MjEngineTool.ParseTransformMjcf(mjcf, transform);
-  }
-
-  // Generate implementation specific XML element.
-  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-    var mjcf = (XmlElement)doc.CreateElement("site");
-    ShapeToMjcf(mjcf, transform);
-    MjEngineTool.PositionRotationToMjcf(mjcf, this);
-    return mjcf;
-  }
-
-  // Synchronize the state of the component.
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    transform.position = MjEngineTool.UnityVector3(
-        MjEngineTool.MjVector3AtEntry(data->site_xpos, MujocoId));
-    transform.rotation = MjEngineTool.UnityQuaternionFromMatrix(
-        MjEngineTool.MjMatrixAtEntry(data->site_xmat, MujocoId));
-  }
-
-  public void OnDrawGizmosSelected() {
-    Gizmos.color = Color.magenta;
-    DrawGizmos(transform);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjSite.cs.meta b/unity/Runtime/Components/Shapes/MjSite.cs.meta
deleted file mode 100644
index d568bf9c..00000000
--- a/unity/Runtime/Components/Shapes/MjSite.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 1f92b229515774d928f13cd3faead49a
-timeCreated: 1547220273
-licenseType: Pro
-MonoImporter:
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-  executionOrder: 0
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diff --git a/unity/Runtime/Components/Shapes/MjSphereShape.cs b/unity/Runtime/Components/Shapes/MjSphereShape.cs
deleted file mode 100644
index e82adc52..00000000
--- a/unity/Runtime/Components/Shapes/MjSphereShape.cs
+++ /dev/null
@@ -1,55 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-[Serializable]
-public class MjSphereShape : IMjShape {
-  public float Radius = 0.5f;
-  private const float _scaleTolerance = 1e-6f;
-
-  public void ToMjcf(XmlElement mjcf, Transform transform) {
-    if (Math.Abs(transform.lossyScale.x - transform.lossyScale.y) > _scaleTolerance ||
-        Math.Abs(transform.lossyScale.y - transform.lossyScale.z) > _scaleTolerance) {
-      Debug.LogWarning(
-          $"{transform.name}: Sphere shapes work only with uniform scaling. Using the value of X" +
-          " component.\n Consider using Ellipsoid shape if you want to use non-uniform scaling.",
-          transform);
-    }
-    mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{Radius * transform.lossyScale.x}"));
-  }
-
-  public void FromMjcf(XmlElement mjcf) {
-    var values = mjcf.GetFloatArrayAttribute("size", defaultValue: new float[] { 0.5f });
-    Radius = values[0];
-  }
-
-  public Tuple<Vector3[], int[]> BuildMesh() {
-    return MeshGenerators.BuildSphere(scale: Vector3.one * Radius);
-  }
-
-  public Vector4 GetChangeStamp() {
-    return new Vector4(Radius, 1, 1, 0);
-  }
-
-  public void DebugDraw(Transform transform) {
-    Gizmos.DrawWireSphere(transform.position, Radius * transform.lossyScale.x);
-  }
-}
-}
diff --git a/unity/Runtime/Components/Shapes/MjSphereShape.cs.meta b/unity/Runtime/Components/Shapes/MjSphereShape.cs.meta
deleted file mode 100644
index bcac8306..00000000
--- a/unity/Runtime/Components/Shapes/MjSphereShape.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Runtime/Components/Tendons.meta b/unity/Runtime/Components/Tendons.meta
deleted file mode 100644
index c8e26465..00000000
--- a/unity/Runtime/Components/Tendons.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: b58acb5cf1b8049acb79e46a0d8b851b
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
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diff --git a/unity/Runtime/Components/Tendons/MjBaseTendon.cs b/unity/Runtime/Components/Tendons/MjBaseTendon.cs
deleted file mode 100644
index 5d6815f9..00000000
--- a/unity/Runtime/Components/Tendons/MjBaseTendon.cs
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-public abstract class MjBaseTendon : MjComponent {
-
-  public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_TENDON;
-
-  public SolverSettings Solver = SolverSettings.Default;
-
-  [Tooltip("Length at zero spring force. If negative, this resting length is computed at qpos0.")]
-  public float SpringLength = -1.0f;
-  public float Stiffness = 0.0f;
-  public float Damping = 0.0f;
-
-  // Tendon length.
-  public float Length { get; private set; }
-
-  // Create the implementation dependent Mjcf node.
-  protected abstract XmlElement ToMjcf(XmlDocument doc);
-
-  // Parse the implementation dependent details from the provided Mjcf node.
-  protected abstract void FromMjcf(XmlElement mjcf);
-
-  // Parse the component settings from an external Mjcf.
-  protected override void OnParseMjcf(XmlElement mjcf) {
-    Solver.FromMjcf(mjcf);
-    SpringLength = mjcf.GetFloatAttribute("springlength", defaultValue: -1.0f);
-    Stiffness = mjcf.GetFloatAttribute("stiffness");
-    Damping = mjcf.GetFloatAttribute("damping");
-    FromMjcf(mjcf);
-  }
-
-  // Generate implementation specific XML element.
-  protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-    var mjcf = ToMjcf(doc);
-    Solver.ToMjcf(mjcf);
-    mjcf.SetAttribute("springlength", MjEngineTool.MakeLocaleInvariant($"{SpringLength}"));
-    mjcf.SetAttribute("damping", MjEngineTool.MakeLocaleInvariant($"{Damping}"));
-    mjcf.SetAttribute("stiffness", MjEngineTool.MakeLocaleInvariant($"{Stiffness}"));
-    return mjcf;
-  }
-
-  // Synchronize the state of the component.
-  public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-    Length = (float)data->ten_length[MujocoId];
-  }
-}
-}
diff --git a/unity/Runtime/Components/Tendons/MjBaseTendon.cs.meta b/unity/Runtime/Components/Tendons/MjBaseTendon.cs.meta
deleted file mode 100644
index 26d0a98b..00000000
--- a/unity/Runtime/Components/Tendons/MjBaseTendon.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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-timeCreated: 1551348729
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diff --git a/unity/Runtime/Components/Tendons/MjFixedTendon.cs b/unity/Runtime/Components/Tendons/MjFixedTendon.cs
deleted file mode 100644
index 14c886f7..00000000
--- a/unity/Runtime/Components/Tendons/MjFixedTendon.cs
+++ /dev/null
@@ -1,81 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-[Serializable]
-public class FixedTendonEntry {
-  [Tooltip("Only scalar joints can be used - hinge and slide.")]
-  public MjBaseJoint Joint;
-
-  [Tooltip("Multiplier for the value of the joint.")]
-  public float Coefficient = 1.0f;
-}
-
-public class MjFixedTendon : MjBaseTendon {
-
-  [Tooltip("In (scaled) radians/meters.")]
-  public float RangeLower;
-  [Tooltip("In (scaled) radians/meters.")]
-  public float RangeUpper;
-
-  public List<FixedTendonEntry> JointList = new List<FixedTendonEntry>() {};
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    foreach (var child in mjcf.Cast<XmlNode>().OfType<XmlElement>()) {
-      var fixedTendonEntry = new FixedTendonEntry();
-      fixedTendonEntry.Joint = child.GetObjectReferenceAttribute<MjBaseJoint>("joint");
-      fixedTendonEntry.Coefficient = child.GetFloatAttribute("coef", defaultValue: 1.0f);
-      JointList.Add(fixedTendonEntry);
-    }
-    var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
-    RangeLower = rangeValues[0];
-    RangeUpper = rangeValues[1];
-  }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (JointList.Count < 1) {
-      throw new ArgumentOutOfRangeException($"Fixed tendon {name} needs at least one joint.");
-    }
-    var mjcf = doc.CreateElement("fixed");
-    foreach (FixedTendonEntry fixedTendonEntry in JointList) {
-      var jointMjcf = doc.CreateElement("joint");
-      jointMjcf.SetAttribute("joint", fixedTendonEntry.Joint.MujocoName);
-      jointMjcf.SetAttribute("coef", MjEngineTool.MakeLocaleInvariant($"{fixedTendonEntry.Coefficient}"));
-      mjcf.AppendChild(jointMjcf);
-    }
-    if (RangeLower > RangeUpper) {
-      throw new ArgumentException("Lower range value can't be bigger than Higher");
-    }
-    mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
-
-    return mjcf;
-  }
-
-  public void OnValidate() {
-    foreach (FixedTendonEntry fixedTendonEntry in JointList) {
-      if (!(fixedTendonEntry.Joint is MjHingeJoint) &&
-          !(fixedTendonEntry.Joint is MjSlideJoint)) {
-        Debug.LogError("Only scalar joints (hinge or slide) are allowed.", this);
-        fixedTendonEntry.Joint = null;
-      }
-    }
-  }
-}
-}
diff --git a/unity/Runtime/Components/Tendons/MjFixedTendon.cs.meta b/unity/Runtime/Components/Tendons/MjFixedTendon.cs.meta
deleted file mode 100644
index 1eabf8f2..00000000
--- a/unity/Runtime/Components/Tendons/MjFixedTendon.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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diff --git a/unity/Runtime/Components/Tendons/MjSpatialTendon.cs b/unity/Runtime/Components/Tendons/MjSpatialTendon.cs
deleted file mode 100644
index e4976386..00000000
--- a/unity/Runtime/Components/Tendons/MjSpatialTendon.cs
+++ /dev/null
@@ -1,154 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections.Generic;
-using System.Diagnostics;
-using System.Linq;
-using System.Xml;
-#if UNITY_EDITOR
-using UnityEditor;
-#endif
-using UnityEngine;
-
-namespace Mujoco {
-[Serializable]
-public class SpatialTendonEntry {
-  [Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
-  public MjSite Site;
-  [Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
-  public MjGeom WrapGeom;
-  [Tooltip("Only used if wrap geom is specified.")]
-  public MjSite WrapSideSite;
-  [Tooltip("Only one of site/geom/pulley can be specified at each entry.")]
-  public float PulleyDivisor;
-}
-
-public class MjSpatialTendon : MjBaseTendon {
-
-  [Tooltip("In meters.")]
-  public float RangeLower;
-  [Tooltip("In meters.")]
-  public float RangeUpper;
-
-  [Tooltip("Scales with UI points. 0.003 is mapped to 1 UI point.")]
-  public float Width = 0.003f;
-
-  public List<SpatialTendonEntry> ViapointsList = new List<SpatialTendonEntry>() {};
-
-  protected override void FromMjcf(XmlElement mjcf) {
-    foreach (var child in mjcf.Cast<XmlNode>().OfType<XmlElement>()) {
-      var viapoint = new SpatialTendonEntry();
-      viapoint.Site = child.GetObjectReferenceAttribute<MjSite>("site");
-      viapoint.WrapGeom = child.GetObjectReferenceAttribute<MjGeom>("geom");
-      viapoint.WrapSideSite = child.GetObjectReferenceAttribute<MjSite>("sidesite");
-      viapoint.PulleyDivisor = child.GetFloatAttribute("pulley");
-      ViapointsList.Add(viapoint);
-    }
-    var rangeValues = mjcf.GetFloatArrayAttribute("range", defaultValue: new float[] { 0, 0 });
-    Width = mjcf.GetFloatAttribute("width", defaultValue: 0.003f);
-    RangeLower = rangeValues[0];
-    RangeUpper = rangeValues[1];
-  }
-
-  protected override XmlElement ToMjcf(XmlDocument doc) {
-    if (ViapointsList.Count() < 2) {
-      throw new ArgumentOutOfRangeException($"Spatial tendon {name} needs at least 2 sites.");
-    }
-    if (ViapointsList[0].Site == null) {
-      throw new NullReferenceException(
-      $"The first entry of a spatial tendon {name} must be a site.");
-    }
-    if (ViapointsList[ViapointsList.Count - 1].Site == null) {
-      throw new NullReferenceException(
-      $"The last entry of a spatial tendon {name} must be a site.");
-    }
-    var mjcf = doc.CreateElement("spatial");
-    foreach (SpatialTendonEntry spatialTendonEntry in ViapointsList) {
-      XmlElement elementMjcf;
-      if (spatialTendonEntry.Site) {
-        if (spatialTendonEntry.WrapGeom || spatialTendonEntry.PulleyDivisor != 0) {
-          throw new ArgumentException(
-          $"Only one of site/wrap geom/pulley {name} is allowed at each entry.");
-        }
-        elementMjcf = doc.CreateElement("site");
-        elementMjcf.SetAttribute("site", spatialTendonEntry.Site.MujocoName);
-      } else if (spatialTendonEntry.WrapGeom) {
-        if (spatialTendonEntry.PulleyDivisor != 0) {
-          throw new ArgumentException(
-          $"Only one of site/wrap geom/pulley {name} is allowed at each entry.");
-        }
-        elementMjcf = doc.CreateElement("geom");
-        elementMjcf.SetAttribute("geom", spatialTendonEntry.WrapGeom.MujocoName);
-        if (spatialTendonEntry.WrapSideSite) {
-          elementMjcf.SetAttribute("sidesite", spatialTendonEntry.WrapSideSite.MujocoName);
-        }
-      } else {
-        if (spatialTendonEntry.PulleyDivisor == 0) {
-          throw new ArgumentException(
-          $"Exactly one of site/wrap geom/pulley {name} is required at each entry.");
-        }
-        elementMjcf = doc.CreateElement("pulley");
-        elementMjcf.SetAttribute("divisor", MjEngineTool.MakeLocaleInvariant($"{spatialTendonEntry.PulleyDivisor}"));
-      }
-      mjcf.AppendChild(elementMjcf);
-    }
-    if (RangeLower > RangeUpper) {
-      throw new ArgumentException("Lower range value can't be bigger than Higher");
-    }
-    mjcf.SetAttribute("range", MjEngineTool.MakeLocaleInvariant($"{RangeLower} {RangeUpper}"));
-    mjcf.SetAttribute("width", MjEngineTool.MakeLocaleInvariant($"{Width}"));
-
-    return mjcf;
-  }
-
-#if UNITY_EDITOR
-  public unsafe void OnDrawGizmosSelected() {
-    if (Application.isPlaying && MjScene.InstanceExists) {
-      // Lifted from src/engine/engine_vis_visualize.c
-      var d = MjScene.Instance.Data;
-      var m = MjScene.Instance.Model;
-      int i = MujocoId;
-      double sz;
-      for (int j = d->ten_wrapadr[i]; j < d->ten_wrapadr[i] + d->ten_wrapnum[i] - 1; j++) {
-        // Skip drawing of pulley (-2):
-        if (d->wrap_obj[j] != -2 && d->wrap_obj[j + 1] != -2) {
-          // determine width: smaller for segments inside wrapping objects
-          if (d->wrap_obj[j] >= 0 && d->wrap_obj[j + 1] >= 0) {
-            sz = 0.5 * m->tendon_width[i];
-          } else {
-            sz = m->tendon_width[i];
-          }
-
-          var startPos = MjEngineTool.UnityVector3(d->wrap_xpos + 3 * j);
-          var endPos = MjEngineTool.UnityVector3(d->wrap_xpos + 3 * j + 3);
-
-          // Construct line
-          // At the moment we use handles instead of Gizmos (to be able to set width).
-          // This means rendering won't be performed outside editor; We could implement a "TendonRenderer" component
-          // (added using a context tool) that uses a LineRenderer. Then we could have nice features such as updating
-          // tendon colors or width based on length or tension. That would also allow in-build rendering.
-          Handles.color = Color.magenta;  // Currently we ignore tendon material.
-          #if UNITY_2020_2_OR_NEWER
-          Handles.DrawLine(startPos, endPos, (float)sz/0.003f);  // Handle width in UI points. We map the default width to 1 pixel.
-          #else
-          Handles.DrawLine(startPos, endPos);
-          #endif
-        }
-      }
-    }
-  }
-#endif
-}
-}
diff --git a/unity/Runtime/Components/Tendons/MjSpatialTendon.cs.meta b/unity/Runtime/Components/Tendons/MjSpatialTendon.cs.meta
deleted file mode 100644
index 652b18f9..00000000
--- a/unity/Runtime/Components/Tendons/MjSpatialTendon.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: c057416978f884ffbb63af370eed69dd
-timeCreated: 1551348731
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Importer.meta b/unity/Runtime/Importer.meta
deleted file mode 100644
index b1eb4efd..00000000
--- a/unity/Runtime/Importer.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 7d55596646c101db79c3f6777b2f3888
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Importer/MjXmlModifiers.cs b/unity/Runtime/Importer/MjXmlModifiers.cs
deleted file mode 100644
index 8408dbfa..00000000
--- a/unity/Runtime/Importer/MjXmlModifiers.cs
+++ /dev/null
@@ -1,120 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-  public class MjXmlModifiers {
-    private XmlDocument _root;
-
-    public MjXmlModifiers(XmlDocument root) {
-      _root = root;
-    }
-
-    public void ApplyModifiersToElement(XmlElement element, string elementName=null) {
-      // Allow overriding the element name for defaults lookup, needed for tendon
-      if (elementName == null) {
-        elementName = element.Name;
-      }
-
-      // Combine all defaults into one. At this stage, we want to overwrite attributes defined by
-      // the previous defaults.
-      var aggregateDefaults = _root.CreateElement("aggregate");
-      // Root default leaf should be processed only once, and handled first (so it's overriden).
-      var rootDefaultLeaf = _root.SelectSingleNode($"/mujoco/default/{elementName}") as XmlElement;
-      if (rootDefaultLeaf != null) {
-        CopyAttributes(rootDefaultLeaf, aggregateDefaults);
-      }
-      // Order matters - reverse class list so that most relevant is last.
-      var classes = GetApplicableDefaultClasses(element).Reverse();
-      foreach (var className in classes) {
-        var defaultClassElement =
-            _root.SelectSingleNode($"descendant::default[@class='{className}']") as XmlElement;
-        // Ancestry iterates up in the tree, but we want to apply changes from remote to specific.
-        var ancestors = GetDefaultAncestry(defaultClassElement, elementName).Reverse();
-        foreach (var defaultAncestor in ancestors) {
-          CopyAttributesOverwriteExisting(defaultAncestor, aggregateDefaults);
-        }
-      }
-      // Add the merged attributes to the node, without overwriting the existing values.
-      CopyAttributes(aggregateDefaults, element);
-    }
-
-    private IEnumerable<XmlElement> GetDefaultAncestry(XmlElement classElement, string nodeType) {
-      var defaultElement = classElement;
-      var top = _root.SelectSingleNode("/mujoco/default");
-      while (defaultElement != top) {
-        foreach (var element in defaultElement.ChildNodes) {
-          if (((XmlElement)element).Name == nodeType) {
-            yield return (XmlElement)element;
-          }
-        }
-        defaultElement = defaultElement.ParentNode as XmlElement;
-      }
-    }
-
-    // Return a list of names of all the applicable classes.  Implemented by climbing up the tree,
-    // hence results are in order of relevance, from the most specific to most remotely-inherited.
-    public static IEnumerable<string> GetApplicableDefaultClasses(XmlElement modifiedElement) {
-      var nodeType = modifiedElement.Name;
-
-      // Build the inheritance list for the element that's meant to be modified.
-      // It will consist of all qualifiers supplied by the element itself and its parents
-      // using "class" and "childclass" values.
-      var inheritance = new List<string>();
-      var element = modifiedElement;
-      while (element != null) {
-        var className = element.GetStringAttribute("childclass", string.Empty);
-        if (element == modifiedElement) {
-          // "class" attribute does not participate in building of the inheritance tree, and so we're
-          // only considering it if it's defined on the very element we're trying to modify.
-          className = element.GetStringAttribute("class", className);
-        }
-        if (!string.IsNullOrEmpty(className) && !inheritance.Contains(className)) {
-          inheritance.Add(className);
-        }
-        element = element.ParentNode as XmlElement;
-      }
-      return inheritance;
-    }
-
-    private static string GetElementClass(XmlElement element) {
-      var elementClass = element.GetStringAttribute("class", string.Empty);
-      if (string.IsNullOrEmpty(elementClass)) {
-        elementClass = element.GetStringAttribute("childclass", string.Empty);
-      }
-      return elementClass;
-    }
-
-    public static void CopyAttributes(XmlElement from, XmlElement to) {
-      foreach (XmlAttribute attribute in from.Attributes) {
-        if (to.HasAttribute(attribute.Name) == false) {
-          to.SetAttribute(attribute.Name, attribute.Value);
-        }
-      }
-    }
-
-    public static void CopyAttributesOverwriteExisting(XmlElement from, XmlElement to) {
-      foreach (XmlAttribute attribute in from.Attributes) {
-        to.SetAttribute(attribute.Name, attribute.Value);
-      }
-    }
-  }
-}
diff --git a/unity/Runtime/Importer/MjXmlModifiers.cs.meta b/unity/Runtime/Importer/MjXmlModifiers.cs.meta
deleted file mode 100644
index f269fb84..00000000
--- a/unity/Runtime/Importer/MjXmlModifiers.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 41357c10b9c0b2fcfaab18600e467579
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Importer/MjcfImporter.cs b/unity/Runtime/Importer/MjcfImporter.cs
deleted file mode 100644
index 72181007..00000000
--- a/unity/Runtime/Importer/MjcfImporter.cs
+++ /dev/null
@@ -1,450 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-// API for importing Mujoco XML files into Unity scenes.
-public class MjcfImporter {
-  // Any materials created at runtime will only be automatically cleaned up if no other objects
-  // reference it AND Unity changes scenes. In long-running worlds with no scene resets, this means
-  // those materials are never cleaned even after their MjBodies are destroyed, so we cache a
-  // single shared material to use for all generated meshes.
-  public static Material DefaultMujocoMaterial {
-    get {
-      if (_DefaultMujocoMaterial == null) {
-        _DefaultMujocoMaterial = new Material(Shader.Find("Standard"));
-      }
-
-      return _DefaultMujocoMaterial;
-    }
-    set {
-      _DefaultMujocoMaterial = value;
-    }
-  }
-
-  // Modifiers that change the settings of parsed nodes. They're limited to the scope of ParseRoot
-  // method.
-  protected MjXmlModifiers _modifiers;
-
-  private static Material _DefaultMujocoMaterial;
-
-  private const string _angleTypeDegree = "degree";
-
-  private int _numGeneratedNames = 0;
-
-  // A list of callbacks on how to handle custom node types.
-  private IDictionary<string, Action<XmlElement, GameObject>> _customNodeHandlers =
-      new Dictionary<string, Action<XmlElement, GameObject>>();
-
-  public void AddNodeHandler(string name, Action<XmlElement, GameObject> handler) {
-    _customNodeHandlers[name] = handler;
-  }
-
-  public MjcfImporter() {}
-
-  public GameObject ImportString(string mjcfString, string name = null) {
-    var mjcfXml = new XmlDocument();
-    mjcfXml.LoadXml(mjcfString);
-    return ImportXml(mjcfXml, name);
-  }
-
-  // A generic version of CreateGameObjectWithUniqueName.
-  public GameObject CreateGameObjectWithUniqueName<T>(
-      GameObject parentObject, XmlElement parentNode) where T : MjComponent {
-    return CreateGameObjectWithUniqueName(parentObject, parentNode, typeof(T));
-  }
-
-  public string GenerateUniqueName(XmlElement parentNode) {
-    var name = string.Empty;
-    if (parentNode.HasAttribute("name")) {
-      name = parentNode.GetAttribute("name");
-    }
-    if (string.IsNullOrEmpty(name)) {
-      name = parentNode.Name + "_" + _numGeneratedNames++;
-    }
-    return name;
-  }
-
-  public unsafe GameObject ImportXml(XmlDocument mjcfXml, string name = null) {
-    // Reset the numbering of anonymous nodes to ensure deterministic naming of loaded scenes.
-    _numGeneratedNames = 0;
-
-    _modifiers = new MjXmlModifiers(mjcfXml);
-
-    ConfigureAngleType(mjcfXml);
-
-    // We're adopting the approach of building the scene hierarchy as we parse the Mjcf.
-    // Should we encounter any error, we'll terminate and clean it immediately.
-    // Having a single root object for that will be very helpful, since we only need to delete that
-    // object.
-    var sceneRoot = new GameObject(name ?? "default");
-
-    // We'll use Exceptions as a way to communicate errors encountered during parsing.
-    try {
-      ParseRoot(sceneRoot, mjcfXml.SelectSingleNode("/mujoco") as XmlElement);
-    } catch (Exception ex) {
-      // We consider any error as critical, and end the import process immediately, cleaning up
-      // what we have already built.
-      Debug.LogException(ex);
-      GameObject.DestroyImmediate(sceneRoot);
-      throw ex;
-    } finally {
-      _modifiers = null;
-    }
-
-    return sceneRoot;
-  }
-
-  // Creates a new GameObject, assigns it a unique name, and attaches a component of the specified
-  // type.  If the requested component type is abstract, the method will attempt to instantiate one
-  // of its implementations that passes the parser test.
-  protected GameObject CreateGameObjectWithUniqueName(
-      GameObject parentObject, XmlElement parentNode, Type componentType) {
-    var name = GenerateUniqueName(parentNode);
-    var gameObject = new GameObject(name);
-    gameObject.transform.parent = parentObject.transform;
-    var component = gameObject.AddComponent(componentType) as MjComponent;
-    component.ParseMjcf(parentNode);
-    return gameObject;
-  }
-
-  protected void ConfigureAngleType(XmlDocument mjcfXml) {
-    var compilerNode = mjcfXml.SelectSingleNode("/mujoco/compiler") as XmlElement;
-    if (compilerNode != null) {
-      // Parse the angle type.
-      var angleSetting = compilerNode.GetStringAttribute("angle", defaultValue: _angleTypeDegree);
-      MjSceneImportSettings.AnglesInDegrees = angleSetting == _angleTypeDegree;
-    }
-  }
-
-  protected virtual void ParseRoot(GameObject rootObject, XmlElement mujocoNode) {
-    if (mujocoNode.SelectSingleNode("option") != null
-        || mujocoNode.SelectSingleNode("size") != null
-        || mujocoNode.SelectSingleNode("custom") != null) {
-      var globalsObject = CreateGameObjectInParent("Global Settings", rootObject);
-      var settingsComponent = globalsObject.AddComponent<MjGlobalSettings>();
-      settingsComponent.ParseGlobalMjcfSections(mujocoNode);
-    }
-
-    // This makes references to assets.
-    var worldBodyNode = mujocoNode.SelectSingleNode("worldbody") as XmlElement;
-    ParseBodyChildren(rootObject, worldBodyNode);
-
-    // This section references bodies, must be parsed after worldbody.
-    var excludeNode = mujocoNode.SelectSingleNode("contact") as XmlElement;
-    if (excludeNode != null) {
-      var excludesParentObject = CreateGameObjectInParent("excludes", rootObject);
-      foreach (var child in excludeNode.OfType<XmlElement>()) {
-        if (child.Name != "exclude") {
-          Debug.LogWarning(
-              $"Only 'exclude' is supported - {child.Name} isn't supported yet.",
-              rootObject);
-        } else {
-          _modifiers.ApplyModifiersToElement(child);
-          CreateGameObjectWithUniqueName<MjExclude>(excludesParentObject, child);
-        }
-      }
-    }
-
-    // This section references joints/sites/geoms, must be parsed after worldbody.
-    var tendonNode = mujocoNode.SelectSingleNode("tendon") as XmlElement;
-    if (tendonNode != null) {
-      var tendonsParentObject = CreateGameObjectInParent("tendons", rootObject);
-      foreach (var child in tendonNode.OfType<XmlElement>()) {
-        _modifiers.ApplyModifiersToElement(child, elementName: "tendon");
-        if (child.Name == "fixed") {
-          CreateGameObjectWithUniqueName<MjFixedTendon>(tendonsParentObject, child);
-        } else if (child.Name == "spatial") {
-          CreateGameObjectWithUniqueName<MjSpatialTendon>(tendonsParentObject, child);
-        } else {
-          Debug.Log($"Tendon type {child.Name} not supported.");
-        }
-      }
-    }
-
-    // This section references worldbody elements + tendons, must be parsed after them.
-    var equalityNode = mujocoNode.SelectSingleNode("equality") as XmlElement;
-    if (equalityNode != null) {
-      var equalitiesParentObject = CreateGameObjectInParent("equality constraints", rootObject);
-      foreach (var child in equalityNode.OfType<XmlElement>()) {
-        var equalityType = ParseEqualityType(child);
-        _modifiers.ApplyModifiersToElement(child);
-        CreateGameObjectWithUniqueName(equalitiesParentObject, child, equalityType);
-      }
-    }
-
-    // This section references joints and tendons, must be parsed after worldbody and tendon.
-    var actuatorNode = mujocoNode.SelectSingleNode("actuator") as XmlElement;
-    if (actuatorNode != null) {
-      var actuatorsParentObject = CreateGameObjectInParent("actuators", rootObject);
-      foreach (var child in actuatorNode.OfType<XmlElement>()) {
-        _modifiers.ApplyModifiersToElement(child);
-        CreateGameObjectWithUniqueName<MjActuator>(actuatorsParentObject, child);
-      }
-    }
-
-    // This section references tendons, actuators and worldbody elements, must be parsed last.
-    var sensorNode = mujocoNode.SelectSingleNode("sensor") as XmlElement;
-    if (sensorNode != null) {
-      var sensorParentObject = CreateGameObjectInParent("sensors", rootObject);
-      foreach (var child in sensorNode.OfType<XmlElement>()) {
-        _modifiers.ApplyModifiersToElement(child);
-        var sensorType = ParseSensorType(child);
-        if (sensorType != null) {
-          CreateGameObjectWithUniqueName(sensorParentObject, child, sensorType);
-        }
-      }
-    }
-  }
-
-  protected virtual void ParseGeom(GameObject parentObject, XmlElement child) {
-    var gameObject = CreateGameObjectWithUniqueName<MjGeom>(parentObject, child);
-    // Add the visuals.
-    gameObject.AddComponent<MjMeshFilter>();
-    var renderer = gameObject.AddComponent<MeshRenderer>();
-    renderer.sharedMaterial = DefaultMujocoMaterial;
-  }
-
-  private GameObject CreateGameObjectInParent(string name, GameObject parentObject) {
-    var createdObject = new GameObject(name);
-    createdObject.transform.parent = parentObject.transform;
-    return createdObject;
-  }
-
-  private void ParseBodyChildren(GameObject parentObject, XmlElement parentNode) {
-    foreach (var child in parentNode.Cast<XmlNode>().OfType<XmlElement>()) {
-      _modifiers.ApplyModifiersToElement(child);
-
-      if (_customNodeHandlers.TryGetValue(child.Name, out var handler)) {
-        handler?.Invoke(child, parentObject);
-      } else {
-        ParseBodyChild(child, parentObject);
-      }
-    }
-  }
-
-  // Called by ParseBodyChildren for each XML node, overridable by inheriting classes.
-  private void ParseBodyChild(XmlElement child, GameObject parentObject) {
-    switch (child.Name) {
-      case "geom": {
-        // this one's different because it's overwritten in MjImporterWithAssets.
-        ParseGeom(parentObject, child);
-        break;
-      }
-      case "inertial": {
-        CreateGameObjectWithUniqueName<MjInertial>(parentObject, child);
-        break;
-      }
-      case "body": {
-        GameObject childObject = null;
-        const string mocapAttribute = "mocap";
-        if (child.HasAttribute(mocapAttribute)) {
-          var mocapValueStr = child.GetAttribute(mocapAttribute);
-          var mocapValue = bool.Parse(mocapValueStr);
-          if (mocapValue) {
-            childObject = CreateGameObjectWithUniqueName<MjMocapBody>(parentObject, child);
-          }
-        }
-        if (childObject == null) {
-          childObject = CreateGameObjectWithUniqueName<MjBody>(parentObject, child);
-        }
-        ParseBodyChildren(childObject, child);
-        break;
-      }
-      case "joint": {
-        var jointType = ParseJointType(child);
-        CreateGameObjectWithUniqueName(parentObject, child, jointType);
-        break;
-      }
-      case "freejoint": {
-        CreateGameObjectWithUniqueName<MjFreeJoint>(parentObject, child);
-        break;
-      }
-      case "site": {
-        CreateGameObjectWithUniqueName<MjSite>(parentObject, child);
-        break;
-      }
-      case "camera": {
-        CreateGameObjectWithCamera(parentObject, child);
-        break;
-      }
-      case "plugin": {
-        Debug.Log($"Plugin elements are only partially supported.");
-        break;
-      }
-
-      default: {
-        Debug.Log($"The importer does not yet support tags <{child.Name}>.");
-        break;
-      }
-    }
-  }
-
-  private static Type ParseEqualityType(XmlElement node) {
-    Type equalityType = null;
-    switch (node.Name) {
-      case "connect":
-        equalityType = typeof(MjConnect);
-        break;
-      case "weld":
-        equalityType = typeof(MjWeld);
-        break;
-      case "joint":
-        equalityType = typeof(MjJointConstraint);
-        break;
-      case "tendon":
-        equalityType = typeof(MjTendonConstraint);
-        break;
-      default:
-        Debug.Log($"The importer does not yet support equality <{node.Name}>.");
-        break;
-    }
-    return equalityType;
-  }
-
-  private static Type ParseSensorType(XmlElement node) {
-    Type sensorType = null;
-    switch (node.Name) {
-      case "actuatorpos":
-      case "actuatorvel":
-      case "actuatorfrc":
-        sensorType = typeof(MjActuatorScalarSensor);
-        break;
-      case "subtreecom":
-      case "subtreelinvel":
-      case "subtreeangmom":
-        sensorType = typeof(MjBodyVectorSensor);
-        break;
-      case "jointpos":
-      case "jointvel":
-      case "jointlimitpos":
-      case "jointlimitvel":
-      case "jointlimitfrc":
-        sensorType = typeof(MjJointScalarSensor);
-        break;
-      case "touch":
-      case "rangefinder":
-        sensorType = typeof(MjSiteScalarSensor);
-        break;
-      case "accelerometer":
-      case "velocimeter":
-      case "force":
-      case "torque":
-      case "gyro":
-      case "magnetometer":
-        sensorType = typeof(MjSiteVectorSensor);
-        break;
-      case "framequat":
-        switch (node.GetAttribute("objtype")) {
-          case "body":
-          case "xbody":
-            sensorType = typeof(MjBodyQuaternionSensor);
-            break;
-          case "geom":
-            sensorType = typeof(MjGeomQuaternionSensor);
-            break;
-          case "site":
-            sensorType = typeof(MjSiteQuaternionSensor);
-            break;
-          default:
-            Debug.Log($"camera sensors unsupported <{node.Name}>.");
-            break;
-        }
-        break;
-      case "framepos":
-      case "framexaxis":
-      case "frameyaxis":
-      case "framezaxis":
-      case "framelinvel":
-      case "frameangvel":
-      case "framelinacc":
-      case "frameangacc":
-        switch (node.GetAttribute("objtype")) {
-          case "body":
-          case "xbody":
-            sensorType = typeof(MjBodyVectorSensor);
-            break;
-          case "geom":
-            sensorType = typeof(MjGeomVectorSensor);
-            break;
-          case "site":
-            sensorType = typeof(MjSiteVectorSensor);
-            break;
-          default:
-            Debug.Log($"camera sensors unsupported <{node.Name}>.");
-            break;
-        }
-        break;
-      case "user":
-        sensorType = typeof(MjUserSensor);
-        break;
-      default:
-        Debug.Log($"The importer does not yet support sensor <{node.Name}>.");
-        break;
-    }
-    return sensorType;
-  }
-
-  private Type ParseJointType(XmlElement parentNode) {
-    Type jointType = null;
-    switch (parentNode.GetStringAttribute("type", defaultValue: string.Empty)) {
-      case "hinge":
-        jointType = typeof(MjHingeJoint);
-        break;
-      case "ball":
-        jointType = typeof(MjBallJoint);
-        break;
-      case "slide":
-        jointType = typeof(MjSlideJoint);
-        break;
-      case "free":
-        jointType = typeof(MjFreeJoint);
-        break;
-      default:
-        // According to http://mujoco.org/book/XMLreference.html#joint, the default type for a joint
-        // is Hinge.
-        jointType = typeof(MjHingeJoint);
-        break;
-    }
-    return jointType;
-  }
-
-  private GameObject CreateGameObjectWithCamera(
-      GameObject parentObject, XmlElement parentNode) {
-    var name = GenerateUniqueName(parentNode);
-    var gameObject = new GameObject(name);
-    gameObject.transform.parent = parentObject.transform;
-    MjEngineTool.ParseTransformMjcf(parentNode, gameObject.transform);
-    if (parentNode.GetStringAttribute("mode") == "targetbody") {
-      // Look at the parent body:
-      gameObject.transform.localRotation = Quaternion.LookRotation(
-          gameObject.transform.InverseTransformPoint(parentObject.transform.position));
-    } else {
-      // MuJoCo's camera convention is to look down the negative z, which post-swizzle became
-      // negative y, while Unity looks down positive z:
-      gameObject.transform.localRotation *=
-        Quaternion.FromToRotation(Vector3.forward, -Vector3.up);
-    }
-    var camera = gameObject.AddComponent<Camera>();
-    camera.fieldOfView = parentNode.GetFloatAttribute("fovy", defaultValue: 45.0f);
-    camera.nearClipPlane = 0.01f;  // MuJoCo default, TODO(etom): get from visual/map/znear
-    return gameObject;
-  }
-}
-}
diff --git a/unity/Runtime/Importer/MjcfImporter.cs.meta b/unity/Runtime/Importer/MjcfImporter.cs.meta
deleted file mode 100644
index be11814b..00000000
--- a/unity/Runtime/Importer/MjcfImporter.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: f80b94c6ee938d716af9c3bc5d83b8f2
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Mujoco.Runtime.asmdef b/unity/Runtime/Mujoco.Runtime.asmdef
deleted file mode 100644
index 5b13b8e3..00000000
--- a/unity/Runtime/Mujoco.Runtime.asmdef
+++ /dev/null
@@ -1,14 +0,0 @@
-{
-    "name": "Mujoco.Runtime",
-    "rootNamespace": "",
-    "references": [],
-    "includePlatforms": [],
-    "excludePlatforms": [],
-    "allowUnsafeCode": true,
-    "overrideReferences": false,
-    "precompiledReferences": [],
-    "autoReferenced": true,
-    "defineConstraints": [],
-    "versionDefines": [],
-    "noEngineReferences": false
-}
\ No newline at end of file
diff --git a/unity/Runtime/Mujoco.Runtime.asmdef.meta b/unity/Runtime/Mujoco.Runtime.asmdef.meta
deleted file mode 100644
index 58b5265d..00000000
--- a/unity/Runtime/Mujoco.Runtime.asmdef.meta
+++ /dev/null
@@ -1,7 +0,0 @@
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-AssemblyDefinitionImporter:
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diff --git a/unity/Runtime/Resources.meta b/unity/Runtime/Resources.meta
deleted file mode 100644
index bf6dced7..00000000
--- a/unity/Runtime/Resources.meta
+++ /dev/null
@@ -1,8 +0,0 @@
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-folderAsset: yes
-DefaultImporter:
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diff --git a/unity/Runtime/Resources/mujoco_semitransparent_template.mat b/unity/Runtime/Resources/mujoco_semitransparent_template.mat
deleted file mode 100644
index cc5cb0de..00000000
--- a/unity/Runtime/Resources/mujoco_semitransparent_template.mat
+++ /dev/null
@@ -1,77 +0,0 @@
-%YAML 1.1
-%TAG !u! tag:unity3d.com,2011:
---- !u!21 &2100000
-Material:
-  serializedVersion: 6
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
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-  m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
-  m_ShaderKeywords: 
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-  m_CustomRenderQueue: -1
-  stringTagMap: {}
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-    - _DetailMask:
-        m_Texture: {fileID: 0}
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-        m_Offset: {x: 0, y: 0}
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-        m_Texture: {fileID: 0}
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-        m_Scale: {x: 1, y: 1}
-        m_Offset: {x: 0, y: 0}
-    m_Floats:
-    - _BumpScale: 1
-    - _Cutoff: 0.5
-    - _DetailNormalMapScale: 1
-    - _DstBlend: 0
-    - _GlossMapScale: 1
-    - _Glossiness: 0.5
-    - _GlossyReflections: 1
-    - _Metallic: 0
-    - _Mode: 0
-    - _OcclusionStrength: 1
-    - _Parallax: 0.02
-    - _SmoothnessTextureChannel: 0
-    - _SpecularHighlights: 1
-    - _SrcBlend: 1
-    - _UVSec: 0
-    - _ZWrite: 1
-    m_Colors:
-    - _Color: {r: 1, g: 1, b: 1, a: 1}
-    - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
diff --git a/unity/Runtime/Resources/mujoco_semitransparent_template.mat.meta b/unity/Runtime/Resources/mujoco_semitransparent_template.mat.meta
deleted file mode 100644
index 16ec73d3..00000000
--- a/unity/Runtime/Resources/mujoco_semitransparent_template.mat.meta
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diff --git a/unity/Runtime/Tools.meta b/unity/Runtime/Tools.meta
deleted file mode 100644
index e4a89eb0..00000000
--- a/unity/Runtime/Tools.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
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diff --git a/unity/Runtime/Tools/AbsoluteValueAttribute.cs b/unity/Runtime/Tools/AbsoluteValueAttribute.cs
deleted file mode 100644
index 7e1392c6..00000000
--- a/unity/Runtime/Tools/AbsoluteValueAttribute.cs
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using UnityEngine;
-
-namespace Mujoco {
-
-// Use to annotate a float field that should only assume absolute values.
-[AttributeUsage(AttributeTargets.Field)]
-public class AbsoluteValueAttribute : PropertyAttribute {
-}
-}
diff --git a/unity/Runtime/Tools/AbsoluteValueAttribute.cs.meta b/unity/Runtime/Tools/AbsoluteValueAttribute.cs.meta
deleted file mode 100644
index dd9a51bb..00000000
--- a/unity/Runtime/Tools/AbsoluteValueAttribute.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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-licenseType: Pro
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diff --git a/unity/Runtime/Tools/ConvertMj2Rca.cs b/unity/Runtime/Tools/ConvertMj2Rca.cs
deleted file mode 100644
index 789c5355..00000000
--- a/unity/Runtime/Tools/ConvertMj2Rca.cs
+++ /dev/null
@@ -1,316 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections.Generic;
-using UnityEngine;
-
-namespace Mujoco {
-
-public static class ConvertMj2Rca {
-  private static MjActuator[] _actuators;
-  private static MjExclude[] _excludes;
-  public static GameObject ConvertTree(MjBody mjRoot) {
-    _excludes = GameObject.FindObjectsByType<MjExclude>(FindObjectsSortMode.None);
-    _actuators = GameObject.FindObjectsByType<MjActuator>(FindObjectsSortMode.None);
-    // does it have joints with its parent?
-    bool jointFound = false;
-    foreach (Transform mjChild in mjRoot.transform) {
-      var joint = mjChild.gameObject.GetComponent<MjHingeJoint>();
-      if (joint) {
-        jointFound = true;
-        break;
-      }
-    }
-
-    var rcaRoot = new GameObject("rcaRoot");
-    rcaRoot.transform.position = mjRoot.transform.position + Vector3.right;
-    rcaRoot.transform.rotation = mjRoot.transform.rotation;
-    var rca = rcaRoot.AddComponent<ArticulationBody>();
-    rca.linearDamping = 0f;  // Removes dampings.
-    rca.angularDamping = 0f;
-    rca.jointFriction = 0f;
-    rca.maxLinearVelocity = 1.8446743E+19f; // Removes velocity limits.
-    rca.maxAngularVelocity = 1.8446743E+19f;
-
-    var inertial = mjRoot.GetComponentInChildren<MjInertial>();
-    if (inertial != null) {
-      rca.mass = inertial.Mass;
-    }
-    if (jointFound) {
-      rca.immovable = true;
-      // the ArticulationBody component will be added when the joint is converted
-      var newRcaRoot = new GameObject(mjRoot.gameObject.name);
-      newRcaRoot.transform.parent = rcaRoot.transform;
-      newRcaRoot.transform.position = rcaRoot.transform.position;
-      newRcaRoot.transform.rotation = rcaRoot.transform.rotation;
-      ConvertSubtree(mjRoot, newRcaRoot);
-    } else {
-      ConvertSubtree(mjRoot, rcaRoot);
-    }
-    return rcaRoot;
-  }
-
-  private static void ConvertSubtree(MjBody mjParent, GameObject originalRcParent) {
-    Quaternion reverseXZ = Quaternion.Euler(0, 180, 0);
-    // may be overriden later:
-    GameObject rcParent = originalRcParent;
-    ArticulationBody rcb = null;
-
-    // first pass: convert geoms, sites, cameras, lights
-    foreach (Transform mjChild in mjParent.transform) {
-      // there's only one mj component in a gameObject:
-      var mjComponent = mjChild.gameObject.GetComponent<MjComponent>();
-      if (mjComponent) {
-        if (!(mjComponent is MjBody)) {
-          var newGO = new GameObject(mjComponent.gameObject.name);
-          newGO.transform.parent = rcParent.transform;
-          // set global position:
-          newGO.transform.position = mjComponent.transform.position + Vector3.right;
-          newGO.transform.rotation = mjComponent.transform.rotation;
-          if (mjComponent is MjGeom) {
-            MjGeom geom = mjComponent as MjGeom;
-            GameObject primitive = null;
-            if (geom.ShapeType == MjShapeComponent.ShapeTypes.Capsule) {
-              primitive = GameObject.CreatePrimitive(PrimitiveType.Capsule);
-              primitive.name = newGO.name;
-              primitive.transform.parent = newGO.transform.parent;
-              primitive.transform.position = newGO.transform.position;
-              primitive.transform.rotation = newGO.transform.rotation;
-              // MISSING: this results in a skewed capsule - replace with a procedural capsule
-              // component.
-              primitive.transform.localScale = new Vector3(
-                  geom.Capsule.Radius * 2,
-                  geom.Capsule.HalfHeight + geom.Capsule.Radius,
-                  geom.Capsule.Radius * 2);
-              GameObject.DestroyImmediate(newGO);
-            } else if (geom.ShapeType == MjShapeComponent.ShapeTypes.Sphere) {
-              primitive = GameObject.CreatePrimitive(PrimitiveType.Sphere);
-              primitive.name = newGO.name;
-              primitive.transform.parent = newGO.transform.parent;
-              primitive.transform.position = newGO.transform.position;
-              primitive.transform.rotation = newGO.transform.rotation;
-              var r = 2 * geom.Sphere.Radius;
-              primitive.transform.localScale = new Vector3(r, r, r);
-              GameObject.DestroyImmediate(newGO);
-            } else if (geom.ShapeType == MjShapeComponent.ShapeTypes.Cylinder) {
-              primitive = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
-              primitive.name = newGO.name;
-              primitive.transform.parent = newGO.transform.parent;
-              primitive.transform.position = newGO.transform.position;
-              primitive.transform.rotation = newGO.transform.rotation;
-              primitive.transform.localScale = new Vector3(geom.Cylinder.Radius,
-                                                           geom.Cylinder.HalfHeight * 2,
-                                                           geom.Cylinder.Radius);
-              GameObject.DestroyImmediate(newGO);
-            } else if (geom.ShapeType == MjShapeComponent.ShapeTypes.Mesh) {
-              if (geom.Settings.Filtering.Contype != 0 ||
-                  geom.Settings.Filtering.Conaffinity != 0) {
-                var collider = newGO.AddComponent<MeshCollider>();
-                collider.sharedMesh = geom.Mesh.Mesh;
-              }
-              var mf = newGO.AddComponent<MeshFilter>();
-              mf.sharedMesh = geom.Mesh.Mesh;
-              var mr = newGO.AddComponent<MeshRenderer>();
-              primitive = newGO;  // so that the material can be set below.
-            } else {  // cube or ellipsoid
-              primitive = GameObject.CreatePrimitive(PrimitiveType.Cube);
-              primitive.name = newGO.name;
-              primitive.transform.parent = newGO.transform.parent;
-              primitive.transform.position = newGO.transform.position;
-              primitive.transform.rotation = newGO.transform.rotation;
-              Vector3 scale = new Vector3(1, 1, 1);
-              if (geom.ShapeType == MjShapeComponent.ShapeTypes.Ellipsoid) {
-                scale = 2 * geom.Ellipsoid.Radiuses;
-              } else if (geom.ShapeType == MjShapeComponent.ShapeTypes.Box) {
-                scale = 2 * geom.Box.Extents;
-              }
-              primitive.transform.localScale = scale;
-              GameObject.DestroyImmediate(newGO);
-            }
-            if (geom.Settings.Filtering.Contype == 0 &&
-                geom.Settings.Filtering.Conaffinity == 0) {
-              var collider = primitive.GetComponent<Collider>();
-              if (collider) {
-                GameObject.DestroyImmediate(collider);
-              }
-            }
-
-            primitive.GetComponent<MeshRenderer>().sharedMaterial =
-              geom.gameObject.GetComponent<MeshRenderer>().sharedMaterial;
-          } else {
-            var nameParts = mjComponent.GetType().ToString().Split('.'); // remove namespace
-            var elementType = nameParts[nameParts.Length - 1].Substring(2); // remove "Mj..."
-            newGO.name = mjComponent.gameObject.name + "_" + elementType;
-          }
-        }
-      } else {  // if it's a camera, copy it over:
-        var mjCamera = mjChild.GetComponent<Camera>();
-        if (mjCamera != null) {
-          var newGO = new GameObject(mjChild.name);
-          newGO.transform.parent = rcParent.transform;
-          // set global position:
-          newGO.transform.position = mjChild.transform.position + Vector3.right;
-          newGO.transform.rotation = mjChild.transform.rotation;
-          var pxCamera = newGO.AddComponent<Camera>();
-          pxCamera.fieldOfView = mjCamera.fieldOfView;
-          pxCamera.nearClipPlane = mjCamera.nearClipPlane;
-        }
-      }
-    }
-
-    // second pass: look for joints
-    int jointsFound = 0;
-    foreach (Transform mjChild in mjParent.transform) {
-      var joint = mjChild.GetComponent<MjHingeJoint>();
-      if (joint) {
-        if (jointsFound == 0) { // first joint, create the rcb
-          rcb = rcParent.AddComponent<ArticulationBody>();
-          var inertial = mjParent.GetComponentInChildren<MjInertial>();
-          if (inertial != null) {
-            rcb.mass = inertial.Mass;
-          }
-          rcb.anchorPosition = joint.transform.localPosition;
-          // This reversal is critical as it gives us the rest of the swizzling for free:
-          rcb.anchorRotation = joint.transform.localRotation * reverseXZ;
-          rcParent.name += "_" + joint.gameObject.name;
-        } else {
-          // Store children, move them later:
-          List<Transform> childrenToMove = new List<Transform>();
-          foreach (Transform child in rcParent.transform) {
-            childrenToMove.Add(child);
-          }
-          var newrRcParent = new GameObject(mjParent.gameObject.name + "_" + joint.gameObject.name);
-          // subsequent joints create new bodies, leave anchor as 0.
-          newrRcParent.transform.parent = rcParent.transform;
-          newrRcParent.transform.position = joint.transform.position + Vector3.right;
-          newrRcParent.transform.rotation = joint.transform.rotation * reverseXZ;
-          var mass = rcb.mass;
-          rcb.mass = 0.001f;  // the previous body becomes a placeholder / dummy body
-          rcParent = newrRcParent;  // override
-          // move children (except the new one) to the new link, none of which should be rcb:
-          foreach (Transform childToMove in childrenToMove) {
-            childToMove.SetParent(rcParent.transform);
-          }
-          rcb = rcParent.AddComponent<ArticulationBody>();  // override the variable rcb
-          // this is needed because the default anchor rotation is not 0:
-          rcb.anchorRotation = Quaternion.identity;
-          rcb.mass = mass;
-        }
-        rcb.jointType = ArticulationJointType.RevoluteJoint;
-        if (joint.RangeLower == 0 && joint.RangeUpper == 0) {
-          rcb.twistLock = ArticulationDofLock.FreeMotion;
-        } else {
-          rcb.twistLock = ArticulationDofLock.LimitedMotion;
-        }
-        rcb.jointFriction = joint.Settings.Solver.FrictionLoss;
-        var drive = new ArticulationDrive();
-        drive.lowerLimit = joint.RangeLower;
-        drive.upperLimit = joint.RangeUpper;
-        drive.damping = joint.Settings.Spring.Damping;
-        var actuatorFound = false;
-        foreach (var actuator in _actuators) {
-          if (actuator.Joint == joint) {
-            // Assumes symmetry between upper and lower limits of the force range:
-            drive.forceLimit = actuator.CommonParams.ForceRange[1];
-            drive.stiffness = actuator.CommonParams.Gear[0] * actuator.CustomParams.GainPrm[0];
-            if (drive.stiffness == 0f) {
-              if (drive.forceLimit == 0f) {
-                throw new Exception(
-                  "How do I parse an actuator without force limit nor stiffness?");
-              } else {
-                drive.stiffness = 1000f;  // we rely on force limit.
-              }
-            } else {
-              if (drive.forceLimit == 0f) {
-                drive.forceLimit = 1e10f;  // we rely on stiffness.
-              }
-            }
-            actuatorFound = true;
-            break;
-          }
-          if (!actuatorFound) {
-            // passive joint, shouldn't be driven.
-            drive.stiffness = 0f;
-            drive.forceLimit = 0f;
-          }
-        }
-        // MISSING: this drive should be the target of agent actuation.
-        rcb.xDrive = drive;
-        // PhysX's default is positive damping and limited max velocity:
-        rcb.maxLinearVelocity = 1.8446743E+19f;
-        rcb.maxAngularVelocity = 1.8446743E+19f;
-        rcb.linearDamping = 0.0f;
-        rcb.angularDamping = 0.0f;
-
-        jointsFound += 1;
-      }
-    }
-
-    if (jointsFound > 1) {
-      var grandparent = originalRcParent.transform.parent?.gameObject;
-      if (grandparent) {
-        // MISSING: When we add an intermediate body in PhysX, we run a real risk of introducing
-        // spurious contacts between collider pairs that previously were ignored (as a
-        // parent-child), since they are now two or more steps away in the hierarchy. You need to
-        // add a component here that adds Physics.IgnoreCollision statements when launched (see also
-        // below).
-      }
-    }
-    // the gameObject with all the colliders should have just the name of the body without joints:
-    rcParent.name = mjParent.gameObject.name;
-
-    // add contact exclusions, but only if we created an articulation body:
-    var rcParentParent = rcParent.transform.parent?.GetComponentInParent<ArticulationBody>();
-    if (rcParentParent != null && rcParent.GetComponent<ArticulationBody>() != null) {
-      foreach (var exclude in _excludes) {
-        string other = null;
-        if (exclude.Body1 == mjParent) {
-          other = exclude.Body2.gameObject.name;
-        } else if (exclude.Body2 == mjParent) {
-          other = exclude.Body1.gameObject.name;
-        }
-
-        // The list of available ArticulationBodies changes as the recursion advances
-        foreach (var rcOther in GameObject.FindObjectsByType<ArticulationBody>(FindObjectsSortMode.None)) {
-          // don't add explicit exclusion to immediate parent (no children yet)
-          if (rcParentParent != rcOther && rcOther.gameObject.name == other) {
-            // MISSING: Physics.IgnoreCollision statements between all colliders of rcParent
-            // and rcOther.  IgnoreCollision can only be applied in Running mode, so if you're
-            // running this script at Editor mode (e.g., for generating a prefab from the resulting
-            // PhysX model, you need to add a component that would add IgnoreCollision when
-            // launched.
-            break;
-          }
-        }
-      }
-    }
-
-    // third pass - build the next layer of the tree
-    foreach (Transform mjChild in mjParent.transform) {
-      // there's only one mj component in a gameObject:
-      var mjComponent = mjChild.gameObject.GetComponent<MjComponent>();
-      if (mjComponent & mjComponent is MjBody) {
-        var rcChild = new GameObject(mjChild.name);
-        rcChild.transform.parent = rcParent.transform;
-        // set global position:
-        rcChild.transform.position = mjComponent.transform.position + Vector3.right;
-        rcChild.transform.rotation = mjComponent.transform.rotation;
-        // main recursive call:
-        ConvertSubtree(mjComponent as MjBody, rcChild);
-      }
-    }
-  }
-}
-}
\ No newline at end of file
diff --git a/unity/Runtime/Tools/ConvertMj2Rca.cs.meta b/unity/Runtime/Tools/ConvertMj2Rca.cs.meta
deleted file mode 100644
index 85e1f3e2..00000000
--- a/unity/Runtime/Tools/ConvertMj2Rca.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
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-  serializedVersion: 2
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-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Tools/MjEngineTool.cs b/unity/Runtime/Tools/MjEngineTool.cs
deleted file mode 100644
index bf27a1d9..00000000
--- a/unity/Runtime/Tools/MjEngineTool.cs
+++ /dev/null
@@ -1,386 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.IO;
-using System.Text;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// Mujoco engine helper methods.
-public static class MjEngineTool {
-  private const int _elementsPerPosition = 3;
-  private const int _elementsPerRotation = 4;
-  private const int _elementsPerTransform = 7;
-  private const int _elementsPerEquality = 11;
-  private static double[] _mjQuat = new double[4];
-  private static double[] _mjMat = new double[9];
-
-  public static string Sanitize(string name) {
-    return name.Replace('/', '_');
-  }
-
-  public static string MakeLocaleInvariant(FormattableString interpolated) {
-    return FormattableString.Invariant(interpolated);
-  }
-
-  // Loads a model from the specified file.
-  // `filename` should contain an absolute path to the file.
-  public static unsafe MujocoLib.mjModel_* LoadModelFromFile(string fileName) {
-    var errorBuf = new StringBuilder(1024);
-    MujocoLib.mjModel_* model = MujocoLib.mj_loadXML(fileName, null, errorBuf, 1024);
-    if (model == null || errorBuf.Length > 0) {
-      throw new IOException(string.Format("Error loading the model: {0}", errorBuf));
-    }
-    return model;
-  }
-
-  // Saves a model to the specified file.
-  // `filename` should contain an absolute path to the file.
-  public static unsafe void SaveModelToFile(string fileName, MujocoLib.mjModel_* model) {
-    var errorBuf = new StringBuilder(1024);
-    MujocoLib.mj_saveLastXML(fileName, model, errorBuf, 1024);
-    if (errorBuf.Length > 0) {
-      throw new IOException(string.Format("Error saving the model: {0}", errorBuf));
-    }
-  }
-
-  // Loads a model from a string.
-  // It allows to perform diskless instantiation of Mujoco models.
-  public static unsafe MujocoLib.mjModel_* LoadModelFromString(string contents) {
-    using (var vfs = new MjVfs()) {
-      var filename = "filename";
-      vfs.AddFile(filename, contents);
-      return vfs.LoadXML(filename);
-    }
-  }
-
-  // Stores a unity vector in a Mujoco target buffer.
-  public static unsafe void SetMjVector3(double* mjTarget, Vector3 unityVec) {
-    var mjVec = MjVector3(unityVec);
-    mjTarget[0] = mjVec[0];
-    mjTarget[1] = mjVec[1];
-    mjTarget[2] = mjVec[2];
-  }
-
-  // Stores a unity quaternion in a Mujoco target buffer.
-  public static unsafe void SetMjQuaternion(double* mjTarget, Quaternion unityQuat) {
-    var mjQuat = MjQuaternion(unityQuat);
-    mjTarget[0] = mjQuat.w;
-    mjTarget[1] = mjQuat.x;
-    mjTarget[2] = mjQuat.y;
-    mjTarget[3] = mjQuat.z;
-  }
-
-  // Returns a pointer to an entry in the MuJoCo field that's 3*offsetEntry down the buffer.
-  public static unsafe double* MjVector3AtEntry(double* mjTarget, int offsetEntry) {
-    return mjTarget + offsetEntry * _elementsPerPosition;
-  }
-
-  // Returns a pointer to an entry in the MuJoCo field that's 4*offsetEntry down the buffer.
-  public static unsafe double* MjQuaternionAtEntry(double* mjTarget, int offsetEntry) {
-    return mjTarget + offsetEntry * _elementsPerRotation;
-  }
-
-  // Returns a pointer to an entry in the MuJoCo field that's 7*offsetEntry down the buffer.
-  public static unsafe double* MjTransformAtEntry(double* mjTarget, int offsetEntry) {
-    return mjTarget + offsetEntry * _elementsPerTransform;
-  }
-
-  // Returns a pointer to an entry in the MuJoCo field that's 9*offsetEntry down the buffer.
-  public static unsafe double* MjMatrixAtEntry(double* mjTarget, int offsetEntry) {
-    return mjTarget + offsetEntry * _mjMat.Length;
-  }
-
-  // Returns a pointer to an entry in the MuJoCo field that's 11*offsetEntry down the buffer.
-  public static unsafe double* MjEqualityAtEntry(double* mjTarget, int offsetEntry) {
-    return mjTarget + offsetEntry * _elementsPerEquality;
-  }
-
-  // Stores a unity transform (position+rotation) in a Mujoco target buffer.
-  public static unsafe void SetMjTransform(
-      double* mjTarget, Vector3 unityVec, Quaternion unityQuat) {
-    var mjVec = MjVector3(unityVec);
-    var mjQuat = MjQuaternion(unityQuat);
-    mjTarget[0] = mjVec[0];
-    mjTarget[1] = mjVec[1];
-    mjTarget[2] = mjVec[2];
-    mjTarget[3] = mjQuat.w;
-    mjTarget[4] = mjQuat.x;
-    mjTarget[5] = mjQuat.y;
-    mjTarget[6] = mjQuat.z;
-  }
-
-  // Converts a Unity Vector3 to a Mujoco vector.
-  public static Vector3 MjVector3(Vector3 unityVec) {
-    return new Vector3(unityVec.x, unityVec.z, unityVec.y);
-  }
-
-  // Converts a Mujoco vector to a Unity vector.
-  public static unsafe Vector3 UnityVector3(double* mjVector) {
-    return new Vector3((float)mjVector[0], (float)mjVector[2], (float)mjVector[1]);
-  }
-
-  // Converts a Mujoco vector to a Unity vector.
-  // The vector coordinates are expected to be stored at the 'entryIndex * 3' of the 'coords'
-  // array.
-  public static unsafe Vector3 UnityVector3(float[] coords, int entryIndex) {
-    var startOffset = entryIndex * _elementsPerPosition;
-    return new Vector3(coords[startOffset], coords[startOffset + 2], coords[startOffset + 1]);
-  }
-
-  // Converts a Mujoco vector to a Unity vector.
-  public static Vector3 UnityVector3(Vector3 mjVector) {
-    return new Vector3(mjVector.x, mjVector.z, mjVector.y);
-  }
-
-  // Converts a Unity Quaternion to a Mujoco Quaternion
-  public static Quaternion MjQuaternion(Quaternion unityQuat) {
-    return new Quaternion(w:-unityQuat.w, x:unityQuat.x, y:unityQuat.z, z:unityQuat.y);
-  }
-
-  // Converts a Mujoco quaternion to a Unity quaternion.
-  public static unsafe Quaternion UnityQuaternion(double* mjQuat) {
-    return new Quaternion(
-        x:(float)mjQuat[1], y:(float)mjQuat[3], z:(float)mjQuat[2], w:(float)-mjQuat[0]);
-  }
-
-  // Converts a Mujoco quaternion to a Unity quaternion.
-  public static Quaternion UnityQuaternion(Quaternion mjQuat) {
-    // This is simply the inverse permutation of the one in MjQuaternion
-    return new Quaternion(x:mjQuat.x, y:mjQuat.z, z:mjQuat.y, w:-mjQuat.w);
-  }
-
-  // Converts a Mujoco matrix to a Unity quaternion.
-  // The matrix coordinates are at the 'entryIndex * 9' of the 'mjMat' array.
-  public static unsafe Quaternion UnityQuaternionFromMatrix(double* mjMat) {
-    for (var j = 0; j < _mjMat.Length; ++j) {
-      _mjMat[j] = mjMat[j];
-    }
-    fixed (double* q_out = _mjQuat)
-    fixed (double* m_in = _mjMat) {
-      MujocoLib.mju_mat2Quat(q_out, m_in);
-      return UnityQuaternion(q_out);
-    }
-  }
-
-  // Converts a Unity extents Vector3 to a Mujoco extents vector.
-  // Use to convert size vectors that should contain only absolute values.
-  public static Vector3 MjExtents(Vector3 unityExtents) {
-    return new Vector3(unityExtents.x, unityExtents.z, unityExtents.y);
-  }
-
-  // Converts a Mujoco extents vector to a Unity extents Vector3.
-  // Use to convert size vectors that should contain only absolute values.
-  public static Vector3 UnityExtents(Vector3 mjExtents) {
-    return new Vector3(mjExtents.x, mjExtents.z, mjExtents.y);
-  }
-
-  // Converts a vector containing Mujoco Euler angles to a Unity representation.
-  public static Vector3 UnityEuler(Vector3 mjEuler) {
-    return new Vector3(mjEuler.x, mjEuler.z, -mjEuler.y);
-  }
-
-  public static string Vector3ToMjcf(Vector3 vec) {
-    return MakeLocaleInvariant($"{vec.x} {vec.y} {vec.z}");
-  }
-
-  public static string QuaternionToMjcf(Quaternion quat) {
-    return MakeLocaleInvariant($"{quat.w} {quat.x} {quat.y} {quat.z}");
-  }
-
-  // We can't use transform.localPosition because we allow arbitrary deep gameObject hierarchies
-  // between MuJoCo parent and child entities.  Therefore, the method takes into account extra
-  // transforms that may be present in the chain separating the component from its parent body.
-  public static MjTransformation LocalTransformInParentBody(MjComponent component) {
-    var MjParent = MjHierarchyTool.FindParentComponent<MjBaseBody>(component);
-    var parentGlobalPosition = Vector3.zero;
-    var parentGlobalRotation = Quaternion.identity;
-    if (MjParent != null) {
-      parentGlobalPosition = MjParent.transform.position;
-      parentGlobalRotation = MjParent.transform.rotation;
-    }
-
-    var invParentGlobalRotation = Quaternion.Inverse(parentGlobalRotation);
-
-    var localPosition =
-        invParentGlobalRotation * (component.transform.position - parentGlobalPosition);
-    var localRotation = invParentGlobalRotation * component.transform.rotation;
-    return new MjTransformation(localPosition, localRotation);
-  }
-
-  // Identity quaternion in MujocoLib.
-  public static readonly Quaternion MjQuaternionIdentity = new Quaternion(w:-1, x:0, y:0, z:0);
-
-  // Mujoco's Z-axis corresponds to Unity's up (Y) axis.
-  public static readonly Vector3 MjVector3Up = new Vector3(0, 0, 1);
-
-  // Sorts the components of a Vector2. Doesn't modify the original vector.
-  public static Vector2 GetSorted(Vector2 vec) {
-    return new Vector2(Math.Min(vec.x, vec.y), Math.Max(vec.x, vec.y));
-  }
-
-  // Converts an array of floats to an Mjcf.
-  public static string ArrayToMjcf(float[] array) {
-    String ret = "";
-    foreach (float entry in array) {
-      ret += MakeLocaleInvariant($"{entry} ");
-    }
-    return ret.Substring(startIndex:0, length:ret.Length - 1);
-  }
-
-  // Converts a list of floats to an Mjcf.
-  public static string ListToMjcf(List<float> list) {
-    String ret = "";
-    foreach (float entry in list) {
-      ret += MakeLocaleInvariant($"{entry} ");
-    }
-    return ret.Substring(startIndex:0, length:ret.Length - 1);
-  }
-
-  // Generates an Mjcf of the specified component's transform.
-  //
-  // It will use the component's position (Vector3) and rotation (Quaternion), relative to its
-  // MjComponent parent, and save them in "pos" and "quat" attributes.
-  //
-  // The method takes into account extra transforms that may be present in the chain separating
-  // the component from its MjComponent parent.
-  public static void PositionRotationToMjcf(XmlElement mjcf, MjComponent component) {
-    var localTransform = LocalTransformInParentBody(component);
-    mjcf.SetAttribute(
-        "pos",
-        MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(localTransform.Translation)));
-    mjcf.SetAttribute(
-        "quat",
-        MjEngineTool.QuaternionToMjcf(MjEngineTool.MjQuaternion(localTransform.Rotation)));
-  }
-
-  // Generates an Mjcf of the specified component's transform.
-  //
-  // It will use the component's position (Vector3) and forward direction (Vector3), relative to
-  // its MjComponent parent, and save them in "pos" and "axis" attributes. Designed to work
-  // with Joints, it will set the "ref" attribute to 0, indicating that the joint is in its
-  // reference pose frame.
-  //
-  // The method takes into account extra transforms that may be present in the chain separating
-  // the component from its MjComponent parent.
-  public static void PositionAxisToMjcf(XmlElement mjcf, MjComponent component) {
-    var localTransform = LocalTransformInParentBody(component);
-    var axis = (localTransform.Rotation * Vector3.right).normalized;
-
-    mjcf.SetAttribute(
-        "pos",
-        MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(localTransform.Translation)));
-    mjcf.SetAttribute("axis", MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(axis)));
-    mjcf.SetAttribute("ref", "0");
-  }
-
-  public static void PositionToMjcf(XmlElement mjcf, MjComponent component) {
-    var localTransform = LocalTransformInParentBody(component);
-    mjcf.SetAttribute(
-        "pos",
-        MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(localTransform.Translation)));
-  }
-
-  private const int _fromOffset = 0;
-  private const int _toOffset = 1;
-  private const float _fromToValidityTolerance = 1e-3f;
-
-  public static bool ParseFromToMjcf(XmlElement mjcf, out Vector3 fromPoint, out Vector3 toPoint) {
-    var fromto = mjcf.GetFloatArrayAttribute("fromto", defaultValue: null);
-    if (fromto != null) {
-      fromPoint = MjEngineTool.UnityVector3(fromto, _fromOffset);
-      toPoint = MjEngineTool.UnityVector3(fromto, _toOffset);
-      var nodeName = mjcf.GetStringAttribute("name", mjcf.Name);
-      if ((toPoint - fromPoint).magnitude < _fromToValidityTolerance) {
-        throw new ArgumentException(
-            $"{nodeName}: 'fromto' produces a vector that's too short. {fromto} has magnitude " +
-            "{fromto.magnitude} lower than the tolerance {_fromToValidityTolerance}");
-      }
-      return true;
-    } else {
-      fromPoint = Vector3.zero;
-      toPoint = Vector3.zero;
-      return false;
-    }
-  }
-
-  // Parses the transform-shape specifications, shared by the Geom and Site Mjcfs.
-  public static void ParseTransformMjcf(XmlElement mjcf, Transform transform) {
-    Vector3 fromPoint, toPoint;
-    if (ParseFromToMjcf(mjcf, out fromPoint, out toPoint)) {
-      transform.localPosition = Vector3.Lerp(toPoint, fromPoint, 0.5f);
-      transform.localRotation = Quaternion.FromToRotation(
-          Vector3.up, (toPoint - fromPoint).normalized);
-    } else {
-      // Parse the regular transform.
-      transform.localPosition = MjEngineTool.UnityVector3(
-          mjcf.GetVector3Attribute("pos", defaultValue: Vector3.zero));
-      transform.localRotation = Quaternion.identity;
-
-      if (mjcf.HasAttribute("quat")) {
-        transform.localRotation = MjEngineTool.UnityQuaternion(
-            mjcf.GetQuaternionAttribute("quat",
-                                        defaultValue: MjEngineTool.MjQuaternionIdentity));
-      } else if (mjcf.HasAttribute("zaxis")) {
-        var upAxis = MjEngineTool.UnityVector3(
-            mjcf.GetVector3Attribute("zaxis", defaultValue: MjEngineTool.MjVector3Up));
-        transform.localRotation = Quaternion.FromToRotation(
-            Vector3.up, upAxis);
-      } else if (mjcf.HasAttribute("xyaxes")) {
-        var xyaxes = mjcf.GetFloatArrayAttribute(
-            "xyaxes", defaultValue: new float[] { 1, 0, 0, 0, 1, 0 });
-        var xAxis = MjEngineTool.UnityVector3(xyaxes, 0);
-        var yAxis = MjEngineTool.UnityVector3(xyaxes, 1);
-        var zAxis = Vector3.Cross(xAxis, yAxis);
-        transform.localRotation = Quaternion.LookRotation(zAxis, yAxis);
-      } else if (mjcf.HasAttribute("axisangle")) {
-        var axisAngle = mjcf.GetFloatArrayAttribute(
-            "axisangle", defaultValue: new float[] { 0, 0, 1, 0 });
-        var axis = MjEngineTool.UnityVector3(axisAngle, 0);
-        var angle = axisAngle[3];
-        if (MjSceneImportSettings.AnglesInDegrees == false) {
-          angle *= Mathf.Rad2Deg;
-        }
-        transform.localRotation = Quaternion.AngleAxis(angle, axis);
-      } else if (mjcf.HasAttribute("euler")) {
-        var euler = MjEngineTool.UnityEuler(
-            mjcf.GetVector3Attribute("euler", defaultValue: Vector3.zero));
-        if (MjSceneImportSettings.AnglesInDegrees == false) {
-          euler = euler * Mathf.Rad2Deg;
-        }
-        transform.localRotation = Quaternion.Euler(euler);
-      }
-    }
-  }
-
-  public static void LoadPlugins() {
-    if(!Directory.Exists("Packages/org.mujoco/Runtime/Plugins/")) return;
-
-    foreach (string pluginPath in Directory.GetFiles("Packages/org.mujoco/Runtime/Plugins/")) {
-      MujocoLib.mj_loadPluginLibrary(pluginPath);
-    }
-
-  }
-
-}
-
-public static class MjSceneImportSettings {
-  public static bool AnglesInDegrees = true;
-}
-}
diff --git a/unity/Runtime/Tools/MjEngineTool.cs.meta b/unity/Runtime/Tools/MjEngineTool.cs.meta
deleted file mode 100644
index c236f7e5..00000000
--- a/unity/Runtime/Tools/MjEngineTool.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 957bf8e1dc4af40c2a42dd1a33fe10d2
-timeCreated: 1536920023
-licenseType: Pro
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-  defaultReferences: []
-  executionOrder: 0
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diff --git a/unity/Runtime/Tools/MjHierarchyTool.cs b/unity/Runtime/Tools/MjHierarchyTool.cs
deleted file mode 100644
index 9d4447da..00000000
--- a/unity/Runtime/Tools/MjHierarchyTool.cs
+++ /dev/null
@@ -1,87 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using UnityEngine;
-
-namespace Mujoco {
-
-// A set of helper methods for working with hierarchies of components.
-public static class MjHierarchyTool {
-
-  public static IEnumerable<MjComponent> LinearizeHierarchyBFS(Transform start) {
-    var open = new Queue<Transform>();
-    open.Enqueue(start);
-    while (open.Count > 0) {
-      var transform = open.Dequeue();
-
-      var components = transform.GetComponents<MjComponent>();
-      foreach (var component in components) {
-        if (component.isActiveAndEnabled) {
-          yield return component;
-        }
-      }
-
-      foreach (Transform child in transform) {
-        open.Enqueue(child);
-      }
-    }
-  }
-
-  // Recurses up the tree (excluding self) and returns the first instance of a MjComponent.
-  public static MjComponent FindParentComponent(MonoBehaviour start) {
-    return FindParentComponent<MjComponent>(start);
-  }
-
-  // This is not equivalent to Unity's GetComponentInParent as it excludes self from the search.
-  public static T FindParentComponent<T>(MonoBehaviour start) where T : MonoBehaviour {
-    if (start.transform.parent == null) {
-      return null;
-    }
-    var loopTransform = start.transform.parent;
-    T result = loopTransform.GetComponent<T>();
-    while (result == null && loopTransform.parent != null) {
-      loopTransform = loopTransform.parent;
-      result = loopTransform.GetComponent<T>();
-    }
-    return result;
-  }
-
-  public static List<T> GetComponentsInImmediateChildren<T>(Transform parent)
-      where T : MonoBehaviour {
-    var components = new List<T>();
-    foreach (Transform child in parent) {
-      components.AddRange(child.gameObject.GetComponents<T>());
-    }
-    return components;
-  }
-
-  // Finds a single component that matches both the type and the name criteria.
-  public static T FindComponentOfTypeAndName<T>(string name) where T : MjComponent {
-    var components = UnityEngine.Object.FindObjectsByType<T>(FindObjectsSortMode.None).Where(
-        component => component.gameObject.name == name);
-    var numComponents = components.Count();
-    if (components == null || numComponents == 0) {
-      throw new ArgumentException($"No components named '{name}' were found.");
-    }
-    if (numComponents > 1) {
-      throw new ArgumentException($"More than one component named '{name}' was found.");
-    }
-    return components.FirstOrDefault() as T;
-  }
-}
-}
diff --git a/unity/Runtime/Tools/MjHierarchyTool.cs.meta b/unity/Runtime/Tools/MjHierarchyTool.cs.meta
deleted file mode 100644
index c39e15d9..00000000
--- a/unity/Runtime/Tools/MjHierarchyTool.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: e246736c791384d918a7781a04225eee
-timeCreated: 1537463659
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Tools/MjTransformation.cs b/unity/Runtime/Tools/MjTransformation.cs
deleted file mode 100644
index e1163383..00000000
--- a/unity/Runtime/Tools/MjTransformation.cs
+++ /dev/null
@@ -1,84 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using UnityEngine;
-
-namespace Mujoco {
-
-// Utility class that represents a translation and rotation.
-// Used for converting between MuJoCo and Unity spaces.
-public struct MjTransformation {
-  public Vector3 Translation;
-  public Quaternion Rotation;
-
-  public MjTransformation(Vector3 translation, Quaternion rotation) {
-    Translation = translation;
-    Rotation = rotation;
-  }
-
-  public void Set(Vector3 translation, Quaternion rotation) {
-    Translation = translation;
-    Rotation = rotation;
-  }
-
-  // Initializes MjTransformation from the specified Transform's local coordinates.
-  public static MjTransformation LoadGlobal(Transform transform) {
-    if (transform != null) {
-      return new MjTransformation(transform.position, transform.rotation);
-    } else {
-      return new MjTransformation(Vector3.zero, Quaternion.identity);
-    }
-  }
-
-  // Initializes MjTransformation from the specified Transform's global coordinates.
-  public static MjTransformation LoadLocal(Transform transform) {
-    if (transform != null) {
-      return new MjTransformation(transform.localPosition, transform.localRotation);
-    } else {
-      return new MjTransformation(Vector3.zero, Quaternion.identity);
-    }
-  }
-
-  // Stores the transform coordinates in the specified Transform's global coordinates.
-  public void StoreGlobal(Transform transform) {
-    transform.position = Translation;
-    transform.rotation = Rotation;
-  }
-
-  // Stores the transform coordinates in the specified Transform's local coordinates.
-  public void StoreLocal(Transform transform) {
-    transform.localPosition = Translation;
-    transform.localRotation = Rotation;
-  }
-
-  // Concatenates two transforms.
-  // Equivalent of a matrix multiplication. This operation is not transitive.
-  public static MjTransformation operator *(
-      MjTransformation lhs, MjTransformation rhs) {
-    return new MjTransformation(
-        lhs.Translation + lhs.Rotation * rhs.Translation, lhs.Rotation * rhs.Rotation);
-  }
-
-  // Returns an inverse of this transform.
-  public MjTransformation Inverse() {
-    var inverseRotation = Quaternion.Inverse(Rotation);
-    return new MjTransformation(inverseRotation * Translation * -1.0f, inverseRotation);
-  }
-
-  public override string ToString() {
-    return $"[{Translation}, {Rotation}]";
-  }
-}
-}
diff --git a/unity/Runtime/Tools/MjTransformation.cs.meta b/unity/Runtime/Tools/MjTransformation.cs.meta
deleted file mode 100644
index 04ed6ab9..00000000
--- a/unity/Runtime/Tools/MjTransformation.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 69065be4c455640e8ab0a9d346646be5
-timeCreated: 1551107971
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
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-  defaultReferences: []
-  executionOrder: 0
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-  assetBundleVariant: 
diff --git a/unity/Runtime/Tools/MjVfs.cs b/unity/Runtime/Tools/MjVfs.cs
deleted file mode 100644
index 802d53f9..00000000
--- a/unity/Runtime/Tools/MjVfs.cs
+++ /dev/null
@@ -1,91 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.IO;
-using System.Runtime.InteropServices;
-using System.Text;
-using UnityEngine;
-
-namespace Mujoco {
-
-using static MujocoLib;
-
-// A wrapper around Mujoco's native _mjVFS that simplifies the process of creating memory files.
-public sealed class MjVfs : IDisposable {
-
-  private _mjVFS _managedVfs;
-  private IntPtr _unmanagedVfs;
-
-  // Managed version of the underlying _mjVFS structure.
-  public _mjVFS Data {
-    get {
-      _managedVfs = (_mjVFS)Marshal.PtrToStructure(_unmanagedVfs, typeof(_mjVFS));
-      return _managedVfs;
-    }
-    set {
-      _managedVfs = value;
-      Marshal.StructureToPtr(_managedVfs, _unmanagedVfs, fDeleteOld: false);
-    }
-  }
-
-  // Adds a new file to the virtual filesystem.
-  public unsafe void AddFile(string filename, string contents) {
-    var contents_bytes = Encoding.UTF8.GetBytes(contents);
-    fixed (byte* bytes = contents_bytes)
-    {
-      IntPtr ptr = (IntPtr) bytes;
-      var result = mj_addBufferVFS(_unmanagedVfs.ToPointer(), filename, ptr.ToPointer(),
-                                   contents_bytes.Length);
-      if (result != 0) {
-        throw new Exception("VFS error (" + result + ") encountered while creating an empty file");
-      }
-    }
-  }
-
-  // Loads a model from the specified file.
-  public unsafe MujocoLib.mjModel_* LoadXML(string filename) {
-    var errorBuf = new StringBuilder(1024);
-    MujocoLib.mjModel_* model = MujocoLib.mj_loadXML(
-      filename, _unmanagedVfs.ToPointer(), errorBuf, errorBuf.Capacity);
-    if (model == null || errorBuf.Length > 0) {
-      throw new IOException($"Error loading the model: {errorBuf}");
-    }
-    return model;
-  }
-
-  public unsafe MjVfs() {
-    _unmanagedVfs = Marshal.AllocHGlobal(Marshal.SizeOf(_managedVfs));
-    mj_defaultVFS(_unmanagedVfs.ToPointer());
-    _managedVfs = (_mjVFS)Marshal.PtrToStructure(_unmanagedVfs, typeof(_mjVFS));
-  }
-
-  ~MjVfs() {
-    ReleaseUnmanagedMemory();
-  }
-
-  public void Dispose() {
-    GC.SuppressFinalize(this);
-    ReleaseUnmanagedMemory();
-  }
-
-  private unsafe void ReleaseUnmanagedMemory() {
-    if (_unmanagedVfs != IntPtr.Zero) {
-      mj_deleteVFS(_unmanagedVfs.ToPointer());
-      Marshal.FreeHGlobal(_unmanagedVfs);
-      _unmanagedVfs = IntPtr.Zero;
-    }
-  }
-}
-}
diff --git a/unity/Runtime/Tools/MjVfs.cs.meta b/unity/Runtime/Tools/MjVfs.cs.meta
deleted file mode 100644
index 664e8bac..00000000
--- a/unity/Runtime/Tools/MjVfs.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 3cf049acadd3a4c8eb75f2a5a72ba589
-timeCreated: 1535566910
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Tools/MjcfGenerationContext.cs b/unity/Runtime/Tools/MjcfGenerationContext.cs
deleted file mode 100644
index 09b2abcc..00000000
--- a/unity/Runtime/Tools/MjcfGenerationContext.cs
+++ /dev/null
@@ -1,146 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Xml;
-using UnityEngine;
-
-namespace Mujoco {
-
-// An instance of this class will be used to collect dynamic dependencies produced by a Mujoco model
-// during scene generation.
-public class MjcfGenerationContext {
-
-  public int NUserSensor {
-    get { return _nuserSensor; }
-    set { _nuserSensor = Math.Max(_nuserSensor, value); }
-  }
-
-  private int _nuserSensor;
-  private int _numGeneratedNames = 0;
-  private Dictionary<Mesh, string> _meshAssets = new Dictionary<Mesh, string>();
-
-  private Dictionary<MjHeightFieldShape, string> _hFieldAssets =
-      new Dictionary<MjHeightFieldShape, string>();
-
-  public void GenerateMjcf(XmlElement mjcf) {
-    GenerateConfigurationMjcf(mjcf);
-    GenerateAssetsMjcf(mjcf);
-  }
-
-  // Adds a mesh to the list of assets that will be added to the generated MJCF.
-  // Returns the unique name that identifies this new asset.
-  public string AddMeshAsset(Mesh mesh) {
-    if (!_meshAssets.ContainsKey(mesh)) {
-      var uniqueName = $"mesh_{_numGeneratedNames}";
-      _numGeneratedNames++;
-      _meshAssets.Add(mesh, uniqueName);
-    }
-    return _meshAssets[mesh];
-  }
-
-  // Adds a mesh to the list of assets that will be added to the generated MJCF.
-  // Returns the unique name that identifies this new asset.
-  public string AddHeightFieldAsset(MjHeightFieldShape hField) {
-    if (!_hFieldAssets.ContainsKey(hField)) {
-      var uniqueName = $"hfield_{_numGeneratedNames}";
-      _numGeneratedNames++;
-      _hFieldAssets.Add(hField, uniqueName);
-    }
-    return _hFieldAssets[hField];
-  }
-
-  public string GenerateName(Component comp) {
-    var settings = MjGlobalSettings.Instance;
-    if (settings?.UseRawGameObjectNames ?? false) {
-      return comp.gameObject.name;
-    } else {
-      var name = $"{comp.gameObject.name}_{_numGeneratedNames}";
-      _numGeneratedNames++;
-      return name;
-    }
-  }
-
-  private void GenerateConfigurationMjcf(XmlElement mjcf) {
-    var doc = mjcf.OwnerDocument;
-    var compilerMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("compiler"));
-    compilerMjcf.SetAttribute("coordinate", "local");
-
-    var optionMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("option"));
-    optionMjcf.SetAttribute(
-        "gravity", MjEngineTool.Vector3ToMjcf(MjEngineTool.MjVector3(Physics.gravity)));
-    optionMjcf.SetAttribute("timestep", MjEngineTool.MakeLocaleInvariant($"{Time.fixedDeltaTime}"));
-
-    var settings = MjGlobalSettings.Instance;
-    if (settings) {
-      settings.GlobalsToMjcf(mjcf);
-    }
-  }
-
-  private void GenerateAssetsMjcf(XmlElement mjcf) {
-    var doc = mjcf.OwnerDocument;
-    var assetMjcf = (XmlElement)mjcf.AppendChild(doc.CreateElement("asset"));
-    foreach (var meshAsset in _meshAssets) {
-      var meshMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("mesh"));
-      meshMjcf.SetAttribute("name", meshAsset.Value);
-      GenerateMeshMjcf(meshAsset.Key, meshMjcf);
-    }
-    foreach (var hFieldAsset in _hFieldAssets) {
-      var hFieldMjcf = (XmlElement)assetMjcf.AppendChild(doc.CreateElement("hfield"));
-      hFieldMjcf.SetAttribute("name", hFieldAsset.Value);
-      GenerateHeightFieldMjcf(hFieldAsset.Key, hFieldMjcf);
-    }
-  }
-
-  private static void GenerateMeshMjcf(Mesh mesh, XmlElement mjcf) {
-    var vertexPositionsStr = new StringBuilder();
-    foreach (var unityVertex in mesh.vertices) {
-      var mjVertex = MjEngineTool.MjVector3(unityVertex);
-      vertexPositionsStr.Append(MjEngineTool.Vector3ToMjcf(mjVertex));
-      vertexPositionsStr.Append(" ");
-    }
-    mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
-  }
-
-  private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
-    if (hFieldComponent.ExportImage) {
-      mjcf.SetAttribute("content_type", "image/png");
-      mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath);
-      mjcf.SetAttribute("nrow", "0");
-      mjcf.SetAttribute("ncol", "0");
-    } else {
-      mjcf.SetAttribute("nrow", hFieldComponent.HeightMapLength.ToString());
-      mjcf.SetAttribute("ncol", hFieldComponent.HeightMapWidth.ToString());
-    }
-
-    var baseHeight = hFieldComponent.Terrain.transform.localPosition.y +
-                     hFieldComponent.MinimumHeight;
-    var heightRange = Mathf.Clamp(
-        hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight,
-        0.00001f,
-        Mathf.Infinity);
-    mjcf.SetAttribute(
-        "size",
-        MjEngineTool.MakeLocaleInvariant(
-            $@"{hFieldComponent.HeightMapScale.x * (hFieldComponent.HeightMapLength - 1) / 2f} {
-              hFieldComponent.HeightMapScale.z * (hFieldComponent.HeightMapWidth - 1) / 2f} {
-                heightRange} {
-                  baseHeight}"));
-  }
-}
-}
diff --git a/unity/Runtime/Tools/MjcfGenerationContext.cs.meta b/unity/Runtime/Tools/MjcfGenerationContext.cs.meta
deleted file mode 100644
index d66c9354..00000000
--- a/unity/Runtime/Tools/MjcfGenerationContext.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: c6b8eb0cef9a04e2d92bb573828f1be8
-timeCreated: 1550078178
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Runtime/Tools/XmlElementExtensions.cs b/unity/Runtime/Tools/XmlElementExtensions.cs
deleted file mode 100644
index 9dd8996a..00000000
--- a/unity/Runtime/Tools/XmlElementExtensions.cs
+++ /dev/null
@@ -1,190 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Linq;
-using System.Xml;
-using System.Globalization;
-using UnityEngine;
-
-namespace Mujoco {
-// This class helps us manipulate MuJoCo-bound XML files. It is only intended to be used
-// within the context of MuJoCo - elsewhere the preferred format is JSON.
-public static class XmlElementExtensions {
-
-  public static bool GetBoolAttribute(
-      this XmlElement element, string name, bool defaultValue = false) {
-    if (!element.HasAttribute(name)) {
-      return defaultValue;
-    }
-    var strValue = element.GetAttribute(name);
-    bool parsedValue;
-    if (bool.TryParse(strValue, out parsedValue)) {
-      return parsedValue;
-    } else {
-      throw new ArgumentException($"'{strValue}' is not a bool.");
-    }
-  }
-
-  public static bool GetLimitedAttribute(
-      this XmlElement element, string name, bool rangeDefined) {
-    var strValue = element.GetStringAttribute(name, "auto");
-    if (strValue == "auto" && rangeDefined && element.GetAutolimitsEnabled()) return true;
-    if (strValue == "auto") return false;
-
-    bool parsedValue;
-    if (bool.TryParse(strValue, out parsedValue)) {
-      return parsedValue;
-    } else {
-      throw new ArgumentException($"'{strValue}' is not a bool.");
-    }
-  }
-
-  public static bool GetAutolimitsEnabled(
-      this XmlElement element) {
-    bool autolimits = (element.OwnerDocument?.GetElementsByTagName("compiler")[0]?["compiler"])
-                      ?.GetBoolAttribute("autolimits", true) ??
-                      true;
-    return autolimits;
-  }
-
-  public static float GetFloatAttribute(
-      this XmlElement element, string name, float defaultValue = 0.0f) {
-    if (!element.HasAttribute(name)) {
-      return defaultValue;
-    }
-    var strValue = element.GetAttribute(name);
-    float parsedValue;
-    if (float.TryParse(strValue, NumberStyles.Any, CultureInfo.InvariantCulture, out parsedValue)) {
-      return parsedValue;
-    } else {
-      throw new ArgumentException($"'{strValue}' is not a float.");
-    }
-  }
-
-  // The MuJoCo parser is case-sensitive.
-  public static T GetEnumAttribute<T>(
-      this XmlElement element, string name, T defaultValue,
-      bool ignoreCase = false) where T : struct, IConvertible {
-    if (!typeof(T).IsEnum) {
-      throw new ArgumentException("T must be an enumerated type.");
-    }
-    if (!element.HasAttribute(name)) {
-      return defaultValue;
-    }
-    var strValue = element.GetAttribute(name);
-    T parsedValue;
-    if (Enum.TryParse<T>(strValue, ignoreCase, out parsedValue)) {
-      return parsedValue;
-    } else {
-      throw new ArgumentException(
-        $"Reading attribute {name}: '{strValue}' is not a value of enum {typeof(T)}.");
-    }
-  }
-
-  public static string GetStringAttribute(
-      this XmlElement element, string name, string defaultValue = null) {
-    if (!element.HasAttribute(name)) {
-      return defaultValue;
-    }
-    return element.GetAttribute(name);
-  }
-
-  public static T GetObjectReferenceAttribute<T>(
-    this XmlElement mjcf, string attributeName) where T : MjComponent {
-    var objectName = mjcf.GetStringAttribute(attributeName);
-    if (string.IsNullOrEmpty(objectName)) {
-      return null;
-    }
-    T foundObject = MjHierarchyTool.FindComponentOfTypeAndName<T>(objectName);
-    if (foundObject == null) {
-      throw new ArgumentException(
-        $"Object {objectName} of type {typeof(T).ToString()} referred by {attributeName} " +
-        "doesn't exist.");
-    }
-    return foundObject;
-  }
-
-  public static Vector2 GetVector2Attribute(
-      this XmlElement element, string name, Vector2 defaultValue) {
-    var defaultValues = new float[] {defaultValue.x, defaultValue.y};
-    var components = element.GetFloatArrayAttribute(name, defaultValues, fillMissingValues: false);
-    if (components.Length != 2) {
-      throw new ArgumentException("Invalid Vector2 string representation.");
-    }
-    return new Vector2(components[0], components[1]);
-  }
-
-  public static Vector3 GetVector3Attribute(
-      this XmlElement element, string name, Vector3 defaultValue) {
-    var defaultValues = new float[] {
-        defaultValue.x, defaultValue.y, defaultValue.z};
-    var components = element.GetFloatArrayAttribute(name, defaultValues, fillMissingValues: false);
-    if (components.Length != 3) {
-      throw new ArgumentException("Invalid Vector3 string representation.");
-    }
-    return new Vector3(components[0], components[1], components[2]);
-  }
-
-  public static Quaternion GetQuaternionAttribute(
-      this XmlElement element, string name, Quaternion defaultValue) {
-    var mjDefault = new float[] {
-        defaultValue.w, defaultValue.x, defaultValue.y, defaultValue.z };
-    var components = element.GetFloatArrayAttribute(name, mjDefault, fillMissingValues: false);
-    if (components.Length != 4) {
-      throw new ArgumentException("Invalid Quaternion string representation.");
-    }
-    return new Quaternion(w:components[0], x:components[1], y:components[2], z:components[3]);
-  }
-
-  // Parses an array of whitespace separated floating points.
-  //
-  // Args:
-  // . element: XmlElement that contains the attribute to be parsed.
-  // . name: Name of the attribute to be parsed.
-  // . defaultValue: An array of floats, or null. A default value to be returned in case the
-  // the attribute is missing.
-  // . fillMissingValues: If a default value was provided, and it has more components than the value
-  // parsed from the attribute, the missing components will be copied from the defaultValue.
-  public static float[] GetFloatArrayAttribute(
-      this XmlElement element, string name, float[] defaultValue, bool fillMissingValues = true) {
-    if (!element.HasAttribute(name)) {
-      return defaultValue;
-    }
-    var strValue = element.GetAttribute(name);
-    var components = strValue.Split(new char[] {' '}, StringSplitOptions.RemoveEmptyEntries);
-    var resultLength = components.Length;
-    if (fillMissingValues && defaultValue != null) {
-      // If filling of the missing values was enabled, and a default value was provided,
-      // allocate an array large enough to store a value of this length, in case when the parsed
-      // value has fewer components.
-      resultLength = Math.Max(resultLength, defaultValue.Length);
-    }
-    var result = new float[resultLength];
-    for (var i = 0; i < components.Length; ++i) {
-      float componentValue;
-      if (float.TryParse(components[i], NumberStyles.Any, CultureInfo.InvariantCulture, out componentValue)) {
-        result[i] = componentValue;
-      } else {
-        throw new ArgumentException($"'{components[i]}' is not a float.");
-      }
-    }
-    for (var i = components.Length; i < resultLength; ++i) {
-      // Fill the missing values with defaults.
-      result[i] = defaultValue[i];
-    }
-    return result;
-  }
-}
-}
diff --git a/unity/Runtime/Tools/XmlElementExtensions.cs.meta b/unity/Runtime/Tools/XmlElementExtensions.cs.meta
deleted file mode 100644
index 5a9b7703..00000000
--- a/unity/Runtime/Tools/XmlElementExtensions.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Tests.meta b/unity/Tests.meta
deleted file mode 100644
index cdeecae9..00000000
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+++ /dev/null
@@ -1,8 +0,0 @@
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diff --git a/unity/Tests/Editor.meta b/unity/Tests/Editor.meta
deleted file mode 100644
index c8776047..00000000
--- a/unity/Tests/Editor.meta
+++ /dev/null
@@ -1,8 +0,0 @@
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diff --git a/unity/Tests/Editor/Bindings.meta b/unity/Tests/Editor/Bindings.meta
deleted file mode 100644
index b4cf8917..00000000
--- a/unity/Tests/Editor/Bindings.meta
+++ /dev/null
@@ -1,8 +0,0 @@
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diff --git a/unity/Tests/Editor/Bindings/FixedSizeIListHelperTests.cs b/unity/Tests/Editor/Bindings/FixedSizeIListHelperTests.cs
deleted file mode 100644
index af78ce3b..00000000
--- a/unity/Tests/Editor/Bindings/FixedSizeIListHelperTests.cs
+++ /dev/null
@@ -1,171 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Reflection;
-using System.Runtime.InteropServices;
-using System.Runtime.Serialization;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class FixedSizeIListHelperTests {
-  public class Example : FixedSizeIListHelper<string> {
-    public override string this[int index] {
-      get {
-        switch (index) {
-          case 0: return _element0;
-          case 1: return _element1;
-        }
-        return "";
-      }
-      set {
-        switch (index) {
-          case 0: _element0 = value; break;
-          case 1: _element1 = value; break;
-        }
-      }
-    }
-
-    public override int Count => 2;
-
-    private string _element0;
-    private string _element1;
-  }
-
-  [Test]
-  public void CanReadThroughIListInterface() {
-    var example = new Example();
-    IList<string> ilist = example;
-    example[0] = "a";
-
-    Assert.That(ilist[0], Is.EqualTo("a"));
-  }
-
-  [Test]
-  public void CanWriteThroughIListInterface() {
-    var example = new Example();
-    IList<string> ilist = example;
-    ilist[1] = "b";
-
-    Assert.That(example[1], Is.EqualTo("b"));
-  }
-
-  [Test]
-  public void EnumeratorWorks() {
-    var example = new Example();
-    example[0] = "a";
-    example[1] = "b";
-
-    var actual = new List<string>();
-    foreach (var element in example) {
-      actual.Add(element);
-    }
-    Assert.That(actual.Count, Is.EqualTo(2));
-    Assert.That(actual[0], Is.EqualTo("a"));
-    Assert.That(actual[1], Is.EqualTo("b"));
-  }
-
-  [Test]
-  public void AddNotSupported() {
-    var example = new Example();
-    Assert.Throws<NotSupportedException>(() => example.Add(""));
-  }
-
-  [Test]
-  public void ClearNotSupported() {
-    var example = new Example();
-    Assert.Throws<NotSupportedException>(() => example.Clear());
-  }
-
-  [Test]
-  public void RemoveNotSupported() {
-    var example = new Example();
-    Assert.Throws<NotSupportedException>(() => example.Remove(""));
-  }
-
-  [Test]
-  public void InsertNotSupported() {
-    var example = new Example();
-    Assert.Throws<NotSupportedException>(() => example.Insert(0, ""));
-  }
-
-  [Test]
-  public void RemoveAtNotSupported() {
-    var example = new Example();
-    Assert.Throws<NotSupportedException>(() => example.RemoveAt(0));
-  }
-
-  [Test]
-  public void ContainsFindsItems() {
-    var example = new Example();
-    example[0] = "a";
-    example[1] = "b";
-    Assert.That(example.Contains("a"));
-    Assert.That(example.Contains("b"));
-  }
-
-  [Test]
-  public void ContainsDoesntFindAbsentItems() {
-    var example = new Example();
-    example[0] = "a";
-    example[1] = "b";
-    Assert.That(!example.Contains("c"));
-  }
-
-  [Test]
-  public void CopyTo() {
-    var example = new Example();
-    example[0] = "a";
-    example[1] = "b";
-
-    var buffer = new string[7];
-    example.CopyTo(buffer, 3);
-
-    var expected = new string[] {
-      null,
-      null,
-      null,
-      "a",
-      "b",
-      null,
-      null,
-    };
-
-    Assert.That(buffer, Is.EqualTo(expected));
-  }
-
-  [Test]
-  public void IndexOfFindsItems() {
-    var example = new Example();
-    example[0] = "a";
-    example[1] = "b";
-    Assert.That(0, Is.EqualTo(example.IndexOf("a")));
-    Assert.That(1, Is.EqualTo(example.IndexOf("b")));
-  }
-
-  [Test]
-  public void IndexOfDoesntFindAbsentItems() {
-    var example = new Example();
-    example[0] = "a";
-    example[1] = "b";
-    Assert.That(-1, Is.EqualTo(example.IndexOf("c")));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Bindings/FixedSizeIListHelperTests.cs.meta b/unity/Tests/Editor/Bindings/FixedSizeIListHelperTests.cs.meta
deleted file mode 100644
index eb9aee89..00000000
--- a/unity/Tests/Editor/Bindings/FixedSizeIListHelperTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Tests/Editor/Components.meta b/unity/Tests/Editor/Components.meta
deleted file mode 100644
index 45566040..00000000
--- a/unity/Tests/Editor/Components.meta
+++ /dev/null
@@ -1,8 +0,0 @@
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diff --git a/unity/Tests/Editor/Components/Bodies.meta b/unity/Tests/Editor/Components/Bodies.meta
deleted file mode 100644
index 09debac3..00000000
--- a/unity/Tests/Editor/Components/Bodies.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: e45a6008183fa3804aa9daf9b921c48d
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Bodies/MjBodyTests.cs b/unity/Tests/Editor/Components/Bodies/MjBodyTests.cs
deleted file mode 100644
index ec292026..00000000
--- a/unity/Tests/Editor/Components/Bodies/MjBodyTests.cs
+++ /dev/null
@@ -1,88 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools.Utils;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjBodyTransformTests {
-
-  private GameObject _parent;
-  private MjBody _body;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _parent = new GameObject("parent");
-    _body = new GameObject("body", typeof(MjBody)).GetComponent<MjBody>();
-    _body.transform.parent = _parent.transform;
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    GameObject.DestroyImmediate(_body.gameObject);
-    GameObject.DestroyImmediate(_parent);
-  }
-
-  [Test]
-  public void RelativePositionUsedInMjcf() {
-    _parent.transform.position = new Vector3(1, 2, 3);
-    _parent.transform.rotation = Quaternion.AngleAxis(45.0f, (new Vector3(1, 2, 3)).normalized);
-    var element = _doc.AppendChild(_body.GenerateMjcf("name", _doc)) as XmlElement;
-    Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
-    Assert.That(
-        element.GetQuaternionAttribute("quat", Quaternion.identity),
-        Is.EqualTo(new Quaternion(w:-0.9238795f, x:0.1022765f, y:0.3068294f, z:0.2045529f))
-        .Using(new Vector4EqualityComparer(1e-4f)));
-  }
-
-  [Test]
-  public void LocalPositionParsing() {
-    var bodyElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("body"));
-    bodyElement.SetAttribute("pos", "1 2 3");
-    _body.ParseMjcf(bodyElement);
-    Assert.That(_body.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
-  }
-
-  [TestCase(0.866f, 0.5f, 0, 0, 0.5f, 0, 0, -0.866f)]
-  [TestCase(0.866f, 0, 0.5f, 0, 0, 0, 0.5f, -0.866f)]
-  [TestCase(0.866f, 0, 0, 0.5f, 0, 0.5f, 0, -0.866f)]
-  [TestCase(0, 0.866f, 0.5f, 0, 0.866f, 0, 0.5f, 0)]
-  [TestCase(0, 0.866f, 0, 0.5f, 0.866f, 0.5f, 0, 0)]
-  [TestCase(0, 0, 0.866f, 0.5f, 0, 0.5f, 0.866f, 0)]
-  public void BodyLocalRotationParsing(
-      float ix, float iy, float iz, float iw, float ex, float ey, float ez, float ew) {
-    var bodyElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("body"));
-    bodyElement.SetAttribute("quat", $"{ix} {iy} {iz} {iw}");
-    _body.ParseMjcf(bodyElement);
-    var angle = Quaternion.Angle(_body.transform.localRotation, new Quaternion(ex, ey, ez, ew));
-    Assert.That(angle, Is.EqualTo(0).Within(3));
-  }
-
-  [Test]
-  public void ParsingDefaultRotation() {
-    var bodyElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("body"));
-    _body.ParseMjcf(bodyElement);
-    Assert.That(_body.transform.localRotation, Is.EqualTo(Quaternion.identity));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Bodies/MjBodyTests.cs.meta b/unity/Tests/Editor/Components/Bodies/MjBodyTests.cs.meta
deleted file mode 100644
index 63b9f21d..00000000
--- a/unity/Tests/Editor/Components/Bodies/MjBodyTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: d682a3aa23e0740fe8fc6e00ba1b0e53
-timeCreated: 1537462858
-licenseType: Pro
-MonoImporter:
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-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
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diff --git a/unity/Tests/Editor/Components/Equality.meta b/unity/Tests/Editor/Components/Equality.meta
deleted file mode 100644
index 0ee4d23c..00000000
--- a/unity/Tests/Editor/Components/Equality.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 3483f37c29faced05bc1ddd810a7911d
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
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diff --git a/unity/Tests/Editor/Components/Equality/MjConnectTests.cs b/unity/Tests/Editor/Components/Equality/MjConnectTests.cs
deleted file mode 100644
index 89225442..00000000
--- a/unity/Tests/Editor/Components/Equality/MjConnectTests.cs
+++ /dev/null
@@ -1,81 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-  [TestFixture]
-  public class MjConnectTests {
-    private MjBody _body1;
-    private MjBody _body2;
-    private Transform _anchor;
-    private MjConnect _constraint;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _body1 = new GameObject("body1").AddComponent<MjBody>();
-      _body2 = new GameObject("body2").AddComponent<MjBody>();
-      _anchor = _body1.transform;
-      _constraint = new GameObject("connect").AddComponent<MjConnect>();
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
-      UnityEngine.Object.DestroyImmediate(_body1.gameObject);
-      UnityEngine.Object.DestroyImmediate(_body2.gameObject);
-    }
-
-    [Test]
-    public void ErrorThrownWhenBody1Empty() {
-      _constraint.Body1 = null;
-      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
-    }
-
-    // In this constraint both elements are required.
-    [Test]
-    public void ErrorThrownWhenBody2Empty() {
-      _doc.LoadXml("<body body1='body1'/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
-      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
-    }
-
-    [Test]
-    public void ParseXML() {
-      _doc.LoadXml("<connect body1='body1' body2='body2'/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("connect")[0] as XmlElement);
-      Assert.That(_constraint.Body1, Is.EqualTo(_body1));
-      Assert.That(_constraint.Body2, Is.EqualTo(_body2));
-    }
-
-    [Test]
-    public void GenerateXML() {
-      _constraint.Body1 = _body1;
-      _constraint.Body2 = _body2;
-      _constraint.Anchor = _anchor;
-      var mjcf = _constraint.GenerateMjcf("name", _doc);
-      Assert.That(mjcf.OuterXml, Does.Contain("<connect"));
-      Assert.That(mjcf.OuterXml, Does.Contain("body1=\""));
-      Assert.That(mjcf.OuterXml, Does.Contain("body2=\""));
-      Assert.That(mjcf.OuterXml, Does.Contain("anchor=\""));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Equality/MjConnectTests.cs.meta b/unity/Tests/Editor/Components/Equality/MjConnectTests.cs.meta
deleted file mode 100644
index 8bde3b21..00000000
--- a/unity/Tests/Editor/Components/Equality/MjConnectTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 9953e9b7dff0c4779b541fb6f198daf1
-timeCreated: 1554295202
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
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-  executionOrder: 0
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-  userData: 
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diff --git a/unity/Tests/Editor/Components/Equality/MjJointConstraintTests.cs b/unity/Tests/Editor/Components/Equality/MjJointConstraintTests.cs
deleted file mode 100644
index fedf992a..00000000
--- a/unity/Tests/Editor/Components/Equality/MjJointConstraintTests.cs
+++ /dev/null
@@ -1,69 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-  [TestFixture]
-  public class MjJointConstraintTests {
-    private MjHingeJoint _joint1;
-    private MjHingeJoint _joint2;
-    private MjJointConstraint _constraint;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _joint1 = new GameObject("joint1").AddComponent<MjHingeJoint>();
-      _joint2 = new GameObject("joint2").AddComponent<MjHingeJoint>();
-      _constraint = new GameObject("joint").AddComponent<MjJointConstraint>();
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
-      UnityEngine.Object.DestroyImmediate(_joint1.gameObject);
-      UnityEngine.Object.DestroyImmediate(_joint2.gameObject);
-    }
-
-    [Test]
-    public void ErrorThrownWhenJoint1Empty() {
-      // This is an illegal MJCF, but the purpose of this test is to verify that if
-      // the user didn't assign the joint in the editor, an error will be thrown when play is hit.
-      _doc.LoadXml("<joint/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
-      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
-    }
-
-    [Test]
-    public void Joint2Empty() {
-      _doc.LoadXml("<joint joint1='joint1'/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
-      _constraint.GenerateMjcf("name", _doc);
-    }
-
-    [Test]
-    public void ParseAllSettings() {
-      _doc.LoadXml("<joint joint1='joint1' joint2='joint2'/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
-      Assert.That(_constraint.Joint1, Is.EqualTo(_joint1));
-      Assert.That(_constraint.Joint2, Is.EqualTo(_joint2));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Equality/MjJointConstraintTests.cs.meta b/unity/Tests/Editor/Components/Equality/MjJointConstraintTests.cs.meta
deleted file mode 100644
index 26872f7c..00000000
--- a/unity/Tests/Editor/Components/Equality/MjJointConstraintTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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-timeCreated: 1552309373
-licenseType: Pro
-MonoImporter:
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diff --git a/unity/Tests/Editor/Components/Equality/MjTendonConstraintTests.cs b/unity/Tests/Editor/Components/Equality/MjTendonConstraintTests.cs
deleted file mode 100644
index 3d648e9c..00000000
--- a/unity/Tests/Editor/Components/Equality/MjTendonConstraintTests.cs
+++ /dev/null
@@ -1,69 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-  [TestFixture]
-  public class MjTendonConstraintTests {
-    private MjFixedTendon _tendon1;
-    private MjFixedTendon _tendon2;
-    private MjTendonConstraint _constraint;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _tendon1 = new GameObject("tendon1").AddComponent<MjFixedTendon>();
-      _tendon2 = new GameObject("tendon2").AddComponent<MjFixedTendon>();
-      _constraint = new GameObject("tendon").AddComponent<MjTendonConstraint>();
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
-      UnityEngine.Object.DestroyImmediate(_tendon1.gameObject);
-      UnityEngine.Object.DestroyImmediate(_tendon2.gameObject);
-    }
-
-    [Test]
-    public void ErrorThrownWhenTendon1Empty() {
-      // This is an illegal MJCF, but the purpose of this test is to verify that if
-      // the user didn't assign the tendon in the editor, an error will be thrown when play is hit.
-      _doc.LoadXml("<tendon/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("tendon")[0] as XmlElement);
-      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
-    }
-
-    [Test]
-    public void Tendon2Empty() {
-      _doc.LoadXml("<tendon tendon1='tendon1'/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("tendon")[0] as XmlElement);
-      _constraint.GenerateMjcf("name", _doc);
-    }
-
-    [Test]
-    public void ParseAllSettings() {
-      _doc.LoadXml("<tendon tendon1='tendon1' tendon2='tendon2'/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("tendon")[0] as XmlElement);
-      Assert.That(_constraint.Tendon1, Is.EqualTo(_tendon1));
-      Assert.That(_constraint.Tendon2, Is.EqualTo(_tendon2));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Equality/MjTendonConstraintTests.cs.meta b/unity/Tests/Editor/Components/Equality/MjTendonConstraintTests.cs.meta
deleted file mode 100644
index 5798a912..00000000
--- a/unity/Tests/Editor/Components/Equality/MjTendonConstraintTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: dc3cafd0739674e46a797243aab71e50
-timeCreated: 1552310856
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diff --git a/unity/Tests/Editor/Components/Equality/MjWeldTests.cs b/unity/Tests/Editor/Components/Equality/MjWeldTests.cs
deleted file mode 100644
index 61587584..00000000
--- a/unity/Tests/Editor/Components/Equality/MjWeldTests.cs
+++ /dev/null
@@ -1,80 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-  [TestFixture]
-  public class MjWeldTests {
-    private MjBody _body1;
-    private MjBody _body2;
-    private MjWeld _constraint;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _body1 = new GameObject("body1").AddComponent<MjBody>();
-      _body2 = new GameObject("body2").AddComponent<MjBody>();
-      _constraint = new GameObject("weld").AddComponent<MjWeld>();
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
-      UnityEngine.Object.DestroyImmediate(_body1.gameObject);
-      UnityEngine.Object.DestroyImmediate(_body2.gameObject);
-    }
-
-    [Test]
-    public void ParseXML() {
-      _doc.LoadXml("<weld body1='body1' body2='body2'/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("weld")[0] as XmlElement);
-      Assert.That(_constraint.Body1, Is.EqualTo(_body1));
-      Assert.That(_constraint.Body2, Is.EqualTo(_body2));
-    }
-
-    [Test]
-    public void GenerateXML() {
-      _constraint.Body1 = _body1;
-      _constraint.Body2 = _body2;
-      var mjcf = _constraint.GenerateMjcf("name", _doc);
-      Assert.That(mjcf.OuterXml, Does.Contain("<weld"));
-      Assert.That(mjcf.OuterXml, Does.Contain("body1=\""));
-      Assert.That(mjcf.OuterXml, Does.Contain("body2=\""));
-    }
-
-    [Test]
-    public void ErrorThrownWhenBody1Empty() {
-      // This is an illegal MJCF, but the purpose of this test is to verify that if
-      // the user didn't assign the body in the editor, an error will be thrown when play is hit.
-      _doc.LoadXml("<weld/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("weld")[0] as XmlElement);
-      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
-    }
-
-    // In this constraint both elements are required.
-    [Test]
-    public void ErrorThrownWhenBody2Empty() {
-      _doc.LoadXml("<weld body1='body1'/>");
-      _constraint.ParseMjcf(_doc.GetElementsByTagName("weld")[0] as XmlElement);
-      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Equality/MjWeldTests.cs.meta b/unity/Tests/Editor/Components/Equality/MjWeldTests.cs.meta
deleted file mode 100644
index 25bddf55..00000000
--- a/unity/Tests/Editor/Components/Equality/MjWeldTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
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-  executionOrder: 0
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-  userData: 
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-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Joints.meta b/unity/Tests/Editor/Components/Joints.meta
deleted file mode 100644
index e3e8da13..00000000
--- a/unity/Tests/Editor/Components/Joints.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 14dbadfe71f022782b39f72eec43ca8f
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Joints/MjBallJointTests.cs b/unity/Tests/Editor/Components/Joints/MjBallJointTests.cs
deleted file mode 100644
index 1c73d0b2..00000000
--- a/unity/Tests/Editor/Components/Joints/MjBallJointTests.cs
+++ /dev/null
@@ -1,74 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjBallJointTests {
-
-  private GameObject _parent;
-  private MjBallJoint _joint;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _parent = new GameObject("parent");
-    _joint = new GameObject("joint").AddComponent<MjBallJoint>();
-    _joint.transform.parent = _parent.transform;
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    GameObject.DestroyImmediate(_parent);
-  }
-
-  [Test]
-  public void ComponentWorldPositionConvertedToMjCoordinates() {
-    _joint.transform.position = new Vector3(1, 2, 3);
-    _doc.AppendChild(_joint.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
-  }
-
-  [Test]
-  public void GenerateLimits() {
-    _joint.RangeUpper = 10;
-    _doc.AppendChild(_joint.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"range=""0 10"""));
-  }
-
-  [Test]
-  public void ParsingPosition() {
-    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-    jointElement.SetAttribute("pos", "1 2 3");
-    _joint.ParseMjcf(jointElement);
-    Assert.That(_joint.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
-  }
-
-  [Test]
-  public void ParsingJointLimitRangeSettings() {
-    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-    jointElement.SetAttribute("range", "0 10");
-    _joint.ParseMjcf(jointElement);
-    Assert.That(_joint.RangeUpper, Is.EqualTo(10));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Joints/MjBallJointTests.cs.meta b/unity/Tests/Editor/Components/Joints/MjBallJointTests.cs.meta
deleted file mode 100644
index a7350a1e..00000000
--- a/unity/Tests/Editor/Components/Joints/MjBallJointTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 76c34ae488142477588dcd6231bb0386
-timeCreated: 1552057103
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Joints/MjBaseJointTests.cs b/unity/Tests/Editor/Components/Joints/MjBaseJointTests.cs
deleted file mode 100644
index 5dce7caa..00000000
--- a/unity/Tests/Editor/Components/Joints/MjBaseJointTests.cs
+++ /dev/null
@@ -1,77 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjBaseJointTests {
-
-  public class FakeJoint : MjBaseJoint {
-    protected override void OnParseMjcf(XmlElement mjcf) {}
-
-    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-      return (XmlElement)doc.CreateElement("joint");
-    }
-  }
-
-  private FakeJoint _joint;
-  private MjBaseBody _parent;
-  private MjBaseBody _grandParent;
-
-  [Test]
-  public void RetrievingBodiesConnectedByTheJoint() {
-    _joint = new GameObject("joint").AddComponent<FakeJoint>();
-    _parent = new GameObject("parent").AddComponent<MjBody>();
-    _grandParent = new GameObject("grandParent").AddComponent<MjBody>();
-
-    _joint.transform.parent = _parent.transform;
-    _parent.transform.parent = _grandParent.transform;
-
-    MjBaseBody grandParent, parent;
-    _joint.GetConnectedBodies(out grandParent, out parent);
-    Assert.That(grandParent, Is.EqualTo(_grandParent));
-    Assert.That(parent, Is.EqualTo(_parent));
-
-    GameObject.DestroyImmediate(_joint.gameObject);
-    GameObject.DestroyImmediate(_parent.gameObject);
-    GameObject.DestroyImmediate(_grandParent.gameObject);
-    GameObject.DestroyImmediate(MjScene.Instance);
-  }
-
-  [Test]
-  public void RetrievingBodiesConnectedToTheWorld() {
-    _joint = new GameObject("joint").AddComponent<FakeJoint>();
-    _parent = new GameObject("parent").AddComponent<MjBody>();
-
-    _joint.transform.parent = _parent.transform;
-
-    MjBaseBody grandParent, parent;
-    _joint.GetConnectedBodies(out grandParent, out parent);
-    Assert.That(grandParent, Is.Null);
-    Assert.That(parent, Is.EqualTo(_parent));
-
-    GameObject.DestroyImmediate(_joint.gameObject);
-    GameObject.DestroyImmediate(_parent.gameObject);
-    GameObject.DestroyImmediate(MjScene.Instance);
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Joints/MjBaseJointTests.cs.meta b/unity/Tests/Editor/Components/Joints/MjBaseJointTests.cs.meta
deleted file mode 100644
index ad2e4f21..00000000
--- a/unity/Tests/Editor/Components/Joints/MjBaseJointTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 61b458a2c0d3a4c54a2ead000ba4b32e
-timeCreated: 1538412731
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Joints/MjHingeJointTests.cs b/unity/Tests/Editor/Components/Joints/MjHingeJointTests.cs
deleted file mode 100644
index cff75293..00000000
--- a/unity/Tests/Editor/Components/Joints/MjHingeJointTests.cs
+++ /dev/null
@@ -1,102 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools.Utils;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjHingeJointTests {
-
-  private GameObject _parent;
-  private MjHingeJoint _joint;
-  private XmlDocument _doc;
-  private Vector3EqualityComparer _comparer;
-
-  [SetUp]
-  public void SetUp() {
-    _parent = new GameObject("parent");
-    _joint = new GameObject("joint", typeof(MjHingeJoint)).GetComponent<MjHingeJoint>();
-    _joint.transform.parent = _parent.transform;
-    _doc = new XmlDocument();
-    _comparer = new Vector3EqualityComparer(1e-3f);
-  }
-
-  [TearDown]
-  public void TearDown() {
-    GameObject.DestroyImmediate(_parent);
-  }
-
-  [Test]
-  public void ComponentWorldPositionConvertedToMjCoordinates() {
-    _joint.transform.position = new Vector3(1, 2, 3);
-    _doc.AppendChild(_joint.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
-  }
-
-  [Test]
-  public void TestingAnOffsetAxis() {
-    _joint.transform.rotation =
-        Quaternion.AngleAxis(45.0f, Vector3.up);
-    var element = _joint.GenerateMjcf("name", _doc);
-    Assert.That(element.GetVector3Attribute("axis", Vector3.zero),
-                Is.EqualTo(new Vector3(0.7071068f, -0.7071069f, 0)).Using(_comparer));
-  }
-
-  [Test]
-  public void GenerateLimits() {
-    _joint.RangeLower = -20;
-    _joint.RangeUpper = 10;
-    _doc.AppendChild(_joint.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"range=""-20 10"""));
-  }
-
-  [Test]
-  public void ParsingPosition() {
-    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-    jointElement.SetAttribute("pos", "1 2 3");
-    _joint.ParseMjcf(jointElement);
-    Assert.That(_joint.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
-  }
-
-  [TestCase("1 0 0", 1, 0, 0)]
-  [TestCase("0 1 0", 0, 0, 1)]
-  [TestCase("0 0 1", 0, 1, 0)]
-  public void ParsingTranslatesRotationAxisIntoJointRotation(
-      string setting, float rx, float ry, float rz) {
-    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-    jointElement.SetAttribute("axis", setting);
-    _joint.ParseMjcf(jointElement);
-    Assert.That(_joint.RotationAxis, Is.EqualTo(new Vector3(rx, ry, rz)).Using(_comparer));
-  }
-
-  [TestCase("0 10", 0, 10)]
-  [TestCase("-10 0", -10, 0)]
-  [TestCase("-10 10", -10, 10)]
-  public void ParsingJointLimitRangeSettings(
-      string setting, float expectedLow, float expectedHigh) {
-    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-    jointElement.SetAttribute("range", setting);
-    _joint.ParseMjcf(jointElement);
-    Assert.That(_joint.RangeLower, Is.EqualTo(expectedLow));
-    Assert.That(_joint.RangeUpper, Is.EqualTo(expectedHigh));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Joints/MjHingeJointTests.cs.meta b/unity/Tests/Editor/Components/Joints/MjHingeJointTests.cs.meta
deleted file mode 100644
index 9b863ef4..00000000
--- a/unity/Tests/Editor/Components/Joints/MjHingeJointTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 61d44d0160a1c43e38cb0f9eaebbfa92
-timeCreated: 1537527115
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Joints/MjJointSettingsTests.cs b/unity/Tests/Editor/Components/Joints/MjJointSettingsTests.cs
deleted file mode 100644
index 3e4b16c3..00000000
--- a/unity/Tests/Editor/Components/Joints/MjJointSettingsTests.cs
+++ /dev/null
@@ -1,223 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjJointSettingsGenerationTests {
-
-  private MjJointSettings _settings;
-  private XmlDocument _doc;
-  private XmlElement _mjcf;
-
-  [SetUp]
-  public void SetUp() {
-    _settings = new MjJointSettings();
-    _doc = new XmlDocument();
-    _mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-  }
-
-  [Test]
-  public void DampingMjcf() {
-    _settings.Spring.Damping = 5;
-    _settings.Spring.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"damping=""5"""));
-  }
-
-  [Test]
-  public void FrictionLossMjcf() {
-    _settings.Solver.FrictionLoss = 5;
-    _settings.Solver.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"frictionloss=""5"""));
-  }
-
-  [Test]
-  public void StiffnessMjcf() {
-    _settings.Spring.Stiffness = 5;
-    _settings.Spring.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"stiffness=""5"""));
-  }
-
-  [Test]
-  public void SpringDamperSettingsMjcf() {
-    _settings.Spring.TimeConstant = 5;
-    _settings.Spring.DampingRatio = 6;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"springdamper=""5 6"""));
-  }
-
-  [Test]
-  public void SpringEquilibriumPoseMjcf() {
-    _settings.Spring.EquilibriumPose = 5;
-    _settings.Spring.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"springref=""5"""));
-  }
-
-  [Test]
-  public void ArmatureMjcf() {
-    _settings.Armature = 3;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"armature=""3"""));
-  }
-
-  [Test]
-  public void SolverRefLimitMjcf() {
-    _settings.Solver.RefLimit = new SolverReference() { TimeConst = 5, DampRatio = 6 };
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"solreflimit=""5 6"""));
-  }
-
-  [Test]
-  public void SolverImpLimitMjcf() {
-    _settings.Solver.ImpLimit = new SolverImpedance() {
-        DMin = 5, DMax = 6, Width = 7, Midpoint = 8, Power = 9 };
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"solimplimit=""5 6 7 8 9"""));
-  }
-
-  [Test]
-  public void SolverRefFrictionMjcf() {
-    _settings.Solver.RefFriction = new SolverReference() { TimeConst = 5, DampRatio = 6 };
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"solreffriction=""5 6"""));
-  }
-
-  [Test]
-  public void SolverImpFrictionMjcf() {
-    _settings.Solver.ImpFriction = new SolverImpedance() {
-        DMin = 5, DMax = 6, Width = 7, Midpoint = 8, Power = 9 };
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"solimpfriction=""5 6 7 8 9"""));
-  }
-}
-
-[TestFixture]
-public class MjJointSettingsParsingTests {
-
-  private MjJointSettings _settings;
-  private XmlDocument _doc;
-  private XmlElement _mjcf;
-
-  [SetUp]
-  public void SetUp() {
-    _doc = new XmlDocument();
-    _mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-    _settings = new MjJointSettings();
-  }
-
-  [Test]
-  public void DampingMjcf() {
-    _mjcf.SetAttribute("damping", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Spring.Damping, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void ArmatureMjcf() {
-    _mjcf.SetAttribute("armature", "3");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Armature, Is.EqualTo(3));
-  }
-
-  [Test]
-  public void FrictionLossMjcf() {
-    _mjcf.SetAttribute("frictionloss", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.FrictionLoss, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void StiffnessMjcf() {
-    _mjcf.SetAttribute("stiffness", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Spring.Stiffness, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void SpringDamperSettingsMjcf() {
-    _mjcf.SetAttribute("springdamper", "5 6");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Spring.TimeConstant, Is.EqualTo(5));
-    Assert.That(_settings.Spring.DampingRatio, Is.EqualTo(6));
-  }
-
-  [Test]
-  public void SpringEquilibriumPoseMjcf() {
-    _mjcf.SetAttribute("springref", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Spring.EquilibriumPose, Is.EqualTo(5));
-  }
-
-  [TestCase("true", true)]
-  [TestCase("false", false)]
-  public void ParsingJointLimitSettings(string setting, bool expected) {
-    _mjcf.SetAttribute("limited", setting);
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.Limited, Is.EqualTo(expected));
-  }
-
-  [TestCase("1", 1)]
-  [TestCase("-5", -5)]
-  public void ParsingJointLimitMarginSettings(string setting, float expected) {
-    _mjcf.SetAttribute("margin", setting);
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.Margin, Is.EqualTo(expected));
-  }
-
-  [Test]
-  public void SolverRefLimitMjcf() {
-    _mjcf.SetAttribute("solreflimit", "5 6");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.RefLimit.TimeConst, Is.EqualTo(5));
-    Assert.That(_settings.Solver.RefLimit.DampRatio, Is.EqualTo(6));
-  }
-
-  [Test]
-  public void SolverImpLimitMjcf() {
-    _mjcf.SetAttribute("solimplimit", "5 6 7 8 9");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.ImpLimit.DMin, Is.EqualTo(5));
-    Assert.That(_settings.Solver.ImpLimit.DMax, Is.EqualTo(6));
-    Assert.That(_settings.Solver.ImpLimit.Width, Is.EqualTo(7));
-    Assert.That(_settings.Solver.ImpLimit.Midpoint, Is.EqualTo(8));
-    Assert.That(_settings.Solver.ImpLimit.Power, Is.EqualTo(9));
-  }
-
-  [Test]
-  public void SolverRefFrictionMjcf() {
-    _mjcf.SetAttribute("solreffriction", "5 6");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.RefFriction.TimeConst, Is.EqualTo(5));
-    Assert.That(_settings.Solver.RefFriction.DampRatio, Is.EqualTo(6));
-  }
-
-  [Test]
-  public void SolverImpFrictionMjcf() {
-    _mjcf.SetAttribute("solimpfriction", "5 6 7 8 9");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.ImpFriction.DMin, Is.EqualTo(5));
-    Assert.That(_settings.Solver.ImpFriction.DMax, Is.EqualTo(6));
-    Assert.That(_settings.Solver.ImpFriction.Width, Is.EqualTo(7));
-    Assert.That(_settings.Solver.ImpFriction.Midpoint, Is.EqualTo(8));
-    Assert.That(_settings.Solver.ImpFriction.Power, Is.EqualTo(9));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Joints/MjJointSettingsTests.cs.meta b/unity/Tests/Editor/Components/Joints/MjJointSettingsTests.cs.meta
deleted file mode 100644
index 6174560c..00000000
--- a/unity/Tests/Editor/Components/Joints/MjJointSettingsTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 05670ca69732c47f58a7a6f61510efad
-timeCreated: 1539945962
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
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-  executionOrder: 0
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diff --git a/unity/Tests/Editor/Components/Joints/MjSlideJointTests.cs b/unity/Tests/Editor/Components/Joints/MjSlideJointTests.cs
deleted file mode 100644
index 82c7c2b1..00000000
--- a/unity/Tests/Editor/Components/Joints/MjSlideJointTests.cs
+++ /dev/null
@@ -1,102 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools.Utils;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjSlideJointTests {
-
-  private GameObject _parent;
-  private MjSlideJoint _joint;
-  private XmlDocument _doc;
-  private Vector3EqualityComparer _comparer;
-
-  [SetUp]
-  public void SetUp() {
-    _parent = new GameObject("parent");
-    _joint = new GameObject("joint", typeof(MjSlideJoint)).GetComponent<MjSlideJoint>();
-    _joint.transform.parent = _parent.transform;
-    _doc = new XmlDocument();
-    _comparer = new Vector3EqualityComparer(1e-3f);
-  }
-
-  [TearDown]
-  public void TearDown() {
-    GameObject.DestroyImmediate(_parent);
-  }
-
-  [Test]
-  public void ComponentWorldPositionConvertedToMjCoordinates() {
-    _joint.transform.position = new Vector3(1, 2, 3);
-    _doc.AppendChild(_joint.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
-  }
-
-  [Test]
-  public void GenerateLimits() {
-    _joint.RangeLower = -20;
-    _joint.RangeUpper = 10;
-    _doc.AppendChild(_joint.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"range=""-20 10"""));
-  }
-
-  [Test]
-  public void TestingAnOffsetAxis() {
-    _joint.transform.rotation =
-        Quaternion.AngleAxis(45.0f, Vector3.up);
-    var element = _joint.GenerateMjcf("name", _doc);
-    Assert.That(element.GetVector3Attribute("axis", Vector3.zero),
-                Is.EqualTo(new Vector3(0.7071068f, -0.7071069f, 0)).Using(_comparer));
-  }
-
-  [Test]
-  public void ParsingPosition() {
-    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-    jointElement.SetAttribute("pos", "1 2 3");
-    _joint.ParseMjcf(jointElement);
-    Assert.That(_joint.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
-  }
-
-  [TestCase("1 0 0", 1, 0, 0)]
-  [TestCase("0 1 0", 0, 0, 1)]
-  [TestCase("0 0 1", 0, 1, 0)]
-  public void ParsingTranslatesSlidexisIntoJointRotation(
-      string setting, float rx, float ry, float rz) {
-    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-    jointElement.SetAttribute("axis", setting);
-    _joint.ParseMjcf(jointElement);
-    Assert.That(_joint.SlideAxis, Is.EqualTo(new Vector3(rx, ry, rz)).Using(_comparer));
-  }
-
-  [TestCase("0 10", 0, 10)]
-  [TestCase("-10 0", -10, 0)]
-  [TestCase("-10 10", -10, 10)]
-  public void ParsingJointLimitRangeSettings(
-      string setting, float expectedLow, float expectedHigh) {
-    var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
-    jointElement.SetAttribute("range", setting);
-    _joint.ParseMjcf(jointElement);
-    Assert.That(_joint.RangeLower, Is.EqualTo(expectedLow));
-    Assert.That(_joint.RangeUpper, Is.EqualTo(expectedHigh));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Joints/MjSlideJointTests.cs.meta b/unity/Tests/Editor/Components/Joints/MjSlideJointTests.cs.meta
deleted file mode 100644
index 5418a083..00000000
--- a/unity/Tests/Editor/Components/Joints/MjSlideJointTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: dffb7c2e3d1504bfd8830b6c511732ef
-timeCreated: 1537806570
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/MjActuatorTests.cs b/unity/Tests/Editor/Components/MjActuatorTests.cs
deleted file mode 100644
index 437674b1..00000000
--- a/unity/Tests/Editor/Components/MjActuatorTests.cs
+++ /dev/null
@@ -1,564 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-[TestFixture]
-public class MjActuatorTests {
-  private MjHingeJoint _joint;
-  private MjActuator _actuator;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _joint.name = "my_joint";
-    _actuator = new GameObject("actuator").AddComponent<MjActuator>();
-    _actuator.Joint = _joint;
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_actuator.gameObject);
-    UnityEngine.Object.DestroyImmediate(_joint.gameObject);
-  }
-
-  [TestCase(true, "true")]
-  [TestCase(false, "false")]
-  public void ControlLimitedFlagMjcf(bool value, string expected) {
-    _actuator.CommonParams.CtrlLimited = value;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"ctrllimited=\"{expected}\""));
-  }
-
-  [TestCase(true, "true")]
-  [TestCase(false, "false")]
-  public void ForceLimitedFlagMjcf(bool value, string expected) {
-    _actuator.CommonParams.ForceLimited = value;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"forcelimited=\"{expected}\""));
-  }
-
-  [TestCase(0, 1, "0 1")]
-  [TestCase(1, 0, "0 1")]
-  public void ControlRangeSortingForMjcf(float min, float max, string expected) {
-    _actuator.CommonParams.CtrlRange = new Vector2(min, max);
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"ctrlrange=\"{expected}\""));
-  }
-
-  [TestCase(0, 1, "0 1")]
-  [TestCase(1, 0, "0 1")]
-  public void ForceRangeSortingForMjcf(float min, float max, string expected) {
-    _actuator.CommonParams.ForceRange = new Vector2(min, max);
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"forcerange=\"{expected}\""));
-  }
-
-  [TestCase(0, 1, "0 1")]
-  [TestCase(1, 0, "0 1")]
-  public void LengthRangeSortingForMjcf(float min, float max, string expected) {
-    _actuator.CommonParams.LengthRange = new Vector2(min, max);
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"lengthrange=\"{expected}\""));
-  }
-
-  [Test]
-  public void GearMjcf() {
-    _actuator.CommonParams.Gear = new List<float>() { 1, 2, 3, 4, 5, 6 };
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"gear=\"1 2 3 4 5 6\""));
-  }
-
-  [Test]
-  public void JointNameMjcf() {
-    _joint.GenerateMjcf("joint_name", _doc);
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"joint=\"joint_name\""));
-  }
-
-  [Test]
-  public void ParseAllSettings() {
-    _doc.LoadXml(
-        "<general joint=\"my_joint\" ctrllimited=\"true\" forcelimited=\"true\" ctrlrange=\"2 3\" "
-        + "forcerange=\"4 5\" lengthrange=\"6 7\" gear=\"8 9\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("general")[0] as XmlElement);
-    Assert.That(_actuator.CommonParams.CtrlLimited, Is.True);
-    Assert.That(_actuator.CommonParams.ForceLimited, Is.True);
-    Assert.That(_actuator.CommonParams.CtrlRange, Is.EqualTo(new Vector2(2, 3)));
-    Assert.That(_actuator.CommonParams.ForceRange, Is.EqualTo(new Vector2(4, 5)));
-    Assert.That(_actuator.CommonParams.LengthRange, Is.EqualTo(new Vector2(6, 7)));
-    Assert.That(_actuator.CommonParams.Gear, Has.Count.EqualTo(2));
-    Assert.That(_actuator.CommonParams.Gear[0], Is.EqualTo(8));
-    Assert.That(_actuator.CommonParams.Gear[1], Is.EqualTo(9));
-  }
-
-  [Test]
-  public void ParseDefaultSettings() {
-    _doc.LoadXml("<general joint=\"my_joint\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("general")[0] as XmlElement);
-    Assert.That(_actuator.CommonParams.CtrlLimited, Is.False);
-    Assert.That(_actuator.CommonParams.ForceLimited, Is.False);
-    Assert.That(_actuator.CommonParams.CtrlRange, Is.EqualTo(Vector2.zero));
-    Assert.That(_actuator.CommonParams.ForceRange, Is.EqualTo(Vector2.zero));
-    Assert.That(_actuator.CommonParams.LengthRange, Is.EqualTo(Vector2.zero));
-    Assert.That(_actuator.CommonParams.Gear, Has.Count.EqualTo(1));
-    Assert.That(_actuator.CommonParams.Gear[0], Is.EqualTo(1));
-  }
-}
-
-[TestFixture]
-public class MjGeneralActuatorTests {
-  private MjHingeJoint _joint;
-  private MjActuator _actuator;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _joint.name = "my_joint";
-    _actuator = new GameObject("actuator").AddComponent<MjActuator>();
-    _actuator.Type = MjActuator.ActuatorType.General;
-    _actuator.Joint = _joint;
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_actuator.gameObject);
-    UnityEngine.Object.DestroyImmediate(_joint.gameObject);
-  }
-
-  [Test]
-  public void ProperTagNameUsed() {
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<general"));
-  }
-
-  [TestCase(MujocoLib.mjtDyn.mjDYN_NONE, "none")]
-  [TestCase(MujocoLib.mjtDyn.mjDYN_INTEGRATOR, "integrator")]
-  [TestCase(MujocoLib.mjtDyn.mjDYN_FILTER, "filter")]
-  [TestCase(MujocoLib.mjtDyn.mjDYN_MUSCLE, "muscle")]
-  [TestCase(MujocoLib.mjtDyn.mjDYN_USER, "user")]
-  public void DynamicsTypeMjcf(MujocoLib.mjtDyn value, string expected) {
-    _actuator.CustomParams.DynType = value;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"dyntype=\"{expected}\""));
-  }
-
-  [TestCase(MujocoLib.mjtGain.mjGAIN_FIXED, "fixed")]
-  [TestCase(MujocoLib.mjtGain.mjGAIN_AFFINE, "affine")]
-  [TestCase(MujocoLib.mjtGain.mjGAIN_MUSCLE, "muscle")]
-  [TestCase(MujocoLib.mjtGain.mjGAIN_USER, "user")]
-  public void GainTypeMjcf(MujocoLib.mjtGain value, string expected) {
-    _actuator.CustomParams.GainType = value;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"gaintype=\"{expected}\""));
-  }
-
-  [TestCase(MujocoLib.mjtBias.mjBIAS_NONE, "none")]
-  [TestCase(MujocoLib.mjtBias.mjBIAS_AFFINE, "affine")]
-  [TestCase(MujocoLib.mjtBias.mjBIAS_MUSCLE, "muscle")]
-  [TestCase(MujocoLib.mjtBias.mjBIAS_USER, "user")]
-  public void BiasTypeMjcf(MujocoLib.mjtBias value, string expected) {
-    _actuator.CustomParams.BiasType = value;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"biastype=\"{expected}\""));
-  }
-
-  [Test]
-  public void DynamicsParamsMjcf() {
-    _actuator.CustomParams.DynPrm = new List<float>() { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 };
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"dynprm=\"1 2 3 4 5 6 7 8 9 10\""));
-  }
-
-  [Test]
-  public void GainParamsMjcf() {
-    _actuator.CustomParams.GainPrm = new List<float>() { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 };
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"gainprm=\"1 2 3 4 5 6 7 8 9 10\""));
-  }
-
-  [Test]
-  public void BiasParamsMjcf() {
-    _actuator.CustomParams.BiasPrm = new List<float>() { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 };
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"biasprm=\"1 2 3 4 5 6 7 8 9 10\""));
-  }
-
-  [Test]
-  public void ParseAllSettings() {
-    _doc.LoadXml(
-        "<general joint=\"my_joint\" dyntype=\"integrator\" gaintype=\"muscle\" "
-        + "biastype=\"affine\" dynprm=\"6\" gainprm=\"7 8\" biasprm=\"9 10 11 12\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("general")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.DynType, Is.EqualTo(MujocoLib.mjtDyn.mjDYN_INTEGRATOR));
-    Assert.That(_actuator.CustomParams.GainType, Is.EqualTo(MujocoLib.mjtGain.mjGAIN_MUSCLE));
-    Assert.That(_actuator.CustomParams.BiasType, Is.EqualTo(MujocoLib.mjtBias.mjBIAS_AFFINE));
-    Assert.That(_actuator.CustomParams.DynPrm, Has.Count.EqualTo(3));
-    Assert.That(_actuator.CustomParams.GainPrm, Has.Count.EqualTo(3));
-    Assert.That(_actuator.CustomParams.BiasPrm, Has.Count.EqualTo(4));
-    Assert.That(_actuator.CustomParams.DynPrm[0], Is.EqualTo(6));
-    Assert.That(_actuator.CustomParams.DynPrm[1], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.DynPrm[2], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.GainPrm[0], Is.EqualTo(7));
-    Assert.That(_actuator.CustomParams.GainPrm[1], Is.EqualTo(8));
-    Assert.That(_actuator.CustomParams.GainPrm[2], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.BiasPrm[0], Is.EqualTo(9));
-    Assert.That(_actuator.CustomParams.BiasPrm[1], Is.EqualTo(10));
-    Assert.That(_actuator.CustomParams.BiasPrm[2], Is.EqualTo(11));
-    Assert.That(_actuator.CustomParams.BiasPrm[3], Is.EqualTo(12));
-  }
-
-  [Test]
-  public void ParseDefaultSettings() {
-    _doc.LoadXml("<general joint=\"my_joint\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("general")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.DynType, Is.EqualTo(MujocoLib.mjtDyn.mjDYN_NONE));
-    Assert.That(_actuator.CustomParams.GainType, Is.EqualTo(MujocoLib.mjtGain.mjGAIN_FIXED));
-    Assert.That(_actuator.CustomParams.BiasType, Is.EqualTo(MujocoLib.mjtBias.mjBIAS_NONE));
-    Assert.That(_actuator.CustomParams.DynPrm, Has.Count.EqualTo(3));
-    Assert.That(_actuator.CustomParams.GainPrm, Has.Count.EqualTo(3));
-    Assert.That(_actuator.CustomParams.BiasPrm, Has.Count.EqualTo(3));
-    Assert.That(_actuator.CustomParams.DynPrm[0], Is.EqualTo(1));
-    Assert.That(_actuator.CustomParams.DynPrm[1], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.DynPrm[2], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.GainPrm[0], Is.EqualTo(1));
-    Assert.That(_actuator.CustomParams.GainPrm[1], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.GainPrm[2], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.BiasPrm[0], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.BiasPrm[1], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.BiasPrm[2], Is.EqualTo(0));
-  }
-}
-
-[TestFixture]
-public class MjPositionActuatorTests {
-  private MjHingeJoint _joint;
-  private MjActuator _actuator;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _joint.name = "my_joint";
-    _actuator = new GameObject("actuator").AddComponent<MjActuator>();
-    _actuator.Type = MjActuator.ActuatorType.Position;
-    _actuator.Joint = _joint;
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_actuator.gameObject);
-    UnityEngine.Object.DestroyImmediate(_joint.gameObject);
-  }
-
-  [Test]
-  public void ProperTagNameUsed() {
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<position"));
-  }
-
-  [TestCase(3, 2, "3", "2")]
-  [TestCase(-2, -1, "2", "1")]
-  public void BiasParamsMjcf(float valueP, float valueV, string expectedP, string expectedV) {
-    _actuator.CustomParams.Kp = valueP;
-    _actuator.CustomParams.Kvp = valueV;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"kp=\"{expectedP}\""));
-    Assert.That(_doc.OuterXml, Does.Contain($"kv=\"{expectedV}\""));
-  }
-
-  [Test]
-  public void ParseAllSettings() {
-    _doc.LoadXml("<position joint=\"my_joint\" kp=\"2\" kv=\"1\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("position")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.Kp, Is.EqualTo(2));
-    Assert.That(_actuator.CustomParams.Kvp, Is.EqualTo(1));
-  }
-
-  [Test]
-  public void ParseDefaultSettings() {
-    _doc.LoadXml("<position joint=\"my_joint\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("position")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.Kp, Is.EqualTo(1));
-    Assert.That(_actuator.CustomParams.Kvp, Is.EqualTo(0));
-  }
-}
-
-[TestFixture]
-public class MjVelocityActuatorTests {
-  private MjHingeJoint _joint;
-  private MjActuator _actuator;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _joint.name = "my_joint";
-    _actuator = new GameObject("actuator").AddComponent<MjActuator>();
-    _actuator.Type = MjActuator.ActuatorType.Velocity;
-    _actuator.Joint = _joint;
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_actuator.gameObject);
-    UnityEngine.Object.DestroyImmediate(_joint.gameObject);
-  }
-
-  [Test]
-  public void ProperTagNameUsed() {
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<velocity"));
-  }
-
-  [TestCase(3, "3")]
-  [TestCase(-2, "2")]
-  public void BiasParamsMjcf(float value, string expected) {
-    _actuator.CustomParams.Kv = value;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"kv=\"{expected}\""));
-  }
-
-  [Test]
-  public void ParseAllSettings() {
-    _doc.LoadXml("<velocity joint=\"my_joint\" kv=\"2\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("velocity")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.Kv, Is.EqualTo(2));
-  }
-
-  [Test]
-  public void ParseDefaultSettings() {
-    _doc.LoadXml("<velocity joint=\"my_joint\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("velocity")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.Kv, Is.EqualTo(1));
-  }
-}
-
-[TestFixture]
-public class MjCylinderActuatorTests {
-  private MjHingeJoint _joint;
-  private MjActuator _actuator;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _joint.name = "my_joint";
-    _actuator = new GameObject("actuator").AddComponent<MjActuator>();
-    _actuator.Type = MjActuator.ActuatorType.Cylinder;
-    _actuator.Joint = _joint;
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_actuator.gameObject);
-    UnityEngine.Object.DestroyImmediate(_joint.gameObject);
-  }
-
-  [Test]
-  public void ProperTagNameUsed() {
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<cylinder"));
-  }
-
-  [Test]
-  public void TimeConstantMjcf() {
-    _actuator.CustomParams.CylinderTimeConst = 2.0f;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"timeconst=\"2\""));
-  }
-
-  [TestCase(3, "3")]
-  [TestCase(-2, "2")]
-  public void AreaMjcf(float value, string expected) {
-    _actuator.CustomParams.Area = value;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"area=\"{expected}\""));
-  }
-
-  [TestCase(3, "3")]
-  [TestCase(-2, "2")]
-  public void DiameterMjcf(float value, string expected) {
-    _actuator.CustomParams.Diameter = value;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"diameter=\"{expected}\""));
-  }
-
-  [Test]
-  public void BiasMjcf() {
-    _actuator.CustomParams.Bias = new float[] { 1, 2, 3 };
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"bias=\"1 2 3\""));
-  }
-
-  [Test]
-  public void ParseAllSettings() {
-    _doc.LoadXml("<cylinder joint=\"my_joint\" timeconst=\"1\" area =\"2\" diameter=\"3\" "
-                 + "bias=\"4 5\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("cylinder")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.CylinderTimeConst, Is.EqualTo(1));
-    Assert.That(_actuator.CustomParams.Area, Is.EqualTo(2));
-    Assert.That(_actuator.CustomParams.Diameter, Is.EqualTo(3));
-    Assert.That(_actuator.CustomParams.Bias, Has.Length.EqualTo(3));
-    Assert.That(_actuator.CustomParams.Bias[0], Is.EqualTo(4));
-    Assert.That(_actuator.CustomParams.Bias[1], Is.EqualTo(5));
-    Assert.That(_actuator.CustomParams.Bias[2], Is.EqualTo(0));
-  }
-
-  [Test]
-  public void ParseDefaultSettings() {
-    _doc.LoadXml("<cylinder joint=\"my_joint\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("cylinder")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.CylinderTimeConst, Is.EqualTo(1));
-    Assert.That(_actuator.CustomParams.Area, Is.EqualTo(1));
-    Assert.That(_actuator.CustomParams.Diameter, Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.Bias, Has.Length.EqualTo(3));
-    Assert.That(_actuator.CustomParams.Bias[0], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.Bias[1], Is.EqualTo(0));
-    Assert.That(_actuator.CustomParams.Bias[2], Is.EqualTo(0));
-  }
-}
-
-[TestFixture]
-public class MjMuscleActuatorTests {
-  private MjHingeJoint _joint;
-  private MjActuator _actuator;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _joint.name = "my_joint";
-    _actuator = new GameObject("actuator").AddComponent<MjActuator>();
-    _actuator.Type = MjActuator.ActuatorType.Muscle;
-    _actuator.Joint = _joint;
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_actuator.gameObject);
-    UnityEngine.Object.DestroyImmediate(_joint.gameObject);
-  }
-
-  [Test]
-  public void ProperTagNameUsed() {
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<muscle"));
-  }
-
-  [Test]
-  public void TimeConstantMjcf() {
-    _actuator.CustomParams.MuscleTimeConst = new Vector2(1, 2);
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"timeconst=\"1 2\""));
-  }
-
-  [TestCase(1, 2, "1 2")]
-  [TestCase(2, 1, "1 2")]
-  public void RangeMjcf(float x, float y, string expected) {
-    _actuator.CustomParams.Range = new Vector2(x, y);
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"range=\"{expected}\""));
-  }
-
-  [TestCase(-2, "-2")]
-  [TestCase(2, "2")]
-  public void ForceMjcf(float value, string expected) {
-    _actuator.CustomParams.Force = value;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"force=\"{expected}\""));
-  }
-
-  [Test]
-  public void LMinMjcf() {
-    _actuator.CustomParams.LMin = 2.0f;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"lmin=\"2\""));
-  }
-
-  [Test]
-  public void LMaxMjcf() {
-    _actuator.CustomParams.LMin = 3.0f;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"lmin=\"3\""));
-  }
-
-  [Test]
-  public void VMaxMjcf() {
-    _actuator.CustomParams.VMax = 4.0f;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"vmax=\"4\""));
-  }
-
-  [Test]
-  public void FpMaxMjcf() {
-    _actuator.CustomParams.FpMax = 5.0f;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"fpmax=\"5\""));
-  }
-
-  [Test]
-  public void FvMaxMjcf() {
-    _actuator.CustomParams.FvMax = 6.0f;
-    _doc.AppendChild(_actuator.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"fvmax=\"6\""));
-  }
-
-  [Test]
-  public void ParseAllSettings() {
-    _doc.LoadXml(
-        "<muscle joint=\"my_joint\" timeconst=\"1 2\" range =\"3 4\" force=\"5\" scale=\"6\" "
-        + "lmin=\"7\" lmax=\"8\" vmax=\"9\" fpmax=\"10\" fvmax=\"11\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("muscle")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.MuscleTimeConst, Is.EqualTo(new Vector2(1, 2)));
-    Assert.That(_actuator.CustomParams.Range, Is.EqualTo(new Vector2(3, 4)));
-    Assert.That(_actuator.CustomParams.Force, Is.EqualTo(5));
-    Assert.That(_actuator.CustomParams.Scale, Is.EqualTo(6));
-    Assert.That(_actuator.CustomParams.LMin, Is.EqualTo(7));
-    Assert.That(_actuator.CustomParams.LMax, Is.EqualTo(8));
-    Assert.That(_actuator.CustomParams.VMax, Is.EqualTo(9));
-    Assert.That(_actuator.CustomParams.FpMax, Is.EqualTo(10));
-    Assert.That(_actuator.CustomParams.FvMax, Is.EqualTo(11));
-  }
-
-  [Test]
-  public void ParseDefaultSettings() {
-    _doc.LoadXml("<muscle joint=\"my_joint\"/>");
-    _actuator.ParseMjcf(_doc.GetElementsByTagName("muscle")[0] as XmlElement);
-    Assert.That(_actuator.CustomParams.MuscleTimeConst, Is.EqualTo(new Vector2(0.01f, 0.04f)));
-    Assert.That(_actuator.CustomParams.Range, Is.EqualTo(new Vector2(0.75f, 1.05f)));
-    Assert.That(_actuator.CustomParams.Force, Is.EqualTo(-1));
-    Assert.That(_actuator.CustomParams.Scale, Is.EqualTo(200));
-    Assert.That(_actuator.CustomParams.LMin, Is.EqualTo(0.5f));
-    Assert.That(_actuator.CustomParams.LMax, Is.EqualTo(1.6f));
-    Assert.That(_actuator.CustomParams.VMax, Is.EqualTo(1.5f));
-    Assert.That(_actuator.CustomParams.FpMax, Is.EqualTo(1.3f));
-    Assert.That(_actuator.CustomParams.FvMax, Is.EqualTo(1.2f));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/MjActuatorTests.cs.meta b/unity/Tests/Editor/Components/MjActuatorTests.cs.meta
deleted file mode 100644
index df0849b9..00000000
--- a/unity/Tests/Editor/Components/MjActuatorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: f9f410f3cddf84133a9db8a7226af54f
-timeCreated: 1547033205
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/MjExcludeTests.cs b/unity/Tests/Editor/Components/MjExcludeTests.cs
deleted file mode 100644
index b7b1ce5a..00000000
--- a/unity/Tests/Editor/Components/MjExcludeTests.cs
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-[TestFixture]
-public class MjExcludeTests {
-  private MjBody _body1;
-  private MjBody _body2;
-  private MjExclude _exclude;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _body1 = new GameObject("body1").AddComponent<MjBody>();
-    _body2 = new GameObject("body2").AddComponent<MjBody>();
-    _exclude = new GameObject("exclude").AddComponent<MjExclude>();
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_exclude.gameObject);
-    UnityEngine.Object.DestroyImmediate(_body1.gameObject);
-    UnityEngine.Object.DestroyImmediate(_body2.gameObject);
-  }
-
-  [Test]
-  public void ParseAllSettings() {
-    _doc.LoadXml(
-        "<exclude body1='body1' body2='body2'/>");
-    _exclude.ParseMjcf(_doc.GetElementsByTagName("exclude")[0] as XmlElement);
-    Assert.That(_exclude.Body1, Is.EqualTo(_body1));
-    Assert.That(_exclude.Body2, Is.EqualTo(_body2));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/MjExcludeTests.cs.meta b/unity/Tests/Editor/Components/MjExcludeTests.cs.meta
deleted file mode 100644
index ed2550e2..00000000
--- a/unity/Tests/Editor/Components/MjExcludeTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 0b6ccb511e4d84261942206958dd2c73
-timeCreated: 1550588347
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/MjGeomSettingsTests.cs b/unity/Tests/Editor/Components/MjGeomSettingsTests.cs
deleted file mode 100644
index 27e41b10..00000000
--- a/unity/Tests/Editor/Components/MjGeomSettingsTests.cs
+++ /dev/null
@@ -1,241 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjGeomSettingsGenerationTests {
-
-  private MjGeomSettings _settings;
-  private XmlDocument _doc;
-  private XmlElement _mjcf;
-
-  [SetUp]
-  public void SetUp() {
-    _settings = new MjGeomSettings();
-    _doc = new XmlDocument();
-    _mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-  }
-
-  [Test]
-  public void ContactFilteringTypeMjcf() {
-    _settings.Filtering.Contype = 5;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"contype=""5"""));
-  }
-
-  [Test]
-  public void ContactFilteringAffinityMjcf() {
-    _settings.Filtering.Conaffinity = 5;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"conaffinity=""5"""));
-  }
-
-  [Test]
-  public void ContactFilteringGroupMjcf() {
-    _settings.Filtering.Group = 5;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"group=""5"""));
-  }
-
-  [Test]
-  public void SolverContactDimensionalityMjcf() {
-    _settings.Solver.ConDim = 5;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"condim=""5"""));
-  }
-
-  [Test]
-  public void SolverMixMjcf() {
-    _settings.Solver.SolMix = 5;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"solmix=""5"""));
-  }
-
-  [Test]
-  public void SolverReferenceMjcf() {
-    _settings.Solver.SolRef.TimeConst = 5;
-    _settings.Solver.SolRef.DampRatio = 6;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"solref=""5 6"""));
-  }
-
-  [Test]
-  public void SolverImpendanceMjcf() {
-    _settings.Solver.SolImp.DMin = 5;
-    _settings.Solver.SolImp.DMax = 6;
-    _settings.Solver.SolImp.Width = 7;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"solimp=""5 6 7"""));
-  }
-
-  [Test]
-  public void SolverMarginMjcf() {
-    _settings.Solver.Margin = 5;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"margin=""5"""));
-  }
-
-  [Test]
-  public void SolverGapMjcf() {
-    _settings.Solver.Gap = 5;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"gap=""5"""));
-  }
-
-  [Test]
-  public void MaterialFrictionMjcf() {
-    _settings.Friction.Sliding = 5;
-    _settings.Friction.Torsional = 6;
-    _settings.Friction.Rolling = 7;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"friction=""5 6 7"""));
-  }
-
-  [Test]
-  public void FluidShapeTypeMjcf() {
-    _settings.FluidShapeType = MjGeomSettings.FluidShapeTypes.Ellipsoid;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"fluidshape=""ellipsoid"""));
-  }
-
-  [Test]
-  public void FluidCoefficientsMjcf() {
-    _settings.FluidCoefficients.BluntDrag = 2f;
-    _settings.FluidCoefficients.SlenderDrag = 3f;
-    _settings.FluidCoefficients.AngularDrag = 4f;
-    _settings.FluidCoefficients.KuttaLift = 5f;
-    _settings.FluidCoefficients.MagnusLift = 6f;
-    _settings.ToMjcf(_mjcf);
-    Assert.That(_doc.OuterXml, Does.Contain(@"fluidcoef=""2 3 4 5 6"""));
-  }
-}
-
-[TestFixture]
-public class MjGeomSettingsParsingTests {
-
-  private MjGeomSettings _settings;
-  private XmlDocument _doc;
-  private XmlElement _mjcf;
-
-  [SetUp]
-  public void SetUp() {
-    _doc = new XmlDocument();
-    _mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    _settings = new MjGeomSettings();
-  }
-
-  [Test]
-  public void ContactFilteringTypeMjcf() {
-    _mjcf.SetAttribute("contype", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Filtering.Contype, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void ContactFilteringAffinityMjcf() {
-    _mjcf.SetAttribute("conaffinity", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Filtering.Conaffinity, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void ContactFilteringGroupMjcf() {
-    _mjcf.SetAttribute("group", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Filtering.Group, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void SolverContactDimensionalityMjcf() {
-    _mjcf.SetAttribute("condim", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.ConDim, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void SolverMixMjcf() {
-    _mjcf.SetAttribute("solmix", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.SolMix, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void SolverReferenceMjcf() {
-    _mjcf.SetAttribute("solref", "5 6");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.SolRef.TimeConst, Is.EqualTo(5));
-    Assert.That(_settings.Solver.SolRef.DampRatio, Is.EqualTo(6));
-  }
-
-  [Test]
-  public void SolverImpendanceMjcf() {
-    _mjcf.SetAttribute("solimp", "5 6 7");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.SolImp.DMin, Is.EqualTo(5));
-    Assert.That(_settings.Solver.SolImp.DMax, Is.EqualTo(6));
-    Assert.That(_settings.Solver.SolImp.Width, Is.EqualTo(7));
-  }
-
-  [Test]
-  public void SolverMarginMjcf() {
-    _mjcf.SetAttribute("margin", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.Margin, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void SolverGapMjcf() {
-    _mjcf.SetAttribute("gap", "5");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Solver.Gap, Is.EqualTo(5));
-  }
-
-  [Test]
-  public void MaterialFrictionMjcf() {
-    _mjcf.SetAttribute("friction", "5 6 7");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.Friction.Sliding, Is.EqualTo(5));
-    Assert.That(_settings.Friction.Torsional, Is.EqualTo(6));
-    Assert.That(_settings.Friction.Rolling, Is.EqualTo(7));
-  }
-
-  [Test]
-  public void FluidShapeTypeMjcf() {
-    _mjcf.SetAttribute("fluidshape", "ellipsoid");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.FluidShapeType, Is.EqualTo(
-        MjGeomSettings.FluidShapeTypes.Ellipsoid
-    ));
-  }
-
-  [Test]
-  public void FluidCoefficientsMjcf() {
-    _mjcf.SetAttribute("fluidcoef", "2 3 4 5 6");
-    _settings.FromMjcf(_mjcf);
-    Assert.That(_settings.FluidCoefficients.BluntDrag, Is.EqualTo(2));
-    Assert.That(_settings.FluidCoefficients.SlenderDrag, Is.EqualTo(3));
-    Assert.That(_settings.FluidCoefficients.AngularDrag, Is.EqualTo(4));
-    Assert.That(_settings.FluidCoefficients.KuttaLift, Is.EqualTo(5));
-    Assert.That(_settings.FluidCoefficients.MagnusLift, Is.EqualTo(6));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/MjGeomSettingsTests.cs.meta b/unity/Tests/Editor/Components/MjGeomSettingsTests.cs.meta
deleted file mode 100644
index a51848ef..00000000
--- a/unity/Tests/Editor/Components/MjGeomSettingsTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 83a2b8f3a6ff24e15ac22ec387fe57fc
-timeCreated: 1539945962
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/MjGeomTests.cs b/unity/Tests/Editor/Components/MjGeomTests.cs
deleted file mode 100644
index eb8cbb14..00000000
--- a/unity/Tests/Editor/Components/MjGeomTests.cs
+++ /dev/null
@@ -1,207 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjGeomTransformTests {
-
-  private GameObject _parent;
-  private MjGeom _geom;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _parent = new GameObject("parent");
-    _geom = new GameObject("geom", typeof(MjGeom)).GetComponent<MjGeom>();
-    _geom.transform.parent = _parent.transform;
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_geom.gameObject);
-    UnityEngine.Object.DestroyImmediate(_parent);
-  }
-
-  [Test]
-  public void WorldPositionToMjCoordinates() {
-    _geom.transform.position = new Vector3(1, 2, 3);
-    _doc.AppendChild(_geom.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
-  }
-
-  [Test]
-  public void WorldRotationToMjCoordinates() {
-    _geom.transform.rotation = Quaternion.AngleAxis(45.0f, Vector3.up);
-    _doc.AppendChild(_geom.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"quat=""-0.9238795 0 0 0.3826835"""));
-  }
-
-  [Test]
-  public void BodyRelativePositionUsedInMjcf() {
-    _parent.transform.position = new Vector3(1, 2, 3);
-    _parent.transform.rotation = Quaternion.AngleAxis(45.0f, (new Vector3(1, 2, 3)).normalized);
-    _doc.AppendChild(_geom.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"quat=""-0.9238795 0.1022765 0.3068294 0.2045529"""));
-  }
-
-  [Test]
-  public void LocalPositionParsing() {
-    var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    geomElement.SetAttribute("pos", "1 2 3");
-    _geom.ParseMjcf(geomElement);
-    Assert.That(_geom.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
-  }
-
-  [TestCase(0.866f, 0.5f, 0, 0, 0.5f, 0, 0, -0.866f)]
-  [TestCase(0.866f, 0, 0.5f, 0, 0, 0, 0.5f, -0.866f)]
-  [TestCase(0.866f, 0, 0, 0.5f, 0, 0.5f, 0, -0.866f)]
-  [TestCase(0, 0.866f, 0.5f, 0, 0.866f, 0, 0.5f, 0)]
-  [TestCase(0, 0.866f, 0, 0.5f, 0.866f, 0.5f, 0, 0)]
-  [TestCase(0, 0, 0.866f, 0.5f, 0, 0.5f, 0.866f, 0)]
-  public void BodyLocalRotationParsing(
-      float ix, float iy, float iz, float iw, float ex, float ey, float ez, float ew) {
-    var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    geomElement.SetAttribute("quat", $"{ix} {iy} {iz} {iw}");
-    _geom.ParseMjcf(geomElement);
-    var angle = Quaternion.Angle(_geom.transform.localRotation, new Quaternion(ex, ey, ez, ew));
-    Assert.That(angle, Is.EqualTo(0).Within(3));
-  }
-
-  [TestCase("0 0 0 0 0 1", 0, 0, 0, 1)]
-  [TestCase("0 0 0 0 1 0", 0.707f, 0, 0, 0.707f)]
-  [TestCase("0 0 0 1 0 0", 0, 0, -0.707f, 0.707f)]
-  [TestCase("1 0 0 0 0 0", 0, 0, 0.707f, 0.707f)]
-  [TestCase("0 1 0 0 0 0", -0.707f, 0, 0, 0.707f)]
-  [TestCase("0 0 1 0 0 0", 1, 0, 0, 0)]
-  [TestCase("1 0 0 0 0 1", 0, 0, 0.382f, 0.924f)]
-  [TestCase("1 0 0 0 1 0", 0.5f, 0, 0.5f, 0.707f)]
-  public void OrientationSpecifiedUsingFromToParameterIsTheDirectionOfFromToVector(
-      string input, float ex, float ey, float ez, float ew) {
-    var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    geomElement.SetAttribute("type", "box");
-    geomElement.SetAttribute("fromto", input);
-    _geom.ParseMjcf(geomElement);
-    var angle = Quaternion.Angle(_geom.transform.localRotation, new Quaternion(ex, ey, ez, ew));
-    Assert.That(angle, Is.EqualTo(0).Within(3));
-  }
-
-  [TestCase("0 0 0 0 0 1", 0)]
-  [TestCase("0 0 0 0 0.01 1", 0.573f)]
-  [TestCase("0 0 0 0 -0.01 1", 0.573f)]
-  [TestCase("0 0 0 0 0 -1", 180)]
-  [TestCase("0 0 0 0 0.01 -1", 179.427f)]
-  [TestCase("0 0 0 0 -0.01 -1", 179.427f)]
-  public void TestingFromToRotationsAroundThePoles(string input, float expectedAngle) {
-    var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    geomElement.SetAttribute("type", "box");
-    geomElement.SetAttribute("fromto", input);
-    _geom.ParseMjcf(geomElement);
-    var transformedForward = _geom.transform.localRotation * Vector3.forward;
-    var angle = Vector3.Angle(transformedForward, Vector3.forward);
-    Assert.That(angle, Is.EqualTo(expectedAngle).Within(1e-3f));
-  }
-
-  [TestCase("0 0 0 0 0 1", 0, 0.5f, 0)]
-  [TestCase("0 0 0 0 1 0", 0, 0, 0.5f)]
-  [TestCase("0 0 0 1 0 0", 0.5f, 0, 0)]
-  [TestCase("1 0 0 0 0 1", 0.5f, 0.5f, 0)]
-  [TestCase("0 1 0 0 0 1", 0, 0.5f, 0.5f)]
-  [TestCase("0 1 0 0 0 1", 0, 0.5f, 0.5f)]
-  public void PositionSpecifiedUsingFromToParameterIsMiddleOfFromToSegment(
-      string input, float x, float y, float z) {
-    var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    geomElement.SetAttribute("type", "box");
-    geomElement.SetAttribute("fromto", input);
-    _geom.ParseMjcf(geomElement);
-    Assert.That(_geom.transform.localPosition, Is.EqualTo(new Vector3(x, y, z)));
-  }
-
-  [TestCase("0 0 1", 0, 0, 0, 1)]
-  [TestCase("0 1 0", 0.707f, 0, 0, 0.707f)]
-  [TestCase("1 0 0", 0, 0, -0.707f, 0.707f)]
-  public void ZAxisParameterSpecifiesForwardVectorOfGeom(
-      string input, float ex, float ey, float ez, float ew) {
-    var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    geomElement.SetAttribute("zaxis", input);
-    _geom.ParseMjcf(geomElement);
-    var angle = Quaternion.Angle(_geom.transform.localRotation, new Quaternion(ex, ey, ez, ew));
-    Assert.That(angle, Is.EqualTo(0).Within(3));
-  }
-
-  [TestCase("0 0 90", 0, 0.707f, 0, 0.707f)]
-  [TestCase("0 90 0", 0, 0, -0.707f, 0.707f)]
-  [TestCase("90 0 0", 0.707f, 0, 0, 0.707f)]
-  [TestCase("0 0 45", 0, 0.382f, 0, 0.924f)]
-  [TestCase("0 45 0", 0, 0, -0.382f, 0.924f)]
-  [TestCase("45 0 0", 0.382f, 0, 0, 0.924f)]
-  public void UsingEulerAnglesToSpecifyRotation(
-      string input, float ex, float ey, float ez, float ew) {
-    var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    geomElement.SetAttribute("euler", input);
-    _geom.ParseMjcf(geomElement);
-    var angle = Quaternion.Angle(_geom.transform.localRotation, new Quaternion(ex, ey, ez, ew));
-    Assert.That(angle, Is.EqualTo(0).Within(3));
-  }
-
-  [Test]
-  public void NoRotationSpecificationSetsIdentityRotation() {
-    var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    _geom.ParseMjcf(geomElement);
-    Assert.That(_geom.transform.localRotation, Is.EqualTo(Quaternion.identity));
-  }
-}
-
-[TestFixture]
-public class MjGeomPropertiesSerializingTests {
-
-  private MjGeom _geom;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _geom = new GameObject("geom", typeof(MjGeom)).GetComponent<MjGeom>();
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_geom.gameObject);
-  }
-
-  [Test]
-  public void MaterialDensityMjcf() {
-    _geom.Density = 5;
-    _doc.AppendChild(_geom.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain(@"density=""5"""));
-  }
-
-  [Test]
-  public void MaterialDensityParsing() {
-    var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
-    geomElement.SetAttribute("density", "5.2");
-    _geom.ParseMjcf(geomElement);
-    Assert.That(_geom.Density, Is.EqualTo(5.2f));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/MjGeomTests.cs.meta b/unity/Tests/Editor/Components/MjGeomTests.cs.meta
deleted file mode 100644
index c56f87fb..00000000
--- a/unity/Tests/Editor/Components/MjGeomTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 626fcf7698e8e484eb8c1f0c2399947d
-timeCreated: 1537258560
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs b/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
deleted file mode 100644
index 936d1625..00000000
--- a/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
+++ /dev/null
@@ -1,188 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjGlobalSettingsGenerationTests {
-
-  private MjGlobalSettings _settings;
-  private XmlDocument _doc;
-  private XmlElement _root;
-
-  [SetUp]
-  public void SetUp() {
-    _settings = new GameObject("settings").AddComponent<MjGlobalSettings>();
-    _doc = new XmlDocument();
-    _root = (XmlElement)_doc.AppendChild(_doc.CreateElement("root"));
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_settings.gameObject);
-  }
-
-  [Test]
-  public void GenerateOptionSizeFlagCustomNumeric() {
-    _settings.GlobalOptions.ImpRatio = 1.2f;
-    _settings.GlobalOptions.Magnetic = new Vector3(3.4f, 4.5f, 5.6f);
-    _settings.GlobalOptions.Wind = new Vector3(6.7f, 7.8f, 8.9f);
-    _settings.GlobalOptions.Density = 0.1f;
-    _settings.GlobalOptions.Viscosity = 2.3f;
-    _settings.GlobalOptions.OverrideMargin = 4.5f;
-    _settings.GlobalOptions.Integrator = IntegratorType.RK4;
-    _settings.GlobalOptions.Cone = FrictionConeType.elliptic;
-    _settings.GlobalOptions.Jacobian = JacobianType.dense;
-    _settings.GlobalOptions.Solver = ConstraintSolverType.PGS;
-    _settings.GlobalOptions.Iterations = 12;
-    _settings.GlobalOptions.Tolerance = 3.4f;
-    _settings.GlobalOptions.NoSlipIterations = 5;
-    _settings.GlobalOptions.NoSlipTolerance = 6.7f;
-    _settings.GlobalOptions.CcdIterations = 8;
-    _settings.GlobalOptions.CcdTolerance = 0.9f;
-    _settings.GlobalSizes.Memory = "1M";
-
-    _settings.GlobalsToMjcf(_root);
-    Assert.That(_doc.OuterXml, Does.Contain(@"impratio=""1.2"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"magnetic=""3.4 4.5 5.6"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"wind=""6.7 7.8 8.9"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"density=""0.1"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"viscosity=""2.3"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"o_margin=""4.5"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"integrator=""RK4"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"cone=""elliptic"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"jacobian=""dense"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"o_solref="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"o_solimp="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"solver=""PGS"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"iterations=""12"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"tolerance=""3.4"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"noslip_iterations=""5"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"noslip_tolerance=""6.7"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"ccd_iterations=""8"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"ccd_tolerance=""0.9"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"memory=""1M"""));
-  }
-
-  [Test]
-  public void GenerateFlag() {
-    _settings.GlobalOptions.Flag.Gravity = EnableDisableFlag.disable;
-    _settings.GlobalsToMjcf(_root);
-    Assert.That(_doc.OuterXml, Does.Contain(@"gravity=""disable"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"constraint="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"equality="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"frictionloss="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"limit="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"contact="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"spring="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"damper="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"clampctrl="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"warmstart="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"filterparent="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"actuation="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"refsafe="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"override="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"energy="));
-    Assert.That(_doc.OuterXml, Does.Contain(@"fwdinv="));
-  }
-}
-
-[TestFixture]
-public class MjGlobalSettingsParsingTests {
-
-  private MjGlobalSettings _settings;
-  private XmlElement _root;
-  private XmlElement _option;
-  private XmlElement _size;
-  private XmlElement _flag;
-  private XmlElement _numeric;
-
-  [SetUp]
-  public void SetUp() {
-    _settings = new GameObject("settings").AddComponent<MjGlobalSettings>();
-    var doc = new XmlDocument();
-    _root = (XmlElement)doc.AppendChild(doc.CreateElement("root"));
-    _option = (XmlElement)_root.AppendChild(doc.CreateElement("option"));
-    _size = (XmlElement)_root.AppendChild(doc.CreateElement("size"));
-    _flag = (XmlElement)_option.AppendChild(doc.CreateElement("flag"));
-    var custom = (XmlElement)_root.AppendChild(doc.CreateElement("custom"));
-    _numeric = (XmlElement)custom.AppendChild(doc.CreateElement("numeric"));
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_settings.gameObject);
-  }
-
-  [Test]
-  public void ParseSizeOptionFlagCustomNumeric() {
-    _option.SetAttribute("impratio", "1.2");
-    _option.SetAttribute("magnetic", "3.4 4.5 5.6");
-    _option.SetAttribute("wind", "6.7 7.8 8.9");
-    _option.SetAttribute("density", "0.1");
-    _option.SetAttribute("viscosity", "2.3");
-    _option.SetAttribute("o_margin", "4.5");
-    _option.SetAttribute("integrator", "RK4");
-    _option.SetAttribute("cone", "elliptic");
-    _option.SetAttribute("jacobian", "dense");
-    _option.SetAttribute("solver", "PGS");
-    _option.SetAttribute("iterations", "12");
-    _option.SetAttribute("tolerance", "3.4");
-    _option.SetAttribute("noslip_iterations", "5");
-    _option.SetAttribute("noslip_tolerance", "6.7");
-    _option.SetAttribute("ccd_iterations", "8");
-    _option.SetAttribute("ccd_tolerance", "0.9");
-
-    _flag.SetAttribute("gravity", "disable");
-
-    _size.SetAttribute("memory", "1M");
-
-    _numeric.SetAttribute("name", "numeric_name");
-    _numeric.SetAttribute("data", "1 2 3");
-
-    _settings.ParseGlobalMjcfSections(_root);
-    Assert.That(_settings.GlobalOptions.ImpRatio, Is.EqualTo(1.2f));
-    Assert.That(_settings.GlobalOptions.Magnetic, Is.EqualTo(new Vector3(3.4f, 4.5f, 5.6f)));
-    Assert.That(_settings.GlobalOptions.Wind, Is.EqualTo(new Vector3(6.7f, 7.8f, 8.9f)));
-    Assert.That(_settings.GlobalOptions.Density, Is.EqualTo(0.1f));
-    Assert.That(_settings.GlobalOptions.Viscosity, Is.EqualTo(2.3f));
-    Assert.That(_settings.GlobalOptions.OverrideMargin, Is.EqualTo(4.5f));
-    Assert.That(_settings.GlobalOptions.Integrator, Is.EqualTo(IntegratorType.RK4));
-    Assert.That(_settings.GlobalOptions.Cone, Is.EqualTo(FrictionConeType.elliptic));
-    Assert.That(_settings.GlobalOptions.Jacobian, Is.EqualTo(JacobianType.dense));
-    Assert.That(_settings.GlobalOptions.Solver, Is.EqualTo(ConstraintSolverType.PGS));
-    Assert.That(_settings.GlobalOptions.Iterations, Is.EqualTo(12));
-    Assert.That(_settings.GlobalOptions.Tolerance, Is.EqualTo(3.4f));
-    Assert.That(_settings.GlobalOptions.NoSlipIterations, Is.EqualTo(5));
-    Assert.That(_settings.GlobalOptions.NoSlipTolerance, Is.EqualTo(6.7f));
-    Assert.That(_settings.GlobalOptions.CcdIterations, Is.EqualTo(8));
-    Assert.That(_settings.GlobalOptions.CcdTolerance, Is.EqualTo(0.9f));
-
-    Assert.That(_settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
-
-    Assert.That(_settings.GlobalSizes.Memory, Is.EqualTo("1M"));
-
-    Assert.That(_settings.CustomNumeric.Count, Is.EqualTo(1));
-    Assert.That(_settings.CustomNumeric[0].Name, Is.EqualTo("numeric_name"));
-    Assert.That(_settings.CustomNumeric[0].Data, Is.EqualTo("1 2 3"));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs.meta b/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs.meta
deleted file mode 100644
index e74854ff..00000000
--- a/unity/Tests/Editor/Components/MjGlobalSettingsTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 57b08bea18fda4c70a99bc636a13c1f2
-timeCreated: 1548950233
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/MjInertialTests.cs b/unity/Tests/Editor/Components/MjInertialTests.cs
deleted file mode 100644
index 037604c8..00000000
--- a/unity/Tests/Editor/Components/MjInertialTests.cs
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjInertialTests {
-  private MjInertial _inertial;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _inertial = new GameObject("inertial").AddComponent<MjInertial>();
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_inertial.gameObject);
-  }
-
-  [Test]
-  public void ParseAllSettings() {
-    _doc.LoadXml("<inertial mass='5' diaginertia='1 2 3'/>");
-    _inertial.ParseMjcf(_doc.GetElementsByTagName("inertial")[0] as XmlElement);
-    Assert.That(_inertial.Mass, Is.EqualTo(5.0f));
-    Assert.That(_inertial.DiagInertia, Is.EqualTo(new Vector3(1, 3, 2)));
-  }
-
-  [Test]
-  public void GenerateMjcf() {
-    _inertial.Mass = 6.0f;
-    _inertial.DiagInertia = new Vector3(7, 8, 9);
-    var mjcf = _inertial.GenerateMjcf("inertial", _doc);
-    Assert.That(mjcf.OuterXml, Does.Contain("mass=\"6\""));
-    Assert.That(mjcf.OuterXml, Does.Contain("diaginertia=\"7 9 8\""));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/MjInertialTests.cs.meta b/unity/Tests/Editor/Components/MjInertialTests.cs.meta
deleted file mode 100644
index 1b8d97b5..00000000
--- a/unity/Tests/Editor/Components/MjInertialTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 49a2df64f659c498aa573ad717200548
-timeCreated: 1551130256
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/MjSceneTests.cs b/unity/Tests/Editor/Components/MjSceneTests.cs
deleted file mode 100644
index 93bc6140..00000000
--- a/unity/Tests/Editor/Components/MjSceneTests.cs
+++ /dev/null
@@ -1,236 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools.Utils;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjSceneGenerationTests {
-
-  [Test]
-  public void AssigningComponentsUniqueName() {
-    _fakeBodyA.enabled = true;
-    _fakeBodyB.enabled = true;
-    _scene.CreateScene(skipCompile:true);
-    Assert.That(_fakeBodyA.MujocoName, Is.Not.EqualTo(_fakeBodyB.MujocoName));
-  }
-
-  [Test]
-  public void AttachingComponentsToMjNodesThroughId() {
-    _fakeBodyA.enabled = true;
-    _fakeBodyB.enabled = true;
-    _scene.CreateScene();
-    Assert.That(_fakeBodyA.MujocoId, Is.GreaterThanOrEqualTo(0));
-    Assert.That(_fakeBodyB.MujocoId, Is.GreaterThanOrEqualTo(0));
-    Assert.That(_fakeBodyA.MujocoId, Is.Not.EqualTo(_fakeBodyB.MujocoId));
-  }
-
-  [Test]
-  public unsafe void ModelStructureIsInitialized() {
-    _fakeBodyA.enabled = true;
-    _fakeBodyB.enabled = true;
-    _scene.CreateScene();
-    Assert.That(_scene.Model->nbody, Is.GreaterThanOrEqualTo(2));
-  }
-
-  [Test]
-  public void SyncingComponentStateOnFixedUpdate() {
-    _fakeBodyA.enabled = true;
-    _fakeBodyB.enabled = true;
-    _scene.CreateScene();
-    Assert.That(_fakeBodyA.StateSynced, Is.False);
-    Assert.That(_fakeBodyB.StateSynced, Is.False);
-    _scene.StepScene();
-    Assert.That(_fakeBodyA.StateSynced, Is.True);
-    Assert.That(_fakeBodyB.StateSynced, Is.True);
-  }
-
-  [Test]
-  public unsafe void PhysicsRuntimeError() {
-    _scene.CreateScene();
-    _scene.Data->qpos[0] = float.PositiveInfinity;
-    Assert.That(
-        () => { _scene.StepScene(); },
-        Throws.TypeOf<PhysicsRuntimeException>()
-        .With.Message.EqualTo("BADQPOS: NaN/inf in qpos."));
-  }
-
-  [Test]
-  public void MjcfHierarchyMirrorsTheHierarchyOfUnityObjects() {
-    _fakeBodyA.transform.parent = _fakeBodyB.transform;
-    _fakeBodyA.enabled = true;
-    _fakeBodyB.enabled = true;
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    // Three components are already in this scene: body, joint and inertia (see SetUp function below)
-    var mjcfFakeBodyB = mjcf.SelectNodes("/mujoco/worldbody/body")[1] as XmlElement;
-    var mjcfFakeBodyA = mjcf.SelectNodes("/mujoco/worldbody/body/body")[0] as XmlElement;
-    Assert.That(mjcfFakeBodyA, Is.Not.Null);
-    Assert.That(mjcfFakeBodyB, Is.Not.Null);
-    // B is the parent, so it appears first in the XML
-    Assert.That(mjcfFakeBodyB.GetAttribute("name"), Is.EqualTo("component_3"));
-    Assert.That(mjcfFakeBodyA.GetAttribute("name"), Is.EqualTo("component_4"));
-  }
-
-  [Test]
-  public void ActuatorsAreAddedToDedicatedTag() {
-    _actuator.enabled = true;
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    var mjcfForActuator = mjcf.SelectNodes("/mujoco/actuator/general")[0] as XmlElement;
-    Assert.That(mjcfForActuator, Is.Not.Null);
-  }
-
-  [Test]
-  public void SensorsAreAddedToDedicatedTag() {
-    _sensor1.enabled = true;
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    var mjcfForSensor = mjcf.SelectNodes("/mujoco/sensor/jointpos")[0] as XmlElement;
-    Assert.That(mjcfForSensor, Is.Not.Null);
-  }
-
-  [Test]
-  public void SensorsAreOrdered() {
-    _sensor0.enabled = true;
-    _sensor1.enabled = true;
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    var sensor0Element =
-        mjcf.SelectNodes("/mujoco/sensor")[0].ChildNodes[_sensor0.transform.GetSiblingIndex()] as XmlElement;
-    Assert.That(sensor0Element.Name, Is.EqualTo("user"));
-    var sensor1Element =
-        mjcf.SelectNodes("/mujoco/sensor")[0].ChildNodes[_sensor1.transform.GetSiblingIndex()] as XmlElement;
-    Assert.That(sensor1Element.Name, Is.EqualTo("jointpos"));
-  }
-
-  [Test]
-  public unsafe void SceneRecreatedWithAddition() {
-    _scene.CreateScene();
-    _scene.Data->qvel[0] = 1;
-    var nq = _scene.Model->nq;
-    var tickedRotation = _body.transform.rotation;
-    var body = new GameObject("body").AddComponent<MjBody>();
-    var inertia = new GameObject("inertia").AddComponent<MjInertial>();
-    inertia.transform.parent = body.transform;
-    var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    joint.transform.parent = body.transform;
-    _scene.RecreateScene();
-    Assert.That(_scene.Model->nq, Is.EqualTo(nq+1));
-    Assert.That(_scene.Data->qvel[joint.DofAddress], Is.EqualTo(0));
-    Assert.That(_scene.Data->qvel[_joint.DofAddress], Is.EqualTo(1));
-    UnityEngine.Object.DestroyImmediate(inertia.gameObject);
-    UnityEngine.Object.DestroyImmediate(joint.gameObject);
-    UnityEngine.Object.DestroyImmediate(body.gameObject);
-  }
-
-  [Test]
-  public unsafe void SceneRecreatedAfterDeletion() {
-    var body = new GameObject("body").AddComponent<MjBody>();
-    var inertia = new GameObject("inertia").AddComponent<MjInertial>();
-    inertia.transform.parent = body.transform;
-    var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    joint.transform.parent = body.transform;
-    _scene.CreateScene();
-    _scene.Data->qvel[0] = 1;
-    _scene.Data->qvel[1] = 2;
-    var nq = _scene.Model->nq;
-    UnityEngine.Object.DestroyImmediate(inertia.gameObject);
-    UnityEngine.Object.DestroyImmediate(joint.gameObject);
-    UnityEngine.Object.DestroyImmediate(body.gameObject);
-    _scene.RecreateScene();
-    Assert.That(_scene.Model->nq, Is.EqualTo(nq-1));
-    Assert.That(_scene.Data->qvel[0], Is.EqualTo(2));
-  }
-
-#region Test setup.
-
-  public class FakeMjBody : MjBaseBody {
-    public bool StateSynced = false;
-
-    public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_BODY;
-
-    protected override void OnParseMjcf(XmlElement mjcf) {}
-
-    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-      // We'll create an actual element because the code will then pass it on to Mujoco scene
-      // compiler, and we care that the compiler doesn't fail.
-      var mjcf = doc.CreateElement("body");
-      return mjcf;
-    }
-
-    public override unsafe void OnSyncState(MujocoLib.mjData_* data) {
-      StateSynced = true;
-    }
-  }
-
-  private MjScene _scene;
-  private FakeMjBody _fakeBodyA;
-  private FakeMjBody _fakeBodyB;
-  private Transform _sensorGroup;
-  private MjUserSensor _sensor0;
-  private MjJointScalarSensor _sensor1;
-  private MjBody _body;
-  private MjInertial _inertia;
-  private MjHingeJoint _joint;
-  private MjActuator _actuator;
-  private Vector4EqualityComparer _quaternionComparer;
-
-  [SetUp]
-  public void SetUp() {
-    _quaternionComparer = new Vector4EqualityComparer(1e-5f);
-    _scene = MjScene.Instance;
-    _fakeBodyA = new GameObject("component").AddComponent<FakeMjBody>();
-    _fakeBodyB = new GameObject("component").AddComponent<FakeMjBody>();
-    _sensor0 = new GameObject("sensor").AddComponent<MjUserSensor>();
-    _sensor0.Dimension = 1;
-    _sensor1 = new GameObject("sensor").AddComponent<MjJointScalarSensor>();
-    _sensorGroup = new GameObject("sensors").transform;
-    _sensor0.transform.parent = _sensorGroup;
-    _sensor1.transform.parent = _sensorGroup;
-    _actuator = new GameObject("actuator").AddComponent<MjActuator>();
-    // body, joint and inertia are always present so that the actuator and sensor are valid
-    _body = new GameObject("body").AddComponent<MjBody>();
-    _inertia = new GameObject("inertia").AddComponent<MjInertial>();
-    _inertia.transform.parent = _body.transform;
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _joint.transform.parent = _body.transform;
-    _sensor1.Joint = _joint;
-    _sensor1.SensorType = MjJointScalarSensor.AvailableSensors.JointPos;
-    _actuator.Joint = _joint;
-    _fakeBodyA.enabled = false;
-    _fakeBodyB.enabled = false;
-    _sensor1.enabled = false;
-    _actuator.enabled = false;
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_fakeBodyA.gameObject);
-    UnityEngine.Object.DestroyImmediate(_fakeBodyB.gameObject);
-    UnityEngine.Object.DestroyImmediate(_sensor0.gameObject);
-    UnityEngine.Object.DestroyImmediate(_sensor1.gameObject);
-    UnityEngine.Object.DestroyImmediate(_actuator.gameObject);
-    UnityEngine.Object.DestroyImmediate(_joint.gameObject);
-    UnityEngine.Object.DestroyImmediate(_inertia.gameObject);
-    UnityEngine.Object.DestroyImmediate(_body.gameObject);
-    UnityEngine.Object.DestroyImmediate(_scene.gameObject);
-  }
-
-#endregion
-}
-}
diff --git a/unity/Tests/Editor/Components/MjSceneTests.cs.meta b/unity/Tests/Editor/Components/MjSceneTests.cs.meta
deleted file mode 100644
index f120df46..00000000
--- a/unity/Tests/Editor/Components/MjSceneTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: d5db1f5b04f4c4ab3b6081481fa45cab
-timeCreated: 1536939770
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/MjSiteTests.cs b/unity/Tests/Editor/Components/MjSiteTests.cs
deleted file mode 100644
index 577ffa96..00000000
--- a/unity/Tests/Editor/Components/MjSiteTests.cs
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjSiteEditorTests {
-
-  private MjSite _site;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _site = new GameObject("site", typeof(MjSite)).GetComponent<MjSite>();
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    GameObject.DestroyImmediate(_site.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [Test]
-  public void GeneratingShapePropertiesMjcf() {
-    _site.ShapeType = MjShapeComponent.ShapeTypes.Box;
-    _site.Box.Extents = new Vector3(1, 2, 3);
-    _doc.AppendChild(_site.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain("type=\"box\""));
-    Assert.That(_doc.OuterXml, Does.Contain("size=\"1 3 2\""));
-  }
-
-  [Test]
-  public void ParsingShapePropertiesMjcf() {
-    var mjcfString = "<site type=\"box\" size=\"1 3 2\"/>";
-    var mjcfElement = Parse(mjcfString, "site");
-    _site.ParseMjcf(mjcfElement);
-    Assert.That(_site.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Box));
-    Assert.That(_site.Box.Extents, Is.EqualTo(new Vector3(1, 2, 3)));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/MjSiteTests.cs.meta b/unity/Tests/Editor/Components/MjSiteTests.cs.meta
deleted file mode 100644
index 8574a0a9..00000000
--- a/unity/Tests/Editor/Components/MjSiteTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: c0e1212bb116746d990a603c60820a7f
-timeCreated: 1547480369
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/MjcfGenerationContextTests.cs b/unity/Tests/Editor/Components/MjcfGenerationContextTests.cs
deleted file mode 100644
index 40b534d7..00000000
--- a/unity/Tests/Editor/Components/MjcfGenerationContextTests.cs
+++ /dev/null
@@ -1,132 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjcfGenerationContextTests {
-
-  [Test]
-  public void ComponentAssignedMujocoName() {
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    Assert.That(mjcf.OuterXml, Does.Contain(
-        @"name=""component_0"""));
-  }
-
-  [Test]
-  public void TwoComponentsWithSameNameReceiveDistinctMujocoNames() {
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    Assert.That(mjcf.OuterXml, Does.Contain(
-        @"name=""component_0"""));
-    Assert.That(mjcf.OuterXml, Does.Contain(
-        @"name=""component_1"""));
-  }
-
-  [Test]
-  public void GravityVectorIsConvertedToMjWorldReferenceFrame() {
-    Physics.gravity = new Vector3(1, 2, 3);
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    Assert.That(mjcf.OuterXml, Does.Contain("gravity=\"1 3 2\""));
-  }
-
-  [Test]
-  public void ConfigurationMjcfSpecifiesTimeout() {
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    Assert.That(mjcf.OuterXml, Does.Contain($"timestep=\"{Time.fixedDeltaTime}\""));
-  }
-
-  [Test]
-  public void ConfigurationMjcfSpecifiesCoordinateSystemAsLocal() {
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    Assert.That(mjcf.OuterXml, Does.Contain("coordinate=\"local\""));
-  }
-
-  [Test]
-  public void ConfigurationMjcIncludesOptions() {
-    var mjcf = _scene.CreateScene(skipCompile:true);
-    Assert.That(mjcf.OuterXml, Does.Contain("impratio"));
-    Assert.That(mjcf.OuterXml, Does.Contain("magnetic"));
-    Assert.That(mjcf.OuterXml, Does.Contain("wind"));
-    Assert.That(mjcf.OuterXml, Does.Contain("density"));
-    Assert.That(mjcf.OuterXml, Does.Contain("viscosity"));
-    Assert.That(mjcf.OuterXml, Does.Contain("o_margin"));
-    Assert.That(mjcf.OuterXml, Does.Contain("o_solref"));
-    Assert.That(mjcf.OuterXml, Does.Contain("o_solimp"));
-    Assert.That(mjcf.OuterXml, Does.Contain("iterations"));
-    Assert.That(mjcf.OuterXml, Does.Contain("tolerance"));
-    Assert.That(mjcf.OuterXml, Does.Contain("noslip_iterations"));
-    Assert.That(mjcf.OuterXml, Does.Contain("noslip_tolerance"));
-    Assert.That(mjcf.OuterXml, Does.Contain("ccd_iterations"));
-    Assert.That(mjcf.OuterXml, Does.Contain("ccd_tolerance"));
-  }
-
-  [Test]
-  public void AssigningGeneratedMeshAssetsUniqueNames() {
-    var context = new MjcfGenerationContext();
-    var uniqueAssetName = context.AddMeshAsset(mesh: new Mesh());
-    var element = new XmlDocument().CreateElement("test");
-    context.GenerateMjcf(element);
-    var assetNodes = element.SelectNodes($"asset/mesh[@name='{uniqueAssetName}']");
-    Assert.That(assetNodes, Has.Count.EqualTo(1));
-  }
-
-  [Test]
-  public void MeshMjcfIgnoresTriangleConnectivityAndStoredOnlyTheVertexCloud() {
-    var mesh = new Mesh();
-    mesh.vertices = new Vector3[] {
-        new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1) };
-    mesh.triangles = new int[] { 0, 1, 2, 2, 1, 0, 1, 0, 2 };
-    var context = new MjcfGenerationContext();
-    context.AddMeshAsset(mesh);
-    var element = new XmlDocument().CreateElement("test");
-    context.GenerateMjcf(element);
-    Assert.That(element.OuterXml, Does.Contain("vertex=\"1 0 0 0 0 1 0 1 0 \""));
-  }
-
-  #region Test setup.
-
-  private MjBody _componentA;
-  private MjBody _componentB;
-  private Vector3 _originalGravity;
-  private MjScene _scene;
-  private MjGlobalSettings _settings;
-
-  [SetUp]
-  public void SetUp() {
-    _componentA = new GameObject("component").AddComponent<MjBody>();
-    _componentB = new GameObject("component").AddComponent<MjBody>();
-    _scene = MjScene.Instance;
-    _originalGravity = Physics.gravity;
-    _settings = new GameObject("settings").AddComponent<MjGlobalSettings>();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    Physics.gravity = _originalGravity;
-    UnityEngine.Object.DestroyImmediate(_componentA.gameObject);
-    UnityEngine.Object.DestroyImmediate(_componentB.gameObject);
-    UnityEngine.Object.DestroyImmediate(_settings.gameObject);
-    UnityEngine.Object.DestroyImmediate(_scene.gameObject);
-  }
-
-  #endregion
-}
-}
diff --git a/unity/Tests/Editor/Components/MjcfGenerationContextTests.cs.meta b/unity/Tests/Editor/Components/MjcfGenerationContextTests.cs.meta
deleted file mode 100644
index 7583ea67..00000000
--- a/unity/Tests/Editor/Components/MjcfGenerationContextTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: de5be923668a9430596708fea97eb93c
-timeCreated: 1537461794
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
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-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors.meta b/unity/Tests/Editor/Components/Sensors.meta
deleted file mode 100644
index 92457a9d..00000000
--- a/unity/Tests/Editor/Components/Sensors.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: f2ea6a2cbdb5b655782b59b4f75f602d
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjActuatorScalarSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjActuatorScalarSensorTests.cs
deleted file mode 100644
index b5ce9476..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjActuatorScalarSensorTests.cs
+++ /dev/null
@@ -1,108 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-[TestFixture]
-public class MjActuatorScalarSensorTests {
-
-  private MjActuatorScalarSensor _sensor;
-  private MjActuator _actuator;
-  private MjHingeJoint _joint;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("sensor", typeof(MjActuatorScalarSensor))
-        .GetComponent<MjActuatorScalarSensor>();
-    _joint = new GameObject("joint", typeof(MjHingeJoint)).GetComponent<MjHingeJoint>();
-    _actuator = new GameObject("actuator", typeof(MjActuator)).GetComponent<MjActuator>();
-    _actuator.Joint = _joint;
-    _sensor.Actuator = _actuator;
-
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-    UnityEngine.Object.DestroyImmediate(_joint.gameObject);
-    UnityEngine.Object.DestroyImmediate(_actuator.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [TestCase(MjActuatorScalarSensor.AvailableSensors.ActuatorPos, "actuatorpos")]
-  [TestCase(MjActuatorScalarSensor.AvailableSensors.ActuatorVel, "actuatorvel")]
-  [TestCase(MjActuatorScalarSensor.AvailableSensors.ActuatorFrc, "actuatorfrc")]
-  public void GenerateSensorName(
-    MjActuatorScalarSensor.AvailableSensors type, string expectedTag) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<{expectedTag}"));
-  }
-
-  [TestCase(MjActuatorScalarSensor.AvailableSensors.ActuatorPos)]
-  [TestCase(MjActuatorScalarSensor.AvailableSensors.ActuatorVel)]
-  [TestCase(MjActuatorScalarSensor.AvailableSensors.ActuatorFrc)]
-  public void GenerateJointReference(MjActuatorScalarSensor.AvailableSensors type) {
-    var parentNode = _doc.CreateElement("parent");
-    _doc.AppendChild(parentNode);
-    _sensor.SensorType = type;
-    parentNode.AppendChild(_actuator.GenerateMjcf("test_actuator", _doc));
-    parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain("actuator=\"test_actuator\""));
-  }
-
-  [TestCase("actuatorpos", MjActuatorScalarSensor.AvailableSensors.ActuatorPos)]
-  [TestCase("actuatorvel", MjActuatorScalarSensor.AvailableSensors.ActuatorVel)]
-  [TestCase("actuatorfrc", MjActuatorScalarSensor.AvailableSensors.ActuatorFrc)]
-  public void ParsingSensorType(
-      string tag, MjActuatorScalarSensor.AvailableSensors expectedType) {
-    var mjcfString = $"<sensors><{tag} actuator=\"actuator\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, tag);
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.SensorType, Is.EqualTo(expectedType));
-  }
-
-  [TestCase("actuatorpos")]
-  [TestCase("actuatorvel")]
-  [TestCase("actuatorfrc")]
-  public void ParsingReferenceToExistingActuator(string tag) {
-    var mjcfString = $"<sensors><{tag} actuator=\"actuator\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, tag);
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Actuator, Is.EqualTo(_actuator));
-  }
-
-  [TestCase("actuatorpos")]
-  [TestCase("actuatorvel")]
-  [TestCase("actuatorfrc")]
-  public void ParsingReferenceToMissingAcgtuatorThrowsException(string tag) {
-    var mjcfString = $"<sensors><{tag} actuator=\"missing_actuator\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, tag);
-    Assert.That(() => { _sensor.ParseMjcf(mjcfElement); }, Throws.TypeOf<ArgumentException>());
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjActuatorScalarSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjActuatorScalarSensorTests.cs.meta
deleted file mode 100644
index 181ec53d..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjActuatorScalarSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 287455e1e42ce4ac1817b65258ddd17f
-timeCreated: 1548111403
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs
deleted file mode 100644
index c1448167..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs
+++ /dev/null
@@ -1,69 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjBaseSensorTests {
-
-  public class MjMockSensor : MjBaseSensor {
-    protected override XmlElement ToMjcf(XmlDocument doc) {
-      return doc.CreateElement("sensor");
-    }
-    protected override void FromMjcf(XmlElement mjcf) {}
-  }
-
-  private MjMockSensor _sensor;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("sensor", typeof(MjMockSensor)).GetComponent<MjMockSensor>();
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [Test]
-  public void GeneratingNoiseAndCutoffMjcf() {
-    _sensor.Cutoff = 3.0f;
-    _doc.AppendChild(_sensor.GenerateMjcf("name", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain("cutoff=\"3\""));
-  }
-
-  [Test]
-  public void ParsingShapePropertiesMjcf() {
-    var mjcfString = "<sensor cutoff=\"4\" actuator=\"actuator\"/>";
-    var mjcfElement = Parse(mjcfString, "sensor");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Cutoff, Is.EqualTo(4.0f));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs.meta
deleted file mode 100644
index 5969f762..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjBaseSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 8bfd8b530bc0546a69960cffd3c1cb35
-timeCreated: 1548085697
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjBodyQuaternionSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjBodyQuaternionSensorTests.cs
deleted file mode 100644
index 90ef6409..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjBodyQuaternionSensorTests.cs
+++ /dev/null
@@ -1,91 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjBodyQuaternionSensorTests {
-
-  private MjBodyQuaternionSensor _sensor;
-  private MjBody _body;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("sensor", typeof(MjBodyQuaternionSensor))
-        .GetComponent<MjBodyQuaternionSensor>();
-    _body = new GameObject("body", typeof(MjBody)).GetComponent<MjBody>();
-    _sensor.Body = _body;
-
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-    UnityEngine.Object.DestroyImmediate(_body.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [Test]
-  public void GenerateSensorName() {
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<framequat"));
-  }
-
-  [Test]
-  public void GenerateBodyReference() {
-    var parentNode = (XmlElement)_doc.CreateElement("parent");
-    _doc.AppendChild(parentNode);
-    parentNode.AppendChild(_body.GenerateMjcf("test_body", _doc));
-    parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"objname=\"test_body\""));
-  }
-
-  [TestCase(true, "xbody")]
-  [TestCase(false, "body")]
-  public void FrameTypeSpecification(bool useInertial, string expectedValue) {
-    _sensor.UseInertialFrame = useInertial;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Not.Contain($"objname=\"{expectedValue}\""));
-  }
-
-  [Test]
-  public void ParsingFrameBodyName() {
-    var mjcfString = $"<sensors><framequat objname=\"body\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"framequat");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Body, Is.EqualTo(_body));
-  }
-
-  [Test]
-  public void ExceptionThrownWhenReferencedBodyNotFoundInScene() {
-    var mjcfString = $"<sensors><framequat objname=\"missing_body\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"framequat");
-    Assert.That(() => { _sensor.ParseMjcf(mjcfElement); }, Throws.TypeOf<ArgumentException>());
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjBodyQuaternionSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjBodyQuaternionSensorTests.cs.meta
deleted file mode 100644
index 3dc60366..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjBodyQuaternionSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: f205441f0cfbb407abd911ffd114bef9
-timeCreated: 1548171405
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjBodyVectorSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjBodyVectorSensorTests.cs
deleted file mode 100644
index 12360f0c..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjBodyVectorSensorTests.cs
+++ /dev/null
@@ -1,176 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjBodyVectorSensorTests {
-
-  private MjBodyVectorSensor _sensor;
-  private MjBody _body;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("sensor", typeof(MjBodyVectorSensor))
-        .GetComponent<MjBodyVectorSensor>();
-    _body = new GameObject("body", typeof(MjBody)).GetComponent<MjBody>();
-    _sensor.Body = _body;
-
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-    UnityEngine.Object.DestroyImmediate(_body.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [TestCase(MjBodyVectorSensor.AvailableSensors.SubtreeCom, "subtreecom")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.SubtreeLinVel, "subtreelinvel")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.SubtreeAngMom, "subtreeangmom")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FramePos, "framepos")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameXAxis, "framexaxis")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameYAxis, "frameyaxis")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameZAxis, "framezaxis")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameLinVel, "framelinvel")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameAngVel, "frameangvel")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameLinAcc, "framelinacc")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameAngAcc, "frameangacc")]
-  public void GenerateSensorName(
-      MjBodyVectorSensor.AvailableSensors type, string expectedTag) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<{expectedTag}"));
-  }
-
-  [TestCase(MjBodyVectorSensor.AvailableSensors.SubtreeCom, "body")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.SubtreeLinVel, "body")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.SubtreeAngMom, "body")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FramePos, "objname")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameXAxis, "objname")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameYAxis, "objname")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameZAxis, "objname")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameLinVel, "objname")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameAngVel, "objname")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameLinAcc, "objname")]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameAngAcc, "objname")]
-  public void GenerateBodyReference(
-      MjBodyVectorSensor.AvailableSensors type, string expectedAttribute) {
-    var parentNode = (XmlElement)_doc.CreateElement("parent");
-    _doc.AppendChild(parentNode);
-    _sensor.SensorType = type;
-    parentNode.AppendChild(_body.GenerateMjcf("test_body", _doc));
-    parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"{expectedAttribute}=\"test_body\""));
-  }
-
-  [TestCase(MjBodyVectorSensor.AvailableSensors.SubtreeCom)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.SubtreeLinVel)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.SubtreeAngMom)]
-  public void SensorsWithoutExplicitBindingTypeSpecification(
-      MjBodyVectorSensor.AvailableSensors type) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Not.Contain($"objname"));
-  }
-
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FramePos)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameXAxis)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameYAxis)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameZAxis)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameLinVel)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameAngVel)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameLinAcc)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameAngAcc)]
-  public void InertialFrameSpecification(MjBodyVectorSensor.AvailableSensors type) {
-    _sensor.SensorType = type;
-    _sensor.UseInertialFrame = true;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Not.Contain($"objname=\"xbody\""));
-  }
-
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FramePos)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameXAxis)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameYAxis)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameZAxis)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameLinVel)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameAngVel)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameLinAcc)]
-  [TestCase(MjBodyVectorSensor.AvailableSensors.FrameAngAcc)]
-  public void RegularFrameSpecification(MjBodyVectorSensor.AvailableSensors type) {
-    _sensor.SensorType = type;
-    _sensor.UseInertialFrame = false;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Not.Contain($"objname=\"body\""));
-  }
-
-  [TestCase("subtreecom", MjBodyVectorSensor.AvailableSensors.SubtreeCom)]
-  [TestCase("subtreelinvel", MjBodyVectorSensor.AvailableSensors.SubtreeLinVel)]
-  [TestCase("subtreeangmom", MjBodyVectorSensor.AvailableSensors.SubtreeAngMom)]
-  [TestCase("framepos", MjBodyVectorSensor.AvailableSensors.FramePos)]
-  [TestCase("framexaxis", MjBodyVectorSensor.AvailableSensors.FrameXAxis)]
-  [TestCase("frameyaxis", MjBodyVectorSensor.AvailableSensors.FrameYAxis)]
-  [TestCase("framezaxis", MjBodyVectorSensor.AvailableSensors.FrameZAxis)]
-  [TestCase("framelinvel", MjBodyVectorSensor.AvailableSensors.FrameLinVel)]
-  [TestCase("frameangvel", MjBodyVectorSensor.AvailableSensors.FrameAngVel)]
-  [TestCase("framelinacc", MjBodyVectorSensor.AvailableSensors.FrameLinAcc)]
-  [TestCase("frameangacc", MjBodyVectorSensor.AvailableSensors.FrameAngAcc)]
-  public void ParsingSensorType(
-      string tag, MjBodyVectorSensor.AvailableSensors expectedType) {
-    var mjcfString = $"<sensors><{tag} body=\"body\" objname=\"body\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.SensorType, Is.EqualTo(expectedType));
-  }
-
-  [TestCase("subtreecom", "body")]
-  [TestCase("subtreelinvel", "body")]
-  [TestCase("subtreeangmom", "body")]
-  public void ParsingSubtreeBodyName(string tag, string bodyAttribute) {
-    var mjcfString = $"<sensors><{tag} {bodyAttribute}=\"body\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Body, Is.EqualTo(_body));
-  }
-
-  [TestCase("framepos", "objname")]
-  [TestCase("framexaxis", "objname")]
-  [TestCase("frameyaxis", "objname")]
-  [TestCase("framezaxis", "objname")]
-  [TestCase("framelinvel", "objname")]
-  [TestCase("frameangvel", "objname")]
-  [TestCase("framelinacc", "objname")]
-  [TestCase("frameangacc", "objname")]
-  public void ParsingFrameBodyName(string tag, string bodyAttribute) {
-    var mjcfString = $"<sensors><{tag} {bodyAttribute}=\"body\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Body, Is.EqualTo(_body));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjBodyVectorSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjBodyVectorSensorTests.cs.meta
deleted file mode 100644
index a3261e03..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjBodyVectorSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: f526488db0d874499bc9af392d6dedd1
-timeCreated: 1548105164
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjGeomQuaternionSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjGeomQuaternionSensorTests.cs
deleted file mode 100644
index 3d6b6977..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjGeomQuaternionSensorTests.cs
+++ /dev/null
@@ -1,88 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-[TestFixture]
-public class MjGeomQuaternionSensorTests {
-
-  private MjGeomQuaternionSensor _sensor;
-  private MjGeom _geom;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("MjGeomQuaternionSensorTests_sensor")
-        .AddComponent<MjGeomQuaternionSensor>();
-    _geom = new GameObject("MjGeomQuaternionSensorTests_geom").AddComponent<MjGeom>();
-    _sensor.Geom = _geom;
-
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-    UnityEngine.Object.DestroyImmediate(_geom.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  public void GenerateSensorName() {
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain("<framequat"));
-  }
-
-  public void GenerateGeomReference() {
-    var parentNode = (XmlElement)_doc.CreateElement("parent");
-    _doc.AppendChild(parentNode);
-    parentNode.AppendChild(_geom.GenerateMjcf("test_geom", _doc));
-    parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain("objname=\"test_geom\""));
-  }
-
-  public void FrameTypeSpecification() {
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(
-        _doc.OuterXml, Does.Not.Contain("objname=\"MjGeomQuaternionSensorTests_geom\""));
-  }
-
-  [Test]
-  public void FindTheReferencedGeom() {
-    var mjcfString =
-        "<sensors><framequat objname=\"MjGeomQuaternionSensorTests_geom\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, "framequat");
-    _sensor.Geom = null;
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Geom, Is.EqualTo(_geom));
-  }
-
-  [Test]
-  public void ExceptionThrownWhenReferencedBodyNotFoundInScene() {
-    var mjcfString = "<sensors><framequat objname=\"missing_geom\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, "framequat");
-    Assert.That(() => { _sensor.ParseMjcf(mjcfElement); }, Throws.TypeOf<ArgumentException>());
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjGeomQuaternionSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjGeomQuaternionSensorTests.cs.meta
deleted file mode 100644
index 5cbde878..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjGeomQuaternionSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: ca32673e22b8f42f58cb7fb324980224
-timeCreated: 1548171623
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjGeomVectorSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjGeomVectorSensorTests.cs
deleted file mode 100644
index e7aa9f14..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjGeomVectorSensorTests.cs
+++ /dev/null
@@ -1,134 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjGeomVectorSensorTests {
-
-  private MjGeomVectorSensor _sensor;
-  private MjGeom _geom;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("MjGeomVectorSensorTests_sensor")
-        .AddComponent<MjGeomVectorSensor>();
-    _geom = new GameObject("MjGeomVectorSensorTests_geom").AddComponent<MjGeom>();
-    _sensor.Geom = _geom;
-
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-    UnityEngine.Object.DestroyImmediate(_geom.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FramePos, "framepos")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameXAxis, "framexaxis")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameYAxis, "frameyaxis")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameZAxis, "framezaxis")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameLinVel, "framelinvel")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameAngVel, "frameangvel")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameLinAcc, "framelinacc")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameAngAcc, "frameangacc")]
-  public void GenerateSensorName(
-      MjGeomVectorSensor.AvailableSensors type, string expectedTag) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<{expectedTag}"));
-  }
-
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FramePos, "objname")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameXAxis, "objname")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameYAxis, "objname")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameZAxis, "objname")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameLinVel, "objname")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameAngVel, "objname")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameLinAcc, "objname")]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameAngAcc, "objname")]
-  public void GenerateGeomReference(
-      MjGeomVectorSensor.AvailableSensors type, string expectedAttribute) {
-    var parentNode = (XmlElement)_doc.CreateElement("parent");
-    _doc.AppendChild(parentNode);
-    _sensor.SensorType = type;
-    parentNode.AppendChild(_geom.GenerateMjcf("test_geom", _doc));
-    parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"{expectedAttribute}=\"test_geom\""));
-  }
-
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FramePos)]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameXAxis)]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameYAxis)]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameZAxis)]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameLinVel)]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameAngVel)]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameLinAcc)]
-  [TestCase(MjGeomVectorSensor.AvailableSensors.FrameAngAcc)]
-  public void FrameTypeSpecification(MjGeomVectorSensor.AvailableSensors type) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Not.Contain($"objname=\"MjGeomVectorSensorTests_geom\""));
-  }
-
-  [TestCase("framepos", MjGeomVectorSensor.AvailableSensors.FramePos)]
-  [TestCase("framexaxis", MjGeomVectorSensor.AvailableSensors.FrameXAxis)]
-  [TestCase("frameyaxis", MjGeomVectorSensor.AvailableSensors.FrameYAxis)]
-  [TestCase("framezaxis", MjGeomVectorSensor.AvailableSensors.FrameZAxis)]
-  [TestCase("framelinvel", MjGeomVectorSensor.AvailableSensors.FrameLinVel)]
-  [TestCase("frameangvel", MjGeomVectorSensor.AvailableSensors.FrameAngVel)]
-  [TestCase("framelinacc", MjGeomVectorSensor.AvailableSensors.FrameLinAcc)]
-  [TestCase("frameangacc", MjGeomVectorSensor.AvailableSensors.FrameAngAcc)]
-  public void ParsingSensorType(
-      string tag, MjGeomVectorSensor.AvailableSensors expectedType) {
-    var mjcfString =
-      $"<sensors><{tag} geom=\"MjGeomVectorSensorTests_geom\" " +
-      "objname=\"MjGeomVectorSensorTests_geom\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.SensorType, Is.EqualTo(expectedType));
-  }
-
-  [TestCase("framepos", "objname")]
-  [TestCase("framexaxis", "objname")]
-  [TestCase("frameyaxis", "objname")]
-  [TestCase("framezaxis", "objname")]
-  [TestCase("framelinvel", "objname")]
-  [TestCase("frameangvel", "objname")]
-  [TestCase("framelinacc", "objname")]
-  [TestCase("frameangacc", "objname")]
-  public void ParsingFrameGeomName(string tag, string siteAttribute) {
-    var mjcfString =
-        $"<sensors><{tag} {siteAttribute}=\"MjGeomVectorSensorTests_geom\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Geom, Is.EqualTo(_geom));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjGeomVectorSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjGeomVectorSensorTests.cs.meta
deleted file mode 100644
index 0dea60a5..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjGeomVectorSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 2692b29d3e9a341338aeeedf820a6ee6
-timeCreated: 1548110539
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjJointScalarSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjJointScalarSensorTests.cs
deleted file mode 100644
index 26f0a2f1..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjJointScalarSensorTests.cs
+++ /dev/null
@@ -1,113 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-[TestFixture]
-public class MjJointScalarSensorTests {
-
-  private MjJointScalarSensor _sensor;
-  private MjHingeJoint _joint;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("sensor").AddComponent<MjJointScalarSensor>();
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _sensor.Joint = _joint;
-
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-    UnityEngine.Object.DestroyImmediate(_joint.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointPos, "jointpos")]
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointVel, "jointvel")]
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointLimitPos, "jointlimitpos")]
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointLimitVel, "jointlimitvel")]
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointLimitFrc, "jointlimitfrc")]
-  public void GenerateSensorName(
-      MjJointScalarSensor.AvailableSensors type, string expectedTag) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<{expectedTag}"));
-  }
-
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointPos)]
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointVel)]
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointLimitPos)]
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointLimitVel)]
-  [TestCase(MjJointScalarSensor.AvailableSensors.JointLimitFrc)]
-  public void GenerateJointReference(MjJointScalarSensor.AvailableSensors type) {
-    var parentNode = _doc.CreateElement("parent");
-    _doc.AppendChild(parentNode);
-    _sensor.SensorType = type;
-    parentNode.AppendChild(_joint.GenerateMjcf("test_joint", _doc));
-    parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain("joint=\"test_joint\""));
-  }
-
-  [TestCase("jointpos", MjJointScalarSensor.AvailableSensors.JointPos)]
-  [TestCase("jointvel", MjJointScalarSensor.AvailableSensors.JointVel)]
-  [TestCase("jointlimitpos", MjJointScalarSensor.AvailableSensors.JointLimitPos)]
-  [TestCase("jointlimitvel", MjJointScalarSensor.AvailableSensors.JointLimitVel)]
-  [TestCase("jointlimitfrc", MjJointScalarSensor.AvailableSensors.JointLimitFrc)]
-  public void ParsingSensorType(
-      string tag, MjJointScalarSensor.AvailableSensors expectedType) {
-    var mjcfString = $"<sensors><{tag} joint=\"joint\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.SensorType, Is.EqualTo(expectedType));
-  }
-
-  [TestCase("jointpos")]
-  [TestCase("jointvel")]
-  [TestCase("jointlimitpos")]
-  [TestCase("jointlimitvel")]
-  [TestCase("jointlimitfrc")]
-  public void ParsingReferenceToExistingJoint(string tag) {
-    var mjcfString = $"<sensors><{tag} joint=\"joint\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Joint, Is.EqualTo(_joint));
-  }
-
-  [TestCase("jointpos")]
-  [TestCase("jointvel")]
-  [TestCase("jointlimitpos")]
-  [TestCase("jointlimitvel")]
-  [TestCase("jointlimitfrc")]
-  public void ParsingReferenceToMissingJointThrowsException(string tag) {
-    var mjcfString = $"<sensors><{tag} joint=\"missing_joint\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    Assert.That(() => { _sensor.ParseMjcf(mjcfElement); }, Throws.TypeOf<ArgumentException>());
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjJointScalarSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjJointScalarSensorTests.cs.meta
deleted file mode 100644
index 22d88117..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjJointScalarSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 723fee04a97c5487486652cd5167bd06
-timeCreated: 1548111043
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjSiteQuaternionSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjSiteQuaternionSensorTests.cs
deleted file mode 100644
index 7589a132..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjSiteQuaternionSensorTests.cs
+++ /dev/null
@@ -1,84 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjSiteQuaternionSensorTests {
-
-  private MjSiteQuaternionSensor _sensor;
-  private MjSite _site;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("sensor", typeof(MjSiteQuaternionSensor))
-        .GetComponent<MjSiteQuaternionSensor>();
-    _site = new GameObject("site", typeof(MjSite)).GetComponent<MjSite>();
-    _sensor.Site = _site;
-
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-    UnityEngine.Object.DestroyImmediate(_site.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [Test]
-  public void GenerateSensorName() {
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain("<framequat"));
-  }
-
-  [Test]
-  public void GenerateSiteReference() {
-    var parentNode = _doc.CreateElement("parent");
-    _doc.AppendChild(parentNode);
-    parentNode.AppendChild(_site.GenerateMjcf("test_site", _doc));
-    parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain("objname=\"test_site\""));
-  }
-
-  [Test]
-  public void FindingRenferencedSite() {
-    var mjcfString = "<sensors><framequat objname=\"site\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, "framequat");
-    _sensor.Site = null;
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Site, Is.EqualTo(_site));
-  }
-
-  [Test]
-  public void ExceptionThrownWhenReferencedBodyNotFoundInScene() {
-    var mjcfString = "<sensors><framequat objname=\"missing_site\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, "framequat");
-    Assert.That(() => { _sensor.ParseMjcf(mjcfElement); }, Throws.TypeOf<ArgumentException>());
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjSiteQuaternionSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjSiteQuaternionSensorTests.cs.meta
deleted file mode 100644
index 4921d86a..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjSiteQuaternionSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 733b3b2c8a1ea44ddab4da302810cc4d
-timeCreated: 1548171912
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjSiteScalarSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjSiteScalarSensorTests.cs
deleted file mode 100644
index 92c9a2cb..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjSiteScalarSensorTests.cs
+++ /dev/null
@@ -1,101 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjSiteScalarSensorTests {
-
-  private MjSiteScalarSensor _sensor;
-  private MjSite _site;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("sensor", typeof(MjSiteScalarSensor))
-        .GetComponent<MjSiteScalarSensor>();
-    _site = new GameObject("site", typeof(MjSite)).GetComponent<MjSite>();
-    _sensor.Site = _site;
-
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-    UnityEngine.Object.DestroyImmediate(_site.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [TestCase(MjSiteScalarSensor.AvailableSensors.Touch, "touch")]
-  [TestCase(MjSiteScalarSensor.AvailableSensors.RangeFinder, "rangefinder")]
-  public void GenerateSensorName(
-      MjSiteScalarSensor.AvailableSensors type, string expectedTag) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<{expectedTag}"));
-  }
-
-  [TestCase(MjSiteScalarSensor.AvailableSensors.Touch)]
-  [TestCase(MjSiteScalarSensor.AvailableSensors.RangeFinder)]
-  public void GenerateSiteReference(MjSiteScalarSensor.AvailableSensors type) {
-    var parentNode = (XmlElement)_doc.CreateElement("parent");
-    _doc.AppendChild(parentNode);
-    _sensor.SensorType = type;
-    parentNode.AppendChild(_site.GenerateMjcf("test_site", _doc));
-    parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"site=\"test_site\""));
-  }
-
-  [TestCase(MjSiteScalarSensor.AvailableSensors.Touch)]
-  [TestCase(MjSiteScalarSensor.AvailableSensors.RangeFinder)]
-  public void SensorsWithoutExplicitBindingTypeSpecification(
-      MjSiteScalarSensor.AvailableSensors type) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Not.Contain($"objname"));
-  }
-
-  [TestCase("touch", MjSiteScalarSensor.AvailableSensors.Touch)]
-  [TestCase("rangefinder", MjSiteScalarSensor.AvailableSensors.RangeFinder)]
-  public void ParsingSensorType(
-      string tag, MjSiteScalarSensor.AvailableSensors expectedType) {
-    var mjcfString = $"<sensors><{tag} site=\"site\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.SensorType, Is.EqualTo(expectedType));
-  }
-
-  [TestCase("touch", "site")]
-  [TestCase("rangefinder", "site")]
-  public void ParsingSubtreeSiteName(string tag, string siteAttribute) {
-    var mjcfString = $"<sensors><{tag} {siteAttribute}=\"site\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, $"{tag}");
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Site, Is.EqualTo(_site));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjSiteScalarSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjSiteScalarSensorTests.cs.meta
deleted file mode 100644
index c73cf0b4..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjSiteScalarSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 3a827466bc75c47b6afc4bc474a2a066
-timeCreated: 1548110161
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Sensors/MjSiteVectorSensorTests.cs b/unity/Tests/Editor/Components/Sensors/MjSiteVectorSensorTests.cs
deleted file mode 100644
index 970748d3..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjSiteVectorSensorTests.cs
+++ /dev/null
@@ -1,173 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-[TestFixture]
-public class MjSiteVectorSensorTests {
-
-  private MjSiteVectorSensor _sensor;
-  private MjSite _site;
-  private XmlDocument _doc;
-
-  [SetUp]
-  public void SetUp() {
-    _sensor = new GameObject("sensor").AddComponent<MjSiteVectorSensor>();
-    _site = new GameObject("site").AddComponent<MjSite>();
-    _sensor.Site = _site;
-
-    _doc = new XmlDocument();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_sensor.gameObject);
-    UnityEngine.Object.DestroyImmediate(_site.gameObject);
-  }
-
-  private XmlElement Parse(string mjcfString, string tag) {
-    _doc.LoadXml(mjcfString);
-    var elementList = _doc.GetElementsByTagName(tag);
-    return elementList[0] as XmlElement;
-  }
-
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Accelerometer, "accelerometer")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Velocimeter, "velocimeter")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Gyro, "gyro")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Force, "force")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Torque, "torque")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Magnetometer, "magnetometer")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FramePos, "framepos")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameXAxis, "framexaxis")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameYAxis, "frameyaxis")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameZAxis, "framezaxis")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameLinVel, "framelinvel")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameAngVel, "frameangvel")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameLinAcc, "framelinacc")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameAngAcc, "frameangacc")]
-  public void GenerateSensorName(
-      MjSiteVectorSensor.AvailableSensors type, string expectedTag) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"<{expectedTag}"));
-  }
-
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Accelerometer, "site")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Velocimeter, "site")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Gyro, "site")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Force, "site")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Torque, "site")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Magnetometer, "site")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FramePos, "objname")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameXAxis, "objname")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameYAxis, "objname")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameZAxis, "objname")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameLinVel, "objname")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameAngVel, "objname")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameLinAcc, "objname")]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameAngAcc, "objname")]
-  public void GenerateSiteReference(
-      MjSiteVectorSensor.AvailableSensors type, string expectedAttribute) {
-    var parentNode = (XmlElement)_doc.CreateElement("parent");
-    _doc.AppendChild(parentNode);
-    _sensor.SensorType = type;
-    parentNode.AppendChild(_site.GenerateMjcf("test_site", _doc));
-    parentNode.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Contain($"{expectedAttribute}=\"test_site\""));
-  }
-
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Accelerometer)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Velocimeter)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Gyro)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Force)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Torque)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.Magnetometer)]
-  public void SensorsWithoutExplicitBindingTypeSpecification(
-      MjSiteVectorSensor.AvailableSensors type) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Not.Contain("objname"));
-  }
-
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FramePos)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameXAxis)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameYAxis)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameZAxis)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameLinVel)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameAngVel)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameLinAcc)]
-  [TestCase(MjSiteVectorSensor.AvailableSensors.FrameAngAcc)]
-  public void FrameTypeSpecification(MjSiteVectorSensor.AvailableSensors type) {
-    _sensor.SensorType = type;
-    _doc.AppendChild(_sensor.GenerateMjcf("test_sensor", _doc));
-    Assert.That(_doc.OuterXml, Does.Not.Contain("objname=\"site\""));
-  }
-
-  [TestCase("accelerometer", MjSiteVectorSensor.AvailableSensors.Accelerometer)]
-  [TestCase("velocimeter", MjSiteVectorSensor.AvailableSensors.Velocimeter)]
-  [TestCase("gyro", MjSiteVectorSensor.AvailableSensors.Gyro)]
-  [TestCase("force", MjSiteVectorSensor.AvailableSensors.Force)]
-  [TestCase("torque", MjSiteVectorSensor.AvailableSensors.Torque)]
-  [TestCase("magnetometer", MjSiteVectorSensor.AvailableSensors.Magnetometer)]
-  [TestCase("framepos", MjSiteVectorSensor.AvailableSensors.FramePos)]
-  [TestCase("framexaxis", MjSiteVectorSensor.AvailableSensors.FrameXAxis)]
-  [TestCase("frameyaxis", MjSiteVectorSensor.AvailableSensors.FrameYAxis)]
-  [TestCase("framezaxis", MjSiteVectorSensor.AvailableSensors.FrameZAxis)]
-  [TestCase("framelinvel", MjSiteVectorSensor.AvailableSensors.FrameLinVel)]
-  [TestCase("frameangvel", MjSiteVectorSensor.AvailableSensors.FrameAngVel)]
-  [TestCase("framelinacc", MjSiteVectorSensor.AvailableSensors.FrameLinAcc)]
-  [TestCase("frameangacc", MjSiteVectorSensor.AvailableSensors.FrameAngAcc)]
-  public void ParsingSensorType(
-      string tag, MjSiteVectorSensor.AvailableSensors expectedType) {
-    var mjcfString = $"<sensors><{tag} site=\"site\" objname=\"site\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, tag);
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.SensorType, Is.EqualTo(expectedType));
-  }
-
-  [TestCase("accelerometer", "site")]
-  [TestCase("velocimeter", "site")]
-  [TestCase("gyro", "site")]
-  [TestCase("force", "site")]
-  [TestCase("torque", "site")]
-  [TestCase("magnetometer", "site")]
-  public void ParsingSubtreeSiteName(string tag, string siteAttribute) {
-    var mjcfString = $"<sensors><{tag} {siteAttribute}=\"site\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, tag);
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Site, Is.EqualTo(_site));
-  }
-
-  [TestCase("framepos", "objname")]
-  [TestCase("framexaxis", "objname")]
-  [TestCase("frameyaxis", "objname")]
-  [TestCase("framezaxis", "objname")]
-  [TestCase("framelinvel", "objname")]
-  [TestCase("frameangvel", "objname")]
-  [TestCase("framelinacc", "objname")]
-  [TestCase("frameangacc", "objname")]
-  public void ParsingFrameSiteName(string tag, string siteAttribute) {
-    var mjcfString = $"<sensors><{tag} {siteAttribute}=\"site\"/></sensors>";
-    var mjcfElement = Parse(mjcfString, tag);
-    _sensor.ParseMjcf(mjcfElement);
-    Assert.That(_sensor.Site, Is.EqualTo(_site));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Components/Sensors/MjSiteVectorSensorTests.cs.meta b/unity/Tests/Editor/Components/Sensors/MjSiteVectorSensorTests.cs.meta
deleted file mode 100644
index 81a80b89..00000000
--- a/unity/Tests/Editor/Components/Sensors/MjSiteVectorSensorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 8f9f930ccc5684f279f5e2ca0ec29cc8
-timeCreated: 1548171912
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Shapes.meta b/unity/Tests/Editor/Components/Shapes.meta
deleted file mode 100644
index 1f5a5306..00000000
--- a/unity/Tests/Editor/Components/Shapes.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 6cee6252a3cdc9a24a25b7cc99be3392
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Shapes/MeshGeneratorsTests.cs b/unity/Tests/Editor/Components/Shapes/MeshGeneratorsTests.cs
deleted file mode 100644
index 57718db0..00000000
--- a/unity/Tests/Editor/Components/Shapes/MeshGeneratorsTests.cs
+++ /dev/null
@@ -1,174 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools.Utils;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MeshGeneratorsEditorTests {
-    [Test]
-    public void FirstAndLastVerticalSlicesContainVerticesLocatedInTheSamePlace() {
-      var meshData = MeshGenerators.BuildSphere(scale: Vector3.one, numVerticalSlices: 4,
-                                                numHorizontalSlices: 3);
-      var vertices = meshData.Item1;
-      Assert.That(vertices[0], Is.EqualTo(vertices[1]));
-      Assert.That(vertices[1], Is.EqualTo(vertices[2]));
-      Assert.That(vertices[2], Is.EqualTo(vertices[3]));
-      Assert.That(vertices[8], Is.EqualTo(vertices[9]));
-      Assert.That(vertices[9], Is.EqualTo(vertices[10]));
-      Assert.That(vertices[10], Is.EqualTo(vertices[11]));
-    }
-
-    [Test]
-    public void GeneratedSphereWithProperScaling() {
-      var scale = new Vector3(0.5f, 2, 3);
-      var meshData =
-          MeshGenerators.BuildSphere(scale: scale, numVerticalSlices: 4, numHorizontalSlices: 3);
-      var vertices = meshData.Item1;
-      // One of the vertices of the bottom cap.
-      Assert.That(vertices[0], Is.EqualTo(Vector3.down * scale.y).Using(Vector3ComparerWithEqualsOperator.Instance));
-      // One of the vertices of the top cap.
-      Assert.That(vertices[8], Is.EqualTo(Vector3.up * scale.y).Using(Vector3ComparerWithEqualsOperator.Instance));
-      // The sides.
-      Assert.That(vertices[4], Is.EqualTo(Vector3.right * scale.x).Using(Vector3ComparerWithEqualsOperator.Instance));
-      Assert.That(vertices[5], Is.EqualTo(Vector3.back * scale.z).Using(Vector3ComparerWithEqualsOperator.Instance));
-      Assert.That(vertices[6], Is.EqualTo(Vector3.left * scale.x).Using(Vector3ComparerWithEqualsOperator.Instance));
-      Assert.That(vertices[7],
-                  Is.EqualTo(Vector3.forward * scale.z).Using(Vector3ComparerWithEqualsOperator.Instance));
-    }
-
-    [Test]
-    public void GeneratedCylinderHasCorrectHeight() {
-      var meshData = MeshGenerators.BuildCylinder(radius: 1.0f, height: 5.0f, numVerticalSlices: 4);
-      var bottomVertex =
-          meshData.Item1.Aggregate((result, item) => result.y < item.y ? result : item);
-      var topVertex = meshData.Item1.Aggregate((result, item) => result.y > item.y ? result : item);
-      Assert.That(topVertex.y - bottomVertex.y, Is.EqualTo(5.0f).Within(1e-3f));
-    }
-
-    [Test]
-    public void GeneratedCylinderHasCorrectRadius() {
-      var meshData = MeshGenerators.BuildCylinder(radius: 2.0f, height: 1.0f, numVerticalSlices: 4);
-      var averageRadius =
-          meshData.Item1.Select(v => new Vector3(v.x, 0, v.z).magnitude).Average(radius => radius);
-      Assert.That(averageRadius, Is.EqualTo(2.0f).Within(1e-3f));
-    }
-
-    [Test]
-    public void GeneratedCapsuleHasCorrectHeight() {
-      var meshData = MeshGenerators.BuildCapsule(radius: 1.0f, height: 5.0f, numVerticalSlices: 4,
-                                                 numHorizontalSlices: 3);
-      var bottomVertex =
-          meshData.Item1.Aggregate((result, item) => result.y < item.y ? result : item);
-      var topVertex = meshData.Item1.Aggregate((result, item) => result.y > item.y ? result : item);
-      // The height of the capsule is the height of the body plus the diameter of the sphere that
-      // forms the bases.
-      Assert.That(topVertex.y - bottomVertex.y, Is.EqualTo(5.0f).Within(1e-3f));
-    }
-
-    [Test]
-    public void GeneratedCapsuleHasCorrectRadius() {
-      var meshData = MeshGenerators.BuildCapsule(radius: 2.0f, height: 3.0f, numVerticalSlices: 4,
-                                                 numHorizontalSlices: 3);
-      var averageRadius = meshData.Item1.Where(v => Math.Abs(v.y) <= 0.5f)
-                              .Select(v => new Vector3(v.x, 0, v.z).magnitude)
-                              .Average(radius => radius);
-      Assert.That(averageRadius, Is.EqualTo(2.0f).Within(1e-3f));
-    }
-
-    [Test]
-    public void GeneratedBoxHasCorrectExtents() {
-      var extents = new Vector3(0.5f, 2, 3);
-      var meshData = MeshGenerators.BuildBox(extents: extents);
-      var minVertex = meshData.Item1.Aggregate(
-          (result, item) =>
-              (result.x + result.y + result.z) < (item.x + item.y + item.z) ? result : item);
-      var maxVertex = meshData.Item1.Aggregate(
-          (result, item) =>
-              (result.x + result.y + result.z) > (item.x + item.y + item.z) ? result : item);
-      Assert.That(minVertex, Is.EqualTo(extents * -1.0f).Using(Vector3ComparerWithEqualsOperator.Instance));
-      Assert.That(maxVertex, Is.EqualTo(extents).Using(Vector3ComparerWithEqualsOperator.Instance));
-    }
-
-    [Test]
-    public void GeneratedBoxTriangleMapIsAListOfConsecutiveIntegers() {
-      var meshData = MeshGenerators.BuildBox(extents: Vector3.one);
-      Assert.That(meshData.Item2, Has.Length.EqualTo(36));
-      for (var i = 0; i < 36; ++i) {
-        Assert.That(meshData.Item2[i], Is.EqualTo(i));
-      }
-    }
-
-    [Test]
-    public void GeneratedPlaneHasCorrectExtents() {
-      var meshData = MeshGenerators.BuildPlane(width: 2, height: 3);
-      var minVertex = meshData.Item1.Aggregate(
-          (result, item) => (result.x + result.z) < (item.x + item.z) ? result : item);
-      var maxVertex = meshData.Item1.Aggregate(
-          (result, item) => (result.x + result.z) > (item.x + item.z) ? result : item);
-      Assert.That(minVertex, Is.EqualTo(new Vector3(-1, 0, -1.5f)).Using(Vector3ComparerWithEqualsOperator.Instance));
-      Assert.That(maxVertex, Is.EqualTo(new Vector3(1, 0, 1.5f)).Using(Vector3ComparerWithEqualsOperator.Instance));
-    }
-  }
-
-  [TestFixture]
-  public class MeshMergerEditorTests {
-    private MeshMerger _meshMerger;
-
-    [SetUp]
-    public void SetUp() {
-      _meshMerger = new MeshMerger();
-    }
-
-    [Test]
-    public void AddingMeshVerticesAggregatesThem() {
-      _meshMerger.Add(vertices: new Vector3[] { Vector3.one }, triangles: new int[] {});
-      Assert.That(_meshMerger.Vertices, Has.Length.EqualTo(1));
-      _meshMerger.Add(vertices: new Vector3[] { Vector3.forward }, triangles: new int[] {});
-      Assert.That(_meshMerger.Vertices, Has.Length.EqualTo(2));
-      Assert.That(_meshMerger.Vertices[0], Is.EqualTo(Vector3.one));
-      Assert.That(_meshMerger.Vertices[1], Is.EqualTo(Vector3.forward));
-    }
-
-    [Test]
-    public void TriangleIndicesAreOffsetToPointAtTheCorrespondingMeshes() {
-      _meshMerger.Add(vertices: new Vector3[] { Vector3.right, Vector3.up },
-                      triangles: new int[] { 0, 1 });
-      _meshMerger.Add(vertices: new Vector3[] { Vector3.forward, Vector3.zero },
-                      triangles: new int[] { 0, 1 });
-      Assert.That(_meshMerger.Triangles, Has.Length.EqualTo(4));
-      Assert.That(_meshMerger.Vertices[_meshMerger.Triangles[0]], Is.EqualTo(Vector3.right));
-      Assert.That(_meshMerger.Vertices[_meshMerger.Triangles[1]], Is.EqualTo(Vector3.up));
-      Assert.That(_meshMerger.Vertices[_meshMerger.Triangles[2]], Is.EqualTo(Vector3.forward));
-      Assert.That(_meshMerger.Vertices[_meshMerger.Triangles[3]], Is.EqualTo(Vector3.zero));
-    }
-
-    [Test]
-    public void TranslatingAddedVertices() {
-      _meshMerger.AddAndTranslate(vertices: new Vector3[] { Vector3.zero }, triangles: new int[] {},
-                                  translation: Vector3.right);
-      _meshMerger.AddAndTranslate(vertices: new Vector3[] { Vector3.zero }, triangles: new int[] {},
-                                  translation: Vector3.up);
-      Assert.That(_meshMerger.Vertices[0], Is.EqualTo(Vector3.right));
-      Assert.That(_meshMerger.Vertices[1], Is.EqualTo(Vector3.up));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Shapes/MeshGeneratorsTests.cs.meta b/unity/Tests/Editor/Components/Shapes/MeshGeneratorsTests.cs.meta
deleted file mode 100644
index 511ad8ad..00000000
--- a/unity/Tests/Editor/Components/Shapes/MeshGeneratorsTests.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: d757196bb4bbd7d0d8eddc399cfeddef
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Shapes/MjBoxShapeTests.cs b/unity/Tests/Editor/Components/Shapes/MjBoxShapeTests.cs
deleted file mode 100644
index 52e68014..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjBoxShapeTests.cs
+++ /dev/null
@@ -1,104 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MjBoxShapeTests {
-    private GameObject _owner;
-    private MjShapeComponent _shape;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _owner = new GameObject("owner");
-      _shape = _owner.AddComponent<MjSite>();
-      _shape.ShapeType = MjShapeComponent.ShapeTypes.Box;
-      _shape.Box.Extents = Vector3.one;
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_owner);
-    }
-
-    [TestCase(1, 2, 3, "1 3 2")]
-    public void BoxSize(float x, float y, float z, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _shape.Box.Extents = new Vector3(x, y, z);
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [TestCase(0.5f, "0.5 0.5 0.5")]
-    [TestCase(2.0f, "2 2 2")]
-    public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _owner.transform.localScale = Vector3.one * uniformScale;
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [TestCase(2, 3, 4, "2 4 3")]
-    public void EffectOfNonUniformScaling(float x, float y, float z, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _owner.transform.localScale = new Vector3(x, y, z);
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [Test]
-    public void ParsingSettings() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "box");
-      mjcf.SetAttribute("size", "0.1 0.2 0.3");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Box));
-      Assert.That(_shape.Box.Extents, Is.EqualTo(new Vector3(0.1f, 0.3f, 0.2f)));
-    }
-
-    [TestCase("0 0 0 0 0 1", 0.5f, 0.5f, 0.5f)]
-    [TestCase("0 0 0 0 1 0", 0.5f, 0.5f, 0.5f)]
-    [TestCase("0 0 0 1 0 0", 0.5f, 0.5f, 0.5f)]
-    [TestCase("0 0 -1 0 0 1", 1, 1, 1)]
-    [TestCase("0 -1 0 0 1 0", 1, 1, 1)]
-    [TestCase("-1 0 0 1 0 0", 1, 1, 1)]
-    public void FromToSizeSpecificationIsOrientationAgnostic(string fromToStr, float x, float y,
-                                                             float z) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "box");
-      mjcf.SetAttribute("fromto", fromToStr);
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.Box.Extents, Is.EqualTo(new Vector3(x, y, z)));
-    }
-
-    [Test]
-    public void FromToSizeSpecificationUsesMagnitudeOfVectorAsSizeBase() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "box");
-      mjcf.SetAttribute("fromto", "-1 0 0 0 0 1");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That((_shape.Box.Extents - new Vector3(0.707f, 0.707f, 0.707f)).magnitude,
-                  Is.EqualTo(0).Within(1e-3f));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Shapes/MjBoxShapeTests.cs.meta b/unity/Tests/Editor/Components/Shapes/MjBoxShapeTests.cs.meta
deleted file mode 100644
index 543480ed..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjBoxShapeTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: aec19e8fe359a4415a24f826721d003c
-timeCreated: 1547644312
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
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diff --git a/unity/Tests/Editor/Components/Shapes/MjCapsuleShapeTests.cs b/unity/Tests/Editor/Components/Shapes/MjCapsuleShapeTests.cs
deleted file mode 100644
index 28bef3cb..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjCapsuleShapeTests.cs
+++ /dev/null
@@ -1,96 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MjCapsuleShapeTests {
-    private GameObject _owner;
-    private MjShapeComponent _shape;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _owner = new GameObject("owner");
-      _shape = _owner.AddComponent<MjSite>();
-      _shape.ShapeType = MjShapeComponent.ShapeTypes.Capsule;
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_owner);
-    }
-
-    [TestCase(0.5f, 0.5f, "0.5 0.5")]
-    [TestCase(1.5f, 1.5f, "1.5 1.5")]
-    public void CapsuleSize(float radius, float halfHeight, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _shape.Capsule.Radius = radius;
-      _shape.Capsule.HalfHeight = halfHeight;
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [TestCase(0.5f, "0.5 1")]
-    [TestCase(2.0f, "2 4")]
-    public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _shape.Capsule.Radius = 1.0f;
-      _shape.Capsule.HalfHeight = 2.0f;
-      _owner.transform.localScale = Vector3.one * uniformScale;
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [Test]
-    public void ParsingSettings() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "capsule");
-      mjcf.SetAttribute("size", "1.5 2.4");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Capsule));
-      Assert.That(_shape.Capsule.Radius, Is.EqualTo(1.5f));
-      Assert.That(_shape.Capsule.HalfHeight, Is.EqualTo(2.4f));
-    }
-
-    [Test]
-    public void FromToSizeSpecificationOverridesHeightOnly() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "capsule");
-      mjcf.SetAttribute("size", "5 1");
-      mjcf.SetAttribute("fromto", "0 0 0 0 0 3");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.Capsule.Radius, Is.EqualTo(5));
-      Assert.That(_shape.Capsule.HalfHeight, Is.EqualTo(1.5f));
-    }
-
-    [TestCase("0 0 -1 0 0 2", 1.5f)]
-    [TestCase("1 0 0 3 0 0", 1)]
-    public void FromToHeightMeasuredAsSegmentLength(string fromToStr, float expectedHeight) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "capsule");
-      mjcf.SetAttribute("fromto", fromToStr);
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.Capsule.HalfHeight, Is.EqualTo(expectedHeight));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Shapes/MjCapsuleShapeTests.cs.meta b/unity/Tests/Editor/Components/Shapes/MjCapsuleShapeTests.cs.meta
deleted file mode 100644
index 8a7e707d..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjCapsuleShapeTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 9871b9790c4594f638a5bd00d660e897
-timeCreated: 1547635214
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Shapes/MjCylinderShapeTests.cs b/unity/Tests/Editor/Components/Shapes/MjCylinderShapeTests.cs
deleted file mode 100644
index 34c95e41..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjCylinderShapeTests.cs
+++ /dev/null
@@ -1,96 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MjCylinderShapeTests {
-    private GameObject _owner;
-    private MjShapeComponent _shape;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _owner = new GameObject("owner");
-      _shape = _owner.AddComponent<MjSite>();
-      _shape.ShapeType = MjShapeComponent.ShapeTypes.Cylinder;
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_owner);
-    }
-
-    [TestCase(0.5f, 0.5f, "0.5 0.5")]
-    [TestCase(1.5f, 1.5f, "1.5 1.5")]
-    public void CylinderSize(float radius, float height, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _shape.Cylinder.Radius = radius;
-      _shape.Cylinder.HalfHeight = height;
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [TestCase(0.5f, "0.5 1")]
-    [TestCase(2.0f, "2 4")]
-    public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _shape.Cylinder.Radius = 1.0f;
-      _shape.Cylinder.HalfHeight = 2.0f;
-      _owner.transform.localScale = Vector3.one * uniformScale;
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [Test]
-    public void ParsingSettings() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "cylinder");
-      mjcf.SetAttribute("size", "1.5 2.4");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Cylinder));
-      Assert.That(_shape.Cylinder.Radius, Is.EqualTo(1.5f));
-      Assert.That(_shape.Cylinder.HalfHeight, Is.EqualTo(2.4f));
-    }
-
-    [Test]
-    public void FromToSizeSpecificationOverridesHeightOnly() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "cylinder");
-      mjcf.SetAttribute("size", "5 1");
-      mjcf.SetAttribute("fromto", "0 0 0 0 0 3");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.Cylinder.Radius, Is.EqualTo(5));
-      Assert.That(_shape.Cylinder.HalfHeight, Is.EqualTo(1.5f));
-    }
-
-    [TestCase("0 0 -1 0 0 2", 1.5f)]
-    [TestCase("1 0 0 3 0 0", 1)]
-    public void FromToHeightMeasuredAsSegmentLength(string fromToStr, float expectedHeight) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "cylinder");
-      mjcf.SetAttribute("fromto", fromToStr);
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.Cylinder.HalfHeight, Is.EqualTo(expectedHeight));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Shapes/MjCylinderShapeTests.cs.meta b/unity/Tests/Editor/Components/Shapes/MjCylinderShapeTests.cs.meta
deleted file mode 100644
index 99ce8138..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjCylinderShapeTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: cb7edb2ed8966435991a52ed46024185
-timeCreated: 1547729698
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Shapes/MjEllipsoidShapeTests.cs b/unity/Tests/Editor/Components/Shapes/MjEllipsoidShapeTests.cs
deleted file mode 100644
index ca44b636..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjEllipsoidShapeTests.cs
+++ /dev/null
@@ -1,104 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MjEllipsoidShapeTests {
-    private GameObject _owner;
-    private MjShapeComponent _shape;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _owner = new GameObject("owner");
-      _shape = _owner.AddComponent<MjSite>();
-      _shape.ShapeType = MjShapeComponent.ShapeTypes.Ellipsoid;
-      _shape.Ellipsoid.Radiuses = Vector3.one;
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_owner);
-    }
-
-    [TestCase(1, 2, 3, "1 3 2")]
-    public void EllipsoidSize(float x, float y, float z, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _shape.Ellipsoid.Radiuses = new Vector3(x, y, z);
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [TestCase(0.5f, "0.5 0.5 0.5")]
-    [TestCase(2.0f, "2 2 2")]
-    public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _owner.transform.localScale = Vector3.one * uniformScale;
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [TestCase(2, 3, 4, "2 4 3")]
-    public void EffectOfNonUniformScaling(float x, float y, float z, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _owner.transform.localScale = new Vector3(x, y, z);
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [Test]
-    public void ParsingSettings() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "ellipsoid");
-      mjcf.SetAttribute("size", "0.1 0.2 0.3");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Ellipsoid));
-      Assert.That(_shape.Ellipsoid.Radiuses, Is.EqualTo(new Vector3(0.1f, 0.3f, 0.2f)));
-    }
-
-    [TestCase("0 0 0 0 0 1", 0.5f, 0.5f, 0.5f)]
-    [TestCase("0 0 0 0 1 0", 0.5f, 0.5f, 0.5f)]
-    [TestCase("0 0 0 1 0 0", 0.5f, 0.5f, 0.5f)]
-    [TestCase("0 0 -1 0 0 1", 1, 1, 1)]
-    [TestCase("0 -1 0 0 1 0", 1, 1, 1)]
-    [TestCase("-1 0 0 1 0 0", 1, 1, 1)]
-    public void FromToSizeSpecificationIsOrientationAgnostic(string fromToStr, float x, float y,
-                                                             float z) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "ellipsoid");
-      mjcf.SetAttribute("fromto", fromToStr);
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.Ellipsoid.Radiuses, Is.EqualTo(new Vector3(x, y, z)));
-    }
-
-    [Test]
-    public void FromToSizeSpecificationUsesMagnitudeOfVectorAsSizeBase() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "ellipsoid");
-      mjcf.SetAttribute("fromto", "-1 0 0 0 0 1");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That((_shape.Ellipsoid.Radiuses - new Vector3(0.707f, 0.707f, 0.707f)).magnitude,
-                  Is.EqualTo(0).Within(1e-3f));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Shapes/MjEllipsoidShapeTests.cs.meta b/unity/Tests/Editor/Components/Shapes/MjEllipsoidShapeTests.cs.meta
deleted file mode 100644
index d9593fff..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjEllipsoidShapeTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 8fe14b804de054f709bd186df6160648
-timeCreated: 1547644312
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Shapes/MjGizmosTests.cs b/unity/Tests/Editor/Components/Shapes/MjGizmosTests.cs
deleted file mode 100644
index 279e46d4..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjGizmosTests.cs
+++ /dev/null
@@ -1,270 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MjGizmosDrawArcTests {
-    [SetUp]
-    public void SetUp() {
-      MjGizmos.DrawLine = MockDrawLine;
-      MjGizmos.NumCircleSegments = 4;
-      _lineFrom = new List<Vector3>();
-      _lineTo = new List<Vector3>();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      MjGizmos.DrawLine = Gizmos.DrawLine;
-      MjGizmos.NumCircleSegments = 32;
-    }
-
-    private List<Vector3> _lineFrom;
-    private List<Vector3> _lineTo;
-
-    private void MockDrawLine(Vector3 from, Vector3 to) {
-      _lineFrom.Add(from);
-      _lineTo.Add(to);
-    }
-
-    [Test]
-    public void LineCountOfDrawnCircle() {
-      MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 1.0f, 0.0f);
-      Assert.That(_lineFrom, Has.Count.EqualTo(MjGizmos.NumCircleSegments));
-      Assert.That(_lineTo, Has.Count.EqualTo(MjGizmos.NumCircleSegments));
-    }
-
-    [Test]
-    public void LineAdjacencyOfDrawnCircle() {
-      MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 1.0f, 0.0f);
-      Assert.That((_lineFrom[0] - _lineTo[3]).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[1] - _lineTo[0]).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[2] - _lineTo[1]).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[3] - _lineTo[2]).magnitude, Is.LessThan(1e-3f));
-    }
-
-    [Test]
-    public void CircleVertexPositions() {
-      MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 1.0f, 0.0f);
-      Assert.That((_lineFrom[0] - new Vector3(0, 0, -1)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[1] - new Vector3(-1, 0, 0)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[2] - new Vector3(0, 0, 1)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[3] - new Vector3(1, 0, 0)).magnitude, Is.LessThan(1e-3f));
-    }
-
-    [Test]
-    public void VerticesOfOffsetCircle() {
-      MjGizmos.DrawArc(Vector3.one, 1.0f, Vector3.up, 1.0f, 0.0f);
-      Assert.That((_lineFrom[0] - new Vector3(1, 1, 0)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[1] - new Vector3(0, 1, 1)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[2] - new Vector3(1, 1, 2)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[3] - new Vector3(2, 1, 1)).magnitude, Is.LessThan(1e-3f));
-    }
-
-    [Test]
-    public void DrawingRotatedCircle() {
-      MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.right, 1.0f, 0.0f);
-      Assert.That((_lineFrom[0] - new Vector3(0, 0, 1)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[1] - new Vector3(0, -1, 0)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[2] - new Vector3(0, 0, -1)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineFrom[3] - new Vector3(0, 1, 0)).magnitude, Is.LessThan(1e-3f));
-    }
-
-    [Test]
-    public void DrawingHalfCircle() {
-      MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 0.25f, 0.0f);
-      Assert.That(_lineFrom, Has.Count.EqualTo(1));
-      Assert.That(_lineTo, Has.Count.EqualTo(1));
-      Assert.That((_lineFrom[0] - new Vector3(0, 0, -1)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineTo[0] - new Vector3(-1, 0, 0)).magnitude, Is.LessThan(1e-3f));
-    }
-
-    [Test]
-    public void DrawingHalfCircleWithOffsetCircumference() {
-      MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 0.25f, 90);
-      Assert.That((_lineFrom[0] - new Vector3(-1, 0, 0)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_lineTo[0] - new Vector3(0, 0, 1)).magnitude, Is.LessThan(1e-3f));
-    }
-  }
-
-  [TestFixture]
-  public class MjGizmosCapsuleTests {
-    [SetUp]
-    public void SetUp() {
-      MjGizmos.DrawLine = MockDrawLine;
-      MjGizmos.DrawArc = MockDrawArc;
-      MjGizmos.NumCircleSegments = 4;
-      _arc = new List<Tuple<Vector3, float, Vector3, float, float>>();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      MjGizmos.DrawLine = Gizmos.DrawLine;
-      MjGizmos.DrawArc = MjGizmos.DrawArcInternal;
-      MjGizmos.NumCircleSegments = 32;
-    }
-
-    private List<Tuple<Vector3, float, Vector3, float, float>> _arc;
-
-    private void MockDrawLine(Vector3 from, Vector3 to) {}
-
-    private void MockDrawArc(Vector3 position, float radius, Vector3 axis, float length,
-                             float startAngle) {
-      _arc.Add(Tuple.Create(position, radius, axis, length, startAngle));
-    }
-
-    [Test]
-    public void NumberOfArcsUsedToDrawCapsule() {
-      MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
-      Assert.That(_arc, Has.Count.EqualTo(6));
-    }
-
-    [Test]
-    public void CapsuleBaseCirclesOrigins() {
-      MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
-      Assert.That((_arc[0].Item1 - new Vector3(0, 0.5f, 0)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_arc[1].Item1 - new Vector3(0, -0.5f, 0)).magnitude, Is.LessThan(1e-3f));
-    }
-
-    [Test]
-    public void CapsuleBaseCirclesRadiuses() {
-      MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
-      Assert.That(_arc[0].Item2, Is.EqualTo(0.5f));
-      Assert.That(_arc[1].Item2, Is.EqualTo(0.5f));
-    }
-
-    [Test]
-    public void CapsuleBaseArcsOrigins() {
-      MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
-      Assert.That((_arc[2].Item1 - new Vector3(0, -0.5f, 0)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_arc[3].Item1 - new Vector3(0, 0.5f, 0)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_arc[4].Item1 - new Vector3(0, 0.5f, 0)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_arc[5].Item1 - new Vector3(0, -0.5f, 0)).magnitude, Is.LessThan(1e-3f));
-    }
-
-    [Test]
-    public void CapsuleBaseArcsRadiuses() {
-      MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
-      Assert.That(_arc[2].Item2, Is.EqualTo(0.5f));
-      Assert.That(_arc[3].Item2, Is.EqualTo(0.5f));
-      Assert.That(_arc[4].Item2, Is.EqualTo(0.5f));
-      Assert.That(_arc[5].Item2, Is.EqualTo(0.5f));
-    }
-  }
-
-  [TestFixture]
-  public class MjGizmosCylinderTests {
-    [SetUp]
-    public void SetUp() {
-      MjGizmos.DrawLine = MockDrawLine;
-      MjGizmos.DrawArc = MockDrawArc;
-      MjGizmos.NumCircleSegments = 4;
-      _arc = new List<Tuple<Vector3, float, Vector3, float, float>>();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      MjGizmos.DrawLine = Gizmos.DrawLine;
-      MjGizmos.DrawArc = MjGizmos.DrawArcInternal;
-      MjGizmos.NumCircleSegments = 32;
-    }
-
-    private List<Tuple<Vector3, float, Vector3, float, float>> _arc;
-
-    private void MockDrawLine(Vector3 from, Vector3 to) {}
-
-    private void MockDrawArc(Vector3 position, float radius, Vector3 axis, float length,
-                             float startAngle) {
-      _arc.Add(Tuple.Create(position, radius, axis, length, startAngle));
-    }
-
-    [Test]
-    public void NumberOfArcsUsedToDrawCylinder() {
-      MjGizmos.DrawWireCylinder(Vector3.zero, 0.5f, 1.0f);
-      Assert.That(_arc, Has.Count.EqualTo(2));
-    }
-
-    [Test]
-    public void CylinderBaseCirclesOrigins() {
-      MjGizmos.DrawWireCylinder(Vector3.zero, 0.5f, 1.0f);
-      Assert.That((_arc[0].Item1 - new Vector3(0, 0.5f, 0)).magnitude, Is.LessThan(1e-3f));
-      Assert.That((_arc[1].Item1 - new Vector3(0, -0.5f, 0)).magnitude, Is.LessThan(1e-3f));
-    }
-
-    [Test]
-    public void CylinderBaseCirclesRadiuses() {
-      MjGizmos.DrawWireCylinder(Vector3.zero, 0.5f, 1.0f);
-      Assert.That(_arc[0].Item2, Is.EqualTo(0.5f));
-      Assert.That(_arc[1].Item2, Is.EqualTo(0.5f));
-    }
-  }
-
-  [TestFixture]
-  public class MjGizmosPlaneTests {
-    [SetUp]
-    public void SetUp() {
-      MjGizmos.DrawLine = MockDrawLine;
-      _lines = new List<Tuple<Vector3, Vector3>>();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      MjGizmos.DrawLine = Gizmos.DrawLine;
-      _lines.Clear();
-    }
-
-    private List<Tuple<Vector3, Vector3>> _lines;
-
-    private void MockDrawLine(Vector3 start, Vector3 end) {
-      _lines.Add(Tuple.Create(start, end));
-    }
-
-    [Test]
-    public void DrawingPlaneAroundArbitraryCenter() {
-      MjGizmos.DrawWirePlane(new Vector3(1, 2, 3), 1, 1);
-      Assert.That(_lines, Has.Count.EqualTo(5));
-      Assert.That(_lines[0].Item1, Is.EqualTo(new Vector3(0.5f, 2, 2.5f)));
-      Assert.That(_lines[0].Item2, Is.EqualTo(new Vector3(1.5f, 2, 2.5f)));
-      Assert.That(_lines[1].Item1, Is.EqualTo(new Vector3(1.5f, 2, 2.5f)));
-      Assert.That(_lines[1].Item2, Is.EqualTo(new Vector3(1.5f, 2, 3.5f)));
-      Assert.That(_lines[2].Item1, Is.EqualTo(new Vector3(1.5f, 2, 3.5f)));
-      Assert.That(_lines[2].Item2, Is.EqualTo(new Vector3(0.5f, 2, 3.5f)));
-      Assert.That(_lines[3].Item1, Is.EqualTo(new Vector3(0.5f, 2, 3.5f)));
-      Assert.That(_lines[3].Item2, Is.EqualTo(new Vector3(0.5f, 2, 2.5f)));
-      Assert.That(_lines[4].Item1, Is.EqualTo(new Vector3(0.5f, 2, 2.5f)));
-      Assert.That(_lines[4].Item2, Is.EqualTo(new Vector3(1.5f, 2, 3.5f)));
-    }
-
-    [Test]
-    public void DrawingPlaneWithCorrectDimensions() {
-      MjGizmos.DrawWirePlane(Vector3.zero, width: 2, height: 4);
-      Assert.That(_lines[0].Item1, Is.EqualTo(new Vector3(-1, 0, -2)));
-      Assert.That(_lines[0].Item2, Is.EqualTo(new Vector3(1, 0, -2)));
-      Assert.That(_lines[1].Item1, Is.EqualTo(new Vector3(1, 0, -2)));
-      Assert.That(_lines[1].Item2, Is.EqualTo(new Vector3(1, 0, 2)));
-      Assert.That(_lines[2].Item1, Is.EqualTo(new Vector3(1, 0, 2)));
-      Assert.That(_lines[2].Item2, Is.EqualTo(new Vector3(-1, 0, 2)));
-      Assert.That(_lines[3].Item1, Is.EqualTo(new Vector3(-1, 0, 2)));
-      Assert.That(_lines[3].Item2, Is.EqualTo(new Vector3(-1, 0, -2)));
-      Assert.That(_lines[4].Item1, Is.EqualTo(new Vector3(-1, 0, -2)));
-      Assert.That(_lines[4].Item2, Is.EqualTo(new Vector3(1, 0, 2)));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Shapes/MjGizmosTests.cs.meta b/unity/Tests/Editor/Components/Shapes/MjGizmosTests.cs.meta
deleted file mode 100644
index bd1793e3..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjGizmosTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: a8a01c1e2d4304ce78d8efc6150f2f87
-timeCreated: 1536937372
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Shapes/MjPlaneShapeTests.cs b/unity/Tests/Editor/Components/Shapes/MjPlaneShapeTests.cs
deleted file mode 100644
index 0fb4540b..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjPlaneShapeTests.cs
+++ /dev/null
@@ -1,78 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MjPlaneShapeTests {
-    private GameObject _owner;
-    private MjShapeComponent _shape;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _owner = new GameObject("owner");
-      _shape = _owner.AddComponent<MjSite>();
-      _shape.ShapeType = MjShapeComponent.ShapeTypes.Plane;
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_owner);
-    }
-
-    [TestCase(1, 2, "1 2 1")]
-    public void PlaneSize(float x, float y, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _shape.Plane.Extents = new Vector2(x, y);
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [TestCase(0.5f, "0.5 0.5 0.5")]
-    [TestCase(2.0f, "2 2 2")]
-    public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _owner.transform.localScale = Vector3.one * uniformScale;
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [TestCase(2, 3, 4, "2 3 4")]
-    public void EffectOfNonUniformScaling(float x, float y, float z, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _owner.transform.localScale = new Vector3(x, y, z);
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [Test]
-    public void ParsingSettings() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "plane");
-      mjcf.SetAttribute("size", "0.1 0.2 0.3");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Plane));
-      Assert.That(_shape.Plane.Extents, Is.EqualTo(new Vector2(0.1f, 0.2f)));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Shapes/MjPlaneShapeTests.cs.meta b/unity/Tests/Editor/Components/Shapes/MjPlaneShapeTests.cs.meta
deleted file mode 100644
index d4c1d50f..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjPlaneShapeTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: b37384fec57304bfbb4edd50d7f2f80a
-timeCreated: 1547644312
-licenseType: Pro
-MonoImporter:
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-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
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-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Shapes/MjSphereShapeTests.cs b/unity/Tests/Editor/Components/Shapes/MjSphereShapeTests.cs
deleted file mode 100644
index ca6db033..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjSphereShapeTests.cs
+++ /dev/null
@@ -1,72 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MjSphereShapeTests {
-    private GameObject _owner;
-    private MjShapeComponent _shape;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _owner = new GameObject("owner");
-      _shape = _owner.AddComponent<MjSite>();
-      _shape.ShapeType = MjShapeComponent.ShapeTypes.Sphere;
-      _shape.Sphere.Radius = 1.0f;
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_owner);
-    }
-
-    [TestCase(2.0f, "2")]
-    [TestCase(1.5f, "1.5")]
-    public void XmlSizeForUnscaledSphere(float radius, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _shape.Sphere.Radius = radius;
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [TestCase(0.5f, "0.5")]
-    [TestCase(2.0f, "2")]
-    public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      _owner.transform.localScale = Vector3.one * uniformScale;
-      _shape.ShapeToMjcf(mjcf, _owner.transform);
-      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
-    }
-
-    [Test]
-    public void ParsingSettings() {
-      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
-      mjcf.SetAttribute("type", "sphere");
-      mjcf.SetAttribute("size", "0.75");
-      _shape.ShapeFromMjcf(mjcf);
-      Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Sphere));
-      Assert.That(_shape.Sphere.Radius, Is.EqualTo(0.75f));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Shapes/MjSphereShapeTests.cs.meta b/unity/Tests/Editor/Components/Shapes/MjSphereShapeTests.cs.meta
deleted file mode 100644
index 9beda98c..00000000
--- a/unity/Tests/Editor/Components/Shapes/MjSphereShapeTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
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diff --git a/unity/Tests/Editor/Components/Tendons.meta b/unity/Tests/Editor/Components/Tendons.meta
deleted file mode 100644
index 5bf9b0ee..00000000
--- a/unity/Tests/Editor/Components/Tendons.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 7a0617b3ff610c7f1929e31ec82c7e75
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Components/Tendons/MjFixedTendonTests.cs b/unity/Tests/Editor/Components/Tendons/MjFixedTendonTests.cs
deleted file mode 100644
index 22d4b0f9..00000000
--- a/unity/Tests/Editor/Components/Tendons/MjFixedTendonTests.cs
+++ /dev/null
@@ -1,60 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-  [TestFixture]
-  public class MjFixedTendonTests {
-    private MjHingeJoint _joint1;
-    private MjHingeJoint _joint2;
-    private MjFixedTendon _tendon;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _joint1 = new GameObject("joint1").AddComponent<MjHingeJoint>();
-      _joint2 = new GameObject("joint2").AddComponent<MjHingeJoint>();
-      _tendon = new GameObject("tendon").AddComponent<MjFixedTendon>();
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_tendon.gameObject);
-      UnityEngine.Object.DestroyImmediate(_joint1.gameObject);
-      UnityEngine.Object.DestroyImmediate(_joint2.gameObject);
-      UnityEngine.Object.DestroyImmediate(MjScene.Instance);
-    }
-
-    [Test]
-    public void ParseAllSettings() {
-      _doc.LoadXml("<fixed range='3 4'>" + "<joint joint='joint1' coef='1'/>" +
-                   "<joint joint='joint2' coef='2'/>" + "</fixed>");
-      _tendon.ParseMjcf(_doc.GetElementsByTagName("fixed")[0] as XmlElement);
-      Assert.That(_tendon.RangeLower, Is.EqualTo(3));
-      Assert.That(_tendon.RangeUpper, Is.EqualTo(4));
-      Assert.That(_tendon.JointList.Count, Is.EqualTo(2));
-      Assert.That(_tendon.JointList[0].Joint, Is.EqualTo(_joint1));
-      Assert.That(_tendon.JointList[0].Coefficient, Is.EqualTo(1.0f));
-      Assert.That(_tendon.JointList[1].Joint, Is.EqualTo(_joint2));
-      Assert.That(_tendon.JointList[1].Coefficient, Is.EqualTo(2.0f));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Tendons/MjFixedTendonTests.cs.meta b/unity/Tests/Editor/Components/Tendons/MjFixedTendonTests.cs.meta
deleted file mode 100644
index f3ccccf2..00000000
--- a/unity/Tests/Editor/Components/Tendons/MjFixedTendonTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 839d86acac1494dba9a7617f96ba27df
-timeCreated: 1550658312
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-MonoImporter:
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diff --git a/unity/Tests/Editor/Components/Tendons/MjSpatialTendonTests.cs b/unity/Tests/Editor/Components/Tendons/MjSpatialTendonTests.cs
deleted file mode 100644
index 060063a6..00000000
--- a/unity/Tests/Editor/Components/Tendons/MjSpatialTendonTests.cs
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-  [TestFixture]
-  public class MjSpatialTendonTests {
-    private MjSite _site1;
-    private MjSite _site2;
-    private MjSpatialTendon _tendon;
-    private XmlDocument _doc;
-
-    [SetUp]
-    public void SetUp() {
-      _site1 = new GameObject("site1").AddComponent<MjSite>();
-      _site2 = new GameObject("site2").AddComponent<MjSite>();
-      _tendon = new GameObject("tendon").AddComponent<MjSpatialTendon>();
-      _doc = new XmlDocument();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_tendon.gameObject);
-      UnityEngine.Object.DestroyImmediate(_site1.gameObject);
-      UnityEngine.Object.DestroyImmediate(_site2.gameObject);
-      UnityEngine.Object.DestroyImmediate(MjScene.Instance);
-    }
-
-    [Test]
-    public void ParseAllSettings() {
-      _doc.LoadXml("<spatial>" + "<site site='site1'/>" +
-                   "<site site='site2'/>" + "</spatial>");
-      _tendon.ParseMjcf(_doc.GetElementsByTagName("spatial")[0] as XmlElement);
-      Assert.That(_tendon.ViapointsList.Count, Is.EqualTo(2));
-      Assert.That(_tendon.ViapointsList[0].Site, Is.EqualTo(_site1));
-      Assert.That(_tendon.ViapointsList[1].Site, Is.EqualTo(_site2));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Components/Tendons/MjSpatialTendonTests.cs.meta b/unity/Tests/Editor/Components/Tendons/MjSpatialTendonTests.cs.meta
deleted file mode 100644
index ce161516..00000000
--- a/unity/Tests/Editor/Components/Tendons/MjSpatialTendonTests.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: e8324e6aceb78a067801d2bc304e4a27
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Importer.meta b/unity/Tests/Editor/Importer.meta
deleted file mode 100644
index b84211f1..00000000
--- a/unity/Tests/Editor/Importer.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: f84e327ea7163a015a7d81508e6828c6
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Importer/MjImporterTests.cs b/unity/Tests/Editor/Importer/MjImporterTests.cs
deleted file mode 100644
index 5b4b19e6..00000000
--- a/unity/Tests/Editor/Importer/MjImporterTests.cs
+++ /dev/null
@@ -1,185 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using System.Xml;
-using NUnit.Framework;
-using UnityEditor;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjMaterialImportTests {
-
-  private GameObject _sceneRoot;
-  private bool _removeLocal = false;
-  private bool _removeLocalMujoco = false;
-  private MjImporterWithAssets _importer;
-
-  [SetUp]
-  public void SetUp() {
-    _importer = new MjImporterWithAssets();
-    LogAssert.ignoreFailingMessages = true;
-    // these two directories may exist from previous imports
-    string[] assetsRoot = {"Assets"};
-    var guids = AssetDatabase.FindAssets("Local", assetsRoot);
-    if (guids.Length == 0) {
-      _removeLocal = true;
-      AssetDatabase.CreateFolder("Assets", "Local");
-    }
-    string[] assetsLocal = {"Assets/Local"};
-    guids = AssetDatabase.FindAssets("MjImports", assetsLocal);
-    if (guids.Length == 0) {
-      _removeLocalMujoco = true;
-    }
-  }
-
-  [TearDown]
-  public void TearDown() {
-    LogAssert.ignoreFailingMessages = false;
-    if (_sceneRoot != null) {
-      UnityEngine.Object.DestroyImmediate(_sceneRoot);
-    }
-    // remove main resources folder:
-    // string[] mainTestResources = {"Assets/Local/Mujoco/MjMaterialImportTests/Resources"};
-    // foreach (var asset in AssetDatabase.FindAssets("", mainTestResources)) {
-    //   AssetDatabase.DeleteAsset(AssetDatabase.GUIDToAssetPath(asset));
-    // }
-    // // remove main resources folder:
-    // AssetDatabase.DeleteAsset(mainTestResources[0]);
-    // remove all test folders:
-    string[] assetLocalMujoco = {"Assets/Local/MjImports"};
-    foreach (var asset in AssetDatabase.FindAssets("MjMaterialImportTests", assetLocalMujoco)) {
-      AssetDatabase.DeleteAsset(AssetDatabase.GUIDToAssetPath(asset));
-    }
-    if (_removeLocalMujoco) {
-      AssetDatabase.DeleteAsset("Assets/Local/MjImports");
-    }
-    if (_removeLocal) {
-      AssetDatabase.DeleteAsset("Assets/Local");
-    }
-  }
-
-  [Test]
-  public void ParsingMaterialProperties() {
-    var mjcfString = @"<mujoco>
-      <asset>
-        <material name='test_material'
-                  rgba='.7 .5 .3 .1' specular='.5' shininess='.7' reflectance='.2'/>
-      </asset>
-      <worldbody>
-        <body>
-          <geom name='test_geom' material='test_material' size='1 1 1'/>
-        </body>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: "MjMaterialImportTests", mjcfString: mjcfString);
-    var geom = _sceneRoot.GetComponentInChildren<MjGeom>();
-    Assert.That(geom, Is.Not.Null);
-    var meshRenderer = geom.GetComponent<MeshRenderer>();
-    Assert.That(meshRenderer, Is.Not.Null);
-    Assert.That(meshRenderer.sharedMaterial, Is.Not.Null);
-    Assert.That(meshRenderer.sharedMaterial.color, Is.EqualTo(new Color(0.7f, 0.5f, 0.3f, 0.1f)));
-    Assert.That(meshRenderer.sharedMaterial.GetFloat("_Metallic"), Is.EqualTo(0.2f));
-    Assert.That(meshRenderer.sharedMaterial.GetFloat("_Glossiness"), Is.GreaterThan(0.0f));
-  }
-
-  [Test]
-  public void ParsingMaterialWithoutEmissivity() {
-    var mjcfString = @"<mujoco>
-      <asset>
-        <material name='test_material' rgba='.7 .5 .3 .1'/>
-      </asset>
-      <worldbody>
-        <body>
-          <geom name='test_geom' material='test_material' size='1 1 1'/>
-        </body>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: "MjMaterialImportTests", mjcfString: mjcfString);
-    var geom = _sceneRoot.GetComponentInChildren<MjGeom>();
-    Assert.That(geom, Is.Not.Null);
-    var meshRenderer = geom.GetComponent<MeshRenderer>();
-    Assert.That(meshRenderer, Is.Not.Null);
-    Assert.That(meshRenderer.sharedMaterial, Is.Not.Null);
-    Assert.That(meshRenderer.sharedMaterial.shaderKeywords, Has.No.Member("_EMISSION"));
-  }
-
-  [Test]
-  public void ParsingMaterialWithEmissivity() {
-    var mjcfString = @"<mujoco>
-      <asset>
-        <material name='test_material' rgba='.7 .5 .3 .1' emission='1'/>
-      </asset>
-      <worldbody>
-        <body>
-          <geom name='test_geom' material='test_material' size='1 1 1'/>
-        </body>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: "MjMaterialImportTests", mjcfString: mjcfString);
-    var geom = _sceneRoot.GetComponentInChildren<MjGeom>();
-    Assert.That(geom, Is.Not.Null);
-    var meshRenderer = geom.GetComponent<MeshRenderer>();
-    Assert.That(meshRenderer, Is.Not.Null);
-    Assert.That(meshRenderer.sharedMaterial, Is.Not.Null);
-    Assert.That(meshRenderer.sharedMaterial.shaderKeywords, Has.Member("_EMISSION"));
-    Assert.That(
-        meshRenderer.sharedMaterial.GetColor("_EmissionColor"),
-        Is.EqualTo(new Color(0.7f, 0.5f, 0.3f, 0.1f)));
-  }
-
-  [Test]
-  public void ResettingColorDatabaseForEachImport() {
-    var mjcfString1 = @"<mujoco>
-      <asset>
-        <material name='test_material' rgba='.2 .2 .2 .2'/>
-      </asset>
-      <worldbody>
-        <body>
-          <geom name='test_geom' material='test_material' size='1 1 1'/>
-        </body>
-      </worldbody>
-    </mujoco>";
-    var mjcfString2 = @"<mujoco>
-      <asset>
-        <material name='test_material' rgba='.5 .5 .5 .5'/>
-      </asset>
-      <worldbody>
-        <body>
-          <geom name='test_geom' material='test_material' size='1 1 1'/>
-        </body>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = new GameObject();
-    var importedMesh1 = _importer.ImportString(
-        name: "MjMaterialImportTests"+$"{UnityEngine.Random.Range(0,999)}", mjcfString: mjcfString1);
-    importedMesh1.transform.parent = _sceneRoot.transform;
-    var importedMesh2 = _importer.ImportString(
-        name: "MjMaterialImportTests"+$"{UnityEngine.Random.Range(0,999)}", mjcfString: mjcfString2);
-    importedMesh2.transform.parent = _sceneRoot.transform;
-    var geom = importedMesh2.GetComponentInChildren<MjGeom>();
-    var meshRenderer = geom.GetComponent<MeshRenderer>();
-    Assert.That(meshRenderer.sharedMaterial.color, Is.EqualTo(new Color(0.5f, 0.5f, 0.5f, 0.5f)));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Importer/MjImporterTests.cs.meta b/unity/Tests/Editor/Importer/MjImporterTests.cs.meta
deleted file mode 100644
index 3aee5f4d..00000000
--- a/unity/Tests/Editor/Importer/MjImporterTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 3f8cfe95d25bf4da0b31bcb772f19c22
-timeCreated: 1538645397
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Importer/MjStlMeshParserTests.cs b/unity/Tests/Editor/Importer/MjStlMeshParserTests.cs
deleted file mode 100644
index 4286eacb..00000000
--- a/unity/Tests/Editor/Importer/MjStlMeshParserTests.cs
+++ /dev/null
@@ -1,97 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjStlMeshParserTests {
-
-  private Mesh _originalMesh;
-
-  [SetUp]
-  public void SetUp() {
-    _originalMesh = new Mesh();
-    _originalMesh.vertices = new Vector3[] {
-        new Vector3(0, 0, 2), new Vector3(1, 0, 2), new Vector3(0, 1, 2)
-    };
-    _originalMesh.triangles = new int[] {0, 1, 2};
-    _originalMesh.normals = new Vector3[] {
-        new Vector3(0, 0, 1), new Vector3(0, 0, 1), new Vector3(0, 0, 1)
-    };
-  }
-
-  [Test]
-  public void RoundrobinMeshParsing() {
-    var serializedMesh = StlMeshParser.SerializeBinary(_originalMesh);
-    var restoredMesh = StlMeshParser.ParseBinary(serializedMesh, Vector3.one);
-
-    Assert.That(restoredMesh.vertices, Has.Length.EqualTo(_originalMesh.vertices.Length));
-    Assert.That(restoredMesh.normals, Has.Length.EqualTo(_originalMesh.normals.Length));
-    Assert.That(restoredMesh.triangles, Has.Length.EqualTo(_originalMesh.triangles.Length));
-  }
-
-  [Test]
-  public void VertexPositionsSerialization() {
-    var serializedMesh = StlMeshParser.SerializeBinary(_originalMesh);
-    var restoredMesh = StlMeshParser.ParseBinary(serializedMesh, Vector3.one);
-
-    Assert.That(
-        restoredMesh.vertices[restoredMesh.triangles[0]],
-        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[0]]));
-    Assert.That(
-        restoredMesh.vertices[restoredMesh.triangles[1]],
-        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[1]]));
-    Assert.That(
-        restoredMesh.vertices[restoredMesh.triangles[2]],
-        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[2]]));
-  }
-
-  [Test]
-  public void ProcessDuplicatesSharedVertices() {
-    _originalMesh.triangles = new int[] {0, 0, 2};
-    var serializedMesh = StlMeshParser.SerializeBinary(_originalMesh);
-    var restoredMesh = StlMeshParser.ParseBinary(serializedMesh, Vector3.one);
-
-    Assert.That(
-        restoredMesh.vertices[restoredMesh.triangles[0]],
-        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[0]]));
-    Assert.That(
-        restoredMesh.vertices[restoredMesh.triangles[1]],
-        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[1]]));
-    Assert.That(
-        restoredMesh.vertices[restoredMesh.triangles[2]],
-        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[2]]));
-  }
-
-  [Test]
-  public void VertexNormalsAreRcalculated() {
-    _originalMesh.normals = new Vector3[] {
-        new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1)
-    };
-    var serializedMesh = StlMeshParser.SerializeBinary(_originalMesh);
-    var restoredMesh = StlMeshParser.ParseBinary(serializedMesh, Vector3.one);
-
-    Assert.That(restoredMesh.normals[0], Is.EqualTo(Vector3.forward));
-    Assert.That(restoredMesh.normals[1], Is.EqualTo(Vector3.forward));
-    Assert.That(restoredMesh.normals[2], Is.EqualTo(Vector3.forward));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Importer/MjStlMeshParserTests.cs.meta b/unity/Tests/Editor/Importer/MjStlMeshParserTests.cs.meta
deleted file mode 100644
index 6a8bc253..00000000
--- a/unity/Tests/Editor/Importer/MjStlMeshParserTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 95962f380898244f09d871fd35e28c0b
-timeCreated: 1561551392
-licenseType: Free
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Importer/MjXmlModifiersTests.cs b/unity/Tests/Editor/Importer/MjXmlModifiersTests.cs
deleted file mode 100644
index 2a4a7cb8..00000000
--- a/unity/Tests/Editor/Importer/MjXmlModifiersTests.cs
+++ /dev/null
@@ -1,256 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjDefaultSelectorsEditorTests {
-
-  private XmlElement SetUp(string mjcfString, string selector) {
-    var mjcf = new XmlDocument();
-    mjcf.LoadXml(mjcfString);
-    return mjcf.SelectSingleNode(selector) as XmlElement;
-  }
-
-  [TestCase("class")]
-  [TestCase("childclass")]
-  public void SelectingTopLevelClassDefault(string qualifier) {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <modified QUALIFIER=""class""/>
-      </worldbody>
-    </mujoco>".Replace("QUALIFIER", qualifier);
-    var modifiedNode = SetUp(mjcfString, "/mujoco/worldbody/modified");
-    var classes = MjXmlModifiers.GetApplicableDefaultClasses(modifiedNode).ToArray();
-    Assert.That(classes.Length, Is.EqualTo(1));
-    Assert.That(
-        classes[0], Is.EqualTo("class"));
-  }
-
-  [TestCase("class")]
-  [TestCase("childclass")]
-  public void SelectingNestedClassDefaultWithInheritance(string qualifier) {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <some_node childclass=""parent"">
-          <modified QUALIFIER=""child""/>
-        </some_node>
-      </worldbody>
-    </mujoco>".Replace("QUALIFIER", qualifier);
-    var modifiedNode = SetUp(mjcfString, "/mujoco/worldbody/some_node/modified");
-    var classes = MjXmlModifiers.GetApplicableDefaultClasses(modifiedNode).ToArray();
-
-    Assert.That(classes.Length, Is.EqualTo(2));
-    Assert.That(classes[0], Is.EqualTo("child"));
-    Assert.That(
-        classes[1], Is.EqualTo("parent"));
-  }
-
-  [TestCase("class")]
-  [TestCase("childclass")]
-  public void SelectingNestedClassDefaultWithoutInheritance(string qualifier) {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <some_node class=""parent"">
-          <modified QUALIFIER=""child""/>
-        </some_node>
-      </worldbody>
-    </mujoco>".Replace("QUALIFIER", qualifier);
-    var modifiedNode = SetUp(mjcfString, "/mujoco/worldbody/some_node/modified");
-    var classes = MjXmlModifiers.GetApplicableDefaultClasses(modifiedNode).ToArray();
-
-    Assert.That(classes.Length, Is.EqualTo(1));
-    Assert.That(classes[0], Is.EqualTo("child"));
-  }
-}
-
-[TestFixture]
-public class MjAttributeCopierEditorTests {
-
-  [Test]
-  public void CopyingXmlElementAttributes() {
-    var mjcfString = @"<root>
-      <tag_1 attr_1=""a"" attr_2=""b""/>
-      <tag_2/>
-    </root>";
-    var mjcf = new XmlDocument();
-    mjcf.LoadXml(mjcfString);
-    var tags = new XmlElement[] {
-        mjcf.SelectSingleNode("/root/tag_1") as XmlElement,
-        mjcf.SelectSingleNode("/root/tag_2") as XmlElement
-    };
-    MjXmlModifiers.CopyAttributes(tags[0], tags[1]);
-    // Reselect the element to make sure we're testing the actual part of the DOM, and not its copy.
-    var testedElement = mjcf.SelectSingleNode("/root/tag_2") as XmlElement;
-    Assert.That(testedElement.GetStringAttribute("attr_1", "unknown"), Is.EqualTo("a"));
-    Assert.That(testedElement.GetStringAttribute("attr_2", "unknown"), Is.EqualTo("b"));
-  }
-
-  [Test]
-  public void CopyingXmlElementAttributesWithoutOverwritingTheExistingOnes() {
-    var mjcfString = @"<root>
-      <tag_1 attr_1=""a"" attr_2=""b""/>
-      <tag_2 attr_1=""c""/>
-    </root>";
-    var mjcf = new XmlDocument();
-    mjcf.LoadXml(mjcfString);
-    var tags = new XmlElement[] {
-        mjcf.SelectSingleNode("/root/tag_1") as XmlElement,
-        mjcf.SelectSingleNode("/root/tag_2") as XmlElement
-    };
-    MjXmlModifiers.CopyAttributes(tags[0], tags[1]);
-    // Reselect the element to make sure we're testing the actual part of the DOM, and not its copy.
-    var testedElement = mjcf.SelectSingleNode("/root/tag_2") as XmlElement;
-    Assert.That(testedElement.GetStringAttribute("attr_1", "unknown"), Is.EqualTo("c"));
-    Assert.That(testedElement.GetStringAttribute("attr_2", "unknown"), Is.EqualTo("b"));
-  }
-
-  [Test]
-  public void CopyingXmlElementAttributesWithOverwritingTheExistingOnes() {
-    var mjcfString = @"<root>
-      <tag_1 attr_1=""a"" attr_2=""b""/>
-      <tag_2 attr_1=""c""/>
-    </root>";
-    var mjcf = new XmlDocument();
-    mjcf.LoadXml(mjcfString);
-    var tags = new XmlElement[] {
-        mjcf.SelectSingleNode("/root/tag_1") as XmlElement,
-        mjcf.SelectSingleNode("/root/tag_2") as XmlElement
-    };
-    MjXmlModifiers.CopyAttributesOverwriteExisting(tags[0], tags[1]);
-    // Reselect the element to make sure we're testing the actual part of the DOM, and not its copy.
-    var testedElement = mjcf.SelectSingleNode("/root/tag_2") as XmlElement;
-    Assert.That(testedElement.GetStringAttribute("attr_1", "unknown"), Is.EqualTo("a"));
-    Assert.That(testedElement.GetStringAttribute("attr_2", "unknown"), Is.EqualTo("b"));
-  }
-}
-
-[TestFixture]
-public class MjXmlModifiersIntegrationEditorTests {
-
-  [Test]
-  public void ApplyingDefaultsAggregatesAttributesFromMultipleDefaults() {
-    var mjcfString = @"<mujoco>
-      <default>
-        <modified attrib=""a""/>
-        <default class=""class"">
-          <modified attrib=""b""/>
-        </default>
-      </default>
-      <worldbody>
-        <modified class=""class""/>
-      </worldbody>
-    </mujoco>";
-
-    var mjcf = new XmlDocument();
-    mjcf.LoadXml(mjcfString);
-    var modifiedElement = mjcf.SelectSingleNode("/mujoco/worldbody/modified") as XmlElement;
-    var modifiers = new MjXmlModifiers(mjcf);
-    modifiers.ApplyModifiersToElement(modifiedElement);
-
-    modifiedElement = mjcf.SelectSingleNode("/mujoco/worldbody/modified") as XmlElement;
-    Assert.That(modifiedElement.GetStringAttribute("attrib", string.Empty), Is.EqualTo("b"));
-  }
-
-  [Test]
-  public void ApplyingDefaultsDoesntOverwriteTheExistingNodeAttribute() {
-    var mjcfString = @"<mujoco>
-      <default>
-        <modified attrib=""b""/>
-      </default>
-      <worldbody>
-        <modified attrib=""a""/>
-      </worldbody>
-    </mujoco>";
-
-    var mjcf = new XmlDocument();
-    mjcf.LoadXml(mjcfString);
-    var modifiedElement = mjcf.SelectSingleNode("/mujoco/worldbody/modified") as XmlElement;
-    var modifiers = new MjXmlModifiers(mjcf);
-    modifiers.ApplyModifiersToElement(modifiedElement);
-
-    modifiedElement = mjcf.SelectSingleNode("/mujoco/worldbody/modified") as XmlElement;
-    Assert.That(modifiedElement.GetStringAttribute("attrib", string.Empty), Is.EqualTo("a"));
-  }
-
-  [Test]
-  public void MissingDefaultDoesntBreakInheritanceHierarchy() {
-    var mjcfString = @"<mujoco>
-      <default>
-          <default class=""a"">
-              <default class=""b"">
-                  <geom type=""sphere""/>
-              </default>
-          </default>
-      </default>
-      <worldbody>
-          <body childclass=""a"">
-              <body childclass=""b"">
-                  <geom name=""thingy""/>
-              </body>
-          </body>
-      </worldbody>
-    </mujoco>";
-
-    var mjcf = new XmlDocument();
-    mjcf.LoadXml(mjcfString);
-    var modifiedElement = mjcf.SelectSingleNode("descendant::body/geom") as XmlElement;
-    var modifiers = new MjXmlModifiers(mjcf);
-    modifiers.ApplyModifiersToElement(modifiedElement);
-    Assert.That(modifiedElement.GetStringAttribute("name", string.Empty), Is.EqualTo("thingy"));
-    Assert.That(modifiedElement.GetStringAttribute("type", string.Empty), Is.EqualTo("sphere"));
-  }
-
-  [Test]
-  public void PropagatePropertiesAcrossDefaultHierarchy() {
-    var mjcfString = @"<mujoco>
-      <default>
-          <default class=""a"">
-              <geom attrib1=""from_a""/>
-              <default class=""b"">
-                  <geom attrib2=""from_b""/>
-              </default>
-          </default>
-      </default>
-      <worldbody>
-          <body>
-              <body>
-                  <body>
-                      <geom class=""b"" name=""thingy""/>
-                  </body>
-              </body>
-          </body>
-      </worldbody>
-    </mujoco>";
-
-    var mjcf = new XmlDocument();
-    mjcf.LoadXml(mjcfString);
-    var modifiedElement = mjcf.SelectSingleNode("descendant::body/geom") as XmlElement;
-    var modifiers = new MjXmlModifiers(mjcf);
-    modifiers.ApplyModifiersToElement(modifiedElement);
-    Assert.That(modifiedElement.GetStringAttribute("name", string.Empty), Is.EqualTo("thingy"));
-    Assert.That(modifiedElement.GetStringAttribute("attrib1", string.Empty), Is.EqualTo("from_a"));
-    Assert.That(modifiedElement.GetStringAttribute("attrib2", string.Empty), Is.EqualTo("from_b"));
-  }
-}
-}
diff --git a/unity/Tests/Editor/Importer/MjXmlModifiersTests.cs.meta b/unity/Tests/Editor/Importer/MjXmlModifiersTests.cs.meta
deleted file mode 100644
index be356df1..00000000
--- a/unity/Tests/Editor/Importer/MjXmlModifiersTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: f585df9e8f9fb4bcd8e5da018f96a3dd
-timeCreated: 1539953427
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Importer/MjcfImporterTests.cs b/unity/Tests/Editor/Importer/MjcfImporterTests.cs
deleted file mode 100644
index bf4e54b2..00000000
--- a/unity/Tests/Editor/Importer/MjcfImporterTests.cs
+++ /dev/null
@@ -1,345 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjcfImporterTests {
-
-  private GameObject _sceneRoot;
-  private MjcfImporter _importer;
-
-  [SetUp]
-  public void SetUp() {
-    _importer = new MjcfImporter();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    if (_sceneRoot != null) {
-      UnityEngine.Object.DestroyImmediate(_sceneRoot);
-    }
-  }
-
-  [Test]
-  public void SceneRootIsGivenRequestedName() {
-    var rootName = "rootName";
-    var mjcfString = "<mujoco><worldbody/></mujoco>";
-    _sceneRoot = _importer.ImportString(name: rootName, mjcfString: mjcfString);
-    Assert.That(_sceneRoot.name, Is.EqualTo(rootName));
-  }
-
-  [Test]
-  public void ParsingAGeom() {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <geom size='1'/>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
-    var geomChild = _sceneRoot.transform.GetChild(0).gameObject;
-    Assert.That(geomChild, Is.Not.Null);
-    Assert.That(geomChild.GetComponent<MjGeom>(), Is.Not.Null);
-  }
-
-  [TestCase("hinge", typeof(MjHingeJoint))]
-  [TestCase("slide", typeof(MjSlideJoint))]
-  [TestCase("free", typeof(MjFreeJoint))]
-  public void ParsingJoints(string typeId, Type jointType) {
-    var mjcfString = string.Format(@"<mujoco>
-      <worldbody>
-        <body>
-          <joint type=""{0}""/>
-          <geom size='1'/>
-        </body>
-      </worldbody>
-    </mujoco>", typeId);
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
-    var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
-    Assert.That(bodyChild.transform.childCount, Is.EqualTo(2));
-    var jointChild = bodyChild.transform.GetChild(0).gameObject;
-    Assert.That(jointChild, Is.Not.Null);
-    Assert.That(jointChild.GetComponent(jointType), Is.Not.Null);
-  }
-
-  [Test]
-  public void ParsingAFreeJointStandaloneNode() {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <body>
-          <freejoint/>
-          <geom size='1'/>
-        </body>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
-    var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
-    Assert.That(bodyChild.transform.childCount, Is.EqualTo(2));
-    var jointChild = bodyChild.transform.GetChild(0).gameObject;
-    Assert.That(jointChild, Is.Not.Null);
-    Assert.That(jointChild.GetComponent<MjFreeJoint>(), Is.Not.Null);
-  }
-
-  [Test]
-  public void ParsingABody() {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <body/>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
-    var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
-    Assert.That(bodyChild, Is.Not.Null);
-    Assert.That(bodyChild.GetComponent<MjBody>(), Is.Not.Null);
-  }
-
-  [Test]
-  public void ParsingChildrenOfABody() {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <body>
-          <geom size='1'/>
-          <body/>
-          <joint type=""hinge""/>
-        </body>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
-    var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
-    Assert.That(bodyChild, Is.Not.Null);
-    Assert.That(bodyChild.transform.childCount, Is.EqualTo(3));
-  }
-
-  [Test]
-  public void AnonymousNodeReceivesGeneratedName() {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <body/>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
-    Assert.That(bodyChild.name, Is.EqualTo("body_0"));
-  }
-
-  [Test]
-  public void AnonymousNodesReceiveTheSameNamesWithEveryImport() {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <body/>
-      </worldbody>
-    </mujoco>";
-    var scenes = new GameObject[] {
-      _importer.ImportString(name: string.Empty, mjcfString: mjcfString),
-      _importer.ImportString(name: string.Empty, mjcfString: mjcfString)
-    };
-    // Ensure that the objects will be destroyed after the test is completed.
-    _sceneRoot = new GameObject();
-    foreach (var scene in scenes) {
-      scene.transform.parent = _sceneRoot.transform;
-    }
-    var children = scenes.Select(parent => parent.transform.GetChild(0).gameObject).ToArray();
-    Assert.That(children[0].name, Is.EqualTo(children[1].name));
-  }
-
-  [Test]
-  public void ApplyingDefaultOutsideWorldbody() {
-    var mjcfString = @"<mujoco>
-      <default>
-        <general ctrllimited='true' ctrlrange='-1 1'/>
-      </default>
-      <worldbody>
-        <body>
-          <geom name=""root_geom"" size='1 2'/>
-          <joint name='j'/>
-        </body>
-      </worldbody>
-      <actuator>
-        <general joint='j'/>
-      </actuator>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var actuator = _sceneRoot.GetComponentInChildren<MjActuator>();
-    Assert.That(actuator.CommonParams.CtrlLimited, Is.True);
-  }
-
-  [Test]
-  public void ApplyingDefaultSettingsToNodeWithoutClass() {
-    var mjcfString = @"<mujoco>
-      <default>
-        <geom type=""cylinder""/>
-      </default>
-      <worldbody>
-        <geom name=""root_geom"" size='1 2'/>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var rootGeom = _sceneRoot.GetComponentInChildren<MjGeom>();
-    Assert.That(rootGeom.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Cylinder));
-  }
-
-  [Test]
-  public void ApplyingHierarchicalDefaultSettingsToNodeWithClass() {
-    var mjcfString = @"<mujoco>
-      <default>
-        <geom type=""cylinder""/>
-        <default class=""child"">
-          <geom type=""box""/>
-        </default>
-      </default>
-      <worldbody>
-        <body childclass=""child"">
-          <geom name=""body_geom"" size='1 2 3'/>
-        </body>
-      </worldbody>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var bodyGeom = _sceneRoot.GetComponentInChildren<MjGeom>();
-    Assert.That(bodyGeom.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Box));
-  }
-
-  [Test]
-  public void ReadingOption() {
-    var mjcfString = @"<mujoco>
-      <option impratio='1.2345'/>
-      <worldbody/>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
-    Assert.That(settings.GlobalOptions.ImpRatio, Is.EqualTo(1.2345f));
-  }
-
-  [Test]
-  public void ReadingSize() {
-    var mjcfString = @"<mujoco>
-      <size memory='1M'/>
-      <worldbody/>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
-    Assert.That(settings.GlobalSizes.Memory, Is.EqualTo("1M"));
-  }
-
-  [Test]
-  public void ReadingOptionAndSize() {
-    var mjcfString = @"<mujoco>
-      <option impratio='5.4321'/>
-      <size memory='16K'/>
-      <worldbody/>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
-    Assert.That(settings.GlobalOptions.ImpRatio, Is.EqualTo(5.4321f));
-    Assert.That(settings.GlobalSizes.Memory, Is.EqualTo("16K"));
-  }
-
-  [Test]
-  public void ReadingOptionFlags() {
-    var mjcfString = @"<mujoco>
-      <option>
-        <flag gravity='disable' contact='disable'/>
-      </option>
-      <worldbody/>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
-    Assert.That(settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
-    Assert.That(settings.GlobalOptions.Flag.Contact, Is.EqualTo(EnableDisableFlag.disable));
-  }
-
-  [Test]
-  public void ParsedActuatorsAddedToDedicatedGameObjectAggregate() {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <body>
-          <geom size='1'/>
-          <joint name='1'/>
-        </body>
-      </worldbody>
-      <actuator>
-        <motor joint='1'/>
-      </actuator>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var actuator = _sceneRoot.GetComponentInChildren<MjActuator>();
-    Assert.That(actuator, Is.Not.Null);
-    Assert.That(actuator.transform.parent.gameObject.name, Is.EqualTo("actuators"));
-  }
-
-  [Test]
-  public void ParsedSensorsAddedToDedicatedGameObjectAggregate() {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <body name='1'/>
-      </worldbody>
-      <sensor>
-        <framepos objtype='body' objname='1'/>
-      </sensor>
-    </mujoco>";
-    _sceneRoot = _importer.ImportString(
-        name: string.Empty, mjcfString: mjcfString);
-    var sensor = _sceneRoot.GetComponentInChildren<MjBaseSensor>();
-    Assert.That(sensor, Is.Not.Null);
-    Assert.That(sensor.transform.parent.gameObject.name, Is.EqualTo("sensors"));
-  }
-
-  [Test]
-  public void NodeHandlerCalledForMatchingelements() {
-    var mjcfString = @"<mujoco>
-      <worldbody>
-        <body>
-          <CustomTestNode/>
-        </body>
-      </worldbody>
-    </mujoco>";
-    var customImporter = new MjcfImporter();
-    bool ranCustomFunction = false;
-    customImporter.AddNodeHandler("CustomTestNode", (element, o) => {
-      ranCustomFunction = true;
-    });
-    var mjcfXml = new XmlDocument();
-    mjcfXml.LoadXml(mjcfString);
-    customImporter.ImportXml(mjcfXml);
-    Assert.That(ranCustomFunction, Is.True);
-  }
-}
-}
diff --git a/unity/Tests/Editor/Importer/MjcfImporterTests.cs.meta b/unity/Tests/Editor/Importer/MjcfImporterTests.cs.meta
deleted file mode 100644
index 2bbb2fac..00000000
--- a/unity/Tests/Editor/Importer/MjcfImporterTests.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 15a77617e445153bb847b0c8e91e0c29
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Mujoco.Editor.Tests.asmdef b/unity/Tests/Editor/Mujoco.Editor.Tests.asmdef
deleted file mode 100644
index 2a94bd99..00000000
--- a/unity/Tests/Editor/Mujoco.Editor.Tests.asmdef
+++ /dev/null
@@ -1,25 +0,0 @@
-{
-    "name": "Mujoco.Editor.Tests",
-    "rootNamespace": "",
-    "references": [
-        "UnityEngine.TestRunner",
-        "UnityEditor.TestRunner",
-        "Mujoco.Runtime",
-        "Mujoco.Editor"
-    ],
-    "includePlatforms": [
-        "Editor"
-    ],
-    "excludePlatforms": [],
-    "allowUnsafeCode": true,
-    "overrideReferences": true,
-    "precompiledReferences": [
-        "nunit.framework.dll"
-    ],
-    "autoReferenced": false,
-    "defineConstraints": [
-        "UNITY_INCLUDE_TESTS"
-    ],
-    "versionDefines": [],
-    "noEngineReferences": false
-}
\ No newline at end of file
diff --git a/unity/Tests/Editor/Mujoco.Editor.Tests.asmdef.meta b/unity/Tests/Editor/Mujoco.Editor.Tests.asmdef.meta
deleted file mode 100644
index db342d28..00000000
--- a/unity/Tests/Editor/Mujoco.Editor.Tests.asmdef.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: 3dbed54fed4572890a6f2e1bcf3e4c3f
-AssemblyDefinitionImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Tools.meta b/unity/Tests/Editor/Tools.meta
deleted file mode 100644
index d9164538..00000000
--- a/unity/Tests/Editor/Tools.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: b601d749f2b1edf9e845ebc57fc23742
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Tools/HierarchyToolTests.cs b/unity/Tests/Editor/Tools/HierarchyToolTests.cs
deleted file mode 100644
index 9b347ebf..00000000
--- a/unity/Tests/Editor/Tools/HierarchyToolTests.cs
+++ /dev/null
@@ -1,239 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class FindParentComponentTests {
-    public class FakeMjComponent : MjComponent {
-      public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_GEOM;
-      protected override void OnParseMjcf(XmlElement mjcf) {}
-      protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-        return null;
-      }
-    }
-
-    public class FakeGenericComponent : MonoBehaviour {}
-
-    private FakeMjComponent _parent;
-    private FakeMjComponent _child;
-    private FakeMjComponent _secondChild;
-    private FakeGenericComponent _hierarchyBreaker;
-
-    [SetUp]
-    public void SetUp() {
-      _parent =
-          new GameObject("parent", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
-      _child =
-          new GameObject("child", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
-      _secondChild = new GameObject("secondChild", typeof(FakeMjComponent))
-                         .GetComponent<FakeMjComponent>();
-      _hierarchyBreaker = new GameObject("hierarchyBreaker", typeof(FakeGenericComponent))
-                              .GetComponent<FakeGenericComponent>();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      GameObject.DestroyImmediate(_secondChild.gameObject);
-      GameObject.DestroyImmediate(_child.gameObject);
-      GameObject.DestroyImmediate(_hierarchyBreaker.gameObject);
-      GameObject.DestroyImmediate(_parent.gameObject);
-    }
-
-    [Test]
-    public void FindParentWithMjComponentAsImmediateParent() {
-      _child.transform.parent = _parent.transform;
-      Assert.That(MjHierarchyTool.FindParentComponent(_child), Is.EqualTo(_parent));
-    }
-
-    [Test]
-    public void FindParentWithHavingToSkipAParent() {
-      _hierarchyBreaker.transform.parent = _parent.transform;
-      _child.transform.parent = _hierarchyBreaker.transform;
-      Assert.That(MjHierarchyTool.FindParentComponent(_child), Is.EqualTo(_parent));
-    }
-
-    [Test]
-    public void FindParentWitNoMjComponentParent() {
-      _child.transform.parent = _hierarchyBreaker.transform;
-      Assert.That(MjHierarchyTool.FindParentComponent(_child), Is.Null);
-    }
-
-    [Test]
-    public void InChainOfThreeTheCorrectImmediateParentIsPicked() {
-      _child.transform.parent = _parent.transform;
-      _secondChild.transform.parent = _child.transform;
-      Assert.That(MjHierarchyTool.FindParentComponent(_secondChild), Is.EqualTo(_child));
-    }
-  }
-
-  [TestFixture]
-  public class HierachyLinearizationTests {
-    public class FakeMjComponent : MjComponent {
-      public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_GEOM;
-      protected override void OnParseMjcf(XmlElement mjcf) {}
-      protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-        return null;
-      }
-    }
-
-    public class FakeGenericComponent : MonoBehaviour {}
-
-    private FakeMjComponent _root;
-    private FakeMjComponent _node01;
-    private FakeMjComponent _node02;
-    private FakeMjComponent _node11;
-    private FakeMjComponent _node21;
-    private FakeGenericComponent _hierarchyBreaker;
-
-    [SetUp]
-    public void SetUp() {
-      _root =
-          new GameObject("root", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
-      _node01 =
-          new GameObject("node01", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
-      _node02 =
-          new GameObject("node02", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
-      _node11 =
-          new GameObject("node11", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
-      _node21 =
-          new GameObject("node21", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
-      _hierarchyBreaker = new GameObject("hierarchyBreaker", typeof(FakeGenericComponent))
-                              .GetComponent<FakeGenericComponent>();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      GameObject.DestroyImmediate(_node21.gameObject);
-      GameObject.DestroyImmediate(_node11.gameObject);
-      GameObject.DestroyImmediate(_node02.gameObject);
-      GameObject.DestroyImmediate(_node01.gameObject);
-      GameObject.DestroyImmediate(_hierarchyBreaker.gameObject);
-      GameObject.DestroyImmediate(_root.gameObject);
-    }
-
-    [Test]
-    public void OneNodeHierarchy() {
-      var hierarchy = MjHierarchyTool.LinearizeHierarchyBFS(_root.transform).ToArray();
-      Assert.That(hierarchy, Has.Length.EqualTo(1));
-      Assert.That(hierarchy[0], Is.EqualTo(_root));
-    }
-
-    [Test]
-    public void OneLevelDeepTreeExclusivelyWithMjComponents() {
-      _node01.transform.parent = _root.transform;
-      _node02.transform.parent = _root.transform;
-      var hierarchy = MjHierarchyTool.LinearizeHierarchyBFS(_root.transform).ToArray();
-      Assert.That(hierarchy, Has.Length.EqualTo(3));
-      Assert.That(hierarchy[0], Is.EqualTo(_root));
-      Assert.That(hierarchy[1], Is.EqualTo(_node01));
-      Assert.That(hierarchy[2], Is.EqualTo(_node02));
-    }
-
-    [Test]
-    public void DeepTreeExclusivelyWithMjComponents() {
-      _node01.transform.parent = _root.transform;
-      _node02.transform.parent = _root.transform;
-      _node11.transform.parent = _node01.transform;
-      _node21.transform.parent = _node02.transform;
-      var hierarchy = MjHierarchyTool.LinearizeHierarchyBFS(_root.transform).ToArray();
-      Assert.That(hierarchy, Has.Length.EqualTo(5));
-      Assert.That(hierarchy[0], Is.EqualTo(_root));
-      Assert.That(hierarchy[1], Is.EqualTo(_node01));
-      Assert.That(hierarchy[2], Is.EqualTo(_node02));
-      Assert.That(hierarchy[3], Is.EqualTo(_node11));
-      Assert.That(hierarchy[4], Is.EqualTo(_node21));
-    }
-
-    [Test]
-    public void TreeWithAGenericComponent() {
-      _node01.transform.parent = _root.transform;
-      _hierarchyBreaker.transform.parent = _root.transform;
-      _node02.transform.parent = _hierarchyBreaker.transform;
-      var hierarchy = MjHierarchyTool.LinearizeHierarchyBFS(_root.transform).ToArray();
-      Assert.That(hierarchy, Has.Length.EqualTo(3));
-      Assert.That(hierarchy[0], Is.EqualTo(_root));
-      Assert.That(hierarchy[1], Is.EqualTo(_node01));
-      Assert.That(hierarchy[2], Is.EqualTo(_node02));
-    }
-  }
-
-  [TestFixture]
-  public class GetComponentsInImmediateChildrenTests {
-    public class FakeComponentA : MonoBehaviour {}
-    public class FakeComponentB : MonoBehaviour {}
-
-    private FakeComponentA _root;
-    private FakeComponentA _validChild;
-    private FakeComponentB _invalidChild;
-    private FakeComponentA _validGrandchild;
-
-    [SetUp]
-    public void SetUp() {
-      _root = new GameObject("root", typeof(FakeComponentA)).GetComponent<FakeComponentA>();
-      _validChild =
-          new GameObject("validChild", typeof(FakeComponentA)).GetComponent<FakeComponentA>();
-      _invalidChild =
-          new GameObject("invalidChild", typeof(FakeComponentB)).GetComponent<FakeComponentB>();
-      _validGrandchild =
-          new GameObject("validGrandchild", typeof(FakeComponentA)).GetComponent<FakeComponentA>();
-      _validGrandchild.transform.parent = _validChild.transform;
-      _validChild.transform.parent = _root.transform;
-    }
-
-    [TearDown]
-    public void TearDown() {
-      GameObject.DestroyImmediate(_validGrandchild.gameObject);
-      GameObject.DestroyImmediate(_invalidChild.gameObject);
-      GameObject.DestroyImmediate(_validChild.gameObject);
-      GameObject.DestroyImmediate(_root.gameObject);
-    }
-
-    [Test]
-    public void RootNodeIsIgnoredInTheSearch() {
-      var components =
-          MjHierarchyTool.GetComponentsInImmediateChildren<FakeComponentA>(_root.transform);
-      Assert.That(components, Has.No.Member(_root));
-    }
-
-    [Test]
-    public void ImmediateValidChildIsReturned() {
-      var components =
-          MjHierarchyTool.GetComponentsInImmediateChildren<FakeComponentA>(_root.transform);
-      Assert.That(components, Has.Member(_validChild));
-    }
-
-    [Test]
-    public void ChildWithAnInvalidTypeIsIgnored() {
-      var components =
-          MjHierarchyTool.GetComponentsInImmediateChildren<FakeComponentA>(_root.transform);
-      Assert.That(components, Has.No.Member(_invalidChild));
-    }
-
-    [Test]
-    public void GrandchildrenAreIgnoredDuringSearch() {
-      var components =
-          MjHierarchyTool.GetComponentsInImmediateChildren<FakeComponentA>(_root.transform);
-      Assert.That(components, Has.No.Member(_validGrandchild));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Tools/HierarchyToolTests.cs.meta b/unity/Tests/Editor/Tools/HierarchyToolTests.cs.meta
deleted file mode 100644
index 2c1a1d00..00000000
--- a/unity/Tests/Editor/Tools/HierarchyToolTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 2eca32299982b4901a0b01568b992fed
-timeCreated: 1537463659
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Tools/MjEngineTests.cs b/unity/Tests/Editor/Tools/MjEngineTests.cs
deleted file mode 100644
index 48e052b2..00000000
--- a/unity/Tests/Editor/Tools/MjEngineTests.cs
+++ /dev/null
@@ -1,377 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.IO;
-using System.Runtime.InteropServices;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools.Utils;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MjEngineToolXmlLoadingTests {
-
-    [Test]
-    public unsafe void LoadingSceneFromAProvidedAsset() {
-      var modelFile = Resources.Load<TextAsset>("ValidModel");
-      var modelPtr = MjEngineTool.LoadModelFromString(modelFile.text);
-      var model =
-          (MujocoLib.mjModel_)Marshal.PtrToStructure(new IntPtr(modelPtr), typeof(MujocoLib.mjModel_));
-      Assert.That(model.nbody, Is.EqualTo(3));
-    }
-  }
-
-  [TestFixture]
-  public class MjEngineToolTransformHelpersTests {
-    [TestCase(1, 2, 3)]
-    [TestCase(-1, -2, -3)]
-    [TestCase(-1, 2, 3)]
-    [TestCase(1, -2, 3)]
-    [TestCase(1, 2, -3)]
-    public unsafe void RoundrobinConversionOfVector3(float x, float y, float z) {
-      var vec = new Vector3(x, y, z);
-      var MjVec = MjEngineTool.MjVector3(vec);
-      var MjVecAsArray = new double[] { 10, 11, 12, MjVec.x, MjVec.y, MjVec.z };
-      fixed (double* MjArrPtr = MjVecAsArray) {
-        var recreatedVec = MjEngineTool.UnityVector3(
-            MjEngineTool.MjVector3AtEntry(MjArrPtr, 1));
-        Assert.That(recreatedVec, Is.EqualTo(vec));
-      }
-    }
-
-    [TestCase(1, 2, 3)]
-    [TestCase(-1, -2, -3)]
-    [TestCase(-1, 2, 3)]
-    [TestCase(1, -2, 3)]
-    [TestCase(1, 2, -3)]
-    public void RoundrobinConversionOfVector3UsingCoreType(float x, float y, float z) {
-      var vec = new Vector3(x, y, z);
-      var MjVec = MjEngineTool.MjVector3(vec);
-      var unityVec = MjEngineTool.UnityVector3(MjVec);
-      Assert.That(unityVec, Is.EqualTo(vec));
-    }
-
-    [TestCase(0.1f, 0.2f, 0.3f, 0.4f)]
-    [TestCase(-0.1f, -0.2f, -0.3f, -0.4f)]
-    [TestCase(-0.1f, 0.2f, 0.3f, 0.4f)]
-    [TestCase(0.1f, -0.2f, 0.3f, 0.4f)]
-    [TestCase(0.1f, 0.2f, -0.3f, 0.4f)]
-    [TestCase(0.1f, 0.2f, 0.3f, -0.4f)]
-    public unsafe void RoundrobinConversionOfQuaternionUsingUnsafeArrays(float x, float y, float z,
-                                                                         float w) {
-      var quat = new Quaternion(x, y, z, w);
-      var MjQuat = MjEngineTool.MjQuaternion(quat);
-      var MjQuatAsArray =
-          new double[] { 10, 20, 30, 40, MjQuat.w, MjQuat.x, MjQuat.y, MjQuat.z };
-      fixed (double* MjArrPtr = MjQuatAsArray) {
-        var recreatedQuat = MjEngineTool.UnityQuaternion(
-            MjEngineTool.MjQuaternionAtEntry(MjArrPtr, 1));
-        var q1 = new Vector4(quat.x, quat.y, quat.z, quat.w);
-        var q2 = new Vector4(recreatedQuat.x, recreatedQuat.y, recreatedQuat.z, recreatedQuat.w);
-        Assert.That(q1, Is.EqualTo(q2));
-      }
-    }
-
-    [TestCase(0.1f, 0.2f, 0.3f, 0.4f)]
-    [TestCase(-0.1f, -0.2f, -0.3f, -0.4f)]
-    [TestCase(-0.1f, 0.2f, 0.3f, 0.4f)]
-    [TestCase(0.1f, -0.2f, 0.3f, 0.4f)]
-    [TestCase(0.1f, 0.2f, -0.3f, 0.4f)]
-    [TestCase(0.1f, 0.2f, 0.3f, -0.4f)]
-    public void RoundrobinConversionOfQuaternionUsingCoreType(float x, float y, float z, float w) {
-      var quat = new Quaternion(x, y, z, w);
-      var MjQuat = MjEngineTool.MjQuaternion(quat);
-      var unityQuat = MjEngineTool.UnityQuaternion(MjQuat);
-      Assert.That(unityQuat, Is.EqualTo(quat));
-    }
-
-    [TestCase(1, 2, 3)]
-    [TestCase(-1, -2, -3)]
-    [TestCase(-1, 2, 3)]
-    [TestCase(1, -2, 3)]
-    [TestCase(1, 2, -3)]
-    public void RoundrobinConversionOfExtents(float x, float y, float z) {
-      var extents = new Vector3(x, y, z);
-      var MjExtents = MjEngineTool.MjExtents(extents);
-      var unityExtents = MjEngineTool.UnityExtents(MjExtents);
-      Assert.That(MjExtents, Is.Not.EqualTo(extents));
-      Assert.That(unityExtents, Is.EqualTo(extents));
-    }
-
-    [TestCase(0.1f, 0.2f, 0.3f, 0.4f)]
-    [TestCase(-0.1f, -0.2f, -0.3f, -0.4f)]
-    [TestCase(-0.1f, 0.2f, 0.3f, 0.4f)]
-    [TestCase(0.1f, -0.2f, 0.3f, 0.4f)]
-    [TestCase(0.1f, 0.2f, -0.3f, 0.4f)]
-    [TestCase(0.1f, 0.2f, 0.3f, -0.4f)]
-    public unsafe void SettingAndRetrievingQuaternions(float x, float y, float z, float w) {
-      var quat = new Quaternion(x, y, z, w);
-      var result = Quaternion.identity;
-      var buffer = new double[4];
-      fixed (double* unsafeBuffer = buffer) {
-        MjEngineTool.SetMjQuaternion(unsafeBuffer, quat);
-        result = MjEngineTool.UnityQuaternion(unsafeBuffer);
-      }
-      Assert.That(quat, Is.EqualTo(result));
-    }
-
-    [TestCase(1, 2, 3)]
-    [TestCase(-1, -2, -3)]
-    [TestCase(-1, 2, 3)]
-    [TestCase(1, -2, 3)]
-    [TestCase(1, 2, -3)]
-    public unsafe void SettingAndRetrievingVectors(float x, float y, float z) {
-      var vec = new Vector3(x, y, z);
-      var result = Vector3.zero;
-      double[] buffer = new double[3];
-      fixed (double* unsafeBuffer = buffer) {
-        MjEngineTool.SetMjVector3(unsafeBuffer, vec);
-        result = MjEngineTool.UnityVector3(unsafeBuffer);
-      }
-      Assert.That(vec, Is.EqualTo(result));
-    }
-  }
-
-  [TestFixture]
-  public class MjEngineToolTransformSerializationTests {
-    public class FakeMjComponent : MjComponent {
-      public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_GEOM;
-
-      protected override void OnParseMjcf(XmlElement mjcf) {}
-
-      protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
-        return doc.CreateElement("geom");
-      }
-    }
-
-    private GameObject _rootObject;
-    private GameObject _intermediateObject;
-    private FakeMjComponent _component;
-    private Vector3EqualityComparer _vectorComparer;
-    private Vector4EqualityComparer _quaternionComparer;
-
-    [SetUp]
-    public void SetUp() {
-      _rootObject = new GameObject("rootObject");
-      _intermediateObject = new GameObject("intermediateObject");
-      _component = new GameObject("component").AddComponent<FakeMjComponent>();
-      var epsilon = 1e-3f;
-      _vectorComparer = new Vector3EqualityComparer(epsilon);
-      _quaternionComparer = new Vector4EqualityComparer(epsilon);
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_component.gameObject);
-      UnityEngine.Object.DestroyImmediate(_intermediateObject);
-      UnityEngine.Object.DestroyImmediate(_rootObject);
-      MjSceneImportSettings.AnglesInDegrees = true;
-    }
-
-    [Test]
-    public void SerializingPositionRotationOfRootComponent() {
-      _component.transform.position = new Vector3(1, 2, 3);
-      _component.transform.rotation = Quaternion.AngleAxis(45, Vector3.up);
-      var doc = new XmlDocument();
-      var mjcf = doc.CreateElement("element");
-      MjEngineTool.PositionRotationToMjcf(mjcf, _component);
-      Assert.That(mjcf.GetAttribute("pos"), Is.EqualTo("1 3 2"));
-      Assert.That(mjcf.GetQuaternionAttribute("quat", Quaternion.identity),
-                  Is.EqualTo(new Quaternion(w:-0.9238795f, x:0, y:0, z:0.3826835f))
-                  .Using(_quaternionComparer));
-    }
-
-    [Test]
-    public void SerializingPositionRotationOfRootComponentParentedToGameObject() {
-      _component.transform.parent = _rootObject.transform;
-      _rootObject.transform.position = new Vector3(1, 2, 3);
-      _rootObject.transform.rotation = Quaternion.AngleAxis(45, Vector3.up);
-      var doc = new XmlDocument();
-      var mjcf = doc.CreateElement("element");
-      MjEngineTool.PositionRotationToMjcf(mjcf, _component);
-      Assert.That(mjcf.GetAttribute("pos"), Is.EqualTo("1 3 2"));
-      Assert.That(mjcf.GetQuaternionAttribute("quat", Quaternion.identity),
-                  Is.EqualTo(new Quaternion(w:-0.9238795f, x:0, y:0, z:0.3826835f))
-                  .Using(_quaternionComparer));
-    }
-
-    [Test]
-    public void SerializingPositionRotationOfChildComponentParentedThroughGameObject() {
-      _component.transform.parent = _intermediateObject.transform;
-      _intermediateObject.transform.parent = _rootObject.transform;
-      _intermediateObject.transform.position = new Vector3(1, 2, 3);
-      _intermediateObject.transform.rotation = Quaternion.AngleAxis(45, Vector3.up);
-      var doc = new XmlDocument();
-      var mjcf = doc.CreateElement("element");
-      MjEngineTool.PositionRotationToMjcf(mjcf, _component);
-      Assert.That(mjcf.GetAttribute("pos"), Is.EqualTo("1 3 2"));
-      Assert.That(mjcf.GetQuaternionAttribute("quat", Quaternion.identity),
-                  Is.EqualTo(new Quaternion(w:-0.9238795f, x:0, y:0, z:0.3826835f))
-                  .Using(_quaternionComparer));
-    }
-
-    [Test]
-    public void SerializingPositionAxisOfRootComponent() {
-      _component.transform.position = new Vector3(1, 2, 3);
-      _component.transform.rotation = Quaternion.AngleAxis(45, Vector3.up);
-      var doc = new XmlDocument();
-      var mjcf = doc.CreateElement("element");
-      MjEngineTool.PositionAxisToMjcf(mjcf, _component);
-      Assert.That(mjcf.GetAttribute("pos"), Is.EqualTo("1 3 2"));
-      Assert.That(mjcf.GetVector3Attribute("axis", Vector3.zero),
-                  Is.EqualTo(new Vector3(0.7071068f, -0.7071069f, 0)).Using(_vectorComparer));
-      Assert.That(mjcf.GetAttribute("ref"), Is.EqualTo("0"));
-    }
-
-    [Test]
-    public void SerializingPositionAxisOfRootComponentParentedToGameObject() {
-      _component.transform.parent = _rootObject.transform;
-      _rootObject.transform.position = new Vector3(1, 2, 3);
-      _rootObject.transform.rotation = Quaternion.AngleAxis(45, Vector3.up);
-      var doc = new XmlDocument();
-      var mjcf = doc.CreateElement("element");
-      MjEngineTool.PositionAxisToMjcf(mjcf, _component);
-      Assert.That(mjcf.GetAttribute("pos"), Is.EqualTo("1 3 2"));
-      Assert.That(mjcf.GetVector3Attribute("axis", Vector3.zero),
-                  Is.EqualTo(new Vector3(0.7071068f, -0.7071069f, 0)).Using(_vectorComparer));
-      Assert.That(mjcf.GetAttribute("ref"), Is.EqualTo("0"));
-    }
-
-    [Test]
-    public void SerializingPositionAxisOfChildComponentParentedThroughGameObject() {
-      _component.transform.parent = _intermediateObject.transform;
-      _intermediateObject.transform.parent = _rootObject.transform;
-      _intermediateObject.transform.position = new Vector3(1, 2, 3);
-      _intermediateObject.transform.rotation = Quaternion.AngleAxis(45, Vector3.up);
-      var doc = new XmlDocument();
-      var mjcf = doc.CreateElement("element");
-      MjEngineTool.PositionAxisToMjcf(mjcf, _component);
-      Assert.That(mjcf.GetAttribute("pos"), Is.EqualTo("1 3 2"));
-      Assert.That(mjcf.GetVector3Attribute("axis", Vector3.zero),
-                  Is.EqualTo(new Vector3(0.7071068f, -0.7071069f, 0)).Using(_vectorComparer));
-      Assert.That(mjcf.GetAttribute("ref"), Is.EqualTo("0"));
-    }
-
-    [Test]
-    public void ParsePosition() {
-      var mjcf = new XmlDocument().CreateElement("element");
-      mjcf.SetAttribute("pos", "1 3 2");
-      MjEngineTool.ParseTransformMjcf(mjcf, _rootObject.transform);
-      Assert.That(_rootObject.transform.position, Is.EqualTo(new Vector3(1, 2, 3)));
-    }
-
-    [Test]
-    public void ParseRotationFromQuat() {
-      var mjcf = new XmlDocument().CreateElement("element");
-      mjcf.SetAttribute("quat", "-0.9238795 0 0 0.3826835");
-      MjEngineTool.ParseTransformMjcf(mjcf, _rootObject.transform);
-      var expectedRotation = Quaternion.AngleAxis(45, Vector3.up);
-      Assert.That(_rootObject.transform.rotation.x, Is.EqualTo(expectedRotation.x).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.y, Is.EqualTo(expectedRotation.y).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.z, Is.EqualTo(expectedRotation.z).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.w, Is.EqualTo(expectedRotation.w).Within(1e-5f));
-      // Assert.That(
-      //     _rootObject.transform.rotation,
-      //     Is.EqualTo(Quaternion.AngleAxis(45, Vector3.up))
-      //     .Using(_quaternionComparer));
-    }
-
-    [Test]
-    public void ParseRotationFromZAxis() {
-      var mjcf = new XmlDocument().CreateElement("element");
-      mjcf.SetAttribute("zaxis", "0 1 0");
-      MjEngineTool.ParseTransformMjcf(mjcf, _rootObject.transform);
-      var expectedRotation = Quaternion.AngleAxis(90, Vector3.right);
-      Assert.That(_rootObject.transform.rotation.x, Is.EqualTo(expectedRotation.x).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.y, Is.EqualTo(expectedRotation.y).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.z, Is.EqualTo(expectedRotation.z).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.w, Is.EqualTo(expectedRotation.w).Within(1e-5f));
-      // Assert.That(
-      //     _rootObject.transform.rotation,
-      //     Is.EqualTo(Quaternion.AngleAxis(90, Vector3.right))
-      //     .Using(_quaternionComparer));
-    }
-
-    [TestCase(true, 45, 45)]
-    [TestCase(false, 0.785398f, 45)]
-    [TestCase(true, 90, 90)]
-    [TestCase(false, 1.570796f, 90)]
-    public void ParseRotationFromAxisAngle(bool useDegrees, float MjAngle,
-                                           float expectedAngle) {
-      MjSceneImportSettings.AnglesInDegrees = useDegrees;
-      var mjcf = new XmlDocument().CreateElement("element");
-      mjcf.SetAttribute("axisangle", $"1 0 0 {MjAngle}");
-      MjEngineTool.ParseTransformMjcf(mjcf, _rootObject.transform);
-      var expectedRotation = Quaternion.AngleAxis(expectedAngle, Vector3.right);
-      Assert.That(_rootObject.transform.rotation.x, Is.EqualTo(expectedRotation.x).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.y, Is.EqualTo(expectedRotation.y).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.z, Is.EqualTo(expectedRotation.z).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.w, Is.EqualTo(expectedRotation.w).Within(1e-5f));
-      // Assert.That(
-      //     _rootObject.transform.rotation,
-      //     Is.EqualTo(Quaternion.AngleAxis(expectedAngle, Vector3.right))
-      //     .Using(_quaternionComparer));
-    }
-
-    [TestCase(true, 0, 45, 0, 0, 0, -45)]
-    [TestCase(false, 0, 0.785398f, 0, 0, 0, -45)]
-    [TestCase(true, 0, 0, 45, 0, 45, 0)]
-    [TestCase(false, 0, 0, 0.785398f, 0, 45, 0)]
-    [TestCase(true, 45, 0, 0, 45, 0, 0)]
-    [TestCase(false, 0.785398f, 0, 0, 45, 0, 0)]
-    public void ParseRotationFromEuler(bool useDegrees, float mx, float my, float mz, float ex,
-                                       float ey, float ez) {
-      MjSceneImportSettings.AnglesInDegrees = useDegrees;
-      var mjcf = new XmlDocument().CreateElement("element");
-      mjcf.SetAttribute("euler", $"{mx} {my} {mz}");
-      MjEngineTool.ParseTransformMjcf(mjcf, _rootObject.transform);
-      var expectedRotation = Quaternion.Euler(ex, ey, ez);
-      Assert.That(_rootObject.transform.rotation.x, Is.EqualTo(expectedRotation.x).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.y, Is.EqualTo(expectedRotation.y).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.z, Is.EqualTo(expectedRotation.z).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.w, Is.EqualTo(expectedRotation.w).Within(1e-5f));
-      // Assert.That(
-      //     _rootObject.transform.rotation,
-      //     Is.EqualTo(Quaternion.Euler(ex, ey, ez))
-      //     .Using(_quaternionComparer));
-    }
-
-    [Test]
-    public void ParseRotationFromDirectionVector() {
-      var mjcf = new XmlDocument().CreateElement("element");
-      mjcf.SetAttribute("fromto", $"0 0 0 1 1 0");
-      MjEngineTool.ParseTransformMjcf(mjcf, _rootObject.transform);
-      var expectedRotation = new Quaternion(0.5f, 0, -0.5f, 0.7071068f);
-      Assert.That(_rootObject.transform.rotation.x, Is.EqualTo(expectedRotation.x).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.y, Is.EqualTo(expectedRotation.y).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.z, Is.EqualTo(expectedRotation.z).Within(1e-5f));
-      Assert.That(_rootObject.transform.rotation.w, Is.EqualTo(expectedRotation.w).Within(1e-5f));
-      // Assert.That(
-      //     _rootObject.transform.rotation,
-      //     Is.EqualTo(new Quaternion(0.5f, 0, -0.5f, 0.7071068f))
-      //     .Using(_quaternionComparer));
-    }
-
-    [Test]
-    public void ParsePositionFromDirectionVector() {
-      var mjcf = new XmlDocument().CreateElement("element");
-      mjcf.SetAttribute("fromto", $"1 2 3 5 7 9");
-      MjEngineTool.ParseTransformMjcf(mjcf, _rootObject.transform);
-      Assert.That(_rootObject.transform.position, Is.EqualTo(new Vector3(3, 6, 4.5f)));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Tools/MjEngineTests.cs.meta b/unity/Tests/Editor/Tools/MjEngineTests.cs.meta
deleted file mode 100644
index c854464b..00000000
--- a/unity/Tests/Editor/Tools/MjEngineTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: ff03f770fd9aa43cd95e04660fd82bb3
-timeCreated: 1536938636
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Tools/MjTransformationTests.cs b/unity/Tests/Editor/Tools/MjTransformationTests.cs
deleted file mode 100644
index 7c11d6b7..00000000
--- a/unity/Tests/Editor/Tools/MjTransformationTests.cs
+++ /dev/null
@@ -1,159 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class MjTransformationTests {
-    [Test]
-    public void ConcatenateTranslation() {
-      var t1 = new MjTransformation(new Vector3(10, 0, 0), Quaternion.identity);
-      var t2 = new MjTransformation(new Vector3(0, 20, 0), Quaternion.identity);
-      var result = t1 * t2;
-      var expectedResult = new MjTransformation(new Vector3(10, 20, 0), Quaternion.identity);
-      CompareTransforms(result, expectedResult);
-    }
-
-    [Test]
-    public void ConcatenateRotation() {
-      var t1 = new MjTransformation(Vector3.zero, Quaternion.Euler(0, 45, 0));
-      var t2 = new MjTransformation(Vector3.zero, Quaternion.Euler(0, 15, 0));
-      var result = t1 * t2;
-      var expectedResult = new MjTransformation(Vector3.zero, Quaternion.Euler(0, 60, 0));
-      CompareTransforms(result, expectedResult);
-    }
-
-    [Test]
-    public void ConcatenateTranslationAndRotation() {
-      var t1 = new MjTransformation(new Vector3(10, 0, 0), Quaternion.Euler(0, 45, 0));
-      var t2 = new MjTransformation(new Vector3(20, 0, 0), Quaternion.Euler(0, 15, 0));
-      var result = t1 * t2;
-      // T2 is some translation and rotation in T1's reference frame. We want to learn what that
-      // transform would look like in global space - as if there was no T1.
-      // T1 is located at (10, 0, 0), and rotates its children by 45 deg around the Y axis.
-      // That means it will rotate T2 translation (20, 0, 0) by 45 degrees. Since the rotation
-      // is performed around the Y axis, the X coordinate 20 will be projected onto X and Z axis
-      // in amount [cos(45deg) * 20, -sin(45deg) * 20] = [14.14213, -14.14213].
-      // Next, the rotation will be added to that of the parent: 45 + 15 = 60 deg.
-      var expectedResult = new MjTransformation(new Vector3(24.14213f, 0, -14.14213f),
-                                                    Quaternion.Euler(0, 60, 0));
-      CompareTransforms(result, expectedResult);
-    }
-
-    [Test]
-    public void ConcatenatingRightInverse() {
-      var t1 = new MjTransformation(new Vector3(10, 0, 0), Quaternion.Euler(0, 45, 0));
-      var result = t1 * t1.Inverse();
-      var expectedResult = new MjTransformation(Vector3.zero, Quaternion.identity);
-      CompareTransforms(result, expectedResult);
-    }
-
-    [Test]
-    public void ConcatenatingLeftInverse() {
-      var t1 = new MjTransformation(new Vector3(10, 0, 0), Quaternion.Euler(0, 45, 0));
-      var result = t1.Inverse() * t1;
-      var expectedResult = new MjTransformation(Vector3.zero, Quaternion.identity);
-      CompareTransforms(result, expectedResult);
-    }
-
-    [Test]
-    public void MjTransformationsConcatenationIsTheSameAsUnitys() {
-      _parent.transform.position = new Vector3(10, 0, 0);
-      _parent.transform.rotation = Quaternion.Euler(0, 45, 0);
-      _child.transform.localPosition = new Vector3(20, 0, 0);
-      _child.transform.localRotation = Quaternion.Euler(0, 15, 0);
-      var t1 = MjTransformation.LoadGlobal(_parent.transform);
-      var t2 = MjTransformation.LoadLocal(_child.transform);
-      var result = t1 * t2;
-      var expectedResult = MjTransformation.LoadGlobal(_child.transform);
-      var expectedExplicitResult = new MjTransformation(new Vector3(24.14213f, 0, -14.14213f),
-                                                            Quaternion.Euler(0, 60, 0));
-      CompareTransforms(result, expectedResult);
-      CompareTransforms(result, expectedExplicitResult);
-    }
-
-    [Test]
-    public void LoadingGlobalTransform() {
-      var result = MjTransformation.LoadGlobal(_parent.transform);
-      CompareTransforms(result, _parent.transform.position, _parent.transform.rotation);
-    }
-
-    [Test]
-    public void LoadingLocalTransform() {
-      var result = MjTransformation.LoadLocal(_parent.transform);
-      CompareTransforms(result, _parent.transform.localPosition, _parent.transform.localRotation);
-    }
-
-    [Test]
-    public void StoringGlobalTransform() {
-      var transform = new MjTransformation(new Vector3(1, 2, 3), Quaternion.Euler(0, 45, 0));
-      transform.StoreGlobal(_parent.transform);
-      CompareTransforms(transform, _parent.transform.position, _parent.transform.rotation);
-    }
-
-    [Test]
-    public void StoringLocalTransform() {
-      var transform = new MjTransformation(new Vector3(1, 2, 3), Quaternion.Euler(0, 45, 0));
-      transform.StoreGlobal(_parent.transform);
-      CompareTransforms(transform, _parent.transform.localPosition,
-                        _parent.transform.localRotation);
-    }
-
-#region Setup
-
-    private GameObject _parent;
-    private GameObject _child;
-
-    [SetUp]
-    public void SetUp() {
-      _parent = new GameObject("parent");
-      _child = new GameObject("child");
-      _child.transform.parent = _parent.transform;
-    }
-
-    [TearDown]
-    public void TearDown() {
-      UnityEngine.Object.DestroyImmediate(_parent);
-    }
-
-    private void CompareTransforms(MjTransformation lhs, MjTransformation rhs) {
-      Assert.That(lhs.Translation.x, Is.EqualTo(rhs.Translation.x).Within(1e-5f));
-      Assert.That(lhs.Translation.y, Is.EqualTo(rhs.Translation.y).Within(1e-5f));
-      Assert.That(lhs.Translation.z, Is.EqualTo(rhs.Translation.z).Within(1e-5f));
-      Assert.That(lhs.Rotation.x, Is.EqualTo(rhs.Rotation.x).Within(1e-5f));
-      Assert.That(lhs.Rotation.y, Is.EqualTo(rhs.Rotation.y).Within(1e-5f));
-      Assert.That(lhs.Rotation.z, Is.EqualTo(rhs.Rotation.z).Within(1e-5f));
-      Assert.That(lhs.Rotation.w, Is.EqualTo(rhs.Rotation.w).Within(1e-5f));
-    }
-
-    private void CompareTransforms(MjTransformation lhs, Vector3 position,
-                                   Quaternion rotation) {
-      Assert.That(lhs.Translation.x, Is.EqualTo(position.x).Within(1e-5f));
-      Assert.That(lhs.Translation.y, Is.EqualTo(position.y).Within(1e-5f));
-      Assert.That(lhs.Translation.z, Is.EqualTo(position.z).Within(1e-5f));
-      Assert.That(lhs.Rotation.x, Is.EqualTo(rotation.x).Within(1e-5f));
-      Assert.That(lhs.Rotation.y, Is.EqualTo(rotation.y).Within(1e-5f));
-      Assert.That(lhs.Rotation.z, Is.EqualTo(rotation.z).Within(1e-5f));
-      Assert.That(lhs.Rotation.w, Is.EqualTo(rotation.w).Within(1e-5f));
-    }
-
-#endregion
-  }
-}
diff --git a/unity/Tests/Editor/Tools/MjTransformationTests.cs.meta b/unity/Tests/Editor/Tools/MjTransformationTests.cs.meta
deleted file mode 100644
index 4558e3dd..00000000
--- a/unity/Tests/Editor/Tools/MjTransformationTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 232da11066f724246bf5b820d6647261
-timeCreated: 1551107971
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Tools/MjVFSEditorTests.cs b/unity/Tests/Editor/Tools/MjVFSEditorTests.cs
deleted file mode 100644
index 238a494b..00000000
--- a/unity/Tests/Editor/Tools/MjVFSEditorTests.cs
+++ /dev/null
@@ -1,46 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Runtime.InteropServices;
-using NUnit.Framework;
-
-namespace Mujoco {
-
-  using static MujocoLib;
-
-  [TestFixture]
-  public class MjVfsTests {
-    private MjVfs _vfs;
-
-    [SetUp]
-    public void SetUp() {
-      _vfs = new MjVfs();
-    }
-
-    [TearDown]
-    public void TearDown() {
-      _vfs.Dispose();
-      _vfs = null;
-    }
-
-    [Test]
-    public unsafe void AddingNewFile() {
-      var filename = "filename";
-      var contents = "contents";
-      _vfs.AddFile(filename, contents);
-      Assert.That(() => { _vfs.AddFile(filename, contents); }, Throws.Exception);  // duplicate file
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Tools/MjVFSEditorTests.cs.meta b/unity/Tests/Editor/Tools/MjVFSEditorTests.cs.meta
deleted file mode 100644
index 25986b51..00000000
--- a/unity/Tests/Editor/Tools/MjVFSEditorTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 41b2695e2bc7a4317bc759f1eae39ab2
-timeCreated: 1535647485
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Tools/Resources.meta b/unity/Tests/Editor/Tools/Resources.meta
deleted file mode 100644
index 76254c0f..00000000
--- a/unity/Tests/Editor/Tools/Resources.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 676e0a086d0ff32f6b91e644a9fc1f23
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Tools/Resources/ValidModel.xml b/unity/Tests/Editor/Tools/Resources/ValidModel.xml
deleted file mode 100644
index ec04ab58..00000000
--- a/unity/Tests/Editor/Tools/Resources/ValidModel.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<!--
- Copyright 2019 DeepMind Technologies Limited
-
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
-
-      http://www.apache.org/licenses/LICENSE-2.0
-
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
--->
-
-<mujoco>
-  <option gravity="0 -9.81 0" />
-  <worldbody>
-    <geom name="ground" type="plane" size="5 5 1" euler="-90 0 0"/>
-    <body name="parent" pos="0 10 0">
-      <geom name="parent_shape" type="sphere" size="0.5"/>
-      <joint type="free" />
-      <body name="child" pos="2 1 0">
-        <geom name="child_shape" type="sphere" size="0.5"/>
-        <joint type="hinge" axis="1 0 0"/>
-      </body>
-    </body>
-  </worldbody>
-</mujoco>
diff --git a/unity/Tests/Editor/Tools/Resources/ValidModel.xml.meta b/unity/Tests/Editor/Tools/Resources/ValidModel.xml.meta
deleted file mode 100644
index be5d47ff..00000000
--- a/unity/Tests/Editor/Tools/Resources/ValidModel.xml.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: 4ec05e5bec3e158bb9cf4cc868f75f03
-TextScriptImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Editor/Tools/XmlElementExtensionsTests.cs b/unity/Tests/Editor/Tools/XmlElementExtensionsTests.cs
deleted file mode 100644
index e1d38496..00000000
--- a/unity/Tests/Editor/Tools/XmlElementExtensionsTests.cs
+++ /dev/null
@@ -1,193 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-
-namespace Mujoco {
-
-  [TestFixture]
-  public class XmlElementExtensionsEditorTests {
-    public enum TestEnum { ValueDefault, ValueA }
-
-    private XmlElement _element;
-
-    [SetUp]
-    public void SetUp() {
-      var doc = new XmlDocument();
-      _element = doc.CreateElement("element");
-    }
-
-    [Test]
-    public void ParsingMissingFloatAttribute() {
-      Assert.That(_element.GetFloatAttribute("attrib", 7.0f), Is.EqualTo(7.0f));
-    }
-
-    [TestCase("5.1", 5.1f)]
-    [TestCase("-4.83", -4.83f)]
-    public void ParsingFloatAttribute(string input, float expected) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(_element.GetFloatAttribute("attrib", 7.0f), Is.EqualTo(expected));
-    }
-
-    [TestCase("")]
-    [TestCase("string value")]
-    public void InvalidFloatValueTriggersAnException(string input) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(() => { _element.GetFloatAttribute("attrib", 7.0f); }, Throws.Exception);
-    }
-
-    [Test]
-    public void ParsingMissingEnumAttribute() {
-      Assert.That(_element.GetEnumAttribute<TestEnum>("attrib", TestEnum.ValueDefault),
-                  Is.EqualTo(TestEnum.ValueDefault));
-    }
-
-    [TestCase("ValueA", TestEnum.ValueA)]
-    [TestCase("valuea", TestEnum.ValueA)]
-    public void ParsingEnumAttributeIsCaseInsensitive(string input, TestEnum expected) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(_element.GetEnumAttribute<TestEnum>("attrib", TestEnum.ValueDefault, true),
-                  Is.EqualTo(expected));
-    }
-
-    [TestCase("")]
-    [TestCase("wrong value")]
-    public void InvalidEnumValueTriggersAnException(string input) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(() => { _element.GetEnumAttribute<TestEnum>("attrib", TestEnum.ValueDefault); },
-                  Throws.Exception);
-    }
-
-    [Test]
-    public void ParsingMissingStringAttribute() {
-      Assert.That(_element.GetStringAttribute("attrib", "missing"), Is.EqualTo("missing"));
-    }
-
-    [TestCase("value", "value")]
-    [TestCase("", "")]
-    public void ParsingStringAttributes(string input, string expected) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(_element.GetStringAttribute("attrib", "missing"), Is.EqualTo(expected));
-    }
-
-    [Test]
-    public void ParsingMissingVector3Attribute() {
-      Assert.That(_element.GetVector3Attribute("attrib", Vector3.one), Is.EqualTo(Vector3.one));
-    }
-
-    public void ParsingVector3Attributes() {
-      _element.SetAttribute("attrib", "-1 2 3.5");
-      var expected = new Vector3(-1, 2, 3.5f);
-      Assert.That(_element.GetVector3Attribute("attrib", Vector3.one), Is.EqualTo(expected));
-    }
-
-    [TestCase("1 2")]
-    [TestCase("1")]
-    [TestCase("")]
-    public void Vector3WithInsufficientNumberOfComponentsTriggersAnException(string input) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(() => { _element.GetVector3Attribute("attrib", Vector3.one); }, Throws.Exception);
-    }
-
-    [TestCase("a 2 3")]
-    [TestCase("1 b 3")]
-    [TestCase("1 2 c")]
-    public void InvalidVector3ComponentValueTriggersException(string input) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(() => { _element.GetVector3Attribute("attrib", Vector3.one); }, Throws.Exception);
-    }
-
-    public void ParsingVector2Attributes() {
-      _element.SetAttribute("attrib", "-1 2.5");
-      var expected = new Vector3(-1, 2.5f);
-      Assert.That(_element.GetVector2Attribute("attrib", Vector2.one), Is.EqualTo(expected));
-    }
-
-    [TestCase("1")]
-    [TestCase("")]
-    public void Vector2WithInsufficientNumberOfComponentsTriggersAnException(string input) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(() => { _element.GetVector2Attribute("attrib", Vector2.one); }, Throws.Exception);
-    }
-
-    [TestCase("a 2")]
-    [TestCase("1 b")]
-    public void InvalidVector2ComponentValueTriggersException(string input) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(() => { _element.GetVector2Attribute("attrib", Vector2.one); }, Throws.Exception);
-    }
-
-    [Test]
-    public void ParsingMissingQuaternionAttribute() {
-      Assert.That(_element.GetQuaternionAttribute("attrib", Quaternion.identity),
-                  Is.EqualTo(Quaternion.identity));
-    }
-
-    public void ParsingQuaternionAttributes() {
-      _element.SetAttribute("attrib", "0.1 0.2 0.3 0.4");
-      var expected = new Quaternion(0.1f, 0.2f, 0.3f, 0.4f);
-      Assert.That(_element.GetQuaternionAttribute("attrib", Quaternion.identity),
-                  Is.EqualTo(expected));
-    }
-
-    [TestCase("1 2 3")]
-    [TestCase("1 2")]
-    [TestCase("1")]
-    [TestCase("")]
-    public void QuaternionWithInsufficientNumberOfComponentsTriggersAnException(string input) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(() => { _element.GetQuaternionAttribute("attrib", Quaternion.identity); },
-                  Throws.Exception);
-    }
-
-    [TestCase("a 2 3 4")]
-    [TestCase("1 b 3 4")]
-    [TestCase("1 2 c 4")]
-    [TestCase("1 2 3 d")]
-    public void InvalidQuaternionComponentValueTriggersException(string input) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(() => { _element.GetQuaternionAttribute("attrib", Quaternion.identity); },
-                  Throws.Exception);
-    }
-
-    [TestCase("1  2")]
-    [TestCase("1  2  ")]
-    [TestCase("  1 2")]
-    public void FloatArraysCanContainArbitraryNumberOfWhitespaces(string input) {
-      _element.SetAttribute("attrib", input);
-      Assert.That(_element.GetFloatArrayAttribute("attrib", defaultValue: null),
-                  Is.EqualTo(new float[] { 1, 2 }));
-    }
-
-    public void FloatArraysCanBeFilledUpWithDefaultValues() {
-      _element.SetAttribute("attrib", "1 2");
-      var defaultValue = new float[] { 5, 6, 7, 8 };
-      Assert.That(_element.GetFloatArrayAttribute("attrib", defaultValue: defaultValue),
-                  Is.EqualTo(new float[] { 1, 2, 7, 8 }));
-    }
-
-    public void FloatArrayDefaultFillingCanBeSwitchedOff() {
-      _element.SetAttribute("attrib", "1 2");
-      var defaultValue = new float[] { 5, 6, 7, 8 };
-      var result = _element.GetFloatArrayAttribute("attrib", defaultValue: defaultValue,
-                                                   fillMissingValues: false);
-      Assert.That(result, Is.EqualTo(new float[] { 1, 2 }));
-    }
-  }
-}
diff --git a/unity/Tests/Editor/Tools/XmlElementExtensionsTests.cs.meta b/unity/Tests/Editor/Tools/XmlElementExtensionsTests.cs.meta
deleted file mode 100644
index f8f120a9..00000000
--- a/unity/Tests/Editor/Tools/XmlElementExtensionsTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: c5148652c03104473b634d0ec28103d3
-timeCreated: 1538662593
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Runtime.meta b/unity/Tests/Runtime.meta
deleted file mode 100644
index bc675180..00000000
--- a/unity/Tests/Runtime.meta
+++ /dev/null
@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: a5e91f85801f997319fcb2997dc52842
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Runtime/MjJointTests.cs b/unity/Tests/Runtime/MjJointTests.cs
deleted file mode 100644
index d994bd98..00000000
--- a/unity/Tests/Runtime/MjJointTests.cs
+++ /dev/null
@@ -1,78 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#if UNITY_EDITOR
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjJointStateTests {
-  private MjBody _body;
-  private MjHingeJoint _joint;
-  private MjInertial _inertial;
-  private MjScene _scene;
-
-  [SetUp]
-  public void SetUp() {
-    _scene = MjScene.Instance;
-    _body = new GameObject("body").AddComponent<MjBody>();
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _joint.transform.parent = _body.transform;
-    _inertial = new GameObject("inertial").AddComponent<MjInertial>();
-    _inertial.transform.parent = _body.transform;
-  }
-
-  [TearDown]
-  public void TearDown() {
-    GameObject.DestroyImmediate(_joint.gameObject);
-    GameObject.DestroyImmediate(_inertial.gameObject);
-    GameObject.DestroyImmediate(_body.gameObject);
-    GameObject.DestroyImmediate(MjScene.Instance);
-  }
-
-  [UnityTest]
-  public IEnumerator JointVelocityChangesTheConfiguration() {
-    _joint.Velocity = 10;
-    _scene.CreateScene();
-    yield return new WaitForFixedUpdate();
-    Assert.That(_joint.Configuration, Is.Not.EqualTo(0));
-  }
-
-  [UnityTest]
-  public IEnumerator JointConfigurationIsUsed() {
-    _joint.Configuration = 10;
-    _scene.CreateScene();
-    yield return new WaitForFixedUpdate();
-    Assert.That(_joint.Configuration, Is.Not.EqualTo(0));
-  }
-
-  [UnityTest]
-  public IEnumerator JointConfigurationIsReadOnly() {
-    _scene.CreateScene();
-    _joint.Configuration = 10;
-    yield return new WaitForFixedUpdate();
-    Assert.That(_joint.Configuration, Is.EqualTo(0));
-  }
-}
-}
-
-#endif
diff --git a/unity/Tests/Runtime/MjJointTests.cs.meta b/unity/Tests/Runtime/MjJointTests.cs.meta
deleted file mode 100644
index fd33767e..00000000
--- a/unity/Tests/Runtime/MjJointTests.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: acc8876e5b07dea7d825d8056331b4fa
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Runtime/MjMeshFilterTests.cs b/unity/Tests/Runtime/MjMeshFilterTests.cs
deleted file mode 100644
index 0ba381e5..00000000
--- a/unity/Tests/Runtime/MjMeshFilterTests.cs
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Linq;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjMeshFilterTests {
-
-  private MjGeom _geom;
-  private MeshFilter _meshFilter;
-
-  [SetUp]
-  public void SetUp() {
-    var gameObject = new GameObject(
-        "object", typeof(MjGeom), typeof(MeshFilter), typeof(MjMeshFilter));
-    _geom = gameObject.GetComponent<MjGeom>();
-    _meshFilter = gameObject.GetComponent<MeshFilter>();
-  }
-
-  [TearDown]
-  public void TearDown() {
-    UnityEngine.Object.DestroyImmediate(_geom.gameObject);
-    GameObject.DestroyImmediate(MjScene.Instance);
-  }
-
-  [UnityTest]
-  public IEnumerator NotMakingUnnecesaryMeshChanges() {
-    yield return null;
-    var firstMesh = _meshFilter.mesh;
-    yield return null;
-    var secondMesh = _meshFilter.mesh;
-    Assert.That(firstMesh, Is.EqualTo(secondMesh));
-  }
-
-  [UnityTest]
-  public IEnumerator DetectingChangesOfGeomShape() {
-    yield return null;
-    var firstMesh = _meshFilter.mesh;
-    _geom.ShapeType = MjShapeComponent.ShapeTypes.Box;
-    yield return null;
-    var secondMesh = _meshFilter.mesh;
-    Assert.That(firstMesh, Is.Not.EqualTo(secondMesh));
-  }
-}
-}
diff --git a/unity/Tests/Runtime/MjMeshFilterTests.cs.meta b/unity/Tests/Runtime/MjMeshFilterTests.cs.meta
deleted file mode 100644
index 89c97737..00000000
--- a/unity/Tests/Runtime/MjMeshFilterTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: 9ca786de0abc745edaa19ef76be40ffd
-timeCreated: 1539770521
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Runtime/MjScenePlayTests.cs b/unity/Tests/Runtime/MjScenePlayTests.cs
deleted file mode 100644
index 1a69b1a4..00000000
--- a/unity/Tests/Runtime/MjScenePlayTests.cs
+++ /dev/null
@@ -1,106 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#if UNITY_EDITOR
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjScenePlayTests {
-  private MjScene _scene;
-  private MjBody _body;
-  private MjInertial _inertia;
-  private MjHingeJoint _joint;
-
-  [SetUp]
-  public void SetUp() {
-    _scene = MjScene.Instance;
-    _body = new GameObject("body").AddComponent<MjBody>();
-    _inertia = new GameObject("inertia").AddComponent<MjInertial>();
-    _inertia.transform.parent = _body.transform;
-    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    _joint.transform.parent = _body.transform;
-  }
-
-  [TearDown]
-  public void TearDown() {
-    GameObject.DestroyImmediate(_joint.gameObject);
-    GameObject.DestroyImmediate(_inertia.gameObject);
-    GameObject.DestroyImmediate(_body.gameObject);
-    GameObject.DestroyImmediate(_scene.gameObject);
-  }
-
-  [UnityTest]
-  public IEnumerator RecreatedScenePreservesPosition() {
-    _joint.Velocity = .1f;
-    _scene.CreateScene();
-    yield return null; // qpos moves, xpos stays at zero
-    yield return null; // now xpos changed
-    var tickedRotation = _body.transform.rotation;
-    _scene.RecreateScene();
-    // xpos is one step behind qpos, so it's not a perfect no-op, hence the high tolerance
-    Assert.That(tickedRotation.x, Is.EqualTo(_body.transform.rotation.x).Within(1e-3f));
-    Assert.That(tickedRotation.y, Is.EqualTo(_body.transform.rotation.y).Within(1e-3f));
-    Assert.That(tickedRotation.z, Is.EqualTo(_body.transform.rotation.z).Within(1e-3f));
-    Assert.That(tickedRotation.w, Is.EqualTo(_body.transform.rotation.w).Within(1e-3f));
-    // Assert.That(tickedRotation, Is.EqualTo(_body.transform.rotation).Using(_quaternionComparer));
-  }
-
-  [UnityTest]
-  public IEnumerator SceneRecreatedWithAddition() {
-    _joint.Velocity = 1;
-    _scene.CreateScene();
-    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
-    var body = new GameObject("body").AddComponent<MjBody>();
-    var inertia = new GameObject("inertia").AddComponent<MjInertial>();
-    inertia.transform.parent = body.transform;
-    var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    joint.transform.parent = body.transform;
-    yield return null; // call "start"
-    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.True);
-    yield return null; // call "lateUpdate"
-    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
-    UnityEngine.Object.DestroyImmediate(inertia.gameObject);
-    UnityEngine.Object.DestroyImmediate(joint.gameObject);
-    UnityEngine.Object.DestroyImmediate(body.gameObject);
-  }
-
-  [UnityTest]
-  public IEnumerator SceneRecreatedAfterDeletion() {
-    var body = new GameObject("body").AddComponent<MjBody>();
-    var inertia = new GameObject("inertia").AddComponent<MjInertial>();
-    inertia.transform.parent = body.transform;
-    var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
-    joint.transform.parent = body.transform;
-    yield return null;
-    yield return null;
-    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
-    UnityEngine.Object.DestroyImmediate(inertia.gameObject);
-    UnityEngine.Object.DestroyImmediate(joint.gameObject);
-    UnityEngine.Object.DestroyImmediate(body.gameObject);
-    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.True);
-    yield return null; // should result in a new scene
-    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
-  }
-}
-}
-#endif
diff --git a/unity/Tests/Runtime/MjScenePlayTests.cs.meta b/unity/Tests/Runtime/MjScenePlayTests.cs.meta
deleted file mode 100644
index 080ddfef..00000000
--- a/unity/Tests/Runtime/MjScenePlayTests.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 5235f153ea7908fad80b5c28b3978ac4
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Runtime/MjSensorPlayTests.cs b/unity/Tests/Runtime/MjSensorPlayTests.cs
deleted file mode 100644
index beb17ef0..00000000
--- a/unity/Tests/Runtime/MjSensorPlayTests.cs
+++ /dev/null
@@ -1,122 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#if UNITY_EDITOR
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-using UnityEngine.TestTools.Utils;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjSensorPlayTests {
-  private MjBody _body;
-  private MjSite _site;
-  private MjGeom _geom;
-  private MjHingeJoint _joint;
-  private MjSiteQuaternionSensor _siteQuatSensor0;
-  private MjSiteQuaternionSensor _siteQuatSensor;
-  private MjSiteVectorSensor _siteVectorSensor;
-  private MjGeomQuaternionSensor _geomQuatSensor;
-  private MjGeomVectorSensor _geomVectorSensor;
-  private MjBodyQuaternionSensor _bodyQuatSensor;
-  private MjBodyVectorSensor _bodyVectorSensor;
-  private MjScene _scene;
-
-  [SetUp]
-  public void SetUp() {
-    _scene = MjScene.Instance;
-    _body = new GameObject("body").AddComponent<MjBody>();
-    _site = new GameObject("site").AddComponent<MjSite>();
-    _geom = new GameObject("geom").AddComponent<MjGeom>();
-    _siteQuatSensor0 = new GameObject("sq0").AddComponent<MjSiteQuaternionSensor>();
-    _siteQuatSensor0.Site = _site;
-    _siteQuatSensor = new GameObject("sq").AddComponent<MjSiteQuaternionSensor>();
-    _siteQuatSensor.Site = _site;
-    _siteVectorSensor = new GameObject("sv").AddComponent<MjSiteVectorSensor>();
-    _siteVectorSensor.Site = _site;
-    _siteVectorSensor.SensorType = MjSiteVectorSensor.AvailableSensors.FramePos;
-    _geomQuatSensor = new GameObject("gq").AddComponent<MjGeomQuaternionSensor>();
-    _geomQuatSensor.Geom = _geom;
-    _geomVectorSensor = new GameObject("gv").AddComponent<MjGeomVectorSensor>();
-    _geomVectorSensor.Geom = _geom;
-    _geomVectorSensor.SensorType = MjGeomVectorSensor.AvailableSensors.FramePos;
-    _bodyQuatSensor = new GameObject("bq").AddComponent<MjBodyQuaternionSensor>();
-    _bodyQuatSensor.Body = _body;
-    _bodyVectorSensor = new GameObject("bv").AddComponent<MjBodyVectorSensor>();
-    _bodyVectorSensor.Body = _body;
-    _bodyVectorSensor.SensorType = MjBodyVectorSensor.AvailableSensors.FramePos;
-    _site.transform.position = new Vector3(1, 2, 3);
-    _site.transform.rotation = new Quaternion(0, 1, 2, 3);
-    _geom.transform.position = new Vector3(4, 5, 6);
-    _geom.transform.rotation = new Quaternion(4, 5, 6, 7);
-    _body.transform.position = new Vector3(7, 8, 9);
-    _body.transform.rotation = new Quaternion(7, 8, 9, 9);
-    _scene.CreateScene(); // compilation happens here
-  }
-
-  [TearDown]
-  public void TearDown() {
-    GameObject.DestroyImmediate(_site.gameObject);
-    GameObject.DestroyImmediate(_body.gameObject);
-    GameObject.DestroyImmediate(_geom.gameObject);
-    GameObject.DestroyImmediate(_siteQuatSensor0.gameObject);
-    GameObject.DestroyImmediate(_siteQuatSensor.gameObject);
-    GameObject.DestroyImmediate(_siteVectorSensor.gameObject);
-    GameObject.DestroyImmediate(_geomQuatSensor.gameObject);
-    GameObject.DestroyImmediate(_geomVectorSensor.gameObject);
-    GameObject.DestroyImmediate(_bodyQuatSensor.gameObject);
-    GameObject.DestroyImmediate(_bodyVectorSensor.gameObject);
-    GameObject.DestroyImmediate(_scene.gameObject);
-    GameObject.DestroyImmediate(MjScene.Instance);
-  }
-
-  [UnityTest]
-  public IEnumerator CheckSensorData() {
-    yield return new WaitForFixedUpdate(); // updating the transform
-    yield return new WaitForFixedUpdate(); // updating the transform
-    var vecComparer = new Vector3EqualityComparer(1e-4f);
-    Assert.That(
-        _siteVectorSensor.SensorReading,
-        Is.EqualTo(_site.transform.position).Using(vecComparer));
-    Assert.That(
-        _geomVectorSensor.SensorReading,
-        Is.EqualTo(_geom.transform.position).Using(vecComparer));
-    Assert.That(
-        _bodyVectorSensor.SensorReading,
-        Is.EqualTo(_body.transform.position).Using(vecComparer));
-
-    Assert.That(
-      Quaternion.Angle(_siteQuatSensor0.SensorReading, _site.transform.rotation.normalized),
-      Is.EqualTo(0).Within(1e-3));
-    Assert.That(
-      Quaternion.Angle(_siteQuatSensor.SensorReading, _site.transform.rotation.normalized),
-      Is.EqualTo(0).Within(1e-3));
-    Assert.That(
-      Quaternion.Angle(_geomQuatSensor.SensorReading, _geom.transform.rotation.normalized),
-      Is.EqualTo(0).Within(1e-3));
-    Assert.That(
-      Quaternion.Angle(_bodyQuatSensor.SensorReading, _body.transform.rotation.normalized),
-      Is.EqualTo(0).Within(1e-3));
-  }
-}
-}
-
-#endif
diff --git a/unity/Tests/Runtime/MjSensorPlayTests.cs.meta b/unity/Tests/Runtime/MjSensorPlayTests.cs.meta
deleted file mode 100644
index 2d78a1e9..00000000
--- a/unity/Tests/Runtime/MjSensorPlayTests.cs.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 62bfed53c131e77cfa2845ad38c35a4e
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Runtime/MjSitePlayTests.cs b/unity/Tests/Runtime/MjSitePlayTests.cs
deleted file mode 100644
index ad37bb9f..00000000
--- a/unity/Tests/Runtime/MjSitePlayTests.cs
+++ /dev/null
@@ -1,67 +0,0 @@
-// Copyright 2019 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#if UNITY_EDITOR
-
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Xml;
-using NUnit.Framework;
-using UnityEngine;
-using UnityEngine.TestTools;
-
-namespace Mujoco {
-
-[TestFixture]
-public class MjSiteStateSyncTests {
-  private MjBody _body;
-  private MjSite _site;
-  private MjScene _scene;
-
-  [SetUp]
-  public void SetUp() {
-    _scene = MjScene.Instance;
-    _body = new GameObject("body").AddComponent<MjBody>();
-    _site = new GameObject("site").AddComponent<MjSite>();
-    _site.transform.parent = _body.transform;
-  }
-
-  [TearDown]
-  public void TearDown() {
-    GameObject.DestroyImmediate(_site.gameObject);
-    GameObject.DestroyImmediate(_body.gameObject);
-    GameObject.DestroyImmediate(_scene.gameObject);
-    GameObject.DestroyImmediate(MjScene.Instance);
-  }
-
-  [UnityTest]
-  public IEnumerator InitialTransform() {
-    _site.transform.position = new Vector3(1, 2, 3);
-    _scene.CreateScene(); // compilation happens here
-    yield return new WaitForFixedUpdate(); // updating the transform
-    Assert.That(_site.transform.position, Is.EqualTo(new Vector3(1, 2, 3)));
-  }
-
-  [UnityTest]
-  public IEnumerator ChangedTransformIsOverwrittenByItsMjCounterpart() {
-    _scene.CreateScene(); // compilation happens here
-    _site.transform.position = new Vector3(1, 2, 3);
-    yield return new WaitForFixedUpdate(); // updating the transform
-    Assert.That(_site.transform.position, Is.EqualTo(Vector3.zero));
-  }
-}
-}
-
-#endif
diff --git a/unity/Tests/Runtime/MjSitePlayTests.cs.meta b/unity/Tests/Runtime/MjSitePlayTests.cs.meta
deleted file mode 100644
index 1422ccab..00000000
--- a/unity/Tests/Runtime/MjSitePlayTests.cs.meta
+++ /dev/null
@@ -1,13 +0,0 @@
-fileFormatVersion: 2
-guid: add332d9433794539b0daf49d5d388bd
-timeCreated: 1547485698
-licenseType: Pro
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/Tests/Runtime/Mujoco.Runtime.Tests.asmdef b/unity/Tests/Runtime/Mujoco.Runtime.Tests.asmdef
deleted file mode 100644
index 22c50376..00000000
--- a/unity/Tests/Runtime/Mujoco.Runtime.Tests.asmdef
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-    "name": "Tests.Runtime",
-    "rootNamespace": "",
-    "references": [
-        "UnityEngine.TestRunner",
-        "Mujoco.Runtime"
-    ],
-    "includePlatforms": [],
-    "excludePlatforms": [],
-    "allowUnsafeCode": true,
-    "overrideReferences": true,
-    "precompiledReferences": [
-        "nunit.framework.dll"
-    ],
-    "autoReferenced": false,
-    "defineConstraints": [
-        "UNITY_INCLUDE_TESTS"
-    ],
-    "versionDefines": [],
-    "noEngineReferences": false
-}
\ No newline at end of file
diff --git a/unity/Tests/Runtime/Mujoco.Runtime.Tests.asmdef.meta b/unity/Tests/Runtime/Mujoco.Runtime.Tests.asmdef.meta
deleted file mode 100644
index fe77525e..00000000
--- a/unity/Tests/Runtime/Mujoco.Runtime.Tests.asmdef.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: 20c866b9eb6a4306297cce0c740191d2
-AssemblyDefinitionImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/unity/package.json b/unity/package.json
deleted file mode 100644
index b50073be..00000000
--- a/unity/package.json
+++ /dev/null
@@ -1,17 +0,0 @@
-{
-  "name": "org.mujoco",
-  "displayName": "MuJoCo",
-  "version": "3.12.0",
-  "description": "MuJoCo importer and runtime plug-in",
-  "dependencies": {},
-  "author": {
-    "name" : "Google DeepMind",
-    "email" : "mujoco@deepmind.com",
-    "url" : "https://mujoco.org/"
-  },
-  "changelogUrl": "https://mujoco.readthedocs.io/en/latest/changelog.html",
-  "documentationUrl": "https://mujoco.readthedocs.io/en/latest/unity.html",
-  "license": "Apache-2.0",
-  "licensesUrl": "https://github.com/google-deepmind/mujoco/blob/main/LICENSE",
-  "hideInEditor": false
-}
diff --git a/unity/package.json.meta b/unity/package.json.meta
deleted file mode 100644
index dc56c33d..00000000
--- a/unity/package.json.meta
+++ /dev/null
@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: 992a3ea023ad4f2dd85be1cb20a4a703
-TextScriptImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/wasm/CMakeLists.txt b/wasm/CMakeLists.txt
deleted file mode 100644
index 158e6b11..00000000
--- a/wasm/CMakeLists.txt
+++ /dev/null
@@ -1,115 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}/wasm/dist")
-
-set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/wasm)
-
-include_directories(${PROJECT_SOURCE_DIR}/include)
-include_directories(${PROJECT_SOURCE_DIR}/src)
-include_directories(${PROJECT_SOURCE_DIR})
-
-link_directories(${CMAKE_BINARY_DIR}/lib)
-
-# Set Emscripten compile flags.
-# -fexceptions is required for val::throw_() (used by ThrowMujocoErrorToJS) to
-# actually throw a JS exception. Without it, Emscripten compiles throw as a
-# no-op. In the MT build, -pthread implicitly enables exception support, but
-# the ST build needs it set explicitly here.
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fexceptions")
-
-# Set Emscripten linker flags shared by all WASM targets.
-set(EMCC_LINKER_FLAGS
-    "--bind"
-    "-s ASSERTIONS=1"
-    "-s ALLOW_MEMORY_GROWTH=1"
-    "-s EXPORT_ES6=1"
-    "-s MODULARIZE=1"
-    "-s FORCE_FILESYSTEM=1"
-    "-s EXPORTED_RUNTIME_METHODS=['ccall','cwrap','FS','MEMFS']"
-    "-s EXPORT_NAME=loadMujoco"
-    "-s DISABLE_EXCEPTION_CATCHING=0"
-    "-fexceptions"
-    "-gsource-map"
-    "-g"
-)
-if(MUJOCO_WASM_THREADS)
-    list(APPEND EMCC_LINKER_FLAGS
-        "-pthread"
-        "-s PTHREAD_POOL_SIZE=navigator.hardwareConcurrency"
-    )
-    add_definitions(-DMUJOCO_WASM_THREADS)
-endif()
-
-# Common link libraries for all WASM targets. The mujoco library is linked as a
-# whole archive to avoid losing plugin registration such as obj_decoder and
-# stl_decoder.
-set(MUJOCO_WASM_LINK_LIBRARIES
-    -Wl,--whole-archive mujoco -Wl,--no-whole-archive
-    ccd lodepng tinyxml2 qhullstatic_r
-)
-
-# --- Main WASM bindings target ---
-
-file(GLOB MUJOCO_WASM_FILES
-    "codegen/generated/*.cc"
-    "unpack.cc"
-)
-
-if(NOT MUJOCO_WASM_FILES)
-    message(FATAL_ERROR "No source files found in codegen/generated/")
-endif()
-
-set(MUJOCO_WASM_LINKER_FLAGS ${EMCC_LINKER_FLAGS} "--emit-tsd mujoco.d.ts")
-string(REPLACE ";" " " MUJOCO_WASM_LINKER_FLAGS_STR "${MUJOCO_WASM_LINKER_FLAGS}")
-
-add_executable(mujoco_wasm ${MUJOCO_WASM_FILES})
-
-# Keep the internal target name distinct to avoid colliding with the native
-# `mujoco` library target, but emit artifacts named `mujoco.*` by setting the
-# output name. Also apply the emscripten linker flags to the wasm target.
-set_target_properties(mujoco_wasm PROPERTIES
-    LINK_FLAGS "${MUJOCO_WASM_LINKER_FLAGS_STR}"
-    OUTPUT_NAME "mujoco"
-)
-
-target_link_libraries(mujoco_wasm PRIVATE ${MUJOCO_WASM_LINK_LIBRARIES})
-
-install(TARGETS mujoco_wasm DESTINATION ${DIVISIBLE_INSTALL_BIN_DIR})
-
-# --- Benchmark target ---
-
-if(MUJOCO_BUILD_TESTS_WASM)
-    file(GLOB MUJOCO_WASM_BENCHMARK_FILES
-        "tests/benchmark_test.cc"
-        "unpack.cc"
-    )
-
-    if(NOT MUJOCO_WASM_BENCHMARK_FILES)
-        message(FATAL_ERROR "No benchmark source files found")
-    endif()
-
-    set(BENCHMARK_LINKER_FLAGS ${EMCC_LINKER_FLAGS} "--emit-tsd mujoco_wasm_benchmark.d.ts")
-    string(REPLACE ";" " " BENCHMARK_LINKER_FLAGS_STR "${BENCHMARK_LINKER_FLAGS}")
-
-    add_executable(mujoco_wasm_benchmark ${MUJOCO_WASM_BENCHMARK_FILES})
-
-    set_target_properties(mujoco_wasm_benchmark PROPERTIES
-        LINK_FLAGS "${BENCHMARK_LINKER_FLAGS_STR}"
-    )
-
-    target_link_libraries(mujoco_wasm_benchmark PRIVATE ${MUJOCO_WASM_LINK_LIBRARIES})
-
-    install(TARGETS mujoco_wasm_benchmark DESTINATION ${DIVISIBLE_INSTALL_BIN_DIR})
-endif()
diff --git a/wasm/README.md b/wasm/README.md
deleted file mode 100644
index 152cc338..00000000
--- a/wasm/README.md
+++ /dev/null
@@ -1,390 +0,0 @@
-# MuJoCo JavaScript 绑定
-
-这是 [MuJoCo 物理引擎](https://github.com/google-deepmind/mujoco) 的官方规范 JavaScript 和 TypeScript 绑定。
-
-本软件包提供了一个高级 API，使您能够与编译为高性能 WebAssembly (WASM) 模块的 MuJoCo 核心引擎进行交互。这些绑定由 Google DeepMind 开发和维护，并始终与 MuJoCo 的最新进展保持同步。为简明起见，下文中的文档通常称为“JavaScript”，但相关概念同样完全适用于 TypeScript。
-
-> [!IMPORTANT]
-> _这些绑定仍处于开发阶段（WIP）。详情请参阅[未来工作](#未来工作)部分。另请注意，开发主要是在 Linux 上使用 Google Chrome 进行的。如果您在其他操作系统或浏览器上开发，可能会遇到一些粗糙边缘。我们已在 CI 中成功在 macOS 上测试了绑定，但截至 2025 年 11 月 13 日，Windows 支持仍处于实验性阶段（在某台 Windows 11 设备上安装成功，但在其他设备上失败）。_
-
-## 安装
-
-使用 MuJoCo JavaScript 绑定最简单的方法是从 npm 安装 `@mujoco/mujoco` 软件包：
-
-```sh
-npm install @mujoco/mujoco
-```
-
-该软件包采用 ESM 模块规范（`type: module`），包含预编译的 WebAssembly 模块、JavaScript 绑定和 TypeScript 类型声明。请确保您的打包工具（bundler）或开发服务器在运行时能够正确提供 `.wasm` 静态资源服务。
-
-### 线程模型（Threading Models）
-
-`@mujoco/mujoco` 软件包包含两个不同的引擎构建版本，以支持不同的浏览器环境和性能需求。
-
-#### 1. 单线程（默认）
-
-标准的单线程版本位于软件包的根目录。它兼容所有现代浏览器，无需特殊的安全响应头配置。
-```typescript
-import loadMujoco from '@mujoco/mujoco';
-```
-
-#### 2. 多线程（MT）
-
-多线程版本位于 `/mt` 子目录中。它利用 Web Workers 和 `SharedArrayBuffer` 来并行化物理计算。
-```typescript
-import loadMujoco from '@mujoco/mujoco/mt';
-```
-
-> [!NOTE]
-> 由于使用了 `SharedArrayBuffer`，浏览器需要配置跨域隔离（Cross-Origin Isolation）才能启用多线程。您的 Web 服务器必须发送以下 HTTP 响应头：
->    - `Cross-Origin-Opener-Policy: same-origin`
->    - `Cross-Origin-Embedder-Policy: require-corp`
->
-> 如果缺少这些响应头，模块将无法完成初始化。
-
-## 从源码构建
-
-### 前置依赖
-
-> [!NOTE]
-> 请在项目顶级根目录下运行本 README 中的所有命令。
-
-- 要编译 [`bindings.cc`](codegen/generated/bindings.cc) 文件（用于生成 `.wasm` WebAssembly 文件、`.js` JavaScript 导入文件和 `.d.ts` TypeScript 声明文件），您需要安装 Emscripten SDK `4.0.10` 版本。更新的版本可能可用但未经充分测试。要配置 SDK，请执行以下命令（您可以在任何位置运行安装，但本 README 中的后续命令仅在执行了 `source ./emsdk/emsdk_env.sh` 的 Shell 中生效）：
-
-  ```sh
-  git clone https://github.com/emscripten-core/emsdk.git
-  ./emsdk/emsdk install 4.0.10
-  ./emsdk/emsdk activate 4.0.10
-  source ./emsdk/emsdk_env.sh
-  ```
-
-- 要轻松运行 JavaScript 测试和演示应用，需要安装 `node` 和 `npm`。我们建议使用 [nvm](https://github.com/nvm-sh/nvm) 进行版本管理。此外，测试、演示和绑定构建过程还需要一些 JavaScript 依赖项。这些依赖位于 `wasm` 文件夹中。要安装它们并确保后续命令可以找到相关工具，请运行：
-
-  ```sh
-  npm install --prefix ./wasm
-  export PATH="$(pwd)/wasm/node_modules/.bin:$PATH"
-  ```
-
-- 要修改绑定，需要安装 `python3`，因为 [`bindings.cc`](codegen/generated/bindings.cc) 文件是由 Python 脚本生成的。要运行绑定生成器测试，需要 `absl`，同时 `pytest` 也很有帮助。配置包含这些依赖的 Python 虚拟环境：
-
-  ```sh
-  python3 -m venv .venv
-  source .venv/bin/activate
-  pip install -r python/build_requirements.txt
-  ```
-
-> [!TIP]
-> _Emscripten 文档非常详尽。建议阅读涵盖 [Emscripten 编译器设置](https://emscripten.org/docs/tools_reference/settings_reference.html)、[Emscripten SDK](https://emscripten.org/docs/tools_reference/emsdk.html) 以及 [Embind](https://emscripten.org/docs/porting/connecting_cpp_and_javascript/embind.html) 库的章节。若要了解将浏览器作为运行平台的相关限制和注意事项，请参阅 [Porting（移植）](https://emscripten.org/docs/porting/index.html#porting) 章节。_
-
-编译 [`bindings.cc`](codegen/generated/bindings.cc) 文件将生成 `.wasm` WebAssembly 文件、`.js` JavaScript 导入文件以及 `.d.ts` TypeScript 声明文件。这些文件将用于在 JavaScript 中调用 MuJoCo。要生成它们，请确保已配置好 npm 和 Emscripten SDK 前置环境，然后运行以下命令：
-
-```sh
-emcmake cmake -B build && cmake --build build
-```
-
-该命令将在项目根目录下生成以下文件夹：
-
-- `build`：包含使用 Emscripten 编译的 MuJoCo。
-- `wasm/dist`：包含 WebAssembly 模块、`.js` 和 `.d.ts` 文件。
-
-这些文件夹内的资源默认编译并配置为单线程运行。如果需要使用多线程版本的模块，请传递 `-DMUJOCO_WASM_THREADS=ON` 标志：
-
-```sh
-emcmake cmake -B build -DMUJOCO_WASM_THREADS=ON && cmake --build build
-```
-
-### 示例应用程序
-
-生成绑定后，您就可以开始编写使用 MuJoCo 的 Web 应用程序了。我们提供了一个使用 Three.js 渲染简单仿真的基础 Web 应用，运行以下命令体验：
-
-```sh
-npm run dev:demo --prefix ./wasm
-```
-
-您也可以选择完全用 C++ 编写整个应用并使用 Emscripten 编译。如果采用这种方式，您将不需要使用这些绑定，因为您只需编写极少量的 JavaScript，而且这些绑定的粒度可能不太合适（例如，您可能希望在 `requestAnimationFrame` 触发的 C++ 回调中调用多个 MuJoCo 函数）。
-
-我们还发现混合架构非常实用，因为直接在 JavaScript 中操作浏览器 API 通常更方便。如果您选择用 C++ 编写应用程序并使用 Emscripten 编译，您可以将 `bindings.cc` 中 `EMSCRIPTEN_BINDINGS` 的子集复制到您的应用程序源文件中。
-
-## 用户指南
-
-### 按名称访问（Named Access）
-
-绑定支持按名称访问方法（与 Python 绑定类似），允许通过名称或索引便捷地访问模型和数据元素。例如，可以通过 `model.geom('mygeom')` 按名称访问几何体，或通过 `data.jnt('myjoint')` 访问关节。
-
-有关如何使用按名称访问的更多详细信息和示例，请参阅[按名称访问测试](tests/bindings_test.ts#L1876-L2378)以及[官方文档](https://mujoco.readthedocs.io/en/stable/python.html#named-access)。
-
-### 内存管理
-
-通过 Embind 封装创建或返回到 JavaScript 中的 C++ 对象句柄保存在 WebAssembly 堆内存中，**不会**被 JS 运行时的垃圾回收器自动回收。
-
-任何暴露给 JS 的堆分配 C++ 对象（例如通过 `new Module.MyClass(...)` 创建，或作为绑定的指针/引用返回），在不再需要时必须显式释放，以避免内存泄漏。
-
-在封装实例上调用生成的 `.delete()` 方法来销毁底层 C++ 对象：
-
-```typescript
-const obj = new Module.MyClass(...);
-// ... 使用 obj ...
-obj.delete(); // 释放 C++ 内存
-```
-
-请注意，每个创建的对象只能调用 `.delete()` **一次**（重复释放属于错误）。在可能抛出异常或提前返回的 JS 代码路径中，请确保在 `finally` 块中执行删除操作，或对生命周期管理进行封装以避免内存泄漏。
-
-> [!IMPORTANT]
-> _Embind 文档强烈建议 JavaScript 代码显式释放其接收到的所有 C++ 对象句柄。_
-
-### 拷贝 vs. 引用（Copy vs. Reference）
-
-通过 WASM 绑定与 MuJoCo 对象交互时，理解数据的访问方式非常重要。`MjModel` 和 `MjData` 等对象上的属性可以通过两种方式暴露数据：按值拷贝（Copy）或按引用（Reference）。
-
-#### 1. 按值拷贝（基于值的访问）
-
-某些属性在访问时会返回数据的副本。对于需要从 C++ 封送到 JavaScript 的复杂数据结构，这是常见做法。
-
-一个典型的例子是 `MjData.contact`。当访问 `data.contact` 时，您会获得一个包含该仿真时刻接触信息副本的对象。
-
-如果推进仿真步进，这些副本将不会自动更新。您必须重新访问 `data.contact` 才能获取最新的接触信息。
-
-您获得的对象是由 [Emscripten Embind 库](https://emscripten.org/docs/porting/connecting_cpp_and_javascript/embind.html#built-in-type-conversions)在使用 `register_vector<T>` 暴露 `std::vector` 时生成的 JavaScript 代理接口。它本质上是一个“桥接”对象。
-
-```typescript
-export interface MjContactVec extends ClassHandle {
-  /** 向向量末尾追加一个新元素，长度加 1。 */
-  push_back(_0: MjContact): void;
-  /** 调整向量大小以包含指定数量的元素，新位置填充提供的值。 */
-  resize(_0: number, _1: MjContact): void;
-  /** 返回向量中当前存储的元素总数。 */
-  size(): number;
-  /** 检索指定索引处的元素；如果索引越界则返回 undefined。 */
-  get(_0: number): MjContact | undefined;
-  /** 覆盖指定索引处的元素；成功返回 true，索引无效返回 false。 */
-  set(_0: number, _1: MjContact): boolean;
-}
-```
-
-示例：
-```typescript
-// 获取当前时刻的接触信息
-const contacts = data.contact;
-
-// 推进仿真单步
-mujoco.mj_step(model, data);
-
-// `contacts` 现在已过时。要获取新的接触信息，必须重新访问该属性：
-const newContacts = data.contact;
-
-// 记得在不再需要时删除所有创建的对象
-contacts.delete();
-newContacts.delete();
-```
-
-#### 2. 按引用（基于视图的访问）
-
-许多属性（特别是大型数值数组）会直接返回指向 WebAssembly 内存的实时视图（Live View）。这种方式效率极高，避免了大量数据的拷贝。
-
-一个典型的例子是 `MjData.qpos`（关节位置）。当您获取对该数组的引用时，它直接指向仿真的状态数据。仿真中的任何更改（例如调用 `mj_step` 之后）都将立即反映在该数组中。
-
-```typescript
-// `qpos` 是指向仿真状态的实时视图
-const qpos = data.qpos;
-
-console.log(qpos[0]); // 输出初始位置
-
-// 推进仿真单步
-mujoco.mj_step(model, data);
-
-// `qpos` 自动更新
-console.log(qpos[0]); // 输出新位置
-
-// 记得在不再需要时释放对象
-data.delete();
-```
-
-### 数据排布：行主序矩阵（Row-Major Matrices）
-
-当 MuJoCo C API 函数返回矩阵（或需要矩阵作为输入）时，在 JavaScript 绑定中表示为扁平的一维 `TypedArray`。元素按行主序（Row-Major）存储。
-
-例如，一个 3x10 的矩阵将作为包含 30 个元素的扁平数组返回。前 10 个元素表示第一行，接下来的 10 个元素表示第二行，依此类推。
-
-示例：访问 `(row, col)` 位置的元素
-```typescript
-// 存储为扁平数组的 3x10 矩阵
-const matrix: Float64Array = ...;
-const nRows = 3;
-const nCols = 10;
-
-// 要访问第 `i` 行、第 `j` 列的元素：
-const element = matrix[i * nCols + j];
-```
-
-### 处理输出参数（Out Parameters）
-
-MuJoCo C API 中的许多函数使用“输出参数”（Out Parameters）来返回数据。这意味着它们不是直接返回值，而是将结果写入通过引用（指针）传递给它们的参数中。在 JavaScript 绑定中，您需要针对这些情况做特别处理。
-
-通常会遇到两种主要场景：
-
-#### 1. 类数组输出参数
-
-当函数期望接收指向基本类型（如 `mjtNum*` 或 `int*`）的指针来写入值数组时，您需要在 JavaScript 端预先分配结果内存。我们为此提供了辅助类：`mujoco.Uint8Buffer`、`mujoco.DoubleBuffer`、`mujoco.FloatBuffer` 和 `mujoco.IntBuffer`。
-
-使用步骤如下：
-
-1. **创建缓冲区**：使用正确大小的初始数组（例如全零数组）实例化相应的缓冲区类。
-2. **调用函数**：将缓冲区实例作为输出参数传递给函数。
-3. **获取结果**：在缓冲区上调用 `.getView()` 方法，获取由 C++ 函数写入的数据的 `TypedArray` 视图。
-4. **释放内存**：使用完缓冲区后，必须调用 `.delete()` 方法释放底层内存，以防止内存泄漏。
-
-示例：旋转向量
-
-函数 `mju_rotVecQuat` 使用四元数 `quat` 旋转向量 `vec`，并将结果存储在 `res` 输出参数中。
-
-```typescript
-// 创建缓冲区以容纳 3D 向量结果
-const res = new mujoco.DoubleBuffer([0, 0, 0]);
-
-const vec = [1, 0, 0];
-const quat = [0.707, 0, 0, 0.707]; // 绕 z 轴旋转 90 度
-
-try {
-  // 调用函数，将缓冲区作为输出参数
-  mujoco.mju_rotVecQuat(res, vec, quat);
-
-  // 获取 Float64Array 格式的结果视图
-  const resultView = res.getView();
-  console.log(resultView); // 期望输出：约 [0, 1, 0]
-
-} finally {
-  // 重要：释放为缓冲区分配的内存
-  res.delete();
-}
-```
-
-#### 2. 结构体输出参数（例如 mjvCamera*、mjvScene*）
-
-当函数修改通过指针传递的结构体时，应传递相应 JavaScript 包装类的实例。底层 C++ 结构体将被就地（in-place）修改。
-
-示例：更新场景
-
-函数 `mjv_updateScene` 使用来自 `mjModel` 和 `mjData` 的信息填充 `mjvScene` 对象。
-```typescript
-// 创建必要结构体的实例
-const model = mujoco.MjModel.from_xml_string(xmlContent);
-const data = new mujoco.MjData(model);
-const scene = new mujoco.MjvScene(model, 1000);
-const option = new mujoco.MjvOption();
-const perturb = new mujoco.MjvPerturb();
-const camera = new mujoco.MjvCamera();
-
-// ... (单步仿真等)
-
-// 更新场景。'scene' 对象被函数就地修改。
-mujoco.mjv_updateScene(
-    model,
-    data,
-    option,
-    perturb,
-    camera,
-    mujoco.mjtCatBit.mjCAT_ALL.value,
-    scene
-);
-
-console.log('场景中的 geom 数量:', scene.ngeom);
-
-// 记得在不再需要时删除所有创建的对象
-scene.delete();
-camera.delete();
-perturb.delete();
-option.delete();
-data.delete();
-model.delete();
-```
-
-与缓冲区一样，您负责管理这些结构体实例的内存，并在使用完毕后调用 `.delete()`。
-
-### 枚举类型（Enums）
-通过 `.value` 访问枚举值：
-```javascript
-mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL.value
-```
-
-### 常量（Constants）
-标量常量可以直接作为属性访问：
-
-```javascript
-mujoco.mjNEQDATA
-```
-
-非标量常量（如 `mjFRAMESTRING`）也可以作为属性访问，并返回 JavaScript 数组：
-
-```javascript
-mujoco.mjFRAMESTRING
-```
-
-这将返回 MuJoCo 中 `mjFRAMESTRING` 包含的值对应的 JavaScript 数组。
-
-> [!NOTE]
-> 您会发现像 `mjFRAMESTRING` 这样的常量被类型化为 `any`。这是因为它们在 C++ 中使用 `emscripten::val::array()` 进行绑定，而 Embind 在 TypeScript 定义文件中将 `emscripten::val` 映射为 `any`。虽然可以使用 `EMSCRIPTEN_DECLARE_VAL_TYPE(StringArray)` 将 `StringArray` 定义为 `emscripten::val` 的别名，并提示 Embind 如何在函数签名或使用 `.as()` 时处理类型转换，但这不会改变 `emscripten::constant` 推断属性类型的方式。
-
-## 开发指南
-
-若要修改绑定，需要修改 [`bindings.cc`](codegen/generated/bindings.cc) 文件，但不应手动编辑。该文件是使用 [`codegen`](codegen) 文件夹中的 Python 脚本和模板文件生成的。要编辑绑定，需要修改这些文件，并使用以下命令重新生成 [`bindings.cc`](codegen/generated/bindings.cc)：
-
-```sh
-PYTHONPATH=python/mujoco python3 -m wasm.codegen.update
-```
-
-代码生成脚本使用 MuJoCo 的 Python 内省（introspect）库来生成将 C++ 函数和类绑定到 JavaScript 的 Embind `EMSCRIPTEN_BINDINGS` 代码块。被绑定的函数和类是 MuJoCo C API 的封装层。这些封装层便于添加边界检查和完善的错误报告等功能。
-
-### 测试
-
-1. **JavaScript API 测试。**
-   验证从 JavaScript 调用各种 MuJoCo 函数和类时能否正确工作。运行测试命令：
-
-   ```sh
-   npm run test --prefix ./wasm
-   ```
-
-2. **JavaScript API 基准性能测试。**
-   目前的基准测试检查 JavaScript/C++ 共享内存缓冲区的性能。随着时间推移，我们将提高基准测试的覆盖率。运行基准测试：
-
-   ```sh
-   npm run benchmark --prefix ./wasm
-   ```
-
-3. **绑定生成器测试。**
-   在开发或扩展绑定时相关。以下命令会查找并运行 `wasm` 文件夹中的所有 `test_*.py` 或 `*_test.py` 文件：
-
-   ```sh
-   PYTHONPATH=python/mujoco python3 -m pytest ./wasm
-   ```
-
-### 调试
-
-我们提供了一个“沙盒（sandbox）”应用，您可以在其中快速编写要在浏览器中运行的代码。在 [`main.ts`](tests/sandbox/main.ts) 文件中编写代码，并使用以下命令在浏览器中执行：
-
-```sh
-npm run dev:sandbox --prefix ./wasm
-```
-
-页面将是空白的，因为脚本仅在控制台（console）输出日志。您可以在指定的占位符处添加代码，并使用 Chrome 开发者工具进行调试。可以设置支持跨语言边界正确调用栈追踪和单步调试的工作流。我们目前实现这一点的方法仅在 Google 内部有效，但应该可以使用开源工具链复制相同的体验——欢迎社区提出建议！
-
-## 版本规范
-软件包版本遵循 MuJoCo 官方发布版本。
-例如：
-
-| npm 版本 | MuJoCo 版本 |
-|-------------|----------------|
-| 3.5.0       | 3.5.0          |
-
-## 未来工作
-
-1. **绑定所有实用 API。**
-   这些绑定尚未完全覆盖所有接口。虽然核心 MuJoCo API（`mj_step`、`mj_loadXML` 等）已经过良好测试，但其他 API（例如来自 `mjspec.h` 的函数）在真实的 Web 应用程序中仍未经充分测试（尽管 `mjspec` 绑定的测试代码已存在）。
-
-2. **改善开发者体验。**
-   在开发 WASM 绑定本身的开发者体验方面仍有改进空间。最明显的问题是绑定生成尚未完全自动化。因此，当前识别和应用更新绑定所需的更改还不够便捷。目标是最终将所有绑定代码生成自动化，并清晰提示由于 C++ 更新而在 WASM 绑定中需要进行的更改。此问题仅影响从事 MuJoCo C++ 引擎开发的开发者，不影响编写 JavaScript 的最终用户。
-
-3. **完善文档。**
-   一旦绑定完成且按名称访问完全实现，本 README 中的文档最终将合并到 MuJoCo 主文档中。我们还计划审查绑定 API 并进行调整，以在遵循语言惯用法的同时最大程度减少与 Python 绑定的差异，从而减少所需的额外文档量。
-
-4. **完善[示例应用](#示例应用程序)。**
-   我们的目标是提供一个可以轻松修改并嵌入到学术论文项目主页中的示例应用程序（参见[此示例](https://kzakka.com/robopianist/)）。这可以通过扩展 Three.js 示例或使用 Emscripten 工具链编译 MuJoCo 平台 C++ 代码来实现。欢迎社区提出建议并参与贡献！
diff --git a/wasm/codegen/generated/bindings.cc b/wasm/codegen/generated/bindings.cc
deleted file mode 100644
index ac8092ec..00000000
--- a/wasm/codegen/generated/bindings.cc
+++ /dev/null
@@ -1,6808 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-// NOLINTBEGIN(whitespace/line_length)
-// NOLINTBEGIN(whitespace/semicolon)
-
-#include "wasm/codegen/generated/bindings.h"
-
-#include <emscripten.h>
-#include <emscripten/bind.h>
-#include <emscripten/em_asm.h>
-#include <emscripten/val.h>
-
-#include <algorithm>
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>  // NOLINT
-#include <memory>
-#include <optional>  // NOLINT
-#include <sstream>
-#include <string>  // NOLINT
-#include <string_view>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_util_errmem.h"
-#include "wasm/unpack.h"
-#include "python/mujoco/indexer_xmacro.h"
-
-namespace mujoco::wasm {
-
-
-void ThrowMujocoErrorToJS(const mjLogMessage* msg) {
-  if (msg->level == mjLOG_ERROR) {
-    std::string message = msg->subject;
-    if (msg->func) {
-      message = std::string(msg->func) + ": " + msg->subject;
-    }
-    // Get a handle to the JS global Error constructor function, create a new
-    // object instance and then throw the object as an exception using the
-    // val::throw_() helper function.
-    val(val::global("Error").new_(val("MuJoCo Error: " + message))).throw_();
-  }
-}
-__attribute__((constructor)) void InitMuJoCoErrorHandler() {
-  mju_setLogHandler(ThrowMujocoErrorToJS);
-}
-
-// Generates a descriptive error message for when a key lookup fails.
-// The message includes the invalid name and a list of valid names of the
-// specified object type currently present in the model.
-//
-// Arguments:
-//   model: Pointer to the mjModel.
-//   objtype: The mjOBJ_* enum value representing the object type.
-//   count: The number of objects of the given type in the model.
-//   name: The invalid name that was looked up.
-//
-// Returns:
-//   A string containing the error message.
-std::string KeyErrorMessage(const mjModel* model, int objtype, int count,
-                            std::string_view name, std::string_view accessor_name) {
-  std::vector<std::string> valid_names;
-  valid_names.reserve(count);
-  for (int i = 0; i < count; ++i) {
-    const char* n = mj_id2name(model, objtype, i);
-    if (n) {
-      valid_names.push_back(n);
-    }
-  }
-  std::sort(valid_names.begin(), valid_names.end());
-
-  std::ostringstream message;
-  message << "Invalid name '" << name << "' for " << accessor_name
-          << ". Valid names: [";
-  for (size_t i = 0; i < valid_names.size(); ++i) {
-    message << "'" << valid_names[i] << "'";
-    if (i < valid_names.size() - 1) {
-      message << ", ";
-    }
-  }
-  message << "]";
-  return message.str();
-}
-
-std::string IndexErrorMessage(int index, int count,
-                              std::string_view accessor_name) {
-  std::ostringstream message;
-  message << "Invalid index " << index << " for " << accessor_name
-          << ". Valid indices from 0 to " << count - 1;
-  return message.str();
-}
-
-template <size_t N>
-val MakeValArray(const char* (&strings)[N]) {
-  val result = val::array();
-  for (int i = 0; i < N; i++) {
-    result.call<void>("push", val(strings[i]));
-  }
-  return result;
-}
-
-template <size_t N, size_t M>
-val MakeValArray3(const char* (&strings)[N][M]) {
-  val result = val::array();
-  for (int i = 0; i < N; i++) {
-    val inner = val::array();
-    for (int j = 0; j < M; j++) {
-      inner.call<void>("push", val(strings[i][j]));
-    }
-    result.call<void>("push", inner);
-  }
-  return result;
-}
-
-template <typename WrapperType, typename ArrayType, typename SizeType>
-std::vector<WrapperType> InitWrapperArray(ArrayType* array, SizeType size) {
-  std::vector<WrapperType> result;
-  result.reserve(size);
-  for (int i = 0; i < size; ++i) {
-    result.emplace_back(&array[i]);
-  }
-  return result;
-}
-
-val get_mjDISABLESTRING() { return MakeValArray(mjDISABLESTRING); }
-val get_mjENABLESTRING() { return MakeValArray(mjENABLESTRING); }
-val get_mjTIMERSTRING() { return MakeValArray(mjTIMERSTRING); }
-val get_mjLABELSTRING() { return MakeValArray(mjLABELSTRING); }
-val get_mjFRAMESTRING() { return MakeValArray(mjFRAMESTRING); }
-val get_mjVISSTRING() { return MakeValArray3(mjVISSTRING); }
-val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
-
-MjContact::MjContact(mjContact *ptr) : ptr_(ptr) {}
-MjContact::~MjContact() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjContact::MjContact() : ptr_(new mjContact()) {
-  owned_ = true;
-}
-MjContact::MjContact(const MjContact &other) : MjContact() {
-  *ptr_ = *other.get();
-}
-MjContact& MjContact::operator=(const MjContact &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjContact> MjContact::copy() {
-  return std::make_unique<MjContact>(*this);
-}
-mjContact* MjContact::get() const {
-  return ptr_;
-}
-void MjContact::set(mjContact* ptr) {
-  ptr_ = ptr;
-}
-
-MjLROpt::MjLROpt(mjLROpt *ptr) : ptr_(ptr) {}
-MjLROpt::~MjLROpt() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjLROpt::MjLROpt() : ptr_(new mjLROpt()) {
-  owned_ = true;
-  mj_defaultLROpt(ptr_);
-}
-MjLROpt::MjLROpt(const MjLROpt &other) : MjLROpt() {
-  *ptr_ = *other.get();
-}
-MjLROpt& MjLROpt::operator=(const MjLROpt &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjLROpt> MjLROpt::copy() {
-  return std::make_unique<MjLROpt>(*this);
-}
-mjLROpt* MjLROpt::get() const {
-  return ptr_;
-}
-void MjLROpt::set(mjLROpt* ptr) {
-  ptr_ = ptr;
-}
-
-MjLogConfig::MjLogConfig(mjLogConfig *ptr) : ptr_(ptr) {}
-MjLogConfig::~MjLogConfig() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjLogConfig::MjLogConfig() : ptr_(new mjLogConfig()) {
-  owned_ = true;
-}
-MjLogConfig::MjLogConfig(const MjLogConfig &other) : MjLogConfig() {
-  *ptr_ = *other.get();
-}
-MjLogConfig& MjLogConfig::operator=(const MjLogConfig &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjLogConfig> MjLogConfig::copy() {
-  return std::make_unique<MjLogConfig>(*this);
-}
-mjLogConfig* MjLogConfig::get() const {
-  return ptr_;
-}
-void MjLogConfig::set(mjLogConfig* ptr) {
-  ptr_ = ptr;
-}
-
-MjLogMessage::MjLogMessage(mjLogMessage *ptr) : ptr_(ptr) {}
-MjLogMessage::~MjLogMessage() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjLogMessage::MjLogMessage() : ptr_(new mjLogMessage()) {
-  owned_ = true;
-}
-mjLogMessage* MjLogMessage::get() const {
-  return ptr_;
-}
-void MjLogMessage::set(mjLogMessage* ptr) {
-  ptr_ = ptr;
-}
-
-MjOption::MjOption(mjOption *ptr) : ptr_(ptr) {}
-MjOption::~MjOption() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjOption::MjOption() : ptr_(new mjOption()) {
-  owned_ = true;
-  mj_defaultOption(ptr_);
-}
-MjOption::MjOption(const MjOption &other) : MjOption() {
-  *ptr_ = *other.get();
-}
-MjOption& MjOption::operator=(const MjOption &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjOption> MjOption::copy() {
-  return std::make_unique<MjOption>(*this);
-}
-mjOption* MjOption::get() const {
-  return ptr_;
-}
-void MjOption::set(mjOption* ptr) {
-  ptr_ = ptr;
-}
-
-MjPreContact::MjPreContact(mjPreContact *ptr) : ptr_(ptr) {}
-MjPreContact::~MjPreContact() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjPreContact::MjPreContact() : ptr_(new mjPreContact()) {
-  owned_ = true;
-}
-MjPreContact::MjPreContact(const MjPreContact &other) : MjPreContact() {
-  *ptr_ = *other.get();
-}
-MjPreContact& MjPreContact::operator=(const MjPreContact &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjPreContact> MjPreContact::copy() {
-  return std::make_unique<MjPreContact>(*this);
-}
-mjPreContact* MjPreContact::get() const {
-  return ptr_;
-}
-void MjPreContact::set(mjPreContact* ptr) {
-  ptr_ = ptr;
-}
-
-MjSolverStat::MjSolverStat(mjSolverStat *ptr) : ptr_(ptr) {}
-MjSolverStat::~MjSolverStat() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjSolverStat::MjSolverStat() : ptr_(new mjSolverStat()) {
-  owned_ = true;
-}
-MjSolverStat::MjSolverStat(const MjSolverStat &other) : MjSolverStat() {
-  *ptr_ = *other.get();
-}
-MjSolverStat& MjSolverStat::operator=(const MjSolverStat &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjSolverStat> MjSolverStat::copy() {
-  return std::make_unique<MjSolverStat>(*this);
-}
-mjSolverStat* MjSolverStat::get() const {
-  return ptr_;
-}
-void MjSolverStat::set(mjSolverStat* ptr) {
-  ptr_ = ptr;
-}
-
-MjStatistic::MjStatistic(mjStatistic *ptr) : ptr_(ptr) {}
-MjStatistic::~MjStatistic() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjStatistic::MjStatistic() : ptr_(new mjStatistic()) {
-  owned_ = true;
-}
-MjStatistic::MjStatistic(const MjStatistic &other) : MjStatistic() {
-  *ptr_ = *other.get();
-}
-MjStatistic& MjStatistic::operator=(const MjStatistic &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjStatistic> MjStatistic::copy() {
-  return std::make_unique<MjStatistic>(*this);
-}
-mjStatistic* MjStatistic::get() const {
-  return ptr_;
-}
-void MjStatistic::set(mjStatistic* ptr) {
-  ptr_ = ptr;
-}
-
-MjTimerStat::MjTimerStat(mjTimerStat *ptr) : ptr_(ptr) {}
-MjTimerStat::~MjTimerStat() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjTimerStat::MjTimerStat() : ptr_(new mjTimerStat()) {
-  owned_ = true;
-}
-MjTimerStat::MjTimerStat(const MjTimerStat &other) : MjTimerStat() {
-  *ptr_ = *other.get();
-}
-MjTimerStat& MjTimerStat::operator=(const MjTimerStat &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjTimerStat> MjTimerStat::copy() {
-  return std::make_unique<MjTimerStat>(*this);
-}
-mjTimerStat* MjTimerStat::get() const {
-  return ptr_;
-}
-void MjTimerStat::set(mjTimerStat* ptr) {
-  ptr_ = ptr;
-}
-
-MjVisualGlobal::MjVisualGlobal(mjVisualGlobal *ptr) : ptr_(ptr) {}
-MjVisualGlobal::~MjVisualGlobal() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjVisualGlobal::MjVisualGlobal() : ptr_(new mjVisualGlobal()) {
-  owned_ = true;
-}
-MjVisualGlobal::MjVisualGlobal(const MjVisualGlobal &other) : MjVisualGlobal() {
-  *ptr_ = *other.get();
-}
-MjVisualGlobal& MjVisualGlobal::operator=(const MjVisualGlobal &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjVisualGlobal> MjVisualGlobal::copy() {
-  return std::make_unique<MjVisualGlobal>(*this);
-}
-mjVisualGlobal* MjVisualGlobal::get() const {
-  return ptr_;
-}
-void MjVisualGlobal::set(mjVisualGlobal* ptr) {
-  ptr_ = ptr;
-}
-
-MjVisualHeadlight::MjVisualHeadlight(mjVisualHeadlight *ptr) : ptr_(ptr) {}
-MjVisualHeadlight::~MjVisualHeadlight() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjVisualHeadlight::MjVisualHeadlight() : ptr_(new mjVisualHeadlight()) {
-  owned_ = true;
-}
-MjVisualHeadlight::MjVisualHeadlight(const MjVisualHeadlight &other) : MjVisualHeadlight() {
-  *ptr_ = *other.get();
-}
-MjVisualHeadlight& MjVisualHeadlight::operator=(const MjVisualHeadlight &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjVisualHeadlight> MjVisualHeadlight::copy() {
-  return std::make_unique<MjVisualHeadlight>(*this);
-}
-mjVisualHeadlight* MjVisualHeadlight::get() const {
-  return ptr_;
-}
-void MjVisualHeadlight::set(mjVisualHeadlight* ptr) {
-  ptr_ = ptr;
-}
-
-MjVisualMap::MjVisualMap(mjVisualMap *ptr) : ptr_(ptr) {}
-MjVisualMap::~MjVisualMap() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjVisualMap::MjVisualMap() : ptr_(new mjVisualMap()) {
-  owned_ = true;
-}
-MjVisualMap::MjVisualMap(const MjVisualMap &other) : MjVisualMap() {
-  *ptr_ = *other.get();
-}
-MjVisualMap& MjVisualMap::operator=(const MjVisualMap &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjVisualMap> MjVisualMap::copy() {
-  return std::make_unique<MjVisualMap>(*this);
-}
-mjVisualMap* MjVisualMap::get() const {
-  return ptr_;
-}
-void MjVisualMap::set(mjVisualMap* ptr) {
-  ptr_ = ptr;
-}
-
-MjVisualQuality::MjVisualQuality(mjVisualQuality *ptr) : ptr_(ptr) {}
-MjVisualQuality::~MjVisualQuality() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjVisualQuality::MjVisualQuality() : ptr_(new mjVisualQuality()) {
-  owned_ = true;
-}
-MjVisualQuality::MjVisualQuality(const MjVisualQuality &other) : MjVisualQuality() {
-  *ptr_ = *other.get();
-}
-MjVisualQuality& MjVisualQuality::operator=(const MjVisualQuality &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjVisualQuality> MjVisualQuality::copy() {
-  return std::make_unique<MjVisualQuality>(*this);
-}
-mjVisualQuality* MjVisualQuality::get() const {
-  return ptr_;
-}
-void MjVisualQuality::set(mjVisualQuality* ptr) {
-  ptr_ = ptr;
-}
-
-MjVisualRgba::MjVisualRgba(mjVisualRgba *ptr) : ptr_(ptr) {}
-MjVisualRgba::~MjVisualRgba() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjVisualRgba::MjVisualRgba() : ptr_(new mjVisualRgba()) {
-  owned_ = true;
-}
-MjVisualRgba::MjVisualRgba(const MjVisualRgba &other) : MjVisualRgba() {
-  *ptr_ = *other.get();
-}
-MjVisualRgba& MjVisualRgba::operator=(const MjVisualRgba &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjVisualRgba> MjVisualRgba::copy() {
-  return std::make_unique<MjVisualRgba>(*this);
-}
-mjVisualRgba* MjVisualRgba::get() const {
-  return ptr_;
-}
-void MjVisualRgba::set(mjVisualRgba* ptr) {
-  ptr_ = ptr;
-}
-
-MjVisualScale::MjVisualScale(mjVisualScale *ptr) : ptr_(ptr) {}
-MjVisualScale::~MjVisualScale() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjVisualScale::MjVisualScale() : ptr_(new mjVisualScale()) {
-  owned_ = true;
-}
-MjVisualScale::MjVisualScale(const MjVisualScale &other) : MjVisualScale() {
-  *ptr_ = *other.get();
-}
-MjVisualScale& MjVisualScale::operator=(const MjVisualScale &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjVisualScale> MjVisualScale::copy() {
-  return std::make_unique<MjVisualScale>(*this);
-}
-mjVisualScale* MjVisualScale::get() const {
-  return ptr_;
-}
-void MjVisualScale::set(mjVisualScale* ptr) {
-  ptr_ = ptr;
-}
-
-MjWarningStat::MjWarningStat(mjWarningStat *ptr) : ptr_(ptr) {}
-MjWarningStat::~MjWarningStat() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjWarningStat::MjWarningStat() : ptr_(new mjWarningStat()) {
-  owned_ = true;
-}
-MjWarningStat::MjWarningStat(const MjWarningStat &other) : MjWarningStat() {
-  *ptr_ = *other.get();
-}
-MjWarningStat& MjWarningStat::operator=(const MjWarningStat &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjWarningStat> MjWarningStat::copy() {
-  return std::make_unique<MjWarningStat>(*this);
-}
-mjWarningStat* MjWarningStat::get() const {
-  return ptr_;
-}
-void MjWarningStat::set(mjWarningStat* ptr) {
-  ptr_ = ptr;
-}
-
-MjsAuthored::MjsAuthored(mjsAuthored *ptr) : ptr_(ptr) {}
-mjsAuthored* MjsAuthored::get() const {
-  return ptr_;
-}
-void MjsAuthored::set(mjsAuthored* ptr) {
-  ptr_ = ptr;
-}
-
-MjsElement::MjsElement(mjsElement *ptr) : ptr_(ptr) {}
-mjsElement* MjsElement::get() const {
-  return ptr_;
-}
-void MjsElement::set(mjsElement* ptr) {
-  ptr_ = ptr;
-}
-
-MjsOrientation::MjsOrientation(mjsOrientation *ptr) : ptr_(ptr) {}
-mjsOrientation* MjsOrientation::get() const {
-  return ptr_;
-}
-void MjsOrientation::set(mjsOrientation* ptr) {
-  ptr_ = ptr;
-}
-
-MjvCamera::MjvCamera(mjvCamera *ptr) : ptr_(ptr) {}
-MjvCamera::~MjvCamera() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjvCamera::MjvCamera() : ptr_(new mjvCamera()) {
-  owned_ = true;
-  mjv_defaultCamera(ptr_);
-}
-MjvCamera::MjvCamera(const MjvCamera &other) : MjvCamera() {
-  *ptr_ = *other.get();
-}
-MjvCamera& MjvCamera::operator=(const MjvCamera &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjvCamera> MjvCamera::copy() {
-  return std::make_unique<MjvCamera>(*this);
-}
-mjvCamera* MjvCamera::get() const {
-  return ptr_;
-}
-void MjvCamera::set(mjvCamera* ptr) {
-  ptr_ = ptr;
-}
-
-MjvFigure::MjvFigure(mjvFigure *ptr) : ptr_(ptr) {}
-MjvFigure::~MjvFigure() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjvFigure::MjvFigure() : ptr_(new mjvFigure()) {
-  owned_ = true;
-  mjv_defaultFigure(ptr_);
-}
-MjvFigure::MjvFigure(const MjvFigure &other) : MjvFigure() {
-  *ptr_ = *other.get();
-}
-MjvFigure& MjvFigure::operator=(const MjvFigure &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjvFigure> MjvFigure::copy() {
-  return std::make_unique<MjvFigure>(*this);
-}
-mjvFigure* MjvFigure::get() const {
-  return ptr_;
-}
-void MjvFigure::set(mjvFigure* ptr) {
-  ptr_ = ptr;
-}
-
-MjvGLCamera::MjvGLCamera(mjvGLCamera *ptr) : ptr_(ptr) {}
-MjvGLCamera::~MjvGLCamera() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjvGLCamera::MjvGLCamera() : ptr_(new mjvGLCamera()) {
-  owned_ = true;
-}
-MjvGLCamera::MjvGLCamera(const MjvGLCamera &other) : MjvGLCamera() {
-  *ptr_ = *other.get();
-}
-MjvGLCamera& MjvGLCamera::operator=(const MjvGLCamera &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjvGLCamera> MjvGLCamera::copy() {
-  return std::make_unique<MjvGLCamera>(*this);
-}
-mjvGLCamera* MjvGLCamera::get() const {
-  return ptr_;
-}
-void MjvGLCamera::set(mjvGLCamera* ptr) {
-  ptr_ = ptr;
-}
-
-MjvGeom::MjvGeom(mjvGeom *ptr) : ptr_(ptr) {}
-MjvGeom::~MjvGeom() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjvGeom::MjvGeom() : ptr_(new mjvGeom()) {
-  owned_ = true;
-  mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
-}
-MjvGeom::MjvGeom(const MjvGeom &other) : MjvGeom() {
-  *ptr_ = *other.get();
-}
-MjvGeom& MjvGeom::operator=(const MjvGeom &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjvGeom> MjvGeom::copy() {
-  return std::make_unique<MjvGeom>(*this);
-}
-mjvGeom* MjvGeom::get() const {
-  return ptr_;
-}
-void MjvGeom::set(mjvGeom* ptr) {
-  ptr_ = ptr;
-}
-
-MjvLight::MjvLight(mjvLight *ptr) : ptr_(ptr) {}
-MjvLight::~MjvLight() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjvLight::MjvLight() : ptr_(new mjvLight()) {
-  owned_ = true;
-}
-MjvLight::MjvLight(const MjvLight &other) : MjvLight() {
-  *ptr_ = *other.get();
-}
-MjvLight& MjvLight::operator=(const MjvLight &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjvLight> MjvLight::copy() {
-  return std::make_unique<MjvLight>(*this);
-}
-mjvLight* MjvLight::get() const {
-  return ptr_;
-}
-void MjvLight::set(mjvLight* ptr) {
-  ptr_ = ptr;
-}
-
-MjvOption::MjvOption(mjvOption *ptr) : ptr_(ptr) {}
-MjvOption::~MjvOption() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjvOption::MjvOption() : ptr_(new mjvOption()) {
-  owned_ = true;
-  mjv_defaultOption(ptr_);
-}
-MjvOption::MjvOption(const MjvOption &other) : MjvOption() {
-  *ptr_ = *other.get();
-}
-MjvOption& MjvOption::operator=(const MjvOption &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjvOption> MjvOption::copy() {
-  return std::make_unique<MjvOption>(*this);
-}
-mjvOption* MjvOption::get() const {
-  return ptr_;
-}
-void MjvOption::set(mjvOption* ptr) {
-  ptr_ = ptr;
-}
-
-MjvPerturb::MjvPerturb(mjvPerturb *ptr) : ptr_(ptr) {}
-MjvPerturb::~MjvPerturb() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjvPerturb::MjvPerturb() : ptr_(new mjvPerturb()) {
-  owned_ = true;
-  mjv_defaultPerturb(ptr_);
-}
-MjvPerturb::MjvPerturb(const MjvPerturb &other) : MjvPerturb() {
-  *ptr_ = *other.get();
-}
-MjvPerturb& MjvPerturb::operator=(const MjvPerturb &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjvPerturb> MjvPerturb::copy() {
-  return std::make_unique<MjvPerturb>(*this);
-}
-mjvPerturb* MjvPerturb::get() const {
-  return ptr_;
-}
-void MjvPerturb::set(mjvPerturb* ptr) {
-  ptr_ = ptr;
-}
-
-MjsCompiler::MjsCompiler(mjsCompiler *ptr) : ptr_(ptr), LRopt(&ptr_->LRopt) {}
-mjsCompiler* MjsCompiler::get() const {
-  return ptr_;
-}
-void MjsCompiler::set(mjsCompiler* ptr) {
-  ptr_ = ptr;
-}
-
-MjVisual::MjVisual(mjVisual *ptr) : ptr_(ptr), global(&ptr_->global), quality(&ptr_->quality), headlight(&ptr_->headlight), map(&ptr_->map), scale(&ptr_->scale), rgba(&ptr_->rgba) {}
-MjVisual::~MjVisual() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjVisual::MjVisual() : ptr_(new mjVisual()), global(&ptr_->global), quality(&ptr_->quality), headlight(&ptr_->headlight), map(&ptr_->map), scale(&ptr_->scale), rgba(&ptr_->rgba) {
-  owned_ = true;
-  mj_defaultVisual(ptr_);
-}
-MjVisual::MjVisual(const MjVisual &other) : MjVisual() {
-  *ptr_ = *other.get();
-  global.set(&ptr_->global);
-  quality.set(&ptr_->quality);
-  headlight.set(&ptr_->headlight);
-  map.set(&ptr_->map);
-  scale.set(&ptr_->scale);
-  rgba.set(&ptr_->rgba);
-}
-MjVisual& MjVisual::operator=(const MjVisual &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  global.set(&ptr_->global);
-  quality.set(&ptr_->quality);
-  headlight.set(&ptr_->headlight);
-  map.set(&ptr_->map);
-  scale.set(&ptr_->scale);
-  rgba.set(&ptr_->rgba);
-  return *this;
-}
-std::unique_ptr<MjVisual> MjVisual::copy() {
-  return std::make_unique<MjVisual>(*this);
-}
-mjVisual* MjVisual::get() const {
-  return ptr_;
-}
-void MjVisual::set(mjVisual* ptr) {
-  ptr_ = ptr;
-}
-
-MjsEquality::MjsEquality(mjsEquality *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsEquality* MjsEquality::get() const {
-  return ptr_;
-}
-void MjsEquality::set(mjsEquality* ptr) {
-  ptr_ = ptr;
-}
-
-MjsExclude::MjsExclude(mjsExclude *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsExclude* MjsExclude::get() const {
-  return ptr_;
-}
-void MjsExclude::set(mjsExclude* ptr) {
-  ptr_ = ptr;
-}
-
-MjsFlex::MjsFlex(mjsFlex *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsFlex* MjsFlex::get() const {
-  return ptr_;
-}
-void MjsFlex::set(mjsFlex* ptr) {
-  ptr_ = ptr;
-}
-
-MjsHField::MjsHField(mjsHField *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsHField* MjsHField::get() const {
-  return ptr_;
-}
-void MjsHField::set(mjsHField* ptr) {
-  ptr_ = ptr;
-}
-
-MjsJoint::MjsJoint(mjsJoint *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsJoint* MjsJoint::get() const {
-  return ptr_;
-}
-void MjsJoint::set(mjsJoint* ptr) {
-  ptr_ = ptr;
-}
-
-MjsKey::MjsKey(mjsKey *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsKey* MjsKey::get() const {
-  return ptr_;
-}
-void MjsKey::set(mjsKey* ptr) {
-  ptr_ = ptr;
-}
-
-MjsLight::MjsLight(mjsLight *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsLight* MjsLight::get() const {
-  return ptr_;
-}
-void MjsLight::set(mjsLight* ptr) {
-  ptr_ = ptr;
-}
-
-MjsMaterial::MjsMaterial(mjsMaterial *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsMaterial* MjsMaterial::get() const {
-  return ptr_;
-}
-void MjsMaterial::set(mjsMaterial* ptr) {
-  ptr_ = ptr;
-}
-
-MjsNumeric::MjsNumeric(mjsNumeric *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsNumeric* MjsNumeric::get() const {
-  return ptr_;
-}
-void MjsNumeric::set(mjsNumeric* ptr) {
-  ptr_ = ptr;
-}
-
-MjsPair::MjsPair(mjsPair *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsPair* MjsPair::get() const {
-  return ptr_;
-}
-void MjsPair::set(mjsPair* ptr) {
-  ptr_ = ptr;
-}
-
-MjsPlugin::MjsPlugin(mjsPlugin *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsPlugin* MjsPlugin::get() const {
-  return ptr_;
-}
-void MjsPlugin::set(mjsPlugin* ptr) {
-  ptr_ = ptr;
-}
-
-MjsSkin::MjsSkin(mjsSkin *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsSkin* MjsSkin::get() const {
-  return ptr_;
-}
-void MjsSkin::set(mjsSkin* ptr) {
-  ptr_ = ptr;
-}
-
-MjsTendon::MjsTendon(mjsTendon *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsTendon* MjsTendon::get() const {
-  return ptr_;
-}
-void MjsTendon::set(mjsTendon* ptr) {
-  ptr_ = ptr;
-}
-
-MjsText::MjsText(mjsText *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsText* MjsText::get() const {
-  return ptr_;
-}
-void MjsText::set(mjsText* ptr) {
-  ptr_ = ptr;
-}
-
-MjsTexture::MjsTexture(mjsTexture *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsTexture* MjsTexture::get() const {
-  return ptr_;
-}
-void MjsTexture::set(mjsTexture* ptr) {
-  ptr_ = ptr;
-}
-
-MjsTuple::MjsTuple(mjsTuple *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsTuple* MjsTuple::get() const {
-  return ptr_;
-}
-void MjsTuple::set(mjsTuple* ptr) {
-  ptr_ = ptr;
-}
-
-MjsWrap::MjsWrap(mjsWrap *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsWrap* MjsWrap::get() const {
-  return ptr_;
-}
-void MjsWrap::set(mjsWrap* ptr) {
-  ptr_ = ptr;
-}
-
-MjsCamera::MjsCamera(mjsCamera *ptr) : ptr_(ptr), element(ptr_->element), alt(&ptr_->alt) {}
-mjsCamera* MjsCamera::get() const {
-  return ptr_;
-}
-void MjsCamera::set(mjsCamera* ptr) {
-  ptr_ = ptr;
-}
-
-MjsFrame::MjsFrame(mjsFrame *ptr) : ptr_(ptr), element(ptr_->element), alt(&ptr_->alt) {}
-mjsFrame* MjsFrame::get() const {
-  return ptr_;
-}
-void MjsFrame::set(mjsFrame* ptr) {
-  ptr_ = ptr;
-}
-
-MjsSite::MjsSite(mjsSite *ptr) : ptr_(ptr), element(ptr_->element), alt(&ptr_->alt) {}
-mjsSite* MjsSite::get() const {
-  return ptr_;
-}
-void MjsSite::set(mjsSite* ptr) {
-  ptr_ = ptr;
-}
-
-MjsActuator::MjsActuator(mjsActuator *ptr) : ptr_(ptr), element(ptr_->element), plugin(&ptr_->plugin) {}
-mjsActuator* MjsActuator::get() const {
-  return ptr_;
-}
-void MjsActuator::set(mjsActuator* ptr) {
-  ptr_ = ptr;
-}
-
-MjsBody::MjsBody(mjsBody *ptr) : ptr_(ptr), element(ptr_->element), alt(&ptr_->alt), ialt(&ptr_->ialt), plugin(&ptr_->plugin) {}
-mjsBody* MjsBody::get() const {
-  return ptr_;
-}
-void MjsBody::set(mjsBody* ptr) {
-  ptr_ = ptr;
-}
-
-MjsGeom::MjsGeom(mjsGeom *ptr) : ptr_(ptr), element(ptr_->element), alt(&ptr_->alt), plugin(&ptr_->plugin) {}
-mjsGeom* MjsGeom::get() const {
-  return ptr_;
-}
-void MjsGeom::set(mjsGeom* ptr) {
-  ptr_ = ptr;
-}
-
-MjsMesh::MjsMesh(mjsMesh *ptr) : ptr_(ptr), element(ptr_->element), plugin(&ptr_->plugin) {}
-mjsMesh* MjsMesh::get() const {
-  return ptr_;
-}
-void MjsMesh::set(mjsMesh* ptr) {
-  ptr_ = ptr;
-}
-
-MjsSensor::MjsSensor(mjsSensor *ptr) : ptr_(ptr), element(ptr_->element), plugin(&ptr_->plugin) {}
-mjsSensor* MjsSensor::get() const {
-  return ptr_;
-}
-void MjsSensor::set(mjsSensor* ptr) {
-  ptr_ = ptr;
-}
-
-MjsDefault::MjsDefault(mjsDefault *ptr) : ptr_(ptr), element(ptr_->element), joint(ptr_->joint), geom(ptr_->geom), site(ptr_->site), camera(ptr_->camera), light(ptr_->light), flex(ptr_->flex), mesh(ptr_->mesh), material(ptr_->material), pair(ptr_->pair), equality(ptr_->equality), tendon(ptr_->tendon), actuator(ptr_->actuator) {}
-mjsDefault* MjsDefault::get() const {
-  return ptr_;
-}
-void MjsDefault::set(mjsDefault* ptr) {
-  ptr_ = ptr;
-}
-
-
-MjModel::MjModel(mjModel* ptr)
-    : ptr_(ptr), opt(&ptr->opt), vis(&ptr->vis), stat(&ptr->stat) {}
-
-MjModel::MjModel(const MjModel& other)
-    : ptr_(mj_copyModel(nullptr, other.get())),
-      opt(&ptr_->opt),
-      vis(&ptr_->vis),
-      stat(&ptr_->stat) {}
-
-MjModel::~MjModel() {
-  if (ptr_) {
-    mj_deleteModel(ptr_);
-  }
-}
-
-mjModel* MjModel::get() const { return ptr_; }
-
-void MjModel::set(mjModel* ptr) { ptr_ = ptr; }
-
-MjData::MjData(MjModel* m) {
-  model = m->get();
-  ptr_ = mj_makeData(model);
-  if (ptr_) {
-    solver =
-        InitWrapperArray<MjSolverStat>(get()->solver, mjNSOLVER * mjNISLAND);
-    timer = InitWrapperArray<MjTimerStat>(get()->timer, mjNTIMER);
-    warning = InitWrapperArray<MjWarningStat>(get()->warning, mjNWARNING);
-  }
-}
-
-MjData::MjData(const MjModel& model, const MjData& other)
-    : ptr_(mj_copyData(nullptr, model.get(), other.get())), model(model.get()) {
-  if (ptr_) {
-    solver =
-        InitWrapperArray<MjSolverStat>(get()->solver, mjNSOLVER * mjNISLAND);
-    timer = InitWrapperArray<MjTimerStat>(get()->timer, mjNTIMER);
-    warning = InitWrapperArray<MjWarningStat>(get()->warning, mjNWARNING);
-  }
-}
-
-MjData::~MjData() {
-  if (ptr_) {
-    mj_deleteData(ptr_);
-  }
-}
-mjData* MjData::get() const { return ptr_; }
-
-void MjData::set(mjData* ptr) { ptr_ = ptr; }
-
-std::vector<MjContact> MjData::contact() const {
-  return InitWrapperArray<MjContact>(get()->contact, get()->ncon);
-}
-
-MjvScene::MjvScene() {
-  owned_ = true;
-  ptr_ = new mjvScene;
-  mjv_defaultScene(ptr_);
-  mjv_makeScene(nullptr, ptr_, 0);
-  lights = InitWrapperArray<MjvLight>(ptr_->lights, mjMAXLIGHT);
-  camera = InitWrapperArray<MjvGLCamera>(ptr_->camera, 2);
-};
-
-MjvScene::MjvScene(MjModel* m, int maxgeom) {
-  owned_ = true;
-  model = m->get();
-  ptr_ = new mjvScene;
-  mjv_defaultScene(ptr_);
-  mjv_makeScene(model, ptr_, maxgeom);
-  lights = InitWrapperArray<MjvLight>(ptr_->lights, mjMAXLIGHT);
-  camera = InitWrapperArray<MjvGLCamera>(ptr_->camera, 2);
-};
-
-MjvScene::~MjvScene() {
-  if (owned_ && ptr_) {
-    mjv_freeScene(ptr_);
-    delete ptr_;
-  }
-}
-
-mjvScene* MjvScene::get() const { return ptr_; }
-void MjvScene::set(mjvScene* ptr) { ptr_ = ptr; }
-
-// Taken from the python mujoco bindings code for MjvScene Wrapper
-int MjvScene::GetSumFlexFaces() const {
-  int nflexface = 0;
-  int flexfacenum = 0;
-  for (int f = 0; f < model->nflex; f++) {
-    if (model->flex_dim[f] == 0) {
-      // 1D : 0
-      flexfacenum = 0;
-    } else if (model->flex_dim[f] == 2) {
-      // 2D: 2*fragments + 2*elements
-      flexfacenum = 2 * model->flex_shellnum[f] + 2 * model->flex_elemnum[f];
-    } else {
-      // 3D: max(fragments, 4*maxlayer)
-      // find number of elements in biggest layer
-      int maxlayer = 0, layer = 0, nlayer = 1;
-      while (nlayer) {
-        nlayer = 0;
-        for (int e = 0; e < model->flex_elemnum[f]; e++) {
-          if (model->flex_elemlayer[model->flex_elemadr[f] + e] == layer) {
-            nlayer++;
-          }
-        }
-        maxlayer = mjMAX(maxlayer, nlayer);
-        layer++;
-      }
-      flexfacenum = mjMAX(model->flex_shellnum[f], 4 * maxlayer);
-    }
-
-    // accumulate over flexes
-    nflexface += flexfacenum;
-  }
-  return nflexface;
-}
-
-std::vector<MjvGeom> MjvScene::geoms() const {
-  return InitWrapperArray<MjvGeom>(ptr_->geoms, ptr_->ngeom);
-}
-
-MjSpec::MjSpec()
-    : ptr_(mj_makeSpec()),
-      element(ptr_->element),
-      compiler(&ptr_->compiler),
-      option(&ptr_->option),
-      visual(&ptr_->visual),
-      stat(&ptr_->stat),
-      authored(&ptr_->authored) {
-  owned_ = true;
-  mjs_defaultSpec(ptr_);
-};
-
-MjSpec::MjSpec(mjSpec *ptr)
-    : ptr_(ptr),
-      element(ptr_->element),
-      compiler(&ptr_->compiler),
-      option(&ptr_->option),
-      visual(&ptr_->visual),
-      stat(&ptr_->stat),
-      authored(&ptr_->authored) {}
-
-MjSpec::MjSpec(const MjSpec &other)
-    : ptr_(mj_copySpec(other.get())),
-      element(ptr_->element),
-      compiler(&ptr_->compiler),
-      option(&ptr_->option),
-      visual(&ptr_->visual),
-      stat(&ptr_->stat),
-      authored(&ptr_->authored) {
-  owned_ = true;
-}
-
-MjSpec& MjSpec::operator=(const MjSpec &other) {
-  if (this == &other) {
-    return *this;
-  }
-  if (owned_ && ptr_) {
-    mj_deleteSpec(ptr_);
-  }
-  ptr_ = mj_copySpec(other.get());
-  owned_ = true;
-  option.set(&ptr_->option);
-  visual.set(&ptr_->visual);
-  stat.set(&ptr_->stat);
-  compiler.set(&ptr_->compiler);
-  element.set(ptr_->element);
-  return *this;
-}
-
-MjSpec::~MjSpec() {
-  if (ptr_ && owned_) {
-    mj_deleteSpec(ptr_);
-  }
-}
-
-mjSpec *MjSpec::get() const { return ptr_; }
-void MjSpec::set(mjSpec *ptr) { ptr_ = ptr; }
-
-emscripten::val MjSpec::timer() const {
-  return emscripten::val(emscripten::typed_memory_view(9, mjs_getTimer(ptr_)));
-}
-
-std::unique_ptr<MjModel> mj_loadXML_wrapper_1(std::string filename) {
-  char error[1000];
-  mjModel *model = mj_loadXML(filename.c_str(), nullptr, error, sizeof(error));
-  if (!model) {
-    mju_error("Loading error: %s\n", error);
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjModel> mj_loadXML_wrapper_2(std::string filename, const MjVFS& vfs) {
-  char error[1000];
-  mjModel *model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
-  if (!model) {
-    mju_error("Loading error: %s\n", error);
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-void mj_saveModel_wrapper(const MjModel& m, const StringOrNull& filename, const val& buffer) {
-  UNPACK_NULLABLE_STRING(filename);
-  UNPACK_NULLABLE_VALUE(uint8_t, buffer);
-  mj_saveModel(m.get(), filename_.data(), buffer_.data(), static_cast<int>(buffer_.size()));
-}
-
-std::unique_ptr<MjModel> mj_loadModel_wrapper(std::string filename, const MjVFS& vfs) {
-  mjModel *model = mj_loadModel(filename.c_str(), vfs.get());
-  if (!model) {
-    mju_error("Failed to load from mjb");
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjModel> from_xml_string_wrapper_1(const std::string& xml) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  const char* filename = "model.xml";
-  int add_result = mj_addBufferVFS(&vfs, filename, xml.c_str(), xml.length());
-  if (add_result != 0) {
-    mj_deleteVFS(&vfs);
-    mju_error("Could not add XML string to VFS: %d", add_result);
-  }
-  char error[1000];
-  mjModel* model = mj_loadXML(filename, &vfs, error, sizeof(error));
-  mj_deleteVFS(&vfs);
-  if (!model) {
-    mju_error("Loading error: %s\n", error);
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjModel> from_xml_string_wrapper_2(const std::string& xml, const MjVFS& vfs) {
-  std::string filename = "model.xml";
-  int add_result = mj_addBufferVFS(vfs.get(), filename.c_str(), xml.c_str(), xml.length());
-  if (add_result != 0) {
-    mju_error("Could not add XML string to VFS: %d", add_result);
-  }
-  char error[1000];
-  mjModel* model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
-  mj_deleteFileVFS(vfs.get(), filename.c_str());
-  if (!model) {
-    mju_error("Loading error: %s\n", error);
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjSpec> parseXMLString_wrapper(const std::string &xml) {
-  char error[1000];
-  mjSpec *ptr = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
-  if (!ptr) {
-    mju_error("Could not create Spec from XML string: %s\n", error);
-  }
-  return std::unique_ptr<MjSpec>(new MjSpec(ptr));
-}
-
-std::unique_ptr<MjSpec> parseXMLString_wrapper_2(const std::string &xml, const MjVFS& vfs) {
-  char error[1000];
-  mjSpec *ptr = mj_parseXMLString(xml.c_str(), vfs.get(), error, sizeof(error));
-  if (!ptr) {
-    mju_error("Could not create Spec from XML string: %s\n", error);
-  }
-  return std::unique_ptr<MjSpec>(new MjSpec(ptr));
-}
-
-std::unique_ptr<MjModel> mj_compile_wrapper_1(const MjSpec& spec) {
-  mjSpec* spec_ptr = spec.get();
-
-  // suppress stderr playback: warnings are raised via console.warn() below
-  mjfLogHandler prev = _mjPRIVATE_setTlsLogHandler([](const mjLogMessage*) {});
-  mjModel* model = mj_compile(spec_ptr, nullptr);
-  _mjPRIVATE_setTlsLogHandler(prev);
-  if (!model) {
-    mju_error("%s", mjs_getError(spec_ptr));
-  }
-  int num_warnings = mjs_numWarnings(spec_ptr);
-  if (num_warnings > 0) {
-    for (int i = 0; i < num_warnings; ++i) {
-      val::global("console").call<void>(
-          "warn",
-          val("MuJoCo Warning: " + std::string(mjs_getWarning(spec_ptr, i))));
-    }
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjModel> mj_compile_wrapper_2(const MjSpec& spec, const MjVFS& vfs) {
-  mjSpec* spec_ptr = spec.get();
-  mjVFS* vfs_ptr = vfs.get();
-
-  // suppress stderr playback: warnings are raised via console.warn() below
-  mjfLogHandler prev = _mjPRIVATE_setTlsLogHandler([](const mjLogMessage*) {});
-  mjModel* model = mj_compile(spec_ptr, vfs_ptr);
-  _mjPRIVATE_setTlsLogHandler(prev);
-  if (!model) {
-    mju_error("%s", mjs_getError(spec_ptr));
-  }
-  int num_warnings = mjs_numWarnings(spec_ptr);
-  if (num_warnings > 0) {
-    for (int i = 0; i < num_warnings; ++i) {
-      val::global("console").call<void>(
-          "warn",
-          val("MuJoCo Warning: " + std::string(mjs_getWarning(spec_ptr, i))));
-    }
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-void error_wrapper(const String& msg) { mju_error("%s\n", msg.as<const std::string>().data()); }
-
-int mj_saveLastXML_wrapper(const String& filename, const MjModel& m) {
-  CHECK_VAL(filename);
-  std::array<char, 1024> error;
-  int result = mj_saveLastXML(filename.as<const std::string>().data(), m.get(), error.data(), error.size());
-  if (!result) {
-    mju_error("%s", error.data());
-  }
-  return result;
-}
-
-int mj_setLengthRange_wrapper(const MjModel& m, const MjData& d, int index, const MjLROpt& opt) {
-  std::array<char, 1024> error;
-  int result = mj_setLengthRange(m.get(), d.get(), index, opt.get(), error.data(), error.size());
-  if (!result) {
-    mju_error("%s", error.data());
-  }
-  return result;
-}
-
-void mju_info_wrapper(int topic, const String& msg) {
-  CHECK_VAL(msg);
-  mju_info(topic, "%s", msg.as<const std::string>().data());
-}
-
-void mj_Euler_wrapper(const MjModel& m, MjData& d) {
-  mj_Euler(m.get(), d.get());
-}
-
-void mj_RungeKutta_wrapper(const MjModel& m, MjData& d, int N) {
-  mj_RungeKutta(m.get(), d.get(), N);
-}
-
-std::string mj_actuatorInputName_wrapper(const MjModel& m, int id, int input) {
-  return std::string(mj_actuatorInputName(m.get(), id, input));
-}
-
-int mj_addContact_wrapper(const MjModel& m, MjData& d, const MjContact& con) {
-  return mj_addContact(m.get(), d.get(), con.get());
-}
-
-void mj_addM_wrapper(const MjModel& m, MjData& d, const val& dst, const val& rownnz, const val& rowadr, const val& colind) {
-  UNPACK_VALUE(mjtNum, dst);
-  UNPACK_NULLABLE_VALUE(int, rownnz);
-  UNPACK_NULLABLE_VALUE(int, rowadr);
-  UNPACK_NULLABLE_VALUE(int, colind);
-  CHECK_SIZE(rownnz, m.nv());
-  CHECK_SIZE(rowadr, m.nv());
-  CHECK_SIZE(colind, m.nM());
-  CHECK_SIZE(dst, m.nM());
-  mj_addM(m.get(), d.get(), dst_.data(), rownnz_.data(), rowadr_.data(), colind_.data());
-}
-
-void mj_angmomMat_wrapper(const MjModel& m, MjData& d, const val& mat, int body) {
-  UNPACK_VALUE(mjtNum, mat);
-  CHECK_SIZE(mat, m.nv() * 3);
-  mj_angmomMat(m.get(), d.get(), mat_.data(), body);
-}
-
-void mj_applyFT_wrapper(const MjModel& m, MjData& d, const NumberArray& force, const NumberArray& torque, const NumberArray& point, int body, const val& qfrc_target) {
-  UNPACK_NULLABLE_ARRAY(mjtNum, force);
-  UNPACK_NULLABLE_ARRAY(mjtNum, torque);
-  UNPACK_ARRAY(mjtNum, point);
-  UNPACK_VALUE(mjtNum, qfrc_target);
-  CHECK_SIZE(qfrc_target, m.nv());
-  CHECK_SIZE(force, 3);
-  CHECK_SIZE(torque, 3);
-  CHECK_SIZE(point, 3);
-  mj_applyFT(m.get(), d.get(), force_.data(), torque_.data(), point_.data(), body, qfrc_target_.data());
-}
-
-void mj_camlight_wrapper(const MjModel& m, MjData& d) {
-  mj_camlight(m.get(), d.get());
-}
-
-void mj_checkAcc_wrapper(const MjModel& m, MjData& d) {
-  mj_checkAcc(m.get(), d.get());
-}
-
-void mj_checkPos_wrapper(const MjModel& m, MjData& d) {
-  mj_checkPos(m.get(), d.get());
-}
-
-void mj_checkVel_wrapper(const MjModel& m, MjData& d) {
-  mj_checkVel(m.get(), d.get());
-}
-
-void mj_collision_wrapper(const MjModel& m, MjData& d) {
-  mj_collision(m.get(), d.get());
-}
-
-void mj_comPos_wrapper(const MjModel& m, MjData& d) {
-  mj_comPos(m.get(), d.get());
-}
-
-void mj_comVel_wrapper(const MjModel& m, MjData& d) {
-  mj_comVel(m.get(), d.get());
-}
-
-void mj_compareFwdInv_wrapper(const MjModel& m, MjData& d) {
-  mj_compareFwdInv(m.get(), d.get());
-}
-
-void mj_constraintUpdate_wrapper(const MjModel& m, MjData& d, const NumberArray& jar, const val& cost, int flg_coneHessian) {
-  UNPACK_ARRAY(mjtNum, jar);
-  UNPACK_NULLABLE_VALUE(mjtNum, cost);
-  CHECK_SIZE(cost, 1);
-  CHECK_SIZE(jar, d.nefc());
-  mj_constraintUpdate(m.get(), d.get(), jar_.data(), cost_.data(), flg_coneHessian);
-}
-
-void mj_contactForce_wrapper(const MjModel& m, const MjData& d, int id, const val& result) {
-  UNPACK_VALUE(mjtNum, result);
-  mj_contactForce(m.get(), d.get(), id, result_.data());
-}
-
-int mj_copyBack_wrapper(MjSpec& s, const MjModel& m) {
-  return mj_copyBack(s.get(), m.get());
-}
-
-void mj_copyState_wrapper(const MjModel& m, const MjData& src, MjData& dst, int sig) {
-  mj_copyState(m.get(), src.get(), dst.get(), sig);
-}
-
-void mj_crb_wrapper(const MjModel& m, MjData& d) {
-  mj_crb(m.get(), d.get());
-}
-
-void mj_defaultLROpt_wrapper(MjLROpt& opt) {
-  mj_defaultLROpt(opt.get());
-}
-
-void mj_defaultOption_wrapper(MjOption& opt) {
-  mj_defaultOption(opt.get());
-}
-
-void mj_defaultSolRefImp_wrapper(const val& solref, const val& solimp) {
-  UNPACK_NULLABLE_VALUE(mjtNum, solref);
-  UNPACK_NULLABLE_VALUE(mjtNum, solimp);
-  mj_defaultSolRefImp(solref_.data(), solimp_.data());
-}
-
-void mj_defaultVisual_wrapper(MjVisual& vis) {
-  mj_defaultVisual(vis.get());
-}
-
-void mj_differentiatePos_wrapper(const MjModel& m, const val& qvel, mjtNum dt, const NumberArray& qpos1, const NumberArray& qpos2) {
-  UNPACK_VALUE(mjtNum, qvel);
-  UNPACK_ARRAY(mjtNum, qpos1);
-  UNPACK_ARRAY(mjtNum, qpos2);
-  CHECK_SIZE(qvel, m.nv());
-  CHECK_SIZE(qpos1, m.nq());
-  CHECK_SIZE(qpos2, m.nq());
-  mj_differentiatePos(m.get(), qvel_.data(), dt, qpos1_.data(), qpos2_.data());
-}
-
-void mj_energyPos_wrapper(const MjModel& m, MjData& d) {
-  mj_energyPos(m.get(), d.get());
-}
-
-void mj_energyVel_wrapper(const MjModel& m, MjData& d) {
-  mj_energyVel(m.get(), d.get());
-}
-
-void mj_extractState_wrapper(const MjModel& m, const NumberArray& src, int srcsig, const val& dst, int dstsig) {
-  UNPACK_ARRAY(mjtNum, src);
-  UNPACK_VALUE(mjtNum, dst);
-  mj_extractState(m.get(), src_.data(), srcsig, dst_.data(), dstsig);
-}
-
-void mj_factorM_wrapper(const MjModel& m, MjData& d) {
-  mj_factorM(m.get(), d.get());
-}
-
-void mj_flex_wrapper(const MjModel& m, MjData& d) {
-  mj_flex(m.get(), d.get());
-}
-
-void mj_forward_wrapper(const MjModel& m, MjData& d) {
-  mj_forward(m.get(), d.get());
-}
-
-void mj_forwardSkip_wrapper(const MjModel& m, MjData& d, int skipstage, int skipsensor) {
-  mj_forwardSkip(m.get(), d.get(), skipstage, skipsensor);
-}
-
-void mj_fullM_wrapper(const MjModel& m, const MjData& d, const val& dst) {
-  UNPACK_VALUE(mjtNum, dst);
-  CHECK_SIZE(dst, m.nv() * m.nv());
-  mj_fullM(m.get(), d.get(), dst_.data());
-}
-
-void mj_fwdAcceleration_wrapper(const MjModel& m, MjData& d) {
-  mj_fwdAcceleration(m.get(), d.get());
-}
-
-void mj_fwdActuation_wrapper(const MjModel& m, MjData& d) {
-  mj_fwdActuation(m.get(), d.get());
-}
-
-void mj_fwdConstraint_wrapper(const MjModel& m, MjData& d) {
-  mj_fwdConstraint(m.get(), d.get());
-}
-
-void mj_fwdKinematics_wrapper(const MjModel& m, MjData& d) {
-  mj_fwdKinematics(m.get(), d.get());
-}
-
-void mj_fwdPosition_wrapper(const MjModel& m, MjData& d) {
-  mj_fwdPosition(m.get(), d.get());
-}
-
-void mj_fwdVelocity_wrapper(const MjModel& m, MjData& d) {
-  mj_fwdVelocity(m.get(), d.get());
-}
-
-mjtNum mj_geomDistance_wrapper(const MjModel& m, MjData& d, int geom1, int geom2, mjtNum distmax, const val& fromto) {
-  UNPACK_NULLABLE_VALUE(mjtNum, fromto);
-  CHECK_SIZE(fromto, 6);
-  return mj_geomDistance(m.get(), d.get(), geom1, geom2, distmax, fromto_.data());
-}
-
-void mj_getState_wrapper(const MjModel& m, const MjData& d, const val& state, int sig) {
-  UNPACK_VALUE(mjtNum, state);
-  CHECK_SIZE(state, mj_stateSize(m.get(), sig));
-  mj_getState(m.get(), d.get(), state_.data(), sig);
-}
-
-mjtNum mj_getTotalmass_wrapper(const MjModel& m) {
-  return mj_getTotalmass(m.get());
-}
-
-std::string mj_id2name_wrapper(const MjModel& m, int type, int id) {
-  return std::string(mj_id2name(m.get(), type, id));
-}
-
-void mj_implicit_wrapper(const MjModel& m, MjData& d) {
-  mj_implicit(m.get(), d.get());
-}
-
-void mj_initCtrlHistory_wrapper(const MjModel& m, MjData& d, int id, const NumberArray& times, const NumberArray& values) {
-  UNPACK_NULLABLE_ARRAY(mjtNum, times);
-  UNPACK_ARRAY(mjtNum, values);
-  mj_initCtrlHistory(m.get(), d.get(), id, times_.data(), values_.data());
-}
-
-void mj_initSensorHistory_wrapper(const MjModel& m, MjData& d, int id, const NumberArray& times, const NumberArray& values, mjtNum phase) {
-  UNPACK_NULLABLE_ARRAY(mjtNum, times);
-  UNPACK_ARRAY(mjtNum, values);
-  mj_initSensorHistory(m.get(), d.get(), id, times_.data(), values_.data(), phase);
-}
-
-void mj_integratePos_wrapper(const MjModel& m, const val& qpos, const NumberArray& qvel, mjtNum dt) {
-  UNPACK_VALUE(mjtNum, qpos);
-  UNPACK_ARRAY(mjtNum, qvel);
-  CHECK_SIZE(qpos, m.nq());
-  CHECK_SIZE(qvel, m.nv());
-  mj_integratePos(m.get(), qpos_.data(), qvel_.data(), dt);
-}
-
-void mj_invConstraint_wrapper(const MjModel& m, MjData& d) {
-  mj_invConstraint(m.get(), d.get());
-}
-
-void mj_invPosition_wrapper(const MjModel& m, MjData& d) {
-  mj_invPosition(m.get(), d.get());
-}
-
-void mj_invVelocity_wrapper(const MjModel& m, MjData& d) {
-  mj_invVelocity(m.get(), d.get());
-}
-
-void mj_inverse_wrapper(const MjModel& m, MjData& d) {
-  mj_inverse(m.get(), d.get());
-}
-
-void mj_inverseSkip_wrapper(const MjModel& m, MjData& d, int skipstage, int skipsensor) {
-  mj_inverseSkip(m.get(), d.get(), skipstage, skipsensor);
-}
-
-int mj_isDual_wrapper(const MjModel& m) {
-  return mj_isDual(m.get());
-}
-
-int mj_isPyramidal_wrapper(const MjModel& m) {
-  return mj_isPyramidal(m.get());
-}
-
-int mj_isSparse_wrapper(const MjModel& m) {
-  return mj_isSparse(m.get());
-}
-
-void mj_island_wrapper(const MjModel& m, MjData& d) {
-  mj_island(m.get(), d.get());
-}
-
-void mj_jac_wrapper(const MjModel& m, const MjData& d, const val& jacp, const val& jacr, const NumberArray& point, int body) {
-  UNPACK_NULLABLE_VALUE(mjtNum, jacp);
-  UNPACK_NULLABLE_VALUE(mjtNum, jacr);
-  UNPACK_ARRAY(mjtNum, point);
-  CHECK_SIZE(point, 3);
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-  mj_jac(m.get(), d.get(), jacp_.data(), jacr_.data(), point_.data(), body);
-}
-
-void mj_jacBody_wrapper(const MjModel& m, const MjData& d, const val& jacp, const val& jacr, int body) {
-  UNPACK_NULLABLE_VALUE(mjtNum, jacp);
-  UNPACK_NULLABLE_VALUE(mjtNum, jacr);
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-  mj_jacBody(m.get(), d.get(), jacp_.data(), jacr_.data(), body);
-}
-
-void mj_jacBodyCom_wrapper(const MjModel& m, const MjData& d, const val& jacp, const val& jacr, int body) {
-  UNPACK_NULLABLE_VALUE(mjtNum, jacp);
-  UNPACK_NULLABLE_VALUE(mjtNum, jacr);
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-  mj_jacBodyCom(m.get(), d.get(), jacp_.data(), jacr_.data(), body);
-}
-
-void mj_jacDot_wrapper(const MjModel& m, const MjData& d, const val& jacp, const val& jacr, const NumberArray& point, int body) {
-  UNPACK_NULLABLE_VALUE(mjtNum, jacp);
-  UNPACK_NULLABLE_VALUE(mjtNum, jacr);
-  UNPACK_ARRAY(mjtNum, point);
-  CHECK_SIZE(point, 3);
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-  mj_jacDot(m.get(), d.get(), jacp_.data(), jacr_.data(), point_.data(), body);
-}
-
-void mj_jacGeom_wrapper(const MjModel& m, const MjData& d, const val& jacp, const val& jacr, int geom) {
-  UNPACK_NULLABLE_VALUE(mjtNum, jacp);
-  UNPACK_NULLABLE_VALUE(mjtNum, jacr);
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-  mj_jacGeom(m.get(), d.get(), jacp_.data(), jacr_.data(), geom);
-}
-
-void mj_jacPointAxis_wrapper(const MjModel& m, MjData& d, const val& jacPoint, const val& jacAxis, const NumberArray& point, const NumberArray& axis, int body) {
-  UNPACK_NULLABLE_VALUE(mjtNum, jacPoint);
-  UNPACK_NULLABLE_VALUE(mjtNum, jacAxis);
-  UNPACK_ARRAY(mjtNum, point);
-  UNPACK_ARRAY(mjtNum, axis);
-  CHECK_SIZE(point, 3);
-  CHECK_SIZE(axis, 3);
-  CHECK_SIZE(jacPoint, m.nv() * 3);
-  CHECK_SIZE(jacAxis, m.nv() * 3);
-  mj_jacPointAxis(m.get(), d.get(), jacPoint_.data(), jacAxis_.data(), point_.data(), axis_.data(), body);
-}
-
-void mj_jacSite_wrapper(const MjModel& m, const MjData& d, const val& jacp, const val& jacr, int site) {
-  UNPACK_NULLABLE_VALUE(mjtNum, jacp);
-  UNPACK_NULLABLE_VALUE(mjtNum, jacr);
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-  mj_jacSite(m.get(), d.get(), jacp_.data(), jacr_.data(), site);
-}
-
-void mj_jacSubtreeCom_wrapper(const MjModel& m, MjData& d, const val& jacp, int body) {
-  UNPACK_VALUE(mjtNum, jacp);
-  CHECK_SIZE(jacp, m.nv() * 3);
-  mj_jacSubtreeCom(m.get(), d.get(), jacp_.data(), body);
-}
-
-void mj_kinematics_wrapper(const MjModel& m, MjData& d) {
-  mj_kinematics(m.get(), d.get());
-}
-
-void mj_local2Global_wrapper(MjData& d, const val& xpos, const val& xmat, const NumberArray& pos, const NumberArray& quat, int body, mjtByte sameframe) {
-  UNPACK_VALUE(mjtNum, xpos);
-  UNPACK_VALUE(mjtNum, xmat);
-  UNPACK_ARRAY(mjtNum, pos);
-  UNPACK_ARRAY(mjtNum, quat);
-  mj_local2Global(d.get(), xpos_.data(), xmat_.data(), pos_.data(), quat_.data(), body, sameframe);
-}
-
-void mj_makeConstraint_wrapper(const MjModel& m, MjData& d) {
-  mj_makeConstraint(m.get(), d.get());
-}
-
-void mj_makeM_wrapper(const MjModel& m, MjData& d) {
-  mj_makeM(m.get(), d.get());
-}
-
-int mj_maxContact_wrapper(const MjModel& m, int g1, int g2, int has_margin) {
-  return mj_maxContact(m.get(), g1, g2, has_margin);
-}
-
-void mj_mulJacTVec_wrapper(const MjModel& m, const MjData& d, const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZE(res, m.nv());
-  CHECK_SIZE(vec, d.nefc());
-  mj_mulJacTVec(m.get(), d.get(), res_.data(), vec_.data());
-}
-
-void mj_mulJacVec_wrapper(const MjModel& m, const MjData& d, const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZE(res, d.nefc());
-  CHECK_SIZE(vec, m.nv());
-  mj_mulJacVec(m.get(), d.get(), res_.data(), vec_.data());
-}
-
-void mj_mulM_wrapper(const MjModel& m, const MjData& d, const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZE(res, m.nv());
-  CHECK_SIZE(vec, m.nv());
-  mj_mulM(m.get(), d.get(), res_.data(), vec_.data());
-}
-
-void mj_mulM2_wrapper(const MjModel& m, const MjData& d, const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZE(res, m.nv());
-  CHECK_SIZE(vec, m.nv());
-  mj_mulM2(m.get(), d.get(), res_.data(), vec_.data());
-}
-
-void mj_multiRay_wrapper(const MjModel& m, MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtBool flg_static, int bodyexclude, const val& geomid, const val& dist, const val& normal, int nray, mjtNum cutoff) {
-  UNPACK_ARRAY(mjtNum, pnt);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
-  UNPACK_NULLABLE_VALUE(int, geomid);
-  UNPACK_VALUE(mjtNum, dist);
-  UNPACK_NULLABLE_VALUE(mjtNum, normal);
-  CHECK_SIZE(dist, nray);
-  CHECK_SIZE(geomid, nray);
-  CHECK_SIZE(vec, 3 * nray);
-  mj_multiRay(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data(), dist_.data(), normal_.data(), nray, cutoff);
-}
-
-int mj_name2id_wrapper(const MjModel& m, int type, const String& name) {
-  CHECK_VAL(name);
-  return mj_name2id(m.get(), type, name.as<const std::string>().data());
-}
-
-void mj_normalizeQuat_wrapper(const MjModel& m, const val& qpos) {
-  UNPACK_VALUE(mjtNum, qpos);
-  CHECK_SIZE(qpos, m.nq());
-  mj_normalizeQuat(m.get(), qpos_.data());
-}
-
-void mj_objectAcceleration_wrapper(const MjModel& m, const MjData& d, int objtype, int objid, const val& res, int flg_local) {
-  UNPACK_VALUE(mjtNum, res);
-  mj_objectAcceleration(m.get(), d.get(), objtype, objid, res_.data(), flg_local);
-}
-
-void mj_objectVelocity_wrapper(const MjModel& m, const MjData& d, int objtype, int objid, const val& res, int flg_local) {
-  UNPACK_VALUE(mjtNum, res);
-  mj_objectVelocity(m.get(), d.get(), objtype, objid, res_.data(), flg_local);
-}
-
-void mj_passive_wrapper(const MjModel& m, MjData& d) {
-  mj_passive(m.get(), d.get());
-}
-
-void mj_printData_wrapper(const MjModel& m, const MjData& d, const String& filename) {
-  CHECK_VAL(filename);
-  mj_printData(m.get(), d.get(), filename.as<const std::string>().data());
-}
-
-void mj_printFormattedData_wrapper(const MjModel& m, const MjData& d, const String& filename, const String& float_format) {
-  CHECK_VAL(filename);
-  CHECK_VAL(float_format);
-  mj_printFormattedData(m.get(), d.get(), filename.as<const std::string>().data(), float_format.as<const std::string>().data());
-}
-
-void mj_printFormattedModel_wrapper(const MjModel& m, const String& filename, const String& float_format) {
-  CHECK_VAL(filename);
-  CHECK_VAL(float_format);
-  mj_printFormattedModel(m.get(), filename.as<const std::string>().data(), float_format.as<const std::string>().data());
-}
-
-void mj_printFormattedScene_wrapper(const MjvScene& s, const String& filename, const String& float_format) {
-  CHECK_VAL(filename);
-  CHECK_VAL(float_format);
-  mj_printFormattedScene(s.get(), filename.as<const std::string>().data(), float_format.as<const std::string>().data());
-}
-
-void mj_printModel_wrapper(const MjModel& m, const String& filename) {
-  CHECK_VAL(filename);
-  mj_printModel(m.get(), filename.as<const std::string>().data());
-}
-
-void mj_printScene_wrapper(const MjvScene& s, const String& filename) {
-  CHECK_VAL(filename);
-  mj_printScene(s.get(), filename.as<const std::string>().data());
-}
-
-void mj_projectConstraint_wrapper(const MjModel& m, MjData& d) {
-  mj_projectConstraint(m.get(), d.get());
-}
-
-mjtNum mj_ray_wrapper(const MjModel& m, const MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtBool flg_static, int bodyexclude, const val& geomid, const val& normal) {
-  UNPACK_ARRAY(mjtNum, pnt);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
-  UNPACK_NULLABLE_VALUE(int, geomid);
-  UNPACK_NULLABLE_VALUE(mjtNum, normal);
-  return mj_ray(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data(), normal_.data());
-}
-
-mjtNum mj_rayFlex_wrapper(const MjModel& m, const MjData& d, int flex_layer, mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face, mjtBool flg_skin, int flexid, const NumberArray& pnt, const NumberArray& vec, const val& vertid, const val& normal) {
-  UNPACK_ARRAY(mjtNum, pnt);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_NULLABLE_VALUE(int, vertid);
-  UNPACK_NULLABLE_VALUE(mjtNum, normal);
-  return mj_rayFlex(m.get(), d.get(), flex_layer, flg_vert, flg_edge, flg_face, flg_skin, flexid, pnt_.data(), vec_.data(), vertid_.data(), normal_.data());
-}
-
-mjtNum mj_rayHfield_wrapper(const MjModel& m, const MjData& d, int geomid, const NumberArray& pnt, const NumberArray& vec, const val& normal) {
-  UNPACK_ARRAY(mjtNum, pnt);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_NULLABLE_VALUE(mjtNum, normal);
-  return mj_rayHfield(m.get(), d.get(), geomid, pnt_.data(), vec_.data(), normal_.data());
-}
-
-mjtNum mj_rayMesh_wrapper(const MjModel& m, const MjData& d, int geomid, const NumberArray& pnt, const NumberArray& vec, const val& normal) {
-  UNPACK_ARRAY(mjtNum, pnt);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_NULLABLE_VALUE(mjtNum, normal);
-  return mj_rayMesh(m.get(), d.get(), geomid, pnt_.data(), vec_.data(), normal_.data());
-}
-
-mjtNum mj_readCtrl_wrapper(const MjModel& m, const MjData& d, int id, mjtNum time, int interp) {
-  return mj_readCtrl(m.get(), d.get(), id, time, interp);
-}
-
-void mj_referenceConstraint_wrapper(const MjModel& m, MjData& d) {
-  mj_referenceConstraint(m.get(), d.get());
-}
-
-void mj_resetCtrl_wrapper(const MjModel& m, MjData& d) {
-  mj_resetCtrl(m.get(), d.get());
-}
-
-void mj_resetData_wrapper(const MjModel& m, MjData& d) {
-  mj_resetData(m.get(), d.get());
-}
-
-void mj_resetDataDebug_wrapper(const MjModel& m, MjData& d, unsigned char debug_value) {
-  mj_resetDataDebug(m.get(), d.get(), debug_value);
-}
-
-void mj_resetDataKeyframe_wrapper(const MjModel& m, MjData& d, int key) {
-  mj_resetDataKeyframe(m.get(), d.get(), key);
-}
-
-void mj_rne_wrapper(const MjModel& m, MjData& d, int flg_acc, const val& result) {
-  UNPACK_VALUE(mjtNum, result);
-  CHECK_SIZE(result, m.nv());
-  mj_rne(m.get(), d.get(), flg_acc, result_.data());
-}
-
-void mj_rnePostConstraint_wrapper(const MjModel& m, MjData& d) {
-  mj_rnePostConstraint(m.get(), d.get());
-}
-
-void mj_sensorAcc_wrapper(const MjModel& m, MjData& d) {
-  mj_sensorAcc(m.get(), d.get());
-}
-
-void mj_sensorPos_wrapper(const MjModel& m, MjData& d) {
-  mj_sensorPos(m.get(), d.get());
-}
-
-void mj_sensorVel_wrapper(const MjModel& m, MjData& d) {
-  mj_sensorVel(m.get(), d.get());
-}
-
-void mj_setConst_wrapper(MjModel& m, MjData& d) {
-  mj_setConst(m.get(), d.get());
-}
-
-void mj_setKeyframe_wrapper(MjModel& m, const MjData& d, int k) {
-  mj_setKeyframe(m.get(), d.get(), k);
-}
-
-void mj_setState_wrapper(const MjModel& m, MjData& d, const NumberArray& state, int sig) {
-  UNPACK_ARRAY(mjtNum, state);
-  CHECK_SIZE(state, mj_stateSize(m.get(), sig));
-  mj_setState(m.get(), d.get(), state_.data(), sig);
-}
-
-void mj_setTotalmass_wrapper(MjModel& m, mjtNum newmass) {
-  mj_setTotalmass(m.get(), newmass);
-}
-
-mjtSize mj_sizeModel_wrapper(const MjModel& m) {
-  return mj_sizeModel(m.get());
-}
-
-void mj_solveM_wrapper(const MjModel& m, MjData& d, const val& x, const NumberArray& y) {
-  UNPACK_VALUE(mjtNum, x);
-  UNPACK_ARRAY(mjtNum, y);
-  CHECK_SIZES(x, y);
-  CHECK_DIVISIBLE(x, m.nv());
-  int n = x_div.quot;
-  mj_solveM(m.get(), d.get(), x_.data(), y_.data(), n);
-}
-
-void mj_solveM2_wrapper(const MjModel& m, MjData& d, const val& x, const NumberArray& y, const NumberArray& sqrtInvD) {
-  UNPACK_VALUE(mjtNum, x);
-  UNPACK_ARRAY(mjtNum, y);
-  UNPACK_ARRAY(mjtNum, sqrtInvD);
-  CHECK_SIZES(x, y);
-  CHECK_SIZE(sqrtInvD, m.nv());
-  CHECK_DIVISIBLE(x, m.nv());
-  int n = x_div.quot;
-  mj_solveM2(m.get(), d.get(), x_.data(), y_.data(), sqrtInvD_.data(), n);
-}
-
-int mj_stateSize_wrapper(const MjModel& m, int sig) {
-  return mj_stateSize(m.get(), sig);
-}
-
-void mj_step_wrapper(const MjModel& m, MjData& d) {
-  mj_step(m.get(), d.get());
-}
-
-void mj_step1_wrapper(const MjModel& m, MjData& d) {
-  mj_step1(m.get(), d.get());
-}
-
-void mj_step2_wrapper(const MjModel& m, MjData& d) {
-  mj_step2(m.get(), d.get());
-}
-
-void mj_subtreeVel_wrapper(const MjModel& m, MjData& d) {
-  mj_subtreeVel(m.get(), d.get());
-}
-
-void mj_tendon_wrapper(const MjModel& m, MjData& d) {
-  mj_tendon(m.get(), d.get());
-}
-
-void mj_transmission_wrapper(const MjModel& m, MjData& d) {
-  mj_transmission(m.get(), d.get());
-}
-
-std::string mj_versionString_wrapper() {
-  return std::string(mj_versionString());
-}
-
-void mjd_inverseFD_wrapper(const MjModel& m, MjData& d, mjtNum eps, mjtBool flg_actuation, const val& DfDq, const val& DfDv, const val& DfDa, const val& DsDq, const val& DsDv, const val& DsDa, const val& DmDq) {
-  UNPACK_NULLABLE_VALUE(mjtNum, DfDq);
-  UNPACK_NULLABLE_VALUE(mjtNum, DfDv);
-  UNPACK_NULLABLE_VALUE(mjtNum, DfDa);
-  UNPACK_NULLABLE_VALUE(mjtNum, DsDq);
-  UNPACK_NULLABLE_VALUE(mjtNum, DsDv);
-  UNPACK_NULLABLE_VALUE(mjtNum, DsDa);
-  UNPACK_NULLABLE_VALUE(mjtNum, DmDq);
-  CHECK_SIZE(DfDq, m.nv() * m.nv());
-  CHECK_SIZE(DfDv, m.nv() * m.nv());
-  CHECK_SIZE(DfDa, m.nv() * m.nv());
-  CHECK_SIZE(DsDq, m.nv() * m.nsensordata());
-  CHECK_SIZE(DsDv, m.nv() * m.nsensordata());
-  CHECK_SIZE(DsDa, m.nv() * m.nsensordata());
-  CHECK_SIZE(DmDq, m.nv() * m.nC());
-  mjd_inverseFD(m.get(), d.get(), eps, flg_actuation, DfDq_.data(), DfDv_.data(), DfDa_.data(), DsDq_.data(), DsDv_.data(), DsDa_.data(), DmDq_.data());
-}
-
-void mjd_quatIntegrate_wrapper(const NumberArray& vel, mjtNum scale, const val& Dquat, const val& Dvel, const val& Dscale) {
-  UNPACK_ARRAY(mjtNum, vel);
-  UNPACK_NULLABLE_VALUE(mjtNum, Dquat);
-  UNPACK_NULLABLE_VALUE(mjtNum, Dvel);
-  UNPACK_NULLABLE_VALUE(mjtNum, Dscale);
-  mjd_quatIntegrate(vel_.data(), scale, Dquat_.data(), Dvel_.data(), Dscale_.data());
-}
-
-void mjd_subQuat_wrapper(const NumberArray& qa, const NumberArray& qb, const val& Da, const val& Db) {
-  UNPACK_ARRAY(mjtNum, qa);
-  UNPACK_ARRAY(mjtNum, qb);
-  UNPACK_NULLABLE_VALUE(mjtNum, Da);
-  UNPACK_NULLABLE_VALUE(mjtNum, Db);
-  CHECK_SIZE(qa, 4);
-  CHECK_SIZE(qb, 4);
-  CHECK_SIZE(Da, 9);
-  CHECK_SIZE(Db, 9);
-  mjd_subQuat(qa_.data(), qb_.data(), Da_.data(), Db_.data());
-}
-
-void mjd_transitionFD_wrapper(const MjModel& m, MjData& d, mjtNum eps, mjtBool flg_centered, const val& A, const val& B, const val& C, const val& D) {
-  UNPACK_NULLABLE_VALUE(mjtNum, A);
-  UNPACK_NULLABLE_VALUE(mjtNum, B);
-  UNPACK_NULLABLE_VALUE(mjtNum, C);
-  UNPACK_NULLABLE_VALUE(mjtNum, D);
-  CHECK_SIZE(A, (2 * m.nv() + m.na()) * (2 * m.nv() + m.na()));
-  CHECK_SIZE(B, (2 * m.nv() + m.na()) * m.nu());
-  CHECK_SIZE(C, m.nsensordata() * (2 * m.nv() + m.na()));
-  CHECK_SIZE(D, m.nsensordata() * m.nu());
-  mjd_transitionFD(m.get(), d.get(), eps, flg_centered, A_.data(), B_.data(), C_.data(), D_.data());
-}
-
-int mjs_activatePlugin_wrapper(MjSpec& s, const String& name) {
-  CHECK_VAL(name);
-  return mjs_activatePlugin(s.get(), name.as<const std::string>().data());
-}
-
-std::optional<MjsActuator> mjs_addActuator_wrapper(MjSpec& s, const MjsDefault& def) {
-  mjsActuator* result = mjs_addActuator(s.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsActuator(result);
-}
-
-std::optional<MjsBody> mjs_addBody_wrapper(MjsBody& body, const MjsDefault& def) {
-  mjsBody* result = mjs_addBody(body.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsBody(result);
-}
-
-std::optional<MjsCamera> mjs_addCamera_wrapper(MjsBody& body, const MjsDefault& def) {
-  mjsCamera* result = mjs_addCamera(body.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsCamera(result);
-}
-
-std::optional<MjsDefault> mjs_addDefault_wrapper(MjSpec& s, const String& classname, const MjsDefault& parent) {
-  CHECK_VAL(classname);
-  mjsDefault* result = mjs_addDefault(s.get(), classname.as<const std::string>().data(), parent.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsDefault(result);
-}
-
-std::optional<MjsEquality> mjs_addEquality_wrapper(MjSpec& s, const MjsDefault& def) {
-  mjsEquality* result = mjs_addEquality(s.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsEquality(result);
-}
-
-std::optional<MjsExclude> mjs_addExclude_wrapper(MjSpec& s) {
-  mjsExclude* result = mjs_addExclude(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsExclude(result);
-}
-
-std::optional<MjsFlex> mjs_addFlex_wrapper(MjSpec& s) {
-  mjsFlex* result = mjs_addFlex(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsFlex(result);
-}
-
-std::optional<MjsFrame> mjs_addFrame_wrapper(MjsBody& body, MjsFrame& parentframe) {
-  mjsFrame* result = mjs_addFrame(body.get(), parentframe.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsFrame(result);
-}
-
-std::optional<MjsJoint> mjs_addFreeJoint_wrapper(MjsBody& body) {
-  mjsJoint* result = mjs_addFreeJoint(body.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsJoint(result);
-}
-
-std::optional<MjsGeom> mjs_addGeom_wrapper(MjsBody& body, const MjsDefault& def) {
-  mjsGeom* result = mjs_addGeom(body.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsGeom(result);
-}
-
-std::optional<MjsHField> mjs_addHField_wrapper(MjSpec& s) {
-  mjsHField* result = mjs_addHField(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsHField(result);
-}
-
-std::optional<MjsJoint> mjs_addJoint_wrapper(MjsBody& body, const MjsDefault& def) {
-  mjsJoint* result = mjs_addJoint(body.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsJoint(result);
-}
-
-std::optional<MjsKey> mjs_addKey_wrapper(MjSpec& s) {
-  mjsKey* result = mjs_addKey(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsKey(result);
-}
-
-std::optional<MjsLight> mjs_addLight_wrapper(MjsBody& body, const MjsDefault& def) {
-  mjsLight* result = mjs_addLight(body.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsLight(result);
-}
-
-std::optional<MjsMaterial> mjs_addMaterial_wrapper(MjSpec& s, const MjsDefault& def) {
-  mjsMaterial* result = mjs_addMaterial(s.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsMaterial(result);
-}
-
-std::optional<MjsMesh> mjs_addMesh_wrapper(MjSpec& s, const MjsDefault& def) {
-  mjsMesh* result = mjs_addMesh(s.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsMesh(result);
-}
-
-std::optional<MjsNumeric> mjs_addNumeric_wrapper(MjSpec& s) {
-  mjsNumeric* result = mjs_addNumeric(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsNumeric(result);
-}
-
-std::optional<MjsPair> mjs_addPair_wrapper(MjSpec& s, const MjsDefault& def) {
-  mjsPair* result = mjs_addPair(s.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsPair(result);
-}
-
-std::optional<MjsPlugin> mjs_addPlugin_wrapper(MjSpec& s) {
-  mjsPlugin* result = mjs_addPlugin(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsPlugin(result);
-}
-
-std::optional<MjsSensor> mjs_addSensor_wrapper(MjSpec& s) {
-  mjsSensor* result = mjs_addSensor(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsSensor(result);
-}
-
-std::optional<MjsSite> mjs_addSite_wrapper(MjsBody& body, const MjsDefault& def) {
-  mjsSite* result = mjs_addSite(body.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsSite(result);
-}
-
-std::optional<MjsSkin> mjs_addSkin_wrapper(MjSpec& s) {
-  mjsSkin* result = mjs_addSkin(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsSkin(result);
-}
-
-std::optional<MjsTendon> mjs_addTendon_wrapper(MjSpec& s, const MjsDefault& def) {
-  mjsTendon* result = mjs_addTendon(s.get(), def.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsTendon(result);
-}
-
-std::optional<MjsText> mjs_addText_wrapper(MjSpec& s) {
-  mjsText* result = mjs_addText(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsText(result);
-}
-
-std::optional<MjsTexture> mjs_addTexture_wrapper(MjSpec& s) {
-  mjsTexture* result = mjs_addTexture(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsTexture(result);
-}
-
-std::optional<MjsTuple> mjs_addTuple_wrapper(MjSpec& s) {
-  mjsTuple* result = mjs_addTuple(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsTuple(result);
-}
-
-std::optional<MjsActuator> mjs_asActuator_wrapper(MjsElement& element) {
-  mjsActuator* result = mjs_asActuator(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsActuator(result);
-}
-
-std::optional<MjsBody> mjs_asBody_wrapper(MjsElement& element) {
-  mjsBody* result = mjs_asBody(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsBody(result);
-}
-
-std::optional<MjsCamera> mjs_asCamera_wrapper(MjsElement& element) {
-  mjsCamera* result = mjs_asCamera(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsCamera(result);
-}
-
-std::optional<MjsEquality> mjs_asEquality_wrapper(MjsElement& element) {
-  mjsEquality* result = mjs_asEquality(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsEquality(result);
-}
-
-std::optional<MjsExclude> mjs_asExclude_wrapper(MjsElement& element) {
-  mjsExclude* result = mjs_asExclude(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsExclude(result);
-}
-
-std::optional<MjsFlex> mjs_asFlex_wrapper(MjsElement& element) {
-  mjsFlex* result = mjs_asFlex(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsFlex(result);
-}
-
-std::optional<MjsFrame> mjs_asFrame_wrapper(MjsElement& element) {
-  mjsFrame* result = mjs_asFrame(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsFrame(result);
-}
-
-std::optional<MjsGeom> mjs_asGeom_wrapper(MjsElement& element) {
-  mjsGeom* result = mjs_asGeom(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsGeom(result);
-}
-
-std::optional<MjsHField> mjs_asHField_wrapper(MjsElement& element) {
-  mjsHField* result = mjs_asHField(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsHField(result);
-}
-
-std::optional<MjsJoint> mjs_asJoint_wrapper(MjsElement& element) {
-  mjsJoint* result = mjs_asJoint(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsJoint(result);
-}
-
-std::optional<MjsKey> mjs_asKey_wrapper(MjsElement& element) {
-  mjsKey* result = mjs_asKey(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsKey(result);
-}
-
-std::optional<MjsLight> mjs_asLight_wrapper(MjsElement& element) {
-  mjsLight* result = mjs_asLight(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsLight(result);
-}
-
-std::optional<MjsMaterial> mjs_asMaterial_wrapper(MjsElement& element) {
-  mjsMaterial* result = mjs_asMaterial(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsMaterial(result);
-}
-
-std::optional<MjsMesh> mjs_asMesh_wrapper(MjsElement& element) {
-  mjsMesh* result = mjs_asMesh(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsMesh(result);
-}
-
-std::optional<MjsNumeric> mjs_asNumeric_wrapper(MjsElement& element) {
-  mjsNumeric* result = mjs_asNumeric(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsNumeric(result);
-}
-
-std::optional<MjsPair> mjs_asPair_wrapper(MjsElement& element) {
-  mjsPair* result = mjs_asPair(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsPair(result);
-}
-
-std::optional<MjsPlugin> mjs_asPlugin_wrapper(MjsElement& element) {
-  mjsPlugin* result = mjs_asPlugin(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsPlugin(result);
-}
-
-std::optional<MjsSensor> mjs_asSensor_wrapper(MjsElement& element) {
-  mjsSensor* result = mjs_asSensor(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsSensor(result);
-}
-
-std::optional<MjsSite> mjs_asSite_wrapper(MjsElement& element) {
-  mjsSite* result = mjs_asSite(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsSite(result);
-}
-
-std::optional<MjsSkin> mjs_asSkin_wrapper(MjsElement& element) {
-  mjsSkin* result = mjs_asSkin(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsSkin(result);
-}
-
-std::optional<MjsTendon> mjs_asTendon_wrapper(MjsElement& element) {
-  mjsTendon* result = mjs_asTendon(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsTendon(result);
-}
-
-std::optional<MjsText> mjs_asText_wrapper(MjsElement& element) {
-  mjsText* result = mjs_asText(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsText(result);
-}
-
-std::optional<MjsTexture> mjs_asTexture_wrapper(MjsElement& element) {
-  mjsTexture* result = mjs_asTexture(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsTexture(result);
-}
-
-std::optional<MjsTuple> mjs_asTuple_wrapper(MjsElement& element) {
-  mjsTuple* result = mjs_asTuple(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsTuple(result);
-}
-
-std::optional<MjsElement> mjs_attach_wrapper(MjsElement& parent, const MjsElement& child, const String& prefix, const String& suffix) {
-  CHECK_VAL(prefix);
-  CHECK_VAL(suffix);
-  mjsElement* result = mjs_attach(parent.get(), child.get(), prefix.as<const std::string>().data(), suffix.as<const std::string>().data());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsElement(result);
-}
-
-void mjs_defaultActuator_wrapper(MjsActuator& actuator) {
-  mjs_defaultActuator(actuator.get());
-}
-
-void mjs_defaultBody_wrapper(MjsBody& body) {
-  mjs_defaultBody(body.get());
-}
-
-void mjs_defaultCamera_wrapper(MjsCamera& camera) {
-  mjs_defaultCamera(camera.get());
-}
-
-void mjs_defaultEquality_wrapper(MjsEquality& equality) {
-  mjs_defaultEquality(equality.get());
-}
-
-void mjs_defaultFlex_wrapper(MjsFlex& flex) {
-  mjs_defaultFlex(flex.get());
-}
-
-void mjs_defaultFrame_wrapper(MjsFrame& frame) {
-  mjs_defaultFrame(frame.get());
-}
-
-void mjs_defaultGeom_wrapper(MjsGeom& geom) {
-  mjs_defaultGeom(geom.get());
-}
-
-void mjs_defaultHField_wrapper(MjsHField& hfield) {
-  mjs_defaultHField(hfield.get());
-}
-
-void mjs_defaultJoint_wrapper(MjsJoint& joint) {
-  mjs_defaultJoint(joint.get());
-}
-
-void mjs_defaultKey_wrapper(MjsKey& key) {
-  mjs_defaultKey(key.get());
-}
-
-void mjs_defaultLight_wrapper(MjsLight& light) {
-  mjs_defaultLight(light.get());
-}
-
-void mjs_defaultMaterial_wrapper(MjsMaterial& material) {
-  mjs_defaultMaterial(material.get());
-}
-
-void mjs_defaultMesh_wrapper(MjsMesh& mesh) {
-  mjs_defaultMesh(mesh.get());
-}
-
-void mjs_defaultNumeric_wrapper(MjsNumeric& numeric) {
-  mjs_defaultNumeric(numeric.get());
-}
-
-void mjs_defaultOrientation_wrapper(MjsOrientation& orient) {
-  mjs_defaultOrientation(orient.get());
-}
-
-void mjs_defaultPair_wrapper(MjsPair& pair) {
-  mjs_defaultPair(pair.get());
-}
-
-void mjs_defaultPlugin_wrapper(MjsPlugin& plugin) {
-  mjs_defaultPlugin(plugin.get());
-}
-
-void mjs_defaultSensor_wrapper(MjsSensor& sensor) {
-  mjs_defaultSensor(sensor.get());
-}
-
-void mjs_defaultSite_wrapper(MjsSite& site) {
-  mjs_defaultSite(site.get());
-}
-
-void mjs_defaultSkin_wrapper(MjsSkin& skin) {
-  mjs_defaultSkin(skin.get());
-}
-
-void mjs_defaultSpec_wrapper(MjSpec& spec) {
-  mjs_defaultSpec(spec.get());
-}
-
-void mjs_defaultTendon_wrapper(MjsTendon& tendon) {
-  mjs_defaultTendon(tendon.get());
-}
-
-void mjs_defaultText_wrapper(MjsText& text) {
-  mjs_defaultText(text.get());
-}
-
-void mjs_defaultTexture_wrapper(MjsTexture& texture) {
-  mjs_defaultTexture(texture.get());
-}
-
-void mjs_defaultTuple_wrapper(MjsTuple& tuple) {
-  mjs_defaultTuple(tuple.get());
-}
-
-int mjs_delete_wrapper(MjSpec& spec, MjsElement& element) {
-  return mjs_delete(spec.get(), element.get());
-}
-
-void mjs_deleteUserValue_wrapper(MjsElement& element, const String& key) {
-  CHECK_VAL(key);
-  mjs_deleteUserValue(element.get(), key.as<const std::string>().data());
-}
-
-std::optional<MjsBody> mjs_findBody_wrapper(const MjSpec& s, const String& name) {
-  CHECK_VAL(name);
-  mjsBody* result = mjs_findBody(s.get(), name.as<const std::string>().data());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsBody(result);
-}
-
-std::optional<MjsBody> mjs_findChild_wrapper(const MjsBody& body, const String& name) {
-  CHECK_VAL(name);
-  mjsBody* result = mjs_findChild(body.get(), name.as<const std::string>().data());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsBody(result);
-}
-
-std::optional<MjsDefault> mjs_findDefault_wrapper(const MjSpec& s, const String& classname) {
-  CHECK_VAL(classname);
-  mjsDefault* result = mjs_findDefault(s.get(), classname.as<const std::string>().data());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsDefault(result);
-}
-
-std::optional<MjsElement> mjs_findElement_wrapper(const MjSpec& s, mjtObj type, const String& name) {
-  CHECK_VAL(name);
-  mjsElement* result = mjs_findElement(s.get(), type, name.as<const std::string>().data());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsElement(result);
-}
-
-std::optional<MjsFrame> mjs_findFrame_wrapper(const MjSpec& s, const String& name) {
-  CHECK_VAL(name);
-  mjsFrame* result = mjs_findFrame(s.get(), name.as<const std::string>().data());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsFrame(result);
-}
-
-std::optional<MjSpec> mjs_findSpec_wrapper(const MjSpec& spec, const String& name) {
-  CHECK_VAL(name);
-  mjSpec* result = mjs_findSpec(spec.get(), name.as<const std::string>().data());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjSpec(result);
-}
-
-std::optional<MjsElement> mjs_firstChild_wrapper(const MjsBody& body, mjtObj type, int recurse) {
-  mjsElement* result = mjs_firstChild(body.get(), type, recurse);
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsElement(result);
-}
-
-std::optional<MjsElement> mjs_firstElement_wrapper(const MjSpec& s, mjtObj type) {
-  mjsElement* result = mjs_firstElement(s.get(), type);
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsElement(result);
-}
-
-std::optional<MjsCompiler> mjs_getCompiler_wrapper(const MjsElement& element) {
-  mjsCompiler* result = mjs_getCompiler(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsCompiler(result);
-}
-
-std::optional<MjsDefault> mjs_getDefault_wrapper(const MjsElement& element) {
-  mjsDefault* result = mjs_getDefault(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsDefault(result);
-}
-
-std::string mjs_getError_wrapper(MjSpec& s) {
-  return std::string(mjs_getError(s.get()));
-}
-
-std::optional<MjsFrame> mjs_getFrame_wrapper(const MjsElement& element) {
-  mjsFrame* result = mjs_getFrame(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsFrame(result);
-}
-
-int mjs_getId_wrapper(const MjsElement& element) {
-  return mjs_getId(element.get());
-}
-
-std::string mjs_getName_wrapper(MjsElement& element) {
-  return *mjs_getName(element.get());
-}
-
-std::optional<MjSpec> mjs_getOriginSpec_wrapper(const MjsElement& element) {
-  mjSpec* result = mjs_getOriginSpec(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjSpec(result);
-}
-
-std::optional<MjsBody> mjs_getParent_wrapper(const MjsElement& element) {
-  mjsBody* result = mjs_getParent(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsBody(result);
-}
-
-std::optional<MjSpec> mjs_getSpec_wrapper(const MjsElement& element) {
-  mjSpec* result = mjs_getSpec(element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjSpec(result);
-}
-
-std::optional<MjsDefault> mjs_getSpecDefault_wrapper(const MjSpec& s) {
-  mjsDefault* result = mjs_getSpecDefault(s.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsDefault(result);
-}
-
-std::string mjs_getWarning_wrapper(const MjSpec& spec, int index) {
-  return std::string(mjs_getWarning(spec.get(), index));
-}
-
-std::optional<MjsWrap> mjs_getWrap_wrapper(const MjsTendon& tendonspec, int i) {
-  mjsWrap* result = mjs_getWrap(tendonspec.get(), i);
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsWrap(result);
-}
-
-double mjs_getWrapCoef_wrapper(const MjsWrap& wrap) {
-  return mjs_getWrapCoef(wrap.get());
-}
-
-double mjs_getWrapDivisor_wrapper(const MjsWrap& wrap) {
-  return mjs_getWrapDivisor(wrap.get());
-}
-
-int mjs_getWrapNum_wrapper(const MjsTendon& tendonspec) {
-  return mjs_getWrapNum(tendonspec.get());
-}
-
-std::optional<MjsSite> mjs_getWrapSideSite_wrapper(const MjsWrap& wrap) {
-  mjsSite* result = mjs_getWrapSideSite(wrap.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsSite(result);
-}
-
-std::optional<MjsElement> mjs_getWrapTarget_wrapper(const MjsWrap& wrap) {
-  mjsElement* result = mjs_getWrapTarget(wrap.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsElement(result);
-}
-
-int mjs_isWarning_wrapper(MjSpec& s) {
-  return mjs_isWarning(s.get());
-}
-
-std::optional<MjsFlex> mjs_makeFlex_wrapper(MjsBody& body, const String& name, const StringOrNull& type, int dim, const StringOrNull& dof, const NumberArray& count, const NumberArray& cellcount, const NumberArray& spacing, const NumberArray& scale, double radius, double mass, double inertiabox, int equality, int rigid, int flatskin, int elastic2d, const NumberArray& pos, const NumberArray& quat, const NumberArray& origin, const StringOrNull& file, const MjVFS& vfs) {
-  CHECK_VAL(name);
-  UNPACK_NULLABLE_ARRAY(int, count);
-  UNPACK_NULLABLE_ARRAY(int, cellcount);
-  UNPACK_NULLABLE_ARRAY(double, spacing);
-  UNPACK_NULLABLE_ARRAY(double, scale);
-  UNPACK_NULLABLE_ARRAY(double, pos);
-  UNPACK_NULLABLE_ARRAY(double, quat);
-  UNPACK_NULLABLE_ARRAY(double, origin);
-  mjsFlex* result = mjs_makeFlex(body.get(), name.as<const std::string>().data(), type.as<const std::string>().data(), dim, dof.as<const std::string>().data(), count_.data(), cellcount_.data(), spacing_.data(), scale_.data(), radius, mass, inertiabox, equality, rigid, flatskin, elastic2d, pos_.data(), quat_.data(), origin_.data(), file.as<const std::string>().data(), vfs.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsFlex(result);
-}
-
-int mjs_makeMesh_wrapper(MjsMesh& mesh, mjtMeshBuiltin builtin, const val& params, int nparams) {
-  UNPACK_VALUE(double, params);
-  return mjs_makeMesh(mesh.get(), builtin, params_.data(), nparams);
-}
-
-std::optional<MjsElement> mjs_nextChild_wrapper(const MjsBody& body, const MjsElement& child, int recurse) {
-  mjsElement* result = mjs_nextChild(body.get(), child.get(), recurse);
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsElement(result);
-}
-
-std::optional<MjsElement> mjs_nextElement_wrapper(const MjSpec& s, const MjsElement& element) {
-  mjsElement* result = mjs_nextElement(s.get(), element.get());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsElement(result);
-}
-
-int mjs_numWarnings_wrapper(const MjSpec& spec) {
-  return mjs_numWarnings(spec.get());
-}
-
-std::string mjs_resolveOrientation_wrapper(const val& quat, mjtByte degree, const String& sequence, const MjsOrientation& orientation) {
-  CHECK_VAL(sequence);
-  UNPACK_VALUE(double, quat);
-  return std::string(mjs_resolveOrientation(quat_.data(), degree, sequence.as<const std::string>().data(), orientation.get()));
-}
-
-int mjs_sensorDim_wrapper(const MjsSensor& sensor) {
-  return mjs_sensorDim(sensor.get());
-}
-
-int mjs_setDeepCopy_wrapper(MjSpec& s, int deepcopy) {
-  return mjs_setDeepCopy(s.get(), deepcopy);
-}
-
-void mjs_setDefault_wrapper(MjsElement& element, const MjsDefault& def) {
-  mjs_setDefault(element.get(), def.get());
-}
-
-int mjs_setFrame_wrapper(MjsElement& dest, MjsFrame& frame) {
-  return mjs_setFrame(dest.get(), frame.get());
-}
-
-int mjs_setName_wrapper(MjsElement& element, const String& name) {
-  CHECK_VAL(name);
-  return mjs_setName(element.get(), name.as<const std::string>().data());
-}
-
-std::string mjs_setToAdhesion_wrapper(MjsActuator& actuator, double gain) {
-  return std::string(mjs_setToAdhesion(actuator.get(), gain));
-}
-
-std::string mjs_setToCylinder_wrapper(MjsActuator& actuator, double timeconst, double bias, double area, double diameter) {
-  return std::string(mjs_setToCylinder(actuator.get(), timeconst, bias, area, diameter));
-}
-
-std::string mjs_setToDCMotor_wrapper(MjsActuator& actuator, const val& motorconst, double resistance, const val& nominal, const val& saturation, const val& inductance, const val& cogging, const val& controller, const val& thermal, const val& lugre, int ctrlspec) {
-  UNPACK_NULLABLE_VALUE(double, motorconst);
-  UNPACK_NULLABLE_VALUE(double, nominal);
-  UNPACK_NULLABLE_VALUE(double, saturation);
-  UNPACK_NULLABLE_VALUE(double, inductance);
-  UNPACK_NULLABLE_VALUE(double, cogging);
-  UNPACK_NULLABLE_VALUE(double, controller);
-  UNPACK_NULLABLE_VALUE(double, thermal);
-  UNPACK_NULLABLE_VALUE(double, lugre);
-  return std::string(mjs_setToDCMotor(actuator.get(), motorconst_.data(), resistance, nominal_.data(), saturation_.data(), inductance_.data(), cogging_.data(), controller_.data(), thermal_.data(), lugre_.data(), ctrlspec));
-}
-
-std::string mjs_setToDamper_wrapper(MjsActuator& actuator, double kv) {
-  return std::string(mjs_setToDamper(actuator.get(), kv));
-}
-
-std::string mjs_setToIntVelocity_wrapper(MjsActuator& actuator, double kp, const val& kv, const val& dampratio, const val& timeconst, double inheritrange) {
-  UNPACK_VALUE(double, kv);
-  UNPACK_VALUE(double, dampratio);
-  UNPACK_VALUE(double, timeconst);
-  return std::string(mjs_setToIntVelocity(actuator.get(), kp, kv_.data(), dampratio_.data(), timeconst_.data(), inheritrange));
-}
-
-std::string mjs_setToMotor_wrapper(MjsActuator& actuator) {
-  return std::string(mjs_setToMotor(actuator.get()));
-}
-
-std::string mjs_setToMuscle_wrapper(MjsActuator& actuator, const val& timeconst, double tausmooth, const val& range, double force, double scale, double lmin, double lmax, double vmax, double fpmax, double fvmax) {
-  UNPACK_VALUE(double, timeconst);
-  UNPACK_VALUE(double, range);
-  return std::string(mjs_setToMuscle(actuator.get(), timeconst_.data(), tausmooth, range_.data(), force, scale, lmin, lmax, vmax, fpmax, fvmax));
-}
-
-std::string mjs_setToOrientation_wrapper(MjsActuator& actuator, double kp, const val& kv, const val& dampratio, int ctrlspec) {
-  UNPACK_VALUE(double, kv);
-  UNPACK_VALUE(double, dampratio);
-  return std::string(mjs_setToOrientation(actuator.get(), kp, kv_.data(), dampratio_.data(), ctrlspec));
-}
-
-std::string mjs_setToPID_wrapper(MjsActuator& actuator, double kp, const val& kv, const val& dampratio, const val& ki, const val& imax, const val& slewmax, double inheritrange, int ctrlspec) {
-  UNPACK_VALUE(double, kv);
-  UNPACK_VALUE(double, dampratio);
-  UNPACK_VALUE(double, ki);
-  UNPACK_VALUE(double, imax);
-  UNPACK_VALUE(double, slewmax);
-  return std::string(mjs_setToPID(actuator.get(), kp, kv_.data(), dampratio_.data(), ki_.data(), imax_.data(), slewmax_.data(), inheritrange, ctrlspec));
-}
-
-std::string mjs_setToPosition_wrapper(MjsActuator& actuator, double kp, const val& kv, const val& dampratio, const val& timeconst, double inheritrange) {
-  UNPACK_VALUE(double, kv);
-  UNPACK_VALUE(double, dampratio);
-  UNPACK_VALUE(double, timeconst);
-  return std::string(mjs_setToPosition(actuator.get(), kp, kv_.data(), dampratio_.data(), timeconst_.data(), inheritrange));
-}
-
-std::string mjs_setToVelocity_wrapper(MjsActuator& actuator, double kv) {
-  return std::string(mjs_setToVelocity(actuator.get(), kv));
-}
-
-std::optional<MjsWrap> mjs_wrapGeom_wrapper(MjsTendon& tendon, const String& name, const String& sidesite) {
-  CHECK_VAL(name);
-  CHECK_VAL(sidesite);
-  mjsWrap* result = mjs_wrapGeom(tendon.get(), name.as<const std::string>().data(), sidesite.as<const std::string>().data());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsWrap(result);
-}
-
-std::optional<MjsWrap> mjs_wrapJoint_wrapper(MjsTendon& tendon, const String& name, double coef) {
-  CHECK_VAL(name);
-  mjsWrap* result = mjs_wrapJoint(tendon.get(), name.as<const std::string>().data(), coef);
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsWrap(result);
-}
-
-std::optional<MjsWrap> mjs_wrapPulley_wrapper(MjsTendon& tendon, double divisor) {
-  mjsWrap* result = mjs_wrapPulley(tendon.get(), divisor);
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsWrap(result);
-}
-
-std::optional<MjsWrap> mjs_wrapSite_wrapper(MjsTendon& tendon, const String& name) {
-  CHECK_VAL(name);
-  mjsWrap* result = mjs_wrapSite(tendon.get(), name.as<const std::string>().data());
-  if (result == nullptr) {
-    return std::nullopt;
-  }
-  return MjsWrap(result);
-}
-
-mjtNum mju_L1_wrapper(const NumberArray& vec, int n) {
-  UNPACK_ARRAY(mjtNum, vec);
-  return mju_L1(vec_.data(), n);
-}
-
-void mju_add_wrapper(const val& res, const NumberArray& vec1, const NumberArray& vec2) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec1);
-  UNPACK_ARRAY(mjtNum, vec2);
-  CHECK_SIZES(res, vec1);
-  CHECK_SIZES(res, vec2);
-  int n = res_.size();
-  mju_add(res_.data(), vec1_.data(), vec2_.data(), n);
-}
-
-void mju_add3_wrapper(const val& res, const NumberArray& vec1, const NumberArray& vec2) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec1);
-  UNPACK_ARRAY(mjtNum, vec2);
-  mju_add3(res_.data(), vec1_.data(), vec2_.data());
-}
-
-void mju_addScl_wrapper(const val& res, const NumberArray& vec1, const NumberArray& vec2, mjtNum scl) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec1);
-  UNPACK_ARRAY(mjtNum, vec2);
-  CHECK_SIZES(res, vec1);
-  CHECK_SIZES(res, vec2);
-  int n = res_.size();
-  mju_addScl(res_.data(), vec1_.data(), vec2_.data(), scl, n);
-}
-
-void mju_addScl3_wrapper(const val& res, const NumberArray& vec1, const NumberArray& vec2, mjtNum scl) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec1);
-  UNPACK_ARRAY(mjtNum, vec2);
-  mju_addScl3(res_.data(), vec1_.data(), vec2_.data(), scl);
-}
-
-void mju_addTo_wrapper(const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-  mju_addTo(res_.data(), vec_.data(), n);
-}
-
-void mju_addTo3_wrapper(const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  mju_addTo3(res_.data(), vec_.data());
-}
-
-void mju_addToScl_wrapper(const val& res, const NumberArray& vec, mjtNum scl) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-  mju_addToScl(res_.data(), vec_.data(), scl, n);
-}
-
-void mju_addToScl3_wrapper(const val& res, const NumberArray& vec, mjtNum scl) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  mju_addToScl3(res_.data(), vec_.data(), scl);
-}
-
-void mju_axisAngle2Quat_wrapper(const val& res, const NumberArray& axis, mjtNum angle) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, axis);
-  mju_axisAngle2Quat(res_.data(), axis_.data(), angle);
-}
-
-void mju_band2Dense_wrapper(const val& res, const NumberArray& mat, int ntotal, int nband, int ndense, mjtBool flg_sym) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  CHECK_SIZE(mat, (ntotal - ndense) * nband + ndense * ntotal);
-  CHECK_SIZE(res, ntotal * ntotal);
-  mju_band2Dense(res_.data(), mat_.data(), ntotal, nband, ndense, flg_sym);
-}
-
-void mju_bandMulMatVec_wrapper(const val& res, const NumberArray& mat, const NumberArray& vec, int ntotal, int nband, int ndense, int nvec, mjtBool flg_sym) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZE(mat, (ntotal - ndense) * nband + ndense * ntotal);
-  CHECK_SIZE(res, ntotal * nvec);
-  CHECK_SIZE(vec, ntotal * nvec);
-  mju_bandMulMatVec(res_.data(), mat_.data(), vec_.data(), ntotal, nband, ndense, nvec, flg_sym);
-}
-
-int mju_boxQP_wrapper(const val& res, const val& R, const val& index, const NumberArray& H, const NumberArray& g, const NumberArray& lower, const NumberArray& upper) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_VALUE(mjtNum, R);
-  UNPACK_NULLABLE_VALUE(int, index);
-  UNPACK_ARRAY(mjtNum, H);
-  UNPACK_ARRAY(mjtNum, g);
-  UNPACK_NULLABLE_ARRAY(mjtNum, lower);
-  UNPACK_NULLABLE_ARRAY(mjtNum, upper);
-  CHECK_SIZES(lower, res);
-  CHECK_SIZES(upper, res);
-  CHECK_SIZES(index, res);
-  CHECK_SIZE(R, res_.size() * (res_.size() + 7))
-  CHECK_PERFECT_SQUARE(H);
-  CHECK_SIZES(g, res);
-  int n = res_.size();
-  return mju_boxQP(res_.data(), R_.data(), index_.data(), H_.data(), g_.data(), n, lower_.data(), upper_.data());
-}
-
-int mju_cholFactor_wrapper(const val& mat, mjtNum mindiag) {
-  UNPACK_VALUE(mjtNum, mat);
-  CHECK_PERFECT_SQUARE(mat);
-  int n = mat_sqrt;
-  return mju_cholFactor(mat_.data(), n, mindiag);
-}
-
-mjtNum mju_cholFactorBand_wrapper(const val& mat, int ntotal, int nband, int ndense, mjtNum diagadd, mjtNum diagmul) {
-  UNPACK_VALUE(mjtNum, mat);
-  CHECK_SIZE(mat, (ntotal - ndense) * nband + ndense * ntotal);
-  return mju_cholFactorBand(mat_.data(), ntotal, nband, ndense, diagadd, diagmul);
-}
-
-void mju_cholSolve_wrapper(const val& res, const NumberArray& mat, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_PERFECT_SQUARE(mat);
-  CHECK_SIZE(res, mat_sqrt);
-  CHECK_SIZE(vec, mat_sqrt);
-  int n = mat_sqrt;
-  mju_cholSolve(res_.data(), mat_.data(), vec_.data(), n);
-}
-
-void mju_cholSolveBand_wrapper(const val& res, const NumberArray& mat, const NumberArray& vec, int ntotal, int nband, int ndense) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZE(mat, (ntotal - ndense) * nband + ndense * ntotal);
-  CHECK_SIZE(res, ntotal);
-  CHECK_SIZE(vec, ntotal);
-  mju_cholSolveBand(res_.data(), mat_.data(), vec_.data(), ntotal, nband, ndense);
-}
-
-int mju_cholUpdate_wrapper(const val& mat, const val& x, int flg_plus) {
-  UNPACK_VALUE(mjtNum, mat);
-  UNPACK_VALUE(mjtNum, x);
-  CHECK_PERFECT_SQUARE(mat);
-  CHECK_SIZE(x, mat_sqrt);
-  int n = mat_sqrt;
-  return mju_cholUpdate(mat_.data(), x_.data(), n, flg_plus);
-}
-
-void mju_copy_wrapper(const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-  mju_copy(res_.data(), vec_.data(), n);
-}
-
-void mju_copy3_wrapper(const val& res, const NumberArray& data) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, data);
-  mju_copy3(res_.data(), data_.data());
-}
-
-void mju_copy4_wrapper(const val& res, const NumberArray& data) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, data);
-  mju_copy4(res_.data(), data_.data());
-}
-
-void mju_cross_wrapper(const val& res, const NumberArray& a, const NumberArray& b) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, a);
-  UNPACK_ARRAY(mjtNum, b);
-  mju_cross(res_.data(), a_.data(), b_.data());
-}
-
-void mju_d2n_wrapper(const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(double, vec);
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-  mju_d2n(res_.data(), vec_.data(), n);
-}
-
-void mju_decodePyramid_wrapper(const val& force, const NumberArray& pyramid, const NumberArray& mu) {
-  UNPACK_VALUE(mjtNum, force);
-  UNPACK_ARRAY(mjtNum, pyramid);
-  UNPACK_ARRAY(mjtNum, mu);
-  CHECK_SIZE(pyramid, 2 * mu_.size());
-  CHECK_SIZE(force, mu_.size() + 1);
-  int dim = mu_.size();
-  mju_decodePyramid(force_.data(), pyramid_.data(), mu_.data(), dim);
-}
-
-void mju_dense2Band_wrapper(const val& res, const NumberArray& mat, int ntotal, int nband, int ndense) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  CHECK_SIZE(mat, ntotal * ntotal);
-  CHECK_SIZE(res, (ntotal - ndense) * nband + ndense * ntotal);
-  mju_dense2Band(res_.data(), mat_.data(), ntotal, nband, ndense);
-}
-
-int mju_dense2sparse_wrapper(const val& res, const NumberArray& mat, int nr, int nc, const val& rownnz, const val& rowadr, const val& colind) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_VALUE(int, rownnz);
-  UNPACK_VALUE(int, rowadr);
-  UNPACK_VALUE(int, colind);
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(rownnz, nr);
-  CHECK_SIZE(rowadr, nr);
-  CHECK_SIZE(colind, res_.size());
-  int nnz = res_.size();
-  return mju_dense2sparse(res_.data(), mat_.data(), nr, nc, rownnz_.data(), rowadr_.data(), colind_.data(), nnz);
-}
-
-void mju_derivQuat_wrapper(const val& res, const NumberArray& quat, const NumberArray& vel) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, quat);
-  UNPACK_ARRAY(mjtNum, vel);
-  mju_derivQuat(res_.data(), quat_.data(), vel_.data());
-}
-
-mjtNum mju_dist3_wrapper(const NumberArray& pos1, const NumberArray& pos2) {
-  UNPACK_ARRAY(mjtNum, pos1);
-  UNPACK_ARRAY(mjtNum, pos2);
-  return mju_dist3(pos1_.data(), pos2_.data());
-}
-
-mjtNum mju_dot_wrapper(const NumberArray& vec1, const NumberArray& vec2) {
-  UNPACK_ARRAY(mjtNum, vec1);
-  UNPACK_ARRAY(mjtNum, vec2);
-  CHECK_SIZES(vec1, vec2);
-  int n = vec1_.size();
-  return mju_dot(vec1_.data(), vec2_.data(), n);
-}
-
-mjtNum mju_dot3_wrapper(const NumberArray& vec1, const NumberArray& vec2) {
-  UNPACK_ARRAY(mjtNum, vec1);
-  UNPACK_ARRAY(mjtNum, vec2);
-  return mju_dot3(vec1_.data(), vec2_.data());
-}
-
-int mju_eig3_wrapper(const val& eigval, const val& eigvec, const val& quat, const NumberArray& mat) {
-  UNPACK_VALUE(mjtNum, eigval);
-  UNPACK_VALUE(mjtNum, eigvec);
-  UNPACK_VALUE(mjtNum, quat);
-  UNPACK_ARRAY(mjtNum, mat);
-  return mju_eig3(eigval_.data(), eigvec_.data(), quat_.data(), mat_.data());
-}
-
-void mju_encodePyramid_wrapper(const val& pyramid, const NumberArray& force, const NumberArray& mu) {
-  UNPACK_VALUE(mjtNum, pyramid);
-  UNPACK_ARRAY(mjtNum, force);
-  UNPACK_ARRAY(mjtNum, mu);
-  CHECK_SIZE(pyramid, 2 * mu_.size());
-  CHECK_SIZE(force, mu_.size() + 1);
-  int dim = mu_.size();
-  mju_encodePyramid(pyramid_.data(), force_.data(), mu_.data(), dim);
-}
-
-void mju_euler2Quat_wrapper(const val& quat, const NumberArray& euler, const String& seq) {
-  CHECK_VAL(seq);
-  UNPACK_VALUE(mjtNum, quat);
-  UNPACK_ARRAY(mjtNum, euler);
-  mju_euler2Quat(quat_.data(), euler_.data(), seq.as<const std::string>().data());
-}
-
-void mju_eye_wrapper(const val& mat) {
-  UNPACK_VALUE(mjtNum, mat);
-  CHECK_PERFECT_SQUARE(mat);
-  int n = mat_sqrt;
-  mju_eye(mat_.data(), n);
-}
-
-void mju_f2n_wrapper(const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(float, vec);
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-  mju_f2n(res_.data(), vec_.data(), n);
-}
-
-void mju_fill_wrapper(const val& res, mjtNum val) {
-  UNPACK_VALUE(mjtNum, res);
-  int n = res_.size();
-  mju_fill(res_.data(), val, n);
-}
-
-MjLogConfig mju_getLogConfig_wrapper() {
-  MjLogConfig result;
-  *result.get() = mju_getLogConfig();
-  return result;
-}
-
-void mju_insertionSort_wrapper(const val& list) {
-  UNPACK_VALUE(mjtNum, list);
-  int n = list_.size();
-  mju_insertionSort(list_.data(), n);
-}
-
-void mju_insertionSortInt_wrapper(const val& list) {
-  UNPACK_VALUE(int, list);
-  int n = list_.size();
-  mju_insertionSortInt(list_.data(), n);
-}
-
-int mju_isZero_wrapper(const NumberArray& vec, int n) {
-  UNPACK_ARRAY(mjtNum, vec);
-  return mju_isZero(vec_.data(), n);
-}
-
-void mju_mat2Quat_wrapper(const val& quat, const NumberArray& mat) {
-  UNPACK_VALUE(mjtNum, quat);
-  UNPACK_ARRAY(mjtNum, mat);
-  mju_mat2Quat(quat_.data(), mat_.data());
-}
-
-int mju_mat2Rot_wrapper(const val& quat, const NumberArray& mat) {
-  UNPACK_VALUE(mjtNum, quat);
-  UNPACK_ARRAY(mjtNum, mat);
-  return mju_mat2Rot(quat_.data(), mat_.data());
-}
-
-void mju_message_wrapper(const MjLogMessage& msg) {
-  mju_message(msg.get());
-}
-
-void mju_mulMatMat_wrapper(const val& res, const NumberArray& mat1, const NumberArray& mat2, int r1, int c1, int c2) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat1);
-  UNPACK_ARRAY(mjtNum, mat2);
-  CHECK_SIZE(res, r1 * c2);
-  CHECK_SIZE(mat1, r1 * c1);
-  CHECK_SIZE(mat2, c1 * c2);
-  mju_mulMatMat(res_.data(), mat1_.data(), mat2_.data(), r1, c1, c2);
-}
-
-void mju_mulMatMatT_wrapper(const val& res, const NumberArray& mat1, const NumberArray& mat2, int r1, int c1, int r2) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat1);
-  UNPACK_ARRAY(mjtNum, mat2);
-  CHECK_SIZE(res, r1 * r2);
-  CHECK_SIZE(mat1, r1 * c1);
-  CHECK_SIZE(mat2, r2 * c1);
-  mju_mulMatMatT(res_.data(), mat1_.data(), mat2_.data(), r1, c1, r2);
-}
-
-void mju_mulMatTMat_wrapper(const val& res, const NumberArray& mat1, const NumberArray& mat2, int r1, int c1, int c2) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat1);
-  UNPACK_ARRAY(mjtNum, mat2);
-  CHECK_SIZE(res, c1 * c2);
-  CHECK_SIZE(mat1, r1 * c1);
-  CHECK_SIZE(mat2, r1 * c2);
-  mju_mulMatTMat(res_.data(), mat1_.data(), mat2_.data(), r1, c1, c2);
-}
-
-void mju_mulMatTVec_wrapper(const val& res, const NumberArray& mat, const NumberArray& vec, int nr, int nc) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(res, nc);
-  CHECK_SIZE(vec, nr);
-  mju_mulMatTVec(res_.data(), mat_.data(), vec_.data(), nr, nc);
-}
-
-void mju_mulMatTVec3_wrapper(const val& res, const NumberArray& mat, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, vec);
-  mju_mulMatTVec3(res_.data(), mat_.data(), vec_.data());
-}
-
-void mju_mulMatVec_wrapper(const val& res, const NumberArray& mat, const NumberArray& vec, int nr, int nc) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(res, nr);
-  CHECK_SIZE(vec, nc);
-  mju_mulMatVec(res_.data(), mat_.data(), vec_.data(), nr, nc);
-}
-
-void mju_mulMatVec3_wrapper(const val& res, const NumberArray& mat, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, vec);
-  mju_mulMatVec3(res_.data(), mat_.data(), vec_.data());
-}
-
-void mju_mulPose_wrapper(const val& posres, const val& quatres, const NumberArray& pos1, const NumberArray& quat1, const NumberArray& pos2, const NumberArray& quat2) {
-  UNPACK_VALUE(mjtNum, posres);
-  UNPACK_VALUE(mjtNum, quatres);
-  UNPACK_ARRAY(mjtNum, pos1);
-  UNPACK_ARRAY(mjtNum, quat1);
-  UNPACK_ARRAY(mjtNum, pos2);
-  UNPACK_ARRAY(mjtNum, quat2);
-  mju_mulPose(posres_.data(), quatres_.data(), pos1_.data(), quat1_.data(), pos2_.data(), quat2_.data());
-}
-
-void mju_mulQuat_wrapper(const val& res, const NumberArray& quat1, const NumberArray& quat2) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, quat1);
-  UNPACK_ARRAY(mjtNum, quat2);
-  mju_mulQuat(res_.data(), quat1_.data(), quat2_.data());
-}
-
-void mju_mulQuatAxis_wrapper(const val& res, const NumberArray& quat, const NumberArray& axis) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, quat);
-  UNPACK_ARRAY(mjtNum, axis);
-  mju_mulQuatAxis(res_.data(), quat_.data(), axis_.data());
-}
-
-mjtNum mju_mulVecMatVec_wrapper(const NumberArray& vec1, const NumberArray& mat, const NumberArray& vec2) {
-  UNPACK_ARRAY(mjtNum, vec1);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, vec2);
-  CHECK_SIZES(vec1, vec2);
-  CHECK_SIZE(mat, vec1_.size() * vec2_.size());
-  int n = vec1_.size();
-  return mju_mulVecMatVec(vec1_.data(), mat_.data(), vec2_.data(), n);
-}
-
-mjtNum mju_muscleBias_wrapper(mjtNum len, const NumberArray& lengthrange, mjtNum acc0, const NumberArray& prm) {
-  UNPACK_ARRAY(mjtNum, lengthrange);
-  UNPACK_ARRAY(mjtNum, prm);
-  return mju_muscleBias(len, lengthrange_.data(), acc0, prm_.data());
-}
-
-mjtNum mju_muscleDynamics_wrapper(mjtNum ctrl, mjtNum act, const NumberArray& prm) {
-  UNPACK_ARRAY(mjtNum, prm);
-  return mju_muscleDynamics(ctrl, act, prm_.data());
-}
-
-mjtNum mju_muscleGain_wrapper(mjtNum len, mjtNum vel, const NumberArray& lengthrange, mjtNum acc0, const NumberArray& prm) {
-  UNPACK_ARRAY(mjtNum, lengthrange);
-  UNPACK_ARRAY(mjtNum, prm);
-  return mju_muscleGain(len, vel, lengthrange_.data(), acc0, prm_.data());
-}
-
-void mju_n2d_wrapper(const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(double, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-  mju_n2d(res_.data(), vec_.data(), n);
-}
-
-void mju_n2f_wrapper(const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(float, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-  mju_n2f(res_.data(), vec_.data(), n);
-}
-
-void mju_negPose_wrapper(const val& posres, const val& quatres, const NumberArray& pos, const NumberArray& quat) {
-  UNPACK_VALUE(mjtNum, posres);
-  UNPACK_VALUE(mjtNum, quatres);
-  UNPACK_ARRAY(mjtNum, pos);
-  UNPACK_ARRAY(mjtNum, quat);
-  mju_negPose(posres_.data(), quatres_.data(), pos_.data(), quat_.data());
-}
-
-void mju_negQuat_wrapper(const val& res, const NumberArray& quat) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, quat);
-  mju_negQuat(res_.data(), quat_.data());
-}
-
-mjtNum mju_norm_wrapper(const NumberArray& res, int n) {
-  UNPACK_ARRAY(mjtNum, res);
-  return mju_norm(res_.data(), n);
-}
-
-mjtNum mju_norm3_wrapper(const NumberArray& vec) {
-  UNPACK_ARRAY(mjtNum, vec);
-  return mju_norm3(vec_.data());
-}
-
-mjtNum mju_normalize_wrapper(const val& res, int n) {
-  UNPACK_VALUE(mjtNum, res);
-  return mju_normalize(res_.data(), n);
-}
-
-mjtNum mju_normalize3_wrapper(const val& vec) {
-  UNPACK_VALUE(mjtNum, vec);
-  return mju_normalize3(vec_.data());
-}
-
-mjtNum mju_normalize4_wrapper(const val& vec) {
-  UNPACK_VALUE(mjtNum, vec);
-  return mju_normalize4(vec_.data());
-}
-
-void mju_printMat_wrapper(const NumberArray& mat, int nr, int nc) {
-  UNPACK_ARRAY(mjtNum, mat);
-  mju_printMat(mat_.data(), nr, nc);
-}
-
-void mju_printMatSparse_wrapper(const NumberArray& mat, const NumberArray& rownnz, const NumberArray& rowadr, const NumberArray& colind) {
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(int, rownnz);
-  UNPACK_ARRAY(int, rowadr);
-  UNPACK_ARRAY(int, colind);
-  CHECK_SIZES(rownnz, rowadr);
-  int nr = rowadr_.size();
-  mju_printMatSparse(mat_.data(), nr, rownnz_.data(), rowadr_.data(), colind_.data());
-}
-
-void mju_quat2Mat_wrapper(const val& res, const NumberArray& quat) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, quat);
-  mju_quat2Mat(res_.data(), quat_.data());
-}
-
-void mju_quat2Vel_wrapper(const val& res, const NumberArray& quat, mjtNum dt) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, quat);
-  mju_quat2Vel(res_.data(), quat_.data(), dt);
-}
-
-void mju_quatIntegrate_wrapper(const val& quat, const NumberArray& vel, mjtNum scale) {
-  UNPACK_VALUE(mjtNum, quat);
-  UNPACK_ARRAY(mjtNum, vel);
-  mju_quatIntegrate(quat_.data(), vel_.data(), scale);
-}
-
-void mju_quatZ2Vec_wrapper(const val& quat, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, quat);
-  UNPACK_ARRAY(mjtNum, vec);
-  mju_quatZ2Vec(quat_.data(), vec_.data());
-}
-
-mjtNum mju_rayGeom_wrapper(const NumberArray& pos, const NumberArray& mat, const NumberArray& size, const NumberArray& pnt, const NumberArray& vec, int geomtype, const val& normal) {
-  UNPACK_ARRAY(mjtNum, pos);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, size);
-  UNPACK_ARRAY(mjtNum, pnt);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_NULLABLE_VALUE(mjtNum, normal);
-  return mju_rayGeom(pos_.data(), mat_.data(), size_.data(), pnt_.data(), vec_.data(), geomtype, normal_.data());
-}
-
-mjtNum mju_raySkin_wrapper(int nface, int nvert, const NumberArray& face, const NumberArray& vert, const NumberArray& pnt, const NumberArray& vec, const val& vertid) {
-  UNPACK_ARRAY(int, face);
-  UNPACK_ARRAY(float, vert);
-  UNPACK_ARRAY(mjtNum, pnt);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_NULLABLE_VALUE(int, vertid);
-  return mju_raySkin(nface, nvert, face_.data(), vert_.data(), pnt_.data(), vec_.data(), vertid_.data());
-}
-
-void mju_rotVecQuat_wrapper(const val& res, const NumberArray& vec, const NumberArray& quat) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_ARRAY(mjtNum, quat);
-  mju_rotVecQuat(res_.data(), vec_.data(), quat_.data());
-}
-
-void mju_scl_wrapper(const val& res, const NumberArray& vec, mjtNum scl) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-  mju_scl(res_.data(), vec_.data(), scl, n);
-}
-
-void mju_scl3_wrapper(const val& res, const NumberArray& vec, mjtNum scl) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  mju_scl3(res_.data(), vec_.data(), scl);
-}
-
-void mju_setLogConfig_wrapper(const MjLogConfig& config) {
-  mju_setLogConfig(*config.get());
-}
-
-void mju_sparse2dense_wrapper(const val& res, const NumberArray& mat, int nr, int nc, const NumberArray& rownnz, const NumberArray& rowadr, const NumberArray& colind) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(int, rownnz);
-  UNPACK_ARRAY(int, rowadr);
-  UNPACK_ARRAY(int, colind);
-  CHECK_SIZE(res, nr * nc);
-  CHECK_SIZE(rownnz, nr);
-  CHECK_SIZE(rowadr, nr);
-  mju_sparse2dense(res_.data(), mat_.data(), nr, nc, rownnz_.data(), rowadr_.data(), colind_.data());
-}
-
-void mju_sqrMatTD_wrapper(const val& res, const NumberArray& mat, const NumberArray& diag, int nr, int nc) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(mjtNum, diag);
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(res, nc * nc);
-  CHECK_SIZE(diag, nr);
-  mju_sqrMatTD(res_.data(), mat_.data(), diag_.data(), nr, nc);
-}
-
-mjtNum mju_standardNormal_wrapper(const val& num2) {
-  UNPACK_VALUE(mjtNum, num2);
-  return mju_standardNormal(num2_.data());
-}
-
-int mju_str2Type_wrapper(const String& str) {
-  CHECK_VAL(str);
-  return mju_str2Type(str.as<const std::string>().data());
-}
-
-void mju_sub_wrapper(const val& res, const NumberArray& vec1, const NumberArray& vec2) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec1);
-  UNPACK_ARRAY(mjtNum, vec2);
-  CHECK_SIZES(res, vec1);
-  CHECK_SIZES(res, vec2);
-  int n = res_.size();
-  mju_sub(res_.data(), vec1_.data(), vec2_.data(), n);
-}
-
-void mju_sub3_wrapper(const val& res, const NumberArray& vec1, const NumberArray& vec2) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec1);
-  UNPACK_ARRAY(mjtNum, vec2);
-  mju_sub3(res_.data(), vec1_.data(), vec2_.data());
-}
-
-void mju_subFrom_wrapper(const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-  mju_subFrom(res_.data(), vec_.data(), n);
-}
-
-void mju_subFrom3_wrapper(const val& res, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  mju_subFrom3(res_.data(), vec_.data());
-}
-
-void mju_subQuat_wrapper(const val& res, const NumberArray& qa, const NumberArray& qb) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, qa);
-  UNPACK_ARRAY(mjtNum, qb);
-  mju_subQuat(res_.data(), qa_.data(), qb_.data());
-}
-
-mjtNum mju_sum_wrapper(const NumberArray& vec, int n) {
-  UNPACK_ARRAY(mjtNum, vec);
-  return mju_sum(vec_.data(), n);
-}
-
-void mju_sym2dense_wrapper(const val& res, const NumberArray& mat, int n, const NumberArray& rownnz, const NumberArray& rowadr, const NumberArray& colind) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  UNPACK_ARRAY(int, rownnz);
-  UNPACK_ARRAY(int, rowadr);
-  UNPACK_ARRAY(int, colind);
-  mju_sym2dense(res_.data(), mat_.data(), n, rownnz_.data(), rowadr_.data(), colind_.data());
-}
-
-void mju_symmetrize_wrapper(const val& res, const NumberArray& mat, int n) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  CHECK_SIZE(mat, n * n);
-  CHECK_SIZE(res, n * n);
-  mju_symmetrize(res_.data(), mat_.data(), n);
-}
-
-void mju_threadpool_wrapper(MjData& d, int nthread) {
-  mju_threadpool(d.get(), nthread);
-}
-
-void mju_transformSpatial_wrapper(const val& res, const NumberArray& vec, int flg_force, const NumberArray& newpos, const NumberArray& oldpos, const NumberArray& rotnew2old) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_ARRAY(mjtNum, newpos);
-  UNPACK_ARRAY(mjtNum, oldpos);
-  UNPACK_NULLABLE_ARRAY(mjtNum, rotnew2old);
-  mju_transformSpatial(res_.data(), vec_.data(), flg_force, newpos_.data(), oldpos_.data(), rotnew2old_.data());
-}
-
-void mju_transpose_wrapper(const val& res, const NumberArray& mat, int nr, int nc) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, mat);
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(res, nr * nc);
-  mju_transpose(res_.data(), mat_.data(), nr, nc);
-}
-
-void mju_trnVecPose_wrapper(const val& res, const NumberArray& pos, const NumberArray& quat, const NumberArray& vec) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, pos);
-  UNPACK_ARRAY(mjtNum, quat);
-  UNPACK_ARRAY(mjtNum, vec);
-  mju_trnVecPose(res_.data(), pos_.data(), quat_.data(), vec_.data());
-}
-
-std::string mju_type2Str_wrapper(int type) {
-  return std::string(mju_type2Str(type));
-}
-
-void mju_unit4_wrapper(const val& res) {
-  UNPACK_VALUE(mjtNum, res);
-  mju_unit4(res_.data());
-}
-
-std::string mju_warningText_wrapper(int warning, size_t info) {
-  return std::string(mju_warningText(warning, info));
-}
-
-void mju_writeLog_wrapper(const String& type, const String& msg) {
-  CHECK_VAL(type);
-  CHECK_VAL(msg);
-  mju_writeLog(type.as<const std::string>().data(), msg.as<const std::string>().data());
-}
-
-std::string mju_writeNumBytes_wrapper(size_t nbytes) {
-  return std::string(mju_writeNumBytes(nbytes));
-}
-
-void mju_zero_wrapper(const val& res, int n) {
-  UNPACK_VALUE(mjtNum, res);
-  mju_zero(res_.data(), n);
-}
-
-void mju_zero3_wrapper(const val& res) {
-  UNPACK_VALUE(mjtNum, res);
-  mju_zero3(res_.data());
-}
-
-void mju_zero4_wrapper(const val& res) {
-  UNPACK_VALUE(mjtNum, res);
-  mju_zero4(res_.data());
-}
-
-void mjv_addGeoms_wrapper(const MjModel& m, MjData& d, const MjvOption& opt, const MjvPerturb& pert, int catmask, MjvScene& scn) {
-  mjv_addGeoms(m.get(), d.get(), opt.get(), pert.get(), catmask, scn.get());
-}
-
-void mjv_alignToCamera_wrapper(const val& res, const NumberArray& vec, const NumberArray& forward) {
-  UNPACK_VALUE(mjtNum, res);
-  UNPACK_ARRAY(mjtNum, vec);
-  UNPACK_ARRAY(mjtNum, forward);
-  mjv_alignToCamera(res_.data(), vec_.data(), forward_.data());
-}
-
-void mjv_applyPerturbForce_wrapper(const MjModel& m, MjData& d, const MjvPerturb& pert) {
-  mjv_applyPerturbForce(m.get(), d.get(), pert.get());
-}
-
-void mjv_applyPerturbPose_wrapper(const MjModel& m, MjData& d, const MjvPerturb& pert, int flg_paused) {
-  mjv_applyPerturbPose(m.get(), d.get(), pert.get(), flg_paused);
-}
-
-MjvGLCamera mjv_camera2GLCamera_wrapper(const MjModel& model, const MjData& data, const MjvCamera& mjv_camera) {
-  MjvGLCamera result;
-  *result.get() = mjv_camera2GLCamera(model.get(), data.get(), mjv_camera.get());
-  return result;
-}
-
-void mjv_cameraFrame_wrapper(const val& headpos, const val& forward, const val& up, const val& right, const MjData& d, const MjvCamera& cam) {
-  UNPACK_NULLABLE_VALUE(mjtNum, headpos);
-  UNPACK_NULLABLE_VALUE(mjtNum, forward);
-  UNPACK_NULLABLE_VALUE(mjtNum, up);
-  UNPACK_NULLABLE_VALUE(mjtNum, right);
-  mjv_cameraFrame(headpos_.data(), forward_.data(), up_.data(), right_.data(), d.get(), cam.get());
-}
-
-void mjv_cameraFrustum_wrapper(const val& zver, const val& zhor, const val& zclip, const MjModel& m, const MjvCamera& cam) {
-  UNPACK_NULLABLE_VALUE(float, zver);
-  UNPACK_NULLABLE_VALUE(float, zhor);
-  UNPACK_NULLABLE_VALUE(float, zclip);
-  mjv_cameraFrustum(zver_.data(), zhor_.data(), zclip_.data(), m.get(), cam.get());
-}
-
-void mjv_cameraInModel_wrapper(const val& headpos, const val& forward, const val& up, const MjvScene& scn) {
-  UNPACK_VALUE(mjtNum, headpos);
-  UNPACK_VALUE(mjtNum, forward);
-  UNPACK_VALUE(mjtNum, up);
-  mjv_cameraInModel(headpos_.data(), forward_.data(), up_.data(), scn.get());
-}
-
-void mjv_cameraInRoom_wrapper(const val& headpos, const val& forward, const val& up, const MjvScene& scn) {
-  UNPACK_VALUE(mjtNum, headpos);
-  UNPACK_VALUE(mjtNum, forward);
-  UNPACK_VALUE(mjtNum, up);
-  mjv_cameraInRoom(headpos_.data(), forward_.data(), up_.data(), scn.get());
-}
-
-void mjv_connector_wrapper(MjvGeom& geom, int type, mjtNum width, const NumberArray& from, const NumberArray& to) {
-  UNPACK_ARRAY(mjtNum, from);
-  UNPACK_ARRAY(mjtNum, to);
-  mjv_connector(geom.get(), type, width, from_.data(), to_.data());
-}
-
-void mjv_defaultCamera_wrapper(MjvCamera& cam) {
-  mjv_defaultCamera(cam.get());
-}
-
-void mjv_defaultFigure_wrapper(MjvFigure& fig) {
-  mjv_defaultFigure(fig.get());
-}
-
-void mjv_defaultFreeCamera_wrapper(const MjModel& m, MjvCamera& cam) {
-  mjv_defaultFreeCamera(m.get(), cam.get());
-}
-
-void mjv_defaultOption_wrapper(MjvOption& opt) {
-  mjv_defaultOption(opt.get());
-}
-
-void mjv_defaultPerturb_wrapper(MjvPerturb& pert) {
-  mjv_defaultPerturb(pert.get());
-}
-
-mjtNum mjv_frustumHeight_wrapper(const MjvScene& scn) {
-  return mjv_frustumHeight(scn.get());
-}
-
-void mjv_initGeom_wrapper(MjvGeom& geom, int type, const NumberArray& size, const NumberArray& pos, const NumberArray& mat, const NumberArray& rgba) {
-  UNPACK_NULLABLE_ARRAY(mjtNum, size);
-  UNPACK_NULLABLE_ARRAY(mjtNum, pos);
-  UNPACK_NULLABLE_ARRAY(mjtNum, mat);
-  UNPACK_NULLABLE_ARRAY(float, rgba);
-  mjv_initGeom(geom.get(), type, size_.data(), pos_.data(), mat_.data(), rgba_.data());
-}
-
-void mjv_initPerturb_wrapper(const MjModel& m, MjData& d, const MjvScene& scn, MjvPerturb& pert) {
-  mjv_initPerturb(m.get(), d.get(), scn.get(), pert.get());
-}
-
-void mjv_makeLights_wrapper(const MjModel& m, const MjData& d, MjvScene& scn) {
-  mjv_makeLights(m.get(), d.get(), scn.get());
-}
-
-void mjv_model2room_wrapper(const val& roompos, const val& roomquat, const NumberArray& modelpos, const NumberArray& modelquat, const MjvScene& scn) {
-  UNPACK_VALUE(mjtNum, roompos);
-  UNPACK_VALUE(mjtNum, roomquat);
-  UNPACK_ARRAY(mjtNum, modelpos);
-  UNPACK_ARRAY(mjtNum, modelquat);
-  mjv_model2room(roompos_.data(), roomquat_.data(), modelpos_.data(), modelquat_.data(), scn.get());
-}
-
-void mjv_moveCamera_wrapper(const MjModel& m, int action, mjtNum reldx, mjtNum reldy, MjvCamera& cam) {
-  mjv_moveCamera(m.get(), action, reldx, reldy, cam.get());
-}
-
-void mjv_moveModel_wrapper(const MjModel& m, int action, mjtNum reldx, mjtNum reldy, const NumberArray& roomup, MjvScene& scn) {
-  UNPACK_ARRAY(mjtNum, roomup);
-  mjv_moveModel(m.get(), action, reldx, reldy, roomup_.data(), scn.get());
-}
-
-void mjv_movePerturb_wrapper(const MjModel& m, const MjData& d, int action, mjtNum reldx, mjtNum reldy, const MjvScene& scn, MjvPerturb& pert) {
-  mjv_movePerturb(m.get(), d.get(), action, reldx, reldy, scn.get(), pert.get());
-}
-
-void mjv_room2model_wrapper(const val& modelpos, const val& modelquat, const NumberArray& roompos, const NumberArray& roomquat, const MjvScene& scn) {
-  UNPACK_VALUE(mjtNum, modelpos);
-  UNPACK_VALUE(mjtNum, modelquat);
-  UNPACK_ARRAY(mjtNum, roompos);
-  UNPACK_ARRAY(mjtNum, roomquat);
-  mjv_room2model(modelpos_.data(), modelquat_.data(), roompos_.data(), roomquat_.data(), scn.get());
-}
-
-int mjv_select_wrapper(const MjModel& m, const MjData& d, const MjvOption& vopt, mjtNum aspectratio, mjtNum relx, mjtNum rely, const MjvScene& scn, const val& selpnt, const val& geomid, const val& flexid, const val& skinid) {
-  UNPACK_VALUE(mjtNum, selpnt);
-  UNPACK_NULLABLE_VALUE(int, geomid);
-  UNPACK_NULLABLE_VALUE(int, flexid);
-  UNPACK_NULLABLE_VALUE(int, skinid);
-  return mjv_select(m.get(), d.get(), vopt.get(), aspectratio, relx, rely, scn.get(), selpnt_.data(), geomid_.data(), flexid_.data(), skinid_.data());
-}
-
-void mjv_updateCamera_wrapper(const MjModel& m, const MjData& d, MjvCamera& cam, MjvScene& scn) {
-  mjv_updateCamera(m.get(), d.get(), cam.get(), scn.get());
-}
-
-void mjv_updateScene_wrapper(const MjModel& m, MjData& d, const MjvOption& opt, const MjvPerturb& pert, MjvCamera& cam, int catmask, MjvScene& scn) {
-  mjv_updateScene(m.get(), d.get(), opt.get(), pert.get(), cam.get(), catmask, scn.get());
-}
-
-void mjv_updateSkin_wrapper(const MjModel& m, const MjData& d, MjvScene& scn) {
-  mjv_updateSkin(m.get(), d.get(), scn.get());
-}
-
-EMSCRIPTEN_BINDINGS(mujoco_bindings) {
-  enum_<mjrIndexType>("mjrIndexType")
-    .value("mjINDEX_TYPE_U16", mjINDEX_TYPE_U16)
-    .value("mjINDEX_TYPE_U32", mjINDEX_TYPE_U32);
-  enum_<mjrMeshPrimitiveType>("mjrMeshPrimitiveType")
-    .value("mjMESH_PRIMITIVE_TYPE_TRIANGLES", mjMESH_PRIMITIVE_TYPE_TRIANGLES)
-    .value("mjMESH_PRIMITIVE_TYPE_LINES", mjMESH_PRIMITIVE_TYPE_LINES);
-  enum_<mjrPixelFormat>("mjrPixelFormat")
-    .value("mjPIXEL_FORMAT_UNKNOWN", mjPIXEL_FORMAT_UNKNOWN)
-    .value("mjPIXEL_FORMAT_R8", mjPIXEL_FORMAT_R8)
-    .value("mjPIXEL_FORMAT_RGB8", mjPIXEL_FORMAT_RGB8)
-    .value("mjPIXEL_FORMAT_RGBA8", mjPIXEL_FORMAT_RGBA8)
-    .value("mjPIXEL_FORMAT_R32F", mjPIXEL_FORMAT_R32F)
-    .value("mjPIXEL_FORMAT_DEPTH32F", mjPIXEL_FORMAT_DEPTH32F)
-    .value("mjPIXEL_FORMAT_KTX", mjPIXEL_FORMAT_KTX);
-  enum_<mjrVertexAttributeType>("mjrVertexAttributeType")
-    .value("mjVERTEX_ATTRIBUTE_TYPE_FLOAT2", mjVERTEX_ATTRIBUTE_TYPE_FLOAT2)
-    .value("mjVERTEX_ATTRIBUTE_TYPE_FLOAT3", mjVERTEX_ATTRIBUTE_TYPE_FLOAT3)
-    .value("mjVERTEX_ATTRIBUTE_TYPE_FLOAT4", mjVERTEX_ATTRIBUTE_TYPE_FLOAT4)
-    .value("mjVERTEX_ATTRIBUTE_TYPE_UBYTE4", mjVERTEX_ATTRIBUTE_TYPE_UBYTE4);
-  enum_<mjrVertexAttributeUsage>("mjrVertexAttributeUsage")
-    .value("mjVERTEX_ATTRIBUTE_USAGE_POSITION", mjVERTEX_ATTRIBUTE_USAGE_POSITION)
-    .value("mjVERTEX_ATTRIBUTE_USAGE_NORMAL", mjVERTEX_ATTRIBUTE_USAGE_NORMAL)
-    .value("mjVERTEX_ATTRIBUTE_USAGE_TANGENTS", mjVERTEX_ATTRIBUTE_USAGE_TANGENTS)
-    .value("mjVERTEX_ATTRIBUTE_USAGE_UV", mjVERTEX_ATTRIBUTE_USAGE_UV)
-    .value("mjVERTEX_ATTRIBUTE_USAGE_COLOR", mjVERTEX_ATTRIBUTE_USAGE_COLOR);
-  enum_<mjtAlignFree>("mjtAlignFree")
-    .value("mjALIGNFREE_FALSE", mjALIGNFREE_FALSE)
-    .value("mjALIGNFREE_TRUE", mjALIGNFREE_TRUE)
-    .value("mjALIGNFREE_AUTO", mjALIGNFREE_AUTO);
-  enum_<mjtBias>("mjtBias")
-    .value("mjBIAS_NONE", mjBIAS_NONE)
-    .value("mjBIAS_AFFINE", mjBIAS_AFFINE)
-    .value("mjBIAS_MUSCLE", mjBIAS_MUSCLE)
-    .value("mjBIAS_DCMOTOR", mjBIAS_DCMOTOR)
-    .value("mjBIAS_SO3", mjBIAS_SO3)
-    .value("mjBIAS_USER", mjBIAS_USER);
-  enum_<mjtBuiltin>("mjtBuiltin")
-    .value("mjBUILTIN_NONE", mjBUILTIN_NONE)
-    .value("mjBUILTIN_GRADIENT", mjBUILTIN_GRADIENT)
-    .value("mjBUILTIN_CHECKER", mjBUILTIN_CHECKER)
-    .value("mjBUILTIN_FLAT", mjBUILTIN_FLAT);
-  enum_<mjtButton>("mjtButton")
-    .value("mjBUTTON_NONE", mjBUTTON_NONE)
-    .value("mjBUTTON_LEFT", mjBUTTON_LEFT)
-    .value("mjBUTTON_RIGHT", mjBUTTON_RIGHT)
-    .value("mjBUTTON_MIDDLE", mjBUTTON_MIDDLE);
-  enum_<mjtCTimer>("mjtCTimer")
-    .value("mjCTIMER_TOTAL", mjCTIMER_TOTAL)
-    .value("mjCTIMER_ASSETS", mjCTIMER_ASSETS)
-    .value("mjCTIMER_TEXTURE", mjCTIMER_TEXTURE)
-    .value("mjCTIMER_MESH_LOAD", mjCTIMER_MESH_LOAD)
-    .value("mjCTIMER_MESH_HULL", mjCTIMER_MESH_HULL)
-    .value("mjCTIMER_MESH_POLYGON", mjCTIMER_MESH_POLYGON)
-    .value("mjCTIMER_MESH_INERTIA", mjCTIMER_MESH_INERTIA)
-    .value("mjCTIMER_MESH_BVH", mjCTIMER_MESH_BVH)
-    .value("mjCTIMER_MESH_OCTREE", mjCTIMER_MESH_OCTREE)
-    .value("mjNCTIMER", mjNCTIMER);
-  enum_<mjtCamLight>("mjtCamLight")
-    .value("mjCAMLIGHT_FIXED", mjCAMLIGHT_FIXED)
-    .value("mjCAMLIGHT_TRACK", mjCAMLIGHT_TRACK)
-    .value("mjCAMLIGHT_TRACKCOM", mjCAMLIGHT_TRACKCOM)
-    .value("mjCAMLIGHT_TARGETBODY", mjCAMLIGHT_TARGETBODY)
-    .value("mjCAMLIGHT_TARGETBODYCOM", mjCAMLIGHT_TARGETBODYCOM);
-  enum_<mjtCamOutBit>("mjtCamOutBit")
-    .value("mjCAMOUT_RGB", mjCAMOUT_RGB)
-    .value("mjCAMOUT_DEPTH", mjCAMOUT_DEPTH)
-    .value("mjCAMOUT_DIST", mjCAMOUT_DIST)
-    .value("mjCAMOUT_NORMAL", mjCAMOUT_NORMAL)
-    .value("mjCAMOUT_SEG", mjCAMOUT_SEG)
-    .value("mjNCAMOUT", mjNCAMOUT);
-  enum_<mjtCamera>("mjtCamera")
-    .value("mjCAMERA_FREE", mjCAMERA_FREE)
-    .value("mjCAMERA_TRACKING", mjCAMERA_TRACKING)
-    .value("mjCAMERA_FIXED", mjCAMERA_FIXED)
-    .value("mjCAMERA_USER", mjCAMERA_USER);
-  enum_<mjtCatBit>("mjtCatBit")
-    .value("mjCAT_STATIC", mjCAT_STATIC)
-    .value("mjCAT_DYNAMIC", mjCAT_DYNAMIC)
-    .value("mjCAT_DECOR", mjCAT_DECOR)
-    .value("mjCAT_ALL", mjCAT_ALL);
-  enum_<mjtColorSpace>("mjtColorSpace")
-    .value("mjCOLORSPACE_AUTO", mjCOLORSPACE_AUTO)
-    .value("mjCOLORSPACE_LINEAR", mjCOLORSPACE_LINEAR)
-    .value("mjCOLORSPACE_SRGB", mjCOLORSPACE_SRGB);
-  enum_<mjtConDataField>("mjtConDataField")
-    .value("mjCONDATA_FOUND", mjCONDATA_FOUND)
-    .value("mjCONDATA_FORCE", mjCONDATA_FORCE)
-    .value("mjCONDATA_TORQUE", mjCONDATA_TORQUE)
-    .value("mjCONDATA_DIST", mjCONDATA_DIST)
-    .value("mjCONDATA_POS", mjCONDATA_POS)
-    .value("mjCONDATA_NORMAL", mjCONDATA_NORMAL)
-    .value("mjCONDATA_TANGENT", mjCONDATA_TANGENT)
-    .value("mjNCONDATA", mjNCONDATA);
-  enum_<mjtCone>("mjtCone")
-    .value("mjCONE_PYRAMIDAL", mjCONE_PYRAMIDAL)
-    .value("mjCONE_ELLIPTIC", mjCONE_ELLIPTIC);
-  enum_<mjtConflict>("mjtConflict")
-    .value("mjCONFLICT_WARNING", mjCONFLICT_WARNING)
-    .value("mjCONFLICT_MERGE", mjCONFLICT_MERGE)
-    .value("mjCONFLICT_ERROR", mjCONFLICT_ERROR);
-  enum_<mjtConstraint>("mjtConstraint")
-    .value("mjCNSTR_EQUALITY", mjCNSTR_EQUALITY)
-    .value("mjCNSTR_FRICTION_DOF", mjCNSTR_FRICTION_DOF)
-    .value("mjCNSTR_FRICTION_TENDON", mjCNSTR_FRICTION_TENDON)
-    .value("mjCNSTR_LIMIT_JOINT", mjCNSTR_LIMIT_JOINT)
-    .value("mjCNSTR_LIMIT_TENDON", mjCNSTR_LIMIT_TENDON)
-    .value("mjCNSTR_CONTACT_FRICTIONLESS", mjCNSTR_CONTACT_FRICTIONLESS)
-    .value("mjCNSTR_CONTACT_PYRAMIDAL", mjCNSTR_CONTACT_PYRAMIDAL)
-    .value("mjCNSTR_CONTACT_ELLIPTIC", mjCNSTR_CONTACT_ELLIPTIC);
-  enum_<mjtConstraintState>("mjtConstraintState")
-    .value("mjCNSTRSTATE_SATISFIED", mjCNSTRSTATE_SATISFIED)
-    .value("mjCNSTRSTATE_QUADRATIC", mjCNSTRSTATE_QUADRATIC)
-    .value("mjCNSTRSTATE_LINEARNEG", mjCNSTRSTATE_LINEARNEG)
-    .value("mjCNSTRSTATE_LINEARPOS", mjCNSTRSTATE_LINEARPOS)
-    .value("mjCNSTRSTATE_CONE", mjCNSTRSTATE_CONE);
-  enum_<mjtCtrlChart>("mjtCtrlChart")
-    .value("mjCHART_EXPMAP", mjCHART_EXPMAP)
-    .value("mjCHART_QUAT", mjCHART_QUAT);
-  enum_<mjtCtrlInput>("mjtCtrlInput")
-    .value("mjINPUT_POS", mjINPUT_POS)
-    .value("mjINPUT_VEL", mjINPUT_VEL)
-    .value("mjINPUT_FF", mjINPUT_FF)
-    .value("mjINPUT_VOLTAGE", mjINPUT_VOLTAGE)
-    .value("mjINPUT_NONE", mjINPUT_NONE);
-  enum_<mjtDataType>("mjtDataType")
-    .value("mjDATATYPE_REAL", mjDATATYPE_REAL)
-    .value("mjDATATYPE_POSITIVE", mjDATATYPE_POSITIVE)
-    .value("mjDATATYPE_AXIS", mjDATATYPE_AXIS)
-    .value("mjDATATYPE_QUATERNION", mjDATATYPE_QUATERNION);
-  enum_<mjtDepthMap>("mjtDepthMap")
-    .value("mjDEPTH_ZERONEAR", mjDEPTH_ZERONEAR)
-    .value("mjDEPTH_ZEROFAR", mjDEPTH_ZEROFAR);
-  enum_<mjtDisableBit>("mjtDisableBit")
-    .value("mjDSBL_CONSTRAINT", mjDSBL_CONSTRAINT)
-    .value("mjDSBL_EQUALITY", mjDSBL_EQUALITY)
-    .value("mjDSBL_FRICTIONLOSS", mjDSBL_FRICTIONLOSS)
-    .value("mjDSBL_LIMIT", mjDSBL_LIMIT)
-    .value("mjDSBL_CONTACT", mjDSBL_CONTACT)
-    .value("mjDSBL_SPRING", mjDSBL_SPRING)
-    .value("mjDSBL_DAMPER", mjDSBL_DAMPER)
-    .value("mjDSBL_GRAVITY", mjDSBL_GRAVITY)
-    .value("mjDSBL_CLAMPCTRL", mjDSBL_CLAMPCTRL)
-    .value("mjDSBL_WARMSTART", mjDSBL_WARMSTART)
-    .value("mjDSBL_FILTERPARENT", mjDSBL_FILTERPARENT)
-    .value("mjDSBL_ACTUATION", mjDSBL_ACTUATION)
-    .value("mjDSBL_REFSAFE", mjDSBL_REFSAFE)
-    .value("mjDSBL_SENSOR", mjDSBL_SENSOR)
-    .value("mjDSBL_MIDPHASE", mjDSBL_MIDPHASE)
-    .value("mjDSBL_EULERDAMP", mjDSBL_EULERDAMP)
-    .value("mjDSBL_AUTORESET", mjDSBL_AUTORESET)
-    .value("mjDSBL_NATIVECCD", mjDSBL_NATIVECCD)
-    .value("mjDSBL_ISLAND", mjDSBL_ISLAND)
-    .value("mjDSBL_MULTICCD", mjDSBL_MULTICCD)
-    .value("mjNDISABLE", mjNDISABLE);
-  enum_<mjtDyn>("mjtDyn")
-    .value("mjDYN_NONE", mjDYN_NONE)
-    .value("mjDYN_INTEGRATOR", mjDYN_INTEGRATOR)
-    .value("mjDYN_FILTER", mjDYN_FILTER)
-    .value("mjDYN_FILTEREXACT", mjDYN_FILTEREXACT)
-    .value("mjDYN_MUSCLE", mjDYN_MUSCLE)
-    .value("mjDYN_DCMOTOR", mjDYN_DCMOTOR)
-    .value("mjDYN_PID", mjDYN_PID)
-    .value("mjDYN_USER", mjDYN_USER);
-  enum_<mjtEnableBit>("mjtEnableBit")
-    .value("mjENBL_OVERRIDE", mjENBL_OVERRIDE)
-    .value("mjENBL_ENERGY", mjENBL_ENERGY)
-    .value("mjENBL_FWDINV", mjENBL_FWDINV)
-    .value("mjENBL_INVDISCRETE", mjENBL_INVDISCRETE)
-    .value("mjENBL_SLEEP", mjENBL_SLEEP)
-    .value("mjENBL_DIAGEXACT", mjENBL_DIAGEXACT)
-    .value("mjNENABLE", mjNENABLE);
-  enum_<mjtEq>("mjtEq")
-    .value("mjEQ_CONNECT", mjEQ_CONNECT)
-    .value("mjEQ_WELD", mjEQ_WELD)
-    .value("mjEQ_JOINT", mjEQ_JOINT)
-    .value("mjEQ_TENDON", mjEQ_TENDON)
-    .value("mjEQ_FLEX", mjEQ_FLEX)
-    .value("mjEQ_FLEXVERT", mjEQ_FLEXVERT)
-    .value("mjEQ_FLEXSTRAIN", mjEQ_FLEXSTRAIN)
-    .value("mjEQ_DISTANCE", mjEQ_DISTANCE);
-  enum_<mjtEvent>("mjtEvent")
-    .value("mjEVENT_NONE", mjEVENT_NONE)
-    .value("mjEVENT_MOVE", mjEVENT_MOVE)
-    .value("mjEVENT_PRESS", mjEVENT_PRESS)
-    .value("mjEVENT_RELEASE", mjEVENT_RELEASE)
-    .value("mjEVENT_SCROLL", mjEVENT_SCROLL)
-    .value("mjEVENT_KEY", mjEVENT_KEY)
-    .value("mjEVENT_RESIZE", mjEVENT_RESIZE)
-    .value("mjEVENT_REDRAW", mjEVENT_REDRAW)
-    .value("mjEVENT_FILESDROP", mjEVENT_FILESDROP);
-  enum_<mjtFlexSelf>("mjtFlexSelf")
-    .value("mjFLEXSELF_NONE", mjFLEXSELF_NONE)
-    .value("mjFLEXSELF_NARROW", mjFLEXSELF_NARROW)
-    .value("mjFLEXSELF_BVH", mjFLEXSELF_BVH)
-    .value("mjFLEXSELF_SAP", mjFLEXSELF_SAP)
-    .value("mjFLEXSELF_AUTO", mjFLEXSELF_AUTO);
-  enum_<mjtFont>("mjtFont")
-    .value("mjFONT_NORMAL", mjFONT_NORMAL)
-    .value("mjFONT_SHADOW", mjFONT_SHADOW)
-    .value("mjFONT_BIG", mjFONT_BIG);
-  enum_<mjtFontScale>("mjtFontScale")
-    .value("mjFONTSCALE_50", mjFONTSCALE_50)
-    .value("mjFONTSCALE_100", mjFONTSCALE_100)
-    .value("mjFONTSCALE_150", mjFONTSCALE_150)
-    .value("mjFONTSCALE_200", mjFONTSCALE_200)
-    .value("mjFONTSCALE_250", mjFONTSCALE_250)
-    .value("mjFONTSCALE_300", mjFONTSCALE_300);
-  enum_<mjtFrame>("mjtFrame")
-    .value("mjFRAME_NONE", mjFRAME_NONE)
-    .value("mjFRAME_BODY", mjFRAME_BODY)
-    .value("mjFRAME_GEOM", mjFRAME_GEOM)
-    .value("mjFRAME_SITE", mjFRAME_SITE)
-    .value("mjFRAME_CAMERA", mjFRAME_CAMERA)
-    .value("mjFRAME_LIGHT", mjFRAME_LIGHT)
-    .value("mjFRAME_CONTACT", mjFRAME_CONTACT)
-    .value("mjFRAME_WORLD", mjFRAME_WORLD)
-    .value("mjNFRAME", mjNFRAME);
-  enum_<mjtFramebuffer>("mjtFramebuffer")
-    .value("mjFB_WINDOW", mjFB_WINDOW)
-    .value("mjFB_OFFSCREEN", mjFB_OFFSCREEN);
-  enum_<mjtGain>("mjtGain")
-    .value("mjGAIN_FIXED", mjGAIN_FIXED)
-    .value("mjGAIN_AFFINE", mjGAIN_AFFINE)
-    .value("mjGAIN_MUSCLE", mjGAIN_MUSCLE)
-    .value("mjGAIN_DCMOTOR", mjGAIN_DCMOTOR)
-    .value("mjGAIN_SO3", mjGAIN_SO3)
-    .value("mjGAIN_PID", mjGAIN_PID)
-    .value("mjGAIN_USER", mjGAIN_USER);
-  enum_<mjtGeom>("mjtGeom")
-    .value("mjGEOM_PLANE", mjGEOM_PLANE)
-    .value("mjGEOM_HFIELD", mjGEOM_HFIELD)
-    .value("mjGEOM_SPHERE", mjGEOM_SPHERE)
-    .value("mjGEOM_CAPSULE", mjGEOM_CAPSULE)
-    .value("mjGEOM_ELLIPSOID", mjGEOM_ELLIPSOID)
-    .value("mjGEOM_CYLINDER", mjGEOM_CYLINDER)
-    .value("mjGEOM_BOX", mjGEOM_BOX)
-    .value("mjGEOM_MESH", mjGEOM_MESH)
-    .value("mjGEOM_SDF", mjGEOM_SDF)
-    .value("mjNGEOMTYPES", mjNGEOMTYPES)
-    .value("mjGEOM_ARROW", mjGEOM_ARROW)
-    .value("mjGEOM_ARROW1", mjGEOM_ARROW1)
-    .value("mjGEOM_ARROW2", mjGEOM_ARROW2)
-    .value("mjGEOM_LINE", mjGEOM_LINE)
-    .value("mjGEOM_LINEBOX", mjGEOM_LINEBOX)
-    .value("mjGEOM_FLEX", mjGEOM_FLEX)
-    .value("mjGEOM_SKIN", mjGEOM_SKIN)
-    .value("mjGEOM_LABEL", mjGEOM_LABEL)
-    .value("mjGEOM_TRIANGLE", mjGEOM_TRIANGLE)
-    .value("mjGEOM_NONE", mjGEOM_NONE);
-  enum_<mjtGeomInertia>("mjtGeomInertia")
-    .value("mjINERTIA_VOLUME", mjINERTIA_VOLUME)
-    .value("mjINERTIA_SHELL", mjINERTIA_SHELL);
-  enum_<mjtGridPos>("mjtGridPos")
-    .value("mjGRID_TOPLEFT", mjGRID_TOPLEFT)
-    .value("mjGRID_TOPRIGHT", mjGRID_TOPRIGHT)
-    .value("mjGRID_BOTTOMLEFT", mjGRID_BOTTOMLEFT)
-    .value("mjGRID_BOTTOMRIGHT", mjGRID_BOTTOMRIGHT)
-    .value("mjGRID_TOP", mjGRID_TOP)
-    .value("mjGRID_BOTTOM", mjGRID_BOTTOM)
-    .value("mjGRID_LEFT", mjGRID_LEFT)
-    .value("mjGRID_RIGHT", mjGRID_RIGHT);
-  enum_<mjtInertiaFromGeom>("mjtInertiaFromGeom")
-    .value("mjINERTIAFROMGEOM_FALSE", mjINERTIAFROMGEOM_FALSE)
-    .value("mjINERTIAFROMGEOM_TRUE", mjINERTIAFROMGEOM_TRUE)
-    .value("mjINERTIAFROMGEOM_AUTO", mjINERTIAFROMGEOM_AUTO);
-  enum_<mjtIntegrator>("mjtIntegrator")
-    .value("mjINT_EULER", mjINT_EULER)
-    .value("mjINT_RK4", mjINT_RK4)
-    .value("mjINT_IMPLICIT", mjINT_IMPLICIT)
-    .value("mjINT_IMPLICITFAST", mjINT_IMPLICITFAST);
-  enum_<mjtItem>("mjtItem")
-    .value("mjITEM_END", mjITEM_END)
-    .value("mjITEM_SECTION", mjITEM_SECTION)
-    .value("mjITEM_SEPARATOR", mjITEM_SEPARATOR)
-    .value("mjITEM_STATIC", mjITEM_STATIC)
-    .value("mjITEM_BUTTON", mjITEM_BUTTON)
-    .value("mjITEM_CHECKINT", mjITEM_CHECKINT)
-    .value("mjITEM_CHECKBYTE", mjITEM_CHECKBYTE)
-    .value("mjITEM_RADIO", mjITEM_RADIO)
-    .value("mjITEM_RADIOLINE", mjITEM_RADIOLINE)
-    .value("mjITEM_SELECT", mjITEM_SELECT)
-    .value("mjITEM_SLIDERINT", mjITEM_SLIDERINT)
-    .value("mjITEM_SLIDERNUM", mjITEM_SLIDERNUM)
-    .value("mjITEM_EDITINT", mjITEM_EDITINT)
-    .value("mjITEM_EDITNUM", mjITEM_EDITNUM)
-    .value("mjITEM_EDITFLOAT", mjITEM_EDITFLOAT)
-    .value("mjITEM_EDITTXT", mjITEM_EDITTXT)
-    .value("mjNITEM", mjNITEM);
-  enum_<mjtJacobian>("mjtJacobian")
-    .value("mjJAC_DENSE", mjJAC_DENSE)
-    .value("mjJAC_SPARSE", mjJAC_SPARSE)
-    .value("mjJAC_AUTO", mjJAC_AUTO);
-  enum_<mjtJoint>("mjtJoint")
-    .value("mjJNT_FREE", mjJNT_FREE)
-    .value("mjJNT_BALL", mjJNT_BALL)
-    .value("mjJNT_SLIDE", mjJNT_SLIDE)
-    .value("mjJNT_HINGE", mjJNT_HINGE);
-  enum_<mjtLRMode>("mjtLRMode")
-    .value("mjLRMODE_NONE", mjLRMODE_NONE)
-    .value("mjLRMODE_MUSCLE", mjLRMODE_MUSCLE)
-    .value("mjLRMODE_MUSCLEUSER", mjLRMODE_MUSCLEUSER)
-    .value("mjLRMODE_ALL", mjLRMODE_ALL);
-  enum_<mjtLabel>("mjtLabel")
-    .value("mjLABEL_NONE", mjLABEL_NONE)
-    .value("mjLABEL_BODY", mjLABEL_BODY)
-    .value("mjLABEL_JOINT", mjLABEL_JOINT)
-    .value("mjLABEL_GEOM", mjLABEL_GEOM)
-    .value("mjLABEL_SITE", mjLABEL_SITE)
-    .value("mjLABEL_CAMERA", mjLABEL_CAMERA)
-    .value("mjLABEL_LIGHT", mjLABEL_LIGHT)
-    .value("mjLABEL_TENDON", mjLABEL_TENDON)
-    .value("mjLABEL_ACTUATOR", mjLABEL_ACTUATOR)
-    .value("mjLABEL_CONSTRAINT", mjLABEL_CONSTRAINT)
-    .value("mjLABEL_FLEX", mjLABEL_FLEX)
-    .value("mjLABEL_SKIN", mjLABEL_SKIN)
-    .value("mjLABEL_SELECTION", mjLABEL_SELECTION)
-    .value("mjLABEL_SELPNT", mjLABEL_SELPNT)
-    .value("mjLABEL_CONTACTPOINT", mjLABEL_CONTACTPOINT)
-    .value("mjLABEL_CONTACTFORCE", mjLABEL_CONTACTFORCE)
-    .value("mjLABEL_ISLAND", mjLABEL_ISLAND)
-    .value("mjNLABEL", mjNLABEL);
-  enum_<mjtLightType>("mjtLightType")
-    .value("mjLIGHT_SPOT", mjLIGHT_SPOT)
-    .value("mjLIGHT_DIRECTIONAL", mjLIGHT_DIRECTIONAL)
-    .value("mjLIGHT_POINT", mjLIGHT_POINT)
-    .value("mjLIGHT_IMAGE", mjLIGHT_IMAGE);
-  enum_<mjtLimited>("mjtLimited")
-    .value("mjLIMITED_FALSE", mjLIMITED_FALSE)
-    .value("mjLIMITED_TRUE", mjLIMITED_TRUE)
-    .value("mjLIMITED_AUTO", mjLIMITED_AUTO);
-  enum_<mjtLogLevel>("mjtLogLevel")
-    .value("mjLOG_DEBUG", mjLOG_DEBUG)
-    .value("mjLOG_INFO", mjLOG_INFO)
-    .value("mjLOG_WARNING", mjLOG_WARNING)
-    .value("mjLOG_ERROR", mjLOG_ERROR);
-  enum_<mjtLogTopic>("mjtLogTopic")
-    .value("mjTOPIC_NONE", mjTOPIC_NONE)
-    .value("mjTOPIC_TIME_STP", mjTOPIC_TIME_STP)
-    .value("mjTOPIC_TIME_CMP", mjTOPIC_TIME_CMP)
-    .value("mjTOPIC_SLEEP", mjTOPIC_SLEEP)
-    .value("mjNTOPIC", mjNTOPIC);
-  enum_<mjtMark>("mjtMark")
-    .value("mjMARK_NONE", mjMARK_NONE)
-    .value("mjMARK_EDGE", mjMARK_EDGE)
-    .value("mjMARK_CROSS", mjMARK_CROSS)
-    .value("mjMARK_RANDOM", mjMARK_RANDOM);
-  enum_<mjtMeshBuiltin>("mjtMeshBuiltin")
-    .value("mjMESH_BUILTIN_NONE", mjMESH_BUILTIN_NONE)
-    .value("mjMESH_BUILTIN_SPHERE", mjMESH_BUILTIN_SPHERE)
-    .value("mjMESH_BUILTIN_HEMISPHERE", mjMESH_BUILTIN_HEMISPHERE)
-    .value("mjMESH_BUILTIN_CONE", mjMESH_BUILTIN_CONE)
-    .value("mjMESH_BUILTIN_SUPERSPHERE", mjMESH_BUILTIN_SUPERSPHERE)
-    .value("mjMESH_BUILTIN_SUPERTORUS", mjMESH_BUILTIN_SUPERTORUS)
-    .value("mjMESH_BUILTIN_WEDGE", mjMESH_BUILTIN_WEDGE)
-    .value("mjMESH_BUILTIN_PLATE", mjMESH_BUILTIN_PLATE);
-  enum_<mjtMeshInertia>("mjtMeshInertia")
-    .value("mjMESH_INERTIA_CONVEX", mjMESH_INERTIA_CONVEX)
-    .value("mjMESH_INERTIA_EXACT", mjMESH_INERTIA_EXACT)
-    .value("mjMESH_INERTIA_LEGACY", mjMESH_INERTIA_LEGACY)
-    .value("mjMESH_INERTIA_SHELL", mjMESH_INERTIA_SHELL);
-  enum_<mjtMouse>("mjtMouse")
-    .value("mjMOUSE_NONE", mjMOUSE_NONE)
-    .value("mjMOUSE_ROTATE_V", mjMOUSE_ROTATE_V)
-    .value("mjMOUSE_ROTATE_H", mjMOUSE_ROTATE_H)
-    .value("mjMOUSE_MOVE_V", mjMOUSE_MOVE_V)
-    .value("mjMOUSE_MOVE_H", mjMOUSE_MOVE_H)
-    .value("mjMOUSE_ZOOM", mjMOUSE_ZOOM)
-    .value("mjMOUSE_MOVE_V_REL", mjMOUSE_MOVE_V_REL)
-    .value("mjMOUSE_MOVE_H_REL", mjMOUSE_MOVE_H_REL)
-    .value("mjMOUSE_TURN_V", mjMOUSE_TURN_V)
-    .value("mjMOUSE_TURN_H", mjMOUSE_TURN_H);
-  enum_<mjtObj>("mjtObj")
-    .value("mjOBJ_UNKNOWN", mjOBJ_UNKNOWN)
-    .value("mjOBJ_BODY", mjOBJ_BODY)
-    .value("mjOBJ_XBODY", mjOBJ_XBODY)
-    .value("mjOBJ_JOINT", mjOBJ_JOINT)
-    .value("mjOBJ_DOF", mjOBJ_DOF)
-    .value("mjOBJ_GEOM", mjOBJ_GEOM)
-    .value("mjOBJ_SITE", mjOBJ_SITE)
-    .value("mjOBJ_CAMERA", mjOBJ_CAMERA)
-    .value("mjOBJ_LIGHT", mjOBJ_LIGHT)
-    .value("mjOBJ_FLEX", mjOBJ_FLEX)
-    .value("mjOBJ_MESH", mjOBJ_MESH)
-    .value("mjOBJ_SKIN", mjOBJ_SKIN)
-    .value("mjOBJ_HFIELD", mjOBJ_HFIELD)
-    .value("mjOBJ_TEXTURE", mjOBJ_TEXTURE)
-    .value("mjOBJ_MATERIAL", mjOBJ_MATERIAL)
-    .value("mjOBJ_PAIR", mjOBJ_PAIR)
-    .value("mjOBJ_EXCLUDE", mjOBJ_EXCLUDE)
-    .value("mjOBJ_EQUALITY", mjOBJ_EQUALITY)
-    .value("mjOBJ_TENDON", mjOBJ_TENDON)
-    .value("mjOBJ_ACTUATOR", mjOBJ_ACTUATOR)
-    .value("mjOBJ_SENSOR", mjOBJ_SENSOR)
-    .value("mjOBJ_NUMERIC", mjOBJ_NUMERIC)
-    .value("mjOBJ_TEXT", mjOBJ_TEXT)
-    .value("mjOBJ_TUPLE", mjOBJ_TUPLE)
-    .value("mjOBJ_KEY", mjOBJ_KEY)
-    .value("mjOBJ_PLUGIN", mjOBJ_PLUGIN)
-    .value("mjNOBJECT", mjNOBJECT)
-    .value("mjOBJ_FRAME", mjOBJ_FRAME)
-    .value("mjOBJ_DEFAULT", mjOBJ_DEFAULT)
-    .value("mjOBJ_MODEL", mjOBJ_MODEL);
-  enum_<mjtOrientation>("mjtOrientation")
-    .value("mjORIENTATION_QUAT", mjORIENTATION_QUAT)
-    .value("mjORIENTATION_AXISANGLE", mjORIENTATION_AXISANGLE)
-    .value("mjORIENTATION_XYAXES", mjORIENTATION_XYAXES)
-    .value("mjORIENTATION_ZAXIS", mjORIENTATION_ZAXIS)
-    .value("mjORIENTATION_EULER", mjORIENTATION_EULER);
-  enum_<mjtPertBit>("mjtPertBit")
-    .value("mjPERT_TRANSLATE", mjPERT_TRANSLATE)
-    .value("mjPERT_ROTATE", mjPERT_ROTATE);
-  enum_<mjtPluginCapabilityBit>("mjtPluginCapabilityBit")
-    .value("mjPLUGIN_ACTUATOR", mjPLUGIN_ACTUATOR)
-    .value("mjPLUGIN_SENSOR", mjPLUGIN_SENSOR)
-    .value("mjPLUGIN_PASSIVE", mjPLUGIN_PASSIVE)
-    .value("mjPLUGIN_SDF", mjPLUGIN_SDF);
-  enum_<mjtProjection>("mjtProjection")
-    .value("mjPROJ_PERSPECTIVE", mjPROJ_PERSPECTIVE)
-    .value("mjPROJ_ORTHOGRAPHIC", mjPROJ_ORTHOGRAPHIC);
-  enum_<mjtRayDataField>("mjtRayDataField")
-    .value("mjRAYDATA_DIST", mjRAYDATA_DIST)
-    .value("mjRAYDATA_DIR", mjRAYDATA_DIR)
-    .value("mjRAYDATA_ORIGIN", mjRAYDATA_ORIGIN)
-    .value("mjRAYDATA_POINT", mjRAYDATA_POINT)
-    .value("mjRAYDATA_NORMAL", mjRAYDATA_NORMAL)
-    .value("mjRAYDATA_DEPTH", mjRAYDATA_DEPTH)
-    .value("mjNRAYDATA", mjNRAYDATA);
-  enum_<mjtRndFlag>("mjtRndFlag")
-    .value("mjRND_SHADOW", mjRND_SHADOW)
-    .value("mjRND_WIREFRAME", mjRND_WIREFRAME)
-    .value("mjRND_REFLECTION", mjRND_REFLECTION)
-    .value("mjRND_ADDITIVE", mjRND_ADDITIVE)
-    .value("mjRND_SKYBOX", mjRND_SKYBOX)
-    .value("mjRND_FOG", mjRND_FOG)
-    .value("mjRND_HAZE", mjRND_HAZE)
-    .value("mjRND_DEPTH", mjRND_DEPTH)
-    .value("mjRND_SEGMENT", mjRND_SEGMENT)
-    .value("mjRND_IDCOLOR", mjRND_IDCOLOR)
-    .value("mjRND_CULL_FACE", mjRND_CULL_FACE)
-    .value("mjNRNDFLAG", mjNRNDFLAG);
-  enum_<mjtSDFType>("mjtSDFType")
-    .value("mjSDFTYPE_SINGLE", mjSDFTYPE_SINGLE)
-    .value("mjSDFTYPE_INTERSECTION", mjSDFTYPE_INTERSECTION)
-    .value("mjSDFTYPE_MIDSURFACE", mjSDFTYPE_MIDSURFACE)
-    .value("mjSDFTYPE_COLLISION", mjSDFTYPE_COLLISION);
-  enum_<mjtSameFrame>("mjtSameFrame")
-    .value("mjSAMEFRAME_NONE", mjSAMEFRAME_NONE)
-    .value("mjSAMEFRAME_BODY", mjSAMEFRAME_BODY)
-    .value("mjSAMEFRAME_INERTIA", mjSAMEFRAME_INERTIA)
-    .value("mjSAMEFRAME_BODYROT", mjSAMEFRAME_BODYROT)
-    .value("mjSAMEFRAME_INERTIAROT", mjSAMEFRAME_INERTIAROT);
-  enum_<mjtSection>("mjtSection")
-    .value("mjSECT_CLOSED", mjSECT_CLOSED)
-    .value("mjSECT_OPEN", mjSECT_OPEN)
-    .value("mjSECT_FIXED", mjSECT_FIXED);
-  enum_<mjtSensor>("mjtSensor")
-    .value("mjSENS_TOUCH", mjSENS_TOUCH)
-    .value("mjSENS_ACCELEROMETER", mjSENS_ACCELEROMETER)
-    .value("mjSENS_VELOCIMETER", mjSENS_VELOCIMETER)
-    .value("mjSENS_GYRO", mjSENS_GYRO)
-    .value("mjSENS_FORCE", mjSENS_FORCE)
-    .value("mjSENS_TORQUE", mjSENS_TORQUE)
-    .value("mjSENS_MAGNETOMETER", mjSENS_MAGNETOMETER)
-    .value("mjSENS_RANGEFINDER", mjSENS_RANGEFINDER)
-    .value("mjSENS_CAMPROJECTION", mjSENS_CAMPROJECTION)
-    .value("mjSENS_JOINTPOS", mjSENS_JOINTPOS)
-    .value("mjSENS_JOINTVEL", mjSENS_JOINTVEL)
-    .value("mjSENS_TENDONPOS", mjSENS_TENDONPOS)
-    .value("mjSENS_TENDONVEL", mjSENS_TENDONVEL)
-    .value("mjSENS_ACTUATORPOS", mjSENS_ACTUATORPOS)
-    .value("mjSENS_ACTUATORVEL", mjSENS_ACTUATORVEL)
-    .value("mjSENS_ACTUATORFRC", mjSENS_ACTUATORFRC)
-    .value("mjSENS_JOINTACTFRC", mjSENS_JOINTACTFRC)
-    .value("mjSENS_TENDONACTFRC", mjSENS_TENDONACTFRC)
-    .value("mjSENS_BALLQUAT", mjSENS_BALLQUAT)
-    .value("mjSENS_BALLANGVEL", mjSENS_BALLANGVEL)
-    .value("mjSENS_JOINTLIMITPOS", mjSENS_JOINTLIMITPOS)
-    .value("mjSENS_JOINTLIMITVEL", mjSENS_JOINTLIMITVEL)
-    .value("mjSENS_JOINTLIMITFRC", mjSENS_JOINTLIMITFRC)
-    .value("mjSENS_TENDONLIMITPOS", mjSENS_TENDONLIMITPOS)
-    .value("mjSENS_TENDONLIMITVEL", mjSENS_TENDONLIMITVEL)
-    .value("mjSENS_TENDONLIMITFRC", mjSENS_TENDONLIMITFRC)
-    .value("mjSENS_FRAMEPOS", mjSENS_FRAMEPOS)
-    .value("mjSENS_FRAMEQUAT", mjSENS_FRAMEQUAT)
-    .value("mjSENS_FRAMEXAXIS", mjSENS_FRAMEXAXIS)
-    .value("mjSENS_FRAMEYAXIS", mjSENS_FRAMEYAXIS)
-    .value("mjSENS_FRAMEZAXIS", mjSENS_FRAMEZAXIS)
-    .value("mjSENS_FRAMELINVEL", mjSENS_FRAMELINVEL)
-    .value("mjSENS_FRAMEANGVEL", mjSENS_FRAMEANGVEL)
-    .value("mjSENS_FRAMELINACC", mjSENS_FRAMELINACC)
-    .value("mjSENS_FRAMEANGACC", mjSENS_FRAMEANGACC)
-    .value("mjSENS_SUBTREECOM", mjSENS_SUBTREECOM)
-    .value("mjSENS_SUBTREELINVEL", mjSENS_SUBTREELINVEL)
-    .value("mjSENS_SUBTREEANGMOM", mjSENS_SUBTREEANGMOM)
-    .value("mjSENS_INSIDESITE", mjSENS_INSIDESITE)
-    .value("mjSENS_GEOMDIST", mjSENS_GEOMDIST)
-    .value("mjSENS_GEOMNORMAL", mjSENS_GEOMNORMAL)
-    .value("mjSENS_GEOMFROMTO", mjSENS_GEOMFROMTO)
-    .value("mjSENS_CONTACT", mjSENS_CONTACT)
-    .value("mjSENS_E_POTENTIAL", mjSENS_E_POTENTIAL)
-    .value("mjSENS_E_KINETIC", mjSENS_E_KINETIC)
-    .value("mjSENS_CLOCK", mjSENS_CLOCK)
-    .value("mjSENS_TACTILE", mjSENS_TACTILE)
-    .value("mjSENS_PLUGIN", mjSENS_PLUGIN)
-    .value("mjSENS_USER", mjSENS_USER);
-  enum_<mjtSleepPolicy>("mjtSleepPolicy")
-    .value("mjSLEEP_AUTO", mjSLEEP_AUTO)
-    .value("mjSLEEP_AUTO_NEVER", mjSLEEP_AUTO_NEVER)
-    .value("mjSLEEP_AUTO_ALLOWED", mjSLEEP_AUTO_ALLOWED)
-    .value("mjSLEEP_NEVER", mjSLEEP_NEVER)
-    .value("mjSLEEP_ALLOWED", mjSLEEP_ALLOWED)
-    .value("mjSLEEP_INIT", mjSLEEP_INIT);
-  enum_<mjtSleepState>("mjtSleepState")
-    .value("mjS_STATIC", mjS_STATIC)
-    .value("mjS_ASLEEP", mjS_ASLEEP)
-    .value("mjS_AWAKE", mjS_AWAKE);
-  enum_<mjtSolver>("mjtSolver")
-    .value("mjSOL_PGS", mjSOL_PGS)
-    .value("mjSOL_CG", mjSOL_CG)
-    .value("mjSOL_NEWTON", mjSOL_NEWTON);
-  enum_<mjtStage>("mjtStage")
-    .value("mjSTAGE_NONE", mjSTAGE_NONE)
-    .value("mjSTAGE_POS", mjSTAGE_POS)
-    .value("mjSTAGE_VEL", mjSTAGE_VEL)
-    .value("mjSTAGE_ACC", mjSTAGE_ACC);
-  enum_<mjtState>("mjtState")
-    .value("mjSTATE_TIME", mjSTATE_TIME)
-    .value("mjSTATE_QPOS", mjSTATE_QPOS)
-    .value("mjSTATE_QVEL", mjSTATE_QVEL)
-    .value("mjSTATE_ACT", mjSTATE_ACT)
-    .value("mjSTATE_HISTORY", mjSTATE_HISTORY)
-    .value("mjSTATE_WARMSTART", mjSTATE_WARMSTART)
-    .value("mjSTATE_CTRL", mjSTATE_CTRL)
-    .value("mjSTATE_QFRC_APPLIED", mjSTATE_QFRC_APPLIED)
-    .value("mjSTATE_XFRC_APPLIED", mjSTATE_XFRC_APPLIED)
-    .value("mjSTATE_EQ_ACTIVE", mjSTATE_EQ_ACTIVE)
-    .value("mjSTATE_MOCAP_POS", mjSTATE_MOCAP_POS)
-    .value("mjSTATE_MOCAP_QUAT", mjSTATE_MOCAP_QUAT)
-    .value("mjSTATE_USERDATA", mjSTATE_USERDATA)
-    .value("mjSTATE_PLUGIN", mjSTATE_PLUGIN)
-    .value("mjNSTATE", mjNSTATE)
-    .value("mjSTATE_PHYSICS", mjSTATE_PHYSICS)
-    .value("mjSTATE_FULLPHYSICS", mjSTATE_FULLPHYSICS)
-    .value("mjSTATE_USER", mjSTATE_USER)
-    .value("mjSTATE_INTEGRATION", mjSTATE_INTEGRATION);
-  enum_<mjtStereo>("mjtStereo")
-    .value("mjSTEREO_NONE", mjSTEREO_NONE)
-    .value("mjSTEREO_QUADBUFFERED", mjSTEREO_QUADBUFFERED)
-    .value("mjSTEREO_SIDEBYSIDE", mjSTEREO_SIDEBYSIDE);
-  enum_<mjtTexture>("mjtTexture")
-    .value("mjTEXTURE_2D", mjTEXTURE_2D)
-    .value("mjTEXTURE_CUBE", mjTEXTURE_CUBE)
-    .value("mjTEXTURE_SKYBOX", mjTEXTURE_SKYBOX);
-  enum_<mjtTextureRole>("mjtTextureRole")
-    .value("mjTEXROLE_USER", mjTEXROLE_USER)
-    .value("mjTEXROLE_RGB", mjTEXROLE_RGB)
-    .value("mjTEXROLE_OCCLUSION", mjTEXROLE_OCCLUSION)
-    .value("mjTEXROLE_ROUGHNESS", mjTEXROLE_ROUGHNESS)
-    .value("mjTEXROLE_METALLIC", mjTEXROLE_METALLIC)
-    .value("mjTEXROLE_NORMAL", mjTEXROLE_NORMAL)
-    .value("mjTEXROLE_OPACITY", mjTEXROLE_OPACITY)
-    .value("mjTEXROLE_EMISSIVE", mjTEXROLE_EMISSIVE)
-    .value("mjTEXROLE_RGBA", mjTEXROLE_RGBA)
-    .value("mjTEXROLE_ORM", mjTEXROLE_ORM)
-    .value("mjNTEXROLE", mjNTEXROLE);
-  enum_<mjtTimer>("mjtTimer")
-    .value("mjTIMER_STEP", mjTIMER_STEP)
-    .value("mjTIMER_FORWARD", mjTIMER_FORWARD)
-    .value("mjTIMER_INVERSE", mjTIMER_INVERSE)
-    .value("mjTIMER_POSITION", mjTIMER_POSITION)
-    .value("mjTIMER_VELOCITY", mjTIMER_VELOCITY)
-    .value("mjTIMER_ACTUATION", mjTIMER_ACTUATION)
-    .value("mjTIMER_CONSTRAINT", mjTIMER_CONSTRAINT)
-    .value("mjTIMER_ADVANCE", mjTIMER_ADVANCE)
-    .value("mjTIMER_POS_KINEMATICS", mjTIMER_POS_KINEMATICS)
-    .value("mjTIMER_POS_INERTIA", mjTIMER_POS_INERTIA)
-    .value("mjTIMER_POS_COLLISION", mjTIMER_POS_COLLISION)
-    .value("mjTIMER_POS_MAKE", mjTIMER_POS_MAKE)
-    .value("mjTIMER_POS_PROJECT", mjTIMER_POS_PROJECT)
-    .value("mjTIMER_COL_BROAD", mjTIMER_COL_BROAD)
-    .value("mjTIMER_COL_NARROW", mjTIMER_COL_NARROW)
-    .value("mjNTIMER", mjNTIMER);
-  enum_<mjtTrn>("mjtTrn")
-    .value("mjTRN_JOINT", mjTRN_JOINT)
-    .value("mjTRN_JOINTINPARENT", mjTRN_JOINTINPARENT)
-    .value("mjTRN_SLIDERCRANK", mjTRN_SLIDERCRANK)
-    .value("mjTRN_TENDON", mjTRN_TENDON)
-    .value("mjTRN_SITE", mjTRN_SITE)
-    .value("mjTRN_BODY", mjTRN_BODY)
-    .value("mjTRN_SO3", mjTRN_SO3)
-    .value("mjTRN_UNDEFINED", mjTRN_UNDEFINED);
-  enum_<mjtVisFlag>("mjtVisFlag")
-    .value("mjVIS_CONVEXHULL", mjVIS_CONVEXHULL)
-    .value("mjVIS_TEXTURE", mjVIS_TEXTURE)
-    .value("mjVIS_JOINT", mjVIS_JOINT)
-    .value("mjVIS_CAMERA", mjVIS_CAMERA)
-    .value("mjVIS_ACTUATOR", mjVIS_ACTUATOR)
-    .value("mjVIS_ACTIVATION", mjVIS_ACTIVATION)
-    .value("mjVIS_LIGHT", mjVIS_LIGHT)
-    .value("mjVIS_TENDON", mjVIS_TENDON)
-    .value("mjVIS_RANGEFINDER", mjVIS_RANGEFINDER)
-    .value("mjVIS_CONSTRAINT", mjVIS_CONSTRAINT)
-    .value("mjVIS_INERTIA", mjVIS_INERTIA)
-    .value("mjVIS_SCLINERTIA", mjVIS_SCLINERTIA)
-    .value("mjVIS_PERTFORCE", mjVIS_PERTFORCE)
-    .value("mjVIS_PERTOBJ", mjVIS_PERTOBJ)
-    .value("mjVIS_CONTACTPOINT", mjVIS_CONTACTPOINT)
-    .value("mjVIS_ISLAND", mjVIS_ISLAND)
-    .value("mjVIS_CONTACTFORCE", mjVIS_CONTACTFORCE)
-    .value("mjVIS_CONTACTSPLIT", mjVIS_CONTACTSPLIT)
-    .value("mjVIS_TRANSPARENT", mjVIS_TRANSPARENT)
-    .value("mjVIS_AUTOCONNECT", mjVIS_AUTOCONNECT)
-    .value("mjVIS_COM", mjVIS_COM)
-    .value("mjVIS_SELECT", mjVIS_SELECT)
-    .value("mjVIS_STATIC", mjVIS_STATIC)
-    .value("mjVIS_SKIN", mjVIS_SKIN)
-    .value("mjVIS_FLEXVERT", mjVIS_FLEXVERT)
-    .value("mjVIS_FLEXEDGE", mjVIS_FLEXEDGE)
-    .value("mjVIS_FLEXFACE", mjVIS_FLEXFACE)
-    .value("mjVIS_FLEXSKIN", mjVIS_FLEXSKIN)
-    .value("mjVIS_BODYBVH", mjVIS_BODYBVH)
-    .value("mjVIS_MESHBVH", mjVIS_MESHBVH)
-    .value("mjVIS_SDFITER", mjVIS_SDFITER)
-    .value("mjNVISFLAG", mjNVISFLAG);
-  enum_<mjtWarning>("mjtWarning")
-    .value("mjWARN_INERTIA", mjWARN_INERTIA)
-    .value("mjWARN_CONTACTFULL", mjWARN_CONTACTFULL)
-    .value("mjWARN_CNSTRFULL", mjWARN_CNSTRFULL)
-    .value("mjWARN_BADQPOS", mjWARN_BADQPOS)
-    .value("mjWARN_BADQVEL", mjWARN_BADQVEL)
-    .value("mjWARN_BADQACC", mjWARN_BADQACC)
-    .value("mjWARN_BADCTRL", mjWARN_BADCTRL)
-    .value("mjNWARNING", mjNWARNING);
-  enum_<mjtWrap>("mjtWrap")
-    .value("mjWRAP_NONE", mjWRAP_NONE)
-    .value("mjWRAP_JOINT", mjWRAP_JOINT)
-    .value("mjWRAP_PULLEY", mjWRAP_PULLEY)
-    .value("mjWRAP_SITE", mjWRAP_SITE)
-    .value("mjWRAP_SPHERE", mjWRAP_SPHERE)
-    .value("mjWRAP_CYLINDER", mjWRAP_CYLINDER);
-
-  // Bindings for the MjModel accessor classes.
-  #define X(type, prefix, var, dim0, dim1) .property(#var, &Accessor::get_##var, &Accessor::set_##var)
-  #define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield)        \
-    {                                                           \
-      using Accessor = MjModel##Name##Accessor;                 \
-      emscripten::class_<Accessor>("MjModel" #Name "Accessor")  \
-          .property("id", &Accessor::id)                        \
-          .property("name", &Accessor::name)                    \
-          MJMODEL_##NAME;                                       \
-    }
-    MJMODEL_ACCESSORS
-  #undef X
-  #undef X_ACCESSOR
-
-  // Bindings for the MjData accessor classes.
-  #define X(type, prefix, var, dim0, dim1) .property(#var, &Accessor::get_##var, &Accessor::set_##var)
-  #define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield)       \
-    {                                                          \
-      using Accessor = MjData##Name##Accessor;                 \
-      emscripten::class_<Accessor>("MjData" #Name "Accessor")  \
-          .property("id", &Accessor::id)                       \
-          .property("name", &Accessor::name)                   \
-          MJDATA_##NAME;                                       \
-    }
-    MJDATA_ACCESSORS
-  #undef X
-  #undef X_ACCESSOR
-
-  emscripten::class_<MjContact>("MjContact")
-    .constructor<>()
-    .function("copy", &MjContact::copy, take_ownership())
-    .property("H", &MjContact::H)
-    .property("adhesion", &MjContact::adhesion, &MjContact::set_adhesion, reference())
-    .property("dim", &MjContact::dim, &MjContact::set_dim, reference())
-    .property("dist", &MjContact::dist, &MjContact::set_dist, reference())
-    .property("efc_address", &MjContact::efc_address, &MjContact::set_efc_address, reference())
-    .property("elem", &MjContact::elem)
-    .property("exclude", &MjContact::exclude, &MjContact::set_exclude, reference())
-    .property("flex", &MjContact::flex)
-    .property("frame", &MjContact::frame)
-    .property("friction", &MjContact::friction)
-    .property("geom", &MjContact::geom)
-    .property("geom1", &MjContact::geom1, &MjContact::set_geom1, reference())
-    .property("geom2", &MjContact::geom2, &MjContact::set_geom2, reference())
-    .property("includemargin", &MjContact::includemargin, &MjContact::set_includemargin, reference())
-    .property("mu", &MjContact::mu, &MjContact::set_mu, reference())
-    .property("pos", &MjContact::pos)
-    .property("solimp", &MjContact::solimp)
-    .property("solref", &MjContact::solref)
-    .property("solreffriction", &MjContact::solreffriction)
-    .property("vert", &MjContact::vert);
-  emscripten::class_<MjData>("MjData")
-    .constructor<MjModel *>()
-    .constructor<const MjModel &, const MjData &>()
-    // Binds the functions on MjData that return accessors.
-      #define X_ACCESSOR(NAME, Name, OBJTYPE, field_name, nfield) \
-        .function(#field_name, &MjData::field_name)
-        MJDATA_ACCESSORS
-      #undef X_ACCESSOR
-    .property("M", &MjData::M)
-    .property("act", &MjData::act)
-    .property("act_dot", &MjData::act_dot)
-    .property("actuator_force", &MjData::actuator_force)
-    .property("actuator_length", &MjData::actuator_length)
-    .property("actuator_moment", &MjData::actuator_moment)
-    .property("actuator_velocity", &MjData::actuator_velocity)
-    .property("arena", &MjData::arena)
-    .property("body_awake", &MjData::body_awake)
-    .property("body_awake_ind", &MjData::body_awake_ind)
-    .property("buffer", &MjData::buffer)
-    .property("bvh_aabb_dyn", &MjData::bvh_aabb_dyn)
-    .property("bvh_active", &MjData::bvh_active)
-    .property("cacc", &MjData::cacc)
-    .property("cam_xmat", &MjData::cam_xmat)
-    .property("cam_xpos", &MjData::cam_xpos)
-    .property("cdof", &MjData::cdof)
-    .property("cdof_dot", &MjData::cdof_dot)
-    .property("cfrc_ext", &MjData::cfrc_ext)
-    .property("cfrc_int", &MjData::cfrc_int)
-    .property("cinert", &MjData::cinert)
-    .property("contact", &MjData::contact)
-    .property("crb", &MjData::crb)
-    .property("ctrl", &MjData::ctrl)
-    .property("cvel", &MjData::cvel)
-    .property("dof_awake_ind", &MjData::dof_awake_ind)
-    .property("dof_island", &MjData::dof_island)
-    .property("efc_AR", &MjData::efc_AR)
-    .property("efc_AR_colind", &MjData::efc_AR_colind)
-    .property("efc_AR_rowadr", &MjData::efc_AR_rowadr)
-    .property("efc_AR_rownnz", &MjData::efc_AR_rownnz)
-    .property("efc_D", &MjData::efc_D)
-    .property("efc_J", &MjData::efc_J)
-    .property("efc_J_colind", &MjData::efc_J_colind)
-    .property("efc_J_rowadr", &MjData::efc_J_rowadr)
-    .property("efc_J_rownnz", &MjData::efc_J_rownnz)
-    .property("efc_J_rowsuper", &MjData::efc_J_rowsuper)
-    .property("efc_KBIP", &MjData::efc_KBIP)
-    .property("efc_R", &MjData::efc_R)
-    .property("efc_Y", &MjData::efc_Y)
-    .property("efc_Y_colind", &MjData::efc_Y_colind)
-    .property("efc_Y_rowadr", &MjData::efc_Y_rowadr)
-    .property("efc_Y_rownnz", &MjData::efc_Y_rownnz)
-    .property("efc_aref", &MjData::efc_aref)
-    .property("efc_b", &MjData::efc_b)
-    .property("efc_diagA", &MjData::efc_diagA)
-    .property("efc_force", &MjData::efc_force)
-    .property("efc_frictionloss", &MjData::efc_frictionloss)
-    .property("efc_id", &MjData::efc_id)
-    .property("efc_island", &MjData::efc_island)
-    .property("efc_margin", &MjData::efc_margin)
-    .property("efc_pos", &MjData::efc_pos)
-    .property("efc_state", &MjData::efc_state)
-    .property("efc_type", &MjData::efc_type)
-    .property("efc_vel", &MjData::efc_vel)
-    .property("efm_K_colind", &MjData::efm_K_colind)
-    .property("efm_K_rowadr", &MjData::efm_K_rowadr)
-    .property("efm_K_rownnz", &MjData::efm_K_rownnz)
-    .property("efm_K_val", &MjData::efm_K_val)
-    .property("efm_L", &MjData::efm_L)
-    .property("efm_active", &MjData::efm_active, &MjData::set_efm_active, reference())
-    .property("efm_c", &MjData::efm_c)
-    .property("efm_dofid", &MjData::efm_dofid)
-    .property("energy", &MjData::energy)
-    .property("eq_active", &MjData::eq_active)
-    .property("flexedge_J", &MjData::flexedge_J)
-    .property("flexedge_length", &MjData::flexedge_length)
-    .property("flexedge_velocity", &MjData::flexedge_velocity)
-    .property("flexelem_aabb", &MjData::flexelem_aabb)
-    .property("flexelem_krot", &MjData::flexelem_krot)
-    .property("flexvert_J", &MjData::flexvert_J)
-    .property("flexvert_length", &MjData::flexvert_length)
-    .property("flexvert_xpos", &MjData::flexvert_xpos)
-    .property("flg_energypos", &MjData::flg_energypos, &MjData::set_flg_energypos, reference())
-    .property("flg_energyvel", &MjData::flg_energyvel, &MjData::set_flg_energyvel, reference())
-    .property("flg_rnepost", &MjData::flg_rnepost, &MjData::set_flg_rnepost, reference())
-    .property("flg_subtreevel", &MjData::flg_subtreevel, &MjData::set_flg_subtreevel, reference())
-    .property("geom_xmat", &MjData::geom_xmat)
-    .property("geom_xpos", &MjData::geom_xpos)
-    .property("history", &MjData::history)
-    .property("iacc", &MjData::iacc)
-    .property("iacc_smooth", &MjData::iacc_smooth)
-    .property("iefc_D", &MjData::iefc_D)
-    .property("iefc_R", &MjData::iefc_R)
-    .property("iefc_aref", &MjData::iefc_aref)
-    .property("iefc_force", &MjData::iefc_force)
-    .property("iefc_frictionloss", &MjData::iefc_frictionloss)
-    .property("iefc_id", &MjData::iefc_id)
-    .property("iefc_state", &MjData::iefc_state)
-    .property("iefc_type", &MjData::iefc_type)
-    .property("ifrc_constraint", &MjData::ifrc_constraint)
-    .property("ifrc_smooth", &MjData::ifrc_smooth)
-    .property("island_dofadr", &MjData::island_dofadr)
-    .property("island_idofadr", &MjData::island_idofadr)
-    .property("island_iefcadr", &MjData::island_iefcadr)
-    .property("island_itreeadr", &MjData::island_itreeadr)
-    .property("island_ne", &MjData::island_ne)
-    .property("island_nefc", &MjData::island_nefc)
-    .property("island_nf", &MjData::island_nf)
-    .property("island_ntree", &MjData::island_ntree)
-    .property("island_nv", &MjData::island_nv)
-    .property("light_xdir", &MjData::light_xdir)
-    .property("light_xpos", &MjData::light_xpos)
-    .property("map_dof2idof", &MjData::map_dof2idof)
-    .property("map_efc2iefc", &MjData::map_efc2iefc)
-    .property("map_idof2dof", &MjData::map_idof2dof)
-    .property("map_iefc2efc", &MjData::map_iefc2efc)
-    .property("map_itree2tree", &MjData::map_itree2tree)
-    .property("maxuse_arena", &MjData::maxuse_arena, &MjData::set_maxuse_arena, reference())
-    .property("maxuse_con", &MjData::maxuse_con, &MjData::set_maxuse_con, reference())
-    .property("maxuse_efc", &MjData::maxuse_efc, &MjData::set_maxuse_efc, reference())
-    .property("maxuse_stack", &MjData::maxuse_stack, &MjData::set_maxuse_stack, reference())
-    .property("mocap_pos", &MjData::mocap_pos)
-    .property("mocap_quat", &MjData::mocap_quat)
-    .property("moment_colind", &MjData::moment_colind)
-    .property("moment_rowadr", &MjData::moment_rowadr)
-    .property("moment_rownnz", &MjData::moment_rownnz)
-    .property("nA", &MjData::nA, &MjData::set_nA, reference())
-    .property("nJ", &MjData::nJ, &MjData::set_nJ, reference())
-    .property("nY", &MjData::nY, &MjData::set_nY, reference())
-    .property("narena", &MjData::narena, &MjData::set_narena, reference())
-    .property("nbody_awake", &MjData::nbody_awake, &MjData::set_nbody_awake, reference())
-    .property("nbuffer", &MjData::nbuffer, &MjData::set_nbuffer, reference())
-    .property("ncon", &MjData::ncon, &MjData::set_ncon, reference())
-    .property("ne", &MjData::ne, &MjData::set_ne, reference())
-    .property("nefc", &MjData::nefc, &MjData::set_nefc, reference())
-    .property("nefmK", &MjData::nefmK, &MjData::set_nefmK, reference())
-    .property("nefmL", &MjData::nefmL, &MjData::set_nefmL, reference())
-    .property("nefmdof", &MjData::nefmdof, &MjData::set_nefmdof, reference())
-    .property("nf", &MjData::nf, &MjData::set_nf, reference())
-    .property("nidof", &MjData::nidof, &MjData::set_nidof, reference())
-    .property("nisland", &MjData::nisland, &MjData::set_nisland, reference())
-    .property("nl", &MjData::nl, &MjData::set_nl, reference())
-    .property("nparent_awake", &MjData::nparent_awake, &MjData::set_nparent_awake, reference())
-    .property("nplugin", &MjData::nplugin, &MjData::set_nplugin, reference())
-    .property("ntree_awake", &MjData::ntree_awake, &MjData::set_ntree_awake, reference())
-    .property("nv_awake", &MjData::nv_awake, &MjData::set_nv_awake, reference())
-    .property("parena", &MjData::parena, &MjData::set_parena, reference())
-    .property("parent_awake_ind", &MjData::parent_awake_ind)
-    .property("pbase", &MjData::pbase, &MjData::set_pbase, reference())
-    .property("plugin", &MjData::plugin)
-    .property("plugin_data", &MjData::plugin_data)
-    .property("plugin_state", &MjData::plugin_state)
-    .property("pstack", &MjData::pstack, &MjData::set_pstack, reference())
-    .property("qDeriv", &MjData::qDeriv)
-    .property("qH", &MjData::qH)
-    .property("qHDiagInv", &MjData::qHDiagInv)
-    .property("qLD", &MjData::qLD)
-    .property("qLDiagInv", &MjData::qLDiagInv)
-    .property("qLU", &MjData::qLU)
-    .property("qacc", &MjData::qacc)
-    .property("qacc_smooth", &MjData::qacc_smooth)
-    .property("qacc_warmstart", &MjData::qacc_warmstart)
-    .property("qfrc_actuator", &MjData::qfrc_actuator)
-    .property("qfrc_adhesion", &MjData::qfrc_adhesion)
-    .property("qfrc_applied", &MjData::qfrc_applied)
-    .property("qfrc_bias", &MjData::qfrc_bias)
-    .property("qfrc_constraint", &MjData::qfrc_constraint)
-    .property("qfrc_damper", &MjData::qfrc_damper)
-    .property("qfrc_fluid", &MjData::qfrc_fluid)
-    .property("qfrc_gravcomp", &MjData::qfrc_gravcomp)
-    .property("qfrc_inverse", &MjData::qfrc_inverse)
-    .property("qfrc_passive", &MjData::qfrc_passive)
-    .property("qfrc_smooth", &MjData::qfrc_smooth)
-    .property("qfrc_spring", &MjData::qfrc_spring)
-    .property("qpos", &MjData::qpos)
-    .property("qvel", &MjData::qvel)
-    .property("sensordata", &MjData::sensordata)
-    .property("signature", &MjData::signature, &MjData::set_signature, reference())
-    .property("site_xmat", &MjData::site_xmat)
-    .property("site_xpos", &MjData::site_xpos)
-    .property("solver", &MjData::solver, reference())
-    .property("solver_fwdinv", &MjData::solver_fwdinv)
-    .property("solver_niter", &MjData::solver_niter)
-    .property("solver_nnz", &MjData::solver_nnz)
-    .property("subtree_angmom", &MjData::subtree_angmom)
-    .property("subtree_com", &MjData::subtree_com)
-    .property("subtree_linvel", &MjData::subtree_linvel)
-    .property("ten_J", &MjData::ten_J)
-    .property("ten_length", &MjData::ten_length)
-    .property("ten_velocity", &MjData::ten_velocity)
-    .property("ten_wrapadr", &MjData::ten_wrapadr)
-    .property("ten_wrapnum", &MjData::ten_wrapnum)
-    .property("tendon_efcadr", &MjData::tendon_efcadr)
-    .property("threadlock", &MjData::threadlock, &MjData::set_threadlock, reference())
-    .property("threadpool", &MjData::threadpool, &MjData::set_threadpool, reference())
-    .property("time", &MjData::time, &MjData::set_time, reference())
-    .property("timer", &MjData::timer, reference())
-    .property("tree_asleep", &MjData::tree_asleep)
-    .property("tree_awake", &MjData::tree_awake)
-    .property("tree_island", &MjData::tree_island)
-    .property("userdata", &MjData::userdata)
-    .property("warning", &MjData::warning, reference())
-    .property("wrap_obj", &MjData::wrap_obj)
-    .property("wrap_xpos", &MjData::wrap_xpos)
-    .property("xanchor", &MjData::xanchor)
-    .property("xaxis", &MjData::xaxis)
-    .property("xfrc_applied", &MjData::xfrc_applied)
-    .property("ximat", &MjData::ximat)
-    .property("xipos", &MjData::xipos)
-    .property("xmat", &MjData::xmat)
-    .property("xpos", &MjData::xpos)
-    .property("xquat", &MjData::xquat);
-  emscripten::class_<MjLROpt>("MjLROpt")
-    .constructor<>()
-    .function("copy", &MjLROpt::copy, take_ownership())
-    .property("accel", &MjLROpt::accel, &MjLROpt::set_accel, reference())
-    .property("interval", &MjLROpt::interval, &MjLROpt::set_interval, reference())
-    .property("inttotal", &MjLROpt::inttotal, &MjLROpt::set_inttotal, reference())
-    .property("maxforce", &MjLROpt::maxforce, &MjLROpt::set_maxforce, reference())
-    .property("mode", &MjLROpt::mode, &MjLROpt::set_mode, reference())
-    .property("timeconst", &MjLROpt::timeconst, &MjLROpt::set_timeconst, reference())
-    .property("timestep", &MjLROpt::timestep, &MjLROpt::set_timestep, reference())
-    .property("tolrange", &MjLROpt::tolrange, &MjLROpt::set_tolrange, reference())
-    .property("useexisting", &MjLROpt::useexisting, &MjLROpt::set_useexisting, reference())
-    .property("uselimit", &MjLROpt::uselimit, &MjLROpt::set_uselimit, reference());
-  emscripten::class_<MjLogConfig>("MjLogConfig")
-    .constructor<>()
-    .function("copy", &MjLogConfig::copy, take_ownership())
-    .property("logfile", &MjLogConfig::logfile)
-    .property("logto_console", &MjLogConfig::logto_console, &MjLogConfig::set_logto_console, reference())
-    .property("logto_file", &MjLogConfig::logto_file, &MjLogConfig::set_logto_file, reference())
-    .property("topics", &MjLogConfig::topics, &MjLogConfig::set_topics, reference());
-  emscripten::class_<MjLogMessage>("MjLogMessage")
-    .constructor<>()
-    .property("body", &MjLogMessage::body, reference())
-    .property("file", &MjLogMessage::file, reference())
-    .property("func", &MjLogMessage::func, reference())
-    .property("level", &MjLogMessage::level, &MjLogMessage::set_level, reference())
-    .property("line", &MjLogMessage::line, &MjLogMessage::set_line, reference())
-    .property("subject", &MjLogMessage::subject)
-    .property("timestamp", &MjLogMessage::timestamp, &MjLogMessage::set_timestamp, reference())
-    .property("topic", &MjLogMessage::topic, &MjLogMessage::set_topic, reference());
-  emscripten::class_<MjModel>("MjModel")
-    // mj_loadXML is deprecated and will be removed in a future release
-    .class_function("mj_loadXML", emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))
-    .class_function("mj_loadXML", emscripten::select_overload<std::unique_ptr<MjModel>(std::string, const MjVFS&)>(&mj_loadXML_wrapper_2))
-    // mj_loadModel is deprecated and will be removed in a future release
-    .class_function("mj_loadModel", &mj_loadModel_wrapper)
-    .class_function("from_binary_path", &mj_loadModel_wrapper)
-    .class_function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&)>(&from_xml_string_wrapper_1))
-    .class_function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&, const MjVFS&)>(&from_xml_string_wrapper_2))
-    .class_function("from_xml_path", emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))
-    .class_function("from_xml_path", emscripten::select_overload<std::unique_ptr<MjModel>(std::string, const MjVFS&)>(&mj_loadXML_wrapper_2))
-    .constructor<const MjModel &>()
-    // Binds the functions on MjModel that return accessors.
-    #define X_ACCESSOR(NAME, Name, OBJTYPE, field_name, nfield) \
-      .function(#field_name, &MjModel::field_name)
-      MJMODEL_ACCESSORS
-    #undef X_ACCESSOR
-    .property("B_colind", &MjModel::B_colind)
-    .property("B_rowadr", &MjModel::B_rowadr)
-    .property("B_rownnz", &MjModel::B_rownnz)
-    .property("D_colind", &MjModel::D_colind)
-    .property("D_diag", &MjModel::D_diag)
-    .property("D_rowadr", &MjModel::D_rowadr)
-    .property("D_rownnz", &MjModel::D_rownnz)
-    .property("M_colind", &MjModel::M_colind)
-    .property("M_rowadr", &MjModel::M_rowadr)
-    .property("M_rownnz", &MjModel::M_rownnz)
-    .property("actuator_acc0", &MjModel::actuator_acc0)
-    .property("actuator_actadr", &MjModel::actuator_actadr)
-    .property("actuator_actearly", &MjModel::actuator_actearly)
-    .property("actuator_actlimited", &MjModel::actuator_actlimited)
-    .property("actuator_actnum", &MjModel::actuator_actnum)
-    .property("actuator_actrange", &MjModel::actuator_actrange)
-    .property("actuator_armature", &MjModel::actuator_armature)
-    .property("actuator_biasprm", &MjModel::actuator_biasprm)
-    .property("actuator_biastype", &MjModel::actuator_biastype)
-    .property("actuator_cranklength", &MjModel::actuator_cranklength)
-    .property("actuator_ctrladr", &MjModel::actuator_ctrladr)
-    .property("actuator_ctrllimited", &MjModel::actuator_ctrllimited)
-    .property("actuator_ctrlnum", &MjModel::actuator_ctrlnum)
-    .property("actuator_ctrlrange", &MjModel::actuator_ctrlrange)
-    .property("actuator_ctrlspec", &MjModel::actuator_ctrlspec)
-    .property("actuator_damping", &MjModel::actuator_damping)
-    .property("actuator_dampingpoly", &MjModel::actuator_dampingpoly)
-    .property("actuator_delay", &MjModel::actuator_delay)
-    .property("actuator_dynprm", &MjModel::actuator_dynprm)
-    .property("actuator_dyntype", &MjModel::actuator_dyntype)
-    .property("actuator_forcelimited", &MjModel::actuator_forcelimited)
-    .property("actuator_forcerange", &MjModel::actuator_forcerange)
-    .property("actuator_gainprm", &MjModel::actuator_gainprm)
-    .property("actuator_gaintype", &MjModel::actuator_gaintype)
-    .property("actuator_gear", &MjModel::actuator_gear)
-    .property("actuator_group", &MjModel::actuator_group)
-    .property("actuator_history", &MjModel::actuator_history)
-    .property("actuator_historyadr", &MjModel::actuator_historyadr)
-    .property("actuator_length0", &MjModel::actuator_length0)
-    .property("actuator_lengthrange", &MjModel::actuator_lengthrange)
-    .property("actuator_outadr", &MjModel::actuator_outadr)
-    .property("actuator_outnum", &MjModel::actuator_outnum)
-    .property("actuator_plugin", &MjModel::actuator_plugin)
-    .property("actuator_trnid", &MjModel::actuator_trnid)
-    .property("actuator_trntype", &MjModel::actuator_trntype)
-    .property("actuator_user", &MjModel::actuator_user)
-    .property("body_bvhadr", &MjModel::body_bvhadr)
-    .property("body_bvhnum", &MjModel::body_bvhnum)
-    .property("body_conaffinity", &MjModel::body_conaffinity)
-    .property("body_contype", &MjModel::body_contype)
-    .property("body_dofadr", &MjModel::body_dofadr)
-    .property("body_dofnum", &MjModel::body_dofnum)
-    .property("body_geomadr", &MjModel::body_geomadr)
-    .property("body_geomnum", &MjModel::body_geomnum)
-    .property("body_gravcomp", &MjModel::body_gravcomp)
-    .property("body_inertia", &MjModel::body_inertia)
-    .property("body_invweight0", &MjModel::body_invweight0)
-    .property("body_ipos", &MjModel::body_ipos)
-    .property("body_iquat", &MjModel::body_iquat)
-    .property("body_jntadr", &MjModel::body_jntadr)
-    .property("body_jntnum", &MjModel::body_jntnum)
-    .property("body_margin", &MjModel::body_margin)
-    .property("body_mass", &MjModel::body_mass)
-    .property("body_mocapid", &MjModel::body_mocapid)
-    .property("body_parentid", &MjModel::body_parentid)
-    .property("body_plugin", &MjModel::body_plugin)
-    .property("body_pos", &MjModel::body_pos)
-    .property("body_quat", &MjModel::body_quat)
-    .property("body_rootid", &MjModel::body_rootid)
-    .property("body_sameframe", &MjModel::body_sameframe)
-    .property("body_simple", &MjModel::body_simple)
-    .property("body_subtreemass", &MjModel::body_subtreemass)
-    .property("body_treeid", &MjModel::body_treeid)
-    .property("body_user", &MjModel::body_user)
-    .property("body_weldid", &MjModel::body_weldid)
-    .property("buffer", &MjModel::buffer)
-    .property("bvh_aabb", &MjModel::bvh_aabb)
-    .property("bvh_child", &MjModel::bvh_child)
-    .property("bvh_depth", &MjModel::bvh_depth)
-    .property("bvh_nodeid", &MjModel::bvh_nodeid)
-    .property("cam_bodyid", &MjModel::cam_bodyid)
-    .property("cam_fovy", &MjModel::cam_fovy)
-    .property("cam_intrinsic", &MjModel::cam_intrinsic)
-    .property("cam_ipd", &MjModel::cam_ipd)
-    .property("cam_mat0", &MjModel::cam_mat0)
-    .property("cam_mode", &MjModel::cam_mode)
-    .property("cam_output", &MjModel::cam_output)
-    .property("cam_pos", &MjModel::cam_pos)
-    .property("cam_pos0", &MjModel::cam_pos0)
-    .property("cam_poscom0", &MjModel::cam_poscom0)
-    .property("cam_projection", &MjModel::cam_projection)
-    .property("cam_quat", &MjModel::cam_quat)
-    .property("cam_resolution", &MjModel::cam_resolution)
-    .property("cam_sensorsize", &MjModel::cam_sensorsize)
-    .property("cam_targetbodyid", &MjModel::cam_targetbodyid)
-    .property("cam_user", &MjModel::cam_user)
-    .property("dof_M0", &MjModel::dof_M0)
-    .property("dof_Madr", &MjModel::dof_Madr)
-    .property("dof_armature", &MjModel::dof_armature)
-    .property("dof_bodyid", &MjModel::dof_bodyid)
-    .property("dof_damping", &MjModel::dof_damping)
-    .property("dof_dampingpoly", &MjModel::dof_dampingpoly)
-    .property("dof_frictionloss", &MjModel::dof_frictionloss)
-    .property("dof_invweight0", &MjModel::dof_invweight0)
-    .property("dof_jntid", &MjModel::dof_jntid)
-    .property("dof_length", &MjModel::dof_length)
-    .property("dof_parentid", &MjModel::dof_parentid)
-    .property("dof_simplenum", &MjModel::dof_simplenum)
-    .property("dof_solimp", &MjModel::dof_solimp)
-    .property("dof_solref", &MjModel::dof_solref)
-    .property("dof_treeid", &MjModel::dof_treeid)
-    .property("efm0_L", &MjModel::efm0_L)
-    .property("efm0_L_colind", &MjModel::efm0_L_colind)
-    .property("efm0_L_rowadr", &MjModel::efm0_L_rowadr)
-    .property("efm0_L_rownnz", &MjModel::efm0_L_rownnz)
-    .property("efm0_dofid", &MjModel::efm0_dofid)
-    .property("eq_active0", &MjModel::eq_active0)
-    .property("eq_data", &MjModel::eq_data)
-    .property("eq_obj1id", &MjModel::eq_obj1id)
-    .property("eq_obj2id", &MjModel::eq_obj2id)
-    .property("eq_objtype", &MjModel::eq_objtype)
-    .property("eq_solimp", &MjModel::eq_solimp)
-    .property("eq_solref", &MjModel::eq_solref)
-    .property("eq_type", &MjModel::eq_type)
-    .property("exclude_signature", &MjModel::exclude_signature)
-    .property("flex_activelayers", &MjModel::flex_activelayers)
-    .property("flex_bending", &MjModel::flex_bending)
-    .property("flex_bendingadr", &MjModel::flex_bendingadr)
-    .property("flex_bvhadr", &MjModel::flex_bvhadr)
-    .property("flex_bvhnum", &MjModel::flex_bvhnum)
-    .property("flex_cellnum", &MjModel::flex_cellnum)
-    .property("flex_centered", &MjModel::flex_centered)
-    .property("flex_conaffinity", &MjModel::flex_conaffinity)
-    .property("flex_condim", &MjModel::flex_condim)
-    .property("flex_contype", &MjModel::flex_contype)
-    .property("flex_damping", &MjModel::flex_damping)
-    .property("flex_dim", &MjModel::flex_dim)
-    .property("flex_edge", &MjModel::flex_edge)
-    .property("flex_edgeadr", &MjModel::flex_edgeadr)
-    .property("flex_edgedamping", &MjModel::flex_edgedamping)
-    .property("flex_edgeequality", &MjModel::flex_edgeequality)
-    .property("flex_edgeflap", &MjModel::flex_edgeflap)
-    .property("flex_edgenum", &MjModel::flex_edgenum)
-    .property("flex_edgestiffness", &MjModel::flex_edgestiffness)
-    .property("flex_elem", &MjModel::flex_elem)
-    .property("flex_elemadr", &MjModel::flex_elemadr)
-    .property("flex_elemdataadr", &MjModel::flex_elemdataadr)
-    .property("flex_elemedge", &MjModel::flex_elemedge)
-    .property("flex_elemedgeadr", &MjModel::flex_elemedgeadr)
-    .property("flex_elemlayer", &MjModel::flex_elemlayer)
-    .property("flex_elemnum", &MjModel::flex_elemnum)
-    .property("flex_elemtexcoord", &MjModel::flex_elemtexcoord)
-    .property("flex_evpair", &MjModel::flex_evpair)
-    .property("flex_evpairadr", &MjModel::flex_evpairadr)
-    .property("flex_evpairnum", &MjModel::flex_evpairnum)
-    .property("flex_flatskin", &MjModel::flex_flatskin)
-    .property("flex_friction", &MjModel::flex_friction)
-    .property("flex_gap", &MjModel::flex_gap)
-    .property("flex_group", &MjModel::flex_group)
-    .property("flex_internal", &MjModel::flex_internal)
-    .property("flex_interp", &MjModel::flex_interp)
-    .property("flex_margin", &MjModel::flex_margin)
-    .property("flex_matid", &MjModel::flex_matid)
-    .property("flex_node", &MjModel::flex_node)
-    .property("flex_node0", &MjModel::flex_node0)
-    .property("flex_nodeadr", &MjModel::flex_nodeadr)
-    .property("flex_nodebodyid", &MjModel::flex_nodebodyid)
-    .property("flex_nodenum", &MjModel::flex_nodenum)
-    .property("flex_passive", &MjModel::flex_passive)
-    .property("flex_priority", &MjModel::flex_priority)
-    .property("flex_radius", &MjModel::flex_radius)
-    .property("flex_rgba", &MjModel::flex_rgba)
-    .property("flex_rigid", &MjModel::flex_rigid)
-    .property("flex_selfcollide", &MjModel::flex_selfcollide)
-    .property("flex_shell", &MjModel::flex_shell)
-    .property("flex_shelldataadr", &MjModel::flex_shelldataadr)
-    .property("flex_shellnum", &MjModel::flex_shellnum)
-    .property("flex_size", &MjModel::flex_size)
-    .property("flex_solimp", &MjModel::flex_solimp)
-    .property("flex_solmix", &MjModel::flex_solmix)
-    .property("flex_solref", &MjModel::flex_solref)
-    .property("flex_stiffness", &MjModel::flex_stiffness)
-    .property("flex_stiffnessadr", &MjModel::flex_stiffnessadr)
-    .property("flex_texcoord", &MjModel::flex_texcoord)
-    .property("flex_texcoordadr", &MjModel::flex_texcoordadr)
-    .property("flex_vert", &MjModel::flex_vert)
-    .property("flex_vert0", &MjModel::flex_vert0)
-    .property("flex_vertadr", &MjModel::flex_vertadr)
-    .property("flex_vertbodyid", &MjModel::flex_vertbodyid)
-    .property("flex_vertedge", &MjModel::flex_vertedge)
-    .property("flex_vertedgeadr", &MjModel::flex_vertedgeadr)
-    .property("flex_vertedgenum", &MjModel::flex_vertedgenum)
-    .property("flex_vertmetric", &MjModel::flex_vertmetric)
-    .property("flex_vertnum", &MjModel::flex_vertnum)
-    .property("flexedge_J_colind", &MjModel::flexedge_J_colind)
-    .property("flexedge_J_rowadr", &MjModel::flexedge_J_rowadr)
-    .property("flexedge_J_rownnz", &MjModel::flexedge_J_rownnz)
-    .property("flexedge_invweight0", &MjModel::flexedge_invweight0)
-    .property("flexedge_length0", &MjModel::flexedge_length0)
-    .property("flexedge_rigid", &MjModel::flexedge_rigid)
-    .property("flexvert_J_colind", &MjModel::flexvert_J_colind)
-    .property("flexvert_J_rowadr", &MjModel::flexvert_J_rowadr)
-    .property("flexvert_J_rownnz", &MjModel::flexvert_J_rownnz)
-    .property("flg_adhesion", &MjModel::flg_adhesion, &MjModel::set_flg_adhesion, reference())
-    .property("flg_gravcomp", &MjModel::flg_gravcomp, &MjModel::set_flg_gravcomp, reference())
-    .property("flg_surfacevel", &MjModel::flg_surfacevel, &MjModel::set_flg_surfacevel, reference())
-    .property("geom_aabb", &MjModel::geom_aabb)
-    .property("geom_adhesion", &MjModel::geom_adhesion)
-    .property("geom_bodyid", &MjModel::geom_bodyid)
-    .property("geom_conaffinity", &MjModel::geom_conaffinity)
-    .property("geom_condim", &MjModel::geom_condim)
-    .property("geom_contype", &MjModel::geom_contype)
-    .property("geom_dataid", &MjModel::geom_dataid)
-    .property("geom_fluid", &MjModel::geom_fluid)
-    .property("geom_friction", &MjModel::geom_friction)
-    .property("geom_gap", &MjModel::geom_gap)
-    .property("geom_group", &MjModel::geom_group)
-    .property("geom_margin", &MjModel::geom_margin)
-    .property("geom_matid", &MjModel::geom_matid)
-    .property("geom_plugin", &MjModel::geom_plugin)
-    .property("geom_pos", &MjModel::geom_pos)
-    .property("geom_priority", &MjModel::geom_priority)
-    .property("geom_quat", &MjModel::geom_quat)
-    .property("geom_rbound", &MjModel::geom_rbound)
-    .property("geom_rgba", &MjModel::geom_rgba)
-    .property("geom_sameframe", &MjModel::geom_sameframe)
-    .property("geom_size", &MjModel::geom_size)
-    .property("geom_solimp", &MjModel::geom_solimp)
-    .property("geom_solmix", &MjModel::geom_solmix)
-    .property("geom_solref", &MjModel::geom_solref)
-    .property("geom_surfacevel", &MjModel::geom_surfacevel)
-    .property("geom_type", &MjModel::geom_type)
-    .property("geom_user", &MjModel::geom_user)
-    .property("hfield_adr", &MjModel::hfield_adr)
-    .property("hfield_data", &MjModel::hfield_data)
-    .property("hfield_ncol", &MjModel::hfield_ncol)
-    .property("hfield_nrow", &MjModel::hfield_nrow)
-    .property("hfield_pathadr", &MjModel::hfield_pathadr)
-    .property("hfield_size", &MjModel::hfield_size)
-    .property("jnt_actfrclimited", &MjModel::jnt_actfrclimited)
-    .property("jnt_actfrcrange", &MjModel::jnt_actfrcrange)
-    .property("jnt_actgravcomp", &MjModel::jnt_actgravcomp)
-    .property("jnt_actuatorid", &MjModel::jnt_actuatorid)
-    .property("jnt_axis", &MjModel::jnt_axis)
-    .property("jnt_bodyid", &MjModel::jnt_bodyid)
-    .property("jnt_dofadr", &MjModel::jnt_dofadr)
-    .property("jnt_group", &MjModel::jnt_group)
-    .property("jnt_limited", &MjModel::jnt_limited)
-    .property("jnt_margin", &MjModel::jnt_margin)
-    .property("jnt_pos", &MjModel::jnt_pos)
-    .property("jnt_qposadr", &MjModel::jnt_qposadr)
-    .property("jnt_range", &MjModel::jnt_range)
-    .property("jnt_solimp", &MjModel::jnt_solimp)
-    .property("jnt_solref", &MjModel::jnt_solref)
-    .property("jnt_stiffness", &MjModel::jnt_stiffness)
-    .property("jnt_stiffnesspoly", &MjModel::jnt_stiffnesspoly)
-    .property("jnt_type", &MjModel::jnt_type)
-    .property("jnt_user", &MjModel::jnt_user)
-    .property("key_act", &MjModel::key_act)
-    .property("key_ctrl", &MjModel::key_ctrl)
-    .property("key_mpos", &MjModel::key_mpos)
-    .property("key_mquat", &MjModel::key_mquat)
-    .property("key_qpos", &MjModel::key_qpos)
-    .property("key_qvel", &MjModel::key_qvel)
-    .property("key_time", &MjModel::key_time)
-    .property("light_active", &MjModel::light_active)
-    .property("light_ambient", &MjModel::light_ambient)
-    .property("light_attenuation", &MjModel::light_attenuation)
-    .property("light_bodyid", &MjModel::light_bodyid)
-    .property("light_bulbradius", &MjModel::light_bulbradius)
-    .property("light_castshadow", &MjModel::light_castshadow)
-    .property("light_cutoff", &MjModel::light_cutoff)
-    .property("light_diffuse", &MjModel::light_diffuse)
-    .property("light_dir", &MjModel::light_dir)
-    .property("light_dir0", &MjModel::light_dir0)
-    .property("light_exponent", &MjModel::light_exponent)
-    .property("light_intensity", &MjModel::light_intensity)
-    .property("light_mode", &MjModel::light_mode)
-    .property("light_pos", &MjModel::light_pos)
-    .property("light_pos0", &MjModel::light_pos0)
-    .property("light_poscom0", &MjModel::light_poscom0)
-    .property("light_range", &MjModel::light_range)
-    .property("light_softness", &MjModel::light_softness)
-    .property("light_specular", &MjModel::light_specular)
-    .property("light_targetbodyid", &MjModel::light_targetbodyid)
-    .property("light_texid", &MjModel::light_texid)
-    .property("light_type", &MjModel::light_type)
-    .property("mapD2M", &MjModel::mapD2M)
-    .property("mapM2D", &MjModel::mapM2D)
-    .property("mapM2M", &MjModel::mapM2M)
-    .property("mat_emission", &MjModel::mat_emission)
-    .property("mat_metallic", &MjModel::mat_metallic)
-    .property("mat_reflectance", &MjModel::mat_reflectance)
-    .property("mat_rgba", &MjModel::mat_rgba)
-    .property("mat_roughness", &MjModel::mat_roughness)
-    .property("mat_shininess", &MjModel::mat_shininess)
-    .property("mat_specular", &MjModel::mat_specular)
-    .property("mat_texid", &MjModel::mat_texid)
-    .property("mat_texrepeat", &MjModel::mat_texrepeat)
-    .property("mat_texuniform", &MjModel::mat_texuniform)
-    .property("mesh_bvhadr", &MjModel::mesh_bvhadr)
-    .property("mesh_bvhnum", &MjModel::mesh_bvhnum)
-    .property("mesh_extrema", &MjModel::mesh_extrema)
-    .property("mesh_face", &MjModel::mesh_face)
-    .property("mesh_faceadr", &MjModel::mesh_faceadr)
-    .property("mesh_facenormal", &MjModel::mesh_facenormal)
-    .property("mesh_facenum", &MjModel::mesh_facenum)
-    .property("mesh_facetexcoord", &MjModel::mesh_facetexcoord)
-    .property("mesh_graph", &MjModel::mesh_graph)
-    .property("mesh_graphadr", &MjModel::mesh_graphadr)
-    .property("mesh_normal", &MjModel::mesh_normal)
-    .property("mesh_normaladr", &MjModel::mesh_normaladr)
-    .property("mesh_normalnum", &MjModel::mesh_normalnum)
-    .property("mesh_octadr", &MjModel::mesh_octadr)
-    .property("mesh_octnum", &MjModel::mesh_octnum)
-    .property("mesh_pathadr", &MjModel::mesh_pathadr)
-    .property("mesh_polyadr", &MjModel::mesh_polyadr)
-    .property("mesh_polymap", &MjModel::mesh_polymap)
-    .property("mesh_polymapadr", &MjModel::mesh_polymapadr)
-    .property("mesh_polymapnum", &MjModel::mesh_polymapnum)
-    .property("mesh_polynormal", &MjModel::mesh_polynormal)
-    .property("mesh_polynum", &MjModel::mesh_polynum)
-    .property("mesh_polyvert", &MjModel::mesh_polyvert)
-    .property("mesh_polyvertadr", &MjModel::mesh_polyvertadr)
-    .property("mesh_polyvertnum", &MjModel::mesh_polyvertnum)
-    .property("mesh_pos", &MjModel::mesh_pos)
-    .property("mesh_quat", &MjModel::mesh_quat)
-    .property("mesh_scale", &MjModel::mesh_scale)
-    .property("mesh_texcoord", &MjModel::mesh_texcoord)
-    .property("mesh_texcoordadr", &MjModel::mesh_texcoordadr)
-    .property("mesh_texcoordnum", &MjModel::mesh_texcoordnum)
-    .property("mesh_vert", &MjModel::mesh_vert)
-    .property("mesh_vertadr", &MjModel::mesh_vertadr)
-    .property("mesh_vertnum", &MjModel::mesh_vertnum)
-    .property("nB", &MjModel::nB, &MjModel::set_nB, reference())
-    .property("nC", &MjModel::nC, &MjModel::set_nC, reference())
-    .property("nD", &MjModel::nD, &MjModel::set_nD, reference())
-    .property("nJfe", &MjModel::nJfe, &MjModel::set_nJfe, reference())
-    .property("nJfv", &MjModel::nJfv, &MjModel::set_nJfv, reference())
-    .property("nJmom", &MjModel::nJmom, &MjModel::set_nJmom, reference())
-    .property("nJten", &MjModel::nJten, &MjModel::set_nJten, reference())
-    .property("nM", &MjModel::nM, &MjModel::set_nM, reference())
-    .property("na", &MjModel::na, &MjModel::set_na, reference())
-    .property("nactuator", &MjModel::nactuator, &MjModel::set_nactuator, reference())
-    .property("name_actuatoradr", &MjModel::name_actuatoradr)
-    .property("name_bodyadr", &MjModel::name_bodyadr)
-    .property("name_camadr", &MjModel::name_camadr)
-    .property("name_eqadr", &MjModel::name_eqadr)
-    .property("name_excludeadr", &MjModel::name_excludeadr)
-    .property("name_flexadr", &MjModel::name_flexadr)
-    .property("name_geomadr", &MjModel::name_geomadr)
-    .property("name_hfieldadr", &MjModel::name_hfieldadr)
-    .property("name_jntadr", &MjModel::name_jntadr)
-    .property("name_keyadr", &MjModel::name_keyadr)
-    .property("name_lightadr", &MjModel::name_lightadr)
-    .property("name_matadr", &MjModel::name_matadr)
-    .property("name_meshadr", &MjModel::name_meshadr)
-    .property("name_numericadr", &MjModel::name_numericadr)
-    .property("name_pairadr", &MjModel::name_pairadr)
-    .property("name_pluginadr", &MjModel::name_pluginadr)
-    .property("name_sensoradr", &MjModel::name_sensoradr)
-    .property("name_siteadr", &MjModel::name_siteadr)
-    .property("name_skinadr", &MjModel::name_skinadr)
-    .property("name_tendonadr", &MjModel::name_tendonadr)
-    .property("name_texadr", &MjModel::name_texadr)
-    .property("name_textadr", &MjModel::name_textadr)
-    .property("name_tupleadr", &MjModel::name_tupleadr)
-    .property("names", &MjModel::names)
-    .property("names_map", &MjModel::names_map)
-    .property("narena", &MjModel::narena, &MjModel::set_narena, reference())
-    .property("nbody", &MjModel::nbody, &MjModel::set_nbody, reference())
-    .property("nbuffer", &MjModel::nbuffer, &MjModel::set_nbuffer, reference())
-    .property("nbvh", &MjModel::nbvh, &MjModel::set_nbvh, reference())
-    .property("nbvhdynamic", &MjModel::nbvhdynamic, &MjModel::set_nbvhdynamic, reference())
-    .property("nbvhstatic", &MjModel::nbvhstatic, &MjModel::set_nbvhstatic, reference())
-    .property("ncam", &MjModel::ncam, &MjModel::set_ncam, reference())
-    .property("nconmax", &MjModel::nconmax, &MjModel::set_nconmax, reference())
-    .property("nefm0L", &MjModel::nefm0L, &MjModel::set_nefm0L, reference())
-    .property("nefm0dof", &MjModel::nefm0dof, &MjModel::set_nefm0dof, reference())
-    .property("nemax", &MjModel::nemax, &MjModel::set_nemax, reference())
-    .property("neq", &MjModel::neq, &MjModel::set_neq, reference())
-    .property("nexclude", &MjModel::nexclude, &MjModel::set_nexclude, reference())
-    .property("nflex", &MjModel::nflex, &MjModel::set_nflex, reference())
-    .property("nflexbending", &MjModel::nflexbending, &MjModel::set_nflexbending, reference())
-    .property("nflexedge", &MjModel::nflexedge, &MjModel::set_nflexedge, reference())
-    .property("nflexelem", &MjModel::nflexelem, &MjModel::set_nflexelem, reference())
-    .property("nflexelemdata", &MjModel::nflexelemdata, &MjModel::set_nflexelemdata, reference())
-    .property("nflexelemedge", &MjModel::nflexelemedge, &MjModel::set_nflexelemedge, reference())
-    .property("nflexevpair", &MjModel::nflexevpair, &MjModel::set_nflexevpair, reference())
-    .property("nflexnode", &MjModel::nflexnode, &MjModel::set_nflexnode, reference())
-    .property("nflexshelldata", &MjModel::nflexshelldata, &MjModel::set_nflexshelldata, reference())
-    .property("nflexstiffness", &MjModel::nflexstiffness, &MjModel::set_nflexstiffness, reference())
-    .property("nflextexcoord", &MjModel::nflextexcoord, &MjModel::set_nflextexcoord, reference())
-    .property("nflexvert", &MjModel::nflexvert, &MjModel::set_nflexvert, reference())
-    .property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())
-    .property("ngravcomp", &MjModel::ngravcomp, &MjModel::set_ngravcomp, reference())
-    .property("nhfield", &MjModel::nhfield, &MjModel::set_nhfield, reference())
-    .property("nhfielddata", &MjModel::nhfielddata, &MjModel::set_nhfielddata, reference())
-    .property("nhistory", &MjModel::nhistory, &MjModel::set_nhistory, reference())
-    .property("njmax", &MjModel::njmax, &MjModel::set_njmax, reference())
-    .property("njnt", &MjModel::njnt, &MjModel::set_njnt, reference())
-    .property("nkey", &MjModel::nkey, &MjModel::set_nkey, reference())
-    .property("nlight", &MjModel::nlight, &MjModel::set_nlight, reference())
-    .property("nmat", &MjModel::nmat, &MjModel::set_nmat, reference())
-    .property("nmesh", &MjModel::nmesh, &MjModel::set_nmesh, reference())
-    .property("nmeshdegmax", &MjModel::nmeshdegmax, &MjModel::set_nmeshdegmax, reference())
-    .property("nmeshface", &MjModel::nmeshface, &MjModel::set_nmeshface, reference())
-    .property("nmeshgraph", &MjModel::nmeshgraph, &MjModel::set_nmeshgraph, reference())
-    .property("nmeshnormal", &MjModel::nmeshnormal, &MjModel::set_nmeshnormal, reference())
-    .property("nmeshpoly", &MjModel::nmeshpoly, &MjModel::set_nmeshpoly, reference())
-    .property("nmeshpolymap", &MjModel::nmeshpolymap, &MjModel::set_nmeshpolymap, reference())
-    .property("nmeshpolyvert", &MjModel::nmeshpolyvert, &MjModel::set_nmeshpolyvert, reference())
-    .property("nmeshtexcoord", &MjModel::nmeshtexcoord, &MjModel::set_nmeshtexcoord, reference())
-    .property("nmeshvert", &MjModel::nmeshvert, &MjModel::set_nmeshvert, reference())
-    .property("nmocap", &MjModel::nmocap, &MjModel::set_nmocap, reference())
-    .property("nnames", &MjModel::nnames, &MjModel::set_nnames, reference())
-    .property("nnames_map", &MjModel::nnames_map, &MjModel::set_nnames_map, reference())
-    .property("nnumeric", &MjModel::nnumeric, &MjModel::set_nnumeric, reference())
-    .property("nnumericdata", &MjModel::nnumericdata, &MjModel::set_nnumericdata, reference())
-    .property("noct", &MjModel::noct, &MjModel::set_noct, reference())
-    .property("nout", &MjModel::nout, &MjModel::set_nout, reference())
-    .property("npair", &MjModel::npair, &MjModel::set_npair, reference())
-    .property("npaths", &MjModel::npaths, &MjModel::set_npaths, reference())
-    .property("nplugin", &MjModel::nplugin, &MjModel::set_nplugin, reference())
-    .property("npluginattr", &MjModel::npluginattr, &MjModel::set_npluginattr, reference())
-    .property("npluginstate", &MjModel::npluginstate, &MjModel::set_npluginstate, reference())
-    .property("npolygonmax", &MjModel::npolygonmax, &MjModel::set_npolygonmax, reference())
-    .property("nq", &MjModel::nq, &MjModel::set_nq, reference())
-    .property("nsensor", &MjModel::nsensor, &MjModel::set_nsensor, reference())
-    .property("nsensordata", &MjModel::nsensordata, &MjModel::set_nsensordata, reference())
-    .property("nsite", &MjModel::nsite, &MjModel::set_nsite, reference())
-    .property("nskin", &MjModel::nskin, &MjModel::set_nskin, reference())
-    .property("nskinbone", &MjModel::nskinbone, &MjModel::set_nskinbone, reference())
-    .property("nskinbonevert", &MjModel::nskinbonevert, &MjModel::set_nskinbonevert, reference())
-    .property("nskinface", &MjModel::nskinface, &MjModel::set_nskinface, reference())
-    .property("nskintexvert", &MjModel::nskintexvert, &MjModel::set_nskintexvert, reference())
-    .property("nskinvert", &MjModel::nskinvert, &MjModel::set_nskinvert, reference())
-    .property("ntendon", &MjModel::ntendon, &MjModel::set_ntendon, reference())
-    .property("ntex", &MjModel::ntex, &MjModel::set_ntex, reference())
-    .property("ntexdata", &MjModel::ntexdata, &MjModel::set_ntexdata, reference())
-    .property("ntext", &MjModel::ntext, &MjModel::set_ntext, reference())
-    .property("ntextdata", &MjModel::ntextdata, &MjModel::set_ntextdata, reference())
-    .property("ntree", &MjModel::ntree, &MjModel::set_ntree, reference())
-    .property("ntuple", &MjModel::ntuple, &MjModel::set_ntuple, reference())
-    .property("ntupledata", &MjModel::ntupledata, &MjModel::set_ntupledata, reference())
-    .property("nu", &MjModel::nu, &MjModel::set_nu, reference())
-    .property("numeric_adr", &MjModel::numeric_adr)
-    .property("numeric_data", &MjModel::numeric_data)
-    .property("numeric_size", &MjModel::numeric_size)
-    .property("nuser_actuator", &MjModel::nuser_actuator, &MjModel::set_nuser_actuator, reference())
-    .property("nuser_body", &MjModel::nuser_body, &MjModel::set_nuser_body, reference())
-    .property("nuser_cam", &MjModel::nuser_cam, &MjModel::set_nuser_cam, reference())
-    .property("nuser_geom", &MjModel::nuser_geom, &MjModel::set_nuser_geom, reference())
-    .property("nuser_jnt", &MjModel::nuser_jnt, &MjModel::set_nuser_jnt, reference())
-    .property("nuser_sensor", &MjModel::nuser_sensor, &MjModel::set_nuser_sensor, reference())
-    .property("nuser_site", &MjModel::nuser_site, &MjModel::set_nuser_site, reference())
-    .property("nuser_tendon", &MjModel::nuser_tendon, &MjModel::set_nuser_tendon, reference())
-    .property("nuserdata", &MjModel::nuserdata, &MjModel::set_nuserdata, reference())
-    .property("nv", &MjModel::nv, &MjModel::set_nv, reference())
-    .property("nwrap", &MjModel::nwrap, &MjModel::set_nwrap, reference())
-    .property("oct_aabb", &MjModel::oct_aabb)
-    .property("oct_child", &MjModel::oct_child)
-    .property("oct_coeff", &MjModel::oct_coeff)
-    .property("oct_depth", &MjModel::oct_depth)
-    .property("opt", &MjModel::opt, reference())
-    .property("pair_adhesion", &MjModel::pair_adhesion)
-    .property("pair_dim", &MjModel::pair_dim)
-    .property("pair_friction", &MjModel::pair_friction)
-    .property("pair_gap", &MjModel::pair_gap)
-    .property("pair_geom1", &MjModel::pair_geom1)
-    .property("pair_geom2", &MjModel::pair_geom2)
-    .property("pair_margin", &MjModel::pair_margin)
-    .property("pair_signature", &MjModel::pair_signature)
-    .property("pair_solimp", &MjModel::pair_solimp)
-    .property("pair_solref", &MjModel::pair_solref)
-    .property("pair_solreffriction", &MjModel::pair_solreffriction)
-    .property("paths", &MjModel::paths)
-    .property("plugin", &MjModel::plugin)
-    .property("plugin_attr", &MjModel::plugin_attr)
-    .property("plugin_attradr", &MjModel::plugin_attradr)
-    .property("plugin_stateadr", &MjModel::plugin_stateadr)
-    .property("plugin_statenum", &MjModel::plugin_statenum)
-    .property("qpos0", &MjModel::qpos0)
-    .property("qpos_spring", &MjModel::qpos_spring)
-    .property("sensor_adr", &MjModel::sensor_adr)
-    .property("sensor_cutoff", &MjModel::sensor_cutoff)
-    .property("sensor_datatype", &MjModel::sensor_datatype)
-    .property("sensor_delay", &MjModel::sensor_delay)
-    .property("sensor_dim", &MjModel::sensor_dim)
-    .property("sensor_history", &MjModel::sensor_history)
-    .property("sensor_historyadr", &MjModel::sensor_historyadr)
-    .property("sensor_interval", &MjModel::sensor_interval)
-    .property("sensor_intprm", &MjModel::sensor_intprm)
-    .property("sensor_needstage", &MjModel::sensor_needstage)
-    .property("sensor_noise", &MjModel::sensor_noise)
-    .property("sensor_objid", &MjModel::sensor_objid)
-    .property("sensor_objtype", &MjModel::sensor_objtype)
-    .property("sensor_plugin", &MjModel::sensor_plugin)
-    .property("sensor_refid", &MjModel::sensor_refid)
-    .property("sensor_reftype", &MjModel::sensor_reftype)
-    .property("sensor_type", &MjModel::sensor_type)
-    .property("sensor_user", &MjModel::sensor_user)
-    .property("signature", &MjModel::signature, &MjModel::set_signature, reference())
-    .property("site_bodyid", &MjModel::site_bodyid)
-    .property("site_group", &MjModel::site_group)
-    .property("site_matid", &MjModel::site_matid)
-    .property("site_pos", &MjModel::site_pos)
-    .property("site_quat", &MjModel::site_quat)
-    .property("site_rgba", &MjModel::site_rgba)
-    .property("site_sameframe", &MjModel::site_sameframe)
-    .property("site_size", &MjModel::site_size)
-    .property("site_type", &MjModel::site_type)
-    .property("site_user", &MjModel::site_user)
-    .property("skin_boneadr", &MjModel::skin_boneadr)
-    .property("skin_bonebindpos", &MjModel::skin_bonebindpos)
-    .property("skin_bonebindquat", &MjModel::skin_bonebindquat)
-    .property("skin_bonebodyid", &MjModel::skin_bonebodyid)
-    .property("skin_bonenum", &MjModel::skin_bonenum)
-    .property("skin_bonevertadr", &MjModel::skin_bonevertadr)
-    .property("skin_bonevertid", &MjModel::skin_bonevertid)
-    .property("skin_bonevertnum", &MjModel::skin_bonevertnum)
-    .property("skin_bonevertweight", &MjModel::skin_bonevertweight)
-    .property("skin_face", &MjModel::skin_face)
-    .property("skin_faceadr", &MjModel::skin_faceadr)
-    .property("skin_facenum", &MjModel::skin_facenum)
-    .property("skin_group", &MjModel::skin_group)
-    .property("skin_inflate", &MjModel::skin_inflate)
-    .property("skin_matid", &MjModel::skin_matid)
-    .property("skin_pathadr", &MjModel::skin_pathadr)
-    .property("skin_rgba", &MjModel::skin_rgba)
-    .property("skin_texcoord", &MjModel::skin_texcoord)
-    .property("skin_texcoordadr", &MjModel::skin_texcoordadr)
-    .property("skin_vert", &MjModel::skin_vert)
-    .property("skin_vertadr", &MjModel::skin_vertadr)
-    .property("skin_vertnum", &MjModel::skin_vertnum)
-    .property("stat", &MjModel::stat, reference())
-    .property("ten_J_colind", &MjModel::ten_J_colind)
-    .property("ten_J_rowadr", &MjModel::ten_J_rowadr)
-    .property("ten_J_rownnz", &MjModel::ten_J_rownnz)
-    .property("tendon_actfrclimited", &MjModel::tendon_actfrclimited)
-    .property("tendon_actfrcrange", &MjModel::tendon_actfrcrange)
-    .property("tendon_actuatorid", &MjModel::tendon_actuatorid)
-    .property("tendon_adr", &MjModel::tendon_adr)
-    .property("tendon_armature", &MjModel::tendon_armature)
-    .property("tendon_damping", &MjModel::tendon_damping)
-    .property("tendon_dampingpoly", &MjModel::tendon_dampingpoly)
-    .property("tendon_frictionloss", &MjModel::tendon_frictionloss)
-    .property("tendon_group", &MjModel::tendon_group)
-    .property("tendon_invweight0", &MjModel::tendon_invweight0)
-    .property("tendon_length0", &MjModel::tendon_length0)
-    .property("tendon_lengthspring", &MjModel::tendon_lengthspring)
-    .property("tendon_limited", &MjModel::tendon_limited)
-    .property("tendon_margin", &MjModel::tendon_margin)
-    .property("tendon_matid", &MjModel::tendon_matid)
-    .property("tendon_num", &MjModel::tendon_num)
-    .property("tendon_range", &MjModel::tendon_range)
-    .property("tendon_rgba", &MjModel::tendon_rgba)
-    .property("tendon_solimp_fri", &MjModel::tendon_solimp_fri)
-    .property("tendon_solimp_lim", &MjModel::tendon_solimp_lim)
-    .property("tendon_solref_fri", &MjModel::tendon_solref_fri)
-    .property("tendon_solref_lim", &MjModel::tendon_solref_lim)
-    .property("tendon_stiffness", &MjModel::tendon_stiffness)
-    .property("tendon_stiffnesspoly", &MjModel::tendon_stiffnesspoly)
-    .property("tendon_treeid", &MjModel::tendon_treeid)
-    .property("tendon_treenum", &MjModel::tendon_treenum)
-    .property("tendon_user", &MjModel::tendon_user)
-    .property("tendon_width", &MjModel::tendon_width)
-    .property("tex_adr", &MjModel::tex_adr)
-    .property("tex_colorspace", &MjModel::tex_colorspace)
-    .property("tex_data", &MjModel::tex_data)
-    .property("tex_height", &MjModel::tex_height)
-    .property("tex_nchannel", &MjModel::tex_nchannel)
-    .property("tex_pathadr", &MjModel::tex_pathadr)
-    .property("tex_type", &MjModel::tex_type)
-    .property("tex_width", &MjModel::tex_width)
-    .property("text_adr", &MjModel::text_adr)
-    .property("text_data", &MjModel::text_data)
-    .property("text_size", &MjModel::text_size)
-    .property("tree_bodyadr", &MjModel::tree_bodyadr)
-    .property("tree_bodynum", &MjModel::tree_bodynum)
-    .property("tree_dofadr", &MjModel::tree_dofadr)
-    .property("tree_dofnum", &MjModel::tree_dofnum)
-    .property("tree_sleep_policy", &MjModel::tree_sleep_policy)
-    .property("tuple_adr", &MjModel::tuple_adr)
-    .property("tuple_objid", &MjModel::tuple_objid)
-    .property("tuple_objprm", &MjModel::tuple_objprm)
-    .property("tuple_objtype", &MjModel::tuple_objtype)
-    .property("tuple_size", &MjModel::tuple_size)
-    .property("vis", &MjModel::vis, reference())
-    .property("wrap_objid", &MjModel::wrap_objid)
-    .property("wrap_prm", &MjModel::wrap_prm)
-    .property("wrap_type", &MjModel::wrap_type);
-  emscripten::class_<MjOption>("MjOption")
-    .constructor<>()
-    .function("copy", &MjOption::copy, take_ownership())
-    .property("ccd_iterations", &MjOption::ccd_iterations, &MjOption::set_ccd_iterations, reference())
-    .property("ccd_tolerance", &MjOption::ccd_tolerance, &MjOption::set_ccd_tolerance, reference())
-    .property("cone", &MjOption::cone, &MjOption::set_cone, reference())
-    .property("density", &MjOption::density, &MjOption::set_density, reference())
-    .property("disableactuator", &MjOption::disableactuator, &MjOption::set_disableactuator, reference())
-    .property("disableflags", &MjOption::disableflags, &MjOption::set_disableflags, reference())
-    .property("enableflags", &MjOption::enableflags, &MjOption::set_enableflags, reference())
-    .property("gravity", &MjOption::gravity)
-    .property("impratio", &MjOption::impratio, &MjOption::set_impratio, reference())
-    .property("integrator", &MjOption::integrator, &MjOption::set_integrator, reference())
-    .property("iterations", &MjOption::iterations, &MjOption::set_iterations, reference())
-    .property("jacobian", &MjOption::jacobian, &MjOption::set_jacobian, reference())
-    .property("ls_iterations", &MjOption::ls_iterations, &MjOption::set_ls_iterations, reference())
-    .property("ls_tolerance", &MjOption::ls_tolerance, &MjOption::set_ls_tolerance, reference())
-    .property("magnetic", &MjOption::magnetic)
-    .property("noslip_iterations", &MjOption::noslip_iterations, &MjOption::set_noslip_iterations, reference())
-    .property("noslip_tolerance", &MjOption::noslip_tolerance, &MjOption::set_noslip_tolerance, reference())
-    .property("o_friction", &MjOption::o_friction)
-    .property("o_margin", &MjOption::o_margin, &MjOption::set_o_margin, reference())
-    .property("o_solimp", &MjOption::o_solimp)
-    .property("o_solref", &MjOption::o_solref)
-    .property("sdf_initpoints", &MjOption::sdf_initpoints, &MjOption::set_sdf_initpoints, reference())
-    .property("sdf_iterations", &MjOption::sdf_iterations, &MjOption::set_sdf_iterations, reference())
-    .property("sleep_tolerance", &MjOption::sleep_tolerance, &MjOption::set_sleep_tolerance, reference())
-    .property("solver", &MjOption::solver, &MjOption::set_solver, reference())
-    .property("timestep", &MjOption::timestep, &MjOption::set_timestep, reference())
-    .property("tolerance", &MjOption::tolerance, &MjOption::set_tolerance, reference())
-    .property("viscosity", &MjOption::viscosity, &MjOption::set_viscosity, reference())
-    .property("wind", &MjOption::wind);
-  emscripten::class_<MjPreContact>("MjPreContact")
-    .constructor<>()
-    .function("copy", &MjPreContact::copy, take_ownership())
-    .property("dist", &MjPreContact::dist, &MjPreContact::set_dist, reference())
-    .property("normal", &MjPreContact::normal)
-    .property("pos", &MjPreContact::pos)
-    .property("tangent", &MjPreContact::tangent);
-  emscripten::class_<MjSolverStat>("MjSolverStat")
-    .constructor<>()
-    .function("copy", &MjSolverStat::copy, take_ownership())
-    .property("gradient", &MjSolverStat::gradient, &MjSolverStat::set_gradient, reference())
-    .property("improvement", &MjSolverStat::improvement, &MjSolverStat::set_improvement, reference())
-    .property("lineslope", &MjSolverStat::lineslope, &MjSolverStat::set_lineslope, reference())
-    .property("nactive", &MjSolverStat::nactive, &MjSolverStat::set_nactive, reference())
-    .property("nchange", &MjSolverStat::nchange, &MjSolverStat::set_nchange, reference())
-    .property("neval", &MjSolverStat::neval, &MjSolverStat::set_neval, reference())
-    .property("nupdate", &MjSolverStat::nupdate, &MjSolverStat::set_nupdate, reference());
-  emscripten::class_<MjSpec>("MjSpec")
-    .constructor<const MjSpec &>()
-    .property("timer", &MjSpec::timer)
-    .property("authored", &MjSpec::authored, reference())
-    .property("comment", &MjSpec::comment, &MjSpec::set_comment, reference())
-    .property("compiler", &MjSpec::compiler, reference())
-    .property("element", &MjSpec::element, reference())
-    .property("hasImplicitPluginElem", &MjSpec::hasImplicitPluginElem, &MjSpec::set_hasImplicitPluginElem, reference())
-    .property("memory", &MjSpec::memory, &MjSpec::set_memory, reference())
-    .property("modelfiledir", &MjSpec::modelfiledir, &MjSpec::set_modelfiledir, reference())
-    .property("modelname", &MjSpec::modelname, &MjSpec::set_modelname, reference())
-    .property("nconmax", &MjSpec::nconmax, &MjSpec::set_nconmax, reference())
-    .property("nemax", &MjSpec::nemax, &MjSpec::set_nemax, reference())
-    .property("njmax", &MjSpec::njmax, &MjSpec::set_njmax, reference())
-    .property("nkey", &MjSpec::nkey, &MjSpec::set_nkey, reference())
-    .property("nstack", &MjSpec::nstack, &MjSpec::set_nstack, reference())
-    .property("nuser_actuator", &MjSpec::nuser_actuator, &MjSpec::set_nuser_actuator, reference())
-    .property("nuser_body", &MjSpec::nuser_body, &MjSpec::set_nuser_body, reference())
-    .property("nuser_cam", &MjSpec::nuser_cam, &MjSpec::set_nuser_cam, reference())
-    .property("nuser_geom", &MjSpec::nuser_geom, &MjSpec::set_nuser_geom, reference())
-    .property("nuser_jnt", &MjSpec::nuser_jnt, &MjSpec::set_nuser_jnt, reference())
-    .property("nuser_sensor", &MjSpec::nuser_sensor, &MjSpec::set_nuser_sensor, reference())
-    .property("nuser_site", &MjSpec::nuser_site, &MjSpec::set_nuser_site, reference())
-    .property("nuser_tendon", &MjSpec::nuser_tendon, &MjSpec::set_nuser_tendon, reference())
-    .property("nuserdata", &MjSpec::nuserdata, &MjSpec::set_nuserdata, reference())
-    .property("option", &MjSpec::option, reference())
-    .property("stat", &MjSpec::stat, reference())
-    .property("strippath", &MjSpec::strippath, &MjSpec::set_strippath, reference())
-    .property("visual", &MjSpec::visual, reference());
-  emscripten::class_<MjStatistic>("MjStatistic")
-    .constructor<>()
-    .function("copy", &MjStatistic::copy, take_ownership())
-    .property("center", &MjStatistic::center)
-    .property("extent", &MjStatistic::extent, &MjStatistic::set_extent, reference())
-    .property("meaninertia", &MjStatistic::meaninertia, &MjStatistic::set_meaninertia, reference())
-    .property("meanmass", &MjStatistic::meanmass, &MjStatistic::set_meanmass, reference())
-    .property("meansize", &MjStatistic::meansize, &MjStatistic::set_meansize, reference());
-  emscripten::class_<MjTimerStat>("MjTimerStat")
-    .constructor<>()
-    .function("copy", &MjTimerStat::copy, take_ownership())
-    .property("duration", &MjTimerStat::duration, &MjTimerStat::set_duration, reference())
-    .property("number", &MjTimerStat::number, &MjTimerStat::set_number, reference());
-  emscripten::class_<MjVisual>("MjVisual")
-    .constructor<>()
-    .function("copy", &MjVisual::copy, take_ownership())
-    .property("global", &MjVisual::global, reference())
-    .property("headlight", &MjVisual::headlight, reference())
-    .property("map", &MjVisual::map, reference())
-    .property("quality", &MjVisual::quality, reference())
-    .property("rgba", &MjVisual::rgba, reference())
-    .property("scale", &MjVisual::scale, reference());
-  emscripten::class_<MjVisualGlobal>("MjVisualGlobal")
-    .constructor<>()
-    .function("copy", &MjVisualGlobal::copy, take_ownership())
-    .property("azimuth", &MjVisualGlobal::azimuth, &MjVisualGlobal::set_azimuth, reference())
-    .property("bvactive", &MjVisualGlobal::bvactive, &MjVisualGlobal::set_bvactive, reference())
-    .property("cameraid", &MjVisualGlobal::cameraid, &MjVisualGlobal::set_cameraid, reference())
-    .property("elevation", &MjVisualGlobal::elevation, &MjVisualGlobal::set_elevation, reference())
-    .property("ellipsoidinertia", &MjVisualGlobal::ellipsoidinertia, &MjVisualGlobal::set_ellipsoidinertia, reference())
-    .property("fovy", &MjVisualGlobal::fovy, &MjVisualGlobal::set_fovy, reference())
-    .property("glow", &MjVisualGlobal::glow, &MjVisualGlobal::set_glow, reference())
-    .property("ipd", &MjVisualGlobal::ipd, &MjVisualGlobal::set_ipd, reference())
-    .property("linewidth", &MjVisualGlobal::linewidth, &MjVisualGlobal::set_linewidth, reference())
-    .property("offheight", &MjVisualGlobal::offheight, &MjVisualGlobal::set_offheight, reference())
-    .property("offwidth", &MjVisualGlobal::offwidth, &MjVisualGlobal::set_offwidth, reference())
-    .property("orthographic", &MjVisualGlobal::orthographic, &MjVisualGlobal::set_orthographic, reference())
-    .property("realtime", &MjVisualGlobal::realtime, &MjVisualGlobal::set_realtime, reference());
-  emscripten::class_<MjVisualHeadlight>("MjVisualHeadlight")
-    .constructor<>()
-    .function("copy", &MjVisualHeadlight::copy, take_ownership())
-    .property("active", &MjVisualHeadlight::active, &MjVisualHeadlight::set_active, reference())
-    .property("ambient", &MjVisualHeadlight::ambient)
-    .property("diffuse", &MjVisualHeadlight::diffuse)
-    .property("specular", &MjVisualHeadlight::specular);
-  emscripten::class_<MjVisualMap>("MjVisualMap")
-    .constructor<>()
-    .function("copy", &MjVisualMap::copy, take_ownership())
-    .property("actuatortendon", &MjVisualMap::actuatortendon, &MjVisualMap::set_actuatortendon, reference())
-    .property("alpha", &MjVisualMap::alpha, &MjVisualMap::set_alpha, reference())
-    .property("fogend", &MjVisualMap::fogend, &MjVisualMap::set_fogend, reference())
-    .property("fogstart", &MjVisualMap::fogstart, &MjVisualMap::set_fogstart, reference())
-    .property("force", &MjVisualMap::force, &MjVisualMap::set_force, reference())
-    .property("haze", &MjVisualMap::haze, &MjVisualMap::set_haze, reference())
-    .property("shadowclip", &MjVisualMap::shadowclip, &MjVisualMap::set_shadowclip, reference())
-    .property("shadowscale", &MjVisualMap::shadowscale, &MjVisualMap::set_shadowscale, reference())
-    .property("stiffness", &MjVisualMap::stiffness, &MjVisualMap::set_stiffness, reference())
-    .property("stiffnessrot", &MjVisualMap::stiffnessrot, &MjVisualMap::set_stiffnessrot, reference())
-    .property("torque", &MjVisualMap::torque, &MjVisualMap::set_torque, reference())
-    .property("zfar", &MjVisualMap::zfar, &MjVisualMap::set_zfar, reference())
-    .property("znear", &MjVisualMap::znear, &MjVisualMap::set_znear, reference());
-  emscripten::class_<MjVisualQuality>("MjVisualQuality")
-    .constructor<>()
-    .function("copy", &MjVisualQuality::copy, take_ownership())
-    .property("numquads", &MjVisualQuality::numquads, &MjVisualQuality::set_numquads, reference())
-    .property("numslices", &MjVisualQuality::numslices, &MjVisualQuality::set_numslices, reference())
-    .property("numstacks", &MjVisualQuality::numstacks, &MjVisualQuality::set_numstacks, reference())
-    .property("offsamples", &MjVisualQuality::offsamples, &MjVisualQuality::set_offsamples, reference())
-    .property("shadowsize", &MjVisualQuality::shadowsize, &MjVisualQuality::set_shadowsize, reference());
-  emscripten::class_<MjVisualRgba>("MjVisualRgba")
-    .constructor<>()
-    .function("copy", &MjVisualRgba::copy, take_ownership())
-    .property("actuator", &MjVisualRgba::actuator)
-    .property("actuatornegative", &MjVisualRgba::actuatornegative)
-    .property("actuatorpositive", &MjVisualRgba::actuatorpositive)
-    .property("bv", &MjVisualRgba::bv)
-    .property("bvactive", &MjVisualRgba::bvactive)
-    .property("camera", &MjVisualRgba::camera)
-    .property("com", &MjVisualRgba::com)
-    .property("connect", &MjVisualRgba::connect)
-    .property("constraint", &MjVisualRgba::constraint)
-    .property("contactforce", &MjVisualRgba::contactforce)
-    .property("contactfriction", &MjVisualRgba::contactfriction)
-    .property("contactgap", &MjVisualRgba::contactgap)
-    .property("contactpoint", &MjVisualRgba::contactpoint)
-    .property("contacttorque", &MjVisualRgba::contacttorque)
-    .property("crankbroken", &MjVisualRgba::crankbroken)
-    .property("fog", &MjVisualRgba::fog)
-    .property("force", &MjVisualRgba::force)
-    .property("frustum", &MjVisualRgba::frustum)
-    .property("haze", &MjVisualRgba::haze)
-    .property("inertia", &MjVisualRgba::inertia)
-    .property("joint", &MjVisualRgba::joint)
-    .property("light", &MjVisualRgba::light)
-    .property("rangefinder", &MjVisualRgba::rangefinder)
-    .property("selectpoint", &MjVisualRgba::selectpoint)
-    .property("slidercrank", &MjVisualRgba::slidercrank);
-  emscripten::class_<MjVisualScale>("MjVisualScale")
-    .constructor<>()
-    .function("copy", &MjVisualScale::copy, take_ownership())
-    .property("actuatorlength", &MjVisualScale::actuatorlength, &MjVisualScale::set_actuatorlength, reference())
-    .property("actuatorwidth", &MjVisualScale::actuatorwidth, &MjVisualScale::set_actuatorwidth, reference())
-    .property("camera", &MjVisualScale::camera, &MjVisualScale::set_camera, reference())
-    .property("com", &MjVisualScale::com, &MjVisualScale::set_com, reference())
-    .property("connect", &MjVisualScale::connect, &MjVisualScale::set_connect, reference())
-    .property("constraint", &MjVisualScale::constraint, &MjVisualScale::set_constraint, reference())
-    .property("contactheight", &MjVisualScale::contactheight, &MjVisualScale::set_contactheight, reference())
-    .property("contactwidth", &MjVisualScale::contactwidth, &MjVisualScale::set_contactwidth, reference())
-    .property("forcewidth", &MjVisualScale::forcewidth, &MjVisualScale::set_forcewidth, reference())
-    .property("framelength", &MjVisualScale::framelength, &MjVisualScale::set_framelength, reference())
-    .property("framewidth", &MjVisualScale::framewidth, &MjVisualScale::set_framewidth, reference())
-    .property("frustum", &MjVisualScale::frustum, &MjVisualScale::set_frustum, reference())
-    .property("jointlength", &MjVisualScale::jointlength, &MjVisualScale::set_jointlength, reference())
-    .property("jointwidth", &MjVisualScale::jointwidth, &MjVisualScale::set_jointwidth, reference())
-    .property("light", &MjVisualScale::light, &MjVisualScale::set_light, reference())
-    .property("selectpoint", &MjVisualScale::selectpoint, &MjVisualScale::set_selectpoint, reference())
-    .property("slidercrank", &MjVisualScale::slidercrank, &MjVisualScale::set_slidercrank, reference());
-  emscripten::class_<MjWarningStat>("MjWarningStat")
-    .constructor<>()
-    .function("copy", &MjWarningStat::copy, take_ownership())
-    .property("lastinfo", &MjWarningStat::lastinfo, &MjWarningStat::set_lastinfo, reference())
-    .property("number", &MjWarningStat::number, &MjWarningStat::set_number, reference());
-  emscripten::class_<MjsActuator>("MjsActuator")
-    .property("actdim", &MjsActuator::actdim, &MjsActuator::set_actdim, reference())
-    .property("actearly", &MjsActuator::actearly, &MjsActuator::set_actearly, reference())
-    .property("actlimited", &MjsActuator::actlimited, &MjsActuator::set_actlimited, reference())
-    .property("actrange", &MjsActuator::actrange)
-    .property("armature", &MjsActuator::armature, &MjsActuator::set_armature, reference())
-    .property("biasprm", &MjsActuator::biasprm)
-    .property("biastype", &MjsActuator::biastype, &MjsActuator::set_biastype, reference())
-    .property("cranklength", &MjsActuator::cranklength, &MjsActuator::set_cranklength, reference())
-    .property("ctrllimited", &MjsActuator::ctrllimited, &MjsActuator::set_ctrllimited, reference())
-    .property("ctrlrange", &MjsActuator::ctrlrange)
-    .property("ctrlspec", &MjsActuator::ctrlspec, &MjsActuator::set_ctrlspec, reference())
-    .property("damping", &MjsActuator::damping)
-    .property("delay", &MjsActuator::delay, &MjsActuator::set_delay, reference())
-    .property("dynprm", &MjsActuator::dynprm)
-    .property("dyntype", &MjsActuator::dyntype, &MjsActuator::set_dyntype, reference())
-    .property("element", &MjsActuator::element, reference())
-    .property("ffrange", &MjsActuator::ffrange)
-    .property("forcelimited", &MjsActuator::forcelimited, &MjsActuator::set_forcelimited, reference())
-    .property("forcerange", &MjsActuator::forcerange)
-    .property("gainprm", &MjsActuator::gainprm)
-    .property("gaintype", &MjsActuator::gaintype, &MjsActuator::set_gaintype, reference())
-    .property("gear", &MjsActuator::gear)
-    .property("group", &MjsActuator::group, &MjsActuator::set_group, reference())
-    .property("info", &MjsActuator::info, &MjsActuator::set_info, reference())
-    .property("inheritrange", &MjsActuator::inheritrange, &MjsActuator::set_inheritrange, reference())
-    .property("interp", &MjsActuator::interp, &MjsActuator::set_interp, reference())
-    .property("lengthrange", &MjsActuator::lengthrange)
-    .property("nsample", &MjsActuator::nsample, &MjsActuator::set_nsample, reference())
-    .property("plugin", &MjsActuator::plugin, reference())
-    .property("refsite", &MjsActuator::refsite, &MjsActuator::set_refsite, reference())
-    .property("slidersite", &MjsActuator::slidersite, &MjsActuator::set_slidersite, reference())
-    .property("target", &MjsActuator::target, &MjsActuator::set_target, reference())
-    .property("trntype", &MjsActuator::trntype, &MjsActuator::set_trntype, reference())
-    .property("userdata", &MjsActuator::userdata, reference())
-    .property("velrange", &MjsActuator::velrange);
-  emscripten::class_<MjsAuthored>("MjsAuthored")
-    .property("disableactuator", &MjsAuthored::disableactuator, &MjsAuthored::set_disableactuator, reference())
-    .property("disableflags", &MjsAuthored::disableflags, &MjsAuthored::set_disableflags, reference())
-    .property("enableflags", &MjsAuthored::enableflags, &MjsAuthored::set_enableflags, reference())
-    .property("option", &MjsAuthored::option, &MjsAuthored::set_option, reference())
-    .property("visual_global", &MjsAuthored::visual_global, &MjsAuthored::set_visual_global, reference())
-    .property("visual_headlight", &MjsAuthored::visual_headlight, &MjsAuthored::set_visual_headlight, reference())
-    .property("visual_map", &MjsAuthored::visual_map, &MjsAuthored::set_visual_map, reference())
-    .property("visual_quality", &MjsAuthored::visual_quality, &MjsAuthored::set_visual_quality, reference())
-    .property("visual_rgba", &MjsAuthored::visual_rgba, &MjsAuthored::set_visual_rgba, reference())
-    .property("visual_scale", &MjsAuthored::visual_scale, &MjsAuthored::set_visual_scale, reference());
-  emscripten::class_<MjsBody>("MjsBody")
-    .property("alt", &MjsBody::alt, reference())
-    .property("childclass", &MjsBody::childclass, &MjsBody::set_childclass, reference())
-    .property("element", &MjsBody::element, reference())
-    .property("explicitinertial", &MjsBody::explicitinertial, &MjsBody::set_explicitinertial, reference())
-    .property("fullinertia", &MjsBody::fullinertia)
-    .property("gravcomp", &MjsBody::gravcomp, &MjsBody::set_gravcomp, reference())
-    .property("ialt", &MjsBody::ialt, reference())
-    .property("inertia", &MjsBody::inertia)
-    .property("info", &MjsBody::info, &MjsBody::set_info, reference())
-    .property("ipos", &MjsBody::ipos)
-    .property("iquat", &MjsBody::iquat)
-    .property("mass", &MjsBody::mass, &MjsBody::set_mass, reference())
-    .property("mocap", &MjsBody::mocap, &MjsBody::set_mocap, reference())
-    .property("plugin", &MjsBody::plugin, reference())
-    .property("pos", &MjsBody::pos)
-    .property("quat", &MjsBody::quat)
-    .property("simple", &MjsBody::simple, &MjsBody::set_simple, reference())
-    .property("sleep", &MjsBody::sleep, &MjsBody::set_sleep, reference())
-    .property("userdata", &MjsBody::userdata, reference());
-  emscripten::class_<MjsCamera>("MjsCamera")
-    .property("alt", &MjsCamera::alt, reference())
-    .property("element", &MjsCamera::element, reference())
-    .property("focal_length", &MjsCamera::focal_length)
-    .property("focal_pixel", &MjsCamera::focal_pixel)
-    .property("fovy", &MjsCamera::fovy, &MjsCamera::set_fovy, reference())
-    .property("info", &MjsCamera::info, &MjsCamera::set_info, reference())
-    .property("intrinsic", &MjsCamera::intrinsic)
-    .property("ipd", &MjsCamera::ipd, &MjsCamera::set_ipd, reference())
-    .property("mode", &MjsCamera::mode, &MjsCamera::set_mode, reference())
-    .property("output", &MjsCamera::output, &MjsCamera::set_output, reference())
-    .property("pos", &MjsCamera::pos)
-    .property("principal_length", &MjsCamera::principal_length)
-    .property("principal_pixel", &MjsCamera::principal_pixel)
-    .property("proj", &MjsCamera::proj, &MjsCamera::set_proj, reference())
-    .property("quat", &MjsCamera::quat)
-    .property("resolution", &MjsCamera::resolution)
-    .property("sensor_size", &MjsCamera::sensor_size)
-    .property("targetbody", &MjsCamera::targetbody, &MjsCamera::set_targetbody, reference())
-    .property("userdata", &MjsCamera::userdata, reference());
-  emscripten::class_<MjsCompiler>("MjsCompiler")
-    .property("LRopt", &MjsCompiler::LRopt, reference())
-    .property("alignfree", &MjsCompiler::alignfree, &MjsCompiler::set_alignfree, reference())
-    .property("authored", &MjsCompiler::authored, &MjsCompiler::set_authored, reference())
-    .property("autolimits", &MjsCompiler::autolimits, &MjsCompiler::set_autolimits, reference())
-    .property("balanceinertia", &MjsCompiler::balanceinertia, &MjsCompiler::set_balanceinertia, reference())
-    .property("boundinertia", &MjsCompiler::boundinertia, &MjsCompiler::set_boundinertia, reference())
-    .property("boundmass", &MjsCompiler::boundmass, &MjsCompiler::set_boundmass, reference())
-    .property("conflict", &MjsCompiler::conflict, &MjsCompiler::set_conflict, reference())
-    .property("degree", &MjsCompiler::degree, &MjsCompiler::set_degree, reference())
-    .property("discardvisual", &MjsCompiler::discardvisual, &MjsCompiler::set_discardvisual, reference())
-    .property("eulerseq", &MjsCompiler::eulerseq)
-    .property("fitaabb", &MjsCompiler::fitaabb, &MjsCompiler::set_fitaabb, reference())
-    .property("fusestatic", &MjsCompiler::fusestatic, &MjsCompiler::set_fusestatic, reference())
-    .property("inertiafromgeom", &MjsCompiler::inertiafromgeom, &MjsCompiler::set_inertiafromgeom, reference())
-    .property("inertiagrouprange", &MjsCompiler::inertiagrouprange)
-    .property("meshdir", &MjsCompiler::meshdir, &MjsCompiler::set_meshdir, reference())
-    .property("saveinertial", &MjsCompiler::saveinertial, &MjsCompiler::set_saveinertial, reference())
-    .property("settotalmass", &MjsCompiler::settotalmass, &MjsCompiler::set_settotalmass, reference())
-    .property("texturedir", &MjsCompiler::texturedir, &MjsCompiler::set_texturedir, reference())
-    .property("usethread", &MjsCompiler::usethread, &MjsCompiler::set_usethread, reference());
-  emscripten::class_<MjsDefault>("MjsDefault")
-    .property("actuator", &MjsDefault::actuator, reference())
-    .property("camera", &MjsDefault::camera, reference())
-    .property("element", &MjsDefault::element, reference())
-    .property("equality", &MjsDefault::equality, reference())
-    .property("flex", &MjsDefault::flex, reference())
-    .property("geom", &MjsDefault::geom, reference())
-    .property("joint", &MjsDefault::joint, reference())
-    .property("light", &MjsDefault::light, reference())
-    .property("material", &MjsDefault::material, reference())
-    .property("mesh", &MjsDefault::mesh, reference())
-    .property("pair", &MjsDefault::pair, reference())
-    .property("site", &MjsDefault::site, reference())
-    .property("tendon", &MjsDefault::tendon, reference());
-  emscripten::class_<MjsElement>("MjsElement")
-    .property("elemtype", &MjsElement::elemtype, &MjsElement::set_elemtype, reference())
-    .property("signature", &MjsElement::signature, &MjsElement::set_signature, reference());
-  emscripten::class_<MjsEquality>("MjsEquality")
-    .property("active", &MjsEquality::active, &MjsEquality::set_active, reference())
-    .property("data", &MjsEquality::data)
-    .property("element", &MjsEquality::element, reference())
-    .property("info", &MjsEquality::info, &MjsEquality::set_info, reference())
-    .property("name1", &MjsEquality::name1, &MjsEquality::set_name1, reference())
-    .property("name2", &MjsEquality::name2, &MjsEquality::set_name2, reference())
-    .property("objtype", &MjsEquality::objtype, &MjsEquality::set_objtype, reference())
-    .property("solimp", &MjsEquality::solimp)
-    .property("solref", &MjsEquality::solref)
-    .property("type", &MjsEquality::type, &MjsEquality::set_type, reference());
-  emscripten::class_<MjsExclude>("MjsExclude")
-    .property("bodyname1", &MjsExclude::bodyname1, &MjsExclude::set_bodyname1, reference())
-    .property("bodyname2", &MjsExclude::bodyname2, &MjsExclude::set_bodyname2, reference())
-    .property("element", &MjsExclude::element, reference())
-    .property("info", &MjsExclude::info, &MjsExclude::set_info, reference());
-  emscripten::class_<MjsFlex>("MjsFlex")
-    .property("activelayers", &MjsFlex::activelayers, &MjsFlex::set_activelayers, reference())
-    .property("cellcount", &MjsFlex::cellcount)
-    .property("conaffinity", &MjsFlex::conaffinity, &MjsFlex::set_conaffinity, reference())
-    .property("condim", &MjsFlex::condim, &MjsFlex::set_condim, reference())
-    .property("contype", &MjsFlex::contype, &MjsFlex::set_contype, reference())
-    .property("damping", &MjsFlex::damping, &MjsFlex::set_damping, reference())
-    .property("dim", &MjsFlex::dim, &MjsFlex::set_dim, reference())
-    .property("edgedamping", &MjsFlex::edgedamping, &MjsFlex::set_edgedamping, reference())
-    .property("edgestiffness", &MjsFlex::edgestiffness, &MjsFlex::set_edgestiffness, reference())
-    .property("elastic2d", &MjsFlex::elastic2d, &MjsFlex::set_elastic2d, reference())
-    .property("elem", &MjsFlex::elem, reference())
-    .property("element", &MjsFlex::element, reference())
-    .property("elemtexcoord", &MjsFlex::elemtexcoord, reference())
-    .property("flatskin", &MjsFlex::flatskin, &MjsFlex::set_flatskin, reference())
-    .property("friction", &MjsFlex::friction)
-    .property("gap", &MjsFlex::gap, &MjsFlex::set_gap, reference())
-    .property("group", &MjsFlex::group, &MjsFlex::set_group, reference())
-    .property("info", &MjsFlex::info, &MjsFlex::set_info, reference())
-    .property("internal", &MjsFlex::internal, &MjsFlex::set_internal, reference())
-    .property("margin", &MjsFlex::margin, &MjsFlex::set_margin, reference())
-    .property("material", &MjsFlex::material, &MjsFlex::set_material, reference())
-    .property("node", &MjsFlex::node, reference())
-    .property("nodebody", &MjsFlex::nodebody, reference())
-    .property("order", &MjsFlex::order, &MjsFlex::set_order, reference())
-    .property("passive", &MjsFlex::passive, &MjsFlex::set_passive, reference())
-    .property("poisson", &MjsFlex::poisson, &MjsFlex::set_poisson, reference())
-    .property("priority", &MjsFlex::priority, &MjsFlex::set_priority, reference())
-    .property("radius", &MjsFlex::radius, &MjsFlex::set_radius, reference())
-    .property("rgba", &MjsFlex::rgba)
-    .property("selfcollide", &MjsFlex::selfcollide, &MjsFlex::set_selfcollide, reference())
-    .property("size", &MjsFlex::size)
-    .property("solimp", &MjsFlex::solimp)
-    .property("solmix", &MjsFlex::solmix, &MjsFlex::set_solmix, reference())
-    .property("solref", &MjsFlex::solref)
-    .property("texcoord", &MjsFlex::texcoord, reference())
-    .property("thickness", &MjsFlex::thickness, &MjsFlex::set_thickness, reference())
-    .property("vert", &MjsFlex::vert, reference())
-    .property("vertbody", &MjsFlex::vertbody, reference())
-    .property("young", &MjsFlex::young, &MjsFlex::set_young, reference());
-  emscripten::class_<MjsFrame>("MjsFrame")
-    .property("alt", &MjsFrame::alt, reference())
-    .property("childclass", &MjsFrame::childclass, &MjsFrame::set_childclass, reference())
-    .property("element", &MjsFrame::element, reference())
-    .property("info", &MjsFrame::info, &MjsFrame::set_info, reference())
-    .property("pos", &MjsFrame::pos)
-    .property("quat", &MjsFrame::quat);
-  emscripten::class_<MjsGeom>("MjsGeom")
-    .property("adhesion", &MjsGeom::adhesion, &MjsGeom::set_adhesion, reference())
-    .property("alt", &MjsGeom::alt, reference())
-    .property("conaffinity", &MjsGeom::conaffinity, &MjsGeom::set_conaffinity, reference())
-    .property("condim", &MjsGeom::condim, &MjsGeom::set_condim, reference())
-    .property("contype", &MjsGeom::contype, &MjsGeom::set_contype, reference())
-    .property("density", &MjsGeom::density, &MjsGeom::set_density, reference())
-    .property("element", &MjsGeom::element, reference())
-    .property("fitscale", &MjsGeom::fitscale, &MjsGeom::set_fitscale, reference())
-    .property("fluid_coefs", &MjsGeom::fluid_coefs)
-    .property("fluid_ellipsoid", &MjsGeom::fluid_ellipsoid, &MjsGeom::set_fluid_ellipsoid, reference())
-    .property("friction", &MjsGeom::friction)
-    .property("fromto", &MjsGeom::fromto)
-    .property("gap", &MjsGeom::gap, &MjsGeom::set_gap, reference())
-    .property("group", &MjsGeom::group, &MjsGeom::set_group, reference())
-    .property("hfieldname", &MjsGeom::hfieldname, &MjsGeom::set_hfieldname, reference())
-    .property("info", &MjsGeom::info, &MjsGeom::set_info, reference())
-    .property("margin", &MjsGeom::margin, &MjsGeom::set_margin, reference())
-    .property("mass", &MjsGeom::mass, &MjsGeom::set_mass, reference())
-    .property("material", &MjsGeom::material, &MjsGeom::set_material, reference())
-    .property("meshname", &MjsGeom::meshname, &MjsGeom::set_meshname, reference())
-    .property("plugin", &MjsGeom::plugin, reference())
-    .property("pos", &MjsGeom::pos)
-    .property("priority", &MjsGeom::priority, &MjsGeom::set_priority, reference())
-    .property("quat", &MjsGeom::quat)
-    .property("rgba", &MjsGeom::rgba)
-    .property("size", &MjsGeom::size)
-    .property("solimp", &MjsGeom::solimp)
-    .property("solmix", &MjsGeom::solmix, &MjsGeom::set_solmix, reference())
-    .property("solref", &MjsGeom::solref)
-    .property("surfacevel", &MjsGeom::surfacevel)
-    .property("type", &MjsGeom::type, &MjsGeom::set_type, reference())
-    .property("typeinertia", &MjsGeom::typeinertia, &MjsGeom::set_typeinertia, reference())
-    .property("userdata", &MjsGeom::userdata, reference());
-  emscripten::class_<MjsHField>("MjsHField")
-    .property("content_type", &MjsHField::content_type, &MjsHField::set_content_type, reference())
-    .property("element", &MjsHField::element, reference())
-    .property("file", &MjsHField::file, &MjsHField::set_file, reference())
-    .property("info", &MjsHField::info, &MjsHField::set_info, reference())
-    .property("ncol", &MjsHField::ncol, &MjsHField::set_ncol, reference())
-    .property("nrow", &MjsHField::nrow, &MjsHField::set_nrow, reference())
-    .property("size", &MjsHField::size)
-    .property("userdata", &MjsHField::userdata, reference());
-  emscripten::class_<MjsJoint>("MjsJoint")
-    .property("actfrclimited", &MjsJoint::actfrclimited, &MjsJoint::set_actfrclimited, reference())
-    .property("actfrcrange", &MjsJoint::actfrcrange)
-    .property("actgravcomp", &MjsJoint::actgravcomp, &MjsJoint::set_actgravcomp, reference())
-    .property("align", &MjsJoint::align, &MjsJoint::set_align, reference())
-    .property("armature", &MjsJoint::armature, &MjsJoint::set_armature, reference())
-    .property("axis", &MjsJoint::axis)
-    .property("damping", &MjsJoint::damping)
-    .property("element", &MjsJoint::element, reference())
-    .property("frictionloss", &MjsJoint::frictionloss, &MjsJoint::set_frictionloss, reference())
-    .property("group", &MjsJoint::group, &MjsJoint::set_group, reference())
-    .property("info", &MjsJoint::info, &MjsJoint::set_info, reference())
-    .property("limited", &MjsJoint::limited, &MjsJoint::set_limited, reference())
-    .property("margin", &MjsJoint::margin, &MjsJoint::set_margin, reference())
-    .property("pos", &MjsJoint::pos)
-    .property("range", &MjsJoint::range)
-    .property("ref", &MjsJoint::ref, &MjsJoint::set_ref, reference())
-    .property("solimp_friction", &MjsJoint::solimp_friction)
-    .property("solimp_limit", &MjsJoint::solimp_limit)
-    .property("solref_friction", &MjsJoint::solref_friction)
-    .property("solref_limit", &MjsJoint::solref_limit)
-    .property("springdamper", &MjsJoint::springdamper)
-    .property("springref", &MjsJoint::springref, &MjsJoint::set_springref, reference())
-    .property("stiffness", &MjsJoint::stiffness)
-    .property("type", &MjsJoint::type, &MjsJoint::set_type, reference())
-    .property("userdata", &MjsJoint::userdata, reference());
-  emscripten::class_<MjsKey>("MjsKey")
-    .property("act", &MjsKey::act, reference())
-    .property("ctrl", &MjsKey::ctrl, reference())
-    .property("element", &MjsKey::element, reference())
-    .property("info", &MjsKey::info, &MjsKey::set_info, reference())
-    .property("mpos", &MjsKey::mpos, reference())
-    .property("mquat", &MjsKey::mquat, reference())
-    .property("qpos", &MjsKey::qpos, reference())
-    .property("qvel", &MjsKey::qvel, reference())
-    .property("time", &MjsKey::time, &MjsKey::set_time, reference());
-  emscripten::class_<MjsLight>("MjsLight")
-    .property("active", &MjsLight::active, &MjsLight::set_active, reference())
-    .property("ambient", &MjsLight::ambient)
-    .property("attenuation", &MjsLight::attenuation)
-    .property("bulbradius", &MjsLight::bulbradius, &MjsLight::set_bulbradius, reference())
-    .property("castshadow", &MjsLight::castshadow, &MjsLight::set_castshadow, reference())
-    .property("cutoff", &MjsLight::cutoff, &MjsLight::set_cutoff, reference())
-    .property("diffuse", &MjsLight::diffuse)
-    .property("dir", &MjsLight::dir)
-    .property("element", &MjsLight::element, reference())
-    .property("exponent", &MjsLight::exponent, &MjsLight::set_exponent, reference())
-    .property("info", &MjsLight::info, &MjsLight::set_info, reference())
-    .property("intensity", &MjsLight::intensity, &MjsLight::set_intensity, reference())
-    .property("mode", &MjsLight::mode, &MjsLight::set_mode, reference())
-    .property("pos", &MjsLight::pos)
-    .property("range", &MjsLight::range, &MjsLight::set_range, reference())
-    .property("softness", &MjsLight::softness, &MjsLight::set_softness, reference())
-    .property("specular", &MjsLight::specular)
-    .property("targetbody", &MjsLight::targetbody, &MjsLight::set_targetbody, reference())
-    .property("texture", &MjsLight::texture, &MjsLight::set_texture, reference())
-    .property("type", &MjsLight::type, &MjsLight::set_type, reference());
-  emscripten::class_<MjsMaterial>("MjsMaterial")
-    .property("element", &MjsMaterial::element, reference())
-    .property("emission", &MjsMaterial::emission, &MjsMaterial::set_emission, reference())
-    .property("info", &MjsMaterial::info, &MjsMaterial::set_info, reference())
-    .property("metallic", &MjsMaterial::metallic, &MjsMaterial::set_metallic, reference())
-    .property("reflectance", &MjsMaterial::reflectance, &MjsMaterial::set_reflectance, reference())
-    .property("rgba", &MjsMaterial::rgba)
-    .property("roughness", &MjsMaterial::roughness, &MjsMaterial::set_roughness, reference())
-    .property("shininess", &MjsMaterial::shininess, &MjsMaterial::set_shininess, reference())
-    .property("specular", &MjsMaterial::specular, &MjsMaterial::set_specular, reference())
-    .property("texrepeat", &MjsMaterial::texrepeat)
-    .property("textures", &MjsMaterial::textures, reference())
-    .property("texuniform", &MjsMaterial::texuniform, &MjsMaterial::set_texuniform, reference());
-  emscripten::class_<MjsMesh>("MjsMesh")
-    .property("content_type", &MjsMesh::content_type, &MjsMesh::set_content_type, reference())
-    .property("element", &MjsMesh::element, reference())
-    .property("file", &MjsMesh::file, &MjsMesh::set_file, reference())
-    .property("inertia", &MjsMesh::inertia, &MjsMesh::set_inertia, reference())
-    .property("info", &MjsMesh::info, &MjsMesh::set_info, reference())
-    .property("material", &MjsMesh::material, &MjsMesh::set_material, reference())
-    .property("maxhullvert", &MjsMesh::maxhullvert, &MjsMesh::set_maxhullvert, reference())
-    .property("needsdf", &MjsMesh::needsdf, &MjsMesh::set_needsdf, reference())
-    .property("octree_maxdepth", &MjsMesh::octree_maxdepth, &MjsMesh::set_octree_maxdepth, reference())
-    .property("plugin", &MjsMesh::plugin, reference())
-    .property("refpos", &MjsMesh::refpos)
-    .property("refquat", &MjsMesh::refquat)
-    .property("scale", &MjsMesh::scale)
-    .property("smoothnormal", &MjsMesh::smoothnormal, &MjsMesh::set_smoothnormal, reference())
-    .property("userface", &MjsMesh::userface, reference())
-    .property("userfacenormal", &MjsMesh::userfacenormal, reference())
-    .property("userfacetexcoord", &MjsMesh::userfacetexcoord, reference())
-    .property("usernormal", &MjsMesh::usernormal, reference())
-    .property("usertexcoord", &MjsMesh::usertexcoord, reference())
-    .property("uservert", &MjsMesh::uservert, reference());
-  emscripten::class_<MjsNumeric>("MjsNumeric")
-    .property("data", &MjsNumeric::data, reference())
-    .property("element", &MjsNumeric::element, reference())
-    .property("info", &MjsNumeric::info, &MjsNumeric::set_info, reference())
-    .property("size", &MjsNumeric::size, &MjsNumeric::set_size, reference());
-  emscripten::class_<MjsOrientation>("MjsOrientation")
-    .property("axisangle", &MjsOrientation::axisangle)
-    .property("euler", &MjsOrientation::euler)
-    .property("type", &MjsOrientation::type, &MjsOrientation::set_type, reference())
-    .property("xyaxes", &MjsOrientation::xyaxes)
-    .property("zaxis", &MjsOrientation::zaxis);
-  emscripten::class_<MjsPair>("MjsPair")
-    .property("adhesion", &MjsPair::adhesion, &MjsPair::set_adhesion, reference())
-    .property("condim", &MjsPair::condim, &MjsPair::set_condim, reference())
-    .property("element", &MjsPair::element, reference())
-    .property("friction", &MjsPair::friction)
-    .property("gap", &MjsPair::gap, &MjsPair::set_gap, reference())
-    .property("geomname1", &MjsPair::geomname1, &MjsPair::set_geomname1, reference())
-    .property("geomname2", &MjsPair::geomname2, &MjsPair::set_geomname2, reference())
-    .property("info", &MjsPair::info, &MjsPair::set_info, reference())
-    .property("margin", &MjsPair::margin, &MjsPair::set_margin, reference())
-    .property("solimp", &MjsPair::solimp)
-    .property("solref", &MjsPair::solref)
-    .property("solreffriction", &MjsPair::solreffriction);
-  emscripten::class_<MjsPlugin>("MjsPlugin")
-    .property("active", &MjsPlugin::active, &MjsPlugin::set_active, reference())
-    .property("element", &MjsPlugin::element, reference())
-    .property("info", &MjsPlugin::info, &MjsPlugin::set_info, reference())
-    .property("name", &MjsPlugin::name, &MjsPlugin::set_name, reference())
-    .property("plugin_name", &MjsPlugin::plugin_name, &MjsPlugin::set_plugin_name, reference());
-  emscripten::class_<MjsSensor>("MjsSensor")
-    .property("cutoff", &MjsSensor::cutoff, &MjsSensor::set_cutoff, reference())
-    .property("datatype", &MjsSensor::datatype, &MjsSensor::set_datatype, reference())
-    .property("delay", &MjsSensor::delay, &MjsSensor::set_delay, reference())
-    .property("dim", &MjsSensor::dim, &MjsSensor::set_dim, reference())
-    .property("element", &MjsSensor::element, reference())
-    .property("info", &MjsSensor::info, &MjsSensor::set_info, reference())
-    .property("interp", &MjsSensor::interp, &MjsSensor::set_interp, reference())
-    .property("interval", &MjsSensor::interval)
-    .property("intprm", &MjsSensor::intprm)
-    .property("needstage", &MjsSensor::needstage, &MjsSensor::set_needstage, reference())
-    .property("noise", &MjsSensor::noise, &MjsSensor::set_noise, reference())
-    .property("nsample", &MjsSensor::nsample, &MjsSensor::set_nsample, reference())
-    .property("objname", &MjsSensor::objname, &MjsSensor::set_objname, reference())
-    .property("objtype", &MjsSensor::objtype, &MjsSensor::set_objtype, reference())
-    .property("plugin", &MjsSensor::plugin, reference())
-    .property("refname", &MjsSensor::refname, &MjsSensor::set_refname, reference())
-    .property("reftype", &MjsSensor::reftype, &MjsSensor::set_reftype, reference())
-    .property("type", &MjsSensor::type, &MjsSensor::set_type, reference())
-    .property("userdata", &MjsSensor::userdata, reference());
-  emscripten::class_<MjsSite>("MjsSite")
-    .property("alt", &MjsSite::alt, reference())
-    .property("element", &MjsSite::element, reference())
-    .property("fromto", &MjsSite::fromto)
-    .property("group", &MjsSite::group, &MjsSite::set_group, reference())
-    .property("info", &MjsSite::info, &MjsSite::set_info, reference())
-    .property("material", &MjsSite::material, &MjsSite::set_material, reference())
-    .property("pos", &MjsSite::pos)
-    .property("quat", &MjsSite::quat)
-    .property("rgba", &MjsSite::rgba)
-    .property("size", &MjsSite::size)
-    .property("type", &MjsSite::type, &MjsSite::set_type, reference())
-    .property("userdata", &MjsSite::userdata, reference());
-  emscripten::class_<MjsSkin>("MjsSkin")
-    .property("bindpos", &MjsSkin::bindpos, reference())
-    .property("bindquat", &MjsSkin::bindquat, reference())
-    .property("bodyname", &MjsSkin::bodyname, reference())
-    .property("element", &MjsSkin::element, reference())
-    .property("face", &MjsSkin::face, reference())
-    .property("file", &MjsSkin::file, &MjsSkin::set_file, reference())
-    .property("group", &MjsSkin::group, &MjsSkin::set_group, reference())
-    .property("inflate", &MjsSkin::inflate, &MjsSkin::set_inflate, reference())
-    .property("info", &MjsSkin::info, &MjsSkin::set_info, reference())
-    .property("material", &MjsSkin::material, &MjsSkin::set_material, reference())
-    .property("rgba", &MjsSkin::rgba)
-    .property("texcoord", &MjsSkin::texcoord, reference())
-    .property("vert", &MjsSkin::vert, reference())
-    .property("vertid", &MjsSkin::vertid, reference())
-    .property("vertweight", &MjsSkin::vertweight, reference());
-  emscripten::class_<MjsTendon>("MjsTendon")
-    .property("actfrclimited", &MjsTendon::actfrclimited, &MjsTendon::set_actfrclimited, reference())
-    .property("actfrcrange", &MjsTendon::actfrcrange)
-    .property("armature", &MjsTendon::armature, &MjsTendon::set_armature, reference())
-    .property("damping", &MjsTendon::damping)
-    .property("element", &MjsTendon::element, reference())
-    .property("frictionloss", &MjsTendon::frictionloss, &MjsTendon::set_frictionloss, reference())
-    .property("group", &MjsTendon::group, &MjsTendon::set_group, reference())
-    .property("info", &MjsTendon::info, &MjsTendon::set_info, reference())
-    .property("limited", &MjsTendon::limited, &MjsTendon::set_limited, reference())
-    .property("margin", &MjsTendon::margin, &MjsTendon::set_margin, reference())
-    .property("material", &MjsTendon::material, &MjsTendon::set_material, reference())
-    .property("range", &MjsTendon::range)
-    .property("rgba", &MjsTendon::rgba)
-    .property("solimp_friction", &MjsTendon::solimp_friction)
-    .property("solimp_limit", &MjsTendon::solimp_limit)
-    .property("solref_friction", &MjsTendon::solref_friction)
-    .property("solref_limit", &MjsTendon::solref_limit)
-    .property("springlength", &MjsTendon::springlength)
-    .property("stiffness", &MjsTendon::stiffness)
-    .property("userdata", &MjsTendon::userdata, reference())
-    .property("width", &MjsTendon::width, &MjsTendon::set_width, reference());
-  emscripten::class_<MjsText>("MjsText")
-    .property("data", &MjsText::data, &MjsText::set_data, reference())
-    .property("element", &MjsText::element, reference())
-    .property("info", &MjsText::info, &MjsText::set_info, reference());
-  emscripten::class_<MjsTexture>("MjsTexture")
-    .property("builtin", &MjsTexture::builtin, &MjsTexture::set_builtin, reference())
-    .property("colorspace", &MjsTexture::colorspace, &MjsTexture::set_colorspace, reference())
-    .property("content_type", &MjsTexture::content_type, &MjsTexture::set_content_type, reference())
-    .property("cubefiles", &MjsTexture::cubefiles, reference())
-    .property("data", &MjsTexture::data, reference())
-    .property("element", &MjsTexture::element, reference())
-    .property("file", &MjsTexture::file, &MjsTexture::set_file, reference())
-    .property("gridlayout", &MjsTexture::gridlayout)
-    .property("gridsize", &MjsTexture::gridsize)
-    .property("height", &MjsTexture::height, &MjsTexture::set_height, reference())
-    .property("hflip", &MjsTexture::hflip, &MjsTexture::set_hflip, reference())
-    .property("info", &MjsTexture::info, &MjsTexture::set_info, reference())
-    .property("mark", &MjsTexture::mark, &MjsTexture::set_mark, reference())
-    .property("markrgb", &MjsTexture::markrgb)
-    .property("nchannel", &MjsTexture::nchannel, &MjsTexture::set_nchannel, reference())
-    .property("random", &MjsTexture::random, &MjsTexture::set_random, reference())
-    .property("rgb1", &MjsTexture::rgb1)
-    .property("rgb2", &MjsTexture::rgb2)
-    .property("type", &MjsTexture::type, &MjsTexture::set_type, reference())
-    .property("vflip", &MjsTexture::vflip, &MjsTexture::set_vflip, reference())
-    .property("width", &MjsTexture::width, &MjsTexture::set_width, reference());
-  emscripten::class_<MjsTuple>("MjsTuple")
-    .property("element", &MjsTuple::element, reference())
-    .property("info", &MjsTuple::info, &MjsTuple::set_info, reference())
-    .property("objname", &MjsTuple::objname, reference())
-    .property("objprm", &MjsTuple::objprm, reference())
-    .property("objtype", &MjsTuple::objtype, reference());
-  emscripten::class_<MjsWrap>("MjsWrap")
-    .property("element", &MjsWrap::element, reference())
-    .property("info", &MjsWrap::info, &MjsWrap::set_info, reference())
-    .property("type", &MjsWrap::type, &MjsWrap::set_type, reference());
-  emscripten::class_<MjvCamera>("MjvCamera")
-    .constructor<>()
-    .function("copy", &MjvCamera::copy, take_ownership())
-    .property("azimuth", &MjvCamera::azimuth, &MjvCamera::set_azimuth, reference())
-    .property("distance", &MjvCamera::distance, &MjvCamera::set_distance, reference())
-    .property("elevation", &MjvCamera::elevation, &MjvCamera::set_elevation, reference())
-    .property("fixedcamid", &MjvCamera::fixedcamid, &MjvCamera::set_fixedcamid, reference())
-    .property("lookat", &MjvCamera::lookat)
-    .property("orthographic", &MjvCamera::orthographic, &MjvCamera::set_orthographic, reference())
-    .property("trackbodyid", &MjvCamera::trackbodyid, &MjvCamera::set_trackbodyid, reference())
-    .property("type", &MjvCamera::type, &MjvCamera::set_type, reference());
-  emscripten::class_<MjvFigure>("MjvFigure")
-    .constructor<>()
-    .function("copy", &MjvFigure::copy, take_ownership())
-    .property("figurergba", &MjvFigure::figurergba)
-    .property("flg_barplot", &MjvFigure::flg_barplot, &MjvFigure::set_flg_barplot, reference())
-    .property("flg_extend", &MjvFigure::flg_extend, &MjvFigure::set_flg_extend, reference())
-    .property("flg_legend", &MjvFigure::flg_legend, &MjvFigure::set_flg_legend, reference())
-    .property("flg_selection", &MjvFigure::flg_selection, &MjvFigure::set_flg_selection, reference())
-    .property("flg_symmetric", &MjvFigure::flg_symmetric, &MjvFigure::set_flg_symmetric, reference())
-    .property("flg_ticklabel", &MjvFigure::flg_ticklabel)
-    .property("gridrgb", &MjvFigure::gridrgb)
-    .property("gridsize", &MjvFigure::gridsize)
-    .property("gridwidth", &MjvFigure::gridwidth, &MjvFigure::set_gridwidth, reference())
-    .property("highlight", &MjvFigure::highlight)
-    .property("highlightid", &MjvFigure::highlightid, &MjvFigure::set_highlightid, reference())
-    .property("legendoffset", &MjvFigure::legendoffset, &MjvFigure::set_legendoffset, reference())
-    .property("legendrgba", &MjvFigure::legendrgba)
-    .property("linedata", &MjvFigure::linedata)
-    .property("linename", &MjvFigure::linename)
-    .property("linepnt", &MjvFigure::linepnt)
-    .property("linergb", &MjvFigure::linergb)
-    .property("linewidth", &MjvFigure::linewidth, &MjvFigure::set_linewidth, reference())
-    .property("minwidth", &MjvFigure::minwidth)
-    .property("panergba", &MjvFigure::panergba)
-    .property("range", &MjvFigure::range)
-    .property("selection", &MjvFigure::selection, &MjvFigure::set_selection, reference())
-    .property("subplot", &MjvFigure::subplot, &MjvFigure::set_subplot, reference())
-    .property("textrgb", &MjvFigure::textrgb)
-    .property("title", &MjvFigure::title)
-    .property("xaxisdata", &MjvFigure::xaxisdata)
-    .property("xaxispixel", &MjvFigure::xaxispixel)
-    .property("xformat", &MjvFigure::xformat)
-    .property("xlabel", &MjvFigure::xlabel)
-    .property("yaxisdata", &MjvFigure::yaxisdata)
-    .property("yaxispixel", &MjvFigure::yaxispixel)
-    .property("yformat", &MjvFigure::yformat);
-  emscripten::class_<MjvGLCamera>("MjvGLCamera")
-    .constructor<>()
-    .function("copy", &MjvGLCamera::copy, take_ownership())
-    .property("forward", &MjvGLCamera::forward)
-    .property("frustum_bottom", &MjvGLCamera::frustum_bottom, &MjvGLCamera::set_frustum_bottom, reference())
-    .property("frustum_center", &MjvGLCamera::frustum_center, &MjvGLCamera::set_frustum_center, reference())
-    .property("frustum_far", &MjvGLCamera::frustum_far, &MjvGLCamera::set_frustum_far, reference())
-    .property("frustum_near", &MjvGLCamera::frustum_near, &MjvGLCamera::set_frustum_near, reference())
-    .property("frustum_top", &MjvGLCamera::frustum_top, &MjvGLCamera::set_frustum_top, reference())
-    .property("frustum_width", &MjvGLCamera::frustum_width, &MjvGLCamera::set_frustum_width, reference())
-    .property("orthographic", &MjvGLCamera::orthographic, &MjvGLCamera::set_orthographic, reference())
-    .property("pos", &MjvGLCamera::pos)
-    .property("up", &MjvGLCamera::up);
-  emscripten::class_<MjvGeom>("MjvGeom")
-    .constructor<>()
-    .function("copy", &MjvGeom::copy, take_ownership())
-    .property("camdist", &MjvGeom::camdist, &MjvGeom::set_camdist, reference())
-    .property("category", &MjvGeom::category, &MjvGeom::set_category, reference())
-    .property("dataid", &MjvGeom::dataid, &MjvGeom::set_dataid, reference())
-    .property("emission", &MjvGeom::emission, &MjvGeom::set_emission, reference())
-    .property("label", &MjvGeom::label)
-    .property("mat", &MjvGeom::mat)
-    .property("matid", &MjvGeom::matid, &MjvGeom::set_matid, reference())
-    .property("modelrbound", &MjvGeom::modelrbound, &MjvGeom::set_modelrbound, reference())
-    .property("objid", &MjvGeom::objid, &MjvGeom::set_objid, reference())
-    .property("objtype", &MjvGeom::objtype, &MjvGeom::set_objtype, reference())
-    .property("pos", &MjvGeom::pos)
-    .property("reflectance", &MjvGeom::reflectance, &MjvGeom::set_reflectance, reference())
-    .property("rgba", &MjvGeom::rgba)
-    .property("segid", &MjvGeom::segid, &MjvGeom::set_segid, reference())
-    .property("shininess", &MjvGeom::shininess, &MjvGeom::set_shininess, reference())
-    .property("size", &MjvGeom::size)
-    .property("specular", &MjvGeom::specular, &MjvGeom::set_specular, reference())
-    .property("texcoord", &MjvGeom::texcoord, &MjvGeom::set_texcoord, reference())
-    .property("texid", &MjvGeom::texid, &MjvGeom::set_texid, reference())
-    .property("texrepeat", &MjvGeom::texrepeat)
-    .property("texuniform", &MjvGeom::texuniform, &MjvGeom::set_texuniform, reference())
-    .property("transparent", &MjvGeom::transparent, &MjvGeom::set_transparent, reference())
-    .property("type", &MjvGeom::type, &MjvGeom::set_type, reference());
-  emscripten::class_<MjvLight>("MjvLight")
-    .constructor<>()
-    .function("copy", &MjvLight::copy, take_ownership())
-    .property("ambient", &MjvLight::ambient)
-    .property("attenuation", &MjvLight::attenuation)
-    .property("bulbradius", &MjvLight::bulbradius, &MjvLight::set_bulbradius, reference())
-    .property("castshadow", &MjvLight::castshadow, &MjvLight::set_castshadow, reference())
-    .property("cutoff", &MjvLight::cutoff, &MjvLight::set_cutoff, reference())
-    .property("diffuse", &MjvLight::diffuse)
-    .property("dir", &MjvLight::dir)
-    .property("exponent", &MjvLight::exponent, &MjvLight::set_exponent, reference())
-    .property("headlight", &MjvLight::headlight, &MjvLight::set_headlight, reference())
-    .property("id", &MjvLight::id, &MjvLight::set_id, reference())
-    .property("intensity", &MjvLight::intensity, &MjvLight::set_intensity, reference())
-    .property("pos", &MjvLight::pos)
-    .property("range", &MjvLight::range, &MjvLight::set_range, reference())
-    .property("softness", &MjvLight::softness, &MjvLight::set_softness, reference())
-    .property("specular", &MjvLight::specular)
-    .property("texid", &MjvLight::texid, &MjvLight::set_texid, reference())
-    .property("type", &MjvLight::type, &MjvLight::set_type, reference());
-  emscripten::class_<MjvOption>("MjvOption")
-    .constructor<>()
-    .function("copy", &MjvOption::copy, take_ownership())
-    .property("actuatorgroup", &MjvOption::actuatorgroup)
-    .property("bvh_depth", &MjvOption::bvh_depth, &MjvOption::set_bvh_depth, reference())
-    .property("flags", &MjvOption::flags)
-    .property("flex_layer", &MjvOption::flex_layer, &MjvOption::set_flex_layer, reference())
-    .property("flexgroup", &MjvOption::flexgroup)
-    .property("frame", &MjvOption::frame, &MjvOption::set_frame, reference())
-    .property("geomgroup", &MjvOption::geomgroup)
-    .property("jointgroup", &MjvOption::jointgroup)
-    .property("label", &MjvOption::label, &MjvOption::set_label, reference())
-    .property("sitegroup", &MjvOption::sitegroup)
-    .property("skingroup", &MjvOption::skingroup)
-    .property("tendongroup", &MjvOption::tendongroup);
-  emscripten::class_<MjvPerturb>("MjvPerturb")
-    .constructor<>()
-    .function("copy", &MjvPerturb::copy, take_ownership())
-    .property("active", &MjvPerturb::active, &MjvPerturb::set_active, reference())
-    .property("active2", &MjvPerturb::active2, &MjvPerturb::set_active2, reference())
-    .property("flexselect", &MjvPerturb::flexselect, &MjvPerturb::set_flexselect, reference())
-    .property("localmass", &MjvPerturb::localmass, &MjvPerturb::set_localmass, reference())
-    .property("localpos", &MjvPerturb::localpos)
-    .property("refpos", &MjvPerturb::refpos)
-    .property("refquat", &MjvPerturb::refquat)
-    .property("refselpos", &MjvPerturb::refselpos)
-    .property("scale", &MjvPerturb::scale, &MjvPerturb::set_scale, reference())
-    .property("select", &MjvPerturb::select, &MjvPerturb::set_select, reference())
-    .property("skinselect", &MjvPerturb::skinselect, &MjvPerturb::set_skinselect, reference());
-  emscripten::class_<MjvScene>("MjvScene")
-    .constructor<MjModel *, int>()
-    .constructor<>()
-    .property("camera", &MjvScene::camera)
-    .property("enabletransform", &MjvScene::enabletransform, &MjvScene::set_enabletransform, reference())
-    .property("flags", &MjvScene::flags)
-    .property("flexedge", &MjvScene::flexedge)
-    .property("flexedgeadr", &MjvScene::flexedgeadr)
-    .property("flexedgenum", &MjvScene::flexedgenum)
-    .property("flexedgeopt", &MjvScene::flexedgeopt, &MjvScene::set_flexedgeopt, reference())
-    .property("flexface", &MjvScene::flexface)
-    .property("flexfaceadr", &MjvScene::flexfaceadr)
-    .property("flexfacenum", &MjvScene::flexfacenum)
-    .property("flexfaceopt", &MjvScene::flexfaceopt, &MjvScene::set_flexfaceopt, reference())
-    .property("flexfaceused", &MjvScene::flexfaceused)
-    .property("flexnormal", &MjvScene::flexnormal)
-    .property("flexskinopt", &MjvScene::flexskinopt, &MjvScene::set_flexskinopt, reference())
-    .property("flextexcoord", &MjvScene::flextexcoord)
-    .property("flexvert", &MjvScene::flexvert)
-    .property("flexvertadr", &MjvScene::flexvertadr)
-    .property("flexvertnum", &MjvScene::flexvertnum)
-    .property("flexvertopt", &MjvScene::flexvertopt, &MjvScene::set_flexvertopt, reference())
-    .property("framergb", &MjvScene::framergb)
-    .property("framewidth", &MjvScene::framewidth, &MjvScene::set_framewidth, reference())
-    .property("geomorder", &MjvScene::geomorder)
-    .property("geoms", &MjvScene::geoms)
-    .property("lights", &MjvScene::lights)
-    .property("maxgeom", &MjvScene::maxgeom, &MjvScene::set_maxgeom, reference())
-    .property("nflex", &MjvScene::nflex, &MjvScene::set_nflex, reference())
-    .property("ngeom", &MjvScene::ngeom, &MjvScene::set_ngeom, reference())
-    .property("nlight", &MjvScene::nlight, &MjvScene::set_nlight, reference())
-    .property("nskin", &MjvScene::nskin, &MjvScene::set_nskin, reference())
-    .property("rotate", &MjvScene::rotate)
-    .property("scale", &MjvScene::scale, &MjvScene::set_scale, reference())
-    .property("skinfacenum", &MjvScene::skinfacenum)
-    .property("skinnormal", &MjvScene::skinnormal)
-    .property("skinvert", &MjvScene::skinvert)
-    .property("skinvertadr", &MjvScene::skinvertadr)
-    .property("skinvertnum", &MjvScene::skinvertnum)
-    .property("status", &MjvScene::status, &MjvScene::set_status, reference())
-    .property("stereo", &MjvScene::stereo, &MjvScene::set_stereo, reference())
-    .property("translate", &MjvScene::translate);
-  emscripten::register_optional<MjSpec>();
-  emscripten::register_optional<MjsActuator>();
-  emscripten::register_optional<MjsAuthored>();
-  emscripten::register_optional<MjsBody>();
-  emscripten::register_optional<MjsCamera>();
-  emscripten::register_optional<MjsCompiler>();
-  emscripten::register_optional<MjsDefault>();
-  emscripten::register_optional<MjsElement>();
-  emscripten::register_optional<MjsEquality>();
-  emscripten::register_optional<MjsExclude>();
-  emscripten::register_optional<MjsFlex>();
-  emscripten::register_optional<MjsFrame>();
-  emscripten::register_optional<MjsGeom>();
-  emscripten::register_optional<MjsHField>();
-  emscripten::register_optional<MjsJoint>();
-  emscripten::register_optional<MjsKey>();
-  emscripten::register_optional<MjsLight>();
-  emscripten::register_optional<MjsMaterial>();
-  emscripten::register_optional<MjsMesh>();
-  emscripten::register_optional<MjsNumeric>();
-  emscripten::register_optional<MjsOrientation>();
-  emscripten::register_optional<MjsPair>();
-  emscripten::register_optional<MjsPlugin>();
-  emscripten::register_optional<MjsSensor>();
-  emscripten::register_optional<MjsSite>();
-  emscripten::register_optional<MjsSkin>();
-  emscripten::register_optional<MjsTendon>();
-  emscripten::register_optional<MjsText>();
-  emscripten::register_optional<MjsTexture>();
-  emscripten::register_optional<MjsTuple>();
-  emscripten::register_optional<MjsWrap>();
-
-  emscripten::class_<MjVFS>("MjVFS")
-      .constructor<>()
-      .function("addBuffer", &MjVFS::AddBuffer)
-      .function("deleteFile", &MjVFS::DeleteFile);
-
-  function("mj_Euler", &mj_Euler_wrapper);
-  function("mj_RungeKutta", &mj_RungeKutta_wrapper);
-  function("mj_actuatorInputName", &mj_actuatorInputName_wrapper);
-  function("mj_addContact", &mj_addContact_wrapper);
-  function("mj_addM", &mj_addM_wrapper);
-  function("mj_angmomMat", &mj_angmomMat_wrapper);
-  function("mj_applyFT", &mj_applyFT_wrapper);
-  function("mj_camlight", &mj_camlight_wrapper);
-  function("mj_checkAcc", &mj_checkAcc_wrapper);
-  function("mj_checkPos", &mj_checkPos_wrapper);
-  function("mj_checkVel", &mj_checkVel_wrapper);
-  function("mj_collision", &mj_collision_wrapper);
-  function("mj_comPos", &mj_comPos_wrapper);
-  function("mj_comVel", &mj_comVel_wrapper);
-  function("mj_compareFwdInv", &mj_compareFwdInv_wrapper);
-  function("mj_constraintUpdate", &mj_constraintUpdate_wrapper);
-  function("mj_contactForce", &mj_contactForce_wrapper);
-  function("mj_copyBack", &mj_copyBack_wrapper);
-  function("mj_copyState", &mj_copyState_wrapper);
-  function("mj_crb", &mj_crb_wrapper);
-  function("mj_defaultLROpt", &mj_defaultLROpt_wrapper);
-  function("mj_defaultOption", &mj_defaultOption_wrapper);
-  function("mj_defaultSolRefImp", &mj_defaultSolRefImp_wrapper);
-  function("mj_defaultVisual", &mj_defaultVisual_wrapper);
-  function("mj_differentiatePos", &mj_differentiatePos_wrapper);
-  function("mj_energyPos", &mj_energyPos_wrapper);
-  function("mj_energyVel", &mj_energyVel_wrapper);
-  function("mj_extractState", &mj_extractState_wrapper);
-  function("mj_factorM", &mj_factorM_wrapper);
-  function("mj_flex", &mj_flex_wrapper);
-  function("mj_forward", &mj_forward_wrapper);
-  function("mj_forwardSkip", &mj_forwardSkip_wrapper);
-  function("mj_fullM", &mj_fullM_wrapper);
-  function("mj_fwdAcceleration", &mj_fwdAcceleration_wrapper);
-  function("mj_fwdActuation", &mj_fwdActuation_wrapper);
-  function("mj_fwdConstraint", &mj_fwdConstraint_wrapper);
-  function("mj_fwdKinematics", &mj_fwdKinematics_wrapper);
-  function("mj_fwdPosition", &mj_fwdPosition_wrapper);
-  function("mj_fwdVelocity", &mj_fwdVelocity_wrapper);
-  function("mj_geomDistance", &mj_geomDistance_wrapper);
-  function("mj_getState", &mj_getState_wrapper);
-  function("mj_getTotalmass", &mj_getTotalmass_wrapper);
-  function("mj_id2name", &mj_id2name_wrapper);
-  function("mj_implicit", &mj_implicit_wrapper);
-  function("mj_initCtrlHistory", &mj_initCtrlHistory_wrapper);
-  function("mj_initSensorHistory", &mj_initSensorHistory_wrapper);
-  function("mj_integratePos", &mj_integratePos_wrapper);
-  function("mj_invConstraint", &mj_invConstraint_wrapper);
-  function("mj_invPosition", &mj_invPosition_wrapper);
-  function("mj_invVelocity", &mj_invVelocity_wrapper);
-  function("mj_inverse", &mj_inverse_wrapper);
-  function("mj_inverseSkip", &mj_inverseSkip_wrapper);
-  function("mj_isDual", &mj_isDual_wrapper);
-  function("mj_isPyramidal", &mj_isPyramidal_wrapper);
-  function("mj_isSparse", &mj_isSparse_wrapper);
-  function("mj_island", &mj_island_wrapper);
-  function("mj_jac", &mj_jac_wrapper);
-  function("mj_jacBody", &mj_jacBody_wrapper);
-  function("mj_jacBodyCom", &mj_jacBodyCom_wrapper);
-  function("mj_jacDot", &mj_jacDot_wrapper);
-  function("mj_jacGeom", &mj_jacGeom_wrapper);
-  function("mj_jacPointAxis", &mj_jacPointAxis_wrapper);
-  function("mj_jacSite", &mj_jacSite_wrapper);
-  function("mj_jacSubtreeCom", &mj_jacSubtreeCom_wrapper);
-  function("mj_kinematics", &mj_kinematics_wrapper);
-  function("mj_local2Global", &mj_local2Global_wrapper);
-  function("mj_makeConstraint", &mj_makeConstraint_wrapper);
-  function("mj_makeM", &mj_makeM_wrapper);
-  function("mj_maxContact", &mj_maxContact_wrapper);
-  function("mj_mulJacTVec", &mj_mulJacTVec_wrapper);
-  function("mj_mulJacVec", &mj_mulJacVec_wrapper);
-  function("mj_mulM", &mj_mulM_wrapper);
-  function("mj_mulM2", &mj_mulM2_wrapper);
-  function("mj_multiRay", &mj_multiRay_wrapper);
-  function("mj_name2id", &mj_name2id_wrapper);
-  function("mj_normalizeQuat", &mj_normalizeQuat_wrapper);
-  function("mj_objectAcceleration", &mj_objectAcceleration_wrapper);
-  function("mj_objectVelocity", &mj_objectVelocity_wrapper);
-  function("mj_passive", &mj_passive_wrapper);
-  function("mj_printData", &mj_printData_wrapper);
-  function("mj_printFormattedData", &mj_printFormattedData_wrapper);
-  function("mj_printFormattedModel", &mj_printFormattedModel_wrapper);
-  function("mj_printFormattedScene", &mj_printFormattedScene_wrapper);
-  function("mj_printModel", &mj_printModel_wrapper);
-  function("mj_printScene", &mj_printScene_wrapper);
-  function("mj_projectConstraint", &mj_projectConstraint_wrapper);
-  function("mj_ray", &mj_ray_wrapper);
-  function("mj_rayFlex", &mj_rayFlex_wrapper);
-  function("mj_rayHfield", &mj_rayHfield_wrapper);
-  function("mj_rayMesh", &mj_rayMesh_wrapper);
-  function("mj_readCtrl", &mj_readCtrl_wrapper);
-  function("mj_referenceConstraint", &mj_referenceConstraint_wrapper);
-  function("mj_resetCallbacks", &mj_resetCallbacks);
-  function("mj_resetCtrl", &mj_resetCtrl_wrapper);
-  function("mj_resetData", &mj_resetData_wrapper);
-  function("mj_resetDataDebug", &mj_resetDataDebug_wrapper);
-  function("mj_resetDataKeyframe", &mj_resetDataKeyframe_wrapper);
-  function("mj_rne", &mj_rne_wrapper);
-  function("mj_rnePostConstraint", &mj_rnePostConstraint_wrapper);
-  function("mj_sensorAcc", &mj_sensorAcc_wrapper);
-  function("mj_sensorPos", &mj_sensorPos_wrapper);
-  function("mj_sensorVel", &mj_sensorVel_wrapper);
-  function("mj_setConst", &mj_setConst_wrapper);
-  function("mj_setKeyframe", &mj_setKeyframe_wrapper);
-  function("mj_setState", &mj_setState_wrapper);
-  function("mj_setTotalmass", &mj_setTotalmass_wrapper);
-  function("mj_sizeModel", &mj_sizeModel_wrapper);
-  function("mj_solveM", &mj_solveM_wrapper);
-  function("mj_solveM2", &mj_solveM2_wrapper);
-  function("mj_stateSize", &mj_stateSize_wrapper);
-  function("mj_step", &mj_step_wrapper);
-  function("mj_step1", &mj_step1_wrapper);
-  function("mj_step2", &mj_step2_wrapper);
-  function("mj_subtreeVel", &mj_subtreeVel_wrapper);
-  function("mj_tendon", &mj_tendon_wrapper);
-  function("mj_transmission", &mj_transmission_wrapper);
-  function("mj_version", &mj_version);
-  function("mj_versionString", &mj_versionString_wrapper);
-  function("mjd_inverseFD", &mjd_inverseFD_wrapper);
-  function("mjd_quatIntegrate", &mjd_quatIntegrate_wrapper);
-  function("mjd_subQuat", &mjd_subQuat_wrapper);
-  function("mjd_transitionFD", &mjd_transitionFD_wrapper);
-  function("mjs_activatePlugin", &mjs_activatePlugin_wrapper);
-  function("mjs_addActuator", &mjs_addActuator_wrapper);
-  function("mjs_addBody", &mjs_addBody_wrapper);
-  function("mjs_addCamera", &mjs_addCamera_wrapper);
-  function("mjs_addDefault", &mjs_addDefault_wrapper);
-  function("mjs_addEquality", &mjs_addEquality_wrapper);
-  function("mjs_addExclude", &mjs_addExclude_wrapper);
-  function("mjs_addFlex", &mjs_addFlex_wrapper);
-  function("mjs_addFrame", &mjs_addFrame_wrapper);
-  function("mjs_addFreeJoint", &mjs_addFreeJoint_wrapper);
-  function("mjs_addGeom", &mjs_addGeom_wrapper);
-  function("mjs_addHField", &mjs_addHField_wrapper);
-  function("mjs_addJoint", &mjs_addJoint_wrapper);
-  function("mjs_addKey", &mjs_addKey_wrapper);
-  function("mjs_addLight", &mjs_addLight_wrapper);
-  function("mjs_addMaterial", &mjs_addMaterial_wrapper);
-  function("mjs_addMesh", &mjs_addMesh_wrapper);
-  function("mjs_addNumeric", &mjs_addNumeric_wrapper);
-  function("mjs_addPair", &mjs_addPair_wrapper);
-  function("mjs_addPlugin", &mjs_addPlugin_wrapper);
-  function("mjs_addSensor", &mjs_addSensor_wrapper);
-  function("mjs_addSite", &mjs_addSite_wrapper);
-  function("mjs_addSkin", &mjs_addSkin_wrapper);
-  function("mjs_addTendon", &mjs_addTendon_wrapper);
-  function("mjs_addText", &mjs_addText_wrapper);
-  function("mjs_addTexture", &mjs_addTexture_wrapper);
-  function("mjs_addTuple", &mjs_addTuple_wrapper);
-  function("mjs_asActuator", &mjs_asActuator_wrapper);
-  function("mjs_asBody", &mjs_asBody_wrapper);
-  function("mjs_asCamera", &mjs_asCamera_wrapper);
-  function("mjs_asEquality", &mjs_asEquality_wrapper);
-  function("mjs_asExclude", &mjs_asExclude_wrapper);
-  function("mjs_asFlex", &mjs_asFlex_wrapper);
-  function("mjs_asFrame", &mjs_asFrame_wrapper);
-  function("mjs_asGeom", &mjs_asGeom_wrapper);
-  function("mjs_asHField", &mjs_asHField_wrapper);
-  function("mjs_asJoint", &mjs_asJoint_wrapper);
-  function("mjs_asKey", &mjs_asKey_wrapper);
-  function("mjs_asLight", &mjs_asLight_wrapper);
-  function("mjs_asMaterial", &mjs_asMaterial_wrapper);
-  function("mjs_asMesh", &mjs_asMesh_wrapper);
-  function("mjs_asNumeric", &mjs_asNumeric_wrapper);
-  function("mjs_asPair", &mjs_asPair_wrapper);
-  function("mjs_asPlugin", &mjs_asPlugin_wrapper);
-  function("mjs_asSensor", &mjs_asSensor_wrapper);
-  function("mjs_asSite", &mjs_asSite_wrapper);
-  function("mjs_asSkin", &mjs_asSkin_wrapper);
-  function("mjs_asTendon", &mjs_asTendon_wrapper);
-  function("mjs_asText", &mjs_asText_wrapper);
-  function("mjs_asTexture", &mjs_asTexture_wrapper);
-  function("mjs_asTuple", &mjs_asTuple_wrapper);
-  function("mjs_attach", &mjs_attach_wrapper);
-  function("mjs_defaultActuator", &mjs_defaultActuator_wrapper);
-  function("mjs_defaultBody", &mjs_defaultBody_wrapper);
-  function("mjs_defaultCamera", &mjs_defaultCamera_wrapper);
-  function("mjs_defaultEquality", &mjs_defaultEquality_wrapper);
-  function("mjs_defaultFlex", &mjs_defaultFlex_wrapper);
-  function("mjs_defaultFrame", &mjs_defaultFrame_wrapper);
-  function("mjs_defaultGeom", &mjs_defaultGeom_wrapper);
-  function("mjs_defaultHField", &mjs_defaultHField_wrapper);
-  function("mjs_defaultJoint", &mjs_defaultJoint_wrapper);
-  function("mjs_defaultKey", &mjs_defaultKey_wrapper);
-  function("mjs_defaultLight", &mjs_defaultLight_wrapper);
-  function("mjs_defaultMaterial", &mjs_defaultMaterial_wrapper);
-  function("mjs_defaultMesh", &mjs_defaultMesh_wrapper);
-  function("mjs_defaultNumeric", &mjs_defaultNumeric_wrapper);
-  function("mjs_defaultOrientation", &mjs_defaultOrientation_wrapper);
-  function("mjs_defaultPair", &mjs_defaultPair_wrapper);
-  function("mjs_defaultPlugin", &mjs_defaultPlugin_wrapper);
-  function("mjs_defaultSensor", &mjs_defaultSensor_wrapper);
-  function("mjs_defaultSite", &mjs_defaultSite_wrapper);
-  function("mjs_defaultSkin", &mjs_defaultSkin_wrapper);
-  function("mjs_defaultSpec", &mjs_defaultSpec_wrapper);
-  function("mjs_defaultTendon", &mjs_defaultTendon_wrapper);
-  function("mjs_defaultText", &mjs_defaultText_wrapper);
-  function("mjs_defaultTexture", &mjs_defaultTexture_wrapper);
-  function("mjs_defaultTuple", &mjs_defaultTuple_wrapper);
-  function("mjs_delete", &mjs_delete_wrapper);
-  function("mjs_deleteUserValue", &mjs_deleteUserValue_wrapper);
-  function("mjs_findBody", &mjs_findBody_wrapper);
-  function("mjs_findChild", &mjs_findChild_wrapper);
-  function("mjs_findDefault", &mjs_findDefault_wrapper);
-  function("mjs_findElement", &mjs_findElement_wrapper);
-  function("mjs_findFrame", &mjs_findFrame_wrapper);
-  function("mjs_findSpec", &mjs_findSpec_wrapper);
-  function("mjs_firstChild", &mjs_firstChild_wrapper);
-  function("mjs_firstElement", &mjs_firstElement_wrapper);
-  function("mjs_getCompiler", &mjs_getCompiler_wrapper);
-  function("mjs_getDefault", &mjs_getDefault_wrapper);
-  function("mjs_getError", &mjs_getError_wrapper);
-  function("mjs_getFrame", &mjs_getFrame_wrapper);
-  function("mjs_getId", &mjs_getId_wrapper);
-  function("mjs_getName", &mjs_getName_wrapper);
-  function("mjs_getOriginSpec", &mjs_getOriginSpec_wrapper);
-  function("mjs_getParent", &mjs_getParent_wrapper);
-  function("mjs_getSpec", &mjs_getSpec_wrapper);
-  function("mjs_getSpecDefault", &mjs_getSpecDefault_wrapper);
-  function("mjs_getWarning", &mjs_getWarning_wrapper);
-  function("mjs_getWrap", &mjs_getWrap_wrapper);
-  function("mjs_getWrapCoef", &mjs_getWrapCoef_wrapper);
-  function("mjs_getWrapDivisor", &mjs_getWrapDivisor_wrapper);
-  function("mjs_getWrapNum", &mjs_getWrapNum_wrapper);
-  function("mjs_getWrapSideSite", &mjs_getWrapSideSite_wrapper);
-  function("mjs_getWrapTarget", &mjs_getWrapTarget_wrapper);
-  function("mjs_isWarning", &mjs_isWarning_wrapper);
-  function("mjs_makeFlex", &mjs_makeFlex_wrapper);
-  function("mjs_makeMesh", &mjs_makeMesh_wrapper);
-  function("mjs_nextChild", &mjs_nextChild_wrapper);
-  function("mjs_nextElement", &mjs_nextElement_wrapper);
-  function("mjs_numWarnings", &mjs_numWarnings_wrapper);
-  function("mjs_resolveOrientation", &mjs_resolveOrientation_wrapper);
-  function("mjs_sensorDim", &mjs_sensorDim_wrapper);
-  function("mjs_setDeepCopy", &mjs_setDeepCopy_wrapper);
-  function("mjs_setDefault", &mjs_setDefault_wrapper);
-  function("mjs_setFrame", &mjs_setFrame_wrapper);
-  function("mjs_setName", &mjs_setName_wrapper);
-  function("mjs_setToAdhesion", &mjs_setToAdhesion_wrapper);
-  function("mjs_setToCylinder", &mjs_setToCylinder_wrapper);
-  function("mjs_setToDCMotor", &mjs_setToDCMotor_wrapper);
-  function("mjs_setToDamper", &mjs_setToDamper_wrapper);
-  function("mjs_setToIntVelocity", &mjs_setToIntVelocity_wrapper);
-  function("mjs_setToMotor", &mjs_setToMotor_wrapper);
-  function("mjs_setToMuscle", &mjs_setToMuscle_wrapper);
-  function("mjs_setToOrientation", &mjs_setToOrientation_wrapper);
-  function("mjs_setToPID", &mjs_setToPID_wrapper);
-  function("mjs_setToPosition", &mjs_setToPosition_wrapper);
-  function("mjs_setToVelocity", &mjs_setToVelocity_wrapper);
-  function("mjs_wrapGeom", &mjs_wrapGeom_wrapper);
-  function("mjs_wrapJoint", &mjs_wrapJoint_wrapper);
-  function("mjs_wrapPulley", &mjs_wrapPulley_wrapper);
-  function("mjs_wrapSite", &mjs_wrapSite_wrapper);
-  function("mju_Halton", &mju_Halton);
-  function("mju_L1", &mju_L1_wrapper);
-  function("mju_add", &mju_add_wrapper);
-  function("mju_add3", &mju_add3_wrapper);
-  function("mju_addScl", &mju_addScl_wrapper);
-  function("mju_addScl3", &mju_addScl3_wrapper);
-  function("mju_addTo", &mju_addTo_wrapper);
-  function("mju_addTo3", &mju_addTo3_wrapper);
-  function("mju_addToScl", &mju_addToScl_wrapper);
-  function("mju_addToScl3", &mju_addToScl3_wrapper);
-  function("mju_axisAngle2Quat", &mju_axisAngle2Quat_wrapper);
-  function("mju_band2Dense", &mju_band2Dense_wrapper);
-  function("mju_bandDiag", &mju_bandDiag);
-  function("mju_bandMulMatVec", &mju_bandMulMatVec_wrapper);
-  function("mju_boxQP", &mju_boxQP_wrapper);
-  function("mju_cholFactor", &mju_cholFactor_wrapper);
-  function("mju_cholFactorBand", &mju_cholFactorBand_wrapper);
-  function("mju_cholSolve", &mju_cholSolve_wrapper);
-  function("mju_cholSolveBand", &mju_cholSolveBand_wrapper);
-  function("mju_cholUpdate", &mju_cholUpdate_wrapper);
-  function("mju_clip", &mju_clip);
-  function("mju_copy", &mju_copy_wrapper);
-  function("mju_copy3", &mju_copy3_wrapper);
-  function("mju_copy4", &mju_copy4_wrapper);
-  function("mju_cross", &mju_cross_wrapper);
-  function("mju_d2n", &mju_d2n_wrapper);
-  function("mju_decodePyramid", &mju_decodePyramid_wrapper);
-  function("mju_dense2Band", &mju_dense2Band_wrapper);
-  function("mju_dense2sparse", &mju_dense2sparse_wrapper);
-  function("mju_derivQuat", &mju_derivQuat_wrapper);
-  function("mju_dist3", &mju_dist3_wrapper);
-  function("mju_dot", &mju_dot_wrapper);
-  function("mju_dot3", &mju_dot3_wrapper);
-  function("mju_eig3", &mju_eig3_wrapper);
-  function("mju_encodePyramid", &mju_encodePyramid_wrapper);
-  function("mju_euler2Quat", &mju_euler2Quat_wrapper);
-  function("mju_eye", &mju_eye_wrapper);
-  function("mju_f2n", &mju_f2n_wrapper);
-  function("mju_fill", &mju_fill_wrapper);
-  function("mju_getLogConfig", &mju_getLogConfig_wrapper);
-  function("mju_insertionSort", &mju_insertionSort_wrapper);
-  function("mju_insertionSortInt", &mju_insertionSortInt_wrapper);
-  function("mju_isBad", &mju_isBad);
-  function("mju_isZero", &mju_isZero_wrapper);
-  function("mju_mat2Quat", &mju_mat2Quat_wrapper);
-  function("mju_mat2Rot", &mju_mat2Rot_wrapper);
-  function("mju_max", &mju_max);
-  function("mju_message", &mju_message_wrapper);
-  function("mju_min", &mju_min);
-  function("mju_mulMatMat", &mju_mulMatMat_wrapper);
-  function("mju_mulMatMatT", &mju_mulMatMatT_wrapper);
-  function("mju_mulMatTMat", &mju_mulMatTMat_wrapper);
-  function("mju_mulMatTVec", &mju_mulMatTVec_wrapper);
-  function("mju_mulMatTVec3", &mju_mulMatTVec3_wrapper);
-  function("mju_mulMatVec", &mju_mulMatVec_wrapper);
-  function("mju_mulMatVec3", &mju_mulMatVec3_wrapper);
-  function("mju_mulPose", &mju_mulPose_wrapper);
-  function("mju_mulQuat", &mju_mulQuat_wrapper);
-  function("mju_mulQuatAxis", &mju_mulQuatAxis_wrapper);
-  function("mju_mulVecMatVec", &mju_mulVecMatVec_wrapper);
-  function("mju_muscleBias", &mju_muscleBias_wrapper);
-  function("mju_muscleDynamics", &mju_muscleDynamics_wrapper);
-  function("mju_muscleGain", &mju_muscleGain_wrapper);
-  function("mju_n2d", &mju_n2d_wrapper);
-  function("mju_n2f", &mju_n2f_wrapper);
-  function("mju_negPose", &mju_negPose_wrapper);
-  function("mju_negQuat", &mju_negQuat_wrapper);
-  function("mju_norm", &mju_norm_wrapper);
-  function("mju_norm3", &mju_norm3_wrapper);
-  function("mju_normalize", &mju_normalize_wrapper);
-  function("mju_normalize3", &mju_normalize3_wrapper);
-  function("mju_normalize4", &mju_normalize4_wrapper);
-  function("mju_printMat", &mju_printMat_wrapper);
-  function("mju_printMatSparse", &mju_printMatSparse_wrapper);
-  function("mju_quat2Mat", &mju_quat2Mat_wrapper);
-  function("mju_quat2Vel", &mju_quat2Vel_wrapper);
-  function("mju_quatIntegrate", &mju_quatIntegrate_wrapper);
-  function("mju_quatZ2Vec", &mju_quatZ2Vec_wrapper);
-  function("mju_rayGeom", &mju_rayGeom_wrapper);
-  function("mju_raySkin", &mju_raySkin_wrapper);
-  function("mju_rotVecQuat", &mju_rotVecQuat_wrapper);
-  function("mju_round", &mju_round);
-  function("mju_scl", &mju_scl_wrapper);
-  function("mju_scl3", &mju_scl3_wrapper);
-  function("mju_setLogConfig", &mju_setLogConfig_wrapper);
-  function("mju_sigmoid", &mju_sigmoid);
-  function("mju_sign", &mju_sign);
-  function("mju_sparse2dense", &mju_sparse2dense_wrapper);
-  function("mju_springDamper", &mju_springDamper);
-  function("mju_sqrMatTD", &mju_sqrMatTD_wrapper);
-  function("mju_standardNormal", &mju_standardNormal_wrapper);
-  function("mju_str2Type", &mju_str2Type_wrapper);
-  function("mju_sub", &mju_sub_wrapper);
-  function("mju_sub3", &mju_sub3_wrapper);
-  function("mju_subFrom", &mju_subFrom_wrapper);
-  function("mju_subFrom3", &mju_subFrom3_wrapper);
-  function("mju_subQuat", &mju_subQuat_wrapper);
-  function("mju_sum", &mju_sum_wrapper);
-  function("mju_sym2dense", &mju_sym2dense_wrapper);
-  function("mju_symmetrize", &mju_symmetrize_wrapper);
-  function("mju_threadpool", &mju_threadpool_wrapper);
-  function("mju_transformSpatial", &mju_transformSpatial_wrapper);
-  function("mju_transpose", &mju_transpose_wrapper);
-  function("mju_trnVecPose", &mju_trnVecPose_wrapper);
-  function("mju_type2Str", &mju_type2Str_wrapper);
-  function("mju_unit4", &mju_unit4_wrapper);
-  function("mju_warningText", &mju_warningText_wrapper);
-  function("mju_writeLog", &mju_writeLog_wrapper);
-  function("mju_writeNumBytes", &mju_writeNumBytes_wrapper);
-  function("mju_zero", &mju_zero_wrapper);
-  function("mju_zero3", &mju_zero3_wrapper);
-  function("mju_zero4", &mju_zero4_wrapper);
-  function("mjv_addGeoms", &mjv_addGeoms_wrapper);
-  function("mjv_alignToCamera", &mjv_alignToCamera_wrapper);
-  function("mjv_applyPerturbForce", &mjv_applyPerturbForce_wrapper);
-  function("mjv_applyPerturbPose", &mjv_applyPerturbPose_wrapper);
-  function("mjv_camera2GLCamera", &mjv_camera2GLCamera_wrapper);
-  function("mjv_cameraFrame", &mjv_cameraFrame_wrapper);
-  function("mjv_cameraFrustum", &mjv_cameraFrustum_wrapper);
-  function("mjv_cameraInModel", &mjv_cameraInModel_wrapper);
-  function("mjv_cameraInRoom", &mjv_cameraInRoom_wrapper);
-  function("mjv_connector", &mjv_connector_wrapper);
-  function("mjv_defaultCamera", &mjv_defaultCamera_wrapper);
-  function("mjv_defaultFigure", &mjv_defaultFigure_wrapper);
-  function("mjv_defaultFreeCamera", &mjv_defaultFreeCamera_wrapper);
-  function("mjv_defaultOption", &mjv_defaultOption_wrapper);
-  function("mjv_defaultPerturb", &mjv_defaultPerturb_wrapper);
-  function("mjv_frustumHeight", &mjv_frustumHeight_wrapper);
-  function("mjv_initGeom", &mjv_initGeom_wrapper);
-  function("mjv_initPerturb", &mjv_initPerturb_wrapper);
-  function("mjv_makeLights", &mjv_makeLights_wrapper);
-  function("mjv_model2room", &mjv_model2room_wrapper);
-  function("mjv_moveCamera", &mjv_moveCamera_wrapper);
-  function("mjv_moveModel", &mjv_moveModel_wrapper);
-  function("mjv_movePerturb", &mjv_movePerturb_wrapper);
-  function("mjv_room2model", &mjv_room2model_wrapper);
-  function("mjv_select", &mjv_select_wrapper);
-  function("mjv_updateCamera", &mjv_updateCamera_wrapper);
-  function("mjv_updateScene", &mjv_updateScene_wrapper);
-  function("mjv_updateSkin", &mjv_updateSkin_wrapper);
-  // parseXMLString is bound using two overloads to handle the optional MjVFS argument.
-  function("parseXMLString", emscripten::select_overload<std::unique_ptr<MjSpec>(const std::string&)>(&parseXMLString_wrapper), take_ownership());
-  function("parseXMLString", emscripten::select_overload<std::unique_ptr<MjSpec>(const std::string&, const MjVFS&)>(&parseXMLString_wrapper_2), take_ownership());
-  function("error", &error_wrapper);
-  function("mj_saveModel", &mj_saveModel_wrapper);
-  function("mj_saveLastXML", &mj_saveLastXML_wrapper);
-  function("mj_setLengthRange", &mj_setLengthRange_wrapper);
-  function("mju_info", &mju_info_wrapper);
-  // mj_compile is bound using two overloads to handle the optional MjVFS argument,
-  // as using std::optional<MjVFS> caused memory errors due to missing copy/move constructors.
-  function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&)>(&mj_compile_wrapper_1));
-  function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&, const MjVFS&)>(&mj_compile_wrapper_2));
-  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&)>(&from_xml_string_wrapper_1));
-  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&, const MjVFS&)>(&from_xml_string_wrapper_2));
-
-  emscripten::class_<WasmBuffer<float>>("FloatBuffer")
-      .constructor<int>()
-      .class_function("FromArray", &WasmBuffer<float>::FromArray)
-      .function("GetPointer", &WasmBuffer<float>::GetPointer)
-      .function("GetElementCount", &WasmBuffer<float>::GetElementCount)
-      .function("GetView", &WasmBuffer<float>::GetView);
-
-  emscripten::class_<WasmBuffer<double>>("DoubleBuffer")
-      .constructor<int>()
-      .class_function("FromArray", &WasmBuffer<double>::FromArray)
-      .function("GetPointer", &WasmBuffer<double>::GetPointer)
-      .function("GetElementCount", &WasmBuffer<double>::GetElementCount)
-      .function("GetView", &WasmBuffer<double>::GetView);
-
-  emscripten::class_<WasmBuffer<int>>("IntBuffer")
-      .constructor<int>()
-      .class_function("FromArray", &WasmBuffer<int>::FromArray)
-      .function("GetPointer", &WasmBuffer<int>::GetPointer)
-      .function("GetElementCount", &WasmBuffer<int>::GetElementCount)
-      .function("GetView", &WasmBuffer<int>::GetView);
-
-  emscripten::class_<WasmBuffer<uint8_t>>("Uint8Buffer")
-      .constructor<int>()
-      .class_function("FromArray", &WasmBuffer<uint8_t>::FromArray)
-      .function("GetPointer", &WasmBuffer<uint8_t>::GetPointer)
-      .function("GetElementCount", &WasmBuffer<uint8_t>::GetElementCount)
-      .function("GetView", &WasmBuffer<uint8_t>::GetView);
-
-  emscripten::register_vector<std::string>("mjStringVec");
-  emscripten::register_vector<std::vector<std::string>>("mjStringVecVec");
-  emscripten::register_vector<int>("mjIntVec");
-  emscripten::register_vector<mjIntVec>("mjIntVecVec");
-  emscripten::register_vector<float>("mjFloatVec");
-  emscripten::register_vector<mjFloatVec>("mjFloatVecVec");
-  emscripten::register_vector<double>("mjDoubleVec");
-  emscripten::register_vector<uint8_t>("mjByteVec");
-  emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
-  emscripten::register_vector<MjTimerStat>("MjTimerStatVec");
-  emscripten::register_vector<MjWarningStat>("MjWarningStatVec");
-  emscripten::register_vector<MjContact>("MjContactVec");
-  emscripten::register_vector<MjvLight>("MjvLightVec");
-  emscripten::register_vector<MjvGLCamera>("MjvGLCameraVec");
-  emscripten::register_vector<MjvGeom>("MjvGeomVec");
-
-  // register_type() improves type information (val is mapped to any by default)
-  // NumberOrString is used in functions returning accessors, allowing users to
-  // get an accessor by name (string) or id (number).
-  emscripten::register_type<NumberOrString>("number|string");
-  emscripten::register_type<NumberArray>("number[]");
-  emscripten::register_type<String>("string");
-  emscripten::register_type<StringOrNull>("string|null");
-
-  emscripten::constant("mjMAXCONPAIR", mjMAXCONPAIR);
-  emscripten::constant("mjMAXIMP", mjMAXIMP);
-  emscripten::constant("mjMAXLIGHT", mjMAXLIGHT);
-  emscripten::constant("mjMAXLINE", mjMAXLINE);
-  emscripten::constant("mjMAXLINEPNT", mjMAXLINEPNT);
-  emscripten::constant("mjMAXOVERLAY", mjMAXOVERLAY);
-  emscripten::constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
-  emscripten::constant("mjMAXVAL", mjMAXVAL);
-  emscripten::constant("mjMINIMP", mjMINIMP);
-  emscripten::constant("mjMINMU", mjMINMU);
-  emscripten::constant("mjMINVAL", mjMINVAL);
-  emscripten::constant("mjNBIAS", mjNBIAS);
-  emscripten::constant("mjNDYN", mjNDYN);
-  emscripten::constant("mjNEQDATA", mjNEQDATA);
-  emscripten::constant("mjNGAIN", mjNGAIN);
-  emscripten::constant("mjNGROUP", mjNGROUP);
-  emscripten::constant("mjNIMP", mjNIMP);
-  emscripten::constant("mjNREF", mjNREF);
-  emscripten::constant("mjNSOLVER", mjNSOLVER);
-  emscripten::constant("mjPI", mjPI);
-  emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
-
-  emscripten::function("get_mjDISABLESTRING", &get_mjDISABLESTRING);
-  emscripten::function("get_mjENABLESTRING", &get_mjENABLESTRING);
-  emscripten::function("get_mjFRAMESTRING", &get_mjFRAMESTRING);
-  emscripten::function("get_mjLABELSTRING", &get_mjLABELSTRING);
-  emscripten::function("get_mjRNDSTRING", &get_mjRNDSTRING);
-  emscripten::function("get_mjTIMERSTRING", &get_mjTIMERSTRING);
-  emscripten::function("get_mjVISSTRING", &get_mjVISSTRING);
-  // Bind these complex constants as properties on the module object.
-  // We use emscripten::constant with emscripten::val::array() to type them
-  // as `any` in TypeScript. At runtime, the EM_ASM block below overrides
-  // these properties with getters that return native JavaScript arrays
-  // (string[] or string[][]) via the get_ functions above, which is more
-  // performant and idiomatic than vector wrappers.
-  emscripten::constant("mjDISABLESTRING", emscripten::val::array());
-  emscripten::constant("mjENABLESTRING", emscripten::val::array());
-  emscripten::constant("mjFRAMESTRING", emscripten::val::array());
-  emscripten::constant("mjLABELSTRING", emscripten::val::array());
-  emscripten::constant("mjRNDSTRING", emscripten::val::array());
-  emscripten::constant("mjTIMERSTRING", emscripten::val::array());
-  emscripten::constant("mjVISSTRING", emscripten::val::array());
-  EM_ASM({
-    if (typeof Module !== "undefined") {
-      "mjDISABLESTRING mjENABLESTRING mjFRAMESTRING mjLABELSTRING mjRNDSTRING mjTIMERSTRING mjVISSTRING".split(" ").forEach(function(name) {
-        Object.defineProperty(Module, name, {
-          get: function() { return Module["get_" + name](); },
-          set: function(v) { },
-          enumerable: true,
-          configurable: true
-        });
-      });
-    }
-  });
-}
-
-}  // namespace mujoco::wasm
-// NOLINTEND(whitespace/semicolon)
-// NOLINTEND(whitespace/line_length)
diff --git a/wasm/codegen/generated/bindings.h b/wasm/codegen/generated/bindings.h
deleted file mode 100644
index 02ecfd13..00000000
--- a/wasm/codegen/generated/bindings.h
+++ /dev/null
@@ -1,7664 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
-
-// NOLINTBEGIN(whitespace/line_length)
-// NOLINTBEGIN(whitespace/semicolon)
-
-#ifndef MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
-#define MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
-
-#include <emscripten.h>
-#include <emscripten/bind.h>
-#include <emscripten/em_asm.h>
-#include <emscripten/val.h>
-
-#include <algorithm>
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>  // NOLINT
-#include <memory>
-#include <optional>  // NOLINT
-#include <sstream>
-#include <string>  // NOLINT
-#include <string_view>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_util_errmem.h"
-#include "wasm/unpack.h"
-#include "python/mujoco/indexer_xmacro.h"
-
-namespace mujoco::wasm {
-
-using emscripten::enum_;
-using emscripten::function;
-using emscripten::typed_memory_view;
-using emscripten::val;
-using emscripten::return_value_policy::reference;
-using emscripten::return_value_policy::take_ownership;
-
-EMSCRIPTEN_DECLARE_VAL_TYPE(NumberOrString);
-EMSCRIPTEN_DECLARE_VAL_TYPE(NumberArray);
-EMSCRIPTEN_DECLARE_VAL_TYPE(String);
-EMSCRIPTEN_DECLARE_VAL_TYPE(StringOrNull);
-
-// Macro to define accessors for different MuJoCo object types within mjModel.
-// Each line calls X_ACCESSOR with the following arguments:
-// 1.  NAME: The object type name in uppercase (e.g., ACTUATOR).
-// 2.  Name: The object type name in CamelCase (e.g., Actuator).
-// 3.  OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
-// 4.  field: The name of the array field in mjModel (e.g., actuator).
-// 5.  nfield: The name of the count field in mjModel (e.g., nu).
-#define MJMODEL_ACCESSORS                                              \
-  X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu       ) \
-  X_ACCESSOR( BODY,     Body,     mjOBJ_BODY,     body,     nbody    ) \
-  X_ACCESSOR( CAMERA,   Camera,   mjOBJ_CAMERA,   cam,      ncam     ) \
-  X_ACCESSOR( EQUALITY, Equality, mjOBJ_EQUALITY, eq,       neq      ) \
-  X_ACCESSOR( EXCLUDE,  Exclude,  mjOBJ_EXCLUDE,  exclude,  nexclude ) \
-  X_ACCESSOR( GEOM,     Geom,     mjOBJ_GEOM,     geom,     ngeom    ) \
-  X_ACCESSOR( HFIELD,   Hfield,   mjOBJ_HFIELD,   hfield,   nhfield  ) \
-  X_ACCESSOR( JOINT,    Joint,    mjOBJ_JOINT,    jnt,      njnt     ) \
-  X_ACCESSOR( LIGHT,    Light,    mjOBJ_LIGHT,    light,    nlight   ) \
-  X_ACCESSOR( MATERIAL, Material, mjOBJ_MATERIAL, mat,      nmat     ) \
-  X_ACCESSOR( MESH,     Mesh,     mjOBJ_MESH,     mesh,     nmesh    ) \
-  X_ACCESSOR( NUMERIC,  Numeric,  mjOBJ_NUMERIC,  numeric,  nnumeric ) \
-  X_ACCESSOR( PAIR,     Pair,     mjOBJ_PAIR,     pair,     npair    ) \
-  X_ACCESSOR( SENSOR,   Sensor,   mjOBJ_SENSOR,   sensor,   nsensor  ) \
-  X_ACCESSOR( SITE,     Site,     mjOBJ_SITE,     site,     nsite    ) \
-  X_ACCESSOR( SKIN,     Skin,     mjOBJ_SKIN,     skin,     nskin    ) \
-  X_ACCESSOR( TENDON,   Tendon,   mjOBJ_TENDON,   tendon,   ntendon  ) \
-  X_ACCESSOR( TEXTURE,  Texture,  mjOBJ_TEXTURE,  tex,      ntex     ) \
-  X_ACCESSOR( TUPLE,    Tuple,    mjOBJ_TUPLE,    tuple,    ntuple   ) \
-  X_ACCESSOR( KEYFRAME, Keyframe, mjOBJ_KEY,      key,      nkey     )
-
-// Macro to define accessors for different MuJoCo object types within mjData.
-// Each line calls X_ACCESSOR with the following arguments:
-// 1.  NAME: The object type name in uppercase (e.g., ACTUATOR).
-// 2.  Name: The object type name in CamelCase (e.g., Actuator).
-// 3.  OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
-// 4.  field: The name of the array field in mjData (e.g., actuator).
-// 5.  nfield: The name of the count field in mjModel (e.g., nu).
-#define MJDATA_ACCESSORS                                               \
-  X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu       ) \
-  X_ACCESSOR( BODY,     Body,     mjOBJ_BODY,     body,     nbody    ) \
-  X_ACCESSOR( CAMERA,   Camera,   mjOBJ_CAMERA,   cam,      ncam     ) \
-  X_ACCESSOR( GEOM,     Geom,     mjOBJ_GEOM,     geom,     ngeom    ) \
-  X_ACCESSOR( JOINT,    Joint,    mjOBJ_JOINT,    jnt,      njnt     ) \
-  X_ACCESSOR( LIGHT,    Light,    mjOBJ_LIGHT,    light,    nlight   ) \
-  X_ACCESSOR( SENSOR,   Sensor,   mjOBJ_SENSOR,   sensor,   nsensor  ) \
-  X_ACCESSOR( SITE,     Site,     mjOBJ_SITE,     site,     nsite    ) \
-  X_ACCESSOR( TENDON,   Tendon,   mjOBJ_TENDON,   tendon,   ntendon  )
-
-// Raises an error if the given val is null or undefined.
-// A macro is used so that the error contains the name of the variable.
-// TODO(matijak): Remove this when we can handle strings using UNPACK_STRING?
-#define CHECK_VAL(val)                                    \
-  if (val.isNull()) {                                     \
-    mju_error("Invalid argument: %s is null", #val);      \
-  } else if (val.isUndefined()) {                         \
-    mju_error("Invalid argument: %s is undefined", #val); \
-  }
-
-std::string KeyErrorMessage(const mjModel* model, int objtype, int count,
-                            std::string_view name, std::string_view accessor_name);
-
-std::string IndexErrorMessage(int index, int count,
-                              std::string_view accessor_name);
-
-using mjVisualGlobal = decltype(::mjVisual::global);
-using mjVisualHeadlight = decltype(::mjVisual::headlight);
-using mjVisualMap = decltype(::mjVisual::map);
-using mjVisualQuality = decltype(::mjVisual::quality);
-using mjVisualRgba = decltype(::mjVisual::rgba);
-using mjVisualScale = decltype(::mjVisual::scale);
-
-#undef MJ_M
-#define MJ_M(n) model_->n
-// The X macro expands to a member function within an MjModel...Accessor struct.
-// This function returns an emscripten::val, typically a typed memory view,
-// providing access to array data within the underlying mjModel. The size and
-// offset of the memory view are determined by the arguments:
-// - type: The C++ type of the array elements (e.g., mjtNum, int).
-// - prefix: The prefix of the field name in mjModel (e.g., jnt_, geom_).
-// - var: The name of the field being accessed (e.g., qposadr, size).
-// - dim0: Used to determine special indexing logic for dynamically sized arrays
-//         like joints (nq, nv), hfields, textures, numerics, and tuples.
-// - dim1: The fixed dimension of the array if not dynamically sized. If "1",
-//         a single element is returned. Otherwise, it's used as the stride
-//         for the typed memory view.
-#define X(type, prefix, var, dim0, dim1)                                                         \
-  emscripten::val get_##var() const {                                                            \
-    if constexpr (std::string_view(#dim0) == "nq") {                                             \
-      int start = model_->jnt_qposadr[id_];                                                      \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq;            \
-      return val(typed_memory_view(end - start, model_->prefix##var + start));                   \
-    } else if constexpr (std::string_view(#dim0) == "nv") {                                      \
-      int start = model_->jnt_dofadr[id_];                                                       \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv;             \
-      return val(typed_memory_view(end - start, model_->prefix##var + start));                   \
-    } else if constexpr (std::string_view(#dim0) == "nhfielddata") {                             \
-      int start = model_->hfield_adr[id_];                                                       \
-      int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_];                           \
-      return val(typed_memory_view(count, model_->hfield_data + start));                         \
-    } else if constexpr (std::string_view(#dim0) == "ntexdata") {                                \
-      int start = model_->tex_adr[id_];                                                          \
-      int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_];  \
-      return val(typed_memory_view(count, model_->tex_data + start));                            \
-    } else if constexpr (std::string_view(#dim0) == "nnumericdata") {                            \
-      int start = model_->numeric_adr[id_];                                                      \
-      int count = model_->numeric_size[id_];                                                     \
-      return val(typed_memory_view(count, model_->numeric_data + start));                        \
-    } else if constexpr (std::string_view(#dim0) == "ntupledata") {                              \
-      int start = model_->tuple_adr[id_];                                                        \
-      int count = model_->tuple_size[id_];                                                       \
-      return val(typed_memory_view(count, model_->prefix##var + start));                         \
-    } else {                                                                                     \
-      if constexpr (std::string_view(#dim1) == "1") {                                            \
-        return val(model_->prefix##var[id_]);                                                    \
-      } else {                                                                                   \
-        return val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1));                   \
-      }                                                                                          \
-    }                                                                                            \
-  }                                                                                              \
-  void set_##var(const emscripten::val& value) {                                                 \
-    if constexpr (std::string_view(#dim0) == "nq") {                                             \
-      int start = model_->jnt_qposadr[id_];                                                      \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq;            \
-      val(typed_memory_view(end - start, model_->prefix##var + start))                           \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "nv") {                                      \
-      int start = model_->jnt_dofadr[id_];                                                       \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv;             \
-      val(typed_memory_view(end - start, model_->prefix##var + start))                           \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "nhfielddata") {                             \
-      int start = model_->hfield_adr[id_];                                                       \
-      int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_];                           \
-      val(typed_memory_view(count, model_->hfield_data + start))                                 \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "ntexdata") {                                \
-      int start = model_->tex_adr[id_];                                                          \
-      int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_];  \
-      val(typed_memory_view(count, model_->tex_data + start))                                    \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "nnumericdata") {                            \
-      int start = model_->numeric_adr[id_];                                                      \
-      int count = model_->numeric_size[id_];                                                     \
-      val(typed_memory_view(count, model_->numeric_data + start))                                \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "ntupledata") {                              \
-      int start = model_->tuple_adr[id_];                                                        \
-      int count = model_->tuple_size[id_];                                                       \
-      val(typed_memory_view(count, model_->prefix##var + start))                                 \
-          .call<void>("set", value);                                                             \
-    } else {                                                                                     \
-      if constexpr (std::string_view(#dim1) == "1") {                                            \
-        model_->prefix##var[id_] = value.as<type>();                                             \
-      } else {                                                                                   \
-        val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1))                           \
-            .call<void>("set", value);                                                           \
-      }                                                                                          \
-    }                                                                                            \
-  }
-
-// Expands to a struct definition for each object type in MJMODEL_ACCESSORS.
-// Each struct, named `MjModel{Name}Accessor`, provides:
-// - A constructor taking an `mjModel*` and an integer `id`.
-// - An `id()` method to get the object's index.
-// - A `name()` method to get the object's name using `mj_id2name`.
-// - Member functions generated by the `MJMODEL_##NAME` macro, which in turn
-//   uses the `X` macro to define accessors for fields within `mjModel`.
-#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield)                           \
-  struct MjModel##Name##Accessor {                                               \
-    MjModel##Name##Accessor(mjModel* model, int id) : model_(model), id_(id) {}  \
-                                                                                 \
-    int id() const { return id_; }                                               \
-    std::string name() const {                                                   \
-      const char* name = mj_id2name(model_, OBJTYPE, id_);                       \
-      return name ? name : "";                                                   \
-    }                                                                            \
-                                                                                 \
-    MJMODEL_##NAME                                                               \
-                                                                                 \
-   private:                                                                      \
-    mjModel* model_;                                                             \
-    int id_;                                                                     \
-  };
-MJMODEL_ACCESSORS
-#undef X_ACCESSOR
-
-// Expands to a struct definition for each object type in MJDATA_ACCESSORS.
-// Each struct, named `MjData{Name}Accessor`, provides:
-// - A constructor taking an `mjData*`, an `mjModel*`, and an integer `id`.
-// - An `id()` method to get the object's index.
-// - A `name()` method to get the object's name using `mj_id2name`.
-// - Member functions generated by the `MJDATA_##NAME` macro, which in turn
-//   uses the `X` macro to define accessors for fields within `mjData`.
-#undef MJ_M
-#define MJ_M(n) model_->n
-#undef X
-#define X(type, prefix, var, dim0, dim1)                                               \
-  emscripten::val get_##var() const {                                                  \
-    if constexpr (std::string_view(#dim0) == "nq") {                                   \
-      int start = model_->jnt_qposadr[id_];                                            \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq;  \
-      return val(typed_memory_view(end - start, data_->prefix##var + start));          \
-    } else if constexpr (std::string_view(#dim0) == "nv") {                            \
-      int start = model_->jnt_dofadr[id_];                                             \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv;   \
-      if constexpr (std::string_view(#dim1) == "1") {                                  \
-        return val(typed_memory_view(end - start, data_->prefix##var + start));        \
-      } else {                                                                         \
-        return val(typed_memory_view(                                                  \
-            (end - start) * dim1, data_->prefix##var + start * dim1));                 \
-      }                                                                                \
-    } else if constexpr (std::string_view(#dim0) == "nsensordata") {                   \
-      int start = model_->sensor_adr[id_];                                             \
-      int count = model_->sensor_dim[id_];                                             \
-      return val(typed_memory_view(count, data_->sensordata + start));                 \
-    } else {                                                                           \
-      if constexpr (std::string_view(#dim1) == "1") {                                  \
-        return val(data_->prefix##var[id_]);                                           \
-      } else {                                                                         \
-        return val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1));          \
-      }                                                                                \
-    }                                                                                  \
-  }                                                                                    \
-  void set_##var(const emscripten::val& value) {                                       \
-    if constexpr (std::string_view(#dim0) == "nq") {                                   \
-      int start = model_->jnt_qposadr[id_];                                            \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq;  \
-      val(typed_memory_view(end - start, data_->prefix##var + start))                  \
-          .call<void>("set", value);                                                   \
-    } else if constexpr (std::string_view(#dim0) == "nv") {                            \
-      int start = model_->jnt_dofadr[id_];                                             \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv;   \
-      if constexpr (std::string_view(#dim1) == "1") {                                  \
-        val(typed_memory_view(end - start, data_->prefix##var + start))                \
-            .call<void>("set", value);                                                 \
-      } else {                                                                         \
-        val(typed_memory_view((end - start) * dim1,                                    \
-                                          data_->prefix##var + start * dim1))          \
-            .call<void>("set", value);                                                 \
-      }                                                                                \
-    } else if constexpr (std::string_view(#dim0) == "nsensordata") {                   \
-      int start = model_->sensor_adr[id_];                                             \
-      int count = model_->sensor_dim[id_];                                             \
-      val(typed_memory_view(count, data_->sensordata + start))                         \
-          .call<void>("set", value);                                                   \
-    } else {                                                                           \
-      if constexpr (std::string_view(#dim1) == "1") {                                  \
-        data_->prefix##var[id_] = value.as<type>();                                    \
-      } else {                                                                         \
-        val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1))                  \
-            .call<void>("set", value);                                                 \
-      }                                                                                \
-    }                                                                                  \
-  }
-
-#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield)                                                     \
-  struct MjData##Name##Accessor {                                                                          \
-    MjData##Name##Accessor(mjData* data, mjModel* model, int id) : data_(data), model_(model), id_(id) {}  \
-                                                                                                           \
-    int id() const { return id_; }                                                                         \
-    std::string name() const {                                                                             \
-      const char* name = mj_id2name(model_, OBJTYPE, id_);                                                 \
-      return name ? name : "";                                                                             \
-    }                                                                                                      \
-                                                                                                           \
-    MJDATA_##NAME                                                                                          \
-                                                                                                           \
-   private:                                                                                                \
-    mjData* data_;                                                                                         \
-    mjModel* model_;                                                                                       \
-    int id_;                                                                                               \
-  };
-MJDATA_ACCESSORS
-#undef X_ACCESSOR
-
-#undef X
-#undef MJ_M
-
-struct MjContact {
-  ~MjContact();
-  MjContact();
-  explicit MjContact(mjContact *ptr);
-  MjContact(const MjContact &);
-  MjContact &operator=(const MjContact &);
-  std::unique_ptr<MjContact> copy();
-  mjContact* get() const;
-  void set(mjContact* ptr);
-  mjtNum dist() const {
-    return ptr_->dist;
-  }
-  void set_dist(mjtNum value) {
-    ptr_->dist = value;
-  }
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val frame() const {
-    return emscripten::val(emscripten::typed_memory_view(9, ptr_->frame));
-  }
-  mjtNum includemargin() const {
-    return ptr_->includemargin;
-  }
-  void set_includemargin(mjtNum value) {
-    ptr_->includemargin = value;
-  }
-  emscripten::val friction() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->friction));
-  }
-  emscripten::val solref() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
-  }
-  emscripten::val solreffriction() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solreffriction));
-  }
-  emscripten::val solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
-  }
-  mjtNum adhesion() const {
-    return ptr_->adhesion;
-  }
-  void set_adhesion(mjtNum value) {
-    ptr_->adhesion = value;
-  }
-  mjtNum mu() const {
-    return ptr_->mu;
-  }
-  void set_mu(mjtNum value) {
-    ptr_->mu = value;
-  }
-  emscripten::val H() const {
-    return emscripten::val(emscripten::typed_memory_view(36, ptr_->H));
-  }
-  int dim() const {
-    return ptr_->dim;
-  }
-  void set_dim(int value) {
-    ptr_->dim = value;
-  }
-  int geom1() const {
-    return ptr_->geom1;
-  }
-  void set_geom1(int value) {
-    ptr_->geom1 = value;
-  }
-  int geom2() const {
-    return ptr_->geom2;
-  }
-  void set_geom2(int value) {
-    ptr_->geom2 = value;
-  }
-  emscripten::val geom() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->geom));
-  }
-  emscripten::val flex() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->flex));
-  }
-  emscripten::val elem() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->elem));
-  }
-  emscripten::val vert() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->vert));
-  }
-  int exclude() const {
-    return ptr_->exclude;
-  }
-  void set_exclude(int value) {
-    ptr_->exclude = value;
-  }
-  int efc_address() const {
-    return ptr_->efc_address;
-  }
-  void set_efc_address(int value) {
-    ptr_->efc_address = value;
-  }
-
- private:
-  mjContact* ptr_;
-  bool owned_ = false;
-};
-
-struct MjLROpt {
-  ~MjLROpt();
-  MjLROpt();
-  explicit MjLROpt(mjLROpt *ptr);
-  MjLROpt(const MjLROpt &);
-  MjLROpt &operator=(const MjLROpt &);
-  std::unique_ptr<MjLROpt> copy();
-  mjLROpt* get() const;
-  void set(mjLROpt* ptr);
-  int mode() const {
-    return ptr_->mode;
-  }
-  void set_mode(int value) {
-    ptr_->mode = value;
-  }
-  int useexisting() const {
-    return ptr_->useexisting;
-  }
-  void set_useexisting(int value) {
-    ptr_->useexisting = value;
-  }
-  int uselimit() const {
-    return ptr_->uselimit;
-  }
-  void set_uselimit(int value) {
-    ptr_->uselimit = value;
-  }
-  mjtNum accel() const {
-    return ptr_->accel;
-  }
-  void set_accel(mjtNum value) {
-    ptr_->accel = value;
-  }
-  mjtNum maxforce() const {
-    return ptr_->maxforce;
-  }
-  void set_maxforce(mjtNum value) {
-    ptr_->maxforce = value;
-  }
-  mjtNum timeconst() const {
-    return ptr_->timeconst;
-  }
-  void set_timeconst(mjtNum value) {
-    ptr_->timeconst = value;
-  }
-  mjtNum timestep() const {
-    return ptr_->timestep;
-  }
-  void set_timestep(mjtNum value) {
-    ptr_->timestep = value;
-  }
-  mjtNum inttotal() const {
-    return ptr_->inttotal;
-  }
-  void set_inttotal(mjtNum value) {
-    ptr_->inttotal = value;
-  }
-  mjtNum interval() const {
-    return ptr_->interval;
-  }
-  void set_interval(mjtNum value) {
-    ptr_->interval = value;
-  }
-  mjtNum tolrange() const {
-    return ptr_->tolrange;
-  }
-  void set_tolrange(mjtNum value) {
-    ptr_->tolrange = value;
-  }
-
- private:
-  mjLROpt* ptr_;
-  bool owned_ = false;
-};
-
-struct MjLogConfig {
-  ~MjLogConfig();
-  MjLogConfig();
-  explicit MjLogConfig(mjLogConfig *ptr);
-  MjLogConfig(const MjLogConfig &);
-  MjLogConfig &operator=(const MjLogConfig &);
-  std::unique_ptr<MjLogConfig> copy();
-  mjLogConfig* get() const;
-  void set(mjLogConfig* ptr);
-  mjtBool logto_console() const {
-    return ptr_->logto_console;
-  }
-  void set_logto_console(mjtBool value) {
-    ptr_->logto_console = value;
-  }
-  mjtBool logto_file() const {
-    return ptr_->logto_file;
-  }
-  void set_logto_file(mjtBool value) {
-    ptr_->logto_file = value;
-  }
-  emscripten::val logfile() const {
-    return emscripten::val(emscripten::typed_memory_view(1024, ptr_->logfile));
-  }
-  int topics() const {
-    return ptr_->topics;
-  }
-  void set_topics(int value) {
-    ptr_->topics = value;
-  }
-
- private:
-  mjLogConfig* ptr_;
-  bool owned_ = false;
-};
-
-struct MjLogMessage {
-  ~MjLogMessage();
-  MjLogMessage();
-  explicit MjLogMessage(mjLogMessage *ptr);
-  mjLogMessage* get() const;
-  void set(mjLogMessage* ptr);
-  int level() const {
-    return ptr_->level;
-  }
-  void set_level(int value) {
-    ptr_->level = value;
-  }
-  int topic() const {
-    return ptr_->topic;
-  }
-  void set_topic(int value) {
-    ptr_->topic = value;
-  }
-  emscripten::val subject() const {
-    return emscripten::val(emscripten::typed_memory_view(1024, ptr_->subject));
-  }
-  std::string body() const {
-    return ptr_->body ? std::string(ptr_->body) : "";
-  }
-  std::string func() const {
-    return ptr_->func ? std::string(ptr_->func) : "";
-  }
-  std::string file() const {
-    return ptr_->file ? std::string(ptr_->file) : "";
-  }
-  int line() const {
-    return ptr_->line;
-  }
-  void set_line(int value) {
-    ptr_->line = value;
-  }
-  mjtBool timestamp() const {
-    return ptr_->timestamp;
-  }
-  void set_timestamp(mjtBool value) {
-    ptr_->timestamp = value;
-  }
-
- private:
-  mjLogMessage* ptr_;
-  bool owned_ = false;
-};
-
-struct MjOption {
-  ~MjOption();
-  MjOption();
-  explicit MjOption(mjOption *ptr);
-  MjOption(const MjOption &);
-  MjOption &operator=(const MjOption &);
-  std::unique_ptr<MjOption> copy();
-  mjOption* get() const;
-  void set(mjOption* ptr);
-  mjtNum timestep() const {
-    return ptr_->timestep;
-  }
-  void set_timestep(mjtNum value) {
-    ptr_->timestep = value;
-  }
-  mjtNum impratio() const {
-    return ptr_->impratio;
-  }
-  void set_impratio(mjtNum value) {
-    ptr_->impratio = value;
-  }
-  mjtNum tolerance() const {
-    return ptr_->tolerance;
-  }
-  void set_tolerance(mjtNum value) {
-    ptr_->tolerance = value;
-  }
-  mjtNum ls_tolerance() const {
-    return ptr_->ls_tolerance;
-  }
-  void set_ls_tolerance(mjtNum value) {
-    ptr_->ls_tolerance = value;
-  }
-  mjtNum noslip_tolerance() const {
-    return ptr_->noslip_tolerance;
-  }
-  void set_noslip_tolerance(mjtNum value) {
-    ptr_->noslip_tolerance = value;
-  }
-  mjtNum ccd_tolerance() const {
-    return ptr_->ccd_tolerance;
-  }
-  void set_ccd_tolerance(mjtNum value) {
-    ptr_->ccd_tolerance = value;
-  }
-  mjtNum sleep_tolerance() const {
-    return ptr_->sleep_tolerance;
-  }
-  void set_sleep_tolerance(mjtNum value) {
-    ptr_->sleep_tolerance = value;
-  }
-  emscripten::val gravity() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->gravity));
-  }
-  emscripten::val wind() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->wind));
-  }
-  emscripten::val magnetic() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->magnetic));
-  }
-  mjtNum density() const {
-    return ptr_->density;
-  }
-  void set_density(mjtNum value) {
-    ptr_->density = value;
-  }
-  mjtNum viscosity() const {
-    return ptr_->viscosity;
-  }
-  void set_viscosity(mjtNum value) {
-    ptr_->viscosity = value;
-  }
-  mjtNum o_margin() const {
-    return ptr_->o_margin;
-  }
-  void set_o_margin(mjtNum value) {
-    ptr_->o_margin = value;
-  }
-  emscripten::val o_solref() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->o_solref));
-  }
-  emscripten::val o_solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->o_solimp));
-  }
-  emscripten::val o_friction() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->o_friction));
-  }
-  int integrator() const {
-    return ptr_->integrator;
-  }
-  void set_integrator(int value) {
-    ptr_->integrator = value;
-  }
-  int cone() const {
-    return ptr_->cone;
-  }
-  void set_cone(int value) {
-    ptr_->cone = value;
-  }
-  int jacobian() const {
-    return ptr_->jacobian;
-  }
-  void set_jacobian(int value) {
-    ptr_->jacobian = value;
-  }
-  int solver() const {
-    return ptr_->solver;
-  }
-  void set_solver(int value) {
-    ptr_->solver = value;
-  }
-  int iterations() const {
-    return ptr_->iterations;
-  }
-  void set_iterations(int value) {
-    ptr_->iterations = value;
-  }
-  int ls_iterations() const {
-    return ptr_->ls_iterations;
-  }
-  void set_ls_iterations(int value) {
-    ptr_->ls_iterations = value;
-  }
-  int noslip_iterations() const {
-    return ptr_->noslip_iterations;
-  }
-  void set_noslip_iterations(int value) {
-    ptr_->noslip_iterations = value;
-  }
-  int ccd_iterations() const {
-    return ptr_->ccd_iterations;
-  }
-  void set_ccd_iterations(int value) {
-    ptr_->ccd_iterations = value;
-  }
-  int disableflags() const {
-    return ptr_->disableflags;
-  }
-  void set_disableflags(int value) {
-    ptr_->disableflags = value;
-  }
-  int enableflags() const {
-    return ptr_->enableflags;
-  }
-  void set_enableflags(int value) {
-    ptr_->enableflags = value;
-  }
-  int disableactuator() const {
-    return ptr_->disableactuator;
-  }
-  void set_disableactuator(int value) {
-    ptr_->disableactuator = value;
-  }
-  int sdf_initpoints() const {
-    return ptr_->sdf_initpoints;
-  }
-  void set_sdf_initpoints(int value) {
-    ptr_->sdf_initpoints = value;
-  }
-  int sdf_iterations() const {
-    return ptr_->sdf_iterations;
-  }
-  void set_sdf_iterations(int value) {
-    ptr_->sdf_iterations = value;
-  }
-
- private:
-  mjOption* ptr_;
-  bool owned_ = false;
-};
-
-struct MjPreContact {
-  ~MjPreContact();
-  MjPreContact();
-  explicit MjPreContact(mjPreContact *ptr);
-  MjPreContact(const MjPreContact &);
-  MjPreContact &operator=(const MjPreContact &);
-  std::unique_ptr<MjPreContact> copy();
-  mjPreContact* get() const;
-  void set(mjPreContact* ptr);
-  mjtNum dist() const {
-    return ptr_->dist;
-  }
-  void set_dist(mjtNum value) {
-    ptr_->dist = value;
-  }
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val normal() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->normal));
-  }
-  emscripten::val tangent() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->tangent));
-  }
-
- private:
-  mjPreContact* ptr_;
-  bool owned_ = false;
-};
-
-struct MjSolverStat {
-  ~MjSolverStat();
-  MjSolverStat();
-  explicit MjSolverStat(mjSolverStat *ptr);
-  MjSolverStat(const MjSolverStat &);
-  MjSolverStat &operator=(const MjSolverStat &);
-  std::unique_ptr<MjSolverStat> copy();
-  mjSolverStat* get() const;
-  void set(mjSolverStat* ptr);
-  mjtNum improvement() const {
-    return ptr_->improvement;
-  }
-  void set_improvement(mjtNum value) {
-    ptr_->improvement = value;
-  }
-  mjtNum gradient() const {
-    return ptr_->gradient;
-  }
-  void set_gradient(mjtNum value) {
-    ptr_->gradient = value;
-  }
-  mjtNum lineslope() const {
-    return ptr_->lineslope;
-  }
-  void set_lineslope(mjtNum value) {
-    ptr_->lineslope = value;
-  }
-  int nactive() const {
-    return ptr_->nactive;
-  }
-  void set_nactive(int value) {
-    ptr_->nactive = value;
-  }
-  int nchange() const {
-    return ptr_->nchange;
-  }
-  void set_nchange(int value) {
-    ptr_->nchange = value;
-  }
-  int neval() const {
-    return ptr_->neval;
-  }
-  void set_neval(int value) {
-    ptr_->neval = value;
-  }
-  int nupdate() const {
-    return ptr_->nupdate;
-  }
-  void set_nupdate(int value) {
-    ptr_->nupdate = value;
-  }
-
- private:
-  mjSolverStat* ptr_;
-  bool owned_ = false;
-};
-
-struct MjStatistic {
-  ~MjStatistic();
-  MjStatistic();
-  explicit MjStatistic(mjStatistic *ptr);
-  MjStatistic(const MjStatistic &);
-  MjStatistic &operator=(const MjStatistic &);
-  std::unique_ptr<MjStatistic> copy();
-  mjStatistic* get() const;
-  void set(mjStatistic* ptr);
-  mjtNum meaninertia() const {
-    return ptr_->meaninertia;
-  }
-  void set_meaninertia(mjtNum value) {
-    ptr_->meaninertia = value;
-  }
-  mjtNum meanmass() const {
-    return ptr_->meanmass;
-  }
-  void set_meanmass(mjtNum value) {
-    ptr_->meanmass = value;
-  }
-  mjtNum meansize() const {
-    return ptr_->meansize;
-  }
-  void set_meansize(mjtNum value) {
-    ptr_->meansize = value;
-  }
-  mjtNum extent() const {
-    return ptr_->extent;
-  }
-  void set_extent(mjtNum value) {
-    ptr_->extent = value;
-  }
-  emscripten::val center() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->center));
-  }
-
- private:
-  mjStatistic* ptr_;
-  bool owned_ = false;
-};
-
-struct MjTimerStat {
-  ~MjTimerStat();
-  MjTimerStat();
-  explicit MjTimerStat(mjTimerStat *ptr);
-  MjTimerStat(const MjTimerStat &);
-  MjTimerStat &operator=(const MjTimerStat &);
-  std::unique_ptr<MjTimerStat> copy();
-  mjTimerStat* get() const;
-  void set(mjTimerStat* ptr);
-  mjtNum duration() const {
-    return ptr_->duration;
-  }
-  void set_duration(mjtNum value) {
-    ptr_->duration = value;
-  }
-  int number() const {
-    return ptr_->number;
-  }
-  void set_number(int value) {
-    ptr_->number = value;
-  }
-
- private:
-  mjTimerStat* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualGlobal {
-  ~MjVisualGlobal();
-  MjVisualGlobal();
-  explicit MjVisualGlobal(mjVisualGlobal *ptr);
-  MjVisualGlobal(const MjVisualGlobal &);
-  MjVisualGlobal &operator=(const MjVisualGlobal &);
-  std::unique_ptr<MjVisualGlobal> copy();
-  mjVisualGlobal* get() const;
-  void set(mjVisualGlobal* ptr);
-  int cameraid() const {
-    return ptr_->cameraid;
-  }
-  void set_cameraid(int value) {
-    ptr_->cameraid = value;
-  }
-  int orthographic() const {
-    return ptr_->orthographic;
-  }
-  void set_orthographic(int value) {
-    ptr_->orthographic = value;
-  }
-  float fovy() const {
-    return ptr_->fovy;
-  }
-  void set_fovy(float value) {
-    ptr_->fovy = value;
-  }
-  float ipd() const {
-    return ptr_->ipd;
-  }
-  void set_ipd(float value) {
-    ptr_->ipd = value;
-  }
-  float azimuth() const {
-    return ptr_->azimuth;
-  }
-  void set_azimuth(float value) {
-    ptr_->azimuth = value;
-  }
-  float elevation() const {
-    return ptr_->elevation;
-  }
-  void set_elevation(float value) {
-    ptr_->elevation = value;
-  }
-  float linewidth() const {
-    return ptr_->linewidth;
-  }
-  void set_linewidth(float value) {
-    ptr_->linewidth = value;
-  }
-  float glow() const {
-    return ptr_->glow;
-  }
-  void set_glow(float value) {
-    ptr_->glow = value;
-  }
-  float realtime() const {
-    return ptr_->realtime;
-  }
-  void set_realtime(float value) {
-    ptr_->realtime = value;
-  }
-  int offwidth() const {
-    return ptr_->offwidth;
-  }
-  void set_offwidth(int value) {
-    ptr_->offwidth = value;
-  }
-  int offheight() const {
-    return ptr_->offheight;
-  }
-  void set_offheight(int value) {
-    ptr_->offheight = value;
-  }
-  int ellipsoidinertia() const {
-    return ptr_->ellipsoidinertia;
-  }
-  void set_ellipsoidinertia(int value) {
-    ptr_->ellipsoidinertia = value;
-  }
-  int bvactive() const {
-    return ptr_->bvactive;
-  }
-  void set_bvactive(int value) {
-    ptr_->bvactive = value;
-  }
-
- private:
-  mjVisualGlobal* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualHeadlight {
-  ~MjVisualHeadlight();
-  MjVisualHeadlight();
-  explicit MjVisualHeadlight(mjVisualHeadlight *ptr);
-  MjVisualHeadlight(const MjVisualHeadlight &);
-  MjVisualHeadlight &operator=(const MjVisualHeadlight &);
-  std::unique_ptr<MjVisualHeadlight> copy();
-  mjVisualHeadlight* get() const;
-  void set(mjVisualHeadlight* ptr);
-  emscripten::val ambient() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->ambient));
-  }
-  emscripten::val diffuse() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->diffuse));
-  }
-  emscripten::val specular() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->specular));
-  }
-  int active() const {
-    return ptr_->active;
-  }
-  void set_active(int value) {
-    ptr_->active = value;
-  }
-
- private:
-  mjVisualHeadlight* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualMap {
-  ~MjVisualMap();
-  MjVisualMap();
-  explicit MjVisualMap(mjVisualMap *ptr);
-  MjVisualMap(const MjVisualMap &);
-  MjVisualMap &operator=(const MjVisualMap &);
-  std::unique_ptr<MjVisualMap> copy();
-  mjVisualMap* get() const;
-  void set(mjVisualMap* ptr);
-  float stiffness() const {
-    return ptr_->stiffness;
-  }
-  void set_stiffness(float value) {
-    ptr_->stiffness = value;
-  }
-  float stiffnessrot() const {
-    return ptr_->stiffnessrot;
-  }
-  void set_stiffnessrot(float value) {
-    ptr_->stiffnessrot = value;
-  }
-  float force() const {
-    return ptr_->force;
-  }
-  void set_force(float value) {
-    ptr_->force = value;
-  }
-  float torque() const {
-    return ptr_->torque;
-  }
-  void set_torque(float value) {
-    ptr_->torque = value;
-  }
-  float alpha() const {
-    return ptr_->alpha;
-  }
-  void set_alpha(float value) {
-    ptr_->alpha = value;
-  }
-  float fogstart() const {
-    return ptr_->fogstart;
-  }
-  void set_fogstart(float value) {
-    ptr_->fogstart = value;
-  }
-  float fogend() const {
-    return ptr_->fogend;
-  }
-  void set_fogend(float value) {
-    ptr_->fogend = value;
-  }
-  float znear() const {
-    return ptr_->znear;
-  }
-  void set_znear(float value) {
-    ptr_->znear = value;
-  }
-  float zfar() const {
-    return ptr_->zfar;
-  }
-  void set_zfar(float value) {
-    ptr_->zfar = value;
-  }
-  float haze() const {
-    return ptr_->haze;
-  }
-  void set_haze(float value) {
-    ptr_->haze = value;
-  }
-  float shadowclip() const {
-    return ptr_->shadowclip;
-  }
-  void set_shadowclip(float value) {
-    ptr_->shadowclip = value;
-  }
-  float shadowscale() const {
-    return ptr_->shadowscale;
-  }
-  void set_shadowscale(float value) {
-    ptr_->shadowscale = value;
-  }
-  float actuatortendon() const {
-    return ptr_->actuatortendon;
-  }
-  void set_actuatortendon(float value) {
-    ptr_->actuatortendon = value;
-  }
-
- private:
-  mjVisualMap* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualQuality {
-  ~MjVisualQuality();
-  MjVisualQuality();
-  explicit MjVisualQuality(mjVisualQuality *ptr);
-  MjVisualQuality(const MjVisualQuality &);
-  MjVisualQuality &operator=(const MjVisualQuality &);
-  std::unique_ptr<MjVisualQuality> copy();
-  mjVisualQuality* get() const;
-  void set(mjVisualQuality* ptr);
-  int shadowsize() const {
-    return ptr_->shadowsize;
-  }
-  void set_shadowsize(int value) {
-    ptr_->shadowsize = value;
-  }
-  int offsamples() const {
-    return ptr_->offsamples;
-  }
-  void set_offsamples(int value) {
-    ptr_->offsamples = value;
-  }
-  int numslices() const {
-    return ptr_->numslices;
-  }
-  void set_numslices(int value) {
-    ptr_->numslices = value;
-  }
-  int numstacks() const {
-    return ptr_->numstacks;
-  }
-  void set_numstacks(int value) {
-    ptr_->numstacks = value;
-  }
-  int numquads() const {
-    return ptr_->numquads;
-  }
-  void set_numquads(int value) {
-    ptr_->numquads = value;
-  }
-
- private:
-  mjVisualQuality* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualRgba {
-  ~MjVisualRgba();
-  MjVisualRgba();
-  explicit MjVisualRgba(mjVisualRgba *ptr);
-  MjVisualRgba(const MjVisualRgba &);
-  MjVisualRgba &operator=(const MjVisualRgba &);
-  std::unique_ptr<MjVisualRgba> copy();
-  mjVisualRgba* get() const;
-  void set(mjVisualRgba* ptr);
-  emscripten::val fog() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->fog));
-  }
-  emscripten::val haze() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->haze));
-  }
-  emscripten::val force() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->force));
-  }
-  emscripten::val inertia() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->inertia));
-  }
-  emscripten::val joint() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->joint));
-  }
-  emscripten::val actuator() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->actuator));
-  }
-  emscripten::val actuatornegative() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->actuatornegative));
-  }
-  emscripten::val actuatorpositive() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->actuatorpositive));
-  }
-  emscripten::val com() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->com));
-  }
-  emscripten::val camera() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->camera));
-  }
-  emscripten::val light() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->light));
-  }
-  emscripten::val selectpoint() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->selectpoint));
-  }
-  emscripten::val connect() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->connect));
-  }
-  emscripten::val contactpoint() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->contactpoint));
-  }
-  emscripten::val contactforce() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->contactforce));
-  }
-  emscripten::val contactfriction() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->contactfriction));
-  }
-  emscripten::val contacttorque() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->contacttorque));
-  }
-  emscripten::val contactgap() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->contactgap));
-  }
-  emscripten::val rangefinder() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->rangefinder));
-  }
-  emscripten::val constraint() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->constraint));
-  }
-  emscripten::val slidercrank() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->slidercrank));
-  }
-  emscripten::val crankbroken() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->crankbroken));
-  }
-  emscripten::val frustum() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->frustum));
-  }
-  emscripten::val bv() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->bv));
-  }
-  emscripten::val bvactive() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->bvactive));
-  }
-
- private:
-  mjVisualRgba* ptr_;
-  bool owned_ = false;
-};
-
-struct MjVisualScale {
-  ~MjVisualScale();
-  MjVisualScale();
-  explicit MjVisualScale(mjVisualScale *ptr);
-  MjVisualScale(const MjVisualScale &);
-  MjVisualScale &operator=(const MjVisualScale &);
-  std::unique_ptr<MjVisualScale> copy();
-  mjVisualScale* get() const;
-  void set(mjVisualScale* ptr);
-  float forcewidth() const {
-    return ptr_->forcewidth;
-  }
-  void set_forcewidth(float value) {
-    ptr_->forcewidth = value;
-  }
-  float contactwidth() const {
-    return ptr_->contactwidth;
-  }
-  void set_contactwidth(float value) {
-    ptr_->contactwidth = value;
-  }
-  float contactheight() const {
-    return ptr_->contactheight;
-  }
-  void set_contactheight(float value) {
-    ptr_->contactheight = value;
-  }
-  float connect() const {
-    return ptr_->connect;
-  }
-  void set_connect(float value) {
-    ptr_->connect = value;
-  }
-  float com() const {
-    return ptr_->com;
-  }
-  void set_com(float value) {
-    ptr_->com = value;
-  }
-  float camera() const {
-    return ptr_->camera;
-  }
-  void set_camera(float value) {
-    ptr_->camera = value;
-  }
-  float light() const {
-    return ptr_->light;
-  }
-  void set_light(float value) {
-    ptr_->light = value;
-  }
-  float selectpoint() const {
-    return ptr_->selectpoint;
-  }
-  void set_selectpoint(float value) {
-    ptr_->selectpoint = value;
-  }
-  float jointlength() const {
-    return ptr_->jointlength;
-  }
-  void set_jointlength(float value) {
-    ptr_->jointlength = value;
-  }
-  float jointwidth() const {
-    return ptr_->jointwidth;
-  }
-  void set_jointwidth(float value) {
-    ptr_->jointwidth = value;
-  }
-  float actuatorlength() const {
-    return ptr_->actuatorlength;
-  }
-  void set_actuatorlength(float value) {
-    ptr_->actuatorlength = value;
-  }
-  float actuatorwidth() const {
-    return ptr_->actuatorwidth;
-  }
-  void set_actuatorwidth(float value) {
-    ptr_->actuatorwidth = value;
-  }
-  float framelength() const {
-    return ptr_->framelength;
-  }
-  void set_framelength(float value) {
-    ptr_->framelength = value;
-  }
-  float framewidth() const {
-    return ptr_->framewidth;
-  }
-  void set_framewidth(float value) {
-    ptr_->framewidth = value;
-  }
-  float constraint() const {
-    return ptr_->constraint;
-  }
-  void set_constraint(float value) {
-    ptr_->constraint = value;
-  }
-  float slidercrank() const {
-    return ptr_->slidercrank;
-  }
-  void set_slidercrank(float value) {
-    ptr_->slidercrank = value;
-  }
-  float frustum() const {
-    return ptr_->frustum;
-  }
-  void set_frustum(float value) {
-    ptr_->frustum = value;
-  }
-
- private:
-  mjVisualScale* ptr_;
-  bool owned_ = false;
-};
-
-struct MjWarningStat {
-  ~MjWarningStat();
-  MjWarningStat();
-  explicit MjWarningStat(mjWarningStat *ptr);
-  MjWarningStat(const MjWarningStat &);
-  MjWarningStat &operator=(const MjWarningStat &);
-  std::unique_ptr<MjWarningStat> copy();
-  mjWarningStat* get() const;
-  void set(mjWarningStat* ptr);
-  int lastinfo() const {
-    return ptr_->lastinfo;
-  }
-  void set_lastinfo(int value) {
-    ptr_->lastinfo = value;
-  }
-  int number() const {
-    return ptr_->number;
-  }
-  void set_number(int value) {
-    ptr_->number = value;
-  }
-
- private:
-  mjWarningStat* ptr_;
-  bool owned_ = false;
-};
-
-struct MjsAuthored {
-  explicit MjsAuthored(mjsAuthored *ptr);
-  mjsAuthored* get() const;
-  void set(mjsAuthored* ptr);
-  uint64_t option() const {
-    return ptr_->option;
-  }
-  void set_option(uint64_t value) {
-    ptr_->option = value;
-  }
-  int disableflags() const {
-    return ptr_->disableflags;
-  }
-  void set_disableflags(int value) {
-    ptr_->disableflags = value;
-  }
-  int enableflags() const {
-    return ptr_->enableflags;
-  }
-  void set_enableflags(int value) {
-    ptr_->enableflags = value;
-  }
-  int disableactuator() const {
-    return ptr_->disableactuator;
-  }
-  void set_disableactuator(int value) {
-    ptr_->disableactuator = value;
-  }
-  uint64_t visual_global() const {
-    return ptr_->visual_global;
-  }
-  void set_visual_global(uint64_t value) {
-    ptr_->visual_global = value;
-  }
-  uint64_t visual_quality() const {
-    return ptr_->visual_quality;
-  }
-  void set_visual_quality(uint64_t value) {
-    ptr_->visual_quality = value;
-  }
-  uint64_t visual_headlight() const {
-    return ptr_->visual_headlight;
-  }
-  void set_visual_headlight(uint64_t value) {
-    ptr_->visual_headlight = value;
-  }
-  uint64_t visual_map() const {
-    return ptr_->visual_map;
-  }
-  void set_visual_map(uint64_t value) {
-    ptr_->visual_map = value;
-  }
-  uint64_t visual_scale() const {
-    return ptr_->visual_scale;
-  }
-  void set_visual_scale(uint64_t value) {
-    ptr_->visual_scale = value;
-  }
-  uint64_t visual_rgba() const {
-    return ptr_->visual_rgba;
-  }
-  void set_visual_rgba(uint64_t value) {
-    ptr_->visual_rgba = value;
-  }
-
- private:
-  mjsAuthored* ptr_;
-};
-
-struct MjsElement {
-  explicit MjsElement(mjsElement *ptr);
-  mjsElement* get() const;
-  void set(mjsElement* ptr);
-  mjtObj elemtype() const {
-    return ptr_->elemtype;
-  }
-  void set_elemtype(mjtObj value) {
-    ptr_->elemtype = value;
-  }
-  uint64_t signature() const {
-    return ptr_->signature;
-  }
-  void set_signature(uint64_t value) {
-    ptr_->signature = value;
-  }
-
- private:
-  mjsElement* ptr_;
-};
-
-struct MjsOrientation {
-  explicit MjsOrientation(mjsOrientation *ptr);
-  mjsOrientation* get() const;
-  void set(mjsOrientation* ptr);
-  mjtOrientation type() const {
-    return ptr_->type;
-  }
-  void set_type(mjtOrientation value) {
-    ptr_->type = value;
-  }
-  emscripten::val axisangle() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->axisangle));
-  }
-  emscripten::val xyaxes() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->xyaxes));
-  }
-  emscripten::val zaxis() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->zaxis));
-  }
-  emscripten::val euler() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->euler));
-  }
-
- private:
-  mjsOrientation* ptr_;
-};
-
-struct MjvCamera {
-  ~MjvCamera();
-  MjvCamera();
-  explicit MjvCamera(mjvCamera *ptr);
-  MjvCamera(const MjvCamera &);
-  MjvCamera &operator=(const MjvCamera &);
-  std::unique_ptr<MjvCamera> copy();
-  mjvCamera* get() const;
-  void set(mjvCamera* ptr);
-  int type() const {
-    return ptr_->type;
-  }
-  void set_type(int value) {
-    ptr_->type = value;
-  }
-  int fixedcamid() const {
-    return ptr_->fixedcamid;
-  }
-  void set_fixedcamid(int value) {
-    ptr_->fixedcamid = value;
-  }
-  int trackbodyid() const {
-    return ptr_->trackbodyid;
-  }
-  void set_trackbodyid(int value) {
-    ptr_->trackbodyid = value;
-  }
-  emscripten::val lookat() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->lookat));
-  }
-  mjtNum distance() const {
-    return ptr_->distance;
-  }
-  void set_distance(mjtNum value) {
-    ptr_->distance = value;
-  }
-  mjtNum azimuth() const {
-    return ptr_->azimuth;
-  }
-  void set_azimuth(mjtNum value) {
-    ptr_->azimuth = value;
-  }
-  mjtNum elevation() const {
-    return ptr_->elevation;
-  }
-  void set_elevation(mjtNum value) {
-    ptr_->elevation = value;
-  }
-  int orthographic() const {
-    return ptr_->orthographic;
-  }
-  void set_orthographic(int value) {
-    ptr_->orthographic = value;
-  }
-
- private:
-  mjvCamera* ptr_;
-  bool owned_ = false;
-};
-
-struct MjvFigure {
-  ~MjvFigure();
-  MjvFigure();
-  explicit MjvFigure(mjvFigure *ptr);
-  MjvFigure(const MjvFigure &);
-  MjvFigure &operator=(const MjvFigure &);
-  std::unique_ptr<MjvFigure> copy();
-  mjvFigure* get() const;
-  void set(mjvFigure* ptr);
-  int flg_legend() const {
-    return ptr_->flg_legend;
-  }
-  void set_flg_legend(int value) {
-    ptr_->flg_legend = value;
-  }
-  emscripten::val flg_ticklabel() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->flg_ticklabel));
-  }
-  int flg_extend() const {
-    return ptr_->flg_extend;
-  }
-  void set_flg_extend(int value) {
-    ptr_->flg_extend = value;
-  }
-  int flg_barplot() const {
-    return ptr_->flg_barplot;
-  }
-  void set_flg_barplot(int value) {
-    ptr_->flg_barplot = value;
-  }
-  int flg_selection() const {
-    return ptr_->flg_selection;
-  }
-  void set_flg_selection(int value) {
-    ptr_->flg_selection = value;
-  }
-  int flg_symmetric() const {
-    return ptr_->flg_symmetric;
-  }
-  void set_flg_symmetric(int value) {
-    ptr_->flg_symmetric = value;
-  }
-  float linewidth() const {
-    return ptr_->linewidth;
-  }
-  void set_linewidth(float value) {
-    ptr_->linewidth = value;
-  }
-  float gridwidth() const {
-    return ptr_->gridwidth;
-  }
-  void set_gridwidth(float value) {
-    ptr_->gridwidth = value;
-  }
-  emscripten::val gridsize() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->gridsize));
-  }
-  emscripten::val gridrgb() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->gridrgb));
-  }
-  emscripten::val figurergba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->figurergba));
-  }
-  emscripten::val panergba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->panergba));
-  }
-  emscripten::val legendrgba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->legendrgba));
-  }
-  emscripten::val textrgb() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->textrgb));
-  }
-  emscripten::val linergb() const {
-    return emscripten::val(emscripten::typed_memory_view(300, reinterpret_cast<float*>(ptr_->linergb)));
-  }
-  emscripten::val range() const {
-    return emscripten::val(emscripten::typed_memory_view(4, reinterpret_cast<float*>(ptr_->range)));
-  }
-  emscripten::val xformat() const {
-    return emscripten::val(emscripten::typed_memory_view(20, ptr_->xformat));
-  }
-  emscripten::val yformat() const {
-    return emscripten::val(emscripten::typed_memory_view(20, ptr_->yformat));
-  }
-  emscripten::val minwidth() const {
-    return emscripten::val(emscripten::typed_memory_view(20, ptr_->minwidth));
-  }
-  emscripten::val title() const {
-    return emscripten::val(emscripten::typed_memory_view(1000, ptr_->title));
-  }
-  emscripten::val xlabel() const {
-    return emscripten::val(emscripten::typed_memory_view(100, ptr_->xlabel));
-  }
-  emscripten::val linename() const {
-    return emscripten::val(emscripten::typed_memory_view(10000, reinterpret_cast<char*>(ptr_->linename)));
-  }
-  int legendoffset() const {
-    return ptr_->legendoffset;
-  }
-  void set_legendoffset(int value) {
-    ptr_->legendoffset = value;
-  }
-  int subplot() const {
-    return ptr_->subplot;
-  }
-  void set_subplot(int value) {
-    ptr_->subplot = value;
-  }
-  emscripten::val highlight() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->highlight));
-  }
-  int highlightid() const {
-    return ptr_->highlightid;
-  }
-  void set_highlightid(int value) {
-    ptr_->highlightid = value;
-  }
-  float selection() const {
-    return ptr_->selection;
-  }
-  void set_selection(float value) {
-    ptr_->selection = value;
-  }
-  emscripten::val linepnt() const {
-    return emscripten::val(emscripten::typed_memory_view(100, ptr_->linepnt));
-  }
-  emscripten::val linedata() const {
-    return emscripten::val(emscripten::typed_memory_view(200200, reinterpret_cast<float*>(ptr_->linedata)));
-  }
-  emscripten::val xaxispixel() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->xaxispixel));
-  }
-  emscripten::val yaxispixel() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->yaxispixel));
-  }
-  emscripten::val xaxisdata() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->xaxisdata));
-  }
-  emscripten::val yaxisdata() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->yaxisdata));
-  }
-
- private:
-  mjvFigure* ptr_;
-  bool owned_ = false;
-};
-
-struct MjvGLCamera {
-  ~MjvGLCamera();
-  MjvGLCamera();
-  explicit MjvGLCamera(mjvGLCamera *ptr);
-  MjvGLCamera(const MjvGLCamera &);
-  MjvGLCamera &operator=(const MjvGLCamera &);
-  std::unique_ptr<MjvGLCamera> copy();
-  mjvGLCamera* get() const;
-  void set(mjvGLCamera* ptr);
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val forward() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->forward));
-  }
-  emscripten::val up() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->up));
-  }
-  float frustum_center() const {
-    return ptr_->frustum_center;
-  }
-  void set_frustum_center(float value) {
-    ptr_->frustum_center = value;
-  }
-  float frustum_width() const {
-    return ptr_->frustum_width;
-  }
-  void set_frustum_width(float value) {
-    ptr_->frustum_width = value;
-  }
-  float frustum_bottom() const {
-    return ptr_->frustum_bottom;
-  }
-  void set_frustum_bottom(float value) {
-    ptr_->frustum_bottom = value;
-  }
-  float frustum_top() const {
-    return ptr_->frustum_top;
-  }
-  void set_frustum_top(float value) {
-    ptr_->frustum_top = value;
-  }
-  float frustum_near() const {
-    return ptr_->frustum_near;
-  }
-  void set_frustum_near(float value) {
-    ptr_->frustum_near = value;
-  }
-  float frustum_far() const {
-    return ptr_->frustum_far;
-  }
-  void set_frustum_far(float value) {
-    ptr_->frustum_far = value;
-  }
-  int orthographic() const {
-    return ptr_->orthographic;
-  }
-  void set_orthographic(int value) {
-    ptr_->orthographic = value;
-  }
-
- private:
-  mjvGLCamera* ptr_;
-  bool owned_ = false;
-};
-
-struct MjvGeom {
-  ~MjvGeom();
-  MjvGeom();
-  explicit MjvGeom(mjvGeom *ptr);
-  MjvGeom(const MjvGeom &);
-  MjvGeom &operator=(const MjvGeom &);
-  std::unique_ptr<MjvGeom> copy();
-  mjvGeom* get() const;
-  void set(mjvGeom* ptr);
-  int type() const {
-    return ptr_->type;
-  }
-  void set_type(int value) {
-    ptr_->type = value;
-  }
-  int dataid() const {
-    return ptr_->dataid;
-  }
-  void set_dataid(int value) {
-    ptr_->dataid = value;
-  }
-  int objtype() const {
-    return ptr_->objtype;
-  }
-  void set_objtype(int value) {
-    ptr_->objtype = value;
-  }
-  int objid() const {
-    return ptr_->objid;
-  }
-  void set_objid(int value) {
-    ptr_->objid = value;
-  }
-  int category() const {
-    return ptr_->category;
-  }
-  void set_category(int value) {
-    ptr_->category = value;
-  }
-  int matid() const {
-    return ptr_->matid;
-  }
-  void set_matid(int value) {
-    ptr_->matid = value;
-  }
-  int texid() const {
-    return ptr_->texid;
-  }
-  void set_texid(int value) {
-    ptr_->texid = value;
-  }
-  int texuniform() const {
-    return ptr_->texuniform;
-  }
-  void set_texuniform(int value) {
-    ptr_->texuniform = value;
-  }
-  int texcoord() const {
-    return ptr_->texcoord;
-  }
-  void set_texcoord(int value) {
-    ptr_->texcoord = value;
-  }
-  int segid() const {
-    return ptr_->segid;
-  }
-  void set_segid(int value) {
-    ptr_->segid = value;
-  }
-  emscripten::val size() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->size));
-  }
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val mat() const {
-    return emscripten::val(emscripten::typed_memory_view(9, ptr_->mat));
-  }
-  emscripten::val rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
-  }
-  float emission() const {
-    return ptr_->emission;
-  }
-  void set_emission(float value) {
-    ptr_->emission = value;
-  }
-  float specular() const {
-    return ptr_->specular;
-  }
-  void set_specular(float value) {
-    ptr_->specular = value;
-  }
-  float shininess() const {
-    return ptr_->shininess;
-  }
-  void set_shininess(float value) {
-    ptr_->shininess = value;
-  }
-  float reflectance() const {
-    return ptr_->reflectance;
-  }
-  void set_reflectance(float value) {
-    ptr_->reflectance = value;
-  }
-  emscripten::val texrepeat() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->texrepeat));
-  }
-  emscripten::val label() const {
-    return emscripten::val(emscripten::typed_memory_view(100, ptr_->label));
-  }
-  float camdist() const {
-    return ptr_->camdist;
-  }
-  void set_camdist(float value) {
-    ptr_->camdist = value;
-  }
-  float modelrbound() const {
-    return ptr_->modelrbound;
-  }
-  void set_modelrbound(float value) {
-    ptr_->modelrbound = value;
-  }
-  mjtByte transparent() const {
-    return ptr_->transparent;
-  }
-  void set_transparent(mjtByte value) {
-    ptr_->transparent = value;
-  }
-
- private:
-  mjvGeom* ptr_;
-  bool owned_ = false;
-};
-
-struct MjvLight {
-  ~MjvLight();
-  MjvLight();
-  explicit MjvLight(mjvLight *ptr);
-  MjvLight(const MjvLight &);
-  MjvLight &operator=(const MjvLight &);
-  std::unique_ptr<MjvLight> copy();
-  mjvLight* get() const;
-  void set(mjvLight* ptr);
-  int id() const {
-    return ptr_->id;
-  }
-  void set_id(int value) {
-    ptr_->id = value;
-  }
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val dir() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->dir));
-  }
-  int type() const {
-    return ptr_->type;
-  }
-  void set_type(int value) {
-    ptr_->type = value;
-  }
-  int texid() const {
-    return ptr_->texid;
-  }
-  void set_texid(int value) {
-    ptr_->texid = value;
-  }
-  emscripten::val attenuation() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->attenuation));
-  }
-  float cutoff() const {
-    return ptr_->cutoff;
-  }
-  void set_cutoff(float value) {
-    ptr_->cutoff = value;
-  }
-  float exponent() const {
-    return ptr_->exponent;
-  }
-  void set_exponent(float value) {
-    ptr_->exponent = value;
-  }
-  emscripten::val ambient() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->ambient));
-  }
-  emscripten::val diffuse() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->diffuse));
-  }
-  emscripten::val specular() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->specular));
-  }
-  mjtByte headlight() const {
-    return ptr_->headlight;
-  }
-  void set_headlight(mjtByte value) {
-    ptr_->headlight = value;
-  }
-  mjtByte castshadow() const {
-    return ptr_->castshadow;
-  }
-  void set_castshadow(mjtByte value) {
-    ptr_->castshadow = value;
-  }
-  float bulbradius() const {
-    return ptr_->bulbradius;
-  }
-  void set_bulbradius(float value) {
-    ptr_->bulbradius = value;
-  }
-  float intensity() const {
-    return ptr_->intensity;
-  }
-  void set_intensity(float value) {
-    ptr_->intensity = value;
-  }
-  float range() const {
-    return ptr_->range;
-  }
-  void set_range(float value) {
-    ptr_->range = value;
-  }
-  float softness() const {
-    return ptr_->softness;
-  }
-  void set_softness(float value) {
-    ptr_->softness = value;
-  }
-
- private:
-  mjvLight* ptr_;
-  bool owned_ = false;
-};
-
-struct MjvOption {
-  ~MjvOption();
-  MjvOption();
-  explicit MjvOption(mjvOption *ptr);
-  MjvOption(const MjvOption &);
-  MjvOption &operator=(const MjvOption &);
-  std::unique_ptr<MjvOption> copy();
-  mjvOption* get() const;
-  void set(mjvOption* ptr);
-  int label() const {
-    return ptr_->label;
-  }
-  void set_label(int value) {
-    ptr_->label = value;
-  }
-  int frame() const {
-    return ptr_->frame;
-  }
-  void set_frame(int value) {
-    ptr_->frame = value;
-  }
-  emscripten::val geomgroup() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->geomgroup));
-  }
-  emscripten::val sitegroup() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->sitegroup));
-  }
-  emscripten::val jointgroup() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->jointgroup));
-  }
-  emscripten::val tendongroup() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->tendongroup));
-  }
-  emscripten::val actuatorgroup() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->actuatorgroup));
-  }
-  emscripten::val flexgroup() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->flexgroup));
-  }
-  emscripten::val skingroup() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->skingroup));
-  }
-  emscripten::val flags() const {
-    return emscripten::val(emscripten::typed_memory_view(31, ptr_->flags));
-  }
-  int bvh_depth() const {
-    return ptr_->bvh_depth;
-  }
-  void set_bvh_depth(int value) {
-    ptr_->bvh_depth = value;
-  }
-  int flex_layer() const {
-    return ptr_->flex_layer;
-  }
-  void set_flex_layer(int value) {
-    ptr_->flex_layer = value;
-  }
-
- private:
-  mjvOption* ptr_;
-  bool owned_ = false;
-};
-
-struct MjvPerturb {
-  ~MjvPerturb();
-  MjvPerturb();
-  explicit MjvPerturb(mjvPerturb *ptr);
-  MjvPerturb(const MjvPerturb &);
-  MjvPerturb &operator=(const MjvPerturb &);
-  std::unique_ptr<MjvPerturb> copy();
-  mjvPerturb* get() const;
-  void set(mjvPerturb* ptr);
-  int select() const {
-    return ptr_->select;
-  }
-  void set_select(int value) {
-    ptr_->select = value;
-  }
-  int flexselect() const {
-    return ptr_->flexselect;
-  }
-  void set_flexselect(int value) {
-    ptr_->flexselect = value;
-  }
-  int skinselect() const {
-    return ptr_->skinselect;
-  }
-  void set_skinselect(int value) {
-    ptr_->skinselect = value;
-  }
-  int active() const {
-    return ptr_->active;
-  }
-  void set_active(int value) {
-    ptr_->active = value;
-  }
-  int active2() const {
-    return ptr_->active2;
-  }
-  void set_active2(int value) {
-    ptr_->active2 = value;
-  }
-  emscripten::val refpos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->refpos));
-  }
-  emscripten::val refquat() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->refquat));
-  }
-  emscripten::val refselpos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->refselpos));
-  }
-  emscripten::val localpos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->localpos));
-  }
-  mjtNum localmass() const {
-    return ptr_->localmass;
-  }
-  void set_localmass(mjtNum value) {
-    ptr_->localmass = value;
-  }
-  mjtNum scale() const {
-    return ptr_->scale;
-  }
-  void set_scale(mjtNum value) {
-    ptr_->scale = value;
-  }
-
- private:
-  mjvPerturb* ptr_;
-  bool owned_ = false;
-};
-
-struct MjsCompiler {
-  explicit MjsCompiler(mjsCompiler *ptr);
-  mjsCompiler* get() const;
-  void set(mjsCompiler* ptr);
-  mjtBool autolimits() const {
-    return ptr_->autolimits;
-  }
-  void set_autolimits(mjtBool value) {
-    ptr_->autolimits = value;
-  }
-  double boundmass() const {
-    return ptr_->boundmass;
-  }
-  void set_boundmass(double value) {
-    ptr_->boundmass = value;
-  }
-  double boundinertia() const {
-    return ptr_->boundinertia;
-  }
-  void set_boundinertia(double value) {
-    ptr_->boundinertia = value;
-  }
-  double settotalmass() const {
-    return ptr_->settotalmass;
-  }
-  void set_settotalmass(double value) {
-    ptr_->settotalmass = value;
-  }
-  mjtBool balanceinertia() const {
-    return ptr_->balanceinertia;
-  }
-  void set_balanceinertia(mjtBool value) {
-    ptr_->balanceinertia = value;
-  }
-  mjtBool fitaabb() const {
-    return ptr_->fitaabb;
-  }
-  void set_fitaabb(mjtBool value) {
-    ptr_->fitaabb = value;
-  }
-  mjtBool degree() const {
-    return ptr_->degree;
-  }
-  void set_degree(mjtBool value) {
-    ptr_->degree = value;
-  }
-  emscripten::val eulerseq() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->eulerseq));
-  }
-  mjtBool discardvisual() const {
-    return ptr_->discardvisual;
-  }
-  void set_discardvisual(mjtBool value) {
-    ptr_->discardvisual = value;
-  }
-  mjtBool usethread() const {
-    return ptr_->usethread;
-  }
-  void set_usethread(mjtBool value) {
-    ptr_->usethread = value;
-  }
-  mjtBool fusestatic() const {
-    return ptr_->fusestatic;
-  }
-  void set_fusestatic(mjtBool value) {
-    ptr_->fusestatic = value;
-  }
-  mjtInertiaFromGeom inertiafromgeom() const {
-    return ptr_->inertiafromgeom;
-  }
-  void set_inertiafromgeom(mjtInertiaFromGeom value) {
-    ptr_->inertiafromgeom = value;
-  }
-  emscripten::val inertiagrouprange() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->inertiagrouprange));
-  }
-  mjtBool saveinertial() const {
-    return ptr_->saveinertial;
-  }
-  void set_saveinertial(mjtBool value) {
-    ptr_->saveinertial = value;
-  }
-  mjtBool alignfree() const {
-    return ptr_->alignfree;
-  }
-  void set_alignfree(mjtBool value) {
-    ptr_->alignfree = value;
-  }
-  mjtConflict conflict() const {
-    return ptr_->conflict;
-  }
-  void set_conflict(mjtConflict value) {
-    ptr_->conflict = value;
-  }
-  mjString meshdir() const {
-    return (ptr_ && ptr_->meshdir) ? *(ptr_->meshdir) : "";
-  }
-  void set_meshdir(const mjString& value) {
-    if (ptr_ && ptr_->meshdir) {
-      *(ptr_->meshdir) = value;
-    }
-  }
-  mjString texturedir() const {
-    return (ptr_ && ptr_->texturedir) ? *(ptr_->texturedir) : "";
-  }
-  void set_texturedir(const mjString& value) {
-    if (ptr_ && ptr_->texturedir) {
-      *(ptr_->texturedir) = value;
-    }
-  }
-  uint64_t authored() const {
-    return ptr_->authored;
-  }
-  void set_authored(uint64_t value) {
-    ptr_->authored = value;
-  }
-
- private:
-  mjsCompiler* ptr_;
-
- public:
-  MjLROpt LRopt;
-};
-
-struct MjVisual {
-  ~MjVisual();
-  MjVisual();
-  explicit MjVisual(mjVisual *ptr);
-  MjVisual(const MjVisual &);
-  MjVisual &operator=(const MjVisual &);
-  std::unique_ptr<MjVisual> copy();
-  mjVisual* get() const;
-  void set(mjVisual* ptr);
-
- private:
-  mjVisual* ptr_;
-  bool owned_ = false;
-
- public:
-  MjVisualGlobal global;
-  MjVisualQuality quality;
-  MjVisualHeadlight headlight;
-  MjVisualMap map;
-  MjVisualScale scale;
-  MjVisualRgba rgba;
-};
-
-struct MjsEquality {
-  explicit MjsEquality(mjsEquality *ptr);
-  mjsEquality* get() const;
-  void set(mjsEquality* ptr);
-  mjtEq type() const {
-    return ptr_->type;
-  }
-  void set_type(mjtEq value) {
-    ptr_->type = value;
-  }
-  emscripten::val data() const {
-    return emscripten::val(emscripten::typed_memory_view(11, ptr_->data));
-  }
-  mjtBool active() const {
-    return ptr_->active;
-  }
-  void set_active(mjtBool value) {
-    ptr_->active = value;
-  }
-  mjString name1() const {
-    return (ptr_ && ptr_->name1) ? *(ptr_->name1) : "";
-  }
-  void set_name1(const mjString& value) {
-    if (ptr_ && ptr_->name1) {
-      *(ptr_->name1) = value;
-    }
-  }
-  mjString name2() const {
-    return (ptr_ && ptr_->name2) ? *(ptr_->name2) : "";
-  }
-  void set_name2(const mjString& value) {
-    if (ptr_ && ptr_->name2) {
-      *(ptr_->name2) = value;
-    }
-  }
-  mjtObj objtype() const {
-    return ptr_->objtype;
-  }
-  void set_objtype(mjtObj value) {
-    ptr_->objtype = value;
-  }
-  emscripten::val solref() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
-  }
-  emscripten::val solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsEquality* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsExclude {
-  explicit MjsExclude(mjsExclude *ptr);
-  mjsExclude* get() const;
-  void set(mjsExclude* ptr);
-  mjString bodyname1() const {
-    return (ptr_ && ptr_->bodyname1) ? *(ptr_->bodyname1) : "";
-  }
-  void set_bodyname1(const mjString& value) {
-    if (ptr_ && ptr_->bodyname1) {
-      *(ptr_->bodyname1) = value;
-    }
-  }
-  mjString bodyname2() const {
-    return (ptr_ && ptr_->bodyname2) ? *(ptr_->bodyname2) : "";
-  }
-  void set_bodyname2(const mjString& value) {
-    if (ptr_ && ptr_->bodyname2) {
-      *(ptr_->bodyname2) = value;
-    }
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsExclude* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsFlex {
-  explicit MjsFlex(mjsFlex *ptr);
-  mjsFlex* get() const;
-  void set(mjsFlex* ptr);
-  int contype() const {
-    return ptr_->contype;
-  }
-  void set_contype(int value) {
-    ptr_->contype = value;
-  }
-  int conaffinity() const {
-    return ptr_->conaffinity;
-  }
-  void set_conaffinity(int value) {
-    ptr_->conaffinity = value;
-  }
-  int condim() const {
-    return ptr_->condim;
-  }
-  void set_condim(int value) {
-    ptr_->condim = value;
-  }
-  int priority() const {
-    return ptr_->priority;
-  }
-  void set_priority(int value) {
-    ptr_->priority = value;
-  }
-  emscripten::val friction() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->friction));
-  }
-  double solmix() const {
-    return ptr_->solmix;
-  }
-  void set_solmix(double value) {
-    ptr_->solmix = value;
-  }
-  emscripten::val solref() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
-  }
-  emscripten::val solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
-  }
-  double margin() const {
-    return ptr_->margin;
-  }
-  void set_margin(double value) {
-    ptr_->margin = value;
-  }
-  double gap() const {
-    return ptr_->gap;
-  }
-  void set_gap(double value) {
-    ptr_->gap = value;
-  }
-  int dim() const {
-    return ptr_->dim;
-  }
-  void set_dim(int value) {
-    ptr_->dim = value;
-  }
-  double radius() const {
-    return ptr_->radius;
-  }
-  void set_radius(double value) {
-    ptr_->radius = value;
-  }
-  emscripten::val size() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->size));
-  }
-  mjtBool internal() const {
-    return ptr_->internal;
-  }
-  void set_internal(mjtBool value) {
-    ptr_->internal = value;
-  }
-  mjtBool flatskin() const {
-    return ptr_->flatskin;
-  }
-  void set_flatskin(mjtBool value) {
-    ptr_->flatskin = value;
-  }
-  mjtFlexSelf selfcollide() const {
-    return ptr_->selfcollide;
-  }
-  void set_selfcollide(mjtFlexSelf value) {
-    ptr_->selfcollide = value;
-  }
-  int passive() const {
-    return ptr_->passive;
-  }
-  void set_passive(int value) {
-    ptr_->passive = value;
-  }
-  int activelayers() const {
-    return ptr_->activelayers;
-  }
-  void set_activelayers(int value) {
-    ptr_->activelayers = value;
-  }
-  int group() const {
-    return ptr_->group;
-  }
-  void set_group(int value) {
-    ptr_->group = value;
-  }
-  double edgestiffness() const {
-    return ptr_->edgestiffness;
-  }
-  void set_edgestiffness(double value) {
-    ptr_->edgestiffness = value;
-  }
-  double edgedamping() const {
-    return ptr_->edgedamping;
-  }
-  void set_edgedamping(double value) {
-    ptr_->edgedamping = value;
-  }
-  emscripten::val rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
-  }
-  mjString material() const {
-    return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
-  }
-  void set_material(const mjString& value) {
-    if (ptr_ && ptr_->material) {
-      *(ptr_->material) = value;
-    }
-  }
-  double young() const {
-    return ptr_->young;
-  }
-  void set_young(double value) {
-    ptr_->young = value;
-  }
-  double poisson() const {
-    return ptr_->poisson;
-  }
-  void set_poisson(double value) {
-    ptr_->poisson = value;
-  }
-  double damping() const {
-    return ptr_->damping;
-  }
-  void set_damping(double value) {
-    ptr_->damping = value;
-  }
-  double thickness() const {
-    return ptr_->thickness;
-  }
-  void set_thickness(double value) {
-    ptr_->thickness = value;
-  }
-  int elastic2d() const {
-    return ptr_->elastic2d;
-  }
-  void set_elastic2d(int value) {
-    ptr_->elastic2d = value;
-  }
-  emscripten::val cellcount() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->cellcount));
-  }
-  int order() const {
-    return ptr_->order;
-  }
-  void set_order(int value) {
-    ptr_->order = value;
-  }
-  mjStringVec &nodebody() const {
-    return *(ptr_->nodebody);
-  }
-  mjStringVec &vertbody() const {
-    return *(ptr_->vertbody);
-  }
-  mjDoubleVec &node() const {
-    return *(ptr_->node);
-  }
-  mjDoubleVec &vert() const {
-    return *(ptr_->vert);
-  }
-  mjIntVec &elem() const {
-    return *(ptr_->elem);
-  }
-  mjFloatVec &texcoord() const {
-    return *(ptr_->texcoord);
-  }
-  mjIntVec &elemtexcoord() const {
-    return *(ptr_->elemtexcoord);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsFlex* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsHField {
-  explicit MjsHField(mjsHField *ptr);
-  mjsHField* get() const;
-  void set(mjsHField* ptr);
-  mjString content_type() const {
-    return (ptr_ && ptr_->content_type) ? *(ptr_->content_type) : "";
-  }
-  void set_content_type(const mjString& value) {
-    if (ptr_ && ptr_->content_type) {
-      *(ptr_->content_type) = value;
-    }
-  }
-  mjString file() const {
-    return (ptr_ && ptr_->file) ? *(ptr_->file) : "";
-  }
-  void set_file(const mjString& value) {
-    if (ptr_ && ptr_->file) {
-      *(ptr_->file) = value;
-    }
-  }
-  emscripten::val size() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->size));
-  }
-  int nrow() const {
-    return ptr_->nrow;
-  }
-  void set_nrow(int value) {
-    ptr_->nrow = value;
-  }
-  int ncol() const {
-    return ptr_->ncol;
-  }
-  void set_ncol(int value) {
-    ptr_->ncol = value;
-  }
-  mjFloatVec &userdata() const {
-    return *(ptr_->userdata);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsHField* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsJoint {
-  explicit MjsJoint(mjsJoint *ptr);
-  mjsJoint* get() const;
-  void set(mjsJoint* ptr);
-  mjtJoint type() const {
-    return ptr_->type;
-  }
-  void set_type(mjtJoint value) {
-    ptr_->type = value;
-  }
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val axis() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->axis));
-  }
-  double ref() const {
-    return ptr_->ref;
-  }
-  void set_ref(double value) {
-    ptr_->ref = value;
-  }
-  mjtAlignFree align() const {
-    return ptr_->align;
-  }
-  void set_align(mjtAlignFree value) {
-    ptr_->align = value;
-  }
-  emscripten::val stiffness() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->stiffness));
-  }
-  double springref() const {
-    return ptr_->springref;
-  }
-  void set_springref(double value) {
-    ptr_->springref = value;
-  }
-  emscripten::val springdamper() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->springdamper));
-  }
-  mjtLimited limited() const {
-    return ptr_->limited;
-  }
-  void set_limited(mjtLimited value) {
-    ptr_->limited = value;
-  }
-  emscripten::val range() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->range));
-  }
-  double margin() const {
-    return ptr_->margin;
-  }
-  void set_margin(double value) {
-    ptr_->margin = value;
-  }
-  emscripten::val solref_limit() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref_limit));
-  }
-  emscripten::val solimp_limit() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp_limit));
-  }
-  mjtLimited actfrclimited() const {
-    return ptr_->actfrclimited;
-  }
-  void set_actfrclimited(mjtLimited value) {
-    ptr_->actfrclimited = value;
-  }
-  emscripten::val actfrcrange() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->actfrcrange));
-  }
-  double armature() const {
-    return ptr_->armature;
-  }
-  void set_armature(double value) {
-    ptr_->armature = value;
-  }
-  emscripten::val damping() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->damping));
-  }
-  double frictionloss() const {
-    return ptr_->frictionloss;
-  }
-  void set_frictionloss(double value) {
-    ptr_->frictionloss = value;
-  }
-  emscripten::val solref_friction() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref_friction));
-  }
-  emscripten::val solimp_friction() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp_friction));
-  }
-  int group() const {
-    return ptr_->group;
-  }
-  void set_group(int value) {
-    ptr_->group = value;
-  }
-  mjtBool actgravcomp() const {
-    return ptr_->actgravcomp;
-  }
-  void set_actgravcomp(mjtBool value) {
-    ptr_->actgravcomp = value;
-  }
-  mjDoubleVec &userdata() const {
-    return *(ptr_->userdata);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsJoint* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsKey {
-  explicit MjsKey(mjsKey *ptr);
-  mjsKey* get() const;
-  void set(mjsKey* ptr);
-  double time() const {
-    return ptr_->time;
-  }
-  void set_time(double value) {
-    ptr_->time = value;
-  }
-  mjDoubleVec &qpos() const {
-    return *(ptr_->qpos);
-  }
-  mjDoubleVec &qvel() const {
-    return *(ptr_->qvel);
-  }
-  mjDoubleVec &act() const {
-    return *(ptr_->act);
-  }
-  mjDoubleVec &mpos() const {
-    return *(ptr_->mpos);
-  }
-  mjDoubleVec &mquat() const {
-    return *(ptr_->mquat);
-  }
-  mjDoubleVec &ctrl() const {
-    return *(ptr_->ctrl);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsKey* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsLight {
-  explicit MjsLight(mjsLight *ptr);
-  mjsLight* get() const;
-  void set(mjsLight* ptr);
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val dir() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->dir));
-  }
-  mjtCamLight mode() const {
-    return ptr_->mode;
-  }
-  void set_mode(mjtCamLight value) {
-    ptr_->mode = value;
-  }
-  mjString targetbody() const {
-    return (ptr_ && ptr_->targetbody) ? *(ptr_->targetbody) : "";
-  }
-  void set_targetbody(const mjString& value) {
-    if (ptr_ && ptr_->targetbody) {
-      *(ptr_->targetbody) = value;
-    }
-  }
-  mjtBool active() const {
-    return ptr_->active;
-  }
-  void set_active(mjtBool value) {
-    ptr_->active = value;
-  }
-  mjtLightType type() const {
-    return ptr_->type;
-  }
-  void set_type(mjtLightType value) {
-    ptr_->type = value;
-  }
-  mjString texture() const {
-    return (ptr_ && ptr_->texture) ? *(ptr_->texture) : "";
-  }
-  void set_texture(const mjString& value) {
-    if (ptr_ && ptr_->texture) {
-      *(ptr_->texture) = value;
-    }
-  }
-  mjtBool castshadow() const {
-    return ptr_->castshadow;
-  }
-  void set_castshadow(mjtBool value) {
-    ptr_->castshadow = value;
-  }
-  float bulbradius() const {
-    return ptr_->bulbradius;
-  }
-  void set_bulbradius(float value) {
-    ptr_->bulbradius = value;
-  }
-  float intensity() const {
-    return ptr_->intensity;
-  }
-  void set_intensity(float value) {
-    ptr_->intensity = value;
-  }
-  float range() const {
-    return ptr_->range;
-  }
-  void set_range(float value) {
-    ptr_->range = value;
-  }
-  emscripten::val attenuation() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->attenuation));
-  }
-  float cutoff() const {
-    return ptr_->cutoff;
-  }
-  void set_cutoff(float value) {
-    ptr_->cutoff = value;
-  }
-  float softness() const {
-    return ptr_->softness;
-  }
-  void set_softness(float value) {
-    ptr_->softness = value;
-  }
-  float exponent() const {
-    return ptr_->exponent;
-  }
-  void set_exponent(float value) {
-    ptr_->exponent = value;
-  }
-  emscripten::val ambient() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->ambient));
-  }
-  emscripten::val diffuse() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->diffuse));
-  }
-  emscripten::val specular() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->specular));
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsLight* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsMaterial {
-  explicit MjsMaterial(mjsMaterial *ptr);
-  mjsMaterial* get() const;
-  void set(mjsMaterial* ptr);
-  mjStringVec &textures() const {
-    return *(ptr_->textures);
-  }
-  mjtBool texuniform() const {
-    return ptr_->texuniform;
-  }
-  void set_texuniform(mjtBool value) {
-    ptr_->texuniform = value;
-  }
-  emscripten::val texrepeat() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->texrepeat));
-  }
-  float emission() const {
-    return ptr_->emission;
-  }
-  void set_emission(float value) {
-    ptr_->emission = value;
-  }
-  float specular() const {
-    return ptr_->specular;
-  }
-  void set_specular(float value) {
-    ptr_->specular = value;
-  }
-  float shininess() const {
-    return ptr_->shininess;
-  }
-  void set_shininess(float value) {
-    ptr_->shininess = value;
-  }
-  float reflectance() const {
-    return ptr_->reflectance;
-  }
-  void set_reflectance(float value) {
-    ptr_->reflectance = value;
-  }
-  float metallic() const {
-    return ptr_->metallic;
-  }
-  void set_metallic(float value) {
-    ptr_->metallic = value;
-  }
-  float roughness() const {
-    return ptr_->roughness;
-  }
-  void set_roughness(float value) {
-    ptr_->roughness = value;
-  }
-  emscripten::val rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsMaterial* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsNumeric {
-  explicit MjsNumeric(mjsNumeric *ptr);
-  mjsNumeric* get() const;
-  void set(mjsNumeric* ptr);
-  mjDoubleVec &data() const {
-    return *(ptr_->data);
-  }
-  int size() const {
-    return ptr_->size;
-  }
-  void set_size(int value) {
-    ptr_->size = value;
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsNumeric* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsPair {
-  explicit MjsPair(mjsPair *ptr);
-  mjsPair* get() const;
-  void set(mjsPair* ptr);
-  mjString geomname1() const {
-    return (ptr_ && ptr_->geomname1) ? *(ptr_->geomname1) : "";
-  }
-  void set_geomname1(const mjString& value) {
-    if (ptr_ && ptr_->geomname1) {
-      *(ptr_->geomname1) = value;
-    }
-  }
-  mjString geomname2() const {
-    return (ptr_ && ptr_->geomname2) ? *(ptr_->geomname2) : "";
-  }
-  void set_geomname2(const mjString& value) {
-    if (ptr_ && ptr_->geomname2) {
-      *(ptr_->geomname2) = value;
-    }
-  }
-  int condim() const {
-    return ptr_->condim;
-  }
-  void set_condim(int value) {
-    ptr_->condim = value;
-  }
-  emscripten::val solref() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
-  }
-  emscripten::val solreffriction() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solreffriction));
-  }
-  emscripten::val solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
-  }
-  double margin() const {
-    return ptr_->margin;
-  }
-  void set_margin(double value) {
-    ptr_->margin = value;
-  }
-  double gap() const {
-    return ptr_->gap;
-  }
-  void set_gap(double value) {
-    ptr_->gap = value;
-  }
-  double adhesion() const {
-    return ptr_->adhesion;
-  }
-  void set_adhesion(double value) {
-    ptr_->adhesion = value;
-  }
-  emscripten::val friction() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->friction));
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsPair* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsPlugin {
-  explicit MjsPlugin(mjsPlugin *ptr);
-  mjsPlugin* get() const;
-  void set(mjsPlugin* ptr);
-  mjString name() const {
-    return (ptr_ && ptr_->name) ? *(ptr_->name) : "";
-  }
-  void set_name(const mjString& value) {
-    if (ptr_ && ptr_->name) {
-      *(ptr_->name) = value;
-    }
-  }
-  mjString plugin_name() const {
-    return (ptr_ && ptr_->plugin_name) ? *(ptr_->plugin_name) : "";
-  }
-  void set_plugin_name(const mjString& value) {
-    if (ptr_ && ptr_->plugin_name) {
-      *(ptr_->plugin_name) = value;
-    }
-  }
-  mjtBool active() const {
-    return ptr_->active;
-  }
-  void set_active(mjtBool value) {
-    ptr_->active = value;
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsPlugin* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsSkin {
-  explicit MjsSkin(mjsSkin *ptr);
-  mjsSkin* get() const;
-  void set(mjsSkin* ptr);
-  mjString file() const {
-    return (ptr_ && ptr_->file) ? *(ptr_->file) : "";
-  }
-  void set_file(const mjString& value) {
-    if (ptr_ && ptr_->file) {
-      *(ptr_->file) = value;
-    }
-  }
-  mjString material() const {
-    return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
-  }
-  void set_material(const mjString& value) {
-    if (ptr_ && ptr_->material) {
-      *(ptr_->material) = value;
-    }
-  }
-  emscripten::val rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
-  }
-  float inflate() const {
-    return ptr_->inflate;
-  }
-  void set_inflate(float value) {
-    ptr_->inflate = value;
-  }
-  int group() const {
-    return ptr_->group;
-  }
-  void set_group(int value) {
-    ptr_->group = value;
-  }
-  mjFloatVec &vert() const {
-    return *(ptr_->vert);
-  }
-  mjFloatVec &texcoord() const {
-    return *(ptr_->texcoord);
-  }
-  mjIntVec &face() const {
-    return *(ptr_->face);
-  }
-  mjStringVec &bodyname() const {
-    return *(ptr_->bodyname);
-  }
-  mjFloatVec &bindpos() const {
-    return *(ptr_->bindpos);
-  }
-  mjFloatVec &bindquat() const {
-    return *(ptr_->bindquat);
-  }
-  mjIntVecVec &vertid() const {
-    return *(ptr_->vertid);
-  }
-  mjFloatVecVec &vertweight() const {
-    return *(ptr_->vertweight);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsSkin* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsTendon {
-  explicit MjsTendon(mjsTendon *ptr);
-  mjsTendon* get() const;
-  void set(mjsTendon* ptr);
-  emscripten::val stiffness() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->stiffness));
-  }
-  emscripten::val springlength() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->springlength));
-  }
-  emscripten::val damping() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->damping));
-  }
-  double frictionloss() const {
-    return ptr_->frictionloss;
-  }
-  void set_frictionloss(double value) {
-    ptr_->frictionloss = value;
-  }
-  emscripten::val solref_friction() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref_friction));
-  }
-  emscripten::val solimp_friction() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp_friction));
-  }
-  double armature() const {
-    return ptr_->armature;
-  }
-  void set_armature(double value) {
-    ptr_->armature = value;
-  }
-  mjtLimited limited() const {
-    return ptr_->limited;
-  }
-  void set_limited(mjtLimited value) {
-    ptr_->limited = value;
-  }
-  mjtLimited actfrclimited() const {
-    return ptr_->actfrclimited;
-  }
-  void set_actfrclimited(mjtLimited value) {
-    ptr_->actfrclimited = value;
-  }
-  emscripten::val range() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->range));
-  }
-  emscripten::val actfrcrange() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->actfrcrange));
-  }
-  double margin() const {
-    return ptr_->margin;
-  }
-  void set_margin(double value) {
-    ptr_->margin = value;
-  }
-  emscripten::val solref_limit() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref_limit));
-  }
-  emscripten::val solimp_limit() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp_limit));
-  }
-  mjString material() const {
-    return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
-  }
-  void set_material(const mjString& value) {
-    if (ptr_ && ptr_->material) {
-      *(ptr_->material) = value;
-    }
-  }
-  double width() const {
-    return ptr_->width;
-  }
-  void set_width(double value) {
-    ptr_->width = value;
-  }
-  emscripten::val rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
-  }
-  int group() const {
-    return ptr_->group;
-  }
-  void set_group(int value) {
-    ptr_->group = value;
-  }
-  mjDoubleVec &userdata() const {
-    return *(ptr_->userdata);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsTendon* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsText {
-  explicit MjsText(mjsText *ptr);
-  mjsText* get() const;
-  void set(mjsText* ptr);
-  mjString data() const {
-    return (ptr_ && ptr_->data) ? *(ptr_->data) : "";
-  }
-  void set_data(const mjString& value) {
-    if (ptr_ && ptr_->data) {
-      *(ptr_->data) = value;
-    }
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsText* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsTexture {
-  explicit MjsTexture(mjsTexture *ptr);
-  mjsTexture* get() const;
-  void set(mjsTexture* ptr);
-  mjtTexture type() const {
-    return ptr_->type;
-  }
-  void set_type(mjtTexture value) {
-    ptr_->type = value;
-  }
-  mjtColorSpace colorspace() const {
-    return ptr_->colorspace;
-  }
-  void set_colorspace(mjtColorSpace value) {
-    ptr_->colorspace = value;
-  }
-  mjtBuiltin builtin() const {
-    return ptr_->builtin;
-  }
-  void set_builtin(mjtBuiltin value) {
-    ptr_->builtin = value;
-  }
-  mjtMark mark() const {
-    return ptr_->mark;
-  }
-  void set_mark(mjtMark value) {
-    ptr_->mark = value;
-  }
-  emscripten::val rgb1() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->rgb1));
-  }
-  emscripten::val rgb2() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->rgb2));
-  }
-  emscripten::val markrgb() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->markrgb));
-  }
-  double random() const {
-    return ptr_->random;
-  }
-  void set_random(double value) {
-    ptr_->random = value;
-  }
-  int height() const {
-    return ptr_->height;
-  }
-  void set_height(int value) {
-    ptr_->height = value;
-  }
-  int width() const {
-    return ptr_->width;
-  }
-  void set_width(int value) {
-    ptr_->width = value;
-  }
-  int nchannel() const {
-    return ptr_->nchannel;
-  }
-  void set_nchannel(int value) {
-    ptr_->nchannel = value;
-  }
-  mjString content_type() const {
-    return (ptr_ && ptr_->content_type) ? *(ptr_->content_type) : "";
-  }
-  void set_content_type(const mjString& value) {
-    if (ptr_ && ptr_->content_type) {
-      *(ptr_->content_type) = value;
-    }
-  }
-  mjString file() const {
-    return (ptr_ && ptr_->file) ? *(ptr_->file) : "";
-  }
-  void set_file(const mjString& value) {
-    if (ptr_ && ptr_->file) {
-      *(ptr_->file) = value;
-    }
-  }
-  emscripten::val gridsize() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->gridsize));
-  }
-  emscripten::val gridlayout() const {
-    return emscripten::val(emscripten::typed_memory_view(12, ptr_->gridlayout));
-  }
-  mjStringVec &cubefiles() const {
-    return *(ptr_->cubefiles);
-  }
-  std::vector<uint8_t> &data() const {
-    return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->data));
-  }
-  mjtBool hflip() const {
-    return ptr_->hflip;
-  }
-  void set_hflip(mjtBool value) {
-    ptr_->hflip = value;
-  }
-  mjtBool vflip() const {
-    return ptr_->vflip;
-  }
-  void set_vflip(mjtBool value) {
-    ptr_->vflip = value;
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsTexture* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsTuple {
-  explicit MjsTuple(mjsTuple *ptr);
-  mjsTuple* get() const;
-  void set(mjsTuple* ptr);
-  mjIntVec &objtype() const {
-    return *(ptr_->objtype);
-  }
-  mjStringVec &objname() const {
-    return *(ptr_->objname);
-  }
-  mjDoubleVec &objprm() const {
-    return *(ptr_->objprm);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsTuple* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsWrap {
-  explicit MjsWrap(mjsWrap *ptr);
-  mjsWrap* get() const;
-  void set(mjsWrap* ptr);
-  mjtWrap type() const {
-    return ptr_->type;
-  }
-  void set_type(mjtWrap value) {
-    ptr_->type = value;
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsWrap* ptr_;
-
- public:
-  MjsElement element;
-};
-
-struct MjsCamera {
-  explicit MjsCamera(mjsCamera *ptr);
-  mjsCamera* get() const;
-  void set(mjsCamera* ptr);
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val quat() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
-  }
-  mjtCamLight mode() const {
-    return ptr_->mode;
-  }
-  void set_mode(mjtCamLight value) {
-    ptr_->mode = value;
-  }
-  mjString targetbody() const {
-    return (ptr_ && ptr_->targetbody) ? *(ptr_->targetbody) : "";
-  }
-  void set_targetbody(const mjString& value) {
-    if (ptr_ && ptr_->targetbody) {
-      *(ptr_->targetbody) = value;
-    }
-  }
-  mjtProjection proj() const {
-    return ptr_->proj;
-  }
-  void set_proj(mjtProjection value) {
-    ptr_->proj = value;
-  }
-  emscripten::val resolution() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->resolution));
-  }
-  int output() const {
-    return ptr_->output;
-  }
-  void set_output(int value) {
-    ptr_->output = value;
-  }
-  double fovy() const {
-    return ptr_->fovy;
-  }
-  void set_fovy(double value) {
-    ptr_->fovy = value;
-  }
-  double ipd() const {
-    return ptr_->ipd;
-  }
-  void set_ipd(double value) {
-    ptr_->ipd = value;
-  }
-  emscripten::val intrinsic() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->intrinsic));
-  }
-  emscripten::val sensor_size() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->sensor_size));
-  }
-  emscripten::val focal_length() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->focal_length));
-  }
-  emscripten::val focal_pixel() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->focal_pixel));
-  }
-  emscripten::val principal_length() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->principal_length));
-  }
-  emscripten::val principal_pixel() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->principal_pixel));
-  }
-  mjDoubleVec &userdata() const {
-    return *(ptr_->userdata);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsCamera* ptr_;
-
- public:
-  MjsElement element;
-  MjsOrientation alt;
-};
-
-struct MjsFrame {
-  explicit MjsFrame(mjsFrame *ptr);
-  mjsFrame* get() const;
-  void set(mjsFrame* ptr);
-  mjString childclass() const {
-    return (ptr_ && ptr_->childclass) ? *(ptr_->childclass) : "";
-  }
-  void set_childclass(const mjString& value) {
-    if (ptr_ && ptr_->childclass) {
-      *(ptr_->childclass) = value;
-    }
-  }
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val quat() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsFrame* ptr_;
-
- public:
-  MjsElement element;
-  MjsOrientation alt;
-};
-
-struct MjsSite {
-  explicit MjsSite(mjsSite *ptr);
-  mjsSite* get() const;
-  void set(mjsSite* ptr);
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val quat() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
-  }
-  emscripten::val fromto() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->fromto));
-  }
-  emscripten::val size() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->size));
-  }
-  mjtGeom type() const {
-    return ptr_->type;
-  }
-  void set_type(mjtGeom value) {
-    ptr_->type = value;
-  }
-  mjString material() const {
-    return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
-  }
-  void set_material(const mjString& value) {
-    if (ptr_ && ptr_->material) {
-      *(ptr_->material) = value;
-    }
-  }
-  int group() const {
-    return ptr_->group;
-  }
-  void set_group(int value) {
-    ptr_->group = value;
-  }
-  emscripten::val rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
-  }
-  mjDoubleVec &userdata() const {
-    return *(ptr_->userdata);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsSite* ptr_;
-
- public:
-  MjsElement element;
-  MjsOrientation alt;
-};
-
-struct MjModel {
-  ~MjModel();
-  explicit MjModel(mjModel *ptr);
-  MjModel(const MjModel &);
-  std::unique_ptr<MjModel> copy();
-  mjModel* get() const;
-  void set(mjModel* ptr);
-  int nq() const {
-    return static_cast<int>(ptr_->nq);
-  }
-  void set_nq(int value) {
-    ptr_->nq = static_cast<mjtSize>(value);
-  }
-  int nv() const {
-    return static_cast<int>(ptr_->nv);
-  }
-  void set_nv(int value) {
-    ptr_->nv = static_cast<mjtSize>(value);
-  }
-  int nu() const {
-    return static_cast<int>(ptr_->nu);
-  }
-  void set_nu(int value) {
-    ptr_->nu = static_cast<mjtSize>(value);
-  }
-  int nactuator() const {
-    return static_cast<int>(ptr_->nactuator);
-  }
-  void set_nactuator(int value) {
-    ptr_->nactuator = static_cast<mjtSize>(value);
-  }
-  int nout() const {
-    return static_cast<int>(ptr_->nout);
-  }
-  void set_nout(int value) {
-    ptr_->nout = static_cast<mjtSize>(value);
-  }
-  int na() const {
-    return static_cast<int>(ptr_->na);
-  }
-  void set_na(int value) {
-    ptr_->na = static_cast<mjtSize>(value);
-  }
-  int nbody() const {
-    return static_cast<int>(ptr_->nbody);
-  }
-  void set_nbody(int value) {
-    ptr_->nbody = static_cast<mjtSize>(value);
-  }
-  int nbvh() const {
-    return static_cast<int>(ptr_->nbvh);
-  }
-  void set_nbvh(int value) {
-    ptr_->nbvh = static_cast<mjtSize>(value);
-  }
-  int nbvhstatic() const {
-    return static_cast<int>(ptr_->nbvhstatic);
-  }
-  void set_nbvhstatic(int value) {
-    ptr_->nbvhstatic = static_cast<mjtSize>(value);
-  }
-  int nbvhdynamic() const {
-    return static_cast<int>(ptr_->nbvhdynamic);
-  }
-  void set_nbvhdynamic(int value) {
-    ptr_->nbvhdynamic = static_cast<mjtSize>(value);
-  }
-  int noct() const {
-    return static_cast<int>(ptr_->noct);
-  }
-  void set_noct(int value) {
-    ptr_->noct = static_cast<mjtSize>(value);
-  }
-  int njnt() const {
-    return static_cast<int>(ptr_->njnt);
-  }
-  void set_njnt(int value) {
-    ptr_->njnt = static_cast<mjtSize>(value);
-  }
-  int ntree() const {
-    return static_cast<int>(ptr_->ntree);
-  }
-  void set_ntree(int value) {
-    ptr_->ntree = static_cast<mjtSize>(value);
-  }
-  int nM() const {
-    return static_cast<int>(ptr_->nM);
-  }
-  void set_nM(int value) {
-    ptr_->nM = static_cast<mjtSize>(value);
-  }
-  int nB() const {
-    return static_cast<int>(ptr_->nB);
-  }
-  void set_nB(int value) {
-    ptr_->nB = static_cast<mjtSize>(value);
-  }
-  int nC() const {
-    return static_cast<int>(ptr_->nC);
-  }
-  void set_nC(int value) {
-    ptr_->nC = static_cast<mjtSize>(value);
-  }
-  int nD() const {
-    return static_cast<int>(ptr_->nD);
-  }
-  void set_nD(int value) {
-    ptr_->nD = static_cast<mjtSize>(value);
-  }
-  int ngeom() const {
-    return static_cast<int>(ptr_->ngeom);
-  }
-  void set_ngeom(int value) {
-    ptr_->ngeom = static_cast<mjtSize>(value);
-  }
-  int nsite() const {
-    return static_cast<int>(ptr_->nsite);
-  }
-  void set_nsite(int value) {
-    ptr_->nsite = static_cast<mjtSize>(value);
-  }
-  int ncam() const {
-    return static_cast<int>(ptr_->ncam);
-  }
-  void set_ncam(int value) {
-    ptr_->ncam = static_cast<mjtSize>(value);
-  }
-  int nlight() const {
-    return static_cast<int>(ptr_->nlight);
-  }
-  void set_nlight(int value) {
-    ptr_->nlight = static_cast<mjtSize>(value);
-  }
-  int nflex() const {
-    return static_cast<int>(ptr_->nflex);
-  }
-  void set_nflex(int value) {
-    ptr_->nflex = static_cast<mjtSize>(value);
-  }
-  int nflexnode() const {
-    return static_cast<int>(ptr_->nflexnode);
-  }
-  void set_nflexnode(int value) {
-    ptr_->nflexnode = static_cast<mjtSize>(value);
-  }
-  int nflexvert() const {
-    return static_cast<int>(ptr_->nflexvert);
-  }
-  void set_nflexvert(int value) {
-    ptr_->nflexvert = static_cast<mjtSize>(value);
-  }
-  int nflexedge() const {
-    return static_cast<int>(ptr_->nflexedge);
-  }
-  void set_nflexedge(int value) {
-    ptr_->nflexedge = static_cast<mjtSize>(value);
-  }
-  int nflexelem() const {
-    return static_cast<int>(ptr_->nflexelem);
-  }
-  void set_nflexelem(int value) {
-    ptr_->nflexelem = static_cast<mjtSize>(value);
-  }
-  int nflexelemdata() const {
-    return static_cast<int>(ptr_->nflexelemdata);
-  }
-  void set_nflexelemdata(int value) {
-    ptr_->nflexelemdata = static_cast<mjtSize>(value);
-  }
-  int nflexstiffness() const {
-    return static_cast<int>(ptr_->nflexstiffness);
-  }
-  void set_nflexstiffness(int value) {
-    ptr_->nflexstiffness = static_cast<mjtSize>(value);
-  }
-  int nflexbending() const {
-    return static_cast<int>(ptr_->nflexbending);
-  }
-  void set_nflexbending(int value) {
-    ptr_->nflexbending = static_cast<mjtSize>(value);
-  }
-  int nefm0dof() const {
-    return static_cast<int>(ptr_->nefm0dof);
-  }
-  void set_nefm0dof(int value) {
-    ptr_->nefm0dof = static_cast<mjtSize>(value);
-  }
-  int nefm0L() const {
-    return static_cast<int>(ptr_->nefm0L);
-  }
-  void set_nefm0L(int value) {
-    ptr_->nefm0L = static_cast<mjtSize>(value);
-  }
-  int nflexelemedge() const {
-    return static_cast<int>(ptr_->nflexelemedge);
-  }
-  void set_nflexelemedge(int value) {
-    ptr_->nflexelemedge = static_cast<mjtSize>(value);
-  }
-  int nflexshelldata() const {
-    return static_cast<int>(ptr_->nflexshelldata);
-  }
-  void set_nflexshelldata(int value) {
-    ptr_->nflexshelldata = static_cast<mjtSize>(value);
-  }
-  int nflexevpair() const {
-    return static_cast<int>(ptr_->nflexevpair);
-  }
-  void set_nflexevpair(int value) {
-    ptr_->nflexevpair = static_cast<mjtSize>(value);
-  }
-  int nflextexcoord() const {
-    return static_cast<int>(ptr_->nflextexcoord);
-  }
-  void set_nflextexcoord(int value) {
-    ptr_->nflextexcoord = static_cast<mjtSize>(value);
-  }
-  int nJfe() const {
-    return static_cast<int>(ptr_->nJfe);
-  }
-  void set_nJfe(int value) {
-    ptr_->nJfe = static_cast<mjtSize>(value);
-  }
-  int nJfv() const {
-    return static_cast<int>(ptr_->nJfv);
-  }
-  void set_nJfv(int value) {
-    ptr_->nJfv = static_cast<mjtSize>(value);
-  }
-  int nmesh() const {
-    return static_cast<int>(ptr_->nmesh);
-  }
-  void set_nmesh(int value) {
-    ptr_->nmesh = static_cast<mjtSize>(value);
-  }
-  int nmeshvert() const {
-    return static_cast<int>(ptr_->nmeshvert);
-  }
-  void set_nmeshvert(int value) {
-    ptr_->nmeshvert = static_cast<mjtSize>(value);
-  }
-  int nmeshnormal() const {
-    return static_cast<int>(ptr_->nmeshnormal);
-  }
-  void set_nmeshnormal(int value) {
-    ptr_->nmeshnormal = static_cast<mjtSize>(value);
-  }
-  int nmeshtexcoord() const {
-    return static_cast<int>(ptr_->nmeshtexcoord);
-  }
-  void set_nmeshtexcoord(int value) {
-    ptr_->nmeshtexcoord = static_cast<mjtSize>(value);
-  }
-  int nmeshface() const {
-    return static_cast<int>(ptr_->nmeshface);
-  }
-  void set_nmeshface(int value) {
-    ptr_->nmeshface = static_cast<mjtSize>(value);
-  }
-  int nmeshgraph() const {
-    return static_cast<int>(ptr_->nmeshgraph);
-  }
-  void set_nmeshgraph(int value) {
-    ptr_->nmeshgraph = static_cast<mjtSize>(value);
-  }
-  int nmeshpoly() const {
-    return static_cast<int>(ptr_->nmeshpoly);
-  }
-  void set_nmeshpoly(int value) {
-    ptr_->nmeshpoly = static_cast<mjtSize>(value);
-  }
-  int nmeshpolyvert() const {
-    return static_cast<int>(ptr_->nmeshpolyvert);
-  }
-  void set_nmeshpolyvert(int value) {
-    ptr_->nmeshpolyvert = static_cast<mjtSize>(value);
-  }
-  int nmeshpolymap() const {
-    return static_cast<int>(ptr_->nmeshpolymap);
-  }
-  void set_nmeshpolymap(int value) {
-    ptr_->nmeshpolymap = static_cast<mjtSize>(value);
-  }
-  int nskin() const {
-    return static_cast<int>(ptr_->nskin);
-  }
-  void set_nskin(int value) {
-    ptr_->nskin = static_cast<mjtSize>(value);
-  }
-  int nskinvert() const {
-    return static_cast<int>(ptr_->nskinvert);
-  }
-  void set_nskinvert(int value) {
-    ptr_->nskinvert = static_cast<mjtSize>(value);
-  }
-  int nskintexvert() const {
-    return static_cast<int>(ptr_->nskintexvert);
-  }
-  void set_nskintexvert(int value) {
-    ptr_->nskintexvert = static_cast<mjtSize>(value);
-  }
-  int nskinface() const {
-    return static_cast<int>(ptr_->nskinface);
-  }
-  void set_nskinface(int value) {
-    ptr_->nskinface = static_cast<mjtSize>(value);
-  }
-  int nskinbone() const {
-    return static_cast<int>(ptr_->nskinbone);
-  }
-  void set_nskinbone(int value) {
-    ptr_->nskinbone = static_cast<mjtSize>(value);
-  }
-  int nskinbonevert() const {
-    return static_cast<int>(ptr_->nskinbonevert);
-  }
-  void set_nskinbonevert(int value) {
-    ptr_->nskinbonevert = static_cast<mjtSize>(value);
-  }
-  int nhfield() const {
-    return static_cast<int>(ptr_->nhfield);
-  }
-  void set_nhfield(int value) {
-    ptr_->nhfield = static_cast<mjtSize>(value);
-  }
-  int nhfielddata() const {
-    return static_cast<int>(ptr_->nhfielddata);
-  }
-  void set_nhfielddata(int value) {
-    ptr_->nhfielddata = static_cast<mjtSize>(value);
-  }
-  int ntex() const {
-    return static_cast<int>(ptr_->ntex);
-  }
-  void set_ntex(int value) {
-    ptr_->ntex = static_cast<mjtSize>(value);
-  }
-  int ntexdata() const {
-    return static_cast<int>(ptr_->ntexdata);
-  }
-  void set_ntexdata(int value) {
-    ptr_->ntexdata = static_cast<mjtSize>(value);
-  }
-  int nmat() const {
-    return static_cast<int>(ptr_->nmat);
-  }
-  void set_nmat(int value) {
-    ptr_->nmat = static_cast<mjtSize>(value);
-  }
-  int npair() const {
-    return static_cast<int>(ptr_->npair);
-  }
-  void set_npair(int value) {
-    ptr_->npair = static_cast<mjtSize>(value);
-  }
-  int nexclude() const {
-    return static_cast<int>(ptr_->nexclude);
-  }
-  void set_nexclude(int value) {
-    ptr_->nexclude = static_cast<mjtSize>(value);
-  }
-  int neq() const {
-    return static_cast<int>(ptr_->neq);
-  }
-  void set_neq(int value) {
-    ptr_->neq = static_cast<mjtSize>(value);
-  }
-  int ntendon() const {
-    return static_cast<int>(ptr_->ntendon);
-  }
-  void set_ntendon(int value) {
-    ptr_->ntendon = static_cast<mjtSize>(value);
-  }
-  int nJten() const {
-    return static_cast<int>(ptr_->nJten);
-  }
-  void set_nJten(int value) {
-    ptr_->nJten = static_cast<mjtSize>(value);
-  }
-  int nwrap() const {
-    return static_cast<int>(ptr_->nwrap);
-  }
-  void set_nwrap(int value) {
-    ptr_->nwrap = static_cast<mjtSize>(value);
-  }
-  int nsensor() const {
-    return static_cast<int>(ptr_->nsensor);
-  }
-  void set_nsensor(int value) {
-    ptr_->nsensor = static_cast<mjtSize>(value);
-  }
-  int nnumeric() const {
-    return static_cast<int>(ptr_->nnumeric);
-  }
-  void set_nnumeric(int value) {
-    ptr_->nnumeric = static_cast<mjtSize>(value);
-  }
-  int nnumericdata() const {
-    return static_cast<int>(ptr_->nnumericdata);
-  }
-  void set_nnumericdata(int value) {
-    ptr_->nnumericdata = static_cast<mjtSize>(value);
-  }
-  int ntext() const {
-    return static_cast<int>(ptr_->ntext);
-  }
-  void set_ntext(int value) {
-    ptr_->ntext = static_cast<mjtSize>(value);
-  }
-  int ntextdata() const {
-    return static_cast<int>(ptr_->ntextdata);
-  }
-  void set_ntextdata(int value) {
-    ptr_->ntextdata = static_cast<mjtSize>(value);
-  }
-  int ntuple() const {
-    return static_cast<int>(ptr_->ntuple);
-  }
-  void set_ntuple(int value) {
-    ptr_->ntuple = static_cast<mjtSize>(value);
-  }
-  int ntupledata() const {
-    return static_cast<int>(ptr_->ntupledata);
-  }
-  void set_ntupledata(int value) {
-    ptr_->ntupledata = static_cast<mjtSize>(value);
-  }
-  int nkey() const {
-    return static_cast<int>(ptr_->nkey);
-  }
-  void set_nkey(int value) {
-    ptr_->nkey = static_cast<mjtSize>(value);
-  }
-  int nmocap() const {
-    return static_cast<int>(ptr_->nmocap);
-  }
-  void set_nmocap(int value) {
-    ptr_->nmocap = static_cast<mjtSize>(value);
-  }
-  int nplugin() const {
-    return static_cast<int>(ptr_->nplugin);
-  }
-  void set_nplugin(int value) {
-    ptr_->nplugin = static_cast<mjtSize>(value);
-  }
-  int npluginattr() const {
-    return static_cast<int>(ptr_->npluginattr);
-  }
-  void set_npluginattr(int value) {
-    ptr_->npluginattr = static_cast<mjtSize>(value);
-  }
-  int nuser_body() const {
-    return static_cast<int>(ptr_->nuser_body);
-  }
-  void set_nuser_body(int value) {
-    ptr_->nuser_body = static_cast<mjtSize>(value);
-  }
-  int nuser_jnt() const {
-    return static_cast<int>(ptr_->nuser_jnt);
-  }
-  void set_nuser_jnt(int value) {
-    ptr_->nuser_jnt = static_cast<mjtSize>(value);
-  }
-  int nuser_geom() const {
-    return static_cast<int>(ptr_->nuser_geom);
-  }
-  void set_nuser_geom(int value) {
-    ptr_->nuser_geom = static_cast<mjtSize>(value);
-  }
-  int nuser_site() const {
-    return static_cast<int>(ptr_->nuser_site);
-  }
-  void set_nuser_site(int value) {
-    ptr_->nuser_site = static_cast<mjtSize>(value);
-  }
-  int nuser_cam() const {
-    return static_cast<int>(ptr_->nuser_cam);
-  }
-  void set_nuser_cam(int value) {
-    ptr_->nuser_cam = static_cast<mjtSize>(value);
-  }
-  int nuser_tendon() const {
-    return static_cast<int>(ptr_->nuser_tendon);
-  }
-  void set_nuser_tendon(int value) {
-    ptr_->nuser_tendon = static_cast<mjtSize>(value);
-  }
-  int nuser_actuator() const {
-    return static_cast<int>(ptr_->nuser_actuator);
-  }
-  void set_nuser_actuator(int value) {
-    ptr_->nuser_actuator = static_cast<mjtSize>(value);
-  }
-  int nuser_sensor() const {
-    return static_cast<int>(ptr_->nuser_sensor);
-  }
-  void set_nuser_sensor(int value) {
-    ptr_->nuser_sensor = static_cast<mjtSize>(value);
-  }
-  int nnames() const {
-    return static_cast<int>(ptr_->nnames);
-  }
-  void set_nnames(int value) {
-    ptr_->nnames = static_cast<mjtSize>(value);
-  }
-  int npaths() const {
-    return static_cast<int>(ptr_->npaths);
-  }
-  void set_npaths(int value) {
-    ptr_->npaths = static_cast<mjtSize>(value);
-  }
-  int nnames_map() const {
-    return static_cast<int>(ptr_->nnames_map);
-  }
-  void set_nnames_map(int value) {
-    ptr_->nnames_map = static_cast<mjtSize>(value);
-  }
-  int nJmom() const {
-    return static_cast<int>(ptr_->nJmom);
-  }
-  void set_nJmom(int value) {
-    ptr_->nJmom = static_cast<mjtSize>(value);
-  }
-  int ngravcomp() const {
-    return static_cast<int>(ptr_->ngravcomp);
-  }
-  void set_ngravcomp(int value) {
-    ptr_->ngravcomp = static_cast<mjtSize>(value);
-  }
-  int nemax() const {
-    return static_cast<int>(ptr_->nemax);
-  }
-  void set_nemax(int value) {
-    ptr_->nemax = static_cast<mjtSize>(value);
-  }
-  int njmax() const {
-    return static_cast<int>(ptr_->njmax);
-  }
-  void set_njmax(int value) {
-    ptr_->njmax = static_cast<mjtSize>(value);
-  }
-  int nconmax() const {
-    return static_cast<int>(ptr_->nconmax);
-  }
-  void set_nconmax(int value) {
-    ptr_->nconmax = static_cast<mjtSize>(value);
-  }
-  int npolygonmax() const {
-    return static_cast<int>(ptr_->npolygonmax);
-  }
-  void set_npolygonmax(int value) {
-    ptr_->npolygonmax = static_cast<mjtSize>(value);
-  }
-  int nmeshdegmax() const {
-    return static_cast<int>(ptr_->nmeshdegmax);
-  }
-  void set_nmeshdegmax(int value) {
-    ptr_->nmeshdegmax = static_cast<mjtSize>(value);
-  }
-  int nuserdata() const {
-    return static_cast<int>(ptr_->nuserdata);
-  }
-  void set_nuserdata(int value) {
-    ptr_->nuserdata = static_cast<mjtSize>(value);
-  }
-  int nsensordata() const {
-    return static_cast<int>(ptr_->nsensordata);
-  }
-  void set_nsensordata(int value) {
-    ptr_->nsensordata = static_cast<mjtSize>(value);
-  }
-  int npluginstate() const {
-    return static_cast<int>(ptr_->npluginstate);
-  }
-  void set_npluginstate(int value) {
-    ptr_->npluginstate = static_cast<mjtSize>(value);
-  }
-  int nhistory() const {
-    return static_cast<int>(ptr_->nhistory);
-  }
-  void set_nhistory(int value) {
-    ptr_->nhistory = static_cast<mjtSize>(value);
-  }
-  int narena() const {
-    return static_cast<int>(ptr_->narena);
-  }
-  void set_narena(int value) {
-    ptr_->narena = static_cast<mjtSize>(value);
-  }
-  int nbuffer() const {
-    return static_cast<int>(ptr_->nbuffer);
-  }
-  void set_nbuffer(int value) {
-    ptr_->nbuffer = static_cast<mjtSize>(value);
-  }
-  mjtBool flg_gravcomp() const {
-    return ptr_->flg_gravcomp;
-  }
-  void set_flg_gravcomp(mjtBool value) {
-    ptr_->flg_gravcomp = value;
-  }
-  mjtBool flg_surfacevel() const {
-    return ptr_->flg_surfacevel;
-  }
-  void set_flg_surfacevel(mjtBool value) {
-    ptr_->flg_surfacevel = value;
-  }
-  mjtBool flg_adhesion() const {
-    return ptr_->flg_adhesion;
-  }
-  void set_flg_adhesion(mjtBool value) {
-    ptr_->flg_adhesion = value;
-  }
-  emscripten::val buffer() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbuffer, static_cast<uint8_t*>(ptr_->buffer)));
-  }
-  emscripten::val qpos0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nq, ptr_->qpos0));
-  }
-  emscripten::val qpos_spring() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nq, ptr_->qpos_spring));
-  }
-  emscripten::val body_parentid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_parentid));
-  }
-  emscripten::val body_rootid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_rootid));
-  }
-  emscripten::val body_weldid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_weldid));
-  }
-  emscripten::val body_mocapid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_mocapid));
-  }
-  emscripten::val body_jntnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_jntnum));
-  }
-  emscripten::val body_jntadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_jntadr));
-  }
-  emscripten::val body_dofnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_dofnum));
-  }
-  emscripten::val body_dofadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_dofadr));
-  }
-  emscripten::val body_treeid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_treeid));
-  }
-  emscripten::val body_geomnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_geomnum));
-  }
-  emscripten::val body_geomadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_geomadr));
-  }
-  emscripten::val body_simple() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_simple));
-  }
-  emscripten::val body_sameframe() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_sameframe));
-  }
-  emscripten::val body_pos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 3, ptr_->body_pos));
-  }
-  emscripten::val body_quat() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 4, ptr_->body_quat));
-  }
-  emscripten::val body_ipos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 3, ptr_->body_ipos));
-  }
-  emscripten::val body_iquat() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 4, ptr_->body_iquat));
-  }
-  emscripten::val body_mass() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_mass));
-  }
-  emscripten::val body_subtreemass() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_subtreemass));
-  }
-  emscripten::val body_inertia() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 3, ptr_->body_inertia));
-  }
-  emscripten::val body_invweight0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * 2, ptr_->body_invweight0));
-  }
-  emscripten::val body_gravcomp() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_gravcomp));
-  }
-  emscripten::val body_margin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_margin));
-  }
-  emscripten::val body_user() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody * ptr_->nuser_body, ptr_->body_user));
-  }
-  emscripten::val body_plugin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_plugin));
-  }
-  emscripten::val body_contype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_contype));
-  }
-  emscripten::val body_conaffinity() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_conaffinity));
-  }
-  emscripten::val body_bvhadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_bvhadr));
-  }
-  emscripten::val body_bvhnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->body_bvhnum));
-  }
-  emscripten::val bvh_depth() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbvh, ptr_->bvh_depth));
-  }
-  emscripten::val bvh_child() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbvh * 2, ptr_->bvh_child));
-  }
-  emscripten::val bvh_nodeid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbvh, ptr_->bvh_nodeid));
-  }
-  emscripten::val bvh_aabb() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbvhstatic * 6, ptr_->bvh_aabb));
-  }
-  emscripten::val oct_depth() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->noct, ptr_->oct_depth));
-  }
-  emscripten::val oct_child() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->noct * 8, ptr_->oct_child));
-  }
-  emscripten::val oct_aabb() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->noct * 6, ptr_->oct_aabb));
-  }
-  emscripten::val oct_coeff() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->noct * 8, ptr_->oct_coeff));
-  }
-  emscripten::val jnt_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_type));
-  }
-  emscripten::val jnt_qposadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_qposadr));
-  }
-  emscripten::val jnt_dofadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_dofadr));
-  }
-  emscripten::val jnt_bodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_bodyid));
-  }
-  emscripten::val jnt_actuatorid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_actuatorid));
-  }
-  emscripten::val jnt_group() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_group));
-  }
-  emscripten::val jnt_limited() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_limited));
-  }
-  emscripten::val jnt_actfrclimited() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_actfrclimited));
-  }
-  emscripten::val jnt_actgravcomp() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_actgravcomp));
-  }
-  emscripten::val jnt_solref() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * mjNREF, ptr_->jnt_solref));
-  }
-  emscripten::val jnt_solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * mjNIMP, ptr_->jnt_solimp));
-  }
-  emscripten::val jnt_pos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * 3, ptr_->jnt_pos));
-  }
-  emscripten::val jnt_axis() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * 3, ptr_->jnt_axis));
-  }
-  emscripten::val jnt_stiffness() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_stiffness));
-  }
-  emscripten::val jnt_stiffnesspoly() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * mjNPOLY, ptr_->jnt_stiffnesspoly));
-  }
-  emscripten::val jnt_range() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * 2, ptr_->jnt_range));
-  }
-  emscripten::val jnt_actfrcrange() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * 2, ptr_->jnt_actfrcrange));
-  }
-  emscripten::val jnt_margin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->jnt_margin));
-  }
-  emscripten::val jnt_user() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt * ptr_->nuser_jnt, ptr_->jnt_user));
-  }
-  emscripten::val dof_bodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_bodyid));
-  }
-  emscripten::val dof_jntid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_jntid));
-  }
-  emscripten::val dof_parentid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_parentid));
-  }
-  emscripten::val dof_treeid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_treeid));
-  }
-  emscripten::val dof_Madr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_Madr));
-  }
-  emscripten::val dof_simplenum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_simplenum));
-  }
-  emscripten::val dof_solref() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv * mjNREF, ptr_->dof_solref));
-  }
-  emscripten::val dof_solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv * mjNIMP, ptr_->dof_solimp));
-  }
-  emscripten::val dof_frictionloss() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_frictionloss));
-  }
-  emscripten::val dof_armature() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_armature));
-  }
-  emscripten::val dof_damping() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_damping));
-  }
-  emscripten::val dof_dampingpoly() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv * mjNPOLY, ptr_->dof_dampingpoly));
-  }
-  emscripten::val dof_invweight0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_invweight0));
-  }
-  emscripten::val dof_M0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_M0));
-  }
-  emscripten::val dof_length() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->dof_length));
-  }
-  emscripten::val tree_bodyadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_bodyadr));
-  }
-  emscripten::val tree_bodynum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_bodynum));
-  }
-  emscripten::val tree_dofadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_dofadr));
-  }
-  emscripten::val tree_dofnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_dofnum));
-  }
-  emscripten::val tree_sleep_policy() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntree, ptr_->tree_sleep_policy));
-  }
-  emscripten::val geom_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_type));
-  }
-  emscripten::val geom_contype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_contype));
-  }
-  emscripten::val geom_conaffinity() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_conaffinity));
-  }
-  emscripten::val geom_condim() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_condim));
-  }
-  emscripten::val geom_bodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_bodyid));
-  }
-  emscripten::val geom_dataid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_dataid));
-  }
-  emscripten::val geom_matid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_matid));
-  }
-  emscripten::val geom_group() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_group));
-  }
-  emscripten::val geom_priority() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_priority));
-  }
-  emscripten::val geom_plugin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_plugin));
-  }
-  emscripten::val geom_sameframe() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_sameframe));
-  }
-  emscripten::val geom_solmix() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_solmix));
-  }
-  emscripten::val geom_solref() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * mjNREF, ptr_->geom_solref));
-  }
-  emscripten::val geom_solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * mjNIMP, ptr_->geom_solimp));
-  }
-  emscripten::val geom_size() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 3, ptr_->geom_size));
-  }
-  emscripten::val geom_aabb() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 6, ptr_->geom_aabb));
-  }
-  emscripten::val geom_rbound() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_rbound));
-  }
-  emscripten::val geom_pos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 3, ptr_->geom_pos));
-  }
-  emscripten::val geom_quat() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_quat));
-  }
-  emscripten::val geom_friction() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 3, ptr_->geom_friction));
-  }
-  emscripten::val geom_margin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_margin));
-  }
-  emscripten::val geom_gap() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_gap));
-  }
-  emscripten::val geom_surfacevel() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 6, ptr_->geom_surfacevel));
-  }
-  emscripten::val geom_adhesion() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->geom_adhesion));
-  }
-  emscripten::val geom_fluid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * mjNFLUID, ptr_->geom_fluid));
-  }
-  emscripten::val geom_user() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * ptr_->nuser_geom, ptr_->geom_user));
-  }
-  emscripten::val geom_rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
-  }
-  emscripten::val site_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_type));
-  }
-  emscripten::val site_bodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_bodyid));
-  }
-  emscripten::val site_matid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_matid));
-  }
-  emscripten::val site_group() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_group));
-  }
-  emscripten::val site_sameframe() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->site_sameframe));
-  }
-  emscripten::val site_size() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * 3, ptr_->site_size));
-  }
-  emscripten::val site_pos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * 3, ptr_->site_pos));
-  }
-  emscripten::val site_quat() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * 4, ptr_->site_quat));
-  }
-  emscripten::val site_user() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * ptr_->nuser_site, ptr_->site_user));
-  }
-  emscripten::val site_rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite * 4, ptr_->site_rgba));
-  }
-  emscripten::val cam_mode() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_mode));
-  }
-  emscripten::val cam_bodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_bodyid));
-  }
-  emscripten::val cam_targetbodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_targetbodyid));
-  }
-  emscripten::val cam_pos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 3, ptr_->cam_pos));
-  }
-  emscripten::val cam_quat() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 4, ptr_->cam_quat));
-  }
-  emscripten::val cam_poscom0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 3, ptr_->cam_poscom0));
-  }
-  emscripten::val cam_pos0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 3, ptr_->cam_pos0));
-  }
-  emscripten::val cam_mat0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 9, ptr_->cam_mat0));
-  }
-  emscripten::val cam_projection() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_projection));
-  }
-  emscripten::val cam_fovy() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_fovy));
-  }
-  emscripten::val cam_ipd() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_ipd));
-  }
-  emscripten::val cam_resolution() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 2, ptr_->cam_resolution));
-  }
-  emscripten::val cam_output() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_output));
-  }
-  emscripten::val cam_sensorsize() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 2, ptr_->cam_sensorsize));
-  }
-  emscripten::val cam_intrinsic() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 4, ptr_->cam_intrinsic));
-  }
-  emscripten::val cam_user() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * ptr_->nuser_cam, ptr_->cam_user));
-  }
-  emscripten::val light_mode() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_mode));
-  }
-  emscripten::val light_bodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_bodyid));
-  }
-  emscripten::val light_targetbodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_targetbodyid));
-  }
-  emscripten::val light_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_type));
-  }
-  emscripten::val light_texid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_texid));
-  }
-  emscripten::val light_castshadow() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_castshadow));
-  }
-  emscripten::val light_bulbradius() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_bulbradius));
-  }
-  emscripten::val light_intensity() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_intensity));
-  }
-  emscripten::val light_range() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_range));
-  }
-  emscripten::val light_active() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_active));
-  }
-  emscripten::val light_pos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_pos));
-  }
-  emscripten::val light_dir() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_dir));
-  }
-  emscripten::val light_poscom0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_poscom0));
-  }
-  emscripten::val light_pos0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_pos0));
-  }
-  emscripten::val light_dir0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_dir0));
-  }
-  emscripten::val light_attenuation() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_attenuation));
-  }
-  emscripten::val light_cutoff() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_cutoff));
-  }
-  emscripten::val light_softness() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_softness));
-  }
-  emscripten::val light_exponent() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->light_exponent));
-  }
-  emscripten::val light_ambient() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_ambient));
-  }
-  emscripten::val light_diffuse() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_diffuse));
-  }
-  emscripten::val light_specular() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight * 3, ptr_->light_specular));
-  }
-  emscripten::val flex_contype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_contype));
-  }
-  emscripten::val flex_conaffinity() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_conaffinity));
-  }
-  emscripten::val flex_condim() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_condim));
-  }
-  emscripten::val flex_priority() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_priority));
-  }
-  emscripten::val flex_solmix() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_solmix));
-  }
-  emscripten::val flex_solref() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * mjNREF, ptr_->flex_solref));
-  }
-  emscripten::val flex_solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * mjNIMP, ptr_->flex_solimp));
-  }
-  emscripten::val flex_friction() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 3, ptr_->flex_friction));
-  }
-  emscripten::val flex_margin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_margin));
-  }
-  emscripten::val flex_gap() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_gap));
-  }
-  emscripten::val flex_internal() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_internal));
-  }
-  emscripten::val flex_selfcollide() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_selfcollide));
-  }
-  emscripten::val flex_activelayers() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_activelayers));
-  }
-  emscripten::val flex_passive() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_passive));
-  }
-  emscripten::val flex_dim() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_dim));
-  }
-  emscripten::val flex_matid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_matid));
-  }
-  emscripten::val flex_group() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_group));
-  }
-  emscripten::val flex_interp() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_interp));
-  }
-  emscripten::val flex_cellnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 3, ptr_->flex_cellnum));
-  }
-  emscripten::val flex_nodeadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_nodeadr));
-  }
-  emscripten::val flex_nodenum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_nodenum));
-  }
-  emscripten::val flex_vertadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_vertadr));
-  }
-  emscripten::val flex_vertnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_vertnum));
-  }
-  emscripten::val flex_edgeadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgeadr));
-  }
-  emscripten::val flex_edgenum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgenum));
-  }
-  emscripten::val flex_elemadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemadr));
-  }
-  emscripten::val flex_elemnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemnum));
-  }
-  emscripten::val flex_elemdataadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemdataadr));
-  }
-  emscripten::val flex_stiffnessadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_stiffnessadr));
-  }
-  emscripten::val flex_elemedgeadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_elemedgeadr));
-  }
-  emscripten::val flex_bendingadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_bendingadr));
-  }
-  emscripten::val flex_shellnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_shellnum));
-  }
-  emscripten::val flex_shelldataadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_shelldataadr));
-  }
-  emscripten::val flex_evpairadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_evpairadr));
-  }
-  emscripten::val flex_evpairnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_evpairnum));
-  }
-  emscripten::val flex_texcoordadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_texcoordadr));
-  }
-  emscripten::val flex_nodebodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexnode, ptr_->flex_nodebodyid));
-  }
-  emscripten::val flex_vertbodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert, ptr_->flex_vertbodyid));
-  }
-  emscripten::val flex_vertedgeadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert, ptr_->flex_vertedgeadr));
-  }
-  emscripten::val flex_vertedgenum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert, ptr_->flex_vertedgenum));
-  }
-  emscripten::val flex_vertedge() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * 2, ptr_->flex_vertedge));
-  }
-  emscripten::val flex_edge() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * 2, ptr_->flex_edge));
-  }
-  emscripten::val flex_edgeflap() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge * 2, ptr_->flex_edgeflap));
-  }
-  emscripten::val flex_elem() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexelemdata, ptr_->flex_elem));
-  }
-  emscripten::val flex_elemtexcoord() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexelemdata, ptr_->flex_elemtexcoord));
-  }
-  emscripten::val flex_elemedge() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexelemedge, ptr_->flex_elemedge));
-  }
-  emscripten::val flex_elemlayer() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexelem, ptr_->flex_elemlayer));
-  }
-  emscripten::val flex_shell() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexshelldata, ptr_->flex_shell));
-  }
-  emscripten::val flex_evpair() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexevpair * 2, ptr_->flex_evpair));
-  }
-  emscripten::val flex_vert() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 3, ptr_->flex_vert));
-  }
-  emscripten::val flex_vert0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 3, ptr_->flex_vert0));
-  }
-  emscripten::val flex_vertmetric() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 4, ptr_->flex_vertmetric));
-  }
-  emscripten::val flex_node() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexnode * 3, ptr_->flex_node));
-  }
-  emscripten::val flex_node0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexnode * 3, ptr_->flex_node0));
-  }
-  emscripten::val flexedge_length0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_length0));
-  }
-  emscripten::val flexedge_invweight0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_invweight0));
-  }
-  emscripten::val flex_radius() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_radius));
-  }
-  emscripten::val flex_size() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 3, ptr_->flex_size));
-  }
-  emscripten::val flex_stiffness() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexstiffness, ptr_->flex_stiffness));
-  }
-  emscripten::val flex_bending() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexbending, ptr_->flex_bending));
-  }
-  emscripten::val efm0_dofid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0dof, ptr_->efm0_dofid));
-  }
-  emscripten::val efm0_L_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0dof, ptr_->efm0_L_rownnz));
-  }
-  emscripten::val efm0_L_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0dof, ptr_->efm0_L_rowadr));
-  }
-  emscripten::val efm0_L_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0L, ptr_->efm0_L_colind));
-  }
-  emscripten::val efm0_L() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefm0L, ptr_->efm0_L));
-  }
-  emscripten::val flex_damping() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_damping));
-  }
-  emscripten::val flex_edgestiffness() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgestiffness));
-  }
-  emscripten::val flex_edgedamping() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgedamping));
-  }
-  emscripten::val flex_edgeequality() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_edgeequality));
-  }
-  emscripten::val flex_rigid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_rigid));
-  }
-  emscripten::val flexedge_rigid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_rigid));
-  }
-  emscripten::val flex_centered() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_centered));
-  }
-  emscripten::val flex_flatskin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_flatskin));
-  }
-  emscripten::val flex_bvhadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_bvhadr));
-  }
-  emscripten::val flex_bvhnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->flex_bvhnum));
-  }
-  emscripten::val flexedge_J_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_J_rownnz));
-  }
-  emscripten::val flexedge_J_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexedge, ptr_->flexedge_J_rowadr));
-  }
-  emscripten::val flexedge_J_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nJfe, ptr_->flexedge_J_colind));
-  }
-  emscripten::val flexvert_J_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 2, ptr_->flexvert_J_rownnz));
-  }
-  emscripten::val flexvert_J_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflexvert * 2, ptr_->flexvert_J_rowadr));
-  }
-  emscripten::val flexvert_J_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nJfv * 2, ptr_->flexvert_J_colind));
-  }
-  emscripten::val flex_rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex * 4, ptr_->flex_rgba));
-  }
-  emscripten::val flex_texcoord() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflextexcoord * 2, ptr_->flex_texcoord));
-  }
-  emscripten::val mesh_vertadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_vertadr));
-  }
-  emscripten::val mesh_vertnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_vertnum));
-  }
-  emscripten::val mesh_faceadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_faceadr));
-  }
-  emscripten::val mesh_facenum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_facenum));
-  }
-  emscripten::val mesh_bvhadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_bvhadr));
-  }
-  emscripten::val mesh_bvhnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_bvhnum));
-  }
-  emscripten::val mesh_octadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_octadr));
-  }
-  emscripten::val mesh_octnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_octnum));
-  }
-  emscripten::val mesh_normaladr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_normaladr));
-  }
-  emscripten::val mesh_normalnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_normalnum));
-  }
-  emscripten::val mesh_texcoordadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_texcoordadr));
-  }
-  emscripten::val mesh_texcoordnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_texcoordnum));
-  }
-  emscripten::val mesh_graphadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_graphadr));
-  }
-  emscripten::val mesh_extrema() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 27, ptr_->mesh_extrema));
-  }
-  emscripten::val mesh_vert() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshvert * 3, ptr_->mesh_vert));
-  }
-  emscripten::val mesh_normal() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshnormal * 3, ptr_->mesh_normal));
-  }
-  emscripten::val mesh_texcoord() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshtexcoord * 2, ptr_->mesh_texcoord));
-  }
-  emscripten::val mesh_face() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshface * 3, ptr_->mesh_face));
-  }
-  emscripten::val mesh_facenormal() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshface * 3, ptr_->mesh_facenormal));
-  }
-  emscripten::val mesh_facetexcoord() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshface * 3, ptr_->mesh_facetexcoord));
-  }
-  emscripten::val mesh_graph() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshgraph, ptr_->mesh_graph));
-  }
-  emscripten::val mesh_scale() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 3, ptr_->mesh_scale));
-  }
-  emscripten::val mesh_pos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 3, ptr_->mesh_pos));
-  }
-  emscripten::val mesh_quat() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 4, ptr_->mesh_quat));
-  }
-  emscripten::val mesh_pathadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_pathadr));
-  }
-  emscripten::val mesh_polynum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_polynum));
-  }
-  emscripten::val mesh_polyadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_polyadr));
-  }
-  emscripten::val mesh_polynormal() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpoly * 3, ptr_->mesh_polynormal));
-  }
-  emscripten::val mesh_polyvertadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpoly, ptr_->mesh_polyvertadr));
-  }
-  emscripten::val mesh_polyvertnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpoly, ptr_->mesh_polyvertnum));
-  }
-  emscripten::val mesh_polyvert() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpolyvert, ptr_->mesh_polyvert));
-  }
-  emscripten::val mesh_polymapadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshvert, ptr_->mesh_polymapadr));
-  }
-  emscripten::val mesh_polymapnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshvert, ptr_->mesh_polymapnum));
-  }
-  emscripten::val mesh_polymap() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshpolymap, ptr_->mesh_polymap));
-  }
-  emscripten::val skin_matid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_matid));
-  }
-  emscripten::val skin_group() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_group));
-  }
-  emscripten::val skin_rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin * 4, ptr_->skin_rgba));
-  }
-  emscripten::val skin_inflate() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_inflate));
-  }
-  emscripten::val skin_vertadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_vertadr));
-  }
-  emscripten::val skin_vertnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_vertnum));
-  }
-  emscripten::val skin_texcoordadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_texcoordadr));
-  }
-  emscripten::val skin_faceadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_faceadr));
-  }
-  emscripten::val skin_facenum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_facenum));
-  }
-  emscripten::val skin_boneadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_boneadr));
-  }
-  emscripten::val skin_bonenum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_bonenum));
-  }
-  emscripten::val skin_vert() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskinvert * 3, ptr_->skin_vert));
-  }
-  emscripten::val skin_texcoord() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskintexvert * 2, ptr_->skin_texcoord));
-  }
-  emscripten::val skin_face() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskinface * 3, ptr_->skin_face));
-  }
-  emscripten::val skin_bonevertadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone, ptr_->skin_bonevertadr));
-  }
-  emscripten::val skin_bonevertnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone, ptr_->skin_bonevertnum));
-  }
-  emscripten::val skin_bonebindpos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone * 3, ptr_->skin_bonebindpos));
-  }
-  emscripten::val skin_bonebindquat() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone * 4, ptr_->skin_bonebindquat));
-  }
-  emscripten::val skin_bonebodyid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbone, ptr_->skin_bonebodyid));
-  }
-  emscripten::val skin_bonevertid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbonevert, ptr_->skin_bonevertid));
-  }
-  emscripten::val skin_bonevertweight() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskinbonevert, ptr_->skin_bonevertweight));
-  }
-  emscripten::val skin_pathadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->skin_pathadr));
-  }
-  emscripten::val hfield_size() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield * 4, ptr_->hfield_size));
-  }
-  emscripten::val hfield_nrow() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->hfield_nrow));
-  }
-  emscripten::val hfield_ncol() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->hfield_ncol));
-  }
-  emscripten::val hfield_adr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->hfield_adr));
-  }
-  emscripten::val hfield_data() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nhfielddata, ptr_->hfield_data));
-  }
-  emscripten::val hfield_pathadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->hfield_pathadr));
-  }
-  emscripten::val tex_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_type));
-  }
-  emscripten::val tex_colorspace() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_colorspace));
-  }
-  emscripten::val tex_height() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_height));
-  }
-  emscripten::val tex_width() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_width));
-  }
-  emscripten::val tex_nchannel() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_nchannel));
-  }
-  emscripten::val tex_adr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_adr));
-  }
-  emscripten::val tex_data() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntexdata, ptr_->tex_data));
-  }
-  emscripten::val tex_pathadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->tex_pathadr));
-  }
-  emscripten::val mat_texid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat * mjNTEXROLE, ptr_->mat_texid));
-  }
-  emscripten::val mat_texuniform() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_texuniform));
-  }
-  emscripten::val mat_texrepeat() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat * 2, ptr_->mat_texrepeat));
-  }
-  emscripten::val mat_emission() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_emission));
-  }
-  emscripten::val mat_specular() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_specular));
-  }
-  emscripten::val mat_shininess() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_shininess));
-  }
-  emscripten::val mat_reflectance() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_reflectance));
-  }
-  emscripten::val mat_metallic() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_metallic));
-  }
-  emscripten::val mat_roughness() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->mat_roughness));
-  }
-  emscripten::val mat_rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat * 4, ptr_->mat_rgba));
-  }
-  emscripten::val pair_dim() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_dim));
-  }
-  emscripten::val pair_geom1() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_geom1));
-  }
-  emscripten::val pair_geom2() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_geom2));
-  }
-  emscripten::val pair_signature() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_signature));
-  }
-  emscripten::val pair_solref() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair * mjNREF, ptr_->pair_solref));
-  }
-  emscripten::val pair_solreffriction() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair * mjNREF, ptr_->pair_solreffriction));
-  }
-  emscripten::val pair_solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair * mjNIMP, ptr_->pair_solimp));
-  }
-  emscripten::val pair_margin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_margin));
-  }
-  emscripten::val pair_gap() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_gap));
-  }
-  emscripten::val pair_adhesion() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->pair_adhesion));
-  }
-  emscripten::val pair_friction() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair * 5, ptr_->pair_friction));
-  }
-  emscripten::val exclude_signature() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nexclude, ptr_->exclude_signature));
-  }
-  emscripten::val eq_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_type));
-  }
-  emscripten::val eq_obj1id() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_obj1id));
-  }
-  emscripten::val eq_obj2id() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_obj2id));
-  }
-  emscripten::val eq_objtype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_objtype));
-  }
-  emscripten::val eq_active0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->eq_active0));
-  }
-  emscripten::val eq_solref() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->neq * mjNREF, ptr_->eq_solref));
-  }
-  emscripten::val eq_solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->neq * mjNIMP, ptr_->eq_solimp));
-  }
-  emscripten::val eq_data() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->neq * mjNEQDATA, ptr_->eq_data));
-  }
-  emscripten::val tendon_adr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_adr));
-  }
-  emscripten::val tendon_num() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_num));
-  }
-  emscripten::val tendon_matid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_matid));
-  }
-  emscripten::val tendon_actuatorid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_actuatorid));
-  }
-  emscripten::val tendon_group() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_group));
-  }
-  emscripten::val tendon_treenum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_treenum));
-  }
-  emscripten::val tendon_treeid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_treeid));
-  }
-  emscripten::val ten_J_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->ten_J_rownnz));
-  }
-  emscripten::val ten_J_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->ten_J_rowadr));
-  }
-  emscripten::val ten_J_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nJten, ptr_->ten_J_colind));
-  }
-  emscripten::val tendon_limited() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_limited));
-  }
-  emscripten::val tendon_actfrclimited() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_actfrclimited));
-  }
-  emscripten::val tendon_width() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_width));
-  }
-  emscripten::val tendon_solref_lim() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNREF, ptr_->tendon_solref_lim));
-  }
-  emscripten::val tendon_solimp_lim() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNIMP, ptr_->tendon_solimp_lim));
-  }
-  emscripten::val tendon_solref_fri() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNREF, ptr_->tendon_solref_fri));
-  }
-  emscripten::val tendon_solimp_fri() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNIMP, ptr_->tendon_solimp_fri));
-  }
-  emscripten::val tendon_range() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_range));
-  }
-  emscripten::val tendon_actfrcrange() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_actfrcrange));
-  }
-  emscripten::val tendon_margin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_margin));
-  }
-  emscripten::val tendon_stiffness() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_stiffness));
-  }
-  emscripten::val tendon_stiffnesspoly() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNPOLY, ptr_->tendon_stiffnesspoly));
-  }
-  emscripten::val tendon_damping() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_damping));
-  }
-  emscripten::val tendon_dampingpoly() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * mjNPOLY, ptr_->tendon_dampingpoly));
-  }
-  emscripten::val tendon_armature() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_armature));
-  }
-  emscripten::val tendon_frictionloss() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_frictionloss));
-  }
-  emscripten::val tendon_lengthspring() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 2, ptr_->tendon_lengthspring));
-  }
-  emscripten::val tendon_length0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_length0));
-  }
-  emscripten::val tendon_invweight0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->tendon_invweight0));
-  }
-  emscripten::val tendon_user() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * ptr_->nuser_tendon, ptr_->tendon_user));
-  }
-  emscripten::val tendon_rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon * 4, ptr_->tendon_rgba));
-  }
-  emscripten::val wrap_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nwrap, ptr_->wrap_type));
-  }
-  emscripten::val wrap_objid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nwrap, ptr_->wrap_objid));
-  }
-  emscripten::val wrap_prm() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nwrap, ptr_->wrap_prm));
-  }
-  emscripten::val actuator_trntype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_trntype));
-  }
-  emscripten::val actuator_dyntype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_dyntype));
-  }
-  emscripten::val actuator_gaintype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_gaintype));
-  }
-  emscripten::val actuator_biastype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_biastype));
-  }
-  emscripten::val actuator_ctrladr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_ctrladr));
-  }
-  emscripten::val actuator_ctrlnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_ctrlnum));
-  }
-  emscripten::val actuator_ctrlspec() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_ctrlspec));
-  }
-  emscripten::val actuator_outadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_outadr));
-  }
-  emscripten::val actuator_outnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_outnum));
-  }
-  emscripten::val actuator_actadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_actadr));
-  }
-  emscripten::val actuator_actnum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_actnum));
-  }
-  emscripten::val actuator_trnid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * 2, ptr_->actuator_trnid));
-  }
-  emscripten::val actuator_cranklength() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_cranklength));
-  }
-  emscripten::val actuator_dynprm() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * mjNDYN, ptr_->actuator_dynprm));
-  }
-  emscripten::val actuator_gainprm() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * mjNGAIN, ptr_->actuator_gainprm));
-  }
-  emscripten::val actuator_biasprm() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * mjNBIAS, ptr_->actuator_biasprm));
-  }
-  emscripten::val actuator_actlimited() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_actlimited));
-  }
-  emscripten::val actuator_actrange() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * 2, ptr_->actuator_actrange));
-  }
-  emscripten::val actuator_actearly() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_actearly));
-  }
-  emscripten::val actuator_history() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * 2, ptr_->actuator_history));
-  }
-  emscripten::val actuator_historyadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_historyadr));
-  }
-  emscripten::val actuator_delay() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_delay));
-  }
-  emscripten::val actuator_damping() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_damping));
-  }
-  emscripten::val actuator_dampingpoly() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * mjNPOLY, ptr_->actuator_dampingpoly));
-  }
-  emscripten::val actuator_armature() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_armature));
-  }
-  emscripten::val actuator_group() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_group));
-  }
-  emscripten::val actuator_user() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * ptr_->nuser_actuator, ptr_->actuator_user));
-  }
-  emscripten::val actuator_plugin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_plugin));
-  }
-  emscripten::val actuator_forcelimited() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->actuator_forcelimited));
-  }
-  emscripten::val actuator_forcerange() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator * 2, ptr_->actuator_forcerange));
-  }
-  emscripten::val actuator_ctrllimited() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nu, ptr_->actuator_ctrllimited));
-  }
-  emscripten::val actuator_ctrlrange() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nu * 2, ptr_->actuator_ctrlrange));
-  }
-  emscripten::val actuator_gear() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nout * 6, ptr_->actuator_gear));
-  }
-  emscripten::val actuator_acc0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nout, ptr_->actuator_acc0));
-  }
-  emscripten::val actuator_length0() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nout, ptr_->actuator_length0));
-  }
-  emscripten::val actuator_lengthrange() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nout * 2, ptr_->actuator_lengthrange));
-  }
-  emscripten::val sensor_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_type));
-  }
-  emscripten::val sensor_datatype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_datatype));
-  }
-  emscripten::val sensor_needstage() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_needstage));
-  }
-  emscripten::val sensor_objtype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_objtype));
-  }
-  emscripten::val sensor_objid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_objid));
-  }
-  emscripten::val sensor_reftype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_reftype));
-  }
-  emscripten::val sensor_refid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_refid));
-  }
-  emscripten::val sensor_intprm() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * mjNSENS, ptr_->sensor_intprm));
-  }
-  emscripten::val sensor_dim() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_dim));
-  }
-  emscripten::val sensor_adr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_adr));
-  }
-  emscripten::val sensor_cutoff() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_cutoff));
-  }
-  emscripten::val sensor_noise() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_noise));
-  }
-  emscripten::val sensor_history() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * 2, ptr_->sensor_history));
-  }
-  emscripten::val sensor_historyadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_historyadr));
-  }
-  emscripten::val sensor_delay() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_delay));
-  }
-  emscripten::val sensor_interval() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * 2, ptr_->sensor_interval));
-  }
-  emscripten::val sensor_user() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor * ptr_->nuser_sensor, ptr_->sensor_user));
-  }
-  emscripten::val sensor_plugin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->sensor_plugin));
-  }
-  emscripten::val plugin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->plugin));
-  }
-  emscripten::val plugin_stateadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->plugin_stateadr));
-  }
-  emscripten::val plugin_statenum() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->plugin_statenum));
-  }
-  emscripten::val plugin_attr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npluginattr, ptr_->plugin_attr));
-  }
-  emscripten::val plugin_attradr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->plugin_attradr));
-  }
-  emscripten::val numeric_adr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nnumeric, ptr_->numeric_adr));
-  }
-  emscripten::val numeric_size() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nnumeric, ptr_->numeric_size));
-  }
-  emscripten::val numeric_data() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nnumericdata, ptr_->numeric_data));
-  }
-  emscripten::val text_adr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntext, ptr_->text_adr));
-  }
-  emscripten::val text_size() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntext, ptr_->text_size));
-  }
-  emscripten::val text_data() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntextdata, ptr_->text_data));
-  }
-  emscripten::val tuple_adr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntuple, ptr_->tuple_adr));
-  }
-  emscripten::val tuple_size() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntuple, ptr_->tuple_size));
-  }
-  emscripten::val tuple_objtype() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntupledata, ptr_->tuple_objtype));
-  }
-  emscripten::val tuple_objid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntupledata, ptr_->tuple_objid));
-  }
-  emscripten::val tuple_objprm() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntupledata, ptr_->tuple_objprm));
-  }
-  emscripten::val key_time() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nkey, ptr_->key_time));
-  }
-  emscripten::val key_qpos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nq, ptr_->key_qpos));
-  }
-  emscripten::val key_qvel() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nv, ptr_->key_qvel));
-  }
-  emscripten::val key_act() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->na, ptr_->key_act));
-  }
-  emscripten::val key_mpos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nmocap*3, ptr_->key_mpos));
-  }
-  emscripten::val key_mquat() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nmocap*4, ptr_->key_mquat));
-  }
-  emscripten::val key_ctrl() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nkey * ptr_->nu, ptr_->key_ctrl));
-  }
-  emscripten::val name_bodyadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->name_bodyadr));
-  }
-  emscripten::val name_jntadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->njnt, ptr_->name_jntadr));
-  }
-  emscripten::val name_geomadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom, ptr_->name_geomadr));
-  }
-  emscripten::val name_siteadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsite, ptr_->name_siteadr));
-  }
-  emscripten::val name_camadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->name_camadr));
-  }
-  emscripten::val name_lightadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nlight, ptr_->name_lightadr));
-  }
-  emscripten::val name_flexadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nflex, ptr_->name_flexadr));
-  }
-  emscripten::val name_meshadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->name_meshadr));
-  }
-  emscripten::val name_skinadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nskin, ptr_->name_skinadr));
-  }
-  emscripten::val name_hfieldadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nhfield, ptr_->name_hfieldadr));
-  }
-  emscripten::val name_texadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntex, ptr_->name_texadr));
-  }
-  emscripten::val name_matadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nmat, ptr_->name_matadr));
-  }
-  emscripten::val name_pairadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npair, ptr_->name_pairadr));
-  }
-  emscripten::val name_excludeadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nexclude, ptr_->name_excludeadr));
-  }
-  emscripten::val name_eqadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->neq, ptr_->name_eqadr));
-  }
-  emscripten::val name_tendonadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntendon, ptr_->name_tendonadr));
-  }
-  emscripten::val name_actuatoradr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nactuator, ptr_->name_actuatoradr));
-  }
-  emscripten::val name_sensoradr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nsensor, ptr_->name_sensoradr));
-  }
-  emscripten::val name_numericadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nnumeric, ptr_->name_numericadr));
-  }
-  emscripten::val name_textadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntext, ptr_->name_textadr));
-  }
-  emscripten::val name_tupleadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->ntuple, ptr_->name_tupleadr));
-  }
-  emscripten::val name_keyadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nkey, ptr_->name_keyadr));
-  }
-  emscripten::val name_pluginadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nplugin, ptr_->name_pluginadr));
-  }
-  emscripten::val names() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nnames, ptr_->names));
-  }
-  emscripten::val names_map() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nnames_map, ptr_->names_map));
-  }
-  emscripten::val paths() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->npaths, ptr_->paths));
-  }
-  emscripten::val B_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->B_rownnz));
-  }
-  emscripten::val B_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nbody, ptr_->B_rowadr));
-  }
-  emscripten::val B_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nB, ptr_->B_colind));
-  }
-  emscripten::val M_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->M_rownnz));
-  }
-  emscripten::val M_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->M_rowadr));
-  }
-  emscripten::val M_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nC, ptr_->M_colind));
-  }
-  emscripten::val mapM2M() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nC, ptr_->mapM2M));
-  }
-  emscripten::val D_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->D_rownnz));
-  }
-  emscripten::val D_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->D_rowadr));
-  }
-  emscripten::val D_diag() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nv, ptr_->D_diag));
-  }
-  emscripten::val D_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nD, ptr_->D_colind));
-  }
-  emscripten::val mapM2D() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nD, ptr_->mapM2D));
-  }
-  emscripten::val mapD2M() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nC, ptr_->mapD2M));
-  }
-  uint64_t signature() const {
-    return ptr_->signature;
-  }
-  void set_signature(uint64_t value) {
-    ptr_->signature = value;
-  }
-  // Generates functions to return accessor classes.
-  #define X_ACCESSOR(NAME, Name, OBJTYPE, accessor_name, nfield)               \
-    MjModel##Name##Accessor accessor_name(const NumberOrString& val) const {   \
-      if (val.isString()) {                                                    \
-        int id = mj_name2id(ptr_, OBJTYPE, val.as<std::string>().c_str());     \
-        if (id == -1) {                                                        \
-          mju_error("%s", KeyErrorMessage(ptr_, OBJTYPE, ptr_->nfield, val.as<std::string>(), #accessor_name).c_str());  \
-        }                                                                      \
-        return MjModel##Name##Accessor(ptr_, id);                              \
-      } else if (val.isNumber()) {                                             \
-        int id = val.as<int>();                                                \
-        if (id < 0 || id >= ptr_->nfield) {                                    \
-          mju_error("%s", IndexErrorMessage(id, ptr_->nfield, #accessor_name).c_str());  \
-        }                                                                      \
-        return MjModel##Name##Accessor(ptr_, id);                              \
-      } else {                                                                 \
-        mju_error(#accessor_name "() argument must be a string or number");    \
-        return MjModel##Name##Accessor(nullptr, 0);                            \
-      }                                                                        \
-    }
-
-    MJMODEL_ACCESSORS
-  #undef X_ACCESSOR
-
- private:
-  mjModel* ptr_;
-
- public:
-  MjOption opt;
-  MjVisual vis;
-  MjStatistic stat;
-};
-
-struct MjSpec {
-  ~MjSpec();
-  MjSpec();
-  explicit MjSpec(mjSpec *ptr);
-  MjSpec(const MjSpec &);
-  MjSpec &operator=(const MjSpec &);
-  std::unique_ptr<MjSpec> copy();
-  mjSpec* get() const;
-  void set(mjSpec* ptr);
-  emscripten::val timer() const;
-  mjString modelname() const {
-    return (ptr_ && ptr_->modelname) ? *(ptr_->modelname) : "";
-  }
-  void set_modelname(const mjString& value) {
-    if (ptr_ && ptr_->modelname) {
-      *(ptr_->modelname) = value;
-    }
-  }
-  mjtBool strippath() const {
-    return ptr_->strippath;
-  }
-  void set_strippath(mjtBool value) {
-    ptr_->strippath = value;
-  }
-  int memory() const {
-    return static_cast<int>(ptr_->memory);
-  }
-  void set_memory(int value) {
-    ptr_->memory = static_cast<mjtSize>(value);
-  }
-  int nemax() const {
-    return ptr_->nemax;
-  }
-  void set_nemax(int value) {
-    ptr_->nemax = value;
-  }
-  int nuserdata() const {
-    return ptr_->nuserdata;
-  }
-  void set_nuserdata(int value) {
-    ptr_->nuserdata = value;
-  }
-  int nuser_body() const {
-    return ptr_->nuser_body;
-  }
-  void set_nuser_body(int value) {
-    ptr_->nuser_body = value;
-  }
-  int nuser_jnt() const {
-    return ptr_->nuser_jnt;
-  }
-  void set_nuser_jnt(int value) {
-    ptr_->nuser_jnt = value;
-  }
-  int nuser_geom() const {
-    return ptr_->nuser_geom;
-  }
-  void set_nuser_geom(int value) {
-    ptr_->nuser_geom = value;
-  }
-  int nuser_site() const {
-    return ptr_->nuser_site;
-  }
-  void set_nuser_site(int value) {
-    ptr_->nuser_site = value;
-  }
-  int nuser_cam() const {
-    return ptr_->nuser_cam;
-  }
-  void set_nuser_cam(int value) {
-    ptr_->nuser_cam = value;
-  }
-  int nuser_tendon() const {
-    return ptr_->nuser_tendon;
-  }
-  void set_nuser_tendon(int value) {
-    ptr_->nuser_tendon = value;
-  }
-  int nuser_actuator() const {
-    return ptr_->nuser_actuator;
-  }
-  void set_nuser_actuator(int value) {
-    ptr_->nuser_actuator = value;
-  }
-  int nuser_sensor() const {
-    return ptr_->nuser_sensor;
-  }
-  void set_nuser_sensor(int value) {
-    ptr_->nuser_sensor = value;
-  }
-  int nkey() const {
-    return ptr_->nkey;
-  }
-  void set_nkey(int value) {
-    ptr_->nkey = value;
-  }
-  int njmax() const {
-    return ptr_->njmax;
-  }
-  void set_njmax(int value) {
-    ptr_->njmax = value;
-  }
-  int nconmax() const {
-    return ptr_->nconmax;
-  }
-  void set_nconmax(int value) {
-    ptr_->nconmax = value;
-  }
-  int nstack() const {
-    return static_cast<int>(ptr_->nstack);
-  }
-  void set_nstack(int value) {
-    ptr_->nstack = static_cast<mjtSize>(value);
-  }
-  mjString comment() const {
-    return (ptr_ && ptr_->comment) ? *(ptr_->comment) : "";
-  }
-  void set_comment(const mjString& value) {
-    if (ptr_ && ptr_->comment) {
-      *(ptr_->comment) = value;
-    }
-  }
-  mjString modelfiledir() const {
-    return (ptr_ && ptr_->modelfiledir) ? *(ptr_->modelfiledir) : "";
-  }
-  void set_modelfiledir(const mjString& value) {
-    if (ptr_ && ptr_->modelfiledir) {
-      *(ptr_->modelfiledir) = value;
-    }
-  }
-  mjtBool hasImplicitPluginElem() const {
-    return ptr_->hasImplicitPluginElem;
-  }
-  void set_hasImplicitPluginElem(mjtBool value) {
-    ptr_->hasImplicitPluginElem = value;
-  }
-
- private:
-  mjSpec* ptr_;
-  bool owned_ = false;
-
- public:
-  MjsElement element;
-  MjsCompiler compiler;
-  MjOption option;
-  MjVisual visual;
-  MjStatistic stat;
-  MjsAuthored authored;
-};
-
-struct MjsActuator {
-  explicit MjsActuator(mjsActuator *ptr);
-  mjsActuator* get() const;
-  void set(mjsActuator* ptr);
-  mjtGain gaintype() const {
-    return ptr_->gaintype;
-  }
-  void set_gaintype(mjtGain value) {
-    ptr_->gaintype = value;
-  }
-  emscripten::val gainprm() const {
-    return emscripten::val(emscripten::typed_memory_view(10, ptr_->gainprm));
-  }
-  mjtBias biastype() const {
-    return ptr_->biastype;
-  }
-  void set_biastype(mjtBias value) {
-    ptr_->biastype = value;
-  }
-  emscripten::val biasprm() const {
-    return emscripten::val(emscripten::typed_memory_view(10, ptr_->biasprm));
-  }
-  mjtDyn dyntype() const {
-    return ptr_->dyntype;
-  }
-  void set_dyntype(mjtDyn value) {
-    ptr_->dyntype = value;
-  }
-  emscripten::val dynprm() const {
-    return emscripten::val(emscripten::typed_memory_view(10, ptr_->dynprm));
-  }
-  int actdim() const {
-    return ptr_->actdim;
-  }
-  void set_actdim(int value) {
-    ptr_->actdim = value;
-  }
-  int ctrlspec() const {
-    return ptr_->ctrlspec;
-  }
-  void set_ctrlspec(int value) {
-    ptr_->ctrlspec = value;
-  }
-  emscripten::val velrange() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->velrange));
-  }
-  emscripten::val ffrange() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->ffrange));
-  }
-  mjtBool actearly() const {
-    return ptr_->actearly;
-  }
-  void set_actearly(mjtBool value) {
-    ptr_->actearly = value;
-  }
-  mjtTrn trntype() const {
-    return ptr_->trntype;
-  }
-  void set_trntype(mjtTrn value) {
-    ptr_->trntype = value;
-  }
-  emscripten::val gear() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->gear));
-  }
-  mjString target() const {
-    return (ptr_ && ptr_->target) ? *(ptr_->target) : "";
-  }
-  void set_target(const mjString& value) {
-    if (ptr_ && ptr_->target) {
-      *(ptr_->target) = value;
-    }
-  }
-  mjString refsite() const {
-    return (ptr_ && ptr_->refsite) ? *(ptr_->refsite) : "";
-  }
-  void set_refsite(const mjString& value) {
-    if (ptr_ && ptr_->refsite) {
-      *(ptr_->refsite) = value;
-    }
-  }
-  mjString slidersite() const {
-    return (ptr_ && ptr_->slidersite) ? *(ptr_->slidersite) : "";
-  }
-  void set_slidersite(const mjString& value) {
-    if (ptr_ && ptr_->slidersite) {
-      *(ptr_->slidersite) = value;
-    }
-  }
-  double cranklength() const {
-    return ptr_->cranklength;
-  }
-  void set_cranklength(double value) {
-    ptr_->cranklength = value;
-  }
-  emscripten::val lengthrange() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->lengthrange));
-  }
-  double inheritrange() const {
-    return ptr_->inheritrange;
-  }
-  void set_inheritrange(double value) {
-    ptr_->inheritrange = value;
-  }
-  emscripten::val damping() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->damping));
-  }
-  double armature() const {
-    return ptr_->armature;
-  }
-  void set_armature(double value) {
-    ptr_->armature = value;
-  }
-  mjtLimited ctrllimited() const {
-    return ptr_->ctrllimited;
-  }
-  void set_ctrllimited(mjtLimited value) {
-    ptr_->ctrllimited = value;
-  }
-  emscripten::val ctrlrange() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->ctrlrange));
-  }
-  mjtLimited forcelimited() const {
-    return ptr_->forcelimited;
-  }
-  void set_forcelimited(mjtLimited value) {
-    ptr_->forcelimited = value;
-  }
-  emscripten::val forcerange() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->forcerange));
-  }
-  mjtLimited actlimited() const {
-    return ptr_->actlimited;
-  }
-  void set_actlimited(mjtLimited value) {
-    ptr_->actlimited = value;
-  }
-  emscripten::val actrange() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->actrange));
-  }
-  int group() const {
-    return ptr_->group;
-  }
-  void set_group(int value) {
-    ptr_->group = value;
-  }
-  int nsample() const {
-    return ptr_->nsample;
-  }
-  void set_nsample(int value) {
-    ptr_->nsample = value;
-  }
-  int interp() const {
-    return ptr_->interp;
-  }
-  void set_interp(int value) {
-    ptr_->interp = value;
-  }
-  double delay() const {
-    return ptr_->delay;
-  }
-  void set_delay(double value) {
-    ptr_->delay = value;
-  }
-  mjDoubleVec &userdata() const {
-    return *(ptr_->userdata);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsActuator* ptr_;
-
- public:
-  MjsElement element;
-  MjsPlugin plugin;
-};
-
-struct MjsBody {
-  explicit MjsBody(mjsBody *ptr);
-  mjsBody* get() const;
-  void set(mjsBody* ptr);
-  mjString childclass() const {
-    return (ptr_ && ptr_->childclass) ? *(ptr_->childclass) : "";
-  }
-  void set_childclass(const mjString& value) {
-    if (ptr_ && ptr_->childclass) {
-      *(ptr_->childclass) = value;
-    }
-  }
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val quat() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
-  }
-  double mass() const {
-    return ptr_->mass;
-  }
-  void set_mass(double value) {
-    ptr_->mass = value;
-  }
-  emscripten::val ipos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->ipos));
-  }
-  emscripten::val iquat() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->iquat));
-  }
-  emscripten::val inertia() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->inertia));
-  }
-  emscripten::val fullinertia() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->fullinertia));
-  }
-  mjtBool mocap() const {
-    return ptr_->mocap;
-  }
-  void set_mocap(mjtBool value) {
-    ptr_->mocap = value;
-  }
-  double gravcomp() const {
-    return ptr_->gravcomp;
-  }
-  void set_gravcomp(double value) {
-    ptr_->gravcomp = value;
-  }
-  mjtSleepPolicy sleep() const {
-    return ptr_->sleep;
-  }
-  void set_sleep(mjtSleepPolicy value) {
-    ptr_->sleep = value;
-  }
-  mjtByte simple() const {
-    return ptr_->simple;
-  }
-  void set_simple(mjtByte value) {
-    ptr_->simple = value;
-  }
-  mjDoubleVec &userdata() const {
-    return *(ptr_->userdata);
-  }
-  mjtBool explicitinertial() const {
-    return ptr_->explicitinertial;
-  }
-  void set_explicitinertial(mjtBool value) {
-    ptr_->explicitinertial = value;
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsBody* ptr_;
-
- public:
-  MjsElement element;
-  MjsOrientation alt;
-  MjsOrientation ialt;
-  MjsPlugin plugin;
-};
-
-struct MjsGeom {
-  explicit MjsGeom(mjsGeom *ptr);
-  mjsGeom* get() const;
-  void set(mjsGeom* ptr);
-  mjtGeom type() const {
-    return ptr_->type;
-  }
-  void set_type(mjtGeom value) {
-    ptr_->type = value;
-  }
-  emscripten::val pos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->pos));
-  }
-  emscripten::val quat() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->quat));
-  }
-  emscripten::val fromto() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->fromto));
-  }
-  emscripten::val size() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->size));
-  }
-  int contype() const {
-    return ptr_->contype;
-  }
-  void set_contype(int value) {
-    ptr_->contype = value;
-  }
-  int conaffinity() const {
-    return ptr_->conaffinity;
-  }
-  void set_conaffinity(int value) {
-    ptr_->conaffinity = value;
-  }
-  int condim() const {
-    return ptr_->condim;
-  }
-  void set_condim(int value) {
-    ptr_->condim = value;
-  }
-  int priority() const {
-    return ptr_->priority;
-  }
-  void set_priority(int value) {
-    ptr_->priority = value;
-  }
-  emscripten::val friction() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->friction));
-  }
-  double solmix() const {
-    return ptr_->solmix;
-  }
-  void set_solmix(double value) {
-    ptr_->solmix = value;
-  }
-  emscripten::val solref() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solref));
-  }
-  emscripten::val solimp() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->solimp));
-  }
-  double margin() const {
-    return ptr_->margin;
-  }
-  void set_margin(double value) {
-    ptr_->margin = value;
-  }
-  double gap() const {
-    return ptr_->gap;
-  }
-  void set_gap(double value) {
-    ptr_->gap = value;
-  }
-  emscripten::val surfacevel() const {
-    return emscripten::val(emscripten::typed_memory_view(6, ptr_->surfacevel));
-  }
-  double adhesion() const {
-    return ptr_->adhesion;
-  }
-  void set_adhesion(double value) {
-    ptr_->adhesion = value;
-  }
-  double mass() const {
-    return ptr_->mass;
-  }
-  void set_mass(double value) {
-    ptr_->mass = value;
-  }
-  double density() const {
-    return ptr_->density;
-  }
-  void set_density(double value) {
-    ptr_->density = value;
-  }
-  mjtGeomInertia typeinertia() const {
-    return ptr_->typeinertia;
-  }
-  void set_typeinertia(mjtGeomInertia value) {
-    ptr_->typeinertia = value;
-  }
-  mjtNum fluid_ellipsoid() const {
-    return ptr_->fluid_ellipsoid;
-  }
-  void set_fluid_ellipsoid(mjtNum value) {
-    ptr_->fluid_ellipsoid = value;
-  }
-  emscripten::val fluid_coefs() const {
-    return emscripten::val(emscripten::typed_memory_view(5, ptr_->fluid_coefs));
-  }
-  mjString material() const {
-    return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
-  }
-  void set_material(const mjString& value) {
-    if (ptr_ && ptr_->material) {
-      *(ptr_->material) = value;
-    }
-  }
-  emscripten::val rgba() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->rgba));
-  }
-  int group() const {
-    return ptr_->group;
-  }
-  void set_group(int value) {
-    ptr_->group = value;
-  }
-  mjString hfieldname() const {
-    return (ptr_ && ptr_->hfieldname) ? *(ptr_->hfieldname) : "";
-  }
-  void set_hfieldname(const mjString& value) {
-    if (ptr_ && ptr_->hfieldname) {
-      *(ptr_->hfieldname) = value;
-    }
-  }
-  mjString meshname() const {
-    return (ptr_ && ptr_->meshname) ? *(ptr_->meshname) : "";
-  }
-  void set_meshname(const mjString& value) {
-    if (ptr_ && ptr_->meshname) {
-      *(ptr_->meshname) = value;
-    }
-  }
-  double fitscale() const {
-    return ptr_->fitscale;
-  }
-  void set_fitscale(double value) {
-    ptr_->fitscale = value;
-  }
-  mjDoubleVec &userdata() const {
-    return *(ptr_->userdata);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsGeom* ptr_;
-
- public:
-  MjsElement element;
-  MjsOrientation alt;
-  MjsPlugin plugin;
-};
-
-struct MjsMesh {
-  explicit MjsMesh(mjsMesh *ptr);
-  mjsMesh* get() const;
-  void set(mjsMesh* ptr);
-  mjString content_type() const {
-    return (ptr_ && ptr_->content_type) ? *(ptr_->content_type) : "";
-  }
-  void set_content_type(const mjString& value) {
-    if (ptr_ && ptr_->content_type) {
-      *(ptr_->content_type) = value;
-    }
-  }
-  mjString file() const {
-    return (ptr_ && ptr_->file) ? *(ptr_->file) : "";
-  }
-  void set_file(const mjString& value) {
-    if (ptr_ && ptr_->file) {
-      *(ptr_->file) = value;
-    }
-  }
-  emscripten::val refpos() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->refpos));
-  }
-  emscripten::val refquat() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->refquat));
-  }
-  emscripten::val scale() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->scale));
-  }
-  mjtMeshInertia inertia() const {
-    return ptr_->inertia;
-  }
-  void set_inertia(mjtMeshInertia value) {
-    ptr_->inertia = value;
-  }
-  mjtBool smoothnormal() const {
-    return ptr_->smoothnormal;
-  }
-  void set_smoothnormal(mjtBool value) {
-    ptr_->smoothnormal = value;
-  }
-  mjtBool needsdf() const {
-    return ptr_->needsdf;
-  }
-  void set_needsdf(mjtBool value) {
-    ptr_->needsdf = value;
-  }
-  int maxhullvert() const {
-    return ptr_->maxhullvert;
-  }
-  void set_maxhullvert(int value) {
-    ptr_->maxhullvert = value;
-  }
-  mjFloatVec &uservert() const {
-    return *(ptr_->uservert);
-  }
-  mjFloatVec &usernormal() const {
-    return *(ptr_->usernormal);
-  }
-  mjFloatVec &usertexcoord() const {
-    return *(ptr_->usertexcoord);
-  }
-  mjIntVec &userface() const {
-    return *(ptr_->userface);
-  }
-  mjIntVec &userfacenormal() const {
-    return *(ptr_->userfacenormal);
-  }
-  mjIntVec &userfacetexcoord() const {
-    return *(ptr_->userfacetexcoord);
-  }
-  mjString material() const {
-    return (ptr_ && ptr_->material) ? *(ptr_->material) : "";
-  }
-  void set_material(const mjString& value) {
-    if (ptr_ && ptr_->material) {
-      *(ptr_->material) = value;
-    }
-  }
-  int octree_maxdepth() const {
-    return ptr_->octree_maxdepth;
-  }
-  void set_octree_maxdepth(int value) {
-    ptr_->octree_maxdepth = value;
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsMesh* ptr_;
-
- public:
-  MjsElement element;
-  MjsPlugin plugin;
-};
-
-struct MjsSensor {
-  explicit MjsSensor(mjsSensor *ptr);
-  mjsSensor* get() const;
-  void set(mjsSensor* ptr);
-  mjtSensor type() const {
-    return ptr_->type;
-  }
-  void set_type(mjtSensor value) {
-    ptr_->type = value;
-  }
-  mjtObj objtype() const {
-    return ptr_->objtype;
-  }
-  void set_objtype(mjtObj value) {
-    ptr_->objtype = value;
-  }
-  mjString objname() const {
-    return (ptr_ && ptr_->objname) ? *(ptr_->objname) : "";
-  }
-  void set_objname(const mjString& value) {
-    if (ptr_ && ptr_->objname) {
-      *(ptr_->objname) = value;
-    }
-  }
-  mjtObj reftype() const {
-    return ptr_->reftype;
-  }
-  void set_reftype(mjtObj value) {
-    ptr_->reftype = value;
-  }
-  mjString refname() const {
-    return (ptr_ && ptr_->refname) ? *(ptr_->refname) : "";
-  }
-  void set_refname(const mjString& value) {
-    if (ptr_ && ptr_->refname) {
-      *(ptr_->refname) = value;
-    }
-  }
-  emscripten::val intprm() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->intprm));
-  }
-  mjtDataType datatype() const {
-    return ptr_->datatype;
-  }
-  void set_datatype(mjtDataType value) {
-    ptr_->datatype = value;
-  }
-  mjtStage needstage() const {
-    return ptr_->needstage;
-  }
-  void set_needstage(mjtStage value) {
-    ptr_->needstage = value;
-  }
-  int dim() const {
-    return ptr_->dim;
-  }
-  void set_dim(int value) {
-    ptr_->dim = value;
-  }
-  double cutoff() const {
-    return ptr_->cutoff;
-  }
-  void set_cutoff(double value) {
-    ptr_->cutoff = value;
-  }
-  double noise() const {
-    return ptr_->noise;
-  }
-  void set_noise(double value) {
-    ptr_->noise = value;
-  }
-  int nsample() const {
-    return ptr_->nsample;
-  }
-  void set_nsample(int value) {
-    ptr_->nsample = value;
-  }
-  int interp() const {
-    return ptr_->interp;
-  }
-  void set_interp(int value) {
-    ptr_->interp = value;
-  }
-  double delay() const {
-    return ptr_->delay;
-  }
-  void set_delay(double value) {
-    ptr_->delay = value;
-  }
-  emscripten::val interval() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->interval));
-  }
-  mjDoubleVec &userdata() const {
-    return *(ptr_->userdata);
-  }
-  mjString info() const {
-    return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
-  }
-  void set_info(const mjString& value) {
-    if (ptr_ && ptr_->info) {
-      *(ptr_->info) = value;
-    }
-  }
-
- private:
-  mjsSensor* ptr_;
-
- public:
-  MjsElement element;
-  MjsPlugin plugin;
-};
-
-struct MjData {
-  ~MjData();
-  MjData(MjModel *m);
-  explicit MjData(const MjModel &, const MjData &);
-  std::vector<MjContact> contact() const;
-  std::unique_ptr<MjData> copy();
-  mjData* get() const;
-  void set(mjData* ptr);
-  int narena() const {
-    return static_cast<int>(ptr_->narena);
-  }
-  void set_narena(int value) {
-    ptr_->narena = static_cast<mjtSize>(value);
-  }
-  int nbuffer() const {
-    return static_cast<int>(ptr_->nbuffer);
-  }
-  void set_nbuffer(int value) {
-    ptr_->nbuffer = static_cast<mjtSize>(value);
-  }
-  int nplugin() const {
-    return ptr_->nplugin;
-  }
-  void set_nplugin(int value) {
-    ptr_->nplugin = value;
-  }
-  size_t pstack() const {
-    return ptr_->pstack;
-  }
-  void set_pstack(size_t value) {
-    ptr_->pstack = value;
-  }
-  size_t pbase() const {
-    return ptr_->pbase;
-  }
-  void set_pbase(size_t value) {
-    ptr_->pbase = value;
-  }
-  size_t parena() const {
-    return ptr_->parena;
-  }
-  void set_parena(size_t value) {
-    ptr_->parena = value;
-  }
-  uintptr_t threadpool() const {
-    return ptr_->threadpool;
-  }
-  void set_threadpool(uintptr_t value) {
-    ptr_->threadpool = value;
-  }
-  mjtBool threadlock() const {
-    return ptr_->threadlock;
-  }
-  void set_threadlock(mjtBool value) {
-    ptr_->threadlock = value;
-  }
-  int maxuse_stack() const {
-    return static_cast<int>(ptr_->maxuse_stack);
-  }
-  void set_maxuse_stack(int value) {
-    ptr_->maxuse_stack = static_cast<mjtSize>(value);
-  }
-  int maxuse_arena() const {
-    return static_cast<int>(ptr_->maxuse_arena);
-  }
-  void set_maxuse_arena(int value) {
-    ptr_->maxuse_arena = static_cast<mjtSize>(value);
-  }
-  int maxuse_con() const {
-    return ptr_->maxuse_con;
-  }
-  void set_maxuse_con(int value) {
-    ptr_->maxuse_con = value;
-  }
-  int maxuse_efc() const {
-    return ptr_->maxuse_efc;
-  }
-  void set_maxuse_efc(int value) {
-    ptr_->maxuse_efc = value;
-  }
-  emscripten::val solver_niter() const {
-    return emscripten::val(emscripten::typed_memory_view(20, ptr_->solver_niter));
-  }
-  emscripten::val solver_nnz() const {
-    return emscripten::val(emscripten::typed_memory_view(20, ptr_->solver_nnz));
-  }
-  emscripten::val solver_fwdinv() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->solver_fwdinv));
-  }
-  int ncon() const {
-    return ptr_->ncon;
-  }
-  void set_ncon(int value) {
-    ptr_->ncon = value;
-  }
-  int ne() const {
-    return ptr_->ne;
-  }
-  void set_ne(int value) {
-    ptr_->ne = value;
-  }
-  int nf() const {
-    return ptr_->nf;
-  }
-  void set_nf(int value) {
-    ptr_->nf = value;
-  }
-  int nl() const {
-    return ptr_->nl;
-  }
-  void set_nl(int value) {
-    ptr_->nl = value;
-  }
-  int nefc() const {
-    return ptr_->nefc;
-  }
-  void set_nefc(int value) {
-    ptr_->nefc = value;
-  }
-  int nJ() const {
-    return ptr_->nJ;
-  }
-  void set_nJ(int value) {
-    ptr_->nJ = value;
-  }
-  int efm_active() const {
-    return ptr_->efm_active;
-  }
-  void set_efm_active(int value) {
-    ptr_->efm_active = value;
-  }
-  int nefmK() const {
-    return ptr_->nefmK;
-  }
-  void set_nefmK(int value) {
-    ptr_->nefmK = value;
-  }
-  int nefmdof() const {
-    return ptr_->nefmdof;
-  }
-  void set_nefmdof(int value) {
-    ptr_->nefmdof = value;
-  }
-  int nefmL() const {
-    return ptr_->nefmL;
-  }
-  void set_nefmL(int value) {
-    ptr_->nefmL = value;
-  }
-  int nY() const {
-    return ptr_->nY;
-  }
-  void set_nY(int value) {
-    ptr_->nY = value;
-  }
-  int nA() const {
-    return ptr_->nA;
-  }
-  void set_nA(int value) {
-    ptr_->nA = value;
-  }
-  int nisland() const {
-    return ptr_->nisland;
-  }
-  void set_nisland(int value) {
-    ptr_->nisland = value;
-  }
-  int nidof() const {
-    return ptr_->nidof;
-  }
-  void set_nidof(int value) {
-    ptr_->nidof = value;
-  }
-  int ntree_awake() const {
-    return ptr_->ntree_awake;
-  }
-  void set_ntree_awake(int value) {
-    ptr_->ntree_awake = value;
-  }
-  int nbody_awake() const {
-    return ptr_->nbody_awake;
-  }
-  void set_nbody_awake(int value) {
-    ptr_->nbody_awake = value;
-  }
-  int nparent_awake() const {
-    return ptr_->nparent_awake;
-  }
-  void set_nparent_awake(int value) {
-    ptr_->nparent_awake = value;
-  }
-  int nv_awake() const {
-    return ptr_->nv_awake;
-  }
-  void set_nv_awake(int value) {
-    ptr_->nv_awake = value;
-  }
-  mjtBool flg_energypos() const {
-    return ptr_->flg_energypos;
-  }
-  void set_flg_energypos(mjtBool value) {
-    ptr_->flg_energypos = value;
-  }
-  mjtBool flg_energyvel() const {
-    return ptr_->flg_energyvel;
-  }
-  void set_flg_energyvel(mjtBool value) {
-    ptr_->flg_energyvel = value;
-  }
-  mjtBool flg_subtreevel() const {
-    return ptr_->flg_subtreevel;
-  }
-  void set_flg_subtreevel(mjtBool value) {
-    ptr_->flg_subtreevel = value;
-  }
-  mjtBool flg_rnepost() const {
-    return ptr_->flg_rnepost;
-  }
-  void set_flg_rnepost(mjtBool value) {
-    ptr_->flg_rnepost = value;
-  }
-  mjtNum time() const {
-    return ptr_->time;
-  }
-  void set_time(mjtNum value) {
-    ptr_->time = value;
-  }
-  emscripten::val energy() const {
-    return emscripten::val(emscripten::typed_memory_view(2, ptr_->energy));
-  }
-  emscripten::val buffer() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbuffer, static_cast<uint8_t*>(ptr_->buffer)));
-  }
-  emscripten::val arena() const {
-    return emscripten::val(emscripten::typed_memory_view(model->narena, static_cast<uint8_t*>(ptr_->arena)));
-  }
-  emscripten::val qpos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nq, ptr_->qpos));
-  }
-  emscripten::val qvel() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qvel));
-  }
-  emscripten::val act() const {
-    return emscripten::val(emscripten::typed_memory_view(model->na, ptr_->act));
-  }
-  emscripten::val history() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nhistory, ptr_->history));
-  }
-  emscripten::val qacc_warmstart() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qacc_warmstart));
-  }
-  emscripten::val plugin_state() const {
-    return emscripten::val(emscripten::typed_memory_view(model->npluginstate, ptr_->plugin_state));
-  }
-  emscripten::val ctrl() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nu, ptr_->ctrl));
-  }
-  emscripten::val qfrc_applied() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_applied));
-  }
-  emscripten::val xfrc_applied() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->xfrc_applied));
-  }
-  emscripten::val eq_active() const {
-    return emscripten::val(emscripten::typed_memory_view(model->neq, ptr_->eq_active));
-  }
-  emscripten::val mocap_pos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nmocap * 3, ptr_->mocap_pos));
-  }
-  emscripten::val mocap_quat() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nmocap * 4, ptr_->mocap_quat));
-  }
-  emscripten::val qacc() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qacc));
-  }
-  emscripten::val act_dot() const {
-    return emscripten::val(emscripten::typed_memory_view(model->na, ptr_->act_dot));
-  }
-  emscripten::val userdata() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nuserdata, ptr_->userdata));
-  }
-  emscripten::val sensordata() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nsensordata, ptr_->sensordata));
-  }
-  emscripten::val tree_asleep() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->tree_asleep));
-  }
-  emscripten::val plugin() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nplugin, ptr_->plugin));
-  }
-  emscripten::val plugin_data() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nplugin, ptr_->plugin_data));
-  }
-  emscripten::val xpos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->xpos));
-  }
-  emscripten::val xquat() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 4, ptr_->xquat));
-  }
-  emscripten::val xmat() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 9, ptr_->xmat));
-  }
-  emscripten::val xipos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->xipos));
-  }
-  emscripten::val ximat() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 9, ptr_->ximat));
-  }
-  emscripten::val xanchor() const {
-    return emscripten::val(emscripten::typed_memory_view(model->njnt * 3, ptr_->xanchor));
-  }
-  emscripten::val xaxis() const {
-    return emscripten::val(emscripten::typed_memory_view(model->njnt * 3, ptr_->xaxis));
-  }
-  emscripten::val geom_xpos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ngeom * 3, ptr_->geom_xpos));
-  }
-  emscripten::val geom_xmat() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ngeom * 9, ptr_->geom_xmat));
-  }
-  emscripten::val site_xpos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nsite * 3, ptr_->site_xpos));
-  }
-  emscripten::val site_xmat() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nsite * 9, ptr_->site_xmat));
-  }
-  emscripten::val cam_xpos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ncam * 3, ptr_->cam_xpos));
-  }
-  emscripten::val cam_xmat() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ncam * 9, ptr_->cam_xmat));
-  }
-  emscripten::val light_xpos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nlight * 3, ptr_->light_xpos));
-  }
-  emscripten::val light_xdir() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nlight * 3, ptr_->light_xdir));
-  }
-  emscripten::val subtree_com() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->subtree_com));
-  }
-  emscripten::val cdof() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv * 6, ptr_->cdof));
-  }
-  emscripten::val cinert() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 10, ptr_->cinert));
-  }
-  emscripten::val flexvert_xpos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nflexvert * 3, ptr_->flexvert_xpos));
-  }
-  emscripten::val flexelem_aabb() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nflexelem * 6, ptr_->flexelem_aabb));
-  }
-  emscripten::val flexelem_krot() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nflexstiffness, ptr_->flexelem_krot));
-  }
-  emscripten::val flexedge_J() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nJfe, ptr_->flexedge_J));
-  }
-  emscripten::val flexedge_length() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nflexedge, ptr_->flexedge_length));
-  }
-  emscripten::val flexvert_J() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nJfv * 2, ptr_->flexvert_J));
-  }
-  emscripten::val flexvert_length() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nflexvert * 2, ptr_->flexvert_length));
-  }
-  emscripten::val bvh_aabb_dyn() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbvhdynamic * 6, ptr_->bvh_aabb_dyn));
-  }
-  emscripten::val ten_wrapadr() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_wrapadr));
-  }
-  emscripten::val ten_wrapnum() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_wrapnum));
-  }
-  emscripten::val ten_J() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nJten, ptr_->ten_J));
-  }
-  emscripten::val ten_length() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_length));
-  }
-  emscripten::val wrap_obj() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nwrap * 2, ptr_->wrap_obj));
-  }
-  emscripten::val wrap_xpos() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nwrap * 6, ptr_->wrap_xpos));
-  }
-  emscripten::val actuator_length() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->actuator_length));
-  }
-  emscripten::val moment_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->moment_rownnz));
-  }
-  emscripten::val moment_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->moment_rowadr));
-  }
-  emscripten::val moment_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nJmom, ptr_->moment_colind));
-  }
-  emscripten::val actuator_moment() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nJmom, ptr_->actuator_moment));
-  }
-  emscripten::val crb() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 10, ptr_->crb));
-  }
-  emscripten::val M() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nC, ptr_->M));
-  }
-  emscripten::val qLD() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nC, ptr_->qLD));
-  }
-  emscripten::val qLDiagInv() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qLDiagInv));
-  }
-  emscripten::val bvh_active() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbvh, ptr_->bvh_active));
-  }
-  emscripten::val tree_awake() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->tree_awake));
-  }
-  emscripten::val body_awake() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody, ptr_->body_awake));
-  }
-  emscripten::val body_awake_ind() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody, ptr_->body_awake_ind));
-  }
-  emscripten::val parent_awake_ind() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody, ptr_->parent_awake_ind));
-  }
-  emscripten::val dof_awake_ind() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->dof_awake_ind));
-  }
-  emscripten::val flexedge_velocity() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nflexedge, ptr_->flexedge_velocity));
-  }
-  emscripten::val ten_velocity() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->ten_velocity));
-  }
-  emscripten::val actuator_velocity() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->actuator_velocity));
-  }
-  emscripten::val cvel() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->cvel));
-  }
-  emscripten::val cdof_dot() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv * 6, ptr_->cdof_dot));
-  }
-  emscripten::val qfrc_bias() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_bias));
-  }
-  emscripten::val qfrc_spring() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_spring));
-  }
-  emscripten::val qfrc_damper() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_damper));
-  }
-  emscripten::val qfrc_gravcomp() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_gravcomp));
-  }
-  emscripten::val qfrc_fluid() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_fluid));
-  }
-  emscripten::val qfrc_adhesion() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_adhesion));
-  }
-  emscripten::val qfrc_passive() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_passive));
-  }
-  emscripten::val subtree_linvel() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->subtree_linvel));
-  }
-  emscripten::val subtree_angmom() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 3, ptr_->subtree_angmom));
-  }
-  emscripten::val qH() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nC, ptr_->qH));
-  }
-  emscripten::val qHDiagInv() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qHDiagInv));
-  }
-  emscripten::val qDeriv() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nD, ptr_->qDeriv));
-  }
-  emscripten::val qLU() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nD, ptr_->qLU));
-  }
-  emscripten::val actuator_force() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nout, ptr_->actuator_force));
-  }
-  emscripten::val qfrc_actuator() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_actuator));
-  }
-  emscripten::val qfrc_smooth() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_smooth));
-  }
-  emscripten::val qacc_smooth() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qacc_smooth));
-  }
-  emscripten::val qfrc_constraint() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_constraint));
-  }
-  emscripten::val qfrc_inverse() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->qfrc_inverse));
-  }
-  emscripten::val cacc() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->cacc));
-  }
-  emscripten::val cfrc_int() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->cfrc_int));
-  }
-  emscripten::val cfrc_ext() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nbody * 6, ptr_->cfrc_ext));
-  }
-  // contact field is handled manually in template file struct declaration
-  emscripten::val efc_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_type));
-  }
-  emscripten::val efc_id() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_id));
-  }
-  emscripten::val efc_J_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_J_rownnz));
-  }
-  emscripten::val efc_J_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_J_rowadr));
-  }
-  emscripten::val efc_J_rowsuper() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_J_rowsuper));
-  }
-  emscripten::val efc_J_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nJ, ptr_->efc_J_colind));
-  }
-  emscripten::val efc_J() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nJ, ptr_->efc_J));
-  }
-  emscripten::val efc_pos() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_pos));
-  }
-  emscripten::val efc_margin() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_margin));
-  }
-  emscripten::val efc_frictionloss() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_frictionloss));
-  }
-  emscripten::val efc_diagA() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_diagA));
-  }
-  emscripten::val efc_KBIP() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc * 4, ptr_->efc_KBIP));
-  }
-  emscripten::val efc_D() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_D));
-  }
-  emscripten::val efc_R() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_R));
-  }
-  emscripten::val tendon_efcadr() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ntendon, ptr_->tendon_efcadr));
-  }
-  emscripten::val tree_island() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->tree_island));
-  }
-  emscripten::val island_ntree() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_ntree));
-  }
-  emscripten::val island_itreeadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_itreeadr));
-  }
-  emscripten::val map_itree2tree() const {
-    return emscripten::val(emscripten::typed_memory_view(model->ntree, ptr_->map_itree2tree));
-  }
-  emscripten::val dof_island() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->dof_island));
-  }
-  emscripten::val island_nv() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_nv));
-  }
-  emscripten::val island_idofadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_idofadr));
-  }
-  emscripten::val island_dofadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_dofadr));
-  }
-  emscripten::val map_dof2idof() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->map_dof2idof));
-  }
-  emscripten::val map_idof2dof() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->map_idof2dof));
-  }
-  emscripten::val ifrc_smooth() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->ifrc_smooth));
-  }
-  emscripten::val iacc_smooth() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->iacc_smooth));
-  }
-  emscripten::val iacc() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->iacc));
-  }
-  emscripten::val efc_island() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_island));
-  }
-  emscripten::val island_ne() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_ne));
-  }
-  emscripten::val island_nf() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_nf));
-  }
-  emscripten::val island_nefc() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_nefc));
-  }
-  emscripten::val island_iefcadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nisland, ptr_->island_iefcadr));
-  }
-  emscripten::val map_efc2iefc() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->map_efc2iefc));
-  }
-  emscripten::val map_iefc2efc() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->map_iefc2efc));
-  }
-  emscripten::val iefc_type() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_type));
-  }
-  emscripten::val iefc_id() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_id));
-  }
-  emscripten::val iefc_frictionloss() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_frictionloss));
-  }
-  emscripten::val iefc_D() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_D));
-  }
-  emscripten::val iefc_R() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_R));
-  }
-  emscripten::val efc_Y_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_Y_rownnz));
-  }
-  emscripten::val efc_Y_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_Y_rowadr));
-  }
-  emscripten::val efc_Y_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nY, ptr_->efc_Y_colind));
-  }
-  emscripten::val efc_Y() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nY, ptr_->efc_Y));
-  }
-  emscripten::val efc_AR_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_AR_rownnz));
-  }
-  emscripten::val efc_AR_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_AR_rowadr));
-  }
-  emscripten::val efc_AR_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nA, ptr_->efc_AR_colind));
-  }
-  emscripten::val efc_AR() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nA, ptr_->efc_AR));
-  }
-  emscripten::val efc_vel() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_vel));
-  }
-  emscripten::val efc_aref() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_aref));
-  }
-  emscripten::val efm_c() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->efm_c));
-  }
-  emscripten::val efm_K_rownnz() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->efm_K_rownnz));
-  }
-  emscripten::val efm_K_rowadr() const {
-    return emscripten::val(emscripten::typed_memory_view(model->nv, ptr_->efm_K_rowadr));
-  }
-  emscripten::val efm_K_colind() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefmK, ptr_->efm_K_colind));
-  }
-  emscripten::val efm_K_val() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefmK, ptr_->efm_K_val));
-  }
-  emscripten::val efm_dofid() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefmdof, ptr_->efm_dofid));
-  }
-  emscripten::val efm_L() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefmL, ptr_->efm_L));
-  }
-  emscripten::val efc_b() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_b));
-  }
-  emscripten::val iefc_aref() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_aref));
-  }
-  emscripten::val iefc_state() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_state));
-  }
-  emscripten::val iefc_force() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_force));
-  }
-  emscripten::val efc_state() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_state));
-  }
-  emscripten::val efc_force() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->efc_force));
-  }
-  emscripten::val ifrc_constraint() const {
-    return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->ifrc_constraint));
-  }
-  uint64_t signature() const {
-    return ptr_->signature;
-  }
-  void set_signature(uint64_t value) {
-    ptr_->signature = value;
-  }
-  // Generates functions to return accessor classes.
-  #define X_ACCESSOR(NAME, Name, OBJTYPE, accessor_name, nfield)              \
-    MjData##Name##Accessor accessor_name(const NumberOrString& val) const {   \
-      if (val.isString()) {                                                   \
-        int id = mj_name2id(model, OBJTYPE, val.as<std::string>().c_str());   \
-        if (id == -1) {                                                       \
-          mju_error("%s", KeyErrorMessage(model, OBJTYPE, model->nfield, val.as<std::string>(), #accessor_name).c_str());  \
-        }                                                                     \
-        return MjData##Name##Accessor(ptr_, model, id);                       \
-      } else if (val.isNumber()) {                                            \
-        int id = val.as<int>();                                               \
-        if (id < 0 || id >= model->nfield) {                                  \
-          mju_error("%s", IndexErrorMessage(id, model->nfield, #accessor_name).c_str());  \
-        }                                                                     \
-        return MjData##Name##Accessor(ptr_, model, id);                       \
-      } else {                                                                \
-        mju_error(#accessor_name "() argument must be a string or number");   \
-        return MjData##Name##Accessor(nullptr, nullptr, 0);                   \
-      }                                                                       \
-    }
-    MJDATA_ACCESSORS
-  #undef X_ACCESSOR
-
- private:
-  mjData* ptr_;
-
- public:
-  std::vector<MjSolverStat> solver;
-  std::vector<MjWarningStat> warning;
-  std::vector<MjTimerStat> timer;
-  mjModel *model;
-};
-
-struct MjsDefault {
-  explicit MjsDefault(mjsDefault *ptr);
-  mjsDefault* get() const;
-  void set(mjsDefault* ptr);
-
- private:
-  mjsDefault* ptr_;
-
- public:
-  MjsElement element;
-  MjsJoint joint;
-  MjsGeom geom;
-  MjsSite site;
-  MjsCamera camera;
-  MjsLight light;
-  MjsFlex flex;
-  MjsMesh mesh;
-  MjsMaterial material;
-  MjsPair pair;
-  MjsEquality equality;
-  MjsTendon tendon;
-  MjsActuator actuator;
-};
-
-
-struct MjvScene {
-  MjvScene();
-  MjvScene(MjModel *m, int maxgeom);
-  ~MjvScene();
-  std::unique_ptr<MjvScene> copy();
-  int GetSumFlexFaces() const;
-
-  mjvScene* get() const;
-  void set(mjvScene* ptr);
-
-  std::vector<MjvGeom> geoms() const;
-
-  emscripten::val geomorder() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->ngeom, ptr_->geomorder));
-  }
-  emscripten::val flexedgeadr() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgeadr));
-  }
-  emscripten::val flexedgenum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgenum));
-  }
-  emscripten::val flexvertadr() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertadr));
-  }
-  emscripten::val flexvertnum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertnum));
-  }
-  emscripten::val flexfaceadr() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceadr));
-  }
-  emscripten::val flexfacenum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfacenum));
-  }
-  emscripten::val flexfaceused() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceused));
-  }
-  emscripten::val flexedge() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(2 * model->nflexedge, ptr_->flexedge));
-  }
-  emscripten::val flexvert() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(3 * model->nflexvert, ptr_->flexvert));
-  }
-  emscripten::val skinfacenum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nskin, ptr_->skinfacenum));
-  }
-  emscripten::val skinvertadr() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertadr));
-  }
-  emscripten::val skinvertnum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertnum));
-  }
-  emscripten::val skinvert() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinvert));
-  }
-  emscripten::val skinnormal() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinnormal));
-  }
-  emscripten::val flexface() const {
-    return emscripten::val(emscripten::typed_memory_view(
-        9 * MjvScene::GetSumFlexFaces(), ptr_->flexface));
-  }
-  emscripten::val flexnormal() const {
-    return emscripten::val(emscripten::typed_memory_view(
-        9 * MjvScene::GetSumFlexFaces(), ptr_->flexnormal));
-  }
-  emscripten::val flextexcoord() const {
-    return emscripten::val(emscripten::typed_memory_view(
-        6 * MjvScene::GetSumFlexFaces(), ptr_->flextexcoord));
-  }
-  // camera field is handled manually in template file struct declaration
-  // flexedge field is handled manually in template file struct declaration
-  // flexedgeadr field is handled manually in template file struct declaration
-  // flexedgenum field is handled manually in template file struct declaration
-  // flexface field is handled manually in template file struct declaration
-  // flexfaceadr field is handled manually in template file struct declaration
-  // flexfacenum field is handled manually in template file struct declaration
-  // flexfaceused field is handled manually in template file struct declaration
-  // flexnormal field is handled manually in template file struct declaration
-  // flextexcoord field is handled manually in template file struct declaration
-  // flexvert field is handled manually in template file struct declaration
-  // flexvertadr field is handled manually in template file struct declaration
-  // flexvertnum field is handled manually in template file struct declaration
-  // geomorder field is handled manually in template file struct declaration
-  // geoms field is handled manually in template file struct declaration
-  // lights field is handled manually in template file struct declaration
-  // skinfacenum field is handled manually in template file struct declaration
-  // skinnormal field is handled manually in template file struct declaration
-  // skinvert field is handled manually in template file struct declaration
-  // skinvertadr field is handled manually in template file struct declaration
-  // skinvertnum field is handled manually in template file struct declaration
-  emscripten::val flags() const {
-    return emscripten::val(emscripten::typed_memory_view(11, ptr_->flags));
-  }
-  emscripten::val framergb() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->framergb));
-  }
-  emscripten::val rotate() const {
-    return emscripten::val(emscripten::typed_memory_view(4, ptr_->rotate));
-  }
-  emscripten::val translate() const {
-    return emscripten::val(emscripten::typed_memory_view(3, ptr_->translate));
-  }
-  float scale() const {
-    return ptr_->scale;
-  }
-  void set_scale(float value) {
-    ptr_->scale = value;
-  }
-  int framewidth() const {
-    return ptr_->framewidth;
-  }
-  void set_framewidth(int value) {
-    ptr_->framewidth = value;
-  }
-  int maxgeom() const {
-    return ptr_->maxgeom;
-  }
-  void set_maxgeom(int value) {
-    ptr_->maxgeom = value;
-  }
-  int nflex() const {
-    return ptr_->nflex;
-  }
-  void set_nflex(int value) {
-    ptr_->nflex = value;
-  }
-  int ngeom() const {
-    return ptr_->ngeom;
-  }
-  void set_ngeom(int value) {
-    ptr_->ngeom = value;
-  }
-  int nlight() const {
-    return ptr_->nlight;
-  }
-  void set_nlight(int value) {
-    ptr_->nlight = value;
-  }
-  int nskin() const {
-    return ptr_->nskin;
-  }
-  void set_nskin(int value) {
-    ptr_->nskin = value;
-  }
-  int status() const {
-    return ptr_->status;
-  }
-  void set_status(int value) {
-    ptr_->status = value;
-  }
-  int stereo() const {
-    return ptr_->stereo;
-  }
-  void set_stereo(int value) {
-    ptr_->stereo = value;
-  }
-  mjtByte enabletransform() const {
-    return ptr_->enabletransform;
-  }
-  void set_enabletransform(mjtByte value) {
-    ptr_->enabletransform = value;
-  }
-  mjtByte flexedgeopt() const {
-    return ptr_->flexedgeopt;
-  }
-  void set_flexedgeopt(mjtByte value) {
-    ptr_->flexedgeopt = value;
-  }
-  mjtByte flexfaceopt() const {
-    return ptr_->flexfaceopt;
-  }
-  void set_flexfaceopt(mjtByte value) {
-    ptr_->flexfaceopt = value;
-  }
-  mjtByte flexskinopt() const {
-    return ptr_->flexskinopt;
-  }
-  void set_flexskinopt(mjtByte value) {
-    ptr_->flexskinopt = value;
-  }
-  mjtByte flexvertopt() const {
-    return ptr_->flexvertopt;
-  }
-  void set_flexvertopt(mjtByte value) {
-    ptr_->flexvertopt = value;
-  }
-
- private:
-  mjvScene* ptr_;
-  bool owned_ = false;
-
- public:
-  mjModel* model;
-  std::vector<MjvLight> lights;
-  std::vector<MjvGLCamera> camera;
-};
-
-struct MjVFS {
-  MjVFS() : ptr_(new mjVFS) { mj_defaultVFS(ptr_); }
-  ~MjVFS() { mj_deleteVFS(ptr_); }
-  void AddBuffer(const std::string& name, const emscripten::val& buffer) {
-    std::vector<uint8_t> vec = emscripten::vecFromJSArray<uint8_t>(buffer);
-    int result = mj_addBufferVFS(ptr_, name.c_str(), vec.data(), vec.size());
-    if (result != 0) {
-      mju_error("Could not add buffer to VFS: %d", result);
-    }
-  }
-  void DeleteFile(const std::string& filename) {
-    mj_deleteFileVFS(ptr_, filename.c_str());
-  }
-  mjVFS* get() const { return ptr_; }
-
- private:
-  mjVFS* ptr_;
-};
-
-}  // namespace mujoco::wasm
-// NOLINTEND(whitespace/semicolon)
-// NOLINTEND(whitespace/line_length)
-
-#endif  // MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
diff --git a/wasm/codegen/generators/binding_builder.py b/wasm/codegen/generators/binding_builder.py
deleted file mode 100644
index c4875ed7..00000000
--- a/wasm/codegen/generators/binding_builder.py
+++ /dev/null
@@ -1,75 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from introspect import enums as introspect_enums
-from introspect import functions as introspect_functions
-
-from wasm.codegen.generators import common
-from wasm.codegen.generators import constants
-from wasm.codegen.generators import enums
-from wasm.codegen.generators import functions
-from wasm.codegen.generators import structs
-
-
-class BindingBuilder:
-  """Builds WASM bindings for MuJoCo."""
-
-  def __init__(self):
-    self.markers_and_content = []
-
-  def set_enums(self):
-    """Generates and sets the enum bindings."""
-    self.markers_and_content += enums.generate(
-        list(introspect_enums.ENUMS.values())
-    )
-    return self
-
-  def set_structs(self):
-    """Generates and sets the struct bindings."""
-    self.markers_and_content += structs.generate(constants.STRUCTS_TO_BIND)
-    return self
-
-  def set_functions(self):
-    """Generates and sets the function wrappers and bindings."""
-
-    functions_to_bind = []
-    for name, func in introspect_functions.FUNCTIONS.items():
-      if not functions.is_excluded_function_name(name):
-        functions_to_bind.append(func)
-
-    self.markers_and_content += functions.generate(functions_to_bind)
-    return self
-
-  def build_string(self, template_path: str) -> str:
-    """Applies the accumulated bindings to a template file and returns the output."""
-    with open(template_path, "r") as f:
-      content = f.readlines()
-
-    for marker, lines in self.markers_and_content:
-      content = common.replace_lines_containing_marker(
-          content, marker, lines
-      )
-
-    text = "".join(content)
-    text = text.replace(
-        "// limitations under the License.\n\n",
-        "// limitations under the License.\n\n// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.\n\n",
-        1,
-    )
-    return text
-
-  def build_file(self, template_path: str, generated_path: str):
-    """Applies the accumulated bindings to a template file and writes the output."""
-    text = self.build_string(template_path)
-    common.write_to_file(generated_path, text)
diff --git a/wasm/codegen/generators/common.py b/wasm/codegen/generators/common.py
deleted file mode 100644
index 34bf5e7a..00000000
--- a/wasm/codegen/generators/common.py
+++ /dev/null
@@ -1,133 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Utility functions for code generation."""
-
-import os
-from typing import Union
-from introspect import ast_nodes
-from wasm.codegen.generators import constants
-
-
-def write_to_file(filepath: str, content: str) -> None:
-  """Writes content to a file."""
-  output_dir = os.path.dirname(filepath)
-
-  try:
-    if output_dir:
-      os.makedirs(output_dir, exist_ok=True)
-    with open(filepath, "w") as f:
-      chars = f.write(content)
-      print(f"wrote {chars} characters to file '{filepath}'")
-  except IOError as e:
-    print(f"Error writing to output file: {filepath} - {e}")
-
-
-def decapitalize(input_string: str) -> str:
-  """Lowercases the first letter of a string."""
-  return input_string[:1].lower() + input_string[1:]
-
-
-def capitalize(input_string: str) -> str:
-  """Uppercases the first letter of a string."""
-  return input_string[:1].upper() + input_string[1:]
-
-
-def replace_lines_containing_marker(
-    lines: list[str],
-    marker: str,
-    content: list[str],
-) -> list[str]:
-  """Replaces lines containing a specific marker with new content."""
-  for i, line in enumerate(lines):
-    if marker in line:
-      indent = line[: len(line) - len(line.lstrip(" "))]
-      replacement_lines = []
-      for text in content:
-        if text.strip():
-          # Prepend indent to ensure the first replacement line matches the
-          # indentation of the marker and also ensure that text containing
-          # newlines is also indented correctly.
-          # TODO(matijak): This is working around an upstream problem, we should
-          # make it a precondition that content elements do not contain newlines
-          # and fix callers to ensure that.
-          replacement_lines.append(
-              indent + text.replace("\n", f"\n{indent}") + "\n"
-          )
-      return lines[:i] + replacement_lines + lines[i + 1 :]
-  return lines
-
-
-def get_pointer_return_inner_value_type(
-    func: ast_nodes.FunctionDecl,
-) -> ast_nodes.ValueType | None:
-  if not isinstance(func.return_type, ast_nodes.PointerType):
-    return None
-  if not isinstance(func.return_type.inner_type, ast_nodes.ValueType):
-    return None
-  return func.return_type.inner_type
-
-
-def get_inner_value_type(
-    param: ast_nodes.FunctionParameterDecl,
-) -> ast_nodes.ValueType | None:
-  if not isinstance(param.type, (ast_nodes.PointerType, ast_nodes.ArrayType)):
-    return None
-  if not isinstance(param.type.inner_type, ast_nodes.ValueType):
-    return None
-  return param.type.inner_type
-
-
-def is_struct_value_type(
-    t: Union[ast_nodes.ValueType, ast_nodes.ArrayType, ast_nodes.PointerType],
-) -> bool:
-  """Checks if a type is a struct passed by value."""
-  if isinstance(t, ast_nodes.ValueType):
-    return (
-        t.name not in constants.PRIMITIVE_TYPES
-        and t.name != "void"
-        and not t.name.startswith("mjf")
-    )
-  return False
-
-
-def should_be_wrapped(func: ast_nodes.FunctionDecl) -> bool:
-  """Checks if a MuJoCo function needs a wrapper function."""
-  if get_pointer_return_inner_value_type(func):
-    return True
-  if is_struct_value_type(func.return_type):
-    return True
-  for param in func.parameters:
-    if get_inner_value_type(param) or is_struct_value_type(param.type):
-      return True
-  return False
-
-
-def wrapped_struct_name(c_struct_name: str) -> str:
-  """Returns the name of the struct wrapping the given C struct."""
-  return capitalize(c_struct_name)
-
-
-def wrapped_function_name(func: ast_nodes.FunctionDecl) -> str:
-  """Returns the name of the function wrapping the given C function.
-
-  Hard-coded wrappers in the template need changing if the implementation of the
-  wrapped name is changed
-
-  Args:
-    func: The FunctionDecl of function to wrap.
-  """
-  if should_be_wrapped(func):
-    return f"{func.name}_wrapper"
-  return func.name
diff --git a/wasm/codegen/generators/constants.py b/wasm/codegen/generators/constants.py
deleted file mode 100644
index 2ca3a120..00000000
--- a/wasm/codegen/generators/constants.py
+++ /dev/null
@@ -1,748 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Constants used in the code generation process."""
-
-from typing import Dict, Set
-from introspect import structs as introspect_structs
-
-PRIMITIVE_TYPES: Set[str] = {
-    # go/keep-sorted start
-    "char",
-    "double",
-    "float",
-    "int",
-    "int16_t",
-    "int32_t",
-    "int8_t",
-    "mjtBool",
-    "mjtByte",
-    "mjtMeshBuiltin",
-    "mjtNum",
-    "mjtObj",  # Adding this to the primitives because it is used as int,
-    "mjtSize",
-    "size_t",
-    "uint16_t",
-    "uint32_t",
-    "uint64_t",
-    "uint8_t",
-    "uintptr_t",
-    "unsigned char",
-    "unsigned int",
-    "void",
-    # go/keep-sorted end
-}
-
-_SKIPPED_PLUGIN_FUNCTIONS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mj_getPluginConfig",
-    "mj_loadAllPluginLibraries",
-    "mj_loadPluginLibrary",
-    "mjc_distance",
-    "mjc_getSDF",
-    "mjc_gradient",
-    "mjp_defaultDecoder",
-    "mjp_defaultEncoder",
-    "mjp_defaultPlugin",
-    "mjp_defaultResourceProvider",
-    "mjp_findDecoder",
-    "mjp_findEncoder",
-    "mjp_getPlugin",
-    "mjp_getPluginAtSlot",
-    "mjp_getResourceProvider",
-    "mjp_getResourceProviderAtSlot",
-    "mjp_pluginCount",
-    "mjp_registerDecoder",
-    "mjp_registerEncoder",
-    "mjp_registerPlugin",
-    "mjp_registerResourceProvider",
-    "mjp_resourceProviderCount",
-    # go/keep-sorted end
-)
-
-# Functions that are bound as class methods
-_SKIPPED_CLASS_METHODS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mj_addBufferVFS",
-    "mj_copyData",
-    "mj_copyModel",
-    "mj_copySpec",
-    "mj_defaultVFS",
-    "mj_deleteData",
-    "mj_deleteFileVFS",
-    "mj_deleteModel",
-    "mj_deleteSpec",
-    "mj_deleteVFS",
-    "mj_encode",
-    "mj_parse",  # TODO(manevi): Bind this function.
-    "mj_loadModel",
-    "mj_loadXML",
-    "mj_makeData",
-    "mj_makeSpec",
-    "mj_parse",  # TODO(manevi): Bind this function.
-    "mj_parseXML",  # TODO(manevi): Bind this function.
-    "mj_parseXMLString",
-    "mj_recompile",  # TODO(manevi): Bind this function.
-    "mj_saveXML",  # TODO(manevi): Bind this function.
-    "mj_saveXMLString",  # TODO(manevi): Bind this function.
-    # go/keep-sorted end
-)
-
-# Omitted because not very useful
-_SKIPPED_WRITABLE_ERROR: tuple[str, ...] = (
-    "mj_printSchema",
-)
-
-
-# Omitted asset cache functions
-_SKIPPED_ASSET_CACHE_FUNCTIONS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mj_clearCache",
-    "mj_getCache",
-    "mj_getCacheCapacity",
-    "mj_getCacheSize",
-    "mj_setCacheCapacity",
-    # go/keep-sorted end
-)
-
-# Omitted Virtual Filesystem (VFS) functions
-_SKIPPED_VFS_FUNCTIONS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mj_addFileVFS",
-    "mj_containsBufferVFS",
-    "mj_containsFileVFS",
-    "mj_mountVFS",
-    "mj_unmountVFS",
-    # go/keep-sorted end
-)
-
-# Omitted irrelevant visual functions
-_SKIPPED_VISUAL_FUNCTIONS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mjv_averageCamera",
-    "mjv_copyData",
-    "mjv_copyModel",
-    "mjv_defaultScene",
-    "mjv_freeScene",
-    "mjv_makeScene",
-    # go/keep-sorted end
-)
-
-_SKIPPED_MEMORY_FUNCTIONS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mj_freeLastXML",
-    "mj_freeStack",
-    "mj_loadModelBuffer",
-    "mj_markStack",
-    "mj_stackAllocByte",
-    "mj_stackAllocInt",
-    "mj_stackAllocNum",
-    "mj_warning",
-    "mjs_bodyToFrame",
-    "mju_boxQPmalloc",
-    "mju_clearHandlers",
-    "mju_error",
-    "mju_free",
-    "mju_malloc",
-    "mju_setLogHandler",
-    "mju_strncpy",
-    "mju_warning",
-    # go/keep-sorted end
-)
-
-_SKIPPED_GETTERS_AND_SETTERS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mjs_appendFloatVec",
-    "mjs_appendIntVec",
-    "mjs_appendString",
-    "mjs_getDouble",
-    "mjs_getPluginAttributes",
-    "mjs_getString",
-    "mjs_getTimer",
-    "mjs_getUserValue",
-    "mjs_setBuffer",
-    "mjs_setDouble",
-    "mjs_setFloat",
-    "mjs_setInStringVec",
-    "mjs_setInt",
-    "mjs_setPluginAttributes",
-    "mjs_setString",
-    "mjs_setStringVec",
-    "mjs_setUserValue",
-    # go/keep-sorted end
-)
-
-_SKIPPED_UTILITY_FUNCTIONS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mj_readSensor",
-    "mju_closeResource",
-    "mju_decodeResource",
-    "mju_getResourceDir",
-    "mju_getXMLDependencies",
-    "mju_isModifiedResource",
-    "mju_openResource",
-    "mju_readResource",
-    "mju_writeResource",
-    # go/keep-sorted end
-)
-
-# List of functions that should be skipped during the code generation process.
-SKIPPED_FUNCTIONS: tuple[str, ...] = (
-    _SKIPPED_CLASS_METHODS
-    + _SKIPPED_MEMORY_FUNCTIONS
-    + _SKIPPED_PLUGIN_FUNCTIONS
-    + _SKIPPED_GETTERS_AND_SETTERS
-    + _SKIPPED_VISUAL_FUNCTIONS
-    + _SKIPPED_ASSET_CACHE_FUNCTIONS
-    + _SKIPPED_VFS_FUNCTIONS
-    + _SKIPPED_WRITABLE_ERROR
-    + _SKIPPED_UTILITY_FUNCTIONS
-)
-
-# List of structs that should be skipped during the code generation process.
-SKIPPED_STRUCTS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mjCache",
-    "mjSDF",
-    "mjUI",
-    "mjVFS",
-    "mjrContext",
-    "mjrRendererInfo",
-    "mjrRect",
-    "mjrVertexAttribute",
-    "mjuiDef",
-    "mjuiItem",
-    "mjuiSection",
-    "mjuiState",
-    "mjuiThemeColor",
-    "mjuiThemeSpacing"
-    # go/keep-sorted end
-)
-
-# Functions that require special wrappers.
-# These functions are not bound automatically but are written by hand instead.
-MANUAL_WRAPPER_FUNCTIONS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mj_compile",
-    "mj_saveLastXML",
-    "mj_saveModel",
-    "mj_setLengthRange",
-    "mju_error",
-    "mju_info",
-    # go/keep-sorted end
-)
-
-# Structs for which header generation is done manually.
-# mjvScene is included here because buffer sizes need to be calculated based on
-# introspect doc strings, which was considered a brittle unreliable solution in
-# the past.
-MANUAL_STRUCTS_HEADERS: tuple[str, ...] = (
-    "mjvScene",
-    "mjVFS",
-)
-# Structs for which source code generation is done manually.
-MANUAL_STRUCTS_SOURCES: tuple[str, ...] = (
-    "mjData",
-    "mjModel",
-    "mjvScene",
-    "mjSpec",
-)
-
-# Dictionary that maps anonymous structs to their parent struct and field name.
-# Anonymous structs are not defined as independent structs in the MuJoCo
-# codebase, but they are part of other structs. This dictionary is used to
-# handle them as if they were independent structs.
-ANONYMOUS_STRUCTS: Dict[str, Dict[str, str]] = {
-    # go/keep-sorted start
-    "mjVisualGlobal": {"parent": "mjVisual", "field_name": "global"},
-    "mjVisualHeadlight": {"parent": "mjVisual", "field_name": "headlight"},
-    "mjVisualMap": {"parent": "mjVisual", "field_name": "map"},
-    "mjVisualQuality": {"parent": "mjVisual", "field_name": "quality"},
-    "mjVisualRgba": {"parent": "mjVisual", "field_name": "rgba"},
-    "mjVisualScale": {"parent": "mjVisual", "field_name": "scale"},
-    # go/keep-sorted end
-}
-
-# This list is created by subtracting the skipped structs from the list of all
-# structs and adding the anonymous structs.
-STRUCTS_TO_BIND: list[str] = list(
-    set(introspect_structs.STRUCTS.keys())
-    .union(ANONYMOUS_STRUCTS.keys())
-    .difference(set(SKIPPED_STRUCTS))
-)
-
-# List of structs that do not have a default constructor.
-NO_DEFAULT_CONSTRUCTORS: tuple[str, ...] = (
-    # go/keep-sorted start
-    "mjContact",
-    "mjLogConfig",
-    "mjLogMessage",
-    "mjPreContact",
-    "mjSolverStat",
-    "mjStatistic",
-    "mjTimerStat",
-    "mjWarningStat",
-    "mjsCompiler",
-    "mjsDefault",
-    "mjsElement",
-    "mjsExclude",
-    "mjsWrap",
-    "mjvGLCamera",
-    "mjvLight",
-    # go/keep-sorted end
-)
-
-# List of `mjData` fields where the array size should be obtained from other
-# `mjData` members, instead of from `mjModel` members. This is typically the
-# case for fields that are dynamically allocated during the simulation.
-MJDATA_SIZES: tuple[str, ...] = (
-    # go/keep-sorted start
-    "contact",
-    "efc_AR",
-    "efc_AR_colind",
-    "efc_AR_rowadr",
-    "efc_AR_rownnz",
-    "efc_Y",
-    "efc_Y_colind",
-    "efc_Y_rowadr",
-    "efc_Y_rownnz",
-    "efc_D",
-    "efc_J",
-    "efc_JT",
-    "efc_JT_colind",
-    "efc_J_colind",
-    "efc_J_rowadr",
-    "efc_J_rownnz",
-    "efc_J_rowsuper",
-    "efc_KBIP",
-    "efc_R",
-    "efc_aref",
-    "efc_b",
-    "efc_diagA",
-    "efc_force",
-    "efc_frictionloss",
-    "efc_id",
-    "efc_island",
-    "efc_margin",
-    "efc_pos",
-    "efc_state",
-    "efc_type",
-    "efc_vel",
-    "efm_K_colind",
-    "efm_K_val",
-    "efm_dofid",
-    "efm_L",
-    "iLDiagInv",
-    "iM_rowadr",
-    "iM_rownnz",
-    "iacc",
-    "iacc_smooth",
-    "iefc_D",
-    "iefc_J",
-    "iefc_JT",
-    "iefc_JT_colind",
-    "iefc_JT_rowadr",
-    "iefc_JT_rownnz",
-    "iefc_JT_rowsuper",
-    "iefc_J_colind",
-    "iefc_J_rowadr",
-    "iefc_J_rownnz",
-    "iefc_J_rowsuper",
-    "iefc_R",
-    "iefc_aref",
-    "iefc_force",
-    "iefc_frictionloss",
-    "iefc_id",
-    "iefc_state",
-    "iefc_type",
-    "ifrc_constraint",
-    "ifrc_smooth",
-    "island_dofadr",
-    "island_dofnum",
-    "island_efcadr",
-    "island_efcind",
-    "island_efcnum",
-    "island_idofadr",
-    "island_iefcadr",
-    "island_itreeadr",
-    "island_ne",
-    "island_nefc",
-    "island_nf",
-    "island_ntree",
-    "island_nv",
-    "map_efc2iefc",
-    "map_iefc2efc",
-    # go/keep-sorted end
-)
-
-# Fields that should be entirely omitted from the bindings.
-SKIPPED_FIELDS: Dict[str, list[str]] = {}
-
-# Fields handled manually in template file struct declaration.
-MANUAL_FIELDS: Dict[str, list[str]] = {
-    # go/keep-sorted start
-    "MjData": ["contact"],
-    "MjvScene": [
-        # go/keep-sorted start
-        "camera",
-        "flexedge",
-        "flexedgeadr",
-        "flexedgenum",
-        "flexface",
-        "flexfaceadr",
-        "flexfacenum",
-        "flexfaceused",
-        "flexnormal",
-        "flextexcoord",
-        "flexvert",
-        "flexvertadr",
-        "flexvertnum",
-        "geomorder",
-        "geoms",
-        "lights",
-        "model",
-        "skinfacenum",
-        "skinnormal",
-        "skinvert",
-        "skinvertadr",
-        "skinvertnum",
-        # go/keep-sorted end
-    ],
-    # go/keep-sorted end
-}
-
-# Dictionary that maps byte array fields to their corresponding size members.
-# When generating the code for these fields, a specific cast to `uint8_t*` is
-# required for embind. This dictionary is used to register those fields and
-# their sizes.
-BYTE_FIELDS: Dict[str, Dict[str, str]] = {
-    "buffer": {"size": "nbuffer"},
-    "arena": {"size": "narena"},
-}
-
-# pyformat: disable
-# Dictionary mapping function names to their boundcheck code.
-FUNCTION_BOUNDS_CHECKS: Dict[str, str] = {
-    "mj_solveM": """
-  CHECK_SIZES(x, y);
-  CHECK_DIVISIBLE(x, m.nv());
-  int n = x_div.quot;
-    """.strip(),
-    "mj_solveM2": """
-  CHECK_SIZES(x, y);
-  CHECK_SIZE(sqrtInvD, m.nv());
-  CHECK_DIVISIBLE(x, m.nv());
-  int n = x_div.quot;
-    """.strip(),
-    "mju_add": """
-  CHECK_SIZES(res, vec1);
-  CHECK_SIZES(res, vec2);
-  int n = res_.size();
-    """.strip(),
-    "mju_addScl": """
-  CHECK_SIZES(res, vec1);
-  CHECK_SIZES(res, vec2);
-  int n = res_.size();
-    """.strip(),
-    "mju_addTo": """
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-    """.strip(),
-    "mju_addToScl": """
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-    """.strip(),
-    "mju_boxQP": """
-  CHECK_SIZES(lower, res);
-  CHECK_SIZES(upper, res);
-  CHECK_SIZES(index, res);
-  CHECK_SIZE(R, res_.size() * (res_.size() + 7))
-  CHECK_PERFECT_SQUARE(H);
-  CHECK_SIZES(g, res);
-  int n = res_.size();
-    """.strip(),
-    "mju_cholFactor": """
-  CHECK_PERFECT_SQUARE(mat);
-  int n = mat_sqrt;
-    """.strip(),
-    "mju_cholSolve": """
-  CHECK_PERFECT_SQUARE(mat);
-  CHECK_SIZE(res, mat_sqrt);
-  CHECK_SIZE(vec, mat_sqrt);
-  int n = mat_sqrt;
-    """.strip(),
-    "mju_cholUpdate": """
-  CHECK_PERFECT_SQUARE(mat);
-  CHECK_SIZE(x, mat_sqrt);
-  int n = mat_sqrt;
-    """.strip(),
-    "mju_copy": """
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-    """.strip(),
-    "mju_d2n": """
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-    """.strip(),
-    "mju_decodePyramid": """
-  CHECK_SIZE(pyramid, 2 * mu_.size());
-  CHECK_SIZE(force, mu_.size() + 1);
-  int dim = mu_.size();
-    """.strip(),
-    "mju_dot": """
-  CHECK_SIZES(vec1, vec2);
-  int n = vec1_.size();
-    """.strip(),
-    "mju_encodePyramid": """
-  CHECK_SIZE(pyramid, 2 * mu_.size());
-  CHECK_SIZE(force, mu_.size() + 1);
-  int dim = mu_.size();
-    """.strip(),
-    "mju_eye": """
-  CHECK_PERFECT_SQUARE(mat);
-  int n = mat_sqrt;
-    """.strip(),
-    "mju_f2n": """
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-    """.strip(),
-    "mju_mulVecMatVec": """
-  CHECK_SIZES(vec1, vec2);
-  CHECK_SIZE(mat, vec1_.size() * vec2_.size());
-  int n = vec1_.size();
-    """.strip(),
-    "mju_n2d": """
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-    """.strip(),
-    "mju_n2f": """
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-    """.strip(),
-    "mju_printMatSparse": """
-  CHECK_SIZES(rownnz, rowadr);
-  int nr = rowadr_.size();
-    """.strip(),
-    "mju_scl": """
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-    """.strip(),
-    "mju_sub": """
-  CHECK_SIZES(res, vec1);
-  CHECK_SIZES(res, vec2);
-  int n = res_.size();
-    """.strip(),
-    "mju_subFrom": """
-  CHECK_SIZES(res, vec);
-  int n = res_.size();
-    """.strip(),
-    "mju_insertionSort": "int n = list_.size();",
-    "mju_insertionSortInt": "int n = list_.size();",
-    "mju_fill": "int n = res_.size();",
-    "mju_dense2sparse": """
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(rownnz, nr);
-  CHECK_SIZE(rowadr, nr);
-  CHECK_SIZE(colind, res_.size());
-  int nnz = res_.size();
-    """.strip(),
-    "mj_addM": """
-  CHECK_SIZE(rownnz, m.nv());
-  CHECK_SIZE(rowadr, m.nv());
-  CHECK_SIZE(colind, m.nM());
-  CHECK_SIZE(dst, m.nM());
-    """.strip(),
-    "mj_angmomMat": """
-  CHECK_SIZE(mat, m.nv() * 3);
-    """.strip(),
-    "mj_applyFT": """
-  CHECK_SIZE(qfrc_target, m.nv());
-  CHECK_SIZE(force, 3);
-  CHECK_SIZE(torque, 3);
-  CHECK_SIZE(point, 3);
-    """.strip(),
-    "mj_constraintUpdate": """
-  CHECK_SIZE(cost, 1);
-  CHECK_SIZE(jar, d.nefc());
-    """.strip(),
-    "mj_differentiatePos": """
-  CHECK_SIZE(qvel, m.nv());
-  CHECK_SIZE(qpos1, m.nq());
-  CHECK_SIZE(qpos2, m.nq());
-    """.strip(),
-    "mj_fullM": """
-  CHECK_SIZE(dst, m.nv() * m.nv());
-    """.strip(),
-    "mj_geomDistance": """
-  CHECK_SIZE(fromto, 6);
-    """.strip(),
-    "mj_getState": """
-  CHECK_SIZE(state, mj_stateSize(m.get(), sig));
-    """.strip(),
-    "mj_integratePos": """
-  CHECK_SIZE(qpos, m.nq());
-  CHECK_SIZE(qvel, m.nv());
-    """.strip(),
-    "mj_jac": """
-  CHECK_SIZE(point, 3);
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-    """.strip(),
-    "mj_jacBody": """
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-    """.strip(),
-    "mj_jacBodyCom": """
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-    """.strip(),
-    "mj_jacDot": """
-  CHECK_SIZE(point, 3);
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-    """.strip(),
-    "mj_jacGeom": """
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-    """.strip(),
-    "mj_jacPointAxis": """
-  CHECK_SIZE(point, 3);
-  CHECK_SIZE(axis, 3);
-  CHECK_SIZE(jacPoint, m.nv() * 3);
-  CHECK_SIZE(jacAxis, m.nv() * 3);
-    """.strip(),
-    "mj_jacSite": """
-  CHECK_SIZE(jacp, m.nv() * 3);
-  CHECK_SIZE(jacr, m.nv() * 3);
-    """.strip(),
-    "mj_jacSubtreeCom": """
-  CHECK_SIZE(jacp, m.nv() * 3);
-    """.strip(),
-    "mj_mulJacTVec": """
-  CHECK_SIZE(res, m.nv());
-  CHECK_SIZE(vec, d.nefc());
-    """.strip(),
-    "mj_mulJacVec": """
-  CHECK_SIZE(res, d.nefc());
-  CHECK_SIZE(vec, m.nv());
-    """.strip(),
-    "mj_mulM": """
-  CHECK_SIZE(res, m.nv());
-  CHECK_SIZE(vec, m.nv());
-    """.strip(),
-    "mj_mulM2": """
-  CHECK_SIZE(res, m.nv());
-  CHECK_SIZE(vec, m.nv());
-    """.strip(),
-    "mj_multiRay": """
-  CHECK_SIZE(dist, nray);
-  CHECK_SIZE(geomid, nray);
-  CHECK_SIZE(vec, 3 * nray);
-    """.strip(),
-    "mj_normalizeQuat": """
-  CHECK_SIZE(qpos, m.nq());
-    """.strip(),
-    "mj_rne": """
-  CHECK_SIZE(result, m.nv());
-    """.strip(),
-    "mj_setState": """
-  CHECK_SIZE(state, mj_stateSize(m.get(), sig));
-    """.strip(),
-    "mjd_inverseFD": """
-  CHECK_SIZE(DfDq, m.nv() * m.nv());
-  CHECK_SIZE(DfDv, m.nv() * m.nv());
-  CHECK_SIZE(DfDa, m.nv() * m.nv());
-  CHECK_SIZE(DsDq, m.nv() * m.nsensordata());
-  CHECK_SIZE(DsDv, m.nv() * m.nsensordata());
-  CHECK_SIZE(DsDa, m.nv() * m.nsensordata());
-  CHECK_SIZE(DmDq, m.nv() * m.nC());
-    """.strip(),
-    "mjd_subQuat": """
-  CHECK_SIZE(qa, 4);
-  CHECK_SIZE(qb, 4);
-  CHECK_SIZE(Da, 9);
-  CHECK_SIZE(Db, 9);
-    """.strip(),
-    "mjd_transitionFD": """
-  CHECK_SIZE(A, (2 * m.nv() + m.na()) * (2 * m.nv() + m.na()));
-  CHECK_SIZE(B, (2 * m.nv() + m.na()) * m.nu());
-  CHECK_SIZE(C, m.nsensordata() * (2 * m.nv() + m.na()));
-  CHECK_SIZE(D, m.nsensordata() * m.nu());
-    """.strip(),
-    "mju_band2Dense": """
-  CHECK_SIZE(mat, (ntotal - ndense) * nband + ndense * ntotal);
-  CHECK_SIZE(res, ntotal * ntotal);
-    """.strip(),
-    "mju_bandMulMatVec": """
-  CHECK_SIZE(mat, (ntotal - ndense) * nband + ndense * ntotal);
-  CHECK_SIZE(res, ntotal * nvec);
-  CHECK_SIZE(vec, ntotal * nvec);
-    """.strip(),
-    "mju_cholFactorBand": """
-  CHECK_SIZE(mat, (ntotal - ndense) * nband + ndense * ntotal);
-    """.strip(),
-    "mju_cholSolveBand": """
-  CHECK_SIZE(mat, (ntotal - ndense) * nband + ndense * ntotal);
-  CHECK_SIZE(res, ntotal);
-  CHECK_SIZE(vec, ntotal);
-    """.strip(),
-    "mju_dense2Band": """
-  CHECK_SIZE(mat, ntotal * ntotal);
-  CHECK_SIZE(res, (ntotal - ndense) * nband + ndense * ntotal);
-    """.strip(),
-    "mju_mulMatMat": """
-  CHECK_SIZE(res, r1 * c2);
-  CHECK_SIZE(mat1, r1 * c1);
-  CHECK_SIZE(mat2, c1 * c2);
-    """.strip(),
-    "mju_mulMatMatT": """
-  CHECK_SIZE(res, r1 * r2);
-  CHECK_SIZE(mat1, r1 * c1);
-  CHECK_SIZE(mat2, r2 * c1);
-    """.strip(),
-    "mju_mulMatTMat": """
-  CHECK_SIZE(res, c1 * c2);
-  CHECK_SIZE(mat1, r1 * c1);
-  CHECK_SIZE(mat2, r1 * c2);
-    """.strip(),
-    "mju_mulMatTVec": """
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(res, nc);
-  CHECK_SIZE(vec, nr);
-    """.strip(),
-    "mju_mulMatVec": """
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(res, nr);
-  CHECK_SIZE(vec, nc);
-    """.strip(),
-    "mju_sparse2dense": """
-  CHECK_SIZE(res, nr * nc);
-  CHECK_SIZE(rownnz, nr);
-  CHECK_SIZE(rowadr, nr);
-    """.strip(),
-    "mju_sqrMatTD": """
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(res, nc * nc);
-  CHECK_SIZE(diag, nr);
-    """.strip(),
-    "mju_symmetrize": """
-  CHECK_SIZE(mat, n * n);
-  CHECK_SIZE(res, n * n);
-    """.strip(),
-    "mju_transpose": """
-  CHECK_SIZE(mat, nr * nc);
-  CHECK_SIZE(res, nr * nc);
-    """.strip(),
-}
-# pyformat: enable
diff --git a/wasm/codegen/generators/enums.py b/wasm/codegen/generators/enums.py
deleted file mode 100644
index d1cf2abb..00000000
--- a/wasm/codegen/generators/enums.py
+++ /dev/null
@@ -1,37 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Generates Embind bindings for MuJoCo enums."""
-
-from mujoco.codegen import code_builder
-from introspect import ast_nodes
-
-
-def generate(
-    enums: list[ast_nodes.EnumDecl],
-) -> list[tuple[str, list[str]]]:
-  """Generates all Embind code for the provided enums."""
-
-  builder = code_builder.CodeBuilder()
-  for e in sorted(enums, key=lambda e: e.name):
-    if e.values:  # Skip empty enums.
-      with builder.block(f'enum_<{e.name}>("{e.name}")', braces=False):
-        names = list(e.values.keys())
-        for name in names[:-1]:
-          builder.line(f'.value("{name}", {name})')
-        builder.line(f'.value("{names[-1]}", {names[-1]});')
-
-  content = builder.to_string()
-  marker = '// {{ ENUM_BINDINGS }}'
-  return [(marker, [content])]
diff --git a/wasm/codegen/generators/functions.py b/wasm/codegen/generators/functions.py
deleted file mode 100644
index 72adf1f1..00000000
--- a/wasm/codegen/generators/functions.py
+++ /dev/null
@@ -1,304 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Helper functions for processing and generating bindings for MuJoCo functions."""
-
-from typing import Tuple, cast
-
-from mujoco.codegen import code_builder
-from introspect import ast_nodes
-
-from wasm.codegen.generators import common
-from wasm.codegen.generators import constants
-
-
-def param_is_primitive_value(param: ast_nodes.FunctionParameterDecl) -> bool:
-  """Checks if param is a primitive value type."""
-  if isinstance(param.type, ast_nodes.ValueType):
-    return param.type.name in constants.PRIMITIVE_TYPES
-  return False
-
-
-def get_const_qualifier(func: ast_nodes.FunctionDecl) -> str:
-  """Returns the const qualifier of func's return type."""
-  inner_type = common.get_pointer_return_inner_value_type(func)
-  if inner_type and inner_type.is_const:
-    return "const "
-  return ""
-
-
-def generate_function_wrapper(func: ast_nodes.FunctionDecl) -> str:
-  """Generates C++ code for a wrapper function."""
-
-  bound_check_code = constants.FUNCTION_BOUNDS_CHECKS.get(func.name, "")
-  wrapper_parameters = [
-      p for p in func.parameters if f"{p.name} = " not in bound_check_code
-  ]
-  wrapper_params = ", ".join([get_param_string(p) for p in wrapper_parameters])
-  ret_type = get_compatible_return_type(func)
-  builder = code_builder.CodeBuilder()
-  w = common.wrapped_function_name(func)
-  with builder.function(f"{ret_type} {w}({wrapper_params})"):
-
-    for p in wrapper_parameters:
-      if c_notnullable := get_param_notnullable(p):
-        builder.line(f"CHECK_VAL({c_notnullable});")
-
-    for p in wrapper_parameters:
-      if c_unpack := get_param_unpack_statement(p):
-        builder.line(c_unpack)
-
-    if bound_check_code:
-      builder.line(bound_check_code)
-
-    for line in get_compatible_return_code(func).splitlines():
-      builder.line(line)
-
-  return builder.to_string()
-
-
-def get_param_notnullable(
-    p: ast_nodes.FunctionParameterDecl,
-) -> str:
-  """Generates list of param names for checking if they aren't null/undefined."""
-
-  if (
-      isinstance(p.type, (ast_nodes.PointerType, ast_nodes.ArrayType))
-      and isinstance(p.type.inner_type, ast_nodes.ValueType)
-      # We only check for char because others are checked in the unpacker
-      # and we don't want to check twice.
-      and p.type.inner_type.name == "char"
-      and not p.nullable
-  ):
-    return p.name
-  return ""
-
-
-def get_param_unpack_statement(
-    p: ast_nodes.FunctionParameterDecl,
-) -> str:
-  """Generates C++ statements to unpack JS values for pointer/array parameters."""
-
-  inner_type = common.get_inner_value_type(p)
-  if not inner_type:
-    return ""
-
-  if inner_type.name not in constants.PRIMITIVE_TYPES:
-    return ""
-
-  if inner_type.name == "char":
-    # param is Javascript string
-    return ""
-  if inner_type.is_const:
-    # param is Javascript number[]
-    if p.nullable:
-      return f"UNPACK_NULLABLE_ARRAY({inner_type.name}, {p.name});"
-    else:
-      return f"UNPACK_ARRAY({inner_type.name}, {p.name});"
-  else:
-    # param is TypedArray or a WasmBuffer
-    if p.nullable:
-      return f"UNPACK_NULLABLE_VALUE({inner_type.name}, {p.name});"
-    else:
-      return f"UNPACK_VALUE({inner_type.name}, {p.name});"
-
-
-def get_param_string(p: ast_nodes.FunctionParameterDecl) -> str:
-  """Generates a list of C++ parameter declarations as strings."""
-
-  if (
-      isinstance(p.type, ast_nodes.PointerType)
-      and isinstance(p.type.inner_type, ast_nodes.ValueType)
-      and p.type.inner_type.name not in constants.PRIMITIVE_TYPES
-  ):
-    # Pointer to struct parameters
-    const_qualifier = "const " if p.type.inner_type.is_const else ""
-    return (
-        f"{const_qualifier}{common.capitalize(p.type.inner_type.name)}&"
-        f" {p.name}"
-    )
-  elif (
-      isinstance(p.type, ast_nodes.ValueType)
-      and p.type.name in constants.PRIMITIVE_TYPES
-  ):
-    # Primitive value parameters
-    const_qualifier = "const " if p.type.is_const else ""
-    return f"{const_qualifier}{p.type} {p.name}"
-  elif (
-      isinstance(p.type, (ast_nodes.PointerType, ast_nodes.ArrayType))
-      and isinstance(p.type.inner_type, ast_nodes.ValueType)
-      and p.type.inner_type.name in constants.PRIMITIVE_TYPES
-  ):
-    # Pointer to primitive value parameters or arrays
-    if p.type.inner_type.name == "char":
-      if p.nullable:
-        return f"const StringOrNull& {p.name}"
-      else:
-        return f"const String& {p.name}"
-    elif (
-        p.type.inner_type.name
-        in ["int", "float", "double", "mjtNum", "mjtByte", "mjtBool"]
-        and p.type.inner_type.is_const
-    ):
-      return f"const NumberArray& {p.name}"
-    else:
-      return f"const val& {p.name}"
-  elif common.is_struct_value_type(p.type):
-    # Struct by value parameters
-    value_type = cast(ast_nodes.ValueType, p.type)
-    const_qualifier = "const " if value_type.is_const else "const "
-    return (
-        f"{const_qualifier}{common.capitalize(value_type.name)}&"
-        f" {p.name}"
-    )
-  else:
-    # This case should ideally not be reached if AST is well-formed
-    # and types are categorized by the helper booleans correctly.
-    raise TypeError(
-        "Unable to generate param string. Unhandled parameter type:"
-        f" {p.type} for param '{p.name}'"
-    )
-
-
-def get_params_string_maybe_with_conversion(
-    ast_params: Tuple[ast_nodes.FunctionParameterDecl, ...],
-) -> str:
-  """Generates C++ expressions for passing compatible params from JS to MuJoCo C-API functions."""
-
-  native_params = []
-  for p in ast_params:
-    if inner_type := common.get_inner_value_type(p):
-      if inner_type.name in constants.PRIMITIVE_TYPES:
-        if inner_type.name == "char":
-          const_qualifier = "const " if inner_type.is_const else ""
-          native_params.append(
-              f"{p.name}.as<{const_qualifier}std::string>().data()"
-          )
-        else:
-          native_params.append(f"{p.name}_.data()")
-      else:  # struct
-        native_params.append(f"{p.name}.get()")
-    elif param_is_primitive_value(p):
-      native_params.append(p.name)
-    elif common.is_struct_value_type(p.type):
-      native_params.append(f"*{p.name}.get()")
-    else:
-      raise TypeError(
-          f"Unhandled parameter type for conversion: {p.type} for param"
-          f" '{p.name}'"
-      )
-  return ", ".join(native_params)
-
-
-def get_compatible_return_code(func: ast_nodes.FunctionDecl) -> str:
-  """Generates embind compatible return value conversion."""
-  c_params = get_params_string_maybe_with_conversion(func.parameters)
-  c_call = f"{func.name}({c_params})"
-
-  if isinstance(func.return_type, ast_nodes.ValueType):
-    if func.return_type.name == "void":
-      return f"{c_call};"
-    if func.return_type.name in constants.PRIMITIVE_TYPES:
-      return f"return {c_call};"
-    if common.is_struct_value_type(func.return_type):
-      struct_name = func.return_type.name
-      w = common.wrapped_struct_name(struct_name)
-      builder = code_builder.CodeBuilder()
-      builder.line(f"{w} result;")
-      builder.line(f"*result.get() = {c_call};")
-      builder.line("return result;")
-      return builder.to_string()
-
-  if inner_type := common.get_pointer_return_inner_value_type(func):
-    if inner_type.name == "char":
-      return f"return std::string({c_call});"
-    elif inner_type.name == "mjString":
-      return f"return *{c_call};"
-    elif inner_type.name not in constants.PRIMITIVE_TYPES:
-      return get_optional_return_code(func, c_call)
-
-  raise RuntimeError(
-      "Failed to calculate return value conversion for function"
-      f" {func.name} that returns '{func.return_type}'"
-  )
-
-
-def get_compatible_return_type(func: ast_nodes.FunctionDecl) -> str:
-  """Creates embind compatible return type."""
-
-  if inner_type := common.get_pointer_return_inner_value_type(func):
-    if inner_type.name in ["char", "mjString"]:
-      return "std::string"
-    if inner_type.name not in constants.PRIMITIVE_TYPES:
-      const_qualifier = get_const_qualifier(func)
-      return f"""{const_qualifier}std::optional<{common.capitalize(inner_type.name)}>"""
-  if (
-      isinstance(func.return_type, ast_nodes.ValueType)
-      and func.return_type.name in constants.PRIMITIVE_TYPES
-  ):
-    return f"{func.return_type.name}"
-  if common.is_struct_value_type(func.return_type):
-    return_type = cast(ast_nodes.ValueType, func.return_type)
-    return common.wrapped_struct_name(return_type.name)
-  return "val"
-
-
-def get_optional_return_code(
-    func: ast_nodes.FunctionDecl, c_call: str
-) -> str:
-  """Generates code to return std::optional of the wrapped struct."""
-
-  const_qualifier = get_const_qualifier(func)
-  return_type = cast(ast_nodes.PointerType, func.return_type)
-  struct_name = cast(ast_nodes.ValueType, return_type.inner_type).name
-
-  builder = code_builder.CodeBuilder()
-  builder.line(f"{const_qualifier}{struct_name}* result = {c_call};")
-  with builder.block("if (result == nullptr)"):
-    builder.line("return std::nullopt;")
-  builder.line(f"return {common.wrapped_struct_name(struct_name)}(result);")
-
-  return builder.to_string()
-
-
-def is_excluded_function_name(func_name: str) -> bool:
-  """Checks if a function name should be excluded from direct binding."""
-  return (
-      func_name.startswith(("mjr_", "mjui_"))
-      or func_name in constants.SKIPPED_FUNCTIONS
-  )
-
-
-def generate(
-    functions: list[ast_nodes.FunctionDecl],
-) -> list[tuple[str, list[str]]]:
-  """Generates Embind bindings for MuJoCo functions."""
-  wrapper_functions = []
-  for func in sorted(functions, key=lambda f: f.name):
-    if common.should_be_wrapped(func):
-      if func.name not in constants.MANUAL_WRAPPER_FUNCTIONS:
-        wrapper_functions.append(generate_function_wrapper(func))
-  wrapper_content = "\n\n".join(wrapper_functions)
-
-  function_bindings = []
-  for func in sorted(functions, key=lambda f: f.name):
-    if func.name not in constants.MANUAL_WRAPPER_FUNCTIONS:
-      w = common.wrapped_function_name(func)
-      function_bindings.append(f'function("{func.name}", &{w});')
-  bindings_content = "\n".join(function_bindings)
-
-  return [
-      ("// {{ WRAPPER_FUNCTIONS }}", [wrapper_content]),
-      ("// {{ FUNCTION_BINDINGS }}", [bindings_content]),
-  ]
diff --git a/wasm/codegen/generators/structs.py b/wasm/codegen/generators/structs.py
deleted file mode 100644
index b803f5c7..00000000
--- a/wasm/codegen/generators/structs.py
+++ /dev/null
@@ -1,896 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Generates Embind bindings for MuJoCo structs."""
-
-import collections
-import dataclasses
-import math
-from typing import Tuple, Union, cast
-
-from mujoco.codegen import code_builder
-from introspect import ast_nodes
-from introspect import functions as introspect_functions
-from introspect import structs as introspect_structs
-
-from wasm.codegen.generators import common
-from wasm.codegen.generators import constants
-
-
-@dataclasses.dataclass
-class WrappedFieldData:
-  """Data class for struct field definition and binding."""
-
-  # Line for struct field binding
-  binding: str = ""
-
-  # Line for struct field declaration
-  declaration: str = ""
-
-  # Used for constructor fields that are class types and need to be initialized
-  # with a pointer to the corresponding member in the native struct
-  # (e.g., "alt(&ptr_->alt)").
-  ptr_initialization: str = ""
-
-  # Statement to reset the inner pointer when copying the field
-  ptr_copy_reset: str = ""
-
-  # Whether the field is a primitive or fixed size
-  is_primitive_or_fixed_size: bool = False
-
-  # Underlying type of the field. If non-empty, used to determine the order in
-  # which structs are written in the bindings.h file.
-  typename: str = ""
-
-
-def _get_property_binding(
-    field: ast_nodes.StructFieldDecl,
-    struct_wrapper_name: str,
-    setter: bool = False,
-    reference: bool = False,
-) -> str:
-  """Builds the C++ code for a simple property binding."""
-  f = field
-  w = struct_wrapper_name
-  setter_txt = f", &{w}::set_{f.name}" if setter else ""
-  reference_txt = ", reference()" if reference else ""
-  return f'.property("{f.name}", &{w}::{f.name}{setter_txt}{reference_txt})'
-
-
-def _generate_field_data(
-    field: ast_nodes.StructFieldDecl, struct_wrapper_name: str
-) -> WrappedFieldData:
-  """Generates the C++ definition and binding code for the struct field."""
-  f = field
-  w = struct_wrapper_name
-  s = common.decapitalize(w)
-
-  if f.name in constants.MANUAL_FIELDS.get(w, []):
-    # Note: Manually handled MjModel fields are special cased so that a
-    # by-reference embind return value policy is used.
-    return WrappedFieldData(
-        typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-        declaration=f"// {f.name} field is handled manually in template file struct declaration",  # pylint: disable=line-too-long
-        binding=_get_property_binding(f, w, reference=(w == "MjModel")),
-    )
-
-  if f.name in constants.SKIPPED_FIELDS.get(w, []):
-    return WrappedFieldData(
-        typename="",
-        declaration=f"// {f.name} field is skipped.",
-        binding=f"// {f.name} field is skipped.",
-    )
-
-  if isinstance(f.type, ast_nodes.ValueType) and (
-      f.type.name in constants.PRIMITIVE_TYPES or f.type.name.startswith("mjt")
-  ):
-
-    builder = code_builder.CodeBuilder()
-
-    # `mjtSize` is a 64-bit signed integer type and would be represented in
-    # JS/TS a `bigint` because it doesn't fit in the number primitive (a 64-bit
-    # float). By casting int, we avoid "TS2345: Argument of type 'bigint' is not
-    # assignable to parameter of type 'number'" errors.
-    if f.type.name == "mjtSize":
-      with builder.function(f"int {f.name}() const"):
-        builder.line(f"return static_cast<int>(ptr_->{f.name});")
-      with builder.function(f"void set_{f.name}(int value)"):
-        builder.line(f"ptr_->{f.name} = static_cast<mjtSize>(value);")
-    else:
-      with builder.function(f"{f.type.name} {f.name}() const"):
-        builder.line(f"return ptr_->{f.name};")
-      with builder.function(f"void set_{f.name}({f.type.name} value)"):
-        builder.line(f"ptr_->{f.name} = value;")
-
-    return WrappedFieldData(
-        declaration=builder.to_string(),
-        typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-        binding=_get_property_binding(f, w, setter=True, reference=True),
-        is_primitive_or_fixed_size=True,
-    )
-
-  elif isinstance(f.type, ast_nodes.ValueType) and f.type.name.startswith("mj"):
-    return WrappedFieldData(
-        declaration=f"{common.capitalize(f.type.name)} {f.name};",
-        typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-        binding=_get_property_binding(f, w, setter=False, reference=True),
-        ptr_initialization=f"{f.name}(&ptr_->{f.name})",
-        ptr_copy_reset=f"{f.name}.set(&ptr_->{f.name});",
-        is_primitive_or_fixed_size=True,
-    )
-
-  elif isinstance(f.type, ast_nodes.AnonymousStructDecl):
-    anonymous_struct_name = _get_field_struct_type(f, s)
-    return WrappedFieldData(
-        binding=_get_property_binding(f, w, setter=False, reference=True),
-        typename=anonymous_struct_name,  # pyrefly: ignore[bad-argument-type]
-        declaration=(
-            f"{common.wrapped_struct_name(anonymous_struct_name)} {f.name};"  # pyrefly: ignore[bad-argument-type]
-        ),
-        ptr_initialization=f"{f.name}(&ptr_->{f.name})",
-        ptr_copy_reset=f"{f.name}.set(&ptr_->{f.name});",
-        is_primitive_or_fixed_size=True,
-    )
-
-  elif isinstance(f.type, ast_nodes.ArrayType):
-
-    inner_type = f.type.inner_type
-    size = math.prod(f.type.extents)
-    inner_type_name = (
-        f.type.inner_type.name
-        if isinstance(f.type.inner_type, ast_nodes.ValueType)
-        else ""
-    )
-    if (
-        isinstance(inner_type, ast_nodes.ValueType)
-        and inner_type.name in constants.PRIMITIVE_TYPES
-    ):
-      ptr_expr = f"ptr_->{f.name}"
-      if len(f.type.extents) > 1:
-        # for multi-dimensional arrays, we need to cast the field
-        # to a pointer, so embind can correctly interpret the memory
-        # view
-        ptr_expr = f"reinterpret_cast<{inner_type.name}*>({ptr_expr})"
-
-      builder = code_builder.CodeBuilder()
-      with builder.function(f"emscripten::val {f.name}() const"):
-        builder.line(
-            "return"
-            f" emscripten::val(emscripten::typed_memory_view({str(size)},"
-            f" {ptr_expr}));"
-        )
-
-      return WrappedFieldData(
-          declaration=builder.to_string(),
-          typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-          binding=_get_property_binding(f, w),
-          is_primitive_or_fixed_size=True,
-      )
-    elif inner_type_name.startswith("mj"):
-      return WrappedFieldData(
-          declaration=(
-              f"std::vector<{common.capitalize(inner_type_name)}> {f.name};"
-          ),
-          ptr_initialization=f"{f.name}(&ptr_->{f.name})",
-          typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-          binding=_get_property_binding(f, w, reference=True),
-      )
-
-  elif isinstance(f.type, ast_nodes.PointerType):
-    inner_type_name = (
-        f.type.inner_type.name
-        if isinstance(f.type.inner_type, ast_nodes.ValueType)
-        else ""
-    )
-    is_dynamically_sized = bool(f.array_extent)
-
-    # Case 1: mjString
-    if inner_type_name == "mjString":
-      builder = code_builder.CodeBuilder()
-      with builder.function(f"mjString {f.name}() const"):
-        builder.line(
-            f'return (ptr_ && ptr_->{f.name}) ? *(ptr_->{f.name}) : "";'
-        )
-      with builder.function(f"void set_{f.name}(const mjString& value)"):
-        with builder.block(f"if (ptr_ && ptr_->{f.name})"):
-          builder.line(f"*(ptr_->{f.name}) = value;")
-      return WrappedFieldData(
-          declaration=builder.to_string(),
-          typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-          binding=_get_property_binding(f, w, setter=True, reference=True),
-      )
-
-    # Case 2: mj*Vec
-    elif inner_type_name.startswith("mj") and inner_type_name.endswith("Vec"):
-      ptr_field_expr_vec = f"*(ptr_->{f.name})"
-      vector_type = inner_type_name
-      if vector_type == "mjByteVec":
-        vector_type = "std::vector<uint8_t>"
-        ptr_field_expr_vec = (
-            f"*(reinterpret_cast<std::vector<uint8_t>*>(ptr_->{f.name}))"
-        )
-      builder = code_builder.CodeBuilder()
-      with builder.function(f"{vector_type} &{f.name}() const"):
-        builder.line(f"return {ptr_field_expr_vec};")
-      return WrappedFieldData(
-          declaration=builder.to_string(),
-          typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-          binding=_get_property_binding(f, w, setter=False, reference=True),
-      )
-
-    # Case 2.5: const char* without array_extent (C strings like body, func).
-    elif (
-        inner_type_name == "char"
-        and not is_dynamically_sized
-    ):
-      builder = code_builder.CodeBuilder()
-      if f.type.inner_type.is_const:  # pyrefly: ignore[missing-attribute]
-        with builder.function(f"std::string {f.name}() const"):
-          builder.line(
-              f'return ptr_->{f.name} ? std::string(ptr_->{f.name}) : "";'
-          )
-      else:
-        with builder.function(f"std::string {f.name}() const"):
-          builder.line(
-              f'return ptr_->{f.name} ? std::string(ptr_->{f.name}) : "";'
-          )
-        with builder.function(f"void set_{f.name}(const std::string& value)"):
-          with builder.block(f"if (ptr_->{f.name})"):
-            builder.line(
-                f"std::strncpy(ptr_->{f.name}, value.c_str(),"
-                f" sizeof(ptr_->{f.name}));"
-            )
-      return WrappedFieldData(
-          declaration=builder.to_string(),
-          typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-          binding=_get_property_binding(
-              f, w, setter=not f.type.inner_type.is_const, reference=True
-          ),
-      )
-
-    # Case 3: Non-dynamically sized pointer fields to other structs.
-    elif (
-        not is_dynamically_sized
-        and inner_type_name not in constants.PRIMITIVE_TYPES
-        and w not in constants.MANUAL_FIELDS.keys()
-    ):
-      # These are wrapped as direct members of the wrapper class, initialized
-      # with a pointer to the corresponding member in the native struct.
-      ptr_field = cast(ast_nodes.PointerType, f.type)
-      wrapper_field_name = common.capitalize(
-          cast(ast_nodes.ValueType, ptr_field.inner_type).name
-      )
-      return WrappedFieldData(
-          declaration=f"{wrapper_field_name} {f.name};",
-          typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-          binding=_get_property_binding(f, w, setter=False, reference=True),
-          ptr_initialization=f"{f.name}(ptr_->{f.name})",
-      )
-
-    # Case 4: Dynamically sized pointer fields and other pointer types that are
-    # exposed as emscripten::typed_memory_view.
-    else:
-      ptr_field_expr = f"ptr_->{f.name}"
-      array_size_str = ""
-      if is_dynamically_sized:
-        array_size_str = parse_array_extent(f.array_extent, w, f.name)  # pyrefly: ignore[bad-argument-type]
-      elif f.name in constants.BYTE_FIELDS.keys():
-        # For byte fields, we need to cast the pointer to uint8_t*
-        # so embind can correctly interpret the memory view
-        ptr_field_expr = f"static_cast<uint8_t*>({ptr_field_expr})"
-        # Byte fields lack `array_extent`, so their size is defined in
-        # `constants.BYTE_FIELDS` based on the MuJoCo documentation.
-        extent = (constants.BYTE_FIELDS[f.name]["size"],)
-        array_size_str = parse_array_extent(extent, w, f.name)
-
-      builder = code_builder.CodeBuilder()
-      with builder.function(f"emscripten::val {f.name}() const"):
-        builder.line(
-            "return"
-            f" emscripten::val(emscripten::typed_memory_view({array_size_str},"
-            f" {ptr_field_expr}));"
-        )
-      return WrappedFieldData(
-          declaration=builder.to_string(),
-          typename=_get_field_struct_type(f, s),  # pyrefly: ignore[bad-argument-type]
-          binding=_get_property_binding(f, w),
-      )
-
-  raise RuntimeError(f"Field {f.name} from struct {w} not properly handled")
-
-
-def _default_function_statement(struct_name: str) -> str:
-  """Returns the default function name for the given struct."""
-  if struct_name == "mjvGeom":
-    f = "mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);"
-    return f
-  elif struct_name in constants.ANONYMOUS_STRUCTS.keys():
-    return ""
-  elif struct_name in constants.NO_DEFAULT_CONSTRUCTORS:
-    return ""
-  elif struct_name.startswith("mjs"):
-    return f"mjs_default{struct_name.removeprefix('mjs')}(ptr_);"
-  elif struct_name.startswith("mjv"):
-    return f"mjv_default{struct_name.removeprefix('mjv')}(ptr_);"
-  elif struct_name.startswith("mj"):
-    return f"mj_default{struct_name.removeprefix('mj')}(ptr_);"
-
-  return ""
-
-
-def _delete_ptr_statement(struct_name: str) -> str:
-  """Returns the delete function name for the given struct."""
-  if struct_name == "mjVFS":
-    return "mj_deleteVFS(ptr_);"
-
-  return "delete ptr_;"
-
-
-def _find_member_inits(
-    wrapped_fields: list[WrappedFieldData],
-) -> list[WrappedFieldData]:
-  """Finds the fields with ptr_initialization in the wrapped fields list."""
-  member_inits = []
-  for field in wrapped_fields:
-    if field.ptr_initialization:
-      member_inits.append(field)
-  return member_inits
-
-
-def use_shallow_copy(
-    wrapped_fields: list[WrappedFieldData],
-) -> bool:
-  """Returns true if the struct fields can be shallow copied."""
-  for field in wrapped_fields:
-    if not field.is_primitive_or_fixed_size:
-      return False
-  return True
-
-
-def build_struct_header(
-    struct_name: str,
-    wrapped_fields: list[WrappedFieldData],
-):
-  """Builds the C++ header file code for a struct."""
-  s = struct_name
-  w = common.wrapped_struct_name(s)
-
-  if (
-      s not in constants.ANONYMOUS_STRUCTS
-      and s not in introspect_structs.STRUCTS
-  ):
-    raise RuntimeError(f"Struct {s} not found in introspect structs")
-
-  not_mjs = not w.startswith("Mjs")
-  member_inits = _find_member_inits(wrapped_fields)
-  shallow_copy = not_mjs and use_shallow_copy(wrapped_fields)
-  builder = code_builder.CodeBuilder()
-
-  with builder.struct(f"{w}"):
-    # destructor
-    if not_mjs:
-      builder.line(f"~{w}();")
-
-    # default constructor
-    if not_mjs and w not in ["MjData", "MjModel"]:
-      builder.line(f"{w}();")
-
-    # constructor passing native ptr
-    if w != "MjData":
-      builder.line(f"explicit {w}({s} *ptr);")
-    else:
-      # special handling for MjData
-      builder.line("MjData(MjModel *m);")
-      builder.line("explicit MjData(const MjModel &, const MjData &);")
-      builder.line("std::vector<MjContact> contact() const;")
-
-    # copy constructor
-    if shallow_copy or w in ["MjSpec", "MjModel"]:
-      builder.line(f"{w}(const {w} &);")
-
-    # assignment operator
-    if shallow_copy or w == "MjSpec":
-      builder.line(f"{w} &operator=(const {w} &);")
-
-    # explicit copy function
-    if shallow_copy or w in ["MjSpec", "MjData", "MjModel"]:
-      builder.line(f"std::unique_ptr<{w}> copy();")
-
-    # C struct getter/setter
-    builder.line(f"{s}* get() const;")
-    builder.line(f"void set({s}* ptr);")
-
-    if w == "MjSpec":
-      builder.line("emscripten::val timer() const;")
-
-    # field declarations
-    for field in wrapped_fields:
-      if field.declaration and field not in member_inits:
-        for line in field.declaration.splitlines():
-          builder.line(line)
-
-    # accessors declarations
-    if w == "MjModel":
-      builder.line("""
-  // Generates functions to return accessor classes.
-  #define X_ACCESSOR(NAME, Name, OBJTYPE, accessor_name, nfield)               \\
-    MjModel##Name##Accessor accessor_name(const NumberOrString& val) const {   \\
-      if (val.isString()) {                                                    \\
-        int id = mj_name2id(ptr_, OBJTYPE, val.as<std::string>().c_str());     \\
-        if (id == -1) {                                                        \\
-          mju_error("%s", KeyErrorMessage(ptr_, OBJTYPE, ptr_->nfield, val.as<std::string>(), #accessor_name).c_str());  \\
-        }                                                                      \\
-        return MjModel##Name##Accessor(ptr_, id);                              \\
-      } else if (val.isNumber()) {                                             \\
-        int id = val.as<int>();                                                \\
-        if (id < 0 || id >= ptr_->nfield) {                                    \\
-          mju_error("%s", IndexErrorMessage(id, ptr_->nfield, #accessor_name).c_str());  \\
-        }                                                                      \\
-        return MjModel##Name##Accessor(ptr_, id);                              \\
-      } else {                                                                 \\
-        mju_error(#accessor_name "() argument must be a string or number");    \\
-        return MjModel##Name##Accessor(nullptr, 0);                            \\
-      }                                                                        \\
-    }
-
-    MJMODEL_ACCESSORS
-  #undef X_ACCESSOR""".lstrip())
-    elif w == "MjData":
-      builder.line("""
-  // Generates functions to return accessor classes.
-  #define X_ACCESSOR(NAME, Name, OBJTYPE, accessor_name, nfield)              \\
-    MjData##Name##Accessor accessor_name(const NumberOrString& val) const {   \\
-      if (val.isString()) {                                                   \\
-        int id = mj_name2id(model, OBJTYPE, val.as<std::string>().c_str());   \\
-        if (id == -1) {                                                       \\
-          mju_error("%s", KeyErrorMessage(model, OBJTYPE, model->nfield, val.as<std::string>(), #accessor_name).c_str());  \\
-        }                                                                     \\
-        return MjData##Name##Accessor(ptr_, model, id);                       \\
-      } else if (val.isNumber()) {                                            \\
-        int id = val.as<int>();                                               \\
-        if (id < 0 || id >= model->nfield) {                                  \\
-          mju_error("%s", IndexErrorMessage(id, model->nfield, #accessor_name).c_str());  \\
-        }                                                                     \\
-        return MjData##Name##Accessor(ptr_, model, id);                       \\
-      } else {                                                                \\
-        mju_error(#accessor_name "() argument must be a string or number");   \\
-        return MjData##Name##Accessor(nullptr, nullptr, 0);                   \\
-      }                                                                       \\
-    }
-    MJDATA_ACCESSORS
-  #undef X_ACCESSOR""".lstrip())
-
-    # define private struct members
-    builder.private()
-    builder.line(f"{s}* ptr_;")
-    if not_mjs and w not in ["MjData", "MjModel"]:
-      builder.line("bool owned_ = false;")
-
-    # define public struct members
-    if member_inits:
-      builder.public()
-      for f in member_inits:
-        if f.declaration:
-          builder.line(f"{f.declaration}")
-
-      if w == "MjData":
-        builder.line("mjModel *model;")
-
-  return builder.to_string() + ";"
-
-
-def build_struct_source(
-    struct_name: str,
-    wrapped_fields: list[WrappedFieldData],
-):
-  """Builds the C++ .cc file code for a struct."""
-  s = struct_name
-  w = common.wrapped_struct_name(s)
-  is_mjs = w.startswith("Mjs")
-
-  member_inits = _find_member_inits(wrapped_fields)
-  shallow_copy = use_shallow_copy(wrapped_fields)
-
-  fields_init = ""
-  if member_inits:
-    fields_init = ", " + ", ".join(
-        mjs_field.ptr_initialization for mjs_field in member_inits
-    )
-
-  builder = code_builder.CodeBuilder()
-
-  # constructor passing native ptr
-  with builder.function(f"{w}::{w}({s} *ptr) : ptr_(ptr){fields_init}"):
-    pass
-
-  # destructor
-  if not is_mjs:
-    with builder.function(f"{w}::~{w}()"):
-      with builder.block("if (owned_ && ptr_)"):
-        delete_ptr = _delete_ptr_statement(s)
-        builder.line(delete_ptr)
-
-  if not is_mjs:
-    # default constructor
-    with builder.function(f"{w}::{w}() : ptr_(new {s}()){fields_init}"):
-      builder.line("owned_ = true;")
-      default_func = _default_function_statement(s)
-      if default_func:
-        builder.line(default_func)
-
-  if shallow_copy and not is_mjs:
-    # copy constructor
-    with builder.function(f"{w}::{w}(const {w} &other) : {w}()"):
-      builder.line("*ptr_ = *other.get();")
-      for f in member_inits:
-        if f.ptr_copy_reset is not None:
-          builder.line(f.ptr_copy_reset)
-
-    # assignment operator
-    with builder.function(f"{w}& {w}::operator=(const {w} &other)"):
-      with builder.block("if (this == &other)"):
-        builder.line("return *this;")
-      builder.line("*ptr_ = *other.get();")
-      for f in member_inits:
-        if f.ptr_copy_reset is not None:
-          builder.line(f.ptr_copy_reset)
-      builder.line("return *this;")
-
-    # explicit copy function
-    with builder.function(f"std::unique_ptr<{w}> {w}::copy()"):
-      builder.line(f"return std::make_unique<{w}>(*this);")
-
-  # C struct getter/setter
-  with builder.function(f"{s}* {w}::get() const"):
-    builder.line("return ptr_;")
-  with builder.function(f"void {w}::set({s}* ptr)"):
-    builder.line("ptr_ = ptr;")
-
-  return builder.to_string()
-
-
-def _build_struct_bindings(
-    struct_name: str,
-    wrapped_fields: list[WrappedFieldData],
-):
-  """Builds the C++ bindings for a struct."""
-  w = common.wrapped_struct_name(struct_name)
-  is_mjs = w.startswith("Mjs")
-
-  builder = code_builder.CodeBuilder()
-  with builder.block(
-      header_line=f'emscripten::class_<{w}>("{w}")', braces=False
-  ):
-    if w == "MjData":
-      builder.line(".constructor<MjModel *>()")
-      builder.line(".constructor<const MjModel &, const MjData &>()")
-      builder.line("""
-    // Binds the functions on MjData that return accessors.
-    #define X_ACCESSOR(NAME, Name, OBJTYPE, field_name, nfield) \\
-      .function(#field_name, &MjData::field_name)
-      MJDATA_ACCESSORS
-    #undef X_ACCESSOR""".lstrip())
-    elif w == "MjModel":
-      builder.line(
-          "// mj_loadXML is deprecated and will be removed in a future release"
-      )
-      builder.line(
-          '.class_function("mj_loadXML",'
-          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))"
-      )
-      builder.line(
-          '.class_function("mj_loadXML",'
-          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string,"
-          " const MjVFS&)>(&mj_loadXML_wrapper_2))"
-      )
-      f2 = common.wrapped_function_name(
-          introspect_functions.FUNCTIONS["mj_loadModel"]
-      )
-      builder.line(
-          "// mj_loadModel is deprecated and will be removed in a future"
-          " release"
-      )
-      builder.line(f'.class_function("mj_loadModel", &{f2})')
-      builder.line(f'.class_function("from_binary_path", &{f2})')
-      builder.line(
-          '.class_function("from_xml_string",'
-          " emscripten::select_overload<std::unique_ptr<MjModel>(const"
-          " std::string&)>(&from_xml_string_wrapper_1))"
-      )
-      builder.line(
-          '.class_function("from_xml_string",'
-          " emscripten::select_overload<std::unique_ptr<MjModel>(const"
-          " std::string&, const MjVFS&)>(&from_xml_string_wrapper_2))"
-      )
-      builder.line(
-          '.class_function("from_xml_path",'
-          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))"
-      )
-      builder.line(
-          '.class_function("from_xml_path",'
-          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string,"
-          " const MjVFS&)>(&mj_loadXML_wrapper_2))"
-      )
-      builder.line(".constructor<const MjModel &>()")
-      builder.line("""
-  // Binds the functions on MjModel that return accessors.
-  #define X_ACCESSOR(NAME, Name, OBJTYPE, field_name, nfield) \\
-    .function(#field_name, &MjModel::field_name)
-    MJMODEL_ACCESSORS
-  #undef X_ACCESSOR""".lstrip())
-    elif w == "MjSpec":
-      builder.line(".constructor<const MjSpec &>()")
-      builder.line('.property("timer", &MjSpec::timer)')
-    elif w == "MjvScene":
-      builder.line(".constructor<MjModel *, int>()")
-      builder.line(".constructor<>()")
-    elif not is_mjs:
-      builder.line(".constructor<>()")
-
-    shallow_copy = use_shallow_copy(wrapped_fields)
-    if shallow_copy and not is_mjs:
-      builder.line(f'.function("copy", &{w}::copy, take_ownership())')
-
-    bindings = sorted(
-        [f.binding for f in wrapped_fields if f.binding.startswith(".")]
-    )
-    for binding in bindings[:-1]:
-      builder.line(binding)
-    if bindings:
-      builder.line(f"{bindings[-1]};")
-    elif builder._lines:
-      builder._lines[-1] += ";"
-
-  return builder.to_string()
-
-
-def parse_array_extent(
-    extents: Tuple[Union[str, int], ...], wrapper_name: str, field_name: str
-) -> str:
-  """Parses the array extent of a field, returning a string representing the resolved extents."""
-  if not extents:
-    return ""
-  return " * ".join(
-      resolve_extent(extent, wrapper_name, field_name) for extent in extents
-  )
-
-
-def resolve_extent(
-    extent: Union[str, int], wrapper_name: str, field_name: str
-) -> str:
-  """Resolves the extent of an array, handling integers and references to other struct fields.
-
-  Args:
-      extent: The extent to resolve, can be an int or a string referencing a
-        field.
-      wrapper_name: The name of the struct wrapper.
-      field_name: The name of the field being processed.
-
-  Returns:
-      A string representing the resolved extent, either as a number or a field
-      reference.
-  """
-  if isinstance(extent, int):
-    return str(extent)
-  # if starts with mj, it's a mujoco constant,
-  # so we don't need to get a parent struct ptr
-  if extent.startswith("mj"):
-    return str(extent)
-  if wrapper_name == "MjData" and field_name not in constants.MJDATA_SIZES:
-    var_name = "model"
-  else:
-    var_name = "ptr_"
-  return f"{var_name}->{extent}"
-
-
-def _get_anonymous_struct_field(
-    anonymous_structs_key: str,
-) -> ast_nodes.StructFieldDecl | None:
-  """Looks up the given key in the anonymous_structs dict and generates bindings for its fields."""
-  info = constants.ANONYMOUS_STRUCTS[anonymous_structs_key]
-  parent_decl = introspect_structs.STRUCTS[info["parent"]]
-  target_field = next(
-      (
-          f
-          for f in parent_decl.fields
-          if hasattr(f, "name")
-          and f.name == info["field_name"]
-          and hasattr(f, "type")
-          and isinstance(f.type, ast_nodes.AnonymousStructDecl)
-      ),
-      None,
-  )
-  return target_field  # pyrefly: ignore[bad-return]
-
-
-def _get_field_struct_type(
-    field: ast_nodes.StructFieldDecl, struct_name: str
-) -> str | None:
-  """Extracts the base struct name if the field type is a struct or pointer to a struct."""
-  s = struct_name
-  w = common.wrapped_struct_name(s)
-  if isinstance(field.type, ast_nodes.AnonymousStructDecl):
-    anonymous_struct_name = ""
-    for name, value in constants.ANONYMOUS_STRUCTS.items():
-      if value["parent"] == s and value["field_name"] == field.name:
-        anonymous_struct_name = name
-        break
-
-    if not anonymous_struct_name:
-      raise RuntimeError(
-          f"Anonymous struct for field {field.name} in {w} not found in"
-          " ANONYMOUS_STRUCTS."
-      )
-    return anonymous_struct_name
-  elif isinstance(field.type, ast_nodes.ValueType):
-    return field.type.name
-  if isinstance(field.type, ast_nodes.PointerType):
-    if isinstance(field.type.inner_type, ast_nodes.ValueType):
-      return field.type.inner_type.name
-  return None
-
-
-def get_introspect_struct_fields(struct_name: str):
-  """Retrieves the fields of a struct from the introspect data."""
-  s = struct_name
-
-  if s in introspect_structs.STRUCTS:
-    return introspect_structs.STRUCTS[s].fields
-  elif s in constants.ANONYMOUS_STRUCTS:
-    anonymous_struct = _get_anonymous_struct_field(s)
-    if not anonymous_struct or not isinstance(
-        anonymous_struct.type, ast_nodes.AnonymousStructDecl
-    ):
-      raise RuntimeError(f"Anonymous struct not found: {s}")
-    return anonymous_struct.type.fields
-  else:
-    raise RuntimeError(f"Struct not found: {s}")
-
-
-def sort_structs_by_dependency(
-    struct_with_fields: dict[str, list[WrappedFieldData]],
-) -> list[str]:
-  """Sorts structs based on their field dependencies using topological sort.
-
-    Structs with no dependencies on other structs in the list come first.
-  Struct A has a dependency on struct B if struct A has a field where the
-  underlying_type is B. Note that this definition is stricter than the C++
-  struct dependency criterion where forward declarations can be used to
-  eliminate dependencies A and B if A only has a pointer to B.
-
-  Args:
-    struct_with_fields: A dictionary mapping struct names to their
-      WrappedFieldData.
-
-  Returns:
-    A new list of struct names sorted by dependency.
-
-  Raises:
-    RuntimeError: If a cyclic dependency is detected.
-  """
-  adj = collections.defaultdict(list)
-  in_degree = collections.defaultdict(int)
-  struct_names = struct_with_fields.keys()
-  struct_set = set(struct_names)
-  sorted_struct_names = sorted(struct_names)
-
-  for s in sorted_struct_names:
-    if s == "mjData":
-      adj["mjModel"].append("mjData")
-      in_degree["mjData"] += 1
-
-    fields = struct_with_fields[s]
-    for field in fields:
-      field_type_name = field.typename
-      if (
-          field_type_name
-          and field_type_name != s
-          and field_type_name in struct_set
-      ):
-        if s not in adj[field_type_name]:
-          adj[field_type_name].append(s)
-          in_degree[s] += 1
-
-  queue = collections.deque(
-      [name for name in sorted_struct_names if in_degree[name] == 0]
-  )
-  sorted_list = []
-
-  while queue:
-    u = queue.popleft()
-    sorted_list.append(u)
-    for v in adj[u]:
-      in_degree[v] -= 1
-      if in_degree[v] == 0:
-        queue.append(v)
-
-  if len(sorted_list) == len(struct_names):
-    return sorted_list
-  else:
-    remaining = set(struct_names) - set(sorted_list)
-    raise RuntimeError(
-        "Cycle detected in struct dependencies, involving: "
-        f"{', '.join(sorted(list(remaining)))}"
-    )
-
-
-def generate(struct_to_bind: list[str]) -> list[tuple[str, list[str]]]:
-  """Generates C++ header file for binding and wrapping MuJoCo structs."""
-  typedefs = []
-  for type_name in sorted(constants.ANONYMOUS_STRUCTS):
-    s = constants.ANONYMOUS_STRUCTS[type_name]
-    typedefs.append(
-        f"using {type_name} = decltype(::{s['parent']}::{s['field_name']});"
-    )
-
-  wrapped_structs_with_fields: dict[str, list[WrappedFieldData]] = {}
-  for s in struct_to_bind:
-    fields: list[WrappedFieldData] = []
-    introspect_fields = get_introspect_struct_fields(s)
-    for field in introspect_fields:
-      fields.append(_generate_field_data(field, common.wrapped_struct_name(s)))
-    wrapped_structs_with_fields[s] = fields
-
-  dependency_sorted_struct_names = sort_structs_by_dependency(
-      wrapped_structs_with_fields
-  )
-
-  headers = []
-  for s in dependency_sorted_struct_names:
-    fields = wrapped_structs_with_fields[s]
-
-    if s not in constants.MANUAL_STRUCTS_HEADERS:
-      header = build_struct_header(s, fields)
-      headers.append(header + "\n")
-
-  sources = []
-  for s in dependency_sorted_struct_names:
-    fields = wrapped_structs_with_fields[s]
-    if s not in constants.MANUAL_STRUCTS_SOURCES:
-      source = build_struct_source(s, fields)
-      sources.append(source + "\n")
-
-  bindings = []
-  alphabetically_sorted_struct_names = sorted(
-      wrapped_structs_with_fields.keys()
-  )
-  for s in alphabetically_sorted_struct_names:
-    fields = wrapped_structs_with_fields[s]
-    bindings.append(_build_struct_bindings(s, fields))
-
-  for s in alphabetically_sorted_struct_names:
-    w = common.wrapped_struct_name(s)
-    if w.startswith("Mjs") or w == "MjSpec":
-      bindings.append(f"emscripten::register_optional<{w}>();")
-
-  manual_struct_field_declarations = []
-  for s in dependency_sorted_struct_names:
-    w = common.wrapped_struct_name(s)
-    fields = wrapped_structs_with_fields[s]
-    if s in constants.MANUAL_STRUCTS_HEADERS:
-      decls: list[str] = []
-      for f in sorted(fields, key=lambda f: f.declaration):
-        if f.declaration:
-          decls.append(f.declaration)
-      manual_struct_field_declarations.append(
-          (f"// INSERT-GENERATED-{w}-DECLARATION", decls)
-      )
-
-  return [
-      *manual_struct_field_declarations,
-      ("// {{ ANONYMOUS_STRUCT_TYPEDEFS }}", typedefs),
-      ("// {{ STRUCTS_HEADER }}", headers),
-      ("// {{ STRUCTS_SOURCE }}", sources),
-      ("// {{ STRUCTS_BINDINGS }}", bindings),
-  ]
diff --git a/wasm/codegen/templates/bindings.cc b/wasm/codegen/templates/bindings.cc
deleted file mode 100644
index 356f7749..00000000
--- a/wasm/codegen/templates/bindings.cc
+++ /dev/null
@@ -1,653 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// NOLINTBEGIN(whitespace/line_length)
-// NOLINTBEGIN(whitespace/semicolon)
-
-#include "wasm/codegen/generated/bindings.h"
-
-#include <emscripten.h>
-#include <emscripten/bind.h>
-#include <emscripten/em_asm.h>
-#include <emscripten/val.h>
-
-#include <algorithm>
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>  // NOLINT
-#include <memory>
-#include <optional>  // NOLINT
-#include <sstream>
-#include <string>  // NOLINT
-#include <string_view>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_util_errmem.h"
-#include "wasm/unpack.h"
-#include "python/mujoco/indexer_xmacro.h"
-
-namespace mujoco::wasm {
-
-
-void ThrowMujocoErrorToJS(const mjLogMessage* msg) {
-  if (msg->level == mjLOG_ERROR) {
-    std::string message = msg->subject;
-    if (msg->func) {
-      message = std::string(msg->func) + ": " + msg->subject;
-    }
-    // Get a handle to the JS global Error constructor function, create a new
-    // object instance and then throw the object as an exception using the
-    // val::throw_() helper function.
-    val(val::global("Error").new_(val("MuJoCo Error: " + message))).throw_();
-  }
-}
-__attribute__((constructor)) void InitMuJoCoErrorHandler() {
-  mju_setLogHandler(ThrowMujocoErrorToJS);
-}
-
-// Generates a descriptive error message for when a key lookup fails.
-// The message includes the invalid name and a list of valid names of the
-// specified object type currently present in the model.
-//
-// Arguments:
-//   model: Pointer to the mjModel.
-//   objtype: The mjOBJ_* enum value representing the object type.
-//   count: The number of objects of the given type in the model.
-//   name: The invalid name that was looked up.
-//
-// Returns:
-//   A string containing the error message.
-std::string KeyErrorMessage(const mjModel* model, int objtype, int count,
-                            std::string_view name, std::string_view accessor_name) {
-  std::vector<std::string> valid_names;
-  valid_names.reserve(count);
-  for (int i = 0; i < count; ++i) {
-    const char* n = mj_id2name(model, objtype, i);
-    if (n) {
-      valid_names.push_back(n);
-    }
-  }
-  std::sort(valid_names.begin(), valid_names.end());
-
-  std::ostringstream message;
-  message << "Invalid name '" << name << "' for " << accessor_name
-          << ". Valid names: [";
-  for (size_t i = 0; i < valid_names.size(); ++i) {
-    message << "'" << valid_names[i] << "'";
-    if (i < valid_names.size() - 1) {
-      message << ", ";
-    }
-  }
-  message << "]";
-  return message.str();
-}
-
-std::string IndexErrorMessage(int index, int count,
-                              std::string_view accessor_name) {
-  std::ostringstream message;
-  message << "Invalid index " << index << " for " << accessor_name
-          << ". Valid indices from 0 to " << count - 1;
-  return message.str();
-}
-
-template <size_t N>
-val MakeValArray(const char* (&strings)[N]) {
-  val result = val::array();
-  for (int i = 0; i < N; i++) {
-    result.call<void>("push", val(strings[i]));
-  }
-  return result;
-}
-
-template <size_t N, size_t M>
-val MakeValArray3(const char* (&strings)[N][M]) {
-  val result = val::array();
-  for (int i = 0; i < N; i++) {
-    val inner = val::array();
-    for (int j = 0; j < M; j++) {
-      inner.call<void>("push", val(strings[i][j]));
-    }
-    result.call<void>("push", inner);
-  }
-  return result;
-}
-
-template <typename WrapperType, typename ArrayType, typename SizeType>
-std::vector<WrapperType> InitWrapperArray(ArrayType* array, SizeType size) {
-  std::vector<WrapperType> result;
-  result.reserve(size);
-  for (int i = 0; i < size; ++i) {
-    result.emplace_back(&array[i]);
-  }
-  return result;
-}
-
-val get_mjDISABLESTRING() { return MakeValArray(mjDISABLESTRING); }
-val get_mjENABLESTRING() { return MakeValArray(mjENABLESTRING); }
-val get_mjTIMERSTRING() { return MakeValArray(mjTIMERSTRING); }
-val get_mjLABELSTRING() { return MakeValArray(mjLABELSTRING); }
-val get_mjFRAMESTRING() { return MakeValArray(mjFRAMESTRING); }
-val get_mjVISSTRING() { return MakeValArray3(mjVISSTRING); }
-val get_mjRNDSTRING() { return MakeValArray3(mjRNDSTRING); }
-
-// {{ STRUCTS_SOURCE }}
-
-MjModel::MjModel(mjModel* ptr)
-    : ptr_(ptr), opt(&ptr->opt), vis(&ptr->vis), stat(&ptr->stat) {}
-
-MjModel::MjModel(const MjModel& other)
-    : ptr_(mj_copyModel(nullptr, other.get())),
-      opt(&ptr_->opt),
-      vis(&ptr_->vis),
-      stat(&ptr_->stat) {}
-
-MjModel::~MjModel() {
-  if (ptr_) {
-    mj_deleteModel(ptr_);
-  }
-}
-
-mjModel* MjModel::get() const { return ptr_; }
-
-void MjModel::set(mjModel* ptr) { ptr_ = ptr; }
-
-MjData::MjData(MjModel* m) {
-  model = m->get();
-  ptr_ = mj_makeData(model);
-  if (ptr_) {
-    solver =
-        InitWrapperArray<MjSolverStat>(get()->solver, mjNSOLVER * mjNISLAND);
-    timer = InitWrapperArray<MjTimerStat>(get()->timer, mjNTIMER);
-    warning = InitWrapperArray<MjWarningStat>(get()->warning, mjNWARNING);
-  }
-}
-
-MjData::MjData(const MjModel& model, const MjData& other)
-    : ptr_(mj_copyData(nullptr, model.get(), other.get())), model(model.get()) {
-  if (ptr_) {
-    solver =
-        InitWrapperArray<MjSolverStat>(get()->solver, mjNSOLVER * mjNISLAND);
-    timer = InitWrapperArray<MjTimerStat>(get()->timer, mjNTIMER);
-    warning = InitWrapperArray<MjWarningStat>(get()->warning, mjNWARNING);
-  }
-}
-
-MjData::~MjData() {
-  if (ptr_) {
-    mj_deleteData(ptr_);
-  }
-}
-mjData* MjData::get() const { return ptr_; }
-
-void MjData::set(mjData* ptr) { ptr_ = ptr; }
-
-std::vector<MjContact> MjData::contact() const {
-  return InitWrapperArray<MjContact>(get()->contact, get()->ncon);
-}
-
-MjvScene::MjvScene() {
-  owned_ = true;
-  ptr_ = new mjvScene;
-  mjv_defaultScene(ptr_);
-  mjv_makeScene(nullptr, ptr_, 0);
-  lights = InitWrapperArray<MjvLight>(ptr_->lights, mjMAXLIGHT);
-  camera = InitWrapperArray<MjvGLCamera>(ptr_->camera, 2);
-};
-
-MjvScene::MjvScene(MjModel* m, int maxgeom) {
-  owned_ = true;
-  model = m->get();
-  ptr_ = new mjvScene;
-  mjv_defaultScene(ptr_);
-  mjv_makeScene(model, ptr_, maxgeom);
-  lights = InitWrapperArray<MjvLight>(ptr_->lights, mjMAXLIGHT);
-  camera = InitWrapperArray<MjvGLCamera>(ptr_->camera, 2);
-};
-
-MjvScene::~MjvScene() {
-  if (owned_ && ptr_) {
-    mjv_freeScene(ptr_);
-    delete ptr_;
-  }
-}
-
-mjvScene* MjvScene::get() const { return ptr_; }
-void MjvScene::set(mjvScene* ptr) { ptr_ = ptr; }
-
-// Taken from the python mujoco bindings code for MjvScene Wrapper
-int MjvScene::GetSumFlexFaces() const {
-  int nflexface = 0;
-  int flexfacenum = 0;
-  for (int f = 0; f < model->nflex; f++) {
-    if (model->flex_dim[f] == 0) {
-      // 1D : 0
-      flexfacenum = 0;
-    } else if (model->flex_dim[f] == 2) {
-      // 2D: 2*fragments + 2*elements
-      flexfacenum = 2 * model->flex_shellnum[f] + 2 * model->flex_elemnum[f];
-    } else {
-      // 3D: max(fragments, 4*maxlayer)
-      // find number of elements in biggest layer
-      int maxlayer = 0, layer = 0, nlayer = 1;
-      while (nlayer) {
-        nlayer = 0;
-        for (int e = 0; e < model->flex_elemnum[f]; e++) {
-          if (model->flex_elemlayer[model->flex_elemadr[f] + e] == layer) {
-            nlayer++;
-          }
-        }
-        maxlayer = mjMAX(maxlayer, nlayer);
-        layer++;
-      }
-      flexfacenum = mjMAX(model->flex_shellnum[f], 4 * maxlayer);
-    }
-
-    // accumulate over flexes
-    nflexface += flexfacenum;
-  }
-  return nflexface;
-}
-
-std::vector<MjvGeom> MjvScene::geoms() const {
-  return InitWrapperArray<MjvGeom>(ptr_->geoms, ptr_->ngeom);
-}
-
-MjSpec::MjSpec()
-    : ptr_(mj_makeSpec()),
-      element(ptr_->element),
-      compiler(&ptr_->compiler),
-      option(&ptr_->option),
-      visual(&ptr_->visual),
-      stat(&ptr_->stat),
-      authored(&ptr_->authored) {
-  owned_ = true;
-  mjs_defaultSpec(ptr_);
-};
-
-MjSpec::MjSpec(mjSpec *ptr)
-    : ptr_(ptr),
-      element(ptr_->element),
-      compiler(&ptr_->compiler),
-      option(&ptr_->option),
-      visual(&ptr_->visual),
-      stat(&ptr_->stat),
-      authored(&ptr_->authored) {}
-
-MjSpec::MjSpec(const MjSpec &other)
-    : ptr_(mj_copySpec(other.get())),
-      element(ptr_->element),
-      compiler(&ptr_->compiler),
-      option(&ptr_->option),
-      visual(&ptr_->visual),
-      stat(&ptr_->stat),
-      authored(&ptr_->authored) {
-  owned_ = true;
-}
-
-MjSpec& MjSpec::operator=(const MjSpec &other) {
-  if (this == &other) {
-    return *this;
-  }
-  if (owned_ && ptr_) {
-    mj_deleteSpec(ptr_);
-  }
-  ptr_ = mj_copySpec(other.get());
-  owned_ = true;
-  option.set(&ptr_->option);
-  visual.set(&ptr_->visual);
-  stat.set(&ptr_->stat);
-  compiler.set(&ptr_->compiler);
-  element.set(ptr_->element);
-  return *this;
-}
-
-MjSpec::~MjSpec() {
-  if (ptr_ && owned_) {
-    mj_deleteSpec(ptr_);
-  }
-}
-
-mjSpec *MjSpec::get() const { return ptr_; }
-void MjSpec::set(mjSpec *ptr) { ptr_ = ptr; }
-
-emscripten::val MjSpec::timer() const {
-  return emscripten::val(emscripten::typed_memory_view(9, mjs_getTimer(ptr_)));
-}
-
-std::unique_ptr<MjModel> mj_loadXML_wrapper_1(std::string filename) {
-  char error[1000];
-  mjModel *model = mj_loadXML(filename.c_str(), nullptr, error, sizeof(error));
-  if (!model) {
-    mju_error("Loading error: %s\n", error);
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjModel> mj_loadXML_wrapper_2(std::string filename, const MjVFS& vfs) {
-  char error[1000];
-  mjModel *model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
-  if (!model) {
-    mju_error("Loading error: %s\n", error);
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-void mj_saveModel_wrapper(const MjModel& m, const StringOrNull& filename, const val& buffer) {
-  UNPACK_NULLABLE_STRING(filename);
-  UNPACK_NULLABLE_VALUE(uint8_t, buffer);
-  mj_saveModel(m.get(), filename_.data(), buffer_.data(), static_cast<int>(buffer_.size()));
-}
-
-std::unique_ptr<MjModel> mj_loadModel_wrapper(std::string filename, const MjVFS& vfs) {
-  mjModel *model = mj_loadModel(filename.c_str(), vfs.get());
-  if (!model) {
-    mju_error("Failed to load from mjb");
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjModel> from_xml_string_wrapper_1(const std::string& xml) {
-  mjVFS vfs;
-  mj_defaultVFS(&vfs);
-  const char* filename = "model.xml";
-  int add_result = mj_addBufferVFS(&vfs, filename, xml.c_str(), xml.length());
-  if (add_result != 0) {
-    mj_deleteVFS(&vfs);
-    mju_error("Could not add XML string to VFS: %d", add_result);
-  }
-  char error[1000];
-  mjModel* model = mj_loadXML(filename, &vfs, error, sizeof(error));
-  mj_deleteVFS(&vfs);
-  if (!model) {
-    mju_error("Loading error: %s\n", error);
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjModel> from_xml_string_wrapper_2(const std::string& xml, const MjVFS& vfs) {
-  std::string filename = "model.xml";
-  int add_result = mj_addBufferVFS(vfs.get(), filename.c_str(), xml.c_str(), xml.length());
-  if (add_result != 0) {
-    mju_error("Could not add XML string to VFS: %d", add_result);
-  }
-  char error[1000];
-  mjModel* model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
-  mj_deleteFileVFS(vfs.get(), filename.c_str());
-  if (!model) {
-    mju_error("Loading error: %s\n", error);
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjSpec> parseXMLString_wrapper(const std::string &xml) {
-  char error[1000];
-  mjSpec *ptr = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
-  if (!ptr) {
-    mju_error("Could not create Spec from XML string: %s\n", error);
-  }
-  return std::unique_ptr<MjSpec>(new MjSpec(ptr));
-}
-
-std::unique_ptr<MjSpec> parseXMLString_wrapper_2(const std::string &xml, const MjVFS& vfs) {
-  char error[1000];
-  mjSpec *ptr = mj_parseXMLString(xml.c_str(), vfs.get(), error, sizeof(error));
-  if (!ptr) {
-    mju_error("Could not create Spec from XML string: %s\n", error);
-  }
-  return std::unique_ptr<MjSpec>(new MjSpec(ptr));
-}
-
-std::unique_ptr<MjModel> mj_compile_wrapper_1(const MjSpec& spec) {
-  mjSpec* spec_ptr = spec.get();
-
-  // suppress stderr playback: warnings are raised via console.warn() below
-  mjfLogHandler prev = _mjPRIVATE_setTlsLogHandler([](const mjLogMessage*) {});
-  mjModel* model = mj_compile(spec_ptr, nullptr);
-  _mjPRIVATE_setTlsLogHandler(prev);
-  if (!model) {
-    mju_error("%s", mjs_getError(spec_ptr));
-  }
-  int num_warnings = mjs_numWarnings(spec_ptr);
-  if (num_warnings > 0) {
-    for (int i = 0; i < num_warnings; ++i) {
-      val::global("console").call<void>(
-          "warn",
-          val("MuJoCo Warning: " + std::string(mjs_getWarning(spec_ptr, i))));
-    }
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-std::unique_ptr<MjModel> mj_compile_wrapper_2(const MjSpec& spec, const MjVFS& vfs) {
-  mjSpec* spec_ptr = spec.get();
-  mjVFS* vfs_ptr = vfs.get();
-
-  // suppress stderr playback: warnings are raised via console.warn() below
-  mjfLogHandler prev = _mjPRIVATE_setTlsLogHandler([](const mjLogMessage*) {});
-  mjModel* model = mj_compile(spec_ptr, vfs_ptr);
-  _mjPRIVATE_setTlsLogHandler(prev);
-  if (!model) {
-    mju_error("%s", mjs_getError(spec_ptr));
-  }
-  int num_warnings = mjs_numWarnings(spec_ptr);
-  if (num_warnings > 0) {
-    for (int i = 0; i < num_warnings; ++i) {
-      val::global("console").call<void>(
-          "warn",
-          val("MuJoCo Warning: " + std::string(mjs_getWarning(spec_ptr, i))));
-    }
-  }
-  return std::unique_ptr<MjModel>(new MjModel(model));
-}
-
-void error_wrapper(const String& msg) { mju_error("%s\n", msg.as<const std::string>().data()); }
-
-int mj_saveLastXML_wrapper(const String& filename, const MjModel& m) {
-  CHECK_VAL(filename);
-  std::array<char, 1024> error;
-  int result = mj_saveLastXML(filename.as<const std::string>().data(), m.get(), error.data(), error.size());
-  if (!result) {
-    mju_error("%s", error.data());
-  }
-  return result;
-}
-
-int mj_setLengthRange_wrapper(const MjModel& m, const MjData& d, int index, const MjLROpt& opt) {
-  std::array<char, 1024> error;
-  int result = mj_setLengthRange(m.get(), d.get(), index, opt.get(), error.data(), error.size());
-  if (!result) {
-    mju_error("%s", error.data());
-  }
-  return result;
-}
-
-void mju_info_wrapper(int topic, const String& msg) {
-  CHECK_VAL(msg);
-  mju_info(topic, "%s", msg.as<const std::string>().data());
-}
-
-// {{ WRAPPER_FUNCTIONS }}
-
-EMSCRIPTEN_BINDINGS(mujoco_bindings) {
-  // {{ ENUM_BINDINGS }}
-
-  // Bindings for the MjModel accessor classes.
-  #define X(type, prefix, var, dim0, dim1) .property(#var, &Accessor::get_##var, &Accessor::set_##var)
-  #define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield)        \
-    {                                                           \
-      using Accessor = MjModel##Name##Accessor;                 \
-      emscripten::class_<Accessor>("MjModel" #Name "Accessor")  \
-          .property("id", &Accessor::id)                        \
-          .property("name", &Accessor::name)                    \
-          MJMODEL_##NAME;                                       \
-    }
-    MJMODEL_ACCESSORS
-  #undef X
-  #undef X_ACCESSOR
-
-  // Bindings for the MjData accessor classes.
-  #define X(type, prefix, var, dim0, dim1) .property(#var, &Accessor::get_##var, &Accessor::set_##var)
-  #define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield)       \
-    {                                                          \
-      using Accessor = MjData##Name##Accessor;                 \
-      emscripten::class_<Accessor>("MjData" #Name "Accessor")  \
-          .property("id", &Accessor::id)                       \
-          .property("name", &Accessor::name)                   \
-          MJDATA_##NAME;                                       \
-    }
-    MJDATA_ACCESSORS
-  #undef X
-  #undef X_ACCESSOR
-
-  // {{ STRUCTS_BINDINGS }}
-
-  emscripten::class_<MjVFS>("MjVFS")
-      .constructor<>()
-      .function("addBuffer", &MjVFS::AddBuffer)
-      .function("deleteFile", &MjVFS::DeleteFile);
-
-  // {{ FUNCTION_BINDINGS }}
-  // parseXMLString is bound using two overloads to handle the optional MjVFS argument.
-  function("parseXMLString", emscripten::select_overload<std::unique_ptr<MjSpec>(const std::string&)>(&parseXMLString_wrapper), take_ownership());
-  function("parseXMLString", emscripten::select_overload<std::unique_ptr<MjSpec>(const std::string&, const MjVFS&)>(&parseXMLString_wrapper_2), take_ownership());
-  function("error", &error_wrapper);
-  function("mj_saveModel", &mj_saveModel_wrapper);
-  function("mj_saveLastXML", &mj_saveLastXML_wrapper);
-  function("mj_setLengthRange", &mj_setLengthRange_wrapper);
-  function("mju_info", &mju_info_wrapper);
-  // mj_compile is bound using two overloads to handle the optional MjVFS argument,
-  // as using std::optional<MjVFS> caused memory errors due to missing copy/move constructors.
-  function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&)>(&mj_compile_wrapper_1));
-  function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&, const MjVFS&)>(&mj_compile_wrapper_2));
-  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&)>(&from_xml_string_wrapper_1));
-  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&, const MjVFS&)>(&from_xml_string_wrapper_2));
-
-  emscripten::class_<WasmBuffer<float>>("FloatBuffer")
-      .constructor<int>()
-      .class_function("FromArray", &WasmBuffer<float>::FromArray)
-      .function("GetPointer", &WasmBuffer<float>::GetPointer)
-      .function("GetElementCount", &WasmBuffer<float>::GetElementCount)
-      .function("GetView", &WasmBuffer<float>::GetView);
-
-  emscripten::class_<WasmBuffer<double>>("DoubleBuffer")
-      .constructor<int>()
-      .class_function("FromArray", &WasmBuffer<double>::FromArray)
-      .function("GetPointer", &WasmBuffer<double>::GetPointer)
-      .function("GetElementCount", &WasmBuffer<double>::GetElementCount)
-      .function("GetView", &WasmBuffer<double>::GetView);
-
-  emscripten::class_<WasmBuffer<int>>("IntBuffer")
-      .constructor<int>()
-      .class_function("FromArray", &WasmBuffer<int>::FromArray)
-      .function("GetPointer", &WasmBuffer<int>::GetPointer)
-      .function("GetElementCount", &WasmBuffer<int>::GetElementCount)
-      .function("GetView", &WasmBuffer<int>::GetView);
-
-  emscripten::class_<WasmBuffer<uint8_t>>("Uint8Buffer")
-      .constructor<int>()
-      .class_function("FromArray", &WasmBuffer<uint8_t>::FromArray)
-      .function("GetPointer", &WasmBuffer<uint8_t>::GetPointer)
-      .function("GetElementCount", &WasmBuffer<uint8_t>::GetElementCount)
-      .function("GetView", &WasmBuffer<uint8_t>::GetView);
-
-  emscripten::register_vector<std::string>("mjStringVec");
-  emscripten::register_vector<std::vector<std::string>>("mjStringVecVec");
-  emscripten::register_vector<int>("mjIntVec");
-  emscripten::register_vector<mjIntVec>("mjIntVecVec");
-  emscripten::register_vector<float>("mjFloatVec");
-  emscripten::register_vector<mjFloatVec>("mjFloatVecVec");
-  emscripten::register_vector<double>("mjDoubleVec");
-  emscripten::register_vector<uint8_t>("mjByteVec");
-  emscripten::register_vector<MjSolverStat>("MjSolverStatVec");
-  emscripten::register_vector<MjTimerStat>("MjTimerStatVec");
-  emscripten::register_vector<MjWarningStat>("MjWarningStatVec");
-  emscripten::register_vector<MjContact>("MjContactVec");
-  emscripten::register_vector<MjvLight>("MjvLightVec");
-  emscripten::register_vector<MjvGLCamera>("MjvGLCameraVec");
-  emscripten::register_vector<MjvGeom>("MjvGeomVec");
-
-  // register_type() improves type information (val is mapped to any by default)
-  // NumberOrString is used in functions returning accessors, allowing users to
-  // get an accessor by name (string) or id (number).
-  emscripten::register_type<NumberOrString>("number|string");
-  emscripten::register_type<NumberArray>("number[]");
-  emscripten::register_type<String>("string");
-  emscripten::register_type<StringOrNull>("string|null");
-
-  emscripten::constant("mjMAXCONPAIR", mjMAXCONPAIR);
-  emscripten::constant("mjMAXIMP", mjMAXIMP);
-  emscripten::constant("mjMAXLIGHT", mjMAXLIGHT);
-  emscripten::constant("mjMAXLINE", mjMAXLINE);
-  emscripten::constant("mjMAXLINEPNT", mjMAXLINEPNT);
-  emscripten::constant("mjMAXOVERLAY", mjMAXOVERLAY);
-  emscripten::constant("mjMAXPLANEGRID", mjMAXPLANEGRID);
-  emscripten::constant("mjMAXVAL", mjMAXVAL);
-  emscripten::constant("mjMINIMP", mjMINIMP);
-  emscripten::constant("mjMINMU", mjMINMU);
-  emscripten::constant("mjMINVAL", mjMINVAL);
-  emscripten::constant("mjNBIAS", mjNBIAS);
-  emscripten::constant("mjNDYN", mjNDYN);
-  emscripten::constant("mjNEQDATA", mjNEQDATA);
-  emscripten::constant("mjNGAIN", mjNGAIN);
-  emscripten::constant("mjNGROUP", mjNGROUP);
-  emscripten::constant("mjNIMP", mjNIMP);
-  emscripten::constant("mjNREF", mjNREF);
-  emscripten::constant("mjNSOLVER", mjNSOLVER);
-  emscripten::constant("mjPI", mjPI);
-  emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
-
-  emscripten::function("get_mjDISABLESTRING", &get_mjDISABLESTRING);
-  emscripten::function("get_mjENABLESTRING", &get_mjENABLESTRING);
-  emscripten::function("get_mjFRAMESTRING", &get_mjFRAMESTRING);
-  emscripten::function("get_mjLABELSTRING", &get_mjLABELSTRING);
-  emscripten::function("get_mjRNDSTRING", &get_mjRNDSTRING);
-  emscripten::function("get_mjTIMERSTRING", &get_mjTIMERSTRING);
-  emscripten::function("get_mjVISSTRING", &get_mjVISSTRING);
-  // Bind these complex constants as properties on the module object.
-  // We use emscripten::constant with emscripten::val::array() to type them
-  // as `any` in TypeScript. At runtime, the EM_ASM block below overrides
-  // these properties with getters that return native JavaScript arrays
-  // (string[] or string[][]) via the get_ functions above, which is more
-  // performant and idiomatic than vector wrappers.
-  emscripten::constant("mjDISABLESTRING", emscripten::val::array());
-  emscripten::constant("mjENABLESTRING", emscripten::val::array());
-  emscripten::constant("mjFRAMESTRING", emscripten::val::array());
-  emscripten::constant("mjLABELSTRING", emscripten::val::array());
-  emscripten::constant("mjRNDSTRING", emscripten::val::array());
-  emscripten::constant("mjTIMERSTRING", emscripten::val::array());
-  emscripten::constant("mjVISSTRING", emscripten::val::array());
-  EM_ASM({
-    if (typeof Module !== "undefined") {
-      "mjDISABLESTRING mjENABLESTRING mjFRAMESTRING mjLABELSTRING mjRNDSTRING mjTIMERSTRING mjVISSTRING".split(" ").forEach(function(name) {
-        Object.defineProperty(Module, name, {
-          get: function() { return Module["get_" + name](); },
-          set: function(v) { },
-          enumerable: true,
-          configurable: true
-        });
-      });
-    }
-  });
-}
-
-}  // namespace mujoco::wasm
-// NOLINTEND(whitespace/semicolon)
-// NOLINTEND(whitespace/line_length)
diff --git a/wasm/codegen/templates/bindings.h b/wasm/codegen/templates/bindings.h
deleted file mode 100644
index 92e3c771..00000000
--- a/wasm/codegen/templates/bindings.h
+++ /dev/null
@@ -1,455 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// NOLINTBEGIN(whitespace/line_length)
-// NOLINTBEGIN(whitespace/semicolon)
-
-#ifndef MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
-#define MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
-
-#include <emscripten.h>
-#include <emscripten/bind.h>
-#include <emscripten/em_asm.h>
-#include <emscripten/val.h>
-
-#include <algorithm>
-#include <array>
-#include <cstddef>
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>  // NOLINT
-#include <memory>
-#include <optional>  // NOLINT
-#include <sstream>
-#include <string>  // NOLINT
-#include <string_view>
-#include <vector>
-
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjspec.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "engine/engine_util_errmem.h"
-#include "wasm/unpack.h"
-#include "python/mujoco/indexer_xmacro.h"
-
-namespace mujoco::wasm {
-
-using emscripten::enum_;
-using emscripten::function;
-using emscripten::typed_memory_view;
-using emscripten::val;
-using emscripten::return_value_policy::reference;
-using emscripten::return_value_policy::take_ownership;
-
-EMSCRIPTEN_DECLARE_VAL_TYPE(NumberOrString);
-EMSCRIPTEN_DECLARE_VAL_TYPE(NumberArray);
-EMSCRIPTEN_DECLARE_VAL_TYPE(String);
-EMSCRIPTEN_DECLARE_VAL_TYPE(StringOrNull);
-
-// Macro to define accessors for different MuJoCo object types within mjModel.
-// Each line calls X_ACCESSOR with the following arguments:
-// 1.  NAME: The object type name in uppercase (e.g., ACTUATOR).
-// 2.  Name: The object type name in CamelCase (e.g., Actuator).
-// 3.  OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
-// 4.  field: The name of the array field in mjModel (e.g., actuator).
-// 5.  nfield: The name of the count field in mjModel (e.g., nu).
-#define MJMODEL_ACCESSORS                                              \
-  X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu       ) \
-  X_ACCESSOR( BODY,     Body,     mjOBJ_BODY,     body,     nbody    ) \
-  X_ACCESSOR( CAMERA,   Camera,   mjOBJ_CAMERA,   cam,      ncam     ) \
-  X_ACCESSOR( EQUALITY, Equality, mjOBJ_EQUALITY, eq,       neq      ) \
-  X_ACCESSOR( EXCLUDE,  Exclude,  mjOBJ_EXCLUDE,  exclude,  nexclude ) \
-  X_ACCESSOR( GEOM,     Geom,     mjOBJ_GEOM,     geom,     ngeom    ) \
-  X_ACCESSOR( HFIELD,   Hfield,   mjOBJ_HFIELD,   hfield,   nhfield  ) \
-  X_ACCESSOR( JOINT,    Joint,    mjOBJ_JOINT,    jnt,      njnt     ) \
-  X_ACCESSOR( LIGHT,    Light,    mjOBJ_LIGHT,    light,    nlight   ) \
-  X_ACCESSOR( MATERIAL, Material, mjOBJ_MATERIAL, mat,      nmat     ) \
-  X_ACCESSOR( MESH,     Mesh,     mjOBJ_MESH,     mesh,     nmesh    ) \
-  X_ACCESSOR( NUMERIC,  Numeric,  mjOBJ_NUMERIC,  numeric,  nnumeric ) \
-  X_ACCESSOR( PAIR,     Pair,     mjOBJ_PAIR,     pair,     npair    ) \
-  X_ACCESSOR( SENSOR,   Sensor,   mjOBJ_SENSOR,   sensor,   nsensor  ) \
-  X_ACCESSOR( SITE,     Site,     mjOBJ_SITE,     site,     nsite    ) \
-  X_ACCESSOR( SKIN,     Skin,     mjOBJ_SKIN,     skin,     nskin    ) \
-  X_ACCESSOR( TENDON,   Tendon,   mjOBJ_TENDON,   tendon,   ntendon  ) \
-  X_ACCESSOR( TEXTURE,  Texture,  mjOBJ_TEXTURE,  tex,      ntex     ) \
-  X_ACCESSOR( TUPLE,    Tuple,    mjOBJ_TUPLE,    tuple,    ntuple   ) \
-  X_ACCESSOR( KEYFRAME, Keyframe, mjOBJ_KEY,      key,      nkey     )
-
-// Macro to define accessors for different MuJoCo object types within mjData.
-// Each line calls X_ACCESSOR with the following arguments:
-// 1.  NAME: The object type name in uppercase (e.g., ACTUATOR).
-// 2.  Name: The object type name in CamelCase (e.g., Actuator).
-// 3.  OBJTYPE: The corresponding mjOBJ_* enum value (e.g., mjOBJ_ACTUATOR).
-// 4.  field: The name of the array field in mjData (e.g., actuator).
-// 5.  nfield: The name of the count field in mjModel (e.g., nu).
-#define MJDATA_ACCESSORS                                               \
-  X_ACCESSOR( ACTUATOR, Actuator, mjOBJ_ACTUATOR, actuator, nu       ) \
-  X_ACCESSOR( BODY,     Body,     mjOBJ_BODY,     body,     nbody    ) \
-  X_ACCESSOR( CAMERA,   Camera,   mjOBJ_CAMERA,   cam,      ncam     ) \
-  X_ACCESSOR( GEOM,     Geom,     mjOBJ_GEOM,     geom,     ngeom    ) \
-  X_ACCESSOR( JOINT,    Joint,    mjOBJ_JOINT,    jnt,      njnt     ) \
-  X_ACCESSOR( LIGHT,    Light,    mjOBJ_LIGHT,    light,    nlight   ) \
-  X_ACCESSOR( SENSOR,   Sensor,   mjOBJ_SENSOR,   sensor,   nsensor  ) \
-  X_ACCESSOR( SITE,     Site,     mjOBJ_SITE,     site,     nsite    ) \
-  X_ACCESSOR( TENDON,   Tendon,   mjOBJ_TENDON,   tendon,   ntendon  )
-
-// Raises an error if the given val is null or undefined.
-// A macro is used so that the error contains the name of the variable.
-// TODO(matijak): Remove this when we can handle strings using UNPACK_STRING?
-#define CHECK_VAL(val)                                    \
-  if (val.isNull()) {                                     \
-    mju_error("Invalid argument: %s is null", #val);      \
-  } else if (val.isUndefined()) {                         \
-    mju_error("Invalid argument: %s is undefined", #val); \
-  }
-
-std::string KeyErrorMessage(const mjModel* model, int objtype, int count,
-                            std::string_view name, std::string_view accessor_name);
-
-std::string IndexErrorMessage(int index, int count,
-                              std::string_view accessor_name);
-
-// {{ ANONYMOUS_STRUCT_TYPEDEFS }}
-
-#undef MJ_M
-#define MJ_M(n) model_->n
-// The X macro expands to a member function within an MjModel...Accessor struct.
-// This function returns an emscripten::val, typically a typed memory view,
-// providing access to array data within the underlying mjModel. The size and
-// offset of the memory view are determined by the arguments:
-// - type: The C++ type of the array elements (e.g., mjtNum, int).
-// - prefix: The prefix of the field name in mjModel (e.g., jnt_, geom_).
-// - var: The name of the field being accessed (e.g., qposadr, size).
-// - dim0: Used to determine special indexing logic for dynamically sized arrays
-//         like joints (nq, nv), hfields, textures, numerics, and tuples.
-// - dim1: The fixed dimension of the array if not dynamically sized. If "1",
-//         a single element is returned. Otherwise, it's used as the stride
-//         for the typed memory view.
-#define X(type, prefix, var, dim0, dim1)                                                         \
-  emscripten::val get_##var() const {                                                            \
-    if constexpr (std::string_view(#dim0) == "nq") {                                             \
-      int start = model_->jnt_qposadr[id_];                                                      \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq;            \
-      return val(typed_memory_view(end - start, model_->prefix##var + start));                   \
-    } else if constexpr (std::string_view(#dim0) == "nv") {                                      \
-      int start = model_->jnt_dofadr[id_];                                                       \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv;             \
-      return val(typed_memory_view(end - start, model_->prefix##var + start));                   \
-    } else if constexpr (std::string_view(#dim0) == "nhfielddata") {                             \
-      int start = model_->hfield_adr[id_];                                                       \
-      int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_];                           \
-      return val(typed_memory_view(count, model_->hfield_data + start));                         \
-    } else if constexpr (std::string_view(#dim0) == "ntexdata") {                                \
-      int start = model_->tex_adr[id_];                                                          \
-      int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_];  \
-      return val(typed_memory_view(count, model_->tex_data + start));                            \
-    } else if constexpr (std::string_view(#dim0) == "nnumericdata") {                            \
-      int start = model_->numeric_adr[id_];                                                      \
-      int count = model_->numeric_size[id_];                                                     \
-      return val(typed_memory_view(count, model_->numeric_data + start));                        \
-    } else if constexpr (std::string_view(#dim0) == "ntupledata") {                              \
-      int start = model_->tuple_adr[id_];                                                        \
-      int count = model_->tuple_size[id_];                                                       \
-      return val(typed_memory_view(count, model_->prefix##var + start));                         \
-    } else {                                                                                     \
-      if constexpr (std::string_view(#dim1) == "1") {                                            \
-        return val(model_->prefix##var[id_]);                                                    \
-      } else {                                                                                   \
-        return val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1));                   \
-      }                                                                                          \
-    }                                                                                            \
-  }                                                                                              \
-  void set_##var(const emscripten::val& value) {                                                 \
-    if constexpr (std::string_view(#dim0) == "nq") {                                             \
-      int start = model_->jnt_qposadr[id_];                                                      \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq;            \
-      val(typed_memory_view(end - start, model_->prefix##var + start))                           \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "nv") {                                      \
-      int start = model_->jnt_dofadr[id_];                                                       \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv;             \
-      val(typed_memory_view(end - start, model_->prefix##var + start))                           \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "nhfielddata") {                             \
-      int start = model_->hfield_adr[id_];                                                       \
-      int count = model_->hfield_nrow[id_] * model_->hfield_ncol[id_];                           \
-      val(typed_memory_view(count, model_->hfield_data + start))                                 \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "ntexdata") {                                \
-      int start = model_->tex_adr[id_];                                                          \
-      int count = model_->tex_height[id_] * model_->tex_width[id_] * model_->tex_nchannel[id_];  \
-      val(typed_memory_view(count, model_->tex_data + start))                                    \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "nnumericdata") {                            \
-      int start = model_->numeric_adr[id_];                                                      \
-      int count = model_->numeric_size[id_];                                                     \
-      val(typed_memory_view(count, model_->numeric_data + start))                                \
-          .call<void>("set", value);                                                             \
-    } else if constexpr (std::string_view(#dim0) == "ntupledata") {                              \
-      int start = model_->tuple_adr[id_];                                                        \
-      int count = model_->tuple_size[id_];                                                       \
-      val(typed_memory_view(count, model_->prefix##var + start))                                 \
-          .call<void>("set", value);                                                             \
-    } else {                                                                                     \
-      if constexpr (std::string_view(#dim1) == "1") {                                            \
-        model_->prefix##var[id_] = value.as<type>();                                             \
-      } else {                                                                                   \
-        val(typed_memory_view(dim1, model_->prefix##var + id_ * dim1))                           \
-            .call<void>("set", value);                                                           \
-      }                                                                                          \
-    }                                                                                            \
-  }
-
-// Expands to a struct definition for each object type in MJMODEL_ACCESSORS.
-// Each struct, named `MjModel{Name}Accessor`, provides:
-// - A constructor taking an `mjModel*` and an integer `id`.
-// - An `id()` method to get the object's index.
-// - A `name()` method to get the object's name using `mj_id2name`.
-// - Member functions generated by the `MJMODEL_##NAME` macro, which in turn
-//   uses the `X` macro to define accessors for fields within `mjModel`.
-#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield)                           \
-  struct MjModel##Name##Accessor {                                               \
-    MjModel##Name##Accessor(mjModel* model, int id) : model_(model), id_(id) {}  \
-                                                                                 \
-    int id() const { return id_; }                                               \
-    std::string name() const {                                                   \
-      const char* name = mj_id2name(model_, OBJTYPE, id_);                       \
-      return name ? name : "";                                                   \
-    }                                                                            \
-                                                                                 \
-    MJMODEL_##NAME                                                               \
-                                                                                 \
-   private:                                                                      \
-    mjModel* model_;                                                             \
-    int id_;                                                                     \
-  };
-MJMODEL_ACCESSORS
-#undef X_ACCESSOR
-
-// Expands to a struct definition for each object type in MJDATA_ACCESSORS.
-// Each struct, named `MjData{Name}Accessor`, provides:
-// - A constructor taking an `mjData*`, an `mjModel*`, and an integer `id`.
-// - An `id()` method to get the object's index.
-// - A `name()` method to get the object's name using `mj_id2name`.
-// - Member functions generated by the `MJDATA_##NAME` macro, which in turn
-//   uses the `X` macro to define accessors for fields within `mjData`.
-#undef MJ_M
-#define MJ_M(n) model_->n
-#undef X
-#define X(type, prefix, var, dim0, dim1)                                               \
-  emscripten::val get_##var() const {                                                  \
-    if constexpr (std::string_view(#dim0) == "nq") {                                   \
-      int start = model_->jnt_qposadr[id_];                                            \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq;  \
-      return val(typed_memory_view(end - start, data_->prefix##var + start));          \
-    } else if constexpr (std::string_view(#dim0) == "nv") {                            \
-      int start = model_->jnt_dofadr[id_];                                             \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv;   \
-      if constexpr (std::string_view(#dim1) == "1") {                                  \
-        return val(typed_memory_view(end - start, data_->prefix##var + start));        \
-      } else {                                                                         \
-        return val(typed_memory_view(                                                  \
-            (end - start) * dim1, data_->prefix##var + start * dim1));                 \
-      }                                                                                \
-    } else if constexpr (std::string_view(#dim0) == "nsensordata") {                   \
-      int start = model_->sensor_adr[id_];                                             \
-      int count = model_->sensor_dim[id_];                                             \
-      return val(typed_memory_view(count, data_->sensordata + start));                 \
-    } else {                                                                           \
-      if constexpr (std::string_view(#dim1) == "1") {                                  \
-        return val(data_->prefix##var[id_]);                                           \
-      } else {                                                                         \
-        return val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1));          \
-      }                                                                                \
-    }                                                                                  \
-  }                                                                                    \
-  void set_##var(const emscripten::val& value) {                                       \
-    if constexpr (std::string_view(#dim0) == "nq") {                                   \
-      int start = model_->jnt_qposadr[id_];                                            \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_qposadr[id_ + 1] : model_->nq;  \
-      val(typed_memory_view(end - start, data_->prefix##var + start))                  \
-          .call<void>("set", value);                                                   \
-    } else if constexpr (std::string_view(#dim0) == "nv") {                            \
-      int start = model_->jnt_dofadr[id_];                                             \
-      int end = (id_ < model_->njnt - 1) ? model_->jnt_dofadr[id_ + 1] : model_->nv;   \
-      if constexpr (std::string_view(#dim1) == "1") {                                  \
-        val(typed_memory_view(end - start, data_->prefix##var + start))                \
-            .call<void>("set", value);                                                 \
-      } else {                                                                         \
-        val(typed_memory_view((end - start) * dim1,                                    \
-                                          data_->prefix##var + start * dim1))          \
-            .call<void>("set", value);                                                 \
-      }                                                                                \
-    } else if constexpr (std::string_view(#dim0) == "nsensordata") {                   \
-      int start = model_->sensor_adr[id_];                                             \
-      int count = model_->sensor_dim[id_];                                             \
-      val(typed_memory_view(count, data_->sensordata + start))                         \
-          .call<void>("set", value);                                                   \
-    } else {                                                                           \
-      if constexpr (std::string_view(#dim1) == "1") {                                  \
-        data_->prefix##var[id_] = value.as<type>();                                    \
-      } else {                                                                         \
-        val(typed_memory_view(dim1, data_->prefix##var + id_ * dim1))                  \
-            .call<void>("set", value);                                                 \
-      }                                                                                \
-    }                                                                                  \
-  }
-
-#define X_ACCESSOR(NAME, Name, OBJTYPE, field, nfield)                                                     \
-  struct MjData##Name##Accessor {                                                                          \
-    MjData##Name##Accessor(mjData* data, mjModel* model, int id) : data_(data), model_(model), id_(id) {}  \
-                                                                                                           \
-    int id() const { return id_; }                                                                         \
-    std::string name() const {                                                                             \
-      const char* name = mj_id2name(model_, OBJTYPE, id_);                                                 \
-      return name ? name : "";                                                                             \
-    }                                                                                                      \
-                                                                                                           \
-    MJDATA_##NAME                                                                                          \
-                                                                                                           \
-   private:                                                                                                \
-    mjData* data_;                                                                                         \
-    mjModel* model_;                                                                                       \
-    int id_;                                                                                               \
-  };
-MJDATA_ACCESSORS
-#undef X_ACCESSOR
-
-#undef X
-#undef MJ_M
-
-// {{ STRUCTS_HEADER }}
-
-struct MjvScene {
-  MjvScene();
-  MjvScene(MjModel *m, int maxgeom);
-  ~MjvScene();
-  std::unique_ptr<MjvScene> copy();
-  int GetSumFlexFaces() const;
-
-  mjvScene* get() const;
-  void set(mjvScene* ptr);
-
-  std::vector<MjvGeom> geoms() const;
-
-  emscripten::val geomorder() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->ngeom, ptr_->geomorder));
-  }
-  emscripten::val flexedgeadr() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgeadr));
-  }
-  emscripten::val flexedgenum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexedgenum));
-  }
-  emscripten::val flexvertadr() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertadr));
-  }
-  emscripten::val flexvertnum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexvertnum));
-  }
-  emscripten::val flexfaceadr() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceadr));
-  }
-  emscripten::val flexfacenum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfacenum));
-  }
-  emscripten::val flexfaceused() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nflex, ptr_->flexfaceused));
-  }
-  emscripten::val flexedge() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(2 * model->nflexedge, ptr_->flexedge));
-  }
-  emscripten::val flexvert() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(3 * model->nflexvert, ptr_->flexvert));
-  }
-  emscripten::val skinfacenum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nskin, ptr_->skinfacenum));
-  }
-  emscripten::val skinvertadr() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertadr));
-  }
-  emscripten::val skinvertnum() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(ptr_->nskin, ptr_->skinvertnum));
-  }
-  emscripten::val skinvert() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinvert));
-  }
-  emscripten::val skinnormal() const {
-    return emscripten::val(
-        emscripten::typed_memory_view(3 * model->nskinvert, ptr_->skinnormal));
-  }
-  emscripten::val flexface() const {
-    return emscripten::val(emscripten::typed_memory_view(
-        9 * MjvScene::GetSumFlexFaces(), ptr_->flexface));
-  }
-  emscripten::val flexnormal() const {
-    return emscripten::val(emscripten::typed_memory_view(
-        9 * MjvScene::GetSumFlexFaces(), ptr_->flexnormal));
-  }
-  emscripten::val flextexcoord() const {
-    return emscripten::val(emscripten::typed_memory_view(
-        6 * MjvScene::GetSumFlexFaces(), ptr_->flextexcoord));
-  }
-  // INSERT-GENERATED-MjvScene-DECLARATION
-
- private:
-  mjvScene* ptr_;
-  bool owned_ = false;
-
- public:
-  mjModel* model;
-  std::vector<MjvLight> lights;
-  std::vector<MjvGLCamera> camera;
-};
-
-struct MjVFS {
-  MjVFS() : ptr_(new mjVFS) { mj_defaultVFS(ptr_); }
-  ~MjVFS() { mj_deleteVFS(ptr_); }
-  void AddBuffer(const std::string& name, const emscripten::val& buffer) {
-    std::vector<uint8_t> vec = emscripten::vecFromJSArray<uint8_t>(buffer);
-    int result = mj_addBufferVFS(ptr_, name.c_str(), vec.data(), vec.size());
-    if (result != 0) {
-      mju_error("Could not add buffer to VFS: %d", result);
-    }
-  }
-  void DeleteFile(const std::string& filename) {
-    mj_deleteFileVFS(ptr_, filename.c_str());
-  }
-  mjVFS* get() const { return ptr_; }
-
- private:
-  mjVFS* ptr_;
-};
-
-}  // namespace mujoco::wasm
-// NOLINTEND(whitespace/semicolon)
-// NOLINTEND(whitespace/line_length)
-
-#endif  // MUJOCO_WASM_CODEGEN_GENERATED_BINDINGS_H_
diff --git a/wasm/codegen/tests/bindings_diff_test.py b/wasm/codegen/tests/bindings_diff_test.py
deleted file mode 100644
index b9f032e6..00000000
--- a/wasm/codegen/tests/bindings_diff_test.py
+++ /dev/null
@@ -1,50 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from pathlib import Path
-
-from absl.testing import absltest
-
-from wasm.codegen.generators import binding_builder
-
-ERROR_MESSAGE = """
-The file '{}' needs to be updated, please run:
-update.py as described in wasm/README.md""".lstrip()
-
-
-class BindingsDiffTest(absltest.TestCase):
-
-  def test_bindings_source(self):
-    SCRIPT_DIR = Path(__file__).parent
-    with open(SCRIPT_DIR / 'generated/bindings.cc', 'r') as f:
-      self.generated_src = f.read()
-    self.template_path_cc = SCRIPT_DIR / 'templates/bindings.cc'
-
-    self.builder = binding_builder.BindingBuilder()
-
-    generator_output = (
-        self.builder.set_enums()
-        .set_structs()
-        .set_functions()
-        .build_string(self.template_path_cc)
-    )
-    self.assertEqual(
-        generator_output,
-        self.generated_src,
-        msg=ERROR_MESSAGE.format('bindings.cc'),
-    )
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/wasm/codegen/tests/coverage_test.py b/wasm/codegen/tests/coverage_test.py
deleted file mode 100644
index 671cc12e..00000000
--- a/wasm/codegen/tests/coverage_test.py
+++ /dev/null
@@ -1,152 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Tests to ensure that all Mujoco functions and structs are correctly handled.
-
-This file contains tests that verify:
-- All functions defined in Mujoco's introspect module are either bound in the
-  generated bindings.cc file or explicitly excluded in constants.py.
-- All structs defined in Mujoco's introspect module are either bound in the
-  generated bindings.cc file or explicitly skipped in SKIPPED_STRUCTS in
-  constants.py.
-
-These tests help maintain the integrity of the generated WASM bindings by
-ensuring that no functions or structs are accidentally missed or incorrectly
-handled during the code generation process.
-"""
-
-from pathlib import Path
-import re
-
-from absl.testing import absltest
-from introspect import functions as introspect_functions
-from introspect import structs as introspect_structs
-
-from wasm.codegen.generators import common
-from wasm.codegen.generators import constants
-from wasm.codegen.generators import functions
-
-
-def _get_resource_content(file_path: str) -> str:
-  """Reads resource file content using resources.GetResource."""
-  try:
-    with open(file_path, 'r') as f:
-      return f.read()
-  except FileNotFoundError:
-    print(f'Warning: Resource {file_path} not found.')
-    return ''
-  except IOError as e:
-    print(f'Error reading resource {file_path}: {e}')
-    return ''
-
-
-def _get_bound_functions_from_cc() -> set[str]:
-  """Reads bindings.cc and extracts the names of bound functions."""
-  content = _get_resource_content(
-      Path(__file__).parent / 'generated/bindings.cc'
-  )
-  if not content:
-    return set()
-
-  bound_functions = set()
-  # Find all strings within function("...") calls.
-  matches = re.findall(r'function\("([^"]+)"', content)
-  bound_functions.update(matches)
-  return bound_functions
-
-
-def _get_bound_structs_from_cc() -> set[str]:
-  """Reads bindings.cc and extracts the names of bound structs."""
-  content = _get_resource_content(
-      Path(__file__).parent / 'generated/bindings.cc'
-  )
-  if not content:
-    return set()
-
-  bound_structs = set()
-  # Find all strings within class_<...>("...") calls.
-  matches = re.findall(r'class_<[^>]+>\("([^"]+)"\)', content)
-  bound_structs.update(matches)
-  return bound_structs
-
-
-class BindingCoverageTest(absltest.TestCase):
-
-  def test_function_coverage(self):
-    """Asserts that each function is either excluded or bound."""
-    all_functions = set(introspect_functions.FUNCTIONS.keys())
-    excluded_functions = {
-        name
-        for name in all_functions
-        if functions.is_excluded_function_name(name)
-    }
-    bound_functions = _get_bound_functions_from_cc()
-
-    missing_functions = []
-    for func_name in all_functions:
-      if (
-          func_name not in excluded_functions
-          and func_name not in bound_functions
-      ):
-        missing_functions.append(func_name)
-
-    if missing_functions:
-      error_message = (
-          f"""The following functions from functions.py are neither excluded in
-          constants.py nor bound in bindings.cc:
-
-          {", ".join(sorted(missing_functions))}
-
-          Please either add them to a exclusion list in
-          constants.py or create a binding in bindings.cc."""
-      )
-      self.fail(error_message)
-
-  def test_struct_coverage(self):
-    """Asserts that each struct is either not bound or bound in structs.cc."""
-    bound_structs = _get_bound_structs_from_cc()
-    all_structs = {
-        common.capitalize(struct_name)
-        for struct_name in introspect_structs.STRUCTS.keys()
-    }
-    skipped_structs = {
-        common.capitalize(struct_name)
-        for struct_name in constants.SKIPPED_STRUCTS
-    }
-    missing_structs = []
-    for struct_name in all_structs:
-      if (
-          struct_name not in skipped_structs
-          and struct_name not in bound_structs
-      ):
-        missing_structs.append(struct_name)
-    error_messages = []
-
-    if missing_structs:
-      error_messages.append(
-          f"""The following structs are defined in structs.py but are neither
-            bound in bindings.cc nor listed in SKIPPED_STRUCTS:
-
-            {", ".join(sorted(missing_structs))}
-
-            Please either add them to SKIPPED_STRUCTS or create its binding
-            in bindings.cc."""
-      )
-
-    if error_messages:
-      self.fail('\n\n'.join(error_messages))
-
-
-if __name__ == '__main__':
-  absltest.main()
diff --git a/wasm/codegen/tests/enums_test_generator.py b/wasm/codegen/tests/enums_test_generator.py
deleted file mode 100644
index 862b15e3..00000000
--- a/wasm/codegen/tests/enums_test_generator.py
+++ /dev/null
@@ -1,54 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Generates TypeScript code that tests Mujoco enums."""
-
-import textwrap
-
-from introspect import enums as introspect_enums
-
-from wasm.codegen.generators import common
-
-
-def generate_typescript_enum_tests():
-  """Generates TypeScript code that tests Mujoco enums."""
-  output = textwrap.dedent("""\
-    import 'jasmine';
-
-    import { MainModule } from "../dist/mujoco"
-    import loadMujoco from "../dist/mujoco.js"
-
-    let mujoco: MainModule;
-
-    describe('Enums', () => {
-      beforeAll(async () => {
-        mujoco = await loadMujoco();
-      });
-    """)
-
-  for enum_decl in introspect_enums.ENUMS.values():
-    enum_name = enum_decl.name
-    output += f"""
-  it('{enum_name} should exist', () => {{
-    expect(mujoco.{enum_name}).toBeDefined();
-  }});\n"""
-
-  output += "});\n"
-  return output
-
-
-if __name__ == "__main__":
-  ts_test_code = generate_typescript_enum_tests()
-  output_file = 'wasm/tests/enums_test.ts'
-  common.write_to_file(output_file, ts_test_code)
diff --git a/wasm/codegen/tests/generators_test.py b/wasm/codegen/tests/generators_test.py
deleted file mode 100644
index 634473a9..00000000
--- a/wasm/codegen/tests/generators_test.py
+++ /dev/null
@@ -1,678 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Tests for helper modules."""
-
-from absl.testing import absltest
-from mujoco.codegen import code_builder
-from introspect import ast_nodes
-
-from wasm.codegen.generators import common
-from wasm.codegen.generators import enums
-from wasm.codegen.generators import functions
-from wasm.codegen.generators import structs
-
-
-class CodeBuilderTest(absltest.TestCase):
-
-  def test_code_builder_functionality(self):
-    """Test nested indentation blocks."""
-    builder = code_builder.CodeBuilder(indent_str="    ")
-    builder.line("let a = 1")
-    with builder.block("function myFunc()"):
-      builder.line("let flag = true")
-      with builder.block("while (flag)"):
-        builder.line("a++")
-        builder.line("flag = a < 10")
-      builder.line("return a")
-    builder.line("print('Done')")
-
-    expected_lines = [
-        "let a = 1",
-        "function myFunc() {",
-        "    let flag = true",
-        "    while (flag) {",
-        "        a++",
-        "        flag = a < 10",
-        "    }",
-        "    return a",
-        "}",
-        "print('Done')",
-    ]
-    self.assertEqual(builder.to_string(), "\n".join(expected_lines))
-
-
-class CommonUtilsTest(absltest.TestCase):
-
-  def test_capitalize(self):
-    self.assertEqual(common.capitalize(""), "")
-    self.assertEqual(common.capitalize("hello"), "Hello")
-    self.assertEqual(common.capitalize("1st place"), "1st place")
-    self.assertEqual(common.capitalize("!wow"), "!wow")
-    self.assertEqual(common.capitalize(" leading space"), " leading space")
-
-
-class FunctionUtilsTest(absltest.TestCase):
-
-  def setUp(self):
-    super().setUp()
-    self.struct_type = ast_nodes.ValueType("MyStruct")
-    self.ptr_to_int = ast_nodes.PointerType(ast_nodes.ValueType("int"))
-    self.func_ret_ptr_int = ast_nodes.FunctionDecl(
-        "func_pi", ast_nodes.PointerType(ast_nodes.ValueType("int")), [], "doc"
-    )
-    self.func_ret_ptr_struct = ast_nodes.FunctionDecl(
-        "func_ps",
-        ast_nodes.PointerType(ast_nodes.ValueType("MyStruct")),
-        [],
-        "doc",
-    )
-
-  def test_param_is_primitive_value(self):
-    param_prim_val = ast_nodes.FunctionParameterDecl(
-        "prim_v", ast_nodes.ValueType("int")
-    )
-    param_arr = ast_nodes.FunctionParameterDecl(
-        "arr_v", ast_nodes.ArrayType(ast_nodes.ValueType("int"), extents=(10,))
-    )
-
-    self.assertTrue(functions.param_is_primitive_value(param_prim_val))
-    self.assertFalse(functions.param_is_primitive_value(param_arr))
-
-  def test_should_be_wrapped_with_primitive_ptr_return(self):
-    func = ast_nodes.FunctionDecl(
-        name="get_data",
-        return_type=ast_nodes.PointerType(ast_nodes.ValueType("int")),
-        parameters=tuple(),
-        doc="Returns int pointer",
-    )
-    self.assertTrue(common.should_be_wrapped(func))
-
-  def test_generate_function_wrapper_for_simple_func(self):
-    func = ast_nodes.FunctionDecl(
-        name="mj_defaultLROpt",
-        return_type=ast_nodes.ValueType("void"),
-        parameters=(
-            ast_nodes.FunctionParameterDecl(
-                name="opt",
-                type=ast_nodes.PointerType(
-                    inner_type=ast_nodes.ValueType("mjLROpt"),
-                ),
-            ),
-        ),
-        doc="Set default options for length range computation.",
-    )
-    result = functions.generate_function_wrapper(func)
-    self.assertEqual(
-        result,
-        """void mj_defaultLROpt_wrapper(MjLROpt& opt) {
-  mj_defaultLROpt(opt.get());
-}""",
-    )
-
-  def test_generate_function_wrapper_checking_param(self):
-    func = ast_nodes.FunctionDecl(
-        name="mj_extractState",
-        return_type=ast_nodes.ValueType(name="void"),
-        parameters=(
-            ast_nodes.FunctionParameterDecl(
-                name="m",
-                type=ast_nodes.PointerType(
-                    inner_type=ast_nodes.ValueType(
-                        name="mjModel", is_const=True
-                    ),
-                ),
-            ),
-            ast_nodes.FunctionParameterDecl(
-                name="src",
-                type=ast_nodes.PointerType(
-                    inner_type=ast_nodes.ValueType(
-                        name="mjtNum", is_const=True
-                    ),
-                ),
-            ),
-            ast_nodes.FunctionParameterDecl(
-                name="srcsig",
-                type=ast_nodes.ValueType(name="unsigned int"),
-            ),
-            ast_nodes.FunctionParameterDecl(
-                name="dst",
-                type=ast_nodes.PointerType(
-                    inner_type=ast_nodes.ValueType(name="mjtNum"),
-                ),
-            ),
-            ast_nodes.FunctionParameterDecl(
-                name="dstsig",
-                type=ast_nodes.ValueType(name="unsigned int"),
-            ),
-        ),
-        doc="Extract a subset of components from a state previously obtained via mj_getState.",  # pylint: disable=line-too-long
-    )
-    result = functions.generate_function_wrapper(func)
-    self.assertEqual(
-        result,
-        """void mj_extractState_wrapper(const MjModel& m, const NumberArray& src, unsigned int srcsig, const val& dst, unsigned int dstsig) {
-  UNPACK_ARRAY(mjtNum, src);
-  UNPACK_VALUE(mjtNum, dst);
-  mj_extractState(m.get(), src_.data(), srcsig, dst_.data(), dstsig);
-}""",
-    )
-
-  def test_get_params_string_with_struct_ptr(self):
-    param = ast_nodes.FunctionParameterDecl(
-        name="my_struct",
-        type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
-    )
-    result = functions.get_param_string(param)
-    self.assertEqual(result, "Mystruct& my_struct")
-
-  def test_get_params_string_maybe_with_conversion_struct_ptr(self):
-    param = ast_nodes.FunctionParameterDecl(
-        name="s",
-        type=ast_nodes.PointerType(ast_nodes.ValueType("customstruct")),
-    )
-    result = functions.get_params_string_maybe_with_conversion((param,))
-    self.assertEqual(result, "s.get()")
-
-  def test_get_compatible_return_code(self):
-    func = ast_nodes.FunctionDecl(
-        name="noop",
-        return_type=ast_nodes.ValueType("void"),
-        parameters=tuple(),
-        doc="does nothing",
-    )
-    result = functions.get_compatible_return_code(func)
-    self.assertEqual(result, "noop();")
-
-  def test_get_compatible_return_type(self):
-    func = ast_nodes.FunctionDecl(
-        name="get_name",
-        return_type=ast_nodes.PointerType(ast_nodes.ValueType("char")),
-        parameters=tuple(),
-        doc="returns name",
-    )
-    result = functions.get_compatible_return_type(func)
-    self.assertEqual(result.strip(), "std::string")
-
-  def test_get_optional_return_code(self):
-    func = ast_nodes.FunctionDecl(
-        name="get_struct",
-        return_type=ast_nodes.PointerType(ast_nodes.ValueType("mystruct")),
-        parameters=tuple(),
-        doc="returns struct",
-    )
-    result = functions.get_optional_return_code(func, "get_struct()")
-    self.assertIn("mystruct* result = get_struct();", result)
-    self.assertIn("return Mystruct(result)", result)
-
-  def test_is_excluded_function_name(self):
-    self.assertTrue(functions.is_excluded_function_name("mjr_function"))
-    self.assertTrue(functions.is_excluded_function_name("mjui_function"))
-    self.assertTrue(functions.is_excluded_function_name("mju_malloc"))
-    self.assertTrue(functions.is_excluded_function_name("mj_makeData"))
-    self.assertFalse(functions.is_excluded_function_name("mjv_updateScene"))
-    self.assertFalse(functions.is_excluded_function_name("mj_normalFunction"))
-    self.assertFalse(
-        functions.is_excluded_function_name("mju_someOtherFunction")
-    )
-
-
-class StructConstructorCodeBuilderTest(absltest.TestCase):
-
-  def test_constructor_code_with_fields_with_init(self):
-    field_with_init = ast_nodes.StructFieldDecl(
-        name="element",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="mjsElement"),
-        ),
-        doc="",
-    )
-    wrapped_field_data = structs._generate_field_data(
-        field_with_init, "MjsTexture"
-    )
-    self.assertEqual(
-        structs.build_struct_source(
-            "mjsTexture",
-            [wrapped_field_data],
-        ),
-        """
-MjsTexture::MjsTexture(mjsTexture *ptr) : ptr_(ptr), element(ptr_->element) {}
-mjsTexture* MjsTexture::get() const {
-  return ptr_;
-}
-void MjsTexture::set(mjsTexture* ptr) {
-  ptr_ = ptr;
-}
-""".strip(),
-    )
-
-  def test_constructor_code_with_shallow_copy(self):
-    self.assertEqual(
-        structs.build_struct_source("mjvLight", []),
-        """MjvLight::MjvLight(mjvLight *ptr) : ptr_(ptr) {}
-MjvLight::~MjvLight() {
-  if (owned_ && ptr_) {
-    delete ptr_;
-  }
-}
-MjvLight::MjvLight() : ptr_(new mjvLight()) {
-  owned_ = true;
-}
-MjvLight::MjvLight(const MjvLight &other) : MjvLight() {
-  *ptr_ = *other.get();
-}
-MjvLight& MjvLight::operator=(const MjvLight &other) {
-  if (this == &other) {
-    return *this;
-  }
-  *ptr_ = *other.get();
-  return *this;
-}
-std::unique_ptr<MjvLight> MjvLight::copy() {
-  return std::make_unique<MjvLight>(*this);
-}
-mjvLight* MjvLight::get() const {
-  return ptr_;
-}
-void MjvLight::set(mjvLight* ptr) {
-  ptr_ = ptr;
-}
-""".strip(),
-    )
-
-
-def test_build_struct_header_with_nested_wrappers(self):
-  self.assertEqual(
-      structs.build_struct_header("mjData", []),
-      "",
-  )
-
-
-def test_build_struct_header_basic_struct(self):
-  self.assertEqual(
-      structs.build_struct_header("mjLROpt", []),
-      """
-struct MjLROpt {
-  MjLROpt();
-  MjLROpt(const MjLROpt &);
-  MjLROpt &operator=(const MjLROpt &);
-  explicit MjLROpt(mjLROpt *ptr);
-  ~MjLROpt();
-  mjLROpt* get() const { return ptr_; }
-  void set(mjLROpt* ptr) { ptr_ = ptr; }
-
- private:
-  mjLROpt* ptr_;
-  bool owned_ = false;
-};
-""".strip(),
-  )
-
-
-class StructFieldCodeBuilderTest(absltest.TestCase):
-
-  def test_primitive_type_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="ngeom",
-        type=ast_nodes.ValueType(name="int"),
-        doc="number of geoms",
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "ngeom").declaration,
-        """
-int ngeom() const {
-  return ptr_->ngeom;
-}
-void set_ngeom(int value) {
-  ptr_->ngeom = value;
-}
-""".strip(),
-    )
-
-  def test_memory_view_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="geom_rgba",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="float"),
-        ),
-        doc="rgba when material is omitted",
-        array_extent=("ngeom", 4),
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "geom_rgba").declaration,
-        """
-emscripten::val geom_rgba() const {
-  return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
-}
-""".strip(),
-    )
-
-  def test_string_field_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="string_field",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="mjString"),
-        ),
-        doc="rgba when material is omitted",
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "MjString").declaration,
-        """
-mjString string_field() const {
-  return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
-}
-void set_string_field(const mjString& value) {
-  if (ptr_ && ptr_->string_field) {
-    *(ptr_->string_field) = value;
-  }
-}
-""".strip(),
-    )
-
-  def test_mjvec_pointer_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="vector_field",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="mjDoubleVec"),
-        ),
-        doc="",
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "mjDoubleVec").declaration,
-        """
-mjDoubleVec &vector_field() const {
-  return *(ptr_->vector_field);
-}""".strip(),
-    )
-
-  def test_mjbyte_vec_pointer_definition(self):
-    field = ast_nodes.StructFieldDecl(
-        name="vector_field",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="mjByteVec"),
-        ),
-        doc="",
-    )
-    self.assertEqual(
-        structs._generate_field_data(field, "mjByteVec").declaration,
-        """
-std::vector<uint8_t> &vector_field() const {
-  return *(reinterpret_cast<std::vector<uint8_t>*>(ptr_->vector_field));
-}""".strip(),
-    )
-
-  def test_get_property_binding(self):
-    field = ast_nodes.StructFieldDecl(
-        name="ngeom",
-        type=ast_nodes.ValueType(name="int"),
-        doc="number of geoms",
-    )
-    self.assertEqual(
-        structs._get_property_binding(field, "MjModel"),
-        '.property("ngeom", &MjModel::ngeom)',
-    )
-
-  def test_get_property_binding_with_setter(self):
-    field = ast_nodes.StructFieldDecl(
-        name="ngeom",
-        type=ast_nodes.ValueType(name="int"),
-        doc="",
-    )
-    self.assertEqual(
-        structs._get_property_binding(field, "MjModel", True),
-        '.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom)',
-    )
-
-  def test_get_property_binding_with_return_value_policy_as_ref(self):
-    field = ast_nodes.StructFieldDecl(
-        name="ngeom",
-        type=ast_nodes.ValueType(name="int"),
-        doc="",
-    )
-    self.assertEqual(
-        structs._get_property_binding(
-            field,
-            "MjModel",
-            setter=True,
-            reference=True,
-        ),
-        '.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
-    )
-
-
-class StructFieldHandlerTest(absltest.TestCase):
-
-  def test_scalar_field(self):
-    """Test that a scalar type field is handled correctly."""
-    field_scalar = ast_nodes.StructFieldDecl(
-        name="ngeom",
-        type=ast_nodes.ValueType(name="int"),
-        doc="number of geoms",
-    )
-
-    wrapped_field_data = structs._generate_field_data(field_scalar, "MjModel")
-    self.assertEqual(
-        wrapped_field_data.declaration,
-        """
-int ngeom() const {
-  return ptr_->ngeom;
-}
-void set_ngeom(int value) {
-  ptr_->ngeom = value;
-}
-""".strip(),
-    )
-    self.assertEqual(
-        wrapped_field_data.binding,
-        '.property("ngeom", &MjModel::ngeom, &MjModel::set_ngeom, reference())',
-    )
-
-  def test_pointer_type_field(self):
-    """Test that a pointer type field is handled correctly."""
-    field = ast_nodes.StructFieldDecl(
-        name="geom_rgba",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="float"),
-        ),
-        doc="rgba when material is omitted",
-        array_extent=("ngeom", 4),
-    )
-    wrapped_field_data = structs._generate_field_data(field, "MjModel")
-
-    self.assertEqual(
-        wrapped_field_data.declaration,
-        ("""
-emscripten::val geom_rgba() const {
-  return emscripten::val(emscripten::typed_memory_view(ptr_->ngeom * 4, ptr_->geom_rgba));
-}
-""".strip()),
-    )
-
-    self.assertEqual(
-        wrapped_field_data.binding,
-        '.property("geom_rgba", &MjModel::geom_rgba)',
-    )
-
-  def test_pointer_type_field_for_byte_type(self):
-    """Test that a pointer type field for a byte type is handled correctly."""
-    field = ast_nodes.StructFieldDecl(
-        name="buffer",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="void"),
-        ),
-        doc="main buffer; all pointers point in it (nbuffer bytes)",
-    )
-    wrapped_field_data = structs._generate_field_data(field, "MjData")
-
-    self.assertEqual(
-        wrapped_field_data.declaration,
-        ("""
-emscripten::val buffer() const {
-  return emscripten::val(emscripten::typed_memory_view(model->nbuffer, static_cast<uint8_t*>(ptr_->buffer)));
-}
-""".strip()),
-    )
-    assert wrapped_field_data.binding == '.property("buffer", &MjData::buffer)'
-
-  def test_pointer_type_field_for_mj_struct(self):
-    """Test that a pointer type field for a mj struct is handled correctly."""
-    field = ast_nodes.StructFieldDecl(
-        name="element",
-        type=ast_nodes.PointerType(
-            inner_type=ast_nodes.ValueType(name="mjsElement"),
-        ),
-        doc="",
-    )
-    wrapped_field_data = structs._generate_field_data(field, "MjsTexture")
-    self.assertEqual(wrapped_field_data.declaration, "MjsElement element;")
-
-    self.assertEqual(
-        wrapped_field_data.binding,
-        '.property("element", &MjsTexture::element, reference())',
-    )
-    self.assertEqual(
-        wrapped_field_data.ptr_initialization,
-        "element(ptr_->element)",
-    )
-
-  def test_array_type_field(self):
-    """Test that an array type field is handled correctly."""
-    field = ast_nodes.StructFieldDecl(
-        name="gravity",
-        type=ast_nodes.ArrayType(
-            inner_type=ast_nodes.ValueType(name="mjtNum"),
-            extents=(3,),
-        ),
-        doc="gravitational acceleration",
-    )
-    wrapped_field_data = structs._generate_field_data(field, "MjOption")
-
-    self.assertEqual(
-        wrapped_field_data.declaration,
-        ("""
-emscripten::val gravity() const {
-  return emscripten::val(emscripten::typed_memory_view(3, ptr_->gravity));
-}
-""".strip()),
-    )
-    self.assertEqual(
-        wrapped_field_data.binding,
-        '.property("gravity", &MjOption::gravity)',
-    )
-
-  def test_array_field_with_multi_dimensional_array(self):
-    """Test that multi-dimensional arrays are handled correctly."""
-    field = ast_nodes.StructFieldDecl(
-        name="multi_dim_array",
-        type=ast_nodes.ArrayType(
-            inner_type=ast_nodes.ValueType(name="float"),
-            extents=(3, 4),
-        ),
-        doc="description",
-    )
-    wrapped_field_data = structs._generate_field_data(field, "MjModel")
-    self.assertEqual(
-        wrapped_field_data.declaration,
-        """
-emscripten::val multi_dim_array() const {
-  return emscripten::val(emscripten::typed_memory_view(12, reinterpret_cast<float*>(ptr_->multi_dim_array)));
-}
-""".strip(),
-    )
-    self.assertEqual(
-        wrapped_field_data.binding,
-        '.property("multi_dim_array", &MjModel::multi_dim_array)',
-    )
-
-  def test_parse_array_extent(self):
-    """Test that parse_array_extent handles various cases correctly."""
-    self.assertEqual(
-        structs.parse_array_extent((1, 2), "MjModel", "geom_rgba"),
-        "1 * 2",
-    )
-    self.assertEqual(
-        structs.parse_array_extent((1, "ngeom"), "MjModel", "geom_rgba"),
-        "1 * ptr_->ngeom",
-    )
-    self.assertEqual(
-        structs.parse_array_extent((1, "mjConstant"), "MjModel", "geom_rgba"),
-        "1 * mjConstant",
-    )
-
-  def test_resolve_extent(self):
-    """Test that resolve_extent handles various cases correctly."""
-    # for integer just return the number
-    self.assertEqual(structs.resolve_extent(1, "MjModel", "geom_rgba"), "1")
-
-    # for string that does not start with mj, it's a member of the struct
-    self.assertEqual(
-        structs.resolve_extent("ngeom", "MjModel", "geom_rgba"),
-        "ptr_->ngeom",
-    )
-
-    # when it's MjData and the field is in MJDATA_SIZES, it should use ptr_->
-    self.assertEqual(
-        structs.resolve_extent("size_value", "MjData", "efc_AR"),
-        "ptr_->size_value",
-    )
-    # when it's MjData and the field is not in MJDATA_SIZES,
-    # it should use model->
-    self.assertEqual(
-        structs.resolve_extent("size_value", "MjData", "data_field"),
-        "model->size_value",
-    )
-    self.assertEqual(
-        structs.resolve_extent("mjConstant", "MjModel", "model_field"),
-        "mjConstant",
-    )
-
-
-class EnumsGeneratorTest(absltest.TestCase):
-
-  def test_generate_enum_bindings(self):
-
-    expected_code = """
-enum_<AnotherEnum>("AnotherEnum")
-  .value("ALPHA", ALPHA)
-  .value("BETA", BETA);
-enum_<TestEnum>("TestEnum")
-  .value("FIRST_VAL", FIRST_VAL)
-  .value("SECOND_VAL", SECOND_VAL)
-  .value("THIRD_VAL", THIRD_VAL);
-""".strip()
-
-    markers_and_content = enums.generate([
-        ast_nodes.EnumDecl(
-            name="TestEnum",
-            declname="enum TestEnum_",
-            values={"FIRST_VAL": 0, "SECOND_VAL": 1, "THIRD_VAL": 2},
-        ),
-        ast_nodes.EnumDecl(
-            name="AnotherEnum",
-            declname="enum AnotherEnum_",
-            values={"ALPHA": 100, "BETA": 200},
-        ),
-        ast_nodes.EnumDecl(
-            name="EmptyEnum",
-            declname="enum EmptyEnum_",
-            values={},
-        ),
-    ])
-    actual_code = "\n\n".join(markers_and_content[0][1])
-
-    self.assertEqual(actual_code, expected_code)
-
-
-if __name__ == "__main__":
-  absltest.main()
diff --git a/wasm/codegen/update.py b/wasm/codegen/update.py
deleted file mode 100644
index 71d016e5..00000000
--- a/wasm/codegen/update.py
+++ /dev/null
@@ -1,32 +0,0 @@
-# Copyright 2025 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Generates Javascript/TypeScript bindings for MuJoCo."""
-
-from wasm.codegen.generators import binding_builder
-
-
-if __name__ == "__main__":
-  template_file_cc = "wasm/codegen/templates/bindings.cc"
-  generated_file_cc = "wasm/codegen/generated/bindings.cc"
-  template_file_h = "wasm/codegen/templates/bindings.h"
-  generated_file_h = "wasm/codegen/generated/bindings.h"
-
-  builder = binding_builder.BindingBuilder()
-  builder.set_enums()
-  builder.set_structs()
-  builder.set_functions()
-
-  builder.build_file(template_file_h, generated_file_h)
-  builder.build_file(template_file_cc, generated_file_cc)
diff --git a/wasm/demo-dist/assets/index-DpY1_NiW.js b/wasm/demo-dist/assets/index-DpY1_NiW.js
deleted file mode 100644
index 9b15dc45..00000000
--- a/wasm/demo-dist/assets/index-DpY1_NiW.js
+++ /dev/null
@@ -1,3875 +0,0 @@
-(function(){let e=document.createElement(`link`).relList;if(e&&e.supports&&e.supports(`modulepreload`))return;for(let e of document.querySelectorAll(`link[rel="modulepreload"]`))n(e);new MutationObserver(e=>{for(let t of e)if(t.type===`childList`)for(let e of t.addedNodes)e.tagName===`LINK`&&e.rel===`modulepreload`&&n(e)}).observe(document,{childList:!0,subtree:!0});function t(e){let t={};return e.integrity&&(t.integrity=e.integrity),e.referrerPolicy&&(t.referrerPolicy=e.referrerPolicy),e.crossOrigin===`use-credentials`?t.credentials=`include`:e.crossOrigin===`anonymous`?t.credentials=`omit`:t.credentials=`same-origin`,t}function n(e){if(e.ep)return;e.ep=!0;let n=t(e);fetch(e.href,n)}})();var 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ImageData?t.putImageData(e,0,0):t.drawImage(e,0,0,e.width,e.height),n=Dt}return n.toDataURL(t)}static sRGBToLinear(e){if(typeof HTMLImageElement<`u`&&e instanceof HTMLImageElement||typeof HTMLCanvasElement<`u`&&e instanceof HTMLCanvasElement||typeof ImageBitmap<`u`&&e instanceof ImageBitmap){let t=ht(`canvas`);t.width=e.width,t.height=e.height;let n=t.getContext(`2d`);n.drawImage(e,0,0,e.width,e.height);let r=n.getImageData(0,0,e.width,e.height),i=r.data;for(let e=0;e<i.length;e++)i[e]=Tt(i[e]/255)*255;return n.putImageData(r,0,0),t}else if(e.data){let t=e.data.slice(0);for(let e=0;e<t.length;e++)t instanceof Uint8Array||t instanceof Uint8ClampedArray?t[e]=Math.floor(Tt(t[e]/255)*255):t[e]=Tt(t[e]);return{data:t,width:e.width,height:e.height}}else return console.warn(`THREE.ImageUtils.sRGBToLinear(): Unsupported image type. No color space conversion applied.`),e}},kt=0,At=class{constructor(e=null){this.isSource=!0,Object.defineProperty(this,"id",{value:kt++}),this.uuid=He(),this.data=e,this.dataReady=!0,this.version=0}getSize(e){let t=this.data;return t instanceof HTMLVideoElement?e.set(t.videoWidth,t.videoHeight):t===null?e.set(0,0,0):e.set(t.width,t.height,t.depth||0),e}set needsUpdate(e){e===!0&&this.version++}toJSON(e){let t=e===void 0||typeof e==`string`;if(!t&&e.images[this.uuid]!==void 0)return e.images[this.uuid];let n={uuid:this.uuid,url:``},r=this.data;if(r!==null){let e;if(Array.isArray(r)){e=[];for(let t=0,n=r.length;t<n;t++)r[t].isDataTexture?e.push(jt(r[t].image)):e.push(jt(r[t]))}else e=jt(r);n.url=e}return t||(e.images[this.uuid]=n),n}};function jt(e){return typeof HTMLImageElement<`u`&&e instanceof HTMLImageElement||typeof HTMLCanvasElement<`u`&&e instanceof HTMLCanvasElement||typeof ImageBitmap<`u`&&e instanceof ImageBitmap?Ot.getDataURL(e):e.data?{data:Array.from(e.data),width:e.width,height:e.height,type:e.data.constructor.name}:(console.warn(`THREE.Texture: Unable to serialize Texture.`),{})}var Mt=0,Nt=new G,Pt=class e extends Re{constructor(t=e.DEFAULT_IMAGE,n=e.DEFAULT_MAPPING,i=r,a=r,o=c,s=u,l=T,f=d,p=e.DEFAULT_ANISOTROPY,m=``){super(),this.isTexture=!0,Object.defineProperty(this,"id",{value:Mt++}),this.uuid=He(),this.name=``,this.source=new At(t),this.mipmaps=[],this.mapping=n,this.channel=0,this.wrapS=i,this.wrapT=a,this.magFilter=o,this.minFilter=s,this.anisotropy=p,this.format=l,this.internalFormat=null,this.type=f,this.offset=new W(0,0),this.repeat=new W(1,1),this.center=new W(0,0),this.rotation=0,this.matrixAutoUpdate=!0,this.matrix=new K,this.generateMipmaps=!0,this.premultiplyAlpha=!1,this.flipY=!0,this.unpackAlignment=4,this.colorSpace=m,this.userData={},this.updateRanges=[],this.version=0,this.onUpdate=null,this.renderTarget=null,this.isRenderTargetTexture=!1,this.isArrayTexture=!!(t&&t.depth&&t.depth>1),this.pmremVersion=0}get width(){return this.source.getSize(Nt).x}get height(){return this.source.getSize(Nt).y}get depth(){return this.source.getSize(Nt).z}get image(){return this.source.data}set image(e=null){this.source.data=e}updateMatrix(){this.matrix.setUvTransform(this.offset.x,this.offset.y,this.repeat.x,this.repeat.y,this.rotation,this.center.x,this.center.y)}addUpdateRange(e,t){this.updateRanges.push({start:e,count:t})}clearUpdateRanges(){this.updateRanges.length=0}clone(){return new this.constructor().copy(this)}copy(e){return this.name=e.name,this.source=e.source,this.mipmaps=e.mipmaps.slice(0),this.mapping=e.mapping,this.channel=e.channel,this.wrapS=e.wrapS,this.wrapT=e.wrapT,this.magFilter=e.magFilter,this.minFilter=e.minFilter,this.anisotropy=e.anisotropy,this.format=e.format,this.internalFormat=e.internalFormat,this.type=e.type,this.offset.copy(e.offset),this.repeat.copy(e.repeat),this.center.copy(e.center),this.rotation=e.rotation,this.matrixAutoUpdate=e.matrixAutoUpdate,this.matrix.copy(e.matrix),this.generateMipmaps=e.generateMipmaps,this.premultiplyAlpha=e.premultiplyAlpha,this.flipY=e.flipY,this.unpackAlignment=e.unpackAlignment,this.colorSpace=e.colorSpace,this.renderTarget=e.renderTarget,this.isRenderTargetTexture=e.isRenderTargetTexture,this.isArrayTexture=e.isArrayTexture,this.userData=JSON.parse(JSON.stringify(e.userData)),this.needsUpdate=!0,this}setValues(e){for(let t in e){let n=e[t];if(n===void 0){console.warn(`THREE.Texture.setValues(): parameter '${t}' has value of undefined.`);continue}let r=this[t];if(r===void 0){console.warn(`THREE.Texture.setValues(): property '${t}' does not exist.`);continue}r&&n&&r.isVector2&&n.isVector2||r&&n&&r.isVector3&&n.isVector3||r&&n&&r.isMatrix3&&n.isMatrix3?r.copy(n):this[t]=n}}toJSON(e){let t=e===void 0||typeof e==`string`;if(!t&&e.textures[this.uuid]!==void 0)return e.textures[this.uuid];let n={metadata:{version:4.7,type:`Texture`,generator:`Texture.toJSON`},uuid:this.uuid,name:this.name,image:this.source.toJSON(e).uuid,mapping:this.mapping,channel:this.channel,repeat:[this.repeat.x,this.repeat.y],offset:[this.offset.x,this.offset.y],center:[this.center.x,this.center.y],rotation:this.rotation,wrap:[this.wrapS,this.wrapT],format:this.format,internalFormat:this.internalFormat,type:this.type,colorSpace:this.colorSpace,minFilter:this.minFilter,magFilter:this.magFilter,anisotropy:this.anisotropy,flipY:this.flipY,generateMipmaps:this.generateMipmaps,premultiplyAlpha:this.premultiplyAlpha,unpackAlignment:this.unpackAlignment};return Object.keys(this.userData).length>0&&(n.userData=this.userData),t||(e.textures[this.uuid]=n),n}dispose(){this.dispatchEvent({type:`dispose`})}transformUv(e){if(this.mapping!==300)return e;if(e.applyMatrix3(this.matrix),e.x<0||e.x>1)switch(this.wrapS){case n:e.x-=Math.floor(e.x);break;case r:e.x=e.x<0?0:1;break;case i:Math.abs(Math.floor(e.x)%2)===1?e.x=Math.ceil(e.x)-e.x:e.x-=Math.floor(e.x);break}if(e.y<0||e.y>1)switch(this.wrapT){case n:e.y-=Math.floor(e.y);break;case r:e.y=e.y<0?0:1;break;case i:Math.abs(Math.floor(e.y)%2)===1?e.y=Math.ceil(e.y)-e.y:e.y-=Math.floor(e.y);break}return this.flipY&&(e.y=1-e.y),e}set needsUpdate(e){e===!0&&(this.version++,this.source.needsUpdate=!0)}set needsPMREMUpdate(e){e===!0&&this.pmremVersion++}};Pt.DEFAULT_IMAGE=null,Pt.DEFAULT_MAPPING=300,Pt.DEFAULT_ANISOTROPY=1;var J=class e{constructor(t=0,n=0,r=0,i=1){e.prototype.isVector4=!0,this.x=t,this.y=n,this.z=r,this.w=i}get width(){return this.z}set width(e){this.z=e}get height(){return this.w}set height(e){this.w=e}set(e,t,n,r){return this.x=e,this.y=t,this.z=n,this.w=r,this}setScalar(e){return this.x=e,this.y=e,this.z=e,this.w=e,this}setX(e){return this.x=e,this}setY(e){return this.y=e,this}setZ(e){return this.z=e,this}setW(e){return this.w=e,this}setComponent(e,t){switch(e){case 0:this.x=t;break;case 1:this.y=t;break;case 2:this.z=t;break;case 3:this.w=t;break;default:throw Error(`index is out of range: `+e)}return this}getComponent(e){switch(e){case 0:return this.x;case 1:return this.y;case 2:return this.z;case 3:return this.w;default:throw Error(`index is out of range: `+e)}}clone(){return new this.constructor(this.x,this.y,this.z,this.w)}copy(e){return this.x=e.x,this.y=e.y,this.z=e.z,this.w=e.w===void 0?1:e.w,this}add(e){return this.x+=e.x,this.y+=e.y,this.z+=e.z,this.w+=e.w,this}addScalar(e){return this.x+=e,this.y+=e,this.z+=e,this.w+=e,this}addVectors(e,t){return this.x=e.x+t.x,this.y=e.y+t.y,this.z=e.z+t.z,this.w=e.w+t.w,this}addScaledVector(e,t){return this.x+=e.x*t,this.y+=e.y*t,this.z+=e.z*t,this.w+=e.w*t,this}sub(e){return this.x-=e.x,this.y-=e.y,this.z-=e.z,this.w-=e.w,this}subScalar(e){return this.x-=e,this.y-=e,this.z-=e,this.w-=e,this}subVectors(e,t){return this.x=e.x-t.x,this.y=e.y-t.y,this.z=e.z-t.z,this.w=e.w-t.w,this}multiply(e){return this.x*=e.x,this.y*=e.y,this.z*=e.z,this.w*=e.w,this}multiplyScalar(e){return this.x*=e,this.y*=e,this.z*=e,this.w*=e,this}applyMatrix4(e){let t=this.x,n=this.y,r=this.z,i=this.w,a=e.elements;return this.x=a[0]*t+a[4]*n+a[8]*r+a[12]*i,this.y=a[1]*t+a[5]*n+a[9]*r+a[13]*i,this.z=a[2]*t+a[6]*n+a[10]*r+a[14]*i,this.w=a[3]*t+a[7]*n+a[11]*r+a[15]*i,this}divide(e){return this.x/=e.x,this.y/=e.y,this.z/=e.z,this.w/=e.w,this}divideScalar(e){return this.multiplyScalar(1/e)}setAxisAngleFromQuaternion(e){this.w=2*Math.acos(e.w);let t=Math.sqrt(1-e.w*e.w);return t<1e-4?(this.x=1,this.y=0,this.z=0):(this.x=e.x/t,this.y=e.y/t,this.z=e.z/t),this}setAxisAngleFromRotationMatrix(e){let t,n,r,i,a=.01,o=.1,s=e.elements,c=s[0],l=s[4],u=s[8],d=s[1],f=s[5],p=s[9],m=s[2],h=s[6],g=s[10];if(Math.abs(l-d)<a&&Math.abs(u-m)<a&&Math.abs(p-h)<a){if(Math.abs(l+d)<o&&Math.abs(u+m)<o&&Math.abs(p+h)<o&&Math.abs(c+f+g-3)<o)return this.set(1,0,0,0),this;t=Math.PI;let e=(c+1)/2,s=(f+1)/2,_=(g+1)/2,v=(l+d)/4,y=(u+m)/4,b=(p+h)/4;return e>s&&e>_?e<a?(n=0,r=.707106781,i=.707106781):(n=Math.sqrt(e),r=v/n,i=y/n):s>_?s<a?(n=.707106781,r=0,i=.707106781):(r=Math.sqrt(s),n=v/r,i=b/r):_<a?(n=.707106781,r=.707106781,i=0):(i=Math.sqrt(_),n=y/i,r=b/i),this.set(n,r,i,t),this}let _=Math.sqrt((h-p)*(h-p)+(u-m)*(u-m)+(d-l)*(d-l));return Math.abs(_)<.001&&(_=1),this.x=(h-p)/_,this.y=(u-m)/_,this.z=(d-l)/_,this.w=Math.acos((c+f+g-1)/2),this}setFromMatrixPosition(e){let t=e.elements;return this.x=t[12],this.y=t[13],this.z=t[14],this.w=t[15],this}min(e){return this.x=Math.min(this.x,e.x),this.y=Math.min(this.y,e.y),this.z=Math.min(this.z,e.z),this.w=Math.min(this.w,e.w),this}max(e){return this.x=Math.max(this.x,e.x),this.y=Math.max(this.y,e.y),this.z=Math.max(this.z,e.z),this.w=Math.max(this.w,e.w),this}clamp(e,t){return this.x=U(this.x,e.x,t.x),this.y=U(this.y,e.y,t.y),this.z=U(this.z,e.z,t.z),this.w=U(this.w,e.w,t.w),this}clampScalar(e,t){return this.x=U(this.x,e,t),this.y=U(this.y,e,t),this.z=U(this.z,e,t),this.w=U(this.w,e,t),this}clampLength(e,t){let n=this.length();return this.divideScalar(n||1).multiplyScalar(U(n,e,t))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this.w=Math.floor(this.w),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this.w=Math.ceil(this.w),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this.w=Math.round(this.w),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this.w=Math.trunc(this.w),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this.w=-this.w,this}dot(e){return this.x*e.x+this.y*e.y+this.z*e.z+this.w*e.w}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)+Math.abs(this.w)}normalize(){return this.divideScalar(this.length()||1)}setLength(e){return this.normalize().multiplyScalar(e)}lerp(e,t){return this.x+=(e.x-this.x)*t,this.y+=(e.y-this.y)*t,this.z+=(e.z-this.z)*t,this.w+=(e.w-this.w)*t,this}lerpVectors(e,t,n){return this.x=e.x+(t.x-e.x)*n,this.y=e.y+(t.y-e.y)*n,this.z=e.z+(t.z-e.z)*n,this.w=e.w+(t.w-e.w)*n,this}equals(e){return e.x===this.x&&e.y===this.y&&e.z===this.z&&e.w===this.w}fromArray(e,t=0){return this.x=e[t],this.y=e[t+1],this.z=e[t+2],this.w=e[t+3],this}toArray(e=[],t=0){return e[t]=this.x,e[t+1]=this.y,e[t+2]=this.z,e[t+3]=this.w,e}fromBufferAttribute(e,t){return this.x=e.getX(t),this.y=e.getY(t),this.z=e.getZ(t),this.w=e.getW(t),this}random(){return this.x=Math.random(),this.y=Math.random(),this.z=Math.random(),this.w=Math.random(),this}*[Symbol.iterator](){yield this.x,yield this.y,yield this.z,yield this.w}},Ft=class extends Re{constructor(e=1,t=1,n={}){super(),n=Object.assign({generateMipmaps:!1,internalFormat:null,minFilter:c,depthBuffer:!0,stencilBuffer:!1,resolveDepthBuffer:!0,resolveStencilBuffer:!0,depthTexture:null,samples:0,count:1,depth:1,multiview:!1},n),this.isRenderTarget=!0,this.width=e,this.height=t,this.depth=n.depth,this.scissor=new J(0,0,e,t),this.scissorTest=!1,this.viewport=new J(0,0,e,t);let r=new Pt({width:e,height:t,depth:n.depth});this.textures=[];let i=n.count;for(let e=0;e<i;e++)this.textures[e]=r.clone(),this.textures[e].isRenderTargetTexture=!0,this.textures[e].renderTarget=this;this._setTextureOptions(n),this.depthBuffer=n.depthBuffer,this.stencilBuffer=n.stencilBuffer,this.resolveDepthBuffer=n.resolveDepthBuffer,this.resolveStencilBuffer=n.resolveStencilBuffer,this._depthTexture=null,this.depthTexture=n.depthTexture,this.samples=n.samples,this.multiview=n.multiview}_setTextureOptions(e={}){let t={minFilter:c,generateMipmaps:!1,flipY:!1,internalFormat:null};e.mapping!==void 0&&(t.mapping=e.mapping),e.wrapS!==void 0&&(t.wrapS=e.wrapS),e.wrapT!==void 0&&(t.wrapT=e.wrapT),e.wrapR!==void 0&&(t.wrapR=e.wrapR),e.magFilter!==void 0&&(t.magFilter=e.magFilter),e.minFilter!==void 0&&(t.minFilter=e.minFilter),e.format!==void 0&&(t.format=e.format),e.type!==void 0&&(t.type=e.type),e.anisotropy!==void 0&&(t.anisotropy=e.anisotropy),e.colorSpace!==void 0&&(t.colorSpace=e.colorSpace),e.flipY!==void 0&&(t.flipY=e.flipY),e.generateMipmaps!==void 0&&(t.generateMipmaps=e.generateMipmaps),e.internalFormat!==void 0&&(t.internalFormat=e.internalFormat);for(let e=0;e<this.textures.length;e++)this.textures[e].setValues(t)}get texture(){return this.textures[0]}set texture(e){this.textures[0]=e}set depthTexture(e){this._depthTexture!==null&&(this._depthTexture.renderTarget=null),e!==null&&(e.renderTarget=this),this._depthTexture=e}get depthTexture(){return this._depthTexture}setSize(e,t,n=1){if(this.width!==e||this.height!==t||this.depth!==n){this.width=e,this.height=t,this.depth=n;for(let r=0,i=this.textures.length;r<i;r++)this.textures[r].image.width=e,this.textures[r].image.height=t,this.textures[r].image.depth=n,this.textures[r].isArrayTexture=this.textures[r].image.depth>1;this.dispose()}this.viewport.set(0,0,e,t),this.scissor.set(0,0,e,t)}clone(){return new this.constructor().copy(this)}copy(e){this.width=e.width,this.height=e.height,this.depth=e.depth,this.scissor.copy(e.scissor),this.scissorTest=e.scissorTest,this.viewport.copy(e.viewport),this.textures.length=0;for(let t=0,n=e.textures.length;t<n;t++){this.textures[t]=e.textures[t].clone(),this.textures[t].isRenderTargetTexture=!0,this.textures[t].renderTarget=this;let n=Object.assign({},e.textures[t].image);this.textures[t].source=new At(n)}return this.depthBuffer=e.depthBuffer,this.stencilBuffer=e.stencilBuffer,this.resolveDepthBuffer=e.resolveDepthBuffer,this.resolveStencilBuffer=e.resolveStencilBuffer,e.depthTexture!==null&&(this.depthTexture=e.depthTexture.clone()),this.samples=e.samples,this}dispose(){this.dispatchEvent({type:`dispose`})}},It=class extends Ft{constructor(e=1,t=1,n={}){super(e,t,n),this.isWebGLRenderTarget=!0}},Lt=class extends Pt{constructor(e=null,t=1,n=1,i=1){super(null),this.isDataArrayTexture=!0,this.image={data:e,width:t,height:n,depth:i},this.magFilter=a,this.minFilter=a,this.wrapR=r,this.generateMipmaps=!1,this.flipY=!1,this.unpackAlignment=1,this.layerUpdates=new Set}addLayerUpdate(e){this.layerUpdates.add(e)}clearLayerUpdates(){this.layerUpdates.clear()}},Rt=class extends Pt{constructor(e=null,t=1,n=1,i=1){super(null),this.isData3DTexture=!0,this.image={data:e,width:t,height:n,depth:i},this.magFilter=a,this.minFilter=a,this.wrapR=r,this.generateMipmaps=!1,this.flipY=!1,this.unpackAlignment=1}},zt=class{constructor(e=new G(1/0,1/0,1/0),t=new G(-1/0,-1/0,-1/0)){this.isBox3=!0,this.min=e,this.max=t}set(e,t){return this.min.copy(e),this.max.copy(t),this}setFromArray(e){this.makeEmpty();for(let t=0,n=e.length;t<n;t+=3)this.expandByPoint(Vt.fromArray(e,t));return this}setFromBufferAttribute(e){this.makeEmpty();for(let t=0,n=e.count;t<n;t++)this.expandByPoint(Vt.fromBufferAttribute(e,t));return this}setFromPoints(e){this.makeEmpty();for(let t=0,n=e.length;t<n;t++)this.expandByPoint(e[t]);return this}setFromCenterAndSize(e,t){let n=Vt.copy(t).multiplyScalar(.5);return this.min.copy(e).sub(n),this.max.copy(e).add(n),this}setFromObject(e,t=!1){return this.makeEmpty(),this.expandByObject(e,t)}clone(){return new this.constructor().copy(this)}copy(e){return this.min.copy(e.min),this.max.copy(e.max),this}makeEmpty(){return this.min.x=this.min.y=this.min.z=1/0,this.max.x=this.max.y=this.max.z=-1/0,this}isEmpty(){return this.max.x<this.min.x||this.max.y<this.min.y||this.max.z<this.min.z}getCenter(e){return this.isEmpty()?e.set(0,0,0):e.addVectors(this.min,this.max).multiplyScalar(.5)}getSize(e){return this.isEmpty()?e.set(0,0,0):e.subVectors(this.max,this.min)}expandByPoint(e){return this.min.min(e),this.max.max(e),this}expandByVector(e){return this.min.sub(e),this.max.add(e),this}expandByScalar(e){return this.min.addScalar(-e),this.max.addScalar(e),this}expandByObject(e,t=!1){e.updateWorldMatrix(!1,!1);let n=e.geometry;if(n!==void 0){let r=n.getAttribute(`position`);if(t===!0&&r!==void 0&&e.isInstancedMesh!==!0)for(let t=0,n=r.count;t<n;t++)e.isMesh===!0?e.getVertexPosition(t,Vt):Vt.fromBufferAttribute(r,t),Vt.applyMatrix4(e.matrixWorld),this.expandByPoint(Vt);else e.boundingBox===void 0?(n.boundingBox===null&&n.computeBoundingBox(),Ht.copy(n.boundingBox)):(e.boundingBox===null&&e.computeBoundingBox(),Ht.copy(e.boundingBox)),Ht.applyMatrix4(e.matrixWorld),this.union(Ht)}let r=e.children;for(let e=0,n=r.length;e<n;e++)this.expandByObject(r[e],t);return this}containsPoint(e){return e.x>=this.min.x&&e.x<=this.max.x&&e.y>=this.min.y&&e.y<=this.max.y&&e.z>=this.min.z&&e.z<=this.max.z}containsBox(e){return this.min.x<=e.min.x&&e.max.x<=this.max.x&&this.min.y<=e.min.y&&e.max.y<=this.max.y&&this.min.z<=e.min.z&&e.max.z<=this.max.z}getParameter(e,t){return t.set((e.x-this.min.x)/(this.max.x-this.min.x),(e.y-this.min.y)/(this.max.y-this.min.y),(e.z-this.min.z)/(this.max.z-this.min.z))}intersectsBox(e){return e.max.x>=this.min.x&&e.min.x<=this.max.x&&e.max.y>=this.min.y&&e.min.y<=this.max.y&&e.max.z>=this.min.z&&e.min.z<=this.max.z}intersectsSphere(e){return this.clampPoint(e.center,Vt),Vt.distanceToSquared(e.center)<=e.radius*e.radius}intersectsPlane(e){let t,n;return e.normal.x>0?(t=e.normal.x*this.min.x,n=e.normal.x*this.max.x):(t=e.normal.x*this.max.x,n=e.normal.x*this.min.x),e.normal.y>0?(t+=e.normal.y*this.min.y,n+=e.normal.y*this.max.y):(t+=e.normal.y*this.max.y,n+=e.normal.y*this.min.y),e.normal.z>0?(t+=e.normal.z*this.min.z,n+=e.normal.z*this.max.z):(t+=e.normal.z*this.max.z,n+=e.normal.z*this.min.z),t<=-e.constant&&n>=-e.constant}intersectsTriangle(e){if(this.isEmpty())return!1;this.getCenter(Yt),Xt.subVectors(this.max,Yt),Ut.subVectors(e.a,Yt),Wt.subVectors(e.b,Yt),Gt.subVectors(e.c,Yt),Kt.subVectors(Wt,Ut),qt.subVectors(Gt,Wt),Jt.subVectors(Ut,Gt);let t=[0,-Kt.z,Kt.y,0,-qt.z,qt.y,0,-Jt.z,Jt.y,Kt.z,0,-Kt.x,qt.z,0,-qt.x,Jt.z,0,-Jt.x,-Kt.y,Kt.x,0,-qt.y,qt.x,0,-Jt.y,Jt.x,0];return!$t(t,Ut,Wt,Gt,Xt)||(t=[1,0,0,0,1,0,0,0,1],!$t(t,Ut,Wt,Gt,Xt))?!1:(Zt.crossVectors(Kt,qt),t=[Zt.x,Zt.y,Zt.z],$t(t,Ut,Wt,Gt,Xt))}clampPoint(e,t){return t.copy(e).clamp(this.min,this.max)}distanceToPoint(e){return this.clampPoint(e,Vt).distanceTo(e)}getBoundingSphere(e){return this.isEmpty()?e.makeEmpty():(this.getCenter(e.center),e.radius=this.getSize(Vt).length()*.5),e}intersect(e){return this.min.max(e.min),this.max.min(e.max),this.isEmpty()&&this.makeEmpty(),this}union(e){return this.min.min(e.min),this.max.max(e.max),this}applyMatrix4(e){return this.isEmpty()?this:(Bt[0].set(this.min.x,this.min.y,this.min.z).applyMatrix4(e),Bt[1].set(this.min.x,this.min.y,this.max.z).applyMatrix4(e),Bt[2].set(this.min.x,this.max.y,this.min.z).applyMatrix4(e),Bt[3].set(this.min.x,this.max.y,this.max.z).applyMatrix4(e),Bt[4].set(this.max.x,this.min.y,this.min.z).applyMatrix4(e),Bt[5].set(this.max.x,this.min.y,this.max.z).applyMatrix4(e),Bt[6].set(this.max.x,this.max.y,this.min.z).applyMatrix4(e),Bt[7].set(this.max.x,this.max.y,this.max.z).applyMatrix4(e),this.setFromPoints(Bt),this)}translate(e){return this.min.add(e),this.max.add(e),this}equals(e){return e.min.equals(this.min)&&e.max.equals(this.max)}toJSON(){return{min:this.min.toArray(),max:this.max.toArray()}}fromJSON(e){return this.min.fromArray(e.min),this.max.fromArray(e.max),this}},Bt=[new G,new G,new G,new G,new G,new G,new G,new G],Vt=new G,Ht=new zt,Ut=new G,Wt=new G,Gt=new G,Kt=new G,qt=new G,Jt=new G,Yt=new G,Xt=new G,Zt=new G,Qt=new G;function $t(e,t,n,r,i){for(let a=0,o=e.length-3;a<=o;a+=3){Qt.fromArray(e,a);let o=i.x*Math.abs(Qt.x)+i.y*Math.abs(Qt.y)+i.z*Math.abs(Qt.z),s=t.dot(Qt),c=n.dot(Qt),l=r.dot(Qt);if(Math.max(-Math.max(s,c,l),Math.min(s,c,l))>o)return!1}return!0}var en=new zt,tn=new G,nn=new G,rn=class{constructor(e=new G,t=-1){this.isSphere=!0,this.center=e,this.radius=t}set(e,t){return this.center.copy(e),this.radius=t,this}setFromPoints(e,t){let n=this.center;t===void 0?en.setFromPoints(e).getCenter(n):n.copy(t);let r=0;for(let t=0,i=e.length;t<i;t++)r=Math.max(r,n.distanceToSquared(e[t]));return this.radius=Math.sqrt(r),this}copy(e){return this.center.copy(e.center),this.radius=e.radius,this}isEmpty(){return this.radius<0}makeEmpty(){return this.center.set(0,0,0),this.radius=-1,this}containsPoint(e){return e.distanceToSquared(this.center)<=this.radius*this.radius}distanceToPoint(e){return e.distanceTo(this.center)-this.radius}intersectsSphere(e){let t=this.radius+e.radius;return e.center.distanceToSquared(this.center)<=t*t}intersectsBox(e){return e.intersectsSphere(this)}intersectsPlane(e){return Math.abs(e.distanceToPoint(this.center))<=this.radius}clampPoint(e,t){let n=this.center.distanceToSquared(e);return t.copy(e),n>this.radius*this.radius&&(t.sub(this.center).normalize(),t.multiplyScalar(this.radius).add(this.center)),t}getBoundingBox(e){return this.isEmpty()?(e.makeEmpty(),e):(e.set(this.center,this.center),e.expandByScalar(this.radius),e)}applyMatrix4(e){return this.center.applyMatrix4(e),this.radius*=e.getMaxScaleOnAxis(),this}translate(e){return this.center.add(e),this}expandByPoint(e){if(this.isEmpty())return this.center.copy(e),this.radius=0,this;tn.subVectors(e,this.center);let t=tn.lengthSq();if(t>this.radius*this.radius){let e=Math.sqrt(t),n=(e-this.radius)*.5;this.center.addScaledVector(tn,n/e),this.radius+=n}return this}union(e){return e.isEmpty()?this:this.isEmpty()?(this.copy(e),this):(this.center.equals(e.center)===!0?this.radius=Math.max(this.radius,e.radius):(nn.subVectors(e.center,this.center).setLength(e.radius),this.expandByPoint(tn.copy(e.center).add(nn)),this.expandByPoint(tn.copy(e.center).sub(nn))),this)}equals(e){return e.center.equals(this.center)&&e.radius===this.radius}clone(){return new this.constructor().copy(this)}toJSON(){return{radius:this.radius,center:this.center.toArray()}}fromJSON(e){return this.radius=e.radius,this.center.fromArray(e.center),this}},an=new G,on=new G,sn=new G,cn=new G,ln=new G,un=new G,dn=new G,fn=class{constructor(e=new G,t=new G(0,0,-1)){this.origin=e,this.direction=t}set(e,t){return this.origin.copy(e),this.direction.copy(t),this}copy(e){return this.origin.copy(e.origin),this.direction.copy(e.direction),this}at(e,t){return t.copy(this.origin).addScaledVector(this.direction,e)}lookAt(e){return this.direction.copy(e).sub(this.origin).normalize(),this}recast(e){return this.origin.copy(this.at(e,an)),this}closestPointToPoint(e,t){t.subVectors(e,this.origin);let n=t.dot(this.direction);return n<0?t.copy(this.origin):t.copy(this.origin).addScaledVector(this.direction,n)}distanceToPoint(e){return Math.sqrt(this.distanceSqToPoint(e))}distanceSqToPoint(e){let t=an.subVectors(e,this.origin).dot(this.direction);return t<0?this.origin.distanceToSquared(e):(an.copy(this.origin).addScaledVector(this.direction,t),an.distanceToSquared(e))}distanceSqToSegment(e,t,n,r){on.copy(e).add(t).multiplyScalar(.5),sn.copy(t).sub(e).normalize(),cn.copy(this.origin).sub(on);let i=e.distanceTo(t)*.5,a=-this.direction.dot(sn),o=cn.dot(this.direction),s=-cn.dot(sn),c=cn.lengthSq(),l=Math.abs(1-a*a),u,d,f,p;if(l>0)if(u=a*s-o,d=a*o-s,p=i*l,u>=0)if(d>=-p)if(d<=p){let e=1/l;u*=e,d*=e,f=u*(u+a*d+2*o)+d*(a*u+d+2*s)+c}else d=i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d=-i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;else d<=-p?(u=Math.max(0,-(-a*i+o)),d=u>0?-i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c):d<=p?(u=0,d=Math.min(Math.max(-i,-s),i),f=d*(d+2*s)+c):(u=Math.max(0,-(a*i+o)),d=u>0?i:Math.min(Math.max(-i,-s),i),f=-u*u+d*(d+2*s)+c);else d=a>0?-i:i,u=Math.max(0,-(a*d+o)),f=-u*u+d*(d+2*s)+c;return n&&n.copy(this.origin).addScaledVector(this.direction,u),r&&r.copy(on).addScaledVector(sn,d),f}intersectSphere(e,t){an.subVectors(e.center,this.origin);let n=an.dot(this.direction),r=an.dot(an)-n*n,i=e.radius*e.radius;if(r>i)return null;let a=Math.sqrt(i-r),o=n-a,s=n+a;return s<0?null:o<0?this.at(s,t):this.at(o,t)}intersectsSphere(e){return e.radius<0?!1:this.distanceSqToPoint(e.center)<=e.radius*e.radius}distanceToPlane(e){let t=e.normal.dot(this.direction);if(t===0)return e.distanceToPoint(this.origin)===0?0:null;let n=-(this.origin.dot(e.normal)+e.constant)/t;return n>=0?n:null}intersectPlane(e,t){let n=this.distanceToPlane(e);return n===null?null:this.at(n,t)}intersectsPlane(e){let t=e.distanceToPoint(this.origin);return t===0||e.normal.dot(this.direction)*t<0}intersectBox(e,t){let n,r,i,a,o,s,c=1/this.direction.x,l=1/this.direction.y,u=1/this.direction.z,d=this.origin;return c>=0?(n=(e.min.x-d.x)*c,r=(e.max.x-d.x)*c):(n=(e.max.x-d.x)*c,r=(e.min.x-d.x)*c),l>=0?(i=(e.min.y-d.y)*l,a=(e.max.y-d.y)*l):(i=(e.max.y-d.y)*l,a=(e.min.y-d.y)*l),n>a||i>r||((i>n||isNaN(n))&&(n=i),(a<r||isNaN(r))&&(r=a),u>=0?(o=(e.min.z-d.z)*u,s=(e.max.z-d.z)*u):(o=(e.max.z-d.z)*u,s=(e.min.z-d.z)*u),n>s||o>r)||((o>n||n!==n)&&(n=o),(s<r||r!==r)&&(r=s),r<0)?null:this.at(n>=0?n:r,t)}intersectsBox(e){return this.intersectBox(e,an)!==null}intersectTriangle(e,t,n,r,i){ln.subVectors(t,e),un.subVectors(n,e),dn.crossVectors(ln,un);let a=this.direction.dot(dn),o;if(a>0){if(r)return null;o=1}else if(a<0)o=-1,a=-a;else return null;cn.subVectors(this.origin,e);let s=o*this.direction.dot(un.crossVectors(cn,un));if(s<0)return null;let c=o*this.direction.dot(ln.cross(cn));if(c<0||s+c>a)return null;let l=-o*cn.dot(dn);return l<0?null:this.at(l/a,i)}applyMatrix4(e){return this.origin.applyMatrix4(e),this.direction.transformDirection(e),this}equals(e){return e.origin.equals(this.origin)&&e.direction.equals(this.direction)}clone(){return new this.constructor().copy(this)}},pn=class e{constructor(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g){e.prototype.isMatrix4=!0,this.elements=[1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],t!==void 0&&this.set(t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g)}set(e,t,n,r,i,a,o,s,c,l,u,d,f,p,m,h){let g=this.elements;return g[0]=e,g[4]=t,g[8]=n,g[12]=r,g[1]=i,g[5]=a,g[9]=o,g[13]=s,g[2]=c,g[6]=l,g[10]=u,g[14]=d,g[3]=f,g[7]=p,g[11]=m,g[15]=h,this}identity(){return this.set(1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1),this}clone(){return new e().fromArray(this.elements)}copy(e){let t=this.elements,n=e.elements;return t[0]=n[0],t[1]=n[1],t[2]=n[2],t[3]=n[3],t[4]=n[4],t[5]=n[5],t[6]=n[6],t[7]=n[7],t[8]=n[8],t[9]=n[9],t[10]=n[10],t[11]=n[11],t[12]=n[12],t[13]=n[13],t[14]=n[14],t[15]=n[15],this}copyPosition(e){let t=this.elements,n=e.elements;return t[12]=n[12],t[13]=n[13],t[14]=n[14],this}setFromMatrix3(e){let t=e.elements;return this.set(t[0],t[3],t[6],0,t[1],t[4],t[7],0,t[2],t[5],t[8],0,0,0,0,1),this}extractBasis(e,t,n){return e.setFromMatrixColumn(this,0),t.setFromMatrixColumn(this,1),n.setFromMatrixColumn(this,2),this}makeBasis(e,t,n){return this.set(e.x,t.x,n.x,0,e.y,t.y,n.y,0,e.z,t.z,n.z,0,0,0,0,1),this}extractRotation(e){let t=this.elements,n=e.elements,r=1/mn.setFromMatrixColumn(e,0).length(),i=1/mn.setFromMatrixColumn(e,1).length(),a=1/mn.setFromMatrixColumn(e,2).length();return t[0]=n[0]*r,t[1]=n[1]*r,t[2]=n[2]*r,t[3]=0,t[4]=n[4]*i,t[5]=n[5]*i,t[6]=n[6]*i,t[7]=0,t[8]=n[8]*a,t[9]=n[9]*a,t[10]=n[10]*a,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromEuler(e){let t=this.elements,n=e.x,r=e.y,i=e.z,a=Math.cos(n),o=Math.sin(n),s=Math.cos(r),c=Math.sin(r),l=Math.cos(i),u=Math.sin(i);if(e.order===`XYZ`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=-s*u,t[8]=c,t[1]=n+r*c,t[5]=e-i*c,t[9]=-o*s,t[2]=i-e*c,t[6]=r+n*c,t[10]=a*s}else if(e.order===`YXZ`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e+i*o,t[4]=r*o-n,t[8]=a*c,t[1]=a*u,t[5]=a*l,t[9]=-o,t[2]=n*o-r,t[6]=i+e*o,t[10]=a*s}else if(e.order===`ZXY`){let e=s*l,n=s*u,r=c*l,i=c*u;t[0]=e-i*o,t[4]=-a*u,t[8]=r+n*o,t[1]=n+r*o,t[5]=a*l,t[9]=i-e*o,t[2]=-a*c,t[6]=o,t[10]=a*s}else if(e.order===`ZYX`){let e=a*l,n=a*u,r=o*l,i=o*u;t[0]=s*l,t[4]=r*c-n,t[8]=e*c+i,t[1]=s*u,t[5]=i*c+e,t[9]=n*c-r,t[2]=-c,t[6]=o*s,t[10]=a*s}else if(e.order===`YZX`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=i-e*u,t[8]=r*u+n,t[1]=u,t[5]=a*l,t[9]=-o*l,t[2]=-c*l,t[6]=n*u+r,t[10]=e-i*u}else if(e.order===`XZY`){let e=a*s,n=a*c,r=o*s,i=o*c;t[0]=s*l,t[4]=-u,t[8]=c*l,t[1]=e*u+i,t[5]=a*l,t[9]=n*u-r,t[2]=r*u-n,t[6]=o*l,t[10]=i*u+e}return t[3]=0,t[7]=0,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this}makeRotationFromQuaternion(e){return this.compose(gn,e,_n)}lookAt(e,t,n){let r=this.elements;return bn.subVectors(e,t),bn.lengthSq()===0&&(bn.z=1),bn.normalize(),vn.crossVectors(n,bn),vn.lengthSq()===0&&(Math.abs(n.z)===1?bn.x+=1e-4:bn.z+=1e-4,bn.normalize(),vn.crossVectors(n,bn)),vn.normalize(),yn.crossVectors(bn,vn),r[0]=vn.x,r[4]=yn.x,r[8]=bn.x,r[1]=vn.y,r[5]=yn.y,r[9]=bn.y,r[2]=vn.z,r[6]=yn.z,r[10]=bn.z,this}multiply(e){return this.multiplyMatrices(this,e)}premultiply(e){return this.multiplyMatrices(e,this)}multiplyMatrices(e,t){let n=e.elements,r=t.elements,i=this.elements,a=n[0],o=n[4],s=n[8],c=n[12],l=n[1],u=n[5],d=n[9],f=n[13],p=n[2],m=n[6],h=n[10],g=n[14],_=n[3],v=n[7],y=n[11],b=n[15],x=r[0],S=r[4],C=r[8],w=r[12],T=r[1],E=r[5],D=r[9],O=r[13],k=r[2],A=r[6],j=r[10],ee=r[14],te=r[3],M=r[7],N=r[11],P=r[15];return i[0]=a*x+o*T+s*k+c*te,i[4]=a*S+o*E+s*A+c*M,i[8]=a*C+o*D+s*j+c*N,i[12]=a*w+o*O+s*ee+c*P,i[1]=l*x+u*T+d*k+f*te,i[5]=l*S+u*E+d*A+f*M,i[9]=l*C+u*D+d*j+f*N,i[13]=l*w+u*O+d*ee+f*P,i[2]=p*x+m*T+h*k+g*te,i[6]=p*S+m*E+h*A+g*M,i[10]=p*C+m*D+h*j+g*N,i[14]=p*w+m*O+h*ee+g*P,i[3]=_*x+v*T+y*k+b*te,i[7]=_*S+v*E+y*A+b*M,i[11]=_*C+v*D+y*j+b*N,i[15]=_*w+v*O+y*ee+b*P,this}multiplyScalar(e){let t=this.elements;return t[0]*=e,t[4]*=e,t[8]*=e,t[12]*=e,t[1]*=e,t[5]*=e,t[9]*=e,t[13]*=e,t[2]*=e,t[6]*=e,t[10]*=e,t[14]*=e,t[3]*=e,t[7]*=e,t[11]*=e,t[15]*=e,this}determinant(){let e=this.elements,t=e[0],n=e[4],r=e[8],i=e[12],a=e[1],o=e[5],s=e[9],c=e[13],l=e[2],u=e[6],d=e[10],f=e[14],p=e[3],m=e[7],h=e[11],g=e[15];return p*(+i*s*u-r*c*u-i*o*d+n*c*d+r*o*f-n*s*f)+m*(+t*s*f-t*c*d+i*a*d-r*a*f+r*c*l-i*s*l)+h*(+t*c*u-t*o*f-i*a*u+n*a*f+i*o*l-n*c*l)+g*(-r*o*l-t*s*u+t*o*d+r*a*u-n*a*d+n*s*l)}transpose(){let e=this.elements,t;return t=e[1],e[1]=e[4],e[4]=t,t=e[2],e[2]=e[8],e[8]=t,t=e[6],e[6]=e[9],e[9]=t,t=e[3],e[3]=e[12],e[12]=t,t=e[7],e[7]=e[13],e[13]=t,t=e[11],e[11]=e[14],e[14]=t,this}setPosition(e,t,n){let r=this.elements;return e.isVector3?(r[12]=e.x,r[13]=e.y,r[14]=e.z):(r[12]=e,r[13]=t,r[14]=n),this}invert(){let e=this.elements,t=e[0],n=e[1],r=e[2],i=e[3],a=e[4],o=e[5],s=e[6],c=e[7],l=e[8],u=e[9],d=e[10],f=e[11],p=e[12],m=e[13],h=e[14],g=e[15],_=u*h*c-m*d*c+m*s*f-o*h*f-u*s*g+o*d*g,v=p*d*c-l*h*c-p*s*f+a*h*f+l*s*g-a*d*g,y=l*m*c-p*u*c+p*o*f-a*m*f-l*o*g+a*u*g,b=p*u*s-l*m*s-p*o*d+a*m*d+l*o*h-a*u*h,x=t*_+n*v+r*y+i*b;if(x===0)return this.set(0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0);let S=1/x;return e[0]=_*S,e[1]=(m*d*i-u*h*i-m*r*f+n*h*f+u*r*g-n*d*g)*S,e[2]=(o*h*i-m*s*i+m*r*c-n*h*c-o*r*g+n*s*g)*S,e[3]=(u*s*i-o*d*i-u*r*c+n*d*c+o*r*f-n*s*f)*S,e[4]=v*S,e[5]=(l*h*i-p*d*i+p*r*f-t*h*f-l*r*g+t*d*g)*S,e[6]=(p*s*i-a*h*i-p*r*c+t*h*c+a*r*g-t*s*g)*S,e[7]=(a*d*i-l*s*i+l*r*c-t*d*c-a*r*f+t*s*f)*S,e[8]=y*S,e[9]=(p*u*i-l*m*i-p*n*f+t*m*f+l*n*g-t*u*g)*S,e[10]=(a*m*i-p*o*i+p*n*c-t*m*c-a*n*g+t*o*g)*S,e[11]=(l*o*i-a*u*i-l*n*c+t*u*c+a*n*f-t*o*f)*S,e[12]=b*S,e[13]=(l*m*r-p*u*r+p*n*d-t*m*d-l*n*h+t*u*h)*S,e[14]=(p*o*r-a*m*r-p*n*s+t*m*s+a*n*h-t*o*h)*S,e[15]=(a*u*r-l*o*r+l*n*s-t*u*s-a*n*d+t*o*d)*S,this}scale(e){let t=this.elements,n=e.x,r=e.y,i=e.z;return t[0]*=n,t[4]*=r,t[8]*=i,t[1]*=n,t[5]*=r,t[9]*=i,t[2]*=n,t[6]*=r,t[10]*=i,t[3]*=n,t[7]*=r,t[11]*=i,this}getMaxScaleOnAxis(){let e=this.elements,t=e[0]*e[0]+e[1]*e[1]+e[2]*e[2],n=e[4]*e[4]+e[5]*e[5]+e[6]*e[6],r=e[8]*e[8]+e[9]*e[9]+e[10]*e[10];return Math.sqrt(Math.max(t,n,r))}makeTranslation(e,t,n){return e.isVector3?this.set(1,0,0,e.x,0,1,0,e.y,0,0,1,e.z,0,0,0,1):this.set(1,0,0,e,0,1,0,t,0,0,1,n,0,0,0,1),this}makeRotationX(e){let t=Math.cos(e),n=Math.sin(e);return this.set(1,0,0,0,0,t,-n,0,0,n,t,0,0,0,0,1),this}makeRotationY(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,0,n,0,0,1,0,0,-n,0,t,0,0,0,0,1),this}makeRotationZ(e){let t=Math.cos(e),n=Math.sin(e);return this.set(t,-n,0,0,n,t,0,0,0,0,1,0,0,0,0,1),this}makeRotationAxis(e,t){let n=Math.cos(t),r=Math.sin(t),i=1-n,a=e.x,o=e.y,s=e.z,c=i*a,l=i*o;return this.set(c*a+n,c*o-r*s,c*s+r*o,0,c*o+r*s,l*o+n,l*s-r*a,0,c*s-r*o,l*s+r*a,i*s*s+n,0,0,0,0,1),this}makeScale(e,t,n){return this.set(e,0,0,0,0,t,0,0,0,0,n,0,0,0,0,1),this}makeShear(e,t,n,r,i,a){return this.set(1,n,i,0,e,1,a,0,t,r,1,0,0,0,0,1),this}compose(e,t,n){let r=this.elements,i=t._x,a=t._y,o=t._z,s=t._w,c=i+i,l=a+a,u=o+o,d=i*c,f=i*l,p=i*u,m=a*l,h=a*u,g=o*u,_=s*c,v=s*l,y=s*u,b=n.x,x=n.y,S=n.z;return r[0]=(1-(m+g))*b,r[1]=(f+y)*b,r[2]=(p-v)*b,r[3]=0,r[4]=(f-y)*x,r[5]=(1-(d+g))*x,r[6]=(h+_)*x,r[7]=0,r[8]=(p+v)*S,r[9]=(h-_)*S,r[10]=(1-(d+m))*S,r[11]=0,r[12]=e.x,r[13]=e.y,r[14]=e.z,r[15]=1,this}decompose(e,t,n){let r=this.elements,i=mn.set(r[0],r[1],r[2]).length(),a=mn.set(r[4],r[5],r[6]).length(),o=mn.set(r[8],r[9],r[10]).length();this.determinant()<0&&(i=-i),e.x=r[12],e.y=r[13],e.z=r[14],hn.copy(this);let s=1/i,c=1/a,l=1/o;return hn.elements[0]*=s,hn.elements[1]*=s,hn.elements[2]*=s,hn.elements[4]*=c,hn.elements[5]*=c,hn.elements[6]*=c,hn.elements[8]*=l,hn.elements[9]*=l,hn.elements[10]*=l,t.setFromRotationMatrix(hn),n.x=i,n.y=a,n.z=o,this}makePerspective(e,t,n,r,i,a,o=Le){let s=this.elements,c=2*i/(t-e),l=2*i/(n-r),u=(t+e)/(t-e),d=(n+r)/(n-r),f,p;if(o===2e3)f=-(a+i)/(a-i),p=-2*a*i/(a-i);else if(o===2001)f=-a/(a-i),p=-a*i/(a-i);else throw Error(`THREE.Matrix4.makePerspective(): Invalid coordinate system: `+o);return s[0]=c,s[4]=0,s[8]=u,s[12]=0,s[1]=0,s[5]=l,s[9]=d,s[13]=0,s[2]=0,s[6]=0,s[10]=f,s[14]=p,s[3]=0,s[7]=0,s[11]=-1,s[15]=0,this}makeOrthographic(e,t,n,r,i,a,o=Le){let s=this.elements,c=1/(t-e),l=1/(n-r),u=1/(a-i),d=(t+e)*c,f=(n+r)*l,p,m;if(o===2e3)p=(a+i)*u,m=-2*u;else if(o===2001)p=i*u,m=-1*u;else throw Error(`THREE.Matrix4.makeOrthographic(): Invalid coordinate system: `+o);return s[0]=2*c,s[4]=0,s[8]=0,s[12]=-d,s[1]=0,s[5]=2*l,s[9]=0,s[13]=-f,s[2]=0,s[6]=0,s[10]=m,s[14]=-p,s[3]=0,s[7]=0,s[11]=0,s[15]=1,this}equals(e){let t=this.elements,n=e.elements;for(let e=0;e<16;e++)if(t[e]!==n[e])return!1;return!0}fromArray(e,t=0){for(let n=0;n<16;n++)this.elements[n]=e[n+t];return this}toArray(e=[],t=0){let n=this.elements;return e[t]=n[0],e[t+1]=n[1],e[t+2]=n[2],e[t+3]=n[3],e[t+4]=n[4],e[t+5]=n[5],e[t+6]=n[6],e[t+7]=n[7],e[t+8]=n[8],e[t+9]=n[9],e[t+10]=n[10],e[t+11]=n[11],e[t+12]=n[12],e[t+13]=n[13],e[t+14]=n[14],e[t+15]=n[15],e}},mn=new G,hn=new pn,gn=new G(0,0,0),_n=new G(1,1,1),vn=new G,yn=new G,bn=new G,xn=new pn,Sn=new ut,Cn=class e{constructor(t=0,n=0,r=0,i=e.DEFAULT_ORDER){this.isEuler=!0,this._x=t,this._y=n,this._z=r,this._order=i}get x(){return this._x}set x(e){this._x=e,this._onChangeCallback()}get y(){return this._y}set y(e){this._y=e,this._onChangeCallback()}get z(){return this._z}set z(e){this._z=e,this._onChangeCallback()}get order(){return this._order}set order(e){this._order=e,this._onChangeCallback()}set(e,t,n,r=this._order){return this._x=e,this._y=t,this._z=n,this._order=r,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._order)}copy(e){return this._x=e._x,this._y=e._y,this._z=e._z,this._order=e._order,this._onChangeCallback(),this}setFromRotationMatrix(e,t=this._order,n=!0){let r=e.elements,i=r[0],a=r[4],o=r[8],s=r[1],c=r[5],l=r[9],u=r[2],d=r[6],f=r[10];switch(t){case`XYZ`:this._y=Math.asin(U(o,-1,1)),Math.abs(o)<.9999999?(this._x=Math.atan2(-l,f),this._z=Math.atan2(-a,i)):(this._x=Math.atan2(d,c),this._z=0);break;case`YXZ`:this._x=Math.asin(-U(l,-1,1)),Math.abs(l)<.9999999?(this._y=Math.atan2(o,f),this._z=Math.atan2(s,c)):(this._y=Math.atan2(-u,i),this._z=0);break;case`ZXY`:this._x=Math.asin(U(d,-1,1)),Math.abs(d)<.9999999?(this._y=Math.atan2(-u,f),this._z=Math.atan2(-a,c)):(this._y=0,this._z=Math.atan2(s,i));break;case`ZYX`:this._y=Math.asin(-U(u,-1,1)),Math.abs(u)<.9999999?(this._x=Math.atan2(d,f),this._z=Math.atan2(s,i)):(this._x=0,this._z=Math.atan2(-a,c));break;case`YZX`:this._z=Math.asin(U(s,-1,1)),Math.abs(s)<.9999999?(this._x=Math.atan2(-l,c),this._y=Math.atan2(-u,i)):(this._x=0,this._y=Math.atan2(o,f));break;case`XZY`:this._z=Math.asin(-U(a,-1,1)),Math.abs(a)<.9999999?(this._x=Math.atan2(d,c),this._y=Math.atan2(o,i)):(this._x=Math.atan2(-l,f),this._y=0);break;default:console.warn(`THREE.Euler: .setFromRotationMatrix() encountered an unknown order: `+t)}return this._order=t,n===!0&&this._onChangeCallback(),this}setFromQuaternion(e,t,n){return xn.makeRotationFromQuaternion(e),this.setFromRotationMatrix(xn,t,n)}setFromVector3(e,t=this._order){return this.set(e.x,e.y,e.z,t)}reorder(e){return Sn.setFromEuler(this),this.setFromQuaternion(Sn,e)}equals(e){return e._x===this._x&&e._y===this._y&&e._z===this._z&&e._order===this._order}fromArray(e){return this._x=e[0],this._y=e[1],this._z=e[2],e[3]!==void 0&&(this._order=e[3]),this._onChangeCallback(),this}toArray(e=[],t=0){return e[t]=this._x,e[t+1]=this._y,e[t+2]=this._z,e[t+3]=this._order,e}_onChange(e){return this._onChangeCallback=e,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._order}};Cn.DEFAULT_ORDER=`XYZ`;var wn=class{constructor(){this.mask=1}set(e){this.mask=(1<<e|0)>>>0}enable(e){this.mask|=1<<e|0}enableAll(){this.mask=-1}toggle(e){this.mask^=1<<e|0}disable(e){this.mask&=~(1<<e|0)}disableAll(){this.mask=0}test(e){return(this.mask&e.mask)!==0}isEnabled(e){return(this.mask&(1<<e|0))!=0}},Tn=0,En=new G,Dn=new ut,On=new pn,kn=new G,An=new G,jn=new G,Mn=new ut,Nn=new G(1,0,0),Pn=new G(0,1,0),Fn=new G(0,0,1),In={type:`added`},Ln={type:`removed`},Rn={type:`childadded`,child:null},zn={type:`childremoved`,child:null},Bn=class e extends Re{constructor(){super(),this.isObject3D=!0,Object.defineProperty(this,"id",{value:Tn++}),this.uuid=He(),this.name=``,this.type=`Object3D`,this.parent=null,this.children=[],this.up=e.DEFAULT_UP.clone();let t=new G,n=new Cn,r=new ut,i=new G(1,1,1);function a(){r.setFromEuler(n,!1)}function o(){n.setFromQuaternion(r,void 0,!1)}n._onChange(a),r._onChange(o),Object.defineProperties(this,{position:{configurable:!0,enumerable:!0,value:t},rotation:{configurable:!0,enumerable:!0,value:n},quaternion:{configurable:!0,enumerable:!0,value:r},scale:{configurable:!0,enumerable:!0,value:i},modelViewMatrix:{value:new pn},normalMatrix:{value:new K}}),this.matrix=new pn,this.matrixWorld=new pn,this.matrixAutoUpdate=e.DEFAULT_MATRIX_AUTO_UPDATE,this.matrixWorldAutoUpdate=e.DEFAULT_MATRIX_WORLD_AUTO_UPDATE,this.matrixWorldNeedsUpdate=!1,this.layers=new wn,this.visible=!0,this.castShadow=!1,this.receiveShadow=!1,this.frustumCulled=!0,this.renderOrder=0,this.animations=[],this.customDepthMaterial=void 0,this.customDistanceMaterial=void 0,this.userData={}}onBeforeShadow(){}onAfterShadow(){}onBeforeRender(){}onAfterRender(){}applyMatrix4(e){this.matrixAutoUpdate&&this.updateMatrix(),this.matrix.premultiply(e),this.matrix.decompose(this.position,this.quaternion,this.scale)}applyQuaternion(e){return this.quaternion.premultiply(e),this}setRotationFromAxisAngle(e,t){this.quaternion.setFromAxisAngle(e,t)}setRotationFromEuler(e){this.quaternion.setFromEuler(e,!0)}setRotationFromMatrix(e){this.quaternion.setFromRotationMatrix(e)}setRotationFromQuaternion(e){this.quaternion.copy(e)}rotateOnAxis(e,t){return Dn.setFromAxisAngle(e,t),this.quaternion.multiply(Dn),this}rotateOnWorldAxis(e,t){return Dn.setFromAxisAngle(e,t),this.quaternion.premultiply(Dn),this}rotateX(e){return this.rotateOnAxis(Nn,e)}rotateY(e){return this.rotateOnAxis(Pn,e)}rotateZ(e){return this.rotateOnAxis(Fn,e)}translateOnAxis(e,t){return En.copy(e).applyQuaternion(this.quaternion),this.position.add(En.multiplyScalar(t)),this}translateX(e){return this.translateOnAxis(Nn,e)}translateY(e){return this.translateOnAxis(Pn,e)}translateZ(e){return this.translateOnAxis(Fn,e)}localToWorld(e){return this.updateWorldMatrix(!0,!1),e.applyMatrix4(this.matrixWorld)}worldToLocal(e){return 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this.setRGB(parseInt(n.charAt(0),16)/15,parseInt(n.charAt(1),16)/15,parseInt(n.charAt(2),16)/15,t);if(i===6)return this.setHex(parseInt(n,16),t);console.warn(`THREE.Color: Invalid hex color `+e)}else if(e&&e.length>0)return this.setColorName(e,t);return this}setColorName(e,t=je){let n=tr[e.toLowerCase()];return n===void 0?console.warn(`THREE.Color: Unknown color `+e):this.setHex(n,t),this}clone(){return new this.constructor(this.r,this.g,this.b)}copy(e){return this.r=e.r,this.g=e.g,this.b=e.b,this}copySRGBToLinear(e){return this.r=Tt(e.r),this.g=Tt(e.g),this.b=Tt(e.b),this}copyLinearToSRGB(e){return this.r=Et(e.r),this.g=Et(e.g),this.b=Et(e.b),this}convertSRGBToLinear(){return this.copySRGBToLinear(this),this}convertLinearToSRGB(){return this.copyLinearToSRGB(this),this}getHex(e=je){return q.workingToColorSpace(ar.copy(this),e),Math.round(U(ar.r*255,0,255))*65536+Math.round(U(ar.g*255,0,255))*256+Math.round(U(ar.b*255,0,255))}getHexString(e=je){return(`000000`+this.getHex(e).toString(16)).slice(-6)}getHSL(e,t=q.workingColorSpace){q.workingToColorSpace(ar.copy(this),t);let n=ar.r,r=ar.g,i=ar.b,a=Math.max(n,r,i),o=Math.min(n,r,i),s,c,l=(o+a)/2;if(o===a)s=0,c=0;else{let e=a-o;switch(c=l<=.5?e/(a+o):e/(2-a-o),a){case n:s=(r-i)/e+(r<i?6:0);break;case r:s=(i-n)/e+2;break;case i:s=(n-r)/e+4;break}s/=6}return e.h=s,e.s=c,e.l=l,e}getRGB(e,t=q.workingColorSpace){return q.workingToColorSpace(ar.copy(this),t),e.r=ar.r,e.g=ar.g,e.b=ar.b,e}getStyle(e=je){q.workingToColorSpace(ar.copy(this),e);let t=ar.r,n=ar.g,r=ar.b;return e===`srgb`?`rgb(${Math.round(t*255)},${Math.round(n*255)},${Math.round(r*255)})`:`color(${e} ${t.toFixed(3)} ${n.toFixed(3)} ${r.toFixed(3)})`}offsetHSL(e,t,n){return this.getHSL(nr),this.setHSL(nr.h+e,nr.s+t,nr.l+n)}add(e){return this.r+=e.r,this.g+=e.g,this.b+=e.b,this}addColors(e,t){return this.r=e.r+t.r,this.g=e.g+t.g,this.b=e.b+t.b,this}addScalar(e){return this.r+=e,this.g+=e,this.b+=e,this}sub(e){return this.r=Math.max(0,this.r-e.r),this.g=Math.max(0,this.g-e.g),this.b=Math.max(0,this.b-e.b),this}multiply(e){return this.r*=e.r,this.g*=e.g,this.b*=e.b,this}multiplyScalar(e){return this.r*=e,this.g*=e,this.b*=e,this}lerp(e,t){return this.r+=(e.r-this.r)*t,this.g+=(e.g-this.g)*t,this.b+=(e.b-this.b)*t,this}lerpColors(e,t,n){return this.r=e.r+(t.r-e.r)*n,this.g=e.g+(t.g-e.g)*n,this.b=e.b+(t.b-e.b)*n,this}lerpHSL(e,t){this.getHSL(nr),e.getHSL(rr);let n=Ke(nr.h,rr.h,t),r=Ke(nr.s,rr.s,t),i=Ke(nr.l,rr.l,t);return this.setHSL(n,r,i),this}setFromVector3(e){return this.r=e.x,this.g=e.y,this.b=e.z,this}applyMatrix3(e){let t=this.r,n=this.g,r=this.b,i=e.elements;return this.r=i[0]*t+i[3]*n+i[6]*r,this.g=i[1]*t+i[4]*n+i[7]*r,this.b=i[2]*t+i[5]*n+i[8]*r,this}equals(e){return e.r===this.r&&e.g===this.g&&e.b===this.b}fromArray(e,t=0){return this.r=e[t],this.g=e[t+1],this.b=e[t+2],this}toArray(e=[],t=0){return e[t]=this.r,e[t+1]=this.g,e[t+2]=this.b,e}fromBufferAttribute(e,t){return this.r=e.getX(t),this.g=e.getY(t),this.b=e.getZ(t),this}toJSON(){return this.getHex()}*[Symbol.iterator](){yield this.r,yield this.g,yield this.b}},ar=new Y;Y.NAMES=tr;var or=0,sr=class extends Re{constructor(){super(),this.isMaterial=!0,Object.defineProperty(this,"id",{value:or++}),this.uuid=He(),this.name=``,this.type=`Material`,this.blending=1,this.side=0,this.vertexColors=!1,this.opacity=1,this.transparent=!1,this.alphaHash=!1,this.blendSrc=204,this.blendDst=205,this.blendEquation=100,this.blendSrcAlpha=null,this.blendDstAlpha=null,this.blendEquationAlpha=null,this.blendColor=new Y(0,0,0),this.blendAlpha=0,this.depthFunc=3,this.depthTest=!0,this.depthWrite=!0,this.stencilWriteMask=255,this.stencilFunc=519,this.stencilRef=0,this.stencilFuncMask=255,this.stencilFail=Fe,this.stencilZFail=Fe,this.stencilZPass=Fe,this.stencilWrite=!1,this.clippingPlanes=null,this.clipIntersection=!1,this.clipShadows=!1,this.shadowSide=null,this.colorWrite=!0,this.precision=null,this.polygonOffset=!1,this.polygonOffsetFactor=0,this.polygonOffsetUnits=0,this.dithering=!1,this.alphaToCoverage=!1,this.premultipliedAlpha=!1,this.forceSinglePass=!1,this.allowOverride=!0,this.visible=!0,this.toneMapped=!0,this.userData={},this.version=0,this._alphaTest=0}get alphaTest(){return this._alphaTest}set alphaTest(e){this._alphaTest>0!=e>0&&this.version++,this._alphaTest=e}onBeforeRender(){}onBeforeCompile(){}customProgramCacheKey(){return this.onBeforeCompile.toString()}setValues(e){if(e!==void 0)for(let t in e){let n=e[t];if(n===void 0){console.warn(`THREE.Material: parameter '${t}' has value of undefined.`);continue}let r=this[t];if(r===void 0){console.warn(`THREE.Material: '${t}' is not a property of THREE.${this.type}.`);continue}r&&r.isColor?r.set(n):r&&r.isVector3&&n&&n.isVector3?r.copy(n):this[t]=n}}toJSON(e){let t=e===void 0||typeof e==`string`;t&&(e={textures:{},images:{}});let n={metadata:{version:4.7,type:`Material`,generator:`Material.toJSON`}};n.uuid=this.uuid,n.type=this.type,this.name!==``&&(n.name=this.name),this.color&&this.color.isColor&&(n.color=this.color.getHex()),this.roughness!==void 0&&(n.roughness=this.roughness),this.metalness!==void 0&&(n.metalness=this.metalness),this.sheen!==void 0&&(n.sheen=this.sheen),this.sheenColor&&this.sheenColor.isColor&&(n.sheenColor=this.sheenColor.getHex()),this.sheenRoughness!==void 0&&(n.sheenRoughness=this.sheenRoughness),this.emissive&&this.emissive.isColor&&(n.emissive=this.emissive.getHex()),this.emissiveIntensity!==void 0&&this.emissiveIntensity!==1&&(n.emissiveIntensity=this.emissiveIntensity),this.specular&&this.specular.isColor&&(n.specular=this.specular.getHex()),this.specularIntensity!==void 0&&(n.specularIntensity=this.specularIntensity),this.specularColor&&this.specularColor.isColor&&(n.specularColor=this.specularColor.getHex()),this.shininess!==void 0&&(n.shininess=this.shininess),this.clearcoat!==void 0&&(n.clearcoat=this.clearcoat),this.clearcoatRoughness!==void 0&&(n.clearcoatRoughness=this.clearcoatRoughness),this.clearcoatMap&&this.clearcoatMap.isTexture&&(n.clearcoatMap=this.clearcoatMap.toJSON(e).uuid),this.clearcoatRoughnessMap&&this.clearcoatRoughnessMap.isTexture&&(n.clearcoatRoughnessMap=this.clearcoatRoughnessMap.toJSON(e).uuid),this.clearcoatNormalMap&&this.clearcoatNormalMap.isTexture&&(n.clearcoatNormalMap=this.clearcoatNormalMap.toJSON(e).uuid,n.clearcoatNormalScale=this.clearcoatNormalScale.toArray()),this.dispersion!==void 0&&(n.dispersion=this.dispersion),this.iridescence!==void 0&&(n.iridescence=this.iridescence),this.iridescenceIOR!==void 0&&(n.iridescenceIOR=this.iridescenceIOR),this.iridescenceThicknessRange!==void 0&&(n.iridescenceThicknessRange=this.iridescenceThicknessRange),this.iridescenceMap&&this.iridescenceMap.isTexture&&(n.iridescenceMap=this.iridescenceMap.toJSON(e).uuid),this.iridescenceThicknessMap&&this.iridescenceThicknessMap.isTexture&&(n.iridescenceThicknessMap=this.iridescenceThicknessMap.toJSON(e).uuid),this.anisotropy!==void 0&&(n.anisotropy=this.anisotropy),this.anisotropyRotation!==void 0&&(n.anisotropyRotation=this.anisotropyRotation),this.anisotropyMap&&this.anisotropyMap.isTexture&&(n.anisotropyMap=this.anisotropyMap.toJSON(e).uuid),this.map&&this.map.isTexture&&(n.map=this.map.toJSON(e).uuid),this.matcap&&this.matcap.isTexture&&(n.matcap=this.matcap.toJSON(e).uuid),this.alphaMap&&this.alphaMap.isTexture&&(n.alphaMap=this.alphaMap.toJSON(e).uuid),this.lightMap&&this.lightMap.isTexture&&(n.lightMap=this.lightMap.toJSON(e).uuid,n.lightMapIntensity=this.lightMapIntensity),this.aoMap&&this.aoMap.isTexture&&(n.aoMap=this.aoMap.toJSON(e).uuid,n.aoMapIntensity=this.aoMapIntensity),this.bumpMap&&this.bumpMap.isTexture&&(n.bumpMap=this.bumpMap.toJSON(e).uuid,n.bumpScale=this.bumpScale),this.normalMap&&this.normalMap.isTexture&&(n.normalMap=this.normalMap.toJSON(e).uuid,n.normalMapType=this.normalMapType,n.normalScale=this.normalScale.toArray()),this.displacementMap&&this.displacementMap.isTexture&&(n.displacementMap=this.displacementMap.toJSON(e).uuid,n.displacementScale=this.displacementScale,n.displacementBias=this.displacementBias),this.roughnessMap&&this.roughnessMap.isTexture&&(n.roughnessMap=this.roughnessMap.toJSON(e).uuid),this.metalnessMap&&this.metalnessMap.isTexture&&(n.metalnessMap=this.metalnessMap.toJSON(e).uuid),this.emissiveMap&&this.emissiveMap.isTexture&&(n.emissiveMap=this.emissiveMap.toJSON(e).uuid),this.specularMap&&this.specularMap.isTexture&&(n.specularMap=this.specularMap.toJSON(e).uuid),this.specularIntensityMap&&this.specularIntensityMap.isTexture&&(n.specularIntensityMap=this.specularIntensityMap.toJSON(e).uuid),this.specularColorMap&&this.specularColorMap.isTexture&&(n.specularColorMap=this.specularColorMap.toJSON(e).uuid),this.envMap&&this.envMap.isTexture&&(n.envMap=this.envMap.toJSON(e).uuid,this.combine!==void 0&&(n.combine=this.combine)),this.envMapRotation!==void 0&&(n.envMapRotation=this.envMapRotation.toArray()),this.envMapIntensity!==void 0&&(n.envMapIntensity=this.envMapIntensity),this.reflectivity!==void 0&&(n.reflectivity=this.reflectivity),this.refractionRatio!==void 0&&(n.refractionRatio=this.refractionRatio),this.gradientMap&&this.gradientMap.isTexture&&(n.gradientMap=this.gradientMap.toJSON(e).uuid),this.transmission!==void 0&&(n.transmission=this.transmission),this.transmissionMap&&this.transmissionMap.isTexture&&(n.transmissionMap=this.transmissionMap.toJSON(e).uuid),this.thickness!==void 0&&(n.thickness=this.thickness),this.thicknessMap&&this.thicknessMap.isTexture&&(n.thicknessMap=this.thicknessMap.toJSON(e).uuid),this.attenuationDistance!==void 0&&this.attenuationDistance!==1/0&&(n.attenuationDistance=this.attenuationDistance),this.attenuationColor!==void 0&&(n.attenuationColor=this.attenuationColor.getHex()),this.size!==void 0&&(n.size=this.size),this.shadowSide!==null&&(n.shadowSide=this.shadowSide),this.sizeAttenuation!==void 0&&(n.sizeAttenuation=this.sizeAttenuation),this.blending!==1&&(n.blending=this.blending),this.side!==0&&(n.side=this.side),this.vertexColors===!0&&(n.vertexColors=!0),this.opacity<1&&(n.opacity=this.opacity),this.transparent===!0&&(n.transparent=!0),this.blendSrc!==204&&(n.blendSrc=this.blendSrc),this.blendDst!==205&&(n.blendDst=this.blendDst),this.blendEquation!==100&&(n.blendEquation=this.blendEquation),this.blendSrcAlpha!==null&&(n.blendSrcAlpha=this.blendSrcAlpha),this.blendDstAlpha!==null&&(n.blendDstAlpha=this.blendDstAlpha),this.blendEquationAlpha!==null&&(n.blendEquationAlpha=this.blendEquationAlpha),this.blendColor&&this.blendColor.isColor&&(n.blendColor=this.blendColor.getHex()),this.blendAlpha!==0&&(n.blendAlpha=this.blendAlpha),this.depthFunc!==3&&(n.depthFunc=this.depthFunc),this.depthTest===!1&&(n.depthTest=this.depthTest),this.depthWrite===!1&&(n.depthWrite=this.depthWrite),this.colorWrite===!1&&(n.colorWrite=this.colorWrite),this.stencilWriteMask!==255&&(n.stencilWriteMask=this.stencilWriteMask),this.stencilFunc!==519&&(n.stencilFunc=this.stencilFunc),this.stencilRef!==0&&(n.stencilRef=this.stencilRef),this.stencilFuncMask!==255&&(n.stencilFuncMask=this.stencilFuncMask),this.stencilFail!==7680&&(n.stencilFail=this.stencilFail),this.stencilZFail!==7680&&(n.stencilZFail=this.stencilZFail),this.stencilZPass!==7680&&(n.stencilZPass=this.stencilZPass),this.stencilWrite===!0&&(n.stencilWrite=this.stencilWrite),this.rotation!==void 0&&this.rotation!==0&&(n.rotation=this.rotation),this.polygonOffset===!0&&(n.polygonOffset=!0),this.polygonOffsetFactor!==0&&(n.polygonOffsetFactor=this.polygonOffsetFactor),this.polygonOffsetUnits!==0&&(n.polygonOffsetUnits=this.polygonOffsetUnits),this.linewidth!==void 0&&this.linewidth!==1&&(n.linewidth=this.linewidth),this.dashSize!==void 0&&(n.dashSize=this.dashSize),this.gapSize!==void 0&&(n.gapSize=this.gapSize),this.scale!==void 0&&(n.scale=this.scale),this.dithering===!0&&(n.dithering=!0),this.alphaTest>0&&(n.alphaTest=this.alphaTest),this.alphaHash===!0&&(n.alphaHash=!0),this.alphaToCoverage===!0&&(n.alphaToCoverage=!0),this.premultipliedAlpha===!0&&(n.premultipliedAlpha=!0),this.forceSinglePass===!0&&(n.forceSinglePass=!0),this.wireframe===!0&&(n.wireframe=!0),this.wireframeLinewidth>1&&(n.wireframeLinewidth=this.wireframeLinewidth),this.wireframeLinecap!==`round`&&(n.wireframeLinecap=this.wireframeLinecap),this.wireframeLinejoin!==`round`&&(n.wireframeLinejoin=this.wireframeLinejoin),this.flatShading===!0&&(n.flatShading=!0),this.visible===!1&&(n.visible=!1),this.toneMapped===!1&&(n.toneMapped=!1),this.fog===!1&&(n.fog=!1),Object.keys(this.userData).length>0&&(n.userData=this.userData);function r(e){let t=[];for(let n in e){let r=e[n];delete r.metadata,t.push(r)}return t}if(t){let t=r(e.textures),i=r(e.images);t.length>0&&(n.textures=t),i.length>0&&(n.images=i)}return n}clone(){return new this.constructor().copy(this)}copy(e){this.name=e.name,this.blending=e.blending,this.side=e.side,this.vertexColors=e.vertexColors,this.opacity=e.opacity,this.transparent=e.transparent,this.blendSrc=e.blendSrc,this.blendDst=e.blendDst,this.blendEquation=e.blendEquation,this.blendSrcAlpha=e.blendSrcAlpha,this.blendDstAlpha=e.blendDstAlpha,this.blendEquationAlpha=e.blendEquationAlpha,this.blendColor.copy(e.blendColor),this.blendAlpha=e.blendAlpha,this.depthFunc=e.depthFunc,this.depthTest=e.depthTest,this.depthWrite=e.depthWrite,this.stencilWriteMask=e.stencilWriteMask,this.stencilFunc=e.stencilFunc,this.stencilRef=e.stencilRef,this.stencilFuncMask=e.stencilFuncMask,this.stencilFail=e.stencilFail,this.stencilZFail=e.stencilZFail,this.stencilZPass=e.stencilZPass,this.stencilWrite=e.stencilWrite;let t=e.clippingPlanes,n=null;if(t!==null){let e=t.length;n=Array(e);for(let r=0;r!==e;++r)n[r]=t[r].clone()}return this.clippingPlanes=n,this.clipIntersection=e.clipIntersection,this.clipShadows=e.clipShadows,this.shadowSide=e.shadowSide,this.colorWrite=e.colorWrite,this.precision=e.precision,this.polygonOffset=e.polygonOffset,this.polygonOffsetFactor=e.polygonOffsetFactor,this.polygonOffsetUnits=e.polygonOffsetUnits,this.dithering=e.dithering,this.alphaTest=e.alphaTest,this.alphaHash=e.alphaHash,this.alphaToCoverage=e.alphaToCoverage,this.premultipliedAlpha=e.premultipliedAlpha,this.forceSinglePass=e.forceSinglePass,this.visible=e.visible,this.toneMapped=e.toneMapped,this.userData=JSON.parse(JSON.stringify(e.userData)),this}dispose(){this.dispatchEvent({type:`dispose`})}set needsUpdate(e){e===!0&&this.version++}},cr=class extends sr{constructor(e){super(),this.isMeshBasicMaterial=!0,this.type=`MeshBasicMaterial`,this.color=new Y(16777215),this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.envMapRotation=new Cn,this.combine=0,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=`round`,this.wireframeLinejoin=`round`,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.envMapRotation.copy(e.envMapRotation),this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.fog=e.fog,this}},lr=new G,ur=new W,dr=0,fr=class{constructor(e,t,n=!1){if(Array.isArray(e))throw TypeError(`THREE.BufferAttribute: array should be a Typed Array.`);this.isBufferAttribute=!0,Object.defineProperty(this,"id",{value:dr++}),this.name=``,this.array=e,this.itemSize=t,this.count=e===void 0?0:e.length/t,this.normalized=n,this.usage=Ie,this.updateRanges=[],this.gpuType=_,this.version=0}onUploadCallback(){}set needsUpdate(e){e===!0&&this.version++}setUsage(e){return this.usage=e,this}addUpdateRange(e,t){this.updateRanges.push({start:e,count:t})}clearUpdateRanges(){this.updateRanges.length=0}copy(e){return this.name=e.name,this.array=new e.array.constructor(e.array),this.itemSize=e.itemSize,this.count=e.count,this.normalized=e.normalized,this.usage=e.usage,this.gpuType=e.gpuType,this}copyAt(e,t,n){e*=this.itemSize,n*=t.itemSize;for(let r=0,i=this.itemSize;r<i;r++)this.array[e+r]=t.array[n+r];return this}copyArray(e){return this.array.set(e),this}applyMatrix3(e){if(this.itemSize===2)for(let t=0,n=this.count;t<n;t++)ur.fromBufferAttribute(this,t),ur.applyMatrix3(e),this.setXY(t,ur.x,ur.y);else if(this.itemSize===3)for(let t=0,n=this.count;t<n;t++)lr.fromBufferAttribute(this,t),lr.applyMatrix3(e),this.setXYZ(t,lr.x,lr.y,lr.z);return this}applyMatrix4(e){for(let t=0,n=this.count;t<n;t++)lr.fromBufferAttribute(this,t),lr.applyMatrix4(e),this.setXYZ(t,lr.x,lr.y,lr.z);return this}applyNormalMatrix(e){for(let t=0,n=this.count;t<n;t++)lr.fromBufferAttribute(this,t),lr.applyNormalMatrix(e),this.setXYZ(t,lr.x,lr.y,lr.z);return this}transformDirection(e){for(let t=0,n=this.count;t<n;t++)lr.fromBufferAttribute(this,t),lr.transformDirection(e),this.setXYZ(t,lr.x,lr.y,lr.z);return this}set(e,t=0){return this.array.set(e,t),this}getComponent(e,t){let n=this.array[e*this.itemSize+t];return this.normalized&&(n=st(n,this.array)),n}setComponent(e,t,n){return this.normalized&&(n=ct(n,this.array)),this.array[e*this.itemSize+t]=n,this}getX(e){let t=this.array[e*this.itemSize];return this.normalized&&(t=st(t,this.array)),t}setX(e,t){return this.normalized&&(t=ct(t,this.array)),this.array[e*this.itemSize]=t,this}getY(e){let t=this.array[e*this.itemSize+1];return this.normalized&&(t=st(t,this.array)),t}setY(e,t){return this.normalized&&(t=ct(t,this.array)),this.array[e*this.itemSize+1]=t,this}getZ(e){let t=this.array[e*this.itemSize+2];return this.normalized&&(t=st(t,this.array)),t}setZ(e,t){return this.normalized&&(t=ct(t,this.array)),this.array[e*this.itemSize+2]=t,this}getW(e){let t=this.array[e*this.itemSize+3];return this.normalized&&(t=st(t,this.array)),t}setW(e,t){return this.normalized&&(t=ct(t,this.array)),this.array[e*this.itemSize+3]=t,this}setXY(e,t,n){return e*=this.itemSize,this.normalized&&(t=ct(t,this.array),n=ct(n,this.array)),this.array[e+0]=t,this.array[e+1]=n,this}setXYZ(e,t,n,r){return e*=this.itemSize,this.normalized&&(t=ct(t,this.array),n=ct(n,this.array),r=ct(r,this.array)),this.array[e+0]=t,this.array[e+1]=n,this.array[e+2]=r,this}setXYZW(e,t,n,r,i){return e*=this.itemSize,this.normalized&&(t=ct(t,this.array),n=ct(n,this.array),r=ct(r,this.array),i=ct(i,this.array)),this.array[e+0]=t,this.array[e+1]=n,this.array[e+2]=r,this.array[e+3]=i,this}onUpload(e){return this.onUploadCallback=e,this}clone(){return new this.constructor(this.array,this.itemSize).copy(this)}toJSON(){let e={itemSize:this.itemSize,type:this.array.constructor.name,array:Array.from(this.array),normalized:this.normalized};return this.name!==``&&(e.name=this.name),this.usage!==35044&&(e.usage=this.usage),e}},pr=class extends fr{constructor(e,t,n){super(new Uint16Array(e),t,n)}},mr=class extends fr{constructor(e,t,n){super(new Uint32Array(e),t,n)}},hr=class extends fr{constructor(e,t,n){super(new Float32Array(e),t,n)}},gr=0,_r=new pn,vr=new Bn,yr=new G,br=new zt,xr=new zt,Sr=new G,Cr=class e extends Re{constructor(){super(),this.isBufferGeometry=!0,Object.defineProperty(this,"id",{value:gr++}),this.uuid=He(),this.name=``,this.type=`BufferGeometry`,this.index=null,this.indirect=null,this.attributes={},this.morphAttributes={},this.morphTargetsRelative=!1,this.groups=[],this.boundingBox=null,this.boundingSphere=null,this.drawRange={start:0,count:1/0},this.userData={}}getIndex(){return this.index}setIndex(e){return Array.isArray(e)?this.index=new(mt(e)?mr:pr)(e,1):this.index=e,this}setIndirect(e){return this.indirect=e,this}getIndirect(){return this.indirect}getAttribute(e){return this.attributes[e]}setAttribute(e,t){return this.attributes[e]=t,this}deleteAttribute(e){return delete this.attributes[e],this}hasAttribute(e){return this.attributes[e]!==void 0}addGroup(e,t,n=0){this.groups.push({start:e,count:t,materialIndex:n})}clearGroups(){this.groups=[]}setDrawRange(e,t){this.drawRange.start=e,this.drawRange.count=t}applyMatrix4(e){let t=this.attributes.position;t!==void 0&&(t.applyMatrix4(e),t.needsUpdate=!0);let n=this.attributes.normal;if(n!==void 0){let t=new K().getNormalMatrix(e);n.applyNormalMatrix(t),n.needsUpdate=!0}let r=this.attributes.tangent;return r!==void 0&&(r.transformDirection(e),r.needsUpdate=!0),this.boundingBox!==null&&this.computeBoundingBox(),this.boundingSphere!==null&&this.computeBoundingSphere(),this}applyQuaternion(e){return _r.makeRotationFromQuaternion(e),this.applyMatrix4(_r),this}rotateX(e){return _r.makeRotationX(e),this.applyMatrix4(_r),this}rotateY(e){return _r.makeRotationY(e),this.applyMatrix4(_r),this}rotateZ(e){return _r.makeRotationZ(e),this.applyMatrix4(_r),this}translate(e,t,n){return _r.makeTranslation(e,t,n),this.applyMatrix4(_r),this}scale(e,t,n){return _r.makeScale(e,t,n),this.applyMatrix4(_r),this}lookAt(e){return vr.lookAt(e),vr.updateMatrix(),this.applyMatrix4(vr.matrix),this}center(){return this.computeBoundingBox(),this.boundingBox.getCenter(yr).negate(),this.translate(yr.x,yr.y,yr.z),this}setFromPoints(e){let t=this.getAttribute(`position`);if(t===void 0){let t=[];for(let n=0,r=e.length;n<r;n++){let r=e[n];t.push(r.x,r.y,r.z||0)}this.setAttribute(`position`,new hr(t,3))}else{let n=Math.min(e.length,t.count);for(let r=0;r<n;r++){let n=e[r];t.setXYZ(r,n.x,n.y,n.z||0)}e.length>t.count&&console.warn(`THREE.BufferGeometry: Buffer size too small for points data. Use .dispose() and create a new geometry.`),t.needsUpdate=!0}return this}computeBoundingBox(){this.boundingBox===null&&(this.boundingBox=new zt);let e=this.attributes.position,t=this.morphAttributes.position;if(e&&e.isGLBufferAttribute){console.error(`THREE.BufferGeometry.computeBoundingBox(): GLBufferAttribute requires a manual bounding box.`,this),this.boundingBox.set(new G(-1/0,-1/0,-1/0),new G(1/0,1/0,1/0));return}if(e!==void 0){if(this.boundingBox.setFromBufferAttribute(e),t)for(let e=0,n=t.length;e<n;e++){let n=t[e];br.setFromBufferAttribute(n),this.morphTargetsRelative?(Sr.addVectors(this.boundingBox.min,br.min),this.boundingBox.expandByPoint(Sr),Sr.addVectors(this.boundingBox.max,br.max),this.boundingBox.expandByPoint(Sr)):(this.boundingBox.expandByPoint(br.min),this.boundingBox.expandByPoint(br.max))}}else this.boundingBox.makeEmpty();(isNaN(this.boundingBox.min.x)||isNaN(this.boundingBox.min.y)||isNaN(this.boundingBox.min.z))&&console.error(`THREE.BufferGeometry.computeBoundingBox(): Computed min/max have NaN values. The "position" attribute is likely to have NaN values.`,this)}computeBoundingSphere(){this.boundingSphere===null&&(this.boundingSphere=new rn);let e=this.attributes.position,t=this.morphAttributes.position;if(e&&e.isGLBufferAttribute){console.error(`THREE.BufferGeometry.computeBoundingSphere(): GLBufferAttribute requires a manual bounding sphere.`,this),this.boundingSphere.set(new G,1/0);return}if(e){let n=this.boundingSphere.center;if(br.setFromBufferAttribute(e),t)for(let e=0,n=t.length;e<n;e++){let n=t[e];xr.setFromBufferAttribute(n),this.morphTargetsRelative?(Sr.addVectors(br.min,xr.min),br.expandByPoint(Sr),Sr.addVectors(br.max,xr.max),br.expandByPoint(Sr)):(br.expandByPoint(xr.min),br.expandByPoint(xr.max))}br.getCenter(n);let r=0;for(let t=0,i=e.count;t<i;t++)Sr.fromBufferAttribute(e,t),r=Math.max(r,n.distanceToSquared(Sr));if(t)for(let i=0,a=t.length;i<a;i++){let a=t[i],o=this.morphTargetsRelative;for(let t=0,i=a.count;t<i;t++)Sr.fromBufferAttribute(a,t),o&&(yr.fromBufferAttribute(e,t),Sr.add(yr)),r=Math.max(r,n.distanceToSquared(Sr))}this.boundingSphere.radius=Math.sqrt(r),isNaN(this.boundingSphere.radius)&&console.error(`THREE.BufferGeometry.computeBoundingSphere(): Computed radius is NaN. The "position" attribute is likely to have NaN values.`,this)}}computeTangents(){let e=this.index,t=this.attributes;if(e===null||t.position===void 0||t.normal===void 0||t.uv===void 0){console.error(`THREE.BufferGeometry: .computeTangents() failed. Missing required attributes (index, position, normal or uv)`);return}let n=t.position,r=t.normal,i=t.uv;this.hasAttribute(`tangent`)===!1&&this.setAttribute(`tangent`,new fr(new Float32Array(4*n.count),4));let a=this.getAttribute(`tangent`),o=[],s=[];for(let e=0;e<n.count;e++)o[e]=new G,s[e]=new G;let c=new G,l=new G,u=new G,d=new W,f=new W,p=new W,m=new G,h=new G;function g(e,t,r){c.fromBufferAttribute(n,e),l.fromBufferAttribute(n,t),u.fromBufferAttribute(n,r),d.fromBufferAttribute(i,e),f.fromBufferAttribute(i,t),p.fromBufferAttribute(i,r),l.sub(c),u.sub(c),f.sub(d),p.sub(d);let a=1/(f.x*p.y-p.x*f.y);isFinite(a)&&(m.copy(l).multiplyScalar(p.y).addScaledVector(u,-f.y).multiplyScalar(a),h.copy(u).multiplyScalar(f.x).addScaledVector(l,-p.x).multiplyScalar(a),o[e].add(m),o[t].add(m),o[r].add(m),s[e].add(h),s[t].add(h),s[r].add(h))}let _=this.groups;_.length===0&&(_=[{start:0,count:e.count}]);for(let t=0,n=_.length;t<n;++t){let n=_[t],r=n.start,i=n.count;for(let t=r,n=r+i;t<n;t+=3)g(e.getX(t+0),e.getX(t+1),e.getX(t+2))}let v=new G,y=new G,b=new G,x=new G;function S(e){b.fromBufferAttribute(r,e),x.copy(b);let t=o[e];v.copy(t),v.sub(b.multiplyScalar(b.dot(t))).normalize(),y.crossVectors(x,t);let n=y.dot(s[e])<0?-1:1;a.setXYZW(e,v.x,v.y,v.z,n)}for(let t=0,n=_.length;t<n;++t){let n=_[t],r=n.start,i=n.count;for(let t=r,n=r+i;t<n;t+=3)S(e.getX(t+0)),S(e.getX(t+1)),S(e.getX(t+2))}}computeVertexNormals(){let e=this.index,t=this.getAttribute(`position`);if(t!==void 0){let n=this.getAttribute(`normal`);if(n===void 0)n=new fr(new Float32Array(t.count*3),3),this.setAttribute(`normal`,n);else for(let e=0,t=n.count;e<t;e++)n.setXYZ(e,0,0,0);let r=new G,i=new G,a=new G,o=new G,s=new G,c=new G,l=new G,u=new G;if(e)for(let d=0,f=e.count;d<f;d+=3){let f=e.getX(d+0),p=e.getX(d+1),m=e.getX(d+2);r.fromBufferAttribute(t,f),i.fromBufferAttribute(t,p),a.fromBufferAttribute(t,m),l.subVectors(a,i),u.subVectors(r,i),l.cross(u),o.fromBufferAttribute(n,f),s.fromBufferAttribute(n,p),c.fromBufferAttribute(n,m),o.add(l),s.add(l),c.add(l),n.setXYZ(f,o.x,o.y,o.z),n.setXYZ(p,s.x,s.y,s.z),n.setXYZ(m,c.x,c.y,c.z)}else for(let e=0,o=t.count;e<o;e+=3)r.fromBufferAttribute(t,e+0),i.fromBufferAttribute(t,e+1),a.fromBufferAttribute(t,e+2),l.subVectors(a,i),u.subVectors(r,i),l.cross(u),n.setXYZ(e+0,l.x,l.y,l.z),n.setXYZ(e+1,l.x,l.y,l.z),n.setXYZ(e+2,l.x,l.y,l.z);this.normalizeNormals(),n.needsUpdate=!0}}normalizeNormals(){let e=this.attributes.normal;for(let t=0,n=e.count;t<n;t++)Sr.fromBufferAttribute(e,t),Sr.normalize(),e.setXYZ(t,Sr.x,Sr.y,Sr.z)}toNonIndexed(){function t(e,t){let n=e.array,r=e.itemSize,i=e.normalized,a=new n.constructor(t.length*r),o=0,s=0;for(let i=0,c=t.length;i<c;i++){o=e.isInterleavedBufferAttribute?t[i]*e.data.stride+e.offset:t[i]*r;for(let e=0;e<r;e++)a[s++]=n[o++]}return new fr(a,r,i)}if(this.index===null)return console.warn(`THREE.BufferGeometry.toNonIndexed(): BufferGeometry is already non-indexed.`),this;let n=new e,r=this.index.array,i=this.attributes;for(let e in i){let a=i[e],o=t(a,r);n.setAttribute(e,o)}let a=this.morphAttributes;for(let e in a){let i=[],o=a[e];for(let e=0,n=o.length;e<n;e++){let n=o[e],a=t(n,r);i.push(a)}n.morphAttributes[e]=i}n.morphTargetsRelative=this.morphTargetsRelative;let o=this.groups;for(let e=0,t=o.length;e<t;e++){let t=o[e];n.addGroup(t.start,t.count,t.materialIndex)}return n}toJSON(){let e={metadata:{version:4.7,type:`BufferGeometry`,generator:`BufferGeometry.toJSON`}};if(e.uuid=this.uuid,e.type=this.type,this.name!==``&&(e.name=this.name),Object.keys(this.userData).length>0&&(e.userData=this.userData),this.parameters!==void 0){let t=this.parameters;for(let n in t)t[n]!==void 0&&(e[n]=t[n]);return e}e.data={attributes:{}};let t=this.index;t!==null&&(e.data.index={type:t.array.constructor.name,array:Array.prototype.slice.call(t.array)});let n=this.attributes;for(let t in n){let r=n[t];e.data.attributes[t]=r.toJSON(e.data)}let r={},i=!1;for(let t in this.morphAttributes){let n=this.morphAttributes[t],a=[];for(let t=0,r=n.length;t<r;t++){let r=n[t];a.push(r.toJSON(e.data))}a.length>0&&(r[t]=a,i=!0)}i&&(e.data.morphAttributes=r,e.data.morphTargetsRelative=this.morphTargetsRelative);let a=this.groups;a.length>0&&(e.data.groups=JSON.parse(JSON.stringify(a)));let o=this.boundingSphere;return o!==null&&(e.data.boundingSphere=o.toJSON()),e}clone(){return new this.constructor().copy(this)}copy(e){this.index=null,this.attributes={},this.morphAttributes={},this.groups=[],this.boundingBox=null,this.boundingSphere=null;let t={};this.name=e.name;let n=e.index;n!==null&&this.setIndex(n.clone());let r=e.attributes;for(let e in r){let n=r[e];this.setAttribute(e,n.clone(t))}let i=e.morphAttributes;for(let e in i){let n=[],r=i[e];for(let e=0,i=r.length;e<i;e++)n.push(r[e].clone(t));this.morphAttributes[e]=n}this.morphTargetsRelative=e.morphTargetsRelative;let a=e.groups;for(let e=0,t=a.length;e<t;e++){let t=a[e];this.addGroup(t.start,t.count,t.materialIndex)}let o=e.boundingBox;o!==null&&(this.boundingBox=o.clone());let s=e.boundingSphere;return s!==null&&(this.boundingSphere=s.clone()),this.drawRange.start=e.drawRange.start,this.drawRange.count=e.drawRange.count,this.userData=e.userData,this}dispose(){this.dispatchEvent({type:`dispose`})}},wr=new pn,Tr=new fn,Er=new rn,Dr=new G,Or=new G,kr=new G,Ar=new G,jr=new G,Mr=new G,Nr=new G,Pr=new G,Fr=class extends Bn{constructor(e=new Cr,t=new cr){super(),this.isMesh=!0,this.type=`Mesh`,this.geometry=e,this.material=t,this.morphTargetDictionary=void 0,this.morphTargetInfluences=void 0,this.count=1,this.updateMorphTargets()}copy(e,t){return super.copy(e,t),e.morphTargetInfluences!==void 0&&(this.morphTargetInfluences=e.morphTargetInfluences.slice()),e.morphTargetDictionary!==void 0&&(this.morphTargetDictionary=Object.assign({},e.morphTargetDictionary)),this.material=Array.isArray(e.material)?e.material.slice():e.material,this.geometry=e.geometry,this}updateMorphTargets(){let e=this.geometry.morphAttributes,t=Object.keys(e);if(t.length>0){let n=e[t[0]];if(n!==void 0){this.morphTargetInfluences=[],this.morphTargetDictionary={};for(let e=0,t=n.length;e<t;e++){let t=n[e].name||String(e);this.morphTargetInfluences.push(0),this.morphTargetDictionary[t]=e}}}}getVertexPosition(e,t){let n=this.geometry,r=n.attributes.position,i=n.morphAttributes.position,a=n.morphTargetsRelative;t.fromBufferAttribute(r,e);let o=this.morphTargetInfluences;if(i&&o){Mr.set(0,0,0);for(let n=0,r=i.length;n<r;n++){let r=o[n],s=i[n];r!==0&&(jr.fromBufferAttribute(s,e),a?Mr.addScaledVector(jr,r):Mr.addScaledVector(jr.sub(t),r))}t.add(Mr)}return t}raycast(e,t){let n=this.geometry,r=this.material,i=this.matrixWorld;r!==void 0&&(n.boundingSphere===null&&n.computeBoundingSphere(),Er.copy(n.boundingSphere),Er.applyMatrix4(i),Tr.copy(e.ray).recast(e.near),!(Er.containsPoint(Tr.origin)===!1&&(Tr.intersectSphere(Er,Dr)===null||Tr.origin.distanceToSquared(Dr)>(e.far-e.near)**2))&&(wr.copy(i).invert(),Tr.copy(e.ray).applyMatrix4(wr),!(n.boundingBox!==null&&Tr.intersectsBox(n.boundingBox)===!1)&&this._computeIntersections(e,t,Tr)))}_computeIntersections(e,t,n){let r,i=this.geometry,a=this.material,o=i.index,s=i.attributes.position,c=i.attributes.uv,l=i.attributes.uv1,u=i.attributes.normal,d=i.groups,f=i.drawRange;if(o!==null)if(Array.isArray(a))for(let i=0,s=d.length;i<s;i++){let s=d[i],p=a[s.materialIndex],m=Math.max(s.start,f.start),h=Math.min(o.count,Math.min(s.start+s.count,f.start+f.count));for(let i=m,a=h;i<a;i+=3){let a=o.getX(i),d=o.getX(i+1),f=o.getX(i+2);r=Lr(this,p,e,n,c,l,u,a,d,f),r&&(r.faceIndex=Math.floor(i/3),r.face.materialIndex=s.materialIndex,t.push(r))}}else{let i=Math.max(0,f.start),s=Math.min(o.count,f.start+f.count);for(let d=i,f=s;d<f;d+=3){let i=o.getX(d),s=o.getX(d+1),f=o.getX(d+2);r=Lr(this,a,e,n,c,l,u,i,s,f),r&&(r.faceIndex=Math.floor(d/3),t.push(r))}}else if(s!==void 0)if(Array.isArray(a))for(let i=0,o=d.length;i<o;i++){let o=d[i],p=a[o.materialIndex],m=Math.max(o.start,f.start),h=Math.min(s.count,Math.min(o.start+o.count,f.start+f.count));for(let i=m,a=h;i<a;i+=3){let a=i,s=i+1,d=i+2;r=Lr(this,p,e,n,c,l,u,a,s,d),r&&(r.faceIndex=Math.floor(i/3),r.face.materialIndex=o.materialIndex,t.push(r))}}else{let i=Math.max(0,f.start),o=Math.min(s.count,f.start+f.count);for(let s=i,d=o;s<d;s+=3){let i=s,o=s+1,d=s+2;r=Lr(this,a,e,n,c,l,u,i,o,d),r&&(r.faceIndex=Math.floor(s/3),t.push(r))}}}};function Ir(e,t,n,r,i,a,o,s){let c;if(c=t.side===1?r.intersectTriangle(o,a,i,!0,s):r.intersectTriangle(i,a,o,t.side===0,s),c===null)return null;Pr.copy(s),Pr.applyMatrix4(e.matrixWorld);let l=n.ray.origin.distanceTo(Pr);return l<n.near||l>n.far?null:{distance:l,point:Pr.clone(),object:e}}function Lr(e,t,n,r,i,a,o,s,c,l){e.getVertexPosition(s,Or),e.getVertexPosition(c,kr),e.getVertexPosition(l,Ar);let u=Ir(e,t,n,r,Or,kr,Ar,Nr);if(u){let e=new G;er.getBarycoord(Nr,Or,kr,Ar,e),i&&(u.uv=er.getInterpolatedAttribute(i,s,c,l,e,new W)),a&&(u.uv1=er.getInterpolatedAttribute(a,s,c,l,e,new W)),o&&(u.normal=er.getInterpolatedAttribute(o,s,c,l,e,new G),u.normal.dot(r.direction)>0&&u.normal.multiplyScalar(-1));let t={a:s,b:c,c:l,normal:new G,materialIndex:0};er.getNormal(Or,kr,Ar,t.normal),u.face=t,u.barycoord=e}return u}var Rr=class e extends Cr{constructor(e=1,t=1,n=1,r=1,i=1,a=1){super(),this.type=`BoxGeometry`,this.parameters={width:e,height:t,depth:n,widthSegments:r,heightSegments:i,depthSegments:a};let o=this;r=Math.floor(r),i=Math.floor(i),a=Math.floor(a);let s=[],c=[],l=[],u=[],d=0,f=0;p(`z`,`y`,`x`,-1,-1,n,t,e,a,i,0),p(`z`,`y`,`x`,1,-1,n,t,-e,a,i,1),p(`x`,`z`,`y`,1,1,e,n,t,r,a,2),p(`x`,`z`,`y`,1,-1,e,n,-t,r,a,3),p(`x`,`y`,`z`,1,-1,e,t,n,r,i,4),p(`x`,`y`,`z`,-1,-1,e,t,-n,r,i,5),this.setIndex(s),this.setAttribute(`position`,new hr(c,3)),this.setAttribute(`normal`,new hr(l,3)),this.setAttribute(`uv`,new hr(u,2));function p(e,t,n,r,i,a,p,m,h,g,_){let v=a/h,y=p/g,b=a/2,x=p/2,S=m/2,C=h+1,w=g+1,T=0,E=0,D=new G;for(let a=0;a<w;a++){let o=a*y-x;for(let s=0;s<C;s++)D[e]=(s*v-b)*r,D[t]=o*i,D[n]=S,c.push(D.x,D.y,D.z),D[e]=0,D[t]=0,D[n]=m>0?1:-1,l.push(D.x,D.y,D.z),u.push(s/h),u.push(1-a/g),T+=1}for(let e=0;e<g;e++)for(let t=0;t<h;t++){let n=d+t+C*e,r=d+t+C*(e+1),i=d+(t+1)+C*(e+1),a=d+(t+1)+C*e;s.push(n,r,a),s.push(r,i,a),E+=6}o.addGroup(f,E,_),f+=E,d+=T}}copy(e){return super.copy(e),this.parameters=Object.assign({},e.parameters),this}static fromJSON(t){return new e(t.width,t.height,t.depth,t.widthSegments,t.heightSegments,t.depthSegments)}};function zr(e){let t={};for(let n in e){t[n]={};for(let r in e[n]){let i=e[n][r];i&&(i.isColor||i.isMatrix3||i.isMatrix4||i.isVector2||i.isVector3||i.isVector4||i.isTexture||i.isQuaternion)?i.isRenderTargetTexture?(console.warn(`UniformsUtils: Textures of render targets cannot be cloned via cloneUniforms() or mergeUniforms().`),t[n][r]=null):t[n][r]=i.clone():Array.isArray(i)?t[n][r]=i.slice():t[n][r]=i}}return t}function Br(e){let t={};for(let n=0;n<e.length;n++){let r=zr(e[n]);for(let e in r)t[e]=r[e]}return t}function Vr(e){let t=[];for(let n=0;n<e.length;n++)t.push(e[n].clone());return t}function Hr(e){let t=e.getRenderTarget();return t===null?e.outputColorSpace:t.isXRRenderTarget===!0?t.texture.colorSpace:q.workingColorSpace}var Ur={clone:zr,merge:Br},Wr=`void main() {
-	gl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );
-}`,Gr=`void main() {
-	gl_FragColor = vec4( 1.0, 0.0, 0.0, 1.0 );
-}`,Kr=class extends sr{constructor(e){super(),this.isShaderMaterial=!0,this.type=`ShaderMaterial`,this.defines={},this.uniforms={},this.uniformsGroups=[],this.vertexShader=Wr,this.fragmentShader=Gr,this.linewidth=1,this.wireframe=!1,this.wireframeLinewidth=1,this.fog=!1,this.lights=!1,this.clipping=!1,this.forceSinglePass=!0,this.extensions={clipCullDistance:!1,multiDraw:!1},this.defaultAttributeValues={color:[1,1,1],uv:[0,0],uv1:[0,0]},this.index0AttributeName=void 0,this.uniformsNeedUpdate=!1,this.glslVersion=null,e!==void 0&&this.setValues(e)}copy(e){return super.copy(e),this.fragmentShader=e.fragmentShader,this.vertexShader=e.vertexShader,this.uniforms=zr(e.uniforms),this.uniformsGroups=Vr(e.uniformsGroups),this.defines=Object.assign({},e.defines),this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.fog=e.fog,this.lights=e.lights,this.clipping=e.clipping,this.extensions=Object.assign({},e.extensions),this.glslVersion=e.glslVersion,this}toJSON(e){let t=super.toJSON(e);t.glslVersion=this.glslVersion,t.uniforms={};for(let n in this.uniforms){let r=this.uniforms[n].value;r&&r.isTexture?t.uniforms[n]={type:`t`,value:r.toJSON(e).uuid}:r&&r.isColor?t.uniforms[n]={type:`c`,value:r.getHex()}:r&&r.isVector2?t.uniforms[n]={type:`v2`,value:r.toArray()}:r&&r.isVector3?t.uniforms[n]={type:`v3`,value:r.toArray()}:r&&r.isVector4?t.uniforms[n]={type:`v4`,value:r.toArray()}:r&&r.isMatrix3?t.uniforms[n]={type:`m3`,value:r.toArray()}:r&&r.isMatrix4?t.uniforms[n]={type:`m4`,value:r.toArray()}:t.uniforms[n]={value:r}}Object.keys(this.defines).length>0&&(t.defines=this.defines),t.vertexShader=this.vertexShader,t.fragmentShader=this.fragmentShader,t.lights=this.lights,t.clipping=this.clipping;let n={};for(let e in this.extensions)this.extensions[e]===!0&&(n[e]=!0);return Object.keys(n).length>0&&(t.extensions=n),t}},qr=class extends Bn{constructor(){super(),this.isCamera=!0,this.type=`Camera`,this.matrixWorldInverse=new pn,this.projectionMatrix=new pn,this.projectionMatrixInverse=new pn,this.coordinateSystem=Le}copy(e,t){return super.copy(e,t),this.matrixWorldInverse.copy(e.matrixWorldInverse),this.projectionMatrix.copy(e.projectionMatrix),this.projectionMatrixInverse.copy(e.projectionMatrixInverse),this.coordinateSystem=e.coordinateSystem,this}getWorldDirection(e){return super.getWorldDirection(e).negate()}updateMatrixWorld(e){super.updateMatrixWorld(e),this.matrixWorldInverse.copy(this.matrixWorld).invert()}updateWorldMatrix(e,t){super.updateWorldMatrix(e,t),this.matrixWorldInverse.copy(this.matrixWorld).invert()}clone(){return new this.constructor().copy(this)}},Jr=new G,Yr=new W,Xr=new W,Zr=class extends qr{constructor(e=50,t=1,n=.1,r=2e3){super(),this.isPerspectiveCamera=!0,this.type=`PerspectiveCamera`,this.fov=e,this.zoom=1,this.near=n,this.far=r,this.focus=10,this.aspect=t,this.view=null,this.filmGauge=35,this.filmOffset=0,this.updateProjectionMatrix()}copy(e,t){return super.copy(e,t),this.fov=e.fov,this.zoom=e.zoom,this.near=e.near,this.far=e.far,this.focus=e.focus,this.aspect=e.aspect,this.view=e.view===null?null:Object.assign({},e.view),this.filmGauge=e.filmGauge,this.filmOffset=e.filmOffset,this}setFocalLength(e){let t=.5*this.getFilmHeight()/e;this.fov=Ve*2*Math.atan(t),this.updateProjectionMatrix()}getFocalLength(){let e=Math.tan(Be*.5*this.fov);return .5*this.getFilmHeight()/e}getEffectiveFOV(){return Ve*2*Math.atan(Math.tan(Be*.5*this.fov)/this.zoom)}getFilmWidth(){return this.filmGauge*Math.min(this.aspect,1)}getFilmHeight(){return this.filmGauge/Math.max(this.aspect,1)}getViewBounds(e,t,n){Jr.set(-1,-1,.5).applyMatrix4(this.projectionMatrixInverse),t.set(Jr.x,Jr.y).multiplyScalar(-e/Jr.z),Jr.set(1,1,.5).applyMatrix4(this.projectionMatrixInverse),n.set(Jr.x,Jr.y).multiplyScalar(-e/Jr.z)}getViewSize(e,t){return this.getViewBounds(e,Yr,Xr),t.subVectors(Xr,Yr)}setViewOffset(e,t,n,r,i,a){this.aspect=e/t,this.view===null&&(this.view={enabled:!0,fullWidth:1,fullHeight:1,offsetX:0,offsetY:0,width:1,height:1}),this.view.enabled=!0,this.view.fullWidth=e,this.view.fullHeight=t,this.view.offsetX=n,this.view.offsetY=r,this.view.width=i,this.view.height=a,this.updateProjectionMatrix()}clearViewOffset(){this.view!==null&&(this.view.enabled=!1),this.updateProjectionMatrix()}updateProjectionMatrix(){let e=this.near,t=e*Math.tan(Be*.5*this.fov)/this.zoom,n=2*t,r=this.aspect*n,i=-.5*r,a=this.view;if(this.view!==null&&this.view.enabled){let e=a.fullWidth,o=a.fullHeight;i+=a.offsetX*r/e,t-=a.offsetY*n/o,r*=a.width/e,n*=a.height/o}let o=this.filmOffset;o!==0&&(i+=e*o/this.getFilmWidth()),this.projectionMatrix.makePerspective(i,i+r,t,t-n,e,this.far,this.coordinateSystem),this.projectionMatrixInverse.copy(this.projectionMatrix).invert()}toJSON(e){let t=super.toJSON(e);return t.object.fov=this.fov,t.object.zoom=this.zoom,t.object.near=this.near,t.object.far=this.far,t.object.focus=this.focus,t.object.aspect=this.aspect,this.view!==null&&(t.object.view=Object.assign({},this.view)),t.object.filmGauge=this.filmGauge,t.object.filmOffset=this.filmOffset,t}},Qr=-90,$r=1,ei=class extends Bn{constructor(e,t,n){super(),this.type=`CubeCamera`,this.renderTarget=n,this.coordinateSystem=null,this.activeMipmapLevel=0;let r=new Zr(Qr,$r,e,t);r.layers=this.layers,this.add(r);let i=new Zr(Qr,$r,e,t);i.layers=this.layers,this.add(i);let a=new Zr(Qr,$r,e,t);a.layers=this.layers,this.add(a);let o=new Zr(Qr,$r,e,t);o.layers=this.layers,this.add(o);let s=new Zr(Qr,$r,e,t);s.layers=this.layers,this.add(s);let c=new Zr(Qr,$r,e,t);c.layers=this.layers,this.add(c)}updateCoordinateSystem(){let e=this.coordinateSystem,t=this.children.concat(),[n,r,i,a,o,s]=t;for(let e of t)this.remove(e);if(e===2e3)n.up.set(0,1,0),n.lookAt(1,0,0),r.up.set(0,1,0),r.lookAt(-1,0,0),i.up.set(0,0,-1),i.lookAt(0,1,0),a.up.set(0,0,1),a.lookAt(0,-1,0),o.up.set(0,1,0),o.lookAt(0,0,1),s.up.set(0,1,0),s.lookAt(0,0,-1);else if(e===2001)n.up.set(0,-1,0),n.lookAt(-1,0,0),r.up.set(0,-1,0),r.lookAt(1,0,0),i.up.set(0,0,1),i.lookAt(0,1,0),a.up.set(0,0,-1),a.lookAt(0,-1,0),o.up.set(0,-1,0),o.lookAt(0,0,1),s.up.set(0,-1,0),s.lookAt(0,0,-1);else throw Error(`THREE.CubeCamera.updateCoordinateSystem(): Invalid coordinate system: `+e);for(let e of t)this.add(e),e.updateMatrixWorld()}update(e,t){this.parent===null&&this.updateMatrixWorld();let{renderTarget:n,activeMipmapLevel:r}=this;this.coordinateSystem!==e.coordinateSystem&&(this.coordinateSystem=e.coordinateSystem,this.updateCoordinateSystem());let[i,a,o,s,c,l]=this.children,u=e.getRenderTarget(),d=e.getActiveCubeFace(),f=e.getActiveMipmapLevel(),p=e.xr.enabled;e.xr.enabled=!1;let m=n.texture.generateMipmaps;n.texture.generateMipmaps=!1,e.setRenderTarget(n,0,r),e.render(t,i),e.setRenderTarget(n,1,r),e.render(t,a),e.setRenderTarget(n,2,r),e.render(t,o),e.setRenderTarget(n,3,r),e.render(t,s),e.setRenderTarget(n,4,r),e.render(t,c),n.texture.generateMipmaps=m,e.setRenderTarget(n,5,r),e.render(t,l),e.setRenderTarget(u,d,f),e.xr.enabled=p,n.texture.needsPMREMUpdate=!0}},ti=class extends Pt{constructor(e=[],t=301,n,r,i,a,o,s,c,l){super(e,t,n,r,i,a,o,s,c,l),this.isCubeTexture=!0,this.flipY=!1}get images(){return this.image}set images(e){this.image=e}},ni=class extends It{constructor(e=1,t={}){super(e,e,t),this.isWebGLCubeRenderTarget=!0;let n={width:e,height:e,depth:1},r=[n,n,n,n,n,n];this.texture=new ti(r),this._setTextureOptions(t),this.texture.isRenderTargetTexture=!0}fromEquirectangularTexture(e,t){this.texture.type=t.type,this.texture.colorSpace=t.colorSpace,this.texture.generateMipmaps=t.generateMipmaps,this.texture.minFilter=t.minFilter,this.texture.magFilter=t.magFilter;let n={uniforms:{tEquirect:{value:null}},vertexShader:`
-
-				varying vec3 vWorldDirection;
-
-				vec3 transformDirection( in vec3 dir, in mat4 matrix ) {
-
-					return normalize( ( matrix * vec4( dir, 0.0 ) ).xyz );
-
-				}
-
-				void main() {
-
-					vWorldDirection = transformDirection( position, modelMatrix );
-
-					#include <begin_vertex>
-					#include <project_vertex>
-
-				}
-			`,fragmentShader:`
-
-				uniform sampler2D tEquirect;
-
-				varying vec3 vWorldDirection;
-
-				#include <common>
-
-				void main() {
-
-					vec3 direction = normalize( vWorldDirection );
-
-					vec2 sampleUV = equirectUv( direction );
-
-					gl_FragColor = texture2D( tEquirect, sampleUV );
-
-				}
-			`},r=new Rr(5,5,5),i=new Kr({name:`CubemapFromEquirect`,uniforms:zr(n.uniforms),vertexShader:n.vertexShader,fragmentShader:n.fragmentShader,side:1,blending:0});i.uniforms.tEquirect.value=t;let a=new Fr(r,i),o=t.minFilter;return t.minFilter===1008&&(t.minFilter=c),new ei(1,10,this).update(e,a),t.minFilter=o,a.geometry.dispose(),a.material.dispose(),this}clear(e,t=!0,n=!0,r=!0){let i=e.getRenderTarget();for(let i=0;i<6;i++)e.setRenderTarget(this,i),e.clear(t,n,r);e.setRenderTarget(i)}},ri=class extends Bn{constructor(){super(),this.isGroup=!0,this.type=`Group`}},ii={type:`move`},ai=class{constructor(){this._targetRay=null,this._grip=null,this._hand=null}getHandSpace(){return this._hand===null&&(this._hand=new ri,this._hand.matrixAutoUpdate=!1,this._hand.visible=!1,this._hand.joints={},this._hand.inputState={pinching:!1}),this._hand}getTargetRaySpace(){return this._targetRay===null&&(this._targetRay=new ri,this._targetRay.matrixAutoUpdate=!1,this._targetRay.visible=!1,this._targetRay.hasLinearVelocity=!1,this._targetRay.linearVelocity=new G,this._targetRay.hasAngularVelocity=!1,this._targetRay.angularVelocity=new G),this._targetRay}getGripSpace(){return this._grip===null&&(this._grip=new ri,this._grip.matrixAutoUpdate=!1,this._grip.visible=!1,this._grip.hasLinearVelocity=!1,this._grip.linearVelocity=new G,this._grip.hasAngularVelocity=!1,this._grip.angularVelocity=new G),this._grip}dispatchEvent(e){return this._targetRay!==null&&this._targetRay.dispatchEvent(e),this._grip!==null&&this._grip.dispatchEvent(e),this._hand!==null&&this._hand.dispatchEvent(e),this}connect(e){if(e&&e.hand){let t=this._hand;if(t)for(let n of e.hand.values())this._getHandJoint(t,n)}return this.dispatchEvent({type:`connected`,data:e}),this}disconnect(e){return this.dispatchEvent({type:`disconnected`,data:e}),this._targetRay!==null&&(this._targetRay.visible=!1),this._grip!==null&&(this._grip.visible=!1),this._hand!==null&&(this._hand.visible=!1),this}update(e,t,n){let r=null,i=null,a=null,o=this._targetRay,s=this._grip,c=this._hand;if(e&&t.session.visibilityState!==`visible-blurred`){if(c&&e.hand){a=!0;for(let r of e.hand.values()){let e=t.getJointPose(r,n),i=this._getHandJoint(c,r);e!==null&&(i.matrix.fromArray(e.transform.matrix),i.matrix.decompose(i.position,i.rotation,i.scale),i.matrixWorldNeedsUpdate=!0,i.jointRadius=e.radius),i.visible=e!==null}let r=c.joints[`index-finger-tip`],i=c.joints[`thumb-tip`],o=r.position.distanceTo(i.position);c.inputState.pinching&&o>.025?(c.inputState.pinching=!1,this.dispatchEvent({type:`pinchend`,handedness:e.handedness,target:this})):!c.inputState.pinching&&o<=.015&&(c.inputState.pinching=!0,this.dispatchEvent({type:`pinchstart`,handedness:e.handedness,target:this}))}else s!==null&&e.gripSpace&&(i=t.getPose(e.gripSpace,n),i!==null&&(s.matrix.fromArray(i.transform.matrix),s.matrix.decompose(s.position,s.rotation,s.scale),s.matrixWorldNeedsUpdate=!0,i.linearVelocity?(s.hasLinearVelocity=!0,s.linearVelocity.copy(i.linearVelocity)):s.hasLinearVelocity=!1,i.angularVelocity?(s.hasAngularVelocity=!0,s.angularVelocity.copy(i.angularVelocity)):s.hasAngularVelocity=!1));o!==null&&(r=t.getPose(e.targetRaySpace,n),r===null&&i!==null&&(r=i),r!==null&&(o.matrix.fromArray(r.transform.matrix),o.matrix.decompose(o.position,o.rotation,o.scale),o.matrixWorldNeedsUpdate=!0,r.linearVelocity?(o.hasLinearVelocity=!0,o.linearVelocity.copy(r.linearVelocity)):o.hasLinearVelocity=!1,r.angularVelocity?(o.hasAngularVelocity=!0,o.angularVelocity.copy(r.angularVelocity)):o.hasAngularVelocity=!1,this.dispatchEvent(ii)))}return o!==null&&(o.visible=r!==null),s!==null&&(s.visible=i!==null),c!==null&&(c.visible=a!==null),this}_getHandJoint(e,t){if(e.joints[t.jointName]===void 0){let n=new ri;n.matrixAutoUpdate=!1,n.visible=!1,e.joints[t.jointName]=n,e.add(n)}return e.joints[t.jointName]}},oi=class extends Bn{constructor(){super(),this.isScene=!0,this.type=`Scene`,this.background=null,this.environment=null,this.fog=null,this.backgroundBlurriness=0,this.backgroundIntensity=1,this.backgroundRotation=new Cn,this.environmentIntensity=1,this.environmentRotation=new Cn,this.overrideMaterial=null,typeof __THREE_DEVTOOLS__<`u`&&__THREE_DEVTOOLS__.dispatchEvent(new CustomEvent(`observe`,{detail:this}))}copy(e,t){return super.copy(e,t),e.background!==null&&(this.background=e.background.clone()),e.environment!==null&&(this.environment=e.environment.clone()),e.fog!==null&&(this.fog=e.fog.clone()),this.backgroundBlurriness=e.backgroundBlurriness,this.backgroundIntensity=e.backgroundIntensity,this.backgroundRotation.copy(e.backgroundRotation),this.environmentIntensity=e.environmentIntensity,this.environmentRotation.copy(e.environmentRotation),e.overrideMaterial!==null&&(this.overrideMaterial=e.overrideMaterial.clone()),this.matrixAutoUpdate=e.matrixAutoUpdate,this}toJSON(e){let t=super.toJSON(e);return this.fog!==null&&(t.object.fog=this.fog.toJSON()),this.backgroundBlurriness>0&&(t.object.backgroundBlurriness=this.backgroundBlurriness),this.backgroundIntensity!==1&&(t.object.backgroundIntensity=this.backgroundIntensity),t.object.backgroundRotation=this.backgroundRotation.toArray(),this.environmentIntensity!==1&&(t.object.environmentIntensity=this.environmentIntensity),t.object.environmentRotation=this.environmentRotation.toArray(),t}},si=new G,ci=new G,li=new K,ui=class{constructor(e=new G(1,0,0),t=0){this.isPlane=!0,this.normal=e,this.constant=t}set(e,t){return this.normal.copy(e),this.constant=t,this}setComponents(e,t,n,r){return this.normal.set(e,t,n),this.constant=r,this}setFromNormalAndCoplanarPoint(e,t){return this.normal.copy(e),this.constant=-t.dot(this.normal),this}setFromCoplanarPoints(e,t,n){let r=si.subVectors(n,t).cross(ci.subVectors(e,t)).normalize();return this.setFromNormalAndCoplanarPoint(r,e),this}copy(e){return this.normal.copy(e.normal),this.constant=e.constant,this}normalize(){let e=1/this.normal.length();return this.normal.multiplyScalar(e),this.constant*=e,this}negate(){return this.constant*=-1,this.normal.negate(),this}distanceToPoint(e){return this.normal.dot(e)+this.constant}distanceToSphere(e){return this.distanceToPoint(e.center)-e.radius}projectPoint(e,t){return t.copy(e).addScaledVector(this.normal,-this.distanceToPoint(e))}intersectLine(e,t){let n=e.delta(si),r=this.normal.dot(n);if(r===0)return this.distanceToPoint(e.start)===0?t.copy(e.start):null;let i=-(e.start.dot(this.normal)+this.constant)/r;return i<0||i>1?null:t.copy(e.start).addScaledVector(n,i)}intersectsLine(e){let t=this.distanceToPoint(e.start),n=this.distanceToPoint(e.end);return t<0&&n>0||n<0&&t>0}intersectsBox(e){return e.intersectsPlane(this)}intersectsSphere(e){return e.intersectsPlane(this)}coplanarPoint(e){return e.copy(this.normal).multiplyScalar(-this.constant)}applyMatrix4(e,t){let n=t||li.getNormalMatrix(e),r=this.coplanarPoint(si).applyMatrix4(e),i=this.normal.applyMatrix3(n).normalize();return this.constant=-r.dot(i),this}translate(e){return this.constant-=e.dot(this.normal),this}equals(e){return e.normal.equals(this.normal)&&e.constant===this.constant}clone(){return new this.constructor().copy(this)}},di=new rn,fi=new W(.5,.5),pi=new G,mi=class{constructor(e=new ui,t=new ui,n=new ui,r=new ui,i=new ui,a=new ui){this.planes=[e,t,n,r,i,a]}set(e,t,n,r,i,a){let o=this.planes;return o[0].copy(e),o[1].copy(t),o[2].copy(n),o[3].copy(r),o[4].copy(i),o[5].copy(a),this}copy(e){let t=this.planes;for(let n=0;n<6;n++)t[n].copy(e.planes[n]);return this}setFromProjectionMatrix(e,t=Le){let n=this.planes,r=e.elements,i=r[0],a=r[1],o=r[2],s=r[3],c=r[4],l=r[5],u=r[6],d=r[7],f=r[8],p=r[9],m=r[10],h=r[11],g=r[12],_=r[13],v=r[14],y=r[15];if(n[0].setComponents(s-i,d-c,h-f,y-g).normalize(),n[1].setComponents(s+i,d+c,h+f,y+g).normalize(),n[2].setComponents(s+a,d+l,h+p,y+_).normalize(),n[3].setComponents(s-a,d-l,h-p,y-_).normalize(),n[4].setComponents(s-o,d-u,h-m,y-v).normalize(),t===2e3)n[5].setComponents(s+o,d+u,h+m,y+v).normalize();else if(t===2001)n[5].setComponents(o,u,m,v).normalize();else throw Error(`THREE.Frustum.setFromProjectionMatrix(): Invalid coordinate system: `+t);return this}intersectsObject(e){if(e.boundingSphere!==void 0)e.boundingSphere===null&&e.computeBoundingSphere(),di.copy(e.boundingSphere).applyMatrix4(e.matrixWorld);else{let t=e.geometry;t.boundingSphere===null&&t.computeBoundingSphere(),di.copy(t.boundingSphere).applyMatrix4(e.matrixWorld)}return this.intersectsSphere(di)}intersectsSprite(e){return di.center.set(0,0,0),di.radius=.7071067811865476+fi.distanceTo(e.center),di.applyMatrix4(e.matrixWorld),this.intersectsSphere(di)}intersectsSphere(e){let t=this.planes,n=e.center,r=-e.radius;for(let e=0;e<6;e++)if(t[e].distanceToPoint(n)<r)return!1;return!0}intersectsBox(e){let t=this.planes;for(let n=0;n<6;n++){let r=t[n];if(pi.x=r.normal.x>0?e.max.x:e.min.x,pi.y=r.normal.y>0?e.max.y:e.min.y,pi.z=r.normal.z>0?e.max.z:e.min.z,r.distanceToPoint(pi)<0)return!1}return!0}containsPoint(e){let t=this.planes;for(let n=0;n<6;n++)if(t[n].distanceToPoint(e)<0)return!1;return!0}clone(){return new this.constructor().copy(this)}},hi=class extends Pt{constructor(e,t,n=g,r,i,o,s=a,c=a,l,u=E,d=1){if(u!==1026&&u!==1027)throw Error(`DepthTexture format must be either THREE.DepthFormat or THREE.DepthStencilFormat`);super({width:e,height:t,depth:d},r,i,o,s,c,u,n,l),this.isDepthTexture=!0,this.flipY=!1,this.generateMipmaps=!1,this.compareFunction=null}copy(e){return super.copy(e),this.source=new At(Object.assign({},e.image)),this.compareFunction=e.compareFunction,this}toJSON(e){let t=super.toJSON(e);return this.compareFunction!==null&&(t.compareFunction=this.compareFunction),t}},gi=class e extends Cr{constructor(e=1,t=1,n=1,r=32,i=1,a=!1,o=0,s=Math.PI*2){super(),this.type=`CylinderGeometry`,this.parameters={radiusTop:e,radiusBottom:t,height:n,radialSegments:r,heightSegments:i,openEnded:a,thetaStart:o,thetaLength:s};let c=this;r=Math.floor(r),i=Math.floor(i);let l=[],u=[],d=[],f=[],p=0,m=[],h=n/2,g=0;_(),a===!1&&(e>0&&v(!0),t>0&&v(!1)),this.setIndex(l),this.setAttribute(`position`,new hr(u,3)),this.setAttribute(`normal`,new hr(d,3)),this.setAttribute(`uv`,new hr(f,2));function _(){let a=new G,_=new G,v=0,y=(t-e)/n;for(let c=0;c<=i;c++){let l=[],g=c/i,v=g*(t-e)+e;for(let e=0;e<=r;e++){let t=e/r,i=t*s+o,c=Math.sin(i),m=Math.cos(i);_.x=v*c,_.y=-g*n+h,_.z=v*m,u.push(_.x,_.y,_.z),a.set(c,y,m).normalize(),d.push(a.x,a.y,a.z),f.push(t,1-g),l.push(p++)}m.push(l)}for(let n=0;n<r;n++)for(let r=0;r<i;r++){let a=m[r][n],o=m[r+1][n],s=m[r+1][n+1],c=m[r][n+1];(e>0||r!==0)&&(l.push(a,o,c),v+=3),(t>0||r!==i-1)&&(l.push(o,s,c),v+=3)}c.addGroup(g,v,0),g+=v}function v(n){let i=p,a=new W,m=new G,_=0,v=n===!0?e:t,y=n===!0?1:-1;for(let e=1;e<=r;e++)u.push(0,h*y,0),d.push(0,y,0),f.push(.5,.5),p++;let b=p;for(let e=0;e<=r;e++){let t=e/r*s+o,n=Math.cos(t),i=Math.sin(t);m.x=v*i,m.y=h*y,m.z=v*n,u.push(m.x,m.y,m.z),d.push(0,y,0),a.x=n*.5+.5,a.y=i*.5*y+.5,f.push(a.x,a.y),p++}for(let e=0;e<r;e++){let t=i+e,r=b+e;n===!0?l.push(r,r+1,t):l.push(r+1,r,t),_+=3}c.addGroup(g,_,n===!0?1:2),g+=_}}copy(e){return super.copy(e),this.parameters=Object.assign({},e.parameters),this}static fromJSON(t){return new e(t.radiusTop,t.radiusBottom,t.height,t.radialSegments,t.heightSegments,t.openEnded,t.thetaStart,t.thetaLength)}},_i=class{constructor(){this.type=`Curve`,this.arcLengthDivisions=200,this.needsUpdate=!1,this.cacheArcLengths=null}getPoint(){console.warn(`THREE.Curve: .getPoint() not implemented.`)}getPointAt(e,t){let n=this.getUtoTmapping(e);return this.getPoint(n,t)}getPoints(e=5){let t=[];for(let n=0;n<=e;n++)t.push(this.getPoint(n/e));return t}getSpacedPoints(e=5){let t=[];for(let n=0;n<=e;n++)t.push(this.getPointAt(n/e));return t}getLength(){let e=this.getLengths();return e[e.length-1]}getLengths(e=this.arcLengthDivisions){if(this.cacheArcLengths&&this.cacheArcLengths.length===e+1&&!this.needsUpdate)return this.cacheArcLengths;this.needsUpdate=!1;let t=[],n,r=this.getPoint(0),i=0;t.push(0);for(let a=1;a<=e;a++)n=this.getPoint(a/e),i+=n.distanceTo(r),t.push(i),r=n;return this.cacheArcLengths=t,t}updateArcLengths(){this.needsUpdate=!0,this.getLengths()}getUtoTmapping(e,t=null){let n=this.getLengths(),r=0,i=n.length,a;a=t||e*n[i-1];let o=0,s=i-1,c;for(;o<=s;)if(r=Math.floor(o+(s-o)/2),c=n[r]-a,c<0)o=r+1;else if(c>0)s=r-1;else{s=r;break}if(r=s,n[r]===a)return r/(i-1);let l=n[r],u=n[r+1]-l,d=(a-l)/u;return(r+d)/(i-1)}getTangent(e,t){let n=1e-4,r=e-n,i=e+n;r<0&&(r=0),i>1&&(i=1);let a=this.getPoint(r),o=this.getPoint(i),s=t||(a.isVector2?new W:new G);return s.copy(o).sub(a).normalize(),s}getTangentAt(e,t){let n=this.getUtoTmapping(e);return this.getTangent(n,t)}computeFrenetFrames(e,t=!1){let n=new G,r=[],i=[],a=[],o=new G,s=new pn;for(let t=0;t<=e;t++){let n=t/e;r[t]=this.getTangentAt(n,new G)}i[0]=new G,a[0]=new G;let c=Number.MAX_VALUE,l=Math.abs(r[0].x),u=Math.abs(r[0].y),d=Math.abs(r[0].z);l<=c&&(c=l,n.set(1,0,0)),u<=c&&(c=u,n.set(0,1,0)),d<=c&&n.set(0,0,1),o.crossVectors(r[0],n).normalize(),i[0].crossVectors(r[0],o),a[0].crossVectors(r[0],i[0]);for(let t=1;t<=e;t++){if(i[t]=i[t-1].clone(),a[t]=a[t-1].clone(),o.crossVectors(r[t-1],r[t]),o.length()>2**-52){o.normalize();let e=Math.acos(U(r[t-1].dot(r[t]),-1,1));i[t].applyMatrix4(s.makeRotationAxis(o,e))}a[t].crossVectors(r[t],i[t])}if(t===!0){let t=Math.acos(U(i[0].dot(i[e]),-1,1));t/=e,r[0].dot(o.crossVectors(i[0],i[e]))>0&&(t=-t);for(let n=1;n<=e;n++)i[n].applyMatrix4(s.makeRotationAxis(r[n],t*n)),a[n].crossVectors(r[n],i[n])}return{tangents:r,normals:i,binormals:a}}clone(){return new this.constructor().copy(this)}copy(e){return this.arcLengthDivisions=e.arcLengthDivisions,this}toJSON(){let e={metadata:{version:4.7,type:`Curve`,generator:`Curve.toJSON`}};return e.arcLengthDivisions=this.arcLengthDivisions,e.type=this.type,e}fromJSON(e){return this.arcLengthDivisions=e.arcLengthDivisions,this}},vi=class extends _i{constructor(e=0,t=0,n=1,r=1,i=0,a=Math.PI*2,o=!1,s=0){super(),this.isEllipseCurve=!0,this.type=`EllipseCurve`,this.aX=e,this.aY=t,this.xRadius=n,this.yRadius=r,this.aStartAngle=i,this.aEndAngle=a,this.aClockwise=o,this.aRotation=s}getPoint(e,t=new W){let n=t,r=Math.PI*2,i=this.aEndAngle-this.aStartAngle,a=Math.abs(i)<2**-52;for(;i<0;)i+=r;for(;i>r;)i-=r;i<2**-52&&(i=a?0:r),this.aClockwise===!0&&!a&&(i===r?i=-r:i-=r);let o=this.aStartAngle+e*i,s=this.aX+this.xRadius*Math.cos(o),c=this.aY+this.yRadius*Math.sin(o);if(this.aRotation!==0){let e=Math.cos(this.aRotation),t=Math.sin(this.aRotation),n=s-this.aX,r=c-this.aY;s=n*e-r*t+this.aX,c=n*t+r*e+this.aY}return n.set(s,c)}copy(e){return super.copy(e),this.aX=e.aX,this.aY=e.aY,this.xRadius=e.xRadius,this.yRadius=e.yRadius,this.aStartAngle=e.aStartAngle,this.aEndAngle=e.aEndAngle,this.aClockwise=e.aClockwise,this.aRotation=e.aRotation,this}toJSON(){let e=super.toJSON();return e.aX=this.aX,e.aY=this.aY,e.xRadius=this.xRadius,e.yRadius=this.yRadius,e.aStartAngle=this.aStartAngle,e.aEndAngle=this.aEndAngle,e.aClockwise=this.aClockwise,e.aRotation=this.aRotation,e}fromJSON(e){return super.fromJSON(e),this.aX=e.aX,this.aY=e.aY,this.xRadius=e.xRadius,this.yRadius=e.yRadius,this.aStartAngle=e.aStartAngle,this.aEndAngle=e.aEndAngle,this.aClockwise=e.aClockwise,this.aRotation=e.aRotation,this}},yi=class extends vi{constructor(e,t,n,r,i,a){super(e,t,n,n,r,i,a),this.isArcCurve=!0,this.type=`ArcCurve`}};function bi(){let e=0,t=0,n=0,r=0;function i(i,a,o,s){e=i,t=o,n=-3*i+3*a-2*o-s,r=2*i-2*a+o+s}return{initCatmullRom:function(e,t,n,r,a){i(t,n,a*(n-e),a*(r-t))},initNonuniformCatmullRom:function(e,t,n,r,a,o,s){let c=(t-e)/a-(n-e)/(a+o)+(n-t)/o,l=(n-t)/o-(r-t)/(o+s)+(r-n)/s;c*=o,l*=o,i(t,n,c,l)},calc:function(i){let a=i*i,o=a*i;return e+t*i+n*a+r*o}}}var xi=new G,Si=new bi,Ci=new bi,wi=new bi,Ti=class extends _i{constructor(e=[],t=!1,n=`centripetal`,r=.5){super(),this.isCatmullRomCurve3=!0,this.type=`CatmullRomCurve3`,this.points=e,this.closed=t,this.curveType=n,this.tension=r}getPoint(e,t=new G){let n=t,r=this.points,i=r.length,a=(i-+!this.closed)*e,o=Math.floor(a),s=a-o;this.closed?o+=o>0?0:(Math.floor(Math.abs(o)/i)+1)*i:s===0&&o===i-1&&(o=i-2,s=1);let c,l;this.closed||o>0?c=r[(o-1)%i]:(xi.subVectors(r[0],r[1]).add(r[0]),c=xi);let u=r[o%i],d=r[(o+1)%i];if(this.closed||o+2<i?l=r[(o+2)%i]:(xi.subVectors(r[i-1],r[i-2]).add(r[i-1]),l=xi),this.curveType===`centripetal`||this.curveType===`chordal`){let e=this.curveType===`chordal`?.5:.25,t=c.distanceToSquared(u)**+e,n=u.distanceToSquared(d)**+e,r=d.distanceToSquared(l)**+e;n<1e-4&&(n=1),t<1e-4&&(t=n),r<1e-4&&(r=n),Si.initNonuniformCatmullRom(c.x,u.x,d.x,l.x,t,n,r),Ci.initNonuniformCatmullRom(c.y,u.y,d.y,l.y,t,n,r),wi.initNonuniformCatmullRom(c.z,u.z,d.z,l.z,t,n,r)}else this.curveType===`catmullrom`&&(Si.initCatmullRom(c.x,u.x,d.x,l.x,this.tension),Ci.initCatmullRom(c.y,u.y,d.y,l.y,this.tension),wi.initCatmullRom(c.z,u.z,d.z,l.z,this.tension));return n.set(Si.calc(s),Ci.calc(s),wi.calc(s)),n}copy(e){super.copy(e),this.points=[];for(let t=0,n=e.points.length;t<n;t++){let n=e.points[t];this.points.push(n.clone())}return this.closed=e.closed,this.curveType=e.curveType,this.tension=e.tension,this}toJSON(){let e=super.toJSON();e.points=[];for(let t=0,n=this.points.length;t<n;t++){let n=this.points[t];e.points.push(n.toArray())}return e.closed=this.closed,e.curveType=this.curveType,e.tension=this.tension,e}fromJSON(e){super.fromJSON(e),this.points=[];for(let t=0,n=e.points.length;t<n;t++){let n=e.points[t];this.points.push(new G().fromArray(n))}return this.closed=e.closed,this.curveType=e.curveType,this.tension=e.tension,this}};function Ei(e,t,n,r,i){let a=(r-t)*.5,o=(i-n)*.5,s=e*e,c=e*s;return(2*n-2*r+a+o)*c+(-3*n+3*r-2*a-o)*s+a*e+n}function Di(e,t){let n=1-e;return n*n*t}function Oi(e,t){return 2*(1-e)*e*t}function ki(e,t){return e*e*t}function Ai(e,t,n,r){return Di(e,t)+Oi(e,n)+ki(e,r)}function ji(e,t){let n=1-e;return n*n*n*t}function Mi(e,t){let n=1-e;return 3*n*n*e*t}function Ni(e,t){return 3*(1-e)*e*e*t}function Pi(e,t){return e*e*e*t}function Fi(e,t,n,r,i){return ji(e,t)+Mi(e,n)+Ni(e,r)+Pi(e,i)}var Ii=class extends _i{constructor(e=new W,t=new W,n=new W,r=new W){super(),this.isCubicBezierCurve=!0,this.type=`CubicBezierCurve`,this.v0=e,this.v1=t,this.v2=n,this.v3=r}getPoint(e,t=new W){let n=t,r=this.v0,i=this.v1,a=this.v2,o=this.v3;return n.set(Fi(e,r.x,i.x,a.x,o.x),Fi(e,r.y,i.y,a.y,o.y)),n}copy(e){return super.copy(e),this.v0.copy(e.v0),this.v1.copy(e.v1),this.v2.copy(e.v2),this.v3.copy(e.v3),this}toJSON(){let e=super.toJSON();return e.v0=this.v0.toArray(),e.v1=this.v1.toArray(),e.v2=this.v2.toArray(),e.v3=this.v3.toArray(),e}fromJSON(e){return super.fromJSON(e),this.v0.fromArray(e.v0),this.v1.fromArray(e.v1),this.v2.fromArray(e.v2),this.v3.fromArray(e.v3),this}},Li=class extends _i{constructor(e=new G,t=new G,n=new G,r=new G){super(),this.isCubicBezierCurve3=!0,this.type=`CubicBezierCurve3`,this.v0=e,this.v1=t,this.v2=n,this.v3=r}getPoint(e,t=new G){let n=t,r=this.v0,i=this.v1,a=this.v2,o=this.v3;return n.set(Fi(e,r.x,i.x,a.x,o.x),Fi(e,r.y,i.y,a.y,o.y),Fi(e,r.z,i.z,a.z,o.z)),n}copy(e){return super.copy(e),this.v0.copy(e.v0),this.v1.copy(e.v1),this.v2.copy(e.v2),this.v3.copy(e.v3),this}toJSON(){let e=super.toJSON();return e.v0=this.v0.toArray(),e.v1=this.v1.toArray(),e.v2=this.v2.toArray(),e.v3=this.v3.toArray(),e}fromJSON(e){return super.fromJSON(e),this.v0.fromArray(e.v0),this.v1.fromArray(e.v1),this.v2.fromArray(e.v2),this.v3.fromArray(e.v3),this}},Ri=class extends _i{constructor(e=new W,t=new W){super(),this.isLineCurve=!0,this.type=`LineCurve`,this.v1=e,this.v2=t}getPoint(e,t=new W){let n=t;return e===1?n.copy(this.v2):(n.copy(this.v2).sub(this.v1),n.multiplyScalar(e).add(this.v1)),n}getPointAt(e,t){return this.getPoint(e,t)}getTangent(e,t=new W){return t.subVectors(this.v2,this.v1).normalize()}getTangentAt(e,t){return this.getTangent(e,t)}copy(e){return super.copy(e),this.v1.copy(e.v1),this.v2.copy(e.v2),this}toJSON(){let e=super.toJSON();return e.v1=this.v1.toArray(),e.v2=this.v2.toArray(),e}fromJSON(e){return super.fromJSON(e),this.v1.fromArray(e.v1),this.v2.fromArray(e.v2),this}},zi=class extends _i{constructor(e=new G,t=new G){super(),this.isLineCurve3=!0,this.type=`LineCurve3`,this.v1=e,this.v2=t}getPoint(e,t=new G){let n=t;return e===1?n.copy(this.v2):(n.copy(this.v2).sub(this.v1),n.multiplyScalar(e).add(this.v1)),n}getPointAt(e,t){return this.getPoint(e,t)}getTangent(e,t=new G){return t.subVectors(this.v2,this.v1).normalize()}getTangentAt(e,t){return this.getTangent(e,t)}copy(e){return super.copy(e),this.v1.copy(e.v1),this.v2.copy(e.v2),this}toJSON(){let e=super.toJSON();return e.v1=this.v1.toArray(),e.v2=this.v2.toArray(),e}fromJSON(e){return super.fromJSON(e),this.v1.fromArray(e.v1),this.v2.fromArray(e.v2),this}},Bi=class extends _i{constructor(e=new W,t=new W,n=new W){super(),this.isQuadraticBezierCurve=!0,this.type=`QuadraticBezierCurve`,this.v0=e,this.v1=t,this.v2=n}getPoint(e,t=new W){let n=t,r=this.v0,i=this.v1,a=this.v2;return n.set(Ai(e,r.x,i.x,a.x),Ai(e,r.y,i.y,a.y)),n}copy(e){return super.copy(e),this.v0.copy(e.v0),this.v1.copy(e.v1),this.v2.copy(e.v2),this}toJSON(){let e=super.toJSON();return e.v0=this.v0.toArray(),e.v1=this.v1.toArray(),e.v2=this.v2.toArray(),e}fromJSON(e){return super.fromJSON(e),this.v0.fromArray(e.v0),this.v1.fromArray(e.v1),this.v2.fromArray(e.v2),this}},Vi=class extends _i{constructor(e=new G,t=new G,n=new G){super(),this.isQuadraticBezierCurve3=!0,this.type=`QuadraticBezierCurve3`,this.v0=e,this.v1=t,this.v2=n}getPoint(e,t=new G){let n=t,r=this.v0,i=this.v1,a=this.v2;return n.set(Ai(e,r.x,i.x,a.x),Ai(e,r.y,i.y,a.y),Ai(e,r.z,i.z,a.z)),n}copy(e){return super.copy(e),this.v0.copy(e.v0),this.v1.copy(e.v1),this.v2.copy(e.v2),this}toJSON(){let e=super.toJSON();return e.v0=this.v0.toArray(),e.v1=this.v1.toArray(),e.v2=this.v2.toArray(),e}fromJSON(e){return super.fromJSON(e),this.v0.fromArray(e.v0),this.v1.fromArray(e.v1),this.v2.fromArray(e.v2),this}},Hi=class extends _i{constructor(e=[]){super(),this.isSplineCurve=!0,this.type=`SplineCurve`,this.points=e}getPoint(e,t=new W){let n=t,r=this.points,i=(r.length-1)*e,a=Math.floor(i),o=i-a,s=r[a===0?a:a-1],c=r[a],l=r[a>r.length-2?r.length-1:a+1],u=r[a>r.length-3?r.length-1:a+2];return n.set(Ei(o,s.x,c.x,l.x,u.x),Ei(o,s.y,c.y,l.y,u.y)),n}copy(e){super.copy(e),this.points=[];for(let t=0,n=e.points.length;t<n;t++){let n=e.points[t];this.points.push(n.clone())}return this}toJSON(){let e=super.toJSON();e.points=[];for(let t=0,n=this.points.length;t<n;t++){let n=this.points[t];e.points.push(n.toArray())}return e}fromJSON(e){super.fromJSON(e),this.points=[];for(let t=0,n=e.points.length;t<n;t++){let n=e.points[t];this.points.push(new W().fromArray(n))}return this}},Ui=Object.freeze({__proto__:null,ArcCurve:yi,CatmullRomCurve3:Ti,CubicBezierCurve:Ii,CubicBezierCurve3:Li,EllipseCurve:vi,LineCurve:Ri,LineCurve3:zi,QuadraticBezierCurve:Bi,QuadraticBezierCurve3:Vi,SplineCurve:Hi}),Wi=class extends _i{constructor(){super(),this.type=`CurvePath`,this.curves=[],this.autoClose=!1}add(e){this.curves.push(e)}closePath(){let e=this.curves[0].getPoint(0),t=this.curves[this.curves.length-1].getPoint(1);if(!e.equals(t)){let n=e.isVector2===!0?`LineCurve`:`LineCurve3`;this.curves.push(new Ui[n](t,e))}return this}getPoint(e,t){let n=e*this.getLength(),r=this.getCurveLengths(),i=0;for(;i<r.length;){if(r[i]>=n){let e=r[i]-n,a=this.curves[i],o=a.getLength(),s=o===0?0:1-e/o;return a.getPointAt(s,t)}i++}return null}getLength(){let e=this.getCurveLengths();return e[e.length-1]}updateArcLengths(){this.needsUpdate=!0,this.cacheLengths=null,this.getCurveLengths()}getCurveLengths(){if(this.cacheLengths&&this.cacheLengths.length===this.curves.length)return this.cacheLengths;let e=[],t=0;for(let n=0,r=this.curves.length;n<r;n++)t+=this.curves[n].getLength(),e.push(t);return this.cacheLengths=e,e}getSpacedPoints(e=40){let t=[];for(let n=0;n<=e;n++)t.push(this.getPoint(n/e));return this.autoClose&&t.push(t[0]),t}getPoints(e=12){let t=[],n;for(let r=0,i=this.curves;r<i.length;r++){let a=i[r],o=a.isEllipseCurve?e*2:a.isLineCurve||a.isLineCurve3?1:a.isSplineCurve?e*a.points.length:e,s=a.getPoints(o);for(let e=0;e<s.length;e++){let r=s[e];n&&n.equals(r)||(t.push(r),n=r)}}return this.autoClose&&t.length>1&&!t[t.length-1].equals(t[0])&&t.push(t[0]),t}copy(e){super.copy(e),this.curves=[];for(let t=0,n=e.curves.length;t<n;t++){let n=e.curves[t];this.curves.push(n.clone())}return this.autoClose=e.autoClose,this}toJSON(){let e=super.toJSON();e.autoClose=this.autoClose,e.curves=[];for(let t=0,n=this.curves.length;t<n;t++){let n=this.curves[t];e.curves.push(n.toJSON())}return e}fromJSON(e){super.fromJSON(e),this.autoClose=e.autoClose,this.curves=[];for(let t=0,n=e.curves.length;t<n;t++){let n=e.curves[t];this.curves.push(new Ui[n.type]().fromJSON(n))}return this}},Gi=class extends Wi{constructor(e){super(),this.type=`Path`,this.currentPoint=new W,e&&this.setFromPoints(e)}setFromPoints(e){this.moveTo(e[0].x,e[0].y);for(let t=1,n=e.length;t<n;t++)this.lineTo(e[t].x,e[t].y);return this}moveTo(e,t){return this.currentPoint.set(e,t),this}lineTo(e,t){let n=new Ri(this.currentPoint.clone(),new W(e,t));return this.curves.push(n),this.currentPoint.set(e,t),this}quadraticCurveTo(e,t,n,r){let i=new Bi(this.currentPoint.clone(),new W(e,t),new W(n,r));return this.curves.push(i),this.currentPoint.set(n,r),this}bezierCurveTo(e,t,n,r,i,a){let o=new Ii(this.currentPoint.clone(),new W(e,t),new W(n,r),new W(i,a));return this.curves.push(o),this.currentPoint.set(i,a),this}splineThru(e){let t=new Hi([this.currentPoint.clone()].concat(e));return this.curves.push(t),this.currentPoint.copy(e[e.length-1]),this}arc(e,t,n,r,i,a){let o=this.currentPoint.x,s=this.currentPoint.y;return this.absarc(e+o,t+s,n,r,i,a),this}absarc(e,t,n,r,i,a){return this.absellipse(e,t,n,n,r,i,a),this}ellipse(e,t,n,r,i,a,o,s){let c=this.currentPoint.x,l=this.currentPoint.y;return this.absellipse(e+c,t+l,n,r,i,a,o,s),this}absellipse(e,t,n,r,i,a,o,s){let c=new vi(e,t,n,r,i,a,o,s);if(this.curves.length>0){let e=c.getPoint(0);e.equals(this.currentPoint)||this.lineTo(e.x,e.y)}this.curves.push(c);let l=c.getPoint(1);return this.currentPoint.copy(l),this}copy(e){return super.copy(e),this.currentPoint.copy(e.currentPoint),this}toJSON(){let e=super.toJSON();return e.currentPoint=this.currentPoint.toArray(),e}fromJSON(e){return super.fromJSON(e),this.currentPoint.fromArray(e.currentPoint),this}},Ki=class e extends Cr{constructor(e=[new W(0,-.5),new W(.5,0),new W(0,.5)],t=12,n=0,r=Math.PI*2){super(),this.type=`LatheGeometry`,this.parameters={points:e,segments:t,phiStart:n,phiLength:r},t=Math.floor(t),r=U(r,0,Math.PI*2);let i=[],a=[],o=[],s=[],c=[],l=1/t,u=new G,d=new W,f=new G,p=new G,m=new G,h=0,g=0;for(let t=0;t<=e.length-1;t++)switch(t){case 0:h=e[t+1].x-e[t].x,g=e[t+1].y-e[t].y,f.x=g*1,f.y=-h,f.z=g*0,m.copy(f),f.normalize(),s.push(f.x,f.y,f.z);break;case e.length-1:s.push(m.x,m.y,m.z);break;default:h=e[t+1].x-e[t].x,g=e[t+1].y-e[t].y,f.x=g*1,f.y=-h,f.z=g*0,p.copy(f),f.x+=m.x,f.y+=m.y,f.z+=m.z,f.normalize(),s.push(f.x,f.y,f.z),m.copy(p)}for(let i=0;i<=t;i++){let f=n+i*l*r,p=Math.sin(f),m=Math.cos(f);for(let n=0;n<=e.length-1;n++){u.x=e[n].x*p,u.y=e[n].y,u.z=e[n].x*m,a.push(u.x,u.y,u.z),d.x=i/t,d.y=n/(e.length-1),o.push(d.x,d.y);let r=s[3*n+0]*p,l=s[3*n+1],f=s[3*n+0]*m;c.push(r,l,f)}}for(let n=0;n<t;n++)for(let t=0;t<e.length-1;t++){let r=t+n*e.length,a=r,o=r+e.length,s=r+e.length+1,c=r+1;i.push(a,o,c),i.push(s,c,o)}this.setIndex(i),this.setAttribute(`position`,new hr(a,3)),this.setAttribute(`uv`,new hr(o,2)),this.setAttribute(`normal`,new hr(c,3))}copy(e){return super.copy(e),this.parameters=Object.assign({},e.parameters),this}static fromJSON(t){return new e(t.points,t.segments,t.phiStart,t.phiLength)}},qi=class e extends Cr{constructor(e=1,t=1,n=1,r=1){super(),this.type=`PlaneGeometry`,this.parameters={width:e,height:t,widthSegments:n,heightSegments:r};let i=e/2,a=t/2,o=Math.floor(n),s=Math.floor(r),c=o+1,l=s+1,u=e/o,d=t/s,f=[],p=[],m=[],h=[];for(let e=0;e<l;e++){let t=e*d-a;for(let n=0;n<c;n++){let r=n*u-i;p.push(r,-t,0),m.push(0,0,1),h.push(n/o),h.push(1-e/s)}}for(let e=0;e<s;e++)for(let t=0;t<o;t++){let n=t+c*e,r=t+c*(e+1),i=t+1+c*(e+1),a=t+1+c*e;f.push(n,r,a),f.push(r,i,a)}this.setIndex(f),this.setAttribute(`position`,new hr(p,3)),this.setAttribute(`normal`,new hr(m,3)),this.setAttribute(`uv`,new hr(h,2))}copy(e){return super.copy(e),this.parameters=Object.assign({},e.parameters),this}static fromJSON(t){return new e(t.width,t.height,t.widthSegments,t.heightSegments)}},Ji=class e extends Cr{constructor(e=1,t=32,n=16,r=0,i=Math.PI*2,a=0,o=Math.PI){super(),this.type=`SphereGeometry`,this.parameters={radius:e,widthSegments:t,heightSegments:n,phiStart:r,phiLength:i,thetaStart:a,thetaLength:o},t=Math.max(3,Math.floor(t)),n=Math.max(2,Math.floor(n));let s=Math.min(a+o,Math.PI),c=0,l=[],u=new G,d=new G,f=[],p=[],m=[],h=[];for(let f=0;f<=n;f++){let g=[],_=f/n,v=0;f===0&&a===0?v=.5/t:f===n&&s===Math.PI&&(v=-.5/t);for(let n=0;n<=t;n++){let s=n/t;u.x=-e*Math.cos(r+s*i)*Math.sin(a+_*o),u.y=e*Math.cos(a+_*o),u.z=e*Math.sin(r+s*i)*Math.sin(a+_*o),p.push(u.x,u.y,u.z),d.copy(u).normalize(),m.push(d.x,d.y,d.z),h.push(s+v,1-_),g.push(c++)}l.push(g)}for(let e=0;e<n;e++)for(let r=0;r<t;r++){let t=l[e][r+1],i=l[e][r],o=l[e+1][r],c=l[e+1][r+1];(e!==0||a>0)&&f.push(t,i,c),(e!==n-1||s<Math.PI)&&f.push(i,o,c)}this.setIndex(f),this.setAttribute(`position`,new hr(p,3)),this.setAttribute(`normal`,new hr(m,3)),this.setAttribute(`uv`,new hr(h,2))}copy(e){return super.copy(e),this.parameters=Object.assign({},e.parameters),this}static fromJSON(t){return new e(t.radius,t.widthSegments,t.heightSegments,t.phiStart,t.phiLength,t.thetaStart,t.thetaLength)}},Yi=class extends sr{constructor(e){super(),this.isMeshPhongMaterial=!0,this.type=`MeshPhongMaterial`,this.color=new Y(16777215),this.specular=new Y(1118481),this.shininess=30,this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.emissive=new Y(0),this.emissiveIntensity=1,this.emissiveMap=null,this.bumpMap=null,this.bumpScale=1,this.normalMap=null,this.normalMapType=0,this.normalScale=new W(1,1),this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.envMapRotation=new Cn,this.combine=0,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=`round`,this.wireframeLinejoin=`round`,this.flatShading=!1,this.fog=!0,this.setValues(e)}copy(e){return super.copy(e),this.color.copy(e.color),this.specular.copy(e.specular),this.shininess=e.shininess,this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.emissive.copy(e.emissive),this.emissiveMap=e.emissiveMap,this.emissiveIntensity=e.emissiveIntensity,this.bumpMap=e.bumpMap,this.bumpScale=e.bumpScale,this.normalMap=e.normalMap,this.normalMapType=e.normalMapType,this.normalScale.copy(e.normalScale),this.displacementMap=e.displacementMap,this.displacementScale=e.displacementScale,this.displacementBias=e.displacementBias,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.envMapRotation.copy(e.envMapRotation),this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.flatShading=e.flatShading,this.fog=e.fog,this}},Xi=class extends sr{constructor(e){super(),this.isMeshDepthMaterial=!0,this.type=`MeshDepthMaterial`,this.depthPacking=ke,this.map=null,this.alphaMap=null,this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.wireframe=!1,this.wireframeLinewidth=1,this.setValues(e)}copy(e){return super.copy(e),this.depthPacking=e.depthPacking,this.map=e.map,this.alphaMap=e.alphaMap,this.displacementMap=e.displacementMap,this.displacementScale=e.displacementScale,this.displacementBias=e.displacementBias,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this}},Zi=class extends sr{constructor(e){super(),this.isMeshDistanceMaterial=!0,this.type=`MeshDistanceMaterial`,this.map=null,this.alphaMap=null,this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.setValues(e)}copy(e){return super.copy(e),this.map=e.map,this.alphaMap=e.alphaMap,this.displacementMap=e.displacementMap,this.displacementScale=e.displacementScale,this.displacementBias=e.displacementBias,this}};function Qi(e,t){return!e||e.constructor===t?e:typeof t.BYTES_PER_ELEMENT==`number`?new t(e):Array.prototype.slice.call(e)}function $i(e){return ArrayBuffer.isView(e)&&!(e instanceof DataView)}var ea=class{constructor(e,t,n,r){this.parameterPositions=e,this._cachedIndex=0,this.resultBuffer=r===void 0?new t.constructor(n):r,this.sampleValues=t,this.valueSize=n,this.settings=null,this.DefaultSettings_={}}evaluate(e){let t=this.parameterPositions,n=this._cachedIndex,r=t[n],i=t[n-1];validate_interval:{seek:{let a;linear_scan:{forward_scan:if(!(e<r)){for(let a=n+2;;){if(r===void 0){if(e<i)break forward_scan;return n=t.length,this._cachedIndex=n,this.copySampleValue_(n-1)}if(n===a)break;if(i=r,r=t[++n],e<r)break seek}a=t.length;break linear_scan}if(!(e>=i)){let o=t[1];e<o&&(n=2,i=o);for(let a=n-2;;){if(i===void 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ea{constructor(e,t,n,r){super(e,t,n,r)}interpolate_(e){return this.copySampleValue_(e-1)}},ia=class{constructor(e,t,n,r){if(e===void 0)throw Error(`THREE.KeyframeTrack: track name is undefined`);if(t===void 0||t.length===0)throw Error(`THREE.KeyframeTrack: no keyframes in track named `+e);this.name=e,this.times=Qi(t,this.TimeBufferType),this.values=Qi(n,this.ValueBufferType),this.setInterpolation(r||this.DefaultInterpolation)}static toJSON(e){let t=e.constructor,n;if(t.toJSON!==this.toJSON)n=t.toJSON(e);else{n={name:e.name,times:Qi(e.times,Array),values:Qi(e.values,Array)};let t=e.getInterpolation();t!==e.DefaultInterpolation&&(n.interpolation=t)}return n.type=e.ValueTypeName,n}InterpolantFactoryMethodDiscrete(e){return new ra(this.times,this.values,this.getValueSize(),e)}InterpolantFactoryMethodLinear(e){return new na(this.times,this.values,this.getValueSize(),e)}InterpolantFactoryMethodSmooth(e){return new ta(this.times,this.values,this.getValueSize(),e)}setInterpolation(e){let 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n=this.times,r=n.length,i=0,a=r-1;for(;i!==r&&n[i]<e;)++i;for(;a!==-1&&n[a]>t;)--a;if(++a,i!==0||a!==r){i>=a&&(a=Math.max(a,1),i=a-1);let e=this.getValueSize();this.times=n.slice(i,a),this.values=this.values.slice(i*e,a*e)}return this}validate(){let e=!0,t=this.getValueSize();t-Math.floor(t)!==0&&(console.error(`THREE.KeyframeTrack: Invalid value size in track.`,this),e=!1);let n=this.times,r=this.values,i=n.length;i===0&&(console.error(`THREE.KeyframeTrack: Track is empty.`,this),e=!1);let a=null;for(let t=0;t!==i;t++){let r=n[t];if(typeof r==`number`&&isNaN(r)){console.error(`THREE.KeyframeTrack: Time is not a valid number.`,this,t,r),e=!1;break}if(a!==null&&a>r){console.error(`THREE.KeyframeTrack: Out of order keys.`,this,t,r,a),e=!1;break}a=r}if(r!==void 0&&$i(r))for(let t=0,n=r.length;t!==n;++t){let n=r[t];if(isNaN(n)){console.error(`THREE.KeyframeTrack: Value is not a valid number.`,this,t,n),e=!1;break}}return e}optimize(){let e=this.times.slice(),t=this.values.slice(),n=this.getValueSize(),r=this.getInterpolation()===Te,i=e.length-1,a=1;for(let o=1;o<i;++o){let i=!1,s=e[o];if(s!==e[o+1]&&(o!==1||s!==e[0]))if(r)i=!0;else{let e=o*n,r=e-n,a=e+n;for(let o=0;o!==n;++o){let n=t[e+o];if(n!==t[r+o]||n!==t[a+o]){i=!0;break}}}if(i){if(o!==a){e[a]=e[o];let r=o*n,i=a*n;for(let e=0;e!==n;++e)t[i+e]=t[r+e]}++a}}if(i>0){e[a]=e[i];for(let e=i*n,r=a*n,o=0;o!==n;++o)t[r+o]=t[e+o];++a}return a===e.length?(this.times=e,this.values=t):(this.times=e.slice(0,a),this.values=t.slice(0,a*n)),this}clone(){let e=this.times.slice(),t=this.values.slice(),n=this.constructor,r=new n(this.name,e,t);return r.createInterpolant=this.createInterpolant,r}};ia.prototype.ValueTypeName=``,ia.prototype.TimeBufferType=Float32Array,ia.prototype.ValueBufferType=Float32Array,ia.prototype.DefaultInterpolation=we;var aa=class extends ia{constructor(e,t,n){super(e,t,n)}};aa.prototype.ValueTypeName=`bool`,aa.prototype.ValueBufferType=Array,aa.prototype.DefaultInterpolation=V,aa.prototype.InterpolantFactoryMethodLinear=void 0,aa.prototype.InterpolantFactoryMethodSmooth=void 0;var oa=class extends ia{constructor(e,t,n,r){super(e,t,n,r)}};oa.prototype.ValueTypeName=`color`;var sa=class extends ia{constructor(e,t,n,r){super(e,t,n,r)}};sa.prototype.ValueTypeName=`number`;var ca=class extends ea{constructor(e,t,n,r){super(e,t,n,r)}interpolate_(e,t,n,r){let i=this.resultBuffer,a=this.sampleValues,o=this.valueSize,s=(n-t)/(r-t),c=e*o;for(let e=c+o;c!==e;c+=4)ut.slerpFlat(i,0,a,c-o,a,c,s);return i}},la=class extends ia{constructor(e,t,n,r){super(e,t,n,r)}InterpolantFactoryMethodLinear(e){return new ca(this.times,this.values,this.getValueSize(),e)}};la.prototype.ValueTypeName=`quaternion`,la.prototype.InterpolantFactoryMethodSmooth=void 0;var ua=class extends ia{constructor(e,t,n){super(e,t,n)}};ua.prototype.ValueTypeName=`string`,ua.prototype.ValueBufferType=Array,ua.prototype.DefaultInterpolation=V,ua.prototype.InterpolantFactoryMethodLinear=void 0,ua.prototype.InterpolantFactoryMethodSmooth=void 0;var da=class extends ia{constructor(e,t,n,r){super(e,t,n,r)}};da.prototype.ValueTypeName=`vector`;var fa=new class{constructor(e,t,n){let r=this,i=!1,a=0,o=0,s,c=[];this.onStart=void 0,this.onLoad=e,this.onProgress=t,this.onError=n,this.itemStart=function(e){o++,i===!1&&r.onStart!==void 0&&r.onStart(e,a,o),i=!0},this.itemEnd=function(e){a++,r.onProgress!==void 0&&r.onProgress(e,a,o),a===o&&(i=!1,r.onLoad!==void 0&&r.onLoad())},this.itemError=function(e){r.onError!==void 0&&r.onError(e)},this.resolveURL=function(e){return s?s(e):e},this.setURLModifier=function(e){return s=e,this},this.addHandler=function(e,t){return c.push(e,t),this},this.removeHandler=function(e){let t=c.indexOf(e);return t!==-1&&c.splice(t,2),this},this.getHandler=function(e){for(let t=0,n=c.length;t<n;t+=2){let n=c[t],r=c[t+1];if(n.global&&(n.lastIndex=0),n.test(e))return r}return null}}},pa=class{constructor(e){this.manager=e===void 0?fa:e,this.crossOrigin=`anonymous`,this.withCredentials=!1,this.path=``,this.resourcePath=``,this.requestHeader={}}load(){}loadAsync(e,t){let n=this;return new Promise(function(r,i){n.load(e,r,t,i)})}parse(){}setCrossOrigin(e){return this.crossOrigin=e,this}setWithCredentials(e){return this.withCredentials=e,this}setPath(e){return this.path=e,this}setResourcePath(e){return this.resourcePath=e,this}setRequestHeader(e){return this.requestHeader=e,this}};pa.DEFAULT_MATERIAL_NAME=`__DEFAULT`;var ma=class extends Bn{constructor(e,t=1){super(),this.isLight=!0,this.type=`Light`,this.color=new Y(e),this.intensity=t}dispose(){}copy(e,t){return super.copy(e,t),this.color.copy(e.color),this.intensity=e.intensity,this}toJSON(e){let t=super.toJSON(e);return t.object.color=this.color.getHex(),t.object.intensity=this.intensity,this.groundColor!==void 0&&(t.object.groundColor=this.groundColor.getHex()),this.distance!==void 0&&(t.object.distance=this.distance),this.angle!==void 0&&(t.object.angle=this.angle),this.decay!==void 0&&(t.object.decay=this.decay),this.penumbra!==void 0&&(t.object.penumbra=this.penumbra),this.shadow!==void 0&&(t.object.shadow=this.shadow.toJSON()),this.target!==void 0&&(t.object.target=this.target.uuid),t}},ha=new pn,ga=new G,_a=new G,va=class{constructor(e){this.camera=e,this.intensity=1,this.bias=0,this.normalBias=0,this.radius=1,this.blurSamples=8,this.mapSize=new W(512,512),this.mapType=d,this.map=null,this.mapPass=null,this.matrix=new pn,this.autoUpdate=!0,this.needsUpdate=!1,this._frustum=new mi,this._frameExtents=new W(1,1),this._viewportCount=1,this._viewports=[new J(0,0,1,1)]}getViewportCount(){return this._viewportCount}getFrustum(){return this._frustum}updateMatrices(e){let t=this.camera,n=this.matrix;ga.setFromMatrixPosition(e.matrixWorld),t.position.copy(ga),_a.setFromMatrixPosition(e.target.matrixWorld),t.lookAt(_a),t.updateMatrixWorld(),ha.multiplyMatrices(t.projectionMatrix,t.matrixWorldInverse),this._frustum.setFromProjectionMatrix(ha),n.set(.5,0,0,.5,0,.5,0,.5,0,0,.5,.5,0,0,0,1),n.multiply(ha)}getViewport(e){return this._viewports[e]}getFrameExtents(){return this._frameExtents}dispose(){this.map&&this.map.dispose(),this.mapPass&&this.mapPass.dispose()}copy(e){return this.camera=e.camera.clone(),this.intensity=e.intensity,this.bias=e.bias,this.radius=e.radius,this.autoUpdate=e.autoUpdate,this.needsUpdate=e.needsUpdate,this.normalBias=e.normalBias,this.blurSamples=e.blurSamples,this.mapSize.copy(e.mapSize),this}clone(){return new this.constructor().copy(this)}toJSON(){let e={};return this.intensity!==1&&(e.intensity=this.intensity),this.bias!==0&&(e.bias=this.bias),this.normalBias!==0&&(e.normalBias=this.normalBias),this.radius!==1&&(e.radius=this.radius),(this.mapSize.x!==512||this.mapSize.y!==512)&&(e.mapSize=this.mapSize.toArray()),e.camera=this.camera.toJSON(!1).object,delete e.camera.matrix,e}},ya=class extends va{constructor(){super(new Zr(50,1,.5,500)),this.isSpotLightShadow=!0,this.focus=1,this.aspect=1}updateMatrices(e){let t=this.camera,n=Ve*2*e.angle*this.focus,r=this.mapSize.width/this.mapSize.height*this.aspect,i=e.distance||t.far;(n!==t.fov||r!==t.aspect||i!==t.far)&&(t.fov=n,t.aspect=r,t.far=i,t.updateProjectionMatrix()),super.updateMatrices(e)}copy(e){return super.copy(e),this.focus=e.focus,this}},ba=class extends ma{constructor(e,t,n=0,r=Math.PI/3,i=0,a=2){super(e,t),this.isSpotLight=!0,this.type=`SpotLight`,this.position.copy(Bn.DEFAULT_UP),this.updateMatrix(),this.target=new Bn,this.distance=n,this.angle=r,this.penumbra=i,this.decay=a,this.map=null,this.shadow=new ya}get power(){return this.intensity*Math.PI}set power(e){this.intensity=e/Math.PI}dispose(){this.shadow.dispose()}copy(e,t){return super.copy(e,t),this.distance=e.distance,this.angle=e.angle,this.penumbra=e.penumbra,this.decay=e.decay,this.target=e.target.clone(),this.shadow=e.shadow.clone(),this}},xa=new pn,Sa=new G,Ca=new G,wa=class extends va{constructor(){super(new Zr(90,1,.5,500)),this.isPointLightShadow=!0,this._frameExtents=new W(4,2),this._viewportCount=6,this._viewports=[new J(2,1,1,1),new J(0,1,1,1),new J(3,1,1,1),new J(1,1,1,1),new J(3,0,1,1),new J(1,0,1,1)],this._cubeDirections=[new G(1,0,0),new G(-1,0,0),new G(0,0,1),new G(0,0,-1),new G(0,1,0),new G(0,-1,0)],this._cubeUps=[new G(0,1,0),new G(0,1,0),new G(0,1,0),new G(0,1,0),new G(0,0,1),new G(0,0,-1)]}updateMatrices(e,t=0){let n=this.camera,r=this.matrix,i=e.distance||n.far;i!==n.far&&(n.far=i,n.updateProjectionMatrix()),Sa.setFromMatrixPosition(e.matrixWorld),n.position.copy(Sa),Ca.copy(n.position),Ca.add(this._cubeDirections[t]),n.up.copy(this._cubeUps[t]),n.lookAt(Ca),n.updateMatrixWorld(),r.makeTranslation(-Sa.x,-Sa.y,-Sa.z),xa.multiplyMatrices(n.projectionMatrix,n.matrixWorldInverse),this._frustum.setFromProjectionMatrix(xa)}},Ta=class extends ma{constructor(e,t,n=0,r=2){super(e,t),this.isPointLight=!0,this.type=`PointLight`,this.distance=n,this.decay=r,this.shadow=new wa}get power(){return this.intensity*4*Math.PI}set power(e){this.intensity=e/(4*Math.PI)}dispose(){this.shadow.dispose()}copy(e,t){return super.copy(e,t),this.distance=e.distance,this.decay=e.decay,this.shadow=e.shadow.clone(),this}},Ea=class extends qr{constructor(e=-1,t=1,n=1,r=-1,i=.1,a=2e3){super(),this.isOrthographicCamera=!0,this.type=`OrthographicCamera`,this.zoom=1,this.view=null,this.left=e,this.right=t,this.top=n,this.bottom=r,this.near=i,this.far=a,this.updateProjectionMatrix()}copy(e,t){return super.copy(e,t),this.left=e.left,this.right=e.right,this.top=e.top,this.bottom=e.bottom,this.near=e.near,this.far=e.far,this.zoom=e.zoom,this.view=e.view===null?null:Object.assign({},e.view),this}setViewOffset(e,t,n,r,i,a){this.view===null&&(this.view={enabled:!0,fullWidth:1,fullHeight:1,offsetX:0,offsetY:0,width:1,height:1}),this.view.enabled=!0,this.view.fullWidth=e,this.view.fullHeight=t,this.view.offsetX=n,this.view.offsetY=r,this.view.width=i,this.view.height=a,this.updateProjectionMatrix()}clearViewOffset(){this.view!==null&&(this.view.enabled=!1),this.updateProjectionMatrix()}updateProjectionMatrix(){let e=(this.right-this.left)/(2*this.zoom),t=(this.top-this.bottom)/(2*this.zoom),n=(this.right+this.left)/2,r=(this.top+this.bottom)/2,i=n-e,a=n+e,o=r+t,s=r-t;if(this.view!==null&&this.view.enabled){let e=(this.right-this.left)/this.view.fullWidth/this.zoom,t=(this.top-this.bottom)/this.view.fullHeight/this.zoom;i+=e*this.view.offsetX,a=i+e*this.view.width,o-=t*this.view.offsetY,s=o-t*this.view.height}this.projectionMatrix.makeOrthographic(i,a,o,s,this.near,this.far,this.coordinateSystem),this.projectionMatrixInverse.copy(this.projectionMatrix).invert()}toJSON(e){let t=super.toJSON(e);return t.object.zoom=this.zoom,t.object.left=this.left,t.object.right=this.right,t.object.top=this.top,t.object.bottom=this.bottom,t.object.near=this.near,t.object.far=this.far,this.view!==null&&(t.object.view=Object.assign({},this.view)),t}},Da=class extends ma{constructor(e,t){super(e,t),this.isAmbientLight=!0,this.type=`AmbientLight`}},Oa=class extends 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t=this._targetGroup.nCachedObjects_,n=e.length;t!==n;++t)e[t].unbind()}},X=class e{constructor(t,n,r){this.path=n,this.parsedPath=r||e.parseTrackName(n),this.node=e.findNode(t,this.parsedPath.nodeName),this.rootNode=t,this.getValue=this._getValue_unbound,this.setValue=this._setValue_unbound}static create(t,n,r){return t&&t.isAnimationObjectGroup?new e.Composite(t,n,r):new e(t,n,r)}static sanitizeNodeName(e){return e.replace(/\s/g,`_`).replace(Aa,``)}static parseTrackName(e){let t=La.exec(e);if(t===null)throw Error(`PropertyBinding: Cannot parse trackName: `+e);let n={nodeName:t[2],objectName:t[3],objectIndex:t[4],propertyName:t[5],propertyIndex:t[6]},r=n.nodeName&&n.nodeName.lastIndexOf(`.`);if(r!==void 0&&r!==-1){let e=n.nodeName.substring(r+1);Ra.indexOf(e)!==-1&&(n.nodeName=n.nodeName.substring(0,r),n.objectName=e)}if(n.propertyName===null||n.propertyName.length===0)throw Error(`PropertyBinding: can not parse propertyName from trackName: `+e);return n}static findNode(e,t){if(t===void 0||t===``||t===`.`||t===-1||t===e.name||t===e.uuid)return e;if(e.skeleton){let n=e.skeleton.getBoneByName(t);if(n!==void 0)return n}if(e.children){let n=function(e){for(let r=0;r<e.length;r++){let i=e[r];if(i.name===t||i.uuid===t)return i;let a=n(i.children);if(a)return a}return null},r=n(e.children);if(r)return r}return null}_getValue_unavailable(){}_setValue_unavailable(){}_getValue_direct(e,t){e[t]=this.targetObject[this.propertyName]}_getValue_array(e,t){let n=this.resolvedProperty;for(let r=0,i=n.length;r!==i;++r)e[t++]=n[r]}_getValue_arrayElement(e,t){e[t]=this.resolvedProperty[this.propertyIndex]}_getValue_toArray(e,t){this.resolvedProperty.toArray(e,t)}_setValue_direct(e,t){this.targetObject[this.propertyName]=e[t]}_setValue_direct_setNeedsUpdate(e,t){this.targetObject[this.propertyName]=e[t],this.targetObject.needsUpdate=!0}_setValue_direct_setMatrixWorldNeedsUpdate(e,t){this.targetObject[this.propertyName]=e[t],this.targetObject.matrixWorldNeedsUpdate=!0}_setValue_array(e,t){let n=this.resolvedProperty;for(let r=0,i=n.length;r!==i;++r)n[r]=e[t++]}_setValue_array_setNeedsUpdate(e,t){let n=this.resolvedProperty;for(let r=0,i=n.length;r!==i;++r)n[r]=e[t++];this.targetObject.needsUpdate=!0}_setValue_array_setMatrixWorldNeedsUpdate(e,t){let n=this.resolvedProperty;for(let r=0,i=n.length;r!==i;++r)n[r]=e[t++];this.targetObject.matrixWorldNeedsUpdate=!0}_setValue_arrayElement(e,t){this.resolvedProperty[this.propertyIndex]=e[t]}_setValue_arrayElement_setNeedsUpdate(e,t){this.resolvedProperty[this.propertyIndex]=e[t],this.targetObject.needsUpdate=!0}_setValue_arrayElement_setMatrixWorldNeedsUpdate(e,t){this.resolvedProperty[this.propertyIndex]=e[t],this.targetObject.matrixWorldNeedsUpdate=!0}_setValue_fromArray(e,t){this.resolvedProperty.fromArray(e,t)}_setValue_fromArray_setNeedsUpdate(e,t){this.resolvedProperty.fromArray(e,t),this.targetObject.needsUpdate=!0}_setValue_fromArray_setMatrixWorldNeedsUpdate(e,t){this.resolvedProperty.fromArray(e,t),this.targetObject.matrixWorldNeedsUpdate=!0}_getValue_unbound(e,t){this.bind(),this.getValue(e,t)}_setValue_unbound(e,t){this.bind(),this.setValue(e,t)}bind(){let t=this.node,n=this.parsedPath,r=n.objectName,i=n.propertyName,a=n.propertyIndex;if(t||(t=e.findNode(this.rootNode,n.nodeName),this.node=t),this.getValue=this._getValue_unavailable,this.setValue=this._setValue_unavailable,!t){console.warn(`THREE.PropertyBinding: No target node found for track: `+this.path+`.`);return}if(r){let e=n.objectIndex;switch(r){case`materials`:if(!t.material){console.error(`THREE.PropertyBinding: Can not bind to material as node does not have a material.`,this);return}if(!t.material.materials){console.error(`THREE.PropertyBinding: Can not bind to material.materials as node.material does not have a materials array.`,this);return}t=t.material.materials;break;case`bones`:if(!t.skeleton){console.error(`THREE.PropertyBinding: Can not bind to bones as node does not have a skeleton.`,this);return}t=t.skeleton.bones;for(let n=0;n<t.length;n++)if(t[n].name===e){e=n;break}break;case`map`:if(`map`in t){t=t.map;break}if(!t.material){console.error(`THREE.PropertyBinding: Can not bind to material as node does not have a material.`,this);return}if(!t.material.map){console.error(`THREE.PropertyBinding: Can not bind to material.map as node.material does not have a map.`,this);return}t=t.material.map;break;default:if(t[r]===void 0){console.error(`THREE.PropertyBinding: Can not bind to objectName of node undefined.`,this);return}t=t[r]}if(e!==void 0){if(t[e]===void 0){console.error(`THREE.PropertyBinding: Trying to bind to objectIndex of objectName, but is undefined.`,this,t);return}t=t[e]}}let o=t[i];if(o===void 0){let e=n.nodeName;console.error(`THREE.PropertyBinding: Trying to update property for track: `+e+`.`+i+` but it wasn't found.`,t);return}let s=this.Versioning.None;this.targetObject=t,t.isMaterial===!0?s=this.Versioning.NeedsUpdate:t.isObject3D===!0&&(s=this.Versioning.MatrixWorldNeedsUpdate);let c=this.BindingType.Direct;if(a!==void 0){if(i===`morphTargetInfluences`){if(!t.geometry){console.error(`THREE.PropertyBinding: Can not bind to 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0?(c=this.BindingType.HasFromToArray,this.resolvedProperty=o):Array.isArray(o)?(c=this.BindingType.EntireArray,this.resolvedProperty=o):this.propertyName=i;this.getValue=this.GetterByBindingType[c],this.setValue=this.SetterByBindingTypeAndVersioning[c][s]}unbind(){this.node=null,this.getValue=this._getValue_unbound,this.setValue=this._setValue_unbound}};X.Composite=za,X.prototype.BindingType={Direct:0,EntireArray:1,ArrayElement:2,HasFromToArray:3},X.prototype.Versioning={None:0,NeedsUpdate:1,MatrixWorldNeedsUpdate:2},X.prototype.GetterByBindingType=[X.prototype._getValue_direct,X.prototype._getValue_array,X.prototype._getValue_arrayElement,X.prototype._getValue_toArray],X.prototype.SetterByBindingTypeAndVersioning=[[X.prototype._setValue_direct,X.prototype._setValue_direct_setNeedsUpdate,X.prototype._setValue_direct_setMatrixWorldNeedsUpdate],[X.prototype._setValue_array,X.prototype._setValue_array_setNeedsUpdate,X.prototype._setValue_array_setMatrixWorldNeedsUpdate],[X.prototype._setValue_arrayElement,X.prototype._setValue_arrayElement_setNeedsUpdate,X.prototype._setValue_arrayElement_setMatrixWorldNeedsUpdate],[X.prototype._setValue_fromArray,X.prototype._setValue_fromArray_setNeedsUpdate,X.prototype._setValue_fromArray_setMatrixWorldNeedsUpdate]];var Ba=class{constructor(e=1,t=0,n=0){this.radius=e,this.phi=t,this.theta=n}set(e,t,n){return this.radius=e,this.phi=t,this.theta=n,this}copy(e){return this.radius=e.radius,this.phi=e.phi,this.theta=e.theta,this}makeSafe(){let e=1e-6;return this.phi=U(this.phi,e,Math.PI-e),this}setFromVector3(e){return this.setFromCartesianCoords(e.x,e.y,e.z)}setFromCartesianCoords(e,t,n){return this.radius=Math.sqrt(e*e+t*t+n*n),this.radius===0?(this.theta=0,this.phi=0):(this.theta=Math.atan2(e,n),this.phi=Math.acos(U(t/this.radius,-1,1))),this}clone(){return new this.constructor().copy(this)}},Va=class extends Re{constructor(e,t=null){super(),this.object=e,this.domElement=t,this.enabled=!0,this.state=-1,this.keys={},this.mouseButtons={LEFT:null,MIDDLE:null,RIGHT:null},this.touches={ONE:null,TWO:null}}connect(e){if(e===void 0){console.warn(`THREE.Controls: connect() now requires an element.`);return}this.domElement!==null&&this.disconnect(),this.domElement=e}disconnect(){}dispose(){}update(){}};function Ha(e,t,n,r){let i=Ua(r);switch(n){case C:return e*t;case O:return e*t/i.components*i.byteLength;case k:return e*t/i.components*i.byteLength;case A:return e*t*2/i.components*i.byteLength;case j:return e*t*2/i.components*i.byteLength;case w:return e*t*3/i.components*i.byteLength;case T:return e*t*4/i.components*i.byteLength;case ee:return e*t*4/i.components*i.byteLength;case te:case M:return Math.floor((e+3)/4)*Math.floor((t+3)/4)*8;case N:case P:return Math.floor((e+3)/4)*Math.floor((t+3)/4)*16;case re:case ae:return Math.max(e,16)*Math.max(t,8)/4;case ne:case ie:return Math.max(e,8)*Math.max(t,8)/2;case oe:case se:return Math.floor((e+3)/4)*Math.floor((t+3)/4)*8;case F:return Math.floor((e+3)/4)*Math.floor((t+3)/4)*16;case ce:return Math.floor((e+3)/4)*Math.floor((t+3)/4)*16;case le:return Math.floor((e+4)/5)*Math.floor((t+3)/4)*16;case ue:return Math.floor((e+4)/5)*Math.floor((t+4)/5)*16;case de:return Math.floor((e+5)/6)*Math.floor((t+4)/5)*16;case fe:return Math.floor((e+5)/6)*Math.floor((t+5)/6)*16;case pe:return Math.floor((e+7)/8)*Math.floor((t+4)/5)*16;case me:return Math.floor((e+7)/8)*Math.floor((t+5)/6)*16;case he:return Math.floor((e+7)/8)*Math.floor((t+7)/8)*16;case I:return Math.floor((e+9)/10)*Math.floor((t+4)/5)*16;case ge:return Math.floor((e+9)/10)*Math.floor((t+5)/6)*16;case L:return Math.floor((e+9)/10)*Math.floor((t+7)/8)*16;case _e:return Math.floor((e+9)/10)*Math.floor((t+9)/10)*16;case R:return Math.floor((e+11)/12)*Math.floor((t+9)/10)*16;case ve:return Math.floor((e+11)/12)*Math.floor((t+11)/12)*16;case z:case B:case ye:return Math.ceil(e/4)*Math.ceil(t/4)*16;case be:case xe:return Math.ceil(e/4)*Math.ceil(t/4)*8;case Se:case Ce:return Math.ceil(e/4)*Math.ceil(t/4)*16}throw Error(`Unable to determine texture byte length for ${n} format.`)}function Ua(e){switch(e){case d:case f:return{byteLength:1,components:1};case m:case p:case v:return{byteLength:2,components:1};case y:case b:return{byteLength:2,components:4};case g:case h:case _:return{byteLength:4,components:1};case S:return{byteLength:4,components:3}}throw Error(`Unknown texture type ${e}.`)}typeof __THREE_DEVTOOLS__<`u`&&__THREE_DEVTOOLS__.dispatchEvent(new CustomEvent(`register`,{detail:{revision:`178`}})),typeof window<`u`&&(window.__THREE__?console.warn(`WARNING: Multiple instances of Three.js being imported.`):window.__THREE__=`178`);function Wa(){let e=null,t=!1,n=null,r=null;function i(t,a){n(t,a),r=e.requestAnimationFrame(i)}return{start:function(){t!==!0&&n!==null&&(r=e.requestAnimationFrame(i),t=!0)},stop:function(){e.cancelAnimationFrame(r),t=!1},setAnimationLoop:function(e){n=e},setContext:function(t){e=t}}}function Ga(e){let t=new WeakMap;function n(t,n){let r=t.array,i=t.usage,a=r.byteLength,o=e.createBuffer();e.bindBuffer(n,o),e.bufferData(n,r,i),t.onUploadCallback();let s;if(r instanceof Float32Array)s=e.FLOAT;else if(typeof Float16Array<`u`&&r instanceof Float16Array)s=e.HALF_FLOAT;else if(r instanceof Uint16Array)s=t.isFloat16BufferAttribute?e.HALF_FLOAT:e.UNSIGNED_SHORT;else if(r instanceof Int16Array)s=e.SHORT;else if(r instanceof Uint32Array)s=e.UNSIGNED_INT;else if(r instanceof Int32Array)s=e.INT;else if(r instanceof Int8Array)s=e.BYTE;else if(r instanceof Uint8Array)s=e.UNSIGNED_BYTE;else if(r instanceof Uint8ClampedArray)s=e.UNSIGNED_BYTE;else throw Error(`THREE.WebGLAttributes: Unsupported buffer data format: `+r);return{buffer:o,type:s,bytesPerElement:r.BYTES_PER_ELEMENT,version:t.version,size:a}}function r(t,n,r){let i=n.array,a=n.updateRanges;if(e.bindBuffer(r,t),a.length===0)e.bufferSubData(r,0,i);else{a.sort((e,t)=>e.start-t.start);let t=0;for(let e=1;e<a.length;e++){let n=a[t],r=a[e];r.start<=n.start+n.count+1?n.count=Math.max(n.count,r.start+r.count-n.start):(++t,a[t]=r)}a.length=t+1;for(let t=0,n=a.length;t<n;t++){let n=a[t];e.bufferSubData(r,n.start*i.BYTES_PER_ELEMENT,i,n.start,n.count)}n.clearUpdateRanges()}n.onUploadCallback()}function i(e){return e.isInterleavedBufferAttribute&&(e=e.data),t.get(e)}function a(n){n.isInterleavedBufferAttribute&&(n=n.data);let r=t.get(n);r&&(e.deleteBuffer(r.buffer),t.delete(n))}function o(e,i){if(e.isInterleavedBufferAttribute&&(e=e.data),e.isGLBufferAttribute){let n=t.get(e);(!n||n.version<e.version)&&t.set(e,{buffer:e.buffer,type:e.type,bytesPerElement:e.elementSize,version:e.version});return}let a=t.get(e);if(a===void 0)t.set(e,n(e,i));else if(a.version<e.version){if(a.size!==e.array.byteLength)throw Error(`THREE.WebGLAttributes: The size of the buffer attribute's array buffer does not match the original size. 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-	if ( diffuseColor.a < getAlphaHashThreshold( vPosition ) ) discard;
-#endif`,alphahash_pars_fragment:`#ifdef USE_ALPHAHASH
-	const float ALPHA_HASH_SCALE = 0.05;
-	float hash2D( vec2 value ) {
-		return fract( 1.0e4 * sin( 17.0 * value.x + 0.1 * value.y ) * ( 0.1 + abs( sin( 13.0 * value.y + value.x ) ) ) );
-	}
-	float hash3D( vec3 value ) {
-		return hash2D( vec2( hash2D( value.xy ), value.z ) );
-	}
-	float getAlphaHashThreshold( vec3 position ) {
-		float maxDeriv = max(
-			length( dFdx( position.xyz ) ),
-			length( dFdy( position.xyz ) )
-		);
-		float pixScale = 1.0 / ( ALPHA_HASH_SCALE * maxDeriv );
-		vec2 pixScales = vec2(
-			exp2( floor( log2( pixScale ) ) ),
-			exp2( ceil( log2( pixScale ) ) )
-		);
-		vec2 alpha = vec2(
-			hash3D( floor( pixScales.x * position.xyz ) ),
-			hash3D( floor( pixScales.y * position.xyz ) )
-		);
-		float lerpFactor = fract( log2( pixScale ) );
-		float x = ( 1.0 - lerpFactor ) * alpha.x + lerpFactor * alpha.y;
-		float a = min( lerpFactor, 1.0 - lerpFactor );
-		vec3 cases = vec3(
-			x * x / ( 2.0 * a * ( 1.0 - a ) ),
-			( x - 0.5 * a ) / ( 1.0 - a ),
-			1.0 - ( ( 1.0 - x ) * ( 1.0 - x ) / ( 2.0 * a * ( 1.0 - a ) ) )
-		);
-		float threshold = ( x < ( 1.0 - a ) )
-			? ( ( x < a ) ? cases.x : cases.y )
-			: cases.z;
-		return clamp( threshold , 1.0e-6, 1.0 );
-	}
-#endif`,alphamap_fragment:`#ifdef USE_ALPHAMAP
-	diffuseColor.a *= texture2D( alphaMap, vAlphaMapUv ).g;
-#endif`,alphamap_pars_fragment:`#ifdef USE_ALPHAMAP
-	uniform sampler2D alphaMap;
-#endif`,alphatest_fragment:`#ifdef USE_ALPHATEST
-	#ifdef ALPHA_TO_COVERAGE
-	diffuseColor.a = smoothstep( alphaTest, alphaTest + fwidth( diffuseColor.a ), diffuseColor.a );
-	if ( diffuseColor.a == 0.0 ) discard;
-	#else
-	if ( diffuseColor.a < alphaTest ) discard;
-	#endif
-#endif`,alphatest_pars_fragment:`#ifdef USE_ALPHATEST
-	uniform float alphaTest;
-#endif`,aomap_fragment:`#ifdef USE_AOMAP
-	float ambientOcclusion = ( texture2D( aoMap, vAoMapUv ).r - 1.0 ) * aoMapIntensity + 1.0;
-	reflectedLight.indirectDiffuse *= ambientOcclusion;
-	#if defined( USE_CLEARCOAT ) 
-		clearcoatSpecularIndirect *= ambientOcclusion;
-	#endif
-	#if defined( USE_SHEEN ) 
-		sheenSpecularIndirect *= ambientOcclusion;
-	#endif
-	#if defined( USE_ENVMAP ) && defined( STANDARD )
-		float dotNV = saturate( dot( geometryNormal, geometryViewDir ) );
-		reflectedLight.indirectSpecular *= computeSpecularOcclusion( dotNV, ambientOcclusion, material.roughness );
-	#endif
-#endif`,aomap_pars_fragment:`#ifdef USE_AOMAP
-	uniform sampler2D aoMap;
-	uniform float aoMapIntensity;
-#endif`,batching_pars_vertex:`#ifdef USE_BATCHING
-	#if ! defined( GL_ANGLE_multi_draw )
-	#define gl_DrawID _gl_DrawID
-	uniform int _gl_DrawID;
-	#endif
-	uniform highp sampler2D batchingTexture;
-	uniform highp usampler2D batchingIdTexture;
-	mat4 getBatchingMatrix( const in float i ) {
-		int size = textureSize( batchingTexture, 0 ).x;
-		int j = int( i ) * 4;
-		int x = j % size;
-		int y = j / size;
-		vec4 v1 = texelFetch( batchingTexture, ivec2( x, y ), 0 );
-		vec4 v2 = texelFetch( batchingTexture, ivec2( x + 1, y ), 0 );
-		vec4 v3 = texelFetch( batchingTexture, ivec2( x + 2, y ), 0 );
-		vec4 v4 = texelFetch( batchingTexture, ivec2( x + 3, y ), 0 );
-		return mat4( v1, v2, v3, v4 );
-	}
-	float getIndirectIndex( const in int i ) {
-		int size = textureSize( batchingIdTexture, 0 ).x;
-		int x = i % size;
-		int y = i / size;
-		return float( texelFetch( batchingIdTexture, ivec2( x, y ), 0 ).r );
-	}
-#endif
-#ifdef USE_BATCHING_COLOR
-	uniform sampler2D batchingColorTexture;
-	vec3 getBatchingColor( const in float i ) {
-		int size = textureSize( batchingColorTexture, 0 ).x;
-		int j = int( i );
-		int x = j % size;
-		int y = j / size;
-		return texelFetch( batchingColorTexture, ivec2( x, y ), 0 ).rgb;
-	}
-#endif`,batching_vertex:`#ifdef USE_BATCHING
-	mat4 batchingMatrix = getBatchingMatrix( getIndirectIndex( gl_DrawID ) );
-#endif`,begin_vertex:`vec3 transformed = vec3( position );
-#ifdef USE_ALPHAHASH
-	vPosition = vec3( position );
-#endif`,beginnormal_vertex:`vec3 objectNormal = vec3( normal );
-#ifdef USE_TANGENT
-	vec3 objectTangent = vec3( tangent.xyz );
-#endif`,bsdfs:`float G_BlinnPhong_Implicit( ) {
-	return 0.25;
-}
-float D_BlinnPhong( const in float shininess, const in float dotNH ) {
-	return RECIPROCAL_PI * ( shininess * 0.5 + 1.0 ) * pow( dotNH, shininess );
-}
-vec3 BRDF_BlinnPhong( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in vec3 specularColor, const in float shininess ) {
-	vec3 halfDir = normalize( lightDir + viewDir );
-	float dotNH = saturate( dot( normal, halfDir ) );
-	float dotVH = saturate( dot( viewDir, halfDir ) );
-	vec3 F = F_Schlick( specularColor, 1.0, dotVH );
-	float G = G_BlinnPhong_Implicit( );
-	float D = D_BlinnPhong( shininess, dotNH );
-	return F * ( G * D );
-} // validated`,iridescence_fragment:`#ifdef USE_IRIDESCENCE
-	const mat3 XYZ_TO_REC709 = mat3(
-		 3.2404542, -0.9692660,  0.0556434,
-		-1.5371385,  1.8760108, -0.2040259,
-		-0.4985314,  0.0415560,  1.0572252
-	);
-	vec3 Fresnel0ToIor( vec3 fresnel0 ) {
-		vec3 sqrtF0 = sqrt( fresnel0 );
-		return ( vec3( 1.0 ) + sqrtF0 ) / ( vec3( 1.0 ) - sqrtF0 );
-	}
-	vec3 IorToFresnel0( vec3 transmittedIor, float incidentIor ) {
-		return pow2( ( transmittedIor - vec3( incidentIor ) ) / ( transmittedIor + vec3( incidentIor ) ) );
-	}
-	float IorToFresnel0( float transmittedIor, float incidentIor ) {
-		return pow2( ( transmittedIor - incidentIor ) / ( transmittedIor + incidentIor ));
-	}
-	vec3 evalSensitivity( float OPD, vec3 shift ) {
-		float phase = 2.0 * PI * OPD * 1.0e-9;
-		vec3 val = vec3( 5.4856e-13, 4.4201e-13, 5.2481e-13 );
-		vec3 pos = vec3( 1.6810e+06, 1.7953e+06, 2.2084e+06 );
-		vec3 var = vec3( 4.3278e+09, 9.3046e+09, 6.6121e+09 );
-		vec3 xyz = val * sqrt( 2.0 * PI * var ) * cos( pos * phase + shift ) * exp( - pow2( phase ) * var );
-		xyz.x += 9.7470e-14 * sqrt( 2.0 * PI * 4.5282e+09 ) * cos( 2.2399e+06 * phase + shift[ 0 ] ) * exp( - 4.5282e+09 * pow2( phase ) );
-		xyz /= 1.0685e-7;
-		vec3 rgb = XYZ_TO_REC709 * xyz;
-		return rgb;
-	}
-	vec3 evalIridescence( float outsideIOR, float eta2, float cosTheta1, float thinFilmThickness, vec3 baseF0 ) {
-		vec3 I;
-		float iridescenceIOR = mix( outsideIOR, eta2, smoothstep( 0.0, 0.03, thinFilmThickness ) );
-		float sinTheta2Sq = pow2( outsideIOR / iridescenceIOR ) * ( 1.0 - pow2( cosTheta1 ) );
-		float cosTheta2Sq = 1.0 - sinTheta2Sq;
-		if ( cosTheta2Sq < 0.0 ) {
-			return vec3( 1.0 );
-		}
-		float cosTheta2 = sqrt( cosTheta2Sq );
-		float R0 = IorToFresnel0( iridescenceIOR, outsideIOR );
-		float R12 = F_Schlick( R0, 1.0, cosTheta1 );
-		float T121 = 1.0 - R12;
-		float phi12 = 0.0;
-		if ( iridescenceIOR < outsideIOR ) phi12 = PI;
-		float phi21 = PI - phi12;
-		vec3 baseIOR = Fresnel0ToIor( clamp( baseF0, 0.0, 0.9999 ) );		vec3 R1 = IorToFresnel0( baseIOR, iridescenceIOR );
-		vec3 R23 = F_Schlick( R1, 1.0, cosTheta2 );
-		vec3 phi23 = vec3( 0.0 );
-		if ( baseIOR[ 0 ] < iridescenceIOR ) phi23[ 0 ] = PI;
-		if ( baseIOR[ 1 ] < iridescenceIOR ) phi23[ 1 ] = PI;
-		if ( baseIOR[ 2 ] < iridescenceIOR ) phi23[ 2 ] = PI;
-		float OPD = 2.0 * iridescenceIOR * thinFilmThickness * cosTheta2;
-		vec3 phi = vec3( phi21 ) + phi23;
-		vec3 R123 = clamp( R12 * R23, 1e-5, 0.9999 );
-		vec3 r123 = sqrt( R123 );
-		vec3 Rs = pow2( T121 ) * R23 / ( vec3( 1.0 ) - R123 );
-		vec3 C0 = R12 + Rs;
-		I = C0;
-		vec3 Cm = Rs - T121;
-		for ( int m = 1; m <= 2; ++ m ) {
-			Cm *= r123;
-			vec3 Sm = 2.0 * evalSensitivity( float( m ) * OPD, float( m ) * phi );
-			I += Cm * Sm;
-		}
-		return max( I, vec3( 0.0 ) );
-	}
-#endif`,bumpmap_pars_fragment:`#ifdef USE_BUMPMAP
-	uniform sampler2D bumpMap;
-	uniform float bumpScale;
-	vec2 dHdxy_fwd() {
-		vec2 dSTdx = dFdx( vBumpMapUv );
-		vec2 dSTdy = dFdy( vBumpMapUv );
-		float Hll = bumpScale * texture2D( bumpMap, vBumpMapUv ).x;
-		float dBx = bumpScale * texture2D( bumpMap, vBumpMapUv + dSTdx ).x - Hll;
-		float dBy = bumpScale * texture2D( bumpMap, vBumpMapUv + dSTdy ).x - Hll;
-		return vec2( dBx, dBy );
-	}
-	vec3 perturbNormalArb( vec3 surf_pos, vec3 surf_norm, vec2 dHdxy, float faceDirection ) {
-		vec3 vSigmaX = normalize( dFdx( surf_pos.xyz ) );
-		vec3 vSigmaY = normalize( dFdy( surf_pos.xyz ) );
-		vec3 vN = surf_norm;
-		vec3 R1 = cross( vSigmaY, vN );
-		vec3 R2 = cross( vN, vSigmaX );
-		float fDet = dot( vSigmaX, R1 ) * faceDirection;
-		vec3 vGrad = sign( fDet ) * ( dHdxy.x * R1 + dHdxy.y * R2 );
-		return normalize( abs( fDet ) * surf_norm - vGrad );
-	}
-#endif`,clipping_planes_fragment:`#if NUM_CLIPPING_PLANES > 0
-	vec4 plane;
-	#ifdef ALPHA_TO_COVERAGE
-		float distanceToPlane, distanceGradient;
-		float clipOpacity = 1.0;
-		#pragma unroll_loop_start
-		for ( int i = 0; i < UNION_CLIPPING_PLANES; i ++ ) {
-			plane = clippingPlanes[ i ];
-			distanceToPlane = - dot( vClipPosition, plane.xyz ) + plane.w;
-			distanceGradient = fwidth( distanceToPlane ) / 2.0;
-			clipOpacity *= smoothstep( - distanceGradient, distanceGradient, distanceToPlane );
-			if ( clipOpacity == 0.0 ) discard;
-		}
-		#pragma unroll_loop_end
-		#if UNION_CLIPPING_PLANES < NUM_CLIPPING_PLANES
-			float unionClipOpacity = 1.0;
-			#pragma unroll_loop_start
-			for ( int i = UNION_CLIPPING_PLANES; i < NUM_CLIPPING_PLANES; i ++ ) {
-				plane = clippingPlanes[ i ];
-				distanceToPlane = - dot( vClipPosition, plane.xyz ) + plane.w;
-				distanceGradient = fwidth( distanceToPlane ) / 2.0;
-				unionClipOpacity *= 1.0 - smoothstep( - distanceGradient, distanceGradient, distanceToPlane );
-			}
-			#pragma unroll_loop_end
-			clipOpacity *= 1.0 - unionClipOpacity;
-		#endif
-		diffuseColor.a *= clipOpacity;
-		if ( diffuseColor.a == 0.0 ) discard;
-	#else
-		#pragma unroll_loop_start
-		for ( int i = 0; i < UNION_CLIPPING_PLANES; i ++ ) {
-			plane = clippingPlanes[ i ];
-			if ( dot( vClipPosition, plane.xyz ) > plane.w ) discard;
-		}
-		#pragma unroll_loop_end
-		#if UNION_CLIPPING_PLANES < NUM_CLIPPING_PLANES
-			bool clipped = true;
-			#pragma unroll_loop_start
-			for ( int i = UNION_CLIPPING_PLANES; i < NUM_CLIPPING_PLANES; i ++ ) {
-				plane = clippingPlanes[ i ];
-				clipped = ( dot( vClipPosition, plane.xyz ) > plane.w ) && clipped;
-			}
-			#pragma unroll_loop_end
-			if ( clipped ) discard;
-		#endif
-	#endif
-#endif`,clipping_planes_pars_fragment:`#if NUM_CLIPPING_PLANES > 0
-	varying vec3 vClipPosition;
-	uniform vec4 clippingPlanes[ NUM_CLIPPING_PLANES ];
-#endif`,clipping_planes_pars_vertex:`#if NUM_CLIPPING_PLANES > 0
-	varying vec3 vClipPosition;
-#endif`,clipping_planes_vertex:`#if NUM_CLIPPING_PLANES > 0
-	vClipPosition = - mvPosition.xyz;
-#endif`,color_fragment:`#if defined( USE_COLOR_ALPHA )
-	diffuseColor *= vColor;
-#elif defined( USE_COLOR )
-	diffuseColor.rgb *= vColor;
-#endif`,color_pars_fragment:`#if defined( USE_COLOR_ALPHA )
-	varying vec4 vColor;
-#elif defined( USE_COLOR )
-	varying vec3 vColor;
-#endif`,color_pars_vertex:`#if defined( USE_COLOR_ALPHA )
-	varying vec4 vColor;
-#elif defined( USE_COLOR ) || defined( USE_INSTANCING_COLOR ) || defined( USE_BATCHING_COLOR )
-	varying vec3 vColor;
-#endif`,color_vertex:`#if defined( USE_COLOR_ALPHA )
-	vColor = vec4( 1.0 );
-#elif defined( USE_COLOR ) || defined( USE_INSTANCING_COLOR ) || defined( USE_BATCHING_COLOR )
-	vColor = vec3( 1.0 );
-#endif
-#ifdef USE_COLOR
-	vColor *= color;
-#endif
-#ifdef USE_INSTANCING_COLOR
-	vColor.xyz *= instanceColor.xyz;
-#endif
-#ifdef USE_BATCHING_COLOR
-	vec3 batchingColor = getBatchingColor( getIndirectIndex( gl_DrawID ) );
-	vColor.xyz *= batchingColor.xyz;
-#endif`,common:`#define PI 3.141592653589793
-#define PI2 6.283185307179586
-#define PI_HALF 1.5707963267948966
-#define RECIPROCAL_PI 0.3183098861837907
-#define RECIPROCAL_PI2 0.15915494309189535
-#define EPSILON 1e-6
-#ifndef saturate
-#define saturate( a ) clamp( a, 0.0, 1.0 )
-#endif
-#define whiteComplement( a ) ( 1.0 - saturate( a ) )
-float pow2( const in float x ) { return x*x; }
-vec3 pow2( const in vec3 x ) { return x*x; }
-float pow3( const in float x ) { return x*x*x; }
-float pow4( const in float x ) { float x2 = x*x; return x2*x2; }
-float max3( const in vec3 v ) { return max( max( v.x, v.y ), v.z ); }
-float average( const in vec3 v ) { return dot( v, vec3( 0.3333333 ) ); }
-highp float rand( const in vec2 uv ) {
-	const highp float a = 12.9898, b = 78.233, c = 43758.5453;
-	highp float dt = dot( uv.xy, vec2( a,b ) ), sn = mod( dt, PI );
-	return fract( sin( sn ) * c );
-}
-#ifdef HIGH_PRECISION
-	float precisionSafeLength( vec3 v ) { return length( v ); }
-#else
-	float precisionSafeLength( vec3 v ) {
-		float maxComponent = max3( abs( v ) );
-		return length( v / maxComponent ) * maxComponent;
-	}
-#endif
-struct IncidentLight {
-	vec3 color;
-	vec3 direction;
-	bool visible;
-};
-struct ReflectedLight {
-	vec3 directDiffuse;
-	vec3 directSpecular;
-	vec3 indirectDiffuse;
-	vec3 indirectSpecular;
-};
-#ifdef USE_ALPHAHASH
-	varying vec3 vPosition;
-#endif
-vec3 transformDirection( in vec3 dir, in mat4 matrix ) {
-	return normalize( ( matrix * vec4( dir, 0.0 ) ).xyz );
-}
-vec3 inverseTransformDirection( in vec3 dir, in mat4 matrix ) {
-	return normalize( ( vec4( dir, 0.0 ) * matrix ).xyz );
-}
-mat3 transposeMat3( const in mat3 m ) {
-	mat3 tmp;
-	tmp[ 0 ] = vec3( m[ 0 ].x, m[ 1 ].x, m[ 2 ].x );
-	tmp[ 1 ] = vec3( m[ 0 ].y, m[ 1 ].y, m[ 2 ].y );
-	tmp[ 2 ] = vec3( m[ 0 ].z, m[ 1 ].z, m[ 2 ].z );
-	return tmp;
-}
-bool isPerspectiveMatrix( mat4 m ) {
-	return m[ 2 ][ 3 ] == - 1.0;
-}
-vec2 equirectUv( in vec3 dir ) {
-	float u = atan( dir.z, dir.x ) * RECIPROCAL_PI2 + 0.5;
-	float v = asin( clamp( dir.y, - 1.0, 1.0 ) ) * RECIPROCAL_PI + 0.5;
-	return vec2( u, v );
-}
-vec3 BRDF_Lambert( const in vec3 diffuseColor ) {
-	return RECIPROCAL_PI * diffuseColor;
-}
-vec3 F_Schlick( const in vec3 f0, const in float f90, const in float dotVH ) {
-	float fresnel = exp2( ( - 5.55473 * dotVH - 6.98316 ) * dotVH );
-	return f0 * ( 1.0 - fresnel ) + ( f90 * fresnel );
-}
-float F_Schlick( const in float f0, const in float f90, const in float dotVH ) {
-	float fresnel = exp2( ( - 5.55473 * dotVH - 6.98316 ) * dotVH );
-	return f0 * ( 1.0 - fresnel ) + ( f90 * fresnel );
-} // validated`,cube_uv_reflection_fragment:`#ifdef ENVMAP_TYPE_CUBE_UV
-	#define cubeUV_minMipLevel 4.0
-	#define cubeUV_minTileSize 16.0
-	float getFace( vec3 direction ) {
-		vec3 absDirection = abs( direction );
-		float face = - 1.0;
-		if ( absDirection.x > absDirection.z ) {
-			if ( absDirection.x > absDirection.y )
-				face = direction.x > 0.0 ? 0.0 : 3.0;
-			else
-				face = direction.y > 0.0 ? 1.0 : 4.0;
-		} else {
-			if ( absDirection.z > absDirection.y )
-				face = direction.z > 0.0 ? 2.0 : 5.0;
-			else
-				face = direction.y > 0.0 ? 1.0 : 4.0;
-		}
-		return face;
-	}
-	vec2 getUV( vec3 direction, float face ) {
-		vec2 uv;
-		if ( face == 0.0 ) {
-			uv = vec2( direction.z, direction.y ) / abs( direction.x );
-		} else if ( face == 1.0 ) {
-			uv = vec2( - direction.x, - direction.z ) / abs( direction.y );
-		} else if ( face == 2.0 ) {
-			uv = vec2( - direction.x, direction.y ) / abs( direction.z );
-		} else if ( face == 3.0 ) {
-			uv = vec2( - direction.z, direction.y ) / abs( direction.x );
-		} else if ( face == 4.0 ) {
-			uv = vec2( - direction.x, direction.z ) / abs( direction.y );
-		} else {
-			uv = vec2( direction.x, direction.y ) / abs( direction.z );
-		}
-		return 0.5 * ( uv + 1.0 );
-	}
-	vec3 bilinearCubeUV( sampler2D envMap, vec3 direction, float mipInt ) {
-		float face = getFace( direction );
-		float filterInt = max( cubeUV_minMipLevel - mipInt, 0.0 );
-		mipInt = max( mipInt, cubeUV_minMipLevel );
-		float faceSize = exp2( mipInt );
-		highp vec2 uv = getUV( direction, face ) * ( faceSize - 2.0 ) + 1.0;
-		if ( face > 2.0 ) {
-			uv.y += faceSize;
-			face -= 3.0;
-		}
-		uv.x += face * faceSize;
-		uv.x += filterInt * 3.0 * cubeUV_minTileSize;
-		uv.y += 4.0 * ( exp2( CUBEUV_MAX_MIP ) - faceSize );
-		uv.x *= CUBEUV_TEXEL_WIDTH;
-		uv.y *= CUBEUV_TEXEL_HEIGHT;
-		#ifdef texture2DGradEXT
-			return texture2DGradEXT( envMap, uv, vec2( 0.0 ), vec2( 0.0 ) ).rgb;
-		#else
-			return texture2D( envMap, uv ).rgb;
-		#endif
-	}
-	#define cubeUV_r0 1.0
-	#define cubeUV_m0 - 2.0
-	#define cubeUV_r1 0.8
-	#define cubeUV_m1 - 1.0
-	#define cubeUV_r4 0.4
-	#define cubeUV_m4 2.0
-	#define cubeUV_r5 0.305
-	#define cubeUV_m5 3.0
-	#define cubeUV_r6 0.21
-	#define cubeUV_m6 4.0
-	float roughnessToMip( float roughness ) {
-		float mip = 0.0;
-		if ( roughness >= cubeUV_r1 ) {
-			mip = ( cubeUV_r0 - roughness ) * ( cubeUV_m1 - cubeUV_m0 ) / ( cubeUV_r0 - cubeUV_r1 ) + cubeUV_m0;
-		} else if ( roughness >= cubeUV_r4 ) {
-			mip = ( cubeUV_r1 - roughness ) * ( cubeUV_m4 - cubeUV_m1 ) / ( cubeUV_r1 - cubeUV_r4 ) + cubeUV_m1;
-		} else if ( roughness >= cubeUV_r5 ) {
-			mip = ( cubeUV_r4 - roughness ) * ( cubeUV_m5 - cubeUV_m4 ) / ( cubeUV_r4 - cubeUV_r5 ) + cubeUV_m4;
-		} else if ( roughness >= cubeUV_r6 ) {
-			mip = ( cubeUV_r5 - roughness ) * ( cubeUV_m6 - cubeUV_m5 ) / ( cubeUV_r5 - cubeUV_r6 ) + cubeUV_m5;
-		} else {
-			mip = - 2.0 * log2( 1.16 * roughness );		}
-		return mip;
-	}
-	vec4 textureCubeUV( sampler2D envMap, vec3 sampleDir, float roughness ) {
-		float mip = clamp( roughnessToMip( roughness ), cubeUV_m0, CUBEUV_MAX_MIP );
-		float mipF = fract( mip );
-		float mipInt = floor( mip );
-		vec3 color0 = bilinearCubeUV( envMap, sampleDir, mipInt );
-		if ( mipF == 0.0 ) {
-			return vec4( color0, 1.0 );
-		} else {
-			vec3 color1 = bilinearCubeUV( envMap, sampleDir, mipInt + 1.0 );
-			return vec4( mix( color0, color1, mipF ), 1.0 );
-		}
-	}
-#endif`,defaultnormal_vertex:`vec3 transformedNormal = objectNormal;
-#ifdef USE_TANGENT
-	vec3 transformedTangent = objectTangent;
-#endif
-#ifdef USE_BATCHING
-	mat3 bm = mat3( batchingMatrix );
-	transformedNormal /= vec3( dot( bm[ 0 ], bm[ 0 ] ), dot( bm[ 1 ], bm[ 1 ] ), dot( bm[ 2 ], bm[ 2 ] ) );
-	transformedNormal = bm * transformedNormal;
-	#ifdef USE_TANGENT
-		transformedTangent = bm * transformedTangent;
-	#endif
-#endif
-#ifdef USE_INSTANCING
-	mat3 im = mat3( instanceMatrix );
-	transformedNormal /= vec3( dot( im[ 0 ], im[ 0 ] ), dot( im[ 1 ], im[ 1 ] ), dot( im[ 2 ], im[ 2 ] ) );
-	transformedNormal = im * transformedNormal;
-	#ifdef USE_TANGENT
-		transformedTangent = im * transformedTangent;
-	#endif
-#endif
-transformedNormal = normalMatrix * transformedNormal;
-#ifdef FLIP_SIDED
-	transformedNormal = - transformedNormal;
-#endif
-#ifdef USE_TANGENT
-	transformedTangent = ( modelViewMatrix * vec4( transformedTangent, 0.0 ) ).xyz;
-	#ifdef FLIP_SIDED
-		transformedTangent = - transformedTangent;
-	#endif
-#endif`,displacementmap_pars_vertex:`#ifdef USE_DISPLACEMENTMAP
-	uniform sampler2D displacementMap;
-	uniform float displacementScale;
-	uniform float displacementBias;
-#endif`,displacementmap_vertex:`#ifdef USE_DISPLACEMENTMAP
-	transformed += normalize( objectNormal ) * ( texture2D( displacementMap, vDisplacementMapUv ).x * displacementScale + displacementBias );
-#endif`,emissivemap_fragment:`#ifdef USE_EMISSIVEMAP
-	vec4 emissiveColor = texture2D( emissiveMap, vEmissiveMapUv );
-	#ifdef DECODE_VIDEO_TEXTURE_EMISSIVE
-		emissiveColor = sRGBTransferEOTF( emissiveColor );
-	#endif
-	totalEmissiveRadiance *= emissiveColor.rgb;
-#endif`,emissivemap_pars_fragment:`#ifdef USE_EMISSIVEMAP
-	uniform sampler2D emissiveMap;
-#endif`,colorspace_fragment:`gl_FragColor = linearToOutputTexel( gl_FragColor );`,colorspace_pars_fragment:`vec4 LinearTransferOETF( in vec4 value ) {
-	return value;
-}
-vec4 sRGBTransferEOTF( in vec4 value ) {
-	return vec4( mix( pow( value.rgb * 0.9478672986 + vec3( 0.0521327014 ), vec3( 2.4 ) ), value.rgb * 0.0773993808, vec3( lessThanEqual( value.rgb, vec3( 0.04045 ) ) ) ), value.a );
-}
-vec4 sRGBTransferOETF( in vec4 value ) {
-	return vec4( mix( pow( value.rgb, vec3( 0.41666 ) ) * 1.055 - vec3( 0.055 ), value.rgb * 12.92, vec3( lessThanEqual( value.rgb, vec3( 0.0031308 ) ) ) ), value.a );
-}`,envmap_fragment:`#ifdef USE_ENVMAP
-	#ifdef ENV_WORLDPOS
-		vec3 cameraToFrag;
-		if ( isOrthographic ) {
-			cameraToFrag = normalize( vec3( - viewMatrix[ 0 ][ 2 ], - viewMatrix[ 1 ][ 2 ], - viewMatrix[ 2 ][ 2 ] ) );
-		} else {
-			cameraToFrag = normalize( vWorldPosition - cameraPosition );
-		}
-		vec3 worldNormal = inverseTransformDirection( normal, viewMatrix );
-		#ifdef ENVMAP_MODE_REFLECTION
-			vec3 reflectVec = reflect( cameraToFrag, worldNormal );
-		#else
-			vec3 reflectVec = refract( cameraToFrag, worldNormal, refractionRatio );
-		#endif
-	#else
-		vec3 reflectVec = vReflect;
-	#endif
-	#ifdef ENVMAP_TYPE_CUBE
-		vec4 envColor = textureCube( envMap, envMapRotation * vec3( flipEnvMap * reflectVec.x, reflectVec.yz ) );
-	#else
-		vec4 envColor = vec4( 0.0 );
-	#endif
-	#ifdef ENVMAP_BLENDING_MULTIPLY
-		outgoingLight = mix( outgoingLight, outgoingLight * envColor.xyz, specularStrength * reflectivity );
-	#elif defined( ENVMAP_BLENDING_MIX )
-		outgoingLight = mix( outgoingLight, envColor.xyz, specularStrength * reflectivity );
-	#elif defined( ENVMAP_BLENDING_ADD )
-		outgoingLight += envColor.xyz * specularStrength * reflectivity;
-	#endif
-#endif`,envmap_common_pars_fragment:`#ifdef USE_ENVMAP
-	uniform float envMapIntensity;
-	uniform float flipEnvMap;
-	uniform mat3 envMapRotation;
-	#ifdef ENVMAP_TYPE_CUBE
-		uniform samplerCube envMap;
-	#else
-		uniform sampler2D envMap;
-	#endif
-	
-#endif`,envmap_pars_fragment:`#ifdef USE_ENVMAP
-	uniform float reflectivity;
-	#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) || defined( LAMBERT )
-		#define ENV_WORLDPOS
-	#endif
-	#ifdef ENV_WORLDPOS
-		varying vec3 vWorldPosition;
-		uniform float refractionRatio;
-	#else
-		varying vec3 vReflect;
-	#endif
-#endif`,envmap_pars_vertex:`#ifdef USE_ENVMAP
-	#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) || defined( LAMBERT )
-		#define ENV_WORLDPOS
-	#endif
-	#ifdef ENV_WORLDPOS
-		
-		varying vec3 vWorldPosition;
-	#else
-		varying vec3 vReflect;
-		uniform float refractionRatio;
-	#endif
-#endif`,envmap_physical_pars_fragment:`#ifdef USE_ENVMAP
-	vec3 getIBLIrradiance( const in vec3 normal ) {
-		#ifdef ENVMAP_TYPE_CUBE_UV
-			vec3 worldNormal = inverseTransformDirection( normal, viewMatrix );
-			vec4 envMapColor = textureCubeUV( envMap, envMapRotation * worldNormal, 1.0 );
-			return PI * envMapColor.rgb * envMapIntensity;
-		#else
-			return vec3( 0.0 );
-		#endif
-	}
-	vec3 getIBLRadiance( const in vec3 viewDir, const in vec3 normal, const in float roughness ) {
-		#ifdef ENVMAP_TYPE_CUBE_UV
-			vec3 reflectVec = reflect( - viewDir, normal );
-			reflectVec = normalize( mix( reflectVec, normal, roughness * roughness) );
-			reflectVec = inverseTransformDirection( reflectVec, viewMatrix );
-			vec4 envMapColor = textureCubeUV( envMap, envMapRotation * reflectVec, roughness );
-			return envMapColor.rgb * envMapIntensity;
-		#else
-			return vec3( 0.0 );
-		#endif
-	}
-	#ifdef USE_ANISOTROPY
-		vec3 getIBLAnisotropyRadiance( const in vec3 viewDir, const in vec3 normal, const in float roughness, const in vec3 bitangent, const in float anisotropy ) {
-			#ifdef ENVMAP_TYPE_CUBE_UV
-				vec3 bentNormal = cross( bitangent, viewDir );
-				bentNormal = normalize( cross( bentNormal, bitangent ) );
-				bentNormal = normalize( mix( bentNormal, normal, pow2( pow2( 1.0 - anisotropy * ( 1.0 - roughness ) ) ) ) );
-				return getIBLRadiance( viewDir, bentNormal, roughness );
-			#else
-				return vec3( 0.0 );
-			#endif
-		}
-	#endif
-#endif`,envmap_vertex:`#ifdef USE_ENVMAP
-	#ifdef ENV_WORLDPOS
-		vWorldPosition = worldPosition.xyz;
-	#else
-		vec3 cameraToVertex;
-		if ( isOrthographic ) {
-			cameraToVertex = normalize( vec3( - viewMatrix[ 0 ][ 2 ], - viewMatrix[ 1 ][ 2 ], - viewMatrix[ 2 ][ 2 ] ) );
-		} else {
-			cameraToVertex = normalize( worldPosition.xyz - cameraPosition );
-		}
-		vec3 worldNormal = inverseTransformDirection( transformedNormal, viewMatrix );
-		#ifdef ENVMAP_MODE_REFLECTION
-			vReflect = reflect( cameraToVertex, worldNormal );
-		#else
-			vReflect = refract( cameraToVertex, worldNormal, refractionRatio );
-		#endif
-	#endif
-#endif`,fog_vertex:`#ifdef USE_FOG
-	vFogDepth = - mvPosition.z;
-#endif`,fog_pars_vertex:`#ifdef USE_FOG
-	varying float vFogDepth;
-#endif`,fog_fragment:`#ifdef USE_FOG
-	#ifdef FOG_EXP2
-		float fogFactor = 1.0 - exp( - fogDensity * fogDensity * vFogDepth * vFogDepth );
-	#else
-		float fogFactor = smoothstep( fogNear, fogFar, vFogDepth );
-	#endif
-	gl_FragColor.rgb = mix( gl_FragColor.rgb, fogColor, fogFactor );
-#endif`,fog_pars_fragment:`#ifdef USE_FOG
-	uniform vec3 fogColor;
-	varying float vFogDepth;
-	#ifdef FOG_EXP2
-		uniform float fogDensity;
-	#else
-		uniform float fogNear;
-		uniform float fogFar;
-	#endif
-#endif`,gradientmap_pars_fragment:`#ifdef USE_GRADIENTMAP
-	uniform sampler2D gradientMap;
-#endif
-vec3 getGradientIrradiance( vec3 normal, vec3 lightDirection ) {
-	float dotNL = dot( normal, lightDirection );
-	vec2 coord = vec2( dotNL * 0.5 + 0.5, 0.0 );
-	#ifdef USE_GRADIENTMAP
-		return vec3( texture2D( gradientMap, coord ).r );
-	#else
-		vec2 fw = fwidth( coord ) * 0.5;
-		return mix( vec3( 0.7 ), vec3( 1.0 ), smoothstep( 0.7 - fw.x, 0.7 + fw.x, coord.x ) );
-	#endif
-}`,lightmap_pars_fragment:`#ifdef USE_LIGHTMAP
-	uniform sampler2D lightMap;
-	uniform float lightMapIntensity;
-#endif`,lights_lambert_fragment:`LambertMaterial material;
-material.diffuseColor = diffuseColor.rgb;
-material.specularStrength = specularStrength;`,lights_lambert_pars_fragment:`varying vec3 vViewPosition;
-struct LambertMaterial {
-	vec3 diffuseColor;
-	float specularStrength;
-};
-void RE_Direct_Lambert( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in LambertMaterial material, inout ReflectedLight reflectedLight ) {
-	float dotNL = saturate( dot( geometryNormal, directLight.direction ) );
-	vec3 irradiance = dotNL * directLight.color;
-	reflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );
-}
-void RE_IndirectDiffuse_Lambert( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in LambertMaterial material, inout ReflectedLight reflectedLight ) {
-	reflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );
-}
-#define RE_Direct				RE_Direct_Lambert
-#define RE_IndirectDiffuse		RE_IndirectDiffuse_Lambert`,lights_pars_begin:`uniform bool receiveShadow;
-uniform vec3 ambientLightColor;
-#if defined( USE_LIGHT_PROBES )
-	uniform vec3 lightProbe[ 9 ];
-#endif
-vec3 shGetIrradianceAt( in vec3 normal, in vec3 shCoefficients[ 9 ] ) {
-	float x = normal.x, y = normal.y, z = normal.z;
-	vec3 result = shCoefficients[ 0 ] * 0.886227;
-	result += shCoefficients[ 1 ] * 2.0 * 0.511664 * y;
-	result += shCoefficients[ 2 ] * 2.0 * 0.511664 * z;
-	result += shCoefficients[ 3 ] * 2.0 * 0.511664 * x;
-	result += shCoefficients[ 4 ] * 2.0 * 0.429043 * x * y;
-	result += shCoefficients[ 5 ] * 2.0 * 0.429043 * y * z;
-	result += shCoefficients[ 6 ] * ( 0.743125 * z * z - 0.247708 );
-	result += shCoefficients[ 7 ] * 2.0 * 0.429043 * x * z;
-	result += shCoefficients[ 8 ] * 0.429043 * ( x * x - y * y );
-	return result;
-}
-vec3 getLightProbeIrradiance( const in vec3 lightProbe[ 9 ], const in vec3 normal ) {
-	vec3 worldNormal = inverseTransformDirection( normal, viewMatrix );
-	vec3 irradiance = shGetIrradianceAt( worldNormal, lightProbe );
-	return irradiance;
-}
-vec3 getAmbientLightIrradiance( const in vec3 ambientLightColor ) {
-	vec3 irradiance = ambientLightColor;
-	return irradiance;
-}
-float getDistanceAttenuation( const in float lightDistance, const in float cutoffDistance, const in float decayExponent ) {
-	float distanceFalloff = 1.0 / max( pow( lightDistance, decayExponent ), 0.01 );
-	if ( cutoffDistance > 0.0 ) {
-		distanceFalloff *= pow2( saturate( 1.0 - pow4( lightDistance / cutoffDistance ) ) );
-	}
-	return distanceFalloff;
-}
-float getSpotAttenuation( const in float coneCosine, const in float penumbraCosine, const in float angleCosine ) {
-	return smoothstep( coneCosine, penumbraCosine, angleCosine );
-}
-#if NUM_DIR_LIGHTS > 0
-	struct DirectionalLight {
-		vec3 direction;
-		vec3 color;
-	};
-	uniform DirectionalLight directionalLights[ NUM_DIR_LIGHTS ];
-	void getDirectionalLightInfo( const in DirectionalLight directionalLight, out IncidentLight light ) {
-		light.color = directionalLight.color;
-		light.direction = directionalLight.direction;
-		light.visible = true;
-	}
-#endif
-#if NUM_POINT_LIGHTS > 0
-	struct PointLight {
-		vec3 position;
-		vec3 color;
-		float distance;
-		float decay;
-	};
-	uniform PointLight pointLights[ NUM_POINT_LIGHTS ];
-	void getPointLightInfo( const in PointLight pointLight, const in vec3 geometryPosition, out IncidentLight light ) {
-		vec3 lVector = pointLight.position - geometryPosition;
-		light.direction = normalize( lVector );
-		float lightDistance = length( lVector );
-		light.color = pointLight.color;
-		light.color *= getDistanceAttenuation( lightDistance, pointLight.distance, pointLight.decay );
-		light.visible = ( light.color != vec3( 0.0 ) );
-	}
-#endif
-#if NUM_SPOT_LIGHTS > 0
-	struct SpotLight {
-		vec3 position;
-		vec3 direction;
-		vec3 color;
-		float distance;
-		float decay;
-		float coneCos;
-		float penumbraCos;
-	};
-	uniform SpotLight spotLights[ NUM_SPOT_LIGHTS ];
-	void getSpotLightInfo( const in SpotLight spotLight, const in vec3 geometryPosition, out IncidentLight light ) {
-		vec3 lVector = spotLight.position - geometryPosition;
-		light.direction = normalize( lVector );
-		float angleCos = dot( light.direction, spotLight.direction );
-		float spotAttenuation = getSpotAttenuation( spotLight.coneCos, spotLight.penumbraCos, angleCos );
-		if ( spotAttenuation > 0.0 ) {
-			float lightDistance = length( lVector );
-			light.color = spotLight.color * spotAttenuation;
-			light.color *= getDistanceAttenuation( lightDistance, spotLight.distance, spotLight.decay );
-			light.visible = ( light.color != vec3( 0.0 ) );
-		} else {
-			light.color = vec3( 0.0 );
-			light.visible = false;
-		}
-	}
-#endif
-#if NUM_RECT_AREA_LIGHTS > 0
-	struct RectAreaLight {
-		vec3 color;
-		vec3 position;
-		vec3 halfWidth;
-		vec3 halfHeight;
-	};
-	uniform sampler2D ltc_1;	uniform sampler2D ltc_2;
-	uniform RectAreaLight rectAreaLights[ NUM_RECT_AREA_LIGHTS ];
-#endif
-#if NUM_HEMI_LIGHTS > 0
-	struct HemisphereLight {
-		vec3 direction;
-		vec3 skyColor;
-		vec3 groundColor;
-	};
-	uniform HemisphereLight hemisphereLights[ NUM_HEMI_LIGHTS ];
-	vec3 getHemisphereLightIrradiance( const in HemisphereLight hemiLight, const in vec3 normal ) {
-		float dotNL = dot( normal, hemiLight.direction );
-		float hemiDiffuseWeight = 0.5 * dotNL + 0.5;
-		vec3 irradiance = mix( hemiLight.groundColor, hemiLight.skyColor, hemiDiffuseWeight );
-		return irradiance;
-	}
-#endif`,lights_toon_fragment:`ToonMaterial material;
-material.diffuseColor = diffuseColor.rgb;`,lights_toon_pars_fragment:`varying vec3 vViewPosition;
-struct ToonMaterial {
-	vec3 diffuseColor;
-};
-void RE_Direct_Toon( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in ToonMaterial material, inout ReflectedLight reflectedLight ) {
-	vec3 irradiance = getGradientIrradiance( geometryNormal, directLight.direction ) * directLight.color;
-	reflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );
-}
-void RE_IndirectDiffuse_Toon( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in ToonMaterial material, inout ReflectedLight reflectedLight ) {
-	reflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );
-}
-#define RE_Direct				RE_Direct_Toon
-#define RE_IndirectDiffuse		RE_IndirectDiffuse_Toon`,lights_phong_fragment:`BlinnPhongMaterial material;
-material.diffuseColor = diffuseColor.rgb;
-material.specularColor = specular;
-material.specularShininess = shininess;
-material.specularStrength = specularStrength;`,lights_phong_pars_fragment:`varying vec3 vViewPosition;
-struct BlinnPhongMaterial {
-	vec3 diffuseColor;
-	vec3 specularColor;
-	float specularShininess;
-	float specularStrength;
-};
-void RE_Direct_BlinnPhong( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {
-	float dotNL = saturate( dot( geometryNormal, directLight.direction ) );
-	vec3 irradiance = dotNL * directLight.color;
-	reflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );
-	reflectedLight.directSpecular += irradiance * BRDF_BlinnPhong( directLight.direction, geometryViewDir, geometryNormal, material.specularColor, material.specularShininess ) * material.specularStrength;
-}
-void RE_IndirectDiffuse_BlinnPhong( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {
-	reflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );
-}
-#define RE_Direct				RE_Direct_BlinnPhong
-#define RE_IndirectDiffuse		RE_IndirectDiffuse_BlinnPhong`,lights_physical_fragment:`PhysicalMaterial material;
-material.diffuseColor = diffuseColor.rgb * ( 1.0 - metalnessFactor );
-vec3 dxy = max( abs( dFdx( nonPerturbedNormal ) ), abs( dFdy( nonPerturbedNormal ) ) );
-float geometryRoughness = max( max( dxy.x, dxy.y ), dxy.z );
-material.roughness = max( roughnessFactor, 0.0525 );material.roughness += geometryRoughness;
-material.roughness = min( material.roughness, 1.0 );
-#ifdef IOR
-	material.ior = ior;
-	#ifdef USE_SPECULAR
-		float specularIntensityFactor = specularIntensity;
-		vec3 specularColorFactor = specularColor;
-		#ifdef USE_SPECULAR_COLORMAP
-			specularColorFactor *= texture2D( specularColorMap, vSpecularColorMapUv ).rgb;
-		#endif
-		#ifdef USE_SPECULAR_INTENSITYMAP
-			specularIntensityFactor *= texture2D( specularIntensityMap, vSpecularIntensityMapUv ).a;
-		#endif
-		material.specularF90 = mix( specularIntensityFactor, 1.0, metalnessFactor );
-	#else
-		float specularIntensityFactor = 1.0;
-		vec3 specularColorFactor = vec3( 1.0 );
-		material.specularF90 = 1.0;
-	#endif
-	material.specularColor = mix( min( pow2( ( material.ior - 1.0 ) / ( material.ior + 1.0 ) ) * specularColorFactor, vec3( 1.0 ) ) * specularIntensityFactor, diffuseColor.rgb, metalnessFactor );
-#else
-	material.specularColor = mix( vec3( 0.04 ), diffuseColor.rgb, metalnessFactor );
-	material.specularF90 = 1.0;
-#endif
-#ifdef USE_CLEARCOAT
-	material.clearcoat = clearcoat;
-	material.clearcoatRoughness = clearcoatRoughness;
-	material.clearcoatF0 = vec3( 0.04 );
-	material.clearcoatF90 = 1.0;
-	#ifdef USE_CLEARCOATMAP
-		material.clearcoat *= texture2D( clearcoatMap, vClearcoatMapUv ).x;
-	#endif
-	#ifdef USE_CLEARCOAT_ROUGHNESSMAP
-		material.clearcoatRoughness *= texture2D( clearcoatRoughnessMap, vClearcoatRoughnessMapUv ).y;
-	#endif
-	material.clearcoat = saturate( material.clearcoat );	material.clearcoatRoughness = max( material.clearcoatRoughness, 0.0525 );
-	material.clearcoatRoughness += geometryRoughness;
-	material.clearcoatRoughness = min( material.clearcoatRoughness, 1.0 );
-#endif
-#ifdef USE_DISPERSION
-	material.dispersion = dispersion;
-#endif
-#ifdef USE_IRIDESCENCE
-	material.iridescence = iridescence;
-	material.iridescenceIOR = iridescenceIOR;
-	#ifdef USE_IRIDESCENCEMAP
-		material.iridescence *= texture2D( iridescenceMap, vIridescenceMapUv ).r;
-	#endif
-	#ifdef USE_IRIDESCENCE_THICKNESSMAP
-		material.iridescenceThickness = (iridescenceThicknessMaximum - iridescenceThicknessMinimum) * texture2D( iridescenceThicknessMap, vIridescenceThicknessMapUv ).g + iridescenceThicknessMinimum;
-	#else
-		material.iridescenceThickness = iridescenceThicknessMaximum;
-	#endif
-#endif
-#ifdef USE_SHEEN
-	material.sheenColor = sheenColor;
-	#ifdef USE_SHEEN_COLORMAP
-		material.sheenColor *= texture2D( sheenColorMap, vSheenColorMapUv ).rgb;
-	#endif
-	material.sheenRoughness = clamp( sheenRoughness, 0.07, 1.0 );
-	#ifdef USE_SHEEN_ROUGHNESSMAP
-		material.sheenRoughness *= texture2D( sheenRoughnessMap, vSheenRoughnessMapUv ).a;
-	#endif
-#endif
-#ifdef USE_ANISOTROPY
-	#ifdef USE_ANISOTROPYMAP
-		mat2 anisotropyMat = mat2( anisotropyVector.x, anisotropyVector.y, - anisotropyVector.y, anisotropyVector.x );
-		vec3 anisotropyPolar = texture2D( anisotropyMap, vAnisotropyMapUv ).rgb;
-		vec2 anisotropyV = anisotropyMat * normalize( 2.0 * anisotropyPolar.rg - vec2( 1.0 ) ) * anisotropyPolar.b;
-	#else
-		vec2 anisotropyV = anisotropyVector;
-	#endif
-	material.anisotropy = length( anisotropyV );
-	if( material.anisotropy == 0.0 ) {
-		anisotropyV = vec2( 1.0, 0.0 );
-	} else {
-		anisotropyV /= material.anisotropy;
-		material.anisotropy = saturate( material.anisotropy );
-	}
-	material.alphaT = mix( pow2( material.roughness ), 1.0, pow2( material.anisotropy ) );
-	material.anisotropyT = tbn[ 0 ] * anisotropyV.x + tbn[ 1 ] * anisotropyV.y;
-	material.anisotropyB = tbn[ 1 ] * anisotropyV.x - tbn[ 0 ] * anisotropyV.y;
-#endif`,lights_physical_pars_fragment:`struct PhysicalMaterial {
-	vec3 diffuseColor;
-	float roughness;
-	vec3 specularColor;
-	float specularF90;
-	float dispersion;
-	#ifdef USE_CLEARCOAT
-		float clearcoat;
-		float clearcoatRoughness;
-		vec3 clearcoatF0;
-		float clearcoatF90;
-	#endif
-	#ifdef USE_IRIDESCENCE
-		float iridescence;
-		float iridescenceIOR;
-		float iridescenceThickness;
-		vec3 iridescenceFresnel;
-		vec3 iridescenceF0;
-	#endif
-	#ifdef USE_SHEEN
-		vec3 sheenColor;
-		float sheenRoughness;
-	#endif
-	#ifdef IOR
-		float ior;
-	#endif
-	#ifdef USE_TRANSMISSION
-		float transmission;
-		float transmissionAlpha;
-		float thickness;
-		float attenuationDistance;
-		vec3 attenuationColor;
-	#endif
-	#ifdef USE_ANISOTROPY
-		float anisotropy;
-		float alphaT;
-		vec3 anisotropyT;
-		vec3 anisotropyB;
-	#endif
-};
-vec3 clearcoatSpecularDirect = vec3( 0.0 );
-vec3 clearcoatSpecularIndirect = vec3( 0.0 );
-vec3 sheenSpecularDirect = vec3( 0.0 );
-vec3 sheenSpecularIndirect = vec3(0.0 );
-vec3 Schlick_to_F0( const in vec3 f, const in float f90, const in float dotVH ) {
-    float x = clamp( 1.0 - dotVH, 0.0, 1.0 );
-    float x2 = x * x;
-    float x5 = clamp( x * x2 * x2, 0.0, 0.9999 );
-    return ( f - vec3( f90 ) * x5 ) / ( 1.0 - x5 );
-}
-float V_GGX_SmithCorrelated( const in float alpha, const in float dotNL, const in float dotNV ) {
-	float a2 = pow2( alpha );
-	float gv = dotNL * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNV ) );
-	float gl = dotNV * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNL ) );
-	return 0.5 / max( gv + gl, EPSILON );
-}
-float D_GGX( const in float alpha, const in float dotNH ) {
-	float a2 = pow2( alpha );
-	float denom = pow2( dotNH ) * ( a2 - 1.0 ) + 1.0;
-	return RECIPROCAL_PI * a2 / pow2( denom );
-}
-#ifdef USE_ANISOTROPY
-	float V_GGX_SmithCorrelated_Anisotropic( const in float alphaT, const in float alphaB, const in float dotTV, const in float dotBV, const in float dotTL, const in float dotBL, const in float dotNV, const in float dotNL ) {
-		float gv = dotNL * length( vec3( alphaT * dotTV, alphaB * dotBV, dotNV ) );
-		float gl = dotNV * length( vec3( alphaT * dotTL, alphaB * dotBL, dotNL ) );
-		float v = 0.5 / ( gv + gl );
-		return saturate(v);
-	}
-	float D_GGX_Anisotropic( const in float alphaT, const in float alphaB, const in float dotNH, const in float dotTH, const in float dotBH ) {
-		float a2 = alphaT * alphaB;
-		highp vec3 v = vec3( alphaB * dotTH, alphaT * dotBH, a2 * dotNH );
-		highp float v2 = dot( v, v );
-		float w2 = a2 / v2;
-		return RECIPROCAL_PI * a2 * pow2 ( w2 );
-	}
-#endif
-#ifdef USE_CLEARCOAT
-	vec3 BRDF_GGX_Clearcoat( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in PhysicalMaterial material) {
-		vec3 f0 = material.clearcoatF0;
-		float f90 = material.clearcoatF90;
-		float roughness = material.clearcoatRoughness;
-		float alpha = pow2( roughness );
-		vec3 halfDir = normalize( lightDir + viewDir );
-		float dotNL = saturate( dot( normal, lightDir ) );
-		float dotNV = saturate( dot( normal, viewDir ) );
-		float dotNH = saturate( dot( normal, halfDir ) );
-		float dotVH = saturate( dot( viewDir, halfDir ) );
-		vec3 F = F_Schlick( f0, f90, dotVH );
-		float V = V_GGX_SmithCorrelated( alpha, dotNL, dotNV );
-		float D = D_GGX( alpha, dotNH );
-		return F * ( V * D );
-	}
-#endif
-vec3 BRDF_GGX( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, const in PhysicalMaterial material ) {
-	vec3 f0 = material.specularColor;
-	float f90 = material.specularF90;
-	float roughness = material.roughness;
-	float alpha = pow2( roughness );
-	vec3 halfDir = normalize( lightDir + viewDir );
-	float dotNL = saturate( dot( normal, lightDir ) );
-	float dotNV = saturate( dot( normal, viewDir ) );
-	float dotNH = saturate( dot( normal, halfDir ) );
-	float dotVH = saturate( dot( viewDir, halfDir ) );
-	vec3 F = F_Schlick( f0, f90, dotVH );
-	#ifdef USE_IRIDESCENCE
-		F = mix( F, material.iridescenceFresnel, material.iridescence );
-	#endif
-	#ifdef USE_ANISOTROPY
-		float dotTL = dot( material.anisotropyT, lightDir );
-		float dotTV = dot( material.anisotropyT, viewDir );
-		float dotTH = dot( material.anisotropyT, halfDir );
-		float dotBL = dot( material.anisotropyB, lightDir );
-		float dotBV = dot( material.anisotropyB, viewDir );
-		float dotBH = dot( material.anisotropyB, halfDir );
-		float V = V_GGX_SmithCorrelated_Anisotropic( material.alphaT, alpha, dotTV, dotBV, dotTL, dotBL, dotNV, dotNL );
-		float D = D_GGX_Anisotropic( material.alphaT, alpha, dotNH, dotTH, dotBH );
-	#else
-		float V = V_GGX_SmithCorrelated( alpha, dotNL, dotNV );
-		float D = D_GGX( alpha, dotNH );
-	#endif
-	return F * ( V * D );
-}
-vec2 LTC_Uv( const in vec3 N, const in vec3 V, const in float roughness ) {
-	const float LUT_SIZE = 64.0;
-	const float LUT_SCALE = ( LUT_SIZE - 1.0 ) / LUT_SIZE;
-	const float LUT_BIAS = 0.5 / LUT_SIZE;
-	float dotNV = saturate( dot( N, V ) );
-	vec2 uv = vec2( roughness, sqrt( 1.0 - dotNV ) );
-	uv = uv * LUT_SCALE + LUT_BIAS;
-	return uv;
-}
-float LTC_ClippedSphereFormFactor( const in vec3 f ) {
-	float l = length( f );
-	return max( ( l * l + f.z ) / ( l + 1.0 ), 0.0 );
-}
-vec3 LTC_EdgeVectorFormFactor( const in vec3 v1, const in vec3 v2 ) {
-	float x = dot( v1, v2 );
-	float y = abs( x );
-	float a = 0.8543985 + ( 0.4965155 + 0.0145206 * y ) * y;
-	float b = 3.4175940 + ( 4.1616724 + y ) * y;
-	float v = a / b;
-	float theta_sintheta = ( x > 0.0 ) ? v : 0.5 * inversesqrt( max( 1.0 - x * x, 1e-7 ) ) - v;
-	return cross( v1, v2 ) * theta_sintheta;
-}
-vec3 LTC_Evaluate( const in vec3 N, const in vec3 V, const in vec3 P, const in mat3 mInv, const in vec3 rectCoords[ 4 ] ) {
-	vec3 v1 = rectCoords[ 1 ] - rectCoords[ 0 ];
-	vec3 v2 = rectCoords[ 3 ] - rectCoords[ 0 ];
-	vec3 lightNormal = cross( v1, v2 );
-	if( dot( lightNormal, P - rectCoords[ 0 ] ) < 0.0 ) return vec3( 0.0 );
-	vec3 T1, T2;
-	T1 = normalize( V - N * dot( V, N ) );
-	T2 = - cross( N, T1 );
-	mat3 mat = mInv * transposeMat3( mat3( T1, T2, N ) );
-	vec3 coords[ 4 ];
-	coords[ 0 ] = mat * ( rectCoords[ 0 ] - P );
-	coords[ 1 ] = mat * ( rectCoords[ 1 ] - P );
-	coords[ 2 ] = mat * ( rectCoords[ 2 ] - P );
-	coords[ 3 ] = mat * ( rectCoords[ 3 ] - P );
-	coords[ 0 ] = normalize( coords[ 0 ] );
-	coords[ 1 ] = normalize( coords[ 1 ] );
-	coords[ 2 ] = normalize( coords[ 2 ] );
-	coords[ 3 ] = normalize( coords[ 3 ] );
-	vec3 vectorFormFactor = vec3( 0.0 );
-	vectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 0 ], coords[ 1 ] );
-	vectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 1 ], coords[ 2 ] );
-	vectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 2 ], coords[ 3 ] );
-	vectorFormFactor += LTC_EdgeVectorFormFactor( coords[ 3 ], coords[ 0 ] );
-	float result = LTC_ClippedSphereFormFactor( vectorFormFactor );
-	return vec3( result );
-}
-#if defined( USE_SHEEN )
-float D_Charlie( float roughness, float dotNH ) {
-	float alpha = pow2( roughness );
-	float invAlpha = 1.0 / alpha;
-	float cos2h = dotNH * dotNH;
-	float sin2h = max( 1.0 - cos2h, 0.0078125 );
-	return ( 2.0 + invAlpha ) * pow( sin2h, invAlpha * 0.5 ) / ( 2.0 * PI );
-}
-float V_Neubelt( float dotNV, float dotNL ) {
-	return saturate( 1.0 / ( 4.0 * ( dotNL + dotNV - dotNL * dotNV ) ) );
-}
-vec3 BRDF_Sheen( const in vec3 lightDir, const in vec3 viewDir, const in vec3 normal, vec3 sheenColor, const in float sheenRoughness ) {
-	vec3 halfDir = normalize( lightDir + viewDir );
-	float dotNL = saturate( dot( normal, lightDir ) );
-	float dotNV = saturate( dot( normal, viewDir ) );
-	float dotNH = saturate( dot( normal, halfDir ) );
-	float D = D_Charlie( sheenRoughness, dotNH );
-	float V = V_Neubelt( dotNV, dotNL );
-	return sheenColor * ( D * V );
-}
-#endif
-float IBLSheenBRDF( const in vec3 normal, const in vec3 viewDir, const in float roughness ) {
-	float dotNV = saturate( dot( normal, viewDir ) );
-	float r2 = roughness * roughness;
-	float a = roughness < 0.25 ? -339.2 * r2 + 161.4 * roughness - 25.9 : -8.48 * r2 + 14.3 * roughness - 9.95;
-	float b = roughness < 0.25 ? 44.0 * r2 - 23.7 * roughness + 3.26 : 1.97 * r2 - 3.27 * roughness + 0.72;
-	float DG = exp( a * dotNV + b ) + ( roughness < 0.25 ? 0.0 : 0.1 * ( roughness - 0.25 ) );
-	return saturate( DG * RECIPROCAL_PI );
-}
-vec2 DFGApprox( const in vec3 normal, const in vec3 viewDir, const in float roughness ) {
-	float dotNV = saturate( dot( normal, viewDir ) );
-	const vec4 c0 = vec4( - 1, - 0.0275, - 0.572, 0.022 );
-	const vec4 c1 = vec4( 1, 0.0425, 1.04, - 0.04 );
-	vec4 r = roughness * c0 + c1;
-	float a004 = min( r.x * r.x, exp2( - 9.28 * dotNV ) ) * r.x + r.y;
-	vec2 fab = vec2( - 1.04, 1.04 ) * a004 + r.zw;
-	return fab;
-}
-vec3 EnvironmentBRDF( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float roughness ) {
-	vec2 fab = DFGApprox( normal, viewDir, roughness );
-	return specularColor * fab.x + specularF90 * fab.y;
-}
-#ifdef USE_IRIDESCENCE
-void computeMultiscatteringIridescence( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float iridescence, const in vec3 iridescenceF0, const in float roughness, inout vec3 singleScatter, inout vec3 multiScatter ) {
-#else
-void computeMultiscattering( const in vec3 normal, const in vec3 viewDir, const in vec3 specularColor, const in float specularF90, const in float roughness, inout vec3 singleScatter, inout vec3 multiScatter ) {
-#endif
-	vec2 fab = DFGApprox( normal, viewDir, roughness );
-	#ifdef USE_IRIDESCENCE
-		vec3 Fr = mix( specularColor, iridescenceF0, iridescence );
-	#else
-		vec3 Fr = specularColor;
-	#endif
-	vec3 FssEss = Fr * fab.x + specularF90 * fab.y;
-	float Ess = fab.x + fab.y;
-	float Ems = 1.0 - Ess;
-	vec3 Favg = Fr + ( 1.0 - Fr ) * 0.047619;	vec3 Fms = FssEss * Favg / ( 1.0 - Ems * Favg );
-	singleScatter += FssEss;
-	multiScatter += Fms * Ems;
-}
-#if NUM_RECT_AREA_LIGHTS > 0
-	void RE_Direct_RectArea_Physical( const in RectAreaLight rectAreaLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {
-		vec3 normal = geometryNormal;
-		vec3 viewDir = geometryViewDir;
-		vec3 position = geometryPosition;
-		vec3 lightPos = rectAreaLight.position;
-		vec3 halfWidth = rectAreaLight.halfWidth;
-		vec3 halfHeight = rectAreaLight.halfHeight;
-		vec3 lightColor = rectAreaLight.color;
-		float roughness = material.roughness;
-		vec3 rectCoords[ 4 ];
-		rectCoords[ 0 ] = lightPos + halfWidth - halfHeight;		rectCoords[ 1 ] = lightPos - halfWidth - halfHeight;
-		rectCoords[ 2 ] = lightPos - halfWidth + halfHeight;
-		rectCoords[ 3 ] = lightPos + halfWidth + halfHeight;
-		vec2 uv = LTC_Uv( normal, viewDir, roughness );
-		vec4 t1 = texture2D( ltc_1, uv );
-		vec4 t2 = texture2D( ltc_2, uv );
-		mat3 mInv = mat3(
-			vec3( t1.x, 0, t1.y ),
-			vec3(    0, 1,    0 ),
-			vec3( t1.z, 0, t1.w )
-		);
-		vec3 fresnel = ( material.specularColor * t2.x + ( vec3( 1.0 ) - material.specularColor ) * t2.y );
-		reflectedLight.directSpecular += lightColor * fresnel * LTC_Evaluate( normal, viewDir, position, mInv, rectCoords );
-		reflectedLight.directDiffuse += lightColor * material.diffuseColor * LTC_Evaluate( normal, viewDir, position, mat3( 1.0 ), rectCoords );
-	}
-#endif
-void RE_Direct_Physical( const in IncidentLight directLight, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {
-	float dotNL = saturate( dot( geometryNormal, directLight.direction ) );
-	vec3 irradiance = dotNL * directLight.color;
-	#ifdef USE_CLEARCOAT
-		float dotNLcc = saturate( dot( geometryClearcoatNormal, directLight.direction ) );
-		vec3 ccIrradiance = dotNLcc * directLight.color;
-		clearcoatSpecularDirect += ccIrradiance * BRDF_GGX_Clearcoat( directLight.direction, geometryViewDir, geometryClearcoatNormal, material );
-	#endif
-	#ifdef USE_SHEEN
-		sheenSpecularDirect += irradiance * BRDF_Sheen( directLight.direction, geometryViewDir, geometryNormal, material.sheenColor, material.sheenRoughness );
-	#endif
-	reflectedLight.directSpecular += irradiance * BRDF_GGX( directLight.direction, geometryViewDir, geometryNormal, material );
-	reflectedLight.directDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );
-}
-void RE_IndirectDiffuse_Physical( const in vec3 irradiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {
-	reflectedLight.indirectDiffuse += irradiance * BRDF_Lambert( material.diffuseColor );
-}
-void RE_IndirectSpecular_Physical( const in vec3 radiance, const in vec3 irradiance, const in vec3 clearcoatRadiance, const in vec3 geometryPosition, const in vec3 geometryNormal, const in vec3 geometryViewDir, const in vec3 geometryClearcoatNormal, const in PhysicalMaterial material, inout ReflectedLight reflectedLight) {
-	#ifdef USE_CLEARCOAT
-		clearcoatSpecularIndirect += clearcoatRadiance * EnvironmentBRDF( geometryClearcoatNormal, geometryViewDir, material.clearcoatF0, material.clearcoatF90, material.clearcoatRoughness );
-	#endif
-	#ifdef USE_SHEEN
-		sheenSpecularIndirect += irradiance * material.sheenColor * IBLSheenBRDF( geometryNormal, geometryViewDir, material.sheenRoughness );
-	#endif
-	vec3 singleScattering = vec3( 0.0 );
-	vec3 multiScattering = vec3( 0.0 );
-	vec3 cosineWeightedIrradiance = irradiance * RECIPROCAL_PI;
-	#ifdef USE_IRIDESCENCE
-		computeMultiscatteringIridescence( geometryNormal, geometryViewDir, material.specularColor, material.specularF90, material.iridescence, material.iridescenceFresnel, material.roughness, singleScattering, multiScattering );
-	#else
-		computeMultiscattering( geometryNormal, geometryViewDir, material.specularColor, material.specularF90, material.roughness, singleScattering, multiScattering );
-	#endif
-	vec3 totalScattering = singleScattering + multiScattering;
-	vec3 diffuse = material.diffuseColor * ( 1.0 - max( max( totalScattering.r, totalScattering.g ), totalScattering.b ) );
-	reflectedLight.indirectSpecular += radiance * singleScattering;
-	reflectedLight.indirectSpecular += multiScattering * cosineWeightedIrradiance;
-	reflectedLight.indirectDiffuse += diffuse * cosineWeightedIrradiance;
-}
-#define RE_Direct				RE_Direct_Physical
-#define RE_Direct_RectArea		RE_Direct_RectArea_Physical
-#define RE_IndirectDiffuse		RE_IndirectDiffuse_Physical
-#define RE_IndirectSpecular		RE_IndirectSpecular_Physical
-float computeSpecularOcclusion( const in float dotNV, const in float ambientOcclusion, const in float roughness ) {
-	return saturate( pow( dotNV + ambientOcclusion, exp2( - 16.0 * roughness - 1.0 ) ) - 1.0 + ambientOcclusion );
-}`,lights_fragment_begin:`
-vec3 geometryPosition = - vViewPosition;
-vec3 geometryNormal = normal;
-vec3 geometryViewDir = ( isOrthographic ) ? vec3( 0, 0, 1 ) : normalize( vViewPosition );
-vec3 geometryClearcoatNormal = vec3( 0.0 );
-#ifdef USE_CLEARCOAT
-	geometryClearcoatNormal = clearcoatNormal;
-#endif
-#ifdef USE_IRIDESCENCE
-	float dotNVi = saturate( dot( normal, geometryViewDir ) );
-	if ( material.iridescenceThickness == 0.0 ) {
-		material.iridescence = 0.0;
-	} else {
-		material.iridescence = saturate( material.iridescence );
-	}
-	if ( material.iridescence > 0.0 ) {
-		material.iridescenceFresnel = evalIridescence( 1.0, material.iridescenceIOR, dotNVi, material.iridescenceThickness, material.specularColor );
-		material.iridescenceF0 = Schlick_to_F0( material.iridescenceFresnel, 1.0, dotNVi );
-	}
-#endif
-IncidentLight directLight;
-#if ( NUM_POINT_LIGHTS > 0 ) && defined( RE_Direct )
-	PointLight pointLight;
-	#if defined( USE_SHADOWMAP ) && NUM_POINT_LIGHT_SHADOWS > 0
-	PointLightShadow pointLightShadow;
-	#endif
-	#pragma unroll_loop_start
-	for ( int i = 0; i < NUM_POINT_LIGHTS; i ++ ) {
-		pointLight = pointLights[ i ];
-		getPointLightInfo( pointLight, geometryPosition, directLight );
-		#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_POINT_LIGHT_SHADOWS )
-		pointLightShadow = pointLightShadows[ i ];
-		directLight.color *= ( directLight.visible && receiveShadow ) ? getPointShadow( pointShadowMap[ i ], pointLightShadow.shadowMapSize, pointLightShadow.shadowIntensity, pointLightShadow.shadowBias, pointLightShadow.shadowRadius, vPointShadowCoord[ i ], pointLightShadow.shadowCameraNear, pointLightShadow.shadowCameraFar ) : 1.0;
-		#endif
-		RE_Direct( directLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );
-	}
-	#pragma unroll_loop_end
-#endif
-#if ( NUM_SPOT_LIGHTS > 0 ) && defined( RE_Direct )
-	SpotLight spotLight;
-	vec4 spotColor;
-	vec3 spotLightCoord;
-	bool inSpotLightMap;
-	#if defined( USE_SHADOWMAP ) && NUM_SPOT_LIGHT_SHADOWS > 0
-	SpotLightShadow spotLightShadow;
-	#endif
-	#pragma unroll_loop_start
-	for ( int i = 0; i < NUM_SPOT_LIGHTS; i ++ ) {
-		spotLight = spotLights[ i ];
-		getSpotLightInfo( spotLight, geometryPosition, directLight );
-		#if ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS )
-		#define SPOT_LIGHT_MAP_INDEX UNROLLED_LOOP_INDEX
-		#elif ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )
-		#define SPOT_LIGHT_MAP_INDEX NUM_SPOT_LIGHT_MAPS
-		#else
-		#define SPOT_LIGHT_MAP_INDEX ( UNROLLED_LOOP_INDEX - NUM_SPOT_LIGHT_SHADOWS + NUM_SPOT_LIGHT_SHADOWS_WITH_MAPS )
-		#endif
-		#if ( SPOT_LIGHT_MAP_INDEX < NUM_SPOT_LIGHT_MAPS )
-			spotLightCoord = vSpotLightCoord[ i ].xyz / vSpotLightCoord[ i ].w;
-			inSpotLightMap = all( lessThan( abs( spotLightCoord * 2. - 1. ), vec3( 1.0 ) ) );
-			spotColor = texture2D( spotLightMap[ SPOT_LIGHT_MAP_INDEX ], spotLightCoord.xy );
-			directLight.color = inSpotLightMap ? directLight.color * spotColor.rgb : directLight.color;
-		#endif
-		#undef SPOT_LIGHT_MAP_INDEX
-		#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )
-		spotLightShadow = spotLightShadows[ i ];
-		directLight.color *= ( directLight.visible && receiveShadow ) ? getShadow( spotShadowMap[ i ], spotLightShadow.shadowMapSize, spotLightShadow.shadowIntensity, spotLightShadow.shadowBias, spotLightShadow.shadowRadius, vSpotLightCoord[ i ] ) : 1.0;
-		#endif
-		RE_Direct( directLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );
-	}
-	#pragma unroll_loop_end
-#endif
-#if ( NUM_DIR_LIGHTS > 0 ) && defined( RE_Direct )
-	DirectionalLight directionalLight;
-	#if defined( USE_SHADOWMAP ) && NUM_DIR_LIGHT_SHADOWS > 0
-	DirectionalLightShadow directionalLightShadow;
-	#endif
-	#pragma unroll_loop_start
-	for ( int i = 0; i < NUM_DIR_LIGHTS; i ++ ) {
-		directionalLight = directionalLights[ i ];
-		getDirectionalLightInfo( directionalLight, directLight );
-		#if defined( USE_SHADOWMAP ) && ( UNROLLED_LOOP_INDEX < NUM_DIR_LIGHT_SHADOWS )
-		directionalLightShadow = directionalLightShadows[ i ];
-		directLight.color *= ( directLight.visible && receiveShadow ) ? getShadow( directionalShadowMap[ i ], directionalLightShadow.shadowMapSize, directionalLightShadow.shadowIntensity, directionalLightShadow.shadowBias, directionalLightShadow.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;
-		#endif
-		RE_Direct( directLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );
-	}
-	#pragma unroll_loop_end
-#endif
-#if ( NUM_RECT_AREA_LIGHTS > 0 ) && defined( RE_Direct_RectArea )
-	RectAreaLight rectAreaLight;
-	#pragma unroll_loop_start
-	for ( int i = 0; i < NUM_RECT_AREA_LIGHTS; i ++ ) {
-		rectAreaLight = rectAreaLights[ i ];
-		RE_Direct_RectArea( rectAreaLight, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );
-	}
-	#pragma unroll_loop_end
-#endif
-#if defined( RE_IndirectDiffuse )
-	vec3 iblIrradiance = vec3( 0.0 );
-	vec3 irradiance = getAmbientLightIrradiance( ambientLightColor );
-	#if defined( USE_LIGHT_PROBES )
-		irradiance += getLightProbeIrradiance( lightProbe, geometryNormal );
-	#endif
-	#if ( NUM_HEMI_LIGHTS > 0 )
-		#pragma unroll_loop_start
-		for ( int i = 0; i < NUM_HEMI_LIGHTS; i ++ ) {
-			irradiance += getHemisphereLightIrradiance( hemisphereLights[ i ], geometryNormal );
-		}
-		#pragma unroll_loop_end
-	#endif
-#endif
-#if defined( RE_IndirectSpecular )
-	vec3 radiance = vec3( 0.0 );
-	vec3 clearcoatRadiance = vec3( 0.0 );
-#endif`,lights_fragment_maps:`#if defined( RE_IndirectDiffuse )
-	#ifdef USE_LIGHTMAP
-		vec4 lightMapTexel = texture2D( lightMap, vLightMapUv );
-		vec3 lightMapIrradiance = lightMapTexel.rgb * lightMapIntensity;
-		irradiance += lightMapIrradiance;
-	#endif
-	#if defined( USE_ENVMAP ) && defined( STANDARD ) && defined( ENVMAP_TYPE_CUBE_UV )
-		iblIrradiance += getIBLIrradiance( geometryNormal );
-	#endif
-#endif
-#if defined( USE_ENVMAP ) && defined( RE_IndirectSpecular )
-	#ifdef USE_ANISOTROPY
-		radiance += getIBLAnisotropyRadiance( geometryViewDir, geometryNormal, material.roughness, material.anisotropyB, material.anisotropy );
-	#else
-		radiance += getIBLRadiance( geometryViewDir, geometryNormal, material.roughness );
-	#endif
-	#ifdef USE_CLEARCOAT
-		clearcoatRadiance += getIBLRadiance( geometryViewDir, geometryClearcoatNormal, material.clearcoatRoughness );
-	#endif
-#endif`,lights_fragment_end:`#if defined( RE_IndirectDiffuse )
-	RE_IndirectDiffuse( irradiance, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );
-#endif
-#if defined( RE_IndirectSpecular )
-	RE_IndirectSpecular( radiance, iblIrradiance, clearcoatRadiance, geometryPosition, geometryNormal, geometryViewDir, geometryClearcoatNormal, material, reflectedLight );
-#endif`,logdepthbuf_fragment:`#if defined( USE_LOGDEPTHBUF )
-	gl_FragDepth = vIsPerspective == 0.0 ? gl_FragCoord.z : log2( vFragDepth ) * logDepthBufFC * 0.5;
-#endif`,logdepthbuf_pars_fragment:`#if defined( USE_LOGDEPTHBUF )
-	uniform float logDepthBufFC;
-	varying float vFragDepth;
-	varying float vIsPerspective;
-#endif`,logdepthbuf_pars_vertex:`#ifdef USE_LOGDEPTHBUF
-	varying float vFragDepth;
-	varying float vIsPerspective;
-#endif`,logdepthbuf_vertex:`#ifdef USE_LOGDEPTHBUF
-	vFragDepth = 1.0 + gl_Position.w;
-	vIsPerspective = float( isPerspectiveMatrix( projectionMatrix ) );
-#endif`,map_fragment:`#ifdef USE_MAP
-	vec4 sampledDiffuseColor = texture2D( map, vMapUv );
-	#ifdef DECODE_VIDEO_TEXTURE
-		sampledDiffuseColor = sRGBTransferEOTF( sampledDiffuseColor );
-	#endif
-	diffuseColor *= sampledDiffuseColor;
-#endif`,map_pars_fragment:`#ifdef USE_MAP
-	uniform sampler2D map;
-#endif`,map_particle_fragment:`#if defined( USE_MAP ) || defined( USE_ALPHAMAP )
-	#if defined( USE_POINTS_UV )
-		vec2 uv = vUv;
-	#else
-		vec2 uv = ( uvTransform * vec3( gl_PointCoord.x, 1.0 - gl_PointCoord.y, 1 ) ).xy;
-	#endif
-#endif
-#ifdef USE_MAP
-	diffuseColor *= texture2D( map, uv );
-#endif
-#ifdef USE_ALPHAMAP
-	diffuseColor.a *= texture2D( alphaMap, uv ).g;
-#endif`,map_particle_pars_fragment:`#if defined( USE_POINTS_UV )
-	varying vec2 vUv;
-#else
-	#if defined( USE_MAP ) || defined( USE_ALPHAMAP )
-		uniform mat3 uvTransform;
-	#endif
-#endif
-#ifdef USE_MAP
-	uniform sampler2D map;
-#endif
-#ifdef USE_ALPHAMAP
-	uniform sampler2D alphaMap;
-#endif`,metalnessmap_fragment:`float metalnessFactor = metalness;
-#ifdef USE_METALNESSMAP
-	vec4 texelMetalness = texture2D( metalnessMap, vMetalnessMapUv );
-	metalnessFactor *= texelMetalness.b;
-#endif`,metalnessmap_pars_fragment:`#ifdef USE_METALNESSMAP
-	uniform sampler2D metalnessMap;
-#endif`,morphinstance_vertex:`#ifdef USE_INSTANCING_MORPH
-	float morphTargetInfluences[ MORPHTARGETS_COUNT ];
-	float morphTargetBaseInfluence = texelFetch( morphTexture, ivec2( 0, gl_InstanceID ), 0 ).r;
-	for ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {
-		morphTargetInfluences[i] =  texelFetch( morphTexture, ivec2( i + 1, gl_InstanceID ), 0 ).r;
-	}
-#endif`,morphcolor_vertex:`#if defined( USE_MORPHCOLORS )
-	vColor *= morphTargetBaseInfluence;
-	for ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {
-		#if defined( USE_COLOR_ALPHA )
-			if ( morphTargetInfluences[ i ] != 0.0 ) vColor += getMorph( gl_VertexID, i, 2 ) * morphTargetInfluences[ i ];
-		#elif defined( USE_COLOR )
-			if ( morphTargetInfluences[ i ] != 0.0 ) vColor += getMorph( gl_VertexID, i, 2 ).rgb * morphTargetInfluences[ i ];
-		#endif
-	}
-#endif`,morphnormal_vertex:`#ifdef USE_MORPHNORMALS
-	objectNormal *= morphTargetBaseInfluence;
-	for ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {
-		if ( morphTargetInfluences[ i ] != 0.0 ) objectNormal += getMorph( gl_VertexID, i, 1 ).xyz * morphTargetInfluences[ i ];
-	}
-#endif`,morphtarget_pars_vertex:`#ifdef USE_MORPHTARGETS
-	#ifndef USE_INSTANCING_MORPH
-		uniform float morphTargetBaseInfluence;
-		uniform float morphTargetInfluences[ MORPHTARGETS_COUNT ];
-	#endif
-	uniform sampler2DArray morphTargetsTexture;
-	uniform ivec2 morphTargetsTextureSize;
-	vec4 getMorph( const in int vertexIndex, const in int morphTargetIndex, const in int offset ) {
-		int texelIndex = vertexIndex * MORPHTARGETS_TEXTURE_STRIDE + offset;
-		int y = texelIndex / morphTargetsTextureSize.x;
-		int x = texelIndex - y * morphTargetsTextureSize.x;
-		ivec3 morphUV = ivec3( x, y, morphTargetIndex );
-		return texelFetch( morphTargetsTexture, morphUV, 0 );
-	}
-#endif`,morphtarget_vertex:`#ifdef USE_MORPHTARGETS
-	transformed *= morphTargetBaseInfluence;
-	for ( int i = 0; i < MORPHTARGETS_COUNT; i ++ ) {
-		if ( morphTargetInfluences[ i ] != 0.0 ) transformed += getMorph( gl_VertexID, i, 0 ).xyz * morphTargetInfluences[ i ];
-	}
-#endif`,normal_fragment_begin:`float faceDirection = gl_FrontFacing ? 1.0 : - 1.0;
-#ifdef FLAT_SHADED
-	vec3 fdx = dFdx( vViewPosition );
-	vec3 fdy = dFdy( vViewPosition );
-	vec3 normal = normalize( cross( fdx, fdy ) );
-#else
-	vec3 normal = normalize( vNormal );
-	#ifdef DOUBLE_SIDED
-		normal *= faceDirection;
-	#endif
-#endif
-#if defined( USE_NORMALMAP_TANGENTSPACE ) || defined( USE_CLEARCOAT_NORMALMAP ) || defined( USE_ANISOTROPY )
-	#ifdef USE_TANGENT
-		mat3 tbn = mat3( normalize( vTangent ), normalize( vBitangent ), normal );
-	#else
-		mat3 tbn = getTangentFrame( - vViewPosition, normal,
-		#if defined( USE_NORMALMAP )
-			vNormalMapUv
-		#elif defined( USE_CLEARCOAT_NORMALMAP )
-			vClearcoatNormalMapUv
-		#else
-			vUv
-		#endif
-		);
-	#endif
-	#if defined( DOUBLE_SIDED ) && ! defined( FLAT_SHADED )
-		tbn[0] *= faceDirection;
-		tbn[1] *= faceDirection;
-	#endif
-#endif
-#ifdef USE_CLEARCOAT_NORMALMAP
-	#ifdef USE_TANGENT
-		mat3 tbn2 = mat3( normalize( vTangent ), normalize( vBitangent ), normal );
-	#else
-		mat3 tbn2 = getTangentFrame( - vViewPosition, normal, vClearcoatNormalMapUv );
-	#endif
-	#if defined( DOUBLE_SIDED ) && ! defined( FLAT_SHADED )
-		tbn2[0] *= faceDirection;
-		tbn2[1] *= faceDirection;
-	#endif
-#endif
-vec3 nonPerturbedNormal = normal;`,normal_fragment_maps:`#ifdef USE_NORMALMAP_OBJECTSPACE
-	normal = texture2D( normalMap, vNormalMapUv ).xyz * 2.0 - 1.0;
-	#ifdef FLIP_SIDED
-		normal = - normal;
-	#endif
-	#ifdef DOUBLE_SIDED
-		normal = normal * faceDirection;
-	#endif
-	normal = normalize( normalMatrix * normal );
-#elif defined( USE_NORMALMAP_TANGENTSPACE )
-	vec3 mapN = texture2D( normalMap, vNormalMapUv ).xyz * 2.0 - 1.0;
-	mapN.xy *= normalScale;
-	normal = normalize( tbn * mapN );
-#elif defined( USE_BUMPMAP )
-	normal = perturbNormalArb( - vViewPosition, normal, dHdxy_fwd(), faceDirection );
-#endif`,normal_pars_fragment:`#ifndef FLAT_SHADED
-	varying vec3 vNormal;
-	#ifdef USE_TANGENT
-		varying vec3 vTangent;
-		varying vec3 vBitangent;
-	#endif
-#endif`,normal_pars_vertex:`#ifndef FLAT_SHADED
-	varying vec3 vNormal;
-	#ifdef USE_TANGENT
-		varying vec3 vTangent;
-		varying vec3 vBitangent;
-	#endif
-#endif`,normal_vertex:`#ifndef FLAT_SHADED
-	vNormal = normalize( transformedNormal );
-	#ifdef USE_TANGENT
-		vTangent = normalize( transformedTangent );
-		vBitangent = normalize( cross( vNormal, vTangent ) * tangent.w );
-	#endif
-#endif`,normalmap_pars_fragment:`#ifdef USE_NORMALMAP
-	uniform sampler2D normalMap;
-	uniform vec2 normalScale;
-#endif
-#ifdef USE_NORMALMAP_OBJECTSPACE
-	uniform mat3 normalMatrix;
-#endif
-#if ! defined ( USE_TANGENT ) && ( defined ( USE_NORMALMAP_TANGENTSPACE ) || defined ( USE_CLEARCOAT_NORMALMAP ) || defined( USE_ANISOTROPY ) )
-	mat3 getTangentFrame( vec3 eye_pos, vec3 surf_norm, vec2 uv ) {
-		vec3 q0 = dFdx( eye_pos.xyz );
-		vec3 q1 = dFdy( eye_pos.xyz );
-		vec2 st0 = dFdx( uv.st );
-		vec2 st1 = dFdy( uv.st );
-		vec3 N = surf_norm;
-		vec3 q1perp = cross( q1, N );
-		vec3 q0perp = cross( N, q0 );
-		vec3 T = q1perp * st0.x + q0perp * st1.x;
-		vec3 B = q1perp * st0.y + q0perp * st1.y;
-		float det = max( dot( T, T ), dot( B, B ) );
-		float scale = ( det == 0.0 ) ? 0.0 : inversesqrt( det );
-		return mat3( T * scale, B * scale, N );
-	}
-#endif`,clearcoat_normal_fragment_begin:`#ifdef USE_CLEARCOAT
-	vec3 clearcoatNormal = nonPerturbedNormal;
-#endif`,clearcoat_normal_fragment_maps:`#ifdef USE_CLEARCOAT_NORMALMAP
-	vec3 clearcoatMapN = texture2D( clearcoatNormalMap, vClearcoatNormalMapUv ).xyz * 2.0 - 1.0;
-	clearcoatMapN.xy *= clearcoatNormalScale;
-	clearcoatNormal = normalize( tbn2 * clearcoatMapN );
-#endif`,clearcoat_pars_fragment:`#ifdef USE_CLEARCOATMAP
-	uniform sampler2D clearcoatMap;
-#endif
-#ifdef USE_CLEARCOAT_NORMALMAP
-	uniform sampler2D clearcoatNormalMap;
-	uniform vec2 clearcoatNormalScale;
-#endif
-#ifdef USE_CLEARCOAT_ROUGHNESSMAP
-	uniform sampler2D clearcoatRoughnessMap;
-#endif`,iridescence_pars_fragment:`#ifdef USE_IRIDESCENCEMAP
-	uniform sampler2D iridescenceMap;
-#endif
-#ifdef USE_IRIDESCENCE_THICKNESSMAP
-	uniform sampler2D iridescenceThicknessMap;
-#endif`,opaque_fragment:`#ifdef OPAQUE
-diffuseColor.a = 1.0;
-#endif
-#ifdef USE_TRANSMISSION
-diffuseColor.a *= material.transmissionAlpha;
-#endif
-gl_FragColor = vec4( outgoingLight, diffuseColor.a );`,packing:`vec3 packNormalToRGB( const in vec3 normal ) {
-	return normalize( normal ) * 0.5 + 0.5;
-}
-vec3 unpackRGBToNormal( const in vec3 rgb ) {
-	return 2.0 * rgb.xyz - 1.0;
-}
-const float PackUpscale = 256. / 255.;const float UnpackDownscale = 255. / 256.;const float ShiftRight8 = 1. / 256.;
-const float Inv255 = 1. / 255.;
-const vec4 PackFactors = vec4( 1.0, 256.0, 256.0 * 256.0, 256.0 * 256.0 * 256.0 );
-const vec2 UnpackFactors2 = vec2( UnpackDownscale, 1.0 / PackFactors.g );
-const vec3 UnpackFactors3 = vec3( UnpackDownscale / PackFactors.rg, 1.0 / PackFactors.b );
-const vec4 UnpackFactors4 = vec4( UnpackDownscale / PackFactors.rgb, 1.0 / PackFactors.a );
-vec4 packDepthToRGBA( const in float v ) {
-	if( v <= 0.0 )
-		return vec4( 0., 0., 0., 0. );
-	if( v >= 1.0 )
-		return vec4( 1., 1., 1., 1. );
-	float vuf;
-	float af = modf( v * PackFactors.a, vuf );
-	float bf = modf( vuf * ShiftRight8, vuf );
-	float gf = modf( vuf * ShiftRight8, vuf );
-	return vec4( vuf * Inv255, gf * PackUpscale, bf * PackUpscale, af );
-}
-vec3 packDepthToRGB( const in float v ) {
-	if( v <= 0.0 )
-		return vec3( 0., 0., 0. );
-	if( v >= 1.0 )
-		return vec3( 1., 1., 1. );
-	float vuf;
-	float bf = modf( v * PackFactors.b, vuf );
-	float gf = modf( vuf * ShiftRight8, vuf );
-	return vec3( vuf * Inv255, gf * PackUpscale, bf );
-}
-vec2 packDepthToRG( const in float v ) {
-	if( v <= 0.0 )
-		return vec2( 0., 0. );
-	if( v >= 1.0 )
-		return vec2( 1., 1. );
-	float vuf;
-	float gf = modf( v * 256., vuf );
-	return vec2( vuf * Inv255, gf );
-}
-float unpackRGBAToDepth( const in vec4 v ) {
-	return dot( v, UnpackFactors4 );
-}
-float unpackRGBToDepth( const in vec3 v ) {
-	return dot( v, UnpackFactors3 );
-}
-float unpackRGToDepth( const in vec2 v ) {
-	return v.r * UnpackFactors2.r + v.g * UnpackFactors2.g;
-}
-vec4 pack2HalfToRGBA( const in vec2 v ) {
-	vec4 r = vec4( v.x, fract( v.x * 255.0 ), v.y, fract( v.y * 255.0 ) );
-	return vec4( r.x - r.y / 255.0, r.y, r.z - r.w / 255.0, r.w );
-}
-vec2 unpackRGBATo2Half( const in vec4 v ) {
-	return vec2( v.x + ( v.y / 255.0 ), v.z + ( v.w / 255.0 ) );
-}
-float viewZToOrthographicDepth( const in float viewZ, const in float near, const in float far ) {
-	return ( viewZ + near ) / ( near - far );
-}
-float orthographicDepthToViewZ( const in float depth, const in float near, const in float far ) {
-	return depth * ( near - far ) - near;
-}
-float viewZToPerspectiveDepth( const in float viewZ, const in float near, const in float far ) {
-	return ( ( near + viewZ ) * far ) / ( ( far - near ) * viewZ );
-}
-float perspectiveDepthToViewZ( const in float depth, const in float near, const in float far ) {
-	return ( near * far ) / ( ( far - near ) * depth - far );
-}`,premultiplied_alpha_fragment:`#ifdef PREMULTIPLIED_ALPHA
-	gl_FragColor.rgb *= gl_FragColor.a;
-#endif`,project_vertex:`vec4 mvPosition = vec4( transformed, 1.0 );
-#ifdef USE_BATCHING
-	mvPosition = batchingMatrix * mvPosition;
-#endif
-#ifdef USE_INSTANCING
-	mvPosition = instanceMatrix * mvPosition;
-#endif
-mvPosition = modelViewMatrix * mvPosition;
-gl_Position = projectionMatrix * mvPosition;`,dithering_fragment:`#ifdef DITHERING
-	gl_FragColor.rgb = dithering( gl_FragColor.rgb );
-#endif`,dithering_pars_fragment:`#ifdef DITHERING
-	vec3 dithering( vec3 color ) {
-		float grid_position = rand( gl_FragCoord.xy );
-		vec3 dither_shift_RGB = vec3( 0.25 / 255.0, -0.25 / 255.0, 0.25 / 255.0 );
-		dither_shift_RGB = mix( 2.0 * dither_shift_RGB, -2.0 * dither_shift_RGB, grid_position );
-		return color + dither_shift_RGB;
-	}
-#endif`,roughnessmap_fragment:`float roughnessFactor = roughness;
-#ifdef USE_ROUGHNESSMAP
-	vec4 texelRoughness = texture2D( roughnessMap, vRoughnessMapUv );
-	roughnessFactor *= texelRoughness.g;
-#endif`,roughnessmap_pars_fragment:`#ifdef USE_ROUGHNESSMAP
-	uniform sampler2D roughnessMap;
-#endif`,shadowmap_pars_fragment:`#if NUM_SPOT_LIGHT_COORDS > 0
-	varying vec4 vSpotLightCoord[ NUM_SPOT_LIGHT_COORDS ];
-#endif
-#if NUM_SPOT_LIGHT_MAPS > 0
-	uniform sampler2D spotLightMap[ NUM_SPOT_LIGHT_MAPS ];
-#endif
-#ifdef USE_SHADOWMAP
-	#if NUM_DIR_LIGHT_SHADOWS > 0
-		uniform sampler2D directionalShadowMap[ NUM_DIR_LIGHT_SHADOWS ];
-		varying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHT_SHADOWS ];
-		struct DirectionalLightShadow {
-			float shadowIntensity;
-			float shadowBias;
-			float shadowNormalBias;
-			float shadowRadius;
-			vec2 shadowMapSize;
-		};
-		uniform DirectionalLightShadow directionalLightShadows[ NUM_DIR_LIGHT_SHADOWS ];
-	#endif
-	#if NUM_SPOT_LIGHT_SHADOWS > 0
-		uniform sampler2D spotShadowMap[ NUM_SPOT_LIGHT_SHADOWS ];
-		struct SpotLightShadow {
-			float shadowIntensity;
-			float shadowBias;
-			float shadowNormalBias;
-			float shadowRadius;
-			vec2 shadowMapSize;
-		};
-		uniform SpotLightShadow spotLightShadows[ NUM_SPOT_LIGHT_SHADOWS ];
-	#endif
-	#if NUM_POINT_LIGHT_SHADOWS > 0
-		uniform sampler2D pointShadowMap[ NUM_POINT_LIGHT_SHADOWS ];
-		varying vec4 vPointShadowCoord[ NUM_POINT_LIGHT_SHADOWS ];
-		struct PointLightShadow {
-			float shadowIntensity;
-			float shadowBias;
-			float shadowNormalBias;
-			float shadowRadius;
-			vec2 shadowMapSize;
-			float shadowCameraNear;
-			float shadowCameraFar;
-		};
-		uniform PointLightShadow pointLightShadows[ NUM_POINT_LIGHT_SHADOWS ];
-	#endif
-	float texture2DCompare( sampler2D depths, vec2 uv, float compare ) {
-		return step( compare, unpackRGBAToDepth( texture2D( depths, uv ) ) );
-	}
-	vec2 texture2DDistribution( sampler2D shadow, vec2 uv ) {
-		return unpackRGBATo2Half( texture2D( shadow, uv ) );
-	}
-	float VSMShadow (sampler2D shadow, vec2 uv, float compare ){
-		float occlusion = 1.0;
-		vec2 distribution = texture2DDistribution( shadow, uv );
-		float hard_shadow = step( compare , distribution.x );
-		if (hard_shadow != 1.0 ) {
-			float distance = compare - distribution.x ;
-			float variance = max( 0.00000, distribution.y * distribution.y );
-			float softness_probability = variance / (variance + distance * distance );			softness_probability = clamp( ( softness_probability - 0.3 ) / ( 0.95 - 0.3 ), 0.0, 1.0 );			occlusion = clamp( max( hard_shadow, softness_probability ), 0.0, 1.0 );
-		}
-		return occlusion;
-	}
-	float getShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowIntensity, float shadowBias, float shadowRadius, vec4 shadowCoord ) {
-		float shadow = 1.0;
-		shadowCoord.xyz /= shadowCoord.w;
-		shadowCoord.z += shadowBias;
-		bool inFrustum = shadowCoord.x >= 0.0 && shadowCoord.x <= 1.0 && shadowCoord.y >= 0.0 && shadowCoord.y <= 1.0;
-		bool frustumTest = inFrustum && shadowCoord.z <= 1.0;
-		if ( frustumTest ) {
-		#if defined( SHADOWMAP_TYPE_PCF )
-			vec2 texelSize = vec2( 1.0 ) / shadowMapSize;
-			float dx0 = - texelSize.x * shadowRadius;
-			float dy0 = - texelSize.y * shadowRadius;
-			float dx1 = + texelSize.x * shadowRadius;
-			float dy1 = + texelSize.y * shadowRadius;
-			float dx2 = dx0 / 2.0;
-			float dy2 = dy0 / 2.0;
-			float dx3 = dx1 / 2.0;
-			float dy3 = dy1 / 2.0;
-			shadow = (
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, dy0 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy0 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, dy0 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx2, dy2 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy2 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx3, dy2 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, 0.0 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx2, 0.0 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy, shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx3, 0.0 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, 0.0 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx2, dy3 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy3 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx3, dy3 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, dy1 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy1 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, dy1 ), shadowCoord.z )
-			) * ( 1.0 / 17.0 );
-		#elif defined( SHADOWMAP_TYPE_PCF_SOFT )
-			vec2 texelSize = vec2( 1.0 ) / shadowMapSize;
-			float dx = texelSize.x;
-			float dy = texelSize.y;
-			vec2 uv = shadowCoord.xy;
-			vec2 f = fract( uv * shadowMapSize + 0.5 );
-			uv -= f * texelSize;
-			shadow = (
-				texture2DCompare( shadowMap, uv, shadowCoord.z ) +
-				texture2DCompare( shadowMap, uv + vec2( dx, 0.0 ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, uv + vec2( 0.0, dy ), shadowCoord.z ) +
-				texture2DCompare( shadowMap, uv + texelSize, shadowCoord.z ) +
-				mix( texture2DCompare( shadowMap, uv + vec2( -dx, 0.0 ), shadowCoord.z ),
-					 texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, 0.0 ), shadowCoord.z ),
-					 f.x ) +
-				mix( texture2DCompare( shadowMap, uv + vec2( -dx, dy ), shadowCoord.z ),
-					 texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, dy ), shadowCoord.z ),
-					 f.x ) +
-				mix( texture2DCompare( shadowMap, uv + vec2( 0.0, -dy ), shadowCoord.z ),
-					 texture2DCompare( shadowMap, uv + vec2( 0.0, 2.0 * dy ), shadowCoord.z ),
-					 f.y ) +
-				mix( texture2DCompare( shadowMap, uv + vec2( dx, -dy ), shadowCoord.z ),
-					 texture2DCompare( shadowMap, uv + vec2( dx, 2.0 * dy ), shadowCoord.z ),
-					 f.y ) +
-				mix( mix( texture2DCompare( shadowMap, uv + vec2( -dx, -dy ), shadowCoord.z ),
-						  texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, -dy ), shadowCoord.z ),
-						  f.x ),
-					 mix( texture2DCompare( shadowMap, uv + vec2( -dx, 2.0 * dy ), shadowCoord.z ),
-						  texture2DCompare( shadowMap, uv + vec2( 2.0 * dx, 2.0 * dy ), shadowCoord.z ),
-						  f.x ),
-					 f.y )
-			) * ( 1.0 / 9.0 );
-		#elif defined( SHADOWMAP_TYPE_VSM )
-			shadow = VSMShadow( shadowMap, shadowCoord.xy, shadowCoord.z );
-		#else
-			shadow = texture2DCompare( shadowMap, shadowCoord.xy, shadowCoord.z );
-		#endif
-		}
-		return mix( 1.0, shadow, shadowIntensity );
-	}
-	vec2 cubeToUV( vec3 v, float texelSizeY ) {
-		vec3 absV = abs( v );
-		float scaleToCube = 1.0 / max( absV.x, max( absV.y, absV.z ) );
-		absV *= scaleToCube;
-		v *= scaleToCube * ( 1.0 - 2.0 * texelSizeY );
-		vec2 planar = v.xy;
-		float almostATexel = 1.5 * texelSizeY;
-		float almostOne = 1.0 - almostATexel;
-		if ( absV.z >= almostOne ) {
-			if ( v.z > 0.0 )
-				planar.x = 4.0 - v.x;
-		} else if ( absV.x >= almostOne ) {
-			float signX = sign( v.x );
-			planar.x = v.z * signX + 2.0 * signX;
-		} else if ( absV.y >= almostOne ) {
-			float signY = sign( v.y );
-			planar.x = v.x + 2.0 * signY + 2.0;
-			planar.y = v.z * signY - 2.0;
-		}
-		return vec2( 0.125, 0.25 ) * planar + vec2( 0.375, 0.75 );
-	}
-	float getPointShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowIntensity, float shadowBias, float shadowRadius, vec4 shadowCoord, float shadowCameraNear, float shadowCameraFar ) {
-		float shadow = 1.0;
-		vec3 lightToPosition = shadowCoord.xyz;
-		
-		float lightToPositionLength = length( lightToPosition );
-		if ( lightToPositionLength - shadowCameraFar <= 0.0 && lightToPositionLength - shadowCameraNear >= 0.0 ) {
-			float dp = ( lightToPositionLength - shadowCameraNear ) / ( shadowCameraFar - shadowCameraNear );			dp += shadowBias;
-			vec3 bd3D = normalize( lightToPosition );
-			vec2 texelSize = vec2( 1.0 ) / ( shadowMapSize * vec2( 4.0, 2.0 ) );
-			#if defined( SHADOWMAP_TYPE_PCF ) || defined( SHADOWMAP_TYPE_PCF_SOFT ) || defined( SHADOWMAP_TYPE_VSM )
-				vec2 offset = vec2( - 1, 1 ) * shadowRadius * texelSize.y;
-				shadow = (
-					texture2DCompare( shadowMap, cubeToUV( bd3D + offset.xyy, texelSize.y ), dp ) +
-					texture2DCompare( shadowMap, cubeToUV( bd3D + offset.yyy, texelSize.y ), dp ) +
-					texture2DCompare( shadowMap, cubeToUV( bd3D + offset.xyx, texelSize.y ), dp ) +
-					texture2DCompare( shadowMap, cubeToUV( bd3D + offset.yyx, texelSize.y ), dp ) +
-					texture2DCompare( shadowMap, cubeToUV( bd3D, texelSize.y ), dp ) +
-					texture2DCompare( shadowMap, cubeToUV( bd3D + offset.xxy, texelSize.y ), dp ) +
-					texture2DCompare( shadowMap, cubeToUV( bd3D + offset.yxy, texelSize.y ), dp ) +
-					texture2DCompare( shadowMap, cubeToUV( bd3D + offset.xxx, texelSize.y ), dp ) +
-					texture2DCompare( shadowMap, cubeToUV( bd3D + offset.yxx, texelSize.y ), dp )
-				) * ( 1.0 / 9.0 );
-			#else
-				shadow = texture2DCompare( shadowMap, cubeToUV( bd3D, texelSize.y ), dp );
-			#endif
-		}
-		return mix( 1.0, shadow, shadowIntensity );
-	}
-#endif`,shadowmap_pars_vertex:`#if NUM_SPOT_LIGHT_COORDS > 0
-	uniform mat4 spotLightMatrix[ NUM_SPOT_LIGHT_COORDS ];
-	varying vec4 vSpotLightCoord[ NUM_SPOT_LIGHT_COORDS ];
-#endif
-#ifdef USE_SHADOWMAP
-	#if NUM_DIR_LIGHT_SHADOWS > 0
-		uniform mat4 directionalShadowMatrix[ NUM_DIR_LIGHT_SHADOWS ];
-		varying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHT_SHADOWS ];
-		struct DirectionalLightShadow {
-			float shadowIntensity;
-			float shadowBias;
-			float shadowNormalBias;
-			float shadowRadius;
-			vec2 shadowMapSize;
-		};
-		uniform DirectionalLightShadow directionalLightShadows[ NUM_DIR_LIGHT_SHADOWS ];
-	#endif
-	#if NUM_SPOT_LIGHT_SHADOWS > 0
-		struct SpotLightShadow {
-			float shadowIntensity;
-			float shadowBias;
-			float shadowNormalBias;
-			float shadowRadius;
-			vec2 shadowMapSize;
-		};
-		uniform SpotLightShadow spotLightShadows[ NUM_SPOT_LIGHT_SHADOWS ];
-	#endif
-	#if NUM_POINT_LIGHT_SHADOWS > 0
-		uniform mat4 pointShadowMatrix[ NUM_POINT_LIGHT_SHADOWS ];
-		varying vec4 vPointShadowCoord[ NUM_POINT_LIGHT_SHADOWS ];
-		struct PointLightShadow {
-			float shadowIntensity;
-			float shadowBias;
-			float shadowNormalBias;
-			float shadowRadius;
-			vec2 shadowMapSize;
-			float shadowCameraNear;
-			float shadowCameraFar;
-		};
-		uniform PointLightShadow pointLightShadows[ NUM_POINT_LIGHT_SHADOWS ];
-	#endif
-#endif`,shadowmap_vertex:`#if ( defined( USE_SHADOWMAP ) && ( NUM_DIR_LIGHT_SHADOWS > 0 || NUM_POINT_LIGHT_SHADOWS > 0 ) ) || ( NUM_SPOT_LIGHT_COORDS > 0 )
-	vec3 shadowWorldNormal = inverseTransformDirection( transformedNormal, viewMatrix );
-	vec4 shadowWorldPosition;
-#endif
-#if defined( USE_SHADOWMAP )
-	#if NUM_DIR_LIGHT_SHADOWS > 0
-		#pragma unroll_loop_start
-		for ( int i = 0; i < NUM_DIR_LIGHT_SHADOWS; i ++ ) {
-			shadowWorldPosition = worldPosition + vec4( shadowWorldNormal * directionalLightShadows[ i ].shadowNormalBias, 0 );
-			vDirectionalShadowCoord[ i ] = directionalShadowMatrix[ i ] * shadowWorldPosition;
-		}
-		#pragma unroll_loop_end
-	#endif
-	#if NUM_POINT_LIGHT_SHADOWS > 0
-		#pragma unroll_loop_start
-		for ( int i = 0; i < NUM_POINT_LIGHT_SHADOWS; i ++ ) {
-			shadowWorldPosition = worldPosition + vec4( shadowWorldNormal * pointLightShadows[ i ].shadowNormalBias, 0 );
-			vPointShadowCoord[ i ] = pointShadowMatrix[ i ] * shadowWorldPosition;
-		}
-		#pragma unroll_loop_end
-	#endif
-#endif
-#if NUM_SPOT_LIGHT_COORDS > 0
-	#pragma unroll_loop_start
-	for ( int i = 0; i < NUM_SPOT_LIGHT_COORDS; i ++ ) {
-		shadowWorldPosition = worldPosition;
-		#if ( defined( USE_SHADOWMAP ) && UNROLLED_LOOP_INDEX < NUM_SPOT_LIGHT_SHADOWS )
-			shadowWorldPosition.xyz += shadowWorldNormal * spotLightShadows[ i ].shadowNormalBias;
-		#endif
-		vSpotLightCoord[ i ] = spotLightMatrix[ i ] * shadowWorldPosition;
-	}
-	#pragma unroll_loop_end
-#endif`,shadowmask_pars_fragment:`float getShadowMask() {
-	float shadow = 1.0;
-	#ifdef USE_SHADOWMAP
-	#if NUM_DIR_LIGHT_SHADOWS > 0
-	DirectionalLightShadow directionalLight;
-	#pragma unroll_loop_start
-	for ( int i = 0; i < NUM_DIR_LIGHT_SHADOWS; i ++ ) {
-		directionalLight = directionalLightShadows[ i ];
-		shadow *= receiveShadow ? getShadow( directionalShadowMap[ i ], directionalLight.shadowMapSize, directionalLight.shadowIntensity, directionalLight.shadowBias, directionalLight.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;
-	}
-	#pragma unroll_loop_end
-	#endif
-	#if NUM_SPOT_LIGHT_SHADOWS > 0
-	SpotLightShadow spotLight;
-	#pragma unroll_loop_start
-	for ( int i = 0; i < NUM_SPOT_LIGHT_SHADOWS; i ++ ) {
-		spotLight = spotLightShadows[ i ];
-		shadow *= receiveShadow ? getShadow( spotShadowMap[ i ], spotLight.shadowMapSize, spotLight.shadowIntensity, spotLight.shadowBias, spotLight.shadowRadius, vSpotLightCoord[ i ] ) : 1.0;
-	}
-	#pragma unroll_loop_end
-	#endif
-	#if NUM_POINT_LIGHT_SHADOWS > 0
-	PointLightShadow pointLight;
-	#pragma unroll_loop_start
-	for ( int i = 0; i < NUM_POINT_LIGHT_SHADOWS; i ++ ) {
-		pointLight = pointLightShadows[ i ];
-		shadow *= receiveShadow ? getPointShadow( pointShadowMap[ i ], pointLight.shadowMapSize, pointLight.shadowIntensity, pointLight.shadowBias, pointLight.shadowRadius, vPointShadowCoord[ i ], pointLight.shadowCameraNear, pointLight.shadowCameraFar ) : 1.0;
-	}
-	#pragma unroll_loop_end
-	#endif
-	#endif
-	return shadow;
-}`,skinbase_vertex:`#ifdef USE_SKINNING
-	mat4 boneMatX = getBoneMatrix( skinIndex.x );
-	mat4 boneMatY = getBoneMatrix( skinIndex.y );
-	mat4 boneMatZ = getBoneMatrix( skinIndex.z );
-	mat4 boneMatW = getBoneMatrix( skinIndex.w );
-#endif`,skinning_pars_vertex:`#ifdef USE_SKINNING
-	uniform mat4 bindMatrix;
-	uniform mat4 bindMatrixInverse;
-	uniform highp sampler2D boneTexture;
-	mat4 getBoneMatrix( const in float i ) {
-		int size = textureSize( boneTexture, 0 ).x;
-		int j = int( i ) * 4;
-		int x = j % size;
-		int y = j / size;
-		vec4 v1 = texelFetch( boneTexture, ivec2( x, y ), 0 );
-		vec4 v2 = texelFetch( boneTexture, ivec2( x + 1, y ), 0 );
-		vec4 v3 = texelFetch( boneTexture, ivec2( x + 2, y ), 0 );
-		vec4 v4 = texelFetch( boneTexture, ivec2( x + 3, y ), 0 );
-		return mat4( v1, v2, v3, v4 );
-	}
-#endif`,skinning_vertex:`#ifdef USE_SKINNING
-	vec4 skinVertex = bindMatrix * vec4( transformed, 1.0 );
-	vec4 skinned = vec4( 0.0 );
-	skinned += boneMatX * skinVertex * skinWeight.x;
-	skinned += boneMatY * skinVertex * skinWeight.y;
-	skinned += boneMatZ * skinVertex * skinWeight.z;
-	skinned += boneMatW * skinVertex * skinWeight.w;
-	transformed = ( bindMatrixInverse * skinned ).xyz;
-#endif`,skinnormal_vertex:`#ifdef USE_SKINNING
-	mat4 skinMatrix = mat4( 0.0 );
-	skinMatrix += skinWeight.x * boneMatX;
-	skinMatrix += skinWeight.y * boneMatY;
-	skinMatrix += skinWeight.z * boneMatZ;
-	skinMatrix += skinWeight.w * boneMatW;
-	skinMatrix = bindMatrixInverse * skinMatrix * bindMatrix;
-	objectNormal = vec4( skinMatrix * vec4( objectNormal, 0.0 ) ).xyz;
-	#ifdef USE_TANGENT
-		objectTangent = vec4( skinMatrix * vec4( objectTangent, 0.0 ) ).xyz;
-	#endif
-#endif`,specularmap_fragment:`float specularStrength;
-#ifdef USE_SPECULARMAP
-	vec4 texelSpecular = texture2D( specularMap, vSpecularMapUv );
-	specularStrength = texelSpecular.r;
-#else
-	specularStrength = 1.0;
-#endif`,specularmap_pars_fragment:`#ifdef USE_SPECULARMAP
-	uniform sampler2D specularMap;
-#endif`,tonemapping_fragment:`#if defined( TONE_MAPPING )
-	gl_FragColor.rgb = toneMapping( gl_FragColor.rgb );
-#endif`,tonemapping_pars_fragment:`#ifndef saturate
-#define saturate( a ) clamp( a, 0.0, 1.0 )
-#endif
-uniform float toneMappingExposure;
-vec3 LinearToneMapping( vec3 color ) {
-	return saturate( toneMappingExposure * color );
-}
-vec3 ReinhardToneMapping( vec3 color ) {
-	color *= toneMappingExposure;
-	return saturate( color / ( vec3( 1.0 ) + color ) );
-}
-vec3 CineonToneMapping( vec3 color ) {
-	color *= toneMappingExposure;
-	color = max( vec3( 0.0 ), color - 0.004 );
-	return pow( ( color * ( 6.2 * color + 0.5 ) ) / ( color * ( 6.2 * color + 1.7 ) + 0.06 ), vec3( 2.2 ) );
-}
-vec3 RRTAndODTFit( vec3 v ) {
-	vec3 a = v * ( v + 0.0245786 ) - 0.000090537;
-	vec3 b = v * ( 0.983729 * v + 0.4329510 ) + 0.238081;
-	return a / b;
-}
-vec3 ACESFilmicToneMapping( vec3 color ) {
-	const mat3 ACESInputMat = mat3(
-		vec3( 0.59719, 0.07600, 0.02840 ),		vec3( 0.35458, 0.90834, 0.13383 ),
-		vec3( 0.04823, 0.01566, 0.83777 )
-	);
-	const mat3 ACESOutputMat = mat3(
-		vec3(  1.60475, -0.10208, -0.00327 ),		vec3( -0.53108,  1.10813, -0.07276 ),
-		vec3( -0.07367, -0.00605,  1.07602 )
-	);
-	color *= toneMappingExposure / 0.6;
-	color = ACESInputMat * color;
-	color = RRTAndODTFit( color );
-	color = ACESOutputMat * color;
-	return saturate( color );
-}
-const mat3 LINEAR_REC2020_TO_LINEAR_SRGB = mat3(
-	vec3( 1.6605, - 0.1246, - 0.0182 ),
-	vec3( - 0.5876, 1.1329, - 0.1006 ),
-	vec3( - 0.0728, - 0.0083, 1.1187 )
-);
-const mat3 LINEAR_SRGB_TO_LINEAR_REC2020 = mat3(
-	vec3( 0.6274, 0.0691, 0.0164 ),
-	vec3( 0.3293, 0.9195, 0.0880 ),
-	vec3( 0.0433, 0.0113, 0.8956 )
-);
-vec3 agxDefaultContrastApprox( vec3 x ) {
-	vec3 x2 = x * x;
-	vec3 x4 = x2 * x2;
-	return + 15.5 * x4 * x2
-		- 40.14 * x4 * x
-		+ 31.96 * x4
-		- 6.868 * x2 * x
-		+ 0.4298 * x2
-		+ 0.1191 * x
-		- 0.00232;
-}
-vec3 AgXToneMapping( vec3 color ) {
-	const mat3 AgXInsetMatrix = mat3(
-		vec3( 0.856627153315983, 0.137318972929847, 0.11189821299995 ),
-		vec3( 0.0951212405381588, 0.761241990602591, 0.0767994186031903 ),
-		vec3( 0.0482516061458583, 0.101439036467562, 0.811302368396859 )
-	);
-	const mat3 AgXOutsetMatrix = mat3(
-		vec3( 1.1271005818144368, - 0.1413297634984383, - 0.14132976349843826 ),
-		vec3( - 0.11060664309660323, 1.157823702216272, - 0.11060664309660294 ),
-		vec3( - 0.016493938717834573, - 0.016493938717834257, 1.2519364065950405 )
-	);
-	const float AgxMinEv = - 12.47393;	const float AgxMaxEv = 4.026069;
-	color *= toneMappingExposure;
-	color = LINEAR_SRGB_TO_LINEAR_REC2020 * color;
-	color = AgXInsetMatrix * color;
-	color = max( color, 1e-10 );	color = log2( color );
-	color = ( color - AgxMinEv ) / ( AgxMaxEv - AgxMinEv );
-	color = clamp( color, 0.0, 1.0 );
-	color = agxDefaultContrastApprox( color );
-	color = AgXOutsetMatrix * color;
-	color = pow( max( vec3( 0.0 ), color ), vec3( 2.2 ) );
-	color = LINEAR_REC2020_TO_LINEAR_SRGB * color;
-	color = clamp( color, 0.0, 1.0 );
-	return color;
-}
-vec3 NeutralToneMapping( vec3 color ) {
-	const float StartCompression = 0.8 - 0.04;
-	const float Desaturation = 0.15;
-	color *= toneMappingExposure;
-	float x = min( color.r, min( color.g, color.b ) );
-	float offset = x < 0.08 ? x - 6.25 * x * x : 0.04;
-	color -= offset;
-	float peak = max( color.r, max( color.g, color.b ) );
-	if ( peak < StartCompression ) return color;
-	float d = 1. - StartCompression;
-	float newPeak = 1. - d * d / ( peak + d - StartCompression );
-	color *= newPeak / peak;
-	float g = 1. - 1. / ( Desaturation * ( peak - newPeak ) + 1. );
-	return mix( color, vec3( newPeak ), g );
-}
-vec3 CustomToneMapping( vec3 color ) { return color; }`,transmission_fragment:`#ifdef USE_TRANSMISSION
-	material.transmission = transmission;
-	material.transmissionAlpha = 1.0;
-	material.thickness = thickness;
-	material.attenuationDistance = attenuationDistance;
-	material.attenuationColor = attenuationColor;
-	#ifdef USE_TRANSMISSIONMAP
-		material.transmission *= texture2D( transmissionMap, vTransmissionMapUv ).r;
-	#endif
-	#ifdef USE_THICKNESSMAP
-		material.thickness *= texture2D( thicknessMap, vThicknessMapUv ).g;
-	#endif
-	vec3 pos = vWorldPosition;
-	vec3 v = normalize( cameraPosition - pos );
-	vec3 n = inverseTransformDirection( normal, viewMatrix );
-	vec4 transmitted = getIBLVolumeRefraction(
-		n, v, material.roughness, material.diffuseColor, material.specularColor, material.specularF90,
-		pos, modelMatrix, viewMatrix, projectionMatrix, material.dispersion, material.ior, material.thickness,
-		material.attenuationColor, material.attenuationDistance );
-	material.transmissionAlpha = mix( material.transmissionAlpha, transmitted.a, material.transmission );
-	totalDiffuse = mix( totalDiffuse, transmitted.rgb, material.transmission );
-#endif`,transmission_pars_fragment:`#ifdef USE_TRANSMISSION
-	uniform float transmission;
-	uniform float thickness;
-	uniform float attenuationDistance;
-	uniform vec3 attenuationColor;
-	#ifdef USE_TRANSMISSIONMAP
-		uniform sampler2D transmissionMap;
-	#endif
-	#ifdef USE_THICKNESSMAP
-		uniform sampler2D thicknessMap;
-	#endif
-	uniform vec2 transmissionSamplerSize;
-	uniform sampler2D transmissionSamplerMap;
-	uniform mat4 modelMatrix;
-	uniform mat4 projectionMatrix;
-	varying vec3 vWorldPosition;
-	float w0( float a ) {
-		return ( 1.0 / 6.0 ) * ( a * ( a * ( - a + 3.0 ) - 3.0 ) + 1.0 );
-	}
-	float w1( float a ) {
-		return ( 1.0 / 6.0 ) * ( a *  a * ( 3.0 * a - 6.0 ) + 4.0 );
-	}
-	float w2( float a ){
-		return ( 1.0 / 6.0 ) * ( a * ( a * ( - 3.0 * a + 3.0 ) + 3.0 ) + 1.0 );
-	}
-	float w3( float a ) {
-		return ( 1.0 / 6.0 ) * ( a * a * a );
-	}
-	float g0( float a ) {
-		return w0( a ) + w1( a );
-	}
-	float g1( float a ) {
-		return w2( a ) + w3( a );
-	}
-	float h0( float a ) {
-		return - 1.0 + w1( a ) / ( w0( a ) + w1( a ) );
-	}
-	float h1( float a ) {
-		return 1.0 + w3( a ) / ( w2( a ) + w3( a ) );
-	}
-	vec4 bicubic( sampler2D tex, vec2 uv, vec4 texelSize, float lod ) {
-		uv = uv * texelSize.zw + 0.5;
-		vec2 iuv = floor( uv );
-		vec2 fuv = fract( uv );
-		float g0x = g0( fuv.x );
-		float g1x = g1( fuv.x );
-		float h0x = h0( fuv.x );
-		float h1x = h1( fuv.x );
-		float h0y = h0( fuv.y );
-		float h1y = h1( fuv.y );
-		vec2 p0 = ( vec2( iuv.x + h0x, iuv.y + h0y ) - 0.5 ) * texelSize.xy;
-		vec2 p1 = ( vec2( iuv.x + h1x, iuv.y + h0y ) - 0.5 ) * texelSize.xy;
-		vec2 p2 = ( vec2( iuv.x + h0x, iuv.y + h1y ) - 0.5 ) * texelSize.xy;
-		vec2 p3 = ( vec2( iuv.x + h1x, iuv.y + h1y ) - 0.5 ) * texelSize.xy;
-		return g0( fuv.y ) * ( g0x * textureLod( tex, p0, lod ) + g1x * textureLod( tex, p1, lod ) ) +
-			g1( fuv.y ) * ( g0x * textureLod( tex, p2, lod ) + g1x * textureLod( tex, p3, lod ) );
-	}
-	vec4 textureBicubic( sampler2D sampler, vec2 uv, float lod ) {
-		vec2 fLodSize = vec2( textureSize( sampler, int( lod ) ) );
-		vec2 cLodSize = vec2( textureSize( sampler, int( lod + 1.0 ) ) );
-		vec2 fLodSizeInv = 1.0 / fLodSize;
-		vec2 cLodSizeInv = 1.0 / cLodSize;
-		vec4 fSample = bicubic( sampler, uv, vec4( fLodSizeInv, fLodSize ), floor( lod ) );
-		vec4 cSample = bicubic( sampler, uv, vec4( cLodSizeInv, cLodSize ), ceil( lod ) );
-		return mix( fSample, cSample, fract( lod ) );
-	}
-	vec3 getVolumeTransmissionRay( const in vec3 n, const in vec3 v, const in float thickness, const in float ior, const in mat4 modelMatrix ) {
-		vec3 refractionVector = refract( - v, normalize( n ), 1.0 / ior );
-		vec3 modelScale;
-		modelScale.x = length( vec3( modelMatrix[ 0 ].xyz ) );
-		modelScale.y = length( vec3( modelMatrix[ 1 ].xyz ) );
-		modelScale.z = length( vec3( modelMatrix[ 2 ].xyz ) );
-		return normalize( refractionVector ) * thickness * modelScale;
-	}
-	float applyIorToRoughness( const in float roughness, const in float ior ) {
-		return roughness * clamp( ior * 2.0 - 2.0, 0.0, 1.0 );
-	}
-	vec4 getTransmissionSample( const in vec2 fragCoord, const in float roughness, const in float ior ) {
-		float lod = log2( transmissionSamplerSize.x ) * applyIorToRoughness( roughness, ior );
-		return textureBicubic( transmissionSamplerMap, fragCoord.xy, lod );
-	}
-	vec3 volumeAttenuation( const in float transmissionDistance, const in vec3 attenuationColor, const in float attenuationDistance ) {
-		if ( isinf( attenuationDistance ) ) {
-			return vec3( 1.0 );
-		} else {
-			vec3 attenuationCoefficient = -log( attenuationColor ) / attenuationDistance;
-			vec3 transmittance = exp( - attenuationCoefficient * transmissionDistance );			return transmittance;
-		}
-	}
-	vec4 getIBLVolumeRefraction( const in vec3 n, const in vec3 v, const in float roughness, const in vec3 diffuseColor,
-		const in vec3 specularColor, const in float specularF90, const in vec3 position, const in mat4 modelMatrix,
-		const in mat4 viewMatrix, const in mat4 projMatrix, const in float dispersion, const in float ior, const in float thickness,
-		const in vec3 attenuationColor, const in float attenuationDistance ) {
-		vec4 transmittedLight;
-		vec3 transmittance;
-		#ifdef USE_DISPERSION
-			float halfSpread = ( ior - 1.0 ) * 0.025 * dispersion;
-			vec3 iors = vec3( ior - halfSpread, ior, ior + halfSpread );
-			for ( int i = 0; i < 3; i ++ ) {
-				vec3 transmissionRay = getVolumeTransmissionRay( n, v, thickness, iors[ i ], modelMatrix );
-				vec3 refractedRayExit = position + transmissionRay;
-				vec4 ndcPos = projMatrix * viewMatrix * vec4( refractedRayExit, 1.0 );
-				vec2 refractionCoords = ndcPos.xy / ndcPos.w;
-				refractionCoords += 1.0;
-				refractionCoords /= 2.0;
-				vec4 transmissionSample = getTransmissionSample( refractionCoords, roughness, iors[ i ] );
-				transmittedLight[ i ] = transmissionSample[ i ];
-				transmittedLight.a += transmissionSample.a;
-				transmittance[ i ] = diffuseColor[ i ] * volumeAttenuation( length( transmissionRay ), attenuationColor, attenuationDistance )[ i ];
-			}
-			transmittedLight.a /= 3.0;
-		#else
-			vec3 transmissionRay = getVolumeTransmissionRay( n, v, thickness, ior, modelMatrix );
-			vec3 refractedRayExit = position + transmissionRay;
-			vec4 ndcPos = projMatrix * viewMatrix * vec4( refractedRayExit, 1.0 );
-			vec2 refractionCoords = ndcPos.xy / ndcPos.w;
-			refractionCoords += 1.0;
-			refractionCoords /= 2.0;
-			transmittedLight = getTransmissionSample( refractionCoords, roughness, ior );
-			transmittance = diffuseColor * volumeAttenuation( length( transmissionRay ), attenuationColor, attenuationDistance );
-		#endif
-		vec3 attenuatedColor = transmittance * transmittedLight.rgb;
-		vec3 F = EnvironmentBRDF( n, v, specularColor, specularF90, roughness );
-		float transmittanceFactor = ( transmittance.r + transmittance.g + transmittance.b ) / 3.0;
-		return vec4( ( 1.0 - F ) * attenuatedColor, 1.0 - ( 1.0 - transmittedLight.a ) * transmittanceFactor );
-	}
-#endif`,uv_pars_fragment:`#if defined( USE_UV ) || defined( USE_ANISOTROPY )
-	varying vec2 vUv;
-#endif
-#ifdef USE_MAP
-	varying vec2 vMapUv;
-#endif
-#ifdef USE_ALPHAMAP
-	varying vec2 vAlphaMapUv;
-#endif
-#ifdef USE_LIGHTMAP
-	varying vec2 vLightMapUv;
-#endif
-#ifdef USE_AOMAP
-	varying vec2 vAoMapUv;
-#endif
-#ifdef USE_BUMPMAP
-	varying vec2 vBumpMapUv;
-#endif
-#ifdef USE_NORMALMAP
-	varying vec2 vNormalMapUv;
-#endif
-#ifdef USE_EMISSIVEMAP
-	varying vec2 vEmissiveMapUv;
-#endif
-#ifdef USE_METALNESSMAP
-	varying vec2 vMetalnessMapUv;
-#endif
-#ifdef USE_ROUGHNESSMAP
-	varying vec2 vRoughnessMapUv;
-#endif
-#ifdef USE_ANISOTROPYMAP
-	varying vec2 vAnisotropyMapUv;
-#endif
-#ifdef USE_CLEARCOATMAP
-	varying vec2 vClearcoatMapUv;
-#endif
-#ifdef USE_CLEARCOAT_NORMALMAP
-	varying vec2 vClearcoatNormalMapUv;
-#endif
-#ifdef USE_CLEARCOAT_ROUGHNESSMAP
-	varying vec2 vClearcoatRoughnessMapUv;
-#endif
-#ifdef USE_IRIDESCENCEMAP
-	varying vec2 vIridescenceMapUv;
-#endif
-#ifdef USE_IRIDESCENCE_THICKNESSMAP
-	varying vec2 vIridescenceThicknessMapUv;
-#endif
-#ifdef USE_SHEEN_COLORMAP
-	varying vec2 vSheenColorMapUv;
-#endif
-#ifdef USE_SHEEN_ROUGHNESSMAP
-	varying vec2 vSheenRoughnessMapUv;
-#endif
-#ifdef USE_SPECULARMAP
-	varying vec2 vSpecularMapUv;
-#endif
-#ifdef USE_SPECULAR_COLORMAP
-	varying vec2 vSpecularColorMapUv;
-#endif
-#ifdef USE_SPECULAR_INTENSITYMAP
-	varying vec2 vSpecularIntensityMapUv;
-#endif
-#ifdef USE_TRANSMISSIONMAP
-	uniform mat3 transmissionMapTransform;
-	varying vec2 vTransmissionMapUv;
-#endif
-#ifdef USE_THICKNESSMAP
-	uniform mat3 thicknessMapTransform;
-	varying vec2 vThicknessMapUv;
-#endif`,uv_pars_vertex:`#if defined( USE_UV ) || defined( USE_ANISOTROPY )
-	varying vec2 vUv;
-#endif
-#ifdef USE_MAP
-	uniform mat3 mapTransform;
-	varying vec2 vMapUv;
-#endif
-#ifdef USE_ALPHAMAP
-	uniform mat3 alphaMapTransform;
-	varying vec2 vAlphaMapUv;
-#endif
-#ifdef USE_LIGHTMAP
-	uniform mat3 lightMapTransform;
-	varying vec2 vLightMapUv;
-#endif
-#ifdef USE_AOMAP
-	uniform mat3 aoMapTransform;
-	varying vec2 vAoMapUv;
-#endif
-#ifdef USE_BUMPMAP
-	uniform mat3 bumpMapTransform;
-	varying vec2 vBumpMapUv;
-#endif
-#ifdef USE_NORMALMAP
-	uniform mat3 normalMapTransform;
-	varying vec2 vNormalMapUv;
-#endif
-#ifdef USE_DISPLACEMENTMAP
-	uniform mat3 displacementMapTransform;
-	varying vec2 vDisplacementMapUv;
-#endif
-#ifdef USE_EMISSIVEMAP
-	uniform mat3 emissiveMapTransform;
-	varying vec2 vEmissiveMapUv;
-#endif
-#ifdef USE_METALNESSMAP
-	uniform mat3 metalnessMapTransform;
-	varying vec2 vMetalnessMapUv;
-#endif
-#ifdef USE_ROUGHNESSMAP
-	uniform mat3 roughnessMapTransform;
-	varying vec2 vRoughnessMapUv;
-#endif
-#ifdef USE_ANISOTROPYMAP
-	uniform mat3 anisotropyMapTransform;
-	varying vec2 vAnisotropyMapUv;
-#endif
-#ifdef USE_CLEARCOATMAP
-	uniform mat3 clearcoatMapTransform;
-	varying vec2 vClearcoatMapUv;
-#endif
-#ifdef USE_CLEARCOAT_NORMALMAP
-	uniform mat3 clearcoatNormalMapTransform;
-	varying vec2 vClearcoatNormalMapUv;
-#endif
-#ifdef USE_CLEARCOAT_ROUGHNESSMAP
-	uniform mat3 clearcoatRoughnessMapTransform;
-	varying vec2 vClearcoatRoughnessMapUv;
-#endif
-#ifdef USE_SHEEN_COLORMAP
-	uniform mat3 sheenColorMapTransform;
-	varying vec2 vSheenColorMapUv;
-#endif
-#ifdef USE_SHEEN_ROUGHNESSMAP
-	uniform mat3 sheenRoughnessMapTransform;
-	varying vec2 vSheenRoughnessMapUv;
-#endif
-#ifdef USE_IRIDESCENCEMAP
-	uniform mat3 iridescenceMapTransform;
-	varying vec2 vIridescenceMapUv;
-#endif
-#ifdef USE_IRIDESCENCE_THICKNESSMAP
-	uniform mat3 iridescenceThicknessMapTransform;
-	varying vec2 vIridescenceThicknessMapUv;
-#endif
-#ifdef USE_SPECULARMAP
-	uniform mat3 specularMapTransform;
-	varying vec2 vSpecularMapUv;
-#endif
-#ifdef USE_SPECULAR_COLORMAP
-	uniform mat3 specularColorMapTransform;
-	varying vec2 vSpecularColorMapUv;
-#endif
-#ifdef USE_SPECULAR_INTENSITYMAP
-	uniform mat3 specularIntensityMapTransform;
-	varying vec2 vSpecularIntensityMapUv;
-#endif
-#ifdef USE_TRANSMISSIONMAP
-	uniform mat3 transmissionMapTransform;
-	varying vec2 vTransmissionMapUv;
-#endif
-#ifdef USE_THICKNESSMAP
-	uniform mat3 thicknessMapTransform;
-	varying vec2 vThicknessMapUv;
-#endif`,uv_vertex:`#if defined( USE_UV ) || defined( USE_ANISOTROPY )
-	vUv = vec3( uv, 1 ).xy;
-#endif
-#ifdef USE_MAP
-	vMapUv = ( mapTransform * vec3( MAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_ALPHAMAP
-	vAlphaMapUv = ( alphaMapTransform * vec3( ALPHAMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_LIGHTMAP
-	vLightMapUv = ( lightMapTransform * vec3( LIGHTMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_AOMAP
-	vAoMapUv = ( aoMapTransform * vec3( AOMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_BUMPMAP
-	vBumpMapUv = ( bumpMapTransform * vec3( BUMPMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_NORMALMAP
-	vNormalMapUv = ( normalMapTransform * vec3( NORMALMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_DISPLACEMENTMAP
-	vDisplacementMapUv = ( displacementMapTransform * vec3( DISPLACEMENTMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_EMISSIVEMAP
-	vEmissiveMapUv = ( emissiveMapTransform * vec3( EMISSIVEMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_METALNESSMAP
-	vMetalnessMapUv = ( metalnessMapTransform * vec3( METALNESSMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_ROUGHNESSMAP
-	vRoughnessMapUv = ( roughnessMapTransform * vec3( ROUGHNESSMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_ANISOTROPYMAP
-	vAnisotropyMapUv = ( anisotropyMapTransform * vec3( ANISOTROPYMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_CLEARCOATMAP
-	vClearcoatMapUv = ( clearcoatMapTransform * vec3( CLEARCOATMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_CLEARCOAT_NORMALMAP
-	vClearcoatNormalMapUv = ( clearcoatNormalMapTransform * vec3( CLEARCOAT_NORMALMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_CLEARCOAT_ROUGHNESSMAP
-	vClearcoatRoughnessMapUv = ( clearcoatRoughnessMapTransform * vec3( CLEARCOAT_ROUGHNESSMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_IRIDESCENCEMAP
-	vIridescenceMapUv = ( iridescenceMapTransform * vec3( IRIDESCENCEMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_IRIDESCENCE_THICKNESSMAP
-	vIridescenceThicknessMapUv = ( iridescenceThicknessMapTransform * vec3( IRIDESCENCE_THICKNESSMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_SHEEN_COLORMAP
-	vSheenColorMapUv = ( sheenColorMapTransform * vec3( SHEEN_COLORMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_SHEEN_ROUGHNESSMAP
-	vSheenRoughnessMapUv = ( sheenRoughnessMapTransform * vec3( SHEEN_ROUGHNESSMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_SPECULARMAP
-	vSpecularMapUv = ( specularMapTransform * vec3( SPECULARMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_SPECULAR_COLORMAP
-	vSpecularColorMapUv = ( specularColorMapTransform * vec3( SPECULAR_COLORMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_SPECULAR_INTENSITYMAP
-	vSpecularIntensityMapUv = ( specularIntensityMapTransform * vec3( SPECULAR_INTENSITYMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_TRANSMISSIONMAP
-	vTransmissionMapUv = ( transmissionMapTransform * vec3( TRANSMISSIONMAP_UV, 1 ) ).xy;
-#endif
-#ifdef USE_THICKNESSMAP
-	vThicknessMapUv = ( thicknessMapTransform * vec3( THICKNESSMAP_UV, 1 ) ).xy;
-#endif`,worldpos_vertex:`#if defined( USE_ENVMAP ) || defined( DISTANCE ) || defined ( USE_SHADOWMAP ) || defined ( USE_TRANSMISSION ) || NUM_SPOT_LIGHT_COORDS > 0
-	vec4 worldPosition = vec4( transformed, 1.0 );
-	#ifdef USE_BATCHING
-		worldPosition = batchingMatrix * worldPosition;
-	#endif
-	#ifdef USE_INSTANCING
-		worldPosition = instanceMatrix * worldPosition;
-	#endif
-	worldPosition = modelMatrix * worldPosition;
-#endif`,background_vert:`varying vec2 vUv;
-uniform mat3 uvTransform;
-void main() {
-	vUv = ( uvTransform * vec3( uv, 1 ) ).xy;
-	gl_Position = vec4( position.xy, 1.0, 1.0 );
-}`,background_frag:`uniform sampler2D t2D;
-uniform float backgroundIntensity;
-varying vec2 vUv;
-void main() {
-	vec4 texColor = texture2D( t2D, vUv );
-	#ifdef DECODE_VIDEO_TEXTURE
-		texColor = vec4( mix( pow( texColor.rgb * 0.9478672986 + vec3( 0.0521327014 ), vec3( 2.4 ) ), texColor.rgb * 0.0773993808, vec3( lessThanEqual( texColor.rgb, vec3( 0.04045 ) ) ) ), texColor.w );
-	#endif
-	texColor.rgb *= backgroundIntensity;
-	gl_FragColor = texColor;
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-}`,backgroundCube_vert:`varying vec3 vWorldDirection;
-#include <common>
-void main() {
-	vWorldDirection = transformDirection( position, modelMatrix );
-	#include <begin_vertex>
-	#include <project_vertex>
-	gl_Position.z = gl_Position.w;
-}`,backgroundCube_frag:`#ifdef ENVMAP_TYPE_CUBE
-	uniform samplerCube envMap;
-#elif defined( ENVMAP_TYPE_CUBE_UV )
-	uniform sampler2D envMap;
-#endif
-uniform float flipEnvMap;
-uniform float backgroundBlurriness;
-uniform float backgroundIntensity;
-uniform mat3 backgroundRotation;
-varying vec3 vWorldDirection;
-#include <cube_uv_reflection_fragment>
-void main() {
-	#ifdef ENVMAP_TYPE_CUBE
-		vec4 texColor = textureCube( envMap, backgroundRotation * vec3( flipEnvMap * vWorldDirection.x, vWorldDirection.yz ) );
-	#elif defined( ENVMAP_TYPE_CUBE_UV )
-		vec4 texColor = textureCubeUV( envMap, backgroundRotation * vWorldDirection, backgroundBlurriness );
-	#else
-		vec4 texColor = vec4( 0.0, 0.0, 0.0, 1.0 );
-	#endif
-	texColor.rgb *= backgroundIntensity;
-	gl_FragColor = texColor;
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-}`,cube_vert:`varying vec3 vWorldDirection;
-#include <common>
-void main() {
-	vWorldDirection = transformDirection( position, modelMatrix );
-	#include <begin_vertex>
-	#include <project_vertex>
-	gl_Position.z = gl_Position.w;
-}`,cube_frag:`uniform samplerCube tCube;
-uniform float tFlip;
-uniform float opacity;
-varying vec3 vWorldDirection;
-void main() {
-	vec4 texColor = textureCube( tCube, vec3( tFlip * vWorldDirection.x, vWorldDirection.yz ) );
-	gl_FragColor = texColor;
-	gl_FragColor.a *= opacity;
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-}`,depth_vert:`#include <common>
-#include <batching_pars_vertex>
-#include <uv_pars_vertex>
-#include <displacementmap_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-varying vec2 vHighPrecisionZW;
-void main() {
-	#include <uv_vertex>
-	#include <batching_vertex>
-	#include <skinbase_vertex>
-	#include <morphinstance_vertex>
-	#ifdef USE_DISPLACEMENTMAP
-		#include <beginnormal_vertex>
-		#include <morphnormal_vertex>
-		#include <skinnormal_vertex>
-	#endif
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <displacementmap_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	vHighPrecisionZW = gl_Position.zw;
-}`,depth_frag:`#if DEPTH_PACKING == 3200
-	uniform float opacity;
-#endif
-#include <common>
-#include <packing>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <alphamap_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-varying vec2 vHighPrecisionZW;
-void main() {
-	vec4 diffuseColor = vec4( 1.0 );
-	#include <clipping_planes_fragment>
-	#if DEPTH_PACKING == 3200
-		diffuseColor.a = opacity;
-	#endif
-	#include <map_fragment>
-	#include <alphamap_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	#include <logdepthbuf_fragment>
-	float fragCoordZ = 0.5 * vHighPrecisionZW[0] / vHighPrecisionZW[1] + 0.5;
-	#if DEPTH_PACKING == 3200
-		gl_FragColor = vec4( vec3( 1.0 - fragCoordZ ), opacity );
-	#elif DEPTH_PACKING == 3201
-		gl_FragColor = packDepthToRGBA( fragCoordZ );
-	#elif DEPTH_PACKING == 3202
-		gl_FragColor = vec4( packDepthToRGB( fragCoordZ ), 1.0 );
-	#elif DEPTH_PACKING == 3203
-		gl_FragColor = vec4( packDepthToRG( fragCoordZ ), 0.0, 1.0 );
-	#endif
-}`,distanceRGBA_vert:`#define DISTANCE
-varying vec3 vWorldPosition;
-#include <common>
-#include <batching_pars_vertex>
-#include <uv_pars_vertex>
-#include <displacementmap_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	#include <uv_vertex>
-	#include <batching_vertex>
-	#include <skinbase_vertex>
-	#include <morphinstance_vertex>
-	#ifdef USE_DISPLACEMENTMAP
-		#include <beginnormal_vertex>
-		#include <morphnormal_vertex>
-		#include <skinnormal_vertex>
-	#endif
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <displacementmap_vertex>
-	#include <project_vertex>
-	#include <worldpos_vertex>
-	#include <clipping_planes_vertex>
-	vWorldPosition = worldPosition.xyz;
-}`,distanceRGBA_frag:`#define DISTANCE
-uniform vec3 referencePosition;
-uniform float nearDistance;
-uniform float farDistance;
-varying vec3 vWorldPosition;
-#include <common>
-#include <packing>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <alphamap_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main () {
-	vec4 diffuseColor = vec4( 1.0 );
-	#include <clipping_planes_fragment>
-	#include <map_fragment>
-	#include <alphamap_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	float dist = length( vWorldPosition - referencePosition );
-	dist = ( dist - nearDistance ) / ( farDistance - nearDistance );
-	dist = saturate( dist );
-	gl_FragColor = packDepthToRGBA( dist );
-}`,equirect_vert:`varying vec3 vWorldDirection;
-#include <common>
-void main() {
-	vWorldDirection = transformDirection( position, modelMatrix );
-	#include <begin_vertex>
-	#include <project_vertex>
-}`,equirect_frag:`uniform sampler2D tEquirect;
-varying vec3 vWorldDirection;
-#include <common>
-void main() {
-	vec3 direction = normalize( vWorldDirection );
-	vec2 sampleUV = equirectUv( direction );
-	gl_FragColor = texture2D( tEquirect, sampleUV );
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-}`,linedashed_vert:`uniform float scale;
-attribute float lineDistance;
-varying float vLineDistance;
-#include <common>
-#include <uv_pars_vertex>
-#include <color_pars_vertex>
-#include <fog_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	vLineDistance = scale * lineDistance;
-	#include <uv_vertex>
-	#include <color_vertex>
-	#include <morphinstance_vertex>
-	#include <morphcolor_vertex>
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	#include <fog_vertex>
-}`,linedashed_frag:`uniform vec3 diffuse;
-uniform float opacity;
-uniform float dashSize;
-uniform float totalSize;
-varying float vLineDistance;
-#include <common>
-#include <color_pars_fragment>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <fog_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( diffuse, opacity );
-	#include <clipping_planes_fragment>
-	if ( mod( vLineDistance, totalSize ) > dashSize ) {
-		discard;
-	}
-	vec3 outgoingLight = vec3( 0.0 );
-	#include <logdepthbuf_fragment>
-	#include <map_fragment>
-	#include <color_fragment>
-	outgoingLight = diffuseColor.rgb;
-	#include <opaque_fragment>
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-	#include <premultiplied_alpha_fragment>
-}`,meshbasic_vert:`#include <common>
-#include <batching_pars_vertex>
-#include <uv_pars_vertex>
-#include <envmap_pars_vertex>
-#include <color_pars_vertex>
-#include <fog_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	#include <uv_vertex>
-	#include <color_vertex>
-	#include <morphinstance_vertex>
-	#include <morphcolor_vertex>
-	#include <batching_vertex>
-	#if defined ( USE_ENVMAP ) || defined ( USE_SKINNING )
-		#include <beginnormal_vertex>
-		#include <morphnormal_vertex>
-		#include <skinbase_vertex>
-		#include <skinnormal_vertex>
-		#include <defaultnormal_vertex>
-	#endif
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	#include <worldpos_vertex>
-	#include <envmap_vertex>
-	#include <fog_vertex>
-}`,meshbasic_frag:`uniform vec3 diffuse;
-uniform float opacity;
-#ifndef FLAT_SHADED
-	varying vec3 vNormal;
-#endif
-#include <common>
-#include <dithering_pars_fragment>
-#include <color_pars_fragment>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <alphamap_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <aomap_pars_fragment>
-#include <lightmap_pars_fragment>
-#include <envmap_common_pars_fragment>
-#include <envmap_pars_fragment>
-#include <fog_pars_fragment>
-#include <specularmap_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( diffuse, opacity );
-	#include <clipping_planes_fragment>
-	#include <logdepthbuf_fragment>
-	#include <map_fragment>
-	#include <color_fragment>
-	#include <alphamap_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	#include <specularmap_fragment>
-	ReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );
-	#ifdef USE_LIGHTMAP
-		vec4 lightMapTexel = texture2D( lightMap, vLightMapUv );
-		reflectedLight.indirectDiffuse += lightMapTexel.rgb * lightMapIntensity * RECIPROCAL_PI;
-	#else
-		reflectedLight.indirectDiffuse += vec3( 1.0 );
-	#endif
-	#include <aomap_fragment>
-	reflectedLight.indirectDiffuse *= diffuseColor.rgb;
-	vec3 outgoingLight = reflectedLight.indirectDiffuse;
-	#include <envmap_fragment>
-	#include <opaque_fragment>
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-	#include <premultiplied_alpha_fragment>
-	#include <dithering_fragment>
-}`,meshlambert_vert:`#define LAMBERT
-varying vec3 vViewPosition;
-#include <common>
-#include <batching_pars_vertex>
-#include <uv_pars_vertex>
-#include <displacementmap_pars_vertex>
-#include <envmap_pars_vertex>
-#include <color_pars_vertex>
-#include <fog_pars_vertex>
-#include <normal_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <shadowmap_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	#include <uv_vertex>
-	#include <color_vertex>
-	#include <morphinstance_vertex>
-	#include <morphcolor_vertex>
-	#include <batching_vertex>
-	#include <beginnormal_vertex>
-	#include <morphnormal_vertex>
-	#include <skinbase_vertex>
-	#include <skinnormal_vertex>
-	#include <defaultnormal_vertex>
-	#include <normal_vertex>
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <displacementmap_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	vViewPosition = - mvPosition.xyz;
-	#include <worldpos_vertex>
-	#include <envmap_vertex>
-	#include <shadowmap_vertex>
-	#include <fog_vertex>
-}`,meshlambert_frag:`#define LAMBERT
-uniform vec3 diffuse;
-uniform vec3 emissive;
-uniform float opacity;
-#include <common>
-#include <packing>
-#include <dithering_pars_fragment>
-#include <color_pars_fragment>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <alphamap_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <aomap_pars_fragment>
-#include <lightmap_pars_fragment>
-#include <emissivemap_pars_fragment>
-#include <envmap_common_pars_fragment>
-#include <envmap_pars_fragment>
-#include <fog_pars_fragment>
-#include <bsdfs>
-#include <lights_pars_begin>
-#include <normal_pars_fragment>
-#include <lights_lambert_pars_fragment>
-#include <shadowmap_pars_fragment>
-#include <bumpmap_pars_fragment>
-#include <normalmap_pars_fragment>
-#include <specularmap_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( diffuse, opacity );
-	#include <clipping_planes_fragment>
-	ReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );
-	vec3 totalEmissiveRadiance = emissive;
-	#include <logdepthbuf_fragment>
-	#include <map_fragment>
-	#include <color_fragment>
-	#include <alphamap_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	#include <specularmap_fragment>
-	#include <normal_fragment_begin>
-	#include <normal_fragment_maps>
-	#include <emissivemap_fragment>
-	#include <lights_lambert_fragment>
-	#include <lights_fragment_begin>
-	#include <lights_fragment_maps>
-	#include <lights_fragment_end>
-	#include <aomap_fragment>
-	vec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + totalEmissiveRadiance;
-	#include <envmap_fragment>
-	#include <opaque_fragment>
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-	#include <premultiplied_alpha_fragment>
-	#include <dithering_fragment>
-}`,meshmatcap_vert:`#define MATCAP
-varying vec3 vViewPosition;
-#include <common>
-#include <batching_pars_vertex>
-#include <uv_pars_vertex>
-#include <color_pars_vertex>
-#include <displacementmap_pars_vertex>
-#include <fog_pars_vertex>
-#include <normal_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	#include <uv_vertex>
-	#include <color_vertex>
-	#include <morphinstance_vertex>
-	#include <morphcolor_vertex>
-	#include <batching_vertex>
-	#include <beginnormal_vertex>
-	#include <morphnormal_vertex>
-	#include <skinbase_vertex>
-	#include <skinnormal_vertex>
-	#include <defaultnormal_vertex>
-	#include <normal_vertex>
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <displacementmap_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	#include <fog_vertex>
-	vViewPosition = - mvPosition.xyz;
-}`,meshmatcap_frag:`#define MATCAP
-uniform vec3 diffuse;
-uniform float opacity;
-uniform sampler2D matcap;
-varying vec3 vViewPosition;
-#include <common>
-#include <dithering_pars_fragment>
-#include <color_pars_fragment>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <alphamap_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <fog_pars_fragment>
-#include <normal_pars_fragment>
-#include <bumpmap_pars_fragment>
-#include <normalmap_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( diffuse, opacity );
-	#include <clipping_planes_fragment>
-	#include <logdepthbuf_fragment>
-	#include <map_fragment>
-	#include <color_fragment>
-	#include <alphamap_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	#include <normal_fragment_begin>
-	#include <normal_fragment_maps>
-	vec3 viewDir = normalize( vViewPosition );
-	vec3 x = normalize( vec3( viewDir.z, 0.0, - viewDir.x ) );
-	vec3 y = cross( viewDir, x );
-	vec2 uv = vec2( dot( x, normal ), dot( y, normal ) ) * 0.495 + 0.5;
-	#ifdef USE_MATCAP
-		vec4 matcapColor = texture2D( matcap, uv );
-	#else
-		vec4 matcapColor = vec4( vec3( mix( 0.2, 0.8, uv.y ) ), 1.0 );
-	#endif
-	vec3 outgoingLight = diffuseColor.rgb * matcapColor.rgb;
-	#include <opaque_fragment>
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-	#include <premultiplied_alpha_fragment>
-	#include <dithering_fragment>
-}`,meshnormal_vert:`#define NORMAL
-#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP_TANGENTSPACE )
-	varying vec3 vViewPosition;
-#endif
-#include <common>
-#include <batching_pars_vertex>
-#include <uv_pars_vertex>
-#include <displacementmap_pars_vertex>
-#include <normal_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	#include <uv_vertex>
-	#include <batching_vertex>
-	#include <beginnormal_vertex>
-	#include <morphinstance_vertex>
-	#include <morphnormal_vertex>
-	#include <skinbase_vertex>
-	#include <skinnormal_vertex>
-	#include <defaultnormal_vertex>
-	#include <normal_vertex>
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <displacementmap_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP_TANGENTSPACE )
-	vViewPosition = - mvPosition.xyz;
-#endif
-}`,meshnormal_frag:`#define NORMAL
-uniform float opacity;
-#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP_TANGENTSPACE )
-	varying vec3 vViewPosition;
-#endif
-#include <packing>
-#include <uv_pars_fragment>
-#include <normal_pars_fragment>
-#include <bumpmap_pars_fragment>
-#include <normalmap_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( 0.0, 0.0, 0.0, opacity );
-	#include <clipping_planes_fragment>
-	#include <logdepthbuf_fragment>
-	#include <normal_fragment_begin>
-	#include <normal_fragment_maps>
-	gl_FragColor = vec4( packNormalToRGB( normal ), diffuseColor.a );
-	#ifdef OPAQUE
-		gl_FragColor.a = 1.0;
-	#endif
-}`,meshphong_vert:`#define PHONG
-varying vec3 vViewPosition;
-#include <common>
-#include <batching_pars_vertex>
-#include <uv_pars_vertex>
-#include <displacementmap_pars_vertex>
-#include <envmap_pars_vertex>
-#include <color_pars_vertex>
-#include <fog_pars_vertex>
-#include <normal_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <shadowmap_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	#include <uv_vertex>
-	#include <color_vertex>
-	#include <morphcolor_vertex>
-	#include <batching_vertex>
-	#include <beginnormal_vertex>
-	#include <morphinstance_vertex>
-	#include <morphnormal_vertex>
-	#include <skinbase_vertex>
-	#include <skinnormal_vertex>
-	#include <defaultnormal_vertex>
-	#include <normal_vertex>
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <displacementmap_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	vViewPosition = - mvPosition.xyz;
-	#include <worldpos_vertex>
-	#include <envmap_vertex>
-	#include <shadowmap_vertex>
-	#include <fog_vertex>
-}`,meshphong_frag:`#define PHONG
-uniform vec3 diffuse;
-uniform vec3 emissive;
-uniform vec3 specular;
-uniform float shininess;
-uniform float opacity;
-#include <common>
-#include <packing>
-#include <dithering_pars_fragment>
-#include <color_pars_fragment>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <alphamap_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <aomap_pars_fragment>
-#include <lightmap_pars_fragment>
-#include <emissivemap_pars_fragment>
-#include <envmap_common_pars_fragment>
-#include <envmap_pars_fragment>
-#include <fog_pars_fragment>
-#include <bsdfs>
-#include <lights_pars_begin>
-#include <normal_pars_fragment>
-#include <lights_phong_pars_fragment>
-#include <shadowmap_pars_fragment>
-#include <bumpmap_pars_fragment>
-#include <normalmap_pars_fragment>
-#include <specularmap_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( diffuse, opacity );
-	#include <clipping_planes_fragment>
-	ReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );
-	vec3 totalEmissiveRadiance = emissive;
-	#include <logdepthbuf_fragment>
-	#include <map_fragment>
-	#include <color_fragment>
-	#include <alphamap_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	#include <specularmap_fragment>
-	#include <normal_fragment_begin>
-	#include <normal_fragment_maps>
-	#include <emissivemap_fragment>
-	#include <lights_phong_fragment>
-	#include <lights_fragment_begin>
-	#include <lights_fragment_maps>
-	#include <lights_fragment_end>
-	#include <aomap_fragment>
-	vec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + reflectedLight.directSpecular + reflectedLight.indirectSpecular + totalEmissiveRadiance;
-	#include <envmap_fragment>
-	#include <opaque_fragment>
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-	#include <premultiplied_alpha_fragment>
-	#include <dithering_fragment>
-}`,meshphysical_vert:`#define STANDARD
-varying vec3 vViewPosition;
-#ifdef USE_TRANSMISSION
-	varying vec3 vWorldPosition;
-#endif
-#include <common>
-#include <batching_pars_vertex>
-#include <uv_pars_vertex>
-#include <displacementmap_pars_vertex>
-#include <color_pars_vertex>
-#include <fog_pars_vertex>
-#include <normal_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <shadowmap_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	#include <uv_vertex>
-	#include <color_vertex>
-	#include <morphinstance_vertex>
-	#include <morphcolor_vertex>
-	#include <batching_vertex>
-	#include <beginnormal_vertex>
-	#include <morphnormal_vertex>
-	#include <skinbase_vertex>
-	#include <skinnormal_vertex>
-	#include <defaultnormal_vertex>
-	#include <normal_vertex>
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <displacementmap_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	vViewPosition = - mvPosition.xyz;
-	#include <worldpos_vertex>
-	#include <shadowmap_vertex>
-	#include <fog_vertex>
-#ifdef USE_TRANSMISSION
-	vWorldPosition = worldPosition.xyz;
-#endif
-}`,meshphysical_frag:`#define STANDARD
-#ifdef PHYSICAL
-	#define IOR
-	#define USE_SPECULAR
-#endif
-uniform vec3 diffuse;
-uniform vec3 emissive;
-uniform float roughness;
-uniform float metalness;
-uniform float opacity;
-#ifdef IOR
-	uniform float ior;
-#endif
-#ifdef USE_SPECULAR
-	uniform float specularIntensity;
-	uniform vec3 specularColor;
-	#ifdef USE_SPECULAR_COLORMAP
-		uniform sampler2D specularColorMap;
-	#endif
-	#ifdef USE_SPECULAR_INTENSITYMAP
-		uniform sampler2D specularIntensityMap;
-	#endif
-#endif
-#ifdef USE_CLEARCOAT
-	uniform float clearcoat;
-	uniform float clearcoatRoughness;
-#endif
-#ifdef USE_DISPERSION
-	uniform float dispersion;
-#endif
-#ifdef USE_IRIDESCENCE
-	uniform float iridescence;
-	uniform float iridescenceIOR;
-	uniform float iridescenceThicknessMinimum;
-	uniform float iridescenceThicknessMaximum;
-#endif
-#ifdef USE_SHEEN
-	uniform vec3 sheenColor;
-	uniform float sheenRoughness;
-	#ifdef USE_SHEEN_COLORMAP
-		uniform sampler2D sheenColorMap;
-	#endif
-	#ifdef USE_SHEEN_ROUGHNESSMAP
-		uniform sampler2D sheenRoughnessMap;
-	#endif
-#endif
-#ifdef USE_ANISOTROPY
-	uniform vec2 anisotropyVector;
-	#ifdef USE_ANISOTROPYMAP
-		uniform sampler2D anisotropyMap;
-	#endif
-#endif
-varying vec3 vViewPosition;
-#include <common>
-#include <packing>
-#include <dithering_pars_fragment>
-#include <color_pars_fragment>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <alphamap_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <aomap_pars_fragment>
-#include <lightmap_pars_fragment>
-#include <emissivemap_pars_fragment>
-#include <iridescence_fragment>
-#include <cube_uv_reflection_fragment>
-#include <envmap_common_pars_fragment>
-#include <envmap_physical_pars_fragment>
-#include <fog_pars_fragment>
-#include <lights_pars_begin>
-#include <normal_pars_fragment>
-#include <lights_physical_pars_fragment>
-#include <transmission_pars_fragment>
-#include <shadowmap_pars_fragment>
-#include <bumpmap_pars_fragment>
-#include <normalmap_pars_fragment>
-#include <clearcoat_pars_fragment>
-#include <iridescence_pars_fragment>
-#include <roughnessmap_pars_fragment>
-#include <metalnessmap_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( diffuse, opacity );
-	#include <clipping_planes_fragment>
-	ReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );
-	vec3 totalEmissiveRadiance = emissive;
-	#include <logdepthbuf_fragment>
-	#include <map_fragment>
-	#include <color_fragment>
-	#include <alphamap_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	#include <roughnessmap_fragment>
-	#include <metalnessmap_fragment>
-	#include <normal_fragment_begin>
-	#include <normal_fragment_maps>
-	#include <clearcoat_normal_fragment_begin>
-	#include <clearcoat_normal_fragment_maps>
-	#include <emissivemap_fragment>
-	#include <lights_physical_fragment>
-	#include <lights_fragment_begin>
-	#include <lights_fragment_maps>
-	#include <lights_fragment_end>
-	#include <aomap_fragment>
-	vec3 totalDiffuse = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse;
-	vec3 totalSpecular = reflectedLight.directSpecular + reflectedLight.indirectSpecular;
-	#include <transmission_fragment>
-	vec3 outgoingLight = totalDiffuse + totalSpecular + totalEmissiveRadiance;
-	#ifdef USE_SHEEN
-		float sheenEnergyComp = 1.0 - 0.157 * max3( material.sheenColor );
-		outgoingLight = outgoingLight * sheenEnergyComp + sheenSpecularDirect + sheenSpecularIndirect;
-	#endif
-	#ifdef USE_CLEARCOAT
-		float dotNVcc = saturate( dot( geometryClearcoatNormal, geometryViewDir ) );
-		vec3 Fcc = F_Schlick( material.clearcoatF0, material.clearcoatF90, dotNVcc );
-		outgoingLight = outgoingLight * ( 1.0 - material.clearcoat * Fcc ) + ( clearcoatSpecularDirect + clearcoatSpecularIndirect ) * material.clearcoat;
-	#endif
-	#include <opaque_fragment>
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-	#include <premultiplied_alpha_fragment>
-	#include <dithering_fragment>
-}`,meshtoon_vert:`#define TOON
-varying vec3 vViewPosition;
-#include <common>
-#include <batching_pars_vertex>
-#include <uv_pars_vertex>
-#include <displacementmap_pars_vertex>
-#include <color_pars_vertex>
-#include <fog_pars_vertex>
-#include <normal_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <shadowmap_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	#include <uv_vertex>
-	#include <color_vertex>
-	#include <morphinstance_vertex>
-	#include <morphcolor_vertex>
-	#include <batching_vertex>
-	#include <beginnormal_vertex>
-	#include <morphnormal_vertex>
-	#include <skinbase_vertex>
-	#include <skinnormal_vertex>
-	#include <defaultnormal_vertex>
-	#include <normal_vertex>
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <displacementmap_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	vViewPosition = - mvPosition.xyz;
-	#include <worldpos_vertex>
-	#include <shadowmap_vertex>
-	#include <fog_vertex>
-}`,meshtoon_frag:`#define TOON
-uniform vec3 diffuse;
-uniform vec3 emissive;
-uniform float opacity;
-#include <common>
-#include <packing>
-#include <dithering_pars_fragment>
-#include <color_pars_fragment>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <alphamap_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <aomap_pars_fragment>
-#include <lightmap_pars_fragment>
-#include <emissivemap_pars_fragment>
-#include <gradientmap_pars_fragment>
-#include <fog_pars_fragment>
-#include <bsdfs>
-#include <lights_pars_begin>
-#include <normal_pars_fragment>
-#include <lights_toon_pars_fragment>
-#include <shadowmap_pars_fragment>
-#include <bumpmap_pars_fragment>
-#include <normalmap_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( diffuse, opacity );
-	#include <clipping_planes_fragment>
-	ReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );
-	vec3 totalEmissiveRadiance = emissive;
-	#include <logdepthbuf_fragment>
-	#include <map_fragment>
-	#include <color_fragment>
-	#include <alphamap_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	#include <normal_fragment_begin>
-	#include <normal_fragment_maps>
-	#include <emissivemap_fragment>
-	#include <lights_toon_fragment>
-	#include <lights_fragment_begin>
-	#include <lights_fragment_maps>
-	#include <lights_fragment_end>
-	#include <aomap_fragment>
-	vec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + totalEmissiveRadiance;
-	#include <opaque_fragment>
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-	#include <premultiplied_alpha_fragment>
-	#include <dithering_fragment>
-}`,points_vert:`uniform float size;
-uniform float scale;
-#include <common>
-#include <color_pars_vertex>
-#include <fog_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-#ifdef USE_POINTS_UV
-	varying vec2 vUv;
-	uniform mat3 uvTransform;
-#endif
-void main() {
-	#ifdef USE_POINTS_UV
-		vUv = ( uvTransform * vec3( uv, 1 ) ).xy;
-	#endif
-	#include <color_vertex>
-	#include <morphinstance_vertex>
-	#include <morphcolor_vertex>
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <project_vertex>
-	gl_PointSize = size;
-	#ifdef USE_SIZEATTENUATION
-		bool isPerspective = isPerspectiveMatrix( projectionMatrix );
-		if ( isPerspective ) gl_PointSize *= ( scale / - mvPosition.z );
-	#endif
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	#include <worldpos_vertex>
-	#include <fog_vertex>
-}`,points_frag:`uniform vec3 diffuse;
-uniform float opacity;
-#include <common>
-#include <color_pars_fragment>
-#include <map_particle_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <fog_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( diffuse, opacity );
-	#include <clipping_planes_fragment>
-	vec3 outgoingLight = vec3( 0.0 );
-	#include <logdepthbuf_fragment>
-	#include <map_particle_fragment>
-	#include <color_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	outgoingLight = diffuseColor.rgb;
-	#include <opaque_fragment>
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-	#include <premultiplied_alpha_fragment>
-}`,shadow_vert:`#include <common>
-#include <batching_pars_vertex>
-#include <fog_pars_vertex>
-#include <morphtarget_pars_vertex>
-#include <skinning_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <shadowmap_pars_vertex>
-void main() {
-	#include <batching_vertex>
-	#include <beginnormal_vertex>
-	#include <morphinstance_vertex>
-	#include <morphnormal_vertex>
-	#include <skinbase_vertex>
-	#include <skinnormal_vertex>
-	#include <defaultnormal_vertex>
-	#include <begin_vertex>
-	#include <morphtarget_vertex>
-	#include <skinning_vertex>
-	#include <project_vertex>
-	#include <logdepthbuf_vertex>
-	#include <worldpos_vertex>
-	#include <shadowmap_vertex>
-	#include <fog_vertex>
-}`,shadow_frag:`uniform vec3 color;
-uniform float opacity;
-#include <common>
-#include <packing>
-#include <fog_pars_fragment>
-#include <bsdfs>
-#include <lights_pars_begin>
-#include <logdepthbuf_pars_fragment>
-#include <shadowmap_pars_fragment>
-#include <shadowmask_pars_fragment>
-void main() {
-	#include <logdepthbuf_fragment>
-	gl_FragColor = vec4( color, opacity * ( 1.0 - getShadowMask() ) );
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-}`,sprite_vert:`uniform float rotation;
-uniform vec2 center;
-#include <common>
-#include <uv_pars_vertex>
-#include <fog_pars_vertex>
-#include <logdepthbuf_pars_vertex>
-#include <clipping_planes_pars_vertex>
-void main() {
-	#include <uv_vertex>
-	vec4 mvPosition = modelViewMatrix[ 3 ];
-	vec2 scale = vec2( length( modelMatrix[ 0 ].xyz ), length( modelMatrix[ 1 ].xyz ) );
-	#ifndef USE_SIZEATTENUATION
-		bool isPerspective = isPerspectiveMatrix( projectionMatrix );
-		if ( isPerspective ) scale *= - mvPosition.z;
-	#endif
-	vec2 alignedPosition = ( position.xy - ( center - vec2( 0.5 ) ) ) * scale;
-	vec2 rotatedPosition;
-	rotatedPosition.x = cos( rotation ) * alignedPosition.x - sin( rotation ) * alignedPosition.y;
-	rotatedPosition.y = sin( rotation ) * alignedPosition.x + cos( rotation ) * alignedPosition.y;
-	mvPosition.xy += rotatedPosition;
-	gl_Position = projectionMatrix * mvPosition;
-	#include <logdepthbuf_vertex>
-	#include <clipping_planes_vertex>
-	#include <fog_vertex>
-}`,sprite_frag:`uniform vec3 diffuse;
-uniform float opacity;
-#include <common>
-#include <uv_pars_fragment>
-#include <map_pars_fragment>
-#include <alphamap_pars_fragment>
-#include <alphatest_pars_fragment>
-#include <alphahash_pars_fragment>
-#include <fog_pars_fragment>
-#include <logdepthbuf_pars_fragment>
-#include <clipping_planes_pars_fragment>
-void main() {
-	vec4 diffuseColor = vec4( diffuse, opacity );
-	#include <clipping_planes_fragment>
-	vec3 outgoingLight = vec3( 0.0 );
-	#include <logdepthbuf_fragment>
-	#include <map_fragment>
-	#include <alphamap_fragment>
-	#include <alphatest_fragment>
-	#include <alphahash_fragment>
-	outgoingLight = diffuseColor.rgb;
-	#include <opaque_fragment>
-	#include <tonemapping_fragment>
-	#include <colorspace_fragment>
-	#include <fog_fragment>
-}`},Q={common:{diffuse:{value:new Y(16777215)},opacity:{value:1},map:{value:null},mapTransform:{value:new K},alphaMap:{value:null},alphaMapTransform:{value:new K},alphaTest:{value:0}},specularmap:{specularMap:{value:null},specularMapTransform:{value:new K}},envmap:{envMap:{value:null},envMapRotation:{value:new K},flipEnvMap:{value:-1},reflectivity:{value:1},ior:{value:1.5},refractionRatio:{value:.98}},aomap:{aoMap:{value:null},aoMapIntensity:{value:1},aoMapTransform:{value:new K}},lightmap:{lightMap:{value:null},lightMapIntensity:{value:1},lightMapTransform:{value:new K}},bumpmap:{bumpMap:{value:null},bumpMapTransform:{value:new K},bumpScale:{value:1}},normalmap:{normalMap:{value:null},normalMapTransform:{value:new K},normalScale:{value:new W(1,1)}},displacementmap:{displacementMap:{value:null},displacementMapTransform:{value:new K},displacementScale:{value:1},displacementBias:{value:0}},emissivemap:{emissiveMap:{value:null},emissiveMapTransform:{value:new K}},metalnessmap:{metalnessMap:{value:null},metalnessMapTransform:{value:new K}},roughnessmap:{roughnessMap:{value:null},roughnessMapTransform:{value:new K}},gradientmap:{gradientMap:{value:null}},fog:{fogDensity:{value:25e-5},fogNear:{value:1},fogFar:{value:2e3},fogColor:{value:new Y(16777215)}},lights:{ambientLightColor:{value:[]},lightProbe:{value:[]},directionalLights:{value:[],properties:{direction:{},color:{}}},directionalLightShadows:{value:[],properties:{shadowIntensity:1,shadowBias:{},shadowNormalBias:{},shadowRadius:{},shadowMapSize:{}}},directionalShadowMap:{value:[]},directionalShadowMatrix:{value:[]},spotLights:{value:[],properties:{color:{},position:{},direction:{},distance:{},coneCos:{},penumbraCos:{},decay:{}}},spotLightShadows:{value:[],properties:{shadowIntensity:1,shadowBias:{},shadowNormalBias:{},shadowRadius:{},shadowMapSize:{}}},spotLightMap:{value:[]},spotShadowMap:{value:[]},spotLightMatrix:{value:[]},pointLights:{value:[],properties:{color:{},position:{},decay:{},distance:{}}},pointLightShadows:{value:[],properties:{shadowIntensity:1,shadowBias:{},shadowNormalBias:{},shadowRadius:{},shadowMapSize:{},shadowCameraNear:{},shadowCameraFar:{}}},pointShadowMap:{value:[]},pointShadowMatrix:{value:[]},hemisphereLights:{value:[],properties:{direction:{},skyColor:{},groundColor:{}}},rectAreaLights:{value:[],properties:{color:{},position:{},width:{},height:{}}},ltc_1:{value:null},ltc_2:{value:null}},points:{diffuse:{value:new Y(16777215)},opacity:{value:1},size:{value:1},scale:{value:1},map:{value:null},alphaMap:{value:null},alphaMapTransform:{value:new K},alphaTest:{value:0},uvTransform:{value:new K}},sprite:{diffuse:{value:new Y(16777215)},opacity:{value:1},center:{value:new W(.5,.5)},rotation:{value:0},map:{value:null},mapTransform:{value:new K},alphaMap:{value:null},alphaMapTransform:{value:new K},alphaTest:{value:0}}},Ka={basic:{uniforms:Br([Q.common,Q.specularmap,Q.envmap,Q.aomap,Q.lightmap,Q.fog]),vertexShader:Z.meshbasic_vert,fragmentShader:Z.meshbasic_frag},lambert:{uniforms:Br([Q.common,Q.specularmap,Q.envmap,Q.aomap,Q.lightmap,Q.emissivemap,Q.bumpmap,Q.normalmap,Q.displacementmap,Q.fog,Q.lights,{emissive:{value:new Y(0)}}]),vertexShader:Z.meshlambert_vert,fragmentShader:Z.meshlambert_frag},phong:{uniforms:Br([Q.common,Q.specularmap,Q.envmap,Q.aomap,Q.lightmap,Q.emissivemap,Q.bumpmap,Q.normalmap,Q.displacementmap,Q.fog,Q.lights,{emissive:{value:new Y(0)},specular:{value:new 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d=n.logarithmicDepthBuffer===!0,f=n.reverseDepthBuffer===!0&&t.has(`EXT_clip_control`),p=e.getParameter(e.MAX_TEXTURE_IMAGE_UNITS),m=e.getParameter(e.MAX_VERTEX_TEXTURE_IMAGE_UNITS),h=e.getParameter(e.MAX_TEXTURE_SIZE),g=e.getParameter(e.MAX_CUBE_MAP_TEXTURE_SIZE),_=e.getParameter(e.MAX_VERTEX_ATTRIBS),v=e.getParameter(e.MAX_VERTEX_UNIFORM_VECTORS),y=e.getParameter(e.MAX_VARYING_VECTORS),b=e.getParameter(e.MAX_FRAGMENT_UNIFORM_VECTORS),x=m>0,S=e.getParameter(e.MAX_SAMPLES);return{isWebGL2:!0,getMaxAnisotropy:a,getMaxPrecision:c,textureFormatReadable:o,textureTypeReadable:s,precision:l,logarithmicDepthBuffer:d,reverseDepthBuffer:f,maxTextures:p,maxVertexTextures:m,maxTextureSize:h,maxCubemapSize:g,maxAttributes:_,maxVertexUniforms:v,maxVaryings:y,maxFragmentUniforms:b,vertexTextures:x,maxSamples:S}}function eo(e){let t=this,n=null,r=0,i=!1,a=!1,o=new ui,s=new K,c={value:null,needsUpdate:!1};this.uniform=c,this.numPlanes=0,this.numIntersection=0,this.init=function(e,t){let n=e.length!==0||t||r!==0||i;return i=t,r=e.length,n},this.beginShadows=function(){a=!0,u(null)},this.endShadows=function(){a=!1},this.setGlobalState=function(e,t){n=u(e,t,0)},this.setState=function(t,o,s){let d=t.clippingPlanes,f=t.clipIntersection,p=t.clipShadows,m=e.get(t);if(!i||d===null||d.length===0||a&&!p)a?u(null):l();else{let e=a?0:r,t=e*4,i=m.clippingState||null;c.value=i,i=u(d,o,t,s);for(let e=0;e!==t;++e)i[e]=n[e];m.clippingState=i,this.numIntersection=f?this.numPlanes:0,this.numPlanes+=e}};function l(){c.value!==n&&(c.value=n,c.needsUpdate=r>0),t.numPlanes=r,t.numIntersection=0}function u(e,n,r,i){let a=e===null?0:e.length,l=null;if(a!==0){if(l=c.value,i!==!0||l===null){let t=r+a*4,i=n.matrixWorldInverse;s.getNormalMatrix(i),(l===null||l.length<t)&&(l=new Float32Array(t));for(let t=0,n=r;t!==a;++t,n+=4)o.copy(e[t]).applyMatrix4(i,s),o.normal.toArray(l,n),l[n+3]=o.constant}c.value=l,c.needsUpdate=!0}return t.numPlanes=a,t.numIntersection=0,l}}function to(e){let t=new WeakMap;function n(e,t){return t===303?e.mapping=301:t===304&&(e.mapping=302),e}function r(r){if(r&&r.isTexture){let a=r.mapping;if(a===303||a===304)if(t.has(r)){let e=t.get(r).texture;return n(e,r.mapping)}else{let a=r.image;if(a&&a.height>0){let o=new ni(a.height);return o.fromEquirectangularTexture(e,r),t.set(r,o),r.addEventListener(`dispose`,i),n(o.texture,r.mapping)}else return null}}return r}function i(e){let n=e.target;n.removeEventListener(`dispose`,i);let r=t.get(n);r!==void 0&&(t.delete(n),r.dispose())}function a(){t=new WeakMap}return{get:r,dispose:a}}var no=4,ro=[.125,.215,.35,.446,.526,.582],io=20,ao=new Ea,oo=new Y,so=null,co=0,lo=0,uo=!1,fo=(1+Math.sqrt(5))/2,po=1/fo,mo=[new G(-fo,po,0),new G(fo,po,0),new G(-po,0,fo),new G(po,0,fo),new G(0,fo,-po),new G(0,fo,po),new G(-1,1,-1),new G(1,1,-1),new G(-1,1,1),new G(1,1,1)],ho=new G,go=class{constructor(e){this._renderer=e,this._pingPongRenderTarget=null,this._lodMax=0,this._cubeSize=0,this._lodPlanes=[],this._sizeLods=[],this._sigmas=[],this._blurMaterial=null,this._cubemapMaterial=null,this._equirectMaterial=null,this._compileMaterial(this._blurMaterial)}fromScene(e,t=0,n=.1,r=100,i={}){let{size:a=256,position:o=ho}=i;so=this._renderer.getRenderTarget(),co=this._renderer.getActiveCubeFace(),lo=this._renderer.getActiveMipmapLevel(),uo=this._renderer.xr.enabled,this._renderer.xr.enabled=!1,this._setSize(a);let s=this._allocateTargets();return s.depthBuffer=!0,this._sceneToCubeUV(e,n,r,s,o),t>0&&this._blur(s,0,0,t),this._applyPMREM(s),this._cleanup(s),s}fromEquirectangular(e,t=null){return this._fromTexture(e,t)}fromCubemap(e,t=null){return this._fromTexture(e,t)}compileCubemapShader(){this._cubemapMaterial===null&&(this._cubemapMaterial=So(),this._compileMaterial(this._cubemapMaterial))}compileEquirectangularShader(){this._equirectMaterial===null&&(this._equirectMaterial=xo(),this._compileMaterial(this._equirectMaterial))}dispose(){this._dispose(),this._cubemapMaterial!==null&&this._cubemapMaterial.dispose(),this._equirectMaterial!==null&&this._equirectMaterial.dispose()}_setSize(e){this._lodMax=Math.floor(Math.log2(e)),this._cubeSize=2**this._lodMax}_dispose(){this._blurMaterial!==null&&this._blurMaterial.dispose(),this._pingPongRenderTarget!==null&&this._pingPongRenderTarget.dispose();for(let e=0;e<this._lodPlanes.length;e++)this._lodPlanes[e].dispose()}_cleanup(e){this._renderer.setRenderTarget(so,co,lo),this._renderer.xr.enabled=uo,e.scissorTest=!1,yo(e,0,0,e.width,e.height)}_fromTexture(e,t){e.mapping===301||e.mapping===302?this._setSize(e.image.length===0?16:e.image[0].width||e.image[0].image.width):this._setSize(e.image.width/4),so=this._renderer.getRenderTarget(),co=this._renderer.getActiveCubeFace(),lo=this._renderer.getActiveMipmapLevel(),uo=this._renderer.xr.enabled,this._renderer.xr.enabled=!1;let n=t||this._allocateTargets();return this._textureToCubeUV(e,n),this._applyPMREM(n),this._cleanup(n),n}_allocateTargets(){let e=3*Math.max(this._cubeSize,112),t=4*this._cubeSize,n={magFilter:c,minFilter:c,generateMipmaps:!1,type:v,format:T,colorSpace:Me,depthBuffer:!1},r=vo(e,t,n);if(this._pingPongRenderTarget===null||this._pingPongRenderTarget.width!==e||this._pingPongRenderTarget.height!==t){this._pingPongRenderTarget!==null&&this._dispose(),this._pingPongRenderTarget=vo(e,t,n);let{_lodMax:r}=this;({sizeLods:this._sizeLods,lodPlanes:this._lodPlanes,sigmas:this._sigmas}=_o(r)),this._blurMaterial=bo(r,e,t)}return r}_compileMaterial(e){let t=new Fr(this._lodPlanes[0],e);this._renderer.compile(t,ao)}_sceneToCubeUV(e,t,n,r,i){let a=new Zr(90,1,t,n),o=[1,-1,1,1,1,1],s=[1,1,1,-1,-1,-1],c=this._renderer,l=c.autoClear,u=c.toneMapping;c.getClearColor(oo),c.toneMapping=0,c.autoClear=!1;let d=new cr({name:`PMREM.Background`,side:1,depthWrite:!1,depthTest:!1}),f=new Fr(new Rr,d),p=!1,m=e.background;m?m.isColor&&(d.color.copy(m),e.background=null,p=!0):(d.color.copy(oo),p=!0);for(let t=0;t<6;t++){let n=t%3;n===0?(a.up.set(0,o[t],0),a.position.set(i.x,i.y,i.z),a.lookAt(i.x+s[t],i.y,i.z)):n===1?(a.up.set(0,0,o[t]),a.position.set(i.x,i.y,i.z),a.lookAt(i.x,i.y+s[t],i.z)):(a.up.set(0,o[t],0),a.position.set(i.x,i.y,i.z),a.lookAt(i.x,i.y,i.z+s[t]));let l=this._cubeSize;yo(r,n*l,t>2?l:0,l,l),c.setRenderTarget(r),p&&c.render(f,a),c.render(e,a)}f.geometry.dispose(),f.material.dispose(),c.toneMapping=u,c.autoClear=l,e.background=m}_textureToCubeUV(e,t){let n=this._renderer,r=e.mapping===301||e.mapping===302;r?(this._cubemapMaterial===null&&(this._cubemapMaterial=So()),this._cubemapMaterial.uniforms.flipEnvMap.value=e.isRenderTargetTexture===!1?-1:1):this._equirectMaterial===null&&(this._equirectMaterial=xo());let i=r?this._cubemapMaterial:this._equirectMaterial,a=new Fr(this._lodPlanes[0],i),o=i.uniforms;o.envMap.value=e;let s=this._cubeSize;yo(t,0,0,3*s,2*s),n.setRenderTarget(t),n.render(a,ao)}_applyPMREM(e){let t=this._renderer,n=t.autoClear;t.autoClear=!1;let r=this._lodPlanes.length;for(let t=1;t<r;t++){let n=Math.sqrt(this._sigmas[t]*this._sigmas[t]-this._sigmas[t-1]*this._sigmas[t-1]),i=mo[(r-t-1)%mo.length];this._blur(e,t-1,t,n,i)}t.autoClear=n}_blur(e,t,n,r,i){let a=this._pingPongRenderTarget;this._halfBlur(e,a,t,n,r,`latitudinal`,i),this._halfBlur(a,e,n,n,r,`longitudinal`,i)}_halfBlur(e,t,n,r,i,a,o){let s=this._renderer,c=this._blurMaterial;a!==`latitudinal`&&a!==`longitudinal`&&console.error(`blur direction must be either latitudinal or longitudinal!`);let l=new Fr(this._lodPlanes[r],c),u=c.uniforms,d=this._sizeLods[n]-1,f=isFinite(i)?Math.PI/(2*d):2*Math.PI/(2*io-1),p=i/f,m=isFinite(i)?1+Math.floor(3*p):io;m>io&&console.warn(`sigmaRadians, ${i}, is too large and will clip, as it requested ${m} samples when the maximum is set to ${io}`);let h=[],g=0;for(let e=0;e<io;++e){let t=e/p,n=Math.exp(-t*t/2);h.push(n),e===0?g+=n:e<m&&(g+=2*n)}for(let e=0;e<h.length;e++)h[e]=h[e]/g;u.envMap.value=e.texture,u.samples.value=m,u.weights.value=h,u.latitudinal.value=a===`latitudinal`,o&&(u.poleAxis.value=o);let{_lodMax:_}=this;u.dTheta.value=f,u.mipInt.value=_-n;let v=this._sizeLods[r];yo(t,3*v*(r>_-no?r-_+no:0),4*(this._cubeSize-v),3*v,2*v),s.setRenderTarget(t),s.render(l,ao)}};function _o(e){let t=[],n=[],r=[],i=e,a=e-no+1+ro.length;for(let o=0;o<a;o++){let a=2**i;n.push(a);let s=1/a;o>e-no?s=ro[o-e+no-1]:o===0&&(s=0),r.push(s);let c=1/(a-2),l=-c,u=1+c,d=[l,l,u,l,u,u,l,l,u,u,l,u],f=new Float32Array(108),p=new Float32Array(72),m=new Float32Array(36);for(let e=0;e<6;e++){let t=e%3*2/3-1,n=e>2?0:-1,r=[t,n,0,t+2/3,n,0,t+2/3,n+1,0,t,n,0,t+2/3,n+1,0,t,n+1,0];f.set(r,18*e),p.set(d,12*e);let i=[e,e,e,e,e,e];m.set(i,6*e)}let h=new Cr;h.setAttribute(`position`,new fr(f,3)),h.setAttribute(`uv`,new fr(p,2)),h.setAttribute(`faceIndex`,new fr(m,1)),t.push(h),i>no&&i--}return{lodPlanes:t,sizeLods:n,sigmas:r}}function vo(e,t,n){let r=new It(e,t,n);return r.texture.mapping=306,r.texture.name=`PMREM.cubeUv`,r.scissorTest=!0,r}function yo(e,t,n,r,i){e.viewport.set(t,n,r,i),e.scissor.set(t,n,r,i)}function bo(e,t,n){let r=new Float32Array(io),i=new G(0,1,0);return new Kr({name:`SphericalGaussianBlur`,defines:{n:io,CUBEUV_TEXEL_WIDTH:1/t,CUBEUV_TEXEL_HEIGHT:1/n,CUBEUV_MAX_MIP:`${e}.0`},uniforms:{envMap:{value:null},samples:{value:1},weights:{value:r},latitudinal:{value:!1},dTheta:{value:0},mipInt:{value:0},poleAxis:{value:i}},vertexShader:Co(),fragmentShader:`
-
-			precision mediump float;
-			precision mediump int;
-
-			varying vec3 vOutputDirection;
-
-			uniform sampler2D envMap;
-			uniform int samples;
-			uniform float weights[ n ];
-			uniform bool latitudinal;
-			uniform float dTheta;
-			uniform float mipInt;
-			uniform vec3 poleAxis;
-
-			#define ENVMAP_TYPE_CUBE_UV
-			#include <cube_uv_reflection_fragment>
-
-			vec3 getSample( float theta, vec3 axis ) {
-
-				float cosTheta = cos( theta );
-				// Rodrigues' axis-angle rotation
-				vec3 sampleDirection = vOutputDirection * cosTheta
-					+ cross( axis, vOutputDirection ) * sin( theta )
-					+ axis * dot( axis, vOutputDirection ) * ( 1.0 - cosTheta );
-
-				return bilinearCubeUV( envMap, sampleDirection, mipInt );
-
-			}
-
-			void main() {
-
-				vec3 axis = latitudinal ? poleAxis : cross( poleAxis, vOutputDirection );
-
-				if ( all( equal( axis, vec3( 0.0 ) ) ) ) {
-
-					axis = vec3( vOutputDirection.z, 0.0, - vOutputDirection.x );
-
-				}
-
-				axis = normalize( axis );
-
-				gl_FragColor = vec4( 0.0, 0.0, 0.0, 1.0 );
-				gl_FragColor.rgb += weights[ 0 ] * getSample( 0.0, axis );
-
-				for ( int i = 1; i < n; i++ ) {
-
-					if ( i >= samples ) {
-
-						break;
-
-					}
-
-					float theta = dTheta * float( i );
-					gl_FragColor.rgb += weights[ i ] * getSample( -1.0 * theta, axis );
-					gl_FragColor.rgb += weights[ i ] * getSample( theta, axis );
-
-				}
-
-			}
-		`,blending:0,depthTest:!1,depthWrite:!1})}function xo(){return new Kr({name:`EquirectangularToCubeUV`,uniforms:{envMap:{value:null}},vertexShader:Co(),fragmentShader:`
-
-			precision mediump float;
-			precision mediump int;
-
-			varying vec3 vOutputDirection;
-
-			uniform sampler2D envMap;
-
-			#include <common>
-
-			void main() {
-
-				vec3 outputDirection = normalize( vOutputDirection );
-				vec2 uv = equirectUv( outputDirection );
-
-				gl_FragColor = vec4( texture2D ( envMap, uv ).rgb, 1.0 );
-
-			}
-		`,blending:0,depthTest:!1,depthWrite:!1})}function So(){return new Kr({name:`CubemapToCubeUV`,uniforms:{envMap:{value:null},flipEnvMap:{value:-1}},vertexShader:Co(),fragmentShader:`
-
-			precision mediump float;
-			precision mediump int;
-
-			uniform float flipEnvMap;
-
-			varying vec3 vOutputDirection;
-
-			uniform samplerCube envMap;
-
-			void main() {
-
-				gl_FragColor = textureCube( envMap, vec3( flipEnvMap * vOutputDirection.x, vOutputDirection.yz ) );
-
-			}
-		`,blending:0,depthTest:!1,depthWrite:!1})}function Co(){return`
-
-		precision mediump float;
-		precision mediump int;
-
-		attribute float faceIndex;
-
-		varying vec3 vOutputDirection;
-
-		// RH coordinate system; PMREM face-indexing convention
-		vec3 getDirection( vec2 uv, float face ) {
-
-			uv = 2.0 * uv - 1.0;
-
-			vec3 direction = vec3( uv, 1.0 );
-
-			if ( face == 0.0 ) {
-
-				direction = direction.zyx; // ( 1, v, u ) pos x
-
-			} else if ( face == 1.0 ) {
-
-				direction = direction.xzy;
-				direction.xz *= -1.0; // ( -u, 1, -v ) pos y
-
-			} else if ( face == 2.0 ) {
-
-				direction.x *= -1.0; // ( -u, v, 1 ) pos z
-
-			} else if ( face == 3.0 ) {
-
-				direction = direction.zyx;
-				direction.xz *= -1.0; // ( -1, v, -u ) neg x
-
-			} else if ( face == 4.0 ) {
-
-				direction = direction.xzy;
-				direction.xy *= -1.0; // ( -u, -1, v ) neg y
-
-			} else if ( face == 5.0 ) {
-
-				direction.z *= -1.0; // ( u, v, -1 ) neg z
-
-			}
-
-			return direction;
-
-		}
-
-		void main() {
-
-			vOutputDirection = getDirection( uv, faceIndex );
-			gl_Position = vec4( position, 1.0 );
-
-		}
-	`}function wo(e){let t=new WeakMap,n=null;function r(r){if(r&&r.isTexture){let o=r.mapping,s=o===303||o===304,c=o===301||o===302;if(s||c){let o=t.get(r),l=o===void 0?0:o.texture.pmremVersion;if(r.isRenderTargetTexture&&r.pmremVersion!==l)return n===null&&(n=new go(e)),o=s?n.fromEquirectangular(r,o):n.fromCubemap(r,o),o.texture.pmremVersion=r.pmremVersion,t.set(r,o),o.texture;if(o!==void 0)return o.texture;{let l=r.image;return s&&l&&l.height>0||c&&l&&i(l)?(n===null&&(n=new go(e)),o=s?n.fromEquirectangular(r):n.fromCubemap(r),o.texture.pmremVersion=r.pmremVersion,t.set(r,o),r.addEventListener(`dispose`,a),o.texture):null}}}return r}function i(e){let t=0;for(let n=0;n<6;n++)e[n]!==void 0&&t++;return t===6}function a(e){let n=e.target;n.removeEventListener(`dispose`,a);let r=t.get(n);r!==void 0&&(t.delete(n),r.dispose())}function o(){t=new WeakMap,n!==null&&(n.dispose(),n=null)}return{get:r,dispose:o}}function To(e){let t={};function n(n){if(t[n]!==void 0)return t[n];let 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y(){g.dispose(),r.delete(o),o.removeEventListener(`dispose`,y)}o.addEventListener(`dispose`,y)}if(a.isInstancedMesh===!0&&a.morphTexture!==null)s.getUniforms().setValue(e,`morphTexture`,a.morphTexture,n);else{let t=0;for(let e=0;e<c.length;e++)t+=c[e];let n=o.morphTargetsRelative?1:1-t;s.getUniforms().setValue(e,`morphTargetBaseInfluence`,n),s.getUniforms().setValue(e,`morphTargetInfluences`,c)}s.getUniforms().setValue(e,`morphTargetsTexture`,d.texture,n),s.getUniforms().setValue(e,`morphTargetsTextureSize`,d.size)}return{update:a}}function Ao(e,t,n,r){let i=new WeakMap;function a(a){let o=r.render.frame,c=a.geometry,l=t.get(a,c);if(i.get(l)!==o&&(t.update(l),i.set(l,o)),a.isInstancedMesh&&(a.hasEventListener(`dispose`,s)===!1&&a.addEventListener(`dispose`,s),i.get(a)!==o&&(n.update(a.instanceMatrix,e.ARRAY_BUFFER),a.instanceColor!==null&&n.update(a.instanceColor,e.ARRAY_BUFFER),i.set(a,o))),a.isSkinnedMesh){let e=a.skeleton;i.get(e)!==o&&(e.update(),i.set(e,o))}return l}function 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-		#else
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-			mean += depth;
-			squared_mean += depth * depth;
-		#endif
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e.DEPTH_COMPONENT;if(n===1027)return e.DEPTH_STENCIL;if(n===1028)return e.RED;if(n===1029)return e.RED_INTEGER;if(n===1030)return e.RG;if(n===1031)return e.RG_INTEGER;if(n===1033)return e.RGBA_INTEGER;if(n===33776||n===33777||n===33778||n===33779)if(a===`srgb`)if(i=t.get(`WEBGL_compressed_texture_s3tc_srgb`),i!==null){if(n===33776)return i.COMPRESSED_SRGB_S3TC_DXT1_EXT;if(n===33777)return i.COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT;if(n===33778)return i.COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT;if(n===33779)return i.COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT}else return null;else if(i=t.get(`WEBGL_compressed_texture_s3tc`),i!==null){if(n===33776)return i.COMPRESSED_RGB_S3TC_DXT1_EXT;if(n===33777)return i.COMPRESSED_RGBA_S3TC_DXT1_EXT;if(n===33778)return i.COMPRESSED_RGBA_S3TC_DXT3_EXT;if(n===33779)return i.COMPRESSED_RGBA_S3TC_DXT5_EXT}else return null;if(n===35840||n===35841||n===35842||n===35843)if(i=t.get(`WEBGL_compressed_texture_pvrtc`),i!==null){if(n===35840)return i.COMPRESSED_RGB_PVRTC_4BPPV1_IMG;if(n===35841)return i.COMPRESSED_RGB_PVRTC_2BPPV1_IMG;if(n===35842)return i.COMPRESSED_RGBA_PVRTC_4BPPV1_IMG;if(n===35843)return i.COMPRESSED_RGBA_PVRTC_2BPPV1_IMG}else return null;if(n===36196||n===37492||n===37496)if(i=t.get(`WEBGL_compressed_texture_etc`),i!==null){if(n===36196||n===37492)return a===`srgb`?i.COMPRESSED_SRGB8_ETC2:i.COMPRESSED_RGB8_ETC2;if(n===37496)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ETC2_EAC:i.COMPRESSED_RGBA8_ETC2_EAC}else return null;if(n===37808||n===37809||n===37810||n===37811||n===37812||n===37813||n===37814||n===37815||n===37816||n===37817||n===37818||n===37819||n===37820||n===37821)if(i=t.get(`WEBGL_compressed_texture_astc`),i!==null){if(n===37808)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR:i.COMPRESSED_RGBA_ASTC_4x4_KHR;if(n===37809)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR:i.COMPRESSED_RGBA_ASTC_5x4_KHR;if(n===37810)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR:i.COMPRESSED_RGBA_ASTC_5x5_KHR;if(n===37811)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR:i.COMPRESSED_RGBA_ASTC_6x5_KHR;if(n===37812)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR:i.COMPRESSED_RGBA_ASTC_6x6_KHR;if(n===37813)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR:i.COMPRESSED_RGBA_ASTC_8x5_KHR;if(n===37814)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR:i.COMPRESSED_RGBA_ASTC_8x6_KHR;if(n===37815)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR:i.COMPRESSED_RGBA_ASTC_8x8_KHR;if(n===37816)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR:i.COMPRESSED_RGBA_ASTC_10x5_KHR;if(n===37817)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR:i.COMPRESSED_RGBA_ASTC_10x6_KHR;if(n===37818)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR:i.COMPRESSED_RGBA_ASTC_10x8_KHR;if(n===37819)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR:i.COMPRESSED_RGBA_ASTC_10x10_KHR;if(n===37820)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR:i.COMPRESSED_RGBA_ASTC_12x10_KHR;if(n===37821)return a===`srgb`?i.COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR:i.COMPRESSED_RGBA_ASTC_12x12_KHR}else return null;if(n===36492||n===36494||n===36495)if(i=t.get(`EXT_texture_compression_bptc`),i!==null){if(n===36492)return a===`srgb`?i.COMPRESSED_SRGB_ALPHA_BPTC_UNORM_EXT:i.COMPRESSED_RGBA_BPTC_UNORM_EXT;if(n===36494)return i.COMPRESSED_RGB_BPTC_SIGNED_FLOAT_EXT;if(n===36495)return i.COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_EXT}else return null;if(n===36283||n===36284||n===36285||n===36286)if(i=t.get(`EXT_texture_compression_rgtc`),i!==null){if(n===36492)return i.COMPRESSED_RED_RGTC1_EXT;if(n===36284)return i.COMPRESSED_SIGNED_RED_RGTC1_EXT;if(n===36285)return i.COMPRESSED_RED_GREEN_RGTC2_EXT;if(n===36286)return i.COMPRESSED_SIGNED_RED_GREEN_RGTC2_EXT}else return null;return n===1020?e.UNSIGNED_INT_24_8:e[n]===void 0?null:e[n]}return{convert:n}}var Rc=`
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-	gl_Position = vec4( position, 1.0 );
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-}`,zc=`
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-
-void main() {
-
-	vec2 coord = vec2( gl_FragCoord.x / depthWidth, gl_FragCoord.y / depthHeight );
-
-	if ( coord.x >= 1.0 ) {
-
-		gl_FragDepth = texture( depthColor, vec3( coord.x - 1.0, coord.y, 1 ) ).r;
-
-	} else {
-
-		gl_FragDepth = texture( depthColor, vec3( coord.x, coord.y, 0 ) ).r;
-
-	}
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-}`,Bc=class{constructor(){this.texture=null,this.mesh=null,this.depthNear=0,this.depthFar=0}init(e,t,n){if(this.texture===null){let r=new Pt,i=e.properties.get(r);i.__webglTexture=t.texture,(t.depthNear!==n.depthNear||t.depthFar!==n.depthFar)&&(this.depthNear=t.depthNear,this.depthFar=t.depthFar),this.texture=r}}getMesh(e){if(this.texture!==null&&this.mesh===null){let t=e.cameras[0].viewport,n=new Kr({vertexShader:Rc,fragmentShader:zc,uniforms:{depthColor:{value:this.texture},depthWidth:{value:t.z},depthHeight:{value:t.w}}});this.mesh=new Fr(new qi(20,20),n)}return this.mesh}reset(){this.texture=null,this.mesh=null}getDepthTexture(){return this.texture}},Vc=class extends Re{constructor(e,t){super();let n=this,r=null,i=1,a=null,o=`local-floor`,s=1,c=null,l=null,u=null,f=null,p=null,m=null,h=new Bc,_=t.getContextAttributes(),v=null,y=null,b=[],S=[],C=new W,w=null,O=new Zr;O.viewport=new J;let k=new Zr;k.viewport=new J;let A=[O,k],j=new Oa,ee=null,te=null;this.cameraAutoUpdate=!0,this.enabled=!1,this.isPresenting=!1,this.getController=function(e){let t=b[e];return t===void 0&&(t=new ai,b[e]=t),t.getTargetRaySpace()},this.getControllerGrip=function(e){let t=b[e];return t===void 0&&(t=new ai,b[e]=t),t.getGripSpace()},this.getHand=function(e){let t=b[e];return t===void 0&&(t=new ai,b[e]=t),t.getHandSpace()};function M(e){let t=S.indexOf(e.inputSource);if(t===-1)return;let n=b[t];n!==void 0&&(n.update(e.inputSource,e.frame,c||a),n.dispatchEvent({type:e.type,data:e.inputSource}))}function N(){r.removeEventListener(`select`,M),r.removeEventListener(`selectstart`,M),r.removeEventListener(`selectend`,M),r.removeEventListener(`squeeze`,M),r.removeEventListener(`squeezestart`,M),r.removeEventListener(`squeezeend`,M),r.removeEventListener(`end`,N),r.removeEventListener(`inputsourceschange`,P);for(let e=0;e<b.length;e++){let t=S[e];t!==null&&(S[e]=null,b[e].disconnect(t))}ee=null,te=null,h.reset(),e.setRenderTarget(v),p=null,f=null,u=null,r=null,y=null,ce.stop(),n.isPresenting=!1,e.setPixelRatio(w),e.setSize(C.width,C.height,!1),n.dispatchEvent({type:`sessionend`})}this.setFramebufferScaleFactor=function(e){i=e,n.isPresenting===!0&&console.warn(`THREE.WebXRManager: Cannot change framebuffer scale while presenting.`)},this.setReferenceSpaceType=function(e){o=e,n.isPresenting===!0&&console.warn(`THREE.WebXRManager: Cannot change reference space type while presenting.`)},this.getReferenceSpace=function(){return c||a},this.setReferenceSpace=function(e){c=e},this.getBaseLayer=function(){return f===null?p:f},this.getBinding=function(){return u},this.getFrame=function(){return m},this.getSession=function(){return r},this.setSession=async function(l){if(r=l,r!==null){if(v=e.getRenderTarget(),r.addEventListener(`select`,M),r.addEventListener(`selectstart`,M),r.addEventListener(`selectend`,M),r.addEventListener(`squeeze`,M),r.addEventListener(`squeezestart`,M),r.addEventListener(`squeezeend`,M),r.addEventListener(`end`,N),r.addEventListener(`inputsourceschange`,P),_.xrCompatible!==!0&&await t.makeXRCompatible(),w=e.getPixelRatio(),e.getSize(C),typeof XRWebGLBinding<`u`&&`createProjectionLayer`in XRWebGLBinding.prototype){let n=null,a=null,o=null;_.depth&&(o=_.stencil?t.DEPTH24_STENCIL8:t.DEPTH_COMPONENT24,n=_.stencil?D:E,a=_.stencil?x:g);let s={colorFormat:t.RGBA8,depthFormat:o,scaleFactor:i};u=new XRWebGLBinding(r,t),f=u.createProjectionLayer(s),r.updateRenderState({layers:[f]}),e.setPixelRatio(1),e.setSize(f.textureWidth,f.textureHeight,!1),y=new It(f.textureWidth,f.textureHeight,{format:T,type:d,depthTexture:new hi(f.textureWidth,f.textureHeight,a,void 0,void 0,void 0,void 0,void 0,void 0,n),stencilBuffer:_.stencil,colorSpace:e.outputColorSpace,samples:_.antialias?4:0,resolveDepthBuffer:f.ignoreDepthValues===!1,resolveStencilBuffer:f.ignoreDepthValues===!1})}else{let n={antialias:_.antialias,alpha:!0,depth:_.depth,stencil:_.stencil,framebufferScaleFactor:i};p=new XRWebGLLayer(r,t,n),r.updateRenderState({baseLayer:p}),e.setPixelRatio(1),e.setSize(p.framebufferWidth,p.framebufferHeight,!1),y=new It(p.framebufferWidth,p.framebufferHeight,{format:T,type:d,colorSpace:e.outputColorSpace,stencilBuffer:_.stencil,resolveDepthBuffer:p.ignoreDepthValues===!1,resolveStencilBuffer:p.ignoreDepthValues===!1})}y.isXRRenderTarget=!0,this.setFoveation(s),c=null,a=await r.requestReferenceSpace(o),ce.setContext(r),ce.start(),n.isPresenting=!0,n.dispatchEvent({type:`sessionstart`})}},this.getEnvironmentBlendMode=function(){if(r!==null)return r.environmentBlendMode},this.getDepthTexture=function(){return h.getDepthTexture()};function P(e){for(let t=0;t<e.removed.length;t++){let n=e.removed[t],r=S.indexOf(n);r>=0&&(S[r]=null,b[r].disconnect(n))}for(let t=0;t<e.added.length;t++){let n=e.added[t],r=S.indexOf(n);if(r===-1){for(let e=0;e<b.length;e++)if(e>=S.length){S.push(n),r=e;break}else if(S[e]===null){S[e]=n,r=e;break}if(r===-1)break}let i=b[r];i&&i.connect(n)}}let ne=new G,re=new G;function ie(e,t,n){ne.setFromMatrixPosition(t.matrixWorld),re.setFromMatrixPosition(n.matrixWorld);let r=ne.distanceTo(re),i=t.projectionMatrix.elements,a=n.projectionMatrix.elements,o=i[14]/(i[10]-1),s=i[14]/(i[10]+1),c=(i[9]+1)/i[5],l=(i[9]-1)/i[5],u=(i[8]-1)/i[0],d=(a[8]+1)/a[0],f=o*u,p=o*d,m=r/(-u+d),h=m*-u;if(t.matrixWorld.decompose(e.position,e.quaternion,e.scale),e.translateX(h),e.translateZ(m),e.matrixWorld.compose(e.position,e.quaternion,e.scale),e.matrixWorldInverse.copy(e.matrixWorld).invert(),i[10]===-1)e.projectionMatrix.copy(t.projectionMatrix),e.projectionMatrixInverse.copy(t.projectionMatrixInverse);else{let t=o+m,n=s+m,i=f-h,a=p+(r-h),u=c*s/n*t,d=l*s/n*t;e.projectionMatrix.makePerspective(i,a,u,d,t,n),e.projectionMatrixInverse.copy(e.projectionMatrix).invert()}}function ae(e,t){t===null?e.matrixWorld.copy(e.matrix):e.matrixWorld.multiplyMatrices(t.matrixWorld,e.matrix),e.matrixWorldInverse.copy(e.matrixWorld).invert()}this.updateCamera=function(e){if(r===null)return;let t=e.near,n=e.far;h.texture!==null&&(h.depthNear>0&&(t=h.depthNear),h.depthFar>0&&(n=h.depthFar)),j.near=k.near=O.near=t,j.far=k.far=O.far=n,(ee!==j.near||te!==j.far)&&(r.updateRenderState({depthNear:j.near,depthFar:j.far}),ee=j.near,te=j.far),O.layers.mask=e.layers.mask|2,k.layers.mask=e.layers.mask|4,j.layers.mask=O.layers.mask|k.layers.mask;let i=e.parent,a=j.cameras;ae(j,i);for(let e=0;e<a.length;e++)ae(a[e],i);a.length===2?ie(j,O,k):j.projectionMatrix.copy(O.projectionMatrix),oe(e,j,i)};function oe(e,t,n){n===null?e.matrix.copy(t.matrixWorld):(e.matrix.copy(n.matrixWorld),e.matrix.invert(),e.matrix.multiply(t.matrixWorld)),e.matrix.decompose(e.position,e.quaternion,e.scale),e.updateMatrixWorld(!0),e.projectionMatrix.copy(t.projectionMatrix),e.projectionMatrixInverse.copy(t.projectionMatrixInverse),e.isPerspectiveCamera&&(e.fov=Ve*2*Math.atan(1/e.projectionMatrix.elements[5]),e.zoom=1)}this.getCamera=function(){return j},this.getFoveation=function(){if(!(f===null&&p===null))return s},this.setFoveation=function(e){s=e,f!==null&&(f.fixedFoveation=e),p!==null&&p.fixedFoveation!==void 0&&(p.fixedFoveation=e)},this.hasDepthSensing=function(){return h.texture!==null},this.getDepthSensingMesh=function(){return h.getMesh(j)};let se=null;function F(t,i){if(l=i.getViewerPose(c||a),m=i,l!==null){let t=l.views;p!==null&&(e.setRenderTargetFramebuffer(y,p.framebuffer),e.setRenderTarget(y));let n=!1;t.length!==j.cameras.length&&(j.cameras.length=0,n=!0);for(let r=0;r<t.length;r++){let i=t[r],a=null;if(p!==null)a=p.getViewport(i);else{let t=u.getViewSubImage(f,i);a=t.viewport,r===0&&(e.setRenderTargetTextures(y,t.colorTexture,t.depthStencilTexture),e.setRenderTarget(y))}let o=A[r];o===void 0&&(o=new Zr,o.layers.enable(r),o.viewport=new J,A[r]=o),o.matrix.fromArray(i.transform.matrix),o.matrix.decompose(o.position,o.quaternion,o.scale),o.projectionMatrix.fromArray(i.projectionMatrix),o.projectionMatrixInverse.copy(o.projectionMatrix).invert(),o.viewport.set(a.x,a.y,a.width,a.height),r===0&&(j.matrix.copy(o.matrix),j.matrix.decompose(j.position,j.quaternion,j.scale)),n===!0&&j.cameras.push(o)}let i=r.enabledFeatures;if(i&&i.includes(`depth-sensing`)&&r.depthUsage==`gpu-optimized`&&u){let n=u.getDepthInformation(t[0]);n&&n.isValid&&n.texture&&h.init(e,n,r.renderState)}}for(let e=0;e<b.length;e++){let t=S[e],n=b[e];t!==null&&n!==void 0&&n.update(t,i,c||a)}se&&se(t,i),i.detectedPlanes&&n.dispatchEvent({type:`planesdetected`,data:i}),m=null}let ce=new Wa;ce.setAnimationLoop(F),this.setAnimationLoop=function(e){se=e},this.dispose=function(){}}},Hc=new Cn,Uc=new pn;function Wc(e,t){function n(e,t){e.matrixAutoUpdate===!0&&e.updateMatrix(),t.value.copy(e.matrix)}function r(t,n){n.color.getRGB(t.fogColor.value,Hr(e)),n.isFog?(t.fogNear.value=n.near,t.fogFar.value=n.far):n.isFogExp2&&(t.fogDensity.value=n.density)}function i(e,t,n,r,i){t.isMeshBasicMaterial||t.isMeshLambertMaterial?a(e,t):t.isMeshToonMaterial?(a(e,t),d(e,t)):t.isMeshPhongMaterial?(a(e,t),u(e,t)):t.isMeshStandardMaterial?(a(e,t),f(e,t),t.isMeshPhysicalMaterial&&p(e,t,i)):t.isMeshMatcapMaterial?(a(e,t),m(e,t)):t.isMeshDepthMaterial?a(e,t):t.isMeshDistanceMaterial?(a(e,t),h(e,t)):t.isMeshNormalMaterial?a(e,t):t.isLineBasicMaterial?(o(e,t),t.isLineDashedMaterial&&s(e,t)):t.isPointsMaterial?c(e,t,n,r):t.isSpriteMaterial?l(e,t):t.isShadowMaterial?(e.color.value.copy(t.color),e.opacity.value=t.opacity):t.isShaderMaterial&&(t.uniformsNeedUpdate=!1)}function a(e,r){e.opacity.value=r.opacity,r.color&&e.diffuse.value.copy(r.color),r.emissive&&e.emissive.value.copy(r.emissive).multiplyScalar(r.emissiveIntensity),r.map&&(e.map.value=r.map,n(r.map,e.mapTransform)),r.alphaMap&&(e.alphaMap.value=r.alphaMap,n(r.alphaMap,e.alphaMapTransform)),r.bumpMap&&(e.bumpMap.value=r.bumpMap,n(r.bumpMap,e.bumpMapTransform),e.bumpScale.value=r.bumpScale,r.side===1&&(e.bumpScale.value*=-1)),r.normalMap&&(e.normalMap.value=r.normalMap,n(r.normalMap,e.normalMapTransform),e.normalScale.value.copy(r.normalScale),r.side===1&&e.normalScale.value.negate()),r.displacementMap&&(e.displacementMap.value=r.displacementMap,n(r.displacementMap,e.displacementMapTransform),e.displacementScale.value=r.displacementScale,e.displacementBias.value=r.displacementBias),r.emissiveMap&&(e.emissiveMap.value=r.emissiveMap,n(r.emissiveMap,e.emissiveMapTransform)),r.specularMap&&(e.specularMap.value=r.specularMap,n(r.specularMap,e.specularMapTransform)),r.alphaTest>0&&(e.alphaTest.value=r.alphaTest);let i=t.get(r),a=i.envMap,o=i.envMapRotation;a&&(e.envMap.value=a,Hc.copy(o),Hc.x*=-1,Hc.y*=-1,Hc.z*=-1,a.isCubeTexture&&a.isRenderTargetTexture===!1&&(Hc.y*=-1,Hc.z*=-1),e.envMapRotation.value.setFromMatrix4(Uc.makeRotationFromEuler(Hc)),e.flipEnvMap.value=a.isCubeTexture&&a.isRenderTargetTexture===!1?-1:1,e.reflectivity.value=r.reflectivity,e.ior.value=r.ior,e.refractionRatio.value=r.refractionRatio),r.lightMap&&(e.lightMap.value=r.lightMap,e.lightMapIntensity.value=r.lightMapIntensity,n(r.lightMap,e.lightMapTransform)),r.aoMap&&(e.aoMap.value=r.aoMap,e.aoMapIntensity.value=r.aoMapIntensity,n(r.aoMap,e.aoMapTransform))}function o(e,t){e.diffuse.value.copy(t.color),e.opacity.value=t.opacity,t.map&&(e.map.value=t.map,n(t.map,e.mapTransform))}function s(e,t){e.dashSize.value=t.dashSize,e.totalSize.value=t.dashSize+t.gapSize,e.scale.value=t.scale}function 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THREE.Camera.`);return}if(C===!0)return;if(e.matrixWorldAutoUpdate===!0&&e.updateMatrixWorld(),t.parent===null&&t.matrixWorldAutoUpdate===!0&&t.updateMatrixWorld(),H.enabled===!0&&H.isPresenting===!0&&(H.cameraAutoUpdate===!0&&H.updateCamera(t),t=H.getCamera()),e.isScene===!0&&e.onBeforeRender(S,e,t,E),y=Ee.get(e,x.length),y.init(t),x.push(y),ue.multiplyMatrices(t.projectionMatrix,t.matrixWorldInverse),se.setFromProjectionMatrix(ue),ce=this.localClippingEnabled,F=De.init(this.clippingPlanes,ce),_=Te.get(e,b.length),_.init(),b.push(_),H.enabled===!0&&H.isPresenting===!0){let e=S.xr.getDepthSensingMesh();e!==null&&Xe(e,t,-1/0,S.sortObjects)}Xe(e,t,0,S.sortObjects),_.finish(),S.sortObjects===!0&&_.sort(ne,re),me=H.enabled===!1||H.isPresenting===!1||H.hasDepthSensing()===!1,me&&ke.addToRenderList(_,e),this.info.render.frame++,F===!0&&De.beginShadows();let n=y.state.shadowsArray;Oe.render(n,e,t),F===!0&&De.endShadows(),this.info.autoReset===!0&&this.info.reset();let r=_.opaque,i=_.transmissive;if(y.setupLights(),t.isArrayCamera){let n=t.cameras;if(i.length>0)for(let t=0,a=n.length;t<a;t++){let a=n[t];Qe(r,i,e,a)}me&&ke.render(e);for(let t=0,r=n.length;t<r;t++){let r=n[t];Ze(_,e,r,r.viewport)}}else i.length>0&&Qe(r,i,e,t),me&&ke.render(e),Ze(_,e,t);E!==null&&T===0&&(B.updateMultisampleRenderTarget(E),B.updateRenderTargetMipmap(E)),e.isScene===!0&&e.onAfterRender(S,e,t),Ie.resetDefaultState(),D=-1,O=null,x.pop(),x.length>0?(y=x[x.length-1],F===!0&&De.setGlobalState(S.clippingPlanes,y.state.camera)):y=null,b.pop(),_=b.length>0?b[b.length-1]:null};function Xe(e,t,n,r){if(e.visible===!1)return;if(e.layers.test(t.layers)){if(e.isGroup)n=e.renderOrder;else if(e.isLOD)e.autoUpdate===!0&&e.update(t);else if(e.isLight)y.pushLight(e),e.castShadow&&y.pushShadow(e);else if(e.isSprite){if(!e.frustumCulled||se.intersectsSprite(e)){r&&fe.setFromMatrixPosition(e.matrixWorld).applyMatrix4(ue);let t=Ce.update(e),i=e.material;i.visible&&_.push(e,t,i,n,fe.z,null)}}else if((e.isMesh||e.isLine||e.isPoints)&&(!e.frustumCulled||se.intersectsObject(e))){let t=Ce.update(e),i=e.material;if(r&&(e.boundingSphere===void 0?(t.boundingSphere===null&&t.computeBoundingSphere(),fe.copy(t.boundingSphere.center)):(e.boundingSphere===null&&e.computeBoundingSphere(),fe.copy(e.boundingSphere.center)),fe.applyMatrix4(e.matrixWorld).applyMatrix4(ue)),Array.isArray(i)){let r=t.groups;for(let a=0,o=r.length;a<o;a++){let o=r[a],s=i[o.materialIndex];s&&s.visible&&_.push(e,t,s,n,fe.z,o)}}else i.visible&&_.push(e,t,i,n,fe.z,null)}}let i=e.children;for(let e=0,a=i.length;e<a;e++)Xe(i[e],t,n,r)}function Ze(e,t,n,r){let i=e.opaque,a=e.transmissive,o=e.transparent;y.setupLightsView(n),F===!0&&De.setGlobalState(S.clippingPlanes,n),r&&R.viewport(k.copy(r)),i.length>0&&$e(i,t,n),a.length>0&&$e(a,t,n),o.length>0&&$e(o,t,n),R.buffers.depth.setTest(!0),R.buffers.depth.setMask(!0),R.buffers.color.setMask(!0),R.setPolygonOffset(!1)}function Qe(e,t,n,r){if((n.isScene===!0?n.overrideMaterial:null)!==null)return;y.state.transmissionRenderTarget[r.id]===void 0&&(y.state.transmissionRenderTarget[r.id]=new It(1,1,{generateMipmaps:!0,type:L.has(`EXT_color_buffer_half_float`)||L.has(`EXT_color_buffer_float`)?v:d,minFilter:u,samples:4,stencilBuffer:i,resolveDepthBuffer:!1,resolveStencilBuffer:!1,colorSpace:q.workingColorSpace}));let a=y.state.transmissionRenderTarget[r.id],o=r.viewport||k;a.setSize(o.z*S.transmissionResolutionScale,o.w*S.transmissionResolutionScale);let s=S.getRenderTarget(),c=S.getActiveCubeFace(),l=S.getActiveMipmapLevel();S.setRenderTarget(a),S.getClearColor(ee),te=S.getClearAlpha(),te<1&&S.setClearColor(16777215,.5),S.clear(),me&&ke.render(n);let f=S.toneMapping;S.toneMapping=0;let p=r.viewport;if(r.viewport!==void 0&&(r.viewport=void 0),y.setupLightsView(r),F===!0&&De.setGlobalState(S.clippingPlanes,r),$e(e,n,r),B.updateMultisampleRenderTarget(a),B.updateRenderTargetMipmap(a),L.has(`WEBGL_multisampled_render_to_texture`)===!1){let e=!1;for(let i=0,a=t.length;i<a;i++){let a=t[i],o=a.object,s=a.geometry,c=a.material,l=a.group;if(c.side===2&&o.layers.test(r.layers)){let t=c.side;c.side=1,c.needsUpdate=!0,et(o,n,r,s,c,l),c.side=t,c.needsUpdate=!0,e=!0}}e===!0&&(B.updateMultisampleRenderTarget(a),B.updateRenderTargetMipmap(a))}S.setRenderTarget(s,c,l),S.setClearColor(ee,te),p!==void 0&&(r.viewport=p),S.toneMapping=f}function $e(e,t,n){let r=t.isScene===!0?t.overrideMaterial:null;for(let i=0,a=e.length;i<a;i++){let a=e[i],o=a.object,s=a.geometry,c=a.group,l=a.material;l.allowOverride===!0&&r!==null&&(l=r),o.layers.test(n.layers)&&et(o,t,n,s,l,c)}}function et(e,t,n,r,i,a){e.onBeforeRender(S,t,n,r,i,a),e.modelViewMatrix.multiplyMatrices(n.matrixWorldInverse,e.matrixWorld),e.normalMatrix.getNormalMatrix(e.modelViewMatrix),i.onBeforeRender(S,t,n,r,e,a),i.transparent===!0&&i.side===2&&i.forceSinglePass===!1?(i.side=1,i.needsUpdate=!0,S.renderBufferDirect(n,t,r,i,e,a),i.side=0,i.needsUpdate=!0,S.renderBufferDirect(n,t,r,i,e,a),i.side=2):S.renderBufferDirect(n,t,r,i,e,a),e.onAfterRender(S,t,n,r,i,a)}function tt(e,t,n){t.isScene!==!0&&(t=pe);let r=z.get(e),i=y.state.lights,a=y.state.shadowsArray,o=i.state.version,s=V.getParameters(e,i.state,a,t,n),c=V.getProgramCacheKey(s),l=r.programs;r.environment=e.isMeshStandardMaterial?t.environment:null,r.fog=t.fog,r.envMap=(e.isMeshStandardMaterial?be:ye).get(e.envMap||r.environment),r.envMapRotation=r.environment!==null&&e.envMap===null?t.environmentRotation:e.envMapRotation,l===void 0&&(e.addEventListener(`dispose`,He),l=new Map,r.programs=l);let u=l.get(c);if(u!==void 0){if(r.currentProgram===u&&r.lightsStateVersion===o)return rt(e,s),u}else s.uniforms=V.getUniforms(e),e.onBeforeCompile(s,S),u=V.acquireProgram(s,c),l.set(c,u),r.uniforms=s.uniforms;let d=r.uniforms;return(!e.isShaderMaterial&&!e.isRawShaderMaterial||e.clipping===!0)&&(d.clippingPlanes=De.uniform),rt(e,s),r.needsLights=ot(e),r.lightsStateVersion=o,r.needsLights&&(d.ambientLightColor.value=i.state.ambient,d.lightProbe.value=i.state.probe,d.directionalLights.value=i.state.directional,d.directionalLightShadows.value=i.state.directionalShadow,d.spotLights.value=i.state.spot,d.spotLightShadows.value=i.state.spotShadow,d.rectAreaLights.value=i.state.rectArea,d.ltc_1.value=i.state.rectAreaLTC1,d.ltc_2.value=i.state.rectAreaLTC2,d.pointLights.value=i.state.point,d.pointLightShadows.value=i.state.pointShadow,d.hemisphereLights.value=i.state.hemi,d.directionalShadowMap.value=i.state.directionalShadowMap,d.directionalShadowMatrix.value=i.state.directionalShadowMatrix,d.spotShadowMap.value=i.state.spotShadowMap,d.spotLightMatrix.value=i.state.spotLightMatrix,d.spotLightMap.value=i.state.spotLightMap,d.pointShadowMap.value=i.state.pointShadowMap,d.pointShadowMatrix.value=i.state.pointShadowMatrix),r.currentProgram=u,r.uniformsList=null,u}function nt(e){if(e.uniformsList===null){let t=e.currentProgram.getUniforms();e.uniformsList=Ls.seqWithValue(t.seq,e.uniforms)}return e.uniformsList}function rt(e,t){let n=z.get(e);n.outputColorSpace=t.outputColorSpace,n.batching=t.batching,n.batchingColor=t.batchingColor,n.instancing=t.instancing,n.instancingColor=t.instancingColor,n.instancingMorph=t.instancingMorph,n.skinning=t.skinning,n.morphTargets=t.morphTargets,n.morphNormals=t.morphNormals,n.morphColors=t.morphColors,n.morphTargetsCount=t.morphTargetsCount,n.numClippingPlanes=t.numClippingPlanes,n.numIntersection=t.numClipIntersection,n.vertexAlphas=t.vertexAlphas,n.vertexTangents=t.vertexTangents,n.toneMapping=t.toneMapping}function it(e,t,n,r,i){t.isScene!==!0&&(t=pe),B.resetTextureUnits();let a=t.fog,o=r.isMeshStandardMaterial?t.environment:null,s=E===null?S.outputColorSpace:E.isXRRenderTarget===!0?E.texture.colorSpace:Me,c=(r.isMeshStandardMaterial?be:ye).get(r.envMap||o),l=r.vertexColors===!0&&!!n.attributes.color&&n.attributes.color.itemSize===4,u=!!n.attributes.tangent&&(!!r.normalMap||r.anisotropy>0),d=!!n.morphAttributes.position,f=!!n.morphAttributes.normal,p=!!n.morphAttributes.color,m=0;r.toneMapped&&(E===null||E.isXRRenderTarget===!0)&&(m=S.toneMapping);let h=n.morphAttributes.position||n.morphAttributes.normal||n.morphAttributes.color,g=h===void 0?0:h.length,_=z.get(r),v=y.state.lights;if(F===!0&&(ce===!0||e!==O)){let t=e===O&&r.id===D;De.setState(r,e,t)}let b=!1;r.version===_.__version?_.needsLights&&_.lightsStateVersion!==v.state.version?b=!0:_.outputColorSpace===s?i.isBatchedMesh&&_.batching===!1||!i.isBatchedMesh&&_.batching===!0||i.isBatchedMesh&&_.batchingColor===!0&&i.colorTexture===null||i.isBatchedMesh&&_.batchingColor===!1&&i.colorTexture!==null||i.isInstancedMesh&&_.instancing===!1||!i.isInstancedMesh&&_.instancing===!0||i.isSkinnedMesh&&_.skinning===!1||!i.isSkinnedMesh&&_.skinning===!0||i.isInstancedMesh&&_.instancingColor===!0&&i.instanceColor===null||i.isInstancedMesh&&_.instancingColor===!1&&i.instanceColor!==null||i.isInstancedMesh&&_.instancingMorph===!0&&i.morphTexture===null||i.isInstancedMesh&&_.instancingMorph===!1&&i.morphTexture!==null?b=!0:_.envMap===c?r.fog===!0&&_.fog!==a||_.numClippingPlanes!==void 0&&(_.numClippingPlanes!==De.numPlanes||_.numIntersection!==De.numIntersection)?b=!0:_.vertexAlphas===l&&_.vertexTangents===u&&_.morphTargets===d&&_.morphNormals===f&&_.morphColors===p&&_.toneMapping===m?_.morphTargetsCount!==g&&(b=!0):b=!0:b=!0:b=!0:(b=!0,_.__version=r.version);let x=_.currentProgram;b===!0&&(x=tt(r,t,i));let C=!1,w=!1,T=!1,k=x.getUniforms(),A=_.uniforms;if(R.useProgram(x.program)&&(C=!0,w=!0,T=!0),r.id!==D&&(D=r.id,w=!0),C||O!==e){R.buffers.depth.getReversed()?(le.copy(e.projectionMatrix),bt(le),xt(le),k.setValue(I,`projectionMatrix`,le)):k.setValue(I,`projectionMatrix`,e.projectionMatrix),k.setValue(I,`viewMatrix`,e.matrixWorldInverse);let t=k.map.cameraPosition;t!==void 0&&t.setValue(I,de.setFromMatrixPosition(e.matrixWorld)),_e.logarithmicDepthBuffer&&k.setValue(I,`logDepthBufFC`,2/(Math.log(e.far+1)/Math.LN2)),(r.isMeshPhongMaterial||r.isMeshToonMaterial||r.isMeshLambertMaterial||r.isMeshBasicMaterial||r.isMeshStandardMaterial||r.isShaderMaterial)&&k.setValue(I,`isOrthographic`,e.isOrthographicCamera===!0),O!==e&&(O=e,w=!0,T=!0)}if(i.isSkinnedMesh){k.setOptional(I,i,`bindMatrix`),k.setOptional(I,i,`bindMatrixInverse`);let e=i.skeleton;e&&(e.boneTexture===null&&e.computeBoneTexture(),k.setValue(I,`boneTexture`,e.boneTexture,B))}i.isBatchedMesh&&(k.setOptional(I,i,`batchingTexture`),k.setValue(I,`batchingTexture`,i._matricesTexture,B),k.setOptional(I,i,`batchingIdTexture`),k.setValue(I,`batchingIdTexture`,i._indirectTexture,B),k.setOptional(I,i,`batchingColorTexture`),i._colorsTexture!==null&&k.setValue(I,`batchingColorTexture`,i._colorsTexture,B));let j=n.morphAttributes;if((j.position!==void 0||j.normal!==void 0||j.color!==void 0)&&Ae.update(i,n,x),(w||_.receiveShadow!==i.receiveShadow)&&(_.receiveShadow=i.receiveShadow,k.setValue(I,`receiveShadow`,i.receiveShadow)),r.isMeshGouraudMaterial&&r.envMap!==null&&(A.envMap.value=c,A.flipEnvMap.value=c.isCubeTexture&&c.isRenderTargetTexture===!1?-1:1),r.isMeshStandardMaterial&&r.envMap===null&&t.environment!==null&&(A.envMapIntensity.value=t.environmentIntensity),w&&(k.setValue(I,`toneMappingExposure`,S.toneMappingExposure),_.needsLights&&at(A,T),a&&r.fog===!0&&we.refreshFogUniforms(A,a),we.refreshMaterialUniforms(A,r,P,N,y.state.transmissionRenderTarget[e.id]),Ls.upload(I,nt(_),A,B)),r.isShaderMaterial&&r.uniformsNeedUpdate===!0&&(Ls.upload(I,nt(_),A,B),r.uniformsNeedUpdate=!1),r.isSpriteMaterial&&k.setValue(I,`center`,i.center),k.setValue(I,`modelViewMatrix`,i.modelViewMatrix),k.setValue(I,`normalMatrix`,i.normalMatrix),k.setValue(I,`modelMatrix`,i.matrixWorld),r.isShaderMaterial||r.isRawShaderMaterial){let e=r.uniformsGroups;for(let t=0,n=e.length;t<n;t++){let n=e[t];Le.update(n,x),Le.bind(n,x)}}return x}function at(e,t){e.ambientLightColor.needsUpdate=t,e.lightProbe.needsUpdate=t,e.directionalLights.needsUpdate=t,e.directionalLightShadows.needsUpdate=t,e.pointLights.needsUpdate=t,e.pointLightShadows.needsUpdate=t,e.spotLights.needsUpdate=t,e.spotLightShadows.needsUpdate=t,e.rectAreaLights.needsUpdate=t,e.hemisphereLights.needsUpdate=t}function ot(e){return e.isMeshLambertMaterial||e.isMeshToonMaterial||e.isMeshPhongMaterial||e.isMeshStandardMaterial||e.isShadowMaterial||e.isShaderMaterial&&e.lights===!0}this.getActiveCubeFace=function(){return w},this.getActiveMipmapLevel=function(){return T},this.getRenderTarget=function(){return E},this.setRenderTargetTextures=function(e,t,n){let r=z.get(e);r.__autoAllocateDepthBuffer=e.resolveDepthBuffer===!1,r.__autoAllocateDepthBuffer===!1&&(r.__useRenderToTexture=!1),z.get(e.texture).__webglTexture=t,z.get(e.depthTexture).__webglTexture=r.__autoAllocateDepthBuffer?void 0:n,r.__hasExternalTextures=!0},this.setRenderTargetFramebuffer=function(e,t){let n=z.get(e);n.__webglFramebuffer=t,n.__useDefaultFramebuffer=t===void 0};let st=I.createFramebuffer();this.setRenderTarget=function(e,t=0,n=0){E=e,w=t,T=n;let r=!0,i=null,a=!1,o=!1;if(e){let s=z.get(e);if(s.__useDefaultFramebuffer!==void 0)R.bindFramebuffer(I.FRAMEBUFFER,null),r=!1;else if(s.__webglFramebuffer===void 0)B.setupRenderTarget(e);else if(s.__hasExternalTextures)B.rebindTextures(e,z.get(e.texture).__webglTexture,z.get(e.depthTexture).__webglTexture);else if(e.depthBuffer){let t=e.depthTexture;if(s.__boundDepthTexture!==t){if(t!==null&&z.has(t)&&(e.width!==t.image.width||e.height!==t.image.height))throw Error(`WebGLRenderTarget: Attached DepthTexture is initialized to the incorrect size.`);B.setupDepthRenderbuffer(e)}}let c=e.texture;(c.isData3DTexture||c.isDataArrayTexture||c.isCompressedArrayTexture)&&(o=!0);let l=z.get(e).__webglFramebuffer;e.isWebGLCubeRenderTarget?(i=Array.isArray(l[t])?l[t][n]:l[t],a=!0):i=e.samples>0&&B.useMultisampledRTT(e)===!1?z.get(e).__webglMultisampledFramebuffer:Array.isArray(l)?l[n]:l,k.copy(e.viewport),A.copy(e.scissor),j=e.scissorTest}else k.copy(ie).multiplyScalar(P).floor(),A.copy(ae).multiplyScalar(P).floor(),j=oe;if(n!==0&&(i=st),R.bindFramebuffer(I.FRAMEBUFFER,i)&&r&&R.drawBuffers(e,i),R.viewport(k),R.scissor(A),R.setScissorTest(j),a){let r=z.get(e.texture);I.framebufferTexture2D(I.FRAMEBUFFER,I.COLOR_ATTACHMENT0,I.TEXTURE_CUBE_MAP_POSITIVE_X+t,r.__webglTexture,n)}else if(o){let r=z.get(e.texture),i=t;I.framebufferTextureLayer(I.FRAMEBUFFER,I.COLOR_ATTACHMENT0,r.__webglTexture,n,i)}else if(e!==null&&n!==0){let t=z.get(e.texture);I.framebufferTexture2D(I.FRAMEBUFFER,I.COLOR_ATTACHMENT0,I.TEXTURE_2D,t.__webglTexture,n)}D=-1},this.readRenderTargetPixels=function(e,t,n,r,i,a,o,s=0){if(!(e&&e.isWebGLRenderTarget)){console.error(`THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not THREE.WebGLRenderTarget.`);return}let c=z.get(e).__webglFramebuffer;if(e.isWebGLCubeRenderTarget&&o!==void 0&&(c=c[o]),c){R.bindFramebuffer(I.FRAMEBUFFER,c);try{let o=e.textures[s],c=o.format,l=o.type;if(!_e.textureFormatReadable(c)){console.error(`THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not in RGBA or implementation defined format.`);return}if(!_e.textureTypeReadable(l)){console.error(`THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not in UnsignedByteType or implementation defined type.`);return}t>=0&&t<=e.width-r&&n>=0&&n<=e.height-i&&(e.textures.length>1&&I.readBuffer(I.COLOR_ATTACHMENT0+s),I.readPixels(t,n,r,i,Fe.convert(c),Fe.convert(l),a))}finally{let e=E===null?null:z.get(E).__webglFramebuffer;R.bindFramebuffer(I.FRAMEBUFFER,e)}}},this.readRenderTargetPixelsAsync=async function(e,t,n,r,i,a,o,s=0){if(!(e&&e.isWebGLRenderTarget))throw Error(`THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not THREE.WebGLRenderTarget.`);let c=z.get(e).__webglFramebuffer;if(e.isWebGLCubeRenderTarget&&o!==void 0&&(c=c[o]),c)if(t>=0&&t<=e.width-r&&n>=0&&n<=e.height-i){R.bindFramebuffer(I.FRAMEBUFFER,c);let o=e.textures[s],l=o.format,u=o.type;if(!_e.textureFormatReadable(l))throw Error(`THREE.WebGLRenderer.readRenderTargetPixelsAsync: renderTarget is not in RGBA or implementation defined format.`);if(!_e.textureTypeReadable(u))throw Error(`THREE.WebGLRenderer.readRenderTargetPixelsAsync: renderTarget is not in UnsignedByteType or implementation defined type.`);let d=I.createBuffer();I.bindBuffer(I.PIXEL_PACK_BUFFER,d),I.bufferData(I.PIXEL_PACK_BUFFER,a.byteLength,I.STREAM_READ),e.textures.length>1&&I.readBuffer(I.COLOR_ATTACHMENT0+s),I.readPixels(t,n,r,i,Fe.convert(l),Fe.convert(u),0);let f=E===null?null:z.get(E).__webglFramebuffer;R.bindFramebuffer(I.FRAMEBUFFER,f);let p=I.fenceSync(I.SYNC_GPU_COMMANDS_COMPLETE,0);return I.flush(),await yt(I,p,4),I.bindBuffer(I.PIXEL_PACK_BUFFER,d),I.getBufferSubData(I.PIXEL_PACK_BUFFER,0,a),I.deleteBuffer(d),I.deleteSync(p),a}else throw Error(`THREE.WebGLRenderer.readRenderTargetPixelsAsync: requested read bounds are out of range.`)},this.copyFramebufferToTexture=function(e,t=null,n=0){let r=2**-n,i=Math.floor(e.image.width*r),a=Math.floor(e.image.height*r),o=t===null?0:t.x,s=t===null?0:t.y;B.setTexture2D(e,0),I.copyTexSubImage2D(I.TEXTURE_2D,n,0,0,o,s,i,a),R.unbindTexture()};let ct=I.createFramebuffer(),lt=I.createFramebuffer();this.copyTextureToTexture=function(e,t,n=null,r=null,i=0,a=null){a===null&&(i===0?a=0:(vt(`WebGLRenderer: copyTextureToTexture function signature has changed to support src and dst mipmap levels.`),a=i,i=0));let o,s,c,l,u,d,f,p,m,h=e.isCompressedTexture?e.mipmaps[a]:e.image;if(n!==null)o=n.max.x-n.min.x,s=n.max.y-n.min.y,c=n.isBox3?n.max.z-n.min.z:1,l=n.min.x,u=n.min.y,d=n.isBox3?n.min.z:0;else{let t=2**-i;o=Math.floor(h.width*t),s=Math.floor(h.height*t),c=e.isDataArrayTexture?h.depth:e.isData3DTexture?Math.floor(h.depth*t):1,l=0,u=0,d=0}r===null?(f=0,p=0,m=0):(f=r.x,p=r.y,m=r.z);let g=Fe.convert(t.format),_=Fe.convert(t.type),v;t.isData3DTexture?(B.setTexture3D(t,0),v=I.TEXTURE_3D):t.isDataArrayTexture||t.isCompressedArrayTexture?(B.setTexture2DArray(t,0),v=I.TEXTURE_2D_ARRAY):(B.setTexture2D(t,0),v=I.TEXTURE_2D),I.pixelStorei(I.UNPACK_FLIP_Y_WEBGL,t.flipY),I.pixelStorei(I.UNPACK_PREMULTIPLY_ALPHA_WEBGL,t.premultiplyAlpha),I.pixelStorei(I.UNPACK_ALIGNMENT,t.unpackAlignment);let y=I.getParameter(I.UNPACK_ROW_LENGTH),b=I.getParameter(I.UNPACK_IMAGE_HEIGHT),x=I.getParameter(I.UNPACK_SKIP_PIXELS),S=I.getParameter(I.UNPACK_SKIP_ROWS),C=I.getParameter(I.UNPACK_SKIP_IMAGES);I.pixelStorei(I.UNPACK_ROW_LENGTH,h.width),I.pixelStorei(I.UNPACK_IMAGE_HEIGHT,h.height),I.pixelStorei(I.UNPACK_SKIP_PIXELS,l),I.pixelStorei(I.UNPACK_SKIP_ROWS,u),I.pixelStorei(I.UNPACK_SKIP_IMAGES,d);let w=e.isDataArrayTexture||e.isData3DTexture,T=t.isDataArrayTexture||t.isData3DTexture;if(e.isDepthTexture){let n=z.get(e),r=z.get(t),h=z.get(n.__renderTarget),g=z.get(r.__renderTarget);R.bindFramebuffer(I.READ_FRAMEBUFFER,h.__webglFramebuffer),R.bindFramebuffer(I.DRAW_FRAMEBUFFER,g.__webglFramebuffer);for(let n=0;n<c;n++)w&&(I.framebufferTextureLayer(I.READ_FRAMEBUFFER,I.COLOR_ATTACHMENT0,z.get(e).__webglTexture,i,d+n),I.framebufferTextureLayer(I.DRAW_FRAMEBUFFER,I.COLOR_ATTACHMENT0,z.get(t).__webglTexture,a,m+n)),I.blitFramebuffer(l,u,o,s,f,p,o,s,I.DEPTH_BUFFER_BIT,I.NEAREST);R.bindFramebuffer(I.READ_FRAMEBUFFER,null),R.bindFramebuffer(I.DRAW_FRAMEBUFFER,null)}else if(i!==0||e.isRenderTargetTexture||z.has(e)){let n=z.get(e),r=z.get(t);R.bindFramebuffer(I.READ_FRAMEBUFFER,ct),R.bindFramebuffer(I.DRAW_FRAMEBUFFER,lt);for(let e=0;e<c;e++)w?I.framebufferTextureLayer(I.READ_FRAMEBUFFER,I.COLOR_ATTACHMENT0,n.__webglTexture,i,d+e):I.framebufferTexture2D(I.READ_FRAMEBUFFER,I.COLOR_ATTACHMENT0,I.TEXTURE_2D,n.__webglTexture,i),T?I.framebufferTextureLayer(I.DRAW_FRAMEBUFFER,I.COLOR_ATTACHMENT0,r.__webglTexture,a,m+e):I.framebufferTexture2D(I.DRAW_FRAMEBUFFER,I.COLOR_ATTACHMENT0,I.TEXTURE_2D,r.__webglTexture,a),i===0?T?I.copyTexSubImage3D(v,a,f,p,m+e,l,u,o,s):I.copyTexSubImage2D(v,a,f,p,l,u,o,s):I.blitFramebuffer(l,u,o,s,f,p,o,s,I.COLOR_BUFFER_BIT,I.NEAREST);R.bindFramebuffer(I.READ_FRAMEBUFFER,null),R.bindFramebuffer(I.DRAW_FRAMEBUFFER,null)}else T?e.isDataTexture||e.isData3DTexture?I.texSubImage3D(v,a,f,p,m,o,s,c,g,_,h.data):t.isCompressedArrayTexture?I.compressedTexSubImage3D(v,a,f,p,m,o,s,c,g,h.data):I.texSubImage3D(v,a,f,p,m,o,s,c,g,_,h):e.isDataTexture?I.texSubImage2D(I.TEXTURE_2D,a,f,p,o,s,g,_,h.data):e.isCompressedTexture?I.compressedTexSubImage2D(I.TEXTURE_2D,a,f,p,h.width,h.height,g,h.data):I.texSubImage2D(I.TEXTURE_2D,a,f,p,o,s,g,_,h);I.pixelStorei(I.UNPACK_ROW_LENGTH,y),I.pixelStorei(I.UNPACK_IMAGE_HEIGHT,b),I.pixelStorei(I.UNPACK_SKIP_PIXELS,x),I.pixelStorei(I.UNPACK_SKIP_ROWS,S),I.pixelStorei(I.UNPACK_SKIP_IMAGES,C),a===0&&t.generateMipmaps&&I.generateMipmap(v),R.unbindTexture()},this.copyTextureToTexture3D=function(e,t,n=null,r=null,i=0){return vt(`WebGLRenderer: copyTextureToTexture3D function has been deprecated. Use "copyTextureToTexture" instead.`),this.copyTextureToTexture(e,t,n,r,i)},this.initRenderTarget=function(e){z.get(e).__webglFramebuffer===void 0&&B.setupRenderTarget(e)},this.initTexture=function(e){e.isCubeTexture?B.setTextureCube(e,0):e.isData3DTexture?B.setTexture3D(e,0):e.isDataArrayTexture||e.isCompressedArrayTexture?B.setTexture2DArray(e,0):B.setTexture2D(e,0),R.unbindTexture()},this.resetState=function(){w=0,T=0,E=null,R.reset(),Ie.reset()},typeof __THREE_DEVTOOLS__<`u`&&__THREE_DEVTOOLS__.dispatchEvent(new CustomEvent(`observe`,{detail:this}))}get coordinateSystem(){return Le}get outputColorSpace(){return this._outputColorSpace}set outputColorSpace(e){this._outputColorSpace=e;let t=this.getContext();t.drawingBufferColorSpace=q._getDrawingBufferColorSpace(e),t.unpackColorSpace=q._getUnpackColorSpace()}},qc={type:`change`},Jc={type:`start`},Yc={type:`end`},Xc=new fn,Zc=new ui,Qc=Math.cos(70*lt.DEG2RAD),$c=new G,el=2*Math.PI,$={NONE:-1,ROTATE:0,DOLLY:1,PAN:2,TOUCH_ROTATE:3,TOUCH_PAN:4,TOUCH_DOLLY_PAN:5,TOUCH_DOLLY_ROTATE:6},tl=1e-6,nl=class extends Va{constructor(n,r=null){super(n,r),this.state=$.NONE,this.target=new G,this.cursor=new G,this.minDistance=0,this.maxDistance=1/0,this.minZoom=0,this.maxZoom=1/0,this.minTargetRadius=0,this.maxTargetRadius=1/0,this.minPolarAngle=0,this.maxPolarAngle=Math.PI,this.minAzimuthAngle=-1/0,this.maxAzimuthAngle=1/0,this.enableDamping=!1,this.dampingFactor=.05,this.enableZoom=!0,this.zoomSpeed=1,this.enableRotate=!0,this.rotateSpeed=1,this.keyRotateSpeed=1,this.enablePan=!0,this.panSpeed=1,this.screenSpacePanning=!0,this.keyPanSpeed=7,this.zoomToCursor=!1,this.autoRotate=!1,this.autoRotateSpeed=2,this.keys={LEFT:`ArrowLeft`,UP:`ArrowUp`,RIGHT:`ArrowRight`,BOTTOM:`ArrowDown`},this.mouseButtons={LEFT:e.ROTATE,MIDDLE:e.DOLLY,RIGHT:e.PAN},this.touches={ONE:t.ROTATE,TWO:t.DOLLY_PAN},this.target0=this.target.clone(),this.position0=this.object.position.clone(),this.zoom0=this.object.zoom,this._domElementKeyEvents=null,this._lastPosition=new G,this._lastQuaternion=new ut,this._lastTargetPosition=new G,this._quat=new ut().setFromUnitVectors(n.up,new G(0,1,0)),this._quatInverse=this._quat.clone().invert(),this._spherical=new Ba,this._sphericalDelta=new Ba,this._scale=1,this._panOffset=new G,this._rotateStart=new W,this._rotateEnd=new W,this._rotateDelta=new W,this._panStart=new W,this._panEnd=new W,this._panDelta=new W,this._dollyStart=new W,this._dollyEnd=new W,this._dollyDelta=new W,this._dollyDirection=new G,this._mouse=new W,this._performCursorZoom=!1,this._pointers=[],this._pointerPositions={},this._controlActive=!1,this._onPointerMove=il.bind(this),this._onPointerDown=rl.bind(this),this._onPointerUp=al.bind(this),this._onContextMenu=fl.bind(this),this._onMouseWheel=cl.bind(this),this._onKeyDown=ll.bind(this),this._onTouchStart=ul.bind(this),this._onTouchMove=dl.bind(this),this._onMouseDown=ol.bind(this),this._onMouseMove=sl.bind(this),this._interceptControlDown=pl.bind(this),this._interceptControlUp=ml.bind(this),this.domElement!==null&&this.connect(this.domElement),this.update()}connect(e){super.connect(e),this.domElement.addEventListener(`pointerdown`,this._onPointerDown),this.domElement.addEventListener(`pointercancel`,this._onPointerUp),this.domElement.addEventListener(`contextmenu`,this._onContextMenu),this.domElement.addEventListener(`wheel`,this._onMouseWheel,{passive:!1}),this.domElement.getRootNode().addEventListener(`keydown`,this._interceptControlDown,{passive:!0,capture:!0}),this.domElement.style.touchAction=`none`}disconnect(){this.domElement.removeEventListener(`pointerdown`,this._onPointerDown),this.domElement.removeEventListener(`pointermove`,this._onPointerMove),this.domElement.removeEventListener(`pointerup`,this._onPointerUp),this.domElement.removeEventListener(`pointercancel`,this._onPointerUp),this.domElement.removeEventListener(`wheel`,this._onMouseWheel),this.domElement.removeEventListener(`contextmenu`,this._onContextMenu),this.stopListenToKeyEvents(),this.domElement.getRootNode().removeEventListener(`keydown`,this._interceptControlDown,{capture:!0}),this.domElement.style.touchAction=`auto`}dispose(){this.disconnect()}getPolarAngle(){return this._spherical.phi}getAzimuthalAngle(){return this._spherical.theta}getDistance(){return this.object.position.distanceTo(this.target)}listenToKeyEvents(e){e.addEventListener(`keydown`,this._onKeyDown),this._domElementKeyEvents=e}stopListenToKeyEvents(){this._domElementKeyEvents!==null&&(this._domElementKeyEvents.removeEventListener(`keydown`,this._onKeyDown),this._domElementKeyEvents=null)}saveState(){this.target0.copy(this.target),this.position0.copy(this.object.position),this.zoom0=this.object.zoom}reset(){this.target.copy(this.target0),this.object.position.copy(this.position0),this.object.zoom=this.zoom0,this.object.updateProjectionMatrix(),this.dispatchEvent(qc),this.update(),this.state=$.NONE}update(e=null){let t=this.object.position;$c.copy(t).sub(this.target),$c.applyQuaternion(this._quat),this._spherical.setFromVector3($c),this.autoRotate&&this.state===$.NONE&&this._rotateLeft(this._getAutoRotationAngle(e)),this.enableDamping?(this._spherical.theta+=this._sphericalDelta.theta*this.dampingFactor,this._spherical.phi+=this._sphericalDelta.phi*this.dampingFactor):(this._spherical.theta+=this._sphericalDelta.theta,this._spherical.phi+=this._sphericalDelta.phi);let n=this.minAzimuthAngle,r=this.maxAzimuthAngle;isFinite(n)&&isFinite(r)&&(n<-Math.PI?n+=el:n>Math.PI&&(n-=el),r<-Math.PI?r+=el:r>Math.PI&&(r-=el),n<=r?this._spherical.theta=Math.max(n,Math.min(r,this._spherical.theta)):this._spherical.theta=this._spherical.theta>(n+r)/2?Math.max(n,this._spherical.theta):Math.min(r,this._spherical.theta)),this._spherical.phi=Math.max(this.minPolarAngle,Math.min(this.maxPolarAngle,this._spherical.phi)),this._spherical.makeSafe(),this.enableDamping===!0?this.target.addScaledVector(this._panOffset,this.dampingFactor):this.target.add(this._panOffset),this.target.sub(this.cursor),this.target.clampLength(this.minTargetRadius,this.maxTargetRadius),this.target.add(this.cursor);let i=!1;if(this.zoomToCursor&&this._performCursorZoom||this.object.isOrthographicCamera)this._spherical.radius=this._clampDistance(this._spherical.radius);else{let e=this._spherical.radius;this._spherical.radius=this._clampDistance(this._spherical.radius*this._scale),i=e!=this._spherical.radius}if($c.setFromSpherical(this._spherical),$c.applyQuaternion(this._quatInverse),t.copy(this.target).add($c),this.object.lookAt(this.target),this.enableDamping===!0?(this._sphericalDelta.theta*=1-this.dampingFactor,this._sphericalDelta.phi*=1-this.dampingFactor,this._panOffset.multiplyScalar(1-this.dampingFactor)):(this._sphericalDelta.set(0,0,0),this._panOffset.set(0,0,0)),this.zoomToCursor&&this._performCursorZoom){let e=null;if(this.object.isPerspectiveCamera){let t=$c.length();e=this._clampDistance(t*this._scale);let n=t-e;this.object.position.addScaledVector(this._dollyDirection,n),this.object.updateMatrixWorld(),i=!!n}else if(this.object.isOrthographicCamera){let t=new G(this._mouse.x,this._mouse.y,0);t.unproject(this.object);let n=this.object.zoom;this.object.zoom=Math.max(this.minZoom,Math.min(this.maxZoom,this.object.zoom/this._scale)),this.object.updateProjectionMatrix(),i=n!==this.object.zoom;let r=new G(this._mouse.x,this._mouse.y,0);r.unproject(this.object),this.object.position.sub(r).add(t),this.object.updateMatrixWorld(),e=$c.length()}else console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - zoom to cursor disabled.`),this.zoomToCursor=!1;e!==null&&(this.screenSpacePanning?this.target.set(0,0,-1).transformDirection(this.object.matrix).multiplyScalar(e).add(this.object.position):(Xc.origin.copy(this.object.position),Xc.direction.set(0,0,-1).transformDirection(this.object.matrix),Math.abs(this.object.up.dot(Xc.direction))<Qc?this.object.lookAt(this.target):(Zc.setFromNormalAndCoplanarPoint(this.object.up,this.target),Xc.intersectPlane(Zc,this.target))))}else if(this.object.isOrthographicCamera){let e=this.object.zoom;this.object.zoom=Math.max(this.minZoom,Math.min(this.maxZoom,this.object.zoom/this._scale)),e!==this.object.zoom&&(this.object.updateProjectionMatrix(),i=!0)}return this._scale=1,this._performCursorZoom=!1,i||this._lastPosition.distanceToSquared(this.object.position)>tl||8*(1-this._lastQuaternion.dot(this.object.quaternion))>tl||this._lastTargetPosition.distanceToSquared(this.target)>tl?(this.dispatchEvent(qc),this._lastPosition.copy(this.object.position),this._lastQuaternion.copy(this.object.quaternion),this._lastTargetPosition.copy(this.target),!0):!1}_getAutoRotationAngle(e){return e===null?el/60/60*this.autoRotateSpeed:el/60*this.autoRotateSpeed*e}_getZoomScale(e){let t=Math.abs(e*.01);return .95**(this.zoomSpeed*t)}_rotateLeft(e){this._sphericalDelta.theta-=e}_rotateUp(e){this._sphericalDelta.phi-=e}_panLeft(e,t){$c.setFromMatrixColumn(t,0),$c.multiplyScalar(-e),this._panOffset.add($c)}_panUp(e,t){this.screenSpacePanning===!0?$c.setFromMatrixColumn(t,1):($c.setFromMatrixColumn(t,0),$c.crossVectors(this.object.up,$c)),$c.multiplyScalar(e),this._panOffset.add($c)}_pan(e,t){let n=this.domElement;if(this.object.isPerspectiveCamera){let r=this.object.position;$c.copy(r).sub(this.target);let i=$c.length();i*=Math.tan(this.object.fov/2*Math.PI/180),this._panLeft(2*e*i/n.clientHeight,this.object.matrix),this._panUp(2*t*i/n.clientHeight,this.object.matrix)}else this.object.isOrthographicCamera?(this._panLeft(e*(this.object.right-this.object.left)/this.object.zoom/n.clientWidth,this.object.matrix),this._panUp(t*(this.object.top-this.object.bottom)/this.object.zoom/n.clientHeight,this.object.matrix)):(console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - pan disabled.`),this.enablePan=!1)}_dollyOut(e){this.object.isPerspectiveCamera||this.object.isOrthographicCamera?this._scale/=e:(console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.`),this.enableZoom=!1)}_dollyIn(e){this.object.isPerspectiveCamera||this.object.isOrthographicCamera?this._scale*=e:(console.warn(`WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.`),this.enableZoom=!1)}_updateZoomParameters(e,t){if(!this.zoomToCursor)return;this._performCursorZoom=!0;let n=this.domElement.getBoundingClientRect(),r=e-n.left,i=t-n.top,a=n.width,o=n.height;this._mouse.x=r/a*2-1,this._mouse.y=-(i/o)*2+1,this._dollyDirection.set(this._mouse.x,this._mouse.y,1).unproject(this.object).sub(this.object.position).normalize()}_clampDistance(e){return Math.max(this.minDistance,Math.min(this.maxDistance,e))}_handleMouseDownRotate(e){this._rotateStart.set(e.clientX,e.clientY)}_handleMouseDownDolly(e){this._updateZoomParameters(e.clientX,e.clientX),this._dollyStart.set(e.clientX,e.clientY)}_handleMouseDownPan(e){this._panStart.set(e.clientX,e.clientY)}_handleMouseMoveRotate(e){this._rotateEnd.set(e.clientX,e.clientY),this._rotateDelta.subVectors(this._rotateEnd,this._rotateStart).multiplyScalar(this.rotateSpeed);let t=this.domElement;this._rotateLeft(el*this._rotateDelta.x/t.clientHeight),this._rotateUp(el*this._rotateDelta.y/t.clientHeight),this._rotateStart.copy(this._rotateEnd),this.update()}_handleMouseMoveDolly(e){this._dollyEnd.set(e.clientX,e.clientY),this._dollyDelta.subVectors(this._dollyEnd,this._dollyStart),this._dollyDelta.y>0?this._dollyOut(this._getZoomScale(this._dollyDelta.y)):this._dollyDelta.y<0&&this._dollyIn(this._getZoomScale(this._dollyDelta.y)),this._dollyStart.copy(this._dollyEnd),this.update()}_handleMouseMovePan(e){this._panEnd.set(e.clientX,e.clientY),this._panDelta.subVectors(this._panEnd,this._panStart).multiplyScalar(this.panSpeed),this._pan(this._panDelta.x,this._panDelta.y),this._panStart.copy(this._panEnd),this.update()}_handleMouseWheel(e){this._updateZoomParameters(e.clientX,e.clientY),e.deltaY<0?this._dollyIn(this._getZoomScale(e.deltaY)):e.deltaY>0&&this._dollyOut(this._getZoomScale(e.deltaY)),this.update()}_handleKeyDown(e){let t=!1;switch(e.code){case this.keys.UP:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateUp(el*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(0,this.keyPanSpeed),t=!0;break;case this.keys.BOTTOM:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateUp(-el*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(0,-this.keyPanSpeed),t=!0;break;case this.keys.LEFT:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateLeft(el*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(this.keyPanSpeed,0),t=!0;break;case this.keys.RIGHT:e.ctrlKey||e.metaKey||e.shiftKey?this.enableRotate&&this._rotateLeft(-el*this.keyRotateSpeed/this.domElement.clientHeight):this.enablePan&&this._pan(-this.keyPanSpeed,0),t=!0;break}t&&(e.preventDefault(),this.update())}_handleTouchStartRotate(e){if(this._pointers.length===1)this._rotateStart.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._rotateStart.set(n,r)}}_handleTouchStartPan(e){if(this._pointers.length===1)this._panStart.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._panStart.set(n,r)}}_handleTouchStartDolly(e){let t=this._getSecondPointerPosition(e),n=e.pageX-t.x,r=e.pageY-t.y,i=Math.sqrt(n*n+r*r);this._dollyStart.set(0,i)}_handleTouchStartDollyPan(e){this.enableZoom&&this._handleTouchStartDolly(e),this.enablePan&&this._handleTouchStartPan(e)}_handleTouchStartDollyRotate(e){this.enableZoom&&this._handleTouchStartDolly(e),this.enableRotate&&this._handleTouchStartRotate(e)}_handleTouchMoveRotate(e){if(this._pointers.length==1)this._rotateEnd.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._rotateEnd.set(n,r)}this._rotateDelta.subVectors(this._rotateEnd,this._rotateStart).multiplyScalar(this.rotateSpeed);let t=this.domElement;this._rotateLeft(el*this._rotateDelta.x/t.clientHeight),this._rotateUp(el*this._rotateDelta.y/t.clientHeight),this._rotateStart.copy(this._rotateEnd)}_handleTouchMovePan(e){if(this._pointers.length===1)this._panEnd.set(e.pageX,e.pageY);else{let t=this._getSecondPointerPosition(e),n=.5*(e.pageX+t.x),r=.5*(e.pageY+t.y);this._panEnd.set(n,r)}this._panDelta.subVectors(this._panEnd,this._panStart).multiplyScalar(this.panSpeed),this._pan(this._panDelta.x,this._panDelta.y),this._panStart.copy(this._panEnd)}_handleTouchMoveDolly(e){let t=this._getSecondPointerPosition(e),n=e.pageX-t.x,r=e.pageY-t.y,i=Math.sqrt(n*n+r*r);this._dollyEnd.set(0,i),this._dollyDelta.set(0,(this._dollyEnd.y/this._dollyStart.y)**+this.zoomSpeed),this._dollyOut(this._dollyDelta.y),this._dollyStart.copy(this._dollyEnd);let a=(e.pageX+t.x)*.5,o=(e.pageY+t.y)*.5;this._updateZoomParameters(a,o)}_handleTouchMoveDollyPan(e){this.enableZoom&&this._handleTouchMoveDolly(e),this.enablePan&&this._handleTouchMovePan(e)}_handleTouchMoveDollyRotate(e){this.enableZoom&&this._handleTouchMoveDolly(e),this.enableRotate&&this._handleTouchMoveRotate(e)}_addPointer(e){this._pointers.push(e.pointerId)}_removePointer(e){delete this._pointerPositions[e.pointerId];for(let t=0;t<this._pointers.length;t++)if(this._pointers[t]==e.pointerId){this._pointers.splice(t,1);return}}_isTrackingPointer(e){for(let t=0;t<this._pointers.length;t++)if(this._pointers[t]==e.pointerId)return!0;return!1}_trackPointer(e){let t=this._pointerPositions[e.pointerId];t===void 0&&(t=new W,this._pointerPositions[e.pointerId]=t),t.set(e.pageX,e.pageY)}_getSecondPointerPosition(e){let t=e.pointerId===this._pointers[0]?this._pointers[1]:this._pointers[0];return this._pointerPositions[t]}_customWheelEvent(e){let t=e.deltaMode,n={clientX:e.clientX,clientY:e.clientY,deltaY:e.deltaY};switch(t){case 1:n.deltaY*=16;break;case 2:n.deltaY*=100;break}return e.ctrlKey&&!this._controlActive&&(n.deltaY*=10),n}};function rl(e){this.enabled!==!1&&(this._pointers.length===0&&(this.domElement.setPointerCapture(e.pointerId),this.domElement.addEventListener(`pointermove`,this._onPointerMove),this.domElement.addEventListener(`pointerup`,this._onPointerUp)),!this._isTrackingPointer(e)&&(this._addPointer(e),e.pointerType===`touch`?this._onTouchStart(e):this._onMouseDown(e)))}function il(e){this.enabled!==!1&&(e.pointerType===`touch`?this._onTouchMove(e):this._onMouseMove(e))}function al(e){switch(this._removePointer(e),this._pointers.length){case 0:this.domElement.releasePointerCapture(e.pointerId),this.domElement.removeEventListener(`pointermove`,this._onPointerMove),this.domElement.removeEventListener(`pointerup`,this._onPointerUp),this.dispatchEvent(Yc),this.state=$.NONE;break;case 1:let t=this._pointers[0],n=this._pointerPositions[t];this._onTouchStart({pointerId:t,pageX:n.x,pageY:n.y});break}}function ol(t){let n;switch(t.button){case 0:n=this.mouseButtons.LEFT;break;case 1:n=this.mouseButtons.MIDDLE;break;case 2:n=this.mouseButtons.RIGHT;break;default:n=-1}switch(n){case e.DOLLY:if(this.enableZoom===!1)return;this._handleMouseDownDolly(t),this.state=$.DOLLY;break;case e.ROTATE:if(t.ctrlKey||t.metaKey||t.shiftKey){if(this.enablePan===!1)return;this._handleMouseDownPan(t),this.state=$.PAN}else{if(this.enableRotate===!1)return;this._handleMouseDownRotate(t),this.state=$.ROTATE}break;case e.PAN:if(t.ctrlKey||t.metaKey||t.shiftKey){if(this.enableRotate===!1)return;this._handleMouseDownRotate(t),this.state=$.ROTATE}else{if(this.enablePan===!1)return;this._handleMouseDownPan(t),this.state=$.PAN}break;default:this.state=$.NONE}this.state!==$.NONE&&this.dispatchEvent(Jc)}function sl(e){switch(this.state){case $.ROTATE:if(this.enableRotate===!1)return;this._handleMouseMoveRotate(e);break;case $.DOLLY:if(this.enableZoom===!1)return;this._handleMouseMoveDolly(e);break;case $.PAN:if(this.enablePan===!1)return;this._handleMouseMovePan(e);break}}function cl(e){this.enabled===!1||this.enableZoom===!1||this.state!==$.NONE||(e.preventDefault(),this.dispatchEvent(Jc),this._handleMouseWheel(this._customWheelEvent(e)),this.dispatchEvent(Yc))}function ll(e){this.enabled!==!1&&this._handleKeyDown(e)}function ul(e){switch(this._trackPointer(e),this._pointers.length){case 1:switch(this.touches.ONE){case t.ROTATE:if(this.enableRotate===!1)return;this._handleTouchStartRotate(e),this.state=$.TOUCH_ROTATE;break;case t.PAN:if(this.enablePan===!1)return;this._handleTouchStartPan(e),this.state=$.TOUCH_PAN;break;default:this.state=$.NONE}break;case 2:switch(this.touches.TWO){case t.DOLLY_PAN:if(this.enableZoom===!1&&this.enablePan===!1)return;this._handleTouchStartDollyPan(e),this.state=$.TOUCH_DOLLY_PAN;break;case t.DOLLY_ROTATE:if(this.enableZoom===!1&&this.enableRotate===!1)return;this._handleTouchStartDollyRotate(e),this.state=$.TOUCH_DOLLY_ROTATE;break;default:this.state=$.NONE}break;default:this.state=$.NONE}this.state!==$.NONE&&this.dispatchEvent(Jc)}function dl(e){switch(this._trackPointer(e),this.state){case $.TOUCH_ROTATE:if(this.enableRotate===!1)return;this._handleTouchMoveRotate(e),this.update();break;case $.TOUCH_PAN:if(this.enablePan===!1)return;this._handleTouchMovePan(e),this.update();break;case $.TOUCH_DOLLY_PAN:if(this.enableZoom===!1&&this.enablePan===!1)return;this._handleTouchMoveDollyPan(e),this.update();break;case $.TOUCH_DOLLY_ROTATE:if(this.enableZoom===!1&&this.enableRotate===!1)return;this._handleTouchMoveDollyRotate(e),this.update();break;default:this.state=$.NONE}}function fl(e){this.enabled!==!1&&e.preventDefault()}function pl(e){e.key===`Control`&&(this._controlActive=!0,this.domElement.getRootNode().addEventListener(`keyup`,this._interceptControlUp,{passive:!0,capture:!0}))}function ml(e){e.key===`Control`&&(this._controlActive=!1,this.domElement.getRootNode().removeEventListener(`keyup`,this._interceptControlUp,{passive:!0,capture:!0}))}var hl,gl=`
-<mujoco model="Particle">
-  <statistic extent="1.5" meansize=".05"/>
-
-  <option timestep="0.005" jacobian="sparse"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
-  </visual>
-
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
-    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-
-    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" condim="1"/>
-
-    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
-      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
-    </body>
-  </worldbody>
-
-  <option solver="CG" tolerance="1e-6" timestep=".01"/>
-
-  <size memory="1G"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
-    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
-    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
-    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
-    <replicate count="10" offset=".07 0 0">
-      <replicate count="10" offset="0 .07 0">
-        <replicate count="10" offset="0 0 .07">
-          <body pos="-.315 -.315 1">
-            <joint type="slide" axis="1 0 0"/>
-            <joint type="slide" axis="0 1 0"/>
-            <joint type="slide" axis="0 0 1"/>
-            <geom size=".025" rgba=".8 .2 .1 1" condim="1"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
-    `,_l=class extends Cr{constructor(e=1,t=1,n=4,r=8){let i=new Gi;i.absarc(0,-t/2,e,Math.PI*1.5,0,!1),i.absarc(0,t/2,e,0,Math.PI*.5,!1);let a=new Ki(i.getPoints(n),r);super(),this.setIndex(a.getIndex()),this.setAttribute(`position`,a.getAttribute(`position`)),this.setAttribute(`normal`,a.getAttribute(`normal`)),this.setAttribute(`uv`,a.getAttribute(`uv`)),this.type=`CapsuleGeometry`,this.parameters={radius:e,length:t,capSegments:n,radialSegments:r}}},vl=class{constructor(){this.paused=!1,this.frameId=null,this.maxGeoms=2**15,this.meshes=[],this.bufferGeometryCache=new Map,this.mjvPerturb=new hl.MjvPerturb,this.mjvOption=new hl.MjvOption,this.mjvCamera=new hl.MjvCamera,this.scene=new oi,this.renderer=new Kc,this.renderer.setSize(window.innerWidth,window.innerHeight),this.renderer.shadowMap.enabled=!0,this.renderer.shadowMap.type=2,document.body.appendChild(this.renderer.domElement),this.camera=new Zr(45,window.innerWidth/window.innerHeight,.1,1e3),this.camera.up.set(0,0,1),this.camera.position.set(-2,0,2),this.controls=new nl(this.camera,this.renderer.domElement)}dispose(){this.mjvScene&&this.mjvScene.delete(),this.mjvCamera&&this.mjvCamera.delete(),this.mjvPerturb&&this.mjvPerturb.delete(),this.mjvOption&&this.mjvOption.delete(),this.mjData&&this.mjData.delete(),this.mjModel&&this.mjModel.delete(),this.meshes.forEach(e=>{e.material&&(Array.isArray(e.material)?e.material.forEach(e=>e.dispose()):e.material.dispose()),e.geometry&&e.geometry.dispose()}),this.bufferGeometryCache.clear(),this.controls&&this.controls.dispose(),this.renderer&&this.renderer.dispose(),this.frameId&&=(cancelAnimationFrame(this.frameId),null)}loadModel(e){if(this.mjModel=hl.MjModel.from_xml_string(e),!bl.mjModel)throw Error(`Failed to load model`);if(this.mjData=new hl.MjData(this.mjModel),!this.mjData)throw Error(`Failed to load data`);this.initScene()}pauseButton(){this.paused=!this.paused;let e=document.getElementById(`pause-button`);e&&(e.textContent=this.paused?`Resume`:`Pause`)}resetButton(){this.mjModel&&this.mjData&&(console.log(`Resetting model and data`),hl.mj_resetData(this.mjModel,this.mjData),hl.mj_forward(this.mjModel,this.mjData),this.clearScene(),this.initScene())}contactButton(){let e=hl.mjtVisFlag.mjVIS_CONTACTPOINT.value,t=this.mjvOption.flags[e];this.mjvOption.flags[e]=!t;let n=document.getElementById(`contact-button`);n&&(n.textContent=this.mjvOption.flags[e]?`Hide Contacts`:`Show Contacts`),this.clearScene(),this.initScene()}initScene(){this.mjvScene=new hl.MjvScene(this.mjModel,this.maxGeoms);let e=new Ta(16777215,.4);e.position.set(0,0,2),e.castShadow=!0,e.shadow.mapSize.set(2048,2048),this.scene.add(e);let t=new Da(16777215,.2);this.scene.add(t);let n=new ba(16777215,.2);n.position.set(0,0,2),n.target.position.set(0,0,0),n.castShadow=!0,n.shadow.mapSize.set(2048,2048),this.scene.add(n),this.scene.add(n.target)}clearScene(){for(this.meshes.forEach(e=>{e.material&&(Array.isArray(e.material)?e.material.forEach(e=>e.dispose()):e.material.dispose()),e.geometry&&e.geometry.dispose()}),this.bufferGeometryCache.clear(),this.meshes.length=0;this.scene.children.length>0;)this.scene.remove(this.scene.children[0]);this.mjvScene.delete()}getBufferGeometry(e){if(!(e instanceof hl.MjvGeom))throw Error(`mjvGeom is not an instance of mujoco.MjvGeom`);let t=JSON.stringify([e.type,e.size,e.dataid]),n=this.bufferGeometryCache.get(t);if(n)return[!1,n];let r;if(e.type===hl.mjtGeom.mjGEOM_PLANE.value){r=new qi(2*(e.size[0]?e.size[0]:1e4),2*(e.size[1]?e.size[1]:1e4));let t=r.getAttribute(`uv`);for(let e=0;e<t.count;++e)t.setY(e,1-t.getY(e))}else e.type===hl.mjtGeom.mjGEOM_SPHERE.value?r=new Ji(e.size[0]):e.type===hl.mjtGeom.mjGEOM_CAPSULE.value?(r=new _l(e.size[0],2*e.size[2],32,16),r.rotateX(.5*Math.PI)):e.type===hl.mjtGeom.mjGEOM_BOX.value?r=new Rr(2*e.size[0],2*e.size[1],2*e.size[2]):e.type===hl.mjtGeom.mjGEOM_CYLINDER.value?(r=new gi(e.size[0],e.size[1],2*e.size[2],32),r.rotateX(.5*Math.PI)):e.type===hl.mjtGeom.mjGEOM_ELLIPSOID.value?(r=new Ji(1),r.scale(e.size[0],e.size[1],e.size[2])):(console.log(`Unsupported geom type: `,e.type),r=new Cr);return this.bufferGeometryCache.set(t,r),[!0,r]}update(){if(!this.mjModel||!this.mjData)return;if(bl.controls.update(),!bl.paused){let e=bl.mjData.time;for(;bl.mjData.time-e<1/60;)hl.mj_step(bl.mjModel,bl.mjData)}hl.mjv_updateScene(this.mjModel,this.mjData,this.mjvOption,this.mjvPerturb,this.mjvCamera,hl.mjtCatBit.mjCAT_ALL.value,this.mjvScene);let e=this.mjvScene.geoms;for(let t=0;t<e.size();t++){let n=e.get(t),r;if(t<this.meshes.length)r=this.meshes[t];else{let n=e.get(t),[i,a]=this.getBufferGeometry(n),o=new Yi;o.color.setRGB(n.rgba[0],n.rgba[1],n.rgba[2]),o.opacity=n.rgba[3],o.transparent=n.rgba[3]!==0,r=new Fr(a,o),r.castShadow=!0,r.receiveShadow=!0,this.meshes.push(r),this.scene.add(r)}r.matrixAutoUpdate=!1,r.matrix.set(n.mat[0],n.mat[1],n.mat[2]*1,n.pos[0],n.mat[3],n.mat[4],n.mat[5]*1,n.pos[1],n.mat[6],n.mat[7],n.mat[8]*1,n.pos[2],0,0,0,1),r.matrixWorldNeedsUpdate=!0,n.delete()}e.delete()}render(){this.renderer.render(this.scene,this.camera)}run(){let e=()=>{try{this.update(),this.render()}catch(e){console.error(`Simulation error:`,e)}this.frameId=requestAnimationFrame(e)};this.frameId=requestAnimationFrame(e)}};function yl(){window.addEventListener(`unload`,()=>{bl.dispose()}),window.addEventListener(`keydown`,e=>{e.code===`Backspace`&&bl.resetButton()}),window.addEventListener(`keydown`,e=>{e.code===`Space`&&bl.pauseButton()}),window.addEventListener(`keydown`,e=>{e.key===`c`&&bl.contactButton()})}var bl;async function xl(){try{hl=await loadMujoco(),bl=new vl,yl();let e=document.getElementById(`pause-button`);e&&(e.onclick=()=>bl.pauseButton());let t=document.getElementById(`reset-button`);t&&(t.onclick=()=>bl.resetButton());let n=document.getElementById(`contact-button`);n&&(n.onclick=()=>bl.contactButton()),bl.loadModel(gl),bl.run()}catch(e){console.error(`Initialization error: `,e),bl.dispose()}}xl();
\ No newline at end of file
diff --git a/wasm/demo-dist/index.html b/wasm/demo-dist/index.html
deleted file mode 100644
index 763c5e34..00000000
--- a/wasm/demo-dist/index.html
+++ /dev/null
@@ -1,41 +0,0 @@
-<!--
- Copyright 2025 DeepMind Technologies Limited
-
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
-
-     http://www.apache.org/licenses/LICENSE-2.0
-
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
--->
-
-<!DOCTYPE html>
-<html>
-  <head>
-    <meta charset="utf-8" />
-    <title>MuJoCo WebAssembly</title>
-    <style>
-      #button-container {
-        position: fixed;
-        bottom: 20px;
-        left: 50%;
-        transform: translateX(-50%);
-        display: flex;
-        gap: 10px;
-      }
-    </style>
-    <script type="module" crossorigin src="./assets/index-DpY1_NiW.js"></script>
-  </head>
-  <body>
-    <div id="button-container">
-      <button id="pause-button">Pause</button>
-      <button id="reset-button">Reset</button>
-      <button id="contact-button">Show Contacts</button>
-    </div>
-  </body>
-</html>
diff --git a/wasm/demo_app/app.ts b/wasm/demo_app/app.ts
deleted file mode 100644
index 764314f8..00000000
--- a/wasm/demo_app/app.ts
+++ /dev/null
@@ -1,487 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import * as THREE from "three"
-import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js"
-import loadMujoco from "../dist/mujoco.js"
-
-let mujoco: any;
-
-const modelXml = `
-<mujoco model="Particle">
-  <statistic extent="1.5" meansize=".05"/>
-
-  <option timestep="0.005" jacobian="sparse"/>
-
-  <visual>
-    <rgba haze="0.15 0.25 0.35 1"/>
-    <quality shadowsize="4096"/>
-    <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
-  </visual>
-
-  <worldbody>
-    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
-    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
-
-    <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" condim="1"/>
-
-    <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
-      <geom type="capsule" size=".1 .1" group="1" condim="1"/>
-    </body>
-  </worldbody>
-
-  <option solver="CG" tolerance="1e-6" timestep=".01"/>
-
-  <size memory="1G"/>
-
-  <visual>
-    <map stiffness="100"/>
-  </visual>
-
-  <default>
-    <default class="wall">
-      <geom type="plane" size=".5 .5 .05"/>
-    </default>
-  </default>
-
-  <worldbody>
-    <geom name="+x" class="wall" zaxis="1 0 0"  pos="-.5 0 -.25"/>
-    <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
-    <geom name="+y" class="wall" zaxis="0 1 0"  pos="0 -.5 -.25"/>
-    <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
-    <replicate count="10" offset=".07 0 0">
-      <replicate count="10" offset="0 .07 0">
-        <replicate count="10" offset="0 0 .07">
-          <body pos="-.315 -.315 1">
-            <joint type="slide" axis="1 0 0"/>
-            <joint type="slide" axis="0 1 0"/>
-            <joint type="slide" axis="0 0 1"/>
-            <geom size=".025" rgba=".8 .2 .1 1" condim="1"/>
-          </body>
-        </replicate>
-      </replicate>
-    </replicate>
-  </worldbody>
-</mujoco>
-    `;
-
-// Backport of CapsuleGeometry class introduced in THREE.js r139
-class CapsuleGeometry extends THREE.BufferGeometry {
-  readonly parameters: {
-    readonly radius: number,
-    readonly length: number,
-    readonly capSegments: number,
-    readonly radialSegments:  number
-  };
-
-  constructor(radius = 1, length = 1, capSegments = 4, radialSegments = 8) {
-    const path = new THREE.Path();
-    path.absarc(0, -length / 2, radius, Math.PI * 1.5, 0, false);
-    path.absarc(0, length / 2, radius, 0, Math.PI * 0.5, false);
-    const latheGeometry =
-        new THREE.LatheGeometry(path.getPoints(capSegments), radialSegments);
-
-    super();
-    this.setIndex(latheGeometry.getIndex());
-    this.setAttribute('position', latheGeometry.getAttribute('position'));
-    this.setAttribute('normal', latheGeometry.getAttribute('normal'));
-    this.setAttribute('uv', latheGeometry.getAttribute('uv'));
-
-    this.type = 'CapsuleGeometry';
-
-    this.parameters = {
-      radius,
-      length,
-      capSegments,
-      radialSegments,
-    };
-  }
-}
-
-class App {
-  // TODO(matijak): We can use better types here by doing the following:
-  // https://emscripten.org/docs/porting/connecting_cpp_and_javascript/embind.html#typescript-definitions
-  mjModel: any;
-  mjData: any;
-  mjvOption: any;
-  mjvPerturb: any;
-  mjvCamera: any;
-  mjvScene: any;
-
-  paused = false;
-  frameId: number|null = null;
-  maxGeoms: number = 2 ** 15;
-
-  scene: THREE.Scene;
-  renderer: THREE.WebGLRenderer;
-  camera: THREE.PerspectiveCamera;
-  controls: OrbitControls;
-  meshes: THREE.Mesh[] = [];
-  bufferGeometryCache = new Map<string, THREE.BufferGeometry>();
-
-  constructor() {
-    this.mjvPerturb = new mujoco.MjvPerturb();
-    this.mjvOption = new mujoco.MjvOption();
-    this.mjvCamera = new mujoco.MjvCamera();
-
-    this.scene = new THREE.Scene();
-
-    this.renderer = new THREE.WebGLRenderer();
-    this.renderer.setSize(window.innerWidth, window.innerHeight);
-    this.renderer.shadowMap.enabled = true;
-    this.renderer.shadowMap.type = THREE.PCFSoftShadowMap;
-    document.body.appendChild(this.renderer.domElement);
-
-    this.camera = new THREE.PerspectiveCamera(
-        45, window.innerWidth / window.innerHeight, .1, 1000);
-    this.camera.up.set(0, 0, 1);  // Mujoco uses z-up
-    this.camera.position.set(-2, 0, 2);
-
-    this.controls = new OrbitControls(this.camera, this.renderer.domElement);
-  }
-
-  dispose() {
-    // Release all C++ objects
-    if (this.mjvScene) {
-      this.mjvScene.delete();
-    }
-    if (this.mjvCamera) {
-      this.mjvCamera.delete();
-    }
-    if (this.mjvPerturb) {
-      this.mjvPerturb.delete();
-    }
-    if (this.mjvOption) {
-      this.mjvOption.delete();
-    }
-    if (this.mjData) {
-      this.mjData.delete();
-    }
-    if (this.mjModel) {
-      this.mjModel.delete();
-    }
-
-    // Release all the THREE.js objects
-    this.meshes.forEach((mesh) => {
-      if (mesh.material) {
-        if (Array.isArray(mesh.material)) {
-          mesh.material.forEach(material => material.dispose());
-        } else {
-          mesh.material.dispose();
-        }
-      }
-      if (mesh.geometry) {
-        mesh.geometry.dispose();
-      }
-    });
-    this.bufferGeometryCache.clear();
-
-    if (this.controls) {
-      this.controls.dispose();
-    }
-
-    if (this.renderer) {
-      this.renderer.dispose();
-    }
-
-    // Stop the animation loop since we've disposed of all the data
-    if (this.frameId) {
-      cancelAnimationFrame(this.frameId);
-      this.frameId = null;
-    }
-  }
-
-  loadModel(xmlContent: string) {
-    this.mjModel = mujoco.MjModel.from_xml_string(xmlContent);
-    if (!app.mjModel) {
-      throw new Error('Failed to load model');
-    }
-    this.mjData = new mujoco.MjData(this.mjModel);
-    if (!this.mjData) {
-      throw new Error('Failed to load data');
-    }
-
-    this.initScene();
-  }
-
-  pauseButton() {
-    this.paused = !this.paused;
-    const button = document.getElementById('pause-button');
-    if (button) {
-      button.textContent = this.paused ? 'Resume' : 'Pause';
-    }
-  }
-
-  // TODO(matijak): Fix the bug where contact cylinders are wrong if the
-  // simulation is reset while they are being visualized
-  resetButton() {
-    if (this.mjModel && this.mjData) {
-      console.log('Resetting model and data');
-
-      mujoco.mj_resetData(this.mjModel, this.mjData);
-      mujoco.mj_forward(this.mjModel, this.mjData);
-
-      this.clearScene();
-      this.initScene();
-    }
-  }
-
-  contactButton() {
-    const index = mujoco.mjtVisFlag.mjVIS_CONTACTPOINT.value;
-    const value = this.mjvOption.flags[index];
-    this.mjvOption.flags[index] = !value;
-
-    const button = document.getElementById('contact-button');
-    if (button) {
-      button.textContent =
-          this.mjvOption.flags[index] ? 'Hide Contacts' : 'Show Contacts';
-    }
-
-    this.clearScene();
-    this.initScene();
-  }
-
-  initScene() {
-    this.mjvScene = new mujoco.MjvScene(this.mjModel, this.maxGeoms);
-
-    const pointLight = new THREE.PointLight(0xffffff, .4);
-    pointLight.position.set(0, 0, 2);
-    pointLight.castShadow = true;
-    pointLight.shadow.mapSize.set(2048, 2048);
-    this.scene.add(pointLight);
-
-    const ambientLight = new THREE.AmbientLight(0xffffff, .2);
-    this.scene.add(ambientLight);
-
-    const spotLight = new THREE.SpotLight(0xffffff, .2);
-    spotLight.position.set(0, 0, 2);
-    spotLight.target.position.set(0, 0, 0);
-    spotLight.castShadow = true;
-    spotLight.shadow.mapSize.set(2048, 2048);
-    this.scene.add(spotLight);
-    this.scene.add(spotLight.target);
-  }
-
-  clearScene() {
-    // clear cached meshes
-    this.meshes.forEach((mesh) => {
-      if (mesh.material) {
-        if (Array.isArray(mesh.material)) {
-          mesh.material.forEach(material => material.dispose());
-        } else {
-          mesh.material.dispose();
-        }
-      }
-      if (mesh.geometry) {
-        mesh.geometry.dispose();
-      }
-    });
-
-    this.bufferGeometryCache.clear();
-    this.meshes.length = 0;
-    while (this.scene.children.length > 0) {
-      this.scene.remove(this.scene.children[0]);
-    }
-    this.mjvScene.delete();
-  }
-
-  getBufferGeometry(mjvGeom: any): [boolean, THREE.BufferGeometry] {
-    if (!(mjvGeom instanceof mujoco.MjvGeom)) {
-      throw new Error('mjvGeom is not an instance of mujoco.MjvGeom');
-    }
-
-    // Lookup the geometry and return it if found
-    const key = JSON.stringify([mjvGeom.type, mjvGeom.size, mjvGeom.dataid]);
-    const found = this.bufferGeometryCache.get(key);
-    if (found) {
-      return [false, found];
-    }
-
-    // Create geometry
-    let geom: THREE.BufferGeometry;
-    if (mjvGeom.type === mujoco.mjtGeom.mjGEOM_PLANE.value) {
-      geom = new THREE.PlaneGeometry(
-          2 * (mjvGeom.size[0] ? mjvGeom.size[0] : 10000),
-          2 * (mjvGeom.size[1] ? mjvGeom.size[1] : 10000));
-      const uv = geom.getAttribute('uv');
-      for (let i = 0; i < uv.count; ++i) {
-        uv.setY(i, 1 - uv.getY(i));
-      }
-    } else if (mjvGeom.type === mujoco.mjtGeom.mjGEOM_SPHERE.value) {
-      geom = new THREE.SphereGeometry(mjvGeom.size[0]);
-    } else if (mjvGeom.type === mujoco.mjtGeom.mjGEOM_CAPSULE.value) {
-      geom = new CapsuleGeometry(mjvGeom.size[0], 2 * mjvGeom.size[2], 32, 16);
-      geom.rotateX(0.5 * Math.PI);
-    } else if (mjvGeom.type === mujoco.mjtGeom.mjGEOM_BOX.value) {
-      geom = new THREE.BoxGeometry(
-          2 * mjvGeom.size[0], 2 * mjvGeom.size[1], 2 * mjvGeom.size[2]);
-    } else if (mjvGeom.type === mujoco.mjtGeom.mjGEOM_CYLINDER.value) {
-      geom = new THREE.CylinderGeometry(
-          mjvGeom.size[0], mjvGeom.size[1], 2 * mjvGeom.size[2], 32);
-      geom.rotateX(0.5 * Math.PI);
-    } else if (mjvGeom.type === mujoco.mjtGeom.mjGEOM_ELLIPSOID.value) {
-      geom = new THREE.SphereGeometry(1);
-      geom.scale(mjvGeom.size[0], mjvGeom.size[1], mjvGeom.size[2]);
-    } else {
-      console.log('Unsupported geom type: ', mjvGeom.type);
-      geom = new THREE.BufferGeometry();
-    }
-
-    this.bufferGeometryCache.set(key, geom);
-    return [true, geom];
-  }
-
-  update() {
-    if (!this.mjModel || !this.mjData) {
-      return;
-    }
-
-    app.controls.update();
-
-    // Simulate physics for 1/60 sec
-    if (!app.paused) {
-      let sim_start = app.mjData.time;
-      while (app.mjData.time - sim_start < 1. / 60.) {
-        mujoco.mj_step(app.mjModel, app.mjData);
-      }
-    }
-
-    // Update the mujoco scene
-    mujoco.mjv_updateScene(
-        this.mjModel, this.mjData, this.mjvOption, this.mjvPerturb,
-        this.mjvCamera, mujoco.mjtCatBit.mjCAT_ALL.value, this.mjvScene);
-
-    const geoms = this.mjvScene.geoms;
-    for (let i = 0; i < geoms.size(); i++) {
-      const mjvGeom = geoms.get(i);
-
-      let mesh: THREE.Mesh;
-      if (i < this.meshes.length) {
-        mesh = this.meshes[i];
-      } else {
-        const mjvGeom = geoms.get(i);
-        const [added, geom] = this.getBufferGeometry(mjvGeom);
-
-        // Create material
-        let material = new THREE.MeshPhongMaterial();
-        material.color.setRGB(
-            mjvGeom.rgba[0], mjvGeom.rgba[1], mjvGeom.rgba[2]);
-        material.opacity = mjvGeom.rgba[3];
-        material.transparent = mjvGeom.rgba[3] !== 0;
-
-        // Create mesh
-        mesh = new THREE.Mesh(geom, material);
-        mesh.castShadow = true;
-        mesh.receiveShadow = true;
-
-        this.meshes.push(mesh);
-        this.scene.add(mesh);
-      }
-
-      mesh.matrixAutoUpdate = false;
-      const sz = 1;
-      mesh.matrix.set(
-          mjvGeom.mat[0], mjvGeom.mat[1], mjvGeom.mat[2] * sz, mjvGeom.pos[0],
-          mjvGeom.mat[3], mjvGeom.mat[4], mjvGeom.mat[5] * sz, mjvGeom.pos[1],
-          mjvGeom.mat[6], mjvGeom.mat[7], mjvGeom.mat[8] * sz, mjvGeom.pos[2],
-          0, 0, 0, 1);
-      mesh.matrixWorldNeedsUpdate = true;
-
-      mjvGeom.delete();
-    }
-
-    geoms.delete();
-  }
-
-  render() {
-    this.renderer.render(this.scene, this.camera);
-  }
-
-  run() {
-    const animate = () => {
-      try {
-        this.update();
-
-        this.render();
-      } catch (error) {
-        console.error('Simulation error:', error);
-      }
-
-      // Request next frame
-      this.frameId = requestAnimationFrame(animate);
-    };
-
-    // Request first frame
-    this.frameId = requestAnimationFrame(animate);
-  }
-}
-
-function setupWindowEvents() {
-  // Add an event listener to clean up when the page is unloaded
-  // Tip: put "window.dispatchEvent(new Event('unload'))" in the console to test
-  window.addEventListener('unload', () => {
-    app.dispose();
-  });
-
-  window.addEventListener('keydown', (event) => {
-    if (event.code === 'Backspace') {
-      app.resetButton();
-    }
-  });
-  window.addEventListener('keydown', (event) => {
-    if (event.code === 'Space') {
-      app.pauseButton();
-    }
-  });
-  window.addEventListener('keydown', (event) => {
-    if (event.key === 'c') {
-      app.contactButton();
-    }
-  });
-}
-
-let app: App;
-
-async function main() {
-  try {
-    mujoco = await loadMujoco();
-
-    app = new App();
-
-    setupWindowEvents();
-
-    // Note: all elements will be destroyed with the page
-    const pauseButtonElement = document.getElementById('pause-button');
-    if (pauseButtonElement) {
-      pauseButtonElement.onclick = () => app.pauseButton();
-    }
-    const resetButtonElement = document.getElementById('reset-button');
-    if (resetButtonElement) {
-      resetButtonElement.onclick = () => app.resetButton();
-    }
-    const contactButtonElement = document.getElementById('contact-button');
-    if (contactButtonElement) {
-      contactButtonElement.onclick = () => app.contactButton();
-    }
-
-    app.loadModel(modelXml);
-
-    app.run();
-
-  } catch (error) {
-    console.error('Initialization error: ', error);
-    app?.dispose();
-  }
-}
-main();
diff --git a/wasm/demo_app/index.html b/wasm/demo_app/index.html
deleted file mode 100644
index b4cf1138..00000000
--- a/wasm/demo_app/index.html
+++ /dev/null
@@ -1,41 +0,0 @@
-<!--
- Copyright 2025 DeepMind Technologies Limited
-
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
-
-     http://www.apache.org/licenses/LICENSE-2.0
-
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
--->
-
-<!DOCTYPE html>
-<html>
-  <head>
-    <meta charset="utf-8" />
-    <title>MuJoCo WebAssembly</title>
-    <style>
-      #button-container {
-        position: fixed;
-        bottom: 20px;
-        left: 50%;
-        transform: translateX(-50%);
-        display: flex;
-        gap: 10px;
-      }
-    </style>
-  </head>
-  <body>
-    <script type="module" src="./app.ts"></script>
-    <div id="button-container">
-      <button id="pause-button">Pause</button>
-      <button id="reset-button">Reset</button>
-      <button id="contact-button">Show Contacts</button>
-    </div>
-  </body>
-</html>
diff --git a/wasm/demo_app/vite.demo.config.ts b/wasm/demo_app/vite.demo.config.ts
deleted file mode 100644
index a5a0217a..00000000
--- a/wasm/demo_app/vite.demo.config.ts
+++ /dev/null
@@ -1,31 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import { defineConfig } from "vite"
-
-export default defineConfig({
-  root: "demo_app",
-  base: "./",
-  build: {
-    outDir: "../demo-dist",
-    emptyOutDir: true,
-  },
-  server: {
-    open: true,
-    headers: {
-      "Cross-Origin-Opener-Policy": "same-origin",
-      "Cross-Origin-Embedder-Policy": "require-corp",
-    },
-  },
-})
diff --git a/wasm/eslint.config.js b/wasm/eslint.config.js
deleted file mode 100644
index 0c631ba1..00000000
--- a/wasm/eslint.config.js
+++ /dev/null
@@ -1,6 +0,0 @@
-import js from '@eslint/js';
-import globals from 'globals';
-import tseslint from 'typescript-eslint';
-import reactHooks from 'eslint-plugin-react-hooks';
-import reactRefresh from 'eslint-plugin-react-refresh';
-export default tseslint.config({ignores:['dist','demo-dist','web-platform-dist','node_modules','codegen/generated']},js.configs.recommended,...tseslint.configs.recommended,{files:['web_platform/**/*.{ts,tsx}'],languageOptions:{globals:{...globals.browser,...globals.node}},plugins:{'react-hooks':reactHooks,'react-refresh':reactRefresh},rules:{...reactHooks.configs.recommended.rules,'react-refresh/only-export-components':['warn',{allowConstantExport:true}],'@typescript-eslint/no-explicit-any':'off'}});
diff --git a/wasm/package.json b/wasm/package.json
deleted file mode 100644
index 6222b96a..00000000
--- a/wasm/package.json
+++ /dev/null
@@ -1,69 +0,0 @@
-{
-  "name": "mujoco",
-  "version": "1.0.0-alpha.1",
-  "description": "MuJoCo JavaScript Bindings",
-  "directories": {
-    "example": "examples",
-    "lib": "lib",
-    "test": "tests"
-  },
-  "files": [
-    "dist"
-  ],
-  "scripts": {
-    "test": "node --loader ts-node/esm --trace-warnings tests/run_tests.mjs",
-    "benchmark": "node --loader ts-node/esm --trace-warnings tests/run_benchmarks.mjs",
-    "dev:sandbox": "vite --config tests/sandbox/vite.sandbox.config.ts",
-    "build:sandbox": "vite build --config tests/sandbox/vite.sandbox.config.ts",
-    "dev:demo": "vite --config demo_app/vite.demo.config.ts",
-    "build:demo": "vite build --config demo_app/vite.demo.config.ts",
-    "dev:platform": "vite --config web_platform/vite.config.ts",
-    "build:platform": "vite build --config web_platform/vite.config.ts",
-    "preview:platform": "vite preview --config web_platform/vite.config.ts",
-    "typecheck:platform": "tsc -p web_platform/tsconfig.json --noEmit",
-    "lint:platform": "eslint web_platform/src web_platform/e2e",
-    "test:platform": "vitest run --config web_platform/vite.config.ts",
-    "test:e2e:platform": "playwright test -c web_platform/playwright.config.ts"
-  },
-  "author": "Google DeepMind",
-  "license": "Apache-2.0",
-  "devDependencies": {
-    "@eslint/js": "^10.0.1",
-    "@playwright/test": "^1.62.1",
-    "@testing-library/jest-dom": "^7.0.1",
-    "@testing-library/react": "^16.3.2",
-    "@types/jasmine": "^5.1.8",
-    "@types/node": "^24.1.0",
-    "@types/react": "^19.2.18",
-    "@types/react-dom": "^19.2.4",
-    "@types/three": "^0.185.4",
-    "@vitejs/plugin-react": "^6.1.0",
-    "autoprefixer": "^10.5.4",
-    "eslint": "^10.8.1",
-    "eslint-plugin-react-hooks": "^7.1.1",
-    "eslint-plugin-react-refresh": "^0.5.4",
-    "globals": "^17.11.0",
-    "jasmine": "^5.9.0",
-    "jsdom": "^30.0.1",
-    "postcss": "^8.5.26",
-    "tailwindcss": "^3.4.17",
-    "three": "^0.178.0",
-    "ts-node": "^10.9.2",
-    "typescript": "5.8.2",
-    "typescript-eslint": "^8.67.0",
-    "vite": "^8.0.16",
-    "vitest": "^4.1.11"
-  },
-  "type": "module",
-  "dependencies": {
-    "@monaco-editor/react": "^4.7.0",
-    "@mujoco/mujoco": "^3.11.0",
-    "fflate": "^0.8.3",
-    "lucide-react": "^0.555.0",
-    "monaco-editor": "^0.55.1",
-    "pyodide": "^0.29.4",
-    "react": "^19.2.8",
-    "react-dom": "^19.2.8",
-    "zustand": "^5.0.15"
-  }
-}
diff --git a/wasm/package.npm.json b/wasm/package.npm.json
deleted file mode 100644
index 68cbf0b8..00000000
--- a/wasm/package.npm.json
+++ /dev/null
@@ -1,57 +0,0 @@
-{
-  "name": "@mujoco/mujoco",
-  "version": "0.0.0",
-  "description": "MuJoCo WASM bindings",
-  "repository": {
-    "type": "git",
-    "url": "git+https://github.com/google-deepmind/mujoco.git",
-    "directory": "wasm"
-  },
-  "homepage": "https://github.com/google-deepmind/mujoco/tree/main/wasm",
-  "bugs": {
-    "url": "https://github.com/google-deepmind/mujoco/issues"
-  },
-  "keywords": [
-    "mujoco",
-    "physics",
-    "wasm",
-    "google",
-    "deepmind",
-    "webassembly",
-    "simulation",
-    "robotics",
-    "emscripten",
-    "javascript",
-    "typescript"
-  ],
-  "exports": {
-    ".": {
-      "types": "./mujoco.d.ts",
-      "import": "./mujoco.js",
-      "default": "./mujoco.js"
-    },
-    "./mt": {
-      "types": "./mt/mujoco.d.ts",
-      "import": "./mt/mujoco.js",
-      "default": "./mt/mujoco.js"
-    },
-    "./mujoco.wasm": "./mujoco.wasm",
-    "./mujoco.wasm.map": "./mujoco.wasm.map",
-    "./mt/mujoco.wasm": "./mt/mujoco.wasm",
-    "./mt/mujoco.wasm.map": "./mt/mujoco.wasm.map"
-  },
-  "files": [
-    "mujoco.js",
-    "mujoco.d.ts",
-    "mujoco.wasm",
-    "mujoco.wasm.map",
-    "mt/mujoco.js",
-    "mt/mujoco.d.ts",
-    "mt/mujoco.wasm",
-    "mt/mujoco.wasm.map",
-    "README.md"
-  ],
-  "author": "Google DeepMind",
-  "license": "Apache-2.0",
-  "type": "module"
-}
diff --git a/wasm/tests/benchmark_test.cc b/wasm/tests/benchmark_test.cc
deleted file mode 100644
index 836c33d5..00000000
--- a/wasm/tests/benchmark_test.cc
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <emscripten/bind.h>
-#include <emscripten/val.h>
-#include <algorithm>
-
-#include <mujoco/mujoco.h>
-#include "wasm/unpack.h"
-
-namespace mujoco::wasm {
-using emscripten::val;
-
-EMSCRIPTEN_DECLARE_VAL_TYPE(NumberArray);
-
-// TODO(matijak): Add a benchmark where the buffer shared with JS and C++ is
-// created in C++ rather than JS.
-
-val BenchmarkSortNumberArray(const NumberArray& vec) {
-  UNPACK_ARRAY(mjtNum, vec);
-  std::sort(vec_.data(), vec_.data() + vec_.size());
-  return val::array(vec_.data(), vec_.data() + vec_.size());
-}
-
-val BenchmarkSortDoubleBuffer(const val& vec) {
-  UNPACK_VALUE(mjtNum, vec);
-  std::sort(vec_.data(), vec_.data() + vec_.size());
-  return vec;
-}
-
-EMSCRIPTEN_BINDINGS(mujoco_benchmark_functions) {
-  emscripten::class_<WasmBuffer<mjtNum>>("DoubleBuffer")
-      .constructor<int>()
-      .class_function("FromArray", &WasmBuffer<mjtNum>::FromArray)
-      .function("GetPointer", &WasmBuffer<mjtNum>::GetPointer)
-      .function("GetElementCount", &WasmBuffer<mjtNum>::GetElementCount)
-      .function("GetView", &WasmBuffer<mjtNum>::GetView);
-  emscripten::function("SortNumberArray", &BenchmarkSortNumberArray);
-  emscripten::function("SortDoubleBuffer", &BenchmarkSortDoubleBuffer);
-  emscripten::register_type<NumberArray>("number[]");
-}
-
-}  // namespace mujoco::wasm
diff --git a/wasm/tests/benchmark_test.ts b/wasm/tests/benchmark_test.ts
deleted file mode 100644
index 3fac15d1..00000000
--- a/wasm/tests/benchmark_test.ts
+++ /dev/null
@@ -1,113 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import 'jasmine';
-
-import { MainModule, DoubleBuffer } from "../dist/mujoco_wasm_benchmark"
-import loadMujoco from "../dist/mujoco_wasm_benchmark.js"
-
-describe('MuJoCo WASM Benchmark Tests', () => {
-  let mujoco: MainModule;
-
-  function isNumberArraySorted(arr: number[]): boolean {
-    for (let i = 0; i < arr.length - 1; i++) {
-      if (arr[i] > arr[i + 1]) {
-        return false;
-      }
-    }
-    return true;
-  }
-
-  function verifySorted(state: any, kind: string): void {
-    let array: number[] = [];
-    if (kind === 'NumberArray') {
-      array = state as number[];
-    } else {
-      const bufferView = (state as DoubleBuffer).GetView();
-      array = Array.from(bufferView) as number[];
-    }
-
-    const sorted = isNumberArraySorted(array);
-    if (!sorted) {
-      console.error(`  Verification failed for ${kind}. Array was ${array}`);
-    }
-  }
-
-  function runBenchmark(iterations: number, items: number, kind: string) {
-    let state: any;
-    let func: (state: any) => any;
-    if (kind === 'NumberArray') {
-      state = new Array(items).map(() => Math.random())
-      func = (state) => mujoco.SortNumberArray(state);
-    } else if (kind === 'DoubleBuffer') {
-      state = mujoco.DoubleBuffer.FromArray(
-          new Array(items).map(() => Math.random()));
-      func = (state) => mujoco.SortDoubleBuffer(state);
-    } else {
-      throw new Error(`Unsupported benchmark type: ${kind}`);
-    }
-
-    // Warmup JIT compiler to get stable results
-    for (let i = 0; i < 100; i++) {
-      const sortedState = func(state);
-      verifySorted(sortedState, kind);
-    }
-
-    // Measurement
-    const totalStartTime = performance.now();
-    for (let i = 0; i < iterations; i++) {
-      func(state);
-    }
-    const totalEndTime = performance.now();
-
-    if (kind === 'DoubleBuffer') {
-      state.delete();
-    }
-
-    // Report results
-    const totalTime = totalEndTime - totalStartTime;
-    const avgTimeMilliseconds = totalTime / iterations;
-    console.log(`Benchmark: "Sort ${kind} ${iterations} iterations with ${
-        items} items" - AVG time per call: ${
-        avgTimeMilliseconds.toFixed(2)} ms`);
-    return {
-      totalTime, avgTimeMilliseconds,
-    }
-  }
-
-  beforeAll(async () => {
-    mujoco = await loadMujoco();
-  });
-
-  it('should benchmark NumberArray and DoubleBuffer and compare results',
-     () => {
-       const na1 = runBenchmark(100, 1_000, 'NumberArray');
-       const na2 = runBenchmark(100, 400_000, 'NumberArray');
-
-       const db1 = runBenchmark(100, 1_000, 'DoubleBuffer');
-       const db2 = runBenchmark(100, 400_000, 'DoubleBuffer');
-
-       // The actual time should be much faster than that but the intention of
-       // the check is to catch huge regressions without a flakey test
-       const _100ms = 100;
-
-       expect(db2.avgTimeMilliseconds).toBeLessThan(_100ms);
-
-       expect(db1.totalTime).toBeLessThan(na1.totalTime);
-       expect(db2.totalTime).toBeLessThan(na2.totalTime);
-
-       expect(db1.avgTimeMilliseconds).toBeLessThan(na1.avgTimeMilliseconds);
-       expect(db2.avgTimeMilliseconds).toBeLessThan(na2.avgTimeMilliseconds);
-     });
-});
diff --git a/wasm/tests/bindings_test.ts b/wasm/tests/bindings_test.ts
deleted file mode 100644
index 0030c092..00000000
--- a/wasm/tests/bindings_test.ts
+++ /dev/null
@@ -1,2688 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import 'jasmine';
-
-import {MainModule, MjContact, MjContactVec, MjData, MjLROpt, MjModel,
-MjOption, MjsGeom, MjSolverStat, MjSpec, MjStatistic, MjTimerStat, MjvCamera,
-MjvFigure, MjvGeom, MjvGLCamera, MjvLight, MjvOption, MjvPerturb, MjvScene,
-MjWarningStat, MjVFS, Uint8Buffer} from '../dist/mujoco.js';
-
-import loadMujoco from '../dist/mujoco.js'
-
-function assertExists<T>(value: T | null | undefined, message?: string):
-asserts value is T {
-  if (value === null || value === undefined) {
-    throw new Error(message ?? 'Expected value to be defined.');
-  }
-}
-
-
-// Corresponds to bindings_test.py:TEST_XML
-const TEST_XML = `
-<mujoco model="test">
-  <compiler coordinate="local" angle="radian" eulerseq="xyz"/>
-  <size nkey="2"/>
-  <option timestep="0.002" gravity="0 0 -9.81"/>
-  <visual>
-    <global fovy="50" />
-    <quality shadowsize="51" />
-  </visual>
-  <worldbody>
-    <geom name="myplane" type="plane" size="10 10 1" user="1 2 3"/>
-    <body name="mybox" pos="0 0 0.1">
-      <geom name="mybox" type="box" size="0.1 0.1 0.1" mass="0.25"/>
-      <freejoint name="myfree"/>
-    </body>
-    <body name="myhinge-body" pos="0 0 1">
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <site pos="0 0 -1" name="mysite" type="sphere"/>
-      <joint name="myhinge" type="hinge" axis="0 1 0" damping="1"/>
-    </body>
-    <body name="myball-body" pos="2 0 1">
-      <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-      <joint name="myball" type="ball"/>
-    </body>
-    <body name="mocap-body" mocap="true" pos="42 0 42">
-      <geom name="mocap-sphere" type="sphere" size="0.1"/>
-    </body>
-  </worldbody>
-  <actuator>
-    <position name="myactuator" joint="myhinge"/>
-  </actuator>
-  <sensor>
-    <jointvel name="myjointvel" joint="myhinge"/>
-    <accelerometer name="myaccelerometer" site="mysite"/>
-  </sensor>
-</mujoco>
-`;
-
-type TypedArray =|Int8Array|Uint8Array|Uint8ClampedArray|Int16Array|Uint16Array|
-    Int32Array|Uint32Array|Float32Array|Float64Array;
-
-function norm(arr: number[]): number {
-  return Math.sqrt(arr.reduce((acc, val) => acc + val * val, 0));
-}
-
-function expectArraysClose(arr1: any, arr2: TypedArray, precision = 1) {
-  expect(arr1.length).toEqual(arr2.length);
-  for (let i = 0; i < arr1.length; i++) {
-    expect(arr1[i]).toBeCloseTo(arr2[i], precision);
-  }
-}
-
-function expectArraysEqual(arr1: any, arr2: TypedArray) {
-  expect(arr1.length).toEqual(arr2.length);
-  for (let i = 0; i < arr1.length; i++) {
-    expect(arr1[i]).toEqual(arr2[i]);
-  }
-}
-
-describe('MuJoCo WASM Bindings', () => {
-  let mujoco: MainModule;
-  let model: MjModel|null = null;
-  let data: MjData|null = null;
-
-  beforeAll(async () => {
-    mujoco = await loadMujoco();
-  });
-
-  function unlinkXMLFile(filename: string) {
-    try {
-      (mujoco as any).FS.unlink(filename);
-    } catch (e) {
-      console.warn(`Failed to unlink temporary XML file: ${e}`);
-    }
-  }
-
-  function writeXMLFile(filename: string, xmlContent: string) {
-    try {
-      (mujoco as any).FS.writeFile(filename, xmlContent);
-    } catch (e) {
-      throw new Error(`Failed to write temporary XML file: ${e}`);
-    }
-  }
-
-  beforeEach(() => {
-    const tempXmlFilename = '/tmp/model.xml';
-
-    writeXMLFile(tempXmlFilename, TEST_XML);
-
-    model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
-    if (!model) {
-      unlinkXMLFile(tempXmlFilename);
-      throw new Error('Failed to load model from XML');
-    }
-
-    unlinkXMLFile(tempXmlFilename);
-
-    data = new mujoco.MjData(model);
-    if (!data) {
-      throw new Error('Failed to create data from model');
-    }
-  });
-
-  afterEach(() => {
-    model?.delete();
-    data?.delete();
-  });
-
-  describe('Buffer API', () => {
-    it('should construct from an element count', () => {
-      const buf = new mujoco.DoubleBuffer(5);
-      expect(buf.GetElementCount()).toBe(5);
-      expect(buf.GetPointer()).toBeDefined();
-      expect(buf.GetView()).toBeDefined();
-    });
-
-    it('should construct from a Javascript array', () => {
-      const array: number[] = [0, 1, 4, 9, 16];
-      const buf = mujoco.DoubleBuffer.FromArray(array);
-      expect(buf.GetElementCount()).toBe(5);
-      expect(buf.GetPointer()).toBeDefined();
-      expect(buf.GetView()).toBeDefined();
-      expectArraysClose(buf.GetView(), new Float64Array(array));
-    });
-
-    it('should construct from Float64Array', () => {
-      const array = new Float64Array([1 / 11, 7 / 11]);
-      const buf = mujoco.DoubleBuffer.FromArray(array);
-      expect(buf.GetElementCount()).toBe(2);
-      expect(buf.GetPointer()).toBeDefined();
-      expect(buf.GetView()).toBeDefined();
-      expectArraysClose(buf.GetView(), array);
-    });
-  });
-
-  describe('mj_addM', () => {
-    let simpleModel: MjModel|null = null;
-    let simpleData: MjData|null = null;
-    const tempXmlFilename = '/tmp/simple_model.xml';
-    // A simpler model with nv=1 and nM=1 to avoid WASM binding bugs.
-    const simpleXmlContent = `
-<mujoco>
-  <worldbody>
-    <body name="box" pos="0 0 0.5">
-      <joint type="slide" axis="1 0 0"/>
-      <geom type="box" size="0.1 0.1 0.1" mass="1"/>
-    </body>
-  </worldbody>
-</mujoco>`;
-
-    beforeEach(() => {
-      writeXMLFile(tempXmlFilename, simpleXmlContent);
-      simpleModel = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
-      assertExists(simpleModel);
-      simpleData = new mujoco.MjData(simpleModel);
-      assertExists(simpleData);
-    });
-
-    afterEach(() => {
-      simpleModel?.delete();
-      simpleData?.delete();
-      unlinkXMLFile(tempXmlFilename);
-    });
-
-    it('should compute the sparse inertia matrix', () => {
-      const nM = simpleModel!.nM;
-      const dstSparse = new mujoco.DoubleBuffer(nM);
-      try {
-        mujoco.mj_forward(simpleModel!, simpleData!);
-        mujoco.mj_addM(
-            simpleModel!, simpleData!, dstSparse, simpleModel!.M_rownnz,
-            simpleModel!.M_rowadr, simpleModel!.M_colind);
-
-        expect(dstSparse.GetView().length).toBe(1);
-        expect(dstSparse.GetView()[0]).toBeCloseTo(1.0);
-      } finally {
-        dstSparse.delete();
-      }
-    });
-
-    it('should throw an error for incorrect sparse matrix dimensions', () => {
-      const nM = simpleModel!.nM;
-      const dstSparse = new mujoco.DoubleBuffer(nM + 1);
-      try {
-        expect(
-            () => mujoco.mj_addM(
-                simpleModel!, simpleData!, dstSparse, simpleModel!.M_rownnz,
-                simpleModel!.M_rowadr, simpleModel!.M_colind))
-            .toThrowError(
-                'MuJoCo Error: [mj_addM] dst must have size 1, got 2');
-      } finally {
-        dstSparse.delete();
-      }
-    });
-
-    it('should compute the sparse inertia matrix with null pointers', () => {
-      const nM = simpleModel!.nM;
-      const dstSparse = new mujoco.DoubleBuffer(nM);
-      try {
-        mujoco.mj_forward(simpleModel!, simpleData!);
-        mujoco.mj_addM(simpleModel!, simpleData!, dstSparse, null, null, null);
-
-        expect(dstSparse.GetView().length).toBe(1);
-      } finally {
-        dstSparse.delete();
-      }
-    });
-  });
-
-  it('should compute geom distance without returning fromto', () => {
-    mujoco.mj_forward(model!, data!);
-    const dist = mujoco.mj_geomDistance(model!, data!, 0, 2, 200, null);
-    expect(dist).toEqual(41.9);
-  });
-
-  it('should handle box QP solver with null optionals', () => {
-    const n = 5;
-    const res = new mujoco.DoubleBuffer(n);
-    const r = new mujoco.DoubleBuffer(n * (n + 7));
-    const h = new mujoco.DoubleBuffer(n * n);
-    const g = mujoco.DoubleBuffer.FromArray(new Array(n).fill(1));
-    try {
-      for (let i = 0; i < n; i++) {
-        h.GetView()[i * (n + 1)] = 1;
-      }
-      const rank = mujoco.mju_boxQP(
-          res, r, null, h.GetView(), g.GetView(), null as any, null as any);
-      expect(rank).toBeGreaterThan(-1);
-    } finally {
-      res.delete();
-      r.delete();
-      h.delete();
-      g.delete();
-    }
-  });
-
-  // Corresponds to engine_core_constraint_test.cc:TEST_F(CoreConstraintTest,
-  // ConstraintUpdateImpl)
-  it('should correctly compute constraint cost', () => {
-    const xmlString = `
-<mujoco>
-  <option>
-    <flag island="enable"/>
-  </option>
-
-  <default>
-    <geom size=".1"/>
-  </default>
-
-  <visual>
-    <headlight diffuse=".9 .9 .9"/>
-  </visual>
-
-  <worldbody>
-
-    <body>
-      <joint type="slide" axis="0 0 1" range="0 1" limited="true"/>
-      <geom/>
-    </body>
-
-    <body pos=".25 0 0">
-      <joint type="slide" axis="1 0 0"/>
-      <geom/>
-    </body>
-
-    <body pos="0 0 0.25">
-      <joint type="slide" axis="0 0 1"/>
-      <geom/>
-      <body pos="0 -.15 0">
-        <joint name="hinge1" axis="0 1 0"/>
-        <geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
-        <body pos="-.2 0 0">
-          <joint axis="0 1 0"/>
-          <geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
-        </body>
-      </body>
-    </body>
-
-    <body pos=".5 0 0">
-      <joint type="slide" axis="0 0 1" frictionloss="15"/>
-      <geom type="box" size=".08 .08 .02" euler="0 10 0"/>
-    </body>
-
-    <body pos="-.5 0 0">
-      <joint axis="0 1 0" frictionloss=".01"/>
-      <geom type="capsule" size="0.03" fromto="0 0 0 -.2 0 0"/>
-    </body>
-
-    <body pos="0 0 .5">
-      <joint name="hinge2" axis="0 1 0"/>
-      <geom type="box" size=".08 .02 .08"/>
-    </body>
-
-    <body pos=".5 0 .1">
-      <freejoint/>
-      <geom type="box" size=".03 .03 .03" pos="0.01 0.01 0.01"/>
-    </body>
-
-    <site name="0" pos="-.45 -.05 .35"/>
-    <body pos="-.5 0 .3" name="connect">
-      <freejoint/>
-      <geom type="box" size=".05 .05 .05"/>
-      <site name="1" pos=".05 -.05 .05"/>
-    </body>
-  </worldbody>
-
-  <equality>
-    <joint joint1="hinge1" joint2="hinge2"/>
-    <connect body1="connect" body2="world" anchor="-.05 -.05 .05"/>
-    <connect site1="0" site2="1"/>
-  </equality>
-</mujoco>
-    `;
-    const tempXmlFilename = '/tmp/model_c.xml';
-    writeXMLFile(tempXmlFilename, xmlString);
-    const model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
-    expect(model).not.toBeNull();
-    const data = new mujoco.MjData(model!);
-    expect(data).not.toBeNull();
-    unlinkXMLFile(tempXmlFilename);
-    try {
-      mujoco.mj_resetData(model, data!);
-      let steps = 0;
-      while (data!.ncon === 0 && steps < 100) {
-        mujoco.mj_step(model!, data!);
-        steps++;
-      }
-      mujoco.mj_forward(model!, data!);
-      const res = new mujoco.DoubleBuffer(data!.nefc);
-      mujoco.mj_mulJacVec(model!, data!, res, data!.qacc);
-      mujoco.mju_subFrom(res, data!.efc_aref);
-      const cost = mujoco.DoubleBuffer.FromArray([0]);
-      mujoco.mj_constraintUpdate(
-          model!, data!, res.GetView(), cost, /*flg_coneHessian=*/ 1);
-
-      expect(cost.GetView()[0]).toBeCloseTo(3357.584);
-
-      res.delete();
-      cost.delete();
-    } finally {
-      data!.delete();
-      model!.delete();
-    }
-  });
-
-  it('should compute body jacobian', () => {
-    mujoco.mj_forward(model!, data!);
-    const bodyId =
-        mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
-    const point = [0.1, 0.2, 0.3];
-    const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
-    const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
-    try {
-      mujoco.mj_jac(model!, data!, jacp, jacr, point, bodyId);
-      expect(norm(jacp.GetView())).toBeGreaterThan(0);
-      expect(norm(jacr.GetView())).toBeGreaterThan(0);
-      expect(() => mujoco.mj_jac(model!, data!, null, null, point, bodyId))
-          .not.toThrow();
-    } finally {
-      jacp.delete();
-      jacr.delete();
-    }
-  });
-
-  it('should compute body frame jacobian', () => {
-    mujoco.mj_forward(model!, data!);
-    const bodyId =
-        mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
-    const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
-    const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
-    try {
-      mujoco.mj_jacBody(model!, data!, jacp, jacr, bodyId);
-      expect(norm(jacp.GetView())).toBeGreaterThan(0);
-      expect(norm(jacr.GetView())).toBeGreaterThan(0);
-      expect(() => mujoco.mj_jacBody(model!, data!, null, null, bodyId))
-          .not.toThrow();
-    } finally {
-      jacp.delete();
-      jacr.delete();
-    }
-  });
-
-  it('should compute body CoM jacobian', () => {
-    mujoco.mj_forward(model!, data!);
-    const bodyId =
-        mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
-    const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
-    const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
-    try {
-      mujoco.mj_jacBodyCom(model!, data!, jacp, jacr, bodyId);
-      expect(norm(jacp.GetView())).toBeGreaterThan(0);
-      expect(norm(jacr.GetView())).toBeGreaterThan(0);
-      expect(() => mujoco.mj_jacBodyCom(model!, data!, null, null, bodyId))
-          .not.toThrow();
-    } finally {
-      jacp.delete();
-      jacr.delete();
-    }
-  });
-
-  it('should compute geom jacobian', () => {
-    mujoco.mj_forward(model!, data!);
-    const geomId =
-        mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'mybox');
-    const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
-    const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
-    try {
-      mujoco.mj_jacGeom(model!, data!, jacp, jacr, geomId);
-      expect(norm(jacp.GetView())).toBeGreaterThan(0);
-      expect(norm(jacr.GetView())).toBeGreaterThan(0);
-      expect(() => mujoco.mj_jacGeom(model!, data!, null, null, geomId))
-          .not.toThrow();
-    } finally {
-      jacp.delete();
-      jacr.delete();
-    }
-  });
-
-  it('should compute point-axis jacobian', () => {
-    mujoco.mj_forward(model!, data!);
-    const bodyId =
-        mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
-    const point = [0.1, 0.2, 0.3];
-    const axis = [0, 0, 1];
-    const jacPoint = new mujoco.DoubleBuffer(3 * model!.nv);
-    const jacAxis = new mujoco.DoubleBuffer(3 * model!.nv);
-    try {
-      mujoco.mj_jacPointAxis(
-          model!, data!, jacPoint, jacAxis, point, axis, bodyId);
-      expect(norm(jacPoint.GetView())).toBeGreaterThan(0);
-      expect(norm(jacAxis.GetView())).toBeGreaterThan(0);
-      expect(
-          () => mujoco.mj_jacPointAxis(
-              model!, data!, null, null, point, axis, bodyId))
-          .not.toThrow();
-    } finally {
-      jacPoint.delete();
-      jacAxis.delete();
-    }
-  });
-
-  it('should compute jacobian time derivative', () => {
-    mujoco.mj_forward(model!, data!);
-    const bodyId =
-        mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
-    const point = [0.1, 0.2, 0.3];
-    const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
-    const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
-    try {
-      mujoco.mj_jacDot(model!, data!, jacp, jacr, point, bodyId);
-      expect(jacp.GetView().length).toBe(3 * model!.nv);
-      expect(jacr.GetView().length).toBe(3 * model!.nv);
-      expect(() => mujoco.mj_jacDot(model!, data!, null, null, point, bodyId))
-          .not.toThrow();
-    } finally {
-      jacp.delete();
-      jacr.delete();
-    }
-  });
-
-  it('should apply external force and torque', () => {
-    const force = [1, .5, 1];
-    const torque = [.3, 1, .22];
-    const point = [0, 0, 0];
-    const bodyId =
-        mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_BODY.value, 'mybox');
-    const qfrcTarget = new mujoco.DoubleBuffer(model!.nv);
-    try {
-      mujoco.mj_forward(model!, data!);
-      mujoco.mj_applyFT(
-          model!, data!, force, torque, point, bodyId, qfrcTarget);
-      expect(norm(qfrcTarget.GetView())).toBeGreaterThan(0);
-
-      qfrcTarget.GetView().fill(0);
-      mujoco.mj_applyFT(
-          model!, data!, null as any, null as any, point, bodyId, qfrcTarget);
-      expect(norm(qfrcTarget.GetView())).toEqual(0);
-    } finally {
-      qfrcTarget.delete();
-    }
-  });
-
-  it('should compute finite-differenced transition matrices', () => {
-    const eps = 1e-6;
-    const flg_centered = false;
-    const dim = 2 * model!.nv + model!.na;
-    const A = new mujoco.DoubleBuffer(dim * dim);
-    const B = new mujoco.DoubleBuffer(dim * model!.nu);
-    const C = new mujoco.DoubleBuffer(model!.nsensordata * dim);
-    const D = new mujoco.DoubleBuffer(model!.nsensordata * model!.nu);
-    try {
-      mujoco.mjd_transitionFD(model!, data!, eps, flg_centered, A, B, C, D);
-      expect(norm(A.GetView())).toBeGreaterThan(0);
-      expect(norm(B.GetView())).toBeGreaterThan(0);
-      expect(norm(C.GetView())).toBeGreaterThan(0);
-      expect(
-          () => mujoco.mjd_transitionFD(
-              model!, data!, eps, flg_centered, null, null, null, null))
-          .not.toThrow();
-    } finally {
-      A.delete();
-      B.delete();
-      C.delete();
-      D.delete();
-    }
-  });
-
-  it('should solve a system of linear equations', () => {
-    const n = 2;
-    const mat = [4, 1, 1, 3];
-    const vec = [1, 2];
-    const res = new mujoco.DoubleBuffer(n);
-    const expected = new Float64Array([1 / 11, 7 / 11]);
-    const matFactor = mujoco.DoubleBuffer.FromArray(mat);
-    try {
-      const rank = mujoco.mju_cholFactor(matFactor, 1e-9);
-      expect(rank).toBe(n);
-      mujoco.mju_cholSolve(res, matFactor.GetView(), vec);
-      const result = res.GetView();
-      expect(result[0]).toBeCloseTo(expected[0]);
-      expect(result[1]).toBeCloseTo(expected[1]);
-    } finally {
-      res.delete();
-      matFactor.delete();
-    }
-  });
-
-  it('should update a Cholesky factorization', () => {
-    const n = 2;
-    const mat = [4, 1, 1, 3];
-    const x = [1, 1];
-    const matFactor = mujoco.DoubleBuffer.FromArray(mat);
-    const xBuf = mujoco.DoubleBuffer.FromArray(x);
-    const res = new mujoco.DoubleBuffer(n);
-    try {
-      // Factorize original matrix.
-      mujoco.mju_cholFactor(matFactor, 1e-9);
-
-      // Update factorization with x.
-      const flg_plus = 1;
-      mujoco.mju_cholUpdate(matFactor, xBuf.GetView(), flg_plus);
-
-      // Solve a system with the updated factor to verify.
-      // A' = A + x*x' = [[5, 2], [2, 4]]
-      // A' * y = vec => [[5, 2], [2, 4]] * y = [7, 6]
-      // Solution is y = [1, 1].
-      const vec = [7, 6];
-      mujoco.mju_cholSolve(res, matFactor.GetView(), vec);
-      const result = res.GetView();
-      const expectedSolution = new Float64Array([1, 1]);
-      expect(result[0]).toBeCloseTo(expectedSolution[0]);
-      expect(result[1]).toBeCloseTo(expectedSolution[1]);
-    } finally {
-      matFactor.delete();
-      xBuf.delete();
-      res.delete();
-    }
-  });
-
-  it('should multiply a transposed matrix by another matrix', () => {
-    const r1 = 3, c1 = 2, c2 = 2;
-    const mat1 = mujoco.DoubleBuffer.FromArray([1, 4, 2, 5, 3, 6]);
-    const mat2 = mujoco.DoubleBuffer.FromArray([7, 8, 9, 10, 11, 12]);
-    const res = new mujoco.DoubleBuffer(c1 * c2);
-    const expected = new Float64Array([58, 64, 139, 154]);
-
-    try {
-      mujoco.mju_mulMatTMat(res, mat1.GetView(), mat2.GetView(), r1, c1, c2);
-      expectArraysClose(res.GetView(), expected);
-    } finally {
-      mat1.delete();
-      mat2.delete();
-      res.delete();
-    }
-  });
-
-  it('should throw an error because of incompatible matrix sizes', () => {
-    const r1 = 3, c1 = 2, c2 = 2;
-    const mat1 = mujoco.DoubleBuffer.FromArray([1, 4, 2, 5, 3, 6]);
-    const mat2 = mujoco.DoubleBuffer.FromArray([7, 8, 9, 10, 11]);
-    const res = new mujoco.DoubleBuffer(c1 * c2);
-    try {
-      expect(
-          () => mujoco.mju_mulMatTMat(
-              res, mat1.GetView(), mat2.GetView(), r1, c1, c2))
-          .toThrowError(
-              'MuJoCo Error: [mju_mulMatTMat] mat2 must have size 6, got 5');
-    } finally {
-      mat1.delete();
-      mat2.delete();
-      res.delete();
-    }
-  });
-
-  it('should convert a dense matrix to sparse and return non-zero count',
-     () => {
-       const nr = 2;
-       const nc = 3;
-       const mat = [0.0, 1.0, 0.0, 2.0, 0.0, 3.0];
-       const rownnz = new mujoco.IntBuffer(nr);
-       const rowadr = new mujoco.IntBuffer(nr);
-       const colind = new mujoco.IntBuffer(nc);
-       const res = new mujoco.DoubleBuffer(nc);
-       try {
-         const nnz =
-             mujoco.mju_dense2sparse(res, mat, nr, nc, rownnz, rowadr, colind);
-         expectArraysEqual(res.GetView(), new Float64Array([1.0, 2.0, 3.0]));
-         expectArraysEqual(rownnz.GetView(), new Int32Array([1, 2]));
-         expectArraysEqual(rowadr.GetView(), new Int32Array([0, 1]));
-         expectArraysEqual(colind.GetView(), new Int32Array([1, 0, 2]));
-       } finally {
-         res.delete();
-         rownnz.delete();
-         rowadr.delete();
-         colind.delete();
-       }
-     });
-
-  it('should convert a sparse matrix to a dense matrix', () => {
-    const nr = 2;
-    const nc = 3;
-    const mat = [1.0, 2.0, 3.0];
-    const rownnz = [1, 2];
-    const rowadr = [0, 1];
-    const colind = [1, 0, 2];
-    const res = new mujoco.DoubleBuffer(nr * nc);
-    const expected = new Float64Array([0.0, 1.0, 0.0, 2.0, 0.0, 3.0]);
-    try {
-      mujoco.mju_sparse2dense(res, mat, nr, nc, rownnz, rowadr, colind);
-      expectArraysEqual(res.GetView(), expected);
-    } finally {
-      res.delete();
-    }
-  });
-
-  it('should throw an error when mju_eye is called with a null argument', () => {
-    expect(() => {
-      mujoco.mju_eye(null as any);
-    })
-        .toThrowError(
-            'MuJoCo Error: [mju_eye] Invalid argument. Expected a TypedArray or WasmBuffer, got null.');
-  });
-
-  it('should return undefined', () => {
-    const spec = mujoco.parseXMLString(TEST_XML);
-    const body = mujoco.mjs_findBody(spec, 'some_name_that_doesnt_exist');
-    expect(body).toBeUndefined();
-    body?.delete();
-    spec?.delete();
-  });
-
-  it('should check constants values', () => {
-    expect(mujoco.mjNEQDATA).toBe(11);
-    expect(mujoco.mjDISABLESTRING).toEqual([
-      'Constraint',   'Equality',  'Frictionloss', 'Limit',     'Contact',
-      'Spring',       'Damper',    'Gravity',      'Clampctrl', 'Warmstart',
-      'Filterparent', 'Actuation', 'Refsafe',      'Sensor',    'Midphase',
-      'Eulerdamp',    'AutoReset', 'NativeCCD',    'Island',    'MultiCCD',
-    ]);
-    expect(mujoco.mjRNDSTRING).toEqual([
-      ['Shadow', '1', 'S'], ['Wireframe', '0', 'W'], ['Reflection', '1', 'R'],
-      ['Additive', '0', 'L'], ['Skybox', '1', 'K'], ['Fog', '0', 'G'],
-      ['Haze', '1', '/'], ['Depth', '0', ''], ['Segment', '0', ','],
-      ['Id Color', '0', ''], ['Cull Face', '1', '']
-    ]);
-    expect(mujoco.mjFRAMESTRING.length).toEqual(mujoco.mjtFrame.mjNFRAME.value);
-    expect(mujoco.mjVISSTRING.length)
-        .toEqual(mujoco.mjtVisFlag.mjNVISFLAG.value);
-    expect(mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA.value]).toEqual([
-      'Inertia', '0', 'I'
-    ]);
-  });
-
-  it('should create a spec from XML', () => {
-    const spec = mujoco.parseXMLString(TEST_XML);
-    try {
-      expect(spec).toBeDefined();
-      expect(spec!.modelname).toEqual('test');
-    } finally {
-      spec?.delete();
-    }
-  });
-
-  it('should return the max value', () => {
-    expect(mujoco.mju_max(10, 2)).toEqual(10);
-  });
-
-  // Corresponds to bindings_test.py:test_mju_rotVecQuat
-  it('should rotate a vector by a quaternion', () => {
-    const res = mujoco.DoubleBuffer.FromArray([0, 0, 0]);
-    const vec = [1, 0, 0];
-    const angle = 7 * Math.PI / 12;
-    const quat = [Math.cos(angle), 0, 0, Math.sin(angle)];
-    const expected = new Float64Array([-0.8660377, -0.5, 0]);
-    try {
-      mujoco.mju_rotVecQuat(res, vec, quat);
-      expectArraysClose(res.GetView(), expected, 4);
-    } finally {
-      res.delete();
-    }
-  });
-
-  it('should get correct geom name', () => {
-    const spec = mujoco.parseXMLString(TEST_XML);
-    const geomEl =
-        mujoco.mjs_findElement(spec, mujoco.mjtObj.mjOBJ_GEOM, 'myplane');
-    try {
-      assertExists(geomEl);
-      const geom = mujoco.mjs_asGeom(geomEl);
-      assertExists(geom);
-      const geomName = mujoco.mjs_getName(geom.element);
-      expect(geomName).toEqual('myplane');
-      mujoco.mjs_setName(geom.element, 'myplane2');
-      expect(mujoco.mjs_getName(geom.element)).toEqual('myplane2');
-    } finally {
-      spec?.delete();
-    }
-  });
-
-  it('should override geom userdata', () => {
-    const spec = mujoco.parseXMLString(TEST_XML);
-    const geomEl =
-        mujoco.mjs_findElement(spec, mujoco.mjtObj.mjOBJ_GEOM, 'myplane');
-    try {
-      assertExists(geomEl);
-      const geom = mujoco.mjs_asGeom(geomEl);
-      assertExists(geom);
-      geom.userdata.set(0, 10);
-      expect(geom.userdata.get(0)).toEqual(10);
-    } finally {
-      spec.delete();
-    }
-  })
-
-  it('should override model geom_rgba', () => {
-    const newValues = new Float32Array([0.1, 0.2, 0.3, 0.4]);
-    model!.geom_rgba.set(newValues);
-    const expected = new Float32Array(
-        [0.1, 0.2, 0.3, 0.4, 0.5, 0.5, 0.5, 1, 0.5, 0.5, 0.5, 1]);
-    expectArraysClose(model!.geom_rgba, expected);
-  })
-
-  it('should add a scaled vector to another vector', () => {
-    const res = mujoco.DoubleBuffer.FromArray([1, 2, 3]);
-    const vec = [4, 5, 6];
-    const scale = 2;
-    const expected = new Float64Array([9, 12, 15]);
-    try {
-      mujoco.mju_addToScl(res, vec, scale);
-      expectArraysClose(res.GetView(), expected, 4);
-    } finally {
-      res.delete();
-    }
-  });
-
-  it('should throw an error when mju_addToScl is called with incompatible sizes',
-     () => {
-       const res = mujoco.DoubleBuffer.FromArray([1, 2, 3]);
-       const vec = [4, 5];
-       const scale = 2;
-       try {
-         expect(() => {
-           mujoco.mju_addToScl(res, vec, scale);
-         })
-             .toThrowError(
-                 'MuJoCo Error: [mju_addToScl] res and vec must have equal size, got 3 and 2');
-       } finally {
-         res.delete();
-       }
-     });
-
-  it('should sort an array with insertion sort', () => {
-    const arr = mujoco.DoubleBuffer.FromArray([5, 2, 8, 1, 9]);
-    const expected = new Float64Array([1, 2, 5, 8, 9]);
-    try {
-      mujoco.mju_insertionSort(arr);
-      expectArraysEqual(arr.GetView(), expected);
-    } finally {
-      arr.delete();
-    }
-  });
-
-  it('should find the attached spec', () => {
-    const bXml = `
-    <mujoco>
-      <worldbody>
-        <body name="b" pos="0 0 0.1">
-          <geom rgba="0 .9 0 1" name="attached_geom_b" type="box" size="0.1 0.1 0.1" mass="0.25"/>
-          <freejoint name="bfree"/>
-        </body>
-      </worldbody>
-    </mujoco>
-    `;
-    const xmlWithAttachedSpec = `
-    <mujoco>
-      <asset>
-        <model name="b" file="b.xml" />
-      </asset>
-
-      <worldbody>
-        <attach model="b" body="b" prefix="b" />
-      </worldbody>
-    </mujoco>
-    `;
-    const mainXmlFilename = 'main.xml';
-    const bXmlFilename = 'b.xml';
-    writeXMLFile(mainXmlFilename, xmlWithAttachedSpec);
-    writeXMLFile(bXmlFilename, bXml);
-    const spec = mujoco.parseXMLString(xmlWithAttachedSpec);
-    const attachedSpec = mujoco.mjs_findSpec(spec, 'b');
-
-    try {
-      assertExists(attachedSpec);
-      const geomEl = mujoco.mjs_findElement(
-          attachedSpec, mujoco.mjtObj.mjOBJ_GEOM, 'attached_geom_b');
-      assertExists(geomEl);
-      const geom = mujoco.mjs_asGeom(geomEl);
-      expect(geom).toBeDefined();
-      expect(mujoco.mjs_getName(geom!.element)).toEqual('attached_geom_b');
-    } finally {
-      attachedSpec?.delete();
-      spec?.delete();
-      unlinkXMLFile(mainXmlFilename);
-      unlinkXMLFile(bXmlFilename);
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_load_xml_can_handle_name_clash
-  it('should handle name clashes when loading XML with includes', () => {
-    const xml1 = `
-      <mujoco>
-        <worldbody>
-          <geom name="plane" type="plane" size="1 1 1"/>
-          <include file="model_.xml"/>
-          <include file="model__.xml"/>
-        </worldbody>
-      </mujoco>
-    `;
-    const xml2 = `<mujoco><geom name="box" type="box" size="1 1 1"/></mujoco>`;
-    const xml3 = `<mujoco><geom name="ball" type="sphere" size="1"/></mujoco>`;
-
-    const modelXmlFilename = 'model.xml';
-    const model1XmlFilename = 'model_.xml';
-    const model2XmlFilename = 'model__.xml';
-
-    writeXMLFile(modelXmlFilename, xml1);
-    writeXMLFile(model1XmlFilename, xml2);
-    writeXMLFile(model2XmlFilename, xml3);
-
-    const model = mujoco.MjModel!.mj_loadXML(modelXmlFilename);
-
-    try {
-      expect(model).toBeDefined();
-      expect(mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'plane'))
-          .toBe(0);
-      expect(mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'box'))
-          .toBe(1);
-      expect(mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'ball'))
-          .toBe(2);
-    } finally {
-      model?.delete();
-      unlinkXMLFile(modelXmlFilename);
-      unlinkXMLFile(model1XmlFilename);
-      unlinkXMLFile(model2XmlFilename);
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_can_read_array
-  it('should read an array from the model', () => {
-    const expected =
-        new Float64Array([0, 0, 0, 0, 0, 0.1, 0, 0, 1, 2, 0, 1, 42, 0, 42]);
-    const bodyPos = new Float64Array(model!.body_pos);
-    expectArraysEqual(bodyPos, expected);
-  });
-
-  // Corresponds to bindings_test.py:test_can_set_array
-  it('should set an array from the data', () => {
-    const value = 0.12345;
-    data!.qpos.fill(value);
-    const expected = new Float64Array(data!.qpos.length).fill(value);
-    expectArraysEqual(data!.qpos, expected);
-  });
-
-  // Corresponds to bindings_test.py:test_array_is_a_view
-  it('should check that array is a view', () => {
-    const qposRef = data!.qpos;
-    const value = 0.789;
-    data!.qpos.fill(value);
-    const expected = new Float64Array(data!.qpos.length).fill(value);
-    expectArraysEqual(qposRef, expected);
-  });
-
-  // Corresponds to bindings_test.py:test_mjmodel_can_read_and_write_opt
-  it('should read and write MjOption', () => {
-    expect(model!.opt.timestep).toEqual(0.002);
-    expectArraysEqual(model!.opt.gravity, new Float64Array([0, 0, -9.81]));
-
-    const optRef = model!.opt;
-    model!.opt.timestep = 0.001;
-    expect(optRef.timestep).toEqual(0.001);
-
-    const gravityRef = optRef.gravity;
-    model!.opt.gravity[1] = 0.1;
-    expectArraysEqual(gravityRef, new Float64Array([0, 0.1, -9.81]));
-
-    model!.opt.gravity.fill(0.2);
-    expectArraysEqual(gravityRef, new Float64Array([0.2, 0.2, 0.2]));
-  });
-
-  // Corresponds to bindings_test.py:test_mjmodel_can_read_and_write_stat
-  it('should read and write MjStat', () => {
-    expect(model!.stat.meanmass).not.toEqual(0);
-
-    const statRef = model!.stat;
-    model!.stat.meanmass = 1.2;
-    expect(statRef.meanmass).toEqual(1.2);
-  });
-
-  // Corresponds to bindings_test.py:test_mjmodel_can_read_and_write_vis
-  it('should read and write MjVis', () => {
-    expect(model!.vis.quality.shadowsize).toEqual(51);
-
-    const visRef = model!.vis;
-    model!.vis.quality.shadowsize = 100;
-    expect(visRef.quality.shadowsize).toEqual(100);
-  });
-
-  // Corresponds to bindings_test.py:test_mjmodel_can_access_names_directly
-  it('should access names directly from the model', () => {
-    const modelName = new TextDecoder().decode(
-        model!.names.slice(0, model!.names.indexOf(0)));
-    expect(modelName).toEqual('test');
-
-    const startGeomNameIndex = model!.name_geomadr[0];
-    const endGeomNameIndex = model!.names.indexOf(0, startGeomNameIndex);
-    const geomName = new TextDecoder().decode(
-        model!.names.slice(startGeomNameIndex, endGeomNameIndex));
-    expect(geomName).toEqual('myplane');
-  });
-
-  // Corresponds to bindings_test.py:test_mjmodel_names_doesnt_copy
-  it('should not copy names when accessing them multiple times', () => {
-    const names1 = model!.names;
-    const names2 = model!.names;
-    expect(names1).toEqual(names2);
-  });
-
-  // Corresponds to bindings_test.py:test_mjoption_can_make_default
-  it('should create a default MjOption', () => {
-    const opt = new mujoco.MjOption();
-    expect(opt.timestep).toEqual(0.002);
-    expectArraysEqual(opt.gravity, new Float64Array([0, 0, -9.81]));
-  });
-
-  // Corresponds to bindings_test.py:test_mjoption_can_copy
-  it('should copy MjOption', () => {
-    const opt1 = new mujoco.MjOption();
-    opt1.timestep = 0.001;
-    opt1.gravity.set([2, 2, 2]);
-
-    const opt2 = opt1.copy();
-    expect(opt2.timestep).toEqual(0.001);
-    expectArraysEqual(opt2.gravity, new Float64Array([2, 2, 2]));
-
-    opt1.timestep = 0.005;
-    opt1.gravity.set([5, 5, 5]);
-    expect(opt2.timestep).toEqual(0.001);
-    expectArraysEqual(opt2.gravity, new Float64Array([2, 2, 2]));
-  });
-
-  // Corresponds to bindings_test.py:test_mjdata_can_read_warning_array
-  it('should read warning array from MjData', () => {
-    expect(data!.warning.size()).toEqual(mujoco.mjtWarning.mjNWARNING.value);
-    data!.qpos[0] = NaN;
-    mujoco.mj_checkPos(model!, data!);
-    expect(data!.warning.get(mujoco.mjtWarning.mjWARN_BADQPOS.value)!.number)
-        .toEqual(1);
-  });
-
-  // Corresponds to bindings_test.py:test_mjcontact_can_copy
-  it('should copy MjContact', () => {
-    mujoco.mj_forward(model!, data!!);
-    const contacts: MjContactVec = data!.contact;
-    const originalContact = contacts.get(0)!;
-    const originalPos = new Float64Array(originalContact.pos);
-    const copiedContact = originalContact.copy();
-    copiedContact.delete();
-
-    expectArraysClose(originalContact.pos, originalPos);
-    originalContact.delete();
-  });
-
-  // Corresponds to bindings_test.py:test_mj_step
-  it('should step the simulation forward', () => {
-    const displacement = 0.55;
-    data!.qpos[2] += displacement;
-    mujoco.mj_forward(model!, data!);
-
-    const gravity = -model!.opt.gravity[2];
-    const expectedContactTime = Math.sqrt(2 * displacement / gravity);
-
-    model!.opt.timestep = 2 ** -9;
-    expect(data!.time).toEqual(0);
-    while (data!.time < expectedContactTime) {
-      expect(data!.ncon).toEqual(0);
-      expect(data!.efc_type.length).toEqual(0);
-      const prevTime = data!.time;
-      mujoco.mj_step(model!, data!);
-      expect(data!.time).toEqual(prevTime + model!.opt.timestep);
-    }
-    mujoco.mj_forward(model!, data!);
-    const contact = data!.contact;
-    expect(data!.ncon).toEqual(4);
-    expect(data!.efc_type.length).toEqual(16);
-
-    expectArraysClose(
-        contact.get(0)!.pos.slice(0, 2), new Float64Array([-0.1, -0.1]));
-    expectArraysClose(
-        contact.get(1)!.pos.slice(0, 2), new Float64Array([0.1, -0.1]));
-    expectArraysClose(
-        contact.get(2)!.pos.slice(0, 2), new Float64Array([-0.1, 0.1]));
-    expectArraysClose(
-        contact.get(3)!.pos.slice(0, 2), new Float64Array([0.1, 0.1]));
-
-    mujoco.mj_resetData(model!, data!);
-    expect(data!.ncon).toEqual(0);
-    expect(data!.efc_type.length).toEqual(0);
-  });
-
-  // Corresponds to bindings_test.py:test_mj_struct_equality_array
-  it('should check MjContact equality with array', () => {
-    const contact1 = new mujoco.MjContact();
-    const contact2 = new mujoco.MjContact();
-    try {
-      contact1.H[3] = 1;
-      expect(contact1.H).not.toEqual(contact2.H);
-      contact2.H[3] = 1;
-      expect(contact1).toEqual(contact2);
-    } finally {
-      contact1.delete();
-      contact2.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mj_struct_list_equality
-  it('should check MjContactVec equality', () => {
-    const tempXmlFilename2 = '/tmp/model2.xml';
-    writeXMLFile(tempXmlFilename2, TEST_XML);
-    const model2 = mujoco.MjModel!.mj_loadXML(tempXmlFilename2);
-    const data2 = new mujoco.MjData(model2);
-    try {
-      mujoco.mj_forward(model!, data!);
-      expect(data!.ncon).toEqual(4);
-      mujoco.mj_forward(model2, data2);
-      expect(data2.ncon).toEqual(4);
-      expect(data2.contact).toEqual(data!.contact);
-
-      data!.qpos[3] = Math.cos(Math.PI / 8);
-      data!.qpos[4] = Math.sin(Math.PI / 8);
-      data!.qpos[5] = 0;
-      data!.qpos[6] = 0;
-      data!.qpos[2] = (Math.sqrt(2) - 1) * 0.1 - 1e-6;
-      mujoco.mj_forward(model!, data!);
-
-      expect(data!.ncon).toEqual(2);
-      expect(data2.contact.size()).not.toEqual(data!.contact.size());
-      expect(data!.contact).not.toBe(data!.warning);
-    } finally {
-      model2.delete();
-      data2.delete();
-      unlinkXMLFile(tempXmlFilename2);
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_getsetstate
-  it('should get and set the state', () => {
-    mujoco.mj_step(model!, data!);
-
-    const invalidSig = 2 ** mujoco.mjtState.mjNSTATE.value;
-    expect(() => {
-      mujoco.mj_stateSize(model!, invalidSig);
-    })
-        .toThrowError(
-            'MuJoCo Error: mj_stateSize: invalid state signature 16384 >= 2^mjNSTATE');
-
-    const sig = mujoco.mjtState.mjSTATE_INTEGRATION.value;
-    const size = mujoco.mj_stateSize(model!, sig);
-    const stateBadSize = mujoco.DoubleBuffer.FromArray([size]);
-    expect(() => {
-      mujoco.mj_getState(model!, data!, stateBadSize, sig);
-    })
-        .toThrowError(
-            'MuJoCo Error: [mj_getState] state must have size 81, got 1');
-
-    const state0 = new mujoco.DoubleBuffer(size);
-    mujoco.mj_getState(model!, data!, state0, sig);
-
-    mujoco.mj_step(model!, data!);
-    const state1a = mujoco.DoubleBuffer.FromArray(new Array(size).fill(1));
-    mujoco.mj_getState(model!, data!, state1a, sig);
-
-    mujoco.mj_setState(model!, data!, state0.GetView(), sig);
-    mujoco.mj_step(model!, data!);
-    const state1b = mujoco.DoubleBuffer.FromArray(new Array(size).fill(2));
-    mujoco.mj_getState(model!, data!, state1b, sig);
-
-    expectArraysEqual(state1a.GetView(), state1b.GetView());
-  });
-
-  // Corresponds to bindings_test.py:test_mj_setKeyframe
-  it('should set and reset a keyframe', () => {
-    mujoco.mj_step(model!, data!);
-
-    const invalidKey = 2;
-    expect(() => {
-      mujoco.mj_setKeyframe(model!, data!, invalidKey);
-    })
-        .toThrowError(
-            'MuJoCo Error: mj_setKeyframe: index must be smaller than 2 (keyframes allocated in model)');
-
-    const validKey = 1;
-    const time = data!.time;
-    const qpos = new Float64Array(data!.qpos);
-    const qvel = new Float64Array(data!.qvel);
-    const act = new Float64Array(data!.act);
-    mujoco.mj_setKeyframe(model!, data!, validKey);
-
-    mujoco.mj_step(model!, data!);
-    expect(time).not.toEqual(data!.time);
-
-    mujoco.mj_resetDataKeyframe(model!, data!, validKey);
-    expect(time).toEqual(data!.time);
-    expectArraysEqual(qpos, data!.qpos);
-    expectArraysEqual(qvel, data!.qvel);
-    expectArraysEqual(act, data!.act);
-  });
-
-  // Corresponds to bindings_test.py:test_mj_angmomMat
-  it('should compute angular momentum matrix', () => {
-    data!.qvel.fill(1);
-    mujoco.mj_forward(model!, data!);
-    mujoco.mj_subtreeVel(model!, data!);
-
-    const mat = new mujoco.DoubleBuffer(3 * model!.nv);
-    try {
-      mujoco.mj_angmomMat(model!, data!, mat, 0);
-
-      const qvel = new Float64Array(data!.qvel);
-      const subtreeAngmom = new Float64Array(data!.subtree_angmom.slice(0, 3));
-      const matView = mat.GetView();
-      const result = new Float64Array(3).fill(0);
-
-      for (let i = 0; i < 3; i++) {
-        for (let j = 0; j < model!.nv; j++) {
-          result[i] += matView[i * model!.nv + j] * qvel[j];
-        }
-      }
-      expectArraysClose(result, subtreeAngmom);
-    } finally {
-      mat.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mj_jacSite
-  it('should compute site jacobian', () => {
-    mujoco.mj_forward(model!, data!);
-    const siteId =
-        mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_SITE.value, 'mysite');
-    const jacp = new mujoco.DoubleBuffer(3 * model!.nv);
-    const jacr = new mujoco.DoubleBuffer(3 * model!.nv);
-
-    try {
-      mujoco.mj_jacSite(model!, data!, jacp, null, siteId);
-      const expectedJacp = new Float64Array(3 * model!.nv).fill(0);
-      expectedJacp[6] = -1;
-      expectArraysClose(jacp.GetView(), expectedJacp);
-
-      mujoco.mj_jacSite(model!, data!, null, jacr, siteId);
-      const expectedJacr = new Float64Array(3 * model!.nv).fill(0);
-      expectedJacr[1 * model!.nv + 6] = 1;
-      expectArraysClose(jacr.GetView(), expectedJacr, 2);
-
-      jacp.GetView().fill(0);
-      jacr.GetView().fill(0);
-      mujoco.mj_jacSite(model!, data!, jacp, jacr, siteId);
-      expectArraysClose(jacp.GetView(), expectedJacp, 2);
-      expectArraysClose(jacr.GetView(), expectedJacr, 2);
-
-      const badJacp = new mujoco.DoubleBuffer(3 * 6);
-      try {
-        expect(() => {
-          mujoco.mj_jacSite(model!, data!, badJacp, null, siteId);
-        })
-            .toThrowError(
-                'MuJoCo Error: [mj_jacSite] jacp must have size 30, got 18');
-      } finally {
-        badJacp.delete();
-      }
-
-      const badJacr = new mujoco.DoubleBuffer(4 * 7);
-      try {
-        expect(() => {
-          mujoco.mj_jacSite(model!, data!, null, badJacr, siteId);
-        })
-            .toThrowError(
-                'MuJoCo Error: [mj_jacSite] jacr must have size 30, got 28');
-      } finally {
-        badJacr.delete();
-      }
-    } finally {
-      jacp.delete();
-      jacr.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_can_initialize_mjv_structs
-  it('should initialize mjv structs', () => {
-    expect(new mujoco.MjvScene()).toBeDefined();
-    expect(new mujoco.MjvCamera()).toBeDefined();
-    expect(new mujoco.MjvGLCamera()).toBeDefined();
-    expect(new mujoco.MjvGeom()).toBeDefined();
-    expect(new mujoco.MjvLight()).toBeDefined();
-    expect(new mujoco.MjvOption()).toBeDefined();
-    expect(new mujoco.MjvFigure()).toBeDefined();
-    expect(new mujoco.MjvScene(model, 100)).toBeDefined();
-  });
-
-  // Corresponds to bindings_test.py:test_mjv_camera
-  it('should handle MjvCamera correctly', () => {
-    const camera = new mujoco.MjvCamera();
-    camera.type = mujoco.mjtCamera.mjCAMERA_TRACKING.value;
-    camera.fixedcamid = 2 ** 31 - 1;
-    expect(camera.fixedcamid).toEqual(2 ** 31 - 1);
-  });
-
-  // Corresponds to bindings_test.py:test_mjv_scene
-  it('should handle MjvScene correctly', () => {
-    const scene = new mujoco.MjvScene(model, 100);
-    expect(scene.ngeom).toEqual(0);
-    expect(scene.maxgeom).toEqual(100);
-    expect(scene.geoms.size()).toEqual(0);
-
-    mujoco.mj_forward(model!, data!);
-    mujoco.mjv_updateScene(
-        model!, data!, new mujoco.MjvOption(), new mujoco.MjvPerturb(),
-        new mujoco.MjvCamera(), mujoco.mjtCatBit.mjCAT_ALL.value, scene);
-    expect(scene.geoms.size()).toEqual(scene.ngeom);
-    expect(scene.ngeom).toBeGreaterThan(0);
-  });
-
-  // Corresponds to bindings_test.py:test_mjv_scene_without_model
-  it('should initialize MjvScene without a model', () => {
-    const scene = new mujoco.MjvScene();
-    expect(scene.scale).toEqual(1.0);
-    expect(scene.maxgeom).toEqual(0);
-  });
-
-  // Corresponds to bindings_test.py:test_inverse_fd_none
-  it('should compute inverse dynamics derivatives with null outputs', () => {
-    const eps = 1e-6;
-    const flg_centered = false;
-    expect(
-        () => mujoco.mjd_inverseFD(
-            model!, data!, eps, flg_centered, null, null, null, null, null,
-            null, null))
-        .not.toThrow();
-  });
-
-  // Corresponds to bindings_test.py:test_inverse_fd
-  it('should compute inverse dynamics derivatives', () => {
-    const eps = 1e-6;
-    const flg_centered = false;
-
-    const nv = model!.nv;
-    const nsensordata = model!.nsensordata;
-    const nC = model!.nC;
-
-    const dfDq = new mujoco.DoubleBuffer(nv * nv);
-    const dfDv = new mujoco.DoubleBuffer(nv * nv);
-    const dfDa = new mujoco.DoubleBuffer(nv * nv);
-    const dsDq = new mujoco.DoubleBuffer(nv * nsensordata);
-    const dsDv = new mujoco.DoubleBuffer(nv * nsensordata);
-    const dsDa = new mujoco.DoubleBuffer(nv * nsensordata);
-    const dmDq = new mujoco.DoubleBuffer(nv * nC);
-
-    try {
-      mujoco.mjd_inverseFD(
-          model!, data!, eps, flg_centered, dfDq, dfDv, dfDa, dsDq, dsDv, dsDa,
-          dmDq);
-
-      expect(norm(dfDq.GetView())).toBeGreaterThan(eps);
-      expect(norm(dfDv.GetView())).toBeGreaterThan(eps);
-      expect(norm(dfDa.GetView())).toBeGreaterThan(eps);
-      expect(norm(dsDq.GetView())).toBeGreaterThan(eps);
-      expect(norm(dsDv.GetView())).toBeGreaterThan(eps);
-      expect(norm(dsDa.GetView())).toBeGreaterThan(eps);
-    } finally {
-      dfDq.delete();
-      dfDv.delete();
-      dfDa.delete();
-      dsDq.delete();
-      dsDv.delete();
-      dsDa.delete();
-      dmDq.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_geom_distance
-  it('should compute geom distance', () => {
-    mujoco.mj_forward(model!, data!);
-    const fromto = new mujoco.DoubleBuffer(6);
-    try {
-      const dist = mujoco.mj_geomDistance(model!, data!, 0, 2, 200, fromto);
-      expect(dist).toEqual(41.9);
-      expectArraysClose(
-          fromto.GetView(),
-          new Float64Array([42.0, 0.0, 0.0, 42.0, 0.0, 41.9]));
-    } finally {
-      fromto.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mjd_sub_quat
-  it('should compute sub quaternion derivatives', () => {
-    const quat1 = [0.2, 0.3, 0.3, 0.4];
-    const quat2 = [0.1, 0.2, 0.4, 0.5];
-    const d1 = new mujoco.DoubleBuffer(9);
-    const d2 = new mujoco.DoubleBuffer(9);
-    const d3 = new mujoco.DoubleBuffer(9);
-    const d4 = new mujoco.DoubleBuffer(9);
-    try {
-      mujoco.mjd_subQuat(quat1, quat2, d1, d2);
-      mujoco.mjd_subQuat(quat1, quat2, null, d3);
-      mujoco.mjd_subQuat(quat1, quat2, d4, null);
-      expectArraysEqual(d2.GetView(), d3.GetView());
-      expectArraysEqual(d1.GetView(), d4.GetView());
-    } finally {
-      d1.delete();
-      d2.delete();
-      d3.delete();
-      d4.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mjd_quat_integrate
-  it('should compute quaternion derivatives for integration', () => {
-    const scale = 0.1;
-    const vel = [0.2, 0.3, 0.3];
-    const dQuat = new mujoco.DoubleBuffer(9);
-    const dVel = new mujoco.DoubleBuffer(9);
-    const dH = new mujoco.DoubleBuffer(3);
-    try {
-      mujoco.mjd_quatIntegrate(vel, scale, dQuat, dVel, dH);
-      expect(norm(dQuat.GetView())).toBeGreaterThan(0);
-      expect(norm(dVel.GetView())).toBeGreaterThan(0);
-      expect(norm(dH.GetView())).toBeGreaterThan(0);
-    } finally {
-      dQuat.delete();
-      dVel.delete();
-      dH.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_banded
-  it('should handle banded matrices', () => {
-    const nTotal = 4;
-    const nBand = 1;
-    const nDense = 1;
-    const dense = [
-      1.0,
-      0,
-      0,
-      0.1,
-      0,
-      2.0,
-      0,
-      0.2,
-      0,
-      0,
-      3.0,
-      0.3,
-      0.1,
-      0.2,
-      0.3,
-      4.0,
-    ];
-    const band =
-        new mujoco.DoubleBuffer(nBand * (nTotal - nDense) + nDense * nTotal);
-    const vec = mujoco.DoubleBuffer.FromArray([2.0, 2.0, 3.0, 4.0]);
-    const res = new mujoco.DoubleBuffer(4);
-    try {
-      mujoco.mju_dense2Band(band, dense, nTotal, nBand, nDense);
-      for (let i = 0; i < 4; i++) {
-        const index = mujoco.mju_bandDiag(i, nTotal, nBand, nDense);
-        expect(band.GetView()[index]).toEqual(i + 1);
-      }
-      const dense2 = new mujoco.DoubleBuffer(nTotal * nTotal);
-      const flgSym = true;
-      mujoco.mju_band2Dense(
-          dense2, band.GetView(), nTotal, nBand, nDense, flgSym);
-      expectArraysEqual(new Float64Array(dense), dense2.GetView());
-
-      const nVec = 1;
-      mujoco.mju_bandMulMatVec(
-          res, band.GetView(), vec.GetView(), nTotal, nBand, nDense, nVec,
-          flgSym);
-
-      const expected = new Float64Array([2.4, 4.8, 10.2, 17.5]);
-      expectArraysClose(res.GetView(), expected);
-
-      const diagAdd = 0;
-      const diagMul = 0;
-      mujoco.mju_cholFactorBand(band, nTotal, nBand, nDense, diagAdd, diagMul);
-      mujoco.mju_cholSolveBand(
-          res, band.GetView(), vec.GetView(), nTotal, nBand, nDense);
-
-      const expectedSolved = new Float64Array([1.9111, 0.9111, 0.9111, 0.8333]);
-      expectArraysClose(res.GetView(), expectedSolved);
-    } finally {
-      band.delete();
-      vec.delete();
-      res.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mju_box_qp
-  it('should handle box QP solver', () => {
-    const n = 5;
-    const res = new mujoco.DoubleBuffer(n);
-    const r = new mujoco.DoubleBuffer(n * (n + 7));
-    const index = new mujoco.IntBuffer(n);
-    const h = new mujoco.DoubleBuffer(n * n);
-    const g = mujoco.DoubleBuffer.FromArray(new Array(n).fill(1));
-    const lower = new Array(n).fill(-1);
-    const upper = new Array(n).fill(1);
-    try {
-      for (let i = 0; i < n; i++) {
-        h.GetView()[i * (n + 1)] = 1;
-      }
-      const rank = mujoco.mju_boxQP(
-          res, r, index, h.GetView(), g.GetView(), lower, upper);
-      expect(rank).toBeGreaterThan(-1);
-    } finally {
-      res.delete();
-      r.delete();
-      index.delete();
-      h.delete();
-      g.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mju_fill
-  it('should fill an array with a value', () => {
-    const res = new mujoco.DoubleBuffer(3);
-    try {
-      mujoco.mju_fill(res, 1.5);
-      expectArraysEqual(res.GetView(), new Float64Array([1.5, 1.5, 1.5]));
-    } finally {
-      res.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mju_eye
-  it('should create an identity matrix', () => {
-    const eye3 = new mujoco.DoubleBuffer(3 * 3);
-    try {
-      mujoco.mju_eye(eye3);
-      const expected = new Float64Array([
-        1,
-        0,
-        0,
-        0,
-        1,
-        0,
-        0,
-        0,
-        1,
-      ]);
-      expectArraysEqual(eye3.GetView(), expected);
-    } finally {
-      eye3.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mju_symmetrize
-  it('should symmetrize a matrix', () => {
-    const mat = [
-      0, 0.066, 0.13, 0.2, 0.26, 0.33, 0.4, 0.46, 0.53, 0.6, 0.66, 0.73, 0.8,
-      0.86, 0.93, 1
-    ];
-    const res = new mujoco.DoubleBuffer(16);
-    try {
-      mujoco.mju_symmetrize(res, mat, 4);
-      const expected = new Float64Array([
-        0, 0.163, 0.33, 0.5, 0.163, 0.33, 0.5, 0.66, 0.33, 0.5, 0.66, 0.83, 0.5,
-        0.66, 0.8, 1
-      ]);
-      expectArraysClose(res.GetView(), expected);
-    } finally {
-      res.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mju_clip
-  it('should clip a value', () => {
-    expect(mujoco.mju_clip(1.5, 1.0, 2.0)).toEqual(1.5);
-    expect(mujoco.mju_clip(1.5, 2.0, 3.0)).toEqual(2.0);
-    expect(mujoco.mju_clip(1.5, 0.0, 1.0)).toEqual(1.0);
-  });
-
-  // Corresponds to bindings_test.py:test_mju_mul_vec_mat_vec
-  it('should multiply a vector by a matrix and a vector', () => {
-    const vec1 = [1.0, 2.0, 3.0];
-    const vec2 = [3.0, 2.0, 1.0];
-    const mat = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0];
-    expect(mujoco.mju_mulVecMatVec(vec1, mat, vec2)).toEqual(204.0);
-  });
-
-  // Corresponds to bindings_test.py:test_mju_dense_to_sparse
-  it('should convert a dense matrix to a sparse matrix', () => {
-    const mat = [0.0, 1.0, 0.0, 2.0, 0.0, 3.0];
-    const res = new mujoco.DoubleBuffer(3);
-    const rowNnz = new mujoco.IntBuffer(2);
-    const rowAdr = new mujoco.IntBuffer(2);
-    const colInd = new mujoco.IntBuffer(3);
-    try {
-      const status =
-          mujoco.mju_dense2sparse(res, mat, 2, 3, rowNnz, rowAdr, colInd);
-      expect(status).toEqual(0);
-      expectArraysEqual(res.GetView(), new Float64Array([1.0, 2.0, 3.0]));
-      expectArraysEqual(rowNnz.GetView(), new Int32Array([1, 2]));
-      expectArraysEqual(rowAdr.GetView(), new Int32Array([0, 1]));
-      expectArraysEqual(colInd.GetView(), new Int32Array([1, 0, 2]));
-    } finally {
-      rowNnz.delete();
-      rowAdr.delete();
-      colInd.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mju_sparse_to_dense
-  it('should convert a sparse matrix to a dense matrix', () => {
-    const mat = [1.0, 2.0, 3.0];
-    const expected = new Float64Array([0.0, 1.0, 0.0, 2.0, 0.0, 3.0]);
-    const rowNnz = [1, 2];
-    const rowAdr = [0, 1];
-    const colInd = [1, 0, 2];
-    const res = new mujoco.DoubleBuffer(6);
-    try {
-      mujoco.mju_sparse2dense(res, mat, 2, 3, rowNnz, rowAdr, colInd);
-      expectArraysEqual(res.GetView(), expected);
-    } finally {
-      res.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mju_euler_to_quat
-  it('should convert euler to quaternion', () => {
-    const quat = new mujoco.DoubleBuffer(4);
-    const euler = [0, Math.PI / 2, 0];
-    const seq = 'xyz';
-    try {
-      mujoco.mju_euler2Quat(quat, euler, seq);
-      const expectedQuat = [Math.sqrt(0.5), 0, Math.sqrt(0.5), 0.0];
-      expectArraysClose(quat.GetView(), new Float64Array(expectedQuat));
-
-      expect(() => {
-        mujoco.mju_euler2Quat(quat, euler, 'xy');
-      })
-          .toThrowError(
-              'MuJoCo Error: mju_euler2Quat: seq must contain exactly 3 characters');
-      expect(() => {
-        mujoco.mju_euler2Quat(quat, euler, 'xyzy');
-      })
-          .toThrowError(
-              'MuJoCo Error: mju_euler2Quat: seq must contain exactly 3 characters');
-      expect(() => {
-        mujoco.mju_euler2Quat(quat, euler, 'xYp');
-      })
-          .toThrowError(
-              `MuJoCo Error: mju_euler2Quat: seq[2] is 'p', should be one of x, y, z, X, Y, Z`);
-    } finally {
-      quat.delete();
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_texture_size
-  it('should load a texture from a model', () => {
-    const texFilename = 'tex.png';
-    writeXMLFile(texFilename, 'tex');
-    const tempXmlFilename = '/tmp/with_texture.xml';
-    const TEST_XML_TEXTURE = `
-      <mujoco>
-        <asset>
-          <texture name="tex" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
-            width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-          <material name="mat" reflectance="0.3" texture="tex" texrepeat="1 1" texuniform="true"/>
-        </asset>
-        <worldbody>
-          <geom type="plane" size="1 1 1" material="mat"/>
-        </worldbody>
-      </mujoco>
-    `;
-    writeXMLFile(tempXmlFilename, TEST_XML_TEXTURE);
-
-    const model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
-    try {
-      expect(model).toBeDefined();
-      expect(model!.tex_height).toEqual(new Int32Array([512]));
-      expect(model!.tex_width).toEqual(new Int32Array([512]));
-    } finally {
-      model?.delete();
-      unlinkXMLFile(texFilename);
-      unlinkXMLFile(tempXmlFilename);
-    }
-  });
-
-  it('should create distinct MjModel instances and copy correctly', () => {
-    const model1 = model!;
-    const model2 = new mujoco.MjModel(model1);
-
-    try {
-      assertExists(model1);
-      assertExists(model2);
-      expect(model1).not.toBe(model2);
-      expect(model1.opt.timestep).toEqual(model2.opt.timestep);
-      expect(model1.stat.meanmass).toEqual(model2.stat.meanmass);
-      model1.opt.timestep = 0.123;
-      expect(model1.opt.timestep).toEqual(0.123);
-      expect(model2.opt.timestep).not.toEqual(model1.opt.timestep);
-      expect(model2.opt.timestep).toEqual(0.002);
-    } finally {
-      model2.delete();
-    }
-  });
-
-  it('should create distinct MjData instances and copy correctly', () => {
-    const data1 = new mujoco.MjData(model!);
-    const data2 = new mujoco.MjData(model!, data1);
-    try {
-      assertExists(data1);
-      assertExists(data2);
-      expect(data1).not.toBe(data2);
-      expectArraysEqual(data1.qpos, data2.qpos);
-      expectArraysEqual(data1.qvel, data2.qvel);
-      data1.qpos[0] = 1.0;
-      expect(data1.qpos[0]).toEqual(1.0);
-      expect(data2.qpos[0]).not.toEqual(data1.qpos[0]);
-    } finally {
-      data1.delete();
-      data2.delete();
-    }
-  });
-
-  // Corresponds to specs_test.py:test_address
-  it('should create distinct MjSpec instances and copy correctly', () => {
-    const spec1 = mujoco.parseXMLString(TEST_XML);
-    const spec2 = new mujoco.MjSpec(spec1);
-
-    try {
-      assertExists(spec1);
-      assertExists(spec2);
-
-      expect(spec1).not.toBe(spec2);
-
-      expect(spec1.modelname).toEqual(spec2.modelname);
-      expect(spec1.option.timestep).toEqual(spec2.option.timestep);
-      expect(spec1.visual.quality.shadowsize)
-          .toEqual(spec2.visual.quality.shadowsize);
-      expect(spec1.stat.meanmass).toEqual(spec2.stat.meanmass);
-
-      spec1.modelname = 'modified';
-      expect(spec2.modelname).not.toEqual(spec1.modelname);
-      expect(spec2.modelname).toEqual('test');
-    } finally {
-      spec1?.delete();
-      spec2?.delete();
-    }
-  });
-
-  // Corresponds to partial of user_api_test.cc:TEST_F(PluginTest, AttachPlugin)
-  it('should correctly copy MjSpec instances when attaching plugins', () => {
-    const xmlPlugin1 = `
-      <mujoco model="MuJoCo Model">
-        <worldbody>
-          <body name="body"/>
-        </worldbody>
-      </mujoco>`;
-
-    const spec1 = mujoco.parseXMLString(xmlPlugin1);
-    const spec2 = new mujoco.MjSpec(spec1);
-    const spec3 = new mujoco.MjSpec(spec1);
-
-    try {
-      assertExists(spec1);
-      assertExists(spec2);
-      assertExists(spec3);
-
-      spec2.modelname = 'first_copy';
-      spec3.modelname = 'second_copy';
-      expect(spec1.modelname).toEqual('MuJoCo Model');
-      expect(spec2.modelname).toEqual('first_copy');
-      expect(spec3.modelname).toEqual('second_copy');
-    } finally {
-      spec1?.delete();
-      spec2?.delete();
-      spec3?.delete();
-    }
-  });
-
-  it('should save the model to an XML file', () => {
-    const tempXmlFilename = '/tmp/saved_model.xml';
-    const xml = `<mujoco model="MuJoCo Model">
-  <compiler angle="radian"/>
-  <asset>
-    <texture type="2d" colorspace="auto" name="tex" builtin="checker" mark="cross" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" markrgb="0.8 0.8 0.8" width="512" height="512"/>
-    <material name="mat" texture="tex" texuniform="true" reflectance="0.3"/>
-  </asset>
-  <worldbody>
-    <geom size="1 1 1" type="plane" material="mat"/>
-  </worldbody>
-</mujoco>`;
-    writeXMLFile(tempXmlFilename, xml);
-
-    const model = mujoco.MjModel!.mj_loadXML(tempXmlFilename);
-    try {
-      mujoco.mj_saveLastXML(tempXmlFilename, model!);
-      const savedXmlContent =
-          (mujoco as any).FS.readFile(tempXmlFilename, {encoding: 'utf8'});
-      // Remove whitespaces from the saved XML content to avoid flakiness.
-      expect(savedXmlContent.replace(/\s/g, ''))
-          .toEqual(xml.replace(/\s/g, ''));
-    } finally {
-      unlinkXMLFile(tempXmlFilename);
-    }
-  });
-
-  it('can call mj_setLengthRange with actuators', () => {
-    const tempXmlFilename = '/tmp/actuator_model.xml';
-    const actuatorXml = `<mujoco model="actuator_test">
-      <worldbody>
-        <body>
-          <inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
-          <joint name="hinge1" type="hinge" axis="0 1 0"/>
-        </body>
-      </worldbody>
-      <actuator>
-        <position name="myactuator" joint="hinge1"/>
-      </actuator>
-    </mujoco>`;
-    writeXMLFile(tempXmlFilename, actuatorXml);
-    const model = mujoco.MjModel.mj_loadXML(tempXmlFilename);
-    assertExists(model);
-    const data = new mujoco.MjData(model);
-    assertExists(data);
-    const opt = new mujoco.MjLROpt();
-
-    try {
-      const result = mujoco.mj_setLengthRange(
-          model,
-          data,
-          /* index= */ 0,
-          opt,
-      );
-      expect(result).toBe(1);
-    } finally {
-      opt.delete();
-      model.delete();
-      data.delete();
-      unlinkXMLFile(tempXmlFilename);
-    }
-  });
-
-  it('should compile a spec and emit warnings', () => {
-    const xml = `
-    <mujoco>
-      <worldbody>
-        <flexcomp name="test" type="grid" count="4 4 1" spacing=".2 .2 .2"
-                  dim="2" radius=".1"/>
-      </worldbody>
-    </mujoco>`;
-    let spec = null;
-    let model = null;
-    const warnSpy = spyOn(console, 'warn');
-    try {
-      spec = mujoco.parseXMLString(xml);
-      expect(spec).not.toBeNull();
-
-      model = mujoco.mj_compile(spec);
-      expect(model).not.toBeNull();
-      expect(warnSpy).toHaveBeenCalled();
-      const warningCall = warnSpy.calls.mostRecent();
-      expect(warningCall.args[0]).toContain("no equality constraints or passive forces");
-    } finally {
-      if (spec) {
-        spec.delete();
-      }
-      if (model) {
-        model.delete();
-      }
-    }
-  });
-
-  it('should compile a spec from XML string with no assets', () => {
-    let spec = null;
-    let model = null;
-    try {
-      spec = mujoco.parseXMLString(TEST_XML);
-      expect(spec).not.toBeNull();
-
-      model = mujoco.mj_compile(spec);
-      expect(model).not.toBeNull();
-      expect(model.nq).toBeGreaterThan(0);
-
-      const jointId =
-          mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT.value, 'myhinge');
-      expect(jointId).toBeGreaterThanOrEqual(0);
-    } finally {
-      if (spec) {
-        spec.delete();
-      }
-      if (model) {
-        model.delete();
-      }
-    }
-  });
-
-  it('should compile a spec from XML with .obj asset', () => {
-    const xml = `
-    <mujoco>
-      <asset>
-        <mesh file="cube.obj"/>
-      </asset>
-      <worldbody>
-        <geom type="mesh" mesh="cube"/>
-      </worldbody>
-    </mujoco>`;
-
-    const cube1 = `
-    v -1 -1  1
-    v  1 -1  1
-    v -1  1  1
-    v  1  1  1
-    v -1  1 -1
-    v  1  1 -1
-    v -1 -1 -1
-    v  1 -1 -1`;
-
-    let spec: MjSpec|null = null;
-    let model: MjModel|null = null;
-    let vfs: MjVFS|null = null;
-    try {
-      spec = mujoco.parseXMLString(xml);
-      assertExists(spec);
-
-      vfs = new mujoco.MjVFS();
-      vfs.addBuffer('cube.obj', new TextEncoder().encode(cube1));
-      assertExists(vfs);
-
-      model = mujoco.mj_compile(spec, vfs);
-      assertExists(model);
-      expect(model.nmesh).toBe(1);
-
-      const meshId =
-          mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_MESH.value, 'cube');
-      expect(meshId).toBeGreaterThanOrEqual(0);
-    } finally {
-      spec?.delete();
-      vfs?.delete();
-      model?.delete();
-    }
-  });
-
-  it('should compile a spec from XML with 10 meshes and 10 textures', () => {
-    const assetsCount = 10;
-    let xml = `<mujoco>
-      <asset>`;
-    const cube1 = `
-    v -1 -1  1
-    v  1 -1  1
-    v -1  1  1
-    v  1  1  1
-    v -1  1 -1
-    v  1  1 -1
-    v -1 -1 -1
-    v  1 -1 -1`;
-    const dummyTex = 'dummy texture data';
-
-    for (let i = 0; i < assetsCount; i++) {
-      xml += `<mesh name="cube${i}" file="cube${i}.obj"/>`;
-      xml += `<texture name="tex${
-          i}" type="2d" builtin="checker" width="16" height="16"/>`;
-    }
-    xml += `</asset><worldbody>`;
-    for (let i = 0; i < assetsCount; i++) {
-      xml += `<geom type="mesh" mesh="cube${i}"/>`;
-    }
-    xml += `</worldbody></mujoco>`;
-
-    let spec: MjSpec|null = null;
-    let model: MjModel|null = null;
-    let vfs: MjVFS|null = null;
-    try {
-      spec = mujoco.parseXMLString(xml);
-      assertExists(spec);
-
-      vfs = new mujoco.MjVFS();
-      assertExists(vfs);
-      for (let i = 0; i < assetsCount; i++) {
-        vfs.addBuffer(`cube${i}.obj`, new TextEncoder().encode(cube1));
-        vfs.addBuffer(`tex${i}.txt`, new TextEncoder().encode(dummyTex));
-      }
-
-      model = mujoco.mj_compile(spec, vfs);
-      assertExists(model);
-      expect(model.nmesh).toBe(assetsCount);
-      expect(model.ntex).toBe(assetsCount);
-
-      for (let i = 0; i < assetsCount; i++) {
-        const meshId = mujoco.mj_name2id(
-            model, mujoco.mjtObj.mjOBJ_MESH.value, `cube${i}`);
-        expect(meshId).toBe(i);
-        const tex = model.tex(`tex${i}`);
-        expect(tex).toBeDefined();
-        expect(tex!.name).toBe(`tex${i}`);
-      }
-    } finally {
-      spec?.delete();
-      vfs?.delete();
-      model?.delete();
-    }
-  });
-
-  describe('MjModel named access', () => {
-    // Corresponds to
-    // bindings_test.py:test_named_indexing_invalid_names_in_model
-    it('should throw an error for invalid geom names in model', () => {
-      expect(() => {
-        model!.geom('badgeom');
-      })
-          .toThrowError(
-              `MuJoCo Error: Invalid name 'badgeom' for geom. Valid names: ['mocap-sphere', 'mybox', 'myplane']`);
-    });
-
-    // Corresponds to
-    // bindings_test.py:test_named_indexing_invalid_index_in_model
-    it('should throw an error for invalid geom indices in model', () => {
-      const numGeoms = model!.ngeom;
-      expect(() => {
-        model!.geom(numGeoms);
-      })
-          .toThrowError(
-              `MuJoCo Error: Invalid index 3 for geom. Valid indices from 0 to 2`);
-
-      expect(() => {
-        model!.geom(-1);
-      })
-          .toThrowError(
-              `MuJoCo Error: Invalid index -1 for geom. Valid indices from 0 to 2`);
-    });
-
-    // Corresponds to bindings_test.py:test_named_indexing_geom_size
-    it('should correctly access geom size using named indexing', () => {
-      const boxId =
-          mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'mybox');
-      assertExists(boxId);
-
-      // Check that named indexing returns the same object as id indexing.
-      expect(model!.geom('mybox')).toEqual(model!.geom(boxId));
-      expect(model!.geom('mybox')!.size).toEqual(model!.geom(boxId)!.size);
-      expect(model!.geom('mybox')!.size.length).toEqual(3);
-
-      // Test that the indexer is returning a view into the underlying struct.
-      const sizeFromIndexer = model!.geom('mybox')!.size;
-      const originalGeomSize = new Float64Array(model!.geom_size);
-
-      model!.geom_size.set([7, 11, 13], boxId * 3);
-      expectArraysEqual(sizeFromIndexer, new Float64Array([7, 11, 13]));
-
-      model!.geom('mybox')!.size.set([5, 3, 2]);
-      expectArraysEqual(
-          model!.geom_size.slice(boxId * 3, boxId * 3 + 3),
-          new Float64Array([5, 3, 2]));
-    });
-
-    // Corresponds to bindings_test.py:test_named_indexing_geom_quat
-    it('should correctly access geom quat using named indexing', () => {
-      const boxId =
-          mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_GEOM.value, 'mybox');
-      assertExists(boxId);
-
-      // Check that named indexing returns the same object as id indexing.
-      expect(model!.geom('mybox')).toEqual(model!.geom(boxId));
-      expect(model!.geom('mybox')!.quat).toEqual(model!.geom(boxId)!.quat);
-      expect(model!.geom('mybox')!.quat.length).toEqual(4);
-
-      // Test that the indexer is returning a view into the underlying struct.
-      const quatFromIndexer = model!.geom('mybox')!.quat;
-
-      model!.geom_quat.set([5, 10, 15, 20], boxId * 4);
-      expectArraysEqual(quatFromIndexer, new Float64Array([5, 10, 15, 20]));
-
-      model!.geom('mybox')!.quat.set([12, 9, 6, 3]);
-      expectArraysEqual(
-          model!.geom_quat.slice(boxId * 4, boxId * 4 + 4),
-          new Float64Array([12, 9, 6, 3]));
-    });
-
-    it('should support named access for Joints', () => {
-      const xml = `<mujoco model="Box falling">
-      <option viscosity="1"/>
-      <worldbody>
-        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
-        <geom name="MyFloor" type="plane" size="1 1 0.1" rgba=".9 0 0 1" user="5 4 3 2 1"/>
-        <geom name="MyWall" type="plane" size="0.1 1 0.1" rgba="0 1 0 1" user="5 4 3"/>
-        <body pos="0 0 1" name="MyBox">
-          <joint type="free" name="root"/>
-          <geom name="MyBoxGeom" type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
-          <body pos=".1 0 0" name="MyHingeBody">
-            <joint frictionloss="0.4" type="hinge" name="hinge" axis="0 1 0"/>
-            <geom type="capsule" size=".05 .05" rgba="0 0 .9 1"/>
-          </body>
-        </body>
-      </worldbody>
-    </mujoco>`;
-      const tempXmlFilename = '/tmp/jnt.xml';
-      writeXMLFile(tempXmlFilename, xml);
-      const model = mujoco.MjModel.mj_loadXML(tempXmlFilename);
-      try {
-        assertExists(model);
-        const j0 = model.jnt('root');
-        expect(j0.id).toBe(0);
-        expect(j0.name).toBe('root');
-        expect(j0.type).toBe(mujoco.mjtJoint.mjJNT_FREE.value);
-        expect(j0.qposadr).toBe(0);
-        expect(j0.dofadr).toBe(0);
-        expect(j0.axis).toEqual(new Float64Array([0, 0, 1]));
-        expect(j0.type).toEqual(mujoco.mjtJoint.mjJNT_FREE.value);
-
-        const j0qposStart = model.jnt_qposadr[j0.id];
-        const j0qposEnd =
-            (j0.id < model.njnt - 1) ? model.jnt_qposadr[j0.id + 1] : model.nq;
-        const expectedJ0qpos = model.qpos0.slice(j0qposStart, j0qposEnd);
-        expectArraysEqual(
-            expectedJ0qpos, new Float64Array([0, 0, 1, 1, 0, 0, 0]));
-        expectArraysEqual(j0.qpos0, expectedJ0qpos);
-
-        const j0dofStart = model.jnt_dofadr[j0.id];
-        const j0dofEnd =
-            (j0.id < model.njnt - 1) ? model.jnt_dofadr[j0.id + 1] : model.nv;
-        const expectedJ0dof = model.dof_bodyid.slice(j0dofStart, j0dofEnd);
-        expectArraysEqual(expectedJ0dof, new Int32Array([1, 1, 1, 1, 1, 1]));
-        expectArraysEqual(j0.bodyid, expectedJ0dof);
-
-
-        const j1 = model.jnt('hinge');
-        expect(j1.id).toBe(1);
-        expect(j1.name).toBe('hinge');
-        expect(j1.type).toBe(mujoco.mjtJoint.mjJNT_HINGE.value);
-        expect(j1.qposadr).toBe(7);
-        expect(j1.dofadr).toBe(6);
-        expect(j1.axis).toEqual(new Float64Array([0, 1, 0]));
-        expect(j1.frictionloss).toEqual(new Float64Array([0.4]));
-
-        const j1qposStart = model.jnt_qposadr[j1.id];
-        const j1qposEnd =
-            (j1.id < model.njnt - 1) ? model.jnt_qposadr[j1.id + 1] : model.nq;
-        const expectedJ1qpos = model.qpos0.slice(j1qposStart, j1qposEnd);
-        expectArraysEqual(expectedJ1qpos, new Float64Array([0]));
-        expectArraysEqual(j1.qpos0, expectedJ1qpos);
-
-        const j1dofStart = model.jnt_dofadr[j1.id];
-        const j1dofEnd =
-            (j1.id < model.njnt - 1) ? model.jnt_dofadr[j1.id + 1] : model.nv;
-        const expectedJ1dof = model.dof_bodyid.slice(j1dofStart, j1dofEnd);
-        expectArraysEqual(expectedJ1dof, new Int32Array([2]));
-        expectArraysEqual(j1.bodyid, new Int32Array([2]));
-      } finally {
-        model?.delete();
-        unlinkXMLFile(tempXmlFilename);
-      }
-    });
-
-    it('should support named access for HFields', () => {
-      const xml = `<mujoco model="test_hfield">
-        <asset>
-          <hfield name="hf" nrow="2" ncol="3" size="1 2 0.1 0.2"/>
-        </asset>
-        <worldbody>
-          <geom type="hfield" hfield="hf"/>
-        </worldbody>
-      </mujoco>`;
-      const tempXmlFilename = '/tmp/hf.xml';
-      writeXMLFile(tempXmlFilename, xml);
-      const model = mujoco.MjModel.mj_loadXML(tempXmlFilename);
-      try {
-        assertExists(model);
-        const hf = model.hfield('hf');
-        expect(hf.id).toBe(0);
-        expect(hf.name).toBe('hf');
-        expect(hf.nrow).toBe(2);
-        expect(hf.ncol).toBe(3);
-        expectArraysClose(hf.size, new Float64Array([1, 2, 0.1, 0.2]));
-        const expectedDataLength =
-            model.hfield_nrow[hf.id] * model.hfield_ncol[hf.id];
-        expect(expectedDataLength).toBe(6);
-        expect(hf.data.length).toBe(expectedDataLength);
-      } finally {
-        model?.delete();
-        unlinkXMLFile(tempXmlFilename);
-      }
-    });
-
-    it('should support named access for Numeric', () => {
-      const xml = `<mujoco>
-        <custom>
-          <numeric name="n1" data="1 2 3"/>
-          <numeric name="n2" data="4 5 6 7"/>
-        </custom>
-      </mujoco>`;
-      const tempXmlFilename = '/tmp/num.xml';
-      writeXMLFile(tempXmlFilename, xml);
-      const model = mujoco.MjModel.mj_loadXML(tempXmlFilename);
-      try {
-        assertExists(model);
-        const n1 = model.numeric('n1');
-        const expectedN1data = model.numeric_data.slice(
-            model.numeric_adr[n1.id],
-            model.numeric_adr[n1.id] + model.numeric_size[n1.id]);
-        expect(n1.id).toBe(0);
-        expect(n1.name).toBe('n1');
-        expect(n1.size).toBe(3);
-        expect(expectedN1data).toEqual(new Float64Array([1, 2, 3]));
-        expectArraysClose(n1.data, expectedN1data);
-
-        const n2 = model.numeric('n2');
-        const expectedN2data = model.numeric_data.slice(
-            model.numeric_adr[n2.id],
-            model.numeric_adr[n2.id] + model.numeric_size[n2.id]);
-        expect(n2.id).toBe(1);
-        expect(n2.name).toBe('n2');
-        expect(n2.size).toBe(4);
-        expect(expectedN2data).toEqual(new Float64Array([4, 5, 6, 7]));
-        expectArraysClose(n2.data, expectedN2data);
-      } finally {
-        model?.delete();
-        unlinkXMLFile(tempXmlFilename);
-      }
-    });
-
-    it('should support named access for Texture', () => {
-      const xml = `<mujoco>
-        <asset>
-          <texture name="t1" type="2d" builtin="checker" width="10"
-          height="12"/>
-        </asset>
-      </mujoco>`;
-      const tempXmlFilename = '/tmp/tex.xml';
-      writeXMLFile(tempXmlFilename, xml);
-      const model = mujoco.MjModel.mj_loadXML(tempXmlFilename);
-      try {
-        assertExists(model);
-        const t1 = model.tex('t1');
-        const texAdr = Number(model.tex_adr[t1.id]);
-        const expectedData = model.tex_data.slice(
-            texAdr,
-            texAdr +
-                model.tex_height[t1.id] * model.tex_width[t1.id] *
-                    model.tex_nchannel[t1.id]);
-
-        expect(t1.id).toBe(0);
-        expect(t1.name).toBe('t1');
-        expect(t1.type).toBe(mujoco.mjtTexture.mjTEXTURE_2D.value);
-        expect(t1.width).toBe(10);
-        expect(t1.height).toBe(12);
-        expect(t1.nchannel).toBe(3);
-        expect(t1.data.length).toBe(t1.width * t1.height * t1.nchannel);
-        expectArraysClose(t1.data, expectedData);
-      } finally {
-        model?.delete();
-        unlinkXMLFile(tempXmlFilename);
-      }
-    });
-
-    it('should support named access for Tuple', () => {
-      const xml = `<mujoco>
-        <worldbody>
-          <geom name="g1" type="sphere" size=".1"/>
-          <geom name="g2" type="box" size=".1 .1 .1"/>
-        </worldbody>
-        <custom>
-          <tuple name="tup1">
-            <element objtype="geom" objname="g1" prm="0.1"/>
-            <element objtype="geom" objname="g2" prm="0.2"/>
-          </tuple>
-        </custom>
-      </mujoco>`;
-      const tempXmlFilename = '/tmp/tup.xml';
-      writeXMLFile(tempXmlFilename, xml);
-      const model = mujoco.MjModel.mj_loadXML(tempXmlFilename);
-      try {
-        assertExists(model);
-        const t1 = model.tuple('tup1');
-        const expectedObjtype = model.tuple_objtype.slice(
-            model.tuple_adr[t1.id],
-            model.tuple_adr[t1.id] + model.tuple_size[t1.id]);
-        expect(t1.id).toBe(0);
-        expect(t1.name).toBe('tup1');
-        expect(t1.size).toBe(2);
-        expectArraysEqual(
-            expectedObjtype, new Int32Array([
-              mujoco.mjtObj.mjOBJ_GEOM.value, mujoco.mjtObj.mjOBJ_GEOM.value
-            ]));
-        expectArraysEqual(t1.objtype, expectedObjtype);
-      } finally {
-        model?.delete();
-        unlinkXMLFile(tempXmlFilename);
-      }
-    });
-  });
-
-  describe('MjData named access', () => {
-    it('should support named access for MjData', () => {
-      mujoco.mj_forward(model!, data!);
-
-      // Actuator
-      expect(model!.nu).toBe(1);
-      const actuator = data!.actuator(0);
-      expect(actuator.name).toBe('myactuator');
-      expect(actuator.velocity).toBe(0);
-      expect(actuator.force).toBe(0);
-      expectArraysClose(
-          actuator.moment, new Float64Array([1, 0, 0, 0, 0, 0, 0, 0, 0, 0]));
-
-      // Body
-      expect(model!.nbody).toBe(5);
-      expect(data!.body('mybox').name).toBe('mybox');
-      expectArraysClose(
-          data!.body('mybox').xpos, new Float64Array([0, 0, 0.1]));
-      expect(data!.body('myhinge-body').name).toBe('myhinge-body');
-      expectArraysClose(
-          data!.body('myhinge-body').xpos, new Float64Array([0, 0, 1]));
-      expect(data!.body('myball-body').name).toBe('myball-body');
-      expectArraysClose(
-          data!.body('myball-body').xpos, new Float64Array([2, 0, 1]));
-      expect(data!.body('mocap-body').name).toBe('mocap-body');
-      expectArraysClose(
-          data!.body('mocap-body').xpos, new Float64Array([42, 0, 42]));
-
-      // Geom
-      expect(model!.ngeom).toBe(3);
-      expect(data!.geom('myplane').name).toBe('myplane');
-      expectArraysClose(
-          data!.geom('myplane').xpos, new Float64Array([0, 0, 0]));
-      expectArraysClose(
-          data!.geom('myplane').xmat,
-          new Float64Array([1, 0, 0, 0, 1, 0, 0, 0, 1]));
-
-      expect(data!.geom('mybox').name).toBe('mybox');
-      expectArraysClose(
-          data!.geom('mybox').xpos, new Float64Array([0, 0, 0.1]));
-      expectArraysClose(
-          data!.geom('mybox').xmat,
-          new Float64Array([1, 0, 0, 0, 1, 0, 0, 0, 1]));
-
-      expect(data!.geom('mocap-sphere').name).toBe('mocap-sphere');
-      expectArraysClose(
-          data!.geom('mocap-sphere').xpos, new Float64Array([42, 0, 42]));
-      expectArraysClose(
-          data!.geom('mocap-sphere').xmat,
-          new Float64Array([1, 0, 0, 0, 1, 0, 0, 0, 1]));
-
-      // Joint
-      expect(model!.njnt).toBe(3);
-      const freeJnt = data!.jnt('myfree');
-      expect(freeJnt.name).toBe('myfree');
-      expectArraysClose(freeJnt.xanchor, new Float64Array([0, 0, 0.1]));
-      expectArraysClose(freeJnt.xaxis, new Float64Array([0, 0, 1]));
-
-      const hingeJnt = data!.jnt('myhinge');
-      expect(hingeJnt.name).toBe('myhinge');
-      expectArraysClose(hingeJnt.xanchor, new Float64Array([0, 0, 1]));
-      expectArraysClose(hingeJnt.xaxis, new Float64Array([0, 1, 0]));
-
-      const ballJnt = data!.jnt('myball');
-      expect(ballJnt.name).toBe('myball');
-      expectArraysClose(ballJnt.xanchor, new Float64Array([2, 0, 1]));
-      expectArraysClose(ballJnt.xaxis, new Float64Array([0, 0, 1]));
-
-      // Sensor
-      expect(model!.nsensor).toBe(2);
-      const jointvelSensor = data!.sensor('myjointvel');
-      expect(jointvelSensor.name).toBe('myjointvel');
-      expectArraysClose(jointvelSensor.data, new Float64Array([0]));
-
-      const accelSensor = data!.sensor('myaccelerometer');
-      expect(accelSensor.name).toBe('myaccelerometer');
-      expectArraysClose(accelSensor.data, new Float64Array([0, 0, 9.81]));
-
-      // Site
-      expect(model!.nsite).toBe(1);
-      const site = data!.site('mysite');
-      expect(site.name).toBe('mysite');
-      expectArraysClose(site.xpos, new Float64Array([0, 0, 0]));
-      expectArraysClose(
-          site.xmat, new Float64Array([1, 0, 0, 0, 1, 0, 0, 0, 1]));
-    });
-
-    // Corresponds to bindings_test.py:test_indexer_name_id
-    it('should support named and indexed access for MjData geoms', () => {
-      const xml = `
-      <mujoco>
-        <worldbody>
-          <geom name="mygeom" size="1" pos="0 0 1"/>
-          <geom size="2" pos="0 0 2"/>
-          <geom size="3" pos="0 0 3"/>
-          <geom name="myothergeom" size="4" pos="0 0 4"/>
-          <geom size="5" pos="0 0 5"/>
-        </worldbody>
-      </mujoco>
-      `;
-      const tempXmlFilename = '/tmp/geom_idx.xml';
-      writeXMLFile(tempXmlFilename, xml);
-      const model = mujoco.MjModel.mj_loadXML(tempXmlFilename);
-      const data = new mujoco.MjData(model);
-      try {
-        assertExists(model);
-        assertExists(data);
-        mujoco.mj_forward(model, data);
-
-        expect(data.geom('mygeom').id).toBe(0);
-        expect(data.geom('myothergeom').id).toBe(3);
-        expect(data.geom(0).name).toBe('mygeom');
-        expect(data.geom(1).name).toBe('');
-        expect(data.geom(2).name).toBe('');
-        expect(data.geom(3).name).toBe('myothergeom');
-        expect(data.geom(4).name).toBe('');
-
-        expect(data.geom(0).xpos[2]).toBeCloseTo(1);
-        expect(data.geom(1).xpos[2]).toBeCloseTo(2);
-        expect(data.geom(2).xpos[2]).toBeCloseTo(3);
-        expect(data.geom(3).xpos[2]).toBeCloseTo(4);
-        expect(data.geom(4).xpos[2]).toBeCloseTo(5);
-      } finally {
-        model?.delete();
-        data?.delete();
-        unlinkXMLFile(tempXmlFilename);
-      }
-    });
-
-    // Corresponds to bindings_test.py:test_named_indexing_invalid_names_in_data
-    it('should throw an error for invalid geom names in data', () => {
-      expect(() => {
-        data!.geom('badgeom');
-      })
-          .toThrowError(
-              `MuJoCo Error: Invalid name 'badgeom' for geom. Valid names: ['mocap-sphere', 'mybox', 'myplane']`);
-    });
-
-    // Corresponds to bindings_test.py:test_named_indexing_invalid_index_in_data
-    it('should throw an error for invalid geom indices in data', () => {
-      expect(() => {
-        data!.geom(3);
-      })
-          .toThrowError(
-              'MuJoCo Error: Invalid index 3 for geom. Valid indices from 0 to 2');
-      expect(() => {
-        data!.geom(-1);
-      })
-          .toThrowError(
-              'MuJoCo Error: Invalid index -1 for geom. Valid indices from 0 to 2');
-    });
-
-    // Corresponds to bindings_test.py:test_named_indexing_actuator_ctrl
-    it('should support named access for Actuator ctrl', () => {
-      const actuatorId = mujoco.mj_name2id(
-          model!, mujoco.mjtObj.mjOBJ_ACTUATOR.value, 'myactuator');
-      assertExists(actuatorId);
-
-      const actuator = data!.actuator('myactuator');
-      expect(actuator).toEqual(data!.actuator(actuatorId));
-      expect(actuator.ctrl).toEqual(data!.actuator(actuatorId)!.ctrl);
-
-      // Test that the indexer is returning a view into the underlying
-      data!.ctrl[actuatorId] = 5;
-      expect(actuator.ctrl).toBe(5);
-      actuator.ctrl = 7;
-      expect(data!.ctrl[actuatorId]).toBe(7);
-    });
-
-    // Corresponds to bindings_test.py:test_named_indexing_ragged_qpos
-    it('should support named access for Joint qpos', () => {
-      const balljointId =
-          mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_JOINT.value, 'myball');
-      assertExists(balljointId);
-
-      const ballJnt = data!.jnt('myball');
-      expect(ballJnt).toEqual(data!.jnt(balljointId));
-      expect(ballJnt.qpos).toEqual(data!.jnt(balljointId)!.qpos);
-
-      // Test that the indexer is returning a view into the underlying struct.
-      const qposFromIndexer = ballJnt.qpos;
-      const qposIdx = model!.jnt_qposadr[balljointId];
-      data!.qpos.set([4, 5, 6, 7], qposIdx);
-      expectArraysEqual(qposFromIndexer, new Float64Array([4, 5, 6, 7]));
-      ballJnt.qpos.set(new Float64Array([9, 8, 7, 6]))
-      expectArraysEqual(
-          data!.qpos.slice(qposIdx, qposIdx + 4),
-          new Float64Array([9, 8, 7, 6]));
-    });
-
-    // Corresponds to bindings_test.py:test_named_indexing_ragged2d_cdof
-    it('should support named access for Joint cdof', () => {
-      const freejointId =
-          mujoco.mj_name2id(model!, mujoco.mjtObj.mjOBJ_JOINT.value, 'myfree');
-      assertExists(freejointId);
-      mujoco.mj_forward(model!, data!);
-
-      const freeJnt = data!.jnt('myfree');
-      expect(freeJnt).toEqual(data!.jnt(freejointId));
-      expect(freeJnt.cdof).toEqual(data!.jnt(freejointId)!.cdof);
-      expect(freeJnt.cdof.length).toBe(36);  // 6x6
-
-      // Test that the indexer is returning a view into the underlying
-      const cdofFromIndexer = freeJnt.cdof;
-      const dofIdx = model!.jnt_dofadr[freejointId];
-      const testArray = new Float64Array(36);
-      for (let i = 0; i < 36; i++) {
-        testArray[i] = i;
-      }
-      data!.cdof.set(testArray);
-      expectArraysEqual(freeJnt.cdof, testArray);
-      const expectedCdof = new Float64Array(36).fill(42);
-      freeJnt.cdof.set(expectedCdof);
-      expectArraysEqual(data!.cdof.slice(dofIdx, dofIdx + 36), expectedCdof);
-    });
-  });
-
-  it('should save model to buffer', () => {
-    assertExists(model);
-    const modelSize = mujoco.mj_sizeModel(model);
-    const buffer = new mujoco.Uint8Buffer(Number(modelSize));
-    try {
-      mujoco.mj_saveModel(model, null, buffer);
-      // Test the first 3 byte values of the buffer.
-      expect(buffer.GetView()[0]).toBe(49);
-      expect(buffer.GetView()[1]).toBe(212);
-      expect(buffer.GetView()[2]).toBe(0);
-    } finally {
-      buffer.delete();
-    }
-  });
-
-  it('should save model to file', () => {
-    assertExists(model);
-    const filename = '/tmp/test.mjb';
-    const modelSize = mujoco.mj_sizeModel(model);
-    const buffer = new mujoco.Uint8Buffer(Number(modelSize));
-    try {
-      mujoco.mj_saveModel(model, filename, null);
-      const fileContent =
-          (mujoco as any).FS.readFile(filename, {encoding: 'binary'});
-
-      mujoco.mj_saveModel(model, null, buffer);
-      const bufferContent = buffer.GetView();
-
-      expect(fileContent.length).toBe(bufferContent.length);
-      expect(fileContent).toEqual(bufferContent);
-    } finally {
-      buffer.delete();
-      unlinkXMLFile(filename);
-    }
-  });
-
-  it('should load and save a model with assets to binary', () => {
-    const xmlContent = `
-    <mujoco model="test_binary_save">
-      <asset>
-        <mesh file="cube.obj"/>
-      </asset>
-      <worldbody>
-        <geom type="mesh" mesh="cube"/>
-      </worldbody>
-    </mujoco>`;
-    const cube1 = `
-    v -1 -1  1
-    v  1 -1  1
-    v -1  1  1
-    v  1  1  1
-    v -1  1 -1
-    v  1  1 -1
-    v -1 -1 -1
-    v  1 -1 -1`;
-    const xmlFilename = '/tmp/binary_test.xml';
-    const objFilename = '/tmp/cube.obj';
-    const mjbFilename = '/tmp/binary_test.mjb';
-
-    writeXMLFile(xmlFilename, xmlContent);
-    writeXMLFile(objFilename, cube1);
-
-    let model: MjModel|null = null;
-    let binaryModel: MjModel|null = null;
-    let vfs: MjVFS|null = null;
-
-    try {
-      model = mujoco.MjModel.mj_loadXML(xmlFilename);
-      assertExists(model);
-
-      mujoco.mj_saveModel(model, mjbFilename, null);
-
-      vfs = new mujoco.MjVFS();
-      vfs.addBuffer(objFilename, new TextEncoder().encode(cube1));
-      binaryModel = mujoco.MjModel.mj_loadModel(mjbFilename, vfs);
-      assertExists(binaryModel);
-
-      expect(mujoco.mj_sizeModel(binaryModel))
-          .toEqual(mujoco.mj_sizeModel(model));
-      expect(binaryModel.nbody).toEqual(model!.nbody);
-      expect(binaryModel.nq).toEqual(model!.nq);
-      expect(binaryModel.nv).toEqual(model!.nv);
-      expect(binaryModel.njnt).toEqual(model!.njnt);
-      expect(binaryModel.nmesh).toEqual(model!.nmesh);
-    } finally {
-      model?.delete();
-      binaryModel?.delete();
-      vfs?.delete();
-      unlinkXMLFile(xmlFilename);
-      unlinkXMLFile(objFilename);
-      unlinkXMLFile(mjbFilename);
-    }
-  });
-
-  // Corresponds to bindings_test.py:test_mj_saveModel
-  it('should save and load a model from binary', () => {
-    const mjbFilename = '/tmp/saved_model.mjb';
-    let binaryModel: MjModel|null = null;
-    let vfs: MjVFS|null = null;
-    try {
-      mujoco.mj_saveModel(model!, mjbFilename, null);
-      const bufSize = mujoco.mj_sizeModel(model!);
-
-      vfs = new mujoco.MjVFS();
-      binaryModel = mujoco.MjModel.mj_loadModel(mjbFilename, vfs);
-      assertExists(binaryModel);
-
-      expect(mujoco.mj_sizeModel(binaryModel)).toEqual(bufSize);
-      expect(binaryModel.nbody).toEqual(model!.nbody);
-      expect(binaryModel.nq).toEqual(model!.nq);
-      expect(binaryModel.nv).toEqual(model!.nv);
-      expect(binaryModel.njnt).toEqual(model!.njnt);
-      expect(binaryModel.nmesh).toEqual(model!.nmesh);
-    } finally {
-      binaryModel?.delete();
-      vfs?.delete();
-      unlinkXMLFile(mjbFilename);
-    }
-  });
-
-  it('should load XML with assets from VFS', () => {
-    const xml = `
-    <mujoco>
-      <asset>
-        <mesh file="cube.obj"/>
-      </asset>
-      <worldbody>
-        <geom type="mesh" mesh="cube"/>
-      </worldbody>
-    </mujoco>`;
-
-    const cube1 = `
-    v -1 -1  1
-    v  1 -1  1
-    v -1  1  1
-    v  1  1  1
-    v -1  1 -1
-    v  1  1 -1
-    v -1 -1 -1
-    v  1 -1 -1`;
-
-    const xmlFilename = '/tmp/with_vfs.xml';
-    writeXMLFile(xmlFilename, xml);
-
-    let model: MjModel|null = null;
-    let vfs: MjVFS|null = null;
-    try {
-      vfs = new mujoco.MjVFS();
-      vfs.addBuffer('cube.obj', new TextEncoder().encode(cube1));
-      assertExists(vfs);
-
-      model = mujoco.MjModel.mj_loadXML(xmlFilename, vfs);
-      assertExists(model);
-      expect(model.nmesh).toBe(1);
-
-      const meshId =
-          mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_MESH.value, 'cube');
-      expect(meshId).toBeGreaterThanOrEqual(0);
-    } finally {
-      model?.delete();
-      vfs?.delete();
-      unlinkXMLFile(xmlFilename);
-    }
-  });
-
-  it('should load a model from an XML string', () => {
-    let model: MjModel|null = null;
-    try {
-      model = mujoco.from_xml_string(TEST_XML);
-      assertExists(model);
-      expect(model.nbody).toBe(5);
-      expect(model.ngeom).toBe(3);
-    } finally {
-      model?.delete();
-    }
-  });
-
-  it('should load a model from an XML string with VFS', () => {
-    const xml = `
-    <mujoco>
-      <asset>
-        <mesh file="cube.obj"/>
-      </asset>
-      <worldbody>
-        <geom type="mesh" mesh="cube"/>
-      </worldbody>
-    </mujoco>`;
-
-    const cube1 = `
-    v -1 -1  1
-    v  1 -1  1
-    v -1  1  1
-    v  1  1  1
-    v -1  1 -1
-    v  1  1 -1
-    v -1 -1 -1
-    v  1 -1 -1`;
-
-    let model: MjModel|null = null;
-    let vfs: MjVFS|null = null;
-    try {
-      vfs = new mujoco.MjVFS();
-      vfs.addBuffer('cube.obj', new TextEncoder().encode(cube1));
-      assertExists(vfs);
-
-      model = mujoco.from_xml_string(xml, vfs);
-      assertExists(model);
-      expect(model.nmesh).toBe(1);
-
-      const meshId =
-          mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_MESH.value, 'cube');
-      expect(meshId).toBeGreaterThanOrEqual(0);
-    } finally {
-      model?.delete();
-      vfs?.delete();
-    }
-  });
-});
diff --git a/wasm/tests/enums_test.ts b/wasm/tests/enums_test.ts
deleted file mode 100644
index 6f16e9f4..00000000
--- a/wasm/tests/enums_test.ts
+++ /dev/null
@@ -1,290 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import 'jasmine';
-
-import { MainModule } from "../dist/mujoco"
-import loadMujoco from "../dist/mujoco.js"
-
-let mujoco: MainModule;
-
-describe('Enums', () => {
-  beforeAll(async () => {
-    mujoco = await loadMujoco();
-  });
-
-  it('mjtDisableBit should exist', () => {
-    expect(mujoco.mjtDisableBit).toBeDefined();
-  });
-
-  it('mjtEnableBit should exist', () => {
-    expect(mujoco.mjtEnableBit).toBeDefined();
-  });
-
-  it('mjtJoint should exist', () => {
-    expect(mujoco.mjtJoint).toBeDefined();
-  });
-
-  it('mjtGeom should exist', () => {
-    expect(mujoco.mjtGeom).toBeDefined();
-  });
-
-  it('mjtProjection should exist', () => {
-    expect(mujoco.mjtProjection).toBeDefined();
-  });
-
-  it('mjtCamLight should exist', () => {
-    expect(mujoco.mjtCamLight).toBeDefined();
-  });
-
-  it('mjtLightType should exist', () => {
-    expect(mujoco.mjtLightType).toBeDefined();
-  });
-
-  it('mjtTexture should exist', () => {
-    expect(mujoco.mjtTexture).toBeDefined();
-  });
-
-  it('mjtTextureRole should exist', () => {
-    expect(mujoco.mjtTextureRole).toBeDefined();
-  });
-
-  it('mjtColorSpace should exist', () => {
-    expect(mujoco.mjtColorSpace).toBeDefined();
-  });
-
-  it('mjtIntegrator should exist', () => {
-    expect(mujoco.mjtIntegrator).toBeDefined();
-  });
-
-  it('mjtCone should exist', () => {
-    expect(mujoco.mjtCone).toBeDefined();
-  });
-
-  it('mjtJacobian should exist', () => {
-    expect(mujoco.mjtJacobian).toBeDefined();
-  });
-
-  it('mjtSolver should exist', () => {
-    expect(mujoco.mjtSolver).toBeDefined();
-  });
-
-  it('mjtEq should exist', () => {
-    expect(mujoco.mjtEq).toBeDefined();
-  });
-
-  it('mjtWrap should exist', () => {
-    expect(mujoco.mjtWrap).toBeDefined();
-  });
-
-  it('mjtTrn should exist', () => {
-    expect(mujoco.mjtTrn).toBeDefined();
-  });
-
-  it('mjtDyn should exist', () => {
-    expect(mujoco.mjtDyn).toBeDefined();
-  });
-
-  it('mjtGain should exist', () => {
-    expect(mujoco.mjtGain).toBeDefined();
-  });
-
-  it('mjtBias should exist', () => {
-    expect(mujoco.mjtBias).toBeDefined();
-  });
-
-  it('mjtObj should exist', () => {
-    expect(mujoco.mjtObj).toBeDefined();
-  });
-
-  it('mjtSensor should exist', () => {
-    expect(mujoco.mjtSensor).toBeDefined();
-  });
-
-  it('mjtStage should exist', () => {
-    expect(mujoco.mjtStage).toBeDefined();
-  });
-
-  it('mjtDataType should exist', () => {
-    expect(mujoco.mjtDataType).toBeDefined();
-  });
-
-  it('mjtConDataField should exist', () => {
-    expect(mujoco.mjtConDataField).toBeDefined();
-  });
-
-  it('mjtRayDataField should exist', () => {
-    expect(mujoco.mjtRayDataField).toBeDefined();
-  });
-
-  it('mjtCamOutBit should exist', () => {
-    expect(mujoco.mjtCamOutBit).toBeDefined();
-  });
-
-  it('mjtSameFrame should exist', () => {
-    expect(mujoco.mjtSameFrame).toBeDefined();
-  });
-
-  it('mjtSleepPolicy should exist', () => {
-    expect(mujoco.mjtSleepPolicy).toBeDefined();
-  });
-
-  it('mjtLRMode should exist', () => {
-    expect(mujoco.mjtLRMode).toBeDefined();
-  });
-
-  it('mjtFlexSelf should exist', () => {
-    expect(mujoco.mjtFlexSelf).toBeDefined();
-  });
-
-  it('mjtSDFType should exist', () => {
-    expect(mujoco.mjtSDFType).toBeDefined();
-  });
-
-  it('mjtState should exist', () => {
-    expect(mujoco.mjtState).toBeDefined();
-  });
-
-  it('mjtConstraint should exist', () => {
-    expect(mujoco.mjtConstraint).toBeDefined();
-  });
-
-  it('mjtConstraintState should exist', () => {
-    expect(mujoco.mjtConstraintState).toBeDefined();
-  });
-
-  it('mjtWarning should exist', () => {
-    expect(mujoco.mjtWarning).toBeDefined();
-  });
-
-  it('mjtTimer should exist', () => {
-    expect(mujoco.mjtTimer).toBeDefined();
-  });
-
-  it('mjtSleepState should exist', () => {
-    expect(mujoco.mjtSleepState).toBeDefined();
-  });
-
-  it('mjtGeomInertia should exist', () => {
-    expect(mujoco.mjtGeomInertia).toBeDefined();
-  });
-
-  it('mjtMeshInertia should exist', () => {
-    expect(mujoco.mjtMeshInertia).toBeDefined();
-  });
-
-  it('mjtMeshBuiltin should exist', () => {
-    expect(mujoco.mjtMeshBuiltin).toBeDefined();
-  });
-
-  it('mjtBuiltin should exist', () => {
-    expect(mujoco.mjtBuiltin).toBeDefined();
-  });
-
-  it('mjtMark should exist', () => {
-    expect(mujoco.mjtMark).toBeDefined();
-  });
-
-  it('mjtLimited should exist', () => {
-    expect(mujoco.mjtLimited).toBeDefined();
-  });
-
-  it('mjtAlignFree should exist', () => {
-    expect(mujoco.mjtAlignFree).toBeDefined();
-  });
-
-  it('mjtInertiaFromGeom should exist', () => {
-    expect(mujoco.mjtInertiaFromGeom).toBeDefined();
-  });
-
-  it('mjtOrientation should exist', () => {
-    expect(mujoco.mjtOrientation).toBeDefined();
-  });
-
-  it('mjtCatBit should exist', () => {
-    expect(mujoco.mjtCatBit).toBeDefined();
-  });
-
-  it('mjtMouse should exist', () => {
-    expect(mujoco.mjtMouse).toBeDefined();
-  });
-
-  it('mjtPertBit should exist', () => {
-    expect(mujoco.mjtPertBit).toBeDefined();
-  });
-
-  it('mjtCamera should exist', () => {
-    expect(mujoco.mjtCamera).toBeDefined();
-  });
-
-  it('mjtLabel should exist', () => {
-    expect(mujoco.mjtLabel).toBeDefined();
-  });
-
-  it('mjtFrame should exist', () => {
-    expect(mujoco.mjtFrame).toBeDefined();
-  });
-
-  it('mjtVisFlag should exist', () => {
-    expect(mujoco.mjtVisFlag).toBeDefined();
-  });
-
-  it('mjtRndFlag should exist', () => {
-    expect(mujoco.mjtRndFlag).toBeDefined();
-  });
-
-  it('mjtStereo should exist', () => {
-    expect(mujoco.mjtStereo).toBeDefined();
-  });
-
-  it('mjtPluginCapabilityBit should exist', () => {
-    expect(mujoco.mjtPluginCapabilityBit).toBeDefined();
-  });
-
-  it('mjtGridPos should exist', () => {
-    expect(mujoco.mjtGridPos).toBeDefined();
-  });
-
-  it('mjtFramebuffer should exist', () => {
-    expect(mujoco.mjtFramebuffer).toBeDefined();
-  });
-
-  it('mjtDepthMap should exist', () => {
-    expect(mujoco.mjtDepthMap).toBeDefined();
-  });
-
-  it('mjtFontScale should exist', () => {
-    expect(mujoco.mjtFontScale).toBeDefined();
-  });
-
-  it('mjtFont should exist', () => {
-    expect(mujoco.mjtFont).toBeDefined();
-  });
-
-  it('mjtButton should exist', () => {
-    expect(mujoco.mjtButton).toBeDefined();
-  });
-
-  it('mjtEvent should exist', () => {
-    expect(mujoco.mjtEvent).toBeDefined();
-  });
-
-  it('mjtItem should exist', () => {
-    expect(mujoco.mjtItem).toBeDefined();
-  });
-
-  it('mjtSection should exist', () => {
-    expect(mujoco.mjtSection).toBeDefined();
-  });
-});
diff --git a/wasm/tests/karma.conf.json b/wasm/tests/karma.conf.json
deleted file mode 100644
index 23c12962..00000000
--- a/wasm/tests/karma.conf.json
+++ /dev/null
@@ -1,10 +0,0 @@
-{
-  "extension": {
-    "karma": {
-      "client": {
-        "pingTimeout": 300000
-      },
-      "browserDisconnectTimeout": 300000
-    }
-  }
-}
diff --git a/wasm/tests/run_benchmarks.mjs b/wasm/tests/run_benchmarks.mjs
deleted file mode 100644
index d1b2751f..00000000
--- a/wasm/tests/run_benchmarks.mjs
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import Jasmine from 'jasmine';
-import os from 'os';
-
-if (typeof navigator === 'undefined') {
-  globalThis.navigator = {
-    hardwareConcurrency: os.cpus().length,
-  };
-}
-
-const jasmine = new Jasmine();
-
-jasmine.loadConfig({
-  spec_dir: 'tests',
-  spec_files: ['benchmark_test.ts'],
-  jsLoader: 'import',
-  random: false,
-  stopSpecOnExpectationFailure: false,
-});
-
-try {
-  console.log('Starting Jasmine test run...');
-  const result = await jasmine.execute();
-  console.log(`Jasmine test run finished. Status: ${result.overallStatus}`);
-
-  if (result.overallStatus === 'failed') {
-    process.exit(1);
-  }
-
-} catch (error) {
-  console.error('Test runner script failed:', error);
-  process.exit(1);
-}
-
diff --git a/wasm/tests/run_tests.mjs b/wasm/tests/run_tests.mjs
deleted file mode 100644
index 5a507b59..00000000
--- a/wasm/tests/run_tests.mjs
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import Jasmine from 'jasmine';
-import os from 'os';
-
-if (typeof navigator === 'undefined') {
-  globalThis.navigator = {
-    hardwareConcurrency: os.cpus().length,
-  };
-}
-
-const jasmine = new Jasmine();
-
-jasmine.loadConfig({
-  spec_dir: 'tests',
-  spec_files: ['**/*_test.ts', '!benchmark_test.ts'],
-  jsLoader: 'import',
-  random: false,
-  stopSpecOnExpectationFailure: false,
-});
-
-try {
-  console.log('Starting Jasmine test run...');
-  const result = await jasmine.execute();
-  console.log(`Jasmine test run finished. Status: ${result.overallStatus}`);
-
-  if (result.overallStatus === 'failed') {
-    process.exit(1);
-  }
-
-} catch (error) {
-  console.error('Test runner script failed:', error);
-  process.exit(1);
-}
-
diff --git a/wasm/tests/sandbox/index.html b/wasm/tests/sandbox/index.html
deleted file mode 100644
index f656be2e..00000000
--- a/wasm/tests/sandbox/index.html
+++ /dev/null
@@ -1,26 +0,0 @@
-<!--
- Copyright 2025 DeepMind Technologies Limited
-
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
-
-     http://www.apache.org/licenses/LICENSE-2.0
-
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
--->
-
-<!DOCTYPE html>
-<html>
-  <head>
-    <meta charset="utf-8" />
-    <title>MuJoCo WebAssembly</title>
-  </head>
-  <body>
-    <script type="module" src="./main.ts"></script>
-  </body>
-</html>
diff --git a/wasm/tests/sandbox/main.ts b/wasm/tests/sandbox/main.ts
deleted file mode 100644
index 02278cb5..00000000
--- a/wasm/tests/sandbox/main.ts
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import { MainModule, MjData, MjModel } from "../../dist/mujoco"
-import loadMujoco from "../../dist/mujoco.js"
-
-async function main() {
-  const mujoco: MainModule = await loadMujoco();
-
-  const xmlContent = `
-    <mujoco model="Box falling">
-      <option viscosity="1"/>
-      <worldbody>
-        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
-        <geom name="MyFloor" type="plane" size="1 1 0.1" rgba=".9 0 0 1" user="5 4 3 2 1"/>
-        <geom name="MyWall" type="plane" size="0.1 1 0.1" rgba="0 1 0 1" user="5 4 3"/>
-        <body pos="0 0 1" name="MyBox">
-          <joint type="free"/>
-          <geom name="MyBoxGeom" type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
-        </body>
-      </worldbody>
-    </mujoco>`;
-
-  let model: MjModel|undefined;
-  let data: MjData|undefined;
-
-  try {
-    console.log('Hello world!: Loading model');
-    model = mujoco.MjModel.from_xml_string(xmlContent);
-    if (!model) {
-      throw new Error('Failed to load model');
-    }
-    data = new mujoco.MjData(model);
-    if (!data) {
-      throw new Error('Failed to load data');
-    }
-
-    // Add your test code here...
-
-  } finally {
-    model?.delete();
-    data?.delete();
-  }
-}
-
-main()
diff --git a/wasm/tests/sandbox/vite.sandbox.config.ts b/wasm/tests/sandbox/vite.sandbox.config.ts
deleted file mode 100644
index 01312ba1..00000000
--- a/wasm/tests/sandbox/vite.sandbox.config.ts
+++ /dev/null
@@ -1,31 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-import { defineConfig } from "vite"
-
-export default defineConfig({
-  root: 'tests/sandbox',
-  base: './',
-  build: {
-    outDir: '../../sandbox-dist',
-    emptyOutDir: true,
-  },
-  server: {
-    open: true,
-    headers: {
-      "Cross-Origin-Opener-Policy": "same-origin",
-      "Cross-Origin-Embedder-Policy": "require-corp",
-    },
-  },
-})
diff --git a/wasm/tsconfig.json b/wasm/tsconfig.json
deleted file mode 100644
index 3f86141b..00000000
--- a/wasm/tsconfig.json
+++ /dev/null
@@ -1,12 +0,0 @@
-{
-  "compilerOptions": {
-    "module": "ESNext",
-    "target": "ES2020",
-    "moduleResolution": "node",
-    "esModuleInterop": true,
-    "strict": true,
-    "types": ["jasmine"],
-    "ignoreDeprecations": "6.0"
-  },
-  "include": ["tests/**/*"]
-}
diff --git a/wasm/unpack.cc b/wasm/unpack.cc
deleted file mode 100644
index 40684966..00000000
--- a/wasm/unpack.cc
+++ /dev/null
@@ -1,35 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "wasm/unpack.h"
-
-#include <cstddef>
-#include <cstring>
-#include <string>
-
-namespace mujoco::wasm {
-
-std::string StripWrapperSuffix(const char* func) {
-  const char* suffix = "_wrapper";
-  size_t name_len = strlen(func);
-  size_t suffix_len = strlen(suffix);
-
-  if (name_len >= suffix_len &&
-      strcmp(func + name_len - suffix_len, suffix) == 0) {
-    return std::string(func, name_len - suffix_len);
-  }
-  return std::string(func);
-}
-
-}  // namespace mujoco::wasm
diff --git a/wasm/unpack.h b/wasm/unpack.h
deleted file mode 100644
index b4e57bf7..00000000
--- a/wasm/unpack.h
+++ /dev/null
@@ -1,351 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_WASM_UNPACK_H_
-#define MUJOCO_WASM_UNPACK_H_
-
-#ifdef __EMSCRIPTEN__
-
-#include <emscripten/val.h>
-
-#include <cinttypes>  // NOLINT required for PRId64
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-#include <span>
-#include <string>
-#include <variant>
-#include <vector>
-
-#include "engine/engine_util_errmem.h"
-
-namespace mujoco::wasm {
-
-// Helper to strip "_wrapper" from function names.
-std::string StripWrapperSuffix(const char* func);
-
-// Utility class to write/read from the Heap shared by C++ and Javascript
-template <typename T>
-class WasmBuffer {
- private:
-  // Note: Embind does not support binding more than one constructor with the
-  // same argument count so we bind the factory function fromArray instead
-  explicit WasmBuffer(const emscripten::val& array) {
-    std::vector<T> cpp_array = convertJSArrayToNumberVector<T>(array);
-    bytes_.resize(cpp_array.size() * sizeof(T));
-    if (cpp_array.size() > 0) {
-      memcpy(bytes_.data(), cpp_array.data(), bytes_.size());
-    }
-  }
-
- public:
-  // Creates a buffer with the given element count
-  explicit WasmBuffer(int element_count = 0) {
-    Resize(element_count);
-  }
-
-  // Creates a buffer by copying data from a (typed) array
-  static WasmBuffer<T> FromArray(const emscripten::val& array) {
-    return WasmBuffer<T>(array);
-  }
-
-  // Resizes the buffer to the given element count.
-  // If element count is zero the memory is released.
-  void Resize(int element_count) {
-    if (element_count == 0) {
-      std::vector<std::byte> empty;
-      bytes_.swap(empty);
-    } else {
-      bytes_.resize(element_count * sizeof(T));
-    }
-  }
-
-  // Returns the pointer to the data in the buffer
-  uintptr_t GetPointer() { return reinterpret_cast<uintptr_t>(bytes_.data()); }
-
-  // Returns the number of elements in the buffer
-  int GetElementCount() { return bytes_.size() / sizeof(T); }
-
-  // Returns a TypedArray view of the buffer.
-  // Do not cache this value, bytes_.data() is invalidated on Resize!
-  emscripten::val GetView() {
-    return emscripten::val(emscripten::typed_memory_view(
-        bytes_.size() / sizeof(T), reinterpret_cast<const T*>(bytes_.data())));
-  }
-
-  void Zero() {
-    if (!bytes_.empty()) {
-      memset(bytes_.data(), 0, bytes_.size());
-    }
-  }
-
- private:
-  std::vector<std::byte> bytes_;
-};
-
-template <typename T>
-class UnpackedParam {
-  // The C++ representation of the parameter data
-  std::variant<std::monostate, std::vector<T>, std::span<T>, std::string> data_;
-
-  // Printable representations of the param and function name used for errors
-  const char* repr_;
-  const char* func_;
-
-  explicit UnpackedParam(const char* repr, const char* func)
-      : data_(std::monostate{}), repr_(repr), func_(func) {}
-
-  UnpackedParam(std::vector<T>&& array, const char* repr, const char* func)
-      : data_(std::move(array)), repr_(repr), func_(func) {}
-
-  UnpackedParam(T* data, std::size_t count, const char* repr, const char* func)
-      : data_(std::span<T>(data, count)), repr_(repr), func_(func) {}
-
-  UnpackedParam(std::string&& str, const char* repr, const char* func)
-      : data_(std::move(str)), repr_(repr), func_(func) {}
-
-  // Returns true and raises an error if the val is null or undefined.
-  // This function should never be called when unpacking nullable values.
-  static bool ErrorOnNullOrUndefined(const emscripten::val& p,
-                                     const char* func,
-                                    const char* expected_type) {
-    if (p.isUndefined()) {
-      mju_error("[%s] Invalid argument. Expected a %s, got undefined.",
-                StripWrapperSuffix(func).c_str(), expected_type);
-      return true;
-    } else if (p.isNull()) {
-      mju_error("[%s] Invalid argument. Expected a %s, got null.",
-                StripWrapperSuffix(func).c_str(), expected_type);
-      return true;
-    }
-    return false;
-  }
-
-  // Returns true if the val is null or undefined. Use when these are expected.
-  static bool IsNullOrUndefined(const emscripten::val& p) {
-    return p.isUndefined() || p.isNull();
-  }
-
- public:
-  // Create from a nullable Javascript val. Call via UNPACK_NULLABLE_VALUE.
-  static UnpackedParam<T> FromNullableValue(const emscripten::val& p,
-                                            const char* repr,
-                                            const char* func) {
-    if (IsNullOrUndefined(p)) {
-      return UnpackedParam<T>(repr, func);
-    }
-    return FromValue(p, repr, func);
-  }
-
-  // Create from a nullable Javascript number[]. Call via UNPACK_NULLABLE_ARRAY.
-  static UnpackedParam<T> FromNullableArray(const emscripten::val& p,
-                                            const char* repr,
-                                            const char* func) {
-    if (IsNullOrUndefined(p)) {
-      return UnpackedParam<T>(repr, func);
-    }
-    return UnpackedParam<T>(convertJSArrayToNumberVector<T>(p), repr, func);
-  }
-
-  // Create from a Javascript number[]. Call via UNPACK_ARRAY.
-  static UnpackedParam<T> FromArray(const emscripten::val& p, const char* repr,
-                                    const char* func) {
-    ErrorOnNullOrUndefined(p, func, "number[]");
-    return UnpackedParam<T>(convertJSArrayToNumberVector<T>(p), repr, func);
-  }
-
-  // Create from a nullable Javascript string. Call via UNPACK_NULLABLE_STRING.
-  static UnpackedParam<T> FromNullableString(const emscripten::val& p,
-                                             const char* repr,
-                                             const char* func) {
-    if (IsNullOrUndefined(p)) {
-      return UnpackedParam<T>(repr, func);
-    }
-    if (!p.isString()) {
-      mju_error(
-          "[%s] Invalid argument. Expected a string for %s.",
-          StripWrapperSuffix(func).c_str(), repr);
-      return UnpackedParam<T>(repr, func);
-    }
-    static_assert(std::is_same_v<T, char>,
-                  "UNPACK_NULLABLE_STRING requires UnpackedParam<char>");
-    return UnpackedParam<T>(p.as<std::string>(), repr, func);
-  }
-
-  // Creates an UnpackedParam from a Javascript a TypedArray or a WasmBuffer.
-  // Call via UNPACK_VALUE.
-  static UnpackedParam<T> FromValue(const emscripten::val& p, const char* repr,
-                                    const char* func) {
-    ErrorOnNullOrUndefined(p, func, "TypedArray or WasmBuffer");
-
-    if (!p["byteOffset"].isUndefined()) {  // Javascript TypedArray
-      T* data = reinterpret_cast<T*>(p["byteOffset"].as<uintptr_t>());
-      std::size_t count = p["length"].as<std::size_t>();
-      return UnpackedParam<T>(data, count, repr, func);
-    } else if (!p["GetPointer"].isUndefined()) {  // C++ WasmBuffer
-      WasmBuffer<T>& buffer = p.as<WasmBuffer<T>&>();
-      T* data = reinterpret_cast<T*>(buffer.GetPointer());
-      std::size_t count = buffer.GetElementCount();
-      return UnpackedParam<T>(data, count, repr, func);
-    }
-
-    // TODO(manevi): This error message is not 100% accurate, WasmBuffer class
-    // isn't surfaced to JS developers
-    auto param = UnpackedParam<T>(repr, func);
-    mju_error(
-        "[%s] Invalid argument. Expected TypedArray or WasmBuffer, got "
-        "unknown type for %s.",
-        param.func().c_str(), param.repr());
-    return param;
-  }
-
-  // Returns true if the parameter is not null. Used in if conditions.
-  explicit operator bool() const {
-    return !std::holds_alternative<std::monostate>(data_);
-  }
-
-  // Returns the printable representation of the parameter for use in error
-  // messages.
-  const char* repr() const { return repr_; }
-
-  // Returns the name of the function the parameter is used in.
-  std::string func() const { return StripWrapperSuffix(func_); }
-
-  // Returns the size of the parameter. Returns 0 if the parameter is null. For
-  // strings, returns the length of the string.
-  std::size_t size() const {
-    if (std::holds_alternative<std::vector<T>>(data_)) {
-      return std::get<std::vector<T>>(data_).size();
-    } else if (std::holds_alternative<std::span<T>>(data_)) {
-      return std::get<std::span<T>>(data_).size();
-    } else if (std::holds_alternative<std::string>(data_)) {
-      return std::get<std::string>(data_).length();
-    }
-    return 0;
-  }
-
-  // Returns a pointer to the data of the parameter. Returns nullptr if the
-  // parameter is null.
-  const T* data() const {
-    if (std::holds_alternative<std::vector<T>>(data_)) {
-      return std::get<std::vector<T>>(data_).data();
-    } else if (std::holds_alternative<std::span<T>>(data_)) {
-      return std::get<std::span<T>>(data_).data();
-    } else if (std::holds_alternative<std::string>(data_)) {
-      static_assert(std::is_same_v<T, char>,
-                    "Cannot call data() on UnpackedParam with a string unless "
-                    "T is char.");
-      return reinterpret_cast<const T*>(std::get<std::string>(data_).data());
-    }
-    return nullptr;
-  }
-
-  // Returns a non-const pointer to the data of the parameter. Returns nullptr
-  // if the parameter is null.
-  T* data() {
-    if (std::holds_alternative<std::vector<T>>(data_)) {
-      return std::get<std::vector<T>>(data_).data();
-    } else if (std::holds_alternative<std::span<T>>(data_)) {
-      return const_cast<T*>(std::get<std::span<T>>(data_).data());
-    } else if (std::holds_alternative<std::string>(data_)) {
-      if constexpr (std::is_same_v<T, char>) {
-        return reinterpret_cast<T*>(std::get<std::string>(data_).data());
-      } else {
-        mju_error(
-          "[%s] [%s] Cannot call data() on UnpackedParam<%s> holding a string",
-                  func().c_str(), repr(), typeid(T).name());
-      }
-    }
-    return nullptr;
-  }
-};
-
-// TODO(matijak): When the bindings are fully auto-generated we could replace
-// these macros with a function calls something like this:
-//
-//   template <typename T, typename U>
-//   UnpackedParam<T> Unpack(U&& u, const char* u_name,
-//     const std::source_location location = std::source_location::current()) {
-//     return UnpackedParam<T>::FromValue(std::forward<U>(u), u_name,
-//       location.file_name(), location.line(), location.function_name());
-//   }
-
-#define UNPACK_VALUE(T, p) \
-  UnpackedParam<T> p##_ = UnpackedParam<T>::FromValue(p, #p, __func__)
-
-#define UNPACK_ARRAY(T, p) \
-  UnpackedParam<T> p##_ = UnpackedParam<T>::FromArray(p, #p, __func__)
-
-#define UNPACK_NULLABLE_VALUE(T, p) \
-  UnpackedParam<T> p##_ = UnpackedParam<T>::FromNullableValue(p, #p, __func__)
-
-#define UNPACK_NULLABLE_ARRAY(T, p) \
-  UnpackedParam<T> p##_ = UnpackedParam<T>::FromNullableArray(p, #p, __func__)
-
-#define UNPACK_NULLABLE_STRING(p) \
-  UnpackedParam<char> p##_ = UnpackedParam<char>::FromNullableString( \
-      p, #p, __func__ \
-  )
-
-// Raises an error if x##_.size() is not equal to expr.
-// Assumes UnpackedParam x##_ is defined.
-#define CHECK_SIZE(x, expr)                                                   \
-  if (x##_) {                                                                 \
-    if (static_cast<int64_t>(x##_.size()) != static_cast<int64_t>(expr)) {    \
-      mju_error("[%s] %s must have size %" PRId64 ", got %" PRId64,           \
-                x##_.func().c_str(), x##_.repr(), static_cast<int64_t>(expr), \
-                static_cast<int64_t>(x##_.size()));                           \
-    }                                                                         \
-  }
-
-// Raises an error if x##_.size() is not equal to y##_.size().
-// Assumes UnpackedParams x##_ and y##_ are defined.
-#define CHECK_SIZES(x, y)                                           \
-  if (x##_ && y##_) {                                               \
-    if (static_cast<int64_t>(x##_.size()) !=                        \
-        static_cast<int64_t>(y##_.size())) {                        \
-      mju_error("[%s] %s and %s must have equal size, got %" PRId64 \
-                " and %" PRId64,                                    \
-                x##_.func().c_str(), x##_.repr(), y##_.repr(),      \
-                static_cast<int64_t>(x##_.size()),                  \
-                static_cast<int64_t>(y##_.size()));                 \
-    }                                                               \
-  }
-
-// Raises an error if x##_.size() is not a perfect square.
-// Assumes UnpackedParam x##_ is defined. Defines x##_sqrt as an int.
-#define CHECK_PERFECT_SQUARE(x)                                    \
-  const int x##_sqrt = static_cast<int>(round(sqrt(x##_.size()))); \
-  if (x##_sqrt * x##_sqrt != x##_.size()) {                        \
-    mjERROR("[%s] %s must be a perfect square, got %" PRId64,      \
-            x##_.func().c_str(), x##_.repr(),                      \
-            static_cast<int64_t>(x##_.size()));                    \
-  }
-
-// Raises an error if x##_.size() is not divisible by divisor.
-// Assumes UnpackedParam x##_ is defined. Defines x##_div as an std::div_t.
-#define CHECK_DIVISIBLE(x, divisor)                                        \
-  const std::div_t x##_div =                                               \
-      std::div(static_cast<int>(x##_.size()), static_cast<int>(divisor));  \
-  if (x##_div.rem != 0) {                                                  \
-    mju_error("[%s] %s must be divisible by %d, got quot=%d rem=%d",       \
-              x##_.func().c_str(), x##_.repr(), static_cast<int>(divisor), \
-              x##_div.quot, x##_div.rem);                                  \
-  }
-
-}  // namespace mujoco::wasm
-
-#endif  // __EMSCRIPTEN__
-
-#endif  // MUJOCO_WASM_UNPACK_H_
diff --git a/wasm/web_platform/V0.1_CAPABILITIES.md b/wasm/web_platform/V0.1_CAPABILITIES.md
deleted file mode 100644
index cfc87307..00000000
--- a/wasm/web_platform/V0.1_CAPABILITIES.md
+++ /dev/null
@@ -1,166 +0,0 @@
-# MuJoCo Web Platform V0.1 能力总结
-
-## 1. 浏览器内模型导入
-
-支持以下模型和资源格式：
-
-- MJCF/XML
-- URDF
-- ZIP 工程包
-- 文件夹工程
-- OBJ、STL、DAE Mesh
-- PNG、JPG 等纹理资源
-- MJCF `include` 多文件工程
-- URDF `package://` 资源路径
-
-导入工程仅保存在当前浏览器会话和 WASM 文件系统中，不会修改或删除本地文件。
-
-## 2. 工程资源管理
-
-- 按真实目录层级展示工程文件。
-- 目录优先并按文件名排序。
-- 标记和高亮当前模型入口。
-- 导入 URDF 时，只自动展开选中 URDF 所在的目录路径。
-- 其他目录默认折叠，仍可手动展开。
-- 支持从当前会话中移除整个工程。
-
-## 3. URDF 兼容处理
-
-提供两种加载方式：
-
-- **转换为 MJCF（推荐）**
-- **MuJoCo 原生 URDF**
-
-自动兼容处理包括：
-
-- 将 `package://` 地址改写为工程相对路径。
-- 在浏览器内将 DAE 转换为 OBJ。
-- 保留 DAE 单位、坐标轴和节点变换。
-- 保留 URDF visual mesh 和 Body 层级。
-- 处理 MuJoCo 不支持的重复 material。
-- DAE 转换失败时提供降级几何。
-- 自动添加 `z=0` 物理地面。
-- 计算模型最低几何点并对齐到地面。
-
-## 4. 固定与浮动基座
-
-URDF 转 MJCF 时可以选择：
-
-- **浮动基座**
-  - 自动添加根 `freejoint`。
-  - 支持重力、碰撞和外力运动。
-- **固定基座**
-  - 根 Body 与世界固连。
-
-切换基座类型后会自动重新转换并加载模型。
-
-## 5. Three.js 模型可视化
-
-- 渲染 MuJoCo Body、Geom 和 Mesh。
-- 支持 Box、Sphere、Capsule、Cylinder、Ellipsoid、Plane 和 Mesh。
-- 正确解析 MuJoCo `mjvGeom.dataid` 的 Mesh/凸包编码。
-- 支持材质颜色、透明度和基础纹理。
-- 默认显示 visual 并隐藏 collision。
-- 可切换显示碰撞几何。
-- 自动计算相机中心和观察范围。
-- 无限地面不会影响相机包围范围。
-- 支持相机旋转、缩放、平移和复位。
-
-## 6. XYZ 方向指示器
-
-- 右下角提供固定的 XYZ 方向指示器。
-- X、Y、Z 分别使用红、绿、蓝色。
-- 指示器随相机方向实时旋转。
-- 不参与模型拾取和交互。
-
-## 7. 模型结构树
-
-左侧工程文件树下方显示 MuJoCo 模型结构：
-
-- 按 Body 父子关系组织。
-- 显示每个 Body 所属的 Joint。
-- 支持层级展开和折叠。
-- 鼠标悬停或键盘聚焦关节时：
-  - 高亮关节所属 Body。
-  - 在关节锚点显示黄色标记。
-  - 标记随仿真运动实时更新。
-
-## 8. 仿真控制
-
-支持：
-
-- 播放和暂停。
-- 单步运行。
-- 完整重置。
-- `0.25×`～`4×` 仿真速度。
-- 实时仿真时间和物理耗时。
-- 主线程步进预算及追帧限制。
-- 播放中重置后仍可正常再次播放和暂停。
-
-快捷键：
-
-- `Space`：播放/暂停。
-- `R`：重置。
-- `1/2/3`：切换交互模式。
-
-## 9. 关节控制
-
-- 使用滑块调整旋转和滑动关节。
-- 只读显示 Free、Ball 等不适合单滑块编辑的关节。
-- 调整关节时自动暂停仿真。
-- 支持重置所有可编辑关节。
-- 重置时恢复初始位置并清零对应速度。
-- 支持忽略 MuJoCo 关节限位。
-- 恢复限位时自动将超限值钳制回合法范围。
-- 高级模式显示原始上下限和“已忽略”状态。
-- 旋转关节支持弧度制和角度制切换。
-- 滑动关节保持使用米制单位。
-
-## 10. Actuator 与交互工具
-
-- 显示模型 Actuator。
-- 根据 `ctrlrange` 提供控制滑块。
-- 提供三种视口交互模式：
-  - 物体选择。
-  - 关节拖动。
-  - 外力施加。
-- 外力强度可调。
-- 松开鼠标后自动清除外力。
-- 显示当前选中的 Body、Geom、类型和世界位置。
-
-## 11. 界面与主题
-
-- 中文用户界面。
-- 左右面板支持显示、隐藏和宽度调整。
-- 支持白天与黑夜主题切换。
-- 主题选择保存到浏览器本地。
-- UI、视口、网格和 XYZ 指示器同步换色。
-- 使用约 `420 ms` 的平滑主题切换动画。
-- 支持系统“减少动态效果”设置。
-
-## 12. 状态与诊断
-
-实时显示：
-
-- 仿真时间。
-- FPS。
-- 物理步进耗时。
-- 浏览器内存使用情况。
-- WASM 加载状态。
-- Body、Joint、Geom、Actuator、qpos 和 qvel 数量。
-
-错误分类包括：
-
-- 导入失败。
-- ZIP 解析失败。
-- 模型编译失败。
-- 渲染失败。
-
-URDF 自动兼容处理会以中文列出具体修改内容。
-
-## 13. 当前限制
-
-- DAE 转 OBJ 主要保留几何、单位和节点变换，内嵌材质及复杂贴图不能完全保留。
-- 仿真和渲染目前运行在浏览器主线程。
-- 关节滑块主要面向 Hinge 和 Slide，Free、Ball Joint 暂不提供完整的多自由度编辑器。
-- 导入工程不会持久化，刷新页面后需要重新导入。
diff --git a/wasm/web_platform/src/app/components/SecondBatchComponents.test.tsx b/wasm/web_platform/src/app/components/SecondBatchComponents.test.tsx
deleted file mode 100644
index 5603276c..00000000
--- a/wasm/web_platform/src/app/components/SecondBatchComponents.test.tsx
+++ /dev/null
@@ -1,10 +0,0 @@
-import {fireEvent,render,screen} from '@testing-library/react';
-import {ShortcutHelpDialog} from './ShortcutHelpDialog';
-import {TreeSearchField} from './TreeSearchField';
-import {ViewportHUD} from './ViewportHUD';
-
-describe('第二批工作台组件',()=>{
-  it('搜索框发送内容并可清除',()=>{const change=vi.fn();const {rerender}=render(<TreeSearchField value="" onChange={change}/>);fireEvent.change(screen.getByRole('searchbox'),{target:{value:'arm'}});expect(change).toHaveBeenCalledWith('arm');rerender(<TreeSearchField value="arm" resultCount={2} onChange={change}/>);expect(screen.getByRole('status')).toHaveTextContent('找到 2 个匹配项');fireEvent.click(screen.getByRole('button',{name:'清除搜索'}));expect(change).toHaveBeenLastCalledWith('');});
-  it('快捷键帮助展示说明并支持 Escape',()=>{const close=vi.fn();render(<ShortcutHelpDialog open onClose={close}/>);expect(screen.getByRole('dialog',{name:'快捷键与视口操作'})).toBeVisible();expect(screen.getByText('播放 / 暂停')).toBeVisible();fireEvent.keyDown(document,{key:'Escape'});expect(close).toHaveBeenCalledTimes(1);});
-  it('视口 HUD 复用仿真与选择状态',()=>{render(<ViewportHUD ready paused={false} mode="joint" selection={{bodyId:2,bodyName:'arm',geomId:3,geomType:1,position:[0,0,0]}}/>);expect(screen.getByLabelText('视口状态')).toHaveTextContent('仿真中');expect(screen.getByLabelText('视口状态')).toHaveTextContent('关节拖动');expect(screen.getByLabelText('视口状态')).toHaveTextContent('arm');});
-});
diff --git a/wasm/web_platform/src/app/components/StatusBar.tsx b/wasm/web_platform/src/app/components/StatusBar.tsx
deleted file mode 100644
index 6ab8cfd4..00000000
--- a/wasm/web_platform/src/app/components/StatusBar.tsx
+++ /dev/null
@@ -1,7 +0,0 @@
-import type {ReactNode} from 'react';
-import {Box,Clock3,MemoryStick,TriangleAlert} from 'lucide-react';
-import {Kbd} from '../../components/ui';
-import {PerformancePopover} from './PerformancePopover';
-export interface StatusBarProps{time?:number;fps:number;stepMs:number;memoryMb?:number;loaded:boolean;overBudget:boolean;}
-function Item({icon:Icon,children}:{icon:typeof Clock3;children:ReactNode}){return <span className="flex items-center gap-1.5"><Icon aria-hidden="true" className="h-3 w-3 text-text-tertiary"/>{children}</span>;}
-export function StatusBar({time,fps,stepMs,memoryMb,loaded,overBudget}:StatusBarProps){return <footer className="technical-value relative z-30 flex h-7 shrink-0 items-center gap-5 border-t border-border bg-panel px-3 text-[11px] text-text-tertiary"><Item icon={Clock3}>时间 {time?.toFixed(3)??'—'} s</Item><PerformancePopover fps={fps} stepMs={stepMs} memoryMb={memoryMb} overBudget={overBudget}/><Item icon={MemoryStick}>内存 {memoryMb===undefined?'—':`${memoryMb.toFixed(1)} MiB`}</Item><Item icon={Box}>WASM {loaded?'已加载':'未加载'}</Item>{overBudget&&<span className="flex items-center gap-1 text-warning"><TriangleAlert className="h-3 w-3"/>主线程超出步进预算，已限制追帧</span>}<span className="ml-auto hidden items-center gap-1.5 xl:flex"><Kbd>Space</Kbd> 播放/暂停 · <Kbd>R</Kbd> 重置 · <Kbd>1/2/3</Kbd> 模式</span></footer>;}
diff --git a/wasm/web_platform/src/app/components/ViewerToolDock.tsx b/wasm/web_platform/src/app/components/ViewerToolDock.tsx
deleted file mode 100644
index c137a104..00000000
--- a/wasm/web_platform/src/app/components/ViewerToolDock.tsx
+++ /dev/null
@@ -1,5 +0,0 @@
-import {Crosshair,Hand,MousePointer2,RotateCcw} from 'lucide-react';
-import type {InteractionMode} from '../../viewer/MuJoCoViewer';
-import {IconButton,ToolbarToggleGroup,type ToolbarItem} from '../../components/ui';
-const tools:ToolbarItem<InteractionMode>[]=[{value:'select',label:'选择',icon:MousePointer2},{value:'joint',label:'关节拖动',icon:Hand},{value:'force',label:'外力施加',icon:Crosshair}];
-export function ViewerToolDock({mode,onModeChange,onResetCamera}:{mode:InteractionMode;onModeChange:(mode:InteractionMode)=>void;onResetCamera:()=>void}){return <div className="flex items-center gap-1"><ToolbarToggleGroup items={tools} value={mode} onChange={onModeChange} label="视口交互模式"/><IconButton tooltip="相机复位" aria-label="相机复位" onClick={onResetCamera}><RotateCcw className="h-3.5 w-3.5"/></IconButton></div>;}
diff --git a/wasm/web_platform/src/app/components/ViewportHUD.tsx b/wasm/web_platform/src/app/components/ViewportHUD.tsx
deleted file mode 100644
index a00046cb..00000000
--- a/wasm/web_platform/src/app/components/ViewportHUD.tsx
+++ /dev/null
@@ -1,5 +0,0 @@
-import {CirclePause,CirclePlay,MousePointer2} from 'lucide-react';
-import type {InteractionMode,ViewerSelection} from '../../viewer/MuJoCoViewer';
-import {Badge} from '../../components/ui';
-const labels:Record<InteractionMode,string>={select:'选择',joint:'关节拖动',force:'外力施加'};
-export function ViewportHUD({paused,mode,selection,ready}:{paused:boolean;mode:InteractionMode;selection:ViewerSelection|null;ready:boolean}){if(!ready)return null;return <div aria-label="视口状态" className="pointer-events-none absolute left-3 top-3 z-10 flex max-w-[70%] flex-wrap items-center gap-1.5"><Badge tone={paused?'neutral':'success'}>{paused?<CirclePause className="h-3 w-3"/>:<CirclePlay className="h-3 w-3"/>}{paused?'已暂停':'仿真中'}</Badge><Badge tone="accent"><MousePointer2 className="h-3 w-3"/>{labels[mode]}</Badge>{selection&&<Badge title={`body ${selection.bodyId} · geom ${selection.geomId}`}>{selection.bodyName}</Badge>}</div>;}
diff --git a/wasm/web_platform/src/app/components/WorkbenchHeader.tsx b/wasm/web_platform/src/app/components/WorkbenchHeader.tsx
deleted file mode 100644
index 743739ec..00000000
--- a/wasm/web_platform/src/app/components/WorkbenchHeader.tsx
+++ /dev/null
@@ -1,5 +0,0 @@
-import type {ChangeEvent,ReactNode} from 'react';
-import {CircleHelp,Code2,Expand,FolderOpen,Minimize,PanelLeft,PanelRight,Pause,Play,RotateCcw,Search,StepForward,Sun,Moon,Upload} from 'lucide-react';
-import {Button,IconButton,Select} from '../../components/ui';
-const fileActionClass='inline-flex h-7 cursor-pointer items-center gap-1.5 rounded-md border border-border bg-surface px-2 text-xs font-medium text-text-primary transition-colors hover:bg-element-hover focus-within:ring-2 focus-within:ring-accent/30';
-export function WorkbenchHeader({paused,ready,speed,theme,loading,leftOpen,rightOpen,fullscreen,hasProject,center,endActions,compactMenu,onFiles,onFolder,onOpenSource,onTogglePause,onStep,onReset,onSpeed,onToggleLeft,onToggleRight,onToggleTheme,onHelp,onCommands,onToggleFullscreen}:{paused:boolean;ready:boolean;speed:number;theme:'light'|'dark';loading:boolean;leftOpen:boolean;rightOpen:boolean;fullscreen:boolean;hasProject?:boolean;center:ReactNode;endActions?:ReactNode;compactMenu?:ReactNode;onFiles:(event:ChangeEvent<HTMLInputElement>)=>void;onFolder:(event:ChangeEvent<HTMLInputElement>)=>void;onOpenSource?:()=>void;onTogglePause:()=>void;onStep:()=>void;onReset:()=>void;onSpeed:(value:number)=>void;onToggleLeft:()=>void;onToggleRight:()=>void;onToggleTheme:()=>void;onHelp:()=>void;onCommands:()=>void;onToggleFullscreen:()=>void}){return <header className="relative z-40 grid h-10 shrink-0 grid-cols-[minmax(0,1fr)_auto_minmax(max-content,1fr)] items-center gap-2 border-b border-border bg-panel px-2.5"><div className="flex min-w-0 items-center gap-1"><h1 className="mr-2 hidden truncate border-r border-border pr-3 text-sm font-semibold text-text-primary xl:block">MuJoCo Web 仿真平台</h1><label aria-disabled={loading} className={`${fileActionClass} ${loading?'pointer-events-none opacity-40':''}`}><Upload className="h-3.5 w-3.5"/>打开文件<input className="sr-only" type="file" disabled={loading} multiple accept=".xml,.urdf,.zip,.obj,.stl,.dae,.msh,.png,.jpg,.jpeg,.bmp,.tga,.hdr" onChange={onFiles}/></label><label aria-disabled={loading} className={`${fileActionClass} ${loading?'pointer-events-none opacity-40':''}`}><FolderOpen className="h-3.5 w-3.5"/>文件夹<input className="sr-only" type="file" disabled={loading} multiple {...({webkitdirectory:'',directory:''} as object)} onChange={onFolder}/></label><IconButton tooltip="查看和修改缓存源代码" aria-label="源代码" disabled={!hasProject||loading} onClick={onOpenSource}><Code2 className="h-4 w-4"/></IconButton></div><div className="flex items-center justify-center">{center}</div><div className="flex min-w-0 items-center justify-end gap-0.5"><Button variant="ghost" onClick={onTogglePause} disabled={!ready} aria-label={paused?'▶ 播放':'⏸ 暂停'} icon={paused?<Play className="h-3.5 w-3.5"/>:<Pause className="h-3.5 w-3.5"/>}>{paused?'播放':'暂停'}</Button><IconButton tooltip="单步" aria-label="单步" onClick={onStep} disabled={!ready||!paused}><StepForward className="h-3.5 w-3.5"/></IconButton><IconButton tooltip="重置" aria-label="重置" onClick={onReset} disabled={!ready}><RotateCcw className="h-3.5 w-3.5"/></IconButton><Select aria-label="仿真速度" value={speed} disabled={loading} onChange={event=>onSpeed(Number(event.target.value))} className="w-[70px]"><option value={.25}>0.25×</option><option value={.5}>0.5×</option><option value={1}>1×</option><option value={2}>2×</option><option value={4}>4×</option></Select><span className="mx-1 h-5 border-l border-border"/><IconButton tooltip={leftOpen?'隐藏工程面板':'显示工程面板'} aria-label={leftOpen?'隐藏工程面板':'显示工程面板'} aria-expanded={leftOpen} onClick={onToggleLeft}><PanelLeft className="h-4 w-4"/></IconButton><IconButton tooltip={rightOpen?'隐藏属性面板':'显示属性面板'} aria-label={rightOpen?'隐藏属性面板':'显示属性面板'} aria-expanded={rightOpen} onClick={onToggleRight}><PanelRight className="h-4 w-4"/></IconButton>{endActions}{compactMenu}<IconButton className="hidden xl:inline-flex" tooltip="命令面板（Ctrl+K）" aria-label="打开命令面板" onClick={onCommands}><Search className="h-4 w-4"/></IconButton><IconButton className="hidden xl:inline-flex" tooltip={fullscreen?'退出全屏':'进入全屏'} aria-label={fullscreen?'退出全屏':'进入全屏'} onClick={onToggleFullscreen}>{fullscreen?<Minimize className="h-4 w-4"/>:<Expand className="h-4 w-4"/>}</IconButton><IconButton className="hidden xl:inline-flex" tooltip="快捷键帮助" aria-label="快捷键帮助" onClick={onHelp}><CircleHelp className="h-4 w-4"/></IconButton><IconButton className="hidden xl:inline-flex" tooltip={theme==='dark'?'切换到白天主题':'切换到黑夜主题'} aria-label={theme==='dark'?'切换到白天主题':'切换到黑夜主题'} onClick={onToggleTheme}>{theme==='dark'?<Sun className="h-4 w-4"/>:<Moon className="h-4 w-4"/>}</IconButton></div></header>;}
diff --git a/wasm/web_platform/src/app/components/WorkspaceOverlays.tsx b/wasm/web_platform/src/app/components/WorkspaceOverlays.tsx
deleted file mode 100644
index 1f4dd69c..00000000
--- a/wasm/web_platform/src/app/components/WorkspaceOverlays.tsx
+++ /dev/null
@@ -1,5 +0,0 @@
-import {Box,LoaderCircle,UploadCloud} from 'lucide-react';
-import {ProgressBar,Skeleton} from '../../components/ui';
-export interface ImportProgress{label:string;value:number;}
-export function EmptyWorkspace({compact=false}:{compact?:boolean}){return <div className={`rounded-xl border border-dashed border-border-strong bg-panel/90 text-center shadow-sm ${compact?'m-3 p-4':'p-7'}`}><span className="mx-auto mb-3 grid h-10 w-10 place-items-center rounded-xl bg-accent-soft text-accent">{compact?<Box className="h-5 w-5"/>:<UploadCloud className="h-5 w-5"/>}</span><p className="text-sm font-semibold text-text-primary">拖放模型工程到此处</p><p className="mt-1 text-xs text-text-tertiary">支持 MJCF/XML、URDF、文件夹和 ZIP</p></div>;}
-export function WorkspaceOverlays({loading,hasSnapshot,progress}:{loading:boolean;hasSnapshot:boolean;progress?:ImportProgress}){return <>{!hasSnapshot&&!loading&&<div className="pointer-events-none absolute inset-0 grid place-items-center"><EmptyWorkspace/></div>}{loading&&<div role="status" aria-live="polite" aria-label={progress?.label??'正在加载 MuJoCo 与模型'} className="absolute inset-0 z-20 grid place-items-center bg-app/75 backdrop-blur-sm"><div className="w-80 rounded-xl border border-border bg-panel px-5 py-4 text-sm font-medium text-text-primary shadow-xl"><div className="flex items-center gap-3"><LoaderCircle aria-hidden="true" className="h-5 w-5 animate-spin text-accent"/>正在加载 MuJoCo 与模型…</div>{progress?<div className="mt-4"><ProgressBar value={progress.value} label={progress.label}/></div>:<div className="mt-4 space-y-2"><Skeleton className="h-2.5 w-full"/><Skeleton className="h-2.5 w-4/5"/></div>}</div></div>}</>;}
diff --git a/wasm/web_platform/src/viewer/MuJoCoViewer.ts b/wasm/web_platform/src/viewer/MuJoCoViewer.ts
deleted file mode 100644
index 884ef4ba..00000000
--- a/wasm/web_platform/src/viewer/MuJoCoViewer.ts
+++ /dev/null
@@ -1,89 +0,0 @@
-import * as THREE from 'three';
-import {OrbitControls} from 'three/examples/jsm/controls/OrbitControls.js';
-import type {MjvGeom, MjvOption, MjvCamera, MjvScene} from '@mujoco/mujoco';
-import type {FrameResult, SimulationSession, SimulationSnapshot} from '../simulation/SimulationSession';
-import {meshIdFromSceneDataId} from '../simulation/geometry';
-import {OrientationGizmo} from './OrientationGizmo';
-
-export type InteractionMode = 'select' | 'joint' | 'force';
-export type ViewerTheme='light'|'dark';
-export interface ViewerSelection {bodyId: number; geomId: number; bodyName: string; geomType: number; position: [number, number, number];}
-interface ViewerCallbacks {onSelection(selection: ViewerSelection | null): void; onFrame(frame: FrameResult, fps: number, snapshot?: SimulationSnapshot): void; onError(error: Error): void;}
-
-class CapsuleGeometry extends THREE.BufferGeometry {
-  constructor(radius:number,length:number) {super(); const path=new THREE.Path(); path.absarc(0,-length/2,radius,Math.PI*1.5,0); path.absarc(0,length/2,radius,0,Math.PI*.5); const source=new THREE.LatheGeometry(path.getPoints(24),16); this.copy(source); source.dispose(); this.rotateX(Math.PI/2);}
-}
-
-export class MuJoCoViewer {
-  readonly scene = new THREE.Scene();
-  readonly camera = new THREE.PerspectiveCamera(45,1,.01,2_000);
-  private readonly sensorCamera=new THREE.PerspectiveCamera(45,16/9,.01,2_000);
-  readonly renderer: THREE.WebGLRenderer;
-  readonly controls: OrbitControls;
-  mode: InteractionMode = 'select';
-  forceScale = 50;
-  private showCollision=false;
-  private showSensorCamera=true;
-  private sensorCameraId=-1;
-  private session: SimulationSession | null = null;
-  private option: MjvOption | null = null;
-  private mjCamera: MjvCamera | null = null;
-  private mjScene: MjvScene | null = null;
-  private frame = 0; private lastFpsAt=performance.now(); private fpsFrames=0; private lastSnapshotAt=0;
-  private meshes: THREE.Mesh[]=[]; private geometries=new Map<string,THREE.BufferGeometry>(); private textures=new Map<number,THREE.DataTexture>();
-  private raycaster=new THREE.Raycaster(); private pointer=new THREE.Vector2(); private selected:THREE.Mesh|null=null; private dragStart:THREE.Vector2|null=null; private dragAxis=new THREE.Vector2(1,0); private dragJointId=-1; private dragJointValue=0; private arrow:THREE.ArrowHelper|null=null;private highlightedJointId=-1;private highlightedBodyId=-1;private jointMarker:THREE.Mesh|null=null;
-  private resizeObserver:ResizeObserver;
-  private orientationGizmo:OrientationGizmo;
-  private grid:THREE.GridHelper;
-  private hemisphere:THREE.HemisphereLight;
-  private themeTransition?:{started:number;fromBackground:THREE.Color;toBackground:THREE.Color;fromGround:THREE.Color;toGround:THREE.Color;};
-
-  constructor(private readonly host:HTMLElement, private readonly callbacks:ViewerCallbacks) {
-    this.renderer=new THREE.WebGLRenderer({antialias:true,alpha:false}); this.renderer.setPixelRatio(Math.min(devicePixelRatio,2)); this.renderer.shadowMap.enabled=true; this.renderer.outputColorSpace=THREE.SRGBColorSpace; host.append(this.renderer.domElement);
-    this.camera.up.set(0,0,1); this.camera.position.set(3,-3,2); this.controls=new OrbitControls(this.camera,this.renderer.domElement); this.controls.enableDamping=true;
-    this.scene.background=new THREE.Color(0x0b1220);this.hemisphere=new THREE.HemisphereLight(0xffffff,0x223344,1.3);this.scene.add(this.hemisphere); const light=new THREE.DirectionalLight(0xffffff,2); light.position.set(4,-3,7); light.castShadow=true; this.scene.add(light);this.grid=new THREE.GridHelper(20,40,0x3b82f6,0x253047).rotateX(Math.PI/2);this.scene.add(this.grid);this.orientationGizmo=new OrientationGizmo(host);this.orientationGizmo.update(this.camera);
-    this.resizeObserver=new ResizeObserver(()=>this.resize()); this.resizeObserver.observe(host); this.resize();
-    this.renderer.domElement.addEventListener('pointerdown',this.onPointerDown); this.renderer.domElement.addEventListener('pointermove',this.onPointerMove); window.addEventListener('pointerup',this.onPointerUp);
-    this.frame=requestAnimationFrame(this.animate);
-  }
-
-  attach(session:SimulationSession|null):void {this.releaseModel(); this.session=session; if(!session)return; this.option=new session.module.MjvOption(); session.module.mjv_defaultOption(this.option);this.applyGeomVisibility(); this.mjCamera=new session.module.MjvCamera(); session.module.mjv_defaultCamera(this.mjCamera); this.mjScene=new session.module.MjvScene(session.model,32768);for(let id=0;id<session.model.ncam;id+=1){const camera=session.model.cam(id);try{if(this.sensorCameraId<0||camera.name.startsWith('__platform_camera__'))this.sensorCameraId=id;if(camera.name.startsWith('__platform_camera__'))break;}finally{camera.delete();}}this.fitCamera(session);}
-  setMode(mode:InteractionMode):void {this.mode=mode; this.controls.enabled=mode==='select'; this.stopDrag();}
-  setShowCollision(value:boolean):void {this.showCollision=value;this.applyGeomVisibility();}
-  setShowSensorCamera(value:boolean):void {this.showSensorCamera=value;}
-  setTheme(theme:ViewerTheme):void {const light=theme==='light';const background=this.scene.background instanceof THREE.Color?this.scene.background:new THREE.Color(0x0b1220);this.scene.background=background;this.themeTransition={started:performance.now(),fromBackground:background.clone(),toBackground:new THREE.Color(light?0xf8fafc:0x0b1220),fromGround:this.hemisphere.groundColor.clone(),toGround:new THREE.Color(light?0xcbd5e1:0x223344)};const next=new THREE.GridHelper(20,40,light?0x64748b:0x3b82f6,light?0xcbd5e1:0x253047).rotateX(Math.PI/2);this.scene.remove(this.grid);this.grid.geometry.dispose();const materials=Array.isArray(this.grid.material)?this.grid.material:[this.grid.material];for(const material of materials)material.dispose();this.grid=next;this.scene.add(this.grid);this.orientationGizmo.setTheme(theme);}
-  private updateThemeTransition(now:number):void {const transition=this.themeTransition;if(!transition)return;const progress=Math.min(1,Math.max(0,(now-transition.started)/420)),eased=1-Math.pow(1-progress,3);(this.scene.background as THREE.Color).copy(transition.fromBackground).lerp(transition.toBackground,eased);this.hemisphere.groundColor.copy(transition.fromGround).lerp(transition.toGround,eased);if(progress===1)this.themeTransition=undefined;}
-  private applyGeomVisibility():void {if(!this.option||!this.session)return;let hasVisual=false;for(let index=0;index<this.session.model.ngeom;index+=1)if(Number(this.session.model.geom_group[index])===1){hasVisual=true;break;}this.option.geomgroup[0]=!hasVisual||this.showCollision?1:0;this.option.geomgroup[1]=1;this.option.geomgroup[5]=0;}
-  resetCamera():void {if(this.session)this.fitCamera(this.session);}
-  highlightJoint(jointId:number|null):void {this.highlightedJointId=jointId??-1;this.highlightedBodyId=-1;if(this.session&&jointId!==null&&jointId>=0&&jointId<this.session.model.njnt){const joint=this.session.model.jnt(jointId);try{this.highlightedBodyId=Number(joint.bodyid);}finally{joint.delete();}if(!this.jointMarker){const radius=Math.max(.008,this.session.geometryBounds().extent*.012);this.jointMarker=new THREE.Mesh(new THREE.SphereGeometry(radius,18,12),new THREE.MeshBasicMaterial({color:0xfacc15,depthTest:false,transparent:true,opacity:.95}));this.jointMarker.renderOrder=100;this.scene.add(this.jointMarker);}this.jointMarker.visible=true;this.updateJointMarker();}else if(this.jointMarker)this.jointMarker.visible=false;for(const mesh of this.meshes)this.applyMeshHighlight(mesh);}
-  private updateJointMarker():void {if(!this.session||!this.jointMarker||this.highlightedJointId<0)return;const offset=this.highlightedJointId*3;this.jointMarker.position.set(Number(this.session.data.xanchor[offset]),Number(this.session.data.xanchor[offset+1]),Number(this.session.data.xanchor[offset+2]));}
-  private applyMeshHighlight(mesh:THREE.Mesh):void {const material=mesh.material as THREE.MeshStandardMaterial;if(Number(mesh.userData.bodyId)===this.highlightedBodyId){material.emissive.setHex(0x8a6d00);material.emissiveIntensity=.85;}else if(mesh===this.selected){material.emissive.setHex(0x14532d);material.emissiveIntensity=1;}else{material.emissive.setHex(0);material.emissiveIntensity=1;}}
-
-  private fitCamera(session:SimulationSession):void {const {extent,center}=session.geometryBounds();this.controls.target.set(center[0],center[1],center[2]);this.camera.position.set(center[0]+extent*1.5,center[1]-extent*1.5,center[2]+extent);this.camera.near=Math.max(.001,extent/1000);this.camera.far=Math.max(100,extent*100);this.camera.updateProjectionMatrix();this.controls.update();}
-  private resize():void {const w=Math.max(1,this.host.clientWidth),h=Math.max(1,this.host.clientHeight); this.renderer.setSize(w,h,false); this.camera.aspect=w/h; this.camera.updateProjectionMatrix();}
-
-  private animate=(now:number):void=>{try {const result=this.session?.advance(now)??{steps:0,stepMs:0,overBudget:false};this.updateThemeTransition(now); this.controls.update();this.orientationGizmo.update(this.camera); if(this.session){this.updateMuJoCoScene();this.updateJointMarker();} this.renderer.setScissorTest(false);this.renderer.render(this.scene,this.camera);if(this.showSensorCamera&&this.updateSensorCamera())this.renderSensorCamera(); this.fpsFrames++; let fps=0;if(now-this.lastFpsAt>=500){fps=this.fpsFrames*1000/(now-this.lastFpsAt);this.fpsFrames=0;this.lastFpsAt=now;} const snapshot=this.session&&now-this.lastSnapshotAt>150?(this.lastSnapshotAt=now,this.session.snapshot()):undefined; this.callbacks.onFrame(result,fps,snapshot);}catch(error){this.callbacks.onError(error instanceof Error?error:new Error(String(error)));} this.frame=requestAnimationFrame(this.animate);};
-
-  private updateSensorCamera():boolean {if(!this.session||this.sensorCameraId<0||this.sensorCameraId>=this.session.model.ncam)return false;const id=this.sensorCameraId,p=id*3,m=id*9,data=this.session.data,model=this.session.model;this.sensorCamera.position.set(Number(data.cam_xpos[p]),Number(data.cam_xpos[p+1]),Number(data.cam_xpos[p+2]));const rotation=new THREE.Matrix4().set(Number(data.cam_xmat[m]),Number(data.cam_xmat[m+1]),Number(data.cam_xmat[m+2]),0,Number(data.cam_xmat[m+3]),Number(data.cam_xmat[m+4]),Number(data.cam_xmat[m+5]),0,Number(data.cam_xmat[m+6]),Number(data.cam_xmat[m+7]),Number(data.cam_xmat[m+8]),0,0,0,0,1);this.sensorCamera.quaternion.setFromRotationMatrix(rotation);this.sensorCamera.fov=Number(model.cam_fovy[id])||45;const extent=this.session.geometryBounds().extent;this.sensorCamera.near=Math.max(.001,extent/1000);this.sensorCamera.far=Math.max(100,extent*100);this.sensorCamera.updateProjectionMatrix();return true;}
-  private renderSensorCamera():void {const size=this.renderer.getSize(new THREE.Vector2()),width=Math.max(120,Math.min(320,size.x*.32)),height=width*9/16,margin=16;this.sensorCamera.aspect=width/height;this.sensorCamera.updateProjectionMatrix();this.renderer.setViewport(margin,margin,width,height);this.renderer.setScissor(margin,margin,width,height);this.renderer.setScissorTest(true);this.renderer.render(this.scene,this.sensorCamera);this.renderer.setScissorTest(false);this.renderer.setViewport(0,0,size.x,size.y);}
-
-  private updateMuJoCoScene():void {const s=this.session!; s.module.mjv_updateScene(s.model,s.data,this.option!,s.perturb,this.mjCamera!,s.module.mjtCatBit.mjCAT_ALL.value,this.mjScene!); const geoms=this.mjScene!.geoms; try {for(let i=0;i<geoms.size();i++){const geom=geoms.get(i);if(!geom)continue;try{let mesh=this.meshes[i];const key=this.geometryKey(geom);if(!mesh||mesh.userData.geometryKey!==key){if(mesh){this.scene.remove(mesh);this.disposeMesh(mesh);} mesh=this.createMesh(geom,key);this.meshes[i]=mesh;this.scene.add(mesh);} mesh.visible=true;this.updateMesh(mesh,geom);}finally{geom.delete();}} for(let i=geoms.size();i<this.meshes.length;i++)this.meshes[i].visible=false;}finally{geoms.delete();}}
-  private geometryKey(g:MjvGeom):string {const dataId=g.type===this.session!.module.mjtGeom.mjGEOM_MESH.value?meshIdFromSceneDataId(g.dataid):g.dataid;return `${g.type}:${dataId}:${Array.from(g.size).join(',')}`;}
-  private primitive(g:MjvGeom):THREE.BufferGeometry {const m=this.session!.module,t=g.type,s=g.size;if(t===m.mjtGeom.mjGEOM_PLANE.value)return new THREE.PlaneGeometry(2*(s[0]||1e3),2*(s[1]||1e3));if(t===m.mjtGeom.mjGEOM_SPHERE.value)return new THREE.SphereGeometry(s[0],24,16);if(t===m.mjtGeom.mjGEOM_CAPSULE.value)return new CapsuleGeometry(s[0],2*s[2]);if(t===m.mjtGeom.mjGEOM_BOX.value)return new THREE.BoxGeometry(2*s[0],2*s[1],2*s[2]);if(t===m.mjtGeom.mjGEOM_CYLINDER.value){const x=new THREE.CylinderGeometry(s[0],s[0],2*s[2],24);x.rotateX(Math.PI/2);return x;}if(t===m.mjtGeom.mjGEOM_ELLIPSOID.value){const x=new THREE.SphereGeometry(1,24,16);x.scale(s[0],s[1],s[2]);return x;}if(t===m.mjtGeom.mjGEOM_MESH.value&&g.dataid>=0)return this.meshGeometry(meshIdFromSceneDataId(g.dataid));return new THREE.BufferGeometry();}
-  private meshGeometry(id:number):THREE.BufferGeometry {const m=this.session!.model;const va=Number(m.mesh_vertadr[id]),vn=Number(m.mesh_vertnum[id]),fa=Number(m.mesh_faceadr[id]),fn=Number(m.mesh_facenum[id]);const positions=new Float32Array(vn*3);for(let i=0;i<positions.length;i++)positions[i]=m.mesh_vert[va*3+i];const indices=new Uint32Array(fn*3);for(let i=0;i<indices.length;i++)indices[i]=m.mesh_face[fa*3+i];const geometry=new THREE.BufferGeometry();geometry.setAttribute('position',new THREE.BufferAttribute(positions,3));geometry.setIndex(new THREE.BufferAttribute(indices,1));const na=Number(m.mesh_normaladr[id]),nn=Number(m.mesh_normalnum[id]);if(nn===vn){const normals=new Float32Array(nn*3);for(let i=0;i<normals.length;i++)normals[i]=m.mesh_normal[na*3+i];geometry.setAttribute('normal',new THREE.BufferAttribute(normals,3));}else geometry.computeVertexNormals();const ta=Number(m.mesh_texcoordadr[id]),tn=Number(m.mesh_texcoordnum[id]);if(tn===vn&&ta>=0){const uv=new Float32Array(tn*2);for(let i=0;i<uv.length;i++)uv[i]=m.mesh_texcoord[ta*2+i];geometry.setAttribute('uv',new THREE.BufferAttribute(uv,2));}geometry.computeBoundingSphere();return geometry;}
-  private texture(id:number):THREE.DataTexture|undefined {if(id<0)return;let found=this.textures.get(id);if(found)return found;const m=this.session!.model,w=Number(m.tex_width[id]),h=Number(m.tex_height[id]),channels=Number(m.tex_nchannel[id]||3),adr=Number(m.tex_adr[id]);if(!w||!h)return;const data=new Uint8Array(w*h*channels);for(let i=0;i<data.length;i++)data[i]=m.tex_data[adr+i];found=new THREE.DataTexture(data,w,h,channels===4?THREE.RGBAFormat:THREE.RGBFormat);found.colorSpace=THREE.SRGBColorSpace;found.flipY=true;found.needsUpdate=true;this.textures.set(id,found);return found;}
-  private createMesh(g:MjvGeom,key:string):THREE.Mesh {let geometry=this.geometries.get(key);if(!geometry){geometry=this.primitive(g);this.geometries.set(key,geometry);}const map=this.texture(g.texid);const material=new THREE.MeshStandardMaterial({color:new THREE.Color(g.rgba[0],g.rgba[1],g.rgba[2]),opacity:g.rgba[3],transparent:g.rgba[3]<1,...(map?{map}:{}),roughness:Math.max(.05,1-g.shininess),metalness:g.reflectance});const mesh=new THREE.Mesh(geometry,material);mesh.matrixAutoUpdate=false;mesh.castShadow=true;mesh.receiveShadow=true;mesh.userData.geometryKey=key;return mesh;}
-  private updateMesh(mesh:THREE.Mesh,g:MjvGeom):void {const mat=mesh.material as THREE.MeshStandardMaterial;mat.color.setRGB(g.rgba[0],g.rgba[1],g.rgba[2]);mat.opacity=g.rgba[3];mat.transparent=g.rgba[3]<1;mesh.matrix.set(g.mat[0],g.mat[1],g.mat[2],g.pos[0],g.mat[3],g.mat[4],g.mat[5],g.pos[1],g.mat[6],g.mat[7],g.mat[8],g.pos[2],0,0,0,1);mesh.matrixWorldNeedsUpdate=true;const geomId=g.objtype===this.session!.module.mjtObj.mjOBJ_GEOM.value?g.objid:-1;const bodyId=geomId>=0?Number(this.session!.model.geom_bodyid[geomId]):-1;mesh.userData.geomId=geomId;mesh.userData.bodyId=bodyId;mesh.userData.geomType=g.type;this.applyMeshHighlight(mesh);}
-
-  private eventPointer(event:PointerEvent):void {const r=this.renderer.domElement.getBoundingClientRect();this.pointer.set((event.clientX-r.left)/r.width*2-1,-((event.clientY-r.top)/r.height)*2+1);}
-  private onPointerDown=(event:PointerEvent):void=>{this.eventPointer(event);this.raycaster.setFromCamera(this.pointer,this.camera);const hit=this.raycaster.intersectObjects(this.meshes.filter(m=>m.visible),false)[0];if(!hit)return;const mesh=hit.object as THREE.Mesh;this.select(mesh);const bodyId=Number(mesh.userData.bodyId);if(this.mode==='joint'){const joint=this.session?.snapshot().joints.find(j=>j.bodyId===bodyId&&j.editable);if(joint){this.dragStart=this.pointer.clone();this.dragJointId=joint.id;this.dragJointValue=joint.value;const p=joint.bodyId*3,xm=joint.bodyId*9;const origin=new THREE.Vector3(this.session!.data.xpos[p],this.session!.data.xpos[p+1],this.session!.data.xpos[p+2]);const local=new THREE.Vector3(...joint.axis);const axis=new THREE.Vector3(this.session!.data.xmat[xm]*local.x+this.session!.data.xmat[xm+1]*local.y+this.session!.data.xmat[xm+2]*local.z,this.session!.data.xmat[xm+3]*local.x+this.session!.data.xmat[xm+4]*local.y+this.session!.data.xmat[xm+5]*local.z,this.session!.data.xmat[xm+6]*local.x+this.session!.data.xmat[xm+7]*local.y+this.session!.data.xmat[xm+8]*local.z);const a=origin.clone().project(this.camera),b=origin.clone().add(axis).project(this.camera);this.dragAxis.set(b.x-a.x,b.y-a.y);if(this.dragAxis.lengthSq()<1e-6)this.dragAxis.set(1,0);else this.dragAxis.normalize();}}else if(this.mode==='force'&&bodyId>0){this.dragStart=this.pointer.clone();this.session?.initializePerturb(this.mjScene!,bodyId);this.showArrow(hit.point);this.renderer.domElement.setPointerCapture(event.pointerId);}};
-  private onPointerMove=(event:PointerEvent):void=>{if(!this.dragStart||!this.session)return;this.eventPointer(event);const dx=this.pointer.x-this.dragStart.x,dy=this.pointer.y-this.dragStart.y;if(this.mode==='joint'&&this.dragJointId>=0)this.session.setJointPosition(this.dragJointId,this.dragJointValue+(dx*this.dragAxis.x+dy*this.dragAxis.y)*Math.PI);else if(this.mode==='force'&&this.selected){const bodyId=Number(this.selected.userData.bodyId),scale=this.forceScale;const force:[number,number,number]=[dx*scale,0,-dy*scale];this.session.setExternalForce(bodyId,force);this.updateArrow(force);}};
-  private onPointerUp=():void=>{this.stopDrag();};
-  private stopDrag():void {this.dragStart=null;this.dragJointId=-1;this.session?.clearExternalForce();if(this.arrow){this.scene.remove(this.arrow);this.arrow.dispose();this.arrow=null;}}
-  private select(mesh:THREE.Mesh):void {const previous=this.selected;this.selected=mesh;if(previous)this.applyMeshHighlight(previous);this.applyMeshHighlight(mesh);const bodyId=Number(mesh.userData.bodyId),geomId=Number(mesh.userData.geomId);const name=this.session?.snapshot().bodies.find(b=>b.id===bodyId)?.name??`body_${bodyId}`;const e=mesh.matrix.elements;this.callbacks.onSelection({bodyId,geomId,bodyName:name,geomType:Number(mesh.userData.geomType),position:[e[12],e[13],e[14]]});}
-  private showArrow(origin:THREE.Vector3):void {this.arrow=new THREE.ArrowHelper(new THREE.Vector3(1,0,0),origin,0.01,0xf97316);this.scene.add(this.arrow);}
-  private updateArrow(force:[number,number,number]):void {if(!this.arrow)return;const v=new THREE.Vector3(...force),length=v.length()/25;if(length>1e-6){this.arrow.setDirection(v.normalize());this.arrow.setLength(length,Math.min(.2,length*.2),Math.min(.1,length*.1));}}
-  private disposeMesh(mesh:THREE.Mesh):void {(mesh.material as THREE.Material).dispose();}
-  private releaseModel():void {this.stopDrag();for(const mesh of this.meshes){this.scene.remove(mesh);this.disposeMesh(mesh);}this.meshes=[];for(const g of this.geometries.values())g.dispose();this.geometries.clear();for(const t of this.textures.values())t.dispose();this.textures.clear();this.mjScene?.delete();this.mjCamera?.delete();this.option?.delete();this.mjScene=null;this.mjCamera=null;this.option=null;this.session=null;this.sensorCameraId=-1;this.selected=null;this.highlightedJointId=-1;this.highlightedBodyId=-1;if(this.jointMarker){this.scene.remove(this.jointMarker);this.jointMarker.geometry.dispose();(this.jointMarker.material as THREE.Material).dispose();this.jointMarker=null;}}
-  dispose():void {cancelAnimationFrame(this.frame);this.releaseModel();this.resizeObserver.disconnect();this.renderer.domElement.removeEventListener('pointerdown',this.onPointerDown);this.renderer.domElement.removeEventListener('pointermove',this.onPointerMove);window.removeEventListener('pointerup',this.onPointerUp);this.controls.dispose();this.orientationGizmo.dispose();this.grid.geometry.dispose();const gridMaterials=Array.isArray(this.grid.material)?this.grid.material:[this.grid.material];for(const material of gridMaterials)material.dispose();this.renderer.dispose();this.renderer.domElement.remove();}
-}
diff --git a/wasm/web_platform/README.md b/web_platform/README.md
similarity index 53%
rename from wasm/web_platform/README.md
rename to web_platform/README.md
index 4e3935dd..d6e6d744 100644
--- a/wasm/web_platform/README.md
+++ b/web_platform/README.md
@@ -1,6 +1,6 @@
 # MuJoCo Web 仿真平台
 
-基于 MuJoCo 官方 JavaScript/WASM 绑定的中文桌面仿真平台。平台依赖与当前源码版本一致的 `@mujoco/mujoco` 默认入口（单线程）；本工作区现有 `wasm/dist/` 是启用线程构建的产物，因此不作为 MVP 运行入口。所有模型和资源只写入浏览器内的 Emscripten MEMFS，不上传到服务器。
+基于 MuJoCo 官方 `@mujoco/mujoco` JavaScript/WASM 包的中文桌面仿真平台。物理引擎使用默认单线程入口，模型和资源只写入浏览器内的 Emscripten MEMFS，不上传到服务器。
 
 ## MVP 功能
 
@@ -13,6 +13,8 @@
 - 播放、暂停、单步、重置、0.25×–4× 速度
 - actuator 滑杆、hinge/slide 关节拖动、动态 body 外力拖拽
 - 导入单文件 `.py` 控制器，通过本地 Pyodide 在 `mj_step` 前按仿真时间同步执行
+- 导入 mjlab 导出的 `policy.onnx`，在浏览器本地执行 Go2-W 平衡/速度策略推理
+- 从图形界面向本机训练桥接服务发起 mjlab 强化学习训练、查看进度/日志、停止任务并导入训练生成的 ONNX
 - FPS、物理耗时和主线程步进预算提示
 
 ## 开发
@@ -20,8 +22,8 @@
 从仓库根目录运行：
 
 ```bash
-npm install --prefix wasm
-npm run dev:platform --prefix wasm
+npm install
+npm run dev
 ```
 
 打开 Vite 输出的 HTTP 地址。应用**不支持**通过 `file://` 直接打开，也不注册 Service Worker/PWA。
@@ -29,11 +31,14 @@ npm run dev:platform --prefix wasm
 ## 质量检查
 
 ```bash
-npm run typecheck:platform --prefix wasm
-npm run lint:platform --prefix wasm
-npm run test:platform --prefix wasm
-npm run build:platform --prefix wasm
-npm run test:e2e:platform --prefix wasm
+npm run typecheck
+npm run lint
+npm test
+npm run build
+npm run test:e2e
+
+# 或执行除 E2E 外的完整检查
+npm run check
 ```
 
 E2E 默认使用系统安装的 Google Chrome。若没有 Chrome，可修改 `playwright.config.ts` 或运行 `npx playwright install chromium` 后移除 `channel: 'chrome'`。
@@ -41,8 +46,8 @@ E2E 默认使用系统安装的 Google Chrome。若没有 Chrome，可修改 `pl
 ## 生产构建与本地静态部署
 
 ```bash
-npm run build:platform --prefix wasm
-python3 -m http.server 8080 --directory wasm/web-platform-dist
+npm run build
+python3 -m http.server 8080 --directory web-platform-dist
 ```
 
 访问 <http://127.0.0.1:8080/>。构建使用 `base: './'`，可部署到任意静态子目录。静态服务器需将 `.wasm` 返回为 `application/wasm`；Python 3.11+、Vite preview、Nginx 等常见服务器均支持。
@@ -62,6 +67,44 @@ Python 控制器是可信的单文件脚本，必须同步定义 `step(ctx, stat
 
 当前 Python 与 MuJoCo 都运行在主线程，以保证闭环调用严格位于 `mj_step` 前。仅运行可信脚本；死循环仍可能阻塞页面。Pyodide 及 Python 标准库由 npm 包随生产构建离线发布，不从 CDN 下载；暂不支持第三方 Python 包、`pip` 或多文件 import。
 
+## 本地强化学习训练
+
+训练仍由本机 Python/mjlab 进程执行，但可以从右侧“控制 → 本地强化学习训练”直接发起和管理。先使用安装了 mjlab、PyTorch 及训练依赖的 Python 启动本地桥接服务：
+
+```bash
+npm run training-server -- \
+  --trainer-root /path/to/unitree_rl_mjlab \
+  --trainer-python /path/to/training-env/bin/python
+```
+
+界面默认连接 `http://127.0.0.1:8765`，可选择服务端允许的任务、并行环境数、训练迭代、随机种子、CPU/GPU、GPU 编号和实验记录方式。W&B 默认为本地离线模式，无需登录或 API Key；也可完全禁用，只有明确选择在线模式时才会联网登录。训练期间页面轮询迭代进度与最近日志，可以停止任务；训练成功后点击“导入策略”，生成的 `policy.onnx` 会进入现有 ONNX 加载流程。
+
+桥接服务只监听本机回环地址、仅接受允许列表中的任务和经过范围校验的参数，不执行前端提供的 Shell 命令；一次只运行一个训练进程。当前任务使用 `unitree_rl_mjlab` 自带的机器人资产与环境配置，**不会自动把浏览器中临时编辑的 MJCF/URDF 作为训练环境**。自定义浏览器模型训练需要先在 mjlab 中注册对应 task。服务配置、接口和安全边界见 [`../training_server/README.md`](../training_server/README.md)。
+
+## ONNX 强化学习策略
+
+当前内置任务兼容 `unitree_rl_mjlab` Go2 velocity 的部署观测顺序：
+
+```text
+base_ang_vel(3) + projected_gravity(3) + velocity_command(3)
++ gait_phase(2) + joint_pos_rel(12) + joint_vel_rel(12) + last_action(12)
+= 47 维观测
+```
+
+策略必须具有一个 `float32` 输入和至少一个 `float32` 输出，输入末维为 47、输出末维为 12。动作按 `FL、FR、RL、RR` 的 hip/thigh/calf 顺序解释，转换为 `default_joint_pos + 0.25 * action` 的关节目标。对于 motor 模型，平台使用与部署配置一致的 kp/kd 执行位置 PD；对于 position actuator，直接写入目标位置。Go2-W 的四个轮电机在此首版腿式策略中保持零力矩。
+
+使用步骤：
+
+1. 导入浮动基座 Go2-W MJCF/URDF，确保腿部关节与 actuator 使用 Unitree 标准命名；
+2. 打开右侧“控制 → ONNX 强化学习策略”；
+3. 从工程中选择或单独导入 `policy.onnx`；
+4. 加载策略，设置前向、侧向和偏航速度，启用策略后播放仿真。
+
+ONNX Runtime Web 的推理接口是异步的。物理循环会在每个 `mj_step` 前持续施加最近一次已完成的动作，并以 50 Hz 提交新观测；界面会显示推理耗时和次数。ONNX 与 Python 控制器互斥，启用其中一个会停止另一个。
+
+> [!IMPORTANT]
+> 当前内置契约是参考 mjlab Go2 的 12 腿关节策略，不是包含四个轮电机动作的 16 自由度 Go2-W 专用策略。若训练 Go2-W 轮式策略，需要后续同时扩展训练端部署配置和浏览器任务清单，确保观测、动作及归一化完全一致。
+
 ## 示例
 
 `fixtures/` 包含（用于测试和手工验收，不会打进生产构建）：
@@ -78,6 +121,7 @@ Python 控制器是可信的单文件脚本，必须同步定义 `step(ctx, stat
 
 - 仅面向桌面版 Chrome、Edge、Firefox；未适配手机和平板。
 - 物理运行在主线程、单线程 WASM。超出每帧预算时限制追帧并提示。
+- ONNX Runtime Web 当前使用单线程 WASM；策略必须将观测归一化包含在导出的 ONNX 图内，平台不会额外加载训练 checkpoint 的运行均值。
 - 不支持 Xacro、账号或云端保存；Python 控制器暂不支持第三方包和不可信代码隔离。
 - 关节拖动只支持 hinge/slide；ball/free joint 只读。
 - MuJoCo WASM 本身不支持 DAE mesh。平台会移除 DAE visual，并以 collision 几何显示；DAE collision 会替换为半径 0.05 m 的占位球体并在界面警告。高精度仿真应先将 DAE 转为 OBJ/STL 或改为 URDF primitive。
diff --git a/wasm/web_platform/e2e/app.spec.ts b/web_platform/e2e/app.spec.ts
similarity index 84%
rename from wasm/web_platform/e2e/app.spec.ts
rename to web_platform/e2e/app.spec.ts
index 954796e8..d3e7bded 100644
--- a/wasm/web_platform/e2e/app.spec.ts
+++ b/web_platform/e2e/app.spec.ts
@@ -43,8 +43,8 @@ test('显示中文平台骨架并加载单文件模型', async ({page}) => {
   page.on('response', (response) => { if (response.status() >= 400 || response.url().endsWith('.wasm')) console.log(`[browser:response] ${response.status()} ${response.url()} ${response.headers()['content-type'] ?? ''}`); });
   await page.goto('/');
   await page.setViewportSize({width:1024,height:768});
-  const toolBox=await page.getByRole('toolbar',{name:'视口交互模式'}).boundingBox(),playBox=await page.getByRole('button',{name:'▶ 播放'}).boundingBox();
-  expect(toolBox&&playBox&&toolBox.x+toolBox.width<=playBox.x).toBeTruthy();
+  const resetCameraBox=await page.getByRole('button',{name:'相机复位'}).boundingBox(),playBox=await page.getByRole('button',{name:'▶ 播放'}).boundingBox();
+  expect(resetCameraBox&&playBox&&resetCameraBox.x+resetCameraBox.width<=playBox.x).toBeTruthy();
   await page.getByRole('button',{name:'更多工作台操作'}).click();await expect(page.getByRole('menuitem',{name:'工作台设置'})).toBeVisible();await page.keyboard.press('Escape');
   await page.setViewportSize({width:1440,height:900});
   await expect(page.getByRole('heading', {name: 'MuJoCo Web 仿真平台'})).toBeVisible();
@@ -77,6 +77,9 @@ test('显示中文平台骨架并加载单文件模型', async ({page}) => {
   });
 
   await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
+  await page.getByRole('button',{name:'显示设置'}).click();
+  const displayDialog=page.getByRole('dialog',{name:'视图显示设置'});await expect(displayDialog).toBeVisible();await expect(displayDialog.getByRole('switch')).toHaveCount(7);
+  const centerOfMassSwitch=displayDialog.getByRole('switch',{name:/^质心/});await centerOfMassSwitch.click();await expect(centerOfMassSwitch).toHaveAttribute('aria-checked','true');await page.keyboard.press('Escape');await expect(displayDialog).toBeHidden();
   await page.getByRole('button',{name:'通知中心'}).click();await expect(page.getByRole('dialog',{name:'通知中心'})).toContainText('模型加载完成');await page.getByText('事件日志').click();await expect(page.getByRole('dialog',{name:'诊断与事件日志'})).toBeVisible();await page.keyboard.press('Escape');
   await page.getByRole('button',{name:/FPS .*物理/}).click();
   await expect(page.getByRole('dialog',{name:'性能详情'})).toBeVisible();
@@ -102,6 +105,28 @@ test('显示中文平台骨架并加载单文件模型', async ({page}) => {
   await expect(page.getByRole('button',{name:'▶ 播放'})).toBeVisible();
 });
 
+test('窄视口默认保留完整视口并可按需打开侧栏',async({page})=>{
+  await page.setViewportSize({width:800,height:700});
+  await page.goto('/');
+  await expect(page.getByRole('main')).toBeInViewport();
+  await expect(page.getByRole('button',{name:'显示工程面板'})).toBeVisible();
+  await expect(page.getByRole('button',{name:'显示属性面板'})).toBeVisible();
+  await page.getByRole('button',{name:'显示属性面板'}).click();
+  await expect(page.getByRole('complementary').filter({hasText:'导入模型后显示属性'})).toBeVisible();
+});
+
+test('工作区布局与视口显示偏好在刷新后保留',async({page})=>{
+  await page.setViewportSize({width:1440,height:900});
+  await page.goto('/');
+  await page.getByRole('button',{name:'隐藏工程面板'}).click();
+  await page.getByRole('button',{name:'显示设置'}).click();
+  await page.getByRole('switch',{name:/^坐标系/}).click();
+  await page.reload();
+  await expect(page.getByRole('button',{name:'显示工程面板'})).toBeVisible();
+  await page.getByRole('button',{name:'显示设置'}).click();
+  await expect(page.getByRole('switch',{name:/^坐标系/})).toHaveAttribute('aria-checked','true');
+});
+
 test('转换后的 MJCF 可编辑并重新载入', async ({page}) => {
   await page.goto('/');
   await page.locator('input[type="file"]').first().setInputFiles({name:'model.xml',mimeType:'text/xml',buffer:Buffer.from(SIMPLE_MODEL)});
@@ -120,6 +145,24 @@ test('转换后的 MJCF 可编辑并重新载入', async ({page}) => {
   await expect(page.getByRole('button',{name:'导出 MJCF'})).toHaveCount(0);
 });
 
+test('关闭已修改的 MJCF 前要求确认',async({page})=>{
+  await page.goto('/');
+  await page.locator('input[type="file"]').first().setInputFiles({name:'model.xml',mimeType:'text/xml',buffer:Buffer.from(SIMPLE_MODEL)});
+  await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
+  await page.getByRole('button',{name:'源代码'}).click();
+  const editorDialog=page.getByRole('dialog',{name:'转换后的 MJCF 编辑器'});
+  await editorDialog.locator('.monaco-editor').click({position:{x:240,y:120}});
+  await page.keyboard.press('Control+End');await page.keyboard.insertText('\n');
+  await editorDialog.getByRole('button',{name:'关闭源代码编辑器'}).click();
+  const confirm=page.getByRole('dialog',{name:'放弃未保存的修改？'});
+  await expect(confirm).toBeVisible();
+  await confirm.getByRole('button',{name:'继续编辑'}).click();
+  await expect(editorDialog).toBeVisible();
+  await editorDialog.getByRole('button',{name:'关闭源代码编辑器'}).click();
+  await page.getByRole('dialog',{name:'放弃未保存的修改？'}).getByRole('button',{name:'放弃修改'}).click();
+  await expect(editorDialog).toHaveCount(0);
+});
+
 test('加载包含 include、OBJ、STL 与 PNG 的工程', async ({page}) => {
   await page.goto('/');
   await page.locator('input[type="file"]').first().setInputFiles([
@@ -150,7 +193,7 @@ test('加载引用 OBJ 的 URDF 工程', async ({page}) => {
   await expect(page.getByLabel('URDF 基座类型')).toHaveValue('floating');
   await page.getByRole('button',{name:'通知中心'}).click();
   const notifications=page.getByRole('dialog',{name:'通知中心'});
-  await expect(notifications).toContainText('URDF 兼容处理');
+  await expect(notifications).toContainText(/模型已加载 · \d+ 项兼容调整/);
   await expect(notifications).toContainText(/URDF 已转换为 MJCF（浮动基座），并整体平移/);
   await page.keyboard.press('Escape');
   await expect(page.getByLabel('显示碰撞几何')).not.toBeChecked();
diff --git a/wasm/web_platform/fixtures/invalid.xml b/web_platform/fixtures/invalid.xml
similarity index 100%
rename from wasm/web_platform/fixtures/invalid.xml
rename to web_platform/fixtures/invalid.xml
diff --git a/wasm/web_platform/fixtures/missing-resource.xml b/web_platform/fixtures/missing-resource.xml
similarity index 100%
rename from wasm/web_platform/fixtures/missing-resource.xml
rename to web_platform/fixtures/missing-resource.xml
diff --git a/wasm/web_platform/fixtures/mjcf_include/checker.png b/web_platform/fixtures/mjcf_include/checker.png
similarity index 100%
rename from wasm/web_platform/fixtures/mjcf_include/checker.png
rename to web_platform/fixtures/mjcf_include/checker.png
diff --git a/wasm/web_platform/fixtures/mjcf_include/model.xml b/web_platform/fixtures/mjcf_include/model.xml
similarity index 100%
rename from wasm/web_platform/fixtures/mjcf_include/model.xml
rename to web_platform/fixtures/mjcf_include/model.xml
diff --git a/wasm/web_platform/fixtures/mjcf_include/triangle.obj b/web_platform/fixtures/mjcf_include/triangle.obj
similarity index 100%
rename from wasm/web_platform/fixtures/mjcf_include/triangle.obj
rename to web_platform/fixtures/mjcf_include/triangle.obj
diff --git a/wasm/web_platform/fixtures/mjcf_include/triangle.stl b/web_platform/fixtures/mjcf_include/triangle.stl
similarity index 100%
rename from wasm/web_platform/fixtures/mjcf_include/triangle.stl
rename to web_platform/fixtures/mjcf_include/triangle.stl
diff --git a/wasm/web_platform/fixtures/mjcf_include/world.xml b/web_platform/fixtures/mjcf_include/world.xml
similarity index 100%
rename from wasm/web_platform/fixtures/mjcf_include/world.xml
rename to web_platform/fixtures/mjcf_include/world.xml
diff --git a/wasm/web_platform/fixtures/python_controller/balance.py b/web_platform/fixtures/python_controller/balance.py
similarity index 100%
rename from wasm/web_platform/fixtures/python_controller/balance.py
rename to web_platform/fixtures/python_controller/balance.py
diff --git a/wasm/web_platform/fixtures/python_controller/model.xml b/web_platform/fixtures/python_controller/model.xml
similarity index 100%
rename from wasm/web_platform/fixtures/python_controller/model.xml
rename to web_platform/fixtures/python_controller/model.xml
diff --git a/wasm/web_platform/fixtures/urdf_dae/robot/dae/triangle.dae b/web_platform/fixtures/urdf_dae/robot/dae/triangle.dae
similarity index 100%
rename from wasm/web_platform/fixtures/urdf_dae/robot/dae/triangle.dae
rename to web_platform/fixtures/urdf_dae/robot/dae/triangle.dae
diff --git a/wasm/web_platform/fixtures/urdf_dae/robot/urdf/robot.urdf b/web_platform/fixtures/urdf_dae/robot/urdf/robot.urdf
similarity index 100%
rename from wasm/web_platform/fixtures/urdf_dae/robot/urdf/robot.urdf
rename to web_platform/fixtures/urdf_dae/robot/urdf/robot.urdf
diff --git a/wasm/web_platform/fixtures/urdf_mesh/robot.urdf b/web_platform/fixtures/urdf_mesh/robot.urdf
similarity index 100%
rename from wasm/web_platform/fixtures/urdf_mesh/robot.urdf
rename to web_platform/fixtures/urdf_mesh/robot.urdf
diff --git a/wasm/web_platform/fixtures/urdf_mesh/triangle.obj b/web_platform/fixtures/urdf_mesh/triangle.obj
similarity index 100%
rename from wasm/web_platform/fixtures/urdf_mesh/triangle.obj
rename to web_platform/fixtures/urdf_mesh/triangle.obj
diff --git a/wasm/web_platform/index.html b/web_platform/index.html
similarity index 100%
rename from wasm/web_platform/index.html
rename to web_platform/index.html
diff --git a/wasm/web_platform/playwright.config.ts b/web_platform/playwright.config.ts
similarity index 58%
rename from wasm/web_platform/playwright.config.ts
rename to web_platform/playwright.config.ts
index 1ebda2af..0f211a7c 100644
--- a/wasm/web_platform/playwright.config.ts
+++ b/web_platform/playwright.config.ts
@@ -1,2 +1,2 @@
 import {defineConfig} from '@playwright/test';
-export default defineConfig({testDir:'./e2e', timeout:120_000, use:{baseURL:'http://127.0.0.1:4173',channel:'chrome'}, webServer:{command:'npm run preview:platform --prefix .. -- --host 127.0.0.1',url:'http://127.0.0.1:4173',reuseExistingServer:true}});
+export default defineConfig({testDir:'./e2e', timeout:120_000, use:{baseURL:'http://127.0.0.1:4173',channel:'chrome'}, webServer:{command:'npm run preview --prefix .. -- --host 127.0.0.1',url:'http://127.0.0.1:4173',reuseExistingServer:true}});
diff --git a/wasm/web_platform/postcss.config.cjs b/web_platform/postcss.config.cjs
similarity index 100%
rename from wasm/web_platform/postcss.config.cjs
rename to web_platform/postcss.config.cjs
diff --git a/wasm/web_platform/src/app/App.tsx b/web_platform/src/app/App.tsx
similarity index 54%
rename from wasm/web_platform/src/app/App.tsx
rename to web_platform/src/app/App.tsx
index 653ccb32..9df99cce 100644
--- a/wasm/web_platform/src/app/App.tsx
+++ b/web_platform/src/app/App.tsx
@@ -1,13 +1,15 @@
 /* Zustand 的 action 引用稳定；初始化 viewer 与导入回调有意只创建一次。 */
 /* eslint-disable react-hooks/exhaustive-deps */
-import {useCallback,useEffect,useRef,useState,type ChangeEvent,type DragEvent} from 'react';
+import {lazy,Suspense,useCallback,useEffect,useRef,useState,type ChangeEvent,type DragEvent} from 'react';
 import {Camera,ChevronLeft,ChevronRight,CircleHelp,Code2,Crosshair,Download,Hand,Maximize,MousePointer2,PanelsTopLeft,Pause,Play,RotateCcw,Settings as SettingsIcon,SunMoon} from 'lucide-react';
-import type {ProjectManifest} from '../project/types';
+import {DEFAULT_IMPORT_LIMITS,type ProjectManifest} from '../project/types';
 import {filesFromDrop,importBrowserFiles,normalizeProjectPath,ProjectImportError} from '../project/importer';
 import {MainThreadPhysicsAdapter,type UrdfBaseMode,type UrdfEnhancementOptions,type UrdfLoadMode} from '../simulation/PhysicsAdapter';
 import type {ActuatorParameters} from '../simulation/SimulationSession';
 import type {ControllerCommand,ControllerStatus} from '../controller/types';
+import type {RLCommand,RLPolicyStatus} from '../rl/types';
 import {MuJoCoViewer,type InteractionMode,type ViewerTheme} from '../viewer/MuJoCoViewer';
+import {DEFAULT_VIEWER_DISPLAY_OPTIONS,type ViewerDisplayOptions} from '../viewer/displayOptions';
 import {useAppStore,type AppDiagnostic} from '../stores/useAppStore';
 import {WorkbenchHeader} from './components/WorkbenchHeader';
 import {ViewerToolDock} from './components/ViewerToolDock';
@@ -25,36 +27,42 @@ import {dispatchLayoutWidths,LayoutSettingsDialog,type LayoutPreset} from './com
 import {Button,ConfirmDialog,IconButton} from '../components/ui';
 import {DiagnosticsDrawer} from './components/DiagnosticsDrawer';
 import {ToolbarOverflowMenu} from './components/ToolbarOverflowMenu';
-import {SourceEditorDialog} from './components/SourceEditorDialog';
+
 import {UrdfImportOptionsDialog} from './components/UrdfImportOptionsDialog';
 import {downloadBytes,exportedFileName,mergeCachedFiles,readCachedText,upsertCachedMjcf} from '../project/cachedFiles';
 
+const SourceEditorDialog=lazy(()=>import('./components/SourceEditorDialog').then(module=>({default:module.SourceEditorDialog})));
+
 function diagnostic(category:AppDiagnostic['category'],error:unknown,path?:string):AppDiagnostic{const detail=error instanceof Error?error.message:String(error);return {category,summary:`${category}失败`,detail,path,at:Date.now()};}
 function initialTheme():ViewerTheme{try{return localStorage.getItem('mujoco-platform-theme')==='light'?'light':'dark';}catch{return'dark';}}
+function initialSidebarVisibility():{left:boolean;right:boolean}{const width=typeof window==='undefined'?1280:window.innerWidth;if(width<900)return {left:false,right:false};try{const stored=JSON.parse(localStorage.getItem('mujoco-platform-layout')??'null') as {left?:unknown;right?:unknown}|null;if(stored&&typeof stored.left==='boolean'&&typeof stored.right==='boolean')return {left:stored.left,right:stored.right};}catch{/* 使用响应式默认布局 */}return width>=1280?{left:true,right:true}:{left:false,right:true};}
+function initialDisplayOptions():ViewerDisplayOptions{try{const stored=JSON.parse(localStorage.getItem('mujoco-platform-display')??'null') as Partial<ViewerDisplayOptions>|null;if(!stored)return {...DEFAULT_VIEWER_DISPLAY_OPTIONS};const next={...DEFAULT_VIEWER_DISPLAY_OPTIONS};for(const key of Object.keys(next) as (keyof ViewerDisplayOptions)[])if(typeof stored[key]==='boolean')next[key]=stored[key];return next;}catch{return {...DEFAULT_VIEWER_DISPLAY_OPTIONS};}}
 function convertedCachePath(entryPath:string):string{const slash=entryPath.lastIndexOf('/');return `${slash>=0?entryPath.slice(0,slash+1):''}.__converted_mjcf_cache__.xml`;}
 function urdfLinkNames(project:ProjectManifest|null,path:string|undefined):string[]{const file=path?project?.files.find(candidate=>candidate.path===path):undefined;if(!file)return[];const document=new DOMParser().parseFromString(new TextDecoder().decode(file.data),'application/xml');return Array.from(document.querySelectorAll('robot > link[name]')).map(link=>link.getAttribute('name')).filter((name):name is string=>Boolean(name));}
 
 export function App(){
   const state=useAppStore();
   const manifest=useRef<ProjectManifest|null>(null),notificationId=useRef(0),loadInFlight=useRef(false),importInFlight=useRef(false),adapter=useRef(new MainThreadPhysicsAdapter()),root=useRef<HTMLDivElement>(null),viewerHost=useRef<HTMLDivElement>(null),viewer=useRef<MuJoCoViewer|null>(null),urdfEnhancementsRef=useRef<UrdfEnhancementOptions>({addActuators:true,addSensors:true,sensorType:'camera'});
-  const [forceScale,setForceScale]=useState(50),[leftOpen,setLeftOpen]=useState(true),[rightOpen,setRightOpen]=useState(true),[helpOpen,setHelpOpen]=useState(false),[commandOpen,setCommandOpen]=useState(false),[sourceOpen,setSourceOpen]=useState(false),[generatedMjcf,setGeneratedMjcf]=useState<string>(),[generatedMjcfPath,setGeneratedMjcfPath]=useState<string>(),[pendingUrdfPath,setPendingUrdfPath]=useState<string>(),[pendingUrdfMounts,setPendingUrdfMounts]=useState<string[]>([]),[removeConfirmOpen,setRemoveConfirmOpen]=useState(false),[fullscreen,setFullscreen]=useState(false),[settingsOpen,setSettingsOpen]=useState(false),[layoutOpen,setLayoutOpen]=useState(false),[diagnosticsOpen,setDiagnosticsOpen]=useState(false),[importProgress,setImportProgress]=useState<ImportProgress>(),[notifications,setNotifications]=useState<WorkbenchNotification[]>([]),[toast,setToast]=useState<WorkbenchNotification>(),[selectedControllerPath,setSelectedControllerPath]=useState<string>(),[controllerStatus,setControllerStatus]=useState<ControllerStatus>();
+  const [forceScale,setForceScale]=useState(50),[leftOpen,setLeftOpen]=useState(()=>initialSidebarVisibility().left),[rightOpen,setRightOpen]=useState(()=>initialSidebarVisibility().right),[helpOpen,setHelpOpen]=useState(false),[commandOpen,setCommandOpen]=useState(false),[sourceOpen,setSourceOpen]=useState(false),[generatedMjcf,setGeneratedMjcf]=useState<string>(),[generatedMjcfPath,setGeneratedMjcfPath]=useState<string>(),[pendingUrdfPath,setPendingUrdfPath]=useState<string>(),[pendingUrdfMounts,setPendingUrdfMounts]=useState<string[]>([]),[removeConfirmOpen,setRemoveConfirmOpen]=useState(false),[fullscreen,setFullscreen]=useState(false),[settingsOpen,setSettingsOpen]=useState(false),[layoutOpen,setLayoutOpen]=useState(false),[diagnosticsOpen,setDiagnosticsOpen]=useState(false),[importProgress,setImportProgress]=useState<ImportProgress>(),[notifications,setNotifications]=useState<WorkbenchNotification[]>([]),[toast,setToast]=useState<WorkbenchNotification>(),[selectedControllerPath,setSelectedControllerPath]=useState<string>(),[controllerStatus,setControllerStatus]=useState<ControllerStatus>(),[selectedPolicyPath,setSelectedPolicyPath]=useState<string>(),[policyStatus,setPolicyStatus]=useState<RLPolicyStatus>();
   const [urdfMode,setUrdfMode]=useState<UrdfLoadMode>('mjcf'),urdfModeRef=useRef<UrdfLoadMode>('mjcf');
   const [baseMode,setBaseMode]=useState<UrdfBaseMode>('floating'),baseModeRef=useRef<UrdfBaseMode>('floating');
-  const [showCollision,setShowCollision]=useState(false),[showSensorCamera,setShowSensorCamera]=useState(true),[theme,setTheme]=useState<ViewerTheme>(initialTheme),[jointAdvanced,setJointAdvanced]=useState(false),[ignoreJointLimits,setIgnoreJointLimits]=useState(false),[angleUnit,setAngleUnit]=useState<'rad'|'deg'>('rad');
-  useEffect(()=>{if(!viewerHost.current)return;viewer.current=new MuJoCoViewer(viewerHost.current,{onSelection:state.setSelection,onFrame:(frame,fps,snapshot)=>{const memory=(performance as Performance&{memory?:{usedJSHeapSize:number}}).memory?.usedJSHeapSize;state.setMetrics(fps,frame.stepMs,memory===undefined?undefined:memory/1048576,frame.overBudget);if(snapshot){state.setSnapshot(snapshot);setControllerStatus(snapshot.controller);if(snapshot.controller?.error)state.setPaused(true);}},onError:error=>state.setDiagnostic(diagnostic(error.message.includes('控制器')?'仿真':'渲染',error))});return()=>{viewer.current?.dispose();viewer.current=null;adapter.current.dispose();};},[]);
+  const [displayOptions,setDisplayOptions]=useState<ViewerDisplayOptions>(initialDisplayOptions),[showSensorCamera,setShowSensorCamera]=useState(true),[theme,setTheme]=useState<ViewerTheme>(initialTheme),[jointAdvanced,setJointAdvanced]=useState(false),[ignoreJointLimits,setIgnoreJointLimits]=useState(false),[angleUnit,setAngleUnit]=useState<'rad'|'deg'>('rad');
+  const showCollision=displayOptions.showCollision,setShowCollision=(value:boolean)=>setDisplayOptions(options=>({...options,showCollision:value}));
+  useEffect(()=>{if(!viewerHost.current)return;viewer.current=new MuJoCoViewer(viewerHost.current,{onSelection:state.setSelection,onFrame:(frame,fps,snapshot)=>{const memory=(performance as Performance&{memory?:{usedJSHeapSize:number}}).memory?.usedJSHeapSize;state.setMetrics(fps,frame.stepMs,memory===undefined?undefined:memory/1048576,frame.overBudget);if(snapshot){state.setSnapshot(snapshot);setControllerStatus(snapshot.controller);setPolicyStatus(snapshot.rlPolicy);if(snapshot.controller?.error||snapshot.rlPolicy?.error){adapter.current.setPaused(true);state.setPaused(true);}}},onError:error=>state.setDiagnostic(diagnostic(error.message.includes('控制器')?'仿真':'渲染',error))});return()=>{viewer.current?.dispose();viewer.current=null;adapter.current.dispose();};},[]);
   useEffect(()=>{viewer.current?.setMode(state.mode);},[state.mode]);
   useEffect(()=>{if(viewer.current)viewer.current.forceScale=forceScale;},[forceScale]);
-  useEffect(()=>{viewer.current?.setShowCollision(showCollision);},[showCollision]);
+  useEffect(()=>{viewer.current?.setDisplayOptions(displayOptions);try{localStorage.setItem('mujoco-platform-display',JSON.stringify(displayOptions));}catch{/* 当前会话仍可修改 */}},[displayOptions]);
+  useEffect(()=>{if(window.innerWidth<900)return;try{localStorage.setItem('mujoco-platform-layout',JSON.stringify({left:leftOpen,right:rightOpen}));}catch{/* 当前会话仍可修改 */}},[leftOpen,rightOpen]);
   useEffect(()=>{viewer.current?.setShowSensorCamera(showSensorCamera);},[showSensorCamera]);
   useEffect(()=>{viewer.current?.setTheme(theme);document.documentElement.style.colorScheme=theme;try{localStorage.setItem('mujoco-platform-theme',theme);}catch{/* 当前会话仍可切换 */}},[theme]);
   useEffect(()=>{const change=()=>setFullscreen(document.fullscreenElement===root.current);document.addEventListener('fullscreenchange',change);return()=>document.removeEventListener('fullscreenchange',change);},[]);
-  const loadEntry=useCallback(async(path:string,requestedMode?:UrdfLoadMode)=>{if(!manifest.current||loadInFlight.current)return;loadInFlight.current=true;setIgnoreJointLimits(false);setControllerStatus(undefined);state.setEntry(path);state.setLoading(true);setImportProgress({label:'初始化 WASM 与编译模型',value:.65});state.setDiagnostic(undefined);setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);viewer.current?.attach(null);state.setSnapshot(undefined);state.setSelection(null);try{const snapshot=await adapter.current.load(manifest.current,path,requestedMode??urdfModeRef.current,baseModeRef.current,urdfEnhancementsRef.current);const supportFiles=adapter.current.cachedSupportFiles();if(supportFiles.length&&manifest.current){manifest.current=mergeCachedFiles(manifest.current,supportFiles);state.setProject(manifest.current.name,manifest.current.files.map(file=>({path:file.path,size:file.size})),manifest.current.entries,path);}setImportProgress({label:'创建视口场景',value:.92});adapter.current.setSpeed(useAppStore.getState().speed);state.setSnapshot(snapshot);state.setPaused(true);viewer.current?.attach(adapter.current.session);try{setGeneratedMjcf(new TextDecoder().decode(adapter.current.exportMjcf()));setGeneratedMjcfPath(convertedCachePath(path));}catch(error){console.warn('[MuJoCo] 无法生成源码预览',error);}const notice:WorkbenchNotification={id:++notificationId.current,title:snapshot.warnings.length?'URDF 兼容处理':'模型加载完成',detail:snapshot.warnings.length?snapshot.warnings.join('\n'):path,tone:snapshot.warnings.length?'warning':'success',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}catch(error){state.setDiagnostic(diagnostic('模型编译',error,path));const notice:WorkbenchNotification={id:++notificationId.current,title:'模型编译失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{loadInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[]);
+  const loadEntry=useCallback(async(path:string,requestedMode?:UrdfLoadMode)=>{if(!manifest.current||loadInFlight.current)return;loadInFlight.current=true;setIgnoreJointLimits(false);setControllerStatus(undefined);setPolicyStatus(undefined);state.setEntry(path);state.setLoading(true);setImportProgress({label:'初始化 WASM 与编译模型',value:.65});state.setDiagnostic(undefined);setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);viewer.current?.attach(null);state.setSnapshot(undefined);state.setSelection(null);try{const snapshot=await adapter.current.load(manifest.current,path,requestedMode??urdfModeRef.current,baseModeRef.current,urdfEnhancementsRef.current);const supportFiles=adapter.current.cachedSupportFiles();if(supportFiles.length&&manifest.current){manifest.current=mergeCachedFiles(manifest.current,supportFiles);state.setProject(manifest.current.name,manifest.current.files.map(file=>({path:file.path,size:file.size})),manifest.current.entries,path);}setImportProgress({label:'创建视口场景',value:.92});adapter.current.setSpeed(useAppStore.getState().speed);state.setSnapshot(snapshot);state.setPaused(true);viewer.current?.attach(adapter.current.session);try{setGeneratedMjcf(new TextDecoder().decode(adapter.current.exportMjcf()));setGeneratedMjcfPath(convertedCachePath(path));}catch(error){console.warn('[MuJoCo] 无法生成源码预览',error);}const notice:WorkbenchNotification={id:++notificationId.current,title:snapshot.warnings.length?`模型已加载 · ${snapshot.warnings.length} 项兼容调整`:'模型加载完成',detail:snapshot.warnings.length?snapshot.warnings.join('\n'):path,tone:snapshot.warnings.length?'warning':'success',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}catch(error){state.setDiagnostic(diagnostic('模型编译',error,path));const notice:WorkbenchNotification={id:++notificationId.current,title:'模型编译失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{loadInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[]);
   const requestLoadEntry=useCallback(async(path:string)=>{const entry=manifest.current?.entries.find(candidate=>candidate.path===path);if(entry?.format==='urdf'&&urdfModeRef.current==='mjcf'){setPendingUrdfMounts(urdfLinkNames(manifest.current,path));setPendingUrdfPath(path);return;}await loadEntry(path);},[loadEntry]);
   const confirmUrdfOptions=(options:UrdfEnhancementOptions)=>{const path=pendingUrdfPath;if(!path)return;urdfEnhancementsRef.current=options;setPendingUrdfPath(undefined);setPendingUrdfMounts([]);void loadEntry(path);};
   const skipUrdfOptions=()=>confirmUrdfOptions({addActuators:false,addSensors:false,sensorType:'camera'});
-  const ingest=useCallback(async(files:File[],lockOwned=false)=>{if(importInFlight.current&&!lockOwned)return;importInFlight.current=true;state.setLoading(true);setImportProgress({label:'读取工程文件',value:.12});try{const next=await importBrowserFiles(files);setImportProgress({label:'处理模型资源与入口',value:.38});manifest.current=next;setSelectedControllerPath(next.files.find(file=>/\.py$/i.test(file.path))?.path);state.setProject(next.name,next.files.map(({path,size})=>({path,size})),next.entries,next.selectedEntry);if(next.selectedEntry)await requestLoadEntry(next.selectedEntry);}catch(error){state.setDiagnostic(diagnostic(error instanceof ProjectImportError&&/ZIP/.test(error.message)?'ZIP':'导入',error,error instanceof ProjectImportError?error.path:undefined));const notice:WorkbenchNotification={id:++notificationId.current,title:'工程导入失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{importInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[requestLoadEntry]);
+  const ingest=useCallback(async(files:File[],lockOwned=false)=>{if(importInFlight.current&&!lockOwned)return;importInFlight.current=true;state.setLoading(true);setImportProgress({label:'读取工程文件',value:.12});try{const next=await importBrowserFiles(files);setImportProgress({label:'处理模型资源与入口',value:.38});manifest.current=next;setSelectedControllerPath(next.files.find(file=>/\.py$/i.test(file.path))?.path);setSelectedPolicyPath(next.files.find(file=>/\.onnx$/i.test(file.path))?.path);state.setProject(next.name,next.files.map(({path,size})=>({path,size})),next.entries,next.selectedEntry);if(next.selectedEntry)await requestLoadEntry(next.selectedEntry);}catch(error){state.setDiagnostic(diagnostic(error instanceof ProjectImportError&&/ZIP/.test(error.message)?'ZIP':'导入',error,error instanceof ProjectImportError?error.path:undefined));const notice:WorkbenchNotification={id:++notificationId.current,title:'工程导入失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{importInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[requestLoadEntry]);
   const removeProject=()=>{if(state.projectName)setRemoveConfirmOpen(true);};
-  const confirmRemoveProject=()=>{viewer.current?.attach(null);adapter.current.dispose();manifest.current=null;setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);setPendingUrdfPath(undefined);setPendingUrdfMounts([]);setSelectedControllerPath(undefined);setControllerStatus(undefined);state.clearProject();setRemoveConfirmOpen(false);};
+  const confirmRemoveProject=()=>{viewer.current?.attach(null);adapter.current.dispose();manifest.current=null;setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);setPendingUrdfPath(undefined);setPendingUrdfMounts([]);setSelectedControllerPath(undefined);setControllerStatus(undefined);setSelectedPolicyPath(undefined);setPolicyStatus(undefined);state.clearProject();setRemoveConfirmOpen(false);};
   const changeUrdfMode=(value:UrdfLoadMode)=>{setUrdfMode(value);urdfModeRef.current=value;const entry=state.entries.find(candidate=>candidate.path===state.selectedEntry);if(entry?.format!=='urdf')return;if(value==='mjcf'){setPendingUrdfMounts(urdfLinkNames(manifest.current,entry.path));setPendingUrdfPath(entry.path);}else void loadEntry(entry.path,value);};
   const changeBaseMode=(value:UrdfBaseMode)=>{setBaseMode(value);baseModeRef.current=value;const entry=state.entries.find(candidate=>candidate.path===state.selectedEntry);if(entry?.format==='urdf'&&urdfModeRef.current==='mjcf')void loadEntry(entry.path,'mjcf');};
   const changeFiles=(event:ChangeEvent<HTMLInputElement>)=>{void ingest(Array.from(event.target.files??[]));event.target.value='';};
@@ -72,9 +80,15 @@ export function App(){
   const loadControllerSource=async(source:string,path:string)=>{state.setLoading(true);setImportProgress({label:'初始化 Python 运行时并加载控制器',value:.5});state.setDiagnostic(undefined);try{const status=await adapter.current.loadPythonController(source,path);setControllerStatus(status);state.setSnapshot(adapter.current.snapshot()??undefined);notify('Python 控制器已加载',`${status.name} · ${status.controlHz} Hz`);}catch(error){state.setDiagnostic(diagnostic('仿真',error,path));}finally{setImportProgress(undefined);state.setLoading(false);}};
   const loadControllerPath=(path:string)=>{const file=manifest.current?.files.find(candidate=>candidate.path===path);if(!file){state.setDiagnostic(diagnostic('仿真',new Error('工程中找不到控制脚本'),path));return;}setSelectedControllerPath(path);void loadControllerSource(new TextDecoder().decode(file.data),path);};
   const importController=(file:File)=>{void (async()=>{try{if(!/\.py$/i.test(file.name))throw new Error('请选择 .py 文件');if(file.size>1024*1024)throw new Error('Python 控制脚本不能超过 1 MiB');const path=normalizeProjectPath(file.name),data=new Uint8Array(await file.arrayBuffer());if(manifest.current){const index=manifest.current.files.findIndex(candidate=>candidate.path===path),files=manifest.current.files.slice(),entry={path,data,size:data.byteLength,source:'file' as const,mimeType:file.type||'text/x-python'};if(index>=0)files[index]=entry;else files.push(entry);manifest.current={...manifest.current,files,totalBytes:files.reduce((total,item)=>total+item.size,0)};state.setProject(manifest.current.name,files.map(({path:filePath,size})=>({path:filePath,size})),manifest.current.entries,manifest.current.selectedEntry);state.setSnapshot(adapter.current.snapshot()??undefined);}setSelectedControllerPath(path);await loadControllerSource(new TextDecoder().decode(data),path);}catch(error){state.setDiagnostic(diagnostic('仿真',error,file.name));}})();};
-  const toggleController=(enabled:boolean)=>{adapter.current.setControllerEnabled(enabled);const snapshot=adapter.current.snapshot()??undefined;setControllerStatus(snapshot?.controller);state.setSnapshot(snapshot);};
+  const toggleController=(enabled:boolean)=>{adapter.current.setControllerEnabled(enabled);const snapshot=adapter.current.snapshot()??undefined;setControllerStatus(snapshot?.controller);setPolicyStatus(snapshot?.rlPolicy);state.setSnapshot(snapshot);};
   const sendControllerCommand=(command:ControllerCommand)=>{try{adapter.current.sendControllerCommand(command);const snapshot=adapter.current.snapshot()??undefined;setControllerStatus(snapshot?.controller);state.setSnapshot(snapshot);}catch(error){state.setDiagnostic(diagnostic('仿真',error,selectedControllerPath));}};
   const removeController=()=>{adapter.current.removeController();setControllerStatus(undefined);state.setSnapshot(adapter.current.snapshot()??undefined);};
+  const loadPolicyBytes=async(data:Uint8Array,path:string)=>{state.setLoading(true);setImportProgress({label:'初始化 ONNX Runtime 并加载策略',value:.55});state.setDiagnostic(undefined);try{const status=await adapter.current.loadRLPolicy(data,path);setPolicyStatus(status);state.setSnapshot(adapter.current.snapshot()??undefined);notify('ONNX 策略已加载',`${status.taskName} · ${status.observationSize} → ${status.actionSize}`);}catch(error){state.setDiagnostic(diagnostic('仿真',error,path));}finally{setImportProgress(undefined);state.setLoading(false);}};
+  const loadPolicyPath=(path:string)=>{const file=manifest.current?.files.find(candidate=>candidate.path===path);if(!file){state.setDiagnostic(diagnostic('仿真',new Error('工程中找不到 ONNX 策略'),path));return;}setSelectedPolicyPath(path);void loadPolicyBytes(file.data,path);};
+  const importPolicy=(file:File)=>{void (async()=>{try{if(!/\.onnx$/i.test(file.name))throw new Error('请选择 .onnx 文件');if(file.size>64*1024*1024)throw new Error('ONNX 策略不能超过 64 MiB');const path=normalizeProjectPath(file.name),data=new Uint8Array(await file.arrayBuffer());if(manifest.current){const index=manifest.current.files.findIndex(candidate=>candidate.path===path),files=manifest.current.files.slice(),entry={path,data,size:data.byteLength,source:'file' as const,mimeType:file.type||'application/octet-stream'};if(index>=0)files[index]=entry;else files.push(entry);const totalBytes=files.reduce((total,item)=>total+item.size,0);if(totalBytes>DEFAULT_IMPORT_LIMITS.maxTotalBytes)throw new Error('加入 ONNX 后工程总大小超过 512 MiB');manifest.current={...manifest.current,files,totalBytes};state.setProject(manifest.current.name,files.map(({path:filePath,size})=>({path:filePath,size})),manifest.current.entries,manifest.current.selectedEntry);state.setSnapshot(adapter.current.snapshot()??undefined);}setSelectedPolicyPath(path);await loadPolicyBytes(data,path);}catch(error){state.setDiagnostic(diagnostic('仿真',error,file.name));}})();};
+  const togglePolicy=(enabled:boolean)=>{adapter.current.setRLPolicyEnabled(enabled);const snapshot=adapter.current.snapshot()??undefined;setPolicyStatus(snapshot?.rlPolicy);setControllerStatus(snapshot?.controller);state.setSnapshot(snapshot);};
+  const setPolicyCommand=(command:RLCommand)=>{adapter.current.setRLCommand(command);const snapshot=adapter.current.snapshot()??undefined;setPolicyStatus(snapshot?.rlPolicy);state.setSnapshot(snapshot);};
+  const removePolicy=()=>{adapter.current.removeRLPolicy();setPolicyStatus(undefined);state.setSnapshot(adapter.current.snapshot()??undefined);};
   const notify=(title:string,detail:string,tone:WorkbenchNotification['tone']='success')=>{const notice:WorkbenchNotification={id:++notificationId.current,title,detail,tone,at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);};
   const saveCachedSource=async(path:string,text:string)=>{if(!manifest.current)return;manifest.current=upsertCachedMjcf(manifest.current,path,text);state.setProject(manifest.current.name,manifest.current.files.map(file=>({path:file.path,size:file.size})),manifest.current.entries,path);notify('转换后的 MJCF 已保存到缓存',path);await loadEntry(path);};
   const exportUrdf=()=>{if(!manifest.current||selectedFormat!=='urdf'||!state.selectedEntry)return;const text=readCachedText(manifest.current,state.selectedEntry);downloadBytes(new TextEncoder().encode(text),exportedFileName(manifest.current.name,'urdf'));notify('URDF 已导出',state.selectedEntry);};
@@ -99,9 +113,9 @@ export function App(){
     {id:'fullscreen',label:fullscreen?'退出全屏':'进入全屏',group:'布局',icon:<Maximize className="h-4 w-4"/>,run:toggleFullscreen},
     {id:'help',label:'查看快捷键帮助',group:'帮助',icon:<CircleHelp className="h-4 w-4"/>,run:()=>setHelpOpen(true)},
   ];
-  return <div ref={root} className={`${theme==='light'?'theme-light':'theme-dark'} flex h-screen min-w-[1024px] flex-col overflow-hidden bg-app text-text-primary`} onDragOver={event=>event.preventDefault()} onDrop={drop}>
-    <WorkbenchHeader paused={state.paused} ready={Boolean(state.snapshot)} speed={state.speed} theme={theme} loading={state.loading} leftOpen={leftOpen} rightOpen={rightOpen} fullscreen={fullscreen} hasProject={Boolean(generatedMjcf)} onFiles={changeFiles} onFolder={changeFiles} onOpenSource={()=>setSourceOpen(true)} onTogglePause={togglePause} onStep={singleStep} onReset={reset} onSpeed={changeSpeed} onToggleLeft={()=>setLeftOpen(value=>!value)} onToggleRight={()=>setRightOpen(value=>!value)} onToggleTheme={()=>setTheme(value=>value==='dark'?'light':'dark')} onHelp={()=>setHelpOpen(true)} endActions={<><NotificationCenter items={notifications} onDismiss={id=>setNotifications(items=>items.filter(item=>item.id!==id))} onClear={()=>setNotifications([])} onOpenLog={()=>setDiagnosticsOpen(true)}/><span className="hidden items-center gap-0.5 xl:flex"><IconButton tooltip="布局设置" aria-label="布局设置" onClick={()=>setLayoutOpen(true)}><PanelsTopLeft className="h-4 w-4"/></IconButton><IconButton tooltip="工作台设置" aria-label="工作台设置" onClick={()=>setSettingsOpen(true)}><SettingsIcon className="h-4 w-4"/></IconButton></span></>} compactMenu={<ToolbarOverflowMenu fullscreen={fullscreen} onCommands={()=>setCommandOpen(true)} onLayout={()=>setLayoutOpen(true)} onSettings={()=>setSettingsOpen(true)} onFullscreen={toggleFullscreen} onHelp={()=>setHelpOpen(true)} onTheme={()=>setTheme(value=>value==='dark'?'light':'dark')}/>} onCommands={()=>setCommandOpen(true)} onToggleFullscreen={toggleFullscreen} center={<ViewerToolDock mode={state.mode} onModeChange={mode} onResetCamera={()=>viewer.current?.resetCamera()}/>}/>
-    <div className="flex min-h-0 flex-1"><ProjectSidebar visible={leftOpen} projectName={state.projectName} files={state.files} entries={state.entries} selectedEntry={state.selectedEntry} snapshot={state.snapshot} loading={state.loading} onRemove={removeProject} onSelectEntry={requestLoadEntry} onJointHover={jointId=>viewer.current?.highlightJoint(jointId)}/><main className="relative min-w-0 flex-1"><div ref={viewerHost} className="absolute inset-0"/><ViewportHUD paused={state.paused} mode={state.mode} selection={state.selection} ready={Boolean(state.snapshot)}/><WorkspaceOverlays loading={state.loading} hasSnapshot={Boolean(state.snapshot)} progress={importProgress}/><ToastViewport item={toast} onDismiss={()=>setToast(undefined)}/>{Boolean(state.snapshot?.model.ncam)&&(showSensorCamera?<div aria-label="摄像头画面" className="pointer-events-none absolute bottom-4 left-4 z-20 aspect-video w-[min(320px,32%)] min-w-[120px] overflow-hidden rounded-lg border border-border-strong shadow-2xl"><div className="pointer-events-auto absolute inset-x-0 top-0 flex h-7 items-center justify-between bg-black/65 px-2 text-[10px] font-medium text-white"><span className="flex items-center gap-1"><Camera className="h-3 w-3"/>摄像头</span><button type="button" className="rounded px-1.5 py-0.5 hover:bg-white/15 focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-white/60" onClick={()=>setShowSensorCamera(false)}>隐藏画面</button></div></div>:<Button className="absolute bottom-4 left-4 z-20" icon={<Camera className="h-3.5 w-3.5"/>} onClick={()=>setShowSensorCamera(true)}>显示摄像头画面</Button>)}{state.entries.length>1&&!state.selectedEntry&&!pendingUrdfPath&&<EntrySelectionDialog entries={state.entries} onSelect={requestLoadEntry}/>} {state.diagnostic&&<ErrorRecoveryPanel key={state.diagnostic.at} value={state.diagnostic} onClose={()=>state.setDiagnostic(undefined)} onRetry={state.diagnostic.category==='模型编译'&&state.diagnostic.path?()=>void loadEntry(state.diagnostic!.path!):undefined} onOpenProject={()=>{setLeftOpen(true);state.setDiagnostic(undefined);}}/>}</main><ModelControlsSidebar visible={rightOpen} snapshot={state.snapshot} selection={state.selection} selectedFormat={selectedFormat} loading={state.loading} urdfMode={urdfMode} baseMode={baseMode} showCollision={showCollision} ignoreJointLimits={ignoreJointLimits} jointAdvanced={jointAdvanced} angleUnit={angleUnit} forceScale={forceScale} controllerPaths={state.files.filter(file=>/\.py$/i.test(file.path)).map(file=>file.path)} selectedControllerPath={selectedControllerPath} controllerStatus={controllerStatus} onUrdfMode={changeUrdfMode} onBaseMode={changeBaseMode} onShowCollision={setShowCollision} onResetJoints={resetJoints} onToggleJointLimits={toggleJointLimits} onToggleAdvanced={()=>setJointAdvanced(value=>!value)} onToggleAngleUnit={()=>setAngleUnit(value=>value==='rad'?'deg':'rad')} onActuator={setActuator} onActuatorParameters={setActuatorParameters} onJoint={setJoint} onForceScale={setForceScale} onSelectControllerPath={setSelectedControllerPath} onLoadControllerPath={loadControllerPath} onImportController={importController} onToggleController={toggleController} onControllerCommand={sendControllerCommand} onRemoveController={removeController}/></div>
-    {pendingUrdfPath&&<UrdfImportOptionsDialog open path={pendingUrdfPath} mountBodies={pendingUrdfMounts} onConfirm={confirmUrdfOptions} onSkip={skipUrdfOptions}/>}{sourceOpen&&generatedMjcf&&generatedMjcfPath&&<SourceEditorDialog open code={generatedMjcf} filePath={generatedMjcfPath} theme={theme} onClose={()=>setSourceOpen(false)} onSave={saveCachedSource}/>}<ShortcutHelpDialog open={helpOpen} onClose={()=>setHelpOpen(false)}/><DiagnosticsDrawer open={diagnosticsOpen} items={notifications} onClose={()=>setDiagnosticsOpen(false)} onClear={()=>setNotifications([])}/><SettingsDialog open={settingsOpen} onClose={()=>setSettingsOpen(false)} theme={theme} angleUnit={angleUnit} showCollision={showCollision} jointAdvanced={jointAdvanced} forceScale={forceScale} onTheme={setTheme} onAngleUnit={setAngleUnit} onShowCollision={setShowCollision} onJointAdvanced={setJointAdvanced} onForceScale={setForceScale}/><LayoutSettingsDialog open={layoutOpen} onClose={()=>setLayoutOpen(false)} leftOpen={leftOpen} rightOpen={rightOpen} onLeftOpen={setLeftOpen} onRightOpen={setRightOpen} onPreset={applyLayoutPreset} onReset={()=>applyLayoutPreset('default')}/><CommandPalette open={commandOpen} onClose={()=>setCommandOpen(false)} commands={commands}/><ConfirmDialog open={removeConfirmOpen} title="移除当前工程" confirmLabel="移除工程" danger onConfirm={confirmRemoveProject} onClose={()=>setRemoveConfirmOpen(false)}><p className="text-sm text-text-secondary">确定从当前会话中移除“<strong className="text-text-primary">{state.projectName}</strong>”吗？</p><p className="mt-2 text-xs text-text-tertiary">该操作不会删除本地文件。</p></ConfirmDialog><StatusBar time={state.snapshot?.time} fps={state.fps} stepMs={state.stepMs} memoryMb={state.memoryMb} loaded={Boolean(state.snapshot)} overBudget={state.overBudget}/>
+  return <div ref={root} className={`${theme==='light'?'theme-light':'theme-dark'} flex h-screen min-w-0 flex-col overflow-hidden bg-app text-text-primary`} onDragOver={event=>event.preventDefault()} onDrop={drop}>
+    <WorkbenchHeader paused={state.paused} ready={Boolean(state.snapshot)} speed={state.speed} theme={theme} loading={state.loading} leftOpen={leftOpen} rightOpen={rightOpen} fullscreen={fullscreen} hasProject={Boolean(generatedMjcf)} onFiles={changeFiles} onFolder={changeFiles} onOpenSource={()=>setSourceOpen(true)} onTogglePause={togglePause} onStep={singleStep} onReset={reset} onSpeed={changeSpeed} onToggleLeft={()=>setLeftOpen(value=>!value)} onToggleRight={()=>setRightOpen(value=>!value)} onToggleTheme={()=>setTheme(value=>value==='dark'?'light':'dark')} onHelp={()=>setHelpOpen(true)} endActions={<><NotificationCenter items={notifications} onDismiss={id=>setNotifications(items=>items.filter(item=>item.id!==id))} onClear={()=>setNotifications([])} onOpenLog={()=>setDiagnosticsOpen(true)}/><span className="hidden items-center gap-0.5 xl:flex"><IconButton tooltip="布局设置" aria-label="布局设置" onClick={()=>setLayoutOpen(true)}><PanelsTopLeft className="h-4 w-4"/></IconButton><IconButton tooltip="工作台设置" aria-label="工作台设置" onClick={()=>setSettingsOpen(true)}><SettingsIcon className="h-4 w-4"/></IconButton></span></>} compactMenu={<ToolbarOverflowMenu fullscreen={fullscreen} onCommands={()=>setCommandOpen(true)} onLayout={()=>setLayoutOpen(true)} onSettings={()=>setSettingsOpen(true)} onFullscreen={toggleFullscreen} onHelp={()=>setHelpOpen(true)} onTheme={()=>setTheme(value=>value==='dark'?'light':'dark')}/>} onCommands={()=>setCommandOpen(true)} onToggleFullscreen={toggleFullscreen} center={<ViewerToolDock mode={state.mode} display={displayOptions} onModeChange={mode} onDisplayChange={setDisplayOptions} onResetCamera={()=>viewer.current?.resetCamera()}/>}/>
+    <div className="relative flex min-h-0 flex-1"><ProjectSidebar visible={leftOpen} projectName={state.projectName} files={state.files} entries={state.entries} selectedEntry={state.selectedEntry} snapshot={state.snapshot} loading={state.loading} onRemove={removeProject} onSelectEntry={requestLoadEntry} onJointHover={jointId=>viewer.current?.highlightJoint(jointId)}/><main className="relative min-w-0 flex-1"><div ref={viewerHost} className="absolute inset-0"/><ViewportHUD paused={state.paused} mode={state.mode} selection={state.selection} ready={Boolean(state.snapshot)}/><WorkspaceOverlays loading={state.loading} hasSnapshot={Boolean(state.snapshot)} progress={importProgress}/><ToastViewport item={toast} onDismiss={()=>setToast(undefined)}/>{Boolean(state.snapshot?.model.ncam)&&(showSensorCamera?<div aria-label="摄像头画面" className="pointer-events-none absolute bottom-4 left-4 z-20 aspect-[4/3] w-[min(320px,32%)] min-w-[120px] overflow-hidden rounded-lg border border-border-strong shadow-2xl"><div className="pointer-events-auto absolute inset-x-0 top-0 flex h-7 items-center justify-between bg-black/65 px-2 text-[10px] font-medium text-white"><span className="flex items-center gap-1"><Camera className="h-3 w-3"/>摄像头</span><button type="button" className="rounded px-1.5 py-0.5 hover:bg-white/15 focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-white/60" onClick={()=>setShowSensorCamera(false)}>隐藏画面</button></div></div>:<Button className="absolute bottom-4 left-4 z-20" icon={<Camera className="h-3.5 w-3.5"/>} onClick={()=>setShowSensorCamera(true)}>显示摄像头画面</Button>)}{state.entries.length>1&&!state.selectedEntry&&!pendingUrdfPath&&<EntrySelectionDialog entries={state.entries} onSelect={requestLoadEntry}/>} {state.diagnostic&&<ErrorRecoveryPanel key={state.diagnostic.at} value={state.diagnostic} onClose={()=>state.setDiagnostic(undefined)} onRetry={state.diagnostic.category==='模型编译'&&state.diagnostic.path?()=>void loadEntry(state.diagnostic!.path!):undefined} onOpenProject={()=>{setLeftOpen(true);state.setDiagnostic(undefined);}}/>}</main><ModelControlsSidebar visible={rightOpen} snapshot={state.snapshot} selection={state.selection} selectedFormat={selectedFormat} loading={state.loading} urdfMode={urdfMode} baseMode={baseMode} showCollision={showCollision} ignoreJointLimits={ignoreJointLimits} jointAdvanced={jointAdvanced} angleUnit={angleUnit} forceScale={forceScale} controllerPaths={state.files.filter(file=>/\.py$/i.test(file.path)).map(file=>file.path)} selectedControllerPath={selectedControllerPath} controllerStatus={controllerStatus} policyPaths={state.files.filter(file=>/\.onnx$/i.test(file.path)).map(file=>file.path)} selectedPolicyPath={selectedPolicyPath} policyStatus={policyStatus} onUrdfMode={changeUrdfMode} onBaseMode={changeBaseMode} onShowCollision={setShowCollision} onResetJoints={resetJoints} onToggleJointLimits={toggleJointLimits} onToggleAdvanced={()=>setJointAdvanced(value=>!value)} onToggleAngleUnit={()=>setAngleUnit(value=>value==='rad'?'deg':'rad')} onActuator={setActuator} onActuatorParameters={setActuatorParameters} onJoint={setJoint} onForceScale={setForceScale} onSelectControllerPath={setSelectedControllerPath} onLoadControllerPath={loadControllerPath} onImportController={importController} onToggleController={toggleController} onControllerCommand={sendControllerCommand} onRemoveController={removeController} onSelectPolicyPath={setSelectedPolicyPath} onLoadPolicyPath={loadPolicyPath} onImportPolicy={importPolicy} onTogglePolicy={togglePolicy} onPolicyCommand={setPolicyCommand} onRemovePolicy={removePolicy}/></div>
+    {pendingUrdfPath&&<UrdfImportOptionsDialog open path={pendingUrdfPath} mountBodies={pendingUrdfMounts} onConfirm={confirmUrdfOptions} onSkip={skipUrdfOptions}/>}{sourceOpen&&generatedMjcf&&generatedMjcfPath&&<Suspense fallback={<div role="status" className="fixed inset-0 z-[390] grid place-items-center bg-app/60 text-sm text-text-secondary backdrop-blur-sm">正在加载源码编辑器…</div>}><SourceEditorDialog open code={generatedMjcf} filePath={generatedMjcfPath} theme={theme} onClose={()=>setSourceOpen(false)} onSave={saveCachedSource}/></Suspense>}<ShortcutHelpDialog open={helpOpen} onClose={()=>setHelpOpen(false)}/><DiagnosticsDrawer open={diagnosticsOpen} items={notifications} onClose={()=>setDiagnosticsOpen(false)} onClear={()=>setNotifications([])}/><SettingsDialog open={settingsOpen} onClose={()=>setSettingsOpen(false)} theme={theme} angleUnit={angleUnit} showCollision={showCollision} jointAdvanced={jointAdvanced} forceScale={forceScale} onTheme={setTheme} onAngleUnit={setAngleUnit} onShowCollision={setShowCollision} onJointAdvanced={setJointAdvanced} onForceScale={setForceScale}/><LayoutSettingsDialog open={layoutOpen} onClose={()=>setLayoutOpen(false)} leftOpen={leftOpen} rightOpen={rightOpen} onLeftOpen={setLeftOpen} onRightOpen={setRightOpen} onPreset={applyLayoutPreset} onReset={()=>applyLayoutPreset('default')}/><CommandPalette open={commandOpen} onClose={()=>setCommandOpen(false)} commands={commands}/><ConfirmDialog open={removeConfirmOpen} title="移除当前工程" confirmLabel="移除工程" danger onConfirm={confirmRemoveProject} onClose={()=>setRemoveConfirmOpen(false)}><p className="text-sm text-text-secondary">确定从当前会话中移除“<strong className="text-text-primary">{state.projectName}</strong>”吗？</p><p className="mt-2 text-xs text-text-tertiary">该操作不会删除本地文件。</p></ConfirmDialog><StatusBar time={state.snapshot?.time} fps={state.fps} stepMs={state.stepMs} memoryMb={state.memoryMb} loaded={Boolean(state.snapshot)} overBudget={state.overBudget}/>
   </div>;
 }
diff --git a/wasm/web_platform/src/app/ErrorBoundary.tsx b/web_platform/src/app/ErrorBoundary.tsx
similarity index 100%
rename from wasm/web_platform/src/app/ErrorBoundary.tsx
rename to web_platform/src/app/ErrorBoundary.tsx
diff --git a/wasm/web_platform/src/app/components/ActuatorControl.test.tsx b/web_platform/src/app/components/ActuatorControl.test.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/ActuatorControl.test.tsx
rename to web_platform/src/app/components/ActuatorControl.test.tsx
diff --git a/wasm/web_platform/src/app/components/CommandPalette.tsx b/web_platform/src/app/components/CommandPalette.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/CommandPalette.tsx
rename to web_platform/src/app/components/CommandPalette.tsx
diff --git a/wasm/web_platform/src/app/components/DiagnosticNotice.tsx b/web_platform/src/app/components/DiagnosticNotice.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/DiagnosticNotice.tsx
rename to web_platform/src/app/components/DiagnosticNotice.tsx
diff --git a/wasm/web_platform/src/app/components/DiagnosticsDrawer.tsx b/web_platform/src/app/components/DiagnosticsDrawer.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/DiagnosticsDrawer.tsx
rename to web_platform/src/app/components/DiagnosticsDrawer.tsx
diff --git a/wasm/web_platform/src/app/components/EntrySelectionDialog.test.tsx b/web_platform/src/app/components/EntrySelectionDialog.test.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/EntrySelectionDialog.test.tsx
rename to web_platform/src/app/components/EntrySelectionDialog.test.tsx
diff --git a/wasm/web_platform/src/app/components/EntrySelectionDialog.tsx b/web_platform/src/app/components/EntrySelectionDialog.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/EntrySelectionDialog.tsx
rename to web_platform/src/app/components/EntrySelectionDialog.tsx
diff --git a/wasm/web_platform/src/app/components/ErrorRecoveryPanel.tsx b/web_platform/src/app/components/ErrorRecoveryPanel.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/ErrorRecoveryPanel.tsx
rename to web_platform/src/app/components/ErrorRecoveryPanel.tsx
diff --git a/wasm/web_platform/src/app/components/FeedbackComponents.test.tsx b/web_platform/src/app/components/FeedbackComponents.test.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/FeedbackComponents.test.tsx
rename to web_platform/src/app/components/FeedbackComponents.test.tsx
diff --git a/wasm/web_platform/src/app/components/FifthBatchComponents.test.tsx b/web_platform/src/app/components/FifthBatchComponents.test.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/FifthBatchComponents.test.tsx
rename to web_platform/src/app/components/FifthBatchComponents.test.tsx
diff --git a/wasm/web_platform/src/app/components/FourthBatchComponents.test.tsx b/web_platform/src/app/components/FourthBatchComponents.test.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/FourthBatchComponents.test.tsx
rename to web_platform/src/app/components/FourthBatchComponents.test.tsx
diff --git a/wasm/web_platform/src/app/components/LayoutSettingsDialog.tsx b/web_platform/src/app/components/LayoutSettingsDialog.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/LayoutSettingsDialog.tsx
rename to web_platform/src/app/components/LayoutSettingsDialog.tsx
diff --git a/web_platform/src/app/components/LocalTrainingPanel.test.tsx b/web_platform/src/app/components/LocalTrainingPanel.test.tsx
new file mode 100644
index 00000000..462a6529
--- /dev/null
+++ b/web_platform/src/app/components/LocalTrainingPanel.test.tsx
@@ -0,0 +1,25 @@
+import {fireEvent,render,screen,waitFor} from '@testing-library/react';
+import {beforeEach,describe,expect,it,vi} from 'vitest';
+import {LocalTrainingPanel} from './LocalTrainingPanel';
+
+beforeEach(()=>{localStorage.clear();vi.unstubAllGlobals();});
+
+describe('LocalTrainingPanel',()=>{
+  it('连接本地服务并从图形界面发起训练请求',async()=>{
+    const health={version:'0.1.0',ready:true,trainerRoot:'/opt/unitree_rl_mjlab',python:'/env/bin/python',tasks:['Unitree-Go2-Flat']};
+    const job={id:'a'.repeat(32),state:'queued',taskId:'Unitree-Go2-Flat',createdAt:'2025-01-01T00:00:00Z',iteration:0,maxIterations:2000,progress:0,message:'等待启动',logs:[],artifactReady:false};
+    const fetchMock=vi.fn()
+      .mockResolvedValueOnce(new Response(JSON.stringify(health),{status:200,headers:{'Content-Type':'application/json'}}))
+      .mockResolvedValueOnce(new Response(JSON.stringify(job),{status:202,headers:{'Content-Type':'application/json'}}));
+    vi.stubGlobal('fetch',fetchMock);
+    render(<LocalTrainingPanel onPolicyReady={vi.fn()}/>);
+    fireEvent.click(screen.getByRole('button',{name:'连接'}));
+    expect(await screen.findByText('/opt/unitree_rl_mjlab')).toBeInTheDocument();
+    fireEvent.change(screen.getByLabelText('并行环境'),{target:{value:'32'}});
+    fireEvent.click(screen.getByRole('button',{name:'发起本地训练'}));
+    await waitFor(()=>expect(fetchMock).toHaveBeenCalledTimes(2));
+    const request=fetchMock.mock.calls[1][1] as RequestInit;
+    expect(JSON.parse(String(request.body))).toMatchObject({taskId:'Unitree-Go2-Flat',numEnvs:32,device:'gpu',gpuIds:[0],wandbMode:'offline'});
+    expect(await screen.findByText('排队中')).toBeInTheDocument();
+  });
+});
diff --git a/web_platform/src/app/components/LocalTrainingPanel.tsx b/web_platform/src/app/components/LocalTrainingPanel.tsx
new file mode 100644
index 00000000..f61be61d
--- /dev/null
+++ b/web_platform/src/app/components/LocalTrainingPanel.tsx
@@ -0,0 +1,77 @@
+import {useEffect,useState,type ReactNode} from 'react';
+import {Download,Link,Play,Server,Square} from 'lucide-react';
+import {Badge,Button,ProgressBar,PropertyRow,Select} from '../../components/ui';
+import {LocalTrainingClient} from '../../training/LocalTrainingClient';
+import type {TrainingDevice,TrainingJob,TrainingServerInfo,WandbMode} from '../../training/types';
+
+const ENDPOINT_KEY='mujoco-local-training-endpoint',JOB_KEY='mujoco-local-training-job';
+const DEFAULT_ENDPOINT='http://127.0.0.1:8765';
+const ACTIVE_STATES=new Set(['queued','running']);
+function stored(key:string,fallback=''):string{try{return localStorage.getItem(key)??fallback;}catch{return fallback;}}
+function errorText(error:unknown):string{return error instanceof Error?error.message:String(error);}
+function stateLabel(state:TrainingJob['state']):string{return {queued:'排队中',running:'训练中',succeeded:'已完成',failed:'失败',cancelled:'已取消'}[state];}
+
+export function LocalTrainingPanel({onPolicyReady}:{onPolicyReady(file:File):void}){
+  const [endpoint,setEndpoint]=useState(()=>stored(ENDPOINT_KEY,DEFAULT_ENDPOINT));
+  const [server,setServer]=useState<TrainingServerInfo>();
+  const [job,setJob]=useState<TrainingJob>();
+  const [busy,setBusy]=useState(false),[error,setError]=useState<string>();
+  const [taskId,setTaskId]=useState('Unitree-Go2-Flat'),[numEnvs,setNumEnvs]=useState(4096),[maxIterations,setMaxIterations]=useState(2000),[seed,setSeed]=useState(42),[runName,setRunName]=useState('web'),[device,setDevice]=useState<TrainingDevice>('gpu'),[gpuIds,setGpuIds]=useState('0'),[wandbMode,setWandbMode]=useState<WandbMode>('offline');
+
+  const connect=async()=>{
+    setBusy(true);setError(undefined);
+    try{
+      const client=new LocalTrainingClient(endpoint),info=await client.health();
+      setServer(info);try{localStorage.setItem(ENDPOINT_KEY,client.endpoint);}catch{/* 当前会话仍可连接 */}
+      if(info.tasks.length&&!info.tasks.includes(taskId))setTaskId(info.tasks[0]);
+      const remembered=info.activeJobId??stored(JOB_KEY);
+      if(remembered){try{setJob(await client.job(remembered));}catch{try{localStorage.removeItem(JOB_KEY);}catch{/* ignore */}}}
+      if(!info.ready)setError(info.error??'训练服务尚未就绪');
+    }catch(value){setServer(undefined);setError(errorText(value));}
+    finally{setBusy(false);}
+  };
+
+  const jobId=job?.id,jobState=job?.state;
+  useEffect(()=>{
+    if(!jobId||!jobState||!ACTIVE_STATES.has(jobState))return;
+    let disposed=false;
+    const refresh=async()=>{try{const next=await new LocalTrainingClient(endpoint).job(jobId);if(!disposed)setJob(next);}catch(value){if(!disposed)setError(errorText(value));}};
+    const timer=window.setInterval(()=>void refresh(),1500);return()=>{disposed=true;window.clearInterval(timer);};
+  },[endpoint,jobId,jobState]);
+
+  const start=async()=>{
+    setBusy(true);setError(undefined);
+    try{
+      const ids=device==='gpu'?gpuIds.split(/[\s,]+/).filter(Boolean).map(Number):[];
+      if(ids.some(id=>!Number.isInteger(id)||id<0))throw new Error('GPU 编号必须是非负整数');
+      const next=await new LocalTrainingClient(endpoint).start({taskId,numEnvs,maxIterations,seed,runName,device,gpuIds:ids,wandbMode});
+      setJob(next);try{localStorage.setItem(JOB_KEY,next.id);}catch{/* ignore */}
+    }catch(value){setError(errorText(value));}finally{setBusy(false);}
+  };
+  const cancel=async()=>{if(!job)return;setBusy(true);setError(undefined);try{setJob(await new LocalTrainingClient(endpoint).cancel(job.id));}catch(value){setError(errorText(value));}finally{setBusy(false);}};
+  const importResult=async()=>{if(!job)return;setBusy(true);setError(undefined);try{onPolicyReady(await new LocalTrainingClient(endpoint).downloadPolicy(job.id));}catch(value){setError(errorText(value));}finally{setBusy(false);}};
+  const active=Boolean(job&&ACTIVE_STATES.has(job.state));
+
+  return <div>
+    <label className="block text-xs text-text-secondary"><span className="mb-1 block">本地训练服务</span><div className="flex gap-2"><input aria-label="本地训练服务地址" className="field h-7 min-w-0 flex-1 px-2 text-xs text-text-primary" value={endpoint} disabled={active} onChange={event=>setEndpoint(event.target.value)}/><Button icon={<Link className="h-3.5 w-3.5"/>} disabled={busy||active} onClick={()=>void connect()}>连接</Button></div></label>
+    <div className="mt-2 flex items-center justify-between rounded-md border border-border bg-surface px-2 py-1.5 text-[10px] text-text-tertiary"><span className="flex min-w-0 items-center gap-1.5 truncate"><Server className="h-3.5 w-3.5"/>{server?.trainerRoot??'请先启动本地训练服务'}</span><Badge tone={server?.ready?'success':'warning'}>{server?.ready?'可用':'离线'}</Badge></div>
+    {server?.ready&&!job&&<div className="mt-3 space-y-2">
+      <Field label="训练任务"><Select aria-label="训练任务" className="w-full" value={taskId} onChange={event=>setTaskId(event.target.value)}>{server.tasks.map(task=><option key={task} value={task}>{task}</option>)}</Select></Field>
+      <div className="grid grid-cols-2 gap-2"><NumberField label="并行环境" value={numEnvs} min={1} max={16384} onChange={setNumEnvs}/><NumberField label="训练迭代" value={maxIterations} min={1} max={1000000} onChange={setMaxIterations}/><NumberField label="随机种子" value={seed} min={0} max={2147483647} onChange={setSeed}/><Field label="运行名称"><input aria-label="运行名称" className="field h-7 w-full px-2 text-xs text-text-primary" value={runName} onChange={event=>setRunName(event.target.value)}/></Field></div>
+      <div className="grid grid-cols-2 gap-2"><Field label="计算设备"><Select aria-label="计算设备" className="w-full" value={device} onChange={event=>setDevice(event.target.value as TrainingDevice)}><option value="gpu">GPU</option><option value="cpu">CPU</option></Select></Field><Field label="GPU 编号"><input aria-label="GPU 编号" className="field h-7 w-full px-2 text-xs text-text-primary disabled:opacity-40" value={gpuIds} disabled={device==='cpu'} onChange={event=>setGpuIds(event.target.value)}/></Field></div>
+      <Field label="实验记录"><Select aria-label="W&B 模式" className="w-full" value={wandbMode} onChange={event=>setWandbMode(event.target.value as WandbMode)}><option value="offline">本地离线（默认，无需登录）</option><option value="disabled">完全禁用 W&amp;B</option><option value="online">在线 W&amp;B（需要 API Key）</option></Select></Field>
+      <Button variant="primary" className="w-full" icon={<Play className="h-3.5 w-3.5"/>} disabled={busy} onClick={()=>void start()}>发起本地训练</Button>
+      <p className="text-[10px] leading-4 text-text-tertiary">训练使用本地 mjlab 任务资产，不会把浏览器中的模型上传到网络。服务一次只运行一个训练任务。</p>
+    </div>}
+    {job&&<div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
+      <div className="mb-2 flex items-center justify-between gap-2"><span className="truncate text-xs font-medium text-text-primary" title={job.id}>{job.taskId}</span><Badge tone={job.state==='succeeded'?'success':job.state==='failed'||job.state==='cancelled'?'warning':'accent'}>{stateLabel(job.state)}</Badge></div>
+      <ProgressBar value={job.progress} label="训练进度"/><div className="mt-2"><PropertyRow label="迭代" value={`${job.iteration} / ${job.maxIterations}`}/><PropertyRow label="状态" value={job.message}/></div>
+      {job.logs.length>0&&<details className="mt-2"><summary className="cursor-pointer text-[10px] text-text-secondary">最近日志</summary><pre className="mt-1 max-h-36 overflow-auto whitespace-pre-wrap break-all rounded bg-app p-2 text-[9px] leading-4 text-text-tertiary">{job.logs.slice(-40).join('\n')}</pre></details>}
+      <div className="mt-3 grid grid-cols-2 gap-2">{active?<Button variant="danger" className="col-span-2" icon={<Square className="h-3.5 w-3.5"/>} disabled={busy} onClick={()=>void cancel()}>停止训练</Button>:<><Button disabled={busy||!job.artifactReady} icon={<Download className="h-3.5 w-3.5"/>} onClick={()=>void importResult()}>导入策略</Button><Button onClick={()=>{setJob(undefined);try{localStorage.removeItem(JOB_KEY);}catch{/* ignore */}}}>新建任务</Button></>}</div>
+    </div>}
+    {error&&<p role="alert" className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger">{error}</p>}
+  </div>;
+}
+
+function Field({label,children}:{label:string;children:ReactNode}){return <label className="block text-[10px] text-text-tertiary"><span className="mb-1 block">{label}</span>{children}</label>;}
+function NumberField({label,value,min,max,onChange}:{label:string;value:number;min:number;max:number;onChange(value:number):void}){return <Field label={label}><input aria-label={label} type="number" className="field h-7 w-full px-2 text-xs text-text-primary" value={value} min={min} max={max} onChange={event=>onChange(Number(event.target.value))}/></Field>;}
diff --git a/wasm/web_platform/src/app/components/NotificationCenter.tsx b/web_platform/src/app/components/NotificationCenter.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/NotificationCenter.tsx
rename to web_platform/src/app/components/NotificationCenter.tsx
diff --git a/wasm/web_platform/src/app/components/PerformancePopover.tsx b/web_platform/src/app/components/PerformancePopover.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/PerformancePopover.tsx
rename to web_platform/src/app/components/PerformancePopover.tsx
diff --git a/wasm/web_platform/src/app/components/ProjectBreadcrumb.tsx b/web_platform/src/app/components/ProjectBreadcrumb.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/ProjectBreadcrumb.tsx
rename to web_platform/src/app/components/ProjectBreadcrumb.tsx
diff --git a/wasm/web_platform/src/app/components/PythonControllerPanel.test.tsx b/web_platform/src/app/components/PythonControllerPanel.test.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/PythonControllerPanel.test.tsx
rename to web_platform/src/app/components/PythonControllerPanel.test.tsx
diff --git a/wasm/web_platform/src/app/components/PythonControllerPanel.tsx b/web_platform/src/app/components/PythonControllerPanel.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/PythonControllerPanel.tsx
rename to web_platform/src/app/components/PythonControllerPanel.tsx
diff --git a/web_platform/src/app/components/RLPolicyPanel.tsx b/web_platform/src/app/components/RLPolicyPanel.tsx
new file mode 100644
index 00000000..391f6899
--- /dev/null
+++ b/web_platform/src/app/components/RLPolicyPanel.tsx
@@ -0,0 +1,30 @@
+import {useRef,type ChangeEvent} from 'react';
+import {BrainCircuit,FileUp,Power,RotateCw,Trash2} from 'lucide-react';
+import type {RLCommand,RLPolicyStatus} from '../../rl/types';
+import {Badge,Button,PropertyRow,Select} from '../../components/ui';
+
+export interface RLPolicyPanelProps {
+  paths:string[];selectedPath?:string;status?:RLPolicyStatus;loading:boolean;
+  onSelectPath(path:string):void;onLoadPath(path:string):void;onImport(file:File):void;
+  onToggle(enabled:boolean):void;onCommand(command:RLCommand):void;onRemove():void;
+}
+
+export function RLPolicyPanel({paths,selectedPath,status,loading,onSelectPath,onLoadPath,onImport,onToggle,onCommand,onRemove}:RLPolicyPanelProps){
+  const input=useRef<HTMLInputElement>(null);
+  const importFile=(event:ChangeEvent<HTMLInputElement>)=>{const file=event.target.files?.[0];if(file)onImport(file);event.target.value='';};
+  const command=status?.command??{linearX:0,linearY:0,angularZ:0};
+  return <div>
+    <input ref={input} className="hidden" type="file" accept=".onnx,application/octet-stream" onChange={importFile}/>
+    {paths.length>0&&<label className="mb-3 block text-xs text-text-secondary"><span className="mb-1 block">工程内策略</span><Select aria-label="ONNX 策略" className="w-full" value={selectedPath??''} disabled={loading} onChange={event=>onSelectPath(event.target.value)}><option value="">选择 .onnx 文件</option>{paths.map(path=><option key={path} value={path}>{path}</option>)}</Select></label>}
+    <div className="grid grid-cols-2 gap-2"><Button icon={<FileUp className="h-3.5 w-3.5"/>} disabled={loading} onClick={()=>input.current?.click()}>导入 ONNX</Button><Button icon={<RotateCw className="h-3.5 w-3.5"/>} disabled={loading||!selectedPath} onClick={()=>selectedPath&&onLoadPath(selectedPath)}>加载策略</Button></div>
+    {status?<div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
+      <div className="mb-2 flex items-center justify-between gap-2"><span className="flex min-w-0 items-center gap-1.5 truncate text-xs font-medium text-text-primary" title={status.path}><BrainCircuit className="h-3.5 w-3.5 shrink-0 text-accent"/>{status.taskName}</span><Badge>{status.enabled?'推理中':'已停止'}</Badge></div>
+      <PropertyRow label="控制频率" value={`${status.controlHz} Hz`}/><PropertyRow label="观测 / 动作" value={`${status.observationSize} / ${status.actionSize}`}/><PropertyRow label="推理次数" value={status.inferenceCount}/><PropertyRow label="上次推理" value={`${status.lastInferenceMs.toFixed(2)} ms`}/>
+      <div className="mt-3 border-t border-border pt-3"><p className="mb-2 text-[10px] text-text-tertiary">速度指令（机身坐标系）</p><CommandInput label="前向 m/s" value={command.linearX} min={-0.5} max={1} onChange={linearX=>onCommand({...command,linearX})}/><CommandInput label="侧向 m/s" value={command.linearY} min={-0.5} max={0.5} onChange={linearY=>onCommand({...command,linearY})}/><CommandInput label="偏航 rad/s" value={command.angularZ} min={-1} max={1} onChange={angularZ=>onCommand({...command,angularZ})}/><Button className="mt-1 w-full" onClick={()=>onCommand({linearX:0,linearY:0,angularZ:0})}>停止移动</Button></div>
+      {status.error&&<p role="alert" className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger">{status.error}</p>}
+      <div className="mt-3 grid grid-cols-2 gap-2"><Button variant={status.enabled?'secondary':'primary'} icon={<Power className="h-3.5 w-3.5"/>} disabled={Boolean(status.error)} onClick={()=>onToggle(!status.enabled)}>{status.enabled?'停止':'启用'}</Button><Button variant="danger" icon={<Trash2 className="h-3.5 w-3.5"/>} onClick={onRemove}>卸载</Button></div>
+    </div>:<p className="mt-3 text-xs leading-5 text-text-tertiary">加载 mjlab 导出的单输入、单动作输出 policy.onnx。首个内置任务使用 47 维 Go2 actor 观测和 12 维腿部关节位置动作；Go2-W 轮电机保持零力矩。</p>}
+  </div>;
+}
+
+function CommandInput({label,value,min,max,onChange}:{label:string;value:number;min:number;max:number;onChange(value:number):void}){return <label className="mb-2 grid grid-cols-[1fr_72px] items-center gap-2 text-[10px] text-text-tertiary"><span>{label}</span><input className="field h-7 w-full px-2 text-right text-xs text-text-primary" type="number" step="0.05" min={min} max={max} value={value} onChange={event=>onChange(Number(event.target.value))}/></label>;}
diff --git a/web_platform/src/app/components/SecondBatchComponents.test.tsx b/web_platform/src/app/components/SecondBatchComponents.test.tsx
new file mode 100644
index 00000000..e1166102
--- /dev/null
+++ b/web_platform/src/app/components/SecondBatchComponents.test.tsx
@@ -0,0 +1,15 @@
+import {fireEvent,render,screen} from '@testing-library/react';
+import {ShortcutHelpDialog} from './ShortcutHelpDialog';
+import {TreeSearchField} from './TreeSearchField';
+import {ViewportHUD} from './ViewportHUD';
+import {EmptyWorkspace} from './WorkspaceOverlays';
+import {ViewerDisplayPopover} from './ViewerDisplayPopover';
+import {DEFAULT_VIEWER_DISPLAY_OPTIONS} from '../../viewer/displayOptions';
+
+describe('第二批工作台组件',()=>{
+  it('搜索框发送内容并可清除',()=>{const change=vi.fn();const {rerender}=render(<TreeSearchField value="" onChange={change}/>);fireEvent.change(screen.getByRole('searchbox'),{target:{value:'arm'}});expect(change).toHaveBeenCalledWith('arm');rerender(<TreeSearchField value="arm" resultCount={2} onChange={change}/>);expect(screen.getByRole('status')).toHaveTextContent('找到 2 个匹配项');fireEvent.click(screen.getByRole('button',{name:'清除搜索'}));expect(change).toHaveBeenLastCalledWith('');});
+  it('快捷键帮助展示说明并支持 Escape',()=>{const close=vi.fn();render(<ShortcutHelpDialog open onClose={close}/>);expect(screen.getByRole('dialog',{name:'快捷键与视口操作'})).toBeVisible();expect(screen.getByText('播放 / 暂停')).toBeVisible();fireEvent.keyDown(document,{key:'Escape'});expect(close).toHaveBeenCalledTimes(1);});
+  it('视口 HUD 复用状态并给出当前模式的鼠标提示',()=>{render(<ViewportHUD ready paused={false} mode="joint" selection={{bodyId:2,bodyName:'arm',geomId:3,geomType:1,position:[0,0,0]}}/>);expect(screen.getByLabelText('视口状态')).toHaveTextContent('仿真中');expect(screen.getByLabelText('视口状态')).toHaveTextContent('关节拖动');expect(screen.getByLabelText('视口状态')).toHaveTextContent('arm');expect(screen.getByLabelText('视口操作提示')).toHaveTextContent('左键拖动关节');expect(screen.getByLabelText('视口操作提示')).toHaveTextContent('右键平移');});
+  it('空工作区解释导入到仿真的三步流程',()=>{render(<EmptyWorkspace/>);expect(screen.getByRole('region',{name:'导入模型工程'})).toBeVisible();expect(screen.getByRole('list',{name:'仿真工作流程'})).toHaveTextContent('导入');expect(screen.getByRole('list',{name:'仿真工作流程'})).toHaveTextContent('检查与配置');expect(screen.getByRole('list',{name:'仿真工作流程'})).toHaveTextContent('运行与调试');expect(screen.getByText('模型与资源仅在当前浏览器会话中处理')).toBeVisible();});
+  it('显示浮窗切换碰撞体和结构辅助标记',()=>{const change=vi.fn();render(<ViewerDisplayPopover value={{...DEFAULT_VIEWER_DISPLAY_OPTIONS}} onChange={change}/>);fireEvent.click(screen.getByRole('button',{name:'显示设置'}));expect(screen.getByRole('dialog',{name:'视图显示设置'})).toBeVisible();expect(screen.getAllByRole('switch')).toHaveLength(7);fireEvent.click(screen.getByRole('switch',{name:/碰撞体/}));expect(change).toHaveBeenCalledWith({...DEFAULT_VIEWER_DISPLAY_OPTIONS,showCollision:true});});
+});
diff --git a/wasm/web_platform/src/app/components/SettingsDialog.tsx b/web_platform/src/app/components/SettingsDialog.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/SettingsDialog.tsx
rename to web_platform/src/app/components/SettingsDialog.tsx
diff --git a/wasm/web_platform/src/app/components/ShortcutHelpDialog.tsx b/web_platform/src/app/components/ShortcutHelpDialog.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/ShortcutHelpDialog.tsx
rename to web_platform/src/app/components/ShortcutHelpDialog.tsx
diff --git a/wasm/web_platform/src/app/components/SidebarPanel.tsx b/web_platform/src/app/components/SidebarPanel.tsx
similarity index 89%
rename from wasm/web_platform/src/app/components/SidebarPanel.tsx
rename to web_platform/src/app/components/SidebarPanel.tsx
index 1cc74aa0..e1a488af 100644
--- a/wasm/web_platform/src/app/components/SidebarPanel.tsx
+++ b/web_platform/src/app/components/SidebarPanel.tsx
@@ -7,10 +7,13 @@ import type {ActuatorInfo,ActuatorParameters,SimulationSnapshot} from '../../sim
 import type {UrdfBaseMode,UrdfLoadMode} from '../../simulation/PhysicsAdapter';
 import type {ViewerSelection} from '../../viewer/MuJoCoViewer';
 import type {ControllerCommand,ControllerStatus} from '../../controller/types';
+import type {RLCommand,RLPolicyStatus} from '../../rl/types';
 import {Badge,Button,CollapsibleSection,CopyButton,PropertyRow,ResizablePanel,Select,Tabs} from '../../components/ui';
 import {TreeSearchField} from './TreeSearchField';
 import {ProjectBreadcrumb} from './ProjectBreadcrumb';
 import {PythonControllerPanel} from './PythonControllerPanel';
+import {RLPolicyPanel} from './RLPolicyPanel';
+import {LocalTrainingPanel} from './LocalTrainingPanel';
 
 export function SidebarPanel({title,side,children,visible=true}:{title:string;side:'left'|'right';children:ReactNode;visible?:boolean}){return <ResizablePanel side={side} storageKey={`mujoco-${side}-sidebar-width`} visible={visible}><aside className={`flex h-full w-full min-w-0 flex-col overflow-hidden bg-panel ${side==='left'?'border-r':'border-l'} border-border`}><h2 className="flex h-10 shrink-0 items-center gap-2 border-b border-border bg-panel px-3 text-sm font-semibold text-text-primary"><Settings2 aria-hidden="true" className="h-4 w-4 text-accent"/>{title}</h2>{children}</aside></ResizablePanel>;}
 
@@ -20,16 +23,18 @@ interface ModelControlsProps{
   snapshot?:SimulationSnapshot;selection:ViewerSelection|null;selectedFormat?:ModelEntry['format'];loading:boolean;visible?:boolean;
   urdfMode:UrdfLoadMode;baseMode:UrdfBaseMode;showCollision:boolean;ignoreJointLimits:boolean;jointAdvanced:boolean;angleUnit:'rad'|'deg';forceScale:number;
   controllerPaths:string[];selectedControllerPath?:string;controllerStatus?:ControllerStatus;
+  policyPaths:string[];selectedPolicyPath?:string;policyStatus?:RLPolicyStatus;
   onUrdfMode:(value:UrdfLoadMode)=>void;onBaseMode:(value:UrdfBaseMode)=>void;onShowCollision:(value:boolean)=>void;
   onResetJoints:()=>void;onToggleJointLimits:()=>void;onToggleAdvanced:()=>void;onToggleAngleUnit:()=>void;
   onActuator:(id:number,value:number)=>void;onActuatorParameters:(id:number,parameters:ActuatorParameters)=>void;onJoint:(id:number,value:number)=>void;onForceScale:(value:number)=>void;
   onSelectControllerPath:(path:string)=>void;onLoadControllerPath:(path:string)=>void;onImportController:(file:File)=>void;onToggleController:(enabled:boolean)=>void;onControllerCommand:(command:ControllerCommand)=>void;onRemoveController:()=>void;
+  onSelectPolicyPath:(path:string)=>void;onLoadPolicyPath:(path:string)=>void;onImportPolicy:(file:File)=>void;onTogglePolicy:(enabled:boolean)=>void;onPolicyCommand:(command:RLCommand)=>void;onRemovePolicy:()=>void;
 }
 export function ModelControlsSidebar(props:ModelControlsProps){const [tab,setTab]=useState<'properties'|'controls'>('properties'),s=props.snapshot;if(!s)return <SidebarPanel title="模型与控制" side="right" visible={props.visible}><div className="p-4 text-sm text-text-tertiary">导入模型后显示属性</div></SidebarPanel>;
   const properties=<><CollapsibleSection title="模型信息" defaultOpen badge={<Badge>{s.model.nbody} Body</Badge>}><div><PropertyRow label="Body" value={s.model.nbody}/><PropertyRow label="Joint" value={s.model.njnt}/><PropertyRow label="Geom" value={s.model.ngeom}/><PropertyRow label="Actuator" value={s.model.nactuator}/><PropertyRow label="qpos / qvel" value={`${s.model.nq} / ${s.model.nv}`}/></div></CollapsibleSection>
   {props.selectedFormat==='urdf'&&<CollapsibleSection title="URDF 处理方式" defaultOpen={false}><Select aria-label="URDF 处理方式" className="w-full" value={props.urdfMode} disabled={props.loading} onChange={event=>props.onUrdfMode(event.target.value as UrdfLoadMode)}><option value="mjcf">转换为 MJCF（推荐）</option><option value="native">MuJoCo 原生 URDF</option></Select><label className="mt-3 block text-xs text-text-secondary"><span className="mb-1 block">基座类型</span><Select aria-label="URDF 基座类型" className="w-full" value={props.baseMode} disabled={props.loading||props.urdfMode==='native'} onChange={event=>props.onBaseMode(event.target.value as UrdfBaseMode)}><option value="floating">浮动基座（Free Joint）</option><option value="fixed">固定基座（连接世界）</option></Select></label><p className="mt-2 text-xs text-text-tertiary">MJCF 模式保留 visual mesh、添加物理地面，并将模型最低点对齐到 z=0。</p><Check label="显示碰撞几何" checked={props.showCollision} onChange={props.onShowCollision}/></CollapsibleSection>}
   <CollapsibleSection title="当前选择" defaultOpen>{props.selection?<div className="text-xs"><PropertyRow label="Body" value={props.selection.bodyName} action={<CopyButton value={props.selection.bodyName} label="复制 Body 名称"/>}/><PropertyRow label="标识" value={`${props.selection.bodyId} / ${props.selection.geomId} / ${props.selection.geomType}`} action={<CopyButton value={`body ${props.selection.bodyId}, geom ${props.selection.geomId}, type ${props.selection.geomType}`} label="复制标识"/>}/><PropertyRow label="位置" value={props.selection.position.map(value=>value.toFixed(3)).join(', ')} action={<CopyButton value={props.selection.position.join(', ')} label="复制位置"/>}/></div>:<p className="flex items-center gap-2 text-xs text-text-tertiary"><Info className="h-3.5 w-3.5"/>在视口中单击物体</p>}</CollapsibleSection></>;
-  const controls=<><CollapsibleSection title="Python 控制器" defaultOpen badge={s.controller?<Badge>{s.controller.enabled?'运行':'停止'}</Badge>:undefined}><PythonControllerPanel paths={props.controllerPaths} selectedPath={props.selectedControllerPath} status={props.controllerStatus??s.controller} loading={props.loading} onSelectPath={props.onSelectControllerPath} onLoadPath={props.onLoadControllerPath} onImport={props.onImportController} onToggle={props.onToggleController} onCommand={props.onControllerCommand} onRemove={props.onRemoveController}/></CollapsibleSection><CollapsibleSection title="Actuator" defaultOpen={false} badge={<Badge>{s.actuators.length}</Badge>}>{s.actuators.length?s.actuators.map(actuator=><ActuatorControl key={actuator.id} actuator={actuator} onControl={value=>props.onActuator(actuator.id,value)} onParameters={parameters=>props.onActuatorParameters(actuator.id,parameters)}/>):<p className="text-xs text-text-tertiary">模型没有驱动器</p>}</CollapsibleSection>
+  const controls=<><CollapsibleSection title="ONNX 强化学习策略" defaultOpen badge={s.rlPolicy?<Badge>{s.rlPolicy.enabled?'推理':'停止'}</Badge>:undefined}><RLPolicyPanel paths={props.policyPaths} selectedPath={props.selectedPolicyPath} status={props.policyStatus??s.rlPolicy} loading={props.loading} onSelectPath={props.onSelectPolicyPath} onLoadPath={props.onLoadPolicyPath} onImport={props.onImportPolicy} onToggle={props.onTogglePolicy} onCommand={props.onPolicyCommand} onRemove={props.onRemovePolicy}/></CollapsibleSection><CollapsibleSection title="本地强化学习训练" defaultOpen={false}><LocalTrainingPanel onPolicyReady={props.onImportPolicy}/></CollapsibleSection><CollapsibleSection title="Python 控制器" defaultOpen badge={s.controller?<Badge>{s.controller.enabled?'运行':'停止'}</Badge>:undefined}><PythonControllerPanel paths={props.controllerPaths} selectedPath={props.selectedControllerPath} status={props.controllerStatus??s.controller} loading={props.loading} onSelectPath={props.onSelectControllerPath} onLoadPath={props.onLoadControllerPath} onImport={props.onImportController} onToggle={props.onToggleController} onCommand={props.onControllerCommand} onRemove={props.onRemoveController}/></CollapsibleSection><CollapsibleSection title="Actuator" defaultOpen={false} badge={<Badge>{s.actuators.length}</Badge>}>{s.actuators.length?s.actuators.map(actuator=><ActuatorControl key={actuator.id} actuator={actuator} onControl={value=>props.onActuator(actuator.id,value)} onParameters={parameters=>props.onActuatorParameters(actuator.id,parameters)}/>):<p className="text-xs text-text-tertiary">模型没有驱动器</p>}</CollapsibleSection>
   <CollapsibleSection title="关节" defaultOpen badge={<Badge>{s.joints.length}</Badge>}><div className="mb-4 grid grid-cols-2 gap-2"><Button onClick={props.onResetJoints}>重置关节</Button><Button variant={props.ignoreJointLimits?'primary':'secondary'} aria-pressed={props.ignoreJointLimits} onClick={props.onToggleJointLimits}>忽略关节限位</Button><Button variant={props.jointAdvanced?'primary':'secondary'} aria-pressed={props.jointAdvanced} onClick={props.onToggleAdvanced}>高级</Button><Button variant={props.angleUnit==='deg'?'primary':'secondary'} aria-pressed={props.angleUnit==='deg'} onClick={props.onToggleAngleUnit}>{props.angleUnit==='rad'?'rad 弧度制':'° 角度制'}</Button></div>{s.joints.map(joint=>{const scale=joint.type===3&&props.angleUnit==='deg'?180/Math.PI:1,unit=joint.type===3?(props.angleUnit==='deg'?'°':' rad'):joint.type===2?' m':'';return <ControlSlider key={joint.id} label={`${joint.name}${joint.editable?'':'（只读）'}`} value={joint.value*scale} min={joint.min*scale} max={joint.max*scale} unit={unit} advanced={props.jointAdvanced} limited={joint.limited} limitsIgnored={joint.limitsIgnored} limitMin={joint.limitMin*scale} limitMax={joint.limitMax*scale} disabled={!joint.editable} onChange={value=>props.onJoint(joint.id,value/scale)}/>;})}</CollapsibleSection>
   <CollapsibleSection title="外力强度" defaultOpen={false}><ControlSlider label={`${props.forceScale.toFixed(0)} N/屏幕单位`} value={props.forceScale} min={5} max={200} onChange={props.onForceScale}/><p className="text-xs text-text-tertiary">选择“外力施加”，在动态物体上按住拖动，松开即清零。</p></CollapsibleSection></>;
   return <SidebarPanel title="模型与控制" side="right" visible={props.visible}><Tabs label="模型控制侧栏" value={tab} onValueChange={setTab} items={[{value:'properties',label:'属性',icon:<Info className="h-3.5 w-3.5"/>,content:properties},{value:'controls',label:'控制',icon:<SlidersHorizontal className="h-3.5 w-3.5"/>,content:controls}]}/></SidebarPanel>;
diff --git a/wasm/web_platform/src/app/components/SourceEditorDialog.tsx b/web_platform/src/app/components/SourceEditorDialog.tsx
similarity index 69%
rename from wasm/web_platform/src/app/components/SourceEditorDialog.tsx
rename to web_platform/src/app/components/SourceEditorDialog.tsx
index 1b8f3d74..33ce5449 100644
--- a/wasm/web_platform/src/app/components/SourceEditorDialog.tsx
+++ b/web_platform/src/app/components/SourceEditorDialog.tsx
@@ -3,25 +3,27 @@ import Editor from '@monaco-editor/react';
 import {useCallback,useEffect,useRef,useState,type PointerEvent as ReactPointerEvent} from 'react';
 import {Check,Code2,Copy,Download,Maximize2,Minimize2,Save,X} from 'lucide-react';
 import {downloadBytes} from '../../project/cachedFiles';
-import {Button,IconButton} from '../../components/ui';
+import {Button,ConfirmDialog,IconButton} from '../../components/ui';
 
 function basename(path:string):string{return path.split('/').at(-1)??path;}
 function contentSize(content:string):string{const bytes=new Blob([content]).size;return bytes<1024?`${bytes} B`:`${(bytes/1024).toFixed(1)} KB`;}
 function xmlProblem(code:string):string|undefined{const document=new DOMParser().parseFromString(code,'application/xml'),error=document.querySelector('parsererror');return error?.textContent?.split('\n')[0]||undefined;}
 
 export function SourceEditorDialog({open,code:sourceCode,filePath,theme,onClose,onSave}:{open:boolean;code:string;filePath:string;theme:'light'|'dark';onClose:()=>void;onSave:(path:string,text:string)=>void|Promise<void>}){
-  const [code,setCode]=useState(sourceCode),[savedCode,setSavedCode]=useState(sourceCode),[saving,setSaving]=useState(false),[copied,setCopied]=useState(false),[maximized,setMaximized]=useState(false),[position,setPosition]=useState(()=>({x:Math.max(24,(window.innerWidth-900)/2),y:Math.max(52,(window.innerHeight-650)/2)}));
-  const drag=useRef<{x:number;y:number;left:number;top:number}|null>(null),dirty=code!==savedCode,problem=xmlProblem(code);
+  const [code,setCode]=useState(sourceCode),[savedCode,setSavedCode]=useState(sourceCode),[saving,setSaving]=useState(false),[copied,setCopied]=useState(false),[maximized,setMaximized]=useState(false),[discardOpen,setDiscardOpen]=useState(false),[position,setPosition]=useState(()=>({x:Math.max(24,(window.innerWidth-900)/2),y:Math.max(52,(window.innerHeight-650)/2)}));
+  const drag=useRef<{x:number;y:number;left:number;top:number}|null>(null),dialog=useRef<HTMLElement>(null),previousFocus=useRef<HTMLElement|null>(null),dirty=code!==savedCode,problem=xmlProblem(code);
+  const requestClose=useCallback(()=>{if(dirty)setDiscardOpen(true);else onClose();},[dirty,onClose]);
   const save=useCallback(async()=>{if(!dirty||problem)return;setSaving(true);try{await onSave(filePath,code);setSavedCode(code);}finally{setSaving(false);}},[code,dirty,filePath,onSave,problem]);
-  useEffect(()=>{const key=(event:KeyboardEvent)=>{if((event.ctrlKey||event.metaKey)&&event.key.toLowerCase()==='s'&&dirty&&!problem){event.preventDefault();void save();}};window.addEventListener('keydown',key);return()=>window.removeEventListener('keydown',key);},[dirty,problem,save]);
+  useEffect(()=>{if(!open)return;previousFocus.current=document.activeElement instanceof HTMLElement?document.activeElement:null;requestAnimationFrame(()=>dialog.current?.focus());return()=>{if(previousFocus.current&&document.contains(previousFocus.current))previousFocus.current.focus();};},[open]);
+  useEffect(()=>{const key=(event:KeyboardEvent)=>{if(discardOpen)return;if((event.ctrlKey||event.metaKey)&&event.key.toLowerCase()==='s'&&dirty&&!problem){event.preventDefault();void save();}else if(event.key==='Escape'){event.preventDefault();requestClose();}};window.addEventListener('keydown',key);return()=>window.removeEventListener('keydown',key);},[dirty,discardOpen,problem,requestClose,save]);
   const copy=async()=>{await navigator.clipboard.writeText(code);setCopied(true);window.setTimeout(()=>setCopied(false),1500);};
   const download=()=>downloadBytes(new TextEncoder().encode(code),basename(filePath),'application/xml');
   const pointerDown=(event:ReactPointerEvent)=>{if(maximized||event.button!==0||(event.target as HTMLElement).closest('button'))return;drag.current={x:event.clientX,y:event.clientY,left:position.x,top:position.y};event.currentTarget.setPointerCapture(event.pointerId);};
   const pointerMove=(event:ReactPointerEvent)=>{if(!drag.current)return;setPosition({x:Math.min(window.innerWidth-120,Math.max(-780,drag.current.left+event.clientX-drag.current.x)),y:Math.min(window.innerHeight-48,Math.max(0,drag.current.top+event.clientY-drag.current.y))});};
   if(!open)return null;
-  return <div className="fixed inset-0 z-[390] pointer-events-none" role="presentation"><section role="dialog" aria-modal="false" aria-label="转换后的 MJCF 编辑器" style={maximized?undefined:{left:position.x,top:position.y,width:900,height:650}} className={`source-editor-window pointer-events-auto fixed flex min-h-[360px] min-w-[520px] flex-col overflow-hidden border border-border-strong bg-panel shadow-2xl ${maximized?'inset-0 h-full w-full':'resize'}`}>
-    <header className="flex h-11 shrink-0 cursor-move select-none items-center gap-3 border-b border-border bg-surface px-3" onPointerDown={pointerDown} onPointerMove={pointerMove} onPointerUp={()=>{drag.current=null;}} onDoubleClick={()=>setMaximized(value=>!value)}><Code2 className="h-4 w-4 shrink-0 text-accent"/><div className="min-w-0 flex-1"><div className="truncate font-mono text-xs font-semibold text-text-primary">转换后的 MJCF</div><div className="truncate font-mono text-[9px] text-text-tertiary" title={filePath}>{filePath}</div></div><span className="text-[10px] text-text-tertiary">{contentSize(code)}</span><span className="rounded bg-accent-soft px-1.5 py-0.5 text-[9px] font-semibold text-accent">缓存文件 · 可编辑</span>{dirty&&<span className="rounded bg-warning-soft px-1.5 py-0.5 text-[9px] font-semibold text-warning">已修改</span>}<Button variant="primary" icon={<Save className="h-3 w-3"/>} disabled={!dirty||saving||Boolean(problem)} onClick={()=>void save()}>{saving?'重新载入中…':'保存并重新载入'}</Button><Button variant="ghost" icon={<Download className="h-3.5 w-3.5"/>} onClick={download}>下载</Button><Button variant="ghost" icon={copied?<Check className="h-3.5 w-3.5"/>:<Copy className="h-3.5 w-3.5"/>} onClick={()=>void copy()}>{copied?'已复制':'复制'}</Button><IconButton tooltip={maximized?'还原':'最大化'} aria-label={maximized?'还原':'最大化'} onClick={()=>setMaximized(value=>!value)}>{maximized?<Minimize2 className="h-4 w-4"/>:<Maximize2 className="h-4 w-4"/>}</IconButton><IconButton tooltip="关闭" aria-label="关闭源代码编辑器" onClick={onClose}><X className="h-4 w-4"/></IconButton></header>
+  return <><div className="fixed inset-0 z-[390] pointer-events-none" role="presentation"><section ref={dialog} tabIndex={-1} role="dialog" aria-modal="false" aria-label="转换后的 MJCF 编辑器" style={maximized?undefined:{left:position.x,top:position.y,width:900,height:650}} className={`source-editor-window pointer-events-auto fixed flex min-h-[360px] min-w-[520px] flex-col overflow-hidden border border-border-strong bg-panel shadow-2xl ${maximized?'inset-0 h-full w-full':'resize'}`}>
+    <header className="flex h-11 shrink-0 cursor-move select-none items-center gap-3 border-b border-border bg-surface px-3" onPointerDown={pointerDown} onPointerMove={pointerMove} onPointerUp={()=>{drag.current=null;}} onDoubleClick={()=>setMaximized(value=>!value)}><Code2 className="h-4 w-4 shrink-0 text-accent"/><div className="min-w-0 flex-1"><div className="truncate font-mono text-xs font-semibold text-text-primary">转换后的 MJCF</div><div className="truncate font-mono text-[9px] text-text-tertiary" title={filePath}>{filePath}</div></div><span className="text-[10px] text-text-tertiary">{contentSize(code)}</span><span className="rounded bg-accent-soft px-1.5 py-0.5 text-[9px] font-semibold text-accent">缓存文件 · 可编辑</span>{dirty&&<span className="rounded bg-warning-soft px-1.5 py-0.5 text-[9px] font-semibold text-warning">已修改</span>}<Button variant="primary" icon={<Save className="h-3 w-3"/>} disabled={!dirty||saving||Boolean(problem)} onClick={()=>void save()}>{saving?'重新载入中…':'保存并重新载入'}</Button><Button variant="ghost" icon={<Download className="h-3.5 w-3.5"/>} onClick={download}>下载</Button><Button variant="ghost" icon={copied?<Check className="h-3.5 w-3.5"/>:<Copy className="h-3.5 w-3.5"/>} onClick={()=>void copy()}>{copied?'已复制':'复制'}</Button><IconButton tooltip={maximized?'还原':'最大化'} aria-label={maximized?'还原':'最大化'} onClick={()=>setMaximized(value=>!value)}>{maximized?<Minimize2 className="h-4 w-4"/>:<Maximize2 className="h-4 w-4"/>}</IconButton><IconButton tooltip="关闭" aria-label="关闭源代码编辑器" onClick={requestClose}><X className="h-4 w-4"/></IconButton></header>
     <div className="min-h-0 flex-1 bg-input"><Editor height="100%" language="xml" theme={theme==='light'?'light':'vs-dark'} value={code} onChange={value=>setCode(value??'')} options={{automaticLayout:true,minimap:{enabled:false},fontFamily:"'JetBrains Mono','Fira Code',ui-monospace,monospace",fontSize:13,fontLigatures:true,scrollBeyondLastLine:false,wordWrap:'off',stickyScroll:{enabled:false},tabSize:2,formatOnPaste:true,formatOnType:true,lineNumbersMinChars:4,padding:{top:12,bottom:14},renderLineHighlight:'all'}}/></div>
     <footer className="flex h-7 shrink-0 items-center justify-between gap-3 border-t border-border bg-surface px-3 text-[10px]"><div className={problem?'truncate text-warning':'text-success'}>{problem?`XML 错误：${problem}`:'✓ XML 结构正常'}</div><div className="flex items-center gap-2 font-mono text-text-tertiary"><span>Ctrl+S 保存并重新载入</span><span>•</span><span>MJCF / XML</span></div></footer>
-  </section></div>;
+  </section></div><ConfirmDialog open={discardOpen} title="放弃未保存的修改？" confirmLabel="放弃修改" cancelLabel="继续编辑" danger onConfirm={onClose} onClose={()=>setDiscardOpen(false)}><p className="text-sm text-text-secondary">当前 MJCF 源码包含未保存的修改。关闭后，这些修改将无法恢复。</p></ConfirmDialog></>;
 }
diff --git a/web_platform/src/app/components/StatusBar.tsx b/web_platform/src/app/components/StatusBar.tsx
new file mode 100644
index 00000000..f97658bb
--- /dev/null
+++ b/web_platform/src/app/components/StatusBar.tsx
@@ -0,0 +1,7 @@
+import type {ReactNode} from 'react';
+import {Box,Clock3,MemoryStick,TriangleAlert} from 'lucide-react';
+import {Kbd} from '../../components/ui';
+import {PerformancePopover} from './PerformancePopover';
+export interface StatusBarProps{time?:number;fps:number;stepMs:number;memoryMb?:number;loaded:boolean;overBudget:boolean;}
+function Item({icon:Icon,children,className=''}:{icon:typeof Clock3;children:ReactNode;className?:string}){return <span className={`items-center gap-1.5 ${className||'flex'}`}><Icon aria-hidden="true" className="h-3 w-3 text-text-tertiary"/>{children}</span>;}
+export function StatusBar({time,fps,stepMs,memoryMb,loaded,overBudget}:StatusBarProps){return <footer className="technical-value relative z-30 flex h-7 shrink-0 items-center gap-3 overflow-hidden border-t border-border bg-panel px-3 text-[11px] text-text-tertiary lg:gap-5"><Item icon={Clock3}>时间 {time?.toFixed(3)??'—'} s</Item><PerformancePopover fps={fps} stepMs={stepMs} memoryMb={memoryMb} overBudget={overBudget}/><Item icon={MemoryStick} className="hidden items-center gap-1.5 md:flex">内存 {memoryMb===undefined?'—':`${memoryMb.toFixed(1)} MiB`}</Item><Item icon={Box} className="hidden items-center gap-1.5 sm:flex">WASM {loaded?'已加载':'未加载'}</Item>{overBudget&&<span className="hidden min-w-0 items-center gap-1 truncate text-warning lg:flex"><TriangleAlert className="h-3 w-3 shrink-0"/>主线程超出步进预算，已限制追帧</span>}<span className="ml-auto hidden items-center gap-1.5 xl:flex"><Kbd>Space</Kbd> 播放/暂停 · <Kbd>R</Kbd> 重置 · <Kbd>1/2/3</Kbd> 模式</span></footer>;}
diff --git a/wasm/web_platform/src/app/components/ThirdBatchComponents.test.tsx b/web_platform/src/app/components/ThirdBatchComponents.test.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/ThirdBatchComponents.test.tsx
rename to web_platform/src/app/components/ThirdBatchComponents.test.tsx
diff --git a/wasm/web_platform/src/app/components/ToolbarOverflowMenu.tsx b/web_platform/src/app/components/ToolbarOverflowMenu.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/ToolbarOverflowMenu.tsx
rename to web_platform/src/app/components/ToolbarOverflowMenu.tsx
diff --git a/wasm/web_platform/src/app/components/TreeSearchField.tsx b/web_platform/src/app/components/TreeSearchField.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/TreeSearchField.tsx
rename to web_platform/src/app/components/TreeSearchField.tsx
diff --git a/wasm/web_platform/src/app/components/UrdfImportOptionsDialog.test.tsx b/web_platform/src/app/components/UrdfImportOptionsDialog.test.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/UrdfImportOptionsDialog.test.tsx
rename to web_platform/src/app/components/UrdfImportOptionsDialog.test.tsx
diff --git a/wasm/web_platform/src/app/components/UrdfImportOptionsDialog.tsx b/web_platform/src/app/components/UrdfImportOptionsDialog.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/UrdfImportOptionsDialog.tsx
rename to web_platform/src/app/components/UrdfImportOptionsDialog.tsx
diff --git a/web_platform/src/app/components/ViewerDisplayPopover.tsx b/web_platform/src/app/components/ViewerDisplayPopover.tsx
new file mode 100644
index 00000000..3a1a3345
--- /dev/null
+++ b/web_platform/src/app/components/ViewerDisplayPopover.tsx
@@ -0,0 +1,30 @@
+import {Check,Eye,RotateCcw} from 'lucide-react';
+import {IconButton,Popover} from '../../components/ui';
+import {DEFAULT_VIEWER_DISPLAY_OPTIONS,type ViewerDisplayOptions} from '../../viewer/displayOptions';
+
+type DisplayKey=keyof ViewerDisplayOptions;
+interface DisplayItem {key:DisplayKey;label:string;description:string;color:string;}
+const geometryItems:DisplayItem[]=[
+  {key:'showVisual',label:'视觉模型',description:'显示模型的外观几何与材质',color:'bg-slate-400'},
+  {key:'showCollision',label:'碰撞体',description:'以青色半透明方式叠加碰撞几何',color:'bg-cyan-400'},
+];
+const helperItems:DisplayItem[]=[
+  {key:'showFrames',label:'坐标系',description:'显示每个刚体的 RGB 坐标轴',color:'bg-red-400'},
+  {key:'showJointAxes',label:'关节轴',description:'显示转动与滑动关节的正轴方向',color:'bg-red-500'},
+  {key:'showCenterOfMass',label:'质心',description:'显示各刚体的质量中心',color:'bg-yellow-400'},
+  {key:'showInertia',label:'惯量',description:'显示由主惯量计算的等效惯量盒',color:'bg-cyan-300'},
+];
+const sceneItems:DisplayItem[]=[
+  {key:'showGrid',label:'地面网格',description:'显示世界坐标系的参考网格',color:'bg-blue-400'},
+];
+
+function DisplayRows({items,value,onChange}:{items:DisplayItem[];value:ViewerDisplayOptions;onChange:(next:ViewerDisplayOptions)=>void}){
+  return <div className="space-y-0.5">{items.map(item=>{const checked=value[item.key];return <button key={item.key} type="button" role="switch" aria-checked={checked} onClick={()=>onChange({...value,[item.key]:!checked})} className="group flex w-full items-center gap-2.5 rounded-md px-2 py-1.5 text-left hover:bg-element-hover focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent/40"><span className={`h-2.5 w-2.5 shrink-0 rounded-sm ${item.color}`}/><span className="min-w-0 flex-1"><span className="block text-xs font-medium text-text-primary">{item.label}</span><span className="block truncate text-[10px] text-text-tertiary">{item.description}</span></span><span aria-hidden="true" className={`grid h-4 w-4 shrink-0 place-items-center rounded border ${checked?'border-accent bg-accent text-white':'border-border-strong bg-input'}`}>{checked&&<Check className="h-3 w-3"/>}</span></button>;})}</div>;
+}
+
+export function ViewerDisplayPopover({value,onChange}:{value:ViewerDisplayOptions;onChange:(next:ViewerDisplayOptions)=>void}){
+  const customized=Object.keys(DEFAULT_VIEWER_DISPLAY_OPTIONS).some(key=>value[key as DisplayKey]!==DEFAULT_VIEWER_DISPLAY_OPTIONS[key as DisplayKey]);
+  return <Popover placement="bottom-right" label="视图显示设置" trigger={({open,toggle})=><IconButton active={open||customized} tooltip="显示设置" aria-label="显示设置" aria-expanded={open} onClick={toggle}><Eye className="h-3.5 w-3.5"/></IconButton>}>
+    {()=> <div className="w-72 rounded-xl border border-border bg-surface-elevated p-2 shadow-2xl"><div className="mb-1 flex items-center justify-between px-2 py-1"><div><h2 className="text-xs font-semibold text-text-primary">视图显示</h2><p className="text-[10px] text-text-tertiary">控制模型和结构辅助标记</p></div><IconButton tooltip="恢复默认显示" aria-label="恢复默认显示" disabled={!customized} onClick={()=>onChange({...DEFAULT_VIEWER_DISPLAY_OPTIONS})}><RotateCcw className="h-3.5 w-3.5"/></IconButton></div><div className="border-t border-border pt-1"><p className="px-2 pb-0.5 pt-1 text-[10px] font-semibold uppercase tracking-wide text-text-tertiary">几何</p><DisplayRows items={geometryItems} value={value} onChange={onChange}/><p className="mt-1 border-t border-border px-2 pb-0.5 pt-2 text-[10px] font-semibold uppercase tracking-wide text-text-tertiary">辅助标记</p><DisplayRows items={helperItems} value={value} onChange={onChange}/><p className="mt-1 border-t border-border px-2 pb-0.5 pt-2 text-[10px] font-semibold uppercase tracking-wide text-text-tertiary">场景</p><DisplayRows items={sceneItems} value={value} onChange={onChange}/></div></div>}
+  </Popover>;
+}
diff --git a/web_platform/src/app/components/ViewerToolDock.tsx b/web_platform/src/app/components/ViewerToolDock.tsx
new file mode 100644
index 00000000..d1e912dc
--- /dev/null
+++ b/web_platform/src/app/components/ViewerToolDock.tsx
@@ -0,0 +1,7 @@
+import {Crosshair,Hand,MousePointer2,RotateCcw} from 'lucide-react';
+import type {InteractionMode} from '../../viewer/MuJoCoViewer';
+import type {ViewerDisplayOptions} from '../../viewer/displayOptions';
+import {IconButton,ToolbarToggleGroup,type ToolbarItem} from '../../components/ui';
+import {ViewerDisplayPopover} from './ViewerDisplayPopover';
+const tools:ToolbarItem<InteractionMode>[]=[{value:'select',label:'选择',icon:MousePointer2},{value:'joint',label:'关节拖动',icon:Hand},{value:'force',label:'外力施加',icon:Crosshair}];
+export function ViewerToolDock({mode,display,onModeChange,onDisplayChange,onResetCamera}:{mode:InteractionMode;display:ViewerDisplayOptions;onModeChange:(mode:InteractionMode)=>void;onDisplayChange:(next:ViewerDisplayOptions)=>void;onResetCamera:()=>void}){return <div className="flex items-center gap-1"><ToolbarToggleGroup items={tools} value={mode} onChange={onModeChange} label="视口交互模式"/><ViewerDisplayPopover value={display} onChange={onDisplayChange}/><IconButton tooltip="相机复位" aria-label="相机复位" onClick={onResetCamera}><RotateCcw className="h-3.5 w-3.5"/></IconButton></div>;}
diff --git a/web_platform/src/app/components/ViewportHUD.tsx b/web_platform/src/app/components/ViewportHUD.tsx
new file mode 100644
index 00000000..4a24b169
--- /dev/null
+++ b/web_platform/src/app/components/ViewportHUD.tsx
@@ -0,0 +1,6 @@
+import {CirclePause,CirclePlay,Mouse,MousePointer2} from 'lucide-react';
+import type {InteractionMode,ViewerSelection} from '../../viewer/MuJoCoViewer';
+import {Badge,Kbd} from '../../components/ui';
+const labels:Record<InteractionMode,string>={select:'选择',joint:'关节拖动',force:'外力施加'};
+const primaryGestures:Record<InteractionMode,string>={select:'左键旋转',joint:'左键拖动关节',force:'左键拖动施力'};
+export function ViewportHUD({paused,mode,selection,ready}:{paused:boolean;mode:InteractionMode;selection:ViewerSelection|null;ready:boolean}){if(!ready)return null;return <><div aria-label="视口状态" className="pointer-events-none absolute left-3 top-3 z-10 flex max-w-[70%] flex-wrap items-center gap-1.5"><Badge tone={paused?'neutral':'success'}>{paused?<CirclePause className="h-3 w-3"/>:<CirclePlay className="h-3 w-3"/>}{paused?'已暂停':'仿真中'}</Badge><Badge tone="accent"><MousePointer2 className="h-3 w-3"/>{labels[mode]}</Badge>{selection&&<Badge title={`body ${selection.bodyId} · geom ${selection.geomId}`}>{selection.bodyName}</Badge>}</div><div aria-label="视口操作提示" className="pointer-events-none absolute bottom-3 left-1/2 z-10 hidden -translate-x-1/2 items-center gap-2 whitespace-nowrap rounded-full border border-border-strong bg-panel px-3 py-1.5 text-[10px] text-text-secondary shadow-xl lg:flex"><Mouse aria-hidden="true" className="h-3 w-3 text-text-secondary"/><span>{primaryGestures[mode]}</span><span aria-hidden="true" className="text-border-strong">·</span><span>右键平移</span><span aria-hidden="true" className="text-border-strong">·</span><span>滚轮缩放</span>{mode!=='select'&&<><span aria-hidden="true" className="text-border-strong">·</span><Kbd>1</Kbd><span>旋转视角</span></>}</div></>;}
diff --git a/wasm/web_platform/src/app/components/WorkbenchHeader.test.tsx b/web_platform/src/app/components/WorkbenchHeader.test.tsx
similarity index 100%
rename from wasm/web_platform/src/app/components/WorkbenchHeader.test.tsx
rename to web_platform/src/app/components/WorkbenchHeader.test.tsx
diff --git a/web_platform/src/app/components/WorkbenchHeader.tsx b/web_platform/src/app/components/WorkbenchHeader.tsx
new file mode 100644
index 00000000..2b56ad3d
--- /dev/null
+++ b/web_platform/src/app/components/WorkbenchHeader.tsx
@@ -0,0 +1,6 @@
+import type {ChangeEvent,ReactNode} from 'react';
+import {CircleHelp,Code2,Expand,FolderOpen,Minimize,PanelLeft,PanelRight,Pause,Play,RotateCcw,Search,StepForward,Sun,Moon,Upload} from 'lucide-react';
+import {Button,IconButton,Select} from '../../components/ui';
+const fileActionClass='inline-flex h-7 cursor-pointer items-center gap-1.5 rounded-md border border-border bg-surface px-2 text-xs font-medium text-text-primary transition-colors hover:bg-element-hover focus-within:ring-2 focus-within:ring-accent/30';
+const fileActionLabelClass='hidden sm:inline';
+export function WorkbenchHeader({paused,ready,speed,theme,loading,leftOpen,rightOpen,fullscreen,hasProject,center,endActions,compactMenu,onFiles,onFolder,onOpenSource,onTogglePause,onStep,onReset,onSpeed,onToggleLeft,onToggleRight,onToggleTheme,onHelp,onCommands,onToggleFullscreen}:{paused:boolean;ready:boolean;speed:number;theme:'light'|'dark';loading:boolean;leftOpen:boolean;rightOpen:boolean;fullscreen:boolean;hasProject?:boolean;center:ReactNode;endActions?:ReactNode;compactMenu?:ReactNode;onFiles:(event:ChangeEvent<HTMLInputElement>)=>void;onFolder:(event:ChangeEvent<HTMLInputElement>)=>void;onOpenSource?:()=>void;onTogglePause:()=>void;onStep:()=>void;onReset:()=>void;onSpeed:(value:number)=>void;onToggleLeft:()=>void;onToggleRight:()=>void;onToggleTheme:()=>void;onHelp:()=>void;onCommands:()=>void;onToggleFullscreen:()=>void}){return <header className="relative z-40 grid h-10 shrink-0 grid-cols-[minmax(0,1fr)_auto_minmax(max-content,1fr)] items-center gap-2 border-b border-border bg-panel px-2.5"><div className="flex min-w-0 items-center gap-1"><h1 className="mr-2 hidden truncate border-r border-border pr-3 text-sm font-semibold text-text-primary xl:block">MuJoCo Web 仿真平台</h1><label aria-disabled={loading} className={`${fileActionClass} ${loading?'pointer-events-none opacity-40':''}`}><Upload className="h-3.5 w-3.5"/><span className={fileActionLabelClass}>打开文件</span><input id="mujoco-project-files" aria-label="打开文件" className="sr-only" type="file" disabled={loading} multiple accept=".xml,.urdf,.zip,.obj,.stl,.dae,.msh,.png,.jpg,.jpeg,.bmp,.tga,.hdr" onChange={onFiles}/></label><label aria-disabled={loading} className={`${fileActionClass} ${loading?'pointer-events-none opacity-40':''}`}><FolderOpen className="h-3.5 w-3.5"/><span className={fileActionLabelClass}>文件夹</span><input id="mujoco-project-folder" aria-label="打开文件夹" className="sr-only" type="file" disabled={loading} multiple {...({webkitdirectory:'',directory:''} as object)} onChange={onFolder}/></label><IconButton tooltip="查看和修改缓存源代码" aria-label="源代码" disabled={!hasProject||loading} onClick={onOpenSource}><Code2 className="h-4 w-4"/></IconButton></div><div className="flex items-center justify-center">{center}</div><div className="flex min-w-0 items-center justify-end gap-0.5"><Button variant="ghost" onClick={onTogglePause} disabled={!ready} aria-label={paused?'▶ 播放':'⏸ 暂停'} icon={paused?<Play className="h-3.5 w-3.5"/>:<Pause className="h-3.5 w-3.5"/>}>{paused?'播放':'暂停'}</Button><IconButton tooltip="单步" aria-label="单步" onClick={onStep} disabled={!ready||!paused}><StepForward className="h-3.5 w-3.5"/></IconButton><IconButton tooltip="重置" aria-label="重置" onClick={onReset} disabled={!ready}><RotateCcw className="h-3.5 w-3.5"/></IconButton><Select aria-label="仿真速度" value={speed} disabled={loading} onChange={event=>onSpeed(Number(event.target.value))} className="w-[70px]"><option value={.25}>0.25×</option><option value={.5}>0.5×</option><option value={1}>1×</option><option value={2}>2×</option><option value={4}>4×</option></Select><span className="mx-1 h-5 border-l border-border"/><IconButton tooltip={leftOpen?'隐藏工程面板':'显示工程面板'} aria-label={leftOpen?'隐藏工程面板':'显示工程面板'} aria-expanded={leftOpen} onClick={onToggleLeft}><PanelLeft className="h-4 w-4"/></IconButton><IconButton tooltip={rightOpen?'隐藏属性面板':'显示属性面板'} aria-label={rightOpen?'隐藏属性面板':'显示属性面板'} aria-expanded={rightOpen} onClick={onToggleRight}><PanelRight className="h-4 w-4"/></IconButton>{endActions}{compactMenu}<IconButton className="hidden xl:inline-flex" tooltip="命令面板（Ctrl+K）" aria-label="打开命令面板" onClick={onCommands}><Search className="h-4 w-4"/></IconButton><IconButton className="hidden xl:inline-flex" tooltip={fullscreen?'退出全屏':'进入全屏'} aria-label={fullscreen?'退出全屏':'进入全屏'} onClick={onToggleFullscreen}>{fullscreen?<Minimize className="h-4 w-4"/>:<Expand className="h-4 w-4"/>}</IconButton><IconButton className="hidden xl:inline-flex" tooltip="快捷键帮助" aria-label="快捷键帮助" onClick={onHelp}><CircleHelp className="h-4 w-4"/></IconButton><IconButton className="hidden xl:inline-flex" tooltip={theme==='dark'?'切换到白天主题':'切换到黑夜主题'} aria-label={theme==='dark'?'切换到白天主题':'切换到黑夜主题'} onClick={onToggleTheme}>{theme==='dark'?<Sun className="h-4 w-4"/>:<Moon className="h-4 w-4"/>}</IconButton></div></header>;}
diff --git a/web_platform/src/app/components/WorkspaceOverlays.tsx b/web_platform/src/app/components/WorkspaceOverlays.tsx
new file mode 100644
index 00000000..7b4797f3
--- /dev/null
+++ b/web_platform/src/app/components/WorkspaceOverlays.tsx
@@ -0,0 +1,6 @@
+import {Box,FolderOpen,LoaderCircle,PlayCircle,Settings2,ShieldCheck,Upload,UploadCloud} from 'lucide-react';
+import {ProgressBar,Skeleton} from '../../components/ui';
+export interface ImportProgress{label:string;value:number;}
+const workflow=[{label:'导入',detail:'URDF、MJCF 或工程包',icon:UploadCloud},{label:'检查与配置',detail:'结构、驱动器与传感器',icon:Settings2},{label:'运行与调试',detail:'控制、策略与物理状态',icon:PlayCircle}];
+export function EmptyWorkspace({compact=false}:{compact?:boolean}){if(compact)return <div className="m-3 rounded-xl border border-dashed border-border-strong bg-panel/90 p-4 text-center shadow-sm"><span className="mx-auto mb-3 grid h-10 w-10 place-items-center rounded-xl bg-accent-soft text-accent"><Box className="h-5 w-5"/></span><p className="text-sm font-semibold text-text-primary">拖放模型工程到此处</p><p className="mt-1 text-xs text-text-tertiary">支持 MJCF/XML、URDF、文件夹和 ZIP</p></div>;return <section aria-label="导入模型工程" className="w-[min(560px,calc(100vw-32px))] rounded-2xl border border-border-strong bg-panel/90 p-6 text-center shadow-2xl backdrop-blur-md"><span className="mx-auto mb-3 grid h-11 w-11 place-items-center rounded-xl bg-accent-soft text-accent"><UploadCloud className="h-5 w-5"/></span><h2 className="text-base font-semibold text-text-primary">拖放模型工程到此处</h2><p className="mt-1 text-xs text-text-tertiary">支持 MJCF/XML、URDF、文件夹和 ZIP</p><div className="mt-4 flex items-center justify-center gap-2"><label htmlFor="mujoco-project-files" className="inline-flex h-8 cursor-pointer items-center gap-1.5 rounded-md bg-accent px-3 text-xs font-medium text-white transition-colors hover:bg-accent-hover focus-within:ring-2 focus-within:ring-accent/40"><Upload className="h-3.5 w-3.5"/>选择文件</label><label htmlFor="mujoco-project-folder" className="inline-flex h-8 cursor-pointer items-center gap-1.5 rounded-md border border-border bg-surface px-3 text-xs font-medium text-text-primary transition-colors hover:bg-element-hover focus-within:ring-2 focus-within:ring-accent/40"><FolderOpen className="h-3.5 w-3.5"/>选择文件夹</label></div><ol aria-label="仿真工作流程" className="mt-5 hidden grid-cols-3 gap-2 border-t border-border pt-4 sm:grid">{workflow.map((item,index)=><li key={item.label} className="rounded-lg bg-surface px-3 py-2.5 text-left"><div className="flex items-center gap-2"><span className="technical-value text-[10px] font-semibold text-accent">0{index+1}</span><item.icon aria-hidden="true" className="h-3.5 w-3.5 text-text-secondary"/><span className="text-xs font-medium text-text-primary">{item.label}</span></div><span className="mt-1 block text-[10px] leading-4 text-text-tertiary">{item.detail}</span></li>)}</ol><p className="mt-3 flex items-center justify-center gap-1.5 text-[10px] text-text-tertiary"><ShieldCheck aria-hidden="true" className="h-3 w-3 text-success"/>模型与资源仅在当前浏览器会话中处理</p></section>;}
+export function WorkspaceOverlays({loading,hasSnapshot,progress}:{loading:boolean;hasSnapshot:boolean;progress?:ImportProgress}){return <>{!hasSnapshot&&!loading&&<div className="pointer-events-none absolute inset-0 grid place-items-center p-4"><div className="pointer-events-auto"><EmptyWorkspace/></div></div>}{loading&&<div role="status" aria-live="polite" aria-label={progress?.label??'正在加载 MuJoCo 与模型'} className="absolute inset-0 z-20 grid place-items-center bg-app/75 backdrop-blur-sm"><div className="w-80 rounded-xl border border-border bg-panel px-5 py-4 text-sm font-medium text-text-primary shadow-xl"><div className="flex items-center gap-3"><LoaderCircle aria-hidden="true" className="h-5 w-5 animate-spin text-accent"/>正在加载 MuJoCo 与模型…</div>{progress?<div className="mt-4"><ProgressBar value={progress.value} label={progress.label}/></div>:<div className="mt-4 space-y-2"><Skeleton className="h-2.5 w-full"/><Skeleton className="h-2.5 w-4/5"/></div>}</div></div>}</>;}
diff --git a/wasm/web_platform/src/app/components/monacoSetup.ts b/web_platform/src/app/components/monacoSetup.ts
similarity index 52%
rename from wasm/web_platform/src/app/components/monacoSetup.ts
rename to web_platform/src/app/components/monacoSetup.ts
index d5700da8..def7ae0d 100644
--- a/wasm/web_platform/src/app/components/monacoSetup.ts
+++ b/web_platform/src/app/components/monacoSetup.ts
@@ -1,7 +1,7 @@
 import {loader} from '@monaco-editor/react';
-import * as monaco from 'monaco-editor/esm/vs/editor/edcore.main';
-import 'monaco-editor/esm/vs/basic-languages/xml/xml.contribution';
-import EditorWorker from 'monaco-editor/esm/vs/editor/editor.worker?worker';
+import * as monaco from 'monaco-editor/editor/editor.api';
+import 'monaco-editor/languages/definitions/xml/register';
+import EditorWorker from 'monaco-editor/editor/editor.worker?worker';
 
 type MonacoGlobal=typeof globalThis&{MonacoEnvironment?:{getWorker?:()=>Worker}};
 (globalThis as MonacoGlobal).MonacoEnvironment={getWorker:()=>new EditorWorker()};
diff --git a/wasm/web_platform/src/components/ui/Badge.tsx b/web_platform/src/components/ui/Badge.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Badge.tsx
rename to web_platform/src/components/ui/Badge.tsx
diff --git a/wasm/web_platform/src/components/ui/Button.tsx b/web_platform/src/components/ui/Button.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Button.tsx
rename to web_platform/src/components/ui/Button.tsx
diff --git a/wasm/web_platform/src/components/ui/CollapsibleSection.test.tsx b/web_platform/src/components/ui/CollapsibleSection.test.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/CollapsibleSection.test.tsx
rename to web_platform/src/components/ui/CollapsibleSection.test.tsx
diff --git a/wasm/web_platform/src/components/ui/CollapsibleSection.tsx b/web_platform/src/components/ui/CollapsibleSection.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/CollapsibleSection.tsx
rename to web_platform/src/components/ui/CollapsibleSection.tsx
diff --git a/wasm/web_platform/src/components/ui/ConfirmDialog.tsx b/web_platform/src/components/ui/ConfirmDialog.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/ConfirmDialog.tsx
rename to web_platform/src/components/ui/ConfirmDialog.tsx
diff --git a/wasm/web_platform/src/components/ui/CopyButton.tsx b/web_platform/src/components/ui/CopyButton.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/CopyButton.tsx
rename to web_platform/src/components/ui/CopyButton.tsx
diff --git a/wasm/web_platform/src/components/ui/Dialog.test.tsx b/web_platform/src/components/ui/Dialog.test.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Dialog.test.tsx
rename to web_platform/src/components/ui/Dialog.test.tsx
diff --git a/wasm/web_platform/src/components/ui/Dialog.tsx b/web_platform/src/components/ui/Dialog.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Dialog.tsx
rename to web_platform/src/components/ui/Dialog.tsx
diff --git a/wasm/web_platform/src/components/ui/DropdownMenu.tsx b/web_platform/src/components/ui/DropdownMenu.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/DropdownMenu.tsx
rename to web_platform/src/components/ui/DropdownMenu.tsx
diff --git a/wasm/web_platform/src/components/ui/EmptySearchState.tsx b/web_platform/src/components/ui/EmptySearchState.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/EmptySearchState.tsx
rename to web_platform/src/components/ui/EmptySearchState.tsx
diff --git a/wasm/web_platform/src/components/ui/FifthBatchUi.test.tsx b/web_platform/src/components/ui/FifthBatchUi.test.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/FifthBatchUi.test.tsx
rename to web_platform/src/components/ui/FifthBatchUi.test.tsx
diff --git a/wasm/web_platform/src/components/ui/IconButton.tsx b/web_platform/src/components/ui/IconButton.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/IconButton.tsx
rename to web_platform/src/components/ui/IconButton.tsx
diff --git a/wasm/web_platform/src/components/ui/Kbd.tsx b/web_platform/src/components/ui/Kbd.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Kbd.tsx
rename to web_platform/src/components/ui/Kbd.tsx
diff --git a/wasm/web_platform/src/components/ui/LiveRegion.tsx b/web_platform/src/components/ui/LiveRegion.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/LiveRegion.tsx
rename to web_platform/src/components/ui/LiveRegion.tsx
diff --git a/wasm/web_platform/src/components/ui/Popover.tsx b/web_platform/src/components/ui/Popover.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Popover.tsx
rename to web_platform/src/components/ui/Popover.tsx
diff --git a/wasm/web_platform/src/components/ui/ProgressBar.tsx b/web_platform/src/components/ui/ProgressBar.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/ProgressBar.tsx
rename to web_platform/src/components/ui/ProgressBar.tsx
diff --git a/wasm/web_platform/src/components/ui/PropertyRow.tsx b/web_platform/src/components/ui/PropertyRow.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/PropertyRow.tsx
rename to web_platform/src/components/ui/PropertyRow.tsx
diff --git a/wasm/web_platform/src/components/ui/ResizablePanel.tsx b/web_platform/src/components/ui/ResizablePanel.tsx
similarity index 69%
rename from wasm/web_platform/src/components/ui/ResizablePanel.tsx
rename to web_platform/src/components/ui/ResizablePanel.tsx
index 8d3043f0..49d0b6fb 100644
--- a/wasm/web_platform/src/components/ui/ResizablePanel.tsx
+++ b/web_platform/src/components/ui/ResizablePanel.tsx
@@ -5,4 +5,4 @@ function storedWidth(key:string,fallback:number,minWidth:number){try{const value
 export function ResizablePanel({side,storageKey,visible=true,defaultWidth=288,minWidth=224,children,className=''}:{side:'left'|'right';storageKey:string;visible?:boolean;defaultWidth?:number;minWidth?:number;children:ReactNode;className?:string}){const [width,setWidth]=useState(()=>storedWidth(storageKey,defaultWidth,minWidth)),cleanupRef=useRef<()=>void>(()=>{});const update=(next:number)=>{const value=clamp(next,minWidth,panelMaxWidth(minWidth));setWidth(value);try{localStorage.setItem(storageKey,String(value));}catch{/* 无持久化权限时仍可调整 */}};
   useEffect(()=>{const persist=(next:number)=>{const value=clamp(next,minWidth,panelMaxWidth(minWidth));setWidth(value);try{localStorage.setItem(storageKey,String(value));}catch{/* 忽略 */}},resize=()=>setWidth(value=>clamp(value,minWidth,panelMaxWidth(minWidth))),layout=(event:Event)=>{const widths=(event as CustomEvent<{left:number;right:number}>).detail;persist(widths[side]);};window.addEventListener('resize',resize);window.addEventListener('mujoco-layout-widths',layout);return()=>{window.removeEventListener('resize',resize);window.removeEventListener('mujoco-layout-widths',layout);cleanupRef.current();};},[minWidth,side,storageKey]);
   const start=(event:ReactPointerEvent<HTMLButtonElement>)=>{event.preventDefault();cleanupRef.current();const origin=event.clientX,startWidth=width,pointerId=event.pointerId;const move=(moveEvent:PointerEvent)=>{if(moveEvent.pointerId===pointerId)update(startWidth+(moveEvent.clientX-origin)*(side==='left'?1:-1));};const stop=(stopEvent:PointerEvent)=>{if(stopEvent.pointerId!==pointerId)return;cleanup();};const cleanup=()=>{window.removeEventListener('pointermove',move);window.removeEventListener('pointerup',stop);window.removeEventListener('pointercancel',stop);cleanupRef.current=()=>{};};cleanupRef.current=cleanup;window.addEventListener('pointermove',move);window.addEventListener('pointerup',stop);window.addEventListener('pointercancel',stop);};
-  return <div hidden={!visible} className={`relative shrink-0 ${className}`} style={{width}}>{children}<button type="button" role="separator" aria-label={side==='left'?'调整工程面板宽度':'调整属性面板宽度'} aria-orientation="vertical" aria-valuemin={minWidth} aria-valuemax={Math.round(panelMaxWidth(minWidth))} aria-valuenow={Math.round(width)} onPointerDown={start} onKeyDown={event=>{if(event.key==='Home')update(minWidth);else if(event.key==='End')update(panelMaxWidth(minWidth));else if(event.key==='ArrowLeft')update(width+(side==='left'?-16:16));else if(event.key==='ArrowRight')update(width+(side==='left'?16:-16));else return;event.preventDefault();}} className={`absolute inset-y-0 z-30 w-2 cursor-col-resize bg-transparent outline-none after:absolute after:inset-y-0 after:left-1/2 after:w-px after:-translate-x-1/2 after:bg-transparent hover:after:bg-accent focus-visible:after:w-0.5 focus-visible:after:bg-accent ${side==='left'?'-right-1':'-left-1'}`}/></div>;}
+  return <div hidden={!visible} className={`relative shrink-0 max-lg:absolute max-lg:inset-y-0 max-lg:z-40 max-lg:shadow-2xl ${side==='left'?'max-lg:left-0':'max-lg:right-0'} ${className}`} style={{width}}>{children}<button type="button" role="separator" aria-label={side==='left'?'调整工程面板宽度':'调整属性面板宽度'} aria-orientation="vertical" aria-valuemin={minWidth} aria-valuemax={Math.round(panelMaxWidth(minWidth))} aria-valuenow={Math.round(width)} onPointerDown={start} onKeyDown={event=>{if(event.key==='Home')update(minWidth);else if(event.key==='End')update(panelMaxWidth(minWidth));else if(event.key==='ArrowLeft')update(width+(side==='left'?-16:16));else if(event.key==='ArrowRight')update(width+(side==='left'?16:-16));else return;event.preventDefault();}} className={`absolute inset-y-0 z-30 w-2 cursor-col-resize bg-transparent outline-none after:absolute after:inset-y-0 after:left-1/2 after:w-px after:-translate-x-1/2 after:bg-transparent hover:after:bg-accent focus-visible:after:w-0.5 focus-visible:after:bg-accent ${side==='left'?'-right-1':'-left-1'}`}/></div>;}
diff --git a/wasm/web_platform/src/components/ui/SearchHighlight.tsx b/web_platform/src/components/ui/SearchHighlight.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/SearchHighlight.tsx
rename to web_platform/src/components/ui/SearchHighlight.tsx
diff --git a/wasm/web_platform/src/components/ui/SearchableCombobox.tsx b/web_platform/src/components/ui/SearchableCombobox.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/SearchableCombobox.tsx
rename to web_platform/src/components/ui/SearchableCombobox.tsx
diff --git a/wasm/web_platform/src/components/ui/SecondBatchUi.test.tsx b/web_platform/src/components/ui/SecondBatchUi.test.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/SecondBatchUi.test.tsx
rename to web_platform/src/components/ui/SecondBatchUi.test.tsx
diff --git a/wasm/web_platform/src/components/ui/Select.tsx b/web_platform/src/components/ui/Select.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Select.tsx
rename to web_platform/src/components/ui/Select.tsx
diff --git a/wasm/web_platform/src/components/ui/Separator.tsx b/web_platform/src/components/ui/Separator.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Separator.tsx
rename to web_platform/src/components/ui/Separator.tsx
diff --git a/wasm/web_platform/src/components/ui/Skeleton.tsx b/web_platform/src/components/ui/Skeleton.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Skeleton.tsx
rename to web_platform/src/components/ui/Skeleton.tsx
diff --git a/wasm/web_platform/src/components/ui/Tabs.tsx b/web_platform/src/components/ui/Tabs.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Tabs.tsx
rename to web_platform/src/components/ui/Tabs.tsx
diff --git a/wasm/web_platform/src/components/ui/ThirdBatchUi.test.tsx b/web_platform/src/components/ui/ThirdBatchUi.test.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/ThirdBatchUi.test.tsx
rename to web_platform/src/components/ui/ThirdBatchUi.test.tsx
diff --git a/wasm/web_platform/src/components/ui/ToolbarToggleGroup.tsx b/web_platform/src/components/ui/ToolbarToggleGroup.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/ToolbarToggleGroup.tsx
rename to web_platform/src/components/ui/ToolbarToggleGroup.tsx
diff --git a/wasm/web_platform/src/components/ui/Tooltip.tsx b/web_platform/src/components/ui/Tooltip.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/Tooltip.tsx
rename to web_platform/src/components/ui/Tooltip.tsx
diff --git a/wasm/web_platform/src/components/ui/VirtualTreeViewport.test.tsx b/web_platform/src/components/ui/VirtualTreeViewport.test.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/VirtualTreeViewport.test.tsx
rename to web_platform/src/components/ui/VirtualTreeViewport.test.tsx
diff --git a/wasm/web_platform/src/components/ui/VirtualTreeViewport.tsx b/web_platform/src/components/ui/VirtualTreeViewport.tsx
similarity index 100%
rename from wasm/web_platform/src/components/ui/VirtualTreeViewport.tsx
rename to web_platform/src/components/ui/VirtualTreeViewport.tsx
diff --git a/wasm/web_platform/src/components/ui/index.ts b/web_platform/src/components/ui/index.ts
similarity index 100%
rename from wasm/web_platform/src/components/ui/index.ts
rename to web_platform/src/components/ui/index.ts
diff --git a/wasm/web_platform/src/controller/PythonControllerRuntime.ts b/web_platform/src/controller/PythonControllerRuntime.ts
similarity index 100%
rename from wasm/web_platform/src/controller/PythonControllerRuntime.ts
rename to web_platform/src/controller/PythonControllerRuntime.ts
diff --git a/wasm/web_platform/src/controller/types.ts b/web_platform/src/controller/types.ts
similarity index 100%
rename from wasm/web_platform/src/controller/types.ts
rename to web_platform/src/controller/types.ts
diff --git a/wasm/web_platform/src/main.tsx b/web_platform/src/main.tsx
similarity index 57%
rename from wasm/web_platform/src/main.tsx
rename to web_platform/src/main.tsx
index 09e58e5a..dacb312c 100644
--- a/wasm/web_platform/src/main.tsx
+++ b/web_platform/src/main.tsx
@@ -3,4 +3,4 @@ import {createRoot} from 'react-dom/client';
 import {App} from './app/App';
 import {ErrorBoundary} from './app/ErrorBoundary';
 import './styles.css';
-if(location.protocol==='file:')document.body.innerHTML='<main style="font-family:sans-serif;padding:2rem"><h1>需要本地 HTTP 服务器</h1><p>请运行 npm run dev:platform --prefix wasm，不能直接通过 file:// 打开。</p></main>';else createRoot(document.getElementById('root')!).render(<StrictMode><ErrorBoundary><App/></ErrorBoundary></StrictMode>);
+if(location.protocol==='file:')document.body.innerHTML='<main style="font-family:sans-serif;padding:2rem"><h1>需要本地 HTTP 服务器</h1><p>请运行 npm run dev，不能直接通过 file:// 打开。</p></main>';else createRoot(document.getElementById('root')!).render(<StrictMode><ErrorBoundary><App/></ErrorBoundary></StrictMode>);
diff --git a/wasm/web_platform/src/project/ModelStructureTree.test.tsx b/web_platform/src/project/ModelStructureTree.test.tsx
similarity index 100%
rename from wasm/web_platform/src/project/ModelStructureTree.test.tsx
rename to web_platform/src/project/ModelStructureTree.test.tsx
diff --git a/wasm/web_platform/src/project/ModelStructureTree.tsx b/web_platform/src/project/ModelStructureTree.tsx
similarity index 100%
rename from wasm/web_platform/src/project/ModelStructureTree.tsx
rename to web_platform/src/project/ModelStructureTree.tsx
diff --git a/wasm/web_platform/src/project/ProjectTree.test.tsx b/web_platform/src/project/ProjectTree.test.tsx
similarity index 100%
rename from wasm/web_platform/src/project/ProjectTree.test.tsx
rename to web_platform/src/project/ProjectTree.test.tsx
diff --git a/wasm/web_platform/src/project/ProjectTree.tsx b/web_platform/src/project/ProjectTree.tsx
similarity index 100%
rename from wasm/web_platform/src/project/ProjectTree.tsx
rename to web_platform/src/project/ProjectTree.tsx
diff --git a/wasm/web_platform/src/project/cachedFiles.test.ts b/web_platform/src/project/cachedFiles.test.ts
similarity index 100%
rename from wasm/web_platform/src/project/cachedFiles.test.ts
rename to web_platform/src/project/cachedFiles.test.ts
diff --git a/wasm/web_platform/src/project/cachedFiles.ts b/web_platform/src/project/cachedFiles.ts
similarity index 100%
rename from wasm/web_platform/src/project/cachedFiles.ts
rename to web_platform/src/project/cachedFiles.ts
diff --git a/wasm/web_platform/src/project/daeConverter.ts b/web_platform/src/project/daeConverter.ts
similarity index 100%
rename from wasm/web_platform/src/project/daeConverter.ts
rename to web_platform/src/project/daeConverter.ts
diff --git a/wasm/web_platform/src/project/importer.test.ts b/web_platform/src/project/importer.test.ts
similarity index 100%
rename from wasm/web_platform/src/project/importer.test.ts
rename to web_platform/src/project/importer.test.ts
diff --git a/wasm/web_platform/src/project/importer.ts b/web_platform/src/project/importer.ts
similarity index 100%
rename from wasm/web_platform/src/project/importer.ts
rename to web_platform/src/project/importer.ts
diff --git a/wasm/web_platform/src/project/types.ts b/web_platform/src/project/types.ts
similarity index 100%
rename from wasm/web_platform/src/project/types.ts
rename to web_platform/src/project/types.ts
diff --git a/wasm/web_platform/src/project/urdfToMjcf.test.ts b/web_platform/src/project/urdfToMjcf.test.ts
similarity index 100%
rename from wasm/web_platform/src/project/urdfToMjcf.test.ts
rename to web_platform/src/project/urdfToMjcf.test.ts
diff --git a/wasm/web_platform/src/project/urdfToMjcf.ts b/web_platform/src/project/urdfToMjcf.ts
similarity index 100%
rename from wasm/web_platform/src/project/urdfToMjcf.ts
rename to web_platform/src/project/urdfToMjcf.ts
diff --git a/wasm/web_platform/src/project/workspace.test.ts b/web_platform/src/project/workspace.test.ts
similarity index 100%
rename from wasm/web_platform/src/project/workspace.test.ts
rename to web_platform/src/project/workspace.test.ts
diff --git a/wasm/web_platform/src/project/workspace.ts b/web_platform/src/project/workspace.ts
similarity index 100%
rename from wasm/web_platform/src/project/workspace.ts
rename to web_platform/src/project/workspace.ts
diff --git a/web_platform/src/rl/runtime/Go2wPolicyBindings.ts b/web_platform/src/rl/runtime/Go2wPolicyBindings.ts
new file mode 100644
index 00000000..a5d6a734
--- /dev/null
+++ b/web_platform/src/rl/runtime/Go2wPolicyBindings.ts
@@ -0,0 +1,79 @@
+import type {MjData,MjModel} from '@mujoco/mujoco';
+import {buildGo2wObservation,GO2W_VELOCITY_TASK} from '../tasks/go2wVelocity';
+import type {JointBinding,RLCommand} from '../types';
+import type {PolicyRuntimeBindings} from './OnnxPolicyRuntime';
+
+interface BoundJoint extends JointBinding {positionActuator:boolean;controlScale:number;}
+
+function rotateInverse(quaternion:readonly number[],vector:readonly number[]):[number,number,number]{
+  const [w,x,y,z]=quaternion,[vx,vy,vz]=vector;
+  const tx=2*(y*vz-z*vy),ty=2*(z*vx-x*vz),tz=2*(x*vy-y*vx);
+  return [vx-w*tx+(y*tz-z*ty),vy-w*ty+(z*tx-x*tz),vz-w*tz+(x*ty-y*tx)];
+}
+
+/** 将 mjlab Go2 velocity 的 47 维 actor 观测和 12 维关节位置动作映射到 MuJoCo。 */
+export class Go2wPolicyBindings implements PolicyRuntimeBindings {
+  private readonly joints:BoundJoint[];
+  private readonly baseBodyId:number;
+  private readonly baseFreeJointId:number;
+  private readonly gyroSensorId?:number;
+  private readonly wheelActuatorIds:number[];
+
+  constructor(private readonly model:MjModel,private readonly data:MjData,private readonly setActuator:(id:number,value:number)=>void){
+    const jointIds=new Map<string,number>(),actuatorIds=new Map<string,number>(),sensorIds=new Map<string,number>(),bodyIds=new Map<string,number>();
+    for(let id=0;id<model.njnt;id+=1){const item=model.jnt(id);try{if(item.name)jointIds.set(item.name,id);}finally{item.delete();}}
+    for(let id=0;id<model.nactuator;id+=1){const item=model.actuator(id);try{if(item.name)actuatorIds.set(item.name,id);}finally{item.delete();}}
+    for(let id=0;id<model.nsensor;id+=1){const item=model.sensor(id);try{if(item.name)sensorIds.set(item.name,id);}finally{item.delete();}}
+    for(let id=0;id<model.nbody;id+=1){const item=model.body(id);try{if(item.name)bodyIds.set(item.name,id);}finally{item.delete();}}
+    this.baseBodyId=bodyIds.get('base_link')??bodyIds.get('base')??this.findFloatingBaseBody();
+    this.baseFreeJointId=this.findFreeJoint(this.baseBodyId);
+    const gyroCandidate=sensorIds.get('imu_gyro')??sensorIds.get('__platform_imu_gyro__');
+    this.gyroSensorId=gyroCandidate!==undefined&&this.isBaseAlignedGyro(gyroCandidate)?gyroCandidate:undefined;
+    this.joints=GO2W_VELOCITY_TASK.jointNames.map((name,index)=>{
+      const jointId=jointIds.get(name);if(jointId===undefined)throw new Error(`Go2-W 策略找不到关节：${name}`);
+      const short=name.replace(/_joint$/,'');
+      const actuatorId=actuatorIds.get(short)??actuatorIds.get(`${name}_motor`);
+      if(actuatorId===undefined)throw new Error(`Go2-W 策略找不到驱动器：${short} 或 ${name}_motor`);
+      const joint=model.jnt(jointId),actuator=model.actuator(actuatorId);
+      try{
+        const address=Number(model.actuator_ctrladr[actuatorId]??actuatorId),nextAddress=actuatorId+1<model.nactuator?Number(model.actuator_ctrladr[actuatorId+1]):model.nu;
+        if(nextAddress-address!==1||Number(actuator.trntype)!==0||Number(actuator.trnid[0])!==jointId)throw new Error(`驱动器 ${actuator.name||actuatorId} 不是关节 ${name} 的标量 joint transmission`);
+        if(Number(actuator.gaintype)!==0||Number(actuator.dyntype)!==0)throw new Error(`驱动器 ${actuator.name||actuatorId} 必须使用 fixed gain 和无激活动力学`);
+        const gear=Number(actuator.gear[0]),gain=Number(actuator.gainprm[0]),positionActuator=Number(actuator.biastype)===1&&Math.abs(Number(actuator.biasprm[1])+gain)<1e-5;
+        const motorActuator=Number(actuator.biastype)===0;
+        if(!positionActuator&&!motorActuator)throw new Error(`驱动器 ${actuator.name||actuatorId} 不是受支持的 motor/position 类型`);
+        if(positionActuator&&(Math.abs(gear-1)>1e-5||Math.abs(gain-GO2W_VELOCITY_TASK.stiffness[index])>1e-4||Math.abs(Number(actuator.biasprm[2])+GO2W_VELOCITY_TASK.damping[index])>1e-4))throw new Error(`position 驱动器 ${actuator.name||actuatorId} 的 gear/kp/kd 与 mjlab deploy 配置不一致`);
+        const controlScale=gear*gain;
+        if(!Number.isFinite(controlScale)||Math.abs(controlScale)<1e-9)throw new Error(`驱动器 ${actuator.name||actuatorId} 的 gear × gain 无效`);
+        return {name,jointId,qposAddress:Number(joint.qposadr),qvelAddress:Number(joint.dofadr),actuatorId,positionActuator,controlScale};
+      }finally{actuator.delete();joint.delete();}
+    });
+    this.wheelActuatorIds=['FL','FR','RL','RR'].flatMap(prefix=>{
+      const id=actuatorIds.get(`${prefix}_wheel`)??actuatorIds.get(`${prefix}_wheel_joint_motor`)??actuatorIds.get(`${prefix}_foot_joint_motor`);
+      return id===undefined?[]:[id];
+    });
+  }
+
+  observe(time:number,lastAction:Float32Array,command:RLCommand):Float32Array{
+    const quaternion=Array.from(this.data.xquat.subarray(this.baseBodyId*4,this.baseBodyId*4+4),Number);
+    const projectedGravity=rotateInverse(quaternion,[0,0,-1]);
+    let angularVelocity:[number,number,number];
+    if(this.gyroSensorId!==undefined){const address=Number(this.model.sensor_adr[this.gyroSensorId]);angularVelocity=[Number(this.data.sensordata[address]),Number(this.data.sensordata[address+1]),Number(this.data.sensordata[address+2])];}
+    else {const joint=this.model.jnt(this.baseFreeJointId);try{const address=Number(joint.dofadr)+3;angularVelocity=[Number(this.data.qvel[address]),Number(this.data.qvel[address+1]),Number(this.data.qvel[address+2])];}finally{joint.delete();}}
+    return buildGo2wObservation({angularVelocity,projectedGravity,command,time,jointPosition:this.joints.map(item=>Number(this.data.qpos[item.qposAddress])),jointVelocity:this.joints.map(item=>Number(this.data.qvel[item.qvelAddress])),lastAction:Array.from(lastAction)});
+  }
+
+  apply(action:Float32Array):void{
+    for(let index=0;index<this.joints.length;index+=1){
+      const item=this.joints[index],target=GO2W_VELOCITY_TASK.defaultJointPosition[index]+GO2W_VELOCITY_TASK.actionScale[index]*action[index];
+      const torque=GO2W_VELOCITY_TASK.stiffness[index]*(target-Number(this.data.qpos[item.qposAddress]))-GO2W_VELOCITY_TASK.damping[index]*Number(this.data.qvel[item.qvelAddress]);
+      this.setActuator(item.actuatorId,item.positionActuator?target:torque/item.controlScale);
+    }
+    for(const id of this.wheelActuatorIds)this.setActuator(id,0);
+  }
+  clear():void{for(const item of this.joints)this.setActuator(item.actuatorId,0);for(const id of this.wheelActuatorIds)this.setActuator(id,0);}
+
+  private isBaseAlignedGyro(sensorId:number):boolean{const siteId=Number(this.model.sensor_objid[sensorId]);if(Number(this.model.sensor_dim[sensorId])!==3||siteId<0||siteId>=this.model.nsite||Number(this.model.site_bodyid[siteId])!==this.baseBodyId)return false;const offset=siteId*4;return Math.abs(Number(this.model.site_quat[offset])-1)<1e-5&&Math.abs(Number(this.model.site_quat[offset+1]))<1e-5&&Math.abs(Number(this.model.site_quat[offset+2]))<1e-5&&Math.abs(Number(this.model.site_quat[offset+3]))<1e-5;}
+  private findFloatingBaseBody():number{for(let jointId=0;jointId<this.model.njnt;jointId+=1)if(Number(this.model.jnt_type[jointId])===0)return Number(this.model.jnt_bodyid[jointId]);throw new Error('Go2-W 策略需要浮动基座（free joint）');}
+  private findFreeJoint(bodyId:number):number{for(let jointId=0;jointId<this.model.njnt;jointId+=1)if(Number(this.model.jnt_type[jointId])===0&&Number(this.model.jnt_bodyid[jointId])===bodyId)return jointId;throw new Error('Go2-W 基座没有 free joint，请使用浮动基座模型');}
+}
diff --git a/web_platform/src/rl/runtime/OnnxPolicyRuntime.ts b/web_platform/src/rl/runtime/OnnxPolicyRuntime.ts
new file mode 100644
index 00000000..71e0e26d
--- /dev/null
+++ b/web_platform/src/rl/runtime/OnnxPolicyRuntime.ts
@@ -0,0 +1,83 @@
+import * as ort from 'onnxruntime-web/wasm';
+import {GO2W_VELOCITY_TASK,clampGo2wCommand} from '../tasks/go2wVelocity';
+import type {RLCommand,RLPolicyStatus} from '../types';
+
+ort.env.wasm.numThreads=1;
+ort.env.wasm.proxy=false;
+
+export interface PolicyRuntimeBindings {
+  observe(time:number,lastAction:Float32Array,command:RLCommand):Float32Array;
+  apply(action:Float32Array):void;
+  clear():void;
+}
+
+function message(error:unknown):string{return error instanceof Error?error.message:String(error);}
+
+/**
+ * ONNX Runtime Web 的 run() 是异步 API。物理循环会在每个 mj_step 前持续施加最近一次
+ * 完成的动作，并按控制频率启动下一次推理，避免阻塞 MuJoCo 的同步步进循环。
+ */
+export class OnnxPolicyRuntime {
+  private enabled=false;
+  private disposed=false;
+  private inFlight=false;
+  private nextInferenceTime=0;
+  private action=new Float32Array(GO2W_VELOCITY_TASK.actionSize);
+  private commandValue:RLCommand={linearX:0,linearY:0,angularZ:0};
+  private inferenceCount=0;
+  private lastInferenceMs=0;
+  private error?:string;
+  private epoch=0;
+  private runPromise?:Promise<void>;
+
+  private constructor(private readonly session:ort.InferenceSession,private readonly bindings:PolicyRuntimeBindings,private readonly path:string,private readonly inputName:string,private readonly outputName:string){}
+
+  static async load(model:Uint8Array,path:string,bindings:PolicyRuntimeBindings):Promise<OnnxPolicyRuntime>{
+    const session=await ort.InferenceSession.create(model.slice(),{executionProviders:['wasm'],graphOptimizationLevel:'all'});
+    try{
+      if(session.inputNames.length!==1)throw new Error(`当前仅支持单输入策略，模型包含 ${session.inputNames.length} 个输入`);
+      if(session.outputNames.length<1)throw new Error('ONNX 策略没有输出');
+      const input=session.inputMetadata[0],output=session.outputMetadata[0];
+      if(!input?.isTensor||input.type!=='float32')throw new Error('策略输入必须是 float32 Tensor');
+      if(!output?.isTensor||output.type!=='float32')throw new Error('策略输出必须是 float32 Tensor');
+      if(input.shape.length!==2||output.shape.length!==2)throw new Error(`策略输入/输出必须是二维 [batch, features]，实际为 [${input.shape}] / [${output.shape}]`);
+      const inputBatch=input.shape[0],outputBatch=output.shape[0],fixedInput=input.shape[1],fixedOutput=output.shape[1];
+      if(typeof inputBatch==='number'&&inputBatch!==-1&&inputBatch!==1)throw new Error(`策略输入 batch 必须为 1 或动态维度，实际为 ${inputBatch}`);
+      if(typeof outputBatch==='number'&&outputBatch!==-1&&outputBatch!==1)throw new Error(`策略输出 batch 必须为 1 或动态维度，实际为 ${outputBatch}`);
+      if(typeof fixedInput==='number'&&fixedInput>0&&fixedInput!==GO2W_VELOCITY_TASK.observationSize)throw new Error(`策略观测维度不匹配：模型 ${fixedInput}，任务 ${GO2W_VELOCITY_TASK.observationSize}`);
+      if(typeof fixedOutput==='number'&&fixedOutput>0&&fixedOutput!==GO2W_VELOCITY_TASK.actionSize)throw new Error(`策略动作维度不匹配：模型 ${fixedOutput}，任务 ${GO2W_VELOCITY_TASK.actionSize}`);
+      return new OnnxPolicyRuntime(session,bindings,path,session.inputNames[0],session.outputNames[0]);
+    }catch(error){await session.release();throw error;}
+  }
+
+  status():RLPolicyStatus{return {taskId:GO2W_VELOCITY_TASK.id,taskName:GO2W_VELOCITY_TASK.name,path:this.path,loaded:!this.disposed,enabled:this.enabled,controlHz:GO2W_VELOCITY_TASK.controlHz,observationSize:GO2W_VELOCITY_TASK.observationSize,actionSize:GO2W_VELOCITY_TASK.actionSize,inputName:this.inputName,outputName:this.outputName,command:{...this.commandValue},inferenceCount:this.inferenceCount,lastInferenceMs:this.lastInferenceMs,error:this.error};}
+  setCommand(command:RLCommand):void{this.commandValue=clampGo2wCommand(command);}
+  setEnabled(enabled:boolean,time:number):void{if(this.disposed)return;this.epoch+=1;this.enabled=enabled;this.error=undefined;this.nextInferenceTime=time;if(!enabled){this.action.fill(0);this.bindings.clear();}}
+  reset(time:number):void{this.epoch+=1;this.action.fill(0);this.nextInferenceTime=time;this.error=undefined;this.bindings.clear();}
+
+  step(time:number):void{
+    if(!this.enabled||this.disposed)return;
+    this.bindings.apply(this.action);
+    if(this.inFlight||time+1e-9<this.nextInferenceTime)return;
+    let observation:Float32Array;
+    try{observation=this.bindings.observe(time,this.action,this.commandValue);}
+    catch(error){this.fail(error);return;}
+    this.inFlight=true;
+    this.nextInferenceTime=time+1/GO2W_VELOCITY_TASK.controlHz;
+    const started=performance.now(),epoch=this.epoch;
+    const input=new ort.Tensor('float32',observation,[1,observation.length]);
+    this.runPromise=this.session.run({[this.inputName]:input}).then(outputs=>{
+      try{
+        const output=outputs[this.outputName];
+        if(!output||output.type!=='float32')throw new Error(`找不到 float32 输出：${this.outputName}`);
+        if(output.data.length!==GO2W_VELOCITY_TASK.actionSize)throw new Error(`策略动作维度错误：期望 ${GO2W_VELOCITY_TASK.actionSize}，实际 ${output.data.length}`);
+        const next=Float32Array.from(output.data as Float32Array,Number);
+        for(const value of next)if(!Number.isFinite(value))throw new Error('策略输出包含非有限数');
+        if(!this.disposed&&this.enabled&&epoch===this.epoch){this.action=next;this.inferenceCount+=1;this.lastInferenceMs=performance.now()-started;}
+      }finally{for(const value of Object.values(outputs))value.dispose();}
+    }).catch(error=>{if(epoch===this.epoch)this.fail(error);}).finally(()=>{input.dispose();this.inFlight=false;this.runPromise=undefined;});
+  }
+
+  private fail(error:unknown):void{if(this.disposed)return;this.error=message(error);this.enabled=false;this.bindings.clear();}
+  dispose():void{if(this.disposed)return;this.disposed=true;this.enabled=false;this.epoch+=1;this.bindings.clear();const pending=this.runPromise??Promise.resolve();void pending.catch(()=>{}).finally(()=>this.session.release().catch(error=>console.warn('[ONNX] 释放推理会话失败',error)));}
+}
diff --git a/web_platform/src/rl/tasks/go2wVelocity.test.ts b/web_platform/src/rl/tasks/go2wVelocity.test.ts
new file mode 100644
index 00000000..6207eb67
--- /dev/null
+++ b/web_platform/src/rl/tasks/go2wVelocity.test.ts
@@ -0,0 +1,28 @@
+import {describe,expect,it} from 'vitest';
+import {buildGo2wObservation,clampGo2wCommand,go2wGaitPhase,GO2W_VELOCITY_TASK} from './go2wVelocity';
+
+describe('Go2-W velocity task',()=>{
+  it('按 mjlab deploy 顺序构造 47 维 actor 观测',()=>{
+    const jointPosition=GO2W_VELOCITY_TASK.defaultJointPosition.map(value=>value+0.1);
+    const observation=buildGo2wObservation({angularVelocity:[1,2,3],projectedGravity:[0,0,-1],command:{linearX:0.5,linearY:-0.25,angularZ:0.2},time:0,jointPosition,jointVelocity:Array(12).fill(0.3),lastAction:Array(12).fill(-0.4)});
+    expect(observation).toHaveLength(47);
+    [1,2,3,0,0,-1,0.5,-0.25,0.2,0,1].forEach((value,index)=>expect(observation[index]).toBeCloseTo(value));
+    for(const value of observation.slice(11,23))expect(value).toBeCloseTo(0.1);
+    for(const value of observation.slice(23,35))expect(value).toBeCloseTo(0.3);
+    for(const value of observation.slice(35,47))expect(value).toBeCloseTo(-0.4);
+  });
+
+  it('静止时关闭步态相位，并限制速度命令范围',()=>{
+    expect(go2wGaitPhase(0.15,{linearX:0,linearY:0,angularZ:0})).toEqual([0,0]);
+    const moving=go2wGaitPhase(0.15,{linearX:1,linearY:0,angularZ:0});
+    expect(moving[0]).toBeCloseTo(1);
+    expect(moving[1]).toBeCloseTo(0);
+    expect(clampGo2wCommand({linearX:4,linearY:-4,angularZ:3})).toEqual({linearX:1,linearY:-0.5,angularZ:1});
+  });
+
+  it('拒绝维度错误或非有限观测',()=>{
+    const valid={angularVelocity:[0,0,0],projectedGravity:[0,0,-1],command:{linearX:0,linearY:0,angularZ:0},time:0,jointPosition:Array(12).fill(0),jointVelocity:Array(12).fill(0),lastAction:Array(12).fill(0)};
+    expect(()=>buildGo2wObservation({...valid,lastAction:[0]})).toThrow(/观测维度/);
+    expect(()=>buildGo2wObservation({...valid,angularVelocity:[Number.NaN,0,0]})).toThrow(/非有限数/);
+  });
+});
diff --git a/web_platform/src/rl/tasks/go2wVelocity.ts b/web_platform/src/rl/tasks/go2wVelocity.ts
new file mode 100644
index 00000000..54eef7fb
--- /dev/null
+++ b/web_platform/src/rl/tasks/go2wVelocity.ts
@@ -0,0 +1,57 @@
+import type {RLCommand} from '../types';
+
+export const GO2W_VELOCITY_TASK={
+  id:'unitree-go2w-velocity' as const,
+  name:'Unitree Go2-W 平衡/速度控制',
+  controlHz:50,
+  gaitPeriod:0.6,
+  observationSize:47,
+  actionSize:12,
+  commandLimits:{linearX:[-0.5,1] as const,linearY:[-0.5,0.5] as const,angularZ:[-1,1] as const},
+  jointNames:[
+    'FL_hip_joint','FL_thigh_joint','FL_calf_joint',
+    'FR_hip_joint','FR_thigh_joint','FR_calf_joint',
+    'RL_hip_joint','RL_thigh_joint','RL_calf_joint',
+    'RR_hip_joint','RR_thigh_joint','RR_calf_joint',
+  ] as const,
+  defaultJointPosition:[-0.1,0.9,-1.8,0.1,0.9,-1.8,-0.1,0.9,-1.8,0.1,0.9,-1.8] as const,
+  actionScale:[0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25] as const,
+  stiffness:[20,20,40,20,20,40,20,20,40,20,20,40] as const,
+  damping:[1,1,2,1,1,2,1,1,2,1,1,2] as const,
+};
+
+export function clampGo2wCommand(command:RLCommand):RLCommand {
+  const limits=GO2W_VELOCITY_TASK.commandLimits;
+  const clamp=(value:number,range:readonly[number,number])=>Math.min(range[1],Math.max(range[0],Number.isFinite(value)?value:0));
+  return {linearX:clamp(command.linearX,limits.linearX),linearY:clamp(command.linearY,limits.linearY),angularZ:clamp(command.angularZ,limits.angularZ)};
+}
+
+export function go2wGaitPhase(time:number,command:RLCommand):[number,number] {
+  if(Math.hypot(command.linearX,command.linearY,command.angularZ)<0.1)return [0,0];
+  const phase=((time/GO2W_VELOCITY_TASK.gaitPeriod)%1+1)%1;
+  return [Math.sin(phase*2*Math.PI),Math.cos(phase*2*Math.PI)];
+}
+
+export function buildGo2wObservation(values:{
+  angularVelocity:readonly number[];
+  projectedGravity:readonly number[];
+  command:RLCommand;
+  time:number;
+  jointPosition:readonly number[];
+  jointVelocity:readonly number[];
+  lastAction:readonly number[];
+}):Float32Array {
+  const phase=go2wGaitPhase(values.time,values.command);
+  const observation=new Float32Array([
+    ...values.angularVelocity.slice(0,3),
+    ...values.projectedGravity.slice(0,3),
+    values.command.linearX,values.command.linearY,values.command.angularZ,
+    ...phase,
+    ...values.jointPosition.map((value,index)=>value-GO2W_VELOCITY_TASK.defaultJointPosition[index]),
+    ...values.jointVelocity,
+    ...values.lastAction,
+  ]);
+  if(observation.length!==GO2W_VELOCITY_TASK.observationSize)throw new Error(`Go2-W 观测维度错误：期望 ${GO2W_VELOCITY_TASK.observationSize}，实际 ${observation.length}`);
+  for(const value of observation)if(!Number.isFinite(value))throw new Error('Go2-W 观测包含非有限数');
+  return observation;
+}
diff --git a/web_platform/src/rl/types.ts b/web_platform/src/rl/types.ts
new file mode 100644
index 00000000..d38dfeb7
--- /dev/null
+++ b/web_platform/src/rl/types.ts
@@ -0,0 +1,30 @@
+export interface RLCommand {
+  linearX:number;
+  linearY:number;
+  angularZ:number;
+}
+
+export interface RLPolicyStatus {
+  taskId:'unitree-go2w-velocity';
+  taskName:string;
+  path:string;
+  loaded:boolean;
+  enabled:boolean;
+  controlHz:number;
+  observationSize:number;
+  actionSize:number;
+  inputName:string;
+  outputName:string;
+  command:RLCommand;
+  inferenceCount:number;
+  lastInferenceMs:number;
+  error?:string;
+}
+
+export interface JointBinding {
+  name:string;
+  jointId:number;
+  qposAddress:number;
+  qvelAddress:number;
+  actuatorId:number;
+}
diff --git a/wasm/web_platform/src/simulation/PhysicsAdapter.ts b/web_platform/src/simulation/PhysicsAdapter.ts
similarity index 92%
rename from wasm/web_platform/src/simulation/PhysicsAdapter.ts
rename to web_platform/src/simulation/PhysicsAdapter.ts
index 22426a4d..7d6b24ba 100644
--- a/wasm/web_platform/src/simulation/PhysicsAdapter.ts
+++ b/web_platform/src/simulation/PhysicsAdapter.ts
@@ -5,6 +5,7 @@ import {enhanceConvertedMjcf,groundConvertedMjcf,type UrdfBaseMode,type UrdfEnha
 import {MemfsWorkspace} from '../project/workspace';
 import {SimulationSession,type ActuatorParameters,type FrameResult,type SimulationSnapshot} from './SimulationSession';
 import type {ControllerCommand,ControllerStatus} from '../controller/types';
+import type {RLCommand,RLPolicyStatus} from '../rl/types';
 
 export type UrdfLoadMode='mjcf'|'native';
 export type {UrdfBaseMode,UrdfEnhancementOptions};
@@ -28,6 +29,10 @@ export interface PhysicsAdapter {
   setControllerEnabled(enabled:boolean):void;
   sendControllerCommand(command:ControllerCommand):void;
   removeController():void;
+  loadRLPolicy(model:Uint8Array,path:string):Promise<RLPolicyStatus>;
+  setRLPolicyEnabled(enabled:boolean):void;
+  setRLCommand(command:RLCommand):void;
+  removeRLPolicy():void;
   cachedSupportFiles():ProjectFile[];
   exportMjcf(): Uint8Array;
   dispose(): void;
@@ -73,7 +78,7 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
       }
       console.info('[MuJoCo] 编译模型',modelPath);const session=new SimulationSession(module,modelPath,warnings);
       if(entry?.format==='urdf'&&urdfMode==='native'){const offset=session.alignLowestPointToGround();warnings.push(`原生 URDF 已整体平移 ${offset.toFixed(4)} m，使最低点位于 z=0`);}
-      if(warnings.length)console.warn('[MuJoCo] URDF 兼容处理',warnings);
+      if(warnings.length)console.info('[MuJoCo] URDF 兼容处理',warnings);
       console.info('[MuJoCo] 模型编译完成');this.workspace=workspace;this.session=session;const snapshot=session.snapshot();console.info('[MuJoCo] 状态快照完成');return snapshot;
     }catch(error){workspace.dispose();throw new Error(`模型编译失败（${entryPath}）：${error instanceof Error?error.message:String(error)}`,{cause:error});}
   }
@@ -94,6 +99,10 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
   setControllerEnabled(enabled:boolean):void{this.session?.setControllerEnabled(enabled);}
   sendControllerCommand(command:ControllerCommand):void{this.session?.sendControllerCommand(command);}
   removeController():void{this.session?.removeController();}
+  async loadRLPolicy(model:Uint8Array,path:string):Promise<RLPolicyStatus>{if(!this.session)throw new Error('请先加载模型');return this.session.loadRLPolicy(model,path);}
+  setRLPolicyEnabled(enabled:boolean):void{this.session?.setRLPolicyEnabled(enabled);}
+  setRLCommand(command:RLCommand):void{this.session?.setRLCommand(command);}
+  removeRLPolicy():void{this.session?.removeRLPolicy();}
   cachedSupportFiles():ProjectFile[]{return this.supportFiles.map(file=>({...file,data:file.data.slice()}));}
   exportMjcf():Uint8Array{
     if(!this.session||!this.workspace)throw new Error('尚未加载可导出的模型');
diff --git a/wasm/web_platform/src/simulation/SimulationSession.ts b/web_platform/src/simulation/SimulationSession.ts
similarity index 90%
rename from wasm/web_platform/src/simulation/SimulationSession.ts
rename to web_platform/src/simulation/SimulationSession.ts
index cf23b0fc..829e3675 100644
--- a/wasm/web_platform/src/simulation/SimulationSession.ts
+++ b/web_platform/src/simulation/SimulationSession.ts
@@ -2,12 +2,15 @@ import type {MainModule, MjData, MjModel, MjvPerturb, MjvScene} from '@mujoco/mu
 import {meshIdFromSceneDataId} from './geometry';
 import {PythonControllerRuntime} from '../controller/PythonControllerRuntime';
 import type {ControllerBindings,ControllerCommand,ControllerStatus} from '../controller/types';
+import {Go2wPolicyBindings} from '../rl/runtime/Go2wPolicyBindings';
+import type {OnnxPolicyRuntime} from '../rl/runtime/OnnxPolicyRuntime';
+import type {RLCommand,RLPolicyStatus} from '../rl/types';
 
 export interface ActuatorParameters {gear:number;gain:number;kp:number;kv:number;ctrlLimited:boolean;ctrlMin:number;ctrlMax:number;forceLimited:boolean;forceMin:number;forceMax:number;}
 export interface ActuatorInfo extends ActuatorParameters {id:number;name:string;value:number;min:number;max:number;limited:boolean;jointId?:number;jointName?:string;jointType?:number;unit:string;kind:'motor'|'position'|'velocity'|'other';controlCount:number;}
 export interface JointInfo {id:number;name:string;type:number;value:number;min:number;max:number;limitMin:number;limitMax:number;limited:boolean;limitsIgnored:boolean;editable:boolean;bodyId:number;axis:[number,number,number];}
 export interface BodyInfo {id:number;name:string;parentId:number;}
-export interface SimulationSnapshot {time: number; qpos: number[]; qvel: number[]; ctrl: number[]; actuators: ActuatorInfo[]; joints: JointInfo[]; bodies: BodyInfo[]; warnings: string[]; controller?:ControllerStatus; model:{nbody:number;njnt:number;ngeom:number;ncam:number;nactuator:number;nu:number;nq:number;nv:number};}
+export interface SimulationSnapshot {time: number; qpos: number[]; qvel: number[]; ctrl: number[]; actuators: ActuatorInfo[]; joints: JointInfo[]; bodies: BodyInfo[]; warnings: string[]; controller?:ControllerStatus; rlPolicy?:RLPolicyStatus; model:{nbody:number;njnt:number;ngeom:number;ncam:number;nactuator:number;nu:number;nq:number;nv:number};}
 export interface FrameResult {steps: number; stepMs: number; overBudget: boolean;}
 
 export class SimulationSession {
@@ -27,6 +30,8 @@ export class SimulationSession {
   private jointLimits:{limited:boolean;min:number;max:number;type:number}[]=[];
   private pythonController?:PythonControllerRuntime;
   private controllerLoadGeneration=0;
+  private rlPolicy?:OnnxPolicyRuntime;
+  private rlPolicyLoadGeneration=0;
 
   constructor(readonly module: MainModule, modelPath: string, readonly warnings: string[] = []) {
     let model: MjModel | undefined; let data: MjData | undefined; let perturb: MjvPerturb | undefined;
@@ -43,7 +48,7 @@ export class SimulationSession {
 
   setPaused(paused: boolean): void {this.paused = paused; this.accumulator = 0; this.lastNow = undefined;}
   setSpeed(speed: number): void {this.speed = Math.min(4, Math.max(0.1, speed));}
-  reset(): void {this.setPaused(true);this.module.mj_resetData(this.model,this.data);this.module.mj_forward(this.model,this.data);this.clearExternalForce();this.data.ctrl.fill(0);this.pythonController?.reset(Number(this.data.time));}
+  reset(): void {this.setPaused(true);this.module.mj_resetData(this.model,this.data);this.module.mj_forward(this.model,this.data);this.clearExternalForce();this.data.ctrl.fill(0);this.pythonController?.reset(Number(this.data.time));this.rlPolicy?.reset(Number(this.data.time));}
   singleStep(): void {this.runController();this.applyForce();this.module.mj_step(this.model,this.data);}
 
   advance(now: number): FrameResult {
@@ -69,16 +74,36 @@ export class SimulationSession {
   }
 
   setControllerEnabled(enabled:boolean):void {
+    if(enabled&&this.pythonController){this.data.ctrl.fill(0);this.rlPolicy?.setEnabled(false,Number(this.data.time));}
     this.pythonController?.setEnabled(enabled,Number(this.data.time));
     if(!enabled)this.data.ctrl.fill(0);
   }
 
+  async loadRLPolicy(model:Uint8Array,path:string):Promise<RLPolicyStatus>{
+    const generation=++this.rlPolicyLoadGeneration;
+    const bindings=new Go2wPolicyBindings(this.model,this.data,(id,value)=>this.setActuator(id,value));
+    const {OnnxPolicyRuntime:Runtime}=await import('../rl/runtime/OnnxPolicyRuntime');
+    const runtime=await Runtime.load(model,path,bindings);
+    if(this.disposed||generation!==this.rlPolicyLoadGeneration){runtime.dispose();throw new Error('模型已切换，ONNX 策略加载已取消');}
+    this.data.ctrl.fill(0);this.rlPolicy?.dispose();this.rlPolicy=runtime;
+    return runtime.status();
+  }
+
+  setRLPolicyEnabled(enabled:boolean):void {
+    if(enabled&&this.rlPolicy){this.data.ctrl.fill(0);this.pythonController?.setEnabled(false,Number(this.data.time));}
+    this.rlPolicy?.setEnabled(enabled,Number(this.data.time));
+    if(!enabled)this.data.ctrl.fill(0);
+  }
+
+  setRLCommand(command:RLCommand):void {this.rlPolicy?.setCommand(command);}
+  removeRLPolicy():void {this.rlPolicyLoadGeneration+=1;this.rlPolicy?.dispose();this.rlPolicy=undefined;this.data.ctrl.fill(0);}
+
   sendControllerCommand(command:ControllerCommand):void {this.pythonController?.command(command);}
 
   removeController():void {this.controllerLoadGeneration+=1;this.pythonController?.dispose();this.pythonController=undefined;this.data.ctrl.fill(0);}
 
   private runController():void {
-    try{this.pythonController?.stepIfDue(Number(this.data.time));}
+    try{this.pythonController?.stepIfDue(Number(this.data.time));this.rlPolicy?.step(Number(this.data.time));}
     catch(error){this.setPaused(true);this.data.ctrl.fill(0);throw error;}
   }
 
@@ -224,7 +249,7 @@ export class SimulationSession {
       try {return {id,name:body.name||`body_${id}`,parentId:Number(this.model.body_parentid[id])};}
       finally { body.delete(); }
     });
-    return {time:Number(this.data.time),qpos:Array.from(this.data.qpos),qvel:Array.from(this.data.qvel),ctrl:Array.from(this.data.ctrl),actuators,joints,bodies,warnings:this.warnings,controller:this.pythonController?.status(),model:{nbody:this.model.nbody,njnt:this.model.njnt,ngeom:this.model.ngeom,ncam:this.model.ncam,nactuator:this.model.nactuator,nu:this.model.nu,nq:this.model.nq,nv:this.model.nv}};
+    return {time:Number(this.data.time),qpos:Array.from(this.data.qpos),qvel:Array.from(this.data.qvel),ctrl:Array.from(this.data.ctrl),actuators,joints,bodies,warnings:this.warnings,controller:this.pythonController?.status(),rlPolicy:this.rlPolicy?.status(),model:{nbody:this.model.nbody,njnt:this.model.njnt,ngeom:this.model.ngeom,ncam:this.model.ncam,nactuator:this.model.nactuator,nu:this.model.nu,nq:this.model.nq,nv:this.model.nv}};
   }
-  dispose(): void {if(this.disposed)return;this.disposed=true;this.removeController();this.clearExternalForce();this.perturb.delete();this.data.delete();this.model.delete();}
+  dispose(): void {if(this.disposed)return;this.disposed=true;this.removeController();this.removeRLPolicy();this.clearExternalForce();this.perturb.delete();this.data.delete();this.model.delete();}
 }
diff --git a/wasm/web_platform/src/simulation/geometry.test.ts b/web_platform/src/simulation/geometry.test.ts
similarity index 100%
rename from wasm/web_platform/src/simulation/geometry.test.ts
rename to web_platform/src/simulation/geometry.test.ts
diff --git a/wasm/web_platform/src/simulation/geometry.ts b/web_platform/src/simulation/geometry.ts
similarity index 100%
rename from wasm/web_platform/src/simulation/geometry.ts
rename to web_platform/src/simulation/geometry.ts
diff --git a/wasm/web_platform/src/stores/useAppStore.test.ts b/web_platform/src/stores/useAppStore.test.ts
similarity index 100%
rename from wasm/web_platform/src/stores/useAppStore.test.ts
rename to web_platform/src/stores/useAppStore.test.ts
diff --git a/wasm/web_platform/src/stores/useAppStore.ts b/web_platform/src/stores/useAppStore.ts
similarity index 100%
rename from wasm/web_platform/src/stores/useAppStore.ts
rename to web_platform/src/stores/useAppStore.ts
diff --git a/wasm/web_platform/src/styles.css b/web_platform/src/styles.css
similarity index 77%
rename from wasm/web_platform/src/styles.css
rename to web_platform/src/styles.css
index 74a1f1dc..5a8e8498 100644
--- a/wasm/web_platform/src/styles.css
+++ b/web_platform/src/styles.css
@@ -5,7 +5,7 @@
 :root{
   --ui-bg:#eef2f7;--ui-panel:#fbfcfe;--ui-surface:#f7f9fc;--ui-surface-elevated:#fff;--ui-input:#fff;
   --ui-hover:#e9eef5;--ui-active:#dfe7f1;--ui-border:#d9e1eb;--ui-border-strong:#b8c4d2;
-  --ui-text-primary:#122033;--ui-text-secondary:#3d4d61;--ui-text-tertiary:#718096;
+  --ui-text-primary:#122033;--ui-text-secondary:#3d4d61;--ui-text-tertiary:#5f6f82;
   --ui-accent:#16835f;--ui-accent-hover:#116b4d;--ui-accent-soft:#dff4ec;
   --ui-danger:#c53b45;--ui-danger-soft:#fff0f1;--ui-danger-border:#f1b9bd;
   --ui-warning:#a76612;--ui-warning-soft:#fff7e6;--ui-warning-border:#efd18f;
@@ -24,13 +24,14 @@
 }
 @layer base{
   html,body,#root{height:100%;margin:0}body{overflow:hidden;background:var(--ui-bg);color:var(--ui-text-primary);font-family:Inter,"Noto Sans SC",system-ui,sans-serif}button,input,select{font:inherit}
-  :where(button,input,select):focus-visible{outline:none}
+  :where(button,input,select,textarea,[tabindex]):focus-visible{outline:2px solid var(--ui-accent);outline-offset:2px}
 }
 @layer components{
   .panel-scroll{scrollbar-color:var(--ui-scrollbar) transparent;scrollbar-width:thin}
   .control-slider{@apply w-full accent-accent}
+  .field{@apply rounded-md border border-border bg-input transition-colors hover:border-border-strong focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-accent}
   .technical-value{font-variant-numeric:tabular-nums}
 }
 ::-webkit-scrollbar{height:6px;width:6px}::-webkit-scrollbar-track{background:transparent}::-webkit-scrollbar-thumb{background:var(--ui-scrollbar);border-radius:999px}::-webkit-scrollbar-thumb:hover{background:var(--ui-scrollbar-hover)}
-.theme-light,.theme-dark,.theme-light *,.theme-dark *{transition-property:background-color,color,border-color,box-shadow,opacity;transition-duration:180ms;transition-timing-function:ease-out}
-@media(prefers-reduced-motion:reduce){.theme-light,.theme-dark,.theme-light *,.theme-dark *{transition-duration:0ms}}
+.theme-light,.theme-dark{transition:background-color 180ms ease-out,color 180ms ease-out}
+@media(prefers-reduced-motion:reduce){*,*::before,*::after{scroll-behavior:auto!important;animation-duration:.01ms!important;animation-iteration-count:1!important;transition-duration:.01ms!important}}
diff --git a/wasm/web_platform/src/test/setup.ts b/web_platform/src/test/setup.ts
similarity index 100%
rename from wasm/web_platform/src/test/setup.ts
rename to web_platform/src/test/setup.ts
diff --git a/web_platform/src/training/LocalTrainingClient.test.ts b/web_platform/src/training/LocalTrainingClient.test.ts
new file mode 100644
index 00000000..01f8bbaf
--- /dev/null
+++ b/web_platform/src/training/LocalTrainingClient.test.ts
@@ -0,0 +1,23 @@
+import {afterEach,describe,expect,it,vi} from 'vitest';
+import {LocalTrainingClient} from './LocalTrainingClient';
+
+afterEach(()=>vi.unstubAllGlobals());
+
+describe('LocalTrainingClient',()=>{
+  it('规范化服务地址并提交受类型约束的 JSON 请求',async()=>{
+    const fetchMock=vi.fn().mockResolvedValue(new Response(JSON.stringify({id:'a'.repeat(32),state:'queued'}),{status:202,headers:{'Content-Type':'application/json'}}));
+    vi.stubGlobal('fetch',fetchMock);
+    const client=new LocalTrainingClient('http://127.0.0.1:8765/');
+    await client.start({taskId:'Unitree-Go2-Flat',numEnvs:16,maxIterations:2,seed:42,runName:'test',device:'cpu',gpuIds:[],wandbMode:'offline'});
+    expect(fetchMock).toHaveBeenCalledWith('http://127.0.0.1:8765/api/training/jobs',expect.objectContaining({method:'POST'}));
+    const options=fetchMock.mock.calls[0][1] as RequestInit;
+    expect(JSON.parse(String(options.body))).toMatchObject({taskId:'Unitree-Go2-Flat',numEnvs:16,device:'cpu'});
+  });
+
+  it('显示服务端返回的中文错误',async()=>{
+    vi.stubGlobal('fetch',vi.fn().mockResolvedValue(new Response(JSON.stringify({error:'已有训练任务正在运行'}),{status:409,headers:{'Content-Type':'application/json'}})));
+    await expect(new LocalTrainingClient('http://localhost:8765').health()).rejects.toThrow('已有训练任务正在运行');
+  });
+
+  it('拒绝非 HTTP 地址',()=>{expect(()=>new LocalTrainingClient('file:///tmp/socket')).toThrow('http 或 https');});
+});
diff --git a/web_platform/src/training/LocalTrainingClient.ts b/web_platform/src/training/LocalTrainingClient.ts
new file mode 100644
index 00000000..dff2eaa5
--- /dev/null
+++ b/web_platform/src/training/LocalTrainingClient.ts
@@ -0,0 +1,36 @@
+import type {TrainingJob,TrainingRequest,TrainingServerInfo} from './types';
+
+function normalizeEndpoint(value:string):string{
+  const endpoint=value.trim().replace(/\/+$/,'');
+  let url:URL;
+  try{url=new URL(endpoint);}catch{throw new Error('训练服务地址无效');}
+  if(url.protocol!=='http:'&&url.protocol!=='https:')throw new Error('训练服务地址必须使用 http 或 https');
+  return url.toString().replace(/\/$/,'');
+}
+
+async function responseError(response:Response):Promise<Error>{
+  try{const body=await response.json() as {error?:string};if(body.error)return new Error(body.error);}catch{/* 使用 HTTP 状态作为回退 */}
+  return new Error(`本地训练服务请求失败（HTTP ${response.status}）`);
+}
+
+export class LocalTrainingClient {
+  readonly endpoint:string;
+  constructor(endpoint:string){this.endpoint=normalizeEndpoint(endpoint);}
+
+  private async json<T>(path:string,init?:RequestInit):Promise<T>{
+    const response=await fetch(`${this.endpoint}${path}`,init);
+    if(!response.ok)throw await responseError(response);
+    return response.json() as Promise<T>;
+  }
+
+  health():Promise<TrainingServerInfo>{return this.json('/api/training/health');}
+  start(request:TrainingRequest):Promise<TrainingJob>{return this.json('/api/training/jobs',{method:'POST',headers:{'Content-Type':'application/json'},body:JSON.stringify(request)});}
+  job(id:string):Promise<TrainingJob>{return this.json(`/api/training/jobs/${encodeURIComponent(id)}`);}
+  cancel(id:string):Promise<TrainingJob>{return this.json(`/api/training/jobs/${encodeURIComponent(id)}`,{method:'DELETE'});}
+  async downloadPolicy(id:string):Promise<File>{
+    const response=await fetch(`${this.endpoint}/api/training/jobs/${encodeURIComponent(id)}/artifacts/policy.onnx`);
+    if(!response.ok)throw await responseError(response);
+    const blob=await response.blob();
+    return new File([blob],`policy-${id.slice(0,8)}.onnx`,{type:'application/octet-stream'});
+  }
+}
diff --git a/web_platform/src/training/types.ts b/web_platform/src/training/types.ts
new file mode 100644
index 00000000..03195fdf
--- /dev/null
+++ b/web_platform/src/training/types.ts
@@ -0,0 +1,40 @@
+export type TrainingJobState='queued'|'running'|'succeeded'|'failed'|'cancelled';
+export type TrainingDevice='cpu'|'gpu';
+export type WandbMode='offline'|'online'|'disabled';
+
+export interface TrainingServerInfo {
+  version:string;
+  ready:boolean;
+  trainerRoot:string;
+  python:string;
+  tasks:string[];
+  activeJobId?:string;
+  error?:string;
+}
+
+export interface TrainingRequest {
+  taskId:string;
+  numEnvs:number;
+  maxIterations:number;
+  seed:number;
+  runName:string;
+  device:TrainingDevice;
+  gpuIds:number[];
+  wandbMode:WandbMode;
+}
+
+export interface TrainingJob {
+  id:string;
+  state:TrainingJobState;
+  taskId:string;
+  createdAt:string;
+  startedAt?:string;
+  endedAt?:string;
+  iteration:number;
+  maxIterations:number;
+  progress:number;
+  message:string;
+  logs:string[];
+  artifactReady:boolean;
+  artifactName?:string;
+}
diff --git a/web_platform/src/viewer/MuJoCoViewer.ts b/web_platform/src/viewer/MuJoCoViewer.ts
new file mode 100644
index 00000000..88424dd7
--- /dev/null
+++ b/web_platform/src/viewer/MuJoCoViewer.ts
@@ -0,0 +1,101 @@
+import * as THREE from 'three';
+import {OrbitControls} from 'three/examples/jsm/controls/OrbitControls.js';
+import type {MjvGeom, MjvOption, MjvCamera, MjvScene} from '@mujoco/mujoco';
+import type {FrameResult, SimulationSession, SimulationSnapshot} from '../simulation/SimulationSession';
+import {meshIdFromSceneDataId} from '../simulation/geometry';
+import {OrientationGizmo} from './OrientationGizmo';
+import {closestRayAxisParameter,forceFromScreenDrag,resolveHingeDragDelta,signedAngleAroundAxis} from './interactionMath';
+import {texturePixelsToRgba} from './texturePixels';
+import {DEFAULT_VIEWER_DISPLAY_OPTIONS,type ViewerDisplayOptions} from './displayOptions';
+import {ViewerVisualizationHelpers} from './ViewerVisualizationHelpers';
+
+export type InteractionMode = 'select' | 'joint' | 'force';
+export type ViewerTheme='light'|'dark';
+export interface ViewerSelection {bodyId: number; geomId: number; bodyName: string; geomType: number; position: [number, number, number];}
+interface ViewerCallbacks {onSelection(selection: ViewerSelection | null): void; onFrame(frame: FrameResult, fps: number, snapshot?: SimulationSnapshot): void; onError(error: Error): void;}
+
+class CapsuleGeometry extends THREE.BufferGeometry {
+  constructor(radius:number,length:number) {super(); const path=new THREE.Path(); path.absarc(0,-length/2,radius,Math.PI*1.5,0); path.absarc(0,length/2,radius,0,Math.PI*.5); const source=new THREE.LatheGeometry(path.getPoints(24),16); this.copy(source); source.dispose(); this.rotateX(Math.PI/2);}
+}
+
+export class MuJoCoViewer {
+  readonly scene = new THREE.Scene();
+  readonly camera = new THREE.PerspectiveCamera(45,1,.01,2_000);
+  private readonly sensorCamera=new THREE.PerspectiveCamera(45,4/3,.01,2_000);
+  readonly renderer: THREE.WebGLRenderer;
+  readonly controls: OrbitControls;
+  mode: InteractionMode = 'select';
+  forceScale = 50;
+  private displayOptions:ViewerDisplayOptions={...DEFAULT_VIEWER_DISPLAY_OPTIONS};
+  private modelHasVisuals=false;
+  private showSensorCamera=true;
+  private sensorCameraId=-1;
+  private modelExtent=2;
+  private session: SimulationSession | null = null;
+  private option: MjvOption | null = null;
+  private mjCamera: MjvCamera | null = null;
+  private mjScene: MjvScene | null = null;
+  private frame = 0; private lastFpsAt=performance.now(); private fpsFrames=0; private lastSnapshotAt=0;
+  private meshes: THREE.Mesh[]=[]; private geometries=new Map<string,THREE.BufferGeometry>(); private textures=new Map<number,THREE.DataTexture>();
+  private readonly sensorRotation=new THREE.Matrix4();private readonly renderSize=new THREE.Vector2();
+  private raycaster=new THREE.Raycaster(); private pointer=new THREE.Vector2(); private selected:THREE.Mesh|null=null; private dragStart:THREE.Vector2|null=null; private dragJointId=-1; private dragJointType=-1;private dragJointValue=0;private dragHitDistance=0;private dragSlideParameter=0;private dragJointPivot=new THREE.Vector3();private dragJointAxisWorld=new THREE.Vector3();private dragJointStartWorld=new THREE.Vector3();private dragJointStartPlaneVector=new THREE.Vector3();private dragForceOrigin=new THREE.Vector3();private dragForcePlane=new THREE.Plane(); private arrow:THREE.ArrowHelper|null=null;private highlightedJointId=-1;private highlightedBodyId=-1;private jointMarker:THREE.Mesh|null=null;
+  private resizeObserver:ResizeObserver;
+  private orientationGizmo:OrientationGizmo;
+  private visualizationHelpers:ViewerVisualizationHelpers;
+  private grid:THREE.GridHelper;
+  private hemisphere:THREE.HemisphereLight;
+  private themeTransition?:{started:number;fromBackground:THREE.Color;toBackground:THREE.Color;fromGround:THREE.Color;toGround:THREE.Color;};
+
+  constructor(private readonly host:HTMLElement, private readonly callbacks:ViewerCallbacks) {
+    this.renderer=new THREE.WebGLRenderer({antialias:true,alpha:false}); this.renderer.setPixelRatio(Math.min(devicePixelRatio,2)); this.renderer.shadowMap.enabled=true; this.renderer.outputColorSpace=THREE.SRGBColorSpace; host.append(this.renderer.domElement);
+    this.camera.up.set(0,0,1); this.camera.position.set(3,-3,2); this.controls=new OrbitControls(this.camera,this.renderer.domElement); this.controls.enableDamping=true;
+    this.scene.background=new THREE.Color(0x0b1220);this.hemisphere=new THREE.HemisphereLight(0xffffff,0x223344,1.3);this.scene.add(this.hemisphere); const light=new THREE.DirectionalLight(0xffffff,2); light.position.set(4,-3,7); light.castShadow=true; this.scene.add(light);this.grid=new THREE.GridHelper(20,40,0x3b82f6,0x253047).rotateX(Math.PI/2);this.grid.visible=this.displayOptions.showGrid;this.scene.add(this.grid);this.visualizationHelpers=new ViewerVisualizationHelpers(this.scene);this.orientationGizmo=new OrientationGizmo(host);this.orientationGizmo.update(this.camera);
+    this.resizeObserver=new ResizeObserver(()=>this.resize()); this.resizeObserver.observe(host); this.resize();
+    this.renderer.domElement.addEventListener('pointerdown',this.onPointerDown);this.renderer.domElement.addEventListener('pointermove',this.onPointerMove);this.renderer.domElement.addEventListener('lostpointercapture',this.onPointerUp);window.addEventListener('pointerup',this.onPointerUp);window.addEventListener('pointercancel',this.onPointerUp);window.addEventListener('blur',this.onPointerUp);
+    this.frame=requestAnimationFrame(this.animate);
+  }
+
+  attach(session:SimulationSession|null):void {this.releaseModel(); this.session=session; if(!session)return; this.option=new session.module.MjvOption(); session.module.mjv_defaultOption(this.option);this.applyGeomVisibility(); this.mjCamera=new session.module.MjvCamera(); session.module.mjv_defaultCamera(this.mjCamera); this.mjScene=new session.module.MjvScene(session.model,32768);for(let id=0;id<session.model.ncam;id+=1){const camera=session.model.cam(id);try{if(this.sensorCameraId<0||camera.name.startsWith('__platform_camera__'))this.sensorCameraId=id;if(camera.name.startsWith('__platform_camera__'))break;}finally{camera.delete();}}this.fitCamera(session);this.visualizationHelpers.attach(session,this.modelExtent);}
+  setMode(mode:InteractionMode):void {this.mode=mode;this.controls.enabled=true;this.controls.enableRotate=mode==='select';this.controls.enablePan=true;this.controls.enableZoom=true;this.stopDrag();}
+  setDisplayOptions(options:ViewerDisplayOptions):void {this.displayOptions={...options};this.grid.visible=options.showGrid;this.visualizationHelpers.setOptions(options);this.applyGeomVisibility();}
+  setShowCollision(value:boolean):void {this.setDisplayOptions({...this.displayOptions,showCollision:value});}
+  setShowSensorCamera(value:boolean):void {this.showSensorCamera=value;}
+  setTheme(theme:ViewerTheme):void {const light=theme==='light';const background=this.scene.background instanceof THREE.Color?this.scene.background:new THREE.Color(0x0b1220);this.scene.background=background;this.themeTransition={started:performance.now(),fromBackground:background.clone(),toBackground:new THREE.Color(light?0xf8fafc:0x0b1220),fromGround:this.hemisphere.groundColor.clone(),toGround:new THREE.Color(light?0xcbd5e1:0x223344)};const next=new THREE.GridHelper(20,40,light?0x64748b:0x3b82f6,light?0xcbd5e1:0x253047).rotateX(Math.PI/2);next.visible=this.displayOptions.showGrid;this.scene.remove(this.grid);this.grid.geometry.dispose();const materials=Array.isArray(this.grid.material)?this.grid.material:[this.grid.material];for(const material of materials)material.dispose();this.grid=next;this.scene.add(this.grid);this.orientationGizmo.setTheme(theme);}
+  private updateThemeTransition(now:number):void {const transition=this.themeTransition;if(!transition)return;const progress=Math.min(1,Math.max(0,(now-transition.started)/420)),eased=1-Math.pow(1-progress,3);(this.scene.background as THREE.Color).copy(transition.fromBackground).lerp(transition.toBackground,eased);this.hemisphere.groundColor.copy(transition.fromGround).lerp(transition.toGround,eased);if(progress===1)this.themeTransition=undefined;}
+  private applyGeomVisibility():void {if(!this.option||!this.session)return;this.modelHasVisuals=false;for(let index=0;index<this.session.model.ngeom;index+=1)if(Number(this.session.model.geom_group[index])===1){this.modelHasVisuals=true;break;}this.option.geomgroup[0]=this.modelHasVisuals?(this.displayOptions.showCollision?1:0):(this.displayOptions.showVisual||this.displayOptions.showCollision?1:0);this.option.geomgroup[1]=this.displayOptions.showVisual?1:0;this.option.geomgroup[5]=0;}
+  resetCamera():void {if(this.session)this.fitCamera(this.session);}
+  highlightJoint(jointId:number|null):void {this.highlightedJointId=jointId??-1;this.highlightedBodyId=-1;if(this.session&&jointId!==null&&jointId>=0&&jointId<this.session.model.njnt){const joint=this.session.model.jnt(jointId);try{this.highlightedBodyId=Number(joint.bodyid);}finally{joint.delete();}if(!this.jointMarker){const radius=Math.max(.008,this.modelExtent*.012);this.jointMarker=new THREE.Mesh(new THREE.SphereGeometry(radius,18,12),new THREE.MeshBasicMaterial({color:0xfacc15,depthTest:false,transparent:true,opacity:.95}));this.jointMarker.renderOrder=100;this.scene.add(this.jointMarker);}this.jointMarker.visible=true;this.updateJointMarker();}else if(this.jointMarker)this.jointMarker.visible=false;for(const mesh of this.meshes)this.applyMeshHighlight(mesh);}
+  private updateJointMarker():void {if(!this.session||!this.jointMarker||this.highlightedJointId<0)return;const offset=this.highlightedJointId*3;this.jointMarker.position.set(Number(this.session.data.xanchor[offset]),Number(this.session.data.xanchor[offset+1]),Number(this.session.data.xanchor[offset+2]));}
+  private applyMeshHighlight(mesh:THREE.Mesh):void {const material=mesh.material as THREE.MeshStandardMaterial;if(Number(mesh.userData.bodyId)===this.highlightedBodyId){material.emissive.setHex(0x8a6d00);material.emissiveIntensity=.85;}else if(mesh===this.selected){material.emissive.setHex(0x14532d);material.emissiveIntensity=1;}else{material.emissive.setHex(0);material.emissiveIntensity=1;}}
+
+  private fitCamera(session:SimulationSession):void {const {extent,center}=session.geometryBounds();this.modelExtent=extent;this.controls.target.set(center[0],center[1],center[2]);this.camera.position.set(center[0]+extent*1.5,center[1]-extent*1.5,center[2]+extent);this.camera.near=Math.max(.001,extent/1000);this.camera.far=Math.max(100,extent*100);this.camera.updateProjectionMatrix();this.controls.update();}
+  private resize():void {const w=Math.max(1,this.host.clientWidth),h=Math.max(1,this.host.clientHeight); this.renderer.setSize(w,h,false); this.camera.aspect=w/h; this.camera.updateProjectionMatrix();}
+
+  private animate=(now:number):void=>{try {const result=this.session?.advance(now)??{steps:0,stepMs:0,overBudget:false};this.updateThemeTransition(now); this.controls.update();this.orientationGizmo.update(this.camera); if(this.session){this.updateMuJoCoScene();this.updateJointMarker();this.visualizationHelpers.update();} this.renderer.setScissorTest(false);this.renderer.render(this.scene,this.camera);if(this.showSensorCamera&&this.updateSensorCamera())this.renderSensorCamera(); this.fpsFrames++; let fps=0;if(now-this.lastFpsAt>=500){fps=this.fpsFrames*1000/(now-this.lastFpsAt);this.fpsFrames=0;this.lastFpsAt=now;} const snapshot=this.session&&now-this.lastSnapshotAt>150?(this.lastSnapshotAt=now,this.session.snapshot()):undefined; /* 避免每个 RAF 都触发 Zustand/React 全树重渲染。 */ if(snapshot||fps>0)this.callbacks.onFrame(result,fps,snapshot);}catch(error){this.callbacks.onError(error instanceof Error?error:new Error(String(error)));} this.frame=requestAnimationFrame(this.animate);};
+
+  private updateSensorCamera():boolean {if(!this.session||this.sensorCameraId<0||this.sensorCameraId>=this.session.model.ncam)return false;const id=this.sensorCameraId,p=id*3,m=id*9,data=this.session.data,model=this.session.model;this.sensorCamera.position.set(Number(data.cam_xpos[p]),Number(data.cam_xpos[p+1]),Number(data.cam_xpos[p+2]));this.sensorRotation.set(Number(data.cam_xmat[m]),Number(data.cam_xmat[m+1]),Number(data.cam_xmat[m+2]),0,Number(data.cam_xmat[m+3]),Number(data.cam_xmat[m+4]),Number(data.cam_xmat[m+5]),0,Number(data.cam_xmat[m+6]),Number(data.cam_xmat[m+7]),Number(data.cam_xmat[m+8]),0,0,0,0,1);this.sensorCamera.quaternion.setFromRotationMatrix(this.sensorRotation);this.sensorCamera.fov=Number(model.cam_fovy[id])||45;const extent=this.modelExtent;this.sensorCamera.near=Math.max(.001,extent/1000);this.sensorCamera.far=Math.max(100,extent*100);this.sensorCamera.updateProjectionMatrix();return true;}
+  private renderSensorCamera():void {const size=this.renderer.getSize(this.renderSize),width=Math.max(120,Math.min(320,size.x*.32)),height=width*3/4,margin=16;this.sensorCamera.aspect=width/height;this.sensorCamera.updateProjectionMatrix();this.renderer.setViewport(margin,margin,width,height);this.renderer.setScissor(margin,margin,width,height);this.renderer.setScissorTest(true);this.renderer.render(this.scene,this.sensorCamera);this.renderer.setScissorTest(false);this.renderer.setViewport(0,0,size.x,size.y);}
+
+  private updateMuJoCoScene():void {const s=this.session!; s.module.mjv_updateScene(s.model,s.data,this.option!,s.perturb,this.mjCamera!,s.module.mjtCatBit.mjCAT_ALL.value,this.mjScene!); const geoms=this.mjScene!.geoms; try {const count=geoms.size();for(let i=0;i<count;i++){const geom=geoms.get(i);if(!geom)continue;try{let mesh=this.meshes[i];const key=this.geometryKey(geom);if(!mesh||mesh.userData.geometryKey!==key){if(mesh){this.scene.remove(mesh);this.disposeMesh(mesh);} mesh=this.createMesh(geom,key);this.meshes[i]=mesh;this.scene.add(mesh);} mesh.visible=true;this.updateMesh(mesh,geom);}finally{geom.delete();}} for(let i=count;i<this.meshes.length;i++)this.meshes[i].visible=false;}finally{geoms.delete();}}
+  /** 模型 geom 的尺寸固定，以 objid 保持稳定；接触点等动态 geom 才包含尺寸。 */
+  private geometryKey(g:MjvGeom):string {const m=this.session!.module,dataId=g.type===m.mjtGeom.mjGEOM_MESH.value?meshIdFromSceneDataId(g.dataid):g.dataid;if(g.objtype===m.mjtObj.mjOBJ_GEOM.value)return `model:${g.objid}:${g.type}:${dataId}`;return `dynamic:${g.type}:${dataId}:${Array.from(g.size).join(',')}`;}
+  private primitive(g:MjvGeom):THREE.BufferGeometry {const m=this.session!.module,t=g.type,s=g.size;if(t===m.mjtGeom.mjGEOM_PLANE.value)return new THREE.PlaneGeometry(2*(s[0]||1e3),2*(s[1]||1e3));if(t===m.mjtGeom.mjGEOM_SPHERE.value)return new THREE.SphereGeometry(s[0],24,16);if(t===m.mjtGeom.mjGEOM_CAPSULE.value)return new CapsuleGeometry(s[0],2*s[2]);if(t===m.mjtGeom.mjGEOM_BOX.value)return new THREE.BoxGeometry(2*s[0],2*s[1],2*s[2]);if(t===m.mjtGeom.mjGEOM_CYLINDER.value){const x=new THREE.CylinderGeometry(s[0],s[0],2*s[2],24);x.rotateX(Math.PI/2);return x;}if(t===m.mjtGeom.mjGEOM_ELLIPSOID.value){const x=new THREE.SphereGeometry(1,24,16);x.scale(s[0],s[1],s[2]);return x;}if(t===m.mjtGeom.mjGEOM_MESH.value&&g.dataid>=0)return this.meshGeometry(meshIdFromSceneDataId(g.dataid));return new THREE.BufferGeometry();}
+  private meshGeometry(id:number):THREE.BufferGeometry {const m=this.session!.model;const va=Number(m.mesh_vertadr[id]),vn=Number(m.mesh_vertnum[id]),fa=Number(m.mesh_faceadr[id]),fn=Number(m.mesh_facenum[id]);const positions=new Float32Array(vn*3);for(let i=0;i<positions.length;i++)positions[i]=m.mesh_vert[va*3+i];const indices=new Uint32Array(fn*3);for(let i=0;i<indices.length;i++)indices[i]=m.mesh_face[fa*3+i];const geometry=new THREE.BufferGeometry();geometry.setAttribute('position',new THREE.BufferAttribute(positions,3));geometry.setIndex(new THREE.BufferAttribute(indices,1));const na=Number(m.mesh_normaladr[id]),nn=Number(m.mesh_normalnum[id]);if(nn===vn){const normals=new Float32Array(nn*3);for(let i=0;i<normals.length;i++)normals[i]=m.mesh_normal[na*3+i];geometry.setAttribute('normal',new THREE.BufferAttribute(normals,3));}else geometry.computeVertexNormals();const ta=Number(m.mesh_texcoordadr[id]),tn=Number(m.mesh_texcoordnum[id]);if(tn===vn&&ta>=0){const uv=new Float32Array(tn*2);for(let i=0;i<uv.length;i++)uv[i]=m.mesh_texcoord[ta*2+i];geometry.setAttribute('uv',new THREE.BufferAttribute(uv,2));}geometry.computeBoundingSphere();return geometry;}
+  private texture(id:number):THREE.DataTexture|undefined {if(id<0)return;let found=this.textures.get(id);if(found)return found;const m=this.session!.model,w=Number(m.tex_width[id]),h=Number(m.tex_height[id]),channels=Number(m.tex_nchannel[id]||3),adr=Number(m.tex_adr[id]);if(!w||!h)return;const source=new Uint8Array(w*h*channels);for(let i=0;i<source.length;i++)source[i]=m.tex_data[adr+i];const data=texturePixelsToRgba(source,w*h,channels);found=new THREE.DataTexture(data,w,h,THREE.RGBAFormat);found.colorSpace=THREE.SRGBColorSpace;found.flipY=true;found.needsUpdate=true;this.textures.set(id,found);return found;}
+  // 只缓存真正可复用的模型 mesh。动态接触几何会逐帧改变尺寸，必须由所属
+  // THREE.Mesh 在替换时释放，否则 geometry key 会无限增长并最终耗尽标签页内存。
+  private createMesh(g:MjvGeom,key:string):THREE.Mesh {const m=this.session!.module,isMesh=g.type===m.mjtGeom.mjGEOM_MESH.value&&g.dataid>=0,sharedKey=isMesh?`mesh:${meshIdFromSceneDataId(g.dataid)}`:undefined;let geometry=sharedKey?this.geometries.get(sharedKey):undefined;if(!geometry){geometry=this.primitive(g);if(sharedKey)this.geometries.set(sharedKey,geometry);}const map=this.texture(g.texid);const material=new THREE.MeshStandardMaterial({color:new THREE.Color(g.rgba[0],g.rgba[1],g.rgba[2]),opacity:g.rgba[3],transparent:g.rgba[3]<1,...(map?{map}:{}),roughness:Math.max(.05,1-g.shininess),metalness:g.reflectance});const mesh=new THREE.Mesh(geometry,material);mesh.matrixAutoUpdate=false;mesh.castShadow=true;mesh.receiveShadow=true;mesh.userData.geometryKey=key;mesh.userData.ownsGeometry=!sharedKey;return mesh;}
+  private updateMesh(mesh:THREE.Mesh,g:MjvGeom):void {const mat=mesh.material as THREE.MeshStandardMaterial,geomId=g.objtype===this.session!.module.mjtObj.mjOBJ_GEOM.value?g.objid:-1,bodyId=geomId>=0?Number(this.session!.model.geom_bodyid[geomId]):-1,isCollision=this.modelHasVisuals&&geomId>=0&&Number(this.session!.model.geom_group[geomId])===0;if(isCollision){const worldCollision=bodyId===0;mat.color.setHex(worldCollision?0x64748b:0x22d3ee);mat.opacity=worldCollision ? .12 : .28;mat.transparent=true;mat.depthTest=worldCollision;mat.depthWrite=false;mat.roughness=.85;mat.metalness=0;mesh.renderOrder=worldCollision?0:60;}else{mat.color.setRGB(g.rgba[0],g.rgba[1],g.rgba[2]);mat.opacity=g.rgba[3];mat.transparent=g.rgba[3]<1;mat.depthTest=true;mat.depthWrite=true;mat.roughness=Math.max(.05,1-g.shininess);mat.metalness=g.reflectance;mesh.renderOrder=0;}mesh.matrix.set(g.mat[0],g.mat[1],g.mat[2],g.pos[0],g.mat[3],g.mat[4],g.mat[5],g.pos[1],g.mat[6],g.mat[7],g.mat[8],g.pos[2],0,0,0,1);mesh.matrixWorldNeedsUpdate=true;mesh.userData.geomId=geomId;mesh.userData.bodyId=bodyId;mesh.userData.geomType=g.type;mesh.userData.isCollision=isCollision;this.applyMeshHighlight(mesh);}
+
+  private eventPointer(event:PointerEvent):void {const r=this.renderer.domElement.getBoundingClientRect();this.pointer.set((event.clientX-r.left)/r.width*2-1,-((event.clientY-r.top)/r.height)*2+1);}
+  private onPointerDown=(event:PointerEvent):void=>{if(event.button!==0)return;this.eventPointer(event);this.raycaster.setFromCamera(this.pointer,this.camera);const hit=this.raycaster.intersectObjects(this.meshes.filter(m=>m.visible),false)[0];if(!hit)return;const mesh=hit.object as THREE.Mesh;this.select(mesh);const bodyId=Number(mesh.userData.bodyId);if(this.mode==='joint'){const joint=this.session?.snapshot().joints.find(j=>j.bodyId===bodyId&&j.editable);if(joint){this.dragStart=this.pointer.clone();this.dragJointId=joint.id;this.dragJointType=joint.type;this.dragJointValue=joint.value;this.dragHitDistance=hit.distance;const offset=joint.id*3;this.dragJointPivot.set(Number(this.session!.data.xanchor[offset]),Number(this.session!.data.xanchor[offset+1]),Number(this.session!.data.xanchor[offset+2]));this.dragJointAxisWorld.set(Number(this.session!.data.xaxis[offset]),Number(this.session!.data.xaxis[offset+1]),Number(this.session!.data.xaxis[offset+2])).normalize();this.raycaster.ray.at(hit.distance,this.dragJointStartWorld);const plane=new THREE.Plane().setFromNormalAndCoplanarPoint(this.dragJointAxisWorld,this.dragJointPivot),projected=plane.projectPoint(this.dragJointStartWorld,new THREE.Vector3());this.dragJointStartPlaneVector.copy(projected).sub(this.dragJointPivot);this.dragSlideParameter=closestRayAxisParameter(this.raycaster.ray,this.dragJointPivot,this.dragJointAxisWorld);this.renderer.domElement.setPointerCapture(event.pointerId);}}else if(this.mode==='force'&&bodyId>0){this.dragStart=this.pointer.clone();this.dragHitDistance=hit.distance;this.dragForceOrigin.copy(hit.point);this.dragForcePlane.setFromNormalAndCoplanarPoint(this.camera.getWorldDirection(new THREE.Vector3()),hit.point);this.session?.initializePerturb(this.mjScene!,bodyId);this.showArrow(hit.point);this.renderer.domElement.setPointerCapture(event.pointerId);}};
+  private onPointerMove=(event:PointerEvent):void=>{if(!this.dragStart||!this.session)return;this.eventPointer(event);this.raycaster.setFromCamera(this.pointer,this.camera);const delta=this.pointer.clone().sub(this.dragStart),rect=this.renderer.domElement.getBoundingClientRect(),aspect=rect.width/Math.max(1,rect.height),screenDelta=new THREE.Vector2(delta.x*aspect,delta.y);if(this.mode==='joint'&&this.dragJointId>=0){let value=this.dragJointValue,currentPlaneVector:THREE.Vector3|undefined,currentSlideParameter=Number.NaN;if(this.dragJointType===2){currentSlideParameter=closestRayAxisParameter(this.raycaster.ray,this.dragJointPivot,this.dragJointAxisWorld);if(Number.isFinite(currentSlideParameter)&&Number.isFinite(this.dragSlideParameter))value+=currentSlideParameter-this.dragSlideParameter;}else if(this.dragJointType===3){const currentWorld=this.raycaster.ray.at(this.dragHitDistance,new THREE.Vector3()),plane=new THREE.Plane().setFromNormalAndCoplanarPoint(this.dragJointAxisWorld,this.dragJointPivot);currentPlaneVector=plane.projectPoint(currentWorld,new THREE.Vector3()).sub(this.dragJointPivot);const worldDelta=signedAngleAroundAxis(this.dragJointStartPlaneVector,currentPlaneVector,this.dragJointAxisWorld),cameraForward=this.camera.getWorldDirection(new THREE.Vector3()),planeFacing=Math.abs(this.raycaster.ray.direction.dot(this.dragJointAxisWorld));const tangentWorld=cameraForward.clone().cross(this.dragJointAxisWorld).normalize(),a=this.dragJointPivot.clone().project(this.camera),b=this.dragJointPivot.clone().add(tangentWorld).project(this.camera),tangentScreen=new THREE.Vector2((b.x-a.x)*aspect,b.y-a.y);const tangentDelta=tangentScreen.lengthSq()>1e-10?screenDelta.dot(tangentScreen.normalize())*Math.PI:0;value+=resolveHingeDragDelta(worldDelta,tangentDelta,planeFacing);}if(this.session.setJointPosition(this.dragJointId,value)){this.dragJointValue=value;this.dragStart.copy(this.pointer);if(currentPlaneVector&&currentPlaneVector.lengthSq()>1e-12)this.dragJointStartPlaneVector.copy(currentPlaneVector);if(Number.isFinite(currentSlideParameter))this.dragSlideParameter=currentSlideParameter;}}else if(this.mode==='force'&&this.selected){const endpoint=this.raycaster.ray.intersectPlane(this.dragForcePlane,new THREE.Vector3());if(!endpoint)return;const dragVector=endpoint.sub(this.dragForceOrigin),vector=forceFromScreenDrag(dragVector,screenDelta.length(),this.forceScale),bodyId=Number(this.selected.userData.bodyId),force:[number,number,number]=[vector.x,vector.y,vector.z];this.session.setExternalForce(bodyId,force);this.updateArrow(dragVector);}};
+  private onPointerUp=():void=>{this.stopDrag();};
+  private stopDrag():void {this.dragStart=null;this.dragJointId=-1;this.dragJointType=-1;this.dragHitDistance=0;this.dragSlideParameter=0;this.session?.clearExternalForce();if(this.arrow){this.scene.remove(this.arrow);this.arrow.dispose();this.arrow=null;}}
+  private select(mesh:THREE.Mesh):void {const previous=this.selected;this.selected=mesh;if(previous)this.applyMeshHighlight(previous);this.applyMeshHighlight(mesh);const bodyId=Number(mesh.userData.bodyId),geomId=Number(mesh.userData.geomId);const name=this.session?.snapshot().bodies.find(b=>b.id===bodyId)?.name??`body_${bodyId}`;const e=mesh.matrix.elements;this.callbacks.onSelection({bodyId,geomId,bodyName:name,geomType:Number(mesh.userData.geomType),position:[e[12],e[13],e[14]]});}
+  private showArrow(origin:THREE.Vector3):void {this.arrow=new THREE.ArrowHelper(new THREE.Vector3(1,0,0),origin,0.01,0xf97316);this.arrow.visible=false;this.scene.add(this.arrow);}
+  private updateArrow(dragVector:THREE.Vector3):void {if(!this.arrow)return;const length=dragVector.length();this.arrow.visible=length>1e-6;if(!this.arrow.visible)return;const maxHeadLength=Math.max(.015,this.modelExtent*.06),headLength=Math.min(maxHeadLength,length*.25),headWidth=Math.min(maxHeadLength*.55,length*.14);this.arrow.setDirection(dragVector.clone().normalize());this.arrow.setLength(length,headLength,headWidth);}
+  private disposeMesh(mesh:THREE.Mesh):void {(mesh.material as THREE.Material).dispose();if(mesh.userData.ownsGeometry)mesh.geometry.dispose();}
+  private releaseModel():void {this.stopDrag();for(const mesh of this.meshes){this.scene.remove(mesh);this.disposeMesh(mesh);}this.meshes=[];for(const g of this.geometries.values())g.dispose();this.geometries.clear();for(const t of this.textures.values())t.dispose();this.textures.clear();this.mjScene?.delete();this.mjCamera?.delete();this.option?.delete();this.mjScene=null;this.mjCamera=null;this.option=null;this.session=null;this.sensorCameraId=-1;this.modelExtent=2;this.modelHasVisuals=false;this.visualizationHelpers.attach(null,this.modelExtent);this.selected=null;this.highlightedJointId=-1;this.highlightedBodyId=-1;if(this.jointMarker){this.scene.remove(this.jointMarker);this.jointMarker.geometry.dispose();(this.jointMarker.material as THREE.Material).dispose();this.jointMarker=null;}}
+  dispose():void {cancelAnimationFrame(this.frame);this.releaseModel();this.resizeObserver.disconnect();this.renderer.domElement.removeEventListener('pointerdown',this.onPointerDown);this.renderer.domElement.removeEventListener('pointermove',this.onPointerMove);this.renderer.domElement.removeEventListener('lostpointercapture',this.onPointerUp);window.removeEventListener('pointerup',this.onPointerUp);window.removeEventListener('pointercancel',this.onPointerUp);window.removeEventListener('blur',this.onPointerUp);this.controls.dispose();this.orientationGizmo.dispose();this.visualizationHelpers.dispose();this.grid.geometry.dispose();const gridMaterials=Array.isArray(this.grid.material)?this.grid.material:[this.grid.material];for(const material of gridMaterials)material.dispose();this.renderer.dispose();this.renderer.domElement.remove();}
+}
diff --git a/wasm/web_platform/src/viewer/OrientationGizmo.ts b/web_platform/src/viewer/OrientationGizmo.ts
similarity index 100%
rename from wasm/web_platform/src/viewer/OrientationGizmo.ts
rename to web_platform/src/viewer/OrientationGizmo.ts
diff --git a/web_platform/src/viewer/ViewerVisualizationHelpers.ts b/web_platform/src/viewer/ViewerVisualizationHelpers.ts
new file mode 100644
index 00000000..f8aa5c87
--- /dev/null
+++ b/web_platform/src/viewer/ViewerVisualizationHelpers.ts
@@ -0,0 +1,83 @@
+import * as THREE from 'three';
+import type {SimulationSession} from '../simulation/SimulationSession';
+import {DEFAULT_VIEWER_DISPLAY_OPTIONS,type ViewerDisplayOptions} from './displayOptions';
+import {inertiaBoxDimensions} from './visualizationMath';
+
+/** 独立于 MuJoCo 场景几何的机器人结构辅助可视化。 */
+export class ViewerVisualizationHelpers {
+  private readonly root=new THREE.Group();
+  private readonly frames=new THREE.Group();
+  private readonly jointAxes=new THREE.Group();
+  private readonly centersOfMass=new THREE.Group();
+  private readonly inertiaBoxes=new THREE.Group();
+  private session:SimulationSession|null=null;
+  private options:ViewerDisplayOptions={...DEFAULT_VIEWER_DISPLAY_OPTIONS};
+  private frameHelpers:THREE.AxesHelper[]=[];
+  private jointHelpers=new Map<number,THREE.ArrowHelper>();
+  private comHelpers=new Map<number,THREE.Mesh>();
+  private inertiaHelpers=new Map<number,THREE.Group>();
+  private readonly jointAxisVector=new THREE.Vector3();
+  private readonly inertiaRotation=new THREE.Matrix4();
+
+  constructor(private readonly scene:THREE.Scene){
+    this.root.name='viewer-visualization-helpers';
+    this.frames.name='body-coordinate-frames';
+    this.jointAxes.name='joint-axes';
+    this.centersOfMass.name='centers-of-mass';
+    this.inertiaBoxes.name='inertia-boxes';
+    this.root.add(this.frames,this.jointAxes,this.centersOfMass,this.inertiaBoxes);
+    scene.add(this.root);
+    this.applyVisibility();
+  }
+
+  attach(session:SimulationSession|null,modelExtent:number):void {
+    this.clear();
+    this.session=session;
+    if(!session)return;
+    const extent=Math.max(modelExtent,.01),frameSize=Math.max(.04,extent*.1),jointLength=Math.max(.06,extent*.14),comRadius=Math.max(.006,extent*.012);
+    for(let bodyId=0;bodyId<session.model.nbody;bodyId+=1){
+      const axes=new THREE.AxesHelper(frameSize);axes.name=`body-frame-${bodyId}`;axes.renderOrder=80;this.frames.add(axes);this.frameHelpers[bodyId]=axes;
+      if(bodyId===0||!(Number(session.model.body_mass[bodyId])>0))continue;
+      const com=new THREE.Mesh(new THREE.SphereGeometry(comRadius,16,12),new THREE.MeshBasicMaterial({color:0xfacc15,depthTest:false,transparent:true,opacity:.95}));com.name=`center-of-mass-${bodyId}`;com.renderOrder=92;this.centersOfMass.add(com);this.comHelpers.set(bodyId,com);
+      const offset=bodyId*3,dimensions=inertiaBoxDimensions(Number(session.model.body_mass[bodyId]),[Number(session.model.body_inertia[offset]),Number(session.model.body_inertia[offset+1]),Number(session.model.body_inertia[offset+2])]);
+      if(dimensions){const minimum=Math.max(.004,extent*.004),maximum=Math.max(.05,extent*1.5),size=new THREE.Vector3(...dimensions).clampScalar(minimum,maximum),group=this.createInertiaBox(size);group.name=`inertia-box-${bodyId}`;this.inertiaBoxes.add(group);this.inertiaHelpers.set(bodyId,group);}
+    }
+    for(let jointId=0;jointId<session.model.njnt;jointId+=1){
+      const type=Number(session.model.jnt_type[jointId]);if(type!==2&&type!==3)continue;
+      const arrow=new THREE.ArrowHelper(new THREE.Vector3(0,0,1),new THREE.Vector3(),jointLength,0xef4444,jointLength*.22,jointLength*.12);arrow.name=`joint-axis-${jointId}`;arrow.renderOrder=90;(arrow.line.material as THREE.LineBasicMaterial).depthTest=false;(arrow.cone.material as THREE.MeshBasicMaterial).depthTest=false;this.jointAxes.add(arrow);this.jointHelpers.set(jointId,arrow);
+    }
+    this.applyVisibility();
+    this.update();
+  }
+
+  setOptions(options:ViewerDisplayOptions):void {this.options={...options};this.applyVisibility();}
+
+  update():void {
+    const session=this.session;if(!session)return;
+    const {data}=session;
+    if(this.frames.visible)for(let bodyId=0;bodyId<this.frameHelpers.length;bodyId+=1){const helper=this.frameHelpers[bodyId];if(helper)this.setWorldMatrix(helper,data.xmat,data.xpos,bodyId);}
+    if(this.jointAxes.visible)for(const [jointId,arrow] of this.jointHelpers){const offset=jointId*3,axis=this.jointAxisVector.set(Number(data.xaxis[offset]),Number(data.xaxis[offset+1]),Number(data.xaxis[offset+2]));if(axis.lengthSq()>1e-12)arrow.setDirection(axis.normalize());arrow.position.set(Number(data.xanchor[offset]),Number(data.xanchor[offset+1]),Number(data.xanchor[offset+2]));}
+    if(this.centersOfMass.visible)for(const [bodyId,com] of this.comHelpers){const offset=bodyId*3;com.position.set(Number(data.xipos[offset]),Number(data.xipos[offset+1]),Number(data.xipos[offset+2]));}
+    if(this.inertiaBoxes.visible)for(const [bodyId,box] of this.inertiaHelpers){const positionOffset=bodyId*3,matrixOffset=bodyId*9,rotation=this.inertiaRotation.set(Number(data.ximat[matrixOffset]),Number(data.ximat[matrixOffset+1]),Number(data.ximat[matrixOffset+2]),0,Number(data.ximat[matrixOffset+3]),Number(data.ximat[matrixOffset+4]),Number(data.ximat[matrixOffset+5]),0,Number(data.ximat[matrixOffset+6]),Number(data.ximat[matrixOffset+7]),Number(data.ximat[matrixOffset+8]),0,0,0,0,1);box.position.set(Number(data.xipos[positionOffset]),Number(data.xipos[positionOffset+1]),Number(data.xipos[positionOffset+2]));box.quaternion.setFromRotationMatrix(rotation);}
+  }
+
+  dispose():void {this.clear();this.scene.remove(this.root);}
+
+  private createInertiaBox(size:THREE.Vector3):THREE.Group {
+    const group=new THREE.Group(),geometry=new THREE.BoxGeometry(size.x,size.y,size.z),fill=new THREE.MeshBasicMaterial({color:0x22d3ee,transparent:true,opacity:.18,depthWrite:false}),edgeMaterial=new THREE.LineBasicMaterial({color:0x22d3ee,transparent:true,opacity:.8,depthWrite:false});
+    const mesh=new THREE.Mesh(geometry,fill),edges=new THREE.LineSegments(new THREE.EdgesGeometry(geometry),edgeMaterial);mesh.renderOrder=70;edges.renderOrder=71;group.add(mesh,edges);return group;
+  }
+
+  private setWorldMatrix(object:THREE.Object3D,rotations:ArrayLike<number>,positions:ArrayLike<number>,id:number):void {
+    const m=id*9,p=id*3;object.matrixAutoUpdate=false;object.matrix.set(Number(rotations[m]),Number(rotations[m+1]),Number(rotations[m+2]),Number(positions[p]),Number(rotations[m+3]),Number(rotations[m+4]),Number(rotations[m+5]),Number(positions[p+1]),Number(rotations[m+6]),Number(rotations[m+7]),Number(rotations[m+8]),Number(positions[p+2]),0,0,0,1);object.matrixWorldNeedsUpdate=true;
+  }
+
+  private applyVisibility():void {this.frames.visible=this.options.showFrames;this.jointAxes.visible=this.options.showJointAxes;this.centersOfMass.visible=this.options.showCenterOfMass;this.inertiaBoxes.visible=this.options.showInertia;}
+
+  private clear():void {
+    const geometries=new Set<THREE.BufferGeometry>(),materials=new Set<THREE.Material>();
+    for(const group of [this.frames,this.jointAxes,this.centersOfMass,this.inertiaBoxes]){group.traverse(object=>{const candidate=object as THREE.Mesh|THREE.LineSegments;if(candidate.geometry)geometries.add(candidate.geometry);if(candidate.material){const values=Array.isArray(candidate.material)?candidate.material:[candidate.material];for(const material of values)materials.add(material);}});group.clear();}
+    for(const geometry of geometries)geometry.dispose();for(const material of materials)material.dispose();
+    this.frameHelpers=[];this.jointHelpers.clear();this.comHelpers.clear();this.inertiaHelpers.clear();this.session=null;
+  }
+}
diff --git a/web_platform/src/viewer/displayOptions.ts b/web_platform/src/viewer/displayOptions.ts
new file mode 100644
index 00000000..cf80edce
--- /dev/null
+++ b/web_platform/src/viewer/displayOptions.ts
@@ -0,0 +1,19 @@
+export interface ViewerDisplayOptions {
+  showVisual:boolean;
+  showCollision:boolean;
+  showFrames:boolean;
+  showJointAxes:boolean;
+  showCenterOfMass:boolean;
+  showInertia:boolean;
+  showGrid:boolean;
+}
+
+export const DEFAULT_VIEWER_DISPLAY_OPTIONS:ViewerDisplayOptions={
+  showVisual:true,
+  showCollision:false,
+  showFrames:false,
+  showJointAxes:false,
+  showCenterOfMass:false,
+  showInertia:false,
+  showGrid:true,
+};
diff --git a/web_platform/src/viewer/interactionMath.test.ts b/web_platform/src/viewer/interactionMath.test.ts
new file mode 100644
index 00000000..6f599a93
--- /dev/null
+++ b/web_platform/src/viewer/interactionMath.test.ts
@@ -0,0 +1,31 @@
+import * as THREE from 'three';
+import {closestRayAxisParameter,forceFromScreenDrag,resolveHingeDragDelta,signedAngleAroundAxis} from './interactionMath';
+
+describe('interactionMath',()=>{
+  it('按右手定则计算绕关节轴的旋转方向',()=>{
+    expect(signedAngleAroundAxis(new THREE.Vector3(1,0,0),new THREE.Vector3(0,1,0),new THREE.Vector3(0,0,1))).toBeCloseTo(Math.PI/2);
+    expect(signedAngleAroundAxis(new THREE.Vector3(1,0,0),new THREE.Vector3(0,-1,0),new THREE.Vector3(0,0,1))).toBeCloseTo(-Math.PI/2);
+  });
+
+  it('侧视关节平面时采用切线方向',()=>{
+    expect(resolveHingeDragDelta(-.4,.25,.05)).toBe(.25);
+    expect(resolveHingeDragDelta(-.4,.25,.8)).toBe(-.4);
+    expect(resolveHingeDragDelta(0,.25,.8)).toBe(.25);
+  });
+
+  it('通过指针射线和关节轴最近点稳定求解 slide 位移',()=>{
+    const axisOrigin=new THREE.Vector3(0,0,0),axis=new THREE.Vector3(1,0,0);
+    expect(closestRayAxisParameter(new THREE.Ray(new THREE.Vector3(2,0,3),new THREE.Vector3(0,0,-1)),axisOrigin,axis)).toBeCloseTo(2);
+    expect(closestRayAxisParameter(new THREE.Ray(new THREE.Vector3(-1,0,3),new THREE.Vector3(0,0,-1)),axisOrigin,axis)).toBeCloseTo(-1);
+    expect(closestRayAxisParameter(new THREE.Ray(new THREE.Vector3(),new THREE.Vector3(1,0,0)),axisOrigin,axis)).toBeNaN();
+  });
+
+  it('外力与屏幕拖动箭头同向，并由屏幕距离决定大小',()=>{
+    const force=forceFromScreenDrag(new THREE.Vector3(3,4,0),.5,100);
+    expect(force.length()).toBeCloseTo(50);
+    expect(force.x/force.length()).toBeCloseTo(.6);
+    expect(force.y/force.length()).toBeCloseTo(.8);
+    expect(force.z).toBe(0);
+    expect(forceFromScreenDrag(new THREE.Vector3(),1,100).length()).toBe(0);
+  });
+});
diff --git a/web_platform/src/viewer/interactionMath.ts b/web_platform/src/viewer/interactionMath.ts
new file mode 100644
index 00000000..35333271
--- /dev/null
+++ b/web_platform/src/viewer/interactionMath.ts
@@ -0,0 +1,29 @@
+import * as THREE from 'three';
+
+/** 计算绕世界轴从 start 到 end 的有符号角度，遵循右手定则。 */
+export function signedAngleAroundAxis(start:THREE.Vector3,end:THREE.Vector3,axis:THREE.Vector3):number {
+  if(start.lengthSq()<=1e-12||end.lengthSq()<=1e-12||axis.lengthSq()<=1e-12)return Number.NaN;
+  const a=start.clone().normalize(),b=end.clone().normalize(),normal=axis.clone().normalize();
+  return Math.atan2(normal.dot(a.clone().cross(b)),THREE.MathUtils.clamp(a.dot(b),-1,1));
+}
+
+/** 关节旋转平面接近侧视时，使用相机切线拖动，避免投影退化和方向跳变。 */
+export function resolveHingeDragDelta(worldDelta:number,tangentDelta:number,planeFacingRatio:number,threshold=.2):number {
+  const tangentValid=Number.isFinite(tangentDelta),worldValid=Number.isFinite(worldDelta)&&(Math.abs(worldDelta)>1e-8||!tangentValid||Math.abs(tangentDelta)<=1e-8);
+  if(planeFacingRatio<threshold&&tangentValid)return tangentDelta;
+  if(worldValid)return worldDelta;
+  return tangentValid?tangentDelta:0;
+}
+
+/** 求指针射线和世界关节轴两条直线的最近点参数，参数单位与 slide qpos 一致。 */
+export function closestRayAxisParameter(ray:THREE.Ray,axisOrigin:THREE.Vector3,axisDirection:THREE.Vector3):number {
+  const direction=ray.direction.clone().normalize(),axis=axisDirection.clone().normalize();if(direction.lengthSq()<=1e-12||axis.lengthSq()<=1e-12)return Number.NaN;
+  const offset=ray.origin.clone().sub(axisOrigin),dot=direction.dot(axis),denominator=1-dot*dot;if(denominator<=1e-8)return Number.NaN;
+  const value=(axis.dot(offset)-dot*direction.dot(offset))/denominator;return Number.isFinite(value)?value:Number.NaN;
+}
+
+/** 将屏幕拖动映射为与可视箭头同向的外力；screenDistance 使用视口归一化距离。 */
+export function forceFromScreenDrag(dragVector:THREE.Vector3,screenDistance:number,scale:number):THREE.Vector3 {
+  if(dragVector.lengthSq()<=1e-12||!Number.isFinite(screenDistance)||!Number.isFinite(scale))return new THREE.Vector3();
+  return dragVector.clone().normalize().multiplyScalar(Math.max(0,screenDistance)*Math.max(0,scale));
+}
diff --git a/web_platform/src/viewer/texturePixels.test.ts b/web_platform/src/viewer/texturePixels.test.ts
new file mode 100644
index 00000000..dd2322e4
--- /dev/null
+++ b/web_platform/src/viewer/texturePixels.test.ts
@@ -0,0 +1,17 @@
+import {texturePixelsToRgba} from './texturePixels';
+
+describe('texturePixelsToRgba',()=>{
+  it('将 RGB 像素补齐为 WebGL 兼容的 RGBA',()=>{
+    expect(Array.from(texturePixelsToRgba(new Uint8Array([1,2,3,4,5,6]),2,3))).toEqual([1,2,3,255,4,5,6,255]);
+  });
+
+  it('保留灰度透明度与 RGBA 数据',()=>{
+    expect(Array.from(texturePixelsToRgba(new Uint8Array([12,34]),1,2))).toEqual([12,12,12,34]);
+    expect(Array.from(texturePixelsToRgba(new Uint8Array([1,2,3,4]),1,4))).toEqual([1,2,3,4]);
+  });
+
+  it('拒绝不完整数据和未知通道数',()=>{
+    expect(()=>texturePixelsToRgba(new Uint8Array([1,2]),1,3)).toThrow('纹理像素数据不完整');
+    expect(()=>texturePixelsToRgba(new Uint8Array(),0,5)).toThrow('不支持 5 通道纹理');
+  });
+});
diff --git a/web_platform/src/viewer/texturePixels.ts b/web_platform/src/viewer/texturePixels.ts
new file mode 100644
index 00000000..91219157
--- /dev/null
+++ b/web_platform/src/viewer/texturePixels.ts
@@ -0,0 +1,14 @@
+export function texturePixelsToRgba(source:Uint8Array,pixelCount:number,channels:number):Uint8Array{
+  if(!Number.isInteger(pixelCount)||pixelCount<0)throw new Error('纹理像素数量无效');
+  if(!Number.isInteger(channels)||channels<1||channels>4)throw new Error(`不支持 ${channels} 通道纹理`);
+  if(source.length<pixelCount*channels)throw new Error('纹理像素数据不完整');
+  const rgba=new Uint8Array(pixelCount*4);
+  for(let pixel=0;pixel<pixelCount;pixel+=1){
+    const sourceOffset=pixel*channels,targetOffset=pixel*4,red=source[sourceOffset];
+    rgba[targetOffset]=red;
+    rgba[targetOffset+1]=channels===1||channels===2?red:source[sourceOffset+1];
+    rgba[targetOffset+2]=channels===1||channels===2?red:source[sourceOffset+2];
+    rgba[targetOffset+3]=channels===2?source[sourceOffset+1]:channels===4?source[sourceOffset+3]:255;
+  }
+  return rgba;
+}
diff --git a/web_platform/src/viewer/visualizationMath.test.ts b/web_platform/src/viewer/visualizationMath.test.ts
new file mode 100644
index 00000000..7bf08203
--- /dev/null
+++ b/web_platform/src/viewer/visualizationMath.test.ts
@@ -0,0 +1,21 @@
+import {inertiaBoxDimensions} from './visualizationMath';
+
+describe('visualizationMath',()=>{
+  it('从主惯量恢复等效实心盒尺寸',()=>{
+    const mass=12,width=2,height=4,depth=6;
+    const inertia:[number,number,number]=[
+      mass*(height**2+depth**2)/12,
+      mass*(width**2+depth**2)/12,
+      mass*(width**2+height**2)/12,
+    ];
+    const dimensions=inertiaBoxDimensions(mass,inertia);
+    expect(dimensions?.[0]).toBeCloseTo(width);
+    expect(dimensions?.[1]).toBeCloseTo(height);
+    expect(dimensions?.[2]).toBeCloseTo(depth);
+  });
+
+  it('拒绝无质量或不构成实体盒的惯量',()=>{
+    expect(inertiaBoxDimensions(0,[1,1,1])).toBeNull();
+    expect(inertiaBoxDimensions(1,[10,1,1])).toBeNull();
+  });
+});
diff --git a/web_platform/src/viewer/visualizationMath.ts b/web_platform/src/viewer/visualizationMath.ts
new file mode 100644
index 00000000..5cd97286
--- /dev/null
+++ b/web_platform/src/viewer/visualizationMath.ts
@@ -0,0 +1,16 @@
+export type PrincipalInertia=readonly [number,number,number];
+export type BoxDimensions=readonly [number,number,number];
+
+/** 根据实体质量和主惯量，求具有相同惯量的等效实心盒尺寸。 */
+export function inertiaBoxDimensions(mass:number,inertia:PrincipalInertia):BoxDimensions|null {
+  const [ix,iy,iz]=inertia;
+  if(!(mass>0)||![ix,iy,iz].every(value=>Number.isFinite(value)&&value>=0))return null;
+  const factor=6/mass;
+  const squared:[number,number,number]=[
+    factor*(iy+iz-ix),
+    factor*(ix+iz-iy),
+    factor*(ix+iy-iz),
+  ];
+  if(squared.some(value=>value<=0||!Number.isFinite(value)))return null;
+  return [Math.sqrt(squared[0]),Math.sqrt(squared[1]),Math.sqrt(squared[2])];
+}
diff --git a/wasm/web_platform/src/vite-env.d.ts b/web_platform/src/vite-env.d.ts
similarity index 100%
rename from wasm/web_platform/src/vite-env.d.ts
rename to web_platform/src/vite-env.d.ts
diff --git a/wasm/web_platform/tailwind.config.cjs b/web_platform/tailwind.config.cjs
similarity index 100%
rename from wasm/web_platform/tailwind.config.cjs
rename to web_platform/tailwind.config.cjs
diff --git a/wasm/web_platform/tsconfig.json b/web_platform/tsconfig.json
similarity index 100%
rename from wasm/web_platform/tsconfig.json
rename to web_platform/tsconfig.json
diff --git a/wasm/web_platform/vite.config.ts b/web_platform/vite.config.ts
similarity index 100%
rename from wasm/web_platform/vite.config.ts
rename to web_platform/vite.config.ts